+ python -m lidar_slam --no-model /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 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 0.020714057 Adjusted end_distance from 9.223372036854776e+18 to 934.510714057 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020714057 meters Centerline goodness [0,1] 0.6939902264824734 Centerline is valid? [0, False] SLAMing on 0.050714057 meters Centerline goodness [0,1] 0.6861594305378778 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999854e-01 -4.05709563e-04 -3.57989404e-04 1.01567883e-03] [ 4.05532192e-04 9.99999795e-01 -4.95398048e-04 1.83920765e-03] [ 3.58190318e-04 4.95252799e-04 9.99999813e-01 -2.21453010e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.080714057 meters Centerline goodness [0,1] 0.5941297218224288 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999403e-01 -8.39234984e-04 -6.99936904e-04 3.45554713e-03] [ 8.38678127e-04 9.99999332e-01 -7.95496663e-04 4.87010168e-03] [ 7.00604045e-04 7.94909166e-04 9.99999439e-01 -1.98350269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.110714057 meters Centerline goodness [0,1] 0.6511517903599641 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 0.99999881 -0.00111465 -0.00106618 0.00467007] [ 0.00111355 0.99999884 -0.00103508 0.00631059] [ 0.00106733 0.00103389 0.9999989 -0.00240167] [ 0. 0. 0. 1. ]] SLAMing on 0.140714057 meters Centerline goodness [0,1] 0.6073719845647594 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999668 -0.00223833 -0.00127375 0.00576836] [ 0.00223612 0.999996 -0.00173293 0.00921306] [ 0.00127762 0.00173007 0.99999769 -0.00285935] [ 0. 0. 0. 1. ]] SLAMing on 0.170714057 meters Centerline goodness [0,1] 0.584136503176983 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999515 -0.00279043 -0.00138132 0.0060857 ] [ 0.00278747 0.99999383 -0.00213542 0.01047167] [ 0.00138728 0.00213156 0.99999677 -0.00281068] [ 0. 0. 0. 1. ]] SLAMing on 0.200714057 meters Centerline goodness [0,1] 0.5763135946622185 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999145 -0.00377304 -0.00169444 0.00776942] [ 0.00376848 0.99998929 -0.00268546 0.01321471] [ 0.00170455 0.00267905 0.99999496 -0.00352099] [ 0. 0. 0. 1. ]] SLAMing on 0.230714057 meters Centerline goodness [0,1] 0.561030235162374 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999005 -0.00402492 -0.00192338 0.00911209] [ 0.00401947 0.99998792 -0.00282839 0.01471127] [ 0.00193475 0.00282063 0.99999415 -0.00420485] [ 0. 0. 0. 1. ]] SLAMing on 0.260714057 meters Centerline goodness [0,1] 0.5790052606408417 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99998581 -0.00479616 -0.00231863 0.01150651] [ 0.0047887 0.99998338 -0.00321162 0.01792204] [ 0.00233399 0.00320047 0.99999215 -0.00534272] [ 0. 0. 0. 1. ]] SLAMing on 0.290714057 meters Centerline goodness [0,1] 0.5497623505689183 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99998304 -0.00522563 -0.00257111 0.01282422] [ 0.00521665 0.99998032 -0.00348636 0.01956254] [ 0.00258927 0.00347289 0.99999062 -0.00594034] [ 0. 0. 0. 1. ]] SLAMing on 0.320714057 meters Centerline goodness [0,1] 0.5472260982533801 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99997944 -0.00576709 -0.00280505 0.01392336] [ 0.00575706 0.99997705 -0.00357253 0.02060862] [ 0.00282559 0.0035563 0.99998968 -0.00633933] [ 0. 0. 0. 1. ]] SLAMing on 0.35071405699999997 meters Centerline goodness [0,1] 0.5424494306443088 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99996806 -0.00737136 -0.00308766 0.01620963] [ 0.00735855 0.99996436 -0.00413946 0.02266546] [ 0.00311806 0.0041166 0.99998667 -0.00738142] [ 0. 0. 0. 1. ]] SLAMing on 0.380714057 meters Centerline goodness [0,1] 0.5405673141973519 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99996486 -0.00775695 -0.0031794 0.01736786] [ 0.00774392 0.99996165 -0.00409011 0.02262997] [ 0.00321101 0.00406534 0.99998658 -0.00809736] [ 0. 0. 0. 1. ]] SLAMing on 0.410714057 meters Centerline goodness [0,1] 0.5311007093567534 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99995195 -0.00919287 -0.00340506 0.0191714 ] [ 0.00917746 0.9999477 -0.00451442 0.02436456] [ 0.00344639 0.00448296 0.99998401 -0.00870632] [ 0. 0. 0. 1. ]] SLAMing on 0.440714057 meters Centerline goodness [0,1] 0.523909781714341 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99995013 -0.00928911 -0.00366815 0.02082317] [ 0.00927276 0.99994711 -0.00444924 0.02497447] [ 0.00370929 0.004415 0.99998337 -0.00951737] [ 0. 0. 0. 1. ]] SLAMing on 0.47071405699999996 meters Centerline goodness [0,1] 0.5781242410996164 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99994528 -0.00953562 -0.00430118 0.02435633] [ 0.00951757 0.9999459 -0.00419742 0.02591257] [ 0.00434097 0.00415625 0.99998194 -0.01097742] [ 0. 0. 0. 1. ]] SLAMing on 0.5007140569999999 meters Centerline goodness [0,1] 0.5210775391336002 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99994317 -0.00964364 -0.0045454 0.02597407] [ 0.00962549 0.99994569 -0.00399661 0.02595529] [ 0.00458369 0.00395263 0.99998168 -0.01181585] [ 0. 0. 0. 1. ]] SLAMing on 0.530714057 meters Centerline goodness [0,1] 0.6046087210434106 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99994157 -0.00966422 -0.00484376 0.02766547] [ 0.00964634 0.99994662 -0.00370196 0.02541687] [ 0.00487927 0.00365502 0.99998142 -0.01253334] [ 0. 0. 0. 1. ]] SLAMing on 0.560714057 meters Centerline goodness [0,1] 0.6109524040091028 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.01 [[ 0.99993349 -0.010255 -0.00527771 0.03099284] [ 0.01023673 0.99994156 -0.00347575 0.02488833] [ 0.00531305 0.00342149 0.99998003 -0.01399781] [ 0. 0. 0. 1. ]] SLAMing on 0.5907140569999999 meters Centerline goodness [0,1] 0.6133549778305429 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.99992687 -0.0105607 -0.00589221 0.03444252] [ 0.01054184 0.99993924 -0.00322338 0.02578824] [ 0.00592589 0.00316103 0.99997745 -0.01503222] [ 0. 0. 0. 1. ]] SLAMing on 0.6207140569999999 meters Centerline goodness [0,1] 0.6488451252127401 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99992577 -0.01049103 -0.00619606 0.03643675] [ 0.01047183 0.99994029 -0.00312311 0.02680772] [ 0.00622845 0.00305799 0.99997593 -0.01594993] [ 0. 0. 0. 1. ]] SLAMing on 0.650714057 meters Centerline goodness [0,1] 0.6451463865382745 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99992332 -0.01045821 -0.00663221 0.03853344] [ 0.01043689 0.99994028 -0.00324014 0.02822647] [ 0.0066657 0.00317068 0.99997276 -0.01650448] [ 0. 0. 0. 1. ]] SLAMing on 0.6807140569999999 meters Centerline goodness [0,1] 0.6769433080070135 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99991425 -0.01091584 -0.00723443 0.04200391] [ 0.01089293 0.99993556 -0.00319834 0.0298386 ] [ 0.00726888 0.00311926 0.99996872 -0.01729274] [ 0. 0. 0. 1. ]] SLAMing on 0.7107140569999999 meters Centerline goodness [0,1] 0.6585425179996108 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99991093 -0.01113498 -0.00735794 0.04376726] [ 0.01111204 0.9999333 -0.00315061 0.03012158] [ 0.00739253 0.00306857 0.99996797 -0.01815769] [ 0. 0. 0. 1. ]] SLAMing on 0.7407140569999999 meters Centerline goodness [0,1] 0.6973725939840453 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.99990178 -0.01169286 -0.00772721 0.04706768] [ 0.01166819 0.99992671 -0.00322967 0.03109669] [ 0.00776441 0.00313919 0.99996493 -0.01913896] [ 0. 0. 0. 1. ]] SLAMing on 0.770714057 meters Centerline goodness [0,1] 0.7067498165810712 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.99990142 -0.0115475 -0.00798813 0.04930583] [ 0.01152436 0.99992928 -0.00293666 0.0317283 ] [ 0.00802147 0.00284432 0.99996378 -0.02031535] [ 0. 0. 0. 1. ]] SLAMing on 0.800714057 meters Centerline goodness [0,1] 0.7252946509519492 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.99989676 -0.01155301 -0.00854428 0.05385003] [ 0.01153075 0.99993001 -0.00264994 0.03405132] [ 0.0085743 0.00255114 0.99995999 -0.02228916] [ 0. 0. 0. 1. ]] SLAMing on 0.8307140569999999 meters Centerline goodness [0,1] 0.7420026964088736 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99989467 -0.01129668 -0.00911269 0.05672701] [ 0.01127469 0.99993341 -0.00246065 0.03531114] [ 0.00913988 0.00235765 0.99995545 -0.02338204] [ 0. 0. 0. 1. ]] SLAMing on 0.8607140569999999 meters Centerline goodness [0,1] 0.7577674922448175 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.03 [[ 0.99988966 -0.0113134 -0.0096272 0.06097561] [ 0.01129264 0.9999338 -0.00220804 0.03829819] [ 0.00965155 0.00209908 0.99995122 -0.02505966] [ 0. 0. 0. 1. ]] SLAMing on 0.890714057 meters Centerline goodness [0,1] 0.7577674922448175 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.03 [[ 0.99988966 -0.0113134 -0.0096272 0.06097561] [ 0.01129264 0.9999338 -0.00220804 0.03829819] [ 0.00965155 0.00209908 0.99995122 -0.02505966] [ 0. 0. 0. 1. ]] SLAMing on 0.9207140569999999 meters Centerline goodness [0,1] 0.7915232569574195 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.03 [[ 0.99988647 -0.0111521 -0.01013283 0.06367776] [ 0.01113247 0.99993605 -0.00199154 0.03986381] [ 0.0101544 0.00187851 0.99994668 -0.02601339] [ 0. 0. 0. 1. ]] SLAMing on 0.9507140569999999 meters Centerline goodness [0,1] 0.7752068156562538 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.03 [[ 0.99988418 -0.01104161 -0.01047406 0.06600304] [ 0.01102324 0.9999376 -0.00181001 0.04126508] [ 0.01049339 0.00169434 0.99994351 -0.02693531] [ 0. 0. 0. 1. ]] SLAMing on 0.9807140569999999 meters Centerline goodness [0,1] 0.8245075720083144 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.03 [[ 0.99987427 -0.01153353 -0.0108822 0.0700716 ] [ 0.01151416 0.99993201 -0.00184125 0.04437096] [ 0.0109027 0.00171572 0.99993909 -0.02845299] [ 0. 0. 0. 1. ]] SLAMing on 1.010714057 meters Centerline goodness [0,1] 0.8197416379459969 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:-0.03 [[ 0.99986866 -0.0115888 -0.01132929 0.0724807 ] [ 0.01156933 0.99993148 -0.00178262 0.04569035] [ 0.01134917 0.00165131 0.99993423 -0.02931359] [ 0. 0. 0. 1. ]] SLAMing on 1.040714057 meters Centerline goodness [0,1] 0.8273833167825223 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.99985747 -0.01203579 -0.0118397 0.07664262] [ 0.01201327 0.99992589 -0.00197129 0.0491518 ] [ 0.01186254 0.00182878 0.99992797 -0.03070048] [ 0. 0. 0. 1. ]] SLAMing on 1.070714057 meters Centerline goodness [0,1] 0.8235514298547687 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.99985094 -0.01198414 -0.01242906 0.07919445] [ 0.01196245 0.99992679 -0.00181808 0.0507882 ] [ 0.01244994 0.00166912 0.9999211 -0.03150561] [ 0. 0. 0. 1. ]] SLAMing on 1.100714057 meters Centerline goodness [0,1] 0.8343093093093092 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.99984611 -0.01192167 -0.01286946 0.08166485] [ 0.01190017 0.99992767 -0.00174605 0.05257235] [ 0.01288934 0.00159263 0.99991566 -0.03249384] [ 0. 0. 0. 1. ]] SLAMing on 1.1307140569999998 meters Centerline goodness [0,1] 0.8346549857765022 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.03 [[ 0.99983505 -0.01224766 -0.01341145 0.0856604 ] [ 0.012226 0.99992382 -0.00169605 0.05571928] [ 0.0134312 0.00153181 0.99990862 -0.03402836] [ 0. 0. 0. 1. ]] SLAMing on 1.1607140569999999 meters Centerline goodness [0,1] 0.8233890214797136 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.03 [[ 0.99982729 -0.0121802 -0.01403658 0.08828933] [ 0.01215753 0.99992465 -0.00169939 0.05707722] [ 0.01405622 0.00152845 0.99990004 -0.03498573] [ 0. 0. 0. 1. ]] SLAMing on 1.1907140569999999 meters Centerline goodness [0,1] 0.8355950158906321 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.04 [[ 9.99839080e-01 -1.06581420e-02 -1.44297682e-02 9.29280728e-02] [ 1.06517907e-02 9.99943134e-01 -5.16939941e-04 6.03445342e-02] [ 1.44344572e-02 3.63153884e-04 9.99895752e-01 -3.72848514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.220714057 meters Centerline goodness [0,1] 0.8510848626178648 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.04 [[ 9.99832979e-01 -1.04955119e-02 -1.49619155e-02 9.49121098e-02] [ 1.04881032e-02 9.99944834e-01 -5.73552109e-04 6.22823006e-02] [ 1.49671098e-02 4.16534200e-04 9.99887900e-01 -3.76685264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.250714057 meters Centerline goodness [0,1] 0.8594337704584731 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.04 [[ 9.99828788e-01 -1.03703653e-02 -1.53248068e-02 9.84638025e-02] [ 1.03658284e-02 9.99946203e-01 -3.75455123e-04 6.47758280e-02] [ 1.53278760e-02 2.16536524e-04 9.99882498e-01 -3.88595687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.280714057 meters Centerline goodness [0,1] 0.863965526033964 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 9.99819670e-01 -1.03991680e-02 -1.58897500e-02 1.00519157e-01] [ 1.03922809e-02 9.99945866e-01 -5.15939385e-04 6.56785927e-02] [ 1.58942552e-02 3.50715600e-04 9.99873617e-01 -3.94219501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.310714057 meters Centerline goodness [0,1] 0.8625808422875185 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 9.99808515e-01 -1.04317098e-02 -1.65563738e-02 1.02772734e-01] [ 1.04239984e-02 9.99945516e-01 -5.51999653e-04 6.63627747e-02] [ 1.65612300e-02 3.79310340e-04 9.99862781e-01 -4.00642228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3407140569999998 meters Centerline goodness [0,1] 0.8623993476709816 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 9.99799261e-01 -1.08838406e-02 -1.68219768e-02 1.05812020e-01] [ 1.08785395e-02 9.99940744e-01 -4.06602884e-04 6.71857022e-02] [ 1.68254054e-02 2.23522723e-04 9.99858418e-01 -4.13149162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3707140569999998 meters Centerline goodness [0,1] 0.8661475430694455 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 9.99788531e-01 -1.04403221e-02 -1.77170480e-02 1.08839361e-01] [ 1.04390398e-02 9.99945498e-01 -1.64860334e-04 6.77171089e-02] [ 1.77178036e-02 -2.01234974e-05 9.99843027e-01 -4.22926762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4007140569999998 meters Centerline goodness [0,1] 0.8713724690161677 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 9.99779610e-01 -1.03385064e-02 -1.82714801e-02 1.12020065e-01] [ 1.03434923e-02 9.99946489e-01 1.78395950e-04 6.89636044e-02] [ 1.82686580e-02 -3.67347548e-04 9.99833047e-01 -4.30433387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4307140569999999 meters Centerline goodness [0,1] 0.8745570878686686 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 9.99766882e-01 -1.04447755e-02 -1.88967971e-02 1.13909275e-01] [ 1.04486025e-02 9.99945406e-01 1.03797304e-04 6.93560796e-02] [ 1.88946813e-02 -3.01218229e-04 9.99821434e-01 -4.34743721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.460714057 meters Centerline goodness [0,1] 0.8727980857346502 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.04 [[ 9.99751659e-01 -1.04383512e-02 -1.96891196e-02 1.16315264e-01] [ 1.04438420e-02 9.99945446e-01 1.76068372e-04 6.92827076e-02] [ 1.96862076e-02 -3.81654700e-04 9.99806135e-01 -4.41620593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.490714057 meters Centerline goodness [0,1] 0.8511117294412263 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.05 [[ 9.99742335e-01 -1.08194108e-02 -1.99550595e-02 1.19927982e-01] [ 1.08263310e-02 9.99941365e-01 2.38789466e-04 6.86178484e-02] [ 1.99513059e-02 -4.54768018e-04 9.99800849e-01 -4.60419520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.520714057 meters Centerline goodness [0,1] 0.8546535257061573 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.05 [[ 9.99728866e-01 -1.09805692e-02 -2.05334366e-02 1.21535393e-01] [ 1.09867804e-02 9.99939626e-01 1.89702164e-04 6.85773924e-02] [ 2.05301139e-02 -4.15247089e-04 9.99789149e-01 -4.62045717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.550714057 meters Centerline goodness [0,1] 0.8442841541157646 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.05 [[ 9.99717025e-01 -1.13820252e-02 -2.08882689e-02 1.23663606e-01] [ 1.13891745e-02 9.99935116e-01 2.23333138e-04 6.88611715e-02] [ 2.08843716e-02 -4.61170080e-04 9.99781791e-01 -4.63946307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.580714057 meters Centerline goodness [0,1] 0.8442495869869107 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 9.99703065e-01 -1.05045595e-02 -2.19871626e-02 1.26596264e-01] [ 1.05185521e-02 9.99944543e-01 5.20844886e-04 6.94777280e-02] [ 2.19804721e-02 -7.51963346e-04 9.99758117e-01 -4.67918303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6107140569999998 meters Centerline goodness [0,1] 0.8851146303521791 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 9.99685465e-01 -9.87456792e-03 -2.30535213e-02 1.29017311e-01] [ 9.89204301e-03 9.99950865e-01 6.44104298e-04 7.00709095e-02] [ 2.30460283e-02 -8.71948128e-04 9.99734025e-01 -4.67668000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6407140569999998 meters Centerline goodness [0,1] 0.88665000255063 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99968957 -0.0089429 -0.02325481 0.13119464] [ 0.00897318 0.99995902 0.00119803 0.07093599] [ 0.02324314 -0.00140633 0.99972885 -0.04680028] [ 0. 0. 0. 1. ]] SLAMing on 1.6707140569999999 meters Centerline goodness [0,1] 0.8961012399335293 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99968621 -0.00824069 -0.02365543 0.13411457] [ 0.00829121 0.99996355 0.00203836 0.07002456] [ 0.02363777 -0.00223385 0.99971809 -0.04809591] [ 0. 0. 0. 1. ]] SLAMing on 1.700714057 meters Centerline goodness [0,1] 0.8970558272208639 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99967001 -0.00783109 -0.024465 0.13660419] [ 0.00789021 0.99996618 0.00232094 0.06957274] [ 0.024446 -0.00251321 0.99969799 -0.04899267] [ 0. 0. 0. 1. ]] SLAMing on 1.730714057 meters Centerline goodness [0,1] 0.9005643369679017 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99965248 -0.00777948 -0.0251871 0.13843805] [ 0.00784066 0.99996654 0.00233123 0.06939192] [ 0.02516812 -0.0025279 0.99968004 -0.04942053] [ 0. 0. 0. 1. ]] SLAMing on 1.760714057 meters Centerline goodness [0,1] 0.8969936305732484 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99964464 -0.00845798 -0.02527961 0.13954973] [ 0.00851849 0.9999611 0.00228676 0.06872834] [ 0.02525928 -0.00250129 0.9996778 -0.04929408] [ 0. 0. 0. 1. ]] SLAMing on 1.790714057 meters Centerline goodness [0,1] 0.8952902240325865 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.999624 -0.00904659 -0.02588468 0.14030101] [ 0.00909781 0.99995688 0.00186161 0.06850163] [ 0.02586673 -0.00209641 0.9996632 -0.04872719] [ 0. 0. 0. 1. ]] SLAMing on 1.8207140569999998 meters Centerline goodness [0,1] 0.8630091901060786 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99957306 -0.01323331 -0.0260496 0.14155972] [ 0.01318662 0.99991112 -0.00196348 0.06807964] [ 0.02607327 0.00161914 0.99965872 -0.04784559] [ 0. 0. 0. 1. ]] SLAMing on 1.8507140569999998 meters Centerline goodness [0,1] 0.901887459888319 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.9995471 -0.0139206 -0.02667978 0.14270387] [ 0.01387149 0.99990174 -0.00202488 0.06680414] [ 0.02670535 0.00165388 0.99964198 -0.04800011] [ 0. 0. 0. 1. ]] SLAMing on 1.8807140569999998 meters Centerline goodness [0,1] 0.8998130179907015 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99952356 -0.01473228 -0.02712201 0.1433686 ] [ 0.01468065 0.99989002 -0.0021019 0.06538155] [ 0.02714999 0.00170273 0.99962992 -0.04797391] [ 0. 0. 0. 1. ]] SLAMing on 1.9107140569999999 meters Centerline goodness [0,1] 0.8321997178557033 Centerline is valid? [False, False] Translation: X:0.14, Y:0.06, Z:-0.05 [[ 0.99943725 -0.01929064 -0.02744177 0.14493346] [ 0.01913801 0.99979995 -0.00581359 0.06418333] [ 0.02754843 0.00528514 0.9996065 -0.04781775] [ 0. 0. 0. 1. ]] SLAMing on 1.9407140569999999 meters Centerline goodness [0,1] 0.8137481764676291 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99940311 -0.01992453 -0.02822137 0.14629917] [ 0.01976919 0.99978791 -0.00577252 0.06284712] [ 0.02833039 0.00521116 0.99958503 -0.04789616] [ 0. 0. 0. 1. ]] SLAMing on 1.970714057 meters Centerline goodness [0,1] 0.8233714070540982 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99929387 -0.02433616 -0.02862698 0.1478548 ] [ 0.0240722 0.9996648 -0.00952969 0.06170426] [ 0.0288493 0.00883384 0.99954474 -0.04745478] [ 0. 0. 0. 1. ]] SLAMing on 2.000714057 meters Centerline goodness [0,1] 0.7360158245280184 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99926382 -0.02498788 -0.02911046 0.1488488 ] [ 0.02472145 0.99964946 -0.00947662 0.06051148] [ 0.02933705 0.00874999 0.99953128 -0.04772153] [ 0. 0. 0. 1. ]] SLAMing on 2.030714057 meters Centerline goodness [0,1] 0.811040764745627 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99923524 -0.02547928 -0.02966054 0.14983381] [ 0.02520858 0.9996374 -0.00946522 0.05940108] [ 0.02989095 0.00871028 0.99951521 -0.04773225] [ 0. 0. 0. 1. ]] SLAMing on 2.060714057 meters Centerline goodness [0,1] 0.7970246280785098 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99919599 -0.02666154 -0.0299423 0.15079344] [ 0.02639017 0.99960732 -0.009422 0.05791139] [ 0.03018175 0.00862424 0.99950722 -0.04815997] [ 0. 0. 0. 1. ]] SLAMing on 2.090714057 meters Centerline goodness [0,1] 0.7919484782176248 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99917575 -0.0266463 -0.0306233 0.15258502] [ 0.02638047 0.99961099 -0.00905239 0.05701701] [ 0.0308526 0.00823707 0.99949 -0.04883416] [ 0. 0. 0. 1. ]] SLAMing on 2.1207140570000003 meters Centerline goodness [0,1] 0.7996952590298246 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99916389 -0.02726194 -0.03046823 0.15281048] [ 0.02700046 0.99959526 -0.00896093 0.05611545] [ 0.03070019 0.00813078 0.99949557 -0.04907756] [ 0. 0. 0. 1. ]] SLAMing on 2.150714057 meters Centerline goodness [0,1] 0.7762889673345598 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99914822 -0.0270256 -0.03118424 0.1543159 ] [ 0.02676122 0.99960255 -0.00886458 0.05612893] [ 0.03141142 0.0080225 0.99947434 -0.04904587] [ 0. 0. 0. 1. ]] SLAMing on 2.1807140570000003 meters Centerline goodness [0,1] 0.8056447397894422 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 0.99924311 -0.02285436 -0.03147844 0.15513158] [ 0.02271472 0.99973053 -0.00478647 0.05634884] [ 0.03157934 0.00406782 0.99949297 -0.04904826] [ 0. 0. 0. 1. ]] SLAMing on 2.210714057 meters Centerline goodness [0,1] 0.8072984314117294 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99311039e-01 -1.93172194e-02 -3.16905576e-02 1.55315773e-01] [ 1.92970635e-02 9.99813351e-01 -9.41773107e-04 5.58675439e-02] [ 3.17028351e-02 3.29589560e-04 9.99497284e-01 -4.92560125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.240714057 meters Centerline goodness [0,1] 0.8158499425545731 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99293371e-01 -1.86349392e-02 -3.26419563e-02 1.57416346e-01] [ 1.86180986e-02 9.99826332e-01 -8.19815490e-04 5.68032322e-02] [ 3.26515647e-02 2.11505022e-04 9.99466773e-01 -4.92749614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.270714057 meters Centerline goodness [0,1] 0.8619648737650933 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99289566e-01 -1.71957308e-02 -3.35361139e-02 1.60553009e-01] [ 1.72008808e-02 9.99852045e-01 -1.34956262e-04 5.79413482e-02] [ 3.35334727e-02 -4.41990314e-04 9.99437497e-01 -5.03403450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.300714057 meters Centerline goodness [0,1] 0.8660377829352899 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99280651e-01 -1.64163821e-02 -3.41859999e-02 1.62521821e-01] [ 1.64205723e-02 9.99865161e-01 -1.58203775e-04 5.98190461e-02] [ 3.41839874e-02 -4.03263711e-04 9.99415475e-01 -5.05636919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3307140570000002 meters Centerline goodness [0,1] 0.8656802219500612 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99259132e-01 -1.58728088e-02 -3.50605236e-02 1.64197615e-01] [ 1.58747076e-02 9.99873964e-01 -2.24232725e-04 6.12360972e-02] [ 3.50596639e-02 -3.32508962e-04 9.99385166e-01 -5.02313244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.360714057 meters Centerline goodness [0,1] 0.8694279485830264 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.05 [[ 9.99237383e-01 -1.52268769e-02 -3.59554396e-02 1.66107897e-01] [ 1.52264668e-02 9.99884030e-01 -2.85247968e-04 6.28377654e-02] [ 3.59556133e-02 -2.62443875e-04 9.99353353e-01 -5.00257285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3907140570000003 meters Centerline goodness [0,1] 0.8737846915326144 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.05 [[ 0.99928763 -0.01172409 -0.03587177 0.16593411] [ 0.01183915 0.99992542 0.00299669 0.06428224] [ 0.03583396 -0.00341924 0.99935191 -0.0497851 ] [ 0. 0. 0. 1. ]] SLAMing on 2.420714057 meters Centerline goodness [0,1] 0.8902186013561381 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.05 [[ 0.99926478 -0.01118505 -0.03667151 0.16757227] [ 0.01127892 0.99993362 0.00235386 0.06676497] [ 0.03664275 -0.00276575 0.9993246 -0.04868343] [ 0. 0. 0. 1. ]] SLAMing on 2.450714057 meters Centerline goodness [0,1] 0.8806289116165471 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.05 [[ 0.99924206 -0.01120645 -0.03727889 0.16819105] [ 0.01127719 0.99993499 0.00168778 0.06866428] [ 0.03725755 -0.0021069 0.99930348 -0.04759202] [ 0. 0. 0. 1. ]] SLAMing on 2.480714057 meters Centerline goodness [0,1] 0.9012873352668804 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.05 [[ 0.99920828 -0.01088615 -0.03826615 0.16973897] [ 0.0109427 0.99993932 0.0012688 0.07032402] [ 0.03825002 -0.00168654 0.99926678 -0.04665597] [ 0. 0. 0. 1. ]] SLAMing on 2.510714057 meters Centerline goodness [0,1] 0.898272060708609 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.05 [[ 9.99168708e-01 -1.05430595e-02 -3.93793867e-02 1.71462437e-01] [ 1.05724465e-02 9.99943965e-01 5.38073085e-04 7.40062060e-02] [ 3.93715072e-02 -9.53962246e-04 9.99224186e-01 -4.53842856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.540714057 meters Centerline goodness [0,1] 0.8869697281713345 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.05 [[ 9.99147534e-01 -1.03161282e-02 -3.99722800e-02 1.72668797e-01] [ 1.03386952e-02 9.99946490e-01 3.57889523e-04 7.52260938e-02] [ 3.99664491e-02 -7.70845654e-04 9.99200725e-01 -4.51574767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.570714057 meters Centerline goodness [0,1] 0.8714259932451595 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.04 [[ 9.99122641e-01 -1.03006915e-02 -4.05936515e-02 1.73978777e-01] [ 1.03001297e-02 9.99946927e-01 -2.22991173e-04 7.75653013e-02] [ 4.05937941e-02 -1.95324345e-04 9.99175713e-01 -4.46451849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6007140570000002 meters Centerline goodness [0,1] 0.8557491289198607 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.04 [[ 9.99102046e-01 -1.03366566e-02 -4.10883846e-02 1.74668896e-01] [ 1.03143821e-02 9.99946521e-01 -7.54071671e-04 7.91711625e-02] [ 4.10939818e-02 3.29593251e-04 9.99155231e-01 -4.39369688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.630714057 meters Centerline goodness [0,1] 0.8453126217627347 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.04 [[ 0.99907217 -0.01060009 -0.04174257 0.17496175] [ 0.01051958 0.99994236 -0.00214787 0.08305783] [ 0.04176294 0.00170677 0.99912609 -0.04179959] [ 0. 0. 0. 1. ]] SLAMing on 2.660714057 meters Centerline goodness [0,1] 0.822307912769339 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.04 [[ 0.99904187 -0.01058955 -0.0424641 0.17575414] [ 0.01048511 0.99994143 -0.00268161 0.08461695] [ 0.04249001 0.0022338 0.99909439 -0.04071072] [ 0. 0. 0. 1. ]] SLAMing on 2.690714057 meters Centerline goodness [0,1] 0.8316482482953209 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 0.99902329 -0.01062448 -0.04289046 0.17629842] [ 0.01049873 0.99993991 -0.00315622 0.08613456] [ 0.04292142 0.00270284 0.9990748 -0.04000448] [ 0. 0. 0. 1. ]] SLAMing on 2.720714057 meters Centerline goodness [0,1] 0.8137968979249633 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 0.99899187 -0.01072938 -0.04359037 0.17719841] [ 0.01056288 0.99993602 -0.00404817 0.08889707] [ 0.04363102 0.00358365 0.99904129 -0.03867759] [ 0. 0. 0. 1. ]] SLAMing on 2.750714057 meters Centerline goodness [0,1] 0.8130055760622006 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 0.99896446 -0.01058655 -0.04424859 0.17856573] [ 0.01040756 0.99993671 -0.00427353 0.09017678] [ 0.04429103 0.00380859 0.99901141 -0.03849578] [ 0. 0. 0. 1. ]] SLAMing on 2.780714057 meters Centerline goodness [0,1] 0.7965067117640842 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 9.99005866e-01 -7.82545137e-03 -4.38867003e-02 1.78379993e-01] [ 7.78764994e-03 9.99969143e-01 -1.03224749e-03 9.17343846e-02] [ 4.38934239e-02 6.89447038e-04 9.99035981e-01 -3.95861207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.810714057 meters Centerline goodness [0,1] 0.7780518860416998 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 9.98991289e-01 -7.66754953e-03 -4.42449283e-02 1.79298465e-01] [ 7.62545645e-03 9.99970298e-01 -1.12006570e-03 9.28865433e-02] [ 4.42522023e-02 7.81548102e-04 9.99020086e-01 -3.96916396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.840714057 meters Centerline goodness [0,1] 0.7780518860416998 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 9.98991289e-01 -7.66754953e-03 -4.42449283e-02 1.79298465e-01] [ 7.62545645e-03 9.99970298e-01 -1.12006570e-03 9.28865433e-02] [ 4.42522023e-02 7.81548102e-04 9.99020086e-01 -3.96916396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8707140570000003 meters Centerline goodness [0,1] 0.774472831571679 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 9.98969618e-01 -7.45076231e-03 -4.47681734e-02 1.80496864e-01] [ 7.40076485e-03 9.99971792e-01 -1.28244907e-03 9.40315299e-02] [ 4.47764658e-02 9.49808931e-04 9.98996580e-01 -3.96078488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.900714057 meters Centerline goodness [0,1] 0.7634325370345656 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.99899347 -0.0041346 -0.04466484 0.18010561] [ 0.00422224 0.99998934 0.00186807 0.09573316] [ 0.04465664 -0.00205477 0.99900028 -0.03937392] [ 0. 0. 0. 1. ]] SLAMing on 2.930714057 meters Centerline goodness [0,1] 0.7584717340559685 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.99896774 -0.00386931 -0.04526008 0.18097391] [ 0.00393425 0.99999136 0.00134569 0.09780552] [ 0.04525449 -0.00152236 0.99897433 -0.0384851 ] [ 0. 0. 0. 1. ]] SLAMing on 2.960714057 meters Centerline goodness [0,1] 0.7779749421949776 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.9989353 -0.00284293 -0.04604541 0.18305934] [ 0.00289267 0.9999953 0.00101365 0.10087426] [ 0.04604231 -0.00114576 0.99893883 -0.03797036] [ 0. 0. 0. 1. ]] SLAMing on 2.990714057 meters Centerline goodness [0,1] 0.7730990690415972 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.99892571 -0.00259164 -0.04626785 0.18380438] [ 0.00264189 0.99999598 0.00102492 0.10132651] [ 0.04626501 -0.00114606 0.99892854 -0.03809531] [ 0. 0. 0. 1. ]] SLAMing on 3.020714057 meters Centerline goodness [0,1] 0.7811480492868506 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.99891409 -0.00224038 -0.04653625 0.18482434] [ 0.00229721 0.99999668 0.00116784 0.10148787] [ 0.04653348 -0.00127348 0.99891592 -0.03839598] [ 0. 0. 0. 1. ]] SLAMing on 3.050714057 meters Centerline goodness [0,1] 0.7747703943814155 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 0.99890024 -0.00188044 -0.04684852 0.18528789] [ 0.00193141 0.99999759 0.0010427 0.10214358] [ 0.04684645 -0.00113204 0.99890146 -0.03763228] [ 0. 0. 0. 1. ]] SLAMing on 3.0807140570000002 meters Centerline goodness [0,1] 0.9106945082255058 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 9.98889826e-01 -1.60414701e-03 -4.70801768e-02 1.85576409e-01] [ 1.64845003e-03 9.99998234e-01 9.02201070e-04 1.02095922e-01] [ 4.70786464e-02 -9.78808788e-04 9.98890706e-01 -3.67030246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.110714057 meters Centerline goodness [0,1] 0.8575970684126856 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 0.99888352 -0.00139511 -0.04722031 0.18599326] [ 0.00145095 0.99999829 0.00114835 0.10128745] [ 0.04721862 -0.00121559 0.99888384 -0.03668495] [ 0. 0. 0. 1. ]] SLAMing on 3.1407140570000003 meters Centerline goodness [0,1] 0.9042584751476577 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 0.99888652 -0.00132221 -0.04715901 0.18602614] [ 0.00139091 0.99999802 0.00142388 0.10021851] [ 0.04715703 -0.00148789 0.99888638 -0.03681154] [ 0. 0. 0. 1. ]] SLAMing on 3.170714057 meters Centerline goodness [0,1] 0.8942836449475576 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 9.98881132e-01 -8.65496946e-04 -4.72835690e-02 1.86820193e-01] [ 9.67984482e-04 9.99997232e-01 2.14465378e-03 9.73587149e-02] [ 4.72815819e-02 -2.18802396e-03 9.98879204e-01 -3.71435848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.200714057 meters Centerline goodness [0,1] 0.8911725248188892 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 9.98885860e-01 -8.18000109e-04 -4.71844263e-02 1.86818292e-01] [ 9.36391011e-04 9.99996469e-01 2.48706043e-03 9.59083120e-02] [ 4.71822252e-02 -2.52847257e-03 9.98883098e-01 -3.73739506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.230714057 meters Centerline goodness [0,1] 0.8829698996655518 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 9.98886195e-01 -4.45162601e-04 -4.71823248e-02 1.87632774e-01] [ 6.06553839e-04 9.99994015e-01 3.40632475e-03 9.22105462e-02] [ 4.71805260e-02 -3.43114939e-03 9.98880486e-01 -3.82557478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.260714057 meters Centerline goodness [0,1] 0.8690926527785178 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 9.98873651e-01 -1.27808510e-04 -4.74490531e-02 1.88587017e-01] [ 3.13888249e-04 9.99992290e-01 3.91424410e-03 9.01240623e-02] [ 4.74481870e-02 -3.92472900e-03 9.98865990e-01 -3.86195485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.290714057 meters Centerline goodness [0,1] 0.8637318792392605 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 9.98869454e-01 -8.92439090e-05 -4.75374190e-02 1.88526375e-01] [ 2.85316441e-04 9.99991481e-01 4.11782408e-03 8.85870288e-02] [ 4.75366466e-02 -4.12673189e-03 9.98860970e-01 -3.82726210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.320714057 meters Centerline goodness [0,1] 0.802442966535068 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 9.98858137e-01 -7.32774662e-05 -4.77746395e-02 1.87973421e-01] [ 2.61340746e-04 9.99992242e-01 3.93023234e-03 8.60188341e-02] [ 4.77739808e-02 -3.93823002e-03 9.98850408e-01 -3.64174141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3507140570000002 meters Centerline goodness [0,1] 0.8592899783401131 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.04 [[ 9.98861611e-01 2.08276430e-06 -4.77020071e-02 1.87469166e-01] [ 2.03121992e-04 9.99990747e-01 4.29695767e-03 8.25838955e-02] [ 4.77015747e-02 -4.30175539e-03 9.98852369e-01 -3.57145907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.380714057 meters Centerline goodness [0,1] 0.8547702528141723 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.04 [[ 9.98866554e-01 8.84253084e-05 -4.75983040e-02 1.87461162e-01] [ 1.35221130e-04 9.99988967e-01 4.69538153e-03 8.05106021e-02] [ 4.75981941e-02 -4.69649587e-03 9.98855523e-01 -3.58993060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.410714057 meters Centerline goodness [0,1] 0.853787958390249 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.04 [[ 9.98860043e-01 4.67274519e-04 -4.77325474e-02 1.88137297e-01] [-2.11949412e-04 9.99985645e-01 5.35399903e-03 7.81222896e-02] [ 4.77343640e-02 -5.33777882e-03 9.98845803e-01 -3.63288318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.440714057 meters Centerline goodness [0,1] 0.8405713687735454 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.04 [[ 9.98863415e-01 6.48548790e-04 -4.76598160e-02 1.88275126e-01] [-3.59020509e-04 9.99981433e-01 6.08320218e-03 7.42157952e-02] [ 4.76628764e-02 -6.05917725e-03 9.98845101e-01 -3.66517395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.470714057 meters Centerline goodness [0,1] 0.8323026744944553 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.04 [[ 9.98859703e-01 7.31031045e-04 -4.77363558e-02 1.88305395e-01] [-4.30186219e-04 9.99979985e-01 6.31218555e-03 7.23536122e-02] [ 4.77400148e-02 -6.28445226e-03 9.98840026e-01 -3.63800102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.500714057 meters Centerline goodness [0,1] 0.8231998339904545 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.04 [[ 9.98865592e-01 6.86442991e-04 -4.76136251e-02 1.87460476e-01] [-3.75522685e-04 9.99978552e-01 6.53870774e-03 6.87180530e-02] [ 4.76170923e-02 -6.51341018e-03 9.98844426e-01 -3.53470239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.530714057 meters Centerline goodness [0,1] 0.8306197343257352 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.03 [[ 9.98867776e-01 5.35192443e-04 -4.75697290e-02 1.86915302e-01] [-2.23499287e-04 9.99978475e-01 6.55741989e-03 6.69867911e-02] [ 4.75722145e-02 -6.53936363e-03 9.98846395e-01 -3.46743821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.560714057 meters Centerline goodness [0,1] 0.816420141215276 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.03 [[ 9.98872799e-01 3.96113238e-04 -4.74655091e-02 1.86233302e-01] [-8.41886690e-05 9.99978391e-01 6.57342381e-03 6.54163557e-02] [ 4.74670872e-02 -6.56201818e-03 9.98851248e-01 -3.39677054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.590714057 meters Centerline goodness [0,1] 0.8154074605084616 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.03 [[ 9.98871685e-01 3.64008655e-04 -4.74891996e-02 1.85869295e-01] [-4.80722618e-05 9.99977862e-01 6.65377765e-03 6.37286994e-02] [ 4.74905704e-02 -6.64398718e-03 9.98849590e-01 -3.32603639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.620714057 meters Centerline goodness [0,1] 0.8090828138913624 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.03 [[ 9.98878743e-01 2.17468250e-04 -4.73414237e-02 1.85019000e-01] [ 1.06924788e-04 9.99976536e-01 6.84956260e-03 6.03981398e-02] [ 4.73418024e-02 -6.84694445e-03 9.98855281e-01 -3.23997122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.650714057 meters Centerline goodness [0,1] 0.7951144421732657 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.03 [[ 0.99883869 -0.00265471 -0.04810635 0.18674414] [ 0.0028195 0.99999039 0.00335801 0.05992925] [ 0.04809697 -0.00348975 0.99883657 -0.03181392] [ 0. 0. 0. 1. ]] SLAMing on 3.680714057 meters Centerline goodness [0,1] 0.9721165713709982 Centerline is valid? [False, True] Translation: X:0.19, Y:0.06, Z:-0.03 [[ 0.99884724 -0.00259608 -0.04793182 0.18636557] [ 0.00278695 0.99998845 0.00391577 0.05659796] [ 0.0479211 -0.00404484 0.99884293 -0.03177167] [ 0. 0. 0. 1. ]] SLAMing on 3.710714057 meters Centerline goodness [0,1] 0.7720411233701103 Centerline is valid? [True, False] Translation: X:0.19, Y:0.05, Z:-0.03 [[ 0.9988399 -0.00237901 -0.04809564 0.18676881] [ 0.0025857 0.99998769 0.00423552 0.05487265] [ 0.04808497 -0.00435497 0.99883375 -0.03173401] [ 0. 0. 0. 1. ]] SLAMing on 3.740714057 meters Centerline goodness [0,1] 0.9656862745098039 Centerline is valid? [False, True] Translation: X:0.19, Y:0.05, Z:-0.03 [[ 0.99883704 -0.00238754 -0.04815461 0.18674539] [ 0.00259995 0.99998716 0.00434876 0.05370634] [ 0.04814361 -0.0044689 0.99883043 -0.03151066] [ 0. 0. 0. 1. ]] SLAMing on 3.770714057 meters Centerline goodness [0,1] 0.9844595774401955 Centerline is valid? [True, True] Translation: X:0.22, Y:0.06, Z:-0.03 [[ 0.99884649 -0.00176275 -0.04798522 0.21608127] [ 0.00194847 0.99999079 0.00382396 0.05567308] [ 0.04797803 -0.00391304 0.99884073 -0.02743267] [ 0. 0. 0. 1. ]] SLAMing on 3.800714057 meters Centerline goodness [0,1] 0.9855887696941036 Centerline is valid? [True, True] Translation: X:0.24, Y:0.06, Z:-0.03 [[ 0.9988587 -0.00150943 -0.04773898 0.24453463] [ 0.00169247 0.99999137 0.00379407 0.05527251] [ 0.04773284 -0.00387054 0.99885264 -0.02562898] [ 0. 0. 0. 1. ]] SLAMing on 3.8307140570000002 meters Centerline goodness [0,1] 0.985497905252981 Centerline is valid? [True, True] Translation: X:0.27, Y:0.05, Z:-0.03 [[ 0.99889585 -0.00160601 -0.04695208 0.2719085 ] [ 0.0017828 0.99999148 0.0037238 0.04823985] [ 0.0469457 -0.0038034 0.9988902 -0.02540325] [ 0. 0. 0. 1. ]] SLAMing on 3.860714057 meters Centerline goodness [0,1] 0.9851743682399822 Centerline is valid? [True, True] Translation: X:0.30, Y:0.04, Z:-0.02 [[ 0.9989058 -0.00195415 -0.04672673 0.2996831 ] [ 0.00212911 0.99999091 0.00369493 0.04408092] [ 0.04671909 -0.00379037 0.99890088 -0.02402816] [ 0. 0. 0. 1. ]] SLAMing on 3.890714057 meters Centerline goodness [0,1] 0.9838403744303486 Centerline is valid? [True, True] Translation: X:0.33, Y:0.04, Z:-0.02 [[ 0.99894288 -0.00275543 -0.04588595 0.32644913] [ 0.00292466 0.99998917 0.00362131 0.03648804] [ 0.04587547 -0.00375168 0.99894012 -0.02348271] [ 0. 0. 0. 1. ]] SLAMing on 3.920714057 meters Centerline goodness [0,1] 0.9847236230351036 Centerline is valid? [True, True] Translation: X:0.36, Y:0.03, Z:-0.02 [[ 0.99894267 -0.00345743 -0.04584306 0.35520986] [ 0.00362665 0.99998691 0.00360866 0.03444778] [ 0.04582999 -0.0037711 0.99894214 -0.02141837] [ 0. 0. 0. 1. ]] SLAMing on 3.950714057 meters Centerline goodness [0,1] 0.9813864400952779 Centerline is valid? [True, True] Translation: X:0.38, Y:0.03, Z:-0.02 [[ 0.99895644 -0.00369279 -0.04552355 0.38175614] [ 0.00385957 0.99998616 0.00357633 0.0277284 ] [ 0.04550971 -0.0037483 0.99895686 -0.02150085] [ 0. 0. 0. 1. ]] SLAMing on 3.980714057 meters Centerline goodness [0,1] 0.9850617920935604 Centerline is valid? [True, True] Translation: X:0.41, Y:0.03, Z:-0.02 [[ 0.998981 -0.00392893 -0.04496127 0.41064271] [ 0.00409142 0.99998543 0.00352261 0.03236609] [ 0.04494677 -0.00370297 0.99898252 -0.01726782] [ 0. 0. 0. 1. ]] SLAMing on 4.0107140569999995 meters Centerline goodness [0,1] 0.9772494013000342 Centerline is valid? [True, True] Translation: X:0.44, Y:0.02, Z:-0.02 [[ 0.99903766 -0.0051957 -0.04355178 0.43663876] [ 0.00534899 0.9999799 0.00340409 0.01586679] [ 0.04353322 -0.00363378 0.99904537 -0.0192083 ] [ 0. 0. 0. 1. ]] SLAMing on 4.040714057 meters Centerline goodness [0,1] 0.9839777251300589 Centerline is valid? [True, True] Translation: X:0.47, Y:0.02, Z:-0.01 [[ 0.99907062 -0.0062398 -0.04264932 0.4656763 ] [ 0.00638735 0.99997408 0.00332415 0.02193833] [ 0.04262747 -0.00359348 0.99908457 -0.014862 ] [ 0. 0. 0. 1. ]] SLAMing on 4.070714057 meters Centerline goodness [0,1] 0.9780310779872375 Centerline is valid? [True, True] Translation: X:0.49, Y:0.01, Z:-0.02 [[ 0.99909613 -0.00739428 -0.04185975 0.49215612] [ 0.00753717 0.99996629 0.0032567 0.00753286] [ 0.04183426 -0.00356926 0.99911819 -0.01739909] [ 0. 0. 0. 1. ]] SLAMing on 4.100714057 meters Centerline goodness [0,1] 0.9771258441652748 Centerline is valid? [True, True] Translation: X:0.52, Y:0.00, Z:-0.02 [[ 0.99909746 -0.00776248 -0.04176142 0.51999841] [ 0.00790464 0.99996351 0.00324024 0.0041715 ] [ 0.04173474 -0.00356742 0.99912236 -0.01673266] [ 0. 0. 0. 1. ]] SLAMing on 4.130714057 meters Centerline goodness [0,1] 0.983590686867709 Centerline is valid? [True, True] Translation: X:0.55, Y:0.01, Z:-0.01 [[ 0.99912227 -0.00818741 -0.04108121 0.54803316] [ 0.00832486 0.9999603 0.00317597 0.0100676 ] [ 0.04105357 -0.00351517 0.99915076 -0.01289963] [ 0. 0. 0. 1. ]] SLAMing on 4.160714057 meters Centerline goodness [0,1] 0.9839732726480415 Centerline is valid? [True, True] Translation: X:0.58, Y:0.01, Z:-0.01 [[ 0.99915783 -0.00792505 -0.0402595 0.57674678] [ 0.00805642 0.99996274 0.00310196 0.00584479] [ 0.04023342 -0.0034237 0.99918444 -0.01103473] [ 0. 0. 0. 1. ]] SLAMing on 4.190714057 meters Centerline goodness [0,1] 0.9791361199913468 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.00, Z:-0.01 [[ 0.99915854 -0.00794596 -0.04023766 0.60366518] [ 0.00807697 0.99996259 0.0030945 -0.00435965] [ 0.04021157 -0.0034169 0.99918535 -0.01226568] [ 0. 0. 0. 1. ]] SLAMing on 4.220714057 meters Centerline goodness [0,1] 0.9843394490971583 Centerline is valid? [True, True] Translation: X:0.63, Y:0.00, Z:-0.01 [[ 0.99918374 -0.00755558 -0.03968343 0.63304102] [ 0.0076824 0.99996586 0.00304412 0.00389182] [ 0.03965908 -0.0033465 0.99920767 -0.0071115 ] [ 0. 0. 0. 1. ]] SLAMing on 4.250714057 meters Centerline goodness [0,1] 0.9849129593810445 Centerline is valid? [True, True] Translation: X:0.66, Y:0.00, Z:-0.01 [[ 0.99926203 -0.00684775 -0.03779547 0.66173148] [ 0.00696208 0.99997158 0.00289421 0.00148854] [ 0.03777457 -0.00315521 0.9992813 -0.00521493] [ 0. 0. 0. 1. ]] SLAMing on 4.280714057 meters Centerline goodness [0,1] 0.9844443372564152 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.00, Z:-0.01 [[ 0.99926347 -0.0067421 -0.0377765 0.68900346] [ 0.00685612 0.99997232 0.00288958 -0.00178556] [ 0.03775597 -0.00314646 0.99928204 -0.0050912 ] [ 0. 0. 0. 1. ]] SLAMing on 4.310714057 meters Centerline goodness [0,1] 0.9850843373493976 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.00, Z:-0.00 [[ 0.99930331 -0.00607113 -0.03682431 0.71752629] [ 0.00617892 0.99997695 0.00281387 -0.00430254] [ 0.03680638 -0.00303944 0.99931779 -0.00423143] [ 0. 0. 0. 1. ]] SLAMing on 4.3407140570000005 meters Centerline goodness [0,1] 0.9846139028677373 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.01, Z:-0.00 [[ 0.99931208 -0.00597867 -0.0366009 0.74625944] [ 0.00608484 0.99997759 0.00279005 -0.00716057] [ 0.0365834 -0.00301085 0.99932607 -0.00398062] [ 0. 0. 0. 1. ]] SLAMing on 4.370714057 meters Centerline goodness [0,1] 0.9858090985881501 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.01, Z:-0.00 [[ 0.9993044 -0.0061314 -0.03678473 0.77439185] [ 0.00623836 0.99997664 0.00279384 -0.00709941] [ 0.03676674 -0.00302138 0.99931931 -0.00280234] [ 0. 0. 0. 1. ]] SLAMing on 4.400714057 meters Centerline goodness [0,1] 0.9852169307073723 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.01, Z:-0.00 [[ 0.99931449 -0.00345769 -0.03685923 0.80333848] [ 0.00356311 0.99998975 0.00279461 -0.0102279 ] [ 0.03684919 -0.00292403 0.99931656 -0.00263534] [ 0. 0. 0. 1. ]] SLAMing on 4.430714057 meters Centerline goodness [0,1] 0.9853699686671487 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.01, Z:-0.00 [[ 9.99316063e-01 -8.29633731e-04 -3.69691458e-02 8.32890160e-01] [ 9.33842190e-04 9.99995639e-01 2.80161701e-03 -1.05609817e-02] [ 3.69666603e-02 -2.83422423e-03 9.99312480e-01 -2.43069067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.460714057 meters Centerline goodness [0,1] 0.9854691158367327 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.01, Z:-0.00 [[ 0.99930259 0.00149876 -0.03731061 0.86336772] [-0.00139427 0.99999503 0.00282657 -0.0079694 ] [ 0.03731466 -0.00277258 0.99929972 -0.00102868] [ 0. 0. 0. 1. ]] SLAMing on 4.490714057 meters Centerline goodness [0,1] 0.9863534080185826 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.01, Z:0.00 [[ 0.99931277 0.0046359 -0.03677631 0.89342584] [-0.00453651 0.99998583 0.00278554 -0.00790803] [ 0.0367887 -0.00261679 0.99931964 0.00151673] [ 0. 0. 0. 1. ]] SLAMing on 4.520714057 meters Centerline goodness [0,1] 0.9876858058874963 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.01, Z:0.00 [[ 0.99933917 0.0052498 -0.03596743 0.92226892] [-0.0051552 0.99998301 0.00272248 -0.00760607] [ 0.03598111 -0.00253527 0.99934925 0.00333897] [ 0. 0. 0. 1. ]] SLAMing on 4.550714057 meters Centerline goodness [0,1] 0.9863086727893959 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.01, Z:0.00 [[ 0.99936536 0.00433292 -0.03535671 0.95029484] [-0.00424104 0.99998743 0.00267332 -0.01083771] [ 0.03536785 -0.00252168 0.99937118 0.0041704 ] [ 0. 0. 0. 1. ]] SLAMing on 4.580714057 meters Centerline goodness [0,1] 0.9865050817178862 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.01, Z:0.00 [[ 0.99937827 0.00391033 -0.03503968 0.97912085] [-0.00381992 0.9999892 0.0026466 -0.01268016] [ 0.03504965 -0.0025111 0.99938242 0.00466602] [ 0. 0. 0. 1. ]] SLAMing on 4.610714057 meters Centerline goodness [0,1] 0.9866753409474243 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.01, Z:0.01 [[ 0.99940064 0.00375864 -0.03441275 1.00788616] [-0.00367144 0.99998989 0.00259679 -0.01422915] [ 0.03442217 -0.00246889 0.99940433 0.00506219] [ 0. 0. 0. 1. ]] SLAMing on 4.640714057 meters Centerline goodness [0,1] 0.9875428516247404 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.02, Z:0.01 [[ 0.99939791 0.00353647 -0.0345153 1.03650356] [-0.0034487 0.99999067 0.00260205 -0.01545888] [ 0.03452418 -0.00248145 0.99940078 0.00508956] [ 0. 0. 0. 1. ]] SLAMing on 4.670714057 meters Centerline goodness [0,1] 0.9879509344666055 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.02, Z:0.01 [[ 0.99940149 0.00339231 -0.03442599 1.06407365] [-0.00330502 0.99999118 0.0025921 -0.0160984 ] [ 0.03443447 -0.00247677 0.99940389 0.00583779] [ 0. 0. 0. 1. ]] SLAMing on 4.700714057 meters Centerline goodness [0,1] 0.9879509344666055 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.02, Z:0.01 [[ 0.99940184 0.00328413 -0.03442626 1.09152306] [-0.0031969 0.99999154 0.00258839 -0.01807142] [ 0.03443447 -0.00247678 0.99940389 0.00622044] [ 0. 0. 0. 1. ]] SLAMing on 4.730714057 meters Centerline goodness [0,1] 0.9881183788512004 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.02, Z:0.01 [[ 0.99941439 0.00423214 -0.03395535 1.11890407] [-0.00414794 0.99998815 0.00254969 -0.01987132] [ 0.03396573 -0.00240735 0.9994201 0.00719601] [ 0. 0. 0. 1. ]] SLAMing on 4.760714057 meters Centerline goodness [0,1] 0.9893208134669651 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.02, Z:0.01 [[ 0.99940814 0.00422713 -0.03413937 1.14695592] [-0.00414213 0.99998814 0.00256006 -0.01680943] [ 0.03414979 -0.00241713 0.9994138 0.00923843] [ 0. 0. 0. 1. ]] SLAMing on 4.790714057 meters Centerline goodness [0,1] 0.9889928720360762 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.02, Z:0.01 [[ 0.99941255 0.00401918 -0.03403541 1.17529514] [-0.00393468 0.99998901 0.00254933 -0.01873997] [ 0.03404528 -0.00241391 0.99941738 0.00970295] [ 0. 0. 0. 1. ]] SLAMing on 4.820714057 meters Centerline goodness [0,1] 0.9895212856482944 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.02, Z:0.01 [[ 0.99942652 0.00336041 -0.03369471 1.20324288] [-0.00327732 0.99999145 0.00252107 -0.02282092] [ 0.0337029 -0.0024092 0.99942899 0.00972608] [ 0. 0. 0. 1. ]] SLAMing on 4.850714057 meters Centerline goodness [0,1] 0.9903069072441829 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.02, Z:0.01 [[ 0.9994271 0.00349414 -0.03366408 1.23195171] [-0.00341136 0.99999102 0.00251615 -0.02233461] [ 0.03367257 -0.00239987 0.99943004 0.01013118] [ 0. 0. 0. 1. ]] SLAMing on 4.880714057 meters Centerline goodness [0,1] 0.9896150752053826 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.02, Z:0.01 [[ 0.99943546 0.0040443 -0.03335286 1.2606399 ] [-0.00396343 0.99998904 0.00249054 -0.02384901] [ 0.03336257 -0.00235695 0.99944054 0.0097175 ] [ 0. 0. 0. 1. ]] SLAMing on 4.910714057 meters Centerline goodness [0,1] 0.9905949954571127 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.02, Z:0.01 [[ 0.99944758 0.00437734 -0.0329449 1.28944088] [-0.0042987 0.99998774 0.00245773 -0.01850956] [ 0.03295525 -0.00231475 0.99945415 0.01193014] [ 0. 0. 0. 1. ]] SLAMing on 4.940714057 meters Centerline goodness [0,1] 0.991025797774789 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.02, Z:0.01 [[ 0.99947299 0.00500348 -0.0320734 1.31715659] [-0.00492934 0.99998499 0.00239008 -0.02100597] [ 0.03208487 -0.00223072 0.99948266 0.01239178] [ 0. 0. 0. 1. ]] SLAMing on 4.970714057 meters Centerline goodness [0,1] 0.9909222859110925 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.02, Z:0.01 [[ 0.99949702 0.00573936 -0.03118923 1.34632477] [-0.00566969 0.99998123 0.00232172 -0.01904058] [ 0.03120197 -0.00214372 0.9995108 0.0142515 ] [ 0. 0. 0. 1. ]] SLAMing on 5.000714057 meters Centerline goodness [0,1] 0.9921420829638388 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.02, Z:0.01 [[ 0.99950179 0.0057609 -0.03103194 1.37484586] [-0.00569201 0.99998114 0.00230775 -0.02003097] [ 0.03104465 -0.00212996 0.99951573 0.01489191] [ 0. 0. 0. 1. ]] SLAMing on 5.030714057 meters Centerline goodness [0,1] 0.9913935537964539 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.03, Z:0.01 [[ 0.99951337 0.00528453 -0.03074247 1.40225733] [-0.0052168 0.99998379 0.00228298 -0.02842847] [ 0.03075403 -0.00212149 0.99952473 0.01392179] [ 0. 0. 0. 1. ]] SLAMing on 5.060714057 meters Centerline goodness [0,1] 0.9909470924336491 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.03, Z:0.01 [[ 0.99951097 0.0039748 -0.03101638 1.43175414] [-0.00390532 0.99998973 0.00230021 -0.02548366] [ 0.03102521 -0.00217796 0.99951623 0.01388273] [ 0. 0. 0. 1. ]] SLAMing on 5.090714057 meters Centerline goodness [0,1] 0.9902205936966156 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.03, Z:0.01 [[ 0.99949287 0.00306565 -0.03169537 1.459241 ] [-0.00299273 0.99999277 0.00234794 -0.02999138] [ 0.03170234 -0.00225189 0.99949482 0.01275416] [ 0. 0. 0. 1. ]] SLAMing on 5.120714057 meters Centerline goodness [0,1] 0.9914328284082443 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.03, Z:0.01 [[ 9.99441990e-01 1.04657775e-03 -3.33858193e-02 1.49035286e+00] [-9.64587163e-04 9.99996480e-01 2.47186248e-03 -2.56601947e-02] [ 3.33882888e-02 -2.43827962e-03 9.99439481e-01 1.36321401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.150714057 meters Centerline goodness [0,1] 0.9899521292510223 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.03, Z:0.01 [[ 9.99445868e-01 3.34466704e-04 -3.32842970e-02 1.51762728e+00] [-2.52640893e-04 9.99996936e-01 2.46256614e-03 -3.39987426e-02] [ 3.32850186e-02 -2.45279258e-03 9.99442890e-01 1.26438122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.180714057 meters Centerline goodness [0,1] 0.9912260967379077 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.03, Z:0.02 [[ 9.99460626e-01 -3.14446678e-04 -3.28383784e-02 1.54642993e+00] [ 3.94354430e-04 9.99996977e-01 2.42691636e-03 -2.88126669e-02] [ 3.28375160e-02 -2.43855731e-03 9.99457728e-01 1.58645369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.210714057 meters Centerline goodness [0,1] 0.9912530614285 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.04, Z:0.01 [[ 9.99485069e-01 -1.11425465e-03 -3.20679757e-02 1.57385228e+00] [ 1.19077844e-03 9.99996489e-01 2.36730033e-03 -3.83129457e-02] [ 3.20652254e-02 -2.40426718e-03 9.99482887e-01 1.49853290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.240714057 meters Centerline goodness [0,1] 0.991396128257716 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.03, Z:0.02 [[ 0.99954504 -0.00184135 -0.03010535 1.60267537] [ 0.00190905 0.99999571 0.00222003 -0.03235163] [ 0.03010114 -0.00227649 0.99954427 0.01811238] [ 0. 0. 0. 1. ]] SLAMing on 5.270714057 meters Centerline goodness [0,1] 0.9911075384963199 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.04, Z:0.02 [[ 0.99957084 -0.0022917 -0.0292042 1.62899724] [ 0.00235548 0.99999492 0.00214953 -0.03576812] [ 0.02919912 -0.0022174 0.99957116 0.01792018] [ 0. 0. 0. 1. ]] SLAMing on 5.3007140569999995 meters Centerline goodness [0,1] 0.9906460026080851 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.04, Z:0.02 [[ 0.9996193 -0.00193387 -0.02752289 1.656571 ] [ 0.00199027 0.99999598 0.00202196 -0.03708797] [ 0.02751887 -0.00207597 0.99961913 0.01782979] [ 0. 0. 0. 1. ]] SLAMing on 5.330714057 meters Centerline goodness [0,1] 0.9912030852216873 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.04, Z:0.02 [[ 0.99963534 -0.00186917 -0.02693862 1.68542691] [ 0.00192306 0.9999962 0.00197456 -0.03935237] [ 0.02693482 -0.00202564 0.99963514 0.01855876] [ 0. 0. 0. 1. ]] SLAMing on 5.360714057 meters Centerline goodness [0,1] 0.9915292693994857 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.04, Z:0.02 [[ 9.99664933e-01 -1.58652906e-03 -2.58361039e-02 1.71416709e+00] [ 1.63583424e-03 9.99996881e-01 1.88735954e-03 -3.56430240e-02] [ 2.58330290e-02 -1.92899073e-03 9.99664410e-01 2.07481507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.390714057 meters Centerline goodness [0,1] 0.9923216811477066 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.04, Z:0.02 [[ 9.99671753e-01 -1.46843926e-03 -2.55779270e-02 1.74217226e+00] [ 1.51660796e-03 9.99997113e-01 1.86391630e-03 -3.75983163e-02] [ 2.55751161e-02 -1.90209617e-03 9.99671094e-01 2.13316680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.420714057 meters Centerline goodness [0,1] 0.9915972767077522 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.04, Z:0.02 [[ 9.99670989e-01 -1.49717335e-03 -2.56061028e-02 1.77065231e+00] [ 1.54534919e-03 9.99997073e-01 1.86173527e-03 -3.86097651e-02] [ 2.56032405e-02 -1.90069311e-03 9.99670376e-01 2.19584397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.450714057 meters Centerline goodness [0,1] 0.9919531448943214 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.04, Z:0.02 [[ 9.99672467e-01 -1.46658649e-03 -2.55501129e-02 1.79829469e+00] [ 1.51442600e-03 9.99997136e-01 1.85313034e-03 -3.97334494e-02] [ 2.55473219e-02 -1.89121714e-03 9.99671825e-01 2.14460235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.480714057 meters Centerline goodness [0,1] 0.9929902373123295 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.04, Z:0.02 [[ 9.99685691e-01 -1.72713841e-03 -2.50107373e-02 1.82651799e+00] [ 1.77294690e-03 9.99996791e-01 1.80949388e-03 -3.56377250e-02] [ 2.50075318e-02 -1.85326785e-03 9.99685545e-01 2.18563782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.510714057 meters Centerline goodness [0,1] 0.9925207402680281 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.04, Z:0.02 [[ 9.99712468e-01 -1.97731374e-03 -2.38971032e-02 1.85383580e+00] [ 2.01907894e-03 9.99996476e-01 1.72370778e-03 -3.71756761e-02] [ 2.38936107e-02 -1.77146229e-03 9.99712937e-01 2.00416569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.540714057 meters Centerline goodness [0,1] 0.9855469149698148 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.05, Z:0.02 [[ 9.99718111e-01 -1.84112794e-03 -2.36708351e-02 1.88103520e+00] [ 1.88200467e-03 9.99996776e-01 1.70472028e-03 -5.29083068e-02] [ 2.36676202e-02 -1.74878836e-03 9.99718353e-01 1.77247208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.570714057 meters Centerline goodness [0,1] 0.9908045388181655 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.05, Z:0.02 [[ 9.99722556e-01 -2.10442817e-03 -2.34602343e-02 1.90978553e+00] [ 2.14456041e-03 9.99996280e-01 1.68562131e-03 -4.59132289e-02] [ 2.34565998e-02 -1.73546554e-03 9.99723350e-01 1.92708757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.600714057 meters Centerline goodness [0,1] 0.9909683378662698 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.04, Z:0.02 [[ 9.99715756e-01 -2.61349889e-03 -2.36976210e-02 1.93894868e+00] [ 2.65443902e-03 9.99995038e-01 1.69631328e-03 -4.25458039e-02] [ 2.36930701e-02 -1.75873500e-03 9.99717733e-01 2.11569800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.630714057 meters Centerline goodness [0,1] 0.9885380901980019 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.05, Z:0.02 [[ 9.99724949e-01 -3.90681316e-03 -2.31249512e-02 1.96726878e+00] [ 3.94605224e-03 9.99990851e-01 1.65143962e-03 -4.96243211e-02] [ 2.31182877e-02 -1.74223766e-03 9.99731219e-01 2.24321464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.660714057 meters Centerline goodness [0,1] 0.9913453565505804 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.04, Z:0.02 [[ 9.99733795e-01 -4.73269501e-03 -2.25818882e-02 1.99605556e+00] [ 4.77027735e-03 9.99987325e-01 1.61069127e-03 -4.41256287e-02] [ 2.25739791e-02 -1.71798436e-03 9.99743699e-01 2.41012440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.690714057 meters Centerline goodness [0,1] 0.9905831690360071 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.05, Z:0.02 [[ 9.99741352e-01 -6.38895905e-03 -2.18268054e-02 2.02515365e+00] [ 6.42441080e-03 9.99978155e-01 1.55449493e-03 -4.60822681e-02] [ 2.18163969e-02 -1.69431722e-03 9.99760558e-01 2.41186511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.720714057 meters Centerline goodness [0,1] 0.9914984059511158 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.04, Z:0.02 [[ 9.99732838e-01 -7.48341688e-03 -2.18689363e-02 2.05499790e+00] [ 7.51924297e-03 9.99970519e-01 1.55644755e-03 -4.47060644e-02] [ 2.18566440e-02 -1.72046957e-03 9.99759635e-01 2.37567910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.750714057 meters Centerline goodness [0,1] 0.9893799335272123 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.05, Z:0.02 [[ 9.99732360e-01 -8.13996098e-03 -2.16552488e-02 2.08354794e+00] [ 8.17522605e-03 9.99965396e-01 1.54044541e-03 -5.19626503e-02] [ 2.16419603e-02 -1.71706968e-03 9.99764311e-01 2.20110656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.780714057 meters Centerline goodness [0,1] 0.987199500468311 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.06, Z:0.02 [[ 9.99705223e-01 -9.33058707e-03 -2.24144269e-02 2.11295517e+00] [ 9.36865146e-03 9.99954843e-01 1.59379811e-03 -5.54821904e-02] [ 2.23985436e-02 -1.80332125e-03 9.99747495e-01 1.97349263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.810714057 meters Centerline goodness [0,1] 0.9857005433793515 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.06, Z:0.02 [[ 9.99697904e-01 -9.51868673e-03 -2.26604535e-02 2.14377064e+00] [ 9.55763488e-03 9.99953027e-01 1.61108618e-03 -5.72616861e-02] [ 2.26440537e-02 -1.82717981e-03 9.99741921e-01 1.98024108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.840714057 meters Centerline goodness [0,1] 0.9911655219420122 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.05, Z:0.02 [[ 9.99711866e-01 -8.22969751e-03 -2.25489713e-02 2.17485182e+00] [ 8.26793752e-03 9.99964535e-01 1.60316014e-03 -4.81901397e-02] [ 2.25349780e-02 -1.78913170e-03 9.99744454e-01 2.19012628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.870714057 meters Centerline goodness [0,1] 0.9904714666109747 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.05, Z:0.02 [[ 9.99732025e-01 -7.21350895e-03 -2.19964467e-02 2.20506725e+00] [ 7.24964968e-03 9.99972498e-01 1.56372475e-03 -4.89300185e-02] [ 2.19845618e-02 -1.72277224e-03 9.99756826e-01 2.24326537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.900714057 meters Centerline goodness [0,1] 0.9902286087524493 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.05, Z:0.02 [[ 9.99750279e-01 -5.51465245e-03 -2.16556916e-02 2.23402596e+00] [ 5.54927394e-03 9.99983418e-01 1.53895584e-03 -5.09475816e-02] [ 2.16468457e-02 -1.65874490e-03 9.99764304e-01 2.26747271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.930714057 meters Centerline goodness [0,1] 0.9915307732772225 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.05, Z:0.02 [[ 9.99775761e-01 -1.74805746e-03 -2.11038470e-02 2.26492823e+00] [ 1.78009106e-03 9.99997292e-01 1.49921319e-03 -4.73713439e-02] [ 2.11011692e-02 -1.53644377e-03 9.99776165e-01 2.17289533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.960714057 meters Centerline goodness [0,1] 0.9914662733426397 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.05, Z:0.02 [[ 9.99774007e-01 1.37821650e-04 -2.12583080e-02 2.29353662e+00] [-1.05751216e-04 9.99998855e-01 1.50972389e-03 -4.85915942e-02] [ 2.12584918e-02 -1.50713462e-03 9.99772877e-01 2.07578031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.990714057 meters Centerline goodness [0,1] 0.9916671075604465 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.05, Z:0.02 [[ 9.99766101e-01 3.33851472e-03 -2.13681638e-02 2.32327358e+00] [-3.30686175e-03 9.99993382e-01 1.51647805e-03 -4.76589352e-02] [ 2.13730852e-02 -1.44546178e-03 9.99770525e-01 1.91170163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.020714057 meters Centerline goodness [0,1] 0.9925920046564543 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.05, Z:0.02 [[ 9.99753744e-01 4.91049913e-03 -2.16411081e-02 2.35246986e+00] [-4.87842233e-03 9.99986923e-01 1.53476098e-03 -4.61836621e-02] [ 2.16483616e-02 -1.42880857e-03 9.99764626e-01 1.93690928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0507140569999995 meters Centerline goodness [0,1] 0.992329057003042 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.05, Z:0.02 [[ 9.99757665e-01 6.05279651e-03 -2.11653976e-02 2.38172410e+00] [-6.02239930e-03 9.99980741e-01 1.49962096e-03 -4.75203701e-02] [ 2.11740669e-02 -1.37179107e-03 9.99774863e-01 1.99091018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.080714057 meters Centerline goodness [0,1] 0.9919823718374173 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.05, Z:0.02 [[ 9.99756835e-01 7.84733642e-03 -2.06079965e-02 2.41062054e+00] [-7.81892199e-03 9.99968367e-01 1.45901982e-03 -4.73706501e-02] [ 2.06187941e-02 -1.29753272e-03 9.99786568e-01 2.00811904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.110714057 meters Centerline goodness [0,1] 0.9921247272920768 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.05, Z:0.02 [[ 9.99750099e-01 8.38111291e-03 -2.07243028e-02 2.43977615e+00] [-8.35251447e-03 9.99964042e-01 1.46612306e-03 -4.93880826e-02] [ 2.07358453e-02 -1.29265664e-03 9.99784154e-01 1.93475470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.140714057 meters Centerline goodness [0,1] 0.9916131429481395 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.05, Z:0.02 [[ 9.99744454e-01 8.87421801e-03 -2.07912014e-02 2.46913694e+00] [-8.84556431e-03 9.99959797e-01 1.46972660e-03 -5.03664974e-02] [ 2.08034082e-02 -1.28544111e-03 9.99782759e-01 1.75022221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.170714057 meters Centerline goodness [0,1] 0.990850333803229 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.05, Z:0.02 [[ 9.99732563e-01 9.44798102e-03 -2.11077890e-02 2.49699766e+00] [-9.41861090e-03 9.99954533e-01 1.49041829e-03 -5.31742298e-02] [ 2.11209107e-02 -1.29121364e-03 9.99776095e-01 1.68480207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.200714057 meters Centerline goodness [0,1] 0.9911796839608815 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.05, Z:0.02 [[ 9.99732451e-01 9.97934063e-03 -2.08671632e-02 2.52551936e+00] [-9.95079860e-03 9.99949407e-01 1.47118552e-03 -5.42073031e-02] [ 2.08807889e-02 -1.26314697e-03 9.99781175e-01 1.65659054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.230714057 meters Centerline goodness [0,1] 0.9909054540605414 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.06, Z:0.02 [[ 9.99713113e-01 1.13122213e-02 -2.11122207e-02 2.55327272e+00] [-1.12833403e-02 9.99935236e-01 1.48659942e-03 -5.51578725e-02] [ 2.11276702e-02 -1.24795656e-03 9.99776007e-01 1.58602710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.260714057 meters Centerline goodness [0,1] 0.9926133333333333 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.05, Z:0.02 [[ 9.99708392e-01 1.21284018e-02 -2.08814228e-02 2.58224949e+00] [-1.21003712e-02 9.99925710e-01 1.46819922e-03 -5.15227470e-02] [ 2.08976784e-02 -1.21509811e-03 9.99780881e-01 1.72746991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.290714057 meters Centerline goodness [0,1] 0.9916682294317786 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.05, Z:0.02 [[ 9.99688015e-01 1.41207627e-02 -2.06028330e-02 2.60999124e+00] [-1.40939302e-02 9.99899629e-01 1.44699927e-03 -5.32736901e-02] [ 2.06211978e-02 -1.15617293e-03 9.99786692e-01 1.72480111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.320714057 meters Centerline goodness [0,1] 0.9913308717290095 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.05, Z:0.02 [[ 9.99688195e-01 1.46332052e-02 -2.02331754e-02 2.63864513e+00] [-1.46074659e-02 9.99892298e-01 1.41934850e-03 -5.48988674e-02] [ 2.02517659e-02 -1.12335052e-03 9.99794281e-01 1.68600358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.350714057 meters Centerline goodness [0,1] 0.991665550046898 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.06, Z:0.02 [[ 9.99672455e-01 1.50660962e-02 -2.06880553e-02 2.66599576e+00] [-1.50393122e-02 9.99885852e-01 1.44964231e-03 -5.83799567e-02] [ 2.07075342e-02 -1.13803337e-03 9.99784928e-01 1.60303551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.380714057 meters Centerline goodness [0,1] 0.992283578490475 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.06, Z:0.02 [[ 9.99665901e-01 1.53176828e-02 -2.08196026e-02 2.69472512e+00] [-1.52906475e-02 9.99882029e-01 1.45712953e-03 -5.76917915e-02] [ 2.08394664e-02 -1.13829749e-03 9.99782187e-01 1.54218698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.410714057 meters Centerline goodness [0,1] 0.9930043588225798 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.06, Z:0.01 [[ 9.99638454e-01 1.63807463e-02 -2.13220969e-02 2.72377685e+00] [-1.63526643e-02 9.99865175e-01 1.49073903e-03 -5.64330163e-02] [ 2.13436416e-02 -1.14152697e-03 9.99771547e-01 1.47946325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.440714057 meters Centerline goodness [0,1] 0.9925237150972721 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.06, Z:0.01 [[ 9.99612334e-01 1.73848309e-02 -2.17474092e-02 2.75153000e+00] [-1.73558924e-02 9.99848222e-01 1.51871801e-03 -5.88898844e-02] [ 2.17705111e-02 -1.14068356e-03 9.99762344e-01 1.46862630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.470714057 meters Centerline goodness [0,1] 0.9928364455891823 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.06, Z:0.01 [[ 9.99581366e-01 1.88528183e-02 -2.19468303e-02 2.77899686e+00] [-1.88237491e-02 9.99821646e-01 1.53037958e-03 -6.02371536e-02] [ 2.19717680e-02 -1.11661728e-03 9.99757968e-01 1.40586947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.500714057 meters Centerline goodness [0,1] 0.9927011231113146 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.06, Z:0.01 [[ 9.99578832e-01 1.95313085e-02 -2.14636233e-02 2.80798377e+00] [-1.95037088e-02 9.99808668e-01 1.49448863e-03 -6.12568901e-02] [ 2.14887060e-02 -1.07523894e-03 9.99768513e-01 1.40875789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.530714057 meters Centerline goodness [0,1] 0.9929516840632734 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.06, Z:0.01 [[ 9.99570280e-01 1.99010110e-02 -2.15222203e-02 2.83705555e+00] [-1.98733789e-02 9.99801384e-01 1.49703047e-03 -6.22754380e-02] [ 2.15477381e-02 -1.06866792e-03 9.99767249e-01 1.45732683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.560714057 meters Centerline goodness [0,1] 0.9920513027780024 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.07, Z:0.01 [[ 9.99579013e-01 1.94819879e-02 -2.14999953e-02 2.86461205e+00] [-1.94543523e-02 9.99809630e-01 1.49380983e-03 -7.03666128e-02] [ 2.15250048e-02 -1.07491247e-03 9.99767732e-01 1.33017357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.590714057 meters Centerline goodness [0,1] 0.9924830132149163 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.07, Z:0.01 [[ 9.99588675e-01 1.89662910e-02 -2.15118741e-02 2.89362514e+00] [-1.89385440e-02 9.99819535e-01 1.49285634e-03 -6.91896783e-02] [ 2.15363059e-02 -1.08483872e-03 9.99767478e-01 1.38490743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.620714057 meters Centerline goodness [0,1] 0.9924830132149163 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.07, Z:0.01 [[ 9.99590666e-01 1.88609052e-02 -2.15119976e-02 2.92103913e+00] [-1.88331721e-02 9.99821528e-01 1.49107386e-03 -7.09851295e-02] [ 2.15362814e-02 -1.08532436e-03 9.99767478e-01 1.42309115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.650714057 meters Centerline goodness [0,1] 0.992658527402786 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.08, Z:0.01 [[ 9.99635450e-01 1.75964407e-02 -2.04776066e-02 2.94963111e+00] [-1.75710847e-02 9.99844612e-01 1.41751053e-03 -7.50779254e-02] [ 2.04993678e-02 -1.05718001e-03 9.99789307e-01 1.37322358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.680714057 meters Centerline goodness [0,1] 0.9922710740265297 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.08, Z:0.01 [[ 9.99642354e-01 1.68874935e-02 -2.07358851e-02 2.97871573e+00] [-1.68613724e-02 9.99856809e-01 1.43390792e-03 -7.78664500e-02] [ 2.07571310e-02 -1.08375961e-03 9.99783960e-01 1.36868756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.710714057 meters Centerline goodness [0,1] 0.9916300032192296 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.08, Z:0.01 [[ 9.99665333e-01 1.51171072e-02 -2.09927392e-02 3.00694732e+00] [-1.50899743e-02 9.99885088e-01 1.45030243e-03 -8.33964922e-02] [ 2.10122512e-02 -1.13303716e-03 9.99778576e-01 1.27067992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.740714057 meters Centerline goodness [0,1] 0.9915757381258024 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.09, Z:0.01 [[ 9.99679052e-01 1.36537131e-02 -2.13393755e-02 3.03580950e+00] [-1.36253711e-02 9.99906085e-01 1.47299201e-03 -8.69623116e-02] [ 2.13574833e-02 -1.18176235e-03 9.99771204e-01 1.28206687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.770714057 meters Centerline goodness [0,1] 0.9905607401663235 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.09, Z:0.01 [[ 9.99698077e-01 1.21204138e-02 -2.13740622e-02 3.06505633e+00] [-1.20916564e-02 9.99925807e-01 1.47416126e-03 -8.97258303e-02] [ 2.13903438e-02 -1.21526836e-03 9.99770462e-01 1.31136080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8007140569999995 meters Centerline goodness [0,1] 0.9914823391626074 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.09, Z:0.01 [[ 9.99749867e-01 8.36143581e-03 -2.07434338e-02 3.09466705e+00] [-8.33355683e-03 9.99964253e-01 1.43007063e-03 -9.27816912e-02] [ 2.07546497e-02 -1.25684633e-03 9.99783809e-01 1.44724686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.830714057 meters Centerline goodness [0,1] 0.9907471233893632 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.10, Z:0.01 [[ 9.99782976e-01 6.43664235e-03 -1.98133750e-02 3.12354818e+00] [-6.41084250e-03 9.99978518e-01 1.36538487e-03 -9.67663076e-02] [ 1.98217379e-02 -1.23806812e-03 9.99802763e-01 1.45553586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.860714057 meters Centerline goodness [0,1] 0.9887842081650965 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.11, Z:0.01 [[ 9.99839529e-01 3.11429330e-03 -1.76413414e-02 3.15188454e+00] [-3.09334015e-03 9.99994478e-01 1.21489313e-03 -1.08771375e-01] [ 1.76450275e-02 -1.16012751e-03 9.99843641e-01 1.48498071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.890714057 meters Centerline goodness [0,1] 0.9866374415718171 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.11, Z:0.01 [[ 9.99853947e-01 1.44143427e-03 -1.70295998e-02 3.18113420e+00] [-1.42167788e-03 9.99998302e-01 1.17216955e-03 -1.13796724e-01] [ 1.70312605e-02 -1.14778774e-03 9.99854299e-01 1.49368557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.920714057 meters Centerline goodness [0,1] 0.9868407200757975 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.12, Z:0.01 [[ 9.99855065e-01 1.10868483e-03 -1.69888374e-02 3.20921281e+00] [-1.08898883e-03 9.99998724e-01 1.16855671e-03 -1.17811280e-01] [ 1.69901113e-02 -1.14988669e-03 9.99854996e-01 1.48244078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.950714057 meters Centerline goodness [0,1] 0.9852832771693345 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.12, Z:0.01 [[ 9.99850554e-01 1.13536408e-04 -1.72874842e-02 3.23657392e+00] [-9.30238532e-05 9.99999291e-01 1.18735476e-03 -1.23780717e-01] [ 1.72876068e-02 -1.18556916e-03 9.99849855e-01 1.46357313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.980714057 meters Centerline goodness [0,1] 0.988895321298879 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.12, Z:0.02 [[ 9.99847437e-01 -5.14294306e-04 -1.74596393e-02 3.26566891e+00] [ 5.35286953e-04 9.99999139e-01 1.19770084e-03 -1.17343176e-01] [ 1.74590083e-02 -1.20686403e-03 9.99846852e-01 1.56215472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0107140569999995 meters Centerline goodness [0,1] 0.9873198847262248 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.13, Z:0.01 [[ 9.99843775e-01 -1.29481802e-03 -1.76280481e-02 3.29273267e+00] [ 1.31631413e-03 9.99998404e-01 1.20787844e-03 -1.27306177e-01] [ 1.76264560e-02 -1.23089379e-03 9.99843884e-01 1.47182035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.040714057 meters Centerline goodness [0,1] 0.9883672186124502 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.13, Z:0.01 [[ 9.99838133e-01 -1.72534205e-03 -1.79089449e-02 3.32108309e+00] [ 1.74756803e-03 9.99997722e-01 1.22547883e-03 -1.27828751e-01] [ 1.79067898e-02 -1.25657756e-03 9.99838871e-01 1.38582889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.070714057 meters Centerline goodness [0,1] 0.9893931081328213 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.13, Z:0.01 [[ 9.99832660e-01 -2.10103701e-03 -1.81724263e-02 3.34963952e+00] [ 2.12394007e-03 9.99996974e-01 1.24111108e-03 -1.27183638e-01] [ 1.81697637e-02 -1.27950054e-03 9.99834098e-01 1.33114876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.100714057 meters Centerline goodness [0,1] 0.9898821320538229 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.13, Z:0.01 [[ 9.99837366e-01 -9.91675834e-04 -1.80071500e-02 3.37860790e+00] [ 1.01391509e-03 9.99998735e-01 1.22593616e-03 -1.30369152e-01] [ 1.80059114e-02 -1.24399451e-03 9.99837107e-01 1.33069804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.130714057 meters Centerline goodness [0,1] 0.9888894684679985 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.13, Z:0.01 [[ 9.99846981e-01 -2.30057924e-04 -1.74917482e-02 3.40599777e+00] [ 2.50900211e-04 9.99999261e-01 1.18936450e-03 -1.33484026e-01] [ 1.74914616e-02 -1.19357119e-03 9.99846300e-01 1.41795105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.160714057 meters Centerline goodness [0,1] 0.9888399259471722 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.14, Z:0.02 [[ 9.99862327e-01 1.91234715e-03 -1.64824172e-02 3.43458032e+00] [-1.89416225e-03 9.99997580e-01 1.11883152e-03 -1.36926175e-01] [ 1.64845169e-02 -1.08745712e-03 9.99863530e-01 1.65978635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.190714057 meters Centerline goodness [0,1] 0.9899783385964455 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.14, Z:0.02 [[ 9.99869542e-01 3.14029758e-03 -1.58441625e-02 3.46361806e+00] [-3.12366119e-03 9.99994544e-01 1.07463975e-03 -1.35466129e-01] [ 1.58474507e-02 -1.02500776e-03 9.99873896e-01 1.76544151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2207140569999995 meters Centerline goodness [0,1] 0.9891814014407334 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.14, Z:0.02 [[ 9.99877488e-01 4.28306623e-03 -1.50553678e-02 3.49218334e+00] [-4.26818980e-03 9.99990371e-01 1.02010742e-03 -1.38005272e-01] [ 1.50595920e-02 -9.55723280e-04 9.99886141e-01 1.85442702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.250714057 meters Centerline goodness [0,1] 0.989448051948052 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.14, Z:0.02 [[ 9.99886198e-01 4.92778082e-03 -1.42585881e-02 3.52125300e+00] [-4.91451646e-03 9.99987458e-01 9.65161344e-04 -1.38783447e-01] [ 1.42631654e-02 -8.94977441e-04 9.99897875e-01 1.90887166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.280714057 meters Centerline goodness [0,1] 0.9881673806289833 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.14, Z:0.02 [[ 9.99893132e-01 5.99078146e-03 -1.33354839e-02 3.54869969e+00] [-5.97928490e-03 9.99981717e-01 9.01806278e-04 -1.41903676e-01] [ 1.33406426e-02 -8.21973246e-04 9.99910672e-01 1.96414303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.310714057 meters Centerline goodness [0,1] 0.9898358092259578 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.14, Z:0.02 [[ 9.99895551e-01 5.82820096e-03 -1.32257323e-02 3.57742468e+00] [-5.81689768e-03 9.99982683e-01 8.92950129e-04 -1.41723991e-01] [ 1.32307075e-02 -8.15924130e-04 9.99912137e-01 1.98311777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.340714057 meters Centerline goodness [0,1] 0.9884405157308366 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.15, Z:0.02 [[ 9.99890155e-01 6.14037253e-03 -1.34897759e-02 3.60491524e+00] [-6.12865481e-03 9.99980806e-01 9.09805194e-04 -1.47854480e-01] [ 1.34951035e-02 -8.27031076e-04 9.99908595e-01 1.97340467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.370714057 meters Centerline goodness [0,1] 0.9891794644486741 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.15, Z:0.02 [[ 9.99887015e-01 6.74569116e-03 -1.34332556e-02 3.63333129e+00] [-6.73414402e-03 9.99976916e-01 9.04641673e-04 -1.48133926e-01] [ 1.34390480e-02 -8.14077984e-04 9.99909361e-01 2.00219825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.400714057 meters Centerline goodness [0,1] 0.9889030711922686 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.15, Z:0.02 [[ 9.99876943e-01 6.61465698e-03 -1.42248320e-02 3.66001409e+00] [-6.60171070e-03 9.99977751e-01 9.56882931e-04 -1.51786210e-01] [ 1.42308449e-02 -8.62856954e-04 9.99898364e-01 1.99530879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.430714057 meters Centerline goodness [0,1] 0.9916950873447711 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.14, Z:0.02 [[ 9.99866068e-01 6.42295644e-03 -1.50529560e-02 3.68884065e+00] [-6.40846549e-03 9.99978955e-01 1.01070319e-03 -1.44675233e-01] [ 1.50591309e-02 -9.14101476e-04 9.99886187e-01 1.96265053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.460714057 meters Centerline goodness [0,1] 0.9914387137189392 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.15, Z:0.02 [[ 9.99859854e-01 6.21084786e-03 -1.55466329e-02 3.71619279e+00] [-6.19538837e-03 9.99980265e-01 1.04235932e-03 -1.47934438e-01] [ 1.55528000e-02 -9.45895811e-04 9.99878600e-01 1.97191463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.490714057 meters Centerline goodness [0,1] 0.9908044782710341 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.15, Z:0.02 [[ 9.99872024e-01 6.06962432e-03 -1.48018991e-02 3.74321161e+00] [-6.05561499e-03 9.99981173e-01 9.91091149e-04 -1.51857389e-01] [ 1.48076360e-02 -9.01329710e-04 9.99889955e-01 2.03060690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.520714057 meters Centerline goodness [0,1] 0.9910470291231814 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.15, Z:0.02 [[ 9.99881498e-01 6.17077862e-03 -1.41035691e-02 3.77159302e+00] [-6.15809396e-03 9.99980594e-01 9.42644989e-04 -1.54177604e-01] [ 1.41091122e-02 -8.55682180e-04 9.99900095e-01 2.06686529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5507140569999995 meters Centerline goodness [0,1] 0.9910839251464414 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.16, Z:0.02 [[ 9.99868705e-01 9.26884351e-03 -1.32913840e-02 3.80188337e+00] [-9.25786276e-03 9.99956751e-01 8.87446486e-04 -1.55500504e-01] [ 1.32990348e-02 -7.64280160e-04 9.99911272e-01 2.20370525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.580714057 meters Centerline goodness [0,1] 0.9911392077104438 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.16, Z:0.02 [[ 9.99852954e-01 1.05384701e-02 -1.35281470e-02 3.83019664e+00] [-1.05272182e-02 9.99944180e-01 9.02687261e-04 -1.56451982e-01] [ 1.35369048e-02 -7.60140770e-04 9.99908083e-01 2.25820151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.610714057 meters Centerline goodness [0,1] 0.9920085381091212 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.16, Z:0.02 [[ 9.99838230e-01 1.15778955e-02 -1.37646858e-02 3.85880441e+00] [-1.15663584e-02 9.99932687e-01 9.17478948e-04 -1.55785737e-01] [ 1.37743818e-02 -7.58123238e-04 9.99904841e-01 2.27009606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.640714057 meters Centerline goodness [0,1] 0.9925596399490101 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.15, Z:0.02 [[ 9.99804671e-01 1.33723681e-02 -1.45533393e-02 3.88752247e+00] [-1.33596766e-02 9.99910286e-01 9.68943766e-04 -1.54616843e-01] [ 1.45649907e-02 -7.74326597e-04 9.99893625e-01 2.24793670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.670714057 meters Centerline goodness [0,1] 0.9928173632436371 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.16, Z:0.02 [[ 9.99792752e-01 1.39046041e-02 -1.48699538e-02 3.91654308e+00] [-1.38914297e-02 9.99903020e-01 9.88904451e-04 -1.57110316e-01] [ 1.48822620e-02 -7.82134585e-04 9.99888947e-01 2.28629437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.700714057 meters Centerline goodness [0,1] 0.9931133056133056 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.16, Z:0.02 [[ 9.99775539e-01 1.48968921e-02 -1.50649795e-02 3.94567239e+00] [-1.48834986e-02 9.99888734e-01 1.00078378e-03 -1.59174987e-01] [ 1.50782119e-02 -7.76339542e-04 9.99886016e-01 2.26846742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.730714057 meters Centerline goodness [0,1] 0.9919150038870174 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.16, Z:0.02 [[ 9.99765881e-01 1.54206983e-02 -1.51784569e-02 3.97334150e+00] [-1.54071766e-02 9.99880795e-01 1.00738663e-03 -1.63607785e-01] [ 1.51921822e-02 -7.73293609e-04 9.99884293e-01 2.27613911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7607140569999995 meters Centerline goodness [0,1] 0.9921088716980155 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.17, Z:0.02 [[ 9.99764646e-01 1.52915942e-02 -1.53889230e-02 3.99964614e+00] [-1.52777111e-02 9.99882769e-01 1.01931413e-03 -1.66659708e-01] [ 1.54027059e-02 -7.83966711e-04 9.99881064e-01 2.28892145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.790714057 meters Centerline goodness [0,1] 0.9921785973272558 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.17, Z:0.02 [[ 9.99756815e-01 1.53876757e-02 -1.57965439e-02 4.02808419e+00] [-1.53730888e-02 9.99881282e-01 1.04444950e-03 -1.69034490e-01] [ 1.58107402e-02 -8.01353830e-04 9.99874681e-01 2.32737902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.820714057 meters Centerline goodness [0,1] 0.9914799132500258 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.17, Z:0.02 [[ 9.99755436e-01 1.52485807e-02 -1.60171279e-02 4.05560419e+00] [-1.52335849e-02 9.99883403e-01 1.05783336e-03 -1.72018828e-01] [ 1.60313908e-02 -8.13576374e-04 9.99871158e-01 2.28834877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.850714057 meters Centerline goodness [0,1] 0.9923815918599246 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.17, Z:0.02 [[ 9.99766696e-01 1.44106153e-02 -1.60900187e-02 4.08463370e+00] [-1.43954006e-02 9.99895818e-01 1.06102832e-03 -1.70981334e-01] [ 1.61036325e-02 -8.29158516e-04 9.99869984e-01 2.33252524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.880714057 meters Centerline goodness [0,1] 0.991613716461297 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.18, Z:0.02 [[ 9.99787953e-01 1.22983857e-02 -1.65166064e-02 4.11258597e+00] [-1.22820864e-02 9.99923981e-01 1.08792167e-03 -1.77755256e-01] [ 1.65287305e-02 -8.84832592e-04 9.99863000e-01 2.34232641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.910714057 meters Centerline goodness [0,1] 0.9916809583535977 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.18, Z:0.02 [[ 9.99802199e-01 1.09896415e-02 -1.65768162e-02 4.14142586e+00] [-1.09730639e-02 9.99939199e-01 1.09067553e-03 -1.80414033e-01] [ 1.65877944e-02 -9.08561332e-04 9.99862000e-01 2.36684775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.940714057 meters Centerline goodness [0,1] 0.9914436044135676 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.18, Z:0.02 [[ 9.99806663e-01 9.45004867e-03 -1.72433594e-02 4.16989820e+00] [-9.43190481e-03 9.99954876e-01 1.13324618e-03 -1.84303335e-01] [ 1.72532905e-02 -9.70389358e-04 9.99850680e-01 2.42380327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9707140569999995 meters Centerline goodness [0,1] 0.9907272958858744 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.19, Z:0.02 [[ 9.99815211e-01 5.62442560e-03 -1.83822949e-02 4.19941684e+00] [-5.60318188e-03 9.99983574e-01 1.20696232e-03 -1.90274320e-01] [ 1.83887814e-02 -1.10373994e-03 9.99830303e-01 2.43630073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.000714057 meters Centerline goodness [0,1] 0.9914429786583813 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.19, Z:0.02 [[ 9.99815831e-01 4.32386788e-03 -1.86978315e-02 4.22765355e+00] [-4.30167491e-03 9.99989995e-01 1.22698418e-03 -1.92443110e-01] [ 1.87029497e-02 -1.14632621e-03 9.99824427e-01 2.45201769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.030714056999999 meters Centerline goodness [0,1] 0.9885778104931847 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.20, Z:0.02 [[ 9.99795715e-01 1.07916962e-03 -2.01832653e-02 4.25627761e+00] [-1.05268330e-03 9.99998571e-01 1.32286950e-03 -2.01106127e-01] [ 2.01846640e-02 -1.30135267e-03 9.99795422e-01 2.35963893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.060714056999998 meters Centerline goodness [0,1] 0.988386540558359 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.20, Z:0.02 [[ 9.99790671e-01 -4.63690117e-04 -2.04547877e-02 4.28549573e+00] [ 4.91197968e-04 9.99998982e-01 1.33980864e-03 -2.03823247e-01] [ 2.04541457e-02 -1.34957553e-03 9.99789881e-01 2.39897711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.090714057 meters Centerline goodness [0,1] 0.9894339431409315 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.20, Z:0.02 [[ 9.99780598e-01 -1.63236456e-03 -2.08827805e-02 4.31383691e+00] [ 1.66126044e-03 9.99997687e-01 1.36644482e-03 -2.02815003e-01] [ 2.08805017e-02 -1.40083676e-03 9.99780997e-01 2.49323227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.120714056999999 meters Centerline goodness [0,1] 0.9879338257614085 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.21, Z:0.03 [[ 9.99782631e-01 -3.79911671e-03 -2.05001772e-02 4.34214597e+00] [ 3.82738607e-03 9.99991778e-01 1.33992253e-03 -2.10463285e-01] [ 2.04949181e-02 -1.41809336e-03 9.99788951e-01 2.52691756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.150714056999998 meters Centerline goodness [0,1] 0.9879621451104101 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.21, Z:0.03 [[ 9.99774144e-01 -5.02777922e-03 -2.06490097e-02 4.37094216e+00] [ 5.05670063e-03 9.99986305e-01 1.34864460e-03 -2.12187971e-01] [ 2.06419462e-02 -1.45275586e-03 9.99785877e-01 2.58158004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.180714057 meters Centerline goodness [0,1] 0.9882996696673979 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.21, Z:0.03 [[ 9.99773731e-01 -6.08266844e-03 -2.03835190e-02 4.39988073e+00] [ 6.11101417e-03 9.99980445e-01 1.32861948e-03 -2.13352939e-01] [ 2.03750388e-02 -1.45288282e-03 9.99791352e-01 2.76047314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.210714056999999 meters Centerline goodness [0,1] 0.988727492812831 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.22, Z:0.03 [[ 9.99769535e-01 -6.32497747e-03 -2.05151728e-02 4.42839154e+00] [ 6.35363278e-03 9.99978928e-01 1.33190670e-03 -2.15430687e-01] [ 2.05063162e-02 -1.46194562e-03 9.99788655e-01 2.86330462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.240714056999998 meters Centerline goodness [0,1] 0.988778243946823 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.22, Z:0.03 [[ 9.99753315e-01 -6.54399562e-03 -2.12246482e-02 4.45826652e+00] [ 6.57463346e-03 9.99977443e-01 1.37404349e-03 -2.15954207e-01] [ 2.12151777e-02 -1.51324882e-03 9.99773788e-01 2.90586945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.270714057 meters Centerline goodness [0,1] 0.9886106501734802 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.22, Z:0.03 [[ 9.99723589e-01 -6.72202744e-03 -2.25291119e-02 4.48716978e+00] [ 6.75656654e-03 9.99976112e-01 1.45731793e-03 -2.20124916e-01] [ 2.25187776e-02 -1.60913455e-03 9.99745125e-01 2.72589326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.300714056999999 meters Centerline goodness [0,1] 0.9877610514940565 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.22, Z:0.03 [[ 9.99714905e-01 -7.22422828e-03 -2.27578199e-02 4.51536833e+00] [ 7.25952746e-03 9.99972571e-01 1.46884397e-03 -2.24304922e-01] [ 2.27465844e-02 -1.63363623e-03 9.99739928e-01 2.65810660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.330714057 meters Centerline goodness [0,1] 0.8852401868507286 Centerline is valid? [True, False] Translation: X:4.55, Y:-0.23, Z:0.03 [[ 0.99971352 -0.00775511 -0.02264378 4.55380077] [ 0.00760567 0.99994878 -0.00667832 -0.22555577] [ 0.02269441 0.00650419 0.99972129 0.03029115] [ 0. 0. 0. 1. ]] SLAMing on 8.360714057 meters Centerline goodness [0,1] 0.9882819361152234 Centerline is valid? [False, True] Translation: X:4.50, Y:-0.22, Z:0.03 [[ 0.99971127 -0.00462483 -0.02357926 4.50317148] [ 0.00450689 0.99997708 -0.00505246 -0.22412237] [ 0.02360209 0.00494473 0.9997092 0.02888787] [ 0. 0. 0. 1. ]] SLAMing on 8.390714056999999 meters Centerline goodness [0,1] 0.9875682991628653 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.23, Z:0.03 [[ 9.99728984e-01 -4.56033856e-03 -2.28289844e-02 4.53016039e+00] [ 4.59674279e-03 9.99988245e-01 1.54242732e-03 -2.31868921e-01] [ 2.28216821e-02 -1.64694827e-03 9.99738195e-01 2.55814030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.420714057 meters Centerline goodness [0,1] 0.9875519711466213 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.23, Z:0.03 [[ 9.99724749e-01 -5.18050106e-03 -2.28820403e-02 4.55900433e+00] [ 5.21715198e-03 9.99985201e-01 1.54232593e-03 -2.34282845e-01] [ 2.28737116e-02 -1.66128049e-03 9.99736982e-01 2.62074821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.450714056999999 meters Centerline goodness [0,1] 0.987988063294631 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.23, Z:0.03 [[ 9.99726777e-01 -5.56477453e-03 -2.27025254e-02 4.58728286e+00] [ 5.60081332e-03 9.99983154e-01 1.52415928e-03 -2.34545323e-01] [ 2.26936613e-02 -1.65089545e-03 9.99741103e-01 2.75415377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.480714056999998 meters Centerline goodness [0,1] 0.9858950994832364 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.24, Z:0.03 [[ 9.99735080e-01 -5.34798301e-03 -2.23867955e-02 4.61471449e+00] [ 5.38286977e-03 9.99984390e-01 1.49839299e-03 -2.41124956e-01] [ 2.23784326e-02 -1.61850124e-03 9.99748261e-01 2.73836460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.510714057 meters Centerline goodness [0,1] 0.9858950994832364 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.24, Z:0.03 [[ 9.99733735e-01 -5.59283350e-03 -2.23870268e-02 4.64293300e+00] [ 5.62770418e-03 9.99983047e-01 1.49492979e-03 -2.42940858e-01] [ 2.23782864e-02 -1.62051931e-03 9.99748261e-01 2.77515797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.540714056999999 meters Centerline goodness [0,1] 0.9860479071860779 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.25, Z:0.03 [[ 9.99722329e-01 -5.92351656e-03 -2.28073982e-02 4.67100765e+00] [ 5.95969222e-03 9.99981088e-01 1.51849216e-03 -2.45685871e-01] [ 2.27979721e-02 -1.65399560e-03 9.99738724e-01 2.87885686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.570714056999998 meters Centerline goodness [0,1] 0.9876598946576374 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.24, Z:0.03 [[ 9.99697394e-01 -5.94828810e-03 -2.38691988e-02 4.70034386e+00] [ 5.98780997e-03 9.99980817e-01 1.58463726e-03 -2.38701185e-01] [ 2.38593150e-02 -1.72708197e-03 9.99713834e-01 2.98901692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.600714057 meters Centerline goodness [0,1] 0.9879927956774064 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.24, Z:0.03 [[ 9.99682795e-01 -6.72249988e-03 -2.42717400e-02 4.72838785e+00] [ 6.76348586e-03 9.99975836e-01 1.60693090e-03 -2.41592747e-01] [ 2.42603509e-02 -1.77058274e-03 9.99704106e-01 3.00017595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.630714056999999 meters Centerline goodness [0,1] 0.9881295957035662 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.24, Z:0.03 [[ 9.99637007e-01 -8.37265353e-03 -2.56076554e-02 4.75795602e+00] [ 8.41877158e-03 9.99963127e-01 1.69366634e-03 -2.44593552e-01] [ 2.55925307e-02 -1.90863656e-03 9.99670636e-01 2.97844095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.660714057 meters Centerline goodness [0,1] 0.9856010435480634 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.25, Z:0.03 [[ 9.99640422e-01 -8.32360268e-03 -2.54900876e-02 4.78632046e+00] [ 8.36925289e-03 9.99963558e-01 1.68473865e-03 -2.54714486e-01] [ 2.54751356e-02 -1.89746584e-03 9.99673655e-01 2.86362559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.690714057 meters Centerline goodness [0,1] 0.9874276841393473 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.25, Z:0.03 [[ 9.99641635e-01 -8.66655545e-03 -2.53277031e-02 4.81578153e+00] [ 8.71163765e-03 9.99960658e-01 1.67015579e-03 -2.49637136e-01] [ 2.53122322e-02 -1.89020304e-03 9.99677807e-01 3.03065029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.720714056999999 meters Centerline goodness [0,1] 0.9867453244634116 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.25, Z:0.03 [[ 9.99624810e-01 -9.28894008e-03 -2.57673382e-02 4.84507062e+00] [ 9.33570849e-03 9.99954984e-01 1.69532035e-03 -2.51306966e-01] [ 2.57504306e-02 -1.93524064e-03 9.99666529e-01 3.08518551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.750714057 meters Centerline goodness [0,1] 0.9849996231061082 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.26, Z:0.03 [[ 9.99592841e-01 -1.18025506e-02 -2.59779035e-02 4.87463629e+00] [ 1.18509120e-02 9.99928316e-01 1.70846000e-03 -2.55077054e-01] [ 2.59558772e-02 -2.01562624e-03 9.99661057e-01 3.24447440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.780714056999999 meters Centerline goodness [0,1] 0.983264436928473 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.26, Z:0.03 [[ 9.99587516e-01 -1.29862522e-02 -2.56155283e-02 4.90366472e+00] [ 1.30336476e-02 9.99913640e-01 1.68416378e-03 -2.62534826e-01] [ 2.55914451e-02 -2.01733286e-03 9.99670450e-01 3.28509849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.810714056999998 meters Centerline goodness [0,1] 0.9826080409576871 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.27, Z:0.03 [[ 9.99605170e-01 -1.32790330e-02 -2.47622834e-02 4.93438747e+00] [ 1.33234062e-02 9.99909914e-01 1.62783658e-03 -2.66896003e-01] [ 2.47384366e-02 -1.95711182e-03 9.99692042e-01 3.34972685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.840714057 meters Centerline goodness [0,1] 0.9847544895140022 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.27, Z:0.03 [[ 9.99601474e-01 -1.38431829e-02 -2.46020013e-02 4.96614175e+00] [ 1.38871635e-02 9.99902260e-01 1.61772727e-03 -2.66606989e-01] [ 2.45772022e-02 -1.95873458e-03 9.99696016e-01 3.46332895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.870714056999999 meters Centerline goodness [0,1] 0.984160108616398 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.27, Z:0.03 [[ 9.99584851e-01 -1.43140215e-02 -2.50046808e-02 4.99768613e+00] [ 1.43596237e-02 9.99895542e-01 1.64513449e-03 -2.68463079e-01] [ 2.49785204e-02 -2.00350932e-03 9.99685980e-01 3.45638169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.900714056999998 meters Centerline goodness [0,1] 0.9823871796810039 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.28, Z:0.03 [[ 9.99566827e-01 -1.44672456e-02 -2.56292138e-02 5.02740894e+00] [ 1.45152236e-02 9.99893226e-01 1.68694585e-03 -2.75823560e-01] [ 2.56020718e-02 -2.05822888e-03 9.99670094e-01 3.38731154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.930714057 meters Centerline goodness [0,1] 0.984746489171268 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.27, Z:0.04 [[ 9.99556221e-01 -1.43980357e-02 -2.60779337e-02 5.05934997e+00] [ 1.44477043e-02 9.99894152e-01 1.71720150e-03 -2.73316105e-01] [ 2.60504490e-02 -2.09320572e-03 9.99658438e-01 3.52577405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.960714056999999 meters Centerline goodness [0,1] 0.9855834893014316 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.28, Z:0.04 [[ 9.99547506e-01 -1.42536883e-02 -2.64880264e-02 5.09058324e+00] [ 1.43049074e-02 9.99896157e-01 1.74517802e-03 -2.76731260e-01] [ 2.64604006e-02 -2.12329710e-03 9.99647607e-01 3.55003864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.990714056999998 meters Centerline goodness [0,1] 0.9829961961861098 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.28, Z:0.04 [[ 9.99529940e-01 -1.50670159e-02 -2.66999022e-02 5.12188530e+00] [ 1.51193721e-02 9.99884147e-01 1.76010959e-03 -2.80389558e-01] [ 2.66702893e-02 -2.16296799e-03 9.99641945e-01 3.58252488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.020714057 meters Centerline goodness [0,1] 0.9815856519435966 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.29, Z:0.04 [[ 9.99518741e-01 -1.60581399e-02 -2.65409740e-02 5.15180986e+00] [ 1.61102403e-02 9.99868690e-01 1.75034469e-03 -2.85896536e-01] [ 2.65093816e-02 -2.17708379e-03 9.99646194e-01 3.58645474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.050714056999999 meters Centerline goodness [0,1] 0.9817650614547653 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.29, Z:0.04 [[ 9.99519302e-01 -1.70019282e-02 -2.59248606e-02 5.18236605e+00] [ 1.70519738e-02 9.99853141e-01 1.71054505e-03 -2.90359658e-01] [ 2.58919707e-02 -2.15179284e-03 9.99662431e-01 3.68158649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.080714057 meters Centerline goodness [0,1] 0.9803265490955747 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.30, Z:0.04 [[ 9.99483358e-01 -1.98256673e-02 -2.52974282e-02 5.21206686e+00] [ 1.98742341e-02 9.99801093e-01 1.66982745e-03 -2.98083536e-01] [ 2.52592910e-02 -2.17173175e-03 9.99678574e-01 3.80501381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.110714057 meters Centerline goodness [0,1] 0.9814437655578185 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.30, Z:0.04 [[ 9.99458327e-01 -2.09131750e-02 -2.54104796e-02 5.24458210e+00] [ 2.09625514e-02 9.99778853e-01 1.67829753e-03 -2.97229658e-01] [ 2.53697617e-02 -2.21005692e-03 9.99675693e-01 3.92641131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.140714056999999 meters Centerline goodness [0,1] 0.9821266968325791 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.30, Z:0.04 [[ 9.99463380e-01 -2.09379615e-02 -2.51903414e-02 5.27592064e+00] [ 2.09865341e-02 9.99778371e-01 1.66536975e-03 -3.02638932e-01] [ 2.51498891e-02 -2.19313404e-03 9.99681286e-01 3.90057583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.170714057 meters Centerline goodness [0,1] 0.9806252198823944 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.31, Z:0.04 [[ 9.99453247e-01 -2.14403881e-02 -2.51697530e-02 5.30756456e+00] [ 2.14890740e-02 9.99767696e-01 1.66538559e-03 -3.05465709e-01] [ 2.51281995e-02 -2.20534972e-03 9.99681804e-01 3.89647877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.200714056999999 meters Centerline goodness [0,1] 0.9820510892181193 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.31, Z:0.04 [[ 9.99468863e-01 -2.12011603e-02 -2.47487721e-02 5.33950684e+00] [ 2.12481966e-02 9.99772888e-01 1.63909702e-03 -3.05317328e-01] [ 2.47084006e-02 -2.16409321e-03 9.99692358e-01 4.09248048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.230714056999998 meters Centerline goodness [0,1] 0.9826078189196683 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.31, Z:0.04 [[ 9.99489891e-01 -2.04544830e-02 -2.45269555e-02 5.37099938e+00] [ 2.05005004e-02 9.99788520e-01 1.62619813e-03 -3.09595567e-01] [ 2.44885055e-02 -2.12818346e-03 9.99697846e-01 4.26386512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.260714057 meters Centerline goodness [0,1] 0.983604499347193 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.31, Z:0.04 [[ 9.99521284e-01 -1.86767812e-02 -2.46653726e-02 5.40319695e+00] [ 1.87228217e-02 9.99823373e-01 1.63696776e-03 -3.08606836e-01] [ 2.46304428e-02 -2.09798949e-03 9.99694423e-01 4.46836206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.290714056999999 meters Centerline goodness [0,1] 0.9834327869677971 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.31, Z:0.05 [[ 9.99529898e-01 -1.83530426e-02 -2.45590860e-02 5.43522687e+00] [ 1.83986283e-02 9.99829400e-01 1.63147570e-03 -3.08737409e-01] [ 2.45249537e-02 -2.08256224e-03 9.99697049e-01 4.53864625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.320714056999998 meters Centerline goodness [0,1] 0.9856189137636784 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.31, Z:0.05 [[ 9.99553946e-01 -1.75660229e-02 -2.41525013e-02 5.46666443e+00] [ 1.76099157e-02 9.99843644e-01 1.60581352e-03 -3.11097014e-01] [ 2.41205172e-02 -2.03042075e-03 9.99706996e-01 4.54691283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.350714057 meters Centerline goodness [0,1] 0.9861609946000252 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.32, Z:0.05 [[ 9.99550100e-01 -1.72495062e-02 -2.45367392e-02 5.49747561e+00] [ 1.72947397e-02 9.99849102e-01 1.63247097e-03 -3.18056572e-01] [ 2.45048774e-02 -2.05609304e-03 9.99697596e-01 4.51469205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.380714056999999 meters Centerline goodness [0,1] 0.9873497467429377 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.32, Z:0.05 [[ 9.99550627e-01 -1.62345951e-02 -2.51988430e-02 5.52908032e+00] [ 1.62820126e-02 9.99866032e-01 1.67768532e-03 -3.19081549e-01] [ 2.51682306e-02 -2.08721929e-03 9.99681051e-01 4.50933760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.410714056999998 meters Centerline goodness [0,1] 0.9855436832181018 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.32, Z:0.04 [[ 9.99551072e-01 -1.55907446e-02 -2.55848332e-02 5.55955417e+00] [ 1.56394348e-02 9.99876244e-01 1.70407952e-03 -3.22629149e-01] [ 2.55550990e-02 -2.10344684e-03 9.99671202e-01 4.45346184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.440714057 meters Centerline goodness [0,1] 0.9879366675043981 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.32, Z:0.05 [[ 9.99604263e-01 -1.29068008e-02 -2.49946298e-02 5.59069864e+00] [ 1.29524472e-02 9.99914727e-01 1.66520625e-03 -3.22203090e-01] [ 2.49710060e-02 -1.98828888e-03 9.99686199e-01 4.67967015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.470714056999999 meters Centerline goodness [0,1] 0.9886783908219489 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.32, Z:0.05 [[ 9.99638971e-01 -1.15054028e-02 -2.42807029e-02 5.62201903e+00] [ 1.15480728e-02 9.99932010e-01 1.61787334e-03 -3.19186847e-01] [ 2.42604377e-02 -1.89768456e-03 9.99703871e-01 4.84394452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.500714057 meters Centerline goodness [0,1] 0.9883023320029118 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.32, Z:0.05 [[ 9.99689715e-01 -8.69964195e-03 -2.33407571e-02 5.65143961e+00] [ 8.73830966e-03 9.99960611e-01 1.55517705e-03 -3.21404411e-01] [ 2.33263082e-02 -1.75865326e-03 9.99726358e-01 4.87989778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.530714056999999 meters Centerline goodness [0,1] 0.9895066366140747 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.32, Z:0.05 [[ 9.99706711e-01 -7.23213700e-03 -2.31125036e-02 5.68101180e+00] [ 7.26965124e-03 9.99972391e-01 1.53950480e-03 -3.18468169e-01] [ 2.31007316e-02 -1.70707312e-03 9.99731685e-01 4.97293736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.560714056999998 meters Centerline goodness [0,1] 0.9896327534703918 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.32, Z:0.05 [[ 9.99721664e-01 -5.93159526e-03 -2.28344008e-02 5.71059516e+00] [ 5.96785557e-03 9.99981037e-01 1.52015092e-03 -3.20146100e-01] [ 2.28249508e-02 -1.65600021e-03 9.99738105e-01 4.95960514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.590714057 meters Centerline goodness [0,1] 0.987669390195297 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.32, Z:0.05 [[ 9.99728440e-01 -3.02168723e-03 -2.31066181e-02 5.73913423e+00] [ 3.05802038e-03 9.99994143e-01 1.53723990e-03 -3.22353196e-01] [ 2.31018377e-02 -1.60748295e-03 9.99731825e-01 4.92575373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.620714056999999 meters Centerline goodness [0,1] 0.9884653961885657 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.32, Z:0.05 [[ 9.99727319e-01 -1.90630823e-03 -2.32734571e-02 5.76793256e+00] [ 1.94283337e-03 9.99996916e-01 1.54687960e-03 -3.20922662e-01] [ 2.32704365e-02 -1.59167425e-03 9.99727940e-01 5.00488839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.650714056999998 meters Centerline goodness [0,1] 0.9877898959508588 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.33, Z:0.05 [[ 9.99721067e-01 -1.26359240e-03 -2.35837263e-02 5.79570801e+00] [ 1.30083432e-03 9.99997931e-01 1.56386168e-03 -3.27625617e-01] [ 2.35817014e-02 -1.59410399e-03 9.99720642e-01 4.92644973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.680714057 meters Centerline goodness [0,1] 0.9869067511285133 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.33, Z:0.05 [[ 9.99706635e-01 5.20288420e-05 -2.42206887e-02 5.82318446e+00] [-1.32364616e-05 9.99998717e-01 1.60177926e-03 -3.29657832e-01] [ 2.42207410e-02 -1.60098875e-03 9.99705353e-01 4.86165781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.710714056999999 meters Centerline goodness [0,1] 0.9874787987628455 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.33, Z:0.05 [[ 9.99699981e-01 2.13756285e-04 -2.44928921e-02 5.85226792e+00] [-1.74231193e-04 9.99998679e-01 1.61585992e-03 -3.26744115e-01] [ 2.44932052e-02 -1.61110770e-03 9.99698698e-01 4.89479954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.740714056999998 meters Centerline goodness [0,1] 0.9859179415855355 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.33, Z:0.05 [[ 9.99693853e-01 6.88829686e-04 -2.47330846e-02 5.88078273e+00] [-6.48820890e-04 9.99998468e-01 1.62561104e-03 -3.26100633e-01] [ 2.47341665e-02 -1.60906603e-03 9.99692769e-01 4.88376132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.770714057 meters Centerline goodness [0,1] 0.9870678935588162 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.32, Z:0.05 [[ 9.99696168e-01 9.84136732e-04 -2.46292998e-02 5.90981736e+00] [-9.44651466e-04 9.99998250e-01 1.61476610e-03 -3.24630356e-01] [ 2.46308459e-02 -1.59100938e-03 9.99695349e-01 4.98559621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.800714056999999 meters Centerline goodness [0,1] 0.9861186987832133 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.33, Z:0.05 [[ 9.99700003e-01 8.86034072e-04 -2.44769215e-02 5.93664356e+00] [-8.47065061e-04 9.99998357e-01 1.60239403e-03 -3.31806109e-01] [ 2.44783011e-02 -1.58117977e-03 9.99699111e-01 4.99146022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.830714057 meters Centerline goodness [0,1] 0.9880869823657619 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.33, Z:0.05 [[ 9.99709746e-01 -5.22966148e-05 -2.40919339e-02 5.96511805e+00] [ 9.02572465e-05 9.99998756e-01 1.57457261e-03 -3.29246071e-01] [ 2.40918216e-02 -1.57629005e-03 9.99708507e-01 5.27027177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.860714057 meters Centerline goodness [0,1] 0.9882857001337362 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.33, Z:0.05 [[ 9.99699808e-01 -1.14275573e-03 -2.44742176e-02 5.99420308e+00] [ 1.18220639e-03 9.99998025e-01 1.59751916e-03 -3.30110424e-01] [ 2.44723437e-02 -1.62597317e-03 9.99699185e-01 5.34882528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.890714056999999 meters Centerline goodness [0,1] 0.9888558692421991 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.33, Z:0.05 [[ 9.99696379e-01 -1.87738076e-03 -2.45687909e-02 6.02243263e+00] [ 1.91730839e-03 9.99996879e-01 1.60168059e-03 -3.32748519e-01] [ 2.45657073e-02 -1.64830024e-03 9.99696859e-01 5.40496707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.920714057 meters Centerline goodness [0,1] 0.9877882975304675 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.34, Z:0.05 [[ 9.99688922e-01 -2.03698349e-03 -2.48577794e-02 6.05031599e+00] [ 2.07784886e-03 9.99996532e-01 1.61824837e-03 -3.37504191e-01] [ 2.48543968e-02 -1.66939568e-03 9.99689688e-01 5.39500773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.950714056999999 meters Centerline goodness [0,1] 0.9889408022267508 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.34, Z:0.05 [[ 9.99677502e-01 -2.64211295e-03 -2.52569006e-02 6.07893982e+00] [ 2.68444096e-03 9.99995049e-01 1.64213979e-03 -3.36639447e-01] [ 2.52524369e-02 -1.70941087e-03 9.99679645e-01 5.48222325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.980714056999998 meters Centerline goodness [0,1] 0.9883960229104163 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.34, Z:0.05 [[ 9.99673448e-01 -3.28868479e-03 -2.53413098e-02 6.10794456e+00] [ 3.33139915e-03 9.99993100e-01 1.64352888e-03 -3.39002503e-01] [ 2.53357299e-02 -1.72741420e-03 9.99677506e-01 5.44279123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.010714057 meters Centerline goodness [0,1] 0.9878069979388612 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.34, Z:0.05 [[ 9.99660649e-01 -4.25106237e-03 -2.57005114e-02 6.13665651e+00] [ 4.29520310e-03 9.99989394e-01 1.66254421e-03 -3.40448759e-01] [ 2.56931712e-02 -1.77236894e-03 9.99668305e-01 5.41263202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.040714056999999 meters Centerline goodness [0,1] 0.9880229126887693 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.34, Z:0.05 [[ 9.99656720e-01 -5.22980344e-03 -2.56727931e-02 6.16375426e+00] [ 5.27409352e-03 9.99984718e-01 1.65776719e-03 -3.44360622e-01] [ 2.56637309e-02 -1.79259882e-03 9.99669025e-01 5.39750223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.070714056999998 meters Centerline goodness [0,1] 0.9872173546129216 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.35, Z:0.05 [[ 9.99649137e-01 -6.26027248e-03 -2.57373823e-02 6.19143140e+00] [ 6.30504261e-03 9.99978747e-01 1.65871445e-03 -3.47982752e-01] [ 2.57264513e-02 -1.82040776e-03 9.99667363e-01 5.40042250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.100714057 meters Centerline goodness [0,1] 0.9882801785402588 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.35, Z:0.06 [[ 9.99649761e-01 -6.77749408e-03 -2.55816538e-02 6.22005161e+00] [ 6.82178121e-03 9.99975379e-01 1.64433248e-03 -3.48348561e-01] [ 2.55698795e-02 -1.81826902e-03 9.99671384e-01 5.55681132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.130714056999999 meters Centerline goodness [0,1] 0.9882508152241555 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.35, Z:0.06 [[ 9.99642381e-01 -7.34781269e-03 -2.57122476e-02 6.24852297e+00] [ 7.39257346e-03 9.99971320e-01 1.64621113e-03 -3.49214194e-01] [ 2.56994141e-02 -1.83570210e-03 9.99668030e-01 5.62580079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.160714056999998 meters Centerline goodness [0,1] 0.9867632056928168 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.35, Z:0.06 [[ 9.99640268e-01 -8.08049357e-03 -2.55742143e-02 6.27749243e+00] [ 8.12484868e-03 9.99965663e-01 1.63093180e-03 -3.50291260e-01] [ 2.55601574e-02 -1.83813172e-03 9.99671596e-01 5.58438727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.190714057 meters Centerline goodness [0,1] 0.9870962911196526 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.35, Z:0.06 [[ 9.99626257e-01 -8.73334212e-03 -2.59051309e-02 6.30611365e+00] [ 8.77896704e-03 9.99960106e-01 1.64802280e-03 -3.54994563e-01] [ 2.58897046e-02 -1.87482715e-03 9.99663047e-01 5.52285958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.220714056999999 meters Centerline goodness [0,1] 0.9860186748783153 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.36, Z:0.05 [[ 9.99605694e-01 -9.65529240e-03 -2.63672500e-02 6.33508699e+00] [ 9.70284191e-03 9.99951522e-01 1.67600675e-03 -3.58193150e-01] [ 2.63497894e-02 -1.93118315e-03 9.99650919e-01 5.46183278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.250714057 meters Centerline goodness [0,1] 0.9868094813051671 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.36, Z:0.06 [[ 9.99590940e-01 -1.19513430e-02 -2.59830180e-02 6.36573329e+00] [ 1.19982702e-02 9.99926655e-01 1.65091307e-03 -3.55980110e-01] [ 2.59613816e-02 -1.96198902e-03 9.99661021e-01 5.54197670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.280714056999999 meters Centerline goodness [0,1] 0.9854433826805962 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.36, Z:0.05 [[ 9.99606506e-01 -1.23026673e-02 -2.52086827e-02 6.39509906e+00] [ 1.23469437e-02 9.99922491e-01 1.60149099e-03 -3.64633435e-01] [ 2.51870261e-02 -1.91211100e-03 9.99680928e-01 5.48007264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.310714056999998 meters Centerline goodness [0,1] 0.9861493099432592 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.36, Z:0.06 [[ 9.99597968e-01 -1.35895539e-02 -2.48842720e-02 6.42565900e+00] [ 1.36330882e-02 9.99905816e-01 1.58064911e-03 -3.60675979e-01] [ 2.48604480e-02 -1.91926311e-03 9.99689089e-01 5.56673644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.340714057 meters Centerline goodness [0,1] 0.9857093322766 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.37, Z:0.06 [[ 9.99595663e-01 -1.43611361e-02 -2.45411391e-02 6.45546718e+00] [ 1.44037140e-02 9.99895046e-01 1.55906178e-03 -3.65513389e-01] [ 2.45161735e-02 -1.91191494e-03 9.99697605e-01 5.52359064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.370714056999999 meters Centerline goodness [0,1] 0.9821800853767497 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.38, Z:0.06 [[ 9.99585313e-01 -1.49006691e-02 -2.46408704e-02 6.48641329e+00] [ 1.49437779e-02 9.99887109e-01 1.56625763e-03 -3.76338756e-01] [ 2.46147503e-02 -1.93383582e-03 9.99695141e-01 5.51743217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.400714056999998 meters Centerline goodness [0,1] 0.9849499156996926 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.37, Z:0.06 [[ 9.99571563e-01 -1.54749853e-02 -2.48438282e-02 6.51851073e+00] [ 1.55190116e-02 9.99878324e-01 1.58028392e-03 -3.70620595e-01] [ 2.48163504e-02 -1.96515853e-03 9.99690095e-01 5.70318660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.430714057 meters Centerline goodness [0,1] 0.9849499156996926 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.37, Z:0.06 [[ 9.99572665e-01 -1.54037800e-02 -2.48437449e-02 6.55024516e+00] [ 1.54478168e-02 9.99879424e-01 1.58159211e-03 -3.72706331e-01] [ 2.48163869e-02 -1.96469786e-03 9.99690095e-01 5.74448560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.460714056999999 meters Centerline goodness [0,1] 0.9803117309269893 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.38, Z:0.06 [[ 9.99573406e-01 -1.52146524e-02 -2.49303021e-02 6.58078788e+00] [ 1.52589772e-02 9.99882313e-01 1.58867051e-03 -3.83935103e-01] [ 2.49031970e-02 -1.96840370e-03 9.99687929e-01 5.69665716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.490714056999998 meters Centerline goodness [0,1] 0.9814147638333292 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.38, Z:0.06 [[ 9.99594346e-01 -1.43051700e-02 -2.46273304e-02 6.61263180e+00] [ 1.43481806e-02 9.99895826e-01 1.57063084e-03 -3.84963125e-01] [ 2.46022967e-02 -1.92335109e-03 9.99695467e-01 5.70290314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.520714057 meters Centerline goodness [0,1] 0.9819687258398384 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.39, Z:0.06 [[ 9.99623618e-01 -1.20852239e-02 -2.46286382e-02 6.64273112e+00] [ 1.21275853e-02 9.99925223e-01 1.57136399e-03 -3.85841614e-01] [ 2.46078062e-02 -1.86945847e-03 9.99695434e-01 5.67171245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.550714056999999 meters Centerline goodness [0,1] 0.9872961416070007 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.38, Z:0.06 [[ 9.99646021e-01 -1.03297121e-02 -2.45179559e-02 6.67427241e+00] [ 1.03711694e-02 9.99944994e-01 1.56433389e-03 -3.78357660e-01] [ 2.45004481e-02 -1.81806002e-03 9.99698166e-01 5.75070557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.580714056999998 meters Centerline goodness [0,1] 0.9896023851877834 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.37, Z:0.06 [[ 9.99667831e-01 -7.74095000e-03 -2.45826259e-02 6.70473697e+00] [ 7.78184365e-03 9.99968491e-01 1.56828926e-03 -3.71243331e-01] [ 2.45697113e-02 -1.75906647e-03 9.99696571e-01 5.86147293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.610714057 meters Centerline goodness [0,1] 0.9885264792825292 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.37, Z:0.06 [[ 9.99673086e-01 -6.17322958e-03 -2.48115273e-02 6.73309329e+00] [ 6.21438682e-03 9.99979439e-01 1.58203090e-03 -3.72657530e-01] [ 2.48012509e-02 -1.73570214e-03 9.99690895e-01 5.94175529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.640714056999999 meters Centerline goodness [0,1] 0.9900431380417335 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.37, Z:0.06 [[ 9.99714247e-01 -2.15511822e-03 -2.38071511e-02 6.76343538e+00] [ 2.19185931e-03 9.99996447e-01 1.51729273e-03 -3.70680620e-01] [ 2.38037966e-02 -1.56904109e-03 9.99715418e-01 6.16566440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.670714057 meters Centerline goodness [0,1] 0.9905183312262958 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.37, Z:0.06 [[ 9.99713214e-01 -1.50399384e-03 -2.39003739e-02 6.79230109e+00] [ 1.54077291e-03 9.99997657e-01 1.52050824e-03 -3.70228662e-01] [ 2.38980311e-02 -1.55689723e-03 9.99713189e-01 6.26982683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.700714056999999 meters Centerline goodness [0,1] 0.9902452549592922 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.37, Z:0.06 [[ 9.99730297e-01 -2.98490410e-04 -2.32216218e-02 6.82086043e+00] [ 3.32797452e-04 9.99998859e-01 1.47352439e-03 -3.71741688e-01] [ 2.32211554e-02 -1.48085507e-03 9.99729256e-01 6.34449990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.730714056999998 meters Centerline goodness [0,1] 0.9915765050061789 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.37, Z:0.06 [[ 9.99733040e-01 2.91284171e-03 -2.29208218e-02 6.85118964e+00] [-2.88028305e-03 9.99994796e-01 1.45336948e-03 -3.68998049e-01] [ 2.29249359e-02 -1.38696304e-03 9.99736227e-01 6.29161396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.760714057 meters Centerline goodness [0,1] 0.9918436403121134 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.37, Z:0.06 [[ 9.99723965e-01 4.46335233e-03 -2.30666916e-02 6.87983708e+00] [-4.43081127e-03 9.99989116e-01 1.46165464e-03 -3.66750475e-01] [ 2.30729645e-02 -1.35904701e-03 9.99732860e-01 6.29334564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.790714056999999 meters Centerline goodness [0,1] 0.9928250214744075 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.37, Z:0.06 [[ 9.99717256e-01 7.77297652e-03 -2.24719477e-02 6.91021256e+00] [-7.74294998e-03 9.99969011e-01 1.42288242e-03 -3.65729269e-01] [ 2.24823113e-02 -1.24848094e-03 9.99746461e-01 6.32728645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.820714056999998 meters Centerline goodness [0,1] 0.9922398321579333 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.37, Z:0.06 [[ 9.99709135e-01 9.70578082e-03 -2.20780984e-02 6.93771952e+00] [-9.67729046e-03 9.99952198e-01 1.39691320e-03 -3.68639950e-01] [ 2.20906012e-02 -1.18285071e-03 9.99755273e-01 6.37889772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.850714057 meters Centerline goodness [0,1] 0.9929506291373995 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.37, Z:0.06 [[ 9.99695416e-01 1.15416052e-02 -2.18143459e-02 6.96672973e+00] [-1.15142655e-02 9.99932758e-01 1.37848289e-03 -3.68854771e-01] [ 2.18287890e-02 -1.12688685e-03 9.99761089e-01 6.44175876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.880714056999999 meters Centerline goodness [0,1] 0.9928404590230527 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.37, Z:0.06 [[ 9.99668636e-01 1.34974981e-02 -2.19188329e-02 6.99538976e+00] [-1.34703981e-02 9.99908313e-01 1.38356474e-03 -3.69127196e-01] [ 2.19354979e-02 -1.08785087e-03 9.99758796e-01 6.44412391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.910714056999998 meters Centerline goodness [0,1] 0.9934165374545639 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.37, Z:0.06 [[ 9.99617043e-01 1.65827789e-02 -2.21535215e-02 7.02560138e+00] [-1.65558806e-02 9.99861966e-01 1.39704790e-03 -3.66230756e-01] [ 2.21736305e-02 -1.02974183e-03 9.99753605e-01 6.41867406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.940714057 meters Centerline goodness [0,1] 0.9927761102914993 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.37, Z:0.06 [[ 9.99598274e-01 1.78876255e-02 -2.19846121e-02 7.05353503e+00] [-1.78614813e-02 9.99839512e-01 1.38501234e-03 -3.68558449e-01] [ 2.20058584e-02 -9.91778211e-04 9.99757350e-01 6.39472926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.970714056999999 meters Centerline goodness [0,1] 0.9928204083710983 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.37, Z:0.06 [[ 9.99547775e-01 2.08788415e-02 -2.16407016e-02 7.08245541e+00] [-2.08542392e-02 9.99781599e-01 1.36193031e-03 -3.69504215e-01] [ 2.16644107e-02 -9.10014044e-04 9.99764885e-01 6.35628501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.000714057 meters Centerline goodness [0,1] 0.9931169358935283 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.37, Z:0.06 [[ 9.99524034e-01 2.22714776e-02 -2.13467996e-02 7.11152131e+00] [-2.22478780e-02 9.99751584e-01 1.34241219e-03 -3.69323141e-01] [ 2.13713942e-02 -8.66852255e-04 9.99771230e-01 6.40596410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.030714056999999 meters Centerline goodness [0,1] 0.9934637198301076 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.37, Z:0.06 [[ 9.99489301e-01 2.39751094e-02 -2.11265586e-02 7.13930440e+00] [-2.39524079e-02 9.99712219e-01 1.32697417e-03 -3.70674791e-01] [ 2.11522932e-02 -8.20264534e-04 9.99775929e-01 6.41399940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.060714056999998 meters Centerline goodness [0,1] 0.9934899806733801 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.37, Z:0.07 [[ 9.99457398e-01 2.53439755e-02 -2.10378944e-02 7.16866031e+00] [-2.53218298e-02 9.99678482e-01 1.31842500e-03 -3.68454100e-01] [ 2.10645445e-02 -7.84991635e-04 9.99777810e-01 6.50387241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.090714057 meters Centerline goodness [0,1] 0.9950410701116394 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.37, Z:0.07 [[ 9.99387568e-01 2.87406439e-02 -1.99615810e-02 7.19864167e+00] [-2.87214473e-02 9.99586675e-01 1.24776176e-03 -3.68762161e-01] [ 1.99891919e-02 -6.73672089e-04 9.99799969e-01 6.56153965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.120714056999999 meters Centerline goodness [0,1] 0.9944532084881177 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.37, Z:0.07 [[ 9.99324492e-01 3.08290245e-02 -2.00032598e-02 7.22772250e+00] [-3.08102118e-02 9.99524474e-01 1.24805331e-03 -3.70442673e-01] [ 2.00322240e-02 -6.30905562e-04 9.99799136e-01 6.58388691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.150714056999998 meters Centerline goodness [0,1] 0.9943465584991761 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.37, Z:0.07 [[ 9.99292897e-01 3.18021328e-02 -2.00581752e-02 7.25537857e+00] [-3.17834860e-02 9.99493998e-01 1.24782363e-03 -3.72728963e-01] [ 2.00877092e-02 -6.09422559e-04 9.99798036e-01 6.63251471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.180714057 meters Centerline goodness [0,1] 0.9945956917768249 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.38, Z:0.07 [[ 9.99262772e-01 3.24880323e-02 -2.04558137e-02 7.28301213e+00] [-3.24688198e-02 9.99471941e-01 1.27073056e-03 -3.75663004e-01] [ 2.04862954e-02 -6.05617612e-04 9.99789950e-01 6.64380913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.210714056999999 meters Centerline goodness [0,1] 0.9939858400791738 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.38, Z:0.07 [[ 9.99237156e-01 3.29492962e-02 -2.09630674e-02 7.31100784e+00] [-3.29292594e-02 9.99456839e-01 1.30037803e-03 -3.79611304e-01] [ 2.09945276e-02 -6.09087764e-04 9.99779405e-01 6.58643112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.240714056999998 meters Centerline goodness [0,1] 0.9941603615497893 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.38, Z:0.07 [[ 9.99179687e-01 3.43825391e-02 -2.13961271e-02 7.34003752e+00] [-3.43620592e-02 9.99408573e-01 1.32419957e-03 -3.82562515e-01] [ 2.14290022e-02 -5.87898322e-04 9.99770200e-01 6.59309030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.270714057 meters Centerline goodness [0,1] 0.9954806276341848 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.38, Z:0.07 [[ 9.99163382e-01 3.48687012e-02 -2.13707870e-02 7.36840969e+00] [-3.48484885e-02 9.99391738e-01 1.31760840e-03 -3.83113085e-01] [ 2.14037312e-02 -5.71766440e-04 9.99770750e-01 6.66318575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.300714056999999 meters Centerline goodness [0,1] 0.99484105910022 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.39, Z:0.07 [[ 9.99118409e-01 3.59574882e-02 -2.16671068e-02 7.39558296e+00] [-3.59370558e-02 9.99353168e-01 1.33177614e-03 -3.87837698e-01] [ 2.17009792e-02 -5.51950034e-04 9.99764354e-01 6.66113539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.330714056999998 meters Centerline goodness [0,1] 0.9946954962236985 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.39, Z:0.07 [[ 9.99125849e-01 3.57700507e-02 -2.16342452e-02 7.42208708e+00] [-3.57496980e-02 9.99359894e-01 1.32691312e-03 -3.91898624e-01] [ 2.16678608e-02 -5.52335461e-04 9.99765072e-01 6.65189534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.360714057 meters Centerline goodness [0,1] 0.9938542138935066 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.40, Z:0.07 [[ 9.99129377e-01 3.57841202e-02 -2.14472687e-02 7.44933537e+00] [-3.57642258e-02 9.99359396e-01 1.31056766e-03 -3.96844767e-01] [ 2.14804270e-02 -5.42381688e-04 9.99769122e-01 6.63513874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.390714056999999 meters Centerline goodness [0,1] 0.994239573376264 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.40, Z:0.07 [[ 9.99120378e-01 3.59866784e-02 -2.15274067e-02 7.47736746e+00] [-3.59667770e-02 9.99352126e-01 1.31106042e-03 -4.00897683e-01] [ 2.15606404e-02 -5.35635746e-04 9.99767399e-01 6.61133372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.420714057 meters Centerline goodness [0,1] 0.9930022573363431 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.40, Z:0.07 [[ 9.99114975e-01 3.60312747e-02 -2.17028741e-02 7.50513954e+00] [-3.60111351e-02 9.99350519e-01 1.31820385e-03 -4.04466738e-01] [ 2.17362751e-02 -5.35492070e-04 9.99763596e-01 6.57786880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.450714056999999 meters Centerline goodness [0,1] 0.993004372267333 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.41, Z:0.07 [[ 9.99079174e-01 3.70649155e-02 -2.16101045e-02 7.53285175e+00] [-3.70452823e-02 9.99312732e-01 1.30827219e-03 -4.09762053e-01] [ 2.16437435e-02 -5.06515080e-04 9.99765618e-01 6.59278582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.480714056999998 meters Centerline goodness [0,1] 0.9927563382040714 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.41, Z:0.07 [[ 9.99070821e-01 3.72343301e-02 -2.17048126e-02 7.56091069e+00] [-3.72146399e-02 9.99306436e-01 1.31052891e-03 -4.12722816e-01] [ 2.17385556e-02 -5.01574403e-04 9.99763564e-01 6.59968346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.510714057 meters Centerline goodness [0,1] 0.9933949145808502 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.42, Z:0.07 [[ 9.99049250e-01 3.76205846e-02 -2.20292547e-02 7.58890966e+00] [-3.76004905e-02 9.99291972e-01 1.32579658e-03 -4.17870974e-01] [ 2.20635346e-02 -4.96225301e-04 9.99756447e-01 6.62173166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.540714056999999 meters Centerline goodness [0,1] 0.9937840515106489 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.42, Z:0.07 [[ 9.99050340e-01 3.78075223e-02 -2.16566135e-02 7.61731540e+00] [-3.77882136e-02 9.99284924e-01 1.30026989e-03 -4.21328271e-01] [ 2.16902873e-02 -4.80670345e-04 9.99764622e-01 6.62912238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.570714056999998 meters Centerline goodness [0,1] 0.9931403755521011 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.43, Z:0.07 [[ 9.99057479e-01 3.75073695e-02 -2.18483558e-02 7.64535631e+00] [-3.74877642e-02 9.99296233e-01 1.30636105e-03 -4.25241854e-01] [ 2.18819778e-02 -4.86083770e-04 9.99760443e-01 6.67075744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.600714057 meters Centerline goodness [0,1] 0.992928524074938 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.43, Z:0.07 [[ 9.99070333e-01 3.68064924e-02 -2.24444286e-02 7.67247567e+00] [-3.67857229e-02 9.99322281e-01 1.33768105e-03 -4.31305797e-01] [ 2.24784529e-02 -5.10802918e-04 9.99747197e-01 6.63564715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.630714056999999 meters Centerline goodness [0,1] 0.992484516144826 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.44, Z:0.07 [[ 9.99080109e-01 3.61594933e-02 -2.30526934e-02 7.70058092e+00] [-3.61374548e-02 9.99345887e-01 1.37201488e-03 -4.35564362e-01] [ 2.30872257e-02 -5.37687106e-04 9.99733310e-01 6.60035453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.660714056999998 meters Centerline goodness [0,1] 0.9910210239439361 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.44, Z:0.07 [[ 9.99154447e-01 3.33543994e-02 -2.40390409e-02 7.72884453e+00] [-3.33296663e-02 9.99443391e-01 1.42891565e-03 -4.43544771e-01] [ 2.40733212e-02 -6.26494213e-04 9.99709999e-01 6.50669086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.690714057 meters Centerline goodness [0,1] 0.9909526473234915 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.45, Z:0.07 [[ 9.99213278e-01 3.14783237e-02 -2.41234269e-02 7.75779393e+00] [-3.14529545e-02 9.99504210e-01 1.43044904e-03 -4.45982652e-01] [ 2.41564949e-02 -6.70570624e-04 9.99707964e-01 6.63464713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.720714056999999 meters Centerline goodness [0,1] 0.9895276561781992 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.45, Z:0.06 [[ 9.99280595e-01 2.92868466e-02 -2.40950859e-02 7.78463024e+00] [-2.92610148e-02 9.99570790e-01 1.42402831e-03 -4.54871314e-01] [ 2.41264494e-02 -7.17957192e-04 9.99708657e-01 6.49909346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.750714057 meters Centerline goodness [0,1] 0.989007824125186 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.46, Z:0.07 [[ 9.99386404e-01 2.52162711e-02 -2.43095546e-02 7.81335762e+00] [-2.51888416e-02 9.99681682e-01 1.43394154e-03 -4.60633718e-01] [ 2.43379751e-02 -8.20732156e-04 9.99703451e-01 6.62336562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.780714056999999 meters Centerline goodness [0,1] 0.9862762383550547 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.47, Z:0.06 [[ 9.99448174e-01 2.29148827e-02 -2.40469301e-02 7.84091674e+00] [-2.28874332e-02 9.99737045e-01 1.41613658e-03 -4.70474315e-01] [ 2.40730575e-02 -8.64982616e-04 9.99709828e-01 6.48077989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.810714056999998 meters Centerline goodness [0,1] 0.9867815273624757 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.47, Z:0.07 [[ 9.99488756e-01 1.97834466e-02 -2.51165829e-02 7.87004278e+00] [-1.97525716e-02 9.99803808e-01 1.47679387e-03 -4.69526213e-01] [ 2.51408713e-02 -9.79921764e-04 9.99683438e-01 6.68075111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.840714057 meters Centerline goodness [0,1] 0.9863349932737013 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.48, Z:0.07 [[ 9.99504978e-01 1.81109326e-02 -2.57253538e-02 7.89703298e+00] [-1.80780415e-02 9.99835438e-01 1.51056241e-03 -4.75600896e-01] [ 2.57484780e-02 -1.04475063e-03 9.99667907e-01 6.58489675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.870714056999999 meters Centerline goodness [0,1] 0.9831432821021319 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.49, Z:0.06 [[ 9.99538618e-01 1.64024495e-02 -2.55638688e-02 7.92446195e+00] [-1.63694740e-02 9.99864888e-01 1.49867613e-03 -4.88063508e-01] [ 2.55849967e-02 -1.07951758e-03 9.99672068e-01 6.33918440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.900714056999998 meters Centerline goodness [0,1] 0.9850151255774687 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.48, Z:0.07 [[ 9.99580810e-01 1.29172896e-02 -2.59103953e-02 7.95406513e+00] [-1.28823000e-02 9.99915869e-01 1.51687888e-03 -4.83393564e-01] [ 2.59278094e-02 -1.18245753e-03 9.99663119e-01 6.69285765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.930714057 meters Centerline goodness [0,1] 0.9853825104661225 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.49, Z:0.07 [[ 9.99592823e-01 1.07530397e-02 -2.64303035e-02 7.98348461e+00] [-1.07159168e-02 9.99941388e-01 1.54579862e-03 -4.86393299e-01] [ 2.64453764e-02 -1.26194427e-03 9.99649463e-01 6.75353985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.960714056999999 meters Centerline goodness [0,1] 0.9848646889240212 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.50, Z:0.07 [[ 9.99629501e-01 6.15434049e-03 -2.65138446e-02 8.01244187e+00] [-6.11539475e-03 9.99980100e-01 1.54971898e-03 -4.95242926e-01] [ 2.65228545e-02 -1.38700219e-03 9.99647245e-01 6.77558047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.990714056999998 meters Centerline goodness [0,1] 0.9831638915263657 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.50, Z:0.07 [[ 9.99628237e-01 4.04248444e-03 -2.69637942e-02 8.04096100e+00] [-4.00148068e-03 9.99990755e-01 1.57448131e-03 -5.00541993e-01] [ 2.69699097e-02 -1.46600087e-03 9.99635171e-01 6.82095858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.020714057 meters Centerline goodness [0,1] 0.9830174690700153 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.50, Z:0.07 [[ 9.99626643e-01 1.75042457e-03 -2.72674081e-02 8.07019068e+00] [-1.70769032e-03 9.99997277e-01 1.59043589e-03 -5.02968326e-01] [ 2.72701178e-02 -1.54327780e-03 9.99626910e-01 6.89807815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.050714056999999 meters Centerline goodness [0,1] 0.9816107846526098 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.51, Z:0.07 [[ 9.99601612e-01 -1.86225180e-03 -2.81629211e-02 8.09839647e+00] [ 1.90924069e-03 9.99996830e-01 1.64166825e-03 -5.13492083e-01] [ 2.81597746e-02 -1.69478402e-03 9.99601998e-01 6.67762632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.080714056999998 meters Centerline goodness [0,1] 0.9829968854539163 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.52, Z:0.07 [[ 9.99573575e-01 -3.86588073e-03 -2.89434477e-02 8.12763048e+00] [ 3.91631617e-03 9.99990910e-01 1.68606617e-03 -5.15180151e-01] [ 2.89366664e-02 -1.79869888e-03 9.99579629e-01 6.71190315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.110714057 meters Centerline goodness [0,1] 0.9818486777106358 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.52, Z:0.07 [[ 9.99558586e-01 -7.04083370e-03 -2.88627690e-02 8.15731165e+00] [ 7.09227772e-03 9.99973438e-01 1.68037998e-03 -5.21943329e-01] [ 2.88501711e-02 -1.88434101e-03 9.99581971e-01 6.72531033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.140714056999999 meters Centerline goodness [0,1] 0.9834001013031266 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.52, Z:0.07 [[ 9.99553627e-01 -8.56682550e-03 -2.86208997e-02 8.18631538e+00] [ 8.61791120e-03 9.99961484e-01 1.66203249e-03 -5.21876856e-01] [ 2.86055590e-02 -1.90794298e-03 9.99588956e-01 6.88002858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.170714057 meters Centerline goodness [0,1] 0.9822616916792877 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.53, Z:0.07 [[ 9.99552071e-01 -9.26496138e-03 -2.84572957e-02 8.21380983e+00] [ 9.31559227e-03 9.99955252e-01 1.64712612e-03 -5.25680166e-01] [ 2.84407618e-02 -1.91148489e-03 9.99593652e-01 6.95083797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.200714056999999 meters Centerline goodness [0,1] 0.9832310088884816 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.53, Z:0.07 [[ 9.99551888e-01 -1.03387592e-02 -2.80915116e-02 8.24272879e+00] [ 1.03883608e-02 9.99944727e-01 1.62034175e-03 -5.26848918e-01] [ 2.80732066e-02 -1.91144041e-03 9.99604042e-01 7.02768698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.230714056999998 meters Centerline goodness [0,1] 0.9824465167306637 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.53, Z:0.07 [[ 9.99564290e-01 -1.06669803e-02 -2.75217396e-02 8.27001808e+00] [ 1.07145867e-02 9.99941344e-01 1.58288316e-03 -5.31805629e-01] [ 2.75032407e-02 -1.87707755e-03 9.99619952e-01 6.98299903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.260714057 meters Centerline goodness [0,1] 0.982829576112305 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.53, Z:0.07 [[ 9.99577588e-01 -1.00792656e-02 -2.72590239e-02 8.29866400e+00] [ 1.01256200e-02 9.99947513e-01 1.56301533e-03 -5.33516741e-01] [ 2.72418391e-02 -1.83836961e-03 9.99627182e-01 6.97869559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.290714056999999 meters Centerline goodness [0,1] 0.9823494444190406 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.53, Z:0.07 [[ 9.99569821e-01 -9.57807121e-03 -2.77206417e-02 8.32791854e+00] [ 9.62562971e-03 9.99952420e-01 1.58270093e-03 -5.33500429e-01] [ 2.77041635e-02 -1.84884872e-03 9.99614456e-01 7.00907205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.320714056999998 meters Centerline goodness [0,1] 0.9823494444190406 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.54, Z:0.07 [[ 9.99567360e-01 -9.83047048e-03 -2.77210267e-02 8.35615434e+00] [ 9.87793882e-03 9.99949970e-01 1.57593594e-03 -5.35063158e-01] [ 2.77041477e-02 -1.84908073e-03 9.99614456e-01 7.04593822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.350714057 meters Centerline goodness [0,1] 0.9840866419379951 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.53, Z:0.07 [[ 9.99563474e-01 -9.25264935e-03 -2.80579711e-02 8.38508158e+00] [ 9.30085066e-03 9.99955485e-01 1.58789562e-03 -5.33106191e-01] [ 2.80420299e-02 -1.84816546e-03 9.99605036e-01 7.08283547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.380714056999999 meters Centerline goodness [0,1] 0.9842642148117653 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.53, Z:0.07 [[ 9.99594330e-01 -6.16636530e-03 -2.78056109e-02 8.41435878e+00] [ 6.21240761e-03 9.99979471e-01 1.56978058e-03 -5.33966480e-01] [ 2.77953602e-02 -1.74188356e-03 9.99612117e-01 7.04267588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.410714056999998 meters Centerline goodness [0,1] 0.9843453184720664 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.53, Z:0.07 [[ 9.99606784e-01 -4.15915781e-03 -2.77304622e-02 8.44422994e+00] [ 4.20415442e-03 9.99989939e-01 1.56453665e-03 -5.32230331e-01] [ 2.77236760e-02 -1.68050459e-03 9.99614212e-01 7.07606449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.440714057 meters Centerline goodness [0,1] 0.9851461207194344 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.53, Z:0.07 [[ 9.99618533e-01 -4.99161132e-04 -2.76141249e-02 8.47482951e+00] [ 5.42369147e-04 9.99998640e-01 1.55723921e-03 -5.29107655e-01] [ 2.76133100e-02 -1.57162222e-03 9.99617444e-01 7.17694429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.470714056999999 meters Centerline goodness [0,1] 0.9858843066703571 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.53, Z:0.07 [[ 9.99618581e-01 1.41105643e-03 -2.75808298e-02 8.50238985e+00] [-1.36872004e-03 9.99997856e-01 1.55381213e-03 -5.30286918e-01] [ 2.75829632e-02 -1.51546905e-03 9.99618369e-01 7.16177492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.500714057 meters Centerline goodness [0,1] 0.987060484711002 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.53, Z:0.07 [[ 9.99609387e-01 5.07940768e-03 -2.74822288e-02 8.53300570e+00] [-5.03879494e-03 9.99986109e-01 1.54683241e-03 -5.26157257e-01] [ 2.74897040e-02 -1.40775089e-03 9.99621095e-01 7.20353353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.530714056999999 meters Centerline goodness [0,1] 0.9863926751078208 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.53, Z:0.07 [[ 9.99625161e-01 6.93254770e-03 -2.64854169e-02 8.56132060e+00] [-6.89550902e-03 9.99975116e-01 1.48953210e-03 -5.28560827e-01] [ 2.64950841e-02 -1.30634333e-03 9.99648090e-01 7.15220612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.560714056999998 meters Centerline goodness [0,1] 0.9878125363414351 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.53, Z:0.07 [[ 9.99611024e-01 8.00476889e-03 -2.67156226e-02 8.59018765e+00] [-7.96751679e-03 9.99967133e-01 1.50055211e-03 -5.25920954e-01] [ 2.67267561e-02 -1.28711126e-03 9.99641948e-01 7.23214605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.590714057 meters Centerline goodness [0,1] 0.9879803780252482 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.52, Z:0.07 [[ 9.99605343e-01 9.31345998e-03 -2.65031655e-02 8.61875348e+00] [-9.27730752e-03 9.99955860e-01 1.48671733e-03 -5.24329581e-01] [ 2.65158422e-02 -1.24025257e-03 9.99647624e-01 7.20783341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.620714056999999 meters Centerline goodness [0,1] 0.9883138952906395 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.52, Z:0.07 [[ 9.99593980e-01 9.67366516e-03 -2.68010351e-02 8.64795480e+00] [-9.63687650e-03 9.99952437e-01 1.50148344e-03 -5.24679910e-01] [ 2.68142852e-02 -1.24259554e-03 9.99639660e-01 7.20490532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.650714056999998 meters Centerline goodness [0,1] 0.9812676642639616 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.55, Z:0.07 [[ 9.99664781e-01 1.25729856e-02 -2.26328330e-02 8.67606105e+00] [-1.25475199e-02 9.99920474e-01 1.26683173e-03 -5.48911219e-01] [ 2.26469609e-02 -9.82421141e-04 9.99743042e-01 6.83266025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.680714057 meters Centerline goodness [0,1] 0.9885610234382295 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.53, Z:0.07 [[ 9.99624540e-01 8.25724382e-03 -2.61265414e-02 8.70795306e+00] [-8.22184976e-03 9.99965131e-01 1.46185121e-03 -5.26354533e-01] [ 2.61377012e-02 -1.24649385e-03 9.99657575e-01 7.27041326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.710714056999999 meters Centerline goodness [0,1] 0.9868129303302602 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.53, Z:0.07 [[ 9.99652405e-01 6.91895139e-03 -2.54400671e-02 8.73555931e+00] [-6.88498963e-03 9.99975287e-01 1.42232175e-03 -5.29762555e-01] [ 2.54492794e-02 -1.24667276e-03 9.99675337e-01 7.29588426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.740714056999998 meters Centerline goodness [0,1] 0.9869264291207382 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.53, Z:0.07 [[ 9.99682280e-01 4.06833168e-03 -2.48754561e-02 8.76507312e+00] [-4.03501985e-03 9.99990894e-01 1.38919243e-03 -5.31738440e-01] [ 2.48808813e-02 -1.28837810e-03 9.99689593e-01 7.36814295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.770714057 meters Centerline goodness [0,1] 0.9866280157097438 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.53, Z:0.07 [[ 9.99678409e-01 2.80833189e-03 -2.52029996e-02 8.79356147e+00] [-2.77377152e-03 9.99995164e-01 1.40613475e-03 -5.32458913e-01] [ 2.52068266e-02 -1.33577519e-03 9.99681365e-01 7.41304543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.800714056999999 meters Centerline goodness [0,1] 0.9860252808988764 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.54, Z:0.07 [[ 9.99679757e-01 2.36570503e-04 -2.53046778e-02 8.82201693e+00] [-2.00949829e-04 9.99998985e-01 1.41020513e-03 -5.37121881e-01] [ 2.53049858e-02 -1.40466855e-03 9.99678791e-01 7.30433653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.830714056999998 meters Centerline goodness [0,1] 0.9863980797289029 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.54, Z:0.07 [[ 9.99670069e-01 -1.34968985e-03 -2.56501714e-02 8.85111763e+00] [ 1.38676887e-03 9.99998019e-01 1.42783264e-03 -5.35984003e-01] [ 2.56481935e-02 -1.46293241e-03 9.99669961e-01 7.34039636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.860714057 meters Centerline goodness [0,1] 0.9858455193100862 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.54, Z:0.07 [[ 9.99679116e-01 -2.57253991e-03 -2.52001400e-02 8.87917263e+00] [ 2.60866515e-03 9.99995616e-01 1.40076364e-03 -5.38626179e-01] [ 2.51964260e-02 -1.46605288e-03 9.99681445e-01 7.29774214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.890714056999999 meters Centerline goodness [0,1] 0.985591049056249 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.54, Z:0.07 [[ 9.99668322e-01 -5.69338270e-03 -2.51163436e-02 8.90935299e+00] [ 5.73021484e-03 9.99982610e-01 1.39473202e-03 -5.39659640e-01] [ 2.51079661e-02 -1.53819146e-03 9.99683562e-01 7.33981453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.920714057 meters Centerline goodness [0,1] 0.9862852572396433 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.54, Z:0.07 [[ 9.99657241e-01 -7.15465755e-03 -2.51835364e-02 8.93786396e+00] [ 7.19206523e-03 9.99973164e-01 1.39513959e-03 -5.39633187e-01] [ 2.51728789e-02 -1.57578304e-03 9.99681871e-01 7.40137538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.950714056999999 meters Centerline goodness [0,1] 0.9857601662494687 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.54, Z:0.07 [[ 9.99656601e-01 -8.72826200e-03 -2.47082328e-02 8.96776963e+00] [ 8.76465916e-03 9.99960658e-01 1.36516330e-03 -5.40955055e-01] [ 2.46953452e-02 -1.58125374e-03 9.99693773e-01 7.48397779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.980714056999998 meters Centerline goodness [0,1] 0.9849110958936457 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.54, Z:0.08 [[ 9.99660693e-01 -1.18694380e-02 -2.31865488e-02 8.99826834e+00] [ 1.19023199e-02 9.99928345e-01 1.28064802e-03 -5.43484575e-01] [ 2.31696868e-02 -1.55618721e-03 9.99730336e-01 7.58590760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.010714057 meters Centerline goodness [0,1] 0.9845816535822901 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.55, Z:0.08 [[ 9.99655556e-01 -1.38038201e-02 -2.23209462e-02 9.02832157e+00] [ 1.38347682e-02 9.99903535e-01 1.23267028e-03 -5.46315818e-01] [ 2.23017775e-02 -1.54105081e-03 9.99750097e-01 7.59907326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.040714056999999 meters Centerline goodness [0,1] 0.9825179788039364 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.55, Z:0.07 [[ 9.99578130e-01 -1.80712033e-02 -2.27375120e-02 9.05725859e+00] [ 1.81044127e-02 9.99835313e-01 1.25553628e-03 -5.51647345e-01] [ 2.27110784e-02 -1.66665591e-03 9.99740681e-01 7.48351607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.070714056999998 meters Centerline goodness [0,1] 0.9836271443465074 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.55, Z:0.08 [[ 9.99517568e-01 -2.03483117e-02 -2.34643731e-02 9.08867980e+00] [ 2.03843150e-02 9.99791378e-01 1.29619165e-03 -5.50630913e-01] [ 2.34331026e-02 -1.77387150e-03 9.99723833e-01 7.52450154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.100714057 meters Centerline goodness [0,1] 0.9833510449876018 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.56, Z:0.07 [[ 9.99452895e-01 -2.24283394e-02 -2.43080397e-02 9.11859139e+00] [ 2.24676025e-02 9.99746669e-01 1.34328683e-03 -5.55974083e-01] [ 2.42717540e-02 -1.88869528e-03 9.99703613e-01 7.44225014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.130714056999999 meters Centerline goodness [0,1] 0.9808171104735257 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.56, Z:0.07 [[ 9.99342641e-01 -2.59665989e-02 -2.52986421e-02 9.14806997e+00] [ 2.60102583e-02 9.99660698e-01 1.39817021e-03 -5.61300014e-01] [ 2.52537525e-02 -2.05527532e-03 9.99678960e-01 7.36218597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.160714056999998 meters Centerline goodness [0,1] 0.9824324324324324 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.56, Z:0.07 [[ 9.99281317e-01 -2.79298849e-02 -2.56275421e-02 9.17921864e+00] [ 2.79753382e-02 9.99607610e-01 1.41672982e-03 -5.59157690e-01] [ 2.55779170e-02 -2.13265080e-03 9.99670557e-01 7.40750516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.190714057 meters Centerline goodness [0,1] 0.9751557208156691 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.57, Z:0.07 [[ 9.99210455e-01 -3.09578485e-02 -2.49013514e-02 9.20829076e+00] [ 3.10016963e-02 9.99518384e-01 1.37664714e-03 -5.72171437e-01] [ 2.48467405e-02 -2.14754434e-03 9.99688965e-01 7.30239840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.220714056999999 meters Centerline goodness [0,1] 0.9805398469799933 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.56, Z:0.07 [[ 9.99180936e-01 -3.20767681e-02 -2.46685622e-02 9.24050005e+00] [ 3.21201496e-02 9.99483084e-01 1.36424645e-03 -5.63418395e-01] [ 2.46120500e-02 -2.15548695e-03 9.99694754e-01 7.49166159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.250714056999998 meters Centerline goodness [0,1] 0.9796710448467637 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.57, Z:0.08 [[ 9.99163729e-01 -3.33801031e-02 -2.36138117e-02 9.27112648e+00] [ 3.34202397e-02 9.99440533e-01 1.30699797e-03 -5.65474102e-01] [ 2.35569728e-02 -2.09508421e-03 9.99720301e-01 7.57420513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.280714056999999 meters Centerline goodness [0,1] 0.9799433751278818 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.56, Z:0.08 [[ 9.99139842e-01 -3.37710675e-02 -2.40643275e-02 9.30322051e+00] [ 3.38128946e-02 9.99427291e-01 1.33324295e-03 -5.64217808e-01] [ 2.40055206e-02 -2.14578071e-03 9.99709523e-01 7.61842755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.310714056999998 meters Centerline goodness [0,1] 0.9716241028208981 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.58, Z:0.07 [[ 9.99146645e-01 -3.36133317e-02 -2.40026090e-02 9.33408776e+00] [ 3.36549368e-02 9.99432625e-01 1.33138822e-03 -5.75727391e-01] [ 2.39442381e-02 -2.13805836e-03 9.99711009e-01 7.48947735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.340714057 meters Centerline goodness [0,1] 0.9800622307324078 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.57, Z:0.08 [[ 9.99167769e-01 -3.32128775e-02 -2.36785401e-02 9.36726350e+00] [ 3.32532944e-02 9.99446091e-01 1.31509072e-03 -5.67019206e-01] [ 2.36217464e-02 -2.10138572e-03 9.99718759e-01 7.63187738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.370714056999999 meters Centerline goodness [0,1] 0.9811048608106159 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.57, Z:0.08 [[ 9.99181235e-01 -3.28795174e-02 -2.35753450e-02 9.39927147e+00] [ 3.29195368e-02 9.99457145e-01 1.31131871e-03 -5.65628487e-01] [ 2.35194315e-02 -2.08633448e-03 9.99721203e-01 7.75362110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.400714056999998 meters Centerline goodness [0,1] 0.9813603109834126 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.56, Z:0.08 [[ 9.99205221e-01 -3.26181809e-02 -2.29124616e-02 9.43148577e+00] [ 3.26559508e-02 9.99465838e-01 1.27611914e-03 -5.63252627e-01] [ 2.28585980e-02 -2.02333313e-03 9.99736661e-01 7.92041925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.430714057 meters Centerline goodness [0,1] 0.9810369369586721 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.57, Z:0.08 [[ 9.99212444e-01 -3.24423174e-02 -2.28470380e-02 9.46308661e+00] [ 3.24798884e-02 9.99471576e-01 1.27520236e-03 -5.66827367e-01] [ 2.27935945e-02 -2.01626731e-03 9.99738159e-01 7.96975535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.460714056999999 meters Centerline goodness [0,1] 0.9806999298619005 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.57, Z:0.08 [[ 9.99199599e-01 -3.26117213e-02 -2.31654162e-02 9.49505095e+00] [ 3.26504640e-02 9.99465991e-01 1.29607637e-03 -5.65886790e-01] [ 2.31107784e-02 -2.05140058e-03 9.99730806e-01 7.88485866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.490714056999998 meters Centerline goodness [0,1] 0.9802825760874825 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.57, Z:0.08 [[ 9.99188240e-01 -3.27998132e-02 -2.33887297e-02 9.52727843e+00] [ 3.28393984e-02 9.99459783e-01 1.31031222e-03 -5.68470555e-01] [ 2.33331167e-02 -2.07732038e-03 9.99725588e-01 7.84217590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.520714057 meters Centerline goodness [0,1] 0.9812093880321986 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.57, Z:0.08 [[ 9.99171327e-01 -3.29310277e-02 -2.39208610e-02 9.55945681e+00] [ 3.29725155e-02 9.99455358e-01 1.34191997e-03 -5.69172073e-01] [ 2.38636419e-02 -2.12953892e-03 9.99712955e-01 7.81263385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.550714056999999 meters Centerline goodness [0,1] 0.9780400901665172 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.57, Z:0.08 [[ 9.99160499e-01 -3.32252149e-02 -2.39662571e-02 9.59064920e+00] [ 3.32669818e-02 9.99445594e-01 1.34603707e-03 -5.74800479e-01] [ 2.39082477e-02 -2.14219211e-03 9.99711862e-01 7.82941203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.580714056999998 meters Centerline goodness [0,1] 0.979533370560101 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.57, Z:0.08 [[ 9.99140699e-01 -3.37401847e-02 -2.40720531e-02 9.62323732e+00] [ 3.37825063e-02 9.99428292e-01 1.35351386e-03 -5.72560636e-01] [ 2.40126231e-02 -2.16556507e-03 9.99709310e-01 7.92883124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.610714057 meters Centerline goodness [0,1] 0.9806324782176055 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.57, Z:0.08 [[ 9.99114198e-01 -3.46000326e-02 -2.39511387e-02 9.65549902e+00] [ 3.46422172e-02 9.99398869e-01 1.34848074e-03 -5.73024459e-01] [ 2.38900834e-02 -2.17700680e-03 9.99712221e-01 8.08720311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.640714056999999 meters Centerline goodness [0,1] 0.977827482252261 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.58, Z:0.08 [[ 9.99086925e-01 -3.54117500e-02 -2.39024072e-02 9.68754112e+00] [ 3.54540355e-02 9.99370400e-01 1.34750087e-03 -5.76553418e-01] [ 2.38396409e-02 -2.19370729e-03 9.99713389e-01 8.10182039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.670714057 meters Centerline goodness [0,1] 0.9803130468598095 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.58, Z:0.08 [[ 9.99078514e-01 -3.58094484e-02 -2.36602361e-02 9.71997500e+00] [ 3.58510330e-02 9.99356253e-01 1.33559829e-03 -5.75587532e-01] [ 2.35971778e-02 -2.18261146e-03 9.99719165e-01 8.10872587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.700714056999999 meters Centerline goodness [0,1] 0.9795953069205917 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.58, Z:0.08 [[ 9.99085960e-01 -3.56034050e-02 -2.36567562e-02 9.75088186e+00] [ 3.56449574e-02 9.99363622e-01 1.33698457e-03 -5.77460228e-01] [ 2.35941003e-02 -2.17900657e-03 9.99719246e-01 8.04160493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.730714056999998 meters Centerline goodness [0,1] 0.9791062948983319 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.58, Z:0.08 [[ 9.99092580e-01 -3.52585438e-02 -2.38925222e-02 9.78193384e+00] [ 3.53008632e-02 9.99375816e-01 1.35165600e-03 -5.80774891e-01] [ 2.38299514e-02 -2.19385614e-03 9.99713619e-01 8.00829773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.760714057 meters Centerline goodness [0,1] 0.9805685586112737 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.58, Z:0.08 [[ 9.99085458e-01 -3.50392234e-02 -2.45051302e-02 9.81511453e+00] [ 3.50837256e-02 9.99383412e-01 1.38833817e-03 -5.78974494e-01] [ 2.44413744e-02 -2.24679974e-03 9.99698740e-01 8.02170987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.790714056999999 meters Centerline goodness [0,1] 0.9798100632308782 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.58, Z:0.08 [[ 9.99073696e-01 -3.52677360e-02 -2.46563537e-02 9.84704258e+00] [ 3.53129155e-02 9.99375325e-01 1.39922967e-03 -5.79650908e-01] [ 2.45916038e-02 -2.26862129e-03 9.99695007e-01 8.11067119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.820714056999998 meters Centerline goodness [0,1] 0.9788465766139867 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.58, Z:0.08 [[ 9.99059413e-01 -3.58508242e-02 -2.43927700e-02 9.87952295e+00] [ 3.58952589e-02 9.99354596e-01 1.38607941e-03 -5.80946654e-01] [ 2.43273347e-02 -2.26036048e-03 9.99701491e-01 8.20568335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.850714057 meters Centerline goodness [0,1] 0.9789992918365852 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.58, Z:0.08 [[ 9.99056831e-01 -3.63964563e-02 -2.36800761e-02 9.91143554e+00] [ 3.64385246e-02 9.99334988e-01 1.34732237e-03 -5.83718524e-01] [ 2.36152908e-02 -2.20891866e-03 9.99718680e-01 8.30340112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.880714056999999 meters Centerline goodness [0,1] 0.9766650342801175 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.59, Z:0.08 [[ 9.99050966e-01 -3.66694692e-02 -2.35056671e-02 9.94291422e+00] [ 3.67110517e-02 9.99325024e-01 1.33982542e-03 -5.87502417e-01] [ 2.34406707e-02 -2.20147164e-03 9.99722806e-01 8.35343365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.910714056999998 meters Centerline goodness [0,1] 0.980321039088347 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.59, Z:0.08 [[ 9.99066029e-01 -3.63374086e-02 -2.33808261e-02 9.97499378e+00] [ 3.63785203e-02 9.99337190e-01 1.33528133e-03 -5.85951847e-01] [ 2.33168084e-02 -2.18459408e-03 9.99725739e-01 8.37907629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.940714057 meters Centerline goodness [0,1] 0.9806548350621896 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.58, Z:0.08 [[ 9.99078262e-01 -3.57478027e-02 -2.37638767e-02 1.00073829e+01] [ 3.57901502e-02 9.99358403e-01 1.35895281e-03 -5.84579617e-01] [ 2.37000503e-02 -2.20821293e-03 9.99716676e-01 8.33059962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.970714056999999 meters Centerline goodness [0,1] 0.9804489856069165 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.59, Z:0.08 [[ 9.99119843e-01 -3.43262139e-02 -2.41091350e-02 1.00377664e+01] [ 3.43694198e-02 9.99408244e-01 1.37989642e-03 -5.86570091e-01] [ 2.40475017e-02 -2.20729888e-03 9.99708380e-01 8.31756092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.000714056999998 meters Centerline goodness [0,1] 0.9806815661730282 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.59, Z:0.08 [[ 9.99170363e-01 -3.26448519e-02 -2.43495111e-02 1.00692371e+01] [ 3.26884451e-02 9.99464617e-01 1.39432453e-03 -5.86971266e-01] [ 2.42909573e-02 -2.18911540e-03 9.99702534e-01 8.31583299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.030714056999999 meters Centerline goodness [0,1] 0.9845704960189902 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.58, Z:0.08 [[ 9.99290733e-01 -2.85364721e-02 -2.45703126e-02 1.00997932e+01] [ 2.85796392e-02 9.99590528e-01 1.40744992e-03 -5.81096872e-01] [ 2.45200881e-02 -2.10866234e-03 9.99697114e-01 8.47592231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.060714056999998 meters Centerline goodness [0,1] 0.9858745119494665 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.58, Z:0.09 [[ 9.99381834e-01 -2.46568822e-02 -2.50596985e-02 1.01310056e+01] [ 2.47005813e-02 9.99693863e-01 1.43570664e-03 -5.78759845e-01] [ 2.50166268e-02 -2.05380826e-03 9.99684925e-01 8.61441549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.090714057 meters Centerline goodness [0,1] 0.9860756037628137 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.58, Z:0.09 [[ 9.99433343e-01 -2.23343676e-02 -2.51826939e-02 1.01611801e+01] [ 2.23777707e-02 9.99748545e-01 1.44300039e-03 -5.80044442e-01] [ 2.51441331e-02 -2.00571526e-03 9.99681824e-01 8.70309534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.120714056999999 meters Centerline goodness [0,1] 0.9889834752128193 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.58, Z:0.09 [[ 9.99468155e-01 -2.03371143e-02 -2.54913400e-02 1.01933344e+01] [ 2.03809631e-02 9.99791218e-01 1.46148871e-03 -5.76200125e-01] [ 2.54562954e-02 -1.98024948e-03 9.99673975e-01 8.75024976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.150714056999998 meters Centerline goodness [0,1] 0.9893212624418547 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.57, Z:0.09 [[ 9.99519075e-01 -1.79756515e-02 -2.52684442e-02 1.02241900e+01] [ 1.80180130e-02 9.99836611e-01 1.44976095e-03 -5.74334032e-01] [ 2.52382552e-02 -1.90435088e-03 9.99679651e-01 8.81007356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.180714057 meters Centerline goodness [0,1] 0.9893611695203764 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.57, Z:0.09 [[ 9.99582738e-01 -1.34450539e-02 -2.55652364e-02 1.02537130e+01] [ 1.34869431e-02 9.99907971e-01 1.46679662e-03 -5.73087980e-01] [ 2.55431625e-02 -1.81098147e-03 9.99672080e-01 8.72276817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.210714056999999 meters Centerline goodness [0,1] 0.9900188560653677 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.57, Z:0.09 [[ 9.99606204e-01 -1.12112876e-02 -2.57243947e-02 1.02846262e+01] [ 1.12529639e-02 9.99935594e-01 1.47591512e-03 -5.72421054e-01] [ 2.57061910e-02 -1.76480959e-03 9.99667983e-01 8.76527066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.240714056999998 meters Centerline goodness [0,1] 0.9900188560653677 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.57, Z:0.09 [[ 9.99605800e-01 -1.12472302e-02 -2.57244076e-02 1.03137961e+01] [ 1.12889126e-02 9.99935189e-01 1.47569032e-03 -5.74062783e-01] [ 2.57061429e-02 -1.76550919e-03 9.99667983e-01 8.80321892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.270714057 meters Centerline goodness [0,1] 0.9913856444298057 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.57, Z:0.09 [[ 9.99655406e-01 -6.05845811e-03 -2.55414068e-02 1.03446020e+01] [ 6.09785045e-03 9.99980335e-01 1.46468821e-03 -5.68903843e-01] [ 2.55320308e-02 -1.61993117e-03 9.99672692e-01 8.98818259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.300714056999999 meters Centerline goodness [0,1] 0.9917951583813854 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.57, Z:0.09 [[ 9.99666842e-01 -3.70996473e-03 -2.55429285e-02 1.03730737e+01] [ 3.74857968e-03 9.99991902e-01 1.46405000e-03 -5.68770138e-01] [ 2.55372901e-02 -1.55931194e-03 9.99672654e-01 9.02839815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.330714056999998 meters Centerline goodness [0,1] 0.9922551717109956 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.56, Z:0.09 [[ 9.99659820e-01 4.07390909e-04 -2.60783075e-02 1.04041042e+01] [-3.68558145e-04 9.99998816e-01 1.49387216e-03 -5.63583305e-01] [ 2.60788852e-02 -1.48375260e-03 9.99658787e-01 9.04596237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.360714057 meters Centerline goodness [0,1] 0.9921088921803973 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.57, Z:0.09 [[ 9.99664707e-01 1.51240887e-03 -2.58493071e-02 1.04315744e+01] [-1.47465702e-03 9.99997818e-01 1.47945910e-03 -5.69813202e-01] [ 2.58514883e-02 -1.44084418e-03 9.99664756e-01 8.92335660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.390714056999999 meters Centerline goodness [0,1] 0.9936814100432324 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.56, Z:0.09 [[ 9.99666696e-01 3.17382121e-03 -2.56207669e-02 1.04604728e+01] [-3.13733115e-03 9.99994006e-01 1.46430898e-03 -5.64146244e-01] [ 2.56252608e-02 -1.38344009e-03 9.99670662e-01 9.03611295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.420714056999998 meters Centerline goodness [0,1] 0.9926833636061296 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.57, Z:0.09 [[ 9.99666372e-01 3.29041000e-03 -2.56187165e-02 1.04894542e+01] [-3.25401136e-03 9.99993636e-01 1.46234208e-03 -5.65721990e-01] [ 2.56233652e-02 -1.37849060e-03 9.99670717e-01 8.99592194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.450714056999999 meters Centerline goodness [0,1] 0.9931786126426465 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.57, Z:0.09 [[ 9.99672513e-01 3.08462721e-03 -2.54037798e-02 1.05177858e+01] [-3.04882832e-03 9.99994304e-01 1.44780705e-03 -5.67211863e-01] [ 2.54081011e-02 -1.36988115e-03 9.99676223e-01 9.07437530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.480714056999998 meters Centerline goodness [0,1] 0.9926319572807558 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.57, Z:0.09 [[ 9.99701000e-01 2.52042085e-03 -2.43219805e-02 1.05462874e+01] [-2.48749293e-03 9.99995948e-01 1.38399367e-03 -5.67758111e-01] [ 2.43253702e-02 -1.32307910e-03 9.99703219e-01 9.19077020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.510714057 meters Centerline goodness [0,1] 0.9923907455012854 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.57, Z:0.09 [[ 9.99712679e-01 1.44545608e-03 -2.39263654e-02 1.05744976e+01] [-1.41332981e-03 9.99998077e-01 1.35957008e-03 -5.68858958e-01] [ 2.39282846e-02 -1.32536360e-03 9.99712799e-01 9.19922737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.540714056999999 meters Centerline goodness [0,1] 0.9922946524888272 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.57, Z:0.09 [[ 9.99746771e-01 -9.73996286e-04 -2.24821071e-02 1.06034025e+01] [ 1.00293363e-03 9.99998683e-01 1.27588805e-03 -5.73405860e-01] [ 2.24808348e-02 -1.29811302e-03 9.99746431e-01 9.21750930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.570714056999998 meters Centerline goodness [0,1] 0.9908997692899256 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.58, Z:0.09 [[ 9.99750306e-01 -2.89151823e-03 -2.21577436e-02 1.06331889e+01] [ 2.92007309e-03 9.99994947e-01 1.25646113e-03 -5.77661461e-01] [ 2.21539985e-02 -1.32084963e-03 9.99753698e-01 9.25287965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.600714057 meters Centerline goodness [0,1] 0.991299007063159 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.58, Z:0.09 [[ 9.99754444e-01 -4.62402205e-03 -2.16718960e-02 1.06630619e+01] [ 4.65172691e-03 9.99988426e-01 1.22813968e-03 -5.80309488e-01] [ 2.16659662e-02 -1.32864985e-03 9.99764383e-01 9.24263785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.630714056999999 meters Centerline goodness [0,1] 0.9894120354978133 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.59, Z:0.09 [[ 9.99695007e-01 -9.15742233e-03 -2.29354485e-02 1.06919145e+01] [ 9.18962511e-03 9.99956931e-01 1.29905550e-03 -5.89030552e-01] [ 2.29225647e-02 -1.50942747e-03 9.99736104e-01 9.04799053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.660714056999998 meters Centerline goodness [0,1] 0.9890919285368402 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.59, Z:0.09 [[ 9.99658350e-01 -1.12179701e-02 -2.36080643e-02 1.07213021e+01] [ 1.12526469e-02 9.99935794e-01 1.33651639e-03 -5.91988100e-01] [ 2.35915555e-02 -1.60171298e-03 9.99720397e-01 8.99725478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.690714057 meters Centerline goodness [0,1] 0.9882532030952683 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.59, Z:0.09 [[ 9.99601555e-01 -1.51424020e-02 -2.38209659e-02 1.07511252e+01] [ 1.51788040e-02 9.99883887e-01 1.34806834e-03 -5.94896530e-01] [ 2.37977870e-02 -1.70910498e-03 9.99715332e-01 8.98362477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.720714056999999 meters Centerline goodness [0,1] 0.9889258591348963 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.60, Z:0.09 [[ 9.99579377e-01 -1.67323484e-02 -2.36875155e-02 1.07823028e+01] [ 1.67687960e-02 9.99858495e-01 1.34087111e-03 -5.96437714e-01] [ 2.36617277e-02 -1.73751822e-03 9.99718512e-01 9.08398562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.750714056999998 meters Centerline goodness [0,1] 0.9871749288906948 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.60, Z:0.09 [[ 9.99569198e-01 -1.82119439e-02 -2.30161373e-02 1.08139380e+01] [ 1.82467676e-02 9.99832664e-01 1.30389077e-03 -5.99816212e-01] [ 2.29885395e-02 -1.72329916e-03 9.99734243e-01 9.13589201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.780714056999999 meters Centerline goodness [0,1] 0.9878024091507237 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.60, Z:0.09 [[ 9.99562523e-01 -2.03577634e-02 -2.14551510e-02 1.08446245e+01] [ 2.03885318e-02 9.99791392e-01 1.21628929e-03 -6.03026804e-01] [ 2.14259144e-02 -1.65319622e-03 9.99769072e-01 9.25071172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.810714056999998 meters Centerline goodness [0,1] 0.9862105475446203 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.61, Z:0.09 [[ 9.99549366e-01 -2.14173282e-02 -2.10324367e-02 1.08766513e+01] [ 2.14471467e-02 9.99769272e-01 1.19316725e-03 -6.05516093e-01] [ 2.10020295e-02 -1.64371533e-03 9.99778082e-01 9.29337980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.840714057 meters Centerline goodness [0,1] 0.985383064516129 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.61, Z:0.09 [[ 9.99533261e-01 -2.31369534e-02 -1.99484934e-02 1.09068224e+01] [ 2.31641382e-02 9.99731034e-01 1.13272907e-03 -6.11181653e-01] [ 1.99169200e-02 -1.59429004e-03 9.99800367e-01 9.35234102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.870714056999999 meters Centerline goodness [0,1] 0.9849680950339227 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.61, Z:0.09 [[ 9.99512327e-01 -2.41043986e-02 -1.98515990e-02 1.09383026e+01] [ 2.41315218e-02 9.99708156e-01 1.12785037e-03 -6.14303944e-01] [ 1.98186193e-02 -1.60634964e-03 9.99802301e-01 9.40588417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.900714056999998 meters Centerline goodness [0,1] 0.981794833056353 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.62, Z:0.09 [[ 9.99480521e-01 -2.49870563e-02 -2.03552080e-02 1.09691429e+01] [ 2.50157877e-02 9.99686385e-01 1.15806021e-03 -6.22984087e-01] [ 2.03198878e-02 -1.66666018e-03 9.99792141e-01 9.34726403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.930714057 meters Centerline goodness [0,1] 0.9830875320883877 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.62, Z:0.09 [[ 9.99410525e-01 -2.68191585e-02 -2.14320904e-02 1.10000877e+01] [ 2.68514667e-02 9.99638689e-01 1.22106824e-03 -6.22946134e-01] [ 2.13915987e-02 -1.79583152e-03 9.99769561e-01 9.40738321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.960714056999999 meters Centerline goodness [0,1] 0.9826198500930631 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.63, Z:0.09 [[ 9.99372181e-01 -2.77532884e-02 -2.20226666e-02 1.10324830e+01] [ 2.77876471e-02 9.99613060e-01 1.25561439e-03 -6.26935569e-01] [ 2.19792977e-02 -1.86678418e-03 9.99756683e-01 9.39934691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.990714056999998 meters Centerline goodness [0,1] 0.9819146795452258 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.63, Z:0.09 [[ 9.99300124e-01 -2.95404284e-02 -2.29483073e-02 1.10635747e+01] [ 2.95782354e-02 9.99561610e-01 1.30973025e-03 -6.30947993e-01] [ 2.28995570e-02 -1.98758403e-03 9.99735795e-01 9.24220610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.020714057 meters Centerline goodness [0,1] 0.9811813117880263 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.64, Z:0.09 [[ 9.99288620e-01 -3.00551994e-02 -2.27802160e-02 1.10946477e+01] [ 3.00926232e-02 9.99546267e-01 1.30172467e-03 -6.35181990e-01] [ 2.27307562e-02 -1.98631510e-03 9.99739650e-01 9.19427442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.050714056999999 meters Centerline goodness [0,1] 0.9774921222427849 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.64, Z:0.09 [[ 9.99223144e-01 -3.21343936e-02 -2.28142487e-02 1.11253656e+01] [ 3.21725048e-02 9.99481479e-01 1.30533091e-03 -6.40405899e-01] [ 2.27604730e-02 -2.03830838e-03 9.99738869e-01 9.29463356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.080714056999998 meters Centerline goodness [0,1] 0.9756103649707923 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.64, Z:0.09 [[ 9.99230340e-01 -3.23431646e-02 -2.21956760e-02 1.11565978e+01] [ 3.23793038e-02 9.99474845e-01 1.27066531e-03 -6.44727394e-01] [ 2.21429225e-02 -1.98836787e-03 9.99752838e-01 9.38232908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.110714057 meters Centerline goodness [0,1] 0.9694548170276326 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.65, Z:0.09 [[ 9.99164593e-01 -3.40171237e-02 -2.26484209e-02 1.11874095e+01] [ 3.40551991e-02 9.99419111e-01 1.29747217e-03 -6.48731517e-01] [ 2.25911284e-02 -2.06768474e-03 9.99742650e-01 9.48074419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.140714056999999 meters Centerline goodness [0,1] 0.9787419845804536 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.65, Z:0.10 [[ 9.99134412e-01 -3.47358947e-02 -2.28876470e-02 1.12201226e+01] [ 3.47749880e-02 9.99394306e-01 1.31213872e-03 -6.46665246e-01] [ 2.28282058e-02 -2.10692060e-03 9.99737182e-01 9.58546129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.170714056999998 meters Centerline goodness [0,1] 0.9617577492842027 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.66, Z:0.10 [[ 9.99149166e-01 -3.46894576e-02 -2.23066378e-02 1.12513778e+01] [ 3.47266190e-02 9.99396029e-01 1.28061771e-03 -6.56296164e-01] [ 2.22487413e-02 -2.05416223e-03 9.99750356e-01 9.57095668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.200714056999999 meters Centerline goodness [0,1] 0.9804910780853919 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.65, Z:0.10 [[ 9.99136190e-01 -3.47608148e-02 -2.27719198e-02 1.12844388e+01] [ 3.47996056e-02 9.99393453e-01 1.30927197e-03 -6.48749493e-01] [ 2.27125962e-02 -2.10059483e-03 9.99739829e-01 9.75904185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.230714056999998 meters Centerline goodness [0,1] 0.975051561762294 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.65, Z:0.10 [[ 9.99158329e-01 -3.42489881e-02 -2.25751997e-02 1.13152711e+01] [ 3.42870153e-02 9.99411183e-01 1.29944293e-03 -6.54671983e-01] [ 2.25174024e-02 -2.07238544e-03 9.99744303e-01 9.81430682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.260714057 meters Centerline goodness [0,1] 0.9819010157339175 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.65, Z:0.10 [[ 9.99200679e-01 -3.25213347e-02 -2.32457571e-02 1.13469541e+01] [ 3.25612175e-02 9.99468846e-01 1.33916010e-03 -6.50137526e-01] [ 2.31898587e-02 -2.09499983e-03 9.99728884e-01 9.96332178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.290714056999999 meters Centerline goodness [0,1] 0.9826002539018744 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.65, Z:0.10 [[ 9.99230763e-01 -3.13887608e-02 -2.35080546e-02 1.13789550e+01] [ 3.14292635e-02 9.99505060e-01 1.35535464e-03 -6.48286954e-01] [ 2.34538766e-02 -2.09315289e-03 9.99722729e-01 9.98162748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.320714056999998 meters Centerline goodness [0,1] 0.9829136466661685 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.65, Z:0.10 [[ 9.99261158e-01 -3.01825696e-02 -2.37939264e-02 1.14099949e+01] [ 3.02237517e-02 9.99542215e-01 1.37298249e-03 -6.50680944e-01] [ 2.37415937e-02 -2.09110979e-03 9.99715942e-01 9.97044778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.350714057 meters Centerline goodness [0,1] 0.9795248165194675 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.66, Z:0.10 [[ 9.99368713e-01 -2.66667546e-02 -2.34746553e-02 1.14396669e+01] [ 2.67058827e-02 9.99642416e-01 1.35485033e-03 -6.56280591e-01] [ 2.34301317e-02 -1.98090643e-03 9.99723514e-01 9.89747056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.380714056999999 meters Centerline goodness [0,1] 0.9805588096009571 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.66, Z:0.10 [[ 9.99433737e-01 -2.43782819e-02 -2.31927687e-02 1.14702305e+01] [ 2.44158585e-02 9.99700993e-01 1.33835287e-03 -6.56936055e-01] [ 2.31532072e-02 -1.90386637e-03 9.99730116e-01 9.97409112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.410714056999998 meters Centerline goodness [0,1] 0.9853394481617923 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.64, Z:0.10 [[ 9.99565175e-01 -1.88814083e-02 -2.26484746e-02 1.15015532e+01] [ 1.89158388e-02 9.99820225e-01 1.30692640e-03 -6.44691338e-01] [ 2.26197263e-02 -1.73477301e-03 9.99742636e-01 1.02704103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.440714057 meters Centerline goodness [0,1] 0.9864966429501955 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.64, Z:0.10 [[ 9.99610168e-01 -1.60013536e-02 -2.28794559e-02 1.15327127e+01] [ 1.60357438e-02 9.99870547e-01 1.32041462e-03 -6.44753755e-01] [ 2.28553657e-02 -1.68678897e-03 9.99737359e-01 1.03566517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.470714056999999 meters Centerline goodness [0,1] 0.9885034288019363 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.64, Z:0.10 [[ 9.99659604e-01 -1.29607469e-02 -2.26427937e-02 1.15640045e+01] [ 1.29936634e-02 9.99914724e-01 1.30720199e-03 -6.43270925e-01] [ 2.26239205e-02 -1.60096986e-03 9.99742764e-01 1.04159495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.500714056999998 meters Centerline goodness [0,1] 0.9897634041699074 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.64, Z:0.10 [[ 9.99735783e-01 -7.22049114e-03 -2.18226716e-02 1.15939849e+01] [ 7.24971044e-03 9.99972927e-01 1.26012501e-03 -6.42747387e-01] [ 2.18129820e-02 -1.41800012e-03 9.99761063e-01 1.04918375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.530714056999999 meters Centerline goodness [0,1] 0.9899533005174808 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.64, Z:0.11 [[ 9.99754641e-01 -5.25769111e-03 -2.15177626e-02 1.16239332e+01] [ 5.28564008e-03 9.99985259e-01 1.24221063e-03 -6.41845934e-01] [ 2.15109143e-02 -1.35564099e-03 9.99767694e-01 1.05771824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.560714056999998 meters Centerline goodness [0,1] 0.991787904901911 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.64, Z:0.11 [[ 9.99760603e-01 -1.62098611e-03 -2.18199355e-02 1.16543658e+01] [ 1.64884905e-03 9.99997848e-01 1.25901828e-03 -6.38427832e-01] [ 2.18178477e-02 -1.29469465e-03 9.99761124e-01 1.07488947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.590714057 meters Centerline goodness [0,1] 0.9922441195168468 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.64, Z:0.11 [[ 9.99767503e-01 -5.11001209e-04 -2.15563975e-02 1.16835253e+01] [ 5.37888988e-04 9.99999085e-01 1.24154278e-03 -6.37742682e-01] [ 2.15557433e-02 -1.25284908e-03 9.99766863e-01 1.08369775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.620714056999999 meters Centerline goodness [0,1] 0.9924781459646269 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.64, Z:0.11 [[ 9.99767475e-01 1.03696742e-03 -2.15387980e-02 1.17114931e+01] [-1.01056445e-03 9.99998725e-01 1.23668127e-03 -6.40390270e-01] [ 2.15400530e-02 -1.21462737e-03 9.99767248e-01 1.09080715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.650714056999998 meters Centerline goodness [0,1] 0.9933874591503268 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.64, Z:0.11 [[ 9.99773067e-01 1.14668521e-03 -2.12720210e-02 1.17400691e+01] [-1.12099424e-03 9.99998628e-01 1.21961999e-03 -6.42263277e-01] [ 2.12733904e-02 -1.19549741e-03 9.99772981e-01 1.09692779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.680714057 meters Centerline goodness [0,1] 0.9937981726302895 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.64, Z:0.11 [[ 9.99779902e-01 1.33445262e-03 -2.09372005e-02 1.17694181e+01] [-1.30963311e-03 9.99998424e-01 1.19909316e-03 -6.42014983e-01] [ 2.09387676e-02 -1.17140920e-03 9.99780074e-01 1.10847955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.710714056999999 meters Centerline goodness [0,1] 0.9937182400857997 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.64, Z:0.11 [[ 9.99774991e-01 1.21115985e-03 -2.11778412e-02 1.17980051e+01] [-1.18576623e-03 9.99998563e-01 1.21158220e-03 -6.43916632e-01] [ 2.11792781e-02 -1.18619762e-03 9.99774990e-01 1.11600196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.740714056999998 meters Centerline goodness [0,1] 0.9927236519607843 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.64, Z:0.11 [[ 9.99766620e-01 1.28826996e-03 -2.15649105e-02 1.18269456e+01] [-1.26199094e-03 9.99998445e-01 1.23216530e-03 -6.44022538e-01] [ 2.15664644e-02 -1.20466301e-03 9.99766691e-01 1.11834538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.770714057 meters Centerline goodness [0,1] 0.9943016302959063 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.65, Z:0.11 [[ 9.99771072e-01 1.86209461e-03 -2.13151408e-02 1.18549664e+01] [-1.83658649e-03 9.99997574e-01 1.21622696e-03 -6.46755601e-01] [ 2.13173538e-02 -1.17680143e-03 9.99772067e-01 1.12629862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.800714056999999 meters Centerline goodness [0,1] 0.9945304912334509 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.65, Z:0.11 [[ 9.99773253e-01 2.61993735e-03 -2.11324177e-02 1.18832881e+01] [-2.59510136e-03 9.99995910e-01 1.20259333e-03 -6.47114715e-01] [ 2.11354819e-02 -1.14747988e-03 9.99775962e-01 1.13182071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.830714056999998 meters Centerline goodness [0,1] 0.9948399621937825 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.65, Z:0.11 [[ 9.99768031e-01 3.69780541e-03 -2.12181409e-02 1.19112204e+01] [-3.67309486e-03 9.99992530e-01 1.20345020e-03 -6.49379127e-01] [ 2.12224326e-02 -1.12523479e-03 9.99774146e-01 1.13462510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.860714057 meters Centerline goodness [0,1] 0.9944918402377475 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.65, Z:0.11 [[ 9.99759508e-01 7.18051461e-03 -2.07211566e-02 1.19416472e+01] [-7.15772064e-03 9.99973694e-01 1.17399136e-03 -6.45723227e-01] [ 2.07290413e-02 -1.02539277e-03 9.99784605e-01 1.14767272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.890714056999999 meters Centerline goodness [0,1] 0.9948247591719614 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.65, Z:0.12 [[ 9.99752629e-01 9.17284516e-03 -2.02617719e-02 1.19701455e+01] [-9.15147440e-03 9.99957466e-01 1.14720573e-03 -6.45906670e-01] [ 2.02714332e-02 -9.61496857e-04 9.99794051e-01 1.15245129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.920714056999998 meters Centerline goodness [0,1] 0.9938416722031993 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.65, Z:0.11 [[ 9.99721898e-01 1.26125972e-02 -1.99261062e-02 1.19986389e+01] [-1.25926339e-02 9.99920074e-01 1.12702690e-03 -6.46281445e-01] [ 1.99387284e-02 -8.75791310e-04 9.99800820e-01 1.14969106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.950714056999999 meters Centerline goodness [0,1] 0.995198569786745 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.65, Z:0.12 [[ 9.99703941e-01 1.39509584e-02 -1.99349041e-02 1.20280047e+01] [-1.39312850e-02 9.99902322e-01 1.12541949e-03 -6.45871459e-01] [ 1.99486575e-02 -8.47367473e-04 9.99800647e-01 1.15313014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.980714056999998 meters Centerline goodness [0,1] 0.9950341720633783 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.65, Z:0.11 [[ 9.99677348e-01 1.51350631e-02 -2.03992816e-02 1.20565690e+01] [-1.51147830e-02 9.99885106e-01 1.14798304e-03 -6.47499722e-01] [ 2.04143126e-02 -8.39281929e-04 9.99791254e-01 1.14911306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.010714057 meters Centerline goodness [0,1] 0.9953723825837957 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.65, Z:0.12 [[ 9.99616059e-01 1.81379945e-02 -2.09463135e-02 1.20851254e+01] [-1.81173019e-02 9.99835175e-01 1.17725095e-03 -6.47940145e-01] [ 2.09642140e-02 -7.97308272e-04 9.99779909e-01 1.15249637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.040714057 meters Centerline goodness [0,1] 0.9953928845661633 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.65, Z:0.12 [[ 9.99566042e-01 2.01619529e-02 -2.14761024e-02 1.21130230e+01] [-2.01407029e-02 9.99796429e-01 1.20533169e-03 -6.49019178e-01] [ 2.14960323e-02 -7.72264826e-04 9.99768635e-01 1.15520984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.070714057 meters Centerline goodness [0,1] 0.996342617458247 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.65, Z:0.12 [[ 9.99431864e-01 2.53703223e-02 -2.21877588e-02 1.21426817e+01] [-2.53489558e-02 9.99677890e-01 1.24375294e-03 -6.47680861e-01] [ 2.22121663e-02 -6.80609797e-04 9.99753048e-01 1.15092884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.100714056999998 meters Centerline goodness [0,1] 0.9959751375585898 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.65, Z:0.12 [[ 9.99338904e-01 2.84918395e-02 -2.25825251e-02 1.21710166e+01] [-2.84705280e-02 9.99593832e-01 1.26472827e-03 -6.48877579e-01] [ 2.26093872e-02 -6.20955748e-04 9.99744182e-01 1.15061519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.130714057 meters Centerline goodness [0,1] 0.9959751375585898 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.65, Z:0.12 [[ 9.99346878e-01 2.82105954e-02 -2.25827273e-02 1.21983270e+01] [-2.81892940e-02 9.99601807e-01 1.26110754e-03 -6.50335289e-01] [ 2.26093116e-02 -6.23692739e-04 9.99744182e-01 1.15417327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.160714057 meters Centerline goodness [0,1] 0.9967234935749757 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.65, Z:0.12 [[ 9.99250461e-01 3.12844426e-02 -2.27991096e-02 1.22271121e+01] [-3.12636305e-02 9.99510368e-01 1.26879957e-03 -6.50732223e-01] [ 2.28276401e-02 -5.55065619e-04 9.99739261e-01 1.15119677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.190714056999997 meters Centerline goodness [0,1] 0.9964080093748408 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.65, Z:0.12 [[ 9.98985802e-01 3.89742942e-02 -2.25470874e-02 1.22570498e+01] [-3.89559211e-02 9.99240144e-01 1.25369605e-03 -6.50204428e-01] [ 2.25788168e-02 -3.74081990e-04 9.99744996e-01 1.15304343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.220714057 meters Centerline goodness [0,1] 0.9975733735216736 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.65, Z:0.12 [[ 9.98847469e-01 4.23718886e-02 -2.25467849e-02 1.22844735e+01] [-4.23544056e-02 9.99101864e-01 1.25260151e-03 -6.51000694e-01] [ 2.25796099e-02 -2.96202181e-04 9.99745004e-01 1.16239852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.250714057 meters Centerline goodness [0,1] 0.9979164019819591 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.65, Z:0.12 [[ 9.98513678e-01 4.97154146e-02 -2.23340981e-02 1.23134941e+01] [-4.97001734e-02 9.98763416e-01 1.23732084e-03 -6.50832143e-01] [ 2.23679940e-02 -1.25473239e-04 9.99749797e-01 1.17105128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.280714056999997 meters Centerline goodness [0,1] 0.9979101891024007 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.65, Z:0.12 [[ 9.98339857e-01 5.29297057e-02 -2.27151070e-02 1.23413398e+01] [-5.29149102e-02 9.98598239e-01 1.25233693e-03 -6.52292428e-01] [ 2.27495516e-02 -4.82900213e-05 9.99741194e-01 1.17135017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.310714057 meters Centerline goodness [0,1] 0.9986286410848972 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.65, Z:0.12 [[ 9.98197075e-01 5.56759141e-02 -2.24230142e-02 1.23681944e+01] [-5.56622990e-02 9.98448893e-01 1.23135897e-03 -6.54399531e-01] [ 2.24567907e-02 1.89775969e-05 9.99747814e-01 1.16684157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.340714057 meters Centerline goodness [0,1] 0.998123494357804 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.66, Z:0.12 [[ 9.97984305e-01 5.93175203e-02 -2.25557026e-02 1.23966620e+01] [-5.93047645e-02 9.98239160e-01 1.23461052e-03 -6.58289600e-01] [ 2.25892196e-02 1.05538705e-04 9.99744825e-01 1.16457014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.370714056999997 meters Centerline goodness [0,1] 0.9978232807714698 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.66, Z:0.12 [[ 9.97931162e-01 6.01777768e-02 -2.26281244e-02 1.24248189e+01] [-6.01652965e-02 9.98187667e-01 1.23255302e-03 -6.61472761e-01] [ 2.26612870e-02 1.31424749e-04 9.99743191e-01 1.16519307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.400714057 meters Centerline goodness [0,1] 0.9981124002718144 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.66, Z:0.12 [[ 9.97916852e-01 6.04857362e-02 -2.24373052e-02 1.24519635e+01] [-6.04736521e-02 9.98169052e-01 1.21731754e-03 -6.64982242e-01] [ 2.24698540e-02 1.42084095e-04 9.99747511e-01 1.16629057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.430714057 meters Centerline goodness [0,1] 0.998123357938196 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.67, Z:0.12 [[ 9.98007583e-01 5.86153477e-02 -2.33474971e-02 1.24794850e+01] [-5.86018606e-02 9.98280636e-01 1.26203465e-03 -6.73079718e-01] [ 2.33813289e-02 1.08686624e-04 9.99726613e-01 1.16098262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.460714056999997 meters Centerline goodness [0,1] 0.9977115566389732 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.68, Z:0.12 [[ 9.98107119e-01 5.67403389e-02 -2.37215689e-02 1.25063149e+01] [-5.67260090e-02 9.98388967e-01 1.27710293e-03 -6.78217815e-01] [ 2.37558159e-02 7.09444046e-05 9.99717788e-01 1.15093256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.490714056999998 meters Centerline goodness [0,1] 0.996733470871402 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.69, Z:0.11 [[ 9.98435771e-01 5.04132369e-02 -2.41767850e-02 1.25333972e+01] [-5.03966138e-02 9.98728441e-01 1.29676439e-03 -6.88912833e-01] [ 2.42114169e-02 -7.63078612e-05 9.99706858e-01 1.14035734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.520714057 meters Centerline goodness [0,1] 0.9960127201565557 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.70, Z:0.11 [[ 9.98626430e-01 4.63369982e-02 -2.44568116e-02 1.25613364e+01] [-4.63188818e-02 9.98925850e-01 1.30702624e-03 -6.95735304e-01] [ 2.44911050e-02 -1.72418778e-04 9.99700033e-01 1.14121103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.550714057 meters Centerline goodness [0,1] 0.9945683802133851 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.71, Z:0.11 [[ 9.99019544e-01 3.71403644e-02 -2.40944917e-02 1.25901226e+01] [-3.71201428e-02 9.99309982e-01 1.28613243e-03 -7.09652103e-01] [ 2.41256335e-02 -3.90480456e-04 9.99708858e-01 1.13529302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.580714056999998 meters Centerline goodness [0,1] 0.9930335351205919 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.72, Z:0.11 [[ 9.99191691e-01 3.20557937e-02 -2.42567536e-02 1.26195392e+01] [-3.20338219e-02 9.99485948e-01 1.29393374e-03 -7.17655385e-01] [ 2.42857625e-02 -5.15851320e-04 9.99704924e-01 1.13079895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.610714057 meters Centerline goodness [0,1] 0.9917564693794653 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.73, Z:0.11 [[ 9.99348505e-01 2.70052406e-02 -2.39433107e-02 1.26490548e+01] [-2.69824046e-02 9.99635094e-01 1.27636887e-03 -7.25073108e-01] [ 2.39690423e-02 -6.29489221e-04 9.99712503e-01 1.13280017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.640714057 meters Centerline goodness [0,1] 0.9894873612095441 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.74, Z:0.11 [[ 9.99563822e-01 1.72855316e-02 -2.39452537e-02 1.26777584e+01] [-1.72599164e-02 9.99850222e-01 1.27602062e-03 -7.39802032e-01] [ 2.39637239e-02 -8.62170967e-04 9.99712457e-01 1.12118716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.670714056999998 meters Centerline goodness [0,1] 0.9873735007496252 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.75, Z:0.11 [[ 9.99633116e-01 1.32351333e-02 -2.36318646e-02 1.27065568e+01] [-1.32090674e-02 9.99911964e-01 1.25876598e-03 -7.46744358e-01] [ 2.36464441e-02 -9.46149266e-04 9.99719936e-01 1.11781408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.700714057 meters Centerline goodness [0,1] 0.983689123001571 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.76, Z:0.11 [[ 9.99724770e-01 6.07319076e-03 -2.26605626e-02 1.27361825e+01] [-6.04740299e-03 9.99980987e-01 1.20635689e-03 -7.58901252e-01] [ 2.26674582e-02 -1.06898731e-03 9.99742489e-01 1.11167170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.730714057 meters Centerline goodness [0,1] 0.9841145050523735 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.76, Z:0.11 [[ 9.99754504e-01 3.06872320e-03 -2.19434619e-02 1.27651189e+01] [-3.04383100e-03 9.99994686e-01 1.16768948e-03 -7.64760743e-01] [ 2.19469286e-02 -1.10061063e-03 9.99758531e-01 1.11089081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.760714056999998 meters Centerline goodness [0,1] 0.9835029187143813 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.77, Z:0.11 [[ 9.99762070e-01 3.85115910e-04 -2.18095118e-02 1.27938613e+01] [-3.59915463e-04 9.99999263e-01 1.15939312e-03 -7.70758000e-01] [ 2.18099423e-02 -1.15126769e-03 9.99761472e-01 1.10871488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.790714057 meters Centerline goodness [0,1] 0.9818645118339799 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.78, Z:0.11 [[ 9.99757968e-01 -3.76458691e-03 -2.16756467e-02 1.28235132e+01] [ 3.79043274e-03 9.99992153e-01 1.15142868e-03 -7.79849080e-01] [ 2.16711420e-02 -1.23331008e-03 9.99764393e-01 1.09628171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.820714057 meters Centerline goodness [0,1] 0.9810624297865511 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.78, Z:0.11 [[ 9.99747223e-01 -5.30960120e-03 -2.18471652e-02 1.28527711e+01] [ 5.33621335e-03 9.99985090e-01 1.15998758e-03 -7.83786554e-01] [ 2.18406804e-02 -1.27627550e-03 9.99760649e-01 1.09790054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.850714056999998 meters Centerline goodness [0,1] 0.9809804324497111 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.79, Z:0.11 [[ 9.99744800e-01 -7.35912188e-03 -2.13583142e-02 1.28819563e+01] [ 7.38500598e-03 9.99972088e-01 1.13327522e-03 -7.89168876e-01] [ 2.13493782e-02 -1.29071729e-03 9.99771243e-01 1.09904004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.880714057 meters Centerline goodness [0,1] 0.9800657624332101 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.79, Z:0.11 [[ 9.99748757e-01 -7.76740326e-03 -2.10259392e-02 1.29104518e+01] [ 7.79252540e-03 9.99969018e-01 1.11314753e-03 -7.91338322e-01] [ 2.10166415e-02 -1.27671303e-03 9.99778311e-01 1.09834963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.910714057 meters Centerline goodness [0,1] 0.9801107238056183 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.79, Z:0.11 [[ 9.99749993e-01 -7.96295651e-03 -2.08935834e-02 1.29379610e+01] [ 7.98772307e-03 9.99967490e-01 1.10217800e-03 -7.94803228e-01] [ 2.08841276e-02 -1.26879461e-03 9.99781098e-01 1.09918163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.940714056999997 meters Centerline goodness [0,1] 0.9800041040607401 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.80, Z:0.11 [[ 9.99742170e-01 -8.25517668e-03 -2.11529052e-02 1.29664881e+01] [ 8.28055889e-03 9.99965097e-01 1.11263052e-03 -7.97061519e-01] [ 2.11429819e-02 -1.28750153e-03 9.99775633e-01 1.08549722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.970714057 meters Centerline goodness [0,1] 0.9798627106661497 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.80, Z:0.11 [[ 9.99725974e-01 -8.48591023e-03 -2.18166453e-02 1.29946295e+01] [ 8.51288189e-03 9.99963111e-01 1.14371132e-03 -8.00314643e-01] [ 2.18061350e-02 -1.32912043e-03 9.99761334e-01 1.08077647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.000714057 meters Centerline goodness [0,1] 0.9801239678872853 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.80, Z:0.11 [[ 9.99704092e-01 -9.63763176e-03 -2.23348464e-02 1.30236999e+01] [ 9.66611799e-03 9.99952600e-01 1.16780578e-03 -7.99096927e-01] [ 2.23225328e-02 -1.38335147e-03 9.99749864e-01 1.08625658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.030714056999997 meters Centerline goodness [0,1] 0.9797249687464484 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.80, Z:0.11 [[ 9.99712896e-01 -1.05392925e-02 -2.15185675e-02 1.30525796e+01] [ 1.05658281e-02 9.99943553e-01 1.11982571e-03 -8.00857938e-01] [ 2.15055507e-02 -1.34686569e-03 9.99767822e-01 1.08928551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.060714057 meters Centerline goodness [0,1] 0.9798021434460017 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.80, Z:0.11 [[ 9.99711485e-01 -1.14947600e-02 -2.10906820e-02 1.30816400e+01] [ 1.15203858e-02 9.99933040e-01 1.09392626e-03 -8.01474352e-01] [ 2.10766954e-02 -1.33658344e-03 9.99776968e-01 1.09608805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.090714057 meters Centerline goodness [0,1] 0.9803121633700809 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.80, Z:0.11 [[ 9.99727182e-01 -1.25339328e-02 -1.97094226e-02 1.31109846e+01] [ 1.25564947e-02 9.99920642e-01 1.02138119e-03 -8.02617293e-01] [ 1.96950566e-02 -1.26858380e-03 9.99805229e-01 1.09664274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.120714056999997 meters Centerline goodness [0,1] 0.9801843952112288 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.81, Z:0.11 [[ 9.99738801e-01 -1.29138826e-02 -1.88563446e-02 1.31406480e+01] [ 1.29345920e-02 9.99915868e-01 9.76722586e-04 -8.06239387e-01] [ 1.88421449e-02 -1.22036659e-03 9.99821726e-01 1.10330018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.150714057 meters Centerline goodness [0,1] 0.9787633731185998 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.81, Z:0.11 [[ 9.99726156e-01 -1.46772279e-02 -1.82261400e-02 1.31710220e+01] [ 1.46968714e-02 9.99891549e-01 9.44285298e-04 -8.08335803e-01] [ 1.82103039e-02 -1.21189395e-03 9.99833444e-01 1.10481298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.180714057 meters Centerline goodness [0,1] 0.9784714747039828 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.81, Z:0.11 [[ 9.99702629e-01 -1.60460359e-02 -1.83624249e-02 1.32021479e+01] [ 1.60662172e-02 9.99870477e-01 9.52049279e-04 -8.09861595e-01] [ 1.83447700e-02 -1.24678087e-03 9.99830943e-01 1.10445499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.210714056999997 meters Centerline goodness [0,1] 0.9794311425357545 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.81, Z:0.11 [[ 9.99639330e-01 -1.90366339e-02 -1.89424746e-02 1.32329689e+01] [ 1.90586558e-02 9.99817884e-01 9.82703188e-04 -8.11282872e-01] [ 1.89203175e-02 -1.34336686e-03 9.99820092e-01 1.08591565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.240714056999998 meters Centerline goodness [0,1] 0.9790598681801538 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.81, Z:0.11 [[ 9.99615971e-01 -2.02123048e-02 -1.89571655e-02 1.32638996e+01] [ 2.02345816e-02 9.99794776e-01 9.84021692e-04 -8.14108451e-01] [ 1.89333857e-02 -1.36723411e-03 9.99819813e-01 1.08605112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.270714057 meters Centerline goodness [0,1] 0.8888106366177946 Centerline is valid? [True, False] Translation: X:13.31, Y:-0.81, Z:0.11 [[ 9.99517026e-01 -2.38963950e-02 -1.98664798e-02 1.33081438e+01] [ 2.39098628e-02 9.99714021e-01 4.40635984e-04 -8.13919508e-01] [ 1.98502688e-02 -9.15427975e-04 9.99802545e-01 1.11071036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.300714057 meters Centerline goodness [0,1] 0.9797717723233761 Centerline is valid? [False, True] Translation: X:13.25, Y:-0.81, Z:0.11 [[ 9.99457175e-01 -2.50198748e-02 -2.14327350e-02 1.32527360e+01] [ 2.50126509e-02 9.99686952e-01 -6.05098409e-04 -8.09296655e-01] [ 2.14411650e-02 6.86804270e-05 9.99770109e-01 1.11824297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.330714056999998 meters Centerline goodness [0,1] 0.9792908258358453 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.81, Z:0.11 [[ 9.99430642e-01 -2.59175780e-02 -2.16025556e-02 1.32839103e+01] [ 2.59472431e-02 9.99662715e-01 1.09401199e-03 -8.11676982e-01] [ 2.15669153e-02 -1.65391587e-03 9.99766039e-01 1.11778328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.360714057 meters Centerline goodness [0,1] 0.9766888023814976 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.82, Z:0.11 [[ 9.99421471e-01 -2.64789868e-02 -2.13444705e-02 1.33147094e+01] [ 2.65080987e-02 9.99648013e-01 1.08208184e-03 -8.19589750e-01] [ 2.13083051e-02 -1.64725716e-03 9.99771595e-01 1.10631734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.390714057 meters Centerline goodness [0,1] 0.9788170754195095 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.81, Z:0.11 [[ 9.99404855e-01 -2.68471813e-02 -2.16602020e-02 1.33477159e+01] [ 2.68772748e-02 9.99638136e-01 1.09937523e-03 -8.13232697e-01] [ 2.16228488e-02 -1.68088814e-03 9.99764786e-01 1.10996149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.420714056999998 meters Centerline goodness [0,1] 0.9793038135495346 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.81, Z:0.11 [[ 9.99404929e-01 -2.67735349e-02 -2.17477551e-02 1.33800837e+01] [ 2.68038891e-02 9.99640100e-01 1.10539168e-03 -8.12301738e-01] [ 2.17103328e-02 -1.68765831e-03 9.99762879e-01 1.11331078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.450714057 meters Centerline goodness [0,1] 0.9795809823328092 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.81, Z:0.11 [[ 9.99435611e-01 -2.58327243e-02 -2.14739199e-02 1.34109962e+01] [ 2.58621336e-02 9.99664922e-01 1.09290817e-03 -8.13081996e-01] [ 2.14384917e-02 -1.64765273e-03 9.99768811e-01 1.11750003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.480714057 meters Centerline goodness [0,1] 0.9766417945034064 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.82, Z:0.11 [[ 9.99456337e-01 -2.49829571e-02 -2.15147104e-02 1.34421189e+01] [ 2.50123076e-02 9.99686542e-01 1.09614783e-03 -8.18978875e-01] [ 2.14805814e-02 -1.63368444e-03 9.99767931e-01 1.12056119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.510714056999998 meters Centerline goodness [0,1] 0.9803411256216015 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.81, Z:0.11 [[ 9.99511398e-01 -2.30063517e-02 -2.11582874e-02 1.34739149e+01] [ 2.30343185e-02 9.99734093e-01 1.07900011e-03 -8.07205381e-01] [ 2.11278374e-02 -1.56583964e-03 9.99775556e-01 1.12626844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.540714057 meters Centerline goodness [0,1] 0.9815558460963766 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.81, Z:0.11 [[ 9.99532110e-01 -2.19719315e-02 -2.12789725e-02 1.35064563e+01] [ 2.20000065e-02 9.99757381e-01 1.08614989e-03 -8.07334597e-01] [ 2.12499450e-02 -1.55377923e-03 9.99772987e-01 1.12865532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.570714057 meters Centerline goodness [0,1] 0.9823008849557522 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.80, Z:0.11 [[ 9.99554247e-01 -2.08761472e-02 -2.13423230e-02 1.35383868e+01] [ 2.09041719e-02 9.99780889e-01 1.09083011e-03 -8.04097794e-01] [ 2.13148744e-02 -1.53648746e-03 9.99771632e-01 1.13260192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.600714056999998 meters Centerline goodness [0,1] 0.9821495590167011 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.80, Z:0.11 [[ 9.99616170e-01 -1.81837941e-02 -2.09012695e-02 1.35683852e+01] [ 1.82101040e-02 9.99833611e-01 1.06911708e-03 -8.02787152e-01] [ 2.08783512e-02 -1.44932101e-03 9.99780973e-01 1.13916608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.630714057 meters Centerline goodness [0,1] 0.9818952324896998 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.80, Z:0.11 [[ 9.99641625e-01 -1.67187454e-02 -2.09070753e-02 1.35994947e+01] [ 1.67447553e-02 9.99859225e-01 1.06961822e-03 -8.02709090e-01] [ 2.08862494e-02 -1.41931875e-03 9.99780851e-01 1.14257155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.660714057 meters Centerline goodness [0,1] 0.9833191970596551 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.80, Z:0.11 [[ 9.99684727e-01 -1.28280847e-02 -2.15844344e-02 1.36304559e+01] [ 1.28549185e-02 9.99916762e-01 1.10490497e-03 -7.98724710e-01] [ 2.15684639e-02 -1.38202277e-03 9.99766418e-01 1.13803860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.690714056999997 meters Centerline goodness [0,1] 0.9832509285325637 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.80, Z:0.11 [[ 9.99706450e-01 -1.03799435e-02 -2.18922328e-02 1.36611672e+01] [ 1.04069670e-02 9.99945218e-01 1.12081366e-03 -7.97900166e-01] [ 2.18793995e-02 -1.34831639e-03 9.99759708e-01 1.13475816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.720714057 meters Centerline goodness [0,1] 0.9831026637595981 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.80, Z:0.11 [[ 9.99722378e-01 -7.75434185e-03 -2.22494123e-02 1.36904178e+01] [ 7.78160118e-03 9.99969074e-01 1.13885246e-03 -7.97407930e-01] [ 2.22398932e-02 -1.31167234e-03 9.99751803e-01 1.13880087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.750714057 meters Centerline goodness [0,1] 0.9857357536435847 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.79, Z:0.11 [[ 9.99753596e-01 -1.96922597e-03 -2.21104043e-02 1.37201487e+01] [ 1.99472046e-03 9.99997371e-01 1.13105828e-03 -7.93000843e-01] [ 2.21081188e-02 -1.17488365e-03 9.99754895e-01 1.14483519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.780714056999997 meters Centerline goodness [0,1] 0.9865738081562321 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.79, Z:0.12 [[ 9.99759677e-01 8.76131804e-04 -2.19047972e-02 1.37502909e+01] [-8.51799857e-04 9.99999010e-01 1.12011020e-03 -7.87627861e-01] [ 2.19057569e-02 -1.10118250e-03 9.99759434e-01 1.15602804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.810714057 meters Centerline goodness [0,1] 0.9884078884078884 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.78, Z:0.12 [[ 9.99760898e-01 4.77715545e-03 -2.13383725e-02 1.37806621e+01] [-4.75496023e-03 9.99988100e-01 1.09077173e-03 -7.83807785e-01] [ 2.13433294e-02 -9.89047808e-04 9.99771716e-01 1.15899467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.840714057 meters Centerline goodness [0,1] 0.9892574126261532 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.78, Z:0.12 [[ 9.99762910e-01 5.99005363e-03 -2.09342629e-02 1.38095787e+01] [-5.96897079e-03 9.99981614e-01 1.06943784e-03 -7.82261801e-01] [ 2.09402840e-02 -9.44228281e-04 9.99780282e-01 1.16311283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.870714056999997 meters Centerline goodness [0,1] 0.9892148820151523 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.78, Z:0.12 [[ 9.99768930e-01 6.85139097e-03 -2.03751235e-02 1.38370761e+01] [-6.83162933e-03 9.99976124e-01 1.03933860e-03 -7.83698013e-01] [ 2.03817579e-02 -8.99903149e-04 9.99791865e-01 1.16428012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.900714057 meters Centerline goodness [0,1] 0.9898992345702936 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.78, Z:0.12 [[ 9.99776538e-01 6.74317875e-03 -2.00350621e-02 1.38651977e+01] [-6.72408696e-03 9.99976873e-01 1.02013226e-03 -7.82283446e-01] [ 2.00414777e-02 -8.85186798e-04 9.99798758e-01 1.17758953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.930714057 meters Centerline goodness [0,1] 0.9904999636478201 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.78, Z:0.12 [[ 9.99773159e-01 5.96460989e-03 -2.04463527e-02 1.38943466e+01] [-5.94460521e-03 9.99981791e-01 1.03903837e-03 -7.82592116e-01] [ 2.04521779e-02 -9.17257182e-04 9.99790412e-01 1.18064345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.960714056999997 meters Centerline goodness [0,1] 0.9894872292900845 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.79, Z:0.12 [[ 9.99789609e-01 3.50474469e-03 -2.02102470e-02 1.39227751e+01] [-3.48472514e-03 9.99993402e-01 1.02569684e-03 -7.85369474e-01] [ 2.02137085e-02 -9.55053887e-04 9.99795226e-01 1.17801465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.990714056999998 meters Centerline goodness [0,1] 0.989378509102399 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.79, Z:0.12 [[ 9.99790179e-01 1.67812353e-03 -2.04152183e-02 1.39522294e+01] [-1.65733641e-03 9.99998091e-01 1.03509362e-03 -7.86947839e-01] [ 2.04169163e-02 -1.00104155e-03 9.99791052e-01 1.17565050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.020714057 meters Centerline goodness [0,1] 0.9889792450540114 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.79, Z:0.12 [[ 9.99788343e-01 -2.10142786e-03 -2.04658954e-02 1.39807606e+01] [ 2.12309326e-03 9.99997209e-01 1.03693942e-03 -7.93419897e-01] [ 2.04636592e-02 -1.08017095e-03 9.99790014e-01 1.17264055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.050714056999997 meters Centerline goodness [0,1] 0.9889792450540114 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.79, Z:0.12 [[ 9.99787720e-01 -2.37867417e-03 -2.04659953e-02 1.40081219e+01] [ 2.40035714e-03 9.99996584e-01 1.03496300e-03 -7.94719883e-01] [ 2.04634635e-02 -1.08386900e-03 9.99790014e-01 1.17683066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.080714056999998 meters Centerline goodness [0,1] 0.9884359360575288 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.79, Z:0.12 [[ 9.99778910e-01 -4.21328484e-03 -2.06004807e-02 1.40372093e+01] [ 4.23554823e-03 9.99990492e-01 1.03720921e-03 -7.94575336e-01] [ 2.05959147e-02 -1.12423422e-03 9.99787250e-01 1.18299671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.110714057 meters Centerline goodness [0,1] 0.9862841079823583 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.80, Z:0.12 [[ 9.99763780e-01 -7.10971097e-03 -2.05386383e-02 1.40677350e+01] [ 7.13243350e-03 9.99974030e-01 1.03328909e-03 -7.97225678e-01] [ 2.05307585e-02 -1.17953548e-03 9.99788526e-01 1.18284054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.140714057 meters Centerline goodness [0,1] 0.9875916662619592 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.80, Z:0.12 [[ 9.99749761e-01 -8.63805325e-03 -2.06348839e-02 1.40966864e+01] [ 8.66128610e-03 9.99961953e-01 1.03679355e-03 -7.97666126e-01] [ 2.06251429e-02 -1.21525874e-03 9.99786541e-01 1.18498062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.170714056999998 meters Centerline goodness [0,1] 0.9871483407025897 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.80, Z:0.12 [[ 9.99740575e-01 -9.90581595e-03 -2.05099346e-02 1.41260038e+01] [ 9.92895271e-03 9.99950180e-01 1.02654899e-03 -7.99062470e-01] [ 2.04987440e-02 -1.22992485e-03 9.99789122e-01 1.18972453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.200714057 meters Centerline goodness [0,1] 0.9870700111590898 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.80, Z:0.12 [[ 9.99721768e-01 -1.18952398e-02 -2.03688356e-02 1.41557944e+01] [ 1.19184578e-02 9.99928454e-01 1.01886010e-03 -8.02268008e-01] [ 2.03552587e-02 -1.26134173e-03 9.99792015e-01 1.18773100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.230714057 meters Centerline goodness [0,1] 0.9867229787130756 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.80, Z:0.12 [[ 9.99710592e-01 -1.28290411e-02 -2.03506326e-02 1.41866328e+01] [ 1.28524067e-02 9.99916886e-01 1.01777168e-03 -8.02575974e-01] [ 2.03358842e-02 -1.27903173e-03 9.99792386e-01 1.18419195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.260714056999998 meters Centerline goodness [0,1] 0.9861960213488598 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.80, Z:0.12 [[ 9.99672102e-01 -1.52068049e-02 -2.06019910e-02 1.42164185e+01] [ 1.52312599e-02 9.99883466e-01 1.03061921e-03 -8.04730757e-01] [ 2.05839178e-02 -1.34407555e-03 9.99787225e-01 1.18774224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.290714057 meters Centerline goodness [0,1] 0.9870009961853391 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.81, Z:0.12 [[ 9.99651249e-01 -1.60805110e-02 -2.09475114e-02 1.42476270e+01] [ 1.61059887e-02 9.99869741e-01 1.04810920e-03 -8.05594774e-01] [ 2.09279287e-02 -1.38512405e-03 9.99780027e-01 1.19417866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.320714057 meters Centerline goodness [0,1] 0.9862684100520099 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.81, Z:0.12 [[ 9.99639956e-01 -1.68383007e-02 -2.08909304e-02 1.42798793e+01] [ 1.68638256e-02 9.99857248e-01 1.04623406e-03 -8.08161945e-01] [ 2.08703313e-02 -1.39815838e-03 9.99781213e-01 1.19664252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.350714056999998 meters Centerline goodness [0,1] 0.9856403527953933 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.81, Z:0.12 [[ 9.99615381e-01 -1.79472114e-02 -2.11421044e-02 1.43115400e+01] [ 1.79736310e-02 9.99837899e-01 1.06024734e-03 -8.09749276e-01] [ 2.11196488e-02 -1.43983993e-03 9.99775919e-01 1.19831880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.380714057 meters Centerline goodness [0,1] 0.9856875561927442 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.81, Z:0.12 [[ 9.99594906e-01 -1.91830096e-02 -2.10246365e-02 1.43431552e+01] [ 1.92094323e-02 9.99814925e-01 1.05549454e-03 -8.12113574e-01] [ 2.10004978e-02 -1.45893830e-03 9.99778401e-01 1.19351223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.410714057 meters Centerline goodness [0,1] 0.9855685131195335 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.81, Z:0.12 [[ 9.99577170e-01 -2.01571617e-02 -2.09563667e-02 1.43751277e+01] [ 2.01836520e-02 9.99795735e-01 1.05330495e-03 -8.12519148e-01] [ 2.09308544e-02 -1.47583559e-03 9.99779836e-01 1.19606529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.440714056999997 meters Centerline goodness [0,1] 0.981609530048281 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.82, Z:0.12 [[ 9.99586367e-01 -2.01347735e-02 -2.05349921e-02 1.44059901e+01] [ 2.01602323e-02 9.99796228e-01 1.03349409e-03 -8.23497558e-01] [ 2.05099985e-02 -1.44705681e-03 9.99788601e-01 1.19573778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.470714057 meters Centerline goodness [0,1] 0.9849225456579364 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.82, Z:0.12 [[ 9.99573786e-01 -2.04742688e-02 -2.08098743e-02 1.44384376e+01] [ 2.05005127e-02 9.99789293e-01 1.04855699e-03 -8.17798787e-01] [ 2.07840211e-02 -1.47472318e-03 9.99782901e-01 1.20817391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.500714057 meters Centerline goodness [0,1] 0.9842971389678894 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.82, Z:0.12 [[ 9.99588576e-01 -2.07536524e-02 -1.97980868e-02 1.44705943e+01] [ 2.07774872e-02 9.99783626e-01 9.98932921e-04 -8.19903807e-01] [ 1.97730715e-02 -1.40987643e-03 9.99803500e-01 1.21656314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.530714056999997 meters Centerline goodness [0,1] 0.9853459379328781 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.82, Z:0.12 [[ 9.99590907e-01 -2.09707813e-02 -1.94485120e-02 1.45029448e+01] [ 2.09938491e-02 9.99779122e-01 9.82665093e-04 -8.18578847e-01] [ 1.94236090e-02 -1.39056222e-03 9.99810377e-01 1.22745258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.560714057 meters Centerline goodness [0,1] 0.9843905759926086 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.82, Z:0.12 [[ 9.99549603e-01 -2.21624056e-02 -2.02340939e-02 1.45339148e+01] [ 2.21876466e-02 9.99753300e-01 1.02377983e-03 -8.24349338e-01] [ 2.02064127e-02 -1.47226564e-03 9.99794746e-01 1.22052687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.590714057 meters Centerline goodness [0,1] 0.9839164922867293 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.83, Z:0.12 [[ 9.99526095e-01 -2.24674831e-02 -2.10427389e-02 1.45645976e+01] [ 2.24948807e-02 9.99746390e-01 1.06617004e-03 -8.27735637e-01] [ 2.10134481e-02 -1.53901868e-03 9.99778009e-01 1.21748722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.620714056999997 meters Centerline goodness [0,1] 0.9836671203577678 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.83, Z:0.12 [[ 9.99509740e-01 -2.29589610e-02 -2.12876754e-02 1.45968229e+01] [ 2.29871552e-02 9.99735176e-01 1.08065388e-03 -8.29993256e-01] [ 2.12572272e-02 -1.56946718e-03 9.99772808e-01 1.21426449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.650714057 meters Centerline goodness [0,1] 0.9828866880279639 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.83, Z:0.12 [[ 9.99467828e-01 -2.43829930e-02 -2.16686408e-02 1.46275816e+01] [ 2.44125663e-02 9.99701362e-01 1.10128222e-03 -8.33736485e-01] [ 2.16353172e-02 -1.62968328e-03 9.99764601e-01 1.20900667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.680714057 meters Centerline goodness [0,1] 0.9832735382526908 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.83, Z:0.12 [[ 9.99447706e-01 -2.50313918e-02 -2.18566531e-02 1.46595121e+01] [ 2.50616537e-02 9.99685289e-01 1.11170585e-03 -8.31156416e-01] [ 2.18219470e-02 -1.65885573e-03 9.99760497e-01 1.22215364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.710714056999997 meters Centerline goodness [0,1] 0.9841130817701871 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.83, Z:0.12 [[ 9.99452615e-01 -2.50229479e-02 -2.16407366e-02 1.46912959e+01] [ 2.50526398e-02 9.99685526e-01 1.10197477e-03 -8.32873439e-01] [ 2.16063565e-02 -1.64352915e-03 9.99765205e-01 1.22678548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.740714056999998 meters Centerline goodness [0,1] 0.9851247717589775 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.83, Z:0.12 [[ 9.99470638e-01 -2.42901276e-02 -2.16433089e-02 1.47241730e+01] [ 2.43196935e-02 9.99703623e-01 1.10385339e-03 -8.29663913e-01] [ 2.16100816e-02 -1.62962769e-03 9.99765147e-01 1.23285463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.770714057 meters Centerline goodness [0,1] 0.9865190412458936 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.83, Z:0.12 [[ 9.99500955e-01 -2.36217090e-02 -2.09727271e-02 1.47560819e+01] [ 2.36493657e-02 9.99719740e-01 1.07162199e-03 -8.30383824e-01] [ 2.09415358e-02 -1.56707890e-03 9.99779474e-01 1.23811031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.800714056999997 meters Centerline goodness [0,1] 0.9868734503378871 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.83, Z:0.12 [[ 9.99539207e-01 -2.21677649e-02 -2.07355659e-02 1.47874608e+01] [ 2.21945155e-02 9.99753109e-01 1.06081252e-03 -8.29739180e-01] [ 2.07069307e-02 -1.52053955e-03 9.99784432e-01 1.24309036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.830714056999998 meters Centerline goodness [0,1] 0.9873124878238847 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.83, Z:0.13 [[ 9.99573731e-01 -2.04073179e-02 -2.08781495e-02 1.48180378e+01] [ 2.04340803e-02 9.99790631e-01 1.06928561e-03 -8.30493236e-01] [ 2.08519570e-02 -1.49545559e-03 9.99781456e-01 1.25159955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.860714057 meters Centerline goodness [0,1] 0.9886382989076223 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.83, Z:0.13 [[ 9.99590704e-01 -1.98175079e-02 -2.06322884e-02 1.48502685e+01] [ 1.98435604e-02 9.99802537e-01 1.05872281e-03 -8.31385796e-01] [ 2.06072330e-02 -1.46770754e-03 9.99786571e-01 1.25998813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.890714057 meters Centerline goodness [0,1] 0.9877773735903965 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.83, Z:0.13 [[ 9.99614874e-01 -1.89643483e-02 -2.02597615e-02 1.48826562e+01] [ 1.89893233e-02 9.99819145e-01 1.04105239e-03 -8.33111407e-01] [ 2.02363546e-02 -1.42537061e-03 9.99794208e-01 1.26804892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.920714056999998 meters Centerline goodness [0,1] 0.9894158008710674 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.83, Z:0.13 [[ 9.99628968e-01 -1.85296750e-02 -1.99644191e-02 1.49145248e+01] [ 1.85538691e-02 9.99827334e-01 1.02729935e-03 -8.34656634e-01] [ 1.99419364e-02 -1.39733540e-03 9.99800163e-01 1.27759070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.950714057 meters Centerline goodness [0,1] 0.988743787155248 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.84, Z:0.13 [[ 9.99639669e-01 -1.81900471e-02 -1.97396835e-02 1.49466725e+01] [ 1.82136614e-02 9.99833600e-01 1.01714918e-03 -8.36779855e-01] [ 1.97178968e-02 -1.37631458e-03 9.99804636e-01 1.28298780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.980714057 meters Centerline goodness [0,1] 0.9879656020853127 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.84, Z:0.13 [[ 9.99655638e-01 -1.74875170e-02 -1.95650603e-02 1.49786913e+01] [ 1.75106089e-02 9.99846168e-01 1.00955681e-03 -8.37077609e-01] [ 1.95443960e-02 -1.35180527e-03 9.99808076e-01 1.28867985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.010714056999998 meters Centerline goodness [0,1] 0.9878437964384029 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.84, Z:0.13 [[ 9.99653432e-01 -1.73273195e-02 -1.98186628e-02 1.50099174e+01] [ 1.73510099e-02 9.99848936e-01 1.02402013e-03 -8.39289387e-01] [ 1.97979254e-02 -1.36753905e-03 9.99803067e-01 1.28774541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.040714057 meters Centerline goodness [0,1] 0.9883806083093297 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.84, Z:0.13 [[ 9.99668666e-01 -1.64437523e-02 -1.98030811e-02 1.50404064e+01] [ 1.64672511e-02 9.99863881e-01 1.02412947e-03 -8.41447492e-01] [ 1.97835450e-02 -1.34989245e-03 9.99803375e-01 1.29326874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.070714057 meters Centerline goodness [0,1] 0.9890441641914594 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.84, Z:0.13 [[ 9.99681898e-01 -1.51163498e-02 -2.01890683e-02 1.50715980e+01] [ 1.51405135e-02 9.99884830e-01 1.04454628e-03 -8.41659333e-01] [ 2.01709534e-02 -1.34988687e-03 9.99795634e-01 1.29817062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.100714056999998 meters Centerline goodness [0,1] 0.989634027642593 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.84, Z:0.13 [[ 9.99690913e-01 -1.42368723e-02 -2.03811086e-02 1.51029872e+01] [ 1.42613312e-02 9.99897745e-01 1.05522253e-03 -8.39346108e-01] [ 2.03640015e-02 -1.34555811e-03 9.99791727e-01 1.30659998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.130714057 meters Centerline goodness [0,1] 0.9901270772238514 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.84, Z:0.13 [[ 9.99697214e-01 -1.26174856e-02 -2.11253098e-02 1.51332755e+01] [ 1.26434181e-02 9.99919470e-01 1.09443894e-03 -8.41600955e-01] [ 2.11097995e-02 -1.36120369e-03 9.99776237e-01 1.30138333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.160714057 meters Centerline goodness [0,1] 0.9906293467385734 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.84, Z:0.13 [[ 9.99710443e-01 -1.13026656e-02 -2.12433609e-02 1.51644286e+01] [ 1.13286015e-02 9.99935223e-01 1.10094180e-03 -8.41293271e-01] [ 2.12295412e-02 -1.34128059e-03 9.99773728e-01 1.30429597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.190714056999997 meters Centerline goodness [0,1] 0.9913568727594166 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.84, Z:0.13 [[ 9.99704982e-01 -1.02148442e-02 -2.20364778e-02 1.51946894e+01] [ 1.02424964e-02 9.99946892e-01 1.14232995e-03 -8.40271570e-01] [ 2.20236387e-02 -1.36770148e-03 9.99756515e-01 1.30488393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.220714057 meters Centerline goodness [0,1] 0.9890809381579592 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.85, Z:0.13 [[ 9.99705124e-01 -9.41567994e-03 -2.23832340e-02 1.52230062e+01] [ 9.44400419e-03 9.99954732e-01 1.16005001e-03 -8.46705867e-01] [ 2.23712980e-02 -1.37109529e-03 9.99748791e-01 1.29998824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.250714057 meters Centerline goodness [0,1] 0.9916282038691937 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.84, Z:0.13 [[ 9.99726062e-01 -6.83905520e-03 -2.23836547e-02 1.52528772e+01] [ 6.86671904e-03 9.99975752e-01 1.15926621e-03 -8.40579550e-01] [ 2.23751836e-02 -1.31265092e-03 9.99748782e-01 1.30767373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.280714056999997 meters Centerline goodness [0,1] 0.992347817528665 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.84, Z:0.13 [[ 9.99737007e-01 -5.30658322e-03 -2.23104511e-02 1.52814402e+01] [ 5.33366238e-03 9.99985110e-01 1.15441262e-03 -8.39016730e-01] [ 2.23039929e-02 -1.27310544e-03 9.99750424e-01 1.31933166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.310714057 meters Centerline goodness [0,1] 0.9911423861427552 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.84, Z:0.13 [[ 9.99764669e-01 -1.79549871e-03 -2.16190283e-02 1.53102093e+01] [ 1.82007873e-03 9.99997719e-01 1.11733941e-03 -8.41010402e-01] [ 2.16169728e-02 -1.15642480e-03 9.99765657e-01 1.32617702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.340714057 meters Centerline goodness [0,1] 0.9921084531083789 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.84, Z:0.13 [[ 9.99767589e-01 4.81181277e-04 -2.15531219e-02 1.53400213e+01] [-4.57294980e-04 9.99999276e-01 1.11316721e-03 -8.36841179e-01] [ 2.15536419e-02 -1.10305236e-03 9.99767085e-01 1.33153039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.370714056999997 meters Centerline goodness [0,1] 0.9919043467430564 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.84, Z:0.13 [[ 9.99742389e-01 5.42490481e-03 -2.20391919e-02 1.53693602e+01] [-5.40114274e-03 9.99984767e-01 1.13755623e-03 -8.35099122e-01] [ 2.20450273e-02 -1.01822636e-03 9.99756460e-01 1.33098609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.400714057 meters Centerline goodness [0,1] 0.9930342296457194 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.83, Z:0.13 [[ 9.99719015e-01 7.53509356e-03 -2.24747316e-02 1.53986342e+01] [-7.51095994e-03 9.99971122e-01 1.15803353e-03 -8.34569148e-01] [ 2.24828085e-02 -9.88901336e-04 9.99746741e-01 1.33208791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.430714057 meters Centerline goodness [0,1] 0.9932515184083581 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.83, Z:0.13 [[ 9.99678944e-01 9.76112085e-03 -2.33822363e-02 1.54272094e+01] [-9.73570387e-03 9.99951886e-01 1.20061364e-03 -8.33299188e-01] [ 2.33928307e-02 -9.72585643e-04 9.99725877e-01 1.33587369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.460714056999997 meters Centerline goodness [0,1] 0.9941000728076121 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.83, Z:0.13 [[ 9.99627338e-01 1.37226989e-02 -2.35981641e-02 1.54557041e+01] [-1.36979480e-02 9.99905446e-01 1.21018229e-03 -8.32653557e-01] [ 2.36125397e-02 -8.86484874e-04 9.99720792e-01 1.33808732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.490714056999998 meters Centerline goodness [0,1] 0.9941914556564158 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.83, Z:0.13 [[ 9.99612784e-01 1.53407957e-02 -2.32151229e-02 1.54846860e+01] [-1.53173089e-02 9.99881976e-01 1.18919610e-03 -8.31934126e-01] [ 2.32306261e-02 -8.33142422e-04 9.99729785e-01 1.34725240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.520714057 meters Centerline goodness [0,1] 0.9958559696778269 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.83, Z:0.14 [[ 9.99554349e-01 1.83693830e-02 -2.35301738e-02 1.55134581e+01] [-1.83461317e-02 9.99830971e-01 1.20365934e-03 -8.30312971e-01] [ 2.35483070e-02 -7.71435263e-04 9.99722403e-01 1.35360020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.550714056999997 meters Centerline goodness [0,1] 0.9949747474747475 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.83, Z:0.14 [[ 9.99520210e-01 1.96241954e-02 -2.39633069e-02 1.55419940e+01] [-1.96005190e-02 9.99807144e-01 1.22252920e-03 -8.30880280e-01] [ 2.39826765e-02 -7.52249392e-04 9.99712091e-01 1.35717381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.580714056999998 meters Centerline goodness [0,1] 0.9959530554431404 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.83, Z:0.14 [[ 9.99497749e-01 2.06972388e-02 -2.39973835e-02 1.55708895e+01] [-2.06739109e-02 9.99785528e-01 1.21981621e-03 -8.31817028e-01] [ 2.40174835e-02 -7.23083792e-04 9.99711277e-01 1.36235871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.610714057 meters Centerline goodness [0,1] 0.9948725682400844 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.83, Z:0.14 [[ 9.99451383e-01 2.22058565e-02 -2.45730286e-02 1.55981958e+01] [-2.21819087e-02 9.99753174e-01 1.24674309e-03 -8.34943846e-01] [ 2.45946484e-02 -7.00982427e-04 9.99697260e-01 1.36628583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.640714057 meters Centerline goodness [0,1] 0.994770716009654 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.84, Z:0.14 [[ 9.99452234e-01 2.19195012e-02 -2.47945182e-02 1.56260940e+01] [-2.18951470e-02 9.99759487e-01 1.25332670e-03 -8.37561897e-01] [ 2.48160271e-02 -7.09760551e-04 9.99691783e-01 1.36541045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.670714056999998 meters Centerline goodness [0,1] 0.9941604010025062 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.84, Z:0.14 [[ 9.99465959e-01 2.07602877e-02 -2.52350481e-02 1.56549572e+01] [-2.07348612e-02 9.99784204e-01 1.26886021e-03 -8.41221504e-01] [ 2.52559444e-02 -7.44937369e-04 9.99680740e-01 1.37595131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.700714057 meters Centerline goodness [0,1] 0.9950220132079247 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.85, Z:0.14 [[ 9.99484389e-01 1.94707262e-02 -2.55312900e-02 1.56828047e+01] [-1.94443976e-02 9.99810122e-01 1.27910832e-03 -8.45500924e-01] [ 2.55513474e-02 -7.82008239e-04 9.99673205e-01 1.37703223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.730714057 meters Centerline goodness [0,1] 0.993083300039952 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.85, Z:0.14 [[ 9.99511961e-01 1.77707517e-02 -2.56912387e-02 1.57102547e+01] [-1.77435993e-02 9.99841745e-01 1.28447322e-03 -8.50529094e-01] [ 2.57099989e-02 -8.27991304e-04 9.99669100e-01 1.37371707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.760714056999998 meters Centerline goodness [0,1] 0.9922305271439811 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.86, Z:0.14 [[ 9.99573822e-01 1.41294409e-02 -2.55447188e-02 1.57396697e+01] [-1.41014681e-02 9.99899757e-01 1.27486916e-03 -8.57886475e-01] [ 2.55601713e-02 -9.14107801e-04 9.99672868e-01 1.36873454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.790714057 meters Centerline goodness [0,1] 0.9933293803735547 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.86, Z:0.14 [[ 9.99598221e-01 1.15793347e-02 -2.58711253e-02 1.57691309e+01] [-1.15498127e-02 9.99932466e-01 1.29025812e-03 -8.57555577e-01] [ 2.58843184e-02 -9.90933068e-04 9.99664454e-01 1.38258444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.820714057 meters Centerline goodness [0,1] 0.9921898025346301 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.86, Z:0.14 [[ 9.99635913e-01 7.65335659e-03 -2.58740890e-02 1.57980464e+01] [-7.62254405e-03 9.99970117e-01 1.28928617e-03 -8.64900511e-01] [ 2.58831832e-02 -1.09159038e-03 9.99664378e-01 1.38224858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.850714056999998 meters Centerline goodness [0,1] 0.9899295311014118 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.87, Z:0.14 [[ 9.99632551e-01 5.81946060e-03 -2.64744528e-02 1.58250407e+01] [-5.78661302e-03 9.99982390e-01 1.31717096e-03 -8.72215289e-01] [ 2.64816518e-02 -1.16348955e-03 9.99648622e-01 1.37613112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.880714057 meters Centerline goodness [0,1] 0.990180992159449 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.87, Z:0.14 [[ 9.99642039e-01 3.91944042e-03 -2.64656712e-02 1.58535895e+01] [-3.88601391e-03 9.99991586e-01 1.31432799e-03 -8.73983582e-01] [ 2.64705999e-02 -1.21101154e-03 9.99648859e-01 1.38336814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.910714057 meters Centerline goodness [0,1] 0.9900744416873449 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.88, Z:0.14 [[ 9.99626892e-01 2.03084650e-04 -2.73136554e-02 1.58834071e+01] [-1.66133112e-04 9.99999068e-01 1.35512194e-03 -8.78470813e-01] [ 2.73139052e-02 -1.35007863e-03 9.99625994e-01 1.39014269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.940714056999997 meters Centerline goodness [0,1] 0.9900744416873449 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.88, Z:0.14 [[ 9.99626906e-01 9.49796641e-05 -2.73137336e-02 1.59108539e+01] [-5.80308763e-05 9.99999082e-01 1.35354442e-03 -8.79744514e-01] [ 2.73138371e-02 -1.35145438e-03 9.99625994e-01 1.39434452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.970714057 meters Centerline goodness [0,1] 0.9885560824542727 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.89, Z:0.14 [[ 9.99625319e-01 -1.60467653e-03 -2.73248368e-02 1.59377439e+01] [ 1.64220276e-03 9.99997739e-01 1.35095248e-03 -8.86160837e-01] [ 2.73226072e-02 -1.39531923e-03 9.99625694e-01 1.39421466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.000714057 meters Centerline goodness [0,1] 0.9882083985080015 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.89, Z:0.14 [[ 9.99628074e-01 -3.24192004e-03 -2.70777510e-02 1.59663489e+01] [ 3.27929639e-03 9.99993731e-01 1.33604209e-03 -8.89843322e-01] [ 2.70732499e-02 -1.42434115e-03 9.99632438e-01 1.39853667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.030714056999997 meters Centerline goodness [0,1] 0.9874182063125481 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.89, Z:0.14 [[ 9.99598362e-01 -5.65159302e-03 -2.77700365e-02 1.59954454e+01] [ 5.69178987e-03 9.99982865e-01 1.36865667e-03 -8.94359743e-01] [ 2.77618256e-02 -1.52616817e-03 9.99613401e-01 1.40629609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.060714057 meters Centerline goodness [0,1] 0.9875869037022782 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.90, Z:0.14 [[ 9.99587728e-01 -6.69883888e-03 -2.79195050e-02 1.60238414e+01] [ 6.73977227e-03 9.99976346e-01 1.37227469e-03 -8.95522305e-01] [ 2.79096519e-02 -1.55988004e-03 9.99609233e-01 1.40918169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.090714057 meters Centerline goodness [0,1] 0.9860435001558716 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.91, Z:0.14 [[ 9.99563632e-01 -7.99654827e-03 -2.84359038e-02 1.60504969e+01] [ 8.03936163e-03 9.99966716e-01 1.39159995e-03 -9.10165487e-01] [ 2.84238293e-02 -1.61959922e-03 9.99594649e-01 1.38527501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.120714056999997 meters Centerline goodness [0,1] 0.9855079395446719 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.91, Z:0.14 [[ 9.99550165e-01 -8.47279534e-03 -2.87694251e-02 1.60788199e+01] [ 8.51665702e-03 9.99962749e-01 1.40239862e-03 -9.12693905e-01] [ 2.87564712e-02 -1.64678710e-03 9.99585091e-01 1.37811125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.150714057 meters Centerline goodness [0,1] 0.9873174941861859 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.90, Z:0.14 [[ 9.99531199e-01 -8.97372411e-03 -2.92720790e-02 1.61084227e+01] [ 9.01914174e-03 9.99958319e-01 1.41990204e-03 -9.02805081e-01] [ 2.92581171e-02 -1.68324542e-03 9.99570472e-01 1.40384971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.180714057 meters Centerline goodness [0,1] 0.9864635400473537 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.91, Z:0.14 [[ 9.99517992e-01 -9.25842246e-03 -2.96321711e-02 1.61360594e+01] [ 9.30493720e-03 9.99955682e-01 1.43222698e-03 -9.06731339e-01] [ 2.96175977e-02 -1.70726213e-03 9.99559845e-01 1.39653017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.210714056999997 meters Centerline goodness [0,1] 0.9861432421474398 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.91, Z:0.14 [[ 9.99521162e-01 -9.40978725e-03 -2.94771460e-02 1.61636782e+01] [ 9.45572506e-03 9.99954286e-01 1.41941162e-03 -9.08543840e-01] [ 2.94624422e-02 -1.69745974e-03 9.99564447e-01 1.40547883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.240714056999998 meters Centerline goodness [0,1] 0.9873729522898481 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.91, Z:0.14 [[ 9.99529057e-01 -9.23137284e-03 -2.92651059e-02 1.61923241e+01] [ 9.27635131e-03 9.99955992e-01 1.40153596e-03 -9.09179473e-01] [ 2.92508799e-02 -1.67234932e-03 9.99570702e-01 1.40736352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.270714057 meters Centerline goodness [0,1] 0.9871148725751236 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.91, Z:0.14 [[ 9.99526550e-01 -9.06040030e-03 -2.94038332e-02 1.62211688e+01] [ 9.10552105e-03 9.99957562e-01 1.40098200e-03 -9.10029901e-01] [ 2.93898919e-02 -1.66805592e-03 9.99566632e-01 1.41328427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.300714056999997 meters Centerline goodness [0,1] 0.9878835675365644 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.91, Z:0.14 [[ 9.99526792e-01 -8.38706506e-03 -2.95947401e-02 1.62504134e+01] [ 8.43227060e-03 9.99963464e-01 1.40301126e-03 -9.08106915e-01] [ 2.95818916e-02 -1.65189820e-03 9.99560995e-01 1.41853919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.330714056999998 meters Centerline goodness [0,1] 0.9893703810346482 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.91, Z:0.14 [[ 9.99539978e-01 -5.26900501e-03 -2.98675317e-02 1.62790400e+01] [ 5.31353063e-03 9.99984887e-01 1.41159687e-03 -9.07766988e-01] [ 2.98596426e-02 -1.56964955e-03 9.99552869e-01 1.42409754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.360714057 meters Centerline goodness [0,1] 0.9891667267180707 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.91, Z:0.14 [[ 9.99535524e-01 -2.96153541e-03 -3.03309491e-02 1.63078932e+01] [ 3.00633717e-03 9.99994456e-01 1.43160064e-03 -9.05389146e-01] [ 3.03265412e-02 -1.52212076e-03 9.99538886e-01 1.43244469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.390714057 meters Centerline goodness [0,1] 0.9899433256963704 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.91, Z:0.14 [[ 9.99540734e-01 2.88446019e-03 -3.01662320e-02 1.63375788e+01] [-2.84284221e-03 9.99994947e-01 1.42241941e-03 -9.06189136e-01] [ 3.01701825e-02 -1.33600831e-03 9.99543884e-01 1.42247916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.420714056999998 meters Centerline goodness [0,1] 0.9906087377465811 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.90, Z:0.14 [[ 9.99537186e-01 6.24257317e-03 -2.97731986e-02 1.63672237e+01] [-6.20354471e-03 9.99979774e-01 1.40304952e-03 -9.02555270e-01] [ 2.97813550e-02 -1.21770080e-03 9.99555695e-01 1.43885793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.450714057 meters Centerline goodness [0,1] 0.9907981356013646 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.90, Z:0.14 [[ 9.99548032e-01 8.71158808e-03 -2.87721973e-02 1.63964301e+01] [-8.67626574e-03 9.99961446e-01 1.35227308e-03 -9.01747659e-01] [ 2.87828685e-02 -1.10202666e-03 9.99585080e-01 1.44799932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.480714057 meters Centerline goodness [0,1] 0.9908604224944536 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.90, Z:0.15 [[ 9.99513571e-01 1.36983008e-02 -2.80174616e-02 1.64257601e+01] [-1.36668718e-02 9.99905742e-01 1.31296056e-03 -9.00005322e-01] [ 2.80328061e-02 -9.29410839e-04 9.99606572e-01 1.45736400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.510714056999998 meters Centerline goodness [0,1] 0.9919252845607549 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.90, Z:0.15 [[ 9.99494376e-01 1.51553253e-02 -2.79519077e-02 1.64541387e+01] [-1.51247158e-02 9.99884762e-01 1.30618709e-03 -8.98666935e-01] [ 2.79684822e-02 -8.82761989e-04 9.99608416e-01 1.47466920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.540714057 meters Centerline goodness [0,1] 0.9918347626524943 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.90, Z:0.15 [[ 9.99506649e-01 1.61124345e-02 -2.69601256e-02 1.64816642e+01] [-1.60844344e-02 9.99869849e-01 1.25512628e-03 -9.00216944e-01] [ 2.69768399e-02 -8.20868686e-04 9.99635722e-01 1.47783648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.570714057 meters Centerline goodness [0,1] 0.9921179637668858 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.90, Z:0.15 [[ 9.99532078e-01 1.61816458e-02 -2.59572430e-02 1.65105756e+01] [-1.61557673e-02 9.99868759e-01 1.20638780e-03 -9.02353523e-01] [ 2.59733577e-02 -7.86464130e-04 9.99662326e-01 1.49005115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.600714056999998 meters Centerline goodness [0,1] 0.9925859520752065 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.90, Z:0.15 [[ 9.99555832e-01 1.53892393e-02 -2.55207664e-02 1.65397225e+01] [-1.53640112e-02 9.99881265e-01 1.18433266e-03 -9.04378066e-01] [ 2.55359622e-02 -7.91705280e-04 9.99673591e-01 1.49977222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.630714057 meters Centerline goodness [0,1] 0.9910759754589326 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.91, Z:0.15 [[ 9.99605376e-01 1.26777543e-02 -2.50672495e-02 1.65683987e+01] [-1.26526027e-02 9.99919278e-01 1.16172578e-03 -9.09049156e-01] [ 2.50799541e-02 -8.44101382e-04 9.99685092e-01 1.50872158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.660714057 meters Centerline goodness [0,1] 0.990845799908458 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.91, Z:0.15 [[ 9.99627486e-01 1.08672417e-02 -2.50358144e-02 1.65966048e+01] [-1.08416271e-02 9.99940557e-01 1.15863157e-03 -9.12133385e-01] [ 2.50469173e-02 -8.86771001e-04 9.99685883e-01 1.51365491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.690714056999997 meters Centerline goodness [0,1] 0.9903943621180673 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.91, Z:0.15 [[ 9.99641671e-01 8.55806919e-03 -2.53631574e-02 1.66264113e+01] [-8.53108096e-03 9.99962923e-01 1.17208853e-03 -9.13857079e-01] [ 2.53722479e-02 -9.55293388e-04 9.99677616e-01 1.51320022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.720714057 meters Centerline goodness [0,1] 0.991323366822093 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.92, Z:0.15 [[ 9.99654164e-01 5.76668001e-03 -2.56573239e-02 1.66554370e+01] [-5.73817237e-03 9.99982835e-01 1.18457902e-03 -9.18112131e-01] [ 2.56637145e-02 -1.03694321e-03 9.99670095e-01 1.50925036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.750714057 meters Centerline goodness [0,1] 0.990639400921659 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.92, Z:0.15 [[ 9.99640039e-01 5.26675741e-03 -2.63069313e-02 1.66844110e+01] [-5.23665743e-03 9.99985553e-01 1.21294576e-03 -9.20606237e-01] [ 2.63129396e-02 -1.07474876e-03 9.99653177e-01 1.50951811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.780714056999997 meters Centerline goodness [0,1] 0.9895790911050955 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.93, Z:0.15 [[ 9.99608881e-01 6.20812597e-03 -2.72679937e-02 1.67122071e+01] [-6.17619498e-03 9.99980140e-01 1.25507295e-03 -9.25400533e-01] [ 2.72752438e-02 -1.08616963e-03 9.99627371e-01 1.50535845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.810714057 meters Centerline goodness [0,1] 0.9904467748886654 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.93, Z:0.15 [[ 9.99593566e-01 7.61165702e-03 -2.74730094e-02 1.67409420e+01] [-7.57983381e-03 9.99970476e-01 1.26230027e-03 -9.25285211e-01] [ 2.74818065e-02 -1.05354638e-03 9.99621749e-01 1.51583126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.840714057 meters Centerline goodness [0,1] 0.9902550874175982 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.93, Z:0.15 [[ 9.99596260e-01 8.96128496e-03 -2.69631712e-02 1.67693547e+01] [-8.93117269e-03 9.99959351e-01 1.23701598e-03 -9.26379354e-01] [ 2.69731604e-02 -9.95703812e-04 9.99635662e-01 1.52227763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.870714056999997 meters Centerline goodness [0,1] 0.9908375089477451 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.93, Z:0.15 [[ 9.99556670e-01 1.41514120e-02 -2.61954500e-02 1.67996380e+01] [-1.41248026e-02 9.99899519e-01 1.20056996e-03 -9.25193131e-01] [ 2.62098076e-02 -8.30032149e-04 9.99656119e-01 1.54550870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.900714057 meters Centerline goodness [0,1] 0.9920810971973762 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.92, Z:0.16 [[ 9.99497219e-01 1.95849272e-02 -2.49347035e-02 1.68297025e+01] [-1.95625179e-02 9.99807983e-01 1.14235689e-03 -9.24543064e-01] [ 2.49522886e-02 -6.53996949e-04 9.99688429e-01 1.55921849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.930714057 meters Centerline goodness [0,1] 0.9931063991632595 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.93, Z:0.16 [[ 9.99445761e-01 2.25821315e-02 -2.44585054e-02 1.68571360e+01] [-2.25614935e-02 9.99744830e-01 1.11945391e-03 -9.26034837e-01] [ 2.44775439e-02 -5.67013053e-04 9.99700219e-01 1.56604233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.960714056999997 meters Centerline goodness [0,1] 0.9915400838882438 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.93, Z:0.16 [[ 9.99396852e-01 2.48694783e-02 -2.42371686e-02 1.68852579e+01] [-2.48499707e-02 9.99690580e-01 1.10576632e-03 -9.28598530e-01] [ 2.42571690e-02 -5.02806449e-04 9.99705625e-01 1.56045087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.990714056999998 meters Centerline goodness [0,1] 0.9926348695116752 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.93, Z:0.16 [[ 9.99292185e-01 2.89425748e-02 -2.40303138e-02 1.69145324e+01] [-2.89247134e-02 9.99580998e-01 1.09061277e-03 -9.28971716e-01] [ 2.40518102e-02 -3.94770879e-04 9.99710635e-01 1.56799609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.020714057 meters Centerline goodness [0,1] 0.9924918879230714 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.93, Z:0.16 [[ 9.99240988e-01 3.02602515e-02 -2.45309133e-02 1.69421162e+01] [-3.02421509e-02 9.99541987e-01 1.10860670e-03 -9.32342787e-01] [ 2.45532246e-02 -3.65897675e-04 9.99698457e-01 1.55386323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.050714056999997 meters Centerline goodness [0,1] 0.9916919144101496 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.93, Z:0.15 [[ 9.99208059e-01 3.13592814e-02 -2.44918279e-02 1.69707079e+01] [-3.13416691e-02 9.99508121e-01 1.10274091e-03 -9.34982931e-01] [ 2.45143620e-02 -3.34252845e-04 9.99699422e-01 1.54813293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.080714056999998 meters Centerline goodness [0,1] 0.9933807594459625 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.94, Z:0.16 [[ 9.99131656e-01 3.35263631e-02 -2.47369667e-02 1.69990283e+01] [-3.35092076e-02 9.99437795e-01 1.10782897e-03 -9.37279641e-01] [ 2.47602010e-02 -2.77950841e-04 9.99693381e-01 1.55895475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.110714057 meters Centerline goodness [0,1] 0.9929706171798116 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.94, Z:0.16 [[ 9.99096371e-01 3.48243313e-02 -2.43660917e-02 1.70270227e+01] [-3.48081845e-02 9.99393421e-01 1.08662354e-03 -9.40897823e-01] [ 2.43891527e-02 -2.37502215e-04 9.99702512e-01 1.55794704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.140714056999997 meters Centerline goodness [0,1] 0.9927943103125585 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.94, Z:0.16 [[ 9.99103556e-01 3.50320100e-02 -2.37664055e-02 1.70547861e+01] [-3.50167960e-02 9.99386166e-01 1.05614269e-03 -9.43916861e-01] [ 2.37888157e-02 -2.22972545e-04 9.99716981e-01 1.56758311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.170714056999998 meters Centerline goodness [0,1] 0.9932182059707754 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.95, Z:0.16 [[ 9.99123456e-01 3.48130774e-02 -2.32458451e-02 1.70823161e+01] [-3.47986150e-02 9.99393818e-01 1.02650005e-03 -9.50928908e-01] [ 2.32674895e-02 -2.16677066e-04 9.99729252e-01 1.56520129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.200714057 meters Centerline goodness [0,1] 0.9922357714099186 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.96, Z:0.16 [[ 9.99181312e-01 3.32579177e-02 -2.30351303e-02 1.71113018e+01] [-3.32434485e-02 9.99446773e-01 1.01089298e-03 -9.55739533e-01] [ 2.30560069e-02 -2.44298202e-04 9.99734145e-01 1.56667840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.230714057 meters Centerline goodness [0,1] 0.9910533111971961 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.97, Z:0.16 [[ 9.99299651e-01 2.97583623e-02 -2.26858538e-02 1.71390484e+01] [-2.97435297e-02 9.99557072e-01 9.91042118e-04 -9.67524996e-01] [ 2.27052974e-02 -3.15590675e-04 9.99742152e-01 1.55601689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.260714056999998 meters Centerline goodness [0,1] 0.9891071057672336 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.97, Z:0.16 [[ 9.99384437e-01 2.68101760e-02 -2.26265876e-02 1.71671192e+01] [-2.67947185e-02 9.99640471e-01 9.86113829e-04 -9.73699190e-01] [ 2.26448905e-02 -3.79233770e-04 9.99743500e-01 1.55791255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.290714057 meters Centerline goodness [0,1] 0.9901452995370582 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.98, Z:0.16 [[ 9.99478020e-01 2.37411238e-02 -2.19099819e-02 1.71958444e+01] [-2.37259717e-02 9.99718047e-01 9.51288283e-04 -9.79407496e-01] [ 2.19263889e-02 -4.30956121e-04 9.99759495e-01 1.56414092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.320714057 meters Centerline goodness [0,1] 0.9880763116057234 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.99, Z:0.16 [[ 9.99635627e-01 1.70234497e-02 -2.09479049e-02 1.72234639e+01] [-1.70082103e-02 9.99854940e-01 9.05451278e-04 -9.92334731e-01] [ 2.09602801e-02 -5.48834984e-04 9.99780159e-01 1.56765633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.350714056999998 meters Centerline goodness [0,1] 0.9858685868586858 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.00, Z:0.16 [[ 9.99701383e-01 1.38183111e-02 -2.01543901e-02 1.72531479e+01] [-1.38035783e-02 9.99904348e-01 8.69934763e-04 -9.98546914e-01] [ 2.01644834e-02 -5.91472283e-04 9.99796501e-01 1.57218957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.380714057 meters Centerline goodness [0,1] 0.9864316311197829 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.01, Z:0.16 [[ 9.99775973e-01 7.50747921e-03 -1.97899452e-02 1.72814003e+01] [-7.49205327e-03 9.99971570e-01 8.53510700e-04 -1.01063253e+00] [ 1.97957902e-02 -7.05052167e-04 9.99803796e-01 1.58626520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.410714057 meters Centerline goodness [0,1] 0.9857841158796359 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.01, Z:0.16 [[ 9.99784730e-01 4.72797444e-03 -2.02024557e-02 1.73105893e+01] [-4.71135022e-03 9.99988523e-01 8.70397200e-04 -1.01471694e+00] [ 2.02063391e-02 -7.75028986e-04 9.99795531e-01 1.59035082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.440714056999997 meters Centerline goodness [0,1] 0.984506190806708 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.03, Z:0.16 [[ 9.99801090e-01 5.95435446e-04 -1.99355189e-02 1.73383981e+01] [-5.78456249e-04 9.99999465e-01 8.57461439e-04 -1.02509167e+00] [ 1.99360188e-02 -8.45759056e-04 9.99800900e-01 1.58328429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.470714057 meters Centerline goodness [0,1] 0.9853869665127278 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.03, Z:0.16 [[ 9.99801389e-01 -8.49771254e-04 -1.99113164e-02 1.73665720e+01] [ 8.66963847e-04 9.99999259e-01 8.54842232e-04 -1.02913280e+00] [ 1.99105752e-02 -8.71934843e-04 9.99801385e-01 1.58684300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.500714057 meters Centerline goodness [0,1] 0.9841329975709224 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.04, Z:0.16 [[ 9.99799961e-01 -2.18597465e-03 -1.98811397e-02 1.73936792e+01] [ 2.20334170e-03 9.99997210e-01 8.51681367e-04 -1.03508252e+00] [ 1.98792225e-02 -8.95315942e-04 9.99801988e-01 1.58683032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.530714056999997 meters Centerline goodness [0,1] 0.9822033335546849 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.04, Z:0.16 [[ 9.99796607e-01 -3.86939681e-03 -1.97932646e-02 1.74211694e+01] [ 3.88689972e-03 9.99992088e-01 8.45891520e-04 -1.04364745e+00] [ 1.97898349e-02 -9.22653906e-04 9.99803736e-01 1.57881353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.560714057 meters Centerline goodness [0,1] 0.9844695039546271 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.04, Z:0.16 [[ 9.99787072e-01 -4.35530216e-03 -2.01703273e-02 1.74503055e+01] [ 4.37352490e-03 9.99990067e-01 8.59418921e-04 -1.04436902e+00] [ 2.01663839e-02 -9.47451355e-04 9.99796189e-01 1.58458907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.590714057 meters Centerline goodness [0,1] 0.9842359296816189 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.05, Z:0.16 [[ 9.99785127e-01 -5.18370867e-03 -2.00705765e-02 1.74785006e+01] [ 5.20182839e-03 9.99986109e-01 8.50697967e-04 -1.04747366e+00] [ 2.00658880e-02 -9.54918870e-04 9.99798204e-01 1.58085789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.620714056999997 meters Centerline goodness [0,1] 0.9844501301336627 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.05, Z:0.16 [[ 9.99786895e-01 -5.70295794e-03 -1.98403962e-02 1.75057158e+01] [ 5.72071547e-03 9.99983285e-01 8.38377444e-04 -1.05400520e+00] [ 1.98352834e-02 -9.51700043e-04 9.99802808e-01 1.57546661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.650714057 meters Centerline goodness [0,1] 0.9843377746404306 Centerline is valid? [True, True] Translation: X:17.53, Y:-1.06, Z:0.16 [[ 9.99782962e-01 -6.67736953e-03 -1.97342883e-02 1.75344470e+01] [ 6.69507785e-03 9.99977242e-01 8.31405679e-04 -1.05673820e+00] [ 1.97282875e-02 -9.63347828e-04 9.99804914e-01 1.57879667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.680714057 meters Centerline goodness [0,1] 0.9838255977496484 Centerline is valid? [True, True] Translation: X:17.56, Y:-1.06, Z:0.16 [[ 9.99772901e-01 -8.19871007e-03 -1.96704820e-02 1.75632206e+01] [ 8.21650136e-03 9.99965905e-01 8.23816654e-04 -1.06082741e+00] [ 1.96630571e-02 -9.85252108e-04 9.99806178e-01 1.57701903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.710714056999997 meters Centerline goodness [0,1] 0.9840945089757128 Centerline is valid? [True, True] Translation: X:17.59, Y:-1.06, Z:0.16 [[ 9.99761188e-01 -8.17636420e-03 -2.02660723e-02 1.75918058e+01] [ 8.19513927e-03 9.99966063e-01 8.43550175e-04 -1.06300149e+00] [ 2.02584874e-02 -1.00943201e-03 9.99794266e-01 1.58078478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.740714056999998 meters Centerline goodness [0,1] 0.9833954442214823 Centerline is valid? [True, True] Translation: X:17.62, Y:-1.07, Z:0.16 [[ 9.99760001e-01 -5.56120591e-03 -2.11899458e-02 1.76206682e+01] [ 5.58105674e-03 9.99984041e-01 8.77780948e-04 -1.06556654e+00] [ 2.11847261e-02 -9.95832571e-04 9.99775083e-01 1.57359477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.770714057 meters Centerline goodness [0,1] 0.9845760056488448 Centerline is valid? [True, True] Translation: X:17.65, Y:-1.06, Z:0.16 [[ 9.99744807e-01 -3.60845086e-03 -2.23002035e-02 1.76499938e+01] [ 3.62990129e-03 9.99992987e-01 9.21489616e-04 -1.06176922e+00] [ 2.22967220e-02 -1.00220200e-03 9.99750895e-01 1.57610172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.800714056999997 meters Centerline goodness [0,1] 0.9845391608236933 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.06, Z:0.16 [[ 9.99742002e-01 -5.92650311e-04 -2.27063483e-02 1.76783383e+01] [ 6.14017722e-04 9.99999375e-01 9.34072095e-04 -1.06428750e+00] [ 2.27057805e-02 -9.47773207e-04 9.99741741e-01 1.57472231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.830714056999998 meters Centerline goodness [0,1] 0.9833716610649212 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.06, Z:0.16 [[ 9.99735159e-01 3.22817169e-03 -2.27857636e-02 1.77080848e+01] [-3.20767082e-03 9.99994417e-01 9.36214850e-04 -1.06441599e+00] [ 2.27886587e-02 -8.62877672e-04 9.99739932e-01 1.57348247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.860714057 meters Centerline goodness [0,1] 0.9833716610649212 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.07, Z:0.16 [[ 9.99735502e-01 3.11955724e-03 -2.27858198e-02 1.77355374e+01] [-3.09905937e-03 9.99994761e-01 9.34845234e-04 -1.06545716e+00] [ 2.27886167e-02 -8.63983361e-04 9.99739932e-01 1.57768440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.890714056999997 meters Centerline goodness [0,1] 0.9795353291418578 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.07, Z:0.16 [[ 9.99655496e-01 1.48733779e-02 -2.16257028e-02 1.77643578e+01] [-1.48576995e-02 9.99889226e-01 8.85489836e-04 -1.07459415e+00] [ 2.16364774e-02 -5.63876589e-04 9.99765745e-01 1.56103523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.920714056999998 meters Centerline goodness [0,1] 0.9835912486659552 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.06, Z:0.16 [[ 9.99577322e-01 1.89353062e-02 -2.20597470e-02 1.77941657e+01] [-1.89200256e-02 9.99820594e-01 9.01214962e-04 -1.06154126e+00] [ 2.20728542e-02 -4.83463059e-04 9.99756248e-01 1.59095566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.950714057 meters Centerline goodness [0,1] 0.9848970863405506 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.06, Z:0.16 [[ 9.99493457e-01 2.33013469e-02 -2.16766456e-02 1.78217288e+01] [-2.32877081e-02 9.99728416e-01 8.81445144e-04 -1.06159906e+00] [ 2.16912975e-02 -3.76199259e-04 9.99764645e-01 1.59580490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.980714057 meters Centerline goodness [0,1] 0.9857349827259556 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.06, Z:0.16 [[ 9.99405762e-01 2.73830544e-02 -2.09354116e-02 1.78494581e+01] [-2.73712660e-02 9.99624976e-01 8.49477159e-04 -1.06183452e+00] [ 2.09508216e-02 -2.75943648e-04 9.99780469e-01 1.59898311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.010714056999998 meters Centerline goodness [0,1] 0.985562002428822 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.06, Z:0.16 [[ 9.99314308e-01 3.06124230e-02 -2.08276896e-02 1.78778784e+01] [-3.06014930e-02 9.99531309e-01 8.43364933e-04 -1.06213683e+00] [ 2.08437453e-02 -2.05428247e-04 9.99782724e-01 1.60376676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.040714057 meters Centerline goodness [0,1] 0.985692821743323 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.06, Z:0.16 [[ 9.99150066e-01 3.62979632e-02 -1.95346488e-02 1.79062334e+01] [-3.62894754e-02 9.99341009e-01 7.88929679e-04 -1.06405943e+00] [ 1.95504122e-02 -7.93569830e-05 9.99808869e-01 1.61269777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.070714057 meters Centerline goodness [0,1] 0.9856961149666391 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.07, Z:0.16 [[ 9.99092083e-01 3.82634257e-02 -1.87328361e-02 1.79334832e+01] [-3.82560396e-02 9.99267686e-01 7.52609270e-04 -1.06637291e+00] [ 1.87479152e-02 -3.52818454e-05 9.99824242e-01 1.61832712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.100714056999998 meters Centerline goodness [0,1] 0.9869197746176549 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.07, Z:0.16 [[ 9.99083845e-01 3.87804892e-02 -1.80981810e-02 1.79612879e+01] [-3.87737177e-02 9.99247754e-01 7.25034282e-04 -1.06931323e+00] [ 1.81126839e-02 -2.26362777e-05 9.99835952e-01 1.61882888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.130714057 meters Centerline goodness [0,1] 0.9865048738596061 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.07, Z:0.16 [[ 9.99077262e-01 3.92791190e-02 -1.73716956e-02 1.79891855e+01] [-3.92730299e-02 9.99228278e-01 6.91654422e-04 -1.07274101e+00] [ 1.73854570e-02 -8.77708518e-06 9.99848861e-01 1.61944541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.160714057 meters Centerline goodness [0,1] 0.9858758953075841 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.08, Z:0.16 [[ 9.99063683e-01 3.93358528e-02 -1.80124346e-02 1.80172468e+01] [-3.93293591e-02 9.99226046e-01 7.14740520e-04 -1.07932240e+00] [ 1.80266087e-02 -5.65378791e-06 9.99837507e-01 1.61600960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.190714056999997 meters Centerline goodness [0,1] 0.9863372221975779 Centerline is valid? [True, True] Translation: X:18.04, Y:-1.08, Z:0.16 [[ 9.99066066e-01 3.90394863e-02 -1.85179208e-02 1.80439325e+01] [-3.90326643e-02 9.99237669e-01 7.29827463e-04 -1.08303908e+00] [ 1.85322961e-02 -6.34206491e-06 9.99828262e-01 1.60778968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.220714057 meters Centerline goodness [0,1] 0.9879978897388552 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.09, Z:0.16 [[ 9.99045322e-01 3.89751987e-02 -1.97326550e-02 1.80712606e+01] [-3.89675051e-02 9.99240178e-01 7.74388772e-04 -1.09087679e+00] [ 1.97478437e-02 -4.71714519e-06 9.99804992e-01 1.59260023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.250714057 meters Centerline goodness [0,1] 0.9878099672736058 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.10, Z:0.16 [[ 9.99008398e-01 3.97235981e-02 -2.01061136e-02 1.80990450e+01] [-3.97158792e-02 9.99210706e-01 7.83226650e-04 -1.09582463e+00] [ 2.01213566e-02 1.60819799e-05 9.99797545e-01 1.58775572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.280714056999997 meters Centerline goodness [0,1] 0.9888501600114148 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.10, Z:0.16 [[ 9.98848967e-01 4.40908168e-02 -1.88876029e-02 1.81271192e+01] [-4.40848704e-02 9.99027522e-01 7.31278710e-04 -1.09662299e+00] [ 1.89014778e-02 1.02220542e-04 9.99821346e-01 1.57135078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.310714057 meters Centerline goodness [0,1] 0.9888574537540805 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.11, Z:0.16 [[ 9.98935357e-01 4.14345084e-02 -2.02813880e-02 1.81542427e+01] [-4.14271640e-02 9.99141220e-01 7.82318279e-04 -1.10842650e+00] [ 2.02963857e-02 5.87149947e-05 9.99794005e-01 1.57581539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.340714057 meters Centerline goodness [0,1] 0.9879099650539385 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.11, Z:0.16 [[ 9.98908110e-01 4.20569788e-02 -2.03420284e-02 1.81813543e+01] [-4.20498230e-02 9.99115211e-01 7.79567644e-04 -1.11266064e+00] [ 2.03568163e-02 7.66622528e-05 9.99792776e-01 1.58042928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.370714056999997 meters Centerline goodness [0,1] 0.9893027284538761 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.12, Z:0.16 [[ 9.98861755e-01 4.35139858e-02 -1.95378469e-02 1.82091660e+01] [-4.35077236e-02 9.99052812e-01 7.45666009e-04 -1.12162987e+00] [ 1.95517878e-02 1.05229985e-04 9.99808840e-01 1.58191094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.400714057 meters Centerline goodness [0,1] 0.9895514671032789 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.13, Z:0.16 [[ 9.98842808e-01 4.41147964e-02 -1.91554049e-02 1.82361225e+01] [-4.41089799e-02 9.99026461e-01 7.26247148e-04 -1.12644580e+00] [ 1.91687946e-02 1.19518630e-04 9.99816255e-01 1.58210517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.430714057 meters Centerline goodness [0,1] 0.9899011602922217 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.14, Z:0.16 [[ 9.98821833e-01 4.49768195e-02 -1.82217581e-02 1.82634602e+01] [-4.49717483e-02 9.98988022e-01 6.88187569e-04 -1.13681939e+00] [ 1.82342705e-02 1.32087548e-04 9.99833733e-01 1.58424240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.460714056999997 meters Centerline goodness [0,1] 0.9903583342300657 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.14, Z:0.16 [[ 9.98803617e-01 4.52982321e-02 -1.84229607e-02 1.82915960e+01] [-4.52931883e-02 9.98973498e-01 6.91149989e-04 -1.14269239e+00] [ 1.84353573e-02 1.44111518e-04 9.99830044e-01 1.58382355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.490714056999998 meters Centerline goodness [0,1] 0.9904770075497598 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.15, Z:0.16 [[ 9.98755276e-01 4.60216147e-02 -1.92330155e-02 1.83191352e+01] [-4.60162803e-02 9.98940430e-01 7.20055344e-04 -1.14854499e+00] [ 1.92457749e-02 1.65872757e-04 9.99814769e-01 1.57883948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.520714057 meters Centerline goodness [0,1] 0.9906765888290138 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.16, Z:0.16 [[ 9.98724697e-01 4.62046378e-02 -2.03497135e-02 1.83460913e+01] [-4.61987466e-02 9.98931979e-01 7.59766537e-04 -1.15956460e+00] [ 2.03630843e-02 1.81333655e-04 9.99792634e-01 1.56869648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.550714056999997 meters Centerline goodness [0,1] 0.9913331198633792 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.17, Z:0.16 [[ 9.98721845e-01 4.64142120e-02 -2.00099052e-02 1.83742990e+01] [-4.64086076e-02 9.98922263e-01 7.44604038e-04 -1.16558158e+00] [ 2.00229000e-02 1.84979520e-04 9.99799505e-01 1.56912301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.580714056999998 meters Centerline goodness [0,1] 0.9901817333587802 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.18, Z:0.16 [[ 9.98725607e-01 4.66657674e-02 -1.92215287e-02 1.84020718e+01] [-4.66606800e-02 9.98910543e-01 7.13314092e-04 -1.17692738e+00] [ 1.92338750e-02 1.84484549e-04 9.99814995e-01 1.57927618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.610714057 meters Centerline goodness [0,1] 0.9907632989428639 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.18, Z:0.16 [[ 9.98701366e-01 4.69485527e-02 -1.97841955e-02 1.84299734e+01] [-4.69432597e-02 9.98897289e-01 7.32119393e-04 -1.18227828e+00] [ 1.97967512e-02 1.97565990e-04 9.99804006e-01 1.58528129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.640714056999997 meters Centerline goodness [0,1] 0.989786147462496 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.19, Z:0.16 [[ 9.98695740e-01 4.69939389e-02 -1.99596754e-02 1.84574045e+01] [-4.69885982e-02 9.98895154e-01 7.36737293e-04 -1.18977744e+00] [ 1.99722452e-02 2.02100772e-04 9.99800514e-01 1.59234003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.670714056999998 meters Centerline goodness [0,1] 0.9905264726545037 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.20, Z:0.16 [[ 9.98669630e-01 4.69371847e-02 -2.13511274e-02 1.84849457e+01] [-4.69311107e-02 9.98897819e-01 7.85742084e-04 -1.20012198e+00] [ 2.13644751e-02 2.17335367e-04 9.99771730e-01 1.58586844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.700714057 meters Centerline goodness [0,1] 0.9902398746639003 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.21, Z:0.16 [[ 9.98667076e-01 4.69798166e-02 -2.13768214e-02 1.85125646e+01] [-4.69737816e-02 9.98895814e-01 7.84637368e-04 -1.20598219e+00] [ 2.13900796e-02 2.20558637e-04 9.99771182e-01 1.58841826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.730714057 meters Centerline goodness [0,1] 0.9895680936327206 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.22, Z:0.16 [[ 9.98673839e-01 4.66505315e-02 -2.17782375e-02 1.85405653e+01] [-4.66442410e-02 9.98911247e-01 7.97001957e-04 -1.21667440e+00] [ 2.17917069e-02 2.19884356e-04 9.99762508e-01 1.59867554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.760714056999998 meters Centerline goodness [0,1] 0.9896255060728745 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.22, Z:0.16 [[ 9.98713456e-01 4.59896036e-02 -2.13632830e-02 1.85687647e+01] [-4.59834431e-02 9.98941898e-01 7.79772778e-04 -1.22248607e+00] [ 2.13765399e-02 2.03587742e-04 9.99771475e-01 1.60849855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.790714057 meters Centerline goodness [0,1] 0.9893797880155315 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.23, Z:0.16 [[ 9.98742743e-01 4.54047975e-02 -2.12447132e-02 1.85955177e+01] [-4.53986213e-02 9.98968652e-01 7.73171039e-04 -1.22805829e+00] [ 2.12579082e-02 1.92281724e-04 9.99774007e-01 1.61793902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.820714057 meters Centerline goodness [0,1] 0.9885997260562638 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.24, Z:0.16 [[ 9.98880312e-01 4.24129644e-02 -2.09585959e-02 1.86236105e+01] [-4.24063657e-02 9.99100157e-01 7.59383010e-04 -1.24051702e+00] [ 2.09719442e-02 1.30245146e-04 9.99780056e-01 1.63594244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.850714056999998 meters Centerline goodness [0,1] 0.9865860570564897 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.25, Z:0.16 [[ 9.98970516e-01 4.02876698e-02 -2.08521200e-02 1.86516960e+01] [-4.02807059e-02 9.99188119e-01 7.54041658e-04 -1.24712433e+00] [ 2.08655691e-02 8.66727293e-05 9.99782287e-01 1.64407789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.880714057 meters Centerline goodness [0,1] 0.9868030904155356 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.25, Z:0.17 [[ 9.99070860e-01 3.77987994e-02 -2.07042990e-02 1.86798969e+01] [-3.77914296e-02 9.99285369e-01 7.47240257e-04 -1.25421015e+00] [ 2.07177479e-02 3.58990944e-05 9.99785364e-01 1.65367996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.910714057 meters Centerline goodness [0,1] 0.9838235911208091 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.27, Z:0.17 [[ 9.99226044e-01 3.26081683e-02 -2.20004696e-02 1.87084348e+01] [-3.25986241e-02 9.99468209e-01 7.92410217e-04 -1.26803697e+00] [ 2.20146090e-02 -7.46118891e-05 9.99757646e-01 1.68200109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.940714056999997 meters Centerline goodness [0,1] 0.9837033636591269 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.27, Z:0.17 [[ 9.99381612e-01 2.76980504e-02 -2.16612862e-02 1.87368960e+01] [-2.76876779e-02 9.99616319e-01 7.78673802e-04 -1.27409047e+00] [ 2.16745429e-02 -1.78441565e-04 9.99765064e-01 1.67218858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.970714057 meters Centerline goodness [0,1] 0.9828513786146604 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.29, Z:0.17 [[ 9.99535167e-01 2.01112740e-02 -2.29125738e-02 1.87655230e+01] [-2.00977108e-02 9.99797683e-01 8.22096941e-04 -1.28588800e+00] [ 2.29244716e-02 -3.61224520e-04 9.99737135e-01 1.68877780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.000714057 meters Centerline goodness [0,1] 0.9815280748102486 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.29, Z:0.17 [[ 9.99593138e-01 1.65284809e-02 -2.32458119e-02 1.87927401e+01] [-1.65135912e-02 9.99863295e-01 8.32361270e-04 -1.29215206e+00] [ 2.32563917e-02 -4.48150780e-04 9.99729433e-01 1.69231703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.030714056999997 meters Centerline goodness [0,1] 0.9824138003399718 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.30, Z:0.17 [[ 9.99620505e-01 1.36137735e-02 -2.39480923e-02 1.88214213e+01] [-1.35971896e-02 9.99907188e-01 8.55200337e-04 -1.29749766e+00] [ 2.39575122e-02 -5.29249041e-04 9.99712838e-01 1.70512014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.060714057 meters Centerline goodness [0,1] 0.9806531140964837 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.31, Z:0.17 [[ 9.99640754e-01 9.26404123e-03 -2.51503555e-02 1.88496453e+01] [-9.24442157e-03 9.99956868e-01 8.96253753e-04 -1.30731717e+00] [ 2.51575737e-02 -6.63431288e-04 9.99683278e-01 1.70334939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.090714057 meters Centerline goodness [0,1] 0.980540269088322 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.31, Z:0.17 [[ 9.99630577e-01 7.68087616e-03 -2.60713084e-02 1.88786435e+01] [-7.65930527e-03 9.99970237e-01 9.27142094e-04 -1.31157068e+00] [ 2.60776537e-02 -7.27111477e-04 9.99659656e-01 1.70651853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.120714056999997 meters Centerline goodness [0,1] 0.9810464216229786 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.32, Z:0.17 [[ 9.99588619e-01 6.70741825e-03 -2.78855533e-02 1.89070639e+01] [-6.68241724e-03 9.99977183e-01 9.89651701e-04 -1.31586733e+00] [ 2.78915550e-02 -8.02901675e-04 9.99610632e-01 1.70815584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.150714057 meters Centerline goodness [0,1] 0.9811194931855124 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.32, Z:0.17 [[ 9.99592787e-01 6.76442447e-03 -2.77218667e-02 1.89347557e+01] [-6.73979719e-03 9.99976805e-01 9.81712536e-04 -1.31837007e+00] [ 2.77278644e-02 -7.94473011e-04 9.99615193e-01 1.71925108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.180714057 meters Centerline goodness [0,1] 0.9815360809652259 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.32, Z:0.18 [[ 9.99567859e-01 7.46719167e-03 -2.84312443e-02 1.89631204e+01] [-7.44163696e-03 9.99971806e-01 1.00452921e-03 -1.31783971e+00] [ 2.84379438e-02 -7.92520118e-04 9.99595246e-01 1.75164404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.210714056999997 meters Centerline goodness [0,1] 0.981345238843824 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.32, Z:0.18 [[ 9.99589641e-01 6.47743553e-03 -2.79032562e-02 1.89917857e+01] [-6.45249223e-03 9.99978698e-01 9.83869379e-04 -1.31929277e+00] [ 2.79090347e-02 -8.03420096e-04 9.99610144e-01 1.75130371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.240714056999998 meters Centerline goodness [0,1] 0.9802684000838751 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.32, Z:0.18 [[ 9.99600398e-01 5.98539943e-03 -2.76264185e-02 1.90202106e+01] [-5.96081649e-03 9.99981762e-01 9.72103086e-04 -1.32062386e+00] [ 2.76317331e-02 -8.07038621e-04 9.99617845e-01 1.75719663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.270714057 meters Centerline goodness [0,1] 0.9801489352800904 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.32, Z:0.18 [[ 9.99615361e-01 4.90810215e-03 -2.72954383e-02 1.90474408e+01] [-4.88378352e-03 9.99987616e-01 9.57535222e-04 -1.32292432e+00] [ 2.72997999e-02 -8.23861905e-04 9.99626952e-01 1.75752737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.300714056999997 meters Centerline goodness [0,1] 0.9801834708314965 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.32, Z:0.18 [[ 9.99603069e-01 4.60232147e-03 -2.77943124e-02 1.90758143e+01] [-4.57707826e-03 9.99989053e-01 9.71767777e-04 -1.32297528e+00] [ 2.77984805e-02 -8.44165309e-04 9.99613191e-01 1.76469224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.330714056999998 meters Centerline goodness [0,1] 0.9808717927182631 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.32, Z:0.18 [[ 9.99610263e-01 4.21800421e-03 -2.75958292e-02 1.91036632e+01] [-4.19303569e-03 9.99990746e-01 9.62596953e-04 -1.32456018e+00] [ 2.75996341e-02 -8.46511497e-04 9.99618699e-01 1.76288896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.360714057 meters Centerline goodness [0,1] 0.980049097112424 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.33, Z:0.18 [[ 9.99589441e-01 6.07165108e-03 -2.80015010e-02 1.91317617e+01] [-6.04674049e-03 9.99981244e-01 9.74206724e-04 -1.32588877e+00] [ 2.80068909e-02 -8.04488945e-04 9.99607406e-01 1.77862775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.390714056999997 meters Centerline goodness [0,1] 0.9820983125458548 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.33, Z:0.18 [[ 9.99604305e-01 5.32342649e-03 -2.76205639e-02 1.91606851e+01] [-5.29896517e-03 9.99985501e-01 9.58738960e-04 -1.32500069e+00] [ 2.76252672e-02 -8.11999185e-04 9.99618020e-01 1.76534402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.420714056999998 meters Centerline goodness [0,1] 0.9809867578854589 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.33, Z:0.18 [[ 9.99607829e-01 5.33982691e-03 -2.74895168e-02 1.91899238e+01] [-5.31565681e-03 9.99985418e-01 9.52249585e-04 -1.32517083e+00] [ 2.74942009e-02 -8.05751303e-04 9.99621638e-01 1.76396303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.450714057 meters Centerline goodness [0,1] 0.9812207557858956 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.32, Z:0.18 [[ 9.99606870e-01 5.34518904e-03 -2.75233547e-02 1.92184238e+01] [-5.32102748e-03 9.99985391e-01 9.51022394e-04 -1.32438811e+00] [ 2.75280360e-02 -8.04195992e-04 9.99620708e-01 1.76614141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.480714057 meters Centerline goodness [0,1] 0.9812414948183816 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.32, Z:0.18 [[ 9.99625911e-01 5.03290849e-03 -2.68832415e-02 1.92464324e+01] [-5.00982270e-03 9.99987022e-01 9.26026539e-04 -1.32290237e+00] [ 2.68875532e-02 -7.90999848e-04 9.99638151e-01 1.78076679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.510714056999998 meters Centerline goodness [0,1] 0.9824627411634372 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.32, Z:0.18 [[ 9.99662150e-01 4.22457011e-03 -2.56464017e-02 1.92747220e+01] [-4.20335975e-03 9.99990778e-01 8.80883897e-04 -1.32321235e+00] [ 2.56498866e-02 -7.72785238e-04 9.99670689e-01 1.79098504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.540714057 meters Centerline goodness [0,1] 0.9819825449394906 Centerline is valid? [True, True] Translation: X:19.30, Y:-1.32, Z:0.18 [[ 9.99663899e-01 4.36342967e-03 -2.55548297e-02 1.93021263e+01] [-4.34247474e-03 9.99990188e-01 8.75436429e-04 -1.32461223e+00] [ 2.55583988e-02 -7.64170992e-04 9.99673039e-01 1.80251535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.570714057 meters Centerline goodness [0,1] 0.9817942942942943 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.32, Z:0.18 [[ 9.99684604e-01 2.87238135e-03 -2.49487920e-02 1.93307838e+01] [-2.85199597e-03 9.99995570e-01 8.52633121e-04 -1.32412251e+00] [ 2.49511305e-02 -7.81210349e-04 9.99688367e-01 1.80515505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.600714056999998 meters Centerline goodness [0,1] 0.981720271776857 Centerline is valid? [True, True] Translation: X:19.36, Y:-1.33, Z:0.18 [[ 9.99688380e-01 1.30503658e-03 -2.49286814e-02 1.93579771e+01] [-1.28425111e-03 9.99998814e-01 8.49789203e-04 -1.32670366e+00] [ 2.49297608e-02 -8.17509706e-04 9.99688871e-01 1.80213863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.630714057 meters Centerline goodness [0,1] 0.9814725948799266 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.33, Z:0.18 [[ 9.99686066e-01 1.49259200e-03 -2.50108374e-02 1.93863602e+01] [-1.47178670e-03 9.99998555e-01 8.50239040e-04 -1.32667353e+00] [ 2.50120704e-02 -8.13161503e-04 9.99686819e-01 1.79846626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.660714057 meters Centerline goodness [0,1] 0.9823164969022367 Centerline is valid? [True, True] Translation: X:19.42, Y:-1.32, Z:0.18 [[ 9.99683346e-01 3.04829391e-03 -2.49783127e-02 1.94152336e+01] [-3.02811716e-03 9.99995058e-01 8.45555593e-04 -1.32294080e+00] [ 2.49807667e-02 -7.69650587e-04 9.99687636e-01 1.80551843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.690714056999997 meters Centerline goodness [0,1] 0.9815140476489553 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.32, Z:0.18 [[ 9.99683562e-01 5.39648511e-03 -2.45693587e-02 1.94427780e+01] [-5.37778814e-03 9.99985198e-01 8.26998556e-04 -1.32497414e+00] [ 2.45734579e-02 -6.94608057e-04 9.99697786e-01 1.80459883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.720714057 meters Centerline goodness [0,1] 0.9823501017859766 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.32, Z:0.18 [[ 9.99692033e-01 7.85884096e-03 -2.35388765e-02 1.94721969e+01] [-7.84243957e-03 9.99968936e-01 7.89013268e-04 -1.32091110e+00] [ 2.35443460e-02 -6.04168061e-04 9.99722611e-01 1.81852994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.750714057 meters Centerline goodness [0,1] 0.9823501017859766 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.32, Z:0.18 [[ 9.99692885e-01 7.74913179e-03 -2.35390280e-02 1.94996675e+01] [-7.73280689e-03 9.99969794e-01 7.84470724e-04 -1.32174251e+00] [ 2.35443960e-02 -6.02207043e-04 9.99722611e-01 1.82273764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.780714056999997 meters Centerline goodness [0,1] 0.9830888047049959 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.32, Z:0.18 [[ 9.99615304e-01 1.57355559e-02 -2.28393443e-02 1.95286262e+01] [-1.57223139e-02 9.99876109e-01 7.59250709e-04 -1.31977576e+00] [ 2.28484619e-02 -3.99871289e-04 9.99738860e-01 1.82125585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.810714057 meters Centerline goodness [0,1] 0.9835248074738038 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.32, Z:0.18 [[ 9.99546253e-01 1.99538264e-02 -2.25639745e-02 1.95577971e+01] [-1.99420006e-02 9.99800858e-01 7.49016598e-04 -1.31580023e+00] [ 2.25744268e-02 -2.98705942e-04 9.99745121e-01 1.83421132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.840714057 meters Centerline goodness [0,1] 0.9858834914690846 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.31, Z:0.18 [[ 9.99252200e-01 3.13980842e-02 -2.25654972e-02 1.95863867e+01] [-3.13892105e-02 9.99506958e-01 7.47424388e-04 -1.31156870e+00] [ 2.25778391e-02 -3.85523242e-05 9.99745087e-01 1.83174994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.870714056999997 meters Centerline goodness [0,1] 0.9860222049656852 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.31, Z:0.18 [[ 9.99154028e-01 3.49055725e-02 -2.17446225e-02 1.96154725e+01] [-3.48981964e-02 9.99390614e-01 7.18707005e-04 -1.30935012e+00] [ 2.17564585e-02 4.07491071e-05 9.99763299e-01 1.82122053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.900714057 meters Centerline goodness [0,1] 0.9856983381426796 Centerline is valid? [True, True] Translation: X:19.64, Y:-1.31, Z:0.18 [[ 9.98989357e-01 3.96095265e-02 -2.12449907e-02 1.96439558e+01] [-3.96036043e-02 9.99215225e-01 6.99587111e-04 -1.30892747e+00] [ 2.12560285e-02 1.42498129e-04 9.99774055e-01 1.82448581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.930714057 meters Centerline goodness [0,1] 0.9880952380952381 Centerline is valid? [True, True] Translation: X:19.67, Y:-1.31, Z:0.18 [[ 9.98607764e-01 4.83722113e-02 -2.10395311e-02 1.96735646e+01] [-4.83684331e-02 9.98829325e-01 6.88717498e-04 -1.30866631e+00] [ 2.10482154e-02 3.29890511e-04 9.99778407e-01 1.81714780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.960714056999997 meters Centerline goodness [0,1] 0.9895887776221437 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.31, Z:0.18 [[ 9.98416135e-01 5.21344835e-02 -2.11475129e-02 1.97008121e+01] [-5.21315414e-02 9.98639988e-01 6.90761409e-04 -1.30908309e+00] [ 2.11547645e-02 4.12785108e-04 9.99776128e-01 1.81363707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.990714056999998 meters Centerline goodness [0,1] 0.990215959693099 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.31, Z:0.18 [[ 9.98233450e-01 5.53765847e-02 -2.15270400e-02 1.97286814e+01] [-5.53743544e-02 9.98465418e-01 7.00137644e-04 -1.30893868e+00] [ 2.15327762e-02 4.93145126e-04 9.99768021e-01 1.80871587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.020714057 meters Centerline goodness [0,1] 0.9909069909069909 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.31, Z:0.18 [[ 9.97945997e-01 6.06811841e-02 -2.05324253e-02 1.97577698e+01] [-6.06803090e-02 9.98157030e-01 6.66216233e-04 -1.31473187e+00] [ 2.05350115e-02 5.81066088e-04 9.99788966e-01 1.81455854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.050714056999997 meters Centerline goodness [0,1] 0.9905739421868454 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.32, Z:0.18 [[ 9.97800290e-01 6.32804930e-02 -1.97524856e-02 1.97860062e+01] [-6.32802151e-02 9.97995594e-01 6.39726155e-04 -1.31811642e+00] [ 1.97533758e-02 6.11622595e-04 9.99804696e-01 1.81748915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.080714056999998 meters Centerline goodness [0,1] 0.9919361560260044 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.32, Z:0.18 [[ 9.97433481e-01 6.93766677e-02 -1.77011235e-02 1.98150767e+01] [-6.93774259e-02 9.97590320e-01 5.71981848e-04 -1.32420234e+00] [ 1.76981516e-02 6.57544536e-04 9.99843159e-01 1.83715280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.110714057 meters Centerline goodness [0,1] 0.9926890564313456 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.33, Z:0.19 [[ 9.97272315e-01 7.19729242e-02 -1.63654347e-02 1.98434767e+01] [-7.19739302e-02 9.97406374e-01 5.28265734e-04 -1.32764153e+00] [ 1.63610097e-02 6.51059864e-04 9.99865938e-01 1.85272490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.140714056999997 meters Centerline goodness [0,1] 0.9928961635128679 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.33, Z:0.19 [[ 9.97121368e-01 7.43629657e-02 -1.48029360e-02 1.98729408e+01] [-7.43640619e-02 9.97231046e-01 4.77124734e-04 -1.33363794e+00] [ 1.47974277e-02 6.25055181e-04 9.99890317e-01 1.86403003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.170714056999998 meters Centerline goodness [0,1] 0.9928631051752922 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.34, Z:0.19 [[ 9.96906501e-01 7.74151724e-02 -1.35764063e-02 1.99023607e+01] [-7.74163827e-02 9.96998753e-01 4.37162724e-04 -1.33982253e+00] [ 1.35695032e-02 6.15225908e-04 9.99907741e-01 1.88154777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.200714057 meters Centerline goodness [0,1] 0.9948347971560016 Centerline is valid? [True, True] Translation: X:19.93, Y:-1.35, Z:0.19 [[ 9.96668771e-01 8.06606296e-02 -1.20509228e-02 1.99313766e+01] [-8.06618234e-02 9.96741451e-01 3.87735290e-04 -1.35177964e+00] [ 1.20429292e-02 5.85605750e-04 9.99927310e-01 1.88265194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.230714057 meters Centerline goodness [0,1] 0.9957052772714893 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.37, Z:0.19 [[ 9.96557531e-01 8.20921520e-02 -1.15743715e-02 1.99599632e+01] [-8.20933553e-02 9.96624575e-01 3.71911177e-04 -1.36708348e+00] [ 1.15658341e-02 5.79548108e-04 9.99932946e-01 1.88762071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.260714056999998 meters Centerline goodness [0,1] 0.9960948104834499 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.37, Z:0.19 [[ 9.96578173e-01 8.18385607e-02 -1.15929049e-02 1.99877784e+01] [-8.18397595e-02 9.96645431e-01 3.71747368e-04 -1.37173414e+00] [ 1.15844390e-02 5.78285237e-04 9.99932731e-01 1.89263863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.290714057 meters Centerline goodness [0,1] 0.997487963156793 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.38, Z:0.19 [[ 9.96606812e-01 8.14775468e-02 -1.16735393e-02 2.00167024e+01] [-8.14787503e-02 9.96675009e-01 3.73244691e-04 -1.38231365e+00] [ 1.16651359e-02 5.79167190e-04 9.99931792e-01 1.89871927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.320714057 meters Centerline goodness [0,1] 0.9971959487737507 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.40, Z:0.19 [[ 9.96689267e-01 8.03763952e-02 -1.22531577e-02 2.00447244e+01] [-8.03776494e-02 9.96764406e-01 3.90863319e-04 -1.39946159e+00] [ 1.22449276e-02 5.95310738e-04 9.99924851e-01 1.90170604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.350714056999998 meters Centerline goodness [0,1] 0.9975417178808775 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.40, Z:0.19 [[ 9.96765728e-01 7.94684143e-02 -1.19521934e-02 2.00724254e+01] [-7.94695516e-02 9.96837221e-01 3.80497355e-04 -1.40393847e+00] [ 1.19446288e-02 5.70568728e-04 9.99928498e-01 1.91349225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.380714057 meters Centerline goodness [0,1] 0.998415676464457 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.42, Z:0.19 [[ 9.96912865e-01 7.77549459e-02 -1.09045201e-02 2.01006788e+01] [-7.77558011e-02 9.96972375e-01 3.46153898e-04 -1.42198791e+00] [ 1.08984205e-02 5.02804426e-04 9.99940484e-01 1.93182512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.410714057 meters Centerline goodness [0,1] 0.9982392907448836 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.43, Z:0.19 [[ 9.96961682e-01 7.71794416e-02 -1.05232603e-02 2.01293712e+01] [-7.71802108e-02 9.97017103e-01 3.33596957e-04 -1.42926157e+00] [ 1.05176173e-02 4.79604061e-04 9.99944573e-01 1.94427582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.440714056999997 meters Centerline goodness [0,1] 0.9987900029206827 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.44, Z:0.20 [[ 9.97109354e-01 7.54524168e-02 -8.93695494e-03 2.01573389e+01] [-7.54529076e-02 9.97149326e-01 2.82713795e-04 -1.44219908e+00] [ 8.93281003e-03 3.92422665e-04 9.99960025e-01 1.96243730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.470714057 meters Centerline goodness [0,1] 0.9992497030074404 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.45, Z:0.20 [[ 9.97171227e-01 7.46633628e-02 -8.65598847e-03 2.01850148e+01] [-7.46637953e-02 9.97208726e-01 2.73622036e-04 -1.44621433e+00] [ 8.65225677e-03 3.73440930e-04 9.99962499e-01 1.96821590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.500714057 meters Centerline goodness [0,1] 0.9992927128622247 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.47, Z:0.20 [[ 9.97452904e-01 7.08638452e-02 -8.12519551e-03 2.02141242e+01] [-7.08641087e-02 9.97485946e-01 2.55821581e-04 -1.46679531e+00] [ 8.12289683e-03 3.20614759e-04 9.99966957e-01 1.97397535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.530714056999997 meters Centerline goodness [0,1] 0.9991068646796136 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.47, Z:0.20 [[ 9.97619476e-01 6.84931880e-02 -8.00400962e-03 2.02426552e+01] [-6.84933677e-02 9.97651540e-01 2.51975884e-04 -1.47439277e+00] [ 8.00247116e-03 2.96845525e-04 9.99967936e-01 1.97140775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.560714057 meters Centerline goodness [0,1] 0.9995828814549095 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.48, Z:0.20 [[ 9.97820178e-01 6.55205322e-02 -7.87102019e-03 2.02712480e+01] [-6.55206179e-02 9.97851185e-01 2.47251748e-04 -1.48304950e+00] [ 7.87030689e-03 2.69001323e-04 9.99968992e-01 1.97540950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.590714057 meters Centerline goodness [0,1] 0.9998125898007205 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.50, Z:0.20 [[ 9.98322618e-01 5.73847054e-02 -7.67759041e-03 2.03012220e+01] [-5.73845543e-02 9.98352120e-01 2.40145028e-04 -1.49936199e+00] [ 7.67871931e-03 2.00832891e-04 9.99970498e-01 1.98604774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.620714056999997 meters Centerline goodness [0,1] 0.999583446150001 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.51, Z:0.20 [[ 9.98575158e-01 5.27019739e-02 -8.37595598e-03 2.03296164e+01] [-5.27016270e-02 9.98610269e-01 2.62282407e-04 -1.50691049e+00] [ 8.37813845e-03 1.79517812e-04 9.99964887e-01 1.97213634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.650714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.52, Z:0.20 [[ 9.99111606e-01 4.12898673e-02 -8.43475763e-03 2.03594901e+01] [-4.12891146e-02 9.99147206e-01 2.63432259e-04 -1.52488584e+00] [ 8.43844160e-03 8.50654474e-05 9.99964392e-01 1.98860444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.680714057 meters Centerline goodness [0,1] 0.9997723085839664 Centerline is valid? [True, True] Translation: X:20.39, Y:-1.53, Z:0.20 [[ 9.99340080e-01 3.52367518e-02 -8.81907499e-03 2.03893433e+01] [-3.52356946e-02 9.99378992e-01 2.75272345e-04 -1.53340436e+00] [ 8.82329797e-03 3.56555455e-05 9.99961073e-01 1.97075789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.710714056999997 meters Centerline goodness [0,1] 0.9999582864055395 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.54, Z:0.20 [[ 9.99540543e-01 2.92842129e-02 -7.81907439e-03 2.04181232e+01] [-2.92832024e-02 9.99571125e-01 2.43715186e-04 -1.54207204e+00] [ 7.82285799e-03 -1.46356714e-05 9.99969401e-01 1.99317465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.740714056999998 meters Centerline goodness [0,1] 0.9998750988800533 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.55, Z:0.20 [[ 9.99692537e-01 2.34405325e-02 -8.08540158e-03 2.04475355e+01] [-2.34392569e-02 9.99725231e-01 2.52502174e-04 -1.54942643e+00] [ 8.08909874e-03 -6.29087339e-05 9.99967281e-01 1.98065881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.770714057 meters Centerline goodness [0,1] 0.9999169866140916 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.56, Z:0.20 [[ 9.99884224e-01 1.27642123e-02 -8.28331637e-03 2.04763932e+01] [-1.27625131e-02 9.99918523e-01 2.57958883e-04 -1.56225935e+00] [ 8.28593411e-03 -1.52213084e-04 9.99965659e-01 1.99462078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.800714056999997 meters Centerline goodness [0,1] 0.9998758072528564 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.57, Z:0.20 [[ 9.99927958e-01 8.54360557e-03 -8.43118778e-03 2.05044534e+01] [-8.54169091e-03 9.99963484e-01 2.63075764e-04 -1.56890289e+00] [ 8.43312753e-03 -1.91040212e-04 9.99964422e-01 1.99803200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.830714056999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.58, Z:0.20 [[ 9.99971062e-01 2.40077774e-03 -7.21876395e-03 2.05330599e+01] [-2.39921394e-03 9.99997097e-01 2.25282589e-04 -1.57838213e+00] [ 7.21928385e-03 -2.07956711e-04 9.99973919e-01 2.03500719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.860714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.58, Z:0.20 [[ 9.99976376e-01 5.88106054e-04 -6.84844298e-03 2.05622776e+01] [-5.86656271e-04 9.99999805e-01 2.13702303e-04 -1.57651674e+00] [ 6.84856732e-03 -2.09679573e-04 9.99976526e-01 2.02893523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.890714056999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.58, Z:0.21 [[ 9.99981487e-01 -1.22524968e-03 -5.96017028e-03 2.05897259e+01] [ 1.22637965e-03 9.99999231e-01 1.85934636e-04 -1.58192077e+00] [ 5.95993787e-03 -1.93240626e-04 9.99982221e-01 2.05481690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.920714056999998 meters Centerline goodness [0,1] 0.9998336141095235 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.59, Z:0.21 [[ 9.99981416e-01 -1.49399061e-03 -5.91066867e-03 2.06180454e+01] [ 1.49510939e-03 9.99998865e-01 1.84867634e-04 -1.59347462e+00] [ 5.91038577e-03 -1.93701295e-04 9.99982515e-01 2.07141868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.950714057 meters Centerline goodness [0,1] 0.999833845642602 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.58, Z:0.20 [[ 9.99982459e-01 -1.01433815e-03 -5.83549391e-03 2.06476813e+01] [ 1.01542358e-03 9.99999468e-01 1.83046612e-04 -1.57668145e+00] [ 5.83530514e-03 -1.88968899e-04 9.99982957e-01 2.02445487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.980714057 meters Centerline goodness [0,1] 0.9998334513053254 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.57, Z:0.20 [[ 9.99981748e-01 7.38005924e-04 -5.99661577e-03 2.06769782e+01] [-7.36907370e-04 9.99999711e-01 1.85403109e-04 -1.57375101e+00] [ 5.99675087e-03 -1.80980775e-04 9.99982003e-01 2.02735265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.010714056999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.57, Z:0.21 [[ 9.99977820e-01 2.01195856e-03 -6.34907576e-03 2.07061019e+01] [-2.01076448e-03 9.99997960e-01 1.94449959e-04 -1.57184165e+00] [ 6.34945403e-03 -1.81679150e-04 9.99979826e-01 2.05475346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.040714057 meters Centerline goodness [0,1] 0.999875763536598 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.57, Z:0.20 [[ 9.99955255e-01 4.43478809e-03 -8.35585911e-03 2.07348954e+01] [-4.43284460e-03 9.99990143e-01 2.51096005e-04 -1.57012030e+00] [ 8.35689031e-03 -2.14044545e-04 9.99965058e-01 2.03241127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.070714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.57, Z:0.20 [[ 9.99947788e-01 5.46459628e-03 -8.63479463e-03 2.07636753e+01] [-5.46256255e-03 9.99985047e-01 2.59094394e-04 -1.56579190e+00] [ 8.63608136e-03 -2.11912761e-04 9.99962686e-01 2.04926504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.100714056999998 meters Centerline goodness [0,1] 0.9998958116274224 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.56, Z:0.21 [[ 9.99938919e-01 6.69194244e-03 -8.79632868e-03 2.07926199e+01] [-6.68988509e-03 9.99977588e-01 2.63290336e-04 -1.56337983e+00] [ 8.79789346e-03 -2.04427826e-04 9.99961277e-01 2.05046544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.130714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.56, Z:0.21 [[ 9.99914167e-01 8.82100944e-03 -9.68757031e-03 2.08214371e+01] [-8.81861210e-03 9.99961073e-01 2.90155030e-04 -1.55760741e+00] [ 9.68975267e-03 -2.04699200e-04 9.99953032e-01 2.05027209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.160714057 meters Centerline goodness [0,1] 0.9998754282155092 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.56, Z:0.20 [[ 9.99899891e-01 9.92412236e-03 -1.00855860e-02 2.08498651e+01] [-9.92161609e-03 9.99950735e-01 2.98504492e-04 -1.55536554e+00] [ 1.00880515e-02 -1.98409297e-04 9.99949095e-01 2.02803902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.190714056999997 meters Centerline goodness [0,1] 0.9998331804153807 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.55, Z:0.20 [[ 9.99871949e-01 1.13773964e-02 -1.12535025e-02 2.08790474e+01] [-1.13743782e-02 9.99935254e-01 3.32165844e-04 -1.54694210e+00] [ 1.12565531e-02 -2.04121716e-04 9.99936622e-01 2.01688661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.220714057 meters Centerline goodness [0,1] 0.99981377640754 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.55, Z:0.20 [[ 9.99861681e-01 1.18004560e-02 -1.17204065e-02 2.09068751e+01] [-1.17972211e-02 9.99930351e-01 3.45102057e-04 -1.54526285e+00] [ 1.17236626e-02 -2.06786095e-04 9.99931254e-01 2.04075588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.250714057 meters Centerline goodness [0,1] 0.9996885640727514 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.54, Z:0.20 [[ 9.99844720e-01 1.22771239e-02 -1.26415543e-02 2.09345619e+01] [-1.22734145e-02 9.99924610e-01 3.70968707e-04 -1.53879897e+00] [ 1.26451557e-02 -2.15756067e-04 9.99920024e-01 2.01567149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.280714056999997 meters Centerline goodness [0,1] 0.9999375975039002 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.54, Z:0.20 [[ 9.99845206e-01 1.16211203e-02 -1.32103235e-02 2.09630542e+01] [-1.16170291e-02 9.99932445e-01 3.86396732e-04 -1.53636191e+00] [ 1.32139214e-02 -2.32872208e-04 9.99912665e-01 2.03863800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.310714057 meters Centerline goodness [0,1] 0.9998746500647642 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.53, Z:0.20 [[ 9.99846508e-01 1.08210796e-02 -1.37791310e-02 2.09924934e+01] [-1.08165666e-02 9.99941418e-01 4.02006385e-04 -1.53345126e+00] [ 1.37826740e-02 -2.52901791e-04 9.99904982e-01 2.01627120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.340714057 meters Centerline goodness [0,1] 0.9997924148381874 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.53, Z:0.20 [[ 9.99872460e-01 8.53255822e-03 -1.35003144e-02 2.10206252e+01] [-8.52803013e-03 9.99963558e-01 3.92940321e-04 -1.52986092e+00] [ 1.35031752e-02 -2.77759117e-04 9.99908789e-01 2.04840664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.370714056999997 meters Centerline goodness [0,1] 0.9996488909083399 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.53, Z:0.20 [[ 9.99882854e-01 7.18042683e-03 -1.35173530e-02 2.10481306e+01] [-7.17578038e-03 9.99974177e-01 3.92209637e-04 -1.52926989e+00] [ 1.35198201e-02 -2.95166135e-04 9.99908559e-01 2.02612124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.400714057 meters Centerline goodness [0,1] 0.9995447019867549 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.53, Z:0.21 [[ 9.99897059e-01 4.91640579e-03 -1.34796103e-02 2.10771775e+01] [-4.91159620e-03 9.99987862e-01 3.89886822e-04 -1.52692939e+00] [ 1.34813635e-02 -3.23640284e-04 9.99909070e-01 2.05670260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.430714057 meters Centerline goodness [0,1] 0.99915115629076 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.52, Z:0.20 [[ 9.99885549e-01 7.12936821e-04 -1.51122382e-02 2.11070022e+01] [-7.06430195e-04 9.99999655e-01 4.35887245e-04 -1.52353231e+00] [ 1.51125437e-02 -4.25161616e-04 9.99885709e-01 2.03102256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.460714056999997 meters Centerline goodness [0,1] 0.9989631718646317 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.52, Z:0.20 [[ 9.99882444e-01 -2.30384449e-03 -1.51588743e-02 2.11363332e+01] [ 2.31072952e-03 9.99997235e-01 4.36691974e-04 -1.52296547e+00] [ 1.51578263e-02 -4.71668696e-04 9.99885002e-01 2.03569096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.490714056999998 meters Centerline goodness [0,1] 0.9984119023737881 Centerline is valid? [True, True] Translation: X:21.17, Y:-1.52, Z:0.20 [[ 9.99852252e-01 -8.08281237e-03 -1.51704216e-02 2.11667611e+01] [ 8.09035991e-03 9.99967177e-01 4.36211204e-04 -1.52083975e+00] [ 1.51663978e-02 -5.58880925e-04 9.99884827e-01 2.04190715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.520714057 meters Centerline goodness [0,1] 0.9982460536206464 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.52, Z:0.21 [[ 9.99819085e-01 -1.17771965e-02 -1.49363511e-02 2.11965694e+01] [ 1.17849207e-02 9.99930463e-01 4.29223091e-04 -1.52016265e+00] [ 1.49302574e-02 -6.05169151e-04 9.99888354e-01 2.06938140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.550714056999997 meters Centerline goodness [0,1] 0.9974316487158243 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.52, Z:0.21 [[ 9.99749812e-01 -1.61123755e-02 -1.55146533e-02 2.12257110e+01] [ 1.61212216e-02 9.99869946e-01 4.45268594e-04 -1.51779976e+00] [ 1.55054612e-02 -6.95272356e-04 9.99879541e-01 2.05618240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.580714056999998 meters Centerline goodness [0,1] 0.9973911047106213 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.51, Z:0.21 [[ 9.99695827e-01 -1.91492410e-02 -1.55421826e-02 2.12557375e+01] [ 1.91584823e-02 9.99816360e-01 4.45907495e-04 -1.51163706e+00] [ 1.55307896e-02 -7.43536493e-04 9.99879114e-01 2.08067706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.610714057 meters Centerline goodness [0,1] 0.9970969089390141 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.51, Z:0.21 [[ 9.99659741e-01 -2.03832623e-02 -1.62765047e-02 2.12834371e+01] [ 2.03935490e-02 9.99791921e-01 4.66249701e-04 -1.51101910e+00] [ 1.62636142e-02 -7.98026751e-04 9.99867420e-01 2.06793187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.640714056999997 meters Centerline goodness [0,1] 0.9967640243011336 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.50, Z:0.21 [[ 9.99594952e-01 -2.33068074e-02 -1.63316859e-02 2.13136775e+01] [ 2.33175179e-02 9.99728001e-01 4.65669454e-04 -1.50082924e+00] [ 1.63163904e-02 -8.46295213e-04 9.99866521e-01 2.07245836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.670714056999998 meters Centerline goodness [0,1] 0.9967640243011336 Centerline is valid? [True, True] Translation: X:21.34, Y:-1.50, Z:0.21 [[ 9.99587925e-01 -2.36062519e-02 -1.63317111e-02 2.13411725e+01] [ 2.36169878e-02 9.99720972e-01 4.64783981e-04 -1.50155375e+00] [ 1.63161822e-02 -8.50298276e-04 9.99866521e-01 2.07666345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.700714057 meters Centerline goodness [0,1] 0.9960911510312708 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.50, Z:0.21 [[ 9.99561401e-01 -2.45303232e-02 -1.65912559e-02 2.13695775e+01] [ 2.45414508e-02 9.99698704e-01 4.67393104e-04 -1.49776347e+00] [ 1.65747918e-02 -8.74361597e-04 9.99862246e-01 2.07819213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.730714056999997 meters Centerline goodness [0,1] 0.9957642149191445 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.49, Z:0.21 [[ 9.99536270e-01 -2.56179689e-02 -1.64609727e-02 2.13985624e+01] [ 2.56290410e-02 9.99671415e-01 4.61990507e-04 -1.49439418e+00] [ 1.64437287e-02 -8.83655214e-04 9.99864402e-01 2.08255215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.760714056999998 meters Centerline goodness [0,1] 0.9943981104073911 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.49, Z:0.21 [[ 9.99528310e-01 -2.61051621e-02 -1.61764872e-02 2.14261444e+01] [ 2.61158532e-02 9.99658822e-01 4.49977004e-04 -1.48603368e+00] [ 1.61592214e-02 -8.72227519e-04 9.99869051e-01 2.08711261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.790714057 meters Centerline goodness [0,1] 0.9937941410004597 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.48, Z:0.21 [[ 9.99518113e-01 -2.64004458e-02 -1.63266280e-02 2.14540602e+01] [ 2.64113425e-02 9.99651057e-01 4.52125091e-04 -1.47915139e+00] [ 1.63089946e-02 -8.83115381e-04 9.99866610e-01 2.08977896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.820714057 meters Centerline goodness [0,1] 0.9920327889420966 Centerline is valid? [True, True] Translation: X:21.48, Y:-1.47, Z:0.21 [[ 9.99530953e-01 -2.60383790e-02 -1.61206901e-02 2.14822086e+01] [ 2.60488809e-02 9.99660573e-01 4.41780554e-04 -1.47022473e+00] [ 1.61037150e-02 -8.61499272e-04 9.99869956e-01 2.07917436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.850714056999998 meters Centerline goodness [0,1] 0.9901585908606532 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.47, Z:0.21 [[ 9.99544170e-01 -2.50180316e-02 -1.68982333e-02 2.15111563e+01] [ 2.50293810e-02 9.99686610e-01 4.60447972e-04 -1.46670175e+00] [ 1.68814181e-02 -8.83190406e-04 9.99857109e-01 2.07632198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.880714057 meters Centerline goodness [0,1] 0.9900518307975255 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.46, Z:0.21 [[ 9.99525400e-01 -2.54529203e-02 -1.73528920e-02 2.15400897e+01] [ 2.54648757e-02 9.99675608e-01 4.68308876e-04 -1.46085971e+00] [ 1.73353430e-02 -9.09975855e-04 9.99849318e-01 2.07178089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.910714057 meters Centerline goodness [0,1] 0.9882945590602203 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.45, Z:0.21 [[ 9.99476382e-01 -2.73113105e-02 -1.73509164e-02 2.15686189e+01] [ 2.73234714e-02 9.99626536e-01 4.64155891e-04 -1.45228618e+00] [ 1.73317598e-02 -9.38000119e-04 9.99849354e-01 2.06303452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.940714056999997 meters Centerline goodness [0,1] 0.9860600234074569 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.45, Z:0.21 [[ 9.99434541e-01 -2.88564189e-02 -1.72599189e-02 2.15974681e+01] [ 2.88686544e-02 9.99583108e-01 4.60106100e-04 -1.44817211e+00] [ 1.72394463e-02 -9.58116562e-04 9.99850931e-01 2.05976245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.970714057 meters Centerline goodness [0,1] 0.983390858696789 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.44, Z:0.20 [[ 9.99308370e-01 -3.22379012e-02 -1.85337488e-02 2.16276686e+01] [ 3.22525107e-02 9.99479632e-01 4.89824972e-04 -1.44008200e+00] [ 1.85083135e-02 -1.08724613e-03 9.99828115e-01 2.04880825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.000714057 meters Centerline goodness [0,1] 0.9819733154878916 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.44, Z:0.20 [[ 9.99229688e-01 -3.42286317e-02 -1.91945873e-02 2.16566224e+01] [ 3.42446583e-02 9.99413351e-01 5.06792375e-04 -1.43794867e+00] [ 1.91659800e-02 -1.16371407e-03 9.99815638e-01 2.04247243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.030714056999997 meters Centerline goodness [0,1] 0.9790982320326393 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.43, Z:0.20 [[ 9.99051931e-01 -3.82953586e-02 -2.07051877e-02 2.16872403e+01] [ 3.83148581e-02 9.99265567e-01 5.45742865e-04 -1.43168894e+00] [ 2.06690817e-02 -1.33854179e-03 9.99785476e-01 2.01671176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.060714057 meters Centerline goodness [0,1] 0.9786151139410187 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.43, Z:0.20 [[ 9.98958315e-01 -4.03906805e-02 -2.12338945e-02 2.17169025e+01] [ 4.04116528e-02 9.99182959e-01 5.59337806e-04 -1.42948611e+00] [ 2.11939535e-02 -1.41685192e-03 9.99774379e-01 2.01013042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.090714057 meters Centerline goodness [0,1] 0.9776744575689034 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.43, Z:0.20 [[ 9.98917578e-01 -4.11547184e-02 -2.16786128e-02 2.17470387e+01] [ 4.11767408e-02 9.99151716e-01 5.70271419e-04 -1.42626068e+00] [ 2.16367538e-02 -1.46230877e-03 9.99764829e-01 2.01298599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.120714056999997 meters Centerline goodness [0,1] 0.9771946724744514 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.42, Z:0.20 [[ 9.98841514e-01 -4.27608811e-02 -2.20711617e-02 2.17767588e+01] [ 4.27840812e-02 9.99084174e-01 5.79804004e-04 -1.42274351e+00] [ 2.20261554e-02 -1.52342668e-03 9.99756234e-01 2.01733856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.150714057 meters Centerline goodness [0,1] 0.9745844324414856 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.41, Z:0.20 [[ 9.98741543e-01 -4.51426553e-02 -2.18510935e-02 2.18070299e+01] [ 4.51659452e-02 9.98979334e-01 5.73249573e-04 -1.40932449e+00] [ 2.18029128e-02 -1.55945346e-03 9.99761072e-01 2.02028016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.180714057 meters Centerline goodness [0,1] 0.9741151832460733 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.41, Z:0.20 [[ 9.98670423e-01 -4.67432994e-02 -2.17359153e-02 2.18372789e+01] [ 4.67667069e-02 9.98905677e-01 5.69560531e-04 -1.40518572e+00] [ 2.16855061e-02 -1.58532044e-03 9.99763585e-01 2.01617050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.210714056999997 meters Centerline goodness [0,1] 0.9737885046866154 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.40, Z:0.20 [[ 9.98689112e-01 -4.68212013e-02 -2.06841166e-02 2.18670372e+01] [ 4.68424090e-02 9.98902145e-01 5.41742816e-04 -1.39753502e+00] [ 2.06360434e-02 -1.50992650e-03 9.99785914e-01 2.02360475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.240714056999998 meters Centerline goodness [0,1] 0.9742487470379768 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.39, Z:0.20 [[ 9.98735671e-01 -4.62088820e-02 -1.97939205e-02 2.18978067e+01] [ 4.62281840e-02 9.98930771e-01 5.18451533e-04 -1.39377336e+00] [ 1.97487993e-02 -1.43283304e-03 9.99803947e-01 2.03084750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.270714057 meters Centerline goodness [0,1] 0.9722013366750208 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.39, Z:0.20 [[ 9.98783493e-01 -4.54012188e-02 -1.92422376e-02 2.19278955e+01] [ 4.54193162e-02 9.98967883e-01 5.04297929e-04 -1.39248939e+00] [ 1.91994817e-02 -1.37765372e-03 9.99814724e-01 2.03494311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.300714056999997 meters Centerline goodness [0,1] 0.9736698556562605 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.38, Z:0.20 [[ 9.98892037e-01 -4.34256406e-02 -1.81359497e-02 2.19588710e+01] [ 4.34414119e-02 9.99055863e-01 4.76381801e-04 -1.38022689e+00] [ 1.80981397e-02 -1.26370525e-03 9.99835417e-01 2.04520116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.330714056999998 meters Centerline goodness [0,1] 0.9751870402581889 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.37, Z:0.20 [[ 9.98966550e-01 -4.18345336e-02 -1.77680405e-02 2.19908550e+01] [ 4.18494234e-02 9.99123820e-01 4.66857392e-04 -1.36860519e+00] [ 1.77329418e-02 -1.20995717e-03 9.99842027e-01 2.04732252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.360714057 meters Centerline goodness [0,1] 0.9752902399596918 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.36, Z:0.20 [[ 9.99135538e-01 -3.75944665e-02 -1.77435556e-02 2.20206755e+01] [ 3.76086641e-02 9.99292435e-01 4.67033333e-04 -1.35934358e+00] [ 1.77134430e-02 -1.13394102e-03 9.99842462e-01 2.03943471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.390714056999997 meters Centerline goodness [0,1] 0.977157040090867 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.36, Z:0.20 [[ 9.99233864e-01 -3.46477790e-02 -1.81993497e-02 2.20502107e+01] [ 3.46622280e-02 9.99398970e-01 4.78992914e-04 -1.35663591e+00] [ 1.81718153e-02 -1.10945595e-03 9.99834263e-01 2.03621012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.420714056999998 meters Centerline goodness [0,1] 0.9782686366406759 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.35, Z:0.20 [[ 9.99309663e-01 -3.20396772e-02 -1.88057531e-02 2.20810085e+01] [ 3.20546652e-02 9.99485994e-01 4.96021238e-04 -1.34608820e+00] [ 1.87801945e-02 -1.09849093e-03 9.99823033e-01 2.04207592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.450714057 meters Centerline goodness [0,1] 0.9792813891174547 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.34, Z:0.20 [[ 9.99469716e-01 -2.66063651e-02 -1.87719843e-02 2.21105944e+01] [ 2.66203428e-02 9.99645493e-01 4.95069363e-04 -1.33675015e+00] [ 1.87521575e-02 -9.94523492e-04 9.99823668e-01 2.04604986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.480714056999997 meters Centerline goodness [0,1] 0.9783035808598288 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.34, Z:0.20 [[ 9.99546105e-01 -2.40165640e-02 -1.81875810e-02 2.21400843e+01] [ 2.40292542e-02 9.99711141e-01 4.79493915e-04 -1.33948530e+00] [ 1.81708115e-02 -9.16310283e-04 9.99834477e-01 2.04401574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.510714056999998 meters Centerline goodness [0,1] 0.9794941034999262 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.34, Z:0.20 [[ 9.99614624e-01 -2.10208931e-02 -1.81307664e-02 2.21707017e+01] [ 2.10330216e-02 9.99778667e-01 4.78500986e-04 -1.33509696e+00] [ 1.81166950e-02 -8.59661386e-04 9.99835510e-01 2.04861873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.540714057 meters Centerline goodness [0,1] 0.980067360037281 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.33, Z:0.21 [[ 9.99710242e-01 -1.55225876e-02 -1.83978513e-02 2.22004459e+01] [ 1.55341458e-02 9.99879220e-01 4.85486287e-04 -1.32638916e+00] [ 1.83880932e-02 -7.71140518e-04 9.99830627e-01 2.05220035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.570714057 meters Centerline goodness [0,1] 0.9828728696940828 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.31, Z:0.21 [[ 9.99737861e-01 -1.30362898e-02 -1.88219250e-02 2.22304455e+01] [ 1.30479388e-02 9.99914749e-01 4.96230128e-04 -1.31487062e+00] [ 1.88138514e-02 -7.41687374e-04 9.99822729e-01 2.05926566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.600714056999998 meters Centerline goodness [0,1] 0.9842671818934584 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.31, Z:0.21 [[ 9.99766493e-01 -1.06134962e-02 -1.88231977e-02 2.22598623e+01] [ 1.06246919e-02 9.99943434e-01 4.94876235e-04 -1.31188797e+00] [ 1.88168806e-02 -6.94751355e-04 9.99822705e-01 2.06066344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.630714057 meters Centerline goodness [0,1] 0.983153624426177 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.31, Z:0.21 [[ 9.99799574e-01 -7.40831548e-03 -1.85991402e-02 2.22881212e+01] [ 7.41862181e-03 9.99972364e-01 4.85193412e-04 -1.30801656e+00] [ 1.85950317e-02 -6.23076154e-04 9.99826903e-01 2.05836385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.660714057 meters Centerline goodness [0,1] 0.9832598556002812 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.31, Z:0.21 [[ 9.99816986e-01 -6.06370953e-03 -1.81445697e-02 2.23175478e+01] [ 6.07327080e-03 9.99981446e-01 4.71892215e-04 -1.30514376e+00] [ 1.81413716e-02 -5.82002738e-04 9.99835262e-01 2.06475731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.690714056999997 meters Centerline goodness [0,1] 0.9844816224144894 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.30, Z:0.21 [[ 9.99844931e-01 -4.46517974e-03 -1.70345616e-02 2.23456162e+01] [ 4.47333984e-03 9.99989897e-01 4.40958639e-04 -1.30324197e+00] [ 1.70324205e-02 -5.17091643e-04 9.99854804e-01 2.06637898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.720714057 meters Centerline goodness [0,1] 0.9806318052431475 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.32, Z:0.21 [[ 9.99845706e-01 -1.20557738e-03 -1.75245921e-02 2.23735588e+01] [ 1.21368628e-03 9.99999161e-01 4.52087437e-04 -1.31641504e+00] [ 1.75240324e-02 -4.73287040e-04 9.99846330e-01 2.05911355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.750714057 meters Centerline goodness [0,1] 0.9837598425196851 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.30, Z:0.21 [[ 9.99832854e-01 -5.95285379e-03 -1.72866272e-02 2.24033048e+01] [ 5.96143271e-03 9.99982132e-01 4.44786685e-04 -1.30274300e+00] [ 1.72836706e-02 -5.47765405e-04 9.99850476e-01 2.06860904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.780714056999997 meters Centerline goodness [0,1] 0.9825537995606458 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.30, Z:0.21 [[ 9.99831095e-01 -6.59235098e-03 -1.71558512e-02 2.24322868e+01] [ 6.60087302e-03 9.99978117e-01 4.40162908e-04 -1.30355571e+00] [ 1.71525741e-02 -5.53332158e-04 9.99852731e-01 2.06761458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.810714057 meters Centerline goodness [0,1] 0.9823479370480647 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.31, Z:0.21 [[ 9.99814724e-01 -7.83529885e-03 -1.75819718e-02 2.24600779e+01] [ 7.84437045e-03 9.99969133e-01 4.47053007e-04 -1.30524757e+00] [ 1.75779263e-02 -5.84889678e-04 9.99845325e-01 2.06450311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.840714057 meters Centerline goodness [0,1] 0.9800830053054937 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.31, Z:0.21 [[ 9.99795236e-01 -1.11943217e-02 -1.68574550e-02 2.24891740e+01] [ 1.12031150e-02 9.99937152e-01 4.27276017e-04 -1.30726956e+00] [ 1.68516124e-02 -6.16044531e-04 9.99857812e-01 2.06942345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.870714056999997 meters Centerline goodness [0,1] 0.9793684390567208 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.31, Z:0.21 [[ 9.99765228e-01 -1.47742135e-02 -1.58496481e-02 2.25185935e+01] [ 1.47824237e-02 9.99890654e-01 4.00972782e-04 -1.31029454e+00] [ 1.58419910e-02 -6.35174860e-04 9.99874306e-01 2.07770181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.900714057 meters Centerline goodness [0,1] 0.9791242034800146 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.31, Z:0.21 [[ 9.99742727e-01 -1.64596771e-02 -1.56063932e-02 2.25480037e+01] [ 1.64678341e-02 9.99864318e-01 3.94295208e-04 -1.31240167e+00] [ 1.55977857e-02 -6.51197260e-04 9.99878135e-01 2.08705878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.930714057 meters Centerline goodness [0,1] 0.9794873990964178 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.31, Z:0.21 [[ 9.99717973e-01 -1.82470274e-02 -1.51993603e-02 2.25787353e+01] [ 1.82549629e-02 9.99833291e-01 3.83506342e-04 -1.30996324e+00] [ 1.51898286e-02 -6.60861942e-04 9.99884410e-01 2.08787553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.960714056999997 meters Centerline goodness [0,1] 0.9799007868628122 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.31, Z:0.21 [[ 9.99633566e-01 -2.25132778e-02 -1.50294756e-02 2.26097916e+01] [ 2.25215179e-02 9.99746287e-01 3.79215228e-04 -1.31095853e+00] [ 1.50171250e-02 -7.17562873e-04 9.99886979e-01 2.08738404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.990714056999998 meters Centerline goodness [0,1] 0.9788675039650221 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.32, Z:0.21 [[ 9.99574106e-01 -2.49178758e-02 -1.51890394e-02 2.26398037e+01] [ 2.49265730e-02 9.99689211e-01 3.83521754e-04 -1.31636273e+00] [ 1.51747623e-02 -7.61969113e-04 9.99884566e-01 2.08945256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.020714057 meters Centerline goodness [0,1] 0.9765992977648369 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.32, Z:0.21 [[ 9.99451653e-01 -2.95038710e-02 -1.50304641e-02 2.26694890e+01] [ 2.95129126e-02 9.99564327e-01 3.80049251e-04 -1.32089763e+00] [ 1.50127029e-02 -8.23433627e-04 9.99886964e-01 2.08779415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.050714056999997 meters Centerline goodness [0,1] 0.9779162918219595 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.32, Z:0.21 [[ 9.99410001e-01 -3.10139215e-02 -1.47575810e-02 2.27016855e+01] [ 3.10228073e-02 9.99518607e-01 3.73518209e-04 -1.32299753e+00] [ 1.47388925e-02 -8.31119424e-04 9.99891031e-01 2.09341571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.080714056999998 meters Centerline goodness [0,1] 0.9783722375838638 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.32, Z:0.21 [[ 9.99345514e-01 -3.30421302e-02 -1.47227953e-02 2.27330657e+01] [ 3.30512089e-02 9.99453590e-01 3.73687188e-04 -1.31718679e+00] [ 1.47024032e-02 -8.60048798e-04 9.99891544e-01 2.09505099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.110714057 meters Centerline goodness [0,1] 0.9772277859284302 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.33, Z:0.21 [[ 9.99344109e-01 -3.30312254e-02 -1.48421572e-02 2.27640810e+01] [ 3.30404589e-02 9.99453944e-01 3.77270063e-04 -1.32629017e+00] [ 1.48215909e-02 -8.67414300e-04 9.99889778e-01 2.09572175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.140714056999997 meters Centerline goodness [0,1] 0.9782408498061808 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.32, Z:0.21 [[ 9.99337249e-01 -3.31967181e-02 -1.49345652e-02 2.27962762e+01] [ 3.32060979e-02 9.99448453e-01 3.80455807e-04 -1.31921055e+00] [ 1.49136982e-02 -8.76122293e-04 9.99888401e-01 2.09410726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.170714056999998 meters Centerline goodness [0,1] 0.9798937946982998 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.32, Z:0.21 [[ 9.99402952e-01 -3.15604354e-02 -1.40598206e-02 2.28273834e+01] [ 3.15686014e-02 9.99501523e-01 3.59193750e-04 -1.31699635e+00] [ 1.40414758e-02 -8.02828165e-04 9.99901091e-01 2.10010149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.200714057 meters Centerline goodness [0,1] 0.9800962052378407 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.31, Z:0.21 [[ 9.99453185e-01 -3.01302711e-02 -1.36197268e-02 2.28601160e+01] [ 3.01378069e-02 9.99545692e-01 3.48344827e-04 -1.31446790e+00] [ 1.36030435e-02 -7.58623042e-04 9.99907187e-01 2.10275733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.230714056999997 meters Centerline goodness [0,1] 0.9791773999656534 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.32, Z:0.21 [[ 9.99494741e-01 -2.87290094e-02 -1.35980317e-02 2.28915528e+01] [ 2.87364099e-02 9.99586963e-01 3.49119758e-04 -1.31513136e+00] [ 1.35823854e-02 -7.39701976e-04 9.99907482e-01 2.10886692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.260714056999998 meters Centerline goodness [0,1] 0.9801865551624317 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.31, Z:0.21 [[ 9.99584749e-01 -2.56913229e-02 -1.30493352e-02 2.29231710e+01] [ 2.56978891e-02 9.99669698e-01 3.35730308e-04 -1.31210293e+00] [ 1.30363997e-02 -6.70931265e-04 9.99914797e-01 2.10761338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.290714057 meters Centerline goodness [0,1] 0.9797577780630804 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.31, Z:0.21 [[ 9.99619557e-01 -2.44489249e-02 -1.27668302e-02 2.29543328e+01] [ 2.44551172e-02 9.99700875e-01 3.29115838e-04 -1.31293496e+00] [ 1.27549648e-02 -6.41204956e-04 9.99918447e-01 2.10483952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.320714057 meters Centerline goodness [0,1] 0.9813945512614408 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.31, Z:0.21 [[ 9.99635395e-01 -2.36720242e-02 -1.29889374e-02 2.29866894e+01] [ 2.36783772e-02 9.99719572e-01 3.35519644e-04 -1.30963757e+00] [ 1.29773525e-02 -6.42954271e-04 9.99915584e-01 2.10204167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.350714056999998 meters Centerline goodness [0,1] 0.9805604428614342 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.31, Z:0.21 [[ 9.99659860e-01 -2.27523981e-02 -1.27472655e-02 2.30180702e+01] [ 2.27584547e-02 9.99740938e-01 3.30248237e-04 -1.30994491e+00] [ 1.27364492e-02 -6.20243970e-04 9.99918696e-01 2.10511744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.380714057 meters Centerline goodness [0,1] 0.9804493225861773 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.31, Z:0.21 [[ 9.99679832e-01 -2.15535143e-02 -1.32544025e-02 2.30484526e+01] [ 2.15599684e-02 9.99767498e-01 3.44227239e-04 -1.31003901e+00] [ 1.32439015e-02 -6.29881528e-04 9.99912097e-01 2.10119667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.410714057 meters Centerline goodness [0,1] 0.9809854178711377 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.31, Z:0.21 [[ 9.99677750e-01 -2.15152999e-02 -1.34717764e-02 2.30809525e+01] [ 2.15219660e-02 9.99768314e-01 3.50021776e-04 -1.30842696e+00] [ 1.34611244e-02 -6.39848095e-04 9.99909190e-01 2.08955683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.440714056999997 meters Centerline goodness [0,1] 0.9802072913784664 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.31, Z:0.21 [[ 9.99671804e-01 -2.15909410e-02 -1.37882380e-02 2.31116206e+01] [ 2.15979461e-02 9.99766673e-01 3.59329228e-04 -1.30947936e+00] [ 1.37772626e-02 -6.57008919e-04 9.99904873e-01 2.09208131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.470714057 meters Centerline goodness [0,1] 0.9809719282492037 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.31, Z:0.21 [[ 9.99667348e-01 -2.18202100e-02 -1.37503320e-02 2.31436179e+01] [ 2.18272044e-02 9.99761694e-01 3.58783827e-04 -1.30964461e+00] [ 1.37392264e-02 -6.58795783e-04 9.99905395e-01 2.10444108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.500714057 meters Centerline goodness [0,1] 0.9810900047167789 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.31, Z:0.21 [[ 9.99668523e-01 -2.17189962e-02 -1.38249377e-02 2.31758198e+01] [ 2.17260708e-02 9.99763896e-01 3.61729595e-04 -1.30578718e+00] [ 1.38138171e-02 -6.61971264e-04 9.99904366e-01 2.11572094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.530714056999997 meters Centerline goodness [0,1] 0.9789341398994632 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.31, Z:0.21 [[ 9.99687740e-01 -2.07807490e-02 -1.38774446e-02 2.32064959e+01] [ 2.07878023e-02 9.99783844e-01 3.64187929e-04 -1.31187159e+00] [ 1.38668768e-02 -6.52555783e-04 9.99903637e-01 2.12100283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.560714057 meters Centerline goodness [0,1] 0.9789341398994632 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.31, Z:0.21 [[ 9.99689164e-01 -2.07121415e-02 -1.38774325e-02 2.32382048e+01] [ 2.07191947e-02 9.99785268e-01 3.64650824e-04 -1.31276845e+00] [ 1.38668998e-02 -6.52066702e-04 9.99903637e-01 2.12585081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.590714057 meters Centerline goodness [0,1] 0.979557726922088 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.31, Z:0.21 [[ 9.99697808e-01 -2.02442299e-02 -1.39450005e-02 2.32701449e+01] [ 2.02513205e-02 9.99794853e-01 3.67432047e-04 -1.30618422e+00] [ 1.39347013e-02 -6.49725686e-04 9.99902696e-01 2.12884035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.620714056999997 meters Centerline goodness [0,1] 0.981531869309052 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.30, Z:0.21 [[ 9.99710175e-01 -1.96371567e-02 -1.39264946e-02 2.33023243e+01] [ 1.96441760e-02 9.99806967e-01 3.67400979e-04 -1.30473944e+00] [ 1.39165916e-02 -6.40869007e-04 9.99902954e-01 2.13120530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.650714057 meters Centerline goodness [0,1] 0.9823082861554298 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.30, Z:0.21 [[ 9.99719912e-01 -1.85488864e-02 -1.46981649e-02 2.33341697e+01] [ 1.85566051e-02 9.99827736e-01 3.88926188e-04 -1.30314216e+00] [ 1.46884187e-02 -6.61565295e-04 9.99891901e-01 2.13004115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.680714057 meters Centerline goodness [0,1] 0.9819124202802721 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.30, Z:0.21 [[ 9.99729235e-01 -1.80395807e-02 -1.46979958e-02 2.33646360e+01] [ 1.80472566e-02 9.99837059e-01 3.89762482e-04 -1.30383161e+00] [ 1.46885698e-02 -6.54915450e-04 9.99891903e-01 2.13591914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.710714056999997 meters Centerline goodness [0,1] 0.9811567204128391 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.31, Z:0.21 [[ 9.99724999e-01 -1.81696829e-02 -1.48253087e-02 2.33949902e+01] [ 1.81775107e-02 9.99834698e-01 3.93414466e-04 -1.30666492e+00] [ 1.48157099e-02 -6.62793485e-04 9.99890022e-01 2.14176250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.740714056999998 meters Centerline goodness [0,1] 0.9806991207377225 Centerline is valid? [True, True] Translation: X:23.43, Y:-1.31, Z:0.22 [[ 9.99713305e-01 -1.91347125e-02 -1.43934334e-02 2.34260745e+01] [ 1.91421941e-02 9.99816698e-01 3.82192233e-04 -1.30781594e+00] [ 1.43834819e-02 -6.57604556e-04 9.99896336e-01 2.15910710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.770714057 meters Centerline goodness [0,1] 0.9805485856441271 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.31, Z:0.22 [[ 9.99689101e-01 -2.04150782e-02 -1.43152180e-02 2.34571120e+01] [ 2.04226168e-02 9.99791364e-01 3.80615723e-04 -1.30902549e+00] [ 1.43044611e-02 -6.72851603e-04 9.99897460e-01 2.16858493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.800714056999997 meters Centerline goodness [0,1] 0.9799379745481767 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.31, Z:0.22 [[ 9.99662182e-01 -2.15395158e-02 -1.45454740e-02 2.34873583e+01] [ 2.15474250e-02 9.99767752e-01 3.87246009e-04 -1.31115463e+00] [ 1.45337547e-02 -7.00532701e-04 9.99894134e-01 2.17108282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.830714056999998 meters Centerline goodness [0,1] 0.9808229180088477 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.31, Z:0.22 [[ 9.99539698e-01 -2.61616261e-02 -1.53610633e-02 2.35188931e+01] [ 2.61710037e-02 9.99657397e-01 4.09737968e-04 -1.30849451e+00] [ 1.53450811e-02 -8.11563808e-04 9.99881928e-01 2.16590428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.860714057 meters Centerline goodness [0,1] 0.9796549723934947 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.32, Z:0.22 [[ 9.99465340e-01 -2.86418287e-02 -1.57696157e-02 2.35488819e+01] [ 2.86520288e-02 9.99589358e-01 4.21223736e-04 -1.31732791e+00] [ 1.57510754e-02 -8.72830009e-04 9.99875563e-01 2.16886228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.890714056999997 meters Centerline goodness [0,1] 0.9779544091181763 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.32, Z:0.22 [[ 9.99319607e-01 -3.30660340e-02 -1.63389287e-02 2.35784255e+01] [ 3.30775848e-02 9.99452691e-01 4.37139941e-04 -1.32115385e+00] [ 1.63155318e-02 -9.77294814e-04 9.99866415e-01 2.16173385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.920714056999998 meters Centerline goodness [0,1] 0.9790699673371154 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.31, Z:0.22 [[ 9.99221757e-01 -3.54032216e-02 -1.73922915e-02 2.36102324e+01] [ 3.54166601e-02 9.99372525e-01 4.65170126e-04 -1.31328670e+00] [ 1.73649097e-02 -1.08078499e-03 9.99848634e-01 2.15861372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.950714057 meters Centerline goodness [0,1] 0.9796036670459669 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.32, Z:0.22 [[ 9.99178863e-01 -3.62812974e-02 -1.80351496e-02 2.36423925e+01] [ 3.62959045e-02 9.99340970e-01 4.83149402e-04 -1.31543762e+00] [ 1.80057346e-02 -1.13735474e-03 9.99837237e-01 2.15574645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.980714056999997 meters Centerline goodness [0,1] 0.9776917482996107 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.33, Z:0.21 [[ 9.99082580e-01 -3.84295942e-02 -1.88988198e-02 2.36721455e+01] [ 3.84460450e-02 9.99260548e-01 5.07780353e-04 -1.32833718e+00] [ 1.88653313e-02 -1.23389938e-03 9.99821272e-01 2.13888813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.010714056999998 meters Centerline goodness [0,1] 0.9794710679778786 Centerline is valid? [True, True] Translation: X:23.70, Y:-1.32, Z:0.21 [[ 9.99016990e-01 -3.99200584e-02 -1.92728499e-02 2.37046781e+01] [ 3.99374749e-02 9.99202046e-01 5.19484961e-04 -1.32026288e+00] [ 1.92367332e-02 -1.28868326e-03 9.99814126e-01 2.14741188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.040714057 meters Centerline goodness [0,1] 0.979877760082641 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.32, Z:0.22 [[ 9.98902978e-01 -4.28387374e-02 -1.89124938e-02 2.37356875e+01] [ 4.28560505e-02 9.99081127e-01 5.10901966e-04 -1.31679379e+00] [ 1.88732292e-02 -1.32085628e-03 9.99821012e-01 2.15866370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.070714057 meters Centerline goodness [0,1] 0.9786102016198518 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.32, Z:0.22 [[ 9.98834159e-01 -4.44289785e-02 -1.88782661e-02 2.37669164e+01] [ 4.44465204e-02 9.99011635e-01 5.10446713e-04 -1.32209985e+00] [ 1.88369288e-02 -1.34892485e-03 9.99821659e-01 2.15953773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.100714056999998 meters Centerline goodness [0,1] 0.9794451041779121 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.32, Z:0.22 [[ 9.98695925e-01 -4.75703972e-02 -1.85339453e-02 2.37975684e+01] [ 4.75878588e-02 9.98866930e-01 5.01997697e-04 -1.31683256e+00] [ 1.84890648e-02 -1.38333383e-03 9.99828106e-01 2.16911261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.130714057 meters Centerline goodness [0,1] 0.9794591559030628 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.32, Z:0.22 [[ 9.98621277e-01 -4.92477623e-02 -1.81714981e-02 2.38288629e+01] [ 4.92648302e-02 9.98785630e-01 4.92547383e-04 -1.31770235e+00] [ 1.81251743e-02 -1.38708406e-03 9.99834763e-01 2.17652672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.160714057 meters Centerline goodness [0,1] 0.9785043703463904 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.32, Z:0.22 [[ 9.98568777e-01 -5.05243130e-02 -1.75411523e-02 2.38596026e+01] [ 5.05404271e-02 9.98721902e-01 4.76276990e-04 -1.31871611e+00] [ 1.74946694e-02 -1.36213266e-03 9.99846029e-01 2.18631988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.190714056999997 meters Centerline goodness [0,1] 0.9528971506436983 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.34, Z:0.22 [[ 9.98730792e-01 -4.83220714e-02 -1.42050351e-02 2.38882943e+01] [ 4.83324390e-02 9.98831230e-01 3.87266485e-04 -1.33951208e+00] [ 1.41697191e-02 -1.07333895e-03 9.99899028e-01 2.20906991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.220714057 meters Centerline goodness [0,1] 0.9787009291396296 Centerline is valid? [True, True] Translation: X:23.92, Y:-1.32, Z:0.22 [[ 9.98461488e-01 -5.28486321e-02 -1.67833165e-02 2.39203355e+01] [ 5.28637363e-02 9.98601630e-01 4.57276549e-04 -1.31665721e+00] [ 1.67356808e-02 -1.34380184e-03 9.99859046e-01 2.20255259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.250714057 meters Centerline goodness [0,1] 0.9785768275564194 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.32, Z:0.22 [[ 9.98440528e-01 -5.31839083e-02 -1.69700690e-02 2.39515507e+01] [ 5.31994071e-02 9.98583802e-01 4.62865461e-04 -1.31759788e+00] [ 1.69214190e-02 -1.36494124e-03 9.99855891e-01 2.20343356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.280714056999997 meters Centerline goodness [0,1] 0.9794040410617011 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.32, Z:0.22 [[ 9.98336702e-01 -5.47036802e-02 -1.82026688e-02 2.39828572e+01] [ 5.47217814e-02 9.98501517e-01 4.97459048e-04 -1.31644858e+00] [ 1.81481796e-02 -1.49271409e-03 9.99834194e-01 2.19534936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.310714057 meters Centerline goodness [0,1] 0.9791986839541982 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.31, Z:0.22 [[ 9.98317861e-01 -5.49375186e-02 -1.85288118e-02 2.40151647e+01] [ 5.49563286e-02 9.98488630e-01 5.07144467e-04 -1.31334252e+00] [ 1.84729466e-02 -1.52456685e-03 9.99828198e-01 2.19344971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.340714057 meters Centerline goodness [0,1] 0.9806620209059234 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.31, Z:0.22 [[ 9.98213807e-01 -5.63673790e-02 -1.97968188e-02 2.40464752e+01] [ 5.63891560e-02 9.98408718e-01 5.43093433e-04 -1.30628291e+00] [ 1.97347037e-02 -1.65844927e-03 9.99803876e-01 2.18906438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.370714056999997 meters Centerline goodness [0,1] 0.9806927141086688 Centerline is valid? [True, True] Translation: X:24.08, Y:-1.31, Z:0.22 [[ 9.98192053e-01 -5.67037529e-02 -1.99326454e-02 2.40776571e+01] [ 5.67259071e-02 9.98389639e-01 5.47354644e-04 -1.30722087e+00] [ 1.98695096e-02 -1.67706245e-03 9.99801175e-01 2.18839603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.400714057 meters Centerline goodness [0,1] 0.9809169440999195 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.31, Z:0.22 [[ 9.98202116e-01 -5.63562992e-02 -2.04083970e-02 2.41090935e+01] [ 5.63794747e-02 9.98409255e-01 5.61549613e-04 -1.30511089e+00] [ 2.03442856e-02 -1.71115471e-03 9.99791569e-01 2.17949425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.430714057 meters Centerline goodness [0,1] 0.9822732240437159 Centerline is valid? [True, True] Translation: X:24.14, Y:-1.30, Z:0.22 [[ 9.98178250e-01 -5.64765256e-02 -2.12269388e-02 2.41411008e+01] [ 5.65016526e-02 9.98402334e-01 5.85375998e-04 -1.29680116e+00] [ 2.11599652e-02 -1.78366671e-03 9.99774512e-01 2.18241157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.460714056999997 meters Centerline goodness [0,1] 0.9803565966000961 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.30, Z:0.22 [[ 9.98228971e-01 -5.55047083e-02 -2.14043956e-02 2.41725642e+01] [ 5.55300698e-02 9.98456840e-01 5.91881882e-04 -1.30199717e+00] [ 2.13385129e-02 -1.77942122e-03 9.99770724e-01 2.18088333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.490714056999998 meters Centerline goodness [0,1] 0.9826086956521739 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.29, Z:0.22 [[ 9.98285898e-01 -5.44248137e-02 -2.15222101e-02 2.42051271e+01] [ 5.44502406e-02 9.98516307e-01 5.96748826e-04 -1.29181384e+00] [ 2.14577998e-02 -1.76761545e-03 9.99768192e-01 2.19387900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.520714057 meters Centerline goodness [0,1] 0.9819721028160365 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.30, Z:0.22 [[ 9.98316608e-01 -5.38302398e-02 -2.15929693e-02 2.42361068e+01] [ 5.38557283e-02 9.98548547e-01 6.00205021e-04 -1.29521419e+00] [ 2.15293189e-02 -1.76209973e-03 9.99766664e-01 2.19915356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.550714056999997 meters Centerline goodness [0,1] 0.9812924049799091 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.29, Z:0.22 [[ 9.98336056e-01 -5.31884147e-02 -2.22735761e-02 2.42686781e+01] [ 5.32154078e-02 9.98582864e-01 6.20509060e-04 -1.29096657e+00] [ 2.22090075e-02 -1.80477400e-03 9.99751721e-01 2.19929778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.580714056999998 meters Centerline goodness [0,1] 0.981796570623583 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.29, Z:0.22 [[ 9.98344850e-01 -5.26178072e-02 -2.32147979e-02 2.43015227e+01] [ 5.26470283e-02 9.98612973e-01 6.48926793e-04 -1.28711638e+00] [ 2.31484532e-02 -1.87004284e-03 9.99730290e-01 2.19797481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.610714057 meters Centerline goodness [0,1] 0.9773438533080618 Centerline is valid? [True, True] Translation: X:24.33, Y:-1.30, Z:0.22 [[ 9.98361147e-01 -5.24756378e-02 -2.28326023e-02 2.43326993e+01] [ 5.25039214e-02 9.98620512e-01 6.40611466e-04 -1.29905085e+00] [ 2.27674885e-02 -1.83836275e-03 9.99739097e-01 2.18145935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.640714056999997 meters Centerline goodness [0,1] 0.9809856507992659 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.29, Z:0.22 [[ 9.98318662e-01 -5.29301891e-02 -2.36271995e-02 2.43652213e+01] [ 5.29606370e-02 9.98596380e-01 6.64363384e-04 -1.28790473e+00] [ 2.35588710e-02 -1.91455790e-03 9.99720618e-01 2.18853264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.670714056999998 meters Centerline goodness [0,1] 0.9814982447618837 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.29, Z:0.22 [[ 9.98327323e-01 -5.29017266e-02 -2.33230073e-02 2.43987064e+01] [ 5.29314326e-02 9.98597933e-01 6.57745696e-04 -1.28816828e+00] [ 2.32555110e-02 -1.89116569e-03 9.99727765e-01 2.19343188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.700714057 meters Centerline goodness [0,1] 0.9815583727196431 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.29, Z:0.22 [[ 9.98333535e-01 -5.26964537e-02 -2.35209959e-02 2.44308441e+01] [ 5.27266621e-02 9.98608760e-01 6.65559998e-04 -1.28673934e+00] [ 2.34531999e-02 -1.90463447e-03 9.99723122e-01 2.20127295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.730714056999997 meters Centerline goodness [0,1] 0.9819149872392854 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.28, Z:0.22 [[ 9.98398522e-01 -5.15977709e-02 -2.31961553e-02 2.44616449e+01] [ 5.16268870e-02 9.98666226e-01 6.57718041e-04 -1.28489885e+00] [ 2.31312801e-02 -1.85421001e-03 9.99730717e-01 2.20875848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.760714056999998 meters Centerline goodness [0,1] 0.9828955541751708 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.28, Z:0.22 [[ 9.98410428e-01 -5.12203413e-02 -2.35179625e-02 2.44936163e+01] [ 5.12501939e-02 9.98685622e-01 6.67983821e-04 -1.27723630e+00] [ 2.34528366e-02 -1.87222215e-03 9.99723191e-01 2.21432100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.790714057 meters Centerline goodness [0,1] 0.9839871897518014 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.27, Z:0.22 [[ 9.98435410e-01 -5.07053537e-02 -2.35732720e-02 2.45265118e+01] [ 5.07352483e-02 9.98711912e-01 6.71424109e-04 -1.27259788e+00] [ 2.35088627e-02 -1.86636941e-03 9.99721886e-01 2.22031170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.820714056999996 meters Centerline goodness [0,1] 0.9810859467028205 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.28, Z:0.22 [[ 9.98442643e-01 -5.05883240e-02 -2.35183105e-02 2.45587286e+01] [ 5.06180979e-02 9.98717856e-01 6.72025034e-04 -1.28389677e+00] [ 2.34541600e-02 -1.86143059e-03 9.99723180e-01 2.21142119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.850714056999998 meters Centerline goodness [0,1] 0.9800898736429969 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.28, Z:0.22 [[ 9.98510504e-01 -4.93977090e-02 -2.31654855e-02 2.45892246e+01] [ 4.94263126e-02 9.98777553e-01 6.63462498e-04 -1.28151394e+00] [ 2.31043934e-02 -1.80745880e-03 9.99731424e-01 2.21263666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.880714057 meters Centerline goodness [0,1] 0.9834897735164319 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.26, Z:0.22 [[ 9.98649022e-01 -4.66616775e-02 -2.28652486e-02 2.46205078e+01] [ 4.66888412e-02 9.98909266e-01 6.55298440e-04 -1.26353148e+00] [ 2.28097314e-02 -1.72196511e-03 9.99738341e-01 2.23761614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.910714057 meters Centerline goodness [0,1] 0.9805971153630471 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.27, Z:0.22 [[ 9.98718900e-01 -4.52027051e-02 -2.27436826e-02 2.46509667e+01] [ 4.52292189e-02 9.98976422e-01 6.52449008e-04 -1.27495894e+00] [ 2.26909102e-02 -1.68029216e-03 9.99741116e-01 2.23099416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.940714056999997 meters Centerline goodness [0,1] 0.9826699890003816 Centerline is valid? [True, True] Translation: X:24.68, Y:-1.26, Z:0.23 [[ 9.98808755e-01 -4.34950785e-02 -2.21189627e-02 2.46829186e+01] [ 4.35197589e-02 9.99052364e-01 6.35432962e-04 -1.26233482e+00] [ 2.20703637e-02 -1.59728793e-03 9.99755144e-01 2.25146147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.970714057 meters Centerline goodness [0,1] 0.9833531777233617 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.26, Z:0.23 [[ 9.98865125e-01 -4.22498111e-02 -2.19866961e-02 2.47156646e+01] [ 4.22739278e-02 9.99105857e-01 6.33042601e-04 -1.25897658e+00] [ 2.19402909e-02 -1.56178818e-03 9.99758063e-01 2.25783007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.000714057 meters Centerline goodness [0,1] 0.9838245219347581 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.26, Z:0.23 [[ 9.98947698e-01 -4.03527777e-02 -2.17979500e-02 2.47475442e+01] [ 4.03760698e-02 9.99184356e-01 6.29311939e-04 -1.25555285e+00] [ 2.17547762e-02 -1.50876526e-03 9.99762198e-01 2.25614885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.030714056999997 meters Centerline goodness [0,1] 0.9838931624895666 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.25, Z:0.23 [[ 9.98972189e-01 -3.94880356e-02 -2.22544722e-02 2.47801208e+01] [ 3.95121302e-02 9.99218883e-01 6.43841052e-04 -1.25319463e+00] [ 2.22116648e-02 -1.52250091e-03 9.99752131e-01 2.25659477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.060714057 meters Centerline goodness [0,1] 0.9848139025106777 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.25, Z:0.23 [[ 9.99017346e-01 -3.79430422e-02 -2.29056400e-02 2.48120362e+01] [ 3.79681993e-02 9.99278727e-01 6.64235414e-04 -1.25174484e+00] [ 2.28639157e-02 -1.53326860e-03 9.99737411e-01 2.25634169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.090714057 meters Centerline goodness [0,1] 0.9856159108412993 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.25, Z:0.22 [[ 9.99140140e-01 -3.38626718e-02 -2.39228138e-02 2.48421238e+01] [ 3.38889672e-02 9.99425363e-01 6.94500005e-04 -1.24700180e+00] [ 2.38855492e-02 -1.50462228e-03 9.99713567e-01 2.24930799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.120714056999997 meters Centerline goodness [0,1] 0.9846069893817785 Centerline is valid? [True, True] Translation: X:24.87, Y:-1.24, Z:0.22 [[ 9.99205417e-01 -3.11678555e-02 -2.48414855e-02 2.48740720e+01] [ 3.11953887e-02 9.99513045e-01 7.21505928e-04 -1.24309109e+00] [ 2.48069010e-02 -1.49587243e-03 9.99691142e-01 2.24977559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.150714057 meters Centerline goodness [0,1] 0.987115459168548 Centerline is valid? [True, True] Translation: X:24.90, Y:-1.24, Z:0.23 [[ 9.99394047e-01 -2.43071558e-02 -2.49138574e-02 2.49035364e+01] [ 2.43327409e-02 9.99703653e-01 7.24251485e-04 -1.23703898e+00] [ 2.48888697e-02 -1.33003506e-03 9.99689339e-01 2.25134530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.180714057 meters Centerline goodness [0,1] 0.9862528830124911 Centerline is valid? [True, True] Translation: X:24.93, Y:-1.23, Z:0.23 [[ 9.99474937e-01 -2.06149440e-02 -2.49975038e-02 2.49349233e+01] [ 2.06395454e-02 9.99786718e-01 7.26515189e-04 -1.23362317e+00] [ 2.49771952e-02 -1.24207084e-03 9.99687250e-01 2.25233948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.210714056999997 meters Centerline goodness [0,1] 0.9879199871391499 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.23, Z:0.23 [[ 9.99608831e-01 -1.27943786e-02 -2.48694302e-02 2.49655074e+01] [ 1.28163179e-02 9.99917606e-01 7.22981582e-04 -1.22518240e+00] [ 2.48581310e-02 -1.04143330e-03 9.99690446e-01 2.26101934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.240714056999998 meters Centerline goodness [0,1] 0.9884657634566093 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.22, Z:0.23 [[ 9.99654536e-01 -9.16360769e-03 -2.46340748e-02 2.49949616e+01] [ 9.18402455e-03 9.99957570e-01 7.15794096e-04 -1.22294705e+00] [ 2.46264703e-02 -9.41786763e-04 9.99696279e-01 2.26561605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.270714057 meters Centerline goodness [0,1] 0.989059633027523 Centerline is valid? [True, True] Translation: X:25.02, Y:-1.22, Z:0.23 [[ 9.99677256e-01 -6.33489930e-03 -2.46019028e-02 2.50237133e+01] [ 6.35437780e-03 9.99979556e-01 7.13650939e-04 -1.22091626e+00] [ 2.45968789e-02 -8.69750397e-04 9.99697073e-01 2.27411815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.300714056999997 meters Centerline goodness [0,1] 0.9892351926394479 Centerline is valid? [True, True] Translation: X:25.05, Y:-1.22, Z:0.23 [[ 9.99708481e-01 -2.67442480e-03 -2.39958610e-02 2.50521856e+01] [ 2.69186548e-03 9.99996136e-01 6.94548167e-04 -1.21934886e+00] [ 2.39939107e-02 -7.58939322e-04 9.99711817e-01 2.27991984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.330714056999998 meters Centerline goodness [0,1] 0.9895063859164653 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.22, Z:0.23 [[ 9.99720427e-01 -2.21285855e-03 -2.35408366e-02 2.50798473e+01] [ 2.22948051e-03 9.99997284e-01 6.79868501e-04 -1.22030178e+00] [ 2.35392682e-02 -7.32162265e-04 9.99722645e-01 2.28101089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.360714057 meters Centerline goodness [0,1] 0.9896107462413327 Centerline is valid? [True, True] Translation: X:25.11, Y:-1.22, Z:0.23 [[ 9.99723351e-01 -1.64848871e-03 -2.34628202e-02 2.51081294e+01] [ 1.66476775e-03 9.99998387e-01 6.74306910e-04 -1.22122350e+00] [ 2.34616708e-02 -7.13180510e-04 9.99724483e-01 2.28286155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.390714056999997 meters Centerline goodness [0,1] 0.9897872340425532 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.22, Z:0.23 [[ 9.99698661e-01 -2.06217234e-03 -2.44608792e-02 2.51363788e+01] [ 2.07987588e-03 9.99997593e-01 6.98329766e-04 -1.22307111e+00] [ 2.44593803e-02 -7.48994925e-04 9.99700544e-01 2.27608421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.420714056999998 meters Centerline goodness [0,1] 0.9891516249627302 Centerline is valid? [True, True] Translation: X:25.16, Y:-1.22, Z:0.23 [[ 9.99698527e-01 -2.11124526e-03 -2.44621837e-02 2.51643153e+01] [ 2.12887019e-03 9.99997493e-01 6.94477064e-04 -1.22457970e+00] [ 2.44606562e-02 -7.46344512e-04 9.99700515e-01 2.27956874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.450714057 meters Centerline goodness [0,1] 0.990247148725245 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.23, Z:0.23 [[ 9.99697855e-01 -2.50318415e-03 -2.44526564e-02 2.51929262e+01] [ 2.52079194e-03 9.99996585e-01 6.89278547e-04 -1.22593489e+00] [ 2.44508475e-02 -7.50710344e-04 9.99700751e-01 2.28727925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.480714056999997 meters Centerline goodness [0,1] 0.990247148725245 Centerline is valid? [True, True] Translation: X:25.22, Y:-1.23, Z:0.23 [[ 9.99697085e-01 -2.79285087e-03 -2.44527618e-02 2.52202889e+01] [ 2.81045334e-03 9.99995816e-01 6.85518924e-04 -1.22664129e+00] [ 2.44507449e-02 -7.54034617e-04 9.99700751e-01 2.29146848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.510714056999998 meters Centerline goodness [0,1] 0.9886345409133613 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.23, Z:0.23 [[ 9.99695810e-01 -3.19002513e-03 -2.44563247e-02 2.52478330e+01] [ 3.20762293e-03 9.99994624e-01 6.80364614e-04 -1.23125528e+00] [ 2.44540229e-02 -7.58604321e-04 9.99700668e-01 2.28868749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.540714057 meters Centerline goodness [0,1] 0.9871229936756547 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.24, Z:0.23 [[ 9.99710162e-01 -3.77022866e-03 -2.37776498e-02 2.52758567e+01] [ 3.78697791e-03 9.99992612e-01 6.59421750e-04 -1.23705591e+00] [ 2.37749880e-02 -7.49276059e-04 9.99717054e-01 2.28789790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.570714056999996 meters Centerline goodness [0,1] 0.9862888482632541 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.24, Z:0.23 [[ 9.99703221e-01 -7.04151536e-03 -2.33214042e-02 2.53052094e+01] [ 7.05848053e-03 9.99974880e-01 6.45211737e-04 -1.24323327e+00] [ 2.33162751e-02 -8.09633929e-04 9.99727811e-01 2.29399837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.600714056999998 meters Centerline goodness [0,1] 0.9866842392292311 Centerline is valid? [True, True] Translation: X:25.33, Y:-1.25, Z:0.23 [[ 9.99658832e-01 -1.13460026e-02 -2.35263014e-02 2.53348370e+01] [ 1.13644385e-02 9.99935211e-01 6.50072565e-04 -1.24836724e+00] [ 2.35174014e-02 -9.17213985e-04 9.99723007e-01 2.30007828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.630714057 meters Centerline goodness [0,1] 0.9863507538827797 Centerline is valid? [True, True] Translation: X:25.36, Y:-1.26, Z:0.23 [[ 9.99624144e-01 -1.43446687e-02 -2.33623821e-02 2.53630946e+01] [ 1.43636435e-02 9.99896630e-01 6.44583239e-04 -1.25975496e+00] [ 2.33507207e-02 -9.79909896e-04 9.99726855e-01 2.28603113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.660714057 meters Centerline goodness [0,1] 0.985680947957496 Centerline is valid? [True, True] Translation: X:25.39, Y:-1.26, Z:0.23 [[ 9.99573645e-01 -1.71802433e-02 -2.36086464e-02 2.53927016e+01] [ 1.72003835e-02 9.99851851e-01 6.50268757e-04 -1.25964582e+00] [ 2.35939770e-02 -1.05606928e-03 9.99721066e-01 2.29844355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.690714056999997 meters Centerline goodness [0,1] 0.9862648533863462 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.27, Z:0.23 [[ 9.99420070e-01 -2.36115563e-02 -2.45360657e-02 2.54226467e+01] [ 2.36352299e-02 9.99720421e-01 6.75254829e-04 -1.26738634e+00] [ 2.45132621e-02 -1.25477878e-03 9.99698717e-01 2.30064010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.720714057 meters Centerline goodness [0,1] 0.9849769917892267 Centerline is valid? [True, True] Translation: X:25.45, Y:-1.27, Z:0.23 [[ 9.99338415e-01 -2.66486558e-02 -2.47503681e-02 2.54526174e+01] [ 2.66736735e-02 9.99643962e-01 6.81152175e-04 -1.27312485e+00] [ 2.47234042e-02 -1.34088477e-03 9.99693431e-01 2.29914458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.750714057 meters Centerline goodness [0,1] 0.9853274912931131 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.28, Z:0.23 [[ 9.99162727e-01 -3.25590100e-02 -2.47741042e-02 2.54823593e+01] [ 3.25858825e-02 9.99468707e-01 6.81665348e-04 -1.28307775e+00] [ 2.47387475e-02 -1.48838066e-03 9.99692842e-01 2.29909431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.780714056999997 meters Centerline goodness [0,1] 0.9846512357435748 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.29, Z:0.23 [[ 9.99087464e-01 -3.50883800e-02 -2.43525099e-02 2.55123294e+01] [ 3.51150923e-02 9.99383050e-01 6.70002296e-04 -1.29133074e+00] [ 2.43139763e-02 -1.52453153e-03 9.99703209e-01 2.30061634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.810714057 meters Centerline goodness [0,1] 0.9842777814946143 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.29, Z:0.23 [[ 9.98992673e-01 -3.76430331e-02 -2.44262340e-02 2.55433494e+01] [ 3.76706782e-02 9.99289982e-01 6.72461488e-04 -1.29165240e+00] [ 2.43835774e-02 -1.59193690e-03 9.99701409e-01 2.31581001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.840714057 meters Centerline goodness [0,1] 0.9823255399291239 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.31, Z:0.23 [[ 9.98850684e-01 -4.17640454e-02 -2.35175710e-02 2.55722431e+01] [ 4.17908175e-02 9.99126172e-01 6.47849797e-04 -1.30535490e+00] [ 2.34699638e-02 -1.62992373e-03 9.99723214e-01 2.31563803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.870714056999997 meters Centerline goodness [0,1] 0.9826164276981216 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.31, Z:0.23 [[ 9.98802118e-01 -4.30949480e-02 -2.31765746e-02 2.56041719e+01] [ 4.31213243e-02 9.99069639e-01 6.39263942e-04 -1.30635357e+00] [ 2.31274629e-02 -1.63790277e-03 9.99731183e-01 2.32660922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.900714057 meters Centerline goodness [0,1] 0.9844457264577972 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.31, Z:0.23 [[ 9.98703977e-01 -4.55565557e-02 -2.26928853e-02 2.56351500e+01] [ 4.55825051e-02 9.98960380e-01 6.27287229e-04 -1.30528529e+00] [ 2.26407163e-02 -1.66087281e-03 9.99742287e-01 2.33982191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.930714057 meters Centerline goodness [0,1] 0.9829412940627708 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.32, Z:0.23 [[ 9.98669411e-01 -4.63169181e-02 -2.26748939e-02 2.56656553e+01] [ 4.63430578e-02 9.98925386e-01 6.28403216e-04 -1.31575765e+00] [ 2.26214214e-02 -1.67839099e-03 9.99742694e-01 2.33500970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.960714056999997 meters Centerline goodness [0,1] 0.9834842834310069 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.31, Z:0.23 [[ 9.98640285e-01 -4.70163468e-02 -2.25176621e-02 2.56975648e+01] [ 4.70423570e-02 9.98892699e-01 6.26492739e-04 -1.31351473e+00] [ 2.24632729e-02 -1.68492478e-03 9.99746249e-01 2.34157333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.990714056999998 meters Centerline goodness [0,1] 0.9837240159221583 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.32, Z:0.23 [[ 9.98569860e-01 -4.83520607e-02 -2.28103746e-02 2.57296211e+01] [ 4.83791358e-02 9.98828841e-01 6.36294420e-04 -1.31785037e+00] [ 2.27528939e-02 -1.73893064e-03 9.99739607e-01 2.34832474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.020714057 meters Centerline goodness [0,1] 0.9840805933798296 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.32, Z:0.24 [[ 9.98520548e-01 -4.92160104e-02 -2.31192413e-02 2.57611617e+01] [ 4.92440895e-02 9.98786565e-01 6.46445236e-04 -1.32115931e+00] [ 2.30593721e-02 -1.78397484e-03 9.99732506e-01 2.35024672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.050714056999997 meters Centerline goodness [0,1] 0.9831611090213086 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.33, Z:0.23 [[ 9.98444456e-01 -5.06363501e-02 -2.33372591e-02 2.57930947e+01] [ 5.06653796e-02 9.98715471e-01 6.53942505e-04 -1.32520234e+00] [ 2.32741684e-02 -1.83531636e-03 9.99727435e-01 2.34064586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.080714056999998 meters Centerline goodness [0,1] 0.9786476868327402 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.34, Z:0.23 [[ 9.98379231e-01 -5.15913432e-02 -2.40258992e-02 2.58242315e+01] [ 5.16224246e-02 9.98666446e-01 6.74822714e-04 -1.33787130e+00] [ 2.39590444e-02 -1.91400415e-03 9.99711109e-01 2.32329173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.110714057 meters Centerline goodness [0,1] 0.9830388536299507 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.33, Z:0.23 [[ 9.98321012e-01 -5.24671756e-02 -2.45428847e-02 2.58568448e+01] [ 5.24999090e-02 9.98620690e-01 6.90835273e-04 -1.33224422e+00] [ 2.44727863e-02 -1.97817458e-03 9.99698539e-01 2.33101216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.140714056999997 meters Centerline goodness [0,1] 0.9829648664215144 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.33, Z:0.23 [[ 9.98231115e-01 -5.38348188e-02 -2.52280249e-02 2.58882930e+01] [ 5.38698766e-02 9.98547710e-01 7.11589336e-04 -1.33445585e+00] [ 2.51530782e-02 -2.06936121e-03 9.99681469e-01 2.32865916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.170714056999998 meters Centerline goodness [0,1] 0.9830598434251847 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.34, Z:0.23 [[ 9.98105214e-01 -5.58166611e-02 -2.58936751e-02 2.59192709e+01] [ 5.58542756e-02 9.98438664e-01 7.31110288e-04 -1.33852352e+00] [ 2.58124383e-02 -2.17599746e-03 9.99664435e-01 2.32625870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.200714057 meters Centerline goodness [0,1] 0.9821215733015495 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.34, Z:0.23 [[ 9.98045822e-01 -5.67345577e-02 -2.61863823e-02 2.59509317e+01] [ 5.67733804e-02 9.98386816e-01 7.40871318e-04 -1.34198661e+00] [ 2.61021058e-02 -2.22611296e-03 9.99656803e-01 2.32985861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.230714056999997 meters Centerline goodness [0,1] 0.9805396818392428 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.35, Z:0.23 [[ 9.97961313e-01 -5.84587285e-02 -2.56085024e-02 2.59820803e+01] [ 5.84964713e-02 9.98287351e-01 7.26558727e-04 -1.34532605e+00] [ 2.55221704e-02 -2.22308453e-03 9.99671784e-01 2.33981755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.260714056999998 meters Centerline goodness [0,1] 0.9800788911170365 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.35, Z:0.24 [[ 9.97971201e-01 -5.86268274e-02 -2.48269247e-02 2.60142169e+01] [ 5.86623817e-02 9.98277630e-01 7.05573918e-04 -1.34733146e+00] [ 2.47427980e-02 -2.16054898e-03 9.99691515e-01 2.35160969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.290714057 meters Centerline goodness [0,1] 0.9787271603848531 Centerline is valid? [True, True] Translation: X:26.05, Y:-1.35, Z:0.24 [[ 9.97953054e-01 -5.90693142e-02 -2.45054737e-02 2.60450923e+01] [ 5.91041235e-02 9.98251579e-01 6.97979057e-04 -1.35095723e+00] [ 2.44213987e-02 -2.14492487e-03 9.99699452e-01 2.35918118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.320714056999996 meters Centerline goodness [0,1] 0.9769889246789922 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.35, Z:0.24 [[ 9.97858747e-01 -6.09234755e-02 -2.37960482e-02 2.60762698e+01] [ 6.09568461e-02 9.98140172e-01 6.78842348e-04 -1.35407563e+00] [ 2.37104342e-02 -2.12792082e-03 9.99716603e-01 2.35991960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.350714056999998 meters Centerline goodness [0,1] 0.9750033122819415 Centerline is valid? [True, True] Translation: X:26.11, Y:-1.36, Z:0.24 [[ 9.97805464e-01 -6.18622737e-02 -2.36075199e-02 2.61080098e+01] [ 6.18954004e-02 9.98082414e-01 6.74416347e-04 -1.35759311e+00] [ 2.35205295e-02 -2.13413321e-03 9.99721076e-01 2.35925072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.380714057 meters Centerline goodness [0,1] 0.9769139700078927 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.36, Z:0.24 [[ 9.97626185e-01 -6.44874926e-02 -2.41528111e-02 2.61383016e+01] [ 6.45229508e-02 9.97915984e-01 6.90836033e-04 -1.35684739e+00] [ 2.40579260e-02 -2.24760676e-03 9.99708040e-01 2.35256265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.410714057 meters Centerline goodness [0,1] 0.9809641587350661 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.35, Z:0.24 [[ 9.97472934e-01 -6.66111428e-02 -2.47123744e-02 2.61698887e+01] [ 6.66489194e-02 9.97776238e-01 7.07243082e-04 -1.35424682e+00] [ 2.46103097e-02 -2.35250888e-03 9.99694352e-01 2.35692716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.440714056999997 meters Centerline goodness [0,1] 0.9800722629840622 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.36, Z:0.24 [[ 9.97239561e-01 -6.99742604e-02 -2.48366655e-02 2.62003439e+01] [ 7.00134646e-02 9.97545793e-01 7.11357169e-04 -1.35731080e+00] [ 2.47259345e-02 -2.44829451e-03 9.99691269e-01 2.36043304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.470714057 meters Centerline goodness [0,1] 0.9811973724815941 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.36, Z:0.24 [[ 9.97174044e-01 -7.10932561e-02 -2.42832152e-02 2.62319523e+01] [ 7.11310864e-02 9.97466733e-01 6.96577161e-04 -1.35570171e+00] [ 2.41721774e-02 -2.42190014e-03 9.99704877e-01 2.36850516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.500714057 meters Centerline goodness [0,1] 0.9838720382292427 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.35, Z:0.24 [[ 9.97067014e-01 -7.27343698e-02 -2.38134840e-02 2.62633970e+01] [ 7.27712629e-02 9.97348421e-01 6.85196848e-04 -1.35136163e+00] [ 2.37005033e-02 -2.41612448e-03 9.99716184e-01 2.38081312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.530714056999997 meters Centerline goodness [0,1] 0.9800419472347941 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.36, Z:0.24 [[ 9.96897800e-01 -7.49688699e-02 -2.39675835e-02 2.62932141e+01] [ 7.50068948e-02 9.97182776e-01 6.90207908e-04 -1.35806729e+00] [ 2.38483173e-02 -2.48580076e-03 9.99712498e-01 2.38499020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.560714057 meters Centerline goodness [0,1] 0.9824352091204348 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.36, Z:0.24 [[ 9.96832924e-01 -7.57202718e-02 -2.43014631e-02 2.63255856e+01] [ 7.57596009e-02 9.97125866e-01 7.00490840e-04 -1.35579424e+00] [ 2.41785760e-02 -2.53934147e-03 9.99704430e-01 2.39307016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.590714057 meters Centerline goodness [0,1] 0.9806973710394233 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.36, Z:0.24 [[ 9.96851068e-01 -7.53705393e-02 -2.46420503e-02 2.63577704e+01] [ 7.54109653e-02 9.97152283e-01 7.14058151e-04 -1.35621418e+00] [ 2.45180578e-02 -2.57009043e-03 9.99696084e-01 2.39497575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.620714056999997 meters Centerline goodness [0,1] 0.9799774331290515 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.36, Z:0.24 [[ 9.96999073e-01 -7.36718203e-02 -2.37762623e-02 2.63872027e+01] [ 7.37090697e-02 9.97279546e-01 6.92901483e-04 -1.35650178e+00] [ 2.36605327e-02 -2.44334831e-03 9.99717065e-01 2.40568943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.650714057 meters Centerline goodness [0,1] 0.9799774331290515 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.36, Z:0.24 [[ 9.97007107e-01 -7.35630214e-02 -2.37762433e-02 2.64198992e+01] [ 7.36002554e-02 9.97287582e-01 6.93550331e-04 -1.35754652e+00] [ 2.36607326e-02 -2.44141219e-03 9.99717065e-01 2.41069146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.680714057 meters Centerline goodness [0,1] 0.9834946939318077 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.35, Z:0.24 [[ 9.97272243e-01 -7.01109975e-02 -2.30764181e-02 2.64501708e+01] [ 7.01451934e-02 9.97536564e-01 6.74750850e-04 -1.35309596e+00] [ 2.29722633e-02 -2.29161010e-03 9.99733476e-01 2.41466751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.710714056999997 meters Centerline goodness [0,1] 0.979550646527824 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.36, Z:0.24 [[ 9.97409759e-01 -6.82558178e-02 -2.26917609e-02 2.64799959e+01] [ 6.82884071e-02 9.97665401e-01 6.63493357e-04 -1.35551323e+00] [ 2.25934975e-02 -2.21135896e-03 9.99742289e-01 2.41827762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.740714056999998 meters Centerline goodness [0,1] 0.9838011049723757 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.35, Z:0.24 [[ 9.97577549e-01 -6.56884561e-02 -2.28923490e-02 2.65114256e+01] [ 6.57209574e-02 9.97837816e-01 6.69484123e-04 -1.35046908e+00] [ 2.27988741e-02 -2.17236942e-03 9.99737712e-01 2.42673291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.770714057 meters Centerline goodness [0,1] 0.9851682195192457 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.34, Z:0.24 [[ 9.97911253e-01 -6.02965311e-02 -2.31831877e-02 2.65420428e+01] [ 6.03284294e-02 9.98178351e-01 6.78360426e-04 -1.34231330e+00] [ 2.31000533e-02 -2.07554880e-03 9.99731004e-01 2.44239463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.800714056999997 meters Centerline goodness [0,1] 0.9855281237533797 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.34, Z:0.25 [[ 9.98081449e-01 -5.71409557e-02 -2.38397386e-02 2.65715225e+01] [ 5.71737961e-02 9.98363997e-01 6.97673773e-04 -1.34111240e+00] [ 2.37608710e-02 -2.05934361e-03 9.99715550e-01 2.45073784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.830714056999998 meters Centerline goodness [0,1] 0.9858418111796264 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.34, Z:0.25 [[ 9.98247584e-01 -5.39092729e-02 -2.44039062e-02 2.66017225e+01] [ 5.39427230e-02 9.98543776e-01 7.13986885e-04 -1.33900630e+00] [ 2.43298781e-02 -2.02914884e-03 9.99701925e-01 2.45231558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.860714057 meters Centerline goodness [0,1] 0.9854257337350742 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.33, Z:0.24 [[ 9.98531055e-01 -4.77210555e-02 -2.56599689e-02 2.66323478e+01] [ 4.77560097e-02 9.98858749e-01 7.50778795e-04 -1.33248259e+00] [ 2.55948565e-02 -1.97509367e-03 9.99670447e-01 2.44781841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.890714056999997 meters Centerline goodness [0,1] 0.9860892624387613 Centerline is valid? [True, True] Translation: X:26.66, Y:-1.33, Z:0.24 [[ 9.98735086e-01 -4.23970603e-02 -2.70317676e-02 2.66628772e+01] [ 4.24339158e-02 9.99098963e-01 7.90979947e-04 -1.32671929e+00] [ 2.69738757e-02 -1.93704317e-03 9.99634262e-01 2.44465416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.920714056999998 meters Centerline goodness [0,1] 0.9864994962498601 Centerline is valid? [True, True] Translation: X:26.69, Y:-1.32, Z:0.24 [[ 9.98826272e-01 -4.00175698e-02 -2.72886904e-02 2.66942190e+01] [ 4.00542608e-02 9.99197187e-01 7.99040821e-04 -1.32426770e+00] [ 2.72348070e-02 -1.89113129e-03 9.99627275e-01 2.44912653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.950714057 meters Centerline goodness [0,1] 0.986869571072655 Centerline is valid? [True, True] Translation: X:26.72, Y:-1.32, Z:0.25 [[ 9.98913064e-01 -3.77217556e-02 -2.73817362e-02 2.67247186e+01] [ 3.77578595e-02 9.99286596e-01 8.02521129e-04 -1.32337907e+00] [ 2.73319294e-02 -1.83552459e-03 9.99624728e-01 2.45687500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.980714056999997 meters Centerline goodness [0,1] 0.98625298114566 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.32, Z:0.25 [[ 9.99074572e-01 -3.38911650e-02 -2.64837306e-02 2.67553487e+01] [ 3.39236077e-02 9.99424127e-01 7.76544791e-04 -1.32025479e+00] [ 2.64421614e-02 -1.67424984e-03 9.99648943e-01 2.46315325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.010714056999998 meters Centerline goodness [0,1] 0.9860073787456133 Centerline is valid? [True, True] Translation: X:26.79, Y:-1.32, Z:0.25 [[ 9.99168796e-01 -3.17207378e-02 -2.56029646e-02 2.67863686e+01] [ 3.17503598e-02 9.99495548e-01 7.51182854e-04 -1.31976460e+00] [ 2.55662210e-02 -1.56346180e-03 9.99671908e-01 2.46130016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.040714057 meters Centerline goodness [0,1] 0.9863893630401581 Centerline is valid? [True, True] Translation: X:26.82, Y:-1.32, Z:0.25 [[ 9.99206803e-01 -3.09363403e-02 -2.50740377e-02 2.68182122e+01] [ 3.09645296e-02 9.99520213e-01 7.36665987e-04 -1.32038787e+00] [ 2.50392178e-02 -1.51248745e-03 9.99685325e-01 2.46582982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.070714056999996 meters Centerline goodness [0,1] 0.9859101037610569 Centerline is valid? [True, True] Translation: X:26.85, Y:-1.32, Z:0.25 [[ 9.99238365e-01 -3.03621938e-02 -2.45117599e-02 2.68498840e+01] [ 3.03889861e-02 9.99537888e-01 7.21192461e-04 -1.32083646e+00] [ 2.44785358e-02 -1.46553071e-03 9.99699282e-01 2.46877731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.100714056999998 meters Centerline goodness [0,1] 0.9859291278310595 Centerline is valid? [True, True] Translation: X:26.88, Y:-1.32, Z:0.25 [[ 9.99235389e-01 -3.00765020e-02 -2.49808161e-02 2.68811042e+01] [ 3.01042666e-02 9.99546493e-01 7.36024695e-04 -1.32232349e+00] [ 2.49473501e-02 -1.48749107e-03 9.99687660e-01 2.47046956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.130714057 meters Centerline goodness [0,1] 0.9852380199986457 Centerline is valid? [True, True] Translation: X:26.91, Y:-1.32, Z:0.25 [[ 9.99243103e-01 -2.99275132e-02 -2.48508632e-02 2.69129677e+01] [ 2.99549792e-02 9.99550980e-01 7.33624252e-04 -1.32202666e+00] [ 2.48177491e-02 -1.47747606e-03 9.99690900e-01 2.47546318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.160714057 meters Centerline goodness [0,1] 0.9855664549148129 Centerline is valid? [True, True] Translation: X:26.94, Y:-1.32, Z:0.25 [[ 9.99248016e-01 -3.02143311e-02 -2.43001378e-02 2.69449444e+01] [ 3.02407170e-02 9.99542386e-01 7.18999351e-04 -1.32096368e+00] [ 2.42672937e-02 -1.45331227e-03 9.99704449e-01 2.48366503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.190714056999997 meters Centerline goodness [0,1] 0.9870261732851986 Centerline is valid? [True, True] Translation: X:26.98, Y:-1.32, Z:0.25 [[ 9.99278162e-01 -3.01851903e-02 -2.30653449e-02 2.69777785e+01] [ 3.02089934e-02 9.99543370e-01 6.84168719e-04 -1.31661363e+00] [ 2.30341608e-02 -1.38045571e-03 9.99733725e-01 2.49386683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.220714057 meters Centerline goodness [0,1] 0.9859094598250518 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.32, Z:0.25 [[ 9.99284614e-01 -3.05287586e-02 -2.23216427e-02 2.70084911e+01] [ 3.05511750e-02 9.99532983e-01 6.63833896e-04 -1.31893600e+00] [ 2.22909521e-02 -1.34531141e-03 9.99750621e-01 2.49230794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.250714057 meters Centerline goodness [0,1] 0.9848508758087423 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.33, Z:0.25 [[ 9.99278345e-01 -3.08144498e-02 -2.22094290e-02 2.70392987e+01] [ 3.08367381e-02 9.99524216e-01 6.61692825e-04 -1.32782515e+00] [ 2.21784724e-02 -1.34608166e-03 9.99753121e-01 2.48813724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.280714056999997 meters Centerline goodness [0,1] 0.9860929540639228 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.32, Z:0.25 [[ 9.99260877e-01 -3.12509324e-02 -2.23847860e-02 2.70720941e+01] [ 3.12737132e-02 9.99510634e-01 6.68256458e-04 -1.32114039e+00] [ 2.23529480e-02 -1.36781791e-03 9.99749206e-01 2.49993233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.310714057 meters Centerline goodness [0,1] 0.9847745417744294 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.34, Z:0.25 [[ 9.99255323e-01 -3.14492917e-02 -2.23549050e-02 2.71031848e+01] [ 3.14720943e-02 9.99504407e-01 6.68849636e-04 -1.33592725e+00] [ 2.23227912e-02 -1.37190723e-03 9.99749874e-01 2.48514376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.340714057 meters Centerline goodness [0,1] 0.985730016404863 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.33, Z:0.25 [[ 9.99228295e-01 -3.20954829e-02 -2.26427650e-02 2.71355526e+01] [ 3.21190726e-02 9.99483819e-01 6.78816540e-04 -1.32693975e+00] [ 2.26092903e-02 -1.40555731e-03 9.99743389e-01 2.49295447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.370714056999997 meters Centerline goodness [0,1] 0.985730016404863 Centerline is valid? [True, True] Translation: X:27.17, Y:-1.33, Z:0.25 [[ 9.99230555e-01 -3.20250711e-02 -2.26427170e-02 2.71672925e+01] [ 3.20486788e-02 9.99486078e-01 6.80412680e-04 -1.32795473e+00] [ 2.26092902e-02 -1.40555831e-03 9.99743389e-01 2.49780519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.400714057 meters Centerline goodness [0,1] 0.986792241282655 Centerline is valid? [True, True] Translation: X:27.20, Y:-1.33, Z:0.25 [[ 9.99226599e-01 -3.25429441e-02 -2.20717056e-02 2.71993110e+01] [ 3.25655355e-02 9.99469381e-01 6.64794428e-04 -1.32689875e+00] [ 2.20383595e-02 -1.38305719e-03 9.99756169e-01 2.50424734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.430714057 meters Centerline goodness [0,1] 0.9846354576743976 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.34, Z:0.25 [[ 9.99205349e-01 -3.31883188e-02 -2.20727359e-02 2.72297027e+01] [ 3.32111016e-02 9.99448137e-01 6.66294216e-04 -1.34472901e+00] [ 2.20384416e-02 -1.39882462e-03 9.99756145e-01 2.49381212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.460714056999997 meters Centerline goodness [0,1] 0.9856360535057007 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.33, Z:0.25 [[ 9.99121859e-01 -3.57352685e-02 -2.18746800e-02 2.72616213e+01] [ 3.57582748e-02 9.99360250e-01 6.61365300e-04 -1.33276402e+00] [ 2.18370516e-02 -1.44298535e-03 9.99760502e-01 2.51642487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.490714056999998 meters Centerline goodness [0,1] 0.9850268576544315 Centerline is valid? [True, True] Translation: X:27.29, Y:-1.34, Z:0.25 [[ 9.99042095e-01 -3.83592127e-02 -2.10585876e-02 2.72929246e+01] [ 3.83811295e-02 9.99262970e-01 6.37419440e-04 -1.33768476e+00] [ 2.10186159e-02 -1.44506123e-03 9.99778040e-01 2.52392393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.520714057 meters Centerline goodness [0,1] 0.9842082895296038 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.34, Z:0.25 [[ 9.98976200e-01 -4.00334295e-02 -2.10683846e-02 2.73235542e+01] [ 4.00557506e-02 9.99197242e-01 6.38358165e-04 -1.34037575e+00] [ 2.10259162e-02 -1.48161457e-03 9.99777833e-01 2.53141444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.550714056999997 meters Centerline goodness [0,1] 0.9828402895701135 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.35, Z:0.25 [[ 9.98925723e-01 -4.16445162e-02 -2.03256921e-02 2.73537979e+01] [ 4.16656315e-02 9.99131420e-01 6.16288631e-04 -1.34925762e+00] [ 2.02823726e-02 -1.46250936e-03 9.99793222e-01 2.53150592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.580714056999998 meters Centerline goodness [0,1] 0.9840578739366334 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.35, Z:0.25 [[ 9.98823005e-01 -4.41313097e-02 -2.01254347e-02 2.73845129e+01] [ 4.41525250e-02 9.99024615e-01 6.10821720e-04 -1.34750295e+00] [ 2.00788482e-02 -1.49869154e-03 9.99797276e-01 2.53821129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.610714057 meters Centerline goodness [0,1] 0.982404495885462 Centerline is valid? [True, True] Translation: X:27.42, Y:-1.35, Z:0.25 [[ 9.98789871e-01 -4.47632629e-02 -2.03726036e-02 2.74169509e+01] [ 4.47851461e-02 9.98996450e-01 6.18947355e-04 -1.34997367e+00] [ 2.03244526e-02 -1.53058838e-03 9.99792265e-01 2.53961417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.640714056999997 meters Centerline goodness [0,1] 0.98208013602094 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.35, Z:0.25 [[ 9.98721441e-01 -4.60468550e-02 -2.08607531e-02 2.74474095e+01] [ 4.60701048e-02 9.98938007e-01 6.35060305e-04 -1.35392738e+00] [ 2.08093566e-02 -1.59530542e-03 9.99782189e-01 2.54724580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.670714056999998 meters Centerline goodness [0,1] 0.9823607100485752 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.36, Z:0.26 [[ 9.98622331e-01 -4.83040895e-02 -2.04976994e-02 2.74780983e+01] [ 4.83270244e-02 9.98831371e-01 6.24740547e-04 -1.35725506e+00] [ 2.04435676e-02 -1.61447268e-03 9.99789705e-01 2.55443797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.700714057 meters Centerline goodness [0,1] 0.983511806084502 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.35, Z:0.26 [[ 9.98569730e-01 -4.95128098e-02 -2.01736325e-02 2.75101783e+01] [ 4.95352894e-02 9.98772184e-01 6.15825520e-04 -1.35362441e+00] [ 2.01183717e-02 -1.61425145e-03 9.99796302e-01 2.56181728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.730714056999997 meters Centerline goodness [0,1] 0.9824639685868547 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.36, Z:0.26 [[ 9.98439180e-01 -5.19974562e-02 -2.03830501e-02 2.75414541e+01] [ 5.20209456e-02 9.98645799e-01 6.23511240e-04 -1.35777105e+00] [ 2.03230264e-02 -1.68288359e-03 9.99792050e-01 2.56035123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.760714056999998 meters Centerline goodness [0,1] 0.9831692671711422 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.36, Z:0.26 [[ 9.98403995e-01 -5.27760798e-02 -2.01034187e-02 2.75728889e+01] [ 5.27991017e-02 9.98604965e-01 6.15756416e-04 -1.36270237e+00] [ 2.00428765e-02 -1.67621612e-03 9.99797716e-01 2.55970227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.790714057 meters Centerline goodness [0,1] 0.9824342953706586 Centerline is valid? [True, True] Translation: X:27.60, Y:-1.37, Z:0.26 [[ 9.98375348e-01 -5.33034863e-02 -2.01346220e-02 2.76046507e+01] [ 5.33267096e-02 9.98576928e-01 6.17875202e-04 -1.36514015e+00] [ 2.00730341e-02 -1.69058451e-03 9.99797087e-01 2.56059929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.820714056999996 meters Centerline goodness [0,1] 0.9825827431065972 Centerline is valid? [True, True] Translation: X:27.64, Y:-1.37, Z:0.26 [[ 9.98331361e-01 -5.40184593e-02 -2.04083223e-02 2.76370451e+01] [ 5.40424964e-02 9.98538439e-01 6.27734926e-04 -1.36544119e+00] [ 2.03445850e-02 -1.72960415e-03 9.99791531e-01 2.56475644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.850714056999998 meters Centerline goodness [0,1] 0.9823631974248928 Centerline is valid? [True, True] Translation: X:27.67, Y:-1.37, Z:0.26 [[ 9.98285839e-01 -5.47011184e-02 -2.08127682e-02 2.76684685e+01] [ 5.47262945e-02 9.98501187e-01 6.41584095e-04 -1.36945298e+00] [ 2.07464784e-02 -1.77949000e-03 9.99783185e-01 2.56561930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.880714057 meters Centerline goodness [0,1] 0.982346114359684 Centerline is valid? [True, True] Translation: X:27.70, Y:-1.37, Z:0.26 [[ 9.98324013e-01 -5.39183045e-02 -2.10233448e-02 2.77000956e+01] [ 5.39438461e-02 9.98543760e-01 6.49301424e-04 -1.37323863e+00] [ 2.09577205e-02 -1.78229328e-03 9.99778774e-01 2.56911581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.910714057 meters Centerline goodness [0,1] 0.9821392690495858 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.38, Z:0.26 [[ 9.98363319e-01 -5.33508636e-02 -2.06002331e-02 2.77319563e+01] [ 5.33752965e-02 9.98574319e-01 6.37657087e-04 -1.37513036e+00] [ 2.05368441e-02 -1.73615699e-03 9.99787589e-01 2.56938025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.940714056999997 meters Centerline goodness [0,1] 0.9824854230649397 Centerline is valid? [True, True] Translation: X:27.76, Y:-1.38, Z:0.26 [[ 9.98419484e-01 -5.25728781e-02 -1.98651909e-02 2.77646007e+01] [ 5.25954736e-02 9.98615710e-01 6.16339377e-04 -1.37586639e+00] [ 1.98052890e-02 -1.66018437e-03 9.99802478e-01 2.57499714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.970714057 meters Centerline goodness [0,1] 0.982234179748299 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.38, Z:0.26 [[ 9.98452385e-01 -5.19291340e-02 -1.99047649e-02 2.77954860e+01] [ 5.19517242e-02 9.98649405e-01 6.19151769e-04 -1.37979687e+00] [ 1.98457296e-02 -1.65228042e-03 9.99801689e-01 2.57849720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.000714057 meters Centerline goodness [0,1] 0.9818990438069825 Centerline is valid? [True, True] Translation: X:27.83, Y:-1.38, Z:0.26 [[ 9.98555994e-01 -4.98836624e-02 -1.99385636e-02 2.78251078e+01] [ 4.99059403e-02 9.98753729e-01 6.21003208e-04 -1.38299499e+00] [ 1.98827368e-02 -1.61515924e-03 9.99801014e-01 2.57773500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.030714057 meters Centerline goodness [0,1] 0.9835109815527715 Centerline is valid? [True, True] Translation: X:27.86, Y:-1.38, Z:0.26 [[ 9.98611333e-01 -4.86696520e-02 -2.01660617e-02 2.78565268e+01] [ 4.86921988e-02 9.98813634e-01 6.28263453e-04 -1.37692944e+00] [ 2.01115600e-02 -1.60932089e-03 9.99796447e-01 2.58381636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.060714057 meters Centerline goodness [0,1] 0.9819942132205653 Centerline is valid? [True, True] Translation: X:27.89, Y:-1.39, Z:0.26 [[ 9.98670321e-01 -4.69156594e-02 -2.13661097e-02 2.78871337e+01] [ 4.69405883e-02 9.98897461e-01 6.66443749e-04 -1.38638889e+00] [ 2.13112861e-02 -1.66849535e-03 9.99771496e-01 2.57439063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.090714057 meters Centerline goodness [0,1] 0.9821826280623608 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.39, Z:0.26 [[ 9.98674489e-01 -4.68409778e-02 -2.13351531e-02 2.79194217e+01] [ 4.68658376e-02 9.98900971e-01 6.66421861e-04 -1.38792333e+00] [ 2.12804893e-02 -1.66542833e-03 9.99772158e-01 2.57497972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.120714057 meters Centerline goodness [0,1] 0.9803467693471922 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.39, Z:0.26 [[ 9.98669570e-01 -4.68905919e-02 -2.14560431e-02 2.79503802e+01] [ 4.69157743e-02 9.98898623e-01 6.71532666e-04 -1.39115635e+00] [ 2.14009234e-02 -1.67726611e-03 9.99769567e-01 2.58004393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.150714056999995 meters Centerline goodness [0,1] 0.9831535196321188 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.39, Z:0.26 [[ 9.98695676e-01 -4.71771769e-02 -1.95259071e-02 2.79829987e+01] [ 4.71981051e-02 9.98885361e-01 6.12112774e-04 -1.38533322e+00] [ 1.94752650e-02 -1.53290019e-03 9.99809164e-01 2.60946097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.180714056999996 meters Centerline goodness [0,1] 0.9842159085856564 Centerline is valid? [True, True] Translation: X:28.02, Y:-1.38, Z:0.26 [[ 9.98707926e-01 -4.74653978e-02 -1.81525521e-02 2.80151746e+01] [ 4.74835539e-02 9.98871857e-01 5.70257087e-04 -1.38403743e+00] [ 1.81050059e-02 -1.43146796e-03 9.99835066e-01 2.63312267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.210714057 meters Centerline goodness [0,1] 0.9839414439392259 Centerline is valid? [True, True] Translation: X:28.05, Y:-1.38, Z:0.27 [[ 9.98737698e-01 -4.75171187e-02 -1.62829275e-02 2.80469548e+01] [ 4.75317507e-02 9.98869596e-01 5.12572696e-04 -1.38456382e+00] [ 1.62401653e-02 -1.28588173e-03 9.99867293e-01 2.65078932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.240714057 meters Centerline goodness [0,1] 0.9835020872191136 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.39, Z:0.27 [[ 9.98744358e-01 -4.72908917e-02 -1.65311355e-02 2.80785422e+01] [ 4.73059646e-02 9.98880310e-01 5.21725686e-04 -1.39026882e+00] [ 1.64879528e-02 -1.30309189e-03 9.99863215e-01 2.65000669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.270714057 meters Centerline goodness [0,1] 0.9845236247533314 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.39, Z:0.26 [[ 9.98756195e-01 -4.69026143e-02 -1.69176506e-02 2.81111339e+01] [ 4.69183942e-02 9.98898581e-01 5.36835633e-04 -1.38617657e+00] [ 1.68738382e-02 -1.32991692e-03 9.99856742e-01 2.64931212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.300714057 meters Centerline goodness [0,1] 0.9850092302217477 Centerline is valid? [True, True] Translation: X:28.14, Y:-1.39, Z:0.26 [[ 9.98766764e-01 -4.62906198e-02 -1.79479895e-02 2.81438191e+01] [ 4.63083080e-02 9.98927032e-01 5.70950000e-04 -1.38677976e+00] [ 1.79023022e-02 -1.40138691e-03 9.99838759e-01 2.63905466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.330714057 meters Centerline goodness [0,1] 0.9856626051445946 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.39, Z:0.26 [[ 9.98801411e-01 -4.51641855e-02 -1.88662994e-02 2.81760532e+01] [ 4.51835631e-02 9.98978520e-01 6.01886666e-04 -1.38673215e+00] [ 1.88198442e-02 -1.45361188e-03 9.99821834e-01 2.64323853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.360714056999996 meters Centerline goodness [0,1] 0.985302619291146 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.39, Z:0.26 [[ 9.98804654e-01 -4.49442931e-02 -1.92164974e-02 2.82081283e+01] [ 4.49643839e-02 9.98988402e-01 6.14486849e-04 -1.38606653e+00] [ 1.91694403e-02 -1.47781029e-03 9.99815157e-01 2.64589417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.390714057 meters Centerline goodness [0,1] 0.9849415626178173 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.39, Z:0.26 [[ 9.98831757e-01 -4.41345309e-02 -1.96790476e-02 2.82392684e+01] [ 4.41554718e-02 9.99024472e-01 6.30671996e-04 -1.38789983e+00] [ 1.96320157e-02 -1.49887285e-03 9.99806150e-01 2.64991153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.420714057 meters Centerline goodness [0,1] 0.9846499521701408 Centerline is valid? [True, True] Translation: X:28.27, Y:-1.39, Z:0.26 [[ 9.98822059e-01 -4.42030966e-02 -2.00144928e-02 2.82700176e+01] [ 4.42247936e-02 9.99021399e-01 6.42533119e-04 -1.39072822e+00] [ 1.99665046e-02 -1.52691307e-03 9.99799484e-01 2.64869526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.450714057 meters Centerline goodness [0,1] 0.984921605693317 Centerline is valid? [True, True] Translation: X:28.30, Y:-1.39, Z:0.26 [[ 9.98843843e-01 -4.36010372e-02 -2.02466596e-02 2.83018992e+01] [ 4.36231418e-02 9.99047845e-01 6.51184379e-04 -1.39083563e+00] [ 2.01989894e-02 -1.53365441e-03 9.99794803e-01 2.64543636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.480714057 meters Centerline goodness [0,1] 0.9862763851509153 Centerline is valid? [True, True] Translation: X:28.33, Y:-1.39, Z:0.26 [[ 9.98815692e-01 -4.38120113e-02 -2.11594238e-02 2.83344922e+01] [ 4.38362347e-02 9.99038497e-01 6.82112869e-04 -1.39184870e+00] [ 2.11091942e-02 -1.60885450e-03 9.99775882e-01 2.64259021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.510714057 meters Centerline goodness [0,1] 0.9849684426503713 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.40, Z:0.26 [[ 9.98787390e-01 -4.42500714e-02 -2.15796153e-02 2.83656258e+01] [ 4.42753997e-02 9.99019120e-01 6.97116891e-04 -1.39785153e+00] [ 2.15276008e-02 -1.65171765e-03 9.99766890e-01 2.63781759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.540714056999995 meters Centerline goodness [0,1] 0.9848562116139332 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.40, Z:0.26 [[ 9.98768966e-01 -4.43223750e-02 -2.22728360e-02 2.83979238e+01] [ 4.43494046e-02 9.99015821e-01 7.20840428e-04 -1.39858091e+00] [ 2.22189661e-02 -1.70774006e-03 9.99751670e-01 2.63902533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.570714056999996 meters Centerline goodness [0,1] 0.9869248962470436 Centerline is valid? [True, True] Translation: X:28.43, Y:-1.39, Z:0.26 [[ 9.98718502e-01 -4.48124976e-02 -2.35200886e-02 2.84299410e+01] [ 4.48428259e-02 9.98993763e-01 7.63359630e-04 -1.39000227e+00] [ 2.34622138e-02 -1.81708863e-03 9.99723073e-01 2.64613377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.600714057 meters Centerline goodness [0,1] 0.9868556355344927 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.39, Z:0.26 [[ 9.98694486e-01 -4.50866381e-02 -2.40107911e-02 2.84619135e+01] [ 4.51183866e-02 9.98981341e-01 7.81888253e-04 -1.39097342e+00] [ 2.39510796e-02 -1.86419564e-03 9.99711394e-01 2.64802881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.630714057 meters Centerline goodness [0,1] 0.9872803683998748 Centerline is valid? [True, True] Translation: X:28.49, Y:-1.39, Z:0.27 [[ 9.98632500e-01 -4.62243681e-02 -2.44220553e-02 2.84942595e+01] [ 4.62575964e-02 9.98929226e-01 7.97100983e-04 -1.38965713e+00] [ 2.43590593e-02 -1.92571652e-03 9.99701419e-01 2.66036874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.660714057 meters Centerline goodness [0,1] 0.9865630998616133 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.39, Z:0.27 [[ 9.98615670e-01 -4.65038500e-02 -2.45791530e-02 2.85254272e+01] [ 4.65376321e-02 9.98916214e-01 8.03887083e-04 -1.39247841e+00] [ 2.45151307e-02 -1.94662982e-03 9.99697564e-01 2.66330181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.690714057 meters Centerline goodness [0,1] 0.9855926362362986 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.40, Z:0.27 [[ 9.98602426e-01 -4.70373330e-02 -2.40973875e-02 2.85561241e+01] [ 4.70700045e-02 9.98891281e-01 7.90079339e-04 -1.39673210e+00] [ 2.40335070e-02 -1.92323928e-03 9.99709304e-01 2.66547093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.720714056999995 meters Centerline goodness [0,1] 0.9867045048265999 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.40, Z:0.27 [[ 9.98522152e-01 -4.82976903e-02 -2.49167714e-02 2.85884830e+01] [ 4.83330791e-02 9.98830937e-01 8.19642495e-04 -1.39545613e+00] [ 2.48480553e-02 -2.02273547e-03 9.99689193e-01 2.67078810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.750714056999996 meters Centerline goodness [0,1] 0.985389392788526 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.40, Z:0.27 [[ 9.98491685e-01 -4.88098421e-02 -2.51387050e-02 2.86196321e+01] [ 4.88460667e-02 9.98805975e-01 8.28584254e-04 -1.39767018e+00] [ 2.50682456e-02 -2.05526135e-03 9.99683629e-01 2.67141073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.780714057 meters Centerline goodness [0,1] 0.9848806306809299 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.40, Z:0.27 [[ 9.98448815e-01 -4.93789666e-02 -2.57231608e-02 2.86503837e+01] [ 4.94171146e-02 9.98777867e-01 8.49063332e-04 -1.39949729e+00] [ 2.56497979e-02 -2.11891066e-03 9.99668744e-01 2.67142283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.810714057 meters Centerline goodness [0,1] 0.9851792330699523 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.40, Z:0.27 [[ 9.98454583e-01 -4.90671748e-02 -2.60932647e-02 2.86826473e+01] [ 4.91063576e-02 9.98793183e-01 8.62604164e-04 -1.39779129e+00] [ 2.60194493e-02 -2.14261627e-03 9.99659141e-01 2.68248463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.840714057 meters Centerline goodness [0,1] 0.9842583068735745 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.40, Z:0.27 [[ 9.98475570e-01 -4.89573948e-02 -2.54893999e-02 2.87141150e+01] [ 4.89947897e-02 9.98798677e-01 8.44250032e-04 -1.40029307e+00] [ 2.54174466e-02 -2.09181082e-03 9.99674736e-01 2.68376793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.870714057 meters Centerline goodness [0,1] 0.9854852056448907 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.39, Z:0.27 [[ 9.98472266e-01 -4.89535753e-02 -2.56257823e-02 2.87468915e+01] [ 4.89914108e-02 9.98798838e-01 8.50348515e-04 -1.39179423e+00] [ 2.55533740e-02 -2.10449264e-03 9.99671244e-01 2.70947909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.900714056999995 meters Centerline goodness [0,1] 0.9852466367713004 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.39, Z:0.27 [[ 9.98503395e-01 -4.85110785e-02 -2.52516292e-02 2.87794035e+01] [ 4.85477227e-02 9.98820511e-01 8.39777109e-04 -1.39330443e+00] [ 2.51811067e-02 -2.06442939e-03 9.99680774e-01 2.71355597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.930714056999996 meters Centerline goodness [0,1] 0.9850588895120583 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.39, Z:0.27 [[ 9.98518940e-01 -4.79402619e-02 -2.57227147e-02 2.88121650e+01] [ 4.79781573e-02 9.98848017e-01 8.57734299e-04 -1.39313771e+00] [ 2.56519626e-02 -2.09059240e-03 9.99668748e-01 2.71688446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.960714057 meters Centerline goodness [0,1] 0.9845181816145004 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.40, Z:0.27 [[ 9.98582769e-01 -4.65467486e-02 -2.58041368e-02 2.88422669e+01] [ 4.65844706e-02 9.98913982e-01 8.62325778e-04 -1.39544333e+00] [ 2.57359745e-02 -2.06317571e-03 9.99666646e-01 2.71544230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.990714057 meters Centerline goodness [0,1] 0.9847907039346763 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.39, Z:0.27 [[ 9.98604237e-01 -4.60220574e-02 -2.59142507e-02 2.88748913e+01] [ 4.60599536e-02 9.98938301e-01 8.67051654e-04 -1.39354341e+00] [ 2.58468340e-02 -2.05945064e-03 9.99663793e-01 2.71930281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.020714057 meters Centerline goodness [0,1] 0.9845562449420017 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.39, Z:0.27 [[ 9.98564628e-01 -4.64022968e-02 -2.67490372e-02 2.89064444e+01] [ 4.64428571e-02 9.98920546e-01 8.96728859e-04 -1.39455535e+00] [ 2.66785526e-02 -2.13774343e-03 9.99641778e-01 2.71472356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.050714057 meters Centerline goodness [0,1] 0.984992563883005 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.40, Z:0.27 [[ 9.98557000e-01 -4.65284943e-02 -2.68144781e-02 2.89386070e+01] [ 4.65693422e-02 9.98914654e-01 9.00556425e-04 -1.39625662e+00] [ 2.67434736e-02 -2.14798953e-03 9.99640022e-01 2.71548641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.080714057 meters Centerline goodness [0,1] 0.9835091903079934 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.40, Z:0.27 [[ 9.98569613e-01 -4.64382183e-02 -2.64994239e-02 2.89696408e+01] [ 4.64781239e-02 9.98918910e-01 8.91634146e-04 -1.39821712e+00] [ 2.64293697e-02 -2.12200227e-03 9.99648431e-01 2.71503780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.110714056999996 meters Centerline goodness [0,1] 0.9833157906523637 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.40, Z:0.27 [[ 9.98589286e-01 -4.64929924e-02 -2.56483788e-02 2.90005317e+01] [ 4.65304267e-02 9.98916499e-01 8.64319718e-04 -1.40003197e+00] [ 2.55804040e-02 -2.05653042e-03 9.99670653e-01 2.71860541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.140714057 meters Centerline goodness [0,1] 0.9840556927913766 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.40, Z:0.27 [[ 9.98594411e-01 -4.63996142e-02 -2.56179161e-02 2.90325951e+01] [ 4.64369678e-02 9.98920848e-01 8.64805888e-04 -1.40040749e+00] [ 2.55501438e-02 -2.05320867e-03 9.99671433e-01 2.72814802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.170714057 meters Centerline goodness [0,1] 0.9836346036962834 Centerline is valid? [True, True] Translation: X:29.06, Y:-1.40, Z:0.27 [[ 9.98589193e-01 -4.64015655e-02 -2.58170021e-02 2.90644525e+01] [ 4.64395490e-02 9.98920720e-01 8.73319230e-04 -1.40114758e+00] [ 2.57486150e-02 -2.07101708e-03 9.99666304e-01 2.72924467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.200714057 meters Centerline goodness [0,1] 0.9844723991268538 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.39, Z:0.27 [[ 9.98594429e-01 -4.62661196e-02 -2.58575613e-02 2.90972197e+01] [ 4.63042244e-02 9.98927000e-01 8.76512817e-04 -1.39386629e+00] [ 2.57892633e-02 -2.07259514e-03 9.99665253e-01 2.74182042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.230714057 meters Centerline goodness [0,1] 0.9849998872171971 Centerline is valid? [True, True] Translation: X:29.13, Y:-1.40, Z:0.27 [[ 9.98587397e-01 -4.61729118e-02 -2.62920712e-02 2.91296664e+01] [ 4.62123322e-02 9.98931240e-01 8.93364189e-04 -1.39691847e+00] [ 2.62227220e-02 -2.10712015e-03 9.99653905e-01 2.74192521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.260714057 meters Centerline goodness [0,1] 0.9834185684997859 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.41, Z:0.27 [[ 9.98574554e-01 -4.62981760e-02 -2.65582347e-02 2.91606922e+01] [ 4.63385126e-02 9.98925384e-01 9.05042710e-04 -1.40623412e+00] [ 2.64877930e-02 -2.13442171e-03 9.99646858e-01 2.73682099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.290714056999995 meters Centerline goodness [0,1] 0.9834185684997859 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.41, Z:0.27 [[ 9.98577666e-01 -4.62310446e-02 -2.65581516e-02 2.91924682e+01] [ 4.62714220e-02 9.98928492e-01 9.07475022e-04 -1.40738627e+00] [ 2.64877409e-02 -2.13506773e-03 9.99646858e-01 2.74167586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.320714056999996 meters Centerline goodness [0,1] 0.9827220164423164 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.41, Z:0.27 [[ 9.98566844e-01 -4.65134496e-02 -2.64718025e-02 2.92246883e+01] [ 4.65537101e-02 9.98915377e-01 9.06297572e-04 -1.40951027e+00] [ 2.64009356e-02 -2.13735933e-03 9.99649150e-01 2.74535806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.350714057 meters Centerline goodness [0,1] 0.9840414741350163 Centerline is valid? [True, True] Translation: X:29.26, Y:-1.41, Z:0.27 [[ 9.98576145e-01 -4.62701326e-02 -2.65472749e-02 2.92564850e+01] [ 4.63105849e-02 9.98926674e-01 9.10665211e-04 -1.41029720e+00] [ 2.64766444e-02 -2.13878838e-03 9.99647144e-01 2.74723282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.380714057 meters Centerline goodness [0,1] 0.9854660347551343 Centerline is valid? [True, True] Translation: X:29.29, Y:-1.40, Z:0.28 [[ 9.98569663e-01 -4.57769676e-02 -2.76242223e-02 2.92890347e+01] [ 4.58206365e-02 9.98949232e-01 9.49562324e-04 -1.40312059e+00] [ 2.75517276e-02 -2.21396358e-03 9.99617927e-01 2.75107794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.410714057 meters Centerline goodness [0,1] 0.9846672244962573 Centerline is valid? [True, True] Translation: X:29.32, Y:-1.41, Z:0.28 [[ 9.98588551e-01 -4.52721798e-02 -2.77729410e-02 2.93203090e+01] [ 4.53161753e-02 9.98972237e-01 9.56438328e-04 -1.40549446e+00] [ 2.77010969e-02 -2.21365182e-03 9.99613800e-01 2.75279891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.440714057 meters Centerline goodness [0,1] 0.9843461000586458 Centerline is valid? [True, True] Translation: X:29.35, Y:-1.41, Z:0.28 [[ 9.98623777e-01 -4.42347777e-02 -2.81751044e-02 2.93511184e+01] [ 4.42797206e-02 9.99018698e-01 9.72908398e-04 -1.40739832e+00] [ 2.81044198e-02 -2.21915521e-03 9.99602529e-01 2.75870141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.470714056999995 meters Centerline goodness [0,1] 0.9849271176497134 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.41, Z:0.28 [[ 9.98665608e-01 -4.32118006e-02 -2.82797458e-02 2.93829169e+01] [ 4.32567561e-02 9.99063508e-01 9.79554149e-04 -1.40948952e+00] [ 2.82109337e-02 -2.20153710e-03 9.99599568e-01 2.76492397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.500714056999996 meters Centerline goodness [0,1] 0.9860454647760523 Centerline is valid? [True, True] Translation: X:29.42, Y:-1.40, Z:0.28 [[ 9.98720616e-01 -4.20826265e-02 -2.80389802e-02 2.94160050e+01] [ 4.21264390e-02 9.99111813e-01 9.73424028e-04 -1.40126988e+00] [ 2.79731121e-02 -2.15336103e-03 9.99606357e-01 2.78677003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.530714057 meters Centerline goodness [0,1] 0.9860194961615525 Centerline is valid? [True, True] Translation: X:29.45, Y:-1.40, Z:0.28 [[ 9.98812771e-01 -3.98451664e-02 -2.80251898e-02 2.94458853e+01] [ 3.98880991e-02 9.99203678e-01 9.74336796e-04 -1.40339003e+00] [ 2.79640501e-02 -2.09105158e-03 9.99606742e-01 2.79458093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.560714057 meters Centerline goodness [0,1] 0.9837946267580238 Centerline is valid? [True, True] Translation: X:29.48, Y:-1.41, Z:0.28 [[ 9.98863863e-01 -3.86601235e-02 -2.78635550e-02 2.94759291e+01] [ 3.87021099e-02 9.99250323e-01 9.68940207e-04 -1.41292741e+00] [ 2.78052070e-02 -2.04621773e-03 9.99611266e-01 2.79003263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.590714057 meters Centerline goodness [0,1] 0.98666937797962 Centerline is valid? [True, True] Translation: X:29.51, Y:-1.40, Z:0.28 [[ 9.98933320e-01 -3.70779315e-02 -2.75217837e-02 2.95074785e+01] [ 3.71183162e-02 9.99310419e-01 9.57770659e-04 -1.40122624e+00] [ 2.74672931e-02 -1.97831130e-03 9.99620745e-01 2.82013129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.620714057 meters Centerline goodness [0,1] 0.9850382506262271 Centerline is valid? [True, True] Translation: X:29.54, Y:-1.41, Z:0.28 [[ 9.98987331e-01 -3.58628316e-02 -2.71692858e-02 2.95381954e+01] [ 3.59017676e-02 9.99354876e-01 9.46487385e-04 -1.40712305e+00] [ 2.71178145e-02 -1.92095429e-03 9.99630399e-01 2.81503944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.650714056999995 meters Centerline goodness [0,1] 0.9862742004552728 Centerline is valid? [True, True] Translation: X:29.57, Y:-1.40, Z:0.28 [[ 9.99035924e-01 -3.45709920e-02 -2.70567686e-02 2.95701412e+01] [ 3.46091668e-02 9.99400478e-01 9.43757679e-04 -1.40388696e+00] [ 2.70079208e-02 -1.87926004e-03 9.99633453e-01 2.82466358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.680714056999996 meters Centerline goodness [0,1] 0.9873078136976419 Centerline is valid? [True, True] Translation: X:29.60, Y:-1.40, Z:0.28 [[ 9.99072585e-01 -3.23748895e-02 -2.83872440e-02 2.96011786e+01] [ 3.24160684e-02 9.99473969e-01 9.91502372e-04 -1.40478710e+00] [ 2.83402117e-02 -1.91078568e-03 9.99596509e-01 2.82175549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.710714057 meters Centerline goodness [0,1] 0.9870875179340028 Centerline is valid? [True, True] Translation: X:29.63, Y:-1.41, Z:0.28 [[ 9.99105233e-01 -3.13138823e-02 -2.84284117e-02 2.96317458e+01] [ 3.13547755e-02 9.99507824e-01 9.93718643e-04 -1.40664761e+00] [ 2.83833027e-02 -1.88419596e-03 9.99595337e-01 2.82598977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.740714057 meters Centerline goodness [0,1] 0.9870036425776858 Centerline is valid? [True, True] Translation: X:29.66, Y:-1.41, Z:0.28 [[ 9.99127165e-01 -2.97561528e-02 -2.93168859e-02 2.96628159e+01] [ 2.97989981e-02 9.99555385e-01 1.02554272e-03 -1.40775111e+00] [ 2.92733350e-02 -1.89826142e-03 9.99569642e-01 2.82436939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.770714057 meters Centerline goodness [0,1] 0.9864635827438928 Centerline is valid? [True, True] Translation: X:29.69, Y:-1.41, Z:0.28 [[ 9.99164369e-01 -2.88608458e-02 -2.89415864e-02 2.96944363e+01] [ 2.89022560e-02 9.99581729e-01 1.01342594e-03 -1.40627640e+00] [ 2.89002326e-02 -1.84905623e-03 9.99580591e-01 2.83740655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.800714057 meters Centerline goodness [0,1] 0.9871094013632989 Centerline is valid? [True, True] Translation: X:29.73, Y:-1.41, Z:0.29 [[ 9.99211944e-01 -2.82051586e-02 -2.79277557e-02 2.97259654e+01] [ 2.82434892e-02 9.99600594e-01 9.78901884e-04 -1.40560559e+00] [ 2.78889911e-02 -1.76690772e-03 9.99609465e-01 2.85144228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.830714057 meters Centerline goodness [0,1] 0.9866071428571429 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.41, Z:0.29 [[ 9.99246188e-01 -2.73799131e-02 -2.75208411e-02 2.97564788e+01] [ 2.74168612e-02 9.99623620e-01 9.66039759e-04 -1.40918110e+00] [ 2.74840327e-02 -1.71984663e-03 9.99620763e-01 2.85566560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.860714056999996 meters Centerline goodness [0,1] 0.9875075830768194 Centerline is valid? [True, True] Translation: X:29.79, Y:-1.41, Z:0.29 [[ 9.99253620e-01 -2.73100683e-02 -2.73196597e-02 2.97877937e+01] [ 2.73464927e-02 9.99625553e-01 9.60469277e-04 -1.41034059e+00] [ 2.72831995e-02 -1.70684928e-03 9.99626287e-01 2.85884530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.890714057 meters Centerline goodness [0,1] 0.9861884054705631 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.41, Z:0.29 [[ 9.99205538e-01 -2.86081891e-02 -2.77464159e-02 2.98190831e+01] [ 2.86462867e-02 9.99589134e-01 9.76463763e-04 -1.41290261e+00] [ 2.77070810e-02 -1.77051979e-03 9.99614517e-01 2.85569768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.920714057 meters Centerline goodness [0,1] 0.9867817520392255 Centerline is valid? [True, True] Translation: X:29.85, Y:-1.42, Z:0.29 [[ 9.99177031e-01 -2.95671057e-02 -2.77677188e-02 2.98500302e+01] [ 2.96056578e-02 9.99561178e-01 9.78197654e-04 -1.41618044e+00] [ 2.77266113e-02 -1.79947421e-03 9.99613924e-01 2.85394879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.950714057 meters Centerline goodness [0,1] 0.9852669935669621 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.42, Z:0.28 [[ 9.99068020e-01 -3.19998320e-02 -2.89672526e-02 2.98794953e+01] [ 3.20428227e-02 9.99485975e-01 1.02101808e-03 -1.42352056e+00] [ 2.89196904e-02 -1.94825906e-03 9.99579840e-01 2.83576898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.980714057 meters Centerline goodness [0,1] 0.9855516046270874 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.43, Z:0.28 [[ 9.99015229e-01 -3.31472242e-02 -2.94929566e-02 2.99103251e+01] [ 3.31922949e-02 9.99448443e-01 1.03979127e-03 -1.42618738e+00] [ 2.94422234e-02 -2.01770622e-03 9.99564447e-01 2.83245564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.010714057 meters Centerline goodness [0,1] 0.9860366650150895 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.43, Z:0.28 [[ 9.98950042e-01 -3.45393599e-02 -3.00972717e-02 2.99413616e+01] [ 3.45869495e-02 9.99401128e-01 1.06186878e-03 -1.42904162e+00] [ 3.00425710e-02 -2.10172667e-03 9.99546410e-01 2.83274461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.040714056999995 meters Centerline goodness [0,1] 0.985196367815056 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.43, Z:0.28 [[ 9.98899481e-01 -3.56630497e-02 -3.04626477e-02 2.99728002e+01] [ 3.57123539e-02 9.99361531e-01 1.07580599e-03 -1.43080696e+00] [ 3.04048318e-02 -2.16251490e-03 9.99535327e-01 2.83476550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.070714056999996 meters Centerline goodness [0,1] 0.9858516111562415 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.43, Z:0.28 [[ 9.98800637e-01 -3.80035671e-02 -3.08709532e-02 3.00043877e+01] [ 3.80553477e-02 9.99275037e-01 1.09130496e-03 -1.43008166e+00] [ 3.08070994e-02 -2.26480095e-03 9.99522783e-01 2.84847478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.100714057 meters Centerline goodness [0,1] 0.9851173698333596 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.43, Z:0.29 [[ 9.98707088e-01 -4.05657605e-02 -3.06361194e-02 3.00357629e+01] [ 4.06179872e-02 9.99174161e-01 1.08408019e-03 -1.43289393e+00] [ 3.05668424e-02 -2.32705607e-03 9.99530016e-01 2.85396166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.130714057 meters Centerline goodness [0,1] 0.9833546161256357 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.44, Z:0.29 [[ 9.98683650e-01 -4.14611569e-02 -3.01983245e-02 3.00671759e+01] [ 4.15123474e-02 9.99137418e-01 1.06990845e-03 -1.43843332e+00] [ 3.01279164e-02 -2.32210342e-03 9.99543354e-01 2.85397048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.160714057 meters Centerline goodness [0,1] 0.7609910384818134 Centerline is valid? [True, False] Translation: X:30.11, Y:-1.44, Z:0.29 [[ 9.98551207e-01 -4.46140746e-02 -3.00844182e-02 3.01124266e+01] [ 4.46578561e-02 9.99002032e-01 7.84623108e-04 -1.43899972e+00] [ 3.00193897e-02 -2.12699197e-03 9.99547053e-01 2.87601147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.190714057 meters Centerline goodness [0,1] 0.9832233656855901 Centerline is valid? [False, True] Translation: X:30.03, Y:-1.44, Z:0.29 [[ 9.98579196e-01 -4.50381956e-02 -2.84807008e-02 3.00335592e+01] [ 4.50226771e-02 9.98985261e-01 -1.18623784e-03 -1.43829038e+00] [ 2.85052264e-02 -9.77249648e-05 9.99593639e-01 2.86366739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.220714056999995 meters Centerline goodness [0,1] 0.9824833952493527 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.44, Z:0.29 [[ 9.98533355e-01 -4.63258382e-02 -2.80188392e-02 3.00653193e+01] [ 4.63720704e-02 9.98923734e-01 1.00217555e-03 -1.43853914e+00] [ 2.79422568e-02 -2.29999730e-03 9.99606893e-01 2.86522494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.250714056999996 meters Centerline goodness [0,1] 0.9804585079443336 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.45, Z:0.29 [[ 9.98478837e-01 -4.74819700e-02 -2.80263063e-02 3.00963709e+01] [ 4.75287421e-02 9.98869365e-01 1.00469511e-03 -1.44563753e+00] [ 2.79469139e-02 -2.33522189e-03 9.99606681e-01 2.86485936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.280714057 meters Centerline goodness [0,1] 0.9816933128191406 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.44, Z:0.29 [[ 9.98364021e-01 -5.05136187e-02 -2.67890942e-02 3.01274034e+01] [ 5.05574578e-02 9.98720691e-01 9.61237190e-04 -1.44370631e+00] [ 2.67062671e-02 -2.31405313e-03 9.99640646e-01 2.88035669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.310714057 meters Centerline goodness [0,1] 0.9794552738177831 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.45, Z:0.29 [[ 9.98275957e-01 -5.22468589e-02 -2.67465626e-02 3.01573591e+01] [ 5.22911861e-02 9.98631419e-01 9.60087897e-04 -1.45037814e+00] [ 2.66597962e-02 -2.35704215e-03 9.99641786e-01 2.88179951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.340714057 meters Centerline goodness [0,1] 0.9817586948727143 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.45, Z:0.29 [[ 9.98204975e-01 -5.35845029e-02 -2.67493851e-02 3.01882196e+01] [ 5.36293286e-02 9.98560450e-01 9.60667033e-04 -1.44731016e+00] [ 2.66594012e-02 -2.39349418e-03 9.99641710e-01 2.89383170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.370714057 meters Centerline goodness [0,1] 0.9298466519764357 Centerline is valid? [True, False] Translation: X:30.19, Y:-1.45, Z:0.29 [[ 9.98186901e-01 -5.39853205e-02 -2.66175892e-02 3.01882066e+01] [ 5.40419079e-02 9.98537672e-01 1.41065718e-03 -1.44929628e+00] [ 2.65025108e-02 -2.84656482e-03 9.99644694e-01 2.88817295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.400714056999995 meters Centerline goodness [0,1] 0.9352229442079318 Centerline is valid? [False, False] Translation: X:30.19, Y:-1.45, Z:0.29 [[ 9.98195458e-01 -5.37645861e-02 -2.67431702e-02 3.01889675e+01] [ 5.38403311e-02 9.98547307e-01 2.11984417e-03 -1.45081082e+00] [ 2.65903481e-02 -3.55587997e-03 9.99640090e-01 2.88026840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.430714056999996 meters Centerline goodness [0,1] 0.9735850748946093 Centerline is valid? [False, True] Translation: X:30.19, Y:-1.45, Z:0.29 [[ 9.98182955e-01 -5.40640523e-02 -2.66057563e-02 3.01891248e+01] [ 5.41574096e-02 9.98528484e-01 2.80040911e-03 -1.45317363e+00] [ 2.64152040e-02 -4.23621948e-03 9.99642082e-01 2.87151880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.460714057 meters Centerline goodness [0,1] 0.9759974922753123 Centerline is valid? [True, True] Translation: X:30.22, Y:-1.45, Z:0.29 [[ 9.98108815e-01 -5.52745194e-02 -2.68983353e-02 3.02206755e+01] [ 5.53259722e-02 9.98467658e-01 1.17184586e-03 -1.45428744e+00] [ 2.67923446e-02 -2.65780623e-03 9.99637487e-01 2.87911049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.490714057 meters Centerline goodness [0,1] 0.9733690197390431 Centerline is valid? [True, True] Translation: X:30.25, Y:-1.46, Z:0.29 [[ 9.98054007e-01 -5.61413695e-02 -2.71356992e-02 3.02522659e+01] [ 5.61941081e-02 9.98419160e-01 1.18426304e-03 -1.45744624e+00] [ 2.70263159e-02 -2.70682489e-03 9.99631058e-01 2.87976259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.520714057 meters Centerline goodness [0,1] 0.9773734389687122 Centerline is valid? [True, True] Translation: X:30.28, Y:-1.46, Z:0.29 [[ 9.97967475e-01 -5.75532293e-02 -2.73595477e-02 3.02835470e+01] [ 5.76074239e-02 9.98338597e-01 1.19611630e-03 -1.45856064e+00] [ 2.72452521e-02 -2.76979822e-03 9.99624942e-01 2.88731157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.550714057 meters Centerline goodness [0,1] 0.9755556551353289 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.46, Z:0.29 [[ 9.97984388e-01 -5.74070047e-02 -2.70480531e-02 3.03156472e+01] [ 5.74599579e-02 9.98347110e-01 1.18395679e-03 -1.46077074e+00] [ 2.69353783e-02 -2.73575039e-03 9.99633433e-01 2.89285966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.580714057 meters Centerline goodness [0,1] 0.9248646009056202 Centerline is valid? [True, False] Translation: X:30.32, Y:-1.46, Z:0.29 [[ 9.97996412e-01 -5.71318411e-02 -2.71866409e-02 3.03158577e+01] [ 5.71868651e-02 9.98362709e-01 1.25012173e-03 -1.46043098e+00] [ 2.70707067e-02 -2.80233577e-03 9.99629593e-01 2.89571978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.610714056999996 meters Centerline goodness [0,1] 0.9711486849168008 Centerline is valid? [False, True] Translation: X:30.31, Y:-1.46, Z:0.29 [[ 9.98120284e-01 -5.50610971e-02 -2.69104696e-02 3.03145661e+01] [ 5.51735802e-02 9.98470801e-01 3.45486065e-03 -1.46161426e+00] [ 2.66790897e-02 -4.93311345e-03 9.99631878e-01 2.90241212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.640714057 meters Centerline goodness [0,1] 0.9738185890257559 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.46, Z:0.29 [[ 9.98188582e-01 -5.39653597e-02 -2.65950293e-02 3.03459382e+01] [ 5.40161085e-02 9.98539352e-01 1.19298333e-03 -1.46066350e+00] [ 2.64918035e-02 -2.62738233e-03 9.99645578e-01 2.92159971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.670714057 meters Centerline goodness [0,1] 0.9711696139697735 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.46, Z:0.29 [[ 9.98344831e-01 -5.11849706e-02 -2.62239865e-02 3.03756881e+01] [ 5.12333713e-02 9.98686015e-01 1.17667485e-03 -1.46327149e+00] [ 2.61293005e-02 -2.51827049e-03 9.99655400e-01 2.92637027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.700714057 meters Centerline goodness [0,1] 0.9741074228374322 Centerline is valid? [True, True] Translation: X:30.41, Y:-1.46, Z:0.29 [[ 9.98371592e-01 -5.04270881e-02 -2.66697028e-02 3.04082219e+01] [ 5.04768972e-02 9.98724511e-01 1.19728646e-03 -1.46205251e+00] [ 2.65753102e-02 -2.54154063e-03 9.99643583e-01 2.92713991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.730714057 meters Centerline goodness [0,1] 0.9824907079844163 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.45, Z:0.29 [[ 9.98495918e-01 -4.76502245e-02 -2.71174893e-02 3.04392439e+01] [ 4.77007388e-02 9.98860929e-01 1.21860608e-03 -1.45301529e+00] [ 2.70285337e-02 -2.51029747e-03 9.99631510e-01 2.93753586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.760714057 meters Centerline goodness [0,1] 0.9830098175460618 Centerline is valid? [True, True] Translation: X:30.47, Y:-1.45, Z:0.29 [[ 9.98552380e-01 -4.61340747e-02 -2.76548538e-02 3.04707295e+01] [ 4.61860542e-02 9.98932081e-01 1.24343666e-03 -1.45256117e+00] [ 2.75679558e-02 -2.51890521e-03 9.99616758e-01 2.93663436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.790714056999995 meters Centerline goodness [0,1] 0.9827876394156325 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.45, Z:0.29 [[ 9.98589746e-01 -4.48906762e-02 -2.83433624e-02 3.05011924e+01] [ 4.49448037e-02 9.98988658e-01 1.27521110e-03 -1.45407877e+00] [ 2.82574524e-02 -2.54729958e-03 9.99597433e-01 2.93385304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.820714056999996 meters Centerline goodness [0,1] 0.9769654369627507 Centerline is valid? [True, True] Translation: X:30.53, Y:-1.46, Z:0.29 [[ 9.98646447e-01 -4.33457777e-02 -2.87474847e-02 3.05310105e+01] [ 4.34008410e-02 9.99056902e-01 1.29393003e-03 -1.46353588e+00] [ 2.86642866e-02 -2.53984364e-03 9.99585868e-01 2.91494036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.850714057 meters Centerline goodness [0,1] 0.9830018164285874 Centerline is valid? [True, True] Translation: X:30.56, Y:-1.45, Z:0.29 [[ 9.98766547e-01 -4.03158933e-02 -2.89829908e-02 3.05618222e+01] [ 4.03706080e-02 9.99183923e-01 1.30491515e-03 -1.45397578e+00] [ 2.89067297e-02 -2.47336656e-03 9.99579053e-01 2.93233465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.880714057 meters Centerline goodness [0,1] 0.9826531298325826 Centerline is valid? [True, True] Translation: X:30.59, Y:-1.46, Z:0.29 [[ 9.98843571e-01 -3.85113032e-02 -2.87819350e-02 3.05926202e+01] [ 3.85645354e-02 9.99255271e-01 1.29649212e-03 -1.45657621e+00] [ 2.87105706e-02 -2.40495477e-03 9.99584873e-01 2.93387503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.910714057 meters Centerline goodness [0,1] 0.982933321403807 Centerline is valid? [True, True] Translation: X:30.62, Y:-1.45, Z:0.30 [[ 9.98970566e-01 -3.51029547e-02 -2.87331118e-02 3.06232867e+01] [ 3.51546233e-02 9.99381046e-01 1.29489636e-03 -1.45321094e+00] [ 2.86698726e-02 -2.30366507e-03 9.99586280e-01 2.95130543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.940714057 meters Centerline goodness [0,1] 0.9837356308910534 Centerline is valid? [True, True] Translation: X:30.65, Y:-1.45, Z:0.30 [[ 9.98991143e-01 -3.43344285e-02 -2.89455112e-02 3.06542835e+01] [ 3.43865608e-02 9.99407755e-01 1.30505958e-03 -1.45308179e+00] [ 2.88835599e-02 -2.29907954e-03 9.99580139e-01 2.96038749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.970714056999995 meters Centerline goodness [0,1] 0.98212884274727 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.46, Z:0.30 [[ 9.99025685e-01 -3.34308254e-02 -2.88107733e-02 3.06850765e+01] [ 3.34821298e-02 9.99438471e-01 1.30002281e-03 -1.45556169e+00] [ 2.87511344e-02 -2.26340223e-03 9.99584038e-01 2.96046765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.000714056999996 meters Centerline goodness [0,1] 0.9818222671609932 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.46, Z:0.30 [[ 9.99042152e-01 -3.34929719e-02 -2.81602377e-02 3.07167258e+01] [ 3.35420372e-02 9.99436499e-01 1.27166494e-03 -1.45794223e+00] [ 2.81017775e-02 -2.21499862e-03 9.99602613e-01 2.96533228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.030714057 meters Centerline goodness [0,1] 0.9811541665728503 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.46, Z:0.30 [[ 9.99050107e-01 -3.33790786e-02 -2.80128716e-02 3.07493041e+01] [ 3.34276280e-02 9.99440338e-01 1.26647701e-03 -1.46039353e+00] [ 2.79549200e-02 -2.20167784e-03 9.99606760e-01 2.96557689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.060714057 meters Centerline goodness [0,1] 0.9811766293347727 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.46, Z:0.30 [[ 9.99020433e-01 -3.39346664e-02 -2.84009296e-02 3.07816342e+01] [ 3.39848515e-02 9.99421521e-01 1.28605281e-03 -1.46271212e+00] [ 2.83408585e-02 -2.24999441e-03 9.99595785e-01 2.96561214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.090714057 meters Centerline goodness [0,1] 0.978825642752891 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.47, Z:0.30 [[ 9.98972619e-01 -3.49852918e-02 -2.88051281e-02 3.08117378e+01] [ 3.50373875e-02 9.99385149e-01 1.30566078e-03 -1.47038268e+00] [ 2.87417384e-02 -2.31357580e-03 9.99584193e-01 2.95883108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.120714057 meters Centerline goodness [0,1] 0.9796780865030124 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.47, Z:0.30 [[ 9.98942612e-01 -3.58047977e-02 -2.88387741e-02 3.08429790e+01] [ 3.58573760e-02 9.99356062e-01 1.30793304e-03 -1.47195148e+00] [ 2.87733735e-02 -2.34063281e-03 9.99583220e-01 2.96479550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.150714056999995 meters Centerline goodness [0,1] 0.9751092192225832 Centerline is valid? [True, True] Translation: X:30.87, Y:-1.48, Z:0.30 [[ 9.98911267e-01 -3.70310248e-02 -2.83722401e-02 3.08724558e+01] [ 3.70824534e-02 9.99311379e-01 1.28844375e-03 -1.47793310e+00] [ 2.83049899e-02 -2.33915325e-03 9.99596597e-01 2.96936496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.180714056999996 meters Centerline goodness [0,1] 0.9751092192225832 Centerline is valid? [True, True] Translation: X:30.90, Y:-1.48, Z:0.30 [[ 9.98913771e-01 -3.69635011e-02 -2.83721411e-02 3.09042226e+01] [ 3.70149640e-02 9.99313878e-01 1.29062072e-03 -1.47944403e+00] [ 2.83049685e-02 -2.33941259e-03 9.99596597e-01 2.97402889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.210714057 meters Centerline goodness [0,1] 0.9802155849988772 Centerline is valid? [True, True] Translation: X:30.94, Y:-1.47, Z:0.30 [[ 9.98875666e-01 -3.78557338e-02 -2.85367737e-02 3.09363210e+01] [ 3.79082072e-02 9.99280380e-01 1.29985322e-03 -1.47344792e+00] [ 2.84670311e-02 -2.38016968e-03 9.99591898e-01 2.99422207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.240714057 meters Centerline goodness [0,1] 0.9786933093848227 Centerline is valid? [True, True] Translation: X:30.97, Y:-1.48, Z:0.30 [[ 9.98844837e-01 -3.90020970e-02 -2.80682899e-02 3.09676842e+01] [ 3.90533659e-02 9.99236306e-01 1.28050278e-03 -1.47882440e+00] [ 2.79969120e-02 -2.37518478e-03 9.99605188e-01 2.99484364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.270714057 meters Centerline goodness [0,1] 0.9780145821648907 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.48, Z:0.30 [[ 9.98834751e-01 -3.94021779e-02 -2.78677107e-02 3.09995991e+01] [ 3.94529339e-02 9.99220618e-01 1.27361817e-03 -1.48004209e+00] [ 2.77958078e-02 -2.37159704e-03 9.99610809e-01 3.00256345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.300714057 meters Centerline goodness [0,1] 0.9785996586724154 Centerline is valid? [True, True] Translation: X:31.03, Y:-1.48, Z:0.30 [[ 9.98833288e-01 -3.95694147e-02 -2.76825791e-02 3.10319458e+01] [ 3.96196168e-02 9.99214031e-01 1.26714126e-03 -1.48075405e+00] [ 2.76106814e-02 -2.36243605e-03 9.99615961e-01 3.01801296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.330714056999994 meters Centerline goodness [0,1] 0.9749328359865894 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.49, Z:0.30 [[ 9.98872815e-01 -3.91554339e-02 -2.68319151e-02 3.10629968e+01] [ 3.92024935e-02 9.99230530e-01 1.22988239e-03 -1.49056695e+00] [ 2.67631122e-02 -2.28037406e-03 9.99639203e-01 3.01495149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.360714056999996 meters Centerline goodness [0,1] 0.9750601765177855 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.49, Z:0.30 [[ 9.98842243e-01 -3.98635546e-02 -2.69271267e-02 3.10954484e+01] [ 3.99112485e-02 9.99202464e-01 1.23589072e-03 -1.49211787e+00] [ 2.68563844e-02 -2.30915511e-03 9.99636635e-01 3.01943956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.390714057 meters Centerline goodness [0,1] 0.9777917217578379 Centerline is valid? [True, True] Translation: X:31.13, Y:-1.49, Z:0.30 [[ 9.98825201e-01 -4.04922531e-02 -2.66194467e-02 3.11275296e+01] [ 4.05391336e-02 9.99177202e-01 1.22361961e-03 -1.49317840e+00] [ 2.65479972e-02 -2.30131141e-03 9.99644891e-01 3.02413580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.420714057 meters Centerline goodness [0,1] 0.9790063922844006 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.50, Z:0.30 [[ 9.98819079e-01 -4.08343252e-02 -2.63249984e-02 3.11594395e+01] [ 4.08803402e-02 9.99163314e-01 1.21193200e-03 -1.49604943e+00] [ 2.62534843e-02 -2.28667569e-03 9.99652703e-01 3.02549825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.450714057 meters Centerline goodness [0,1] 0.9801633605600933 Centerline is valid? [True, True] Translation: X:31.19, Y:-1.50, Z:0.30 [[ 9.98793963e-01 -4.10155662e-02 -2.69878404e-02 3.11920928e+01] [ 4.10640468e-02 9.99155741e-01 1.24439648e-03 -1.49604601e+00] [ 2.69140161e-02 -2.35112563e-03 9.99634987e-01 3.03040601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.480714057 meters Centerline goodness [0,1] 0.9807189030800546 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.50, Z:0.30 [[ 9.98780247e-01 -4.09253681e-02 -2.76248676e-02 3.12238660e+01] [ 4.09761865e-02 9.99159309e-01 1.27577669e-03 -1.49786744e+00] [ 2.75494320e-02 -2.40618229e-03 9.99617546e-01 3.04062418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.510714057 meters Centerline goodness [0,1] 0.9817141575050482 Centerline is valid? [True, True] Translation: X:31.26, Y:-1.50, Z:0.30 [[ 9.98767350e-01 -4.09788584e-02 -2.80091753e-02 3.12564984e+01] [ 4.10311792e-02 9.99157027e-01 1.29556690e-03 -1.49668669e+00] [ 2.79324734e-02 -2.44321941e-03 9.99606827e-01 3.04462524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.540714056999995 meters Centerline goodness [0,1] 0.9771315830773715 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.51, Z:0.30 [[ 9.98772268e-01 -4.09233078e-02 -2.79148802e-02 3.12869602e+01] [ 4.09753050e-02 9.99159323e-01 1.29299477e-03 -1.50812895e+00] [ 2.78384992e-02 -2.43522805e-03 9.99609468e-01 3.03232822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.570714056999996 meters Centerline goodness [0,1] 0.9814951721665882 Centerline is valid? [True, True] Translation: X:31.32, Y:-1.50, Z:0.30 [[ 9.98744296e-01 -4.16915382e-02 -2.77785239e-02 3.13188632e+01] [ 4.17433649e-02 9.99127535e-01 1.28818275e-03 -1.50480276e+00] [ 2.77005818e-02 -2.44613423e-03 9.99613272e-01 3.04207268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.600714057 meters Centerline goodness [0,1] 0.9724541274164025 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.52, Z:0.30 [[ 9.98750406e-01 -4.15867023e-02 -2.77159241e-02 3.13496111e+01] [ 4.16383206e-02 9.99131919e-01 1.28763240e-03 -1.51550885e+00] [ 2.76383160e-02 -2.44006792e-03 9.99615011e-01 3.03564604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.630714057 meters Centerline goodness [0,1] 0.9833125389893949 Centerline is valid? [True, True] Translation: X:31.38, Y:-1.51, Z:0.31 [[ 9.98737219e-01 -4.19148491e-02 -2.76968088e-02 3.13818526e+01] [ 4.19665958e-02 9.99118182e-01 1.28943843e-03 -1.50741703e+00] [ 2.76183386e-02 -2.45015094e-03 9.99615538e-01 3.05751070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.660714057 meters Centerline goodness [0,1] 0.983253801899835 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.51, Z:0.31 [[ 9.98687280e-01 -4.30784733e-02 -2.77121270e-02 3.14137509e+01] [ 4.31307765e-02 9.99068600e-01 1.29213430e-03 -1.51138580e+00] [ 2.76306527e-02 -2.48568364e-03 9.99615110e-01 3.05472074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.690714057 meters Centerline goodness [0,1] 0.9832090385388291 Centerline is valid? [True, True] Translation: X:31.45, Y:-1.52, Z:0.31 [[ 9.98670057e-01 -4.34106711e-02 -2.78142369e-02 3.14450780e+01] [ 4.34635368e-02 9.99054170e-01 1.29864402e-03 -1.51528528e+00] [ 2.77315544e-02 -2.50582201e-03 9.99612266e-01 3.05433526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.720714056999995 meters Centerline goodness [0,1] 0.9836029248836694 Centerline is valid? [True, True] Translation: X:31.48, Y:-1.52, Z:0.31 [[ 9.98649898e-01 -4.42038981e-02 -2.72836253e-02 3.14771570e+01] [ 4.42551047e-02 9.99019449e-01 1.27555772e-03 -1.51646072e+00] [ 2.72004876e-02 -2.48127527e-03 9.99626919e-01 3.05889674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.750714056999996 meters Centerline goodness [0,1] 0.9840579710144928 Centerline is valid? [True, True] Translation: X:31.51, Y:-1.52, Z:0.31 [[ 9.98601996e-01 -4.49234982e-02 -2.78555761e-02 3.15078309e+01] [ 4.49772289e-02 9.98987160e-01 1.30503905e-03 -1.52017285e+00] [ 2.77687360e-02 -2.55608122e-03 9.99611106e-01 3.06581504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.780714057 meters Centerline goodness [0,1] 0.9849837119014682 Centerline is valid? [True, True] Translation: X:31.54, Y:-1.52, Z:0.31 [[ 9.98591680e-01 -4.51238380e-02 -2.79015418e-02 3.15395155e+01] [ 4.51778951e-02 9.98978099e-01 1.30975684e-03 -1.52053965e+00] [ 2.78139279e-02 -2.56844522e-03 9.99609818e-01 3.07540019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.810714057 meters Centerline goodness [0,1] 0.9833522765260413 Centerline is valid? [True, True] Translation: X:31.57, Y:-1.52, Z:0.31 [[ 9.98578025e-01 -4.52271826e-02 -2.82210836e-02 3.15720398e+01] [ 4.52825765e-02 9.98973337e-01 1.32653631e-03 -1.52334780e+00] [ 2.81321146e-02 -2.60257339e-03 9.99600826e-01 3.08099639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.840714057 meters Centerline goodness [0,1] 0.9802342606149341 Centerline is valid? [True, True] Translation: X:31.60, Y:-1.53, Z:0.31 [[ 9.98591860e-01 -4.50584903e-02 -2.80005218e-02 3.16029016e+01] [ 4.51130047e-02 9.98981021e-01 1.31792698e-03 -1.52844330e+00] [ 2.79126061e-02 -2.57925883e-03 9.99607040e-01 3.08439138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.870714057 meters Centerline goodness [0,1] 0.9816732014626195 Centerline is valid? [True, True] Translation: X:31.64, Y:-1.53, Z:0.31 [[ 9.98616111e-01 -4.50498203e-02 -2.71362587e-02 3.16352843e+01] [ 4.51010612e-02 9.98981611e-01 1.27889065e-03 -1.52953600e+00] [ 2.70510097e-02 -2.50099487e-03 9.99630926e-01 3.09184530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.900714056999995 meters Centerline goodness [0,1] 0.9841322680869952 Centerline is valid? [True, True] Translation: X:31.67, Y:-1.53, Z:0.31 [[ 9.98607022e-01 -4.50655715e-02 -2.74428515e-02 3.16677526e+01] [ 4.51180374e-02 9.98980823e-01 1.29531866e-03 -1.52760441e+00] [ 2.73565081e-02 -2.53168191e-03 9.99622535e-01 3.09911954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.930714056999996 meters Centerline goodness [0,1] 0.9838914511062095 Centerline is valid? [True, True] Translation: X:31.70, Y:-1.53, Z:0.31 [[ 9.98621132e-01 -4.47084768e-02 -2.75133849e-02 3.17003071e+01] [ 4.47611337e-02 9.98996871e-01 1.30066069e-03 -1.52907801e+00] [ 2.74276349e-02 -2.53039756e-03 9.99620589e-01 3.09334714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.960714057 meters Centerline goodness [0,1] 0.9851906288972029 Centerline is valid? [True, True] Translation: X:31.73, Y:-1.53, Z:0.31 [[ 9.98630202e-01 -4.40965038e-02 -2.81641116e-02 3.17323035e+01] [ 4.41514998e-02 9.99023957e-01 1.33352409e-03 -1.52835229e+00] [ 2.80778185e-02 -2.57518520e-03 9.99602423e-01 3.09954671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.990714057 meters Centerline goodness [0,1] 0.9839224705803542 Centerline is valid? [True, True] Translation: X:31.76, Y:-1.53, Z:0.31 [[ 9.98657819e-01 -4.31659455e-02 -2.86227432e-02 3.17638794e+01] [ 4.32224298e-02 9.99064552e-01 1.35736309e-03 -1.53186856e+00] [ 2.85373763e-02 -2.59268578e-03 9.99589364e-01 3.09752173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.020714057 meters Centerline goodness [0,1] 0.9839055314969418 Centerline is valid? [True, True] Translation: X:31.79, Y:-1.53, Z:0.31 [[ 9.98751803e-01 -4.10400090e-02 -2.84702088e-02 3.17932083e+01] [ 4.10950591e-02 9.99154328e-01 1.35094775e-03 -1.53323606e+00] [ 2.83906894e-02 -2.51924641e-03 9.99593729e-01 3.10102085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.050714057 meters Centerline goodness [0,1] 0.9853583526475308 Centerline is valid? [True, True] Translation: X:31.83, Y:-1.53, Z:0.31 [[ 9.98807798e-01 -3.98267864e-02 -2.82278094e-02 3.18250021e+01] [ 3.98804348e-02 9.99203561e-01 1.33990189e-03 -1.53217689e+00] [ 2.81519637e-02 -2.46404177e-03 9.99600618e-01 3.10982290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.080714056999994 meters Centerline goodness [0,1] 0.9852491575729173 Centerline is valid? [True, True] Translation: X:31.86, Y:-1.53, Z:0.31 [[ 9.98855542e-01 -3.87205105e-02 -2.80771891e-02 3.18567053e+01] [ 3.87731968e-02 9.99247146e-01 1.33428488e-03 -1.53340991e+00] [ 2.80043869e-02 -2.42140023e-03 9.99604868e-01 3.11284173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.110714056999996 meters Centerline goodness [0,1] 0.9843760447544966 Centerline is valid? [True, True] Translation: X:31.89, Y:-1.54, Z:0.31 [[ 9.98918497e-01 -3.73031602e-02 -2.77544650e-02 3.18873012e+01] [ 3.73541346e-02 9.99301219e-01 1.32024210e-03 -1.53559369e+00] [ 2.76858215e-02 -2.35555827e-03 9.99613899e-01 3.10941557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.140714057 meters Centerline goodness [0,1] 0.9844035064299381 Centerline is valid? [True, True] Translation: X:31.92, Y:-1.54, Z:0.31 [[ 9.98940941e-01 -3.67148048e-02 -2.77312117e-02 3.19184901e+01] [ 3.67654961e-02 9.99323049e-01 1.32012442e-03 -1.53776320e+00] [ 2.76639709e-02 -2.33827808e-03 9.99614544e-01 3.11124260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.170714057 meters Centerline goodness [0,1] 0.9848843969411029 Centerline is valid? [True, True] Translation: X:31.95, Y:-1.54, Z:0.31 [[ 9.99017919e-01 -3.50790101e-02 -2.70676968e-02 3.19502743e+01] [ 3.51267391e-02 9.99382033e-01 1.28970552e-03 -1.53699875e+00] [ 2.70057283e-02 -2.23923885e-03 9.99632771e-01 3.12272643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.200714057 meters Centerline goodness [0,1] 0.9833767274183858 Centerline is valid? [True, True] Translation: X:31.98, Y:-1.54, Z:0.31 [[ 9.99075473e-01 -3.40403983e-02 -2.62573955e-02 3.19807351e+01] [ 3.40849803e-02 9.99418154e-01 1.25205823e-03 -1.54106443e+00] [ 2.61994972e-02 -2.14588348e-03 9.99654431e-01 3.12028023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.230714057 meters Centerline goodness [0,1] 0.984101109796128 Centerline is valid? [True, True] Translation: X:32.01, Y:-1.54, Z:0.31 [[ 9.99098998e-01 -3.32903280e-02 -2.63238892e-02 3.20125984e+01] [ 3.33348996e-02 9.99443449e-01 1.25606616e-03 -1.53909390e+00] [ 2.62674238e-02 -2.13243865e-03 9.99652677e-01 3.12823971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.260714057 meters Centerline goodness [0,1] 0.9831505929738197 Centerline is valid? [True, True] Translation: X:32.04, Y:-1.54, Z:0.31 [[ 9.99138383e-01 -3.20558785e-02 -2.63611923e-02 3.20426726e+01] [ 3.21001743e-02 9.99483864e-01 1.25877980e-03 -1.54099270e+00] [ 2.63072351e-02 -2.10389408e-03 9.99651691e-01 3.12589966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.290714056999995 meters Centerline goodness [0,1] 0.9840656148035578 Centerline is valid? [True, True] Translation: X:32.07, Y:-1.54, Z:0.31 [[ 9.99176936e-01 -3.09861289e-02 -2.61784254e-02 3.20737486e+01] [ 3.10294648e-02 9.99517688e-01 1.25071094e-03 -1.54098249e+00] [ 2.61270446e-02 -2.06198405e-03 9.99656504e-01 3.12770521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.320714056999996 meters Centerline goodness [0,1] 0.9843984331281478 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.54, Z:0.31 [[ 9.99248894e-01 -2.84525330e-02 -2.63078015e-02 3.21047899e+01] [ 2.84954447e-02 9.99593131e-01 1.25761323e-03 -1.54034982e+00] [ 2.62613154e-02 -2.00632114e-03 9.99653099e-01 3.13060747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.350714057 meters Centerline goodness [0,1] 0.9827196923971118 Centerline is valid? [True, True] Translation: X:32.13, Y:-1.54, Z:0.31 [[ 9.99275022e-01 -2.77218314e-02 -2.60946303e-02 3.21337532e+01] [ 2.77638040e-02 9.99613733e-01 1.24747855e-03 -1.54409704e+00] [ 2.60499684e-02 -1.97106036e-03 9.99658699e-01 3.13228351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.380714057 meters Centerline goodness [0,1] 0.9839704069050554 Centerline is valid? [True, True] Translation: X:32.17, Y:-1.54, Z:0.31 [[ 9.99359608e-01 -2.55379555e-02 -2.50636686e-02 3.21651049e+01] [ 2.55759913e-02 9.99672163e-01 1.19812608e-03 -1.54284017e+00] [ 2.50248541e-02 -1.83838698e-03 9.99685139e-01 3.14902270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.410714057 meters Centerline goodness [0,1] 0.9816183055704818 Centerline is valid? [True, True] Translation: X:32.20, Y:-1.55, Z:0.32 [[ 9.99389591e-01 -2.49451477e-02 -2.44578362e-02 3.21950564e+01] [ 2.49812115e-02 9.99687236e-01 1.17005331e-03 -1.54714292e+00] [ 2.44209996e-02 -1.78032548e-03 9.99700178e-01 3.15044341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.440714057 meters Centerline goodness [0,1] 0.9838202146890134 Centerline is valid? [True, True] Translation: X:32.23, Y:-1.54, Z:0.32 [[ 9.99419351e-01 -2.40226431e-02 -2.41634773e-02 3.22270481e+01] [ 2.40576067e-02 9.99709904e-01 1.15726346e-03 -1.53786700e+00] [ 2.41286670e-02 -1.73790693e-03 9.99707351e-01 3.16797049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.470714056999995 meters Centerline goodness [0,1] 0.984775551326542 Centerline is valid? [True, True] Translation: X:32.26, Y:-1.54, Z:0.32 [[ 9.99436477e-01 -2.33074111e-02 -2.41556019e-02 3.22577300e+01] [ 2.33421568e-02 9.99726865e-01 1.15741114e-03 -1.54017767e+00] [ 2.41220279e-02 -1.72060276e-03 9.99707541e-01 3.16788850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.500714056999996 meters Centerline goodness [0,1] 0.9853395407135503 Centerline is valid? [True, True] Translation: X:32.29, Y:-1.54, Z:0.32 [[ 9.99455394e-01 -2.26223151e-02 -2.40238798e-02 3.22886591e+01] [ 2.26564859e-02 9.99742646e-01 1.15109970e-03 -1.54001158e+00] [ 2.39916567e-02 -1.69476950e-03 9.99710722e-01 3.17591769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.530714057 meters Centerline goodness [0,1] 0.984197077019636 Centerline is valid? [True, True] Translation: X:32.32, Y:-1.54, Z:0.32 [[ 9.99454678e-01 -2.22486015e-02 -2.43997314e-02 3.23188741e+01] [ 2.22837394e-02 9.99751003e-01 1.16910856e-03 -1.54061847e+00] [ 2.43676449e-02 -1.71218828e-03 9.99701599e-01 3.17975413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.560714057 meters Centerline goodness [0,1] 0.983945158985352 Centerline is valid? [True, True] Translation: X:32.35, Y:-1.54, Z:0.32 [[ 9.99495466e-01 -2.07980057e-02 -2.40053465e-02 3.23481932e+01] [ 2.08315963e-02 9.99782337e-01 1.15004450e-03 -1.54252630e+00] [ 2.39762028e-02 -1.64953395e-03 9.99711169e-01 3.18325094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.590714057 meters Centerline goodness [0,1] 0.983746753828244 Centerline is valid? [True, True] Translation: X:32.38, Y:-1.55, Z:0.32 [[ 9.99509139e-01 -2.03750758e-02 -2.37978389e-02 3.23777983e+01] [ 2.04079586e-02 9.99791086e-01 1.13968190e-03 -1.54614695e+00] [ 2.37696461e-02 -1.62478778e-03 9.99716142e-01 3.18569911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.620714057 meters Centerline goodness [0,1] 0.9841003622702268 Centerline is valid? [True, True] Translation: X:32.41, Y:-1.55, Z:0.32 [[ 9.99529269e-01 -1.96062564e-02 -2.35973336e-02 3.24074084e+01] [ 1.96383604e-02 9.99806511e-01 1.12950338e-03 -1.54532758e+00] [ 2.35706224e-02 -1.59238463e-03 9.99720906e-01 3.19516883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.650714056999995 meters Centerline goodness [0,1] 0.9844916070908317 Centerline is valid? [True, True] Translation: X:32.44, Y:-1.55, Z:0.32 [[ 9.99562652e-01 -1.80662932e-02 -2.34118158e-02 3.24365811e+01] [ 1.80974543e-02 9.99835601e-01 1.11979286e-03 -1.54885270e+00] [ 2.33877365e-02 -1.54299739e-03 9.99725279e-01 3.19344027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.680714056999996 meters Centerline goodness [0,1] 0.9848899251221809 Centerline is valid? [True, True] Translation: X:32.47, Y:-1.55, Z:0.32 [[ 9.99568450e-01 -1.73595879e-02 -2.36972071e-02 3.24665206e+01] [ 1.73912960e-02 9.99848118e-01 1.13260014e-03 -1.55060727e+00] [ 2.36739465e-02 -1.54423651e-03 9.99718540e-01 3.19637814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.710714057 meters Centerline goodness [0,1] 0.9841764349911468 Centerline is valid? [True, True] Translation: X:32.49, Y:-1.55, Z:0.32 [[ 9.99571013e-01 -1.67149522e-02 -2.40499360e-02 3.24948367e+01] [ 1.67473992e-02 9.99859093e-01 1.14835523e-03 -1.55385480e+00] [ 2.40273525e-02 -1.55063648e-03 9.99710099e-01 3.19406454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.740714057 meters Centerline goodness [0,1] 0.984170865474651 Centerline is valid? [True, True] Translation: X:32.52, Y:-1.56, Z:0.32 [[ 9.99584708e-01 -1.56448400e-02 -2.42002287e-02 3.25240316e+01] [ 1.56773079e-02 9.99876439e-01 1.15248480e-03 -1.55563022e+00] [ 2.41792080e-02 -1.53140062e-03 9.99706467e-01 3.19619402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.770714057 meters Centerline goodness [0,1] 0.9840473003123605 Centerline is valid? [True, True] Translation: X:32.55, Y:-1.56, Z:0.32 [[ 9.99600309e-01 -1.42644462e-02 -2.44079393e-02 3.25533342e+01] [ 1.42969303e-02 9.99897124e-01 1.15688650e-03 -1.55694108e+00] [ 2.43889259e-02 -1.50538271e-03 9.99701412e-01 3.19437450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.800714057 meters Centerline goodness [0,1] 0.9842626902986741 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.55, Z:0.32 [[ 9.99601960e-01 -1.37048586e-02 -2.46596500e-02 3.25818594e+01] [ 1.37377033e-02 9.99904957e-01 1.16299454e-03 -1.55461260e+00] [ 2.46413676e-02 -1.50129858e-03 9.99695228e-01 3.19585983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.830714056999994 meters Centerline goodness [0,1] 0.9847777007845855 Centerline is valid? [True, True] Translation: X:32.61, Y:-1.56, Z:0.32 [[ 9.99602811e-01 -1.31554733e-02 -2.49229468e-02 3.26094026e+01] [ 1.31887382e-02 9.99912339e-01 1.17079566e-03 -1.55805988e+00] [ 2.49053596e-02 -1.49903285e-03 9.99688690e-01 3.19095436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.860714056999996 meters Centerline goodness [0,1] 0.9855331309162351 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.56, Z:0.32 [[ 9.99606917e-01 -1.16052885e-02 -2.55211473e-02 3.26381693e+01] [ 1.16396129e-02 9.99931541e-01 1.19679536e-03 -1.55977287e+00] [ 2.55055110e-02 -1.49338119e-03 9.99673566e-01 3.18607121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.890714057 meters Centerline goodness [0,1] 0.9853718363251198 Centerline is valid? [True, True] Translation: X:32.67, Y:-1.56, Z:0.32 [[ 9.99602989e-01 -1.10796530e-02 -2.59057114e-02 3.26665113e+01] [ 1.11147445e-02 9.99937496e-01 1.21098214e-03 -1.56225945e+00] [ 2.58906749e-02 -1.49843673e-03 9.99663657e-01 3.18559770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.920714057 meters Centerline goodness [0,1] 0.9865090868547218 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.57, Z:0.32 [[ 9.99594232e-01 -1.09562379e-02 -2.62931791e-02 3.26954653e+01] [ 1.09921722e-02 9.99938837e-01 1.22252628e-03 -1.56523875e+00] [ 2.62781767e-02 -1.51104938e-03 9.99653527e-01 3.19535725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.950714057 meters Centerline goodness [0,1] 0.9854801769950859 Centerline is valid? [True, True] Translation: X:32.72, Y:-1.57, Z:0.32 [[ 9.99576186e-01 -1.17557392e-02 -2.66317558e-02 3.27229560e+01] [ 1.17927483e-02 9.99929703e-01 1.23302589e-03 -1.56872488e+00] [ 2.66153885e-02 -1.54656491e-03 9.99644551e-01 3.19311412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.980714057 meters Centerline goodness [0,1] 0.9854428269807757 Centerline is valid? [True, True] Translation: X:32.75, Y:-1.57, Z:0.32 [[ 9.99555760e-01 -1.26912354e-02 -2.69669336e-02 3.27514247e+01] [ 1.27293874e-02 9.99918205e-01 1.24356835e-03 -1.57055440e+00] [ 2.69489454e-02 -1.58628845e-03 9.99635553e-01 3.19580320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.010714057 meters Centerline goodness [0,1] 0.9864046993903253 Centerline is valid? [True, True] Translation: X:32.78, Y:-1.57, Z:0.32 [[ 9.99528434e-01 -1.49421627e-02 -2.68261506e-02 3.27812354e+01] [ 1.49806169e-02 9.99887024e-01 1.23304737e-03 -1.57354980e+00] [ 2.68046955e-02 -1.63433819e-03 9.99639354e-01 3.19844292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.040714056999995 meters Centerline goodness [0,1] 0.9849151337421133 Centerline is valid? [True, True] Translation: X:32.81, Y:-1.58, Z:0.32 [[ 9.99506828e-01 -1.67801056e-02 -2.65429630e-02 3.28093172e+01] [ 1.68183666e-02 9.99857818e-01 1.21887356e-03 -1.58120506e+00] [ 2.65187362e-02 -1.66468173e-03 9.99646930e-01 3.19391954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.070714056999996 meters Centerline goodness [0,1] 0.9859508167613636 Centerline is valid? [True, True] Translation: X:32.84, Y:-1.59, Z:0.32 [[ 9.99496452e-01 -1.85640812e-02 -2.57335976e-02 3.28387312e+01] [ 1.86006031e-02 9.99826297e-01 1.18056472e-03 -1.58551861e+00] [ 2.57072115e-02 -1.65863069e-03 9.99668139e-01 3.20305902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.100714057 meters Centerline goodness [0,1] 0.9859508167613636 Centerline is valid? [True, True] Translation: X:32.87, Y:-1.59, Z:0.32 [[ 9.99491282e-01 -1.88401180e-02 -2.57337606e-02 3.28661508e+01] [ 1.88766396e-02 9.99821128e-01 1.17700229e-03 -1.58668945e+00] [ 2.57069827e-02 -1.66217045e-03 9.99668139e-01 3.20708941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.130714057 meters Centerline goodness [0,1] 0.9855429166943834 Centerline is valid? [True, True] Translation: X:32.90, Y:-1.59, Z:0.32 [[ 9.99400872e-01 -2.34135271e-02 -2.54892830e-02 3.28967480e+01] [ 2.34507358e-02 9.99724319e-01 1.16179869e-03 -1.59023123e+00] [ 2.54550543e-02 -1.75884506e-03 9.99674420e-01 3.21614167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.160714057 meters Centerline goodness [0,1] 0.9852572771410203 Centerline is valid? [True, True] Translation: X:32.93, Y:-1.59, Z:0.32 [[ 9.99349658e-01 -2.54221685e-02 -2.55729339e-02 3.29261874e+01] [ 2.54602664e-02 9.99675156e-01 1.16522384e-03 -1.59474727e+00] [ 2.55350042e-02 -1.81555975e-03 9.99672280e-01 3.21835272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.190714057 meters Centerline goodness [0,1] 0.9826581914021838 Centerline is valid? [True, True] Translation: X:32.96, Y:-1.60, Z:0.32 [[ 9.99296839e-01 -2.74887353e-02 -2.54989630e-02 3.29553746e+01] [ 2.75272642e-02 9.99620379e-01 1.16115113e-03 -1.60459005e+00] [ 2.54573645e-02 -1.86225135e-03 9.99674174e-01 3.21550882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.220714056999995 meters Centerline goodness [0,1] 0.9838380703232386 Centerline is valid? [True, True] Translation: X:32.99, Y:-1.61, Z:0.32 [[ 9.99179738e-01 -3.16008288e-02 -2.53227113e-02 3.29855137e+01] [ 3.16401331e-02 9.99498661e-01 1.15286924e-03 -1.60668893e+00] [ 2.52735845e-02 -1.95313754e-03 9.99678664e-01 3.22316367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.250714056999996 meters Centerline goodness [0,1] 0.9841389393469496 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.61, Z:0.32 [[ 9.99124389e-01 -3.32339268e-02 -2.54157887e-02 3.30169057e+01] [ 3.32740553e-02 9.99445595e-01 1.15748698e-03 -1.60599683e+00] [ 2.53632302e-02 -2.00215983e-03 9.99676297e-01 3.23391777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.280714057 meters Centerline goodness [0,1] 0.9756661528297732 Centerline is valid? [True, True] Translation: X:33.05, Y:-1.62, Z:0.32 [[ 9.99047765e-01 -3.56442859e-02 -2.51604357e-02 3.30468780e+01] [ 3.56843888e-02 9.99362452e-01 1.14656053e-03 -1.61929129e+00] [ 2.51035264e-02 -2.04330351e-03 9.99682769e-01 3.22874178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.310714057 meters Centerline goodness [0,1] 0.9828923458759917 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.61, Z:0.32 [[ 9.99010735e-01 -3.67221810e-02 -2.50805133e-02 3.30780485e+01] [ 3.67623779e-02 9.99323381e-01 1.14335993e-03 -1.61474920e+00] [ 2.50215567e-02 -2.06424815e-03 9.99684781e-01 3.24550003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.340714057 meters Centerline goodness [0,1] 0.9802216765115817 Centerline is valid? [True, True] Translation: X:33.11, Y:-1.62, Z:0.32 [[ 9.98967264e-01 -3.77850952e-02 -2.52327741e-02 3.31079861e+01] [ 3.78261296e-02 9.99283673e-01 1.15074445e-03 -1.61851183e+00] [ 2.51712182e-02 -2.10401421e-03 9.99680941e-01 3.24660940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.370714057 meters Centerline goodness [0,1] 0.9785685849515636 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.62, Z:0.32 [[ 9.98938641e-01 -3.84238179e-02 -2.54008196e-02 3.31394823e+01] [ 3.84656219e-02 9.99259252e-01 1.15903609e-03 -1.62192594e+00] [ 2.53374694e-02 -2.13486425e-03 9.99676675e-01 3.24614704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.400714056999995 meters Centerline goodness [0,1] 0.9765107363662552 Centerline is valid? [True, True] Translation: X:33.17, Y:-1.63, Z:0.32 [[ 9.98906326e-01 -3.92031236e-02 -2.54807325e-02 3.31702446e+01] [ 3.92454698e-02 9.99228922e-01 1.16374808e-03 -1.62581905e+00] [ 2.54154623e-02 -2.16247863e-03 9.99674636e-01 3.24358419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.430714056999996 meters Centerline goodness [0,1] 0.98280561033436 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.62, Z:0.33 [[ 9.98908137e-01 -3.90578203e-02 -2.56324083e-02 3.32029925e+01] [ 3.91006644e-02 9.99234589e-01 1.17222030e-03 -1.62019277e+00] [ 2.55670046e-02 -2.17318459e-03 9.99670749e-01 3.25579470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.460714057 meters Centerline goodness [0,1] 0.9824864004245721 Centerline is valid? [True, True] Translation: X:33.24, Y:-1.62, Z:0.33 [[ 9.98911348e-01 -3.86031913e-02 -2.61899293e-02 3.32354256e+01] [ 3.86478144e-02 9.99252174e-01 1.19960503e-03 -1.62208137e+00] [ 2.61240352e-02 -2.21048260e-03 9.99656265e-01 3.25351761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.490714057 meters Centerline goodness [0,1] 0.9830778772038629 Centerline is valid? [True, True] Translation: X:33.27, Y:-1.62, Z:0.33 [[ 9.98903017e-01 -3.75090741e-02 -2.80327033e-02 3.32668851e+01] [ 3.75598174e-02 9.99293554e-01 1.28560110e-03 -1.61989745e+00] [ 2.79646780e-02 -2.33709404e-03 9.99606180e-01 3.25061258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.520714057 meters Centerline goodness [0,1] 0.9823575158315743 Centerline is valid? [True, True] Translation: X:33.30, Y:-1.62, Z:0.32 [[ 9.98902915e-01 -3.71429026e-02 -2.85196741e-02 3.32979660e+01] [ 3.71953129e-02 9.99307157e-01 1.30920282e-03 -1.62354789e+00] [ 2.84512869e-02 -2.36856471e-03 9.99592374e-01 3.24536896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.550714057 meters Centerline goodness [0,1] 0.9817895134246819 Centerline is valid? [True, True] Translation: X:33.33, Y:-1.62, Z:0.32 [[ 9.98916883e-01 -3.66353214e-02 -2.86864874e-02 3.33291849e+01] [ 3.66881755e-02 9.99325893e-01 1.31813395e-03 -1.62426126e+00] [ 2.86188594e-02 -2.36916114e-03 9.99587589e-01 3.24082034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.580714056999994 meters Centerline goodness [0,1] 0.9840353185132333 Centerline is valid? [True, True] Translation: X:33.36, Y:-1.62, Z:0.33 [[ 9.98972881e-01 -3.51305732e-02 -2.86186172e-02 3.33602663e+01] [ 3.51825793e-02 9.99380036e-01 1.31554684e-03 -1.62215338e+00] [ 2.85546588e-02 -2.32107239e-03 9.99589538e-01 3.25159810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.610714056999996 meters Centerline goodness [0,1] 0.9836109438758446 Centerline is valid? [True, True] Translation: X:33.39, Y:-1.62, Z:0.33 [[ 9.99024690e-01 -3.41546490e-02 -2.79844468e-02 3.33919761e+01] [ 3.42040084e-02 9.99414043e-01 1.28689442e-03 -1.62067467e+00] [ 2.79240957e-02 -2.24281955e-03 9.99607530e-01 3.26609133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.640714057 meters Centerline goodness [0,1] 0.9845722300140253 Centerline is valid? [True, True] Translation: X:33.42, Y:-1.62, Z:0.33 [[ 9.99051649e-01 -3.38235902e-02 -2.74183659e-02 3.34230628e+01] [ 3.38708746e-02 9.99425421e-01 1.26182913e-03 -1.62123447e+00] [ 2.73599323e-02 -2.18931651e-03 9.99623250e-01 3.27659727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.670714057 meters Centerline goodness [0,1] 0.9803904091273732 Centerline is valid? [True, True] Translation: X:33.45, Y:-1.63, Z:0.33 [[ 9.99084430e-01 -3.33345006e-02 -2.68162871e-02 3.34527704e+01] [ 3.33795747e-02 9.99441984e-01 1.23484246e-03 -1.62759383e+00] [ 2.67601604e-02 -2.12882813e-03 9.99639616e-01 3.27965858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.700714057 meters Centerline goodness [0,1] 0.9841935124289377 Centerline is valid? [True, True] Translation: X:33.48, Y:-1.62, Z:0.33 [[ 9.99073241e-01 -3.35718244e-02 -2.69368276e-02 3.34841220e+01] [ 3.36174091e-02 9.99434005e-01 1.24108468e-03 -1.62284643e+00] [ 2.68799160e-02 -2.14548084e-03 9.99636367e-01 3.29142016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.730714057 meters Centerline goodness [0,1] 0.9812717381610631 Centerline is valid? [True, True] Translation: X:33.51, Y:-1.63, Z:0.33 [[ 9.99042885e-01 -3.41078309e-02 -2.73855817e-02 3.35141684e+01] [ 3.41551681e-02 9.99415745e-01 1.26250826e-03 -1.62881012e+00] [ 2.73265201e-02 -2.19665904e-03 9.99624147e-01 3.27631723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.760714057 meters Centerline goodness [0,1] 0.9853648757016841 Centerline is valid? [True, True] Translation: X:33.55, Y:-1.62, Z:0.33 [[ 9.99016094e-01 -3.46563391e-02 -2.76727680e-02 3.35460633e+01] [ 3.47049040e-02 9.99396788e-01 1.27647535e-03 -1.62235695e+00] [ 2.76118375e-02 -2.23560017e-03 9.99616221e-01 3.28952201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.790714056999995 meters Centerline goodness [0,1] 0.9850024513081072 Centerline is valid? [True, True] Translation: X:33.58, Y:-1.62, Z:0.33 [[ 9.99009795e-01 -3.51703255e-02 -2.72484395e-02 3.35777357e+01] [ 3.52176281e-02 9.99378875e-01 1.25787575e-03 -1.62393635e+00] [ 2.71872749e-02 -2.21625560e-03 9.99627901e-01 3.29018980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.820714056999996 meters Centerline goodness [0,1] 0.9717779451508572 Centerline is valid? [True, True] Translation: X:33.61, Y:-1.64, Z:0.33 [[ 9.98987360e-01 -3.56320465e-02 -2.74701869e-02 3.36070927e+01] [ 3.56803168e-02 9.99362449e-01 1.26887440e-03 -1.63886860e+00] [ 2.74074607e-02 -2.24773446e-03 9.99621818e-01 3.27380705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.850714057 meters Centerline goodness [0,1] 0.9845162723536599 Centerline is valid? [True, True] Translation: X:33.64, Y:-1.63, Z:0.33 [[ 9.98922923e-01 -3.76140721e-02 -2.71693810e-02 3.36385391e+01] [ 3.76620315e-02 9.99289745e-01 1.25546224e-03 -1.62983947e+00] [ 2.71028608e-02 -2.27736410e-03 9.99630056e-01 3.29427671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.880714057 meters Centerline goodness [0,1] 0.9828389311105663 Centerline is valid? [True, True] Translation: X:33.67, Y:-1.63, Z:0.33 [[ 9.98886445e-01 -3.82626609e-02 -2.76014383e-02 3.36701111e+01] [ 3.83124243e-02 9.99264995e-01 1.27615394e-03 -1.63151466e+00] [ 2.75323221e-02 -2.33221089e-03 9.99618193e-01 3.29839608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.910714057 meters Centerline goodness [0,1] 0.9831465670579865 Centerline is valid? [True, True] Translation: X:33.70, Y:-1.63, Z:0.33 [[ 9.98817453e-01 -4.01486978e-02 -2.74185767e-02 3.37012142e+01] [ 4.01985294e-02 9.99190907e-01 1.26844511e-03 -1.63385073e+00] [ 2.73454661e-02 -2.36913158e-03 9.99623235e-01 3.30759581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.940714057 meters Centerline goodness [0,1] 0.9816916393297278 Centerline is valid? [True, True] Translation: X:33.73, Y:-1.64, Z:0.33 [[ 9.98812632e-01 -4.07764877e-02 -2.66571480e-02 3.37320714e+01] [ 4.08238344e-02 9.99165598e-01 1.23410731e-03 -1.63839786e+00] [ 2.65845826e-02 -2.32088897e-03 9.99643873e-01 3.31139566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.970714056999995 meters Centerline goodness [0,1] 0.9826320342479427 Centerline is valid? [True, True] Translation: X:33.76, Y:-1.64, Z:0.33 [[ 9.98810141e-01 -4.12026088e-02 -2.60892084e-02 3.37640530e+01] [ 4.12481439e-02 9.99148201e-01 1.20939114e-03 -1.63714806e+00] [ 2.60171556e-02 -2.28408356e-03 9.99658887e-01 3.32247407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.000714056999996 meters Centerline goodness [0,1] 0.9804243607954546 Centerline is valid? [True, True] Translation: X:33.80, Y:-1.64, Z:0.33 [[ 9.98811995e-01 -4.16485674e-02 -2.52981303e-02 3.37952036e+01] [ 4.16915790e-02 9.99129837e-01 1.17490446e-03 -1.64290202e+00] [ 2.52271837e-02 -2.22822767e-03 9.99679261e-01 3.33385300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.030714057 meters Centerline goodness [0,1] 0.9784163076786428 Centerline is valid? [True, True] Translation: X:33.83, Y:-1.64, Z:0.33 [[ 9.98806884e-01 -4.16639061e-02 -2.54740440e-02 3.38277387e+01] [ 4.17075833e-02 9.99129157e-01 1.18544191e-03 -1.64481631e+00] [ 2.54024699e-02 -2.24648836e-03 9.99674781e-01 3.33883383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.060714057 meters Centerline goodness [0,1] 0.9832490237841676 Centerline is valid? [True, True] Translation: X:33.86, Y:-1.64, Z:0.34 [[ 9.98805215e-01 -4.15864672e-02 -2.56653113e-02 3.38598359e+01] [ 4.16308240e-02 9.99132345e-01 1.19615265e-03 -1.64037272e+00] [ 2.55932989e-02 -2.26319156e-03 9.99669876e-01 3.35019735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.090714057 meters Centerline goodness [0,1] 0.9743225233229675 Centerline is valid? [True, True] Translation: X:33.89, Y:-1.65, Z:0.33 [[ 9.98827747e-01 -4.06203204e-02 -2.63272171e-02 3.38907566e+01] [ 4.06667073e-02 9.99172012e-01 1.22870254e-03 -1.65019783e+00] [ 2.62555082e-02 -2.29790342e-03 9.99652624e-01 3.33218699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.120714057 meters Centerline goodness [0,1] 0.9824090505767524 Centerline is valid? [True, True] Translation: X:33.92, Y:-1.64, Z:0.33 [[ 9.98861193e-01 -3.97496088e-02 -2.63872444e-02 3.39222767e+01] [ 3.97959377e-02 9.99207068e-01 1.23270760e-03 -1.64228794e+00] [ 2.63173215e-02 -2.28140892e-03 9.99651036e-01 3.34598487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.150714056999995 meters Centerline goodness [0,1] 0.9834348734824565 Centerline is valid? [True, True] Translation: X:33.95, Y:-1.64, Z:0.33 [[ 9.98944087e-01 -3.74697452e-02 -2.65843638e-02 3.39527187e+01] [ 3.75159818e-02 9.99295255e-01 1.24244320e-03 -1.64019903e+00] [ 2.65190746e-02 -2.23846980e-03 9.99645801e-01 3.34616269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.180714056999996 meters Centerline goodness [0,1] 0.9831314010308588 Centerline is valid? [True, True] Translation: X:33.98, Y:-1.64, Z:0.33 [[ 9.98997687e-01 -3.59006986e-02 -2.67350078e-02 3.39836048e+01] [ 3.59469145e-02 9.99352919e-01 1.24991614e-03 -1.64163053e+00] [ 2.66728352e-02 -2.20970437e-03 9.99641774e-01 3.34870952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.210714057 meters Centerline goodness [0,1] 0.9684013628164874 Centerline is valid? [True, True] Translation: X:34.01, Y:-1.65, Z:0.33 [[ 9.99052375e-01 -3.38564136e-02 -2.73513233e-02 3.40134116e+01] [ 3.39040754e-02 9.99424271e-01 1.28057801e-03 -1.65441216e+00] [ 2.72922206e-02 -2.20668583e-03 9.99625062e-01 3.33015211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.240714057 meters Centerline goodness [0,1] 0.9692743031572381 Centerline is valid? [True, True] Translation: X:34.04, Y:-1.65, Z:0.33 [[ 9.99123860e-01 -3.15820740e-02 -2.74606195e-02 3.40446201e+01] [ 3.16293114e-02 9.99498839e-01 1.28742274e-03 -1.65474245e+00] [ 2.74061978e-02 -2.15485526e-03 9.99622057e-01 3.32919672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.270714057 meters Centerline goodness [0,1] 0.9832236331804179 Centerline is valid? [True, True] Translation: X:34.08, Y:-1.64, Z:0.34 [[ 9.99294132e-01 -2.61226196e-02 -2.69971620e-02 3.40761693e+01] [ 2.61663056e-02 9.99656802e-01 1.26610743e-03 -1.64078151e+00] [ 2.69548226e-02 -1.97162972e-03 9.99634708e-01 3.35553293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.300714057 meters Centerline goodness [0,1] 0.9839294856099895 Centerline is valid? [True, True] Translation: X:34.11, Y:-1.64, Z:0.34 [[ 9.99356636e-01 -2.36900168e-02 -2.69276340e-02 3.41062612e+01] [ 2.37325913e-02 9.99717545e-01 1.26253719e-03 -1.63900149e+00] [ 2.68901187e-02 -1.90078745e-03 9.99636588e-01 3.36557041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.330714056999994 meters Centerline goodness [0,1] 0.9838314551690348 Centerline is valid? [True, True] Translation: X:34.14, Y:-1.64, Z:0.34 [[ 9.99420394e-01 -2.10830352e-02 -2.67279357e-02 3.41360016e+01] [ 2.11240247e-02 9.99776079e-01 1.25212920e-03 -1.63526718e+00] [ 2.66955521e-02 -1.81600503e-03 9.99641961e-01 3.37977688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.360714056999996 meters Centerline goodness [0,1] 0.9845775592311131 Centerline is valid? [True, True] Translation: X:34.17, Y:-1.63, Z:0.34 [[ 9.99533147e-01 -1.60584693e-02 -2.59925836e-02 3.41668436e+01] [ 1.60955293e-02 9.99869718e-01 1.21719086e-03 -1.63004460e+00] [ 2.59696510e-02 -1.63498700e-03 9.99661395e-01 3.39477427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.390714057 meters Centerline goodness [0,1] 0.9854780604596004 Centerline is valid? [True, True] Translation: X:34.20, Y:-1.63, Z:0.34 [[ 9.99561379e-01 -1.44475673e-02 -2.58518289e-02 3.41960792e+01] [ 1.44836223e-02 9.99894377e-01 1.20796940e-03 -1.62804040e+00] [ 2.58316461e-02 -1.58186768e-03 9.99665056e-01 3.40611692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.420714057 meters Centerline goodness [0,1] 0.9849622380122447 Centerline is valid? [True, True] Translation: X:34.23, Y:-1.63, Z:0.34 [[ 9.99613688e-01 -1.15735897e-02 -2.52690773e-02 3.42250450e+01] [ 1.16070268e-02 9.99931944e-01 1.17696658e-03 -1.62975488e+00] [ 2.52537358e-02 -1.46981076e-03 9.99679993e-01 3.40601564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.450714057 meters Centerline goodness [0,1] 0.9862781030706655 Centerline is valid? [True, True] Translation: X:34.25, Y:-1.63, Z:0.34 [[ 9.99633757e-01 -1.07925058e-02 -2.48168063e-02 3.42535485e+01] [ 1.08244385e-02 9.99940750e-01 1.15275788e-03 -1.62648940e+00] [ 2.48028948e-02 -1.42096368e-03 9.99691351e-01 3.41930252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.480714057 meters Centerline goodness [0,1] 0.9865999642665714 Centerline is valid? [True, True] Translation: X:34.28, Y:-1.63, Z:0.34 [[ 9.99628709e-01 -1.06946202e-02 -2.50613154e-02 3.42825314e+01] [ 1.07269911e-02 9.99941794e-01 1.15758284e-03 -1.62684354e+00] [ 2.50474768e-02 -1.42598555e-03 9.99685246e-01 3.42702017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.510714057 meters Centerline goodness [0,1] 0.9851589001963935 Centerline is valid? [True, True] Translation: X:34.31, Y:-1.63, Z:0.34 [[ 9.99635129e-01 -1.08607122e-02 -2.47316223e-02 3.43088801e+01] [ 1.08921621e-02 9.99940032e-01 1.13728961e-03 -1.63272347e+00] [ 2.47177874e-02 -1.40625548e-03 9.99693480e-01 3.42252876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.540714056999995 meters Centerline goodness [0,1] 0.9861197893421405 Centerline is valid? [True, True] Translation: X:34.34, Y:-1.63, Z:0.34 [[ 9.99627559e-01 -1.15637397e-02 -2.47188963e-02 3.43377555e+01] [ 1.15952611e-02 9.99932132e-01 1.13223526e-03 -1.63160011e+00] [ 2.47041258e-02 -1.41843562e-03 9.99693800e-01 3.43416398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.570714056999996 meters Centerline goodness [0,1] 0.984670914843367 Centerline is valid? [True, True] Translation: X:34.37, Y:-1.64, Z:0.34 [[ 9.99635857e-01 -1.21183075e-02 -2.41101716e-02 3.43656588e+01] [ 1.21483348e-02 9.99925602e-01 1.09933545e-03 -1.63899721e+00] [ 2.40950558e-02 -1.39183358e-03 9.99708703e-01 3.43235442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.600714057 meters Centerline goodness [0,1] 0.9855049875311721 Centerline is valid? [True, True] Translation: X:34.39, Y:-1.64, Z:0.35 [[ 9.99637486e-01 -1.39899203e-02 -2.30038713e-02 3.43943990e+01] [ 1.40176537e-02 9.99901202e-01 1.04477843e-03 -1.63772728e+00] [ 2.29869822e-02 -1.36685998e-03 9.99734830e-01 3.45347189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.630714057 meters Centerline goodness [0,1] 0.9851283761253751 Centerline is valid? [True, True] Translation: X:34.42, Y:-1.64, Z:0.35 [[ 9.99641689e-01 -1.45878865e-02 -2.24429951e-02 3.44228649e+01] [ 1.46143086e-02 9.99892691e-01 1.01372396e-03 -1.64057635e+00] [ 2.24257987e-02 -1.34134959e-03 9.99747610e-01 3.45823454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.660714057 meters Centerline goodness [0,1] 0.9846389147493018 Centerline is valid? [True, True] Translation: X:34.45, Y:-1.64, Z:0.35 [[ 9.99629649e-01 -1.56738384e-02 -2.22462462e-02 3.44508700e+01] [ 1.56999749e-02 9.99876247e-01 1.00069579e-03 -1.64468253e+00] [ 2.22278084e-02 -1.34959069e-03 9.99752021e-01 3.46052258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.690714057 meters Centerline goodness [0,1] 0.9845513700146076 Centerline is valid? [True, True] Translation: X:34.48, Y:-1.65, Z:0.35 [[ 9.99610582e-01 -1.64431522e-02 -2.25456768e-02 3.44792380e+01] [ 1.64701266e-02 9.99863847e-01 1.01125641e-03 -1.64663430e+00] [ 2.25259789e-02 -1.38219276e-03 9.99745302e-01 3.46486191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.720714056999995 meters Centerline goodness [0,1] 0.984019586022702 Centerline is valid? [True, True] Translation: X:34.51, Y:-1.65, Z:0.35 [[ 9.99612008e-01 -1.67631637e-02 -2.22447760e-02 3.45080698e+01] [ 1.67893795e-02 9.99858556e-01 9.92263763e-04 -1.64766576e+00] [ 2.22249962e-02 -1.36535476e-03 9.99752062e-01 3.46645659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.750714056999996 meters Centerline goodness [0,1] 0.9843669969936533 Centerline is valid? [True, True] Translation: X:34.54, Y:-1.65, Z:0.35 [[ 9.99620923e-01 -1.63719040e-02 -2.21353055e-02 3.45364962e+01] [ 1.63976434e-02 9.99865068e-01 9.81806856e-04 -1.64714695e+00] [ 2.21162447e-02 -1.34440152e-03 9.99754502e-01 3.46739676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.780714057 meters Centerline goodness [0,1] 0.9845862145884452 Centerline is valid? [True, True] Translation: X:34.56, Y:-1.65, Z:0.35 [[ 9.99625845e-01 -1.57800072e-02 -2.23419355e-02 3.45644716e+01] [ 1.58059540e-02 9.99874593e-01 9.85227737e-04 -1.65221014e+00] [ 2.23235868e-02 -1.33799471e-03 9.99749902e-01 3.46323523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.810714057 meters Centerline goodness [0,1] 0.9859493642699682 Centerline is valid? [True, True] Translation: X:34.59, Y:-1.65, Z:0.35 [[ 9.99631074e-01 -1.51570918e-02 -2.25383689e-02 3.45939149e+01] [ 1.51832125e-02 9.99884240e-01 9.88263193e-04 -1.64870448e+00] [ 2.25207806e-02 -1.33010344e-03 9.99745490e-01 3.47583747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.840714057 meters Centerline goodness [0,1] 0.9829324195019916 Centerline is valid? [True, True] Translation: X:34.62, Y:-1.66, Z:0.35 [[ 9.99658760e-01 -1.34125243e-02 -2.24157898e-02 3.46214501e+01] [ 1.34378311e-02 9.99909229e-01 9.78717688e-04 -1.65529291e+00] [ 2.24006280e-02 -1.27960331e-03 9.99748256e-01 3.47165825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.870714057 meters Centerline goodness [0,1] 0.9854258590720685 Centerline is valid? [True, True] Translation: X:34.65, Y:-1.65, Z:0.35 [[ 9.99712494e-01 -9.35938433e-03 -2.20755838e-02 3.46520126e+01] [ 9.38291179e-03 9.99955516e-01 9.62427774e-04 -1.65054067e+00] [ 2.20655940e-02 -1.16928433e-03 9.99755841e-01 3.48583970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.900714056999995 meters Centerline goodness [0,1] 0.98558141604735 Centerline is valid? [True, True] Translation: X:34.68, Y:-1.65, Z:0.35 [[ 9.99725639e-01 -7.17445774e-03 -2.22974042e-02 3.46815076e+01] [ 7.19787245e-03 9.99973624e-01 9.70028736e-04 -1.64757612e+00] [ 2.22898567e-02 -1.13025647e-03 9.99750911e-01 3.49194266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.930714056999996 meters Centerline goodness [0,1] 0.9864566366942591 Centerline is valid? [True, True] Translation: X:34.71, Y:-1.65, Z:0.35 [[ 9.99757102e-01 -2.90946557e-03 -2.18465661e-02 3.47100452e+01] [ 2.93084380e-03 9.99995257e-01 9.46607987e-04 -1.65116080e+00] [ 2.18437084e-02 -1.01040693e-03 9.99760887e-01 3.48792277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.960714057 meters Centerline goodness [0,1] 0.9866521323218616 Centerline is valid? [True, True] Translation: X:34.74, Y:-1.65, Z:0.35 [[ 9.99761564e-01 -9.69882010e-04 -2.18145324e-02 3.47377271e+01] [ 9.90705987e-04 9.99999064e-01 9.43805032e-04 -1.65229479e+00] [ 2.18135966e-02 -9.65191783e-04 9.99761589e-01 3.48819146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.990714057 meters Centerline goodness [0,1] 0.9866521323218616 Centerline is valid? [True, True] Translation: X:34.77, Y:-1.65, Z:0.35 [[ 9.99761256e-01 -1.24574782e-03 -2.18146720e-02 3.47651130e+01] [ 1.26656682e-03 9.99998756e-01 9.40567506e-04 -1.65339443e+00] [ 2.18134732e-02 -9.67972691e-04 9.99761589e-01 3.49221933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.020714057 meters Centerline goodness [0,1] 0.9872032103444432 Centerline is valid? [True, True] Translation: X:34.79, Y:-1.65, Z:0.35 [[ 9.99754909e-01 8.03420080e-04 -2.21241280e-02 3.47937327e+01] [-7.82609172e-04 9.99999243e-01 9.49285325e-04 -1.65366877e+00] [ 2.21248739e-02 -9.31738118e-04 9.99754781e-01 3.49702382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.050714057 meters Centerline goodness [0,1] 0.9882426432858131 Centerline is valid? [True, True] Translation: X:34.82, Y:-1.65, Z:0.35 [[ 9.99738990e-01 4.13380756e-03 -2.24691736e-02 3.48234375e+01] [-4.11321128e-03 9.99991077e-01 9.62785018e-04 -1.65013930e+00] [ 2.24729531e-02 -8.70113263e-04 9.99747073e-01 3.50623853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.080714056999994 meters Centerline goodness [0,1] 0.9883669103226956 Centerline is valid? [True, True] Translation: X:34.85, Y:-1.65, Z:0.35 [[ 9.99733059e-01 6.46631527e-03 -2.21810212e-02 3.48524571e+01] [-6.44684063e-03 9.99978768e-01 9.49382298e-04 -1.65108214e+00] [ 2.21866892e-02 -8.06131360e-04 9.99753520e-01 3.50831344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.110714056999996 meters Centerline goodness [0,1] 0.9883669103226956 Centerline is valid? [True, True] Translation: X:34.88, Y:-1.65, Z:0.35 [[ 9.99733745e-01 6.35908593e-03 -2.21811003e-02 3.48799068e+01] [-6.33962600e-03 9.99979455e-01 9.47529164e-04 -1.65216711e+00] [ 2.21866701e-02 -8.06657000e-04 9.99753520e-01 3.51234985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.140714057 meters Centerline goodness [0,1] 0.9887042153105784 Centerline is valid? [True, True] Translation: X:34.91, Y:-1.65, Z:0.35 [[ 9.99742617e-01 7.70247298e-03 -2.13394427e-02 3.49086921e+01] [-7.68483564e-03 9.99970059e-01 9.08396107e-04 -1.65479037e+00] [ 2.13458006e-02 -7.44172191e-04 9.99771875e-01 3.51951507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.170714057 meters Centerline goodness [0,1] 0.988905193881181 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.66, Z:0.35 [[ 9.99739513e-01 8.46857320e-03 -2.11941068e-02 3.49372198e+01] [-8.45143422e-03 9.99963883e-01 8.98108844e-04 -1.65543079e+00] [ 2.12009471e-02 -7.18754298e-04 9.99774976e-01 3.52470198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.200714057 meters Centerline goodness [0,1] 0.9885336420715144 Centerline is valid? [True, True] Translation: X:34.97, Y:-1.66, Z:0.35 [[ 9.99741425e-01 8.87529216e-03 -2.09359185e-02 3.49651555e+01] [-8.85869097e-03 9.99960369e-01 8.85563719e-04 -1.65881387e+00] [ 2.09429484e-02 -6.99869902e-04 9.99780427e-01 3.52407483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.230714057 meters Centerline goodness [0,1] 0.9890999688570539 Centerline is valid? [True, True] Translation: X:34.99, Y:-1.66, Z:0.35 [[ 9.99744644e-01 8.79438933e-03 -2.08159983e-02 3.49934956e+01] [-8.77800125e-03 9.99961087e-01 8.78525418e-04 -1.66018200e+00] [ 2.08229143e-02 -6.95578222e-04 9.99782938e-01 3.52887491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.260714057 meters Centerline goodness [0,1] 0.9897037893613236 Centerline is valid? [True, True] Translation: X:35.02, Y:-1.66, Z:0.35 [[ 9.99749933e-01 8.60792146e-03 -2.06391778e-02 3.50225214e+01] [-8.59181241e-03 9.99962712e-01 8.69056645e-04 -1.66202523e+00] [ 2.06458890e-02 -6.91511379e-04 9.99786612e-01 3.53062636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.290714056999995 meters Centerline goodness [0,1] 0.9876297768941904 Centerline is valid? [True, True] Translation: X:35.05, Y:-1.67, Z:0.35 [[ 9.99753854e-01 7.88406894e-03 -2.07382123e-02 3.50502476e+01] [-7.86768298e-03 9.99968669e-01 8.71606092e-04 -1.66802174e+00] [ 2.07444343e-02 -7.08229870e-04 9.99784560e-01 3.52658041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.320714056999996 meters Centerline goodness [0,1] 0.9886403975860845 Centerline is valid? [True, True] Translation: X:35.08, Y:-1.67, Z:0.35 [[ 9.99757189e-01 5.13527352e-03 -2.14287657e-02 3.50799015e+01] [-5.11718167e-03 9.99986503e-01 8.99027346e-04 -1.67317951e+00] [ 2.14330933e-02 -7.89154165e-04 9.99769973e-01 3.52341511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.350714057 meters Centerline goodness [0,1] 0.9889288249911253 Centerline is valid? [True, True] Translation: X:35.11, Y:-1.68, Z:0.35 [[ 9.99768913e-01 3.02058685e-03 -2.12837079e-02 3.51084406e+01] [-3.00228149e-03 9.99995095e-01 8.91965412e-04 -1.67754810e+00] [ 2.12862977e-02 -8.27859609e-04 9.99773078e-01 3.52366667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.380714057 meters Centerline goodness [0,1] 0.9862058276503409 Centerline is valid? [True, True] Translation: X:35.14, Y:-1.69, Z:0.35 [[ 9.99782380e-01 -1.27093998e-03 -2.08225195e-02 3.51374850e+01] [ 1.28936640e-03 9.99998789e-01 8.71525742e-04 -1.68875470e+00] [ 2.08213866e-02 -8.98183938e-04 9.99782808e-01 3.53083870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.410714057 meters Centerline goodness [0,1] 0.9879146083274524 Centerline is valid? [True, True] Translation: X:35.17, Y:-1.69, Z:0.35 [[ 9.99787639e-01 -3.65554549e-03 -2.02808591e-02 3.51667273e+01] [ 3.67350417e-03 9.99992893e-01 8.48315026e-04 -1.68925399e+00] [ 2.02776139e-02 -9.22636697e-04 9.99793962e-01 3.54777912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.440714057 meters Centerline goodness [0,1] 0.9881133531811667 Centerline is valid? [True, True] Translation: X:35.20, Y:-1.69, Z:0.36 [[ 9.99782013e-01 -6.24974633e-03 -1.99215094e-02 3.51963186e+01] [ 6.26756931e-03 9.99980012e-01 8.32349133e-04 -1.69106923e+00] [ 1.99159092e-02 -9.57027132e-04 9.99801201e-01 3.55535667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.470714056999995 meters Centerline goodness [0,1] 0.9874086910742097 Centerline is valid? [True, True] Translation: X:35.23, Y:-1.70, Z:0.35 [[ 9.99761617e-01 -1.01795037e-02 -1.93154589e-02 3.52267040e+01] [ 1.01969803e-02 9.99947684e-01 8.06520873e-04 -1.69964684e+00] [ 1.93062384e-02 -1.00328796e-03 9.99813114e-01 3.54856445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.500714056999996 meters Centerline goodness [0,1] 0.9868855344804823 Centerline is valid? [True, True] Translation: X:35.26, Y:-1.70, Z:0.36 [[ 9.99736503e-01 -1.19663400e-02 -1.95890420e-02 3.52556563e+01] [ 1.19846521e-02 9.99927847e-01 8.17680969e-04 -1.70439480e+00] [ 1.95778439e-02 -1.05223337e-03 9.99807782e-01 3.55067992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.530714057 meters Centerline goodness [0,1] 0.9877053687289683 Centerline is valid? [True, True] Translation: X:35.29, Y:-1.71, Z:0.36 [[ 9.99696558e-01 -1.42627936e-02 -2.00839429e-02 3.52854765e+01] [ 1.42824848e-02 9.99897650e-01 8.37336698e-04 -1.70684458e+00] [ 2.00699445e-02 -1.12393122e-03 9.99797947e-01 3.55812472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.560714057 meters Centerline goodness [0,1] 0.9876822413490252 Centerline is valid? [True, True] Translation: X:35.31, Y:-1.71, Z:0.36 [[ 9.99683707e-01 -1.53714458e-02 -1.99048901e-02 3.53129018e+01] [ 1.53909864e-02 9.99881208e-01 8.28865862e-04 -1.70969594e+00] [ 1.98897847e-02 -1.13495959e-03 9.99801534e-01 3.56683573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.590714057 meters Centerline goodness [0,1] 0.9873898811485314 Centerline is valid? [True, True] Translation: X:35.34, Y:-1.71, Z:0.36 [[ 9.99686207e-01 -1.58884426e-02 -1.93660563e-02 3.53414597e+01] [ 1.59069876e-02 9.99873153e-01 8.03929587e-04 -1.71115182e+00] [ 1.93508266e-02 -1.11173294e-03 9.99812137e-01 3.57820512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.620714057 meters Centerline goodness [0,1] 0.9867808519982433 Centerline is valid? [True, True] Translation: X:35.37, Y:-1.71, Z:0.36 [[ 9.99686582e-01 -1.63488529e-02 -1.89592156e-02 3.53701103e+01] [ 1.63666335e-02 9.99865751e-01 7.83043937e-04 -1.71457170e+00] [ 1.89438685e-02 -1.09309705e-03 9.99819951e-01 3.58539962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.650714056999995 meters Centerline goodness [0,1] 0.9863920236660458 Centerline is valid? [True, True] Translation: X:35.40, Y:-1.72, Z:0.36 [[ 9.99710067e-01 -1.55714801e-02 -1.83660050e-02 3.53999106e+01] [ 1.55880130e-02 9.99878213e-01 7.57368399e-04 -1.71757215e+00] [ 1.83519749e-02 -1.04343834e-03 9.99831044e-01 3.59114562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.680714056999996 meters Centerline goodness [0,1] 0.9858889521889653 Centerline is valid? [True, True] Translation: X:35.43, Y:-1.72, Z:0.36 [[ 9.99718887e-01 -1.51691267e-02 -1.82220951e-02 3.54281809e+01] [ 1.51853207e-02 9.99884415e-01 7.50657346e-04 -1.72304559e+00] [ 1.82086021e-02 -1.02715469e-03 9.99833682e-01 3.58635116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.710714057 meters Centerline goodness [0,1] 0.985250350140056 Centerline is valid? [True, True] Translation: X:35.46, Y:-1.72, Z:0.36 [[ 9.99717500e-01 -1.46235567e-02 -1.87369137e-02 3.54573059e+01] [ 1.46405466e-02 9.99892525e-01 7.69900066e-04 -1.72460578e+00] [ 1.87236413e-02 -1.04400123e-03 9.99824152e-01 3.58778486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.740714057 meters Centerline goodness [0,1] 0.9851683328593617 Centerline is valid? [True, True] Translation: X:35.49, Y:-1.73, Z:0.36 [[ 9.99727441e-01 -1.30328905e-02 -1.93697611e-02 3.54861047e+01] [ 1.30506782e-02 9.99914522e-01 7.92196412e-04 -1.72658514e+00] [ 1.93577809e-02 -1.04476901e-03 9.99812075e-01 3.58434932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.770714057 meters Centerline goodness [0,1] 0.9844759256420924 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.73, Z:0.36 [[ 9.99736677e-01 -1.21126823e-02 -1.94899696e-02 3.55140173e+01] [ 1.21304950e-02 9.99926106e-01 7.95974565e-04 -1.72906642e+00] [ 1.94788880e-02 -1.03218795e-03 9.99809736e-01 3.58303847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.800714057 meters Centerline goodness [0,1] 0.9856801909307876 Centerline is valid? [True, True] Translation: X:35.54, Y:-1.73, Z:0.36 [[ 9.99738693e-01 -1.12189504e-02 -1.99168386e-02 3.55431549e+01] [ 1.12373224e-02 9.99936531e-01 8.10755030e-04 -1.72572995e+00] [ 1.99064787e-02 -1.03435511e-03 9.99801311e-01 3.58215244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.830714056999994 meters Centerline goodness [0,1] 0.9853072808645345 Centerline is valid? [True, True] Translation: X:35.57, Y:-1.73, Z:0.36 [[ 9.99755222e-01 -1.04728612e-02 -1.94888363e-02 3.55705756e+01] [ 1.04902299e-02 9.99944665e-01 7.89189539e-04 -1.72917079e+00] [ 1.94794928e-02 -9.93438736e-04 9.99809763e-01 3.58095923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.860714056999996 meters Centerline goodness [0,1] 0.9854474844002269 Centerline is valid? [True, True] Translation: X:35.60, Y:-1.73, Z:0.36 [[ 9.99763623e-01 -9.68288282e-03 -1.94664031e-02 3.55993314e+01] [ 9.70001244e-03 9.99952645e-01 7.85727580e-04 -1.73086068e+00] [ 1.94578732e-02 -9.74366204e-04 9.99810203e-01 3.58449317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.890714057 meters Centerline goodness [0,1] 0.9856480170742862 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.73, Z:0.36 [[ 9.99778040e-01 -8.78244863e-03 -1.91504247e-02 3.56285816e+01] [ 8.79877158e-03 9.99960995e-01 7.68261605e-04 -1.73200866e+00] [ 1.91429306e-02 -9.36591295e-04 9.99816319e-01 3.59147108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.920714057 meters Centerline goodness [0,1] 0.9863400538517108 Centerline is valid? [True, True] Translation: X:35.66, Y:-1.73, Z:0.36 [[ 9.99789226e-01 -7.02097444e-03 -1.92927099e-02 3.56574866e+01] [ 7.03714046e-03 9.99974942e-01 7.70172508e-04 -1.73212142e+00] [ 1.92868191e-02 -9.05775686e-04 9.99813582e-01 3.59585653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.950714057 meters Centerline goodness [0,1] 0.9862097602552615 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.73, Z:0.36 [[ 9.99792834e-01 -6.16541146e-03 -1.93978738e-02 3.56867620e+01] [ 6.18156042e-03 9.99980595e-01 7.72661270e-04 -1.73091454e+00] [ 1.93927336e-02 -8.92410330e-04 9.99811545e-01 3.60177053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.980714057 meters Centerline goodness [0,1] 0.9866654988942655 Centerline is valid? [True, True] Translation: X:35.71, Y:-1.74, Z:0.36 [[ 9.99807198e-01 -5.00634984e-03 -1.89869244e-02 3.57144271e+01] [ 5.02156814e-03 9.99987108e-01 7.53922891e-04 -1.73638103e+00] [ 1.89829052e-02 -8.49121668e-04 9.99819448e-01 3.59652760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.010714057 meters Centerline goodness [0,1] 0.9861153560668908 Centerline is valid? [True, True] Translation: X:35.74, Y:-1.74, Z:0.36 [[ 9.99809696e-01 -5.41329675e-03 -1.87421547e-02 3.57421925e+01] [ 5.42815007e-03 9.99984992e-01 7.41727042e-04 -1.73947642e+00] [ 1.87378583e-02 -8.43321116e-04 9.99824075e-01 3.59295204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.040714056999995 meters Centerline goodness [0,1] 0.9858865232708256 Centerline is valid? [True, True] Translation: X:35.77, Y:-1.74, Z:0.36 [[ 9.99801517e-01 -5.97538026e-03 -1.90058419e-02 3.57705666e+01] [ 5.99065572e-03 9.99981777e-01 7.46891246e-04 -1.74214344e+00] [ 1.90010326e-02 -8.60600456e-04 9.99819094e-01 3.59273357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.070714056999996 meters Centerline goodness [0,1] 0.9868076755342347 Centerline is valid? [True, True] Translation: X:35.80, Y:-1.74, Z:0.36 [[ 9.99789453e-01 -6.87805416e-03 -1.93324067e-02 3.57988299e+01] [ 6.89394843e-03 9.99975951e-01 7.55632034e-04 -1.74272160e+00] [ 1.93267445e-02 -8.88749553e-04 9.99812826e-01 3.60003198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.100714057 meters Centerline goodness [0,1] 0.9865245593727477 Centerline is valid? [True, True] Translation: X:35.83, Y:-1.74, Z:0.36 [[ 9.99784290e-01 -7.65181288e-03 -1.93086489e-02 3.58279572e+01] [ 7.66776391e-03 9.99970319e-01 7.52208328e-04 -1.74434265e+00] [ 1.93023201e-02 -9.00100230e-04 9.99813288e-01 3.60559635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.130714057 meters Centerline goodness [0,1] 0.9850038089019479 Centerline is valid? [True, True] Translation: X:35.86, Y:-1.75, Z:0.36 [[ 9.99784865e-01 -8.80138293e-03 -1.87818762e-02 3.58567480e+01] [ 8.81659020e-03 9.99960869e-01 7.27026397e-04 -1.74809852e+00] [ 1.87747424e-02 -8.92462094e-04 9.99823341e-01 3.60730169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.160714057 meters Centerline goodness [0,1] 0.9848699248938718 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.75, Z:0.36 [[ 9.99776263e-01 -9.45956637e-03 -1.89192974e-02 3.58842660e+01] [ 9.47503292e-03 9.99954846e-01 7.28028241e-04 -1.75197240e+00] [ 1.89115563e-02 -9.07126321e-04 9.99820749e-01 3.60954036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.190714057 meters Centerline goodness [0,1] 0.9849935935022911 Centerline is valid? [True, True] Translation: X:35.91, Y:-1.75, Z:0.36 [[ 9.99770760e-01 -1.00810100e-02 -1.88891440e-02 3.59127543e+01] [ 1.00964801e-02 9.99948767e-01 7.23801993e-04 -1.75193268e+00] [ 1.88808796e-02 -9.14349935e-04 9.99821322e-01 3.61029297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.220714056999995 meters Centerline goodness [0,1] 0.9842206932476721 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.76, Z:0.36 [[ 9.99771170e-01 -1.02307483e-02 -1.87866864e-02 3.59398603e+01] [ 1.02459910e-02 9.99947253e-01 7.15283501e-04 -1.75789633e+00] [ 1.87783775e-02 -9.07608043e-04 9.99823259e-01 3.60632055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.250714056999996 meters Centerline goodness [0,1] 0.9856636282550525 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.76, Z:0.36 [[ 9.99760693e-01 -9.61358016e-03 -1.96503430e-02 3.59676130e+01] [ 9.63006302e-03 9.99953353e-01 7.44351634e-04 -1.76087990e+00] [ 1.96422705e-02 -9.33407547e-04 9.99806636e-01 3.60161502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.280714057 meters Centerline goodness [0,1] 0.9859210096833859 Centerline is valid? [True, True] Translation: X:36.00, Y:-1.76, Z:0.36 [[ 9.99760121e-01 -8.94649952e-03 -1.99915258e-02 3.59969851e+01] [ 8.96336305e-03 9.99959544e-01 7.54086572e-04 -1.75669576e+00] [ 1.99839706e-02 -9.33096987e-04 9.99799865e-01 3.60922612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.310714057 meters Centerline goodness [0,1] 0.9858584097792692 Centerline is valid? [True, True] Translation: X:36.03, Y:-1.76, Z:0.36 [[ 9.99763811e-01 -7.82439089e-03 -2.02756146e-02 3.60261614e+01] [ 7.84140835e-03 9.99968967e-01 7.59938745e-04 -1.75729382e+00] [ 2.02690393e-02 -9.18748629e-04 9.99794140e-01 3.61266540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.340714057 meters Centerline goodness [0,1] 0.9858757675034171 Centerline is valid? [True, True] Translation: X:36.05, Y:-1.76, Z:0.36 [[ 9.99786265e-01 -5.91608370e-03 -1.98097179e-02 3.60544778e+01] [ 5.93187927e-03 9.99982133e-01 7.38699060e-04 -1.75985693e+00] [ 1.98049938e-02 -8.56050029e-04 9.99803495e-01 3.61164745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.370714057 meters Centerline goodness [0,1] 0.9860978364758015 Centerline is valid? [True, True] Translation: X:36.08, Y:-1.76, Z:0.36 [[ 9.99808261e-01 -1.27285860e-03 -1.95402261e-02 3.60839643e+01] [ 1.28731820e-03 9.99998907e-01 7.27430741e-04 -1.76029452e+00] [ 1.95392788e-02 -7.52445753e-04 9.99808807e-01 3.61442648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.400714056999995 meters Centerline goodness [0,1] 0.9861333795554015 Centerline is valid? [True, True] Translation: X:36.11, Y:-1.76, Z:0.36 [[ 9.99819241e-01 1.32735002e-03 -1.89663814e-02 3.61121557e+01] [-1.31420976e-03 9.99998888e-01 7.05266077e-04 -1.76122611e+00] [ 1.89672965e-02 -6.80212791e-04 9.99819873e-01 3.61813608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.430714056999996 meters Centerline goodness [0,1] 0.9885727915347586 Centerline is valid? [True, True] Translation: X:36.14, Y:-1.76, Z:0.36 [[ 9.99806262e-01 7.16753731e-03 -1.83320513e-02 3.61423595e+01] [-7.15626136e-03 9.99974162e-01 6.80621607e-04 -1.75810464e+00] [ 1.83364560e-02 -5.49300794e-04 9.99831722e-01 3.63208157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.460714057 meters Centerline goodness [0,1] 0.989134913578105 Centerline is valid? [True, True] Translation: X:36.17, Y:-1.76, Z:0.36 [[ 9.99798846e-01 8.74501241e-03 -1.80496999e-02 3.61709985e+01] [-8.73434724e-03 9.99961631e-01 6.69627717e-04 -1.75873939e+00] [ 1.80548633e-02 -5.11840672e-04 9.99836867e-01 3.63693693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.490714057 meters Centerline goodness [0,1] 0.9895275522542754 Centerline is valid? [True, True] Translation: X:36.20, Y:-1.76, Z:0.36 [[ 9.99767346e-01 1.22602933e-02 -1.77465277e-02 3.61984869e+01] [-1.22505625e-02 9.99924743e-01 6.56937593e-04 -1.76176868e+00] [ 1.77532464e-02 -4.39379808e-04 9.99842302e-01 3.63678447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.520714057 meters Centerline goodness [0,1] 0.9891632846904412 Centerline is valid? [True, True] Translation: X:36.23, Y:-1.76, Z:0.36 [[ 9.99747683e-01 1.33322276e-02 -1.80782300e-02 3.62271838e+01] [-1.33223435e-02 9.99911031e-01 6.67071093e-04 -1.76265597e+00] [ 1.80855151e-02 -4.26058391e-04 9.99836353e-01 3.63490017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.550714057 meters Centerline goodness [0,1] 0.9897901916767398 Centerline is valid? [True, True] Translation: X:36.26, Y:-1.76, Z:0.36 [[ 9.99729480e-01 1.42500207e-02 -1.83821628e-02 3.62555117e+01] [-1.42399809e-02 9.99898377e-01 6.76957903e-04 -1.76417036e+00] [ 1.83899414e-02 -4.15013126e-04 9.99830805e-01 3.63374794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.580714056999994 meters Centerline goodness [0,1] 0.9892491688614481 Centerline is valid? [True, True] Translation: X:36.28, Y:-1.77, Z:0.36 [[ 9.99722811e-01 1.48832720e-02 -1.82425272e-02 3.62847138e+01] [-1.48735133e-02 9.99889158e-01 6.70506637e-04 -1.76583600e+00] [ 1.82504845e-02 -3.98990309e-04 9.99833366e-01 3.63395212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.610714056999996 meters Centerline goodness [0,1] 0.9887131234218874 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.77, Z:0.36 [[ 9.99720700e-01 1.57813268e-02 -1.75918082e-02 3.63126226e+01] [-1.57724137e-02 9.99875400e-01 6.45296374e-04 -1.77001460e+00] [ 1.75997999e-02 -3.67650865e-04 9.99845044e-01 3.63089623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.640714057 meters Centerline goodness [0,1] 0.9881856721685425 Centerline is valid? [True, True] Translation: X:36.34, Y:-1.77, Z:0.36 [[ 9.99729855e-01 1.54849455e-02 -1.73330300e-02 3.63392490e+01] [-1.54762766e-02 9.99880034e-01 6.34168806e-04 -1.77287536e+00] [ 1.73407707e-02 -3.65746721e-04 9.99849571e-01 3.63130964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.670714057 meters Centerline goodness [0,1] 0.9885431247981049 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.78, Z:0.36 [[ 9.99764298e-01 1.41927080e-02 -1.64291268e-02 3.63682258e+01] [-1.41847760e-02 9.99899211e-01 5.99237767e-04 -1.77824293e+00] [ 1.64359757e-02 -3.66053043e-04 9.99864853e-01 3.64199427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.700714057 meters Centerline goodness [0,1] 0.9873317158010005 Centerline is valid? [True, True] Translation: X:36.40, Y:-1.78, Z:0.36 [[ 9.99793132e-01 1.26053108e-02 -1.59624390e-02 3.63960283e+01] [-1.25976397e-02 9.99920478e-01 5.81037052e-04 -1.78351410e+00] [ 1.59684938e-02 -3.79827797e-04 9.99872423e-01 3.64428717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.730714057 meters Centerline goodness [0,1] 0.98785042716696 Centerline is valid? [True, True] Translation: X:36.42, Y:-1.79, Z:0.36 [[ 9.99816787e-01 1.11800458e-02 -1.55370278e-02 3.64244681e+01] [-1.11726350e-02 9.99937425e-01 5.63701229e-04 -1.78608863e+00] [ 1.55423578e-02 -3.90008411e-04 9.99879134e-01 3.64752801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.760714057 meters Centerline goodness [0,1] 0.9866909558508359 Centerline is valid? [True, True] Translation: X:36.45, Y:-1.79, Z:0.36 [[ 9.99845369e-01 7.93817179e-03 -1.56915177e-02 3.64536833e+01] [-7.93023080e-03 9.99968394e-01 5.68227785e-04 -1.79294966e+00] [ 1.56955324e-02 -4.43702562e-04 9.99876719e-01 3.64691048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.790714056999995 meters Centerline goodness [0,1] 0.987351270232608 Centerline is valid? [True, True] Translation: X:36.48, Y:-1.80, Z:0.36 [[ 9.99848962e-01 6.62803948e-03 -1.60661754e-02 3.64827247e+01] [-6.61955586e-03 9.99977922e-01 5.81164696e-04 -1.79533896e+00] [ 1.60696727e-02 -4.74725972e-04 9.99870762e-01 3.64716762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.820714056999996 meters Centerline goodness [0,1] 0.9858660270686996 Centerline is valid? [True, True] Translation: X:36.51, Y:-1.80, Z:0.36 [[ 9.99852406e-01 5.61477631e-03 -1.62369841e-02 3.65104449e+01] [-5.60599855e-03 9.99984115e-01 5.86067622e-04 -1.80441210e+00] [ 1.62400168e-02 -4.94956613e-04 9.99868000e-01 3.64420949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.850714057 meters Centerline goodness [0,1] 0.9851608639106241 Centerline is valid? [True, True] Translation: X:36.54, Y:-1.81, Z:0.36 [[ 9.99860117e-01 3.92497873e-03 -1.62585742e-02 3.65389763e+01] [-3.91598661e-03 9.99992161e-01 5.84868679e-04 -1.80731448e+00] [ 1.62607424e-02 -5.21118506e-04 9.99867650e-01 3.63952197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.880714057 meters Centerline goodness [0,1] 0.98506059116459 Centerline is valid? [True, True] Translation: X:36.57, Y:-1.81, Z:0.36 [[ 9.99860178e-01 3.13551758e-03 -1.64253803e-02 3.65678599e+01] [-3.12625256e-03 9.99994939e-01 5.89713910e-04 -1.81078865e+00] [ 1.64271462e-02 -5.38281568e-04 9.99864920e-01 3.64202888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.910714057 meters Centerline goodness [0,1] 0.98506059116459 Centerline is valid? [True, True] Translation: X:36.60, Y:-1.81, Z:0.36 [[ 9.99860500e-01 3.03098769e-03 -1.64254235e-02 3.65953230e+01] [-3.02172837e-03 9.99995261e-01 5.88508003e-04 -1.81168140e+00] [ 1.64271294e-02 -5.38792738e-04 9.99864920e-01 3.64606517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.940714057 meters Centerline goodness [0,1] 0.9860900731764555 Centerline is valid? [True, True] Translation: X:36.62, Y:-1.82, Z:0.36 [[ 9.99871195e-01 2.33926047e-03 -1.58783534e-02 3.66241639e+01] [-2.33054555e-03 9.99997123e-01 5.67337190e-04 -1.81565552e+00] [ 1.58796349e-02 -5.30258889e-04 9.99873770e-01 3.64781700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.970714056999995 meters Centerline goodness [0,1] 0.9852454465868085 Centerline is valid? [True, True] Translation: X:36.65, Y:-1.82, Z:0.37 [[ 9.99868969e-01 2.66878204e-03 -1.59662625e-02 3.66530690e+01] [-2.66003045e-03 9.99996300e-01 5.69342061e-04 -1.81790726e+00] [ 1.59677229e-02 -5.26796715e-04 9.99872369e-01 3.65049666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.000714056999996 meters Centerline goodness [0,1] 0.9842335144348567 Centerline is valid? [True, True] Translation: X:36.68, Y:-1.82, Z:0.36 [[ 9.99874582e-01 1.32978537e-03 -1.57814048e-02 3.66801554e+01] [-1.32108677e-03 9.99998970e-01 5.61605224e-04 -1.82399564e+00] [ 1.57821353e-02 -5.40686183e-04 9.99875308e-01 3.64931699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.030714057 meters Centerline goodness [0,1] 0.9832013285641288 Centerline is valid? [True, True] Translation: X:36.71, Y:-1.83, Z:0.36 [[ 9.99878424e-01 -1.44969114e-04 -1.55921802e-02 3.67086171e+01] [ 1.53617073e-04 9.99999835e-01 5.53438069e-04 -1.82856200e+00] [ 1.55920974e-02 -5.55766009e-04 9.99878281e-01 3.64860897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.060714057 meters Centerline goodness [0,1] 0.9851381850700507 Centerline is valid? [True, True] Translation: X:36.74, Y:-1.83, Z:0.37 [[ 9.99879451e-01 -1.07896061e-03 -1.54893599e-02 3.67378307e+01] [ 1.08759073e-03 9.99999258e-01 5.48751776e-04 -1.82798076e+00] [ 1.54887564e-02 -5.65531709e-04 9.99879882e-01 3.65710179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.090714057 meters Centerline goodness [0,1] 0.984420621896379 Centerline is valid? [True, True] Translation: X:36.77, Y:-1.83, Z:0.37 [[ 9.99884171e-01 -2.09793603e-03 -1.50745664e-02 3.67668855e+01] [ 2.10621011e-03 9.99997640e-01 5.33021905e-04 -1.83022375e+00] [ 1.50734125e-02 -5.64710370e-04 9.99886230e-01 3.66074372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.120714057 meters Centerline goodness [0,1] 0.9838396345238349 Centerline is valid? [True, True] Translation: X:36.79, Y:-1.84, Z:0.37 [[ 9.99883641e-01 -4.23670874e-03 -1.46545042e-02 3.67944988e+01] [ 4.24474262e-03 9.99990857e-01 5.17158173e-04 -1.83593875e+00] [ 1.46521792e-02 -5.79302595e-04 9.99892483e-01 3.65820147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.150714056999995 meters Centerline goodness [0,1] 0.983425060796109 Centerline is valid? [True, True] Translation: X:36.82, Y:-1.84, Z:0.37 [[ 9.99879148e-01 -5.67457232e-03 -1.44737092e-02 3.68230497e+01] [ 5.68254130e-03 9.99983724e-01 5.09516497e-04 -1.83923958e+00] [ 1.44705824e-02 -5.91702371e-04 9.99895121e-01 3.65962328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.180714056999996 meters Centerline goodness [0,1] 0.983254862694135 Centerline is valid? [True, True] Translation: X:36.85, Y:-1.84, Z:0.37 [[ 9.99870495e-01 -6.87092036e-03 -1.45527791e-02 3.68519406e+01] [ 6.87908868e-03 9.99976208e-01 5.11305424e-04 -1.84200572e+00] [ 1.45489197e-02 -6.11349065e-04 9.99893972e-01 3.66589584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.210714057 meters Centerline goodness [0,1] 0.9827248744787678 Centerline is valid? [True, True] Translation: X:36.88, Y:-1.85, Z:0.37 [[ 9.99856936e-01 -9.37069368e-03 -1.40818261e-02 3.68811190e+01] [ 9.37854130e-03 9.99955900e-01 4.91352318e-04 -1.84655068e+00] [ 1.40766008e-02 -6.23349011e-04 9.99900725e-01 3.67382907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.240714057 meters Centerline goodness [0,1] 0.9825364710893408 Centerline is valid? [True, True] Translation: X:36.91, Y:-1.85, Z:0.37 [[ 9.99834975e-01 -1.09889313e-02 -1.44660189e-02 3.69083414e+01] [ 1.09973713e-02 9.99939400e-01 5.04013551e-04 -1.85010978e+00] [ 1.44596036e-02 -6.63018557e-04 9.99895235e-01 3.68081231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.270714057 meters Centerline goodness [0,1] 0.9817717749654365 Centerline is valid? [True, True] Translation: X:36.94, Y:-1.85, Z:0.37 [[ 9.99808999e-01 -1.29936349e-02 -1.45990113e-02 3.69373345e+01] [ 1.30024121e-02 9.99915337e-01 5.06458103e-04 -1.85216550e+00] [ 1.45911946e-02 -6.96183731e-04 9.99893300e-01 3.67487327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.300714057 meters Centerline goodness [0,1] 0.9813795751215767 Centerline is valid? [True, True] Translation: X:36.97, Y:-1.86, Z:0.37 [[ 9.99742082e-01 -1.72838835e-02 -1.47321803e-02 3.69676274e+01] [ 1.72932342e-02 9.99850332e-01 5.07548933e-04 -1.85696273e+00] [ 1.47212030e-02 -7.62185071e-04 9.99891347e-01 3.67166449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.330714056999994 meters Centerline goodness [0,1] 0.9815927393583025 Centerline is valid? [True, True] Translation: X:37.00, Y:-1.86, Z:0.37 [[ 9.99713823e-01 -1.91339190e-02 -1.43584686e-02 3.69968327e+01] [ 1.91429884e-02 9.99816634e-01 4.94453872e-04 -1.85597759e+00] [ 1.43463749e-02 -7.69176369e-04 9.99896790e-01 3.67549385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.360714056999996 meters Centerline goodness [0,1] 0.982033378746594 Centerline is valid? [True, True] Translation: X:37.03, Y:-1.86, Z:0.37 [[ 9.99671718e-01 -2.12309385e-02 -1.43423447e-02 3.70274898e+01] [ 2.12401870e-02 9.99774280e-01 4.92800876e-04 -1.85667396e+00] [ 1.43286447e-02 -7.97273182e-04 9.99897022e-01 3.67648067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.390714057 meters Centerline goodness [0,1] 0.9817899461782288 Centerline is valid? [True, True] Translation: X:37.06, Y:-1.86, Z:0.37 [[ 9.99620311e-01 -2.38432720e-02 -1.38106102e-02 3.70582636e+01] [ 2.38520958e-02 9.99715386e-01 4.74530555e-04 -1.85675729e+00] [ 1.37953651e-02 -8.03762378e-04 9.99904516e-01 3.68092841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.420714057 meters Centerline goodness [0,1] 0.9811372857233893 Centerline is valid? [True, True] Translation: X:37.09, Y:-1.86, Z:0.37 [[ 9.99627955e-01 -2.35995038e-02 -1.36753269e-02 3.70891990e+01] [ 2.36081323e-02 9.99721179e-01 4.69846549e-04 -1.85843495e+00] [ 1.36604258e-02 -7.92520672e-04 9.99906378e-01 3.69432466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.450714057 meters Centerline goodness [0,1] 0.9819442962330595 Centerline is valid? [True, True] Translation: X:37.12, Y:-1.86, Z:0.37 [[ 9.99609291e-01 -2.49883383e-02 -1.25239350e-02 3.71200442e+01] [ 2.49956891e-02 9.99687466e-01 4.30732153e-04 -1.85858636e+00] [ 1.25092576e-02 -7.43608248e-04 9.99921480e-01 3.70703615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.480714057 meters Centerline goodness [0,1] 0.9824400247805003 Centerline is valid? [True, True] Translation: X:37.15, Y:-1.86, Z:0.37 [[ 9.99612465e-01 -2.49427082e-02 -1.23604884e-02 3.71523688e+01] [ 2.49498660e-02 9.99688613e-01 4.25200954e-04 -1.85652100e+00] [ 1.23460339e-02 -7.33428705e-04 9.99923516e-01 3.71212041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.510714057 meters Centerline goodness [0,1] 0.9812554582827444 Centerline is valid? [True, True] Translation: X:37.18, Y:-1.86, Z:0.37 [[ 9.99639875e-01 -2.40415787e-02 -1.19214971e-02 3.71823136e+01] [ 2.40481849e-02 9.99710716e-01 4.11081321e-04 -1.85774353e+00] [ 1.19081654e-02 -6.97623648e-04 9.99928852e-01 3.71863747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.540714056999995 meters Centerline goodness [0,1] 0.9817503464449419 Centerline is valid? [True, True] Translation: X:37.21, Y:-1.85, Z:0.37 [[ 9.99706469e-01 -2.14754289e-02 -1.12152287e-02 3.72139221e+01] [ 2.14811159e-02 9.99769179e-01 3.86848841e-04 -1.85278044e+00] [ 1.12043322e-02 -6.27650915e-04 9.99937033e-01 3.72821687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.570714056999996 meters Centerline goodness [0,1] 0.9810044180735492 Centerline is valid? [True, True] Translation: X:37.24, Y:-1.85, Z:0.37 [[ 9.99738001e-01 -2.02027205e-02 -1.07601245e-02 3.72448047e+01] [ 2.02078858e-02 9.99795731e-01 3.71527860e-04 -1.85289818e+00] [ 1.07504207e-02 -5.88869888e-04 9.99942039e-01 3.73476815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.600714057 meters Centerline goodness [0,1] 0.9744100765306123 Centerline is valid? [True, True] Translation: X:37.27, Y:-1.87, Z:0.38 [[ 9.99840163e-01 -1.48581855e-02 -9.94400770e-03 3.72737924e+01] [ 1.48623389e-02 9.99889490e-01 3.43910336e-04 -1.87291633e+00] [ 9.93779890e-03 -4.91646578e-04 9.99950498e-01 3.77180339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.630714057 meters Centerline goodness [0,1] 0.9829837328767124 Centerline is valid? [True, True] Translation: X:37.31, Y:-1.85, Z:0.37 [[ 9.99818707e-01 -1.62050727e-02 -9.99746828e-03 3.73056707e+01] [ 1.62093350e-02 9.99868560e-01 3.45454415e-04 -1.84790360e+00] [ 9.99055610e-03 -5.07444099e-04 9.99949964e-01 3.74295379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.660714057 meters Centerline goodness [0,1] 0.9827674787001756 Centerline is valid? [True, True] Translation: X:37.34, Y:-1.85, Z:0.37 [[ 9.99828641e-01 -1.53237494e-02 -1.03860819e-02 3.73364634e+01] [ 1.53283034e-02 9.99882450e-01 3.59006185e-04 -1.84914226e+00] [ 1.03793597e-02 -5.18145681e-04 9.99945999e-01 3.73972274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.690714057 meters Centerline goodness [0,1] 0.9825413466270139 Centerline is valid? [True, True] Translation: X:37.37, Y:-1.85, Z:0.37 [[ 9.99841520e-01 -1.42616705e-02 -1.06555341e-02 3.73674022e+01] [ 1.42664087e-02 9.99898162e-01 3.68794152e-04 -1.84955647e+00] [ 1.06491894e-02 -5.20751910e-04 9.99943160e-01 3.73669359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.720714056999995 meters Centerline goodness [0,1] 0.9840459750396706 Centerline is valid? [True, True] Translation: X:37.40, Y:-1.84, Z:0.37 [[ 9.99838174e-01 -1.36574975e-02 -1.17089307e-02 3.73980660e+01] [ 1.36631810e-02 9.99906572e-01 4.05539148e-04 -1.84464511e+00] [ 1.17022981e-02 -5.65454761e-04 9.99931366e-01 3.72239117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.750714056999996 meters Centerline goodness [0,1] 0.983965450891521 Centerline is valid? [True, True] Translation: X:37.43, Y:-1.84, Z:0.37 [[ 9.99830120e-01 -1.38600265e-02 -1.21503706e-02 3.74285628e+01] [ 1.38661616e-02 9.99903772e-01 4.20828429e-04 -1.84357980e+00] [ 1.21433687e-02 -5.89235940e-04 9.99926093e-01 3.71907179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.780714057 meters Centerline goodness [0,1] 0.98436025057925 Centerline is valid? [True, True] Translation: X:37.46, Y:-1.84, Z:0.37 [[ 9.99792015e-01 -1.48268321e-02 -1.40032811e-02 3.74581528e+01] [ 1.48350760e-02 9.99889837e-01 4.85016339e-04 -1.84346173e+00] [ 1.39945472e-02 -6.92655202e-04 9.99901832e-01 3.71430103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.810714057 meters Centerline goodness [0,1] 0.9825620100934178 Centerline is valid? [True, True] Translation: X:37.49, Y:-1.85, Z:0.37 [[ 9.99773521e-01 -1.55662826e-02 -1.45119668e-02 3.74867960e+01] [ 1.55752101e-02 9.99878573e-01 5.02362790e-04 -1.84824969e+00] [ 1.45023847e-02 -7.28275948e-04 9.99894570e-01 3.70880735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.840714057 meters Centerline goodness [0,1] 0.983959512780923 Centerline is valid? [True, True] Translation: X:37.52, Y:-1.85, Z:0.37 [[ 9.99755660e-01 -1.64434570e-02 -1.47726828e-02 3.75169580e+01] [ 1.64527915e-02 9.99864513e-01 5.10562784e-04 -1.84545650e+00] [ 1.47622859e-02 -7.53489904e-04 9.99890748e-01 3.71219702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.870714057 meters Centerline goodness [0,1] 0.9830216694282455 Centerline is valid? [True, True] Translation: X:37.55, Y:-1.85, Z:0.37 [[ 9.99739110e-01 -1.72730623e-02 -1.49450334e-02 3.75463439e+01] [ 1.72827003e-02 9.99850510e-01 5.15974254e-04 -1.84781212e+00] [ 1.49338868e-02 -7.74130174e-04 9.99888184e-01 3.71416270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.900714056999995 meters Centerline goodness [0,1] 0.9821782178217822 Centerline is valid? [True, True] Translation: X:37.58, Y:-1.85, Z:0.37 [[ 9.99702874e-01 -1.83485567e-02 -1.60466042e-02 3.75761357e+01] [ 1.83598014e-02 9.99831291e-01 5.53708821e-04 -1.85069115e+00] [ 1.60337373e-02 -8.48156767e-04 9.99871092e-01 3.71477431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.930714056999996 meters Centerline goodness [0,1] 0.9827808590223139 Centerline is valid? [True, True] Translation: X:37.61, Y:-1.85, Z:0.37 [[ 9.99678538e-01 -2.03178535e-02 -1.51659351e-02 3.76062398e+01] [ 2.03281217e-02 9.99793225e-01 5.23188552e-04 -1.85121839e+00] [ 1.51521691e-02 -8.31315340e-04 9.99884854e-01 3.71136926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.960714057 meters Centerline goodness [0,1] 0.9825723098160171 Centerline is valid? [True, True] Translation: X:37.64, Y:-1.85, Z:0.37 [[ 9.99605089e-01 -2.29888350e-02 -1.61610431e-02 3.76355329e+01] [ 2.30008390e-02 9.99735290e-01 5.57266870e-04 -1.85294710e+00] [ 1.61439542e-02 -9.28764348e-04 9.99869247e-01 3.71090422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.990714057 meters Centerline goodness [0,1] 0.9832690941194203 Centerline is valid? [True, True] Translation: X:37.67, Y:-1.85, Z:0.37 [[ 9.99557257e-01 -2.47772687e-02 -1.64735161e-02 3.76662013e+01] [ 2.47899793e-02 9.99692520e-01 5.67788421e-04 -1.85399995e+00] [ 1.64543826e-02 -9.75915158e-04 9.99864141e-01 3.71562776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.020714057 meters Centerline goodness [0,1] 0.9823788546255506 Centerline is valid? [True, True] Translation: X:37.70, Y:-1.85, Z:0.37 [[ 9.99502056e-01 -2.65638763e-02 -1.70293793e-02 3.76967302e+01] [ 2.65777221e-02 9.99646577e-01 5.87211198e-04 -1.85419527e+00] [ 1.70077621e-02 -1.03952091e-03 9.99854817e-01 3.72101245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.050714057 meters Centerline goodness [0,1] 0.9801347382967698 Centerline is valid? [True, True] Translation: X:37.73, Y:-1.86, Z:0.37 [[ 9.99383907e-01 -3.06185341e-02 -1.71555274e-02 3.77265983e+01] [ 3.06331815e-02 9.99530519e-01 5.91606882e-04 -1.85858550e+00] [ 1.71293591e-02 -1.11677078e-03 9.99852658e-01 3.72314859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.080714056999994 meters Centerline goodness [0,1] 0.9824038689897878 Centerline is valid? [True, True] Translation: X:37.76, Y:-1.85, Z:0.37 [[ 9.99327487e-01 -3.24484077e-02 -1.70784603e-02 3.77580443e+01] [ 3.24631959e-02 9.99472758e-01 5.89305278e-04 -1.85243335e+00] [ 1.70503338e-02 -1.14333037e-03 9.99853979e-01 3.73412629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.110714056999996 meters Centerline goodness [0,1] 0.9824906934464549 Centerline is valid? [True, True] Translation: X:37.79, Y:-1.85, Z:0.37 [[ 9.99179624e-01 -3.70554374e-02 -1.63392978e-02 3.77890694e+01] [ 3.70695942e-02 9.99312527e-01 5.64310625e-04 -1.84931446e+00] [ 1.63071542e-02 -1.16953882e-03 9.99866346e-01 3.74597892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.140714057 meters Centerline goodness [0,1] 0.9824009374593117 Centerline is valid? [True, True] Translation: X:37.82, Y:-1.85, Z:0.38 [[ 9.99106755e-01 -3.89635758e-02 -1.63563844e-02 3.78190308e+01] [ 3.89780197e-02 9.99239908e-01 5.65088220e-04 -1.85144790e+00] [ 1.63219342e-02 -1.20212293e-03 9.99866066e-01 3.75389694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.170714057 meters Centerline goodness [0,1] 0.9810474568231311 Centerline is valid? [True, True] Translation: X:37.85, Y:-1.86, Z:0.38 [[ 9.99059518e-01 -4.01785438e-02 -1.63022829e-02 3.78499982e+01] [ 4.01930770e-02 9.99191772e-01 5.64691068e-04 -1.85513412e+00] [ 1.62664185e-02 -1.21939890e-03 9.99866949e-01 3.75850367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.200714057 meters Centerline goodness [0,1] 0.9826819158401875 Centerline is valid? [True, True] Translation: X:37.88, Y:-1.85, Z:0.38 [[ 9.98927352e-01 -4.27800932e-02 -1.77203111e-02 3.78810187e+01] [ 4.27977010e-02 9.99083569e-01 6.15446955e-04 -1.85048358e+00] [ 1.76777428e-02 -1.37317538e-03 9.99842794e-01 3.75447703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.230714057 meters Centerline goodness [0,1] 0.981987672336811 Centerline is valid? [True, True] Translation: X:37.91, Y:-1.85, Z:0.37 [[ 9.98882872e-01 -4.32135935e-02 -1.91204779e-02 3.79124684e+01] [ 4.32341896e-02 9.99064744e-01 6.64930640e-04 -1.85109787e+00] [ 1.90738613e-02 -1.49084620e-03 9.99816966e-01 3.74968735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.260714056999994 meters Centerline goodness [0,1] 0.9828722290102985 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.85, Z:0.37 [[ 9.98881225e-01 -4.27127471e-02 -2.02958037e-02 3.79443906e+01] [ 4.27358760e-02 9.99086155e-01 7.07040523e-04 -1.84778852e+00] [ 2.02470568e-02 -1.57360845e-03 9.99793769e-01 3.74257860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.290714056999995 meters Centerline goodness [0,1] 0.9826368387675217 Centerline is valid? [True, True] Translation: X:37.98, Y:-1.85, Z:0.38 [[ 9.98922358e-01 -4.17949607e-02 -2.01817825e-02 3.79757557e+01] [ 4.18176690e-02 9.99125010e-01 7.04296935e-04 -1.84591759e+00] [ 2.01346875e-02 -1.54749305e-03 9.99796079e-01 3.75099499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.320714056999996 meters Centerline goodness [0,1] 0.9836606304200616 Centerline is valid? [True, True] Translation: X:38.01, Y:-1.84, Z:0.38 [[ 9.98988776e-01 -4.01848477e-02 -2.01644126e-02 3.80078640e+01] [ 4.02072075e-02 9.99191115e-01 7.04521194e-04 -1.84302811e+00] [ 2.01197909e-02 -1.51456349e-03 9.99796429e-01 3.76667806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.350714057 meters Centerline goodness [0,1] 0.9842166327357107 Centerline is valid? [True, True] Translation: X:38.04, Y:-1.84, Z:0.38 [[ 9.99071850e-01 -3.82488505e-02 -1.98107151e-02 3.80394017e+01] [ 3.82700742e-02 9.99267192e-01 6.93177411e-04 -1.83584832e+00] [ 1.97696844e-02 -1.45069157e-03 9.99803508e-01 3.78356439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.380714057 meters Centerline goodness [0,1] 0.9847941377109786 Centerline is valid? [True, True] Translation: X:38.07, Y:-1.83, Z:0.38 [[ 9.99249340e-01 -3.40352036e-02 -1.85030028e-02 3.80694715e+01] [ 3.40530064e-02 9.99419818e-01 6.47848867e-04 -1.82882488e+00] [ 1.84702180e-02 -1.27744543e-03 9.99828595e-01 3.80762774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.410714057 meters Centerline goodness [0,1] 0.9856328793645904 Centerline is valid? [True, True] Translation: X:38.10, Y:-1.82, Z:0.38 [[ 9.99325545e-01 -3.19020093e-02 -1.81856305e-02 3.81009749e+01] [ 3.19188526e-02 9.99490261e-01 6.36610896e-04 -1.82251078e+00] [ 1.81560514e-02 -1.21664599e-03 9.99834425e-01 3.82073940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.440714057 meters Centerline goodness [0,1] 0.9864486702069056 Centerline is valid? [True, True] Translation: X:38.13, Y:-1.82, Z:0.38 [[ 9.99446470e-01 -2.76389768e-02 -1.85159585e-02 3.81319705e+01] [ 2.76557196e-02 9.99617297e-01 6.48738002e-04 -1.81506874e+00] [ 1.84909419e-02 -1.16045106e-03 9.99828354e-01 3.81914391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.470714056999995 meters Centerline goodness [0,1] 0.9858684594630457 Centerline is valid? [True, True] Translation: X:38.16, Y:-1.82, Z:0.38 [[ 9.99490728e-01 -2.54388945e-02 -1.92651871e-02 3.81625620e+01] [ 2.54566172e-02 9.99675700e-01 6.75217644e-04 -1.81750629e+00] [ 1.92417626e-02 -1.16530027e-03 9.99814181e-01 3.80880163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.500714056999996 meters Centerline goodness [0,1] 0.9874734888653235 Centerline is valid? [True, True] Translation: X:38.19, Y:-1.81, Z:0.38 [[ 9.99508879e-01 -2.34857578e-02 -2.07465852e-02 3.81937028e+01] [ 2.35059065e-02 9.99723433e-01 7.27822219e-04 -1.81033843e+00] [ 2.07237539e-02 -1.21513206e-03 9.99784502e-01 3.80675151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.530714057 meters Centerline goodness [0,1] 0.9873991599439963 Centerline is valid? [True, True] Translation: X:38.22, Y:-1.81, Z:0.38 [[ 9.99520215e-01 -2.15696805e-02 -2.22280873e-02 3.82234038e+01] [ 2.15923414e-02 9.99766554e-01 7.79943193e-04 -1.80798631e+00] [ 2.22060751e-02 -1.25952544e-03 9.99752621e-01 3.79973552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.560714057 meters Centerline goodness [0,1] 0.9876235419820141 Centerline is valid? [True, True] Translation: X:38.25, Y:-1.81, Z:0.38 [[ 9.99551034e-01 -1.78933927e-02 -2.40324054e-02 3.82523123e+01] [ 1.79188091e-02 9.99839090e-01 8.42640243e-04 -1.80555539e+00] [ 2.40134607e-02 -1.27289401e-03 9.99710825e-01 3.78749171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.590714057 meters Centerline goodness [0,1] 0.9887367835281023 Centerline is valid? [True, True] Translation: X:38.28, Y:-1.80, Z:0.38 [[ 9.99572828e-01 -1.63270826e-02 -2.42402211e-02 3.82811506e+01] [ 1.63524521e-02 9.99865930e-01 8.48718082e-04 -1.79726846e+00] [ 2.42231141e-02 -1.24474259e-03 9.99705802e-01 3.80187233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.620714057 meters Centerline goodness [0,1] 0.9894943456828675 Centerline is valid? [True, True] Translation: X:38.31, Y:-1.80, Z:0.38 [[ 9.99610524e-01 -1.43994785e-02 -2.39051233e-02 3.83090689e+01] [ 1.44235569e-02 9.99895626e-01 8.35125022e-04 -1.79776880e+00] [ 2.38906029e-02 -1.17959667e-03 9.99713883e-01 3.80516327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.650714056999995 meters Centerline goodness [0,1] 0.9891255805644873 Centerline is valid? [True, True] Translation: X:38.34, Y:-1.79, Z:0.38 [[ 9.99663335e-01 -1.11222893e-02 -2.34416601e-02 3.83390088e+01] [ 1.11445068e-02 9.99937564e-01 8.17344451e-04 -1.79140609e+00] [ 2.34311058e-02 -1.07831502e-03 9.99724872e-01 3.81213024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.680714056999996 meters Centerline goodness [0,1] 0.9898754591882448 Centerline is valid? [True, True] Translation: X:38.37, Y:-1.79, Z:0.38 [[ 9.99672376e-01 -9.78147855e-03 -2.36529660e-02 3.83679558e+01] [ 9.80365746e-03 9.99951605e-01 8.21899926e-04 -1.78696961e+00] [ 2.36437819e-02 -1.05351623e-03 9.99719892e-01 3.82158259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.710714057 meters Centerline goodness [0,1] 0.9898158325669038 Centerline is valid? [True, True] Translation: X:38.40, Y:-1.78, Z:0.38 [[ 9.99702828e-01 -6.19649810e-03 -2.35766796e-02 3.83971105e+01] [ 6.21744366e-03 9.99980339e-01 8.15201413e-04 -1.78335172e+00] [ 2.35711647e-02 -9.61545835e-04 9.99721699e-01 3.82322219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.740714057 meters Centerline goodness [0,1] 0.9895623348116293 Centerline is valid? [True, True] Translation: X:38.43, Y:-1.78, Z:0.38 [[ 9.99731186e-01 -4.02130785e-03 -2.28338457e-02 3.84254458e+01] [ 4.04036260e-03 9.99991527e-01 7.88422263e-04 -1.78434852e+00] [ 2.28304817e-02 -8.80467340e-04 9.99738963e-01 3.82301372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.770714057 meters Centerline goodness [0,1] 0.9902535426351367 Centerline is valid? [True, True] Translation: X:38.45, Y:-1.78, Z:0.38 [[ 9.99747287e-01 -2.50593456e-03 -2.23401520e-02 3.84548961e+01] [ 2.52373362e-03 9.99996520e-01 7.68571221e-04 -1.78111022e+00] [ 2.23381483e-02 -8.24757586e-04 9.99750132e-01 3.83200508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.800714057 meters Centerline goodness [0,1] 0.9902535426351367 Centerline is valid? [True, True] Translation: X:38.48, Y:-1.78, Z:0.38 [[ 9.99746527e-01 -2.79115335e-03 -2.23403431e-02 3.84822770e+01] [ 2.80889880e-03 9.99995764e-01 7.62982624e-04 -1.78197866e+00] [ 2.23381189e-02 -8.25540992e-04 9.99750132e-01 3.83603897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.830714056999994 meters Centerline goodness [0,1] 0.9900765586762758 Centerline is valid? [True, True] Translation: X:38.51, Y:-1.78, Z:0.38 [[ 9.99762105e-01 6.49764641e-04 -2.18016528e-02 3.85115454e+01] [-6.33776537e-04 9.99999525e-01 7.40245149e-04 -1.78004143e+00] [ 2.18021235e-02 -7.26251672e-04 9.99762042e-01 3.84249413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.860714056999996 meters Centerline goodness [0,1] 0.9906596614127262 Centerline is valid? [True, True] Translation: X:38.54, Y:-1.78, Z:0.38 [[ 9.99762081e-01 1.79303290e-03 -2.17386087e-02 3.85403905e+01] [-1.77745609e-03 9.99998150e-01 7.35851594e-04 -1.77985929e+00] [ 2.17398879e-02 -6.97037098e-04 9.99763418e-01 3.84504535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.890714057 meters Centerline goodness [0,1] 0.9905308142150248 Centerline is valid? [True, True] Translation: X:38.57, Y:-1.78, Z:0.38 [[ 9.99754987e-01 2.40494507e-03 -2.20041214e-02 3.85684343e+01] [-2.38922766e-03 9.99996872e-01 7.40555562e-04 -1.78031960e+00] [ 2.20058336e-02 -6.87801261e-04 9.99757606e-01 3.84638897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.920714057 meters Centerline goodness [0,1] 0.9908508486006519 Centerline is valid? [True, True] Translation: X:38.60, Y:-1.78, Z:0.38 [[ 9.99744399e-01 2.77497711e-03 -2.24374039e-02 3.85972751e+01] [-2.75876882e-03 9.99995911e-01 7.53299764e-04 -1.78066674e+00] [ 2.24394025e-02 -6.91207609e-04 9.99747966e-01 3.84220417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.950714057 meters Centerline goodness [0,1] 0.9909170619843072 Centerline is valid? [True, True] Translation: X:38.63, Y:-1.78, Z:0.38 [[ 9.99738005e-01 2.53564230e-03 -2.27484318e-02 3.86257835e+01] [-2.51895573e-03 9.99996537e-01 7.62151071e-04 -1.78208170e+00] [ 2.27502856e-02 -7.04649099e-04 9.99740930e-01 3.83848827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.980714057 meters Centerline goodness [0,1] 0.9900137198893412 Centerline is valid? [True, True] Translation: X:38.65, Y:-1.79, Z:0.38 [[ 9.99733163e-01 1.82193333e-03 -2.30278941e-02 3.86531067e+01] [-1.80469331e-03 9.99998076e-01 7.69417906e-04 -1.78754526e+00] [ 2.30292516e-02 -7.27654310e-04 9.99734527e-01 3.82196163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.010714056999994 meters Centerline goodness [0,1] 0.991179097811523 Centerline is valid? [True, True] Translation: X:38.68, Y:-1.78, Z:0.38 [[ 9.99744191e-01 2.06453800e-03 -2.25231071e-02 3.86817404e+01] [-2.04816103e-03 9.99997621e-01 7.50163007e-04 -1.78428400e+00] [ 2.25246023e-02 -7.03840159e-04 9.99746041e-01 3.83728017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.040714056999995 meters Centerline goodness [0,1] 0.9911496493468666 Centerline is valid? [True, True] Translation: X:38.71, Y:-1.79, Z:0.38 [[ 9.99748902e-01 1.71816636e-03 -2.23423453e-02 3.87105049e+01] [-1.70199989e-03 9.99998276e-01 7.42575288e-04 -1.78515248e+00] [ 2.23435826e-02 -7.04362160e-04 9.99750103e-01 3.84460869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.070714056999996 meters Centerline goodness [0,1] 0.9904721433204356 Centerline is valid? [True, True] Translation: X:38.74, Y:-1.79, Z:0.39 [[ 9.99771392e-01 1.18459427e-03 -2.13485682e-02 3.87371855e+01] [-1.16976152e-03 9.99999066e-01 7.07263271e-04 -1.78689024e+00] [ 2.13493861e-02 -6.82128851e-04 9.99771843e-01 3.85539224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.100714057 meters Centerline goodness [0,1] 0.9900154124505797 Centerline is valid? [True, True] Translation: X:38.77, Y:-1.79, Z:0.39 [[ 9.99788914e-01 6.96625785e-04 -2.05339197e-02 3.87656915e+01] [-6.82865402e-04 9.99999538e-01 6.77133439e-04 -1.78761193e+00] [ 2.05343819e-02 -6.62968602e-04 9.99788928e-01 3.86875553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.130714057 meters Centerline goodness [0,1] 0.9909050179211469 Centerline is valid? [True, True] Translation: X:38.79, Y:-1.79, Z:0.39 [[ 9.99809715e-01 2.02593394e-04 -1.95062096e-02 3.87947415e+01] [-1.90108342e-04 9.99999776e-01 6.41907461e-04 -1.78923787e+00] [ 1.95063353e-02 -6.38077023e-04 9.99809530e-01 3.87541659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.160714057 meters Centerline goodness [0,1] 0.9898804869876019 Centerline is valid? [True, True] Translation: X:38.82, Y:-1.80, Z:0.39 [[ 9.99820945e-01 -1.49804320e-03 -1.88635542e-02 3.88220999e+01] [ 1.50999199e-03 9.99998668e-01 6.19205323e-04 -1.79590604e+00] [ 1.88626015e-02 -6.47578267e-04 9.99821876e-01 3.87276119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.190714057 meters Centerline goodness [0,1] 0.9900336670308354 Centerline is valid? [True, True] Translation: X:38.85, Y:-1.80, Z:0.39 [[ 9.99810218e-01 -2.72239450e-03 -1.92903037e-02 3.88510718e+01] [ 2.73507432e-03 9.99996061e-01 6.30963487e-04 -1.79680003e+00] [ 1.92885099e-02 -6.83604156e-04 9.99813726e-01 3.87799747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.220714056999995 meters Centerline goodness [0,1] 0.9910078347578347 Centerline is valid? [True, True] Translation: X:38.88, Y:-1.80, Z:0.39 [[ 9.99798857e-01 -4.01874784e-03 -1.96493097e-02 3.88793358e+01] [ 4.03212479e-03 9.99991665e-01 6.41213942e-04 -1.79849538e+00] [ 1.96465690e-02 -7.20313435e-04 9.99806728e-01 3.87931838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.250714056999996 meters Centerline goodness [0,1] 0.9901265935633413 Centerline is valid? [True, True] Translation: X:38.91, Y:-1.80, Z:0.39 [[ 9.99750146e-01 -7.88366640e-03 -2.09163235e-02 3.89084677e+01] [ 7.89963285e-03 9.99968566e-01 6.80832485e-04 -1.80304483e+00] [ 2.09102986e-02 -8.45893653e-04 9.99780998e-01 3.86995397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.280714057 meters Centerline goodness [0,1] 0.990392331698618 Centerline is valid? [True, True] Translation: X:38.94, Y:-1.81, Z:0.39 [[ 9.99726129e-01 -9.94001970e-03 -2.11863855e-02 3.89380396e+01] [ 9.95684032e-03 9.99950192e-01 6.88594398e-04 -1.80615517e+00] [ 2.11784856e-02 -8.99355270e-04 9.99775306e-01 3.87039442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.310714057 meters Centerline goodness [0,1] 0.99059903317071 Centerline is valid? [True, True] Translation: X:38.97, Y:-1.81, Z:0.39 [[ 9.99655393e-01 -1.46946478e-02 -2.17523088e-02 3.89683755e+01] [ 1.47134907e-02 9.99891501e-01 7.06449709e-04 -1.81185404e+00] [ 2.17395676e-02 -1.02625865e-03 9.99763141e-01 3.86709351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.340714057 meters Centerline goodness [0,1] 0.9903651454128747 Centerline is valid? [True, True] Translation: X:39.00, Y:-1.82, Z:0.39 [[ 9.99610032e-01 -1.72281488e-02 -2.19766917e-02 3.89977071e+01] [ 1.72479876e-02 9.99850988e-01 7.13475511e-04 -1.81563439e+00] [ 2.19611251e-02 -1.09225098e-03 9.99758229e-01 3.86984760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.370714057 meters Centerline goodness [0,1] 0.9899589025880262 Centerline is valid? [True, True] Translation: X:39.03, Y:-1.82, Z:0.39 [[ 9.99564664e-01 -1.95733829e-02 -2.20763338e-02 3.90257680e+01] [ 1.95939492e-02 9.99807764e-01 7.15656340e-04 -1.82047212e+00] [ 2.20580821e-02 -1.14790735e-03 9.99756032e-01 3.86746811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.400714056999995 meters Centerline goodness [0,1] 0.9900738894329209 Centerline is valid? [True, True] Translation: X:39.06, Y:-1.82, Z:0.39 [[ 9.99522869e-01 -2.17268614e-02 -2.19540009e-02 3.90551978e+01] [ 2.17476899e-02 9.99763239e-01 7.10396609e-04 -1.82336037e+00] [ 2.19333683e-02 -1.18750646e-03 9.99758729e-01 3.86935156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.430714056999996 meters Centerline goodness [0,1] 0.9895120433739223 Centerline is valid? [True, True] Translation: X:39.08, Y:-1.83, Z:0.39 [[ 9.99406877e-01 -2.57794552e-02 -2.28322946e-02 3.90849164e+01] [ 2.58030204e-02 9.99666774e-01 7.38043076e-04 -1.82631585e+00] [ 2.28056599e-02 -1.32674749e-03 9.99739037e-01 3.87399609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.460714057 meters Centerline goodness [0,1] 0.9895724481401605 Centerline is valid? [True, True] Translation: X:39.12, Y:-1.83, Z:0.39 [[ 9.99367313e-01 -2.72699517e-02 -2.28325015e-02 3.91152650e+01] [ 2.72938985e-02 9.99627180e-01 7.37769505e-04 -1.83132622e+00] [ 2.28038702e-02 -1.36049071e-03 9.99739032e-01 3.87746285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.490714057 meters Centerline goodness [0,1] 0.9893139228743999 Centerline is valid? [True, True] Translation: X:39.15, Y:-1.83, Z:0.39 [[ 9.99300383e-01 -2.98280077e-02 -2.25617763e-02 3.91458970e+01] [ 2.98520512e-02 9.99554062e-01 7.29549397e-04 -1.83074247e+00] [ 2.25299542e-02 -1.40255429e-03 9.99745185e-01 3.89205036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.520714057 meters Centerline goodness [0,1] 0.9894185762772022 Centerline is valid? [True, True] Translation: X:39.18, Y:-1.83, Z:0.39 [[ 9.99298995e-01 -3.07623616e-02 -2.13353361e-02 3.91766814e+01] [ 3.07840863e-02 9.99525819e-01 6.90489218e-04 -1.83198629e+00] [ 2.13039783e-02 -1.34679401e-03 9.99772137e-01 3.90105499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.550714057 meters Centerline goodness [0,1] 0.9890865533915976 Centerline is valid? [True, True] Translation: X:39.21, Y:-1.84, Z:0.39 [[ 9.99256823e-01 -3.20554604e-02 -2.14067704e-02 3.92068313e+01] [ 3.20776347e-02 9.99485140e-01 6.93190294e-04 -1.83640206e+00] [ 2.13735284e-02 -1.37935369e-03 9.99770609e-01 3.90639354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.580714056999994 meters Centerline goodness [0,1] 0.9888928381020081 Centerline is valid? [True, True] Translation: X:39.24, Y:-1.84, Z:0.39 [[ 9.99176678e-01 -3.47144691e-02 -2.09969271e-02 3.92375084e+01] [ 3.47363945e-02 9.99396278e-01 6.80293614e-04 -1.83647696e+00] [ 2.09606348e-02 -1.40909106e-03 9.99779309e-01 3.91171338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.610714056999996 meters Centerline goodness [0,1] 0.9892263356240302 Centerline is valid? [True, True] Translation: X:39.27, Y:-1.84, Z:0.39 [[ 9.99130971e-01 -3.58379899e-02 -2.12824230e-02 3.92688062e+01] [ 3.58607828e-02 9.99356557e-01 6.90173349e-04 -1.83916251e+00] [ 2.12439946e-02 -1.45277792e-03 9.99773265e-01 3.91238495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.640714057 meters Centerline goodness [0,1] 0.9889614427860697 Centerline is valid? [True, True] Translation: X:39.30, Y:-1.84, Z:0.39 [[ 9.99096844e-01 -3.68349132e-02 -2.11822155e-02 3.93004267e+01] [ 3.68577392e-02 9.99320286e-01 6.88070717e-04 -1.84033777e+00] [ 2.11424726e-02 -1.46817786e-03 9.99775395e-01 3.91445724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.670714057 meters Centerline goodness [0,1] 0.9881005140932458 Centerline is valid? [True, True] Translation: X:39.33, Y:-1.84, Z:0.39 [[ 9.99020648e-01 -3.87483465e-02 -2.13614320e-02 3.93306596e+01] [ 3.87720153e-02 9.99247841e-01 6.94814483e-04 -1.84256361e+00] [ 2.13184419e-02 -1.52235978e-03 9.99771577e-01 3.91563687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.700714057 meters Centerline goodness [0,1] 0.9865005883789605 Centerline is valid? [True, True] Translation: X:39.36, Y:-1.85, Z:0.39 [[ 9.98995018e-01 -3.93361695e-02 -2.14853270e-02 3.93617886e+01] [ 3.93602624e-02 9.99224840e-01 6.99471639e-04 -1.84741373e+00] [ 2.14411579e-02 -1.54443679e-03 9.99768919e-01 3.91451286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.730714057 meters Centerline goodness [0,1] 0.9873121869782971 Centerline is valid? [True, True] Translation: X:39.39, Y:-1.85, Z:0.39 [[ 9.98951688e-01 -4.06895806e-02 -2.09734044e-02 3.93941036e+01] [ 4.07128607e-02 9.99170654e-01 6.84013493e-04 -1.84651539e+00] [ 2.09281780e-02 -1.53718373e-03 9.99779800e-01 3.92626657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.760714056999994 meters Centerline goodness [0,1] 0.9864167889377974 Centerline is valid? [True, True] Translation: X:39.43, Y:-1.85, Z:0.39 [[ 9.98935878e-01 -4.10057550e-02 -2.11101688e-02 3.94257725e+01] [ 4.10294391e-02 9.99157700e-01 6.89852662e-04 -1.84755793e+00] [ 2.10640998e-02 -1.55525696e-03 9.99776918e-01 3.92912879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.790714056999995 meters Centerline goodness [0,1] 0.9879783120750188 Centerline is valid? [True, True] Translation: X:39.46, Y:-1.84, Z:0.39 [[ 9.98937742e-01 -4.11089454e-02 -2.08192559e-02 3.94579765e+01] [ 4.11320284e-02 9.99153488e-01 6.81552581e-04 -1.84430927e+00] [ 2.07736142e-02 -1.53716682e-03 9.99783023e-01 3.93849765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.820714056999996 meters Centerline goodness [0,1] 0.9859755015089651 Centerline is valid? [True, True] Translation: X:39.49, Y:-1.85, Z:0.39 [[ 9.98925257e-01 -4.12161478e-02 -2.12028260e-02 3.94889970e+01] [ 4.12401522e-02 9.99149021e-01 6.95944408e-04 -1.84964887e+00] [ 2.11560987e-02 -1.56960422e-03 9.99774953e-01 3.93833316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.850714057 meters Centerline goodness [0,1] 0.9877367519084819 Centerline is valid? [True, True] Translation: X:39.52, Y:-1.84, Z:0.39 [[ 9.98860850e-01 -4.24096503e-02 -2.18729189e-02 3.95209710e+01] [ 4.24355278e-02 9.99098948e-01 7.20085094e-04 -1.84388469e+00] [ 2.18226717e-02 -1.64745367e-03 9.99760500e-01 3.94952620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.880714057 meters Centerline goodness [0,1] 0.9865975020593539 Centerline is valid? [True, True] Translation: X:39.55, Y:-1.84, Z:0.40 [[ 9.98816851e-01 -4.32180285e-02 -2.22957490e-02 3.95526894e+01] [ 4.32451439e-02 9.99064221e-01 7.35228247e-04 -1.84307460e+00] [ 2.22431100e-02 -1.69854124e-03 9.99751149e-01 3.95838085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.910714057 meters Centerline goodness [0,1] 0.9873491153305518 Centerline is valid? [True, True] Translation: X:39.58, Y:-1.84, Z:0.40 [[ 9.98700060e-01 -4.56329018e-02 -2.27118758e-02 3.95840494e+01] [ 4.56616847e-02 9.98956680e-01 7.50054741e-04 -1.84433926e+00] [ 2.26539528e-02 -1.78614222e-03 9.99741771e-01 3.95903811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.940714057 meters Centerline goodness [0,1] 0.9833515588386261 Centerline is valid? [True, True] Translation: X:39.61, Y:-1.86, Z:0.40 [[ 9.98647446e-01 -4.67938191e-02 -2.26631046e-02 3.96144455e+01] [ 4.68228100e-02 9.98902929e-01 7.49971611e-04 -1.85595778e+00] [ 2.26031476e-02 -1.81010748e-03 9.99742878e-01 3.95216766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.970714056999995 meters Centerline goodness [0,1] 0.9849355177577613 Centerline is valid? [True, True] Translation: X:39.65, Y:-1.85, Z:0.40 [[ 9.98581460e-01 -4.82385405e-02 -2.25413168e-02 3.96463178e+01] [ 4.82676335e-02 9.98834158e-01 7.48046307e-04 -1.84829289e+00] [ 2.24789526e-02 -1.83500119e-03 9.99745632e-01 3.96252139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.000714056999996 meters Centerline goodness [0,1] 0.9850211584533058 Centerline is valid? [True, True] Translation: X:39.68, Y:-1.85, Z:0.40 [[ 9.98573118e-01 -4.83790630e-02 -2.26096137e-02 3.96781736e+01] [ 4.84083927e-02 9.98827344e-01 7.51389468e-04 -1.84804691e+00] [ 2.25467489e-02 -1.84481238e-03 9.99744088e-01 3.96838660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.030714057 meters Centerline goodness [0,1] 0.9843770983481803 Centerline is valid? [True, True] Translation: X:39.71, Y:-1.85, Z:0.40 [[ 9.98571321e-01 -4.81654229e-02 -2.31388960e-02 3.97103822e+01] [ 4.81961235e-02 9.98837594e-01 7.70631916e-04 -1.84774546e+00] [ 2.30748814e-02 -1.88473602e-03 9.99731963e-01 3.96951750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.060714057 meters Centerline goodness [0,1] 0.9855374680478945 Centerline is valid? [True, True] Translation: X:39.74, Y:-1.84, Z:0.40 [[ 9.98648494e-01 -4.65445905e-02 -2.31254519e-02 3.97419673e+01] [ 4.65748544e-02 9.98914505e-01 7.71513375e-04 -1.84383031e+00] [ 2.30644396e-02 -1.84753523e-03 9.99732273e-01 3.97363084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.090714057 meters Centerline goodness [0,1] 0.9844552581778859 Centerline is valid? [True, True] Translation: X:39.77, Y:-1.85, Z:0.40 [[ 9.98685159e-01 -4.58320407e-02 -2.29647026e-02 3.97731193e+01] [ 4.58617199e-02 9.98947503e-01 7.67106292e-04 -1.84705839e+00] [ 2.29053743e-02 -1.81929843e-03 9.99735982e-01 3.98007212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.120714057 meters Centerline goodness [0,1] 0.9841623360554318 Centerline is valid? [True, True] Translation: X:39.80, Y:-1.85, Z:0.40 [[ 9.98748455e-01 -4.47219236e-02 -2.23935774e-02 3.98039310e+01] [ 4.47498900e-02 9.98997941e-01 7.49051232e-04 -1.84650406e+00] [ 2.23376387e-02 -1.75022388e-03 9.99748952e-01 3.99335208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.150714056999995 meters Centerline goodness [0,1] 0.9854482479420629 Centerline is valid? [True, True] Translation: X:39.83, Y:-1.84, Z:0.40 [[ 9.98878915e-01 -4.24137017e-02 -2.10235775e-02 3.98345927e+01] [ 4.24378518e-02 9.99098861e-01 7.03701040e-04 -1.83642552e+00] [ 2.09747857e-02 -1.59510760e-03 9.99778733e-01 4.01822350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.180714056999996 meters Centerline goodness [0,1] 0.9845395625168782 Centerline is valid? [True, True] Translation: X:39.86, Y:-1.84, Z:0.40 [[ 9.98943172e-01 -4.08925508e-02 -2.09842370e-02 3.98649213e+01] [ 4.09162792e-02 9.99162331e-01 7.02497715e-04 -1.84303272e+00] [ 2.09379322e-02 -1.56035220e-03 9.99779560e-01 4.02237287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.210714057 meters Centerline goodness [0,1] 0.9874142653416936 Centerline is valid? [True, True] Translation: X:39.90, Y:-1.83, Z:0.40 [[ 9.99070417e-01 -3.70630757e-02 -2.20143287e-02 3.98959555e+01] [ 3.70882735e-02 9.99311721e-01 7.37288210e-04 -1.82867475e+00] [ 2.19718506e-02 -1.55307628e-03 9.99757383e-01 4.02847338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.240714057 meters Centerline goodness [0,1] 0.9868623024830699 Centerline is valid? [True, True] Translation: X:39.93, Y:-1.82, Z:0.40 [[ 9.99138225e-01 -3.45670723e-02 -2.29766051e-02 3.99277017e+01] [ 3.45938769e-02 9.99401156e-01 7.70029376e-04 -1.82485350e+00] [ 2.29362280e-02 -1.56421563e-03 9.99735706e-01 4.02762961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.270714057 meters Centerline goodness [0,1] 0.9869223472015178 Centerline is valid? [True, True] Translation: X:39.96, Y:-1.83, Z:0.40 [[ 9.99213433e-01 -3.16809043e-02 -2.38502936e-02 3.99572841e+01] [ 3.17089841e-02 9.99496824e-01 7.99973117e-04 -1.82567514e+00] [ 2.38129488e-02 -1.55561246e-03 9.99715221e-01 4.01893483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.300714057 meters Centerline goodness [0,1] 0.9878010139416984 Centerline is valid? [True, True] Translation: X:39.99, Y:-1.82, Z:0.40 [[ 9.99387686e-01 -2.49080445e-02 -2.45731981e-02 3.99866357e+01] [ 2.49358019e-02 9.99688715e-01 8.23757007e-04 -1.82298271e+00] [ 2.45450307e-02 -1.43600501e-03 9.99697694e-01 4.00928072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.330714056999994 meters Centerline goodness [0,1] 0.988763534833042 Centerline is valid? [True, True] Translation: X:40.02, Y:-1.81, Z:0.40 [[ 9.99460888e-01 -2.14677998e-02 -2.48408126e-02 4.00182075e+01] [ 2.14951037e-02 9.99768607e-01 8.32628024e-04 -1.81243408e+00] [ 2.48171900e-02 -1.36613499e-03 9.99691073e-01 4.03022786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.360714056999996 meters Centerline goodness [0,1] 0.9882323485227842 Centerline is valid? [True, True] Translation: X:40.05, Y:-1.81, Z:0.40 [[ 9.99588147e-01 -1.47915964e-02 -2.45915755e-02 4.00476650e+01] [ 1.48163414e-02 9.99889892e-01 8.24326061e-04 -1.80890296e+00] [ 2.45766747e-02 -1.18834374e-03 9.99697242e-01 4.03580316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.390714057 meters Centerline goodness [0,1] 0.988857748308155 Centerline is valid? [True, True] Translation: X:40.08, Y:-1.80, Z:0.40 [[ 9.99636242e-01 -1.21585219e-02 -2.40739198e-02 4.00776260e+01] [ 1.21814585e-02 9.99925478e-01 8.06330204e-04 -1.80477001e+00] [ 2.40623220e-02 -1.09929235e-03 9.99709856e-01 4.04988692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.420714057 meters Centerline goodness [0,1] 0.9889854808611351 Centerline is valid? [True, True] Translation: X:40.11, Y:-1.80, Z:0.41 [[ 9.99672038e-01 -9.43106056e-03 -2.38090764e-02 4.01073237e+01] [ 9.45270291e-03 9.99955005e-01 7.96611234e-04 -1.80356179e+00] [ 2.38004923e-02 -1.02141010e-03 9.99716206e-01 4.05566916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.450714057 meters Centerline goodness [0,1] 0.9892075661122139 Centerline is valid? [True, True] Translation: X:40.14, Y:-1.80, Z:0.41 [[ 9.99700645e-01 -7.17203818e-03 -2.33919453e-02 4.01360898e+01] [ 7.19228463e-03 9.99973830e-01 7.81512372e-04 -1.80120581e+00] [ 2.33857281e-02 -9.49519950e-04 9.99726066e-01 4.06699666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.480714057 meters Centerline goodness [0,1] 0.9896502090520688 Centerline is valid? [True, True] Translation: X:40.17, Y:-1.80, Z:0.41 [[ 9.99712412e-01 -2.83212003e-03 -2.38132832e-02 4.01665089e+01] [ 2.85184387e-03 9.99995618e-01 7.94350299e-04 -1.79808640e+00] [ 2.38109292e-02 -8.62033619e-04 9.99716108e-01 4.07839720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.510714056999994 meters Centerline goodness [0,1] 0.9900883823966017 Centerline is valid? [True, True] Translation: X:40.19, Y:-1.80, Z:0.41 [[ 9.99717906e-01 -9.60482243e-04 -2.37315410e-02 4.01947784e+01] [ 9.79485270e-04 9.99999209e-01 7.89138813e-04 -1.79918700e+00] [ 2.37307643e-02 -8.12160896e-04 9.99718056e-01 4.08160601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.540714056999995 meters Centerline goodness [0,1] 0.990462685543078 Centerline is valid? [True, True] Translation: X:40.22, Y:-1.80, Z:0.41 [[ 9.99718963e-01 5.38218363e-04 -2.37003097e-02 4.02232934e+01] [-5.19825431e-04 9.99999559e-01 7.82216956e-04 -1.79676062e+00] [ 2.37007202e-02 -7.69677101e-04 9.99718802e-01 4.09072054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.570714056999996 meters Centerline goodness [0,1] 0.9913323880528747 Centerline is valid? [True, True] Translation: X:40.25, Y:-1.80, Z:0.41 [[ 9.99717234e-01 4.75933629e-03 -2.32980775e-02 4.02533227e+01] [-4.74279649e-03 9.99988460e-01 7.65126760e-04 -1.79514208e+00] [ 2.33014502e-02 -6.54412368e-04 9.99728270e-01 4.10258554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.600714057 meters Centerline goodness [0,1] 0.9914510325227476 Centerline is valid? [True, True] Translation: X:40.28, Y:-1.80, Z:0.41 [[ 9.99719591e-01 6.62065089e-03 -2.27355549e-02 4.02813002e+01] [-6.60540371e-03 9.99977906e-01 7.45664998e-04 -1.79587339e+00] [ 2.27399894e-02 -5.95278389e-04 9.99741236e-01 4.10636314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.630714057 meters Centerline goodness [0,1] 0.9918083568527569 Centerline is valid? [True, True] Translation: X:40.31, Y:-1.80, Z:0.41 [[ 9.99687929e-01 1.08090868e-02 -2.25212956e-02 4.03103768e+01] [-1.07952299e-02 9.99941458e-01 7.36770698e-04 -1.79587879e+00] [ 2.25279409e-02 -4.93418210e-04 9.99746092e-01 4.11034553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.660714057 meters Centerline goodness [0,1] 0.9926320380104208 Centerline is valid? [True, True] Translation: X:40.34, Y:-1.80, Z:0.41 [[ 9.99657055e-01 1.26386378e-02 -2.29354882e-02 4.03394417e+01] [-1.26248189e-02 9.99920025e-01 7.47214220e-04 -1.79664117e+00] [ 2.29430977e-02 -4.57401581e-04 9.99736668e-01 4.11023756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.690714057 meters Centerline goodness [0,1] 0.9925101353672783 Centerline is valid? [True, True] Translation: X:40.37, Y:-1.80, Z:0.41 [[ 9.99629031e-01 1.44752696e-02 -2.30708902e-02 4.03680530e+01] [-1.44619081e-02 9.99895143e-01 7.45904275e-04 -1.79769865e+00] [ 2.30792683e-02 -4.11978475e-04 9.99733553e-01 4.10905023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.720714056999995 meters Centerline goodness [0,1] 0.9925101353672783 Centerline is valid? [True, True] Translation: X:40.40, Y:-1.80, Z:0.41 [[ 9.99630548e-01 1.43699249e-02 -2.30710348e-02 4.03954948e+01] [-1.43566390e-02 9.99896663e-01 7.41409316e-04 -1.79849126e+00] [ 2.30793047e-02 -4.09912883e-04 9.99733553e-01 4.11309515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.750714056999996 meters Centerline goodness [0,1] 0.9930504587155964 Centerline is valid? [True, True] Translation: X:40.42, Y:-1.80, Z:0.41 [[ 9.99565988e-01 1.76323195e-02 -2.35995181e-02 4.04231332e+01] [-1.76193823e-02 9.99844481e-01 7.56031840e-04 -1.80082991e+00] [ 2.36091786e-02 -3.39894780e-04 9.99721207e-01 4.10044565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.780714057 meters Centerline goodness [0,1] 0.9931246275839941 Centerline is valid? [True, True] Translation: X:40.45, Y:-1.80, Z:0.41 [[ 9.99546444e-01 1.89084602e-02 -2.34387831e-02 4.04522585e+01] [-1.88961293e-02 9.99821173e-01 7.47478141e-04 -1.80209782e+00] [ 2.34487252e-02 -3.04236842e-04 9.99724995e-01 4.10199355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.810714057 meters Centerline goodness [0,1] 0.9931748431130044 Centerline is valid? [True, True] Translation: X:40.48, Y:-1.80, Z:0.41 [[ 9.99532500e-01 2.01123317e-02 -2.30277009e-02 4.04813915e+01] [-2.01008777e-02 9.99797691e-01 7.28785656e-04 -1.80355737e+00] [ 2.30376998e-02 -2.65567950e-04 9.99734562e-01 4.10708112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.840714057 meters Centerline goodness [0,1] 0.9929146096178461 Centerline is valid? [True, True] Translation: X:40.51, Y:-1.81, Z:0.41 [[ 9.99510210e-01 2.14842262e-02 -2.27545015e-02 4.05093811e+01] [-2.14734960e-02 9.99769162e-01 7.15829200e-04 -1.80803395e+00] [ 2.27646279e-02 -2.26859899e-04 9.99740827e-01 4.10384426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.870714057 meters Centerline goodness [0,1] 0.9922005443608335 Centerline is valid? [True, True] Translation: X:40.54, Y:-1.81, Z:0.41 [[ 9.99525405e-01 2.11306241e-02 -2.24156670e-02 4.05370746e+01] [-2.11201994e-02 9.99776697e-01 7.01727696e-04 -1.81014219e+00] [ 2.24254895e-02 -2.27971301e-04 9.99748491e-01 4.11265917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.900714056999995 meters Centerline goodness [0,1] 0.9924004550625711 Centerline is valid? [True, True] Translation: X:40.56, Y:-1.82, Z:0.41 [[ 9.99547853e-01 2.03516885e-02 -2.21336661e-02 4.05649966e+01] [-2.03414380e-02 9.99792855e-01 6.88189202e-04 -1.81721275e+00] [ 2.21430870e-02 -2.37647443e-04 9.99754784e-01 4.10778731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.930714056999996 meters Centerline goodness [0,1] 0.9921518071199168 Centerline is valid? [True, True] Translation: X:40.59, Y:-1.82, Z:0.41 [[ 9.99577648e-01 1.92636656e-02 -2.17586198e-02 4.05938196e+01] [-1.92535397e-02 9.99814406e-01 6.74786940e-04 -1.82158579e+00] [ 2.17675804e-02 -2.55571493e-04 9.99763025e-01 4.10656681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.960714057 meters Centerline goodness [0,1] 0.9923709053041451 Centerline is valid? [True, True] Translation: X:40.62, Y:-1.83, Z:0.41 [[ 9.99601942e-01 1.79503083e-02 -2.17656699e-02 4.06215338e+01] [-1.79398999e-02 9.99838840e-01 6.73383070e-04 -1.82653793e+00] [ 2.17742495e-02 -2.82641085e-04 9.99762873e-01 4.10494376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.990714057 meters Centerline goodness [0,1] 0.9926817699274953 Centerline is valid? [True, True] Translation: X:40.65, Y:-1.83, Z:0.41 [[ 9.99622997e-01 1.62065660e-02 -2.21632961e-02 4.06504421e+01] [-1.61953856e-02 9.99868612e-01 6.83868672e-04 -1.83020078e+00] [ 2.21714673e-02 -3.24667725e-04 9.99754130e-01 4.11365596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.020714057 meters Centerline goodness [0,1] 0.9912170074768039 Centerline is valid? [True, True] Translation: X:40.68, Y:-1.84, Z:0.41 [[ 9.99688555e-01 1.28124896e-02 -2.14157101e-02 4.06782147e+01] [-1.28013132e-02 9.99917843e-01 6.58891244e-04 -1.84070554e+00] [ 2.14223927e-02 -3.84536823e-04 9.99770440e-01 4.10923659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.050714057 meters Centerline goodness [0,1] 0.9914912774338773 Centerline is valid? [True, True] Translation: X:40.71, Y:-1.85, Z:0.41 [[ 9.99710697e-01 1.12031761e-02 -2.12840794e-02 4.07063117e+01] [-1.11918252e-02 9.99937157e-01 6.52351731e-04 -1.84596510e+00] [ 2.12900503e-02 -4.13955308e-04 9.99773255e-01 4.11662108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.080714056999994 meters Centerline goodness [0,1] 0.9906025552099882 Centerline is valid? [True, True] Translation: X:40.74, Y:-1.86, Z:0.41 [[ 9.99745118e-01 7.25070422e-03 -2.13805033e-02 4.07356041e+01] [-7.23837782e-03 9.99973589e-01 6.53858868e-04 -1.85612962e+00] [ 2.13846795e-02 -4.98932051e-04 9.99771197e-01 4.10691097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.110714056999996 meters Centerline goodness [0,1] 0.9904368227013741 Centerline is valid? [True, True] Translation: X:40.76, Y:-1.86, Z:0.41 [[ 9.99746598e-01 5.13584717e-03 -2.19171684e-02 4.07631309e+01] [-5.12241027e-03 9.99986656e-01 6.69173702e-04 -1.86272739e+00] [ 2.19203127e-02 -5.56735404e-04 9.99759566e-01 4.09823851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.140714057 meters Centerline goodness [0,1] 0.9903323532032433 Centerline is valid? [True, True] Translation: X:40.79, Y:-1.87, Z:0.41 [[ 9.99745755e-01 3.20221219e-03 -2.23197490e-02 4.07906725e+01] [-3.18783694e-03 9.99994688e-01 6.79610643e-04 -1.86870374e+00] [ 2.23218067e-02 -6.08286136e-04 9.99750652e-01 4.09308448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.170714057 meters Centerline goodness [0,1] 0.9886267715136168 Centerline is valid? [True, True] Translation: X:40.82, Y:-1.88, Z:0.41 [[ 9.99736827e-01 -1.10799960e-03 -2.29139389e-02 4.08200460e+01] [ 1.12424745e-03 9.99999126e-01 6.96211883e-04 -1.87877719e+00] [ 2.29131475e-02 -7.21789596e-04 9.99737199e-01 4.08154869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.200714057 meters Centerline goodness [0,1] 0.98994138022915 Centerline is valid? [True, True] Translation: X:40.85, Y:-1.88, Z:0.41 [[ 9.99729821e-01 -3.38037741e-03 -2.29969038e-02 4.08482938e+01] [ 3.39730953e-03 9.99993986e-01 6.97249177e-04 -1.88329239e+00] [ 2.29944085e-02 -7.75188396e-04 9.99735293e-01 4.08480282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.230714057 meters Centerline goodness [0,1] 0.9896352401833766 Centerline is valid? [True, True] Translation: X:40.88, Y:-1.88, Z:0.41 [[ 9.99710853e-01 -7.87707020e-03 -2.27191972e-02 4.08781018e+01] [ 7.89470871e-03 9.99968600e-01 6.86781238e-04 -1.88458088e+00] [ 2.27130741e-02 -8.65944102e-04 9.99741650e-01 4.10267985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.260714056999994 meters Centerline goodness [0,1] 0.9874479766226866 Centerline is valid? [True, True] Translation: X:40.91, Y:-1.90, Z:0.41 [[ 9.99701523e-01 -1.00395950e-02 -2.22726412e-02 4.09056670e+01] [ 1.00570558e-02 9.99949201e-01 6.72079167e-04 -1.89964158e+00] [ 2.22647623e-02 -8.95875761e-04 9.99751708e-01 4.08512847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.290714056999995 meters Centerline goodness [0,1] 0.9892925091810096 Centerline is valid? [True, True] Translation: X:40.93, Y:-1.89, Z:0.41 [[ 9.99679089e-01 -1.23206072e-02 -2.21341711e-02 4.09349231e+01] [ 1.23383715e-02 9.99923657e-01 6.66184445e-04 -1.89364861e+00] [ 2.21242735e-02 -9.39070286e-04 9.99754787e-01 4.10908710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.320714056999996 meters Centerline goodness [0,1] 0.9880180060902952 Centerline is valid? [True, True] Translation: X:40.96, Y:-1.90, Z:0.41 [[ 9.99654349e-01 -1.57622862e-02 -2.10412329e-02 4.09638617e+01] [ 1.57790736e-02 9.99875303e-01 6.32036685e-04 -1.90075790e+00] [ 2.10286468e-02 -9.63829383e-04 9.99778409e-01 4.11704988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.350714057 meters Centerline goodness [0,1] 0.9885967412995329 Centerline is valid? [True, True] Translation: X:40.99, Y:-1.90, Z:0.41 [[ 9.99639514e-01 -1.70605218e-02 -2.07311420e-02 4.09919392e+01] [ 1.70770556e-02 9.99853984e-01 6.20754096e-04 -1.90447937e+00] [ 2.07175245e-02 -9.74557187e-04 9.99784894e-01 4.12299491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.380714057 meters Centerline goodness [0,1] 0.9877834030376403 Centerline is valid? [True, True] Translation: X:41.02, Y:-1.91, Z:0.41 [[ 9.99585391e-01 -2.00289597e-02 -2.06854126e-02 4.10211323e+01] [ 2.00460056e-02 9.99798868e-01 6.17008282e-04 -1.90967263e+00] [ 2.06688941e-02 -1.03141236e-03 9.99785844e-01 4.11823722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.410714057 meters Centerline goodness [0,1] 0.9878376591900586 Centerline is valid? [True, True] Translation: X:41.05, Y:-1.91, Z:0.41 [[ 9.99554913e-01 -2.12556362e-02 -2.09325999e-02 4.10501912e+01] [ 2.12733364e-02 9.99773503e-01 6.23243221e-04 -1.91161786e+00] [ 2.09146113e-02 -1.06827207e-03 9.99780695e-01 4.11683277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.440714057 meters Centerline goodness [0,1] 0.9880666681344812 Centerline is valid? [True, True] Translation: X:41.08, Y:-1.92, Z:0.41 [[ 9.99524791e-01 -2.25741523e-02 -2.09904674e-02 4.10788093e+01] [ 2.25922166e-02 9.99744569e-01 6.23824511e-04 -1.91741537e+00] [ 2.09710235e-02 -1.09774925e-03 9.99779481e-01 4.10656045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.470714056999995 meters Centerline goodness [0,1] 0.9873821195401288 Centerline is valid? [True, True] Translation: X:41.11, Y:-1.92, Z:0.41 [[ 9.99482008e-01 -2.39609070e-02 -2.14846818e-02 4.11080624e+01] [ 2.39801290e-02 9.99712232e-01 6.37461586e-04 -1.92057176e+00] [ 2.14632250e-02 -1.15233683e-03 9.99768974e-01 4.10447043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.500714056999996 meters Centerline goodness [0,1] 0.9870784538170292 Centerline is valid? [True, True] Translation: X:41.14, Y:-1.92, Z:0.41 [[ 9.99409699e-01 -2.63485358e-02 -2.20456146e-02 4.11381824e+01] [ 2.63693393e-02 9.99652055e-01 6.53438657e-04 -1.91933747e+00] [ 2.20207268e-02 -1.23438122e-03 9.99756752e-01 4.10798367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.530714057 meters Centerline goodness [0,1] 0.986784140969163 Centerline is valid? [True, True] Translation: X:41.17, Y:-1.93, Z:0.41 [[ 9.99379246e-01 -2.75337530e-02 -2.19775853e-02 4.11678030e+01] [ 2.75547051e-02 9.99620085e-01 6.51018938e-04 -1.92517224e+00] [ 2.19513106e-02 -1.25620069e-03 9.99758252e-01 4.10660953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.560714057 meters Centerline goodness [0,1] 0.9865398972377146 Centerline is valid? [True, True] Translation: X:41.20, Y:-1.92, Z:0.41 [[ 9.99361185e-01 -2.81891708e-02 -2.19679716e-02 4.11985373e+01] [ 2.82102565e-02 9.99601800e-01 6.50465857e-04 -1.92303376e+00] [ 2.19408879e-02 -1.26977244e-03 9.99758463e-01 4.11548527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.590714057 meters Centerline goodness [0,1] 0.9861329833770779 Centerline is valid? [True, True] Translation: X:41.23, Y:-1.93, Z:0.41 [[ 9.99360028e-01 -2.89994811e-02 -2.09419182e-02 4.12288246e+01] [ 2.90188222e-02 9.99578673e-01 6.20198447e-04 -1.92594900e+00] [ 2.09151094e-02 -1.22751134e-03 9.99780502e-01 4.12336084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.620714057 meters Centerline goodness [0,1] 0.9874829512957015 Centerline is valid? [True, True] Translation: X:41.26, Y:-1.92, Z:0.41 [[ 9.99351650e-01 -2.94880427e-02 -2.06575652e-02 4.12602332e+01] [ 2.95069760e-02 9.99564387e-01 6.12262223e-04 -1.92407075e+00] [ 2.06305121e-02 -1.22140754e-03 9.99786422e-01 4.13154481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.650714056999995 meters Centerline goodness [0,1] 0.9871120983527238 Centerline is valid? [True, True] Translation: X:41.29, Y:-1.93, Z:0.41 [[ 9.99365244e-01 -2.91984783e-02 -2.04097481e-02 4.12905004e+01] [ 2.92169129e-02 9.99572911e-01 6.05561425e-04 -1.92756741e+00] [ 2.03833499e-02 -1.20148687e-03 9.99791516e-01 4.12541683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.680714056999996 meters Centerline goodness [0,1] 0.9863620417470619 Centerline is valid? [True, True] Translation: X:41.32, Y:-1.93, Z:0.41 [[ 9.99364417e-01 -2.88261415e-02 -2.09717623e-02 4.13215912e+01] [ 2.88455345e-02 9.99583687e-01 6.22741498e-04 -1.92746609e+00] [ 2.09450803e-02 -1.22728739e-03 9.99779874e-01 4.12349932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.710714057 meters Centerline goodness [0,1] 0.9870290030610672 Centerline is valid? [True, True] Translation: X:41.35, Y:-1.93, Z:0.41 [[ 9.99367253e-01 -2.82338397e-02 -2.16320338e-02 4.13513902e+01] [ 2.82543496e-02 9.99600559e-01 6.43018582e-04 -1.93141987e+00] [ 2.16052382e-02 -1.25381076e-03 9.99765793e-01 4.11903722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.740714057 meters Centerline goodness [0,1] 0.9869367289041368 Centerline is valid? [True, True] Translation: X:41.38, Y:-1.93, Z:0.41 [[ 9.99370774e-01 -2.78131518e-02 -2.20109935e-02 4.13816225e+01] [ 2.78342910e-02 9.99612337e-01 6.54550521e-04 -1.93095348e+00] [ 2.19842556e-02 -1.26679906e-03 9.99757514e-01 4.12037921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.770714057 meters Centerline goodness [0,1] 0.988287613931575 Centerline is valid? [True, True] Translation: X:41.41, Y:-1.93, Z:0.41 [[ 9.99418322e-01 -2.63809362e-02 -2.16116417e-02 4.14108112e+01] [ 2.64009845e-02 9.99651227e-01 6.42816601e-04 -1.93032017e+00] [ 2.15871460e-02 -1.21301131e-03 9.99766235e-01 4.12131563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.800714057 meters Centerline goodness [0,1] 0.9883687693762231 Centerline is valid? [True, True] Translation: X:41.44, Y:-1.93, Z:0.41 [[ 9.99439910e-01 -2.58270825e-02 -2.12797546e-02 4.14410538e+01] [ 2.58464007e-02 9.99665725e-01 6.33240033e-04 -1.92561095e+00] [ 2.12562866e-02 -1.18289042e-03 9.99773360e-01 4.13491136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.830714056999994 meters Centerline goodness [0,1] 0.9892963330029733 Centerline is valid? [True, True] Translation: X:41.47, Y:-1.92, Z:0.41 [[ 9.99462359e-01 -2.53763147e-02 -2.07613939e-02 4.14716080e+01] [ 2.53946060e-02 9.99677314e-01 6.17814724e-04 -1.92438657e+00] [ 2.07390166e-02 -1.14470998e-03 9.99784268e-01 4.14556763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.860714056999996 meters Centerline goodness [0,1] 0.9883079638208692 Centerline is valid? [True, True] Translation: X:41.50, Y:-1.93, Z:0.42 [[ 9.99503170e-01 -2.46346683e-02 -1.96607993e-02 4.15015393e+01] [ 2.46509352e-02 9.99695948e-01 5.85417408e-04 -1.92553284e+00] [ 1.96403998e-02 -1.06978364e-03 9.99806536e-01 4.15818317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.890714057 meters Centerline goodness [0,1] 0.9875854465270121 Centerline is valid? [True, True] Translation: X:41.53, Y:-1.93, Z:0.42 [[ 9.99518964e-01 -2.41533267e-02 -1.94539945e-02 4.15319999e+01] [ 2.41691839e-02 9.99707714e-01 5.80373444e-04 -1.92875367e+00] [ 1.94342904e-02 -1.05028143e-03 9.99810585e-01 4.15774933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.920714057 meters Centerline goodness [0,1] 0.9891889506663136 Centerline is valid? [True, True] Translation: X:41.56, Y:-1.92, Z:0.42 [[ 9.99553465e-01 -2.26234117e-02 -1.95205518e-02 4.15625986e+01] [ 2.26390917e-02 9.99743533e-01 5.82617184e-04 -1.92030059e+00] [ 1.95023647e-02 -1.02428459e-03 9.99809286e-01 4.16406507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.950714057 meters Centerline goodness [0,1] 0.9883607933212598 Centerline is valid? [True, True] Translation: X:41.59, Y:-1.93, Z:0.42 [[ 9.99595182e-01 -2.09845298e-02 -1.92125615e-02 4.15924297e+01] [ 2.09994169e-02 9.99779323e-01 5.73424799e-04 -1.92586947e+00] [ 1.91962887e-02 -9.76645255e-04 9.99815257e-01 4.16020333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.980714057 meters Centerline goodness [0,1] 0.9890461783087829 Centerline is valid? [True, True] Translation: X:41.62, Y:-1.92, Z:0.42 [[ 9.99629290e-01 -1.92634715e-02 -1.92405923e-02 4.16229966e+01] [ 1.92780841e-02 9.99813996e-01 5.74261415e-04 -1.91897177e+00] [ 1.92259512e-02 -9.44970287e-04 9.99814718e-01 4.16455477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.010714056999994 meters Centerline goodness [0,1] 0.9904257666004853 Centerline is valid? [True, True] Translation: X:41.65, Y:-1.91, Z:0.42 [[ 9.99719281e-01 -1.42272138e-02 -1.89458561e-02 4.16538861e+01] [ 1.42404790e-02 9.99898439e-01 5.65430337e-04 -1.91319160e+00] [ 1.89358874e-02 -8.35069676e-04 9.99820351e-01 4.17126059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.040714056999995 meters Centerline goodness [0,1] 0.9901778603663393 Centerline is valid? [True, True] Translation: X:41.68, Y:-1.91, Z:0.42 [[ 9.99773503e-01 -1.09571325e-02 -1.82450848e-02 4.16837203e+01] [ 1.09688865e-02 9.99939692e-01 5.44274922e-04 -1.91163981e+00] [ 1.82380208e-02 -7.44279909e-04 9.99833396e-01 4.17746778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.070714056999996 meters Centerline goodness [0,1] 0.9905071694105151 Centerline is valid? [True, True] Translation: X:41.71, Y:-1.91, Z:0.42 [[ 9.99816910e-01 -7.77382400e-03 -1.74846720e-02 4.17125571e+01] [ 7.78412104e-03 9.99969568e-01 5.20937381e-04 -1.90959581e+00] [ 1.74800902e-02 -6.56944806e-04 9.99846996e-01 4.18697974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.100714057 meters Centerline goodness [0,1] 0.9911641605952566 Centerline is valid? [True, True] Translation: X:41.74, Y:-1.90, Z:0.42 [[ 9.99871798e-01 -4.73748223e-04 -1.60050809e-02 4.17416849e+01] [ 4.81429998e-04 9.99999771e-01 4.76109049e-04 -1.90466364e+00] [ 1.60048516e-02 -4.83753337e-04 9.99871797e-01 4.19470356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.130714057 meters Centerline goodness [0,1] 0.9913068547224625 Centerline is valid? [True, True] Translation: X:41.77, Y:-1.90, Z:0.42 [[ 9.99877612e-01 3.00114276e-03 -1.53542814e-02 4.17708068e+01] [-2.99448950e-03 9.99995412e-01 4.56288544e-04 -1.90183652e+00] [ 1.53555803e-02 -4.10254465e-04 9.99882012e-01 4.20158244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.160714057 meters Centerline goodness [0,1] 0.9924579514105188 Centerline is valid? [True, True] Translation: X:41.80, Y:-1.90, Z:0.42 [[ 9.99856155e-01 9.56856803e-03 -1.40039803e-02 4.18004909e+01] [-9.56372053e-03 9.99954181e-01 4.13080084e-04 -1.89750766e+00] [ 1.40072912e-02 -2.79090511e-04 9.99901854e-01 4.20556496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.190714057 meters Centerline goodness [0,1] 0.9919602007728868 Centerline is valid? [True, True] Translation: X:41.83, Y:-1.90, Z:0.42 [[ 9.99820864e-01 1.28210851e-02 -1.39233800e-02 4.18285216e+01] [-1.28166149e-02 9.99917780e-01 4.10241058e-04 -1.89686458e+00] [ 1.39274950e-02 -2.31716969e-04 9.99902981e-01 4.20846179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.220714056999995 meters Centerline goodness [0,1] 0.9928825622775801 Centerline is valid? [True, True] Translation: X:41.86, Y:-1.90, Z:0.42 [[ 9.99769345e-01 1.63409753e-02 -1.39366265e-02 4.18574763e+01] [-1.63368542e-02 9.99866461e-01 4.09501458e-04 -1.89561745e+00] [ 1.39414570e-02 -1.81726369e-04 9.99902797e-01 4.20485655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.250714056999996 meters Centerline goodness [0,1] 0.9934171021905926 Centerline is valid? [True, True] Translation: X:41.89, Y:-1.89, Z:0.42 [[ 9.99618529e-01 2.33946524e-02 -1.46794955e-02 4.18851728e+01] [-2.33908981e-02 9.99726304e-01 4.27416392e-04 -1.89381378e+00] [ 1.46854770e-02 -8.38867616e-05 9.99892159e-01 4.19238838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.280714057 meters Centerline goodness [0,1] 0.9931480945918889 Centerline is valid? [True, True] Translation: X:41.91, Y:-1.89, Z:0.42 [[ 9.99529021e-01 2.66369934e-02 -1.52383289e-02 4.19143229e+01] [-2.66333474e-02 9.99645172e-01 4.42184362e-04 -1.89383838e+00] [ 1.52447004e-02 -3.61283952e-05 9.99883792e-01 4.18870784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.310714057 meters Centerline goodness [0,1] 0.9942 Centerline is valid? [True, True] Translation: X:41.94, Y:-1.89, Z:0.42 [[ 9.99422995e-01 3.01653485e-02 -1.56118110e-02 4.19412476e+01] [-3.01620123e-02 9.99544922e-01 4.49164496e-04 -1.89410078e+00] [ 1.56182556e-02 2.19783095e-05 9.99878027e-01 4.18583556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.340714057 meters Centerline goodness [0,1] 0.9949505060616172 Centerline is valid? [True, True] Translation: X:41.97, Y:-1.90, Z:0.42 [[ 9.99202821e-01 3.63749759e-02 -1.64494461e-02 4.19695276e+01] [-3.63721473e-02 9.99338203e-01 4.71198822e-04 -1.89510624e+00] [ 1.64556998e-02 1.27478484e-04 9.99864588e-01 4.17556905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.370714057 meters Centerline goodness [0,1] 0.9949923555870688 Centerline is valid? [True, True] Translation: X:42.00, Y:-1.90, Z:0.42 [[ 9.99098513e-01 3.90752690e-02 -1.65916847e-02 4.19972933e+01] [-3.90727879e-02 9.99236255e-01 4.73797052e-04 -1.89649641e+00] [ 1.65975266e-02 1.74913447e-04 9.99862236e-01 4.17825393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.400714056999995 meters Centerline goodness [0,1] 0.995745340926718 Centerline is valid? [True, True] Translation: X:42.03, Y:-1.90, Z:0.42 [[ 9.98961111e-01 4.24298330e-02 -1.66255417e-02 4.20258120e+01] [-4.24278358e-02 9.99099422e-01 4.72987195e-04 -1.90191289e+00] [ 1.66306379e-02 2.32889939e-04 9.99861674e-01 4.17639946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.430714056999996 meters Centerline goodness [0,1] 0.9954037212180139 Centerline is valid? [True, True] Translation: X:42.05, Y:-1.90, Z:0.42 [[ 9.98920523e-01 4.34341901e-02 -1.64699714e-02 4.20537465e+01] [-4.34324292e-02 9.99056259e-01 4.64762999e-04 -1.90465418e+00] [ 1.64746146e-02 2.51069568e-04 9.99864253e-01 4.18021280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.460714057 meters Centerline goodness [0,1] 0.9958550813632177 Centerline is valid? [True, True] Translation: X:42.08, Y:-1.91, Z:0.42 [[ 9.98893740e-01 4.42513300e-02 -1.59096287e-02 4.20822616e+01] [-4.42498152e-02 9.99020397e-01 4.47398134e-04 -1.90836875e+00] [ 1.59138416e-02 2.57094935e-04 9.99873334e-01 4.18255210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.490714057 meters Centerline goodness [0,1] 0.9957165882846482 Centerline is valid? [True, True] Translation: X:42.11, Y:-1.91, Z:0.42 [[ 9.98897358e-01 4.43918711e-02 -1.52784085e-02 4.21097178e+01] [-4.43905449e-02 9.99014163e-01 4.26086645e-04 -1.91297566e+00] [ 1.52822612e-02 2.52600053e-04 9.99883188e-01 4.18427158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.520714057 meters Centerline goodness [0,1] 0.9960719771779679 Centerline is valid? [True, True] Translation: X:42.14, Y:-1.92, Z:0.42 [[ 9.98939833e-01 4.38021890e-02 -1.41625891e-02 4.21375511e+01] [-4.38010413e-02 9.99040197e-01 3.91362281e-04 -1.92471848e+00] [ 1.41661383e-02 2.29388777e-04 9.99899629e-01 4.18347731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.550714057 meters Centerline goodness [0,1] 0.9953818205695025 Centerline is valid? [True, True] Translation: X:42.17, Y:-1.93, Z:0.42 [[ 9.98995191e-01 4.28078758e-02 -1.32700692e-02 4.21657229e+01] [-4.28068322e-02 9.99083302e-01 3.62801102e-04 -1.93086032e+00] [ 1.32734353e-02 2.05613068e-04 9.99911883e-01 4.18549966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.580714056999994 meters Centerline goodness [0,1] 0.9952141660684374 Centerline is valid? [True, True] Translation: X:42.19, Y:-1.94, Z:0.42 [[ 9.99140580e-01 3.95301540e-02 -1.24686858e-02 4.21933868e+01] [-3.95289875e-02 9.99218366e-01 3.40089806e-04 -1.94332694e+00] [ 1.24723837e-02 1.53076998e-04 9.99922205e-01 4.18908482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.610714056999996 meters Centerline goodness [0,1] 0.9952141660684374 Centerline is valid? [True, True] Translation: X:42.22, Y:-1.94, Z:0.42 [[ 9.99151872e-01 3.92436972e-02 -1.24687046e-02 4.22207684e+01] [-3.92425169e-02 9.99229658e-01 3.39401344e-04 -1.94401458e+00] [ 1.24724188e-02 1.50189864e-04 9.99922205e-01 4.19310975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.640714057 meters Centerline goodness [0,1] 0.9946805045921359 Centerline is valid? [True, True] Translation: X:42.25, Y:-1.95, Z:0.42 [[ 9.99248556e-01 3.67574198e-02 -1.22969633e-02 4.22490620e+01] [-3.67561325e-02 9.99324210e-01 3.30745983e-04 -1.95167991e+00] [ 1.23008105e-02 1.21491366e-04 9.99924335e-01 4.19839123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.670714057 meters Centerline goodness [0,1] 0.9938857811890204 Centerline is valid? [True, True] Translation: X:42.28, Y:-1.96, Z:0.42 [[ 9.99349522e-01 3.39210603e-02 -1.22431772e-02 4.22763846e+01] [-3.39195816e-02 9.99424511e-01 3.28462612e-04 -1.95883716e+00] [ 1.22472732e-02 8.70344952e-05 9.99924996e-01 4.20074520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.700714057 meters Centerline goodness [0,1] 0.9931209971319518 Centerline is valid? [True, True] Translation: X:42.30, Y:-1.97, Z:0.42 [[ 9.99540240e-01 2.76376152e-02 -1.24687808e-02 4.23048820e+01] [-2.76356073e-02 9.99618008e-01 3.33336837e-04 -1.97460041e+00] [ 1.24732304e-02 1.13987468e-05 9.99922206e-01 4.19923952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.730714057 meters Centerline goodness [0,1] 0.9926050994891962 Centerline is valid? [True, True] Translation: X:42.33, Y:-1.98, Z:0.42 [[ 9.99616486e-01 2.45767053e-02 -1.27619478e-02 4.23322547e+01] [-2.45743636e-02 9.99697947e-01 3.40294394e-04 -1.98212524e+00] [ 1.27664564e-02 -2.65471398e-05 9.99918505e-01 4.19814707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.760714056999994 meters Centerline goodness [0,1] 0.9921772862684584 Centerline is valid? [True, True] Translation: X:42.36, Y:-1.99, Z:0.42 [[ 9.99683014e-01 2.14390059e-02 -1.32000360e-02 4.23608298e+01] [-2.14362474e-02 9.99770156e-01 3.50445652e-04 -1.99025944e+00] [ 1.32045152e-02 -6.73753289e-05 9.99912814e-01 4.19940609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.790714056999995 meters Centerline goodness [0,1] 0.991007386789423 Centerline is valid? [True, True] Translation: X:42.39, Y:-2.00, Z:0.42 [[ 9.99728969e-01 1.88594170e-02 -1.36496077e-02 4.23898843e+01] [-1.88562408e-02 9.99822140e-01 3.61371437e-04 -1.99802134e+00] [ 1.36539952e-02 -1.03893206e-04 9.99906774e-01 4.20300786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.820714056999996 meters Centerline goodness [0,1] 0.9896304514807545 Centerline is valid? [True, True] Translation: X:42.42, Y:-2.01, Z:0.42 [[ 9.99805422e-01 1.45084909e-02 -1.33649742e-02 4.24183330e+01] [-1.45050695e-02 9.99894734e-01 3.52907209e-04 -2.01164432e+00] [ 1.33686875e-02 -1.58978661e-04 9.99910622e-01 4.20682722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.850714057 meters Centerline goodness [0,1] 0.9892157488354285 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.02, Z:0.42 [[ 9.99831804e-01 1.26165937e-02 -1.33110963e-02 4.24463048e+01] [-1.26130437e-02 9.99920391e-01 3.50613627e-04 -2.01820090e+00] [ 1.33144602e-02 -1.82661215e-04 9.99911342e-01 4.20561227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.880714057 meters Centerline goodness [0,1] 0.9883811982815178 Centerline is valid? [True, True] Translation: X:42.48, Y:-2.03, Z:0.42 [[ 9.99846882e-01 1.11088480e-02 -1.35205701e-02 4.24751134e+01] [-1.11050717e-02 9.99938274e-01 3.54347388e-04 -2.02955246e+00] [ 1.35236720e-02 -2.04146231e-04 9.99908530e-01 4.21425956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.910714057 meters Centerline goodness [0,1] 0.9880472166786973 Centerline is valid? [True, True] Translation: X:42.50, Y:-2.03, Z:0.42 [[ 9.99856161e-01 1.02056238e-02 -1.35463007e-02 4.25036699e+01] [-1.02017632e-02 9.99947898e-01 3.54069370e-04 -2.03405278e+00] [ 1.35492084e-02 -2.15822290e-04 9.99908182e-01 4.21252497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.940714057 meters Centerline goodness [0,1] 0.9867376819590036 Centerline is valid? [True, True] Translation: X:42.53, Y:-2.04, Z:0.42 [[ 9.99838337e-01 1.10804429e-02 -1.41606453e-02 4.25326392e+01] [-1.10763272e-02 9.99938588e-01 3.69042926e-04 -2.04012953e+00] [ 1.41638648e-02 -2.12135326e-04 9.99899665e-01 4.22809360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.970714056999995 meters Centerline goodness [0,1] 0.9858334745044892 Centerline is valid? [True, True] Translation: X:42.56, Y:-2.05, Z:0.42 [[ 9.99867327e-01 9.99728847e-03 -1.28600964e-02 4.25601026e+01] [-9.99381487e-03 9.99950005e-01 3.34342775e-04 -2.05005257e+00] [ 1.28627959e-02 -2.05776995e-04 9.99917250e-01 4.23390164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.000714056999996 meters Centerline goodness [0,1] 0.9865024964034865 Centerline is valid? [True, True] Translation: X:42.59, Y:-2.05, Z:0.42 [[ 9.99864480e-01 9.89562861e-03 -1.31566802e-02 4.25876928e+01] [-9.89199982e-03 9.99951015e-01 3.40861867e-04 -2.05372620e+00] [ 1.31594087e-02 -2.10669796e-04 9.99913389e-01 4.23850446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.030714057 meters Centerline goodness [0,1] 0.9862556034847332 Centerline is valid? [True, True] Translation: X:42.62, Y:-2.06, Z:0.42 [[ 9.99849207e-01 1.00723009e-02 -1.41461232e-02 4.26167935e+01] [-1.00681472e-02 9.99949248e-01 3.64814680e-04 -2.06256897e+00] [ 1.41490798e-02 -2.22334418e-04 9.99899872e-01 4.24004068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.060714057 meters Centerline goodness [0,1] 0.9852124131229271 Centerline is valid? [True, True] Translation: X:42.64, Y:-2.07, Z:0.42 [[ 9.99839756e-01 9.98596605e-03 -1.48574366e-02 4.26442454e+01] [-9.98138723e-03 9.99950112e-01 3.82306330e-04 -2.06693448e+00] [ 1.48605131e-02 -2.33947239e-04 9.99889549e-01 4.23635709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.090714057 meters Centerline goodness [0,1] 0.985569406296218 Centerline is valid? [True, True] Translation: X:42.67, Y:-2.08, Z:0.42 [[ 9.99828040e-01 1.08730374e-02 -1.50222093e-02 4.26726540e+01] [-1.08684810e-02 9.99940862e-01 3.84918139e-04 -2.07506640e+00] [ 1.50255061e-02 -2.21583353e-04 9.99887086e-01 4.24866118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.120714057 meters Centerline goodness [0,1] 0.9843644354293442 Centerline is valid? [True, True] Translation: X:42.70, Y:-2.08, Z:0.43 [[ 9.99826720e-01 1.11273406e-02 -1.49235769e-02 4.27012561e+01] [-1.11228881e-02 9.99938066e-01 3.81324859e-04 -2.07894681e+00] [ 1.49268958e-02 -2.15265507e-04 9.99888565e-01 4.25094353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.150714056999995 meters Centerline goodness [0,1] 0.9843716956393013 Centerline is valid? [True, True] Translation: X:42.73, Y:-2.08, Z:0.43 [[ 9.99812610e-01 1.16610637e-02 -1.54520047e-02 4.27287811e+01] [-1.16563719e-02 9.99931985e-01 3.93669519e-04 -2.08280511e+00] [ 1.54555444e-02 -2.13481435e-04 9.99880533e-01 4.25628989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.180714056999996 meters Centerline goodness [0,1] 0.9852394627924655 Centerline is valid? [True, True] Translation: X:42.76, Y:-2.09, Z:0.43 [[ 9.99788724e-01 1.17699230e-02 -1.68516182e-02 4.27566736e+01] [-1.17643860e-02 9.99930706e-01 4.27669898e-04 -2.08876235e+00] [ 1.68554841e-02 -2.29330600e-04 9.99857910e-01 4.25153958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.210714057 meters Centerline goodness [0,1] 0.9849616108631739 Centerline is valid? [True, True] Translation: X:42.78, Y:-2.09, Z:0.43 [[ 9.99745930e-01 1.25537700e-02 -1.87210601e-02 4.27833666e+01] [-1.25471207e-02 9.99921170e-01 4.72596761e-04 -2.09345720e+00] [ 1.87255172e-02 -2.37581288e-04 9.99824634e-01 4.26373094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.240714057 meters Centerline goodness [0,1] 0.9831220954795099 Centerline is valid? [True, True] Translation: X:42.81, Y:-2.10, Z:0.43 [[ 9.99742790e-01 1.19681416e-02 -1.92643928e-02 4.28124580e+01] [-1.19610526e-02 9.99928347e-01 4.83165882e-04 -2.09761140e+00] [ 1.92687951e-02 -2.52619190e-04 9.99814308e-01 4.26754622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.270714057 meters Centerline goodness [0,1] 0.9843201546965971 Centerline is valid? [True, True] Translation: X:42.84, Y:-2.10, Z:0.43 [[ 9.99770546e-01 1.01380104e-02 -1.88699710e-02 4.28407559e+01] [-1.01309080e-02 9.99948570e-01 4.71945311e-04 -2.10208309e+00] [ 1.88737851e-02 -2.80667080e-04 9.99821835e-01 4.25819825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.300714057 meters Centerline goodness [0,1] 0.9830111430018572 Centerline is valid? [True, True] Translation: X:42.87, Y:-2.11, Z:0.43 [[ 9.99767923e-01 8.71982911e-03 -1.96993428e-02 4.28684590e+01] [-8.71184350e-03 9.99961931e-01 4.91156833e-04 -2.11164938e+00] [ 1.97028756e-02 -3.19425256e-04 9.99805828e-01 4.27626493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.330714056999994 meters Centerline goodness [0,1] 0.9828164203335512 Centerline is valid? [True, True] Translation: X:42.90, Y:-2.12, Z:0.43 [[ 9.99797205e-01 6.78670220e-03 -1.89602236e-02 4.28968810e+01] [-6.77898645e-03 9.99976911e-01 4.71186417e-04 -2.11538507e+00] [ 1.89629836e-02 -3.42559764e-04 9.99820128e-01 4.27866279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.360714056999996 meters Centerline goodness [0,1] 0.9828030954428203 Centerline is valid? [True, True] Translation: X:42.93, Y:-2.12, Z:0.43 [[ 9.99818422e-01 4.11849967e-03 -1.86053966e-02 4.29258065e+01] [-4.11063215e-03 9.99991445e-01 4.61086168e-04 -2.12175175e+00] [ 1.86071364e-02 -3.84522504e-04 9.99826798e-01 4.29846323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.390714057 meters Centerline goodness [0,1] 0.9828497987906369 Centerline is valid? [True, True] Translation: X:42.95, Y:-2.13, Z:0.43 [[ 9.99808817e-01 2.85375252e-03 -1.93439017e-02 4.29531654e+01] [-2.84504070e-03 9.99995839e-01 4.77869718e-04 -2.12754596e+00] [ 1.93451850e-02 -4.22744169e-04 9.99812775e-01 4.31627780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.420714057 meters Centerline goodness [0,1] 0.9827466346457688 Centerline is valid? [True, True] Translation: X:42.98, Y:-2.13, Z:0.43 [[ 9.99807930e-01 2.32802883e-06 -1.95985320e-02 4.29819560e+01] [ 7.12917057e-06 9.99999884e-01 4.82476434e-04 -2.13191249e+00] [ 1.95985309e-02 -4.82523486e-04 9.99807814e-01 4.31820146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.450714057 meters Centerline goodness [0,1] 0.9815563892440216 Centerline is valid? [True, True] Translation: X:43.01, Y:-2.14, Z:0.43 [[ 9.99772056e-01 -5.09796268e-03 -2.07327468e-02 4.30111882e+01] [ 5.10961459e-03 9.99986816e-01 5.09070023e-04 -2.14201983e+00] [ 2.07298782e-02 -6.14890329e-04 9.99784924e-01 4.33026571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.480714057 meters Centerline goodness [0,1] 0.9816071127591438 Centerline is valid? [True, True] Translation: X:43.04, Y:-2.15, Z:0.43 [[ 9.99739767e-01 -9.67709630e-03 -2.06579810e-02 4.30407706e+01] [ 9.68962559e-03 9.99952926e-01 5.06499986e-04 -2.14711608e+00] [ 2.06521071e-02 -7.06536279e-04 9.99786473e-01 4.32195438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.510714056999994 meters Centerline goodness [0,1] 0.9818947633117495 Centerline is valid? [True, True] Translation: X:43.07, Y:-2.15, Z:0.43 [[ 9.99695475e-01 -1.29382650e-02 -2.10132755e-02 4.30699082e+01] [ 1.29519302e-02 9.99915988e-01 5.14342786e-04 -2.15238981e+00] [ 2.10048554e-02 -7.86348634e-04 9.99779064e-01 4.32715124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.540714056999995 meters Centerline goodness [0,1] 0.9817287860163754 Centerline is valid? [True, True] Translation: X:43.10, Y:-2.16, Z:0.43 [[ 9.99565340e-01 -1.92115726e-02 -2.23617022e-02 4.30989564e+01] [ 1.92285929e-02 9.99814964e-01 5.46347477e-04 -2.16196959e+00] [ 2.23470683e-02 -9.76094070e-04 9.99749797e-01 4.34684357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.570714056999996 meters Centerline goodness [0,1] 0.9817248848604656 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.17, Z:0.43 [[ 9.99455006e-01 -2.41525381e-02 -2.25021404e-02 4.31279847e+01] [ 2.41710087e-02 9.99707688e-01 5.49178162e-04 -2.16762639e+00] [ 2.24822987e-02 -1.09277829e-03 9.99746644e-01 4.34790004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.600714057 meters Centerline goodness [0,1] 0.9813078230222166 Centerline is valid? [True, True] Translation: X:43.16, Y:-2.17, Z:0.44 [[ 9.99272875e-01 -3.02493421e-02 -2.32099016e-02 4.31586014e+01] [ 3.02706206e-02 9.99541580e-01 5.65919278e-04 -2.16821893e+00] [ 2.31821431e-02 -1.26808591e-03 9.99730454e-01 4.38175710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.630714057 meters Centerline goodness [0,1] 0.9817315162841485 Centerline is valid? [True, True] Translation: X:43.19, Y:-2.17, Z:0.44 [[ 9.99183282e-01 -3.32090407e-02 -2.30201649e-02 4.31872147e+01] [ 3.32307447e-02 9.99447549e-01 5.60822782e-04 -2.17367049e+00] [ 2.29888230e-02 -1.32534197e-03 9.99734844e-01 4.38552466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.660714057 meters Centerline goodness [0,1] 0.9820203503619007 Centerline is valid? [True, True] Translation: X:43.22, Y:-2.17, Z:0.44 [[ 9.99085757e-01 -3.59060305e-02 -2.32036108e-02 4.32170983e+01] [ 3.59287801e-02 9.99354194e-01 5.64149677e-04 -2.17314239e+00] [ 2.31683694e-02 -1.39731134e-03 9.99730601e-01 4.39711988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.690714057 meters Centerline goodness [0,1] 0.9817358300656336 Centerline is valid? [True, True] Translation: X:43.25, Y:-2.17, Z:0.44 [[ 9.98923959e-01 -4.07037984e-02 -2.22289257e-02 4.32470263e+01] [ 4.07258467e-02 9.99170213e-01 5.39886850e-04 -2.17499736e+00] [ 2.21885049e-02 -1.44459773e-03 9.99752761e-01 4.39629950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.720714056999995 meters Centerline goodness [0,1] 0.9814110777374025 Centerline is valid? [True, True] Translation: X:43.28, Y:-2.18, Z:0.44 [[ 9.98886461e-01 -4.12686657e-02 -2.28634260e-02 4.32753371e+01] [ 4.12921191e-02 9.99146963e-01 5.54455435e-04 -2.17682594e+00] [ 2.28210410e-02 -1.49791734e-03 9.99738444e-01 4.41081036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.750714056999996 meters Centerline goodness [0,1] 0.9811953627806544 Centerline is valid? [True, True] Translation: X:43.30, Y:-2.18, Z:0.44 [[ 9.98827570e-01 -4.28383928e-02 -2.25467905e-02 4.33048854e+01] [ 4.28615622e-02 9.99080872e-01 5.45140382e-04 -2.17788000e+00] [ 2.25027142e-02 -1.51089191e-03 9.99745640e-01 4.41341774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.780714057 meters Centerline goodness [0,1] 0.9816463670726585 Centerline is valid? [True, True] Translation: X:43.33, Y:-2.17, Z:0.44 [[ 9.98749902e-01 -4.52231690e-02 -2.12955135e-02 4.33347220e+01] [ 4.52443607e-02 9.98975817e-01 5.14128551e-04 -2.17451312e+00] [ 2.12504525e-02 -1.47698773e-03 9.99773093e-01 4.42235223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.810714057 meters Centerline goodness [0,1] 0.9808700759323741 Centerline is valid? [True, True] Translation: X:43.36, Y:-2.17, Z:0.44 [[ 9.98692300e-01 -4.67936170e-02 -2.05924120e-02 4.33636953e+01] [ 4.68137467e-02 9.98903512e-01 4.96296280e-04 -2.17398733e+00] [ 2.05466092e-02 -1.45965523e-03 9.99787831e-01 4.42218318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.840714057 meters Centerline goodness [0,1] 0.9802712958886303 Centerline is valid? [True, True] Translation: X:43.39, Y:-2.17, Z:0.44 [[ 9.98631020e-01 -4.83313458e-02 -2.00041684e-02 4.33928759e+01] [ 4.83506048e-02 9.98830310e-01 4.79933643e-04 -2.16941605e+00] [ 1.99575739e-02 -1.44649026e-03 9.99799781e-01 4.43305453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.870714057 meters Centerline goodness [0,1] 0.9797320003360497 Centerline is valid? [True, True] Translation: X:43.42, Y:-2.17, Z:0.44 [[ 9.98598750e-01 -4.90810585e-02 -1.97885277e-02 4.34221198e+01] [ 4.90999495e-02 9.98793760e-01 4.69629162e-04 -2.16830762e+00] [ 1.97416080e-02 -1.44058680e-03 9.99804078e-01 4.43880356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.900714056999995 meters Centerline goodness [0,1] 0.9779899286613513 Centerline is valid? [True, True] Translation: X:43.45, Y:-2.17, Z:0.44 [[ 9.98585352e-01 -4.92601833e-02 -2.00182018e-02 4.34511959e+01] [ 4.92794463e-02 9.98784920e-01 4.69825731e-04 -2.16792022e+00] [ 1.99707343e-02 -1.45564699e-03 9.99799505e-01 4.44705618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.930714056999996 meters Centerline goodness [0,1] 0.9778445125792767 Centerline is valid? [True, True] Translation: X:43.48, Y:-2.17, Z:0.44 [[ 9.98502126e-01 -5.11799737e-02 -1.93420232e-02 4.34792592e+01] [ 5.11982378e-02 9.98688409e-01 4.49946551e-04 -2.16726391e+00] [ 1.92936261e-02 -1.43955009e-03 9.99812824e-01 4.43291385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.960714057 meters Centerline goodness [0,1] 0.9780383750499128 Centerline is valid? [True, True] Translation: X:43.51, Y:-2.16, Z:0.44 [[ 9.98383334e-01 -5.32249503e-02 -1.99455263e-02 4.35090692e+01] [ 5.32447521e-02 9.98581385e-01 4.62686238e-04 -2.16347185e+00] [ 1.98926048e-02 -1.52393283e-03 9.99800961e-01 4.42161472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.990714057 meters Centerline goodness [0,1] 0.976798825256975 Centerline is valid? [True, True] Translation: X:43.54, Y:-2.16, Z:0.44 [[ 9.98308958e-01 -5.43462328e-02 -2.06327813e-02 4.35389415e+01] [ 5.43676454e-02 9.98520871e-01 4.77862389e-04 -2.16153223e+00] [ 2.05762927e-02 -1.59881004e-03 9.99787007e-01 4.41612260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.020714057 meters Centerline goodness [0,1] 0.9758393209798731 Centerline is valid? [True, True] Translation: X:43.57, Y:-2.16, Z:0.44 [[ 9.98183774e-01 -5.64651655e-02 -2.09961484e-02 4.35683529e+01] [ 5.64877888e-02 9.98403172e-01 4.85510022e-04 -2.15841531e+00] [ 2.09352068e-02 -1.67065422e-03 9.99779439e-01 4.40858012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.050714057 meters Centerline goodness [0,1] 0.975547138047138 Centerline is valid? [True, True] Translation: X:43.60, Y:-2.16, Z:0.44 [[ 9.98115758e-01 -5.76086973e-02 -2.11227868e-02 4.35972552e+01] [ 5.76318304e-02 9.98337786e-01 4.87563718e-04 -2.15770840e+00] [ 2.10595883e-02 -1.70398990e-03 9.99776770e-01 4.40515128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.080714056999994 meters Centerline goodness [0,1] 0.977417182304163 Centerline is valid? [True, True] Translation: X:43.63, Y:-2.15, Z:0.44 [[ 9.98036814e-01 -5.88966851e-02 -2.13002011e-02 4.36280607e+01] [ 5.89204831e-02 9.98262559e-01 4.90870093e-04 -2.14737316e+00] [ 2.12342826e-02 -1.74492456e-03 9.99773004e-01 4.41458237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.110714056999996 meters Centerline goodness [0,1] 0.9745004316607357 Centerline is valid? [True, True] Translation: X:43.66, Y:-2.15, Z:0.44 [[ 9.97899506e-01 -6.07978600e-02 -2.23650778e-02 4.36568779e+01] [ 6.08245654e-02 9.98148339e-01 5.15124366e-04 -2.15111625e+00] [ 2.22923468e-02 -1.87438848e-03 9.99749738e-01 4.40078686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.140714057 meters Centerline goodness [0,1] 0.9731487132004798 Centerline is valid? [True, True] Translation: X:43.69, Y:-2.15, Z:0.44 [[ 9.97838243e-01 -6.16862857e-02 -2.26636847e-02 4.36862119e+01] [ 6.17139147e-02 9.98093744e-01 5.21028054e-04 -2.14765635e+00] [ 2.25883416e-02 -1.91856642e-03 9.99743010e-01 4.40491986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.170714057 meters Centerline goodness [0,1] 0.973676433336148 Centerline is valid? [True, True] Translation: X:43.72, Y:-2.15, Z:0.44 [[ 9.97768802e-01 -6.25674825e-02 -2.32965018e-02 4.37160722e+01] [ 6.25968895e-02 9.98038749e-01 5.34481448e-04 -2.14615025e+00] [ 2.32173703e-02 -1.99157746e-03 9.99728457e-01 4.40533227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.200714057 meters Centerline goodness [0,1] 0.9736831006705748 Centerline is valid? [True, True] Translation: X:43.75, Y:-2.13, Z:0.44 [[ 9.97659440e-01 -6.43022596e-02 -2.32564047e-02 4.37467640e+01] [ 6.43320213e-02 9.97928408e-01 5.33051127e-04 -2.13477979e+00] [ 2.31739505e-02 -2.02793501e-03 9.99729391e-01 4.41942166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.230714057 meters Centerline goodness [0,1] 0.9712233255863089 Centerline is valid? [True, True] Translation: X:43.78, Y:-2.14, Z:0.44 [[ 9.97649076e-01 -6.45361160e-02 -2.30523643e-02 4.37758437e+01] [ 6.45654161e-02 9.97913337e-01 5.28224289e-04 -2.13928502e+00] [ 2.29701723e-02 -2.01536797e-03 9.99734119e-01 4.42117586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.260714056999994 meters Centerline goodness [0,1] 0.7849631759284785 Centerline is valid? [True, False] Translation: X:43.84, Y:-2.13, Z:0.44 [[ 9.97725413e-01 -6.41466681e-02 -2.07172683e-02 4.38444832e+01] [ 6.41604578e-02 9.97939595e-01 9.32079081e-07 -2.13101818e+00] [ 2.06745226e-02 -1.33015938e-03 9.99785374e-01 4.40649760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.290714056999995 meters Centerline goodness [0,1] 0.9754425198843858 Centerline is valid? [False, True] Translation: X:43.78, Y:-2.13, Z:0.44 [[ 9.97973993e-01 -5.99867958e-02 -2.12012753e-02 4.37761228e+01] [ 6.00458468e-02 9.98193285e-01 2.15915093e-03 -2.12699174e+00] [ 2.10334500e-02 -3.42782501e-03 9.99772896e-01 4.39596874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.320714056999996 meters Centerline goodness [0,1] 0.9756164848690633 Centerline is valid? [True, True] Translation: X:43.81, Y:-2.11, Z:0.44 [[ 9.98212104e-01 -5.61503571e-02 -2.04873625e-02 4.38071243e+01] [ 5.61724161e-02 9.98420957e-01 5.02377262e-04 -2.11454408e+00] [ 2.04268034e-02 -1.65230371e-03 9.99789986e-01 4.41119817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.350714057 meters Centerline goodness [0,1] 0.9776550552251487 Centerline is valid? [True, True] Translation: X:43.84, Y:-2.11, Z:0.44 [[ 9.98373535e-01 -5.34540743e-02 -1.98229037e-02 4.38384587e+01] [ 5.34741997e-02 9.98569113e-01 4.86212709e-04 -2.10653931e+00] [ 1.97685493e-02 -1.54543581e-03 9.99803389e-01 4.42560031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.380714057 meters Centerline goodness [0,1] 0.9789529574174366 Centerline is valid? [True, True] Translation: X:43.87, Y:-2.10, Z:0.44 [[ 9.98547528e-01 -5.04320251e-02 -1.89590332e-02 4.38691009e+01] [ 5.04498968e-02 9.98726485e-01 4.65244006e-04 -2.09846550e+00] [ 1.89114254e-02 -1.42104952e-03 9.99820153e-01 4.43554694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.410714057 meters Centerline goodness [0,1] 0.9794316586548688 Centerline is valid? [True, True] Translation: X:43.90, Y:-2.09, Z:0.44 [[ 9.98718030e-01 -4.71547879e-02 -1.84043953e-02 4.38987876e+01] [ 4.71710755e-02 9.98886723e-01 4.51631593e-04 -2.09482823e+00] [ 1.83626095e-02 -1.31920773e-03 9.99830523e-01 4.44483029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.440714057 meters Centerline goodness [0,1] 0.9819865966619712 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.08, Z:0.45 [[ 9.99052439e-01 -3.97627121e-02 -1.76960433e-02 4.39300402e+01] [ 3.97766167e-02 9.99208503e-01 4.34328680e-04 -2.08171087e+00] [ 1.76647669e-02 -1.13780586e-03 9.99843318e-01 4.46099161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.470714056999995 meters Centerline goodness [0,1] 0.9829409757761856 Centerline is valid? [True, True] Translation: X:43.96, Y:-2.07, Z:0.45 [[ 9.99337840e-01 -3.16659231e-02 -1.79206833e-02 4.39612338e+01] [ 3.16788909e-02 9.99498001e-01 4.40138579e-04 -2.06993767e+00] [ 1.78977497e-02 -1.00755451e-03 9.99839315e-01 4.45936698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.500714056999996 meters Centerline goodness [0,1] 0.9840835187403731 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.06, Z:0.45 [[ 9.99481331e-01 -2.62218271e-02 -1.86945193e-02 4.39917782e+01] [ 2.62349939e-02 9.99655698e-01 4.59372205e-04 -2.06474879e+00] [ 1.86760371e-02 -9.49584542e-04 9.99825137e-01 4.46433140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.530714057 meters Centerline goodness [0,1] 0.9840835187403731 Centerline is valid? [True, True] Translation: X:44.02, Y:-2.07, Z:0.45 [[ 9.99480376e-01 -2.62581810e-02 -1.86945239e-02 4.40209615e+01] [ 2.62713506e-02 9.99654743e-01 4.59184113e-04 -2.06543699e+00] [ 1.86760121e-02 -9.50075901e-04 9.99825137e-01 4.46802008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.560714057 meters Centerline goodness [0,1] 0.9854839401346541 Centerline is valid? [True, True] Translation: X:44.05, Y:-2.06, Z:0.45 [[ 9.99542568e-01 -2.38469160e-02 -1.86004982e-02 4.40506219e+01] [ 2.38595245e-02 9.99715217e-01 4.56200473e-04 -2.06042695e+00] [ 1.85843221e-02 -8.99790834e-04 9.99826892e-01 4.46276360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.590714057 meters Centerline goodness [0,1] 0.9860297431275349 Centerline is valid? [True, True] Translation: X:44.08, Y:-2.05, Z:0.45 [[ 9.99620686e-01 -2.00316741e-02 -1.89001600e-02 4.40802997e+01] [ 2.00439985e-02 9.99798992e-01 4.62851811e-04 -2.05421335e+00] [ 1.88870892e-02 -8.41511024e-04 9.99821269e-01 4.46408407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.620714057 meters Centerline goodness [0,1] 0.9869635366247177 Centerline is valid? [True, True] Translation: X:44.11, Y:-2.05, Z:0.45 [[ 9.99732926e-01 -1.26904224e-02 -1.93139781e-02 4.41096140e+01] [ 1.27019128e-02 9.99919216e-01 4.72361174e-04 -2.04897925e+00] [ 1.93064234e-02 -7.17559484e-04 9.99813356e-01 4.46352772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.650714056999995 meters Centerline goodness [0,1] 0.9875201721355568 Centerline is valid? [True, True] Translation: X:44.14, Y:-2.04, Z:0.45 [[ 9.99788822e-01 -8.13282740e-03 -1.88724133e-02 4.41395034e+01] [ 8.14297801e-03 9.99966739e-01 4.61070183e-04 -2.04495105e+00] [ 1.88680358e-02 -6.14650462e-04 9.99821794e-01 4.47116483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.680714056999996 meters Centerline goodness [0,1] 0.9886060710293233 Centerline is valid? [True, True] Translation: X:44.17, Y:-2.04, Z:0.45 [[ 9.99812415e-01 -5.70588970e-03 -1.85088474e-02 4.41683518e+01] [ 5.71522158e-03 9.99983566e-01 4.51327715e-04 -2.04031777e+00] [ 1.85059680e-02 -5.57025217e-04 9.99828595e-01 4.48364908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.710714057 meters Centerline goodness [0,1] 0.9900015051497624 Centerline is valid? [True, True] Translation: X:44.20, Y:-2.03, Z:0.45 [[ 9.99844227e-01 4.93145193e-04 -1.76431097e-02 4.41976538e+01] [-4.85648758e-04 9.99999790e-01 4.29175090e-04 -2.03375139e+00] [ 1.76433176e-02 -4.20539881e-04 9.99844256e-01 4.49918132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.740714057 meters Centerline goodness [0,1] 0.9908965398222452 Centerline is valid? [True, True] Translation: X:44.23, Y:-2.03, Z:0.45 [[ 9.99839544e-01 2.69887143e-03 -1.77088124e-02 4.42261581e+01] [-2.69169496e-03 9.99996285e-01 4.29071173e-04 -2.03114264e+00] [ 1.77099046e-02 -3.81335605e-04 9.99843095e-01 4.50464888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.770714057 meters Centerline goodness [0,1] 0.9911431603109638 Centerline is valid? [True, True] Translation: X:44.25, Y:-2.03, Z:0.45 [[ 9.99822012e-01 7.49768406e-03 -1.73126845e-02 4.42537017e+01] [-7.49160399e-03 9.99971851e-01 4.16020661e-04 -2.02840541e+00] [ 1.73153164e-02 -2.86246838e-04 9.99850038e-01 4.50265377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.800714057 meters Centerline goodness [0,1] 0.9918836074774424 Centerline is valid? [True, True] Translation: X:44.28, Y:-2.03, Z:0.45 [[ 9.99808755e-01 9.62538355e-03 -1.70236627e-02 4.42825008e+01] [-9.61983698e-03 9.99953645e-01 4.07675508e-04 -2.02692712e+00] [ 1.70267976e-02 -2.43832682e-04 9.99855004e-01 4.50679550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.830714056999994 meters Centerline goodness [0,1] 0.9922215980294715 Centerline is valid? [True, True] Translation: X:44.31, Y:-2.03, Z:0.45 [[ 9.99793984e-01 1.15282050e-02 -1.67059646e-02 4.43115745e+01] [-1.15231489e-02 9.99933527e-01 3.98883519e-04 -2.02642271e+00] [ 1.67094525e-02 -2.06296025e-04 9.99860366e-01 4.50794942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.860714056999996 meters Centerline goodness [0,1] 0.9928010895648226 Centerline is valid? [True, True] Translation: X:44.34, Y:-2.03, Z:0.45 [[ 9.99724332e-01 1.57922490e-02 -1.73742634e-02 4.43392656e+01] [-1.57874512e-02 9.99875285e-01 4.13276699e-04 -2.02584256e+00] [ 1.73786231e-02 -1.38867438e-04 9.99848971e-01 4.50597365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.890714057 meters Centerline goodness [0,1] 0.992795513373598 Centerline is valid? [True, True] Translation: X:44.37, Y:-2.03, Z:0.45 [[ 9.99657399e-01 1.87449891e-02 -1.82677263e-02 4.43684929e+01] [-1.87402171e-02 9.99824293e-01 4.32390148e-04 -2.02671848e+00] [ 1.82726217e-02 -8.99008543e-05 9.99833038e-01 4.50474067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.920714057 meters Centerline goodness [0,1] 0.992846094354215 Centerline is valid? [True, True] Translation: X:44.40, Y:-2.03, Z:0.45 [[ 9.99607388e-01 2.14905194e-02 -1.79785524e-02 4.43960493e+01] [-2.14863655e-02 9.99769051e-01 4.24204027e-04 -2.02728261e+00] [ 1.79835166e-02 -3.77437321e-05 9.99838283e-01 4.50058728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.950714057 meters Centerline goodness [0,1] 0.9933132010353753 Centerline is valid? [True, True] Translation: X:44.42, Y:-2.03, Z:0.45 [[ 9.99580753e-01 2.26788378e-02 -1.79996874e-02 4.44244472e+01] [-2.26749035e-02 9.99742802e-01 4.22663343e-04 -2.02914583e+00] [ 1.80046435e-02 -1.43449680e-05 9.99837903e-01 4.50416414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.980714057 meters Centerline goodness [0,1] 0.9937842778793419 Centerline is valid? [True, True] Translation: X:44.45, Y:-2.03, Z:0.45 [[ 9.99555681e-01 2.39332631e-02 -1.77662313e-02 4.44525234e+01] [-2.39296766e-02 9.99713558e-01 4.14462305e-04 -2.03113140e+00] [ 1.77710618e-02 1.08620189e-05 9.99842082e-01 4.50471420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.010714056999994 meters Centerline goodness [0,1] 0.9934981054081984 Centerline is valid? [True, True] Translation: X:44.48, Y:-2.04, Z:0.45 [[ 9.99530147e-01 2.53168133e-02 -1.72784344e-02 4.44802212e+01] [-2.53136590e-02 9.99679477e-01 4.01270597e-04 -2.03610532e+00] [ 1.72830551e-02 3.62983376e-05 9.99850636e-01 4.50642090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.040714056999995 meters Centerline goodness [0,1] 0.9937870840141027 Centerline is valid? [True, True] Translation: X:44.51, Y:-2.04, Z:0.45 [[ 9.99511473e-01 2.59884753e-02 -1.73613115e-02 4.45079840e+01] [-2.59854253e-02 9.99662241e-01 4.01281213e-04 -2.03878755e+00] [ 1.73658762e-02 5.00558859e-05 9.99849201e-01 4.51004344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.070714056999996 meters Centerline goodness [0,1] 0.9937340946515258 Centerline is valid? [True, True] Translation: X:44.54, Y:-2.04, Z:0.45 [[ 9.99482207e-01 2.70290769e-02 -1.74569948e-02 4.45367058e+01] [-2.70261824e-02 9.99634645e-01 4.01749586e-04 -2.04173462e+00] [ 1.74614757e-02 7.02543622e-05 9.99847534e-01 4.51528280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.100714057 meters Centerline goodness [0,1] 0.9932867192862045 Centerline is valid? [True, True] Translation: X:44.56, Y:-2.05, Z:0.45 [[ 9.99490048e-01 2.73909745e-02 -1.64127583e-02 4.45647780e+01] [-2.73884857e-02 9.99624794e-01 3.76438748e-04 -2.04790955e+00] [ 1.64169112e-02 7.32738140e-05 9.99865231e-01 4.50973633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.130714057 meters Centerline goodness [0,1] 0.9934734229221946 Centerline is valid? [True, True] Translation: X:44.59, Y:-2.05, Z:0.45 [[ 9.99497100e-01 2.74389454e-02 -1.58949955e-02 4.45911744e+01] [-2.74366449e-02 9.99623479e-01 3.62821292e-04 -2.05193178e+00] [ 1.58989662e-02 7.34665192e-05 9.99873601e-01 4.50970796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.160714057 meters Centerline goodness [0,1] 0.9928508931048464 Centerline is valid? [True, True] Translation: X:44.62, Y:-2.06, Z:0.45 [[ 9.99523112e-01 2.69528153e-02 -1.50696327e-02 4.46196954e+01] [-2.69507176e-02 9.99636705e-01 3.42299172e-04 -2.06053503e+00] [ 1.50733839e-02 6.40014830e-05 9.99886388e-01 4.50757520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.190714057 meters Centerline goodness [0,1] 0.9917889064705128 Centerline is valid? [True, True] Translation: X:44.65, Y:-2.07, Z:0.45 [[ 9.99542496e-01 2.62643852e-02 -1.49993902e-02 4.46480267e+01] [-2.62622468e-02 9.99655030e-01 3.39547500e-04 -2.06546928e+00] [ 1.50031338e-02 5.45255315e-05 9.99887445e-01 4.51498671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.220714056999995 meters Centerline goodness [0,1] 0.9912522824748397 Centerline is valid? [True, True] Translation: X:44.67, Y:-2.07, Z:0.45 [[ 9.99568647e-01 2.53816993e-02 -1.47746090e-02 4.46748402e+01] [-2.53795522e-02 9.99677832e-01 3.32835677e-04 -2.06979450e+00] [ 1.47782971e-02 4.22808538e-05 9.99890794e-01 4.51555378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.250714056999996 meters Centerline goodness [0,1] 0.9916283231083844 Centerline is valid? [True, True] Translation: X:44.70, Y:-2.08, Z:0.45 [[ 9.99620906e-01 2.34033301e-02 -1.45027029e-02 4.47025945e+01] [-2.34010780e-02 9.99726104e-01 3.24987882e-04 -2.07992177e+00] [ 1.45063364e-02 1.45142004e-05 9.99894777e-01 4.52217471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.280714057 meters Centerline goodness [0,1] 0.9911137566699972 Centerline is valid? [True, True] Translation: X:44.73, Y:-2.09, Z:0.45 [[ 9.99663025e-01 2.18654004e-02 -1.39907283e-02 4.47308449e+01] [-2.18631709e-02 9.99760924e-01 3.12299428e-04 -2.08533049e+00] [ 1.39942120e-02 -6.31250684e-06 9.99902076e-01 4.52427005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.310714057 meters Centerline goodness [0,1] 0.9890990838140482 Centerline is valid? [True, True] Translation: X:44.76, Y:-2.10, Z:0.45 [[ 9.99703336e-01 1.95226194e-02 -1.45639271e-02 4.47588209e+01] [-1.95199784e-02 9.99809415e-01 3.23482908e-04 -2.09575644e+00] [ 1.45674667e-02 -3.90993990e-05 9.99893888e-01 4.51909387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.340714057 meters Centerline goodness [0,1] 0.989037836459816 Centerline is valid? [True, True] Translation: X:44.79, Y:-2.10, Z:0.45 [[ 9.99725252e-01 1.84166133e-02 -1.44999635e-02 4.47861992e+01] [-1.84138980e-02 9.99830398e-01 3.20760887e-04 -2.10119071e+00] [ 1.45034116e-02 -5.36719094e-05 9.99894819e-01 4.51887389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.370714057 meters Centerline goodness [0,1] 0.9887059521539211 Centerline is valid? [True, True] Translation: X:44.81, Y:-2.11, Z:0.45 [[ 9.99744309e-01 1.75599398e-02 -1.42466069e-02 4.48143596e+01] [-1.75572497e-02 9.99845810e-01 3.13883066e-04 -2.10581778e+00] [ 1.42499220e-02 -6.36715738e-05 9.99898463e-01 4.52330116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.400714056999995 meters Centerline goodness [0,1] 0.9876274269277949 Centerline is valid? [True, True] Translation: X:44.84, Y:-2.11, Z:0.45 [[ 9.99776183e-01 1.58749144e-02 -1.39846430e-02 4.48429208e+01] [-1.58721776e-02 9.99873982e-01 3.06680710e-04 -2.11388188e+00] [ 1.39877492e-02 -8.46453328e-05 9.99902163e-01 4.52360944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.430714056999996 meters Centerline goodness [0,1] 0.9861195947511426 Centerline is valid? [True, True] Translation: X:44.87, Y:-2.12, Z:0.45 [[ 9.99763714e-01 1.56981531e-02 -1.50360638e-02 4.48712682e+01] [-1.56949879e-02 9.99876772e-01 3.28496184e-04 -2.11854725e+00] [ 1.50393678e-02 -9.24277255e-05 9.99886898e-01 4.52695711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.460714057 meters Centerline goodness [0,1] 0.9865614649479969 Centerline is valid? [True, True] Translation: X:44.90, Y:-2.12, Z:0.45 [[ 9.99781742e-01 1.40824008e-02 -1.54322249e-02 4.49000835e+01] [-1.40788988e-02 9.99900831e-01 3.35550324e-04 -2.12290443e+00] [ 1.54354199e-02 -1.18208355e-04 9.99880860e-01 4.52380265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.490714057 meters Centerline goodness [0,1] 0.9857871026416531 Centerline is valid? [True, True] Translation: X:44.93, Y:-2.13, Z:0.45 [[ 9.99815601e-01 1.05730386e-02 -1.60304239e-02 4.49277871e+01] [-1.05688289e-02 9.99944088e-01 3.47305862e-04 -2.13243185e+00] [ 1.60331997e-02 -1.77819012e-04 9.99871444e-01 4.52303764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.520714057 meters Centerline goodness [0,1] 0.9842170784715042 Centerline is valid? [True, True] Translation: X:44.96, Y:-2.14, Z:0.45 [[ 9.99839042e-01 7.92855341e-03 -1.60943616e-02 4.49552827e+01] [-7.92399069e-03 9.99968544e-01 3.47249548e-04 -2.13824411e+00] [ 1.60966086e-02 -2.19662084e-04 9.99870417e-01 4.52484883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.550714057 meters Centerline goodness [0,1] 0.9838601068978579 Centerline is valid? [True, True] Translation: X:44.98, Y:-2.15, Z:0.45 [[ 9.99881802e-01 2.15915374e-03 -1.52223785e-02 4.49842785e+01] [-2.15442183e-03 9.99997626e-01 3.27243837e-04 -2.14855251e+00] [ 1.52230489e-02 -2.94409732e-04 9.99884079e-01 4.54439855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.580714056999994 meters Centerline goodness [0,1] 0.9816365844465849 Centerline is valid? [True, True] Translation: X:45.01, Y:-2.15, Z:0.46 [[ 9.99891554e-01 -1.34405693e-03 -1.46653708e-02 4.50125141e+01] [ 1.34881349e-03 9.99999041e-01 3.14453201e-04 -2.15403261e+00] [ 1.46649341e-02 -3.34199950e-04 9.99892408e-01 4.55600929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.610714056999996 meters Centerline goodness [0,1] 0.9814654900061079 Centerline is valid? [True, True] Translation: X:45.04, Y:-2.16, Z:0.46 [[ 9.99886090e-01 -5.29390398e-03 -1.41344040e-02 4.50417638e+01] [ 5.29870080e-03 9.99985916e-01 3.01944023e-04 -2.15932113e+00] [ 1.41326065e-02 -3.76803606e-04 9.99900059e-01 4.56740020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.640714057 meters Centerline goodness [0,1] 0.981790175557056 Centerline is valid? [True, True] Translation: X:45.07, Y:-2.16, Z:0.46 [[ 9.99862503e-01 -9.35358546e-03 -1.36925654e-02 4.50716182e+01] [ 9.35846090e-03 9.99956166e-01 2.92032822e-04 -2.16328432e+00] [ 1.36892336e-02 -4.20134006e-04 9.99906210e-01 4.57209853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.670714057 meters Centerline goodness [0,1] 0.9806353626123275 Centerline is valid? [True, True] Translation: X:45.10, Y:-2.17, Z:0.46 [[ 9.99753819e-01 -1.66839625e-02 -1.46269421e-02 4.51014538e+01] [ 1.66903021e-02 9.99860659e-01 3.11444977e-04 -2.17349259e+00] [ 1.46197078e-02 -5.55496388e-04 9.99892972e-01 4.59148740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.700714057 meters Centerline goodness [0,1] 0.9803627926597764 Centerline is valid? [True, True] Translation: X:45.13, Y:-2.18, Z:0.46 [[ 9.99658853e-01 -2.17411197e-02 -1.44741562e-02 4.51307579e+01] [ 2.17478541e-02 9.99763440e-01 3.08013488e-04 -2.17925118e+00] [ 1.44640357e-02 -6.22690247e-04 9.99895196e-01 4.58216376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.730714057 meters Centerline goodness [0,1] 0.9804697365098072 Centerline is valid? [True, True] Translation: X:45.16, Y:-2.19, Z:0.46 [[ 9.99443380e-01 -2.96284549e-02 -1.53324723e-02 4.51601032e+01] [ 2.96369340e-02 9.99560676e-01 3.26046586e-04 -2.18955921e+00] [ 1.53160761e-02 -7.80272573e-04 9.99882398e-01 4.58125301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.760714056999994 meters Centerline goodness [0,1] 0.9806978159159097 Centerline is valid? [True, True] Translation: X:45.19, Y:-2.19, Z:0.46 [[ 9.99336431e-01 -3.28919976e-02 -1.56465186e-02 4.51898992e+01] [ 3.29012223e-02 9.99458553e-01 3.32455230e-04 -2.19295637e+00] [ 1.56271117e-02 -8.47024211e-04 9.99877530e-01 4.58729012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.790714056999995 meters Centerline goodness [0,1] 0.9792164257280537 Centerline is valid? [True, True] Translation: X:45.22, Y:-2.20, Z:0.46 [[ 9.99136240e-01 -3.82350722e-02 -1.62743391e-02 4.52203252e+01] [ 3.82457546e-02 9.99268304e-01 3.45557261e-04 -2.19593297e+00] [ 1.62492189e-02 -9.67683163e-04 9.99867504e-01 4.59436325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.820714056999996 meters Centerline goodness [0,1] 0.9788770954426754 Centerline is valid? [True, True] Translation: X:45.25, Y:-2.20, Z:0.46 [[ 9.99090064e-01 -3.93795338e-02 -1.63797250e-02 4.52486623e+01] [ 3.93905048e-02 9.99223832e-01 3.47581075e-04 -2.20282074e+00] [ 1.63533240e-02 -9.92470436e-04 9.99865783e-01 4.60904072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.850714057 meters Centerline goodness [0,1] 0.9779163857046528 Centerline is valid? [True, True] Translation: X:45.28, Y:-2.20, Z:0.46 [[ 9.99000718e-01 -4.18846749e-02 -1.55961505e-02 4.52777525e+01] [ 4.18949126e-02 9.99121968e-01 3.30146586e-04 -2.20455669e+00] [ 1.55686285e-02 -9.83216039e-04 9.99878318e-01 4.60516876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.880714057 meters Centerline goodness [0,1] 0.9779946985315774 Centerline is valid? [True, True] Translation: X:45.31, Y:-2.20, Z:0.46 [[ 9.98889147e-01 -4.43678120e-02 -1.58735395e-02 4.53080339e+01] [ 4.43787179e-02 9.99014723e-01 3.35288951e-04 -2.20192473e+00] [ 1.58430237e-02 -1.03936383e-03 9.99873951e-01 4.60534658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.910714057 meters Centerline goodness [0,1] 0.9779179149818776 Centerline is valid? [True, True] Translation: X:45.34, Y:-2.20, Z:0.46 [[ 9.98859774e-01 -4.49844937e-02 -1.59858680e-02 4.53386343e+01] [ 4.49956295e-02 9.98987127e-01 3.37434323e-04 -2.20237789e+00] [ 1.59544970e-02 -1.05634376e-03 9.99872161e-01 4.60891228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.940714057 meters Centerline goodness [0,1] 0.9773661688202718 Centerline is valid? [True, True] Translation: X:45.37, Y:-2.20, Z:0.46 [[ 9.98752388e-01 -4.70553256e-02 -1.67171426e-02 4.53678173e+01] [ 4.70677900e-02 9.98891635e-01 3.52725786e-04 -2.20311809e+00] [ 1.66820162e-02 -1.13912468e-03 9.99860197e-01 4.59588248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.970714056999995 meters Centerline goodness [0,1] 0.9763564014569341 Centerline is valid? [True, True] Translation: X:45.40, Y:-2.20, Z:0.46 [[ 9.98699099e-01 -4.80384148e-02 -1.71003056e-02 4.53983454e+01] [ 4.80515929e-02 9.98844790e-01 3.60353274e-04 -2.20341911e+00] [ 1.70632404e-02 -1.18158141e-03 9.99853714e-01 4.59652862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.000714056999996 meters Centerline goodness [0,1] 0.9763900589721988 Centerline is valid? [True, True] Translation: X:45.43, Y:-2.20, Z:0.46 [[ 9.98640823e-01 -4.91757169e-02 -1.72700474e-02 4.54290504e+01] [ 4.91893271e-02 9.98789406e-01 3.63930228e-04 -2.20277835e+00] [ 1.72312439e-02 -1.21293759e-03 9.99850795e-01 4.60106481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.030714057 meters Centerline goodness [0,1] 0.9757659467604219 Centerline is valid? [True, True] Translation: X:45.46, Y:-2.20, Z:0.46 [[ 9.98598051e-01 -5.00325303e-02 -1.72823340e-02 4.54590806e+01] [ 5.00462862e-02 9.98746833e-01 3.64107077e-04 -2.20091020e+00] [ 1.72424591e-02 -1.22851325e-03 9.99850583e-01 4.60470416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.060714057 meters Centerline goodness [0,1] 0.9758125791473196 Centerline is valid? [True, True] Translation: X:45.49, Y:-2.19, Z:0.46 [[ 9.98425477e-01 -5.32866424e-02 -1.75242876e-02 4.54898098e+01] [ 5.33012803e-02 9.98578408e-01 3.68956220e-04 -2.19353594e+00] [ 1.74797148e-02 -1.30244226e-03 9.99846370e-01 4.60986058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.090714057 meters Centerline goodness [0,1] 0.9737685560053981 Centerline is valid? [True, True] Translation: X:45.52, Y:-2.20, Z:0.46 [[ 9.98354058e-01 -5.45138546e-02 -1.78161225e-02 4.55194726e+01] [ 5.45291763e-02 9.98512107e-01 3.74978512e-04 -2.20043697e+00] [ 1.77691725e-02 -1.34585981e-03 9.99841210e-01 4.61128790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.120714057 meters Centerline goodness [0,1] 0.9735975673691937 Centerline is valid? [True, True] Translation: X:45.55, Y:-2.20, Z:0.46 [[ 9.98193573e-01 -5.75524475e-02 -1.72425746e-02 4.55486247e+01] [ 5.75672461e-02 9.98341565e-01 3.62739367e-04 -2.20019703e+00] [ 1.71931024e-02 -1.35469164e-03 9.99851270e-01 4.61631824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.150714056999995 meters Centerline goodness [0,1] 0.9740774305043309 Centerline is valid? [True, True] Translation: X:45.58, Y:-2.19, Z:0.46 [[ 9.98087961e-01 -5.94734487e-02 -1.68324194e-02 4.55796818e+01] [ 5.94878234e-02 9.98228968e-01 3.54138464e-04 -2.18924754e+00] [ 1.67815468e-02 -1.35478533e-03 9.99858262e-01 4.62351045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.180714056999996 meters Centerline goodness [0,1] 0.9741057296612852 Centerline is valid? [True, True] Translation: X:45.61, Y:-2.19, Z:0.46 [[ 9.98046073e-01 -5.99612150e-02 -1.75695235e-02 4.56111589e+01] [ 5.99769588e-02 9.98199693e-01 3.70064016e-04 -2.18668619e+00] [ 1.75157035e-02 -1.42310753e-03 9.99845576e-01 4.64150510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.210714057 meters Centerline goodness [0,1] 0.9729581505231185 Centerline is valid? [True, True] Translation: X:45.64, Y:-2.19, Z:0.46 [[ 9.97919180e-01 -6.19475742e-02 -1.78832100e-02 4.56415657e+01] [ 6.19642132e-02 9.98078300e-01 3.77297804e-04 -2.18638807e+00] [ 1.78254712e-02 -1.48463176e-03 9.99840011e-01 4.64504910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.240714057 meters Centerline goodness [0,1] 0.9761381409308028 Centerline is valid? [True, True] Translation: X:45.67, Y:-2.18, Z:0.46 [[ 9.97800788e-01 -6.41762554e-02 -1.65829795e-02 4.56728805e+01] [ 6.41908750e-02 9.97937578e-01 3.50291639e-04 -2.17790897e+00] [ 1.65262980e-02 -1.41399724e-03 9.99862432e-01 4.63759910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.270714057 meters Centerline goodness [0,1] 0.9756798444862341 Centerline is valid? [True, True] Translation: X:45.71, Y:-2.17, Z:0.46 [[ 9.97782375e-01 -6.45243498e-02 -1.63382968e-02 4.57051210e+01] [ 6.45385957e-02 9.97915152e-01 3.45625817e-04 -2.16776599e+00] [ 1.62819326e-02 -1.39931008e-03 9.99866461e-01 4.64499173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.300714057 meters Centerline goodness [0,1] 0.9762291451350952 Centerline is valid? [True, True] Translation: X:45.74, Y:-2.17, Z:0.47 [[ 9.97801670e-01 -6.42617582e-02 -1.61942684e-02 4.57361858e+01] [ 6.42757379e-02 9.97932118e-01 3.43711323e-04 -2.16689556e+00] [ 1.61386930e-02 -1.38385428e-03 9.99868805e-01 4.65080378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.330714056999994 meters Centerline goodness [0,1] 0.9759988168430838 Centerline is valid? [True, True] Translation: X:45.77, Y:-2.16, Z:0.47 [[ 9.97841528e-01 -6.36174748e-02 -1.62819807e-02 4.57679925e+01] [ 6.36315370e-02 9.97973400e-01 3.46544130e-04 -2.16424016e+00] [ 1.62269373e-02 -1.38184358e-03 9.99867380e-01 4.65507291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.360714056999996 meters Centerline goodness [0,1] 0.977066260085128 Centerline is valid? [True, True] Translation: X:45.80, Y:-2.16, Z:0.47 [[ 9.97924870e-01 -6.20998566e-02 -1.70164951e-02 4.58001532e+01] [ 6.21150176e-02 9.98068932e-01 3.63375438e-04 -2.15547496e+00] [ 1.69610695e-02 -1.41960128e-03 9.99855143e-01 4.65705357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.390714057 meters Centerline goodness [0,1] 0.9755684464580598 Centerline is valid? [True, True] Translation: X:45.83, Y:-2.15, Z:0.47 [[ 9.97986159e-01 -6.10014142e-02 -1.73912069e-02 4.58305556e+01] [ 6.10170984e-02 9.98136652e-01 3.72163784e-04 -2.15438992e+00] [ 1.73360985e-02 -1.43257529e-03 9.99848692e-01 4.65546048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.420714057 meters Centerline goodness [0,1] 0.9755684464580598 Centerline is valid? [True, True] Translation: X:45.86, Y:-2.16, Z:0.47 [[ 9.97990460e-01 -6.09310061e-02 -1.73911949e-02 4.58623381e+01] [ 6.09466894e-02 9.98140953e-01 3.72725455e-04 -2.15513372e+00] [ 1.73361533e-02 -1.43191220e-03 9.99848692e-01 4.65947730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.450714057 meters Centerline goodness [0,1] 0.978616432253548 Centerline is valid? [True, True] Translation: X:45.89, Y:-2.15, Z:0.47 [[ 9.98034892e-01 -6.00066869e-02 -1.80430725e-02 4.58949632e+01] [ 6.00234417e-02 9.98196892e-01 3.88006058e-04 -2.14972502e+00] [ 1.79872559e-02 -1.47025089e-03 9.99837135e-01 4.66041509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.480714057 meters Centerline goodness [0,1] 0.9802239441416893 Centerline is valid? [True, True] Translation: X:45.93, Y:-2.14, Z:0.47 [[ 9.98193130e-01 -5.69117911e-02 -1.92749617e-02 4.59260437e+01] [ 5.69303599e-02 9.98378065e-01 4.15576372e-04 -2.13663750e+00] [ 1.92200478e-02 -1.51215599e-03 9.99814134e-01 4.66210870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.510714056999994 meters Centerline goodness [0,1] 0.980659162960914 Centerline is valid? [True, True] Translation: X:45.96, Y:-2.14, Z:0.47 [[ 9.98252089e-01 -5.57392330e-02 -1.96444416e-02 4.59566383e+01] [ 5.57583021e-02 9.98444206e-01 4.23901175e-04 -2.13807775e+00] [ 1.95902510e-02 -1.51850094e-03 9.99806939e-01 4.65987132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.540714056999995 meters Centerline goodness [0,1] 0.9816983426121456 Centerline is valid? [True, True] Translation: X:45.99, Y:-2.13, Z:0.47 [[ 9.98404095e-01 -5.27057567e-02 -2.02821457e-02 4.59877655e+01] [ 5.27254693e-02 9.98608949e-01 4.38029190e-04 -2.12873140e+00] [ 2.02308456e-02 -1.50671579e-03 9.99794200e-01 4.66649740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.570714056999996 meters Centerline goodness [0,1] 0.982456891018784 Centerline is valid? [True, True] Translation: X:46.02, Y:-2.12, Z:0.47 [[ 9.98493286e-01 -5.09829271e-02 -2.02952902e-02 4.60194887e+01] [ 5.10023238e-02 9.98698438e-01 4.38928864e-04 -2.12426435e+00] [ 2.02464967e-02 -1.47337448e-03 9.99793933e-01 4.67576761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.600714057 meters Centerline goodness [0,1] 0.9845998971898561 Centerline is valid? [True, True] Translation: X:46.05, Y:-2.11, Z:0.47 [[ 9.98642088e-01 -4.78754416e-02 -2.05407473e-02 4.60509851e+01] [ 4.78946728e-02 9.98852293e-01 4.45040628e-04 -2.10928205e+00] [ 2.04958660e-02 -1.42822867e-03 9.99788918e-01 4.69883710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.630714057 meters Centerline goodness [0,1] 0.9845979178269997 Centerline is valid? [True, True] Translation: X:46.08, Y:-2.11, Z:0.47 [[ 9.98680087e-01 -4.69460858e-02 -2.08362408e-02 4.60824965e+01] [ 4.69656840e-02 9.98896401e-01 4.51962171e-04 -2.10534046e+00] [ 2.07920281e-02 -1.42995392e-03 9.99782800e-01 4.70892914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.660714057 meters Centerline goodness [0,1] 0.9857145921365909 Centerline is valid? [True, True] Translation: X:46.11, Y:-2.10, Z:0.47 [[ 9.98725600e-01 -4.59971985e-02 -2.07709752e-02 4.61145373e+01] [ 4.60164874e-02 9.98940578e-01 4.51398048e-04 -2.09873601e+00] [ 2.07282070e-02 -1.40663011e-03 9.99784158e-01 4.71791321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.690714056999994 meters Centerline goodness [0,1] 0.9850842365060629 Centerline is valid? [True, True] Translation: X:46.15, Y:-2.09, Z:0.47 [[ 9.98730162e-01 -4.57885338e-02 -2.10112799e-02 4.61459802e+01] [ 4.58082487e-02 9.98950146e-01 4.57710499e-04 -2.09463896e+00] [ 2.09682632e-02 -1.41961922e-03 9.99779134e-01 4.72187286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.720714056999995 meters Centerline goodness [0,1] 0.9850656207572787 Centerline is valid? [True, True] Translation: X:46.18, Y:-2.09, Z:0.47 [[ 9.98728363e-01 -4.58952815e-02 -2.08633711e-02 4.61781026e+01] [ 4.59147694e-02 9.98945257e-01 4.55760989e-04 -2.09217462e+00] [ 2.08204483e-02 -1.41311830e-03 9.99782232e-01 4.72876630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.750714056999996 meters Centerline goodness [0,1] 0.9857454954467781 Centerline is valid? [True, True] Translation: X:46.21, Y:-2.09, Z:0.47 [[ 9.98650342e-01 -4.74430737e-02 -2.11340643e-02 4.62095746e+01] [ 4.74634414e-02 9.98872869e-01 4.62895897e-04 -2.08739292e+00] [ 2.10882822e-02 -1.46536657e-03 9.99776544e-01 4.74279847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.780714057 meters Centerline goodness [0,1] 0.9855521379370099 Centerline is valid? [True, True] Translation: X:46.24, Y:-2.09, Z:0.47 [[ 9.98572333e-01 -4.87087375e-02 -2.19261029e-02 4.62412557e+01] [ 4.87309856e-02 9.98811824e-01 4.81208999e-04 -2.08599287e+00] [ 2.18766117e-02 -1.54900260e-03 9.99759478e-01 4.74554598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.810714057 meters Centerline goodness [0,1] 0.9857809616845762 Centerline is valid? [True, True] Translation: X:46.27, Y:-2.09, Z:0.47 [[ 9.98505075e-01 -4.96022076e-02 -2.29616191e-02 4.62727586e+01] [ 4.96268713e-02 9.98767700e-01 5.05192890e-04 -2.08584019e+00] [ 2.29082648e-02 -1.64395098e-03 9.99736220e-01 4.74483074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.840714057 meters Centerline goodness [0,1] 0.9858454889249054 Centerline is valid? [True, True] Translation: X:46.30, Y:-2.08, Z:0.47 [[ 9.98442926e-01 -5.07768291e-02 -2.30962766e-02 4.63048566e+01] [ 5.08021281e-02 9.98708608e-01 5.09567430e-04 -2.08477490e+00] [ 2.30405760e-02 -1.68211400e-03 9.99733116e-01 4.74756280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.870714057 meters Centerline goodness [0,1] 0.9856289253314724 Centerline is valid? [True, True] Translation: X:46.34, Y:-2.08, Z:0.48 [[ 9.98319499e-01 -5.29547770e-02 -2.35365368e-02 4.63358400e+01] [ 5.29816777e-02 9.98595349e-01 5.20379148e-04 -2.08004457e+00] [ 2.34759196e-02 -1.76650986e-03 9.99722842e-01 4.76416719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.900714056999995 meters Centerline goodness [0,1] 0.9857149097898737 Centerline is valid? [True, True] Translation: X:46.37, Y:-2.08, Z:0.48 [[ 9.98274347e-01 -5.37469257e-02 -2.36558021e-02 4.63665674e+01] [ 5.37743581e-02 9.98552975e-01 5.24591322e-04 -2.08077122e+00] [ 2.35933764e-02 -1.79576163e-03 9.99720025e-01 4.77631506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.930714056999996 meters Centerline goodness [0,1] 0.9864170257442201 Centerline is valid? [True, True] Translation: X:46.40, Y:-2.07, Z:0.48 [[ 9.98254303e-01 -5.40119467e-02 -2.38967973e-02 4.63990631e+01] [ 5.40400733e-02 9.98538626e-01 5.32312810e-04 -2.06902371e+00] [ 2.38331239e-02 -1.82276823e-03 9.99714289e-01 4.80069584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.960714057 meters Centerline goodness [0,1] 0.9869547135946768 Centerline is valid? [True, True] Translation: X:46.43, Y:-2.07, Z:0.48 [[ 9.98273436e-01 -5.35464643e-02 -2.41437913e-02 4.64315090e+01] [ 5.35750822e-02 9.98563678e-01 5.39560452e-04 -2.06724964e+00] [ 2.40802215e-02 -1.83213447e-03 9.99708351e-01 4.80830055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.990714057 meters Centerline goodness [0,1] 0.9861922580362809 Centerline is valid? [True, True] Translation: X:46.46, Y:-2.07, Z:0.48 [[ 9.98316185e-01 -5.26508679e-02 -2.43450387e-02 4.64623868e+01] [ 5.26797599e-02 9.98611308e-01 5.46512747e-04 -2.07206791e+00] [ 2.42824566e-02 -1.82808331e-03 9.99703466e-01 4.80206355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.020714057 meters Centerline goodness [0,1] 0.9873331427440459 Centerline is valid? [True, True] Translation: X:46.49, Y:-2.06, Z:0.48 [[ 9.98366584e-01 -5.13399183e-02 -2.50674626e-02 4.64944409e+01] [ 5.13702047e-02 9.98679519e-01 5.65304347e-04 -2.05950374e+00] [ 2.50053389e-02 -1.85210166e-03 9.99685602e-01 4.80879505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.050714057 meters Centerline goodness [0,1] 0.9884718616623399 Centerline is valid? [True, True] Translation: X:46.53, Y:-2.06, Z:0.48 [[ 9.98427055e-01 -5.03936378e-02 -2.45743108e-02 4.65270965e+01] [ 5.04225061e-02 9.98727822e-01 5.56116836e-04 -2.05544029e+00] [ 2.45150231e-02 -1.79434043e-03 9.99697851e-01 4.81557151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.080714056999994 meters Centerline goodness [0,1] 0.9874088800530152 Centerline is valid? [True, True] Translation: X:46.56, Y:-2.05, Z:0.48 [[ 9.98518667e-01 -4.86850089e-02 -2.42948735e-02 4.65577516e+01] [ 4.87127535e-02 9.98812677e-01 5.51129323e-04 -2.05090478e+00] [ 2.42391959e-02 -1.73378310e-03 9.99704684e-01 4.82229487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.110714056999996 meters Centerline goodness [0,1] 0.9879119424714342 Centerline is valid? [True, True] Translation: X:46.59, Y:-2.05, Z:0.48 [[ 9.98570301e-01 -4.77604345e-02 -2.40061607e-02 4.65904533e+01] [ 4.77872918e-02 9.98857386e-01 5.46011845e-04 -2.04933396e+00] [ 2.39526532e-02 -1.69242062e-03 9.99711661e-01 4.82396441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.140714057 meters Centerline goodness [0,1] 0.9879843331636831 Centerline is valid? [True, True] Translation: X:46.62, Y:-2.05, Z:0.48 [[ 9.98604216e-01 -4.68769372e-02 -2.43345814e-02 4.66232024e+01] [ 4.69043364e-02 9.98899231e-01 5.56062253e-04 -2.04727597e+00] [ 2.42817282e-02 -1.69668350e-03 9.99703716e-01 4.83035483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.170714057 meters Centerline goodness [0,1] 0.987874480890093 Centerline is valid? [True, True] Translation: X:46.66, Y:-2.04, Z:0.48 [[ 9.98640394e-01 -4.57923054e-02 -2.49083781e-02 4.66560578e+01] [ 4.58207370e-02 9.98949515e-01 5.71600046e-04 -2.04315972e+00] [ 2.48560373e-02 -1.71214314e-03 9.99689575e-01 4.83134837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.200714057 meters Centerline goodness [0,1] 0.9881522896698616 Centerline is valid? [True, True] Translation: X:46.69, Y:-2.04, Z:0.48 [[ 9.98650388e-01 -4.54478180e-02 -2.51375837e-02 4.66869196e+01] [ 4.54767325e-02 9.98965230e-01 5.79475036e-04 -2.04239279e+00] [ 2.50852362e-02 -1.72186814e-03 9.99683833e-01 4.83285453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.230714057 meters Centerline goodness [0,1] 0.9874372974652639 Centerline is valid? [True, True] Translation: X:46.72, Y:-2.04, Z:0.48 [[ 9.98656054e-01 -4.52412806e-02 -2.52846179e-02 4.67192280e+01] [ 4.52705291e-02 9.98974593e-01 5.85261625e-04 -2.04219461e+00] [ 2.52322129e-02 -1.72912309e-03 9.99680122e-01 4.83335331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.260714056999994 meters Centerline goodness [0,1] 0.9865075477579374 Centerline is valid? [True, True] Translation: X:46.75, Y:-2.04, Z:0.48 [[ 9.98635410e-01 -4.53271955e-02 -2.59376676e-02 4.67500131e+01] [ 4.53580685e-02 9.98970611e-01 6.02876051e-04 -2.03886716e+00] [ 2.58836410e-02 -1.77853588e-03 9.99663380e-01 4.82951057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.290714056999995 meters Centerline goodness [0,1] 0.9863666740922254 Centerline is valid? [True, True] Translation: X:46.78, Y:-2.04, Z:0.48 [[ 9.98615681e-01 -4.56421759e-02 -2.61441074e-02 4.67826126e+01] [ 4.56737140e-02 9.98956225e-01 6.10128382e-04 -2.03865792e+00] [ 2.60889713e-02 -1.80338226e-03 9.99657998e-01 4.82521818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.320714056999996 meters Centerline goodness [0,1] 0.9869260630940163 Centerline is valid? [True, True] Translation: X:46.81, Y:-2.04, Z:0.48 [[ 9.98552252e-01 -4.65954929e-02 -2.68749056e-02 4.68136637e+01] [ 4.66292228e-02 9.98912068e-01 6.29409016e-04 -2.03832101e+00] [ 2.68163399e-02 -1.88165375e-03 9.99638606e-01 4.80578382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.350714057 meters Centerline goodness [0,1] 0.9867560022333892 Centerline is valid? [True, True] Translation: X:46.85, Y:-2.03, Z:0.48 [[ 9.98532504e-01 -4.69656683e-02 -2.69641368e-02 4.68460325e+01] [ 4.69998167e-02 9.98894697e-01 6.33718349e-04 -2.03013089e+00] [ 2.69045703e-02 -1.90009786e-03 9.99636201e-01 4.82161945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.380714057 meters Centerline goodness [0,1] 0.9853521503578356 Centerline is valid? [True, True] Translation: X:46.88, Y:-2.04, Z:0.48 [[ 9.98512660e-01 -4.75398113e-02 -2.66914624e-02 4.68768496e+01] [ 4.75735202e-02 9.98867541e-01 6.28954469e-04 -2.03769463e+00] [ 2.66313350e-02 -1.89782582e-03 9.99643522e-01 4.80934101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.410714057 meters Centerline goodness [0,1] 0.9866206494699805 Centerline is valid? [True, True] Translation: X:46.91, Y:-2.03, Z:0.48 [[ 9.98437430e-01 -4.92695239e-02 -2.63668689e-02 4.69085007e+01] [ 4.93030479e-02 9.98783671e-01 6.22468438e-04 -2.02602437e+00] [ 2.63041294e-02 -1.92146279e-03 9.99652140e-01 4.83890363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.440714056999994 meters Centerline goodness [0,1] 0.9866110280498962 Centerline is valid? [True, True] Translation: X:46.94, Y:-2.03, Z:0.48 [[ 9.98415402e-01 -4.97439791e-02 -2.63101138e-02 4.69402989e+01] [ 4.97775737e-02 9.98760134e-01 6.23069757e-04 -2.02641231e+00] [ 2.62464989e-02 -1.93173607e-03 9.99653635e-01 4.84112793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.470714056999995 meters Centerline goodness [0,1] 0.9851381461675579 Centerline is valid? [True, True] Translation: X:46.97, Y:-2.03, Z:0.48 [[ 9.98355016e-01 -5.10149031e-02 -2.61675706e-02 4.69717253e+01] [ 5.10486232e-02 9.98695975e-01 6.21785445e-04 -2.02873549e+00] [ 2.61017272e-02 -1.95658107e-03 9.99657377e-01 4.83251559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.500714056999996 meters Centerline goodness [0,1] 0.9859429647565241 Centerline is valid? [True, True] Translation: X:47.00, Y:-2.03, Z:0.48 [[ 9.98308664e-01 -5.19066528e-02 -2.61822767e-02 4.70041752e+01] [ 5.19407585e-02 9.98649973e-01 6.23771314e-04 -2.02793521e+00] [ 2.61145521e-02 -1.98264362e-03 9.99656991e-01 4.83763524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.530714057 meters Centerline goodness [0,1] 0.9859072752569453 Centerline is valid? [True, True] Translation: X:47.04, Y:-2.03, Z:0.48 [[ 9.98280976e-01 -5.25467629e-02 -2.59601672e-02 4.70361059e+01] [ 5.25805548e-02 9.98616493e-01 6.20311688e-04 -2.02776531e+00] [ 2.58916557e-02 -1.98424535e-03 9.99662786e-01 4.84115450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.560714057 meters Centerline goodness [0,1] 0.9856446431379597 Centerline is valid? [True, True] Translation: X:47.07, Y:-2.03, Z:0.48 [[ 9.98263661e-01 -5.33213223e-02 -2.50299920e-02 4.70676646e+01] [ 5.33530350e-02 9.98575532e-01 6.00407805e-04 -2.02646414e+00] [ 2.49623230e-02 -1.93479133e-03 9.99686520e-01 4.84807938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.590714057 meters Centerline goodness [0,1] 0.985868026691231 Centerline is valid? [True, True] Translation: X:47.10, Y:-2.03, Z:0.49 [[ 9.98279041e-01 -5.32518692e-02 -2.45600272e-02 4.70998986e+01] [ 5.32824369e-02 9.98579307e-01 5.91425870e-04 -2.02639106e+00] [ 2.44936404e-02 -1.89902615e-03 9.99698182e-01 4.85426392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.620714057 meters Centerline goodness [0,1] 0.9851652817919075 Centerline is valid? [True, True] Translation: X:47.13, Y:-2.02, Z:0.49 [[ 9.98332291e-01 -5.22774960e-02 -2.44887703e-02 4.71319189e+01] [ 5.23076373e-02 9.98630843e-01 5.91432611e-04 -2.02138068e+00] [ 2.44243227e-02 -1.87139599e-03 9.99699930e-01 4.86765554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.650714056999995 meters Centerline goodness [0,1] 0.9841051229369397 Centerline is valid? [True, True] Translation: X:47.16, Y:-2.02, Z:0.49 [[ 9.98383383e-01 -5.13760072e-02 -2.43130881e-02 4.71641747e+01] [ 5.14054933e-02 9.98677690e-01 5.88906398e-04 -2.01986101e+00] [ 2.42506830e-02 -1.83778065e-03 9.99704220e-01 4.87533938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.680714056999996 meters Centerline goodness [0,1] 0.9851714550509731 Centerline is valid? [True, True] Translation: X:47.20, Y:-2.02, Z:0.49 [[ 9.98445097e-01 -5.05333907e-02 -2.35321855e-02 4.71961186e+01] [ 5.05608186e-02 9.98720820e-01 5.71643940e-04 -2.01550185e+00] [ 2.34731965e-02 -1.76056165e-03 9.99722916e-01 4.88708374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.710714057 meters Centerline goodness [0,1] 0.9842840644036324 Centerline is valid? [True, True] Translation: X:47.23, Y:-2.01, Z:0.49 [[ 9.98515215e-01 -4.91588629e-02 -2.34685061e-02 4.72281194e+01] [ 4.91857999e-02 9.98789483e-01 5.71590299e-04 -2.01359674e+00] [ 2.34119984e-02 -1.72505886e-03 9.99724413e-01 4.88940709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.740714057 meters Centerline goodness [0,1] 0.9844223377797875 Centerline is valid? [True, True] Translation: X:47.26, Y:-2.01, Z:0.49 [[ 9.98561166e-01 -4.82012188e-02 -2.34998132e-02 4.72608615e+01] [ 4.82280032e-02 9.98836188e-01 5.74020900e-04 -2.01106831e+00] [ 2.34447954e-02 -1.70654405e-03 9.99723676e-01 4.89097568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.770714057 meters Centerline goodness [0,1] 0.9840468863142651 Centerline is valid? [True, True] Translation: X:47.29, Y:-2.01, Z:0.49 [[ 9.98614330e-01 -4.67918027e-02 -2.40820770e-02 4.72916839e+01] [ 4.68195617e-02 9.98903189e-01 5.89829297e-04 -2.01278818e+00] [ 2.40280643e-02 -1.71652428e-03 9.99709811e-01 4.87995939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.800714057 meters Centerline goodness [0,1] 0.9842691520800182 Centerline is valid? [True, True] Translation: X:47.32, Y:-2.01, Z:0.49 [[ 9.98639037e-01 -4.61682904e-02 -2.42603219e-02 4.73245605e+01] [ 4.61963151e-02 9.98932203e-01 5.95687629e-04 -2.00864270e+00] [ 2.42069149e-02 -1.71561439e-03 9.99705498e-01 4.88287266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.830714056999994 meters Centerline goodness [0,1] 0.9852379219361296 Centerline is valid? [True, True] Translation: X:47.36, Y:-2.01, Z:0.49 [[ 9.98685740e-01 -4.53366539e-02 -2.39035629e-02 4.73567544e+01] [ 4.53636689e-02 9.98970365e-01 5.88849372e-04 -2.00572865e+00] [ 2.38522545e-02 -1.67242878e-03 9.99714096e-01 4.89251954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.860714056999996 meters Centerline goodness [0,1] 0.9850586004432158 Centerline is valid? [True, True] Translation: X:47.39, Y:-2.00, Z:0.49 [[ 9.98791471e-01 -4.31174612e-02 -2.35898557e-02 4.73882018e+01] [ 4.31431860e-02 9.99068730e-01 5.82415862e-04 -2.00272287e+00] [ 2.35427749e-02 -1.59945353e-03 9.99721551e-01 4.89131681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.890714057 meters Centerline goodness [0,1] 0.9850494936852884 Centerline is valid? [True, True] Translation: X:47.42, Y:-2.00, Z:0.49 [[ 9.98853603e-01 -4.17608458e-02 -2.33989606e-02 4.74190419e+01] [ 4.17858049e-02 9.99126424e-01 5.78538667e-04 -2.00258210e+00] [ 2.33543596e-02 -1.55561984e-03 9.99726039e-01 4.89505731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.920714057 meters Centerline goodness [0,1] 0.9848838272960118 Centerline is valid? [True, True] Translation: X:47.45, Y:-2.00, Z:0.49 [[ 9.98902525e-01 -4.03062486e-02 -2.38569074e-02 4.74492269e+01] [ 4.03318199e-02 9.99186166e-01 5.91475548e-04 -2.00268044e+00] [ 2.38136517e-02 -1.55301891e-03 9.99715209e-01 4.88716089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.950714057 meters Centerline goodness [0,1] 0.9848592274089152 Centerline is valid? [True, True] Translation: X:47.48, Y:-2.00, Z:0.49 [[ 9.98928454e-01 -3.97439834e-02 -2.37141049e-02 4.74819281e+01] [ 3.97691450e-02 9.99208720e-01 5.90185796e-04 -2.00221745e+00] [ 2.36718841e-02 -1.53264306e-03 9.99718607e-01 4.88978812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.980714057 meters Centerline goodness [0,1] 0.985707086902744 Centerline is valid? [True, True] Translation: X:47.51, Y:-2.00, Z:0.49 [[ 9.98931048e-01 -3.95870779e-02 -2.38667952e-02 4.75139532e+01] [ 3.96125655e-02 9.99214937e-01 5.95891791e-04 -1.99623524e+00] [ 2.38244687e-02 -1.54067980e-03 9.99714970e-01 4.89886146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.010714056999994 meters Centerline goodness [0,1] 0.985235453253244 Centerline is valid? [True, True] Translation: X:47.55, Y:-2.00, Z:0.49 [[ 9.98925480e-01 -3.99211937e-02 -2.35410869e-02 4.75458772e+01] [ 3.99461218e-02 9.99201661e-01 5.89430964e-04 -1.99655179e+00] [ 2.34987623e-02 -1.52917273e-03 9.99722696e-01 4.89932467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.040714056999995 meters Centerline goodness [0,1] 0.9854872467168058 Centerline is valid? [True, True] Translation: X:47.58, Y:-2.00, Z:0.49 [[ 9.98901456e-01 -4.04542275e-02 -2.36503179e-02 4.75778385e+01] [ 4.04795762e-02 9.99180190e-01 5.93855617e-04 -1.99733518e+00] [ 2.36069052e-02 -1.55055809e-03 9.99720116e-01 4.90407325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.070714056999996 meters Centerline goodness [0,1] 0.9854607899255867 Centerline is valid? [True, True] Translation: X:47.61, Y:-2.00, Z:0.49 [[ 9.98876722e-01 -4.09854493e-02 -2.37799956e-02 4.76092344e+01] [ 4.10112621e-02 9.99158505e-01 5.98606359e-04 -2.00197965e+00] [ 2.37354507e-02 -1.57318159e-03 9.99717037e-01 4.90212320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.100714057 meters Centerline goodness [0,1] 0.9859310598908564 Centerline is valid? [True, True] Translation: X:47.64, Y:-2.00, Z:0.49 [[ 9.98796064e-01 -4.27234299e-02 -2.41066529e-02 4.76402673e+01] [ 4.27504915e-02 9.99085595e-01 6.08100481e-04 -1.99547459e+00] [ 2.40586295e-02 -1.63793963e-03 9.99709207e-01 4.91109125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.130714057 meters Centerline goodness [0,1] 0.9853874743184284 Centerline is valid? [True, True] Translation: X:47.67, Y:-2.00, Z:0.49 [[ 9.98699528e-01 -4.47544448e-02 -2.44191126e-02 4.76700230e+01] [ 4.47828330e-02 9.98996555e-01 6.16643261e-04 -2.00061611e+00] [ 2.43670118e-02 -1.70939837e-03 9.99701619e-01 4.89872033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.160714057 meters Centerline goodness [0,1] 0.9853972501614838 Centerline is valid? [True, True] Translation: X:47.70, Y:-2.00, Z:0.49 [[ 9.98673315e-01 -4.54737021e-02 -2.41609658e-02 4.77017512e+01] [ 4.55017345e-02 9.98964073e-01 6.11454575e-04 -2.00225496e+00] [ 2.41081317e-02 -1.71000922e-03 9.99707894e-01 4.89938936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.190714056999994 meters Centerline goodness [0,1] 0.986341059602649 Centerline is valid? [True, True] Translation: X:47.73, Y:-2.00, Z:0.49 [[ 9.98657810e-01 -4.61134222e-02 -2.35824148e-02 4.77337088e+01] [ 4.61403571e-02 9.98934787e-01 5.99023056e-04 -1.99785256e+00] [ 2.35296715e-02 -1.68632009e-03 9.99721717e-01 4.91325688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.220714056999995 meters Centerline goodness [0,1] 0.9866407353383807 Centerline is valid? [True, True] Translation: X:47.77, Y:-1.99, Z:0.49 [[ 9.98621127e-01 -4.68568899e-02 -2.36701656e-02 4.77661208e+01] [ 4.68842743e-02 9.98900146e-01 6.02980136e-04 -1.99486711e+00] [ 2.36158780e-02 -1.71190724e-03 9.99719641e-01 4.92165009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.250714056999996 meters Centerline goodness [0,1] 0.9837977965003241 Centerline is valid? [True, True] Translation: X:47.80, Y:-2.01, Z:0.49 [[ 9.98625405e-01 -4.69565772e-02 -2.32890615e-02 4.77968749e+01] [ 4.69831699e-02 9.98895503e-01 5.95695134e-04 -2.00658922e+00] [ 2.32353670e-02 -1.68907023e-03 9.99728596e-01 4.91278988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.280714057 meters Centerline goodness [0,1] 0.986803961130824 Centerline is valid? [True, True] Translation: X:47.83, Y:-2.00, Z:0.49 [[ 9.98644718e-01 -4.61596949e-02 -2.40418521e-02 4.78298853e+01] [ 4.61878746e-02 9.98932580e-01 6.17831231e-04 -1.99513426e+00] [ 2.39876704e-02 -1.72743594e-03 9.99710762e-01 4.93183434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.310714057 meters Centerline goodness [0,1] 0.9846649215872502 Centerline is valid? [True, True] Translation: X:47.86, Y:-2.00, Z:0.49 [[ 9.98669831e-01 -4.57040207e-02 -2.38686265e-02 4.78608704e+01] [ 4.57317078e-02 9.98953569e-01 6.15132032e-04 -1.99876112e+00] [ 2.38155356e-02 -1.70586686e-03 9.99714915e-01 4.92517834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.340714057 meters Centerline goodness [0,1] 0.9846649215872502 Centerline is valid? [True, True] Translation: X:47.89, Y:-2.00, Z:0.49 [[ 9.98674660e-01 -4.55983973e-02 -2.38685781e-02 4.78934901e+01] [ 4.56260990e-02 9.98958397e-01 6.17004958e-04 -1.99969582e+00] [ 2.38155821e-02 -1.70521732e-03 9.99714915e-01 4.92929920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.370714057 meters Centerline goodness [0,1] 0.985596183683394 Centerline is valid? [True, True] Translation: X:47.93, Y:-2.00, Z:0.49 [[ 9.98717842e-01 -4.47434155e-02 -2.36790996e-02 4.79258016e+01] [ 4.47704898e-02 9.98997110e-01 6.14221586e-04 -1.99818942e+00] [ 2.36278697e-02 -1.67355894e-03 9.99719422e-01 4.93638349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.400714056999995 meters Centerline goodness [0,1] 0.9860018107110523 Centerline is valid? [True, True] Translation: X:47.96, Y:-2.00, Z:0.49 [[ 9.98766884e-01 -4.38768351e-02 -2.32278691e-02 4.79582894e+01] [ 4.39026921e-02 9.99035629e-01 6.04166433e-04 -1.99617476e+00] [ 2.31789599e-02 -1.62318741e-03 9.99730014e-01 4.94499136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.430714056999996 meters Centerline goodness [0,1] 0.9849159936879235 Centerline is valid? [True, True] Translation: X:47.99, Y:-2.00, Z:0.50 [[ 9.98905774e-01 -4.14580185e-02 -2.16445600e-02 4.79878314e+01] [ 4.14799194e-02 9.99139179e-01 5.63673686e-04 -1.99617331e+00] [ 2.16025591e-02 -1.46087150e-03 9.99765570e-01 4.95877748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.460714057 meters Centerline goodness [0,1] 0.987217328654101 Centerline is valid? [True, True] Translation: X:48.02, Y:-1.99, Z:0.50 [[ 9.98983252e-01 -4.00412435e-02 -2.07162128e-02 4.80194015e+01] [ 4.00610039e-02 9.99197090e-01 5.39577948e-04 -1.99165698e+00] [ 2.06779741e-02 -1.36894161e-03 9.99785251e-01 4.97345811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.490714057 meters Centerline goodness [0,1] 0.9863909179732936 Centerline is valid? [True, True] Translation: X:48.05, Y:-1.99, Z:0.50 [[ 9.99102924e-01 -3.73373861e-02 -1.99816404e-02 4.80495833e+01] [ 3.73552400e-02 9.99301914e-01 5.20889370e-04 -1.99119315e+00] [ 1.99482428e-02 -1.26684107e-03 9.99800211e-01 4.98415845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.520714057 meters Centerline goodness [0,1] 0.9861703864362509 Centerline is valid? [True, True] Translation: X:48.08, Y:-1.99, Z:0.50 [[ 9.99131281e-01 -3.66381925e-02 -1.98576596e-02 4.80823322e+01] [ 3.66557009e-02 9.99327820e-01 5.18305787e-04 -1.98921651e+00] [ 1.98253219e-02 -1.24575196e-03 9.99802683e-01 4.98708466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.550714057 meters Centerline goodness [0,1] 0.9861631997018333 Centerline is valid? [True, True] Translation: X:48.11, Y:-1.99, Z:0.50 [[ 9.99152049e-01 -3.58578234e-02 -2.02336413e-02 4.81139868e+01] [ 3.58758761e-02 9.99356113e-01 5.29816083e-04 -1.99117638e+00] [ 2.02016151e-02 -1.25526643e-03 9.99795139e-01 4.98566425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.580714056999994 meters Centerline goodness [0,1] 0.9863093708384927 Centerline is valid? [True, True] Translation: X:48.15, Y:-1.99, Z:0.50 [[ 9.99128326e-01 -3.54422705e-02 -2.20552474e-02 4.81466073e+01] [ 3.54636569e-02 9.99370799e-01 5.79179057e-04 -1.98860697e+00] [ 2.20208428e-02 -1.36083393e-03 9.99756586e-01 4.97178637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.610714056999996 meters Centerline goodness [0,1] 0.9854916459961623 Centerline is valid? [True, True] Translation: X:48.18, Y:-1.99, Z:0.49 [[ 9.99073986e-01 -3.55509877e-02 -2.42342100e-02 4.81772395e+01] [ 3.55769018e-02 9.99366737e-01 6.38870338e-04 -1.99187845e+00] [ 2.41961509e-02 -1.50045685e-03 9.99706104e-01 4.94782662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.640714057 meters Centerline goodness [0,1] 0.986291132441206 Centerline is valid? [True, True] Translation: X:48.21, Y:-1.99, Z:0.49 [[ 9.99039410e-01 -3.58103875e-02 -2.52561620e-02 4.82092922e+01] [ 3.58386814e-02 9.99357365e-01 6.68378448e-04 -1.99075231e+00] [ 2.52159967e-02 -1.57288396e-03 9.99680789e-01 4.94706360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.670714057 meters Centerline goodness [0,1] 0.9860277109278254 Centerline is valid? [True, True] Translation: X:48.24, Y:-1.99, Z:0.49 [[ 9.99013507e-01 -3.60721679e-02 -2.59000358e-02 4.82411133e+01] [ 3.61020594e-02 9.99347872e-01 6.87289131e-04 -1.99211796e+00] [ 2.58583536e-02 -1.62165576e-03 9.99664302e-01 4.94036639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.700714057 meters Centerline goodness [0,1] 0.9866377501049391 Centerline is valid? [True, True] Translation: X:48.27, Y:-1.99, Z:0.49 [[ 9.98997001e-01 -3.64071860e-02 -2.60673905e-02 4.82734431e+01] [ 3.64376275e-02 9.99335688e-01 6.93597322e-04 -1.99150637e+00] [ 2.60248217e-02 -1.64273551e-03 9.99659947e-01 4.94378089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.730714057 meters Centerline goodness [0,1] 0.9856481697910336 Centerline is valid? [True, True] Translation: X:48.31, Y:-1.99, Z:0.50 [[ 9.98991561e-01 -3.74713267e-02 -2.47337789e-02 4.83054103e+01] [ 3.74990992e-02 9.99296444e-01 6.59832096e-04 -1.99272892e+00] [ 2.46916525e-02 -1.58666112e-03 9.99693856e-01 4.95432981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.760714056999994 meters Centerline goodness [0,1] 0.9860495650746759 Centerline is valid? [True, True] Translation: X:48.34, Y:-1.99, Z:0.50 [[ 9.99007433e-01 -3.78754679e-02 -2.34435178e-02 4.83378435e+01] [ 3.79005661e-02 9.99281319e-01 6.27028575e-04 -1.99388923e+00] [ 2.34029204e-02 -1.51492880e-03 9.99724966e-01 4.96540851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.790714056999995 meters Centerline goodness [0,1] 0.9845091452034341 Centerline is valid? [True, True] Translation: X:48.37, Y:-2.00, Z:0.50 [[ 9.98970918e-01 -3.96024064e-02 -2.21078039e-02 4.83686019e+01] [ 3.96251723e-02 9.99214439e-01 5.92482360e-04 -1.99817481e+00] [ 2.20669731e-02 -1.46789818e-03 9.99755417e-01 4.97484179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.820714056999996 meters Centerline goodness [0,1] 0.9841258692140198 Centerline is valid? [True, True] Translation: X:48.40, Y:-2.00, Z:0.50 [[ 9.98930547e-01 -4.08972870e-02 -2.15678744e-02 4.84007851e+01] [ 4.09192815e-02 9.99162288e-01 5.79261875e-04 -2.00135685e+00] [ 2.15261165e-02 -1.46118431e-03 9.99767219e-01 4.97950254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.850714057 meters Centerline goodness [0,1] 0.985283795798044 Centerline is valid? [True, True] Translation: X:48.43, Y:-2.00, Z:0.50 [[ 9.98807840e-01 -4.37438416e-02 -2.16650465e-02 4.84320977e+01] [ 4.37667296e-02 9.99041607e-01 5.83190903e-04 -1.99952856e+00] [ 2.16187719e-02 -1.53070388e-03 9.99765115e-01 4.99316232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.880714057 meters Centerline goodness [0,1] 0.9851718241233105 Centerline is valid? [True, True] Translation: X:48.46, Y:-2.00, Z:0.50 [[ 9.98723041e-01 -4.53692991e-02 -2.22241951e-02 4.84630943e+01] [ 4.53937936e-02 9.98968991e-01 5.98653406e-04 -1.99718767e+00] [ 2.21741213e-02 -1.60672948e-03 9.99752833e-01 4.99723887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.910714057 meters Centerline goodness [0,1] 0.9840395612637105 Centerline is valid? [True, True] Translation: X:48.49, Y:-2.01, Z:0.50 [[ 9.98677791e-01 -4.60987524e-02 -2.27502629e-02 4.84944219e+01] [ 4.61246435e-02 9.98935503e-01 6.14352652e-04 -2.00626915e+00] [ 2.26977244e-02 -1.66288811e-03 9.99740991e-01 4.98437643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.940714056999994 meters Centerline goodness [0,1] 0.985281425672366 Centerline is valid? [True, True] Translation: X:48.53, Y:-2.01, Z:0.50 [[ 9.98672706e-01 -4.52490057e-02 -2.46039239e-02 4.85268058e+01] [ 4.52790958e-02 9.98974153e-01 6.66967638e-04 -2.00867769e+00] [ 2.45485044e-02 -1.78012580e-03 9.99697055e-01 4.95543992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.970714056999995 meters Centerline goodness [0,1] 0.9850060628672699 Centerline is valid? [True, True] Translation: X:48.56, Y:-2.01, Z:0.49 [[ 9.98703694e-01 -4.40171773e-02 -2.55620947e-02 4.85580014e+01] [ 4.40493243e-02 9.99029115e-01 6.95605069e-04 -2.01000410e+00] [ 2.55066583e-02 -1.82069635e-03 9.99672994e-01 4.93987411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.000714056999996 meters Centerline goodness [0,1] 0.9866974725197788 Centerline is valid? [True, True] Translation: X:48.59, Y:-2.00, Z:0.50 [[ 9.98740182e-01 -4.29862584e-02 -2.58888071e-02 4.85905780e+01] [ 4.30189579e-02 9.99074006e-01 7.07195284e-04 -2.00166110e+00] [ 2.58344345e-02 -1.82001385e-03 9.99664579e-01 4.95731244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.030714057 meters Centerline goodness [0,1] 0.9855520430862896 Centerline is valid? [True, True] Translation: X:48.62, Y:-2.01, Z:0.50 [[ 9.98856381e-01 -4.06356476e-02 -2.51927505e-02 4.86201469e+01] [ 4.06658898e-02 9.99172563e-01 6.89063300e-04 -2.00796590e+00] [ 2.51439045e-02 -1.71276089e-03 9.99682375e-01 4.96325708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.060714057 meters Centerline goodness [0,1] 0.9858923113096638 Centerline is valid? [True, True] Translation: X:48.65, Y:-2.01, Z:0.50 [[ 9.98923277e-01 -3.92409293e-02 -2.47474548e-02 4.86512051e+01] [ 3.92696954e-02 9.99228418e-01 6.77285664e-04 -2.00853379e+00] [ 2.47017828e-02 -1.64838143e-03 9.99693505e-01 4.97548283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.090714057 meters Centerline goodness [0,1] 0.9876144952789093 Centerline is valid? [True, True] Translation: X:48.68, Y:-2.00, Z:0.50 [[ 9.99082071e-01 -3.59178494e-02 -2.33436174e-02 4.86820728e+01] [ 3.59425538e-02 9.99353653e-01 6.39452536e-04 -1.99616402e+00] [ 2.33055615e-02 -1.47789479e-03 9.99727296e-01 5.02378284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.120714057 meters Centerline goodness [0,1] 0.9873664894367854 Centerline is valid? [True, True] Translation: X:48.71, Y:-2.00, Z:0.50 [[ 9.99160301e-01 -3.41755614e-02 -2.25991849e-02 4.87137605e+01] [ 3.41982918e-02 9.99414875e-01 6.19984341e-04 -1.99619641e+00] [ 2.25647733e-02 -1.39231726e-03 9.99744414e-01 5.03698911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.150714056999995 meters Centerline goodness [0,1] 0.9873596497422499 Centerline is valid? [True, True] Translation: X:48.74, Y:-2.00, Z:0.50 [[ 9.99215364e-01 -3.27750101e-02 -2.22363322e-02 4.87437952e+01] [ 3.27966940e-02 9.99461857e-01 6.11076680e-04 -1.99753093e+00] [ 2.22043378e-02 -1.33987539e-03 9.99752555e-01 5.04311854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.180714056999996 meters Centerline goodness [0,1] 0.9869657116016909 Centerline is valid? [True, True] Translation: X:48.78, Y:-1.99, Z:0.51 [[ 9.99301488e-01 -3.06824992e-02 -2.13335436e-02 4.87750354e+01] [ 3.07019937e-02 9.99528410e-01 5.86790980e-04 -1.99414743e+00] [ 2.13054787e-02 -1.24136342e-03 9.99772242e-01 5.06446129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.210714057 meters Centerline goodness [0,1] 0.9883906749388983 Centerline is valid? [True, True] Translation: X:48.81, Y:-1.99, Z:0.51 [[ 9.99337424e-01 -2.97590151e-02 -2.09550428e-02 4.88072677e+01] [ 2.97776432e-02 9.99556381e-01 5.77416373e-04 -1.99447892e+00] [ 2.09285634e-02 -1.20102558e-03 9.99780252e-01 5.06880272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.240714057 meters Centerline goodness [0,1] 0.9881529982571011 Centerline is valid? [True, True] Translation: X:48.84, Y:-2.00, Z:0.51 [[ 9.99376793e-01 -2.76007691e-02 -2.20050914e-02 4.88381003e+01] [ 2.76208178e-02 9.99618288e-01 6.07623110e-04 -1.99837287e+00] [ 2.19799209e-02 -1.21504306e-03 9.99757674e-01 5.05392804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.270714057 meters Centerline goodness [0,1] 0.988028881206049 Centerline is valid? [True, True] Translation: X:48.87, Y:-1.99, Z:0.51 [[ 9.99379666e-01 -2.66259918e-02 -2.30508066e-02 4.88703670e+01] [ 2.66477612e-02 9.99644682e-01 6.37704410e-04 -1.99451756e+00] [ 2.30256367e-02 -1.25156121e-03 9.99734091e-01 5.05552207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.300714057 meters Centerline goodness [0,1] 0.9880097053072955 Centerline is valid? [True, True] Translation: X:48.90, Y:-2.00, Z:0.50 [[ 9.99399985e-01 -2.50198695e-02 -2.39515211e-02 4.89015130e+01] [ 2.50429460e-02 9.99686156e-01 6.63955742e-04 -1.99541070e+00] [ 2.39273920e-02 -1.26337401e-03 9.99712901e-01 5.04970775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.330714056999994 meters Centerline goodness [0,1] 0.9882333521976986 Centerline is valid? [True, True] Translation: X:48.93, Y:-1.99, Z:0.50 [[ 9.99444149e-01 -2.17718191e-02 -2.52464129e-02 4.89325852e+01] [ 2.17964432e-02 9.99762184e-01 7.00544637e-04 -1.99498739e+00] [ 2.52251568e-02 -1.25043725e-03 9.99681013e-01 5.04386465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.360714056999996 meters Centerline goodness [0,1] 0.9880719454986917 Centerline is valid? [True, True] Translation: X:48.96, Y:-2.00, Z:0.50 [[ 9.99478658e-01 -1.99900885e-02 -2.53536627e-02 4.89621150e+01] [ 2.00143627e-02 9.99799445e-01 7.04003093e-04 -2.00305892e+00] [ 2.53345048e-02 -1.21107347e-03 9.99678296e-01 5.03030565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.390714057 meters Centerline goodness [0,1] 0.9882439035905668 Centerline is valid? [True, True] Translation: X:48.99, Y:-2.00, Z:0.51 [[ 9.99549925e-01 -1.66288664e-02 -2.49685329e-02 4.89926347e+01] [ 1.66513633e-02 9.99861116e-01 6.93355619e-04 -1.99598910e+00] [ 2.49535355e-02 -1.10880367e-03 9.99687997e-01 5.06409385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.420714057 meters Centerline goodness [0,1] 0.9879492450556462 Centerline is valid? [True, True] Translation: X:49.02, Y:-2.00, Z:0.51 [[ 9.99593452e-01 -1.50997163e-02 -2.41852994e-02 4.90214688e+01] [ 1.51203532e-02 9.99885456e-01 6.70629737e-04 -1.99622178e+00] [ 2.41724028e-02 -1.03604736e-03 9.99707268e-01 5.07429790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.450714057 meters Centerline goodness [0,1] 0.9875987268654957 Centerline is valid? [True, True] Translation: X:49.05, Y:-2.00, Z:0.51 [[ 9.99646106e-01 -1.38390231e-02 -2.27187928e-02 4.90507840e+01] [ 1.38568400e-02 9.99903793e-01 6.26986338e-04 -1.99675120e+00] [ 2.27079303e-02 -9.41575128e-04 9.99741698e-01 5.08750605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.480714057 meters Centerline goodness [0,1] 0.9891424668503733 Centerline is valid? [True, True] Translation: X:49.08, Y:-2.00, Z:0.51 [[ 9.99719021e-01 -1.17034232e-02 -2.06133298e-02 4.90792788e+01] [ 1.17175742e-02 9.99931187e-01 5.65845520e-04 -1.99542548e+00] [ 2.06052890e-02 -8.07224751e-04 9.99787363e-01 5.11160402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.510714056999994 meters Centerline goodness [0,1] 0.9900268146963354 Centerline is valid? [True, True] Translation: X:49.11, Y:-1.99, Z:0.51 [[ 9.99740635e-01 -1.10774981e-02 -1.98985281e-02 4.91080137e+01] [ 1.10905080e-02 9.99938351e-01 5.43572531e-04 -1.99403551e+00] [ 1.98912799e-02 -7.64116332e-04 9.99801857e-01 5.12355506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.540714056999995 meters Centerline goodness [0,1] 0.9890363259928477 Centerline is valid? [True, True] Translation: X:49.14, Y:-2.00, Z:0.51 [[ 9.99755584e-01 -1.00891722e-02 -1.96718131e-02 4.91358736e+01] [ 1.01016227e-02 9.99948835e-01 5.33641754e-04 -1.99868384e+00] [ 1.96654225e-02 -7.32228557e-04 9.99806349e-01 5.12503815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.570714056999996 meters Centerline goodness [0,1] 0.9899868371568259 Centerline is valid? [True, True] Translation: X:49.16, Y:-2.00, Z:0.51 [[ 9.99748315e-01 -1.02443545e-02 -1.99589549e-02 4.91635721e+01] [ 1.02571381e-02 9.99947249e-01 5.38225624e-04 -1.99672482e+00] [ 1.99523883e-02 -7.42811918e-04 9.99800655e-01 5.13081283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.600714057 meters Centerline goodness [0,1] 0.9899478603973884 Centerline is valid? [True, True] Translation: X:49.19, Y:-2.00, Z:0.51 [[ 9.99737131e-01 -1.03425244e-02 -2.04621999e-02 4.91918061e+01] [ 1.03558612e-02 9.99946228e-01 5.45920297e-04 -1.99828968e+00] [ 2.04554534e-02 -7.57680493e-04 9.99790478e-01 5.12843119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.630714057 meters Centerline goodness [0,1] 0.9895327278274543 Centerline is valid? [True, True] Translation: X:49.22, Y:-2.00, Z:0.51 [[ 9.99718599e-01 -1.08350013e-02 -2.11027277e-02 4.92204735e+01] [ 1.08491741e-02 9.99940991e-01 5.57231827e-04 -2.00175347e+00] [ 2.10954448e-02 -7.86022187e-04 9.99777157e-01 5.12040221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.660714057 meters Centerline goodness [0,1] 0.9897097255926824 Centerline is valid? [True, True] Translation: X:49.25, Y:-2.00, Z:0.51 [[ 9.99718648e-01 -1.09130708e-02 -2.10601256e-02 4.92484383e+01] [ 1.09270881e-02 9.99940146e-01 5.50621733e-04 -2.00416499e+00] [ 2.10528561e-02 -7.80592662e-04 9.99778059e-01 5.12178403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.690714056999994 meters Centerline goodness [0,1] 0.9913246268656717 Centerline is valid? [True, True] Translation: X:49.28, Y:-2.01, Z:0.51 [[ 9.99712719e-01 -1.18318252e-02 -2.08443674e-02 4.92757583e+01] [ 1.18456678e-02 9.99929691e-01 5.40740070e-04 -2.00986410e+00] [ 2.08365039e-02 -7.87500177e-04 9.99782586e-01 5.11900369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.720714056999995 meters Centerline goodness [0,1] 0.99086641256856 Centerline is valid? [True, True] Translation: X:49.30, Y:-2.01, Z:0.51 [[ 9.99714241e-01 -1.25343366e-02 -2.03550207e-02 4.93043368e+01] [ 1.25476206e-02 9.99921138e-01 5.25023817e-04 -2.01013143e+00] [ 2.03468347e-02 -7.80280864e-04 9.99792677e-01 5.12427300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.750714056999996 meters Centerline goodness [0,1] 0.9905176832393644 Centerline is valid? [True, True] Translation: X:49.33, Y:-2.01, Z:0.51 [[ 9.99710696e-01 -1.32603121e-02 -2.00670931e-02 4.93327891e+01] [ 1.32732684e-02 9.99911775e-01 5.12593612e-04 -2.01285076e+00] [ 2.00585255e-02 -7.78801230e-04 9.99798504e-01 5.12825250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.780714057 meters Centerline goodness [0,1] 0.9898266592510196 Centerline is valid? [True, True] Translation: X:49.36, Y:-2.02, Z:0.51 [[ 9.99726491e-01 -1.36712691e-02 -1.89747253e-02 4.93616973e+01] [ 1.36828636e-02 9.99906269e-01 4.81353278e-04 -2.01865066e+00] [ 1.89663661e-02 -7.40850201e-04 9.99819848e-01 5.13614931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.810714057 meters Centerline goodness [0,1] 0.9898795738767948 Centerline is valid? [True, True] Translation: X:49.39, Y:-2.02, Z:0.51 [[ 9.99735648e-01 -1.37505850e-02 -1.84270564e-02 4.93914345e+01] [ 1.37615173e-02 9.99905197e-01 4.66601689e-04 -2.02047545e+00] [ 1.84188934e-02 -7.20062597e-04 9.99830099e-01 5.14616641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.840714057 meters Centerline goodness [0,1] 0.9901022079689915 Centerline is valid? [True, True] Translation: X:49.42, Y:-2.02, Z:0.52 [[ 9.99752037e-01 -1.33719195e-02 -1.78060525e-02 4.94212716e+01] [ 1.33820564e-02 9.99910355e-01 4.50261049e-04 -2.02266157e+00] [ 1.77984354e-02 -6.88431000e-04 9.99841358e-01 5.15609016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.870714057 meters Centerline goodness [0,1] 0.9902986450364089 Centerline is valid? [True, True] Translation: X:49.45, Y:-2.02, Z:0.52 [[ 9.99755404e-01 -1.32876201e-02 -1.76796782e-02 4.94510400e+01] [ 1.32975892e-02 9.99911483e-01 4.46433474e-04 -2.02491047e+00] [ 1.76721812e-02 -6.81421376e-04 9.99843603e-01 5.15851321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.900714056999995 meters Centerline goodness [0,1] 0.9905549540417886 Centerline is valid? [True, True] Translation: X:49.48, Y:-2.03, Z:0.52 [[ 9.99737080e-01 -1.35642786e-02 -1.84873465e-02 4.94799282e+01] [ 1.35752122e-02 9.99907744e-01 4.66036828e-04 -2.02843878e+00] [ 1.84793195e-02 -7.16883950e-04 9.99828986e-01 5.15538773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.930714056999996 meters Centerline goodness [0,1] 0.9900128570116632 Centerline is valid? [True, True] Translation: X:49.51, Y:-2.03, Z:0.51 [[ 9.99717296e-01 -1.37372788e-02 -1.94065693e-02 4.95087743e+01] [ 1.37493387e-02 9.99905354e-01 4.88136399e-04 -2.03360126e+00] [ 1.93980269e-02 -7.54825895e-04 9.99811556e-01 5.14375149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.960714057 meters Centerline goodness [0,1] 0.9908897383661044 Centerline is valid? [True, True] Translation: X:49.54, Y:-2.04, Z:0.51 [[ 9.99705231e-01 -1.40148580e-02 -1.98251054e-02 4.95376241e+01] [ 1.40274494e-02 9.99901487e-01 4.96198230e-04 -2.03692679e+00] [ 1.98161982e-02 -7.74147629e-04 9.99803340e-01 5.13783357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.990714057 meters Centerline goodness [0,1] 0.9903070577451879 Centerline is valid? [True, True] Translation: X:49.57, Y:-2.04, Z:0.51 [[ 9.99676175e-01 -1.45139987e-02 -2.09019066e-02 4.95656132e+01] [ 1.45280256e-02 9.99894328e-01 5.19385905e-04 -2.04292802e+00] [ 2.08921594e-02 -8.22881148e-04 9.99781396e-01 5.12737646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.020714057 meters Centerline goodness [0,1] 0.990611618694328 Centerline is valid? [True, True] Translation: X:49.59, Y:-2.05, Z:0.51 [[ 9.99665773e-01 -1.51421372e-02 -2.09537099e-02 4.95942794e+01] [ 1.51563144e-02 9.99885002e-01 5.17944443e-04 -2.04597412e+00] [ 2.09434575e-02 -8.35352347e-04 9.99780313e-01 5.12609174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.050714057 meters Centerline goodness [0,1] 0.9903581580443434 Centerline is valid? [True, True] Translation: X:49.62, Y:-2.06, Z:0.51 [[ 9.99649014e-01 -1.55982154e-02 -2.14136619e-02 4.96222302e+01] [ 1.56130436e-02 9.99877971e-01 5.25441376e-04 -2.05693191e+00] [ 2.14028529e-02 -8.59589390e-04 9.99770563e-01 5.10928106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.080714056999994 meters Centerline goodness [0,1] 0.990903494972984 Centerline is valid? [True, True] Translation: X:49.65, Y:-2.05, Z:0.51 [[ 9.99630079e-01 -1.62492359e-02 -2.18098239e-02 4.96515299e+01] [ 1.62646993e-02 9.99867580e-01 5.31801847e-04 -2.05119601e+00] [ 2.17982944e-02 -8.86335350e-04 9.99761996e-01 5.13040611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.110714056999996 meters Centerline goodness [0,1] 0.9909334666424287 Centerline is valid? [True, True] Translation: X:49.68, Y:-2.05, Z:0.51 [[ 9.99641462e-01 -1.64355355e-02 -2.11381377e-02 4.96806343e+01] [ 1.64499945e-02 9.99864559e-01 5.10311407e-04 -2.05358839e+00] [ 2.11268875e-02 -8.57850690e-04 9.99776434e-01 5.13720904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.140714057 meters Centerline goodness [0,1] 0.9907751178734938 Centerline is valid? [True, True] Translation: X:49.71, Y:-2.06, Z:0.51 [[ 9.99640663e-01 -1.69379902e-02 -2.07761547e-02 4.97092204e+01] [ 1.69519910e-02 9.99856181e-01 4.97941357e-04 -2.05740140e+00] [ 2.07647325e-02 -8.49959615e-04 9.99784028e-01 5.14864123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.170714057 meters Centerline goodness [0,1] 0.9901503605468484 Centerline is valid? [True, True] Translation: X:49.74, Y:-2.06, Z:0.52 [[ 9.99662258e-01 -1.77423862e-02 -1.89888720e-02 4.97389264e+01] [ 1.77542065e-02 9.99842279e-01 4.54072033e-04 -2.05915630e+00] [ 1.89778208e-02 -7.91051030e-04 9.99819592e-01 5.16835261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.200714057 meters Centerline goodness [0,1] 0.9903994552882434 Centerline is valid? [True, True] Translation: X:49.77, Y:-2.07, Z:0.52 [[ 9.99655957e-01 -1.89368988e-02 -1.81483119e-02 4.97685426e+01] [ 1.89478843e-02 9.99820379e-01 4.33542084e-04 -2.06708867e+00] [ 1.81368421e-02 -7.77265041e-04 9.99835212e-01 5.17454494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.230714057 meters Centerline goodness [0,1] 0.9903994552882434 Centerline is valid? [True, True] Translation: X:49.80, Y:-2.07, Z:0.52 [[ 9.99655957e-01 -1.89368988e-02 -1.81483119e-02 4.97985596e+01] [ 1.89478843e-02 9.99820379e-01 4.33542084e-04 -2.06780575e+00] [ 1.81368421e-02 -7.77265041e-04 9.99835212e-01 5.17833911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.260714056999994 meters Centerline goodness [0,1] 0.9902078563818936 Centerline is valid? [True, True] Translation: X:49.83, Y:-2.07, Z:0.52 [[ 9.99638424e-01 -1.97698540e-02 -1.82256262e-02 4.98293847e+01] [ 1.97810733e-02 9.99804241e-01 4.35488968e-04 -2.06793399e+00] [ 1.82134488e-02 -7.95853953e-04 9.99833805e-01 5.18299748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.290714056999995 meters Centerline goodness [0,1] 0.9889472853179347 Centerline is valid? [True, True] Translation: X:49.86, Y:-2.08, Z:0.52 [[ 9.99612529e-01 -2.07616837e-02 -1.85403311e-02 4.98590878e+01] [ 2.07734683e-02 9.99784110e-01 4.43238185e-04 -2.07775749e+00] [ 1.85271260e-02 -8.28213424e-04 9.99828015e-01 5.16992701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.320714056999996 meters Centerline goodness [0,1] 0.9894886748948868 Centerline is valid? [True, True] Translation: X:49.89, Y:-2.08, Z:0.52 [[ 9.99577697e-01 -2.21731597e-02 -1.87823886e-02 4.98900466e+01] [ 2.21855047e-02 9.99753771e-01 4.49130450e-04 -2.07833325e+00] [ 1.87678052e-02 -8.65637553e-04 9.99823495e-01 5.17045521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.350714057 meters Centerline goodness [0,1] 0.990120845241578 Centerline is valid? [True, True] Translation: X:49.92, Y:-2.08, Z:0.52 [[ 9.99484987e-01 -2.52080799e-02 -1.98573261e-02 4.99210402e+01] [ 2.52224834e-02 9.99681750e-01 4.75192181e-04 -2.08195590e+00] [ 1.98390278e-02 -9.75798528e-04 9.99802711e-01 5.15858436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.380714057 meters Centerline goodness [0,1] 0.9906548369663124 Centerline is valid? [True, True] Translation: X:49.95, Y:-2.09, Z:0.52 [[ 9.99435170e-01 -2.67019808e-02 -2.04045347e-02 4.99526594e+01] [ 2.67175101e-02 9.99642904e-01 4.88796023e-04 -2.08550538e+00] [ 2.03841965e-02 -1.03367830e-03 9.99791686e-01 5.15377475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.410714057 meters Centerline goodness [0,1] 0.9902108603191034 Centerline is valid? [True, True] Translation: X:49.98, Y:-2.09, Z:0.51 [[ 9.99328616e-01 -2.93162752e-02 -2.19743824e-02 4.99824978e+01] [ 2.93349276e-02 9.99569500e-01 5.26888917e-04 -2.09245397e+00] [ 2.19494760e-02 -1.17115209e-03 9.99758395e-01 5.14148137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.440714056999994 meters Centerline goodness [0,1] 0.9902742525998967 Centerline is valid? [True, True] Translation: X:50.01, Y:-2.09, Z:0.51 [[ 9.99293214e-01 -3.01280086e-02 -2.24805516e-02 5.00138660e+01] [ 3.01477432e-02 9.99545308e-01 5.39377035e-04 -2.09498503e+00] [ 2.24540795e-02 -1.21673371e-03 9.99747135e-01 5.14284471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.470714056999995 meters Centerline goodness [0,1] 0.9900854624167246 Centerline is valid? [True, True] Translation: X:50.05, Y:-2.10, Z:0.51 [[ 9.99253041e-01 -3.10739110e-02 -2.29732771e-02 5.00454646e+01] [ 3.10947928e-02 9.99516287e-01 5.52212388e-04 -2.09748070e+00] [ 2.29450053e-02 -1.26614920e-03 9.99735927e-01 5.14618417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.500714056999996 meters Centerline goodness [0,1] 0.9906990295613977 Centerline is valid? [True, True] Translation: X:50.08, Y:-2.10, Z:0.52 [[ 9.99226597e-01 -3.21805264e-02 -2.25969397e-02 5.00760931e+01] [ 3.22010541e-02 9.99481263e-01 5.45056679e-04 -2.10176526e+00] [ 2.25676776e-02 -1.27228041e-03 9.99744508e-01 5.15775741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.530714057 meters Centerline goodness [0,1] 0.9904133270469904 Centerline is valid? [True, True] Translation: X:50.11, Y:-2.11, Z:0.52 [[ 9.99194233e-01 -3.40265496e-02 -2.12856656e-02 5.01065570e+01] [ 3.40452152e-02 9.99420161e-01 5.15042549e-04 -2.10720099e+00] [ 2.12557982e-02 -1.23930261e-03 9.99773302e-01 5.16962928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.560714057 meters Centerline goodness [0,1] 0.9894673150617395 Centerline is valid? [True, True] Translation: X:50.14, Y:-2.11, Z:0.52 [[ 9.99201352e-01 -3.45240880e-02 -2.01182986e-02 5.01372943e+01] [ 3.45408832e-02 9.99403167e-01 4.87830336e-04 -2.11102645e+00] [ 2.00894494e-02 -1.18234453e-03 9.99797488e-01 5.17554514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.590714057 meters Centerline goodness [0,1] 0.9900206315034087 Centerline is valid? [True, True] Translation: X:50.17, Y:-2.11, Z:0.52 [[ 9.99187419e-01 -3.53939038e-02 -1.92814276e-02 5.01695406e+01] [ 3.54095269e-02 9.99372776e-01 4.69360403e-04 -2.10720554e+00] [ 1.92527213e-02 -1.15172524e-03 9.99813986e-01 5.19069923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.620714057 meters Centerline goodness [0,1] 0.9896295300810823 Centerline is valid? [True, True] Translation: X:50.20, Y:-2.12, Z:0.52 [[ 9.99180418e-01 -3.58815966e-02 -1.87350607e-02 5.02001287e+01] [ 3.58964551e-02 9.99355410e-01 4.57290775e-04 -2.11650771e+00] [ 1.87065760e-02 -1.12943825e-03 9.99824379e-01 5.19032814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.650714056999995 meters Centerline goodness [0,1] 0.9894506280452371 Centerline is valid? [True, True] Translation: X:50.23, Y:-2.11, Z:0.52 [[ 9.99131915e-01 -3.74501093e-02 -1.82457314e-02 5.02325818e+01] [ 3.74644819e-02 9.99297860e-01 4.46424756e-04 -2.11397925e+00] [ 1.82162017e-02 -1.12960410e-03 9.99833433e-01 5.19908081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.680714056999996 meters Centerline goodness [0,1] 0.9897035881435258 Centerline is valid? [True, True] Translation: X:50.26, Y:-2.12, Z:0.52 [[ 9.99056739e-01 -3.89356459e-02 -1.92262436e-02 5.02630594e+01] [ 3.89519021e-02 9.99240975e-01 4.71621033e-04 -2.11772060e+00] [ 1.91932876e-02 -1.22007493e-03 9.99815047e-01 5.19238992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.710714057 meters Centerline goodness [0,1] 0.9894647560376769 Centerline is valid? [True, True] Translation: X:50.29, Y:-2.12, Z:0.52 [[ 9.99001558e-01 -3.98530883e-02 -2.01895865e-02 5.02939590e+01] [ 3.98712193e-02 9.99204704e-01 4.96138793e-04 -2.12099031e+00] [ 2.01537572e-02 -1.30062686e-03 9.99796046e-01 5.18548950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.740714057 meters Centerline goodness [0,1] 0.9889263468107432 Centerline is valid? [True, True] Translation: X:50.33, Y:-2.12, Z:0.52 [[ 9.98960966e-01 -4.06330710e-02 -2.06383461e-02 5.03265333e+01] [ 4.06522090e-02 9.99173228e-01 5.08437209e-04 -2.12109295e+00] [ 2.06006235e-02 -1.34690328e-03 9.99786877e-01 5.18107922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.770714057 meters Centerline goodness [0,1] 0.987884456916327 Centerline is valid? [True, True] Translation: X:50.36, Y:-2.13, Z:0.52 [[ 9.98931782e-01 -4.11217084e-02 -2.10784257e-02 5.03578289e+01] [ 4.11418178e-02 9.99153181e-01 5.21082312e-04 -2.12743038e+00] [ 2.10391483e-02 -1.38773043e-03 9.99777690e-01 5.17713053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.800714057 meters Centerline goodness [0,1] 0.989542278753135 Centerline is valid? [True, True] Translation: X:50.39, Y:-2.13, Z:0.52 [[ 9.98934066e-01 -4.08595600e-02 -2.14762214e-02 5.03902863e+01] [ 4.08804174e-02 9.99163904e-01 5.32875370e-04 -2.12556447e+00] [ 2.14364922e-02 -1.41026426e-03 9.99769217e-01 5.18328402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.830714056999994 meters Centerline goodness [0,1] 0.9885866166353972 Centerline is valid? [True, True] Translation: X:50.42, Y:-2.13, Z:0.52 [[ 9.98903026e-01 -4.17522740e-02 -2.12012437e-02 5.04218293e+01] [ 4.17728294e-02 9.99126995e-01 5.27402379e-04 -2.12705562e+00] [ 2.11607147e-02 -1.41245977e-03 9.99775089e-01 5.18697291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.860714056999996 meters Centerline goodness [0,1] 0.9885358004827032 Centerline is valid? [True, True] Translation: X:50.45, Y:-2.13, Z:0.52 [[ 9.98894565e-01 -4.20143806e-02 -2.10817205e-02 5.04543051e+01] [ 4.20347895e-02 9.99116009e-01 5.25693834e-04 -2.12853564e+00] [ 2.10409978e-02 -1.41127840e-03 9.99777618e-01 5.19189758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.890714057 meters Centerline goodness [0,1] 0.9878683616702786 Centerline is valid? [True, True] Translation: X:50.49, Y:-2.13, Z:0.52 [[ 9.98901935e-01 -4.18902193e-02 -2.09793787e-02 5.04865660e+01] [ 4.19104343e-02 9.99121234e-01 5.24627157e-04 -2.12647743e+00] [ 2.09389660e-02 -1.40330596e-03 9.99779771e-01 5.19939446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.920714057 meters Centerline goodness [0,1] 0.988562091503268 Centerline is valid? [True, True] Translation: X:50.52, Y:-2.13, Z:0.52 [[ 9.98870944e-01 -4.27368530e-02 -2.07460480e-02 5.05180961e+01] [ 4.27568301e-02 9.99085373e-01 5.20126399e-04 -2.12812604e+00] [ 2.07048446e-02 -1.40657440e-03 9.99784642e-01 5.20056730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.950714057 meters Centerline goodness [0,1] 0.9873163324550043 Centerline is valid? [True, True] Translation: X:50.55, Y:-2.13, Z:0.52 [[ 9.98855763e-01 -4.31484277e-02 -2.06247082e-02 5.05491070e+01] [ 4.31682817e-02 9.99067681e-01 5.18180975e-04 -2.13122799e+00] [ 2.05831207e-02 -1.40792127e-03 9.99787154e-01 5.19805154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.980714057 meters Centerline goodness [0,1] 0.9872712630307369 Centerline is valid? [True, True] Translation: X:50.58, Y:-2.13, Z:0.52 [[ 9.98773167e-01 -4.51760747e-02 -2.02800970e-02 5.05801805e+01] [ 4.51957025e-02 9.98978022e-01 5.10315669e-04 -2.12922590e+00] [ 2.02363171e-02 -1.42626283e-03 9.99794207e-01 5.21069830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.010714056999994 meters Centerline goodness [0,1] 0.9881275061042539 Centerline is valid? [True, True] Translation: X:50.61, Y:-2.13, Z:0.52 [[ 9.98736282e-01 -4.62267117e-02 -1.97213316e-02 5.06121412e+01] [ 4.62454906e-02 9.98929981e-01 4.96977715e-04 -2.12886183e+00] [ 1.96772558e-02 -1.40837233e-03 9.99805392e-01 5.22024300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.040714056999995 meters Centerline goodness [0,1] 0.9885114102076008 Centerline is valid? [True, True] Translation: X:50.64, Y:-2.13, Z:0.52 [[ 9.98687957e-01 -4.72714261e-02 -1.96920480e-02 5.06445072e+01] [ 4.72903788e-02 9.98881060e-01 4.97644541e-04 -2.12952923e+00] [ 1.96464894e-02 -1.42823602e-03 9.99805969e-01 5.23043648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.070714056999996 meters Centerline goodness [0,1] 0.9878892346264915 Centerline is valid? [True, True] Translation: X:50.67, Y:-2.13, Z:0.52 [[ 9.98550064e-01 -5.01740089e-02 -1.95022538e-02 5.06741085e+01] [ 5.01931658e-02 9.98739407e-01 4.93743224e-04 -2.13235737e+00] [ 1.94528963e-02 -1.47190719e-03 9.99809691e-01 5.23011380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.100714057 meters Centerline goodness [0,1] 0.9873763985739591 Centerline is valid? [True, True] Translation: X:50.70, Y:-2.14, Z:0.52 [[ 9.98457245e-01 -5.17334584e-02 -2.01687769e-02 5.07037641e+01] [ 5.17542769e-02 9.98659719e-01 5.11267808e-04 -2.13571607e+00] [ 2.01152954e-02 -1.55429951e-03 9.99796459e-01 5.22426635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.130714057 meters Centerline goodness [0,1] 0.988190740823735 Centerline is valid? [True, True] Translation: X:50.73, Y:-2.13, Z:0.52 [[ 9.98279504e-01 -5.46655113e-02 -2.12064624e-02 5.07345663e+01] [ 5.46892101e-02 9.98503280e-01 5.38760760e-04 -2.13315865e+00] [ 2.11452706e-02 -1.69759850e-03 9.99774973e-01 5.21460882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.160714057 meters Centerline goodness [0,1] 0.9873160945162729 Centerline is valid? [True, True] Translation: X:50.77, Y:-2.14, Z:0.52 [[ 9.98210926e-01 -5.55878844e-02 -2.20212045e-02 5.07654895e+01] [ 5.56136751e-02 9.98452205e-01 5.60025295e-04 -2.13853376e+00] [ 2.19559895e-02 -1.78370348e-03 9.99757347e-01 5.20359891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.190714056999994 meters Centerline goodness [0,1] 0.9877564749411369 Centerline is valid? [True, True] Translation: X:50.80, Y:-2.14, Z:0.52 [[ 9.98125981e-01 -5.67109456e-02 -2.29868481e-02 5.07977973e+01] [ 5.67393774e-02 9.98388852e-01 5.86021905e-04 -2.13629191e+00] [ 2.29165790e-02 -1.88918314e-03 9.99735596e-01 5.20083703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.220714056999995 meters Centerline goodness [0,1] 0.9871944382148464 Centerline is valid? [True, True] Translation: X:50.83, Y:-2.14, Z:0.52 [[ 9.98026171e-01 -5.81103885e-02 -2.38105860e-02 5.08276214e+01] [ 5.81413359e-02 9.98308176e-01 6.08928737e-04 -2.13818330e+00] [ 2.37349176e-02 -1.99210609e-03 9.99716302e-01 5.19105101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.250714056999996 meters Centerline goodness [0,1] 0.9883230983011341 Centerline is valid? [True, True] Translation: X:50.86, Y:-2.13, Z:0.52 [[ 9.98041317e-01 -5.80175624e-02 -2.33985267e-02 5.08610891e+01] [ 5.80474748e-02 9.98313643e-01 6.00640311e-04 -2.13381867e+00] [ 2.33242208e-02 -1.95768924e-03 9.99726037e-01 5.20284972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.280714057 meters Centerline goodness [0,1] 0.9879270714779853 Centerline is valid? [True, True] Translation: X:50.89, Y:-2.13, Z:0.52 [[ 9.98047722e-01 -5.81371374e-02 -2.28214238e-02 5.08928810e+01] [ 5.81656700e-02 9.98306771e-01 5.87891673e-04 -2.13416031e+00] [ 2.27486035e-02 -1.91416735e-03 9.99739385e-01 5.21224549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.310714057 meters Centerline goodness [0,1] 0.9879034982992814 Centerline is valid? [True, True] Translation: X:50.93, Y:-2.13, Z:0.52 [[ 9.98104764e-01 -5.74404099e-02 -2.20789560e-02 5.09252275e+01] [ 5.74669806e-02 9.98347245e-01 5.70320007e-04 -2.13209050e+00] [ 2.20097054e-02 -1.83805005e-03 9.99756067e-01 5.22761519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.340714057 meters Centerline goodness [0,1] 0.9883572532073528 Centerline is valid? [True, True] Translation: X:50.96, Y:-2.13, Z:0.52 [[ 9.98175434e-01 -5.64108625e-02 -2.15317802e-02 5.09570076e+01] [ 5.64359235e-02 9.98406068e-01 5.57548438e-04 -2.13135186e+00] [ 2.14660082e-02 -1.77169706e-03 9.99768009e-01 5.23808308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.370714057 meters Centerline goodness [0,1] 0.9877306148224999 Centerline is valid? [True, True] Translation: X:50.99, Y:-2.12, Z:0.52 [[ 9.98283606e-01 -5.45541173e-02 -2.12999888e-02 5.09890184e+01] [ 5.45782461e-02 9.98509344e-01 5.52701840e-04 -2.12307830e+00] [ 2.12380856e-02 -1.71426922e-03 9.99772977e-01 5.24998785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.400714056999995 meters Centerline goodness [0,1] 0.9867589865791426 Centerline is valid? [True, True] Translation: X:51.02, Y:-2.12, Z:0.52 [[ 9.98342678e-01 -5.35143910e-02 -2.11685501e-02 5.10200475e+01] [ 5.35380154e-02 9.98565660e-01 5.50462030e-04 -2.12370324e+00] [ 2.11087295e-02 -1.68287190e-03 9.99775770e-01 5.24869968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.430714056999996 meters Centerline goodness [0,1] 0.9884698860553446 Centerline is valid? [True, True] Translation: X:51.05, Y:-2.13, Z:0.52 [[ 9.98361938e-01 -5.29210194e-02 -2.17440991e-02 5.10509540e+01] [ 5.29458327e-02 9.98597225e-01 5.66639074e-04 -2.12900931e+00] [ 2.16836099e-02 -1.71697032e-03 9.99763409e-01 5.24149857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.460714057 meters Centerline goodness [0,1] 0.9887546384288171 Centerline is valid? [True, True] Translation: X:51.08, Y:-2.13, Z:0.52 [[ 9.98415904e-01 -5.12075369e-02 -2.33124783e-02 5.10813981e+01] [ 5.12356390e-02 9.98686406e-01 6.09362948e-04 -2.12735370e+00] [ 2.32506512e-02 -1.80282738e-03 9.99728042e-01 5.23081223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.490714057 meters Centerline goodness [0,1] 0.9896123294181547 Centerline is valid? [True, True] Translation: X:51.11, Y:-2.12, Z:0.52 [[ 9.98418405e-01 -5.07808730e-02 -2.41245183e-02 5.11141745e+01] [ 5.08108966e-02 9.98708092e-01 6.32784632e-04 -2.12017676e+00] [ 2.40612182e-02 -1.85757223e-03 9.99708761e-01 5.24078365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.520714057 meters Centerline goodness [0,1] 0.989389439318022 Centerline is valid? [True, True] Translation: X:51.15, Y:-2.12, Z:0.52 [[ 9.98440562e-01 -5.01375164e-02 -2.45494276e-02 5.11463030e+01] [ 5.01684578e-02 9.98740561e-01 6.45716701e-04 -2.11973092e+00] [ 2.44861345e-02 -1.87631667e-03 9.99698409e-01 5.24243745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.550714057 meters Centerline goodness [0,1] 0.989747883945141 Centerline is valid? [True, True] Translation: X:51.18, Y:-2.12, Z:0.52 [[ 9.98493897e-01 -4.86488362e-02 -2.53619456e-02 5.11766117e+01] [ 4.86814126e-02 9.98814134e-01 6.68255760e-04 -2.11782305e+00] [ 2.52993599e-02 -1.90190464e-03 9.99678111e-01 5.24766653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.580714056999994 meters Centerline goodness [0,1] 0.9897646551528493 Centerline is valid? [True, True] Translation: X:51.21, Y:-2.11, Z:0.53 [[ 9.98519608e-01 -4.80719571e-02 -2.54495399e-02 5.12091263e+01] [ 4.81046022e-02 9.98842078e-01 6.71724650e-04 -2.11380374e+00] [ 2.53877802e-02 -1.89497023e-03 9.99675882e-01 5.25582325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.610714056999996 meters Centerline goodness [0,1] 0.9892927777398896 Centerline is valid? [True, True] Translation: X:51.24, Y:-2.11, Z:0.53 [[ 9.98577863e-01 -4.71948438e-02 -2.47971608e-02 5.12404183e+01] [ 4.72256324e-02 9.98884031e-01 6.57143318e-04 -2.11378105e+00] [ 2.47384742e-02 -1.82727037e-03 9.99692287e-01 5.26613686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.640714057 meters Centerline goodness [0,1] 0.9895954019855062 Centerline is valid? [True, True] Translation: X:51.27, Y:-2.12, Z:0.53 [[ 9.98595281e-01 -4.69996415e-02 -2.44642475e-02 5.12731061e+01] [ 4.70296197e-02 9.98893283e-01 6.51159332e-04 -2.11563289e+00] [ 2.44065683e-02 -1.80078889e-03 9.99700493e-01 5.27094006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.670714057 meters Centerline goodness [0,1] 0.9893428467551354 Centerline is valid? [True, True] Translation: X:51.31, Y:-2.12, Z:0.53 [[ 9.98609421e-01 -4.69639410e-02 -2.39502127e-02 5.13058020e+01] [ 4.69927176e-02 9.98895027e-01 6.39799291e-04 -2.11574803e+00] [ 2.38937009e-02 -1.76439518e-03 9.99712948e-01 5.27995442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.700714057 meters Centerline goodness [0,1] 0.9896902534290126 Centerline is valid? [True, True] Translation: X:51.34, Y:-2.12, Z:0.53 [[ 9.98608211e-01 -4.73033775e-02 -2.33244836e-02 5.13378758e+01] [ 4.73308100e-02 9.98879074e-01 6.25166484e-04 -2.11677450e+00] [ 2.32687660e-02 -1.72826308e-03 9.99727752e-01 5.29387304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.730714057 meters Centerline goodness [0,1] 0.9898263422627853 Centerline is valid? [True, True] Translation: X:51.37, Y:-2.12, Z:0.53 [[ 9.98530384e-01 -4.93253962e-02 -2.24516796e-02 5.13675823e+01] [ 4.93513409e-02 9.98781298e-01 6.02635215e-04 -2.12023176e+00] [ 2.23945925e-02 -1.70977007e-03 9.99747748e-01 5.30667533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.760714056999994 meters Centerline goodness [0,1] 0.9886216234667637 Centerline is valid? [True, True] Translation: X:51.40, Y:-2.12, Z:0.53 [[ 9.98381890e-01 -5.24696164e-02 -2.19212424e-02 5.13982257e+01] [ 5.24951035e-02 9.98621008e-01 5.88441048e-04 -2.12318569e+00] [ 2.18601379e-02 -1.73824677e-03 9.99759528e-01 5.30679131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.790714056999995 meters Centerline goodness [0,1] 0.9880510731274325 Centerline is valid? [True, True] Translation: X:51.43, Y:-2.13, Z:0.53 [[ 9.98296651e-01 -5.40232240e-02 -2.20292596e-02 5.14297043e+01] [ 5.40493472e-02 9.98538090e-01 5.91729518e-04 -2.12622847e+00] [ 2.19650877e-02 -1.78138870e-03 9.99757151e-01 5.30645711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.820714056999996 meters Centerline goodness [0,1] 0.9883847549909256 Centerline is valid? [True, True] Translation: X:51.46, Y:-2.13, Z:0.53 [[ 9.98216702e-01 -5.53396089e-02 -2.23817624e-02 5.14617268e+01] [ 5.53669290e-02 9.98465893e-01 6.02332198e-04 -2.12814849e+00] [ 2.23140935e-02 -1.84046751e-03 9.99749316e-01 5.30591502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.850714057 meters Centerline goodness [0,1] 0.9879772727272728 Centerline is valid? [True, True] Translation: X:51.49, Y:-2.13, Z:0.53 [[ 9.98116833e-01 -5.69159556e-02 -2.28770995e-02 5.14930937e+01] [ 5.69449389e-02 9.98377130e-01 6.16933896e-04 -2.12989034e+00] [ 2.28048596e-02 -1.91850714e-03 9.99738095e-01 5.30432744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.880714057 meters Centerline goodness [0,1] 0.9870126931692196 Centerline is valid? [True, True] Translation: X:51.52, Y:-2.13, Z:0.53 [[ 9.97981218e-01 -5.89016338e-02 -2.37504981e-02 5.15234570e+01] [ 5.89334471e-02 9.98261708e-01 6.41151273e-04 -2.13484502e+00] [ 2.36714480e-02 -2.03955565e-03 9.99717712e-01 5.30523185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.910714057 meters Centerline goodness [0,1] 0.9884393063583815 Centerline is valid? [True, True] Translation: X:51.56, Y:-2.13, Z:0.53 [[ 9.97936065e-01 -5.96675999e-02 -2.37357724e-02 5.15557977e+01] [ 5.96996127e-02 9.98216181e-01 6.41771187e-04 -2.13370414e+00] [ 2.36551391e-02 -2.05746303e-03 9.99718061e-01 5.31421241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.940714056999994 meters Centerline goodness [0,1] 0.9881477774239046 Centerline is valid? [True, True] Translation: X:51.59, Y:-2.14, Z:0.53 [[ 9.97895988e-01 -6.05280810e-02 -2.32367947e-02 5.15874859e+01] [ 6.05590268e-02 9.98164419e-01 6.29734192e-04 -2.13685325e+00] [ 2.31560251e-02 -2.03560690e-03 9.99729791e-01 5.31906822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.970714056999995 meters Centerline goodness [0,1] 0.9874656554417676 Centerline is valid? [True, True] Translation: X:51.62, Y:-2.14, Z:0.53 [[ 9.97914155e-01 -6.04575066e-02 -2.26324636e-02 5.16208954e+01] [ 6.04868844e-02 9.98168803e-01 6.15098105e-04 -2.13800404e+00] [ 2.25538318e-02 -1.98278231e-03 9.99743664e-01 5.32384107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.000714056999996 meters Centerline goodness [0,1] 0.9876621609362243 Centerline is valid? [True, True] Translation: X:51.65, Y:-2.14, Z:0.53 [[ 9.97942056e-01 -6.02254854e-02 -2.20123706e-02 5.16533422e+01] [ 6.02532627e-02 9.98182941e-01 6.00239038e-04 -2.13994822e+00] [ 2.19362231e-02 -1.92532093e-03 9.99757518e-01 5.32890601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.030714057 meters Centerline goodness [0,1] 0.9873552780930761 Centerline is valid? [True, True] Translation: X:51.68, Y:-2.14, Z:0.53 [[ 9.98043292e-01 -5.91803435e-02 -2.01810385e-02 5.16844304e+01] [ 5.92035000e-02 9.98245782e-01 5.51395462e-04 -2.14020465e+00] [ 2.01130048e-02 -1.74510465e-03 9.99796190e-01 5.34579648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.060714057 meters Centerline goodness [0,1] 0.9871285555378992 Centerline is valid? [True, True] Translation: X:51.72, Y:-2.14, Z:0.54 [[ 9.98136171e-01 -5.78848695e-02 -1.93268019e-02 5.17164263e+01] [ 5.79058808e-02 9.98321907e-01 5.28848112e-04 -2.14074554e+00] [ 1.92637575e-02 -1.64699792e-03 9.99813080e-01 5.35589792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.090714057 meters Centerline goodness [0,1] 0.9870652421004774 Centerline is valid? [True, True] Translation: X:51.75, Y:-2.14, Z:0.54 [[ 9.98306055e-01 -5.50508284e-02 -1.88262433e-02 5.17472952e+01] [ 5.50702792e-02 9.98482347e-01 5.15914784e-04 -2.13929182e+00] [ 1.87692701e-02 -1.55180733e-03 9.99822637e-01 5.36771802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.120714057 meters Centerline goodness [0,1] 0.9885482334799764 Centerline is valid? [True, True] Translation: X:51.78, Y:-2.13, Z:0.54 [[ 9.98384154e-01 -5.34485207e-02 -1.92960309e-02 5.17793558e+01] [ 5.34686686e-02 9.98569387e-01 5.29377211e-04 -2.13443216e+00] [ 1.92401313e-02 -1.56025490e-03 9.99813674e-01 5.37514290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.150714056999995 meters Centerline goodness [0,1] 0.9885482334799764 Centerline is valid? [True, True] Translation: X:51.81, Y:-2.14, Z:0.54 [[ 9.98390060e-01 -5.33380899e-02 -1.92959914e-02 5.18119944e+01] [ 5.33582449e-02 9.98575293e-01 5.30811545e-04 -2.13541658e+00] [ 1.92401878e-02 -1.55955721e-03 9.99813674e-01 5.37926651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.180714056999996 meters Centerline goodness [0,1] 0.9877854969804295 Centerline is valid? [True, True] Translation: X:51.84, Y:-2.14, Z:0.54 [[ 9.98443100e-01 -5.21630171e-02 -1.97584195e-02 5.18424715e+01] [ 5.21839520e-02 9.98637341e-01 5.45093483e-04 -2.14194517e+00] [ 1.97030618e-02 -1.57531724e-03 9.99804635e-01 5.37196384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.210714057 meters Centerline goodness [0,1] 0.9881019830028328 Centerline is valid? [True, True] Translation: X:51.87, Y:-2.14, Z:0.54 [[ 9.98559908e-01 -4.96110935e-02 -2.04169108e-02 5.18737912e+01] [ 4.96329258e-02 9.98767368e-01 5.63672743e-04 -2.14109500e+00] [ 2.03637799e-02 -1.57621202e-03 9.99791394e-01 5.36783872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.240714057 meters Centerline goodness [0,1] 0.9871526672427122 Centerline is valid? [True, True] Translation: X:51.90, Y:-2.15, Z:0.54 [[ 9.98606437e-01 -4.85078400e-02 -2.07888027e-02 5.19046947e+01] [ 4.85302523e-02 9.98821548e-01 5.74660217e-04 -2.14521241e+00] [ 2.07364285e-02 -1.58274523e-03 9.99783724e-01 5.36513882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.270714057 meters Centerline goodness [0,1] 0.9893723544672522 Centerline is valid? [True, True] Translation: X:51.94, Y:-2.14, Z:0.54 [[ 9.98732338e-01 -4.57080708e-02 -2.10829080e-02 5.19359796e+01] [ 4.57305199e-02 9.98953642e-01 5.83663184e-04 -2.13621055e+00] [ 2.10341697e-02 -1.54705564e-03 9.99777560e-01 5.37033103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.300714057 meters Centerline goodness [0,1] 0.9883110090282673 Centerline is valid? [True, True] Translation: X:51.97, Y:-2.14, Z:0.54 [[ 9.98817386e-01 -4.37212792e-02 -2.12668684e-02 5.19660656e+01] [ 4.37436837e-02 9.99042613e-01 5.89213232e-04 -2.13923117e+00] [ 2.12207467e-02 -1.51880759e-03 9.99773661e-01 5.36861792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.330714056999994 meters Centerline goodness [0,1] 0.9893879957370582 Centerline is valid? [True, True] Translation: X:52.00, Y:-2.14, Z:0.54 [[ 9.98902896e-01 -4.17206181e-02 -2.12695657e-02 5.19972567e+01] [ 4.17425885e-02 9.99128224e-01 5.89832137e-04 -2.13946791e+00] [ 2.12264153e-02 -1.47703176e-03 9.99773603e-01 5.36897593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.360714056999996 meters Centerline goodness [0,1] 0.9903712640276797 Centerline is valid? [True, True] Translation: X:52.03, Y:-2.14, Z:0.54 [[ 9.99102548e-01 -3.67963479e-02 -2.09791915e-02 5.20276261e+01] [ 3.68166509e-02 9.99321868e-01 5.82225108e-04 -2.13611601e+00] [ 2.09435411e-02 -1.35408616e-03 9.99779743e-01 5.37916296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.390714057 meters Centerline goodness [0,1] 0.9900243696904821 Centerline is valid? [True, True] Translation: X:52.06, Y:-2.14, Z:0.54 [[ 9.99191995e-01 -3.43480831e-02 -2.08702386e-02 5.20588336e+01] [ 3.43676499e-02 9.99409090e-01 5.79497486e-04 -2.13586015e+00] [ 2.08380015e-02 -1.29629030e-03 9.99782025e-01 5.38624319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.420714057 meters Centerline goodness [0,1] 0.9904240766073872 Centerline is valid? [True, True] Translation: X:52.09, Y:-2.13, Z:0.54 [[ 9.99279273e-01 -3.18704038e-02 -2.06206779e-02 5.20905082e+01] [ 3.18889984e-02 9.99491252e-01 5.73470741e-04 -2.13209720e+00] [ 2.05919105e-02 -1.23063019e-03 9.99787207e-01 5.39646717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.450714057 meters Centerline goodness [0,1] 0.9909944651120588 Centerline is valid? [True, True] Translation: X:52.12, Y:-2.13, Z:0.54 [[ 9.99414161e-01 -2.75709843e-02 -2.02774780e-02 5.21208651e+01] [ 2.75880963e-02 9.99619217e-01 5.64589892e-04 -2.13166156e+00] [ 2.02541903e-02 -1.12367615e-03 9.99794231e-01 5.39984685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.480714057 meters Centerline goodness [0,1] 0.9899303744358515 Centerline is valid? [True, True] Translation: X:52.15, Y:-2.14, Z:0.54 [[ 9.99451350e-01 -2.60343698e-02 -2.04746214e-02 5.21513412e+01] [ 2.60515064e-02 9.99660439e-01 5.70645747e-04 -2.13603730e+00] [ 2.04528126e-02 -1.10372739e-03 9.99790210e-01 5.39582294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.510714056999994 meters Centerline goodness [0,1] 0.989912988163664 Centerline is valid? [True, True] Translation: X:52.18, Y:-2.13, Z:0.54 [[ 9.99469771e-01 -2.48720062e-02 -2.10133515e-02 5.21823459e+01] [ 2.48898285e-02 9.99690028e-01 5.86987377e-04 -2.13438026e+00] [ 2.09922384e-02 -1.10969485e-03 9.99779023e-01 5.40045299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.540714056999995 meters Centerline goodness [0,1] 0.9903619375907112 Centerline is valid? [True, True] Translation: X:52.21, Y:-2.14, Z:0.54 [[ 9.99519426e-01 -2.28089245e-02 -2.09921259e-02 5.22134050e+01] [ 2.28262730e-02 9.99739274e-01 5.87152735e-04 -2.13538202e+00] [ 2.09732604e-02 -1.06604256e-03 9.99779469e-01 5.39822138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.570714056999996 meters Centerline goodness [0,1] 0.9908256880733946 Centerline is valid? [True, True] Translation: X:52.24, Y:-2.13, Z:0.54 [[ 9.99524359e-01 -2.22308835e-02 -2.13738804e-02 5.22445396e+01] [ 2.22487538e-02 9.99752287e-01 5.98616448e-04 -2.13473490e+00] [ 2.13552780e-02 -1.07387392e-03 9.99771373e-01 5.40025502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.600714057 meters Centerline goodness [0,1] 0.9906510322346975 Centerline is valid? [True, True] Translation: X:52.27, Y:-2.14, Z:0.54 [[ 9.99558245e-01 -2.09122829e-02 -2.11185054e-02 5.22746385e+01] [ 2.09294585e-02 9.99780779e-01 5.92574115e-04 -2.13807212e+00] [ 2.11014837e-02 -1.03431122e-03 9.99776804e-01 5.39799605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.630714057 meters Centerline goodness [0,1] 0.9906482945561328 Centerline is valid? [True, True] Translation: X:52.30, Y:-2.14, Z:0.54 [[ 9.99579010e-01 -2.02606897e-02 -2.07679553e-02 5.23047826e+01] [ 2.02771658e-02 9.99794227e-01 5.83047477e-04 -2.13885870e+00] [ 2.07518689e-02 -1.00391729e-03 9.99784153e-01 5.40183821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.660714057 meters Centerline goodness [0,1] 0.9906869504283551 Centerline is valid? [True, True] Translation: X:52.34, Y:-2.14, Z:0.54 [[ 9.99589043e-01 -1.98293265e-02 -2.07012907e-02 5.23354940e+01] [ 1.98455840e-02 9.99802889e-01 5.80176495e-04 -2.13999344e+00] [ 2.06857057e-02 -9.90767272e-04 9.99785537e-01 5.40723528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.690714056999994 meters Centerline goodness [0,1] 0.9913000135937288 Centerline is valid? [True, True] Translation: X:52.37, Y:-2.14, Z:0.54 [[ 9.99613350e-01 -1.92782980e-02 -2.00373908e-02 5.23661953e+01] [ 1.92934188e-02 9.99813707e-01 5.61569969e-04 -2.14084419e+00] [ 2.00228319e-02 -9.47942611e-04 9.99799074e-01 5.41280907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.720714056999995 meters Centerline goodness [0,1] 0.9913705238839438 Centerline is valid? [True, True] Translation: X:52.40, Y:-2.14, Z:0.54 [[ 9.99616284e-01 -1.93930121e-02 -1.97786913e-02 5.23966979e+01] [ 1.94077673e-02 9.99811498e-01 5.54319630e-04 -2.14243478e+00] [ 1.97642131e-02 -9.37967167e-04 9.99804229e-01 5.41344747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.750714056999996 meters Centerline goodness [0,1] 0.9899510026313402 Centerline is valid? [True, True] Translation: X:52.43, Y:-2.14, Z:0.54 [[ 9.99628441e-01 -1.90785104e-02 -1.94676569e-02 5.24273382e+01] [ 1.90927456e-02 9.99817568e-01 5.45602547e-04 -2.14481057e+00] [ 1.94536961e-02 -9.17090844e-04 9.99810338e-01 5.40978687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.780714057 meters Centerline goodness [0,1] 0.9902213771560505 Centerline is valid? [True, True] Translation: X:52.46, Y:-2.15, Z:0.54 [[ 9.99610877e-01 -1.92496645e-02 -2.01877309e-02 5.24577201e+01] [ 1.92650073e-02 9.99814252e-01 5.65783416e-04 -2.14746907e+00] [ 2.01730900e-02 -9.54480040e-04 9.99796047e-01 5.40920201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.810714057 meters Centerline goodness [0,1] 0.9910657596371882 Centerline is valid? [True, True] Translation: X:52.49, Y:-2.15, Z:0.54 [[ 9.99614969e-01 -1.91806417e-02 -2.00503592e-02 5.24878215e+01] [ 1.91957572e-02 9.99815587e-01 5.61669550e-04 -2.14815896e+00] [ 2.00358885e-02 -9.46335116e-04 9.99798814e-01 5.41136114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.840714057 meters Centerline goodness [0,1] 0.9897019215535386 Centerline is valid? [True, True] Translation: X:52.52, Y:-2.15, Z:0.54 [[ 9.99601992e-01 -1.90153637e-02 -2.08392088e-02 5.25170173e+01] [ 1.90316437e-02 9.99818712e-01 5.83156012e-04 -2.15345289e+00] [ 2.08243420e-02 -9.79528308e-04 9.99782670e-01 5.40010890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.870714057 meters Centerline goodness [0,1] 0.9907241512258181 Centerline is valid? [True, True] Translation: X:52.55, Y:-2.15, Z:0.54 [[ 9.99609885e-01 -1.88748630e-02 -2.05868411e-02 5.25464095e+01] [ 1.88907108e-02 9.99821389e-01 5.75586896e-04 -2.14960882e+00] [ 2.05722999e-02 -9.64262413e-04 9.99787903e-01 5.40620977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.900714056999995 meters Centerline goodness [0,1] 0.990730458037758 Centerline is valid? [True, True] Translation: X:52.58, Y:-2.15, Z:0.54 [[ 9.99608166e-01 -1.85721984e-02 -2.09425109e-02 5.25763726e+01] [ 1.85885164e-02 9.99827048e-01 5.84767133e-04 -2.15038930e+00] [ 2.09280284e-02 -9.73828208e-04 9.99780511e-01 5.41022580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.930714056999996 meters Centerline goodness [0,1] 0.9900235272825989 Centerline is valid? [True, True] Translation: X:52.61, Y:-2.15, Z:0.54 [[ 9.99639808e-01 -1.76824281e-02 -2.01887762e-02 5.26054862e+01] [ 1.76973667e-02 9.99843232e-01 5.61509334e-04 -2.15038277e+00] [ 2.01756824e-02 -9.18595258e-04 9.99796028e-01 5.41738555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.960714057 meters Centerline goodness [0,1] 0.9890580936266216 Centerline is valid? [True, True] Translation: X:52.63, Y:-2.16, Z:0.54 [[ 9.99657242e-01 -1.70491626e-02 -1.98677008e-02 5.26339225e+01] [ 1.70634393e-02 9.99854258e-01 5.49278569e-04 -2.15664855e+00] [ 1.98554405e-02 -8.88101606e-04 9.99802467e-01 5.41425025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.990714057 meters Centerline goodness [0,1] 0.9893332122917707 Centerline is valid? [True, True] Translation: X:52.66, Y:-2.16, Z:0.54 [[ 9.99691680e-01 -1.58841654e-02 -1.90850514e-02 5.26627548e+01] [ 1.58971089e-02 9.99873494e-01 5.26669594e-04 -2.15659514e+00] [ 1.90742713e-02 -8.29904352e-04 9.99817725e-01 5.42828325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.020714057 meters Centerline goodness [0,1] 0.9891718013773106 Centerline is valid? [True, True] Translation: X:52.69, Y:-2.16, Z:0.54 [[ 9.99715809e-01 -1.52616397e-02 -1.83134705e-02 5.26924536e+01] [ 1.52734388e-02 9.99883227e-01 5.04586300e-04 -2.15669934e+00] [ 1.83036312e-02 -7.84152573e-04 9.99832167e-01 5.43523191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.050714057 meters Centerline goodness [0,1] 0.988620456084895 Centerline is valid? [True, True] Translation: X:52.72, Y:-2.16, Z:0.54 [[ 9.99737838e-01 -1.47039035e-02 -1.75513839e-02 5.27216097e+01] [ 1.47146453e-02 9.99891617e-01 4.83028616e-04 -2.15768856e+00] [ 1.75423792e-02 -7.41164373e-04 9.99845846e-01 5.44274506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.080714056999994 meters Centerline goodness [0,1] 0.9894452514980934 Centerline is valid? [True, True] Translation: X:52.75, Y:-2.15, Z:0.54 [[ 9.99760369e-01 -1.36034024e-02 -1.71508797e-02 5.27514128e+01] [ 1.36134882e-02 9.99907221e-01 4.71446343e-04 -2.15303311e+00] [ 1.71428752e-02 -7.04816669e-04 9.99852802e-01 5.44769444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.110714056999996 meters Centerline goodness [0,1] 0.9901081986509123 Centerline is valid? [True, True] Translation: X:52.78, Y:-2.15, Z:0.54 [[ 9.99773750e-01 -1.29698715e-02 -1.68591465e-02 5.27797878e+01] [ 1.29795163e-02 9.99915655e-01 4.62779058e-04 -2.15386965e+00] [ 1.68517223e-02 -6.81497921e-04 9.99857767e-01 5.44787751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.140714057 meters Centerline goodness [0,1] 0.9906009489863101 Centerline is valid? [True, True] Translation: X:52.81, Y:-2.15, Z:0.54 [[ 9.99763058e-01 -1.23171794e-02 -1.79475544e-02 5.28086438e+01] [ 1.23279687e-02 9.99923887e-01 4.90639141e-04 -2.15099138e+00] [ 1.79401451e-02 -7.11779778e-04 9.99838809e-01 5.44714915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.170714057 meters Centerline goodness [0,1] 0.9895473550263588 Centerline is valid? [True, True] Translation: X:52.84, Y:-2.15, Z:0.54 [[ 9.99755198e-01 -1.19409997e-02 -1.86267816e-02 5.28361138e+01] [ 1.19524855e-02 9.99928439e-01 5.05416365e-04 -2.15462774e+00] [ 1.86194134e-02 -7.27928974e-04 9.99826379e-01 5.44487026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.200714057 meters Centerline goodness [0,1] 0.9905709676686434 Centerline is valid? [True, True] Translation: X:52.86, Y:-2.15, Z:0.55 [[ 9.99744458e-01 -1.18780079e-02 -1.92336263e-02 5.28637841e+01] [ 1.18901839e-02 9.99929175e-01 5.18822184e-04 -2.14988215e+00] [ 1.92261015e-02 -7.47380957e-04 9.99814882e-01 5.45605374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.230714057 meters Centerline goodness [0,1] 0.9898723829420046 Centerline is valid? [True, True] Translation: X:52.89, Y:-2.16, Z:0.54 [[ 9.99749937e-01 -1.09220023e-02 -1.95133969e-02 5.28916921e+01] [ 1.09342639e-02 9.99940083e-01 5.21783944e-04 -2.15619550e+00] [ 1.95065288e-02 -7.35018097e-04 9.99809459e-01 5.44645033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.260714056999994 meters Centerline goodness [0,1] 0.9905658232740003 Centerline is valid? [True, True] Translation: X:52.92, Y:-2.15, Z:0.55 [[ 9.99759054e-01 -1.05494847e-02 -1.92494908e-02 5.29202727e+01] [ 1.05612857e-02 9.99944097e-01 5.11497308e-04 -2.15259810e+00] [ 1.92430187e-02 -7.14673437e-04 9.99814581e-01 5.45623653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.290714056999995 meters Centerline goodness [0,1] 0.9908550422074975 Centerline is valid? [True, True] Translation: X:52.95, Y:-2.15, Z:0.55 [[ 9.99763015e-01 -1.03386216e-02 -1.91579517e-02 5.29492927e+01] [ 1.03501808e-02 9.99946308e-01 5.04305444e-04 -2.15175593e+00] [ 1.91517092e-02 -7.02474195e-04 9.99816342e-01 5.46455439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.320714056999996 meters Centerline goodness [0,1] 0.9902240972600254 Centerline is valid? [True, True] Translation: X:52.98, Y:-2.16, Z:0.55 [[ 9.99769095e-01 -8.69185260e-03 -1.96521912e-02 5.29769079e+01] [ 8.70361563e-03 9.99961991e-01 5.13107246e-04 -2.15606301e+00] [ 1.96469844e-02 -6.84033886e-04 9.99806745e-01 5.45790581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.350714057 meters Centerline goodness [0,1] 0.9902954545454545 Centerline is valid? [True, True] Translation: X:53.01, Y:-2.16, Z:0.55 [[ 9.99779718e-01 -7.46673859e-03 -1.96153899e-02 5.30060580e+01] [ 7.47815945e-03 9.99971909e-01 5.08952860e-04 -2.15659962e+00] [ 1.96110387e-02 -6.55527760e-04 9.99807470e-01 5.46154499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.380714057 meters Centerline goodness [0,1] 0.991006949175637 Centerline is valid? [True, True] Translation: X:53.03, Y:-2.15, Z:0.55 [[ 9.99803361e-01 -4.47682641e-03 -1.93183288e-02 5.30347025e+01] [ 4.48728490e-03 9.99989808e-01 4.98063087e-04 -2.15283793e+00] [ 1.93159021e-02 -5.84651993e-04 9.99813260e-01 5.47961359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.410714057 meters Centerline goodness [0,1] 0.9910564307440868 Centerline is valid? [True, True] Translation: X:53.06, Y:-2.15, Z:0.55 [[ 9.99816453e-01 -2.79092067e-03 -1.89544642e-02 5.30638661e+01] [ 2.80064222e-03 9.99995960e-01 4.86364624e-04 -2.15279878e+00] [ 1.89530302e-02 -5.39360025e-04 9.99820230e-01 5.48660059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.440714056999994 meters Centerline goodness [0,1] 0.991286589516678 Centerline is valid? [True, True] Translation: X:53.09, Y:-2.15, Z:0.55 [[ 9.99824466e-01 -1.26155271e-03 -1.86934541e-02 5.30912913e+01] [ 1.27067400e-03 9.99999079e-01 4.76070995e-04 -2.15366235e+00] [ 1.86928363e-02 -4.99740715e-04 9.99825149e-01 5.49191559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.470714056999995 meters Centerline goodness [0,1] 0.9912662769966826 Centerline is valid? [True, True] Translation: X:53.12, Y:-2.15, Z:0.55 [[ 9.99836247e-01 8.50985202e-04 -1.80763425e-02 5.31198023e+01] [-8.42853026e-04 9.99999540e-01 4.57493180e-04 -2.15277804e+00] [ 1.80767235e-02 -4.42182565e-04 9.99836505e-01 5.50405186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.500714056999996 meters Centerline goodness [0,1] 0.9922613929492692 Centerline is valid? [True, True] Translation: X:53.15, Y:-2.15, Z:0.55 [[ 9.99825117e-01 1.23391060e-03 -1.86604748e-02 5.31480764e+01] [-1.22540034e-03 9.99999140e-01 4.67485430e-04 -2.15303021e+00] [ 1.86610356e-02 -4.44537122e-04 9.99825769e-01 5.50832682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.530714057 meters Centerline goodness [0,1] 0.9922569867714118 Centerline is valid? [True, True] Translation: X:53.18, Y:-2.16, Z:0.55 [[ 9.99799821e-01 1.27132465e-03 -1.99675114e-02 5.31759558e+01] [-1.26166964e-03 9.99999081e-01 4.96125898e-04 -2.15691107e+00] [ 1.99681237e-02 -4.70834182e-04 9.99800506e-01 5.49139661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.560714057 meters Centerline goodness [0,1] 0.992173893374952 Centerline is valid? [True, True] Translation: X:53.20, Y:-2.16, Z:0.55 [[ 9.99784043e-01 9.96137009e-04 -2.07575507e-02 5.32047044e+01] [-9.85680225e-04 9.99999382e-01 5.13983255e-04 -2.15778986e+00] [ 2.07580498e-02 -4.93411949e-04 9.99784407e-01 5.48782362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.590714057 meters Centerline goodness [0,1] 0.9910056130384798 Centerline is valid? [True, True] Translation: X:53.23, Y:-2.17, Z:0.55 [[ 9.99774321e-01 3.59425788e-04 -2.12409466e-02 5.32320078e+01] [-3.48368901e-04 9.99999802e-01 5.24243847e-04 -2.16579837e+00] [ 2.12411308e-02 -5.16725850e-04 9.99774248e-01 5.46203703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.620714056999994 meters Centerline goodness [0,1] 0.992012815595316 Centerline is valid? [True, True] Translation: X:53.26, Y:-2.16, Z:0.55 [[ 9.99763003e-01 -7.73406069e-04 -2.17563922e-02 5.32611866e+01] [ 7.85234641e-04 9.99999549e-01 5.35144909e-04 -2.16403158e+00] [ 2.17559684e-02 -5.52101954e-04 9.99763158e-01 5.47837690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.650714056999995 meters Centerline goodness [0,1] 0.9910153347294467 Centerline is valid? [True, True] Translation: X:53.29, Y:-2.17, Z:0.55 [[ 9.99755429e-01 -1.68583026e-03 -2.20508408e-02 5.32889248e+01] [ 1.69816397e-03 9.99998412e-01 5.40617454e-04 -2.16643279e+00] [ 2.20498944e-02 -5.77931178e-04 9.99756704e-01 5.48136062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.680714056999996 meters Centerline goodness [0,1] 0.9913414056686735 Centerline is valid? [True, True] Translation: X:53.32, Y:-2.17, Z:0.55 [[ 9.99757674e-01 -2.52275708e-03 -2.18684245e-02 5.33175715e+01] [ 2.53504860e-03 9.99996644e-01 5.34363453e-04 -2.16822859e+00] [ 2.18670031e-02 -5.89671482e-04 9.99760715e-01 5.48301221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.710714057 meters Centerline goodness [0,1] 0.9919289385877897 Centerline is valid? [True, True] Translation: X:53.35, Y:-2.17, Z:0.55 [[ 9.99750454e-01 -4.90803372e-03 -2.17931409e-02 5.33457135e+01] [ 4.92076162e-03 9.99987752e-01 5.30444674e-04 -2.17178618e+00] [ 2.17902706e-02 -6.37551155e-04 9.99762361e-01 5.49049828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.740714057 meters Centerline goodness [0,1] 0.99133456695401 Centerline is valid? [True, True] Translation: X:53.37, Y:-2.17, Z:0.55 [[ 9.99735958e-01 -6.23286506e-03 -2.21170789e-02 5.33739275e+01] [ 6.24624288e-03 9.99980348e-01 5.35832054e-04 -2.17369244e+00] [ 2.21133045e-02 -6.73839219e-04 9.99755244e-01 5.49876335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.770714057 meters Centerline goodness [0,1] 0.9918095495252239 Centerline is valid? [True, True] Translation: X:53.40, Y:-2.18, Z:0.55 [[ 9.99700414e-01 -1.01041447e-02 -2.22932585e-02 5.34026405e+01] [ 1.01186614e-02 9.99948660e-01 5.38458669e-04 -2.17906418e+00] [ 2.22866733e-02 -7.63875287e-04 9.99751329e-01 5.49616759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.800714057 meters Centerline goodness [0,1] 0.9919996394203683 Centerline is valid? [True, True] Translation: X:53.43, Y:-2.18, Z:0.55 [[ 9.99662786e-01 -1.27162136e-02 -2.26409318e-02 5.34324567e+01] [ 1.27318324e-02 9.99918798e-01 5.45825400e-04 -2.18141369e+00] [ 2.26321524e-02 -8.33901889e-04 9.99743512e-01 5.49774479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.830714056999994 meters Centerline goodness [0,1] 0.990787665833277 Centerline is valid? [True, True] Translation: X:53.46, Y:-2.18, Z:0.55 [[ 9.99615116e-01 -1.53501747e-02 -2.31082878e-02 5.34617969e+01] [ 1.53671287e-02 9.99881764e-01 5.56266378e-04 -2.18423197e+00] [ 2.30970168e-02 -9.11160314e-04 9.99732813e-01 5.49959916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.860714056999996 meters Centerline goodness [0,1] 0.9912561409834588 Centerline is valid? [True, True] Translation: X:53.49, Y:-2.19, Z:0.55 [[ 9.99549868e-01 -1.85945417e-02 -2.35436690e-02 5.34909140e+01] [ 1.86130146e-02 9.99826603e-01 5.65706664e-04 -2.18688598e+00] [ 2.35290676e-02 -1.00367068e-03 9.99722649e-01 5.50205848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.890714057 meters Centerline goodness [0,1] 0.990559917678903 Centerline is valid? [True, True] Translation: X:53.52, Y:-2.19, Z:0.55 [[ 9.99410596e-01 -2.51196103e-02 -2.33979948e-02 5.35198387e+01] [ 2.51396187e-02 9.99683792e-01 5.61330888e-04 -2.19411630e+00] [ 2.33764958e-02 -1.14921670e-03 9.99726072e-01 5.49586293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.920714057 meters Centerline goodness [0,1] 0.9907104070367545 Centerline is valid? [True, True] Translation: X:53.55, Y:-2.20, Z:0.55 [[ 9.99309621e-01 -2.87210831e-02 -2.35665179e-02 5.35496271e+01] [ 2.87423693e-02 9.99586693e-01 5.64940833e-04 -2.19761739e+00] [ 2.35405520e-02 -1.24190837e-03 9.99722111e-01 5.49753608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.950714057 meters Centerline goodness [0,1] 0.9894252051241924 Centerline is valid? [True, True] Translation: X:53.58, Y:-2.20, Z:0.55 [[ 9.99082848e-01 -3.55609018e-02 -2.38513152e-02 5.35793712e+01] [ 3.55846582e-02 9.99366502e-01 5.72197301e-04 -2.20473933e+00] [ 2.38158576e-02 -1.42041341e-03 9.99715353e-01 5.49584356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.980714057 meters Centerline goodness [0,1] 0.9891209259550032 Centerline is valid? [True, True] Translation: X:53.61, Y:-2.21, Z:0.55 [[ 9.98968339e-01 -3.87231653e-02 -2.37228556e-02 5.36094943e+01] [ 3.87475719e-02 9.99248868e-01 5.69848132e-04 -2.21034954e+00] [ 2.36829703e-02 -1.48846330e-03 9.99718411e-01 5.49537446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.010714056999994 meters Centerline goodness [0,1] 0.9891625615763546 Centerline is valid? [True, True] Translation: X:53.64, Y:-2.21, Z:0.55 [[ 9.98875418e-01 -4.11574525e-02 -2.35364244e-02 5.36406429e+01] [ 4.11821611e-02 9.99151495e-01 5.65855976e-04 -2.20556986e+00] [ 2.34931645e-02 -1.53450045e-03 9.99722820e-01 5.51700522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.040714056999995 meters Centerline goodness [0,1] 0.9891625615763546 Centerline is valid? [True, True] Translation: X:53.67, Y:-2.21, Z:0.55 [[ 9.98878410e-01 -4.10847847e-02 -2.35363918e-02 5.36723960e+01] [ 4.11095051e-02 9.99154486e-01 5.67211884e-04 -2.20639296e+00] [ 2.34931876e-02 -1.53414512e-03 9.99722820e-01 5.52101703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.070714056999996 meters Centerline goodness [0,1] 0.9891044676148162 Centerline is valid? [True, True] Translation: X:53.70, Y:-2.21, Z:0.55 [[ 9.98754741e-01 -4.45596144e-02 -2.24367356e-02 5.37027426e+01] [ 4.45829742e-02 9.99005538e-01 5.41761780e-04 -2.21143074e+00] [ 2.23902824e-02 -1.54138355e-03 9.99748118e-01 5.53024195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.100714057 meters Centerline goodness [0,1] 0.9870917050173982 Centerline is valid? [True, True] Translation: X:53.73, Y:-2.22, Z:0.55 [[ 9.98687556e-01 -4.61088818e-02 -2.22965713e-02 5.37336475e+01] [ 4.61323513e-02 9.98935191e-01 5.39117211e-04 -2.21786672e+00] [ 2.22479716e-02 -1.56700291e-03 9.99751255e-01 5.52937607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.130714057 meters Centerline goodness [0,1] 0.988305398710023 Centerline is valid? [True, True] Translation: X:53.77, Y:-2.21, Z:0.55 [[ 9.98630201e-01 -4.76398848e-02 -2.16370831e-02 5.37652900e+01] [ 4.76623681e-02 9.98863366e-01 5.24312212e-04 -2.21358557e+00] [ 2.15875115e-02 -1.55486863e-03 9.99765753e-01 5.53847231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.160714057 meters Centerline goodness [0,1] 0.9884704934181069 Centerline is valid? [True, True] Translation: X:53.80, Y:-2.21, Z:0.55 [[ 9.98618327e-01 -4.77628474e-02 -2.19122780e-02 5.37977840e+01] [ 4.77859658e-02 9.98857456e-01 5.32347666e-04 -2.21180027e+00] [ 2.18618158e-02 -1.57871150e-03 9.99759755e-01 5.54408445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.190714056999994 meters Centerline goodness [0,1] 0.988187034878508 Centerline is valid? [True, True] Translation: X:53.83, Y:-2.21, Z:0.55 [[ 9.98613024e-01 -4.76793556e-02 -2.23317369e-02 5.38302348e+01] [ 4.77033876e-02 9.98861397e-01 5.44356244e-04 -2.21299264e+00] [ 2.22803554e-02 -1.60890074e-03 9.99750467e-01 5.54573558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.220714056999995 meters Centerline goodness [0,1] 0.9885129677824643 Centerline is valid? [True, True] Translation: X:53.86, Y:-2.21, Z:0.55 [[ 9.98615721e-01 -4.67781601e-02 -2.40508740e-02 5.38616429e+01] [ 4.68058391e-02 9.98903833e-01 5.88893153e-04 -2.21314532e+00] [ 2.39969629e-02 -1.71379930e-03 9.99710562e-01 5.53634971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.250714056999996 meters Centerline goodness [0,1] 0.9887653047495178 Centerline is valid? [True, True] Translation: X:53.89, Y:-2.21, Z:0.55 [[ 9.98638958e-01 -4.61825033e-02 -2.42364998e-02 5.38937137e+01] [ 4.62104946e-02 9.98931547e-01 5.95825273e-04 -2.21160318e+00] [ 2.41830876e-02 -1.71499498e-03 9.99706075e-01 5.53964589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.280714057 meters Centerline goodness [0,1] 0.9890504397774188 Centerline is valid? [True, True] Translation: X:53.93, Y:-2.21, Z:0.55 [[ 9.98663426e-01 -4.57195914e-02 -2.41056102e-02 5.39256187e+01] [ 4.57471883e-02 9.98952873e-01 5.94328709e-04 -2.21013675e+00] [ 2.40531961e-02 -1.69629823e-03 9.99709241e-01 5.54244084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.310714057 meters Centerline goodness [0,1] 0.9882437243881138 Centerline is valid? [True, True] Translation: X:53.96, Y:-2.21, Z:0.55 [[ 9.98726785e-01 -4.46104215e-02 -2.35524908e-02 5.39568607e+01] [ 4.46364936e-02 9.99003125e-01 5.82156490e-04 -2.20950902e+00] [ 2.35030417e-02 -1.63271588e-03 9.99722432e-01 5.54999952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.340714057 meters Centerline goodness [0,1] 0.988511174063582 Centerline is valid? [True, True] Translation: X:53.99, Y:-2.21, Z:0.56 [[ 9.98753016e-01 -4.41214226e-02 -2.33605201e-02 5.39876190e+01] [ 4.41469670e-02 9.99024880e-01 5.78645740e-04 -2.20960850e+00] [ 2.33122101e-02 -1.60922029e-03 9.99726938e-01 5.55667472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.370714056999994 meters Centerline goodness [0,1] 0.9875047928366827 Centerline is valid? [True, True] Translation: X:54.02, Y:-2.21, Z:0.56 [[ 9.98791745e-01 -4.31398956e-02 -2.35371791e-02 5.40192804e+01] [ 4.31655904e-02 9.99067761e-01 5.84456811e-04 -2.20909235e+00] [ 2.34900234e-02 -1.59974687e-03 9.99722791e-01 5.56206327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.400714056999995 meters Centerline goodness [0,1] 0.9878255370090122 Centerline is valid? [True, True] Translation: X:54.05, Y:-2.21, Z:0.56 [[ 9.98818385e-01 -4.25619902e-02 -2.34586935e-02 5.40517161e+01] [ 4.25873933e-02 9.99092575e-01 5.84134541e-04 -2.20871323e+00] [ 2.34125445e-02 -1.58248892e-03 9.99724636e-01 5.56182509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.430714056999996 meters Centerline goodness [0,1] 0.9883962434531335 Centerline is valid? [True, True] Translation: X:54.08, Y:-2.21, Z:0.56 [[ 9.98846273e-01 -4.19203320e-02 -2.34266846e-02 5.40836344e+01] [ 4.19455280e-02 9.99119728e-01 5.84956649e-04 -2.20833080e+00] [ 2.33815411e-02 -1.56692642e-03 9.99725386e-01 5.56377423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.460714057 meters Centerline goodness [0,1] 0.9869766392055073 Centerline is valid? [True, True] Translation: X:54.11, Y:-2.21, Z:0.56 [[ 9.98890213e-01 -4.08608467e-02 -2.34250768e-02 5.41148753e+01] [ 4.08857826e-02 9.99163655e-01 5.86344281e-04 -2.20754076e+00] [ 2.33815268e-02 -1.54344616e-03 9.99725423e-01 5.56093211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.490714057 meters Centerline goodness [0,1] 0.988022736500203 Centerline is valid? [True, True] Translation: X:54.15, Y:-2.20, Z:0.56 [[ 9.98922402e-01 -4.02748259e-02 -2.30645364e-02 5.41473731e+01] [ 4.02988758e-02 9.99187503e-01 5.78686529e-04 -2.20415425e+00] [ 2.30224901e-02 -1.50753783e-03 9.99733811e-01 5.56820479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.520714057 meters Centerline goodness [0,1] 0.987748712480432 Centerline is valid? [True, True] Translation: X:54.18, Y:-2.20, Z:0.56 [[ 9.98982259e-01 -3.88528812e-02 -2.29106816e-02 5.41787556e+01] [ 3.88762671e-02 9.99243866e-01 5.76058360e-04 -2.20232353e+00] [ 2.28709766e-02 -1.46615386e-03 9.99737350e-01 5.57043097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.550714057 meters Centerline goodness [0,1] 0.9880190605854323 Centerline is valid? [True, True] Translation: X:54.21, Y:-2.20, Z:0.56 [[ 9.99016127e-01 -3.80913027e-02 -2.27118975e-02 5.42115758e+01] [ 3.81141216e-02 9.99273229e-01 5.72524852e-04 -2.19734742e+00] [ 2.26735829e-02 -1.43760558e-03 9.99741888e-01 5.58414296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.580714056999994 meters Centerline goodness [0,1] 0.9869738570975488 Centerline is valid? [True, True] Translation: X:54.24, Y:-2.21, Z:0.56 [[ 9.99052325e-01 -3.73080759e-02 -2.24178328e-02 5.42426116e+01] [ 3.73301514e-02 9.99302826e-01 5.66910003e-04 -2.20588434e+00] [ 2.23810534e-02 -1.40323385e-03 9.99748528e-01 5.57953239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.610714056999996 meters Centerline goodness [0,1] 0.9887108108720786 Centerline is valid? [True, True] Translation: X:54.27, Y:-2.19, Z:0.56 [[ 9.99111879e-01 -3.58172221e-02 -2.21941409e-02 5.42738967e+01] [ 3.58385153e-02 9.99357436e-01 5.62269908e-04 -2.19429003e+00] [ 2.21597408e-02 -1.35717560e-03 9.99753522e-01 5.60018017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.640714057 meters Centerline goodness [0,1] 0.988722998729352 Centerline is valid? [True, True] Translation: X:54.31, Y:-2.19, Z:0.56 [[ 9.99132970e-01 -3.50975229e-02 -2.23935735e-02 5.43065540e+01] [ 3.51190504e-02 9.99382974e-01 5.68660889e-04 -2.19401740e+00] [ 2.23597975e-02 -1.35460888e-03 9.99749071e-01 5.60112934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.670714057 meters Centerline goodness [0,1] 0.9888199604608358 Centerline is valid? [True, True] Translation: X:54.34, Y:-2.19, Z:0.56 [[ 9.99175559e-01 -3.37953791e-02 -2.24960950e-02 5.43391963e+01] [ 3.38168210e-02 9.99427883e-01 5.73293248e-04 -2.19204077e+00] [ 2.24638500e-02 -1.33356702e-03 9.99746766e-01 5.60030618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.700714057 meters Centerline goodness [0,1] 0.9891287006860087 Centerline is valid? [True, True] Translation: X:54.37, Y:-2.19, Z:0.56 [[ 9.99202645e-01 -3.28798800e-02 -2.26492495e-02 5.43711341e+01] [ 3.29014229e-02 9.99458434e-01 5.79068543e-04 -2.19117926e+00] [ 2.26179437e-02 -1.32379936e-03 9.99743305e-01 5.60048291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.730714057 meters Centerline goodness [0,1] 0.989228251977093 Centerline is valid? [True, True] Translation: X:54.40, Y:-2.19, Z:0.56 [[ 9.99258030e-01 -3.09161425e-02 -2.29691517e-02 5.44023128e+01] [ 3.09378114e-02 9.99521138e-01 5.88554010e-04 -2.18907484e+00] [ 2.29399568e-02 -1.29873260e-03 9.99736001e-01 5.59702960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.760714056999994 meters Centerline goodness [0,1] 0.9893976013498108 Centerline is valid? [True, True] Translation: X:54.43, Y:-2.19, Z:0.56 [[ 9.99288311e-01 -2.96166222e-02 -2.33607915e-02 5.44337269e+01] [ 2.96387027e-02 9.99560497e-01 5.99445299e-04 -2.18805821e+00] [ 2.33327708e-02 -1.29140223e-03 9.99726920e-01 5.59794816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.790714056999995 meters Centerline goodness [0,1] 0.9899174232401113 Centerline is valid? [True, True] Translation: X:54.46, Y:-2.19, Z:0.56 [[ 9.99330690e-01 -2.81929121e-02 -2.33094920e-02 5.44637385e+01] [ 2.82145247e-02 9.99601712e-01 5.98775604e-04 -2.18801539e+00] [ 2.32833268e-02 -1.25604107e-03 9.99728118e-01 5.59896431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.820714056999996 meters Centerline goodness [0,1] 0.9894914020562279 Centerline is valid? [True, True] Translation: X:54.49, Y:-2.19, Z:0.56 [[ 9.99376044e-01 -2.64739025e-02 -2.33806685e-02 5.44948814e+01] [ 2.64951925e-02 9.99648760e-01 6.01216102e-04 -2.18737846e+00] [ 2.33565398e-02 -1.22031628e-03 9.99726454e-01 5.60549374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.850714057 meters Centerline goodness [0,1] 0.9893066495695182 Centerline is valid? [True, True] Translation: X:54.53, Y:-2.18, Z:0.56 [[ 9.99478688e-01 -2.29715577e-02 -2.26861135e-02 5.45253282e+01] [ 2.29907113e-02 9.99735508e-01 5.83795241e-04 -2.18353954e+00] [ 2.26667025e-02 -1.10506079e-03 9.99742467e-01 5.61650909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.880714057 meters Centerline goodness [0,1] 0.989794283883664 Centerline is valid? [True, True] Translation: X:54.56, Y:-2.18, Z:0.56 [[ 9.99534805e-01 -2.09833767e-02 -2.21330441e-02 5.45554380e+01] [ 2.10011212e-02 9.99779290e-01 5.69562777e-04 -2.18329863e+00] [ 2.21162077e-02 -1.03411656e-03 9.99754872e-01 5.62151135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.910714057 meters Centerline goodness [0,1] 0.9897190483822957 Centerline is valid? [True, True] Translation: X:54.59, Y:-2.18, Z:0.56 [[ 9.99636804e-01 -1.65273748e-02 -2.12862740e-02 5.45854914e+01] [ 1.65427753e-02 9.99863009e-01 5.47598996e-04 -2.17942346e+00] [ 2.12743076e-02 -8.99534157e-04 9.99773272e-01 5.63400070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.940714056999994 meters Centerline goodness [0,1] 0.9901410065344491 Centerline is valid? [True, True] Translation: X:54.61, Y:-2.18, Z:0.56 [[ 9.99669120e-01 -1.49901683e-02 -2.09032172e-02 5.46143216e+01] [ 1.50046362e-02 9.99887281e-01 5.35457585e-04 -2.17733855e+00] [ 2.08928344e-02 -8.48925582e-04 9.99781360e-01 5.64128339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.970714056999995 meters Centerline goodness [0,1] 0.9900240798073615 Centerline is valid? [True, True] Translation: X:54.64, Y:-2.18, Z:0.56 [[ 9.99697908e-01 -1.30297980e-02 -2.08402786e-02 5.46430843e+01] [ 1.30436766e-02 9.99914787e-01 5.30151981e-04 -2.17637810e+00] [ 2.08315950e-02 -8.01825680e-04 9.99782677e-01 5.64454305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.000714056999996 meters Centerline goodness [0,1] 0.9900869963369964 Centerline is valid? [True, True] Translation: X:54.67, Y:-2.17, Z:0.56 [[ 9.99755154e-01 -9.15610357e-03 -2.01444028e-02 5.46728100e+01] [ 9.16826227e-03 9.99957840e-01 5.11303671e-04 -2.17493396e+00] [ 2.01388720e-02 -6.95867649e-04 9.99796950e-01 5.64978148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.030714057 meters Centerline goodness [0,1] 0.990161227438479 Centerline is valid? [True, True] Translation: X:54.70, Y:-2.18, Z:0.57 [[ 9.99777698e-01 -7.49072722e-03 -1.97089783e-02 5.47009197e+01] [ 7.50199927e-03 9.99971736e-01 4.98049959e-04 -2.17509865e+00] [ 1.97046905e-02 -6.45795982e-04 9.99805635e-01 5.65483817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.060714057 meters Centerline goodness [0,1] 0.9904635275778277 Centerline is valid? [True, True] Translation: X:54.73, Y:-2.17, Z:0.57 [[ 9.99801692e-01 -4.31815657e-03 -1.94404447e-02 5.47286475e+01] [ 4.32845261e-03 9.99990513e-01 4.87573059e-04 -2.17412228e+00] [ 1.94381548e-02 -5.71623412e-04 9.99810898e-01 5.66288934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.090714057 meters Centerline goodness [0,1] 0.9910478595202571 Centerline is valid? [True, True] Translation: X:54.76, Y:-2.17, Z:0.57 [[ 9.99801070e-01 -3.48279904e-03 -1.96389841e-02 5.47569248e+01] [ 3.49308996e-03 9.99993779e-01 4.89725144e-04 -2.17431755e+00] [ 1.96371563e-02 -5.58228461e-04 9.99807017e-01 5.66331157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.120714056999994 meters Centerline goodness [0,1] 0.9904875695050779 Centerline is valid? [True, True] Translation: X:54.79, Y:-2.18, Z:0.57 [[ 9.99792978e-01 -2.80291705e-03 -2.01530514e-02 5.47852745e+01] [ 2.81351488e-03 9.99995918e-01 4.97533137e-04 -2.17519046e+00] [ 2.01515746e-02 -5.54131047e-04 9.99796783e-01 5.65843689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.150714056999995 meters Centerline goodness [0,1] 0.9912016030587097 Centerline is valid? [True, True] Translation: X:54.81, Y:-2.18, Z:0.56 [[ 9.99766926e-01 -2.87922797e-03 -2.13963482e-02 5.48124946e+01] [ 2.89109521e-03 9.99995684e-01 5.23725845e-04 -2.17804432e+00] [ 2.13947479e-02 -5.85462658e-04 9.99770935e-01 5.64660298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.180714056999996 meters Centerline goodness [0,1] 0.9913438798705027 Centerline is valid? [True, True] Translation: X:54.84, Y:-2.18, Z:0.57 [[ 9.99753235e-01 -3.46111177e-03 -2.19428603e-02 5.48415284e+01] [ 3.47364200e-03 9.99993825e-01 5.32949438e-04 -2.17743652e+00] [ 2.19408802e-02 -6.09039566e-04 9.99759084e-01 5.65331548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.210714057 meters Centerline goodness [0,1] 0.9906820894152207 Centerline is valid? [True, True] Translation: X:54.87, Y:-2.18, Z:0.57 [[ 9.99738061e-01 -4.28563340e-03 -2.24820715e-02 5.48704100e+01] [ 4.29890634e-03 9.99990613e-01 5.42081662e-04 -2.17941427e+00] [ 2.24795373e-02 -6.38587989e-04 9.99747099e-01 5.65128630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.240714057 meters Centerline goodness [0,1] 0.9903255387436956 Centerline is valid? [True, True] Translation: X:54.90, Y:-2.18, Z:0.57 [[ 9.99721476e-01 -5.83418843e-03 -2.28677275e-02 5.48976089e+01] [ 5.84827933e-03 9.99982748e-01 5.49362156e-04 -2.18405944e+00] [ 2.28641279e-02 -6.82946004e-04 9.99738348e-01 5.65184313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.270714057 meters Centerline goodness [0,1] 0.9908172845725801 Centerline is valid? [True, True] Translation: X:54.93, Y:-2.19, Z:0.57 [[ 9.99716246e-01 -7.24193707e-03 -2.26932118e-02 5.49263998e+01] [ 7.25608859e-03 9.99973528e-01 5.41319879e-04 -2.18646052e+00] [ 2.26886909e-02 -7.05830233e-04 9.99742329e-01 5.65433598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.300714057 meters Centerline goodness [0,1] 0.9909798817108538 Centerline is valid? [True, True] Translation: X:54.96, Y:-2.19, Z:0.57 [[ 9.99707287e-01 -9.74068287e-03 -2.21462996e-02 5.49554547e+01] [ 9.75468954e-03 9.99952284e-01 5.24517847e-04 -2.19050547e+00] [ 2.21401337e-02 -7.40394591e-04 9.99754603e-01 5.66140778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.330714056999994 meters Centerline goodness [0,1] 0.9899731097032952 Centerline is valid? [True, True] Translation: X:54.98, Y:-2.20, Z:0.57 [[ 9.99691688e-01 -1.14389888e-02 -2.20381029e-02 5.49825635e+01] [ 1.14532290e-02 9.99934274e-01 5.20048049e-04 -2.19505799e+00] [ 2.20307056e-02 -7.72295151e-04 9.99756996e-01 5.65962731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.360714056999996 meters Centerline goodness [0,1] 0.9901742255379157 Centerline is valid? [True, True] Translation: X:55.01, Y:-2.20, Z:0.57 [[ 9.99656223e-01 -1.48959868e-02 -2.15765124e-02 5.50121488e+01] [ 1.49104055e-02 9.99888705e-01 5.07524790e-04 -2.20070360e+00] [ 2.15665510e-02 -8.29064863e-04 9.99767071e-01 5.66255075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.390714057 meters Centerline goodness [0,1] 0.9902178847026781 Centerline is valid? [True, True] Translation: X:55.04, Y:-2.20, Z:0.57 [[ 9.99633593e-01 -1.68339240e-02 -2.11966881e-02 5.50406271e+01] [ 1.68482195e-02 9.99857936e-01 4.96009044e-04 -2.20126238e+00] [ 2.11853271e-02 -8.52953758e-04 9.99775202e-01 5.67338871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.420714057 meters Centerline goodness [0,1] 0.9898084256400944 Centerline is valid? [True, True] Translation: X:55.07, Y:-2.21, Z:0.57 [[ 9.99593890e-01 -1.90717754e-02 -2.11736235e-02 5.50688944e+01] [ 1.90864642e-02 9.99817716e-01 4.91843859e-04 -2.20540521e+00] [ 2.11603836e-02 -8.95773725e-04 9.99775693e-01 5.67374920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.450714057 meters Centerline goodness [0,1] 0.989589962723884 Centerline is valid? [True, True] Translation: X:55.10, Y:-2.21, Z:0.57 [[ 9.99542270e-01 -2.16084063e-02 -2.11737193e-02 5.50980068e+01] [ 2.16236394e-02 9.99766061e-01 4.90718240e-04 -2.20863010e+00] [ 2.11581623e-02 -9.48346494e-04 9.99775691e-01 5.67865158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.480714057 meters Centerline goodness [0,1] 0.9894135515607644 Centerline is valid? [True, True] Translation: X:55.13, Y:-2.21, Z:0.57 [[ 9.99410727e-01 -2.68900934e-02 -2.13335977e-02 5.51281342e+01] [ 2.69067400e-02 9.99637826e-01 4.93588213e-04 -2.21269851e+00] [ 2.13125986e-02 -1.06731492e-03 9.99772291e-01 5.68140196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.510714056999994 meters Centerline goodness [0,1] 0.9892848243209569 Centerline is valid? [True, True] Translation: X:55.16, Y:-2.22, Z:0.57 [[ 9.99321159e-01 -2.98276011e-02 -2.16225454e-02 5.51578043e+01] [ 2.98453823e-02 9.99554402e-01 5.00040027e-04 -2.21865798e+00] [ 2.15979954e-02 -1.14503371e-03 9.99766080e-01 5.68249775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.540714056999995 meters Centerline goodness [0,1] 0.9885015926084894 Centerline is valid? [True, True] Translation: X:55.19, Y:-2.23, Z:0.57 [[ 9.99134465e-01 -3.53642457e-02 -2.19018664e-02 5.51872181e+01] [ 3.53838122e-02 9.99373669e-01 5.06363226e-04 -2.22658111e+00] [ 2.18702414e-02 -1.28089648e-03 9.99759997e-01 5.68035668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.570714056999996 meters Centerline goodness [0,1] 0.9879062225525302 Centerline is valid? [True, True] Translation: X:55.22, Y:-2.23, Z:0.57 [[ 9.99044360e-01 -3.78623389e-02 -2.18359776e-02 5.52179959e+01] [ 3.78823817e-02 9.99282077e-01 5.04813902e-04 -2.23043905e+00] [ 2.18011876e-02 -1.33153032e-03 9.99761439e-01 5.68250446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.600714057 meters Centerline goodness [0,1] 0.9875208737644988 Centerline is valid? [True, True] Translation: X:55.25, Y:-2.23, Z:0.57 [[ 9.98955118e-01 -4.00806188e-02 -2.19594118e-02 5.52482518e+01] [ 4.01014311e-02 9.99195485e-01 5.08047537e-04 -2.23473911e+00] [ 2.19213823e-02 -1.38812053e-03 9.99758734e-01 5.68171956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.630714057 meters Centerline goodness [0,1] 0.9877257623364 Centerline is valid? [True, True] Translation: X:55.28, Y:-2.23, Z:0.57 [[ 9.98835545e-01 -4.32288401e-02 -2.14201394e-02 5.52795831e+01] [ 4.32493744e-02 9.99064185e-01 4.96098302e-04 -2.23320735e+00] [ 2.13786484e-02 -1.42192825e-03 9.99770439e-01 5.69347797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.660714057 meters Centerline goodness [0,1] 0.986867802545626 Centerline is valid? [True, True] Translation: X:55.31, Y:-2.24, Z:0.57 [[ 9.98793020e-01 -4.42372187e-02 -2.13441383e-02 5.53108874e+01] [ 4.42578563e-02 9.99020018e-01 4.95257660e-04 -2.24317508e+00] [ 2.13013126e-02 -1.43930570e-03 9.99772065e-01 5.68739393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.690714056999994 meters Centerline goodness [0,1] 0.9874960573153697 Centerline is valid? [True, True] Translation: X:55.34, Y:-2.24, Z:0.57 [[ 9.98722875e-01 -4.60114885e-02 -2.08701203e-02 5.53418205e+01] [ 4.60316275e-02 9.98939865e-01 4.85345831e-04 -2.23965950e+00] [ 2.08256637e-02 -1.44541159e-03 9.99782078e-01 5.70338955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.720714056999995 meters Centerline goodness [0,1] 0.9853955375253549 Centerline is valid? [True, True] Translation: X:55.37, Y:-2.25, Z:0.57 [[ 9.98665930e-01 -4.69830764e-02 -2.14231253e-02 5.53724363e+01] [ 4.70045404e-02 9.98894551e-01 4.99183074e-04 -2.24896829e+00] [ 2.13759899e-02 -1.50550129e-03 9.99770374e-01 5.69344319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.750714056999996 meters Centerline goodness [0,1] 0.9847832457900313 Centerline is valid? [True, True] Translation: X:55.40, Y:-2.25, Z:0.57 [[ 9.98624823e-01 -4.76907157e-02 -2.17728842e-02 5.54036488e+01] [ 4.77130735e-02 9.98860953e-01 5.08238787e-04 -2.25204524e+00] [ 2.17238456e-02 -1.54639109e-03 9.99762813e-01 5.68772645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.780714057 meters Centerline goodness [0,1] 0.9850325085786527 Centerline is valid? [True, True] Translation: X:55.44, Y:-2.26, Z:0.57 [[ 9.98511581e-01 -4.95575552e-02 -2.27743559e-02 5.54350143e+01] [ 4.95825232e-02 9.98769888e-01 5.32603818e-04 -2.25540989e+00] [ 2.27199464e-02 -1.66102111e-03 9.99740489e-01 5.67990322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.810714057 meters Centerline goodness [0,1] 0.9865547735065873 Centerline is valid? [True, True] Translation: X:55.47, Y:-2.25, Z:0.57 [[ 9.98465623e-01 -5.04803200e-02 -2.27626126e-02 5.54676336e+01] [ 5.05055259e-02 9.98723639e-01 5.33438482e-04 -2.25068145e+00] [ 2.27066311e-02 -1.68225771e-03 9.99740756e-01 5.69144649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.840714057 meters Centerline goodness [0,1] 0.9850672423874421 Centerline is valid? [True, True] Translation: X:55.50, Y:-2.25, Z:0.57 [[ 9.98362706e-01 -5.23578019e-02 -2.30340566e-02 5.54976439e+01] [ 5.23841297e-02 9.98626863e-01 5.40678202e-04 -2.25468151e+00] [ 2.29741189e-02 -1.74641196e-03 9.99734535e-01 5.68855183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.870714056999994 meters Centerline goodness [0,1] 0.9852152355194952 Centerline is valid? [True, True] Translation: X:55.53, Y:-2.26, Z:0.57 [[ 9.98314961e-01 -5.30150083e-02 -2.35933931e-02 5.55298185e+01] [ 5.30428307e-02 9.98592084e-01 5.54555697e-04 -2.25507386e+00] [ 2.35307758e-02 -1.80508160e-03 9.99721483e-01 5.69240411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.900714056999995 meters Centerline goodness [0,1] 0.9868358660555017 Centerline is valid? [True, True] Translation: X:55.56, Y:-2.25, Z:0.57 [[ 9.98277107e-01 -5.34797443e-02 -2.41399161e-02 5.55620683e+01] [ 5.35090471e-02 9.98567203e-01 5.69100666e-04 -2.24963630e+00] [ 2.40748932e-02 -1.85982408e-03 9.99708428e-01 5.70160932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.930714056999996 meters Centerline goodness [0,1] 0.9858480984087574 Centerline is valid? [True, True] Translation: X:55.59, Y:-2.25, Z:0.57 [[ 9.98285642e-01 -5.30473728e-02 -2.47336276e-02 5.55943011e+01] [ 5.30780471e-02 9.98590196e-01 5.84870775e-04 -2.25120119e+00] [ 2.46677322e-02 -1.89668075e-03 9.99693906e-01 5.69956396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.960714057 meters Centerline goodness [0,1] 0.9858480984087574 Centerline is valid? [True, True] Translation: X:55.63, Y:-2.25, Z:0.57 [[ 9.98289395e-01 -5.29767340e-02 -2.47335862e-02 5.56260805e+01] [ 5.30074298e-02 9.98593946e-01 5.86618257e-04 -2.25201715e+00] [ 2.46677323e-02 -1.89667862e-03 9.99693906e-01 5.70357788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.990714057 meters Centerline goodness [0,1] 0.9865386787125917 Centerline is valid? [True, True] Translation: X:55.66, Y:-2.25, Z:0.57 [[ 9.98322066e-01 -5.23436235e-02 -2.47628277e-02 5.56586776e+01] [ 5.23742419e-02 9.98627354e-01 5.89073990e-04 -2.25020622e+00] [ 2.46980028e-02 -1.88501989e-03 9.99693181e-01 5.70763068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.020714057 meters Centerline goodness [0,1] 0.9859078590785908 Centerline is valid? [True, True] Translation: X:55.69, Y:-2.25, Z:0.57 [[ 9.98373227e-01 -5.12688049e-02 -2.49481424e-02 5.56895446e+01] [ 5.12996158e-02 9.98683130e-01 5.96134070e-04 -2.25155280e+00] [ 2.48847259e-02 -1.87499442e-03 9.99688569e-01 5.70724404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.050714057 meters Centerline goodness [0,1] 0.9866868586411103 Centerline is valid? [True, True] Translation: X:55.72, Y:-2.25, Z:0.57 [[ 9.98488697e-01 -4.89883255e-02 -2.49091587e-02 5.57190704e+01] [ 4.90183994e-02 9.98797697e-01 5.97811915e-04 -2.25046810e+00] [ 2.48499246e-02 -1.81791553e-03 9.99689540e-01 5.71575196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.080714056999994 meters Centerline goodness [0,1] 0.9866106708211971 Centerline is valid? [True, True] Translation: X:55.75, Y:-2.25, Z:0.57 [[ 9.98576795e-01 -4.73446117e-02 -2.45534529e-02 5.57510026e+01] [ 4.73733740e-02 9.98877077e-01 5.90737137e-04 -2.24860448e+00] [ 2.44979131e-02 -1.75307630e-03 9.99698344e-01 5.72740131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.110714056999996 meters Centerline goodness [0,1] 0.987062164720732 Centerline is valid? [True, True] Translation: X:55.78, Y:-2.25, Z:0.57 [[ 9.98753802e-01 -4.36606985e-02 -2.41782308e-02 5.57808654e+01] [ 4.36875257e-02 9.99045075e-01 5.82201014e-04 -2.24674060e+00] [ 2.41297231e-02 -1.63776255e-03 9.99707494e-01 5.73441546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.140714057 meters Centerline goodness [0,1] 0.9864129821472905 Centerline is valid? [True, True] Translation: X:55.81, Y:-2.25, Z:0.57 [[ 9.98819519e-01 -4.21952333e-02 -2.40651431e-02 5.58121358e+01] [ 4.22213918e-02 9.99108111e-01 5.79694073e-04 -2.24607338e+00] [ 2.40192193e-02 -1.59507359e-03 9.99710224e-01 5.73791548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.170714057 meters Centerline goodness [0,1] 0.9854741788279944 Centerline is valid? [True, True] Translation: X:55.84, Y:-2.25, Z:0.57 [[ 9.98895674e-01 -4.03696483e-02 -2.40359076e-02 5.58429082e+01] [ 4.03952367e-02 9.99183611e-01 5.79807183e-04 -2.25306264e+00] [ 2.39928783e-02 -1.55010306e-03 9.99710928e-01 5.72799822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.200714057 meters Centerline goodness [0,1] 0.9887126019945602 Centerline is valid? [True, True] Translation: X:55.87, Y:-2.24, Z:0.58 [[ 9.98988175e-01 -3.74686424e-02 -2.48742203e-02 5.58737422e+01] [ 3.74951628e-02 9.99296629e-01 6.00472055e-04 -2.23658304e+00] [ 2.48342256e-02 -1.53252742e-03 9.99690408e-01 5.75551718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.230714057 meters Centerline goodness [0,1] 0.9875207419362171 Centerline is valid? [True, True] Translation: X:55.90, Y:-2.24, Z:0.57 [[ 9.99039619e-01 -3.59866111e-02 -2.49960806e-02 5.59041033e+01] [ 3.60129354e-02 9.99351142e-01 6.03630659e-04 -2.24305724e+00] [ 2.49581391e-02 -1.50323318e-03 9.99687367e-01 5.74195901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.260714056999994 meters Centerline goodness [0,1] 0.988071706086838 Centerline is valid? [True, True] Translation: X:55.93, Y:-2.24, Z:0.57 [[ 9.99131448e-01 -3.29246053e-02 -2.55405454e-02 5.59334979e+01] [ 3.29510928e-02 9.99456775e-01 6.16793133e-04 -2.23990646e+00] [ 2.55063635e-02 -1.45784630e-03 9.99673597e-01 5.74490942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.290714056999995 meters Centerline goodness [0,1] 0.9883519883519883 Centerline is valid? [True, True] Translation: X:55.97, Y:-2.24, Z:0.57 [[ 9.99166985e-01 -3.15220813e-02 -2.59170806e-02 5.59650993e+01] [ 3.15488914e-02 9.99502014e-01 6.26113192e-04 -2.23913996e+00] [ 2.58844379e-02 -1.44324679e-03 9.99663900e-01 5.74755805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.320714056999996 meters Centerline goodness [0,1] 0.988091985428051 Centerline is valid? [True, True] Translation: X:56.00, Y:-2.24, Z:0.57 [[ 9.99197649e-01 -3.01352091e-02 -2.63804488e-02 5.59961870e+01] [ 3.01625159e-02 9.99544804e-01 6.37714823e-04 -2.23835528e+00] [ 2.63492229e-02 -1.43290386e-03 9.99651772e-01 5.74883694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.350714057 meters Centerline goodness [0,1] 0.9885581437753567 Centerline is valid? [True, True] Translation: X:56.03, Y:-2.23, Z:0.58 [[ 9.99255196e-01 -2.75523880e-02 -2.70170177e-02 5.60275967e+01] [ 2.75800887e-02 9.99619384e-01 6.53136097e-04 -2.22749472e+00] [ 2.69887392e-02 -1.39778138e-03 9.99634760e-01 5.77046900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.380714057 meters Centerline goodness [0,1] 0.9890142382750307 Centerline is valid? [True, True] Translation: X:56.06, Y:-2.23, Z:0.58 [[ 9.99293851e-01 -2.65808087e-02 -2.65567235e-02 5.60582218e+01] [ 2.66072321e-02 9.99645759e-01 6.42049907e-04 -2.22772853e+00] [ 2.65302498e-02 -1.34819743e-03 9.99647102e-01 5.77245763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.410714057 meters Centerline goodness [0,1] 0.9891334124737466 Centerline is valid? [True, True] Translation: X:56.09, Y:-2.22, Z:0.58 [[ 9.99327063e-01 -2.50156838e-02 -2.68260565e-02 5.60884847e+01] [ 2.50420837e-02 9.99686187e-01 6.48561448e-04 -2.22451112e+00] [ 2.68014139e-02 -1.31990536e-03 9.99639906e-01 5.78009788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.440714056999994 meters Centerline goodness [0,1] 0.9893897996357013 Centerline is valid? [True, True] Translation: X:56.12, Y:-2.23, Z:0.58 [[ 9.99360576e-01 -2.37899525e-02 -2.66922604e-02 5.61175603e+01] [ 2.38156401e-02 9.99716159e-01 6.44827445e-04 -2.22553465e+00] [ 2.66693437e-02 -1.28010840e-03 9.99643490e-01 5.77799027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.470714056999995 meters Centerline goodness [0,1] 0.9889457336013155 Centerline is valid? [True, True] Translation: X:56.15, Y:-2.22, Z:0.58 [[ 9.99377181e-01 -2.25761145e-02 -2.71213802e-02 5.61476075e+01] [ 2.26021629e-02 9.99744324e-01 6.54225693e-04 -2.22425981e+00] [ 2.70996761e-02 -1.26682008e-03 9.99631934e-01 5.78297702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.500714056999996 meters Centerline goodness [0,1] 0.9887131115639094 Centerline is valid? [True, True] Translation: X:56.18, Y:-2.22, Z:0.58 [[ 9.99425025e-01 -2.02034513e-02 -2.72293880e-02 5.61762174e+01] [ 2.02287986e-02 9.99795162e-01 6.55711556e-04 -2.22298185e+00] [ 2.72105628e-02 -1.20615234e-03 9.99628996e-01 5.78970114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.530714057 meters Centerline goodness [0,1] 0.9887781688531334 Centerline is valid? [True, True] Translation: X:56.21, Y:-2.22, Z:0.58 [[ 9.99464331e-01 -1.92524820e-02 -2.64649542e-02 5.62051381e+01] [ 1.92759875e-02 9.99814000e-01 6.33324288e-04 -2.22208331e+00] [ 2.64478386e-02 -1.14312316e-03 9.99649541e-01 5.79535741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.560714057 meters Centerline goodness [0,1] 0.9893009007361346 Centerline is valid? [True, True] Translation: X:56.23, Y:-2.22, Z:0.58 [[ 9.99480110e-01 -1.85866620e-02 -2.63447329e-02 5.62325017e+01] [ 1.86096102e-02 9.99826630e-01 6.26145846e-04 -2.22247070e+00] [ 2.63285275e-02 -1.11608553e-03 9.99652721e-01 5.80277808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.590714057 meters Centerline goodness [0,1] 0.9891420393885014 Centerline is valid? [True, True] Translation: X:56.26, Y:-2.22, Z:0.58 [[ 9.99530501e-01 -1.76706201e-02 -2.50305290e-02 5.62599610e+01] [ 1.76909823e-02 9.99843327e-01 5.92271001e-04 -2.22298980e+00] [ 2.50161416e-02 -1.03480758e-03 9.99686512e-01 5.81103027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.620714056999994 meters Centerline goodness [0,1] 0.9889857315158274 Centerline is valid? [True, True] Translation: X:56.29, Y:-2.22, Z:0.58 [[ 9.99523031e-01 -1.81986655e-02 -2.49503220e-02 5.62887500e+01] [ 1.82189446e-02 9.99833850e-01 5.85682040e-04 -2.22154341e+00] [ 2.49355179e-02 -1.03997122e-03 9.99688521e-01 5.82170967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.650714056999995 meters Centerline goodness [0,1] 0.9891284445665111 Centerline is valid? [True, True] Translation: X:56.32, Y:-2.22, Z:0.58 [[ 9.99469473e-01 -1.98327931e-02 -2.58347083e-02 5.63172290e+01] [ 1.98549109e-02 9.99802692e-01 5.99868460e-04 -2.22301581e+00] [ 2.58177139e-02 -1.11249605e-03 9.99666048e-01 5.82183689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.680714056999996 meters Centerline goodness [0,1] 0.9885644548906165 Centerline is valid? [True, True] Translation: X:56.35, Y:-2.23, Z:0.58 [[ 9.99440738e-01 -2.10440978e-02 -2.59876272e-02 5.63457698e+01] [ 2.10667178e-02 9.99777894e-01 5.96909375e-04 -2.22501612e+00] [ 2.59692938e-02 -1.14404956e-03 9.99662086e-01 5.82404516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.710714057 meters Centerline goodness [0,1] 0.9881893361356056 Centerline is valid? [True, True] Translation: X:56.37, Y:-2.23, Z:0.58 [[ 9.99384987e-01 -2.30284103e-02 -2.64450329e-02 5.63742180e+01] [ 2.30523515e-02 9.99734079e-01 6.00769092e-04 -2.22722126e+00] [ 2.64241658e-02 -1.21001980e-03 9.99650088e-01 5.82072090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.740714057 meters Centerline goodness [0,1] 0.9888431641518062 Centerline is valid? [True, True] Translation: X:56.40, Y:-2.23, Z:0.58 [[ 9.99284291e-01 -2.62013955e-02 -2.72835676e-02 5.64033445e+01] [ 2.62279495e-02 9.99655798e-01 6.15793635e-04 -2.23068440e+00] [ 2.72580419e-02 -1.33094494e-03 9.99627545e-01 5.82644151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.770714057 meters Centerline goodness [0,1] 0.9880004562564161 Centerline is valid? [True, True] Translation: X:56.43, Y:-2.24, Z:0.58 [[ 9.99246248e-01 -2.78231364e-02 -2.70704301e-02 5.64323010e+01] [ 2.78498594e-02 9.99611931e-01 6.10574247e-04 -2.23851992e+00] [ 2.70429368e-02 -1.36402170e-03 9.99633342e-01 5.81612855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.800714057 meters Centerline goodness [0,1] 0.9885321622790052 Centerline is valid? [True, True] Translation: X:56.46, Y:-2.24, Z:0.58 [[ 9.99143944e-01 -3.11883548e-02 -2.71783956e-02 5.64629743e+01] [ 3.12165389e-02 9.99512457e-01 6.13231942e-04 -2.23734032e+00] [ 2.71460193e-02 -1.46112242e-03 9.99630411e-01 5.83601699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.830714056999994 meters Centerline goodness [0,1] 0.986825966474356 Centerline is valid? [True, True] Translation: X:56.49, Y:-2.25, Z:0.58 [[ 9.99085078e-01 -3.28876492e-02 -2.73387766e-02 5.64930015e+01] [ 3.29168082e-02 9.99457905e-01 6.17107199e-04 -2.24685953e+00] [ 2.73036612e-02 -1.51644786e-03 9.99626035e-01 5.81745849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.860714056999996 meters Centerline goodness [0,1] 0.9877025890482577 Centerline is valid? [True, True] Translation: X:56.52, Y:-2.25, Z:0.58 [[ 9.99040054e-01 -3.42503783e-02 -2.73108409e-02 5.65243843e+01] [ 3.42800043e-02 9.99412077e-01 6.17177336e-04 -2.24995950e+00] [ 2.72736457e-02 -1.55280062e-03 9.99626799e-01 5.82185545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.890714057 meters Centerline goodness [0,1] 0.9875897808891717 Centerline is valid? [True, True] Translation: X:56.56, Y:-2.25, Z:0.58 [[ 9.98982264e-01 -3.56712321e-02 -2.76043293e-02 5.65552145e+01] [ 3.57020671e-02 9.99362283e-01 6.24823702e-04 -2.25194996e+00] [ 2.75644373e-02 -1.60971941e-03 9.99618733e-01 5.82771619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.920714057 meters Centerline goodness [0,1] 0.9887386873959925 Centerline is valid? [True, True] Translation: X:56.59, Y:-2.25, Z:0.59 [[ 9.98870613e-01 -3.85716038e-02 -2.77439884e-02 5.65865350e+01] [ 3.86038949e-02 9.99254394e-01 6.29021130e-04 -2.24868287e+00] [ 2.76990400e-02 -1.69933674e-03 9.99614864e-01 5.85342158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.950714057 meters Centerline goodness [0,1] 0.9881025361578457 Centerline is valid? [True, True] Translation: X:56.62, Y:-2.25, Z:0.59 [[ 9.98799910e-01 -4.06285743e-02 -2.73506472e-02 5.66173447e+01] [ 4.06607429e-02 9.99172817e-01 6.20800548e-04 -2.25119448e+00] [ 2.73028010e-02 -1.73215316e-03 9.99625708e-01 5.86302825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.980714057 meters Centerline goodness [0,1] 0.9874315325348303 Centerline is valid? [True, True] Translation: X:56.65, Y:-2.26, Z:0.59 [[ 9.98763817e-01 -4.15149250e-02 -2.73376819e-02 5.66487484e+01] [ 4.15474209e-02 9.99136340e-01 6.21505676e-04 -2.25876628e+00] [ 2.72882696e-02 -1.75654756e-03 9.99626063e-01 5.85495729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.010714056999994 meters Centerline goodness [0,1] 0.9882092018014348 Centerline is valid? [True, True] Translation: X:56.68, Y:-2.26, Z:0.59 [[ 9.98737645e-01 -4.21999214e-02 -2.72448722e-02 5.66805045e+01] [ 4.22324895e-02 9.99107618e-01 6.20819875e-04 -2.25750791e+00] [ 2.71943608e-02 -1.77065496e-03 9.99628597e-01 5.86460768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.040714056999995 meters Centerline goodness [0,1] 0.9869572097018467 Centerline is valid? [True, True] Translation: X:56.71, Y:-2.26, Z:0.59 [[ 9.98688563e-01 -4.37902394e-02 -2.65248714e-02 5.67111374e+01] [ 4.38216961e-02 9.99039185e-01 6.05531723e-04 -2.26174638e+00] [ 2.64728695e-02 -1.76710246e-03 9.99647970e-01 5.87060454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.070714056999996 meters Centerline goodness [0,1] 0.9882061537063128 Centerline is valid? [True, True] Translation: X:56.74, Y:-2.26, Z:0.59 [[ 9.98669148e-01 -4.45225475e-02 -2.60321947e-02 5.67432973e+01] [ 4.45531303e-02 9.99006839e-01 5.95693999e-04 -2.25522130e+00] [ 2.59798187e-02 -1.75471698e-03 9.99660928e-01 5.89271106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.100714057 meters Centerline goodness [0,1] 0.9864748332047384 Centerline is valid? [True, True] Translation: X:56.77, Y:-2.27, Z:0.59 [[ 9.98615435e-01 -4.59257742e-02 -2.56522287e-02 5.67739961e+01] [ 4.59559726e-02 9.98943293e-01 5.88624067e-04 -2.26764119e+00] [ 2.55980888e-02 -1.76668220e-03 9.99670754e-01 5.88733037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.130714057 meters Centerline goodness [0,1] 0.987978265791261 Centerline is valid? [True, True] Translation: X:56.81, Y:-2.26, Z:0.59 [[ 9.98598141e-01 -4.63670902e-02 -2.55312611e-02 5.68067704e+01] [ 4.63971894e-02 9.98922898e-01 5.87474286e-04 -2.26017449e+00] [ 2.54765219e-02 -1.77122949e-03 9.99673852e-01 5.90939632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.160714057 meters Centerline goodness [0,1] 0.9862604404807714 Centerline is valid? [True, True] Translation: X:56.84, Y:-2.27, Z:0.59 [[ 9.98567966e-01 -4.68444852e-02 -2.58381887e-02 5.68375134e+01] [ 4.68755327e-02 9.98900560e-01 5.96900897e-04 -2.26853446e+00] [ 2.57818196e-02 -1.80722497e-03 9.99665960e-01 5.89678748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.190714056999994 meters Centerline goodness [0,1] 0.9872338505954529 Centerline is valid? [True, True] Translation: X:56.87, Y:-2.27, Z:0.59 [[ 9.98496843e-01 -4.79558369e-02 -2.65384877e-02 5.68699195e+01] [ 4.79890452e-02 9.98847672e-01 6.15486541e-04 -2.26603965e+00] [ 2.64783905e-02 -1.88811805e-03 9.99647603e-01 5.90421366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.220714056999995 meters Centerline goodness [0,1] 0.9877325607713549 Centerline is valid? [True, True] Translation: X:56.90, Y:-2.27, Z:0.59 [[ 9.98450680e-01 -4.87142872e-02 -2.68915908e-02 5.69022060e+01] [ 4.87487110e-02 9.98810879e-01 6.25610641e-04 -2.26874074e+00] [ 2.68291373e-02 -1.93557176e-03 9.99638160e-01 5.90328091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.250714056999996 meters Centerline goodness [0,1] 0.987816753096764 Centerline is valid? [True, True] Translation: X:56.93, Y:-2.27, Z:0.59 [[ 9.98439428e-01 -4.88957946e-02 -2.69798127e-02 5.69347627e+01] [ 4.89305629e-02 9.98801984e-01 6.29602086e-04 -2.26886160e+00] [ 2.69167056e-02 -1.94875697e-03 9.99635780e-01 5.90983580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.280714057 meters Centerline goodness [0,1] 0.9876724390959789 Centerline is valid? [True, True] Translation: X:56.97, Y:-2.27, Z:0.59 [[ 9.98426917e-01 -4.91231391e-02 -2.70297603e-02 5.69656117e+01] [ 4.91581647e-02 9.98790806e-01 6.32455045e-04 -2.27197012e+00] [ 2.69660079e-02 -1.96019355e-03 9.99634429e-01 5.91060121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.310714057 meters Centerline goodness [0,1] 0.9868778280542987 Centerline is valid? [True, True] Translation: X:57.00, Y:-2.28, Z:0.59 [[ 9.98421095e-01 -4.92552403e-02 -2.70044125e-02 5.69969861e+01] [ 4.92902872e-02 9.98784294e-01 6.33305369e-04 -2.27503190e+00] [ 2.69403895e-02 -1.96336069e-03 9.99635114e-01 5.90802385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.340714057 meters Centerline goodness [0,1] 0.9873837681682767 Centerline is valid? [True, True] Translation: X:57.03, Y:-2.28, Z:0.59 [[ 9.98444665e-01 -4.92049875e-02 -2.62129624e-02 5.70277592e+01] [ 4.92380278e-02 9.98786883e-01 6.16111090e-04 -2.27820163e+00] [ 2.61508473e-02 -1.90582740e-03 9.99656191e-01 5.91373083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.370714056999994 meters Centerline goodness [0,1] 0.9863497453310696 Centerline is valid? [True, True] Translation: X:57.06, Y:-2.28, Z:0.59 [[ 9.98456477e-01 -4.93002465e-02 -2.55763244e-02 5.70601101e+01] [ 4.93317713e-02 9.98782265e-01 6.02695726e-04 -2.28016099e+00] [ 2.55154662e-02 -1.86349084e-03 9.99672691e-01 5.91932654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.400714056999995 meters Centerline goodness [0,1] 0.9861967694566813 Centerline is valid? [True, True] Translation: X:57.09, Y:-2.28, Z:0.59 [[ 9.98432051e-01 -4.97946452e-02 -2.55721235e-02 5.70923145e+01] [ 4.98263662e-02 9.98757712e-01 6.04370805e-04 -2.28265194e+00] [ 2.55102611e-02 -1.87758917e-03 9.99672797e-01 5.92619942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.430714056999996 meters Centerline goodness [0,1] 0.9866576515663736 Centerline is valid? [True, True] Translation: X:57.12, Y:-2.28, Z:0.59 [[ 9.98393929e-01 -5.10274319e-02 -2.46122557e-02 5.71246114e+01] [ 5.10572289e-02 9.98695559e-01 5.83357852e-04 -2.28459634e+00] [ 2.45503832e-02 -1.83905451e-03 9.99696902e-01 5.93617600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.460714057 meters Centerline goodness [0,1] 0.9854368932038835 Centerline is valid? [True, True] Translation: X:57.16, Y:-2.29, Z:0.59 [[ 9.98319729e-01 -5.22884627e-02 -2.49726987e-02 5.71556088e+01] [ 5.23195694e-02 9.98630217e-01 5.93426337e-04 -2.28943764e+00] [ 2.49074621e-02 -1.89899006e-03 9.99687957e-01 5.93891812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.490714057 meters Centerline goodness [0,1] 0.9852771818900304 Centerline is valid? [True, True] Translation: X:57.19, Y:-2.29, Z:0.59 [[ 9.98235050e-01 -5.41318081e-02 -2.44239987e-02 5.71859154e+01] [ 5.41621311e-02 9.98531985e-01 5.81222457e-04 -2.29388657e+00] [ 2.43566813e-02 -1.90305245e-03 9.99701521e-01 5.94689292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.520714057 meters Centerline goodness [0,1] 0.9839098591549296 Centerline is valid? [True, True] Translation: X:57.22, Y:-2.30, Z:0.60 [[ 9.98171186e-01 -5.52701404e-02 -2.44846059e-02 5.72179576e+01] [ 5.53009790e-02 9.98469559e-01 5.83674627e-04 -2.29614514e+00] [ 2.44148739e-02 -1.93662987e-03 9.99700037e-01 5.95098402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.550714057 meters Centerline goodness [0,1] 0.9860816602752087 Centerline is valid? [True, True] Translation: X:57.25, Y:-2.29, Z:0.60 [[ 9.98071062e-01 -5.69537758e-02 -2.47067491e-02 5.72488321e+01] [ 5.69857241e-02 9.98374819e-01 5.90387819e-04 -2.29216541e+00] [ 2.46329714e-02 -1.99718099e-03 9.99694567e-01 5.96737855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.580714056999994 meters Centerline goodness [0,1] 0.987175152703586 Centerline is valid? [True, True] Translation: X:57.28, Y:-2.29, Z:0.60 [[ 9.98035822e-01 -5.77274829e-02 -2.43317887e-02 5.72813041e+01] [ 5.77587311e-02 9.98330401e-01 5.82839284e-04 -2.29046846e+00] [ 2.42575185e-02 -1.98706772e-03 9.99703768e-01 5.97402641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.610714056999996 meters Centerline goodness [0,1] 0.987336067420794 Centerline is valid? [True, True] Translation: X:57.31, Y:-2.30, Z:0.60 [[ 9.98002065e-01 -5.84141373e-02 -2.40762892e-02 5.73127921e+01] [ 5.84449669e-02 9.98290465e-01 5.78219295e-04 -2.29535120e+00] [ 2.40013537e-02 -1.98420197e-03 9.99709957e-01 5.97318244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.640714057 meters Centerline goodness [0,1] 0.9876305292878591 Centerline is valid? [True, True] Translation: X:57.34, Y:-2.30, Z:0.60 [[ 9.97967735e-01 -5.93022418e-02 -2.33161651e-02 5.73444545e+01] [ 5.93314238e-02 9.98238182e-01 5.61180035e-04 -2.29708332e+00] [ 2.32418070e-02 -1.94342084e-03 9.99727984e-01 5.97612654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.670714057 meters Centerline goodness [0,1] 0.987068577092908 Centerline is valid? [True, True] Translation: X:57.38, Y:-2.30, Z:0.60 [[ 9.97972445e-01 -5.93635470e-02 -2.29557709e-02 5.73765019e+01] [ 5.93918814e-02 9.98234590e-01 5.53898176e-04 -2.29693696e+00] [ 2.28823632e-02 -1.91616154e-03 9.99736328e-01 5.98612981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.700714057 meters Centerline goodness [0,1] 0.9872095117996758 Centerline is valid? [True, True] Translation: X:57.41, Y:-2.30, Z:0.60 [[ 9.97982896e-01 -5.93469476e-02 -2.25406190e-02 5.74097526e+01] [ 5.93743054e-02 9.98235640e-01 5.45815793e-04 -2.29949813e+00] [ 2.24684568e-02 -1.88304843e-03 9.99745779e-01 5.99109631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.730714057 meters Centerline goodness [0,1] 0.987847417576235 Centerline is valid? [True, True] Translation: X:57.44, Y:-2.30, Z:0.60 [[ 9.97987656e-01 -5.92243770e-02 -2.26519594e-02 5.74432631e+01] [ 5.92520289e-02 9.98242903e-01 5.50918781e-04 -2.30092441e+00] [ 2.25795299e-02 -1.89198470e-03 9.99743260e-01 5.99608977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.760714056999994 meters Centerline goodness [0,1] 0.9869451697127938 Centerline is valid? [True, True] Translation: X:57.48, Y:-2.30, Z:0.60 [[ 9.98095076e-01 -5.71649707e-02 -2.32031292e-02 5.74752240e+01] [ 5.71934769e-02 9.98362953e-01 5.66248237e-04 -2.29981541e+00] [ 2.31327750e-02 -1.89223721e-03 9.99730611e-01 5.99950370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.790714056999995 meters Centerline goodness [0,1] 0.9864797984342661 Centerline is valid? [True, True] Translation: X:57.51, Y:-2.30, Z:0.60 [[ 9.98147967e-01 -5.62137386e-02 -2.32518999e-02 5.75068552e+01] [ 5.62421413e-02 9.98416996e-01 5.68852862e-04 -2.30193614e+00] [ 2.31831147e-02 -1.87553597e-03 9.99729476e-01 6.00145175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.820714056999996 meters Centerline goodness [0,1] 0.987128133579369 Centerline is valid? [True, True] Translation: X:57.54, Y:-2.30, Z:0.60 [[ 9.98161906e-01 -5.58314268e-02 -2.35724681e-02 5.75389559e+01] [ 5.58605516e-02 9.98438413e-01 5.78364401e-04 -2.30177115e+00] [ 2.35033668e-02 -1.89407239e-03 9.99721963e-01 6.00996508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.850714057 meters Centerline goodness [0,1] 0.987128133579369 Centerline is valid? [True, True] Translation: X:57.57, Y:-2.30, Z:0.60 [[ 9.98167791e-01 -5.57261387e-02 -2.35724180e-02 5.75715930e+01] [ 5.57552822e-02 9.98444296e-01 5.80403758e-04 -2.30266808e+00] [ 2.35034026e-02 -1.89362715e-03 9.99721963e-01 6.01408764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.880714057 meters Centerline goodness [0,1] 0.9879588575544103 Centerline is valid? [True, True] Translation: X:57.60, Y:-2.30, Z:0.60 [[ 9.98316889e-01 -5.30055298e-02 -2.35330266e-02 5.76025206e+01] [ 5.30338605e-02 9.98592546e-01 5.80956114e-04 -2.30133736e+00] [ 2.34691111e-02 -1.82802555e-03 9.99722891e-01 6.02473829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.910714057 meters Centerline goodness [0,1] 0.9871898962562021 Centerline is valid? [True, True] Translation: X:57.63, Y:-2.30, Z:0.60 [[ 9.98378467e-01 -5.18274608e-02 -2.35446620e-02 5.76326396e+01] [ 5.18555036e-02 9.98654429e-01 5.81656043e-04 -2.30400430e+00] [ 2.34828353e-02 -1.80163318e-03 9.99722617e-01 6.02460112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.940714056999994 meters Centerline goodness [0,1] 0.9877404497426172 Centerline is valid? [True, True] Translation: X:57.66, Y:-2.30, Z:0.60 [[ 9.98561345e-01 -4.81960506e-02 -2.35027755e-02 5.76629041e+01] [ 4.82229991e-02 9.98836426e-01 5.80864803e-04 -2.30214281e+00] [ 2.34474329e-02 -1.71340346e-03 9.99723603e-01 6.03361816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.970714056999995 meters Centerline goodness [0,1] 0.9871450195422814 Centerline is valid? [True, True] Translation: X:57.69, Y:-2.30, Z:0.60 [[ 9.98631273e-01 -4.65802270e-02 -2.37878688e-02 5.76940029e+01] [ 4.66073873e-02 9.98913112e-01 5.88325716e-04 -2.30147066e+00] [ 2.37346097e-02 -1.69621087e-03 9.99716856e-01 6.03689148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.000714056999996 meters Centerline goodness [0,1] 0.9872044569254461 Centerline is valid? [True, True] Translation: X:57.73, Y:-2.30, Z:0.60 [[ 9.98744244e-01 -4.44575417e-02 -2.30967968e-02 5.77260707e+01] [ 4.44826040e-02 9.99009995e-01 5.72207496e-04 -2.29947783e+00] [ 2.30484919e-02 -1.59889461e-03 9.99733070e-01 6.04552559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.030714057 meters Centerline goodness [0,1] 0.9868859142488279 Centerline is valid? [True, True] Translation: X:57.76, Y:-2.30, Z:0.60 [[ 9.98921599e-01 -4.02704758e-02 -2.31068729e-02 5.77556189e+01] [ 4.02944562e-02 9.99187684e-01 5.72950166e-04 -2.30060244e+00] [ 2.30650299e-02 -1.50341117e-03 9.99732836e-01 6.04930130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.060714057 meters Centerline goodness [0,1] 0.9884029083331446 Centerline is valid? [True, True] Translation: X:57.79, Y:-2.30, Z:0.61 [[ 9.99004628e-01 -3.82124984e-02 -2.30121304e-02 5.77868021e+01] [ 3.82357426e-02 9.99268584e-01 5.70771203e-04 -2.29506622e+00] [ 2.29734884e-02 -1.45008897e-03 9.99735023e-01 6.06752186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.090714057 meters Centerline goodness [0,1] 0.9871323114432129 Centerline is valid? [True, True] Translation: X:57.82, Y:-2.30, Z:0.61 [[ 9.99168849e-01 -3.40037943e-02 -2.24800420e-02 5.78167544e+01] [ 3.40249215e-02 9.99420829e-01 5.57888921e-04 -2.29994675e+00] [ 2.24480519e-02 -1.32230690e-03 9.99747136e-01 6.06351415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.120714056999994 meters Centerline goodness [0,1] 0.9871141608352016 Centerline is valid? [True, True] Translation: X:57.85, Y:-2.30, Z:0.61 [[ 9.99199722e-01 -3.31436141e-02 -2.23923372e-02 5.78486748e+01] [ 3.31643687e-02 9.99449756e-01 5.56034208e-04 -2.29584614e+00] [ 2.23615870e-02 -1.29821695e-03 9.99749106e-01 6.07767417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.150714056999995 meters Centerline goodness [0,1] 0.9879422497223544 Centerline is valid? [True, True] Translation: X:57.88, Y:-2.29, Z:0.61 [[ 9.99246192e-01 -3.19912296e-02 -2.19911114e-02 5.78801497e+01] [ 3.20109896e-02 9.99487367e-01 5.47022871e-04 -2.29385973e+00] [ 2.19623381e-02 -1.25056776e-03 9.99758017e-01 6.08837365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.180714056999996 meters Centerline goodness [0,1] 0.9861133171473304 Centerline is valid? [True, True] Translation: X:57.91, Y:-2.29, Z:0.61 [[ 9.99322714e-01 -2.91408608e-02 -2.24705227e-02 5.79115947e+01] [ 2.91607919e-02 9.99574577e-01 5.59763240e-04 -2.29441731e+00] [ 2.24446512e-02 -1.21464236e-03 9.99747349e-01 6.09136284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.210714057 meters Centerline goodness [0,1] 0.9866995966828296 Centerline is valid? [True, True] Translation: X:57.94, Y:-2.30, Z:0.61 [[ 9.99359217e-01 -2.79068091e-02 -2.24134926e-02 5.79420551e+01] [ 2.79263437e-02 9.99609827e-01 5.58967560e-04 -2.29599184e+00] [ 2.23891485e-02 -1.18453628e-03 9.99748630e-01 6.09092529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.240714057 meters Centerline goodness [0,1] 0.9879911179589432 Centerline is valid? [True, True] Translation: X:57.97, Y:-2.29, Z:0.61 [[ 9.99404807e-01 -2.59212580e-02 -2.27622613e-02 5.79732918e+01] [ 2.59409055e-02 9.99663317e-01 5.68261646e-04 -2.29425922e+00] [ 2.27398675e-02 -1.15839709e-03 9.99740745e-01 6.09836436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.270714057 meters Centerline goodness [0,1] 0.987663804789878 Centerline is valid? [True, True] Translation: X:58.00, Y:-2.30, Z:0.61 [[ 9.99429936e-01 -2.52155163e-02 -2.24495093e-02 5.80033007e+01] [ 2.52344640e-02 9.99681403e-01 5.61080851e-04 -2.30162081e+00] [ 2.24282090e-02 -1.12726233e-03 9.99747821e-01 6.08886298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.300714057 meters Centerline goodness [0,1] 0.9880785095870541 Centerline is valid? [True, True] Translation: X:58.03, Y:-2.30, Z:0.61 [[ 9.99453613e-01 -2.43155989e-02 -2.23880897e-02 5.80343395e+01] [ 2.43342210e-02 9.99703722e-01 5.59691314e-04 -2.29828128e+00] [ 2.23678474e-02 -1.10418223e-03 9.99749199e-01 6.10628001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.330714056999994 meters Centerline goodness [0,1] 0.9879887323943662 Centerline is valid? [True, True] Translation: X:58.06, Y:-2.30, Z:0.61 [[ 9.99475348e-01 -2.41981256e-02 -2.15285802e-02 5.80647981e+01] [ 2.42153156e-02 9.99706621e-01 5.38105037e-04 -2.29988261e+00] [ 2.15092430e-02 -1.05914408e-03 9.99768088e-01 6.11737662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.360714056999996 meters Centerline goodness [0,1] 0.9881304967104519 Centerline is valid? [True, True] Translation: X:58.09, Y:-2.30, Z:0.61 [[ 9.99486800e-01 -2.43121105e-02 -2.08580582e-02 5.80947900e+01] [ 2.43282709e-02 9.99703888e-01 5.21345396e-04 -2.30284827e+00] [ 2.08392068e-02 -1.02851833e-03 9.99782311e-01 6.12287986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.390714057 meters Centerline goodness [0,1] 0.9885173927727119 Centerline is valid? [True, True] Translation: X:58.13, Y:-2.30, Z:0.61 [[ 9.99484017e-01 -2.42315700e-02 -2.10839093e-02 5.81262150e+01] [ 2.42480708e-02 9.99705833e-01 5.27292762e-04 -2.30253448e+00] [ 2.10649300e-02 -1.03826481e-03 9.99777571e-01 6.13164765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.420714057 meters Centerline goodness [0,1] 0.9884671697263205 Centerline is valid? [True, True] Translation: X:58.16, Y:-2.31, Z:0.61 [[ 9.99480377e-01 -2.40605490e-02 -2.14491428e-02 5.81569274e+01] [ 2.40776006e-02 9.99709948e-01 5.37042974e-04 -2.30701646e+00] [ 2.14299999e-02 -1.05320781e-03 9.99769796e-01 6.12953734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.450714057 meters Centerline goodness [0,1] 0.9892623190689508 Centerline is valid? [True, True] Translation: X:58.19, Y:-2.31, Z:0.61 [[ 9.99443494e-01 -2.40452531e-02 -2.31198810e-02 5.81869226e+01] [ 2.40650710e-02 9.99710226e-01 5.79295793e-04 -2.30942069e+00] [ 2.30992522e-02 -1.13535499e-03 9.99732532e-01 6.12560770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.480714057 meters Centerline goodness [0,1] 0.9890302173766741 Centerline is valid? [True, True] Translation: X:58.22, Y:-2.31, Z:0.61 [[ 9.99429280e-01 -2.40567911e-02 -2.37146604e-02 5.82169097e+01] [ 2.40776417e-02 9.99709915e-01 5.94044150e-04 -2.31132381e+00] [ 2.36934904e-02 -1.16469821e-03 9.99718591e-01 6.12439610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.510714056999994 meters Centerline goodness [0,1] 0.9882690711706256 Centerline is valid? [True, True] Translation: X:58.25, Y:-2.32, Z:0.61 [[ 9.99409676e-01 -2.47580580e-02 -2.38188745e-02 5.82457766e+01] [ 2.47792718e-02 9.99692769e-01 5.95847882e-04 -2.31546065e+00] [ 2.37968045e-02 -1.18571050e-03 9.99716113e-01 6.12386903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.540714056999995 meters Centerline goodness [0,1] 0.9892755379058132 Centerline is valid? [True, True] Translation: X:58.28, Y:-2.31, Z:0.61 [[ 9.99401617e-01 -2.51727240e-02 -2.37221709e-02 5.82761486e+01] [ 2.51938723e-02 9.99682408e-01 5.93005419e-04 -2.31091236e+00] [ 2.36997094e-02 -1.19030392e-03 9.99718414e-01 6.14672070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.570714056999996 meters Centerline goodness [0,1] 0.9882695321244683 Centerline is valid? [True, True] Translation: X:58.31, Y:-2.32, Z:0.61 [[ 9.99403998e-01 -2.53414261e-02 -2.34405918e-02 5.83055675e+01] [ 2.53621169e-02 9.99678158e-01 5.85773886e-04 -2.31980770e+00] [ 2.34182033e-02 -1.17992779e-03 9.99725060e-01 6.13943183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.600714057 meters Centerline goodness [0,1] 0.9873914701725259 Centerline is valid? [True, True] Translation: X:58.34, Y:-2.32, Z:0.62 [[ 9.99374113e-01 -2.63004383e-02 -2.36573134e-02 5.83351630e+01] [ 2.63217719e-02 9.99653348e-01 5.90780568e-04 -2.32294237e+00] [ 2.36335747e-02 -1.21311321e-03 9.99719952e-01 6.15035733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.630714057 meters Centerline goodness [0,1] 0.9886110923916706 Centerline is valid? [True, True] Translation: X:58.37, Y:-2.32, Z:0.62 [[ 9.99368010e-01 -2.65033538e-02 -2.36886773e-02 5.83656284e+01] [ 2.65247959e-02 9.99647981e-01 5.91355086e-04 -2.31606734e+00] [ 2.36646656e-02 -1.21931869e-03 9.99719209e-01 6.17427515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.660714057 meters Centerline goodness [0,1] 0.9879923689821569 Centerline is valid? [True, True] Translation: X:58.40, Y:-2.32, Z:0.62 [[ 9.99334746e-01 -2.72654543e-02 -2.42210815e-02 5.83960217e+01] [ 2.72880946e-02 9.99627428e-01 6.04645820e-04 -2.31808003e+00] [ 2.41955714e-02 -1.26519074e-03 9.99706444e-01 6.17516404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.690714056999994 meters Centerline goodness [0,1] 0.9888108770756715 Centerline is valid? [True, True] Translation: X:58.43, Y:-2.32, Z:0.62 [[ 9.99324781e-01 -2.74138112e-02 -2.44635306e-02 5.84264420e+01] [ 2.74369566e-02 9.99623349e-01 6.10905840e-04 -2.32260889e+00] [ 2.44375691e-02 -1.28169817e-03 9.99700536e-01 6.17022629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.720714056999995 meters Centerline goodness [0,1] 0.9892015413567524 Centerline is valid? [True, True] Translation: X:58.46, Y:-2.32, Z:0.62 [[ 9.99298686e-01 -2.79306399e-02 -2.49402391e-02 5.84567459e+01] [ 2.79548626e-02 9.99608992e-01 6.23036183e-04 -2.32255328e+00] [ 2.49130855e-02 -1.31980020e-03 9.99688750e-01 6.17125308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.750714056999996 meters Centerline goodness [0,1] 0.9886216300800286 Centerline is valid? [True, True] Translation: X:58.49, Y:-2.32, Z:0.62 [[ 9.99240353e-01 -2.95001136e-02 -2.54648726e-02 5.84874952e+01] [ 2.95258745e-02 9.99563814e-01 6.36142139e-04 -2.32384150e+00] [ 2.54349989e-02 -1.38753153e-03 9.99675515e-01 6.17725629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.780714057 meters Centerline goodness [0,1] 0.9892663867244516 Centerline is valid? [True, True] Translation: X:58.52, Y:-2.32, Z:0.62 [[ 9.99214039e-01 -3.03217887e-02 -2.55322195e-02 5.85182977e+01] [ 3.03479536e-02 9.99539191e-01 6.37824543e-04 -2.32478608e+00] [ 2.55011141e-02 -1.41217385e-03 9.99673796e-01 6.18598857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.810714057 meters Centerline goodness [0,1] 0.988967214949088 Centerline is valid? [True, True] Translation: X:58.55, Y:-2.33, Z:0.62 [[ 9.99132938e-01 -3.28658460e-02 -2.55579443e-02 5.85490320e+01] [ 3.28928990e-02 9.99458678e-01 6.38696882e-04 -2.32780432e+00] [ 2.55231179e-02 -1.47881797e-03 9.99673138e-01 6.19553320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.840714057 meters Centerline goodness [0,1] 0.98930265866977 Centerline is valid? [True, True] Translation: X:58.58, Y:-2.33, Z:0.62 [[ 9.99084897e-01 -3.42427901e-02 -2.56281262e-02 5.85797058e+01] [ 3.42704641e-02 9.99412389e-01 6.41260886e-04 -2.33081461e+00] [ 2.55911083e-02 -1.51896184e-03 9.99671340e-01 6.20093816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.870714056999994 meters Centerline goodness [0,1] 0.9895844999440027 Centerline is valid? [True, True] Translation: X:58.61, Y:-2.33, Z:0.62 [[ 9.99006856e-01 -3.63867414e-02 -2.57158957e-02 5.86112381e+01] [ 3.64153395e-02 9.99336534e-01 6.44496269e-04 -2.33183715e+00] [ 2.56753829e-02 -1.58030926e-03 9.99669084e-01 6.20846132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.900714056999995 meters Centerline goodness [0,1] 0.9890794586627362 Centerline is valid? [True, True] Translation: X:58.64, Y:-2.34, Z:0.62 [[ 9.98851915e-01 -4.05177909e-02 -2.55570062e-02 5.86409036e+01] [ 4.05473895e-02 9.99177411e-01 6.40773206e-04 -2.33747728e+00] [ 2.55100205e-02 -1.67630743e-03 9.99673161e-01 6.21468966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.930714056999996 meters Centerline goodness [0,1] 0.9883111378794976 Centerline is valid? [True, True] Translation: X:58.67, Y:-2.34, Z:0.62 [[ 9.98779420e-01 -4.24505115e-02 -2.52512181e-02 5.86722084e+01] [ 4.24800273e-02 9.99097115e-01 6.33375493e-04 -2.33886988e+00] [ 2.52015320e-02 -1.70527484e-03 9.99680937e-01 6.22388783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.960714057 meters Centerline goodness [0,1] 0.9881217190141471 Centerline is valid? [True, True] Translation: X:58.70, Y:-2.34, Z:0.62 [[ 9.98624720e-01 -4.59371158e-02 -2.52675684e-02 5.87012955e+01] [ 4.59677873e-02 9.98942721e-01 6.34065977e-04 -2.34432347e+00] [ 2.52117264e-02 -1.79468817e-03 9.99680523e-01 6.23147180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.990714057 meters Centerline goodness [0,1] 0.988494235990564 Centerline is valid? [True, True] Translation: X:58.73, Y:-2.35, Z:0.62 [[ 9.98581783e-01 -4.69762700e-02 -2.50529900e-02 5.87336663e+01] [ 4.70067657e-02 9.98894373e-01 6.29393629e-04 -2.34515874e+00] [ 2.49957241e-02 -1.80616104e-03 9.99685926e-01 6.24090400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.020714057 meters Centerline goodness [0,1] 0.9872286363838987 Centerline is valid? [True, True] Translation: X:58.76, Y:-2.35, Z:0.62 [[ 9.98494168e-01 -4.87481134e-02 -2.51598436e-02 5.87644813e+01] [ 4.87794575e-02 9.98809373e-01 6.33202093e-04 -2.34761605e+00] [ 2.50990202e-02 -1.85953212e-03 9.99683240e-01 6.24665694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.050714057 meters Centerline goodness [0,1] 0.9871301873791372 Centerline is valid? [True, True] Translation: X:58.80, Y:-2.35, Z:0.63 [[ 9.98484398e-01 -4.92522412e-02 -2.45585789e-02 5.87962614e+01] [ 4.92822823e-02 9.98784698e-01 6.19135034e-04 -2.34841618e+00] [ 2.44982391e-02 -1.82849949e-03 9.99698201e-01 6.25198792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.080714056999994 meters Centerline goodness [0,1] 0.9873712196743104 Centerline is valid? [True, True] Translation: X:58.83, Y:-2.35, Z:0.63 [[ 9.98427386e-01 -5.08059624e-02 -2.36961807e-02 5.88271392e+01] [ 5.08343992e-02 9.98706917e-01 5.98842230e-04 -2.35277023e+00] [ 2.36351148e-02 -1.80248159e-03 9.99719027e-01 6.25288564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.110714056999996 meters Centerline goodness [0,1] 0.9870974905618477 Centerline is valid? [True, True] Translation: X:58.86, Y:-2.36, Z:0.63 [[ 9.98383386e-01 -5.16816418e-02 -2.36563366e-02 5.88577578e+01] [ 5.17102747e-02 9.98661949e-01 5.99840666e-04 -2.35617574e+00] [ 2.35936824e-02 -1.82214662e-03 9.99719970e-01 6.25022313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.140714057 meters Centerline goodness [0,1] 0.9865807598311487 Centerline is valid? [True, True] Translation: X:58.89, Y:-2.36, Z:0.63 [[ 9.98357258e-01 -5.21841032e-02 -2.36559729e-02 5.88903561e+01] [ 5.22129299e-02 9.98635793e-01 6.02142723e-04 -2.35557457e+00] [ 2.35922790e-02 -1.83630121e-03 9.99719977e-01 6.25789041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.170714057 meters Centerline goodness [0,1] 0.9873871866295265 Centerline is valid? [True, True] Translation: X:58.92, Y:-2.36, Z:0.63 [[ 9.98288729e-01 -5.33226786e-02 -2.40063721e-02 5.89217620e+01] [ 5.33527289e-02 9.98575541e-01 6.12558799e-04 -2.35787440e+00] [ 2.39395127e-02 -1.89231601e-03 9.99711618e-01 6.25895246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.200714057 meters Centerline goodness [0,1] 0.9875827446799058 Centerline is valid? [True, True] Translation: X:58.95, Y:-2.36, Z:0.63 [[ 9.98284134e-01 -5.34023337e-02 -2.40203902e-02 5.89539654e+01] [ 5.34324769e-02 9.98571276e-01 6.14366817e-04 -2.35938310e+00] [ 2.39532631e-02 -1.89678159e-03 9.99711280e-01 6.25639162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.230714057 meters Centerline goodness [0,1] 0.98809655999467 Centerline is valid? [True, True] Translation: X:58.99, Y:-2.36, Z:0.63 [[ 9.98270080e-01 -5.34335146e-02 -2.45297263e-02 5.89859913e+01] [ 5.34650018e-02 9.98569526e-01 6.29127890e-04 -2.35651112e+00] [ 2.44610206e-02 -1.93952141e-03 9.99698903e-01 6.25411255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.260714056999994 meters Centerline goodness [0,1] 0.9856878936942151 Centerline is valid? [True, True] Translation: X:59.02, Y:-2.36, Z:0.62 [[ 9.98281313e-01 -5.34160349e-02 -2.41070161e-02 5.90171279e+01] [ 5.34464764e-02 9.98570523e-01 6.19766749e-04 -2.36413210e+00] [ 2.40394502e-02 -1.90713663e-03 9.99709192e-01 6.24647963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.290714056999995 meters Centerline goodness [0,1] 0.9876908036527652 Centerline is valid? [True, True] Translation: X:59.05, Y:-2.36, Z:0.63 [[ 9.98344379e-01 -5.29940256e-02 -2.23636761e-02 5.90496425e+01] [ 5.30201461e-02 9.98593277e-01 5.76253919e-04 -2.35597539e+00] [ 2.23016786e-02 -1.76102524e-03 9.99749736e-01 6.27079156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.320714056999996 meters Centerline goodness [0,1] 0.9877461318178791 Centerline is valid? [True, True] Translation: X:59.08, Y:-2.35, Z:0.63 [[ 9.98375066e-01 -5.27950299e-02 -2.14455740e-02 5.90817732e+01] [ 5.28190354e-02 9.98603947e-01 5.54086017e-04 -2.35478183e+00] [ 2.13863818e-02 -1.68592019e-03 9.99769864e-01 6.28283021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.350714057 meters Centerline goodness [0,1] 0.9874457429048414 Centerline is valid? [True, True] Translation: X:59.11, Y:-2.36, Z:0.63 [[ 9.98441324e-01 -5.18153434e-02 -2.07386879e-02 5.91131032e+01] [ 5.18376238e-02 9.98655382e-01 5.37842682e-04 -2.35615523e+00] [ 2.06829338e-02 -1.61204866e-03 9.99784786e-01 6.29036746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.380714057 meters Centerline goodness [0,1] 0.9860008916629514 Centerline is valid? [True, True] Translation: X:59.15, Y:-2.35, Z:0.63 [[ 9.98522028e-01 -5.01808929e-02 -2.08719505e-02 5.91450207e+01] [ 5.02031556e-02 9.98738879e-01 5.43695420e-04 -2.35491207e+00] [ 2.08183453e-02 -1.59072963e-03 9.99782009e-01 6.29376362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.410714057 meters Centerline goodness [0,1] 0.9873626496088439 Centerline is valid? [True, True] Translation: X:59.18, Y:-2.35, Z:0.63 [[ 9.98547972e-01 -4.97133655e-02 -2.07492059e-02 5.91775987e+01] [ 4.97352975e-02 9.98762287e-01 5.41987169e-04 -2.35090386e+00] [ 2.06965803e-02 -1.57316812e-03 9.99784565e-01 6.29909539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.440714056999994 meters Centerline goodness [0,1] 0.9878983730777803 Centerline is valid? [True, True] Translation: X:59.21, Y:-2.35, Z:0.63 [[ 9.98560267e-01 -4.94510840e-02 -2.07841915e-02 5.92098211e+01] [ 4.94730644e-02 9.98775310e-01 5.44383706e-04 -2.35179650e+00] [ 2.07318169e-02 -1.57185758e-03 9.99783837e-01 6.29243360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.470714056999995 meters Centerline goodness [0,1] 0.9877875161275971 Centerline is valid? [True, True] Translation: X:59.24, Y:-2.35, Z:0.63 [[ 9.98517741e-01 -5.00998808e-02 -2.12678992e-02 5.92420611e+01] [ 5.01230751e-02 9.98742893e-01 5.58577546e-04 -2.35332552e+00] [ 2.12131785e-02 -1.62376210e-03 9.99773657e-01 6.28860644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.500714056999996 meters Centerline goodness [0,1] 0.987905835099855 Centerline is valid? [True, True] Translation: X:59.27, Y:-2.35, Z:0.63 [[ 9.98497020e-01 -5.06007958e-02 -2.10537398e-02 5.92742248e+01] [ 5.06236668e-02 9.98717646e-01 5.54428546e-04 -2.35416698e+00] [ 2.09986869e-02 -1.61941276e-03 9.99778192e-01 6.28662509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.530714057 meters Centerline goodness [0,1] 0.9861395846332115 Centerline is valid? [True, True] Translation: X:59.30, Y:-2.36, Z:0.63 [[ 9.98389586e-01 -5.27661762e-02 -2.08318096e-02 5.93039665e+01] [ 5.27890542e-02 9.98605535e-01 5.49465244e-04 -2.35721627e+00] [ 2.07737672e-02 -1.64827190e-03 9.99782843e-01 6.27841055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.560714057 meters Centerline goodness [0,1] 0.9857438798921881 Centerline is valid? [True, True] Translation: X:59.34, Y:-2.36, Z:0.63 [[ 9.98289592e-01 -5.46989059e-02 -2.06378283e-02 5.93351133e+01] [ 5.47217728e-02 9.98501493e-01 5.44486964e-04 -2.35853953e+00] [ 2.05771196e-02 -1.67289422e-03 9.99786869e-01 6.28440265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.590714057 meters Centerline goodness [0,1] 0.9849982193732194 Centerline is valid? [True, True] Translation: X:59.37, Y:-2.36, Z:0.63 [[ 9.98226512e-01 -5.58797086e-02 -2.05253405e-02 5.93662509e+01] [ 5.59025875e-02 9.98436080e-01 5.42143767e-04 -2.36124988e+00] [ 2.04629457e-02 -1.68860192e-03 9.99789186e-01 6.28730707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.620714056999994 meters Centerline goodness [0,1] 0.9861012116892374 Centerline is valid? [True, True] Translation: X:59.40, Y:-2.36, Z:0.63 [[ 9.98173011e-01 -5.68583810e-02 -2.04393037e-02 5.93984765e+01] [ 5.68812965e-02 9.98380802e-01 5.41064264e-04 -2.35888072e+00] [ 2.03754444e-02 -1.70268984e-03 9.99790949e-01 6.29642889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.650714056999995 meters Centerline goodness [0,1] 0.986393194370212 Centerline is valid? [True, True] Translation: X:59.43, Y:-2.36, Z:0.63 [[ 9.98125713e-01 -5.77674878e-02 -2.01984707e-02 5.94306142e+01] [ 5.77900794e-02 9.98328613e-01 5.36092651e-04 -2.35684353e+00] [ 2.01337425e-02 -1.70235909e-03 9.99795846e-01 6.30388537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.680714056999996 meters Centerline goodness [0,1] 0.9757486433978696 Centerline is valid? [True, True] Translation: X:59.46, Y:-2.37, Z:0.63 [[ 9.98018072e-01 -5.96161082e-02 -2.01456425e-02 5.94606801e+01] [ 5.96389761e-02 9.98219868e-01 5.35712651e-04 -2.36564104e+00] [ 2.00778435e-02 -1.73611640e-03 9.99796912e-01 6.30058645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.710714057 meters Centerline goodness [0,1] 0.9824588775464718 Centerline is valid? [True, True] Translation: X:59.49, Y:-2.36, Z:0.63 [[ 9.97936246e-01 -6.12309265e-02 -1.93396688e-02 5.94915527e+01] [ 6.12523080e-02 9.98122182e-01 5.14608091e-04 -2.36042126e+00] [ 1.92718425e-02 -1.69814542e-03 9.99812839e-01 6.31313683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.740714057 meters Centerline goodness [0,1] 0.9819795649160462 Centerline is valid? [True, True] Translation: X:59.52, Y:-2.36, Z:0.63 [[ 9.97878638e-01 -6.21850471e-02 -1.92676955e-02 5.95233589e+01] [ 6.22064570e-02 9.98063171e-01 5.13257767e-04 -2.36026089e+00] [ 1.91984603e-02 -1.71074403e-03 9.99814229e-01 6.31869461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.770714057 meters Centerline goodness [0,1] 0.9819795649160462 Centerline is valid? [True, True] Translation: X:59.56, Y:-2.36, Z:0.63 [[ 9.97885208e-01 -6.20795300e-02 -1.92676591e-02 5.95560152e+01] [ 6.21009465e-02 9.98069741e-01 5.14621258e-04 -2.36122983e+00] [ 1.91985201e-02 -1.71007281e-03 9.99814229e-01 6.32282070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.800714057 meters Centerline goodness [0,1] 0.9801134452839495 Centerline is valid? [True, True] Translation: X:59.59, Y:-2.36, Z:0.63 [[ 9.97860935e-01 -6.25213862e-02 -1.90953044e-02 5.95873673e+01] [ 6.25425331e-02 9.98042168e-01 5.11681038e-04 -2.36282167e+00] [ 1.90259280e-02 -1.70485523e-03 9.99817537e-01 6.32819795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.830714056999994 meters Centerline goodness [0,1] 0.984917179153387 Centerline is valid? [True, True] Translation: X:59.62, Y:-2.35, Z:0.63 [[ 9.97807162e-01 -6.34079737e-02 -1.89814615e-02 5.96193613e+01] [ 6.34290472e-02 9.97986220e-01 5.09631298e-04 -2.35485346e+00] [ 1.89109223e-02 -1.71248977e-03 9.99819706e-01 6.33527721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.860714056999996 meters Centerline goodness [0,1] 0.9844799317206837 Centerline is valid? [True, True] Translation: X:59.65, Y:-2.35, Z:0.63 [[ 9.97785208e-01 -6.36250543e-02 -1.94043861e-02 5.96513703e+01] [ 6.36471411e-02 9.97972329e-01 5.22170866e-04 -2.35495878e+00] [ 1.93318172e-02 -1.75604806e-03 9.99811581e-01 6.33622500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.890714057 meters Centerline goodness [0,1] 0.9622365339578455 Centerline is valid? [True, True] Translation: X:59.68, Y:-2.37, Z:0.63 [[ 9.97747988e-01 -6.40367516e-02 -1.99561399e-02 5.96822938e+01] [ 6.40602208e-02 9.97945889e-01 5.38347469e-04 -2.36593498e+00] [ 1.98806738e-02 -1.81552983e-03 9.99800711e-01 6.31623982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.920714057 meters Centerline goodness [0,1] 0.9841927493807701 Centerline is valid? [True, True] Translation: X:59.72, Y:-2.36, Z:0.63 [[ 9.97763348e-01 -6.37913262e-02 -1.99741616e-02 5.97150386e+01] [ 6.38148131e-02 9.97961611e-01 5.40044770e-04 -2.35606339e+00] [ 1.98989964e-02 -1.81348427e-03 9.99800351e-01 6.32633249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.950714057 meters Centerline goodness [0,1] 0.9839426264630928 Centerline is valid? [True, True] Translation: X:59.75, Y:-2.36, Z:0.63 [[ 9.97754908e-01 -6.38580011e-02 -2.01816787e-02 5.97471054e+01] [ 6.38820218e-02 9.97957308e-01 5.47121876e-04 -2.35671440e+00] [ 2.01055157e-02 -1.83513998e-03 9.99796179e-01 6.32721848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.980714057 meters Centerline goodness [0,1] 0.9789630163520879 Centerline is valid? [True, True] Translation: X:59.78, Y:-2.36, Z:0.63 [[ 9.97810346e-01 -6.31204202e-02 -1.97566863e-02 5.97782830e+01] [ 6.31433212e-02 9.98004325e-01 5.36873031e-04 -2.36090653e+00] [ 1.96833707e-02 -1.78320025e-03 9.99804673e-01 6.32728561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.010714057 meters Centerline goodness [0,1] 0.9770714382052781 Centerline is valid? [True, True] Translation: X:59.81, Y:-2.36, Z:0.63 [[ 9.97847610e-01 -6.26594638e-02 -1.93374970e-02 5.98106000e+01] [ 6.26813415e-02 9.98033452e-01 5.26736578e-04 -2.36262970e+00] [ 1.92664639e-02 -1.73770309e-03 9.99812874e-01 6.32748638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.040714057 meters Centerline goodness [0,1] 0.9814860806935947 Centerline is valid? [True, True] Translation: X:59.84, Y:-2.36, Z:0.63 [[ 9.97828044e-01 -6.29888624e-02 -1.92768945e-02 5.98433273e+01] [ 6.30106947e-02 9.98012713e-01 5.26680302e-04 -2.35898775e+00] [ 1.92054107e-02 -1.74018689e-03 9.99814045e-01 6.33583295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.070714057 meters Centerline goodness [0,1] 0.9771795449425547 Centerline is valid? [True, True] Translation: X:59.87, Y:-2.36, Z:0.63 [[ 9.97821583e-01 -6.31045852e-02 -1.92327936e-02 5.98749251e+01] [ 6.31263738e-02 9.98005402e-01 5.27291892e-04 -2.36243380e+00] [ 1.91611574e-02 -1.74023975e-03 9.99814894e-01 6.33293255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.100714057 meters Centerline goodness [0,1] 0.9620670201963217 Centerline is valid? [True, True] Translation: X:59.91, Y:-2.37, Z:0.63 [[ 9.97809903e-01 -6.32229694e-02 -1.94487380e-02 5.99060734e+01] [ 6.32453134e-02 9.97997868e-01 5.35322781e-04 -2.36717144e+00] [ 1.93759543e-02 -1.76419190e-03 9.99810712e-01 6.33098394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.130714057 meters Centerline goodness [0,1] 0.9804500101353634 Centerline is valid? [True, True] Translation: X:59.94, Y:-2.36, Z:0.63 [[ 9.97818102e-01 -6.30145498e-02 -1.97028388e-02 5.99382546e+01] [ 6.30374647e-02 9.98011013e-01 5.43508541e-04 -2.36128759e+00] [ 1.96294012e-02 -1.78433967e-03 9.99805733e-01 6.33243166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.160714057 meters Centerline goodness [0,1] 0.9783416259540266 Centerline is valid? [True, True] Translation: X:59.97, Y:-2.36, Z:0.63 [[ 9.97834541e-01 -6.27713481e-02 -1.96465619e-02 5.99708104e+01] [ 6.27941125e-02 9.98026354e-01 5.43339484e-04 -2.36277231e+00] [ 1.95736804e-02 -1.77585132e-03 9.99806840e-01 6.33219910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19071405700001 meters Centerline goodness [0,1] 0.9846706100149004 Centerline is valid? [True, True] Translation: X:60.00, Y:-2.36, Z:0.63 [[ 9.97856921e-01 -6.22044856e-02 -2.03019003e-02 6.00036141e+01] [ 6.22287075e-02 9.98061757e-01 5.62914549e-04 -2.35653546e+00] [ 2.02275345e-02 -1.82506920e-03 9.99793737e-01 6.33525588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22071405700001 meters Centerline goodness [0,1] 0.9827695226051217 Centerline is valid? [True, True] Translation: X:60.03, Y:-2.36, Z:0.63 [[ 9.97892738e-01 -6.16043126e-02 -2.03713676e-02 6.00348222e+01] [ 6.16286034e-02 9.98098990e-01 5.66164638e-04 -2.35955171e+00] [ 2.02977633e-02 -1.82043052e-03 9.99792322e-01 6.33705023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25071405700001 meters Centerline goodness [0,1] 0.9829481461458756 Centerline is valid? [True, True] Translation: X:60.07, Y:-2.36, Z:0.63 [[ 9.97949962e-01 -6.07409387e-02 -2.01596446e-02 6.00671554e+01] [ 6.07645764e-02 9.98151968e-01 5.61477326e-04 -2.36032017e+00] [ 2.00882843e-02 -1.78531854e-03 9.99796616e-01 6.34527193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.280714057 meters Centerline goodness [0,1] 0.985341283823463 Centerline is valid? [True, True] Translation: X:60.10, Y:-2.36, Z:0.64 [[ 9.98032776e-01 -5.94406183e-02 -1.99346614e-02 6.00990998e+01] [ 5.94634989e-02 9.98230325e-01 5.56477478e-04 -2.35638659e+00] [ 1.98663062e-02 -1.74076748e-03 9.99801130e-01 6.35780759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.310714057 meters Centerline goodness [0,1] 0.9840850602736015 Centerline is valid? [True, True] Translation: X:60.13, Y:-2.36, Z:0.64 [[ 9.98083489e-01 -5.86240323e-02 -1.98134054e-02 6.01311762e+01] [ 5.86464991e-02 9.98278659e-01 5.54276241e-04 -2.35644456e+00] [ 1.97468058e-02 -1.71520083e-03 9.99803542e-01 6.36302684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.340714057 meters Centerline goodness [0,1] 0.9853365818444324 Centerline is valid? [True, True] Translation: X:60.16, Y:-2.36, Z:0.64 [[ 9.98179569e-01 -5.69243608e-02 -1.99289951e-02 6.01620700e+01] [ 5.69467774e-02 9.98377059e-01 5.58671403e-04 -2.35696938e+00] [ 1.98648495e-02 -1.69254643e-03 9.99801242e-01 6.36381835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.370714057 meters Centerline goodness [0,1] 0.9853422770287057 Centerline is valid? [True, True] Translation: X:60.19, Y:-2.36, Z:0.64 [[ 9.98244135e-01 -5.58144421e-02 -1.98341999e-02 6.01940723e+01] [ 5.58364445e-02 9.98439774e-01 5.56834762e-04 -2.35740755e+00] [ 1.97721746e-02 -1.66332823e-03 9.99803128e-01 6.36522580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.400714057 meters Centerline goodness [0,1] 0.9842339795064353 Centerline is valid? [True, True] Translation: X:60.22, Y:-2.36, Z:0.64 [[ 9.98376625e-01 -5.32946848e-02 -2.00945803e-02 6.02239181e+01] [ 5.33167755e-02 9.98577489e-01 5.64815527e-04 -2.35624766e+00] [ 2.00358939e-02 -1.63527685e-03 9.99797924e-01 6.36192656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.430714057 meters Centerline goodness [0,1] 0.9848165999140135 Centerline is valid? [True, True] Translation: X:60.25, Y:-2.36, Z:0.64 [[ 9.98465309e-01 -5.16131139e-02 -2.00776550e-02 6.02545173e+01] [ 5.16348347e-02 9.98665873e-01 5.64595912e-04 -2.35614044e+00] [ 2.00217283e-02 -1.60043583e-03 9.99798264e-01 6.36843654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.460714057 meters Centerline goodness [0,1] 0.9858573954036535 Centerline is valid? [True, True] Translation: X:60.29, Y:-2.35, Z:0.64 [[ 9.98545763e-01 -5.00912702e-02 -1.99304826e-02 6.02865582e+01] [ 5.01123886e-02 9.98743427e-01 5.61274604e-04 -2.35098963e+00] [ 1.98773235e-02 -1.55922246e-03 9.99801211e-01 6.37980181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.490714057 meters Centerline goodness [0,1] 0.98472190692395 Centerline is valid? [True, True] Translation: X:60.32, Y:-2.35, Z:0.64 [[ 9.98674607e-01 -4.73252284e-02 -2.02324590e-02 6.03172369e+01] [ 4.73464439e-02 9.98878365e-01 5.70589636e-04 -2.34872620e+00] [ 2.01827623e-02 -1.52776836e-03 9.99795140e-01 6.38468303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.520714057 meters Centerline goodness [0,1] 0.9850878588802255 Centerline is valid? [True, True] Translation: X:60.35, Y:-2.35, Z:0.64 [[ 9.98710524e-01 -4.63513427e-02 -2.07085085e-02 6.03495193e+01] [ 4.63733766e-02 9.98924005e-01 5.84801597e-04 -2.34940959e+00] [ 2.06591199e-02 -1.54437097e-03 9.99785385e-01 6.38695551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55071405700001 meters Centerline goodness [0,1] 0.9855029585798817 Centerline is valid? [True, True] Translation: X:60.38, Y:-2.35, Z:0.64 [[ 9.98758483e-01 -4.51651259e-02 -2.10143547e-02 6.03822229e+01] [ 4.51875885e-02 9.98978342e-01 5.95057515e-04 -2.34804379e+00] [ 2.09660093e-02 -1.54390675e-03 9.99778997e-01 6.38838082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58071405700001 meters Centerline goodness [0,1] 0.9846139839766934 Centerline is valid? [True, True] Translation: X:60.41, Y:-2.35, Z:0.64 [[ 9.98747435e-01 -4.52706340e-02 -2.13103223e-02 6.04145132e+01] [ 4.52937944e-02 9.98973526e-01 6.05156731e-04 -2.34931611e+00] [ 2.12610520e-02 -1.56962409e-03 9.99772726e-01 6.38769880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61071405700001 meters Centerline goodness [0,1] 0.9846507185737675 Centerline is valid? [True, True] Translation: X:60.45, Y:-2.35, Z:0.64 [[ 9.98738254e-01 -4.52815252e-02 -2.17136690e-02 6.04454294e+01] [ 4.53056030e-02 9.98972983e-01 6.17979072e-04 -2.35124828e+00] [ 2.16633857e-02 -1.60095021e-03 9.99764040e-01 6.38946884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64071405700001 meters Centerline goodness [0,1] 0.9832394622093024 Centerline is valid? [True, True] Translation: X:60.48, Y:-2.36, Z:0.64 [[ 9.98688978e-01 -4.62040193e-02 -2.20343754e-02 6.04765996e+01] [ 4.62290745e-02 9.98930667e-01 6.28808142e-04 -2.35725193e+00] [ 2.19817599e-02 -1.64661255e-03 9.99757016e-01 6.38597816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.670714057 meters Centerline goodness [0,1] 0.9843923434137501 Centerline is valid? [True, True] Translation: X:60.51, Y:-2.36, Z:0.64 [[ 9.98674894e-01 -4.65947261e-02 -2.18491911e-02 6.05090307e+01] [ 4.66194986e-02 9.98912524e-01 6.25531231e-04 -2.35618031e+00] [ 2.17962842e-02 -1.64330067e-03 9.99761082e-01 6.39230629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.700714057 meters Centerline goodness [0,1] 0.9852475811041548 Centerline is valid? [True, True] Translation: X:60.54, Y:-2.35, Z:0.64 [[ 9.98608807e-01 -4.79149992e-02 -2.20137305e-02 6.05410180e+01] [ 4.79404954e-02 9.98849994e-01 6.31615371e-04 -2.35178348e+00] [ 2.19581508e-02 -1.68608582e-03 9.99757469e-01 6.40684636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.730714057 meters Centerline goodness [0,1] 0.9846143341602749 Centerline is valid? [True, True] Translation: X:60.57, Y:-2.36, Z:0.64 [[ 9.98597889e-01 -4.83264795e-02 -2.16057292e-02 6.05720036e+01] [ 4.83511595e-02 9.98830206e-01 6.21055587e-04 -2.35987712e+00] [ 2.15504415e-02 -1.66484686e-03 9.99766376e-01 6.40830838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.760714057 meters Centerline goodness [0,1] 0.9843689913362137 Centerline is valid? [True, True] Translation: X:60.60, Y:-2.36, Z:0.64 [[ 9.98572433e-01 -4.88611086e-02 -2.15797886e-02 6.06030629e+01] [ 4.88858778e-02 9.98804177e-01 6.21440740e-04 -2.36398598e+00] [ 2.15236187e-02 -1.67550050e-03 9.99766936e-01 6.41247962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.790714057 meters Centerline goodness [0,1] 0.985691321967896 Centerline is valid? [True, True] Translation: X:60.63, Y:-2.36, Z:0.64 [[ 9.98534354e-01 -4.96492895e-02 -2.15428054e-02 6.06347288e+01] [ 4.96741800e-02 9.98765283e-01 6.21487665e-04 -2.36211481e+00] [ 2.14853497e-02 -1.69069798e-03 9.99767734e-01 6.41852628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.820714057 meters Centerline goodness [0,1] 0.9872091441012383 Centerline is valid? [True, True] Translation: X:60.67, Y:-2.37, Z:0.64 [[ 9.98453594e-01 -5.07298067e-02 -2.27355979e-02 6.06668729e+01] [ 5.07578410e-02 9.98710774e-01 6.57307141e-04 -2.36659463e+00] [ 2.26729415e-02 -1.81030054e-03 9.99741297e-01 6.41353754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.850714057 meters Centerline goodness [0,1] 0.9870074114244396 Centerline is valid? [True, True] Translation: X:60.70, Y:-2.37, Z:0.64 [[ 9.98354611e-01 -5.27086006e-02 -2.25804065e-02 6.06976547e+01] [ 5.27367799e-02 9.98608234e-01 6.53877540e-04 -2.36960002e+00] [ 2.25145149e-02 -1.84361958e-03 9.99744816e-01 6.41555541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.880714057 meters Centerline goodness [0,1] 0.9708485163977095 Centerline is valid? [True, True] Translation: X:60.73, Y:-2.38, Z:0.64 [[ 9.98299020e-01 -5.36939035e-02 -2.27163462e-02 6.07280240e+01] [ 5.37226899e-02 9.98555677e-01 6.58401622e-04 -2.38397055e+00] [ 2.26481843e-02 -1.87766492e-03 9.99741734e-01 6.40374276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.910714057 meters Centerline goodness [0,1] 0.9877014036196236 Centerline is valid? [True, True] Translation: X:60.76, Y:-2.37, Z:0.64 [[ 9.98250549e-01 -5.44365320e-02 -2.30760705e-02 6.07600143e+01] [ 5.44664581e-02 9.98515376e-01 6.69849530e-04 -2.37317993e+00] [ 2.30053469e-02 -1.92554949e-03 9.99733488e-01 6.42579664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94071405700001 meters Centerline goodness [0,1] 0.9853800509893283 Centerline is valid? [True, True] Translation: X:60.79, Y:-2.38, Z:0.64 [[ 9.98180006e-01 -5.57822885e-02 -2.29131456e-02 6.07910089e+01] [ 5.58121731e-02 9.98441064e-01 6.66336922e-04 -2.38125260e+00] [ 2.28402556e-02 -1.94395664e-03 9.99737237e-01 6.42609378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97071405700001 meters Centerline goodness [0,1] 0.9843894934503744 Centerline is valid? [True, True] Translation: X:60.82, Y:-2.39, Z:0.64 [[ 9.98056638e-01 -5.81216171e-02 -2.24683172e-02 6.08214653e+01] [ 5.81509590e-02 9.98307587e-01 6.54223739e-04 -2.38831891e+00] [ 2.23922670e-02 -1.95950654e-03 9.99747341e-01 6.42945803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00071405700001 meters Centerline goodness [0,1] 0.9850923601147776 Centerline is valid? [True, True] Translation: X:60.85, Y:-2.39, Z:0.64 [[ 9.97903702e-01 -6.08621134e-02 -2.20000889e-02 6.08517106e+01] [ 6.08909109e-02 9.98144221e-01 6.40845337e-04 -2.39411554e+00] [ 2.19202584e-02 -1.97910739e-03 9.99757763e-01 6.43797454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.030714057 meters Centerline goodness [0,1] 0.9832685786152222 Centerline is valid? [True, True] Translation: X:60.88, Y:-2.40, Z:0.64 [[ 9.97800321e-01 -6.24329228e-02 -2.22856257e-02 6.08826184e+01] [ 6.24628664e-02 9.98047077e-01 6.49389411e-04 -2.39760316e+00] [ 2.22015603e-02 -2.03998502e-03 9.99751434e-01 6.43613744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.060714057 meters Centerline goodness [0,1] 0.9860677988917057 Centerline is valid? [True, True] Translation: X:60.91, Y:-2.40, Z:0.64 [[ 9.97705362e-01 -6.38782401e-02 -2.24406297e-02 6.09133778e+01] [ 6.39089732e-02 9.97955518e-01 6.54308408e-04 -2.39975531e+00] [ 2.23529542e-02 -2.08696461e-03 9.99747963e-01 6.43750176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.090714057 meters Centerline goodness [0,1] 0.9813240511413079 Centerline is valid? [True, True] Translation: X:60.94, Y:-2.41, Z:0.64 [[ 9.97474581e-01 -6.68641125e-02 -2.39510184e-02 6.09435015e+01] [ 6.68999830e-02 9.97759442e-01 6.98628870e-04 -2.40899974e+00] [ 2.38506415e-02 -2.29918726e-03 9.99712889e-01 6.42404046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.120714057 meters Centerline goodness [0,1] 0.9792449056687629 Centerline is valid? [True, True] Translation: X:60.98, Y:-2.41, Z:0.64 [[ 9.97388348e-01 -6.79469013e-02 -2.44888100e-02 6.09755545e+01] [ 6.79847464e-02 9.97686104e-01 7.15207553e-04 -2.41368142e+00] [ 2.43835493e-02 -2.37820522e-03 9.99699848e-01 6.42179469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.150714057 meters Centerline goodness [0,1] 0.9778611715592663 Centerline is valid? [True, True] Translation: X:61.01, Y:-2.42, Z:0.64 [[ 9.97241297e-01 -7.00516996e-02 -2.45470044e-02 6.10061188e+01] [ 7.00903835e-02 9.97540386e-01 7.18026044e-04 -2.42176931e+00] [ 2.44363293e-02 -2.43655417e-03 9.99698419e-01 6.42160826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.180714057 meters Centerline goodness [0,1] 0.9658729629382601 Centerline is valid? [True, True] Translation: X:61.04, Y:-2.43, Z:0.64 [[ 9.97194885e-01 -7.08456401e-02 -2.41507073e-02 6.10369292e+01] [ 7.08833352e-02 9.97484362e-01 7.07274768e-04 -2.43075648e+00] [ 2.40398456e-02 -2.41717347e-03 9.99708079e-01 6.41722065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.210714057 meters Centerline goodness [0,1] 0.980491377588388 Centerline is valid? [True, True] Translation: X:61.07, Y:-2.43, Z:0.64 [[ 9.97151766e-01 -7.13919407e-02 -2.43217093e-02 6.10690831e+01] [ 7.14303698e-02 9.97445333e-01 7.13818857e-04 -2.42911174e+00] [ 2.42086145e-02 -2.44909442e-03 9.99703929e-01 6.42437385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.240714057 meters Centerline goodness [0,1] 0.9786157941437444 Centerline is valid? [True, True] Translation: X:61.10, Y:-2.44, Z:0.64 [[ 9.97191470e-01 -7.10857301e-02 -2.35794564e-02 6.11001296e+01] [ 7.11218220e-02 9.97467395e-01 6.94511267e-04 -2.43850803e+00] [ 2.34703691e-02 -2.36957461e-03 9.99721725e-01 6.42006274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.270714057 meters Centerline goodness [0,1] 0.975234579295493 Centerline is valid? [True, True] Translation: X:61.13, Y:-2.44, Z:0.64 [[ 9.97254434e-01 -7.02131638e-02 -2.35309501e-02 6.11309819e+01] [ 7.02489187e-02 9.97529251e-01 6.95296777e-04 -2.44372199e+00] [ 2.34239921e-02 -2.34641160e-03 9.99722867e-01 6.42118327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30071405700001 meters Centerline goodness [0,1] 0.9737881428855106 Centerline is valid? [True, True] Translation: X:61.16, Y:-2.45, Z:0.64 [[ 9.97445938e-01 -6.76165120e-02 -2.30132231e-02 6.11607138e+01] [ 6.76500329e-02 9.97708881e-01 6.80305410e-04 -2.45096476e+00] [ 2.29144971e-02 -2.23541316e-03 9.99734929e-01 6.42308908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33071405700001 meters Centerline goodness [0,1] 0.9792139161070131 Centerline is valid? [True, True] Translation: X:61.19, Y:-2.45, Z:0.64 [[ 9.97579154e-01 -6.56096724e-02 -2.30478329e-02 6.11919184e+01] [ 6.56427640e-02 9.97842955e-01 6.81345641e-04 -2.45045175e+00] [ 2.29534149e-02 -2.19261967e-03 9.99734131e-01 6.43287830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36071405700001 meters Centerline goodness [0,1] 0.978743088750358 Centerline is valid? [True, True] Translation: X:61.22, Y:-2.45, Z:0.64 [[ 9.97709128e-01 -6.36758907e-02 -2.28446283e-02 6.12212819e+01] [ 6.37079201e-02 9.97968358e-01 6.76276470e-04 -2.45457848e+00] [ 2.27551537e-02 -2.13011096e-03 9.99738799e-01 6.43153293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39071405700001 meters Centerline goodness [0,1] 0.9780981608637096 Centerline is valid? [True, True] Translation: X:61.25, Y:-2.46, Z:0.64 [[ 9.97938851e-01 -5.98779168e-02 -2.30799621e-02 6.12503794e+01] [ 5.99096184e-02 9.98203571e-01 6.83941748e-04 -2.46101258e+00] [ 2.29975476e-02 -2.06524376e-03 9.99733388e-01 6.42830651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.420714057 meters Centerline goodness [0,1] 0.9787159113419761 Centerline is valid? [True, True] Translation: X:61.28, Y:-2.46, Z:0.64 [[ 9.98079440e-01 -5.75513776e-02 -2.29187856e-02 6.12813762e+01] [ 5.75820280e-02 9.98340548e-01 6.79111532e-04 -2.46448216e+00] [ 2.28416692e-02 -1.99751741e-03 9.99737099e-01 6.42747847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.450714057 meters Centerline goodness [0,1] 0.9797647986334669 Centerline is valid? [True, True] Translation: X:61.31, Y:-2.47, Z:0.64 [[ 9.98354094e-01 -5.26386882e-02 -2.27655859e-02 6.13106162e+01] [ 5.26676624e-02 9.98611868e-01 6.74599449e-04 -2.46936831e+00] [ 2.26984742e-02 -1.87249931e-03 9.99740603e-01 6.42659932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.480714057 meters Centerline goodness [0,1] 0.9802822474281192 Centerline is valid? [True, True] Translation: X:61.34, Y:-2.47, Z:0.64 [[ 9.98496977e-01 -4.99528210e-02 -2.25499876e-02 6.13415746e+01] [ 4.99805670e-02 9.98749967e-01 6.68146210e-04 -2.47217779e+00] [ 2.24884236e-02 -1.79420314e-03 9.99745493e-01 6.42802158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.510714057 meters Centerline goodness [0,1] 0.9807970537945547 Centerline is valid? [True, True] Translation: X:61.37, Y:-2.47, Z:0.64 [[ 9.98604395e-01 -4.77272895e-02 -2.26134497e-02 6.13723357e+01] [ 4.77546335e-02 9.98858872e-01 6.70412729e-04 -2.47441975e+00] [ 2.25556479e-02 -1.74937410e-03 9.99744058e-01 6.42870484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.540714057 meters Centerline goodness [0,1] 0.9837459254691217 Centerline is valid? [True, True] Translation: X:61.40, Y:-2.47, Z:0.64 [[ 9.98846174e-01 -4.26314542e-02 -2.21106079e-02 6.14032024e+01] [ 4.26563602e-02 9.99089588e-01 6.55799418e-04 -2.46990380e+00] [ 2.20625204e-02 -1.59820079e-03 9.99755316e-01 6.43996738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.570714057 meters Centerline goodness [0,1] 0.9846082807449592 Centerline is valid? [True, True] Translation: X:61.43, Y:-2.47, Z:0.64 [[ 9.98954557e-01 -4.00965940e-02 -2.19557803e-02 6.14327222e+01] [ 4.01205455e-02 9.99194635e-01 6.51318586e-04 -2.47413263e+00] [ 2.19119823e-02 -1.53151555e-03 9.99758731e-01 6.44326686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.600714057 meters Centerline goodness [0,1] 0.9831371860179168 Centerline is valid? [True, True] Translation: X:61.46, Y:-2.48, Z:0.64 [[ 9.99119336e-01 -3.60040475e-02 -2.15467002e-02 6.14630644e+01] [ 3.60261675e-02 9.99350643e-01 6.39198807e-04 -2.47847282e+00] [ 2.15096949e-02 -1.41488092e-03 9.99767639e-01 6.43530735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.630714057 meters Centerline goodness [0,1] 0.9848511499054571 Centerline is valid? [True, True] Translation: X:61.49, Y:-2.48, Z:0.64 [[ 9.99189008e-01 -3.40152659e-02 -2.15473385e-02 6.14937445e+01] [ 3.40369273e-02 9.99420371e-01 6.39239825e-04 -2.47735239e+00] [ 2.15131052e-02 -1.37212660e-03 9.99767625e-01 6.44143083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.660714057 meters Centerline goodness [0,1] 0.9838476056708949 Centerline is valid? [True, True] Translation: X:61.52, Y:-2.48, Z:0.64 [[ 9.99273208e-01 -3.17308402e-02 -2.11236839e-02 6.15231189e+01] [ 3.17511560e-02 9.99495608e-01 6.26976421e-04 -2.48447547e+00] [ 2.10931348e-02 -1.29722212e-03 9.99776674e-01 6.44002320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69071405700001 meters Centerline goodness [0,1] 0.9838476056708949 Centerline is valid? [True, True] Translation: X:61.55, Y:-2.49, Z:0.64 [[ 9.99273208e-01 -3.17308345e-02 -2.11236705e-02 6.15531610e+01] [ 3.17511598e-02 9.99495608e-01 6.27429588e-04 -2.48536798e+00] [ 2.10931070e-02 -1.29767461e-03 9.99776674e-01 6.44381985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72071405700001 meters Centerline goodness [0,1] 0.9833700704916959 Centerline is valid? [True, True] Translation: X:61.58, Y:-2.49, Z:0.64 [[ 9.99330889e-01 -3.04533536e-02 -2.02575424e-02 6.15836205e+01] [ 3.04717844e-02 9.99535446e-01 6.01703266e-04 -2.48864179e+00] [ 2.02298078e-02 -1.21858413e-03 9.99794614e-01 6.44802442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75071405700001 meters Centerline goodness [0,1] 0.9837875580964018 Centerline is valid? [True, True] Translation: X:61.61, Y:-2.49, Z:0.65 [[ 9.99344237e-01 -3.03011143e-02 -1.98226944e-02 6.16139247e+01] [ 3.03187323e-02 9.99540108e-01 5.88787115e-04 -2.49288861e+00] [ 1.97957372e-02 -1.18939998e-03 9.99803338e-01 6.45244307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.780714057 meters Centerline goodness [0,1] 0.9839311272064882 Centerline is valid? [True, True] Translation: X:61.64, Y:-2.50, Z:0.65 [[ 9.99344033e-01 -3.07295134e-02 -1.91624669e-02 6.16441333e+01] [ 3.07460556e-02 9.99527066e-01 5.69176589e-04 -2.49670452e+00] [ 1.91359138e-02 -1.15797350e-03 9.99816221e-01 6.46045089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.810714057 meters Centerline goodness [0,1] 0.9838527649969615 Centerline is valid? [True, True] Translation: X:61.67, Y:-2.50, Z:0.65 [[ 9.99314124e-01 -3.16313998e-02 -1.92545176e-02 6.16749033e+01] [ 3.16482682e-02 9.99498904e-01 5.71910743e-04 -2.49915250e+00] [ 1.92267790e-02 -1.18089062e-03 9.99814451e-01 6.46392909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.840714057 meters Centerline goodness [0,1] 0.9844114344934796 Centerline is valid? [True, True] Translation: X:61.71, Y:-2.51, Z:0.65 [[ 9.99286837e-01 -3.26303673e-02 -1.90019949e-02 6.17053946e+01] [ 3.26469781e-02 9.99466786e-01 5.64523553e-04 -2.50675161e+00] [ 1.89734421e-02 -1.18447866e-03 9.99819286e-01 6.46267058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.870714057 meters Centerline goodness [0,1] 0.9856382748626552 Centerline is valid? [True, True] Translation: X:61.74, Y:-2.51, Z:0.65 [[ 9.99213732e-01 -3.50985227e-02 -1.84394017e-02 6.17363709e+01] [ 3.51145886e-02 9.99383142e-01 5.48131755e-04 -2.50958910e+00] [ 1.84087886e-02 -1.19519278e-03 9.99829830e-01 6.47366375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.900714057 meters Centerline goodness [0,1] 0.9855817857066 Centerline is valid? [True, True] Translation: X:61.77, Y:-2.52, Z:0.65 [[ 9.99204004e-01 -3.58716826e-02 -1.74522341e-02 6.17668704e+01] [ 3.58861966e-02 9.99355748e-01 5.19086635e-04 -2.51555853e+00] [ 1.74223699e-02 -1.14496775e-03 9.99847563e-01 6.48142438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.930714057 meters Centerline goodness [0,1] 0.9846964104556541 Centerline is valid? [True, True] Translation: X:61.80, Y:-2.52, Z:0.65 [[ 9.99167982e-01 -3.69654354e-02 -1.72307898e-02 6.17980904e+01] [ 3.69797519e-02 9.99315883e-01 5.12882316e-04 -2.51894409e+00] [ 1.72000430e-02 -1.14964592e-03 9.99851407e-01 6.49206060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.960714057 meters Centerline goodness [0,1] 0.9861138106036065 Centerline is valid? [True, True] Translation: X:61.83, Y:-2.52, Z:0.65 [[ 9.99099570e-01 -3.90537881e-02 -1.65786044e-02 6.18297150e+01] [ 3.90673367e-02 9.99236458e-01 4.94037422e-04 -2.51916187e+00] [ 1.65466519e-02 -1.14127450e-03 9.99862443e-01 6.49712012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.990714057 meters Centerline goodness [0,1] 0.9846237024221454 Centerline is valid? [True, True] Translation: X:61.86, Y:-2.52, Z:0.65 [[ 9.99111397e-01 -3.87770128e-02 -1.65154124e-02 6.18622757e+01] [ 3.87904330e-02 9.99247246e-01 4.92898523e-04 -2.52003889e+00] [ 1.64838672e-02 -1.13310053e-03 9.99863490e-01 6.50066813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.020714057 meters Centerline goodness [0,1] 0.9841963612875444 Centerline is valid? [True, True] Translation: X:61.89, Y:-2.52, Z:0.65 [[ 9.98987229e-01 -4.20753848e-02 -1.59429731e-02 6.18927500e+01] [ 4.20883239e-02 9.99113780e-01 4.76777962e-04 -2.52455969e+00] [ 1.59087835e-02 -1.14730811e-03 9.99872789e-01 6.50105281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05071405700001 meters Centerline goodness [0,1] 0.985101015545829 Centerline is valid? [True, True] Translation: X:61.92, Y:-2.53, Z:0.65 [[ 9.98943469e-01 -4.31539203e-02 -1.58013972e-02 6.19238544e+01] [ 4.31667711e-02 9.99067769e-01 4.72946051e-04 -2.52954230e+00] [ 1.57662571e-02 -1.15454166e-03 9.99875038e-01 6.50372861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08071405700001 meters Centerline goodness [0,1] 0.9834830979888747 Centerline is valid? [True, True] Translation: X:61.95, Y:-2.53, Z:0.65 [[ 9.98925162e-01 -4.36176516e-02 -1.56850323e-02 6.19549475e+01] [ 4.36303841e-02 9.99047631e-01 4.70322370e-04 -2.53484145e+00] [ 1.56495800e-02 -1.15416084e-03 9.99876872e-01 6.50286728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11071405700001 meters Centerline goodness [0,1] 0.9814297981966509 Centerline is valid? [True, True] Translation: X:61.99, Y:-2.53, Z:0.65 [[ 9.98880013e-01 -4.46403465e-02 -1.56830661e-02 6.19867668e+01] [ 4.46532145e-02 9.99002437e-01 4.71116157e-04 -2.53425792e+00] [ 1.56463904e-02 -1.17088783e-03 9.99876902e-01 6.50226099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14071405700001 meters Centerline goodness [0,1] 0.9829181188417022 Centerline is valid? [True, True] Translation: X:62.02, Y:-2.53, Z:0.65 [[ 9.98873710e-01 -4.46872392e-02 -1.59487376e-02 6.20187334e+01] [ 4.47005679e-02 9.99000315e-01 4.80041712e-04 -2.53463187e+00] [ 1.59113421e-02 -1.19241867e-03 9.99872696e-01 6.50543931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.170714057 meters Centerline goodness [0,1] 0.9816199444073348 Centerline is valid? [True, True] Translation: X:62.05, Y:-2.54, Z:0.65 [[ 9.98867297e-01 -4.47384981e-02 -1.62046006e-02 6.20501072e+01] [ 4.47522867e-02 9.98997995e-01 4.89109781e-04 -2.53759561e+00] [ 1.61664815e-02 -1.21374870e-03 9.99868577e-01 6.50856931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.200714057 meters Centerline goodness [0,1] 0.9814814814814815 Centerline is valid? [True, True] Translation: X:62.08, Y:-2.54, Z:0.65 [[ 9.98866135e-01 -4.47836915e-02 -1.61513491e-02 6.20822233e+01] [ 4.47974238e-02 9.98995972e-01 4.89254644e-04 -2.53865850e+00] [ 1.61132221e-02 -1.21223873e-03 9.99869439e-01 6.51181979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.230714057 meters Centerline goodness [0,1] 0.9793188134169198 Centerline is valid? [True, True] Translation: X:62.11, Y:-2.54, Z:0.65 [[ 9.98881037e-01 -4.42216862e-02 -1.67665252e-02 6.21135201e+01] [ 4.42364255e-02 9.99020961e-01 5.09060062e-04 -2.54202057e+00] [ 1.67275987e-02 -1.25018159e-03 9.99859302e-01 6.51384525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.260714057 meters Centerline goodness [0,1] 0.9806324025708819 Centerline is valid? [True, True] Translation: X:62.14, Y:-2.54, Z:0.65 [[ 9.98964161e-01 -4.22762541e-02 -1.68321932e-02 6.21437165e+01] [ 4.22908529e-02 9.99105210e-01 5.12156018e-04 -2.54359178e+00] [ 1.67954799e-02 -1.22347332e-03 9.99858197e-01 6.52152054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.290714057 meters Centerline goodness [0,1] 0.9822959172657988 Centerline is valid? [True, True] Translation: X:62.18, Y:-2.54, Z:0.65 [[ 9.98979981e-01 -4.16927345e-02 -1.73410767e-02 6.21756114e+01] [ 4.17081682e-02 9.99129696e-01 5.29144740e-04 -2.54234706e+00] [ 1.73039232e-02 -1.25186955e-03 9.99849492e-01 6.52556353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.320714057 meters Centerline goodness [0,1] 0.9810733675243021 Centerline is valid? [True, True] Translation: X:62.21, Y:-2.54, Z:0.65 [[ 9.99019887e-01 -4.03688964e-02 -1.81553644e-02 6.22062335e+01] [ 4.03856086e-02 9.99184015e-01 5.54667819e-04 -2.54351955e+00] [ 1.81181585e-02 -1.28733962e-03 9.99835024e-01 6.52375056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.350714057 meters Centerline goodness [0,1] 0.9824269410340654 Centerline is valid? [True, True] Translation: X:62.24, Y:-2.54, Z:0.65 [[ 9.99140810e-01 -3.69747479e-02 -1.87219266e-02 6.22357768e+01] [ 3.69919308e-02 9.99315400e-01 5.72199121e-04 -2.54196013e+00] [ 1.86879526e-02 -1.26426771e-03 9.99824566e-01 6.52773117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.380714057 meters Centerline goodness [0,1] 0.9840470374613606 Centerline is valid? [True, True] Translation: X:62.27, Y:-2.54, Z:0.65 [[ 9.99222742e-01 -3.49893737e-02 -1.81564365e-02 6.22667378e+01] [ 3.50052094e-02 9.99386976e-01 5.55006009e-04 -2.53560245e+00] [ 1.81258868e-02 -1.19014449e-03 9.99835004e-01 6.54025679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.410714057 meters Centerline goodness [0,1] 0.984725072917792 Centerline is valid? [True, True] Translation: X:62.30, Y:-2.53, Z:0.66 [[ 9.99359311e-01 -3.12656185e-02 -1.74192150e-02 6.22962579e+01] [ 3.12796340e-02 9.99510531e-01 5.32666125e-04 -2.53357032e+00] [ 1.73940347e-02 -1.07719152e-03 9.99848132e-01 6.55636353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44071405700001 meters Centerline goodness [0,1] 0.9836660617059891 Centerline is valid? [True, True] Translation: X:62.33, Y:-2.53, Z:0.66 [[ 9.99435484e-01 -2.92023048e-02 -1.66113960e-02 6.23274460e+01] [ 2.92147668e-02 9.99573029e-01 5.07983022e-04 -2.53306343e+00] [ 1.65894692e-02 -9.92994319e-04 9.99861892e-01 6.56482192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47071405700001 meters Centerline goodness [0,1] 0.9834997076719864 Centerline is valid? [True, True] Translation: X:62.36, Y:-2.53, Z:0.66 [[ 9.99550828e-01 -2.56260224e-02 -1.55386654e-02 6.23574390e+01] [ 2.56364991e-02 9.99671218e-01 4.75384220e-04 -2.53193462e+00] [ 1.55213743e-02 -8.73527671e-04 9.99879155e-01 6.57425879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50071405700001 meters Centerline goodness [0,1] 0.9841125737630504 Centerline is valid? [True, True] Translation: X:62.39, Y:-2.53, Z:0.66 [[ 9.99582878e-01 -2.44120902e-02 -1.54311570e-02 6.23884348e+01] [ 2.44222780e-02 9.99701620e-01 4.72083490e-04 -2.52932520e+00] [ 1.54150281e-02 -8.48750579e-04 9.99880821e-01 6.57800621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.530714057 meters Centerline goodness [0,1] 0.9843145774494895 Centerline is valid? [True, True] Translation: X:62.42, Y:-2.53, Z:0.66 [[ 9.99607121e-01 -2.35209772e-02 -1.52436241e-02 6.24182604e+01] [ 2.35308147e-02 9.99723003e-01 4.66294404e-04 -2.53235167e+00] [ 1.52284340e-02 -8.24806101e-04 9.99883700e-01 6.58061168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.560714057 meters Centerline goodness [0,1] 0.9821327652914837 Centerline is valid? [True, True] Translation: X:62.45, Y:-2.53, Z:0.66 [[ 9.99589633e-01 -2.37401603e-02 -1.60302940e-02 6.24480418e+01] [ 2.37510675e-02 9.99717783e-01 4.90348777e-04 -2.53310967e+00] [ 1.60141291e-02 -8.70884150e-04 9.99871386e-01 6.57200542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.590714057 meters Centerline goodness [0,1] 0.9810053929956033 Centerline is valid? [True, True] Translation: X:62.48, Y:-2.54, Z:0.66 [[ 9.99575416e-01 -2.45081263e-02 -1.57588102e-02 6.24771905e+01] [ 2.45187609e-02 9.99699254e-01 4.81957711e-04 -2.53569243e+00] [ 1.57422589e-02 -8.68139579e-04 9.99875706e-01 6.57038991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.620714057 meters Centerline goodness [0,1] 0.9832169042109133 Centerline is valid? [True, True] Translation: X:62.51, Y:-2.53, Z:0.66 [[ 9.99494171e-01 -2.75360652e-02 -1.59112602e-02 6.25078836e+01] [ 2.75472856e-02 9.99620383e-01 4.86407422e-04 -2.53142746e+00] [ 1.58918263e-02 -9.24473414e-04 9.99873290e-01 6.57421925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.650714057 meters Centerline goodness [0,1] 0.9814051379968756 Centerline is valid? [True, True] Translation: X:62.54, Y:-2.54, Z:0.66 [[ 9.99418666e-01 -3.01800768e-02 -1.58585259e-02 6.25376064e+01] [ 3.01915576e-02 9.99544013e-01 4.84983910e-04 -2.54136361e+00] [ 1.58366578e-02 -9.63495571e-04 9.99874128e-01 6.56972850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.680714057 meters Centerline goodness [0,1] 0.9810863449469812 Centerline is valid? [True, True] Translation: X:62.57, Y:-2.54, Z:0.66 [[ 9.99357397e-01 -3.23592831e-02 -1.54165686e-02 6.25687311e+01] [ 3.23704035e-02 9.99475830e-01 4.72276508e-04 -2.54474380e+00] [ 1.53932052e-02 -9.71013569e-04 9.99881046e-01 6.57708191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.710714057 meters Centerline goodness [0,1] 0.9816355563219382 Centerline is valid? [True, True] Translation: X:62.60, Y:-2.54, Z:0.66 [[ 9.99228118e-01 -3.64051335e-02 -1.47591968e-02 6.25993271e+01] [ 3.64157710e-02 9.99336623e-01 4.52543286e-04 -2.53778156e+00] [ 1.47329310e-02 -9.89661507e-04 9.99890975e-01 6.59297625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.740714057 meters Centerline goodness [0,1] 0.9836768271562175 Centerline is valid? [True, True] Translation: X:62.63, Y:-2.54, Z:0.66 [[ 9.99141838e-01 -3.87427230e-02 -1.46488849e-02 6.26305883e+01] [ 3.87534540e-02 9.99248702e-01 4.49282881e-04 -2.53684439e+00] [ 1.46204727e-02 -1.01659221e-03 9.99892598e-01 6.59849103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.770714057 meters Centerline goodness [0,1] 0.9813887209603592 Centerline is valid? [True, True] Translation: X:62.66, Y:-2.55, Z:0.66 [[ 9.99005607e-01 -4.20424912e-02 -1.48400082e-02 6.26599221e+01] [ 4.20538731e-02 9.99115241e-01 4.55614888e-04 -2.54505907e+00] [ 1.48077232e-02 -1.07924165e-03 9.99889777e-01 6.59842837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80071405700001 meters Centerline goodness [0,1] 0.982403359161941 Centerline is valid? [True, True] Translation: X:62.69, Y:-2.54, Z:0.66 [[ 9.98922818e-01 -4.39103058e-02 -1.50029310e-02 6.26907676e+01] [ 4.39221501e-02 9.99034850e-01 4.60723010e-04 -2.54351046e+00] [ 1.49682205e-02 -1.11918772e-03 9.99887344e-01 6.60051374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83071405700001 meters Centerline goodness [0,1] 0.9829254041420502 Centerline is valid? [True, True] Translation: X:62.72, Y:-2.55, Z:0.66 [[ 9.98864393e-01 -4.51169868e-02 -1.53095410e-02 6.27213782e+01] [ 4.51294722e-02 9.98981035e-01 4.70865361e-04 -2.54876098e+00] [ 1.52726971e-02 -1.16124215e-03 9.99882691e-01 6.60322452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86071405700001 meters Centerline goodness [0,1] 0.9832393788202769 Centerline is valid? [True, True] Translation: X:62.75, Y:-2.55, Z:0.66 [[ 9.98769567e-01 -4.71386640e-02 -1.54044694e-02 6.27525357e+01] [ 4.71515525e-02 9.98887634e-01 4.74345161e-04 -2.55059061e+00] [ 1.53649740e-02 -1.20010616e-03 9.99881232e-01 6.60377375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89071405700001 meters Centerline goodness [0,1] 0.9826931376780319 Centerline is valid? [True, True] Translation: X:62.78, Y:-2.55, Z:0.66 [[ 9.98729816e-01 -4.79526262e-02 -1.54693192e-02 6.27846507e+01] [ 4.79657306e-02 9.98848868e-01 4.76997830e-04 -2.55134348e+00] [ 1.54286386e-02 -1.21838915e-03 9.99880229e-01 6.60645140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.920714057 meters Centerline goodness [0,1] 0.9809386374895 Centerline is valid? [True, True] Translation: X:62.81, Y:-2.56, Z:0.66 [[ 9.98645028e-01 -4.95256767e-02 -1.59785610e-02 6.28148947e+01] [ 4.95398740e-02 9.98772025e-01 4.93694969e-04 -2.55515677e+00] [ 1.59344891e-02 -1.28460193e-03 9.99872213e-01 6.61058773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.950714057 meters Centerline goodness [0,1] 0.981007057604731 Centerline is valid? [True, True] Translation: X:62.85, Y:-2.56, Z:0.66 [[ 9.98629354e-01 -4.98962739e-02 -1.58042569e-02 6.28474684e+01] [ 4.99102163e-02 9.98753589e-01 4.88754467e-04 -2.55557783e+00] [ 1.57601713e-02 -1.27687844e-03 9.99874985e-01 6.61335686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.980714057 meters Centerline goodness [0,1] 0.9802080635413969 Centerline is valid? [True, True] Translation: X:62.88, Y:-2.56, Z:0.66 [[ 9.98617557e-01 -5.01005622e-02 -1.59030850e-02 6.28781290e+01] [ 5.01147258e-02 9.98743346e-01 4.93106771e-04 -2.55868396e+00] [ 1.58583954e-02 -1.28940382e-03 9.99873416e-01 6.61234147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.010714057 meters Centerline goodness [0,1] 0.9816493908376793 Centerline is valid? [True, True] Translation: X:62.91, Y:-2.56, Z:0.66 [[ 9.98603234e-01 -5.02532453e-02 -1.63154138e-02 6.29105589e+01] [ 5.02682032e-02 9.98735626e-01 5.07733067e-04 -2.55689750e+00] [ 1.62692697e-02 -1.32717042e-03 9.99866766e-01 6.61713941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.040714057 meters Centerline goodness [0,1] 0.9814022809745983 Centerline is valid? [True, True] Translation: X:62.94, Y:-2.56, Z:0.66 [[ 9.98642735e-01 -4.94840422e-02 -1.62486398e-02 6.29428535e+01] [ 4.94987952e-02 9.98774055e-01 5.06793737e-04 -2.55606149e+00] [ 1.62036416e-02 -1.31039398e-03 9.99867854e-01 6.62558547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.070714057 meters Centerline goodness [0,1] 0.9826177195485796 Centerline is valid? [True, True] Translation: X:62.97, Y:-2.55, Z:0.66 [[ 9.98762246e-01 -4.71093618e-02 -1.59588521e-02 6.29737360e+01] [ 4.71233068e-02 9.98888955e-01 4.98689518e-04 -2.55035993e+00] [ 1.59176282e-02 -1.25010615e-03 9.99872525e-01 6.63042878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.100714057 meters Centerline goodness [0,1] 0.9828725701943845 Centerline is valid? [True, True] Translation: X:63.00, Y:-2.56, Z:0.66 [[ 9.98832776e-01 -4.56049357e-02 -1.59146003e-02 6.30038726e+01] [ 4.56186228e-02 9.98958805e-01 4.97881762e-04 -2.55541133e+00] [ 1.58753242e-02 -1.22330277e-03 9.99873231e-01 6.63152323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.130714057 meters Centerline goodness [0,1] 0.9812209616423555 Centerline is valid? [True, True] Translation: X:63.04, Y:-2.56, Z:0.66 [[ 9.98897699e-01 -4.41213006e-02 -1.60218186e-02 6.30354035e+01] [ 4.41350065e-02 9.99025449e-01 5.02707323e-04 -2.55505633e+00] [ 1.59840244e-02 -1.20927626e-03 9.99871516e-01 6.63315306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.160714057 meters Centerline goodness [0,1] 0.9851598667416606 Centerline is valid? [True, True] Translation: X:63.07, Y:-2.54, Z:0.66 [[ 9.98997798e-01 -4.16842153e-02 -1.63041363e-02 6.30664462e+01] [ 4.16980940e-02 9.99130125e-01 5.12074390e-04 -2.54285179e+00] [ 1.62686084e-02 -1.19141260e-03 9.99866948e-01 6.63623753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19071405700001 meters Centerline goodness [0,1] 0.984091942081683 Centerline is valid? [True, True] Translation: X:63.10, Y:-2.55, Z:0.66 [[ 9.99041544e-01 -4.05681165e-02 -1.64384323e-02 6.30974084e+01] [ 4.05820818e-02 9.99176074e-01 5.16732867e-04 -2.54745742e+00] [ 1.64039254e-02 -1.18334340e-03 9.99864746e-01 6.63492826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22071405700001 meters Centerline goodness [0,1] 0.9835375772692767 Centerline is valid? [True, True] Translation: X:63.13, Y:-2.55, Z:0.66 [[ 9.99074292e-01 -3.95108501e-02 -1.70132811e-02 6.31279068e+01] [ 3.95256703e-02 9.99218412e-01 5.35592885e-04 -2.55179345e+00] [ 1.69788220e-02 -1.20755842e-03 9.99855120e-01 6.63955708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25071405700001 meters Centerline goodness [0,1] 0.98579773719299 Centerline is valid? [True, True] Translation: X:63.16, Y:-2.54, Z:0.67 [[ 9.99073651e-01 -3.94567731e-02 -1.71756637e-02 6.31602564e+01] [ 3.94718790e-02 9.99220535e-01 5.41252545e-04 -2.54196897e+00] [ 1.71409198e-02 -1.21870688e-03 9.99852341e-01 6.65184187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.280714057 meters Centerline goodness [0,1] 0.985389398617211 Centerline is valid? [True, True] Translation: X:63.19, Y:-2.54, Z:0.67 [[ 9.99062024e-01 -3.97959880e-02 -1.70690099e-02 6.31923202e+01] [ 3.98109770e-02 9.99207083e-01 5.39112559e-04 -2.54044920e+00] [ 1.70340211e-02 -1.21814084e-03 9.99854168e-01 6.66282219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.310714057 meters Centerline goodness [0,1] 0.9832505663007493 Centerline is valid? [True, True] Translation: X:63.22, Y:-2.54, Z:0.67 [[ 9.99064682e-01 -4.01147121e-02 -1.61422047e-02 6.32232818e+01] [ 4.01281756e-02 9.99194410e-01 5.10893755e-04 -2.54334877e+00] [ 1.61087063e-02 -1.15817313e-03 9.99869576e-01 6.67401363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.340714057 meters Centerline goodness [0,1] 0.9832749733574023 Centerline is valid? [True, True] Translation: X:63.26, Y:-2.54, Z:0.67 [[ 9.99077884e-01 -4.00850870e-02 -1.53807279e-02 6.32554330e+01] [ 4.00973195e-02 9.99195660e-01 4.87635099e-04 -2.54260211e+00] [ 1.53488096e-02 -1.10391140e-03 9.99881591e-01 6.68687953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.370714057 meters Centerline goodness [0,1] 0.9831709284328473 Centerline is valid? [True, True] Translation: X:63.29, Y:-2.54, Z:0.67 [[ 9.99068725e-01 -4.06516475e-02 -1.44611855e-02 6.32873564e+01] [ 4.06625339e-02 9.99172832e-01 4.59447366e-04 -2.53847554e+00] [ 1.44305463e-02 -1.04704794e-03 9.99895326e-01 6.70279103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.400714057 meters Centerline goodness [0,1] 0.9839118649995628 Centerline is valid? [True, True] Translation: X:63.32, Y:-2.54, Z:0.67 [[ 9.99045284e-01 -4.13090046e-02 -1.42157011e-02 6.33195283e+01] [ 4.13196049e-02 9.99145878e-01 4.52653156e-04 -2.53735612e+00] [ 1.41848605e-02 -1.03960815e-03 9.99898849e-01 6.70590183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.430714057 meters Centerline goodness [0,1] 0.9846516603715914 Centerline is valid? [True, True] Translation: X:63.35, Y:-2.54, Z:0.67 [[ 9.99023438e-01 -4.18294322e-02 -1.42291425e-02 6.33519949e+01] [ 4.18401197e-02 9.99124216e-01 4.54114246e-04 -2.53872184e+00] [ 1.41976855e-02 -1.04901980e-03 9.99898658e-01 6.71029059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.460714057 meters Centerline goodness [0,1] 0.9826824757968019 Centerline is valid? [True, True] Translation: X:63.38, Y:-2.54, Z:0.67 [[ 9.98950000e-01 -4.31173708e-02 -1.54851574e-02 6.33834095e+01] [ 4.31302003e-02 9.99069337e-01 4.95343625e-04 -2.53993996e+00] [ 1.54493881e-02 -1.16270146e-03 9.99879975e-01 6.69832726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.490714057 meters Centerline goodness [0,1] 0.9829808616621515 Centerline is valid? [True, True] Translation: X:63.42, Y:-2.54, Z:0.67 [[ 9.98899333e-01 -4.40399720e-02 -1.61432031e-02 6.34156766e+01] [ 4.40540504e-02 9.99029015e-01 5.17350743e-04 -2.54075439e+00] [ 1.61047442e-02 -1.22795479e-03 9.99869556e-01 6.69210608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.520714057 meters Centerline goodness [0,1] 0.9839733034753781 Centerline is valid? [True, True] Translation: X:63.45, Y:-2.54, Z:0.67 [[ 9.98819704e-01 -4.52876478e-02 -1.75564356e-02 6.34482371e+01] [ 4.53045145e-02 9.98973064e-01 5.63974982e-04 -2.53923912e+00] [ 1.75128651e-02 -1.35869511e-03 9.99845715e-01 6.68448804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55071405700001 meters Centerline goodness [0,1] 0.9840653190228484 Centerline is valid? [True, True] Translation: X:63.48, Y:-2.54, Z:0.67 [[ 9.98798145e-01 -4.55864820e-02 -1.80038562e-02 6.34795064e+01] [ 4.56042897e-02 9.98959415e-01 5.79572489e-04 -2.53992397e+00] [ 1.79587010e-02 -1.39992900e-03 9.99837749e-01 6.68560735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58071405700001 meters Centerline goodness [0,1] 0.9853183224702087 Centerline is valid? [True, True] Translation: X:63.51, Y:-2.54, Z:0.67 [[ 9.98814805e-01 -4.51526167e-02 -1.81721500e-02 6.35113373e+01] [ 4.51707072e-02 9.98979111e-01 5.86072870e-04 -2.53961008e+00] [ 1.81271355e-02 -1.40622713e-03 9.99834701e-01 6.69065122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61071405700001 meters Centerline goodness [0,1] 0.9853183224702087 Centerline is valid? [True, True] Translation: X:63.54, Y:-2.54, Z:0.67 [[ 9.98818025e-01 -4.50813431e-02 -1.81721081e-02 6.35431039e+01] [ 4.50994453e-02 9.98982330e-01 5.87369287e-04 -2.54069801e+00] [ 1.81271355e-02 -1.40622703e-03 9.99834701e-01 6.69466510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64071405700001 meters Centerline goodness [0,1] 0.9841674169393267 Centerline is valid? [True, True] Translation: X:63.57, Y:-2.54, Z:0.67 [[ 9.98898419e-01 -4.31771131e-02 -1.83762124e-02 6.35740007e+01] [ 4.31953245e-02 9.99066469e-01 5.95082877e-04 -2.54053319e+00] [ 1.83333637e-02 -1.38819380e-03 9.99830966e-01 6.69977930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.670714057 meters Centerline goodness [0,1] 0.9850736425588041 Centerline is valid? [True, True] Translation: X:63.61, Y:-2.54, Z:0.67 [[ 9.98970726e-01 -4.17632330e-02 -1.77008875e-02 6.36053794e+01] [ 4.17799202e-02 9.99126673e-01 5.73824435e-04 -2.53852143e+00] [ 1.76614640e-02 -1.31277548e-03 9.99843162e-01 6.70325545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.700714057 meters Centerline goodness [0,1] 0.9851511285142329 Centerline is valid? [True, True] Translation: X:63.63, Y:-2.54, Z:0.67 [[ 9.99123584e-01 -3.80781730e-02 -1.73815016e-02 6.36349065e+01] [ 3.80937149e-02 9.99274012e-01 5.63836328e-04 -2.53546088e+00] [ 1.73474130e-02 -1.22546814e-03 9.99848771e-01 6.70773716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.730714057 meters Centerline goodness [0,1] 0.9844908374947753 Centerline is valid? [True, True] Translation: X:63.67, Y:-2.53, Z:0.67 [[ 9.99172486e-01 -3.67494422e-02 -1.74305014e-02 6.36662624e+01] [ 3.67648703e-02 9.99323784e-01 5.65404254e-04 -2.53453329e+00] [ 1.73979363e-02 -1.20576650e-03 9.99847917e-01 6.70702308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.760714057 meters Centerline goodness [0,1] 0.9853128151168399 Centerline is valid? [True, True] Translation: X:63.70, Y:-2.53, Z:0.67 [[ 9.99231485e-01 -3.52076310e-02 -1.72296583e-02 6.36966052e+01] [ 3.52224914e-02 9.99379339e-01 5.59697358e-04 -2.53468270e+00] [ 1.71992589e-02 -1.16613872e-03 9.99851402e-01 6.70915411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.790714057 meters Centerline goodness [0,1] 0.9854527047845416 Centerline is valid? [True, True] Translation: X:63.73, Y:-2.53, Z:0.67 [[ 9.99275122e-01 -3.39840947e-02 -1.71555395e-02 6.37270201e+01] [ 3.39986669e-02 9.99421722e-01 5.58394875e-04 -2.53366238e+00] [ 1.71266422e-02 -1.14125558e-03 9.99852677e-01 6.71551198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.820714057 meters Centerline goodness [0,1] 0.9844190761636107 Centerline is valid? [True, True] Translation: X:63.76, Y:-2.53, Z:0.67 [[ 9.99287364e-01 -3.37344927e-02 -1.69336646e-02 6.37590636e+01] [ 3.37486631e-02 9.99430199e-01 5.51671353e-04 -2.53359768e+00] [ 1.69054055e-02 -1.12276675e-03 9.99856463e-01 6.72180074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.850714057 meters Centerline goodness [0,1] 0.9840507556064678 Centerline is valid? [True, True] Translation: X:63.79, Y:-2.53, Z:0.67 [[ 9.99250398e-01 -3.44323761e-02 -1.76933423e-02 6.37905081e+01] [ 3.44479756e-02 9.99406325e-01 5.77555809e-04 -2.53431765e+00] [ 1.76629515e-02 -1.18662269e-03 9.99843294e-01 6.71990962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.880714057 meters Centerline goodness [0,1] 0.9840480538625712 Centerline is valid? [True, True] Translation: X:63.82, Y:-2.54, Z:0.67 [[ 9.99207667e-01 -3.53935229e-02 -1.82026716e-02 6.38215714e+01] [ 3.54102075e-02 9.99372685e-01 5.95011255e-04 -2.53520505e+00] [ 1.81701932e-02 -1.23910019e-03 9.99834141e-01 6.71646355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.910714057 meters Centerline goodness [0,1] 0.9843860268172194 Centerline is valid? [True, True] Translation: X:63.85, Y:-2.53, Z:0.67 [[ 9.99124637e-01 -3.71367864e-02 -1.92566517e-02 6.38525457e+01] [ 3.71557952e-02 9.99309286e-01 6.30164329e-04 -2.53353623e+00] [ 1.92199486e-02 -1.34510891e-03 9.99814375e-01 6.71536698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94071405700001 meters Centerline goodness [0,1] 0.9847658578588303 Centerline is valid? [True, True] Translation: X:63.88, Y:-2.53, Z:0.67 [[ 9.99086282e-01 -3.81464327e-02 -1.92730395e-02 6.38844585e+01] [ 3.81656771e-02 9.99271226e-01 6.31547921e-04 -2.52894628e+00] [ 1.92349025e-02 -1.36653947e-03 9.99814058e-01 6.72069138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97071405700001 meters Centerline goodness [0,1] 0.9844152981373305 Centerline is valid? [True, True] Translation: X:63.92, Y:-2.53, Z:0.67 [[ 9.99048213e-01 -3.90336912e-02 -1.94689357e-02 6.39164661e+01] [ 3.90535185e-02 9.99236916e-01 6.39100361e-04 -2.52933662e+00] [ 1.94291328e-02 -1.39882251e-03 9.99810258e-01 6.72108745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00071405700001 meters Centerline goodness [0,1] 0.9844282666549365 Centerline is valid? [True, True] Translation: X:63.95, Y:-2.53, Z:0.67 [[ 9.99000177e-01 -4.01543422e-02 -1.96538756e-02 6.39479374e+01] [ 4.01747881e-02 9.99192458e-01 6.46410743e-04 -2.53185730e+00] [ 1.96120481e-02 -1.43535474e-03 9.99806635e-01 6.71244275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.030714057 meters Centerline goodness [0,1] 0.9822405872914698 Centerline is valid? [True, True] Translation: X:63.98, Y:-2.53, Z:0.67 [[ 9.98963492e-01 -4.08966370e-02 -1.99851596e-02 6.39794143e+01] [ 4.09179463e-02 9.99162293e-01 6.58336000e-04 -2.53395688e+00] [ 1.99414942e-02 -1.47540532e-03 9.99800060e-01 6.71321470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.060714057 meters Centerline goodness [0,1] 0.9818755794957835 Centerline is valid? [True, True] Translation: X:64.01, Y:-2.53, Z:0.67 [[ 9.98904048e-01 -4.25085428e-02 -1.95889308e-02 6.40105925e+01] [ 4.25293403e-02 9.99095009e-01 6.46139891e-04 -2.53371429e+00] [ 1.95437365e-02 -1.47853605e-03 9.99807910e-01 6.72539395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.090714057 meters Centerline goodness [0,1] 0.9796197148963359 Centerline is valid? [True, True] Translation: X:64.04, Y:-2.53, Z:0.67 [[ 9.98864439e-01 -4.34067028e-02 -1.96390097e-02 6.40416718e+01] [ 4.34277944e-02 9.99056358e-01 6.48562092e-04 -2.53489540e+00] [ 1.95923256e-02 -1.50070449e-03 9.99806926e-01 6.73559083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.120714057 meters Centerline goodness [0,1] 0.978710730674197 Centerline is valid? [True, True] Translation: X:64.07, Y:-2.54, Z:0.67 [[ 9.98849007e-01 -4.40659075e-02 -1.89435291e-02 6.40740145e+01] [ 4.40856685e-02 9.99027558e-01 6.26616438e-04 -2.53562597e+00] [ 1.88974952e-02 -1.46103335e-03 9.99820359e-01 6.74674548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.150714057 meters Centerline goodness [0,1] 0.9719671659623427 Centerline is valid? [True, True] Translation: X:64.10, Y:-2.54, Z:0.68 [[ 9.98746006e-01 -4.63651250e-02 -1.88862404e-02 6.41037063e+01] [ 4.63851979e-02 9.98923431e-01 6.25926967e-04 -2.53763979e+00] [ 1.88368869e-02 -1.50118406e-03 9.99821443e-01 6.75448451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.180714057 meters Centerline goodness [0,1] 0.9813877406662393 Centerline is valid? [True, True] Translation: X:64.14, Y:-2.53, Z:0.68 [[ 9.98705680e-01 -4.72785438e-02 -1.87537508e-02 6.41364667e+01] [ 4.72985179e-02 9.98880605e-01 6.22707597e-04 -2.53222136e+00] [ 1.87033172e-02 -1.50892623e-03 9.99823939e-01 6.76361354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.210714057 meters Centerline goodness [0,1] 0.9813572456548212 Centerline is valid? [True, True] Translation: X:64.17, Y:-2.53, Z:0.68 [[ 9.98557119e-01 -5.00785753e-02 -1.93859817e-02 6.41667993e+01] [ 5.01004610e-02 9.98743975e-01 6.44619110e-04 -2.52943070e+00] [ 1.93293508e-02 -1.61493562e-03 9.99811866e-01 6.75905295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.240714057 meters Centerline goodness [0,1] 0.9789219380291679 Centerline is valid? [True, True] Translation: X:64.20, Y:-2.53, Z:0.68 [[ 9.98513827e-01 -5.08095749e-02 -1.97110194e-02 6.41977043e+01] [ 5.08323505e-02 9.98706985e-01 6.55853532e-04 -2.53351133e+00] [ 1.96522091e-02 -1.65683627e-03 9.99805504e-01 6.75524725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.270714057 meters Centerline goodness [0,1] 0.9801189313925623 Centerline is valid? [True, True] Translation: X:64.23, Y:-2.53, Z:0.68 [[ 9.98456739e-01 -5.17800486e-02 -2.00740181e-02 6.42296982e+01] [ 5.18038895e-02 9.98657053e-01 6.69116368e-04 -2.53151327e+00] [ 2.00124129e-02 -1.70799596e-03 9.99798273e-01 6.75738872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30071405700001 meters Centerline goodness [0,1] 0.9673093971631206 Centerline is valid? [True, True] Translation: X:64.26, Y:-2.54, Z:0.68 [[ 9.98373958e-01 -5.32853019e-02 -2.02513557e-02 6.42597338e+01] [ 5.33098937e-02 9.98577788e-01 6.76041378e-04 -2.53807479e+00] [ 2.01865309e-02 -1.75453973e-03 9.99794692e-01 6.75106384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33071405700001 meters Centerline goodness [0,1] 0.9810112558716654 Centerline is valid? [True, True] Translation: X:64.29, Y:-2.53, Z:0.68 [[ 9.98349594e-01 -5.35975292e-02 -2.06250689e-02 6.42922313e+01] [ 5.36231196e-02 9.98561008e-01 6.89298605e-04 -2.52845972e+00] [ 2.05584449e-02 -1.79414152e-03 9.99787043e-01 6.75794597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36071405700001 meters Centerline goodness [0,1] 0.970173487544484 Centerline is valid? [True, True] Translation: X:64.32, Y:-2.54, Z:0.68 [[ 9.98304049e-01 -5.43688838e-02 -2.08098800e-02 6.43230436e+01] [ 5.43951286e-02 9.98519246e-01 6.96797492e-04 -2.53527279e+00] [ 2.07411816e-02 -1.82757186e-03 9.99783208e-01 6.75126104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39071405700001 meters Centerline goodness [0,1] 0.9810980897951922 Centerline is valid? [True, True] Translation: X:64.36, Y:-2.53, Z:0.68 [[ 9.98293650e-01 -5.45989459e-02 -2.07061440e-02 6.43552437e+01] [ 5.46250041e-02 9.98506698e-01 6.94552285e-04 -2.52856698e+00] [ 2.06373016e-02 -1.82444033e-03 9.99785364e-01 6.76467843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.420714057 meters Centerline goodness [0,1] 0.9391861811058677 Centerline is valid? [True, False] Translation: X:64.35, Y:-2.53, Z:0.68 [[ 9.98465935e-01 -5.15390992e-02 -2.02360594e-02 6.43537602e+01] [ 5.16389137e-02 9.98655947e-01 4.44100143e-03 -2.52904129e+00] [ 1.99799758e-02 -5.47915676e-03 9.99785367e-01 6.76353698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.450714057 meters Centerline goodness [0,1] 0.978887354683533 Centerline is valid? [False, True] Translation: X:64.35, Y:-2.53, Z:0.68 [[ 9.98462011e-01 -5.16004333e-02 -2.02733186e-02 6.43536710e+01] [ 5.16951307e-02 9.98654187e-01 4.17472012e-03 -2.52801239e+00] [ 2.00306171e-02 -5.21633130e-03 9.99785759e-01 6.76641848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.480714057 meters Centerline goodness [0,1] 0.9778099910793934 Centerline is valid? [True, True] Translation: X:64.39, Y:-2.53, Z:0.68 [[ 9.98461344e-01 -5.17370804e-02 -1.99554166e-02 6.43859065e+01] [ 5.17620842e-02 9.98659172e-01 7.38156534e-04 -2.52804014e+00] [ 1.98904698e-02 -1.76995472e-03 9.99800598e-01 6.78333637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.510714057 meters Centerline goodness [0,1] 0.9745590760106134 Centerline is valid? [True, True] Translation: X:64.42, Y:-2.53, Z:0.68 [[ 9.98454723e-01 -5.19785711e-02 -1.96569062e-02 6.44169479e+01] [ 5.20029029e-02 9.98646668e-01 7.28354162e-04 -2.52985578e+00] [ 1.95924451e-02 -1.74944484e-03 9.99806519e-01 6.78926906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.540714057 meters Centerline goodness [0,1] 0.9191628135540217 Centerline is valid? [True, False] Translation: X:64.42, Y:-2.53, Z:0.68 [[ 9.98622913e-01 -4.87122304e-02 -1.94780968e-02 6.44163433e+01] [ 4.88159335e-02 9.98795849e-01 4.88426439e-03 -2.53155090e+00] [ 1.92167188e-02 -5.82837981e-03 9.99798354e-01 6.78261099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.570714057 meters Centerline goodness [0,1] 0.9793952667217914 Centerline is valid? [False, True] Translation: X:64.42, Y:-2.53, Z:0.68 [[ 9.98619072e-01 -4.86917846e-02 -1.97245923e-02 6.44172109e+01] [ 4.87946311e-02 9.98797459e-01 4.76656168e-03 -2.53043998e+00] [ 1.94687803e-02 -5.72243360e-03 9.99794089e-01 6.77652564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.600714057 meters Centerline goodness [0,1] 0.9661293567931319 Centerline is valid? [True, True] Translation: X:64.45, Y:-2.54, Z:0.68 [[ 9.98594310e-01 -4.90301793e-02 -2.01356750e-02 6.44479283e+01] [ 4.90565731e-02 9.98795666e-01 8.18658930e-04 -2.53646261e+00] [ 2.00712860e-02 -1.80529536e-03 9.99796922e-01 6.78445387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.630714057 meters Centerline goodness [0,1] 0.9640548459972711 Centerline is valid? [True, True] Translation: X:64.48, Y:-2.54, Z:0.68 [[ 9.98596053e-01 -4.89061265e-02 -2.03497598e-02 6.44802630e+01] [ 4.89330835e-02 9.98801715e-01 8.28556776e-04 -2.53785959e+00] [ 2.02848535e-02 -1.82317002e-03 9.99792579e-01 6.78445919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.660714057 meters Centerline goodness [0,1] 0.9587974768487452 Centerline is valid? [True, True] Translation: X:64.51, Y:-2.54, Z:0.68 [[ 9.98630215e-01 -4.81086047e-02 -2.05732055e-02 6.45117821e+01] [ 4.81360144e-02 9.98840438e-01 8.38888435e-04 -2.53857238e+00] [ 2.05089918e-02 -1.82805145e-03 9.99787997e-01 6.78386904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69071405700001 meters Centerline goodness [0,1] 0.9552429381062252 Centerline is valid? [True, True] Translation: X:64.54, Y:-2.54, Z:0.68 [[ 9.98664339e-01 -4.75597954e-02 -2.01892205e-02 6.45437439e+01] [ 4.75861027e-02 9.98866800e-01 8.24361223e-04 -2.54002996e+00] [ 2.01271356e-02 -1.78398647e-03 9.99795837e-01 6.79095316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72071405700001 meters Centerline goodness [0,1] 0.9852342959883132 Centerline is valid? [True, True] Translation: X:64.58, Y:-2.52, Z:0.68 [[ 9.98752689e-01 -4.58633471e-02 -1.97387806e-02 6.45757387e+01] [ 4.58881853e-02 9.98946256e-01 8.07018919e-04 -2.52218596e+00] [ 1.96809684e-02 -1.71178914e-03 9.99804846e-01 6.81337886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75071405700001 meters Centerline goodness [0,1] 0.9835061684248168 Centerline is valid? [True, True] Translation: X:64.61, Y:-2.52, Z:0.68 [[ 9.98808076e-01 -4.46512695e-02 -1.97152619e-02 6.46060442e+01] [ 4.46758393e-02 9.99001210e-01 8.07336539e-04 -2.52306961e+00] [ 1.96595219e-02 -1.68717013e-03 9.99805309e-01 6.81686080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.780714057 meters Centerline goodness [0,1] 0.9841088398780706 Centerline is valid? [True, True] Translation: X:64.64, Y:-2.52, Z:0.68 [[ 9.98851514e-01 -4.37353603e-02 -1.95671078e-02 6.46388779e+01] [ 4.37594258e-02 9.99041775e-01 8.03219395e-04 -2.52312547e+00] [ 1.95132290e-02 -1.65854231e-03 9.99808223e-01 6.82355064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.810714057 meters Centerline goodness [0,1] 0.9836630762990671 Centerline is valid? [True, True] Translation: X:64.67, Y:-2.52, Z:0.68 [[ 9.98982492e-01 -4.12020770e-02 -1.83403671e-02 6.46696500e+01] [ 4.12228153e-02 9.99149694e-01 7.53970570e-04 -2.52128543e+00] [ 1.82937070e-02 -1.50924496e-03 9.99831517e-01 6.83942256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.840714057 meters Centerline goodness [0,1] 0.984358824323716 Centerline is valid? [True, True] Translation: X:64.70, Y:-2.52, Z:0.68 [[ 9.99056340e-01 -3.98410823e-02 -1.72949983e-02 6.47011938e+01] [ 3.98593278e-02 9.99205048e-01 7.11394052e-04 -2.52085787e+00] [ 1.72529069e-02 -1.40008974e-03 9.99850177e-01 6.84105934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.870714057 meters Centerline goodness [0,1] 0.9846674182638105 Centerline is valid? [True, True] Translation: X:64.73, Y:-2.52, Z:0.68 [[ 9.99154162e-01 -3.75774815e-02 -1.67001061e-02 6.47309084e+01] [ 3.75941859e-02 9.99292852e-01 6.87336314e-04 -2.52131271e+00] [ 1.66624683e-02 -1.31458183e-03 9.99860307e-01 6.84830791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.900714057 meters Centerline goodness [0,1] 0.9836626310815069 Centerline is valid? [True, True] Translation: X:64.76, Y:-2.53, Z:0.68 [[ 9.99182874e-01 -3.68589908e-02 -1.65830694e-02 6.47615723e+01] [ 3.68753677e-02 9.99319639e-01 6.82774359e-04 -2.52542992e+00] [ 1.65466205e-02 -1.29372323e-03 9.99862258e-01 6.84931077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.930714057 meters Centerline goodness [0,1] 0.9846115605369006 Centerline is valid? [True, True] Translation: X:64.79, Y:-2.52, Z:0.68 [[ 9.99203439e-01 -3.63179156e-02 -1.65377448e-02 6.47941602e+01] [ 3.63341453e-02 9.99339464e-01 6.81870157e-04 -2.52358738e+00] [ 1.65020569e-02 -1.28221183e-03 9.99863010e-01 6.84917904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.960714057 meters Centerline goodness [0,1] 0.9851454927762328 Centerline is valid? [True, True] Translation: X:64.83, Y:-2.53, Z:0.68 [[ 9.99180325e-01 -3.63323347e-02 -1.78504606e-02 6.48262652e+01] [ 3.63512697e-02 9.99338802e-01 7.37328291e-04 -2.52536515e+00] [ 1.78118691e-02 -1.38561083e-03 9.99840396e-01 6.83284245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.990714057 meters Centerline goodness [0,1] 0.9840547212973658 Centerline is valid? [True, True] Translation: X:64.86, Y:-2.53, Z:0.68 [[ 9.99174951e-01 -3.63559313e-02 -1.81014772e-02 6.48584610e+01] [ 3.63754299e-02 9.99337914e-01 7.48988966e-04 -2.52730023e+00] [ 1.80622623e-02 -1.40682003e-03 9.99835874e-01 6.83165140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.020714057 meters Centerline goodness [0,1] 0.9847380100538925 Centerline is valid? [True, True] Translation: X:64.89, Y:-2.53, Z:0.68 [[ 9.99169526e-01 -3.62343314e-02 -1.86368271e-02 6.48903234e+01] [ 3.62550046e-02 9.99342273e-01 7.72483529e-04 -2.52857991e+00] [ 1.85965787e-02 -1.44752025e-03 9.99826021e-01 6.82914817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05071405700001 meters Centerline goodness [0,1] 0.9837604324519937 Centerline is valid? [True, True] Translation: X:64.92, Y:-2.53, Z:0.68 [[ 9.99181868e-01 -3.59501122e-02 -1.85252462e-02 6.49210001e+01] [ 3.59705119e-02 9.99352556e-01 7.69043948e-04 -2.53230604e+00] [ 1.84856049e-02 -1.43477736e-03 9.99828097e-01 6.83262772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08071405700001 meters Centerline goodness [0,1] 0.9846722445185134 Centerline is valid? [True, True] Translation: X:64.95, Y:-2.53, Z:0.68 [[ 9.99188323e-01 -3.58088722e-02 -1.84504887e-02 6.49532319e+01] [ 3.58291036e-02 9.99357637e-01 7.67026627e-04 -2.53159878e+00] [ 1.84111704e-02 -1.42746852e-03 9.99829481e-01 6.83912094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11071405700001 meters Centerline goodness [0,1] 0.9846240942028985 Centerline is valid? [True, True] Translation: X:64.98, Y:-2.53, Z:0.68 [[ 9.99217201e-01 -3.49840756e-02 -1.84688982e-02 6.49841056e+01] [ 3.50042290e-02 9.99386868e-01 7.68967641e-04 -2.53385958e+00] [ 1.84306728e-02 -1.41485524e-03 9.99829140e-01 6.84547350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14071405700001 meters Centerline goodness [0,1] 0.984136350225813 Centerline is valid? [True, True] Translation: X:65.02, Y:-2.54, Z:0.68 [[ 9.99242344e-01 -3.39887573e-02 -1.89605418e-02 6.50156155e+01] [ 3.40098391e-02 9.99421186e-01 7.90438951e-04 -2.53511805e+00] [ 1.89227011e-02 -1.43468504e-03 9.99819920e-01 6.84217511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.170714057 meters Centerline goodness [0,1] 0.9842340807378632 Centerline is valid? [True, True] Translation: X:65.05, Y:-2.54, Z:0.68 [[ 9.99261034e-01 -3.35586432e-02 -1.87404436e-02 6.50479223e+01] [ 3.35791830e-02 9.99435754e-01 7.82336036e-04 -2.53803485e+00] [ 1.87036152e-02 -1.41104670e-03 9.99824076e-01 6.83873968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.200714057 meters Centerline goodness [0,1] 0.9850274912527832 Centerline is valid? [True, True] Translation: X:65.08, Y:-2.54, Z:0.68 [[ 9.99266679e-01 -3.30622649e-02 -1.93129770e-02 6.50806584e+01] [ 3.30840161e-02 9.99452248e-01 8.07740275e-04 -2.53895397e+00] [ 1.92756925e-02 -1.44609878e-03 9.99813161e-01 6.83936384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.230714057 meters Centerline goodness [0,1] 0.984830248665834 Centerline is valid? [True, True] Translation: X:65.11, Y:-2.54, Z:0.68 [[ 9.99312919e-01 -3.14561133e-02 -1.96010994e-02 6.51114406e+01] [ 3.14782374e-02 9.99504100e-01 8.21129677e-04 -2.54075294e+00] [ 1.95655496e-02 -1.43757355e-03 9.99807543e-01 6.83895395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.260714057 meters Centerline goodness [0,1] 0.9869203869385531 Centerline is valid? [True, True] Translation: X:65.14, Y:-2.53, Z:0.68 [[ 9.99322539e-01 -3.11454394e-02 -1.96067693e-02 6.51438243e+01] [ 3.11675354e-02 9.99513836e-01 8.22317308e-04 -2.53482829e+00] [ 1.95716258e-02 -1.43285490e-03 9.99807431e-01 6.84615320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.290714057 meters Centerline goodness [0,1] 0.987465940054496 Centerline is valid? [True, True] Translation: X:65.18, Y:-2.53, Z:0.69 [[ 9.99347459e-01 -3.02247673e-02 -1.97767240e-02 6.51753362e+01] [ 3.02470911e-02 9.99542107e-01 8.30573580e-04 -2.53133327e+00] [ 1.97425645e-02 -1.42821997e-03 9.99804076e-01 6.85619492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.320714057 meters Centerline goodness [0,1] 0.9863733079813481 Centerline is valid? [True, True] Translation: X:65.21, Y:-2.54, Z:0.69 [[ 9.99365798e-01 -2.96867379e-02 -1.96646950e-02 6.52064397e+01] [ 2.97087225e-02 9.99558257e-01 8.26720435e-04 -2.53825800e+00] [ 1.96314656e-02 -1.41040909e-03 9.99806289e-01 6.85254148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.350714057 meters Centerline goodness [0,1] 0.9861617557130886 Centerline is valid? [True, True] Translation: X:65.24, Y:-2.54, Z:0.69 [[ 9.99382611e-01 -2.91935377e-02 -1.95482768e-02 6.52377307e+01] [ 2.92151891e-02 9.99572807e-01 8.22861568e-04 -2.54144211e+00] [ 1.95159037e-02 -1.39346015e-03 9.99808576e-01 6.85450691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.380714057 meters Centerline goodness [0,1] 0.9873902887079582 Centerline is valid? [True, True] Translation: X:65.27, Y:-2.54, Z:0.69 [[ 9.99374522e-01 -2.92851229e-02 -1.98228757e-02 6.52697295e+01] [ 2.93074284e-02 9.99570096e-01 8.35609743e-04 -2.53697716e+00] [ 1.97898828e-02 -1.41604460e-03 9.99803158e-01 6.86193649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.410714057 meters Centerline goodness [0,1] 0.9866745363328869 Centerline is valid? [True, True] Translation: X:65.30, Y:-2.54, Z:0.69 [[ 9.99362828e-01 -2.94069258e-02 -2.02279567e-02 6.53022759e+01] [ 2.94302069e-02 9.99566473e-01 8.54147780e-04 -2.53733424e+00] [ 2.01940695e-02 -1.44891649e-03 9.99795029e-01 6.86088916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44071405700001 meters Centerline goodness [0,1] 0.9868441980413988 Centerline is valid? [True, True] Translation: X:65.33, Y:-2.54, Z:0.69 [[ 9.99341521e-01 -2.97294415e-02 -2.08010675e-02 6.53335303e+01] [ 2.97541584e-02 9.99556860e-01 8.79699159e-04 -2.54067329e+00] [ 2.07656967e-02 -1.49803815e-03 9.99783247e-01 6.85927826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47071405700001 meters Centerline goodness [0,1] 0.9882310256468401 Centerline is valid? [True, True] Translation: X:65.36, Y:-2.54, Z:0.69 [[ 9.99349694e-01 -2.96808901e-02 -2.04751860e-02 6.53646794e+01] [ 2.97048471e-02 9.99558338e-01 8.66842254e-04 -2.54304838e+00] [ 2.04404142e-02 -1.47449081e-03 9.99789986e-01 6.86301784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50071405700001 meters Centerline goodness [0,1] 0.9882310256468401 Centerline is valid? [True, True] Translation: X:65.40, Y:-2.54, Z:0.69 [[ 9.99350736e-01 -2.96458137e-02 -2.04751556e-02 6.53955778e+01] [ 2.96697781e-02 9.99559379e-01 8.67560001e-04 -2.54438851e+00] [ 2.04404142e-02 -1.47449005e-03 9.99789986e-01 6.86666316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.530714057 meters Centerline goodness [0,1] 0.9865551172176121 Centerline is valid? [True, True] Translation: X:65.43, Y:-2.55, Z:0.69 [[ 9.99314682e-01 -3.08155101e-02 -2.05078256e-02 6.54271801e+01] [ 3.08398108e-02 9.99523962e-01 8.69666714e-04 -2.54749571e+00] [ 2.04712639e-02 -1.50152818e-03 9.99789314e-01 6.86517422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.560714057 meters Centerline goodness [0,1] 0.9866095704187058 Centerline is valid? [True, True] Translation: X:65.46, Y:-2.55, Z:0.69 [[ 9.99288892e-01 -3.15410323e-02 -2.06609083e-02 6.54596938e+01] [ 3.15658732e-02 9.99501289e-01 8.77213534e-04 -2.54832319e+00] [ 2.06229362e-02 -1.52876935e-03 9.99786156e-01 6.86931410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.590714057 meters Centerline goodness [0,1] 0.9776699689419872 Centerline is valid? [True, True] Translation: X:65.49, Y:-2.57, Z:0.68 [[ 9.99227202e-01 -3.34800770e-02 -2.05932632e-02 6.54890664e+01] [ 3.35051934e-02 9.99438160e-01 8.75728764e-04 -2.56666090e+00] [ 2.05523736e-02 -1.56503327e-03 9.99787553e-01 6.84905717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.620714057 meters Centerline goodness [0,1] 0.9875958093337567 Centerline is valid? [True, True] Translation: X:65.52, Y:-2.56, Z:0.69 [[ 9.99182160e-01 -3.46411978e-02 -2.08566314e-02 6.55210063e+01] [ 3.46672344e-02 9.99398516e-01 8.87988530e-04 -2.55544249e+00] [ 2.08133255e-02 -1.61030403e-03 9.99782082e-01 6.86703231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.650714057 meters Centerline goodness [0,1] 0.9867774582833337 Centerline is valid? [True, True] Translation: X:65.55, Y:-2.56, Z:0.69 [[ 9.99078572e-01 -3.70851162e-02 -2.16032459e-02 6.55520267e+01] [ 3.71136315e-02 9.99310628e-01 9.20382579e-04 -2.55942954e+00] [ 2.15542208e-02 -1.72130942e-03 9.99766199e-01 6.86485186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.680714057 meters Centerline goodness [0,1] 0.9856163918854739 Centerline is valid? [True, True] Translation: X:65.58, Y:-2.56, Z:0.69 [[ 9.99027761e-01 -3.82252544e-02 -2.19627558e-02 6.55841170e+01] [ 3.82550212e-02 9.99267570e-01 9.36633933e-04 -2.56221196e+00] [ 2.19108665e-02 -1.77590899e-03 9.99758351e-01 6.86288812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.710714057 meters Centerline goodness [0,1] 0.9861267764493571 Centerline is valid? [True, True] Translation: X:65.62, Y:-2.56, Z:0.69 [[ 9.98982264e-01 -3.93319050e-02 -2.20779818e-02 6.56163081e+01] [ 3.93622881e-02 9.99224560e-01 9.43123476e-04 -2.56411621e+00] [ 2.20237668e-02 -1.81120351e-03 9.99755807e-01 6.86617405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.740714057 meters Centerline goodness [0,1] 0.9850847457627119 Centerline is valid? [True, True] Translation: X:65.65, Y:-2.57, Z:0.69 [[ 9.98903374e-01 -4.11784139e-02 -2.22797522e-02 6.56470297e+01] [ 4.12098341e-02 9.99150060e-01 9.52777008e-04 -2.56855233e+00] [ 2.22215819e-02 -1.86987706e-03 9.99751322e-01 6.86735970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.770714057 meters Centerline goodness [0,1] 0.9851069591118332 Centerline is valid? [True, True] Translation: X:65.68, Y:-2.57, Z:0.69 [[ 9.98877780e-01 -4.15800828e-02 -2.26777002e-02 6.56793507e+01] [ 4.16127609e-02 9.99133342e-01 9.70779858e-04 -2.57165983e+00] [ 2.26176813e-02 -1.91337214e-03 9.99742357e-01 6.86708025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80071405700001 meters Centerline goodness [0,1] 0.9843528058981355 Centerline is valid? [True, True] Translation: X:65.71, Y:-2.57, Z:0.69 [[ 9.98872180e-01 -4.10257490e-02 -2.39009693e-02 6.57111516e+01] [ 4.10619328e-02 9.99156078e-01 1.02489122e-03 -2.57148056e+00] [ 2.38387518e-02 -2.00515533e-03 9.99713806e-01 6.87065976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83071405700001 meters Centerline goodness [0,1] 0.9849552724315532 Centerline is valid? [True, True] Translation: X:65.74, Y:-2.57, Z:0.69 [[ 9.98894276e-01 -4.02814928e-02 -2.42410302e-02 6.57422544e+01] [ 4.03185330e-02 9.99186335e-01 1.04098765e-03 -2.57474863e+00] [ 2.41793736e-02 -2.01719938e-03 9.99705601e-01 6.86768328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86071405700001 meters Centerline goodness [0,1] 0.9866582387069102 Centerline is valid? [True, True] Translation: X:65.77, Y:-2.57, Z:0.69 [[ 9.98921376e-01 -3.92844441e-02 -2.47551535e-02 6.57739618e+01] [ 3.93227961e-02 9.99225993e-01 1.06417947e-03 -2.56830968e+00] [ 2.46941872e-02 -2.03647347e-03 9.99692978e-01 6.88074442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.890714057 meters Centerline goodness [0,1] 0.9804062717926799 Centerline is valid? [True, True] Translation: X:65.80, Y:-2.58, Z:0.69 [[ 9.99014193e-01 -3.70311865e-02 -2.44812977e-02 6.58034645e+01] [ 3.70680327e-02 9.99312190e-01 1.05283400e-03 -2.58289175e+00] [ 2.44254715e-02 -1.95926965e-03 9.99699734e-01 6.86822571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.920714057 meters Centerline goodness [0,1] 0.9861694915254238 Centerline is valid? [True, True] Translation: X:65.84, Y:-2.57, Z:0.69 [[ 9.99044839e-01 -3.60843439e-02 -2.46440735e-02 6.58353676e+01] [ 3.61214073e-02 9.99346847e-01 1.06030246e-03 -2.57005380e+00] [ 2.45897168e-02 -1.94946831e-03 9.99695726e-01 6.89941115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.950714057 meters Centerline goodness [0,1] 0.9863762680463614 Centerline is valid? [True, True] Translation: X:65.87, Y:-2.57, Z:0.69 [[ 9.99142699e-01 -3.34813891e-02 -2.43487804e-02 6.58665059e+01] [ 3.35168169e-02 9.99437604e-01 1.04825011e-03 -2.56891371e+00] [ 2.42999899e-02 -1.86344505e-03 9.99702975e-01 6.91100970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.980714057 meters Centerline goodness [0,1] 0.9873475125844633 Centerline is valid? [True, True] Translation: X:65.90, Y:-2.57, Z:0.69 [[ 9.99195592e-01 -3.20245976e-02 -2.41369917e-02 6.58979461e+01] [ 3.20590050e-02 9.99485437e-01 1.03979568e-03 -2.57038198e+00] [ 2.40912727e-02 -1.81276719e-03 9.99708120e-01 6.91764210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.010714057 meters Centerline goodness [0,1] 0.9878866096092016 Centerline is valid? [True, True] Translation: X:65.93, Y:-2.57, Z:0.69 [[ 9.99241059e-01 -3.06282180e-02 -2.40669489e-02 6.59279745e+01] [ 3.06620388e-02 9.99529271e-01 1.03742778e-03 -2.57359874e+00] [ 2.40238454e-02 -1.77458215e-03 9.99709811e-01 6.91759547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.040714057 meters Centerline goodness [0,1] 0.9872114643326834 Centerline is valid? [True, True] Translation: X:65.96, Y:-2.57, Z:0.69 [[ 9.99297032e-01 -2.87940974e-02 -2.40071387e-02 6.59590810e+01] [ 2.88272343e-02 9.99583873e-01 1.03528381e-03 -2.57047311e+00] [ 2.39673387e-02 -1.72661545e-03 9.99711251e-01 6.91629031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.070714057 meters Centerline goodness [0,1] 0.987886486854343 Centerline is valid? [True, True] Translation: X:65.99, Y:-2.57, Z:0.69 [[ 9.99334523e-01 -2.78316568e-02 -2.35777416e-02 6.59894321e+01] [ 2.78633778e-02 9.99611222e-01 1.01786249e-03 -2.57179329e+00] [ 2.35402463e-02 -1.67414064e-03 9.99721488e-01 6.91937307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.100714057 meters Centerline goodness [0,1] 0.9869858976103024 Centerline is valid? [True, True] Translation: X:66.02, Y:-2.57, Z:0.69 [[ 9.99379421e-01 -2.67005867e-02 -2.29750229e-02 6.60198191e+01] [ 2.67304286e-02 9.99642185e-01 9.92704074e-04 -2.57233343e+00] [ 2.29402963e-02 -1.60622023e-03 9.99735546e-01 6.92354260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.130714057 meters Centerline goodness [0,1] 0.9872964021596117 Centerline is valid? [True, True] Translation: X:66.05, Y:-2.57, Z:0.69 [[ 9.99378139e-01 -2.64110194e-02 -2.33622250e-02 6.60506852e+01] [ 2.64417972e-02 9.99649845e-01 1.00943429e-03 -2.57424296e+00] [ 2.33273844e-02 -1.62654578e-03 9.99726556e-01 6.92944392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.160714057 meters Centerline goodness [0,1] 0.9871611334560411 Centerline is valid? [True, True] Translation: X:66.08, Y:-2.58, Z:0.69 [[ 9.99380292e-01 -2.63858851e-02 -2.32984397e-02 6.60800502e+01] [ 2.64164835e-02 9.99650517e-01 1.00647540e-03 -2.57934101e+00] [ 2.32637405e-02 -1.62131452e-03 9.99728048e-01 6.92588676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19071405700001 meters Centerline goodness [0,1] 0.986644559020601 Centerline is valid? [True, True] Translation: X:66.11, Y:-2.58, Z:0.69 [[ 9.99367929e-01 -2.62456675e-02 -2.39772382e-02 6.61102228e+01] [ 2.62780251e-02 9.99654137e-01 1.03537602e-03 -2.57961731e+00] [ 2.39417712e-02 -1.66479606e-03 9.99711969e-01 6.92635265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22071405700001 meters Centerline goodness [0,1] 0.9875062242542212 Centerline is valid? [True, True] Translation: X:66.14, Y:-2.58, Z:0.69 [[ 9.99350221e-01 -2.64811459e-02 -2.44516804e-02 6.61397338e+01] [ 2.65148515e-02 9.99647863e-01 1.05521513e-03 -2.57938336e+00] [ 2.44151267e-02 -1.70286215e-03 9.99700456e-01 6.93333612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25071405700001 meters Centerline goodness [0,1] 0.9876660771777083 Centerline is valid? [True, True] Translation: X:66.17, Y:-2.58, Z:0.69 [[ 9.99341630e-01 -2.69473182e-02 -2.42929717e-02 6.61692100e+01] [ 2.69807040e-02 9.99635406e-01 1.04751738e-03 -2.58011944e+00] [ 2.42558868e-02 -1.70226920e-03 9.99704333e-01 6.93083273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.280714057 meters Centerline goodness [0,1] 0.9882144961697112 Centerline is valid? [True, True] Translation: X:66.20, Y:-2.58, Z:0.69 [[ 9.99324596e-01 -2.72159097e-02 -2.46909935e-02 6.61999030e+01] [ 2.72504699e-02 9.99628070e-01 1.06425855e-03 -2.58038005e+00] [ 2.46528454e-02 -1.73638092e-03 9.99694564e-01 6.92896217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.310714057 meters Centerline goodness [0,1] 0.988042837046785 Centerline is valid? [True, True] Translation: X:66.23, Y:-2.58, Z:0.69 [[ 9.99280205e-01 -2.81276487e-02 -2.54540422e-02 6.62287730e+01] [ 2.81646808e-02 9.99602694e-01 1.09745031e-03 -2.58441254e+00] [ 2.54130605e-02 -1.81356534e-03 9.99675391e-01 6.92174211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.340714057 meters Centerline goodness [0,1] 0.9872725622759654 Centerline is valid? [True, True] Translation: X:66.26, Y:-2.59, Z:0.69 [[ 9.99277768e-01 -2.85510767e-02 -2.50754373e-02 6.62580930e+01] [ 2.85871423e-02 9.99590720e-01 1.08091537e-03 -2.58584425e+00] [ 2.50343131e-02 -1.79696979e-03 9.99684977e-01 6.92284387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.370714057 meters Centerline goodness [0,1] 0.9871736765772299 Centerline is valid? [True, True] Translation: X:66.29, Y:-2.59, Z:0.69 [[ 9.99267467e-01 -2.91646854e-02 -2.47780296e-02 6.62873392e+01] [ 2.92000722e-02 9.99573017e-01 1.06746005e-03 -2.58954854e+00] [ 2.47363177e-02 -1.79019835e-03 9.99692408e-01 6.92320620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.400714057 meters Centerline goodness [0,1] 0.9878317328429703 Centerline is valid? [True, True] Translation: X:66.32, Y:-2.59, Z:0.69 [[ 9.99269827e-01 -2.92768321e-02 -2.45495214e-02 6.63174156e+01] [ 2.93115976e-02 9.99569764e-01 1.05741302e-03 -2.59122240e+00] [ 2.45080016e-02 -1.77622662e-03 9.99698056e-01 6.92486015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.430714057 meters Centerline goodness [0,1] 0.9876394810850041 Centerline is valid? [True, True] Translation: X:66.35, Y:-2.59, Z:0.69 [[ 9.99257379e-01 -2.98147615e-02 -2.44084305e-02 6.63471470e+01] [ 2.98492881e-02 9.99553858e-01 1.05133586e-03 -2.59490262e+00] [ 2.43661955e-02 -1.77912939e-03 9.99701517e-01 6.92383036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.460714057 meters Centerline goodness [0,1] 0.9871986586913177 Centerline is valid? [True, True] Translation: X:66.38, Y:-2.60, Z:0.69 [[ 9.99228468e-01 -3.06685474e-02 -2.45338302e-02 6.63778922e+01] [ 3.07036999e-02 9.99527971e-01 1.05731770e-03 -2.59678535e+00] [ 2.44898231e-02 -1.80978131e-03 9.99698441e-01 6.92570777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.490714057 meters Centerline goodness [0,1] 0.9857061954921282 Centerline is valid? [True, True] Translation: X:66.41, Y:-2.60, Z:0.69 [[ 9.99234514e-01 -3.09970233e-02 -2.38656869e-02 6.64081258e+01] [ 3.10304074e-02 9.99517911e-01 1.02968388e-03 -2.60058616e+00] [ 2.38222644e-02 -1.76945766e-03 9.99714644e-01 6.92741405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.520714057 meters Centerline goodness [0,1] 0.9851915587356218 Centerline is valid? [True, True] Translation: X:66.44, Y:-2.60, Z:0.69 [[ 9.99228721e-01 -3.16712655e-02 -2.32140844e-02 6.64386508e+01] [ 3.17030504e-02 9.99496829e-01 1.00236806e-03 -2.60423279e+00] [ 2.31706575e-02 -1.73755224e-03 9.99730014e-01 6.94113189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55071405700001 meters Centerline goodness [0,1] 0.9858103061986557 Centerline is valid? [True, True] Translation: X:66.47, Y:-2.60, Z:0.69 [[ 9.99211415e-01 -3.23777454e-02 -2.29832506e-02 6.64698113e+01] [ 3.24091002e-02 9.99474194e-01 9.92975728e-04 -2.60389575e+00] [ 2.29390156e-02 -1.73705915e-03 9.99735357e-01 6.94769863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58071405700001 meters Centerline goodness [0,1] 0.9826094812204982 Centerline is valid? [True, True] Translation: X:66.50, Y:-2.61, Z:0.69 [[ 9.99191510e-01 -3.29666648e-02 -2.30114041e-02 6.65000494e+01] [ 3.29982652e-02 9.99454914e-01 9.94780161e-04 -2.61039901e+00] [ 2.29660663e-02 -1.75331231e-03 9.99734708e-01 6.94186055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61071405700001 meters Centerline goodness [0,1] 0.9876747400140472 Centerline is valid? [True, True] Translation: X:66.53, Y:-2.60, Z:0.70 [[ 9.99184762e-01 -3.32087755e-02 -2.29562167e-02 6.65313080e+01] [ 3.32403063e-02 9.99446895e-01 9.93195630e-04 -2.60387919e+00] [ 2.29105367e-02 -1.75545762e-03 9.99735978e-01 6.95133284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.640714057 meters Centerline goodness [0,1] 0.9860768935198788 Centerline is valid? [True, True] Translation: X:66.56, Y:-2.61, Z:0.69 [[ 9.99156836e-01 -3.38881786e-02 -2.31777522e-02 6.65616213e+01] [ 3.39205224e-02 9.99424030e-01 1.00362830e-03 -2.60940964e+00] [ 2.31303914e-02 -1.78898354e-03 9.99730856e-01 6.94616221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.670714057 meters Centerline goodness [0,1] 0.988052947165969 Centerline is valid? [True, True] Translation: X:66.59, Y:-2.61, Z:0.70 [[ 9.99112751e-01 -3.47658120e-02 -2.37707702e-02 6.65933863e+01] [ 3.48000949e-02 9.99393763e-01 1.02995777e-03 -2.60625909e+00] [ 2.37205522e-02 -1.85626900e-03 9.99716905e-01 6.95715248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.700714057 meters Centerline goodness [0,1] 0.9873263024487394 Centerline is valid? [True, True] Translation: X:66.62, Y:-2.61, Z:0.70 [[ 9.99075966e-01 -3.55376280e-02 -2.41721181e-02 6.66247006e+01] [ 3.55733243e-02 9.99366519e-01 1.04822184e-03 -2.60762620e+00] [ 2.41195542e-02 -1.90713584e-03 9.99707262e-01 6.96266063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.730714057 meters Centerline goodness [0,1] 0.986893039049236 Centerline is valid? [True, True] Translation: X:66.66, Y:-2.61, Z:0.70 [[ 9.99004062e-01 -3.75734142e-02 -2.40649659e-02 6.66552188e+01] [ 3.76093967e-02 9.99291971e-01 1.04421247e-03 -2.61092318e+00] [ 2.40086925e-02 -1.94824134e-03 9.99709851e-01 6.96786608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.760714057 meters Centerline goodness [0,1] 0.9867073584265853 Centerline is valid? [True, True] Translation: X:66.69, Y:-2.61, Z:0.70 [[ 9.98978517e-01 -3.83647803e-02 -2.38760398e-02 6.66863112e+01] [ 3.84004397e-02 9.99261893e-01 1.03665796e-03 -2.61318344e+00] [ 2.38186456e-02 -1.95244945e-03 9.99714389e-01 6.97075351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.790714057 meters Centerline goodness [0,1] 0.9863778068946821 Centerline is valid? [True, True] Translation: X:66.72, Y:-2.62, Z:0.70 [[ 9.98945767e-01 -3.91966466e-02 -2.38951175e-02 6.67175591e+01] [ 3.92326198e-02 9.99229565e-01 1.03834177e-03 -2.61652090e+00] [ 2.38360084e-02 -1.97471518e-03 9.99713932e-01 6.97369611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.820714057 meters Centerline goodness [0,1] 0.986024739377219 Centerline is valid? [True, True] Translation: X:66.75, Y:-2.62, Z:0.70 [[ 9.98911504e-01 -4.01043921e-02 -2.38210836e-02 6.67489192e+01] [ 4.01404241e-02 9.99193511e-01 1.03618621e-03 -2.62081947e+00] [ 2.37603165e-02 -1.99124672e-03 9.99715701e-01 6.97695194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.850714057 meters Centerline goodness [0,1] 0.987431780610974 Centerline is valid? [True, True] Translation: X:66.78, Y:-2.62, Z:0.70 [[ 9.98882306e-01 -4.05995608e-02 -2.42036186e-02 6.67812468e+01] [ 4.06369410e-02 9.99173422e-01 1.05435686e-03 -2.62020265e+00] [ 2.41408060e-02 -2.03673943e-03 9.99706494e-01 6.98429613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.880714057 meters Centerline goodness [0,1] 0.9878310827622085 Centerline is valid? [True, True] Translation: X:66.81, Y:-2.62, Z:0.70 [[ 9.98882722e-01 -4.05547083e-02 -2.42615777e-02 6.68136565e+01] [ 4.05922972e-02 9.99175232e-01 1.05863784e-03 -2.62004581e+00] [ 2.41986348e-02 -2.04228822e-03 9.99705084e-01 6.99399789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.910714057 meters Centerline goodness [0,1] 0.9867599130907115 Centerline is valid? [True, True] Translation: X:66.85, Y:-2.62, Z:0.70 [[ 9.98880887e-01 -4.04986834e-02 -2.44301072e-02 6.68459766e+01] [ 4.05368233e-02 9.99177475e-01 1.06777223e-03 -2.62180864e+00] [ 2.43667694e-02 -2.05689621e-03 9.99700970e-01 6.99352035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94071405700001 meters Centerline goodness [0,1] 0.9866365688487585 Centerline is valid? [True, True] Translation: X:66.88, Y:-2.63, Z:0.70 [[ 9.98871647e-01 -4.06440121e-02 -2.45661862e-02 6.68771840e+01] [ 4.06826599e-02 9.99171539e-01 1.07527014e-03 -2.62539445e+00] [ 2.45021308e-02 -2.07347465e-03 9.99697627e-01 6.98911505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97071405700001 meters Centerline goodness [0,1] 0.9861794860214083 Centerline is valid? [True, True] Translation: X:66.91, Y:-2.63, Z:0.70 [[ 9.98864830e-01 -4.06289264e-02 -2.48664938e-02 6.69077852e+01] [ 4.06685539e-02 9.99172098e-01 1.08975895e-03 -2.62916596e+00] [ 2.48016310e-02 -2.09980623e-03 9.99690187e-01 6.98763405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00071405700001 meters Centerline goodness [0,1] 0.9868729172295776 Centerline is valid? [True, True] Translation: X:66.94, Y:-2.63, Z:0.70 [[ 9.98872625e-01 -4.08583013e-02 -2.41677279e-02 6.69403094e+01] [ 4.08958350e-02 9.99162852e-01 1.06063572e-03 -2.62945559e+00] [ 2.41041601e-02 -2.04779939e-03 9.99707355e-01 7.00041541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.030714057 meters Centerline goodness [0,1] 0.9864455789996838 Centerline is valid? [True, True] Translation: X:66.97, Y:-2.63, Z:0.70 [[ 9.98865828e-01 -4.09981022e-02 -2.42118457e-02 6.69726211e+01] [ 4.10358556e-02 9.99157108e-01 1.06430084e-03 -2.63231138e+00] [ 2.41478034e-02 -2.05664755e-03 9.99706284e-01 7.00650038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.060714057 meters Centerline goodness [0,1] 0.986651333739205 Centerline is valid? [True, True] Translation: X:67.00, Y:-2.63, Z:0.70 [[ 9.98889055e-01 -4.04692675e-02 -2.41431861e-02 6.70044960e+01] [ 4.05066897e-02 9.99178702e-01 1.06277453e-03 -2.63364035e+00] [ 2.40803476e-02 -2.03955439e-03 9.99707946e-01 7.01144170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.090714057 meters Centerline goodness [0,1] 0.9871033314511576 Centerline is valid? [True, True] Translation: X:67.04, Y:-2.63, Z:0.70 [[ 9.98940301e-01 -3.92661516e-02 -2.40092369e-02 6.70364075e+01] [ 3.93028454e-02 9.99226784e-01 1.05816959e-03 -2.63101889e+00] [ 2.39491223e-02 -2.00067958e-03 9.99711177e-01 7.02655473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.120714057 meters Centerline goodness [0,1] 0.9855536996072413 Centerline is valid? [True, True] Translation: X:67.07, Y:-2.64, Z:0.70 [[ 9.98956271e-01 -3.83497106e-02 -2.48126457e-02 6.70669787e+01] [ 3.83886494e-02 9.99262284e-01 1.09471240e-03 -2.63619546e+00] [ 2.47523592e-02 -2.04609377e-03 9.99691520e-01 7.02051015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.150714057 meters Centerline goodness [0,1] 0.9859561977873109 Centerline is valid? [True, True] Translation: X:67.10, Y:-2.64, Z:0.70 [[ 9.98998153e-01 -3.73215500e-02 -2.46939545e-02 6.70981634e+01] [ 3.73598269e-02 9.99301283e-01 1.09035698e-03 -2.63648690e+00] [ 2.46360066e-02 -2.01182648e-03 9.99694463e-01 7.02127461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.180714057 meters Centerline goodness [0,1] 0.9861981868206215 Centerline is valid? [True, True] Translation: X:67.13, Y:-2.64, Z:0.70 [[ 9.99004423e-01 -3.67028037e-02 -2.53587480e-02 6.71281612e+01] [ 3.67429889e-02 9.99324120e-01 1.12038013e-03 -2.63974729e+00] [ 2.53004875e-02 -2.05102091e-03 9.99677787e-01 7.02216523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.210714057 meters Centerline goodness [0,1] 0.9877053811557845 Centerline is valid? [True, True] Translation: X:67.16, Y:-2.63, Z:0.70 [[ 9.99028401e-01 -3.57948241e-02 -2.57096108e-02 6.71594969e+01] [ 3.58358491e-02 9.99357043e-01 1.13659741e-03 -2.63472463e+00] [ 2.56523963e-02 -2.05681883e-03 9.99668807e-01 7.03133853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.240714057 meters Centerline goodness [0,1] 0.9875 Centerline is valid? [True, True] Translation: X:67.19, Y:-2.64, Z:0.70 [[ 9.99049316e-01 -3.51655354e-02 -2.57652614e-02 6.71900616e+01] [ 3.52065479e-02 9.99379407e-01 1.13973912e-03 -2.63769906e+00] [ 2.57091921e-02 -2.04576149e-03 9.99667371e-01 7.03143542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.270714057 meters Centerline goodness [0,1] 0.9861204538320104 Centerline is valid? [True, True] Translation: X:67.22, Y:-2.65, Z:0.70 [[ 9.99081928e-01 -3.42518330e-02 -2.57315546e-02 6.72203020e+01] [ 3.42924489e-02 9.99411192e-01 1.13870877e-03 -2.64570383e+00] [ 2.56774008e-02 -2.02006138e-03 9.99668240e-01 7.02579566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30071405700001 meters Centerline goodness [0,1] 0.9884308330702268 Centerline is valid? [True, True] Translation: X:67.25, Y:-2.64, Z:0.70 [[ 9.99103502e-01 -3.36979693e-02 -2.56249844e-02 6.72519384e+01] [ 3.37380863e-02 9.99430065e-01 1.13469659e-03 -2.64005646e+00] [ 2.55721428e-02 -1.99821727e-03 9.99670982e-01 7.04312926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33071405700001 meters Centerline goodness [0,1] 0.9879580444764563 Centerline is valid? [True, True] Translation: X:67.28, Y:-2.64, Z:0.70 [[ 9.99141030e-01 -3.29431845e-02 -2.51385913e-02 6.72823440e+01] [ 3.29815655e-02 9.99455340e-01 1.11357194e-03 -2.64161706e+00] [ 2.50882147e-02 -1.94172551e-03 9.99683355e-01 7.04690629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36071405700001 meters Centerline goodness [0,1] 0.9877513340688537 Centerline is valid? [True, True] Translation: X:67.31, Y:-2.64, Z:0.70 [[ 9.99165970e-01 -3.09647301e-02 -2.66186026e-02 6.73125214e+01] [ 3.10070673e-02 9.99518470e-01 1.17913245e-03 -2.64265456e+00] [ 2.65692734e-02 -2.00351382e-03 9.99644967e-01 7.04916485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.390714057 meters Centerline goodness [0,1] 0.9877513340688537 Centerline is valid? [True, True] Translation: X:67.34, Y:-2.64, Z:0.71 [[ 9.99165970e-01 -3.09647301e-02 -2.66186026e-02 6.73425784e+01] [ 3.10070673e-02 9.99518470e-01 1.17913245e-03 -2.64398600e+00] [ 2.65692734e-02 -2.00351382e-03 9.99644967e-01 7.05271251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.420714057 meters Centerline goodness [0,1] 0.9881811620353663 Centerline is valid? [True, True] Translation: X:67.37, Y:-2.64, Z:0.71 [[ 9.99188531e-01 -2.99564230e-02 -2.69238330e-02 6.73727641e+01] [ 2.99993658e-02 9.99549207e-01 1.19238020e-03 -2.64107048e+00] [ 2.68759764e-02 -1.99911054e-03 9.99636777e-01 7.06070469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.450714057 meters Centerline goodness [0,1] 0.9879216146656432 Centerline is valid? [True, True] Translation: X:67.40, Y:-2.64, Z:0.71 [[ 9.99236827e-01 -2.75731671e-02 -2.76673713e-02 6.74023138e+01] [ 2.76175931e-02 9.99617811e-01 1.22480633e-03 -2.64149034e+00] [ 2.76230254e-02 -1.98797779e-03 9.99616435e-01 7.06013978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.480714057 meters Centerline goodness [0,1] 0.9887238474775836 Centerline is valid? [True, True] Translation: X:67.43, Y:-2.64, Z:0.71 [[ 9.99274947e-01 -2.62625408e-02 -2.75655381e-02 6.74306921e+01] [ 2.63061076e-02 9.99653191e-01 1.21897037e-03 -2.64259265e+00] [ 2.75239649e-02 -1.94322857e-03 9.99619255e-01 7.06583557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.510714057 meters Centerline goodness [0,1] 0.9886224559176828 Centerline is valid? [True, True] Translation: X:67.46, Y:-2.64, Z:0.71 [[ 9.99359555e-01 -2.34493926e-02 -2.70297369e-02 6.74606001e+01] [ 2.34902208e-02 9.99723354e-01 1.19391357e-03 -2.63814936e+00] [ 2.69942626e-02 -1.82808342e-03 9.99633917e-01 7.08236932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.540714057 meters Centerline goodness [0,1] 0.9879876470321086 Centerline is valid? [True, True] Translation: X:67.49, Y:-2.64, Z:0.71 [[ 9.99405084e-01 -2.20565042e-02 -2.65139302e-02 6.74892140e+01] [ 2.20952618e-02 9.99755186e-01 1.16966848e-03 -2.63853619e+00] [ 2.64816404e-02 -1.75480486e-03 9.99647760e-01 7.08824592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.570714057 meters Centerline goodness [0,1] 0.9889748417685624 Centerline is valid? [True, True] Translation: X:67.52, Y:-2.64, Z:0.71 [[ 9.99427294e-01 -2.12657365e-02 -2.63220844e-02 6.75173029e+01] [ 2.13035455e-02 9.99772385e-01 1.15677367e-03 -2.63928063e+00] [ 2.62914934e-02 -1.71686491e-03 9.99652845e-01 7.09954856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.600714057 meters Centerline goodness [0,1] 0.9882965184983183 Centerline is valid? [True, True] Translation: X:67.55, Y:-2.64, Z:0.71 [[ 9.99506369e-01 -1.93568869e-02 -2.47452957e-02 6.75470551e+01] [ 1.93896388e-02 9.99811415e-01 1.08428500e-03 -2.63963321e+00] [ 2.47196408e-02 -1.56355211e-03 9.99693200e-01 7.11672627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.630714057 meters Centerline goodness [0,1] 0.9883966484252594 Centerline is valid? [True, True] Translation: X:67.57, Y:-2.64, Z:0.71 [[ 9.99509050e-01 -1.92426862e-02 -2.47260659e-02 6.75748501e+01] [ 1.92753144e-02 9.99813629e-01 1.08190644e-03 -2.64180933e+00] [ 2.47006389e-02 -1.55797797e-03 9.99693679e-01 7.12377053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.660714057 meters Centerline goodness [0,1] 0.9880038169673285 Centerline is valid? [True, True] Translation: X:67.60, Y:-2.65, Z:0.71 [[ 9.99489691e-01 -2.03001032e-02 -2.46630016e-02 6.76026918e+01] [ 2.03328332e-02 9.99792686e-01 1.07701737e-03 -2.64510442e+00] [ 2.46360250e-02 -1.57793646e-03 9.99695242e-01 7.12004877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69071405700001 meters Centerline goodness [0,1] 0.9879852546306831 Centerline is valid? [True, True] Translation: X:67.63, Y:-2.64, Z:0.71 [[ 9.99447194e-01 -2.17854012e-02 -2.51138023e-02 6.76318492e+01] [ 2.18196964e-02 9.99761325e-01 1.09233870e-03 -2.64277654e+00] [ 2.50840113e-02 -1.63971039e-03 9.99684002e-01 7.12539661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72071405700001 meters Centerline goodness [0,1] 0.987823993094205 Centerline is valid? [True, True] Translation: X:67.66, Y:-2.65, Z:0.71 [[ 9.99350975e-01 -2.48425250e-02 -2.60859592e-02 6.76605275e+01] [ 2.48804715e-02 9.99689793e-01 1.13105982e-03 -2.64957865e+00] [ 2.60497688e-02 -1.77935671e-03 9.99659064e-01 7.10495382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75071405700001 meters Centerline goodness [0,1] 0.9875444436895623 Centerline is valid? [True, True] Translation: X:67.69, Y:-2.65, Z:0.71 [[ 9.99312560e-01 -2.63696324e-02 -2.60585905e-02 6.76900769e+01] [ 2.64079918e-02 9.99650611e-01 1.12894687e-03 -2.64933965e+00] [ 2.60197160e-02 -1.81632584e-03 9.99659780e-01 7.10852088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.780714057 meters Centerline goodness [0,1] 0.9862700228832952 Centerline is valid? [True, True] Translation: X:67.72, Y:-2.66, Z:0.71 [[ 9.99238820e-01 -2.92322034e-02 -2.58313362e-02 6.77187270e+01] [ 2.92708298e-02 9.99570892e-01 1.11840325e-03 -2.65963861e+00] [ 2.57875583e-02 -1.87365659e-03 9.99665690e-01 7.09896879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.810714057 meters Centerline goodness [0,1] 0.9853862212943633 Centerline is valid? [True, True] Translation: X:67.75, Y:-2.66, Z:0.71 [[ 9.99176279e-01 -3.09992704e-02 -2.61879637e-02 6.77484899e+01] [ 3.10395557e-02 9.99517515e-01 1.13311632e-03 -2.66230032e+00] [ 2.61402026e-02 -1.94504570e-03 9.99656394e-01 7.09974790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.840714057 meters Centerline goodness [0,1] 0.979214624238321 Centerline is valid? [True, True] Translation: X:67.78, Y:-2.67, Z:0.71 [[ 9.99086014e-01 -3.44459746e-02 -2.53103011e-02 6.77779434e+01] [ 3.44846861e-02 9.99404627e-01 1.09446127e-03 -2.67189741e+00] [ 2.52575323e-02 -1.96627873e-03 9.99679044e-01 7.09238236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.870714057 meters Centerline goodness [0,1] 0.9851236301059687 Centerline is valid? [True, True] Translation: X:67.81, Y:-2.66, Z:0.71 [[ 9.99036785e-01 -3.60946450e-02 -2.49535471e-02 6.78094844e+01] [ 3.61327888e-02 9.99346415e-01 1.07924989e-03 -2.66319669e+00] [ 2.48982827e-02 -1.97985158e-03 9.99688029e-01 7.11797415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.900714057 meters Centerline goodness [0,1] 0.983479677740563 Centerline is valid? [True, True] Translation: X:67.84, Y:-2.67, Z:0.71 [[ 9.99002178e-01 -3.75080168e-02 -2.42445221e-02 6.78401116e+01] [ 3.75444517e-02 9.99294408e-01 1.04921165e-03 -2.66640078e+00] [ 2.41880616e-02 -1.95841202e-03 9.99705508e-01 7.11668802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.930714057 meters Centerline goodness [0,1] 0.982020702070207 Centerline is valid? [True, True] Translation: X:67.87, Y:-2.67, Z:0.71 [[ 9.98919523e-01 -4.00564651e-02 -2.35640907e-02 6.78706176e+01] [ 4.00915992e-02 9.99195488e-01 1.02027883e-03 -2.67102218e+00] [ 2.35042644e-02 -1.96389853e-03 9.99721808e-01 7.11833059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.960714057 meters Centerline goodness [0,1] 0.9801737330092718 Centerline is valid? [True, True] Translation: X:67.90, Y:-2.68, Z:0.71 [[ 9.98862932e-01 -4.20913937e-02 -2.23865355e-02 6.79018979e+01] [ 4.21236253e-02 9.99111935e-01 9.69959833e-04 -2.67532302e+00] [ 2.23258278e-02 -1.91185896e-03 9.99748920e-01 7.12534355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.990714057 meters Centerline goodness [0,1] 0.9804314989742318 Centerline is valid? [True, True] Translation: X:67.93, Y:-2.68, Z:0.71 [[ 9.98835612e-01 -4.30189142e-02 -2.18355947e-02 6.79341066e+01] [ 4.30498227e-02 9.99072478e-01 9.47202580e-04 -2.67696908e+00] [ 2.17745941e-02 -1.88611815e-03 9.99761126e-01 7.12918234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.020714057 meters Centerline goodness [0,1] 0.9808180980008545 Centerline is valid? [True, True] Translation: X:67.97, Y:-2.68, Z:0.71 [[ 9.98808718e-01 -4.37561703e-02 -2.15995779e-02 6.79657804e+01] [ 4.37866141e-02 9.99040466e-01 9.38311599e-04 -2.67876369e+00] [ 2.15377955e-02 -1.88296619e-03 9.99766262e-01 7.13554384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05071405700001 meters Centerline goodness [0,1] 0.9677586168131843 Centerline is valid? [True, True] Translation: X:68.00, Y:-2.69, Z:0.71 [[ 9.98786268e-01 -4.46542820e-02 -2.07842759e-02 6.79962754e+01] [ 4.46826890e-02 9.99000821e-01 9.04133791e-04 -2.69180613e+00] [ 2.07231353e-02 -1.83173375e-03 9.99783575e-01 7.12063308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08071405700001 meters Centerline goodness [0,1] 0.9807597323874097 Centerline is valid? [True, True] Translation: X:68.03, Y:-2.68, Z:0.71 [[ 9.98790344e-01 -4.46539295e-02 -2.05882498e-02 6.80289220e+01] [ 4.46818331e-02 9.99000865e-01 8.97078158e-04 -2.67925119e+00] [ 2.05276213e-02 -1.81591374e-03 9.99787637e-01 7.13561687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11071405700001 meters Centerline goodness [0,1] 0.9682450375838322 Centerline is valid? [True, True] Translation: X:68.06, Y:-2.69, Z:0.71 [[ 9.98824341e-01 -4.37906341e-02 -2.07922034e-02 6.80600649e+01] [ 4.38189395e-02 9.99039077e-01 9.07491196e-04 -2.69476849e+00] [ 2.07324841e-02 -1.81751660e-03 9.99783407e-01 7.11759085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.140714057 meters Centerline goodness [0,1] 0.9801788844442447 Centerline is valid? [True, True] Translation: X:68.09, Y:-2.68, Z:0.71 [[ 9.98836398e-01 -4.33659530e-02 -2.11008251e-02 6.80929850e+01] [ 4.33950436e-02 9.99057566e-01 9.22499566e-04 -2.68230052e+00] [ 2.10409339e-02 -1.83709737e-03 9.99776927e-01 7.12970378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.170714057 meters Centerline goodness [0,1] 0.9799856076279572 Centerline is valid? [True, True] Translation: X:68.13, Y:-2.69, Z:0.71 [[ 9.98837992e-01 -4.29201375e-02 -2.19209578e-02 6.81253584e+01] [ 4.29514666e-02 9.99076699e-01 9.60152159e-04 -2.68563381e+00] [ 2.18595083e-02 -1.90057374e-03 9.99759246e-01 7.12494055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.200714057 meters Centerline goodness [0,1] 0.9791099205366589 Centerline is valid? [True, True] Translation: X:68.16, Y:-2.69, Z:0.71 [[ 9.98824041e-01 -4.32507135e-02 -2.19068738e-02 6.81572458e+01] [ 4.32821204e-02 9.99062427e-01 9.61323902e-04 -2.68833720e+00] [ 2.18447565e-02 -1.90836937e-03 9.99759553e-01 7.11954784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.230714057 meters Centerline goodness [0,1] 0.979757906363411 Centerline is valid? [True, True] Translation: X:68.19, Y:-2.69, Z:0.71 [[ 9.98775660e-01 -4.40051066e-02 -2.25993658e-02 6.81895386e+01] [ 4.40387600e-02 9.99029329e-01 9.93365230e-04 -2.69008402e+00] [ 2.25337162e-02 -1.98739706e-03 9.99744108e-01 7.11014669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.260714057 meters Centerline goodness [0,1] 0.9788903376646734 Centerline is valid? [True, True] Translation: X:68.22, Y:-2.69, Z:0.71 [[ 9.98757550e-01 -4.44174353e-02 -2.25930972e-02 6.82215607e+01] [ 4.44512110e-02 9.99011061e-01 9.94700872e-04 -2.69226239e+00] [ 2.25265719e-02 -1.99775553e-03 9.99744249e-01 7.10888891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.290714057 meters Centerline goodness [0,1] 0.9787334487332239 Centerline is valid? [True, True] Translation: X:68.25, Y:-2.69, Z:0.71 [[ 9.98737045e-01 -4.50803629e-02 -2.21827602e-02 6.82539945e+01] [ 4.51131191e-02 9.98981406e-01 9.78190607e-04 -2.69403403e+00] [ 2.21160678e-02 -1.97768870e-03 9.99753454e-01 7.11198977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.320714057 meters Centerline goodness [0,1] 0.9772635089458741 Centerline is valid? [True, True] Translation: X:68.29, Y:-2.70, Z:0.71 [[ 9.98707059e-01 -4.60549382e-02 -2.15209982e-02 6.82858465e+01] [ 4.60860251e-02 9.98937022e-01 9.50501648e-04 -2.69726082e+00] [ 2.14543466e-02 -1.94108997e-03 9.99767945e-01 7.11700263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.350714057 meters Centerline goodness [0,1] 0.9793714491838759 Centerline is valid? [True, True] Translation: X:68.32, Y:-2.69, Z:0.71 [[ 9.98701691e-01 -4.63643595e-02 -2.11016185e-02 6.83183617e+01] [ 4.63943459e-02 9.98922766e-01 9.33460763e-04 -2.69446248e+00] [ 2.10356078e-02 -1.91124463e-03 9.99776900e-01 7.12628392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.380714057 meters Centerline goodness [0,1] 0.9768414425757712 Centerline is valid? [True, True] Translation: X:68.35, Y:-2.70, Z:0.71 [[ 9.98700867e-01 -4.64383434e-02 -2.09775724e-02 6.83492759e+01] [ 4.64680224e-02 9.98919346e-01 9.29308346e-04 -2.70112224e+00] [ 2.09117474e-02 -1.90288736e-03 9.99779515e-01 7.12317458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.410714057 meters Centerline goodness [0,1] 0.9769908725976094 Centerline is valid? [True, True] Translation: X:68.38, Y:-2.70, Z:0.71 [[ 9.98705910e-01 -4.63088651e-02 -2.10236514e-02 6.83819967e+01] [ 4.63386763e-02 9.98925351e-01 9.32785750e-04 -2.70151230e+00] [ 2.09578621e-02 -1.90578682e-03 9.99778543e-01 7.12815704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44071405700001 meters Centerline goodness [0,1] 0.9756372151670719 Centerline is valid? [True, True] Translation: X:68.41, Y:-2.70, Z:0.71 [[ 9.98709479e-01 -4.62539376e-02 -2.09749973e-02 6.84132154e+01] [ 4.62836303e-02 9.98927904e-01 9.32125938e-04 -2.70380424e+00] [ 2.09093956e-02 -1.90172203e-03 9.99779566e-01 7.12648396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47071405700001 meters Centerline goodness [0,1] 0.9793258933603878 Centerline is valid? [True, True] Translation: X:68.45, Y:-2.70, Z:0.71 [[ 9.98728636e-01 -4.58850280e-02 -2.08728419e-02 6.84456836e+01] [ 4.59143783e-02 9.98944947e-01 9.28841349e-04 -2.69994810e+00] [ 2.08082000e-02 -1.88602401e-03 9.99781707e-01 7.13635065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50071405700001 meters Centerline goodness [0,1] 0.9746398085000677 Centerline is valid? [True, True] Translation: X:68.48, Y:-2.71, Z:0.71 [[ 9.98759722e-01 -4.54293055e-02 -2.03763660e-02 6.84770615e+01] [ 4.54572107e-02 9.98965874e-01 9.08174819e-04 -2.70637174e+00] [ 2.03140365e-02 -1.83330119e-03 9.99791968e-01 7.13479083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.530714057 meters Centerline goodness [0,1] 0.9734271728587219 Centerline is valid? [True, True] Translation: X:68.51, Y:-2.71, Z:0.71 [[ 9.98819073e-01 -4.45706807e-02 -1.93368360e-02 6.85095476e+01] [ 4.45956763e-02 9.99004745e-01 8.63149119e-04 -2.70693703e+00] [ 1.92791198e-02 -1.72446908e-03 9.99812653e-01 7.14290556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.560714057 meters Centerline goodness [0,1] 0.9713086074177747 Centerline is valid? [True, True] Translation: X:68.54, Y:-2.71, Z:0.71 [[ 9.98894676e-01 -4.36508000e-02 -1.74365459e-02 6.85396833e+01] [ 4.36710068e-02 9.99045662e-01 7.79618090e-04 -2.70948134e+00] [ 1.73858746e-02 -1.54022788e-03 9.99847668e-01 7.14891124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.590714057 meters Centerline goodness [0,1] 0.9783615296004337 Centerline is valid? [True, True] Translation: X:68.57, Y:-2.70, Z:0.72 [[ 9.98913706e-01 -4.33506607e-02 -1.70917477e-02 6.85725539e+01] [ 4.33700589e-02 9.99058783e-01 7.65746392e-04 -2.70013572e+00] [ 1.70424651e-02 -1.50618467e-03 9.99853632e-01 7.15997869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.620714057 meters Centerline goodness [0,1] 0.9709122164167289 Centerline is valid? [True, True] Translation: X:68.60, Y:-2.71, Z:0.72 [[ 9.98934346e-01 -4.28283990e-02 -1.72017491e-02 6.86037205e+01] [ 4.28479924e-02 9.99081305e-01 7.71923193e-04 -2.71146244e+00] [ 1.71528857e-02 -1.50816101e-03 9.99851741e-01 7.15857228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.650714057 meters Centerline goodness [0,1] 0.9792986425339366 Centerline is valid? [True, True] Translation: X:68.64, Y:-2.70, Z:0.72 [[ 9.98975497e-01 -4.17024407e-02 -1.75744906e-02 6.86360359e+01] [ 4.17227401e-02 9.99128915e-01 7.89824444e-04 -2.70117915e+00] [ 1.75262442e-02 -1.52227117e-03 9.99845245e-01 7.15770409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.680714057 meters Centerline goodness [0,1] 0.9804571350750164 Centerline is valid? [True, True] Translation: X:68.67, Y:-2.70, Z:0.72 [[ 9.99002818e-01 -4.08903041e-02 -1.79263298e-02 6.86680178e+01] [ 4.09113143e-02 9.99162456e-01 8.06719448e-04 -2.69826502e+00] [ 1.78783287e-02 -1.53930471e-03 9.99838985e-01 7.16385955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.710714057 meters Centerline goodness [0,1] 0.9801533297042279 Centerline is valid? [True, True] Translation: X:68.70, Y:-2.70, Z:0.72 [[ 9.99026726e-01 -3.97683571e-02 -1.90808194e-02 6.86982531e+01] [ 3.97919777e-02 9.99207616e-01 8.59710051e-04 -2.70093036e+00] [ 1.90315108e-02 -1.61813686e-03 9.99817575e-01 7.15494198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.740714057 meters Centerline goodness [0,1] 0.9818875119161106 Centerline is valid? [True, True] Translation: X:68.73, Y:-2.70, Z:0.72 [[ 9.99039046e-01 -3.91779961e-02 -1.96486527e-02 6.87308404e+01] [ 3.92029458e-02 9.99230876e-01 8.86076536e-04 -2.69815828e+00] [ 1.95988257e-02 -1.65551012e-03 9.99806554e-01 7.15368917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.770714057 meters Centerline goodness [0,1] 0.9817381638347588 Centerline is valid? [True, True] Translation: X:68.76, Y:-2.70, Z:0.71 [[ 9.99089131e-01 -3.79140846e-02 -1.95813883e-02 6.87611318e+01] [ 3.79386553e-02 9.99279678e-01 8.84712372e-04 -2.69959303e+00] [ 1.95337403e-02 -1.62679806e-03 9.99807875e-01 7.14884886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80071405700001 meters Centerline goodness [0,1] 0.9811697898921068 Centerline is valid? [True, True] Translation: X:68.79, Y:-2.70, Z:0.72 [[ 9.99111968e-01 -3.73686349e-02 -1.94643436e-02 6.87935450e+01] [ 3.73928445e-02 9.99300255e-01 8.81207827e-04 -2.70042036e+00] [ 1.94177940e-02 -1.60825246e-03 9.99810163e-01 7.15585543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83071405700001 meters Centerline goodness [0,1] 0.9822005375979761 Centerline is valid? [True, True] Translation: X:68.82, Y:-2.70, Z:0.72 [[ 9.99156943e-01 -3.64291735e-02 -1.89292906e-02 6.88245865e+01] [ 3.64519229e-02 9.99335039e-01 8.58051394e-04 -2.70011547e+00] [ 1.88854453e-02 -1.54733705e-03 9.99820457e-01 7.15484958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86071405700001 meters Centerline goodness [0,1] 0.9819672503463469 Centerline is valid? [True, True] Translation: X:68.86, Y:-2.70, Z:0.72 [[ 9.99241147e-01 -3.44189931e-02 -1.82335886e-02 6.88552595e+01] [ 3.44397756e-02 9.99406433e-01 8.26919838e-04 -2.69877937e+00] [ 1.81943040e-02 -1.45425303e-03 9.99833412e-01 7.17063554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.890714057 meters Centerline goodness [0,1] 0.9779932181789217 Centerline is valid? [True, True] Translation: X:68.89, Y:-2.71, Z:0.72 [[ 9.99291600e-01 -3.31926426e-02 -1.77354771e-02 6.88855783e+01] [ 3.32121168e-02 9.99448002e-01 8.04541256e-04 -2.70775523e+00] [ 1.76989823e-02 -1.39300405e-03 9.99842390e-01 7.17119377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.920714057 meters Centerline goodness [0,1] 0.9811989906108624 Centerline is valid? [True, True] Translation: X:68.92, Y:-2.70, Z:0.72 [[ 9.99392495e-01 -3.00858109e-02 -1.75921927e-02 6.89166854e+01] [ 3.01045021e-02 9.99546438e-01 7.98555020e-04 -2.69544784e+00] [ 1.75601884e-02 -1.32767410e-03 9.99844927e-01 7.18184388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.950714057 meters Centerline goodness [0,1] 0.9831618334892422 Centerline is valid? [True, True] Translation: X:68.95, Y:-2.69, Z:0.72 [[ 9.99452833e-01 -2.83935548e-02 -1.69658737e-02 6.89481763e+01] [ 2.84107025e-02 9.99596038e-01 7.70503634e-04 -2.69457299e+00] [ 1.69371428e-02 -1.25209443e-03 9.99855772e-01 7.18786706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.980714057 meters Centerline goodness [0,1] 0.9830319318544163 Centerline is valid? [True, True] Translation: X:68.98, Y:-2.69, Z:0.72 [[ 9.99519151e-01 -2.62031770e-02 -1.65789377e-02 6.89796183e+01] [ 2.62192613e-02 9.99655932e-01 7.53514990e-04 -2.69370798e+00] [ 1.65534889e-02 -1.18784016e-03 9.99862276e-01 7.19535229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.010714057 meters Centerline goodness [0,1] 0.9852917702323672 Centerline is valid? [True, True] Translation: X:69.01, Y:-2.69, Z:0.72 [[ 9.99619528e-01 -2.16009260e-02 -1.71522337e-02 6.90108551e+01] [ 2.16174753e-02 9.99766011e-01 7.80007029e-04 -2.68963202e+00] [ 1.71313714e-02 -1.15049825e-03 9.99852585e-01 7.20881632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.040714057 meters Centerline goodness [0,1] 0.9844842557469952 Centerline is valid? [True, True] Translation: X:69.04, Y:-2.69, Z:0.72 [[ 9.99665038e-01 -1.90688988e-02 -1.74982747e-02 6.90410598e+01] [ 1.90857365e-02 9.99817534e-01 7.95742408e-04 -2.69068476e+00] [ 1.74799079e-02 -1.12944332e-03 9.99846577e-01 7.21043514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.070714057 meters Centerline goodness [0,1] 0.9852830274914874 Centerline is valid? [True, True] Translation: X:69.07, Y:-2.69, Z:0.72 [[ 9.99739294e-01 -1.34082446e-02 -1.84814173e-02 6.90707587e+01] [ 1.34260618e-02 9.99909513e-01 8.40314729e-04 -2.69062198e+00] [ 1.84684779e-02 -1.08822831e-03 9.99828851e-01 7.20768877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.100714057 meters Centerline goodness [0,1] 0.986299180234284 Centerline is valid? [True, True] Translation: X:69.10, Y:-2.69, Z:0.72 [[ 9.99770831e-01 -1.07479784e-02 -1.85139791e-02 6.91002328e+01] [ 1.07653951e-02 9.99941698e-01 8.41323090e-04 -2.69079053e+00] [ 1.85038571e-02 -1.04044058e-03 9.99828248e-01 7.20434698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.130714057 meters Centerline goodness [0,1] 0.9865256811382374 Centerline is valid? [True, True] Translation: X:69.13, Y:-2.69, Z:0.72 [[ 9.99807938e-01 -5.67849640e-03 -1.87574446e-02 6.91305336e+01] [ 5.69547644e-03 9.99983418e-01 8.51945377e-04 -2.68890885e+00] [ 1.87522958e-02 -9.58614334e-04 9.99823701e-01 7.20792569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.160714057 meters Centerline goodness [0,1] 0.9875708280021934 Centerline is valid? [True, True] Translation: X:69.16, Y:-2.68, Z:0.72 [[ 9.99813544e-01 -3.76659982e-03 -1.89390910e-02 6.91598080e+01] [ 3.78355737e-03 9.99992473e-01 8.59620378e-04 -2.68268191e+00] [ 1.89357106e-02 -9.31117234e-04 9.99820270e-01 7.22490763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19071405700001 meters Centerline goodness [0,1] 0.9882519980763506 Centerline is valid? [True, True] Translation: X:69.19, Y:-2.68, Z:0.72 [[ 9.99818223e-01 -3.00718907e-04 -1.90638672e-02 6.91884330e+01] [ 3.17248067e-04 9.99999576e-01 8.64022918e-04 -2.68472108e+00] [ 1.90635993e-02 -8.69913833e-04 9.99817895e-01 7.22802805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22071405700001 meters Centerline goodness [0,1] 0.9878657447685334 Centerline is valid? [True, True] Translation: X:69.22, Y:-2.68, Z:0.72 [[ 9.99818508e-01 9.80911042e-04 -1.90260131e-02 6.92169784e+01] [-9.64726204e-04 9.99999165e-01 8.59828560e-04 -2.68369414e+00] [ 1.90268406e-02 -8.41317614e-04 9.99818619e-01 7.22998817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25071405700001 meters Centerline goodness [0,1] 0.9894582790240333 Centerline is valid? [True, True] Translation: X:69.25, Y:-2.68, Z:0.72 [[ 9.99816120e-01 1.82035714e-03 -1.90896096e-02 6.92454827e+01] [-1.80430925e-03 9.99998004e-01 8.57850826e-04 -2.68498623e+00] [ 1.90911331e-02 -8.23249525e-04 9.99817409e-01 7.23227018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.280714057 meters Centerline goodness [0,1] 0.9894582790240333 Centerline is valid? [True, True] Translation: X:69.27, Y:-2.69, Z:0.72 [[ 9.99816308e-01 1.71215942e-03 -1.90897782e-02 6.92729350e+01] [-1.69616361e-03 9.99998197e-01 8.54084830e-04 -2.68612705e+00] [ 1.90912061e-02 -8.21548554e-04 9.99817409e-01 7.23552181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.310714057 meters Centerline goodness [0,1] 0.9887238598569411 Centerline is valid? [True, True] Translation: X:69.30, Y:-2.69, Z:0.72 [[ 9.99816063e-01 2.15998110e-03 -1.90571223e-02 6.93008171e+01] [-2.14415790e-03 9.99997339e-01 8.50696886e-04 -2.68959623e+00] [ 1.90589091e-02 -8.09678933e-04 9.99818035e-01 7.23791370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.340714057 meters Centerline goodness [0,1] 0.9880289848488291 Centerline is valid? [True, True] Translation: X:69.33, Y:-2.69, Z:0.73 [[ 9.99831049e-01 4.24291827e-04 -1.83764190e-02 6.93289862e+01] [-4.09315861e-04 9.99999581e-01 8.18709162e-04 -2.69360123e+00] [ 1.83767587e-02 -8.11049080e-04 9.99830804e-01 7.25117380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.370714057 meters Centerline goodness [0,1] 0.9867396289820849 Centerline is valid? [True, True] Translation: X:69.36, Y:-2.70, Z:0.73 [[ 9.99830649e-01 -1.32402515e-03 -1.83553811e-02 6.93568730e+01] [ 1.33923114e-03 9.99998770e-01 8.16154342e-04 -2.69800282e+00] [ 1.83542779e-02 -8.40598223e-04 9.99831193e-01 7.25597391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.400714057 meters Centerline goodness [0,1] 0.9876181388585968 Centerline is valid? [True, True] Translation: X:69.39, Y:-2.70, Z:0.73 [[ 9.99822789e-01 -3.23696216e-03 -1.85448819e-02 6.93865197e+01] [ 3.25278831e-03 9.99994371e-01 8.23296850e-04 -2.69986612e+00] [ 1.85421126e-02 -8.83473528e-04 9.99827690e-01 7.26802145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.430714057 meters Centerline goodness [0,1] 0.9872802434924817 Centerline is valid? [True, True] Translation: X:69.42, Y:-2.71, Z:0.73 [[ 9.99780891e-01 -8.50655253e-03 -1.91261072e-02 6.94156178e+01] [ 8.52433699e-03 9.99963307e-01 8.48517230e-04 -2.70768528e+00] [ 1.91181875e-02 -1.01136870e-03 9.99816719e-01 7.26432925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.460714057 meters Centerline goodness [0,1] 0.9872160376504661 Centerline is valid? [True, True] Translation: X:69.45, Y:-2.71, Z:0.73 [[ 9.99747482e-01 -1.13133122e-02 -1.94159853e-02 6.94452190e+01] [ 1.13321575e-02 9.99935418e-01 8.60858358e-04 -2.71106780e+00] [ 1.94049922e-02 -1.08066598e-03 9.99811121e-01 7.26355764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.490714057 meters Centerline goodness [0,1] 0.9859733923610327 Centerline is valid? [True, True] Translation: X:69.47, Y:-2.72, Z:0.73 [[ 9.99648354e-01 -1.76605507e-02 -1.97806148e-02 6.94737820e+01] [ 1.76813431e-02 9.99843288e-01 8.76740536e-04 -2.72477439e+00] [ 1.97620313e-02 -1.22618007e-03 9.99803960e-01 7.25646039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.520714057 meters Centerline goodness [0,1] 0.9859668881630814 Centerline is valid? [True, True] Translation: X:69.50, Y:-2.73, Z:0.73 [[ 9.99583096e-01 -2.07251086e-02 -2.01023393e-02 6.95032991e+01] [ 2.07472016e-02 9.99784357e-01 8.91068434e-04 -2.72961942e+00] [ 2.00795369e-02 -1.30776423e-03 9.99797530e-01 7.26068355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55071405700001 meters Centerline goodness [0,1] 0.9861186348862405 Centerline is valid? [True, True] Translation: X:69.53, Y:-2.74, Z:0.73 [[ 9.99518525e-01 -2.34092960e-02 -2.03647701e-02 6.95327250e+01] [ 2.34325171e-02 9.99725014e-01 9.02351184e-04 -2.73595798e+00] [ 2.03380467e-02 -1.37911455e-03 9.99792209e-01 7.25872552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58071405700001 meters Centerline goodness [0,1] 0.9859094598250518 Centerline is valid? [True, True] Translation: X:69.56, Y:-2.74, Z:0.73 [[ 9.99372229e-01 -2.76449348e-02 -2.21563781e-02 6.95613900e+01] [ 2.76734586e-02 9.99616534e-01 9.81751351e-04 -2.74498883e+00] [ 2.21207414e-02 -1.59427865e-03 9.99754035e-01 7.25290293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61071405700001 meters Centerline goodness [0,1] 0.9850263778201819 Centerline is valid? [True, True] Translation: X:69.59, Y:-2.75, Z:0.73 [[ 9.99325762e-01 -2.90473483e-02 -2.24560280e-02 6.95919321e+01] [ 2.90770071e-02 9.99576679e-01 9.95296498e-04 -2.74874263e+00] [ 2.24176111e-02 -1.64757952e-03 9.99747336e-01 7.25229530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.640714057 meters Centerline goodness [0,1] 0.9859031233814489 Centerline is valid? [True, True] Translation: X:69.62, Y:-2.76, Z:0.73 [[ 9.99247617e-01 -3.08006336e-02 -2.35694860e-02 6.96213249e+01] [ 3.08337879e-02 9.99523980e-01 1.04445170e-03 -2.75507860e+00] [ 2.35260967e-02 -1.77040241e-03 9.99721655e-01 7.25230599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.670714057 meters Centerline goodness [0,1] 0.9864037457230326 Centerline is valid? [True, True] Translation: X:69.65, Y:-2.76, Z:0.73 [[ 9.99239054e-01 -3.09821685e-02 -2.36942442e-02 6.96521382e+01] [ 3.10157209e-02 9.99518346e-01 1.04978387e-03 -2.75793562e+00] [ 2.36503071e-02 -1.78387911e-03 9.99718701e-01 7.25854836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.700714057 meters Centerline goodness [0,1] 0.9862730560984925 Centerline is valid? [True, True] Translation: X:69.68, Y:-2.76, Z:0.73 [[ 9.99268767e-01 -3.02502358e-02 -2.33849301e-02 6.96814832e+01] [ 3.02827219e-02 9.99540836e-01 1.03622882e-03 -2.76131867e+00] [ 2.33428464e-02 -1.74363043e-03 9.99725998e-01 7.26784812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.730714057 meters Centerline goodness [0,1] 0.9860006291852051 Centerline is valid? [True, True] Translation: X:69.71, Y:-2.76, Z:0.73 [[ 9.99283589e-01 -2.95285698e-02 -2.36721960e-02 6.97115908e+01] [ 2.95616614e-02 9.99562408e-01 1.04911141e-03 -2.76296994e+00] [ 2.36308585e-02 -1.74814926e-03 9.99719224e-01 7.26850880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.760714057 meters Centerline goodness [0,1] 0.9894184638837824 Centerline is valid? [True, True] Translation: X:69.74, Y:-2.75, Z:0.73 [[ 9.99309560e-01 -2.85603182e-02 -2.37636547e-02 6.97427084e+01] [ 2.85933938e-02 9.99590571e-01 1.05316471e-03 -2.75161650e+00] [ 2.37238464e-02 -1.73192109e-03 9.99717050e-01 7.29423766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.790714057 meters Centerline goodness [0,1] 0.9894540384961324 Centerline is valid? [True, True] Translation: X:69.77, Y:-2.75, Z:0.73 [[ 9.99331179e-01 -2.75545911e-02 -2.40403543e-02 6.97718040e+01] [ 2.75881471e-02 9.99618807e-01 1.06521082e-03 -2.75431930e+00] [ 2.40018388e-02 -1.72772722e-03 9.99710421e-01 7.29625094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.820714057 meters Centerline goodness [0,1] 0.9890319397093128 Centerline is valid? [True, True] Translation: X:69.80, Y:-2.76, Z:0.73 [[ 9.99335155e-01 -2.71947101e-02 -2.42836310e-02 6.98016475e+01] [ 2.72288273e-02 9.99628648e-01 1.07533891e-03 -2.75577266e+00] [ 2.42453697e-02 -1.73583877e-03 9.99704531e-01 7.29790545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.850714057 meters Centerline goodness [0,1] 0.989927831111311 Centerline is valid? [True, True] Translation: X:69.83, Y:-2.76, Z:0.73 [[ 9.99315438e-01 -2.68386057e-02 -2.54626273e-02 6.98312639e+01] [ 2.68759792e-02 9.99638141e-01 1.12663044e-03 -2.75781109e+00] [ 2.54231762e-02 -1.81019223e-03 9.99675140e-01 7.29397658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.880714057 meters Centerline goodness [0,1] 0.9883395626776482 Centerline is valid? [True, True] Translation: X:69.86, Y:-2.76, Z:0.73 [[ 9.99307669e-01 -2.66937425e-02 -2.59157627e-02 6.98593661e+01] [ 2.67323799e-02 9.99641970e-01 1.14551574e-03 -2.76406820e+00] [ 2.58759060e-02 -1.83751268e-03 9.99663474e-01 7.28569737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.910714057 meters Centerline goodness [0,1] 0.9888849049838652 Centerline is valid? [True, True] Translation: X:69.89, Y:-2.76, Z:0.73 [[ 9.99325294e-01 -2.64836682e-02 -2.54474455e-02 6.98880687e+01] [ 2.65207526e-02 9.99647635e-01 1.12084618e-03 -2.76159214e+00] [ 2.54087946e-02 -1.79497534e-03 9.99675533e-01 7.30702524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94071405700001 meters Centerline goodness [0,1] 0.9888060536861665 Centerline is valid? [True, True] Translation: X:69.92, Y:-2.76, Z:0.73 [[ 9.99335582e-01 -2.66609216e-02 -2.48513630e-02 6.99166365e+01] [ 2.66961925e-02 9.99643000e-01 1.08852611e-03 -2.76187880e+00] [ 2.48134700e-02 -1.75123965e-03 9.99690565e-01 7.31857971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97071405700001 meters Centerline goodness [0,1] 0.9883645331240892 Centerline is valid? [True, True] Translation: X:69.95, Y:-2.76, Z:0.73 [[ 9.99366753e-01 -2.59905395e-02 -2.43019529e-02 6.99457368e+01] [ 2.60239905e-02 9.99660755e-01 1.06117114e-03 -2.76393617e+00] [ 2.42661282e-02 -1.69293294e-03 9.99704101e-01 7.33047454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00071405700001 meters Centerline goodness [0,1] 0.9882605968276728 Centerline is valid? [True, True] Translation: X:69.98, Y:-2.76, Z:0.73 [[ 9.99376355e-01 -2.51944585e-02 -2.47414667e-02 6.99755901e+01] [ 2.52288663e-02 9.99681119e-01 1.07948368e-03 -2.76298815e+00] [ 2.47063801e-02 -1.70300962e-03 9.99693300e-01 7.33701827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.030714057 meters Centerline goodness [0,1] 0.9888729038349143 Centerline is valid? [True, True] Translation: X:70.00, Y:-2.76, Z:0.73 [[ 9.99369150e-01 -2.43553488e-02 -2.58479956e-02 7.00040667e+01] [ 2.43925234e-02 9.99701826e-01 1.12382523e-03 -2.76322701e+00] [ 2.58129172e-02 -1.75361411e-03 9.99665253e-01 7.33291114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.060714057 meters Centerline goodness [0,1] 0.9874315468174881 Centerline is valid? [True, True] Translation: X:70.03, Y:-2.77, Z:0.73 [[ 9.99382852e-01 -2.39122951e-02 -2.57316263e-02 7.00320343e+01] [ 2.39488257e-02 9.99712567e-01 1.11239721e-03 -2.77093824e+00] [ 2.56976302e-02 -1.72795293e-03 9.99668268e-01 7.31617309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.090714057 meters Centerline goodness [0,1] 0.9880584307926693 Centerline is valid? [True, True] Translation: X:70.06, Y:-2.76, Z:0.73 [[ 9.99384273e-01 -2.36499107e-02 -2.59182707e-02 7.00614876e+01] [ 2.36867180e-02 9.99718810e-01 1.11399439e-03 -2.76428811e+00] [ 2.58846368e-02 -1.72722724e-03 9.99663444e-01 7.33593731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.120714057 meters Centerline goodness [0,1] 0.9885638536892244 Centerline is valid? [True, True] Translation: X:70.09, Y:-2.76, Z:0.73 [[ 9.99410138e-01 -2.20308459e-02 -2.63442104e-02 7.00905570e+01] [ 2.20681463e-02 9.99755835e-01 1.12595596e-03 -2.76473575e+00] [ 2.63129723e-02 -1.70665969e-03 9.99652297e-01 7.34123542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.150714057 meters Centerline goodness [0,1] 0.9884330625379751 Centerline is valid? [True, True] Translation: X:70.12, Y:-2.76, Z:0.74 [[ 9.99426336e-01 -2.11217176e-02 -2.64739716e-02 7.01194290e+01] [ 2.11588984e-02 9.99775492e-01 1.12505806e-03 -2.76203745e+00] [ 2.64442649e-02 -1.68457273e-03 9.99648870e-01 7.35088477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.180714057 meters Centerline goodness [0,1] 0.9886978884677856 Centerline is valid? [True, True] Translation: X:70.15, Y:-2.76, Z:0.74 [[ 9.99461068e-01 -1.89680270e-02 -2.67915605e-02 7.01480663e+01] [ 1.90052326e-02 9.99818740e-01 1.13473049e-03 -2.76201570e+00] [ 2.67651807e-02 -1.64329879e-03 9.99640398e-01 7.35588405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.210714057 meters Centerline goodness [0,1] 0.9890208783297336 Centerline is valid? [True, True] Translation: X:70.18, Y:-2.76, Z:0.74 [[ 9.99481376e-01 -1.76876190e-02 -2.69095963e-02 7.01773018e+01] [ 1.77245792e-02 9.99842262e-01 1.13557012e-03 -2.76133307e+00] [ 2.68852661e-02 -1.61194246e-03 9.99637226e-01 7.35796964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.240714057 meters Centerline goodness [0,1] 0.9888838883888389 Centerline is valid? [True, True] Translation: X:70.21, Y:-2.76, Z:0.74 [[ 9.99478378e-01 -1.66999453e-02 -2.76420613e-02 7.02052294e+01] [ 1.67384333e-02 9.99859228e-01 1.16155470e-03 -2.76291479e+00] [ 2.76187721e-02 -1.62363361e-03 9.99617210e-01 7.35421596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.270714057 meters Centerline goodness [0,1] 0.9887476088668842 Centerline is valid? [True, True] Translation: X:70.23, Y:-2.76, Z:0.74 [[ 9.99482842e-01 -1.43906369e-02 -2.87568834e-02 7.02336989e+01] [ 1.44312685e-02 9.99895137e-01 1.20588326e-03 -2.76281273e+00] [ 2.87365144e-02 -1.62025793e-03 9.99585708e-01 7.35269137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30071405700001 meters Centerline goodness [0,1] 0.9893268948710428 Centerline is valid? [True, True] Translation: X:70.26, Y:-2.76, Z:0.74 [[ 9.99504761e-01 -1.29148328e-02 -2.86956357e-02 7.02628985e+01] [ 1.29545556e-02 9.99915368e-01 1.19879592e-03 -2.75966819e+00] [ 2.86777249e-02 -1.56994143e-03 9.99587477e-01 7.37402752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33071405700001 meters Centerline goodness [0,1] 0.9898650931285331 Centerline is valid? [True, True] Translation: X:70.29, Y:-2.76, Z:0.74 [[ 9.99534411e-01 -1.21330391e-02 -2.79955618e-02 7.02909927e+01] [ 1.21703548e-02 9.99925262e-01 1.16290460e-03 -2.76120407e+00] [ 2.79793599e-02 -1.50307909e-03 9.99607371e-01 7.37952944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36071405700001 meters Centerline goodness [0,1] 0.9890648652312419 Centerline is valid? [True, True] Translation: X:70.32, Y:-2.76, Z:0.74 [[ 9.99534156e-01 -1.17301170e-02 -2.81757950e-02 7.03198647e+01] [ 1.17675599e-02 9.99930083e-01 1.16345224e-03 -2.76133374e+00] [ 2.81601777e-02 -1.49447061e-03 9.99602306e-01 7.38888814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.390714057 meters Centerline goodness [0,1] 0.9882395431254374 Centerline is valid? [True, True] Translation: X:70.35, Y:-2.76, Z:0.74 [[ 9.99564874e-01 -1.03693592e-02 -2.76141020e-02 7.03491803e+01] [ 1.04046277e-02 9.99945228e-01 1.13380945e-03 -2.76054367e+00] [ 2.76008326e-02 -1.42063055e-03 9.99618015e-01 7.39714029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.420714057 meters Centerline goodness [0,1] 0.9879354751253897 Centerline is valid? [True, True] Translation: X:70.38, Y:-2.76, Z:0.74 [[ 9.99574230e-01 -1.03308197e-02 -2.72879727e-02 7.03784202e+01] [ 1.03650660e-02 9.99945661e-01 1.11384461e-03 -2.75919002e+00] [ 2.72749830e-02 -1.39621201e-03 9.99626993e-01 7.40997125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.450714057 meters Centerline goodness [0,1] 0.9877070481097326 Centerline is valid? [True, True] Translation: X:70.41, Y:-2.76, Z:0.74 [[ 9.99594910e-01 -1.08476749e-02 -2.63124094e-02 7.04060698e+01] [ 1.08795092e-02 9.99940247e-01 1.06699684e-03 -2.76181247e+00] [ 2.62992627e-02 -1.35283071e-03 9.99653199e-01 7.41402801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.480714057 meters Centerline goodness [0,1] 0.9873203528642014 Centerline is valid? [True, True] Translation: X:70.43, Y:-2.77, Z:0.74 [[ 9.99583113e-01 -1.16308198e-02 -2.64258295e-02 7.04334601e+01] [ 1.16630783e-02 9.99931415e-01 1.06691165e-03 -2.77011358e+00] [ 2.64116080e-02 -1.37467339e-03 9.99650207e-01 7.39681572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.510714057 meters Centerline goodness [0,1] 0.9879784378735593 Centerline is valid? [True, True] Translation: X:70.46, Y:-2.77, Z:0.74 [[ 9.99547544e-01 -1.36623803e-02 -2.67964078e-02 7.04625902e+01] [ 1.36962283e-02 9.99905619e-01 1.08001519e-03 -2.76795957e+00] [ 2.67791231e-02 -1.44653625e-03 9.99640328e-01 7.41467994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.540714057 meters Centerline goodness [0,1] 0.987980389055828 Centerline is valid? [True, True] Translation: X:70.49, Y:-2.77, Z:0.74 [[ 9.99514861e-01 -1.53300271e-02 -2.71115061e-02 7.04921369e+01] [ 1.53652557e-02 9.99881352e-01 1.09153871e-03 -2.77155259e+00] [ 2.70915561e-02 -1.50758439e-03 9.99631820e-01 7.41391323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.570714057 meters Centerline goodness [0,1] 0.986761802189912 Centerline is valid? [True, True] Translation: X:70.52, Y:-2.78, Z:0.74 [[ 9.99444765e-01 -1.93190756e-02 -2.71465642e-02 7.05225283e+01] [ 1.93558504e-02 9.99812061e-01 1.09253361e-03 -2.77624459e+00] [ 2.71203556e-02 -1.61737184e-03 9.99630867e-01 7.41362942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.600714057 meters Centerline goodness [0,1] 0.9864895243233522 Centerline is valid? [True, True] Translation: X:70.55, Y:-2.78, Z:0.74 [[ 9.99377677e-01 -2.17526686e-02 -2.77683377e-02 7.05522390e+01] [ 2.17920678e-02 9.99761901e-01 1.11698598e-03 -2.77891116e+00] [ 2.77374286e-02 -1.72142035e-03 9.99613761e-01 7.41482260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.630714057 meters Centerline goodness [0,1] 0.9865807957273972 Centerline is valid? [True, True] Translation: X:70.58, Y:-2.78, Z:0.74 [[ 9.99327413e-01 -2.34919015e-02 -2.81576380e-02 7.05815114e+01] [ 2.35330729e-02 9.99722418e-01 1.13163825e-03 -2.78295777e+00] [ 2.81232376e-02 -1.79351287e-03 9.99602855e-01 7.40765407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.660714057 meters Centerline goodness [0,1] 0.985124932590329 Centerline is valid? [True, True] Translation: X:70.61, Y:-2.79, Z:0.74 [[ 9.99192717e-01 -2.69290296e-02 -2.98117559e-02 7.06107670e+01] [ 2.69766790e-02 9.99635346e-01 1.19722478e-03 -2.79341765e+00] [ 2.97686448e-02 -2.00048046e-03 9.99554814e-01 7.37793459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69071405700001 meters Centerline goodness [0,1] 0.9867199066804253 Centerline is valid? [True, True] Translation: X:70.64, Y:-2.79, Z:0.74 [[ 9.99144451e-01 -2.81423565e-02 -3.03046753e-02 7.06402080e+01] [ 2.81921117e-02 9.99601784e-01 1.21572824e-03 -2.78870660e+00] [ 3.02583941e-02 -2.06904092e-03 9.99539969e-01 7.39436762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72071405700001 meters Centerline goodness [0,1] 0.9853491412342785 Centerline is valid? [True, True] Translation: X:70.67, Y:-2.79, Z:0.74 [[ 9.99079153e-01 -2.96127480e-02 -3.10472264e-02 7.06689828e+01] [ 2.96656272e-02 9.99559105e-01 1.24384348e-03 -2.79382448e+00] [ 3.09967042e-02 -2.16373354e-03 9.99517145e-01 7.37760072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75071405700001 meters Centerline goodness [0,1] 0.9865320622358126 Centerline is valid? [True, True] Translation: X:70.70, Y:-2.80, Z:0.74 [[ 9.99079670e-01 -3.00189054e-02 -3.06378455e-02 7.06964466e+01] [ 3.00704089e-02 9.99547037e-01 1.22156920e-03 -2.79518255e+00] [ 3.05872976e-02 -2.14173750e-03 9.99529805e-01 7.37971131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.780714057 meters Centerline goodness [0,1] 0.985301377855572 Centerline is valid? [True, True] Translation: X:70.73, Y:-2.79, Z:0.74 [[ 9.99129960e-01 -2.98535572e-02 -2.91219573e-02 7.07258551e+01] [ 2.98998103e-02 9.99552235e-01 1.15399152e-03 -2.79324123e+00] [ 2.90744667e-02 -2.02372850e-03 9.99575200e-01 7.39230633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.810714057 meters Centerline goodness [0,1] 0.9852563235493034 Centerline is valid? [True, True] Translation: X:70.75, Y:-2.80, Z:0.74 [[ 9.99174917e-01 -2.93583194e-02 -2.80637687e-02 7.07538915e+01] [ 2.94009624e-02 9.99567084e-01 1.10799172e-03 -2.79534886e+00] [ 2.80190907e-02 -1.93217934e-03 9.99605521e-01 7.39538371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.840714057 meters Centerline goodness [0,1] 0.9851901868107135 Centerline is valid? [True, True] Translation: X:70.78, Y:-2.80, Z:0.74 [[ 9.99232857e-01 -2.84295626e-02 -2.69343081e-02 7.07829404e+01] [ 2.84684496e-02 9.99594128e-01 1.06133573e-03 -2.79549469e+00] [ 2.68932029e-02 -1.82729953e-03 9.99636642e-01 7.40883366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.870714057 meters Centerline goodness [0,1] 0.9849230352548187 Centerline is valid? [True, True] Translation: X:70.81, Y:-2.80, Z:0.74 [[ 9.99322456e-01 -2.68064956e-02 -2.52198633e-02 7.08122270e+01] [ 2.68400421e-02 9.99639248e-01 9.92535026e-04 -2.79530138e+00] [ 2.51841588e-02 -1.66876473e-03 9.99681436e-01 7.41980420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.900714057 meters Centerline goodness [0,1] 0.9848621576501376 Centerline is valid? [True, True] Translation: X:70.84, Y:-2.80, Z:0.74 [[ 9.99364708e-01 -2.59818116e-02 -2.43952115e-02 7.08417202e+01] [ 2.60129343e-02 9.99661146e-01 9.59244294e-04 -2.79597835e+00] [ 2.43620222e-02 -1.59322593e-03 9.99701932e-01 7.42669274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.930714057 meters Centerline goodness [0,1] 0.9860261417251732 Centerline is valid? [True, True] Translation: X:70.87, Y:-2.79, Z:0.74 [[ 9.99413403e-01 -2.51234069e-02 -2.32736801e-02 7.08716362e+01] [ 2.51514827e-02 9.99683233e-01 9.14347325e-04 -2.79454234e+00] [ 2.32433362e-02 -1.49917853e-03 9.99728713e-01 7.42993767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.960714057 meters Centerline goodness [0,1] 0.985718797942424 Centerline is valid? [True, True] Translation: X:70.90, Y:-2.79, Z:0.74 [[ 9.99426187e-01 -2.50033663e-02 -2.28501112e-02 7.09012933e+01] [ 2.50303796e-02 9.99686289e-01 8.96904445e-04 -2.79391988e+00] [ 2.28205172e-02 -1.46833675e-03 9.99738500e-01 7.43568844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.990714057 meters Centerline goodness [0,1] 0.9862810029059944 Centerline is valid? [True, True] Translation: X:70.93, Y:-2.79, Z:0.74 [[ 9.99420364e-01 -2.52560925e-02 -2.28268836e-02 7.09311070e+01] [ 2.52830979e-02 9.99679931e-01 8.95179405e-04 -2.79422312e+00] [ 2.27969687e-02 -1.47179486e-03 9.99739032e-01 7.43341730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.020714057 meters Centerline goodness [0,1] 0.9857525490107812 Centerline is valid? [True, True] Translation: X:70.96, Y:-2.79, Z:0.74 [[ 9.99392562e-01 -2.61329482e-02 -2.30559376e-02 7.09607048e+01] [ 2.61607117e-02 9.99657342e-01 9.03332635e-04 -2.79468534e+00] [ 2.30244306e-02 -1.50594365e-03 9.99733768e-01 7.43452138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05071405700001 meters Centerline goodness [0,1] 0.9855690094477891 Centerline is valid? [True, True] Translation: X:70.99, Y:-2.79, Z:0.74 [[ 9.99375767e-01 -2.69381397e-02 -2.28563413e-02 7.09911989e+01] [ 2.69656246e-02 9.99635961e-01 8.95093800e-04 -2.79406191e+00] [ 2.28239085e-02 -1.51087057e-03 9.99738359e-01 7.43715623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08071405700001 meters Centerline goodness [0,1] 0.9859640427161718 Centerline is valid? [True, True] Translation: X:71.02, Y:-2.80, Z:0.74 [[ 9.99328099e-01 -2.85685727e-02 -2.29605436e-02 7.10208093e+01] [ 2.85967325e-02 9.99590626e-01 8.98972216e-04 -2.79641194e+00] [ 2.29254617e-02 -1.55496472e-03 9.99735968e-01 7.43045427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11071405700001 meters Centerline goodness [0,1] 0.986008952470927 Centerline is valid? [True, True] Translation: X:71.05, Y:-2.80, Z:0.74 [[ 9.99287707e-01 -2.95659197e-02 -2.34506918e-02 7.10512157e+01] [ 2.95955632e-02 9.99561534e-01 9.17945189e-04 -2.79693265e+00] [ 2.34132696e-02 -1.61132777e-03 9.99724573e-01 7.43318664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.140714057 meters Centerline goodness [0,1] 0.9848481432211225 Centerline is valid? [True, True] Translation: X:71.08, Y:-2.80, Z:0.74 [[ 9.99240866e-01 -3.10374955e-02 -2.35449734e-02 7.10819832e+01] [ 3.10677893e-02 9.99516855e-01 9.21847498e-04 -2.79883113e+00] [ 2.35049859e-02 -1.65263797e-03 9.99722354e-01 7.42945172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.170714057 meters Centerline goodness [0,1] 0.985361122389137 Centerline is valid? [True, True] Translation: X:71.11, Y:-2.80, Z:0.74 [[ 9.99249387e-01 -3.11775356e-02 -2.29918259e-02 7.11128970e+01] [ 3.12064732e-02 9.99512553e-01 9.00798764e-04 -2.80050980e+00] [ 2.29525339e-02 -1.61761641e-03 9.99735247e-01 7.43230573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.200714057 meters Centerline goodness [0,1] 0.985361122389137 Centerline is valid? [True, True] Translation: X:71.14, Y:-2.80, Z:0.74 [[ 9.99250502e-01 -3.11418086e-02 -2.29917937e-02 7.11437965e+01] [ 3.11707557e-02 9.99513667e-01 9.01620591e-04 -2.80175153e+00] [ 2.29525339e-02 -1.61761641e-03 9.99735247e-01 7.43595070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.230714057 meters Centerline goodness [0,1] 0.9843506888853812 Centerline is valid? [True, True] Translation: X:71.17, Y:-2.80, Z:0.74 [[ 9.99246967e-01 -3.14700745e-02 -2.26965427e-02 7.11747644e+01] [ 3.14983852e-02 9.99503406e-01 8.90849297e-04 -2.80204312e+00] [ 2.26572366e-02 -1.60508290e-03 9.99742003e-01 7.44146159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.260714057 meters Centerline goodness [0,1] 0.9842557036367744 Centerline is valid? [True, True] Translation: X:71.21, Y:-2.80, Z:0.74 [[ 9.99276658e-01 -3.13792324e-02 -2.14826736e-02 7.12053801e+01] [ 3.14045864e-02 9.99506398e-01 8.43775415e-04 -2.80360200e+00] [ 2.14455927e-02 -1.51781956e-03 9.99768865e-01 7.44715955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.290714057 meters Centerline goodness [0,1] 0.9819740153731039 Centerline is valid? [True, True] Translation: X:71.24, Y:-2.80, Z:0.75 [[ 9.99331115e-01 -3.05881859e-02 -2.00421093e-02 7.12369578e+01] [ 3.06101043e-02 9.99531091e-01 7.87680452e-04 -2.80281654e+00] [ 2.00086177e-02 -1.40064464e-03 9.99798826e-01 7.45348372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.320714057 meters Centerline goodness [0,1] 0.9817070399490978 Centerline is valid? [True, True] Translation: X:71.27, Y:-2.80, Z:0.75 [[ 9.99348480e-01 -3.05043351e-02 -1.92899432e-02 7.12687232e+01] [ 3.05246360e-02 9.99533727e-01 7.58782010e-04 -2.80409560e+00] [ 1.92578027e-02 -1.34710614e-03 9.99813644e-01 7.45821856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.350714057 meters Centerline goodness [0,1] 0.9801061609654297 Centerline is valid? [True, True] Translation: X:71.30, Y:-2.81, Z:0.75 [[ 9.99363480e-01 -3.05489651e-02 -1.84227083e-02 7.13004671e+01] [ 3.05675046e-02 9.99532441e-01 7.25527519e-04 -2.80522510e+00] [ 1.83919305e-02 -1.28820193e-03 9.99830024e-01 7.46429956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.380714057 meters Centerline goodness [0,1] 0.9785982051573328 Centerline is valid? [True, True] Translation: X:71.33, Y:-2.81, Z:0.75 [[ 9.99355663e-01 -3.14078153e-02 -1.73725936e-02 7.13324937e+01] [ 3.14244506e-02 9.99505895e-01 6.85340303e-04 -2.80566145e+00] [ 1.73424847e-02 -1.23082292e-03 9.99848850e-01 7.46961953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.410714057 meters Centerline goodness [0,1] 0.9785333394102366 Centerline is valid? [True, True] Translation: X:71.36, Y:-2.81, Z:0.75 [[ 9.99333509e-01 -3.22975680e-02 -1.70119158e-02 7.13649061e+01] [ 3.23136678e-02 9.99477551e-01 6.72282189e-04 -2.80852570e+00] [ 1.69813149e-02 -1.22155151e-03 9.99855061e-01 7.47344846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44071405700001 meters Centerline goodness [0,1] 0.9767876687340387 Centerline is valid? [True, True] Translation: X:71.40, Y:-2.81, Z:0.75 [[ 9.99233674e-01 -3.50939107e-02 -1.73344377e-02 7.13956680e+01] [ 3.51110614e-02 9.99383181e-01 6.85959531e-04 -2.81066212e+00] [ 1.72996724e-02 -1.29406437e-03 9.99849512e-01 7.46531119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47071405700001 meters Centerline goodness [0,1] 0.9771468932990043 Centerline is valid? [True, True] Translation: X:71.43, Y:-2.81, Z:0.75 [[ 9.99157358e-01 -3.69052270e-02 -1.79604375e-02 7.14270415e+01] [ 3.69239376e-02 9.99317826e-01 7.11162531e-04 -2.81247809e+00] [ 1.79219397e-02 -1.37373335e-03 9.99838445e-01 7.46175991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50071405700001 meters Centerline goodness [0,1] 0.9769229015118692 Centerline is valid? [True, True] Translation: X:71.46, Y:-2.81, Z:0.75 [[ 9.99067255e-01 -3.88702626e-02 -1.88075200e-02 7.14578974e+01] [ 3.88911366e-02 9.99243176e-01 7.45261232e-04 -2.81436467e+00] [ 1.87643175e-02 -1.47601192e-03 9.99822845e-01 7.45644456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.530714057 meters Centerline goodness [0,1] 0.9753806062268551 Centerline is valid? [True, True] Translation: X:71.49, Y:-2.82, Z:0.75 [[ 9.98907893e-01 -4.23057224e-02 -1.98304525e-02 7.14882404e+01] [ 4.23296066e-02 9.99103391e-01 7.86037992e-04 -2.81815363e+00] [ 1.97794185e-02 -1.62459481e-03 9.99803048e-01 7.45018282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.560714057 meters Centerline goodness [0,1] 0.974117861870635 Centerline is valid? [True, True] Translation: X:71.52, Y:-2.83, Z:0.74 [[ 9.98853523e-01 -4.33518933e-02 -2.03040258e-02 7.15190472e+01] [ 4.33771566e-02 9.99058444e-01 8.05291706e-04 -2.82572405e+00] [ 2.02499975e-02 -1.68509937e-03 9.99793528e-01 7.44558474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.590714057 meters Centerline goodness [0,1] 0.9742548970423917 Centerline is valid? [True, True] Translation: X:71.55, Y:-2.82, Z:0.75 [[ 9.98775742e-01 -4.48958011e-02 -2.07697920e-02 7.15500758e+01] [ 4.49225904e-02 9.98990130e-01 8.24820480e-04 -2.82198421e+00] [ 2.07117863e-02 -1.75684355e-03 9.99783944e-01 7.45241828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.620714057 meters Centerline goodness [0,1] 0.9746326302077382 Centerline is valid? [True, True] Translation: X:71.58, Y:-2.82, Z:0.75 [[ 9.98789132e-01 -4.49379098e-02 -2.00213155e-02 7.15818383e+01] [ 4.49628332e-02 9.98988343e-01 7.96205953e-04 -2.82404574e+00] [ 1.99652810e-02 -1.69545692e-03 9.99799236e-01 7.45482391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.650714057 meters Centerline goodness [0,1] 0.9766194471186906 Centerline is valid? [True, True] Translation: X:71.61, Y:-2.82, Z:0.75 [[ 9.98800245e-01 -4.46590464e-02 -2.00908079e-02 7.16144084e+01] [ 4.46841156e-02 9.99000845e-01 8.00386249e-04 -2.82127152e+00] [ 2.00349896e-02 -1.69716596e-03 9.99797839e-01 7.46881121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.680714057 meters Centerline goodness [0,1] 0.9773909059672432 Centerline is valid? [True, True] Translation: X:71.64, Y:-2.82, Z:0.75 [[ 9.98932571e-01 -4.21434499e-02 -1.89115927e-02 7.16437170e+01] [ 4.21652268e-02 9.99110367e-01 7.54073800e-04 -2.82401769e+00] [ 1.88629890e-02 -1.55068047e-03 9.99820875e-01 7.47399235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.710714057 meters Centerline goodness [0,1] 0.9773326304691619 Centerline is valid? [True, True] Translation: X:71.67, Y:-2.82, Z:0.75 [[ 9.99118349e-01 -3.80922966e-02 -1.76493930e-02 7.16738116e+01] [ 3.81106315e-02 9.99273278e-01 7.03548260e-04 -2.82275325e+00] [ 1.76097670e-02 -1.37555749e-03 9.99843990e-01 7.48343217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.740714057 meters Centerline goodness [0,1] 0.9750114942528736 Centerline is valid? [True, True] Translation: X:71.70, Y:-2.83, Z:0.75 [[ 9.99212264e-01 -3.60305127e-02 -1.66329351e-02 7.17037806e+01] [ 3.60465122e-02 9.99349893e-01 6.63023472e-04 -2.82571954e+00] [ 1.65982328e-02 -1.26206048e-03 9.99861443e-01 7.48571820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.770714057 meters Centerline goodness [0,1] 0.9765089123901722 Centerline is valid? [True, True] Translation: X:71.73, Y:-2.83, Z:0.75 [[ 9.99308577e-01 -3.36997948e-02 -1.57064523e-02 7.17340671e+01] [ 3.37137751e-02 9.99431333e-01 6.26091938e-04 -2.82603802e+00] [ 1.56764214e-02 -1.15518284e-03 9.99876450e-01 7.49391213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80071405700001 meters Centerline goodness [0,1] 0.9789831130690162 Centerline is valid? [True, True] Translation: X:71.77, Y:-2.82, Z:0.75 [[ 9.99448532e-01 -2.98913265e-02 -1.44617218e-02 7.17655389e+01] [ 2.99027825e-02 9.99552646e-01 5.76526933e-04 -2.81599756e+00] [ 1.44380192e-02 -1.00865472e-03 9.99895258e-01 7.50155305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83071405700001 meters Centerline goodness [0,1] 0.9767665879222953 Centerline is valid? [True, True] Translation: X:71.80, Y:-2.82, Z:0.75 [[ 9.99494839e-01 -2.83874387e-02 -1.42905462e-02 7.17958021e+01] [ 2.83984760e-02 9.99596519e-01 5.69975215e-04 -2.82079081e+00] [ 1.42686002e-02 -9.75517021e-04 9.99897722e-01 7.50179406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86071405700001 meters Centerline goodness [0,1] 0.9799258377586523 Centerline is valid? [True, True] Translation: X:71.83, Y:-2.82, Z:0.75 [[ 9.99551334e-01 -2.62240106e-02 -1.44717887e-02 7.18270134e+01] [ 2.62351083e-02 9.99655633e-01 5.77506148e-04 -2.81842157e+00] [ 1.44516605e-02 -9.56915983e-04 9.99895111e-01 7.49666792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.890714057 meters Centerline goodness [0,1] 0.9805624957022028 Centerline is valid? [True, True] Translation: X:71.86, Y:-2.82, Z:0.75 [[ 9.99566529e-01 -2.55316050e-02 -1.46591952e-02 7.18591916e+01] [ 2.55429268e-02 9.99673555e-01 5.85593040e-04 -2.81912894e+00] [ 1.46394586e-02 -9.59777951e-04 9.99892377e-01 7.49307920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.920714057 meters Centerline goodness [0,1] 0.9779917469050894 Centerline is valid? [True, True] Translation: X:71.89, Y:-2.83, Z:0.75 [[ 9.99554880e-01 -2.53976175e-02 -1.56525533e-02 7.18902830e+01] [ 2.54105262e-02 9.99676904e-01 6.26338190e-04 -2.82592907e+00] [ 1.56315886e-02 -1.02379901e-03 9.99877295e-01 7.48709175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.950714057 meters Centerline goodness [0,1] 0.9799411791737512 Centerline is valid? [True, True] Translation: X:71.92, Y:-2.82, Z:0.75 [[ 9.99548688e-01 -2.48523926e-02 -1.68753714e-02 7.19224512e+01] [ 2.48673367e-02 9.99690531e-01 6.76266823e-04 -2.82345631e+00] [ 1.68533421e-02 -1.09560716e-03 9.99857372e-01 7.48086130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.980714057 meters Centerline goodness [0,1] 0.9798301243160329 Centerline is valid? [True, True] Translation: X:71.95, Y:-2.83, Z:0.75 [[ 9.99569870e-01 -2.36344373e-02 -1.73634086e-02 7.19526090e+01] [ 2.36500968e-02 9.99720054e-01 6.97051422e-04 -2.82707396e+00] [ 1.73420733e-02 -1.10739789e-03 9.99849002e-01 7.48108656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.010714057 meters Centerline goodness [0,1] 0.9801387064814174 Centerline is valid? [True, True] Translation: X:71.98, Y:-2.83, Z:0.75 [[ 9.99593166e-01 -2.30388655e-02 -1.68141053e-02 7.19838053e+01] [ 2.30534823e-02 9.99734005e-01 6.75985700e-04 -2.82811474e+00] [ 1.67940589e-02 -1.06333436e-03 9.99858404e-01 7.49012595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.040714057 meters Centerline goodness [0,1] 0.9832865233205949 Centerline is valid? [True, True] Translation: X:72.02, Y:-2.82, Z:0.75 [[ 9.99619185e-01 -2.23641137e-02 -1.61657448e-02 7.20157625e+01] [ 2.23775456e-02 9.99749380e-01 6.50452530e-04 -2.81924915e+00] [ 1.61471465e-02 -1.01195452e-03 9.99869114e-01 7.50715868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.070714057 meters Centerline goodness [0,1] 0.980467852382922 Centerline is valid? [True, True] Translation: X:72.05, Y:-2.83, Z:0.75 [[ 9.99673930e-01 -2.10885424e-02 -1.43981456e-02 7.20452789e+01] [ 2.10990738e-02 9.99777222e-01 5.79917444e-04 -2.83327012e+00] [ 1.43827084e-02 -8.83515888e-04 9.99896173e-01 7.51676532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.100714057 meters Centerline goodness [0,1] 0.9812957253945612 Centerline is valid? [True, True] Translation: X:72.08, Y:-2.84, Z:0.75 [[ 9.99685322e-01 -2.07059968e-02 -1.41604268e-02 7.20769143e+01] [ 2.07161593e-02 9.99785234e-01 5.71345650e-04 -2.83565276e+00] [ 1.41455554e-02 -8.64515518e-04 9.99899573e-01 7.52834627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.130714057 meters Centerline goodness [0,1] 0.9837390904915021 Centerline is valid? [True, True] Translation: X:72.11, Y:-2.83, Z:0.75 [[ 9.99697743e-01 -2.03848091e-02 -1.37434257e-02 7.21089851e+01] [ 2.03943576e-02 9.99791859e-01 5.54960113e-04 -2.82723090e+00] [ 1.37292524e-02 -8.35080710e-04 9.99905401e-01 7.53513154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.160714057 meters Centerline goodness [0,1] 0.9810247114700686 Centerline is valid? [True, True] Translation: X:72.14, Y:-2.84, Z:0.75 [[ 9.99700397e-01 -2.02938259e-02 -1.36849240e-02 7.21399491e+01] [ 2.03032934e-02 9.99793714e-01 5.53231137e-04 -2.84046296e+00] [ 1.36708739e-02 -8.30914415e-04 9.99906204e-01 7.53569627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19071405700001 meters Centerline goodness [0,1] 0.9842564795930059 Centerline is valid? [True, True] Translation: X:72.17, Y:-2.83, Z:0.75 [[ 9.99696147e-01 -2.03873599e-02 -1.38553144e-02 7.21726154e+01] [ 2.03970947e-02 9.99791800e-01 5.61641890e-04 -2.83056229e+00] [ 1.38409793e-02 -8.44079393e-04 9.99903853e-01 7.54330775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22071405700001 meters Centerline goodness [0,1] 0.9848890108131587 Centerline is valid? [True, True] Translation: X:72.21, Y:-2.83, Z:0.75 [[ 9.99686607e-01 -2.03154127e-02 -1.46277822e-02 7.22050979e+01] [ 2.03262716e-02 9.99793224e-01 5.94042695e-04 -2.82995723e+00] [ 1.46126893e-02 -8.91184801e-04 9.99892832e-01 7.53634553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25071405700001 meters Centerline goodness [0,1] 0.9860663051685085 Centerline is valid? [True, True] Translation: X:72.24, Y:-2.84, Z:0.75 [[ 9.99681971e-01 -2.01804882e-02 -1.51229944e-02 7.22363807e+01] [ 2.01920956e-02 9.99795930e-01 6.15215615e-04 -2.83557207e+00] [ 1.51074929e-02 -9.20384906e-04 9.99885452e-01 7.53328178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.280714057 meters Centerline goodness [0,1] 0.9859071422056006 Centerline is valid? [True, True] Translation: X:72.27, Y:-2.83, Z:0.75 [[ 9.99675595e-01 -1.98026691e-02 -1.60174727e-02 7.22677686e+01] [ 1.98156552e-02 9.99803438e-01 6.52425849e-04 -2.83439914e+00] [ 1.60014045e-02 -9.69610915e-04 9.99871499e-01 7.53299823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.310714057 meters Centerline goodness [0,1] 0.985975971860582 Centerline is valid? [True, True] Translation: X:72.30, Y:-2.84, Z:0.75 [[ 9.99680366e-01 -1.95988219e-02 -1.59703554e-02 7.22979999e+01] [ 1.96117136e-02 9.99807460e-01 6.51000962e-04 -2.83674134e+00] [ 1.59545216e-02 -9.63998915e-04 9.99872254e-01 7.53620933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.340714057 meters Centerline goodness [0,1] 0.9865012769062386 Centerline is valid? [True, True] Translation: X:72.33, Y:-2.84, Z:0.75 [[ 9.99691737e-01 -1.85321865e-02 -1.65223744e-02 7.23277871e+01] [ 1.85458434e-02 9.99827784e-01 6.73719163e-04 -2.84010501e+00] [ 1.65070435e-02 -9.79932848e-04 9.99863269e-01 7.53608713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.370714057 meters Centerline goodness [0,1] 0.9849634338049347 Centerline is valid? [True, True] Translation: X:72.36, Y:-2.84, Z:0.75 [[ 9.99701647e-01 -1.79526405e-02 -1.65625701e-02 7.23582171e+01] [ 1.79662847e-02 9.99838365e-01 6.75358189e-04 -2.83794844e+00] [ 1.65477685e-02 -9.72724544e-04 9.99862603e-01 7.53946142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.400714057 meters Centerline goodness [0,1] 0.9865040465063263 Centerline is valid? [True, True] Translation: X:72.39, Y:-2.84, Z:0.75 [[ 9.99713449e-01 -1.71242074e-02 -1.67266640e-02 7.23883934e+01] [ 1.71380062e-02 9.99852901e-01 6.81960560e-04 -2.83836179e+00] [ 1.67125255e-02 -9.68426816e-04 9.99859867e-01 7.54908610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.430714057 meters Centerline goodness [0,1] 0.9861259824581388 Centerline is valid? [True, True] Translation: X:72.42, Y:-2.84, Z:0.76 [[ 9.99748710e-01 -1.55408588e-02 -1.61554324e-02 7.24176979e+01] [ 1.55535193e-02 9.99878820e-01 6.58310643e-04 -2.83924721e+00] [ 1.61432440e-02 -9.09419046e-04 9.99869276e-01 7.55285567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.460714057 meters Centerline goodness [0,1] 0.9871911543886791 Centerline is valid? [True, True] Translation: X:72.45, Y:-2.84, Z:0.76 [[ 9.99762933e-01 -1.48363000e-02 -1.59362062e-02 7.24471101e+01] [ 1.48485209e-02 9.99889544e-01 6.48813372e-04 -2.83939349e+00] [ 1.59248199e-02 -8.85288650e-04 9.99872800e-01 7.55929380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.490714057 meters Centerline goodness [0,1] 0.9863474250925695 Centerline is valid? [True, True] Translation: X:72.48, Y:-2.84, Z:0.76 [[ 9.99776696e-01 -1.43067234e-02 -1.55523775e-02 7.24754727e+01] [ 1.43182892e-02 9.99897288e-01 6.32571106e-04 -2.84144999e+00] [ 1.55417301e-02 -8.55113290e-04 9.99878854e-01 7.56392002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.520714057 meters Centerline goodness [0,1] 0.9862241418504205 Centerline is valid? [True, True] Translation: X:72.50, Y:-2.84, Z:0.76 [[ 9.99779852e-01 -1.43036640e-02 -1.53509919e-02 7.25048970e+01] [ 1.43149204e-02 9.99897342e-01 6.23629300e-04 -2.84251390e+00] [ 1.53404958e-02 -8.43240236e-04 9.99881972e-01 7.57044498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55071405700001 meters Centerline goodness [0,1] 0.9845541509305954 Centerline is valid? [True, True] Translation: X:72.53, Y:-2.85, Z:0.76 [[ 9.99764825e-01 -1.51006925e-02 -1.55648389e-02 7.25327710e+01] [ 1.51123512e-02 9.99885602e-01 6.31688457e-04 -2.85211981e+00] [ 1.55535194e-02 -8.66761211e-04 9.99878661e-01 7.57308645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58071405700001 meters Centerline goodness [0,1] 0.9853545559819259 Centerline is valid? [True, True] Translation: X:72.56, Y:-2.85, Z:0.76 [[ 9.99736814e-01 -1.63641168e-02 -1.60784886e-02 7.25629161e+01] [ 1.63767095e-02 9.99865680e-01 6.51841426e-04 -2.84700167e+00] [ 1.60656621e-02 -9.14982607e-04 9.99870520e-01 7.58341503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61071405700001 meters Centerline goodness [0,1] 0.9862217194570135 Centerline is valid? [True, True] Translation: X:72.59, Y:-2.85, Z:0.76 [[ 9.99713189e-01 -1.74034686e-02 -1.64517208e-02 7.25925414e+01] [ 1.74167902e-02 9.99848094e-01 6.66800492e-04 -2.85031944e+00] [ 1.64376170e-02 -9.53145416e-04 9.99864439e-01 7.58446503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.640714057 meters Centerline goodness [0,1] 0.9862806256215532 Centerline is valid? [True, True] Translation: X:72.62, Y:-2.85, Z:0.76 [[ 9.99645302e-01 -2.02771005e-02 -1.72658161e-02 7.26230353e+01] [ 2.02921985e-02 9.99793847e-01 6.99682242e-04 -2.85279772e+00] [ 1.72480692e-02 -1.04979544e-03 9.99850690e-01 7.58113687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.670714057 meters Centerline goodness [0,1] 0.9863618944568427 Centerline is valid? [True, True] Translation: X:72.65, Y:-2.86, Z:0.76 [[ 9.99555499e-01 -2.35536215e-02 -1.82765330e-02 7.26526777e+01] [ 2.35710891e-02 9.99721889e-01 7.40877758e-04 -2.86345261e+00] [ 1.82539997e-02 -1.17134622e-03 9.99832696e-01 7.56753766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.700714057 meters Centerline goodness [0,1] 0.9861073644456434 Centerline is valid? [True, True] Translation: X:72.68, Y:-2.86, Z:0.76 [[ 9.99514141e-01 -2.48640133e-02 -1.87952718e-02 7.26836079e+01] [ 2.48827280e-02 9.99690086e-01 7.62473797e-04 -2.86277308e+00] [ 1.87704887e-02 -1.22978098e-03 9.99823063e-01 7.57254492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.730714057 meters Centerline goodness [0,1] 0.9850662221821785 Centerline is valid? [True, True] Translation: X:72.71, Y:-2.87, Z:0.76 [[ 9.99457344e-01 -2.63537151e-02 -1.97610679e-02 7.27143344e+01] [ 2.63747000e-02 9.99651805e-01 8.02018753e-04 -2.86510255e+00] [ 1.97330510e-02 -1.32277577e-03 9.99804409e-01 7.57002679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.760714057 meters Centerline goodness [0,1] 0.9844820229513351 Centerline is valid? [True, True] Translation: X:72.74, Y:-2.87, Z:0.76 [[ 9.99400508e-01 -2.79277271e-02 -2.04613655e-02 7.27444385e+01] [ 2.79505620e-02 9.99608961e-01 8.30814111e-04 -2.87147617e+00] [ 2.04301616e-02 -1.40222271e-03 9.99790299e-01 7.56139953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.790714057 meters Centerline goodness [0,1] 0.9866735699975238 Centerline is valid? [True, True] Translation: X:72.78, Y:-2.87, Z:0.76 [[ 9.99377836e-01 -2.86326703e-02 -2.05939528e-02 7.27756901e+01] [ 2.86559618e-02 9.99588983e-01 8.36716563e-04 -2.87334173e+00] [ 2.05615309e-02 -1.42633551e-03 9.99787572e-01 7.56866327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.820714057 meters Centerline goodness [0,1] 0.986617183985605 Centerline is valid? [True, True] Translation: X:72.81, Y:-2.88, Z:0.76 [[ 9.99373181e-01 -2.88443074e-02 -2.05243944e-02 7.28058913e+01] [ 2.88674978e-02 9.99582899e-01 8.34453459e-04 -2.87640731e+00] [ 2.04917644e-02 -1.42641832e-03 9.99789004e-01 7.57730976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.850714057 meters Centerline goodness [0,1] 0.9866997496423462 Centerline is valid? [True, True] Translation: X:72.84, Y:-2.88, Z:0.76 [[ 9.99386202e-01 -2.87023514e-02 -2.00846784e-02 7.28368089e+01] [ 2.87245398e-02 9.99587031e-01 8.17066225e-04 -2.87621278e+00] [ 2.00529324e-02 -1.39348786e-03 9.99797949e-01 7.58367952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.880714057 meters Centerline goodness [0,1] 0.9860345874468707 Centerline is valid? [True, True] Translation: X:72.87, Y:-2.88, Z:0.76 [[ 9.99378408e-01 -2.88403171e-02 -2.02739581e-02 7.28674932e+01] [ 2.88629654e-02 9.99583037e-01 8.25327474e-04 -2.87954587e+00] [ 2.02417019e-02 -1.40998101e-03 9.99794122e-01 7.58848461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.910714057 meters Centerline goodness [0,1] 0.9855806001709633 Centerline is valid? [True, True] Translation: X:72.90, Y:-2.88, Z:0.76 [[ 9.99396428e-01 -2.83913645e-02 -2.00177403e-02 7.28987395e+01] [ 2.84133639e-02 9.99595926e-01 8.15383028e-04 -2.87932695e+00] [ 1.99865018e-02 -1.38366223e-03 9.99799292e-01 7.60259156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94071405700001 meters Centerline goodness [0,1] 0.985534392489619 Centerline is valid? [True, True] Translation: X:72.93, Y:-2.88, Z:0.76 [[ 9.99396801e-01 -2.86039322e-02 -1.96938971e-02 7.29292438e+01] [ 2.86252771e-02 9.99589890e-01 8.02727835e-04 -2.88374490e+00] [ 1.96628593e-02 -1.36598689e-03 9.99805734e-01 7.60762650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97071405700001 meters Centerline goodness [0,1] 0.9849446394815015 Centerline is valid? [True, True] Translation: X:72.96, Y:-2.89, Z:0.76 [[ 9.99392468e-01 -2.88596598e-02 -1.95400647e-02 7.29590732e+01] [ 2.88807328e-02 9.99582547e-01 7.97058717e-04 -2.88638148e+00] [ 1.95089048e-02 -1.36090587e-03 9.99808757e-01 7.60665482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00071405700001 meters Centerline goodness [0,1] 0.9853634445292506 Centerline is valid? [True, True] Translation: X:72.99, Y:-2.89, Z:0.76 [[ 9.99381624e-01 -2.92831085e-02 -1.94645799e-02 7.29899500e+01] [ 2.93041156e-02 9.99570226e-01 7.94841212e-04 -2.88837471e+00] [ 1.94329391e-02 -1.36474200e-03 9.99810231e-01 7.61139740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.030714057 meters Centerline goodness [0,1] 0.9852700857379508 Centerline is valid? [True, True] Translation: X:73.02, Y:-2.89, Z:0.76 [[ 9.99356305e-01 -3.04586455e-02 -1.89538261e-02 7.30215075e+01] [ 3.04787864e-02 9.99535114e-01 7.74602324e-04 -2.89087356e+00] [ 1.89214214e-02 -1.35179333e-03 9.99820060e-01 7.61078296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.060714057 meters Centerline goodness [0,1] 0.9873426274183014 Centerline is valid? [True, True] Translation: X:73.05, Y:-2.88, Z:0.76 [[ 9.99320689e-01 -3.12958243e-02 -1.94610405e-02 7.30540951e+01] [ 3.13172342e-02 9.99509178e-01 7.96282640e-04 -2.88215497e+00] [ 1.94265683e-02 -1.40520768e-03 9.99810299e-01 7.62037747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.090714057 meters Centerline goodness [0,1] 0.9873426274183014 Centerline is valid? [True, True] Translation: X:73.09, Y:-2.88, Z:0.76 [[ 9.99322931e-01 -3.12241908e-02 -1.94609834e-02 7.30858440e+01] [ 3.12456143e-02 9.99511418e-01 7.97676673e-04 -2.88351612e+00] [ 1.94265683e-02 -1.40520697e-03 9.99810299e-01 7.62412160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.120714057 meters Centerline goodness [0,1] 0.9876790251141039 Centerline is valid? [True, True] Translation: X:73.12, Y:-2.88, Z:0.76 [[ 9.99256832e-01 -3.25515733e-02 -2.06441147e-02 7.31173797e+01] [ 3.25759883e-02 9.99468902e-01 8.47388129e-04 -2.88380851e+00] [ 2.06055668e-02 -1.51926081e-03 9.99786528e-01 7.62519890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.150714057 meters Centerline goodness [0,1] 0.9848396107406739 Centerline is valid? [True, True] Translation: X:73.15, Y:-2.89, Z:0.76 [[ 9.99220461e-01 -3.31165429e-02 -2.14887187e-02 7.31483661e+01] [ 3.31431476e-02 9.99450225e-01 8.83023449e-04 -2.89410386e+00] [ 2.14476621e-02 -1.59453888e-03 9.99768701e-01 7.61383900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.180714057 meters Centerline goodness [0,1] 0.9868985819906065 Centerline is valid? [True, True] Translation: X:73.18, Y:-2.89, Z:0.76 [[ 9.99161338e-01 -3.39815616e-02 -2.28445584e-02 7.31797062e+01] [ 3.40118797e-02 9.99420987e-01 9.39804640e-04 -2.88884912e+00] [ 2.27993951e-02 -1.71600284e-03 9.99738587e-01 7.62221977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.210714057 meters Centerline goodness [0,1] 0.9869556401649131 Centerline is valid? [True, True] Translation: X:73.21, Y:-2.89, Z:0.76 [[ 9.99133866e-01 -3.45125388e-02 -2.32465514e-02 7.32113423e+01] [ 3.45440958e-02 9.99402716e-01 9.57170937e-04 -2.88842619e+00] [ 2.31996322e-02 -1.75937300e-03 9.99729304e-01 7.62554860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.240714057 meters Centerline goodness [0,1] 0.9853373750982374 Centerline is valid? [True, True] Translation: X:73.24, Y:-2.89, Z:0.76 [[ 9.99118877e-01 -3.47986820e-02 -2.34632071e-02 7.32430879e+01] [ 3.48309489e-02 9.99392750e-01 9.67814791e-04 -2.88983956e+00] [ 2.34152804e-02 -1.78420779e-03 9.99724233e-01 7.62662845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.270714057 meters Centerline goodness [0,1] 0.986135415264504 Centerline is valid? [True, True] Translation: X:73.27, Y:-2.89, Z:0.76 [[ 9.99085307e-01 -3.58583718e-02 -2.32964937e-02 7.32743750e+01] [ 3.58905078e-02 9.99355265e-01 9.62650576e-04 -2.88928567e+00] [ 2.32469546e-02 -1.79789304e-03 9.99728136e-01 7.63279426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30071405700001 meters Centerline goodness [0,1] 0.9867415274301563 Centerline is valid? [True, True] Translation: X:73.31, Y:-2.89, Z:0.76 [[ 9.99068260e-01 -3.67613859e-02 -2.26099879e-02 7.33066867e+01] [ 3.67919119e-02 9.99322511e-01 9.35472624e-04 -2.88677254e+00] [ 2.25602806e-02 -1.76646569e-03 9.99743924e-01 7.64972557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33071405700001 meters Centerline goodness [0,1] 0.985712676056338 Centerline is valid? [True, True] Translation: X:73.34, Y:-2.89, Z:0.77 [[ 9.99054707e-01 -3.71650525e-02 -2.25488653e-02 7.33383388e+01] [ 3.71955480e-02 9.99307569e-01 9.34374675e-04 -2.88838433e+00] [ 2.24985257e-02 -1.77220882e-03 9.99745305e-01 7.65357860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36071405700001 meters Centerline goodness [0,1] 0.9854889305138679 Centerline is valid? [True, True] Translation: X:73.37, Y:-2.89, Z:0.77 [[ 9.99045020e-01 -3.73794126e-02 -2.26236023e-02 7.33700555e+01] [ 3.74101930e-02 9.99299553e-01 9.38698168e-04 -2.88808840e+00] [ 2.25726676e-02 -1.78415506e-03 9.99743613e-01 7.65759942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.390714057 meters Centerline goodness [0,1] 0.9865692902525607 Centerline is valid? [True, True] Translation: X:73.40, Y:-2.89, Z:0.77 [[ 9.99060001e-01 -3.75311015e-02 -2.16917065e-02 7.34023122e+01] [ 3.75594620e-02 9.99293988e-01 9.01358392e-04 -2.88853026e+00] [ 2.16425630e-02 -1.71523994e-03 9.99764301e-01 7.66501064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.420714057 meters Centerline goodness [0,1] 0.9854957865485846 Centerline is valid? [True, True] Translation: X:73.43, Y:-2.89, Z:0.77 [[ 9.99062012e-01 -3.77319617e-02 -2.12460764e-02 7.34333516e+01] [ 3.77592420e-02 9.99286474e-01 8.84178411e-04 -2.89250390e+00] [ 2.11975549e-02 -1.68558480e-03 9.99773886e-01 7.66745697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.450714057 meters Centerline goodness [0,1] 0.9824399260628466 Centerline is valid? [True, True] Translation: X:73.46, Y:-2.90, Z:0.77 [[ 9.99049938e-01 -3.86574569e-02 -2.01202034e-02 7.34643330e+01] [ 3.86821291e-02 9.99251215e-01 8.38357226e-04 -2.89949031e+00] [ 2.00727290e-02 -1.61585304e-03 9.99797217e-01 7.66592730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.480714057 meters Centerline goodness [0,1] 0.9855033132053282 Centerline is valid? [True, True] Translation: X:73.50, Y:-2.89, Z:0.77 [[ 9.99020379e-01 -3.94983789e-02 -1.99539478e-02 7.34966313e+01] [ 3.95228353e-02 9.99218321e-01 8.32618881e-04 -2.89247020e+00] [ 1.99054632e-02 -1.62043982e-03 9.99800553e-01 7.67556713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.510714057 meters Centerline goodness [0,1] 0.9857848916296363 Centerline is valid? [True, True] Translation: X:73.53, Y:-2.89, Z:0.77 [[ 9.98953857e-01 -4.09919258e-02 -2.02695477e-02 7.35276303e+01] [ 4.10174876e-02 9.99158070e-01 8.46785683e-04 -2.89439313e+00] [ 2.02177707e-02 -1.67730574e-03 9.99794193e-01 7.67485492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.540714057 meters Centerline goodness [0,1] 0.9849884526558892 Centerline is valid? [True, True] Translation: X:73.56, Y:-2.90, Z:0.77 [[ 9.98905283e-01 -4.19036816e-02 -2.07922436e-02 7.35587687e+01] [ 4.19307894e-02 9.99120140e-01 8.69309348e-04 -2.89739096e+00] [ 2.07375221e-02 -1.74019289e-03 9.99783440e-01 7.67030040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.570714057 meters Centerline goodness [0,1] 0.9847969548863713 Centerline is valid? [True, True] Translation: X:73.59, Y:-2.90, Z:0.77 [[ 9.98855962e-01 -4.29664026e-02 -2.09917806e-02 7.35905617e+01] [ 4.29942971e-02 9.99074931e-01 8.79120947e-04 -2.89774345e+00] [ 2.09345891e-02 -1.78064205e-03 9.99779262e-01 7.67125468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.600714057 meters Centerline goodness [0,1] 0.9855571930620111 Centerline is valid? [True, True] Translation: X:73.62, Y:-2.90, Z:0.77 [[ 9.98752052e-01 -4.50499964e-02 -2.15600866e-02 7.36220647e+01] [ 4.50799352e-02 9.98982974e-01 9.04375237e-04 -2.89947815e+00] [ 2.14974174e-02 -1.87517393e-03 9.99767145e-01 7.66162368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.630714057 meters Centerline goodness [0,1] 0.9838585354794831 Centerline is valid? [True, True] Translation: X:73.65, Y:-2.90, Z:0.77 [[ 9.98660303e-01 -4.67798955e-02 -2.21187866e-02 7.36523800e+01] [ 4.68118409e-02 9.98903293e-01 9.28422821e-04 -2.90413115e+00] [ 2.20510972e-02 -1.96260013e-03 9.99754919e-01 7.65637656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.660714057 meters Centerline goodness [0,1] 0.9801312514143471 Centerline is valid? [True, True] Translation: X:73.68, Y:-2.91, Z:0.77 [[ 9.98623626e-01 -4.75167728e-02 -2.22038366e-02 7.36836603e+01] [ 4.75491620e-02 9.98868463e-01 9.32753697e-04 -2.90859929e+00] [ 2.21343907e-02 -1.98724370e-03 9.99753029e-01 7.65419072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69071405700001 meters Centerline goodness [0,1] 0.9839290976267652 Centerline is valid? [True, True] Translation: X:73.72, Y:-2.91, Z:0.77 [[ 9.98590059e-01 -4.80890249e-02 -2.24797731e-02 7.37157084e+01] [ 4.81223993e-02 9.98840998e-01 9.45734523e-04 -2.90617437e+00] [ 2.24082396e-02 -2.02618171e-03 9.99746851e-01 7.66390011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72071405700001 meters Centerline goodness [0,1] 0.9845787504252183 Centerline is valid? [True, True] Translation: X:73.75, Y:-2.91, Z:0.77 [[ 9.98578461e-01 -4.82071708e-02 -2.27404188e-02 7.37477228e+01] [ 4.82413958e-02 9.98835246e-01 9.58535787e-04 -2.90516046e+00] [ 2.26677235e-02 -2.05420274e-03 9.99740944e-01 7.67396804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75071405700001 meters Centerline goodness [0,1] 0.9850461775851506 Centerline is valid? [True, True] Translation: X:73.78, Y:-2.90, Z:0.77 [[ 9.98592524e-01 -4.81604174e-02 -2.22158842e-02 7.37804244e+01] [ 4.81931098e-02 9.98837596e-01 9.38229776e-04 -2.90497233e+00] [ 2.21448748e-02 -2.00756179e-03 9.99752757e-01 7.67693921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.780714057 meters Centerline goodness [0,1] 0.9853788614946555 Centerline is valid? [True, True] Translation: X:73.81, Y:-2.91, Z:0.77 [[ 9.98663709e-01 -4.67994597e-02 -2.19227590e-02 7.38110634e+01] [ 4.68309961e-02 9.98902397e-01 9.27064609e-04 -2.90706921e+00] [ 2.18553104e-02 -1.95249042e-03 9.99759238e-01 7.67942006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.810714057 meters Centerline goodness [0,1] 0.9668453083840494 Centerline is valid? [True, True] Translation: X:73.84, Y:-2.92, Z:0.77 [[ 9.98691351e-01 -4.61830181e-02 -2.19707395e-02 7.38414318e+01] [ 4.62145658e-02 9.98931103e-01 9.30056371e-04 -2.91810548e+00] [ 2.19043023e-02 -1.94420744e-03 9.99758182e-01 7.66971708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.840714057 meters Centerline goodness [0,1] 0.9851575305044619 Centerline is valid? [True, True] Translation: X:73.87, Y:-2.91, Z:0.77 [[ 9.98819624e-01 -4.38967367e-02 -2.07950620e-02 7.38732052e+01] [ 4.39245215e-02 9.99034464e-01 8.81036030e-04 -2.90767592e+00] [ 2.07363090e-02 -1.79340923e-03 9.99783371e-01 7.69321966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.870714057 meters Centerline goodness [0,1] 0.9844832300401021 Centerline is valid? [True, True] Translation: X:73.90, Y:-2.91, Z:0.77 [[ 9.98883074e-01 -4.24531425e-02 -2.07445090e-02 7.39047280e+01] [ 4.24804942e-02 9.99096909e-01 8.79421352e-04 -2.90711444e+00] [ 2.06884406e-02 -1.75967610e-03 9.99784423e-01 7.69936476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.900714057 meters Centerline goodness [0,1] 0.9853484838175591 Centerline is valid? [True, True] Translation: X:73.93, Y:-2.91, Z:0.77 [[ 9.98949845e-01 -4.08241996e-02 -2.07988253e-02 7.39349983e+01] [ 4.08513562e-02 9.99164845e-01 8.82304782e-04 -2.90828917e+00] [ 2.07454357e-02 -1.73103845e-03 9.99783292e-01 7.69642028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.930714057 meters Centerline goodness [0,1] 0.9841068022886205 Centerline is valid? [True, True] Translation: X:73.97, Y:-2.91, Z:0.77 [[ 9.98949930e-01 -4.06200117e-02 -2.11908681e-02 7.39668234e+01] [ 4.06481747e-02 9.99173116e-01 8.99801571e-04 -2.91126131e+00] [ 2.11367957e-02 -1.76022682e-03 9.99775043e-01 7.69155632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.960714057 meters Centerline goodness [0,1] 0.9837035688273853 Centerline is valid? [True, True] Translation: X:74.00, Y:-2.91, Z:0.77 [[ 9.98917888e-01 -4.08561537e-02 -2.22222466e-02 7.39978615e+01] [ 4.08872255e-02 9.99163320e-01 9.45481536e-04 -2.91370692e+00] [ 2.21650250e-02 -1.85306443e-03 9.99752608e-01 7.68273315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.990714057 meters Centerline goodness [0,1] 0.983903237540924 Centerline is valid? [True, True] Translation: X:74.03, Y:-2.92, Z:0.77 [[ 9.98898543e-01 -4.10244834e-02 -2.27748295e-02 7.40295292e+01] [ 4.10572035e-02 9.99156326e-01 9.70748286e-04 -2.91589207e+00] [ 2.27157905e-02 -1.90474986e-03 9.99740149e-01 7.68285542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.020714057 meters Centerline goodness [0,1] 0.9809910197383416 Centerline is valid? [True, True] Translation: X:74.06, Y:-2.92, Z:0.77 [[ 9.98881953e-01 -4.12041302e-02 -2.31746132e-02 7.40603580e+01] [ 4.12380853e-02 9.99148859e-01 9.88991736e-04 -2.91927419e+00] [ 2.31141378e-02 -1.94356267e-03 9.99730943e-01 7.67580012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05071405700001 meters Centerline goodness [0,1] 0.9848070079386806 Centerline is valid? [True, True] Translation: X:74.09, Y:-2.92, Z:0.77 [[ 9.98889880e-01 -4.12896959e-02 -2.26752985e-02 7.40927091e+01] [ 4.13222558e-02 9.99145401e-01 9.69043577e-04 -2.91513798e+00] [ 2.26159087e-02 -1.90496231e-03 9.99742413e-01 7.68817029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08071405700001 meters Centerline goodness [0,1] 0.984598183726555 Centerline is valid? [True, True] Translation: X:74.12, Y:-2.92, Z:0.77 [[ 9.98942396e-01 -4.03318223e-02 -2.20778789e-02 7.41239582e+01] [ 4.03624822e-02 9.99184656e-01 9.44685129e-04 -2.91630229e+00] [ 2.20217770e-02 -1.83480402e-03 9.99755808e-01 7.69671759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11071405700001 meters Centerline goodness [0,1] 0.984829820239073 Centerline is valid? [True, True] Translation: X:74.16, Y:-2.91, Z:0.77 [[ 9.98990950e-01 -3.92691937e-02 -2.17947888e-02 7.41553899e+01] [ 3.92988378e-02 9.99227066e-01 9.33343292e-04 -2.91376163e+00] [ 2.17412913e-02 -1.78891137e-03 9.99762030e-01 7.70520022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.140714057 meters Centerline goodness [0,1] 0.9849062599300922 Centerline is valid? [True, True] Translation: X:74.19, Y:-2.91, Z:0.77 [[ 9.99059177e-01 -3.75704914e-02 -2.16614556e-02 7.41874579e+01] [ 3.75993977e-02 9.99292461e-01 9.28585865e-04 -2.91420706e+00] [ 2.16112418e-02 -1.74216991e-03 9.99764932e-01 7.71100551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.170714057 meters Centerline goodness [0,1] 0.9854983100392801 Centerline is valid? [True, True] Translation: X:74.22, Y:-2.91, Z:0.77 [[ 9.99195411e-01 -3.39283039e-02 -2.13869506e-02 7.42182216e+01] [ 3.39556666e-02 9.99422919e-01 9.17462603e-04 -2.90828721e+00] [ 2.13434806e-02 -1.64293259e-03 9.99770852e-01 7.72187326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.200714057 meters Centerline goodness [0,1] 0.9850302822534568 Centerline is valid? [True, True] Translation: X:74.25, Y:-2.91, Z:0.77 [[ 9.99284552e-01 -3.14964495e-02 -2.09370052e-02 7.42478013e+01] [ 3.15221424e-02 9.99502650e-01 8.98184169e-04 -2.91243276e+00] [ 2.08983026e-02 -1.55752083e-03 9.99780393e-01 7.71803389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.230714057 meters Centerline goodness [0,1] 0.9852321641175932 Centerline is valid? [True, True] Translation: X:74.28, Y:-2.91, Z:0.77 [[ 9.99423366e-01 -2.69256416e-02 -2.06868504e-02 7.42770445e+01] [ 2.69497467e-02 9.99636396e-01 8.87290407e-04 -2.91079221e+00] [ 2.06554377e-02 -1.44428414e-03 9.99785610e-01 7.72573504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.260714057 meters Centerline goodness [0,1] 0.9850746268656716 Centerline is valid? [True, True] Translation: X:74.31, Y:-2.91, Z:0.77 [[ 9.99485230e-01 -2.47113729e-02 -2.04602801e-02 7.43076347e+01] [ 2.47344867e-02 9.99693671e-01 8.77360209e-04 -2.90898311e+00] [ 2.04323318e-02 -1.38298310e-03 9.99790282e-01 7.72809596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.290714057 meters Centerline goodness [0,1] 0.9858805702872099 Centerline is valid? [True, True] Translation: X:74.34, Y:-2.91, Z:0.77 [[ 9.99546298e-01 -2.24925836e-02 -2.00320421e-02 7.43385423e+01] [ 2.25142990e-02 9.99746152e-01 8.59141669e-04 -2.90564399e+00] [ 2.00076327e-02 -1.30975926e-03 9.99798969e-01 7.73899446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.320714057 meters Centerline goodness [0,1] 0.9846519819758 Centerline is valid? [True, True] Translation: X:74.37, Y:-2.91, Z:0.77 [[ 9.99631779e-01 -1.83960850e-02 -1.99471981e-02 7.43685004e+01] [ 1.84168058e-02 9.99830030e-01 8.55565740e-04 -2.90640677e+00] [ 1.99280686e-02 -1.22261438e-03 9.99800669e-01 7.74694235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.350714057 meters Centerline goodness [0,1] 0.9854362262422716 Centerline is valid? [True, True] Translation: X:74.40, Y:-2.90, Z:0.77 [[ 9.99674113e-01 -1.53490914e-02 -2.03978735e-02 7.43986930e+01] [ 1.53701200e-02 9.99881490e-01 8.74534827e-04 -2.90196920e+00] [ 2.03820329e-02 -1.18776759e-03 9.99791559e-01 7.74531785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.380714057 meters Centerline goodness [0,1] 0.9852806309611152 Centerline is valid? [True, True] Translation: X:74.43, Y:-2.90, Z:0.77 [[ 9.99683358e-01 -1.41548035e-02 -2.08044535e-02 7.44263971e+01] [ 1.41763928e-02 9.99899113e-01 8.90602346e-04 -2.90387818e+00] [ 2.07897483e-02 -1.18525245e-03 9.99783167e-01 7.73915927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.410714057 meters Centerline goodness [0,1] 0.9863975226516802 Centerline is valid? [True, True] Translation: X:74.45, Y:-2.90, Z:0.77 [[ 9.99684028e-01 -1.32055366e-02 -2.13882857e-02 7.44548546e+01] [ 1.32280552e-02 9.99912090e-01 9.11703255e-04 -2.90281336e+00] [ 2.13743659e-02 -1.19434061e-03 9.99770829e-01 7.74045427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44071405700001 meters Centerline goodness [0,1] 0.9861392521643029 Centerline is valid? [True, True] Translation: X:74.48, Y:-2.90, Z:0.77 [[ 9.99690967e-01 -1.13652419e-02 -2.21088450e-02 7.44842636e+01] [ 1.13887375e-02 9.99934707e-01 9.37101392e-04 -2.90153187e+00] [ 2.20967510e-02 -1.18860363e-03 9.99755130e-01 7.73947491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47071405700001 meters Centerline goodness [0,1] 0.9875209707443753 Centerline is valid? [True, True] Translation: X:74.51, Y:-2.90, Z:0.78 [[ 9.99714139e-01 -9.77828607e-03 -2.18179891e-02 7.45136615e+01] [ 9.80068191e-03 9.99951549e-01 9.19790159e-04 -2.89754033e+00] [ 2.18079380e-02 -1.13335840e-03 9.99761536e-01 7.75357735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50071405700001 meters Centerline goodness [0,1] 0.9864587891209727 Centerline is valid? [True, True] Translation: X:74.54, Y:-2.90, Z:0.77 [[ 9.99721546e-01 -9.02565821e-03 -2.18029363e-02 7.45413224e+01] [ 9.04776543e-03 9.99958649e-01 9.15521623e-04 -2.90268202e+00] [ 2.17937715e-02 -1.11253455e-03 9.99761869e-01 7.74908436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.530714057 meters Centerline goodness [0,1] 0.9865899942495687 Centerline is valid? [True, True] Translation: X:74.57, Y:-2.90, Z:0.78 [[ 9.99733800e-01 -8.35287416e-03 -2.15071723e-02 7.45700940e+01] [ 8.37415620e-03 9.99964531e-01 8.99658386e-04 -2.89857150e+00] [ 2.14988947e-02 -1.07952332e-03 9.99768289e-01 7.76349663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.560714057 meters Centerline goodness [0,1] 0.9878338210557847 Centerline is valid? [True, True] Translation: X:74.60, Y:-2.90, Z:0.78 [[ 9.99748129e-01 -6.62018357e-03 -2.14441443e-02 7.45989302e+01] [ 6.64086629e-03 9.99977550e-01 8.93423584e-04 -2.89755261e+00] [ 2.14377482e-02 -1.03560625e-03 9.99769649e-01 7.77038725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.590714057 meters Centerline goodness [0,1] 0.9883999263487387 Centerline is valid? [True, True] Translation: X:74.63, Y:-2.90, Z:0.78 [[ 9.99751904e-01 -5.87429073e-03 -2.14854016e-02 7.46267590e+01] [ 5.89484501e-03 9.99982226e-01 8.93453357e-04 -2.89805885e+00] [ 2.14797713e-02 -1.01988481e-03 9.99768763e-01 7.77482892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.620714057 meters Centerline goodness [0,1] 0.9874639935476437 Centerline is valid? [True, True] Translation: X:74.66, Y:-2.90, Z:0.78 [[ 9.99777921e-01 -4.44006311e-03 -2.06008406e-02 7.46558833e+01] [ 4.45862236e-03 9.99989695e-01 8.55054551e-04 -2.89671362e+00] [ 2.05968319e-02 -9.46716030e-04 9.99787415e-01 7.78530510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.650714057 meters Centerline goodness [0,1] 0.9877862947912819 Centerline is valid? [True, True] Translation: X:74.68, Y:-2.90, Z:0.78 [[ 9.99798331e-01 -3.97265997e-03 -1.96854097e-02 7.46844519e+01] [ 3.98946159e-03 9.99991711e-01 8.14308512e-04 -2.89740058e+00] [ 1.96820115e-02 -8.92678477e-04 9.99805892e-01 7.79392395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.680714057 meters Centerline goodness [0,1] 0.9882461396635169 Centerline is valid? [True, True] Translation: X:74.71, Y:-2.90, Z:0.78 [[ 9.99821730e-01 -3.32755027e-03 -1.85858900e-02 7.47129160e+01] [ 3.34233329e-03 9.99994122e-01 7.64383125e-04 -2.89762741e+00] [ 1.85832373e-02 -8.26367097e-04 9.99826975e-01 7.80565144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.710714057 meters Centerline goodness [0,1] 0.9882012724117988 Centerline is valid? [True, True] Translation: X:74.74, Y:-2.90, Z:0.78 [[ 9.99823761e-01 -3.70969901e-03 -1.84033770e-02 7.47405226e+01] [ 3.72416970e-03 9.99992782e-01 7.52096706e-04 -2.89907810e+00] [ 1.84004541e-02 -8.20501457e-04 9.99830361e-01 7.81046229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.740714057 meters Centerline goodness [0,1] 0.9880377802923584 Centerline is valid? [True, True] Translation: X:74.77, Y:-2.90, Z:0.78 [[ 9.99829076e-01 -4.02845994e-03 -1.80441445e-02 7.47683988e+01] [ 4.04233167e-03 9.99991562e-01 7.32358751e-04 -2.90095404e+00] [ 1.80410419e-02 -8.05173989e-04 9.99836923e-01 7.81288122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.770714057 meters Centerline goodness [0,1] 0.9879481979905982 Centerline is valid? [True, True] Translation: X:74.80, Y:-2.90, Z:0.78 [[ 9.99813726e-01 -5.67556133e-03 -1.84472696e-02 7.47959092e+01] [ 5.69026602e-03 9.99983533e-01 7.44728220e-04 -2.90432641e+00] [ 1.84427391e-02 -8.49559368e-04 9.99829557e-01 7.81022288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80071405700001 meters Centerline goodness [0,1] 0.9876321426103779 Centerline is valid? [True, True] Translation: X:74.82, Y:-2.91, Z:0.78 [[ 9.99807743e-01 -6.62976117e-03 -1.84532710e-02 7.48229825e+01] [ 6.64460000e-03 9.99977648e-01 7.42932599e-04 -2.90931668e+00] [ 1.84479330e-02 -8.65404369e-04 9.99829448e-01 7.80886215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83071405700001 meters Centerline goodness [0,1] 0.9875206839492554 Centerline is valid? [True, True] Translation: X:74.85, Y:-2.91, Z:0.78 [[ 9.99766942e-01 -8.95473089e-03 -1.96436850e-02 7.48524572e+01] [ 8.97195151e-03 9.99959440e-01 7.88692859e-04 -2.91176062e+00] [ 1.96358257e-02 -9.64751237e-04 9.99806733e-01 7.80588621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86071405700001 meters Centerline goodness [0,1] 0.9882209492258495 Centerline is valid? [True, True] Translation: X:74.88, Y:-2.91, Z:0.78 [[ 9.99749770e-01 -1.00814133e-02 -1.99690336e-02 7.48809137e+01] [ 1.00993843e-02 9.99948680e-01 7.99297677e-04 -2.91111889e+00] [ 1.99599508e-02 -1.00077261e-03 9.99800279e-01 7.80997973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.890714057 meters Centerline goodness [0,1] 0.9868424084614144 Centerline is valid? [True, True] Translation: X:74.91, Y:-2.91, Z:0.78 [[ 9.99716521e-01 -1.17803912e-02 -2.06905753e-02 7.49100245e+01] [ 1.17999745e-02 9.99930038e-01 8.24651441e-04 -2.91474139e+00] [ 2.06794130e-02 -1.06856593e-03 9.99785587e-01 7.80768467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.920714057 meters Centerline goodness [0,1] 0.9888694692300616 Centerline is valid? [True, True] Translation: X:74.94, Y:-2.92, Z:0.78 [[ 9.99708255e-01 -1.21966628e-02 -2.08481891e-02 7.49379552e+01] [ 1.22166062e-02 9.99925030e-01 8.29499904e-04 -2.91785642e+00] [ 2.08365090e-02 -1.08395202e-03 9.99782309e-01 7.80936008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.950714057 meters Centerline goodness [0,1] 0.98862983806133 Centerline is valid? [True, True] Translation: X:74.97, Y:-2.92, Z:0.78 [[ 9.99700245e-01 -1.31884904e-02 -2.06272652e-02 7.49663797e+01] [ 1.32081576e-02 9.99912434e-01 8.17502136e-04 -2.92031563e+00] [ 2.06146774e-02 -1.08970526e-03 9.99786901e-01 7.81543373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.980714057 meters Centerline goodness [0,1] 0.9886186324001836 Centerline is valid? [True, True] Translation: X:74.99, Y:-2.92, Z:0.78 [[ 9.99691282e-01 -1.33282105e-02 -2.09689941e-02 7.49937081e+01] [ 1.33484868e-02 9.99910563e-01 8.27290852e-04 -2.92340817e+00] [ 2.09560924e-02 -1.10693979e-03 9.99779784e-01 7.81630452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.010714057 meters Centerline goodness [0,1] 0.9886186324001836 Centerline is valid? [True, True] Translation: X:75.02, Y:-2.92, Z:0.78 [[ 9.99687566e-01 -1.36039223e-02 -2.09691341e-02 7.50211018e+01] [ 1.36241847e-02 9.99906847e-01 8.23729999e-04 -2.92440365e+00] [ 2.09559748e-02 -1.10915999e-03 9.99779784e-01 7.81954086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.040714057 meters Centerline goodness [0,1] 0.9890348869151177 Centerline is valid? [True, True] Translation: X:75.05, Y:-2.93, Z:0.78 [[ 9.99670386e-01 -1.36824717e-02 -2.17234646e-02 7.50485121e+01] [ 1.37041453e-02 9.99905733e-01 8.49141794e-04 -2.92732412e+00] [ 2.17097984e-02 -1.14656342e-03 9.99763657e-01 7.81633144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.070714057 meters Centerline goodness [0,1] 0.9893856029344338 Centerline is valid? [True, True] Translation: X:75.08, Y:-2.92, Z:0.78 [[ 9.99658926e-01 -1.35342086e-02 -2.23351180e-02 7.50770529e+01] [ 1.35570014e-02 9.99907722e-01 8.69381227e-04 -2.92468809e+00] [ 2.23212906e-02 -1.17188193e-03 9.99750162e-01 7.82257295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.100714057 meters Centerline goodness [0,1] 0.9891023737177583 Centerline is valid? [True, True] Translation: X:75.11, Y:-2.93, Z:0.78 [[ 9.99647183e-01 -1.37982696e-02 -2.26961755e-02 7.51052779e+01] [ 1.38217342e-02 9.99904090e-01 8.77303761e-04 -2.92549221e+00] [ 2.26818935e-02 -1.19069474e-03 9.99742024e-01 7.82748869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.130714057 meters Centerline goodness [0,1] 0.9895499862800695 Centerline is valid? [True, True] Translation: X:75.13, Y:-2.93, Z:0.78 [[ 9.99654489e-01 -1.38203068e-02 -2.23584998e-02 7.51341922e+01] [ 1.38429492e-02 9.99903813e-01 8.58234331e-04 -2.92796908e+00] [ 2.23444881e-02 -1.16744538e-03 9.99749649e-01 7.83229305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.160714057 meters Centerline goodness [0,1] 0.9897921732348488 Centerline is valid? [True, True] Translation: X:75.16, Y:-2.93, Z:0.78 [[ 9.99656255e-01 -1.40270403e-02 -2.21497854e-02 7.51609269e+01] [ 1.40492014e-02 9.99900948e-01 8.45208953e-04 -2.93240037e+00] [ 2.21357356e-02 -1.15610521e-03 9.99754306e-01 7.82805218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19071405700001 meters Centerline goodness [0,1] 0.9889979185251264 Centerline is valid? [True, True] Translation: X:75.19, Y:-2.93, Z:0.78 [[ 9.99653851e-01 -1.43237307e-02 -2.20682794e-02 7.51889825e+01] [ 1.43456838e-02 9.99896745e-01 8.36783133e-04 -2.93132838e+00] [ 2.20540149e-02 -1.15307804e-03 9.99756116e-01 7.83907603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22071405700001 meters Centerline goodness [0,1] 0.988409839063643 Centerline is valid? [True, True] Translation: X:75.22, Y:-2.94, Z:0.78 [[ 9.99646849e-01 -1.50258507e-02 -2.19180690e-02 7.52163080e+01] [ 1.50475800e-02 9.99886437e-01 8.26790584e-04 -2.94257098e+00] [ 2.19031567e-02 -1.15631250e-03 9.99759428e-01 7.82695207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25071405700001 meters Centerline goodness [0,1] 0.9892871011215423 Centerline is valid? [True, True] Translation: X:75.25, Y:-2.94, Z:0.78 [[ 9.99647408e-01 -1.56428308e-02 -2.14560422e-02 7.52456384e+01] [ 1.56637213e-02 9.99876992e-01 8.05916623e-04 -2.93675848e+00] [ 2.14407961e-02 -1.14171393e-03 9.99769468e-01 7.84535466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.280714057 meters Centerline goodness [0,1] 0.9889846196037205 Centerline is valid? [True, True] Translation: X:75.27, Y:-2.94, Z:0.78 [[ 9.99617656e-01 -1.76253567e-02 -2.13046575e-02 7.52742612e+01] [ 1.76463293e-02 9.99843974e-01 7.96807166e-04 -2.94265860e+00] [ 2.12872894e-02 -1.17245151e-03 9.99772713e-01 7.84910040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.310714057 meters Centerline goodness [0,1] 0.9892333606482746 Centerline is valid? [True, True] Translation: X:75.30, Y:-2.94, Z:0.79 [[ 9.99601211e-01 -1.92703543e-02 -2.06415176e-02 7.53024571e+01] [ 1.92903542e-02 9.99813627e-01 7.70225756e-04 -2.94495906e+00] [ 2.06228280e-02 -1.16810078e-03 9.99786644e-01 7.85430441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.340714057 meters Centerline goodness [0,1] 0.9882916809311879 Centerline is valid? [True, True] Translation: X:75.33, Y:-2.95, Z:0.79 [[ 9.99561918e-01 -2.10901897e-02 -2.07647972e-02 7.53301620e+01] [ 2.11107750e-02 9.99776844e-01 7.72627090e-04 -2.95332615e+00] [ 2.07438686e-02 -1.21064958e-03 9.99784090e-01 7.85037428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.370714057 meters Centerline goodness [0,1] 0.988303561269769 Centerline is valid? [True, True] Translation: X:75.36, Y:-2.95, Z:0.79 [[ 9.99488878e-01 -2.39614310e-02 -2.11620592e-02 7.53600767e+01] [ 2.39834316e-02 9.99712047e-01 7.86402847e-04 -2.95182750e+00] [ 2.11371222e-02 -1.29353970e-03 9.99775749e-01 7.85156020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.400714057 meters Centerline goodness [0,1] 0.9887469309811767 Centerline is valid? [True, True] Translation: X:75.39, Y:-2.96, Z:0.78 [[ 9.99438346e-01 -2.55658216e-02 -2.16652191e-02 7.53899347e+01] [ 2.55892481e-02 9.99672218e-01 8.04708370e-04 -2.95504606e+00] [ 2.16375446e-02 -1.35865307e-03 9.99764958e-01 7.84940190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.430714057 meters Centerline goodness [0,1] 0.9882630171749671 Centerline is valid? [True, True] Translation: X:75.42, Y:-2.96, Z:0.78 [[ 9.99362135e-01 -2.78483838e-02 -2.23559861e-02 7.54192948e+01] [ 2.78738880e-02 9.99611103e-01 8.29959657e-04 -2.96079272e+00] [ 2.23241789e-02 -1.45257851e-03 9.99749729e-01 7.84411721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.460714057 meters Centerline goodness [0,1] 0.9873808443032229 Centerline is valid? [True, True] Translation: X:75.45, Y:-2.96, Z:0.78 [[ 9.99323089e-01 -2.87661730e-02 -2.29318694e-02 7.54494742e+01] [ 2.87932441e-02 9.99585026e-01 8.51123837e-04 -2.96312550e+00] [ 2.28978697e-02 -1.51083061e-03 9.99736668e-01 7.84540557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.490714057 meters Centerline goodness [0,1] 0.9877883003307807 Centerline is valid? [True, True] Translation: X:75.48, Y:-2.96, Z:0.79 [[ 9.99290796e-01 -2.98167432e-02 -2.29970871e-02 7.54810868e+01] [ 2.98442547e-02 9.99554196e-01 8.53944040e-04 -2.96336904e+00] [ 2.29613731e-02 -1.53966934e-03 9.99735167e-01 7.85325007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.520714057 meters Centerline goodness [0,1] 0.9874556858467411 Centerline is valid? [True, True] Translation: X:75.51, Y:-2.96, Z:0.79 [[ 9.99274109e-01 -3.01248198e-02 -2.33184662e-02 7.55125940e+01] [ 3.01532088e-02 9.99544913e-01 8.66714099e-04 -2.96442809e+00] [ 2.32817447e-02 -1.56921154e-03 9.99727712e-01 7.85985613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55071405700001 meters Centerline goodness [0,1] 0.9872471016140032 Centerline is valid? [True, True] Translation: X:75.54, Y:-2.97, Z:0.79 [[ 9.99286300e-01 -3.01758570e-02 -2.27224338e-02 7.55430465e+01] [ 3.02028396e-02 9.99543433e-01 8.45161925e-04 -2.96973772e+00] [ 2.26865560e-02 -1.53084076e-03 9.99741455e-01 7.86078159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58071405700001 meters Centerline goodness [0,1] 0.987892580791989 Centerline is valid? [True, True] Translation: X:75.57, Y:-2.97, Z:0.79 [[ 9.99281813e-01 -3.00735734e-02 -2.30529271e-02 7.55748452e+01] [ 3.01013335e-02 9.99546484e-01 8.58051322e-04 -2.97114892e+00] [ 2.30166676e-02 -1.55135893e-03 9.99733878e-01 7.86884190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61071405700001 meters Centerline goodness [0,1] 0.9877768942405998 Centerline is valid? [True, True] Translation: X:75.61, Y:-2.97, Z:0.79 [[ 9.99280326e-01 -2.98332960e-02 -2.34265629e-02 7.56058895e+01] [ 2.98619171e-02 9.99553652e-01 8.72784188e-04 -2.96667090e+00] [ 2.33900685e-02 -1.57171815e-03 9.99725179e-01 7.87930326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.640714057 meters Centerline goodness [0,1] 0.9875700040978008 Centerline is valid? [True, True] Translation: X:75.64, Y:-2.97, Z:0.79 [[ 9.99281577e-01 -2.93099411e-02 -2.40261747e-02 7.56362803e+01] [ 2.93399116e-02 9.99569091e-01 8.95772131e-04 -2.97102158e+00] [ 2.39895665e-02 -1.60005443e-03 9.99710928e-01 7.86680032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.670714057 meters Centerline goodness [0,1] 0.987649547377519 Centerline is valid? [True, True] Translation: X:75.67, Y:-2.97, Z:0.79 [[ 9.99268186e-01 -2.96218033e-02 -2.42000454e-02 7.56667150e+01] [ 2.96523107e-02 9.99559866e-01 9.02684064e-04 -2.97267215e+00] [ 2.41626550e-02 -1.61961073e-03 9.99706728e-01 7.86751123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.700714057 meters Centerline goodness [0,1] 0.9882865704167801 Centerline is valid? [True, True] Translation: X:75.70, Y:-2.97, Z:0.79 [[ 9.99281313e-01 -2.96871584e-02 -2.35696890e-02 7.56971844e+01] [ 2.97161196e-02 9.99557992e-01 8.79373410e-04 -2.97258933e+00] [ 2.35331649e-02 -1.57914111e-03 9.99721810e-01 7.87870782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.730714057 meters Centerline goodness [0,1] 0.9881073965638547 Centerline is valid? [True, True] Translation: X:75.73, Y:-2.97, Z:0.79 [[ 9.99295902e-01 -2.96657870e-02 -2.29704310e-02 7.57281304e+01] [ 2.96932974e-02 9.99558689e-01 8.57415163e-04 -2.97287080e+00] [ 2.29348580e-02 -1.53887930e-03 9.99735777e-01 7.89047568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.760714057 meters Centerline goodness [0,1] 0.9879201323572739 Centerline is valid? [True, True] Translation: X:75.76, Y:-2.98, Z:0.79 [[ 9.99290368e-01 -3.02165764e-02 -2.24881886e-02 7.57588132e+01] [ 3.02431041e-02 9.99542219e-01 8.40388284e-04 -2.97580476e+00] [ 2.24525002e-02 -1.51990455e-03 9.99746755e-01 7.90357312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.790714057 meters Centerline goodness [0,1] 0.987558073654391 Centerline is valid? [True, True] Translation: X:75.79, Y:-2.98, Z:0.79 [[ 9.99300033e-01 -3.03824065e-02 -2.18255086e-02 7.57897546e+01] [ 3.04074536e-02 9.99537253e-01 8.16578160e-04 -2.97607254e+00] [ 2.17905993e-02 -1.47966472e-03 9.99761462e-01 7.91393710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.820714057 meters Centerline goodness [0,1] 0.9874022884332163 Centerline is valid? [True, True] Translation: X:75.82, Y:-2.98, Z:0.79 [[ 9.99300225e-01 -3.07003616e-02 -2.13669951e-02 7.58202121e+01] [ 3.07244593e-02 9.99527572e-01 8.00353559e-04 -2.98107903e+00] [ 2.13323296e-02 -1.45628286e-03 9.99771379e-01 7.91748841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.850714057 meters Centerline goodness [0,1] 0.9869208450448816 Centerline is valid? [True, True] Translation: X:75.85, Y:-2.99, Z:0.79 [[ 9.99280842e-01 -3.17705516e-02 -2.06985871e-02 7.58502014e+01] [ 3.17934093e-02 9.99494160e-01 7.76092026e-04 -2.98539070e+00] [ 2.06634601e-02 -1.43361254e-03 9.99785460e-01 7.92249078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.880714057 meters Centerline goodness [0,1] 0.9873518144932792 Centerline is valid? [True, True] Translation: X:75.88, Y:-2.99, Z:0.79 [[ 9.99256145e-01 -3.22618055e-02 -2.11265641e-02 7.58815249e+01] [ 3.22857387e-02 9.99478365e-01 7.92662891e-04 -2.98883106e+00] [ 2.10899710e-02 -1.47415999e-03 9.99776495e-01 7.92396053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.910714057 meters Centerline goodness [0,1] 0.9885674182740197 Centerline is valid? [True, True] Translation: X:75.91, Y:-2.98, Z:0.79 [[ 9.99251992e-01 -3.20404832e-02 -2.16532445e-02 7.59144323e+01] [ 3.20655975e-02 9.99485435e-01 8.13548574e-04 -2.98334773e+00] [ 2.16160361e-02 -1.50726426e-03 9.99765210e-01 7.93657838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94071405700001 meters Centerline goodness [0,1] 0.9875964781240805 Centerline is valid? [True, True] Translation: X:75.95, Y:-2.99, Z:0.79 [[ 9.99260297e-01 -3.16162575e-02 -2.18922482e-02 7.59457138e+01] [ 3.16418589e-02 9.99498931e-01 8.23932511e-04 -2.99291562e+00] [ 2.18552290e-02 -1.51603447e-03 9.99759997e-01 7.92518125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97071405700001 meters Centerline goodness [0,1] 0.9876590734115303 Centerline is valid? [True, True] Translation: X:75.98, Y:-2.99, Z:0.79 [[ 9.99245896e-01 -3.13371766e-02 -2.29264287e-02 7.59770665e+01] [ 3.13652057e-02 9.99507618e-01 8.63907670e-04 -2.98812844e+00] [ 2.28880677e-02 -1.58234835e-03 9.99736782e-01 7.92901246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00071405700001 meters Centerline goodness [0,1] 0.9880221895165855 Centerline is valid? [True, True] Translation: X:76.01, Y:-2.99, Z:0.79 [[ 9.99261512e-01 -3.11231504e-02 -2.25339664e-02 7.60085297e+01] [ 3.11501915e-02 9.99514354e-01 8.49910132e-04 -2.98718740e+00] [ 2.24965710e-02 -1.55121985e-03 9.99745717e-01 7.93767754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.030714057 meters Centerline goodness [0,1] 0.9878324588384295 Centerline is valid? [True, True] Translation: X:76.04, Y:-2.99, Z:0.79 [[ 9.99315565e-01 -2.97559515e-02 -2.19769118e-02 7.60400055e+01] [ 2.97813598e-02 9.99556093e-01 8.29679941e-04 -2.98918399e+00] [ 2.19424682e-02 -1.48361440e-03 9.99758134e-01 7.93853619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.060714057 meters Centerline goodness [0,1] 0.987593840012701 Centerline is valid? [True, True] Translation: X:76.07, Y:-2.99, Z:0.79 [[ 9.99350743e-01 -2.87813368e-02 -2.16731667e-02 7.60714746e+01] [ 2.88058361e-02 9.99584690e-01 8.18985611e-04 -2.99021584e+00] [ 2.16405941e-02 -1.44276757e-03 9.99764774e-01 7.93932855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.090714057 meters Centerline goodness [0,1] 0.9884738672789688 Centerline is valid? [True, True] Translation: X:76.10, Y:-2.99, Z:0.79 [[ 9.99380953e-01 -2.76187051e-02 -2.17925949e-02 7.61029346e+01] [ 2.76432171e-02 9.99617513e-01 8.24283987e-04 -2.98901822e+00] [ 2.17614939e-02 -1.42619115e-03 9.99762173e-01 7.94785376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.120714057 meters Centerline goodness [0,1] 0.9882898656176812 Centerline is valid? [True, True] Translation: X:76.13, Y:-2.99, Z:0.80 [[ 9.99483373e-01 -2.49962509e-02 -2.02033206e-02 7.61339174e+01] [ 2.50167947e-02 9.99686739e-01 7.64717642e-04 -2.98983674e+00] [ 2.01778766e-02 -1.26974489e-03 9.99795600e-01 7.95586223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.150714057 meters Centerline goodness [0,1] 0.9880392023102985 Centerline is valid? [True, True] Translation: X:76.17, Y:-2.99, Z:0.80 [[ 9.99507753e-01 -2.42065624e-02 -1.99573121e-02 7.61652632e+01] [ 2.42264621e-02 9.99706210e-01 7.55907471e-04 -2.99100729e+00] [ 1.99331509e-02 -1.23903044e-03 9.99800547e-01 7.96224150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.180714057 meters Centerline goodness [0,1] 0.9888123337198991 Centerline is valid? [True, True] Translation: X:76.20, Y:-2.99, Z:0.80 [[ 9.99565320e-01 -2.29626999e-02 -1.84901383e-02 7.61962392e+01] [ 2.29795781e-02 9.99735689e-01 7.00848323e-04 -2.99135909e+00] [ 1.84691578e-02 -1.12543926e-03 9.99828797e-01 7.97241987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.210714057 meters Centerline goodness [0,1] 0.9891217950173733 Centerline is valid? [True, True] Translation: X:76.23, Y:-2.99, Z:0.80 [[ 9.99568083e-01 -2.29103548e-02 -1.84055132e-02 7.62272682e+01] [ 2.29270783e-02 9.99736896e-01 6.98093812e-04 -2.99210316e+00] [ 1.83846771e-02 -1.11977694e-03 9.99830360e-01 7.97286936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.240714057 meters Centerline goodness [0,1] 0.9887857256361944 Centerline is valid? [True, True] Translation: X:76.26, Y:-3.00, Z:0.80 [[ 9.99516175e-01 -2.40926336e-02 -1.96713227e-02 7.62571602e+01] [ 2.41119877e-02 9.99708984e-01 7.47255100e-04 -2.99641881e+00] [ 1.96475947e-02 -1.22120825e-03 9.99806222e-01 7.96324808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.270714057 meters Centerline goodness [0,1] 0.9887065988002182 Centerline is valid? [True, True] Translation: X:76.29, Y:-3.00, Z:0.80 [[ 9.99474045e-01 -2.51648456e-02 -2.04539322e-02 7.62877590e+01] [ 2.51860194e-02 9.99682479e-01 7.78212541e-04 -2.99997517e+00] [ 2.04278540e-02 -1.29295637e-03 9.99790494e-01 7.95687834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30071405700001 meters Centerline goodness [0,1] 0.9887701626624923 Centerline is valid? [True, True] Translation: X:76.32, Y:-3.00, Z:0.80 [[ 9.99422803e-01 -2.64744106e-02 -2.12876939e-02 7.63180835e+01] [ 2.64976467e-02 9.99648547e-01 8.10152103e-04 -3.00309356e+00] [ 2.12587640e-02 -1.37375828e-03 9.99773063e-01 7.95211071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33071405700001 meters Centerline goodness [0,1] 0.9880828311205764 Centerline is valid? [True, True] Translation: X:76.35, Y:-3.01, Z:0.79 [[ 9.99342363e-01 -2.89399281e-02 -2.18476922e-02 7.63486070e+01] [ 2.89649971e-02 9.99580080e-01 8.31803271e-04 -3.00704477e+00] [ 2.18144456e-02 -1.46407459e-03 9.99760965e-01 7.94309030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36071405700001 meters Centerline goodness [0,1] 0.9876106996444022 Centerline is valid? [True, True] Translation: X:76.38, Y:-3.01, Z:0.79 [[ 9.99274311e-01 -3.05842462e-02 -2.27036180e-02 7.63785481e+01] [ 3.06117545e-02 9.99530976e-01 8.64994298e-04 -3.01274401e+00] [ 2.26665143e-02 -1.55936416e-03 9.99741865e-01 7.93760027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.390714057 meters Centerline goodness [0,1] 0.9877068664961174 Centerline is valid? [True, True] Translation: X:76.41, Y:-3.02, Z:0.79 [[ 9.99271557e-01 -3.08826554e-02 -2.24191004e-02 7.64095881e+01] [ 3.09095660e-02 9.99521820e-01 8.54725734e-04 -3.01523876e+00] [ 2.23819838e-02 -1.54706778e-03 9.99748295e-01 7.93804029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.420714057 meters Centerline goodness [0,1] 0.9878250243273213 Centerline is valid? [True, True] Translation: X:76.44, Y:-3.01, Z:0.79 [[ 9.99259079e-01 -3.14083091e-02 -2.22443366e-02 7.64405017e+01] [ 3.14349443e-02 9.99505440e-01 8.48651503e-04 -3.01439220e+00] [ 2.22066808e-02 -1.54727220e-03 9.99752204e-01 7.94748990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.450714057 meters Centerline goodness [0,1] 0.9877103806619225 Centerline is valid? [True, True] Translation: X:76.47, Y:-3.02, Z:0.80 [[ 9.99247638e-01 -3.22337696e-02 -2.15671461e-02 7.64702280e+01] [ 3.22590029e-02 9.99479204e-01 8.23016997e-04 -3.01807566e+00] [ 2.15293851e-02 -1.51813242e-03 9.99767063e-01 7.95412298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.480714057 meters Centerline goodness [0,1] 0.9866440677966102 Centerline is valid? [True, True] Translation: X:76.50, Y:-3.02, Z:0.80 [[ 9.99245978e-01 -3.24942350e-02 -2.12508855e-02 7.65015276e+01] [ 3.25187991e-02 9.99470795e-01 8.11275517e-04 -3.02040959e+00] [ 2.12132776e-02 -1.50171707e-03 9.99773845e-01 7.95797787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.510714057 meters Centerline goodness [0,1] 0.98654232619053 Centerline is valid? [True, True] Translation: X:76.53, Y:-3.02, Z:0.80 [[ 9.99204175e-01 -3.37999538e-02 -2.11796854e-02 7.65311078e+01] [ 3.38246538e-02 9.99427455e-01 8.08963171e-04 -3.02494532e+00] [ 2.11402162e-02 -1.52471491e-03 9.99775358e-01 7.95874074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.540714057 meters Centerline goodness [0,1] 0.9868602262208476 Centerline is valid? [True, True] Translation: X:76.56, Y:-3.02, Z:0.80 [[ 9.99175143e-01 -3.44596993e-02 -2.14840169e-02 7.65635857e+01] [ 3.44852810e-02 9.99404868e-01 8.21275445e-04 -3.02209529e+00] [ 2.14429302e-02 -1.56148037e-03 9.99768855e-01 7.96899996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.570714057 meters Centerline goodness [0,1] 0.987436393929842 Centerline is valid? [True, True] Translation: X:76.60, Y:-3.02, Z:0.80 [[ 9.99146892e-01 -3.50904748e-02 -2.17749041e-02 7.65954113e+01] [ 3.51169335e-02 9.99382862e-01 8.33792601e-04 -3.01981889e+00] [ 2.17322078e-02 -1.59774914e-03 9.99762551e-01 7.97813138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.600714057 meters Centerline goodness [0,1] 0.9866910288511426 Centerline is valid? [True, True] Translation: X:76.63, Y:-3.03, Z:0.80 [[ 9.99069108e-01 -3.69464692e-02 -2.22682843e-02 7.66253057e+01] [ 3.69746181e-02 9.99315841e-01 8.53538194e-04 -3.02797160e+00] [ 2.22215140e-02 -1.67610495e-03 9.99751667e-01 7.96987414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.630714057 meters Centerline goodness [0,1] 0.9844865242158828 Centerline is valid? [True, True] Translation: X:76.66, Y:-3.04, Z:0.80 [[ 9.99022371e-01 -3.80668405e-02 -2.24770500e-02 7.66550919e+01] [ 3.80958107e-02 9.99273719e-01 8.61942568e-04 -3.03801217e+00] [ 2.24279139e-02 -1.71738135e-03 9.99746988e-01 7.96206841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.660714057 meters Centerline goodness [0,1] 0.9808334838360123 Centerline is valid? [True, True] Translation: X:76.68, Y:-3.05, Z:0.80 [[ 9.98898819e-01 -4.08489891e-02 -2.30761464e-02 7.66843179e+01] [ 4.08802743e-02 9.99163660e-01 8.85430678e-04 -3.04614549e+00] [ 2.30206779e-02 -1.82781485e-03 9.99733318e-01 7.95871765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69071405700001 meters Centerline goodness [0,1] 0.9866846907739101 Centerline is valid? [True, True] Translation: X:76.72, Y:-3.04, Z:0.80 [[ 9.98844098e-01 -4.21416852e-02 -2.31202483e-02 7.67155400e+01] [ 4.21734461e-02 9.99109910e-01 8.87641035e-04 -3.03709343e+00] [ 2.30622625e-02 -1.86167555e-03 9.99732297e-01 7.97503957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72071405700001 meters Centerline goodness [0,1] 0.9862461359258098 Centerline is valid? [True, True] Translation: X:76.75, Y:-3.04, Z:0.80 [[ 9.98745380e-01 -4.35809888e-02 -2.46650225e-02 7.67453016e+01] [ 4.36175787e-02 9.99047852e-01 9.47172391e-04 -3.04226511e+00] [ 2.46002591e-02 -2.02181261e-03 9.99695323e-01 7.97011923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75071405700001 meters Centerline goodness [0,1] 0.9864020498067069 Centerline is valid? [True, True] Translation: X:76.78, Y:-3.05, Z:0.80 [[ 9.98720263e-01 -4.36527349e-02 -2.55396898e-02 7.67771413e+01] [ 4.36920148e-02 9.99044566e-01 9.81723371e-04 -3.04530542e+00] [ 2.54724334e-02 -2.09634753e-03 9.99673327e-01 7.97084247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.780714057 meters Centerline goodness [0,1] 0.986463963963964 Centerline is valid? [True, True] Translation: X:76.81, Y:-3.05, Z:0.80 [[ 9.98706311e-01 -4.37284831e-02 -2.59523452e-02 7.68095383e+01] [ 4.37691157e-02 9.99041173e-01 9.99410866e-04 -3.04833413e+00] [ 2.58837587e-02 -2.13402914e-03 9.99662682e-01 7.97071126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.810714057 meters Centerline goodness [0,1] 0.9830287206266318 Centerline is valid? [True, True] Translation: X:76.84, Y:-3.05, Z:0.80 [[ 9.98640701e-01 -4.48362755e-02 -2.65793002e-02 7.68391752e+01] [ 4.48793417e-02 9.98991888e-01 1.02567480e-03 -3.05407572e+00] [ 2.65065179e-02 -2.21714210e-03 9.99646182e-01 7.96396830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.840714057 meters Centerline goodness [0,1] 0.9870675138642538 Centerline is valid? [True, True] Translation: X:76.87, Y:-3.05, Z:0.80 [[ 9.98650972e-01 -4.44962159e-02 -2.67641972e-02 7.68706489e+01] [ 4.45398040e-02 9.99007075e-01 1.03436938e-03 -3.04745944e+00] [ 2.66915968e-02 -2.22504608e-03 9.99641240e-01 7.98779406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.870714057 meters Centerline goodness [0,1] 0.9874117699950546 Centerline is valid? [True, True] Translation: X:76.90, Y:-3.05, Z:0.80 [[ 9.98668746e-01 -4.42639284e-02 -2.64847099e-02 7.69017396e+01] [ 4.43065543e-02 9.99017457e-01 1.02451015e-03 -3.04795260e+00] [ 2.64133387e-02 -2.19659251e-03 9.99648694e-01 7.99491862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.900714057 meters Centerline goodness [0,1] 0.9874117699950546 Centerline is valid? [True, True] Translation: X:76.93, Y:-3.05, Z:0.80 [[ 9.98671905e-01 -4.41926278e-02 -2.64846529e-02 7.69335196e+01] [ 4.42352676e-02 9.99020615e-01 1.02598097e-03 -3.04924415e+00] [ 2.64133735e-02 -2.19617408e-03 9.99648694e-01 7.99866762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.930714057 meters Centerline goodness [0,1] 0.9873982731801889 Centerline is valid? [True, True] Translation: X:76.96, Y:-3.05, Z:0.80 [[ 9.98709905e-01 -4.35571201e-02 -2.61017834e-02 7.69637149e+01] [ 4.35983481e-02 9.99048627e-01 1.01223223e-03 -3.05250020e+00] [ 2.60328610e-02 -2.14892099e-03 9.99658778e-01 8.00219465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.960714057 meters Centerline goodness [0,1] 0.9879130278202936 Centerline is valid? [True, True] Translation: X:77.00, Y:-3.05, Z:0.80 [[ 9.98784108e-01 -4.24326577e-02 -2.50953236e-02 7.69956466e+01] [ 4.24704367e-02 9.99097249e-01 9.74113442e-04 -3.05239631e+00] [ 2.50313346e-02 -2.03873838e-03 9.99684588e-01 8.01717440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.990714057 meters Centerline goodness [0,1] 0.9873488958422438 Centerline is valid? [True, True] Translation: X:77.03, Y:-3.06, Z:0.80 [[ 9.98807825e-01 -4.16638716e-02 -2.54371835e-02 7.70269586e+01] [ 4.17024742e-02 9.99129584e-01 9.88744494e-04 -3.05528084e+00] [ 2.53738477e-02 -2.04835923e-03 9.99675934e-01 8.02245954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.020714057 meters Centerline goodness [0,1] 0.987300369935938 Centerline is valid? [True, True] Translation: X:77.06, Y:-3.06, Z:0.80 [[ 9.98825299e-01 -4.12692648e-02 -2.53942744e-02 7.70587977e+01] [ 4.13076447e-02 9.99145986e-01 9.88422898e-04 -3.05520088e+00] [ 2.53317959e-02 -2.03623946e-03 9.99677025e-01 8.02377781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05071405700001 meters Centerline goodness [0,1] 0.9886583554615419 Centerline is valid? [True, True] Translation: X:77.09, Y:-3.05, Z:0.80 [[ 9.98805792e-01 -4.12672167e-02 -2.61535068e-02 7.70910596e+01] [ 4.13079703e-02 9.99145941e-01 1.01966986e-03 -3.05301373e+00] [ 2.60890913e-02 -2.09880044e-03 9.99657418e-01 8.02774829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08071405700001 meters Centerline goodness [0,1] 0.9885057471264368 Centerline is valid? [True, True] Translation: X:77.12, Y:-3.06, Z:0.80 [[ 9.98761110e-01 -4.13811589e-02 -2.76377555e-02 7.71222574e+01] [ 4.14267894e-02 9.99140958e-01 1.08023774e-03 -3.05594175e+00] [ 2.75693120e-02 -2.22384292e-03 9.99617421e-01 8.01607622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11071405700001 meters Centerline goodness [0,1] 0.9885422294255357 Centerline is valid? [True, True] Translation: X:77.15, Y:-3.06, Z:0.80 [[ 9.98736913e-01 -4.14367508e-02 -2.84178502e-02 7.71531450e+01] [ 4.14850823e-02 9.99138503e-01 1.11302572e-03 -3.05693285e+00] [ 2.83472482e-02 -2.29053673e-03 9.99595512e-01 8.01592040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.140714057 meters Centerline goodness [0,1] 0.9848778072820559 Centerline is valid? [True, True] Translation: X:77.18, Y:-3.07, Z:0.80 [[ 9.98682665e-01 -4.22471754e-02 -2.91223251e-02 7.71831595e+01] [ 4.22983049e-02 9.99104374e-01 1.14160259e-03 -3.06798575e+00] [ 2.90480129e-02 -2.37192371e-03 9.99575203e-01 7.99194796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.170714057 meters Centerline goodness [0,1] 0.9868963188112124 Centerline is valid? [True, True] Translation: X:77.21, Y:-3.06, Z:0.80 [[ 9.98649611e-01 -4.28590788e-02 -2.93607525e-02 7.72141939e+01] [ 4.29113182e-02 9.99078222e-01 1.15116156e-03 -3.06463469e+00] [ 2.92843507e-02 -2.40951563e-03 9.99568217e-01 8.00317103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.200714057 meters Centerline goodness [0,1] 0.9869412242320357 Centerline is valid? [True, True] Translation: X:77.25, Y:-3.06, Z:0.80 [[ 9.98648449e-01 -4.30814538e-02 -2.90734113e-02 7.72450175e+01] [ 4.31327688e-02 9.99068699e-01 1.13989563e-03 -3.06455416e+00] [ 2.89972269e-02 -2.39237173e-03 9.99576629e-01 8.01275749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.230714057 meters Centerline goodness [0,1] 0.9878646231291294 Centerline is valid? [True, True] Translation: X:77.28, Y:-3.06, Z:0.80 [[ 9.98695927e-01 -4.24315781e-02 -2.83902451e-02 7.72760701e+01] [ 4.24802563e-02 9.99096686e-01 1.11340542e-03 -3.06314327e+00] [ 2.83173562e-02 -2.31797834e-03 9.99596296e-01 8.03103197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.260714057 meters Centerline goodness [0,1] 0.9875658872820652 Centerline is valid? [True, True] Translation: X:77.31, Y:-3.06, Z:0.80 [[ 9.98718401e-01 -4.18386797e-02 -2.84794904e-02 7.73077519e+01] [ 4.18874482e-02 9.99121710e-01 1.11771809e-03 -3.06100879e+00] [ 2.84077133e-02 -2.30921881e-03 9.99593752e-01 8.04972044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.290714057 meters Centerline goodness [0,1] 0.9872688829906878 Centerline is valid? [True, True] Translation: X:77.34, Y:-3.06, Z:0.81 [[ 9.98815289e-01 -4.02031959e-02 -2.74175443e-02 7.73376629e+01] [ 4.02477927e-02 9.99189149e-01 1.07644985e-03 -3.06475135e+00] [ 2.73520360e-02 -2.17867021e-03 9.99623489e-01 8.06391857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.320714057 meters Centerline goodness [0,1] 0.9881035531622469 Centerline is valid? [True, True] Translation: X:77.37, Y:-3.06, Z:0.81 [[ 9.98842220e-01 -3.98714192e-02 -2.69163278e-02 7.73695731e+01] [ 3.99142946e-02 9.99202548e-01 1.05731402e-03 -3.06103880e+00] [ 2.68527067e-02 -2.13043612e-03 9.99637131e-01 8.08044967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.350714057 meters Centerline goodness [0,1] 0.9874650554603661 Centerline is valid? [True, True] Translation: X:77.40, Y:-3.06, Z:0.81 [[ 9.98873531e-01 -3.95479499e-02 -2.62226606e-02 7.73995376e+01] [ 3.95885498e-02 9.99215534e-01 1.03073481e-03 -3.06270916e+00] [ 2.61613263e-02 -2.06769082e-03 9.99655596e-01 8.09029871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.380714057 meters Centerline goodness [0,1] 0.9870583726016279 Centerline is valid? [True, True] Translation: X:77.43, Y:-3.06, Z:0.81 [[ 9.98868977e-01 -3.98224639e-02 -2.59795754e-02 7.74305260e+01] [ 3.98624249e-02 9.99204655e-01 1.02189095e-03 -3.06424897e+00] [ 2.59182184e-02 -2.05634405e-03 9.99661952e-01 8.09660530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.410714057 meters Centerline goodness [0,1] 0.986117684177315 Centerline is valid? [True, True] Translation: X:77.46, Y:-3.07, Z:0.81 [[ 9.98857737e-01 -4.01445178e-02 -2.59160108e-02 7.74614516e+01] [ 4.01844212e-02 9.99191759e-01 1.02055462e-03 -3.06733098e+00] [ 2.58540948e-02 -2.06080877e-03 9.99663603e-01 8.10033563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44071405700001 meters Centerline goodness [0,1] 0.9858286845420191 Centerline is valid? [True, True] Translation: X:77.49, Y:-3.07, Z:0.81 [[ 9.98800442e-01 -4.11744477e-02 -2.65017478e-02 7.74920656e+01] [ 4.12165598e-02 9.99149691e-01 1.04451493e-03 -3.07024694e+00] [ 2.64362058e-02 -2.13557284e-03 9.99648221e-01 8.10169711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47071405700001 meters Centerline goodness [0,1] 0.9880552613193302 Centerline is valid? [True, True] Translation: X:77.52, Y:-3.07, Z:0.81 [[ 9.98735818e-01 -4.17994241e-02 -2.79208510e-02 7.75233481e+01] [ 4.18464339e-02 9.99123447e-01 1.10124399e-03 -3.06772945e+00] [ 2.78503456e-02 -2.26823987e-03 9.99609530e-01 8.10691428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50071405700001 meters Centerline goodness [0,1] 0.986445952955504 Centerline is valid? [True, True] Translation: X:77.55, Y:-3.08, Z:0.81 [[ 9.98682851e-01 -4.21296694e-02 -2.92857179e-02 7.75534330e+01] [ 4.21815530e-02 9.99109294e-01 1.15583414e-03 -3.07544621e+00] [ 2.92109380e-02 -2.38962879e-03 9.99570413e-01 8.08729408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.530714057 meters Centerline goodness [0,1] 0.9882907679812292 Centerline is valid? [True, True] Translation: X:77.58, Y:-3.07, Z:0.81 [[ 9.98638420e-01 -4.14695692e-02 -3.16477492e-02 7.75840375e+01] [ 4.15298428e-02 9.99136483e-01 1.24928503e-03 -3.07251869e+00] [ 3.15686135e-02 -2.56191008e-03 9.99498304e-01 8.08326754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.560714057 meters Centerline goodness [0,1] 0.9888195117552916 Centerline is valid? [True, True] Translation: X:77.61, Y:-3.07, Z:0.81 [[ 9.98645636e-01 -4.08575251e-02 -3.22111200e-02 7.76143736e+01] [ 4.09196487e-02 9.99161631e-01 1.27152392e-03 -3.07388447e+00] [ 3.21321639e-02 -2.58786953e-03 9.99480278e-01 8.08402483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.590714057 meters Centerline goodness [0,1] 0.9885905889236447 Centerline is valid? [True, True] Translation: X:77.64, Y:-3.07, Z:0.81 [[ 9.98695450e-01 -3.94206323e-02 -3.24563114e-02 7.76445462e+01] [ 3.94829145e-02 9.99219426e-01 1.28004600e-03 -3.07431105e+00] [ 3.23805166e-02 -2.55984589e-03 9.99472335e-01 8.08931070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.620714057 meters Centerline goodness [0,1] 0.9896045197740113 Centerline is valid? [True, True] Translation: X:77.67, Y:-3.07, Z:0.81 [[ 9.98816711e-01 -3.62697091e-02 -3.23988560e-02 7.76748544e+01] [ 3.63300993e-02 9.99339028e-01 1.27703454e-03 -3.07316072e+00] [ 3.23311236e-02 -2.45257709e-03 9.99474203e-01 8.10282731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.650714057 meters Centerline goodness [0,1] 0.9898513790848199 Centerline is valid? [True, True] Translation: X:77.70, Y:-3.07, Z:0.81 [[ 9.98933012e-01 -3.36448093e-02 -3.16364363e-02 7.77047535e+01] [ 3.37010677e-02 9.99431180e-01 1.24658819e-03 -3.07227540e+00] [ 3.15764997e-02 -2.31143978e-03 9.99498665e-01 8.11476921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.680714057 meters Centerline goodness [0,1] 0.9894095066049452 Centerline is valid? [True, True] Translation: X:77.73, Y:-3.07, Z:0.81 [[ 9.99078973e-01 -2.86978569e-02 -3.19004463e-02 7.77341315e+01] [ 2.87525267e-02 9.99585771e-01 1.25626399e-03 -3.06918628e+00] [ 3.18511801e-02 -2.17232537e-03 9.99490262e-01 8.13027269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.710714057 meters Centerline goodness [0,1] 0.9886735407594593 Centerline is valid? [True, True] Translation: X:77.76, Y:-3.08, Z:0.81 [[ 9.99155705e-01 -2.63587975e-02 -3.15133349e-02 7.77628752e+01] [ 2.64109591e-02 9.99650401e-01 1.24004707e-03 -3.07677265e+00] [ 3.14696317e-02 -2.07129751e-03 9.99502562e-01 8.11362276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.740714057 meters Centerline goodness [0,1] 0.9909251380465285 Centerline is valid? [True, True] Translation: X:77.79, Y:-3.06, Z:0.82 [[ 9.99284877e-01 -2.26907939e-02 -3.02467046e-02 7.77937010e+01] [ 2.27371578e-02 9.99740769e-01 1.18975494e-03 -3.06363079e+00] [ 3.02118672e-02 -1.87662821e-03 9.99541756e-01 8.16301730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.770714057 meters Centerline goodness [0,1] 0.9910089457592571 Centerline is valid? [True, True] Translation: X:77.82, Y:-3.06, Z:0.82 [[ 9.99320142e-01 -2.11440278e-02 -3.02023837e-02 7.78223705e+01] [ 2.11895125e-02 9.99774773e-01 1.18669410e-03 -3.06474160e+00] [ 3.01704898e-02 -1.82586110e-03 9.99543100e-01 8.17283490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80071405700001 meters Centerline goodness [0,1] 0.9904304060306498 Centerline is valid? [True, True] Translation: X:77.85, Y:-3.07, Z:0.82 [[ 9.99317029e-01 -2.10797024e-02 -3.03499869e-02 7.78499883e+01] [ 2.11255046e-02 9.99776124e-01 1.18923972e-03 -3.07082345e+00] [ 3.03181235e-02 -1.82958629e-03 9.99538626e-01 8.15715596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83071405700001 meters Centerline goodness [0,1] 0.9900714673421386 Centerline is valid? [True, True] Translation: X:77.88, Y:-3.07, Z:0.82 [[ 9.99291998e-01 -2.17084432e-02 -3.07285757e-02 7.78790968e+01] [ 2.17555048e-02 9.99762603e-01 1.19797886e-03 -3.06860134e+00] [ 3.06952746e-02 -1.86564636e-03 9.99527048e-01 8.17451134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86071405700001 meters Centerline goodness [0,1] 0.9907870611404125 Centerline is valid? [True, True] Translation: X:77.91, Y:-3.07, Z:0.82 [[ 9.99235453e-01 -2.35568536e-02 -3.12023109e-02 7.79071752e+01] [ 2.36061454e-02 9.99720601e-01 1.21226883e-03 -3.07256033e+00] [ 3.11650358e-02 -1.94790828e-03 9.99512354e-01 8.16362062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.890714057 meters Centerline goodness [0,1] 0.991017626215893 Centerline is valid? [True, True] Translation: X:77.94, Y:-3.07, Z:0.82 [[ 9.99193932e-01 -2.48816715e-02 -3.15021881e-02 7.79364152e+01] [ 2.49325128e-02 9.99688390e-01 1.22205488e-03 -3.06773033e+00] [ 3.14619649e-02 -2.00649852e-03 9.99502936e-01 8.18707101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.920714057 meters Centerline goodness [0,1] 0.9902087149220994 Centerline is valid? [True, True] Translation: X:77.96, Y:-3.08, Z:0.82 [[ 9.99094007e-01 -2.81815107e-02 -3.18899232e-02 7.79648552e+01] [ 2.82352534e-02 9.99600541e-01 1.23609772e-03 -3.08174230e+00] [ 3.18423494e-02 -2.13539789e-03 9.99490623e-01 8.15313538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.950714057 meters Centerline goodness [0,1] 0.9896143773141877 Centerline is valid? [True, True] Translation: X:77.99, Y:-3.08, Z:0.82 [[ 9.99051753e-01 -2.99725147e-02 -3.15791719e-02 7.79948365e+01] [ 3.00260760e-02 9.99548367e-01 1.22313783e-03 -3.07521547e+00] [ 3.15282492e-02 -2.17017661e-03 9.99500505e-01 8.18675056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.980714057 meters Centerline goodness [0,1] 0.9908145072107247 Centerline is valid? [True, True] Translation: X:78.02, Y:-3.07, Z:0.82 [[ 9.99004344e-01 -3.17173833e-02 -3.13739917e-02 7.80247510e+01] [ 3.17710708e-02 9.99494435e-01 1.21405101e-03 -3.07344869e+00] [ 3.13196236e-02 -2.20962754e-03 9.99506978e-01 8.20473972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.010714057 meters Centerline goodness [0,1] 0.9902735150749232 Centerline is valid? [True, True] Translation: X:78.05, Y:-3.08, Z:0.82 [[ 9.98951051e-01 -3.40829219e-02 -3.05802468e-02 7.80531510e+01] [ 3.41349837e-02 9.99416533e-01 1.18188196e-03 -3.07864770e+00] [ 3.05221222e-02 -2.22449845e-03 9.99531616e-01 8.21131736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.040714057 meters Centerline goodness [0,1] 0.9899094787692725 Centerline is valid? [True, True] Translation: X:78.08, Y:-3.08, Z:0.82 [[ 9.98941442e-01 -3.51029793e-02 -2.97283808e-02 7.80816211e+01] [ 3.51525813e-02 9.99381298e-01 1.14736187e-03 -3.08128420e+00] [ 2.96697120e-02 -2.19117664e-03 9.99557356e-01 8.21600637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.070714057 meters Centerline goodness [0,1] 0.9886453418813066 Centerline is valid? [True, True] Translation: X:78.11, Y:-3.08, Z:0.82 [[ 9.98927839e-01 -3.66776649e-02 -2.82474932e-02 7.81117560e+01] [ 3.67230466e-02 9.99324888e-01 1.08930692e-03 -3.08247484e+00] [ 2.81884697e-02 -2.12547302e-03 9.99600366e-01 8.22799736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.100714057 meters Centerline goodness [0,1] 0.9745852612571945 Centerline is valid? [True, True] Translation: X:78.14, Y:-3.10, Z:0.82 [[ 9.98920590e-01 -3.73771183e-02 -2.75790815e-02 7.81403281e+01] [ 3.74206329e-02 9.99299037e-01 1.06321076e-03 -3.10227254e+00] [ 2.75200099e-02 -2.09408980e-03 9.99619059e-01 8.19289980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.130714057 meters Centerline goodness [0,1] 0.9890879515622529 Centerline is valid? [True, True] Translation: X:78.17, Y:-3.09, Z:0.82 [[ 9.98898731e-01 -3.86745620e-02 -2.65632154e-02 7.81720850e+01] [ 3.87153963e-02 9.99249753e-01 1.02448895e-03 -3.08982984e+00] [ 2.65036648e-02 -2.05176612e-03 9.99646611e-01 8.22376810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.160714057 meters Centerline goodness [0,1] 0.989642567018684 Centerline is valid? [True, True] Translation: X:78.20, Y:-3.09, Z:0.82 [[ 9.98872266e-01 -3.94585871e-02 -2.64048476e-02 7.82032778e+01] [ 3.94992325e-02 9.99219081e-01 1.01931130e-03 -3.09214360e+00] [ 2.63440069e-02 -2.06113300e-03 9.99650812e-01 8.22487520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19071405700001 meters Centerline goodness [0,1] 0.9876752217782895 Centerline is valid? [True, True] Translation: X:78.23, Y:-3.10, Z:0.82 [[ 9.98786955e-01 -4.13784738e-02 -2.66915812e-02 7.82335030e+01] [ 4.14207064e-02 9.99141262e-01 1.03106125e-03 -3.09609764e+00] [ 2.66259964e-02 -2.13539467e-03 9.99643185e-01 8.22077848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22071405700001 meters Centerline goodness [0,1] 0.987464645321869 Centerline is valid? [True, True] Translation: X:78.26, Y:-3.10, Z:0.82 [[ 9.98734948e-01 -4.23817846e-02 -2.70608294e-02 7.82647536e+01] [ 4.24255801e-02 9.99099082e-01 1.04606544e-03 -3.09807303e+00] [ 2.69921157e-02 -2.19281350e-03 9.99633241e-01 8.21733350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25071405700001 meters Centerline goodness [0,1] 0.9876802274419549 Centerline is valid? [True, True] Translation: X:78.30, Y:-3.10, Z:0.82 [[ 9.98697336e-01 -4.30200729e-02 -2.74391168e-02 7.82961825e+01] [ 4.30653674e-02 9.99071693e-01 1.06164754e-03 -3.10012037e+00] [ 2.73679727e-02 -2.24194022e-03 9.99622913e-01 8.21617256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.280714057 meters Centerline goodness [0,1] 0.9862995147274574 Centerline is valid? [True, True] Translation: X:78.33, Y:-3.11, Z:0.82 [[ 9.98613642e-01 -4.50044387e-02 -2.73019102e-02 7.83257495e+01] [ 4.50500286e-02 9.98984173e-01 1.05674554e-03 -3.10584429e+00] [ 2.72266180e-02 -2.28523235e-03 9.99626675e-01 8.20753851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.310714057 meters Centerline goodness [0,1] 0.9889538955024961 Centerline is valid? [True, True] Translation: X:78.36, Y:-3.10, Z:0.82 [[ 9.98578796e-01 -4.59443023e-02 -2.70094176e-02 7.83578405e+01] [ 4.59892838e-02 9.98941385e-01 1.04625443e-03 -3.09814102e+00] [ 2.69327556e-02 -2.28691127e-03 9.99634632e-01 8.22750115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.340714057 meters Centerline goodness [0,1] 0.9793572283578381 Centerline is valid? [True, True] Translation: X:78.39, Y:-3.11, Z:0.82 [[ 9.98499441e-01 -4.76497410e-02 -2.69883148e-02 7.83871531e+01] [ 4.76952878e-02 9.98861384e-01 1.04607861e-03 -3.11205587e+00] [ 2.69077401e-02 -2.33172434e-03 9.99635202e-01 8.20625234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.370714057 meters Centerline goodness [0,1] 0.9775724106840978 Centerline is valid? [True, True] Translation: X:78.42, Y:-3.11, Z:0.82 [[ 9.98492586e-01 -4.78684307e-02 -2.68545822e-02 7.84194241e+01] [ 4.79136327e-02 9.98850939e-01 1.04191073e-03 -3.11356148e+00] [ 2.67738500e-02 -2.32704073e-03 9.99638808e-01 8.20804052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.400714057 meters Centerline goodness [0,1] 0.9743149524476472 Centerline is valid? [True, True] Translation: X:78.45, Y:-3.12, Z:0.82 [[ 9.98493261e-01 -4.79878069e-02 -2.66153741e-02 7.84513268e+01] [ 4.80322962e-02 9.98845248e-01 1.03440982e-03 -3.11577425e+00] [ 2.65350009e-02 -2.31124877e-03 9.99645213e-01 8.20598288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.430714057 meters Centerline goodness [0,1] 0.9876092637649815 Centerline is valid? [True, True] Translation: X:78.48, Y:-3.11, Z:0.82 [[ 9.98524714e-01 -4.73686011e-02 -2.65445166e-02 7.84842949e+01] [ 4.74126989e-02 9.98874850e-01 1.03400808e-03 -3.10875191e+00] [ 2.64656706e-02 -2.29102979e-03 9.99647097e-01 8.22156805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.460714057 meters Centerline goodness [0,1] 0.9881194380449022 Centerline is valid? [True, True] Translation: X:78.52, Y:-3.10, Z:0.82 [[ 9.98599991e-01 -4.60885276e-02 -2.59597064e-02 7.85155471e+01] [ 4.61303186e-02 9.98934917e-01 1.01296316e-03 -3.10452626e+00] [ 2.58853712e-02 -2.20907453e-03 9.99662477e-01 8.24068258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.490714057 meters Centerline goodness [0,1] 0.9886237952283141 Centerline is valid? [True, True] Translation: X:78.55, Y:-3.10, Z:0.82 [[ 9.98645891e-01 -4.52916043e-02 -2.55940395e-02 7.85473852e+01] [ 4.53319956e-02 9.98971476e-01 9.99855732e-04 -3.10457677e+00] [ 2.55224303e-02 -2.15873070e-03 9.99671919e-01 8.24827237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.520714057 meters Centerline goodness [0,1] 0.986329799233025 Centerline is valid? [True, True] Translation: X:78.58, Y:-3.11, Z:0.83 [[ 9.98687858e-01 -4.46865335e-02 -2.50135063e-02 7.85786956e+01] [ 4.47249571e-02 9.98998859e-01 9.78496579e-04 -3.11052737e+00] [ 2.49447386e-02 -2.09594065e-03 9.99686634e-01 8.25226409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55071405700001 meters Centerline goodness [0,1] 0.9887485907553552 Centerline is valid? [True, True] Translation: X:78.61, Y:-3.10, Z:0.83 [[ 9.98745357e-01 -4.40698273e-02 -2.37815353e-02 7.86108509e+01] [ 4.41044140e-02 9.99026493e-01 9.31551837e-04 -3.10339755e+00] [ 2.37173305e-02 -1.97925375e-03 9.99716745e-01 8.27948362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58071405700001 meters Centerline goodness [0,1] 0.9888616367768502 Centerline is valid? [True, True] Translation: X:78.64, Y:-3.10, Z:0.83 [[ 9.98748281e-01 -4.41340212e-02 -2.35384675e-02 7.86426229e+01] [ 4.41679571e-02 9.99023693e-01 9.23524112e-04 -3.10331041e+00] [ 2.34747278e-02 -1.96201414e-03 9.99722505e-01 8.28479463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61071405700001 meters Centerline goodness [0,1] 0.9882982808864391 Centerline is valid? [True, True] Translation: X:78.67, Y:-3.11, Z:0.83 [[ 9.98730555e-01 -4.46011165e-02 -2.34097926e-02 7.86733615e+01] [ 4.46348444e-02 9.99002945e-01 9.19964114e-04 -3.10726353e+00] [ 2.33454204e-02 -1.96368872e-03 9.99725530e-01 8.28288487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.640714057 meters Centerline goodness [0,1] 0.9884920008123294 Centerline is valid? [True, True] Translation: X:78.71, Y:-3.11, Z:0.83 [[ 9.98716386e-01 -4.49184055e-02 -2.34076510e-02 7.87056009e+01] [ 4.49522483e-02 9.98988712e-01 9.21363549e-04 -3.10888575e+00] [ 2.33425930e-02 -1.97240742e-03 9.99725579e-01 8.28519471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.670714057 meters Centerline goodness [0,1] 0.9881406853554406 Centerline is valid? [True, True] Translation: X:78.74, Y:-3.11, Z:0.83 [[ 9.98668051e-01 -4.55122339e-02 -2.43055693e-02 7.87373860e+01] [ 4.55489418e-02 9.98961649e-01 9.58495622e-04 -3.11139249e+00] [ 2.42367083e-02 -2.06431191e-03 9.99704117e-01 8.28388241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.700714057 meters Centerline goodness [0,1] 0.9879175871241153 Centerline is valid? [True, True] Translation: X:78.77, Y:-3.11, Z:0.83 [[ 9.98664887e-01 -4.55834389e-02 -2.43021137e-02 7.87697599e+01] [ 4.56201996e-02 9.98958395e-01 9.60102270e-04 -3.11457669e+00] [ 2.42330358e-02 -2.06748771e-03 9.99704199e-01 8.27895370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.730714057 meters Centerline goodness [0,1] 0.9869851097001604 Centerline is valid? [True, True] Translation: X:78.80, Y:-3.12, Z:0.83 [[ 9.98644824e-01 -4.60232518e-02 -2.42976579e-02 7.88006380e+01] [ 4.60601648e-02 9.98938205e-01 9.61435869e-04 -3.11903667e+00] [ 2.42276104e-02 -2.07928708e-03 9.99704306e-01 8.27718962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.760714057 meters Centerline goodness [0,1] 0.9875033774655498 Centerline is valid? [True, True] Translation: X:78.83, Y:-3.12, Z:0.83 [[ 9.98650307e-01 -4.59999769e-02 -2.41157070e-02 7.88325243e+01] [ 4.60363681e-02 9.98939307e-01 9.55732136e-04 -3.12009956e+00] [ 2.40461640e-02 -2.06464176e-03 9.99708717e-01 8.28460045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.790714057 meters Centerline goodness [0,1] 0.9866326461489827 Centerline is valid? [True, True] Translation: X:78.86, Y:-3.12, Z:0.83 [[ 9.98667166e-01 -4.62686408e-02 -2.28714573e-02 7.88644908e+01] [ 4.63014784e-02 9.98927099e-01 9.07991649e-04 -3.12331836e+00] [ 2.28049070e-02 -1.96576373e-03 9.99738002e-01 8.29577222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.820714057 meters Centerline goodness [0,1] 0.9866768690642301 Centerline is valid? [True, True] Translation: X:78.90, Y:-3.13, Z:0.83 [[ 9.98668338e-01 -4.64436166e-02 -2.24619992e-02 7.88955531e+01] [ 4.64753634e-02 9.98919037e-01 8.93111767e-04 -3.12694437e+00] [ 2.23962393e-02 -1.93585202e-03 9.99747299e-01 8.30002844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.850714057 meters Centerline goodness [0,1] 0.9866768690642301 Centerline is valid? [True, True] Translation: X:78.93, Y:-3.13, Z:0.83 [[ 9.98671571e-01 -4.63740638e-02 -2.24619450e-02 7.89273380e+01] [ 4.64058235e-02 9.98922269e-01 8.94473233e-04 -3.12827308e+00] [ 2.23962567e-02 -1.93565005e-03 9.99747299e-01 8.30377752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.880714057 meters Centerline goodness [0,1] 0.9860582445550575 Centerline is valid? [True, True] Translation: X:78.96, Y:-3.13, Z:0.83 [[ 9.98630501e-01 -4.72928602e-02 -2.23720240e-02 7.89596351e+01] [ 4.73246295e-02 9.98879163e-01 8.92445552e-04 -3.13232406e+00] [ 2.23047423e-02 -1.94997110e-03 9.99749317e-01 8.30607900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.910714057 meters Centerline goodness [0,1] 0.9828380169373497 Centerline is valid? [True, True] Translation: X:78.99, Y:-3.14, Z:0.83 [[ 9.98524659e-01 -4.95479529e-02 -2.22149667e-02 7.89893063e+01] [ 4.95798631e-02 9.98769768e-01 8.87625699e-04 -3.13914221e+00] [ 2.21436571e-02 -1.98773116e-03 9.99752823e-01 8.30555906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94071405700001 meters Centerline goodness [0,1] 0.9806400898371701 Centerline is valid? [True, True] Translation: X:79.02, Y:-3.14, Z:0.83 [[ 9.98461252e-01 -5.07310955e-02 -2.23938403e-02 7.90209674e+01] [ 5.07638451e-02 9.98710283e-01 8.96034516e-04 -3.14312197e+00] [ 2.23195018e-02 -2.03145318e-03 9.99748825e-01 8.30525865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97071405700001 meters Centerline goodness [0,1] 0.9785006501367529 Centerline is valid? [True, True] Translation: X:79.05, Y:-3.15, Z:0.83 [[ 9.98337365e-01 -5.32048415e-02 -2.21754588e-02 7.90515180e+01] [ 5.32375748e-02 9.98581480e-01 8.87952791e-04 -3.14810229e+00] [ 2.20967591e-02 -2.06704410e-03 9.99753700e-01 8.30713856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00071405700001 meters Centerline goodness [0,1] 0.9865835053396751 Centerline is valid? [True, True] Translation: X:79.08, Y:-3.14, Z:0.83 [[ 9.98272219e-01 -5.43966861e-02 -2.22166199e-02 7.90842015e+01] [ 5.44298515e-02 9.98517200e-01 8.90415214e-04 -3.14218122e+00] [ 2.21352414e-02 -2.09812409e-03 9.99752784e-01 8.31845995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.030714057 meters Centerline goodness [0,1] 0.98533914403844 Centerline is valid? [True, True] Translation: X:79.12, Y:-3.15, Z:0.83 [[ 9.98214569e-01 -5.54165878e-02 -2.22862387e-02 7.91151540e+01] [ 5.54502564e-02 9.98461050e-01 8.95143450e-04 -3.14922749e+00] [ 2.22023355e-02 -2.12932289e-03 9.99751230e-01 8.31670073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.060714057 meters Centerline goodness [0,1] 0.9840662414680541 Centerline is valid? [True, True] Translation: X:79.15, Y:-3.15, Z:0.83 [[ 9.98215995e-01 -5.54281641e-02 -2.21933960e-02 7.91475320e+01] [ 5.54615989e-02 9.98460421e-01 8.93374023e-04 -3.15283061e+00] [ 2.21097094e-02 -2.12266147e-03 9.99753297e-01 8.31859080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.090714057 meters Centerline goodness [0,1] 0.9834496332080873 Centerline is valid? [True, True] Translation: X:79.18, Y:-3.16, Z:0.83 [[ 9.98236955e-01 -5.53017022e-02 -2.15569695e-02 7.91791842e+01] [ 5.53332494e-02 9.98467564e-01 8.69253937e-04 -3.15575232e+00] [ 2.14758636e-02 -2.06053857e-03 9.99767244e-01 8.32421684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.120714057 meters Centerline goodness [0,1] 0.9829517561476324 Centerline is valid? [True, True] Translation: X:79.21, Y:-3.16, Z:0.83 [[ 9.98348837e-01 -5.36524978e-02 -2.05184986e-02 7.92103790e+01] [ 5.36807521e-02 9.98557805e-01 8.28324086e-04 -3.15762321e+00] [ 2.04444653e-02 -1.92840482e-03 9.99789130e-01 8.34180350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.150714057 meters Centerline goodness [0,1] 0.9806278628086247 Centerline is valid? [True, True] Translation: X:79.24, Y:-3.16, Z:0.84 [[ 9.98516199e-01 -5.07063481e-02 -1.98561502e-02 7.92403213e+01] [ 5.07322339e-02 9.98711969e-01 8.01800916e-04 -3.16072351e+00] [ 1.97899185e-02 -1.80795806e-03 9.99802526e-01 8.35939221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.180714057 meters Centerline goodness [0,1] 0.9774791866616075 Centerline is valid? [True, True] Translation: X:79.27, Y:-3.16, Z:0.84 [[ 9.98598719e-01 -4.90122019e-02 -1.99600179e-02 7.92712220e+01] [ 4.90380298e-02 9.98796587e-01 8.06301144e-04 -3.16277530e+00] [ 1.98964791e-02 -1.78397124e-03 9.99800454e-01 8.36349756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.210714057 meters Centerline goodness [0,1] 0.9822220241940873 Centerline is valid? [True, True] Translation: X:79.30, Y:-3.16, Z:0.84 [[ 9.98708092e-01 -4.67508990e-02 -1.99123165e-02 7.93024295e+01] [ 4.67761684e-02 9.98905072e-01 8.04921250e-04 -3.16104021e+00] [ 1.98528831e-02 -1.73530324e-03 9.99801406e-01 8.37080571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.240714057 meters Centerline goodness [0,1] 0.9831448115527339 Centerline is valid? [True, True] Translation: X:79.33, Y:-3.16, Z:0.84 [[ 9.98898960e-01 -4.23775271e-02 -2.01249548e-02 7.93324566e+01] [ 4.24024619e-02 9.99100280e-01 8.13710891e-04 -3.16093487e+00] [ 2.00723649e-02 -1.66616259e-03 9.99797141e-01 8.36947124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.270714057 meters Centerline goodness [0,1] 0.9840898976412995 Centerline is valid? [True, True] Translation: X:79.36, Y:-3.16, Z:0.84 [[ 9.99044137e-01 -3.84073510e-02 -2.08731295e-02 7.93621995e+01] [ 3.84333103e-02 9.99260811e-01 8.43788895e-04 -3.16129209e+00] [ 2.08252926e-02 -1.64520581e-03 9.99781776e-01 8.36608757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30071405700001 meters Centerline goodness [0,1] 0.9830027695881355 Centerline is valid? [True, True] Translation: X:79.39, Y:-3.16, Z:0.84 [[ 9.99083181e-01 -3.71374265e-02 -2.12980889e-02 7.93937050e+01] [ 3.71641692e-02 9.99308803e-01 8.61075523e-04 -3.16237266e+00] [ 2.12513896e-02 -1.65181186e-03 9.99772799e-01 8.36508240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33071405700001 meters Centerline goodness [0,1] 0.9833363116511794 Centerline is valid? [True, True] Translation: X:79.42, Y:-3.16, Z:0.84 [[ 9.99120491e-01 -3.56112856e-02 -2.21377829e-02 7.94248527e+01] [ 3.56398160e-02 9.99364299e-01 8.95435886e-04 -3.16304356e+00] [ 2.20918223e-02 -1.68363485e-03 9.99754528e-01 8.36604949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36071405700001 meters Centerline goodness [0,1] 0.9852766776308429 Centerline is valid? [True, True] Translation: X:79.46, Y:-3.16, Z:0.84 [[ 9.99144645e-01 -3.39955059e-02 -2.35432496e-02 7.94560772e+01] [ 3.40273338e-02 9.99420449e-01 9.52484229e-04 -3.16189206e+00] [ 2.34972249e-02 -1.75278353e-03 9.99722366e-01 8.36340045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.390714057 meters Centerline goodness [0,1] 0.9821760035782175 Centerline is valid? [True, True] Translation: X:79.49, Y:-3.17, Z:0.84 [[ 9.99130741e-01 -3.39334296e-02 -2.42132970e-02 7.94856040e+01] [ 3.39670774e-02 9.99422472e-01 9.79588652e-04 -3.16610018e+00] [ 2.41660724e-02 -1.80119207e-03 9.99706335e-01 8.35425131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.420714057 meters Centerline goodness [0,1] 0.9794138093422734 Centerline is valid? [True, True] Translation: X:79.52, Y:-3.17, Z:0.83 [[ 9.99096857e-01 -3.43080131e-02 -2.50685305e-02 7.95156409e+01] [ 3.43441929e-02 9.99409550e-01 1.01398939e-03 -3.17031595e+00] [ 2.50189408e-02 -1.87403206e-03 9.99685221e-01 8.34512017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.450714057 meters Centerline goodness [0,1] 0.976520572450805 Centerline is valid? [True, True] Translation: X:79.55, Y:-3.17, Z:0.83 [[ 9.99070979e-01 -3.47366715e-02 -2.55057187e-02 7.95459935e+01] [ 3.47742636e-02 9.99394660e-01 1.03167308e-03 -3.17359231e+00] [ 2.54544422e-02 -1.91765722e-03 9.99674144e-01 8.34832459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.480714057 meters Centerline goodness [0,1] 0.9882050709259466 Centerline is valid? [True, True] Translation: X:79.58, Y:-3.16, Z:0.84 [[ 9.99028284e-01 -3.62373529e-02 -2.50866751e-02 7.95770281e+01] [ 3.62741898e-02 9.99341360e-01 1.01472331e-03 -3.16311627e+00] [ 2.50333811e-02 -1.92373610e-03 9.99684765e-01 8.38278451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.510714057 meters Centerline goodness [0,1] 0.9883952328779375 Centerline is valid? [True, True] Translation: X:79.61, Y:-3.16, Z:0.84 [[ 9.98979253e-01 -3.75107386e-02 -2.51673770e-02 7.96086650e+01] [ 3.75482267e-02 9.99294298e-01 1.01847199e-03 -3.16173998e+00] [ 2.51114127e-02 -1.96242277e-03 9.99682733e-01 8.39952211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.540714057 meters Centerline goodness [0,1] 0.9871428571428571 Centerline is valid? [True, True] Translation: X:79.64, Y:-3.17, Z:0.84 [[ 9.98862712e-01 -4.04004332e-02 -2.53197059e-02 7.96382509e+01] [ 4.04393075e-02 9.99181471e-01 1.02497602e-03 -3.17227534e+00] [ 2.52575715e-02 -2.04772170e-03 9.99678879e-01 8.39159969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.570714057 meters Centerline goodness [0,1] 0.986780905752754 Centerline is valid? [True, True] Translation: X:79.67, Y:-3.17, Z:0.84 [[ 9.98802697e-01 -4.18997834e-02 -2.52503631e-02 7.96697897e+01] [ 4.19389309e-02 9.99119653e-01 1.02257076e-03 -3.17415113e+00] [ 2.51852885e-02 -2.08031967e-03 9.99680636e-01 8.39681670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.600714057 meters Centerline goodness [0,1] 0.9858628136340362 Centerline is valid? [True, True] Translation: X:79.70, Y:-3.18, Z:0.84 [[ 9.98602403e-01 -4.59485865e-02 -2.61145164e-02 7.96994320e+01] [ 4.59918594e-02 9.98941254e-01 1.05852035e-03 -3.18197302e+00] [ 2.60382302e-02 -2.25809613e-03 9.99658397e-01 8.39367120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.630714057 meters Centerline goodness [0,1] 0.9859825560697757 Centerline is valid? [True, True] Translation: X:79.73, Y:-3.19, Z:0.84 [[ 9.98506977e-01 -4.78003848e-02 -2.64374759e-02 7.97304209e+01] [ 4.78453973e-02 9.98854178e-01 1.07230267e-03 -3.18607068e+00] [ 2.63559268e-02 -2.33561324e-03 9.99649894e-01 8.39559384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.660714057 meters Centerline goodness [0,1] 0.9840789824779863 Centerline is valid? [True, True] Translation: X:79.76, Y:-3.19, Z:0.84 [[ 9.98350238e-01 -5.09304426e-02 -2.65121281e-02 7.97593805e+01] [ 5.09768151e-02 9.98699258e-01 1.07574247e-03 -3.19424782e+00] [ 2.64228546e-02 -2.42547160e-03 9.99647913e-01 8.39390741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69071405700001 meters Centerline goodness [0,1] 0.983273569567251 Centerline is valid? [True, True] Translation: X:79.79, Y:-3.20, Z:0.84 [[ 9.98259443e-01 -5.25411758e-02 -2.67863676e-02 7.97900038e+01] [ 5.25891064e-02 9.98615643e-01 1.08756970e-03 -3.19832740e+00] [ 2.66921436e-02 -2.49434786e-03 9.99640589e-01 8.39884335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72071405700001 meters Centerline goodness [0,1] 0.9840913136347454 Centerline is valid? [True, True] Translation: X:79.82, Y:-3.20, Z:0.84 [[ 9.98201165e-01 -5.36575124e-02 -2.67452060e-02 7.98218355e+01] [ 5.37057247e-02 9.98556214e-01 1.08709214e-03 -3.20027567e+00] [ 2.66482610e-02 -2.52150731e-03 9.99641692e-01 8.40359765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75071405700001 meters Centerline goodness [0,1] 0.984963904513043 Centerline is valid? [True, True] Translation: X:79.85, Y:-3.20, Z:0.84 [[ 9.98090240e-01 -5.55866281e-02 -2.69443958e-02 7.98527581e+01] [ 5.56362818e-02 9.98450501e-01 1.09607790e-03 -3.20162552e+00] [ 2.68417182e-02 -2.59307065e-03 9.99636333e-01 8.40639184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.780714057 meters Centerline goodness [0,1] 0.9818426807448477 Centerline is valid? [True, True] Translation: X:79.88, Y:-3.21, Z:0.84 [[ 9.98063341e-01 -5.60835538e-02 -2.69109969e-02 7.98834989e+01] [ 5.61332911e-02 9.98422683e-01 1.09575497e-03 -3.20941147e+00] [ 2.68070959e-02 -2.60423569e-03 9.99637233e-01 8.40156926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.810714057 meters Centerline goodness [0,1] 0.9837937303241254 Centerline is valid? [True, True] Translation: X:79.92, Y:-3.21, Z:0.84 [[ 9.98021053e-01 -5.67596834e-02 -2.70613548e-02 7.99154487e+01] [ 5.68102715e-02 9.98384382e-01 1.10362167e-03 -3.21106720e+00] [ 2.69549928e-02 -2.63880058e-03 9.99633165e-01 8.40981337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.840714057 meters Centerline goodness [0,1] 0.9816905773999292 Centerline is valid? [True, True] Translation: X:79.95, Y:-3.22, Z:0.84 [[ 9.98054970e-01 -5.63863857e-02 -2.65866852e-02 7.99476934e+01] [ 5.64351329e-02 9.98405677e-01 1.08615565e-03 -3.21588692e+00] [ 2.64830530e-02 -2.58446616e-03 9.99645922e-01 8.41571871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.870714057 meters Centerline goodness [0,1] 0.9842012356575464 Centerline is valid? [True, True] Translation: X:79.98, Y:-3.21, Z:0.84 [[ 9.98099678e-01 -5.57490533e-02 -2.62502536e-02 7.99797862e+01] [ 5.57964053e-02 9.98441589e-01 1.07430351e-03 -3.21354430e+00] [ 2.61494535e-02 -2.53693178e-03 9.99654825e-01 8.42917891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.900714057 meters Centerline goodness [0,1] 0.985102997082486 Centerline is valid? [True, True] Translation: X:80.01, Y:-3.21, Z:0.84 [[ 9.98135747e-01 -5.51325627e-02 -2.61807499e-02 8.00118712e+01] [ 5.51795044e-02 9.98475874e-01 1.07338853e-03 -3.21362964e+00] [ 2.60816685e-02 -2.51602827e-03 9.99656649e-01 8.43755326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.930714057 meters Centerline goodness [0,1] 0.9827233761951862 Centerline is valid? [True, True] Translation: X:80.04, Y:-3.22, Z:0.84 [[ 9.98245624e-01 -5.31644572e-02 -2.60617633e-02 8.00415923e+01] [ 5.32103310e-02 9.98582754e-01 1.06937982e-03 -3.22132950e+00] [ 2.59679744e-02 -2.45425878e-03 9.99659763e-01 8.43090802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.960714057 meters Centerline goodness [0,1] 0.9841777738547092 Centerline is valid? [True, True] Translation: X:80.07, Y:-3.22, Z:0.84 [[ 9.98314187e-01 -5.13589874e-02 -2.70377162e-02 8.00730986e+01] [ 5.14077214e-02 9.98677132e-01 1.10998122e-03 -3.22014597e+00] [ 2.69449413e-02 -2.49805738e-03 9.99633798e-01 8.43462844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.990714057 meters Centerline goodness [0,1] 0.9839561600422554 Centerline is valid? [True, True] Translation: X:80.10, Y:-3.22, Z:0.84 [[ 9.98352561e-01 -5.05457867e-02 -2.71530345e-02 8.01032319e+01] [ 5.05946584e-02 9.98718647e-01 1.11542220e-03 -3.22297929e+00] [ 2.70618620e-02 -2.48738311e-03 9.99630666e-01 8.43068024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.020714057 meters Centerline goodness [0,1] 0.9857303296558103 Centerline is valid? [True, True] Translation: X:80.14, Y:-3.22, Z:0.84 [[ 9.98378027e-01 -4.96178996e-02 -2.79173757e-02 8.01350340e+01] [ 4.96692257e-02 9.98765063e-01 1.14763279e-03 -3.22024822e+00] [ 2.78259564e-02 -2.53240580e-03 9.99609575e-01 8.43853360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05071405700001 meters Centerline goodness [0,1] 0.9846718859957776 Centerline is valid? [True, True] Translation: X:80.16, Y:-3.23, Z:0.84 [[ 9.98460494e-01 -4.76516332e-02 -2.83894891e-02 8.01646195e+01] [ 4.77039350e-02 9.98860837e-01 1.16748192e-03 -3.22720185e+00] [ 2.83015165e-02 -2.51997492e-03 9.99596255e-01 8.42010552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08071405700001 meters Centerline goodness [0,1] 0.9855180913812835 Centerline is valid? [True, True] Translation: X:80.20, Y:-3.23, Z:0.84 [[ 9.98492114e-01 -4.68377336e-02 -2.86308361e-02 8.01951608e+01] [ 4.68906054e-02 9.98899336e-01 1.17770661e-03 -3.23035294e+00] [ 2.85441620e-02 -2.51844800e-03 9.99589360e-01 8.42093577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11071405700001 meters Centerline goodness [0,1] 0.9860441568161307 Centerline is valid? [True, True] Translation: X:80.23, Y:-3.23, Z:0.84 [[ 9.98558905e-01 -4.49529808e-02 -2.93145590e-02 8.02259400e+01] [ 4.50076189e-02 9.98985915e-01 1.20636221e-03 -3.22901243e+00] [ 2.92306020e-02 -2.52400223e-03 9.99569508e-01 8.43350584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.140714057 meters Centerline goodness [0,1] 0.9866933532749748 Centerline is valid? [True, True] Translation: X:80.26, Y:-3.23, Z:0.84 [[ 9.98607661e-01 -4.36759492e-02 -2.95829652e-02 8.02562042e+01] [ 4.37310431e-02 9.99042598e-01 1.21762250e-03 -3.22918129e+00] [ 2.95014616e-02 -2.50962108e-03 9.99561587e-01 8.44138508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.170714057 meters Centerline goodness [0,1] 0.9868241608376226 Centerline is valid? [True, True] Translation: X:80.29, Y:-3.23, Z:0.84 [[ 9.98762724e-01 -3.99886739e-02 -2.95622690e-02 8.02857295e+01] [ 4.00420756e-02 9.99197254e-01 1.21639219e-03 -3.23323047e+00] [ 2.94898961e-02 -2.39862179e-03 9.99562200e-01 8.44198159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.200714057 meters Centerline goodness [0,1] 0.987237881488327 Centerline is valid? [True, True] Translation: X:80.32, Y:-3.23, Z:0.84 [[ 9.98841602e-01 -3.81682858e-02 -2.93024817e-02 8.03154649e+01] [ 3.82199490e-02 9.99268624e-01 1.20483506e-03 -3.23375962e+00] [ 2.92350641e-02 -2.32337874e-03 9.99569864e-01 8.44908586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.230714057 meters Centerline goodness [0,1] 0.9867415927649487 Centerline is valid? [True, True] Translation: X:80.34, Y:-3.24, Z:0.85 [[ 9.98991442e-01 -3.46333912e-02 -2.85766837e-02 8.03446329e+01] [ 3.46810666e-02 9.99397741e-01 1.17424009e-03 -3.23518013e+00] [ 2.85188053e-02 -2.16412567e-03 9.99590913e-01 8.45902362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.260714057 meters Centerline goodness [0,1] 0.9877054598334288 Centerline is valid? [True, True] Translation: X:80.37, Y:-3.24, Z:0.85 [[ 9.99061068e-01 -3.29040346e-02 -2.81834564e-02 8.03748178e+01] [ 3.29497075e-02 9.99456341e-01 1.15755588e-03 -3.23551211e+00] [ 2.81300459e-02 -2.08510566e-03 9.99602097e-01 8.47187448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.290714057 meters Centerline goodness [0,1] 0.9875256209640094 Centerline is valid? [True, True] Translation: X:80.40, Y:-3.24, Z:0.85 [[ 9.99168356e-01 -2.94856484e-02 -2.81636732e-02 8.04039182e+01] [ 2.95298909e-02 9.99563229e-01 1.15619174e-03 -3.23552669e+00] [ 2.81172811e-02 -1.98690039e-03 9.99602656e-01 8.48275108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.320714057 meters Centerline goodness [0,1] 0.988719324478846 Centerline is valid? [True, True] Translation: X:80.43, Y:-3.23, Z:0.85 [[ 9.99207453e-01 -2.82411273e-02 -2.80518111e-02 8.04325868e+01] [ 2.82844918e-02 9.99599252e-01 1.15020430e-03 -3.23341790e+00] [ 2.80080863e-02 -1.94272393e-03 9.99605809e-01 8.49503753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.350714057 meters Centerline goodness [0,1] 0.9877720983519873 Centerline is valid? [True, True] Translation: X:80.46, Y:-3.23, Z:0.85 [[ 9.99196344e-01 -2.82991353e-02 -2.83870571e-02 8.04603799e+01] [ 2.83434083e-02 9.99597574e-01 1.15837551e-03 -3.23441070e+00] [ 2.83428524e-02 -1.96203052e-03 9.99596335e-01 8.49126467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.380714057 meters Centerline goodness [0,1] 0.9874546852685928 Centerline is valid? [True, True] Translation: X:80.49, Y:-3.24, Z:0.85 [[ 9.99179722e-01 -2.86205009e-02 -2.86487381e-02 8.04882592e+01] [ 2.86655862e-02 9.99588380e-01 1.16417932e-03 -3.24294427e+00] [ 2.86036263e-02 -1.98445724e-03 9.99588863e-01 8.47433911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.410714057 meters Centerline goodness [0,1] 0.9881628162816282 Centerline is valid? [True, True] Translation: X:80.52, Y:-3.24, Z:0.85 [[ 9.99085084e-01 -3.08329720e-02 -2.96365003e-02 8.05185946e+01] [ 3.08821469e-02 9.99522309e-01 1.20287440e-03 -3.24376504e+00] [ 2.95852550e-02 -2.11701262e-03 9.99560019e-01 8.47950371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44071405700001 meters Centerline goodness [0,1] 0.9877270927726213 Centerline is valid? [True, True] Translation: X:80.55, Y:-3.25, Z:0.85 [[ 9.99023016e-01 -3.22501834e-02 -3.02148744e-02 8.05474206e+01] [ 3.23019055e-02 9.99477406e-01 1.22513951e-03 -3.24774219e+00] [ 3.01595733e-02 -2.19994059e-03 9.99542676e-01 8.47502201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47071405700001 meters Centerline goodness [0,1] 0.9874157204664749 Centerline is valid? [True, True] Translation: X:80.58, Y:-3.25, Z:0.85 [[ 9.98972878e-01 -3.36537530e-02 -3.03416362e-02 8.05766646e+01] [ 3.37064917e-02 9.99431020e-01 1.22822299e-03 -3.24746822e+00] [ 3.02830381e-02 -2.24967156e-03 9.99538832e-01 8.48269236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.500714057 meters Centerline goodness [0,1] 0.9885100482049701 Centerline is valid? [True, True] Translation: X:80.61, Y:-3.25, Z:0.85 [[ 9.98864484e-01 -3.64032295e-02 -3.07335030e-02 8.06070108e+01] [ 3.64585945e-02 9.99334392e-01 1.24281238e-03 -3.24596570e+00] [ 3.06678041e-02 -2.36190147e-03 9.99526842e-01 8.50547750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.530714057 meters Centerline goodness [0,1] 0.9879618645929441 Centerline is valid? [True, True] Translation: X:80.64, Y:-3.25, Z:0.85 [[ 9.98809733e-01 -3.86250106e-02 -2.97863517e-02 8.06355706e+01] [ 3.86779601e-02 9.99251003e-01 1.20331809e-03 -3.25084695e+00] [ 2.97175637e-02 -2.35396115e-03 9.99555564e-01 8.51408360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.560714057 meters Centerline goodness [0,1] 0.9851025437901593 Centerline is valid? [True, True] Translation: X:80.66, Y:-3.27, Z:0.85 [[ 9.98806824e-01 -3.92426270e-02 -2.90679308e-02 8.06627900e+01] [ 3.92932482e-02 9.99227035e-01 1.17210602e-03 -3.26570192e+00] [ 2.89994657e-02 -2.31288091e-03 9.99576751e-01 8.49732278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.590714057 meters Centerline goodness [0,1] 0.9876799859950107 Centerline is valid? [True, True] Translation: X:80.69, Y:-3.26, Z:0.85 [[ 9.98837949e-01 -3.96572603e-02 -2.73870872e-02 8.06929175e+01] [ 3.97023062e-02 9.99210944e-01 1.10276748e-03 -3.25699438e+00] [ 2.73217445e-02 -2.18881653e-03 9.99624295e-01 8.53565446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.620714057 meters Centerline goodness [0,1] 0.9874009526109001 Centerline is valid? [True, True] Translation: X:80.72, Y:-3.25, Z:0.85 [[ 9.98846651e-01 -3.95572146e-02 -2.72138631e-02 8.07238577e+01] [ 3.96016439e-02 9.99214947e-01 1.09537265e-03 -3.25466773e+00] [ 2.71491689e-02 -2.17182302e-03 9.99629034e-01 8.54790889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.650714057 meters Centerline goodness [0,1] 0.9873990943099036 Centerline is valid? [True, True] Translation: X:80.75, Y:-3.26, Z:0.86 [[ 9.98868777e-01 -3.93622893e-02 -2.66791332e-02 8.07529252e+01] [ 3.94049128e-02 9.99222748e-01 1.07357669e-03 -3.25768997e+00] [ 2.66161383e-02 -2.12365115e-03 9.99643472e-01 8.55217557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.680714057 meters Centerline goodness [0,1] 0.9869893768480998 Centerline is valid? [True, True] Translation: X:80.78, Y:-3.26, Z:0.86 [[ 9.98863835e-01 -3.93269124e-02 -2.69153117e-02 8.07824239e+01] [ 3.93702682e-02 9.99224104e-01 1.08259007e-03 -3.26149466e+00] [ 2.68518533e-02 -2.14102311e-03 9.99637131e-01 8.55263204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.710714057 meters Centerline goodness [0,1] 0.9867593221825197 Centerline is valid? [True, True] Translation: X:80.81, Y:-3.26, Z:0.86 [[ 9.98845169e-01 -3.96686622e-02 -2.71058235e-02 8.08121497e+01] [ 3.97127461e-02 9.99210543e-01 1.08976850e-03 -3.26439281e+00] [ 2.70411950e-02 -2.16495669e-03 9.99631976e-01 8.55456371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.740714057 meters Centerline goodness [0,1] 0.9867593221825197 Centerline is valid? [True, True] Translation: X:80.84, Y:-3.27, Z:0.86 [[ 9.98843772e-01 -3.97038125e-02 -2.71058535e-02 8.08413768e+01] [ 3.97478891e-02 9.99209147e-01 1.08902179e-03 -3.26553630e+00] [ 2.70411785e-02 -2.16516310e-03 9.99631976e-01 8.55801326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.770714057 meters Centerline goodness [0,1] 0.9866855833242388 Centerline is valid? [True, True] Translation: X:80.87, Y:-3.27, Z:0.86 [[ 9.98827789e-01 -4.00826628e-02 -2.71372233e-02 8.08711125e+01] [ 4.01269545e-02 9.99193996e-01 1.08932344e-03 -3.26682668e+00] [ 2.70716875e-02 -2.17698064e-03 9.99631124e-01 8.55888164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80071405700001 meters Centerline goodness [0,1] 0.9865739420397955 Centerline is valid? [True, True] Translation: X:80.90, Y:-3.27, Z:0.86 [[ 9.98743828e-01 -4.16279082e-02 -2.78905483e-02 8.09009853e+01] [ 4.16752647e-02 9.99130583e-01 1.11855954e-03 -3.26822187e+00] [ 2.78197365e-02 -2.27950042e-03 9.99610357e-01 8.55522550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83071405700001 meters Centerline goodness [0,1] 0.985387045813586 Centerline is valid? [True, True] Translation: X:80.93, Y:-3.27, Z:0.86 [[ 9.98711159e-01 -4.22228207e-02 -2.81647624e-02 8.09304875e+01] [ 4.22713337e-02 9.99105530e-01 1.12903407e-03 -3.27417081e+00] [ 2.80918989e-02 -2.31814100e-03 9.99602657e-01 8.55002384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86071405700001 meters Centerline goodness [0,1] 0.986560140089745 Centerline is valid? [True, True] Translation: X:80.96, Y:-3.27, Z:0.86 [[ 9.98685991e-01 -4.27851043e-02 -2.82086199e-02 8.09614880e+01] [ 4.28339893e-02 9.99081564e-01 1.13072146e-03 -3.27225608e+00] [ 2.81343340e-02 -2.33752340e-03 9.99601418e-01 8.56055317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.890714057 meters Centerline goodness [0,1] 0.986212044701078 Centerline is valid? [True, True] Translation: X:80.99, Y:-3.28, Z:0.86 [[ 9.98651533e-01 -4.35086545e-02 -2.83215972e-02 8.09906680e+01] [ 4.35582126e-02 9.99050246e-01 1.13495806e-03 -3.27628678e+00] [ 2.82453182e-02 -2.36706576e-03 9.99598219e-01 8.55945131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.920714057 meters Centerline goodness [0,1] 0.9861727962894086 Centerline is valid? [True, True] Translation: X:81.02, Y:-3.28, Z:0.86 [[ 9.98666322e-01 -4.29397932e-02 -2.86662064e-02 8.10197847e+01] [ 4.29903182e-02 9.99074829e-01 1.14826356e-03 -3.27809672e+00] [ 2.85903790e-02 -2.37910148e-03 9.99588380e-01 8.56058993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.950714057 meters Centerline goodness [0,1] 0.9846534436709138 Centerline is valid? [True, True] Translation: X:81.05, Y:-3.28, Z:0.86 [[ 9.98715370e-01 -4.18668757e-02 -2.85442488e-02 8.10487282e+01] [ 4.19165141e-02 9.99120463e-01 1.14259796e-03 -3.28012745e+00] [ 2.84713061e-02 -2.33760555e-03 9.99591877e-01 8.55953486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.980714057 meters Centerline goodness [0,1] 0.9865764439659908 Centerline is valid? [True, True] Translation: X:81.08, Y:-3.27, Z:0.86 [[ 9.98849286e-01 -3.91447226e-02 -2.77091120e-02 8.10789062e+01] [ 3.91904408e-02 9.99231145e-01 1.10858146e-03 -3.27485945e+00] [ 2.76444125e-02 -2.19323811e-03 9.99615414e-01 8.57994716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.010714057 meters Centerline goodness [0,1] 0.985628847459855 Centerline is valid? [True, True] Translation: X:81.11, Y:-3.28, Z:0.86 [[ 9.98924903e-01 -3.75541231e-02 -2.71795288e-02 8.11081772e+01] [ 3.75975064e-02 9.99292373e-01 1.08672292e-03 -3.27679849e+00] [ 2.71194849e-02 -2.10743710e-03 9.99629978e-01 8.58167259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.040714057 meters Centerline goodness [0,1] 0.9855349644969114 Centerline is valid? [True, True] Translation: X:81.14, Y:-3.28, Z:0.86 [[ 9.98993962e-01 -3.60712427e-02 -2.66444869e-02 8.11367770e+01] [ 3.61123791e-02 9.99347169e-01 1.06417712e-03 -3.27798753e+00] [ 2.65887063e-02 -2.02530233e-03 9.99644406e-01 8.58636443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.070714057 meters Centerline goodness [0,1] 0.9871129486277269 Centerline is valid? [True, True] Translation: X:81.17, Y:-3.27, Z:0.86 [[ 9.99105974e-01 -3.39952268e-02 -2.51311892e-02 8.11667647e+01] [ 3.40311424e-02 9.99420270e-01 1.00269547e-03 -3.26840705e+00] [ 2.50825331e-02 -1.85704211e-03 9.99683659e-01 8.61360243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.100714057 meters Centerline goodness [0,1] 0.9866701860894813 Centerline is valid? [True, True] Translation: X:81.20, Y:-3.27, Z:0.86 [[ 9.99147686e-01 -3.33250396e-02 -2.43586384e-02 8.11969353e+01] [ 3.33585668e-02 9.99442976e-01 9.71241559e-04 -3.26854079e+00] [ 2.43127033e-02 -1.78298302e-03 9.99702813e-01 8.61983279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.130714057 meters Centerline goodness [0,1] 0.9869005230999165 Centerline is valid? [True, True] Translation: X:81.23, Y:-3.27, Z:0.86 [[ 9.99133855e-01 -3.38873303e-02 -2.41492828e-02 8.12261482e+01] [ 3.39204313e-02 9.99424073e-01 9.62248477e-04 -3.27027814e+00] [ 2.41027666e-02 -1.78056912e-03 9.99707900e-01 8.62570277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.160714057 meters Centerline goodness [0,1] 0.9862570913408681 Centerline is valid? [True, True] Translation: X:81.26, Y:-3.27, Z:0.86 [[ 9.99100092e-01 -3.51347841e-02 -2.37603229e-02 8.12560506e+01] [ 3.51671580e-02 9.99380997e-01 9.45916696e-04 -3.27333245e+00] [ 2.37123806e-02 -1.78064849e-03 9.99717236e-01 8.62429907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19071405700001 meters Centerline goodness [0,1] 0.9856998283979408 Centerline is valid? [True, True] Translation: X:81.29, Y:-3.28, Z:0.86 [[ 9.98969669e-01 -3.85872004e-02 -2.38878441e-02 8.12864523e+01] [ 3.86208929e-02 9.99253483e-01 9.50530442e-04 -3.27786126e+00] [ 2.38333331e-02 -1.87212095e-03 9.99714193e-01 8.61950866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22071405700001 meters Centerline goodness [0,1] 0.9849397590361446 Centerline is valid? [True, True] Translation: X:81.32, Y:-3.28, Z:0.86 [[ 9.98764947e-01 -4.31676852e-02 -2.45994100e-02 8.13153583e+01] [ 4.32048035e-02 9.99065757e-01 9.79177665e-04 -3.28437833e+00] [ 2.45341594e-02 -2.04078101e-03 9.99696909e-01 8.60943978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.250714057 meters Centerline goodness [0,1] 0.9848241934421189 Centerline is valid? [True, True] Translation: X:81.35, Y:-3.28, Z:0.86 [[ 9.98658698e-01 -4.53058350e-02 -2.50636369e-02 8.13461401e+01] [ 4.53450555e-02 9.98970885e-01 9.98418467e-04 -3.28266576e+00] [ 2.49926093e-02 -2.13359129e-03 9.99685359e-01 8.61532738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.280714057 meters Centerline goodness [0,1] 0.9848208196757375 Centerline is valid? [True, True] Translation: X:81.38, Y:-3.29, Z:0.86 [[ 9.98569070e-01 -4.72297110e-02 -2.50832041e-02 8.13773085e+01] [ 4.72696161e-02 9.98881666e-01 1.00003637e-03 -3.28508993e+00] [ 2.50079213e-02 -2.18427882e-03 9.99684867e-01 8.61592592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.310714057 meters Centerline goodness [0,1] 0.9835586969883221 Centerline is valid? [True, True] Translation: X:81.41, Y:-3.29, Z:0.86 [[ 9.98465295e-01 -4.95711564e-02 -2.46932128e-02 8.14067512e+01] [ 4.96105638e-02 9.98768152e-01 9.85453808e-04 -3.29078460e+00] [ 2.46139444e-02 -2.20898564e-03 9.99694590e-01 8.61311297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.340714057 meters Centerline goodness [0,1] 0.9828531486861362 Centerline is valid? [True, True] Translation: X:81.44, Y:-3.29, Z:0.86 [[ 9.98462468e-01 -5.01858230e-02 -2.35389884e-02 8.14381912e+01] [ 5.02218217e-02 9.98737645e-01 9.40282573e-04 -3.29345929e+00] [ 2.34620850e-02 -2.12100773e-03 9.99722477e-01 8.62513705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.370714057 meters Centerline goodness [0,1] 0.9841130711077024 Centerline is valid? [True, True] Translation: X:81.47, Y:-3.29, Z:0.86 [[ 9.98465102e-01 -5.03891265e-02 -2.29864194e-02 8.14707278e+01] [ 5.04235359e-02 9.98727501e-01 9.19435430e-04 -3.28813555e+00] [ 2.29108396e-02 -2.07708073e-03 9.99735355e-01 8.64246139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.400714057 meters Centerline goodness [0,1] 0.9833187006145742 Centerline is valid? [True, True] Translation: X:81.50, Y:-3.29, Z:0.86 [[ 9.98497642e-01 -5.00901242e-02 -2.22134692e-02 8.15019820e+01] [ 5.01222155e-02 9.98742695e-01 8.89924637e-04 -3.29203918e+00] [ 2.21409637e-02 -2.00197594e-03 9.99752854e-01 8.64532734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.430714057 meters Centerline goodness [0,1] 0.977157026244185 Centerline is valid? [True, True] Translation: X:81.53, Y:-3.30, Z:0.86 [[ 9.98553756e-01 -4.94139178e-02 -2.11816313e-02 8.15316857e+01] [ 4.94429619e-02 9.98776588e-01 8.49369596e-04 -3.30195227e+00] [ 2.11137468e-02 -1.89542379e-03 9.99775283e-01 8.64283895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.460714057 meters Centerline goodness [0,1] 0.98347761128444 Centerline is valid? [True, True] Translation: X:81.56, Y:-3.29, Z:0.87 [[ 9.98587504e-01 -4.88463355e-02 -2.09053052e-02 8.15646940e+01] [ 4.88745213e-02 9.98804574e-01 8.39160900e-04 -3.29186604e+00] [ 2.08393245e-02 -1.85971237e-03 9.99781108e-01 8.65788548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.490714057 meters Centerline goodness [0,1] 0.9821338646465089 Centerline is valid? [True, True] Translation: X:81.60, Y:-3.30, Z:0.87 [[ 9.98601480e-01 -4.84888234e-02 -2.10693422e-02 8.15953849e+01] [ 4.85174032e-02 9.98821978e-01 8.47112779e-04 -3.29652215e+00] [ 2.10034465e-02 -1.86815784e-03 9.99777658e-01 8.65428193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.520714057 meters Centerline goodness [0,1] 0.9762626928656205 Centerline is valid? [True, True] Translation: X:81.63, Y:-3.31, Z:0.86 [[ 9.98570316e-01 -4.88310823e-02 -2.17450950e-02 8.16260447e+01] [ 4.88616314e-02 9.98805173e-01 8.75466668e-04 -3.30522484e+00] [ 2.16763634e-02 -1.93671584e-03 9.99763164e-01 8.64189554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55071405700001 meters Centerline goodness [0,1] 0.9824834139826147 Centerline is valid? [True, True] Translation: X:81.66, Y:-3.30, Z:0.86 [[ 9.98559933e-01 -4.89457363e-02 -2.19630557e-02 8.16585152e+01] [ 4.89769581e-02 9.98799516e-01 8.85588228e-04 -3.30039377e+00] [ 2.18933436e-02 -1.95999658e-03 9.99758391e-01 8.64977209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58071405700001 meters Centerline goodness [0,1] 0.9738786279683377 Centerline is valid? [True, True] Translation: X:81.69, Y:-3.31, Z:0.86 [[ 9.98524318e-01 -4.96527627e-02 -2.19952255e-02 8.16888622e+01] [ 4.96842723e-02 9.98764579e-01 8.88075119e-04 -3.30884659e+00] [ 2.19239567e-02 -1.97958137e-03 9.99757681e-01 8.64444162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61071405700001 meters Centerline goodness [0,1] 0.9810482807140972 Centerline is valid? [True, True] Translation: X:81.72, Y:-3.30, Z:0.87 [[ 9.98443783e-01 -5.11124288e-02 -2.23054052e-02 8.17200454e+01] [ 5.11452132e-02 9.98690820e-01 9.01427237e-04 -3.30470349e+00] [ 2.22301293e-02 -2.04083913e-03 9.99750797e-01 8.65243220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.640714057 meters Centerline goodness [0,1] 0.9816233780490482 Centerline is valid? [True, True] Translation: X:81.75, Y:-3.31, Z:0.86 [[ 9.98369001e-01 -5.23368031e-02 -2.28078120e-02 8.17514254e+01] [ 5.23714177e-02 9.98627249e-01 9.22590015e-04 -3.30514615e+00] [ 2.27282171e-02 -2.11556272e-03 9.99739442e-01 8.64841621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.670714057 meters Centerline goodness [0,1] 0.9831497797356828 Centerline is valid? [True, True] Translation: X:81.78, Y:-3.30, Z:0.87 [[ 9.98345279e-01 -5.26890007e-02 -2.30341889e-02 8.17836169e+01] [ 5.27244274e-02 9.98608664e-01 9.32985053e-04 -3.30354705e+00] [ 2.29529826e-02 -2.14590565e-03 9.99734243e-01 8.65468340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.700714057 meters Centerline goodness [0,1] 0.9834628850769603 Centerline is valid? [True, True] Translation: X:81.82, Y:-3.30, Z:0.87 [[ 9.98341031e-01 -5.28543775e-02 -2.28385892e-02 8.18157977e+01] [ 5.28892854e-02 9.98599952e-01 9.26715352e-04 -3.30394583e+00] [ 2.27576331e-02 -2.13309462e-03 9.99738736e-01 8.65257494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.730714057 meters Centerline goodness [0,1] 0.9832260624228532 Centerline is valid? [True, True] Translation: X:81.85, Y:-3.30, Z:0.87 [[ 9.98343107e-01 -5.27840871e-02 -2.29102863e-02 8.18476330e+01] [ 5.28192344e-02 9.98603656e-01 9.31296021e-04 -3.30475621e+00] [ 2.28291380e-02 -2.13985675e-03 9.99737091e-01 8.65726682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.760714057 meters Centerline goodness [0,1] 0.9829904279898779 Centerline is valid? [True, True] Translation: X:81.88, Y:-3.30, Z:0.87 [[ 9.98377833e-01 -5.25082318e-02 -2.20133637e-02 8.18800748e+01] [ 5.25406483e-02 9.98618384e-01 8.96410358e-04 -3.30401354e+00] [ 2.19358808e-02 -2.05155263e-03 9.99757275e-01 8.66626910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.790714057 meters Centerline goodness [0,1] 0.9835782959443032 Centerline is valid? [True, True] Translation: X:81.91, Y:-3.31, Z:0.87 [[ 9.98408919e-01 -5.21354600e-02 -2.14831273e-02 8.19122158e+01] [ 5.21662810e-02 9.98638028e-01 8.76370288e-04 -3.30513258e+00] [ 2.14081779e-02 -1.99567077e-03 9.99768827e-01 8.67694642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.820714057 meters Centerline goodness [0,1] 0.9821881268875515 Centerline is valid? [True, True] Translation: X:81.94, Y:-3.31, Z:0.87 [[ 9.98486079e-01 -5.09871073e-02 -2.06364879e-02 8.19430158e+01] [ 5.10153267e-02 9.98697515e-01 8.42982922e-04 -3.30838088e+00] [ 2.05666279e-02 -1.89448388e-03 9.99786690e-01 8.67739324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.850714057 meters Centerline goodness [0,1] 0.9814521103180897 Centerline is valid? [True, True] Translation: X:81.97, Y:-3.31, Z:0.87 [[ 9.98532976e-01 -5.01213748e-02 -2.04876570e-02 8.19739244e+01] [ 5.01490229e-02 9.98741395e-01 8.37640416e-04 -3.30963669e+00] [ 2.04198875e-02 -1.86384756e-03 9.99789755e-01 8.67967081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.880714057 meters Centerline goodness [0,1] 0.9824843925790298 Centerline is valid? [True, True] Translation: X:82.01, Y:-3.31, Z:0.87 [[ 9.98540451e-01 -4.99108452e-02 -2.06367258e-02 8.20062475e+01] [ 4.99388744e-02 9.98751919e-01 8.44794596e-04 -3.30853590e+00] [ 2.05688051e-02 -1.87413644e-03 9.99786683e-01 8.68504707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.910714057 meters Centerline goodness [0,1] 0.9819784005830517 Centerline is valid? [True, True] Translation: X:82.04, Y:-3.31, Z:0.87 [[ 9.98547353e-01 -4.97226329e-02 -2.07567597e-02 8.20371064e+01] [ 4.97509883e-02 9.98761290e-01 8.51611970e-04 -3.31131286e+00] [ 2.06887037e-02 -1.88304419e-03 9.99784193e-01 8.68305338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94071405700001 meters Centerline goodness [0,1] 0.9831675086589159 Centerline is valid? [True, True] Translation: X:82.07, Y:-3.31, Z:0.87 [[ 9.98535258e-01 -4.98909720e-02 -2.09339254e-02 8.20695878e+01] [ 4.99198933e-02 9.98752854e-01 8.60944461e-04 -3.30740380e+00] [ 2.08648644e-02 -1.90470272e-03 9.99780491e-01 8.68357660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97071405700001 meters Centerline goodness [0,1] 0.9834776287092724 Centerline is valid? [True, True] Translation: X:82.10, Y:-3.31, Z:0.87 [[ 9.98530476e-01 -4.99663521e-02 -2.09821777e-02 8.21017704e+01] [ 4.99954556e-02 9.98749071e-01 8.64463933e-04 -3.30908563e+00] [ 2.09127364e-02 -1.91220712e-03 9.99779476e-01 8.68120257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.000714057 meters Centerline goodness [0,1] 0.9836485204227994 Centerline is valid? [True, True] Translation: X:82.13, Y:-3.31, Z:0.87 [[ 9.98486320e-01 -5.05077715e-02 -2.17723177e-02 8.21331246e+01] [ 5.05392676e-02 9.98721671e-01 8.98454327e-04 -3.31307812e+00] [ 2.16991066e-02 -1.99745134e-03 9.99762551e-01 8.67931225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.030714057 meters Centerline goodness [0,1] 0.982423211959282 Centerline is valid? [True, True] Translation: X:82.17, Y:-3.31, Z:0.87 [[ 9.98484624e-01 -5.05736474e-02 -2.16970513e-02 8.21657392e+01] [ 5.06049708e-02 9.98718345e-01 8.96703086e-04 -3.31414467e+00] [ 2.16238937e-02 -1.99332289e-03 9.99764189e-01 8.68696676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.060714057 meters Centerline goodness [0,1] 0.9826510592332959 Centerline is valid? [True, True] Translation: X:82.20, Y:-3.32, Z:0.87 [[ 9.98506566e-01 -5.03146898e-02 -2.12854281e-02 8.21973967e+01] [ 5.03448095e-02 9.98731507e-01 8.81205796e-04 -3.31557921e+00] [ 2.12140901e-02 -1.95150060e-03 9.99773051e-01 8.69848874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.090714057 meters Centerline goodness [0,1] 0.9822045269571721 Centerline is valid? [True, True] Translation: X:82.23, Y:-3.32, Z:0.87 [[ 9.98553944e-01 -4.95616042e-02 -2.08247237e-02 8.22286236e+01] [ 4.95902986e-02 9.98769271e-01 8.63439575e-04 -3.31757912e+00] [ 2.07563007e-02 -1.89489526e-03 9.99782769e-01 8.70764763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.120714057 meters Centerline goodness [0,1] 0.9813051301180498 Centerline is valid? [True, True] Translation: X:82.26, Y:-3.32, Z:0.87 [[ 9.98666451e-01 -4.79074071e-02 -1.92405764e-02 8.22592515e+01] [ 4.79316076e-02 9.98850301e-01 7.98336778e-04 -3.31818680e+00] [ 1.91802093e-02 -1.71950391e-03 9.99814564e-01 8.72476125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.150714057 meters Centerline goodness [0,1] 0.9819152220898946 Centerline is valid? [True, True] Translation: X:82.29, Y:-3.32, Z:0.87 [[ 9.98719920e-01 -4.68692331e-02 -1.90209339e-02 8.22906129e+01] [ 4.68927022e-02 9.98899620e-01 7.89480772e-04 -3.31830150e+00] [ 1.89630013e-02 -1.68041316e-03 9.99818774e-01 8.72802232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.180714057 meters Centerline goodness [0,1] 0.9813403996908469 Centerline is valid? [True, True] Translation: X:82.32, Y:-3.32, Z:0.87 [[ 9.98822568e-01 -4.46850349e-02 -1.88871689e-02 8.23205092e+01] [ 4.47077953e-02 9.98999799e-01 7.84344695e-04 -3.31904728e+00] [ 1.88332295e-02 -1.62782487e-03 9.99821314e-01 8.72906537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.210714057 meters Centerline goodness [0,1] 0.9822579221467032 Centerline is valid? [True, True] Translation: X:82.35, Y:-3.32, Z:0.87 [[ 9.98875191e-01 -4.34201904e-02 -1.90536303e-02 8.23520540e+01] [ 4.34431302e-02 9.99055588e-01 7.91510941e-04 -3.31917599e+00] [ 1.90012682e-02 -1.61836998e-03 9.99818150e-01 8.73419533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.240714057 meters Centerline goodness [0,1] 0.9827677624602333 Centerline is valid? [True, True] Translation: X:82.38, Y:-3.32, Z:0.87 [[ 9.98961129e-01 -4.15920002e-02 -1.86216932e-02 8.23834492e+01] [ 4.16136080e-02 9.99133479e-01 7.74204987e-04 -3.31875780e+00] [ 1.85733564e-02 -1.54831653e-03 9.99826301e-01 8.73473655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.270714057 meters Centerline goodness [0,1] 0.9831908769308518 Centerline is valid? [True, True] Translation: X:82.41, Y:-3.32, Z:0.87 [[ 9.98994194e-01 -4.09094117e-02 -1.83581367e-02 8.24147945e+01] [ 4.09303092e-02 9.99161712e-01 7.63875939e-04 -3.31966616e+00] [ 1.83114976e-02 -1.51451184e-03 9.99831183e-01 8.73934062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30071405700001 meters Centerline goodness [0,1] 0.9826870417807614 Centerline is valid? [True, True] Translation: X:82.45, Y:-3.32, Z:0.87 [[ 9.98989327e-01 -4.08979628e-02 -1.86462311e-02 8.24459356e+01] [ 4.09195337e-02 9.99162143e-01 7.76632876e-04 -3.32284180e+00] [ 1.85988455e-02 -1.53884304e-03 9.99825842e-01 8.73759366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33071405700001 meters Centerline goodness [0,1] 0.9807212419671841 Centerline is valid? [True, True] Translation: X:82.48, Y:-3.33, Z:0.87 [[ 9.98976297e-01 -4.07906597e-02 -1.95571058e-02 8.24766213e+01] [ 4.08143899e-02 9.99166413e-01 8.15607790e-04 -3.32629107e+00] [ 1.95075341e-02 -1.61298419e-03 9.99808409e-01 8.72234394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36071405700001 meters Centerline goodness [0,1] 0.9776493171237561 Centerline is valid? [True, True] Translation: X:82.51, Y:-3.33, Z:0.87 [[ 9.98958528e-01 -4.09381960e-02 -2.01475408e-02 8.25074811e+01] [ 4.09634318e-02 9.99160292e-01 8.41274322e-04 -3.32963902e+00] [ 2.00961825e-02 -1.66571057e-03 9.99796664e-01 8.71793599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.390714057 meters Centerline goodness [0,1] 0.9744990489671341 Centerline is valid? [True, True] Translation: X:82.54, Y:-3.33, Z:0.87 [[ 9.98936519e-01 -4.12430467e-02 -2.06116816e-02 8.25375867e+01] [ 4.12695389e-02 9.99147678e-01 8.61411191e-04 -3.33153049e+00] [ 2.05585866e-02 -1.71112969e-03 9.99787186e-01 8.71859421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.420714057 meters Centerline goodness [0,1] 0.9736451948396805 Centerline is valid? [True, True] Translation: X:82.57, Y:-3.33, Z:0.87 [[ 9.98951489e-01 -4.10948834e-02 -2.01775586e-02 8.25684923e+01] [ 4.11202505e-02 9.99153849e-01 8.43735735e-04 -3.33340726e+00] [ 2.01258121e-02 -1.67255733e-03 9.99796056e-01 8.72004443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.450714057 meters Centerline goodness [0,1] 0.9844685504716877 Centerline is valid? [True, True] Translation: X:82.60, Y:-3.32, Z:0.87 [[ 9.99001741e-01 -4.03276919e-02 -1.92145513e-02 8.25999938e+01] [ 4.03505661e-02 9.99185261e-01 8.04102211e-04 -3.32059535e+00] [ 1.91664689e-02 -1.57861753e-03 9.99815060e-01 8.73963774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.480714057 meters Centerline goodness [0,1] 0.9654989501602387 Centerline is valid? [True, True] Translation: X:82.63, Y:-3.34, Z:0.87 [[ 9.99021641e-01 -3.99309412e-02 -1.90073842e-02 8.26302473e+01] [ 3.99532687e-02 9.99201232e-01 7.96235993e-04 -3.33759019e+00] [ 1.89604073e-02 -1.55486412e-03 9.99819026e-01 8.73193849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.510714057 meters Centerline goodness [0,1] 0.9833182150047567 Centerline is valid? [True, True] Translation: X:82.66, Y:-3.32, Z:0.88 [[ 9.99057777e-01 -3.91302000e-02 -1.87719420e-02 8.26622243e+01] [ 3.91518534e-02 9.99232962e-01 7.87240868e-04 -3.32345427e+00] [ 1.87267384e-02 -1.52145544e-03 9.99823482e-01 8.75295307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.540714057 meters Centerline goodness [0,1] 0.9835439123520057 Centerline is valid? [True, True] Translation: X:82.69, Y:-3.32, Z:0.88 [[ 9.99058136e-01 -3.89646320e-02 -1.90944804e-02 8.26941077e+01] [ 3.89870239e-02 9.99239395e-01 8.01701182e-04 -3.32391467e+00] [ 1.90487190e-02 -1.54538305e-03 9.99817362e-01 8.75952937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.570714057 meters Centerline goodness [0,1] 0.9836043780741791 Centerline is valid? [True, True] Translation: X:82.73, Y:-3.32, Z:0.88 [[ 9.99042131e-01 -3.90838637e-02 -1.96792163e-02 8.27260349e+01] [ 3.91076990e-02 9.99234659e-01 8.27662786e-04 -3.32256442e+00] [ 1.96318067e-02 -1.59647886e-03 9.99806003e-01 8.76385217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.600714057 meters Centerline goodness [0,1] 0.982049694933239 Centerline is valid? [True, True] Translation: X:82.76, Y:-3.33, Z:0.88 [[ 9.99010494e-01 -3.96955585e-02 -2.00573218e-02 8.27571097e+01] [ 3.97204669e-02 9.99210474e-01 8.44849158e-04 -3.32774341e+00] [ 2.00079493e-02 -1.64069936e-03 9.99798475e-01 8.76212521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.630714057 meters Centerline goodness [0,1] 0.9835214596540832 Centerline is valid? [True, True] Translation: X:82.79, Y:-3.32, Z:0.88 [[ 9.98936740e-01 -4.11346862e-02 -2.08165179e-02 8.27883553e+01] [ 4.11618433e-02 9.99152107e-01 8.77632756e-04 -3.32290155e+00] [ 2.07627666e-02 -1.73354585e-03 9.99782928e-01 8.76606472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.660714057 meters Centerline goodness [0,1] 0.9835214596540832 Centerline is valid? [True, True] Translation: X:82.82, Y:-3.32, Z:0.88 [[ 9.98939684e-01 -4.10631535e-02 -2.08164818e-02 8.28201269e+01] [ 4.10903130e-02 9.99155050e-01 8.78490001e-04 -3.32430315e+00] [ 2.07628193e-02 -1.73291428e-03 9.99782928e-01 8.76981407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69071405700001 meters Centerline goodness [0,1] 0.9847874224977856 Centerline is valid? [True, True] Translation: X:82.85, Y:-3.32, Z:0.88 [[ 9.98908663e-01 -4.18995803e-02 -2.06375215e-02 8.28521365e+01] [ 4.19264825e-02 9.99120318e-01 8.72423918e-04 -3.32232359e+00] [ 2.05828128e-02 -1.73673049e-03 9.99786643e-01 8.77811838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72071405700001 meters Centerline goodness [0,1] 0.983665620441183 Centerline is valid? [True, True] Translation: X:82.88, Y:-3.33, Z:0.88 [[ 9.98854369e-01 -4.29192326e-02 -2.11633696e-02 8.28828859e+01] [ 4.29477878e-02 9.99076916e-01 8.96404756e-04 -3.32702246e+00] [ 2.11053610e-02 -1.80429771e-03 9.99775629e-01 8.78237975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.750714057 meters Centerline goodness [0,1] 0.9829495128432241 Centerline is valid? [True, True] Translation: X:82.91, Y:-3.33, Z:0.88 [[ 9.98858996e-01 -4.26407424e-02 -2.15051716e-02 8.29137498e+01] [ 4.26702123e-02 9.99088794e-01 9.13155400e-04 -3.32837908e+00] [ 2.14466383e-02 -1.82974372e-03 9.99768320e-01 8.78436316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.780714057 meters Centerline goodness [0,1] 0.9828853026704255 Centerline is valid? [True, True] Translation: X:82.95, Y:-3.32, Z:0.88 [[ 9.98900861e-01 -4.16113380e-02 -2.15770037e-02 8.29451391e+01] [ 4.16408049e-02 9.99132224e-01 9.17975543e-04 -3.32421853e+00] [ 2.15200815e-02 -1.81545036e-03 9.99766768e-01 8.79261864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.810714057 meters Centerline goodness [0,1] 0.984809509025591 Centerline is valid? [True, True] Translation: X:82.98, Y:-3.32, Z:0.88 [[ 9.99008569e-01 -3.92328133e-02 -2.10396086e-02 8.29761974e+01] [ 3.92603186e-02 9.99228615e-01 8.95693796e-04 -3.31707034e+00] [ 2.09882384e-02 -1.72082752e-03 9.99778242e-01 8.81084416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.840714057 meters Centerline goodness [0,1] 0.9853555555555555 Centerline is valid? [True, True] Translation: X:83.01, Y:-3.32, Z:0.88 [[ 9.99051086e-01 -3.79939769e-02 -2.12928342e-02 8.30080106e+01] [ 3.80218849e-02 9.99276495e-01 9.07220521e-04 -3.31543619e+00] [ 2.12429598e-02 -1.71595334e-03 9.99772870e-01 8.81545608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.870714057 meters Centerline goodness [0,1] 0.9854373249144026 Centerline is valid? [True, True] Translation: X:83.04, Y:-3.32, Z:0.88 [[ 9.99083048e-01 -3.68536888e-02 -2.17914767e-02 8.30389103e+01] [ 3.68826958e-02 9.99319169e-01 9.30568489e-04 -3.31695807e+00] [ 2.17423455e-02 -1.73344361e-03 9.99762104e-01 8.81646085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.900714057 meters Centerline goodness [0,1] 0.9854562462415644 Centerline is valid? [True, True] Translation: X:83.07, Y:-3.32, Z:0.88 [[ 9.99109724e-01 -3.60092352e-02 -2.19794018e-02 8.30705149e+01] [ 3.60385871e-02 9.99349956e-01 9.40661273e-04 -3.31783074e+00] [ 2.19312418e-02 -1.73193041e-03 9.99757981e-01 8.81628616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.930714057 meters Centerline goodness [0,1] 0.9850370172152351 Centerline is valid? [True, True] Translation: X:83.10, Y:-3.32, Z:0.88 [[ 9.99149484e-01 -3.50491182e-02 -2.17224992e-02 8.31018823e+01] [ 3.50775791e-02 9.99384159e-01 9.30442930e-04 -3.31830303e+00] [ 2.16765104e-02 -1.69162426e-03 9.99763606e-01 8.82113027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.960714057 meters Centerline goodness [0,1] 0.9844122828535111 Centerline is valid? [True, True] Translation: X:83.13, Y:-3.32, Z:0.88 [[ 9.99129022e-01 -3.57743308e-02 -2.14801123e-02 8.31330511e+01] [ 3.58023429e-02 9.99358466e-01 9.20823921e-04 -3.32104316e+00] [ 2.14333902e-02 -1.68906025e-03 9.99768852e-01 8.81474032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.990714057 meters Centerline goodness [0,1] 0.9840194352196492 Centerline is valid? [True, True] Translation: X:83.16, Y:-3.32, Z:0.88 [[ 9.99118312e-01 -3.60455585e-02 -2.15247619e-02 8.31641797e+01] [ 3.60737661e-02 9.99348703e-01 9.23502439e-04 -3.32250704e+00] [ 2.14774548e-02 -1.69916743e-03 9.99767889e-01 8.81403777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.020714057 meters Centerline goodness [0,1] 0.9854791652747155 Centerline is valid? [True, True] Translation: X:83.20, Y:-3.32, Z:0.88 [[ 9.99078969e-01 -3.72131257e-02 -2.13634647e-02 8.31959695e+01] [ 3.72411936e-02 9.99305885e-01 9.17347059e-04 -3.31850117e+00] [ 2.13144987e-02 -1.71210308e-03 9.99771354e-01 8.82503232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05071405700001 meters Centerline goodness [0,1] 0.9853626971907982 Centerline is valid? [True, True] Translation: X:83.23, Y:-3.32, Z:0.88 [[ 9.99027249e-01 -3.84599990e-02 -2.15727835e-02 8.32260147e+01] [ 3.84889217e-02 9.99258597e-01 9.26948033e-04 -3.32345998e+00] [ 2.15211389e-02 -1.75635952e-03 9.99766851e-01 8.82136711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08071405700001 meters Centerline goodness [0,1] 0.9850729642419517 Centerline is valid? [True, True] Translation: X:83.26, Y:-3.33, Z:0.88 [[ 9.98993658e-01 -3.91438887e-02 -2.18958109e-02 8.32566828e+01] [ 3.91738600e-02 9.99231966e-01 9.41407045e-04 -3.32693818e+00] [ 2.18421439e-02 -1.79820310e-03 9.99759815e-01 8.82061898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11071405700001 meters Centerline goodness [0,1] 0.9853115428469226 Centerline is valid? [True, True] Translation: X:83.29, Y:-3.33, Z:0.88 [[ 9.98879873e-01 -4.12762217e-02 -2.31359691e-02 8.32869329e+01] [ 4.13102681e-02 9.99145871e-01 9.95371674e-04 -3.33075835e+00] [ 2.30751228e-02 -1.95000982e-03 9.99731832e-01 8.81050654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.140714057 meters Centerline goodness [0,1] 0.982985460708233 Centerline is valid? [True, True] Translation: X:83.32, Y:-3.33, Z:0.88 [[ 9.98807050e-01 -4.26537477e-02 -2.37725604e-02 8.33170602e+01] [ 4.26900914e-02 9.99087839e-01 1.02317895e-03 -3.33458159e+00] [ 2.37072336e-02 -2.03681112e-03 9.99716869e-01 8.79968246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.170714057 meters Centerline goodness [0,1] 0.9862564422926753 Centerline is valid? [True, True] Translation: X:83.35, Y:-3.33, Z:0.88 [[ 9.98778366e-01 -4.32329668e-02 -2.39308571e-02 8.33496064e+01] [ 4.32699873e-02 9.99062883e-01 1.03108783e-03 -3.32667327e+00] [ 2.38638541e-02 -2.06531610e-03 9.99713084e-01 8.81725539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.200714057 meters Centerline goodness [0,1] 0.9863212388985585 Centerline is valid? [True, True] Translation: X:83.38, Y:-3.33, Z:0.88 [[ 9.98767822e-01 -4.37089412e-02 -2.35024584e-02 8.33816998e+01] [ 4.37448185e-02 9.99042222e-01 1.01433602e-03 -3.32795440e+00] [ 2.34356128e-02 -2.04119696e-03 9.99723264e-01 8.82101086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.230714057 meters Centerline goodness [0,1] 0.9848945278708161 Centerline is valid? [True, True] Translation: X:83.41, Y:-3.33, Z:0.88 [[ 9.98778118e-01 -4.37354280e-02 -2.30105079e-02 8.34130257e+01] [ 4.37698590e-02 9.99041145e-01 9.94560722e-04 -3.33021429e+00] [ 2.29449466e-02 -2.00051217e-03 9.99734729e-01 8.83373700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.260714057 meters Centerline goodness [0,1] 0.9853868258671004 Centerline is valid? [True, True] Translation: X:83.45, Y:-3.33, Z:0.88 [[ 9.98811371e-01 -4.31932720e-02 -2.25873128e-02 8.34452737e+01] [ 4.32263420e-02 9.99064826e-01 9.77676559e-04 -3.33127643e+00] [ 2.25239607e-02 -1.95288137e-03 9.99744396e-01 8.84378910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.290714057 meters Centerline goodness [0,1] 0.9847737268647719 Centerline is valid? [True, True] Translation: X:83.48, Y:-3.33, Z:0.89 [[ 9.98923095e-01 -4.11500153e-02 -2.14319056e-02 8.34753513e+01] [ 4.11793380e-02 9.99151340e-01 9.28468720e-04 -3.33110698e+00] [ 2.13755107e-02 -1.81002053e-03 9.99769879e-01 8.85578110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.320714057 meters Centerline goodness [0,1] 0.9855328869280899 Centerline is valid? [True, True] Translation: X:83.51, Y:-3.33, Z:0.89 [[ 9.99064183e-01 -3.81463070e-02 -2.03866781e-02 8.35058597e+01] [ 3.81722193e-02 9.99270785e-01 8.83272260e-04 -3.32657979e+00] [ 2.03381183e-02 -1.66065043e-03 9.99791780e-01 8.86323556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.350714057 meters Centerline goodness [0,1] 0.9858947133117246 Centerline is valid? [True, True] Translation: X:83.54, Y:-3.32, Z:0.89 [[ 9.99140186e-01 -3.63911555e-02 -1.98638327e-02 8.35373198e+01] [ 3.64154189e-02 9.99336368e-01 8.61026825e-04 -3.32497272e+00] [ 1.98193166e-02 -1.58363629e-03 9.99802324e-01 8.87254060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.380714057 meters Centerline goodness [0,1] 0.9860688729874776 Centerline is valid? [True, True] Translation: X:83.57, Y:-3.33, Z:0.89 [[ 9.99219951e-01 -3.43922813e-02 -1.94077471e-02 8.35676213e+01] [ 3.44150924e-02 9.99407270e-01 8.42497567e-04 -3.32665455e+00] [ 1.93672681e-02 -1.50975979e-03 9.99811297e-01 8.87751527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.410714057 meters Centerline goodness [0,1] 0.9853076011360333 Centerline is valid? [True, True] Translation: X:83.60, Y:-3.33, Z:0.89 [[ 9.99331568e-01 -3.08117863e-02 -1.96735941e-02 8.35976947e+01] [ 3.08345630e-02 9.99524136e-01 8.55366709e-04 -3.32738046e+00] [ 1.96378767e-02 -1.46142163e-03 9.99806090e-01 8.87890800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44071405700001 meters Centerline goodness [0,1] 0.9852773364956481 Centerline is valid? [True, True] Translation: X:83.63, Y:-3.33, Z:0.89 [[ 9.99376915e-01 -2.89978462e-02 -2.01222803e-02 8.36292548e+01] [ 2.90213154e-02 9.99578410e-01 8.75231935e-04 -3.32830360e+00] [ 2.00884171e-02 -1.45866163e-03 9.99797143e-01 8.87850475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47071405700001 meters Centerline goodness [0,1] 0.9865022160540807 Centerline is valid? [True, True] Translation: X:83.66, Y:-3.32, Z:0.89 [[ 9.99470046e-01 -2.50620570e-02 -2.07730667e-02 8.36597856e+01] [ 2.50862328e-02 9.99684882e-01 9.03993611e-04 -3.32337563e+00] [ 2.07438648e-02 -1.42463252e-03 9.99783808e-01 8.87404677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.500714057 meters Centerline goodness [0,1] 0.9858382211913735 Centerline is valid? [True, True] Translation: X:83.69, Y:-3.32, Z:0.89 [[ 9.99517815e-01 -2.28611536e-02 -2.10120188e-02 8.36896593e+01] [ 2.28854057e-02 9.99737677e-01 9.14432425e-04 -3.32435823e+00] [ 2.09856019e-02 -1.39486007e-03 9.99778805e-01 8.87035210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.530714057 meters Centerline goodness [0,1] 0.9865699463247019 Centerline is valid? [True, True] Translation: X:83.72, Y:-3.32, Z:0.89 [[ 9.99602636e-01 -1.81147747e-02 -2.15968967e-02 8.37204023e+01] [ 1.81392922e-02 9.99835028e-01 9.39856797e-04 -3.32169594e+00] [ 2.15763085e-02 -1.33123575e-03 9.99766318e-01 8.87255784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.560714057 meters Centerline goodness [0,1] 0.9869832063128077 Centerline is valid? [True, True] Translation: X:83.75, Y:-3.32, Z:0.89 [[ 9.99654144e-01 -1.56584895e-02 -2.11282752e-02 8.37496996e+01] [ 1.56814000e-02 9.99876617e-01 9.19098551e-04 -3.32147727e+00] [ 2.11112767e-02 -1.25010161e-03 9.99776351e-01 8.87747594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.590714057 meters Centerline goodness [0,1] 0.9880749191519943 Centerline is valid? [True, True] Translation: X:83.78, Y:-3.32, Z:0.89 [[ 9.99721396e-01 -1.06796513e-02 -2.10493490e-02 8.37799246e+01] [ 1.07012812e-02 9.99942321e-01 9.15202517e-04 -3.31594332e+00] [ 2.10383609e-02 -1.14020254e-03 9.99778019e-01 8.88842504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.620714057 meters Centerline goodness [0,1] 0.9875033713926099 Centerline is valid? [True, True] Translation: X:83.81, Y:-3.32, Z:0.89 [[ 9.99736288e-01 -8.42384851e-03 -2.13633486e-02 8.38090256e+01] [ 8.44560649e-03 9.99963904e-01 9.28451680e-04 -3.31979049e+00] [ 2.13547564e-02 -1.10863327e-03 9.99771347e-01 8.87836668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.650714057 meters Centerline goodness [0,1] 0.9877431687844372 Centerline is valid? [True, True] Translation: X:83.84, Y:-3.32, Z:0.89 [[ 9.99758843e-01 -4.79476827e-03 -2.14305153e-02 8.38382000e+01] [ 4.81581560e-03 9.99987971e-01 9.30618594e-04 -3.32070561e+00] [ 2.14257954e-02 -1.03359958e-03 9.99769907e-01 8.87117629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.680714057 meters Centerline goodness [0,1] 0.9889614323214646 Centerline is valid? [True, True] Translation: X:83.87, Y:-3.32, Z:0.89 [[ 9.99771737e-01 -3.53053330e-03 -2.10715137e-02 8.38676197e+01] [ 3.55054670e-03 9.99993281e-01 9.12448212e-04 -3.31653821e+00] [ 2.10681507e-02 -9.87055327e-04 9.99777555e-01 8.88683832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.710714057 meters Centerline goodness [0,1] 0.9884755947176073 Centerline is valid? [True, True] Translation: X:83.90, Y:-3.32, Z:0.89 [[ 9.99790154e-01 -2.52061502e-03 -2.03296313e-02 8.38954820e+01] [ 2.53893745e-03 9.99996394e-01 8.75506908e-04 -3.32460072e+00] [ 2.03273511e-02 -9.26938849e-04 9.99792948e-01 8.88316224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.740714057 meters Centerline goodness [0,1] 0.989438202247191 Centerline is valid? [True, True] Translation: X:83.92, Y:-3.32, Z:0.89 [[ 9.99797902e-01 -2.92816619e-03 -1.98892215e-02 8.39232461e+01] [ 2.94567987e-03 9.99995299e-01 8.51321914e-04 -3.32068892e+00] [ 1.98866352e-02 -9.09737143e-04 9.99801827e-01 8.90365788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.770714057 meters Centerline goodness [0,1] 0.9889690284259652 Centerline is valid? [True, True] Translation: X:83.95, Y:-3.32, Z:0.89 [[ 9.99814650e-01 -4.35703140e-03 -1.87532071e-02 8.39518968e+01] [ 4.37278288e-03 9.99990120e-01 7.99011544e-04 -3.32472869e+00] [ 1.87495405e-02 -8.80867150e-04 9.99823824e-01 8.91831034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80071405700001 meters Centerline goodness [0,1] 0.9891253272470968 Centerline is valid? [True, True] Translation: X:83.98, Y:-3.33, Z:0.89 [[ 9.99812809e-01 -5.71456197e-03 -1.84848858e-02 8.39806065e+01] [ 5.73007312e-03 9.99983274e-01 7.86270443e-04 -3.32843182e+00] [ 1.84800834e-02 -8.92043008e-04 9.99828831e-01 8.92284608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83071405700001 meters Centerline goodness [0,1] 0.9895296140021879 Centerline is valid? [True, True] Translation: X:84.01, Y:-3.33, Z:0.89 [[ 9.99798711e-01 -9.17948300e-03 -1.78402528e-02 8.40104393e+01] [ 9.19446479e-03 9.99957443e-01 7.57932158e-04 -3.33330129e+00] [ 1.78325362e-02 -9.21811171e-04 9.99840563e-01 8.93357714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86071405700001 meters Centerline goodness [0,1] 0.9893956645011497 Centerline is valid? [True, True] Translation: X:84.04, Y:-3.34, Z:0.89 [[ 9.99769903e-01 -1.11295423e-02 -1.83377710e-02 8.40391499e+01] [ 1.11456882e-02 9.99937582e-01 7.78498371e-04 -3.33922929e+00] [ 1.83279621e-02 -9.82706318e-04 9.99831546e-01 8.93334446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.890714057 meters Centerline goodness [0,1] 0.9898670467452063 Centerline is valid? [True, True] Translation: X:84.07, Y:-3.34, Z:0.89 [[ 9.99710588e-01 -1.51067566e-02 -1.87223421e-02 8.40692148e+01] [ 1.51242669e-02 9.99885306e-01 7.94014704e-04 -3.34394387e+00] [ 1.87081998e-02 -1.07694661e-03 9.99824406e-01 8.92985213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.920714057 meters Centerline goodness [0,1] 0.9881408827463218 Centerline is valid? [True, True] Translation: X:84.10, Y:-3.35, Z:0.89 [[ 9.99666233e-01 -1.73549279e-02 -1.91370993e-02 8.40970351e+01] [ 1.73736159e-02 9.99848739e-01 8.10698659e-04 -3.34865677e+00] [ 1.91201350e-02 -1.14290869e-03 9.99816540e-01 8.92729788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.950714057 meters Centerline goodness [0,1] 0.9887369806186854 Centerline is valid? [True, True] Translation: X:84.13, Y:-3.35, Z:0.89 [[ 9.99620699e-01 -1.93784700e-02 -1.95686523e-02 8.41266398e+01] [ 1.93983714e-02 9.99811491e-01 8.27680491e-04 -3.34933789e+00] [ 1.95489243e-02 -1.20696654e-03 9.99808173e-01 8.93319383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.980714057 meters Centerline goodness [0,1] 0.9889796736202329 Centerline is valid? [True, True] Translation: X:84.16, Y:-3.35, Z:0.89 [[ 9.99535057e-01 -2.33421263e-02 -1.96167118e-02 8.41570542e+01] [ 2.33628756e-02 9.99726707e-01 8.29195449e-04 -3.35353719e+00] [ 1.95919955e-02 -1.28711272e-03 9.99807230e-01 8.93546436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.010714057 meters Centerline goodness [0,1] 0.9886876826352607 Centerline is valid? [True, True] Translation: X:84.19, Y:-3.36, Z:0.89 [[ 9.99439175e-01 -2.68946924e-02 -1.99502250e-02 8.41860462e+01] [ 2.69168500e-02 9.99637321e-01 8.42903675e-04 -3.36068634e+00] [ 1.99203198e-02 -1.37942817e-03 9.99800619e-01 8.93315905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.040714057 meters Centerline goodness [0,1] 0.986748919869939 Centerline is valid? [True, True] Translation: X:84.21, Y:-3.37, Z:0.89 [[ 9.99315951e-01 -3.08253125e-02 -2.04311136e-02 8.42149546e+01] [ 3.08493584e-02 9.99523673e-01 8.62723829e-04 -3.36752328e+00] [ 2.03947880e-02 -1.49242043e-03 9.99790891e-01 8.93147868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.070714057 meters Centerline goodness [0,1] 0.986870751321811 Centerline is valid? [True, True] Translation: X:84.25, Y:-3.37, Z:0.89 [[ 9.99257533e-01 -3.23819466e-02 -2.08756353e-02 8.42456180e+01] [ 3.24073920e-02 9.99474354e-01 8.81668891e-04 -3.36941720e+00] [ 2.08361120e-02 -1.55753918e-03 9.99781691e-01 8.93912758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.100714057 meters Centerline goodness [0,1] 0.9869188302330222 Centerline is valid? [True, True] Translation: X:84.28, Y:-3.37, Z:0.89 [[ 9.99210387e-01 -3.38129967e-02 -2.08634586e-02 8.42753816e+01] [ 3.38387459e-02 9.99426916e-01 8.82275040e-04 -3.37401835e+00] [ 2.08216697e-02 -1.58757166e-03 9.99781945e-01 8.94045226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.130714057 meters Centerline goodness [0,1] 0.9863800240352517 Centerline is valid? [True, True] Translation: X:84.31, Y:-3.38, Z:0.89 [[ 9.99151982e-01 -3.53983749e-02 -2.10302406e-02 8.43068974e+01] [ 3.54249114e-02 9.99371944e-01 8.90515773e-04 -3.37578035e+00] [ 2.09855096e-02 -1.63475501e-03 9.99778443e-01 8.93927755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.160714057 meters Centerline goodness [0,1] 0.9851817293166267 Centerline is valid? [True, True] Translation: X:84.34, Y:-3.38, Z:0.89 [[ 9.99082149e-01 -3.71887079e-02 -2.12569689e-02 8.43382128e+01] [ 3.72162383e-02 9.99306830e-01 9.00857748e-04 -3.37966758e+00] [ 2.12087325e-02 -1.69113532e-03 9.99773639e-01 8.93791693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19071405700001 meters Centerline goodness [0,1] 0.9858850769196518 Centerline is valid? [True, True] Translation: X:84.37, Y:-3.38, Z:0.89 [[ 9.99014916e-01 -3.86628097e-02 -2.17803794e-02 8.43698133e+01] [ 3.86920776e-02 9.99250754e-01 9.23810062e-04 -3.37776221e+00] [ 2.17283434e-02 -1.76562816e-03 9.99762353e-01 8.94615385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22071405700001 meters Centerline goodness [0,1] 0.9871489342747054 Centerline is valid? [True, True] Translation: X:84.40, Y:-3.37, Z:0.90 [[ 9.98964422e-01 -3.97168750e-02 -2.21957849e-02 8.44016274e+01] [ 3.97475465e-02 9.99209310e-01 9.42234202e-04 -3.37432380e+00] [ 2.21408123e-02 -1.82348644e-03 9.99753199e-01 8.95529205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.250714057 meters Centerline goodness [0,1] 0.9769246204267273 Centerline is valid? [True, True] Translation: X:84.43, Y:-3.39, Z:0.89 [[ 9.98892082e-01 -4.11595141e-02 -2.28145231e-02 8.44314512e+01] [ 4.11923120e-02 9.99150766e-01 9.69308088e-04 -3.38985684e+00] [ 2.27552519e-02 -1.90801713e-03 9.99739245e-01 8.94010413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.280714057 meters Centerline goodness [0,1] 0.9862952646239554 Centerline is valid? [True, True] Translation: X:84.46, Y:-3.38, Z:0.90 [[ 9.98850944e-01 -4.18146120e-02 -2.34164638e-02 8.44635037e+01] [ 4.18493619e-02 9.99123436e-01 9.95701419e-04 -3.37864860e+00] [ 2.33543029e-02 -1.97452137e-03 9.99725301e-01 8.95978069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.310714057 meters Centerline goodness [0,1] 0.9853634665005784 Centerline is valid? [True, True] Translation: X:84.49, Y:-3.38, Z:0.90 [[ 9.98815268e-01 -4.23832802e-02 -2.39106094e-02 8.44944158e+01] [ 4.24197003e-02 9.99099361e-01 1.01779706e-03 -3.38169186e+00] [ 2.38459370e-02 -2.03087213e-03 9.99713582e-01 8.95957823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.340714057 meters Centerline goodness [0,1] 0.9857995014245015 Centerline is valid? [True, True] Translation: X:84.53, Y:-3.38, Z:0.90 [[ 9.98767732e-01 -4.30354919e-02 -2.47176945e-02 8.45262220e+01] [ 4.30746389e-02 9.99071302e-01 1.05327316e-03 -3.37981410e+00] [ 2.46494111e-02 -2.11668101e-03 9.99693916e-01 8.95916102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.370714057 meters Centerline goodness [0,1] 0.9855747792740569 Centerline is valid? [True, True] Translation: X:84.56, Y:-3.38, Z:0.90 [[ 9.98740803e-01 -4.33854644e-02 -2.51894845e-02 8.45582983e+01] [ 4.34262663e-02 9.99056057e-01 1.07477644e-03 -3.38161354e+00] [ 2.51190774e-02 -2.16730835e-03 9.99682117e-01 8.96080300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.400714057 meters Centerline goodness [0,1] 0.9851186515857174 Centerline is valid? [True, True] Translation: X:84.59, Y:-3.38, Z:0.90 [[ 9.98731605e-01 -4.37593062e-02 -2.49059009e-02 8.45895016e+01] [ 4.37993479e-02 9.99039781e-01 1.06422044e-03 -3.38319654e+00] [ 2.48354162e-02 -2.15373280e-03 9.99689233e-01 8.96974471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.430714057 meters Centerline goodness [0,1] 0.9846599131693198 Centerline is valid? [True, True] Translation: X:84.62, Y:-3.38, Z:0.90 [[ 9.98718883e-01 -4.38718552e-02 -2.52161246e-02 8.46217830e+01] [ 4.39129772e-02 9.99034777e-01 1.07908812e-03 -3.38124668e+00] [ 2.51444438e-02 -2.18502078e-03 9.99681441e-01 8.97707199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.460714057 meters Centerline goodness [0,1] 0.9842747683535281 Centerline is valid? [True, True] Translation: X:84.65, Y:-3.38, Z:0.90 [[ 9.98715865e-01 -4.38864986e-02 -2.53099847e-02 8.46531815e+01] [ 4.39279720e-02 9.99034112e-01 1.08468785e-03 -3.38309700e+00] [ 2.52379350e-02 -2.19511126e-03 9.99679063e-01 8.97775525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.490714057 meters Centerline goodness [0,1] 0.9840317580677536 Centerline is valid? [True, True] Translation: X:84.68, Y:-3.39, Z:0.90 [[ 9.98731870e-01 -4.35312615e-02 -2.52919137e-02 8.46843410e+01] [ 4.35726208e-02 9.99049672e-01 1.08621835e-03 -3.38532688e+00] [ 2.52205936e-02 -2.18687585e-03 9.99679518e-01 8.98756158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.520714057 meters Centerline goodness [0,1] 0.9831293122635211 Centerline is valid? [True, True] Translation: X:84.72, Y:-3.39, Z:0.90 [[ 9.98759632e-01 -4.32147817e-02 -2.47321799e-02 8.47161693e+01] [ 4.32542857e-02 9.99063529e-01 1.06428473e-03 -3.38612921e+00] [ 2.46630260e-02 -2.13273740e-03 9.99693546e-01 8.99439348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55071405700001 meters Centerline goodness [0,1] 0.9831293122635211 Centerline is valid? [True, True] Translation: X:84.75, Y:-3.39, Z:0.90 [[ 9.98762676e-01 -4.31443979e-02 -2.47321139e-02 8.47479502e+01] [ 4.31839180e-02 9.99066571e-01 1.06581526e-03 -3.38756176e+00] [ 2.46630443e-02 -2.13252608e-03 9.99693546e-01 8.99814271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58071405700001 meters Centerline goodness [0,1] 0.9832756503293514 Centerline is valid? [True, True] Translation: X:84.78, Y:-3.39, Z:0.90 [[ 9.98779130e-01 -4.29937804e-02 -2.43266221e-02 8.47787880e+01] [ 4.30320064e-02 9.99073143e-01 1.04981872e-03 -3.38910561e+00] [ 2.42589391e-02 -2.09536038e-03 9.99703513e-01 9.00420736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61071405700001 meters Centerline goodness [0,1] 0.9850703032733917 Centerline is valid? [True, True] Translation: X:84.81, Y:-3.38, Z:0.90 [[ 9.98806259e-01 -4.26628341e-02 -2.37894779e-02 8.48111754e+01] [ 4.26993317e-02 9.99087439e-01 1.02811049e-03 -3.38389612e+00] [ 2.37239064e-02 -2.04267800e-03 9.99716462e-01 9.02099848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.640714057 meters Centerline goodness [0,1] 0.9841816758026625 Centerline is valid? [True, True] Translation: X:84.84, Y:-3.39, Z:0.90 [[ 9.98824826e-01 -4.23091338e-02 -2.36411627e-02 8.48422219e+01] [ 4.23451142e-02 9.99102519e-01 1.02318103e-03 -3.38726812e+00] [ 2.35766553e-02 -2.02306634e-03 9.99719985e-01 9.01869286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.670714057 meters Centerline goodness [0,1] 0.9771189099547308 Centerline is valid? [True, True] Translation: X:84.87, Y:-3.40, Z:0.90 [[ 9.98839205e-01 -4.19012328e-02 -2.37598182e-02 8.48729139e+01] [ 4.19374909e-02 9.99119706e-01 1.02958308e-03 -3.39584107e+00] [ 2.36957618e-02 -2.02481511e-03 9.99717166e-01 9.00957169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.700714057 meters Centerline goodness [0,1] 0.9766104122834505 Centerline is valid? [True, True] Translation: X:84.90, Y:-3.40, Z:0.90 [[ 9.98870193e-01 -4.10680474e-02 -2.39113622e-02 8.49046101e+01] [ 4.11045573e-02 9.99154312e-01 1.03718009e-03 -3.39613597e+00] [ 2.38485457e-02 -2.01887423e-03 9.99713544e-01 9.00711643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.730714057 meters Centerline goodness [0,1] 0.9859334751931907 Centerline is valid? [True, True] Translation: X:84.94, Y:-3.38, Z:0.90 [[ 9.98858032e-01 -4.10002676e-02 -2.45277245e-02 8.49376765e+01] [ 4.10386967e-02 9.99156990e-01 1.06523859e-03 -3.38485330e+00] [ 2.44633723e-02 -2.07060797e-03 9.99698583e-01 9.02625113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.760714057 meters Centerline goodness [0,1] 0.9857680756645301 Centerline is valid? [True, True] Translation: X:84.97, Y:-3.38, Z:0.90 [[ 9.98853594e-01 -4.09597434e-02 -2.47749357e-02 8.49699857e+01] [ 4.09989834e-02 9.99158607e-01 1.07777222e-03 -3.38498629e+00] [ 2.47099450e-02 -2.09228383e-03 9.99692473e-01 9.03092243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.790714057 meters Centerline goodness [0,1] 0.984932363051922 Centerline is valid? [True, True] Translation: X:85.00, Y:-3.39, Z:0.90 [[ 9.98843220e-01 -4.10469102e-02 -2.50474227e-02 8.50014835e+01] [ 4.10871053e-02 9.99154972e-01 1.09201391e-03 -3.38876925e+00] [ 2.49814331e-02 -2.11987678e-03 9.99685668e-01 9.02208722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.820714057 meters Centerline goodness [0,1] 0.9859066427289048 Centerline is valid? [True, True] Translation: X:85.03, Y:-3.38, Z:0.90 [[ 9.98804397e-01 -4.17097540e-02 -2.54965384e-02 8.50328315e+01] [ 4.17516663e-02 9.99127399e-01 1.11348042e-03 -3.38418910e+00] [ 2.54278471e-02 -2.17667210e-03 9.99674290e-01 9.02918886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.850714057 meters Centerline goodness [0,1] 0.985026594555938 Centerline is valid? [True, True] Translation: X:85.06, Y:-3.39, Z:0.90 [[ 9.98779854e-01 -4.22786651e-02 -2.55209431e-02 8.50643134e+01] [ 4.23208725e-02 9.99103448e-01 1.11574141e-03 -3.38723366e+00] [ 2.54508902e-02 -2.19444862e-03 9.99673665e-01 9.02424709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.880714057 meters Centerline goodness [0,1] 0.9846285226302306 Centerline is valid? [True, True] Translation: X:85.10, Y:-3.39, Z:0.90 [[ 9.98773345e-01 -4.26836495e-02 -2.50980506e-02 8.50969347e+01] [ 4.27246362e-02 9.99086282e-01 1.09885503e-03 -3.38817133e+00] [ 2.50282149e-02 -2.16981219e-03 9.99684390e-01 9.03100086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.910714057 meters Centerline goodness [0,1] 0.9842938965455522 Centerline is valid? [True, True] Translation: X:85.13, Y:-3.39, Z:0.90 [[ 9.98794267e-01 -4.26109272e-02 -2.43786856e-02 8.51280984e+01] [ 4.26496330e-02 9.99089518e-01 1.06971494e-03 -3.38853762e+00] [ 2.43109077e-02 -2.10816715e-03 9.99702223e-01 9.04597179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94071405700001 meters Centerline goodness [0,1] 0.9845210280373832 Centerline is valid? [True, True] Translation: X:85.16, Y:-3.39, Z:0.91 [[ 9.98797477e-01 -4.26923065e-02 -2.41032395e-02 8.51606399e+01] [ 4.27302211e-02 9.99086085e-01 1.05992717e-03 -3.38901978e+00] [ 2.40359604e-02 -2.08858934e-03 9.99708913e-01 9.05263152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97071405700001 meters Centerline goodness [0,1] 0.984722191017547 Centerline is valid? [True, True] Translation: X:85.19, Y:-3.39, Z:0.91 [[ 9.98812062e-01 -4.22301040e-02 -2.43122134e-02 8.51930554e+01] [ 4.22685856e-02 9.99105710e-01 1.07086740e-03 -3.38870138e+00] [ 2.42452484e-02 -2.09723815e-03 9.99703841e-01 9.05184799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.000714057 meters Centerline goodness [0,1] 0.9847917274175098 Centerline is valid? [True, True] Translation: X:85.22, Y:-3.39, Z:0.90 [[ 9.98824104e-01 -4.19046293e-02 -2.43805356e-02 8.52241590e+01] [ 4.19432683e-02 9.99119415e-01 1.07539317e-03 -3.39113995e+00] [ 2.43140025e-02 -2.09672797e-03 9.99702172e-01 9.04984496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.030714057 meters Centerline goodness [0,1] 0.983992825916377 Centerline is valid? [True, True] Translation: X:85.26, Y:-3.39, Z:0.90 [[ 9.98847251e-01 -4.14757495e-02 -2.41646756e-02 8.52550154e+01] [ 4.15136132e-02 9.99137368e-01 1.06714577e-03 -3.39321174e+00] [ 2.40995697e-02 -2.06907862e-03 9.99707422e-01 9.04801322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.060714057 meters Centerline goodness [0,1] 0.9824616629941089 Centerline is valid? [True, True] Translation: X:85.29, Y:-3.39, Z:0.91 [[ 9.98859351e-01 -4.09315383e-02 -2.45887459e-02 8.52861724e+01] [ 4.09706114e-02 9.99159761e-01 1.08717586e-03 -3.39354179e+00] [ 2.45235857e-02 -2.09335173e-03 9.99697060e-01 9.05072971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.090714057 meters Centerline goodness [0,1] 0.9830474132108604 Centerline is valid? [True, True] Translation: X:85.32, Y:-3.39, Z:0.91 [[ 9.98936483e-01 -3.92774070e-02 -2.41493098e-02 8.53164829e+01] [ 3.93146354e-02 9.99226310e-01 1.06856805e-03 -3.39281235e+00] [ 2.40886551e-02 -2.01685292e-03 9.99707792e-01 9.05444367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.120714057 meters Centerline goodness [0,1] 0.9827927927927927 Centerline is valid? [True, True] Translation: X:85.35, Y:-3.39, Z:0.91 [[ 9.98971586e-01 -3.82551816e-02 -2.43374506e-02 8.53479928e+01] [ 3.82927068e-02 9.99265984e-01 1.07753209e-03 -3.39280522e+00] [ 2.42783653e-02 -2.00837080e-03 9.99703220e-01 9.05689578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.150714057 meters Centerline goodness [0,1] 0.9828340701975999 Centerline is valid? [True, True] Translation: X:85.38, Y:-3.39, Z:0.91 [[ 9.99061970e-01 -3.54944849e-02 -2.48056709e-02 8.53775129e+01] [ 3.55326279e-02 9.99367913e-01 1.09845440e-03 -3.39249003e+00] [ 2.47510025e-02 -1.97883469e-03 9.99691689e-01 9.05489197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.180714057 meters Centerline goodness [0,1] 0.98313933777828 Centerline is valid? [True, True] Translation: X:85.41, Y:-3.39, Z:0.91 [[ 9.99114015e-01 -3.38767313e-02 -2.49710085e-02 8.54079954e+01] [ 3.39148776e-02 9.99424114e-01 1.10557521e-03 -3.39084601e+00] [ 2.49191747e-02 -1.95148438e-03 9.99687564e-01 9.05814650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.210714057 meters Centerline goodness [0,1] 0.9836213917292552 Centerline is valid? [True, True] Translation: X:85.44, Y:-3.39, Z:0.91 [[ 9.99183255e-01 -3.18098444e-02 -2.49189931e-02 8.54387428e+01] [ 3.18471984e-02 9.99492140e-01 1.10349115e-03 -3.39034407e+00] [ 2.48712359e-02 -1.89618999e-03 9.99688865e-01 9.06175815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.240714057 meters Centerline goodness [0,1] 0.9840679886685553 Centerline is valid? [True, True] Translation: X:85.47, Y:-3.39, Z:0.91 [[ 9.99332080e-01 -2.69381257e-02 -2.46927297e-02 8.54684350e+01] [ 2.69733289e-02 9.99635555e-01 1.09362822e-03 -3.38780087e+00] [ 2.46542702e-02 -1.75894288e-03 9.99694490e-01 9.06294355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.270714057 meters Centerline goodness [0,1] 0.9849398956679519 Centerline is valid? [True, True] Translation: X:85.50, Y:-3.38, Z:0.91 [[ 9.99414000e-01 -2.40678097e-02 -2.43392297e-02 8.54985336e+01] [ 2.41011592e-02 9.99708944e-01 1.07773337e-03 -3.38423604e+00] [ 2.43062070e-02 -1.66370546e-03 9.99703176e-01 9.07029786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30071405700001 meters Centerline goodness [0,1] 0.9874792268991737 Centerline is valid? [True, True] Translation: X:85.53, Y:-3.37, Z:0.91 [[ 9.99549460e-01 -1.84559951e-02 -2.36696584e-02 8.55288620e+01] [ 1.84859554e-02 9.99828571e-01 1.04756519e-03 -3.36942402e+00] [ 2.36462669e-02 -1.48464947e-03 9.99719286e-01 9.09547443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33071405700001 meters Centerline goodness [0,1] 0.988515961446442 Centerline is valid? [True, True] Translation: X:85.56, Y:-3.37, Z:0.91 [[ 9.99634249e-01 -1.32884644e-02 -2.35538815e-02 8.55581118e+01] [ 1.33166895e-02 9.99910786e-01 1.04186702e-03 -3.36596378e+00] [ 2.35379354e-02 -1.35514569e-03 9.99722026e-01 9.09296005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36071405700001 meters Centerline goodness [0,1] 0.9879916900668904 Centerline is valid? [True, True] Translation: X:85.59, Y:-3.37, Z:0.91 [[ 9.99659508e-01 -1.10999824e-02 -2.36147925e-02 8.55871593e+01] [ 1.11277296e-02 9.99937540e-01 1.04390201e-03 -3.37081211e+00] [ 2.36017302e-02 -1.30632560e-03 9.99720587e-01 9.08364451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.390714057 meters Centerline goodness [0,1] 0.9875325387039321 Centerline is valid? [True, True] Translation: X:85.62, Y:-3.37, Z:0.91 [[ 9.99678706e-01 -8.91075661e-03 -2.37293861e-02 8.56173865e+01] [ 8.93814440e-03 9.99959504e-01 1.04835671e-03 -3.36963360e+00] [ 2.37190835e-02 -1.26011656e-03 9.99717869e-01 9.08454494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.420714057 meters Centerline goodness [0,1] 0.9875720955781379 Centerline is valid? [True, True] Translation: X:85.65, Y:-3.36, Z:0.91 [[ 9.99700635e-01 -4.99167222e-03 -2.39525170e-02 8.56479622e+01] [ 5.01844609e-03 9.99986848e-01 1.05780842e-03 -3.36238123e+00] [ 2.39469218e-02 -1.17769617e-03 9.99712538e-01 9.09992983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.450714057 meters Centerline goodness [0,1] 0.9873435104021239 Centerline is valid? [True, True] Translation: X:85.68, Y:-3.37, Z:0.91 [[ 9.99706803e-01 -3.43647282e-03 -2.39686984e-02 8.56754253e+01] [ 3.46280729e-03 9.99993446e-01 1.05728344e-03 -3.36657787e+00] [ 2.39649080e-02 -1.13997243e-03 9.99712150e-01 9.09326189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.480714057 meters Centerline goodness [0,1] 0.9883750200233415 Centerline is valid? [True, True] Translation: X:85.71, Y:-3.36, Z:0.91 [[ 9.99723348e-01 -3.78724371e-04 -2.35177268e-02 8.57058312e+01] [ 4.03204775e-04 9.99999382e-01 1.03620096e-03 -3.35789998e+00] [ 2.35173198e-02 -1.04539676e-03 9.99722883e-01 9.11522395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.510714057 meters Centerline goodness [0,1] 0.9886418282992512 Centerline is valid? [True, True] Translation: X:85.73, Y:-3.36, Z:0.91 [[ 9.99721143e-01 7.19656646e-04 -2.36033366e-02 8.57344806e+01] [-6.95377789e-04 9.99999221e-01 1.03681135e-03 -3.35676438e+00] [ 2.36040643e-02 -1.02010900e-03 9.99720865e-01 9.12505678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.540714057 meters Centerline goodness [0,1] 0.9879764117390606 Centerline is valid? [True, True] Translation: X:85.76, Y:-3.36, Z:0.91 [[ 9.99715740e-01 2.46014629e-03 -2.37147097e-02 8.57622161e+01] [-2.43622168e-03 9.99996494e-01 1.03768970e-03 -3.35724695e+00] [ 2.37171794e-02 -9.79620431e-04 9.99718228e-01 9.12889526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.570714057 meters Centerline goodness [0,1] 0.9890695324699182 Centerline is valid? [True, True] Translation: X:85.79, Y:-3.36, Z:0.91 [[ 9.99720649e-01 6.23615345e-03 -2.27976755e-02 8.57921405e+01] [-6.21505800e-03 9.99980190e-01 9.96070565e-04 -3.35537835e+00] [ 2.28034355e-02 -8.54103437e-04 9.99739603e-01 9.13606882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.600714057 meters Centerline goodness [0,1] 0.9894034266840983 Centerline is valid? [True, True] Translation: X:85.82, Y:-3.35, Z:0.91 [[ 9.99698715e-01 9.99532729e-03 -2.24181109e-02 8.58216633e+01] [-9.97589257e-03 9.99949761e-01 9.78590280e-04 -3.35282439e+00] [ 2.24267659e-02 -7.54654780e-04 9.99748204e-01 9.14884500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.630714057 meters Centerline goodness [0,1] 0.9890675241157556 Centerline is valid? [True, True] Translation: X:85.85, Y:-3.35, Z:0.91 [[ 9.99691859e-01 1.16130189e-02 -2.19391027e-02 8.58490650e+01] [-1.15948331e-02 9.99932321e-01 9.55948398e-04 -3.35383984e+00] [ 2.19487193e-02 -7.01273597e-04 9.99758852e-01 9.14910180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.660714057 meters Centerline goodness [0,1] 0.9890881465963766 Centerline is valid? [True, True] Translation: X:85.88, Y:-3.36, Z:0.92 [[ 9.99682427e-01 1.27758505e-02 -2.17215014e-02 8.58765946e+01] [-1.27583588e-02 9.99918164e-01 9.43668831e-04 -3.35587977e+00] [ 2.17317800e-02 -6.66238439e-04 9.99763615e-01 9.15105032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69071405700001 meters Centerline goodness [0,1] 0.9885255702722591 Centerline is valid? [True, True] Translation: X:85.90, Y:-3.36, Z:0.92 [[ 9.99672290e-01 1.44787753e-02 -2.11110757e-02 8.59041328e+01] [-1.44626806e-02 9.99894991e-01 9.14865343e-04 -3.36119608e+00] [ 2.11221050e-02 -6.09242787e-04 9.99776718e-01 9.15036961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72071405700001 meters Centerline goodness [0,1] 0.9885646053870353 Centerline is valid? [True, True] Translation: X:85.93, Y:-3.36, Z:0.92 [[ 9.99678077e-01 1.48434073e-02 -2.05770606e-02 8.59314450e+01] [-1.48282287e-02 9.99889660e-01 8.90034290e-04 -3.36344571e+00] [ 2.05880013e-02 -5.84626407e-04 9.99787874e-01 9.15682373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.750714057 meters Centerline goodness [0,1] 0.9897559298728085 Centerline is valid? [True, True] Translation: X:85.96, Y:-3.36, Z:0.92 [[ 9.99705208e-01 1.34164040e-02 -2.02360505e-02 8.59603815e+01] [-1.34014630e-02 9.99909815e-01 8.73771541e-04 -3.36251524e+00] [ 2.02459484e-02 -6.02321279e-04 9.99794848e-01 9.17876345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.780714057 meters Centerline goodness [0,1] 0.9892717144625541 Centerline is valid? [True, True] Translation: X:85.99, Y:-3.37, Z:0.92 [[ 9.99730894e-01 1.20167682e-02 -1.98427824e-02 8.59880552e+01] [-1.20021569e-02 9.99927606e-01 8.55284165e-04 -3.36785649e+00] [ 1.98516236e-02 -6.16897816e-04 9.99802747e-01 9.17665428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.810714057 meters Centerline goodness [0,1] 0.9889031254290028 Centerline is valid? [True, True] Translation: X:86.02, Y:-3.38, Z:0.92 [[ 9.99771401e-01 7.98977886e-03 -1.98320169e-02 8.60174322e+01] [-7.97441771e-03 9.99967840e-01 8.53525680e-04 -3.37504310e+00] [ 1.98381985e-02 -6.95181778e-04 9.99802962e-01 9.17701256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.840714057 meters Centerline goodness [0,1] 0.9892703373806866 Centerline is valid? [True, True] Translation: X:86.05, Y:-3.38, Z:0.92 [[ 9.99786542e-01 5.59033759e-03 -1.98901737e-02 8.60466865e+01] [-5.57442558e-03 9.99984097e-01 8.55347584e-04 -3.37915214e+00] [ 1.98946391e-02 -7.44288709e-04 9.99801805e-01 9.18435813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.870714057 meters Centerline goodness [0,1] 0.9890965377523844 Centerline is valid? [True, True] Translation: X:86.08, Y:-3.39, Z:0.92 [[ 9.99808138e-01 6.00347993e-04 -1.95787512e-02 8.60768665e+01] [-5.83983088e-04 9.99999475e-01 8.41556941e-04 -3.38818786e+00] [ 1.95792461e-02 -8.29961818e-04 9.99807964e-01 9.18750474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.900714057 meters Centerline goodness [0,1] 0.988933396700387 Centerline is valid? [True, True] Translation: X:86.11, Y:-3.39, Z:0.92 [[ 9.99814012e-01 -1.76830566e-03 -1.92045213e-02 8.61066409e+01] [ 1.78448207e-03 9.99998067e-01 8.25218692e-04 -3.39368111e+00] [ 1.92030249e-02 -8.59335336e-04 9.99815236e-01 9.18813622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.930714057 meters Centerline goodness [0,1] 0.9889372506347479 Centerline is valid? [True, True] Translation: X:86.14, Y:-3.40, Z:0.92 [[ 9.99807323e-01 -4.10648217e-03 -1.91951300e-02 8.61351438e+01] [ 4.12305782e-03 9.99991161e-01 8.24038593e-04 -3.39978399e+00] [ 1.91915764e-02 -9.03022451e-04 9.99815417e-01 9.18871274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.960714057 meters Centerline goodness [0,1] 0.9889122236524174 Centerline is valid? [True, True] Translation: X:86.16, Y:-3.41, Z:0.92 [[ 9.99764358e-01 -8.45635761e-03 -1.99929805e-02 8.61642431e+01] [ 8.47518972e-03 9.99963717e-01 8.57391974e-04 -3.40958811e+00] [ 1.99850046e-02 -1.02663424e-03 9.99799753e-01 9.18001249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.990714057 meters Centerline goodness [0,1] 0.989886676599395 Centerline is valid? [True, True] Translation: X:86.19, Y:-3.41, Z:0.92 [[ 9.99741581e-01 -1.04194074e-02 -2.02041621e-02 8.61935818e+01] [ 1.04390221e-02 9.99945137e-01 8.65594576e-04 -3.40795455e+00] [ 2.01940346e-02 -1.07628258e-03 9.99795500e-01 9.19077782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.020714057 meters Centerline goodness [0,1] 0.9890055422881089 Centerline is valid? [True, True] Translation: X:86.22, Y:-3.42, Z:0.92 [[ 9.99705663e-01 -1.40043238e-02 -1.98107841e-02 8.62233487e+01] [ 1.40238676e-02 9.99901301e-01 8.47936530e-04 -3.41569581e+00] [ 1.97969541e-02 -1.12551076e-03 9.99803388e-01 9.19729197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05071405700001 meters Centerline goodness [0,1] 0.9892899821875494 Centerline is valid? [True, True] Translation: X:86.25, Y:-3.42, Z:0.92 [[ 9.99684359e-01 -1.57341388e-02 -1.95861987e-02 8.62522695e+01] [ 1.57535556e-02 9.99875554e-01 8.37446010e-04 -3.41785673e+00] [ 1.95705848e-02 -1.14573395e-03 9.99807821e-01 9.20752374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08071405700001 meters Centerline goodness [0,1] 0.9896710022953328 Centerline is valid? [True, True] Translation: X:86.28, Y:-3.42, Z:0.92 [[ 9.99669683e-01 -1.72097045e-02 -1.90879551e-02 8.62797108e+01] [ 1.72283840e-02 9.99851249e-01 8.14578434e-04 -3.42297739e+00] [ 1.90710971e-02 -1.14316399e-03 9.99817477e-01 9.21019426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11071405700001 meters Centerline goodness [0,1] 0.9892054107318821 Centerline is valid? [True, True] Translation: X:86.31, Y:-3.43, Z:0.92 [[ 9.99620242e-01 -1.99141592e-02 -1.90472822e-02 8.63087664e+01] [ 1.99332254e-02 9.99800984e-01 8.11646496e-04 -3.43291807e+00] [ 1.90273282e-02 -1.19101204e-03 9.99818255e-01 9.20953737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.140714057 meters Centerline goodness [0,1] 0.989330398256924 Centerline is valid? [True, True] Translation: X:86.34, Y:-3.44, Z:0.92 [[ 9.99563084e-01 -2.28431850e-02 -1.87571332e-02 8.63388366e+01] [ 2.28621819e-02 9.99738307e-01 7.98949973e-04 -3.43677326e+00] [ 1.87339740e-02 -1.22742989e-03 9.99823750e-01 9.21984575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.170714057 meters Centerline goodness [0,1] 0.9899227410144441 Centerline is valid? [True, True] Translation: X:86.37, Y:-3.44, Z:0.92 [[ 9.99539105e-01 -2.39344159e-02 -1.86740950e-02 8.63693596e+01] [ 2.39534307e-02 9.99712759e-01 7.95203200e-04 -3.44085005e+00] [ 1.86496983e-02 -1.24214533e-03 9.99825308e-01 9.22269431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.200714057 meters Centerline goodness [0,1] 0.9894430776112726 Centerline is valid? [True, True] Translation: X:86.40, Y:-3.45, Z:0.92 [[ 9.99459503e-01 -2.64896391e-02 -1.94679362e-02 8.63987339e+01] [ 2.65107851e-02 9.99648184e-01 8.28871280e-04 -3.44804806e+00] [ 1.94391306e-02 -1.34453355e-03 9.99810138e-01 9.21708907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.230714057 meters Centerline goodness [0,1] 0.9885342077672935 Centerline is valid? [True, True] Translation: X:86.43, Y:-3.45, Z:0.92 [[ 9.99419549e-01 -2.75472739e-02 -2.00427975e-02 8.64289563e+01] [ 2.75698947e-02 9.99619514e-01 8.53131797e-04 -3.45180665e+00] [ 2.00116701e-02 -1.40521441e-03 9.99798759e-01 9.21589980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.260714057 meters Centerline goodness [0,1] 0.9881385842249871 Centerline is valid? [True, True] Translation: X:86.46, Y:-3.46, Z:0.92 [[ 9.99393946e-01 -2.84793952e-02 -2.00166352e-02 8.64585900e+01] [ 2.85021429e-02 9.99593368e-01 8.52018185e-04 -3.45548352e+00] [ 1.99842309e-02 -1.42201881e-03 9.99799284e-01 9.21791422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.290714057 meters Centerline goodness [0,1] 0.9885326729580796 Centerline is valid? [True, True] Translation: X:86.49, Y:-3.46, Z:0.92 [[ 9.99345177e-01 -2.99786718e-02 -2.02607271e-02 8.64887366e+01] [ 3.00022873e-02 9.99549458e-01 8.62554315e-04 -3.46073637e+00] [ 2.02257405e-02 -1.46985765e-03 9.99794358e-01 9.21941981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.320714057 meters Centerline goodness [0,1] 0.9888663290122492 Centerline is valid? [True, True] Translation: X:86.52, Y:-3.46, Z:0.92 [[ 9.99323642e-01 -3.08080395e-02 -2.00779055e-02 8.65195305e+01] [ 3.08314040e-02 9.99524233e-01 8.55114906e-04 -3.46311048e+00] [ 2.00420087e-02 -1.47356656e-03 9.99798053e-01 9.22329689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.350714057 meters Centerline goodness [0,1] 0.9876947769678326 Centerline is valid? [True, True] Translation: X:86.55, Y:-3.47, Z:0.92 [[ 9.99271919e-01 -3.20005361e-02 -2.07749352e-02 8.65500153e+01] [ 3.20258197e-02 9.99486650e-01 8.85375416e-04 -3.46737262e+00] [ 2.07359378e-02 -1.55006512e-03 9.99783786e-01 9.22331014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.380714057 meters Centerline goodness [0,1] 0.9898143804864974 Centerline is valid? [True, True] Translation: X:86.58, Y:-3.46, Z:0.92 [[ 9.99244753e-01 -3.24927801e-02 -2.13106193e-02 8.65814102e+01] [ 3.25195137e-02 9.99470687e-01 9.09040852e-04 -3.46007503e+00] [ 2.12698020e-02 -1.60136528e-03 9.99772490e-01 9.23840620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.410714057 meters Centerline goodness [0,1] 0.9882405345211581 Centerline is valid? [True, True] Translation: X:86.61, Y:-3.47, Z:0.92 [[ 9.99213534e-01 -3.31969941e-02 -2.16857736e-02 8.66106844e+01] [ 3.32248518e-02 9.99447474e-01 9.25478741e-04 -3.47413549e+00] [ 2.16430685e-02 -1.64525750e-03 9.99764408e-01 9.21803083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44071405700001 meters Centerline goodness [0,1] 0.9876402993051844 Centerline is valid? [True, True] Translation: X:86.64, Y:-3.48, Z:0.92 [[ 9.99203169e-01 -3.34577626e-02 -2.17624923e-02 8.66419711e+01] [ 3.34858866e-02 9.99438759e-01 9.29085236e-04 -3.47589588e+00] [ 2.17191932e-02 -1.65708126e-03 9.99762737e-01 9.22303842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47071405700001 meters Centerline goodness [0,1] 0.9876402993051844 Centerline is valid? [True, True] Translation: X:86.67, Y:-3.48, Z:0.92 [[ 9.99204282e-01 -3.34245175e-02 -2.17624614e-02 8.66728767e+01] [ 3.34526492e-02 9.99439871e-01 9.29808794e-04 -3.47724970e+00] [ 2.17191932e-02 -1.65708092e-03 9.99762737e-01 9.22668490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.500714057 meters Centerline goodness [0,1] 0.9870802186767823 Centerline is valid? [True, True] Translation: X:86.70, Y:-3.48, Z:0.92 [[ 9.99200723e-01 -3.34185000e-02 -2.19344368e-02 8.67036782e+01] [ 3.34470929e-02 9.99440049e-01 9.37888688e-04 -3.47915342e+00] [ 2.18908117e-02 -1.67078220e-03 9.99758971e-01 9.23236663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.530714057 meters Centerline goodness [0,1] 0.9888812292912895 Centerline is valid? [True, True] Translation: X:86.74, Y:-3.47, Z:0.93 [[ 9.99198480e-01 -3.36838947e-02 -2.16285177e-02 8.67354566e+01] [ 3.37117730e-02 9.99431168e-01 9.25544012e-04 -3.46936063e+00] [ 2.15850388e-02 -1.65393785e-03 9.99765648e-01 9.25216784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.560714057 meters Centerline goodness [0,1] 0.9882397572078907 Centerline is valid? [True, True] Translation: X:86.77, Y:-3.47, Z:0.93 [[ 9.99185861e-01 -3.38993288e-02 -2.18735165e-02 8.67655452e+01] [ 3.39279070e-02 9.99423844e-01 9.36631545e-04 -3.47333426e+00] [ 2.18291628e-02 -1.67799163e-03 9.99760307e-01 9.25444104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.590714057 meters Centerline goodness [0,1] 0.9890575204475051 Centerline is valid? [True, True] Translation: X:86.80, Y:-3.47, Z:0.93 [[ 9.99183807e-01 -3.39489091e-02 -2.18904346e-02 8.67967936e+01] [ 3.39775557e-02 9.99422156e-01 9.37922821e-04 -3.47222095e+00] [ 2.18459439e-02 -1.68094076e-03 9.99759936e-01 9.26524023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.620714057 meters Centerline goodness [0,1] 0.988043018414197 Centerline is valid? [True, True] Translation: X:86.83, Y:-3.47, Z:0.93 [[ 9.99178737e-01 -3.39486682e-02 -2.21210291e-02 8.68277412e+01] [ 3.39779390e-02 9.99422133e-01 9.48587376e-04 -3.47430200e+00] [ 2.20760428e-02 -1.69943531e-03 9.99754850e-01 9.26913372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.650714057 meters Centerline goodness [0,1] 0.9883484743644115 Centerline is valid? [True, True] Translation: X:86.86, Y:-3.48, Z:0.93 [[ 9.99201382e-01 -3.36167297e-02 -2.15989253e-02 8.68579247e+01] [ 3.36445797e-02 9.99433431e-01 9.27224308e-04 -3.47653749e+00] [ 2.15555177e-02 -1.65317057e-03 9.99766286e-01 9.27526546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.680714057 meters Centerline goodness [0,1] 0.9832797571211715 Centerline is valid? [True, True] Translation: X:86.89, Y:-3.49, Z:0.93 [[ 9.99229044e-01 -3.29774719e-02 -2.13026848e-02 8.68875481e+01] [ 3.30044479e-02 9.99454785e-01 9.15886438e-04 -3.48952674e+00] [ 2.12608667e-02 -1.61826368e-03 9.99772653e-01 9.26440194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.710714057 meters Centerline goodness [0,1] 0.9879744288971344 Centerline is valid? [True, True] Translation: X:86.92, Y:-3.48, Z:0.93 [[ 9.99262546e-01 -3.16936390e-02 -2.16766737e-02 8.69196138e+01] [ 3.17212955e-02 9.99496318e-01 9.33122254e-04 -3.47544409e+00] [ 2.16361815e-02 -1.62004629e-03 9.99764598e-01 9.28516936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.740714057 meters Centerline goodness [0,1] 0.9887202027224004 Centerline is valid? [True, True] Translation: X:86.95, Y:-3.47, Z:0.93 [[ 9.99287336e-01 -3.07792350e-02 -2.18508355e-02 8.69507176e+01] [ 3.08071334e-02 9.99524904e-01 9.41214114e-04 -3.47261459e+00] [ 2.18114844e-02 -1.61370495e-03 9.99760799e-01 9.29258397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.770714057 meters Centerline goodness [0,1] 0.9877465831818488 Centerline is valid? [True, True] Translation: X:86.98, Y:-3.48, Z:0.93 [[ 9.99336011e-01 -2.93221874e-02 -2.16274582e-02 8.69804832e+01] [ 2.93491833e-02 9.99568786e-01 9.31799027e-04 -3.47940049e+00] [ 2.15908097e-02 -1.56592856e-03 9.99765665e-01 9.28148199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80071405700001 meters Centerline goodness [0,1] 0.9880207281782085 Centerline is valid? [True, True] Translation: X:87.01, Y:-3.48, Z:0.93 [[ 9.99347982e-01 -2.86278071e-02 -2.20013394e-02 8.70102308e+01] [ 2.86555735e-02 9.99588895e-01 9.47735947e-04 -3.48124202e+00] [ 2.19651629e-02 -1.57757900e-03 9.99757492e-01 9.28333312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83071405700001 meters Centerline goodness [0,1] 0.9886307795398704 Centerline is valid? [True, True] Translation: X:87.04, Y:-3.48, Z:0.93 [[ 9.99378374e-01 -2.77788717e-02 -2.17071552e-02 8.70408213e+01] [ 2.78056969e-02 9.99612910e-01 9.34868710e-04 -3.47538331e+00] [ 2.16727829e-02 -1.53787015e-03 9.99763935e-01 9.29195807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86071405700001 meters Centerline goodness [0,1] 0.9896969561224719 Centerline is valid? [True, True] Translation: X:87.07, Y:-3.48, Z:0.93 [[ 9.99397142e-01 -2.69606802e-02 -2.18740455e-02 8.70708809e+01] [ 2.69877283e-02 9.99635321e-01 9.42231611e-04 -3.47715579e+00] [ 2.18406653e-02 -1.53199438e-03 9.99760290e-01 9.28912466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.890714057 meters Centerline goodness [0,1] 0.9893263224124759 Centerline is valid? [True, True] Translation: X:87.10, Y:-3.48, Z:0.93 [[ 9.99395004e-01 -2.66549538e-02 -2.23414444e-02 8.71018379e+01] [ 2.66830992e-02 9.99643479e-01 9.62573987e-04 -3.47758241e+00] [ 2.23078218e-02 -1.55813061e-03 9.99749935e-01 9.29126590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.920714057 meters Centerline goodness [0,1] 0.9895840348396076 Centerline is valid? [True, True] Translation: X:87.13, Y:-3.48, Z:0.93 [[ 9.99408264e-01 -2.64239106e-02 -2.20204385e-02 8.71325083e+01] [ 2.64511970e-02 9.99649656e-01 9.48743551e-04 -3.47555263e+00] [ 2.19876542e-02 -1.53064910e-03 9.99757071e-01 9.29592887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.950714057 meters Centerline goodness [0,1] 0.9889150678783799 Centerline is valid? [True, True] Translation: X:87.16, Y:-3.48, Z:0.93 [[ 9.99427145e-01 -2.60088568e-02 -2.16546028e-02 8.71617707e+01] [ 2.60351490e-02 9.99660593e-01 9.33077378e-04 -3.48078202e+00] [ 2.16229848e-02 -1.49632367e-03 9.99765076e-01 9.29562334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.980714057 meters Centerline goodness [0,1] 0.9888480007180361 Centerline is valid? [True, True] Translation: X:87.19, Y:-3.48, Z:0.93 [[ 9.99460336e-01 -2.49902643e-02 -2.13195659e-02 8.71912869e+01] [ 2.50155173e-02 9.99686641e-01 9.18591311e-04 -3.48277438e+00] [ 2.12899293e-02 -1.45141555e-03 9.99772290e-01 9.30476254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.010714057 meters Centerline goodness [0,1] 0.9883415913727777 Centerline is valid? [True, True] Translation: X:87.22, Y:-3.48, Z:0.93 [[ 9.99482358e-01 -2.44432798e-02 -2.09175152e-02 8.72215911e+01] [ 2.44674624e-02 9.99700221e-01 9.00913401e-04 -3.47921054e+00] [ 2.08892233e-02 -1.41224557e-03 9.99780799e-01 9.31659041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.040714057 meters Centerline goodness [0,1] 0.9900669693019911 Centerline is valid? [True, True] Translation: X:87.25, Y:-3.48, Z:0.93 [[ 9.99473645e-01 -2.41484346e-02 -2.16630034e-02 8.72525889e+01] [ 2.41742986e-02 9.99707324e-01 9.32809811e-04 -3.47576821e+00] [ 2.16341372e-02 -1.45600673e-03 9.99764894e-01 9.32674727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.070714057 meters Centerline goodness [0,1] 0.9891389366884931 Centerline is valid? [True, True] Translation: X:87.28, Y:-3.49, Z:0.93 [[ 9.99491284e-01 -2.36668913e-02 -2.13787411e-02 8.72813367e+01] [ 2.36919640e-02 9.99718882e-01 9.20228979e-04 -3.48606589e+00] [ 2.13509522e-02 -1.42626521e-03 9.99771025e-01 9.31384452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.100714057 meters Centerline goodness [0,1] 0.989150414705223 Centerline is valid? [True, True] Translation: X:87.31, Y:-3.48, Z:0.93 [[ 9.99496836e-01 -2.33845263e-02 -2.14298703e-02 8.73109631e+01] [ 2.34096382e-02 9.99725532e-01 9.21672497e-04 -3.48027023e+00] [ 2.14024357e-02 -1.42287426e-03 9.99769929e-01 9.32708741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.130714057 meters Centerline goodness [0,1] 0.9895311381531854 Centerline is valid? [True, True] Translation: X:87.34, Y:-3.48, Z:0.93 [[ 9.99494581e-01 -2.32487694e-02 -2.16812843e-02 8.73402779e+01] [ 2.32744257e-02 9.99728680e-01 9.31718967e-04 -3.48066694e+00] [ 2.16537404e-02 -1.43586750e-03 9.99764499e-01 9.33251266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.160714057 meters Centerline goodness [0,1] 0.9889297239153818 Centerline is valid? [True, True] Translation: X:87.37, Y:-3.48, Z:0.93 [[ 9.99486100e-01 -2.31743105e-02 -2.21469507e-02 8.73703762e+01] [ 2.32010455e-02 9.99730367e-01 9.50945316e-04 -3.48196923e+00] [ 2.21189416e-02 -1.46428904e-03 9.99754274e-01 9.33523585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19071405700001 meters Centerline goodness [0,1] 0.9895901252332666 Centerline is valid? [True, True] Translation: X:87.40, Y:-3.48, Z:0.93 [[ 9.99488867e-01 -2.22567064e-02 -2.29487399e-02 8.74001184e+01] [ 2.22851529e-02 9.99751170e-01 9.84541546e-04 -3.47730055e+00] [ 2.29211169e-02 -1.49545449e-03 9.99736158e-01 9.34331028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22071405700001 meters Centerline goodness [0,1] 0.9896151085591244 Centerline is valid? [True, True] Translation: X:87.43, Y:-3.48, Z:0.93 [[ 9.99505771e-01 -2.14303734e-02 -2.29989542e-02 8.74281708e+01] [ 2.14586517e-02 9.99769253e-01 9.83427507e-04 -3.47963740e+00] [ 2.29725721e-02 -1.47646802e-03 9.99735005e-01 9.34120940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.250714057 meters Centerline goodness [0,1] 0.9896189875698073 Centerline is valid? [True, True] Translation: X:87.46, Y:-3.48, Z:0.93 [[ 9.99546079e-01 -1.99078353e-02 -2.26122681e-02 8.74567422e+01] [ 1.99346988e-02 9.99800820e-01 9.63192204e-04 -3.48061437e+00] [ 2.25885892e-02 -1.41352375e-03 9.99743846e-01 9.34265905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.280714057 meters Centerline goodness [0,1] 0.9892516639683396 Centerline is valid? [True, True] Translation: X:87.49, Y:-3.48, Z:0.94 [[ 9.99614571e-01 -1.74700839e-02 -2.15755936e-02 8.74871521e+01] [ 1.74939535e-02 9.99846548e-01 9.18060607e-04 -3.48037973e+00] [ 2.15562442e-02 -1.29514919e-03 9.99766798e-01 9.35414228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.310714057 meters Centerline goodness [0,1] 0.9899194001032756 Centerline is valid? [True, True] Translation: X:87.52, Y:-3.48, Z:0.94 [[ 9.99642724e-01 -1.63145415e-02 -2.11721508e-02 8.75150566e+01] [ 1.63372462e-02 9.99866133e-01 8.99853958e-04 -3.48299987e+00] [ 2.11546359e-02 -1.24542710e-03 9.99775440e-01 9.35861356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.340714057 meters Centerline goodness [0,1] 0.9889742207850535 Centerline is valid? [True, True] Translation: X:87.54, Y:-3.48, Z:0.94 [[ 9.99654600e-01 -1.54164646e-02 -2.12841249e-02 8.75437794e+01] [ 1.54391353e-02 9.99880403e-01 9.01220433e-04 -3.48154836e+00] [ 2.12676858e-02 -1.22951763e-03 9.99773061e-01 9.36876253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.370714057 meters Centerline goodness [0,1] 0.9894507665028168 Centerline is valid? [True, True] Translation: X:87.57, Y:-3.48, Z:0.94 [[ 9.99676406e-01 -1.45522118e-02 -2.08642600e-02 8.75722392e+01] [ 1.45737027e-02 9.99893412e-01 8.78345354e-04 -3.48102077e+00] [ 2.08492542e-02 -1.18213065e-03 9.99781932e-01 9.37753739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.400714057 meters Centerline goodness [0,1] 0.9899597942543968 Centerline is valid? [True, True] Translation: X:87.60, Y:-3.48, Z:0.94 [[ 9.99692926e-01 -1.30515209e-02 -2.10644772e-02 8.76013901e+01] [ 1.30729865e-02 9.99914156e-01 8.81657299e-04 -3.48034195e+00] [ 2.10511619e-02 -1.15676219e-03 9.99777731e-01 9.38111961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.430714057 meters Centerline goodness [0,1] 0.9895126050420168 Centerline is valid? [True, True] Translation: X:87.63, Y:-3.49, Z:0.94 [[ 9.99682011e-01 -1.26228715e-02 -2.18298157e-02 8.76285735e+01] [ 1.26457323e-02 9.99919626e-01 9.09495589e-04 -3.48601383e+00] [ 2.18165807e-02 -1.18526038e-03 9.99761287e-01 9.36416800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.460714057 meters Centerline goodness [0,1] 0.9896465548018565 Centerline is valid? [True, True] Translation: X:87.66, Y:-3.49, Z:0.94 [[ 9.99662113e-01 -1.30314895e-02 -2.24909013e-02 8.76569080e+01] [ 1.30557628e-02 9.99914335e-01 9.32744590e-04 -3.48524598e+00] [ 2.24768196e-02 -1.22606530e-03 9.99746613e-01 9.36613292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.490714057 meters Centerline goodness [0,1] 0.9901679087725599 Centerline is valid? [True, True] Translation: X:87.69, Y:-3.49, Z:0.94 [[ 9.99624890e-01 -1.38432063e-02 -2.36314302e-02 8.76858211e+01] [ 1.38700876e-02 9.99903331e-01 9.73984341e-04 -3.48646380e+00] [ 2.36156627e-02 -1.30138900e-03 9.99720264e-01 9.36496515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.520714057 meters Centerline goodness [0,1] 0.989973756813135 Centerline is valid? [True, True] Translation: X:87.71, Y:-3.49, Z:0.94 [[ 9.99567861e-01 -1.49735841e-02 -2.52959004e-02 8.77146759e+01] [ 1.50045816e-02 9.99886888e-01 1.03602281e-03 -3.48857728e+00] [ 2.52775262e-02 -1.41512950e-03 9.99679471e-01 9.36211415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55071405700001 meters Centerline goodness [0,1] 0.9896010757507844 Centerline is valid? [True, True] Translation: X:87.74, Y:-3.50, Z:0.94 [[ 9.99551122e-01 -1.58284248e-02 -2.54365019e-02 8.77416105e+01] [ 1.58599309e-02 9.99873685e-01 1.03733715e-03 -3.49695619e+00] [ 2.54168695e-02 -1.44029268e-03 9.99675902e-01 9.35402723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58071405700001 meters Centerline goodness [0,1] 0.9898661525009529 Centerline is valid? [True, True] Translation: X:87.77, Y:-3.49, Z:0.94 [[ 9.99557057e-01 -1.60908587e-02 -2.50354444e-02 8.77693537e+01] [ 1.61213356e-02 9.99869527e-01 1.01597843e-03 -3.49384946e+00] [ 2.50158300e-02 -1.41913321e-03 9.99686048e-01 9.37323614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61071405700001 meters Centerline goodness [0,1] 0.9894590472772944 Centerline is valid? [True, True] Translation: X:87.80, Y:-3.50, Z:0.94 [[ 9.99568557e-01 -1.59988978e-02 -2.46320033e-02 8.77964812e+01] [ 1.60282512e-02 9.99871045e-01 9.94695051e-04 -3.50410000e+00] [ 2.46129129e-02 -1.38907383e-03 9.99696091e-01 9.35984582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.640714057 meters Centerline goodness [0,1] 0.9902246536029774 Centerline is valid? [True, True] Translation: X:87.82, Y:-3.50, Z:0.94 [[ 9.99570881e-01 -1.61353977e-02 -2.44479554e-02 8.78242317e+01] [ 1.61642292e-02 9.99868868e-01 9.82129108e-04 -3.49554647e+00] [ 2.44289024e-02 -1.37689001e-03 9.99700622e-01 9.39517742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.670714057 meters Centerline goodness [0,1] 0.9893977091879048 Centerline is valid? [True, True] Translation: X:87.85, Y:-3.50, Z:0.94 [[ 9.99564355e-01 -1.61073508e-02 -2.47316448e-02 8.78525323e+01] [ 1.61366800e-02 9.99869308e-01 9.86769916e-04 -3.49522776e+00] [ 2.47125183e-02 -1.38542667e-03 9.99693639e-01 9.40403449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.700714057 meters Centerline goodness [0,1] 0.9894165717730592 Centerline is valid? [True, True] Translation: X:87.88, Y:-3.50, Z:0.94 [[ 9.99585216e-01 -1.59080602e-02 -2.40068478e-02 8.78804869e+01] [ 1.59355409e-02 9.99872566e-01 9.53814001e-04 -3.50000349e+00] [ 2.39886152e-02 -1.33598048e-03 9.99711339e-01 9.40555622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.730714057 meters Centerline goodness [0,1] 0.9891139804096171 Centerline is valid? [True, True] Translation: X:87.91, Y:-3.50, Z:0.94 [[ 9.99580114e-01 -1.64339191e-02 -2.38646639e-02 8.79092493e+01] [ 1.64611270e-02 9.99864061e-01 9.44078075e-04 -3.50102044e+00] [ 2.38459049e-02 -1.33652093e-03 9.99714753e-01 9.41298937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.760714057 meters Centerline goodness [0,1] 0.9899924049501854 Centerline is valid? [True, True] Translation: X:87.94, Y:-3.50, Z:0.94 [[ 9.99563574e-01 -1.69972915e-02 -2.41610078e-02 8.79376171e+01] [ 1.70251954e-02 9.99854610e-01 9.49667004e-04 -3.50240037e+00] [ 2.41413532e-02 -1.36059842e-03 9.99707629e-01 9.41898098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.790714057 meters Centerline goodness [0,1] 0.9896082418933113 Centerline is valid? [True, True] Translation: X:87.97, Y:-3.51, Z:0.94 [[ 9.99548932e-01 -1.75126729e-02 -2.43975259e-02 8.79656895e+01] [ 1.75411774e-02 9.99845686e-01 9.54800859e-04 -3.50718394e+00] [ 2.43770399e-02 -1.38233151e-03 9.99701880e-01 9.41379992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.820714057 meters Centerline goodness [0,1] 0.9886048797926535 Centerline is valid? [True, True] Translation: X:87.99, Y:-3.51, Z:0.94 [[ 9.99519852e-01 -1.80549442e-02 -2.51810253e-02 8.79941280e+01] [ 1.80853701e-02 9.99835965e-01 9.81052549e-04 -3.50888431e+00] [ 2.51591818e-02 -1.43598966e-03 9.99682426e-01 9.41615547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.850714057 meters Centerline goodness [0,1] 0.9889928330616893 Centerline is valid? [True, True] Translation: X:88.02, Y:-3.51, Z:0.94 [[ 9.99487023e-01 -1.89426458e-02 -2.58237623e-02 8.80224142e+01] [ 1.89748316e-02 9.99819460e-01 1.00187008e-03 -3.51212098e+00] [ 2.58001220e-02 -1.49135768e-03 9.99666009e-01 9.41509091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.880714057 meters Centerline goodness [0,1] 0.9895579999553761 Centerline is valid? [True, True] Translation: X:88.05, Y:-3.51, Z:0.94 [[ 9.99475645e-01 -1.97418372e-02 -2.56650717e-02 8.80508159e+01] [ 1.97737748e-02 9.99803988e-01 9.91178930e-04 -3.51137730e+00] [ 2.56404734e-02 -1.49815455e-03 9.99670106e-01 9.42350310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.910714057 meters Centerline goodness [0,1] 0.9895547371945096 Centerline is valid? [True, True] Translation: X:88.08, Y:-3.52, Z:0.94 [[ 9.99459841e-01 -2.02990432e-02 -2.58452317e-02 8.80782178e+01] [ 2.03315067e-02 9.99792800e-01 9.93883630e-04 -3.51705082e+00] [ 2.58197017e-02 -1.51881927e-03 9.99665462e-01 9.41488304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94071405700001 meters Centerline goodness [0,1] 0.9894573299300855 Centerline is valid? [True, True] Translation: X:88.11, Y:-3.52, Z:0.94 [[ 9.99456924e-01 -2.02943911e-02 -2.59614243e-02 8.81068849e+01] [ 2.03270269e-02 9.99792891e-01 9.93774613e-04 -3.51764162e+00] [ 2.59358794e-02 -1.52095349e-03 9.99662451e-01 9.41867378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97071405700001 meters Centerline goodness [0,1] 0.989672324953715 Centerline is valid? [True, True] Translation: X:88.14, Y:-3.52, Z:0.94 [[ 9.99459149e-01 -2.01646415e-02 -2.59768404e-02 8.81359205e+01] [ 2.01971047e-02 9.99795530e-01 9.87904564e-04 -3.51903661e+00] [ 2.59516082e-02 -1.51202722e-03 9.99662057e-01 9.42418950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.000714057 meters Centerline goodness [0,1] 0.9896151360506318 Centerline is valid? [True, True] Translation: X:88.16, Y:-3.52, Z:0.94 [[ 9.99515964e-01 -1.85368713e-02 -2.49844407e-02 8.81648499e+01] [ 1.85662999e-02 9.99827183e-01 9.46401791e-04 -3.51951586e+00] [ 2.49625796e-02 -1.40981232e-03 9.99687392e-01 9.44266436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.030714057 meters Centerline goodness [0,1] 0.9902070134737218 Centerline is valid? [True, True] Translation: X:88.19, Y:-3.52, Z:0.95 [[ 9.99540728e-01 -1.76828905e-02 -2.46099358e-02 8.81940143e+01] [ 1.77110833e-02 9.99842716e-01 9.28072805e-04 -3.51621580e+00] [ 2.45896540e-02 -1.36351519e-03 9.99696699e-01 9.46315366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.060714057 meters Centerline goodness [0,1] 0.9902994704756819 Centerline is valid? [True, True] Translation: X:88.22, Y:-3.52, Z:0.95 [[ 9.99605992e-01 -1.56207176e-02 -2.33206648e-02 8.82231176e+01] [ 1.56453964e-02 9.99877219e-01 8.76145255e-04 -3.52102248e+00] [ 2.33041154e-02 -1.24066109e-03 9.99727652e-01 9.46735718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.090714057 meters Centerline goodness [0,1] 0.9898584642817341 Centerline is valid? [True, True] Translation: X:88.25, Y:-3.52, Z:0.95 [[ 9.99653728e-01 -1.31936187e-02 -2.27673493e-02 8.82527240e+01] [ 1.32164937e-02 9.99912293e-01 8.54541686e-04 -3.52105690e+00] [ 2.27540780e-02 -1.15515031e-03 9.99740425e-01 9.47859149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.120714057 meters Centerline goodness [0,1] 0.9904719501335708 Centerline is valid? [True, True] Translation: X:88.28, Y:-3.52, Z:0.95 [[ 9.99652321e-01 -1.32095937e-02 -2.28197946e-02 8.82795411e+01] [ 1.32325372e-02 9.99912081e-01 8.54703478e-04 -3.52300033e+00] [ 2.28064980e-02 -1.15637010e-03 9.99739229e-01 9.48266206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.150714057 meters Centerline goodness [0,1] 0.9903914590747331 Centerline is valid? [True, True] Translation: X:88.31, Y:-3.52, Z:0.95 [[ 9.99664876e-01 -1.28999188e-02 -2.24438736e-02 8.83085839e+01] [ 1.29219417e-02 9.99916158e-01 8.36484308e-04 -3.52387743e+00] [ 2.24312013e-02 -1.12622241e-03 9.99747755e-01 9.48540259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.180714057 meters Centerline goodness [0,1] 0.9902942878767642 Centerline is valid? [True, True] Translation: X:88.34, Y:-3.53, Z:0.95 [[ 9.99653762e-01 -1.32795025e-02 -2.27158609e-02 8.83375723e+01] [ 1.33020291e-02 9.99911171e-01 8.40845362e-04 -3.52532703e+00] [ 2.27026771e-02 -1.14272127e-03 9.99741608e-01 9.48224389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.210714057 meters Centerline goodness [0,1] 0.9909547515334697 Centerline is valid? [True, True] Translation: X:88.37, Y:-3.53, Z:0.95 [[ 9.99625704e-01 -1.39752177e-02 -2.35190198e-02 8.83652987e+01] [ 1.39994606e-02 9.99901627e-01 8.66434512e-04 -3.52975413e+00] [ 2.35045975e-02 -1.19536380e-03 9.99723014e-01 9.47128322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.240714057 meters Centerline goodness [0,1] 0.9910401419383456 Centerline is valid? [True, True] Translation: X:88.39, Y:-3.53, Z:0.95 [[ 9.99581418e-01 -1.58482656e-02 -2.42037301e-02 8.83944785e+01] [ 1.58744460e-02 9.99873597e-01 8.89901502e-04 -3.53338498e+00] [ 2.41865673e-02 -1.27374981e-03 9.99706651e-01 9.46125444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.270714057 meters Centerline goodness [0,1] 0.9910135794798971 Centerline is valid? [True, True] Translation: X:88.42, Y:-3.54, Z:0.95 [[ 9.99561933e-01 -1.69812832e-02 -2.42400242e-02 8.84220770e+01] [ 1.70078178e-02 9.99854961e-01 8.88901565e-04 -3.53825164e+00] [ 2.42214138e-02 -1.30078208e-03 9.99705772e-01 9.45259519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30071405700001 meters Centerline goodness [0,1] 0.9908550119861493 Centerline is valid? [True, True] Translation: X:88.45, Y:-3.54, Z:0.95 [[ 9.99529089e-01 -1.87848927e-02 -2.42637118e-02 8.84518673e+01] [ 1.88119593e-02 9.99822645e-01 8.87723069e-04 -3.54287651e+00] [ 2.42427327e-02 -1.34375299e-03 9.99705199e-01 9.46120179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33071405700001 meters Centerline goodness [0,1] 0.9902906164793509 Centerline is valid? [True, True] Translation: X:88.48, Y:-3.55, Z:0.95 [[ 9.99531429e-01 -1.93128957e-02 -2.37473249e-02 8.84801380e+01] [ 1.93388810e-02 9.99812612e-01 8.65051306e-04 -3.54538504e+00] [ 2.37261683e-02 -1.32389266e-03 9.99717618e-01 9.46288260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36071405700001 meters Centerline goodness [0,1] 0.9902906164793509 Centerline is valid? [True, True] Translation: X:88.51, Y:-3.55, Z:0.95 [[ 9.99525943e-01 -1.95944387e-02 -2.37475670e-02 8.85075567e+01] [ 1.96203449e-02 9.99807134e-01 8.58365726e-04 -3.54629953e+00] [ 2.37261677e-02 -1.32389427e-03 9.99717618e-01 9.46612838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.390714057 meters Centerline goodness [0,1] 0.990705497034611 Centerline is valid? [True, True] Translation: X:88.54, Y:-3.55, Z:0.95 [[ 9.99552043e-01 -1.90900519e-02 -2.30495676e-02 8.85355863e+01] [ 1.91142149e-02 9.99816963e-01 8.28427071e-04 -3.54885582e+00] [ 2.30295340e-02 -1.26863036e-03 9.99733980e-01 9.48036905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.420714057 meters Centerline goodness [0,1] 0.9906376574223678 Centerline is valid? [True, True] Translation: X:88.56, Y:-3.55, Z:0.95 [[ 9.99562376e-01 -1.88031386e-02 -2.28363456e-02 8.85646047e+01] [ 1.88266855e-02 9.99822429e-01 8.16538463e-04 -3.54988223e+00] [ 2.28169371e-02 -1.24611382e-03 9.99738883e-01 9.48662404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.450714057 meters Centerline goodness [0,1] 0.9906191785682604 Centerline is valid? [True, True] Translation: X:88.59, Y:-3.55, Z:0.95 [[ 9.99580571e-01 -1.83397863e-02 -2.24128288e-02 8.85931885e+01] [ 1.83622310e-02 9.99831083e-01 7.96018955e-04 -3.55159327e+00] [ 2.23944441e-02 -1.20723462e-03 9.99748484e-01 9.49054292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.480714057 meters Centerline goodness [0,1] 0.9907233156950871 Centerline is valid? [True, True] Translation: X:88.62, Y:-3.55, Z:0.95 [[ 9.99664936e-01 -1.60503184e-02 -2.03077327e-02 8.86218571e+01] [ 1.60682118e-02 9.99870640e-01 7.18240097e-04 -3.55397802e+00] [ 2.02935777e-02 -1.04430839e-03 9.99793519e-01 9.50100726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.510714057 meters Centerline goodness [0,1] 0.9904001773639286 Centerline is valid? [True, True] Translation: X:88.65, Y:-3.56, Z:0.95 [[ 9.99695507e-01 -1.53261960e-02 -1.93391036e-02 8.86510159e+01] [ 1.53422445e-02 9.99882068e-01 6.81746442e-04 -3.55538589e+00] [ 1.93263744e-02 -9.78244112e-04 9.99812750e-01 9.50790547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.540714057 meters Centerline goodness [0,1] 0.9900086399787323 Centerline is valid? [True, True] Translation: X:88.68, Y:-3.56, Z:0.95 [[ 9.99716900e-01 -1.43726615e-02 -1.89617006e-02 8.86802007e+01] [ 1.43878408e-02 9.99896269e-01 6.64336405e-04 -3.55627480e+00] [ 1.89501854e-02 -9.36966261e-04 9.99819990e-01 9.51739396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.570714057 meters Centerline goodness [0,1] 0.9900657123260393 Centerline is valid? [True, True] Translation: X:88.71, Y:-3.56, Z:0.95 [[ 9.99755929e-01 -1.25973861e-02 -1.81490431e-02 8.87082772e+01] [ 1.26109476e-02 9.99920278e-01 6.32976249e-04 -3.55796126e+00] [ 1.81396224e-02 -8.61698391e-04 9.99835092e-01 9.52079242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.600714057 meters Centerline goodness [0,1] 0.9896077996897851 Centerline is valid? [True, True] Translation: X:88.74, Y:-3.56, Z:0.95 [[ 9.99758967e-01 -1.24595739e-02 -1.80767224e-02 8.87367204e+01] [ 1.24729648e-02 9.99922012e-01 6.28219598e-04 -3.55991285e+00] [ 1.80674853e-02 -8.53538498e-04 9.99836405e-01 9.52087112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.630714057 meters Centerline goodness [0,1] 0.9896068785179276 Centerline is valid? [True, True] Translation: X:88.76, Y:-3.56, Z:0.95 [[ 9.99745471e-01 -1.23901482e-02 -1.88540924e-02 8.87638043e+01] [ 1.24046258e-02 9.99922848e-01 6.51113128e-04 -3.56221582e+00] [ 1.88445704e-02 -8.84825361e-04 9.99822034e-01 9.51510732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.660714057 meters Centerline goodness [0,1] 0.9899491937265297 Centerline is valid? [True, True] Translation: X:88.79, Y:-3.57, Z:0.95 [[ 9.99712698e-01 -1.34901501e-02 -1.98125768e-02 8.87923820e+01] [ 1.35062722e-02 9.99908555e-01 6.80136086e-04 -3.56639225e+00] [ 1.98015899e-02 -9.47534735e-04 9.99803480e-01 9.49793314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69071405700001 meters Centerline goodness [0,1] 0.9892242806986552 Centerline is valid? [True, True] Translation: X:88.82, Y:-3.57, Z:0.95 [[ 9.99667926e-01 -1.46454315e-02 -2.12025678e-02 8.88203409e+01] [ 1.46640780e-02 9.99892214e-01 7.24225277e-04 -3.57163052e+00] [ 2.11896759e-02 -1.03490089e-03 9.99774938e-01 9.48725124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72071405700001 meters Centerline goodness [0,1] 0.9899902989681629 Centerline is valid? [True, True] Translation: X:88.85, Y:-3.57, Z:0.95 [[ 9.99660116e-01 -1.49477083e-02 -2.13592946e-02 8.88478234e+01] [ 1.49666277e-02 9.99887730e-01 7.26177979e-04 -3.57445888e+00] [ 2.13460419e-02 -1.04560777e-03 9.99771601e-01 9.48786021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.750714057 meters Centerline goodness [0,1] 0.9902454096045198 Centerline is valid? [True, True] Translation: X:88.88, Y:-3.58, Z:0.95 [[ 9.99655733e-01 -1.54655618e-02 -2.11950767e-02 8.88769680e+01] [ 1.54841998e-02 9.99879857e-01 7.15515925e-04 -3.57669417e+00] [ 2.11814644e-02 -1.04345840e-03 9.99775103e-01 9.48853984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.780714057 meters Centerline goodness [0,1] 0.9902934088044753 Centerline is valid? [True, True] Translation: X:88.91, Y:-3.58, Z:0.95 [[ 9.99672158e-01 -1.43511761e-02 -2.12042415e-02 8.89050046e+01] [ 1.43694805e-02 9.99896501e-01 7.11122578e-04 -3.57893616e+00] [ 2.11918414e-02 -1.01558338e-03 9.99774912e-01 9.49509521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.810714057 meters Centerline goodness [0,1] 0.9897238420068214 Centerline is valid? [True, True] Translation: X:88.93, Y:-3.58, Z:0.95 [[ 9.99690383e-01 -1.32087436e-02 -2.10871528e-02 8.89338720e+01] [ 1.32264956e-02 9.99912279e-01 7.02585362e-04 -3.57930029e+00] [ 2.10760228e-02 -9.81276964e-04 9.99777394e-01 9.50220585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.840714057 meters Centerline goodness [0,1] 0.9906348927189589 Centerline is valid? [True, True] Translation: X:88.96, Y:-3.57, Z:0.95 [[ 9.99734188e-01 -8.91709160e-03 -2.12612053e-02 8.89642792e+01] [ 8.93411116e-03 9.99959841e-01 7.05645289e-04 -3.57315430e+00] [ 2.12540591e-02 -8.95407692e-04 9.99773706e-01 9.52334857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.870714057 meters Centerline goodness [0,1] 0.9909363560181714 Centerline is valid? [True, True] Translation: X:88.99, Y:-3.57, Z:0.95 [[ 9.99749925e-01 -6.31037167e-03 -2.14538071e-02 8.89933894e+01] [ 6.32708315e-03 9.99979731e-01 7.11162595e-04 -3.56760391e+00] [ 2.14488845e-02 -8.46724773e-04 9.99769588e-01 9.54172566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.900714057 meters Centerline goodness [0,1] 0.9918025561921552 Centerline is valid? [True, True] Translation: X:89.02, Y:-3.57, Z:0.96 [[ 9.99774876e-01 -3.52548778e-03 -2.09229342e-02 8.90226706e+01] [ 3.54073446e-03 9.99993492e-01 6.91706066e-04 -3.56693496e+00] [ 2.09203595e-02 -7.65632901e-04 9.99780852e-01 9.55276044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.930714057 meters Centerline goodness [0,1] 0.9923158452570218 Centerline is valid? [True, True] Translation: X:89.05, Y:-3.57, Z:0.96 [[ 9.99802218e-01 1.63813509e-03 -1.98202108e-02 8.90530201e+01] [-1.62549519e-03 9.99998465e-01 6.53821450e-04 -3.56541092e+00] [ 1.98212514e-02 -6.21474478e-04 9.99803347e-01 9.57735356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.960714057 meters Centerline goodness [0,1] 0.9927445142794133 Centerline is valid? [True, True] Translation: X:89.08, Y:-3.56, Z:0.96 [[ 9.99814418e-01 5.72960860e-03 -1.83929790e-02 8.90825171e+01] [-5.71942358e-03 9.99983460e-01 6.06300732e-04 -3.56478696e+00] [ 1.83961487e-02 -5.00990975e-04 9.99830651e-01 9.59838464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.990714057 meters Centerline goodness [0,1] 0.9923637243898682 Centerline is valid? [True, True] Translation: X:89.11, Y:-3.57, Z:0.96 [[ 9.99804196e-01 7.08838937e-03 -1.84749607e-02 8.91098384e+01] [-7.07836444e-03 9.99974763e-01 6.07958394e-04 -3.56761272e+00] [ 1.84788039e-02 -4.77066848e-04 9.99829139e-01 9.60108117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.020714057 meters Centerline goodness [0,1] 0.9925290902679831 Centerline is valid? [True, True] Translation: X:89.14, Y:-3.57, Z:0.96 [[ 9.99789376e-01 8.38254465e-03 -1.87332814e-02 8.91384863e+01] [-8.37249394e-03 9.99964761e-01 6.14882541e-04 -3.56938488e+00] [ 1.87377755e-02 -4.57908748e-04 9.99824328e-01 9.60258151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05071405700001 meters Centerline goodness [0,1] 0.9924840038566044 Centerline is valid? [True, True] Translation: X:89.17, Y:-3.57, Z:0.96 [[ 9.99777458e-01 8.69879992e-03 -1.92188853e-02 8.91666392e+01] [-8.68830593e-03 9.99962058e-01 6.29456037e-04 -3.57454647e+00] [ 1.92236316e-02 -4.62336402e-04 9.99815102e-01 9.59981972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08071405700001 meters Centerline goodness [0,1] 0.9926477062604561 Centerline is valid? [True, True] Translation: X:89.20, Y:-3.58, Z:0.96 [[ 9.99782958e-01 7.60828497e-03 -1.93946228e-02 8.91956377e+01] [-7.59741933e-03 9.99970938e-01 6.33861064e-04 -3.57853688e+00] [ 1.93988817e-02 -4.86374407e-04 9.99811706e-01 9.59871799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11071405700001 meters Centerline goodness [0,1] 0.9924004480660678 Centerline is valid? [True, True] Translation: X:89.23, Y:-3.58, Z:0.96 [[ 9.99787679e-01 3.94609025e-03 -2.02243892e-02 8.92253593e+01] [-3.93354936e-03 9.99992046e-01 6.59830932e-04 -3.58353199e+00] [ 2.02268321e-02 -5.80137203e-04 9.99795248e-01 9.60386807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.140714057 meters Centerline goodness [0,1] 0.9919328320582239 Centerline is valid? [True, True] Translation: X:89.26, Y:-3.59, Z:0.96 [[ 9.99771959e-01 1.32968422e-03 -2.13134001e-02 8.92552432e+01] [-1.31517903e-03 9.99998894e-01 6.94569387e-04 -3.58765943e+00] [ 2.13143001e-02 -6.66380060e-04 9.99772602e-01 9.60147277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.170714057 meters Centerline goodness [0,1] 0.9908965577609034 Centerline is valid? [True, True] Translation: X:89.28, Y:-3.60, Z:0.96 [[ 9.99739516e-01 -4.36995309e-03 -2.24009591e-02 8.92840786e+01] [ 4.38738711e-03 9.99990110e-01 7.29182973e-04 -3.59674923e+00] [ 2.23975510e-02 -8.27274712e-04 9.99748801e-01 9.59234620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.200714057 meters Centerline goodness [0,1] 0.9904462079972016 Centerline is valid? [True, True] Translation: X:89.31, Y:-3.60, Z:0.96 [[ 9.99724238e-01 -7.68531354e-03 -2.21897238e-02 8.93129113e+01] [ 7.70321392e-03 9.99970070e-01 7.21331544e-04 -3.60172773e+00] [ 2.21835160e-02 -8.92064817e-04 9.99753518e-01 9.59310517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.230714057 meters Centerline goodness [0,1] 0.9913761107351047 Centerline is valid? [True, True] Translation: X:89.34, Y:-3.61, Z:0.96 [[ 9.99707005e-01 -1.05259737e-02 -2.17969567e-02 8.93426996e+01] [ 1.05438984e-02 9.99944161e-01 7.07579954e-04 -3.60531542e+00] [ 2.17882916e-02 -9.37197533e-04 9.99762168e-01 9.59966812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.260714057 meters Centerline goodness [0,1] 0.9897079942556247 Centerline is valid? [True, True] Translation: X:89.37, Y:-3.62, Z:0.96 [[ 9.99642819e-01 -1.60106428e-02 -2.13984606e-02 8.93718010e+01] [ 1.60291553e-02 9.99871284e-01 6.93882158e-04 -3.61606443e+00] [ 2.13845968e-02 -1.03663356e-03 9.99770786e-01 9.60092014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.290714057 meters Centerline goodness [0,1] 0.9895131576078662 Centerline is valid? [True, True] Translation: X:89.40, Y:-3.62, Z:0.96 [[ 9.99594596e-01 -1.88600805e-02 -2.13293630e-02 8.94010158e+01] [ 1.88791006e-02 9.99821535e-01 6.90704903e-04 -3.61771991e+00] [ 2.13125297e-02 -1.09310408e-03 9.99772265e-01 9.60801115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.320714057 meters Centerline goodness [0,1] 0.9884964989344583 Centerline is valid? [True, True] Translation: X:89.43, Y:-3.63, Z:0.96 [[ 9.99498677e-01 -2.40351691e-02 -2.06083589e-02 8.94307979e+01] [ 2.40540078e-02 9.99710438e-01 6.66698133e-04 -3.62506544e+00] [ 2.05863673e-02 -1.16207753e-03 9.99787403e-01 9.61346875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.350714057 meters Centerline goodness [0,1] 0.9880499728408474 Centerline is valid? [True, True] Translation: X:89.46, Y:-3.63, Z:0.96 [[ 9.99440554e-01 -2.68007852e-02 -2.00074129e-02 8.94602571e+01] [ 2.68190863e-02 9.99640094e-01 6.46910736e-04 -3.62834614e+00] [ 1.99828744e-02 -1.18312936e-03 9.99799622e-01 9.62157794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.380714057 meters Centerline goodness [0,1] 0.98811515480717 Centerline is valid? [True, True] Translation: X:89.49, Y:-3.63, Z:0.96 [[ 9.99378280e-01 -2.91395324e-02 -1.98479694e-02 8.94897216e+01] [ 2.91579882e-02 9.99574610e-01 6.41042775e-04 -3.63214062e+00] [ 1.98208466e-02 -1.21937108e-03 9.99802804e-01 9.62792251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.410714057 meters Centerline goodness [0,1] 0.9875920815315413 Centerline is valid? [True, True] Translation: X:89.52, Y:-3.64, Z:0.96 [[ 9.99250837e-01 -3.35995782e-02 -1.92050345e-02 8.95190656e+01] [ 3.36176698e-02 9.99434574e-01 6.19862758e-04 -3.64180383e+00] [ 1.91733484e-02 -1.26502689e-03 9.99815374e-01 9.62777556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44071405700001 meters Centerline goodness [0,1] 0.9862059990890754 Centerline is valid? [True, True] Translation: X:89.55, Y:-3.65, Z:0.96 [[ 9.99154328e-01 -3.58908110e-02 -2.00618704e-02 8.95496295e+01] [ 3.59110157e-02 9.99354782e-01 6.47654749e-04 -3.64560592e+00] [ 2.00256812e-02 -1.36754919e-03 9.99798531e-01 9.61936518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47071405700001 meters Centerline goodness [0,1] 0.9874788420641465 Centerline is valid? [True, True] Translation: X:89.58, Y:-3.65, Z:0.96 [[ 9.98946339e-01 -4.06478982e-02 -2.13063419e-02 8.95794643e+01] [ 4.06717659e-02 9.99172325e-01 6.87905931e-04 -3.65075805e+00] [ 2.12607452e-02 -1.55374766e-03 9.99772757e-01 9.60188152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.500714057 meters Centerline goodness [0,1] 0.9867247054747055 Centerline is valid? [True, True] Translation: X:89.61, Y:-3.65, Z:0.96 [[ 9.98829659e-01 -4.31699149e-02 -2.18098892e-02 8.96102874e+01] [ 4.31955221e-02 9.99066390e-01 7.04159589e-04 -3.65408086e+00] [ 2.17591288e-02 -1.64542503e-03 9.99761888e-01 9.59631102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.530714057 meters Centerline goodness [0,1] 0.9860366591734394 Centerline is valid? [True, True] Translation: X:89.64, Y:-3.66, Z:0.96 [[ 9.98659158e-01 -4.69979528e-02 -2.17043611e-02 8.96395934e+01] [ 4.70242125e-02 9.98893504e-01 7.00812856e-04 -3.65999991e+00] [ 2.16474086e-02 -1.72050367e-03 9.99764187e-01 9.59674282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.560714057 meters Centerline goodness [0,1] 0.9857763558937334 Centerline is valid? [True, True] Translation: X:89.67, Y:-3.66, Z:0.96 [[ 9.98566324e-01 -4.89786624e-02 -2.15959798e-02 8.96710615e+01] [ 4.90051245e-02 9.98798284e-01 6.97493806e-04 -3.65729110e+00] [ 2.15358653e-02 -1.75480751e-03 9.99766536e-01 9.60121733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.590714057 meters Centerline goodness [0,1] 0.9859453840656603 Centerline is valid? [True, True] Translation: X:89.70, Y:-3.66, Z:0.96 [[ 9.98514527e-01 -5.00385031e-02 -2.15612324e-02 8.97016442e+01] [ 5.00651382e-02 9.98745711e-01 6.96967740e-04 -3.66042733e+00] [ 2.14993131e-02 -1.77539849e-03 9.99767287e-01 9.60254182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.620714057 meters Centerline goodness [0,1] 0.9848093574358195 Centerline is valid? [True, True] Translation: X:89.73, Y:-3.66, Z:0.96 [[ 9.98440622e-01 -5.15494923e-02 -2.14236859e-02 8.97312216e+01] [ 5.15761529e-02 9.98668824e-01 6.93408188e-04 -3.66451145e+00] [ 2.13594224e-02 -1.79727820e-03 9.99770246e-01 9.59816375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.650714057 meters Centerline goodness [0,1] 0.9847306811800786 Centerline is valid? [True, True] Translation: X:89.76, Y:-3.66, Z:0.96 [[ 9.98454382e-01 -5.15257964e-02 -2.08312342e-02 8.97622473e+01] [ 5.15510207e-02 9.98670134e-01 6.75355116e-04 -3.66494790e+00] [ 2.07687332e-02 -1.74818266e-03 9.99782778e-01 9.60154106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.680714057 meters Centerline goodness [0,1] 0.9844044856083118 Centerline is valid? [True, True] Translation: X:89.79, Y:-3.66, Z:0.96 [[ 9.98467340e-01 -5.13769002e-02 -2.05763421e-02 8.97938274e+01] [ 5.14014940e-02 9.98677846e-01 6.67804098e-04 -3.66451928e+00] [ 2.05148273e-02 -1.72443531e-03 9.99788062e-01 9.60615261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.710714057 meters Centerline goodness [0,1] 0.9844128329297821 Centerline is valid? [True, True] Translation: X:89.83, Y:-3.66, Z:0.96 [[ 9.98515060e-01 -5.06211545e-02 -2.01289113e-02 8.98255322e+01] [ 5.06445514e-02 9.98716527e-01 6.53972358e-04 -3.66433582e+00] [ 2.00699715e-02 -1.67242093e-03 9.99797179e-01 9.60884568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.740714057 meters Centerline goodness [0,1] 0.9836353771025502 Centerline is valid? [True, True] Translation: X:89.86, Y:-3.66, Z:0.96 [[ 9.98604495e-01 -4.89967075e-02 -1.97074981e-02 8.98562293e+01] [ 4.90188339e-02 9.98797649e-01 6.40953704e-04 -3.66320533e+00] [ 1.96523982e-02 -1.60609783e-03 9.99805583e-01 9.61754324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.770714057 meters Centerline goodness [0,1] 0.9844932659567547 Centerline is valid? [True, True] Translation: X:89.89, Y:-3.65, Z:0.96 [[ 9.98680693e-01 -4.72855920e-02 -2.00236491e-02 8.98881357e+01] [ 4.73081094e-02 9.98880132e-01 6.52086790e-04 -3.65485560e+00] [ 1.99703909e-02 -1.59850747e-03 9.99799294e-01 9.62302653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80071405700001 meters Centerline goodness [0,1] 0.9853222579803427 Centerline is valid? [True, True] Translation: X:89.92, Y:-3.65, Z:0.96 [[ 9.98725344e-01 -4.64212248e-02 -1.98180866e-02 8.99197859e+01] [ 4.64431309e-02 9.98920727e-01 6.46295597e-04 -3.65294521e+00] [ 1.97666956e-02 -1.56588578e-03 9.99803394e-01 9.62869746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83071405700001 meters Centerline goodness [0,1] 0.9863255692227165 Centerline is valid? [True, True] Translation: X:89.95, Y:-3.65, Z:0.96 [[ 9.98786132e-01 -4.52304169e-02 -1.95057043e-02 8.99514473e+01] [ 4.52514255e-02 9.98975427e-01 6.36801530e-04 -3.64675947e+00] [ 1.94569164e-02 -1.51868946e-03 9.99809543e-01 9.64048872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86071405700001 meters Centerline goodness [0,1] 0.9862477152058491 Centerline is valid? [True, True] Translation: X:89.98, Y:-3.65, Z:0.96 [[ 9.98858113e-01 -4.37691814e-02 -1.91501849e-02 8.99819702e+01] [ 4.37891845e-02 9.99040597e-01 6.26261939e-04 -3.64833599e+00] [ 1.91044012e-02 -1.46411780e-03 9.99816422e-01 9.64353654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.890714057 meters Centerline goodness [0,1] 0.9840780241979278 Centerline is valid? [True, True] Translation: X:90.01, Y:-3.66, Z:0.96 [[ 9.99003234e-01 -4.07755057e-02 -1.81630730e-02 9.00117865e+01] [ 4.07930250e-02 9.99167441e-01 5.94955003e-04 -3.65516694e+00] [ 1.81236916e-02 -1.33528866e-03 9.99834861e-01 9.63638426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.920714057 meters Centerline goodness [0,1] 0.9878150339688802 Centerline is valid? [True, True] Translation: X:90.04, Y:-3.64, Z:0.96 [[ 9.99137513e-01 -3.77055195e-02 -1.73932386e-02 9.00430411e+01] [ 3.77211238e-02 9.99288143e-01 5.69835914e-04 -3.64016739e+00] [ 1.73593712e-02 -1.22543694e-03 9.99848564e-01 9.64972542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.950714057 meters Centerline goodness [0,1] 0.9884700374122126 Centerline is valid? [True, True] Translation: X:90.07, Y:-3.63, Z:0.97 [[ 9.99200598e-01 -3.59372106e-02 -1.75123544e-02 9.00748598e+01] [ 3.59527688e-02 9.99353325e-01 5.74288631e-04 -3.63499552e+00] [ 1.74803913e-02 -1.20344717e-03 9.99846482e-01 9.65394147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.980714057 meters Centerline goodness [0,1] 0.9881528522938794 Centerline is valid? [True, True] Translation: X:90.10, Y:-3.63, Z:0.97 [[ 9.99320475e-01 -3.26059528e-02 -1.71883703e-02 9.01047458e+01] [ 3.26204618e-02 9.99467652e-01 5.64352710e-04 -3.63160230e+00] [ 1.71608188e-02 -1.12466179e-03 9.99852110e-01 9.65593922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.010714057 meters Centerline goodness [0,1] 0.9881435052269391 Centerline is valid? [True, True] Translation: X:90.13, Y:-3.63, Z:0.97 [[ 9.99374800e-01 -3.10818352e-02 -1.68502098e-02 9.01348707e+01] [ 3.10955646e-02 9.99516263e-01 5.53339360e-04 -3.63238426e+00] [ 1.68248600e-02 -1.07696020e-03 9.99857872e-01 9.65717407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.040714057 meters Centerline goodness [0,1] 0.9888391878261632 Centerline is valid? [True, True] Translation: X:90.17, Y:-3.63, Z:0.97 [[ 9.99425929e-01 -2.96136096e-02 -1.64574110e-02 9.01659989e+01] [ 2.96265141e-02 9.99560892e-01 5.40809395e-04 -3.62987884e+00] [ 1.64341691e-02 -1.02807465e-03 9.99864421e-01 9.66343185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.070714057 meters Centerline goodness [0,1] 0.9892172611843408 Centerline is valid? [True, True] Translation: X:90.20, Y:-3.62, Z:0.97 [[ 9.99488440e-01 -2.73891415e-02 -1.65134051e-02 9.01978620e+01] [ 2.74018433e-02 9.99624351e-01 5.43366306e-04 -3.62182379e+00] [ 1.64923195e-02 -9.95586080e-04 9.99863497e-01 9.67356135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.100714057 meters Centerline goodness [0,1] 0.9895474208919827 Centerline is valid? [True, True] Translation: X:90.23, Y:-3.62, Z:0.97 [[ 9.99492156e-01 -2.69922268e-02 -1.69366366e-02 9.02282905e+01] [ 2.70055458e-02 9.99635128e-01 5.58148093e-04 -3.62059724e+00] [ 1.69153912e-02 -1.01524776e-03 9.99856409e-01 9.66632761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.130714057 meters Centerline goodness [0,1] 0.9894417315560248 Centerline is valid? [True, True] Translation: X:90.26, Y:-3.62, Z:0.97 [[ 9.99432448e-01 -2.85099048e-02 -1.79434326e-02 9.02591686e+01] [ 2.85251043e-02 9.99592901e-01 5.91662951e-04 -3.62067038e+00] [ 1.79192596e-02 -1.10316544e-03 9.99838829e-01 9.65508328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.160714057 meters Centerline goodness [0,1] 0.9894417315560248 Centerline is valid? [True, True] Translation: X:90.29, Y:-3.62, Z:0.97 [[ 9.99433461e-01 -2.84743715e-02 -1.79434184e-02 9.02900540e+01] [ 2.84895731e-02 9.99593914e-01 5.92091171e-04 -3.62171941e+00] [ 1.79192724e-02 -1.10295606e-03 9.99838829e-01 9.65872659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19071405700001 meters Centerline goodness [0,1] 0.9896713822250668 Centerline is valid? [True, True] Translation: X:90.32, Y:-3.62, Z:0.97 [[ 9.99402369e-01 -2.94123279e-02 -1.81609529e-02 9.03213769e+01] [ 2.94280664e-02 9.99566721e-01 5.99921337e-04 -3.62230914e+00] [ 1.81354391e-02 -1.13400453e-03 9.99834896e-01 9.65939870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22071405700001 meters Centerline goodness [0,1] 0.9892938797045374 Centerline is valid? [True, True] Translation: X:90.35, Y:-3.62, Z:0.97 [[ 9.99319651e-01 -3.21257491e-02 -1.81155087e-02 9.03525967e+01] [ 3.21418646e-02 9.99483137e-01 5.99064861e-04 -3.62358364e+00] [ 1.80869001e-02 -1.18092352e-03 9.99835721e-01 9.65936193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.250714057 meters Centerline goodness [0,1] 0.9892938797045374 Centerline is valid? [True, True] Translation: X:90.38, Y:-3.62, Z:0.97 [[ 9.99320793e-01 -3.20902173e-02 -1.81154874e-02 9.03834893e+01] [ 3.21063386e-02 9.99484279e-01 5.99708694e-04 -3.62463647e+00] [ 1.80869001e-02 -1.18092334e-03 9.99835721e-01 9.66300546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.280714057 meters Centerline goodness [0,1] 0.9883030610668491 Centerline is valid? [True, True] Translation: X:90.41, Y:-3.63, Z:0.97 [[ 9.99279473e-01 -3.36210435e-02 -1.76113632e-02 9.04133310e+01] [ 3.36365325e-02 9.99433961e-01 5.83930765e-04 -3.62682202e+00] [ 1.75817621e-02 -1.17589522e-03 9.99844737e-01 9.66772466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.310714057 meters Centerline goodness [0,1] 0.9864823145452941 Centerline is valid? [True, True] Translation: X:90.44, Y:-3.63, Z:0.97 [[ 9.99198510e-01 -3.64173927e-02 -1.66165995e-02 9.04432395e+01] [ 3.64315818e-02 9.99335997e-01 5.51908133e-04 -3.63131316e+00] [ 1.65854669e-02 -1.15683479e-03 9.99861782e-01 9.67313847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.340714057 meters Centerline goodness [0,1] 0.9857022894015735 Centerline is valid? [True, True] Translation: X:90.48, Y:-3.63, Z:0.97 [[ 9.99162708e-01 -3.76606160e-02 -1.59862873e-02 9.04751070e+01] [ 3.76739108e-02 9.99289945e-01 5.31193865e-04 -3.62927799e+00] [ 1.59549311e-02 -1.13301506e-03 9.99872070e-01 9.68082657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.370714057 meters Centerline goodness [0,1] 0.9870126996769768 Centerline is valid? [True, True] Translation: X:90.51, Y:-3.63, Z:0.97 [[ 9.99125526e-01 -3.91009372e-02 -1.48088120e-02 9.05070985e+01] [ 3.91125136e-02 9.99234691e-01 4.92807117e-04 -3.62579439e+00] [ 1.47782094e-02 -1.07158603e-03 9.99890222e-01 9.68764457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.400714057 meters Centerline goodness [0,1] 0.9860917634051962 Centerline is valid? [True, True] Translation: X:90.54, Y:-3.63, Z:0.97 [[ 9.99110963e-01 -3.96168274e-02 -1.44149228e-02 9.05392534e+01] [ 3.96278613e-02 9.99214392e-01 4.80514048e-04 -3.62507099e+00] [ 1.43845619e-02 -1.05131941e-03 9.99895984e-01 9.69324596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.430714057 meters Centerline goodness [0,1] 0.9840786132273379 Centerline is valid? [True, True] Translation: X:90.57, Y:-3.63, Z:0.97 [[ 9.99107555e-01 -3.97245090e-02 -1.43547021e-02 9.05703575e+01] [ 3.97354762e-02 9.99210119e-01 4.79503071e-04 -3.63359415e+00] [ 1.43243156e-02 -1.04946607e-03 9.99896851e-01 9.69020400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.460714057 meters Centerline goodness [0,1] 0.98461436287966 Centerline is valid? [True, True] Translation: X:90.60, Y:-3.63, Z:0.97 [[ 9.99053718e-01 -4.09621425e-02 -1.46209342e-02 9.06025999e+01] [ 4.09736646e-02 9.99160107e-01 4.89250991e-04 -3.62843602e+00] [ 1.45886135e-02 -1.08786128e-03 9.99892989e-01 9.69162333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.490714057 meters Centerline goodness [0,1] 0.9845479500575578 Centerline is valid? [True, True] Translation: X:90.63, Y:-3.63, Z:0.97 [[ 9.98987147e-01 -4.23252171e-02 -1.52727545e-02 9.06348960e+01] [ 4.23379652e-02 9.99103215e-01 5.12191120e-04 -3.62955560e+00] [ 1.52373795e-02 -1.15828969e-03 9.99883233e-01 9.68517540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.520714057 meters Centerline goodness [0,1] 0.9849425644209873 Centerline is valid? [True, True] Translation: X:90.67, Y:-3.63, Z:0.97 [[ 9.98953643e-01 -4.31635498e-02 -1.51171044e-02 9.06673524e+01] [ 4.31761509e-02 9.99067346e-01 5.08041594e-04 -3.62903921e+00] [ 1.50810765e-02 -1.16020838e-03 9.99885601e-01 9.68247006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55071405700001 meters Centerline goodness [0,1] 0.9845328842403829 Centerline is valid? [True, True] Translation: X:90.70, Y:-3.63, Z:0.97 [[ 9.98896900e-01 -4.44217236e-02 -1.52214782e-02 9.06979918e+01] [ 4.44346641e-02 9.99012161e-01 5.12834546e-04 -3.63138503e+00] [ 1.51836608e-02 -1.18863011e-03 9.99884015e-01 9.67852087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58071405700001 meters Centerline goodness [0,1] 0.9835748577524893 Centerline is valid? [True, True] Translation: X:90.73, Y:-3.63, Z:0.97 [[ 9.98794497e-01 -4.63102132e-02 -1.62762406e-02 9.07292890e+01] [ 4.63252868e-02 9.98926256e-01 5.50106415e-04 -3.63222638e+00] [ 1.62332885e-02 -1.30344477e-03 9.99867382e-01 9.67084065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61071405700001 meters Centerline goodness [0,1] 0.9838537733753832 Centerline is valid? [True, True] Translation: X:90.76, Y:-3.63, Z:0.97 [[ 9.98683091e-01 -4.83905488e-02 -1.70422811e-02 9.07598383e+01] [ 4.84073849e-02 9.98827509e-01 5.76530690e-04 -3.63400594e+00] [ 1.69944006e-02 -1.40074371e-03 9.99854604e-01 9.65861170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.640714057 meters Centerline goodness [0,1] 0.9829741952646981 Centerline is valid? [True, True] Translation: X:90.79, Y:-3.64, Z:0.97 [[ 9.98631071e-01 -4.91927994e-02 -1.77778457e-02 9.07905497e+01] [ 4.92112543e-02 9.98788211e-01 6.01845220e-04 -3.63598995e+00] [ 1.77266962e-02 -1.47589142e-03 9.99841780e-01 9.65269493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.670714057 meters Centerline goodness [0,1] 0.9832285581002732 Centerline is valid? [True, True] Translation: X:90.82, Y:-3.64, Z:0.97 [[ 9.98613700e-01 -4.95577073e-02 -1.77401048e-02 9.08225020e+01] [ 4.95761559e-02 9.98770165e-01 6.01404275e-04 -3.63697409e+00] [ 1.76884832e-02 -1.48005675e-03 9.99842451e-01 9.65698782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.700714057 meters Centerline goodness [0,1] 0.9820058275317511 Centerline is valid? [True, True] Translation: X:90.85, Y:-3.64, Z:0.97 [[ 9.98599436e-01 -4.98227507e-02 -1.78005406e-02 9.08536055e+01] [ 4.98413874e-02 9.98756963e-01 6.04602951e-04 -3.63797031e+00] [ 1.77482909e-02 -1.49095981e-03 9.99841375e-01 9.66324316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.730714057 meters Centerline goodness [0,1] 0.9789358957248988 Centerline is valid? [True, True] Translation: X:90.88, Y:-3.64, Z:0.97 [[ 9.98625121e-01 -4.95549333e-02 -1.70931756e-02 9.08848868e+01] [ 4.95720994e-02 9.98770378e-01 5.81774081e-04 -3.64347206e+00] [ 1.70433276e-02 -1.42831881e-03 9.99853732e-01 9.67434684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.760714057 meters Centerline goodness [0,1] 0.9798020242464687 Centerline is valid? [True, True] Translation: X:90.92, Y:-3.64, Z:0.97 [[ 9.98637366e-01 -4.95783350e-02 -1.62911172e-02 9.09168784e+01] [ 4.95939566e-02 9.98769308e-01 5.56056964e-04 -3.63852808e+00] [ 1.62434995e-02 -1.36324022e-03 9.99867136e-01 9.69465837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.790714057 meters Centerline goodness [0,1] 0.9798180277418491 Centerline is valid? [True, True] Translation: X:90.95, Y:-3.64, Z:0.97 [[ 9.98632486e-01 -4.98337048e-02 -1.58037678e-02 9.09494822e+01] [ 4.98484540e-02 9.98756647e-01 5.40480986e-04 -3.63968090e+00] [ 1.57571839e-02 -1.32753526e-03 9.99874967e-01 9.69592466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.820714057 meters Centerline goodness [0,1] 0.9786518105849582 Centerline is valid? [True, True] Translation: X:90.98, Y:-3.64, Z:0.97 [[ 9.98624590e-01 -4.98967896e-02 -1.61008997e-02 9.09815209e+01] [ 4.99121247e-02 9.98753461e-01 5.51755505e-04 -3.64112094e+00] [ 1.60532985e-02 -1.35462673e-03 9.99870220e-01 9.70099604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.850714057 meters Centerline goodness [0,1] 0.9787503611994043 Centerline is valid? [True, True] Translation: X:91.01, Y:-3.64, Z:0.97 [[ 9.98655377e-01 -4.91746310e-02 -1.64101556e-02 9.10127959e+01] [ 4.91904813e-02 9.98789257e-01 5.63403971e-04 -3.64018008e+00] [ 1.63625819e-02 -1.36986986e-03 9.99865186e-01 9.69870835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.880714057 meters Centerline goodness [0,1] 0.9782492422891781 Centerline is valid? [True, True] Translation: X:91.04, Y:-3.64, Z:0.97 [[ 9.98652543e-01 -4.89883924e-02 -1.71241222e-02 9.10439599e+01] [ 4.90056402e-02 9.98798328e-01 5.88808811e-04 -3.64133409e+00] [ 1.70746998e-02 -1.42719399e-03 9.99853198e-01 9.69903924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.910714057 meters Centerline goodness [0,1] 0.9773975968195828 Centerline is valid? [True, True] Translation: X:91.07, Y:-3.64, Z:0.97 [[ 9.98694783e-01 -4.79396656e-02 -1.76215287e-02 9.10748395e+01] [ 4.79577822e-02 9.98849179e-01 6.06713809e-04 -3.63996097e+00] [ 1.75721638e-02 -1.45101135e-03 9.99844545e-01 9.70427087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94071405700001 meters Centerline goodness [0,1] 0.9762686133994151 Centerline is valid? [True, True] Translation: X:91.11, Y:-3.64, Z:0.97 [[ 9.98726050e-01 -4.72749006e-02 -1.76454167e-02 9.11065239e+01] [ 4.72929770e-02 9.98880876e-01 6.08312300e-04 -3.64110631e+00] [ 1.75969114e-02 -1.44204163e-03 9.99844122e-01 9.71013683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97071405700001 meters Centerline goodness [0,1] 0.9770459528390532 Centerline is valid? [True, True] Translation: X:91.14, Y:-3.64, Z:0.97 [[ 9.98793114e-01 -4.58616428e-02 -1.75791030e-02 9.11382543e+01] [ 4.58793846e-02 9.98946802e-01 6.07080226e-04 -3.64028836e+00] [ 1.75327471e-02 -1.41286598e-03 9.99845291e-01 9.71403251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.000714057 meters Centerline goodness [0,1] 0.976811918897726 Centerline is valid? [True, True] Translation: X:91.17, Y:-3.64, Z:0.97 [[ 9.98934991e-01 -4.29256101e-02 -1.69196597e-02 9.11675754e+01] [ 4.29416412e-02 9.99077411e-01 5.85153689e-04 -3.63708875e+00] [ 1.68789317e-02 -1.31108845e-03 9.99856681e-01 9.72007000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.030714057 meters Centerline goodness [0,1] 0.9774002423807173 Centerline is valid? [True, True] Translation: X:91.20, Y:-3.64, Z:0.97 [[ 9.99013708e-01 -4.10210274e-02 -1.69966797e-02 9.11992610e+01] [ 4.10369464e-02 9.99157456e-01 5.88737471e-04 -3.63598469e+00] [ 1.69582086e-02 -1.28564864e-03 9.99855373e-01 9.72279392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.060714057 meters Centerline goodness [0,1] 0.9845974747022477 Centerline is valid? [True, True] Translation: X:91.23, Y:-3.62, Z:0.97 [[ 9.99212983e-01 -3.61185705e-02 -1.63970578e-02 9.12310553e+01] [ 3.61327387e-02 9.99346838e-01 5.68542363e-04 -3.61502406e+00] [ 1.63658129e-02 -1.16056551e-03 9.99865398e-01 9.73406996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.090714057 meters Centerline goodness [0,1] 0.9786123917688069 Centerline is valid? [True, True] Translation: X:91.26, Y:-3.63, Z:0.97 [[ 9.99306162e-01 -3.34131872e-02 -1.64545936e-02 9.12600395e+01] [ 3.34270896e-02 9.99440996e-01 5.70516384e-04 -3.63023777e+00] [ 1.64263326e-02 -1.12014971e-03 9.99864451e-01 9.72856512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.120714057 meters Centerline goodness [0,1] 0.9783331834936618 Centerline is valid? [True, True] Translation: X:91.29, Y:-3.62, Z:0.97 [[ 9.99487308e-01 -2.75698148e-02 -1.62796620e-02 9.12904483e+01] [ 2.75826478e-02 9.99619367e-01 5.64236224e-04 -3.62480878e+00] [ 1.62579095e-02 -1.01298313e-03 9.99867318e-01 9.73529098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.150714057 meters Centerline goodness [0,1] 0.9794014243216442 Centerline is valid? [True, True] Translation: X:91.32, Y:-3.62, Z:0.97 [[ 9.99561253e-01 -2.48218664e-02 -1.61609243e-02 9.13213945e+01] [ 2.48341559e-02 9.99691428e-01 5.60171272e-04 -3.62336764e+00] [ 1.61420330e-02 -9.61268411e-04 9.99869247e-01 9.74040806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.180714057 meters Centerline goodness [0,1] 0.9799729668844335 Centerline is valid? [True, True] Translation: X:91.35, Y:-3.62, Z:0.97 [[ 9.99668433e-01 -2.02119497e-02 -1.59531030e-02 9.13509954e+01] [ 2.02233418e-02 9.99795334e-01 5.53083846e-04 -3.61944460e+00] [ 1.59386591e-02 -8.75525517e-04 9.99872588e-01 9.74145823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.210714057 meters Centerline goodness [0,1] 0.981007226738934 Centerline is valid? [True, True] Translation: X:91.38, Y:-3.62, Z:0.97 [[ 9.99695264e-01 -1.84472406e-02 -1.64036150e-02 9.13821217e+01] [ 1.84590466e-02 9.99829456e-01 5.68588017e-04 -3.61870462e+00] [ 1.63903286e-02 -8.71209841e-04 9.99865290e-01 9.74357595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.240714057 meters Centerline goodness [0,1] 0.9814014230388184 Centerline is valid? [True, True] Translation: X:91.41, Y:-3.62, Z:0.97 [[ 9.99719177e-01 -1.67012942e-02 -1.68116979e-02 9.14119116e+01] [ 1.67134493e-02 9.99860151e-01 5.82764849e-04 -3.61876784e+00] [ 1.67996139e-02 -8.63582657e-04 9.99858504e-01 9.73975679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.270714057 meters Centerline goodness [0,1] 0.9847371142131409 Centerline is valid? [True, True] Translation: X:91.44, Y:-3.61, Z:0.97 [[ 9.99714734e-01 -1.53540640e-02 -1.82948878e-02 9.14419897e+01] [ 1.53682227e-02 9.99881701e-01 6.33565952e-04 -3.60677783e+00] [ 1.82829957e-02 -9.14545127e-04 9.99832434e-01 9.73815729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30071405700001 meters Centerline goodness [0,1] 0.9849651217915435 Centerline is valid? [True, True] Translation: X:91.47, Y:-3.61, Z:0.97 [[ 9.99694923e-01 -1.52877590e-02 -1.93996041e-02 9.14704746e+01] [ 1.53036235e-02 9.99882669e-01 6.69575972e-04 -3.60775051e+00] [ 1.93870916e-02 -9.66255938e-04 9.99811586e-01 9.73085130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33071405700001 meters Centerline goodness [0,1] 0.9865223652236522 Centerline is valid? [True, True] Translation: X:91.50, Y:-3.61, Z:0.97 [[ 9.99671889e-01 -1.49942597e-02 -2.07674558e-02 9.14980129e+01] [ 1.50122994e-02 9.99887055e-01 7.13015915e-04 -3.60987281e+00] [ 2.07544190e-02 -1.02454923e-03 9.99784079e-01 9.71899740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36071405700001 meters Centerline goodness [0,1] 0.9861696136952359 Centerline is valid? [True, True] Translation: X:91.53, Y:-3.61, Z:0.97 [[ 9.99661516e-01 -1.50965515e-02 -2.11883890e-02 9.15261710e+01] [ 1.51152782e-02 9.99885496e-01 7.23934307e-04 -3.61143979e+00] [ 2.11750340e-02 -1.04395766e-03 9.99775239e-01 9.71790170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.390714057 meters Centerline goodness [0,1] 0.9861430309584966 Centerline is valid? [True, True] Translation: X:91.55, Y:-3.61, Z:0.97 [[ 9.99642866e-01 -1.57639310e-02 -2.15786527e-02 9.15547940e+01] [ 1.57833877e-02 9.99875167e-01 7.31635536e-04 -3.60742065e+00] [ 2.15644255e-02 -1.07195848e-03 9.99766886e-01 9.73364649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.420714057 meters Centerline goodness [0,1] 0.984978154137201 Centerline is valid? [True, True] Translation: X:91.58, Y:-3.61, Z:0.97 [[ 9.99649018e-01 -1.64374031e-02 -2.07762596e-02 9.15825079e+01] [ 1.64555100e-02 9.99864353e-01 7.00845995e-04 -3.61244980e+00] [ 2.07619213e-02 -1.04248396e-03 9.99783905e-01 9.74704293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.450714057 meters Centerline goodness [0,1] 0.9841777857915615 Centerline is valid? [True, True] Translation: X:91.61, Y:-3.61, Z:0.98 [[ 9.99641810e-01 -1.73551079e-02 -2.03728326e-02 9.16111415e+01] [ 1.73726466e-02 9.99848850e-01 6.84205488e-04 -3.61404581e+00] [ 2.03578788e-02 -1.03789043e-03 9.99792218e-01 9.76033634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.480714057 meters Centerline goodness [0,1] 0.9845669998876783 Centerline is valid? [True, True] Translation: X:91.64, Y:-3.62, Z:0.98 [[ 9.99639959e-01 -1.92063174e-02 -1.87368783e-02 9.16390109e+01] [ 1.92214197e-02 9.99815055e-01 6.26246858e-04 -3.61850867e+00] [ 1.87213851e-02 -9.86170786e-04 9.99824253e-01 9.77310167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.510714057 meters Centerline goodness [0,1] 0.9856946849906656 Centerline is valid? [True, True] Translation: X:91.67, Y:-3.61, Z:0.98 [[ 9.99603412e-01 -2.09870868e-02 -1.87766310e-02 9.16691338e+01] [ 2.10025471e-02 9.99779226e-01 6.26540750e-04 -3.61382792e+00] [ 1.87593364e-02 -1.02064935e-03 9.99823507e-01 9.78814345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.540714057 meters Centerline goodness [0,1] 0.9852822399712824 Centerline is valid? [True, True] Translation: X:91.70, Y:-3.62, Z:0.98 [[ 9.99511437e-01 -2.45628812e-02 -1.93275207e-02 9.16987715e+01] [ 2.45799176e-02 9.99697661e-01 6.44358065e-04 -3.61780820e+00] [ 1.93058499e-02 -1.11911212e-03 9.99812998e-01 9.78827153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.570714057 meters Centerline goodness [0,1] 0.985476618705036 Centerline is valid? [True, True] Translation: X:91.73, Y:-3.62, Z:0.98 [[ 9.99440939e-01 -2.68982313e-02 -1.98568625e-02 9.17298216e+01] [ 2.69166716e-02 9.99637462e-01 6.61934783e-04 -3.62032988e+00] [ 1.98318588e-02 -1.19604537e-03 9.99802614e-01 9.78734589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.600714057 meters Centerline goodness [0,1] 0.9853315035208892 Centerline is valid? [True, True] Translation: X:91.76, Y:-3.62, Z:0.98 [[ 9.99366661e-01 -2.96025314e-02 -1.97475992e-02 9.17607855e+01] [ 2.96213022e-02 9.99560976e-01 6.58643785e-04 -3.62376054e+00] [ 1.97194320e-02 -1.24317624e-03 9.99804780e-01 9.78540411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.630714057 meters Centerline goodness [0,1] 0.9849088710760826 Centerline is valid? [True, True] Translation: X:91.79, Y:-3.63, Z:0.98 [[ 9.99202058e-01 -3.42823295e-02 -2.04931549e-02 9.17910978e+01] [ 3.43035295e-02 9.99411227e-01 6.83755157e-04 -3.62964780e+00] [ 2.04576484e-02 -1.38619711e-03 9.99789759e-01 9.77449446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.660714057 meters Centerline goodness [0,1] 0.9847505349701543 Centerline is valid? [True, True] Translation: X:91.82, Y:-3.64, Z:0.98 [[ 9.98995596e-01 -3.87482376e-02 -2.25027212e-02 9.18206396e+01] [ 3.87749296e-02 9.99247688e-01 7.50890822e-04 -3.63602813e+00] [ 2.24566964e-02 -1.62267806e-03 9.99746500e-01 9.75679008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69071405700001 meters Centerline goodness [0,1] 0.9846399855859103 Centerline is valid? [True, True] Translation: X:91.85, Y:-3.64, Z:0.98 [[ 9.98928553e-01 -4.02176537e-02 -2.28972974e-02 9.18512948e+01] [ 4.02456798e-02 9.99189522e-01 7.64305009e-04 -3.63929669e+00] [ 2.28480011e-02 -1.68500340e-03 9.99737530e-01 9.75395592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72071405700001 meters Centerline goodness [0,1] 0.9851935193519352 Centerline is valid? [True, True] Translation: X:91.88, Y:-3.64, Z:0.98 [[ 9.98873090e-01 -4.12830358e-02 -2.34149902e-02 9.18836191e+01] [ 4.13126591e-02 9.99145961e-01 7.82617155e-04 -3.64135314e+00] [ 2.33626841e-02 -1.74907072e-03 9.99725525e-01 9.75165909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.750714057 meters Centerline goodness [0,1] 0.9845576335191513 Centerline is valid? [True, True] Translation: X:91.91, Y:-3.64, Z:0.97 [[ 9.98807175e-01 -4.25558795e-02 -2.39421108e-02 9.19141174e+01] [ 4.25872410e-02 9.99092431e-01 8.01295689e-04 -3.64405570e+00] [ 2.38862819e-02 -1.81996833e-03 9.99713025e-01 9.74674916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.780714057 meters Centerline goodness [0,1] 0.9840926988412645 Centerline is valid? [True, True] Translation: X:91.95, Y:-3.65, Z:0.98 [[ 9.98798146e-01 -4.26308445e-02 -2.41841630e-02 9.19460818e+01] [ 4.26628910e-02 9.99089196e-01 8.10459638e-04 -3.64601782e+00] [ 2.41275854e-02 -1.84125189e-03 9.99707192e-01 9.75330815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.810714057 meters Centerline goodness [0,1] 0.9835571451065074 Centerline is valid? [True, True] Translation: X:91.98, Y:-3.65, Z:0.98 [[ 9.98819576e-01 -4.24511116e-02 -2.36084312e-02 9.19770079e+01] [ 4.24816330e-02 9.99096934e-01 7.92568403e-04 -3.64859921e+00] [ 2.35534658e-02 -1.79455755e-03 9.99720968e-01 9.75863327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.840714057 meters Centerline goodness [0,1] 0.9846755347833902 Centerline is valid? [True, True] Translation: X:92.01, Y:-3.65, Z:0.98 [[ 9.98829003e-01 -4.22192792e-02 -2.36253049e-02 9.20090800e+01] [ 4.22498132e-02 9.99106762e-01 7.94548973e-04 -3.64975127e+00] [ 2.35706566e-02 -1.79178328e-03 9.99720568e-01 9.76353292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.870714057 meters Centerline goodness [0,1] 0.9843157493212467 Centerline is valid? [True, True] Translation: X:92.04, Y:-3.65, Z:0.98 [[ 9.98828668e-01 -4.22937221e-02 -2.35060376e-02 9.20401471e+01] [ 4.23240017e-02 9.99103624e-01 7.91933093e-04 -3.65178195e+00] [ 2.34514735e-02 -1.78587505e-03 9.99723381e-01 9.76994342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.900714057 meters Centerline goodness [0,1] 0.9843567119834339 Centerline is valid? [True, True] Translation: X:92.07, Y:-3.65, Z:0.98 [[ 9.98815453e-01 -4.24027812e-02 -2.38682636e-02 9.20721887e+01] [ 4.24340665e-02 9.99098945e-01 8.05563326e-04 -3.65177757e+00] [ 2.38125989e-02 -1.81743658e-03 9.99714788e-01 9.77540661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.930714057 meters Centerline goodness [0,1] 0.9856484085029805 Centerline is valid? [True, True] Translation: X:92.10, Y:-3.65, Z:0.98 [[ 9.98802986e-01 -4.25548979e-02 -2.41179550e-02 9.21044410e+01] [ 4.25869257e-02 9.99092432e-01 8.15663899e-04 -3.64757910e+00] [ 2.40613558e-02 -1.84179710e-03 9.99708787e-01 9.78509791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.960714057 meters Centerline goodness [0,1] 0.9837413020469745 Centerline is valid? [True, True] Translation: X:92.14, Y:-3.66, Z:0.98 [[ 9.98781698e-01 -4.27153677e-02 -2.47086597e-02 9.21353453e+01] [ 4.27490707e-02 9.99085490e-01 8.37167765e-04 -3.65790117e+00] [ 2.46503035e-02 -1.89242008e-03 9.99694344e-01 9.77345388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.990714057 meters Centerline goodness [0,1] 0.9857738699132003 Centerline is valid? [True, True] Translation: X:92.17, Y:-3.65, Z:0.98 [[ 9.98754238e-01 -4.30800130e-02 -2.51810468e-02 9.21666192e+01] [ 4.31151601e-02 9.99069744e-01 8.54266762e-04 -3.65269327e+00] [ 2.51208202e-02 -1.93888741e-03 9.99682542e-01 9.79231462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.020714057 meters Centerline goodness [0,1] 0.9860858228246454 Centerline is valid? [True, True] Translation: X:92.20, Y:-3.65, Z:0.98 [[ 9.98724979e-01 -4.37017994e-02 -2.52699314e-02 9.21978972e+01] [ 4.37374150e-02 9.99042693e-01 8.58155397e-04 -3.65442241e+00] [ 2.52082374e-02 -1.96230271e-03 9.99680296e-01 9.79879706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05071405700001 meters Centerline goodness [0,1] 0.9709234496993628 Centerline is valid? [True, True] Translation: X:92.23, Y:-3.67, Z:0.98 [[ 9.98657183e-01 -4.48548898e-02 -2.59204418e-02 9.22279193e+01] [ 4.48927746e-02 9.98991423e-01 8.81222304e-04 -3.66598343e+00] [ 2.58547719e-02 -2.04367954e-03 9.99663620e-01 9.78752638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08071405700001 meters Centerline goodness [0,1] 0.9856420626895854 Centerline is valid? [True, True] Translation: X:92.26, Y:-3.66, Z:0.98 [[ 9.98636385e-01 -4.51789992e-02 -2.61577557e-02 9.22593555e+01] [ 4.52177167e-02 9.98976759e-01 8.90249509e-04 -3.65921634e+00] [ 2.60907694e-02 -2.07182954e-03 9.99657431e-01 9.80557882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11071405700001 meters Centerline goodness [0,1] 0.9848389418751125 Centerline is valid? [True, True] Translation: X:92.29, Y:-3.66, Z:0.98 [[ 9.98609039e-01 -4.52021943e-02 -2.71431175e-02 9.22900981e+01] [ 4.52439258e-02 9.98975541e-01 9.24977455e-04 -3.66151410e+00] [ 2.70734995e-02 -2.15175204e-03 9.99631130e-01 9.80320068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.140714057 meters Centerline goodness [0,1] 0.9848389418751125 Centerline is valid? [True, True] Translation: X:92.32, Y:-3.66, Z:0.98 [[ 9.98612066e-01 -4.51352993e-02 -2.71430621e-02 9.23218727e+01] [ 4.51770501e-02 9.98978566e-01 9.26601707e-04 -3.66266474e+00] [ 2.70735148e-02 -2.15155912e-03 9.99631130e-01 9.80694781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.170714057 meters Centerline goodness [0,1] 0.986146718841362 Centerline is valid? [True, True] Translation: X:92.35, Y:-3.66, Z:0.98 [[ 9.98633905e-01 -4.45746351e-02 -2.72658298e-02 9.23537360e+01] [ 4.46165931e-02 9.99003749e-01 9.32118999e-04 -3.65865261e+00] [ 2.71971173e-02 -2.14735407e-03 9.99627784e-01 9.82335448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.200714057 meters Centerline goodness [0,1] 0.98600377426312 Centerline is valid? [True, True] Translation: X:92.38, Y:-3.66, Z:0.98 [[ 9.98749123e-01 -4.24902593e-02 -2.63584239e-02 9.23833928e+01] [ 4.25287587e-02 9.99094836e-01 9.01490042e-04 -3.65960277e+00] [ 2.62962607e-02 -2.02135344e-03 9.99652150e-01 9.84182541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.230714057 meters Centerline goodness [0,1] 0.9867521367521368 Centerline is valid? [True, True] Translation: X:92.42, Y:-3.66, Z:0.99 [[ 9.98828644e-01 -4.07977348e-02 -2.60170173e-02 9.24152738e+01] [ 4.08346922e-02 9.99165519e-01 8.90586810e-04 -3.65934759e+00] [ 2.59589727e-02 -1.95194051e-03 9.99661103e-01 9.85615245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.260714057 meters Centerline goodness [0,1] 0.9887772118808311 Centerline is valid? [True, True] Translation: X:92.45, Y:-3.65, Z:0.99 [[ 9.98964039e-01 -3.75831356e-02 -2.56584530e-02 9.24464249e+01] [ 3.76180487e-02 9.99291804e-01 8.79185391e-04 -3.64799373e+00] [ 2.56072392e-02 -1.84349552e-03 9.99670381e-01 9.89302620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.290714057 meters Centerline goodness [0,1] 0.986857476635514 Centerline is valid? [True, True] Translation: X:92.48, Y:-3.66, Z:0.99 [[ 9.99026024e-01 -3.58131642e-02 -2.57763716e-02 9.24768129e+01] [ 3.58478311e-02 9.99356869e-01 8.83931289e-04 -3.65653989e+00] [ 2.57281377e-02 -1.80709738e-03 9.99667343e-01 9.88240921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.320714057 meters Centerline goodness [0,1] 0.9884048816801643 Centerline is valid? [True, True] Translation: X:92.51, Y:-3.65, Z:0.99 [[ 9.99076843e-01 -3.42145642e-02 -2.59774095e-02 9.25082736e+01] [ 3.42492541e-02 9.99412925e-01 8.91503128e-04 -3.64656031e+00] [ 2.59316564e-02 -1.78038703e-03 9.99662133e-01 9.90814711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.350714057 meters Centerline goodness [0,1] 0.9878503195501457 Centerline is valid? [True, True] Translation: X:92.54, Y:-3.65, Z:0.99 [[ 9.99126660e-01 -3.24941590e-02 -2.62687503e-02 9.25388314e+01] [ 3.25290522e-02 9.99470383e-01 9.01974873e-04 -3.64579432e+00] [ 2.62255290e-02 -1.75568469e-03 9.99654510e-01 9.90553486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.380714057 meters Centerline goodness [0,1] 0.988876855737557 Centerline is valid? [True, True] Translation: X:92.57, Y:-3.65, Z:0.99 [[ 9.99129851e-01 -3.23111229e-02 -2.63729580e-02 9.25689283e+01] [ 3.23462425e-02 9.99476313e-01 9.06021935e-04 -3.64805525e+00] [ 2.63298722e-02 -1.75829966e-03 9.99651762e-01 9.90549441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.410714057 meters Centerline goodness [0,1] 0.9896047546948091 Centerline is valid? [True, True] Translation: X:92.60, Y:-3.65, Z:0.99 [[ 9.99067242e-01 -3.37457786e-02 -2.69419539e-02 9.26000555e+01] [ 3.37829628e-02 9.99428764e-01 9.26054667e-04 -3.64612701e+00] [ 2.68953133e-02 -1.83536991e-03 9.99636571e-01 9.90609858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44071405700001 meters Centerline goodness [0,1] 0.9882137776874619 Centerline is valid? [True, True] Translation: X:92.63, Y:-3.65, Z:0.99 [[ 9.99015854e-01 -3.46002953e-02 -2.77514542e-02 9.26297922e+01] [ 3.46401226e-02 9.99399394e-01 9.55534931e-04 -3.64974758e+00] [ 2.77017247e-02 -1.91590832e-03 9.99614398e-01 9.90194710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47071405700001 meters Centerline goodness [0,1] 0.989460618370571 Centerline is valid? [True, True] Translation: X:92.66, Y:-3.65, Z:0.99 [[ 9.98952242e-01 -3.57990471e-02 -2.85104674e-02 9.26599974e+01] [ 3.58416006e-02 9.99357000e-01 9.82758210e-04 -3.65056202e+00] [ 2.84569533e-02 -2.00358930e-03 9.99593011e-01 9.90447677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.500714057 meters Centerline goodness [0,1] 0.9893229579025946 Centerline is valid? [True, True] Translation: X:92.69, Y:-3.65, Z:0.99 [[ 9.98856511e-01 -3.78382607e-02 -2.92221945e-02 9.26905419e+01] [ 3.78838343e-02 9.99281642e-01 1.00729150e-03 -3.65323773e+00] [ 2.91630883e-02 -2.11318845e-03 9.99572433e-01 9.90369274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.530714057 meters Centerline goodness [0,1] 0.9893195754983821 Centerline is valid? [True, True] Translation: X:92.72, Y:-3.65, Z:0.99 [[ 9.98812695e-01 -3.91705411e-02 -2.89632347e-02 9.27213757e+01] [ 3.92158758e-02 9.99230263e-01 9.98664628e-04 -3.65446222e+00] [ 2.89018224e-02 -2.13329752e-03 9.99579979e-01 9.91163742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.560714057 meters Centerline goodness [0,1] 0.9898364802601861 Centerline is valid? [True, True] Translation: X:92.75, Y:-3.65, Z:0.99 [[ 9.98805373e-01 -3.96770232e-02 -2.85229726e-02 9.27525499e+01] [ 3.97212176e-02 9.99210316e-01 9.84283989e-04 -3.65144878e+00] [ 2.84613950e-02 -2.11607534e-03 9.99592653e-01 9.93037451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.590714057 meters Centerline goodness [0,1] 0.9885994220697129 Centerline is valid? [True, True] Translation: X:92.78, Y:-3.66, Z:0.99 [[ 9.98817314e-01 -3.98425099e-02 -2.78665979e-02 9.27827329e+01] [ 3.98847762e-02 9.99203822e-01 9.62328781e-04 -3.66013179e+00] [ 2.78060695e-02 -2.07264367e-03 9.99611188e-01 9.92129299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.620714057 meters Centerline goodness [0,1] 0.99031274697979 Centerline is valid? [True, True] Translation: X:92.81, Y:-3.65, Z:0.99 [[ 9.98824671e-01 -3.99224485e-02 -2.74858828e-02 9.28145804e+01] [ 3.99636183e-02 9.99200684e-01 9.49945351e-04 -3.65305522e+00] [ 2.74259888e-02 -2.04726418e-03 9.99621740e-01 9.94951756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.650714057 meters Centerline goodness [0,1] 0.9898763925609563 Centerline is valid? [True, True] Translation: X:92.85, Y:-3.66, Z:0.99 [[ 9.98838022e-01 -3.95488553e-02 -2.75407560e-02 9.28459101e+01] [ 3.95901134e-02 9.99215549e-01 9.54202008e-04 -3.65693779e+00] [ 2.74814141e-02 -2.04343490e-03 9.99620226e-01 9.94721198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.680714057 meters Centerline goodness [0,1] 0.9895929746935458 Centerline is valid? [True, True] Translation: X:92.88, Y:-3.66, Z:1.00 [[ 9.98849864e-01 -3.94378899e-02 -2.72690752e-02 9.28772198e+01] [ 3.94783503e-02 9.99219978e-01 9.46762883e-04 -3.65686151e+00] [ 2.72104663e-02 -2.02221208e-03 9.99627681e-01 9.95401705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.710714057 meters Centerline goodness [0,1] 0.9900550483655393 Centerline is valid? [True, True] Translation: X:92.91, Y:-3.66, Z:1.00 [[ 9.98847860e-01 -3.94875549e-02 -2.72706046e-02 9.29094339e+01] [ 3.95280792e-02 9.99218010e-01 9.48321763e-04 -3.65580113e+00] [ 2.72118324e-02 -2.02518378e-03 9.99627638e-01 9.96596226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.740714057 meters Centerline goodness [0,1] 0.9904217168278179 Centerline is valid? [True, True] Translation: X:92.94, Y:-3.66, Z:1.00 [[ 9.98846148e-01 -3.99624737e-02 -2.66340664e-02 9.29411616e+01] [ 4.00013616e-02 9.99199194e-01 9.28677447e-04 -3.65672834e+00] [ 2.65756254e-02 -1.99300481e-03 9.99644819e-01 9.97745658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.770714057 meters Centerline goodness [0,1] 0.9901084441217841 Centerline is valid? [True, True] Translation: X:92.97, Y:-3.66, Z:1.00 [[ 9.98832500e-01 -4.04945494e-02 -2.63406236e-02 9.29718506e+01] [ 4.05328170e-02 9.99177784e-01 9.20285094e-04 -3.65901319e+00] [ 2.62816994e-02 -1.98687034e-03 9.99652602e-01 9.98024154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80071405700001 meters Centerline goodness [0,1] 0.990140749303053 Centerline is valid? [True, True] Translation: X:93.00, Y:-3.66, Z:1.00 [[ 9.98803135e-01 -4.13417708e-02 -2.61372330e-02 9.30029585e+01] [ 4.13797624e-02 9.99143073e-01 9.14115148e-04 -3.65985016e+00] [ 2.60770441e-02 -1.99457356e-03 9.99657946e-01 9.98836033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83071405700001 meters Centerline goodness [0,1] 0.9895951398648954 Centerline is valid? [True, True] Translation: X:93.03, Y:-3.67, Z:1.00 [[ 9.98734719e-01 -4.25123449e-02 -2.68637732e-02 9.30331987e+01] [ 4.25529185e-02 9.99093772e-01 9.40228162e-04 -3.66864087e+00] [ 2.67994572e-02 -2.08217046e-03 9.99638662e-01 9.97719312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86071405700001 meters Centerline goodness [0,1] 0.9904335575349936 Centerline is valid? [True, True] Translation: X:93.07, Y:-3.67, Z:1.00 [[ 9.98691860e-01 -4.33732884e-02 -2.70799914e-02 9.30655564e+01] [ 4.34148672e-02 9.99056679e-01 9.49076832e-04 -3.66669975e+00] [ 2.70132817e-02 -2.12350954e-03 9.99632819e-01 9.98685328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.890714057 meters Centerline goodness [0,1] 0.9900819318671842 Centerline is valid? [True, True] Translation: X:93.10, Y:-3.67, Z:1.00 [[ 9.98589047e-01 -4.51880229e-02 -2.78918920e-02 9.30967629e+01] [ 4.52328758e-02 9.98975990e-01 9.78939663e-04 -3.67104059e+00] [ 2.78190941e-02 -2.23918891e-03 9.99610466e-01 9.97667737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.920714057 meters Centerline goodness [0,1] 0.9901643059490085 Centerline is valid? [True, True] Translation: X:93.13, Y:-3.67, Z:1.00 [[ 9.98557996e-01 -4.58482635e-02 -2.79260860e-02 9.31291543e+01] [ 4.58935262e-02 9.98945855e-01 9.81688451e-04 -3.67114395e+00] [ 2.78516392e-02 -2.26189941e-03 9.99609509e-01 9.98578107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.950714057 meters Centerline goodness [0,1] 0.989341195146842 Centerline is valid? [True, True] Translation: X:93.16, Y:-3.68, Z:1.00 [[ 9.98472971e-01 -4.72916175e-02 -2.85522147e-02 9.31587967e+01] [ 4.73395521e-02 9.98878350e-01 1.00483972e-03 -3.67616957e+00] [ 2.84726686e-02 -2.35495436e-03 9.99591797e-01 9.98680987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.980714057 meters Centerline goodness [0,1] 0.9867582704124436 Centerline is valid? [True, True] Translation: X:93.19, Y:-3.68, Z:1.00 [[ 9.98437890e-01 -4.79579494e-02 -2.86673166e-02 9.31897846e+01] [ 4.80065753e-02 9.98846509e-01 1.00997895e-03 -3.68033290e+00] [ 2.85858126e-02 -2.38462095e-03 9.99588498e-01 9.99019967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.010714057 meters Centerline goodness [0,1] 0.9893525245187068 Centerline is valid? [True, True] Translation: X:93.22, Y:-3.68, Z:1.00 [[ 9.98410479e-01 -4.85372599e-02 -2.86469865e-02 9.32216309e+01] [ 4.85860966e-02 9.98818487e-01 1.01076742e-03 -3.67884051e+00] [ 2.85640798e-02 -2.40100603e-03 9.99589080e-01 1.00089170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.040714057 meters Centerline goodness [0,1] 0.9871048158640227 Centerline is valid? [True, True] Translation: X:93.25, Y:-3.68, Z:1.00 [[ 9.98329757e-01 -5.01794118e-02 -2.86308180e-02 9.32521109e+01] [ 5.02289017e-02 9.98737220e-01 1.01153337e-03 -3.68402466e+00] [ 2.85439055e-02 -2.44793841e-03 9.99589542e-01 1.00110631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.070714057 meters Centerline goodness [0,1] 0.9746855452430956 Centerline is valid? [True, True] Translation: X:93.28, Y:-3.69, Z:1.00 [[ 9.98297145e-01 -5.08307010e-02 -2.86190402e-02 9.32826389e+01] [ 5.08804467e-02 9.98704238e-01 1.01219955e-03 -3.69201510e+00] [ 2.85305059e-02 -2.46662547e-03 9.99589879e-01 9.99850249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.100714057 meters Centerline goodness [0,1] 0.984538766270515 Centerline is valid? [True, True] Translation: X:93.32, Y:-3.69, Z:1.00 [[ 9.98242091e-01 -5.18451485e-02 -2.87194907e-02 9.33150682e+01] [ 5.18957060e-02 9.98651992e-01 1.01733060e-03 -3.69179705e+00] [ 2.86280330e-02 -2.50596047e-03 9.99586993e-01 1.00060921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.130714057 meters Centerline goodness [0,1] 0.9854367834286877 Centerline is valid? [True, True] Translation: X:93.35, Y:-3.69, Z:1.00 [[ 9.98235197e-01 -5.19835640e-02 -2.87088796e-02 9.33476002e+01] [ 5.20341979e-02 9.98644784e-01 1.01894560e-03 -3.69299700e+00] [ 2.86170044e-02 -2.51099088e-03 9.99587296e-01 1.00114888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.160714057 meters Centerline goodness [0,1] 0.9668901076579322 Centerline is valid? [True, True] Translation: X:93.38, Y:-3.70, Z:1.00 [[ 9.98236402e-01 -5.21513027e-02 -2.83606680e-02 9.33788424e+01] [ 5.22008295e-02 9.98636098e-01 1.00825584e-03 -3.70134150e+00] [ 2.82694050e-02 -2.48692808e-03 9.99597247e-01 1.00061277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19071405700001 meters Centerline goodness [0,1] 0.9585904477746886 Centerline is valid? [True, True] Translation: X:93.41, Y:-3.71, Z:1.00 [[ 9.98217089e-01 -5.23923530e-02 -2.85951910e-02 9.34097878e+01] [ 5.24428423e-02 9.98623408e-01 1.01804718e-03 -3.70540215e+00] [ 2.85024893e-02 -2.51584519e-03 9.99590555e-01 1.00150851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22071405700001 meters Centerline goodness [0,1] 0.9637850467289719 Centerline is valid? [True, True] Translation: X:93.44, Y:-3.71, Z:1.00 [[ 9.98224470e-01 -5.23716977e-02 -2.83745061e-02 9.34423175e+01] [ 5.24214498e-02 9.98624538e-01 1.01187796e-03 -3.70851137e+00] [ 2.82824842e-02 -2.49751409e-03 9.99596850e-01 1.00272551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.250714057 meters Centerline goodness [0,1] 0.9896763455612784 Centerline is valid? [True, True] Translation: X:93.48, Y:-3.70, Z:1.01 [[ 9.98213778e-01 -5.25609540e-02 -2.84007027e-02 9.34750630e+01] [ 5.26109303e-02 9.98614570e-01 1.01479928e-03 -3.69738275e+00] [ 2.83080167e-02 -2.50717402e-03 9.99596104e-01 1.00598674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.280714057 meters Centerline goodness [0,1] 0.9873796454602718 Centerline is valid? [True, True] Translation: X:93.51, Y:-3.70, Z:1.01 [[ 9.98210332e-01 -5.27416354e-02 -2.81860307e-02 9.35062666e+01] [ 5.27909787e-02 9.98605074e-01 1.00885484e-03 -3.70395649e+00] [ 2.80935047e-02 -2.49501747e-03 9.99602186e-01 1.00605772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.310714057 meters Centerline goodness [0,1] 0.9886258907096455 Centerline is valid? [True, True] Translation: X:93.54, Y:-3.71, Z:1.01 [[ 9.98211500e-01 -5.27221953e-02 -2.81810293e-02 9.35383696e+01] [ 5.27715640e-02 9.98606099e-01 1.01047756e-03 -3.70557667e+00] [ 2.80884732e-02 -2.49582732e-03 9.99602325e-01 1.00678753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.340714057 meters Centerline goodness [0,1] 0.9872313781614079 Centerline is valid? [True, True] Translation: X:93.57, Y:-3.71, Z:1.01 [[ 9.98242780e-01 -5.17831672e-02 -2.88072345e-02 9.35704585e+01] [ 5.18344271e-02 9.98655156e-01 1.03500463e-03 -3.70919755e+00] [ 2.87148974e-02 -2.52639240e-03 9.99584450e-01 1.00655097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.370714057 meters Centerline goodness [0,1] 0.9885209812202355 Centerline is valid? [True, True] Translation: X:93.60, Y:-3.71, Z:1.01 [[ 9.98245860e-01 -5.13189952e-02 -2.95222419e-02 9.36025439e+01] [ 5.13726939e-02 9.98678986e-01 1.06282367e-03 -3.71075529e+00] [ 2.94286996e-02 -2.57759643e-03 9.99563559e-01 1.00714653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.400714057 meters Centerline goodness [0,1] 0.985064920503218 Centerline is valid? [True, True] Translation: X:93.63, Y:-3.72, Z:1.01 [[ 9.98296412e-01 -5.02966063e-02 -2.95723773e-02 9.36331400e+01] [ 5.03500861e-02 9.98731061e-01 1.06610492e-03 -3.71693275e+00] [ 2.94812303e-02 -2.55326046e-03 9.99562073e-01 1.00635474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.430714057 meters Centerline goodness [0,1] 0.9873735674717979 Centerline is valid? [True, True] Translation: X:93.67, Y:-3.72, Z:1.01 [[ 9.98380611e-01 -4.84733854e-02 -2.97739168e-02 9.36650821e+01] [ 4.85268312e-02 9.98821301e-01 1.07468440e-03 -3.71672938e+00] [ 2.96867287e-02 -2.51777790e-03 9.99556081e-01 1.00768400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.460714057 meters Centerline goodness [0,1] 0.9887456563165564 Centerline is valid? [True, True] Translation: X:93.70, Y:-3.72, Z:1.01 [[ 9.98409440e-01 -4.79014553e-02 -2.97328325e-02 9.36966843e+01] [ 4.79545381e-02 9.98848941e-01 1.07441897e-03 -3.71529567e+00] [ 2.96471421e-02 -2.49853429e-03 9.99557304e-01 1.00886253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.490714057 meters Centerline goodness [0,1] 0.9894348069390039 Centerline is valid? [True, True] Translation: X:93.73, Y:-3.72, Z:1.01 [[ 9.98481451e-01 -4.64962771e-02 -2.95446980e-02 9.37284816e+01] [ 4.65481198e-02 9.98915477e-01 1.06900056e-03 -3.71859657e+00] [ 2.94629515e-02 -2.44262737e-03 9.99562888e-01 1.00882995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.520714057 meters Centerline goodness [0,1] 0.9873812085350547 Centerline is valid? [True, True] Translation: X:93.76, Y:-3.72, Z:1.01 [[ 9.98489788e-01 -4.62279012e-02 -2.96837290e-02 9.37589932e+01] [ 4.62801436e-02 9.98927922e-01 1.07498616e-03 -3.72227003e+00] [ 2.96022114e-02 -2.44712995e-03 9.99558763e-01 1.00872445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55071405700001 meters Centerline goodness [0,1] 0.9869489559164734 Centerline is valid? [True, True] Translation: X:93.79, Y:-3.73, Z:1.01 [[ 9.98555422e-01 -4.51608630e-02 -2.91129936e-02 9.37908568e+01] [ 4.52106959e-02 9.98976916e-01 1.05539761e-03 -3.72517861e+00] [ 2.90355459e-02 -2.37009171e-03 9.99575570e-01 1.00894643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58071405700001 meters Centerline goodness [0,1] 0.9861613320833892 Centerline is valid? [True, True] Translation: X:93.82, Y:-3.73, Z:1.01 [[ 9.98585361e-01 -4.47424276e-02 -2.87296307e-02 9.38209305e+01] [ 4.47908093e-02 9.98995844e-01 1.04238026e-03 -3.72823908e+00] [ 2.86541430e-02 -2.32772908e-03 9.99586675e-01 1.00916407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61071405700001 meters Centerline goodness [0,1] 0.9880939109495886 Centerline is valid? [True, True] Translation: X:93.85, Y:-3.72, Z:1.01 [[ 9.98613366e-01 -4.43100747e-02 -2.84246827e-02 9.38527350e+01] [ 4.43572825e-02 9.99015198e-01 1.03210119e-03 -3.72487904e+00] [ 2.83509575e-02 -2.29151172e-03 9.99595404e-01 1.01103297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.640714057 meters Centerline goodness [0,1] 0.9885783391561408 Centerline is valid? [True, True] Translation: X:93.88, Y:-3.73, Z:1.01 [[ 9.98642131e-01 -4.36149431e-02 -2.84891337e-02 9.38840099e+01] [ 4.36621130e-02 9.99045819e-01 1.03545169e-03 -3.72520651e+00] [ 2.84167888e-02 -2.27794146e-03 9.99593566e-01 1.01159622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.670714057 meters Centerline goodness [0,1] 0.9883002997628741 Centerline is valid? [True, True] Translation: X:93.92, Y:-3.73, Z:1.01 [[ 9.98687751e-01 -4.28329349e-02 -2.80734069e-02 9.39151510e+01] [ 4.28784586e-02 9.99079774e-01 1.02133782e-03 -3.72640158e+00] [ 2.80038261e-02 -2.22374198e-03 9.99605342e-01 1.01229405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.700714057 meters Centerline goodness [0,1] 0.9851536937698934 Centerline is valid? [True, True] Translation: X:93.94, Y:-3.74, Z:1.01 [[ 9.98718039e-01 -4.23868049e-02 -2.76701686e-02 9.39449558e+01] [ 4.24308786e-02 9.99098897e-01 1.00736362e-03 -3.73722784e+00] [ 2.76025360e-02 -2.18014178e-03 9.99616600e-01 1.01120444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.730714057 meters Centerline goodness [0,1] 0.9886659689594514 Centerline is valid? [True, True] Translation: X:93.98, Y:-3.73, Z:1.01 [[ 9.98756234e-01 -4.18386300e-02 -2.71203559e-02 9.39763068e+01] [ 4.18807883e-02 9.99122126e-01 9.88091524e-04 -3.73110452e+00] [ 2.70552073e-02 -2.12268445e-03 9.99631687e-01 1.01301327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.760714057 meters Centerline goodness [0,1] 0.9886247044653611 Centerline is valid? [True, True] Translation: X:94.01, Y:-3.73, Z:1.01 [[ 9.98816480e-01 -4.05961391e-02 -2.67879358e-02 9.40076110e+01] [ 4.06368510e-02 9.99173504e-01 9.76928804e-04 -3.73195636e+00] [ 2.67261361e-02 -2.06434994e-03 9.99640661e-01 1.01314417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.790714057 meters Centerline goodness [0,1] 0.9877491925604187 Centerline is valid? [True, True] Translation: X:94.04, Y:-3.74, Z:1.01 [[ 9.98833825e-01 -3.99517354e-02 -2.71080928e-02 9.40373084e+01] [ 3.99932296e-02 9.99199460e-01 9.90038194e-04 -3.73931778e+00] [ 2.70468380e-02 -2.07302382e-03 9.99632018e-01 1.01174756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.820714057 meters Centerline goodness [0,1] 0.9886819356563586 Centerline is valid? [True, True] Translation: X:94.07, Y:-3.74, Z:1.01 [[ 9.98868332e-01 -3.85500258e-02 -2.78558866e-02 9.40681530e+01] [ 3.85933221e-02 9.99254482e-01 1.01814345e-03 -3.73741268e+00] [ 2.77958700e-02 -2.09204246e-03 9.99611431e-01 1.01230721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.850714057 meters Centerline goodness [0,1] 0.9891735353085319 Centerline is valid? [True, True] Translation: X:94.10, Y:-3.73, Z:1.01 [[ 9.98880803e-01 -3.81923008e-02 -2.79014083e-02 9.40996912e+01] [ 3.82356163e-02 9.99268230e-01 1.02039069e-03 -3.73401023e+00] [ 2.78420198e-02 -2.08607622e-03 9.99610159e-01 1.01361696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.880714057 meters Centerline goodness [0,1] 0.9896849672910759 Centerline is valid? [True, True] Translation: X:94.13, Y:-3.73, Z:1.01 [[ 9.98894219e-01 -3.76031507e-02 -2.82195278e-02 9.41310389e+01] [ 3.76472554e-02 9.99290557e-01 1.03305586e-03 -3.73466840e+00] [ 2.81606615e-02 -2.09430130e-03 9.99601216e-01 1.01411282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.910714057 meters Centerline goodness [0,1] 0.9900292208516428 Centerline is valid? [True, True] Translation: X:94.16, Y:-3.74, Z:1.01 [[ 9.98892164e-01 -3.71678512e-02 -2.88616487e-02 9.41610294e+01] [ 3.72138277e-02 9.99306766e-01 1.05731167e-03 -3.73847660e+00] [ 2.88023428e-02 -2.13019277e-03 9.99582857e-01 1.01357860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94071405700001 meters Centerline goodness [0,1] 0.9897816068924064 Centerline is valid? [True, True] Translation: X:94.19, Y:-3.74, Z:1.01 [[ 9.98882495e-01 -3.72196255e-02 -2.91283473e-02 9.41917526e+01] [ 3.72664842e-02 9.99304793e-01 1.06729725e-03 -3.74138349e+00] [ 2.90683727e-02 -2.15161564e-03 9.99575110e-01 1.01370406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97071405700001 meters Centerline goodness [0,1] 0.9901840763905891 Centerline is valid? [True, True] Translation: X:94.22, Y:-3.75, Z:1.01 [[ 9.98907116e-01 -3.68375889e-02 -2.87674529e-02 9.42212936e+01] [ 3.68831269e-02 9.99319030e-01 1.05377077e-03 -3.74562672e+00] [ 2.87090448e-02 -2.11365274e-03 9.99585576e-01 1.01375000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.000714057 meters Centerline goodness [0,1] 0.9894042383046782 Centerline is valid? [True, True] Translation: X:94.25, Y:-3.75, Z:1.01 [[ 9.98888007e-01 -3.73885813e-02 -2.87200727e-02 9.42506041e+01] [ 3.74341813e-02 9.99298542e-01 1.05152706e-03 -3.75006346e+00] [ 2.86606117e-02 -2.12547018e-03 9.99586941e-01 1.01342334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.030714057 meters Centerline goodness [0,1] 0.9899095414842308 Centerline is valid? [True, True] Translation: X:94.28, Y:-3.75, Z:1.01 [[ 9.98880789e-01 -3.76797334e-02 -2.85903182e-02 9.42805650e+01] [ 3.77250263e-02 9.99287610e-01 1.04627442e-03 -3.75245123e+00] [ 2.85305274e-02 -2.12367392e-03 9.99590666e-01 1.01367652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.060714057 meters Centerline goodness [0,1] 0.9899095414842308 Centerline is valid? [True, True] Translation: X:94.31, Y:-3.75, Z:1.01 [[ 9.98880789e-01 -3.76797358e-02 -2.85903258e-02 9.43106300e+01] [ 3.77250228e-02 9.99287610e-01 1.04606770e-03 -3.75355117e+00] [ 2.85305428e-02 -2.12346762e-03 9.99590666e-01 1.01403134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.090714057 meters Centerline goodness [0,1] 0.9889410930366562 Centerline is valid? [True, True] Translation: X:94.34, Y:-3.76, Z:1.01 [[ 9.98879434e-01 -3.77269442e-02 -2.85753930e-02 9.43412510e+01] [ 3.77722031e-02 9.99285829e-01 1.04552134e-03 -3.75641832e+00] [ 2.85155410e-02 -2.12370532e-03 9.99591093e-01 1.01453104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.120714057 meters Centerline goodness [0,1] 0.9887461584381702 Centerline is valid? [True, True] Translation: X:94.37, Y:-3.76, Z:1.02 [[ 9.98893920e-01 -3.78344997e-02 -2.79192891e-02 9.43706426e+01] [ 3.78777372e-02 9.99281859e-01 1.02123519e-03 -3.75953471e+00] [ 2.78606012e-02 -2.07762512e-03 9.99609659e-01 1.01517701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.150714057 meters Centerline goodness [0,1] 0.9884316202380161 Centerline is valid? [True, True] Translation: X:94.40, Y:-3.76, Z:1.02 [[ 9.98890915e-01 -3.83691130e-02 -2.72901436e-02 9.44003324e+01] [ 3.84106086e-02 9.99261542e-01 9.97756375e-04 -3.76335945e+00] [ 2.72317080e-02 -2.04488080e-03 9.99627057e-01 1.01716960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.180714057 meters Centerline goodness [0,1] 0.9882173152311133 Centerline is valid? [True, True] Translation: X:94.43, Y:-3.77, Z:1.02 [[ 9.98887841e-01 -3.93540066e-02 -2.59681196e-02 9.44295042e+01] [ 3.93918973e-02 9.99223387e-01 9.48988771e-04 -3.76800905e+00] [ 2.59106059e-02 -1.97086685e-03 9.99662321e-01 1.01849941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.210714057 meters Centerline goodness [0,1] 0.9875616935573114 Centerline is valid? [True, True] Translation: X:94.46, Y:-3.77, Z:1.02 [[ 9.98866579e-01 -4.01340116e-02 -2.55894269e-02 9.44602332e+01] [ 4.01710542e-02 9.99192380e-01 9.34952490e-04 -3.77199031e+00] [ 2.55312370e-02 -1.96184705e-03 9.99672100e-01 1.01871782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.240714057 meters Centerline goodness [0,1] 0.986628885150093 Centerline is valid? [True, True] Translation: X:94.49, Y:-3.78, Z:1.02 [[ 9.98831063e-01 -4.12251267e-02 -2.52387759e-02 9.44904396e+01] [ 4.12615069e-02 9.99147956e-01 9.22140871e-04 -3.77601290e+00] [ 2.51792560e-02 -1.96245287e-03 9.99681026e-01 1.01887828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.270714057 meters Centerline goodness [0,1] 0.9826345984112974 Centerline is valid? [True, True] Translation: X:94.52, Y:-3.78, Z:1.02 [[ 9.98724405e-01 -4.37927340e-02 -2.51348062e-02 9.45201161e+01] [ 4.38296336e-02 9.99038597e-01 9.18772988e-04 -3.78383205e+00] [ 2.50704059e-02 -2.01925035e-03 9.99683649e-01 1.01814525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30071405700001 meters Centerline goodness [0,1] 0.9799518136203886 Centerline is valid? [True, True] Translation: X:94.55, Y:-3.79, Z:1.02 [[ 9.98658780e-01 -4.50815204e-02 -2.54616760e-02 9.45515517e+01] [ 4.51198235e-02 9.98981148e-01 9.31555001e-04 -3.78752597e+00] [ 2.53937384e-02 -2.07913191e-03 9.99675365e-01 1.01788374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33071405700001 meters Centerline goodness [0,1] 0.9810032584842506 Centerline is valid? [True, True] Translation: X:94.58, Y:-3.79, Z:1.02 [[ 9.98578151e-01 -4.63486651e-02 -2.63339720e-02 9.45830303e+01] [ 4.63900994e-02 9.98922934e-01 9.64349151e-04 -3.78983394e+00] [ 2.62609123e-02 -2.18461357e-03 9.99652736e-01 1.01764940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36071405700001 meters Centerline goodness [0,1] 0.9793334368139788 Centerline is valid? [True, True] Translation: X:94.61, Y:-3.79, Z:1.02 [[ 9.98557056e-01 -4.65151873e-02 -2.68354898e-02 9.46143347e+01] [ 4.65582992e-02 9.98915090e-01 9.83607506e-04 -3.79144690e+00] [ 2.67606230e-02 -2.23160298e-03 9.99639379e-01 1.01765674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.390714057 meters Centerline goodness [0,1] 0.9731577782695287 Centerline is valid? [True, True] Translation: X:94.65, Y:-3.79, Z:1.02 [[ 9.98536242e-01 -4.65450920e-02 -2.75486625e-02 9.46457728e+01] [ 4.65905632e-02 9.98913559e-01 1.01066320e-03 -3.79421084e+00] [ 2.74716911e-02 -2.29269153e-03 9.99619953e-01 1.01740004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.420714057 meters Centerline goodness [0,1] 0.9880717905592317 Centerline is valid? [True, True] Translation: X:94.68, Y:-3.78, Z:1.02 [[ 9.98557519e-01 -4.60422671e-02 -2.76222832e-02 9.46778092e+01] [ 4.60878170e-02 9.98936877e-01 1.01431483e-03 -3.78292987e+00] [ 2.75462159e-02 -2.28590243e-03 9.99617917e-01 1.01999731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.450714057 meters Centerline goodness [0,1] 0.9877889613980755 Centerline is valid? [True, True] Translation: X:94.71, Y:-3.78, Z:1.02 [[ 9.98557546e-01 -4.59009346e-02 -2.78555489e-02 9.47094493e+01] [ 4.59472305e-02 9.98943344e-01 1.02387871e-03 -3.78277262e+00] [ 2.77791181e-02 -2.30228714e-03 9.99611435e-01 1.02073647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.480714057 meters Centerline goodness [0,1] 0.9874723817940787 Centerline is valid? [True, True] Translation: X:94.74, Y:-3.79, Z:1.02 [[ 9.98623598e-01 -4.45977331e-02 -2.76034738e-02 9.47401357e+01] [ 4.46427272e-02 9.99002500e-01 1.01559665e-03 -3.78702382e+00] [ 2.75306460e-02 -2.24649313e-03 9.99618436e-01 1.02085091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.510714057 meters Centerline goodness [0,1] 0.9878595236518553 Centerline is valid? [True, True] Translation: X:94.77, Y:-3.79, Z:1.02 [[ 9.98660811e-01 -4.39703906e-02 -2.72615140e-02 9.47710633e+01] [ 4.40140703e-02 9.99030407e-01 1.00397542e-03 -3.78765307e+00] [ 2.71909362e-02 -2.20252110e-03 9.99627832e-01 1.02174501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.540714057 meters Centerline goodness [0,1] 0.9888490641178813 Centerline is valid? [True, True] Translation: X:94.80, Y:-3.78, Z:1.02 [[ 9.98768565e-01 -4.19040007e-02 -2.65595084e-02 9.48019240e+01] [ 4.19447466e-02 9.99119453e-01 9.78636742e-04 -3.78386491e+00] [ 2.64951127e-02 -2.09146346e-03 9.99646755e-01 1.02322336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.570714057 meters Centerline goodness [0,1] 0.9891285094322912 Centerline is valid? [True, True] Translation: X:94.83, Y:-3.78, Z:1.02 [[ 9.98831336e-01 -4.05439281e-02 -2.63087855e-02 9.48327987e+01] [ 4.05834484e-02 9.99175682e-01 9.69749955e-04 -3.78297933e+00] [ 2.62477813e-02 -2.03631788e-03 9.99653394e-01 1.02367670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.600714057 meters Centerline goodness [0,1] 0.9894045862061369 Centerline is valid? [True, True] Translation: X:94.86, Y:-3.79, Z:1.02 [[ 9.98899998e-01 -3.87781377e-02 -2.63638079e-02 9.48628082e+01] [ 3.88172178e-02 9.99245855e-01 9.71992698e-04 -3.78593923e+00] [ 2.63062337e-02 -1.99429318e-03 9.99651942e-01 1.02340829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.630714057 meters Centerline goodness [0,1] 0.9891945641365595 Centerline is valid? [True, True] Translation: X:94.89, Y:-3.78, Z:1.02 [[ 9.99026135e-01 -3.52282690e-02 -2.65659686e-02 9.48933894e+01] [ 3.52667018e-02 9.99377456e-01 9.79410168e-04 -3.78464521e+00] [ 2.65149272e-02 -1.91535045e-03 9.99646583e-01 1.02376774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.660714057 meters Centerline goodness [0,1] 0.9894501207916843 Centerline is valid? [True, True] Translation: X:94.92, Y:-3.78, Z:1.02 [[ 9.99060291e-01 -3.40631464e-02 -2.67999422e-02 9.49238967e+01] [ 3.41018418e-02 9.99417875e-01 9.88007248e-04 -3.78324588e+00] [ 2.67506866e-02 -1.90100620e-03 9.99640329e-01 1.02418195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69071405700001 meters Centerline goodness [0,1] 0.9891046792302411 Centerline is valid? [True, True] Translation: X:94.95, Y:-3.78, Z:1.02 [[ 9.99179455e-01 -3.13042601e-02 -2.56994044e-02 9.49526853e+01] [ 3.13389180e-02 9.99508367e-01 9.46839072e-04 -3.78237467e+00] [ 2.56571297e-02 -1.75145368e-03 9.99669267e-01 1.02469422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72071405700001 meters Centerline goodness [0,1] 0.9891433604932834 Centerline is valid? [True, True] Translation: X:94.98, Y:-3.78, Z:1.03 [[ 9.99231110e-01 -2.98538572e-02 -2.54152851e-02 9.49822889e+01] [ 2.98872611e-02 9.99552838e-01 9.35397613e-04 -3.78272670e+00] [ 2.53759952e-02 -1.69427166e-03 9.99676542e-01 1.02557181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.750714057 meters Centerline goodness [0,1] 0.9882616606754537 Centerline is valid? [True, True] Translation: X:95.01, Y:-3.78, Z:1.03 [[ 9.99303969e-01 -2.80652672e-02 -2.45747665e-02 9.50113035e+01] [ 2.80959385e-02 9.99604823e-01 9.03623441e-04 -3.78281190e+00] [ 2.45396947e-02 -1.59344562e-03 9.99697586e-01 1.02685486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.780714057 meters Centerline goodness [0,1] 0.988927274337851 Centerline is valid? [True, True] Translation: X:95.04, Y:-3.78, Z:1.03 [[ 9.99305011e-01 -2.81713849e-02 -2.44104012e-02 9.50397333e+01] [ 2.82015950e-02 9.99601856e-01 8.94149113e-04 -3.78401968e+00] [ 2.43754929e-02 -1.58193994e-03 9.99701622e-01 1.02675334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.810714057 meters Centerline goodness [0,1] 0.9885863434271936 Centerline is valid? [True, True] Translation: X:95.07, Y:-3.79, Z:1.03 [[ 9.99309226e-01 -2.78605537e-02 -2.45939123e-02 9.50694117e+01] [ 2.78910455e-02 9.99610566e-01 8.97589850e-04 -3.78509711e+00] [ 2.45593273e-02 -1.58291975e-03 9.99697121e-01 1.02685708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.840714057 meters Centerline goodness [0,1] 0.9893945108828293 Centerline is valid? [True, True] Translation: X:95.10, Y:-3.79, Z:1.03 [[ 9.99297512e-01 -2.75335447e-02 -2.54241125e-02 9.50982082e+01] [ 2.75659970e-02 9.99619556e-01 9.26779471e-04 -3.78631269e+00] [ 2.53889225e-02 -1.62696943e-03 9.99676325e-01 1.02629567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.870714057 meters Centerline goodness [0,1] 0.9893116906155757 Centerline is valid? [True, True] Translation: X:95.13, Y:-3.79, Z:1.03 [[ 9.99298288e-01 -2.75265599e-02 -2.54011812e-02 9.51268723e+01] [ 2.75588552e-02 9.99619757e-01 9.22148830e-04 -3.78797804e+00] [ 2.53661390e-02 -1.62152922e-03 9.99676913e-01 1.02628000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.900714057 meters Centerline goodness [0,1] 0.9887521034452219 Centerline is valid? [True, True] Translation: X:95.16, Y:-3.79, Z:1.03 [[ 9.99341242e-01 -2.62816106e-02 -2.50271789e-02 9.51550713e+01] [ 2.63124826e-02 9.99653357e-01 9.04967370e-04 -3.78884362e+00] [ 2.49947194e-02 -1.56289843e-03 9.99686361e-01 1.02651976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.930714057 meters Centerline goodness [0,1] 0.9901123994058572 Centerline is valid? [True, True] Translation: X:95.18, Y:-3.78, Z:1.03 [[ 9.99377661e-01 -2.57076250e-02 -2.41538622e-02 9.51843904e+01] [ 2.57361185e-02 9.99668393e-01 8.69499981e-04 -3.77883606e+00] [ 2.41234998e-02 -1.49058552e-03 9.99707875e-01 1.02910560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.960714057 meters Centerline goodness [0,1] 0.9886144217324722 Centerline is valid? [True, True] Translation: X:95.21, Y:-3.79, Z:1.03 [[ 9.99426532e-01 -2.44570318e-02 -2.34192291e-02 9.52127946e+01] [ 2.44833936e-02 9.99699884e-01 8.39536181e-04 -3.79020678e+00] [ 2.33916681e-02 -1.41243694e-03 9.99725380e-01 1.02790604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.990714057 meters Centerline goodness [0,1] 0.9896513435487453 Centerline is valid? [True, True] Translation: X:95.24, Y:-3.78, Z:1.03 [[ 9.99490851e-01 -2.30723524e-02 -2.20387119e-02 9.52423470e+01] [ 2.30953205e-02 9.99732957e-01 7.88177546e-04 -3.78034998e+00] [ 2.20146415e-02 -1.29676736e-03 9.99756807e-01 1.03066343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.020714057 meters Centerline goodness [0,1] 0.9896176919841498 Centerline is valid? [True, True] Translation: X:95.27, Y:-3.78, Z:1.03 [[ 9.99511868e-01 -2.25399027e-02 -2.16328262e-02 9.52710162e+01] [ 2.25618246e-02 9.99745153e-01 7.69798448e-04 -3.78070842e+00] [ 2.16099620e-02 -1.25749872e-03 9.99765687e-01 1.03081163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05071405700001 meters Centerline goodness [0,1] 0.9899586795219265 Centerline is valid? [True, True] Translation: X:95.30, Y:-3.78, Z:1.03 [[ 9.99530842e-01 -2.17518746e-02 -2.15627226e-02 9.53003515e+01] [ 2.17733612e-02 9.99762642e-01 7.62172939e-04 -3.78023468e+00] [ 2.15410259e-02 -1.23130831e-03 9.99767207e-01 1.03058085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08071405700001 meters Centerline goodness [0,1] 0.989345645032407 Centerline is valid? [True, True] Translation: X:95.33, Y:-3.78, Z:1.03 [[ 9.99509862e-01 -2.24309938e-02 -2.18377073e-02 9.53291625e+01] [ 2.24530801e-02 9.99747604e-01 7.66686072e-04 -3.78113290e+00] [ 2.18149980e-02 -1.25663408e-03 9.99761235e-01 1.03023687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11071405700001 meters Centerline goodness [0,1] 0.9899953311545387 Centerline is valid? [True, True] Translation: X:95.36, Y:-3.78, Z:1.03 [[ 9.99501255e-01 -2.28920080e-02 -2.17530804e-02 9.53575077e+01] [ 2.29139154e-02 9.99737154e-01 7.58340670e-04 -3.78134686e+00] [ 2.17300027e-02 -1.25641069e-03 9.99763086e-01 1.03021382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.140714057 meters Centerline goodness [0,1] 0.9896207584830339 Centerline is valid? [True, True] Translation: X:95.39, Y:-3.78, Z:1.03 [[ 9.99456987e-01 -2.52624061e-02 -2.11552097e-02 9.53871389e+01] [ 2.52835872e-02 9.99680049e-01 7.34310710e-04 -3.78391882e+00] [ 2.11298906e-02 -1.26879156e-03 9.99775934e-01 1.02916083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.170714057 meters Centerline goodness [0,1] 0.9892659510634042 Centerline is valid? [True, True] Translation: X:95.42, Y:-3.79, Z:1.03 [[ 9.99427121e-01 -2.65731697e-02 -2.09593965e-02 9.54160926e+01] [ 2.65942321e-02 9.99646047e-01 7.26776135e-04 -3.78816416e+00] [ 2.09326651e-02 -1.28375884e-03 9.99780064e-01 1.02900788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.200714057 meters Centerline goodness [0,1] 0.9890717665089624 Centerline is valid? [True, True] Translation: X:95.45, Y:-3.79, Z:1.03 [[ 9.99349670e-01 -2.97153569e-02 -2.04263253e-02 9.54467142e+01] [ 2.97360067e-02 9.99557537e-01 7.07887149e-04 -3.79020821e+00] [ 2.03962523e-02 -1.31482414e-03 9.99791110e-01 1.02922505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.230714057 meters Centerline goodness [0,1] 0.98836927015515 Centerline is valid? [True, True] Translation: X:95.48, Y:-3.80, Z:1.03 [[ 9.99297165e-01 -3.12022024e-02 -2.07749584e-02 9.54766328e+01] [ 3.12238976e-02 9.99512155e-01 7.20662642e-04 -3.79508396e+00] [ 2.07423372e-02 -1.36883131e-03 9.99783918e-01 1.02866694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.260714057 meters Centerline goodness [0,1] 0.9887154702256906 Centerline is valid? [True, True] Translation: X:95.51, Y:-3.79, Z:1.03 [[ 9.99211335e-01 -3.40259013e-02 -2.04681557e-02 9.55076546e+01] [ 3.40475714e-02 9.99419960e-01 7.11070728e-04 -3.79155617e+00] [ 2.04320886e-02 -1.40740092e-03 9.99790252e-01 1.02867672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.290714057 meters Centerline goodness [0,1] 0.9881995430650135 Centerline is valid? [True, True] Translation: X:95.54, Y:-3.79, Z:1.03 [[ 9.99172833e-01 -3.52524606e-02 -2.02710205e-02 9.55384721e+01] [ 3.52739785e-02 9.99377431e-01 7.04821919e-04 -3.79319312e+00] [ 2.02335537e-02 -1.41927846e-03 9.99794273e-01 1.02903575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.320714057 meters Centerline goodness [0,1] 0.9874095128125416 Centerline is valid? [True, True] Translation: X:95.57, Y:-3.80, Z:1.03 [[ 9.99107452e-01 -3.76321532e-02 -1.91864505e-02 9.55680791e+01] [ 3.76518759e-02 9.99290694e-01 6.67624943e-04 -3.79762947e+00] [ 1.91477173e-02 -1.38943491e-03 9.99815700e-01 1.02972243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.350714057 meters Centerline goodness [0,1] 0.9863457019993793 Centerline is valid? [True, True] Translation: X:95.60, Y:-3.80, Z:1.03 [[ 9.99093334e-01 -3.84915399e-02 -1.81909720e-02 9.55993993e+01] [ 3.85094214e-02 9.99258036e-01 6.33588633e-04 -3.80315781e+00] [ 1.81530871e-02 -1.33353798e-03 9.99834330e-01 1.03016556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.380714057 meters Centerline goodness [0,1] 0.9865930948898639 Centerline is valid? [True, True] Translation: X:95.63, Y:-3.80, Z:1.03 [[ 9.99058757e-01 -3.96425566e-02 -1.76087274e-02 9.56313356e+01] [ 3.96595153e-02 9.99213063e-01 6.14790757e-04 -3.80248849e+00] [ 1.75704985e-02 -1.31256568e-03 9.99844765e-01 1.03124481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.410714057 meters Centerline goodness [0,1] 0.9838408949658173 Centerline is valid? [True, True] Translation: X:95.66, Y:-3.81, Z:1.03 [[ 9.98993463e-01 -4.15624439e-02 -1.68708297e-02 9.56613718e+01] [ 4.15782978e-02 9.99135075e-01 5.89906343e-04 -3.81004935e+00] [ 1.68317197e-02 -1.29077296e-03 9.99857503e-01 1.03135102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44071405700001 meters Centerline goodness [0,1] 0.9845774897922954 Centerline is valid? [True, True] Translation: X:95.69, Y:-3.81, Z:1.03 [[ 9.98954300e-01 -4.25712624e-02 -1.66731643e-02 9.56932631e+01] [ 4.25868941e-02 9.99092596e-01 5.83448951e-04 -3.80634932e+00] [ 1.66331968e-02 -1.29289712e-03 9.99860823e-01 1.03160571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47071405700001 meters Centerline goodness [0,1] 0.984901716623677 Centerline is valid? [True, True] Translation: X:95.72, Y:-3.81, Z:1.03 [[ 9.98857235e-01 -4.47164956e-02 -1.68718372e-02 9.57245884e+01] [ 4.47328196e-02 9.98998811e-01 5.91196687e-04 -3.80640224e+00] [ 1.68285091e-02 -1.34524594e-03 9.99857486e-01 1.03069497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.500714057 meters Centerline goodness [0,1] 0.9841312056737589 Centerline is valid? [True, True] Translation: X:95.76, Y:-3.81, Z:1.03 [[ 9.98827568e-01 -4.52412007e-02 -1.72256662e-02 9.57552888e+01] [ 4.52583063e-02 9.98975135e-01 6.04296067e-04 -3.80994805e+00] [ 1.71806731e-02 -1.38319205e-03 9.99851445e-01 1.03036831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.530714057 meters Centerline goodness [0,1] 0.98438855160451 Centerline is valid? [True, True] Translation: X:95.79, Y:-3.81, Z:1.03 [[ 9.98765949e-01 -4.65555073e-02 -1.72963349e-02 9.57870358e+01] [ 4.65729649e-02 9.98914706e-01 6.07676826e-04 -3.80784368e+00] [ 1.72492725e-02 -1.41246852e-03 9.99850223e-01 1.02999841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.560714057 meters Centerline goodness [0,1] 0.984408410548824 Centerline is valid? [True, True] Translation: X:95.82, Y:-3.80, Z:1.03 [[ 9.98766032e-01 -4.63868924e-02 -1.77389241e-02 9.58194185e+01] [ 4.64052472e-02 9.98922501e-01 6.24281916e-04 -3.80459670e+00] [ 1.76908520e-02 -1.44669073e-03 9.99842458e-01 1.03108226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.590714057 meters Centerline goodness [0,1] 0.9837710107450176 Centerline is valid? [True, True] Translation: X:95.85, Y:-3.81, Z:1.03 [[ 9.98734067e-01 -4.72499080e-02 -1.72542357e-02 9.58512622e+01] [ 4.72674249e-02 9.98882085e-01 6.08601207e-04 -3.80595540e+00] [ 1.72061906e-02 -1.42339405e-03 9.99850949e-01 1.03120810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.620714057 meters Centerline goodness [0,1] 0.9837488621983438 Centerline is valid? [True, True] Translation: X:95.88, Y:-3.81, Z:1.03 [[ 9.98709959e-01 -4.78287139e-02 -1.70537935e-02 9.58839019e+01] [ 4.78459364e-02 9.98854545e-01 6.03087027e-04 -3.80566824e+00] [ 1.70054143e-02 -1.41826374e-03 9.99854392e-01 1.03176128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.650714057 meters Centerline goodness [0,1] 0.9838000669418722 Centerline is valid? [True, True] Translation: X:95.92, Y:-3.81, Z:1.03 [[ 9.98687724e-01 -4.82534239e-02 -1.71591602e-02 9.59156044e+01] [ 4.82709415e-02 9.98834094e-01 6.07942573e-04 -3.80529232e+00] [ 1.71098190e-02 -1.43543360e-03 9.99852586e-01 1.03207272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.680714057 meters Centerline goodness [0,1] 0.9823566196176523 Centerline is valid? [True, True] Translation: X:95.95, Y:-3.81, Z:1.03 [[ 9.98603846e-01 -5.00799516e-02 -1.68034855e-02 9.59456827e+01] [ 5.00970242e-02 9.98744178e-01 5.96365070e-04 -3.80760214e+00] [ 1.67525174e-02 -1.43733707e-03 9.99858634e-01 1.03168752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.710714057 meters Centerline goodness [0,1] 0.9824213528206043 Centerline is valid? [True, True] Translation: X:95.98, Y:-3.81, Z:1.03 [[ 9.98565423e-01 -5.09543931e-02 -1.64543264e-02 9.59771082e+01] [ 5.09709053e-02 9.98699967e-01 5.85429393e-04 -3.81050087e+00] [ 1.64031050e-02 -1.42328146e-03 9.99864447e-01 1.03167541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.740714057 meters Centerline goodness [0,1] 0.9827917150254442 Centerline is valid? [True, True] Translation: X:96.01, Y:-3.81, Z:1.03 [[ 9.98489557e-01 -5.26030256e-02 -1.58595669e-02 9.60079518e+01] [ 5.26185949e-02 9.98614522e-01 5.65732360e-04 -3.80548075e+00] [ 1.58078346e-02 -1.39938598e-03 9.99874069e-01 1.03259824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.770714057 meters Centerline goodness [0,1] 0.9803864820339285 Centerline is valid? [True, True] Translation: X:96.04, Y:-3.81, Z:1.03 [[ 9.98450106e-01 -5.34280975e-02 -1.55828370e-02 9.60385505e+01] [ 5.34432397e-02 9.98570734e-01 5.56629931e-04 -3.81363295e+00] [ 1.55308253e-02 -1.38856451e-03 9.99878425e-01 1.03236117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80071405700001 meters Centerline goodness [0,1] 0.9838731263383298 Centerline is valid? [True, True] Translation: X:96.07, Y:-3.81, Z:1.03 [[ 9.98398621e-01 -5.43963854e-02 -1.55314980e-02 9.60707378e+01] [ 5.44115583e-02 9.98518439e-01 5.55706213e-04 -3.80680137e+00] [ 1.54782588e-02 -1.39990933e-03 9.99879225e-01 1.03324724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83071405700001 meters Centerline goodness [0,1] 0.9789548619608017 Centerline is valid? [True, True] Translation: X:96.10, Y:-3.82, Z:1.03 [[ 9.98338062e-01 -5.55081506e-02 -1.54906454e-02 9.61014560e+01] [ 5.55233929e-02 9.98457232e-01 5.55305551e-04 -3.81714522e+00] [ 1.54359230e-02 -1.41447586e-03 9.99879859e-01 1.03304664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86071405700001 meters Centerline goodness [0,1] 0.981075297579243 Centerline is valid? [True, True] Translation: X:96.13, Y:-3.81, Z:1.03 [[ 9.98295146e-01 -5.63959428e-02 -1.50432087e-02 9.61340141e+01] [ 5.64104300e-02 9.98407518e-01 5.40123347e-04 -3.81194869e+00] [ 1.49887919e-02 -1.38779639e-03 9.99886699e-01 1.03322875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.890714057 meters Centerline goodness [0,1] 0.9807906087420517 Centerline is valid? [True, True] Translation: X:96.17, Y:-3.81, Z:1.03 [[ 9.98284368e-01 -5.65120445e-02 -1.53202076e-02 9.61661306e+01] [ 5.65271007e-02 9.98400913e-01 5.51183687e-04 -3.81419444e+00] [ 1.52645608e-02 -1.41624498e-03 9.99882487e-01 1.03347368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.920714057 meters Centerline goodness [0,1] 0.9799118079372856 Centerline is valid? [True, True] Translation: X:96.20, Y:-3.82, Z:1.03 [[ 9.98271312e-01 -5.67161538e-02 -1.54164129e-02 9.61979099e+01] [ 5.67314445e-02 9.98389320e-01 5.55981686e-04 -3.81521708e+00] [ 1.53600489e-02 -1.42961594e-03 9.99881005e-01 1.03341752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.950714057 meters Centerline goodness [0,1] 0.9799118079372856 Centerline is valid? [True, True] Translation: X:96.23, Y:-3.82, Z:1.03 [[ 9.98277384e-01 -5.66091953e-02 -1.54163415e-02 9.62305660e+01] [ 5.66245035e-02 9.98395390e-01 5.57955855e-04 -3.81649272e+00] [ 1.53600189e-02 -1.42993740e-03 9.99881005e-01 1.03380235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.980714057 meters Centerline goodness [0,1] 0.9801154729262801 Centerline is valid? [True, True] Translation: X:96.26, Y:-3.82, Z:1.03 [[ 9.98263289e-01 -5.66633358e-02 -1.61143423e-02 9.62628036e+01] [ 5.66800949e-02 9.98392220e-01 5.84845755e-04 -3.81825218e+00] [ 1.60552947e-02 -1.49719250e-03 9.99869985e-01 1.03310432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.010714057 meters Centerline goodness [0,1] 0.9802805629043374 Centerline is valid? [True, True] Translation: X:96.30, Y:-3.82, Z:1.03 [[ 9.98276003e-01 -5.63922082e-02 -1.62770053e-02 9.62953118e+01] [ 5.64092906e-02 9.98407553e-01 5.91910876e-04 -3.81803071e+00] [ 1.62177059e-02 -1.50906475e-03 9.99867346e-01 1.03337370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.040714057 meters Centerline goodness [0,1] 0.9805178846712393 Centerline is valid? [True, True] Translation: X:96.33, Y:-3.82, Z:1.03 [[ 9.98330204e-01 -5.54615948e-02 -1.61498043e-02 9.63280982e+01] [ 5.54783101e-02 9.98459719e-01 5.88504737e-04 -3.81785802e+00] [ 1.60922896e-02 -1.48348590e-03 9.99869410e-01 1.03375552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.070714057 meters Centerline goodness [0,1] 0.9788830168398424 Centerline is valid? [True, True] Translation: X:96.36, Y:-3.82, Z:1.03 [[ 9.98365541e-01 -5.49764677e-02 -1.56151816e-02 9.63597148e+01] [ 5.49920556e-02 9.98486629e-01 5.70304341e-04 -3.82047729e+00] [ 1.55601967e-02 -1.42808313e-03 9.99877913e-01 1.03408120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.100714057 meters Centerline goodness [0,1] 0.9811776817886797 Centerline is valid? [True, True] Translation: X:96.39, Y:-3.82, Z:1.04 [[ 9.98469817e-01 -5.32953696e-02 -1.47522544e-02 9.63914984e+01] [ 5.33091139e-02 9.98577912e-01 5.39731222e-04 -3.81534301e+00] [ 1.47025102e-02 -1.32533494e-03 9.99891034e-01 1.03545010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.130714057 meters Centerline goodness [0,1] 0.9799496513467151 Centerline is valid? [True, True] Translation: X:96.42, Y:-3.82, Z:1.04 [[ 9.98537330e-01 -5.20394988e-02 -1.46659896e-02 9.64230295e+01] [ 5.20529592e-02 9.98644181e-01 5.37307791e-04 -3.81702145e+00] [ 1.46181440e-02 -1.29993005e-03 9.99892304e-01 1.03549851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.160714057 meters Centerline goodness [0,1] 0.9820784515782164 Centerline is valid? [True, True] Translation: X:96.45, Y:-3.81, Z:1.04 [[ 9.98644483e-01 -5.01420348e-02 -1.39632690e-02 9.64534164e+01] [ 5.01540575e-02 9.98741362e-01 5.11963090e-04 -3.81483943e+00] [ 1.39200234e-02 -1.21158371e-03 9.99902378e-01 1.03527915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19071405700001 meters Centerline goodness [0,1] 0.9808393956351427 Centerline is valid? [True, True] Translation: X:96.49, Y:-3.82, Z:1.03 [[ 9.98685592e-01 -4.93373110e-02 -1.38895042e-02 9.64854469e+01] [ 4.93491318e-02 9.98781459e-01 5.09408403e-04 -3.81570906e+00] [ 1.38474465e-02 -1.19417381e-03 9.99903406e-01 1.03488486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22071405700001 meters Centerline goodness [0,1] 0.9817725827399346 Centerline is valid? [True, True] Translation: X:96.52, Y:-3.82, Z:1.03 [[ 9.98719427e-01 -4.86453666e-02 -1.38973105e-02 9.65175218e+01] [ 4.86571479e-02 9.98815409e-01 5.10684742e-04 -3.81562580e+00] [ 1.38560055e-02 -1.18623427e-03 9.99903297e-01 1.03490982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.250714057 meters Centerline goodness [0,1] 0.9805254332029066 Centerline is valid? [True, True] Translation: X:96.55, Y:-3.82, Z:1.04 [[ 9.98780600e-01 -4.74506929e-02 -1.36288184e-02 9.65484581e+01] [ 4.74619251e-02 9.98872922e-01 5.01710553e-04 -3.81696630e+00] [ 1.35896512e-02 -1.14794873e-03 9.99906997e-01 1.03548361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.280714057 meters Centerline goodness [0,1] 0.9727319691830821 Centerline is valid? [True, True] Translation: X:96.58, Y:-3.83, Z:1.04 [[ 9.98781888e-01 -4.75006695e-02 -1.33576774e-02 9.65791306e+01] [ 4.75114701e-02 9.98870571e-01 4.92223493e-04 -3.82903132e+00] [ 1.33192099e-02 -1.12626680e-03 9.99910661e-01 1.03552134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.310714057 meters Centerline goodness [0,1] 0.9776785714285714 Centerline is valid? [True, True] Translation: X:96.61, Y:-3.82, Z:1.03 [[ 9.98782584e-01 -4.73938142e-02 -1.36812477e-02 9.66128517e+01] [ 4.74051458e-02 9.98875616e-01 5.04976871e-04 -3.82473592e+00] [ 1.36419319e-02 -1.15292364e-03 9.99906280e-01 1.03482117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.340714057 meters Centerline goodness [0,1] 0.9815594891328703 Centerline is valid? [True, True] Translation: X:96.65, Y:-3.82, Z:1.03 [[ 9.98774884e-01 -4.75703451e-02 -1.36306279e-02 9.66454486e+01] [ 4.75816277e-02 9.98867226e-01 5.04453959e-04 -3.81932437e+00] [ 1.35911905e-02 -1.15240341e-03 9.99906971e-01 1.03469098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.370714057 meters Centerline goodness [0,1] 0.9786767011602383 Centerline is valid? [True, True] Translation: X:96.68, Y:-3.83, Z:1.03 [[ 9.98772151e-01 -4.76028161e-02 -1.37172217e-02 9.66760741e+01] [ 4.76142588e-02 9.98865668e-01 5.08620648e-04 -3.82955633e+00] [ 1.36774501e-02 -1.16113148e-03 9.99905785e-01 1.03439510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.400714057 meters Centerline goodness [0,1] 0.9815890386383513 Centerline is valid? [True, True] Translation: X:96.71, Y:-3.82, Z:1.03 [[ 9.98743521e-01 -4.79844151e-02 -1.44525150e-02 9.67087520e+01] [ 4.79971696e-02 9.98847327e-01 5.36748980e-04 -3.82439455e+00] [ 1.44101004e-02 -1.22975438e-03 9.99895413e-01 1.03394507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.430714057 meters Centerline goodness [0,1] 0.9762370011005548 Centerline is valid? [True, True] Translation: X:96.74, Y:-3.83, Z:1.03 [[ 9.98730773e-01 -4.81277137e-02 -1.48514568e-02 9.67396516e+01] [ 4.81412132e-02 9.98840387e-01 5.52604778e-04 -3.83436064e+00] [ 1.48076393e-02 -1.26687055e-03 9.99889558e-01 1.03335299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.460714057 meters Centerline goodness [0,1] 0.9826145552560647 Centerline is valid? [True, True] Translation: X:96.77, Y:-3.82, Z:1.03 [[ 9.98714982e-01 -4.79984879e-02 -1.62643835e-02 9.67726522e+01] [ 4.80146808e-02 9.98846446e-01 6.06357535e-04 -3.82442202e+00] [ 1.62165174e-02 -1.38650754e-03 9.99867542e-01 1.03309292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.490714057 meters Centerline goodness [0,1] 0.9810321219331523 Centerline is valid? [True, True] Translation: X:96.80, Y:-3.83, Z:1.03 [[ 9.98723406e-01 -4.77548443e-02 -1.64631100e-02 9.68037957e+01] [ 4.77714278e-02 9.98858104e-01 6.15307676e-04 -3.82900915e+00] [ 1.64149269e-02 -1.40098845e-03 9.99864284e-01 1.03311483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.520714057 meters Centerline goodness [0,1] 0.982765189717385 Centerline is valid? [True, True] Translation: X:96.84, Y:-3.83, Z:1.03 [[ 9.98745664e-01 -4.70660165e-02 -1.70847413e-02 9.68360534e+01] [ 4.70837938e-02 9.98890738e-01 6.39570986e-04 -3.82676258e+00] [ 1.70356878e-02 -1.44318318e-03 9.99853841e-01 1.03330081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55071405700001 meters Centerline goodness [0,1] 0.9823010839742725 Centerline is valid? [True, True] Translation: X:96.87, Y:-3.83, Z:1.03 [[ 9.98769492e-01 -4.65482419e-02 -1.71103427e-02 9.68684195e+01] [ 4.65660178e-02 9.98915008e-01 6.41742943e-04 -3.82814551e+00] [ 1.70619061e-02 -1.43771380e-03 9.99853401e-01 1.03366449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58071405700001 meters Centerline goodness [0,1] 0.9823113734961313 Centerline is valid? [True, True] Translation: X:96.90, Y:-3.83, Z:1.03 [[ 9.98833535e-01 -4.51372412e-02 -1.71521968e-02 9.68990995e+01] [ 4.51549150e-02 9.98979789e-01 6.44334931e-04 -3.82958046e+00] [ 1.71056144e-02 -1.41808933e-03 9.99852683e-01 1.03433345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.610714057 meters Centerline goodness [0,1] 0.9835796387520526 Centerline is valid? [True, True] Translation: X:96.93, Y:-3.82, Z:1.04 [[ 9.98938287e-01 -4.30377081e-02 -1.64333076e-02 9.69302105e+01] [ 4.30536569e-02 9.99072570e-01 6.17808976e-04 -3.82489405e+00] [ 1.63914777e-02 -1.32466703e-03 9.99864773e-01 1.03608378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.640714057 meters Centerline goodness [0,1] 0.9828738606953977 Centerline is valid? [True, True] Translation: X:96.96, Y:-3.83, Z:1.04 [[ 9.99066871e-01 -4.01316532e-02 -1.59636175e-02 9.69596409e+01] [ 4.01463366e-02 9.99193631e-01 6.00278219e-04 -3.82580264e+00] [ 1.59266548e-02 -1.24059884e-03 9.99872393e-01 1.03767213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.670714057 meters Centerline goodness [0,1] 0.9825043964467691 Centerline is valid? [True, True] Translation: X:96.99, Y:-3.83, Z:1.04 [[ 9.99121791e-01 -3.87617024e-02 -1.59115427e-02 9.69901009e+01] [ 3.87761152e-02 9.99247745e-01 5.98179362e-04 -3.82614078e+00] [ 1.58763867e-02 -1.21464185e-03 9.99873224e-01 1.03810022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.700714057 meters Centerline goodness [0,1] 0.9820968979997291 Centerline is valid? [True, True] Translation: X:97.02, Y:-3.83, Z:1.04 [[ 9.99165761e-01 -3.75272267e-02 -1.61086939e-02 9.70220408e+01] [ 3.75418463e-02 9.99294873e-01 6.06017187e-04 -3.82614432e+00] [ 1.60745931e-02 -1.21026173e-03 9.99870063e-01 1.03867855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.730714057 meters Centerline goodness [0,1] 0.9844389659150024 Centerline is valid? [True, True] Translation: X:97.05, Y:-3.82, Z:1.04 [[ 9.99237086e-01 -3.54503084e-02 -1.63866279e-02 9.70543926e+01] [ 3.54651731e-02 9.99370722e-01 6.17328485e-04 -3.81937344e+00] [ 1.63544317e-02 -1.19801211e-03 9.99865540e-01 1.03988294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.760714057 meters Centerline goodness [0,1] 0.9848707237213503 Centerline is valid? [True, True] Translation: X:97.09, Y:-3.82, Z:1.04 [[ 9.99258277e-01 -3.45621296e-02 -1.69810009e-02 9.70869950e+01] [ 3.45779822e-02 9.99401797e-01 6.40743866e-04 -3.81589268e+00] [ 1.69486973e-02 -1.22743736e-03 9.99855607e-01 1.04035600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.790714057 meters Centerline goodness [0,1] 0.9859829987339482 Centerline is valid? [True, True] Translation: X:97.12, Y:-3.82, Z:1.04 [[ 9.99285924e-01 -3.34744370e-02 -1.75243598e-02 9.71194362e+01] [ 3.34911767e-02 9.99438794e-01 6.62539085e-04 -3.81544500e+00] [ 1.74923469e-02 -1.24897741e-03 9.99846217e-01 1.04044602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.820714057 meters Centerline goodness [0,1] 0.9857739640961951 Centerline is valid? [True, True] Translation: X:97.15, Y:-3.82, Z:1.04 [[ 9.99293033e-01 -3.31241232e-02 -1.77827442e-02 9.71519844e+01] [ 3.31413281e-02 9.99450448e-01 6.73604789e-04 -3.81560505e+00] [ 1.77506591e-02 -1.26247233e-03 9.99841648e-01 1.04046902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.850714057 meters Centerline goodness [0,1] 0.9847640114664921 Centerline is valid? [True, True] Translation: X:97.18, Y:-3.82, Z:1.04 [[ 9.99293607e-01 -3.29853678e-02 -1.80070059e-02 9.71833433e+01] [ 3.30030087e-02 9.99455019e-01 6.83303438e-04 -3.81986854e+00] [ 1.79746534e-02 -1.27710613e-03 9.99837627e-01 1.04022034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.880714057 meters Centerline goodness [0,1] 0.984770770725535 Centerline is valid? [True, True] Translation: X:97.21, Y:-3.82, Z:1.04 [[ 9.99260023e-01 -3.35360330e-02 -1.88345773e-02 9.72143371e+01] [ 3.35554499e-02 9.99436601e-01 7.15747772e-04 -3.82293804e+00] [ 1.87999625e-02 -1.34722085e-03 9.99822357e-01 1.04043675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.910714057 meters Centerline goodness [0,1] 0.9821242937853107 Centerline is valid? [True, True] Translation: X:97.25, Y:-3.83, Z:1.04 [[ 9.99238161e-01 -3.38356765e-02 -1.94485152e-02 9.72450782e+01] [ 3.38564570e-02 9.99426432e-01 7.40124749e-04 -3.83404493e+00] [ 1.94123175e-02 -1.39801871e-03 9.99810586e-01 1.03944698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94071405700001 meters Centerline goodness [0,1] 0.9855203619909503 Centerline is valid? [True, True] Translation: X:97.28, Y:-3.83, Z:1.04 [[ 9.99174711e-01 -3.50448445e-02 -2.05366729e-02 9.72773161e+01] [ 3.50682960e-02 9.99384612e-01 7.82804458e-04 -3.82663384e+00] [ 2.04966016e-02 -1.50234454e-03 9.99788794e-01 1.04042604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97071405700001 meters Centerline goodness [0,1] 0.9838261537418962 Centerline is valid? [True, True] Translation: X:97.31, Y:-3.83, Z:1.04 [[ 9.99151654e-01 -3.54774463e-02 -2.09122589e-02 9.73078378e+01] [ 3.55018822e-02 9.99369291e-01 7.98287021e-04 -3.83199479e+00] [ 2.08707482e-02 -1.54003435e-03 9.99780996e-01 1.03991040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.000714057 meters Centerline goodness [0,1] 0.9866292617814076 Centerline is valid? [True, True] Translation: X:97.34, Y:-3.83, Z:1.04 [[ 9.99119575e-01 -3.61509964e-02 -2.12880323e-02 9.73401024e+01] [ 3.61764940e-02 9.99345085e-01 8.13731792e-04 -3.82923644e+00] [ 2.12446732e-02 -1.58314173e-03 9.99773053e-01 1.04031237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.030714057 meters Centerline goodness [0,1] 0.984271954674221 Centerline is valid? [True, True] Translation: X:97.37, Y:-3.84, Z:1.04 [[ 9.99133906e-01 -3.58632967e-02 -2.11012170e-02 9.73713916e+01] [ 3.58883128e-02 9.99355480e-01 8.07920524e-04 -3.83851964e+00] [ 2.10586421e-02 -1.56450786e-03 9.99777018e-01 1.03966672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.060714057 meters Centerline goodness [0,1] 0.9868813896679635 Centerline is valid? [True, True] Translation: X:97.40, Y:-3.83, Z:1.04 [[ 9.99152504e-01 -3.55767881e-02 -2.07018540e-02 9.74041749e+01] [ 3.56008309e-02 9.99365774e-01 7.93889388e-04 -3.83067630e+00] [ 2.06604803e-02 -1.53021977e-03 9.99785378e-01 1.04122175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.090714057 meters Centerline goodness [0,1] 0.9858224766713248 Centerline is valid? [True, True] Translation: X:97.44, Y:-3.84, Z:1.04 [[ 9.99188021e-01 -3.49580798e-02 -2.00307771e-02 9.74352446e+01] [ 3.49804905e-02 9.99387699e-01 7.69423455e-04 -3.83549547e+00] [ 1.99916147e-02 -1.46948511e-03 9.99799068e-01 1.04162994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.120714057 meters Centerline goodness [0,1] 0.9865415064465053 Centerline is valid? [True, True] Translation: X:97.47, Y:-3.83, Z:1.04 [[ 9.99192441e-01 -3.46059319e-02 -2.04180288e-02 9.74677041e+01] [ 3.46291704e-02 9.99399922e-01 7.85559906e-04 -3.83446225e+00] [ 2.03785913e-02 -1.49198492e-03 9.99791222e-01 1.04240597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.150714057 meters Centerline goodness [0,1] 0.9869512305057243 Centerline is valid? [True, True] Translation: X:97.50, Y:-3.83, Z:1.04 [[ 9.99161451e-01 -3.49140433e-02 -2.13870329e-02 9.74998527e+01] [ 3.49396441e-02 9.99389084e-01 8.24412824e-04 -3.83428207e+00] [ 2.13451837e-02 -1.57097683e-03 9.99770931e-01 1.04252843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.180714057 meters Centerline goodness [0,1] 0.9871607162968803 Centerline is valid? [True, True] Translation: X:97.53, Y:-3.84, Z:1.04 [[ 9.99144261e-01 -3.53293547e-02 -2.15077328e-02 9.75308908e+01] [ 3.53553708e-02 9.99374458e-01 8.30446423e-04 -3.83802060e+00] [ 2.14649397e-02 -1.59014964e-03 9.99768337e-01 1.04234265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.210714057 meters Centerline goodness [0,1] 0.9868826639667004 Centerline is valid? [True, True] Translation: X:97.56, Y:-3.84, Z:1.04 [[ 9.99109401e-01 -3.61159390e-02 -2.18184276e-02 9.75622798e+01] [ 3.61429205e-02 9.99346275e-01 8.43441560e-04 -3.84139267e+00] [ 2.17737027e-02 -1.63127209e-03 9.99761594e-01 1.04217201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.240714057 meters Centerline goodness [0,1] 0.9867491563554556 Centerline is valid? [True, True] Translation: X:97.59, Y:-3.84, Z:1.04 [[ 9.99027333e-01 -3.80823601e-02 -2.22288297e-02 9.75935321e+01] [ 3.81108680e-02 9.99273147e-01 8.60104413e-04 -3.84286422e+00] [ 2.21799178e-02 -1.70642781e-03 9.99752539e-01 1.04257847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.270714057 meters Centerline goodness [0,1] 0.9876884365662421 Centerline is valid? [True, True] Translation: X:97.63, Y:-3.85, Z:1.04 [[ 9.98991220e-01 -3.90151816e-02 -2.22341718e-02 9.76256206e+01] [ 3.90439590e-02 9.99237123e-01 8.61482966e-04 -3.84688872e+00] [ 2.21835989e-02 -1.72872401e-03 9.99752419e-01 1.04295665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30071405700001 meters Centerline goodness [0,1] 0.9880061990431912 Centerline is valid? [True, True] Translation: X:97.66, Y:-3.85, Z:1.04 [[ 9.98956668e-01 -4.00601466e-02 -2.19262242e-02 9.76566842e+01] [ 4.00884210e-02 9.99195773e-01 8.51323362e-04 -3.84974269e+00] [ 2.18744865e-02 -1.72942286e-03 9.99759229e-01 1.04398382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33071405700001 meters Centerline goodness [0,1] 0.9861711903534527 Centerline is valid? [True, True] Translation: X:97.69, Y:-3.85, Z:1.04 [[ 9.98962818e-01 -3.99571641e-02 -2.18337643e-02 9.76882080e+01] [ 3.99852256e-02 9.99199910e-01 8.50010373e-04 -3.85203041e+00] [ 2.17823313e-02 -1.72215675e-03 9.99761254e-01 1.04417521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.360714057 meters Centerline goodness [0,1] 0.9891416752843847 Centerline is valid? [True, True] Translation: X:97.72, Y:-3.85, Z:1.05 [[ 9.98971113e-01 -3.96522717e-02 -2.20093707e-02 9.77202078e+01] [ 3.96807606e-02 9.99212039e-01 8.59013806e-04 -3.84531248e+00] [ 2.19579664e-02 -1.73147855e-03 9.99757395e-01 1.04578189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.390714057 meters Centerline goodness [0,1] 0.9874387667969979 Centerline is valid? [True, True] Translation: X:97.75, Y:-3.86, Z:1.04 [[ 9.98992859e-01 -3.92784022e-02 -2.16904128e-02 9.77512474e+01] [ 3.93060141e-02 9.99226860e-01 8.47976904e-04 -3.85607555e+00] [ 2.16403359e-02 -1.69968654e-03 9.99764376e-01 1.04497586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.420714057 meters Centerline goodness [0,1] 0.9895880183502743 Centerline is valid? [True, True] Translation: X:97.78, Y:-3.85, Z:1.05 [[ 9.99008237e-01 -3.90884822e-02 -2.13221224e-02 9.77839397e+01] [ 3.91151496e-02 9.99234361e-01 8.34914465e-04 -3.85068954e+00] [ 2.12731618e-02 -1.66810444e-03 9.99772309e-01 1.04712594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.450714057 meters Centerline goodness [0,1] 0.9889316325841938 Centerline is valid? [True, True] Translation: X:97.82, Y:-3.85, Z:1.05 [[ 9.99000157e-01 -3.93403048e-02 -2.12373696e-02 9.78155461e+01] [ 3.93668461e-02 9.99224478e-01 8.32961553e-04 -3.85312004e+00] [ 2.11881306e-02 -1.66817698e-03 9.99774115e-01 1.04787906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.480714057 meters Centerline goodness [0,1] 0.9884168147365107 Centerline is valid? [True, True] Translation: X:97.85, Y:-3.86, Z:1.05 [[ 9.98984227e-01 -3.97388025e-02 -2.12448193e-02 9.78476447e+01] [ 3.97654798e-02 9.99208692e-01 8.34568029e-04 -3.85589855e+00] [ 2.11948434e-02 -1.67853073e-03 9.99773955e-01 1.04807104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.510714057 meters Centerline goodness [0,1] 0.9880411814953018 Centerline is valid? [True, True] Translation: X:97.88, Y:-3.86, Z:1.05 [[ 9.98894967e-01 -4.15082296e-02 -2.20434026e-02 9.78780413e+01] [ 4.15374020e-02 9.99136574e-01 8.66996028e-04 -3.86090918e+00] [ 2.19883823e-02 -1.78166364e-03 9.99756639e-01 1.04839453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.540714057 meters Centerline goodness [0,1] 0.9876487660014849 Centerline is valid? [True, True] Translation: X:97.91, Y:-3.86, Z:1.05 [[ 9.98860877e-01 -4.21750251e-02 -2.23207460e-02 9.79101344e+01] [ 4.22051231e-02 9.99108580e-01 8.78861110e-04 -3.86407014e+00] [ 2.22637829e-02 -1.81990981e-03 9.99750475e-01 1.04830023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.570714057 meters Centerline goodness [0,1] 0.9871573227957521 Centerline is valid? [True, True] Translation: X:97.94, Y:-3.87, Z:1.05 [[ 9.98752756e-01 -4.39517680e-02 -2.36891398e-02 9.79408427e+01] [ 4.39861928e-02 9.99031703e-01 9.33832781e-04 -3.86818463e+00] [ 2.36251581e-02 -1.97466314e-03 9.99718937e-01 1.04712346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.600714057 meters Centerline goodness [0,1] 0.9875365579302587 Centerline is valid? [True, True] Translation: X:97.97, Y:-3.87, Z:1.05 [[ 9.98702141e-01 -4.47637846e-02 -2.42947929e-02 9.79730872e+01] [ 4.48002575e-02 9.98995504e-01 9.58787501e-04 -3.87221335e+00] [ 2.42274699e-02 -2.04595611e-03 9.99704378e-01 1.04657917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.630714057 meters Centerline goodness [0,1] 0.9871008337266006 Centerline is valid? [True, True] Translation: X:98.00, Y:-3.88, Z:1.05 [[ 9.98644259e-01 -4.58580354e-02 -2.46309578e-02 9.80038525e+01] [ 4.58958812e-02 9.98945755e-01 9.73104251e-04 -3.87685112e+00] [ 2.45603661e-02 -2.10224449e-03 9.99696138e-01 1.04622622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.660714057 meters Centerline goodness [0,1] 0.9869139966273187 Centerline is valid? [True, True] Translation: X:98.04, Y:-3.88, Z:1.05 [[ 9.98611298e-01 -4.63633636e-02 -2.50182871e-02 9.80357572e+01] [ 4.64025946e-02 9.98922329e-01 9.89518577e-04 -3.87996578e+00] [ 2.49454482e-02 -2.14905786e-03 9.99686504e-01 1.04651929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69071405700001 meters Centerline goodness [0,1] 0.9831810118339209 Centerline is valid? [True, True] Translation: X:98.07, Y:-3.88, Z:1.05 [[ 9.98638465e-01 -4.58619580e-02 -2.48575220e-02 9.80664029e+01] [ 4.59005684e-02 9.98945528e-01 9.84625207e-04 -3.88425944e+00] [ 2.47861536e-02 -2.12425899e-03 9.99690519e-01 1.04680657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72071405700001 meters Centerline goodness [0,1] 0.9884794179074311 Centerline is valid? [True, True] Translation: X:98.10, Y:-3.88, Z:1.05 [[ 9.98664440e-01 -4.53079817e-02 -2.48298669e-02 9.80991784e+01] [ 4.53463737e-02 9.98970838e-01 9.85041500e-04 -3.88012167e+00] [ 2.47596827e-02 -2.10967034e-03 9.99691206e-01 1.04847737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.750714057 meters Centerline goodness [0,1] 0.9842825112107624 Centerline is valid? [True, True] Translation: X:98.13, Y:-3.89, Z:1.05 [[ 9.98687956e-01 -4.47219596e-02 -2.49461982e-02 9.81298870e+01] [ 4.47605684e-02 9.98997252e-01 9.91167138e-04 -3.88684405e+00] [ 2.48768565e-02 -2.10647269e-03 9.99688304e-01 1.04843887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.780714057 meters Centerline goodness [0,1] 0.9834784951064021 Centerline is valid? [True, True] Translation: X:98.16, Y:-3.89, Z:1.05 [[ 9.98767000e-01 -4.30784730e-02 -2.46723495e-02 9.81599737e+01] [ 4.31157852e-02 9.99069599e-01 9.82098307e-04 -3.88780754e+00] [ 2.46070870e-02 -2.04465510e-03 9.99695109e-01 1.04983673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.810714057 meters Centerline goodness [0,1] 0.9814652557794702 Centerline is valid? [True, True] Translation: X:98.19, Y:-3.89, Z:1.05 [[ 9.98809859e-01 -4.21711248e-02 -2.45043276e-02 9.81918550e+01] [ 4.22077015e-02 9.99108380e-01 9.77138916e-04 -3.88973846e+00] [ 2.44412720e-02 -2.01024733e-03 9.99699246e-01 1.05092038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.840714057 meters Centerline goodness [0,1] 0.9863453634873223 Centerline is valid? [True, True] Translation: X:98.22, Y:-3.89, Z:1.05 [[ 9.98874155e-01 -4.07841728e-02 -2.42296156e-02 9.82235652e+01] [ 4.08195574e-02 9.99166066e-01 9.67387353e-04 -3.88802658e+00] [ 2.41699556e-02 -1.95534041e-03 9.99705952e-01 1.05226814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.870714057 meters Centerline goodness [0,1] 0.9863453634873223 Centerline is valid? [True, True] Translation: X:98.26, Y:-3.89, Z:1.05 [[ 9.98876866e-01 -4.07177486e-02 -2.42295589e-02 9.82553344e+01] [ 4.07531480e-02 9.99168776e-01 9.68804995e-04 -3.88936343e+00] [ 2.41699712e-02 -1.95514770e-03 9.99705952e-01 1.05264288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.900714057 meters Centerline goodness [0,1] 0.9786316144253455 Centerline is valid? [True, True] Translation: X:98.29, Y:-3.89, Z:1.05 [[ 9.98888265e-01 -4.03353600e-02 -2.43986072e-02 9.82858596e+01] [ 4.03711662e-02 9.99184275e-01 9.76562157e-04 -3.89433734e+00] [ 2.43393147e-02 -1.96047671e-03 9.99701833e-01 1.05227852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.930714057 meters Centerline goodness [0,1] 0.9707807544368716 Centerline is valid? [True, True] Translation: X:98.32, Y:-3.90, Z:1.05 [[ 9.98916204e-01 -3.94529076e-02 -2.46958514e-02 9.83165931e+01] [ 3.94893390e-02 9.99219502e-01 9.89071175e-04 -3.89750933e+00] [ 2.46375546e-02 -1.96322207e-03 9.99694522e-01 1.05210831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.960714057 meters Centerline goodness [0,1] 0.9700204968804198 Centerline is valid? [True, True] Translation: X:98.35, Y:-3.90, Z:1.05 [[ 9.98924758e-01 -3.91184792e-02 -2.48811637e-02 9.83477112e+01] [ 3.91553764e-02 9.99232637e-01 9.97294257e-04 -3.89856569e+00] [ 2.48230582e-02 -1.97045325e-03 9.99689918e-01 1.05234402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.990714057 meters Centerline goodness [0,1] 0.9645806611309885 Centerline is valid? [True, True] Translation: X:98.38, Y:-3.90, Z:1.05 [[ 9.98937870e-01 -3.87042036e-02 -2.50023217e-02 9.83787533e+01] [ 3.87413522e-02 9.99248769e-01 1.00294920e-03 -3.90084999e+00] [ 2.49447208e-02 -1.97050769e-03 9.99686890e-01 1.05255544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.020714057 meters Centerline goodness [0,1] 0.9655598490294752 Centerline is valid? [True, True] Translation: X:98.41, Y:-3.90, Z:1.05 [[ 9.98992431e-01 -3.74587147e-02 -2.47177434e-02 9.84099269e+01] [ 3.74946535e-02 9.99296336e-01 9.91948248e-04 -3.90146866e+00] [ 2.46631933e-02 -1.91773202e-03 9.99693978e-01 1.05307228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05071405700001 meters Centerline goodness [0,1] 0.9614194763271162 Centerline is valid? [True, True] Translation: X:98.44, Y:-3.90, Z:1.05 [[ 9.99032602e-01 -3.63686142e-02 -2.47221278e-02 9.84399364e+01] [ 3.64042401e-02 9.99336653e-01 9.92369517e-04 -3.90298747e+00] [ 2.46696374e-02 -1.89139978e-03 9.99693869e-01 1.05314687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08071405700001 meters Centerline goodness [0,1] 0.9596402422489378 Centerline is valid? [True, True] Translation: X:98.47, Y:-3.90, Z:1.05 [[ 9.99094639e-01 -3.45850730e-02 -2.47744885e-02 9.84694581e+01] [ 3.46203201e-02 9.99400042e-01 9.95090046e-04 -3.90321238e+00] [ 2.47252096e-02 -1.85188985e-03 9.99692570e-01 1.05381200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.110714057 meters Centerline goodness [0,1] 0.9897531753896045 Centerline is valid? [True, True] Translation: X:98.50, Y:-3.89, Z:1.06 [[ 9.99127727e-01 -3.34378892e-02 -2.50138580e-02 9.85011532e+01] [ 3.34734792e-02 9.99439100e-01 1.00533367e-03 -3.88518170e+00] [ 2.49662115e-02 -1.84175760e-03 9.99686599e-01 1.05703634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.140714057 meters Centerline goodness [0,1] 0.9903057419835943 Centerline is valid? [True, True] Translation: X:98.53, Y:-3.89, Z:1.06 [[ 9.99153028e-01 -3.24868285e-02 -2.52553516e-02 9.85317867e+01] [ 3.25228124e-02 9.99470478e-01 1.01524913e-03 -3.88524216e+00] [ 2.52089961e-02 -1.83576430e-03 9.99680517e-01 1.05710736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.170714057 meters Centerline goodness [0,1] 0.99076999458386 Centerline is valid? [True, True] Translation: X:98.56, Y:-3.88, Z:1.06 [[ 9.99185842e-01 -3.05141832e-02 -2.63920134e-02 9.85627548e+01] [ 3.05528026e-02 9.99532591e-01 1.06119854e-03 -3.88495789e+00] [ 2.63472960e-02 -1.86668453e-03 9.99651107e-01 1.05666050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.200714057 meters Centerline goodness [0,1] 0.9908026187617516 Centerline is valid? [True, True] Translation: X:98.59, Y:-3.88, Z:1.06 [[ 9.99221411e-01 -2.88677001e-02 -2.68928825e-02 9.85929298e+01] [ 2.89072049e-02 9.99581515e-01 1.08127703e-03 -3.88048666e+00] [ 2.68504143e-02 -1.85783323e-03 9.99637736e-01 1.05751603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.230714057 meters Centerline goodness [0,1] 0.9911258008285604 Centerline is valid? [True, True] Translation: X:98.62, Y:-3.88, Z:1.06 [[ 9.99237678e-01 -2.81854866e-02 -2.70118637e-02 9.86221066e+01] [ 2.82249921e-02 9.99601010e-01 1.08229011e-03 -3.88070034e+00] [ 2.69705813e-02 -1.84387469e-03 9.99634527e-01 1.05826254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.260714057 meters Centerline goodness [0,1] 0.9913946922642575 Centerline is valid? [True, True] Translation: X:98.65, Y:-3.88, Z:1.06 [[ 9.99276156e-01 -2.73043990e-02 -2.64883688e-02 9.86509215e+01] [ 2.73419876e-02 9.99625578e-01 1.05784627e-03 -3.88242438e+00] [ 2.64495671e-02 -1.78132521e-03 9.99648562e-01 1.05869358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.290714057 meters Centerline goodness [0,1] 0.9919672353713174 Centerline is valid? [True, True] Translation: X:98.68, Y:-3.88, Z:1.06 [[ 9.99337086e-01 -2.59835571e-02 -2.54998782e-02 9.86795221e+01] [ 2.60179239e-02 9.99660959e-01 1.01681213e-03 -3.88149463e+00] [ 2.54648123e-02 -1.67959196e-03 9.99674308e-01 1.06015870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.320714057 meters Centerline goodness [0,1] 0.9906618129197097 Centerline is valid? [True, True] Translation: X:98.71, Y:-3.89, Z:1.06 [[ 9.99358503e-01 -2.53081140e-02 -2.53393182e-02 9.87075707e+01] [ 2.53417937e-02 9.99678336e-01 1.00885269e-03 -3.88805588e+00] [ 2.53056353e-02 -1.65034929e-03 9.99678399e-01 1.05912672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.350714057 meters Centerline goodness [0,1] 0.9907482624785631 Centerline is valid? [True, True] Translation: X:98.74, Y:-3.89, Z:1.06 [[ 9.99395962e-01 -2.37310444e-02 -2.53879573e-02 9.87358966e+01] [ 2.37643076e-02 9.99717080e-01 1.00924647e-03 -3.88717908e+00] [ 2.53568240e-02 -1.61196407e-03 9.99677164e-01 1.05946610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.380714057 meters Centerline goodness [0,1] 0.9910724375635666 Centerline is valid? [True, True] Translation: X:98.76, Y:-3.88, Z:1.06 [[ 9.99382121e-01 -2.36601196e-02 -2.59918348e-02 9.87647228e+01] [ 2.36948509e-02 9.99718708e-01 1.02902232e-03 -3.88139333e+00] [ 2.59601767e-02 -1.64425915e-03 9.99661626e-01 1.06075832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.410714057 meters Centerline goodness [0,1] 0.9909017022621573 Centerline is valid? [True, True] Translation: X:98.79, Y:-3.88, Z:1.06 [[ 9.99380815e-01 -2.32550980e-02 -2.64043147e-02 9.87926027e+01] [ 2.32906909e-02 9.99728193e-01 1.04121451e-03 -3.88332955e+00] [ 2.63729243e-02 -1.65554454e-03 9.99650803e-01 1.06048473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44071405700001 meters Centerline goodness [0,1] 0.9905566600397614 Centerline is valid? [True, True] Translation: X:98.82, Y:-3.88, Z:1.06 [[ 9.99409385e-01 -2.27190666e-02 -2.57822648e-02 9.88206739e+01] [ 2.27527684e-02 9.99740607e-01 1.01452661e-03 -3.88364739e+00] [ 2.57525280e-02 -1.60054532e-03 9.99667067e-01 1.06166154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47071405700001 meters Centerline goodness [0,1] 0.9908637497166175 Centerline is valid? [True, True] Translation: X:98.85, Y:-3.88, Z:1.06 [[ 9.99406372e-01 -2.32005776e-02 -2.54683302e-02 9.88494587e+01] [ 2.32335130e-02 9.99729567e-01 9.98006601e-04 -3.88494339e+00] [ 2.54382884e-02 -1.58913294e-03 9.99675131e-01 1.06250340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.500714057 meters Centerline goodness [0,1] 0.990035103612275 Centerline is valid? [True, True] Translation: X:98.88, Y:-3.89, Z:1.06 [[ 9.99400650e-01 -2.43459041e-02 -2.46093141e-02 9.88769451e+01] [ 2.43769089e-02 9.99702377e-01 9.60629542e-04 -3.88716156e+00] [ 2.45786025e-02 -1.55995280e-03 9.99696683e-01 1.06379826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.530714057 meters Centerline goodness [0,1] 0.9903114813473379 Centerline is valid? [True, True] Translation: X:98.91, Y:-3.88, Z:1.07 [[ 9.99392352e-01 -2.52113926e-02 -2.40688953e-02 9.89073151e+01] [ 2.52412666e-02 9.99680948e-01 9.38136743e-04 -3.87853786e+00] [ 2.40375643e-02 -1.54509609e-03 9.99709862e-01 1.06648480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.560714057 meters Centerline goodness [0,1] 0.9899348593142133 Centerline is valid? [True, True] Translation: X:98.94, Y:-3.88, Z:1.07 [[ 9.99372783e-01 -2.64009089e-02 -2.36015349e-02 9.89367321e+01] [ 2.64299441e-02 9.99650246e-01 9.19080299e-04 -3.88117968e+00] [ 2.35690157e-02 -1.54229109e-03 9.99721023e-01 1.06647999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.590714057 meters Centerline goodness [0,1] 0.9910030065329928 Centerline is valid? [True, True] Translation: X:98.97, Y:-3.89, Z:1.07 [[ 9.99337722e-01 -2.74810602e-02 -2.38518136e-02 9.89655860e+01] [ 2.75110005e-02 9.99621070e-01 9.27969990e-04 -3.88515187e+00] [ 2.38172739e-02 -1.58354267e-03 9.99715074e-01 1.06638864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.620714057 meters Centerline goodness [0,1] 0.9876255542484843 Centerline is valid? [True, True] Translation: X:98.99, Y:-3.90, Z:1.06 [[ 9.99309570e-01 -2.77866146e-02 -2.46634757e-02 9.89943906e+01] [ 2.78187043e-02 9.99612525e-01 9.58888944e-04 -3.89860422e+00] [ 2.46272749e-02 -1.64433284e-03 9.99695350e-01 1.06406666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.650714057 meters Centerline goodness [0,1] 0.9913108410834295 Centerline is valid? [True, True] Translation: X:99.03, Y:-3.88, Z:1.07 [[ 9.99295068e-01 -2.71791763e-02 -2.58970948e-02 9.90259631e+01] [ 2.72143491e-02 9.99629114e-01 1.00663431e-03 -3.88202951e+00] [ 2.58601304e-02 -1.71069728e-03 9.99664107e-01 1.06718398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.680714057 meters Centerline goodness [0,1] 0.9858093427485063 Centerline is valid? [True, True] Translation: X:99.05, Y:-3.90, Z:1.06 [[ 9.99287466e-01 -2.68908098e-02 -2.64848140e-02 9.90540198e+01] [ 2.69274710e-02 9.99636861e-01 1.02849770e-03 -3.90031232e+00] [ 2.64475392e-02 -1.74093392e-03 9.99648687e-01 1.06344636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.710714057 meters Centerline goodness [0,1] 0.9910977211978436 Centerline is valid? [True, True] Translation: X:99.08, Y:-3.88, Z:1.07 [[ 9.99291163e-01 -2.65604397e-02 -2.66779681e-02 9.90838360e+01] [ 2.65974066e-02 9.99645694e-01 1.03172274e-03 -3.88420155e+00] [ 2.66411129e-02 -1.74055618e-03 9.99643547e-01 1.06773568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.740714057 meters Centerline goodness [0,1] 0.9902218793956169 Centerline is valid? [True, True] Translation: X:99.11, Y:-3.89, Z:1.07 [[ 9.99324142e-01 -2.52610561e-02 -2.67046453e-02 9.91121717e+01] [ 2.52975331e-02 9.99679437e-01 1.02893132e-03 -3.88627567e+00] [ 2.66700929e-02 -1.70379756e-03 9.99642838e-01 1.06742005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.770714057 meters Centerline goodness [0,1] 0.9895673033402734 Centerline is valid? [True, True] Translation: X:99.14, Y:-3.89, Z:1.07 [[ 9.99353033e-01 -2.45565501e-02 -2.62771887e-02 9.91413861e+01] [ 2.45915172e-02 9.99697074e-01 1.00832700e-03 -3.88784451e+00] [ 2.62444677e-02 -1.65387059e-03 9.99654187e-01 1.06747271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80071405700001 meters Centerline goodness [0,1] 0.9903406895611264 Centerline is valid? [True, True] Translation: X:99.17, Y:-3.88, Z:1.07 [[ 9.99417655e-01 -2.09939337e-02 -2.68999206e-02 9.91716266e+01] [ 2.10292117e-02 9.99778332e-01 1.02920254e-03 -3.88392063e+00] [ 2.68723508e-02 -1.59428731e-03 9.99637602e-01 1.06865949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83071405700001 meters Centerline goodness [0,1] 0.9895026869478094 Centerline is valid? [True, True] Translation: X:99.20, Y:-3.88, Z:1.07 [[ 9.99453257e-01 -1.79918675e-02 -2.77395068e-02 9.92009057e+01] [ 1.80282091e-02 9.99836916e-01 1.06054667e-03 -3.88457271e+00] [ 2.77159017e-02 -1.56006045e-03 9.99614623e-01 1.06710543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.860714057 meters Centerline goodness [0,1] 0.9901869477318674 Centerline is valid? [True, True] Translation: X:99.23, Y:-3.89, Z:1.06 [[ 9.99441599e-01 -9.78517201e-03 -3.19490408e-02 9.92307865e+01] [ 9.82917394e-03 9.99950948e-01 1.22048406e-03 -3.88626594e+00] [ 3.19355310e-02 -1.53383522e-03 9.99488754e-01 1.06046366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.890714057 meters Centerline goodness [0,1] 0.9911315747692168 Centerline is valid? [True, True] Translation: X:99.26, Y:-3.88, Z:1.06 [[ 9.99526897e-01 -4.90578500e-03 -3.03630489e-02 9.92613226e+01] [ 4.94326764e-03 9.99987110e-01 1.15954101e-03 -3.88344789e+00] [ 3.03569690e-02 -1.30908511e-03 9.99538264e-01 1.06404412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.920714057 meters Centerline goodness [0,1] 0.9919285162111773 Centerline is valid? [True, True] Translation: X:99.29, Y:-3.88, Z:1.07 [[ 9.99607940e-01 -5.02072938e-04 -2.79948815e-02 9.92911162e+01] [ 5.32193404e-04 9.99999288e-01 1.06848721e-03 -3.87750778e+00] [ 2.79943251e-02 -1.08296699e-03 9.99607495e-01 1.07000465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.950714057 meters Centerline goodness [0,1] 0.991204345553308 Centerline is valid? [True, True] Translation: X:99.32, Y:-3.87, Z:1.08 [[ 9.99677589e-01 7.61502740e-03 -2.42225066e-02 9.93205642e+01] [-7.59487457e-03 9.99970732e-01 9.23877516e-04 -3.87217808e+00] [ 2.42288330e-02 -7.39612748e-04 9.99706165e-01 1.07613688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.980714057 meters Centerline goodness [0,1] 0.9919599826408716 Centerline is valid? [True, True] Translation: X:99.35, Y:-3.87, Z:1.08 [[ 9.99668126e-01 1.03881788e-02 -2.35737843e-02 9.93498797e+01] [-1.03699313e-02 9.99945829e-01 8.96176180e-04 -3.87308589e+00] [ 2.35818169e-02 -6.51420238e-04 9.99721698e-01 1.07627896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.010714057 meters Centerline goodness [0,1] 0.9922061396532528 Centerline is valid? [True, True] Translation: X:99.38, Y:-3.88, Z:1.07 [[ 9.99601620e-01 1.38208905e-02 -2.46086027e-02 9.93772610e+01] [-1.38021420e-02 9.99904312e-01 9.31562884e-04 -3.88184740e+00] [ 2.46191230e-02 -5.91540339e-04 9.99696728e-01 1.07064025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.040714057 meters Centerline goodness [0,1] 0.9925386632902233 Centerline is valid? [True, True] Translation: X:99.41, Y:-3.89, Z:1.07 [[ 9.99595717e-01 1.34377118e-02 -2.50565276e-02 9.94051549e+01] [-1.34182093e-02 9.99909524e-01 9.46318651e-04 -3.88790927e+00] [ 2.50669769e-02 -6.09722339e-04 9.99685588e-01 1.06852027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.070714057 meters Centerline goodness [0,1] 0.9922848933233783 Centerline is valid? [True, True] Translation: X:99.43, Y:-3.89, Z:1.07 [[ 9.99624991e-01 1.18544368e-02 -2.46850156e-02 9.94341403e+01] [-1.18351291e-02 9.99929532e-01 9.28121824e-04 -3.89217613e+00] [ 2.46942785e-02 -6.35623424e-04 9.99694848e-01 1.06910033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.100714057 meters Centerline goodness [0,1] 0.9914568548569362 Centerline is valid? [True, True] Translation: X:99.46, Y:-3.89, Z:1.07 [[ 9.99663796e-01 1.00882713e-02 -2.38855868e-02 9.94631213e+01] [-1.00697776e-02 9.99948898e-01 8.94417834e-04 -3.89456930e+00] [ 2.38933893e-02 -6.53594581e-04 9.99714299e-01 1.07153385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.130714057 meters Centerline goodness [0,1] 0.9899503161698283 Centerline is valid? [True, True] Translation: X:99.49, Y:-3.90, Z:1.08 [[ 9.99736278e-01 4.90808071e-03 -2.24340075e-02 9.94927464e+01] [-4.89048996e-03 9.99987690e-01 8.38907355e-04 -3.90059734e+00] [ 2.24378488e-02 -7.28972829e-04 9.99747974e-01 1.07537548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.160714057 meters Centerline goodness [0,1] 0.9905162145762636 Centerline is valid? [True, True] Translation: X:99.52, Y:-3.91, Z:1.08 [[ 9.99774208e-01 -8.14685732e-04 -2.12337014e-02 9.95227830e+01] [ 8.31724731e-04 9.99999339e-01 7.93631808e-04 -3.91146857e+00] [ 2.12330408e-02 -8.11113207e-04 9.99774225e-01 1.07538836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19071405700001 meters Centerline goodness [0,1] 0.9892912466605303 Centerline is valid? [True, True] Translation: X:99.55, Y:-3.92, Z:1.07 [[ 9.99782111e-01 -4.06046488e-03 -2.04754441e-02 9.95506093e+01] [ 4.07697384e-03 9.99991397e-01 7.64601615e-04 -3.92123850e+00] [ 2.04721633e-02 -8.47912867e-04 9.99790064e-01 1.07440157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22071405700001 meters Centerline goodness [0,1] 0.9901752344292013 Centerline is valid? [True, True] Translation: X:99.58, Y:-3.93, Z:1.07 [[ 9.99781839e-01 -6.95855894e-03 -1.96939574e-02 9.95798541e+01] [ 6.97436945e-03 9.99975409e-01 7.34239817e-04 -3.92882297e+00] [ 1.96883638e-02 -8.71432569e-04 9.99805786e-01 1.07460336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.250714057 meters Centerline goodness [0,1] 0.9893849516078677 Centerline is valid? [True, True] Translation: X:99.61, Y:-3.93, Z:1.08 [[ 9.99764997e-01 -9.96698138e-03 -1.92512209e-02 9.96089518e+01] [ 9.98262671e-03 9.99949915e-01 7.16763555e-04 -3.93477141e+00] [ 1.92431128e-02 -9.08772866e-04 9.99814421e-01 1.07548774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.280714057 meters Centerline goodness [0,1] 0.990115799103059 Centerline is valid? [True, True] Translation: X:99.64, Y:-3.94, Z:1.08 [[ 9.99714154e-01 -1.45365820e-02 -1.89815015e-02 9.96389909e+01] [ 1.45525944e-02 9.99893856e-01 7.05718327e-04 -3.94054964e+00] [ 1.89692280e-02 -9.81746692e-04 9.99819586e-01 1.07776635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.310714057 meters Centerline goodness [0,1] 0.9893877369404646 Centerline is valid? [True, True] Translation: X:99.67, Y:-3.94, Z:1.08 [[ 9.99693101e-01 -1.61694814e-02 -1.87683735e-02 9.96660644e+01] [ 1.61853987e-02 9.99868765e-01 6.96491289e-04 -3.94448493e+00] [ 1.87546485e-02 -1.00005115e-03 9.99823616e-01 1.07821715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.340714057 meters Centerline goodness [0,1] 0.9894914576436871 Centerline is valid? [True, True] Translation: X:99.70, Y:-3.95, Z:1.08 [[ 9.99662316e-01 -1.79642761e-02 -1.87760165e-02 9.96950520e+01] [ 1.79804803e-02 9.99838097e-01 6.94555953e-04 -3.95352664e+00] [ 1.87604994e-02 -1.03192321e-03 9.99823474e-01 1.07682733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.370714057 meters Centerline goodness [0,1] 0.9894496024165963 Centerline is valid? [True, True] Translation: X:99.72, Y:-3.96, Z:1.08 [[ 9.99654570e-01 -1.85683035e-02 -1.85999927e-02 9.97229442e+01] [ 1.85842809e-02 9.99827062e-01 6.86508012e-04 -3.96012236e+00] [ 1.85840287e-02 -1.03193836e-03 9.99826769e-01 1.07562686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.400714057 meters Centerline goodness [0,1] 0.9891748910820664 Centerline is valid? [True, True] Translation: X:99.75, Y:-3.97, Z:1.08 [[ 9.99647840e-01 -1.92911167e-02 -1.82222233e-02 9.97515225e+01] [ 1.93065143e-02 9.99813388e-01 6.69437524e-04 -3.96590830e+00] [ 1.82059086e-02 -1.02100939e-03 9.99833737e-01 1.07503701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.430714057 meters Centerline goodness [0,1] 0.9885223017438125 Centerline is valid? [True, True] Translation: X:99.78, Y:-3.97, Z:1.08 [[ 9.99661952e-01 -1.94491227e-02 -1.72543453e-02 9.97797130e+01] [ 1.94628991e-02 9.99810381e-01 6.30857068e-04 -3.97140709e+00] [ 1.72388039e-02 -9.66463390e-04 9.99850934e-01 1.07651267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.460714057 meters Centerline goodness [0,1] 0.9885067652855593 Centerline is valid? [True, True] Translation: X:99.81, Y:-3.97, Z:1.08 [[ 9.99678479e-01 -1.92426523e-02 -1.65123932e-02 9.98090372e+01] [ 1.92552288e-02 9.99814419e-01 6.02977943e-04 -3.97359420e+00] [ 1.64977259e-02 -9.20733983e-04 9.99863479e-01 1.07814636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.490714057 meters Centerline goodness [0,1] 0.9880702992348233 Centerline is valid? [True, True] Translation: X:99.84, Y:-3.98, Z:1.08 [[ 9.99684255e-01 -1.89538935e-02 -1.64966783e-02 9.98386648e+01] [ 1.89663975e-02 9.99819941e-01 6.01834290e-04 -3.97533269e+00] [ 1.64823008e-02 -9.14526822e-04 9.99863739e-01 1.07770974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.520714057 meters Centerline goodness [0,1] 0.9896306471982806 Centerline is valid? [True, True] Translation: X:99.87, Y:-3.97, Z:1.08 [[ 9.99684716e-01 -1.86608202e-02 -1.68000755e-02 9.98681206e+01] [ 1.86737371e-02 9.99825443e-01 6.12302745e-04 -3.97274452e+00] [ 1.67857169e-02 -9.25829888e-04 9.99858681e-01 1.07760568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55071405700001 meters Centerline goodness [0,1] 0.98930257179408 Centerline is valid? [True, True] Translation: X:99.90, Y:-3.98, Z:1.08 [[ 9.99688415e-01 -1.82764728e-02 -1.70012887e-02 9.98967678e+01] [ 1.82896333e-02 9.99832539e-01 6.18916157e-04 -3.97949946e+00] [ 1.69871301e-02 -9.29670649e-04 9.99855276e-01 1.07641837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58071405700001 meters Centerline goodness [0,1] 0.9896044848591861 Centerline is valid? [True, True] Translation: X:99.93, Y:-3.98, Z:1.08 [[ 9.99693466e-01 -1.75344444e-02 -1.74790622e-02 9.99253905e+01] [ 1.75482050e-02 9.99845817e-01 6.34185325e-04 -3.97881847e+00] [ 1.74652472e-02 -9.40717092e-04 9.99847028e-01 1.07613473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.610714057 meters Centerline goodness [0,1] 0.9889826017839796 Centerline is valid? [True, True] Translation: X:99.95, Y:-3.98, Z:1.08 [[ 9.99718940e-01 -1.63275031e-02 -1.71887916e-02 9.99532655e+01] [ 1.63405728e-02 9.99866292e-01 6.20182408e-04 -3.98362804e+00] [ 1.71763673e-02 -9.00882800e-04 9.99852069e-01 1.07692088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.640714057 meters Centerline goodness [0,1] 0.9880320028211853 Centerline is valid? [True, True] Translation: X:99.98, Y:-3.99, Z:1.08 [[ 9.99737497e-01 -1.56505629e-02 -1.67331390e-02 9.99808340e+01] [ 1.56628296e-02 9.99877149e-01 6.02266551e-04 -3.98978169e+00] [ 1.67216575e-02 -8.64196759e-04 9.99859810e-01 1.07729500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.670714057 meters Centerline goodness [0,1] 0.9895557905869911 Centerline is valid? [True, True] Translation: X:100.01, Y:-3.99, Z:1.08 [[ 9.99747626e-01 -1.50477838e-02 -1.66807749e-02 1.00010269e+02] [ 1.50598541e-02 9.99886415e-01 5.98220404e-04 -3.98508286e+00] [ 1.66698784e-02 -8.49279466e-04 9.99860687e-01 1.07796878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.700714057 meters Centerline goodness [0,1] 0.9896784961349262 Centerline is valid? [True, True] Translation: X:100.04, Y:-3.99, Z:1.08 [[ 9.99745430e-01 -1.42533250e-02 -1.74905152e-02 1.00039311e+02] [ 1.42663995e-02 9.99898036e-01 6.22966617e-04 -3.98716289e+00] [ 1.74798524e-02 -8.72334705e-04 9.99846835e-01 1.07718064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.730714057 meters Centerline goodness [0,1] 0.989339441862514 Centerline is valid? [True, True] Translation: X:100.07, Y:-3.99, Z:1.08 [[ 9.99742128e-01 -1.39514277e-02 -1.79174807e-02 1.00066701e+02] [ 1.39650360e-02 9.99902283e-01 6.34597031e-04 -3.99236861e+00] [ 1.79068763e-02 -8.84651649e-04 9.99839268e-01 1.07582714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.760714057 meters Centerline goodness [0,1] 0.989339441862514 Centerline is valid? [True, True] Translation: X:100.09, Y:-3.99, Z:1.08 [[ 9.99738244e-01 -1.42269077e-02 -1.79175772e-02 1.00094119e+02] [ 1.42405112e-02 9.99898399e-01 6.31860928e-04 -3.99325319e+00] [ 1.79067673e-02 -8.86850993e-04 9.99839268e-01 1.07615093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.790714057 meters Centerline goodness [0,1] 0.9892215305426629 Centerline is valid? [True, True] Translation: X:100.12, Y:-3.99, Z:1.08 [[ 9.99733923e-01 -1.34287239e-02 -1.87550876e-02 1.00122727e+02] [ 1.34433930e-02 9.99909418e-01 6.56275998e-04 -3.99279361e+00] [ 1.87445757e-02 -9.08233391e-04 9.99823892e-01 1.07636867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.820714057 meters Centerline goodness [0,1] 0.9896097593258476 Centerline is valid? [True, True] Translation: X:100.15, Y:-4.00, Z:1.08 [[ 9.99715776e-01 -1.41087273e-02 -1.92174644e-02 1.00150382e+02] [ 1.41241845e-02 9.99900025e-01 6.68834182e-04 -3.99633180e+00] [ 1.92061067e-02 -9.40075094e-04 9.99815104e-01 1.07529839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.850714057 meters Centerline goodness [0,1] 0.9892366395377048 Centerline is valid? [True, True] Translation: X:100.18, Y:-3.99, Z:1.08 [[ 9.99709963e-01 -1.41884452e-02 -1.94596286e-02 1.00178376e+02] [ 1.42042472e-02 9.99898887e-01 6.74056532e-04 -3.99384957e+00] [ 1.94480971e-02 -9.50270405e-04 9.99810416e-01 1.07643076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.880714057 meters Centerline goodness [0,1] 0.9894446892904363 Centerline is valid? [True, True] Translation: X:100.21, Y:-3.99, Z:1.08 [[ 9.99707905e-01 -1.43811030e-02 -1.94239139e-02 1.00206403e+02] [ 1.43967771e-02 9.99896138e-01 6.67348630e-04 -3.99428650e+00] [ 1.94122992e-02 -9.46795459e-04 9.99811115e-01 1.07684820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.910714057 meters Centerline goodness [0,1] 0.9887665198237885 Centerline is valid? [True, True] Translation: X:100.23, Y:-3.99, Z:1.08 [[ 9.99702961e-01 -1.46615586e-02 -1.94686738e-02 1.00234458e+02] [ 1.46772503e-02 9.99892063e-01 6.63346858e-04 -3.99314111e+00] [ 1.94568467e-02 -9.48896418e-04 9.99810247e-01 1.07719130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94071405700001 meters Centerline goodness [0,1] 0.9893307468477207 Centerline is valid? [True, True] Translation: X:100.26, Y:-3.99, Z:1.08 [[ 9.99709583e-01 -1.43056904e-02 -1.93932239e-02 1.00263749e+02] [ 1.43210938e-02 9.99897233e-01 6.55615366e-04 -3.99342069e+00] [ 1.93818519e-02 -9.33157144e-04 9.99811719e-01 1.07762165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97071405700001 meters Centerline goodness [0,1] 0.989075018208303 Centerline is valid? [True, True] Translation: X:100.29, Y:-3.99, Z:1.08 [[ 9.99719791e-01 -1.24813172e-02 -2.01135787e-02 1.00292009e+02] [ 1.24974487e-02 9.99921675e-01 6.76514935e-04 -3.99289667e+00] [ 2.01035595e-02 -9.27693787e-04 9.99797473e-01 1.07750349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.000714057 meters Centerline goodness [0,1] 0.9883715789008268 Centerline is valid? [True, True] Translation: X:100.32, Y:-3.99, Z:1.08 [[ 9.99720958e-01 -1.12563539e-02 -2.07677828e-02 1.00321423e+02] [ 1.12732266e-02 9.99936213e-01 6.95546638e-04 -3.98950349e+00] [ 2.07586288e-02 -9.29472473e-04 9.99784084e-01 1.07792388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.030714057 meters Centerline goodness [0,1] 0.9892701488905112 Centerline is valid? [True, True] Translation: X:100.35, Y:-3.99, Z:1.08 [[ 9.99739963e-01 -6.96021189e-03 -2.17154849e-02 1.00350386e+02] [ 6.97757804e-03 9.99975394e-01 7.24044478e-04 -3.98535303e+00] [ 2.17099111e-02 -8.75377690e-04 9.99763929e-01 1.07694918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.060714057 meters Centerline goodness [0,1] 0.990141562728461 Centerline is valid? [True, True] Translation: X:100.38, Y:-3.98, Z:1.08 [[ 9.99746990e-01 -4.67653526e-03 -2.20019548e-02 1.00379797e+02] [ 4.69374960e-03 9.99988717e-01 7.30823393e-04 -3.98389778e+00] [ 2.19982888e-02 -8.33910153e-04 9.99757661e-01 1.07641029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.090714057 meters Centerline goodness [0,1] 0.9892613586041981 Centerline is valid? [True, True] Translation: X:100.41, Y:-3.98, Z:1.08 [[ 9.99755960e-01 -2.63818723e-03 -2.19330722e-02 1.00409249e+02] [ 2.65469403e-03 9.99996215e-01 7.23516327e-04 -3.98199001e+00] [ 2.19310804e-02 -7.81565356e-04 9.99759179e-01 1.07628142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.120714057 meters Centerline goodness [0,1] 0.9916790556282867 Centerline is valid? [True, True] Translation: X:100.44, Y:-3.98, Z:1.08 [[ 9.99783962e-01 1.50998795e-03 -2.07303953e-02 1.00439475e+02] [-1.49618891e-03 9.99998649e-01 6.81136733e-04 -3.97674149e+00] [ 2.07313958e-02 -6.49972995e-04 9.99784870e-01 1.07756822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.150714057 meters Centerline goodness [0,1] 0.9923723364154415 Centerline is valid? [True, True] Translation: X:100.47, Y:-3.98, Z:1.08 [[ 9.99802751e-01 2.58901922e-03 -1.96915019e-02 1.00467713e+02] [-2.57682004e-03 9.99996472e-01 6.44863166e-04 -3.97622361e+00] [ 1.96931020e-02 -5.93994511e-04 9.99805896e-01 1.07845894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.180714057 meters Centerline goodness [0,1] 0.9919406762727293 Centerline is valid? [True, True] Translation: X:100.50, Y:-3.97, Z:1.08 [[ 9.99824166e-01 3.31394623e-03 -1.84568304e-02 1.00496546e+02] [-3.30341141e-03 9.99994363e-01 6.01240087e-04 -3.97159204e+00] [ 1.84587188e-02 -5.40163864e-04 9.99829477e-01 1.08074498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.210714057 meters Centerline goodness [0,1] 0.9924259201842583 Centerline is valid? [True, True] Translation: X:100.52, Y:-3.97, Z:1.08 [[ 9.99843525e-01 2.81457926e-03 -1.74643336e-02 1.00524482e+02] [-2.80509386e-03 9.99995905e-01 5.67602612e-04 -3.97376587e+00] [ 1.74658597e-02 -5.18524702e-04 9.99847326e-01 1.08101348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.240714057 meters Centerline goodness [0,1] 0.9919344116995347 Centerline is valid? [True, True] Translation: X:100.55, Y:-3.97, Z:1.08 [[ 9.99859241e-01 1.11947500e-03 -1.67404949e-02 1.00553400e+02] [-1.11054513e-03 9.99999236e-01 5.42716041e-04 -3.97369140e+00] [ 1.67410897e-02 -5.24048574e-04 9.99859721e-01 1.08169843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.270714057 meters Centerline goodness [0,1] 0.9918830808808853 Centerline is valid? [True, True] Translation: X:100.58, Y:-3.98, Z:1.08 [[ 9.99867484e-01 -3.39671652e-03 -1.59209702e-02 1.00582453e+02] [ 3.40534739e-03 9.99994069e-01 5.15028649e-04 -3.97726359e+00] [ 1.59191264e-02 -5.69176834e-04 9.99873121e-01 1.08163272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30071405700001 meters Centerline goodness [0,1] 0.9913404534049781 Centerline is valid? [True, True] Translation: X:100.61, Y:-3.98, Z:1.08 [[ 9.99852921e-01 -6.06698507e-03 -1.60414262e-02 1.00611638e+02] [ 6.07607206e-03 9.99981406e-01 5.17793069e-04 -3.98033156e+00] [ 1.60379865e-02 -6.15185774e-04 9.99871194e-01 1.08160617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33071405700001 meters Centerline goodness [0,1] 0.991145532821446 Centerline is valid? [True, True] Translation: X:100.64, Y:-3.98, Z:1.08 [[ 9.99820504e-01 -9.41913504e-03 -1.64389981e-02 1.00639818e+02] [ 9.42911483e-03 9.99955405e-01 5.29676313e-04 -3.98389217e+00] [ 1.64332759e-02 -6.84586439e-04 9.99864730e-01 1.08132276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.360714057 meters Centerline goodness [0,1] 0.9893058828760728 Centerline is valid? [True, True] Translation: X:100.67, Y:-3.99, Z:1.08 [[ 9.99714509e-01 -1.57501326e-02 -1.79675667e-02 1.00668820e+02] [ 1.57630580e-02 9.99875588e-01 5.77966232e-04 -3.98955311e+00] [ 1.79562283e-02 -8.61025023e-04 9.99838403e-01 1.08070217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.390714057 meters Centerline goodness [0,1] 0.9898846495119787 Centerline is valid? [True, True] Translation: X:100.70, Y:-3.99, Z:1.08 [[ 9.99657115e-01 -1.87538704e-02 -1.82741827e-02 1.00696713e+02] [ 1.87677291e-02 9.99823698e-01 5.87158089e-04 -3.99377238e+00] [ 1.82599495e-02 -9.29921671e-04 9.99832841e-01 1.08066437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.420714057 meters Centerline goodness [0,1] 0.9888942859666167 Centerline is valid? [True, True] Translation: X:100.73, Y:-4.00, Z:1.08 [[ 9.99560470e-01 -2.34835912e-02 -1.80938384e-02 1.00727175e+02] [ 2.34979349e-02 9.99723717e-01 5.80516210e-04 -3.99901635e+00] [ 1.80752067e-02 -1.00542889e-03 9.99836125e-01 1.08122931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.450714057 meters Centerline goodness [0,1] 0.9889866867176788 Centerline is valid? [True, True] Translation: X:100.76, Y:-4.00, Z:1.08 [[ 9.99524271e-01 -2.52798138e-02 -1.76681026e-02 1.00757317e+02] [ 2.52937669e-02 9.99679901e-01 5.66678089e-04 -3.99978351e+00] [ 1.76481216e-02 -1.01330137e-03 9.99843746e-01 1.08176103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.480714057 meters Centerline goodness [0,1] 0.9895443368850099 Centerline is valid? [True, True] Translation: X:100.79, Y:-4.00, Z:1.08 [[ 9.99489466e-01 -2.65281152e-02 -1.78063495e-02 1.00788160e+02] [ 2.65424831e-02 9.99647523e-01 5.71010965e-04 -3.99936141e+00] [ 1.77849253e-02 -1.04334417e-03 9.99841291e-01 1.08294037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.510714057 meters Centerline goodness [0,1] 0.9890477774082695 Centerline is valid? [True, True] Translation: X:100.82, Y:-4.00, Z:1.08 [[ 9.99487347e-01 -2.68581470e-02 -1.74264885e-02 1.00819231e+02] [ 2.68719654e-02 9.99638727e-01 5.59240001e-04 -4.00003912e+00] [ 1.74051726e-02 -1.02723730e-03 9.99847991e-01 1.08450418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.540714057 meters Centerline goodness [0,1] 0.9890432746471095 Centerline is valid? [True, True] Translation: X:100.85, Y:-4.00, Z:1.09 [[ 9.99498451e-01 -2.64541898e-02 -1.74075397e-02 1.00850144e+02] [ 2.64679281e-02 9.99649507e-01 5.59259953e-04 -3.99969059e+00] [ 1.73866437e-02 -1.01972097e-03 9.99848321e-01 1.08534778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.570714057 meters Centerline goodness [0,1] 0.988922056384743 Centerline is valid? [True, True] Translation: X:100.88, Y:-4.00, Z:1.09 [[ 9.99537145e-01 -2.59909837e-02 -1.58102974e-02 1.00881754e+02] [ 2.60022669e-02 9.99661755e-01 5.08479888e-04 -4.00161238e+00] [ 1.57917338e-02 -9.19348109e-04 9.99874880e-01 1.08671650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.600714057 meters Centerline goodness [0,1] 0.9885819033105855 Centerline is valid? [True, True] Translation: X:100.91, Y:-4.00, Z:1.09 [[ 9.99558384e-01 -2.55050288e-02 -1.52489518e-02 1.00913047e+02] [ 2.55154767e-02 9.99674307e-01 4.90963243e-04 -4.00380190e+00] [ 1.52314632e-02 -8.79830700e-04 9.99883607e-01 1.08725277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.630714057 meters Centerline goodness [0,1] 0.9886898318937904 Centerline is valid? [True, True] Translation: X:100.94, Y:-4.00, Z:1.09 [[ 9.99586631e-01 -2.48705222e-02 -1.44230284e-02 1.00944868e+02] [ 2.48798109e-02 9.99690341e-01 4.64917494e-04 -4.00290046e+00] [ 1.44069994e-02 -8.23567530e-04 9.99895875e-01 1.08863147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.660714057 meters Centerline goodness [0,1] 0.98786755784969 Centerline is valid? [True, True] Translation: X:100.97, Y:-4.01, Z:1.09 [[ 9.99602189e-01 -2.45364336e-02 -1.39077993e-02 1.00974682e+02] [ 2.45450475e-02 9.99698624e-01 4.48972841e-04 -4.00553745e+00] [ 1.38925916e-02 -7.90161828e-04 9.99903181e-01 1.08947871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69071405700001 meters Centerline goodness [0,1] 0.988684738734367 Centerline is valid? [True, True] Translation: X:101.01, Y:-4.01, Z:1.09 [[ 9.99592615e-01 -2.45255767e-02 -1.45979473e-02 1.01006503e+02] [ 2.45350718e-02 9.99698859e-01 4.71681360e-04 -4.00714774e+00] [ 1.45819830e-02 -8.29650890e-04 9.99893333e-01 1.08923475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72071405700001 meters Centerline goodness [0,1] 0.9882719845383466 Centerline is valid? [True, True] Translation: X:101.04, Y:-4.01, Z:1.09 [[ 9.99535743e-01 -2.54312195e-02 -1.67795196e-02 1.01036747e+02] [ 2.54439103e-02 9.99676104e-01 5.43245849e-04 -4.01321220e+00] [ 1.67602694e-02 -9.69930235e-04 9.99859066e-01 1.08769979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.750714057 meters Centerline goodness [0,1] 0.9877943995241137 Centerline is valid? [True, True] Translation: X:101.07, Y:-4.02, Z:1.09 [[ 9.99489792e-01 -2.62024875e-02 -1.82643432e-02 1.01066506e+02] [ 2.62176671e-02 9.99656083e-01 5.92114824e-04 -4.01793773e+00] [ 1.82425469e-02 -1.07066119e-03 9.99833018e-01 1.08658840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.780714057 meters Centerline goodness [0,1] 0.9892212934447866 Centerline is valid? [True, True] Translation: X:101.10, Y:-4.02, Z:1.09 [[ 9.99422328e-01 -2.76275364e-02 -1.97921357e-02 1.01097630e+02] [ 2.76456692e-02 9.99617579e-01 6.43088874e-04 -4.01621574e+00] [ 1.97667998e-02 -1.18988422e-03 9.99803910e-01 1.08650961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.810714057 meters Centerline goodness [0,1] 0.9902513093613837 Centerline is valid? [True, True] Translation: X:101.13, Y:-4.02, Z:1.09 [[ 9.99304473e-01 -3.08680406e-02 -2.09220979e-02 1.01127384e+02] [ 3.08890181e-02 9.99522589e-01 6.80144386e-04 -4.01793467e+00] [ 2.08911147e-02 -1.32593439e-03 9.99780878e-01 1.08587813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.840714057 meters Centerline goodness [0,1] 0.9889110473143258 Centerline is valid? [True, True] Translation: X:101.16, Y:-4.02, Z:1.09 [[ 9.99251024e-01 -3.24163909e-02 -2.11321876e-02 1.01157765e+02] [ 3.24381397e-02 9.99473509e-01 6.87119798e-04 -4.02464906e+00] [ 2.10987877e-02 -1.37209401e-03 9.99776454e-01 1.08502566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.870714057 meters Centerline goodness [0,1] 0.9891309121250713 Centerline is valid? [True, True] Translation: X:101.19, Y:-4.03, Z:1.09 [[ 9.99130630e-01 -3.55716761e-02 -2.17403043e-02 1.01188504e+02] [ 3.55954519e-02 9.99366031e-01 7.07511923e-04 -4.02513699e+00] [ 2.17013542e-02 -1.48075279e-03 9.99763401e-01 1.08626225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.900714057 meters Centerline goodness [0,1] 0.9882946076282332 Centerline is valid? [True, True] Translation: X:101.22, Y:-4.03, Z:1.09 [[ 9.99097067e-01 -3.66540163e-02 -2.14833541e-02 1.01219541e+02] [ 3.66774935e-02 9.99326909e-01 6.99674859e-04 -4.02794009e+00] [ 2.14432480e-02 -1.48699868e-03 9.99768961e-01 1.08659173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.930714057 meters Centerline goodness [0,1] 0.9868421052631579 Centerline is valid? [True, True] Translation: X:101.25, Y:-4.04, Z:1.09 [[ 9.99052473e-01 -3.80333278e-02 -2.11571043e-02 1.01249437e+02] [ 3.80564176e-02 9.99275354e-01 6.89647446e-04 -4.03569384e+00] [ 2.11155433e-02 -1.49415758e-03 9.99775926e-01 1.08625239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.960714057 meters Centerline goodness [0,1] 0.9876689485694226 Centerline is valid? [True, True] Translation: X:101.28, Y:-4.04, Z:1.09 [[ 9.99033268e-01 -3.84831390e-02 -2.12503388e-02 1.01281108e+02] [ 3.85065458e-02 9.99258107e-01 6.93242519e-04 -4.03722876e+00] [ 2.12078952e-02 -1.51084948e-03 9.99773946e-01 1.08669770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.990714057 meters Centerline goodness [0,1] 0.9872790279422731 Centerline is valid? [True, True] Translation: X:101.31, Y:-4.04, Z:1.09 [[ 9.99021286e-01 -3.91023240e-02 -2.06755609e-02 1.01311385e+02] [ 3.91246250e-02 9.99234111e-01 6.75061388e-04 -4.04100630e+00] [ 2.06333292e-02 -1.48332426e-03 9.99786010e-01 1.08691196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.020714057 meters Centerline goodness [0,1] 0.9859117840684661 Centerline is valid? [True, True] Translation: X:101.34, Y:-4.05, Z:1.09 [[ 9.98985865e-01 -4.01704614e-02 -2.03365521e-02 1.01342284e+02] [ 4.01922674e-02 9.99191743e-01 6.64499853e-04 -4.04546752e+00] [ 2.02934217e-02 -1.48119810e-03 9.99792970e-01 1.08761920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05071405700001 meters Centerline goodness [0,1] 0.9870377263471349 Centerline is valid? [True, True] Translation: X:101.37, Y:-4.04, Z:1.09 [[ 9.98950953e-01 -4.09725124e-02 -2.04510680e-02 1.01373476e+02] [ 4.09947468e-02 9.99159138e-01 6.68972329e-04 -4.04437022e+00] [ 2.04064620e-02 -1.50665690e-03 9.99790631e-01 1.08845466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08071405700001 meters Centerline goodness [0,1] 0.9868357540918864 Centerline is valid? [True, True] Translation: X:101.40, Y:-4.05, Z:1.09 [[ 9.98860512e-01 -4.32135126e-02 -2.02550977e-02 1.01403658e+02] [ 4.32357924e-02 9.99064676e-01 6.63135306e-04 -4.05151108e+00] [ 2.02074963e-02 -1.53812487e-03 9.99794625e-01 1.08858076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.110714057 meters Centerline goodness [0,1] 0.9863999298060894 Centerline is valid? [True, True] Translation: X:101.43, Y:-4.05, Z:1.09 [[ 9.98797781e-01 -4.43731543e-02 -2.08330434e-02 1.01434793e+02] [ 4.43969861e-02 9.99013734e-01 6.82598139e-04 -4.05297586e+00] [ 2.07822075e-02 -1.60670185e-03 9.99782736e-01 1.08845410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.140714057 meters Centerline goodness [0,1] 0.9858478146392838 Centerline is valid? [True, True] Translation: X:101.46, Y:-4.06, Z:1.09 [[ 9.98710618e-01 -4.59741340e-02 -2.15286151e-02 1.01464400e+02] [ 4.59999777e-02 9.98941191e-01 7.06500210e-04 -4.06043544e+00] [ 2.14733396e-02 -1.69590507e-03 9.99767983e-01 1.08730484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.170714057 meters Centerline goodness [0,1] 0.9854548640774572 Centerline is valid? [True, True] Translation: X:101.50, Y:-4.06, Z:1.09 [[ 9.98566742e-01 -4.86907558e-02 -2.22187377e-02 1.01495588e+02] [ 4.87189742e-02 9.98812259e-01 7.30174888e-04 -4.06082498e+00] [ 2.21567948e-02 -1.81160247e-03 9.99752867e-01 1.08698982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.200714057 meters Centerline goodness [0,1] 0.9860542504980625 Centerline is valid? [True, True] Translation: X:101.53, Y:-4.06, Z:1.09 [[ 9.98526787e-01 -4.94328550e-02 -2.23751555e-02 1.01526829e+02] [ 4.94616705e-02 9.98775751e-01 7.35905810e-04 -4.06382122e+00] [ 2.23113848e-02 -1.84153423e-03 9.99749374e-01 1.08689729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.230714057 meters Centerline goodness [0,1] 0.9817851832414939 Centerline is valid? [True, True] Translation: X:101.56, Y:-4.07, Z:1.09 [[ 9.98528740e-01 -4.93808787e-02 -2.24027811e-02 1.01558004e+02] [ 4.94097747e-02 9.98778319e-01 7.37809806e-04 -4.07463555e+00] [ 2.23389784e-02 -1.84364066e-03 9.99748754e-01 1.08618876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.260714057 meters Centerline goodness [0,1] 0.9857745340121933 Centerline is valid? [True, True] Translation: X:101.59, Y:-4.07, Z:1.09 [[ 9.98580882e-01 -4.84398647e-02 -2.21314523e-02 1.01589995e+02] [ 4.84678612e-02 9.98824476e-01 7.30053900e-04 -4.06809571e+00] [ 2.20700725e-02 -1.80168202e-03 9.99754803e-01 1.08790442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.290714057 meters Centerline goodness [0,1] 0.9855050317623174 Centerline is valid? [True, True] Translation: X:101.62, Y:-4.07, Z:1.09 [[ 9.98636520e-01 -4.74539820e-02 -2.17536192e-02 1.01620472e+02] [ 4.74808154e-02 9.98871892e-01 7.18386095e-04 -4.07044024e+00] [ 2.16949884e-02 -1.75028617e-03 9.99763104e-01 1.08834387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.320714057 meters Centerline goodness [0,1] 0.9868095811002953 Centerline is valid? [True, True] Translation: X:101.65, Y:-4.07, Z:1.09 [[ 9.98751888e-01 -4.46544269e-02 -2.23751755e-02 1.01651030e+02] [ 4.46821227e-02 9.99000982e-01 7.39125653e-04 -4.06750828e+00] [ 2.23198171e-02 -1.73797348e-03 9.99749371e-01 1.08905654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.350714057 meters Centerline goodness [0,1] 0.9877559081034823 Centerline is valid? [True, True] Translation: X:101.68, Y:-4.06, Z:1.09 [[ 9.98814101e-01 -4.31964547e-02 -2.24601544e-02 1.01682410e+02] [ 4.32240037e-02 9.99065130e-01 7.42322941e-04 -4.06358597e+00] [ 2.24070913e-02 -1.71226042e-03 9.99747463e-01 1.09005286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.380714057 meters Centerline goodness [0,1] 0.9857368213487577 Centerline is valid? [True, True] Translation: X:101.71, Y:-4.07, Z:1.09 [[ 9.98913835e-01 -4.08936584e-02 -2.23351607e-02 1.01712143e+02] [ 4.09203387e-02 9.99162139e-01 7.38620035e-04 -4.06690429e+00] [ 2.22862421e-02 -1.65178011e-03 9.99750266e-01 1.08950046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.410714057 meters Centerline goodness [0,1] 0.9863577919672238 Centerline is valid? [True, True] Translation: X:101.74, Y:-4.07, Z:1.09 [[ 9.98953733e-01 -3.99289446e-02 -2.22961603e-02 1.01743393e+02] [ 3.99553010e-02 9.99201196e-01 7.37701908e-04 -4.06501681e+00] [ 2.22488944e-02 -1.62777987e-03 9.99751138e-01 1.09039619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44071405700001 meters Centerline goodness [0,1] 0.9872115468983066 Centerline is valid? [True, True] Translation: X:101.77, Y:-4.06, Z:1.09 [[ 9.98981069e-01 -3.93391280e-02 -2.21191705e-02 1.01774298e+02] [ 3.93649329e-02 9.99224632e-01 7.32259169e-04 -4.06395734e+00] [ 2.20732136e-02 -1.60223271e-03 9.99755073e-01 1.09152486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47071405700001 meters Centerline goodness [0,1] 0.9868990857792748 Centerline is valid? [True, True] Translation: X:101.81, Y:-4.06, Z:1.09 [[ 9.98995551e-01 -3.93425820e-02 -2.14487958e-02 1.01805609e+02] [ 3.93668541e-02 9.99224572e-01 7.10409832e-04 -4.06496511e+00] [ 2.14042145e-02 -1.55406788e-03 9.99769696e-01 1.09152198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.500714057 meters Centerline goodness [0,1] 0.9861949388758422 Centerline is valid? [True, True] Translation: X:101.84, Y:-4.07, Z:1.09 [[ 9.98971941e-01 -3.97918006e-02 -2.17180463e-02 1.01835651e+02] [ 3.98168046e-02 9.99206737e-01 7.19927158e-04 -4.06927621e+00] [ 2.16721710e-02 -1.58393024e-03 9.99763876e-01 1.09115554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.530714057 meters Centerline goodness [0,1] 0.9868718083590856 Centerline is valid? [True, True] Translation: X:101.87, Y:-4.07, Z:1.09 [[ 9.98912593e-01 -4.07273350e-02 -2.26917721e-02 1.01866776e+02] [ 4.07548859e-02 9.99168891e-01 7.52811066e-04 -4.06752103e+00] [ 2.26422528e-02 -1.67679304e-03 9.99742225e-01 1.09109364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.560714057 meters Centerline goodness [0,1] 0.9870258166491043 Centerline is valid? [True, True] Translation: X:101.90, Y:-4.07, Z:1.09 [[ 9.98884885e-01 -4.11078051e-02 -2.32192577e-02 1.01897410e+02] [ 4.11367779e-02 9.99153227e-01 7.71323771e-04 -4.06982013e+00] [ 2.31678888e-02 -1.72562910e-03 9.99730099e-01 1.09060951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.590714057 meters Centerline goodness [0,1] 0.9858072146658782 Centerline is valid? [True, True] Translation: X:101.93, Y:-4.07, Z:1.09 [[ 9.98859102e-01 -4.13209452e-02 -2.39389800e-02 1.01928214e+02] [ 4.13518183e-02 9.99144331e-01 7.95852054e-04 -4.07122162e+00] [ 2.38856108e-02 -1.78486442e-03 9.99713105e-01 1.09051919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.620714057 meters Centerline goodness [0,1] 0.9857857158453242 Centerline is valid? [True, True] Translation: X:101.96, Y:-4.07, Z:1.09 [[ 9.98835196e-01 -4.18165090e-02 -2.40755177e-02 1.01958674e+02] [ 4.18478785e-02 9.99123673e-01 8.00391254e-04 -4.07235381e+00] [ 2.40209501e-02 -1.80696830e-03 9.99709822e-01 1.09090417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.650714057 meters Centerline goodness [0,1] 0.985110681658468 Centerline is valid? [True, True] Translation: X:101.99, Y:-4.08, Z:1.09 [[ 9.98852832e-01 -4.23235014e-02 -2.23995632e-02 1.01988623e+02] [ 4.23507851e-02 9.99102525e-01 7.44858155e-04 -4.07576643e+00] [ 2.23479352e-02 -1.69264276e-03 9.99748821e-01 1.09245288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.680714057 meters Centerline goodness [0,1] 0.985110681658468 Centerline is valid? [True, True] Translation: X:102.02, Y:-4.08, Z:1.09 [[ 9.98854288e-01 -4.22891516e-02 -2.23995443e-02 1.02019538e+02] [ 4.23164394e-02 9.99103980e-01 7.45427236e-04 -4.07682716e+00] [ 2.23479503e-02 -1.69244215e-03 9.99748821e-01 1.09281757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.710714057 meters Centerline goodness [0,1] 0.9854595697085334 Centerline is valid? [True, True] Translation: X:102.05, Y:-4.08, Z:1.09 [[ 9.98856786e-01 -4.27912793e-02 -2.13079350e-02 1.02050932e+02] [ 4.28161002e-02 9.99082718e-01 7.09812469e-04 -4.07782986e+00] [ 2.12580158e-02 -1.62132368e-03 9.99772708e-01 1.09376099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.740714057 meters Centerline goodness [0,1] 0.9837995440196422 Centerline is valid? [True, True] Translation: X:102.08, Y:-4.08, Z:1.09 [[ 9.98798024e-01 -4.45690902e-02 -2.03986027e-02 1.02081656e+02] [ 4.45922167e-02 9.99005041e-01 6.80055179e-04 -4.07979652e+00] [ 2.03479974e-02 -1.58885668e-03 9.99791696e-01 1.09420595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.770714057 meters Centerline goodness [0,1] 0.9850192202086766 Centerline is valid? [True, True] Translation: X:102.11, Y:-4.08, Z:1.09 [[ 9.98743105e-01 -4.56154564e-02 -2.07711249e-02 1.02113004e+02] [ 4.56396712e-02 9.98957727e-01 6.92995371e-04 -4.07790478e+00] [ 2.07178644e-02 -1.64011166e-03 9.99784017e-01 1.09454249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80071405700001 meters Centerline goodness [0,1] 0.9847823703541279 Centerline is valid? [True, True] Translation: X:102.14, Y:-4.08, Z:1.09 [[ 9.98690997e-01 -4.67473058e-02 -2.07601164e-02 1.02144726e+02] [ 4.67717645e-02 9.98905361e-01 6.93913172e-04 -4.07955547e+00] [ 2.07049530e-02 -1.66399211e-03 9.99784245e-01 1.09432793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83071405700001 meters Centerline goodness [0,1] 0.9849153547197155 Centerline is valid? [True, True] Translation: X:102.18, Y:-4.08, Z:1.09 [[ 9.98556216e-01 -4.92441168e-02 -2.14592835e-02 1.02175466e+02] [ 4.92708527e-02 9.98785195e-01 7.18638223e-04 -4.07853783e+00] [ 2.13978260e-02 -1.77491786e-03 9.99769465e-01 1.09468713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.860714057 meters Centerline goodness [0,1] 0.9845133229356589 Centerline is valid? [True, True] Translation: X:102.21, Y:-4.08, Z:1.09 [[ 9.98492026e-01 -5.04385947e-02 -2.16707669e-02 1.02206855e+02] [ 5.04661519e-02 9.98725508e-01 7.26284138e-04 -4.07964615e+00] [ 2.16065150e-02 -1.81882914e-03 9.99764898e-01 1.09497907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.890714057 meters Centerline goodness [0,1] 0.985186808370768 Centerline is valid? [True, True] Translation: X:102.24, Y:-4.08, Z:1.10 [[ 9.98455556e-01 -5.11126815e-02 -2.17714564e-02 1.02238684e+02] [ 5.11406757e-02 9.98691192e-01 7.30630629e-04 -4.07622489e+00] [ 2.17056173e-02 -1.84290920e-03 9.99762707e-01 1.09584397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.920714057 meters Centerline goodness [0,1] 0.9847177392793623 Centerline is valid? [True, True] Translation: X:102.27, Y:-4.08, Z:1.10 [[ 9.98355435e-01 -5.26584083e-02 -2.26609119e-02 1.02268374e+02] [ 5.26891477e-02 9.98610672e-01 7.61156313e-04 -4.08098519e+00] [ 2.25893472e-02 -1.95388867e-03 9.99742919e-01 1.09580201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.950714057 meters Centerline goodness [0,1] 0.9850347290694362 Centerline is valid? [True, True] Translation: X:102.30, Y:-4.08, Z:1.10 [[ 9.98307343e-01 -5.33517935e-02 -2.31524414e-02 1.02300945e+02] [ 5.33840854e-02 9.98573750e-01 7.78490337e-04 -4.07908373e+00] [ 2.30778864e-02 -2.01314453e-03 9.99731643e-01 1.09609427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.980714057 meters Centerline goodness [0,1] 0.9813459890580714 Centerline is valid? [True, True] Translation: X:102.33, Y:-4.09, Z:1.09 [[ 9.98243118e-01 -5.43215658e-02 -2.36610227e-02 1.02331903e+02] [ 5.43555985e-02 9.98521324e-01 7.97106394e-04 -4.08655550e+00] [ 2.35827357e-02 -2.08181502e-03 9.99719721e-01 1.09472214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.010714057 meters Centerline goodness [0,1] 0.9836887507115646 Centerline is valid? [True, True] Translation: X:102.36, Y:-4.08, Z:1.10 [[ 9.98242404e-01 -5.43010933e-02 -2.37380313e-02 1.02364447e+02] [ 5.43353773e-02 9.98522421e-01 8.01184747e-04 -4.08353133e+00] [ 2.36594513e-02 -2.08959147e-03 9.99717892e-01 1.09564289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.040714057 meters Centerline goodness [0,1] 0.9844993715961458 Centerline is valid? [True, True] Translation: X:102.40, Y:-4.08, Z:1.10 [[ 9.98271032e-01 -5.37466035e-02 -2.37960068e-02 1.02396561e+02] [ 5.37809396e-02 9.98552434e-01 8.04854374e-04 -4.07847319e+00] [ 2.37183023e-02 -2.08323441e-03 9.99716511e-01 1.09660337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.070714057 meters Centerline goodness [0,1] 0.9846170774647888 Centerline is valid? [True, True] Translation: X:102.43, Y:-4.08, Z:1.10 [[ 9.98401370e-01 -5.16631124e-02 -2.29265593e-02 1.02426271e+02] [ 5.16944582e-02 9.98662646e-01 7.76276999e-04 -4.07898815e+00] [ 2.28557935e-02 -1.96021208e-03 9.99736851e-01 1.09758801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.100714057 meters Centerline goodness [0,1] 0.9792875261938899 Centerline is valid? [True, True] Translation: X:102.46, Y:-4.09, Z:1.10 [[ 9.98500364e-01 -4.99465126e-02 -2.24135894e-02 1.02456367e+02] [ 4.99760459e-02 9.98750128e-01 7.59099563e-04 -4.08831355e+00] [ 2.23476609e-02 -1.87810376e-03 9.99748496e-01 1.09749941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.130714057 meters Centerline goodness [0,1] 0.980659690025169 Centerline is valid? [True, True] Translation: X:102.49, Y:-4.09, Z:1.10 [[ 9.98667825e-01 -4.68532850e-02 -2.16181436e-02 1.02486020e+02] [ 4.68800400e-02 9.98900258e-01 7.32217146e-04 -4.08628059e+00] [ 2.15600625e-02 -1.74470114e-03 9.99766032e-01 1.09864521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.160714057 meters Centerline goodness [0,1] 0.9847946505417872 Centerline is valid? [True, True] Translation: X:102.52, Y:-4.08, Z:1.10 [[ 9.98744063e-01 -4.52182861e-02 -2.15778530e-02 1.02517702e+02] [ 4.52445660e-02 9.98975673e-01 7.31018126e-04 -4.07961784e+00] [ 2.15226948e-02 -1.70638061e-03 9.99766904e-01 1.09996498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19071405700001 meters Centerline goodness [0,1] 0.9867155898410733 Centerline is valid? [True, True] Translation: X:102.55, Y:-4.07, Z:1.10 [[ 9.98788173e-01 -4.42213316e-02 -2.16023067e-02 1.02549971e+02] [ 4.42474599e-02 9.99020333e-01 7.32803441e-04 -4.06974336e+00] [ 2.15487381e-02 -1.68776261e-03 9.99766374e-01 1.10124918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22071405700001 meters Centerline goodness [0,1] 0.9856442422368479 Centerline is valid? [True, True] Translation: X:102.58, Y:-4.08, Z:1.10 [[ 9.98851781e-01 -4.27103684e-02 -2.17012561e-02 1.02579760e+02] [ 4.27364005e-02 9.99086111e-01 7.37001718e-04 -4.07977822e+00] [ 2.16499459e-02 -1.66358905e-03 9.99764228e-01 1.09984846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.250714057 meters Centerline goodness [0,1] 0.9854121079504011 Centerline is valid? [True, True] Translation: X:102.61, Y:-4.08, Z:1.10 [[ 9.98836435e-01 -4.27019851e-02 -2.24124052e-02 1.02612010e+02] [ 4.27297714e-02 9.99086376e-01 7.62125145e-04 -4.07692482e+00] [ 2.23593844e-02 -1.71891531e-03 9.99748520e-01 1.10045269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.280714057 meters Centerline goodness [0,1] 0.9861868090646307 Centerline is valid? [True, True] Translation: X:102.64, Y:-4.08, Z:1.10 [[ 9.98783848e-01 -4.34239634e-02 -2.33491977e-02 1.02642914e+02] [ 4.34543428e-02 9.99055098e-01 7.95046111e-04 -4.07585450e+00] [ 2.32926109e-02 -1.80870325e-03 9.99727054e-01 1.10076158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.310714057 meters Centerline goodness [0,1] 0.9863216838936721 Centerline is valid? [True, True] Translation: X:102.67, Y:-4.08, Z:1.10 [[ 9.98747208e-01 -4.41924016e-02 -2.34743671e-02 1.02674035e+02] [ 4.42233332e-02 9.99021350e-01 7.99932414e-04 -4.07532974e+00] [ 2.34160429e-02 -1.83704502e-03 9.99724119e-01 1.10113964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.340714057 meters Centerline goodness [0,1] 0.9855437109625019 Centerline is valid? [True, True] Translation: X:102.70, Y:-4.08, Z:1.10 [[ 9.98722447e-01 -4.47560138e-02 -2.34600483e-02 1.02703886e+02] [ 4.47870768e-02 9.98996235e-01 8.00068948e-04 -4.08082782e+00] [ 2.34006920e-02 -1.84975380e-03 9.99724455e-01 1.10070074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.370714057 meters Centerline goodness [0,1] 0.9863511477443943 Centerline is valid? [True, True] Translation: X:102.74, Y:-4.08, Z:1.10 [[ 9.98682302e-01 -4.55320443e-02 -2.36747140e-02 1.02735276e+02] [ 4.55639102e-02 9.98961099e-01 8.08022725e-04 -4.07696360e+00] [ 2.36133274e-02 -1.88567054e-03 9.99719388e-01 1.10183452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.400714057 meters Centerline goodness [0,1] 0.9849202834366696 Centerline is valid? [True, True] Translation: X:102.77, Y:-4.08, Z:1.10 [[ 9.98691267e-01 -4.52564540e-02 -2.38244809e-02 1.02766602e+02] [ 4.52886719e-02 9.98973610e-01 8.14199368e-04 -4.07842896e+00] [ 2.37631799e-02 -1.89211290e-03 9.99715825e-01 1.10211623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.430714057 meters Centerline goodness [0,1] 0.9851227977098392 Centerline is valid? [True, True] Translation: X:102.80, Y:-4.08, Z:1.10 [[ 9.98801372e-01 -4.33794395e-02 -2.26725265e-02 1.02796316e+02] [ 4.34081491e-02 9.99057121e-01 7.75430245e-04 -4.07843180e+00] [ 2.26175113e-02 -1.75867320e-03 9.99742645e-01 1.10293527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.460714057 meters Centerline goodness [0,1] 0.9857485348961108 Centerline is valid? [True, True] Translation: X:102.83, Y:-4.08, Z:1.10 [[ 9.98890038e-01 -4.16193134e-02 -2.20573215e-02 1.02827964e+02] [ 4.16460707e-02 9.99132141e-01 7.54920370e-04 -4.07795650e+00] [ 2.20067596e-02 -1.67268321e-03 9.99756423e-01 1.10394249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.490714057 meters Centerline goodness [0,1] 0.9865056818181818 Centerline is valid? [True, True] Translation: X:102.86, Y:-4.08, Z:1.11 [[ 9.99011326e-01 -3.91819378e-02 -2.10034968e-02 1.02858948e+02] [ 3.92056787e-02 9.99230903e-01 7.19591265e-04 -4.07639311e+00] [ 2.09591481e-02 -1.54233617e-03 9.99779143e-01 1.10515233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.520714057 meters Centerline goodness [0,1] 0.9857057508906246 Centerline is valid? [True, True] Translation: X:102.89, Y:-4.07, Z:1.11 [[ 9.99209076e-01 -3.46401600e-02 -1.95264136e-02 1.02889100e+02] [ 3.46598190e-02 9.99398944e-01 6.69168401e-04 -4.07448232e+00] [ 1.94914970e-02 -1.34542110e-03 9.99809117e-01 1.10705338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55071405700001 meters Centerline goodness [0,1] 0.9861735835678359 Centerline is valid? [True, True] Translation: X:102.92, Y:-4.07, Z:1.11 [[ 9.99308074e-01 -3.21747718e-02 -1.86589549e-02 1.02919467e+02] [ 3.21922946e-02 9.99481489e-01 6.39432461e-04 -4.07329170e+00] [ 1.86287064e-02 -1.23966459e-03 9.99825702e-01 1.10793544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58071405700001 meters Centerline goodness [0,1] 0.9862271192464901 Centerline is valid? [True, True] Translation: X:102.95, Y:-4.07, Z:1.11 [[ 9.99446260e-01 -2.77297241e-02 -1.83911677e-02 1.02949335e+02] [ 2.77459960e-02 9.99614807e-01 6.30146647e-04 -4.07121601e+00] [ 1.83666098e-02 -1.14007898e-03 9.99830670e-01 1.10917650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.610714057 meters Centerline goodness [0,1] 0.9866950034314051 Centerline is valid? [True, True] Translation: X:102.98, Y:-4.07, Z:1.11 [[ 9.99498826e-01 -2.56395439e-02 -1.85663736e-02 1.02980033e+02] [ 2.56557645e-02 9.99670634e-01 6.35953781e-04 -4.07082446e+00] [ 1.85439529e-02 -1.11196957e-03 9.99827428e-01 1.10954402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.640714057 meters Centerline goodness [0,1] 0.9879045730960283 Centerline is valid? [True, True] Translation: X:103.01, Y:-4.06, Z:1.11 [[ 9.99589193e-01 -2.16390768e-02 -1.87934843e-02 1.03011028e+02] [ 2.16549916e-02 9.99765296e-01 6.43709421e-04 -4.06370384e+00] [ 1.87751441e-02 -1.05041772e-03 9.99823180e-01 1.11011447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.670714057 meters Centerline goodness [0,1] 0.9887832236039991 Centerline is valid? [True, True] Translation: X:103.04, Y:-4.06, Z:1.11 [[ 9.99627484e-01 -1.96051501e-02 -1.89876786e-02 1.03039714e+02] [ 1.96210220e-02 9.99807278e-01 6.49952114e-04 -4.06434729e+00] [ 1.89712768e-02 -1.02226766e-03 9.99819507e-01 1.11012863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.700714057 meters Centerline goodness [0,1] 0.9883217512932662 Centerline is valid? [True, True] Translation: X:103.07, Y:-4.06, Z:1.11 [[ 9.99656997e-01 -1.77343001e-02 -1.92712898e-02 1.03068449e+02] [ 1.77502812e-02 9.99842234e-01 6.58520269e-04 -4.06002858e+00] [ 1.92565711e-02 -1.00036521e-03 9.99814075e-01 1.11070438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.730714057 meters Centerline goodness [0,1] 0.9890171092496881 Centerline is valid? [True, True] Translation: X:103.10, Y:-4.06, Z:1.11 [[ 9.99673685e-01 -1.51354156e-02 -2.05777031e-02 1.03097758e+02] [ 1.51530636e-02 9.99884939e-01 7.01967530e-04 -4.05984467e+00] [ 2.05647109e-02 -1.01355371e-03 9.99788010e-01 1.11011174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.760714057 meters Centerline goodness [0,1] 0.9887309486086626 Centerline is valid? [True, True] Translation: X:103.13, Y:-4.06, Z:1.11 [[ 9.99673503e-01 -1.44974605e-02 -2.10407223e-02 1.03125304e+02] [ 1.45157454e-02 9.99894384e-01 7.16546311e-04 -4.06266051e+00] [ 2.10281120e-02 -1.02173413e-03 9.99778363e-01 1.10937449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.790714057 meters Centerline goodness [0,1] 0.9907355731666481 Centerline is valid? [True, True] Translation: X:103.15, Y:-4.06, Z:1.11 [[ 9.99646940e-01 -1.43858221e-02 -2.23392727e-02 1.03153479e+02] [ 1.44063159e-02 9.99895937e-01 7.56719841e-04 -4.05964562e+00] [ 2.23260620e-02 -1.07827929e-03 9.99750161e-01 1.10907095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.820714057 meters Centerline goodness [0,1] 0.9898504392926606 Centerline is valid? [True, True] Translation: X:103.18, Y:-4.06, Z:1.11 [[ 9.99628397e-01 -1.52136806e-02 -2.26188301e-02 1.03182333e+02] [ 1.52347661e-02 9.99883655e-01 7.60173707e-04 -4.06201488e+00] [ 2.26046335e-02 -1.10448381e-03 9.99743873e-01 1.10860239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.850714057 meters Centerline goodness [0,1] 0.9902688917721802 Centerline is valid? [True, True] Translation: X:103.21, Y:-4.06, Z:1.11 [[ 9.99623525e-01 -1.57440808e-02 -2.24706885e-02 1.03210798e+02] [ 1.57648997e-02 9.99875445e-01 7.49635788e-04 -4.06116085e+00] [ 2.24560873e-02 -1.10360172e-03 9.99747221e-01 1.10943238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.880714057 meters Centerline goodness [0,1] 0.9904952698942682 Centerline is valid? [True, True] Translation: X:103.24, Y:-4.06, Z:1.11 [[ 9.99617581e-01 -1.65217169e-02 -2.21748574e-02 1.03238912e+02] [ 1.65420965e-02 9.99862899e-01 7.35911494e-04 -4.06403467e+00] [ 2.21596587e-02 -1.10244870e-03 9.99753837e-01 1.10980093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.910714057 meters Centerline goodness [0,1] 0.9901901633483051 Centerline is valid? [True, True] Translation: X:103.27, Y:-4.07, Z:1.11 [[ 9.99611368e-01 -1.74208264e-02 -2.17630072e-02 1.03267581e+02] [ 1.74405920e-02 9.99847643e-01 7.18734289e-04 -4.06530169e+00] [ 2.17471705e-02 -1.09801469e-03 9.99762899e-01 1.11091080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94071405700001 meters Centerline goodness [0,1] 0.9907498435963893 Centerline is valid? [True, True] Translation: X:103.30, Y:-4.07, Z:1.11 [[ 9.99617129e-01 -1.82007893e-02 -2.08405050e-02 1.03295765e+02] [ 1.82190085e-02 9.99833786e-01 6.84669972e-04 -4.06711622e+00] [ 2.08245795e-02 -1.06410117e-03 9.99782579e-01 1.11249001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97071405700001 meters Centerline goodness [0,1] 0.9896021196535524 Centerline is valid? [True, True] Translation: X:103.32, Y:-4.07, Z:1.11 [[ 9.99612255e-01 -1.88226502e-02 -2.05194317e-02 1.03323629e+02] [ 1.88403983e-02 9.99822278e-01 6.71949575e-04 -4.07493994e+00] [ 2.05031371e-02 -1.05828330e-03 9.99789228e-01 1.11197288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.000714057 meters Centerline goodness [0,1] 0.9902854080128635 Centerline is valid? [True, True] Translation: X:103.35, Y:-4.07, Z:1.11 [[ 9.99601322e-01 -1.96443335e-02 -2.02804756e-02 1.03352822e+02] [ 1.96617660e-02 9.99806471e-01 6.60513958e-04 -4.07093145e+00] [ 2.02635753e-02 -1.05900059e-03 9.99794112e-01 1.11367734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.030714057 meters Centerline goodness [0,1] 0.9899750490108715 Centerline is valid? [True, True] Translation: X:103.38, Y:-4.07, Z:1.11 [[ 9.99580009e-01 -2.06768013e-02 -2.03045565e-02 1.03380442e+02] [ 2.06944143e-02 9.99785631e-01 6.57684411e-04 -4.07396487e+00] [ 2.02866050e-02 -1.07759909e-03 9.99793625e-01 1.11366620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.060714057 meters Centerline goodness [0,1] 0.9901740157304872 Centerline is valid? [True, True] Translation: X:103.41, Y:-4.08, Z:1.11 [[ 9.99526169e-01 -2.28680825e-02 -2.06031269e-02 1.03410026e+02] [ 2.28866540e-02 9.99737844e-01 6.66019417e-04 -4.07699049e+00] [ 2.05824951e-02 -1.13724047e-03 9.99787511e-01 1.11322584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.090714057 meters Centerline goodness [0,1] 0.9908807134894091 Centerline is valid? [True, True] Translation: X:103.44, Y:-4.07, Z:1.11 [[ 9.99492529e-01 -2.38921257e-02 -2.10677462e-02 1.03439478e+02] [ 2.39117554e-02 9.99713842e-01 6.80286908e-04 -4.07457815e+00] [ 2.10454640e-02 -1.18370848e-03 9.99777819e-01 1.11399525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.120714057 meters Centerline goodness [0,1] 0.9903854733648613 Centerline is valid? [True, True] Translation: X:103.47, Y:-4.08, Z:1.11 [[ 9.99452455e-01 -2.43471317e-02 -2.24055008e-02 1.03468471e+02] [ 2.43694212e-02 9.99702761e-01 7.22278576e-04 -4.07681193e+00] [ 2.23812556e-02 -1.26789218e-03 9.99748704e-01 1.11361090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.150714057 meters Centerline goodness [0,1] 0.989579140390894 Centerline is valid? [True, True] Translation: X:103.50, Y:-4.08, Z:1.11 [[ 9.99456042e-01 -2.38751182e-02 -2.27508098e-02 1.03497046e+02] [ 2.38978968e-02 9.99714138e-01 7.29827398e-04 -4.07683716e+00] [ 2.27268815e-02 -1.27312691e-03 9.99740900e-01 1.11420774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.180714057 meters Centerline goodness [0,1] 0.9896470168235977 Centerline is valid? [True, True] Translation: X:103.53, Y:-4.08, Z:1.11 [[ 9.99460501e-01 -2.34105637e-02 -2.30358976e-02 1.03525115e+02] [ 2.34337027e-02 9.99725123e-01 7.35005059e-04 -4.07815127e+00] [ 2.30123587e-02 -1.27442490e-03 9.99734368e-01 1.11420010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.210714057 meters Centerline goodness [0,1] 0.9885775717261305 Centerline is valid? [True, True] Translation: X:103.56, Y:-4.08, Z:1.11 [[ 9.99511675e-01 -2.08348932e-02 -2.32877293e-02 1.03555313e+02] [ 2.08578148e-02 9.99782177e-01 7.41787721e-04 -4.07657662e+00] [ 2.32672016e-02 -1.22715663e-03 9.99728529e-01 1.11463096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.240714057 meters Centerline goodness [0,1] 0.9882963725468257 Centerline is valid? [True, True] Translation: X:103.58, Y:-4.08, Z:1.11 [[ 9.99524802e-01 -2.01448470e-02 -2.33314123e-02 1.03583497e+02] [ 2.01676390e-02 9.99796337e-01 7.41966706e-04 -4.07645732e+00] [ 2.33117138e-02 -1.21215363e-03 9.99727510e-01 1.11497151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.270714057 meters Centerline goodness [0,1] 0.988608588406772 Centerline is valid? [True, True] Translation: X:103.61, Y:-4.07, Z:1.12 [[ 9.99557505e-01 -1.91393765e-02 -2.27701023e-02 1.03611964e+02] [ 1.91607411e-02 9.99816157e-01 7.20451669e-04 -4.07491001e+00] [ 2.27521272e-02 -1.15642491e-03 9.99740468e-01 1.11648375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30071405700001 meters Centerline goodness [0,1] 0.9895540828934067 Centerline is valid? [True, True] Translation: X:103.64, Y:-4.07, Z:1.12 [[ 9.99582689e-01 -1.87393013e-02 -2.19837583e-02 1.03640445e+02] [ 1.87590033e-02 9.99823796e-01 6.90310599e-04 -4.07385401e+00] [ 2.19669488e-02 -1.10241592e-03 9.99758090e-01 1.11809078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33071405700001 meters Centerline goodness [0,1] 0.990052544123591 Centerline is valid? [True, True] Translation: X:103.67, Y:-4.07, Z:1.12 [[ 9.99578796e-01 -1.94998675e-02 -2.14938518e-02 1.03669060e+02] [ 1.95187637e-02 9.99809267e-01 6.69682138e-04 -4.07295268e+00] [ 2.14766935e-02 -1.08893348e-03 9.99768756e-01 1.11924140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.360714057 meters Centerline goodness [0,1] 0.9896803140773976 Centerline is valid? [True, True] Translation: X:103.70, Y:-4.07, Z:1.12 [[ 9.99542188e-01 -2.18998512e-02 -2.08760782e-02 1.03698098e+02] [ 2.19181287e-02 9.99759560e-01 6.47092103e-04 -4.07292434e+00] [ 2.08568875e-02 -1.10436043e-03 9.99781862e-01 1.12049796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.390714057 meters Centerline goodness [0,1] 0.9887387893636629 Centerline is valid? [True, True] Translation: X:103.73, Y:-4.07, Z:1.12 [[ 9.99499901e-01 -2.35556383e-02 -2.10968915e-02 1.03727588e+02] [ 2.35746517e-02 9.99721866e-01 6.52956915e-04 -4.07484600e+00] [ 2.10756429e-02 -1.14998224e-03 9.99777223e-01 1.12068196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.420714057 meters Centerline goodness [0,1] 0.9888636414767487 Centerline is valid? [True, True] Translation: X:103.76, Y:-4.08, Z:1.12 [[ 9.99382215e-01 -2.72396701e-02 -2.22078375e-02 1.03757920e+02] [ 2.72616317e-02 9.99628097e-01 6.86708657e-04 -4.07817018e+00] [ 2.21808726e-02 -1.29170631e-03 9.99753140e-01 1.12095012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.450714057 meters Centerline goodness [0,1] 0.9881827966633778 Centerline is valid? [True, True] Translation: X:103.79, Y:-4.08, Z:1.12 [[ 9.99319868e-01 -2.88417087e-02 -2.29773227e-02 1.03787741e+02] [ 2.88656314e-02 9.99583049e-01 7.10085086e-04 -4.08027069e+00] [ 2.29472622e-02 -1.37285706e-03 9.99735734e-01 1.12108078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.480714057 meters Centerline goodness [0,1] 0.9892206944663231 Centerline is valid? [True, True] Translation: X:103.82, Y:-4.08, Z:1.12 [[ 9.99169678e-01 -3.26892429e-02 -2.43180675e-02 1.03818392e+02] [ 3.27171669e-02 9.99464368e-01 7.51194810e-04 -4.08250979e+00] [ 2.42804860e-02 -1.54618935e-03 9.99703990e-01 1.12133314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.510714057 meters Centerline goodness [0,1] 0.9879780684014201 Centerline is valid? [True, True] Translation: X:103.85, Y:-4.09, Z:1.12 [[ 9.99111111e-01 -3.41296495e-02 -2.47417797e-02 1.03848232e+02] [ 3.41589927e-02 9.99416119e-01 7.64186081e-04 -4.08604808e+00] [ 2.47012520e-02 -1.60866108e-03 9.99693583e-01 1.12110171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.540714057 meters Centerline goodness [0,1] 0.9879482986492238 Centerline is valid? [True, True] Translation: X:103.88, Y:-4.09, Z:1.12 [[ 9.99054811e-01 -3.53241249e-02 -2.53316121e-02 1.03878468e+02] [ 3.53552666e-02 9.99374501e-01 7.82403917e-04 -4.08717072e+00] [ 2.52881295e-02 -1.67727030e-03 9.99678797e-01 1.12184351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.570714057 meters Centerline goodness [0,1] 0.988773360821046 Centerline is valid? [True, True] Translation: X:103.91, Y:-4.09, Z:1.12 [[ 9.98973389e-01 -3.66816344e-02 -2.65824454e-02 1.03909051e+02] [ 3.67164072e-02 9.99325388e-01 8.21037735e-04 -4.08598628e+00] [ 2.65343956e-02 -1.79620674e-03 9.99646287e-01 1.12303570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.600714057 meters Centerline goodness [0,1] 0.988773360821046 Centerline is valid? [True, True] Translation: X:103.94, Y:-4.09, Z:1.12 [[ 9.98974685e-01 -3.66463345e-02 -2.65824292e-02 1.03939955e+02] [ 3.66811087e-02 9.99326684e-01 8.21560551e-04 -4.08697153e+00] [ 2.65344237e-02 -1.79579117e-03 9.99646287e-01 1.12340028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.630714057 meters Centerline goodness [0,1] 0.988604755495738 Centerline is valid? [True, True] Translation: X:103.97, Y:-4.09, Z:1.12 [[ 9.98957681e-01 -3.67733005e-02 -2.70421147e-02 1.03971362e+02] [ 3.68093606e-02 9.99321956e-01 8.36728969e-04 -4.08738891e+00] [ 2.69930097e-02 -1.83125978e-03 9.99633945e-01 1.12352571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.660714057 meters Centerline goodness [0,1] 0.988213900862069 Centerline is valid? [True, True] Translation: X:104.00, Y:-4.09, Z:1.12 [[ 9.98969664e-01 -3.61577946e-02 -2.74266917e-02 1.04000679e+02] [ 3.61946726e-02 9.99344397e-01 8.49188921e-04 -4.08731878e+00] [ 2.73780059e-02 -1.84101410e-03 9.99623457e-01 1.12451449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69071405700001 meters Centerline goodness [0,1] 0.988204043041736 Centerline is valid? [True, True] Translation: X:104.03, Y:-4.09, Z:1.13 [[ 9.98998287e-01 -3.55847467e-02 -2.71320467e-02 1.04031569e+02] [ 3.56206286e-02 9.99365031e-01 8.40170084e-04 -4.08657480e+00] [ 2.70849214e-02 -1.80578903e-03 9.99631505e-01 1.12546637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72071405700001 meters Centerline goodness [0,1] 0.9889899581213131 Centerline is valid? [True, True] Translation: X:104.06, Y:-4.09, Z:1.13 [[ 9.99018558e-01 -3.49093526e-02 -2.72627738e-02 1.04061299e+02] [ 3.49453236e-02 9.99388869e-01 8.43948261e-04 -4.09027999e+00] [ 2.72166510e-02 -1.79582643e-03 9.99627945e-01 1.12525834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.750714057 meters Centerline goodness [0,1] 0.9895572546631481 Centerline is valid? [True, True] Translation: X:104.09, Y:-4.08, Z:1.13 [[ 9.99054720e-01 -3.30399534e-02 -2.82493984e-02 1.04091984e+02] [ 3.30778262e-02 9.99452397e-01 8.74277365e-04 -4.08275889e+00] [ 2.82050428e-02 -1.80787962e-03 9.99600524e-01 1.12743497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.780714057 meters Centerline goodness [0,1] 0.9892205079835613 Centerline is valid? [True, True] Translation: X:104.12, Y:-4.08, Z:1.13 [[ 9.99065148e-01 -3.22343400e-02 -2.88058431e-02 1.04120674e+02] [ 3.22733613e-02 9.99478683e-01 8.90608852e-04 -4.08395051e+00] [ 2.87621179e-02 -1.81943764e-03 9.99584629e-01 1.12757862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.810714057 meters Centerline goodness [0,1] 0.9889496519931302 Centerline is valid? [True, True] Translation: X:104.15, Y:-4.07, Z:1.13 [[ 9.99039098e-01 -3.16685158e-02 -3.02982664e-02 1.04151020e+02] [ 3.17113882e-02 9.99496630e-01 9.35428878e-04 -4.07478349e+00] [ 3.02533915e-02 -1.89533011e-03 9.99540464e-01 1.13083420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.840714057 meters Centerline goodness [0,1] 0.9890127209276145 Centerline is valid? [True, True] Translation: X:104.18, Y:-4.08, Z:1.13 [[ 9.99032968e-01 -3.18493733e-02 -3.03108130e-02 1.04179303e+02] [ 3.18923208e-02 9.99490874e-01 9.34383327e-04 -4.07672354e+00] [ 3.02656215e-02 -1.90016192e-03 9.99540085e-01 1.13115738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.870714057 meters Centerline goodness [0,1] 0.9882754258347264 Centerline is valid? [True, True] Translation: X:104.21, Y:-4.08, Z:1.13 [[ 9.99000507e-01 -3.24310499e-02 -3.07605788e-02 1.04207691e+02] [ 3.24753880e-02 9.99472091e-01 9.42759122e-04 -4.07548015e+00] [ 3.07137653e-02 -1.94077857e-03 9.99526337e-01 1.13240946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.900714057 meters Centerline goodness [0,1] 0.9868142271108507 Centerline is valid? [True, True] Translation: X:104.24, Y:-4.09, Z:1.13 [[ 9.98962617e-01 -3.38809871e-02 -3.04264302e-02 1.04235518e+02] [ 3.39249049e-02 9.99423954e-01 9.28197776e-04 -4.08621590e+00] [ 3.03774549e-02 -1.95944863e-03 9.99536578e-01 1.13145572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.930714057 meters Centerline goodness [0,1] 0.9886658689124201 Centerline is valid? [True, True] Translation: X:104.27, Y:-4.08, Z:1.14 [[ 9.98928820e-01 -3.46969320e-02 -3.06159444e-02 1.04265832e+02] [ 3.47417333e-02 9.99395889e-01 9.32435639e-04 -4.07674600e+00] [ 3.05650963e-02 -1.99508781e-03 9.99530787e-01 1.13507619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.960714057 meters Centerline goodness [0,1] 0.9885239952825909 Centerline is valid? [True, True] Translation: X:104.30, Y:-4.08, Z:1.13 [[ 9.98834737e-01 -3.59398574e-02 -3.22101627e-02 1.04295236e+02] [ 3.59900536e-02 9.99351668e-01 9.79793154e-04 -4.07770900e+00] [ 3.21540662e-02 -2.13789692e-03 9.99480638e-01 1.13467408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.990714057 meters Centerline goodness [0,1] 0.9887886801835402 Centerline is valid? [True, True] Translation: X:104.32, Y:-4.08, Z:1.13 [[ 9.98789270e-01 -3.64885921e-02 -3.29935803e-02 1.04323456e+02] [ 3.65415071e-02 9.99331634e-01 1.00203661e-03 -4.08173594e+00] [ 3.29349656e-02 -2.20645856e-03 9.99455061e-01 1.13351332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.020714057 meters Centerline goodness [0,1] 0.9891432190355559 Centerline is valid? [True, True] Translation: X:104.35, Y:-4.08, Z:1.13 [[ 9.98721996e-01 -3.66776682e-02 -3.47724580e-02 1.04353067e+02] [ 3.67365091e-02 9.99324430e-01 1.05456710e-03 -4.08038801e+00] [ 3.47102877e-02 -2.33063808e-03 9.99394699e-01 1.13348709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05071405700001 meters Centerline goodness [0,1] 0.9886507505878097 Centerline is valid? [True, True] Translation: X:104.38, Y:-4.08, Z:1.13 [[ 9.98683676e-01 -3.69612809e-02 -3.55637261e-02 1.04380848e+02] [ 3.70229208e-02 9.99313837e-01 1.07601614e-03 -4.08199321e+00] [ 3.54995527e-02 -2.39127277e-03 9.99366831e-01 1.13288906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08071405700001 meters Centerline goodness [0,1] 0.9891431924882629 Centerline is valid? [True, True] Translation: X:104.41, Y:-4.08, Z:1.14 [[ 9.98714852e-01 -3.70083555e-02 -3.46269531e-02 1.04409735e+02] [ 3.70665828e-02 9.99312256e-01 1.04090961e-03 -4.07722995e+00] [ 3.45646162e-02 -2.32307471e-03 9.99399765e-01 1.13628522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.110714057 meters Centerline goodness [0,1] 0.9887645509197758 Centerline is valid? [True, True] Translation: X:104.44, Y:-4.08, Z:1.14 [[ 9.98748362e-01 -3.70792387e-02 -3.35684313e-02 1.04438361e+02] [ 3.71338628e-02 9.99309795e-01 1.00505735e-03 -4.07958045e+00] [ 3.35079954e-02 -2.25032490e-03 9.99435916e-01 1.13674942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.140714057 meters Centerline goodness [0,1] 0.9886192053726365 Centerline is valid? [True, True] Translation: X:104.47, Y:-4.08, Z:1.14 [[ 9.98750256e-01 -3.72495150e-02 -3.33226677e-02 1.04467592e+02] [ 3.73032510e-02 9.99303499e-01 9.92142184e-04 -4.07979541e+00] [ 3.32625016e-02 -2.23394610e-03 9.99444153e-01 1.13762223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.170714057 meters Centerline goodness [0,1] 0.9889076386545168 Centerline is valid? [True, True] Translation: X:104.50, Y:-4.08, Z:1.14 [[ 9.98765205e-01 -3.74540186e-02 -3.26383629e-02 1.04496458e+02] [ 3.75055556e-02 9.99295950e-01 9.68029315e-04 -4.08127357e+00] [ 3.25791272e-02 -2.19095393e-03 9.99466758e-01 1.13792050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.200714057 meters Centerline goodness [0,1] 0.9880549921117873 Centerline is valid? [True, True] Translation: X:104.53, Y:-4.08, Z:1.14 [[ 9.98692207e-01 -3.90022991e-02 -3.30559642e-02 1.04526189e+02] [ 3.90559754e-02 9.99236544e-01 9.79420163e-04 -4.08407202e+00] [ 3.29925278e-02 -2.26917221e-03 9.99453022e-01 1.13750688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.230714057 meters Centerline goodness [0,1] 0.9884839452648693 Centerline is valid? [True, True] Translation: X:104.56, Y:-4.09, Z:1.14 [[ 9.98625402e-01 -4.11239935e-02 -3.24980629e-02 1.04555591e+02] [ 4.11769601e-02 9.99151406e-01 9.61978228e-04 -4.08617589e+00] [ 3.24309248e-02 -2.29882733e-03 9.99471336e-01 1.13778548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.260714057 meters Centerline goodness [0,1] 0.9874289067437032 Centerline is valid? [True, True] Translation: X:104.59, Y:-4.09, Z:1.14 [[ 9.98562075e-01 -4.24349390e-02 -3.27575837e-02 1.04585159e+02] [ 4.24894321e-02 9.99096447e-01 9.68894872e-04 -4.08977079e+00] [ 3.26868705e-02 -2.35935280e-03 9.99462857e-01 1.13732912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.290714057 meters Centerline goodness [0,1] 0.9884419161135943 Centerline is valid? [True, True] Translation: X:104.62, Y:-4.09, Z:1.14 [[ 9.98490710e-01 -4.37942663e-02 -3.31415696e-02 1.04615206e+02] [ 4.38507711e-02 9.99037612e-01 9.79686650e-04 -4.08701820e+00] [ 3.30667699e-02 -2.43149140e-03 9.99450187e-01 1.13835537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.320714057 meters Centerline goodness [0,1] 0.9881449700801626 Centerline is valid? [True, True] Translation: X:104.65, Y:-4.09, Z:1.14 [[ 9.98393872e-01 -4.56268350e-02 -3.35837574e-02 1.04645123e+02] [ 4.56859276e-02 9.98955358e-01 9.93895894e-04 -4.09029752e+00] [ 3.35033261e-02 -2.52660468e-03 9.99435412e-01 1.13690588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.350714057 meters Centerline goodness [0,1] 0.9885420425839048 Centerline is valid? [True, True] Translation: X:104.68, Y:-4.09, Z:1.14 [[ 9.98368091e-01 -4.59092346e-02 -3.39631778e-02 1.04676280e+02] [ 4.59698848e-02 9.98942319e-01 1.00664342e-03 -4.08765322e+00] [ 3.38810414e-02 -2.56628404e-03 9.99422578e-01 1.13812113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.380714057 meters Centerline goodness [0,1] 0.9816621499548329 Centerline is valid? [True, True] Translation: X:104.71, Y:-4.10, Z:1.14 [[ 9.98388067e-01 -4.55319435e-02 -3.38837574e-02 1.04705469e+02] [ 4.55920952e-02 9.98959635e-01 1.00431813e-03 -4.09679711e+00] [ 3.38027774e-02 -2.54753073e-03 9.99425276e-01 1.13559337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.410714057 meters Centerline goodness [0,1] 0.9787990637378466 Centerline is valid? [True, True] Translation: X:104.74, Y:-4.10, Z:1.14 [[ 9.98471908e-01 -4.43242614e-02 -3.30031638e-02 1.04735045e+02] [ 4.43806510e-02 9.99014215e-01 9.77668457e-04 -4.09788041e+00] [ 3.29272953e-02 -2.44087638e-03 9.99454769e-01 1.13599679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44071405700001 meters Centerline goodness [0,1] 0.9806495263870094 Centerline is valid? [True, True] Translation: X:104.77, Y:-4.10, Z:1.14 [[ 9.98520246e-01 -4.31449306e-02 -3.31033658e-02 1.04765479e+02] [ 4.32010126e-02 9.99065919e-01 9.80443334e-04 -4.09621625e+00] [ 3.30301434e-02 -2.40909144e-03 9.99451453e-01 1.13641542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47071405700001 meters Centerline goodness [0,1] 0.9887059248718122 Centerline is valid? [True, True] Translation: X:104.80, Y:-4.09, Z:1.14 [[ 9.98599024e-01 -4.18954732e-02 -3.23227171e-02 1.04796249e+02] [ 4.19482887e-02 9.99119325e-01 9.57322368e-04 -4.08812586e+00] [ 3.22541438e-02 -2.31186385e-03 9.99477026e-01 1.13938508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.500714057 meters Centerline goodness [0,1] 0.9874424067214744 Centerline is valid? [True, True] Translation: X:104.83, Y:-4.09, Z:1.14 [[ 9.98768614e-01 -3.96105697e-02 -2.98707004e-02 1.04826116e+02] [ 3.96546551e-02 9.99213053e-01 8.84699439e-04 -4.08780774e+00] [ 2.98121503e-02 -2.06812236e-03 9.99553380e-01 1.14063087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.530714057 meters Centerline goodness [0,1] 0.9891827194507803 Centerline is valid? [True, True] Translation: X:104.86, Y:-4.08, Z:1.14 [[ 9.98849375e-01 -3.83946320e-02 -2.87363736e-02 1.04857239e+02] [ 3.84349390e-02 9.99260742e-01 8.51407859e-04 -4.07953708e+00] [ 2.86824406e-02 -1.95490898e-03 9.99586663e-01 1.14391169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.560714057 meters Centerline goodness [0,1] 0.9883597405239247 Centerline is valid? [True, True] Translation: X:104.89, Y:-4.08, Z:1.15 [[ 9.98988119e-01 -3.60424077e-02 -2.69013540e-02 1.04888234e+02] [ 3.60768929e-02 9.99348699e-01 7.97512921e-04 -4.07587908e+00] [ 2.68550888e-02 -1.76722320e-03 9.99637775e-01 1.14526429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.590714057 meters Centerline goodness [0,1] 0.9874763492206505 Centerline is valid? [True, True] Translation: X:104.92, Y:-4.09, Z:1.14 [[ 9.99047434e-01 -3.46348796e-02 -2.65452486e-02 1.04918281e+02] [ 3.46679755e-02 9.99398575e-01 7.87434449e-04 -4.08672428e+00] [ 2.65020109e-02 -1.70695439e-03 9.99647303e-01 1.14297504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.620714057 meters Centerline goodness [0,1] 0.9890740111073331 Centerline is valid? [True, True] Translation: X:104.95, Y:-4.08, Z:1.15 [[ 9.99111372e-01 -3.33768910e-02 -2.57381014e-02 1.04949918e+02] [ 3.34076068e-02 9.99441518e-01 7.64208891e-04 -4.07512053e+00] [ 2.56982202e-02 -1.62337816e-03 9.99668428e-01 1.14524702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.650714057 meters Centerline goodness [0,1] 0.9895873418294587 Centerline is valid? [True, True] Translation: X:104.98, Y:-4.07, Z:1.14 [[ 9.99194141e-01 -3.08111486e-02 -2.57243288e-02 1.04980912e+02] [ 3.08410021e-02 9.99524011e-01 7.64484353e-04 -4.07279110e+00] [ 2.56885297e-02 -1.55723237e-03 9.99668782e-01 1.14480926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.680714057 meters Centerline goodness [0,1] 0.9882878997662119 Centerline is valid? [True, True] Translation: X:105.01, Y:-4.08, Z:1.14 [[ 9.99221122e-01 -2.97531696e-02 -2.59210038e-02 1.05010669e+02] [ 2.97831391e-02 9.99556087e-01 7.70797734e-04 -4.08474092e+00] [ 2.58865634e-02 -1.54220624e-03 9.99663697e-01 1.14165854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.710714057 meters Centerline goodness [0,1] 0.9892650515277527 Centerline is valid? [True, True] Translation: X:105.04, Y:-4.08, Z:1.14 [[ 9.99288235e-01 -2.74425738e-02 -2.58829655e-02 1.05041149e+02] [ 2.74716823e-02 9.99622286e-01 7.69639138e-04 -4.07766096e+00] [ 2.58520683e-02 -1.48013994e-03 9.99664684e-01 1.14208308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.740714057 meters Centerline goodness [0,1] 0.9889713390972836 Centerline is valid? [True, True] Translation: X:105.07, Y:-4.08, Z:1.14 [[ 9.99310668e-01 -2.66064347e-02 -2.58898794e-02 1.05071133e+02] [ 2.66352616e-02 9.99644923e-01 7.69170728e-04 -4.07737205e+00] [ 2.58602216e-02 -1.45822422e-03 9.99664505e-01 1.14202151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.770714057 meters Centerline goodness [0,1] 0.9890795986014621 Centerline is valid? [True, True] Translation: X:105.10, Y:-4.08, Z:1.14 [[ 9.99355720e-01 -2.52974797e-02 -2.54594332e-02 1.05100366e+02] [ 2.53249107e-02 9.99678988e-01 7.55534665e-04 -4.07790924e+00] [ 2.54321473e-02 -1.39980576e-03 9.99675571e-01 1.14181289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80071405700001 meters Centerline goodness [0,1] 0.9898519988141662 Centerline is valid? [True, True] Translation: X:105.13, Y:-4.07, Z:1.14 [[ 9.99460616e-01 -2.24151646e-02 -2.40007917e-02 1.05130672e+02] [ 2.24386910e-02 9.99747968e-01 7.11336884e-04 -4.06970116e+00] [ 2.39787980e-02 -1.24949955e-03 9.99711686e-01 1.14369599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83071405700001 meters Centerline goodness [0,1] 0.9909785029314184 Centerline is valid? [True, True] Translation: X:105.16, Y:-4.07, Z:1.14 [[ 9.99522803e-01 -2.03672416e-02 -2.32237308e-02 1.05160150e+02] [ 2.03886447e-02 9.99791895e-01 6.85170093e-04 -4.06636171e+00] [ 2.32049428e-02 -1.15834353e-03 9.99730058e-01 1.14464362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.860714057 meters Centerline goodness [0,1] 0.9900013696753869 Centerline is valid? [True, True] Translation: X:105.19, Y:-4.06, Z:1.15 [[ 9.99674541e-01 -1.50413340e-02 -2.06050872e-02 1.05189268e+02] [ 1.50569992e-02 9.99886454e-01 6.05320390e-04 -4.06256841e+00] [ 2.05936427e-02 -9.15374166e-04 9.99787509e-01 1.14506843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.890714057 meters Centerline goodness [0,1] 0.9900109719301454 Centerline is valid? [True, True] Translation: X:105.22, Y:-4.06, Z:1.15 [[ 9.99739284e-01 -1.22441575e-02 -1.92729188e-02 1.05219384e+02] [ 1.22573365e-02 9.99924716e-01 5.65822425e-04 -4.06067395e+00] [ 1.92645399e-02 -8.01909557e-04 9.99814100e-01 1.14603603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.920714057 meters Centerline goodness [0,1] 0.9892515011229774 Centerline is valid? [True, True] Translation: X:105.25, Y:-4.06, Z:1.15 [[ 9.99854749e-01 -7.26635657e-03 -1.54168904e-02 1.05249318e+02] [ 7.27419458e-03 9.99973440e-01 4.52388323e-04 -4.05751224e+00] [ 1.54131937e-02 -5.64468074e-04 9.99881050e-01 1.14765684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.950714057 meters Centerline goodness [0,1] 0.9896902482147367 Centerline is valid? [True, True] Translation: X:105.28, Y:-4.06, Z:1.15 [[ 9.99890925e-01 -5.67660952e-03 -1.36350711e-02 1.05278120e+02] [ 5.68258402e-03 9.99983774e-01 3.99468251e-04 -4.05719027e+00] [ 1.36325823e-02 -4.76907116e-04 9.99906958e-01 1.14898222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.980714057 meters Centerline goodness [0,1] 0.990046099860095 Centerline is valid? [True, True] Translation: X:105.31, Y:-4.06, Z:1.15 [[ 9.99923636e-01 -4.78082498e-03 -1.13958920e-02 1.05306526e+02] [ 4.78491354e-03 9.99988497e-01 3.31536271e-04 -4.05594273e+00] [ 1.13941759e-02 -3.86039311e-04 9.99935010e-01 1.15016844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.010714057 meters Centerline goodness [0,1] 0.9883378597348061 Centerline is valid? [True, True] Translation: X:105.33, Y:-4.06, Z:1.15 [[ 9.99918418e-01 -4.89284463e-03 -1.17990058e-02 1.05334058e+02] [ 4.89719927e-03 9.99987951e-01 3.40203969e-04 -4.06088951e+00] [ 1.17971990e-02 -3.97958297e-04 9.99930331e-01 1.15067237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.040714057 meters Centerline goodness [0,1] 0.9899161204565248 Centerline is valid? [True, True] Translation: X:105.36, Y:-4.06, Z:1.15 [[ 9.99910597e-01 -6.32602580e-03 -1.17804972e-02 1.05362410e+02] [ 6.33045397e-03 9.99979905e-01 3.38638499e-04 -4.05771962e+00] [ 1.17781183e-02 -4.13184119e-04 9.99930550e-01 1.15055600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.070714057 meters Centerline goodness [0,1] 0.9890774197980353 Centerline is valid? [True, True] Translation: X:105.39, Y:-4.06, Z:1.15 [[ 9.99867716e-01 -9.87747762e-03 -1.29222953e-02 1.05391184e+02] [ 9.88308592e-03 9.99951093e-01 3.70213504e-04 -4.06341254e+00] [ 1.29180066e-02 -4.97876686e-04 9.99916435e-01 1.14927110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.100714057 meters Centerline goodness [0,1] 0.9891488097957691 Centerline is valid? [True, True] Translation: X:105.42, Y:-4.07, Z:1.15 [[ 9.99826951e-01 -1.18806659e-02 -1.43149256e-02 1.05419440e+02] [ 1.18877412e-02 9.99929255e-01 4.09265356e-04 -4.06997099e+00] [ 1.43090505e-02 -5.79366663e-04 9.99897452e-01 1.14866236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.130714057 meters Centerline goodness [0,1] 0.9886547075006252 Centerline is valid? [True, True] Translation: X:105.45, Y:-4.07, Z:1.15 [[ 9.99740136e-01 -1.51310540e-02 -1.70502814e-02 1.05448611e+02] [ 1.51415463e-02 9.99885242e-01 4.86439766e-04 -4.07264678e+00] [ 1.70409644e-02 -7.44480982e-04 9.99854515e-01 1.14745157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.160714057 meters Centerline goodness [0,1] 0.9884528662855581 Centerline is valid? [True, True] Translation: X:105.48, Y:-4.08, Z:1.15 [[ 9.99709365e-01 -1.68568906e-02 -1.72345601e-02 1.05477269e+02] [ 1.68678510e-02 9.99857607e-01 4.90778771e-04 -4.07826933e+00] [ 1.72238330e-02 -7.81346126e-04 9.99851353e-01 1.14675370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19071405700001 meters Centerline goodness [0,1] 0.9890262504838012 Centerline is valid? [True, True] Translation: X:105.51, Y:-4.08, Z:1.15 [[ 9.99692770e-01 -1.76653357e-02 -1.73868127e-02 1.05507148e+02] [ 1.76766002e-02 9.99843634e-01 4.94394227e-04 -4.08142536e+00] [ 1.73753603e-02 -8.01582071e-04 9.99848716e-01 1.14725714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22071405700001 meters Centerline goodness [0,1] 0.9899268442763053 Centerline is valid? [True, True] Translation: X:105.54, Y:-4.08, Z:1.15 [[ 9.99678693e-01 -1.89715345e-02 -1.68104706e-02 1.05537265e+02] [ 1.89822440e-02 9.99819707e-01 4.77724208e-04 -4.08029004e+00] [ 1.67983766e-02 -7.96671166e-04 9.99858580e-01 1.14923337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.250714057 meters Centerline goodness [0,1] 0.9893515358361775 Centerline is valid? [True, True] Translation: X:105.57, Y:-4.08, Z:1.15 [[ 9.99666286e-01 -1.97053888e-02 -1.67037072e-02 1.05568081e+02] [ 1.97160628e-02 9.99805507e-01 4.74569575e-04 -4.08211850e+00] [ 1.66911069e-02 -8.03742545e-04 9.99860371e-01 1.15037929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.280714057 meters Centerline goodness [0,1] 0.9882965184983183 Centerline is valid? [True, True] Translation: X:105.60, Y:-4.08, Z:1.15 [[ 9.99649829e-01 -2.07711688e-02 -1.63944574e-02 1.05598798e+02] [ 2.07815989e-02 9.99783931e-01 4.66070419e-04 -4.08435571e+00] [ 1.63812343e-02 -8.06610252e-04 9.99865493e-01 1.15145302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.310714057 meters Centerline goodness [0,1] 0.9866305329719964 Centerline is valid? [True, True] Translation: X:105.63, Y:-4.09, Z:1.15 [[ 9.99621378e-01 -2.19380305e-02 -1.66079499e-02 1.05628809e+02] [ 2.19488997e-02 9.99758982e-01 4.72437707e-04 -4.09225120e+00] [ 1.65935827e-02 -8.36785058e-04 9.99861967e-01 1.15150651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.340714057 meters Centerline goodness [0,1] 0.9871321447180625 Centerline is valid? [True, True] Translation: X:105.66, Y:-4.09, Z:1.15 [[ 9.99543067e-01 -2.51767679e-02 -1.67268498e-02 1.05660113e+02] [ 2.51882518e-02 9.99682612e-01 4.76204036e-04 -4.09298664e+00] [ 1.67095516e-02 -8.97306547e-04 9.99859983e-01 1.15284486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.370714057 meters Centerline goodness [0,1] 0.9869888053770521 Centerline is valid? [True, True] Translation: X:105.69, Y:-4.10, Z:1.15 [[ 9.99483296e-01 -2.76250056e-02 -1.64316779e-02 1.05690891e+02] [ 2.76364256e-02 9.99617931e-01 4.68291534e-04 -4.09520779e+00] [ 1.64124634e-02 -9.22162410e-04 9.99864881e-01 1.15323056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.400714057 meters Centerline goodness [0,1] 0.9864230830254539 Centerline is valid? [True, True] Translation: X:105.72, Y:-4.10, Z:1.15 [[ 9.99319823e-01 -3.28024523e-02 -1.68490577e-02 1.05720843e+02] [ 3.28151977e-02 9.99461321e-01 4.80459089e-04 -4.09908066e+00] [ 1.68242212e-02 -1.03303745e-03 9.99857929e-01 1.15427340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.430714057 meters Centerline goodness [0,1] 0.9850837621562805 Centerline is valid? [True, True] Translation: X:105.75, Y:-4.11, Z:1.15 [[ 9.99228727e-01 -3.53554050e-02 -1.70864581e-02 1.05750611e+02] [ 3.53688862e-02 9.99374206e-01 4.87363381e-04 -4.10698608e+00] [ 1.70585345e-02 -1.09131648e-03 9.99853897e-01 1.15421125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.460714057 meters Centerline goodness [0,1] 0.9849041207670338 Centerline is valid? [True, True] Translation: X:105.78, Y:-4.11, Z:1.15 [[ 9.99134034e-01 -3.75510446e-02 -1.79193086e-02 1.05781475e+02] [ 3.75662259e-02 9.99294009e-01 5.11229744e-04 -4.10734903e+00] [ 1.78874605e-02 -1.18394783e-03 9.99839306e-01 1.15463425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.490714057 meters Centerline goodness [0,1] 0.9850574192965006 Centerline is valid? [True, True] Translation: X:105.81, Y:-4.12, Z:1.15 [[ 9.98999654e-01 -4.07500346e-02 -1.84153915e-02 1.05811143e+02] [ 4.07666132e-02 9.99168558e-01 5.25600626e-04 -4.11709298e+00] [ 1.83786619e-02 -1.27580798e-03 9.99830284e-01 1.15408492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.520714057 meters Centerline goodness [0,1] 0.9850574192965006 Centerline is valid? [True, True] Translation: X:105.84, Y:-4.12, Z:1.15 [[ 9.99003942e-01 -4.06447898e-02 -1.84153715e-02 1.05843748e+02] [ 4.06613633e-02 9.99172846e-01 5.26297891e-04 -4.11811713e+00] [ 1.83787479e-02 -1.27456778e-03 9.99830284e-01 1.15446957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55071405700001 meters Centerline goodness [0,1] 0.9841840077724304 Centerline is valid? [True, True] Translation: X:105.88, Y:-4.12, Z:1.15 [[ 9.98920279e-01 -4.22844652e-02 -1.92432090e-02 1.05875154e+02] [ 4.23028954e-02 9.99104680e-01 5.51517717e-04 -4.11959792e+00] [ 1.92026596e-02 -1.36496569e-03 9.99814680e-01 1.15446592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58071405700001 meters Centerline goodness [0,1] 0.9845126231178535 Centerline is valid? [True, True] Translation: X:105.91, Y:-4.12, Z:1.15 [[ 9.98886242e-01 -4.28282705e-02 -1.97993438e-02 1.05906753e+02] [ 4.28479047e-02 9.99081445e-01 5.68310830e-04 -4.12126846e+00] [ 1.97568172e-02 -1.41603826e-03 9.99803812e-01 1.15426490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.610714057 meters Centerline goodness [0,1] 0.9827707215467862 Centerline is valid? [True, True] Translation: X:105.94, Y:-4.13, Z:1.15 [[ 9.98862626e-01 -4.30471355e-02 -2.05036439e-02 1.05937955e+02] [ 4.30682637e-02 9.99071958e-01 5.89796279e-04 -4.12939149e+00] [ 2.04592266e-02 -1.47218180e-03 9.99789604e-01 1.15265779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.640714057 meters Centerline goodness [0,1] 0.9844287524895889 Centerline is valid? [True, True] Translation: X:105.97, Y:-4.12, Z:1.15 [[ 9.98882466e-01 -4.24327913e-02 -2.08153131e-02 1.05970148e+02] [ 4.24544651e-02 9.99098222e-01 6.00251501e-04 -4.12482390e+00] [ 2.07710720e-02 -1.48328368e-03 9.99783158e-01 1.15362437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.670714057 meters Centerline goodness [0,1] 0.9846139983329955 Centerline is valid? [True, True] Translation: X:106.00, Y:-4.12, Z:1.15 [[ 9.98975600e-01 -4.03831111e-02 -2.04194859e-02 1.06002053e+02] [ 4.04035681e-02 9.99183268e-01 5.90109957e-04 -4.12395477e+00] [ 2.03789782e-02 -1.41452554e-03 9.99791326e-01 1.15393861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.700714057 meters Centerline goodness [0,1] 0.9856482003836173 Centerline is valid? [True, True] Translation: X:106.03, Y:-4.12, Z:1.15 [[ 9.99041460e-01 -3.89993737e-02 -1.98799056e-02 1.06033108e+02] [ 3.90185086e-02 9.99238322e-01 5.75403419e-04 -4.12269794e+00] [ 1.98423231e-02 -1.35053614e-03 9.99802210e-01 1.15449475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.730714057 meters Centerline goodness [0,1] 0.9841960501397782 Centerline is valid? [True, True] Translation: X:106.06, Y:-4.13, Z:1.15 [[ 9.99114350e-01 -3.72510812e-02 -1.95671359e-02 1.06062996e+02] [ 3.72692955e-02 9.99305098e-01 5.66898127e-04 -4.12920752e+00] [ 1.95324211e-02 -1.29564942e-03 9.99808385e-01 1.15406207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.760714057 meters Centerline goodness [0,1] 0.9858296407926405 Centerline is valid? [True, True] Translation: X:106.09, Y:-4.12, Z:1.16 [[ 9.99273592e-01 -3.29431037e-02 -1.91582863e-02 1.06094067e+02] [ 3.29597802e-02 9.99456525e-01 5.55268842e-04 -4.12096550e+00] [ 1.91295820e-02 -1.18631840e-03 9.99816309e-01 1.15521130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.790714057 meters Centerline goodness [0,1] 0.9861587789017341 Centerline is valid? [True, True] Translation: X:106.13, Y:-4.11, Z:1.16 [[ 9.99352843e-01 -3.03560105e-02 -1.92978565e-02 1.06126275e+02] [ 3.03724585e-02 9.99538494e-01 5.59739535e-04 -4.11404573e+00] [ 1.92719590e-02 -1.14550064e-03 9.99813622e-01 1.15640148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.820714057 meters Centerline goodness [0,1] 0.9875635952515546 Centerline is valid? [True, True] Translation: X:106.16, Y:-4.11, Z:1.16 [[ 9.99531434e-01 -2.43028557e-02 -1.86086852e-02 1.06156241e+02] [ 2.43171153e-02 9.99704149e-01 5.40361139e-04 -4.11026751e+00] [ 1.85900475e-02 -9.92617489e-04 9.99826697e-01 1.15711754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.850714057 meters Centerline goodness [0,1] 0.9876439648136393 Centerline is valid? [True, True] Translation: X:106.19, Y:-4.11, Z:1.16 [[ 9.99600232e-01 -2.14257038e-02 -1.84476310e-02 1.06187060e+02] [ 2.14392310e-02 9.99770010e-01 5.35796633e-04 -4.10823261e+00] [ 1.84319084e-02 -9.31085461e-04 9.99829684e-01 1.15750514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.880714057 meters Centerline goodness [0,1] 0.9867973322444535 Centerline is valid? [True, True] Translation: X:106.22, Y:-4.11, Z:1.16 [[ 9.99670827e-01 -1.82349544e-02 -1.80478349e-02 1.06218325e+02] [ 1.82473885e-02 9.99833365e-01 5.24500706e-04 -4.10720115e+00] [ 1.80352633e-02 -8.53653910e-04 9.99836987e-01 1.15760729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.910714057 meters Centerline goodness [0,1] 0.9875139049694658 Centerline is valid? [True, True] Translation: X:106.25, Y:-4.11, Z:1.16 [[ 9.99695298e-01 -1.59387869e-02 -1.88485134e-02 1.06248346e+02] [ 1.59519434e-02 9.99872610e-01 5.47862191e-04 -4.10585478e+00] [ 1.88373800e-02 -8.48365675e-04 9.99822201e-01 1.15724505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94071405700001 meters Centerline goodness [0,1] 0.9876831647234949 Centerline is valid? [True, True] Translation: X:106.28, Y:-4.11, Z:1.16 [[ 9.99750205e-01 -1.15837885e-02 -1.91139404e-02 1.06277680e+02] [ 1.15965148e-02 9.99932604e-01 5.55105793e-04 -4.10604974e+00] [ 1.91062220e-02 -7.76622224e-04 9.99817158e-01 1.15621781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97071405700001 meters Centerline goodness [0,1] 0.987866004399991 Centerline is valid? [True, True] Translation: X:106.31, Y:-4.10, Z:1.16 [[ 9.99757437e-01 -1.04194902e-02 -1.94036359e-02 1.06306951e+02] [ 1.04323444e-02 9.99945424e-01 5.61356206e-04 -4.10394204e+00] [ 1.93967279e-02 -7.63645454e-04 9.99811574e-01 1.15668911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.000714057 meters Centerline goodness [0,1] 0.9885224664196913 Centerline is valid? [True, True] Translation: X:106.34, Y:-4.10, Z:1.16 [[ 9.99771171e-01 -7.70244687e-03 -1.99568956e-02 1.06336362e+02] [ 7.71542886e-03 9.99970071e-01 5.73585954e-04 -4.10285532e+00] [ 1.99518803e-02 -7.27430709e-04 9.99800677e-01 1.15682313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.030714057 meters Centerline goodness [0,1] 0.988277360369331 Centerline is valid? [True, True] Translation: X:106.36, Y:-4.10, Z:1.16 [[ 9.99783253e-01 -6.53678708e-03 -1.97665603e-02 1.06364874e+02] [ 6.54922787e-03 9.99978394e-01 5.64716121e-04 -4.10319123e+00] [ 1.97624418e-02 -6.94049429e-04 9.99804463e-01 1.15690426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.060714057 meters Centerline goodness [0,1] 0.9886559970901155 Centerline is valid? [True, True] Translation: X:106.39, Y:-4.10, Z:1.16 [[ 9.99780895e-01 -5.91968880e-03 -2.00778075e-02 1.06393655e+02] [ 5.93230057e-03 9.99982242e-01 5.68642594e-04 -4.10410505e+00] [ 2.00740848e-02 -6.87625591e-04 9.99798259e-01 1.15738415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.090714057 meters Centerline goodness [0,1] 0.9894887071562876 Centerline is valid? [True, True] Translation: X:106.42, Y:-4.11, Z:1.16 [[ 9.99807696e-01 -4.93931495e-03 -1.89782574e-02 1.06421701e+02] [ 4.95034308e-03 9.99987604e-01 5.34157998e-04 -4.10655400e+00] [ 1.89753838e-02 -6.28004163e-04 9.99819754e-01 1.15806870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.120714057 meters Centerline goodness [0,1] 0.988333484944965 Centerline is valid? [True, True] Translation: X:106.45, Y:-4.11, Z:1.16 [[ 9.99801359e-01 -5.78131834e-03 -1.90740147e-02 1.06450499e+02] [ 5.79255828e-03 9.99983080e-01 5.34083499e-04 -4.10826520e+00] [ 1.90706043e-02 -6.44464750e-04 9.99817932e-01 1.15863643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.150714057 meters Centerline goodness [0,1] 0.9890881811361931 Centerline is valid? [True, True] Translation: X:106.48, Y:-4.11, Z:1.16 [[ 9.99766664e-01 -7.13512501e-03 -2.03889255e-02 1.06479229e+02] [ 7.14814471e-03 9.99974292e-01 5.65758650e-04 -4.10900904e+00] [ 2.03843646e-02 -7.11369628e-04 9.99791964e-01 1.15866374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.180714057 meters Centerline goodness [0,1] 0.9883054240990171 Centerline is valid? [True, True] Translation: X:106.51, Y:-4.11, Z:1.16 [[ 9.99746602e-01 -7.83216999e-03 -2.11042383e-02 1.06507057e+02] [ 7.84619379e-03 9.99969049e-01 5.81779064e-04 -4.11418354e+00] [ 2.10990285e-02 -7.47219585e-04 9.99777111e-01 1.15738022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.210714057 meters Centerline goodness [0,1] 0.9894292713909808 Centerline is valid? [True, True] Translation: X:106.54, Y:-4.11, Z:1.16 [[ 9.99693805e-01 -9.42468278e-03 -2.28795040e-02 1.06535356e+02] [ 9.44153448e-03 9.99955230e-01 6.28627622e-04 -4.11475422e+00] [ 2.28725551e-02 -8.44452765e-04 9.99738032e-01 1.15657282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.240714057 meters Centerline goodness [0,1] 0.9892753491746781 Centerline is valid? [True, True] Translation: X:106.56, Y:-4.12, Z:1.16 [[ 9.99669103e-01 -1.05248716e-02 -2.34714959e-02 1.06563668e+02] [ 1.05428176e-02 9.99944218e-01 6.40970218e-04 -4.11717406e+00] [ 2.34634405e-02 -8.88213824e-04 9.99724301e-01 1.15585391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.270714057 meters Centerline goodness [0,1] 0.9884590044755436 Centerline is valid? [True, True] Translation: X:106.59, Y:-4.12, Z:1.16 [[ 9.99627301e-01 -1.27581260e-02 -2.41348107e-02 1.06593029e+02] [ 1.27776686e-02 9.99918147e-01 6.55680437e-04 -4.12030834e+00] [ 2.41244700e-02 -9.63822680e-04 9.99708498e-01 1.15613523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30071405700001 meters Centerline goodness [0,1] 0.9879042323839782 Centerline is valid? [True, True] Translation: X:106.62, Y:-4.12, Z:1.16 [[ 9.99618288e-01 -1.39904314e-02 -2.38232119e-02 1.06621962e+02] [ 1.40097415e-02 9.99901651e-01 6.43839776e-04 -4.12224752e+00] [ 2.38118613e-02 -9.77351055e-04 9.99715980e-01 1.15705755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33071405700001 meters Centerline goodness [0,1] 0.9887900517382228 Centerline is valid? [True, True] Translation: X:106.65, Y:-4.12, Z:1.16 [[ 9.99603661e-01 -1.52917818e-02 -2.36364576e-02 1.06650416e+02] [ 1.53110166e-02 9.99882579e-01 6.33003774e-04 -4.12435981e+00] [ 2.36240024e-02 -9.94651083e-04 9.99720420e-01 1.15783605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.360714057 meters Centerline goodness [0,1] 0.9879201918291635 Centerline is valid? [True, True] Translation: X:106.68, Y:-4.13, Z:1.16 [[ 9.99580789e-01 -1.79674735e-02 -2.27027911e-02 1.06679937e+02] [ 1.79858353e-02 9.99838059e-01 6.04842070e-04 -4.12862799e+00] [ 2.26882471e-02 -1.01291718e-03 9.99742075e-01 1.15833913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.390714057 meters Centerline goodness [0,1] 0.9876654973407265 Centerline is valid? [True, True] Translation: X:106.71, Y:-4.13, Z:1.16 [[ 9.99554142e-01 -1.99226614e-02 -2.22397101e-02 1.06708792e+02] [ 1.99406986e-02 9.99800991e-01 5.89542737e-04 -4.13141303e+00] [ 2.22235389e-02 -1.03275524e-03 9.99752493e-01 1.15824661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.420714057 meters Centerline goodness [0,1] 0.987819209039548 Centerline is valid? [True, True] Translation: X:106.74, Y:-4.14, Z:1.16 [[ 9.99482760e-01 -2.40016504e-02 -2.14040612e-02 1.06737849e+02] [ 2.40192236e-02 9.99711338e-01 5.64277045e-04 -4.13778135e+00] [ 2.13843391e-02 -1.07809411e-03 9.99770748e-01 1.15814954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.450714057 meters Centerline goodness [0,1] 0.9873149151318166 Centerline is valid? [True, True] Translation: X:106.77, Y:-4.14, Z:1.16 [[ 9.99428669e-01 -2.62789585e-02 -2.12544361e-02 1.06768422e+02] [ 2.62967917e-02 9.99654023e-01 5.59924245e-04 -4.13835712e+00] [ 2.12323683e-02 -1.11852782e-03 9.99773942e-01 1.15850021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.480714057 meters Centerline goodness [0,1] 0.986505424954792 Centerline is valid? [True, True] Translation: X:106.80, Y:-4.15, Z:1.16 [[ 9.99355197e-01 -2.85409488e-02 -2.17854309e-02 1.06798250e+02] [ 2.85602201e-02 9.99591909e-01 5.73912707e-04 -4.14520882e+00] [ 2.17601604e-02 -1.19573935e-03 9.99762505e-01 1.15779534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.510714057 meters Centerline goodness [0,1] 0.9875932751955407 Centerline is valid? [True, True] Translation: X:106.83, Y:-4.15, Z:1.16 [[ 9.99195399e-01 -3.31730023e-02 -2.25412322e-02 1.06829099e+02] [ 3.31948097e-02 9.99448724e-01 5.93860193e-04 -4.14533523e+00] [ 2.25091056e-02 -1.34163428e-03 9.99745738e-01 1.15842949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.540714057 meters Centerline goodness [0,1] 0.9862420497090532 Centerline is valid? [True, True] Translation: X:106.86, Y:-4.15, Z:1.16 [[ 9.99102401e-01 -3.52746728e-02 -2.34539914e-02 1.06859070e+02] [ 3.52988788e-02 9.99376609e-01 6.18725819e-04 -4.15286321e+00] [ 2.34175450e-02 -1.44607005e-03 9.99724726e-01 1.15747307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.570714057 meters Centerline goodness [0,1] 0.9853422031796144 Centerline is valid? [True, True] Translation: X:106.89, Y:-4.16, Z:1.16 [[ 9.98938280e-01 -3.90739863e-02 -2.44036008e-02 1.06888187e+02] [ 3.91013371e-02 9.99235043e-01 6.44415622e-04 -4.16136356e+00] [ 2.43597532e-02 -1.59794486e-03 9.99701980e-01 1.15617285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.600714057 meters Centerline goodness [0,1] 0.9847445041963864 Centerline is valid? [True, True] Translation: X:106.92, Y:-4.16, Z:1.16 [[ 9.98879623e-01 -4.03919171e-02 -2.46574804e-02 1.06919572e+02] [ 4.04202462e-02 9.99182556e-01 6.51379754e-04 -4.16428559e+00] [ 2.46110138e-02 -1.64731139e-03 9.99695746e-01 1.15603514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.630714057 meters Centerline goodness [0,1] 0.9869234214061801 Centerline is valid? [True, True] Translation: X:106.95, Y:-4.16, Z:1.16 [[ 9.98790257e-01 -4.18328378e-02 -2.58464157e-02 1.06951132e+02] [ 4.18644693e-02 9.99123065e-01 6.83690397e-04 -4.15908918e+00] [ 2.57951494e-02 -1.76490978e-03 9.99665692e-01 1.15686892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.660714057 meters Centerline goodness [0,1] 0.9859113918380146 Centerline is valid? [True, True] Translation: X:106.98, Y:-4.16, Z:1.16 [[ 9.98806981e-01 -4.13977045e-02 -2.59006731e-02 1.06982356e+02] [ 4.14293469e-02 9.99141201e-01 6.86030869e-04 -4.15967824e+00] [ 2.58500295e-02 -1.75826039e-03 9.99664286e-01 1.15695982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69071405700001 meters Centerline goodness [0,1] 0.9868706524413429 Centerline is valid? [True, True] Translation: X:107.01, Y:-4.16, Z:1.16 [[ 9.98827140e-01 -4.06555849e-02 -2.62957734e-02 1.07013785e+02] [ 4.06879690e-02 9.99171658e-01 6.97431245e-04 -4.15624926e+00] [ 2.62456370e-02 -1.76653487e-03 9.99653963e-01 1.15838289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72071405700001 meters Centerline goodness [0,1] 0.9871034189373754 Centerline is valid? [True, True] Translation: X:107.04, Y:-4.15, Z:1.16 [[ 9.98970876e-01 -3.77134273e-02 -2.51969677e-02 1.07044018e+02] [ 3.77422388e-02 9.99287284e-01 6.68691494e-04 -4.15499689e+00] [ 2.51537908e-02 -1.61899330e-03 9.99682282e-01 1.15964125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.750714057 meters Centerline goodness [0,1] 0.9866269432373102 Centerline is valid? [True, True] Translation: X:107.07, Y:-4.16, Z:1.16 [[ 9.99064117e-01 -3.56481132e-02 -2.44969887e-02 1.07074356e+02] [ 3.56747327e-02 9.99363243e-01 6.50341009e-04 -4.15521370e+00] [ 2.44582066e-02 -1.52365589e-03 9.99699692e-01 1.16070108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.780714057 meters Centerline goodness [0,1] 0.9878476910613017 Centerline is valid? [True, True] Translation: X:107.10, Y:-4.15, Z:1.16 [[ 9.99237086e-01 -3.13526024e-02 -2.32864737e-02 1.07104709e+02] [ 3.13754989e-02 9.99507477e-01 6.18450499e-04 -4.14622998e+00] [ 2.32556145e-02 -1.34860340e-03 9.99728642e-01 1.16363694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.810714057 meters Centerline goodness [0,1] 0.9878698025473415 Centerline is valid? [True, True] Translation: X:107.14, Y:-4.15, Z:1.16 [[ 9.99312206e-01 -2.91165916e-02 -2.29638473e-02 1.07135028e+02] [ 2.91382751e-02 9.99575204e-01 6.10133458e-04 -4.14562587e+00] [ 2.29363274e-02 -1.27884071e-03 9.99736110e-01 1.16434730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.840714057 meters Centerline goodness [0,1] 0.9878757831162392 Centerline is valid? [True, True] Translation: X:107.17, Y:-4.14, Z:1.17 [[ 9.99373389e-01 -2.69515382e-02 -2.29443826e-02 1.07165370e+02] [ 2.69726211e-02 9.99635987e-01 6.09831251e-04 -4.14289621e+00] [ 2.29195947e-02 -1.22831926e-03 9.99736557e-01 1.16509150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.870714057 meters Centerline goodness [0,1] 0.987457137700776 Centerline is valid? [True, True] Translation: X:107.20, Y:-4.14, Z:1.16 [[ 9.99481704e-01 -2.38908327e-02 -2.15766558e-02 1.07195097e+02] [ 2.39087650e-02 9.99713980e-01 5.73478887e-04 -4.14238115e+00] [ 2.15567836e-02 -1.08905285e-03 9.99767032e-01 1.16489945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.900714057 meters Centerline goodness [0,1] 0.9872234762979684 Centerline is valid? [True, True] Translation: X:107.22, Y:-4.14, Z:1.17 [[ 9.99499253e-01 -2.32994803e-02 -2.14097319e-02 1.07224509e+02] [ 2.33169972e-02 9.99727960e-01 5.68872237e-04 -4.14254079e+00] [ 2.13906532e-02 -1.06779804e-03 9.99770624e-01 1.16529985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.930714057 meters Centerline goodness [0,1] 0.985806947363663 Centerline is valid? [True, True] Translation: X:107.25, Y:-4.15, Z:1.16 [[ 9.99524593e-01 -2.31041000e-02 -2.04153964e-02 1.07253894e+02] [ 2.31199795e-02 9.99732551e-01 5.42103277e-04 -4.15279820e+00] [ 2.03974115e-02 -1.01384910e-03 9.99791437e-01 1.16436854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.960714057 meters Centerline goodness [0,1] 0.9871138690098741 Centerline is valid? [True, True] Translation: X:107.28, Y:-4.15, Z:1.17 [[ 9.99493869e-01 -2.35053203e-02 -2.14361036e-02 1.07284706e+02] [ 2.35229152e-02 9.99723136e-01 5.68991414e-04 -4.14504059e+00] [ 2.14167944e-02 -1.07294308e-03 9.99770058e-01 1.16597268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.990714057 meters Centerline goodness [0,1] 0.9874683315237062 Centerline is valid? [True, True] Translation: X:107.31, Y:-4.15, Z:1.17 [[ 9.99465176e-01 -2.45551380e-02 -2.15964818e-02 1.07313871e+02] [ 2.45732380e-02 9.99697868e-01 5.73079205e-04 -4.14755822e+00] [ 2.15758847e-02 -1.10346819e-03 9.99766605e-01 1.16542693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.020714057 meters Centerline goodness [0,1] 0.9867512300817045 Centerline is valid? [True, True] Translation: X:107.34, Y:-4.15, Z:1.16 [[ 9.99420222e-01 -2.55375780e-02 -2.25178178e-02 1.07343894e+02] [ 2.55574975e-02 9.99673175e-01 5.97220608e-04 -4.14914787e+00] [ 2.24952069e-02 -1.17237342e-03 9.99746263e-01 1.16493710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05071405700001 meters Centerline goodness [0,1] 0.9862326502148336 Centerline is valid? [True, True] Translation: X:107.37, Y:-4.15, Z:1.16 [[ 9.99322448e-01 -2.78719479e-02 -2.40374584e-02 1.07372757e+02] [ 2.78953157e-02 9.99610647e-01 6.37311376e-04 -4.15358307e+00] [ 2.40103362e-02 -1.30741206e-03 9.99710855e-01 1.16325796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08071405700001 meters Centerline goodness [0,1] 0.9872797107998192 Centerline is valid? [True, True] Translation: X:107.40, Y:-4.16, Z:1.16 [[ 9.99278241e-01 -2.93167302e-02 -2.41562783e-02 1.07403275e+02] [ 2.93407481e-02 9.99569262e-01 6.40363080e-04 -4.15548207e+00] [ 2.41270999e-02 -1.34866417e-03 9.99707989e-01 1.16326772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.110714057 meters Centerline goodness [0,1] 0.986496317177412 Centerline is valid? [True, True] Translation: X:107.43, Y:-4.16, Z:1.16 [[ 9.99258091e-01 -3.04788250e-02 -2.35437559e-02 1.07433027e+02] [ 3.05019568e-02 9.99534512e-01 6.23928935e-04 -4.15846202e+00] [ 2.35137799e-02 -1.34159666e-03 9.99722613e-01 1.16326457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.140714057 meters Centerline goodness [0,1] 0.9862647325475975 Centerline is valid? [True, True] Translation: X:107.46, Y:-4.16, Z:1.16 [[ 9.99280839e-01 -3.01178883e-02 -2.30373300e-02 1.07463994e+02] [ 3.01399439e-02 9.99545502e-01 6.10687314e-04 -4.15937826e+00] [ 2.30084670e-02 -1.30459196e-03 9.99734419e-01 1.16402339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.170714057 meters Centerline goodness [0,1] 0.9869139736003641 Centerline is valid? [True, True] Translation: X:107.50, Y:-4.15, Z:1.17 [[ 9.99298701e-01 -2.99931130e-02 -2.24169259e-02 1.07495110e+02] [ 3.00139818e-02 9.99549302e-01 5.94990966e-04 -4.15383864e+00] [ 2.23889770e-02 -1.26739491e-03 9.99748532e-01 1.16613066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.200714057 meters Centerline goodness [0,1] 0.9856439797700315 Centerline is valid? [True, True] Translation: X:107.53, Y:-4.16, Z:1.17 [[ 9.99371285e-01 -2.85062957e-02 -2.10814254e-02 1.07525412e+02] [ 2.85244331e-02 9.99592939e-01 5.60091385e-04 -4.16016483e+00] [ 2.10568779e-02 -1.16107496e-03 9.99777605e-01 1.16671428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.230714057 meters Centerline goodness [0,1] 0.9874866090761972 Centerline is valid? [True, True] Translation: X:107.56, Y:-4.15, Z:1.17 [[ 9.99400441e-01 -2.79736847e-02 -2.04017414e-02 1.07556964e+02] [ 2.79905707e-02 9.99608040e-01 5.42527429e-04 -4.15459405e+00] [ 2.03785682e-02 -1.11325854e-03 9.99791716e-01 1.16855178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.260714057 meters Centerline goodness [0,1] 0.9868960983019338 Centerline is valid? [True, True] Translation: X:107.59, Y:-4.16, Z:1.17 [[ 9.99450921e-01 -2.62304926e-02 -2.02439363e-02 1.07586961e+02] [ 2.62467831e-02 9.99655348e-01 5.39388860e-04 -4.15830163e+00] [ 2.02228108e-02 -1.07043090e-03 9.99794925e-01 1.16775010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.290714057 meters Centerline goodness [0,1] 0.9870525860695838 Centerline is valid? [True, True] Translation: X:107.62, Y:-4.15, Z:1.17 [[ 9.99464790e-01 -2.58657367e-02 -2.00273878e-02 1.07618119e+02] [ 2.58816312e-02 9.99664871e-01 5.34804694e-04 -4.15478215e+00] [ 2.00068429e-02 -1.05285993e-03 9.99799289e-01 1.16833826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.320714057 meters Centerline goodness [0,1] 0.9872365552325582 Centerline is valid? [True, True] Translation: X:107.65, Y:-4.15, Z:1.17 [[ 9.99477852e-01 -2.52827394e-02 -2.01198008e-02 1.07649622e+02] [ 2.52986771e-02 9.99679793e-01 5.37966189e-04 -4.15377091e+00] [ 2.00997571e-02 -1.04668964e-03 9.99797432e-01 1.16876937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.350714057 meters Centerline goodness [0,1] 0.9876156066080396 Centerline is valid? [True, True] Translation: X:107.68, Y:-4.16, Z:1.17 [[ 9.99493888e-01 -2.40346466e-02 -2.08399492e-02 1.07680184e+02] [ 2.40514972e-02 9.99710565e-01 5.58268047e-04 -4.15586300e+00] [ 2.08204996e-02 -1.05921748e-03 9.99782669e-01 1.16776181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.380714057 meters Centerline goodness [0,1] 0.986779145973649 Centerline is valid? [True, True] Translation: X:107.71, Y:-4.16, Z:1.17 [[ 9.99501486e-01 -2.33305991e-02 -2.12711825e-02 1.07710050e+02] [ 2.33480130e-02 9.99727235e-01 5.70648369e-04 -4.16211788e+00] [ 2.12520669e-02 -1.06700374e-03 9.99773580e-01 1.16645311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.410714057 meters Centerline goodness [0,1] 0.986779145973649 Centerline is valid? [True, True] Translation: X:107.74, Y:-4.16, Z:1.17 [[ 9.99500747e-01 -2.33622128e-02 -2.12711906e-02 1.07739229e+02] [ 2.33796275e-02 9.99726496e-01 5.70348381e-04 -4.16286525e+00] [ 2.12520482e-02 -1.06737615e-03 9.99773580e-01 1.16679729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44071405700001 meters Centerline goodness [0,1] 0.9882693271377159 Centerline is valid? [True, True] Translation: X:107.77, Y:-4.15, Z:1.17 [[ 9.99535821e-01 -2.06709820e-02 -2.23797446e-02 1.07770094e+02] [ 2.06895780e-02 9.99785768e-01 5.99679788e-04 -4.15107532e+00] [ 2.23625542e-02 -1.06242890e-03 9.99749362e-01 1.16867403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47071405700001 meters Centerline goodness [0,1] 0.9891554461987105 Centerline is valid? [True, True] Translation: X:107.80, Y:-4.15, Z:1.17 [[ 9.99577688e-01 -1.86718520e-02 -2.22667383e-02 1.07798653e+02] [ 1.86897496e-02 9.99825154e-01 5.95929533e-04 -4.15070793e+00] [ 2.22517180e-02 -1.01183763e-03 9.99751888e-01 1.16885263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.500714057 meters Centerline goodness [0,1] 0.9888878747775294 Centerline is valid? [True, True] Translation: X:107.83, Y:-4.15, Z:1.17 [[ 9.99660582e-01 -1.39761683e-02 -2.19860902e-02 1.07827477e+02] [ 1.39924587e-02 9.99901928e-01 5.87267978e-04 -4.14867828e+00] [ 2.19757262e-02 -8.94708107e-04 9.99758104e-01 1.16986152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.530714057 meters Centerline goodness [0,1] 0.9896597275998724 Centerline is valid? [True, True] Translation: X:107.86, Y:-4.15, Z:1.17 [[ 9.99711595e-01 -1.15977588e-02 -2.10289882e-02 1.07856804e+02] [ 1.16121041e-02 9.99932420e-01 5.60183615e-04 -4.14516379e+00] [ 2.10210702e-02 -8.04212856e-04 9.99778709e-01 1.17124993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.560714057 meters Centerline goodness [0,1] 0.990041928721174 Centerline is valid? [True, True] Translation: X:107.89, Y:-4.14, Z:1.17 [[ 9.99731135e-01 -9.99159664e-03 -2.09242856e-02 1.07885234e+02] [ 1.00053710e-02 9.99949792e-01 5.53707860e-04 -4.14418238e+00] [ 2.09177026e-02 -7.62914228e-04 9.99780910e-01 1.17201799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.590714057 meters Centerline goodness [0,1] 0.9890137328339575 Centerline is valid? [True, True] Translation: X:107.91, Y:-4.14, Z:1.17 [[ 9.99778966e-01 -6.57993378e-03 -1.99680894e-02 1.07913862e+02] [ 6.59173576e-03 9.99978136e-01 5.25280160e-04 -4.14350245e+00] [ 1.99641965e-02 -6.56788423e-04 9.99800480e-01 1.17227650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.620714057 meters Centerline goodness [0,1] 0.9901360001822448 Centerline is valid? [True, True] Translation: X:107.94, Y:-4.14, Z:1.17 [[ 9.99785622e-01 -5.83175896e-03 -1.98670979e-02 1.07942469e+02] [ 5.84324541e-03 9.99982793e-01 5.20163081e-04 -4.14408240e+00] [ 1.98637226e-02 -6.36139898e-04 9.99802494e-01 1.17259114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.650714057 meters Centerline goodness [0,1] 0.989935789425748 Centerline is valid? [True, True] Translation: X:107.97, Y:-4.15, Z:1.17 [[ 9.99799477e-01 -4.94287393e-03 -1.94054907e-02 1.07970721e+02] [ 4.95357620e-03 9.99987604e-01 5.03478154e-04 -4.14526890e+00] [ 1.94027615e-02 -5.99503773e-04 9.99811569e-01 1.17295024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.680714057 meters Centerline goodness [0,1] 0.9905724825795874 Centerline is valid? [True, True] Translation: X:108.00, Y:-4.15, Z:1.17 [[ 9.99804244e-01 -4.78789764e-03 -1.91976385e-02 1.07998108e+02] [ 4.79827764e-03 9.99988366e-01 4.94665603e-04 -4.14691885e+00] [ 1.91950467e-02 -5.86684369e-04 9.99815586e-01 1.17322377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.710714057 meters Centerline goodness [0,1] 0.9908311150547175 Centerline is valid? [True, True] Translation: X:108.03, Y:-4.15, Z:1.17 [[ 9.99807761e-01 -5.28816709e-03 -1.88805948e-02 1.08025567e+02] [ 5.29823970e-03 9.99985847e-01 4.83508222e-04 -4.14544322e+00] [ 1.88777707e-02 -5.83449190e-04 9.99821629e-01 1.17399483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.740714057 meters Centerline goodness [0,1] 0.9896787687271239 Centerline is valid? [True, True] Translation: X:108.05, Y:-4.15, Z:1.17 [[ 9.99789009e-01 -6.86778827e-03 -1.93590170e-02 1.08052929e+02] [ 6.87859472e-03 9.99976221e-01 4.91679529e-04 -4.15181926e+00] [ 1.93551800e-02 -6.24738621e-04 9.99812476e-01 1.17364141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.770714057 meters Centerline goodness [0,1] 0.9904400744811299 Centerline is valid? [True, True] Translation: X:108.08, Y:-4.15, Z:1.17 [[ 9.99782980e-01 -8.58105282e-03 -1.89831302e-02 1.08081433e+02] [ 8.59170121e-03 9.99962976e-01 4.79453603e-04 -4.15456984e+00] [ 1.89783132e-02 -6.42446935e-04 9.99819689e-01 1.17397196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80071405700001 meters Centerline goodness [0,1] 0.9889546619491506 Centerline is valid? [True, True] Translation: X:108.11, Y:-4.16, Z:1.17 [[ 9.99744860e-01 -1.31798258e-02 -1.83441390e-02 1.08110395e+02] [ 1.31904900e-02 9.99912896e-01 4.60461219e-04 -4.16170227e+00] [ 1.83364723e-02 -7.02311918e-04 9.99831626e-01 1.17427817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83071405700001 meters Centerline goodness [0,1] 0.9885761925148149 Centerline is valid? [True, True] Translation: X:108.14, Y:-4.17, Z:1.17 [[ 9.99714244e-01 -1.58711306e-02 -1.78755887e-02 1.08139534e+02] [ 1.58816744e-02 9.99873778e-01 4.48026342e-04 -4.16659349e+00] [ 1.78662218e-02 -7.31792595e-04 9.99840119e-01 1.17428192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.860714057 meters Centerline goodness [0,1] 0.9896811777456648 Centerline is valid? [True, True] Translation: X:108.17, Y:-4.16, Z:1.17 [[ 9.99667732e-01 -1.86533042e-02 -1.77898637e-02 1.08168886e+02] [ 1.86641708e-02 9.99825710e-01 4.44987152e-04 -4.16429622e+00] [ 1.77784626e-02 -7.76872353e-04 9.99841649e-01 1.17483030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.890714057 meters Centerline goodness [0,1] 0.9888853819100009 Centerline is valid? [True, True] Translation: X:108.20, Y:-4.17, Z:1.17 [[ 9.99547860e-01 -2.36803745e-02 -1.85287866e-02 1.08198176e+02] [ 2.36930083e-02 9.99719174e-01 4.62597119e-04 -4.17498223e+00] [ 1.85126288e-02 -9.01390656e-04 9.99828220e-01 1.17301570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.920714057 meters Centerline goodness [0,1] 0.9896972435607773 Centerline is valid? [True, True] Translation: X:108.23, Y:-4.17, Z:1.17 [[ 9.99421918e-01 -2.78815188e-02 -1.94538271e-02 1.08229277e+02] [ 2.78962339e-02 9.99610706e-01 4.85400898e-04 -4.17338278e+00] [ 1.94327201e-02 -1.02780881e-03 9.99810639e-01 1.17385915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.950714057 meters Centerline goodness [0,1] 0.9893388261391158 Centerline is valid? [True, True] Translation: X:108.26, Y:-4.17, Z:1.17 [[ 9.99358007e-01 -2.99446568e-02 -1.96695543e-02 1.08260134e+02] [ 2.99601050e-02 9.99550975e-01 4.91111763e-04 -4.17458290e+00] [ 1.96460160e-02 -1.08009839e-03 9.99806415e-01 1.17447668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.980714057 meters Centerline goodness [0,1] 0.9883770694898074 Centerline is valid? [True, True] Translation: X:108.29, Y:-4.19, Z:1.17 [[ 9.99302418e-01 -3.18167662e-02 -1.95543132e-02 1.08290483e+02] [ 3.18323980e-02 9.99493101e-01 4.88586372e-04 -4.18697970e+00] [ 1.95288559e-02 -1.11070623e-03 9.99808677e-01 1.17374986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.010714057 meters Centerline goodness [0,1] 0.9893089137495489 Centerline is valid? [True, True] Translation: X:108.32, Y:-4.18, Z:1.18 [[ 9.99193612e-01 -3.55835696e-02 -1.85993323e-02 1.08321191e+02] [ 3.55983678e-02 9.99366069e-01 4.65049305e-04 -4.18157838e+00] [ 1.85709934e-02 -1.12678017e-03 9.99826909e-01 1.17656737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.040714057 meters Centerline goodness [0,1] 0.9888558692421991 Centerline is valid? [True, True] Translation: X:108.35, Y:-4.19, Z:1.18 [[ 9.99172898e-01 -3.65845623e-02 -1.77507435e-02 1.08351985e+02] [ 3.65982122e-02 9.99329962e-01 4.44629509e-04 -4.18510416e+00] [ 1.77225832e-02 -1.09390723e-03 9.99842344e-01 1.17779125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.070714057 meters Centerline goodness [0,1] 0.9876407023863125 Centerline is valid? [True, True] Translation: X:108.38, Y:-4.19, Z:1.18 [[ 9.99122119e-01 -3.86176317e-02 -1.62378882e-02 1.08381953e+02] [ 3.86293386e-02 9.99253525e-01 4.07811555e-04 -4.18886659e+00] [ 1.62100184e-02 -1.03471243e-03 9.99868074e-01 1.17908804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.100714057 meters Centerline goodness [0,1] 0.9882037774926273 Centerline is valid? [True, True] Translation: X:108.41, Y:-4.19, Z:1.18 [[ 9.99109020e-01 -3.91134326e-02 -1.58526127e-02 1.08414490e+02] [ 3.91246572e-02 9.99234258e-01 3.98423213e-04 -4.18855286e+00] [ 1.58248900e-02 -1.01829626e-03 9.99874260e-01 1.18016816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.130714057 meters Centerline goodness [0,1] 0.9886801812974948 Centerline is valid? [True, True] Translation: X:108.45, Y:-4.19, Z:1.18 [[ 9.99094241e-01 -3.97924337e-02 -1.50751506e-02 1.08446888e+02] [ 3.98026767e-02 9.99207487e-01 3.79916655e-04 -4.18642718e+00] [ 1.50480856e-02 -9.79603888e-04 9.99886291e-01 1.18101068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.160714057 meters Centerline goodness [0,1] 0.9880893411987212 Centerline is valid? [True, True] Translation: X:108.48, Y:-4.19, Z:1.18 [[ 9.99052487e-01 -4.07560340e-02 -1.52667434e-02 1.08477932e+02] [ 4.07666672e-02 9.99168619e-01 3.85805927e-04 -4.19364926e+00] [ 1.52383270e-02 -1.00781462e-03 9.99883382e-01 1.18021330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19071405700001 meters Centerline goodness [0,1] 0.9886686190583465 Centerline is valid? [True, True] Translation: X:108.51, Y:-4.19, Z:1.18 [[ 9.99009267e-01 -4.15648342e-02 -1.59012368e-02 1.08510615e+02] [ 4.15764871e-02 9.99135243e-01 4.02809529e-04 -4.18996604e+00] [ 1.58707434e-02 -1.06352802e-03 9.99873486e-01 1.18010675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22071405700001 meters Centerline goodness [0,1] 0.9881051424459785 Centerline is valid? [True, True] Translation: X:108.54, Y:-4.20, Z:1.18 [[ 9.98941898e-01 -4.25322886e-02 -1.74954171e-02 1.08541878e+02] [ 4.25465703e-02 9.99094386e-01 4.44744063e-04 -4.19899844e+00] [ 1.74606571e-02 -1.18864347e-03 9.99846845e-01 1.17828030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.250714057 meters Centerline goodness [0,1] 0.9882405845980888 Centerline is valid? [True, True] Translation: X:108.57, Y:-4.20, Z:1.18 [[ 9.98937648e-01 -4.24194223e-02 -1.80046596e-02 1.08573649e+02] [ 4.24345602e-02 9.99099143e-01 4.59396292e-04 -4.19978569e+00] [ 1.79689527e-02 -1.22292806e-03 9.99837797e-01 1.17845479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.280714057 meters Centerline goodness [0,1] 0.9880775633238854 Centerline is valid? [True, True] Translation: X:108.60, Y:-4.20, Z:1.18 [[ 9.98956087e-01 -4.20684839e-02 -1.78039116e-02 1.08604866e+02] [ 4.20832500e-02 9.99114004e-01 4.55371245e-04 -4.20090674e+00] [ 1.77689806e-02 -1.20414234e-03 9.99841394e-01 1.17928578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.310714057 meters Centerline goodness [0,1] 0.9897393108425041 Centerline is valid? [True, True] Translation: X:108.64, Y:-4.19, Z:1.18 [[ 9.99068062e-01 -3.96763872e-02 -1.69939042e-02 1.08636928e+02] [ 3.96895099e-02 9.99211966e-01 4.35499208e-04 -4.19188884e+00] [ 1.69632334e-02 -1.10957308e-03 9.99855498e-01 1.18134929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.340714057 meters Centerline goodness [0,1] 0.9896332098653898 Centerline is valid? [True, True] Translation: X:108.67, Y:-4.19, Z:1.18 [[ 9.99142691e-01 -3.78615654e-02 -1.67446716e-02 1.08668101e+02] [ 3.78740652e-02 9.99282428e-01 4.29897163e-04 -4.19152098e+00] [ 1.67163795e-02 -1.06371739e-03 9.99859706e-01 1.18226662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.370714057 meters Centerline goodness [0,1] 0.9904188090330471 Centerline is valid? [True, True] Translation: X:108.70, Y:-4.18, Z:1.18 [[ 9.99319509e-01 -3.33706487e-02 -1.57136436e-02 1.08698594e+02] [ 3.33811098e-02 9.99442614e-01 4.03842244e-04 -4.18090988e+00] [ 1.56914085e-02 -9.28106293e-04 9.99876452e-01 1.18422798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.400714057 meters Centerline goodness [0,1] 0.9902980845517397 Centerline is valid? [True, True] Translation: X:108.73, Y:-4.18, Z:1.18 [[ 9.99415500e-01 -3.05515979e-02 -1.53381245e-02 1.08730620e+02] [ 3.05612380e-02 9.99532818e-01 3.94453485e-04 -4.17903899e+00] [ 1.53189076e-02 -8.62975000e-04 9.99882286e-01 1.18486773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.430714057 meters Centerline goodness [0,1] 0.9906461622086834 Centerline is valid? [True, True] Translation: X:108.76, Y:-4.18, Z:1.19 [[ 9.99508789e-01 -2.76075545e-02 -1.48325366e-02 1.08760952e+02] [ 2.76162562e-02 9.99618525e-01 3.82121179e-04 -4.17875160e+00] [ 1.48163289e-02 -7.91552606e-04 9.99889919e-01 1.18538394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.460714057 meters Centerline goodness [0,1] 0.9905636781191023 Centerline is valid? [True, True] Translation: X:108.79, Y:-4.17, Z:1.19 [[ 9.99646194e-01 -2.29544780e-02 -1.34379803e-02 1.08792363e+02] [ 2.29612038e-02 9.99736297e-01 3.46421153e-04 -4.17483523e+00] [ 1.34264848e-02 -6.54850792e-04 9.99909646e-01 1.18629991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.490714057 meters Centerline goodness [0,1] 0.9915562011984747 Centerline is valid? [True, True] Translation: X:108.82, Y:-4.17, Z:1.19 [[ 9.99701232e-01 -2.07081339e-02 -1.29854054e-02 1.08824385e+02] [ 2.07142296e-02 9.99785381e-01 3.35096607e-04 -4.17263544e+00] [ 1.29756792e-02 -6.03979160e-04 9.99915630e-01 1.18685160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.520714057 meters Centerline goodness [0,1] 0.991173593575832 Centerline is valid? [True, True] Translation: X:108.86, Y:-4.17, Z:1.19 [[ 9.99775400e-01 -1.75493099e-02 -1.18815583e-02 1.08855744e+02] [ 1.75541976e-02 9.99845866e-01 3.07194426e-04 -4.17094407e+00] [ 1.18743359e-02 -5.15696652e-04 9.99929365e-01 1.18771527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55071405700001 meters Centerline goodness [0,1] 0.9916935961039552 Centerline is valid? [True, True] Translation: X:108.89, Y:-4.17, Z:1.19 [[ 9.99795172e-01 -1.64295397e-02 -1.18187992e-02 1.08887454e+02] [ 1.64343027e-02 9.99864901e-01 3.05989592e-04 -4.17066793e+00] [ 1.18121752e-02 -5.00160641e-04 9.99930109e-01 1.18777329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58071405700001 meters Centerline goodness [0,1] 0.9917694540177762 Centerline is valid? [True, True] Translation: X:108.92, Y:-4.17, Z:1.19 [[ 9.99812599e-01 -1.52484938e-02 -1.19269089e-02 1.08918943e+02] [ 1.52532655e-02 9.99883614e-01 3.09213050e-04 -4.17115541e+00] [ 1.19208058e-02 -4.91079412e-04 9.99928824e-01 1.18760455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.610714057 meters Centerline goodness [0,1] 0.9915868937447418 Centerline is valid? [True, True] Translation: X:108.95, Y:-4.17, Z:1.19 [[ 9.99822168e-01 -1.37617467e-02 -1.28936655e-02 1.08949955e+02] [ 1.37672060e-02 9.99905171e-01 3.34741908e-04 -4.17125979e+00] [ 1.28878362e-02 -5.12192130e-04 9.99916817e-01 1.18652398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.640714057 meters Centerline goodness [0,1] 0.9917242322686547 Centerline is valid? [True, True] Translation: X:108.98, Y:-4.17, Z:1.19 [[ 9.99818139e-01 -1.31786683e-02 -1.37844453e-02 1.08980348e+02] [ 1.31848557e-02 9.99913012e-01 3.58086797e-04 -4.17192700e+00] [ 1.37785271e-02 -5.39767597e-04 9.99904926e-01 1.18654784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.670714057 meters Centerline goodness [0,1] 0.9920067599972595 Centerline is valid? [True, True] Translation: X:109.01, Y:-4.17, Z:1.19 [[ 9.99809016e-01 -1.21493638e-02 -1.53076498e-02 1.09010060e+02] [ 1.21568721e-02 9.99926023e-01 3.97530350e-04 -4.16927038e+00] [ 1.53016877e-02 -5.83547570e-04 9.99882752e-01 1.18540118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.700714057 meters Centerline goodness [0,1] 0.9918948621668651 Centerline is valid? [True, True] Translation: X:109.04, Y:-4.17, Z:1.18 [[ 9.99791148e-01 -1.21011544e-02 -1.64688446e-02 1.09038571e+02] [ 1.21098119e-02 9.99926583e-01 4.26064958e-04 -4.16989778e+00] [ 1.64624796e-02 -6.25410584e-04 9.99864289e-01 1.18470290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.730714057 meters Centerline goodness [0,1] 0.9920451688115757 Centerline is valid? [True, True] Translation: X:109.07, Y:-4.17, Z:1.18 [[ 9.99784645e-01 -1.15151424e-02 -1.72645774e-02 1.09067421e+02] [ 1.15244928e-02 9.99933493e-01 4.42200073e-04 -4.17020472e+00] [ 1.72583372e-02 -6.41070342e-04 9.99850858e-01 1.18424421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.760714057 meters Centerline goodness [0,1] 0.9908652858023704 Centerline is valid? [True, True] Translation: X:109.10, Y:-4.17, Z:1.18 [[ 9.99787608e-01 -1.04969246e-02 -1.77356798e-02 1.09095247e+02] [ 1.05065695e-02 9.99944703e-01 4.50717650e-04 -4.17463618e+00] [ 1.77299679e-02 -6.36963074e-04 9.99842609e-01 1.18338958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.790714057 meters Centerline goodness [0,1] 0.9911514515724418 Centerline is valid? [True, True] Translation: X:109.12, Y:-4.18, Z:1.18 [[ 9.99812859e-01 -9.17656417e-03 -1.70304893e-02 1.09122977e+02] [ 9.18524145e-03 9.99957722e-01 4.31362165e-04 -4.17537895e+00] [ 1.70258108e-02 -5.87710596e-04 9.99854878e-01 1.18420074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.820714057 meters Centerline goodness [0,1] 0.9918450327797702 Centerline is valid? [True, True] Translation: X:109.15, Y:-4.17, Z:1.19 [[ 9.99814954e-01 -8.87927691e-03 -1.70650728e-02 1.09152049e+02] [ 8.88790706e-03 9.99960409e-01 4.29942917e-04 -4.17025301e+00] [ 1.70605796e-02 -5.81536139e-04 9.99854289e-01 1.18507868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.850714057 meters Centerline goodness [0,1] 0.9921871430529539 Centerline is valid? [True, True] Translation: X:109.18, Y:-4.17, Z:1.18 [[ 9.99817010e-01 -8.14241817e-03 -1.73103027e-02 1.09179639e+02] [ 8.15112785e-03 9.99966685e-01 4.32654436e-04 -4.17107342e+00] [ 1.73062031e-02 -5.73673755e-04 9.99850072e-01 1.18481053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.880714057 meters Centerline goodness [0,1] 0.9922042887842348 Centerline is valid? [True, True] Translation: X:109.21, Y:-4.17, Z:1.18 [[ 9.99812768e-01 -6.99118447e-03 -1.80430680e-02 1.09208558e+02] [ 7.00041172e-03 9.99975396e-01 4.48291651e-04 -4.16976914e+00] [ 1.80394899e-02 -5.74516621e-04 9.99837110e-01 1.18450107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.910714057 meters Centerline goodness [0,1] 0.9922181667929206 Centerline is valid? [True, True] Translation: X:109.24, Y:-4.17, Z:1.18 [[ 9.99806186e-01 -6.58263472e-03 -1.85542275e-02 1.09236175e+02] [ 6.59224817e-03 9.99978166e-01 4.57012008e-04 -4.17066374e+00] [ 1.85508140e-02 -5.79237504e-04 9.99827751e-01 1.18444451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94071405700001 meters Centerline goodness [0,1] 0.9927007299270073 Centerline is valid? [True, True] Translation: X:109.26, Y:-4.17, Z:1.18 [[ 9.99813883e-01 -4.56614459e-03 -1.87443151e-02 1.09263603e+02] [ 4.57556094e-03 9.99989426e-01 4.59501045e-04 -4.17230979e+00] [ 1.87420187e-02 -5.45181280e-04 9.99824204e-01 1.18431496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97071405700001 meters Centerline goodness [0,1] 0.992124001190558 Centerline is valid? [True, True] Translation: X:109.29, Y:-4.17, Z:1.18 [[ 9.99801799e-01 -4.18924312e-03 -1.94631052e-02 1.09292760e+02] [ 4.19926567e-03 9.99991071e-01 4.74110056e-04 -4.17211378e+00] [ 1.94609453e-02 -5.55746837e-04 9.99810463e-01 1.18436826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.000714057 meters Centerline goodness [0,1] 0.9924036151470084 Centerline is valid? [True, True] Translation: X:109.32, Y:-4.17, Z:1.18 [[ 9.99797573e-01 -3.95789667e-03 -1.97268584e-02 1.09321024e+02] [ 3.96804985e-03 9.99992014e-01 4.75572089e-04 -4.17305068e+00] [ 1.97248186e-02 -5.53752978e-04 9.99805293e-01 1.18446392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.030714057 meters Centerline goodness [0,1] 0.9927400575316195 Centerline is valid? [True, True] Translation: X:109.35, Y:-4.18, Z:1.18 [[ 9.99786461e-01 -3.82097222e-03 -2.03084321e-02 1.09348326e+02] [ 3.83159445e-03 9.99992542e-01 4.84159978e-04 -4.17593649e+00] [ 2.03064307e-02 -5.61870267e-04 9.99793645e-01 1.18428006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.060714057 meters Centerline goodness [0,1] 0.9923807344697403 Centerline is valid? [True, True] Translation: X:109.38, Y:-4.18, Z:1.18 [[ 9.99772862e-01 -4.77490109e-03 -2.07707890e-02 1.09377001e+02] [ 4.78613456e-03 9.99988426e-01 4.91152598e-04 -4.17833875e+00] [ 2.07682034e-02 -5.90452829e-04 9.99784143e-01 1.18424950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.090714057 meters Centerline goodness [0,1] 0.9933418460415907 Centerline is valid? [True, True] Translation: X:109.41, Y:-4.18, Z:1.18 [[ 9.99731981e-01 -7.23713598e-03 -2.19906934e-02 1.09406449e+02] [ 7.25029613e-03 9.99973582e-01 5.18770867e-04 -4.18183355e+00] [ 2.19863581e-02 -6.78070866e-04 9.99758041e-01 1.18394801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.120714057 meters Centerline goodness [0,1] 0.9927349746065727 Centerline is valid? [True, True] Translation: X:109.43, Y:-4.19, Z:1.18 [[ 9.99703021e-01 -9.45672004e-03 -2.24597694e-02 1.09434134e+02] [ 9.47097643e-03 9.99955010e-01 5.28463597e-04 -4.18618488e+00] [ 2.24537614e-02 -7.41022601e-04 9.99747608e-01 1.18357938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.150714057 meters Centerline goodness [0,1] 0.9923684927773235 Centerline is valid? [True, True] Translation: X:109.46, Y:-4.19, Z:1.18 [[ 9.99647708e-01 -1.41635962e-02 -2.24466540e-02 1.09463057e+02] [ 1.41789848e-02 9.99899335e-01 5.26547841e-04 -4.19220654e+00] [ 2.24369366e-02 -8.44633108e-04 9.99747903e-01 1.18395188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.180714057 meters Centerline goodness [0,1] 0.9912966614537295 Centerline is valid? [True, True] Translation: X:109.49, Y:-4.20, Z:1.18 [[ 9.99597206e-01 -1.68744877e-02 -2.28183777e-02 1.09492170e+02] [ 1.68910613e-02 9.99857193e-01 5.33772644e-04 -4.19666323e+00] [ 2.28061119e-02 -9.18984259e-04 9.99739484e-01 1.18405863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.210714057 meters Centerline goodness [0,1] 0.9912766390200909 Centerline is valid? [True, True] Translation: X:109.52, Y:-4.20, Z:1.18 [[ 9.99539644e-01 -1.97576843e-02 -2.30246238e-02 1.09520713e+02] [ 1.97752874e-02 9.99804306e-01 5.37072114e-04 -4.20232405e+00] [ 2.30095067e-02 -9.92143423e-04 9.99734754e-01 1.18378470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.240714057 meters Centerline goodness [0,1] 0.9910931721836385 Centerline is valid? [True, True] Translation: X:109.55, Y:-4.21, Z:1.18 [[ 9.99419870e-01 -2.46463328e-02 -2.35049371e-02 1.09550537e+02] [ 2.46660072e-02 9.99695598e-01 5.47430945e-04 -4.21016184e+00] [ 2.34842900e-02 -1.12688631e-03 9.99723571e-01 1.18356216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.270714057 meters Centerline goodness [0,1] 0.9907665976038195 Centerline is valid? [True, True] Translation: X:109.58, Y:-4.21, Z:1.18 [[ 9.99345486e-01 -2.67648185e-02 -2.43360679e-02 1.09579925e+02] [ 2.67865200e-02 9.99641016e-01 5.66135418e-04 -4.21362375e+00] [ 2.43121791e-02 -1.21764345e-03 9.99703674e-01 1.18342319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30071405700001 meters Centerline goodness [0,1] 0.9911275831087152 Centerline is valid? [True, True] Translation: X:109.61, Y:-4.22, Z:1.18 [[ 9.99238530e-01 -2.96042143e-02 -2.54155441e-02 1.09608676e+02] [ 2.96287716e-02 9.99560797e-01 5.90117911e-04 -4.22125131e+00] [ 2.53869116e-02 -1.34269991e-03 9.99676799e-01 1.18211683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33071405700001 meters Centerline goodness [0,1] 0.9911275831087152 Centerline is valid? [True, True] Translation: X:109.64, Y:-4.22, Z:1.18 [[ 9.99237512e-01 -2.96385511e-02 -2.54155690e-02 1.09637863e+02] [ 2.96630923e-02 9.99559780e-01 5.89046246e-04 -4.22189642e+00] [ 2.53869221e-02 -1.34250147e-03 9.99676799e-01 1.18246128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.360714057 meters Centerline goodness [0,1] 0.9918053085391386 Centerline is valid? [True, True] Translation: X:109.67, Y:-4.22, Z:1.18 [[ 9.99186331e-01 -3.07592206e-02 -2.60872807e-02 1.09667637e+02] [ 3.07854332e-02 9.99525834e-01 6.03680672e-04 -4.21894706e+00] [ 2.60563423e-02 -1.40629771e-03 9.99659487e-01 1.18405151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.390714057 meters Centerline goodness [0,1] 0.9913810563269347 Centerline is valid? [True, True] Translation: X:109.70, Y:-4.22, Z:1.18 [[ 9.99130646e-01 -3.20991603e-02 -2.66006708e-02 1.09697597e+02] [ 3.21268698e-02 9.99483610e-01 6.14854471e-04 -4.21969884e+00] [ 2.65671981e-02 -1.46891623e-03 9.99645950e-01 1.18454697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.420714057 meters Centerline goodness [0,1] 0.9912570516710494 Centerline is valid? [True, True] Translation: X:109.73, Y:-4.23, Z:1.18 [[ 9.99009549e-01 -3.51054621e-02 -2.73409614e-02 1.09726501e+02] [ 3.51358364e-02 9.99382347e-01 6.31178830e-04 -4.23285677e+00] [ 2.73019163e-02 -1.59120122e-03 9.99625967e-01 1.18215271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.450714057 meters Centerline goodness [0,1] 0.9908184797737171 Centerline is valid? [True, True] Translation: X:109.76, Y:-4.24, Z:1.18 [[ 9.98947885e-01 -3.66922526e-02 -2.75100457e-02 1.09756879e+02] [ 3.67235916e-02 9.99325260e-01 6.34651441e-04 -4.23546048e+00] [ 2.74681968e-02 -1.64425140e-03 9.99621326e-01 1.18200761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.480714057 meters Centerline goodness [0,1] 0.9918648029124905 Centerline is valid? [True, True] Translation: X:109.79, Y:-4.23, Z:1.18 [[ 9.98796192e-01 -4.02881648e-02 -2.79826830e-02 1.09787454e+02] [ 4.03219959e-02 9.99186529e-01 6.45555094e-04 -4.23210031e+00] [ 2.79339117e-02 -1.77309560e-03 9.99608200e-01 1.18389865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.510714057 meters Centerline goodness [0,1] 0.9912040569043665 Centerline is valid? [True, True] Translation: X:109.82, Y:-4.24, Z:1.18 [[ 9.98730024e-01 -4.18172817e-02 -2.81007702e-02 1.09818710e+02] [ 4.18520178e-02 9.99123610e-01 6.48856566e-04 -4.23522285e+00] [ 2.80490095e-02 -1.82410647e-03 9.99604885e-01 1.18363337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.540714057 meters Centerline goodness [0,1] 0.9908756669506344 Centerline is valid? [True, True] Translation: X:109.85, Y:-4.25, Z:1.18 [[ 9.98633324e-01 -4.37182477e-02 -2.86391341e-02 1.09848147e+02] [ 4.37551185e-02 9.99042067e-01 6.61712560e-04 -4.24675530e+00] [ 2.85827708e-02 -1.91391692e-03 9.99589597e-01 1.18134533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.570714057 meters Centerline goodness [0,1] 0.9909440543803945 Centerline is valid? [True, True] Translation: X:109.88, Y:-4.24, Z:1.18 [[ 9.98519420e-01 -4.63025179e-02 -2.85489723e-02 1.09879235e+02] [ 4.63402223e-02 9.98925497e-01 6.60136116e-04 -4.24206951e+00] [ 2.84877304e-02 -1.98212446e-03 9.99592177e-01 1.18413653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.600714057 meters Centerline goodness [0,1] 0.9903865546218488 Centerline is valid? [True, True] Translation: X:109.91, Y:-4.24, Z:1.18 [[ 9.98458930e-01 -4.75592801e-02 -2.85985877e-02 1.09910448e+02] [ 4.75976554e-02 9.98866370e-01 6.62222547e-04 -4.24380106e+00] [ 2.85346727e-02 -2.02242774e-03 9.99590757e-01 1.18496449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.630714057 meters Centerline goodness [0,1] 0.9896133485224151 Centerline is valid? [True, True] Translation: X:109.94, Y:-4.24, Z:1.19 [[ 9.98400532e-01 -4.87883888e-02 -2.85669610e-02 1.09941424e+02] [ 4.88271996e-02 9.98807021e-01 6.62187934e-04 -4.24484497e+00] [ 2.85005741e-02 -2.05597349e-03 9.99591662e-01 1.18652240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.660714057 meters Centerline goodness [0,1] 0.9896482186869818 Centerline is valid? [True, True] Translation: X:109.97, Y:-4.25, Z:1.19 [[ 9.98377111e-01 -4.92901672e-02 -2.85241030e-02 1.09972909e+02] [ 4.93290874e-02 9.98782360e-01 6.61972164e-04 -4.24626873e+00] [ 2.84567422e-02 -2.06796583e-03 9.99592886e-01 1.18685655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69071405700001 meters Centerline goodness [0,1] 0.989863879981163 Centerline is valid? [True, True] Translation: X:110.01, Y:-4.25, Z:1.19 [[ 9.98364408e-01 -4.93469263e-02 -2.88684874e-02 1.10005264e+02] [ 4.93868617e-02 9.98779499e-01 6.71548223e-04 -4.24698263e+00] [ 2.88001145e-02 -2.09617384e-03 9.99582993e-01 1.18726407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72071405700001 meters Centerline goodness [0,1] 0.9890864995957963 Centerline is valid? [True, True] Translation: X:110.04, Y:-4.25, Z:1.19 [[ 9.98327453e-01 -4.94958993e-02 -2.98739438e-02 1.10036826e+02] [ 4.95387854e-02 9.98771958e-01 6.96703205e-04 -4.24862980e+00] [ 2.98027734e-02 -2.17545683e-03 9.99553431e-01 1.18680810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.750714057 meters Centerline goodness [0,1] 0.9911953640896636 Centerline is valid? [True, True] Translation: X:110.07, Y:-4.24, Z:1.19 [[ 9.98321232e-01 -4.94906725e-02 -3.00897138e-02 1.10069605e+02] [ 4.95342364e-02 9.98772178e-01 7.03664081e-04 -4.24031065e+00] [ 3.00179441e-02 -2.19295379e-03 9.99546954e-01 1.18897251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.780714057 meters Centerline goodness [0,1] 0.9896893321652402 Centerline is valid? [True, True] Translation: X:110.10, Y:-4.24, Z:1.19 [[ 9.98289845e-01 -4.99179817e-02 -3.04233560e-02 1.10101400e+02] [ 4.99628025e-02 9.98750824e-01 7.14354436e-04 -4.23974962e+00] [ 3.03496928e-02 -2.23316891e-03 9.99536847e-01 1.18932202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.810714057 meters Centerline goodness [0,1] 0.990111499042685 Centerline is valid? [True, True] Translation: X:110.13, Y:-4.24, Z:1.19 [[ 9.98275279e-01 -5.00202327e-02 -3.07317962e-02 1.10132918e+02] [ 5.00660866e-02 9.98745645e-01 7.23906720e-04 -4.24136933e+00] [ 3.06570376e-02 -2.26127895e-03 9.99527405e-01 1.18916311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.840714057 meters Centerline goodness [0,1] 0.9888688598467779 Centerline is valid? [True, True] Translation: X:110.16, Y:-4.25, Z:1.19 [[ 9.98250294e-01 -5.02428629e-02 -3.11769829e-02 1.10163287e+02] [ 5.02901941e-02 9.98734377e-01 7.35372762e-04 -4.25057463e+00] [ 3.11005773e-02 -2.30198260e-03 9.99513609e-01 1.18718487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.870714057 meters Centerline goodness [0,1] 0.9899441845750571 Centerline is valid? [True, True] Translation: X:110.20, Y:-4.24, Z:1.19 [[ 9.98238083e-01 -5.04133102e-02 -3.12926267e-02 1.10195585e+02] [ 5.04611264e-02 9.98725752e-01 7.39690556e-04 -4.23906836e+00] [ 3.12154619e-02 -2.31744847e-03 9.99509992e-01 1.19055116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.900714057 meters Centerline goodness [0,1] 0.9900742177806854 Centerline is valid? [True, True] Translation: X:110.23, Y:-4.24, Z:1.19 [[ 9.98254319e-01 -4.99401012e-02 -3.15325225e-02 1.10226703e+02] [ 4.99884783e-02 9.98749515e-01 7.47244792e-04 -4.23923191e+00] [ 3.14557740e-02 -2.32220316e-03 9.99502447e-01 1.19135047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.930714057 meters Centerline goodness [0,1] 0.9895920727421147 Centerline is valid? [True, True] Translation: X:110.26, Y:-4.24, Z:1.19 [[ 9.98346085e-01 -4.89096119e-02 -3.02149702e-02 1.10258157e+02] [ 4.89535966e-02 9.98800796e-01 7.17267206e-04 -4.23513975e+00] [ 3.01436550e-02 -2.19521237e-03 9.99543166e-01 1.19411705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.960714057 meters Centerline goodness [0,1] 0.9892151531629508 Centerline is valid? [True, True] Translation: X:110.29, Y:-4.23, Z:1.20 [[ 9.98436031e-01 -4.78979669e-02 -2.88318759e-02 1.10289772e+02] [ 4.79376241e-02 9.98850096e-01 6.85435219e-04 -4.23329996e+00] [ 2.87658910e-02 -2.06649485e-03 9.99584040e-01 1.19589267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.990714057 meters Centerline goodness [0,1] 0.9894062521221451 Centerline is valid? [True, True] Translation: X:110.32, Y:-4.23, Z:1.20 [[ 9.98522494e-01 -4.68784461e-02 -2.74816415e-02 1.10320878e+02] [ 4.69141167e-02 9.98898712e-01 6.54304436e-04 -4.22874321e+00] [ 2.74207035e-02 -1.94261463e-03 9.99622094e-01 1.19808445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.020714057 meters Centerline goodness [0,1] 0.9875656384260417 Centerline is valid? [True, True] Translation: X:110.35, Y:-4.23, Z:1.20 [[ 9.98679372e-01 -4.49747156e-02 -2.48352085e-02 1.10350931e+02] [ 4.50032683e-02 9.98986664e-01 5.91683277e-04 -4.23303465e+00] [ 2.47834314e-02 -1.70856744e-03 9.99691384e-01 1.19837497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05071405700001 meters Centerline goodness [0,1] 0.9883032951028582 Centerline is valid? [True, True] Translation: X:110.38, Y:-4.23, Z:1.20 [[ 9.98721959e-01 -4.42589907e-02 -2.44047229e-02 1.10383280e+02] [ 4.42863709e-02 9.99018708e-01 5.82324235e-04 -4.22754725e+00] [ 2.43550016e-02 -1.66237661e-03 9.99701991e-01 1.19968294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08071405700001 meters Centerline goodness [0,1] 0.9880272232718003 Centerline is valid? [True, True] Translation: X:110.41, Y:-4.22, Z:1.20 [[ 9.98812259e-01 -4.22952419e-02 -2.41905694e-02 1.10414592e+02] [ 4.23216010e-02 9.99103872e-01 5.78489005e-04 -4.22405443e+00] [ 2.41444242e-02 -1.60158554e-03 9.99707198e-01 1.19958139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.110714057 meters Centerline goodness [0,1] 0.9886601694143364 Centerline is valid? [True, True] Translation: X:110.45, Y:-4.22, Z:1.20 [[ 9.98846294e-01 -4.15600445e-02 -2.40591670e-02 1.10446941e+02] [ 4.15859371e-02 9.99134764e-01 5.76658741e-04 -4.22108816e+00] [ 2.40143842e-02 -1.57651645e-03 9.99710370e-01 1.19982312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.140714057 meters Centerline goodness [0,1] 0.9884196340878463 Centerline is valid? [True, True] Translation: X:110.48, Y:-4.22, Z:1.20 [[ 9.98885274e-01 -4.02234380e-02 -2.47039289e-02 1.10479050e+02] [ 4.02503754e-02 9.99189449e-01 5.93929497e-04 -4.21957529e+00] [ 2.46600152e-02 -1.58760984e-03 9.99694635e-01 1.19931609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.170714057 meters Centerline goodness [0,1] 0.9890731573784702 Centerline is valid? [True, True] Translation: X:110.51, Y:-4.22, Z:1.20 [[ 9.98902852e-01 -3.97951011e-02 -2.46868867e-02 1.10510048e+02] [ 3.98219092e-02 9.99206616e-01 5.95070465e-04 -4.22144177e+00] [ 2.46436196e-02 -1.57749655e-03 9.99695055e-01 1.19868031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.200714057 meters Centerline goodness [0,1] 0.9881584974805314 Centerline is valid? [True, True] Translation: X:110.54, Y:-4.22, Z:1.20 [[ 9.98928487e-01 -3.87906533e-02 -2.52421075e-02 1.10542511e+02] [ 3.88184025e-02 9.99246096e-01 6.10058019e-04 -4.21964984e+00] [ 2.51994129e-02 -1.58926262e-03 9.99681181e-01 1.19853014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.230714057 meters Centerline goodness [0,1] 0.9878579401781443 Centerline is valid? [True, True] Translation: X:110.57, Y:-4.22, Z:1.20 [[ 9.98970207e-01 -3.77794353e-02 -2.51244849e-02 1.10573610e+02] [ 3.78066729e-02 9.99284886e-01 6.09808461e-04 -4.22247196e+00] [ 2.50834798e-02 -1.55905366e-03 9.99684144e-01 1.19756710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.260714057 meters Centerline goodness [0,1] 0.9885799290536674 Centerline is valid? [True, True] Translation: X:110.60, Y:-4.22, Z:1.20 [[ 9.99014945e-01 -3.67628557e-02 -2.48522076e-02 1.10604914e+02] [ 3.67892423e-02 9.99322863e-01 6.05203966e-04 -4.21791238e+00] [ 2.48131302e-02 -1.51890169e-03 9.99690953e-01 1.19899990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.290714057 meters Centerline goodness [0,1] 0.9878825080707497 Centerline is valid? [True, True] Translation: X:110.63, Y:-4.22, Z:1.20 [[ 9.99163499e-01 -3.33958620e-02 -2.36012362e-02 1.10634437e+02] [ 3.34187267e-02 9.99441273e-01 5.74929971e-04 -4.21644725e+00] [ 2.35688493e-02 -1.36317230e-03 9.99721287e-01 1.19937451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.320714057 meters Centerline goodness [0,1] 0.9888555114769887 Centerline is valid? [True, True] Translation: X:110.67, Y:-4.21, Z:1.20 [[ 9.99337642e-01 -2.89278454e-02 -2.20784249e-02 1.10665381e+02] [ 2.89467640e-02 9.99580810e-01 5.37708403e-04 -4.21136620e+00] [ 2.20536151e-02 -1.17645120e-03 9.99756097e-01 1.20039721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.350714057 meters Centerline goodness [0,1] 0.9882732873731706 Centerline is valid? [True, True] Translation: X:110.70, Y:-4.21, Z:1.20 [[ 9.99432095e-01 -2.57163926e-02 -2.17750979e-02 1.10696581e+02] [ 2.57340401e-02 9.99668684e-01 5.30571718e-04 -4.20975631e+00] [ 2.17542391e-02 -1.09063165e-03 9.99762754e-01 1.20125865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.380714057 meters Centerline goodness [0,1] 0.9882355644401554 Centerline is valid? [True, True] Translation: X:110.73, Y:-4.21, Z:1.20 [[ 9.99520057e-01 -2.26831742e-02 -2.10980784e-02 1.10727466e+02] [ 2.26990746e-02 9.99742210e-01 5.14435497e-04 -4.20752001e+00] [ 2.10809706e-02 -9.93095454e-04 9.99777278e-01 1.20175692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.410714057 meters Centerline goodness [0,1] 0.9889060234308468 Centerline is valid? [True, True] Translation: X:110.76, Y:-4.20, Z:1.20 [[ 9.99667154e-01 -1.60227500e-02 -2.02201172e-02 1.10757793e+02] [ 1.60359978e-02 9.99871293e-01 4.93198941e-04 -4.20139234e+00] [ 2.02096124e-02 -8.17284537e-04 9.99795431e-01 1.20302980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44071405700001 meters Centerline goodness [0,1] 0.9890668876306219 Centerline is valid? [True, True] Translation: X:110.79, Y:-4.20, Z:1.20 [[ 9.99722222e-01 -1.29619984e-02 -1.96841542e-02 1.10787800e+02] [ 1.29739574e-02 9.99915719e-01 4.79956043e-04 -4.19928482e+00] [ 1.96762740e-02 -7.35204099e-04 9.99806133e-01 1.20375393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47071405700001 meters Centerline goodness [0,1] 0.9889070824012361 Centerline is valid? [True, True] Translation: X:110.82, Y:-4.20, Z:1.20 [[ 9.99796859e-01 -6.83211172e-03 -1.89621370e-02 1.10817237e+02] [ 6.84209987e-03 9.99976486e-01 4.61914684e-04 -4.19619325e+00] [ 1.89585353e-02 -5.91561685e-04 9.99820096e-01 1.20359634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.500714057 meters Centerline goodness [0,1] 0.9908447773616313 Centerline is valid? [True, True] Translation: X:110.85, Y:-4.19, Z:1.20 [[ 9.99819701e-01 -4.18382598e-03 -1.85219341e-02 1.10846003e+02] [ 4.19288563e-03 9.99991108e-01 4.50323922e-04 -4.19160423e+00] [ 1.85198853e-02 -5.27903081e-04 9.99828353e-01 1.20419710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.530714057 meters Centerline goodness [0,1] 0.9899020311740047 Centerline is valid? [True, True] Translation: X:110.87, Y:-4.19, Z:1.20 [[ 9.99824335e-01 -1.82714461e-03 -1.86537089e-02 1.10874575e+02] [ 1.83587620e-03 9.99998213e-01 4.50974941e-04 -4.19071047e+00] [ 1.86528516e-02 -4.85141621e-04 9.99825903e-01 1.20388563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.560714057 meters Centerline goodness [0,1] 0.990314208916489 Centerline is valid? [True, True] Translation: X:110.90, Y:-4.19, Z:1.20 [[ 9.99816664e-01 2.61458128e-03 -1.89684708e-02 1.10903991e+02] [-2.60643932e-03 9.99996500e-01 4.53945862e-04 -4.18859232e+00] [ 1.89695913e-02 -4.04422469e-04 9.99819979e-01 1.20309240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.590714057 meters Centerline goodness [0,1] 0.9911605029929006 Centerline is valid? [True, True] Translation: X:110.93, Y:-4.19, Z:1.20 [[ 9.99823653e-01 3.82215522e-03 -1.83862514e-02 1.10932925e+02] [-3.81478817e-03 9.99992629e-01 4.35738539e-04 -4.18885516e+00] [ 1.83877814e-02 -3.65522043e-04 9.99830864e-01 1.20318733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.620714057 meters Centerline goodness [0,1] 0.9911619383423415 Centerline is valid? [True, True] Translation: X:110.96, Y:-4.19, Z:1.20 [[ 9.99827207e-01 5.75174314e-03 -1.76769482e-02 1.10961222e+02] [-5.74531066e-03 9.99983410e-01 4.14653421e-04 -4.18982041e+00] [ 1.76790399e-02 -3.13022213e-04 9.99843665e-01 1.20304119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.650714057 meters Centerline goodness [0,1] 0.9914377204380918 Centerline is valid? [True, True] Translation: X:110.99, Y:-4.19, Z:1.20 [[ 9.99836360e-01 6.08445458e-03 -1.70361918e-02 1.10989125e+02] [-6.07858452e-03 9.99981447e-01 3.96325294e-04 -4.19207190e+00] [ 1.70382872e-02 -2.92704508e-04 9.99854795e-01 1.20306874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.680714057 meters Centerline goodness [0,1] 0.9913563367552661 Centerline is valid? [True, True] Translation: X:111.02, Y:-4.19, Z:1.20 [[ 9.99844214e-01 6.00126324e-03 -1.65991974e-02 1.11017292e+02] [-5.99570422e-03 9.99981952e-01 3.84642373e-04 -4.19392460e+00] [ 1.66012062e-02 -2.85058573e-04 9.99862150e-01 1.20330786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.710714057 meters Centerline goodness [0,1] 0.9907565743864676 Centerline is valid? [True, True] Translation: X:111.05, Y:-4.20, Z:1.20 [[ 9.99854646e-01 5.06903682e-03 -1.62785385e-02 1.11046362e+02] [-5.06359193e-03 9.99987109e-01 3.75682491e-04 -4.19708465e+00] [ 1.62802330e-02 -2.93200009e-04 9.99867425e-01 1.20395747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.740714057 meters Centerline goodness [0,1] 0.9908664184798945 Centerline is valid? [True, True] Translation: X:111.07, Y:-4.20, Z:1.20 [[ 9.99868233e-01 2.90430860e-03 -1.59712783e-02 1.11074584e+02] [-2.89881020e-03 9.99995731e-01 3.67407699e-04 -4.20199516e+00] [ 1.59722772e-02 -3.21061582e-04 9.99872383e-01 1.20359895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.770714057 meters Centerline goodness [0,1] 0.9906477151719987 Centerline is valid? [True, True] Translation: X:111.10, Y:-4.20, Z:1.20 [[ 9.99867235e-01 1.25950945e-03 -1.62458239e-02 1.11103608e+02] [-1.25362568e-03 9.99999145e-01 3.72349988e-04 -4.20376793e+00] [ 1.62462790e-02 -3.51934371e-04 9.99867959e-01 1.20392331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80071405700001 meters Centerline goodness [0,1] 0.9907289961024884 Centerline is valid? [True, True] Translation: X:111.13, Y:-4.21, Z:1.20 [[ 9.99863464e-01 -7.60163897e-04 -1.65068621e-02 1.11131991e+02] [ 7.66493397e-04 9.99999635e-01 3.77123306e-04 -4.20707513e+00] [ 1.65065694e-02 -3.89724215e-04 9.99863681e-01 1.20346404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83071405700001 meters Centerline goodness [0,1] 0.9897151534673968 Centerline is valid? [True, True] Translation: X:111.16, Y:-4.22, Z:1.20 [[ 9.99834245e-01 -5.89524404e-03 -1.72258109e-02 1.11160099e+02] [ 5.90287630e-03 9.99982501e-01 3.92259362e-04 -4.21657474e+00] [ 1.72231970e-02 -4.93876174e-04 9.99851548e-01 1.20245309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.860714057 meters Centerline goodness [0,1] 0.9892795785133432 Centerline is valid? [True, True] Translation: X:111.19, Y:-4.22, Z:1.20 [[ 9.99813427e-01 -8.71932840e-03 -1.72361332e-02 1.11189950e+02] [ 8.72737082e-03 9.99961839e-01 3.91437449e-04 -4.22021964e+00] [ 1.72320624e-02 -5.41790544e-04 9.99851370e-01 1.20264034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.890714057 meters Centerline goodness [0,1] 0.9894154493290355 Centerline is valid? [True, True] Translation: X:111.22, Y:-4.23, Z:1.20 [[ 9.99732652e-01 -1.49903303e-02 -1.76044002e-02 1.11219539e+02] [ 1.49996816e-02 9.99887419e-01 3.99265332e-04 -4.22847090e+00] [ 1.75964331e-02 -6.63218986e-04 9.99844951e-01 1.20296538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.920714057 meters Centerline goodness [0,1] 0.9889694151966817 Centerline is valid? [True, True] Translation: X:111.25, Y:-4.23, Z:1.20 [[ 9.99682433e-01 -1.81975297e-02 -1.74322593e-02 1.11248486e+02] [ 1.82071768e-02 9.99834158e-01 3.94845845e-04 -4.23217203e+00] [ 1.74221831e-02 -7.12112682e-04 9.99847969e-01 1.20335827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.950714057 meters Centerline goodness [0,1] 0.9881973761859367 Centerline is valid? [True, True] Translation: X:111.28, Y:-4.24, Z:1.20 [[ 9.99634295e-01 -2.09841845e-02 -1.70569548e-02 1.11277157e+02] [ 2.09938152e-02 9.99779531e-01 3.85741475e-04 -4.23995092e+00] [ 1.70450998e-02 -7.43690966e-04 9.99854445e-01 1.20399664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.980714057 meters Centerline goodness [0,1] 0.9879978177850518 Centerline is valid? [True, True] Translation: X:111.31, Y:-4.24, Z:1.21 [[ 9.99534383e-01 -2.61538950e-02 -1.57159486e-02 1.11307896e+02] [ 2.61627097e-02 9.99657635e-01 3.55502522e-04 -4.24272995e+00] [ 1.57012702e-02 -7.66508794e-04 9.99876434e-01 1.20570485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.010714057 meters Centerline goodness [0,1] 0.9873790587542202 Centerline is valid? [True, True] Translation: X:111.34, Y:-4.25, Z:1.21 [[ 9.99473353e-01 -2.84007260e-02 -1.56976054e-02 1.11338180e+02] [ 2.84098018e-02 9.99596297e-01 3.55420672e-04 -4.24853084e+00] [ 1.56811740e-02 -8.01199348e-04 9.99876722e-01 1.20629675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.040714057 meters Centerline goodness [0,1] 0.9868587142728338 Centerline is valid? [True, True] Translation: X:111.37, Y:-4.25, Z:1.21 [[ 9.99327551e-01 -3.31020438e-02 -1.57702412e-02 1.11369165e+02] [ 3.31117983e-02 9.99451590e-01 3.57764615e-04 -4.25480227e+00] [ 1.57497499e-02 -8.79705083e-04 9.99875578e-01 1.20652457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.070714057 meters Centerline goodness [0,1] 0.9866832748273129 Centerline is valid? [True, True] Translation: X:111.40, Y:-4.26, Z:1.21 [[ 9.99243407e-01 -3.54188908e-02 -1.60659993e-02 1.11400558e+02] [ 3.54293198e-02 9.99372118e-01 3.64892533e-04 -4.25660142e+00] [ 1.60429876e-02 -9.33823884e-04 9.99870867e-01 1.20625625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.100714057 meters Centerline goodness [0,1] 0.9869218933840167 Centerline is valid? [True, True] Translation: X:111.43, Y:-4.26, Z:1.20 [[ 9.99036126e-01 -4.01553190e-02 -1.77304393e-02 1.11431027e+02] [ 4.01687730e-02 9.99192828e-01 4.03180324e-04 -4.26158820e+00] [ 1.76999379e-02 -1.11500170e-03 9.99842722e-01 1.20499084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.130714057 meters Centerline goodness [0,1] 0.9874085648934484 Centerline is valid? [True, True] Translation: X:111.46, Y:-4.26, Z:1.20 [[ 9.98920118e-01 -4.24499601e-02 -1.88838404e-02 1.11462120e+02] [ 4.24656332e-02 9.99097836e-01 4.29574650e-04 -4.26458560e+00] [ 1.88485687e-02 -1.23102500e-03 9.99821592e-01 1.20453355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.160714057 meters Centerline goodness [0,1] 0.9860315024597193 Centerline is valid? [True, True] Translation: X:111.49, Y:-4.27, Z:1.20 [[ 9.98714156e-01 -4.64619751e-02 -2.02810154e-02 1.11491589e+02] [ 4.64808823e-02 9.98919073e-01 4.61614068e-04 -4.27224214e+00] [ 2.02376456e-02 -1.40369999e-03 9.99794212e-01 1.20350357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19071405700001 meters Centerline goodness [0,1] 0.9856429182231423 Centerline is valid? [True, True] Translation: X:111.52, Y:-4.28, Z:1.20 [[ 9.98639883e-01 -4.79573520e-02 -2.04566962e-02 1.11522354e+02] [ 4.79769230e-02 9.98848335e-01 4.66716757e-04 -4.27602248e+00] [ 2.04107544e-02 -1.44753130e-03 9.99790631e-01 1.20342920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.220714057 meters Centerline goodness [0,1] 0.9856429182231423 Centerline is valid? [True, True] Translation: X:111.55, Y:-4.28, Z:1.20 [[ 9.98643206e-01 -4.78881271e-02 -2.04566494e-02 1.11554118e+02] [ 4.79077252e-02 9.98851656e-01 4.68761581e-04 -4.27681370e+00] [ 2.04107100e-02 -1.44815710e-03 9.99790631e-01 1.20380336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.250714057 meters Centerline goodness [0,1] 0.9854022807530534 Centerline is valid? [True, True] Translation: X:111.59, Y:-4.28, Z:1.20 [[ 9.98575077e-01 -4.92369205e-02 -2.05801197e-02 1.11585732e+02] [ 4.92570672e-02 9.98786022e-01 4.72871319e-04 -4.27896257e+00] [ 2.05318532e-02 -1.48591386e-03 9.99788095e-01 1.20384444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.280714057 meters Centerline goodness [0,1] 0.985421556237588 Centerline is valid? [True, True] Translation: X:111.62, Y:-4.28, Z:1.20 [[ 9.98426876e-01 -5.20215990e-02 -2.09171433e-02 1.11616573e+02] [ 5.20430352e-02 9.98644727e-01 4.81400178e-04 -4.27923277e+00] [ 2.08637517e-02 -1.56923450e-03 9.99781097e-01 1.20433215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.310714057 meters Centerline goodness [0,1] 0.9861274023278895 Centerline is valid? [True, True] Translation: X:111.65, Y:-4.27, Z:1.21 [[ 9.98356189e-01 -5.31498415e-02 -2.14479215e-02 1.11648727e+02] [ 5.31726583e-02 9.98585211e-01 4.94541417e-04 -4.27427382e+00] [ 2.13912924e-02 -1.63417149e-03 9.99769845e-01 1.20527798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.340714057 meters Centerline goodness [0,1] 0.9854585625394535 Centerline is valid? [True, True] Translation: X:111.68, Y:-4.28, Z:1.21 [[ 9.98311844e-01 -5.40110763e-02 -2.13603752e-02 1.11679369e+02] [ 5.40339291e-02 9.98538978e-01 4.93741030e-04 -4.27635793e+00] [ 2.13024998e-02 -1.64709252e-03 9.99771719e-01 1.20617627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.370714057 meters Centerline goodness [0,1] 0.985281521886129 Centerline is valid? [True, True] Translation: X:111.71, Y:-4.28, Z:1.21 [[ 9.98316745e-01 -5.39819177e-02 -2.12044570e-02 1.11712712e+02] [ 5.40044624e-02 9.98540573e-01 4.91598208e-04 -4.27637882e+00] [ 2.11469732e-02 -1.63590602e-03 9.99775039e-01 1.20702691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.400714057 meters Centerline goodness [0,1] 0.9852201186903445 Centerline is valid? [True, True] Translation: X:111.74, Y:-4.28, Z:1.21 [[ 9.98353767e-01 -5.34959455e-02 -2.06866844e-02 1.11744804e+02] [ 5.35173379e-02 9.98566804e-01 4.81495081e-04 -4.27669404e+00] [ 2.06312783e-02 -1.58779871e-03 9.99785892e-01 1.20800014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.430714057 meters Centerline goodness [0,1] 0.984587263618721 Centerline is valid? [True, True] Translation: X:111.78, Y:-4.27, Z:1.21 [[ 9.98442156e-01 -5.16736618e-02 -2.10498008e-02 1.11775913e+02] [ 5.16954345e-02 9.98662776e-01 4.91145012e-04 -4.27473079e+00] [ 2.09962732e-02 -1.57855848e-03 9.99778308e-01 1.20918315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.460714057 meters Centerline goodness [0,1] 0.9854918772563177 Centerline is valid? [True, True] Translation: X:111.81, Y:-4.27, Z:1.21 [[ 9.98500532e-01 -5.03372197e-02 -2.15140141e-02 1.11807874e+02] [ 5.03596756e-02 9.98731020e-01 5.02931230e-04 -4.27341993e+00] [ 2.14613971e-02 -1.58561587e-03 9.99768420e-01 1.20978640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.490714057 meters Centerline goodness [0,1] 0.9859805675718524 Centerline is valid? [True, True] Translation: X:111.84, Y:-4.27, Z:1.21 [[ 9.98600792e-01 -4.77579503e-02 -2.27076251e-02 1.11838796e+02] [ 4.77823242e-02 9.98857631e-01 5.31700322e-04 -4.26607295e+00] [ 2.26562917e-02 -1.61597947e-03 9.99742007e-01 1.21017229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.520714057 meters Centerline goodness [0,1] 0.9849727702076695 Centerline is valid? [True, True] Translation: X:111.87, Y:-4.27, Z:1.21 [[ 9.98674601e-01 -4.60959955e-02 -2.28954409e-02 1.11869240e+02] [ 4.61203493e-02 9.98935746e-01 5.36517787e-04 -4.27066559e+00] [ 2.28463430e-02 -1.59175242e-03 9.99737721e-01 1.20946352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55071405700001 meters Centerline goodness [0,1] 0.9858505492518421 Centerline is valid? [True, True] Translation: X:111.90, Y:-4.27, Z:1.21 [[ 9.98817323e-01 -4.25138298e-02 -2.35908779e-02 1.11899937e+02] [ 4.25387016e-02 9.99094667e-01 5.53239284e-04 -4.26513063e+00] [ 2.35460000e-02 -1.55611030e-03 9.99721543e-01 1.20947909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58071405700001 meters Centerline goodness [0,1] 0.9860900640083233 Centerline is valid? [True, True] Translation: X:111.93, Y:-4.26, Z:1.21 [[ 9.98901625e-01 -4.07483501e-02 -2.31325519e-02 1.11930313e+02] [ 4.07718023e-02 9.99168337e-01 5.42889544e-04 -4.26458503e+00] [ 2.30911916e-02 -1.48544908e-03 9.99732259e-01 1.21003642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.610714057 meters Centerline goodness [0,1] 0.9869864413708523 Centerline is valid? [True, True] Translation: X:111.96, Y:-4.26, Z:1.21 [[ 9.99057653e-01 -3.66036464e-02 -2.33233532e-02 1.11960835e+02] [ 3.66263687e-02 9.99328879e-01 5.47648423e-04 -4.25630683e+00] [ 2.32876545e-02 -1.40138208e-03 9.99727824e-01 1.21186256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.640714057 meters Centerline goodness [0,1] 0.9875611142694712 Centerline is valid? [True, True] Translation: X:111.99, Y:-4.25, Z:1.21 [[ 9.99141088e-01 -3.44476872e-02 -2.30313480e-02 1.11992603e+02] [ 3.44692900e-02 9.99405611e-01 5.41525950e-04 -4.25432152e+00] [ 2.29990041e-02 -1.33493504e-03 9.99734597e-01 1.21274183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.670714057 meters Centerline goodness [0,1] 0.9875992627818608 Centerline is valid? [True, True] Translation: X:112.02, Y:-4.25, Z:1.21 [[ 9.99200911e-01 -3.26797813e-02 -2.30124068e-02 1.12024337e+02] [ 3.27009110e-02 9.99465035e-01 5.42370860e-04 -4.25183902e+00] [ 2.29823714e-02 -1.29446412e-03 9.99735032e-01 1.21350664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.700714057 meters Centerline goodness [0,1] 0.9879373012267151 Centerline is valid? [True, True] Translation: X:112.06, Y:-4.25, Z:1.22 [[ 9.99332962e-01 -2.92382502e-02 -2.18804776e-02 1.12055235e+02] [ 2.92565463e-02 9.99571802e-01 5.16468046e-04 -4.24762751e+00] [ 2.18560078e-02 -1.15627075e-03 9.99760460e-01 1.21557738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.730714057 meters Centerline goodness [0,1] 0.9872202281612218 Centerline is valid? [True, True] Translation: X:112.09, Y:-4.25, Z:1.22 [[ 9.99363070e-01 -2.79499304e-02 -2.21868290e-02 1.12086531e+02] [ 2.79684429e-02 9.99608669e-01 5.24466028e-04 -4.24805004e+00] [ 2.21634878e-02 -1.14466304e-03 9.99753704e-01 1.21595956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.760714057 meters Centerline goodness [0,1] 0.9877468910021946 Centerline is valid? [True, True] Translation: X:112.12, Y:-4.25, Z:1.22 [[ 9.99459698e-01 -2.49700538e-02 -2.13730964e-02 1.12116672e+02] [ 2.49865662e-02 9.99687659e-01 5.05835777e-04 -4.24581444e+00] [ 2.13537899e-02 -1.03960276e-03 9.99771441e-01 1.21721670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.790714057 meters Centerline goodness [0,1] 0.9872535534158643 Centerline is valid? [True, True] Translation: X:112.15, Y:-4.24, Z:1.22 [[ 9.99473542e-01 -2.37366047e-02 -2.21181576e-02 1.12147516e+02] [ 2.37539874e-02 9.99717697e-01 5.23469096e-04 -4.24419806e+00] [ 2.20994882e-02 -1.04858795e-03 9.99755227e-01 1.21772255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.820714057 meters Centerline goodness [0,1] 0.9877314603666879 Centerline is valid? [True, True] Translation: X:112.18, Y:-4.25, Z:1.22 [[ 9.99532513e-01 -2.05939705e-02 -2.25974485e-02 1.12177563e+02] [ 2.06113136e-02 9.99787421e-01 5.34812444e-04 -4.24668739e+00] [ 2.25816308e-02 -1.00032552e-03 9.99744502e-01 1.21613514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.850714057 meters Centerline goodness [0,1] 0.9877948059098834 Centerline is valid? [True, True] Translation: X:112.21, Y:-4.24, Z:1.22 [[ 9.99535482e-01 -2.00125787e-02 -2.29851271e-02 1.12206455e+02] [ 2.00303062e-02 9.99799227e-01 5.41266862e-04 -4.24292945e+00] [ 2.29696802e-02 -1.00141457e-03 9.99735661e-01 1.21652261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.880714057 meters Centerline goodness [0,1] 0.9886337490221343 Centerline is valid? [True, True] Translation: X:112.23, Y:-4.25, Z:1.21 [[ 9.99535838e-01 -1.81870683e-02 -2.44405047e-02 1.12234710e+02] [ 1.82064192e-02 9.99834087e-01 5.69447195e-04 -4.24559530e+00] [ 2.44260931e-02 -1.01415695e-03 9.99701124e-01 1.21479696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.910714057 meters Centerline goodness [0,1] 0.9883266694241464 Centerline is valid? [True, True] Translation: X:112.26, Y:-4.25, Z:1.21 [[ 9.99542902e-01 -1.75607267e-02 -2.46090963e-02 1.12262874e+02] [ 1.75800600e-02 9.99845297e-01 5.69472617e-04 -4.24616759e+00] [ 2.45952888e-02 -1.00184170e-03 9.99696988e-01 1.21484063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94071405700001 meters Centerline goodness [0,1] 0.989649791159866 Centerline is valid? [True, True] Translation: X:112.29, Y:-4.24, Z:1.22 [[ 9.99559767e-01 -1.69020432e-02 -2.43842710e-02 1.12291451e+02] [ 1.69207304e-02 9.99856677e-01 5.60217700e-04 -4.24026258e+00] [ 2.43713073e-02 -9.72570747e-04 9.99702502e-01 1.21705457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.970714057 meters Centerline goodness [0,1] 0.9894775536460966 Centerline is valid? [True, True] Translation: X:112.32, Y:-4.24, Z:1.22 [[ 9.99551656e-01 -1.68348615e-02 -2.47603427e-02 1.12319643e+02] [ 1.68539449e-02 9.99857804e-01 5.62226013e-04 -4.23998188e+00] [ 2.47473568e-02 -9.79283394e-04 9.99693258e-01 1.21732373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.000714057 meters Centerline goodness [0,1] 0.9896980380485795 Centerline is valid? [True, True] Translation: X:112.35, Y:-4.24, Z:1.22 [[ 9.99560190e-01 -1.75712849e-02 -2.38888510e-02 1.12347578e+02] [ 1.75891556e-02 9.99845154e-01 5.38142992e-04 -4.24401505e+00] [ 2.38756961e-02 -9.58091030e-04 9.99714476e-01 1.21745548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.030714057 meters Centerline goodness [0,1] 0.9901664837175266 Centerline is valid? [True, True] Translation: X:112.38, Y:-4.25, Z:1.22 [[ 9.99546377e-01 -1.84839288e-02 -2.37778177e-02 1.12376593e+02] [ 1.85017986e-02 9.99828686e-01 5.31736658e-04 -4.24625666e+00] [ 2.37639156e-02 -9.71427844e-04 9.99717126e-01 1.21823693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.060714057 meters Centerline goodness [0,1] 0.9902787967718268 Centerline is valid? [True, True] Translation: X:112.41, Y:-4.25, Z:1.22 [[ 9.99514510e-01 -1.98447833e-02 -2.40193574e-02 1.12405065e+02] [ 1.98632689e-02 9.99802565e-01 5.31249172e-04 -4.24522502e+00] [ 2.40040726e-02 -1.00809421e-03 9.99711352e-01 1.21965308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.090714057 meters Centerline goodness [0,1] 0.9899072745084637 Centerline is valid? [True, True] Translation: X:112.43, Y:-4.25, Z:1.22 [[ 9.99469838e-01 -2.17494243e-02 -2.42281989e-02 1.12433943e+02] [ 2.17686450e-02 9.99762895e-01 5.29822256e-04 -4.24721390e+00] [ 2.42109309e-02 -1.05695642e-03 9.99706314e-01 1.22040031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.120714057 meters Centerline goodness [0,1] 0.9901363969242036 Centerline is valid? [True, True] Translation: X:112.46, Y:-4.25, Z:1.22 [[ 9.99424618e-01 -2.33121926e-02 -2.46368672e-02 1.12462944e+02] [ 2.33323890e-02 9.99727621e-01 5.32579520e-04 -4.24912681e+00] [ 2.46177411e-02 -1.10711005e-03 9.99696324e-01 1.22023196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.150714057 meters Centerline goodness [0,1] 0.9901813033748915 Centerline is valid? [True, True] Translation: X:112.49, Y:-4.25, Z:1.22 [[ 9.99371025e-01 -2.51567567e-02 -2.49938406e-02 1.12491782e+02] [ 2.51780266e-02 9.99682839e-01 5.36623708e-04 -4.25309898e+00] [ 2.49724138e-02 -1.16558177e-03 9.99687461e-01 1.21991601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.180714057 meters Centerline goodness [0,1] 0.9904357552101166 Centerline is valid? [True, True] Translation: X:112.52, Y:-4.26, Z:1.22 [[ 9.99339361e-01 -2.60696690e-02 -2.53222097e-02 1.12521376e+02] [ 2.60917661e-02 9.99659405e-01 5.42569109e-04 -4.25580206e+00] [ 2.52994405e-02 -1.20291184e-03 9.99679194e-01 1.21978396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.210714057 meters Centerline goodness [0,1] 0.9909115757824245 Centerline is valid? [True, True] Translation: X:112.55, Y:-4.26, Z:1.22 [[ 9.99264931e-01 -2.85142958e-02 -2.56228852e-02 1.12550834e+02] [ 2.85376993e-02 9.99592567e-01 5.48103668e-04 -4.25971972e+00] [ 2.55968168e-02 -1.27891897e-03 9.99671530e-01 1.21946144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.240714057 meters Centerline goodness [0,1] 0.9901983131980853 Centerline is valid? [True, True] Translation: X:112.58, Y:-4.26, Z:1.22 [[ 9.99242870e-01 -2.95939825e-02 -2.52563406e-02 1.12581356e+02] [ 2.96170545e-02 9.99561173e-01 5.39850947e-04 -4.26132833e+00] [ 2.52292811e-02 -1.28746063e-03 9.99680862e-01 1.22047226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.270714057 meters Centerline goodness [0,1] 0.990503518480563 Centerline is valid? [True, True] Translation: X:112.61, Y:-4.26, Z:1.22 [[ 9.99204427e-01 -3.08265496e-02 -2.53029222e-02 1.12611471e+02] [ 3.08501008e-02 9.99523876e-01 5.40846623e-04 -4.26253083e+00] [ 2.52742025e-02 -1.32101404e-03 9.99679684e-01 1.22144599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30071405700001 meters Centerline goodness [0,1] 0.9901426365040429 Centerline is valid? [True, True] Translation: X:112.64, Y:-4.27, Z:1.22 [[ 9.99111604e-01 -3.29801081e-02 -2.62357448e-02 1.12641890e+02] [ 3.30061755e-02 9.99454990e-01 5.61044383e-04 -4.26798525e+00] [ 2.62029428e-02 -1.42648755e-03 9.99655626e-01 1.22154129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33071405700001 meters Centerline goodness [0,1] 0.9899021988245705 Centerline is valid? [True, True] Translation: X:112.67, Y:-4.27, Z:1.22 [[ 9.99068857e-01 -3.38290136e-02 -2.67771813e-02 1.12671656e+02] [ 3.38564783e-02 9.99426541e-01 5.72838332e-04 -4.27359493e+00] [ 2.67424471e-02 -1.47888599e-03 9.99641263e-01 1.22098564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.360714057 meters Centerline goodness [0,1] 0.9896248640811889 Centerline is valid? [True, True] Translation: X:112.70, Y:-4.28, Z:1.22 [[ 9.98980531e-01 -3.55626269e-02 -2.78064404e-02 1.12702108e+02] [ 3.55929139e-02 9.99366194e-01 5.94857046e-04 -4.27577563e+00] [ 2.77676619e-02 -1.58396285e-03 9.99613149e-01 1.22085847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.390714057 meters Centerline goodness [0,1] 0.9901805152394775 Centerline is valid? [True, True] Translation: X:112.73, Y:-4.28, Z:1.22 [[ 9.98934439e-01 -3.65663661e-02 -2.81582609e-02 1.12733425e+02] [ 3.65978384e-02 9.99329893e-01 6.02966359e-04 -4.27569173e+00] [ 2.81173436e-02 -1.63285535e-03 9.99603296e-01 1.22149995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.420714057 meters Centerline goodness [0,1] 0.9895059917401999 Centerline is valid? [True, True] Translation: X:112.76, Y:-4.28, Z:1.22 [[ 9.98892422e-01 -3.77085278e-02 -2.81424319e-02 1.12763768e+02] [ 3.77404363e-02 9.99287394e-01 6.03336202e-04 -4.28064101e+00] [ 2.80996265e-02 -1.66477562e-03 9.99603741e-01 1.22138138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.450714057 meters Centerline goodness [0,1] 0.9902626811594203 Centerline is valid? [True, True] Translation: X:112.80, Y:-4.28, Z:1.22 [[ 9.98878504e-01 -3.81777509e-02 -2.80034502e-02 1.12795097e+02] [ 3.82095506e-02 9.99269568e-01 6.01144371e-04 -4.27975692e+00] [ 2.79600452e-02 -1.67046944e-03 9.99607646e-01 1.22282059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.480714057 meters Centerline goodness [0,1] 0.9894965101307854 Centerline is valid? [True, True] Translation: X:112.83, Y:-4.28, Z:1.22 [[ 9.98887642e-01 -3.80917856e-02 -2.77937905e-02 1.12825648e+02] [ 3.81230970e-02 9.99272872e-01 5.97346972e-04 -4.28287697e+00] [ 2.77508269e-02 -1.65626788e-03 9.99613500e-01 1.22283477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.510714057 meters Centerline goodness [0,1] 0.9894333461826262 Centerline is valid? [True, True] Translation: X:112.86, Y:-4.28, Z:1.22 [[ 9.98891985e-01 -3.79889676e-02 -2.77784356e-02 1.12855753e+02] [ 3.80202184e-02 9.99276791e-01 5.97506314e-04 -4.28382952e+00] [ 2.77356474e-02 -1.65298646e-03 9.99613926e-01 1.22444645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.540714057 meters Centerline goodness [0,1] 0.9899392730898214 Centerline is valid? [True, True] Translation: X:112.89, Y:-4.28, Z:1.23 [[ 9.98892950e-01 -3.79644839e-02 -2.77772030e-02 1.12887408e+02] [ 3.79957441e-02 9.99277722e-01 5.98256883e-04 -4.28088704e+00] [ 2.77344276e-02 -1.65301008e-03 9.99613960e-01 1.22606649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.570714057 meters Centerline goodness [0,1] 0.988733990706109 Centerline is valid? [True, True] Translation: X:112.92, Y:-4.28, Z:1.23 [[ 9.98891271e-01 -3.82067225e-02 -2.75040980e-02 1.12917229e+02] [ 3.82374813e-02 9.99268504e-01 5.93068316e-04 -4.28356123e+00] [ 2.74613196e-02 -1.64409820e-03 9.99621515e-01 1.22605970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.600714057 meters Centerline goodness [0,1] 0.9894161907352008 Centerline is valid? [True, True] Translation: X:112.95, Y:-4.28, Z:1.23 [[ 9.98875122e-01 -3.87399349e-02 -2.73442691e-02 1.12948671e+02] [ 3.87705567e-02 9.99247965e-01 5.90376006e-04 -4.28353445e+00] [ 2.73008341e-02 -1.64986444e-03 9.99625901e-01 1.22694483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.630714057 meters Centerline goodness [0,1] 0.9890838118149013 Centerline is valid? [True, True] Translation: X:112.98, Y:-4.29, Z:1.23 [[ 9.98812801e-01 -4.03861400e-02 -2.72387300e-02 1.12978382e+02] [ 4.04171467e-02 9.99182720e-01 5.88510680e-04 -4.28643620e+00] [ 2.71927006e-02 -1.68872375e-03 9.99628784e-01 1.22642593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.660714057 meters Centerline goodness [0,1] 0.9884751773049646 Centerline is valid? [True, True] Translation: X:113.01, Y:-4.29, Z:1.23 [[ 9.98753088e-01 -4.16183855e-02 -2.75713372e-02 1.13009074e+02] [ 4.16506295e-02 9.99132058e-01 5.95970262e-04 -4.28884844e+00] [ 2.75226036e-02 -1.74359069e-03 9.99619661e-01 1.22648063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69071405700001 meters Centerline goodness [0,1] 0.9888426841184357 Centerline is valid? [True, True] Translation: X:113.04, Y:-4.29, Z:1.23 [[ 9.98681247e-01 -4.35623691e-02 -2.71677434e-02 1.13039338e+02] [ 4.35944126e-02 9.99049139e-01 5.88016864e-04 -4.29095973e+00] [ 2.71162952e-02 -1.77160323e-03 9.99630716e-01 1.22691636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.720714057 meters Centerline goodness [0,1] 0.9875479144457802 Centerline is valid? [True, True] Translation: X:113.07, Y:-4.29, Z:1.23 [[ 9.98638459e-01 -4.43931243e-02 -2.73948587e-02 1.13071764e+02] [ 4.44260585e-02 9.99012498e-01 5.94441015e-04 -4.29288719e+00] [ 2.73414171e-02 -1.81067726e-03 9.99624514e-01 1.22743386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.750714057 meters Centerline goodness [0,1] 0.9873084942434956 Centerline is valid? [True, True] Translation: X:113.10, Y:-4.30, Z:1.23 [[ 9.98564015e-01 -4.65461573e-02 -2.65209831e-02 1.13101563e+02] [ 4.65777994e-02 9.98914499e-01 5.76259940e-04 -4.29728186e+00] [ 2.64653718e-02 -1.81072147e-03 9.99648091e-01 1.22823765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.780714057 meters Centerline goodness [0,1] 0.98650023743301 Centerline is valid? [True, True] Translation: X:113.13, Y:-4.30, Z:1.23 [[ 9.98513177e-01 -4.75381341e-02 -2.66751143e-02 1.13133871e+02] [ 4.75705242e-02 9.98867713e-01 5.80614179e-04 -4.29922285e+00] [ 2.66173091e-02 -1.84870008e-03 9.99643987e-01 1.22857468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.810714057 meters Centerline goodness [0,1] 0.9857751200507384 Centerline is valid? [True, True] Translation: X:113.16, Y:-4.30, Z:1.23 [[ 9.98411602e-01 -4.98229132e-02 -2.63049657e-02 1.13164274e+02] [ 4.98552260e-02 9.98756290e-01 5.73583547e-04 -4.30333603e+00] [ 2.62436723e-02 -1.88411248e-03 9.99653800e-01 1.22827304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.840714057 meters Centerline goodness [0,1] 0.9851961006574473 Centerline is valid? [True, True] Translation: X:113.20, Y:-4.31, Z:1.23 [[ 9.98364851e-01 -5.06949806e-02 -2.64129308e-02 1.13196257e+02] [ 5.07278935e-02 9.98712345e-01 5.77101183e-04 -4.30562740e+00] [ 2.63496640e-02 -1.91602988e-03 9.99650951e-01 1.22799413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.870714057 meters Centerline goodness [0,1] 0.9848827224657658 Centerline is valid? [True, True] Translation: X:113.23, Y:-4.31, Z:1.23 [[ 9.98291030e-01 -5.20488301e-02 -2.65694903e-02 1.13227516e+02] [ 5.20826450e-02 9.98642609e-01 5.81792967e-04 -4.30757210e+00] [ 2.65031435e-02 -1.96460803e-03 9.99646799e-01 1.22728234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.900714057 meters Centerline goodness [0,1] 0.9838545091725436 Centerline is valid? [True, True] Translation: X:113.26, Y:-4.31, Z:1.23 [[ 9.98262999e-01 -5.27333267e-02 -2.62712949e-02 1.13259469e+02] [ 5.27666573e-02 9.98606703e-01 5.76600935e-04 -4.30994784e+00] [ 2.62042851e-02 -1.96184779e-03 9.99654684e-01 1.22736387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.930714057 meters Centerline goodness [0,1] 0.98245296261915 Centerline is valid? [True, True] Translation: X:113.29, Y:-4.31, Z:1.23 [[ 9.98237548e-01 -5.32048626e-02 -2.62876556e-02 1.13291871e+02] [ 5.32384427e-02 9.98581661e-01 5.78689105e-04 -4.31138035e+00] [ 2.62195817e-02 -1.97718304e-03 9.99654252e-01 1.22788831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.960714057 meters Centerline goodness [0,1] 0.9839541936359933 Centerline is valid? [True, True] Translation: X:113.32, Y:-4.31, Z:1.23 [[ 9.98203146e-01 -5.44992141e-02 -2.49061055e-02 1.13323693e+02] [ 5.45297910e-02 9.98511993e-01 5.49667455e-04 -4.31020462e+00] [ 2.48390886e-02 -1.90680451e-03 9.99689644e-01 1.23032792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.990714057 meters Centerline goodness [0,1] 0.9811022198110222 Centerline is valid? [True, True] Translation: X:113.35, Y:-4.31, Z:1.23 [[ 9.98150260e-01 -5.58119153e-02 -2.41057617e-02 1.13354665e+02] [ 5.58409796e-02 9.98439533e-01 5.33718429e-04 -4.31294653e+00] [ 2.40383576e-02 -1.87882054e-03 9.99709271e-01 1.23203239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.020714057 meters Centerline goodness [0,1] 0.9793148760705062 Centerline is valid? [True, True] Translation: X:113.39, Y:-4.31, Z:1.23 [[ 9.98107494e-01 -5.66362148e-02 -2.39534796e-02 1.13386308e+02] [ 5.66651892e-02 9.98393096e-01 5.32037890e-04 -4.31423166e+00] [ 2.38848561e-02 -1.88835946e-03 9.99712933e-01 1.23288037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05071405700001 meters Centerline goodness [0,1] 0.9788613112310576 Centerline is valid? [True, True] Translation: X:113.42, Y:-4.32, Z:1.23 [[ 9.98107409e-01 -5.68686341e-02 -2.33999747e-02 1.13418780e+02] [ 5.68963792e-02 9.98379953e-01 5.21081360e-04 -4.31546376e+00] [ 2.33324325e-02 -1.85146900e-03 9.99726047e-01 1.23330226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08071405700001 meters Centerline goodness [0,1] 0.9675698885850528 Centerline is valid? [True, True] Translation: X:113.45, Y:-4.32, Z:1.23 [[ 9.98057269e-01 -5.75289167e-02 -2.39188682e-02 1.13449802e+02] [ 5.75581324e-02 9.98342014e-01 5.34220322e-04 -4.32020152e+00] [ 2.38484779e-02 -1.90990786e-03 9.99713760e-01 1.23187566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.110714057 meters Centerline goodness [0,1] 0.9675698885850528 Centerline is valid? [True, True] Translation: X:113.48, Y:-4.32, Z:1.23 [[ 9.98061037e-01 -5.74635096e-02 -2.39188332e-02 1.13481588e+02] [ 5.74927439e-02 9.98345780e-01 5.35782579e-04 -4.32098334e+00] [ 2.38484782e-02 -1.90990307e-03 9.99713760e-01 1.23225031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.140714057 meters Centerline goodness [0,1] 0.9559710086025875 Centerline is valid? [True, True] Translation: X:113.51, Y:-4.32, Z:1.23 [[ 9.98032077e-01 -5.77657592e-02 -2.43944736e-02 1.13513973e+02] [ 5.77962970e-02 9.98328246e-01 5.48047215e-04 -4.32351296e+00] [ 2.43220337e-02 -1.95687894e-03 9.99702260e-01 1.23144824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.170714057 meters Centerline goodness [0,1] 0.9400090313840596 Centerline is valid? [True, False] Translation: X:113.51, Y:-4.32, Z:1.23 [[ 9.98031957e-01 -5.76871439e-02 -2.45846608e-02 1.13514782e+02] [ 5.77156903e-02 9.98332958e-01 4.52573008e-04 -4.32257507e+00] [ 2.45175695e-02 -1.87060299e-03 9.99697649e-01 1.23083779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.200714057 meters Centerline goodness [0,1] 0.9488323631339328 Centerline is valid? [False, False] Translation: X:113.51, Y:-4.32, Z:1.23 [[ 9.98207883e-01 -5.46556598e-02 -2.43676227e-02 1.13513513e+02] [ 5.47724456e-02 9.98490235e-01 4.15076946e-03 -4.32390749e+00] [ 2.41039703e-02 -5.47800508e-03 9.99694448e-01 1.23099001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.230714057 meters Centerline goodness [0,1] 0.9417927031133081 Centerline is valid? [False, False] Translation: X:113.51, Y:-4.32, Z:1.23 [[ 9.98209397e-01 -5.46249033e-02 -2.43745515e-02 1.13513479e+02] [ 5.47344229e-02 9.98493532e-01 3.84838559e-03 -4.32286731e+00] [ 2.41276143e-02 -5.17562167e-03 9.99695489e-01 1.23123746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.260714057 meters Centerline goodness [0,1] 0.9510825255910862 Centerline is valid? [False, True] Translation: X:113.51, Y:-4.32, Z:1.23 [[ 9.98216925e-01 -5.45180365e-02 -2.43054460e-02 1.13513393e+02] [ 5.46289954e-02 9.98499010e-01 3.92431721e-03 -4.32283439e+00] [ 2.40550177e-02 -5.24510195e-03 9.99696877e-01 1.23120441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.290714057 meters Centerline goodness [0,1] 0.9466274332277048 Centerline is valid? [True, False] Translation: X:113.51, Y:-4.32, Z:1.23 [[ 9.98222701e-01 -5.44160606e-02 -2.42967196e-02 1.13513406e+02] [ 5.45284623e-02 9.98504255e-01 3.98740639e-03 -4.32283763e+00] [ 2.40433990e-02 -5.30518234e-03 9.99696839e-01 1.23125207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.320714057 meters Centerline goodness [0,1] 0.9849495313626532 Centerline is valid? [False, True] Translation: X:113.51, Y:-4.32, Z:1.23 [[ 9.98235782e-01 -5.42013366e-02 -2.42392128e-02 1.13513342e+02] [ 5.43132126e-02 9.98516013e-01 3.98072813e-03 -4.32254189e+00] [ 2.39874814e-02 -5.29021478e-03 9.99698262e-01 1.23139133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.350714057 meters Centerline goodness [0,1] 0.9564972006501715 Centerline is valid? [True, True] Translation: X:113.54, Y:-4.34, Z:1.23 [[ 9.98282818e-01 -5.34128830e-02 -2.40515876e-02 1.13544094e+02] [ 5.34416093e-02 9.98570823e-01 5.52720897e-04 -4.33945767e+00] [ 2.39876912e-02 -1.83712732e-03 9.99710566e-01 1.23097918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.380714057 meters Centerline goodness [0,1] 0.9864531182746982 Centerline is valid? [True, True] Translation: X:113.58, Y:-4.32, Z:1.23 [[ 9.98352106e-01 -5.18862551e-02 -2.45130453e-02 1.13575701e+02] [ 5.19156650e-02 9.98651313e-01 5.64463275e-04 -4.31530314e+00] [ 2.44506970e-02 -1.83614415e-03 9.99699351e-01 1.23379691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.410714057 meters Centerline goodness [0,1] 0.9863666265907493 Centerline is valid? [True, True] Translation: X:113.61, Y:-4.32, Z:1.23 [[ 9.98355098e-01 -5.12686905e-02 -2.56635767e-02 1.13607116e+02] [ 5.13007538e-02 9.98683074e-01 5.92108842e-04 -4.31564035e+00] [ 2.55994231e-02 -1.90769571e-03 9.99670461e-01 1.23351808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44071405700001 meters Centerline goodness [0,1] 0.9866987470492101 Centerline is valid? [True, True] Translation: X:113.64, Y:-4.32, Z:1.23 [[ 9.98416331e-01 -4.99247888e-02 -2.59296222e-02 1.13637223e+02] [ 4.99570955e-02 9.98751185e-01 5.99240241e-04 -4.31629594e+00] [ 2.58673239e-02 -1.89365985e-03 9.99663591e-01 1.23287528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.470714057 meters Centerline goodness [0,1] 0.9865410803449841 Centerline is valid? [True, True] Translation: X:113.67, Y:-4.32, Z:1.23 [[ 9.98436828e-01 -4.95327593e-02 -2.58922025e-02 1.13669065e+02] [ 4.95648692e-02 9.98770727e-01 5.99436542e-04 -4.31722549e+00] [ 2.58306821e-02 -1.88184315e-03 9.99664561e-01 1.23277500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.500714057 meters Centerline goodness [0,1] 0.9858966206395349 Centerline is valid? [True, True] Translation: X:113.70, Y:-4.32, Z:1.23 [[ 9.98464303e-01 -4.92191017e-02 -2.54266557e-02 1.13700203e+02] [ 4.92500058e-02 9.98786308e-01 5.90242413e-04 -4.31882857e+00] [ 2.53667444e-02 -1.84159892e-03 9.99676516e-01 1.23301102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.530714057 meters Centerline goodness [0,1] 0.9851296882472161 Centerline is valid? [True, True] Translation: X:113.73, Y:-4.32, Z:1.23 [[ 9.98439494e-01 -4.96857894e-02 -2.54931168e-02 1.13732318e+02] [ 4.97170456e-02 9.98763167e-01 5.93317897e-04 -4.32089217e+00] [ 2.54321066e-02 -1.85983447e-03 9.99674822e-01 1.23322345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.560714057 meters Centerline goodness [0,1] 0.8962622562959256 Centerline is valid? [True, False] Translation: X:113.73, Y:-4.32, Z:1.23 [[ 9.98441388e-01 -4.95765325e-02 -2.56312695e-02 1.13733060e+02] [ 4.96153634e-02 9.98768011e-01 8.80857722e-04 -4.32097508e+00] [ 2.55560222e-02 -2.15118956e-03 9.99671077e-01 1.23245930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.590714057 meters Centerline goodness [0,1] 0.8968061748794676 Centerline is valid? [False, False] Translation: X:113.73, Y:-4.32, Z:1.23 [[ 9.98444445e-01 -4.94292748e-02 -2.57960599e-02 1.13733808e+02] [ 4.94745633e-02 9.98774756e-01 1.11997974e-03 -4.32110230e+00] [ 2.57090937e-02 -2.39448635e-03 9.99666599e-01 1.23182849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.620714057 meters Centerline goodness [0,1] 0.984232951308984 Centerline is valid? [False, True] Translation: X:113.73, Y:-4.32, Z:1.23 [[ 9.98445675e-01 -4.93260285e-02 -2.59456500e-02 1.13734374e+02] [ 4.93762962e-02 9.98779401e-01 1.29995500e-03 -4.32127278e+00] [ 2.58498592e-02 -2.57903455e-03 9.99662510e-01 1.23141832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.650714057 meters Centerline goodness [0,1] 0.9838364034287799 Centerline is valid? [True, True] Translation: X:113.77, Y:-4.32, Z:1.23 [[ 9.98471855e-01 -4.91221620e-02 -2.53173469e-02 1.13766199e+02] [ 4.91540341e-02 9.98791006e-01 6.37747380e-04 -4.32093985e+00] [ 2.52554109e-02 -1.88122254e-03 9.99679261e-01 1.23197295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.680714057 meters Centerline goodness [0,1] 0.9838515250073919 Centerline is valid? [True, True] Translation: X:113.80, Y:-4.32, Z:1.23 [[ 9.98501401e-01 -4.87949350e-02 -2.47791675e-02 1.13798714e+02] [ 4.88254071e-02 9.98807132e-01 6.25859810e-04 -4.32116424e+00] [ 2.47190705e-02 -1.83477484e-03 9.99692753e-01 1.23283422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.710714057 meters Centerline goodness [0,1] 0.9842768726676981 Centerline is valid? [True, True] Translation: X:113.83, Y:-4.32, Z:1.23 [[ 9.98565846e-01 -4.83451609e-02 -2.29999301e-02 1.13830740e+02] [ 4.83713285e-02 9.98829252e-01 5.82422150e-04 -4.31940674e+00] [ 2.29448457e-02 -1.69412404e-03 9.99735297e-01 1.23499468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.740714057 meters Centerline goodness [0,1] 0.9820258463778667 Centerline is valid? [True, True] Translation: X:113.86, Y:-4.32, Z:1.24 [[ 9.98584460e-01 -4.84238576e-02 -2.20046653e-02 1.13861458e+02] [ 4.84478572e-02 9.98825557e-01 5.58554180e-04 -4.32455881e+00] [ 2.19517747e-02 -1.62384240e-03 9.99757712e-01 1.23562949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.770714057 meters Centerline goodness [0,1] 0.984696786553242 Centerline is valid? [True, True] Translation: X:113.89, Y:-4.32, Z:1.24 [[ 9.98574646e-01 -4.92150747e-02 -2.06531737e-02 1.13893266e+02] [ 4.92364054e-02 9.98787015e-01 5.25269794e-04 -4.32000369e+00] [ 2.06022705e-02 -1.54140913e-03 9.99786562e-01 1.23709721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80071405700001 meters Centerline goodness [0,1] 0.9810099167901516 Centerline is valid? [True, True] Translation: X:113.92, Y:-4.33, Z:1.24 [[ 9.98563613e-01 -4.94900964e-02 -2.05290366e-02 1.13924636e+02] [ 4.95112509e-02 9.98773429e-01 5.23176045e-04 -4.32888898e+00] [ 2.04779643e-02 -1.53884284e-03 9.99789120e-01 1.23638817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83071405700001 meters Centerline goodness [0,1] 0.981230186785869 Centerline is valid? [True, True] Translation: X:113.96, Y:-4.33, Z:1.24 [[ 9.98497756e-01 -5.08236874e-02 -2.04739909e-02 1.13956610e+02] [ 5.08450307e-02 9.98706418e-01 5.22921148e-04 -4.32995807e+00] [ 2.04209294e-02 -1.56313629e-03 9.99790249e-01 1.23596168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.860714057 meters Centerline goodness [0,1] 0.9800861263642371 Centerline is valid? [True, True] Translation: X:113.99, Y:-4.33, Z:1.24 [[ 9.98453508e-01 -5.15116823e-02 -2.09078510e-02 1.13987749e+02] [ 5.15341245e-02 9.98671091e-01 5.35659406e-04 -4.33343421e+00] [ 2.08524736e-02 -1.61229881e-03 9.99781263e-01 1.23613663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.890714057 meters Centerline goodness [0,1] 0.9794667274384685 Centerline is valid? [True, True] Translation: X:114.02, Y:-4.34, Z:1.24 [[ 9.98390060e-01 -5.26554676e-02 -2.10876843e-02 1.14019253e+02] [ 5.26785896e-02 9.98611372e-01 5.42094260e-04 -4.33524547e+00] [ 2.10298571e-02 -1.65209099e-03 9.99777483e-01 1.23607885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.920714057 meters Centerline goodness [0,1] 0.984382470119522 Centerline is valid? [True, True] Translation: X:114.05, Y:-4.33, Z:1.24 [[ 9.98252585e-01 -5.51500801e-02 -2.12189748e-02 1.14050034e+02] [ 5.51740713e-02 9.98476601e-01 5.46433070e-04 -4.32696699e+00] [ 2.11565140e-02 -1.71621545e-03 9.99774703e-01 1.23647806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.950714057 meters Centerline goodness [0,1] 0.9838095455271019 Centerline is valid? [True, True] Translation: X:114.08, Y:-4.33, Z:1.24 [[ 9.98183211e-01 -5.62593181e-02 -2.15676944e-02 1.14081595e+02] [ 5.62843815e-02 9.98414623e-01 5.56334912e-04 -4.32975403e+00] [ 2.15022024e-02 -1.76924851e-03 9.99767235e-01 1.23641691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.980714057 meters Centerline goodness [0,1] 0.9853705222860268 Centerline is valid? [True, True] Translation: X:114.11, Y:-4.33, Z:1.24 [[ 9.98056872e-01 -5.82189876e-02 -2.22042758e-02 1.14112207e+02] [ 5.82460579e-02 9.98302092e-01 5.73818379e-04 -4.33043402e+00] [ 2.21331678e-02 -1.86601491e-03 9.99753290e-01 1.23556833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.010714057 meters Centerline goodness [0,1] 0.9816872287733169 Centerline is valid? [True, True] Translation: X:114.14, Y:-4.34, Z:1.23 [[ 9.98033955e-01 -5.86085515e-02 -2.22094899e-02 1.14143344e+02] [ 5.86357513e-02 9.98279279e-01 5.74903076e-04 -4.33883635e+00] [ 2.21375793e-02 -1.87604292e-03 9.99753174e-01 1.23440942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.040714057 meters Centerline goodness [0,1] 0.9841342104664133 Centerline is valid? [True, True] Translation: X:114.18, Y:-4.33, Z:1.23 [[ 9.98089187e-01 -5.77137596e-02 -2.20702890e-02 1.14175816e+02] [ 5.77404314e-02 9.98331465e-01 5.72628202e-04 -4.33447761e+00] [ 2.20004154e-02 -1.84588202e-03 9.99756258e-01 1.23491638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.070714057 meters Centerline goodness [0,1] 0.9605781267781951 Centerline is valid? [True, True] Translation: X:114.21, Y:-4.35, Z:1.23 [[ 9.98153434e-01 -5.67970230e-02 -2.15364672e-02 1.14206443e+02] [ 5.68222373e-02 9.98384154e-01 5.60145174e-04 -4.34936978e+00] [ 2.14698530e-02 -1.78286108e-03 9.99767906e-01 1.23435075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.100714057 meters Centerline goodness [0,1] 0.9851975184745917 Centerline is valid? [True, True] Translation: X:114.24, Y:-4.33, Z:1.24 [[ 9.98456949e-01 -5.16968070e-02 -2.02771090e-02 1.14238146e+02] [ 5.17181288e-02 9.98661582e-01 5.28185766e-04 -4.32810625e+00] [ 2.02226643e-02 -1.57606489e-03 9.99794259e-01 1.23837445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.130714057 meters Centerline goodness [0,1] 0.9840356286399452 Centerline is valid? [True, True] Translation: X:114.27, Y:-4.33, Z:1.24 [[ 9.98618315e-01 -4.87241599e-02 -1.96829202e-02 1.14267659e+02] [ 4.87436804e-02 9.98811189e-01 5.12927924e-04 -4.33082500e+00] [ 1.96345290e-02 -1.47163719e-03 9.99806141e-01 1.23911181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.160714057 meters Centerline goodness [0,1] 0.9857168891521254 Centerline is valid? [True, True] Translation: X:114.30, Y:-4.32, Z:1.24 [[ 9.98798700e-01 -4.50702678e-02 -1.92308863e-02 1.14298641e+02] [ 4.50882284e-02 9.98982883e-01 5.01167466e-04 -4.32395948e+00] [ 1.91887385e-02 -1.36765201e-03 9.99814944e-01 1.24055413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19071405700001 meters Centerline goodness [0,1] 0.9856529288129398 Centerline is valid? [True, True] Translation: X:114.33, Y:-4.33, Z:1.24 [[ 9.98843016e-01 -4.40175745e-02 -1.93670571e-02 1.14329526e+02] [ 4.40356018e-02 9.99029835e-01 5.05145948e-04 -4.32734198e+00] [ 1.93260325e-02 -1.35740152e-03 9.99812313e-01 1.23993460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.220714057 meters Centerline goodness [0,1] 0.9854131418903471 Centerline is valid? [True, True] Translation: X:114.36, Y:-4.33, Z:1.24 [[ 9.98859086e-01 -4.33574980e-02 -2.00163277e-02 1.14361712e+02] [ 4.33766519e-02 9.99058653e-01 5.23540830e-04 -4.32673590e+00] [ 1.99747860e-02 -1.39118479e-03 9.99799516e-01 1.23913483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.250714057 meters Centerline goodness [0,1] 0.9862625431438433 Centerline is valid? [True, True] Translation: X:114.39, Y:-4.33, Z:1.24 [[ 9.98839694e-01 -4.31401428e-02 -2.14054581e-02 1.14394295e+02] [ 4.31620329e-02 9.99067927e-01 5.61477485e-04 -4.32914518e+00] [ 2.13612845e-02 -1.48472909e-03 9.99770719e-01 1.23617865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.280714057 meters Centerline goodness [0,1] 0.9863634283622386 Centerline is valid? [True, True] Translation: X:114.43, Y:-4.33, Z:1.24 [[ 9.98815328e-01 -4.35046168e-02 -2.18011045e-02 1.14426442e+02] [ 4.35274442e-02 9.99052067e-01 5.73416705e-04 -4.33159140e+00] [ 2.17554922e-02 -1.52168375e-03 9.99762163e-01 1.23536549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.310714057 meters Centerline goodness [0,1] 0.9860393913083215 Centerline is valid? [True, True] Translation: X:114.46, Y:-4.33, Z:1.23 [[ 9.98728032e-01 -4.46795436e-02 -2.33678703e-02 1.14458872e+02] [ 4.47061309e-02 9.98999991e-01 6.16334488e-04 -4.33390723e+00] [ 2.33169647e-02 -1.66023760e-03 9.99726744e-01 1.23428027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.340714057 meters Centerline goodness [0,1] 0.9862402124639407 Centerline is valid? [True, True] Translation: X:114.49, Y:-4.34, Z:1.23 [[ 9.98688474e-01 -4.53024920e-02 -2.38540764e-02 1.14490621e+02] [ 4.53304103e-02 9.98971850e-01 6.30671504e-04 -4.33586076e+00] [ 2.38009798e-02 -1.71115943e-03 9.99715252e-01 1.23469756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.370714057 meters Centerline goodness [0,1] 0.9861000159769931 Centerline is valid? [True, True] Translation: X:114.52, Y:-4.34, Z:1.23 [[ 9.98636836e-01 -4.66154892e-02 -2.34833213e-02 1.14521837e+02] [ 4.66429356e-02 9.98911432e-01 6.22079461e-04 -4.33926508e+00] [ 2.34287596e-02 -1.71656251e-03 9.99724035e-01 1.23485690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.400714057 meters Centerline goodness [0,1] 0.9856266113025028 Centerline is valid? [True, True] Translation: X:114.55, Y:-4.34, Z:1.24 [[ 9.98625101e-01 -4.71791108e-02 -2.28481812e-02 1.14553609e+02] [ 4.72052687e-02 9.98885026e-01 6.06563001e-04 -4.34211131e+00] [ 2.27940890e-02 -1.68428357e-03 9.99738762e-01 1.23540607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.430714057 meters Centerline goodness [0,1] 0.9844048811583644 Centerline is valid? [True, True] Translation: X:114.59, Y:-4.34, Z:1.24 [[ 9.98596673e-01 -4.79435969e-02 -2.24965837e-02 1.14585907e+02] [ 4.79691827e-02 9.98848637e-01 5.98750240e-04 -4.34462844e+00] [ 2.24419758e-02 -1.67705273e-03 9.99746741e-01 1.23644397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.460714057 meters Centerline goodness [0,1] 0.984391045389197 Centerline is valid? [True, True] Translation: X:114.62, Y:-4.35, Z:1.24 [[ 9.98535441e-01 -4.96995879e-02 -2.13757652e-02 1.14615991e+02] [ 4.97231138e-02 9.98762878e-01 5.70176505e-04 -4.34703986e+00] [ 2.13209832e-02 -1.63221106e-03 9.99771350e-01 1.23851124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.490714057 meters Centerline goodness [0,1] 0.9836487440504658 Centerline is valid? [True, True] Translation: X:114.65, Y:-4.35, Z:1.24 [[ 9.98510284e-01 -5.04067698e-02 -2.08894933e-02 1.14648315e+02] [ 5.04294141e-02 9.98727472e-01 5.58310493e-04 -4.34924229e+00] [ 2.08347682e-02 -1.61092368e-03 9.99781635e-01 1.23933307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.520714057 meters Centerline goodness [0,1] 0.9841931442888053 Centerline is valid? [True, True] Translation: X:114.68, Y:-4.35, Z:1.24 [[ 9.98392597e-01 -5.28460265e-02 -2.04821936e-02 1.14679276e+02] [ 5.28683298e-02 9.98601341e-01 5.48579062e-04 -4.35125402e+00] [ 2.04245557e-02 -1.63055664e-03 9.99790067e-01 1.24018516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55071405700001 meters Centerline goodness [0,1] 0.9814709560077299 Centerline is valid? [True, True] Translation: X:114.71, Y:-4.36, Z:1.24 [[ 9.98345534e-01 -5.38479416e-02 -2.01641738e-02 1.14711409e+02] [ 5.38697786e-02 9.98547823e-01 5.40963507e-04 -4.35572991e+00] [ 2.01057621e-02 -1.62630808e-03 9.99796536e-01 1.24080012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58071405700001 meters Centerline goodness [0,1] 0.9861813891220984 Centerline is valid? [True, True] Translation: X:114.74, Y:-4.35, Z:1.24 [[ 9.98271698e-01 -5.53816704e-02 -1.96593075e-02 1.14742828e+02] [ 5.54027448e-02 9.98463949e-01 5.28544049e-04 -4.35118306e+00] [ 1.95998381e-02 -1.61681016e-03 9.99806597e-01 1.24233220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.610714057 meters Centerline goodness [0,1] 0.9855430983613999 Centerline is valid? [True, True] Translation: X:114.78, Y:-4.35, Z:1.24 [[ 9.98232903e-01 -5.60323319e-02 -1.97850671e-02 1.14775299e+02] [ 5.60538237e-02 9.98427606e-01 5.32932438e-04 -4.35455355e+00] [ 1.97240957e-02 -1.64101936e-03 9.99804114e-01 1.24284249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.640714057 meters Centerline goodness [0,1] 0.9843272257830725 Centerline is valid? [True, True] Translation: X:114.81, Y:-4.36, Z:1.24 [[ 9.98184184e-01 -5.68500229e-02 -1.99100393e-02 1.14805899e+02] [ 5.68719880e-02 9.98381334e-01 5.38279553e-04 -4.35989197e+00] [ 1.98472104e-02 -1.66962565e-03 9.99801631e-01 1.24346625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.670714057 meters Centerline goodness [0,1] 0.9846519524617997 Centerline is valid? [True, True] Translation: X:114.84, Y:-4.36, Z:1.24 [[ 9.98155104e-01 -5.71909107e-02 -2.03859637e-02 1.14837983e+02] [ 5.72140548e-02 9.98361781e-01 5.53384806e-04 -4.36016766e+00] [ 2.03209184e-02 -1.71872751e-03 9.99792031e-01 1.24402853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.700714057 meters Centerline goodness [0,1] 0.985442506972631 Centerline is valid? [True, True] Translation: X:114.87, Y:-4.36, Z:1.24 [[ 9.98163516e-01 -5.68784052e-02 -2.08432658e-02 1.14870029e+02] [ 5.69025628e-02 9.98379575e-01 5.67289362e-04 -4.36228278e+00] [ 2.07772244e-02 -1.75228279e-03 9.99782595e-01 1.24419791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.730714057 meters Centerline goodness [0,1] 0.986085301182976 Centerline is valid? [True, True] Translation: X:114.90, Y:-4.36, Z:1.24 [[ 9.98208910e-01 -5.56717317e-02 -2.19004716e-02 1.14901736e+02] [ 5.56981461e-02 9.98447475e-01 5.97514282e-04 -4.36260131e+00] [ 2.18332059e-02 -1.81625975e-03 9.99759977e-01 1.24356811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.760714057 meters Centerline goodness [0,1] 0.9847703100248925 Centerline is valid? [True, True] Translation: X:114.93, Y:-4.37, Z:1.24 [[ 9.98278515e-01 -5.41941807e-02 -2.24276182e-02 1.14932213e+02] [ 5.42215325e-02 9.98528743e-01 6.12807204e-04 -4.36686317e+00] [ 2.23614108e-02 -1.82781209e-03 9.99748282e-01 1.24358922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.790714057 meters Centerline goodness [0,1] 0.9858915711762308 Centerline is valid? [True, True] Translation: X:114.96, Y:-4.37, Z:1.24 [[ 9.98434642e-01 -5.09095475e-02 -2.31621148e-02 1.14961596e+02] [ 5.09378457e-02 9.98701625e-01 6.33012567e-04 -4.36779236e+00] [ 2.30998153e-02 -1.81184991e-03 9.99731522e-01 1.24299011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.820714057 meters Centerline goodness [0,1] 0.9877318699260738 Centerline is valid? [True, True] Translation: X:114.99, Y:-4.36, Z:1.24 [[ 9.98541303e-01 -4.87014928e-02 -2.33116228e-02 1.14992359e+02] [ 4.87295550e-02 9.98811807e-01 6.36908679e-04 -4.35923120e+00] [ 2.32529057e-02 -1.77194463e-03 9.99728044e-01 1.24467900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.850714057 meters Centerline goodness [0,1] 0.9887971698113207 Centerline is valid? [True, True] Translation: X:115.02, Y:-4.35, Z:1.25 [[ 9.98813267e-01 -4.28908439e-02 -2.30745295e-02 1.15023202e+02] [ 4.29167989e-02 9.99078451e-01 6.30577363e-04 -4.35448556e+00] [ 2.30262192e-02 -1.62011398e-03 9.99733549e-01 1.24644759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.880714057 meters Centerline goodness [0,1] 0.9888742862322124 Centerline is valid? [True, True] Translation: X:115.05, Y:-4.35, Z:1.25 [[ 9.98965510e-01 -3.95599635e-02 -2.24258460e-02 1.15053839e+02] [ 3.95836536e-02 9.99216072e-01 6.13283924e-04 -4.35330652e+00] [ 2.23840043e-02 -1.50034641e-03 9.99748321e-01 1.24786175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.910714057 meters Centerline goodness [0,1] 0.9888896462408834 Centerline is valid? [True, True] Translation: X:115.08, Y:-4.35, Z:1.25 [[ 9.99232474e-01 -3.31718655e-02 -2.08348553e-02 1.15084172e+02] [ 3.31909362e-02 9.99448867e-01 5.70094339e-04 -4.34990154e+00] [ 2.08044614e-02 -1.26118513e-03 9.99782768e-01 1.24950911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94071405700001 meters Centerline goodness [0,1] 0.9891213009016375 Centerline is valid? [True, True] Translation: X:115.12, Y:-4.35, Z:1.25 [[ 9.99338783e-01 -2.99574625e-02 -2.06045593e-02 1.15115423e+02] [ 2.99754348e-02 9.99550477e-01 5.63885964e-04 -4.34928884e+00] [ 2.05784044e-02 -1.18114374e-03 9.99787545e-01 1.25010328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.970714057 meters Centerline goodness [0,1] 0.9895016099043127 Centerline is valid? [True, True] Translation: X:115.14, Y:-4.35, Z:1.25 [[ 9.99485079e-01 -2.44307492e-02 -2.08018215e-02 1.15144710e+02] [ 2.44478768e-02 9.99700944e-01 5.69424227e-04 -4.35231437e+00] [ 2.07816891e-02 -1.07769139e-03 9.99783457e-01 1.24937091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.000714057 meters Centerline goodness [0,1] 0.9895016099043127 Centerline is valid? [True, True] Translation: X:115.17, Y:-4.35, Z:1.25 [[ 9.99485079e-01 -2.44307526e-02 -2.08018281e-02 1.15174737e+02] [ 2.44478752e-02 9.99700944e-01 5.69182807e-04 -4.35313586e+00] [ 2.07817016e-02 -1.07745022e-03 9.99783457e-01 1.24979506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.030714057 meters Centerline goodness [0,1] 0.9911357968714577 Centerline is valid? [True, True] Translation: X:115.21, Y:-4.35, Z:1.25 [[ 9.99522394e-01 -2.21010496e-02 -2.15992574e-02 1.15205736e+02] [ 2.21189685e-02 9.99755171e-01 5.91022064e-04 -4.34649582e+00] [ 2.15809070e-02 -1.06849308e-03 9.99766534e-01 1.25081283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.060714057 meters Centerline goodness [0,1] 0.9909613244611996 Centerline is valid? [True, True] Translation: X:115.23, Y:-4.35, Z:1.25 [[ 9.99583972e-01 -1.89152241e-02 -2.17737634e-02 1.15234494e+02] [ 1.89326715e-02 9.99820584e-01 5.95423625e-04 -4.34942833e+00] [ 2.17585943e-02 -1.00741142e-03 9.99762746e-01 1.24984109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.090714057 meters Centerline goodness [0,1] 0.9916401635620172 Centerline is valid? [True, True] Translation: X:115.26, Y:-4.35, Z:1.25 [[ 9.99589448e-01 -1.81678162e-02 -2.21555064e-02 1.15263060e+02] [ 1.81856353e-02 9.99834446e-01 6.03040284e-04 -4.34771156e+00] [ 2.21408825e-02 -1.00570466e-03 9.99754355e-01 1.25080411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.120714057 meters Centerline goodness [0,1] 0.9912350416676128 Centerline is valid? [True, True] Translation: X:115.29, Y:-4.35, Z:1.25 [[ 9.99610877e-01 -1.77124036e-02 -2.15491196e-02 1.15291102e+02] [ 1.77290579e-02 9.99842658e-01 5.82037243e-04 -4.35251337e+00] [ 2.15354198e-02 -9.63856349e-04 9.99767621e-01 1.25129818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.150714057 meters Centerline goodness [0,1] 0.9918571947015061 Centerline is valid? [True, True] Translation: X:115.32, Y:-4.35, Z:1.25 [[ 9.99612699e-01 -1.80791181e-02 -2.11564900e-02 1.15319228e+02] [ 1.80951704e-02 9.99836108e-01 5.67536225e-04 -4.35309962e+00] [ 2.11427620e-02 -9.50146709e-04 9.99776015e-01 1.25225925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.180714057 meters Centerline goodness [0,1] 0.9903198082055458 Centerline is valid? [True, True] Translation: X:115.35, Y:-4.36, Z:1.25 [[ 9.99615373e-01 -1.85616760e-02 -2.06051120e-02 1.15346836e+02] [ 1.85769108e-02 9.99827284e-01 5.48187436e-04 -4.36033479e+00] [ 2.05913779e-02 -9.30755916e-04 9.99787542e-01 1.25232639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.210714057 meters Centerline goodness [0,1] 0.9904178625505661 Centerline is valid? [True, True] Translation: X:115.37, Y:-4.36, Z:1.25 [[ 9.99602170e-01 -1.91018323e-02 -2.07514107e-02 1.15374448e+02] [ 1.91173621e-02 9.99817095e-01 5.50237016e-04 -4.36461943e+00] [ 2.07371046e-02 -9.46730347e-04 9.99784515e-01 1.25227157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.240714057 meters Centerline goodness [0,1] 0.9911922130129407 Centerline is valid? [True, True] Translation: X:115.40, Y:-4.36, Z:1.25 [[ 9.99588597e-01 -1.98015106e-02 -2.07493887e-02 1.15403528e+02] [ 1.98171281e-02 9.99803472e-01 5.47300790e-04 -4.36240602e+00] [ 2.07344735e-02 -9.58268922e-04 9.99784558e-01 1.25321300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.270714057 meters Centerline goodness [0,1] 0.9912777627911159 Centerline is valid? [True, True] Translation: X:115.43, Y:-4.37, Z:1.25 [[ 9.99563746e-01 -2.08883825e-02 -2.08804439e-02 1.15432019e+02] [ 2.09043522e-02 9.99781331e-01 5.46817072e-04 -4.36854677e+00] [ 2.08644559e-02 -9.83070675e-04 9.99781830e-01 1.25339676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30071405700001 meters Centerline goodness [0,1] 0.9903987017962992 Centerline is valid? [True, True] Translation: X:115.46, Y:-4.38, Z:1.25 [[ 9.99539377e-01 -2.17575144e-02 -2.11576128e-02 1.15460424e+02] [ 2.17740812e-02 9.99762764e-01 5.52940608e-04 -4.37523142e+00] [ 2.11405628e-02 -1.01337349e-03 9.99776000e-01 1.25325032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33071405700001 meters Centerline goodness [0,1] 0.991034916640453 Centerline is valid? [True, True] Translation: X:115.49, Y:-4.38, Z:1.25 [[ 9.99482560e-01 -2.35971513e-02 -2.18583487e-02 1.15490190e+02] [ 2.36152501e-02 9.99720958e-01 5.70212382e-04 -4.37539886e+00] [ 2.18387939e-02 -1.08610770e-03 9.99760915e-01 1.25407187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.360714057 meters Centerline goodness [0,1] 0.9911687377811734 Centerline is valid? [True, True] Translation: X:115.52, Y:-4.38, Z:1.25 [[ 9.99456373e-01 -2.46565056e-02 -2.18864165e-02 1.15519521e+02] [ 2.46748871e-02 9.99695366e-01 5.70162926e-04 -4.37707216e+00] [ 2.18656909e-02 -1.10989783e-03 9.99760301e-01 1.25473585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.390714057 meters Centerline goodness [0,1] 0.9915632642986963 Centerline is valid? [True, True] Translation: X:115.55, Y:-4.38, Z:1.26 [[ 9.99432769e-01 -2.56300384e-02 -2.18458590e-02 1.15548566e+02] [ 2.56485717e-02 9.99670860e-01 5.68550189e-04 -4.38105548e+00] [ 2.18240966e-02 -1.12854277e-03 9.99761189e-01 1.25514757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.420714057 meters Centerline goodness [0,1] 0.989846119285634 Centerline is valid? [True, True] Translation: X:115.58, Y:-4.39, Z:1.25 [[ 9.99369928e-01 -2.73897018e-02 -2.25732483e-02 1.15577858e+02] [ 2.74099323e-02 9.99624105e-01 5.87238717e-04 -4.38727913e+00] [ 2.25486789e-02 -1.20559992e-03 9.99745019e-01 1.25460884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.450714057 meters Centerline goodness [0,1] 0.9914387794081297 Centerline is valid? [True, True] Translation: X:115.61, Y:-4.39, Z:1.25 [[ 9.99328514e-01 -2.79201191e-02 -2.37273707e-02 1.15607744e+02] [ 2.79426132e-02 9.99609339e-01 6.16939891e-04 -4.39039104e+00] [ 2.37008763e-02 -1.27953037e-03 9.99718276e-01 1.25466737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.480714057 meters Centerline goodness [0,1] 0.9904697836080278 Centerline is valid? [True, True] Translation: X:115.64, Y:-4.39, Z:1.25 [[ 9.99317631e-01 -2.79925001e-02 -2.40975635e-02 1.15636956e+02] [ 2.80157121e-02 9.99607287e-01 6.26118962e-04 -4.39206580e+00] [ 2.40705735e-02 -1.30080212e-03 9.99709415e-01 1.25486333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.510714057 meters Centerline goodness [0,1] 0.9907847533632287 Centerline is valid? [True, True] Translation: X:115.67, Y:-4.40, Z:1.25 [[ 9.99328065e-01 -2.75713507e-02 -2.41503623e-02 1.15665912e+02] [ 2.75945211e-02 9.99619002e-01 6.26628025e-04 -4.40038704e+00] [ 2.41238841e-02 -1.29262465e-03 9.99708141e-01 1.25423543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.540714057 meters Centerline goodness [0,1] 0.9902867095391211 Centerline is valid? [True, True] Translation: X:115.69, Y:-4.41, Z:1.25 [[ 9.99347114e-01 -2.72492742e-02 -2.37238919e-02 1.15694852e+02] [ 2.72715197e-02 9.99627874e-01 6.14586944e-04 -4.40529469e+00] [ 2.36983166e-02 -1.26117227e-03 9.99718360e-01 1.25466063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.570714057 meters Centerline goodness [0,1] 0.9905019443078711 Centerline is valid? [True, True] Translation: X:115.73, Y:-4.40, Z:1.26 [[ 9.99341187e-01 -2.71893880e-02 -2.40401599e-02 1.15725039e+02] [ 2.72121876e-02 9.99629487e-01 6.21706165e-04 -4.40292140e+00] [ 2.40143489e-02 -1.27548192e-03 9.99710800e-01 1.25641918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.600714057 meters Centerline goodness [0,1] 0.9905955412589912 Centerline is valid? [True, True] Translation: X:115.75, Y:-4.41, Z:1.26 [[ 9.99332978e-01 -2.74532519e-02 -2.40814956e-02 1.15753393e+02] [ 2.74761815e-02 9.99622265e-01 6.21738954e-04 -4.41058750e+00] [ 2.40553305e-02 -1.28299178e-03 9.99709805e-01 1.25565374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.630714057 meters Centerline goodness [0,1] 0.9900412164420185 Centerline is valid? [True, True] Translation: X:115.78, Y:-4.41, Z:1.26 [[ 9.99308319e-01 -2.82654157e-02 -2.41650535e-02 1.15782176e+02] [ 2.82886631e-02 9.99599603e-01 6.20650048e-04 -4.41092634e+00] [ 2.41378350e-02 -1.30381781e-03 9.99707790e-01 1.25632322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.660714057 meters Centerline goodness [0,1] 0.9915973878351573 Centerline is valid? [True, True] Translation: X:115.81, Y:-4.41, Z:1.26 [[ 9.99303978e-01 -2.84926517e-02 -2.40775503e-02 1.15810461e+02] [ 2.85157002e-02 9.99593156e-01 6.14392726e-04 -4.41487351e+00] [ 2.40502488e-02 -1.30055330e-03 9.99709905e-01 1.25639447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69071405700001 meters Centerline goodness [0,1] 0.990556814646936 Centerline is valid? [True, True] Translation: X:115.84, Y:-4.42, Z:1.26 [[ 9.99280913e-01 -2.90276979e-02 -2.43936365e-02 1.15838699e+02] [ 2.90514347e-02 9.99577726e-01 6.19176465e-04 -4.41751031e+00] [ 2.43653624e-02 -1.32740136e-03 9.99702239e-01 1.25654264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.720714057 meters Centerline goodness [0,1] 0.9901260924678097 Centerline is valid? [True, True] Translation: X:115.87, Y:-4.42, Z:1.26 [[ 9.99256562e-01 -2.96297631e-02 -2.46657818e-02 1.15867830e+02] [ 2.96541153e-02 9.99560026e-01 6.22015427e-04 -4.42011713e+00] [ 2.46364994e-02 -1.35299494e-03 9.99695560e-01 1.25706521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.750714057 meters Centerline goodness [0,1] 0.9913942243712017 Centerline is valid? [True, True] Translation: X:115.90, Y:-4.42, Z:1.26 [[ 9.99235686e-01 -3.01194613e-02 -2.49171145e-02 1.15896119e+02] [ 3.01443794e-02 9.99545360e-01 6.24944812e-04 -4.42238548e+00] [ 2.48869632e-02 -1.37557811e-03 9.99689325e-01 1.25776321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.780714057 meters Centerline goodness [0,1] 0.9907858716698938 Centerline is valid? [True, True] Translation: X:115.93, Y:-4.42, Z:1.26 [[ 9.99183199e-01 -3.11864756e-02 -2.56970708e-02 1.15925285e+02] [ 3.12132166e-02 9.99512544e-01 6.40073687e-04 -4.42216173e+00] [ 2.56645830e-02 -1.44163911e-03 9.99669571e-01 1.25887785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.810714057 meters Centerline goodness [0,1] 0.9903720009783648 Centerline is valid? [True, True] Translation: X:115.95, Y:-4.43, Z:1.26 [[ 9.99147483e-01 -3.26102127e-02 -2.53156393e-02 1.15953450e+02] [ 3.26365743e-02 9.99467087e-01 6.28733829e-04 -4.42731661e+00] [ 2.52816451e-02 -1.45441356e-03 9.99679310e-01 1.25858774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.840714057 meters Centerline goodness [0,1] 0.9898933930273277 Centerline is valid? [True, True] Translation: X:115.98, Y:-4.43, Z:1.26 [[ 9.99073779e-01 -3.49819869e-02 -2.50568429e-02 1.15982415e+02] [ 3.50085297e-02 9.99386820e-01 6.21282057e-04 -4.43269965e+00] [ 2.50197448e-02 -1.49790984e-03 9.99685835e-01 1.25846021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.870714057 meters Centerline goodness [0,1] 0.9895622820848786 Centerline is valid? [True, True] Translation: X:116.01, Y:-4.44, Z:1.26 [[ 9.99013418e-01 -3.65014030e-02 -2.52950185e-02 1.16011932e+02] [ 3.65289277e-02 9.99332399e-01 6.26773605e-04 -4.43501298e+00] [ 2.52552534e-02 -1.55015514e-03 9.99679833e-01 1.25861458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.900714057 meters Centerline goodness [0,1] 0.9895983499301382 Centerline is valid? [True, True] Translation: X:116.04, Y:-4.44, Z:1.26 [[ 9.98965059e-01 -3.77084051e-02 -2.54339856e-02 1.16042092e+02] [ 3.77366101e-02 9.99287522e-01 6.29718200e-04 -4.43708871e+00] [ 2.53921187e-02 -1.58885888e-03 9.99676306e-01 1.25882442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.930714057 meters Centerline goodness [0,1] 0.9889608086540167 Centerline is valid? [True, True] Translation: X:116.07, Y:-4.44, Z:1.26 [[ 9.98905784e-01 -3.92246321e-02 -2.54688639e-02 1.16071780e+02] [ 3.92534054e-02 9.99229089e-01 6.30581750e-04 -4.44246252e+00] [ 2.54244953e-02 -1.62963140e-03 9.99675417e-01 1.25879330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.960714057 meters Centerline goodness [0,1] 0.9906461265654438 Centerline is valid? [True, True] Translation: X:116.10, Y:-4.44, Z:1.26 [[ 9.98829814e-01 -4.04022912e-02 -2.65830217e-02 1.16102621e+02] [ 4.04340532e-02 9.99181993e-01 6.58167103e-04 -4.44196431e+00] [ 2.65346851e-02 -1.73225624e-03 9.99646392e-01 1.25880718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.990714057 meters Centerline goodness [0,1] 0.9895082403566755 Centerline is valid? [True, True] Translation: X:116.13, Y:-4.44, Z:1.26 [[ 9.98805691e-01 -4.05059429e-02 -2.73214305e-02 1.16131787e+02] [ 4.05395272e-02 9.99177707e-01 6.76220428e-04 -4.44449137e+00] [ 2.72715733e-02 -1.78301069e-03 9.99626471e-01 1.25905964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.020714057 meters Centerline goodness [0,1] 0.9892182092466058 Centerline is valid? [True, True] Translation: X:116.16, Y:-4.44, Z:1.26 [[ 9.98809643e-01 -4.05088766e-02 -2.71722041e-02 1.16161822e+02] [ 4.05420893e-02 9.99177605e-01 6.72283856e-04 -4.44465024e+00] [ 2.71226243e-02 -1.77310152e-03 9.99630541e-01 1.25949491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05071405700001 meters Centerline goodness [0,1] 0.9900122073021862 Centerline is valid? [True, True] Translation: X:116.19, Y:-4.45, Z:1.26 [[ 9.98812187e-01 -4.04180186e-02 -2.72139521e-02 1.16190935e+02] [ 4.04512938e-02 9.99181285e-01 6.73091149e-04 -4.44633266e+00] [ 2.71644666e-02 -1.77313122e-03 9.99629405e-01 1.26087674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08071405700001 meters Centerline goodness [0,1] 0.9896939205212881 Centerline is valid? [True, True] Translation: X:116.22, Y:-4.45, Z:1.26 [[ 9.98842606e-01 -4.00482357e-02 -2.66380731e-02 1.16221818e+02] [ 4.00799797e-02 9.99196258e-01 6.58609933e-04 -4.44658896e+00] [ 2.65902868e-02 -1.72550109e-03 9.99644927e-01 1.26192122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.110714057 meters Centerline goodness [0,1] 0.9897495063344501 Centerline is valid? [True, True] Translation: X:116.25, Y:-4.45, Z:1.26 [[ 9.98922724e-01 -3.84578885e-02 -2.59688906e-02 1.16251118e+02] [ 3.84875114e-02 9.99258875e-01 6.41663664e-04 -4.44528402e+00] [ 2.59249674e-02 -1.64045039e-03 9.99662546e-01 1.26423032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.140714057 meters Centerline goodness [0,1] 0.9904950143241023 Centerline is valid? [True, True] Translation: X:116.28, Y:-4.45, Z:1.27 [[ 9.98980977e-01 -3.69789763e-02 -2.58758972e-02 1.16280603e+02] [ 3.70078758e-02 9.99314770e-01 6.38693122e-04 -4.44515434e+00] [ 2.58345480e-02 -1.59565427e-03 9.99664959e-01 1.26501076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.170714057 meters Centerline goodness [0,1] 0.9901849754624387 Centerline is valid? [True, True] Translation: X:116.31, Y:-4.44, Z:1.27 [[ 9.99052211e-01 -3.53761586e-02 -2.53615138e-02 1.16311352e+02] [ 3.54033998e-02 9.99372907e-01 6.25764890e-04 -4.44431942e+00] [ 2.53234726e-02 -1.52305561e-03 9.99678149e-01 1.26606335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.200714057 meters Centerline goodness [0,1] 0.9907005717591048 Centerline is valid? [True, True] Translation: X:116.34, Y:-4.44, Z:1.27 [[ 9.99174194e-01 -3.22096941e-02 -2.47682451e-02 1.16340565e+02] [ 3.22346970e-02 9.99480141e-01 6.10773649e-04 -4.44057211e+00] [ 2.47356963e-02 -1.40866615e-03 9.99693033e-01 1.26763013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.230714057 meters Centerline goodness [0,1] 0.9910234992760887 Centerline is valid? [True, True] Translation: X:116.37, Y:-4.43, Z:1.27 [[ 9.99252958e-01 -2.98150436e-02 -2.45884005e-02 1.16370848e+02] [ 2.98389460e-02 9.99554536e-01 6.05691874e-04 -4.43041644e+00] [ 2.45593885e-02 -1.33893135e-03 9.99697476e-01 1.26968164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.260714057 meters Centerline goodness [0,1] 0.9912270910998504 Centerline is valid? [True, True] Translation: X:116.40, Y:-4.43, Z:1.27 [[ 9.99259855e-01 -2.93017139e-02 -2.49229285e-02 1.16399480e+02] [ 2.93260885e-02 9.99569710e-01 6.12981346e-04 -4.43017214e+00] [ 2.48942431e-02 -1.34341966e-03 9.99689188e-01 1.26978594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.290714057 meters Centerline goodness [0,1] 0.9912576105622337 Centerline is valid? [True, True] Translation: X:116.43, Y:-4.43, Z:1.27 [[ 9.99251753e-01 -2.95529510e-02 -2.49511054e-02 1.16428716e+02] [ 2.95773709e-02 9.99562308e-01 6.10147018e-04 -4.42974068e+00] [ 2.49221528e-02 -1.34767858e-03 9.99688487e-01 1.26985413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.320714057 meters Centerline goodness [0,1] 0.9915583545491089 Centerline is valid? [True, True] Translation: X:116.46, Y:-4.43, Z:1.27 [[ 9.99237109e-01 -2.97771816e-02 -2.52689370e-02 1.16458245e+02] [ 2.98022026e-02 9.99555627e-01 6.14090747e-04 -4.42816211e+00] [ 2.52394223e-02 -1.36669224e-03 9.99680501e-01 1.27016521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.350714057 meters Centerline goodness [0,1] 0.9924247502849098 Centerline is valid? [True, True] Translation: X:116.49, Y:-4.43, Z:1.27 [[ 9.99166662e-01 -3.23408374e-02 -2.49008478e-02 1.16487402e+02] [ 3.23658954e-02 9.99475905e-01 6.03835012e-04 -4.42580970e+00] [ 2.48682688e-02 -1.40927005e-03 9.99689743e-01 1.27097271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.380714057 meters Centerline goodness [0,1] 0.9903010257670906 Centerline is valid? [True, True] Translation: X:116.52, Y:-4.43, Z:1.27 [[ 9.99038038e-01 -3.61730573e-02 -2.47892990e-02 1.16516607e+02] [ 3.61990356e-02 9.99344420e-01 5.99873925e-04 -4.43004516e+00] [ 2.47513484e-02 -1.49664559e-03 9.99692518e-01 1.27121046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.410714057 meters Centerline goodness [0,1] 0.9918731859790132 Centerline is valid? [True, True] Translation: X:116.55, Y:-4.43, Z:1.27 [[ 9.98963426e-01 -3.82370594e-02 -2.46981896e-02 1.16548204e+02] [ 3.82634786e-02 9.99267506e-01 5.97805273e-04 -4.42968969e+00] [ 2.46572400e-02 -1.54222425e-03 9.99694774e-01 1.27184891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44071405700001 meters Centerline goodness [0,1] 0.9910347903657448 Centerline is valid? [True, True] Translation: X:116.58, Y:-4.43, Z:1.27 [[ 9.98890003e-01 -4.01625818e-02 -2.46115583e-02 1.16579595e+02] [ 4.01894189e-02 9.99191901e-01 5.96563740e-04 -4.43120821e+00] [ 2.45677101e-02 -1.58502578e-03 9.99696912e-01 1.27196581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.470714057 meters Centerline goodness [0,1] 0.9907192056534574 Centerline is valid? [True, True] Translation: X:116.61, Y:-4.43, Z:1.27 [[ 9.98701421e-01 -4.40674440e-02 -2.55642636e-02 1.16609857e+02] [ 4.40976871e-02 9.99027031e-01 6.20200515e-04 -4.43303335e+00] [ 2.55120598e-02 -1.74672003e-03 9.99672988e-01 1.27154181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.500714057 meters Centerline goodness [0,1] 0.9895954273466107 Centerline is valid? [True, True] Translation: X:116.64, Y:-4.44, Z:1.27 [[ 9.98643239e-01 -4.53083375e-02 -2.56678080e-02 1.16639496e+02] [ 4.53392585e-02 9.98971452e-01 6.23669400e-04 -4.43990484e+00] [ 2.56131500e-02 -1.78658261e-03 9.99670333e-01 1.27011039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.530714057 meters Centerline goodness [0,1] 0.99079795808705 Centerline is valid? [True, True] Translation: X:116.67, Y:-4.43, Z:1.27 [[ 9.98509185e-01 -4.74531704e-02 -2.69741367e-02 1.16670868e+02] [ 4.74881365e-02 9.98871586e-01 6.56810319e-04 -4.43164921e+00] [ 2.69125309e-02 -1.93678262e-03 9.99635916e-01 1.27024385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.560714057 meters Centerline goodness [0,1] 0.9898596467665033 Centerline is valid? [True, True] Translation: X:116.70, Y:-4.44, Z:1.27 [[ 9.98458080e-01 -4.82249402e-02 -2.74921409e-02 1.16701228e+02] [ 4.82615769e-02 9.98834506e-01 6.70268278e-04 -4.43718797e+00] [ 2.74277753e-02 -1.99604885e-03 9.99621795e-01 1.26904478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.590714057 meters Centerline goodness [0,1] 0.9907361715490557 Centerline is valid? [True, True] Translation: X:116.73, Y:-4.43, Z:1.27 [[ 9.98366521e-01 -4.98773780e-02 -2.78664046e-02 1.16732053e+02] [ 4.99156838e-02 9.98753204e-01 6.80267132e-04 -4.43094763e+00] [ 2.77977309e-02 -2.07012657e-03 9.99611425e-01 1.27029001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.620714057 meters Centerline goodness [0,1] 0.9876346856029211 Centerline is valid? [True, True] Translation: X:116.76, Y:-4.44, Z:1.27 [[ 9.98353069e-01 -5.02452977e-02 -2.76868101e-02 1.16762972e+02] [ 5.02832785e-02 9.98734766e-01 6.76845828e-04 -4.43974190e+00] [ 2.76177715e-02 -2.06791469e-03 9.99616418e-01 1.26922286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.650714057 meters Centerline goodness [0,1] 0.9876708358415268 Centerline is valid? [True, True] Translation: X:116.79, Y:-4.44, Z:1.27 [[ 9.98358097e-01 -5.02700667e-02 -2.74596177e-02 1.16794501e+02] [ 5.03074681e-02 9.98733551e-01 6.72475382e-04 -4.43783540e+00] [ 2.73910361e-02 -2.05279508e-03 9.99622687e-01 1.27049751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.680714057 meters Centerline goodness [0,1] 0.9908193041526375 Centerline is valid? [True, True] Translation: X:116.83, Y:-4.43, Z:1.27 [[ 9.98351837e-01 -5.05000417e-02 -2.72645295e-02 1.16827102e+02] [ 5.05370367e-02 9.98721963e-01 6.69097842e-04 -4.42728964e+00] [ 2.71958950e-02 -2.04586359e-03 9.99628030e-01 1.27267986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.710714057 meters Centerline goodness [0,1] 0.9904404156732197 Centerline is valid? [True, True] Translation: X:116.86, Y:-4.43, Z:1.27 [[ 9.98379464e-01 -5.00657204e-02 -2.70530850e-02 1.16858464e+02] [ 5.01020301e-02 9.98743883e-01 6.65582163e-04 -4.42855955e+00] [ 2.69857803e-02 -2.01991804e-03 9.99633777e-01 1.27297141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.740714057 meters Centerline goodness [0,1] 0.9903375129207677 Centerline is valid? [True, True] Translation: X:116.89, Y:-4.42, Z:1.27 [[ 9.98486878e-01 -4.81849339e-02 -2.64984380e-02 1.16889661e+02] [ 4.82191416e-02 9.98836567e-01 6.53100909e-04 -4.42452190e+00] [ 2.64361392e-02 -1.92984462e-03 9.99648641e-01 1.27482598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.770714057 meters Centerline goodness [0,1] 0.9898223997472525 Centerline is valid? [True, True] Translation: X:116.92, Y:-4.42, Z:1.28 [[ 9.98574929e-01 -4.68939567e-02 -2.54768038e-02 1.16921583e+02] [ 4.69251860e-02 9.98898209e-01 6.29004171e-04 -4.42018634e+00] [ 2.54192372e-02 -1.82361155e-03 9.99675216e-01 1.27681879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80071405700001 meters Centerline goodness [0,1] 0.9896381209260507 Centerline is valid? [True, True] Translation: X:116.95, Y:-4.42, Z:1.28 [[ 9.98787334e-01 -4.28436692e-02 -2.42545007e-02 1.16950847e+02] [ 4.28707975e-02 9.99080445e-01 5.99371534e-04 -4.41780326e+00] [ 2.42065181e-02 -1.63845449e-03 9.99705637e-01 1.27836033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83071405700001 meters Centerline goodness [0,1] 0.9899618776928109 Centerline is valid? [True, True] Translation: X:116.98, Y:-4.42, Z:1.28 [[ 9.98903210e-01 -4.03643259e-02 -2.37296733e-02 1.16981199e+02] [ 4.03895905e-02 9.99183836e-01 5.86169368e-04 -4.41522375e+00] [ 2.36866457e-02 -1.54395825e-03 9.99718240e-01 1.27877378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.860714057 meters Centerline goodness [0,1] 0.9903626966393572 Centerline is valid? [True, True] Translation: X:117.01, Y:-4.41, Z:1.28 [[ 9.99092639e-01 -3.51717702e-02 -2.40176096e-02 1.17012357e+02] [ 3.51961613e-02 9.99380247e-01 5.93450738e-04 -4.40672093e+00] [ 2.39818519e-02 -1.43823993e-03 9.99711359e-01 1.27870186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.890714057 meters Centerline goodness [0,1] 0.990670964227347 Centerline is valid? [True, True] Translation: X:117.04, Y:-4.40, Z:1.28 [[ 9.99175854e-01 -3.26160525e-02 -2.41620712e-02 1.17042945e+02] [ 3.26399991e-02 9.99466995e-01 5.97262098e-04 -4.40437259e+00] [ 2.41297124e-02 -1.38541985e-03 9.99707876e-01 1.27838933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.920714057 meters Centerline goodness [0,1] 0.990670964227347 Centerline is valid? [True, True] Translation: X:117.07, Y:-4.41, Z:1.28 [[ 9.99176994e-01 -3.25811078e-02 -2.41620625e-02 1.17073832e+02] [ 3.26050528e-02 9.99468135e-01 5.97613584e-04 -4.40516728e+00] [ 2.41297407e-02 -1.38492707e-03 9.99707876e-01 1.27882553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.950714057 meters Centerline goodness [0,1] 0.9910478359908884 Centerline is valid? [True, True] Translation: X:117.10, Y:-4.40, Z:1.28 [[ 9.99304417e-01 -2.73342790e-02 -2.53676769e-02 1.17103876e+02] [ 2.73589974e-02 9.99625475e-01 6.27779934e-04 -4.40067591e+00] [ 2.53410162e-02 -1.32137747e-03 9.99677992e-01 1.27842120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.980714057 meters Centerline goodness [0,1] 0.9912350597609562 Centerline is valid? [True, True] Translation: X:117.13, Y:-4.40, Z:1.28 [[ 9.99358583e-01 -2.45097347e-02 -2.61092824e-02 1.17132894e+02] [ 2.45349423e-02 9.99698765e-01 6.45504332e-04 -4.39809334e+00] [ 2.60855962e-02 -1.28568003e-03 9.99658886e-01 1.27862333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.010714057 meters Centerline goodness [0,1] 0.9915070432181914 Centerline is valid? [True, True] Translation: X:117.16, Y:-4.39, Z:1.28 [[ 9.99412881e-01 -2.17212956e-02 -2.64967476e-02 1.17163213e+02] [ 2.17462610e-02 9.99763308e-01 6.54384968e-04 -4.39486009e+00] [ 2.64762619e-02 -1.23020596e-03 9.99648685e-01 1.27921910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.040714057 meters Centerline goodness [0,1] 0.991127836697457 Centerline is valid? [True, True] Translation: X:117.19, Y:-4.39, Z:1.28 [[ 9.99515058e-01 -1.62297287e-02 -2.65752715e-02 1.17192421e+02] [ 1.62528916e-02 9.99867698e-01 6.55811206e-04 -4.39051015e+00] [ 2.65611119e-02 -1.08741818e-03 9.99646600e-01 1.27914113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.070714057 meters Centerline goodness [0,1] 0.991468045198774 Centerline is valid? [True, True] Translation: X:117.22, Y:-4.39, Z:1.28 [[ 9.99597990e-01 -1.02145547e-02 -2.64484808e-02 1.17222259e+02] [ 1.02353795e-02 9.99947404e-01 6.52110587e-04 -4.38671855e+00] [ 2.64404287e-02 -9.22558669e-04 9.99649965e-01 1.27985540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.100714057 meters Centerline goodness [0,1] 0.991911646770387 Centerline is valid? [True, True] Translation: X:117.25, Y:-4.38, Z:1.28 [[ 9.99634259e-01 -7.00490626e-03 -2.61204660e-02 1.17251480e+02] [ 7.02404758e-03 9.99975126e-01 6.41128950e-04 -4.38483882e+00] [ 2.61153253e-02 -8.24365859e-04 9.99658597e-01 1.28063775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.130714057 meters Centerline goodness [0,1] 0.9915704599596848 Centerline is valid? [True, True] Translation: X:117.28, Y:-4.38, Z:1.28 [[ 9.99663624e-01 -3.65816169e-03 -2.56759810e-02 1.17280599e+02] [ 3.67545703e-03 9.99993049e-01 6.26439188e-04 -4.38132989e+00] [ 2.56735109e-02 -7.20599434e-04 9.99670121e-01 1.28196838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.160714057 meters Centerline goodness [0,1] 0.9924818944706288 Centerline is valid? [True, True] Translation: X:117.31, Y:-4.38, Z:1.28 [[ 9.99676140e-01 3.70677491e-03 -2.51768742e-02 1.17309807e+02] [-3.69251267e-03 9.99992995e-01 6.12948682e-04 -4.37721420e+00] [ 2.51789699e-02 -5.19784246e-04 9.99682824e-01 1.28272965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19071405700001 meters Centerline goodness [0,1] 0.9930184331797235 Centerline is valid? [True, True] Translation: X:117.34, Y:-4.37, Z:1.28 [[ 9.99665104e-01 6.83917833e-03 -2.49580679e-02 1.17338538e+02] [-6.82621743e-03 9.99976518e-01 6.04468832e-04 -4.37411405e+00] [ 2.49616159e-02 -4.33897200e-04 9.99688316e-01 1.28410532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.220714057 meters Centerline goodness [0,1] 0.9933376365899765 Centerline is valid? [True, True] Translation: X:117.37, Y:-4.37, Z:1.28 [[ 9.99605099e-01 1.29211356e-02 -2.49537579e-02 1.17367160e+02] [-1.29101799e-02 9.99916480e-01 6.00100169e-04 -4.37242555e+00] [ 2.49594277e-02 -2.77705686e-04 9.99688426e-01 1.28456114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.250714057 meters Centerline goodness [0,1] 0.9940201016582718 Centerline is valid? [True, True] Translation: X:117.39, Y:-4.37, Z:1.28 [[ 9.99577679e-01 1.51144159e-02 -2.48197022e-02 1.17394831e+02] [-1.51043136e-02 9.99885747e-01 5.94456697e-04 -4.37419641e+00] [ 2.48258513e-02 -2.19321079e-04 9.99691767e-01 1.28285381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.280714057 meters Centerline goodness [0,1] 0.9938405880063197 Centerline is valid? [True, True] Translation: X:117.42, Y:-4.37, Z:1.28 [[ 9.99547156e-01 1.66429252e-02 -2.50698345e-02 1.17423848e+02] [-1.66332107e-02 9.99861481e-01 5.95991776e-04 -4.37405297e+00] [ 2.50762809e-02 -1.78730045e-04 9.99685525e-01 1.28387320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.310714057 meters Centerline goodness [0,1] 0.993029121761064 Centerline is valid? [True, True] Translation: X:117.45, Y:-4.38, Z:1.29 [[ 9.99542384e-01 1.60953529e-02 -2.56117705e-02 1.17452021e+02] [-1.60851939e-02 9.99870443e-01 6.02635872e-04 -4.37641600e+00] [ 2.56181520e-02 -1.90389801e-04 9.99671783e-01 1.28537020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.340714057 meters Centerline goodness [0,1] 0.9928134941523814 Centerline is valid? [True, True] Translation: X:117.48, Y:-4.38, Z:1.29 [[ 9.99568684e-01 1.43047350e-02 -2.56480106e-02 1.17481102e+02] [-1.42941210e-02 9.99897656e-01 5.97130954e-04 -4.37994655e+00] [ 2.56539275e-02 -2.30257634e-04 9.99670857e-01 1.28546165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.370714057 meters Centerline goodness [0,1] 0.9923839927032265 Centerline is valid? [True, True] Translation: X:117.51, Y:-4.39, Z:1.28 [[ 9.99647642e-01 9.04448003e-03 -2.49557651e-02 1.17508935e+02] [-9.03291291e-03 9.99959036e-01 5.76197685e-04 -4.39154872e+00] [ 2.49599542e-02 -3.50571404e-04 9.99688390e-01 1.28325790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.400714057 meters Centerline goodness [0,1] 0.9921476693372178 Centerline is valid? [True, True] Translation: X:117.54, Y:-4.39, Z:1.29 [[ 9.99687354e-01 6.36046946e-03 -2.41813572e-02 1.17537339e+02] [-6.34888495e-03 9.99979691e-01 5.55811915e-04 -4.39366320e+00] [ 2.41844013e-02 -4.02113489e-04 9.99707434e-01 1.28602410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.430714057 meters Centerline goodness [0,1] 0.9916456673250245 Centerline is valid? [True, True] Translation: X:117.56, Y:-4.40, Z:1.29 [[ 9.99722930e-01 3.27117476e-03 -2.33101614e-02 1.17564766e+02] [-3.25961198e-03 9.99994545e-01 5.34019455e-04 -4.40012884e+00] [ 2.33117811e-02 -4.57889413e-04 9.99728139e-01 1.28572957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.460714057 meters Centerline goodness [0,1] 0.9907908992416035 Centerline is valid? [True, True] Translation: X:117.59, Y:-4.41, Z:1.29 [[ 9.99747741e-01 -1.57558496e-03 -2.24047476e-02 1.17594039e+02] [ 1.58744988e-03 9.99998609e-01 5.11795959e-04 -4.40867702e+00] [ 2.24039100e-02 -5.47233268e-04 9.99748851e-01 1.28685258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.490714057 meters Centerline goodness [0,1] 0.9912559439298673 Centerline is valid? [True, True] Translation: X:117.62, Y:-4.41, Z:1.29 [[ 9.99750700e-01 -3.90017160e-03 -2.19846703e-02 1.17623080e+02] [ 3.91213404e-03 9.99992222e-01 5.01143911e-04 -4.41169147e+00] [ 2.19825448e-02 -5.87025954e-04 9.99758182e-01 1.28790696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.520714057 meters Centerline goodness [0,1] 0.990970553222075 Centerline is valid? [True, True] Translation: X:117.65, Y:-4.42, Z:1.29 [[ 9.99727810e-01 -8.25829365e-03 -2.18198762e-02 1.17651751e+02] [ 8.27108324e-03 9.99965671e-01 4.95959677e-04 -4.42004497e+00] [ 2.18150313e-02 -6.76298694e-04 9.99761795e-01 1.28878426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55071405700001 meters Centerline goodness [0,1] 0.9909259964600183 Centerline is valid? [True, True] Translation: X:117.68, Y:-4.42, Z:1.29 [[ 9.99697353e-01 -1.08834057e-02 -2.20625008e-02 1.17680084e+02] [ 1.08970795e-02 9.99940500e-01 4.99641580e-04 -4.42436532e+00] [ 2.20557503e-02 -7.39907190e-04 9.99756469e-01 1.28907688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58071405700001 meters Centerline goodness [0,1] 0.9910103314101704 Centerline is valid? [True, True] Translation: X:117.71, Y:-4.43, Z:1.29 [[ 9.99643598e-01 -1.58868209e-02 -2.14542893e-02 1.17710537e+02] [ 1.59008621e-02 9.99873456e-01 4.84029553e-04 -4.43469843e+00] [ 2.14438847e-02 -8.24998739e-04 9.99769713e-01 1.28896387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.610714057 meters Centerline goodness [0,1] 0.9912194468028062 Centerline is valid? [True, True] Translation: X:117.74, Y:-4.44, Z:1.29 [[ 9.99604767e-01 -1.86151219e-02 -2.10662745e-02 1.17739724e+02] [ 1.86292566e-02 9.99826348e-01 4.74901636e-04 -4.43979063e+00] [ 2.10537759e-02 -8.67162973e-04 9.99777969e-01 1.28938002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.640714057 meters Centerline goodness [0,1] 0.9901259333556224 Centerline is valid? [True, True] Translation: X:117.77, Y:-4.45, Z:1.29 [[ 9.99510890e-01 -2.41488351e-02 -1.98699233e-02 1.17768233e+02] [ 2.41624825e-02 9.99707945e-01 4.47011974e-04 -4.45202840e+00] [ 1.98533253e-02 -9.26900009e-04 9.99802474e-01 1.28957385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.670714057 meters Centerline goodness [0,1] 0.9904766152954033 Centerline is valid? [True, True] Translation: X:117.80, Y:-4.45, Z:1.29 [[ 9.99420469e-01 -2.73764794e-02 -2.02300622e-02 1.17798044e+02] [ 2.73912728e-02 9.99624685e-01 4.54478686e-04 -4.45400626e+00] [ 2.02100275e-02 -1.00834246e-03 9.99795248e-01 1.28963075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.700714057 meters Centerline goodness [0,1] 0.9891036047054638 Centerline is valid? [True, True] Translation: X:117.83, Y:-4.46, Z:1.29 [[ 9.99230804e-01 -3.26358757e-02 -2.17416615e-02 1.17827462e+02] [ 3.26541976e-02 9.99466590e-01 4.88129064e-04 -4.46401728e+00] [ 2.17141338e-02 -1.19771011e-03 9.99763503e-01 1.28795543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.730714057 meters Centerline goodness [0,1] 0.9891178565070322 Centerline is valid? [True, True] Translation: X:117.86, Y:-4.47, Z:1.29 [[ 9.99145443e-01 -3.49160794e-02 -2.21190323e-02 1.17858634e+02] [ 3.49356062e-02 9.99389442e-01 4.96887217e-04 -4.46655403e+00] [ 2.20881780e-02 -1.26920440e-03 9.99755221e-01 1.28778207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.760714057 meters Centerline goodness [0,1] 0.9894050348342868 Centerline is valid? [True, True] Translation: X:117.89, Y:-4.47, Z:1.29 [[ 9.99071865e-01 -3.67299205e-02 -2.25015722e-02 1.17889980e+02] [ 3.67506053e-02 9.99324340e-01 5.06285217e-04 -4.46789613e+00] [ 2.24677730e-02 -1.33276171e-03 9.99746679e-01 1.28820287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.790714057 meters Centerline goodness [0,1] 0.9890652086944925 Centerline is valid? [True, True] Translation: X:117.92, Y:-4.47, Z:1.29 [[ 9.99014129e-01 -3.89123913e-02 -2.13681019e-02 1.17921391e+02] [ 3.89315572e-02 9.99241764e-01 4.81523317e-04 -4.47180086e+00] [ 2.13331626e-02 -1.31294208e-03 9.99771560e-01 1.28886298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.820714057 meters Centerline goodness [0,1] 0.9886681154920832 Centerline is valid? [True, True] Translation: X:117.95, Y:-4.48, Z:1.29 [[ 9.99003066e-01 -3.93905379e-02 -2.10061827e-02 1.17952899e+02] [ 3.94091835e-02 9.99223044e-01 4.74238442e-04 -4.47553589e+00] [ 2.09711813e-02 -1.30160217e-03 9.99779233e-01 1.28922763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.850714057 meters Centerline goodness [0,1] 0.989004424778761 Centerline is valid? [True, True] Translation: X:117.98, Y:-4.48, Z:1.29 [[ 9.98946801e-01 -4.04624122e-02 -2.16351887e-02 1.17983981e+02] [ 4.04824645e-02 9.99180129e-01 4.89489727e-04 -4.47686297e+00] [ 2.15976447e-02 -1.36481996e-03 9.99765812e-01 1.28930113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.880714057 meters Centerline goodness [0,1] 0.9891037140389343 Centerline is valid? [True, True] Translation: X:118.02, Y:-4.48, Z:1.29 [[ 9.98937181e-01 -4.04014016e-02 -2.21863608e-02 1.18015059e+02] [ 4.04225063e-02 9.99182550e-01 5.03418343e-04 -4.47910449e+00] [ 2.21478857e-02 -1.39971161e-03 9.99753726e-01 1.28937487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.910714057 meters Centerline goodness [0,1] 0.9882318982170215 Centerline is valid? [True, True] Translation: X:118.05, Y:-4.48, Z:1.29 [[ 9.98935613e-01 -4.03985092e-02 -2.22621000e-02 1.18047447e+02] [ 4.04198071e-02 9.99182657e-01 5.07364877e-04 -4.48132017e+00] [ 2.22234075e-02 -1.40665463e-03 9.99752040e-01 1.28931780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94071405700001 meters Centerline goodness [0,1] 0.9889189308984531 Centerline is valid? [True, True] Translation: X:118.08, Y:-4.48, Z:1.29 [[ 9.98938550e-01 -4.02989177e-02 -2.23107600e-02 1.18079359e+02] [ 4.03203192e-02 9.99186675e-01 5.10050956e-04 -4.48088801e+00] [ 2.22720596e-02 -1.40908653e-03 9.99750954e-01 1.28976514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.970714057 meters Centerline goodness [0,1] 0.9892150988615938 Centerline is valid? [True, True] Translation: X:118.11, Y:-4.48, Z:1.29 [[ 9.98927874e-01 -4.05236114e-02 -2.23816874e-02 1.18111216e+02] [ 4.05452412e-02 9.99177572e-01 5.13272630e-04 -4.48004841e+00] [ 2.23424804e-02 -1.42019325e-03 9.99749367e-01 1.29041780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.000714057 meters Centerline goodness [0,1] 0.9879221154059634 Centerline is valid? [True, True] Translation: X:118.14, Y:-4.49, Z:1.29 [[ 9.98938674e-01 -4.05118808e-02 -2.19160264e-02 1.18141973e+02] [ 4.05326587e-02 9.99178087e-01 5.04511423e-04 -4.48715141e+00] [ 2.18775747e-02 -1.39229079e-03 9.99759688e-01 1.29082529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.030714057 meters Centerline goodness [0,1] 0.9894750865973888 Centerline is valid? [True, True] Translation: X:118.17, Y:-4.48, Z:1.29 [[ 9.98954341e-01 -4.03323661e-02 -2.15296163e-02 1.18174151e+02] [ 4.03524233e-02 9.99185385e-01 4.97807493e-04 -4.47728215e+00] [ 2.14920002e-02 -1.36605915e-03 9.99768087e-01 1.29264234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.060714057 meters Centerline goodness [0,1] 0.9890906671988292 Centerline is valid? [True, True] Translation: X:118.21, Y:-4.48, Z:1.29 [[ 9.98971820e-01 -4.01406882e-02 -2.10719499e-02 1.18205230e+02] [ 4.01598885e-02 9.99193147e-01 4.88627381e-04 -4.47862949e+00] [ 2.10353341e-02 -1.33437214e-03 9.99777842e-01 1.29333154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.090714057 meters Centerline goodness [0,1] 0.9893118236562007 Centerline is valid? [True, True] Translation: X:118.24, Y:-4.48, Z:1.29 [[ 9.98998930e-01 -3.97377025e-02 -2.05439161e-02 1.18237970e+02] [ 3.97558950e-02 9.99209308e-01 4.77724968e-04 -4.47825693e+00] [ 2.05086885e-02 -1.29398850e-03 9.99788837e-01 1.29452012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.120714057 meters Centerline goodness [0,1] 0.9887882420851649 Centerline is valid? [True, True] Translation: X:118.27, Y:-4.48, Z:1.29 [[ 9.98998163e-01 -3.97653844e-02 -2.05276616e-02 1.18269472e+02] [ 3.97835874e-02 9.99208205e-01 4.78978647e-04 -4.47922952e+00] [ 2.04923612e-02 -1.29516281e-03 9.99789171e-01 1.29466706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.150714057 meters Centerline goodness [0,1] 0.9896563970522951 Centerline is valid? [True, True] Translation: X:118.30, Y:-4.48, Z:1.29 [[ 9.98945879e-01 -4.04920026e-02 -2.16224274e-02 1.18301868e+02] [ 4.05123982e-02 9.99178908e-01 5.05875954e-04 -4.47818740e+00] [ 2.15841895e-02 -1.38131909e-03 9.99766080e-01 1.29477062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.180714057 meters Centerline goodness [0,1] 0.9897941032596611 Centerline is valid? [True, True] Translation: X:118.33, Y:-4.48, Z:1.30 [[ 9.98929900e-01 -4.07053484e-02 -2.19574538e-02 1.18334540e+02] [ 4.07264678e-02 9.99170200e-01 5.15326861e-04 -4.47836512e+00] [ 2.19182570e-02 -1.40902494e-03 9.99758773e-01 1.29511452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.210714057 meters Centerline goodness [0,1] 0.9891149496928145 Centerline is valid? [True, True] Translation: X:118.37, Y:-4.48, Z:1.30 [[ 9.98916278e-01 -4.11639738e-02 -2.17209068e-02 1.18365527e+02] [ 4.11847893e-02 9.99151416e-01 5.11658673e-04 -4.47871512e+00] [ 2.16814129e-02 -1.40567515e-03 9.99763942e-01 1.29561258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.240714057 meters Centerline goodness [0,1] 0.9882470562097312 Centerline is valid? [True, True] Translation: X:118.40, Y:-4.48, Z:1.30 [[ 9.98941098e-01 -4.10005625e-02 -2.08719062e-02 1.18396806e+02] [ 4.10197864e-02 9.99158212e-01 4.93566910e-04 -4.48344965e+00] [ 2.08341000e-02 -1.34920540e-03 9.99782036e-01 1.29632311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.270714057 meters Centerline goodness [0,1] 0.9886546005706134 Centerline is valid? [True, True] Translation: X:118.43, Y:-4.48, Z:1.30 [[ 9.98976758e-01 -4.05805745e-02 -1.99662988e-02 1.18429473e+02] [ 4.05981051e-02 9.99175445e-01 4.73288948e-04 -4.48168773e+00] [ 1.99306291e-02 -1.28339856e-03 9.99800542e-01 1.29772692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30071405700001 meters Centerline goodness [0,1] 0.9888472519628837 Centerline is valid? [True, True] Translation: X:118.46, Y:-4.48, Z:1.30 [[ 9.99070027e-01 -3.88418245e-02 -1.87188268e-02 1.18459583e+02] [ 3.88569474e-02 9.99244685e-01 4.44727176e-04 -4.48090904e+00] [ 1.86874142e-02 -1.17167006e-03 9.99824689e-01 1.29944508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33071405700001 meters Centerline goodness [0,1] 0.9891965643732665 Centerline is valid? [True, True] Translation: X:118.49, Y:-4.48, Z:1.30 [[ 9.99197045e-01 -3.56024685e-02 -1.83774162e-02 1.18489551e+02] [ 3.56165032e-02 9.99365436e-01 4.36858997e-04 -4.47954274e+00] [ 1.83502012e-02 -1.09104752e-03 9.99831026e-01 1.29978840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.360714057 meters Centerline goodness [0,1] 0.9897735409953455 Centerline is valid? [True, True] Translation: X:118.52, Y:-4.47, Z:1.30 [[ 9.99264467e-01 -3.38138626e-02 -1.80872184e-02 1.18521099e+02] [ 3.38271680e-02 9.99427605e-01 4.30099535e-04 -4.47384754e+00] [ 1.80623220e-02 -1.04162256e-03 9.99836320e-01 1.30049020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.390714057 meters Centerline goodness [0,1] 0.9898786331676296 Centerline is valid? [True, True] Translation: X:118.55, Y:-4.47, Z:1.30 [[ 9.99345493e-01 -3.14221334e-02 -1.79230383e-02 1.18552596e+02] [ 3.14348260e-02 9.99505713e-01 4.26817083e-04 -4.47236155e+00] [ 1.79007676e-02 -9.89945318e-04 9.99839278e-01 1.30106408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.420714057 meters Centerline goodness [0,1] 0.9902575587905935 Centerline is valid? [True, True] Translation: X:118.58, Y:-4.47, Z:1.30 [[ 9.99462675e-01 -2.70776785e-02 -1.84705551e-02 1.18582153e+02] [ 2.70904267e-02 9.99632890e-01 4.40287240e-04 -4.46872272e+00] [ 1.84518524e-02 -9.40425881e-04 9.99829308e-01 1.30109894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.450714057 meters Centerline goodness [0,1] 0.9902496974044022 Centerline is valid? [True, True] Translation: X:118.61, Y:-4.46, Z:1.30 [[ 9.99540515e-01 -2.30190434e-02 -1.97201292e-02 1.18613602e+02] [ 2.30327842e-02 9.99734600e-01 4.69914677e-04 -4.46116182e+00] [ 1.97040785e-02 -9.23908239e-04 9.99805429e-01 1.30079970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.480714057 meters Centerline goodness [0,1] 0.9903954041560074 Centerline is valid? [True, True] Translation: X:118.64, Y:-4.47, Z:1.30 [[ 9.99565251e-01 -2.14520320e-02 -2.02266872e-02 1.18642694e+02] [ 2.14661687e-02 9.99769459e-01 4.82027287e-04 -4.46573842e+00] [ 2.02116836e-02 -9.16007204e-04 9.99795303e-01 1.29989357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.510714057 meters Centerline goodness [0,1] 0.9919557228645693 Centerline is valid? [True, True] Translation: X:118.67, Y:-4.46, Z:1.30 [[ 9.99577398e-01 -2.01966453e-02 -2.09074425e-02 1.18672820e+02] [ 2.02114601e-02 9.99795604e-01 4.97498206e-04 -4.46023356e+00] [ 2.08931213e-02 -9.19857901e-04 9.99781292e-01 1.30055548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.540714057 meters Centerline goodness [0,1] 0.9915010988025295 Centerline is valid? [True, True] Translation: X:118.70, Y:-4.46, Z:1.30 [[ 9.99623612e-01 -1.72105147e-02 -2.13642588e-02 1.18702965e+02] [ 1.72252898e-02 9.99851505e-01 5.07735104e-04 -4.45737320e+00] [ 2.13523479e-02 -8.75549547e-04 9.99771629e-01 1.30055217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.570714057 meters Centerline goodness [0,1] 0.9926005892539864 Centerline is valid? [True, True] Translation: X:118.73, Y:-4.46, Z:1.30 [[ 9.99643322e-01 -1.60562595e-02 -2.13406920e-02 1.18731573e+02] [ 1.60706958e-02 9.99870730e-01 5.05132694e-04 -4.45576220e+00] [ 2.13298228e-02 -8.47912294e-04 9.99772134e-01 1.30110066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.600714057 meters Centerline goodness [0,1] 0.9924781551211602 Centerline is valid? [True, True] Translation: X:118.76, Y:-4.45, Z:1.30 [[ 9.99687992e-01 -1.32479180e-02 -2.11757210e-02 1.18760302e+02] [ 1.32614186e-02 9.99911940e-01 4.97247267e-04 -4.45318602e+00] [ 2.11672688e-02 -7.77912224e-04 9.99775646e-01 1.30205309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.630714057 meters Centerline goodness [0,1] 0.9925750928113398 Centerline is valid? [True, True] Translation: X:118.79, Y:-4.45, Z:1.30 [[ 9.99698049e-01 -1.23878134e-02 -2.12214991e-02 1.18789094e+02] [ 1.24011192e-02 9.99922980e-01 4.95507771e-04 -4.45190439e+00] [ 2.12137264e-02 -7.58528493e-04 9.99774676e-01 1.30278284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.660714057 meters Centerline goodness [0,1] 0.9916813201677263 Centerline is valid? [True, True] Translation: X:118.82, Y:-4.45, Z:1.30 [[ 9.99694137e-01 -1.09355593e-02 -2.21821061e-02 1.18817908e+02] [ 1.09496117e-02 9.99939920e-01 5.12140906e-04 -4.45121858e+00] [ 2.21751729e-02 -7.54869710e-04 9.99753816e-01 1.30300169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69071405700001 meters Centerline goodness [0,1] 0.9928008998875141 Centerline is valid? [True, True] Translation: X:118.85, Y:-4.45, Z:1.30 [[ 9.99714609e-01 -1.08664482e-02 -2.12749074e-02 1.18846123e+02] [ 1.08792721e-02 9.99940700e-01 4.87115671e-04 -4.45202615e+00] [ 2.12683526e-02 -7.18432158e-04 9.99773545e-01 1.30311135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.720714057 meters Centerline goodness [0,1] 0.9914956803455723 Centerline is valid? [True, True] Translation: X:118.87, Y:-4.45, Z:1.30 [[ 9.99705175e-01 -1.10460834e-02 -2.16228391e-02 1.18874097e+02] [ 1.10592981e-02 9.99938723e-01 4.91654382e-04 -4.45238407e+00] [ 2.16160833e-02 -7.30642853e-04 9.99766078e-01 1.30357413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.750714057 meters Centerline goodness [0,1] 0.9922355370046227 Centerline is valid? [True, True] Translation: X:118.90, Y:-4.45, Z:1.30 [[ 9.99702873e-01 -1.15792509e-02 -2.14496471e-02 1.18903050e+02] [ 1.15922524e-02 9.99932691e-01 4.81896670e-04 -4.45361876e+00] [ 2.14426233e-02 -7.30403207e-04 9.99769814e-01 1.30386760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.780714057 meters Centerline goodness [0,1] 0.9923460226252468 Centerline is valid? [True, True] Translation: X:118.93, Y:-4.45, Z:1.30 [[ 9.99697612e-01 -1.21462047e-02 -2.13811866e-02 1.18932212e+02] [ 1.21591395e-02 9.99925962e-01 4.75057172e-04 -4.45499382e+00] [ 2.13738335e-02 -7.34890352e-04 9.99771283e-01 1.30429740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.810714057 meters Centerline goodness [0,1] 0.9923460226252468 Centerline is valid? [True, True] Translation: X:118.96, Y:-4.46, Z:1.30 [[ 9.99694123e-01 -1.24297895e-02 -2.13813091e-02 1.18959602e+02] [ 1.24426702e-02 9.99922477e-01 4.69492905e-04 -4.45552597e+00] [ 2.13738158e-02 -7.35389876e-04 9.99771283e-01 1.30468542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.840714057 meters Centerline goodness [0,1] 0.9915103474677416 Centerline is valid? [True, True] Translation: X:118.99, Y:-4.46, Z:1.30 [[ 9.99649124e-01 -1.44055255e-02 -2.22285577e-02 1.18988553e+02] [ 1.44197983e-02 9.99895913e-01 4.81934681e-04 -4.45801375e+00] [ 2.22193015e-02 -8.02296902e-04 9.99752799e-01 1.30420445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.870714057 meters Centerline goodness [0,1] 0.9926938380954522 Centerline is valid? [True, True] Translation: X:119.02, Y:-4.46, Z:1.30 [[ 9.99628349e-01 -1.53216785e-02 -2.25479658e-02 1.19017596e+02] [ 1.53364707e-02 9.99882273e-01 4.83246072e-04 -4.45910503e+00] [ 2.25379071e-02 -8.28872690e-04 9.99745646e-01 1.30459197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.900714057 meters Centerline goodness [0,1] 0.9913785361472833 Centerline is valid? [True, True] Translation: X:119.05, Y:-4.46, Z:1.31 [[ 9.99598718e-01 -1.68649543e-02 -2.27591020e-02 1.19046694e+02] [ 1.68802950e-02 9.99857401e-01 4.82087157e-04 -4.46027670e+00] [ 2.27477262e-02 -8.66074059e-04 9.99740862e-01 1.30511602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.930714057 meters Centerline goodness [0,1] 0.99160231442916 Centerline is valid? [True, True] Translation: X:119.08, Y:-4.46, Z:1.31 [[ 9.99523803e-01 -2.03172019e-02 -2.32245321e-02 1.19075672e+02] [ 2.03340122e-02 9.99793124e-01 4.87865538e-04 -4.46420945e+00] [ 2.32098155e-02 -9.59881138e-04 9.99730155e-01 1.30567366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.960714057 meters Centerline goodness [0,1] 0.9908481191538997 Centerline is valid? [True, True] Translation: X:119.11, Y:-4.47, Z:1.31 [[ 9.99431035e-01 -2.44952318e-02 -2.31859843e-02 1.19106125e+02] [ 2.45130908e-02 9.99699391e-01 4.86305840e-04 -4.46944877e+00] [ 2.31671022e-02 -1.05438929e-03 9.99731051e-01 1.30616205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.990714057 meters Centerline goodness [0,1] 0.9905850706119704 Centerline is valid? [True, True] Translation: X:119.14, Y:-4.47, Z:1.31 [[ 9.99381693e-01 -2.66093981e-02 -2.29819712e-02 1.19135041e+02] [ 2.66274510e-02 9.99645311e-01 4.79810376e-04 -4.47113798e+00] [ 2.29610523e-02 -1.09146502e-03 9.99735764e-01 1.30647237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.020714057 meters Centerline goodness [0,1] 0.9895950127819886 Centerline is valid? [True, True] Translation: X:119.16, Y:-4.48, Z:1.31 [[ 9.99321563e-01 -2.83204014e-02 -2.35450177e-02 1.19164050e+02] [ 2.83397421e-02 9.99598230e-01 4.88097164e-04 -4.47535910e+00] [ 2.35217350e-02 -1.15502575e-03 9.99722658e-01 1.30666297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05071405700001 meters Centerline goodness [0,1] 0.9900210319058487 Centerline is valid? [True, True] Translation: X:119.19, Y:-4.48, Z:1.31 [[ 9.99221588e-01 -3.17119649e-02 -2.34642082e-02 1.19194677e+02] [ 3.17321105e-02 9.99496291e-01 4.86637731e-04 -4.47596142e+00] [ 2.34369568e-02 -1.23082777e-03 9.99724559e-01 1.30700913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08071405700001 meters Centerline goodness [0,1] 0.9900121201238946 Centerline is valid? [True, True] Translation: X:119.23, Y:-4.48, Z:1.31 [[ 9.99161109e-01 -3.33200724e-02 -2.38086223e-02 1.19225310e+02] [ 3.33412691e-02 9.99443903e-01 4.93780734e-04 -4.47681114e+00] [ 2.37789296e-02 -1.28717619e-03 9.99716413e-01 1.30747671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.110714057 meters Centerline goodness [0,1] 0.9897371546373271 Centerline is valid? [True, True] Translation: X:119.26, Y:-4.48, Z:1.31 [[ 9.99044765e-01 -3.67062244e-02 -2.37109705e-02 1.19255781e+02] [ 3.67281980e-02 9.99325171e-01 4.91755477e-04 -4.47964892e+00] [ 2.36769192e-02 -1.36214696e-03 9.99718734e-01 1.30717485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.140714057 meters Centerline goodness [0,1] 0.9893258426966293 Centerline is valid? [True, True] Translation: X:119.29, Y:-4.48, Z:1.31 [[ 9.98973068e-01 -3.83280166e-02 -2.41613732e-02 1.19286226e+02] [ 3.83513103e-02 9.99264192e-01 5.01278197e-04 -4.48234307e+00] [ 2.41243821e-02 -1.42738374e-03 9.99707946e-01 1.30731367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.170714057 meters Centerline goodness [0,1] 0.9891896741202593 Centerline is valid? [True, True] Translation: X:119.32, Y:-4.48, Z:1.31 [[ 9.98921540e-01 -4.01929906e-02 -2.32439399e-02 1.19317079e+02] [ 4.02150608e-02 9.99190931e-01 4.82653407e-04 -4.48464322e+00] [ 2.32057347e-02 -1.41688934e-03 9.99729707e-01 1.30772738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.200714057 meters Centerline goodness [0,1] 0.9889397406559878 Centerline is valid? [True, True] Translation: X:119.35, Y:-4.49, Z:1.31 [[ 9.98786650e-01 -4.34285816e-02 -2.32203821e-02 1.19347493e+02] [ 4.34514875e-02 9.99055422e-01 4.82580027e-04 -4.49014218e+00] [ 2.31774908e-02 -1.49095463e-03 9.99730254e-01 1.30815529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.230714057 meters Centerline goodness [0,1] 0.9897642194658621 Centerline is valid? [True, True] Translation: X:119.38, Y:-4.49, Z:1.31 [[ 9.98729715e-01 -4.46567131e-02 -2.33395635e-02 1.19379722e+02] [ 4.46802100e-02 9.99001223e-01 4.85971499e-04 -4.48915560e+00] [ 2.32945505e-02 -1.52817077e-03 9.99727477e-01 1.30890092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.260714057 meters Centerline goodness [0,1] 0.9890060578864707 Centerline is valid? [True, True] Translation: X:119.41, Y:-4.49, Z:1.31 [[ 9.98561527e-01 -4.75393603e-02 -2.47969081e-02 1.19409646e+02] [ 4.75667954e-02 9.98867925e-01 5.17390641e-04 -4.49275550e+00] [ 2.47442397e-02 -1.69615584e-03 9.99692376e-01 1.30782477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.290714057 meters Centerline goodness [0,1] 0.9895413419331721 Centerline is valid? [True, True] Translation: X:119.44, Y:-4.49, Z:1.31 [[ 9.98518129e-01 -4.85340867e-02 -2.46168145e-02 1.19441853e+02] [ 4.85614438e-02 9.98820065e-01 5.14380734e-04 -4.49312096e+00] [ 2.45628032e-02 -1.70904654e-03 9.99696828e-01 1.30810872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.320714057 meters Centerline goodness [0,1] 0.9889232701017983 Centerline is valid? [True, True] Translation: X:119.47, Y:-4.49, Z:1.31 [[ 9.98454001e-01 -4.94218512e-02 -2.54379254e-02 1.19473500e+02] [ 4.94513929e-02 9.98776389e-01 5.33182712e-04 -4.49347311e+00] [ 2.53804484e-02 -1.79029926e-03 9.99676261e-01 1.30748390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.350714057 meters Centerline goodness [0,1] 0.9898588768481749 Centerline is valid? [True, True] Translation: X:119.50, Y:-4.50, Z:1.31 [[ 9.98466718e-01 -4.91543421e-02 -2.54570819e-02 1.19504662e+02] [ 4.91838764e-02 9.98789598e-01 5.34942808e-04 -4.49556337e+00] [ 2.53999738e-02 -1.78620056e-03 9.99675773e-01 1.30744122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.380714057 meters Centerline goodness [0,1] 0.9608209346735778 Centerline is valid? [True, True] Translation: X:119.53, Y:-4.52, Z:1.30 [[ 9.98655820e-01 -4.58810657e-02 -2.41139027e-02 1.19533476e+02] [ 4.59066259e-02 9.98945606e-01 5.07180116e-04 -4.51876665e+00] [ 2.40652072e-02 -1.61348629e-03 9.99709089e-01 1.30499115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.410714057 meters Centerline goodness [0,1] 0.9900004484103851 Centerline is valid? [True, True] Translation: X:119.57, Y:-4.49, Z:1.31 [[ 9.98600335e-01 -4.61075721e-02 -2.59126020e-02 1.19566251e+02] [ 4.61371774e-02 9.98934965e-01 5.45482593e-04 -4.48743906e+00] [ 2.58598532e-02 -1.74025341e-03 9.99664063e-01 1.30999421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44071405700001 meters Centerline goodness [0,1] 0.9894259818731118 Centerline is valid? [True, True] Translation: X:119.60, Y:-4.49, Z:1.31 [[ 9.98746655e-01 -4.31420969e-02 -2.53747733e-02 1.19595928e+02] [ 4.31695576e-02 9.99067617e-01 5.35152116e-04 -4.48510331e+00] [ 2.53280267e-02 -1.62989913e-03 9.99677865e-01 1.31052317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.470714057 meters Centerline goodness [0,1] 0.9894699027818317 Centerline is valid? [True, True] Translation: X:119.63, Y:-4.48, Z:1.31 [[ 9.98826769e-01 -4.14171006e-02 -2.50940149e-02 1.19627608e+02] [ 4.14434292e-02 9.99140712e-01 5.29809475e-04 -4.48399933e+00] [ 2.50505087e-02 -1.56916991e-03 9.99684955e-01 1.31091392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.500714057 meters Centerline goodness [0,1] 0.9897809890381974 Centerline is valid? [True, True] Translation: X:119.66, Y:-4.48, Z:1.31 [[ 9.98914062e-01 -3.96329267e-02 -2.44934054e-02 1.19658864e+02] [ 3.96575019e-02 9.99213197e-01 5.18218858e-04 -4.48232921e+00] [ 2.44535954e-02 -1.48900338e-03 9.99699857e-01 1.31185420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.530714057 meters Centerline goodness [0,1] 0.9897109149855908 Centerline is valid? [True, True] Translation: X:119.69, Y:-4.48, Z:1.31 [[ 9.99038180e-01 -3.62823464e-02 -2.46233047e-02 1.19689393e+02] [ 3.63061812e-02 9.99340577e-01 5.21465188e-04 -4.47642544e+00] [ 2.45881475e-02 -1.41494179e-03 9.99696664e-01 1.31368131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.560714057 meters Centerline goodness [0,1] 0.990682459108855 Centerline is valid? [True, True] Translation: X:119.72, Y:-4.47, Z:1.32 [[ 9.99172666e-01 -3.33408145e-02 -2.32889066e-02 1.19720311e+02] [ 3.33613409e-02 9.99443234e-01 4.93303013e-04 -4.46930083e+00] [ 2.32594930e-02 -1.26984404e-03 9.99728655e-01 1.31572201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.590714057 meters Centerline goodness [0,1] 0.9904789838232971 Centerline is valid? [True, True] Translation: X:119.75, Y:-4.47, Z:1.32 [[ 9.99220387e-01 -3.18047315e-02 -2.33896619e-02 1.19751130e+02] [ 3.18250277e-02 9.99493332e-01 4.95923520e-04 -4.46930642e+00] [ 2.33620384e-02 -1.23991353e-03 9.99726301e-01 1.31615592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.620714057 meters Centerline goodness [0,1] 0.99019740705606 Centerline is valid? [True, True] Translation: X:119.78, Y:-4.47, Z:1.32 [[ 9.99256969e-01 -3.05461634e-02 -2.35040722e-02 1.19781652e+02] [ 3.05663237e-02 9.99532616e-01 4.98862945e-04 -4.46759932e+00] [ 2.34778484e-02 -1.21692535e-03 9.99723617e-01 1.31630342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.650714057 meters Centerline goodness [0,1] 0.9911801858702517 Centerline is valid? [True, True] Translation: X:119.81, Y:-4.46, Z:1.32 [[ 9.99343594e-01 -2.77020868e-02 -2.33447254e-02 1.19812288e+02] [ 2.77212005e-02 9.99615571e-01 4.95480884e-04 -4.46449238e+00] [ 2.33220252e-02 -1.14229946e-03 9.99727352e-01 1.31662523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.680714057 meters Centerline goodness [0,1] 0.9904983824627288 Centerline is valid? [True, True] Translation: X:119.84, Y:-4.46, Z:1.32 [[ 9.99372191e-01 -2.66886532e-02 -2.33010725e-02 1.19842684e+02] [ 2.67074207e-02 9.99643171e-01 4.94554370e-04 -4.46426452e+00] [ 2.32795590e-02 -1.11655543e-03 9.99728371e-01 1.31701527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.710714057 meters Centerline goodness [0,1] 0.9898240694676858 Centerline is valid? [True, True] Translation: X:119.87, Y:-4.46, Z:1.32 [[ 9.99428362e-01 -2.52380197e-02 -2.24942691e-02 1.19872515e+02] [ 2.52551397e-02 9.99680924e-01 4.77281018e-04 -4.46203515e+00] [ 2.24750461e-02 -1.04510410e-03 9.99746858e-01 1.31907375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.740714057 meters Centerline goodness [0,1] 0.9910774944517414 Centerline is valid? [True, True] Translation: X:119.90, Y:-4.46, Z:1.32 [[ 9.99439132e-01 -2.50905825e-02 -2.21784520e-02 1.19902903e+02] [ 2.51071833e-02 9.99684654e-01 4.70332152e-04 -4.46046874e+00] [ 2.21596572e-02 -1.02690682e-03 9.99753917e-01 1.31994316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.770714057 meters Centerline goodness [0,1] 0.9907623338691783 Centerline is valid? [True, True] Translation: X:119.93, Y:-4.46, Z:1.32 [[ 9.99414148e-01 -2.57601146e-02 -2.25339006e-02 1.19933653e+02] [ 2.57774218e-02 9.99667593e-01 4.77870050e-04 -4.45976998e+00] [ 2.25141002e-02 -1.05845595e-03 9.99745965e-01 1.32001849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80071405700001 meters Centerline goodness [0,1] 0.9907957379279075 Centerline is valid? [True, True] Translation: X:119.96, Y:-4.46, Z:1.32 [[ 9.99329638e-01 -2.75094030e-02 -2.41559069e-02 1.19963343e+02] [ 2.75297977e-02 9.99620852e-01 5.12086554e-04 -4.46277161e+00] [ 2.41326610e-02 -1.17675050e-03 9.99708072e-01 1.31801049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83071405700001 meters Centerline goodness [0,1] 0.9898196954957809 Centerline is valid? [True, True] Translation: X:119.99, Y:-4.47, Z:1.32 [[ 9.99279732e-01 -2.88537522e-02 -2.46470910e-02 1.19992326e+02] [ 2.88753819e-02 9.99582883e-01 5.22052368e-04 -4.47280395e+00] [ 2.46217471e-02 -1.23337052e-03 9.99696078e-01 1.31575195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.860714057 meters Centerline goodness [0,1] 0.9905248807089297 Centerline is valid? [True, True] Translation: X:120.02, Y:-4.47, Z:1.32 [[ 9.99177880e-01 -3.12863456e-02 -2.57823412e-02 1.20022774e+02] [ 3.13108153e-02 9.99509547e-01 5.45835433e-04 -4.46672480e+00] [ 2.57526190e-02 -1.35265282e-03 9.99667431e-01 1.31688418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.890714057 meters Centerline goodness [0,1] 0.9906442551649148 Centerline is valid? [True, True] Translation: X:120.05, Y:-4.47, Z:1.32 [[ 9.99142743e-01 -3.21799620e-02 -2.60428325e-02 1.20052368e+02] [ 3.22052291e-02 9.99481125e-01 5.51258770e-04 -4.46891484e+00] [ 2.60115800e-02 -1.38950159e-03 9.99660676e-01 1.31698095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.920714057 meters Centerline goodness [0,1] 0.9909082664490092 Centerline is valid? [True, True] Translation: X:120.08, Y:-4.47, Z:1.32 [[ 9.99079248e-01 -3.40908097e-02 -2.60475075e-02 1.20083012e+02] [ 3.41167359e-02 9.99417703e-01 5.51458501e-04 -4.47083036e+00] [ 2.60135405e-02 -1.43960668e-03 9.99660554e-01 1.31753373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.950714057 meters Centerline goodness [0,1] 0.990744512333107 Centerline is valid? [True, True] Translation: X:120.11, Y:-4.47, Z:1.32 [[ 9.99055992e-01 -3.50131349e-02 -2.57139229e-02 1.20114181e+02] [ 3.50387223e-02 9.99385807e-01 5.45051457e-04 -4.47081681e+00] [ 2.56790456e-02 -1.44551993e-03 9.99669194e-01 1.31837086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.980714057 meters Centerline goodness [0,1] 0.9901758366420873 Centerline is valid? [True, True] Translation: X:120.15, Y:-4.47, Z:1.32 [[ 9.99062725e-01 -3.55277950e-02 -2.47274772e-02 1.20145671e+02] [ 3.55516344e-02 9.99367703e-01 5.24998592e-04 -4.47188328e+00] [ 2.46931901e-02 -1.40360875e-03 9.99694091e-01 1.32028062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.010714057 meters Centerline goodness [0,1] 0.9896974911692782 Centerline is valid? [True, True] Translation: X:120.18, Y:-4.48, Z:1.32 [[ 9.99102250e-01 -3.49673533e-02 -2.39160547e-02 1.20176055e+02] [ 3.49895202e-02 9.99387550e-01 5.08898321e-04 -4.47541749e+00] [ 2.38836124e-02 -1.34525274e-03 9.99713841e-01 1.32077456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.040714057 meters Centerline goodness [0,1] 0.9897037858387454 Centerline is valid? [True, True] Translation: X:120.21, Y:-4.47, Z:1.32 [[ 9.99201358e-01 -3.27873507e-02 -2.28393622e-02 1.20207140e+02] [ 3.28070219e-02 9.99461586e-01 4.87022187e-04 -4.47423367e+00] [ 2.28110970e-02 -1.23592469e-03 9.99739029e-01 1.32281610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.070714057 meters Centerline goodness [0,1] 0.9905636837926732 Centerline is valid? [True, True] Translation: X:120.24, Y:-4.47, Z:1.32 [[ 9.99241928e-01 -3.16245378e-02 -2.27036870e-02 1.20238974e+02] [ 3.16436919e-02 9.99499095e-01 4.84800748e-04 -4.47094413e+00] [ 2.26769831e-02 -1.20286171e-03 9.99742121e-01 1.32394584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.100714057 meters Centerline goodness [0,1] 0.9908215297450425 Centerline is valid? [True, True] Translation: X:120.27, Y:-4.47, Z:1.32 [[ 9.99294461e-01 -2.99762772e-02 -2.26274996e-02 1.20269845e+02] [ 2.99949043e-02 9.99549934e-01 4.84181247e-04 -4.47493958e+00] [ 2.26028018e-02 -1.16254932e-03 9.99743848e-01 1.32292535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.130714057 meters Centerline goodness [0,1] 0.9906790039461151 Centerline is valid? [True, True] Translation: X:120.30, Y:-4.47, Z:1.32 [[ 9.99292926e-01 -2.95234930e-02 -2.32811567e-02 1.20300927e+02] [ 2.95431050e-02 9.99563383e-01 4.98830770e-04 -4.47314221e+00] [ 2.32562645e-02 -1.18627572e-03 9.99728833e-01 1.32276841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.160714057 meters Centerline goodness [0,1] 0.9906167131298022 Centerline is valid? [True, True] Translation: X:120.33, Y:-4.48, Z:1.32 [[ 9.99266167e-01 -2.95953349e-02 -2.43154927e-02 1.20331262e+02] [ 2.96167604e-02 9.99561192e-01 5.21414998e-04 -4.47722938e+00] [ 2.42893914e-02 -1.24117849e-03 9.99704199e-01 1.32168312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19071405700001 meters Centerline goodness [0,1] 0.9908356773432538 Centerline is valid? [True, True] Translation: X:120.36, Y:-4.48, Z:1.32 [[ 9.99211152e-01 -3.05486694e-02 -2.53742297e-02 1.20360582e+02] [ 3.05723102e-02 9.99532410e-01 5.44181843e-04 -4.48061535e+00] [ 2.53457410e-02 -1.31950139e-03 9.99677874e-01 1.32038525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.220714057 meters Centerline goodness [0,1] 0.9905608879588773 Centerline is valid? [True, True] Translation: X:120.39, Y:-4.48, Z:1.32 [[ 9.99140130e-01 -3.19455233e-02 -2.64288358e-02 1.20390623e+02] [ 3.19716465e-02 9.99488616e-01 5.66357676e-04 -4.48165236e+00] [ 2.63972279e-02 -1.41084408e-03 9.99650537e-01 1.32055184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.250714057 meters Centerline goodness [0,1] 0.9904852737470763 Centerline is valid? [True, True] Translation: X:120.42, Y:-4.48, Z:1.32 [[ 9.99046060e-01 -3.42149047e-02 -2.71350224e-02 1.20420100e+02] [ 3.42432655e-02 9.99413359e-01 5.81045696e-04 -4.48467788e+00] [ 2.70992234e-02 -1.50968319e-03 9.99631609e-01 1.32005377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.280714057 meters Centerline goodness [0,1] 0.9912420382165605 Centerline is valid? [True, True] Translation: X:120.45, Y:-4.47, Z:1.32 [[ 9.98988792e-01 -3.53448318e-02 -2.77873580e-02 1.20451945e+02] [ 3.53750162e-02 9.99373931e-01 5.95277737e-04 -4.47295943e+00] [ 2.77489212e-02 -1.57765403e-03 9.99613680e-01 1.32336853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.310714057 meters Centerline goodness [0,1] 0.9913642251664659 Centerline is valid? [True, True] Translation: X:120.48, Y:-4.47, Z:1.32 [[ 9.98938881e-01 -3.66015838e-02 -2.79541786e-02 1.20482694e+02] [ 3.66326436e-02 9.99328620e-01 5.99615988e-04 -4.47441839e+00] [ 2.79134638e-02 -1.62301518e-03 9.99609026e-01 1.32374677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.340714057 meters Centerline goodness [0,1] 0.9904093088793436 Centerline is valid? [True, True] Translation: X:120.51, Y:-4.48, Z:1.32 [[ 9.98879944e-01 -3.86709648e-02 -2.72656115e-02 1.20513479e+02] [ 3.87012938e-02 9.99250653e-01 5.85330520e-04 -4.47792872e+00] [ 2.72225448e-02 -1.63988936e-03 9.99628053e-01 1.32499895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.370714057 meters Centerline goodness [0,1] 0.990427031697667 Centerline is valid? [True, True] Translation: X:120.54, Y:-4.48, Z:1.33 [[ 9.98837764e-01 -4.01961175e-02 -2.65968609e-02 1.20544677e+02] [ 4.02255335e-02 9.99190462e-01 5.71673167e-04 -4.47852380e+00] [ 2.65523507e-02 -1.64088167e-03 9.99646077e-01 1.32664679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.400714057 meters Centerline goodness [0,1] 0.9891723793526127 Centerline is valid? [True, True] Translation: X:120.58, Y:-4.48, Z:1.33 [[ 9.98825602e-01 -4.04907823e-02 -2.66066420e-02 1.20575626e+02] [ 4.05203557e-02 9.99178549e-01 5.73071989e-04 -4.48458513e+00] [ 2.65615818e-02 -1.65050957e-03 9.99645816e-01 1.32667615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.430714057 meters Centerline goodness [0,1] 0.9898732448854197 Centerline is valid? [True, True] Translation: X:120.61, Y:-4.48, Z:1.33 [[ 9.98821030e-01 -4.07320696e-02 -2.64092535e-02 1.20607724e+02] [ 4.07613329e-02 9.99168749e-01 5.70463913e-04 -4.48178463e+00] [ 2.63640646e-02 -1.64626773e-03 9.99651052e-01 1.32850965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.460714057 meters Centerline goodness [0,1] 0.9898490959351067 Centerline is valid? [True, True] Translation: X:120.64, Y:-4.48, Z:1.33 [[ 9.98819047e-01 -4.11348127e-02 -2.58541874e-02 1.20639579e+02] [ 4.11630400e-02 9.99152286e-01 5.60307402e-04 -4.48327733e+00] [ 2.58092223e-02 -1.62388265e-03 9.99665568e-01 1.32956262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.490714057 meters Centerline goodness [0,1] 0.9904589235127479 Centerline is valid? [True, True] Translation: X:120.67, Y:-4.49, Z:1.33 [[ 9.98806062e-01 -4.14546191e-02 -2.58450147e-02 1.20670421e+02] [ 4.14829753e-02 9.99139053e-01 5.61744644e-04 -4.48528514e+00] [ 2.57994766e-02 -1.63320206e-03 9.99665804e-01 1.32979199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.520714057 meters Centerline goodness [0,1] 0.9894045155862758 Centerline is valid? [True, True] Translation: X:120.70, Y:-4.49, Z:1.33 [[ 9.98816236e-01 -4.07330716e-02 -2.65884273e-02 1.20701223e+02] [ 4.07628608e-02 9.99168681e-01 5.79116233e-04 -4.48919381e+00] [ 2.65427347e-02 -1.66225106e-03 9.99646298e-01 1.32853238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55071405700001 meters Centerline goodness [0,1] 0.9889290504444292 Centerline is valid? [True, True] Translation: X:120.73, Y:-4.49, Z:1.33 [[ 9.98828884e-01 -4.01999599e-02 -2.69225575e-02 1.20732571e+02] [ 4.02303356e-02 9.99190260e-01 5.87345039e-04 -4.48671713e+00] [ 2.68771460e-02 -1.66976072e-03 9.99637350e-01 1.32928518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58071405700001 meters Centerline goodness [0,1] 0.9895548880393228 Centerline is valid? [True, True] Translation: X:120.76, Y:-4.49, Z:1.33 [[ 9.98855623e-01 -3.84750024e-02 -2.84098252e-02 1.20762898e+02] [ 3.85081555e-02 9.99258093e-01 6.20564336e-04 -4.48836008e+00] [ 2.83648715e-02 -1.71386414e-03 9.99596167e-01 1.32865689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.610714057 meters Centerline goodness [0,1] 0.9901679639492011 Centerline is valid? [True, True] Translation: X:120.79, Y:-4.49, Z:1.33 [[ 9.98890018e-01 -3.71464896e-02 -2.89632469e-02 1.20793088e+02] [ 3.71803985e-02 9.99308370e-01 6.32903824e-04 -4.48749971e+00] [ 2.89197049e-02 -1.70906637e-03 9.99580277e-01 1.32917146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.640714057 meters Centerline goodness [0,1] 0.9900267464526951 Centerline is valid? [True, True] Translation: X:120.82, Y:-4.49, Z:1.33 [[ 9.98972259e-01 -3.40071774e-02 -2.99656178e-02 1.20822473e+02] [ 3.40420880e-02 9.99420185e-01 6.55487369e-04 -4.48712394e+00] [ 2.99259521e-02 -1.67490590e-03 9.99550715e-01 1.32919905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.670714057 meters Centerline goodness [0,1] 0.9899799599198397 Centerline is valid? [True, True] Translation: X:120.85, Y:-4.49, Z:1.33 [[ 9.99001750e-01 -3.27295643e-02 -3.04019590e-02 1.20852628e+02] [ 3.27648954e-02 9.99462866e-01 6.64552931e-04 -4.48608857e+00] [ 3.03638785e-02 -1.66000655e-03 9.99537533e-01 1.32952062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.700714057 meters Centerline goodness [0,1] 0.99056174664544 Centerline is valid? [True, True] Translation: X:120.88, Y:-4.48, Z:1.33 [[ 9.99131051e-01 -2.86041701e-02 -3.03141109e-02 1.20882300e+02] [ 2.86373578e-02 9.99589648e-01 6.61113694e-04 -4.47923735e+00] [ 3.02827608e-02 -1.52865526e-03 9.99540203e-01 1.33104623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.730714057 meters Centerline goodness [0,1] 0.99056174664544 Centerline is valid? [True, True] Translation: X:120.91, Y:-4.48, Z:1.33 [[ 9.99122832e-01 -2.88896914e-02 -3.03142220e-02 1.20909706e+02] [ 2.89228550e-02 9.99581431e-01 6.55984131e-04 -4.47976089e+00] [ 3.02825822e-02 -1.53218257e-03 9.99540203e-01 1.33143340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.760714057 meters Centerline goodness [0,1] 0.9912100924534317 Centerline is valid? [True, True] Translation: X:120.94, Y:-4.48, Z:1.33 [[ 9.99184691e-01 -2.68371572e-02 -3.01615808e-02 1.20937578e+02] [ 2.68688910e-02 9.99638757e-01 6.47248577e-04 -4.48394158e+00] [ 3.01333149e-02 -1.45712910e-03 9.99544826e-01 1.33033786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.790714057 meters Centerline goodness [0,1] 0.9909946880058363 Centerline is valid? [True, True] Translation: X:120.97, Y:-4.48, Z:1.33 [[ 9.99241701e-01 -2.51255610e-02 -2.97443942e-02 1.20966825e+02] [ 2.51555222e-02 9.99683349e-01 6.33457758e-04 -4.47842746e+00] [ 2.97190597e-02 -1.38121318e-03 9.99557337e-01 1.33280070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.820714057 meters Centerline goodness [0,1] 0.9907373608322687 Centerline is valid? [True, True] Translation: X:121.00, Y:-4.48, Z:1.33 [[ 9.99350576e-01 -2.09432663e-02 -2.93224562e-02 1.20995650e+02] [ 2.09704768e-02 9.99779903e-01 6.20727140e-04 -4.48281920e+00] [ 2.93030023e-02 -1.23522991e-03 9.99569812e-01 1.33191640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.850714057 meters Centerline goodness [0,1] 0.9916330392358024 Centerline is valid? [True, True] Translation: X:121.02, Y:-4.47, Z:1.34 [[ 9.99400022e-01 -1.90720050e-02 -2.89111480e-02 1.21024886e+02] [ 1.90975622e-02 9.99817440e-01 6.08098092e-04 -4.47488834e+00] [ 2.88942724e-02 -1.15986569e-03 9.99581800e-01 1.33556670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.880714057 meters Centerline goodness [0,1] 0.9920513464744981 Centerline is valid? [True, True] Translation: X:121.06, Y:-4.47, Z:1.34 [[ 9.99471622e-01 -1.55106274e-02 -2.85639168e-02 1.21055087e+02] [ 1.55340223e-02 9.99879161e-01 5.97303691e-04 -4.47404598e+00] [ 2.85512006e-02 -1.04070061e-03 9.99591790e-01 1.33647289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.910714057 meters Centerline goodness [0,1] 0.9913416946519544 Centerline is valid? [True, True] Translation: X:121.08, Y:-4.47, Z:1.34 [[ 9.99472441e-01 -1.51263173e-02 -2.87408278e-02 1.21084328e+02] [ 1.51497391e-02 9.99885058e-01 5.97342563e-04 -4.47390910e+00] [ 2.87284886e-02 -1.03244347e-03 9.99586719e-01 1.33724526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94071405700001 meters Centerline goodness [0,1] 0.99180234284018 Centerline is valid? [True, True] Translation: X:121.11, Y:-4.48, Z:1.34 [[ 9.99482652e-01 -1.49462782e-02 -2.84787028e-02 1.21112399e+02] [ 1.49690724e-02 9.99887785e-01 5.87357346e-04 -4.47616431e+00] [ 2.84667282e-02 -1.01335324e-03 9.99594227e-01 1.33763523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.970714057 meters Centerline goodness [0,1] 0.9917508340569444 Centerline is valid? [True, True] Translation: X:121.14, Y:-4.48, Z:1.34 [[ 9.99454041e-01 -1.59860904e-02 -2.89147928e-02 1.21141491e+02] [ 1.60098776e-02 9.99871659e-01 5.91328407e-04 -4.47702652e+00] [ 2.89016289e-02 -1.05392786e-03 9.99581705e-01 1.33819482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.000714057 meters Centerline goodness [0,1] 0.9917130855629623 Centerline is valid? [True, True] Translation: X:121.17, Y:-4.48, Z:1.34 [[ 9.99414141e-01 -1.73869727e-02 -2.94799522e-02 1.21169220e+02] [ 1.74121599e-02 9.99848218e-01 5.97866467e-04 -4.48060346e+00] [ 2.94650826e-02 -1.11082584e-03 9.99565193e-01 1.33750955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.030714057 meters Centerline goodness [0,1] 0.9912646912011617 Centerline is valid? [True, True] Translation: X:121.20, Y:-4.49, Z:1.34 [[ 9.99322594e-01 -2.09854714e-02 -3.02318186e-02 1.21198855e+02] [ 2.10135475e-02 9.99779004e-01 6.11247014e-04 -4.48596586e+00] [ 3.02123102e-02 -1.24611071e-03 9.99542727e-01 1.33664535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.060714057 meters Centerline goodness [0,1] 0.991178138110897 Centerline is valid? [True, True] Translation: X:121.23, Y:-4.49, Z:1.34 [[ 9.99257761e-01 -2.31541102e-02 -3.07866006e-02 1.21227899e+02] [ 2.31842110e-02 9.99731017e-01 6.21068874e-04 -4.48878852e+00] [ 3.07639392e-02 -1.33437094e-03 9.99525787e-01 1.33678487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.090714057 meters Centerline goodness [0,1] 0.9907350775852305 Centerline is valid? [True, True] Translation: X:121.26, Y:-4.50, Z:1.33 [[ 9.99116918e-01 -2.72204777e-02 -3.20067065e-02 1.21256416e+02] [ 2.72550494e-02 9.99628305e-01 6.44271458e-04 -4.49895076e+00] [ 3.19772723e-02 -1.51604688e-03 9.99487446e-01 1.33442006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.120714057 meters Centerline goodness [0,1] 0.9904945117121196 Centerline is valid? [True, True] Translation: X:121.28, Y:-4.50, Z:1.34 [[ 9.99069303e-01 -2.87254983e-02 -3.21772362e-02 1.21284750e+02] [ 2.87611265e-02 9.99586105e-01 6.44852999e-04 -4.49929246e+00] [ 3.21453945e-02 -1.56970640e-03 9.99481971e-01 1.33567805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.150714057 meters Centerline goodness [0,1] 0.9899884743158037 Centerline is valid? [True, True] Translation: X:121.31, Y:-4.50, Z:1.34 [[ 9.99062384e-01 -2.99892293e-02 -3.12249728e-02 1.21313248e+02] [ 3.00232046e-02 9.99549010e-01 6.19693901e-04 -4.49906127e+00] [ 3.11923065e-02 -1.55658661e-03 9.99512190e-01 1.33875746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.180714057 meters Centerline goodness [0,1] 0.9908086989905377 Centerline is valid? [True, True] Translation: X:121.34, Y:-4.50, Z:1.34 [[ 9.99085724e-01 -3.01960967e-02 -3.02640466e-02 1.21342135e+02] [ 3.02278793e-02 9.99542857e-01 5.93107107e-04 -4.49967729e+00] [ 3.02323021e-02 -1.50738279e-03 9.99541763e-01 1.34008996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.210714057 meters Centerline goodness [0,1] 0.99125522539826 Centerline is valid? [True, True] Translation: X:121.37, Y:-4.50, Z:1.34 [[ 9.99149953e-01 -2.96248446e-02 -2.86660034e-02 1.21371084e+02] [ 2.96529209e-02 9.99560102e-01 5.54726575e-04 -4.50207914e+00] [ 2.86369596e-02 -1.40428576e-03 9.99588892e-01 1.34220667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.240714057 meters Centerline goodness [0,1] 0.9909952606635071 Centerline is valid? [True, True] Translation: X:121.40, Y:-4.51, Z:1.34 [[ 9.99190934e-01 -2.91191778e-02 -2.77407851e-02 1.21399525e+02] [ 2.91451596e-02 9.99575048e-01 5.32636542e-04 -4.50525001e+00] [ 2.77134867e-02 -1.34071522e-03 9.99615008e-01 1.34261788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.270714057 meters Centerline goodness [0,1] 0.9912217357945571 Centerline is valid? [True, True] Translation: X:121.43, Y:-4.51, Z:1.34 [[ 9.99249837e-01 -2.75024483e-02 -2.72649641e-02 1.21428058e+02] [ 2.75269066e-02 9.99620927e-01 5.22066441e-04 -4.51213975e+00] [ 2.72402706e-02 -1.27219493e-03 9.99628105e-01 1.34183196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30071405700001 meters Centerline goodness [0,1] 0.9914942580601493 Centerline is valid? [True, True] Translation: X:121.46, Y:-4.51, Z:1.34 [[ 9.99265371e-01 -2.67210923e-02 -2.74718259e-02 1.21456890e+02] [ 2.67455157e-02 9.99642138e-01 5.21909453e-04 -4.50563865e+00] [ 2.74480488e-02 -1.25627419e-03 9.99622442e-01 1.34414852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33071405700001 meters Centerline goodness [0,1] 0.9917881153273473 Centerline is valid? [True, True] Translation: X:121.49, Y:-4.51, Z:1.34 [[ 9.99300161e-01 -2.46668181e-02 -2.81200244e-02 1.21485243e+02] [ 2.46914660e-02 9.99694979e-01 5.29578085e-04 -4.50966326e+00] [ 2.80983842e-02 -1.22353209e-03 9.99604414e-01 1.34332005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.360714057 meters Centerline goodness [0,1] 0.991126325983649 Centerline is valid? [True, True] Translation: X:121.51, Y:-4.51, Z:1.34 [[ 9.99297555e-01 -2.42630951e-02 -2.85604437e-02 1.21514197e+02] [ 2.42882250e-02 9.99704855e-01 5.33250465e-04 -4.50945311e+00] [ 2.85390759e-02 -1.22655837e-03 9.99591925e-01 1.34388954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.390714057 meters Centerline goodness [0,1] 0.9914037535442639 Centerline is valid? [True, True] Translation: X:121.54, Y:-4.51, Z:1.34 [[ 9.99313869e-01 -2.27057151e-02 -2.92616068e-02 1.21542316e+02] [ 2.27312131e-02 9.99741467e-01 5.38985920e-04 -4.51229913e+00] [ 2.92418037e-02 -1.20376793e-03 9.99571642e-01 1.34321659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.420714057 meters Centerline goodness [0,1] 0.9916464564807329 Centerline is valid? [True, True] Translation: X:121.57, Y:-4.51, Z:1.34 [[ 9.99310246e-01 -2.22131194e-02 -2.97592084e-02 1.21570728e+02] [ 2.22390534e-02 9.99752535e-01 5.40723569e-04 -4.51262377e+00] [ 2.97398329e-02 -1.20216723e-03 9.99556950e-01 1.34360116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.450714057 meters Centerline goodness [0,1] 0.9924325780881593 Centerline is valid? [True, True] Translation: X:121.60, Y:-4.51, Z:1.34 [[ 9.99339528e-01 -2.09047489e-02 -2.97237235e-02 1.21599226e+02] [ 2.09298239e-02 9.99780805e-01 5.32692821e-04 -4.51436547e+00] [ 2.97060724e-02 -1.15445329e-03 9.99558011e-01 1.34435055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.480714057 meters Centerline goodness [0,1] 0.9916410324996656 Centerline is valid? [True, True] Translation: X:121.63, Y:-4.52, Z:1.34 [[ 9.99369997e-01 -2.03247644e-02 -2.90948916e-02 1.21626976e+02] [ 2.03484049e-02 9.99792816e-01 5.16650753e-04 -4.51731638e+00] [ 2.90783628e-02 -1.10835990e-03 9.99576521e-01 1.34419821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.510714057 meters Centerline goodness [0,1] 0.9924916824026616 Centerline is valid? [True, True] Translation: X:121.66, Y:-4.52, Z:1.35 [[ 9.99410618e-01 -1.86757175e-02 -2.88033780e-02 1.21655286e+02] [ 1.86980623e-02 9.99825048e-01 5.06599930e-04 -4.51800660e+00] [ 2.87888777e-02 -1.04486870e-03 9.99584968e-01 1.34651139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.540714057 meters Centerline goodness [0,1] 0.9925301150766056 Centerline is valid? [True, True] Translation: X:121.68, Y:-4.52, Z:1.35 [[ 9.99451199e-01 -1.86964168e-02 -2.73449146e-02 1.21683564e+02] [ 1.87163815e-02 9.99824721e-01 4.74320786e-04 -4.51919650e+00] [ 2.73312535e-02 -9.85858333e-04 9.99625945e-01 1.34670335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.570714057 meters Centerline goodness [0,1] 0.9930462090623599 Centerline is valid? [True, True] Translation: X:121.71, Y:-4.52, Z:1.35 [[ 9.99531248e-01 -1.67250553e-02 -2.56428775e-02 1.21712839e+02] [ 1.67418087e-02 9.99859750e-01 4.38771559e-04 -4.52032886e+00] [ 2.56319426e-02 -8.67874034e-04 9.99671071e-01 1.34832374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.600714057 meters Centerline goodness [0,1] 0.9931272246972173 Centerline is valid? [True, True] Translation: X:121.74, Y:-4.52, Z:1.35 [[ 9.99557925e-01 -1.56438237e-02 -2.52828892e-02 1.21740608e+02] [ 1.56596561e-02 9.99877288e-01 4.28328324e-04 -4.52194792e+00] [ 2.52730860e-02 -8.24060322e-04 9.99680245e-01 1.34851065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.630714057 meters Centerline goodness [0,1] 0.9933106626694707 Centerline is valid? [True, True] Translation: X:121.77, Y:-4.52, Z:1.35 [[ 9.99588667e-01 -1.39682119e-02 -2.50476737e-02 1.21769674e+02] [ 1.39831308e-02 9.99902143e-01 4.20559835e-04 -4.52388174e+00] [ 2.50393481e-02 -7.70631742e-04 9.99686169e-01 1.34953464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.660714057 meters Centerline goodness [0,1] 0.9934429898176121 Centerline is valid? [True, True] Translation: X:121.80, Y:-4.53, Z:1.35 [[ 9.99609852e-01 -1.32778841e-02 -2.45731757e-02 1.21798289e+02] [ 1.32918922e-02 9.99911576e-01 4.06797680e-04 -4.52551236e+00] [ 2.45656015e-02 -7.33262971e-04 9.99697951e-01 1.35001995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69071405700001 meters Centerline goodness [0,1] 0.9930837535138994 Centerline is valid? [True, True] Translation: X:121.83, Y:-4.53, Z:1.35 [[ 9.99618091e-01 -1.25376706e-02 -2.46267981e-02 1.21826233e+02] [ 1.25514064e-02 9.99921147e-01 4.03257240e-04 -4.53103862e+00] [ 2.46198003e-02 -7.12204185e-04 9.99696633e-01 1.34903654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.720714057 meters Centerline goodness [0,1] 0.9933872481122381 Centerline is valid? [True, True] Translation: X:121.85, Y:-4.53, Z:1.35 [[ 9.99615676e-01 -1.25128402e-02 -2.47372026e-02 1.21854219e+02] [ 1.25265869e-02 9.99921459e-01 4.00822151e-04 -4.53164060e+00] [ 2.47302443e-02 -7.10540823e-04 9.99693908e-01 1.35035497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.750714057 meters Centerline goodness [0,1] 0.9932044026558531 Centerline is valid? [True, True] Translation: X:121.88, Y:-4.54, Z:1.35 [[ 9.99591180e-01 -1.24452523e-02 -2.57407909e-02 1.21882206e+02] [ 1.24599822e-02 9.99922287e-01 4.11919809e-04 -4.53630648e+00] [ 2.57336641e-02 -7.32481205e-04 9.99668566e-01 1.34989231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.780714057 meters Centerline goodness [0,1] 0.9933383833882898 Centerline is valid? [True, True] Translation: X:121.91, Y:-4.54, Z:1.35 [[ 9.99598240e-01 -1.22587001e-02 -2.55554884e-02 1.21911283e+02] [ 1.22730545e-02 9.99924601e-01 4.04917018e-04 -4.53752457e+00] [ 2.55485978e-02 -7.18398239e-04 9.99673323e-01 1.35057205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.810714057 meters Centerline goodness [0,1] 0.9935584531371894 Centerline is valid? [True, True] Translation: X:121.94, Y:-4.54, Z:1.35 [[ 9.99577055e-01 -1.26232451e-02 -2.61985653e-02 1.21940444e+02] [ 1.26382851e-02 9.99920050e-01 4.08570065e-04 -4.53913292e+00] [ 2.61913133e-02 -7.39502200e-04 9.99656675e-01 1.35124007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.840714057 meters Centerline goodness [0,1] 0.9938105310030056 Centerline is valid? [True, True] Translation: X:121.97, Y:-4.54, Z:1.35 [[ 9.99577451e-01 -1.24575258e-02 -2.62626888e-02 1.21967843e+02] [ 1.24724630e-02 9.99922134e-01 4.05022489e-04 -4.54480326e+00] [ 2.62555983e-02 -7.32411762e-04 9.99654994e-01 1.35035685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.870714057 meters Centerline goodness [0,1] 0.9924780238121731 Centerline is valid? [True, True] Translation: X:122.00, Y:-4.55, Z:1.35 [[ 9.99585543e-01 -1.27169739e-02 -2.58267324e-02 1.21995385e+02] [ 1.27313926e-02 9.99918875e-01 3.93920520e-04 -4.54701102e+00] [ 2.58196277e-02 -7.22567525e-04 9.99666357e-01 1.35083751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.900714057 meters Centerline goodness [0,1] 0.9926351516227068 Centerline is valid? [True, True] Translation: X:122.02, Y:-4.55, Z:1.35 [[ 9.99611370e-01 -1.28386769e-02 -2.47442385e-02 1.22023737e+02] [ 1.28517953e-02 9.99917343e-01 3.71195261e-04 -4.55032007e+00] [ 2.47374275e-02 -6.89058890e-04 9.99693746e-01 1.35226524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.930714057 meters Centerline goodness [0,1] 0.9925888122129274 Centerline is valid? [True, True] Translation: X:122.05, Y:-4.55, Z:1.35 [[ 9.99621469e-01 -1.31185987e-02 -2.41830556e-02 1.22051005e+02] [ 1.31311010e-02 9.99913719e-01 3.58257317e-04 -4.55285338e+00] [ 2.41762692e-02 -6.75671852e-04 9.99707483e-01 1.35264444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.960714057 meters Centerline goodness [0,1] 0.9932002923652794 Centerline is valid? [True, True] Translation: X:122.08, Y:-4.55, Z:1.35 [[ 9.99610228e-01 -1.43659974e-02 -2.39376418e-02 1.22079342e+02] [ 1.43785435e-02 9.99896561e-01 3.52070843e-04 -4.55339586e+00] [ 2.39301079e-02 -6.96122040e-04 9.99713392e-01 1.35404079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.990714057 meters Centerline goodness [0,1] 0.9927825722294568 Centerline is valid? [True, True] Translation: X:122.11, Y:-4.56, Z:1.35 [[ 9.99602677e-01 -1.50343683e-02 -2.38423065e-02 1.22106790e+02] [ 1.50469536e-02 9.99886727e-01 3.48529060e-04 -4.55731168e+00] [ 2.38343660e-02 -7.07144661e-04 9.99715671e-01 1.35384944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.020714057 meters Centerline goodness [0,1] 0.991867583036839 Centerline is valid? [True, True] Translation: X:122.13, Y:-4.57, Z:1.35 [[ 9.99598847e-01 -1.70340755e-02 -2.26270733e-02 1.22134324e+02] [ 1.70458780e-02 9.99854654e-01 3.28824041e-04 -4.56633356e+00] [ 2.26181833e-02 -7.14390462e-04 9.99743921e-01 1.35373567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05071405700001 meters Centerline goodness [0,1] 0.9923956043956044 Centerline is valid? [True, True] Translation: X:122.16, Y:-4.57, Z:1.36 [[ 9.99581421e-01 -1.86914475e-02 -2.20819478e-02 1.22162966e+02] [ 1.87030220e-02 9.99825033e-01 3.17735565e-04 -4.56540456e+00] [ 2.20721452e-02 -7.30601723e-04 9.99756114e-01 1.35550651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08071405700001 meters Centerline goodness [0,1] 0.9910286292273187 Centerline is valid? [True, True] Translation: X:122.19, Y:-4.57, Z:1.36 [[ 9.99525888e-01 -2.17362342e-02 -2.18067567e-02 1.22192685e+02] [ 2.17481644e-02 9.99763433e-01 3.10051077e-04 -4.56895971e+00] [ 2.17948586e-02 -7.84161007e-04 9.99762156e-01 1.35608059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.110714057 meters Centerline goodness [0,1] 0.9905822294591383 Centerline is valid? [True, True] Translation: X:122.22, Y:-4.58, Z:1.36 [[ 9.99499705e-01 -2.31727267e-02 -2.15258801e-02 1.22220130e+02] [ 2.31846587e-02 9.99731153e-01 3.04880652e-04 -4.57511765e+00] [ 2.15130280e-02 -8.03798306e-04 9.99768245e-01 1.35577537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.140714057 meters Centerline goodness [0,1] 0.9900519411920063 Centerline is valid? [True, True] Translation: X:122.25, Y:-4.58, Z:1.36 [[ 9.99470062e-01 -2.46528334e-02 -2.12563787e-02 1.22248265e+02] [ 2.46647655e-02 9.99695734e-01 2.99313065e-04 -4.57829820e+00] [ 2.12425322e-02 -8.23438044e-04 9.99774013e-01 1.35604527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.170714057 meters Centerline goodness [0,1] 0.9903995791596344 Centerline is valid? [True, True] Translation: X:122.28, Y:-4.58, Z:1.36 [[ 9.99403776e-01 -2.73308964e-02 -2.10977400e-02 1.22277575e+02] [ 2.73432183e-02 9.99626061e-01 2.95736397e-04 -4.57941166e+00] [ 2.10817680e-02 -8.72440184e-04 9.99777374e-01 1.35660141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.200714057 meters Centerline goodness [0,1] 0.9901102997609806 Centerline is valid? [True, True] Translation: X:122.31, Y:-4.58, Z:1.36 [[ 9.99382135e-01 -2.81779402e-02 -2.10083968e-02 1.22306580e+02] [ 2.81903236e-02 9.99602531e-01 2.93473962e-04 -4.58294717e+00] [ 2.09917771e-02 -8.85526139e-04 9.99779256e-01 1.35651344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.230714057 meters Centerline goodness [0,1] 0.9902317228087082 Centerline is valid? [True, True] Translation: X:122.34, Y:-4.59, Z:1.36 [[ 9.99306186e-01 -3.00878250e-02 -2.19515161e-02 1.22335217e+02] [ 3.01017846e-02 9.99546792e-01 3.05701777e-04 -4.58833918e+00] [ 2.19323696e-02 -9.66269488e-04 9.99758990e-01 1.35531941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.260714057 meters Centerline goodness [0,1] 0.9896705995877012 Centerline is valid? [True, True] Translation: X:122.36, Y:-4.59, Z:1.36 [[ 9.99264932e-01 -3.10946576e-02 -2.24213738e-02 1.22364954e+02] [ 3.11094503e-02 9.99515935e-01 3.11173928e-04 -4.58771311e+00] [ 2.24008445e-02 -1.00846181e-03 9.99748561e-01 1.35580141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.290714057 meters Centerline goodness [0,1] 0.9883026818241671 Centerline is valid? [True, True] Translation: X:122.39, Y:-4.59, Z:1.36 [[ 9.99214882e-01 -3.23943993e-02 -2.28083717e-02 1.22394534e+02] [ 3.24100312e-02 9.99474607e-01 3.15938789e-04 -4.59445169e+00] [ 2.27861537e-02 -1.05491078e-03 9.99739805e-01 1.35518501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.320714057 meters Centerline goodness [0,1] 0.9883496423713195 Centerline is valid? [True, True] Translation: X:122.42, Y:-4.59, Z:1.36 [[ 9.99190828e-01 -3.33503033e-02 -2.24821390e-02 1.22424243e+02] [ 3.33657227e-02 9.99443161e-01 3.10981586e-04 -4.59184062e+00] [ 2.24592487e-02 -1.06086276e-03 9.99747196e-01 1.35654272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.350714057 meters Centerline goodness [0,1] 0.9882708876855283 Centerline is valid? [True, True] Translation: X:122.45, Y:-4.60, Z:1.36 [[ 9.99184029e-01 -3.40271764e-02 -2.17583768e-02 1.22453640e+02] [ 3.40417648e-02 9.99420366e-01 3.00327505e-04 -4.59534795e+00] [ 2.17355456e-02 -1.04077599e-03 9.99763213e-01 1.35726848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.380714057 meters Centerline goodness [0,1] 0.98780567900694 Centerline is valid? [True, True] Translation: X:122.48, Y:-4.60, Z:1.36 [[ 9.99164414e-01 -3.54634096e-02 -2.03179791e-02 1.22483957e+02] [ 3.54764213e-02 9.99370474e-01 2.80205044e-04 -4.59758784e+00] [ 2.02952513e-02 -1.00078009e-03 9.99793529e-01 1.35846036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.410714057 meters Centerline goodness [0,1] 0.9876816033607562 Centerline is valid? [True, True] Translation: X:122.51, Y:-4.60, Z:1.36 [[ 9.99165978e-01 -3.57841630e-02 -1.96682854e-02 1.22514580e+02] [ 3.57964197e-02 9.99359066e-01 2.71345807e-04 -4.60065336e+00] [ 1.96459694e-02 -9.75173697e-04 9.99806524e-01 1.35884517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44071405700001 meters Centerline goodness [0,1] 0.9873694331541454 Centerline is valid? [True, True] Translation: X:122.54, Y:-4.61, Z:1.36 [[ 9.99148401e-01 -3.62231821e-02 -1.97573944e-02 1.22544799e+02] [ 3.62356469e-02 9.99343236e-01 2.73142886e-04 -4.60539843e+00] [ 1.97345243e-02 -9.88832243e-04 9.99804766e-01 1.35863523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.470714057 meters Centerline goodness [0,1] 0.9879347209495135 Centerline is valid? [True, True] Translation: X:122.58, Y:-4.61, Z:1.36 [[ 9.99153301e-01 -3.61326039e-02 -1.96752738e-02 1.22576139e+02] [ 3.61449668e-02 9.99346520e-01 2.72980556e-04 -4.60532782e+00] [ 1.96525529e-02 -9.83911543e-04 9.99806386e-01 1.35924098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.500714057 meters Centerline goodness [0,1] 0.9868596541093644 Centerline is valid? [True, True] Translation: X:122.61, Y:-4.61, Z:1.36 [[ 9.99135385e-01 -3.59486103e-02 -2.08849019e-02 1.22607113e+02] [ 3.59625167e-02 9.99353097e-01 2.90540672e-04 -4.60791818e+00] [ 2.08609468e-02 -1.04136310e-03 9.99781844e-01 1.35900717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.530714057 meters Centerline goodness [0,1] 0.9873133514986376 Centerline is valid? [True, True] Translation: X:122.64, Y:-4.61, Z:1.36 [[ 9.99103912e-01 -3.66842948e-02 -2.11100766e-02 1.22638451e+02] [ 3.66986825e-02 9.99326333e-01 2.94430367e-04 -4.60885979e+00] [ 2.10850545e-02 -1.06887853e-03 9.99777114e-01 1.35879572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.560714057 meters Centerline goodness [0,1] 0.9868610275853053 Centerline is valid? [True, True] Translation: X:122.67, Y:-4.61, Z:1.36 [[ 9.99069772e-01 -3.73234019e-02 -2.15998821e-02 1.22670192e+02] [ 3.73386311e-02 9.99302625e-01 3.02047501e-04 -4.61036658e+00] [ 2.15735454e-02 -1.10827656e-03 9.99766650e-01 1.35862596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.590714057 meters Centerline goodness [0,1] 0.9871831200819583 Centerline is valid? [True, True] Translation: X:122.70, Y:-4.61, Z:1.36 [[ 9.99078553e-01 -3.74960715e-02 -2.08827582e-02 1.22701986e+02] [ 3.75103590e-02 9.99296196e-01 2.92757433e-04 -4.61225901e+00] [ 2.08570836e-02 -1.07580743e-03 9.99781889e-01 1.35929636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.620714057 meters Centerline goodness [0,1] 0.9871831200819583 Centerline is valid? [True, True] Translation: X:122.73, Y:-4.61, Z:1.36 [[ 9.99079906e-01 -3.74600219e-02 -2.08827476e-02 1.22732867e+02] [ 3.74743173e-02 9.99297548e-01 2.93510829e-04 -4.61272226e+00] [ 2.08570836e-02 -1.07580748e-03 9.99781889e-01 1.35973222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.650714057 meters Centerline goodness [0,1] 0.9870104438642298 Centerline is valid? [True, True] Translation: X:122.76, Y:-4.62, Z:1.36 [[ 9.99106659e-01 -3.72647729e-02 -1.99303831e-02 1.22763316e+02] [ 3.72777668e-02 9.99304903e-01 2.80715360e-04 -4.61597021e+00] [ 1.99060688e-02 -1.02342476e-03 9.99801331e-01 1.36097454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.680714057 meters Centerline goodness [0,1] 0.9870160991656318 Centerline is valid? [True, True] Translation: X:122.79, Y:-4.61, Z:1.36 [[ 9.99142452e-01 -3.66225594e-02 -1.93170339e-02 1.22794277e+02] [ 3.66346542e-02 9.99328689e-01 2.72506597e-04 -4.61465938e+00] [ 1.92940863e-02 -9.79945767e-04 9.99813372e-01 1.36194811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.710714057 meters Centerline goodness [0,1] 0.9872789056373616 Centerline is valid? [True, True] Translation: X:122.82, Y:-4.61, Z:1.36 [[ 9.99243290e-01 -3.43840390e-02 -1.81819997e-02 1.22824751e+02] [ 3.43943942e-02 9.99408305e-01 2.57040379e-04 -4.61494454e+00] [ 1.81624034e-02 -8.82204741e-04 9.99834661e-01 1.36287535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.740714057 meters Centerline goodness [0,1] 0.9874871929021428 Centerline is valid? [True, True] Translation: X:122.85, Y:-4.62, Z:1.36 [[ 9.99305367e-01 -3.23423471e-02 -1.85136721e-02 1.22854939e+02] [ 3.23527388e-02 9.99476479e-01 2.61986816e-04 -4.61553781e+00] [ 1.84955066e-02 -8.60772830e-04 9.99828573e-01 1.36320072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.770714057 meters Centerline goodness [0,1] 0.9877215134758567 Centerline is valid? [True, True] Translation: X:122.89, Y:-4.61, Z:1.36 [[ 9.99355925e-01 -3.11709173e-02 -1.77794324e-02 1.22885924e+02] [ 3.11803183e-02 9.99513744e-01 2.51729508e-04 -4.61131159e+00] [ 1.77629404e-02 -8.05935736e-04 9.99841902e-01 1.36394678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80071405700001 meters Centerline goodness [0,1] 0.9878687740504816 Centerline is valid? [True, True] Translation: X:122.92, Y:-4.61, Z:1.36 [[ 9.99393312e-01 -3.00280183e-02 -1.76444340e-02 1.22915862e+02] [ 3.00371094e-02 9.99548753e-01 2.50389638e-04 -4.61446405e+00] [ 1.76289533e-02 -7.80225525e-04 9.99844294e-01 1.36433198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83071405700001 meters Centerline goodness [0,1] 0.9880234305250093 Centerline is valid? [True, True] Translation: X:122.95, Y:-4.61, Z:1.37 [[ 9.99414657e-01 -2.91734073e-02 -1.78677265e-02 1.22947147e+02] [ 2.91826007e-02 9.99574065e-01 2.53950530e-04 -4.61126490e+00] [ 1.78527074e-02 -7.75228608e-04 9.99840327e-01 1.36514089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.860714057 meters Centerline goodness [0,1] 0.988267560566814 Centerline is valid? [True, True] Translation: X:122.98, Y:-4.61, Z:1.37 [[ 9.99479468e-01 -2.73728461e-02 -1.70739750e-02 1.22977177e+02] [ 2.73809867e-02 9.99625041e-01 2.43154467e-04 -4.61223725e+00] [ 1.70609172e-02 -7.10530180e-04 9.99854199e-01 1.36591702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.890714057 meters Centerline goodness [0,1] 0.9883342022940563 Centerline is valid? [True, True] Translation: X:123.01, Y:-4.61, Z:1.37 [[ 9.99510756e-01 -2.65271084e-02 -1.65698840e-02 1.23007380e+02] [ 2.65346620e-02 9.99647866e-01 2.36135124e-04 -4.61323466e+00] [ 1.65577852e-02 -6.75695866e-04 9.99862682e-01 1.36658953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.920714057 meters Centerline goodness [0,1] 0.9880978190174738 Centerline is valid? [True, True] Translation: X:123.04, Y:-4.61, Z:1.37 [[ 9.99519168e-01 -2.60377897e-02 -1.68364288e-02 1.23038259e+02] [ 2.60455347e-02 9.99660729e-01 2.40865481e-04 -4.61063466e+00] [ 1.68244451e-02 -6.79263455e-04 9.99858228e-01 1.36738676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.950714057 meters Centerline goodness [0,1] 0.9886999522838676 Centerline is valid? [True, True] Translation: X:123.07, Y:-4.61, Z:1.37 [[ 9.99517594e-01 -2.57659877e-02 -1.73404882e-02 1.23068315e+02] [ 2.57741626e-02 9.99667760e-01 2.48076660e-04 -4.61040852e+00] [ 1.73283351e-02 -6.94893550e-04 9.99849612e-01 1.36740419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.980714057 meters Centerline goodness [0,1] 0.9881668325184961 Centerline is valid? [True, True] Translation: X:123.10, Y:-4.62, Z:1.37 [[ 9.99494156e-01 -2.57069004e-02 -1.87239751e-02 1.23098092e+02] [ 2.57164202e-02 9.99669242e-01 2.67784834e-04 -4.61626535e+00] [ 1.87108981e-02 -7.49162988e-04 9.99824655e-01 1.36643214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.010714057 meters Centerline goodness [0,1] 0.9887055865074031 Centerline is valid? [True, True] Translation: X:123.13, Y:-4.62, Z:1.37 [[ 9.99471996e-01 -2.62037228e-02 -1.92118182e-02 1.23127606e+02] [ 2.62138283e-02 9.99656321e-01 2.74321118e-04 -4.61800771e+00] [ 1.91980273e-02 -7.77791580e-04 9.99815398e-01 1.36610454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.040714057 meters Centerline goodness [0,1] 0.9887720819334561 Centerline is valid? [True, True] Translation: X:123.16, Y:-4.61, Z:1.37 [[ 9.99470879e-01 -2.60061383e-02 -1.95356901e-02 1.23157490e+02] [ 2.60165363e-02 9.99661474e-01 2.78252413e-04 -4.61499061e+00] [ 1.95218405e-02 -7.86356175e-04 9.99809121e-01 1.36654505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.070714057 meters Centerline goodness [0,1] 0.9888196877297695 Centerline is valid? [True, True] Translation: X:123.19, Y:-4.62, Z:1.37 [[ 9.99463108e-01 -2.59660223e-02 -1.99815199e-02 1.23187502e+02] [ 2.59768776e-02 9.99662504e-01 2.83861081e-04 -4.61650321e+00] [ 1.99674055e-02 -8.02766176e-04 9.99800309e-01 1.36684161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.100714057 meters Centerline goodness [0,1] 0.987746426944848 Centerline is valid? [True, True] Translation: X:123.22, Y:-4.63, Z:1.37 [[ 9.99479852e-01 -2.60846427e-02 -1.89635713e-02 1.23216491e+02] [ 2.60944269e-02 9.99659446e-01 2.68646630e-04 -4.62527900e+00] [ 1.89501056e-02 -7.63350419e-04 9.99820139e-01 1.36651909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.130714057 meters Centerline goodness [0,1] 0.989529933095838 Centerline is valid? [True, True] Translation: X:123.25, Y:-4.62, Z:1.37 [[ 9.99482213e-01 -2.64696692e-02 -1.82937884e-02 1.23245688e+02] [ 2.64788210e-02 9.99649341e-01 2.58187644e-04 -4.61952309e+00] [ 1.82805393e-02 -7.42451906e-04 9.99832621e-01 1.36864474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.160714057 meters Centerline goodness [0,1] 0.9884270296042651 Centerline is valid? [True, True] Translation: X:123.28, Y:-4.62, Z:1.37 [[ 9.99455712e-01 -2.72445296e-02 -1.86014792e-02 1.23275315e+02] [ 2.72541097e-02 9.99628504e-01 2.61658163e-04 -4.62245560e+00] [ 1.85874401e-02 -7.68482501e-04 9.99826943e-01 1.36833669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19071405700001 meters Centerline goodness [0,1] 0.987888259425669 Centerline is valid? [True, True] Translation: X:123.31, Y:-4.62, Z:1.37 [[ 9.99355382e-01 -3.01915799e-02 -1.94239128e-02 1.23305451e+02] [ 3.02025745e-02 9.99543761e-01 2.72862108e-04 -4.62481161e+00] [ 1.94068127e-02 -8.59338390e-04 9.99811301e-01 1.36812345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.220714057 meters Centerline goodness [0,1] 0.9879351051616956 Centerline is valid? [True, True] Translation: X:123.33, Y:-4.63, Z:1.37 [[ 9.99281509e-01 -3.24641585e-02 -1.95587124e-02 1.23334833e+02] [ 3.24757341e-02 9.99472487e-01 2.74423781e-04 -4.62866786e+00] [ 1.95394860e-02 -9.09410155e-04 9.99808672e-01 1.36811479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.250714057 meters Centerline goodness [0,1] 0.9868580321632371 Centerline is valid? [True, True] Translation: X:123.36, Y:-4.64, Z:1.37 [[ 9.99121623e-01 -3.76453521e-02 -1.84068033e-02 1.23363941e+02] [ 3.76564763e-02 9.99290710e-01 2.58006524e-04 -4.63635261e+00] [ 1.83840348e-02 -9.50915249e-04 9.99830547e-01 1.36929881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.280714057 meters Centerline goodness [0,1] 0.9862981081432096 Centerline is valid? [True, True] Translation: X:123.39, Y:-4.64, Z:1.37 [[ 9.99054831e-01 -3.93883497e-02 -1.83848498e-02 1.23394886e+02] [ 3.93997383e-02 9.99223496e-01 2.57514396e-04 -4.63790378e+00] [ 1.83604308e-02 -9.81629271e-04 9.99830951e-01 1.37041961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.310714057 meters Centerline goodness [0,1] 0.9862889273356401 Centerline is valid? [True, True] Translation: X:123.42, Y:-4.64, Z:1.37 [[ 9.98909787e-01 -4.32896447e-02 -1.74712420e-02 1.23424840e+02] [ 4.33005282e-02 9.99062062e-01 2.44955815e-04 -4.64132530e+00] [ 1.74442511e-02 -1.00120277e-03 9.99847336e-01 1.37136952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.340714057 meters Centerline goodness [0,1] 0.9850552868002764 Centerline is valid? [True, True] Translation: X:123.46, Y:-4.65, Z:1.37 [[ 9.98661689e-01 -4.85010109e-02 -1.79578255e-02 1.23455533e+02] [ 4.85133487e-02 9.98822503e-01 2.51789020e-04 -4.64543304e+00] [ 1.79244682e-02 -1.12264630e-03 9.99838714e-01 1.37121877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.370714057 meters Centerline goodness [0,1] 0.985939828513423 Centerline is valid? [True, True] Translation: X:123.49, Y:-4.64, Z:1.37 [[ 9.98453162e-01 -5.21968100e-02 -1.91514297e-02 1.23485931e+02] [ 5.22115217e-02 9.98636012e-01 2.68633109e-04 -4.64364175e+00] [ 1.91112856e-02 -1.26814286e-03 9.99816558e-01 1.37105992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.400714057 meters Centerline goodness [0,1] 0.984822315298588 Centerline is valid? [True, True] Translation: X:123.52, Y:-4.65, Z:1.37 [[ 9.98438657e-01 -5.21086848e-02 -2.01229464e-02 1.23516830e+02] [ 5.21249199e-02 9.98640532e-01 2.82778873e-04 -4.64671202e+00] [ 2.00808546e-02 -1.33124433e-03 9.99797473e-01 1.37081250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.430714057 meters Centerline goodness [0,1] 0.9858453813522638 Centerline is valid? [True, True] Translation: X:123.55, Y:-4.65, Z:1.37 [[ 9.98366728e-01 -5.34985900e-02 -2.00443692e-02 1.23547432e+02] [ 5.35149969e-02 9.98567006e-01 2.82650754e-04 -4.64768222e+00] [ 2.00005243e-02 -1.35486347e-03 9.99799051e-01 1.37059702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.460714057 meters Centerline goodness [0,1] 0.9862600030197796 Centerline is valid? [True, True] Translation: X:123.58, Y:-4.64, Z:1.37 [[ 9.98349623e-01 -5.34339339e-02 -2.10438914e-02 1.23579907e+02] [ 5.34520257e-02 9.98570374e-01 2.97776419e-04 -4.64287484e+00] [ 2.09978952e-02 -1.42212360e-03 9.99778508e-01 1.37089063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.490714057 meters Centerline goodness [0,1] 0.9865137356085081 Centerline is valid? [True, True] Translation: X:123.61, Y:-4.64, Z:1.37 [[ 9.98364448e-01 -5.27839112e-02 -2.19610645e-02 1.23612490e+02] [ 5.28034945e-02 9.98604873e-01 3.12398038e-04 -4.64085697e+00] [ 2.19139364e-02 -1.47150804e-03 9.99758778e-01 1.37149375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.520714057 meters Centerline goodness [0,1] 0.9856584942503797 Centerline is valid? [True, True] Translation: X:123.64, Y:-4.64, Z:1.37 [[ 9.98299502e-01 -5.40176638e-02 -2.19133619e-02 1.23644339e+02] [ 5.40374898e-02 9.98538858e-01 3.13177213e-04 -4.63856818e+00] [ 2.18644263e-02 -1.49678773e-03 9.99759824e-01 1.37135277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55071405700001 meters Centerline goodness [0,1] 0.9861450869179312 Centerline is valid? [True, True] Translation: X:123.68, Y:-4.64, Z:1.37 [[ 9.98297145e-01 -5.39677550e-02 -2.21425369e-02 1.23675045e+02] [ 5.39880125e-02 9.98541533e-01 3.17666719e-04 -4.63996843e+00] [ 2.20930990e-02 -1.51255734e-03 9.99754774e-01 1.37175568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58071405700001 meters Centerline goodness [0,1] 0.9866901163800591 Centerline is valid? [True, True] Translation: X:123.71, Y:-4.64, Z:1.37 [[ 9.98282957e-01 -5.41838772e-02 -2.22540998e-02 1.23707060e+02] [ 5.42044231e-02 9.98529808e-01 3.20626097e-04 -4.63761396e+00] [ 2.22040092e-02 -1.52634621e-03 9.99752295e-01 1.37200131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.610714057 meters Centerline goodness [0,1] 0.9859262325439533 Centerline is valid? [True, True] Translation: X:123.74, Y:-4.64, Z:1.37 [[ 9.98306336e-01 -5.36495266e-02 -2.24986279e-02 1.23739113e+02] [ 5.36704284e-02 9.98558651e-01 3.25790409e-04 -4.63500193e+00] [ 2.24487210e-02 -1.53274963e-03 9.99746821e-01 1.37233325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.640714057 meters Centerline goodness [0,1] 0.9856283785250635 Centerline is valid? [True, True] Translation: X:123.77, Y:-4.64, Z:1.37 [[ 9.98349182e-01 -5.27249047e-02 -2.27814728e-02 1.23770040e+02] [ 5.27461446e-02 9.98607898e-01 3.32025363e-04 -4.63688189e+00] [ 2.27322527e-02 -1.53311211e-03 9.99740413e-01 1.37228886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.670714057 meters Centerline goodness [0,1] 0.9862909201865655 Centerline is valid? [True, True] Translation: X:123.80, Y:-4.63, Z:1.37 [[ 9.98265957e-01 -5.47331269e-02 -2.16647880e-02 1.23801545e+02] [ 5.47528483e-02 9.98499887e-01 3.17728578e-04 -4.63305348e+00] [ 2.16148981e-02 -1.50338647e-03 9.99765240e-01 1.37350714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.700714057 meters Centerline goodness [0,1] 0.985590652453513 Centerline is valid? [True, True] Translation: X:123.83, Y:-4.63, Z:1.37 [[ 9.98224232e-01 -5.54434469e-02 -2.17808700e-02 1.23834148e+02] [ 5.54635712e-02 9.98460660e-01 3.20474470e-04 -4.63224481e+00] [ 2.17295736e-02 -1.52795021e-03 9.99762717e-01 1.37417438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.730714057 meters Centerline goodness [0,1] 0.9857956405053349 Centerline is valid? [True, True] Translation: X:123.87, Y:-4.63, Z:1.38 [[ 9.98178683e-01 -5.62869638e-02 -2.17046936e-02 1.23866761e+02] [ 5.63071797e-02 9.98413441e-01 3.20911114e-04 -4.62609629e+00] [ 2.16521947e-02 -1.54245671e-03 9.99764374e-01 1.37534333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.760714057 meters Centerline goodness [0,1] 0.9844683914314384 Centerline is valid? [True, True] Translation: X:123.90, Y:-4.63, Z:1.37 [[ 9.98032780e-01 -5.87499984e-02 -2.18862567e-02 1.23896480e+02] [ 5.87711788e-02 9.98271427e-01 3.25235390e-04 -4.63427624e+00] [ 2.18293171e-02 -1.61087669e-03 9.99760414e-01 1.37464633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.790714057 meters Centerline goodness [0,1] 0.98554705382251 Centerline is valid? [True, True] Translation: X:123.93, Y:-4.63, Z:1.38 [[ 9.97917722e-01 -6.04931250e-02 -2.23785916e-02 1.23928195e+02] [ 6.05157360e-02 9.98167187e-01 3.33935722e-04 -4.62863794e+00] [ 2.23173750e-02 -1.68749732e-03 9.99749512e-01 1.37538437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.820714057 meters Centerline goodness [0,1] 0.9853435848149928 Centerline is valid? [True, True] Translation: X:123.96, Y:-4.63, Z:1.38 [[ 9.97668487e-01 -6.40951753e-02 -2.34392651e-02 1.23958677e+02] [ 6.41209823e-02 9.97942071e-01 3.50324633e-04 -4.62878227e+00] [ 2.33685746e-02 -1.85245655e-03 9.99725201e-01 1.37502563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.850714057 meters Centerline goodness [0,1] 0.9850041533686006 Centerline is valid? [True, True] Translation: X:123.99, Y:-4.63, Z:1.38 [[ 9.97554225e-01 -6.58266153e-02 -2.35037000e-02 1.23989990e+02] [ 6.58530508e-02 9.97829270e-01 3.51671557e-04 -4.62943546e+00] [ 2.34295305e-02 -1.89860180e-03 9.99723688e-01 1.37550228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.880714057 meters Centerline goodness [0,1] 0.9841342787114846 Centerline is valid? [True, True] Translation: X:124.02, Y:-4.63, Z:1.38 [[ 9.97413567e-01 -6.76925910e-02 -2.41638059e-02 1.24021042e+02] [ 6.77210936e-02 9.97704226e-01 3.62251392e-04 -4.62794889e+00] [ 2.40838095e-02 -1.99771381e-03 9.99707947e-01 1.37567057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.910714057 meters Centerline goodness [0,1] 0.9851351647628861 Centerline is valid? [True, True] Translation: X:124.05, Y:-4.63, Z:1.38 [[ 9.97389268e-01 -6.81058681e-02 -2.40049823e-02 1.24053435e+02] [ 6.81341389e-02 9.97676104e-01 3.60831204e-04 -4.62775208e+00] [ 2.39246225e-02 -1.99544797e-03 9.99711774e-01 1.37586859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94071405700001 meters Centerline goodness [0,1] 0.9854150674416055 Centerline is valid? [True, True] Translation: X:124.09, Y:-4.62, Z:1.38 [[ 9.97379255e-01 -6.79704819e-02 -2.47918352e-02 1.24085724e+02] [ 6.80006405e-02 9.97685207e-01 3.74468989e-04 -4.62398566e+00] [ 2.47089944e-02 -2.05934828e-03 9.99692565e-01 1.37622854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.970714057 meters Centerline goodness [0,1] 0.9853523963829833 Centerline is valid? [True, True] Translation: X:124.12, Y:-4.62, Z:1.38 [[ 9.97410190e-01 -6.75001414e-02 -2.48322968e-02 1.24118471e+02] [ 6.75303024e-02 9.97717152e-01 3.77044445e-04 -4.62345772e+00] [ 2.47501579e-02 -2.05300049e-03 9.99691560e-01 1.37641983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00071405699998 meters Centerline goodness [0,1] 0.9854797840696266 Centerline is valid? [True, True] Translation: X:124.15, Y:-4.62, Z:1.38 [[ 9.97520710e-01 -6.57682776e-02 -2.50393238e-02 1.24149725e+02] [ 6.57984431e-02 9.97832861e-01 3.81839291e-04 -4.61945715e+00] [ 2.49599472e-02 -2.02844113e-03 9.99686394e-01 1.37697679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03071405699998 meters Centerline goodness [0,1] 0.9853278110680296 Centerline is valid? [True, True] Translation: X:124.18, Y:-4.62, Z:1.38 [[ 9.97512629e-01 -6.61899840e-02 -2.42371618e-02 1.24181599e+02] [ 6.62183997e-02 9.97805084e-01 3.70814083e-04 -4.61700894e+00] [ 2.41594191e-02 -1.97483780e-03 9.99706168e-01 1.37776675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06071405699998 meters Centerline goodness [0,1] 0.9860813467953958 Centerline is valid? [True, True] Translation: X:124.21, Y:-4.61, Z:1.38 [[ 9.97640912e-01 -6.46552871e-02 -2.30717477e-02 1.24212913e+02] [ 6.46806566e-02 9.97905951e-01 3.54263941e-04 -4.61081537e+00] [ 2.30005293e-02 -1.84572399e-03 9.99733749e-01 1.37979308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09071405699999 meters Centerline goodness [0,1] 0.9864351360904914 Centerline is valid? [True, True] Translation: X:124.24, Y:-4.61, Z:1.38 [[ 9.97719808e-01 -6.36529780e-02 -2.24384207e-02 1.24244786e+02] [ 6.36767460e-02 9.97970517e-01 3.45633784e-04 -4.60890523e+00] [ 2.23708816e-02 -1.77365129e-03 9.99748167e-01 1.38066416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.120714057 meters Centerline goodness [0,1] 0.9861489102776856 Centerline is valid? [True, True] Translation: X:124.28, Y:-4.60, Z:1.38 [[ 9.97790822e-01 -6.26829004e-02 -2.20074913e-02 1.24277141e+02] [ 6.27055640e-02 9.98032012e-01 3.40570165e-04 -4.60373829e+00] [ 2.19428329e-02 -1.71980994e-03 9.99757748e-01 1.38139731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.150714057 meters Centerline goodness [0,1] 0.985638179800222 Centerline is valid? [True, True] Translation: X:124.31, Y:-4.61, Z:1.38 [[ 9.97872787e-01 -6.11671544e-02 -2.25494871e-02 1.24308095e+02] [ 6.11905946e-02 9.98126038e-01 3.50327671e-04 -4.60774193e+00] [ 2.24858017e-02 -1.72939898e-03 9.99745667e-01 1.38086056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.180714057 meters Centerline goodness [0,1] 0.9869452860452682 Centerline is valid? [True, True] Translation: X:124.34, Y:-4.60, Z:1.38 [[ 9.97908705e-01 -6.05806616e-02 -2.25433094e-02 1.24340389e+02] [ 6.06039654e-02 9.98161829e-01 3.51351730e-04 -4.60037991e+00] [ 2.24805858e-02 -1.71683089e-03 9.99745806e-01 1.38127624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.210714057 meters Centerline goodness [0,1] 0.9873113396554027 Centerline is valid? [True, True] Translation: X:124.37, Y:-4.60, Z:1.38 [[ 9.97918151e-01 -6.04983943e-02 -2.23452202e-02 1.24372232e+02] [ 6.05213051e-02 9.98166844e-01 3.49853412e-04 -4.60040511e+00] [ 2.22830923e-02 -1.70148696e-03 9.99750253e-01 1.38097656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.240714057 meters Centerline goodness [0,1] 0.9871460132556739 Centerline is valid? [True, True] Translation: X:124.40, Y:-4.60, Z:1.38 [[ 9.97915644e-01 -6.04700553e-02 -2.25330947e-02 1.24404145e+02] [ 6.04933822e-02 9.98168535e-01 3.54408287e-04 -4.59889742e+00] [ 2.24703951e-02 -1.71677269e-03 9.99746035e-01 1.38104253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.270714057 meters Centerline goodness [0,1] 0.9870147225872553 Centerline is valid? [True, True] Translation: X:124.44, Y:-4.60, Z:1.38 [[ 9.97885171e-01 -6.05378990e-02 -2.36716653e-02 1.24435116e+02] [ 6.05637155e-02 9.98164263e-01 3.74553208e-04 -4.59930396e+00] [ 2.36055357e-02 -1.80740509e-03 9.99719717e-01 1.37984834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.300714057 meters Centerline goodness [0,1] 0.9871420612813371 Centerline is valid? [True, True] Translation: X:124.47, Y:-4.60, Z:1.38 [[ 9.97869186e-01 -6.06370299e-02 -2.40881189e-02 1.24467475e+02] [ 6.06638512e-02 9.98158179e-01 3.83611716e-04 -4.59866199e+00] [ 2.40204919e-02 -1.84407237e-03 9.99709766e-01 1.37977715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.330714057 meters Centerline goodness [0,1] 0.9889589200303965 Centerline is valid? [True, True] Translation: X:124.50, Y:-4.59, Z:1.38 [[ 9.97846021e-01 -6.09026492e-02 -2.43759319e-02 1.24500017e+02] [ 6.09302369e-02 9.98141951e-01 3.89948592e-04 -4.58963767e+00] [ 2.43068913e-02 -1.87433995e-03 9.99702787e-01 1.38100980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.360714057 meters Centerline goodness [0,1] 0.9895284451192283 Centerline is valid? [True, True] Translation: X:124.53, Y:-4.59, Z:1.38 [[ 9.97839947e-01 -6.10761972e-02 -2.41896149e-02 1.24530709e+02] [ 6.11034491e-02 9.98131363e-01 3.88367436e-04 -4.59024703e+00] [ 2.41206933e-02 -1.86559744e-03 9.99707313e-01 1.38139998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.390714057 meters Centerline goodness [0,1] 0.9887896891991677 Centerline is valid? [True, True] Translation: X:124.56, Y:-4.59, Z:1.38 [[ 9.97826814e-01 -6.15358402e-02 -2.35582050e-02 1.24562542e+02] [ 6.15618427e-02 9.98103199e-01 3.79419052e-04 -4.59070535e+00] [ 2.34901719e-02 -1.82888102e-03 9.99722395e-01 1.38258336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.420714057 meters Centerline goodness [0,1] 0.986074789333691 Centerline is valid? [True, True] Translation: X:124.59, Y:-4.60, Z:1.38 [[ 9.97837485e-01 -6.18147306e-02 -2.23448377e-02 1.24593380e+02] [ 6.18382237e-02 9.98086120e-01 3.61291944e-04 -4.60014445e+00] [ 2.22797392e-02 -1.74227572e-03 9.99750258e-01 1.38299307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.450714057 meters Centerline goodness [0,1] 0.9885751335882129 Centerline is valid? [True, True] Translation: X:124.63, Y:-4.59, Z:1.38 [[ 9.97837505e-01 -6.20852285e-02 -2.15809476e-02 1.24625662e+02] [ 6.21072324e-02 9.98069421e-01 3.50206219e-04 -4.59179302e+00] [ 2.15175413e-02 -1.68978183e-03 9.99767043e-01 1.38471691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.480714057 meters Centerline goodness [0,1] 0.985674635150864 Centerline is valid? [True, True] Translation: X:124.66, Y:-4.60, Z:1.38 [[ 9.97794636e-01 -6.30814050e-02 -2.06543386e-02 1.24656589e+02] [ 6.31017983e-02 9.98007039e-01 3.36474295e-04 -4.60007775e+00] [ 2.05919501e-02 -1.63905816e-03 9.99786620e-01 1.38456456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.510714057 meters Centerline goodness [0,1] 0.9881098719352748 Centerline is valid? [True, True] Translation: X:124.69, Y:-4.59, Z:1.39 [[ 9.97761176e-01 -6.35865273e-02 -2.07217125e-02 1.24688639e+02] [ 6.36071876e-02 9.97974955e-01 3.38800377e-04 -4.58797680e+00] [ 2.06582070e-02 -1.65609172e-03 9.99785225e-01 1.38581902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54071405699997 meters Centerline goodness [0,1] 0.9881098719352748 Centerline is valid? [True, True] Translation: X:124.72, Y:-4.59, Z:1.39 [[ 9.97768081e-01 -6.34780967e-02 -2.07216839e-02 1.24721278e+02] [ 6.34987697e-02 9.97981859e-01 3.40542099e-04 -4.58860261e+00] [ 2.06582477e-02 -1.65558347e-03 9.99785225e-01 1.38627954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57071405699998 meters Centerline goodness [0,1] 0.9883267610682918 Centerline is valid? [True, True] Translation: X:124.75, Y:-4.59, Z:1.39 [[ 9.97613391e-01 -6.55458708e-02 -2.17085632e-02 1.24751501e+02] [ 6.55690936e-02 9.97847967e-01 3.58929171e-04 -4.59057467e+00] [ 2.16383194e-02 -1.78148336e-03 9.99764277e-01 1.38527029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60071405699998 meters Centerline goodness [0,1] 0.9876357934819129 Centerline is valid? [True, True] Translation: X:124.78, Y:-4.59, Z:1.38 [[ 9.97496375e-01 -6.69386659e-02 -2.28078066e-02 1.24781300e+02] [ 6.69647047e-02 9.97755273e-01 3.78967190e-04 -4.59228316e+00] [ 2.27312417e-02 -1.90533643e-03 9.99739796e-01 1.38438466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63071405699998 meters Centerline goodness [0,1] 0.9891326267673486 Centerline is valid? [True, True] Translation: X:124.81, Y:-4.59, Z:1.38 [[ 9.97390242e-01 -6.81584146e-02 -2.38145910e-02 1.24813576e+02] [ 6.81871966e-02 9.97672465e-01 3.97697696e-04 -4.58895699e+00] [ 2.37320552e-02 -2.02051000e-03 9.99716313e-01 1.38391031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66071405699998 meters Centerline goodness [0,1] 0.9880738478124158 Centerline is valid? [True, True] Translation: X:124.84, Y:-4.59, Z:1.38 [[ 9.97162253e-01 -7.08828753e-02 -2.53585990e-02 1.24842879e+02] [ 7.09164206e-02 9.97482171e-01 4.24844202e-04 -4.59322265e+00] [ 2.52646362e-02 -2.22197968e-03 9.99678329e-01 1.38238816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69071405699998 meters Centerline goodness [0,1] 0.9887781386493448 Centerline is valid? [True, True] Translation: X:124.87, Y:-4.59, Z:1.38 [[ 9.97073144e-01 -7.16429800e-02 -2.66913607e-02 1.24873760e+02] [ 7.16804435e-02 9.97427548e-01 4.48207076e-04 -4.59437692e+00] [ 2.65905875e-02 -2.36014381e-03 9.99643622e-01 1.38220027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72071405699998 meters Centerline goodness [0,1] 0.9881925114483254 Centerline is valid? [True, True] Translation: X:124.91, Y:-4.59, Z:1.38 [[ 9.97091353e-01 -7.12180164e-02 -2.71445834e-02 1.24906123e+02] [ 7.12566531e-02 9.97457909e-01 4.57509233e-04 -4.59251162e+00] [ 2.70429965e-02 -2.39041067e-03 9.99631413e-01 1.38290696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75071405699998 meters Centerline goodness [0,1] 0.9873488705950966 Centerline is valid? [True, True] Translation: X:124.94, Y:-4.59, Z:1.38 [[ 9.97178920e-01 -6.99308945e-02 -2.72740086e-02 1.24937803e+02] [ 6.99694693e-02 9.97549027e-01 4.61393960e-04 -4.59176338e+00] [ 2.71748950e-02 -2.36844024e-03 9.99627889e-01 1.38322406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78071405699998 meters Centerline goodness [0,1] 0.9892090382752484 Centerline is valid? [True, True] Translation: X:124.97, Y:-4.58, Z:1.39 [[ 9.97484795e-01 -6.57959318e-02 -2.63624485e-02 1.24968263e+02] [ 6.58305548e-02 9.97830716e-01 4.46686150e-04 -4.58283380e+00] [ 2.62758708e-02 -2.18101725e-03 9.99652350e-01 1.38535722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81071405699998 meters Centerline goodness [0,1] 0.9882408384012926 Centerline is valid? [True, True] Translation: X:125.00, Y:-4.58, Z:1.39 [[ 9.97882932e-01 -6.01356720e-02 -2.47660109e-02 1.24997654e+02] [ 6.01644891e-02 9.98188388e-01 4.19413496e-04 -4.57946742e+00] [ 2.46959228e-02 -1.90855996e-03 9.99693187e-01 1.38675401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84071405699999 meters Centerline goodness [0,1] 0.9877250778464732 Centerline is valid? [True, True] Translation: X:125.03, Y:-4.57, Z:1.39 [[ 9.98069716e-01 -5.72524922e-02 -2.40623133e-02 1.25029080e+02] [ 5.72788604e-02 9.98358135e-01 4.07463205e-04 -4.57408890e+00] [ 2.39994780e-02 -1.78493857e-03 9.99710378e-01 1.38839355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.870714057 meters Centerline goodness [0,1] 0.9870861968288192 Centerline is valid? [True, True] Translation: X:125.06, Y:-4.58, Z:1.39 [[ 9.98261530e-01 -5.43932611e-02 -2.27000252e-02 1.25058562e+02] [ 5.44159990e-02 9.98518278e-01 3.84713765e-04 -4.57618476e+00] [ 2.26454642e-02 -1.61928950e-03 9.99742247e-01 1.38899330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.900714057 meters Centerline goodness [0,1] 0.9882935207575313 Centerline is valid? [True, True] Translation: X:125.09, Y:-4.56, Z:1.39 [[ 9.98527007e-01 -5.04267236e-02 -2.00240519e-02 1.25089213e+02] [ 5.04436215e-02 9.98726852e-01 3.39368338e-04 -4.56394761e+00] [ 1.99814451e-02 -1.34895415e-03 9.99799441e-01 1.39213338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.930714057 meters Centerline goodness [0,1] 0.9882576528880744 Centerline is valid? [True, True] Translation: X:125.12, Y:-4.56, Z:1.39 [[ 9.98607407e-01 -4.90454270e-02 -1.94369038e-02 1.25120240e+02] [ 4.90610918e-02 9.98795725e-01 3.29622664e-04 -4.56235506e+00] [ 1.93973300e-02 -1.28275936e-03 9.99811031e-01 1.39324964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.960714057 meters Centerline goodness [0,1] 0.9877169922494674 Centerline is valid? [True, True] Translation: X:125.15, Y:-4.56, Z:1.39 [[ 9.98648927e-01 -4.82690057e-02 -1.92464088e-02 1.25152840e+02] [ 4.82842381e-02 9.98833582e-01 3.27267096e-04 -4.55861457e+00] [ 1.92081626e-02 -1.25612312e-03 9.99814717e-01 1.39349502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.990714057 meters Centerline goodness [0,1] 0.9881063168168509 Centerline is valid? [True, True] Translation: X:125.18, Y:-4.56, Z:1.39 [[ 9.98590553e-01 -4.91749893e-02 -1.99681780e-02 1.25183728e+02] [ 4.91915939e-02 9.98789303e-01 3.40924940e-04 -4.56132846e+00] [ 1.99272376e-02 -1.32271093e-03 9.99800558e-01 1.39290600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.020714057 meters Centerline goodness [0,1] 0.9880346925801471 Centerline is valid? [True, True] Translation: X:125.21, Y:-4.56, Z:1.39 [[ 9.98454316e-01 -5.11416453e-02 -2.17603088e-02 1.25214553e+02] [ 5.11618510e-02 9.98690305e-01 3.72496218e-04 -4.56172781e+00] [ 2.17127594e-02 -1.48521813e-03 9.99763147e-01 1.39153194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.050714057 meters Centerline goodness [0,1] 0.9879739929071565 Centerline is valid? [True, True] Translation: X:125.25, Y:-4.56, Z:1.39 [[ 9.98339094e-01 -5.29056200e-02 -2.28045624e-02 1.25245529e+02] [ 5.29282797e-02 9.98598240e-01 3.90792271e-04 -4.56319544e+00] [ 2.27519207e-02 -1.59714946e-03 9.99739866e-01 1.39082130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.080714057 meters Centerline goodness [0,1] 0.9869074901862903 Centerline is valid? [True, True] Translation: X:125.28, Y:-4.57, Z:1.39 [[ 9.98239124e-01 -5.42391359e-02 -2.40159729e-02 1.25276510e+02] [ 5.42646709e-02 9.98526502e-01 4.12348460e-04 -4.56881692e+00] [ 2.39582200e-02 -1.71484123e-03 9.99711490e-01 1.38963847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.110714057 meters Centerline goodness [0,1] 0.986041647722106 Centerline is valid? [True, True] Translation: X:125.31, Y:-4.57, Z:1.39 [[ 9.98059378e-01 -5.65715978e-02 -2.60217700e-02 1.25306979e+02] [ 5.66023932e-02 9.98396699e-01 4.47811800e-04 -4.57186186e+00] [ 2.59547158e-02 -1.91983722e-03 9.99661276e-01 1.38828205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.140714057 meters Centerline goodness [0,1] 0.9872031331830499 Centerline is valid? [True, True] Translation: X:125.34, Y:-4.57, Z:1.39 [[ 9.98032814e-01 -5.69330418e-02 -2.62512957e-02 1.25339071e+02] [ 5.69645362e-02 9.98376100e-01 4.52862129e-04 -4.56928290e+00] [ 2.61828834e-02 -1.94736415e-03 9.99655273e-01 1.38886194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.170714057 meters Centerline goodness [0,1] 0.986672731407778 Centerline is valid? [True, True] Translation: X:125.37, Y:-4.57, Z:1.39 [[ 9.98078837e-01 -5.64684909e-02 -2.54940139e-02 1.25370097e+02] [ 5.64981043e-02 9.98402609e-01 4.42202901e-04 -4.57096982e+00] [ 2.54283195e-02 -1.88171681e-03 9.99674877e-01 1.38917327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.200714057 meters Centerline goodness [0,1] 0.9869535519125683 Centerline is valid? [True, True] Translation: X:125.40, Y:-4.57, Z:1.39 [[ 9.98150792e-01 -5.53763588e-02 -2.50689970e-02 1.25401882e+02] [ 5.54047128e-02 9.98463883e-01 4.37342713e-04 -4.57030790e+00] [ 2.50062696e-02 -1.82547455e-03 9.99685628e-01 1.39030028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.230714057 meters Centerline goodness [0,1] 0.9870230397960112 Centerline is valid? [True, True] Translation: X:125.43, Y:-4.56, Z:1.39 [[ 9.98379490e-01 -5.15676068e-02 -2.40660811e-02 1.25432192e+02] [ 5.15926585e-02 9.98668123e-01 4.20798163e-04 -4.56404585e+00] [ 2.40123285e-02 -1.66174936e-03 9.99710281e-01 1.39281042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.260714057 meters Centerline goodness [0,1] 0.9876874758187487 Centerline is valid? [True, True] Translation: X:125.46, Y:-4.56, Z:1.39 [[ 9.98509903e-01 -4.91479530e-02 -2.37160825e-02 1.25462488e+02] [ 4.91716022e-02 9.98790259e-01 4.14698697e-04 -4.56171455e+00] [ 2.36670106e-02 -1.58023853e-03 9.99718648e-01 1.39446891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29071405699997 meters Centerline goodness [0,1] 0.989716401197468 Centerline is valid? [True, True] Translation: X:125.49, Y:-4.55, Z:1.40 [[ 9.98704153e-01 -4.53418793e-02 -2.31112341e-02 1.25493692e+02] [ 4.53633247e-02 9.98970473e-01 4.04224870e-04 -4.55252816e+00] [ 2.30691122e-02 -1.45210347e-03 9.99732818e-01 1.39701471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32071405699998 meters Centerline goodness [0,1] 0.9896294942665266 Centerline is valid? [True, True] Translation: X:125.53, Y:-4.55, Z:1.40 [[ 9.98771613e-01 -4.36612941e-02 -2.34298356e-02 1.25525312e+02] [ 4.36828861e-02 9.99045363e-01 4.10298372e-04 -4.55179978e+00] [ 2.33895545e-02 -1.43327721e-03 9.99725400e-01 1.39753361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35071405699998 meters Centerline goodness [0,1] 0.9888245127899787 Centerline is valid? [True, True] Translation: X:125.56, Y:-4.55, Z:1.40 [[ 9.98844812e-01 -4.17182695e-02 -2.38458939e-02 1.25556185e+02] [ 4.17401045e-02 9.99128414e-01 4.18455906e-04 -4.55305026e+00] [ 2.38076529e-02 -1.41330261e-03 9.99715559e-01 1.39688508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38071405699998 meters Centerline goodness [0,1] 0.9892963557185422 Centerline is valid? [True, True] Translation: X:125.59, Y:-4.55, Z:1.40 [[ 9.98873480e-01 -4.08725928e-02 -2.41081240e-02 1.25588063e+02] [ 4.08946991e-02 9.99163372e-01 4.24453412e-04 -4.55452395e+00] [ 2.40706059e-02 -1.40986973e-03 9.99709267e-01 1.39650689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41071405699998 meters Centerline goodness [0,1] 0.9888491189427313 Centerline is valid? [True, True] Translation: X:125.62, Y:-4.55, Z:1.40 [[ 9.98901169e-01 -3.96255962e-02 -2.50253096e-02 1.25620251e+02] [ 3.96490793e-02 9.99213568e-01 4.42682459e-04 -4.55335007e+00] [ 2.49880873e-02 -1.43442651e-03 9.99686720e-01 1.39711727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44071405699998 meters Centerline goodness [0,1] 0.989612236006329 Centerline is valid? [True, True] Translation: X:125.65, Y:-4.55, Z:1.40 [[ 9.98951779e-01 -3.78603754e-02 -2.57281030e-02 1.25650711e+02] [ 3.78846452e-02 9.99282015e-01 4.56369456e-04 -4.55322623e+00] [ 2.56923523e-02 -1.43059113e-03 9.99668873e-01 1.39662194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47071405699998 meters Centerline goodness [0,1] 0.990240758642913 Centerline is valid? [True, True] Translation: X:125.68, Y:-4.55, Z:1.40 [[ 9.99037942e-01 -3.48828692e-02 -2.65777246e-02 1.25681280e+02] [ 3.49077255e-02 9.99390428e-01 4.71700086e-04 -4.55031641e+00] [ 2.65450693e-02 -1.39901420e-03 9.99646639e-01 1.39693124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50071405699998 meters Centerline goodness [0,1] 0.9912070711720836 Centerline is valid? [True, True] Translation: X:125.71, Y:-4.55, Z:1.40 [[ 9.99090495e-01 -3.32523829e-02 -2.66919742e-02 1.25712745e+02] [ 3.32768853e-02 9.99446059e-01 4.74177666e-04 -4.54599657e+00] [ 2.66614209e-02 -1.36197216e-03 9.99643593e-01 1.39871507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53071405699998 meters Centerline goodness [0,1] 0.9908592742678209 Centerline is valid? [True, True] Translation: X:125.74, Y:-4.54, Z:1.40 [[ 9.99146862e-01 -3.17282336e-02 -2.64360806e-02 1.25743281e+02] [ 3.17517494e-02 9.99495676e-01 4.70131654e-04 -4.54354749e+00] [ 2.64078318e-02 -1.30912237e-03 9.99650395e-01 1.40020063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56071405699998 meters Centerline goodness [0,1] 0.9906005943741792 Centerline is valid? [True, True] Translation: X:125.77, Y:-4.54, Z:1.40 [[ 9.99270095e-01 -2.86339122e-02 -2.52859111e-02 1.25773423e+02] [ 2.86544371e-02 9.99589276e-01 4.49677371e-04 -4.54250152e+00] [ 2.52626496e-02 -1.17390270e-03 9.99680159e-01 1.40064661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59071405699999 meters Centerline goodness [0,1] 0.9910431912094 Centerline is valid? [True, True] Translation: X:125.80, Y:-4.54, Z:1.40 [[ 9.99314031e-01 -2.74575945e-02 -2.48505283e-02 1.25803363e+02] [ 2.74770555e-02 9.99622337e-01 4.41934649e-04 -4.54402305e+00] [ 2.48290087e-02 -1.12445084e-03 9.99691080e-01 1.40113466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.620714057 meters Centerline goodness [0,1] 0.9900460829493087 Centerline is valid? [True, True] Translation: X:125.83, Y:-4.55, Z:1.40 [[ 9.99349798e-01 -2.65661059e-02 -2.43767004e-02 1.25832515e+02] [ 2.65845699e-02 9.99646474e-01 4.33631367e-04 -4.54756690e+00] [ 2.43565627e-02 -1.08139351e-03 9.99702750e-01 1.40124013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.650714057 meters Centerline goodness [0,1] 0.989102947261943 Centerline is valid? [True, True] Translation: X:125.86, Y:-4.55, Z:1.40 [[ 9.99332514e-01 -2.70074061e-02 -2.45993144e-02 1.25861810e+02] [ 2.70263424e-02 9.99634626e-01 4.37589846e-04 -4.54852002e+00] [ 2.45785083e-02 -1.10212725e-03 9.99697295e-01 1.40144530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.680714057 meters Centerline goodness [0,1] 0.9906226903178122 Centerline is valid? [True, True] Translation: X:125.89, Y:-4.54, Z:1.40 [[ 9.99303004e-01 -2.76418476e-02 -2.50885302e-02 1.25892352e+02] [ 2.76617384e-02 9.99617241e-01 4.46055699e-04 -4.54326104e+00] [ 2.50665976e-02 -1.13973716e-03 9.99685134e-01 1.40321100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.710714057 meters Centerline goodness [0,1] 0.9903234724910146 Centerline is valid? [True, True] Translation: X:125.92, Y:-4.54, Z:1.40 [[ 9.99211515e-01 -3.00863343e-02 -2.59067626e-02 1.25923140e+02] [ 3.01083639e-02 9.99546534e-01 4.60603271e-04 -4.54412195e+00] [ 2.58811569e-02 -1.24025033e-03 9.99664257e-01 1.40330582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.740714057 meters Centerline goodness [0,1] 0.990919748971288 Centerline is valid? [True, True] Translation: X:125.95, Y:-4.55, Z:1.40 [[ 9.99163285e-01 -3.14226873e-02 -2.61790873e-02 1.25953531e+02] [ 3.14456555e-02 9.99505354e-01 4.66029953e-04 -4.54696883e+00] [ 2.61514940e-02 -1.28885858e-03 9.99657160e-01 1.40322443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.770714057 meters Centerline goodness [0,1] 0.9899203269579593 Centerline is valid? [True, True] Translation: X:125.98, Y:-4.55, Z:1.40 [[ 9.99016535e-01 -3.47943598e-02 -2.74830157e-02 1.25984497e+02] [ 3.48209725e-02 9.99393446e-01 4.90197280e-04 -4.55065180e+00] [ 2.74492897e-02 -1.44670052e-03 9.99622150e-01 1.40352071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.800714057 meters Centerline goodness [0,1] 0.9898592715231788 Centerline is valid? [True, True] Translation: X:126.02, Y:-4.55, Z:1.40 [[ 9.98939375e-01 -3.66233882e-02 -2.79079416e-02 1.26016053e+02] [ 3.66515630e-02 9.99327981e-01 4.98524930e-04 -4.55186467e+00] [ 2.78709293e-02 -1.52086586e-03 9.99610373e-01 1.40411300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.830714057 meters Centerline goodness [0,1] 0.9900657682932438 Centerline is valid? [True, True] Translation: X:126.05, Y:-4.56, Z:1.40 [[ 9.98780327e-01 -4.05692817e-02 -2.81423537e-02 1.26047129e+02] [ 4.05995140e-02 9.99175373e-01 5.03464537e-04 -4.55609747e+00] [ 2.80987216e-02 -1.64541636e-03 9.99603799e-01 1.40446732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.860714057 meters Centerline goodness [0,1] 0.9894659367956208 Centerline is valid? [True, True] Translation: X:126.08, Y:-4.56, Z:1.40 [[ 9.98699350e-01 -4.25454339e-02 -2.80979407e-02 1.26078381e+02] [ 4.25763709e-02 9.99093088e-01 5.03416080e-04 -4.55787108e+00] [ 2.80510403e-02 -1.69906966e-03 9.99605048e-01 1.40498057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.890714057 meters Centerline goodness [0,1] 0.9891202272154653 Centerline is valid? [True, True] Translation: X:126.11, Y:-4.56, Z:1.40 [[ 9.98613348e-01 -4.46907634e-02 -2.78229473e-02 1.26108852e+02] [ 4.47219475e-02 9.98999348e-01 4.99236442e-04 -4.56397046e+00] [ 2.77727949e-02 -1.74284056e-03 9.99612742e-01 1.40437835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.920714057 meters Centerline goodness [0,1] 0.9895997622802807 Centerline is valid? [True, True] Translation: X:126.14, Y:-4.57, Z:1.40 [[ 9.98473846e-01 -4.78686330e-02 -2.75422094e-02 1.26139499e+02] [ 4.79004077e-02 9.98851994e-01 4.94685170e-04 -4.56842885e+00] [ 2.74869109e-02 -1.81321326e-03 9.99620519e-01 1.40475316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.950714057 meters Centerline goodness [0,1] 0.9893232738911751 Centerline is valid? [True, True] Translation: X:126.17, Y:-4.57, Z:1.40 [[ 9.98414084e-01 -4.91067361e-02 -2.75289791e-02 1.26171433e+02] [ 4.91389815e-02 9.98791828e-01 4.95643183e-04 -4.57079515e+00] [ 2.74713800e-02 -1.84760313e-03 9.99620883e-01 1.40491522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.980714057 meters Centerline goodness [0,1] 0.9876890046137682 Centerline is valid? [True, True] Translation: X:126.20, Y:-4.57, Z:1.41 [[ 9.98279260e-01 -5.12365865e-02 -2.85189542e-02 1.26202961e+02] [ 5.12721027e-02 9.98684588e-01 5.15005134e-04 -4.57353700e+00] [ 2.84550530e-02 -1.97634569e-03 9.99593119e-01 1.40522828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.010714057 meters Centerline goodness [0,1] 0.9888094639961632 Centerline is valid? [True, True] Translation: X:126.24, Y:-4.57, Z:1.41 [[ 9.98260782e-01 -5.15193762e-02 -2.86559634e-02 1.26235293e+02] [ 5.15553948e-02 9.98670001e-01 5.19029176e-04 -4.57158966e+00] [ 2.85911109e-02 -1.99549598e-03 9.99589199e-01 1.40644325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04071405699997 meters Centerline goodness [0,1] 0.9894525364138623 Centerline is valid? [True, True] Translation: X:126.27, Y:-4.57, Z:1.41 [[ 9.98225536e-01 -5.19024065e-02 -2.91876526e-02 1.26267522e+02] [ 5.19400002e-02 9.98650066e-01 5.30800464e-04 -4.57219418e+00] [ 2.91207014e-02 -2.04586526e-03 9.99573809e-01 1.40730738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07071405699998 meters Centerline goodness [0,1] 0.9883900928792569 Centerline is valid? [True, True] Translation: X:126.30, Y:-4.58, Z:1.41 [[ 9.98209081e-01 -5.21814817e-02 -2.92527415e-02 1.26298813e+02] [ 5.22194169e-02 9.98635493e-01 5.33844879e-04 -4.57558740e+00] [ 2.91849691e-02 -2.06044991e-03 9.99571904e-01 1.40705488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10071405699998 meters Centerline goodness [0,1] 0.9885023450662538 Centerline is valid? [True, True] Translation: X:126.33, Y:-4.58, Z:1.41 [[ 9.98138779e-01 -5.31433316e-02 -2.99125930e-02 1.26330137e+02] [ 5.31834771e-02 9.98584607e-01 5.47528122e-04 -4.58100932e+00] [ 2.98411575e-02 -2.13736476e-03 9.99552368e-01 1.40637425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13071405699998 meters Centerline goodness [0,1] 0.9883625784162197 Centerline is valid? [True, True] Translation: X:126.36, Y:-4.58, Z:1.41 [[ 9.98108680e-01 -5.33319730e-02 -3.05739044e-02 1.26361694e+02] [ 5.33740528e-02 9.98574432e-01 5.61285119e-04 -4.58178348e+00] [ 3.05003848e-02 -2.19207674e-03 9.99532351e-01 1.40694929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16071405699998 meters Centerline goodness [0,1] 0.9882880014554717 Centerline is valid? [True, True] Translation: X:126.39, Y:-4.58, Z:1.41 [[ 9.98057075e-01 -5.40274487e-02 -3.10340034e-02 1.26393619e+02] [ 5.40711998e-02 9.98536919e-01 5.71676028e-04 -4.58347320e+00] [ 3.09577120e-02 -2.24861110e-03 9.99518166e-01 1.40749309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19071405699998 meters Centerline goodness [0,1] 0.9882545380194016 Centerline is valid? [True, True] Translation: X:126.42, Y:-4.59, Z:1.41 [[ 9.98036938e-01 -5.42936755e-02 -3.12164659e-02 1.26424597e+02] [ 5.43381312e-02 9.98522426e-01 5.76925223e-04 -4.58591017e+00] [ 3.11390179e-02 -2.27203711e-03 9.99512481e-01 1.40757575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22071405699998 meters Centerline goodness [0,1] 0.9886655893665931 Centerline is valid? [True, True] Translation: X:126.46, Y:-4.58, Z:1.41 [[ 9.98045280e-01 -5.44668024e-02 -3.06428861e-02 1.26456666e+02] [ 5.45097775e-02 9.98513075e-01 5.68219144e-04 -4.58495909e+00] [ 3.05663733e-02 -2.23744534e-03 9.99530235e-01 1.40879534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25071405699998 meters Centerline goodness [0,1] 0.9888398945358668 Centerline is valid? [True, True] Translation: X:126.49, Y:-4.58, Z:1.41 [[ 9.98062422e-01 -5.44081223e-02 -3.01853828e-02 1.26489265e+02] [ 5.44498612e-02 9.98516348e-01 5.61889754e-04 -4.58254417e+00] [ 3.01100268e-02 -2.20439095e-03 9.99544160e-01 1.41063475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28071405699998 meters Centerline goodness [0,1] 0.9881845760817499 Centerline is valid? [True, True] Translation: X:126.52, Y:-4.58, Z:1.41 [[ 9.98103553e-01 -5.39289213e-02 -2.96811283e-02 1.26521704e+02] [ 5.39691296e-02 9.98542450e-01 5.54652763e-04 -4.58195557e+00] [ 2.96079547e-02 -2.15546555e-03 9.99559264e-01 1.41220472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31071405699998 meters Centerline goodness [0,1] 0.9878492764175845 Centerline is valid? [True, True] Translation: X:126.55, Y:-4.58, Z:1.41 [[ 9.98151756e-01 -5.31956369e-02 -2.93819058e-02 1.26554370e+02] [ 5.32347930e-02 9.98581871e-01 5.51478379e-04 -4.58076333e+00] [ 2.93109022e-02 -2.11459879e-03 9.99568106e-01 1.41387472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34071405699999 meters Centerline goodness [0,1] 0.9883074258102749 Centerline is valid? [True, True] Translation: X:126.59, Y:-4.58, Z:1.41 [[ 9.98209905e-01 -5.25490498e-02 -2.85583993e-02 1.26585403e+02] [ 5.25858354e-02 9.98616263e-01 5.38056442e-04 -4.58213105e+00] [ 2.84906076e-02 -2.03886055e-03 9.99591981e-01 1.41460017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.370714057 meters Centerline goodness [0,1] 0.9875036920909731 Centerline is valid? [True, True] Translation: X:126.62, Y:-4.59, Z:1.41 [[ 9.98287741e-01 -5.15488866e-02 -2.76459460e-02 1.26615705e+02] [ 5.15830035e-02 9.98668574e-01 5.21845025e-04 -4.58520948e+00] [ 2.75822369e-02 -1.94701242e-03 9.99617642e-01 1.41488779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.400714057 meters Centerline goodness [0,1] 0.9881776765375854 Centerline is valid? [True, True] Translation: X:126.65, Y:-4.58, Z:1.42 [[ 9.98292797e-01 -5.14588920e-02 -2.76310264e-02 1.26647905e+02] [ 5.14929715e-02 9.98673220e-01 5.22787004e-04 -4.58282230e+00] [ 2.75674641e-02 -1.94469816e-03 9.99618054e-01 1.41566841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.430714057 meters Centerline goodness [0,1] 0.9881776765375854 Centerline is valid? [True, True] Translation: X:126.68, Y:-4.58, Z:1.42 [[ 9.98296492e-01 -5.13871802e-02 -2.76309887e-02 1.26679674e+02] [ 5.14212870e-02 9.98676913e-01 5.24772811e-04 -4.58348478e+00] [ 2.75674639e-02 -1.94469986e-03 9.99618054e-01 1.41611663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.460714057 meters Centerline goodness [0,1] 0.9880421933254524 Centerline is valid? [True, True] Translation: X:126.71, Y:-4.58, Z:1.42 [[ 9.98284640e-01 -5.14364325e-02 -2.79655147e-02 1.26711818e+02] [ 5.14714462e-02 9.98674324e-01 5.33146788e-04 -4.58475688e+00] [ 2.79010183e-02 -1.97165774e-03 9.99608746e-01 1.41586311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.490714057 meters Centerline goodness [0,1] 0.9883527832753247 Centerline is valid? [True, True] Translation: X:126.74, Y:-4.59, Z:1.42 [[ 9.98255061e-01 -5.18464322e-02 -2.82626960e-02 1.26743886e+02] [ 5.18824153e-02 9.98653054e-01 5.40847272e-04 -4.58661900e+00] [ 2.81965867e-02 -2.00624046e-03 9.99600384e-01 1.41611011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.520714057 meters Centerline goodness [0,1] 0.9879002911208151 Centerline is valid? [True, True] Translation: X:126.78, Y:-4.59, Z:1.42 [[ 9.98163688e-01 -5.30568643e-02 -2.92270568e-02 1.26775925e+02] [ 5.30959242e-02 9.98589259e-01 5.61421653e-04 -4.58934537e+00] [ 2.91560378e-02 -2.11222830e-03 9.99572641e-01 1.41568189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.550714057 meters Centerline goodness [0,1] 0.9873567400400218 Centerline is valid? [True, True] Translation: X:126.81, Y:-4.59, Z:1.42 [[ 9.98119849e-01 -5.37047333e-02 -2.95392863e-02 1.26807308e+02] [ 5.37449689e-02 9.98554532e-01 5.69256172e-04 -4.59268568e+00] [ 2.94660165e-02 -2.15577391e-03 9.99563458e-01 1.41521210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.580714057 meters Centerline goodness [0,1] 0.9891037306642402 Centerline is valid? [True, True] Translation: X:126.84, Y:-4.59, Z:1.42 [[ 9.98083256e-01 -5.41993360e-02 -2.98704955e-02 1.26839136e+02] [ 5.42407709e-02 9.98527719e-01 5.78024078e-04 -4.58923291e+00] [ 2.97951892e-02 -2.19711486e-03 9.99553610e-01 1.41671628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.610714057 meters Centerline goodness [0,1] 0.9886826824547421 Centerline is valid? [True, True] Translation: X:126.87, Y:-4.59, Z:1.42 [[ 9.98086163e-01 -5.41249503e-02 -2.99081956e-02 1.26870647e+02] [ 5.41665572e-02 9.98531745e-01 5.82123920e-04 -4.59424214e+00] [ 2.98327753e-02 -2.20103382e-03 9.99552480e-01 1.41627189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.640714057 meters Centerline goodness [0,1] 0.9889541609018122 Centerline is valid? [True, True] Translation: X:126.90, Y:-4.59, Z:1.42 [[ 9.98162311e-01 -5.27075000e-02 -2.98985041e-02 1.26902074e+02] [ 5.27485155e-02 9.98607657e-01 5.84210457e-04 -4.59385324e+00] [ 2.98260828e-02 -2.16023856e-03 9.99552769e-01 1.41712766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.670714057 meters Centerline goodness [0,1] 0.9898695563093314 Centerline is valid? [True, True] Translation: X:126.93, Y:-4.59, Z:1.42 [[ 9.98215901e-01 -5.15154716e-02 -3.01855962e-02 1.26934147e+02] [ 5.15567874e-02 9.98669889e-01 5.91494906e-04 -4.59287358e+00] [ 3.01149749e-02 -2.14671199e-03 9.99544136e-01 1.41822119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.700714057 meters Centerline goodness [0,1] 0.9895077955039884 Centerline is valid? [True, True] Translation: X:126.96, Y:-4.59, Z:1.42 [[ 9.98342882e-01 -4.93643481e-02 -2.95745030e-02 1.26964877e+02] [ 4.94031137e-02 9.98778752e-01 5.81073135e-04 -4.59310847e+00] [ 2.95097009e-02 -2.04118276e-03 9.99562410e-01 1.41835209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.730714057 meters Centerline goodness [0,1] 0.9892355906799292 Centerline is valid? [True, True] Translation: X:127.00, Y:-4.59, Z:1.42 [[ 9.98394992e-01 -4.78493210e-02 -3.02965699e-02 1.26995240e+02] [ 4.78893717e-02 9.98852467e-01 5.97312736e-04 -4.59392210e+00] [ 3.02332226e-02 -2.04723774e-03 9.99540775e-01 1.41891551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.760714057 meters Centerline goodness [0,1] 0.989249266995477 Centerline is valid? [True, True] Translation: X:127.03, Y:-4.59, Z:1.42 [[ 9.98578187e-01 -4.47790731e-02 -2.89212582e-02 1.27026285e+02] [ 4.48143309e-02 9.98995170e-01 5.71744032e-04 -4.58957162e+00] [ 2.88665950e-02 -1.86701795e-03 9.99581529e-01 1.42137895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79071405699997 meters Centerline goodness [0,1] 0.9898773913241282 Centerline is valid? [True, True] Translation: X:127.06, Y:-4.59, Z:1.42 [[ 9.98684445e-01 -4.28398872e-02 -2.81801840e-02 1.27057699e+02] [ 4.28726129e-02 9.99080391e-01 5.57853996e-04 -4.58950202e+00] [ 2.81303708e-02 -1.76527823e-03 9.99602704e-01 1.42245824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82071405699998 meters Centerline goodness [0,1] 0.9901695915726383 Centerline is valid? [True, True] Translation: X:127.09, Y:-4.59, Z:1.42 [[ 9.98772167e-01 -4.09061392e-02 -2.79436407e-02 1.27088927e+02] [ 4.09375920e-02 9.99161552e-01 5.54182820e-04 -4.58982883e+00] [ 2.78975420e-02 -1.69744774e-03 9.99609347e-01 1.42338455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85071405699998 meters Centerline goodness [0,1] 0.9902696312463056 Centerline is valid? [True, True] Translation: X:127.12, Y:-4.59, Z:1.42 [[ 9.98938166e-01 -3.66792664e-02 -2.78777911e-02 1.27119301e+02] [ 3.67089498e-02 9.99325846e-01 5.53561045e-04 -4.58880790e+00] [ 2.78386929e-02 -1.57633769e-03 9.99611186e-01 1.42413422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88071405699998 meters Centerline goodness [0,1] 0.9907489487441755 Centerline is valid? [True, True] Translation: X:127.15, Y:-4.59, Z:1.42 [[ 9.99015567e-01 -3.44546088e-02 -2.79423998e-02 1.27149782e+02] [ 3.44835745e-02 9.99405110e-01 5.55270118e-04 -4.58985573e+00] [ 2.79066456e-02 -1.51827732e-03 9.99609381e-01 1.42391844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91071405699998 meters Centerline goodness [0,1] 0.9907720980975976 Centerline is valid? [True, True] Translation: X:127.18, Y:-4.59, Z:1.42 [[ 9.99192340e-01 -2.85723159e-02 -2.82540213e-02 1.27179583e+02] [ 2.85995865e-02 9.99590790e-01 5.61473727e-04 -4.58869154e+00] [ 2.82264169e-02 -1.36907357e-03 9.99600618e-01 1.42367693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94071405699998 meters Centerline goodness [0,1] 0.9908254792150435 Centerline is valid? [True, True] Translation: X:127.21, Y:-4.59, Z:1.42 [[ 9.99269701e-01 -2.51458936e-02 -2.87706082e-02 1.27209153e+02] [ 2.51727322e-02 9.99682954e-01 5.70978759e-04 -4.58738144e+00] [ 2.87471288e-02 -1.29479659e-03 9.99585877e-01 1.42403816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97071405699998 meters Centerline goodness [0,1] 0.9918949069963345 Centerline is valid? [True, True] Translation: X:127.24, Y:-4.58, Z:1.42 [[ 9.99416287e-01 -1.73144471e-02 -2.94498915e-02 1.27238612e+02] [ 1.73391505e-02 9.99849495e-01 5.83643233e-04 -4.58396915e+00] [ 2.94353537e-02 -1.09393865e-03 9.99566087e-01 1.42403233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00071405699998 meters Centerline goodness [0,1] 0.9929714508116029 Centerline is valid? [True, True] Translation: X:127.27, Y:-4.58, Z:1.43 [[ 9.99516828e-01 -9.18996307e-03 -2.96926713e-02 1.27269267e+02] [ 9.21148478e-03 9.99957400e-01 5.88106988e-04 -4.57885169e+00] [ 2.96860017e-02 -8.61336421e-04 9.99558902e-01 1.42620193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03071405699998 meters Centerline goodness [0,1] 0.992700395871948 Centerline is valid? [True, True] Translation: X:127.30, Y:-4.58, Z:1.43 [[ 9.99560627e-01 -5.48611984e-03 -2.91282513e-02 1.27298401e+02] [ 5.50515715e-03 9.99984682e-01 5.73413380e-04 -4.57841938e+00] [ 2.91246593e-02 -7.33517039e-04 9.99575518e-01 1.42688395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06071405699998 meters Centerline goodness [0,1] 0.9927109039393108 Centerline is valid? [True, True] Translation: X:127.33, Y:-4.58, Z:1.43 [[ 9.99616575e-01 -2.00763327e-03 -2.76165099e-02 1.27326880e+02] [ 2.02330641e-03 9.99997808e-01 5.39596135e-04 -4.57712545e+00] [ 2.76153660e-02 -5.95265902e-04 9.99618446e-01 1.42866829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09071405699999 meters Centerline goodness [0,1] 0.9940863529465489 Centerline is valid? [True, True] Translation: X:127.36, Y:-4.58, Z:1.43 [[ 9.99656210e-01 3.38667084e-03 -2.59998633e-02 1.27356503e+02] [-3.37463898e-03 9.99994178e-01 5.06629711e-04 -4.57723010e+00] [ 2.60014277e-02 -4.18715384e-04 9.99661818e-01 1.42971592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.120714057 meters Centerline goodness [0,1] 0.99373126192423 Centerline is valid? [True, True] Translation: X:127.38, Y:-4.58, Z:1.43 [[ 9.99664895e-01 5.12851713e-03 -2.53731379e-02 1.27384697e+02] [-5.11770254e-03 9.99986784e-01 4.91140671e-04 -4.57838126e+00] [ 2.53753214e-02 -3.61123915e-04 9.99677929e-01 1.43007769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.150714057 meters Centerline goodness [0,1] 0.9938909024595957 Centerline is valid? [True, True] Translation: X:127.41, Y:-4.58, Z:1.43 [[ 9.99658581e-01 6.00323770e-03 -2.54299355e-02 1.27413227e+02] [-5.99281825e-03 9.99981925e-01 4.85923662e-04 -4.58135887e+00] [ 2.54323930e-02 -3.33360777e-04 9.99676489e-01 1.43009525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.180714057 meters Centerline goodness [0,1] 0.9943769066156718 Centerline is valid? [True, True] Translation: X:127.44, Y:-4.58, Z:1.43 [[ 9.99658518e-01 5.57766982e-03 -2.55291317e-02 1.27441515e+02] [-5.56714088e-03 9.99984386e-01 4.83484336e-04 -4.58460202e+00] [ 2.55314299e-02 -3.41194962e-04 9.99673962e-01 1.42983893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.210714057 meters Centerline goodness [0,1] 0.9941105850907196 Centerline is valid? [True, True] Translation: X:127.47, Y:-4.59, Z:1.43 [[ 9.99634222e-01 2.29647563e-03 -2.69471421e-02 1.27469785e+02] [-2.28361192e-03 9.99997263e-01 5.08132418e-04 -4.59147366e+00] [ 2.69482353e-02 -4.46409739e-04 9.99636731e-01 1.42879247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.240714057 meters Centerline goodness [0,1] 0.9939002349539129 Centerline is valid? [True, True] Translation: X:127.50, Y:-4.60, Z:1.43 [[ 9.99617220e-01 -4.84745020e-04 -2.76618763e-02 1.27497125e+02] [ 4.99278849e-04 9.99999741e-01 5.18505693e-04 -4.59658308e+00] [ 2.76616178e-02 -5.32118209e-04 9.99617203e-01 1.42809076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.270714057 meters Centerline goodness [0,1] 0.99310656571364 Centerline is valid? [True, True] Translation: X:127.53, Y:-4.60, Z:1.43 [[ 9.99590357e-01 -4.09234183e-03 -2.83261376e-02 1.27525492e+02] [ 4.10895417e-03 9.99991419e-01 5.28284126e-04 -4.60216433e+00] [ 2.83237326e-02 -6.44458519e-04 9.99598595e-01 1.42777930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.300714057 meters Centerline goodness [0,1] 0.9937111156031714 Centerline is valid? [True, True] Translation: X:127.56, Y:-4.61, Z:1.43 [[ 9.99534041e-01 -1.14066120e-02 -2.83123592e-02 1.27555706e+02] [ 1.14261113e-02 9.99934581e-01 5.27028248e-04 -4.61116642e+00] [ 2.83044954e-02 -8.50282843e-04 9.99598986e-01 1.42931000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.330714057 meters Centerline goodness [0,1] 0.9925069338820792 Centerline is valid? [True, True] Translation: X:127.58, Y:-4.62, Z:1.43 [[ 9.99445487e-01 -1.90108837e-02 -2.73368748e-02 1.27584332e+02] [ 1.90318881e-02 9.99818748e-01 5.08352381e-04 -4.62338228e+00] [ 2.73222557e-02 -1.02834284e-03 9.99626149e-01 1.42975486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.360714057 meters Centerline goodness [0,1] 0.9922114545332468 Centerline is valid? [True, True] Translation: X:127.61, Y:-4.63, Z:1.43 [[ 9.99374281e-01 -2.28919337e-02 -2.69630546e-02 1.27613682e+02] [ 2.29137511e-02 9.99737320e-01 5.00427302e-04 -4.62859858e+00] [ 2.69445162e-02 -1.11793890e-03 9.99636305e-01 1.43091504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.390714057 meters Centerline goodness [0,1] 0.9923161115950769 Centerline is valid? [True, True] Translation: X:127.64, Y:-4.63, Z:1.43 [[ 9.99313671e-01 -2.56350289e-02 -2.67400789e-02 1.27642734e+02] [ 2.56574282e-02 9.99670672e-01 4.94847412e-04 -4.63268247e+00] [ 2.67185872e-02 -1.18058944e-03 9.99642298e-01 1.43255440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.420714057 meters Centerline goodness [0,1] 0.9909763379528541 Centerline is valid? [True, True] Translation: X:127.67, Y:-4.65, Z:1.43 [[ 9.99134245e-01 -3.29769604e-02 -2.53629801e-02 1.27672021e+02] [ 3.29994467e-02 9.99455260e-01 4.68427424e-04 -4.64906721e+00] [ 2.53337165e-02 -1.30498619e-03 9.99678198e-01 1.43237177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.450714057 meters Centerline goodness [0,1] 0.9905183734336398 Centerline is valid? [True, True] Translation: X:127.70, Y:-4.65, Z:1.43 [[ 9.99046784e-01 -3.57794172e-02 -2.50071377e-02 1.27701958e+02] [ 3.58021409e-02 9.99358791e-01 4.61410626e-04 -4.64801691e+00] [ 2.49745939e-02 -1.35627987e-03 9.99687166e-01 1.43441238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.480714057 meters Centerline goodness [0,1] 0.9901928080592435 Centerline is valid? [True, True] Translation: X:127.73, Y:-4.65, Z:1.44 [[ 9.98871969e-01 -4.06106567e-02 -2.46082059e-02 1.27732781e+02] [ 4.06341167e-02 9.99173990e-01 4.53842312e-04 -4.65358782e+00] [ 2.45694484e-02 -1.45326307e-03 9.99697069e-01 1.43504948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.510714057 meters Centerline goodness [0,1] 0.9901307015204054 Centerline is valid? [True, True] Translation: X:127.76, Y:-4.66, Z:1.43 [[ 9.98782106e-01 -4.27287992e-02 -2.46689002e-02 1.27762745e+02] [ 4.27530390e-02 9.99085567e-01 4.55784505e-04 -4.66076456e+00] [ 2.46268670e-02 -1.50989986e-03 9.99695572e-01 1.43455647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54071405699997 meters Centerline goodness [0,1] 0.9896797389972701 Centerline is valid? [True, True] Translation: X:127.79, Y:-4.66, Z:1.43 [[ 9.98555713e-01 -4.70643515e-02 -2.59120450e-02 1.27793371e+02] [ 4.70925792e-02 9.98890414e-01 4.79871586e-04 -4.66080485e+00] [ 2.58607085e-02 -1.69944355e-03 9.99664111e-01 1.43494760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57071405699998 meters Centerline goodness [0,1] 0.988292984626259 Centerline is valid? [True, True] Translation: X:127.82, Y:-4.67, Z:1.43 [[ 9.98438979e-01 -4.89970166e-02 -2.68122617e-02 1.27823195e+02] [ 4.90279355e-02 9.98797284e-01 4.96592249e-04 -4.67208279e+00] [ 2.67556826e-02 -1.81036689e-03 9.99640363e-01 1.43319707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60071405699998 meters Centerline goodness [0,1] 0.9890818089205828 Centerline is valid? [True, True] Translation: X:127.85, Y:-4.67, Z:1.43 [[ 9.98362346e-01 -5.00794067e-02 -2.76528249e-02 1.27854073e+02] [ 5.01127246e-02 9.98743436e-01 5.12732644e-04 -4.67034650e+00] [ 2.75924001e-02 -1.89765136e-03 9.99617456e-01 1.43419478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63071405699998 meters Centerline goodness [0,1] 0.989327546885725 Centerline is valid? [True, True] Translation: X:127.88, Y:-4.67, Z:1.43 [[ 9.98173892e-01 -5.35615231e-02 -2.79292611e-02 1.27884933e+02] [ 5.35968848e-02 9.98562519e-01 5.18513800e-04 -4.67277230e+00] [ 2.78613410e-02 -2.01448833e-03 9.99609768e-01 1.43423055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66071405699998 meters Centerline goodness [0,1] 0.989051175779605 Centerline is valid? [True, True] Translation: X:127.92, Y:-4.68, Z:1.43 [[ 9.98061694e-01 -5.56795703e-02 -2.77963985e-02 1.27915260e+02] [ 5.57154287e-02 9.98446555e-01 5.16614102e-04 -4.67838798e+00] [ 2.77244534e-02 -2.06430100e-03 9.99613472e-01 1.43402515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69071405699998 meters Centerline goodness [0,1] 0.9886630352951596 Centerline is valid? [True, True] Translation: X:127.95, Y:-4.68, Z:1.44 [[ 9.98003802e-01 -5.64973788e-02 -2.82215936e-02 1.27947801e+02] [ 5.65347118e-02 9.98400496e-01 5.26061953e-04 -4.67768249e+00] [ 2.81467319e-02 -2.12051149e-03 9.99601553e-01 1.43506208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72071405699998 meters Centerline goodness [0,1] 0.9886926889714994 Centerline is valid? [True, True] Translation: X:127.98, Y:-4.68, Z:1.44 [[ 9.97971273e-01 -5.72510701e-02 -2.78505603e-02 1.27978548e+02] [ 5.72877671e-02 9.98357571e-01 5.20872061e-04 -4.68113366e+00] [ 2.77749972e-02 -2.11531177e-03 9.99611962e-01 1.43581268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75071405699998 meters Centerline goodness [0,1] 0.9886655450278934 Centerline is valid? [True, True] Translation: X:128.01, Y:-4.68, Z:1.44 [[ 9.97971607e-01 -5.73104667e-02 -2.77160800e-02 1.28010936e+02] [ 5.73468805e-02 9.98354178e-01 5.20083680e-04 -4.67757335e+00] [ 2.76406581e-02 -2.10845948e-03 9.99615700e-01 1.43735334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78071405699998 meters Centerline goodness [0,1] 0.988592819013445 Centerline is valid? [True, True] Translation: X:128.04, Y:-4.68, Z:1.44 [[ 9.97932840e-01 -5.77931768e-02 -2.81068630e-02 1.28043033e+02] [ 5.78308725e-02 9.98326254e-01 5.29447099e-04 -4.67890310e+00] [ 2.80292209e-02 -2.15379706e-03 9.99604784e-01 1.43807258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81071405699998 meters Centerline goodness [0,1] 0.9887055697043516 Centerline is valid? [True, True] Translation: X:128.07, Y:-4.68, Z:1.44 [[ 9.97880530e-01 -5.90874316e-02 -2.72603028e-02 1.28073639e+02] [ 5.91234089e-02 9.98250548e-01 5.14947020e-04 -4.68148153e+00] [ 2.71821853e-02 -2.12557763e-03 9.99628236e-01 1.43901417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84071405699999 meters Centerline goodness [0,1] 0.9883937272968902 Centerline is valid? [True, True] Translation: X:128.11, Y:-4.68, Z:1.44 [[ 9.97831610e-01 -6.03698975e-02 -2.62212388e-02 1.28106109e+02] [ 6.04036589e-02 9.98173908e-01 4.96684764e-04 -4.67903952e+00] [ 2.61433716e-02 -2.07946652e-03 9.99656041e-01 1.44153577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.870714057 meters Centerline goodness [0,1] 0.9888159494286409 Centerline is valid? [True, True] Translation: X:128.14, Y:-4.68, Z:1.44 [[ 9.97813273e-01 -6.09451493e-02 -2.55804711e-02 1.28138232e+02] [ 6.09775149e-02 9.98139021e-01 4.86388959e-04 -4.67922676e+00] [ 2.55032234e-02 -2.04515892e-03 9.99672648e-01 1.44260990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.900714057 meters Centerline goodness [0,1] 0.9882681069594474 Centerline is valid? [True, True] Translation: X:128.17, Y:-4.68, Z:1.44 [[ 9.97730711e-01 -6.22597935e-02 -2.56348709e-02 1.28169433e+02] [ 6.22927817e-02 9.98057799e-01 4.89524863e-04 -4.68078236e+00] [ 2.55546051e-02 -2.08528141e-03 9.99671253e-01 1.44323833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.930714057 meters Centerline goodness [0,1] 0.9879854584146125 Centerline is valid? [True, True] Translation: X:128.20, Y:-4.68, Z:1.44 [[ 9.97706142e-01 -6.21511726e-02 -2.68269801e-02 1.28201184e+02] [ 6.21873240e-02 9.98064363e-01 5.14579963e-04 -4.68149064e+00] [ 2.67430710e-02 -2.18169769e-03 9.99639959e-01 1.44398597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.960714057 meters Centerline goodness [0,1] 0.9883075834935792 Centerline is valid? [True, True] Translation: X:128.23, Y:-4.68, Z:1.44 [[ 9.97632981e-01 -6.34894309e-02 -2.64107284e-02 1.28233008e+02] [ 6.35249787e-02 9.97980119e-01 5.08280781e-04 -4.68020419e+00] [ 2.63251115e-02 -2.18481863e-03 9.99651047e-01 1.44419249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.990714057 meters Centerline goodness [0,1] 0.9875691218756912 Centerline is valid? [True, True] Translation: X:128.26, Y:-4.68, Z:1.44 [[ 9.97549817e-01 -6.45795198e-02 -2.69044164e-02 1.28263730e+02] [ 6.46168370e-02 9.97910013e-01 5.19040961e-04 -4.68425503e+00] [ 2.68146672e-02 -2.25624751e-03 9.99637876e-01 1.44343279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.020714057 meters Centerline goodness [0,1] 0.9878557790506638 Centerline is valid? [True, True] Translation: X:128.30, Y:-4.68, Z:1.44 [[ 9.97485482e-01 -6.54048000e-02 -2.72933073e-02 1.28295397e+02] [ 6.54435448e-02 9.97856134e-01 5.27785044e-04 -4.68372804e+00] [ 2.72002744e-02 -2.31262869e-03 9.99627329e-01 1.44355787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.050714057 meters Centerline goodness [0,1] 0.9867430550929318 Centerline is valid? [True, True] Translation: X:128.33, Y:-4.69, Z:1.44 [[ 9.97394566e-01 -6.65745349e-02 -2.77832846e-02 1.28326189e+02] [ 6.66151699e-02 9.97778597e-01 5.38537934e-04 -4.69015037e+00] [ 2.76857138e-02 -2.38792303e-03 9.99613825e-01 1.44269297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.080714057 meters Centerline goodness [0,1] 0.9874986146514463 Centerline is valid? [True, True] Translation: X:128.36, Y:-4.69, Z:1.44 [[ 9.97386177e-01 -6.66164166e-02 -2.79833409e-02 1.28358724e+02] [ 6.66576977e-02 9.97775754e-01 5.43929876e-04 -4.68544317e+00] [ 2.78848644e-02 -2.40781322e-03 9.99608242e-01 1.44385956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.110714057 meters Centerline goodness [0,1] 0.9874513101983002 Centerline is valid? [True, True] Translation: X:128.39, Y:-4.69, Z:1.44 [[ 9.97368633e-01 -6.66828252e-02 -2.84466141e-02 1.28389979e+02] [ 6.67255631e-02 9.97771212e-01 5.54738305e-04 -4.68879533e+00] [ 2.83462211e-02 -2.45139493e-03 9.99595159e-01 1.44373672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.140714057 meters Centerline goodness [0,1] 0.9874162190953881 Centerline is valid? [True, True] Translation: X:128.42, Y:-4.69, Z:1.44 [[ 9.97387469e-01 -6.65015444e-02 -2.82096042e-02 1.28422182e+02] [ 6.65435499e-02 9.97783369e-01 5.51864524e-04 -4.68813817e+00] [ 2.81103740e-02 -2.42758996e-03 9.99601878e-01 1.44403243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.170714057 meters Centerline goodness [0,1] 0.986917634494727 Centerline is valid? [True, True] Translation: X:128.45, Y:-4.69, Z:1.44 [[ 9.97454684e-01 -6.50640795e-02 -2.91687950e-02 1.28453465e+02] [ 6.51084273e-02 9.97878031e-01 5.72192279e-04 -4.68660445e+00] [ 2.90696706e-02 -2.46987024e-03 9.99574336e-01 1.44428519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.200714057 meters Centerline goodness [0,1] 0.9880540012434497 Centerline is valid? [True, True] Translation: X:128.49, Y:-4.68, Z:1.45 [[ 9.97536157e-01 -6.40620382e-02 -2.85949530e-02 1.28485075e+02] [ 6.41042772e-02 9.97943047e-01 5.61940287e-04 -4.68430623e+00] [ 2.85001355e-02 -2.39361455e-03 9.99590923e-01 1.44502272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.230714057 meters Centerline goodness [0,1] 0.987061862557342 Centerline is valid? [True, True] Translation: X:128.52, Y:-4.68, Z:1.45 [[ 9.97734933e-01 -6.06728445e-02 -2.90483862e-02 1.28515224e+02] [ 6.07150239e-02 9.98154978e-01 5.71412246e-04 -4.68138610e+00] [ 2.89601220e-02 -2.33379142e-03 9.99577843e-01 1.44635021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.260714057 meters Centerline goodness [0,1] 0.9870798155532289 Centerline is valid? [True, True] Translation: X:128.55, Y:-4.68, Z:1.45 [[ 9.97781636e-01 -6.06677805e-02 -2.74085236e-02 1.28547290e+02] [ 6.07053548e-02 9.98155583e-01 5.40140758e-04 -4.68098518e+00] [ 2.73252017e-02 -2.20278668e-03 9.99624170e-01 1.44674900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29071405699997 meters Centerline goodness [0,1] 0.9874449045011353 Centerline is valid? [True, True] Translation: X:128.58, Y:-4.68, Z:1.45 [[ 9.97926332e-01 -5.88020841e-02 -2.61792146e-02 1.28579381e+02] [ 5.88357657e-02 9.98267542e-01 5.17505333e-04 -4.67836572e+00] [ 2.61034298e-02 -2.05670634e-03 9.99657132e-01 1.44809831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32071405699998 meters Centerline goodness [0,1] 0.987016174010039 Centerline is valid? [True, True] Translation: X:128.61, Y:-4.68, Z:1.45 [[ 9.97957583e-01 -5.83275481e-02 -2.60491764e-02 1.28611433e+02] [ 5.83607763e-02 9.98295424e-01 5.16518404e-04 -4.67888649e+00] [ 2.59746463e-02 -2.03571361e-03 9.99660529e-01 1.44857910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35071405699998 meters Centerline goodness [0,1] 0.987016174010039 Centerline is valid? [True, True] Translation: X:128.64, Y:-4.68, Z:1.45 [[ 9.97961716e-01 -5.82568039e-02 -2.60491398e-02 1.28643215e+02] [ 5.82900559e-02 9.98299555e-01 5.18361263e-04 -4.67958124e+00] [ 2.59746465e-02 -2.03571051e-03 9.99660529e-01 1.44902758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38071405699998 meters Centerline goodness [0,1] 0.9871994657168299 Centerline is valid? [True, True] Translation: X:128.67, Y:-4.68, Z:1.45 [[ 9.98037243e-01 -5.73807636e-02 -2.50820528e-02 1.28674445e+02] [ 5.74113552e-02 9.98350482e-01 5.00659784e-04 -4.68255758e+00] [ 2.50119512e-02 -1.93967175e-03 9.99685270e-01 1.44856408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41071405699998 meters Centerline goodness [0,1] 0.9864560323091685 Centerline is valid? [True, True] Translation: X:128.71, Y:-4.68, Z:1.45 [[ 9.98023238e-01 -5.74431982e-02 -2.54930483e-02 1.28706996e+02] [ 5.74748607e-02 9.98346823e-01 5.10419599e-04 -4.68152540e+00] [ 2.54215837e-02 -1.97462002e-03 9.99674869e-01 1.44889846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44071405699998 meters Centerline goodness [0,1] 0.9874518019925558 Centerline is valid? [True, True] Translation: X:128.74, Y:-4.68, Z:1.45 [[ 9.97962068e-01 -5.82341043e-02 -2.60863959e-02 1.28739427e+02] [ 5.82675751e-02 9.98300864e-01 5.24148248e-04 -4.68137091e+00] [ 2.60115483e-02 -2.04307110e-03 9.99659555e-01 1.44884986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47071405699998 meters Centerline goodness [0,1] 0.9871029536240923 Centerline is valid? [True, True] Translation: X:128.77, Y:-4.68, Z:1.45 [[ 9.97929458e-01 -5.84509412e-02 -2.68381270e-02 1.28771424e+02] [ 5.84864986e-02 9.98288053e-01 5.41152076e-04 -4.68126280e+00] [ 2.67605507e-02 -2.10969967e-03 9.99639646e-01 1.44926185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50071405699998 meters Centerline goodness [0,1] 0.9871475030070833 Centerline is valid? [True, True] Translation: X:128.80, Y:-4.68, Z:1.45 [[ 9.97853121e-01 -5.95828488e-02 -2.71851782e-02 1.28802261e+02] [ 5.96197887e-02 9.98221007e-01 5.49598327e-04 -4.68298796e+00] [ 2.71040693e-02 -2.16919298e-03 9.99630264e-01 1.44857582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53071405699998 meters Centerline goodness [0,1] 0.9862127431733 Centerline is valid? [True, True] Translation: X:128.83, Y:-4.69, Z:1.45 [[ 9.97810444e-01 -6.01806900e-02 -2.74336084e-02 1.28834037e+02] [ 6.02185652e-02 9.98185061e-01 5.55797599e-04 -4.68516227e+00] [ 2.73503698e-02 -2.20659318e-03 9.99623473e-01 1.44813273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56071405699998 meters Centerline goodness [0,1] 0.9852084167445171 Centerline is valid? [True, True] Translation: X:128.87, Y:-4.69, Z:1.45 [[ 9.97725237e-01 -6.13953817e-02 -2.78380906e-02 1.28865001e+02] [ 6.14348917e-02 9.98110933e-01 5.65417936e-04 -4.68723670e+00] [ 2.77507885e-02 -2.27436182e-03 9.99612285e-01 1.44716882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59071405699999 meters Centerline goodness [0,1] 0.9828972046083773 Centerline is valid? [True, True] Translation: X:128.90, Y:-4.69, Z:1.45 [[ 9.97665188e-01 -6.20202849e-02 -2.85947139e-02 1.28895767e+02] [ 6.20622626e-02 9.98072110e-01 5.82004121e-04 -4.68839386e+00] [ 2.85034904e-02 -2.35529789e-03 9.99590918e-01 1.44739247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.620714057 meters Centerline goodness [0,1] 0.9773820124666073 Centerline is valid? [True, True] Translation: X:128.93, Y:-4.69, Z:1.45 [[ 9.97645918e-01 -6.23188378e-02 -2.86179056e-02 1.28926470e+02] [ 6.23610673e-02 9.98053483e-01 5.84639862e-04 -4.68986333e+00] [ 2.85257663e-02 -2.36790671e-03 9.99590253e-01 1.44754712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.650714057 meters Centerline goodness [0,1] 0.9782409169259698 Centerline is valid? [True, True] Translation: X:128.96, Y:-4.69, Z:1.45 [[ 9.97667132e-01 -6.21755975e-02 -2.81866929e-02 1.28958517e+02] [ 6.22165783e-02 9.98062504e-01 5.78378427e-04 -4.68937319e+00] [ 2.80961203e-02 -2.33070873e-03 9.99602509e-01 1.44845061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.680714057 meters Centerline goodness [0,1] 0.9876785714285714 Centerline is valid? [True, True] Translation: X:128.99, Y:-4.68, Z:1.45 [[ 9.97754984e-01 -6.10099880e-02 -2.76183386e-02 1.28989814e+02] [ 6.10489268e-02 9.98134613e-01 5.68106559e-04 -4.67731087e+00] [ 2.75321595e-02 -2.25290108e-03 9.99618379e-01 1.45170231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.710714057 meters Centerline goodness [0,1] 0.9879826016770549 Centerline is valid? [True, True] Translation: X:129.02, Y:-4.67, Z:1.45 [[ 9.97780466e-01 -6.06236038e-02 -2.75484962e-02 1.29022048e+02] [ 6.06622395e-02 9.98158189e-01 5.68125275e-04 -4.67444837e+00] [ 2.74633152e-02 -2.23801777e-03 9.99620307e-01 1.45282815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.740714057 meters Centerline goodness [0,1] 0.9876382854839432 Centerline is valid? [True, True] Translation: X:129.05, Y:-4.67, Z:1.45 [[ 9.97832065e-01 -6.02623783e-02 -2.64502428e-02 1.29054438e+02] [ 6.02979163e-02 9.98180275e-01 5.47328918e-04 -4.67247589e+00] [ 2.63691273e-02 -2.14103687e-03 9.99649981e-01 1.45425015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.770714057 meters Centerline goodness [0,1] 0.9861743947109801 Centerline is valid? [True, True] Translation: X:129.09, Y:-4.67, Z:1.45 [[ 9.97849569e-01 -6.02359802e-02 -2.58430862e-02 1.29085920e+02] [ 6.02699375e-02 9.98181971e-01 5.36379891e-04 -4.67492477e+00] [ 2.57637933e-02 -2.09278763e-03 9.99665868e-01 1.45455352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.800714057 meters Centerline goodness [0,1] 0.9877800407331976 Centerline is valid? [True, True] Translation: X:129.12, Y:-4.67, Z:1.46 [[ 9.97794026e-01 -6.09649260e-02 -2.62746982e-02 1.29117760e+02] [ 6.10003159e-02 9.98137597e-01 5.46762816e-04 -4.67170353e+00] [ 2.61924307e-02 -2.14832156e-03 9.99654611e-01 1.45522450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.830714057 meters Centerline goodness [0,1] 0.988041819976667 Centerline is valid? [True, True] Translation: X:129.15, Y:-4.67, Z:1.46 [[ 9.97756241e-01 -6.14496342e-02 -2.65786816e-02 1.29149868e+02] [ 6.14860631e-02 9.98107788e-01 5.54757560e-04 -4.67255191e+00] [ 2.64942995e-02 -2.18773131e-03 9.99646571e-01 1.45504377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.860714057 meters Centerline goodness [0,1] 0.9887252594535225 Centerline is valid? [True, True] Translation: X:129.18, Y:-4.67, Z:1.45 [[ 9.97728746e-01 -6.17108350e-02 -2.70022703e-02 1.29181826e+02] [ 6.17485822e-02 9.98091575e-01 5.65544837e-04 -4.67410228e+00] [ 2.69158383e-02 -2.23161225e-03 9.99635212e-01 1.45484661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.890714057 meters Centerline goodness [0,1] 0.9884990732262892 Centerline is valid? [True, True] Translation: X:129.21, Y:-4.67, Z:1.46 [[ 9.97705336e-01 -6.18351255e-02 -2.75767953e-02 1.29214387e+02] [ 6.18745985e-02 9.98083763e-01 5.79558437e-04 -4.67498988e+00] [ 2.74881146e-02 -2.28453168e-03 9.99619520e-01 1.45506547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.920714057 meters Centerline goodness [0,1] 0.9876645845503977 Centerline is valid? [True, True] Translation: X:129.25, Y:-4.68, Z:1.45 [[ 9.97664838e-01 -6.25438393e-02 -2.74433840e-02 1.29246415e+02] [ 6.25832502e-02 9.98039579e-01 5.78686568e-04 -4.67642017e+00] [ 2.73533901e-02 -2.29483141e-03 9.99623192e-01 1.45496793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.950714057 meters Centerline goodness [0,1] 0.988796020346427 Centerline is valid? [True, True] Translation: X:129.28, Y:-4.67, Z:1.46 [[ 9.97679882e-01 -6.24104595e-02 -2.71990332e-02 1.29278932e+02] [ 6.24491744e-02 9.98047980e-01 5.75458971e-04 -4.67295870e+00] [ 2.71100255e-02 -2.27268101e-03 9.99629872e-01 1.45622499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.980714057 meters Centerline goodness [0,1] 0.9890344471159248 Centerline is valid? [True, True] Translation: X:129.31, Y:-4.67, Z:1.46 [[ 9.97716359e-01 -6.19034499e-02 -2.70190587e-02 1.29311371e+02] [ 6.19415213e-02 9.98079616e-01 5.73581756e-04 -4.67263291e+00] [ 2.69316650e-02 -2.24587350e-03 9.99634754e-01 1.45728317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.010714057 meters Centerline goodness [0,1] 0.9894310771306499 Centerline is valid? [True, True] Translation: X:129.34, Y:-4.67, Z:1.46 [[ 9.97802943e-01 -6.07442513e-02 -2.64465965e-02 1.29343035e+02] [ 6.07803592e-02 9.98151006e-01 5.62861017e-04 -4.66861847e+00] [ 2.63635063e-02 -2.16905802e-03 9.99650069e-01 1.45856118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04071405699997 meters Centerline goodness [0,1] 0.9888015141614654 Centerline is valid? [True, True] Translation: X:129.37, Y:-4.67, Z:1.46 [[ 9.97842800e-01 -6.01211153e-02 -2.63666030e-02 1.29374902e+02] [ 6.01568255e-02 9.98188780e-01 5.62546515e-04 -4.66845518e+00] [ 2.62850264e-02 -2.14746413e-03 9.99652182e-01 1.45890968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07071405699998 meters Centerline goodness [0,1] 0.9884964135877656 Centerline is valid? [True, True] Translation: X:129.41, Y:-4.67, Z:1.46 [[ 9.97899258e-01 -5.93668515e-02 -2.59354438e-02 1.29407140e+02] [ 5.94011974e-02 9.98234035e-01 5.55187838e-04 -4.66918081e+00] [ 2.58566830e-02 -2.09461795e-03 9.99663466e-01 1.45918700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10071405699998 meters Centerline goodness [0,1] 0.9879096835314551 Centerline is valid? [True, True] Translation: X:129.44, Y:-4.67, Z:1.46 [[ 9.97996874e-01 -5.82455013e-02 -2.46921172e-02 1.29438902e+02] [ 5.82763284e-02 9.98300350e-01 5.30099481e-04 -4.66771475e+00] [ 2.46192733e-02 -1.96800356e-03 9.99694963e-01 1.46015018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13071405699998 meters Centerline goodness [0,1] 0.9884774961666817 Centerline is valid? [True, True] Translation: X:129.47, Y:-4.67, Z:1.46 [[ 9.98043065e-01 -5.75959573e-02 -2.43463816e-02 1.29471221e+02] [ 5.76257706e-02 9.98338117e-01 5.24146066e-04 -4.66779502e+00] [ 2.42757321e-02 -1.92609935e-03 9.99703446e-01 1.46099149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16071405699998 meters Centerline goodness [0,1] 0.9882878613499425 Centerline is valid? [True, True] Translation: X:129.50, Y:-4.67, Z:1.46 [[ 9.98106174e-01 -5.64550414e-02 -2.44314245e-02 1.29502903e+02] [ 5.64847570e-02 9.98403322e-01 5.27342566e-04 -4.66683631e+00] [ 2.43626443e-02 -1.90634695e-03 9.99701369e-01 1.46178540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19071405699998 meters Centerline goodness [0,1] 0.9871543063551191 Centerline is valid? [True, True] Translation: X:129.53, Y:-4.67, Z:1.46 [[ 9.98120817e-01 -5.65780526e-02 -2.35320975e-02 1.29533833e+02] [ 5.66056768e-02 9.98396484e-01 5.08904176e-04 -4.66885192e+00] [ 2.34655706e-02 -1.83999816e-03 9.99722952e-01 1.46214969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22071405699998 meters Centerline goodness [0,1] 0.9869392902179788 Centerline is valid? [True, True] Translation: X:129.57, Y:-4.67, Z:1.46 [[ 9.98166984e-01 -5.58210909e-02 -2.33811461e-02 1.29566340e+02] [ 5.58481875e-02 9.98439143e-01 5.07016334e-04 -4.66791484e+00] [ 2.33163493e-02 -1.81188160e-03 9.99726495e-01 1.46276759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25071405699998 meters Centerline goodness [0,1] 0.9873317854969231 Centerline is valid? [True, True] Translation: X:129.60, Y:-4.67, Z:1.46 [[ 9.98186527e-01 -5.54109016e-02 -2.35220859e-02 1.29597922e+02] [ 5.54382472e-02 9.98461987e-01 5.11542290e-04 -4.66951954e+00] [ 2.34575636e-02 -1.81463783e-03 9.99723187e-01 1.46243479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28071405699998 meters Centerline goodness [0,1] 0.9878589192855528 Centerline is valid? [True, True] Translation: X:129.63, Y:-4.67, Z:1.46 [[ 9.98206117e-01 -5.44326668e-02 -2.49325708e-02 1.29629161e+02] [ 5.44631213e-02 9.98515635e-01 5.43542609e-04 -4.66978770e+00] [ 2.48659753e-02 -1.90047318e-03 9.99688987e-01 1.46130689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31071405699998 meters Centerline goodness [0,1] 0.9877711852891888 Centerline is valid? [True, True] Translation: X:129.66, Y:-4.67, Z:1.46 [[ 9.98230628e-01 -5.37587191e-02 -2.54089278e-02 1.29661508e+02] [ 5.37901700e-02 9.98552106e-01 5.55431645e-04 -4.66914110e+00] [ 2.53422791e-02 -1.92119943e-03 9.99676987e-01 1.46138392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34071405699999 meters Centerline goodness [0,1] 0.988199855046204 Centerline is valid? [True, True] Translation: X:129.69, Y:-4.66, Z:1.46 [[ 9.98346554e-01 -5.14979779e-02 -2.55365667e-02 1.29692097e+02] [ 5.15290347e-02 9.98671340e-01 5.59186357e-04 -4.66334077e+00] [ 2.54738403e-02 -1.87413641e-03 9.99673732e-01 1.46242389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.370714057 meters Centerline goodness [0,1] 0.9885447794983248 Centerline is valid? [True, True] Translation: X:129.72, Y:-4.66, Z:1.46 [[ 9.98428477e-01 -4.99916784e-02 -2.53260447e-02 1.29723277e+02] [ 5.00217531e-02 9.98747974e-01 5.54969537e-04 -4.66051345e+00] [ 2.52665920e-02 -1.82095054e-03 9.99679090e-01 1.46333284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.400714057 meters Centerline goodness [0,1] 0.988083932528377 Centerline is valid? [True, True] Translation: X:129.75, Y:-4.66, Z:1.46 [[ 9.98649253e-01 -4.61962266e-02 -2.37818833e-02 1.29753520e+02] [ 4.62216848e-02 9.98931071e-01 5.21609379e-04 -4.65804899e+00] [ 2.37323658e-02 -1.62014353e-03 9.99717035e-01 1.46437053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.430714057 meters Centerline goodness [0,1] 0.9882033284274878 Centerline is valid? [True, True] Translation: X:129.78, Y:-4.66, Z:1.47 [[ 9.98754116e-01 -4.42289797e-02 -2.31087276e-02 1.29784697e+02] [ 4.42525001e-02 9.99020250e-01 5.07175663e-04 -4.65699712e+00] [ 2.30636550e-02 -1.52916275e-03 9.99732829e-01 1.46541500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.460714057 meters Centerline goodness [0,1] 0.989477495417619 Centerline is valid? [True, True] Translation: X:129.82, Y:-4.65, Z:1.47 [[ 9.98966864e-01 -4.00514099e-02 -2.14730061e-02 1.29815500e+02] [ 4.00707663e-02 9.99196733e-01 4.71748990e-04 -4.64917797e+00] [ 2.14368634e-02 -1.33170142e-03 9.99769317e-01 1.46799760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.490714057 meters Centerline goodness [0,1] 0.9899679246570668 Centerline is valid? [True, True] Translation: X:129.85, Y:-4.65, Z:1.47 [[ 9.99057296e-01 -3.79045781e-02 -2.11603942e-02 1.29846876e+02] [ 3.79229013e-02 9.99280560e-01 4.65170822e-04 -4.64571660e+00] [ 2.11275385e-02 -1.26719584e-03 9.99775986e-01 1.46911524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.520714057 meters Centerline goodness [0,1] 0.9903822161733016 Centerline is valid? [True, True] Translation: X:129.88, Y:-4.64, Z:1.47 [[ 9.99263885e-01 -3.25425611e-02 -2.03142957e-02 1.29876065e+02] [ 3.25583513e-02 9.99469736e-01 4.46956535e-04 -4.64404665e+00] [ 2.02889787e-02 -1.10802750e-03 9.99793543e-01 1.46977664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.550714057 meters Centerline goodness [0,1] 0.9908461608525366 Centerline is valid? [True, True] Translation: X:129.91, Y:-4.64, Z:1.47 [[ 9.99417748e-01 -2.79469870e-02 -1.95737104e-02 1.29907249e+02] [ 2.79607645e-02 9.99608929e-01 4.30503549e-04 -4.63999868e+00] [ 1.95540244e-02 -9.77548794e-04 9.99808324e-01 1.47052628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.580714057 meters Centerline goodness [0,1] 0.9902626143405134 Centerline is valid? [True, True] Translation: X:129.94, Y:-4.64, Z:1.47 [[ 9.99487535e-01 -2.55672899e-02 -1.92608816e-02 1.29937892e+02] [ 2.55801971e-02 9.99672683e-01 4.24012152e-04 -4.64320880e+00] [ 1.92437363e-02 -9.16492008e-04 9.99814402e-01 1.47026754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.610714057 meters Centerline goodness [0,1] 0.9907788984768107 Centerline is valid? [True, True] Translation: X:129.97, Y:-4.64, Z:1.47 [[ 9.99527889e-01 -2.38904736e-02 -1.93195138e-02 1.29969628e+02] [ 2.39031603e-02 9.99714188e-01 4.25991949e-04 -4.64003443e+00] [ 1.93038149e-02 -8.87588269e-04 9.99813270e-01 1.47091781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.640714057 meters Centerline goodness [0,1] 0.9903804508878707 Centerline is valid? [True, True] Translation: X:130.00, Y:-4.64, Z:1.47 [[ 9.99593778e-01 -2.07852617e-02 -1.95000455e-02 1.29999354e+02] [ 2.07976068e-02 9.99783614e-01 4.30477394e-04 -4.64031530e+00] [ 1.94868783e-02 -8.35856804e-04 9.99809763e-01 1.46997129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.670714057 meters Centerline goodness [0,1] 0.9911904275367255 Centerline is valid? [True, True] Translation: X:130.03, Y:-4.64, Z:1.47 [[ 9.99612913e-01 -1.92672089e-02 -2.00698600e-02 1.30028838e+02] [ 1.92799787e-02 9.99814026e-01 4.42953982e-04 -4.64143777e+00] [ 2.00575930e-02 -8.29728994e-04 9.99798482e-01 1.46955238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.700714057 meters Centerline goodness [0,1] 0.991740614334471 Centerline is valid? [True, True] Translation: X:130.06, Y:-4.64, Z:1.47 [[ 9.99638594e-01 -1.79386610e-02 -2.00221520e-02 1.30058752e+02] [ 1.79510952e-02 9.99838769e-01 4.41455233e-04 -4.64209494e+00] [ 2.00110046e-02 -8.00715245e-04 9.99799439e-01 1.46873514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.730714057 meters Centerline goodness [0,1] 0.9916653382825131 Centerline is valid? [True, True] Translation: X:130.09, Y:-4.64, Z:1.47 [[ 9.99653651e-01 -1.77685529e-02 -1.94127967e-02 1.30087337e+02] [ 1.77801747e-02 9.99841829e-01 4.26219999e-04 -4.64150578e+00] [ 1.94021528e-02 -7.71235295e-04 9.99811463e-01 1.46932049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.760714057 meters Centerline goodness [0,1] 0.9900314914248171 Centerline is valid? [True, True] Translation: X:130.12, Y:-4.65, Z:1.47 [[ 9.99647237e-01 -1.79452631e-02 -1.95797967e-02 1.30115369e+02] [ 1.79570441e-02 9.99838669e-01 4.26027992e-04 -4.64774084e+00] [ 1.95689927e-02 -7.77472979e-04 9.99808207e-01 1.46915246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79071405699997 meters Centerline goodness [0,1] 0.9893048128342246 Centerline is valid? [True, True] Translation: X:130.14, Y:-4.65, Z:1.47 [[ 9.99640451e-01 -1.86980549e-02 -1.92185448e-02 1.30143764e+02] [ 1.87095069e-02 9.99824875e-01 4.16238537e-04 -4.64990164e+00] [ 1.92073963e-02 -7.75658376e-04 9.99815220e-01 1.46973722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82071405699998 meters Centerline goodness [0,1] 0.9887515591336886 Centerline is valid? [True, True] Translation: X:130.17, Y:-4.66, Z:1.47 [[ 9.99618130e-01 -2.04510737e-02 -1.85835508e-02 1.30172120e+02] [ 2.04620204e-02 9.99790551e-01 3.99079196e-04 -4.65505059e+00] [ 1.85714969e-02 -7.79183795e-04 9.99827231e-01 1.46982415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85071405699998 meters Centerline goodness [0,1] 0.9882571635836054 Centerline is valid? [True, True] Translation: X:130.20, Y:-4.66, Z:1.47 [[ 9.99598220e-01 -2.15878834e-02 -1.83674355e-02 1.30201313e+02] [ 2.15987532e-02 9.99766642e-01 3.93608550e-04 -4.65843677e+00] [ 1.83546522e-02 -7.90164113e-04 9.99831227e-01 1.47015871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88071405699998 meters Centerline goodness [0,1] 0.9870332654446707 Centerline is valid? [True, True] Translation: X:130.23, Y:-4.66, Z:1.47 [[ 9.99565162e-01 -2.38245837e-02 -1.73745700e-02 1.30231798e+02] [ 2.38346396e-02 9.99715845e-01 3.71896002e-04 -4.66370477e+00] [ 1.73607726e-02 -7.85850901e-04 9.99848982e-01 1.47035037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91071405699998 meters Centerline goodness [0,1] 0.9893607388627309 Centerline is valid? [True, True] Translation: X:130.26, Y:-4.66, Z:1.47 [[ 9.99495178e-01 -2.67307066e-02 -1.71714433e-02 1.30262702e+02] [ 2.67409586e-02 9.99642329e-01 3.67662940e-04 -4.66058863e+00] [ 1.71554737e-02 -8.26658189e-04 9.99852492e-01 1.47074657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94071405699998 meters Centerline goodness [0,1] 0.9890264045070932 Centerline is valid? [True, True] Translation: X:130.29, Y:-4.66, Z:1.47 [[ 9.99457237e-01 -2.81330874e-02 -1.71394792e-02 1.30294248e+02] [ 2.81435187e-02 9.99603825e-01 3.67668421e-04 -4.66380534e+00] [ 1.71223453e-02 -8.49834117e-04 9.99853041e-01 1.47095230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97071405699998 meters Centerline goodness [0,1] 0.9888110943515163 Centerline is valid? [True, True] Translation: X:130.33, Y:-4.67, Z:1.47 [[ 9.99402286e-01 -2.98566585e-02 -1.74255646e-02 1.30326702e+02] [ 2.98677197e-02 9.99553790e-01 3.74803964e-04 -4.66677266e+00] [ 1.74065987e-02 -8.95041817e-04 9.99848093e-01 1.47115620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00071405699998 meters Centerline goodness [0,1] 0.9881024809031299 Centerline is valid? [True, True] Translation: X:130.36, Y:-4.67, Z:1.47 [[ 9.99267163e-01 -3.38185134e-02 -1.79289098e-02 1.30357601e+02] [ 3.38308783e-02 9.99427497e-01 3.86725397e-04 -4.67021439e+00] [ 1.79055669e-02 -9.92992755e-04 9.99839189e-01 1.47050598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03071405699998 meters Centerline goodness [0,1] 0.9883004236053522 Centerline is valid? [True, True] Translation: X:130.39, Y:-4.68, Z:1.47 [[ 9.99203739e-01 -3.54725908e-02 -1.82642608e-02 1.30388505e+02] [ 3.54857068e-02 9.99370106e-01 3.94440249e-04 -4.67683617e+00] [ 1.82387644e-02 -1.04224638e-03 9.99833117e-01 1.47036022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06071405699998 meters Centerline goodness [0,1] 0.9876961763847415 Centerline is valid? [True, True] Translation: X:130.42, Y:-4.68, Z:1.47 [[ 9.99060012e-01 -3.91091377e-02 -1.86967065e-02 1.30419495e+02] [ 3.91235328e-02 9.99234300e-01 4.04634371e-04 -4.68194135e+00] [ 1.86665655e-02 -1.13573523e-03 9.99825119e-01 1.47005190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09071405699999 meters Centerline goodness [0,1] 0.986848031708855 Centerline is valid? [True, True] Translation: X:130.45, Y:-4.69, Z:1.47 [[ 9.98985401e-01 -4.10530016e-02 -1.85153868e-02 1.30449972e+02] [ 4.10674571e-02 9.99156296e-01 4.01022370e-04 -4.68636907e+00] [ 1.84833021e-02 -1.16099535e-03 9.99828495e-01 1.47051160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.120714057 meters Centerline goodness [0,1] 0.9884077430905226 Centerline is valid? [True, True] Translation: X:130.48, Y:-4.68, Z:1.47 [[ 9.98889607e-01 -4.34441975e-02 -1.82251397e-02 1.30480819e+02] [ 4.34586052e-02 9.99055150e-01 3.95048367e-04 -4.68293301e+00] [ 1.81907572e-02 -1.18664886e-03 9.99833830e-01 1.47119912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.150714057 meters Centerline goodness [0,1] 0.9861198454765969 Centerline is valid? [True, True] Translation: X:130.51, Y:-4.69, Z:1.47 [[ 9.98833837e-01 -4.46646556e-02 -1.83312725e-02 1.30511181e+02] [ 4.46794438e-02 9.99001296e-01 3.97756079e-04 -4.69438551e+00] [ 1.82951993e-02 -1.21632329e-03 9.99831889e-01 1.47079822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.180714057 meters Centerline goodness [0,1] 0.9855825461088619 Centerline is valid? [True, True] Translation: X:130.54, Y:-4.70, Z:1.47 [[ 9.98782549e-01 -4.55727953e-02 -1.88822965e-02 1.30542126e+02] [ 4.55886619e-02 9.98960212e-01 4.10473351e-04 -4.69701473e+00] [ 1.88439565e-02 -1.27079225e-03 9.99821629e-01 1.47064712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.210714057 meters Centerline goodness [0,1] 0.9855238609031852 Centerline is valid? [True, True] Translation: X:130.57, Y:-4.70, Z:1.47 [[ 9.98751546e-01 -4.59412537e-02 -1.96150378e-02 1.30573467e+02] [ 4.59584720e-02 9.98943260e-01 4.27692796e-04 -4.69878127e+00] [ 1.95746611e-02 -1.32863601e-03 9.99807515e-01 1.47018960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.240714057 meters Centerline goodness [0,1] 0.9855238609031852 Centerline is valid? [True, True] Translation: X:130.61, Y:-4.70, Z:1.47 [[ 9.98754572e-01 -4.58754436e-02 -1.96149986e-02 1.30605222e+02] [ 4.58926843e-02 9.98946283e-01 4.29485261e-04 -4.69954430e+00] [ 1.95746271e-02 -1.32913531e-03 9.99807515e-01 1.47063754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.270714057 meters Centerline goodness [0,1] 0.987575682549686 Centerline is valid? [True, True] Translation: X:130.64, Y:-4.69, Z:1.47 [[ 9.98753107e-01 -4.59249986e-02 -1.95736186e-02 1.30637223e+02] [ 4.59422018e-02 9.98944007e-01 4.29897685e-04 -4.68934452e+00] [ 1.95332059e-02 -1.32861678e-03 9.99808326e-01 1.47205229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.300714057 meters Centerline goodness [0,1] 0.9877774276324675 Centerline is valid? [True, True] Translation: X:130.67, Y:-4.69, Z:1.47 [[ 9.98766545e-01 -4.59274604e-02 -1.88694468e-02 1.30668874e+02] [ 4.59434768e-02 9.98943954e-01 4.15949582e-04 -4.69066716e+00] [ 1.88304163e-02 -1.28236452e-03 9.99821870e-01 1.47263103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.330714057 meters Centerline goodness [0,1] 0.988328601685368 Centerline is valid? [True, True] Translation: X:130.70, Y:-4.69, Z:1.47 [[ 9.98781750e-01 -4.55804451e-02 -1.89060653e-02 1.30701209e+02] [ 4.55964990e-02 9.98959851e-01 4.18724069e-04 -4.68857105e+00] [ 1.88673146e-02 -1.28026435e-03 9.99821177e-01 1.47339952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.360714057 meters Centerline goodness [0,1] 0.9879425751053617 Centerline is valid? [True, True] Translation: X:130.73, Y:-4.69, Z:1.47 [[ 9.98803662e-01 -4.51811362e-02 -1.87058824e-02 1.30732040e+02] [ 4.51968056e-02 9.98978016e-01 4.15547749e-04 -4.69071137e+00] [ 1.86679904e-02 -1.26049675e-03 9.99824943e-01 1.47408481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.390714057 meters Centerline goodness [0,1] 0.9875937225587103 Centerline is valid? [True, True] Translation: X:130.76, Y:-4.69, Z:1.47 [[ 9.98843465e-01 -4.44157384e-02 -1.84112897e-02 1.30763501e+02] [ 4.44308065e-02 9.99012380e-01 4.09977769e-04 -4.69176922e+00] [ 1.83748969e-02 -1.22753206e-03 9.99830414e-01 1.47489840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.420714057 meters Centerline goodness [0,1] 0.9884352668004238 Centerline is valid? [True, True] Translation: X:130.80, Y:-4.69, Z:1.48 [[ 9.98891528e-01 -4.32598970e-02 -1.85552402e-02 1.30795530e+02] [ 4.32750228e-02 9.99063112e-01 4.14238776e-04 -4.68964495e+00] [ 1.85199361e-02 -1.21675805e-03 9.99827751e-01 1.47539465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.450714057 meters Centerline goodness [0,1] 0.9877451533548489 Centerline is valid? [True, True] Translation: X:130.83, Y:-4.69, Z:1.48 [[ 9.98951025e-01 -4.20108023e-02 -1.82192743e-02 1.30826606e+02] [ 4.20252062e-02 9.99116467e-01 4.08269104e-04 -4.69211775e+00] [ 1.81860253e-02 -1.17350960e-03 9.99833932e-01 1.47582018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.480714057 meters Centerline goodness [0,1] 0.9873154877443235 Centerline is valid? [True, True] Translation: X:130.86, Y:-4.69, Z:1.48 [[ 9.99085602e-01 -3.91507912e-02 -1.71806844e-02 1.30857726e+02] [ 3.91632103e-02 9.99232752e-01 3.86870488e-04 -4.68967177e+00] [ 1.71523563e-02 -1.05936749e-03 9.99852326e-01 1.47682406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.510714057 meters Centerline goodness [0,1] 0.9873855544252289 Centerline is valid? [True, True] Translation: X:130.89, Y:-4.69, Z:1.48 [[ 9.99145772e-01 -3.77317460e-02 -1.68535507e-02 1.30889728e+02] [ 3.77435018e-02 9.99287388e-01 3.79877855e-04 -4.68758766e+00] [ 1.68272072e-02 -1.01566538e-03 9.99857897e-01 1.47783077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54071405699997 meters Centerline goodness [0,1] 0.9874524370356949 Centerline is valid? [True, True] Translation: X:130.92, Y:-4.69, Z:1.48 [[ 9.99230559e-01 -3.54763900e-02 -1.67247325e-02 1.30919877e+02] [ 3.54876646e-02 9.99370043e-01 3.77735762e-04 -4.68634450e+00] [ 1.67007959e-02 -9.70966812e-04 9.99860061e-01 1.47940019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57071405699998 meters Centerline goodness [0,1] 0.9886114067063645 Centerline is valid? [True, True] Translation: X:130.95, Y:-4.68, Z:1.48 [[ 9.99249163e-01 -3.47166582e-02 -1.72007006e-02 1.30952784e+02] [ 3.47284813e-02 9.99396709e-01 3.89051153e-04 -4.67628882e+00] [ 1.71768170e-02 -9.86113246e-04 9.99851981e-01 1.48052351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60071405699998 meters Centerline goodness [0,1] 0.9881038702075592 Centerline is valid? [True, True] Translation: X:130.98, Y:-4.68, Z:1.48 [[ 9.99264339e-01 -3.41546731e-02 -1.74424271e-02 1.30984443e+02] [ 3.41667753e-02 9.99416067e-01 3.96225503e-04 -4.67624102e+00] [ 1.74187089e-02 -9.91885502e-04 9.99847791e-01 1.48106811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63071405699998 meters Centerline goodness [0,1] 0.9885659838018104 Centerline is valid? [True, True] Translation: X:131.02, Y:-4.68, Z:1.48 [[ 9.99278028e-01 -3.39133108e-02 -1.71263121e-02 1.31016821e+02] [ 3.39249637e-02 9.99424307e-01 3.90256994e-04 -4.67605231e+00] [ 1.71032177e-02 -9.70984754e-04 9.99853258e-01 1.48149776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66071405699998 meters Centerline goodness [0,1] 0.9877764974355498 Centerline is valid? [True, True] Translation: X:131.05, Y:-4.68, Z:1.48 [[ 9.99278135e-01 -3.40247347e-02 -1.68975140e-02 1.31049407e+02] [ 3.40361141e-02 9.99420529e-01 3.86230119e-04 -4.67722319e+00] [ 1.68745810e-02 -9.61077029e-04 9.99857152e-01 1.48228924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69071405699998 meters Centerline goodness [0,1] 0.9881497258349572 Centerline is valid? [True, True] Translation: X:131.08, Y:-4.68, Z:1.48 [[ 9.99260753e-01 -3.47158089e-02 -1.65154346e-02 1.31081397e+02] [ 3.47267924e-02 9.99396771e-01 3.78640161e-04 -4.67821058e+00] [ 1.64923273e-02 -9.51888323e-04 9.99863539e-01 1.48351377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72071405699998 meters Centerline goodness [0,1] 0.9881667535647088 Centerline is valid? [True, True] Translation: X:131.11, Y:-4.68, Z:1.48 [[ 9.99234848e-01 -3.53724960e-02 -1.66884722e-02 1.31113453e+02] [ 3.53838219e-02 9.99373723e-01 3.83792280e-04 -4.67593782e+00] [ 1.66644449e-02 -9.74000550e-04 9.99860664e-01 1.48369283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75071405699998 meters Centerline goodness [0,1] 0.9889201069470249 Centerline is valid? [True, True] Translation: X:131.14, Y:-4.68, Z:1.48 [[ 9.99232589e-01 -3.52390364e-02 -1.71009770e-02 1.31144687e+02] [ 3.52509312e-02 9.99378415e-01 3.94530893e-04 -4.67859711e+00] [ 1.70764444e-02 -9.97053488e-04 9.99853690e-01 1.48388350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78071405699998 meters Centerline goodness [0,1] 0.9878655668416388 Centerline is valid? [True, True] Translation: X:131.18, Y:-4.68, Z:1.48 [[ 9.99224362e-01 -3.51908512e-02 -1.76714281e-02 1.31175492e+02] [ 3.52035671e-02 9.99380079e-01 4.08919566e-04 -4.67963001e+00] [ 1.76460829e-02 -1.03069970e-03 9.99843765e-01 1.48390041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81071405699998 meters Centerline goodness [0,1] 0.9887520693017665 Centerline is valid? [True, True] Translation: X:131.21, Y:-4.68, Z:1.48 [[ 9.99247013e-01 -3.44173128e-02 -1.79124635e-02 1.31207359e+02] [ 3.44302727e-02 9.99407016e-01 4.15533837e-04 -4.67652031e+00] [ 1.78875401e-02 -1.03195195e-03 9.99839473e-01 1.48418369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84071405699999 meters Centerline goodness [0,1] 0.9899717034521789 Centerline is valid? [True, True] Translation: X:131.24, Y:-4.68, Z:1.48 [[ 9.99271707e-01 -3.36202864e-02 -1.80480647e-02 1.31239604e+02] [ 3.36333373e-02 9.99434151e-01 4.19986973e-04 -4.67623662e+00] [ 1.80237322e-02 -1.02669775e-03 9.99837032e-01 1.48482343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.870714057 meters Centerline goodness [0,1] 0.9892888617720832 Centerline is valid? [True, True] Translation: X:131.27, Y:-4.67, Z:1.49 [[ 9.99332002e-01 -3.17266437e-02 -1.81375535e-02 1.31270704e+02] [ 3.17395346e-02 9.99496084e-01 4.23233361e-04 -4.67484663e+00] [ 1.81149859e-02 -9.98628147e-04 9.99835411e-01 1.48535930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.900714057 meters Centerline goodness [0,1] 0.9880206915328069 Centerline is valid? [True, True] Translation: X:131.30, Y:-4.68, Z:1.49 [[ 9.99405520e-01 -2.93081730e-02 -1.81559163e-02 1.31301664e+02] [ 2.93207039e-02 9.99569966e-01 4.24315619e-04 -4.67569509e+00] [ 1.81356727e-02 -9.56407616e-04 9.99835078e-01 1.48518409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.930714057 meters Centerline goodness [0,1] 0.9894674717392291 Centerline is valid? [True, True] Translation: X:131.33, Y:-4.68, Z:1.49 [[ 9.99443705e-01 -2.78227533e-02 -1.83895248e-02 1.31333600e+02] [ 2.78353711e-02 9.99612428e-01 4.30485679e-04 -4.67559116e+00] [ 1.83704202e-02 -9.42125449e-04 9.99830806e-01 1.48574520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.960714057 meters Centerline goodness [0,1] 0.9895826240893307 Centerline is valid? [True, True] Translation: X:131.37, Y:-4.67, Z:1.49 [[ 9.99485255e-01 -2.63384736e-02 -1.83169489e-02 1.31365178e+02] [ 2.63507581e-02 9.99652666e-01 4.29593491e-04 -4.67321351e+00] [ 1.82992720e-02 -9.12037850e-04 9.99832138e-01 1.48609313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.990714057 meters Centerline goodness [0,1] 0.9897808561371636 Centerline is valid? [True, True] Translation: X:131.40, Y:-4.67, Z:1.49 [[ 9.99555670e-01 -2.32841933e-02 -1.86093955e-02 1.31396808e+02] [ 2.32963592e-02 9.99728507e-01 4.37206843e-04 -4.67160612e+00] [ 1.85941632e-02 -8.70543742e-04 9.99826735e-01 1.48676839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.020714057 meters Centerline goodness [0,1] 0.9904848416032701 Centerline is valid? [True, True] Translation: X:131.43, Y:-4.67, Z:1.49 [[ 9.99585820e-01 -2.18393361e-02 -1.87411724e-02 1.31427165e+02] [ 2.18514375e-02 9.99761132e-01 4.41150841e-04 -4.67316759e+00] [ 1.87270613e-02 -8.50489682e-04 9.99824271e-01 1.48700751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.050714057 meters Centerline goodness [0,1] 0.9911498384674887 Centerline is valid? [True, True] Translation: X:131.46, Y:-4.67, Z:1.49 [[ 9.99643699e-01 -1.91561059e-02 -1.85881516e-02 1.31458405e+02] [ 1.91675536e-02 9.99816190e-01 4.37878837e-04 -4.66980076e+00] [ 1.85763468e-02 -7.94012212e-04 9.99827129e-01 1.48821655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.080714057 meters Centerline goodness [0,1] 0.9906817511959553 Centerline is valid? [True, True] Translation: X:131.49, Y:-4.67, Z:1.49 [[ 9.99667458e-01 -1.81299575e-02 -1.83379000e-02 1.31487451e+02] [ 1.81409299e-02 9.99835346e-01 4.32161171e-04 -4.67262395e+00] [ 1.83270456e-02 -7.64684018e-04 9.99831753e-01 1.48864325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.110714057 meters Centerline goodness [0,1] 0.9906707123771569 Centerline is valid? [True, True] Translation: X:131.52, Y:-4.67, Z:1.49 [[ 9.99673049e-01 -1.72402184e-02 -1.88830641e-02 1.31517012e+02] [ 1.72516864e-02 9.99851080e-01 4.44575986e-04 -4.67438880e+00] [ 1.88725875e-02 -7.70195332e-04 9.99821600e-01 1.48811479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.140714057 meters Centerline goodness [0,1] 0.9914833054714679 Centerline is valid? [True, True] Translation: X:131.55, Y:-4.68, Z:1.49 [[ 9.99668885e-01 -1.72576239e-02 -1.90864982e-02 1.31546174e+02] [ 1.72693102e-02 9.99850774e-01 4.47622392e-04 -4.67677183e+00] [ 1.90759251e-02 -7.77084835e-04 9.99817736e-01 1.48768710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.170714057 meters Centerline goodness [0,1] 0.9911171538635849 Centerline is valid? [True, True] Translation: X:131.57, Y:-4.68, Z:1.49 [[ 9.99645180e-01 -1.75938844e-02 -1.99992432e-02 1.31574410e+02] [ 1.76066800e-02 9.99844883e-01 4.63897052e-04 -4.67909290e+00] [ 1.99879792e-02 -8.15852728e-04 9.99799888e-01 1.48737949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.200714057 meters Centerline goodness [0,1] 0.9916602630746282 Centerline is valid? [True, True] Translation: X:131.60, Y:-4.68, Z:1.49 [[ 9.99604486e-01 -1.88568320e-02 -2.08636379e-02 1.31603057e+02] [ 1.88709213e-02 9.99821814e-01 4.78615114e-04 -4.68346438e+00] [ 2.08508951e-02 -8.72141884e-04 9.99782216e-01 1.48657603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.230714057 meters Centerline goodness [0,1] 0.9913997963109653 Centerline is valid? [True, True] Translation: X:131.63, Y:-4.69, Z:1.49 [[ 9.99549387e-01 -2.04041140e-02 -2.20157803e-02 1.31632111e+02] [ 2.04200867e-02 9.99791363e-01 5.00918344e-04 -4.68899992e+00] [ 2.20009662e-02 -9.50256766e-04 9.99757498e-01 1.48582138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.260714057 meters Centerline goodness [0,1] 0.9920211563672529 Centerline is valid? [True, True] Translation: X:131.66, Y:-4.69, Z:1.49 [[ 9.99519603e-01 -2.13764497e-02 -2.24412792e-02 1.31661207e+02] [ 2.13932634e-02 9.99771008e-01 5.09394624e-04 -4.69151170e+00] [ 2.24252513e-02 -9.89242110e-04 9.99748033e-01 1.48608264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29071405699997 meters Centerline goodness [0,1] 0.9914452745863711 Centerline is valid? [True, True] Translation: X:131.69, Y:-4.69, Z:1.49 [[ 9.99490765e-01 -2.18853132e-02 -2.32216169e-02 1.31690048e+02] [ 2.19034214e-02 9.99759953e-01 5.25706057e-04 -4.69485143e+00] [ 2.32045374e-02 -1.03407121e-03 9.99730204e-01 1.48624312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32071405699998 meters Centerline goodness [0,1] 0.9916049605005515 Centerline is valid? [True, True] Translation: X:131.72, Y:-4.70, Z:1.49 [[ 9.99460809e-01 -2.33318611e-02 -2.31022948e-02 1.31718936e+02] [ 2.33500955e-02 9.99727214e-01 5.19813292e-04 -4.69897993e+00] [ 2.30838646e-02 -1.05897380e-03 9.99732971e-01 1.48649465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35071405699998 meters Centerline goodness [0,1] 0.9920756072374624 Centerline is valid? [True, True] Translation: X:131.75, Y:-4.70, Z:1.49 [[ 9.99444457e-01 -2.40239231e-02 -2.31003952e-02 1.31747540e+02] [ 2.40422067e-02 9.99710812e-01 5.14038860e-04 -4.70146820e+00] [ 2.30813656e-02 -1.06913776e-03 9.99733018e-01 1.48636325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38071405699998 meters Centerline goodness [0,1] 0.992192070563881 Centerline is valid? [True, True] Translation: X:131.78, Y:-4.71, Z:1.49 [[ 9.99389216e-01 -2.55929654e-02 -2.37948400e-02 1.31776546e+02] [ 2.56127105e-02 9.99671803e-01 5.25357222e-04 -4.70624163e+00] [ 2.37735852e-02 -1.13448669e-03 9.99716725e-01 1.48649561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41071405699998 meters Centerline goodness [0,1] 0.9916279487352142 Centerline is valid? [True, True] Translation: X:131.81, Y:-4.71, Z:1.49 [[ 9.99340676e-01 -2.72993145e-02 -2.39365816e-02 1.31805613e+02] [ 2.73197528e-02 9.99626607e-01 5.27191633e-04 -4.70940401e+00] [ 2.39132518e-02 -1.18078553e-03 9.99713340e-01 1.48721225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44071405699998 meters Centerline goodness [0,1] 0.9921295154382582 Centerline is valid? [True, True] Translation: X:131.83, Y:-4.71, Z:1.49 [[ 9.99320679e-01 -2.80074541e-02 -2.39533628e-02 1.31834610e+02] [ 2.80281161e-02 9.99606996e-01 5.27231925e-04 -4.71354466e+00] [ 2.39291826e-02 -1.19824140e-03 9.99712938e-01 1.48709646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47071405699998 meters Centerline goodness [0,1] 0.9904874882492501 Centerline is valid? [True, True] Translation: X:131.86, Y:-4.72, Z:1.49 [[ 9.99262600e-01 -2.96147824e-02 -2.44380886e-02 1.31863573e+02] [ 2.96367881e-02 9.99560589e-01 5.38693595e-04 -4.72338491e+00] [ 2.44113969e-02 -1.26256282e-03 9.99701200e-01 1.48631226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50071405699998 meters Centerline goodness [0,1] 0.9906043278394439 Centerline is valid? [True, True] Translation: X:131.89, Y:-4.73, Z:1.49 [[ 9.99238086e-01 -3.02723806e-02 -2.46339133e-02 1.31893551e+02] [ 3.02949358e-02 9.99540856e-01 5.42848352e-04 -4.72598574e+00] [ 2.46061694e-02 -1.28871757e-03 9.99696392e-01 1.48660208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53071405699998 meters Centerline goodness [0,1] 0.9910151535470029 Centerline is valid? [True, True] Translation: X:131.92, Y:-4.73, Z:1.49 [[ 9.99224530e-01 -3.10855041e-02 -2.41667083e-02 1.31922996e+02] [ 3.11074285e-02 9.99515905e-01 5.31718580e-04 -4.72691071e+00] [ 2.41384806e-02 -1.28307040e-03 9.99707801e-01 1.48817735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56071405699998 meters Centerline goodness [0,1] 0.9903938735753152 Centerline is valid? [True, True] Translation: X:131.95, Y:-4.74, Z:1.49 [[ 9.99230151e-01 -3.11452356e-02 -2.38553997e-02 1.31951881e+02] [ 3.11665996e-02 9.99514066e-01 5.24198333e-04 -4.73838896e+00] [ 2.38274813e-02 -1.26728647e-03 9.99715282e-01 1.48683681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59071405699999 meters Centerline goodness [0,1] 0.9914953458782562 Centerline is valid? [True, True] Translation: X:131.98, Y:-4.73, Z:1.49 [[ 9.99227196e-01 -3.11561857e-02 -2.39645996e-02 1.31982157e+02] [ 3.11777430e-02 9.99513717e-01 5.26346685e-04 -4.73290961e+00] [ 2.39365471e-02 -1.27310205e-03 9.99712669e-01 1.48871313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.620714057 meters Centerline goodness [0,1] 0.9906704758503705 Centerline is valid? [True, True] Translation: X:132.01, Y:-4.74, Z:1.49 [[ 9.99227497e-01 -3.05403077e-02 -2.47325346e-02 1.32011304e+02] [ 3.05630765e-02 9.99532693e-01 5.43025367e-04 -4.73866537e+00] [ 2.47043928e-02 -1.29850823e-03 9.99693957e-01 1.48716682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.650714057 meters Centerline goodness [0,1] 0.9912214250701841 Centerline is valid? [True, True] Translation: X:132.04, Y:-4.74, Z:1.49 [[ 9.99242818e-01 -2.96484230e-02 -2.51944791e-02 1.32040175e+02] [ 2.96717468e-02 9.99559544e-01 5.52333231e-04 -4.74344594e+00] [ 2.51670063e-02 -1.29947922e-03 9.99682416e-01 1.48684781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.680714057 meters Centerline goodness [0,1] 0.9916026283550506 Centerline is valid? [True, True] Translation: X:132.07, Y:-4.75, Z:1.49 [[ 9.99267112e-01 -2.89953368e-02 -2.49901845e-02 1.32069445e+02] [ 2.90180264e-02 9.99578739e-01 5.45703115e-04 -4.74507373e+00] [ 2.49638343e-02 -1.27046901e-03 9.99687548e-01 1.48731562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.710714057 meters Centerline goodness [0,1] 0.990861269614836 Centerline is valid? [True, True] Translation: X:132.10, Y:-4.75, Z:1.49 [[ 9.99285629e-01 -2.84664193e-02 -2.48575062e-02 1.32098416e+02] [ 2.84886447e-02 9.99593970e-01 5.40367221e-04 -4.74847103e+00] [ 2.48320310e-02 -1.24813786e-03 9.99690858e-01 1.48722641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.740714057 meters Centerline goodness [0,1] 0.9908713324300913 Centerline is valid? [True, True] Translation: X:132.13, Y:-4.75, Z:1.49 [[ 9.99313108e-01 -2.74225344e-02 -2.49262154e-02 1.32126797e+02] [ 2.74444736e-02 9.99623184e-01 5.38429715e-04 -4.75171637e+00] [ 2.49020577e-02 -1.22214673e-03 9.99689149e-01 1.48761346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.770714057 meters Centerline goodness [0,1] 0.9903237976874765 Centerline is valid? [True, True] Translation: X:132.16, Y:-4.75, Z:1.49 [[ 9.99315329e-01 -2.72607934e-02 -2.50144263e-02 1.32155533e+02] [ 2.72826855e-02 9.99627615e-01 5.34249175e-04 -4.75421121e+00] [ 2.49905473e-02 -1.21634412e-03 9.99686948e-01 1.48732676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.800714057 meters Centerline goodness [0,1] 0.9901385927505331 Centerline is valid? [True, True] Translation: X:132.18, Y:-4.76, Z:1.49 [[ 9.99286805e-01 -2.77591964e-02 -2.55990028e-02 1.32184665e+02] [ 2.77821237e-02 9.99613856e-01 5.40340951e-04 -4.75527314e+00] [ 2.55741185e-02 -1.25115024e-03 9.99672146e-01 1.48788044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.830714057 meters Centerline goodness [0,1] 0.9896628216503993 Centerline is valid? [True, True] Translation: X:132.21, Y:-4.76, Z:1.49 [[ 9.99248511e-01 -2.90370619e-02 -2.56761187e-02 1.32211906e+02] [ 2.90604251e-02 9.99577512e-01 5.37165602e-04 -4.76166575e+00] [ 2.56496731e-02 -1.28292085e-03 9.99670170e-01 1.48794789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.860714057 meters Centerline goodness [0,1] 0.9894887615689731 Centerline is valid? [True, True] Translation: X:132.24, Y:-4.76, Z:1.49 [[ 9.99237987e-01 -2.96389529e-02 -2.53964164e-02 1.32240490e+02] [ 2.96618947e-02 9.99559850e-01 5.27026646e-04 -4.76493472e+00] [ 2.53696177e-02 -1.27993087e-03 9.99677320e-01 1.48825942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.890714057 meters Centerline goodness [0,1] 0.9889249950261954 Centerline is valid? [True, True] Translation: X:132.27, Y:-4.77, Z:1.49 [[ 9.99217255e-01 -3.05406632e-02 -2.51424897e-02 1.32268109e+02] [ 3.05633218e-02 9.99532699e-01 5.17330549e-04 -4.76953189e+00] [ 2.51149410e-02 -1.28536362e-03 9.99683744e-01 1.48834536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.920714057 meters Centerline goodness [0,1] 0.9883325230918814 Centerline is valid? [True, True] Translation: X:132.30, Y:-4.78, Z:1.49 [[ 9.99156328e-01 -3.26795547e-02 -2.48732765e-02 1.32297462e+02] [ 3.27023516e-02 9.99465005e-01 5.10193380e-04 -4.77522200e+00] [ 2.48432965e-02 -1.32317758e-03 9.99690482e-01 1.48844045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.950714057 meters Centerline goodness [0,1] 0.9878946904215911 Centerline is valid? [True, True] Translation: X:132.33, Y:-4.78, Z:1.49 [[ 9.99092448e-01 -3.46167081e-02 -2.48186356e-02 1.32326110e+02] [ 3.46399748e-02 9.99399727e-01 5.08028948e-04 -4.78151788e+00] [ 2.47861513e-02 -1.36728480e-03 9.99691841e-01 1.48853177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.980714057 meters Centerline goodness [0,1] 0.9873186813186813 Centerline is valid? [True, True] Translation: X:132.36, Y:-4.78, Z:1.49 [[ 9.99068254e-01 -3.56511631e-02 -2.43232135e-02 1.32355980e+02] [ 3.56737895e-02 9.99363364e-01 4.96822081e-04 -4.78498110e+00] [ 2.42900162e-02 -1.36406037e-03 9.99704023e-01 1.48866760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.010714057 meters Centerline goodness [0,1] 0.987450462351387 Centerline is valid? [True, True] Translation: X:132.39, Y:-4.79, Z:1.49 [[ 9.99034373e-01 -3.69146862e-02 -2.38249333e-02 1.32385319e+02] [ 3.69367336e-02 9.99317488e-01 4.85836097e-04 -4.78741446e+00] [ 2.37907380e-02 -1.36538218e-03 9.99716028e-01 1.48948732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04071405699997 meters Centerline goodness [0,1] 0.9870389930463868 Centerline is valid? [True, True] Translation: X:132.41, Y:-4.79, Z:1.49 [[ 9.98995010e-01 -3.85563170e-02 -2.28556257e-02 1.32414417e+02] [ 3.85770204e-02 9.99255521e-01 4.65454278e-04 -4.79345233e+00] [ 2.28206640e-02 -1.34668844e-03 9.99738668e-01 1.49007827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07071405699998 meters Centerline goodness [0,1] 0.9865034456945331 Centerline is valid? [True, True] Translation: X:132.45, Y:-4.79, Z:1.49 [[ 9.98961720e-01 -3.95389946e-02 -2.26307109e-02 1.32445291e+02] [ 3.95595415e-02 9.99217109e-01 4.60781639e-04 -4.79303630e+00] [ 2.25947746e-02 -1.35556377e-03 9.99743786e-01 1.49098808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10071405699998 meters Centerline goodness [0,1] 0.985968071323481 Centerline is valid? [True, True] Translation: X:132.48, Y:-4.79, Z:1.49 [[ 9.98906958e-01 -4.09737679e-02 -2.24953371e-02 1.32476069e+02] [ 4.09944458e-02 9.99159269e-01 4.58631318e-04 -4.79405764e+00] [ 2.24576328e-02 -1.38031389e-03 9.99746843e-01 1.49194736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13071405699998 meters Centerline goodness [0,1] 0.9843342036553525 Centerline is valid? [True, True] Translation: X:132.51, Y:-4.80, Z:1.49 [[ 9.98862917e-01 -4.20313467e-02 -2.24997677e-02 1.32506581e+02] [ 4.20523221e-02 9.99115304e-01 4.59713070e-04 -4.80272163e+00] [ 2.24605398e-02 -1.40535782e-03 9.99746742e-01 1.49136238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16071405699998 meters Centerline goodness [0,1] 0.9843342036553525 Centerline is valid? [True, True] Translation: X:132.54, Y:-4.80, Z:1.49 [[ 9.98862917e-01 -4.20313377e-02 -2.24997547e-02 1.32536632e+02] [ 4.20523274e-02 9.99115304e-01 4.60348107e-04 -4.80333674e+00] [ 2.24605002e-02 -1.40599170e-03 9.99746742e-01 1.49178652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19071405699998 meters Centerline goodness [0,1] 0.9851438573460234 Centerline is valid? [True, True] Translation: X:132.57, Y:-4.80, Z:1.49 [[ 9.98799345e-01 -4.34656633e-02 -2.25965710e-02 1.32568103e+02] [ 4.34872063e-02 9.99053877e-01 4.62625096e-04 -4.80001627e+00] [ 2.25550836e-02 -1.44473139e-03 9.99744558e-01 1.49318964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22071405699998 meters Centerline goodness [0,1] 0.9856104078146217 Centerline is valid? [True, True] Translation: X:132.60, Y:-4.80, Z:1.49 [[ 9.98779611e-01 -4.40337545e-02 -2.23677913e-02 1.32599132e+02] [ 4.40550228e-02 9.99029001e-01 4.58730615e-04 -4.79602880e+00] [ 2.23258726e-02 -1.44358434e-03 9.99749704e-01 1.49398889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25071405699998 meters Centerline goodness [0,1] 0.9854052987969233 Centerline is valid? [True, True] Translation: X:132.63, Y:-4.80, Z:1.49 [[ 9.98781071e-01 -4.40960969e-02 -2.21789613e-02 1.32630270e+02] [ 4.41170555e-02 9.99026265e-01 4.56334826e-04 -4.79864748e+00] [ 2.21372422e-02 -1.43424905e-03 9.99753912e-01 1.49425061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28071405699998 meters Centerline goodness [0,1] 0.9860952964876938 Centerline is valid? [True, True] Translation: X:132.66, Y:-4.80, Z:1.49 [[ 9.98830091e-01 -4.30428279e-02 -2.20400569e-02 1.32662010e+02] [ 4.30633151e-02 9.99072241e-01 4.55553246e-04 -4.79805010e+00] [ 2.20000007e-02 -1.40413821e-03 9.99756985e-01 1.49498887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31071405699998 meters Centerline goodness [0,1] 0.9861464270056992 Centerline is valid? [True, True] Translation: X:132.69, Y:-4.80, Z:1.50 [[ 9.98901201e-01 -4.14018200e-02 -2.19608692e-02 1.32693342e+02] [ 4.14217870e-02 9.99141646e-01 4.54906947e-04 -4.79754411e+00] [ 2.19231850e-02 -1.36406554e-03 9.99758728e-01 1.49584092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34071405699999 meters Centerline goodness [0,1] 0.9860445694694738 Centerline is valid? [True, True] Translation: X:132.72, Y:-4.80, Z:1.50 [[ 9.99067415e-01 -3.70183812e-02 -2.22247518e-02 1.32723366e+02] [ 3.70377595e-02 9.99313761e-01 4.60787212e-04 -4.79560758e+00] [ 2.21924427e-02 -1.28351250e-03 9.99752894e-01 1.49688322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.370714057 meters Centerline goodness [0,1] 0.9860796516614254 Centerline is valid? [True, True] Translation: X:132.75, Y:-4.79, Z:1.50 [[ 9.99144246e-01 -3.48322919e-02 -2.23044384e-02 1.32753817e+02] [ 3.48512624e-02 9.99392403e-01 4.62259606e-04 -4.79482821e+00] [ 2.22747848e-02 -1.23920186e-03 9.99751118e-01 1.49712941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.400714057 meters Centerline goodness [0,1] 0.986635306530675 Centerline is valid? [True, True] Translation: X:132.78, Y:-4.79, Z:1.50 [[ 9.99277677e-01 -3.09976236e-02 -2.19834182e-02 1.32784129e+02] [ 3.10151266e-02 9.99518811e-01 4.55606461e-04 -4.79375989e+00] [ 2.19587173e-02 -1.13709587e-03 9.99758232e-01 1.49711954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.430714057 meters Centerline goodness [0,1] 0.9862845085282222 Centerline is valid? [True, True] Translation: X:132.81, Y:-4.79, Z:1.50 [[ 9.99330332e-01 -2.94143358e-02 -2.17643113e-02 1.32813490e+02] [ 2.94311113e-02 9.99566709e-01 4.50799835e-04 -4.79349917e+00] [ 2.17416211e-02 -1.09104582e-03 9.99763028e-01 1.49759282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.460714057 meters Centerline goodness [0,1] 0.9874722521374096 Centerline is valid? [True, True] Translation: X:132.84, Y:-4.79, Z:1.50 [[ 9.99400577e-01 -2.74401306e-02 -2.11074835e-02 1.32841820e+02] [ 2.74554521e-02 9.99622933e-01 4.36378301e-04 -4.79355937e+00] [ 2.10875503e-02 -1.01563223e-03 9.99777117e-01 1.49828025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.490714057 meters Centerline goodness [0,1] 0.9873431628908568 Centerline is valid? [True, True] Translation: X:132.87, Y:-4.79, Z:1.50 [[ 9.99420992e-01 -2.66286911e-02 -2.11800462e-02 1.32871800e+02] [ 2.66439166e-02 9.99644892e-01 4.36944976e-04 -4.79369799e+00] [ 2.11608898e-02 -1.00101137e-03 9.99775582e-01 1.49852118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.520714057 meters Centerline goodness [0,1] 0.9866663742625935 Centerline is valid? [True, True] Translation: X:132.90, Y:-4.79, Z:1.50 [[ 9.99393657e-01 -2.67899213e-02 -2.22400189e-02 1.32900609e+02] [ 2.68066949e-02 9.99640532e-01 4.56368837e-04 -4.79436353e+00] [ 2.22197983e-02 -1.05227352e-03 9.99752556e-01 1.49839051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.550714057 meters Centerline goodness [0,1] 0.9876554018560673 Centerline is valid? [True, True] Translation: X:132.93, Y:-4.79, Z:1.50 [[ 9.99375077e-01 -2.72363001e-02 -2.25308655e-02 1.32928895e+02] [ 2.72535356e-02 9.99628448e-01 4.58209940e-04 -4.79447378e+00] [ 2.25100142e-02 -1.07196934e-03 9.99746043e-01 1.49880047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.580714057 meters Centerline goodness [0,1] 0.9873442709247237 Centerline is valid? [True, True] Translation: X:132.96, Y:-4.80, Z:1.50 [[ 9.99306609e-01 -2.93382667e-02 -2.29252427e-02 1.32957192e+02] [ 2.93566243e-02 9.99568893e-01 4.64551395e-04 -4.79897327e+00] [ 2.29017304e-02 -1.13723702e-03 9.99737074e-01 1.49878743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.610714057 meters Centerline goodness [0,1] 0.9866745567317597 Centerline is valid? [True, True] Translation: X:132.99, Y:-4.80, Z:1.50 [[ 9.99279493e-01 -3.02709059e-02 -2.28946897e-02 1.32985731e+02] [ 3.02893950e-02 9.99541065e-01 4.61146777e-04 -4.80043369e+00] [ 2.28702232e-02 -1.15428082e-03 9.99737776e-01 1.49920861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.640714057 meters Centerline goodness [0,1] 0.9868158385433805 Centerline is valid? [True, True] Translation: X:133.01, Y:-4.80, Z:1.50 [[ 9.99229996e-01 -3.19698092e-02 -2.27452510e-02 1.33014838e+02] [ 3.19884118e-02 9.99488137e-01 4.54404431e-04 -4.80413451e+00] [ 2.27190813e-02 -1.18163899e-03 9.99741190e-01 1.49946288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.670714057 meters Centerline goodness [0,1] 0.9868159692663654 Centerline is valid? [True, True] Translation: X:133.04, Y:-4.81, Z:1.50 [[ 9.99212729e-01 -3.26220534e-02 -2.25770756e-02 1.33043742e+02] [ 3.26405256e-02 9.99467055e-01 4.50061571e-04 -4.80809958e+00] [ 2.25503613e-02 -1.18663487e-03 9.99745004e-01 1.49935913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.700714057 meters Centerline goodness [0,1] 0.9865701349548328 Centerline is valid? [True, True] Translation: X:133.07, Y:-4.81, Z:1.50 [[ 9.99184467e-01 -3.34393899e-02 -2.26320296e-02 1.33072811e+02] [ 3.34581412e-02 9.99440018e-01 4.50270042e-04 -4.80977728e+00] [ 2.26042993e-02 -1.20712847e-03 9.99743761e-01 1.50016896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.730714057 meters Centerline goodness [0,1] 0.9864906355541909 Centerline is valid? [True, True] Translation: X:133.10, Y:-4.81, Z:1.50 [[ 9.99152720e-01 -3.45632805e-02 -2.23432779e-02 1.33102247e+02] [ 3.45818152e-02 9.99401772e-01 4.43573282e-04 -4.81152766e+00] [ 2.23145802e-02 -1.21586856e-03 9.99750259e-01 1.50162109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.760714057 meters Centerline goodness [0,1] 0.9863534138299963 Centerline is valid? [True, True] Translation: X:133.13, Y:-4.81, Z:1.50 [[ 9.99130909e-01 -3.53421683e-02 -2.20988193e-02 1.33132262e+02] [ 3.53604736e-02 9.99374527e-01 4.38004855e-04 -4.81338855e+00] [ 2.20695170e-02 -1.21904890e-03 9.99755695e-01 1.50226785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79071405699997 meters Centerline goodness [0,1] 0.9864403814189485 Centerline is valid? [True, True] Translation: X:133.16, Y:-4.81, Z:1.50 [[ 9.99066310e-01 -3.74257800e-02 -2.15828370e-02 1.33162601e+02] [ 3.74437152e-02 9.99298647e-01 4.27330696e-04 -4.81242720e+00] [ 2.15517067e-02 -1.23507330e-03 9.99766972e-01 1.50295615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82071405699998 meters Centerline goodness [0,1] 0.9862764839782875 Centerline is valid? [True, True] Translation: X:133.19, Y:-4.82, Z:1.50 [[ 9.99009425e-01 -3.87897603e-02 -2.18065038e-02 1.33191837e+02] [ 3.88083902e-02 9.99246577e-01 4.31630148e-04 -4.81720842e+00] [ 2.17733314e-02 -1.27747789e-03 9.99762117e-01 1.50270597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85071405699998 meters Centerline goodness [0,1] 0.9848743169398907 Centerline is valid? [True, True] Translation: X:133.22, Y:-4.82, Z:1.50 [[ 9.98862980e-01 -4.23726087e-02 -2.18474052e-02 1.33221645e+02] [ 4.23921601e-02 9.99100955e-01 4.32341815e-04 -4.82305643e+00] [ 2.18094440e-02 -1.35800893e-03 9.99761223e-01 1.50254930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88071405699998 meters Centerline goodness [0,1] 0.9843469110360854 Centerline is valid? [True, True] Translation: X:133.25, Y:-4.83, Z:1.50 [[ 9.98679142e-01 -4.63613910e-02 -2.21493346e-02 1.33251997e+02] [ 4.63824696e-02 9.98923658e-01 4.38598622e-04 -4.82715915e+00] [ 2.21051603e-02 -1.46536014e-03 9.99754577e-01 1.50289759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91071405699998 meters Centerline goodness [0,1] 0.9834985665200359 Centerline is valid? [True, True] Translation: X:133.28, Y:-4.83, Z:1.50 [[ 9.98574956e-01 -4.83181259e-02 -2.26586989e-02 1.33282093e+02] [ 4.83406980e-02 9.98830804e-01 4.49179892e-04 -4.83028986e+00] [ 2.26105029e-02 -1.54387711e-03 9.99743158e-01 1.50303924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94071405699998 meters Centerline goodness [0,1] 0.9827443099908261 Centerline is valid? [True, True] Translation: X:133.31, Y:-4.83, Z:1.50 [[ 9.98483879e-01 -5.00636025e-02 -2.28818716e-02 1.33313665e+02] [ 5.00871013e-02 9.98744750e-01 4.54642434e-04 -4.83224448e+00] [ 2.28303881e-02 -1.60003976e-03 9.99738072e-01 1.50257289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97071405699998 meters Centerline goodness [0,1] 0.9821721894916665 Centerline is valid? [True, True] Translation: X:133.34, Y:-4.84, Z:1.50 [[ 9.98289801e-01 -5.32259162e-02 -2.41759245e-02 1.33342975e+02] [ 5.32530800e-02 9.98580932e-01 4.80707763e-04 -4.83609664e+00] [ 2.41160311e-02 -1.76732810e-03 9.99707604e-01 1.50167357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00071405699998 meters Centerline goodness [0,1] 0.975451658819665 Centerline is valid? [True, True] Translation: X:133.37, Y:-4.84, Z:1.50 [[ 9.98102566e-01 -5.65001740e-02 -2.44744278e-02 1.33372645e+02] [ 5.65289836e-02 9.98400840e-01 4.86320662e-04 -4.84000969e+00] [ 2.44078120e-02 -1.86891243e-03 9.99700338e-01 1.50113221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03071405699998 meters Centerline goodness [0,1] 0.9720494173311136 Centerline is valid? [True, True] Translation: X:133.40, Y:-4.84, Z:1.50 [[ 9.98010354e-01 -5.79959125e-02 -2.47347240e-02 1.33403439e+02] [ 5.80257946e-02 9.98314963e-01 4.91477447e-04 -4.84117317e+00] [ 2.46645414e-02 -1.92575159e-03 9.99693929e-01 1.50126068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06071405699998 meters Centerline goodness [0,1] 0.9640226256248355 Centerline is valid? [True, True] Translation: X:133.43, Y:-4.84, Z:1.50 [[ 9.97945533e-01 -5.91919684e-02 -2.45157893e-02 1.33434194e+02] [ 5.92216917e-02 9.98244736e-01 4.87515599e-04 -4.84293144e+00] [ 2.44439006e-02 -1.93838053e-03 9.99699324e-01 1.50178213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09071405699999 meters Centerline goodness [0,1] 0.9508308123986146 Centerline is valid? [True, True] Translation: X:133.46, Y:-4.84, Z:1.50 [[ 9.97830173e-01 -6.12927369e-02 -2.40446901e-02 1.33463733e+02] [ 6.13219396e-02 9.98117924e-01 4.78366991e-04 -4.84417671e+00] [ 2.39701158e-02 -1.95179605e-03 9.99710770e-01 1.50233673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.120714057 meters Centerline goodness [0,1] 0.9414433170432381 Centerline is valid? [True, False] Translation: X:133.46, Y:-4.85, Z:1.50 [[ 9.98017300e-01 -5.82647780e-02 -2.38051575e-02 1.33462748e+02] [ 5.83861165e-02 9.98284230e-01 4.43371226e-03 -4.84555751e+00] [ 2.35059841e-02 -5.81481223e-03 9.99706785e-01 1.50202866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.150714057 meters Centerline goodness [0,1] 0.9185632688927944 Centerline is valid? [False, False] Translation: X:133.46, Y:-4.84, Z:1.50 [[ 9.98148163e-01 -5.60385265e-02 -2.36628042e-02 1.33461487e+02] [ 5.62166502e-02 9.98394542e-01 6.93016632e-03 -4.84408390e+00] [ 2.32364582e-02 -8.24757637e-03 9.99695976e-01 1.50244012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.180714057 meters Centerline goodness [0,1] 0.9044715892892388 Centerline is valid? [False, False] Translation: X:133.46, Y:-4.84, Z:1.50 [[ 9.98141327e-01 -5.60990121e-02 -2.38073877e-02 1.33461888e+02] [ 5.62690704e-02 9.98394261e-01 6.53380489e-03 -4.84243471e+00] [ 2.34026193e-02 -7.86128026e-03 9.99695212e-01 1.50229718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.210714057 meters Centerline goodness [0,1] 0.8742594101711341 Centerline is valid? [False, False] Translation: X:133.46, Y:-4.84, Z:1.50 [[ 9.98118973e-01 -5.64828728e-02 -2.38369723e-02 1.33461994e+02] [ 5.66258357e-02 9.98381054e-01 5.36523141e-03 -4.83867032e+00] [ 2.34953379e-02 -6.70492774e-03 9.99701462e-01 1.50230464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.240714057 meters Centerline goodness [0,1] 0.8560195586097529 Centerline is valid? [False, False] Translation: X:133.46, Y:-4.84, Z:1.50 [[ 9.98105459e-01 -5.66862027e-02 -2.39200184e-02 1.33462109e+02] [ 5.68146659e-02 9.98373561e-01 4.72500202e-03 -4.83663252e+00] [ 2.36132715e-02 -6.07505817e-03 9.99702709e-01 1.50242438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.270714057 meters Centerline goodness [0,1] 0.8158487565705199 Centerline is valid? [False, False] Translation: X:133.46, Y:-4.84, Z:1.50 [[ 9.98256375e-01 -5.40480480e-02 -2.37280052e-02 1.33460985e+02] [ 5.42423326e-02 9.98498713e-01 7.62171001e-03 -4.83506512e+00] [ 2.32804441e-02 -8.89548296e-03 9.99689397e-01 1.50252494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.300714057 meters Centerline goodness [0,1] 0.8110151187904968 Centerline is valid? [False, False] Translation: X:133.46, Y:-4.83, Z:1.50 [[ 9.98243402e-01 -5.42560402e-02 -2.37989891e-02 1.33461153e+02] [ 5.44386416e-02 9.98491928e-01 7.09259963e-03 -4.83342781e+00] [ 2.33782821e-02 -8.37572542e-03 9.99691604e-01 1.50253317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.330714057 meters Centerline goodness [0,1] 0.7766398869956741 Centerline is valid? [False, False] Translation: X:133.46, Y:-4.83, Z:1.50 [[ 9.98215814e-01 -5.47728904e-02 -2.37722527e-02 1.33461090e+02] [ 5.49256433e-02 9.98473482e-01 5.82052839e-03 -4.82965245e+00] [ 2.34171568e-02 -7.11584975e-03 9.99700456e-01 1.50266299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.360714057 meters Centerline goodness [0,1] 0.9836207087363598 Centerline is valid? [False, True] Translation: X:133.46, Y:-4.83, Z:1.50 [[ 9.98199671e-01 -5.50309563e-02 -2.38539572e-02 1.33461195e+02] [ 5.51675727e-02 9.98464049e-01 5.10696997e-03 -4.82748085e+00] [ 2.35362773e-02 -6.41374066e-03 9.99702410e-01 1.50277323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.390714057 meters Centerline goodness [0,1] 0.9830658746342761 Centerline is valid? [True, True] Translation: X:133.49, Y:-4.83, Z:1.50 [[ 9.98182104e-01 -5.53635354e-02 -2.38194567e-02 1.33492975e+02] [ 5.53977139e-02 9.98464065e-01 7.76927360e-04 -4.82547480e+00] [ 2.37398581e-02 -2.09505843e-03 9.99715975e-01 1.50462656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.420714057 meters Centerline goodness [0,1] 0.984303088245103 Centerline is valid? [True, True] Translation: X:133.53, Y:-4.82, Z:1.51 [[ 9.98124098e-01 -5.65735449e-02 -2.34034017e-02 1.33525271e+02] [ 5.66069025e-02 9.98396251e-01 7.64778843e-04 -4.81965054e+00] [ 2.33226022e-02 -2.08813827e-03 9.99725810e-01 1.50571654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.450714057 meters Centerline goodness [0,1] 0.9828314726682382 Centerline is valid? [True, True] Translation: X:133.56, Y:-4.82, Z:1.51 [[ 9.98088547e-01 -5.70815866e-02 -2.36842645e-02 1.33556101e+02] [ 5.71159458e-02 9.98367250e-01 7.76241515e-04 -4.82010764e+00] [ 2.36012850e-02 -2.12750694e-03 9.99719187e-01 1.50595036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.480714057 meters Centerline goodness [0,1] 0.6967540242117867 Centerline is valid? [True, False] Translation: X:133.56, Y:-4.82, Z:1.51 [[ 9.98248234e-01 -5.42000006e-02 -2.37238949e-02 1.33555605e+02] [ 5.43098348e-02 9.98516081e-01 4.00965143e-03 -4.81886850e+00] [ 2.34713674e-02 -5.29106827e-03 9.99710508e-01 1.50569613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.510714057 meters Centerline goodness [0,1] 0.9827298050139276 Centerline is valid? [False, True] Translation: X:133.56, Y:-4.82, Z:1.51 [[ 9.98230462e-01 -5.45293211e-02 -2.37170394e-02 1.33555473e+02] [ 5.46207767e-02 9.98501963e-01 3.22506282e-03 -4.81664709e+00] [ 2.35056499e-02 -4.51479906e-03 9.99713509e-01 1.50590831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54071405699997 meters Centerline goodness [0,1] 0.9768518518518519 Centerline is valid? [True, True] Translation: X:133.59, Y:-4.82, Z:1.51 [[ 9.98164690e-01 -5.57848932e-02 -2.35647347e-02 1.33585691e+02] [ 5.58208724e-02 9.98440419e-01 8.71286225e-04 -4.81851462e+00] [ 2.34793789e-02 -2.18509119e-03 9.99721933e-01 1.50702223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57071405699998 meters Centerline goodness [0,1] 0.9784343084452589 Centerline is valid? [True, True] Translation: X:133.62, Y:-4.82, Z:1.51 [[ 9.98134960e-01 -5.64529406e-02 -2.32307476e-02 1.33617793e+02] [ 5.64881135e-02 9.98402901e-01 8.60122828e-04 -4.81756633e+00] [ 2.31450894e-02 -2.17077977e-03 9.99729760e-01 1.50763717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60071405699998 meters Centerline goodness [0,1] 0.9804511613392181 Centerline is valid? [True, True] Translation: X:133.65, Y:-4.82, Z:1.51 [[ 9.98127684e-01 -5.69266966e-02 -2.23713495e-02 1.33650044e+02] [ 5.69594714e-02 9.98376146e-01 8.30044173e-04 -4.81707600e+00] [ 2.22877700e-02 -2.10275031e-03 9.99749385e-01 1.50847067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63071405699998 meters Centerline goodness [0,1] 0.9797442318011089 Centerline is valid? [True, True] Translation: X:133.68, Y:-4.82, Z:1.51 [[ 9.98054000e-01 -5.81621457e-02 -2.24806254e-02 1.33680505e+02] [ 5.81955890e-02 9.98304851e-01 8.35748514e-04 -4.81675568e+00] [ 2.23939084e-02 -2.14239538e-03 9.99746929e-01 1.50892350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66071405699998 meters Centerline goodness [0,1] 0.9749468739514595 Centerline is valid? [True, True] Translation: X:133.71, Y:-4.82, Z:1.51 [[ 9.98045908e-01 -5.83246680e-02 -2.24187271e-02 1.33711586e+02] [ 5.83579935e-02 9.98295371e-01 8.34594608e-04 -4.81931477e+00] [ 2.23318341e-02 -2.14127567e-03 9.99748320e-01 1.50890181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69071405699998 meters Centerline goodness [0,1] 0.98410919604635 Centerline is valid? [True, True] Translation: X:133.74, Y:-4.81, Z:1.51 [[ 9.98016375e-01 -5.86714702e-02 -2.28248688e-02 1.33744332e+02] [ 5.87061363e-02 9.98274945e-01 8.51120634e-04 -4.81009198e+00] [ 2.27355581e-02 -2.18939219e-03 9.99739116e-01 1.50946911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72071405699998 meters Centerline goodness [0,1] 0.9596944033696285 Centerline is valid? [True, True] Translation: X:133.78, Y:-4.82, Z:1.51 [[ 9.98000742e-01 -5.87314949e-02 -2.33480489e-02 1.33775513e+02] [ 5.87678340e-02 9.98271296e-01 8.72723835e-04 -4.82299929e+00] [ 2.32564307e-02 -2.24309330e-03 9.99727016e-01 1.50765419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75071405699998 meters Centerline goodness [0,1] 0.9833940047638309 Centerline is valid? [True, True] Translation: X:133.81, Y:-4.81, Z:1.51 [[ 9.97984586e-01 -5.85853364e-02 -2.43828691e-02 1.33807801e+02] [ 5.86249810e-02 9.98279659e-01 9.13665298e-04 -4.81407082e+00] [ 2.42873948e-02 -2.34126912e-03 9.99702276e-01 1.50835331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78071405699998 meters Centerline goodness [0,1] 0.9844680184414305 Centerline is valid? [True, True] Translation: X:133.84, Y:-4.81, Z:1.51 [[ 9.97990414e-01 -5.85275200e-02 -2.42829919e-02 1.33840077e+02] [ 5.85668651e-02 9.98283072e-01 9.11646943e-04 -4.81499529e+00] [ 2.41879433e-02 -2.33199362e-03 9.99704709e-01 1.50857270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81071405699998 meters Centerline goodness [0,1] 0.9826738784029445 Centerline is valid? [True, True] Translation: X:133.87, Y:-4.82, Z:1.51 [[ 9.98024287e-01 -5.78852374e-02 -2.44299292e-02 1.33871965e+02] [ 5.79249119e-02 9.98320520e-01 9.18897552e-04 -4.81634909e+00] [ 2.43357090e-02 -2.33218357e-03 9.99701122e-01 1.50917994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84071405699999 meters Centerline goodness [0,1] 0.9470979036674597 Centerline is valid? [True, False] Translation: X:133.87, Y:-4.82, Z:1.51 [[ 9.98232514e-01 -5.42942824e-02 -2.41656699e-02 1.33870844e+02] [ 5.44268903e-02 9.98505914e-01 4.86348710e-03 -4.81669447e+00] [ 2.38655048e-02 -6.17015322e-03 9.99696137e-01 1.50920684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.870714057 meters Centerline goodness [0,1] 0.986519168756718 Centerline is valid? [False, True] Translation: X:133.87, Y:-4.82, Z:1.51 [[ 9.98429854e-01 -5.04998558e-02 -2.42402609e-02 1.33870451e+02] [ 5.07236977e-02 9.98674746e-01 8.70961882e-03 -4.81663709e+00] [ 2.37683019e-02 -9.92549912e-03 9.99668221e-01 1.50918168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.900714057 meters Centerline goodness [0,1] 0.9859359953418584 Centerline is valid? [True, True] Translation: X:133.90, Y:-4.82, Z:1.51 [[ 9.98525374e-01 -4.84971135e-02 -2.43948143e-02 1.33900475e+02] [ 4.85355064e-02 9.98820973e-01 9.83839310e-04 -4.81619492e+00] [ 2.43183388e-02 -2.16640318e-03 9.99701918e-01 1.51145965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.930714057 meters Centerline goodness [0,1] 0.988297657285326 Centerline is valid? [True, True] Translation: X:133.93, Y:-4.81, Z:1.51 [[ 9.98607455e-01 -4.64784758e-02 -2.49580210e-02 1.33931740e+02] [ 4.65180422e-02 9.98916943e-01 1.00675931e-03 -4.81111030e+00] [ 2.48841974e-02 -2.16635563e-03 9.99687993e-01 1.51195792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.960714057 meters Centerline goodness [0,1] 0.9883373407339161 Centerline is valid? [True, True] Translation: X:133.96, Y:-4.81, Z:1.51 [[ 9.98804788e-01 -4.17901820e-02 -2.53490746e-02 1.33962715e+02] [ 4.18295105e-02 9.99124239e-01 1.02297630e-03 -4.80702137e+00] [ 2.52841245e-02 -2.08209301e-03 9.99678137e-01 1.51165473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.990714057 meters Centerline goodness [0,1] 0.9891023480507808 Centerline is valid? [True, True] Translation: X:133.99, Y:-4.80, Z:1.51 [[ 9.99014703e-01 -3.66791041e-02 -2.49853389e-02 1.33993167e+02] [ 3.67157282e-02 9.99325241e-01 1.00849978e-03 -4.80250457e+00] [ 2.49314890e-02 -1.92486102e-03 9.99687309e-01 1.51242032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.020714057 meters Centerline goodness [0,1] 0.9892049039935095 Centerline is valid? [True, True] Translation: X:134.02, Y:-4.80, Z:1.51 [[ 9.99102900e-01 -3.44441683e-02 -2.46372449e-02 1.34022455e+02] [ 3.44790977e-02 9.99404925e-01 9.94229292e-04 -4.80306615e+00] [ 2.45883385e-02 -1.84280734e-03 9.99695963e-01 1.51297472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.050714057 meters Centerline goodness [0,1] 0.9892049039935095 Centerline is valid? [True, True] Translation: X:134.05, Y:-4.80, Z:1.51 [[ 9.99104120e-01 -3.44087888e-02 -2.46372388e-02 1.34053362e+02] [ 3.44437112e-02 9.99406145e-01 9.94380816e-04 -4.80434377e+00] [ 2.45883924e-02 -1.84208791e-03 9.99695963e-01 1.51339346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.080714057 meters Centerline goodness [0,1] 0.9875224820143885 Centerline is valid? [True, True] Translation: X:134.08, Y:-4.81, Z:1.51 [[ 9.99181026e-01 -3.23536351e-02 -2.43006061e-02 1.34082997e+02] [ 3.23870164e-02 9.99474921e-01 9.81267024e-04 -4.80677737e+00] [ 2.42560988e-02 -1.76748752e-03 9.99704215e-01 1.51402025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.110714057 meters Centerline goodness [0,1] 0.988656392642473 Centerline is valid? [True, True] Translation: X:134.11, Y:-4.80, Z:1.52 [[ 9.99314470e-01 -2.83924026e-02 -2.37583789e-02 1.34114166e+02] [ 2.84232000e-02 9.99595519e-01 9.59520449e-04 -4.80072130e+00] [ 2.37215260e-02 -1.63415183e-03 9.99717269e-01 1.51584630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.140714057 meters Centerline goodness [0,1] 0.9884043585173822 Centerline is valid? [True, True] Translation: X:134.14, Y:-4.80, Z:1.52 [[ 9.99372475e-01 -2.67280707e-02 -2.32436181e-02 1.34144487e+02] [ 2.67571001e-02 9.99641524e-01 9.38755818e-04 -4.80034664e+00] [ 2.32101947e-02 -1.56009854e-03 9.99729390e-01 1.51684606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.170714057 meters Centerline goodness [0,1] 0.9891617350293631 Centerline is valid? [True, True] Translation: X:134.18, Y:-4.79, Z:1.52 [[ 9.99434222e-01 -2.46594961e-02 -2.28723752e-02 1.34175117e+02] [ 2.46870489e-02 9.99694802e-01 9.23009065e-04 -4.79209364e+00] [ 2.28426337e-02 -1.48713829e-03 9.99737967e-01 1.51848105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.200714057 meters Centerline goodness [0,1] 0.9884604049060283 Centerline is valid? [True, True] Translation: X:134.20, Y:-4.80, Z:1.52 [[ 9.99454202e-01 -2.36074425e-02 -2.31081684e-02 1.34203523e+02] [ 2.36352569e-02 9.99720215e-01 9.31243101e-04 -4.79800955e+00] [ 2.30797188e-02 -1.47690233e-03 9.99732537e-01 1.51794208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.230714057 meters Centerline goodness [0,1] 0.9886590455452731 Centerline is valid? [True, True] Translation: X:134.23, Y:-4.80, Z:1.52 [[ 9.99459932e-01 -2.32048157e-02 -2.32676130e-02 1.34232212e+02] [ 2.32328374e-02 9.99729644e-01 9.34687491e-04 -4.79598631e+00] [ 2.32396332e-02 -1.47475536e-03 9.99728836e-01 1.51759084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.260714057 meters Centerline goodness [0,1] 0.9896533768027349 Centerline is valid? [True, True] Translation: X:134.26, Y:-4.79, Z:1.52 [[ 9.99452731e-01 -2.31849549e-02 -2.35944175e-02 1.34260639e+02] [ 2.32136291e-02 9.99730084e-01 9.42094494e-04 -4.79377239e+00] [ 2.35662066e-02 -1.48929097e-03 9.99721169e-01 1.51788315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29071405699997 meters Centerline goodness [0,1] 0.989419671237853 Centerline is valid? [True, True] Translation: X:134.29, Y:-4.79, Z:1.52 [[ 9.99418431e-01 -2.37985500e-02 -2.44218721e-02 1.34289321e+02] [ 2.38292998e-02 9.99715572e-01 9.68820266e-04 -4.79190926e+00] [ 2.43918694e-02 -1.55021294e-03 9.99701272e-01 1.51802243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32071405699998 meters Centerline goodness [0,1] 0.9896255175865678 Centerline is valid? [True, True] Translation: X:134.32, Y:-4.79, Z:1.52 [[ 9.99390843e-01 -2.43040021e-02 -2.50451417e-02 1.34318090e+02] [ 2.43363393e-02 9.99703340e-01 9.87121069e-04 -4.79180159e+00] [ 2.50137208e-02 -1.59602682e-03 9.99685834e-01 1.51867420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35071405699998 meters Centerline goodness [0,1] 0.9890257202581114 Centerline is valid? [True, True] Translation: X:134.35, Y:-4.79, Z:1.52 [[ 9.99391892e-01 -2.47731117e-02 -2.45385351e-02 1.34345470e+02] [ 2.48041881e-02 9.99691865e-01 9.62819217e-04 -4.79460588e+00] [ 2.45071219e-02 -1.57089216e-03 9.99698421e-01 1.51883574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38071405699998 meters Centerline goodness [0,1] 0.9894304701853069 Centerline is valid? [True, True] Translation: X:134.37, Y:-4.79, Z:1.52 [[ 9.99388234e-01 -2.55083316e-02 -2.39266176e-02 1.34374654e+02] [ 2.55379965e-02 9.99673415e-01 9.35035669e-04 -4.79492135e+00] [ 2.38949524e-02 -1.54550152e-03 9.99713280e-01 1.51961795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41071405699998 meters Centerline goodness [0,1] 0.9893257023460743 Centerline is valid? [True, True] Translation: X:134.40, Y:-4.80, Z:1.52 [[ 9.99406051e-01 -2.53487379e-02 -2.33449440e-02 1.34403470e+02] [ 2.53768453e-02 9.99677543e-01 9.08495112e-04 -4.80007615e+00] [ 2.33143871e-02 -1.50037655e-03 9.99727057e-01 1.52034662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44071405699998 meters Centerline goodness [0,1] 0.989217840396856 Centerline is valid? [True, True] Translation: X:134.43, Y:-4.80, Z:1.52 [[ 9.99450356e-01 -2.48874554e-02 -2.18997954e-02 1.34433157e+02] [ 2.49120583e-02 9.99689284e-01 8.51288691e-04 -4.79520641e+00] [ 2.18718044e-02 -1.39638977e-03 9.99759808e-01 1.52285389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47071405699998 meters Centerline goodness [0,1] 0.9891884494320514 Centerline is valid? [True, True] Translation: X:134.46, Y:-4.79, Z:1.52 [[ 9.99459642e-01 -2.48214038e-02 -2.15481492e-02 1.34463251e+02] [ 2.48451973e-02 9.99690960e-01 8.37147544e-04 -4.79499089e+00] [ 2.15207108e-02 -1.37206320e-03 9.99767461e-01 1.52383992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50071405699998 meters Centerline goodness [0,1] 0.9888929269068277 Centerline is valid? [True, True] Translation: X:134.49, Y:-4.80, Z:1.52 [[ 9.99465156e-01 -2.50814965e-02 -2.09838361e-02 1.34492403e+02] [ 2.51041141e-02 9.99684510e-01 8.15090656e-04 -4.79767222e+00] [ 2.09567722e-02 -1.34143532e-03 9.99779483e-01 1.52406876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53071405699998 meters Centerline goodness [0,1] 0.9880481708702568 Centerline is valid? [True, True] Translation: X:134.52, Y:-4.80, Z:1.52 [[ 9.99454469e-01 -2.57190293e-02 -2.07194614e-02 1.34523084e+02] [ 2.57412118e-02 9.99668316e-01 8.04582886e-04 -4.79979288e+00] [ 2.06918960e-02 -1.33748800e-03 9.99785005e-01 1.52428252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56071405699998 meters Centerline goodness [0,1] 0.9869791666666666 Centerline is valid? [True, True] Translation: X:134.55, Y:-4.80, Z:1.52 [[ 9.99436085e-01 -2.57817030e-02 -2.15131341e-02 1.34553445e+02] [ 2.58056355e-02 9.99666630e-01 8.35542999e-04 -4.80296656e+00] [ 2.14844205e-02 -1.39023192e-03 9.99768217e-01 1.52383797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59071405699999 meters Centerline goodness [0,1] 0.9876187668654618 Centerline is valid? [True, True] Translation: X:134.58, Y:-4.81, Z:1.52 [[ 9.99435512e-01 -2.56050079e-02 -2.17495074e-02 1.34582465e+02] [ 2.56294298e-02 9.99671155e-01 8.44820709e-04 -4.80504605e+00] [ 2.17207235e-02 -1.40177129e-03 9.99763095e-01 1.52402177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.620714057 meters Centerline goodness [0,1] 0.9878131654056993 Centerline is valid? [True, True] Translation: X:134.61, Y:-4.81, Z:1.52 [[ 9.99447159e-01 -2.51933657e-02 -2.16949241e-02 1.34613241e+02] [ 2.52175635e-02 9.99681632e-01 8.42467264e-04 -4.80556716e+00] [ 2.16667925e-02 -1.38909464e-03 9.99764282e-01 1.52486387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.650714057 meters Centerline goodness [0,1] 0.9870235749711258 Centerline is valid? [True, True] Translation: X:134.64, Y:-4.81, Z:1.52 [[ 9.99442393e-01 -2.43653486e-02 -2.28305050e-02 1.34642983e+02] [ 2.43919340e-02 9.99702079e-01 8.86673562e-04 -4.80675583e+00] [ 2.28020992e-02 -1.44305932e-03 9.99738957e-01 1.52495690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.680714057 meters Centerline goodness [0,1] 0.9877313181435368 Centerline is valid? [True, True] Translation: X:134.67, Y:-4.81, Z:1.53 [[ 9.99446728e-01 -2.39692269e-02 -2.30589100e-02 1.34673049e+02] [ 2.39962380e-02 9.99711648e-01 8.95372365e-04 -4.80676234e+00] [ 2.30307995e-02 -1.44820407e-03 9.99733707e-01 1.52535350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.710714057 meters Centerline goodness [0,1] 0.9874335317911194 Centerline is valid? [True, True] Translation: X:134.70, Y:-4.81, Z:1.52 [[ 9.99434089e-01 -2.38749444e-02 -2.36957586e-02 1.34702727e+02] [ 2.39034225e-02 9.99713850e-01 9.19264238e-04 -4.80821966e+00] [ 2.36670307e-02 -1.48515374e-03 9.99718793e-01 1.52483209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.740714057 meters Centerline goodness [0,1] 0.9871303084640353 Centerline is valid? [True, True] Translation: X:134.73, Y:-4.81, Z:1.52 [[ 9.99423550e-01 -2.37590952e-02 -2.42502233e-02 1.34731600e+02] [ 2.37888630e-02 9.99716563e-01 9.39739563e-04 -4.81389108e+00] [ 2.42210225e-02 -1.51608309e-03 9.99705478e-01 1.52403703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.770714057 meters Centerline goodness [0,1] 0.9879326409562984 Centerline is valid? [True, True] Translation: X:134.76, Y:-4.81, Z:1.52 [[ 9.99406451e-01 -2.41629985e-02 -2.45539381e-02 1.34760685e+02] [ 2.41935553e-02 9.99706843e-01 9.48127752e-04 -4.81093449e+00] [ 2.45238303e-02 -1.54161205e-03 9.99698057e-01 1.52469812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.800714057 meters Centerline goodness [0,1] 0.9884665256261517 Centerline is valid? [True, True] Translation: X:134.79, Y:-4.81, Z:1.52 [[ 9.99370798e-01 -2.45690720e-02 -2.55806516e-02 1.34789203e+02] [ 2.46022064e-02 9.99696838e-01 9.81327801e-04 -4.80805324e+00] [ 2.55487862e-02 -1.61005082e-03 9.99672280e-01 1.52494337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.830714057 meters Centerline goodness [0,1] 0.9890943035380902 Centerline is valid? [True, True] Translation: X:134.82, Y:-4.81, Z:1.52 [[ 9.99336428e-01 -2.52610466e-02 -2.62408545e-02 1.34818085e+02] [ 2.52959761e-02 9.99679505e-01 9.99961986e-04 -4.80911571e+00] [ 2.62071843e-02 -1.66308647e-03 9.99655149e-01 1.52458216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.860714057 meters Centerline goodness [0,1] 0.9875414151500023 Centerline is valid? [True, True] Translation: X:134.85, Y:-4.82, Z:1.52 [[ 9.99326721e-01 -2.54036335e-02 -2.64718909e-02 1.34845301e+02] [ 2.54391093e-02 9.99675869e-01 1.00416658e-03 -4.81715809e+00] [ 2.64378011e-02 -1.67691182e-03 9.99649054e-01 1.52372676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.890714057 meters Centerline goodness [0,1] 0.9879772727272728 Centerline is valid? [True, True] Translation: X:134.87, Y:-4.81, Z:1.53 [[ 9.99298655e-01 -2.60453739e-02 -2.69042048e-02 1.34874346e+02] [ 2.60821271e-02 9.99659287e-01 1.01599703e-03 -4.81229454e+00] [ 2.68685762e-02 -1.71700336e-03 9.99637500e-01 1.52562055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.920714057 meters Centerline goodness [0,1] 0.9871120522804381 Centerline is valid? [True, True] Translation: X:134.90, Y:-4.81, Z:1.53 [[ 9.99292421e-01 -2.64719344e-02 -2.67187819e-02 1.34901846e+02] [ 2.65081960e-02 9.99648092e-01 1.00381173e-03 -4.81377244e+00] [ 2.66828065e-02 -1.71136817e-03 9.99642486e-01 1.52628759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.950714057 meters Centerline goodness [0,1] 0.9887952630380323 Centerline is valid? [True, True] Translation: X:134.93, Y:-4.82, Z:1.53 [[ 9.99302442e-01 -2.65837669e-02 -2.62284855e-02 1.34930012e+02] [ 2.66186702e-02 9.99645178e-01 9.82433995e-04 -4.81649232e+00] [ 2.61930622e-02 -1.67991609e-03 9.99655491e-01 1.52648787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.980714057 meters Centerline goodness [0,1] 0.9870916334661355 Centerline is valid? [True, True] Translation: X:134.96, Y:-4.82, Z:1.53 [[ 9.99275948e-01 -2.69822912e-02 -2.68241637e-02 1.34958177e+02] [ 2.70188906e-02 9.99634420e-01 1.00284498e-03 -4.81848964e+00] [ 2.67872983e-02 -1.72687801e-03 9.99639664e-01 1.52594628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01071405699997 meters Centerline goodness [0,1] 0.9872910308386098 Centerline is valid? [True, True] Translation: X:134.99, Y:-4.82, Z:1.53 [[ 9.99243871e-01 -2.75947443e-02 -2.73900726e-02 1.34986250e+02] [ 2.76330664e-02 9.99617612e-01 1.02153182e-03 -4.82174579e+00] [ 2.73514100e-02 -1.77763110e-03 9.99624300e-01 1.52519869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04071405699997 meters Centerline goodness [0,1] 0.9880976857880429 Centerline is valid? [True, True] Translation: X:135.02, Y:-4.82, Z:1.52 [[ 9.99133736e-01 -2.94993258e-02 -2.93524761e-02 1.35016973e+02] [ 2.95441031e-02 9.99562880e-01 1.09288838e-03 -4.82248228e+00] [ 2.93074061e-02 -1.95913423e-03 9.99568526e-01 1.52407759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07071405699998 meters Centerline goodness [0,1] 0.9877765108323832 Centerline is valid? [True, True] Translation: X:135.05, Y:-4.83, Z:1.52 [[ 9.99092026e-01 -3.08789882e-02 -2.93532350e-02 1.35045515e+02] [ 3.09243369e-02 9.99521132e-01 1.09211547e-03 -4.82745623e+00] [ 2.93054553e-02 -1.99885319e-03 9.99568504e-01 1.52383150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10071405699998 meters Centerline goodness [0,1] 0.9879092049731949 Centerline is valid? [True, True] Translation: X:135.07, Y:-4.83, Z:1.52 [[ 9.99020078e-01 -3.29269321e-02 -2.95753372e-02 1.35074726e+02] [ 3.29738186e-02 9.99455612e-01 1.09888092e-03 -4.82831792e+00] [ 2.95230540e-02 -2.07301591e-03 9.99561950e-01 1.52481490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13071405699998 meters Centerline goodness [0,1] 0.98765150304718 Centerline is valid? [True, True] Translation: X:135.10, Y:-4.83, Z:1.53 [[ 9.98988474e-01 -3.39178069e-02 -2.95230658e-02 1.35103929e+02] [ 3.39649145e-02 9.99422425e-01 1.09546035e-03 -4.83085528e+00] [ 2.94688584e-02 -2.09710067e-03 9.99563499e-01 1.52525783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16071405699998 meters Centerline goodness [0,1] 0.9860413049437997 Centerline is valid? [True, True] Translation: X:135.13, Y:-4.84, Z:1.53 [[ 9.98925873e-01 -3.58476417e-02 -2.93606314e-02 1.35132548e+02] [ 3.58950185e-02 9.99354974e-01 1.08797769e-03 -4.83551102e+00] [ 2.93026916e-02 -2.14070948e-03 9.99568292e-01 1.52524564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19071405699998 meters Centerline goodness [0,1] 0.9883848797250859 Centerline is valid? [True, True] Translation: X:135.16, Y:-4.83, Z:1.53 [[ 9.98891361e-01 -3.69192651e-02 -2.92064481e-02 1.35162732e+02] [ 3.69665735e-02 9.99315918e-01 1.08132334e-03 -4.82877632e+00] [ 2.91465468e-02 -2.15978686e-03 9.99572816e-01 1.52768411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22071405699998 meters Centerline goodness [0,1] 0.9876766612456193 Centerline is valid? [True, True] Translation: X:135.19, Y:-4.83, Z:1.53 [[ 9.98872294e-01 -3.75401550e-02 -2.90667825e-02 1.35193124e+02] [ 3.75872882e-02 9.99292768e-01 1.07667133e-03 -4.83220126e+00] [ 2.90058071e-02 -2.16799869e-03 9.99576892e-01 1.52777121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25071405699998 meters Centerline goodness [0,1] 0.9819943646484778 Centerline is valid? [True, True] Translation: X:135.22, Y:-4.84, Z:1.53 [[ 9.98851456e-01 -3.81526106e-02 -2.89852993e-02 1.35222168e+02] [ 3.81997474e-02 9.99269546e-01 1.07404123e-03 -4.84178726e+00] [ 2.89231494e-02 -2.18003876e-03 9.99579261e-01 1.52623370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28071405699998 meters Centerline goodness [0,1] 0.9872395892885728 Centerline is valid? [True, True] Translation: X:135.25, Y:-4.83, Z:1.53 [[ 9.98844256e-01 -3.80244585e-02 -2.93988527e-02 1.35252774e+02] [ 3.80728885e-02 9.99274371e-01 1.08912900e-03 -4.83326380e+00] [ 2.93361065e-02 -2.20716949e-03 9.99567167e-01 1.52759707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31071405699998 meters Centerline goodness [0,1] 0.9871636463481603 Centerline is valid? [True, True] Translation: X:135.28, Y:-4.83, Z:1.53 [[ 9.98828877e-01 -3.81281073e-02 -2.97845903e-02 1.35282997e+02] [ 3.81778630e-02 9.99270350e-01 1.10341929e-03 -4.83471592e+00] [ 2.97207867e-02 -2.23923906e-03 9.99555732e-01 1.52729685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34071405699999 meters Centerline goodness [0,1] 0.9879968965359864 Centerline is valid? [True, True] Translation: X:135.31, Y:-4.84, Z:1.53 [[ 9.98845395e-01 -3.77427202e-02 -2.97214261e-02 1.35313526e+02] [ 3.77920954e-02 9.99285017e-01 1.10107927e-03 -4.83500547e+00] [ 2.96586181e-02 -2.22304293e-03 9.99557614e-01 1.52816974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.370714057 meters Centerline goodness [0,1] 0.9896554887838892 Centerline is valid? [True, True] Translation: X:135.35, Y:-4.83, Z:1.53 [[ 9.98853397e-01 -3.75095234e-02 -2.97477358e-02 1.35345177e+02] [ 3.75589007e-02 9.99293807e-01 1.10263931e-03 -4.82562870e+00] [ 2.96853687e-02 -2.21866727e-03 9.99556830e-01 1.53102076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.400714057 meters Centerline goodness [0,1] 0.9893200100841106 Centerline is valid? [True, True] Translation: X:135.38, Y:-4.83, Z:1.53 [[ 9.98865896e-01 -3.73012397e-02 -2.95895207e-02 1.35376460e+02] [ 3.73500334e-02 9.99301641e-01 1.09783889e-03 -4.82638204e+00] [ 2.95279059e-02 -2.20176342e-03 9.99561531e-01 1.53168768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.430714057 meters Centerline goodness [0,1] 0.9885602934433746 Centerline is valid? [True, True] Translation: X:135.41, Y:-4.83, Z:1.53 [[ 9.98871987e-01 -3.70897826e-02 -2.96496629e-02 1.35406662e+02] [ 3.71387261e-02 9.99309512e-01 1.10154905e-03 -4.82851284e+00] [ 2.95883340e-02 -2.20145720e-03 9.99559745e-01 1.53183702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.460714057 meters Centerline goodness [0,1] 0.9862424173057114 Centerline is valid? [True, True] Translation: X:135.44, Y:-4.84, Z:1.53 [[ 9.98880906e-01 -3.67210039e-02 -2.98077625e-02 1.35435325e+02] [ 3.67703241e-02 9.99323129e-01 1.10797135e-03 -4.84081326e+00] [ 2.97469007e-02 -2.20277251e-03 9.99555036e-01 1.52886360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.490714057 meters Centerline goodness [0,1] 0.9882930860343403 Centerline is valid? [True, True] Translation: X:135.47, Y:-4.83, Z:1.53 [[ 9.98875282e-01 -3.64617235e-02 -3.03103070e-02 1.35466084e+02] [ 3.65125956e-02 9.99332558e-01 1.12640942e-03 -4.83169721e+00] [ 3.02490058e-02 -2.23185051e-03 9.99539902e-01 1.53153176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.520714057 meters Centerline goodness [0,1] 0.9877621175661739 Centerline is valid? [True, True] Translation: X:135.50, Y:-4.83, Z:1.53 [[ 9.98902016e-01 -3.61351932e-02 -2.98162595e-02 1.35496549e+02] [ 3.61842749e-02 9.99344520e-01 1.10804934e-03 -4.83226248e+00] [ 2.97566760e-02 -2.18571245e-03 9.99554782e-01 1.53225134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.550714057 meters Centerline goodness [0,1] 0.9867618042490708 Centerline is valid? [True, True] Translation: X:135.53, Y:-4.83, Z:1.53 [[ 9.98967167e-01 -3.51386445e-02 -2.88075639e-02 1.35525744e+02] [ 3.51840478e-02 9.99380276e-01 1.07056360e-03 -4.83468308e+00] [ 2.87520930e-02 -2.08302459e-03 9.99584403e-01 1.53379643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.580714057 meters Centerline goodness [0,1] 0.9873704960117355 Centerline is valid? [True, True] Translation: X:135.56, Y:-4.84, Z:1.53 [[ 9.98974495e-01 -3.50308217e-02 -2.86844955e-02 1.35555845e+02] [ 3.50757935e-02 9.99384087e-01 1.06599006e-03 -4.83551191e+00] [ 2.86294858e-02 -2.07102832e-03 9.99587947e-01 1.53496559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.610714057 meters Centerline goodness [0,1] 0.9858874656907594 Centerline is valid? [True, True] Translation: X:135.59, Y:-4.84, Z:1.54 [[ 9.99015930e-01 -3.47948763e-02 -2.75043285e-02 1.35585481e+02] [ 3.48361265e-02 9.99392515e-01 1.02189033e-03 -4.83874468e+00] [ 2.74520635e-02 -1.97902898e-03 9.99621162e-01 1.53572475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.640714057 meters Centerline goodness [0,1] 0.9863987706140049 Centerline is valid? [True, True] Translation: X:135.62, Y:-4.84, Z:1.54 [[ 9.99000815e-01 -3.52190160e-02 -2.75135013e-02 1.35615705e+02] [ 3.52604473e-02 9.99377635e-01 1.02199734e-03 -4.84111902e+00] [ 2.74603841e-02 -1.99111454e-03 9.99620910e-01 1.53601368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.670714057 meters Centerline goodness [0,1] 0.9864852462025607 Centerline is valid? [True, True] Translation: X:135.65, Y:-4.84, Z:1.54 [[ 9.99017160e-01 -3.49912155e-02 -2.72089708e-02 1.35645164e+02] [ 3.50316524e-02 9.99385692e-01 1.01076111e-03 -4.84265801e+00] [ 2.71568883e-02 -1.96294290e-03 9.99629256e-01 1.53606091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.700714057 meters Centerline goodness [0,1] 0.985367308089264 Centerline is valid? [True, True] Translation: X:135.68, Y:-4.84, Z:1.54 [[ 9.99014070e-01 -3.47339068e-02 -2.76485589e-02 1.35676126e+02] [ 3.47755720e-02 9.99394619e-01 1.02740238e-03 -4.84424601e+00] [ 2.75961353e-02 -1.98788389e-03 9.99617178e-01 1.53628842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.730714057 meters Centerline goodness [0,1] 0.9858961128310973 Centerline is valid? [True, True] Translation: X:135.71, Y:-4.85, Z:1.54 [[ 9.99021019e-01 -3.46264939e-02 -2.75319848e-02 1.35706529e+02] [ 3.46677739e-02 9.99398368e-01 1.02329500e-03 -4.84623668e+00] [ 2.74799875e-02 -1.97676584e-03 9.99620399e-01 1.53640686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76071405699997 meters Centerline goodness [0,1] 0.984657659720632 Centerline is valid? [True, True] Translation: X:135.74, Y:-4.85, Z:1.54 [[ 9.99005607e-01 -3.43355216e-02 -2.84406345e-02 1.35735582e+02] [ 3.43794484e-02 9.99408293e-01 1.05682178e-03 -4.84859792e+00] [ 2.83875194e-02 -2.03354421e-03 9.99594925e-01 1.53598425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79071405699997 meters Centerline goodness [0,1] 0.9843161568843575 Centerline is valid? [True, True] Translation: X:135.76, Y:-4.85, Z:1.54 [[ 9.98992753e-01 -3.44357030e-02 -2.87691203e-02 1.35764571e+02] [ 3.44806785e-02 9.99404793e-01 1.06855412e-03 -4.85104709e+00] [ 2.87152003e-02 -2.05945661e-03 9.99585512e-01 1.53563690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82071405699998 meters Centerline goodness [0,1] 0.9844442912616898 Centerline is valid? [True, True] Translation: X:135.79, Y:-4.85, Z:1.53 [[ 9.98958106e-01 -3.52514858e-02 -2.89833694e-02 1.35794563e+02] [ 3.52974619e-02 9.99376271e-01 1.07603907e-03 -4.85491564e+00] [ 2.89273597e-02 -2.09795732e-03 9.99579315e-01 1.53471568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85071405699998 meters Centerline goodness [0,1] 0.9841593691256705 Centerline is valid? [True, True] Translation: X:135.82, Y:-4.86, Z:1.53 [[ 9.98960224e-01 -3.53181859e-02 -2.88287611e-02 1.35824053e+02] [ 3.53636796e-02 9.99373937e-01 1.06958558e-03 -4.85666787e+00] [ 2.87729367e-02 -2.08796452e-03 9.99583793e-01 1.53488830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88071405699998 meters Centerline goodness [0,1] 0.9866819221967963 Centerline is valid? [True, True] Translation: X:135.85, Y:-4.85, Z:1.54 [[ 9.98969693e-01 -3.52225601e-02 -2.86168587e-02 1.35854736e+02] [ 3.52673357e-02 9.99377351e-01 1.06128917e-03 -4.84670544e+00] [ 2.85616591e-02 -2.06943608e-03 9.99589890e-01 1.53797708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91071405699998 meters Centerline goodness [0,1] 0.9870723306544202 Centerline is valid? [True, True] Translation: X:135.89, Y:-4.84, Z:1.54 [[ 9.99001217e-01 -3.46595995e-02 -2.82007253e-02 1.35885222e+02] [ 3.47028587e-02 9.99397127e-01 1.04585639e-03 -4.84362667e+00] [ 2.81474749e-02 -2.02345759e-03 9.99601733e-01 1.53967791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94071405699998 meters Centerline goodness [0,1] 0.9867088317521426 Centerline is valid? [True, True] Translation: X:135.91, Y:-4.85, Z:1.54 [[ 9.99049609e-01 -3.38690951e-02 -2.74365275e-02 1.35914850e+02] [ 3.39097372e-02 9.99424382e-01 1.01726754e-03 -4.84550461e+00] [ 2.73862806e-02 -1.94666618e-03 9.99623030e-01 1.54087530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97071405699998 meters Centerline goodness [0,1] 0.9867088317521426 Centerline is valid? [True, True] Translation: X:135.94, Y:-4.85, Z:1.54 [[ 9.99049609e-01 -3.38690983e-02 -2.74365364e-02 1.35944906e+02] [ 3.39097339e-02 9.99424382e-01 1.01702718e-03 -4.84661860e+00] [ 2.73862976e-02 -1.94642625e-03 9.99623030e-01 1.54128243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00071405699998 meters Centerline goodness [0,1] 0.9870652024077563 Centerline is valid? [True, True] Translation: X:135.98, Y:-4.85, Z:1.54 [[ 9.99076909e-01 -3.33628836e-02 -2.70600723e-02 1.35975020e+02] [ 3.34022329e-02 9.99441486e-01 1.00331159e-03 -4.84973167e+00] [ 2.70114855e-02 -1.90625228e-03 9.99633306e-01 1.54180527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03071405699998 meters Centerline goodness [0,1] 0.9875617887113461 Centerline is valid? [True, True] Translation: X:136.01, Y:-4.85, Z:1.54 [[ 9.99107150e-01 -3.30070926e-02 -2.63711122e-02 1.36006371e+02] [ 3.30443580e-02 9.99453407e-01 9.78463594e-04 -4.84677435e+00] [ 2.63244017e-02 -1.84900645e-03 9.99651743e-01 1.54292329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06071405699998 meters Centerline goodness [0,1] 0.987103448275862 Centerline is valid? [True, True] Translation: X:136.04, Y:-4.85, Z:1.54 [[ 9.99127276e-01 -3.27044932e-02 -2.59827457e-02 1.36036856e+02] [ 3.27405999e-02 9.99463417e-01 9.65330978e-04 -4.85080916e+00] [ 2.59372331e-02 -1.81517919e-03 9.99661925e-01 1.54289362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09071405699999 meters Centerline goodness [0,1] 0.9876359131990641 Centerline is valid? [True, True] Translation: X:136.07, Y:-4.85, Z:1.54 [[ 9.99143321e-01 -3.25605406e-02 -2.55428304e-02 1.36068434e+02] [ 3.25954204e-02 9.99468176e-01 9.50263256e-04 -4.85291601e+00] [ 2.54983050e-02 -1.78202848e-03 9.99673277e-01 1.54310866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.120714057 meters Centerline goodness [0,1] 0.9880379485769284 Centerline is valid? [True, True] Translation: X:136.10, Y:-4.86, Z:1.54 [[ 9.99159581e-01 -3.20884377e-02 -2.55042009e-02 1.36099251e+02] [ 3.21230820e-02 9.99483469e-01 9.49730196e-04 -4.85503325e+00] [ 2.54605518e-02 -1.76820556e-03 9.99674264e-01 1.54309719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.150714057 meters Centerline goodness [0,1] 0.9887434374928357 Centerline is valid? [True, True] Translation: X:136.13, Y:-4.86, Z:1.54 [[ 9.99155273e-01 -3.17885957e-02 -2.60427669e-02 1.36130229e+02] [ 3.18246419e-02 9.99492996e-01 9.70710863e-04 -4.85786322e+00] [ 2.59987056e-02 -1.79869261e-03 9.99660358e-01 1.54326425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.180714057 meters Centerline goodness [0,1] 0.9887038144756821 Centerline is valid? [True, True] Translation: X:136.16, Y:-4.86, Z:1.54 [[ 9.99138745e-01 -3.14758045e-02 -2.70377789e-02 1.36160886e+02] [ 3.15145648e-02 9.99502784e-01 1.00853196e-03 -4.85595903e+00] [ 2.69925910e-02 -1.85974719e-03 9.99633904e-01 1.54361232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.210714057 meters Centerline goodness [0,1] 0.988156173250396 Centerline is valid? [True, True] Translation: X:136.19, Y:-4.86, Z:1.54 [[ 9.99108851e-01 -3.14892509e-02 -2.81057122e-02 1.36190521e+02] [ 3.15311473e-02 9.99502220e-01 1.04862088e-03 -4.86170961e+00] [ 2.80587014e-02 -1.93389175e-03 9.99604406e-01 1.54240493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.240714057 meters Centerline goodness [0,1] 0.9893717145283841 Centerline is valid? [True, True] Translation: X:136.22, Y:-4.86, Z:1.54 [[ 9.99085398e-01 -3.16202405e-02 -2.87841652e-02 1.36219938e+02] [ 3.16642234e-02 9.99497986e-01 1.07338506e-03 -4.85977665e+00] [ 2.87357745e-02 -1.98383158e-03 9.99585074e-01 1.54244695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.270714057 meters Centerline goodness [0,1] 0.9895897966218545 Centerline is valid? [True, True] Translation: X:136.25, Y:-4.86, Z:1.54 [[ 9.99027238e-01 -3.13360294e-02 -3.10262994e-02 1.36249866e+02] [ 3.13869623e-02 9.99506640e-01 1.15582110e-03 -4.85653590e+00] [ 3.09747734e-02 -2.12851805e-03 9.99517900e-01 1.54235222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.300714057 meters Centerline goodness [0,1] 0.9880590833793484 Centerline is valid? [True, True] Translation: X:136.28, Y:-4.86, Z:1.54 [[ 9.99002408e-01 -3.10102605e-02 -3.21333419e-02 1.36277511e+02] [ 3.10646559e-02 9.99516663e-01 1.19483486e-03 -4.86378938e+00] [ 3.20807585e-02 -2.19185412e-03 9.99482877e-01 1.54072470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.330714057 meters Centerline goodness [0,1] 0.9885399954159981 Centerline is valid? [True, True] Translation: X:136.31, Y:-4.86, Z:1.54 [[ 9.98994981e-01 -3.04521127e-02 -3.28891475e-02 1.36306555e+02] [ 3.05086006e-02 9.99533763e-01 1.21693726e-03 -4.86099770e+00] [ 3.28367551e-02 -2.21911608e-03 9.99458265e-01 1.54217964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.360714057 meters Centerline goodness [0,1] 0.988895020002759 Centerline is valid? [True, True] Translation: X:136.34, Y:-4.86, Z:1.54 [[ 9.99000749e-01 -3.02513068e-02 -3.28992678e-02 1.36335846e+02] [ 3.03074504e-02 9.99539892e-01 1.20907723e-03 -4.85559323e+00] [ 3.28475544e-02 -2.20496198e-03 9.99457941e-01 1.54457337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.390714057 meters Centerline goodness [0,1] 0.9886935539469148 Centerline is valid? [True, True] Translation: X:136.36, Y:-4.86, Z:1.54 [[ 9.99027931e-01 -2.97930042e-02 -3.24895304e-02 1.36363323e+02] [ 2.98473505e-02 9.99553762e-01 1.18891785e-03 -4.85899537e+00] [ 3.24396108e-02 -2.15748854e-03 9.99471369e-01 1.54471587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.420714057 meters Centerline goodness [0,1] 0.9884925201380897 Centerline is valid? [True, True] Translation: X:136.39, Y:-4.86, Z:1.55 [[ 9.99089490e-01 -2.93560910e-02 -3.09582232e-02 1.36391344e+02] [ 2.94051406e-02 9.99566936e-01 1.13019937e-03 -4.86257737e+00] [ 3.09116380e-02 -2.03950122e-03 9.99520040e-01 1.54608382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.450714057 meters Centerline goodness [0,1] 0.9879807137748864 Centerline is valid? [True, True] Translation: X:136.42, Y:-4.86, Z:1.55 [[ 9.99130190e-01 -2.90452060e-02 -2.99205615e-02 1.36420729e+02] [ 2.90907372e-02 9.99576183e-01 1.08746776e-03 -4.86019066e+00] [ 2.98762950e-02 -1.95693307e-03 9.99551688e-01 1.54844725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.480714057 meters Centerline goodness [0,1] 0.9865126127784938 Centerline is valid? [True, True] Translation: X:136.45, Y:-4.87, Z:1.55 [[ 9.99134027e-01 -2.91595372e-02 -2.96802632e-02 1.36448040e+02] [ 2.92042585e-02 9.99572887e-01 1.07430436e-03 -4.87055616e+00] [ 2.96362601e-02 -1.94016412e-03 9.99558867e-01 1.54660228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51071405699997 meters Centerline goodness [0,1] 0.9882445141065831 Centerline is valid? [True, True] Translation: X:136.48, Y:-4.86, Z:1.55 [[ 9.99114547e-01 -2.98254819e-02 -2.96742633e-02 1.36477593e+02] [ 2.98704175e-02 9.99553205e-01 1.07206311e-03 -4.85948894e+00] [ 2.96290302e-02 -1.95749649e-03 9.99559047e-01 1.55015767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54071405699997 meters Centerline goodness [0,1] 0.9882417911134632 Centerline is valid? [True, True] Translation: X:136.51, Y:-4.86, Z:1.55 [[ 9.99084490e-01 -3.07592775e-02 -2.97329607e-02 1.36506319e+02] [ 3.08046616e-02 9.99524852e-01 1.06942798e-03 -4.85936941e+00] [ 2.96859383e-02 -1.98436270e-03 9.99557306e-01 1.55094332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57071405699998 meters Centerline goodness [0,1] 0.9878349422850955 Centerline is valid? [True, True] Translation: X:136.53, Y:-4.86, Z:1.55 [[ 9.99057053e-01 -3.09607185e-02 -3.04374642e-02 1.36534995e+02] [ 3.10082408e-02 9.99518534e-01 1.09042242e-03 -4.86206653e+00] [ 3.03890493e-02 -2.03320643e-03 9.99536078e-01 1.55170779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60071405699998 meters Centerline goodness [0,1] 0.987782388197326 Centerline is valid? [True, True] Translation: X:136.57, Y:-4.86, Z:1.55 [[ 9.98956625e-01 -3.36523431e-02 -3.08736346e-02 1.36565004e+02] [ 3.37024828e-02 9.99431299e-01 1.10493741e-03 -4.86286080e+00] [ 3.08188930e-02 -2.14430269e-03 9.99522685e-01 1.55223681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63071405699998 meters Centerline goodness [0,1] 0.9881004543043609 Centerline is valid? [True, True] Translation: X:136.59, Y:-4.87, Z:1.55 [[ 9.98906696e-01 -3.46469242e-02 -3.13847532e-02 1.36594916e+02] [ 3.46992108e-02 9.99397170e-01 1.12270926e-03 -4.86544195e+00] [ 3.13269351e-02 -2.21050796e-03 9.99506747e-01 1.55179013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66071405699998 meters Centerline goodness [0,1] 0.9875925370724845 Centerline is valid? [True, True] Translation: X:136.62, Y:-4.87, Z:1.55 [[ 9.98792968e-01 -3.68697875e-02 -3.24534417e-02 1.36624392e+02] [ 3.69268486e-02 9.99317298e-01 1.16044133e-03 -4.86946745e+00] [ 3.23885004e-02 -2.35744397e-03 9.99472575e-01 1.55019796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69071405699998 meters Centerline goodness [0,1] 0.9873770529564877 Centerline is valid? [True, True] Translation: X:136.65, Y:-4.87, Z:1.55 [[ 9.98754937e-01 -3.76735236e-02 -3.26998753e-02 1.36654165e+02] [ 3.77318713e-02 9.99287216e-01 1.16888167e-03 -4.87247987e+00] [ 3.26325315e-02 -2.40125383e-03 9.99464533e-01 1.54969226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72071405699998 meters Centerline goodness [0,1] 0.9863527570652674 Centerline is valid? [True, True] Translation: X:136.68, Y:-4.88, Z:1.55 [[ 9.98710404e-01 -3.89293306e-02 -3.25889016e-02 1.36683054e+02] [ 3.89879233e-02 9.99239004e-01 1.16417185e-03 -4.87586280e+00] [ 3.25187811e-02 -2.43324414e-03 9.99468163e-01 1.54905373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75071405699998 meters Centerline goodness [0,1] 0.9856492341658617 Centerline is valid? [True, True] Translation: X:136.71, Y:-4.88, Z:1.55 [[ 9.98715045e-01 -3.90297118e-02 -3.23255333e-02 1.36713282e+02] [ 3.90873983e-02 9.99235129e-01 1.15430779e-03 -4.87775300e+00] [ 3.22557561e-02 -2.41634555e-03 9.99476727e-01 1.54956713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78071405699998 meters Centerline goodness [0,1] 0.9831393476560703 Centerline is valid? [True, True] Translation: X:136.74, Y:-4.88, Z:1.55 [[ 9.98707442e-01 -3.93969925e-02 -3.21142167e-02 1.36742321e+02] [ 3.94541056e-02 9.99220726e-01 1.14645085e-03 -4.88120321e+00] [ 3.20440242e-02 -2.41200669e-03 9.99483548e-01 1.54951858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81071405699998 meters Centerline goodness [0,1] 0.9832294721407625 Centerline is valid? [True, True] Translation: X:136.77, Y:-4.88, Z:1.55 [[ 9.98733825e-01 -3.88854179e-02 -3.19166266e-02 1.36772613e+02] [ 3.89415630e-02 9.99240840e-01 1.13917221e-03 -4.88290007e+00] [ 3.18480996e-02 -2.38061315e-03 9.99489886e-01 1.55011022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84071405699999 meters Centerline goodness [0,1] 0.9857431470682768 Centerline is valid? [True, True] Translation: X:136.80, Y:-4.87, Z:1.55 [[ 9.98758629e-01 -3.84726839e-02 -3.16394291e-02 1.36803209e+02] [ 3.85276515e-02 9.99256896e-01 1.12927844e-03 -4.87284169e+00] [ 3.15724713e-02 -2.34686949e-03 9.99498710e-01 1.55324668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.870714057 meters Centerline goodness [0,1] 0.9827894809307449 Centerline is valid? [True, True] Translation: X:136.83, Y:-4.88, Z:1.55 [[ 9.98806809e-01 -3.74865109e-02 -3.13004884e-02 1.36832508e+02] [ 3.75398151e-02 9.99294509e-01 1.11686591e-03 -4.88429943e+00] [ 3.12365388e-02 -2.29054782e-03 9.99509396e-01 1.55073478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.900714057 meters Centerline goodness [0,1] 0.9829948364888124 Centerline is valid? [True, True] Translation: X:136.86, Y:-4.88, Z:1.55 [[ 9.98835727e-01 -3.67967753e-02 -3.11959651e-02 1.36863164e+02] [ 3.68493820e-02 9.99320211e-01 1.11289751e-03 -4.88378318e+00] [ 3.11338074e-02 -2.26115383e-03 9.99512668e-01 1.55183147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.930714057 meters Centerline goodness [0,1] 0.9860160734787601 Centerline is valid? [True, True] Translation: X:136.89, Y:-4.87, Z:1.56 [[ 9.98845764e-01 -3.69868592e-02 -3.06449486e-02 1.36894529e+02] [ 3.70377118e-02 9.99313271e-01 1.09324032e-03 -4.87237265e+00] [ 3.05834683e-02 -2.22699724e-03 9.99529735e-01 1.55609021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.960714057 meters Centerline goodness [0,1] 0.9857891484931005 Centerline is valid? [True, True] Translation: X:136.92, Y:-4.87, Z:1.56 [[ 9.98835169e-01 -3.72797697e-02 -3.06353227e-02 1.36924771e+02] [ 3.73307273e-02 9.99302368e-01 1.09289693e-03 -4.87447403e+00] [ 3.05732076e-02 -2.23526277e-03 9.99530031e-01 1.55618423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.990714057 meters Centerline goodness [0,1] 0.9859229199624 Centerline is valid? [True, True] Translation: X:136.96, Y:-4.88, Z:1.56 [[ 9.98810056e-01 -3.79282565e-02 -3.06580957e-02 1.36955477e+02] [ 3.79795938e-02 9.99277916e-01 1.09370934e-03 -4.87795923e+00] [ 3.05944755e-02 -2.25678991e-03 9.99529332e-01 1.55601937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.020714057 meters Centerline goodness [0,1] 0.9865211810012837 Centerline is valid? [True, True] Translation: X:136.99, Y:-4.88, Z:1.56 [[ 9.98793721e-01 -3.83025580e-02 -3.07248551e-02 1.36986305e+02] [ 3.83543047e-02 9.99263601e-01 1.09639804e-03 -4.88003833e+00] [ 3.06602345e-02 -2.27350593e-03 9.99527279e-01 1.55649344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.050714057 meters Centerline goodness [0,1] 0.9862429495116247 Centerline is valid? [True, True] Translation: X:137.02, Y:-4.88, Z:1.56 [[ 9.98798277e-01 -3.83446883e-02 -3.05235558e-02 1.37016385e+02] [ 3.83957949e-02 9.99262015e-01 1.08975632e-03 -4.88318241e+00] [ 3.04592435e-02 -2.26042292e-03 9.99533454e-01 1.55692953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.080714057 meters Centerline goodness [0,1] 0.9859648319443173 Centerline is valid? [True, True] Translation: X:137.05, Y:-4.89, Z:1.56 [[ 9.98792831e-01 -3.86166321e-02 -3.03584688e-02 1.37047486e+02] [ 3.86673370e-02 9.99251550e-01 1.08469184e-03 -4.88597907e+00] [ 3.02938598e-02 -2.25726358e-03 9.99538487e-01 1.55807325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.110714057 meters Centerline goodness [0,1] 0.9865636853891504 Centerline is valid? [True, True] Translation: X:137.08, Y:-4.89, Z:1.56 [[ 9.98791267e-01 -3.88406625e-02 -3.01232103e-02 1.37079037e+02] [ 3.88907173e-02 9.99242889e-01 1.07734322e-03 -4.88795256e+00] [ 3.00585590e-02 -2.24755426e-03 9.99545613e-01 1.55866558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.140714057 meters Centerline goodness [0,1] 0.9873238471552885 Centerline is valid? [True, True] Translation: X:137.11, Y:-4.89, Z:1.56 [[ 9.98801357e-01 -3.90386116e-02 -2.95268732e-02 1.37110578e+02] [ 3.90868195e-02 9.99235259e-01 1.05704290e-03 -4.89122484e+00] [ 2.94630273e-02 -2.20988744e-03 9.99563428e-01 1.55952017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.170714057 meters Centerline goodness [0,1] 0.9853864596415116 Centerline is valid? [True, True] Translation: X:137.14, Y:-4.90, Z:1.56 [[ 9.98839682e-01 -3.83142284e-02 -2.91772037e-02 1.37140475e+02] [ 3.83610149e-02 9.99263399e-01 1.04526366e-03 -4.89664037e+00] [ 2.91156632e-02 -2.16331797e-03 9.99573708e-01 1.55964342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.200714057 meters Centerline goodness [0,1] 0.9853419824741095 Centerline is valid? [True, True] Translation: X:137.17, Y:-4.90, Z:1.56 [[ 9.98824339e-01 -3.95713706e-02 -2.80008335e-02 1.37170422e+02] [ 3.96149561e-02 9.99214516e-01 1.00334581e-03 -4.90204138e+00] [ 2.79391356e-02 -2.11141801e-03 9.99607396e-01 1.56050477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.230714057 meters Centerline goodness [0,1] 0.9847281194356937 Centerline is valid? [True, True] Translation: X:137.20, Y:-4.91, Z:1.56 [[ 9.98816924e-01 -3.97679638e-02 -2.79868215e-02 1.37202030e+02] [ 3.98115966e-02 9.99206700e-01 1.00334899e-03 -4.90594649e+00] [ 2.79247184e-02 -2.11636200e-03 9.99607789e-01 1.56054082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26071405699997 meters Centerline goodness [0,1] 0.9861471270642828 Centerline is valid? [True, True] Translation: X:137.23, Y:-4.90, Z:1.56 [[ 9.98842704e-01 -3.91440026e-02 -2.79463693e-02 1.37233450e+02] [ 3.91872943e-02 9.99231380e-01 1.00289462e-03 -4.90103392e+00] [ 2.78856319e-02 -2.09687657e-03 9.99608921e-01 1.56188377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29071405699997 meters Centerline goodness [0,1] 0.9865988279652932 Centerline is valid? [True, True] Translation: X:137.26, Y:-4.90, Z:1.56 [[ 9.98878086e-01 -3.85282998e-02 -2.75343149e-02 1.37264620e+02] [ 3.85701181e-02 9.99255407e-01 9.89091139e-04 -4.90324586e+00] [ 2.74757050e-02 -2.04998324e-03 9.99620370e-01 1.56181489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32071405699998 meters Centerline goodness [0,1] 0.9868573374191352 Centerline is valid? [True, True] Translation: X:137.29, Y:-4.91, Z:1.56 [[ 9.98926930e-01 -3.74432873e-02 -2.72578109e-02 1.37294984e+02] [ 3.74839092e-02 9.99296750e-01 9.80674486e-04 -4.90789251e+00] [ 2.72019221e-02 -2.00135146e-03 9.99627956e-01 1.56165518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35071405699998 meters Centerline goodness [0,1] 0.9870492175096394 Centerline is valid? [True, True] Translation: X:137.33, Y:-4.91, Z:1.56 [[ 9.98964047e-01 -3.65639601e-02 -2.70907737e-02 1.37325601e+02] [ 3.66037913e-02 9.99329380e-01 9.75681254e-04 -4.91006029e+00] [ 2.70369313e-02 -1.96629552e-03 9.99632501e-01 1.56215026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38071405699998 meters Centerline goodness [0,1] 0.9870338886999886 Centerline is valid? [True, True] Translation: X:137.36, Y:-4.91, Z:1.56 [[ 9.98987042e-01 -3.58144148e-02 -2.72436854e-02 1.37356480e+02] [ 3.58544265e-02 9.99356541e-01 9.81427950e-04 -4.91219665e+00] [ 2.71910059e-02 -1.95724052e-03 9.99628340e-01 1.56244582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41071405699998 meters Centerline goodness [0,1] 0.9869309173272933 Centerline is valid? [True, True] Translation: X:137.39, Y:-4.92, Z:1.56 [[ 9.99026252e-01 -3.41955723e-02 -2.78785158e-02 1.37385614e+02] [ 3.42368605e-02 9.99413242e-01 1.00488050e-03 -4.91571853e+00] [ 2.78277953e-02 -1.95837485e-03 9.99610814e-01 1.56181918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44071405699998 meters Centerline goodness [0,1] 0.9878886478669558 Centerline is valid? [True, True] Translation: X:137.42, Y:-4.91, Z:1.56 [[ 9.99108827e-01 -3.14023526e-02 -2.82036069e-02 1.37415956e+02] [ 3.14435040e-02 9.99505014e-01 1.01666169e-03 -4.91274459e+00] [ 2.81577210e-02 -1.90257590e-03 9.99601682e-01 1.56236718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47071405699998 meters Centerline goodness [0,1] 0.9882009900318709 Centerline is valid? [True, True] Translation: X:137.45, Y:-4.91, Z:1.56 [[ 9.99164784e-01 -2.97571273e-02 -2.80044377e-02 1.37446132e+02] [ 2.97970421e-02 9.99555460e-01 1.00898276e-03 -4.91284029e+00] [ 2.79619642e-02 -1.84258945e-03 9.99607290e-01 1.56245442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50071405699998 meters Centerline goodness [0,1] 0.9876799963831182 Centerline is valid? [True, True] Translation: X:137.47, Y:-4.92, Z:1.56 [[ 9.99210638e-01 -2.81268669e-02 -2.80531582e-02 1.37473949e+02] [ 2.81662452e-02 9.99602743e-01 1.00946239e-03 -4.92094606e+00] [ 2.80136209e-02 -1.79881769e-03 9.99605923e-01 1.56127512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53071405699998 meters Centerline goodness [0,1] 0.9880089424835716 Centerline is valid? [True, True] Translation: X:137.50, Y:-4.92, Z:1.56 [[ 9.99326110e-01 -2.52640999e-02 -2.66280271e-02 1.37503231e+02] [ 2.52985292e-02 9.99679483e-01 9.56828818e-04 -4.92302965e+00] [ 2.65953189e-02 -1.62983394e-03 9.99644953e-01 1.56194036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56071405699998 meters Centerline goodness [0,1] 0.9885321617663625 Centerline is valid? [True, True] Translation: X:137.53, Y:-4.92, Z:1.56 [[ 9.99369488e-01 -2.42890463e-02 -2.58972691e-02 1.37532548e+02] [ 2.43212013e-02 9.99703766e-01 9.27335566e-04 -4.91983621e+00] [ 2.58670733e-02 -1.55660357e-03 9.99664179e-01 1.56339207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59071405699999 meters Centerline goodness [0,1] 0.9875851831860198 Centerline is valid? [True, True] Translation: X:137.56, Y:-4.93, Z:1.56 [[ 9.99427275e-01 -2.27884019e-02 -2.50162283e-02 1.37560694e+02] [ 2.28178435e-02 9.99739241e-01 8.92043439e-04 -4.92912083e+00] [ 2.49893769e-02 -1.46234893e-03 9.99686647e-01 1.56227794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.620714057 meters Centerline goodness [0,1] 0.987392408476976 Centerline is valid? [True, True] Translation: X:137.59, Y:-4.93, Z:1.56 [[ 9.99423859e-01 -2.26448549e-02 -2.52816331e-02 1.37589588e+02] [ 2.26747866e-02 9.99742491e-01 8.97847501e-04 -4.93092392e+00] [ 2.52547913e-02 -1.47058585e-03 9.99679965e-01 1.56214632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.650714057 meters Centerline goodness [0,1] 0.9879610252255902 Centerline is valid? [True, True] Translation: X:137.62, Y:-4.93, Z:1.56 [[ 9.99422127e-01 -2.28235768e-02 -2.51892248e-02 1.37617658e+02] [ 2.28531908e-02 9.99738437e-01 8.88379737e-04 -4.93230577e+00] [ 2.51623603e-02 -1.46352053e-03 9.99682306e-01 1.56229933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.680714057 meters Centerline goodness [0,1] 0.9880037740935436 Centerline is valid? [True, True] Translation: X:137.64, Y:-4.94, Z:1.56 [[ 9.99428794e-01 -2.32351328e-02 -2.45400701e-02 1.37644808e+02] [ 2.32632561e-02 9.99729003e-01 8.61117577e-04 -4.93786021e+00] [ 2.45134117e-02 -1.43150764e-03 9.99698476e-01 1.56310719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.710714057 meters Centerline goodness [0,1] 0.9874058248060272 Centerline is valid? [True, True] Translation: X:137.67, Y:-4.94, Z:1.56 [[ 9.99428898e-01 -2.39861790e-02 -2.38021264e-02 1.37673356e+02] [ 2.40127678e-02 9.99711306e-01 8.31845326e-04 -4.93981295e+00] [ 2.37753021e-02 -1.40292519e-03 9.99716343e-01 1.56458102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.740714057 meters Centerline goodness [0,1] 0.9877456491433196 Centerline is valid? [True, True] Translation: X:137.70, Y:-4.93, Z:1.57 [[ 9.99432115e-01 -2.52760468e-02 -2.22838369e-02 1.37702200e+02] [ 2.52995594e-02 9.99679615e-01 7.73810323e-04 -4.93429521e+00] [ 2.22571386e-02 -1.33714214e-03 9.99751385e-01 1.56879788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.770714057 meters Centerline goodness [0,1] 0.987935055615357 Centerline is valid? [True, True] Translation: X:137.73, Y:-4.94, Z:1.57 [[ 9.99429584e-01 -2.58289910e-02 -2.17570439e-02 1.37731771e+02] [ 2.58514626e-02 9.99665512e-01 7.52170247e-04 -4.93757995e+00] [ 2.17303386e-02 -1.31419260e-03 9.99763005e-01 1.56973795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.800714057 meters Centerline goodness [0,1] 0.9875173993085178 Centerline is valid? [True, True] Translation: X:137.76, Y:-4.94, Z:1.57 [[ 9.99397470e-01 -2.74848315e-02 -2.11962357e-02 1.37761027e+02] [ 2.75065233e-02 9.99621356e-01 7.32453510e-04 -4.94361211e+00] [ 2.11680785e-02 -1.31504693e-03 9.99775066e-01 1.57042251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.830714057 meters Centerline goodness [0,1] 0.9867506467214037 Centerline is valid? [True, True] Translation: X:137.79, Y:-4.95, Z:1.57 [[ 9.99367512e-01 -2.86630992e-02 -2.10476473e-02 1.37790599e+02] [ 2.86847427e-02 9.99588244e-01 7.27062691e-04 -4.94827888e+00] [ 2.10181409e-02 -1.33034918e-03 9.99778209e-01 1.57058529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.860714057 meters Centerline goodness [0,1] 0.9867506467214037 Centerline is valid? [True, True] Translation: X:137.82, Y:-4.95, Z:1.57 [[ 9.99367511e-01 -2.86631011e-02 -2.10476521e-02 1.37820639e+02] [ 2.86847417e-02 9.99588244e-01 7.26922742e-04 -4.94931632e+00] [ 2.10181498e-02 -1.33020944e-03 9.99778209e-01 1.57099214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.890714057 meters Centerline goodness [0,1] 0.9864632045286734 Centerline is valid? [True, True] Translation: X:137.85, Y:-4.95, Z:1.57 [[ 9.99333805e-01 -2.96831384e-02 -2.12334011e-02 1.37850368e+02] [ 2.97054057e-02 9.99558428e-01 7.33984428e-04 -4.95376671e+00] [ 2.12022380e-02 -1.36424224e-03 9.99774276e-01 1.57101337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.920714057 meters Centerline goodness [0,1] 0.9889854034207934 Centerline is valid? [True, True] Translation: X:137.88, Y:-4.95, Z:1.57 [[ 9.99283604e-01 -3.11095364e-02 -2.15516762e-02 1.37882100e+02] [ 3.11328377e-02 9.99514977e-01 7.46423624e-04 -4.94999475e+00] [ 2.15180023e-02 -1.41685373e-03 9.99767457e-01 1.57175580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.950714057 meters Centerline goodness [0,1] 0.9892458663798898 Centerline is valid? [True, True] Translation: X:137.91, Y:-4.95, Z:1.57 [[ 9.99256239e-01 -3.19039070e-02 -2.16589552e-02 1.37913449e+02] [ 3.19276434e-02 9.99489901e-01 7.50913557e-04 -4.95352418e+00] [ 2.16239499e-02 -1.44187446e-03 9.99765135e-01 1.57145742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.980714057 meters Centerline goodness [0,1] 0.9886855988326412 Centerline is valid? [True, True] Translation: X:137.94, Y:-4.96, Z:1.57 [[ 9.99271424e-01 -3.15633481e-02 -2.14563788e-02 1.37943379e+02] [ 3.15865775e-02 9.99500742e-01 7.44508216e-04 -4.95633658e+00] [ 2.14221673e-02 -1.42169936e-03 9.99769508e-01 1.57170464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01071405699997 meters Centerline goodness [0,1] 0.9873190841062867 Centerline is valid? [True, True] Translation: X:137.97, Y:-4.97, Z:1.57 [[ 9.99277335e-01 -3.12127216e-02 -2.16927182e-02 1.37973195e+02] [ 3.12363918e-02 9.99511741e-01 7.53094055e-04 -4.96631415e+00] [ 2.16586204e-02 -1.43015206e-03 9.99764402e-01 1.57079021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04071405699997 meters Centerline goodness [0,1] 0.9891158591096013 Centerline is valid? [True, True] Translation: X:138.00, Y:-4.96, Z:1.57 [[ 9.99303801e-01 -3.00483484e-02 -2.21135781e-02 1.38003623e+02] [ 3.00726677e-02 9.99547420e-01 7.67946297e-04 -4.95979706e+00] [ 2.20804944e-02 -1.43242594e-03 9.99755170e-01 1.57247067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07071405699998 meters Centerline goodness [0,1] 0.9891538668822419 Centerline is valid? [True, True] Translation: X:138.03, Y:-4.96, Z:1.57 [[ 9.99305720e-01 -2.97410958e-02 -2.24398187e-02 1.38034010e+02] [ 2.97660611e-02 9.99556589e-01 7.79275776e-04 -4.95955792e+00] [ 2.24066921e-02 -1.44667976e-03 9.99747892e-01 1.57314220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10071405699998 meters Centerline goodness [0,1] 0.9897636204458212 Centerline is valid? [True, True] Translation: X:138.06, Y:-4.96, Z:1.57 [[ 9.99300459e-01 -2.96406727e-02 -2.28040248e-02 1.38064179e+02] [ 2.96664328e-02 9.99559541e-01 7.92086615e-04 -4.96303160e+00] [ 2.27705026e-02 -1.46804659e-03 9.99739641e-01 1.57315888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13071405699998 meters Centerline goodness [0,1] 0.990147121391943 Centerline is valid? [True, True] Translation: X:138.09, Y:-4.97, Z:1.57 [[ 9.99292898e-01 -3.01136912e-02 -2.25137850e-02 1.38093649e+02] [ 3.01389209e-02 9.99545414e-01 7.82083356e-04 -4.96629984e+00] [ 2.24799991e-02 -1.46007153e-03 9.99746227e-01 1.57294387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16071405699998 meters Centerline goodness [0,1] 0.9894363828021621 Centerline is valid? [True, True] Translation: X:138.12, Y:-4.97, Z:1.57 [[ 9.99279094e-01 -3.07754712e-02 -2.22297880e-02 1.38124086e+02] [ 3.08002261e-02 9.99525262e-01 7.71985680e-04 -4.96795718e+00] [ 2.21954765e-02 -1.45611165e-03 9.99752590e-01 1.57321101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19071405699998 meters Centerline goodness [0,1] 0.9888179626819034 Centerline is valid? [True, True] Translation: X:138.15, Y:-4.97, Z:1.57 [[ 9.99242225e-01 -3.19482407e-02 -2.22325208e-02 1.38154488e+02] [ 3.19732940e-02 9.99488425e-01 7.72231113e-04 -4.97306352e+00] [ 2.21964758e-02 -1.48249286e-03 9.99752529e-01 1.57343351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22071405699998 meters Centerline goodness [0,1] 0.9899966431688486 Centerline is valid? [True, True] Translation: X:138.18, Y:-4.98, Z:1.57 [[ 9.99217573e-01 -3.28140758e-02 -2.20788891e-02 1.38184979e+02] [ 3.28389994e-02 9.99460360e-01 7.67126969e-04 -4.97577694e+00] [ 2.20418019e-02 -1.49157538e-03 9.99755937e-01 1.57377949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25071405699998 meters Centerline goodness [0,1] 0.9898193833582639 Centerline is valid? [True, True] Translation: X:138.22, Y:-4.97, Z:1.58 [[ 9.99202039e-01 -3.30498848e-02 -2.24274449e-02 1.38216895e+02] [ 3.30756682e-02 9.99452546e-01 7.79557869e-04 -4.97114397e+00] [ 2.23894026e-02 -1.52073854e-03 9.99748169e-01 1.57501498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28071405699998 meters Centerline goodness [0,1] 0.988942748006344 Centerline is valid? [True, True] Translation: X:138.25, Y:-4.98, Z:1.57 [[ 9.99200283e-01 -3.32937448e-02 -2.21432100e-02 1.38246735e+02] [ 3.33189521e-02 9.99444473e-01 7.70312479e-04 -4.98130948e+00] [ 2.21052623e-02 -1.50748500e-03 9.99754512e-01 1.57420759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31071405699998 meters Centerline goodness [0,1] 0.9898386665478207 Centerline is valid? [True, True] Translation: X:138.28, Y:-4.98, Z:1.58 [[ 9.99163666e-01 -3.40749122e-02 -2.26023972e-02 1.38277771e+02] [ 3.41013905e-02 9.99418069e-01 7.86968549e-04 -4.97776097e+00] [ 2.25624283e-02 -1.55708355e-03 9.99744223e-01 1.57564248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34071405699999 meters Centerline goodness [0,1] 0.989083603080701 Centerline is valid? [True, True] Translation: X:138.31, Y:-4.99, Z:1.58 [[ 9.99147443e-01 -3.46417330e-02 -2.24574427e-02 1.38307760e+02] [ 3.46680330e-02 9.99398577e-01 7.82722185e-04 -4.98634983e+00] [ 2.24168214e-02 -1.56061024e-03 9.99747493e-01 1.57518284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.370714057 meters Centerline goodness [0,1] 0.9896647171748739 Centerline is valid? [True, True] Translation: X:138.34, Y:-4.98, Z:1.58 [[ 9.99100327e-01 -3.57587089e-02 -2.28002566e-02 1.38339590e+02] [ 3.57861206e-02 9.99359155e-01 7.95239396e-04 -4.98139103e+00] [ 2.27572085e-02 -1.61045667e-03 9.99739724e-01 1.57687991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.400714057 meters Centerline goodness [0,1] 0.9891066565471673 Centerline is valid? [True, True] Translation: X:138.37, Y:-4.98, Z:1.58 [[ 9.99091227e-01 -3.61286935e-02 -2.26149844e-02 1.38371309e+02] [ 3.61557737e-02 9.99345854e-01 7.89576831e-04 -4.98334839e+00] [ 2.25716646e-02 -1.60652154e-03 9.99743937e-01 1.57752069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.430714057 meters Centerline goodness [0,1] 0.9898333109889619 Centerline is valid? [True, True] Translation: X:138.40, Y:-4.98, Z:1.58 [[ 9.99105298e-01 -3.60117869e-02 -2.21755569e-02 1.38402633e+02] [ 3.60378135e-02 9.99350127e-01 7.75022580e-04 -4.98118191e+00] [ 2.21332356e-02 -1.57348775e-03 9.99753792e-01 1.57858971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.460714057 meters Centerline goodness [0,1] 0.9880230172183068 Centerline is valid? [True, True] Translation: X:138.43, Y:-4.98, Z:1.58 [[ 9.99156756e-01 -3.42569762e-02 -2.26326602e-02 1.38433000e+02] [ 3.42836543e-02 9.99411829e-01 7.91669182e-04 -4.98492639e+00] [ 2.25922281e-02 -1.56693191e-03 9.99743535e-01 1.57831248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.490714057 meters Centerline goodness [0,1] 0.9891401501608866 Centerline is valid? [True, True] Translation: X:138.46, Y:-4.98, Z:1.58 [[ 9.99168341e-01 -3.38743736e-02 -2.26969774e-02 1.38464145e+02] [ 3.39011184e-02 9.99424876e-01 7.94495388e-04 -4.98286778e+00] [ 2.26570108e-02 -1.56328756e-03 9.99742075e-01 1.57914775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.520714057 meters Centerline goodness [0,1] 0.990922538999462 Centerline is valid? [True, True] Translation: X:138.50, Y:-4.98, Z:1.58 [[ 9.99241546e-01 -3.15399843e-02 -2.28377477e-02 1.38495154e+02] [ 3.15664679e-02 9.99501335e-01 7.99978476e-04 -4.97576396e+00] [ 2.28011280e-02 -1.52027876e-03 9.99738865e-01 1.58052627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.550714057 meters Centerline goodness [0,1] 0.9901969561324978 Centerline is valid? [True, True] Translation: X:138.53, Y:-4.98, Z:1.58 [[ 9.99278981e-01 -3.04531213e-02 -2.26743364e-02 1.38525384e+02] [ 3.04789665e-02 9.99535092e-01 7.95046814e-04 -4.97605951e+00] [ 2.26395832e-02 -1.48556391e-03 9.99742588e-01 1.58112221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.580714057 meters Centerline goodness [0,1] 0.989479562206835 Centerline is valid? [True, True] Translation: X:138.56, Y:-4.98, Z:1.58 [[ 9.99344521e-01 -2.85887548e-02 -2.22083689e-02 1.38555245e+02] [ 2.86131122e-02 9.99590257e-01 7.79711020e-04 -4.97507398e+00] [ 2.21769782e-02 -1.41465049e-03 9.99753060e-01 1.58167585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.610714057 meters Centerline goodness [0,1] 0.9890522364716922 Centerline is valid? [True, True] Translation: X:138.58, Y:-4.98, Z:1.58 [[ 9.99360564e-01 -2.82568139e-02 -2.19092577e-02 1.38584984e+02] [ 2.82804367e-02 9.99599733e-01 7.69058946e-04 -4.98039482e+00] [ 2.18787570e-02 -1.38817056e-03 9.99759668e-01 1.58102532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.640714057 meters Centerline goodness [0,1] 0.9890848214285715 Centerline is valid? [True, True] Translation: X:138.62, Y:-4.98, Z:1.58 [[ 9.99368322e-01 -2.83744617e-02 -2.13973433e-02 1.38615927e+02] [ 2.83970149e-02 9.99596441e-01 7.50852496e-04 -4.97634330e+00] [ 2.13674031e-02 -1.35799888e-03 9.99770769e-01 1.58219716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.670714057 meters Centerline goodness [0,1] 0.9887849212034384 Centerline is valid? [True, True] Translation: X:138.65, Y:-4.98, Z:1.58 [[ 9.99324579e-01 -2.98201647e-02 -2.14742453e-02 1.38646577e+02] [ 2.98432127e-02 9.99554308e-01 7.53551061e-04 -4.97651007e+00] [ 2.14422034e-02 -1.39390257e-03 9.99769118e-01 1.58257289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.700714057 meters Centerline goodness [0,1] 0.9899062401866224 Centerline is valid? [True, True] Translation: X:138.68, Y:-4.98, Z:1.58 [[ 9.99245545e-01 -3.22777475e-02 -2.15983347e-02 1.38677470e+02] [ 3.23016373e-02 9.99477878e-01 7.58050535e-04 -4.97659922e+00] [ 2.15625896e-02 -1.45514020e-03 9.99766441e-01 1.58241573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.730714057 meters Centerline goodness [0,1] 0.9884918231374924 Centerline is valid? [True, True] Translation: X:138.71, Y:-4.98, Z:1.58 [[ 9.99187735e-01 -3.37816774e-02 -2.19697397e-02 1.38707961e+02] [ 3.38067667e-02 9.99428090e-01 7.71483876e-04 -4.97925878e+00] [ 2.19311130e-02 -1.51358309e-03 9.99758338e-01 1.58206660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76071405699997 meters Centerline goodness [0,1] 0.9879355664891825 Centerline is valid? [True, True] Translation: X:138.74, Y:-4.98, Z:1.58 [[ 9.99121647e-01 -3.54919004e-02 -2.22768987e-02 1.38739370e+02] [ 3.55181316e-02 9.99368726e-01 7.82824983e-04 -4.98144647e+00] [ 2.22350519e-02 -1.57337121e-03 9.99751533e-01 1.58222650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79071405699997 meters Centerline goodness [0,1] 0.9877231640958762 Centerline is valid? [True, True] Translation: X:138.77, Y:-4.98, Z:1.58 [[ 9.98956235e-01 -3.92996841e-02 -2.32803851e-02 1.38770215e+02] [ 3.93293732e-02 9.99225966e-01 8.18619355e-04 -4.98182683e+00] [ 2.32301938e-02 -1.73336786e-03 9.99728640e-01 1.58233392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82071405699998 meters Centerline goodness [0,1] 0.9859436847786974 Centerline is valid? [True, True] Translation: X:138.80, Y:-4.99, Z:1.58 [[ 9.98760876e-01 -4.33191581e-02 -2.44982153e-02 1.38799336e+02] [ 4.33532403e-02 9.99059435e-01 8.61556774e-04 -4.98880759e+00] [ 2.44378512e-02 -1.92256621e-03 9.99699502e-01 1.58096380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85071405699998 meters Centerline goodness [0,1] 0.9861700455759862 Centerline is valid? [True, True] Translation: X:138.83, Y:-4.99, Z:1.58 [[ 9.98662482e-01 -4.53751406e-02 -2.47859441e-02 1.38829979e+02] [ 4.54106644e-02 9.98968023e-01 8.71958768e-04 -4.98888595e+00] [ 2.47208003e-02 -1.99633870e-03 9.99692401e-01 1.58080549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88071405699998 meters Centerline goodness [0,1] 0.9857987635516531 Centerline is valid? [True, True] Translation: X:138.86, Y:-4.99, Z:1.58 [[ 9.98591334e-01 -4.69485486e-02 -2.47220693e-02 1.38860171e+02] [ 4.69843789e-02 9.98895245e-01 8.70139107e-04 -4.99166764e+00] [ 2.46539057e-02 -2.03046444e-03 9.99693984e-01 1.58068661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91071405699998 meters Centerline goodness [0,1] 0.9853492181014561 Centerline is valid? [True, True] Translation: X:138.89, Y:-4.99, Z:1.58 [[ 9.98490568e-01 -4.88428607e-02 -2.51189470e-02 1.38891240e+02] [ 4.88804640e-02 9.98804244e-01 8.84816123e-04 -4.99225977e+00] [ 2.50456939e-02 -2.11130634e-03 9.99684078e-01 1.58097373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94071405699998 meters Centerline goodness [0,1] 0.9809014514896868 Centerline is valid? [True, True] Translation: X:138.92, Y:-5.00, Z:1.58 [[ 9.98324245e-01 -5.19958712e-02 -2.53994202e-02 1.38921092e+02] [ 5.20353416e-02 9.98644843e-01 8.95079501e-04 -4.99727731e+00] [ 2.53184596e-02 -2.21524707e-03 9.99676982e-01 1.58037551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97071405699998 meters Centerline goodness [0,1] 0.9847422587748865 Centerline is valid? [True, True] Translation: X:138.95, Y:-4.99, Z:1.58 [[ 9.98174077e-01 -5.46225883e-02 -2.57853519e-02 1.38951882e+02] [ 5.46641335e-02 9.98504385e-01 9.08543067e-04 -4.99381503e+00] [ 2.56971600e-02 -2.31641805e-03 9.99667090e-01 1.58138230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00071405699998 meters Centerline goodness [0,1] 0.9726986977997306 Centerline is valid? [True, True] Translation: X:138.98, Y:-5.00, Z:1.58 [[ 9.98121612e-01 -5.57130177e-02 -2.54814913e-02 1.38983128e+02] [ 5.57539592e-02 9.98444134e-01 8.98532465e-04 -5.00153692e+00] [ 2.53917855e-02 -2.31753870e-03 9.99674890e-01 1.58118944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03071405699998 meters Centerline goodness [0,1] 0.9609152001438428 Centerline is valid? [True, True] Translation: X:139.01, Y:-5.01, Z:1.58 [[ 9.98093201e-01 -5.63493860e-02 -2.51934250e-02 1.39013844e+02] [ 5.63896402e-02 9.98408442e-01 8.89668511e-04 -5.00503808e+00] [ 2.51031959e-02 -2.30862026e-03 9.99682199e-01 1.58190259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06071405699998 meters Centerline goodness [0,1] 0.9407133243606999 Centerline is valid? [True, False] Translation: X:139.01, Y:-5.00, Z:1.58 [[ 9.98083189e-01 -5.65117651e-02 -2.52263445e-02 1.39013753e+02] [ 5.65429120e-02 9.98400033e-01 5.22539399e-04 -5.00400905e+00] [ 2.51564536e-02 -1.94790877e-03 9.99681629e-01 1.58219103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09071405699999 meters Centerline goodness [0,1] 0.9509694424588993 Centerline is valid? [False, True] Translation: X:139.01, Y:-5.01, Z:1.58 [[ 9.98237332e-01 -5.37099054e-02 -2.52482789e-02 1.39013068e+02] [ 5.38287791e-02 9.98541960e-01 4.05186329e-03 -5.00534026e+00] [ 2.49938407e-02 -5.40380523e-03 9.99673000e-01 1.58213203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.120714057 meters Centerline goodness [0,1] 0.9839067578168778 Centerline is valid? [True, True] Translation: X:139.05, Y:-4.99, Z:1.58 [[ 9.98248631e-01 -5.32857521e-02 -2.56962732e-02 1.39045731e+02] [ 5.33287862e-02 9.98576515e-01 9.91862500e-04 -4.99206568e+00] [ 2.56068428e-02 -2.36047644e-03 9.99669304e-01 1.58486028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.150714057 meters Centerline goodness [0,1] 0.9850050658561297 Centerline is valid? [True, True] Translation: X:139.08, Y:-4.99, Z:1.58 [[ 9.98255759e-01 -5.28376547e-02 -2.63366900e-02 1.39077670e+02] [ 5.28827568e-02 9.98600209e-01 1.01848658e-03 -4.99190952e+00] [ 2.62460097e-02 -2.40946687e-03 9.99652610e-01 1.58480102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.180714057 meters Centerline goodness [0,1] 0.9838185511171293 Centerline is valid? [True, True] Translation: X:139.11, Y:-4.99, Z:1.58 [[ 9.98296140e-01 -5.16380957e-02 -2.71721157e-02 1.39109661e+02] [ 5.16857185e-02 9.98662845e-01 1.05275771e-03 -4.99303550e+00] [ 2.70814200e-02 -2.45537428e-03 9.99630216e-01 1.58450267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.210714057 meters Centerline goodness [0,1] 0.9839230473953982 Centerline is valid? [True, True] Translation: X:139.14, Y:-4.99, Z:1.58 [[ 9.98316042e-01 -5.08709559e-02 -2.78787765e-02 1.39140599e+02] [ 5.09208412e-02 9.98702106e-01 1.08189325e-03 -4.99282848e+00] [ 2.77875559e-02 -2.49968214e-03 9.99610726e-01 1.58467796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.240714057 meters Centerline goodness [0,1] 0.9858120778076497 Centerline is valid? [True, True] Translation: X:139.17, Y:-4.99, Z:1.59 [[ 9.98347745e-01 -5.00344731e-02 -2.82547650e-02 1.39172678e+02] [ 5.00854315e-02 9.98744333e-01 1.09826269e-03 -4.98750342e+00] [ 2.81643354e-02 -2.51160018e-03 9.99600151e-01 1.58558984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.270714057 meters Centerline goodness [0,1] 0.9856713449499401 Centerline is valid? [True, True] Translation: X:139.20, Y:-4.99, Z:1.59 [[ 9.98449321e-01 -4.81085417e-02 -2.80093210e-02 1.39203192e+02] [ 4.81578946e-02 9.98839141e-01 1.08973273e-03 -4.98614448e+00] [ 2.79243807e-02 -2.43691283e-03 9.99607068e-01 1.58703663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.300714057 meters Centerline goodness [0,1] 0.9854974400613483 Centerline is valid? [True, True] Translation: X:139.23, Y:-4.98, Z:1.59 [[ 9.98516014e-01 -4.70305945e-02 -2.74571130e-02 1.39234552e+02] [ 4.70776284e-02 9.98890662e-01 1.06872719e-03 -4.98486119e+00] [ 2.73763909e-02 -2.35975698e-03 9.99622411e-01 1.58783778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.330714057 meters Centerline goodness [0,1] 0.9869400873678731 Centerline is valid? [True, True] Translation: X:139.27, Y:-4.98, Z:1.59 [[ 9.98647609e-01 -4.47536885e-02 -2.64586541e-02 1.39265062e+02] [ 4.47965821e-02 9.98995598e-01 1.03035418e-03 -4.98034187e+00] [ 2.63859668e-02 -2.21421800e-03 9.99649378e-01 1.58883013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.360714057 meters Centerline goodness [0,1] 0.9865481024431186 Centerline is valid? [True, True] Translation: X:139.30, Y:-4.98, Z:1.59 [[ 9.98698707e-01 -4.39046744e-02 -2.59474883e-02 1.39296351e+02] [ 4.39456839e-02 9.99033409e-01 1.01208518e-03 -4.98287412e+00] [ 2.58779724e-02 -2.15104828e-03 9.99662795e-01 1.58855368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.390714057 meters Centerline goodness [0,1] 0.9860994580375972 Centerline is valid? [True, True] Translation: X:139.33, Y:-4.99, Z:1.59 [[ 9.98726064e-01 -4.33421569e-02 -2.58400169e-02 1.39327702e+02] [ 4.33827068e-02 9.99058016e-01 1.01047578e-03 -4.98588954e+00] [ 2.57718798e-02 -2.13019838e-03 9.99665580e-01 1.58867540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.420714057 meters Centerline goodness [0,1] 0.9855325517585433 Centerline is valid? [True, True] Translation: X:139.36, Y:-4.99, Z:1.59 [[ 9.98757503e-01 -4.26934114e-02 -2.57045276e-02 1.39359889e+02] [ 4.27333643e-02 9.99086005e-01 1.00676377e-03 -4.98656511e+00] [ 2.56380516e-02 -2.10395381e-03 9.99669077e-01 1.58889720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.450714057 meters Centerline goodness [0,1] 0.9862727747146779 Centerline is valid? [True, True] Translation: X:139.39, Y:-4.98, Z:1.59 [[ 9.98767311e-01 -4.24782561e-02 -2.56798879e-02 1.39392344e+02] [ 4.25181098e-02 9.99095188e-01 1.00767512e-03 -4.98305429e+00] [ 2.56138482e-02 -2.09829327e-03 9.99669709e-01 1.58979507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.480714057 meters Centerline goodness [0,1] 0.9854509081815909 Centerline is valid? [True, True] Translation: X:139.42, Y:-4.99, Z:1.59 [[ 9.98800640e-01 -4.22674319e-02 -2.47132571e-02 1.39423658e+02] [ 4.23043162e-02 9.99104300e-01 9.71349656e-04 -4.98689270e+00] [ 2.46500650e-02 -2.01566210e-03 9.99694109e-01 1.58981857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51071405699997 meters Centerline goodness [0,1] 0.9861484485351073 Centerline is valid? [True, True] Translation: X:139.46, Y:-4.98, Z:1.59 [[ 9.98809151e-01 -4.24326746e-02 -2.40779612e-02 1.39456467e+02] [ 4.24677706e-02 9.99097388e-01 9.47901613e-04 -4.98321019e+00] [ 2.40160062e-02 -1.96931014e-03 9.99709634e-01 1.59107546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54071405699997 meters Centerline goodness [0,1] 0.9861259338313767 Centerline is valid? [True, True] Translation: X:139.49, Y:-4.99, Z:1.59 [[ 9.98811918e-01 -4.27973542e-02 -2.33053523e-02 1.39488302e+02] [ 4.28303721e-02 9.99081936e-01 9.19215340e-04 -4.98565319e+00] [ 2.32446165e-02 -1.91630015e-03 9.99727971e-01 1.59131719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57071405699998 meters Centerline goodness [0,1] 0.9833007679374745 Centerline is valid? [True, True] Translation: X:139.52, Y:-4.99, Z:1.59 [[ 9.98752680e-01 -4.41140900e-02 -2.33887019e-02 1.39519525e+02] [ 4.41477400e-02 9.99024586e-01 9.24081049e-04 -4.99180735e+00] [ 2.33251233e-02 -1.95548676e-03 9.99726020e-01 1.59119565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60071405699998 meters Centerline goodness [0,1] 0.9859110048935928 Centerline is valid? [True, True] Translation: X:139.55, Y:-4.99, Z:1.59 [[ 9.98718491e-01 -4.48566810e-02 -2.34361697e-02 1.39551853e+02] [ 4.48907051e-02 9.98991474e-01 9.27425930e-04 -4.98719034e+00] [ 2.33709325e-02 -1.97830361e-03 9.99724905e-01 1.59168929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63071405699998 meters Centerline goodness [0,1] 0.9858625014251511 Centerline is valid? [True, True] Translation: X:139.58, Y:-4.99, Z:1.59 [[ 9.98613403e-01 -4.63916845e-02 -2.48813873e-02 1.39581983e+02] [ 4.64305412e-02 9.98921034e-01 9.85930675e-04 -4.99058144e+00] [ 2.48088021e-02 -2.13981986e-03 9.99689924e-01 1.59035734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66071405699998 meters Centerline goodness [0,1] 0.9856652028487565 Centerline is valid? [True, True] Translation: X:139.61, Y:-4.99, Z:1.59 [[ 9.98589358e-01 -4.69148311e-02 -2.48654821e-02 1.39614276e+02] [ 4.69538245e-02 9.98896574e-01 9.86323063e-04 -4.99180699e+00] [ 2.47917717e-02 -2.15246120e-03 9.99690320e-01 1.59001072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69071405699998 meters Centerline goodness [0,1] 0.985282373074729 Centerline is valid? [True, True] Translation: X:139.64, Y:-4.99, Z:1.59 [[ 9.98562914e-01 -4.72088615e-02 -2.53659374e-02 1.39644846e+02] [ 4.72495713e-02 9.98882607e-01 1.00760725e-03 -4.99480058e+00] [ 2.52900257e-02 -2.20468890e-03 9.99677725e-01 1.58946723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72071405699998 meters Centerline goodness [0,1] 0.9846923621741415 Centerline is valid? [True, True] Translation: X:139.68, Y:-5.00, Z:1.59 [[ 9.98596827e-01 -4.65047215e-02 -2.53315787e-02 1.39677531e+02] [ 4.65451335e-02 9.98915680e-01 1.00771936e-03 -4.99668936e+00] [ 2.52572475e-02 -2.18536707e-03 9.99678596e-01 1.58998708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75071405699998 meters Centerline goodness [0,1] 0.9856927021335042 Centerline is valid? [True, True] Translation: X:139.71, Y:-4.99, Z:1.59 [[ 9.98686366e-01 -4.54385077e-02 -2.36830017e-02 1.39709352e+02] [ 4.54735709e-02 9.98965096e-01 9.43801216e-04 -4.99409253e+00] [ 2.36156072e-02 -2.01951206e-03 9.99719073e-01 1.59205062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78071405699998 meters Centerline goodness [0,1] 0.9856927021335042 Centerline is valid? [True, True] Translation: X:139.74, Y:-5.00, Z:1.59 [[ 9.98689597e-01 -4.53674604e-02 -2.36829445e-02 1.39741136e+02] [ 4.54025376e-02 9.98968326e-01 9.45235495e-04 -4.99542278e+00] [ 2.36156285e-02 -2.01926263e-03 9.99719073e-01 1.59250089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81071405699998 meters Centerline goodness [0,1] 0.9856116748375328 Centerline is valid? [True, True] Translation: X:139.77, Y:-5.00, Z:1.59 [[ 9.98752824e-01 -4.45861106e-02 -2.24694097e-02 1.39773140e+02] [ 4.46175225e-02 9.99003739e-01 8.98352175e-04 -4.99578456e+00] [ 2.24069703e-02 -1.89976117e-03 9.99747127e-01 1.59367728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84071405699999 meters Centerline goodness [0,1] 0.985232693492799 Centerline is valid? [True, True] Translation: X:139.80, Y:-5.00, Z:1.59 [[ 9.98805749e-01 -4.37918882e-02 -2.16643799e-02 1.39804613e+02] [ 4.38209361e-02 9.99039025e-01 8.67675533e-04 -4.99855222e+00] [ 2.16055638e-02 -1.81599272e-03 9.99764923e-01 1.59488250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.870714057 meters Centerline goodness [0,1] 0.9853015132812143 Centerline is valid? [True, True] Translation: X:139.84, Y:-5.00, Z:1.60 [[ 9.98853943e-01 -4.29037343e-02 -2.12148788e-02 1.39837329e+02] [ 4.29314258e-02 9.99077659e-01 8.51359103e-04 -4.99909756e+00] [ 2.11587849e-02 -1.76116839e-03 9.99774577e-01 1.59663333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.900714057 meters Centerline goodness [0,1] 0.9844761557399471 Centerline is valid? [True, True] Translation: X:139.87, Y:-5.00, Z:1.60 [[ 9.98883681e-01 -4.25019852e-02 -2.06148587e-02 1.39868153e+02] [ 4.25280822e-02 9.99094928e-01 8.28986225e-04 -5.00276634e+00] [ 2.05609672e-02 -1.70477122e-03 9.99787148e-01 1.59695316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.930714057 meters Centerline goodness [0,1] 0.9838937167296056 Centerline is valid? [True, True] Translation: X:139.90, Y:-5.01, Z:1.60 [[ 9.98839835e-01 -4.31565794e-02 -2.13657228e-02 1.39899382e+02] [ 4.31847857e-02 9.99066732e-01 8.60324878e-04 -5.00974720e+00] [ 2.13086542e-02 -1.78200092e-03 9.99771357e-01 1.59545336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.960714057 meters Centerline goodness [0,1] 0.9844736782107111 Centerline is valid? [True, True] Translation: X:139.93, Y:-5.01, Z:1.60 [[ 9.98796036e-01 -4.37135789e-02 -2.22620875e-02 1.39931928e+02] [ 4.37443690e-02 9.99042354e-01 8.97742675e-04 -5.01120486e+00] [ 2.22015248e-02 -1.87050280e-03 9.99751766e-01 1.59506967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.990714057 meters Centerline goodness [0,1] 0.9830932714405989 Centerline is valid? [True, True] Translation: X:139.96, Y:-5.02, Z:1.59 [[ 9.98704219e-01 -4.49016031e-02 -2.39526228e-02 1.39961569e+02] [ 4.49376128e-02 9.98989327e-01 9.66960596e-04 -5.01792178e+00] [ 2.38849964e-02 -2.04208132e-03 9.99712627e-01 1.59340098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.020714057 meters Centerline goodness [0,1] 0.9827974605775138 Centerline is valid? [True, True] Translation: X:139.99, Y:-5.02, Z:1.59 [[ 9.98677417e-01 -4.50537441e-02 -2.47704714e-02 1.39993933e+02] [ 4.50923200e-02 9.98982323e-01 1.00069456e-03 -5.02007806e+00] [ 2.47001780e-02 -2.11632909e-03 9.99692664e-01 1.59350041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.050714057 meters Centerline goodness [0,1] 0.9822378894700933 Centerline is valid? [True, True] Translation: X:140.03, Y:-5.02, Z:1.59 [[ 9.98680809e-01 -4.47633087e-02 -2.51572735e-02 1.40025065e+02] [ 4.48030460e-02 9.98995321e-01 1.01784639e-03 -5.02364250e+00] [ 2.50864364e-02 -2.14362614e-03 9.99682988e-01 1.59381338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.080714057 meters Centerline goodness [0,1] 0.9830983987956754 Centerline is valid? [True, True] Translation: X:140.06, Y:-5.02, Z:1.60 [[ 9.98753663e-01 -4.27843035e-02 -2.57026243e-02 1.40055901e+02] [ 4.28251565e-02 9.99082040e-01 1.04085135e-03 -5.02453916e+00] [ 2.56344983e-02 -2.14027301e-03 9.99669091e-01 1.59504999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.110714057 meters Centerline goodness [0,1] 0.9833041022253605 Centerline is valid? [True, True] Translation: X:140.09, Y:-5.02, Z:1.60 [[ 9.98928665e-01 -3.86883292e-02 -2.53916539e-02 1.40085892e+02] [ 3.87268909e-02 9.99249303e-01 1.02850419e-03 -5.02408137e+00] [ 2.53328013e-02 -2.01074213e-03 9.99677051e-01 1.59615242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.140714057 meters Centerline goodness [0,1] 0.9877926345091954 Centerline is valid? [True, True] Translation: X:140.12, Y:-5.01, Z:1.60 [[ 9.99014214e-01 -3.64889010e-02 -2.52816028e-02 1.40117121e+02] [ 3.65264337e-02 9.99332162e-01 1.02423021e-03 -5.01113114e+00] [ 2.52273457e-02 -1.94666733e-03 9.99679845e-01 1.59875035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.170714057 meters Centerline goodness [0,1] 0.9876156746258425 Centerline is valid? [True, True] Translation: X:140.15, Y:-5.01, Z:1.60 [[ 9.99116990e-01 -3.37910533e-02 -2.49680669e-02 1.40148200e+02] [ 3.38268339e-02 9.99427197e-01 1.01196594e-03 -5.01120081e+00] [ 2.49195697e-02 -1.85566301e-03 9.99687737e-01 1.59949144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.200714057 meters Centerline goodness [0,1] 0.9885285531837256 Centerline is valid? [True, True] Translation: X:140.18, Y:-5.01, Z:1.60 [[ 9.99297840e-01 -2.85605019e-02 -2.42512647e-02 1.40178340e+02] [ 2.85927301e-02 9.99590661e-01 9.83143683e-04 -5.00889585e+00] [ 2.42132586e-02 -1.67586322e-03 9.99705411e-01 1.60112837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.230714057 meters Centerline goodness [0,1] 0.9898005854372485 Centerline is valid? [True, True] Translation: X:140.21, Y:-5.01, Z:1.60 [[ 9.99471388e-01 -2.31853912e-02 -2.27899581e-02 1.40208898e+02] [ 2.32124607e-02 9.99730128e-01 9.23926558e-04 -5.00668423e+00] [ 2.27623861e-02 -1.45244917e-03 9.99739848e-01 1.60249479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26071405699997 meters Centerline goodness [0,1] 0.9891351685882596 Centerline is valid? [True, True] Translation: X:140.24, Y:-5.01, Z:1.60 [[ 9.99525435e-01 -2.07731381e-02 -2.27460161e-02 1.40237340e+02] [ 2.07994755e-02 9.99783242e-01 9.21895941e-04 -5.00689301e+00] [ 2.27219350e-02 -1.39456365e-03 9.99740851e-01 1.60303420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29071405699997 meters Centerline goodness [0,1] 0.9888657243006712 Centerline is valid? [True, True] Translation: X:140.27, Y:-5.01, Z:1.60 [[ 9.99589576e-01 -1.82124066e-02 -2.21130736e-02 1.40266962e+02] [ 1.82366569e-02 9.99833297e-01 8.95471801e-04 -5.00691165e+00] [ 2.20930786e-02 -1.29837281e-03 9.99755075e-01 1.60362369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32071405699998 meters Centerline goodness [0,1] 0.9887931429619105 Centerline is valid? [True, True] Translation: X:140.30, Y:-5.00, Z:1.60 [[ 9.99651372e-01 -1.34899161e-02 -2.26970766e-02 1.40296796e+02] [ 1.35142362e-02 9.99908257e-01 9.18459819e-04 -5.00447099e+00] [ 2.26826044e-02 -1.22487327e-03 9.99741966e-01 1.60325424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35071405699998 meters Centerline goodness [0,1] 0.9893331498176313 Centerline is valid? [True, True] Translation: X:140.32, Y:-5.00, Z:1.60 [[ 9.99650718e-01 -1.17323422e-02 -2.36811010e-02 1.40324977e+02] [ 1.17583039e-02 9.99930410e-01 9.57352775e-04 -5.00480278e+00] [ 2.36682211e-02 -1.23546797e-03 9.99719105e-01 1.60290989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38071405699998 meters Centerline goodness [0,1] 0.9892182671397505 Centerline is valid? [True, True] Translation: X:140.35, Y:-5.01, Z:1.60 [[ 9.99641059e-01 -9.10373896e-03 -2.51967384e-02 1.40353953e+02] [ 9.13226436e-03 9.99957783e-01 1.01726611e-03 -5.00528406e+00] [ 2.51864138e-02 -1.24700425e-03 9.99681994e-01 1.60123049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41071405699998 meters Centerline goodness [0,1] 0.9893310133247859 Centerline is valid? [True, True] Translation: X:140.38, Y:-5.01, Z:1.60 [[ 9.99632855e-01 -8.42100892e-03 -2.57534962e-02 1.40383164e+02] [ 8.45053492e-03 9.99963755e-01 1.03786470e-03 -5.00658318e+00] [ 2.57438229e-02 -1.25511447e-03 9.99667785e-01 1.60050347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44071405699998 meters Centerline goodness [0,1] 0.9900374170741225 Centerline is valid? [True, True] Translation: X:140.41, Y:-5.01, Z:1.60 [[ 9.99640708e-01 -6.53840198e-03 -2.59943092e-02 1.40410714e+02] [ 6.56777828e-03 9.99977886e-01 1.04488801e-03 -5.00855523e+00] [ 2.59869025e-02 -1.21523744e-03 9.99661545e-01 1.60010474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47071405699998 meters Centerline goodness [0,1] 0.989881415686095 Centerline is valid? [True, True] Translation: X:140.44, Y:-5.01, Z:1.60 [[ 9.99654210e-01 -5.11028353e-03 -2.57942955e-02 1.40439845e+02] [ 5.13868680e-03 9.99986261e-01 1.03497992e-03 -5.00845668e+00] [ 2.57886521e-02 -1.16717084e-03 9.99666736e-01 1.60075729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50071405699998 meters Centerline goodness [0,1] 0.9891301849936803 Centerline is valid? [True, True] Translation: X:140.47, Y:-5.01, Z:1.60 [[ 9.99649217e-01 -3.98737174e-03 -2.61829091e-02 1.40467624e+02] [ 4.01620441e-03 9.99991385e-01 1.04870719e-03 -5.00931942e+00] [ 2.61785020e-02 -1.15349524e-03 9.99656619e-01 1.60131772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53071405699998 meters Centerline goodness [0,1] 0.9889283667621777 Centerline is valid? [True, True] Translation: X:140.50, Y:-5.01, Z:1.60 [[ 9.99677559e-01 -2.26446952e-03 -2.52912980e-02 1.40495956e+02] [ 2.29077609e-03 9.99996865e-01 1.01121831e-03 -5.00930966e+00] [ 2.52889288e-02 -1.06882895e-03 9.99679613e-01 1.60262773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56071405699998 meters Centerline goodness [0,1] 0.9893412185394032 Centerline is valid? [True, True] Translation: X:140.52, Y:-5.01, Z:1.60 [[ 9.99684115e-01 -1.65233684e-03 -2.50786821e-02 1.40524600e+02] [ 1.67792915e-03 9.99998093e-01 9.99471590e-04 -5.01033407e+00] [ 2.50769829e-02 -1.04123612e-03 9.99684981e-01 1.60368752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59071405699999 meters Centerline goodness [0,1] 0.9892736815566914 Centerline is valid? [True, True] Translation: X:140.55, Y:-5.01, Z:1.60 [[ 9.99682097e-01 -8.73462760e-04 -2.51980639e-02 1.40552098e+02] [ 8.98943154e-04 9.99999096e-01 9.99894533e-04 -5.01234222e+00] [ 2.51971677e-02 -1.02222829e-03 9.99681978e-01 1.60446205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.620714057 meters Centerline goodness [0,1] 0.9895747599451303 Centerline is valid? [True, True] Translation: X:140.58, Y:-5.01, Z:1.61 [[ 9.99689004e-01 -8.97590021e-04 -2.49216773e-02 1.40580670e+02] [ 9.22424638e-04 9.99999089e-01 9.85028526e-04 -5.01391218e+00] [ 2.49207705e-02 -1.00771056e-03 9.99688921e-01 1.60526208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.650714057 meters Centerline goodness [0,1] 0.9906435156589573 Centerline is valid? [True, True] Translation: X:140.61, Y:-5.00, Z:1.61 [[ 9.99686567e-01 -1.53092770e-03 -2.49884650e-02 1.40610013e+02] [ 1.55594883e-03 9.99998307e-01 9.81894377e-04 -5.00316914e+00] [ 2.49869195e-02 -1.02046739e-03 9.99687257e-01 1.60976002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.680714057 meters Centerline goodness [0,1] 0.9873876949998933 Centerline is valid? [True, True] Translation: X:140.64, Y:-5.02, Z:1.61 [[ 9.99759974e-01 -4.02484321e-04 -2.19050892e-02 1.40636936e+02] [ 4.21356236e-04 9.99999544e-01 8.56922428e-04 -5.02236379e+00] [ 2.19047343e-02 -8.65946590e-04 9.99759688e-01 1.60749997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.710714057 meters Centerline goodness [0,1] 0.9903456441550161 Centerline is valid? [True, True] Translation: X:140.67, Y:-5.01, Z:1.61 [[ 9.99685891e-01 -2.92325852e-03 -2.48912596e-02 1.40667013e+02] [ 2.94836303e-03 9.99995181e-01 9.71927095e-04 -5.00766722e+00] [ 2.48882985e-02 -1.04501027e-03 9.99689692e-01 1.61071290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.740714057 meters Centerline goodness [0,1] 0.9897582957804179 Centerline is valid? [True, True] Translation: X:140.70, Y:-5.01, Z:1.61 [[ 9.99643745e-01 -5.28227224e-03 -2.61625716e-02 1.40696805e+02] [ 5.31078870e-03 9.99985377e-01 1.02060724e-03 -5.01146361e+00] [ 2.61567979e-02 -1.15918753e-03 9.99657180e-01 1.61066218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.770714057 meters Centerline goodness [0,1] 0.9897177511285395 Centerline is valid? [True, True] Translation: X:140.72, Y:-5.02, Z:1.61 [[ 9.99604993e-01 -6.87679714e-03 -2.72500959e-02 1.40724350e+02] [ 6.90827983e-03 9.99975574e-01 1.06134811e-03 -5.01508013e+00] [ 2.72421316e-02 -1.24918015e-03 9.99628084e-01 1.61008457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.800714057 meters Centerline goodness [0,1] 0.9900316347663807 Centerline is valid? [True, True] Translation: X:140.75, Y:-5.02, Z:1.61 [[ 9.99539109e-01 -9.49775475e-03 -2.88333655e-02 1.40753977e+02] [ 9.53403825e-03 9.99953921e-01 1.12116604e-03 -5.01926332e+00] [ 2.88213883e-02 -1.39554771e-03 9.99583603e-01 1.60922775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.830714057 meters Centerline goodness [0,1] 0.9891648266599895 Centerline is valid? [True, True] Translation: X:140.78, Y:-5.02, Z:1.61 [[ 9.99497849e-01 -1.05956032e-02 -2.98627390e-02 1.40782014e+02] [ 1.06349562e-02 9.99942775e-01 1.15926986e-03 -5.02408175e+00] [ 2.98487470e-02 -1.47627665e-03 9.99553337e-01 1.60845390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.860714057 meters Centerline goodness [0,1] 0.9894418963716453 Centerline is valid? [True, True] Translation: X:140.81, Y:-5.03, Z:1.61 [[ 9.99483961e-01 -1.17651543e-02 -2.98896727e-02 1.40810957e+02] [ 1.18049454e-02 9.99929652e-01 1.15514586e-03 -5.02568234e+00] [ 2.98739796e-02 -1.50739572e-03 9.99552536e-01 1.60883523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.890714057 meters Centerline goodness [0,1] 0.9897647487918301 Centerline is valid? [True, True] Translation: X:140.84, Y:-5.03, Z:1.61 [[ 9.99482471e-01 -1.25770845e-02 -2.96075440e-02 1.40838068e+02] [ 1.26163088e-02 9.99919763e-01 1.13836428e-03 -5.02943829e+00] [ 2.95908510e-02 -1.51131306e-03 9.99560952e-01 1.60965403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.920714057 meters Centerline goodness [0,1] 0.9900972025738146 Centerline is valid? [True, True] Translation: X:140.87, Y:-5.03, Z:1.61 [[ 9.99499089e-01 -1.13778480e-02 -2.95316055e-02 1.40867110e+02] [ 1.14161744e-02 9.99934195e-01 1.12952569e-03 -5.02854173e+00] [ 2.95168106e-02 -1.46609785e-03 9.99563209e-01 1.61173050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.950714057 meters Centerline goodness [0,1] 0.9896451053735973 Centerline is valid? [True, True] Translation: X:140.89, Y:-5.03, Z:1.61 [[ 9.99514668e-01 -1.01171630e-02 -2.94630545e-02 1.40894665e+02] [ 1.01546252e-02 9.99947811e-01 1.12214504e-03 -5.03362054e+00] [ 2.94501640e-02 -1.42078670e-03 9.99565240e-01 1.61118562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.980714057 meters Centerline goodness [0,1] 0.9896058899956691 Centerline is valid? [True, True] Translation: X:140.92, Y:-5.03, Z:1.61 [[ 9.99515446e-01 -9.14609031e-03 -2.97526776e-02 1.40923199e+02] [ 9.18371381e-03 9.99957192e-01 1.12813434e-03 -5.02958457e+00] [ 2.97410859e-02 -1.40082778e-03 9.99556654e-01 1.61345919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01071405699997 meters Centerline goodness [0,1] 0.9902533668112303 Centerline is valid? [True, True] Translation: X:140.95, Y:-5.03, Z:1.62 [[ 9.99561463e-01 -7.55945631e-03 -2.86310207e-02 1.40951976e+02] [ 7.59352195e-03 9.99970584e-01 1.08127394e-03 -5.02792379e+00] [ 2.86220047e-02 -1.29821005e-03 9.99589463e-01 1.61519643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04071405699997 meters Centerline goodness [0,1] 0.9904787936768257 Centerline is valid? [True, True] Translation: X:140.98, Y:-5.03, Z:1.62 [[ 9.99594689e-01 -7.00019160e-03 -2.75944716e-02 1.40981119e+02] [ 7.03150990e-03 9.99974740e-01 1.03807657e-03 -5.02832424e+00] [ 2.75865078e-02 -1.23168663e-03 9.99618661e-01 1.61648467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07071405699998 meters Centerline goodness [0,1] 0.9902740131653873 Centerline is valid? [True, True] Translation: X:141.01, Y:-5.03, Z:1.62 [[ 9.99593571e-01 -7.40758280e-03 -2.75285362e-02 1.41008877e+02] [ 7.43878401e-03 9.99971800e-01 1.03117597e-03 -5.03095653e+00] [ 2.75201214e-02 -1.23553571e-03 9.99620486e-01 1.61661275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10071405699998 meters Centerline goodness [0,1] 0.9902281610762658 Centerline is valid? [True, True] Translation: X:141.04, Y:-5.03, Z:1.62 [[ 9.99591871e-01 -8.29983546e-03 -2.73350246e-02 1.41037128e+02] [ 8.33085087e-03 9.99964777e-01 1.02095017e-03 -5.03170740e+00] [ 2.73255881e-02 -1.24825751e-03 9.99625807e-01 1.61697713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13071405699998 meters Centerline goodness [0,1] 0.9909263271939328 Centerline is valid? [True, True] Translation: X:141.07, Y:-5.04, Z:1.62 [[ 9.99562991e-01 -1.04968683e-02 -2.76341009e-02 1.41066634e+02] [ 1.05293384e-02 9.99944035e-01 1.02974775e-03 -5.03545886e+00] [ 2.76217452e-02 -1.32026655e-03 9.99617575e-01 1.61663014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16071405699998 meters Centerline goodness [0,1] 0.9898208469055375 Centerline is valid? [True, True] Translation: X:141.09, Y:-5.04, Z:1.61 [[ 9.99533344e-01 -1.21291790e-02 -2.80352777e-02 1.41094471e+02] [ 1.21631911e-02 9.99925482e-01 1.04296641e-03 -5.04336614e+00] [ 2.80205382e-02 -1.38347814e-03 9.99606390e-01 1.61490551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19071405699998 meters Centerline goodness [0,1] 0.9898610419589915 Centerline is valid? [True, True] Translation: X:141.12, Y:-5.04, Z:1.62 [[ 9.99446605e-01 -1.59094268e-02 -2.92125669e-02 1.41124904e+02] [ 1.59479212e-02 9.99872235e-01 1.08520272e-03 -5.04306535e+00] [ 2.91915696e-02 -1.55048189e-03 9.99572633e-01 1.61604764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22071405699998 meters Centerline goodness [0,1] 0.9900745541480659 Centerline is valid? [True, True] Translation: X:141.15, Y:-5.04, Z:1.62 [[ 9.99394008e-01 -1.79718275e-02 -2.98098975e-02 1.41154548e+02] [ 1.80128030e-02 9.99837144e-01 1.10657057e-03 -5.04235655e+00] [ 2.97851557e-02 -1.64285981e-03 9.99554974e-01 1.61695565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25071405699998 meters Centerline goodness [0,1] 0.9901649746192893 Centerline is valid? [True, True] Translation: X:141.18, Y:-5.05, Z:1.62 [[ 9.99327521e-01 -2.03894433e-02 -3.04758378e-02 1.41183318e+02] [ 2.04333485e-02 9.99790579e-01 1.12988286e-03 -5.04672605e+00] [ 3.04464178e-02 -1.75184645e-03 9.99534865e-01 1.61655231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28071405699998 meters Centerline goodness [0,1] 0.9897709785462117 Centerline is valid? [True, True] Translation: X:141.21, Y:-5.05, Z:1.62 [[ 9.99227470e-01 -2.44863286e-02 -3.07389393e-02 1.41213473e+02] [ 2.45328933e-02 9.99698375e-01 1.13855727e-03 -5.05113915e+00] [ 3.07017886e-02 -1.89179282e-03 9.99526799e-01 1.61629815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31071405699998 meters Centerline goodness [0,1] 0.9898846214635688 Centerline is valid? [True, True] Translation: X:141.24, Y:-5.05, Z:1.62 [[ 9.99186707e-01 -2.63468528e-02 -3.05248675e-02 1.41243277e+02] [ 2.63936095e-02 9.99650990e-01 1.12977658e-03 -5.05350819e+00] [ 3.04844480e-02 -1.93451917e-03 9.99533369e-01 1.61696388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34071405699999 meters Centerline goodness [0,1] 0.9899533873376476 Centerline is valid? [True, True] Translation: X:141.27, Y:-5.06, Z:1.62 [[ 9.99157638e-01 -2.91339207e-02 -2.89003392e-02 1.41272836e+02] [ 2.91769621e-02 9.99573691e-01 1.06863355e-03 -5.05641046e+00] [ 2.88568852e-02 -1.91095747e-03 9.99581727e-01 1.61784274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.370714057 meters Centerline goodness [0,1] 0.989264566288478 Centerline is valid? [True, True] Translation: X:141.30, Y:-5.06, Z:1.62 [[ 9.99123234e-01 -3.04553712e-02 -2.87268830e-02 1.41301208e+02] [ 3.04983213e-02 9.99534258e-01 1.05805130e-03 -5.05859772e+00] [ 2.86812803e-02 -1.93324534e-03 9.99586738e-01 1.61871260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.400714057 meters Centerline goodness [0,1] 0.9884586661838919 Centerline is valid? [True, True] Translation: X:141.33, Y:-5.06, Z:1.62 [[ 9.99100976e-01 -3.13837032e-02 -2.85009407e-02 1.41329248e+02] [ 3.14262299e-02 9.99505527e-01 1.04530040e-03 -5.06094740e+00] [ 2.84540424e-02 -1.94003776e-03 9.99593219e-01 1.61966226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.430714057 meters Centerline goodness [0,1] 0.9889494022733949 Centerline is valid? [True, True] Translation: X:141.36, Y:-5.06, Z:1.62 [[ 9.99087554e-01 -3.18272425e-02 -2.84795785e-02 1.41359031e+02] [ 3.18698449e-02 9.99491483e-01 1.04311884e-03 -5.06222643e+00] [ 2.84318965e-02 -1.94980680e-03 9.99593830e-01 1.61994427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.460714057 meters Centerline goodness [0,1] 0.9887681077538475 Centerline is valid? [True, True] Translation: X:141.39, Y:-5.06, Z:1.62 [[ 9.99058872e-01 -3.25824622e-02 -2.86313316e-02 1.41387760e+02] [ 3.26257923e-02 9.99467088e-01 1.04740777e-03 -5.06480240e+00] [ 2.85819465e-02 -1.98054190e-03 9.99589491e-01 1.61958857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.490714057 meters Centerline goodness [0,1] 0.9878503195501457 Centerline is valid? [True, True] Translation: X:141.42, Y:-5.07, Z:1.62 [[ 9.99030129e-01 -3.34444661e-02 -2.86403388e-02 1.41417462e+02] [ 3.34881402e-02 9.99438567e-01 1.04648643e-03 -5.06713358e+00] [ 2.85892600e-02 -2.00458315e-03 9.99589234e-01 1.61956776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.520714057 meters Centerline goodness [0,1] 0.9879553400248111 Centerline is valid? [True, True] Translation: X:141.45, Y:-5.07, Z:1.62 [[ 9.99009359e-01 -3.42179073e-02 -2.84505896e-02 1.41446856e+02] [ 3.42612883e-02 9.99412370e-01 1.03856807e-03 -5.06807975e+00] [ 2.83983336e-02 -2.01229307e-03 9.99594661e-01 1.61994162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.550714057 meters Centerline goodness [0,1] 0.987479377132913 Centerline is valid? [True, True] Translation: X:141.48, Y:-5.07, Z:1.62 [[ 9.98975747e-01 -3.53257531e-02 -2.82762714e-02 1.41475939e+02] [ 3.53690247e-02 9.99373788e-01 1.03147155e-03 -5.07068626e+00] [ 2.82221269e-02 -2.03051920e-03 9.99599614e-01 1.62023311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.580714057 meters Centerline goodness [0,1] 0.9879084301338225 Centerline is valid? [True, True] Translation: X:141.51, Y:-5.07, Z:1.62 [[ 9.98957446e-01 -3.53352089e-02 -2.89040606e-02 1.41505567e+02] [ 3.53803866e-02 9.99373363e-01 1.05293050e-03 -5.07263384e+00] [ 2.88487428e-02 -2.07446960e-03 9.99581636e-01 1.62038732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.610714057 meters Centerline goodness [0,1] 0.9875339366515837 Centerline is valid? [True, True] Translation: X:141.54, Y:-5.07, Z:1.62 [[ 9.98964110e-01 -3.42498116e-02 -2.99609403e-02 1.41535347e+02] [ 3.42978403e-02 9.99411061e-01 1.09045192e-03 -5.07238939e+00] [ 2.99059474e-02 -2.11691787e-03 9.99550475e-01 1.61922504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.640714057 meters Centerline goodness [0,1] 0.9880051795815443 Centerline is valid? [True, True] Translation: X:141.57, Y:-5.06, Z:1.62 [[ 9.98984212e-01 -3.31051694e-02 -3.05711098e-02 1.41565241e+02] [ 3.31546298e-02 9.99449615e-01 1.11225647e-03 -5.06457392e+00] [ 3.05174625e-02 -2.12470048e-03 9.99531976e-01 1.62087092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.670714057 meters Centerline goodness [0,1] 0.9880051795815443 Centerline is valid? [True, True] Translation: X:141.59, Y:-5.07, Z:1.62 [[ 9.98983024e-01 -3.31409604e-02 -3.05711497e-02 1.41594446e+02] [ 3.31904040e-02 9.99448429e-01 1.11115940e-03 -5.06560571e+00] [ 3.05174626e-02 -2.12469818e-03 9.99531976e-01 1.62128500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.700714057 meters Centerline goodness [0,1] 0.987631626724764 Centerline is valid? [True, True] Translation: X:141.62, Y:-5.07, Z:1.62 [[ 9.99051526e-01 -3.10959873e-02 -3.04809461e-02 1.41623548e+02] [ 3.11441593e-02 9.99514290e-01 1.10679408e-03 -5.07326009e+00] [ 3.04317244e-02 -2.05504775e-03 9.99534735e-01 1.61957857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.730714057 meters Centerline goodness [0,1] 0.9886027571773056 Centerline is valid? [True, True] Translation: X:141.65, Y:-5.07, Z:1.62 [[ 9.99226443e-01 -2.56279319e-02 -2.98282467e-02 1.41652359e+02] [ 2.56716008e-02 9.99669845e-01 1.08191390e-03 -5.06893330e+00] [ 2.97906715e-02 -1.84681582e-03 9.99554453e-01 1.62045165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76071405699997 meters Centerline goodness [0,1] 0.9881520898712876 Centerline is valid? [True, True] Translation: X:141.68, Y:-5.06, Z:1.62 [[ 9.99460277e-01 -1.75086809e-02 -2.77956962e-02 1.41683549e+02] [ 1.75434472e-02 9.99845594e-01 1.00738915e-03 -5.06063213e+00] [ 2.77737663e-02 -1.49447777e-03 9.99613117e-01 1.62319092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79071405699997 meters Centerline goodness [0,1] 0.989804782151511 Centerline is valid? [True, True] Translation: X:141.71, Y:-5.05, Z:1.63 [[ 9.99564099e-01 -1.27693842e-02 -2.66186779e-02 1.41714088e+02] [ 1.27995845e-02 9.99917617e-01 9.64470111e-04 -5.05069728e+00] [ 2.66041693e-02 -1.30475771e-03 9.99645195e-01 1.62615799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82071405699998 meters Centerline goodness [0,1] 0.9890452399504973 Centerline is valid? [True, True] Translation: X:141.74, Y:-5.05, Z:1.63 [[ 9.99629342e-01 -8.03923945e-03 -2.60105709e-02 1.41743790e+02] [ 8.06646909e-03 9.99967022e-01 9.42111617e-04 -5.05263974e+00] [ 2.60021393e-02 -1.15157588e-03 9.99661224e-01 1.62595066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85071405699998 meters Centerline goodness [0,1] 0.99003482085586 Centerline is valid? [True, True] Translation: X:141.77, Y:-5.04, Z:1.63 [[ 9.99695367e-01 1.10298049e-03 -2.46567958e-02 1.41774116e+02] [-1.08130349e-03 9.99999017e-01 8.92464665e-04 -5.03996784e+00] [ 2.46577560e-02 -8.65531311e-04 9.99695577e-01 1.62859456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88071405699998 meters Centerline goodness [0,1] 0.9908148628013511 Centerline is valid? [True, True] Translation: X:141.80, Y:-5.03, Z:1.63 [[ 9.99673710e-01 8.76192843e-03 -2.39937888e-02 1.41804806e+02] [-8.74361555e-03 9.99961397e-01 8.68041069e-04 -5.03353542e+00] [ 2.40004683e-02 -6.57965372e-04 9.99711731e-01 1.62929949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91071405699998 meters Centerline goodness [0,1] 0.991311380704795 Centerline is valid? [True, True] Translation: X:141.83, Y:-5.03, Z:1.63 [[ 9.99642866e-01 1.25251462e-02 -2.36063970e-02 1.41833901e+02] [-1.25084854e-02 9.99921402e-01 8.53310840e-04 -5.03169990e+00] [ 2.36152294e-02 -5.57725822e-04 9.99720966e-01 1.62982145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94071405699998 meters Centerline goodness [0,1] 0.9911823925571062 Centerline is valid? [True, True] Translation: X:141.86, Y:-5.03, Z:1.63 [[ 9.99613422e-01 1.53202858e-02 -2.32011749e-02 1.41863010e+02] [-1.53050182e-02 9.99882522e-01 8.35492206e-04 -5.03053730e+00] [ 2.32112492e-02 -4.80074819e-04 9.99730467e-01 1.63060407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97071405699998 meters Centerline goodness [0,1] 0.991290651348096 Centerline is valid? [True, True] Translation: X:141.89, Y:-5.03, Z:1.63 [[ 9.99550307e-01 2.01886066e-02 -2.21721274e-02 1.41890838e+02] [-2.01759490e-02 9.99796129e-01 7.94452212e-04 -5.02854347e+00] [ 2.21836460e-02 -3.46751241e-04 9.99753853e-01 1.63194525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00071405699998 meters Centerline goodness [0,1] 0.9922541743970316 Centerline is valid? [True, True] Translation: X:141.92, Y:-5.03, Z:1.63 [[ 9.99536818e-01 2.16432125e-02 -2.13944233e-02 1.41919955e+02] [-2.16318225e-02 9.99765713e-01 7.63692016e-04 -5.02906001e+00] [ 2.14059396e-02 -3.00537919e-04 9.99770821e-01 1.63202145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03071405699998 meters Centerline goodness [0,1] 0.9924808551002938 Centerline is valid? [True, True] Translation: X:141.95, Y:-5.03, Z:1.63 [[ 9.99522055e-01 2.26656481e-02 -2.10221283e-02 1.41947928e+02] [-2.26549585e-02 9.99743065e-01 7.46538117e-04 -5.03203954e+00] [ 2.10336477e-02 -2.69925868e-04 9.99778732e-01 1.63166746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06071405699998 meters Centerline goodness [0,1] 0.9920977841447354 Centerline is valid? [True, True] Translation: X:141.98, Y:-5.03, Z:1.63 [[ 9.99544897e-01 2.19157225e-02 -2.07291929e-02 1.41975782e+02] [-2.19052280e-02 9.99759783e-01 7.33220351e-04 -5.03494543e+00] [ 2.07402824e-02 -2.78808964e-04 9.99784858e-01 1.63183963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09071405699999 meters Centerline goodness [0,1] 0.9924137931034482 Centerline is valid? [True, True] Translation: X:142.00, Y:-5.04, Z:1.63 [[ 9.99594498e-01 1.93764287e-02 -2.08661055e-02 1.42003682e+02] [-1.93653326e-02 9.99812205e-01 7.33724002e-04 -5.04098732e+00] [ 2.08764039e-02 -3.29347402e-04 9.99782010e-01 1.63051143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.120714057 meters Centerline goodness [0,1] 0.9913842619184376 Centerline is valid? [True, True] Translation: X:142.03, Y:-5.04, Z:1.63 [[ 9.99611386e-01 1.80086970e-02 -2.12782365e-02 1.42032045e+02] [-1.79969084e-02 9.99837765e-01 7.45399785e-04 -5.04437862e+00] [ 2.12882081e-02 -3.62167638e-04 9.99773315e-01 1.62993001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.150714057 meters Centerline goodness [0,1] 0.9922696917024975 Centerline is valid? [True, True] Translation: X:142.06, Y:-5.05, Z:1.63 [[ 9.99616600e-01 1.56416814e-02 -2.28471151e-02 1.42059926e+02] [-1.56275676e-02 9.99877565e-01 7.96177460e-04 -5.05105825e+00] [ 2.28567714e-02 -4.38827370e-04 9.99738654e-01 1.62778116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.180714057 meters Centerline goodness [0,1] 0.9911196557722237 Centerline is valid? [True, True] Translation: X:142.09, Y:-5.05, Z:1.63 [[ 9.99628660e-01 1.39888784e-02 -2.33848998e-02 1.42088606e+02] [-1.39737161e-02 9.99902033e-01 8.11672735e-04 -5.05474789e+00] [ 2.33939633e-02 -4.84597378e-04 9.99726206e-01 1.62747651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.210714057 meters Centerline goodness [0,1] 0.9916525636920825 Centerline is valid? [True, True] Translation: X:142.12, Y:-5.06, Z:1.63 [[ 9.99675062e-01 1.08955428e-02 -2.30447053e-02 1.42116763e+02] [-1.08800871e-02 9.99940493e-01 7.95962513e-04 -5.05761589e+00] [ 2.30520064e-02 -5.44975474e-04 9.99734119e-01 1.62982360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.240714057 meters Centerline goodness [0,1] 0.9913210305134296 Centerline is valid? [True, True] Translation: X:142.14, Y:-5.06, Z:1.63 [[ 9.99717990e-01 8.90532176e-03 -2.20144225e-02 1.42144724e+02] [-8.89077614e-03 9.99960189e-01 7.58519331e-04 -5.06301740e+00] [ 2.20203009e-02 -5.62580119e-04 9.99757365e-01 1.63010984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.270714057 meters Centerline goodness [0,1] 0.9919452367370223 Centerline is valid? [True, True] Translation: X:142.17, Y:-5.07, Z:1.63 [[ 9.99755787e-01 6.58341333e-03 -2.10956385e-02 1.42173759e+02] [-6.56957545e-03 9.99978157e-01 7.25195346e-04 -5.06504897e+00] [ 2.10999519e-02 -5.86428855e-04 9.99777199e-01 1.63191347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.300714057 meters Centerline goodness [0,1] 0.9919040275761973 Centerline is valid? [True, True] Translation: X:142.20, Y:-5.07, Z:1.63 [[ 9.99799429e-01 3.29744133e-03 -1.97542252e-02 1.42202230e+02] [-3.28469114e-03 9.99994376e-01 6.77852884e-04 -5.07352243e+00] [ 1.97563492e-02 -6.12830398e-04 9.99804636e-01 1.63315566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.330714057 meters Centerline goodness [0,1] 0.9915471835306414 Centerline is valid? [True, True] Translation: X:142.23, Y:-5.08, Z:1.63 [[ 9.99813117e-01 2.15824599e-03 -1.92112999e-02 1.42230610e+02] [-2.14599788e-03 9.99997481e-01 6.58140146e-04 -5.07590627e+00] [ 1.92126719e-02 -6.16789742e-04 9.99815229e-01 1.63397697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.360714057 meters Centerline goodness [0,1] 0.9919274376417233 Centerline is valid? [True, True] Translation: X:142.26, Y:-5.08, Z:1.63 [[ 9.99819054e-01 4.45322085e-04 -1.90173892e-02 1.42258818e+02] [-4.33037651e-04 9.99999695e-01 6.50071043e-04 -5.08190236e+00] [ 1.90176729e-02 -6.41718170e-04 9.99818942e-01 1.63447693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.390714057 meters Centerline goodness [0,1] 0.9921174232128296 Centerline is valid? [True, True] Translation: X:142.29, Y:-5.09, Z:1.63 [[ 9.99821193e-01 -2.74204752e-04 -1.89078581e-02 1.42286115e+02] [ 2.86445077e-04 9.99999751e-01 6.44661845e-04 -5.08616735e+00] [ 1.89076766e-02 -6.49962638e-04 9.99821023e-01 1.63445006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.420714057 meters Centerline goodness [0,1] 0.9906887611317777 Centerline is valid? [True, True] Translation: X:142.31, Y:-5.09, Z:1.63 [[ 9.99811257e-01 -2.20349842e-03 -1.93026937e-02 1.42313383e+02] [ 2.21658133e-03 9.99997328e-01 6.56407587e-04 -5.09310708e+00] [ 1.93011958e-02 -6.99069685e-04 9.99813470e-01 1.63406883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.450714057 meters Centerline goodness [0,1] 0.9913041519295321 Centerline is valid? [True, True] Translation: X:142.34, Y:-5.10, Z:1.63 [[ 9.99806151e-01 -2.75478338e-03 -1.94954009e-02 1.42342485e+02] [ 2.76820201e-03 9.99995950e-01 6.61344703e-04 -5.09524571e+00] [ 1.94935001e-02 -7.15183710e-04 9.99809728e-01 1.63418276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.480714057 meters Centerline goodness [0,1] 0.991019783484504 Centerline is valid? [True, True] Translation: X:142.37, Y:-5.10, Z:1.63 [[ 9.99803692e-01 -3.65754456e-03 -1.94730452e-02 1.42371327e+02] [ 3.67107660e-03 9.99993044e-01 6.59209294e-04 -5.09879493e+00] [ 1.94704986e-02 -7.30566926e-04 9.99810165e-01 1.63390523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51071405699997 meters Centerline goodness [0,1] 0.9912290540388973 Centerline is valid? [True, True] Translation: X:142.40, Y:-5.11, Z:1.63 [[ 9.99770047e-01 -5.68776198e-03 -2.06761333e-02 1.42398374e+02] [ 5.70341548e-03 9.99983492e-01 6.98190439e-04 -5.10818185e+00] [ 2.06718208e-02 -8.15954467e-04 9.99785982e-01 1.63239162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54071405699997 meters Centerline goodness [0,1] 0.9908448333894312 Centerline is valid? [True, True] Translation: X:142.43, Y:-5.11, Z:1.63 [[ 9.99747825e-01 -6.74170324e-03 -2.14204508e-02 1.42426624e+02] [ 6.75867625e-03 9.99976901e-01 7.20076923e-04 -5.11150815e+00] [ 2.14151014e-02 -8.64669230e-04 9.99770297e-01 1.63208512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57071405699998 meters Centerline goodness [0,1] 0.9920560118486603 Centerline is valid? [True, True] Translation: X:142.46, Y:-5.11, Z:1.63 [[ 9.99716687e-01 -8.71738060e-03 -2.21484269e-02 1.42455020e+02] [ 8.73591906e-03 9.99961567e-01 7.40391020e-04 -5.11093826e+00] [ 2.21411214e-02 -9.33668122e-04 9.99754419e-01 1.63307158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60071405699998 meters Centerline goodness [0,1] 0.991582340825647 Centerline is valid? [True, True] Translation: X:142.48, Y:-5.12, Z:1.63 [[ 9.99712652e-01 -9.85965993e-03 -2.18495138e-02 1.42482372e+02] [ 9.87790430e-03 9.99950948e-01 7.27229224e-04 -5.12033919e+00] [ 2.18412718e-02 -9.42847662e-04 9.99761006e-01 1.63255451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63071405699998 meters Centerline goodness [0,1] 0.9908466307096658 Centerline is valid? [True, True] Translation: X:142.51, Y:-5.12, Z:1.63 [[ 9.99713856e-01 -1.16374812e-02 -2.08991667e-02 1.42509940e+02] [ 1.16544778e-02 9.99931845e-01 6.91650747e-04 -5.12495454e+00] [ 2.08896932e-02 -9.35021710e-04 9.99781349e-01 1.63345968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66071405699998 meters Centerline goodness [0,1] 0.9898567885788333 Centerline is valid? [True, True] Translation: X:142.54, Y:-5.13, Z:1.63 [[ 9.99711711e-01 -1.27379959e-02 -2.03528706e-02 1.42538773e+02] [ 1.27542903e-02 9.99918436e-01 6.70983013e-04 -5.12681978e+00] [ 2.03426636e-02 -9.30375997e-04 9.99792634e-01 1.63456913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69071405699998 meters Centerline goodness [0,1] 0.9913507956374039 Centerline is valid? [True, True] Translation: X:142.57, Y:-5.12, Z:1.64 [[ 9.99716575e-01 -1.48895957e-02 -1.85760342e-02 1.42567497e+02] [ 1.49034629e-02 9.99888752e-01 6.08289995e-04 -5.12286372e+00] [ 1.85649104e-02 -8.84964827e-04 9.99827266e-01 1.63698938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72071405699998 meters Centerline goodness [0,1] 0.9917629152117468 Centerline is valid? [True, True] Translation: X:142.60, Y:-5.13, Z:1.64 [[ 9.99716656e-01 -1.57139654e-02 -1.78795513e-02 1.42596310e+02] [ 1.57268656e-02 9.99876156e-01 5.81122785e-04 -5.12523212e+00] [ 1.78682053e-02 -8.62147428e-04 9.99839979e-01 1.63806068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75071405699998 meters Centerline goodness [0,1] 0.9904708770363758 Centerline is valid? [True, True] Translation: X:142.62, Y:-5.13, Z:1.64 [[ 9.99713431e-01 -1.65356487e-02 -1.73097816e-02 1.42624346e+02] [ 1.65477985e-02 9.99862920e-01 5.58897029e-04 -5.12947196e+00] [ 1.72981671e-02 -8.45175645e-04 9.99850018e-01 1.63842859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78071405699998 meters Centerline goodness [0,1] 0.9901855577911916 Centerline is valid? [True, True] Translation: X:142.65, Y:-5.13, Z:1.64 [[ 9.99665486e-01 -1.88779154e-02 -1.76788295e-02 1.42653610e+02] [ 1.88909283e-02 9.99821388e-01 5.69351057e-04 -5.13282065e+00] [ 1.76649237e-02 -9.03130101e-04 9.99843555e-01 1.63813237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81071405699998 meters Centerline goodness [0,1] 0.9908160293887059 Centerline is valid? [True, True] Translation: X:142.68, Y:-5.13, Z:1.64 [[ 9.99596433e-01 -2.17697899e-02 -1.82495807e-02 1.42682691e+02] [ 2.17841195e-02 9.99762526e-01 5.86753841e-04 -5.13262101e+00] [ 1.82324734e-02 -9.84068094e-04 9.99833290e-01 1.63792765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84071405699999 meters Centerline goodness [0,1] 0.9900892637419182 Centerline is valid? [True, True] Translation: X:142.71, Y:-5.13, Z:1.64 [[ 9.99563542e-01 -2.31390496e-02 -1.83660108e-02 1.42712623e+02] [ 2.31537763e-02 9.99731742e-01 5.89582925e-04 -5.13478764e+00] [ 1.83474416e-02 -1.01456810e-03 9.99831157e-01 1.63859570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.870714057 meters Centerline goodness [0,1] 0.99017637865595 Centerline is valid? [True, True] Translation: X:142.74, Y:-5.14, Z:1.64 [[ 9.99548213e-01 -2.42417548e-02 -1.77681700e-02 1.42742886e+02] [ 2.42557032e-02 9.99705625e-01 5.69903171e-04 -5.13732839e+00] [ 1.77491241e-02 -1.00062515e-03 9.99841971e-01 1.63903914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.900714057 meters Centerline goodness [0,1] 0.988647768583982 Centerline is valid? [True, True] Translation: X:142.77, Y:-5.14, Z:1.64 [[ 9.99479981e-01 -2.66644919e-02 -1.81320794e-02 1.42773488e+02] [ 2.66794151e-02 9.99643872e-01 5.81588691e-04 -5.14065768e+00] [ 1.81101142e-02 -1.06503953e-03 9.99835431e-01 1.63896544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.930714057 meters Centerline goodness [0,1] 0.989299459411359 Centerline is valid? [True, True] Translation: X:142.81, Y:-5.14, Z:1.64 [[ 9.99453786e-01 -2.75247537e-02 -1.82897961e-02 1.42805173e+02] [ 2.75400848e-02 9.99620528e-01 5.86839701e-04 -5.14335567e+00] [ 1.82667030e-02 -1.09022170e-03 9.99832555e-01 1.63890069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.960714057 meters Centerline goodness [0,1] 0.9898359486447932 Centerline is valid? [True, True] Translation: X:142.84, Y:-5.15, Z:1.64 [[ 9.99393981e-01 -2.90920849e-02 -1.91133560e-02 1.42835675e+02] [ 2.91091251e-02 9.99576051e-01 6.13866350e-04 -5.14659722e+00] [ 1.90873943e-02 -1.16986741e-03 9.99817135e-01 1.63842382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.990714057 meters Centerline goodness [0,1] 0.9888375415801576 Centerline is valid? [True, True] Translation: X:142.87, Y:-5.15, Z:1.64 [[ 9.99343165e-01 -3.04497011e-02 -1.96482668e-02 1.42866817e+02] [ 3.04679786e-02 9.99535544e-01 6.31487889e-04 -5.14850806e+00] [ 1.96199124e-02 -1.22971608e-03 9.99806755e-01 1.63802185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.020714057 meters Centerline goodness [0,1] 0.9888098794052741 Centerline is valid? [True, True] Translation: X:142.90, Y:-5.15, Z:1.64 [[ 9.99264506e-01 -3.23005638e-02 -2.06669193e-02 1.42898374e+02] [ 3.23211955e-02 9.99477312e-01 6.64962830e-04 -5.15091387e+00] [ 2.06346383e-02 -1.33245329e-03 9.99786195e-01 1.63709771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.050714057 meters Centerline goodness [0,1] 0.9884268034340506 Centerline is valid? [True, True] Translation: X:142.93, Y:-5.15, Z:1.64 [[ 9.99222825e-01 -3.33150584e-02 -2.10678272e-02 1.42928240e+02] [ 3.33367334e-02 9.99443946e-01 6.78356018e-04 -5.15306225e+00] [ 2.10335129e-02 -1.38016135e-03 9.99777819e-01 1.63699562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.080714057 meters Centerline goodness [0,1] 0.9889273356401385 Centerline is valid? [True, True] Translation: X:142.96, Y:-5.15, Z:1.64 [[ 9.99174218e-01 -3.42936766e-02 -2.17904994e-02 1.42959587e+02] [ 3.43171019e-02 9.99410748e-01 7.01883868e-04 -5.15478311e+00] [ 2.17535891e-02 -1.44909105e-03 9.99762312e-01 1.63720155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.110714057 meters Centerline goodness [0,1] 0.9885083069796445 Centerline is valid? [True, True] Translation: X:142.99, Y:-5.16, Z:1.64 [[ 9.99095496e-01 -3.61854164e-02 -2.23339659e-02 1.42989467e+02] [ 3.62105177e-02 9.99343925e-01 7.20387292e-04 -5.15677606e+00] [ 2.22932456e-02 -1.52846017e-03 9.99750306e-01 1.63693419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.140714057 meters Centerline goodness [0,1] 0.9875086590243793 Centerline is valid? [True, True] Translation: X:143.02, Y:-5.16, Z:1.64 [[ 9.99037583e-01 -3.78690978e-02 -2.21322922e-02 1.43019741e+02] [ 3.78941809e-02 9.99281502e-01 7.14883373e-04 -5.15803703e+00] [ 2.20893182e-02 -1.55288044e-03 9.99754795e-01 1.63746862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.170714057 meters Centerline goodness [0,1] 0.9870446612369104 Centerline is valid? [True, True] Translation: X:143.05, Y:-5.16, Z:1.64 [[ 9.98997549e-01 -3.87963635e-02 -2.23324720e-02 1.43050937e+02] [ 3.88221443e-02 9.99245876e-01 7.21856884e-04 -5.15961771e+00] [ 2.22876251e-02 -1.58812771e-03 9.99750339e-01 1.63801615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.200714057 meters Centerline goodness [0,1] 0.9872050552356197 Centerline is valid? [True, True] Translation: X:143.08, Y:-5.16, Z:1.64 [[ 9.98970039e-01 -3.94360163e-02 -2.24424000e-02 1.43082522e+02] [ 3.94622289e-02 9.99220799e-01 7.26154351e-04 -5.15958293e+00] [ 2.23962762e-02 -1.61103357e-03 9.99747874e-01 1.63835356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.230714057 meters Centerline goodness [0,1] 0.9858457817294125 Centerline is valid? [True, True] Translation: X:143.11, Y:-5.16, Z:1.64 [[ 9.98911238e-01 -4.10123165e-02 -2.22334859e-02 1.43113420e+02] [ 4.10384448e-02 9.99157309e-01 7.19991124e-04 -5.16111657e+00] [ 2.21852214e-02 -1.63163491e-03 9.99752546e-01 1.63863666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26071405699997 meters Centerline goodness [0,1] 0.9891902779642809 Centerline is valid? [True, True] Translation: X:143.15, Y:-5.15, Z:1.64 [[ 9.98897325e-01 -4.16293397e-02 -2.17055651e-02 1.43145551e+02] [ 4.16544002e-02 9.99131831e-01 7.03530083e-04 -5.14958089e+00] [ 2.16574335e-02 -1.60688661e-03 9.99764159e-01 1.64060526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29071405699997 meters Centerline goodness [0,1] 0.9839259292471865 Centerline is valid? [True, True] Translation: X:143.18, Y:-5.16, Z:1.64 [[ 9.98855930e-01 -4.29977000e-02 -2.09291466e-02 1.43176472e+02] [ 4.30213208e-02 9.99073923e-01 6.79461105e-04 -5.16369661e+00] [ 2.08805493e-02 -1.57908328e-03 9.99780731e-01 1.64031797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32071405699998 meters Centerline goodness [0,1] 0.9838094810961115 Centerline is valid? [True, True] Translation: X:143.21, Y:-5.16, Z:1.64 [[ 9.98828629e-01 -4.38198651e-02 -2.05228808e-02 1.43208441e+02] [ 4.38427736e-02 9.99038220e-01 6.67420356e-04 -5.16356534e+00] [ 2.04738960e-02 -1.56641857e-03 9.99789161e-01 1.64082694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35071405699998 meters Centerline goodness [0,1] 0.9887899400340106 Centerline is valid? [True, True] Translation: X:143.24, Y:-5.15, Z:1.64 [[ 9.98800785e-01 -4.43925764e-02 -2.06468085e-02 1.43240551e+02] [ 4.44159102e-02 9.99012900e-01 6.72717616e-04 -5.15211253e+00] [ 2.05965644e-02 -1.58895768e-03 9.99786606e-01 1.64227533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38071405699998 meters Centerline goodness [0,1] 0.9882424079548509 Centerline is valid? [True, True] Translation: X:143.27, Y:-5.15, Z:1.64 [[ 9.98726700e-01 -4.56534007e-02 -2.14649859e-02 1.43271514e+02] [ 4.56789350e-02 9.98955927e-01 7.00527918e-04 -5.15220186e+00] [ 2.14105934e-02 -1.68013363e-03 9.99769355e-01 1.64207338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41071405699998 meters Centerline goodness [0,1] 0.9876657138355579 Centerline is valid? [True, True] Translation: X:143.30, Y:-5.15, Z:1.64 [[ 9.98672689e-01 -4.63303048e-02 -2.25025306e-02 1.43303855e+02] [ 4.63585691e-02 9.98924593e-01 7.35737773e-04 -5.15271734e+00] [ 2.24442442e-02 -1.77794634e-03 9.99746515e-01 1.64155111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44071405699998 meters Centerline goodness [0,1] 0.9879064949103684 Centerline is valid? [True, True] Translation: X:143.33, Y:-5.15, Z:1.64 [[ 9.98572276e-01 -4.75084299e-02 -2.44204392e-02 1.43334079e+02] [ 4.75421076e-02 9.98868914e-01 8.00016793e-04 -5.15394428e+00] [ 2.43548101e-02 -1.95987374e-03 9.99701456e-01 1.63988883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47071405699998 meters Centerline goodness [0,1] 0.9870088933918721 Centerline is valid? [True, True] Translation: X:143.37, Y:-5.15, Z:1.64 [[ 9.98549184e-01 -4.79303289e-02 -2.45399711e-02 1.43366571e+02] [ 4.79644981e-02 9.98848716e-01 8.05340605e-04 -5.15444182e+00] [ 2.44731184e-02 -1.98121960e-03 9.99698525e-01 1.63997062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50071405699998 meters Centerline goodness [0,1] 0.9885452203971894 Centerline is valid? [True, True] Translation: X:143.40, Y:-5.14, Z:1.64 [[ 9.98559003e-01 -4.77344689e-02 -2.45221983e-02 1.43399180e+02] [ 4.77685714e-02 9.98858105e-01 8.06450576e-04 -5.14457281e+00] [ 2.44557010e-02 -1.97667886e-03 9.99698960e-01 1.64161018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53071405699998 meters Centerline goodness [0,1] 0.9860076935189976 Centerline is valid? [True, True] Translation: X:143.43, Y:-5.15, Z:1.64 [[ 9.98616769e-01 -4.67846924e-02 -2.39946132e-02 1.43429712e+02] [ 4.68171023e-02 9.98903166e-01 7.90429332e-04 -5.15144456e+00] [ 2.39313150e-02 -1.91269424e-03 9.99711775e-01 1.64125487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56071405699998 meters Centerline goodness [0,1] 0.9895670672369702 Centerline is valid? [True, True] Translation: X:143.46, Y:-5.14, Z:1.64 [[ 9.98672197e-01 -4.54972981e-02 -2.41627372e-02 1.43461466e+02] [ 4.55298102e-02 9.98962663e-01 7.96824024e-04 -5.14176195e+00] [ 2.41014189e-02 -1.89589084e-03 9.99707721e-01 1.64272652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59071405699999 meters Centerline goodness [0,1] 0.9895670672369702 Centerline is valid? [True, True] Translation: X:143.49, Y:-5.14, Z:1.64 [[ 9.98675388e-01 -4.54272429e-02 -2.41626975e-02 1.43493239e+02] [ 4.54597634e-02 9.98965852e-01 7.98024411e-04 -5.14287346e+00] [ 2.41014577e-02 -1.89539785e-03 9.99707721e-01 1.64317662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.620714057 meters Centerline goodness [0,1] 0.9901315789473685 Centerline is valid? [True, True] Translation: X:143.52, Y:-5.13, Z:1.64 [[ 9.98811416e-01 -4.20446407e-02 -2.46577070e-02 1.43524023e+02] [ 4.20775101e-02 9.99114017e-01 8.15467584e-04 -5.13394400e+00] [ 2.46015747e-02 -1.85203325e-03 9.99695620e-01 1.64349100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.650714057 meters Centerline goodness [0,1] 0.9878516769227276 Centerline is valid? [True, True] Translation: X:143.55, Y:-5.14, Z:1.64 [[ 9.98880875e-01 -4.01997259e-02 -2.49194721e-02 1.43554555e+02] [ 4.02327385e-02 9.99189995e-01 8.24619140e-04 -5.14298332e+00] [ 2.48661378e-02 -1.82627489e-03 9.99689122e-01 1.64217277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.680714057 meters Centerline goodness [0,1] 0.9896234194612424 Centerline is valid? [True, True] Translation: X:143.59, Y:-5.13, Z:1.64 [[ 9.99021639e-01 -3.58904211e-02 -2.58387775e-02 1.43585856e+02] [ 3.59244950e-02 9.99354141e-01 8.55571659e-04 -5.12995309e+00] [ 2.57913824e-02 -1.78297963e-03 9.99665757e-01 1.64291890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.710714057 meters Centerline goodness [0,1] 0.9903202128635654 Centerline is valid? [True, True] Translation: X:143.62, Y:-5.12, Z:1.64 [[ 9.99102784e-01 -3.34930799e-02 -2.59198799e-02 1.43616603e+02] [ 3.35265653e-02 9.99437458e-01 8.58264914e-04 -5.12216914e+00] [ 2.58765530e-02 -1.72649941e-03 9.99663655e-01 1.64417860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.740714057 meters Centerline goodness [0,1] 0.989803686359547 Centerline is valid? [True, True] Translation: X:143.65, Y:-5.12, Z:1.65 [[ 9.99261906e-01 -2.90871110e-02 -2.50914771e-02 1.43646348e+02] [ 2.91171016e-02 9.99575662e-01 8.30649868e-04 -5.12039725e+00] [ 2.50566686e-02 -1.56062786e-03 9.99684814e-01 1.64516756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.770714057 meters Centerline goodness [0,1] 0.9911061957097763 Centerline is valid? [True, True] Translation: X:143.68, Y:-5.11, Z:1.65 [[ 9.99344923e-01 -2.67194109e-02 -2.44089651e-02 1.43677869e+02] [ 2.67470870e-02 9.99641906e-01 8.08011645e-04 -5.10755274e+00] [ 2.43786348e-02 -1.46035105e-03 9.99701730e-01 1.64833985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.800714057 meters Centerline goodness [0,1] 0.9899269299034184 Centerline is valid? [True, True] Translation: X:143.71, Y:-5.11, Z:1.65 [[ 9.99486830e-01 -2.09711752e-02 -2.42133420e-02 1.43706845e+02] [ 2.09967290e-02 9.99779223e-01 8.01577569e-04 -5.11041489e+00] [ 2.41911862e-02 -1.30956720e-03 9.99706493e-01 1.64632722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.830714057 meters Centerline goodness [0,1] 0.9906632770972961 Centerline is valid? [True, True] Translation: X:143.74, Y:-5.10, Z:1.65 [[ 9.99543507e-01 -1.78920525e-02 -2.43444474e-02 1.43737375e+02] [ 1.79169614e-02 9.99839154e-01 8.05431036e-04 -5.10014071e+00] [ 2.43261209e-02 -1.24124189e-03 9.99703306e-01 1.64733652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.860714057 meters Centerline goodness [0,1] 0.991244282215959 Centerline is valid? [True, True] Translation: X:143.77, Y:-5.10, Z:1.65 [[ 9.99599988e-01 -1.36845699e-02 -2.47506920e-02 1.43767498e+02] [ 1.37090147e-02 9.99905692e-01 8.18224150e-04 -5.09806069e+00] [ 2.47371607e-02 -1.15720445e-03 9.99693320e-01 1.64685756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.890714057 meters Centerline goodness [0,1] 0.9918030888924908 Centerline is valid? [True, True] Translation: X:143.80, Y:-5.10, Z:1.64 [[ 9.99643536e-01 -7.22945136e-03 -2.57008940e-02 1.43798083e+02] [ 7.25366564e-03 9.99973331e-01 8.49052801e-04 -5.09533272e+00] [ 2.56940704e-02 -1.03517584e-03 9.99669317e-01 1.64489763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.920714057 meters Centerline goodness [0,1] 0.9923292623577669 Centerline is valid? [True, True] Translation: X:143.83, Y:-5.09, Z:1.65 [[ 9.99694581e-01 -2.58812518e-03 -2.45773628e-02 1.43828513e+02] [ 2.60886189e-03 9.99996267e-01 8.11704911e-04 -5.08916337e+00] [ 2.45751702e-02 -8.75575946e-04 9.99697601e-01 1.64847193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.950714057 meters Centerline goodness [0,1] 0.9915506726874913 Centerline is valid? [True, True] Translation: X:143.86, Y:-5.09, Z:1.65 [[ 9.99718177e-01 -1.51078215e-03 -2.36914396e-02 1.43855947e+02] [ 1.52971313e-03 9.99998525e-01 7.80961741e-04 -5.08953307e+00] [ 2.36902248e-02 -8.16982755e-04 9.99719013e-01 1.64989376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.980714057 meters Centerline goodness [0,1] 0.9916372421482996 Centerline is valid? [True, True] Translation: X:143.88, Y:-5.09, Z:1.65 [[ 9.99736825e-01 -1.34786202e-03 -2.29011690e-02 1.43884955e+02] [ 1.36541789e-03 9.99998786e-01 7.50973284e-04 -5.08904605e+00] [ 2.29001290e-02 -7.82045313e-04 9.99737452e-01 1.65136183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01071405699997 meters Centerline goodness [0,1] 0.9919618244573652 Centerline is valid? [True, True] Translation: X:143.91, Y:-5.09, Z:1.65 [[ 9.99736039e-01 -2.54458893e-03 -2.28337069e-02 1.43913335e+02] [ 2.56225971e-03 9.99996440e-01 7.44666769e-04 -5.09291028e+00] [ 2.28317307e-02 -8.02976093e-04 9.99739000e-01 1.65101222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04071405699997 meters Centerline goodness [0,1] 0.9913817069780373 Centerline is valid? [True, True] Translation: X:143.94, Y:-5.10, Z:1.65 [[ 9.99718186e-01 -3.93192691e-03 -2.34112875e-02 1.43942474e+02] [ 3.95084373e-03 9.99991905e-01 7.61822346e-04 -5.09608949e+00] [ 2.34081025e-02 -8.54101992e-04 9.99725628e-01 1.64999447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07071405699998 meters Centerline goodness [0,1] 0.9876721033679305 Centerline is valid? [True, True] Translation: X:143.97, Y:-5.13, Z:1.64 [[ 9.99767902e-01 -4.58670374e-03 -2.10500333e-02 1.43968685e+02] [ 4.60210433e-03 9.99989177e-01 6.83233974e-04 -5.13004926e+00] [ 2.10466717e-02 -7.79949847e-04 9.99778190e-01 1.64423035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10071405699998 meters Centerline goodness [0,1] 0.9904612328798762 Centerline is valid? [True, True] Translation: X:144.00, Y:-5.11, Z:1.65 [[ 9.99660146e-01 -1.07740134e-02 -2.37384155e-02 1.43999559e+02] [ 1.07952943e-02 9.99941434e-01 7.68503249e-04 -5.10739537e+00] [ 2.37287453e-02 -1.02450525e-03 9.99717909e-01 1.64871376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13071405699998 meters Centerline goodness [0,1] 0.9905300843053471 Centerline is valid? [True, True] Translation: X:144.03, Y:-5.11, Z:1.65 [[ 9.99608698e-01 -1.49737260e-02 -2.36270585e-02 1.44029985e+02] [ 1.49959772e-02 9.99887261e-01 7.64859007e-04 -5.11193730e+00] [ 2.36129421e-02 -1.11887055e-03 9.99720550e-01 1.64954737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16071405699998 meters Centerline goodness [0,1] 0.9909547044743141 Centerline is valid? [True, True] Translation: X:144.06, Y:-5.12, Z:1.65 [[ 9.99590549e-01 -1.66861018e-02 -2.32445346e-02 1.44057816e+02] [ 1.67080701e-02 9.99860128e-01 7.51190300e-04 -5.11601556e+00] [ 2.32287489e-02 -1.13925404e-03 9.99729527e-01 1.64992209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19071405699998 meters Centerline goodness [0,1] 0.9902984214771287 Centerline is valid? [True, True] Translation: X:144.09, Y:-5.12, Z:1.65 [[ 9.99542241e-01 -1.87161610e-02 -2.37700295e-02 1.44087375e+02] [ 1.87396498e-02 9.99824104e-01 7.65781598e-04 -5.11854739e+00] [ 2.37515160e-02 -1.21087308e-03 9.99717160e-01 1.65038411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22071405699998 meters Centerline goodness [0,1] 0.9899061896440725 Centerline is valid? [True, True] Translation: X:144.12, Y:-5.13, Z:1.65 [[ 9.99486359e-01 -2.22404229e-02 -2.30734168e-02 1.44116098e+02] [ 2.22634724e-02 9.99751862e-01 7.42530243e-04 -5.12723416e+00] [ 2.30511772e-02 -1.25584323e-03 9.99733498e-01 1.64970983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25071405699998 meters Centerline goodness [0,1] 0.9901757776550708 Centerline is valid? [True, True] Translation: X:144.15, Y:-5.13, Z:1.65 [[ 9.99447011e-01 -2.39944330e-02 -2.30204217e-02 1.44145236e+02] [ 2.40178126e-02 9.99711257e-01 7.39614877e-04 -5.13087557e+00] [ 2.29960280e-02 -1.29210605e-03 9.99734721e-01 1.65026821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28071405699998 meters Centerline goodness [0,1] 0.9902171920821115 Centerline is valid? [True, True] Translation: X:144.18, Y:-5.13, Z:1.65 [[ 9.99377833e-01 -2.77406089e-02 -2.17808300e-02 1.44175689e+02] [ 2.77624010e-02 9.99614306e-01 6.98719785e-04 -5.13446724e+00] [ 2.17530464e-02 -1.30297320e-03 9.99762525e-01 1.65221186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31071405699998 meters Centerline goodness [0,1] 0.9898104048360505 Centerline is valid? [True, True] Translation: X:144.21, Y:-5.14, Z:1.65 [[ 9.99331596e-01 -2.96614648e-02 -2.13672334e-02 1.44205328e+02] [ 2.96828743e-02 9.99559131e-01 6.85451780e-04 -5.14397773e+00] [ 2.13374817e-02 -1.31923452e-03 9.99771460e-01 1.65237678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34071405699999 meters Centerline goodness [0,1] 0.9885706479668503 Centerline is valid? [True, True] Translation: X:144.24, Y:-5.15, Z:1.65 [[ 9.99196300e-01 -3.40211706e-02 -2.11970132e-02 1.44236170e+02] [ 3.40432175e-02 9.99420130e-01 6.80012324e-04 -5.14873692e+00] [ 2.11615869e-02 -1.40108033e-03 9.99775087e-01 1.65237004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.370714057 meters Centerline goodness [0,1] 0.9880000910809026 Centerline is valid? [True, True] Translation: X:144.27, Y:-5.16, Z:1.65 [[ 9.99104887e-01 -3.65760359e-02 -2.12513017e-02 1.44265793e+02] [ 3.65987720e-02 9.99329808e-01 6.81796513e-04 -5.15607394e+00] [ 2.12121218e-02 -1.45895778e-03 9.99773933e-01 1.65209691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.400714057 meters Centerline goodness [0,1] 0.9882224794063585 Centerline is valid? [True, True] Translation: X:144.30, Y:-5.16, Z:1.65 [[ 9.98946215e-01 -4.05358680e-02 -2.15244885e-02 1.44295622e+02] [ 4.05601046e-02 9.99176862e-01 6.90452181e-04 -5.16489357e+00] [ 2.14787828e-02 -1.56276010e-03 9.99768083e-01 1.65170715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.430714057 meters Centerline goodness [0,1] 0.9880201479330217 Centerline is valid? [True, True] Translation: X:144.33, Y:-5.17, Z:1.65 [[ 9.98857174e-01 -4.25510649e-02 -2.17658734e-02 1.44326608e+02] [ 4.25763225e-02 9.99092973e-01 6.98119950e-04 -5.16645110e+00] [ 2.17164254e-02 -1.62403296e-03 9.99762852e-01 1.65273482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.460714057 meters Centerline goodness [0,1] 0.9881822282363555 Centerline is valid? [True, True] Translation: X:144.36, Y:-5.17, Z:1.65 [[ 9.98728261e-01 -4.58808312e-02 -2.09000218e-02 1.44356800e+02] [ 4.59048500e-02 9.98945592e-01 6.70663360e-04 -5.17260813e+00] [ 2.08472140e-02 -1.62922282e-03 9.99781346e-01 1.65390013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.490714057 meters Centerline goodness [0,1] 0.9882713821725009 Centerline is valid? [True, True] Translation: X:144.39, Y:-5.18, Z:1.65 [[ 9.98672418e-01 -4.72372571e-02 -2.05437051e-02 1.44388464e+02] [ 4.72607589e-02 9.98882368e-01 6.59722671e-04 -5.17701489e+00] [ 2.04895813e-02 -1.62975793e-03 9.99788738e-01 1.65477361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.520714057 meters Centerline goodness [0,1] 0.9875157742924103 Centerline is valid? [True, True] Translation: X:144.42, Y:-5.18, Z:1.66 [[ 9.98638448e-01 -4.81336831e-02 -2.01096768e-02 1.44420360e+02] [ 4.81564063e-02 9.98839598e-01 6.46960549e-04 -5.18224946e+00] [ 2.00552009e-02 -1.61448945e-03 9.99797571e-01 1.65506142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.550714057 meters Centerline goodness [0,1] 0.9875653715799161 Centerline is valid? [True, True] Translation: X:144.45, Y:-5.19, Z:1.66 [[ 9.98615754e-01 -4.89928295e-02 -1.91384197e-02 1.44452322e+02] [ 4.90135923e-02 9.98797921e-01 6.17036575e-04 -5.18810530e+00] [ 1.90851834e-02 -1.55422514e-03 9.99816653e-01 1.65561175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.580714057 meters Centerline goodness [0,1] 0.9875917158435614 Centerline is valid? [True, True] Translation: X:144.48, Y:-5.19, Z:1.66 [[ 9.98640969e-01 -4.83222391e-02 -1.95237178e-02 1.44484554e+02] [ 4.83437467e-02 9.98830558e-01 6.30875686e-04 -5.19164159e+00] [ 1.94704006e-02 -1.57386797e-03 9.99809195e-01 1.65610103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.610714057 meters Centerline goodness [0,1] 0.9893631375371054 Centerline is valid? [True, True] Translation: X:144.52, Y:-5.19, Z:1.66 [[ 9.98748564e-01 -4.56695666e-02 -2.03861975e-02 1.44515506e+02] [ 4.56924915e-02 9.98955335e-01 6.59909446e-04 -5.18877249e+00] [ 2.03347630e-02 -1.59057977e-03 9.99791962e-01 1.65653989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.640714057 meters Centerline goodness [0,1] 0.9891995060065117 Centerline is valid? [True, True] Translation: X:144.55, Y:-5.19, Z:1.66 [[ 9.98837897e-01 -4.34847220e-02 -2.07830164e-02 1.44546354e+02] [ 4.35080885e-02 9.99052848e-01 6.73253343e-04 -5.19260650e+00] [ 2.07340555e-02 -1.57670027e-03 9.99783783e-01 1.65604781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.670714057 meters Centerline goodness [0,1] 0.9885227527460211 Centerline is valid? [True, True] Translation: X:144.58, Y:-5.19, Z:1.66 [[ 9.98989554e-01 -3.92246356e-02 -2.19385429e-02 1.44577026e+02] [ 3.92496641e-02 9.99229182e-01 7.11254070e-04 -5.19200764e+00] [ 2.18937336e-02 -1.57161583e-03 9.99759068e-01 1.65565200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.700714057 meters Centerline goodness [0,1] 0.989580754776425 Centerline is valid? [True, True] Translation: X:144.61, Y:-5.19, Z:1.66 [[ 9.99060639e-01 -3.70353467e-02 -2.24993749e-02 1.44609058e+02] [ 3.70611307e-02 9.99312734e-01 7.29950015e-04 -5.19278975e+00] [ 2.24568779e-02 -1.56311660e-03 9.99746591e-01 1.65650568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.730714057 meters Centerline goodness [0,1] 0.9898730758844181 Centerline is valid? [True, True] Translation: X:144.64, Y:-5.19, Z:1.66 [[ 9.99198171e-01 -3.37955887e-02 -2.14679545e-02 1.44640165e+02] [ 3.38183362e-02 9.99427753e-01 6.97338155e-04 -5.19454422e+00] [ 2.14321026e-02 -1.42278951e-03 9.99769294e-01 1.65687549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76071405699997 meters Centerline goodness [0,1] 0.9894611478135814 Centerline is valid? [True, True] Translation: X:144.67, Y:-5.20, Z:1.66 [[ 9.99246924e-01 -3.24423362e-02 -2.12856665e-02 1.44670709e+02] [ 3.24644011e-02 9.99472653e-01 6.91788446e-04 -5.19792152e+00] [ 2.12519983e-02 -1.38229389e-03 9.99773195e-01 1.65712229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79071405699997 meters Centerline goodness [0,1] 0.9905995592137813 Centerline is valid? [True, True] Translation: X:144.70, Y:-5.20, Z:1.66 [[ 9.99303746e-01 -3.00366746e-02 -2.21318976e-02 1.44701504e+02] [ 3.00599507e-02 9.99547838e-01 7.19691634e-04 -5.19578388e+00] [ 2.21002733e-02 -1.38447430e-03 9.99754801e-01 1.65656986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82071405699998 meters Centerline goodness [0,1] 0.9906268965362225 Centerline is valid? [True, True] Translation: X:144.73, Y:-5.20, Z:1.66 [[ 9.99319539e-01 -2.87604479e-02 -2.30931749e-02 1.44732351e+02] [ 2.87854572e-02 9.99585331e-01 7.51216283e-04 -5.19505857e+00] [ 2.30619935e-02 -1.41545271e-03 9.99733035e-01 1.65649867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85071405699998 meters Centerline goodness [0,1] 0.9907897403562501 Centerline is valid? [True, True] Translation: X:144.76, Y:-5.20, Z:1.66 [[ 9.99337425e-01 -2.77025813e-02 -2.36067276e-02 1.44761699e+02] [ 2.77284175e-02 9.99615199e-01 7.67750648e-04 -5.19918107e+00] [ 2.35763751e-02 -1.42181916e-03 9.99721028e-01 1.65578699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88071405699998 meters Centerline goodness [0,1] 0.9903969126522919 Centerline is valid? [True, True] Translation: X:144.79, Y:-5.20, Z:1.65 [[ 9.99377509e-01 -2.55710144e-02 -2.43047036e-02 1.44790801e+02] [ 2.55977584e-02 9.99672012e-01 7.89829492e-04 -5.20197627e+00] [ 2.42765352e-02 -1.41148376e-03 9.99704285e-01 1.65484368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91071405699998 meters Centerline goodness [0,1] 0.9911285794497473 Centerline is valid? [True, True] Translation: X:144.82, Y:-5.20, Z:1.66 [[ 9.99383904e-01 -2.49768859e-02 -2.46569856e-02 1.44819486e+02] [ 2.50041526e-02 9.99687029e-01 7.98104051e-04 -5.19900737e+00] [ 2.46293345e-02 -1.41413937e-03 9.99695652e-01 1.65591095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94071405699998 meters Centerline goodness [0,1] 0.9912127325711724 Centerline is valid? [True, True] Translation: X:144.85, Y:-5.20, Z:1.66 [[ 9.99436536e-01 -2.28171801e-02 -2.46168169e-02 1.44849038e+02] [ 2.28436075e-02 9.99738736e-01 7.92837274e-04 -5.19991626e+00] [ 2.45922951e-02 -1.35472744e-03 9.99696646e-01 1.65659184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97071405699998 meters Centerline goodness [0,1] 0.9910526079741669 Centerline is valid? [True, True] Translation: X:144.88, Y:-5.20, Z:1.66 [[ 9.99442009e-01 -2.21475697e-02 -2.50031030e-02 1.44877727e+02] [ 2.21745434e-02 9.99753793e-01 8.02035071e-04 -5.20083069e+00] [ 2.49791839e-02 -1.35601993e-03 9.99687052e-01 1.65686371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00071405699998 meters Centerline goodness [0,1] 0.9910286677908937 Centerline is valid? [True, True] Translation: X:144.91, Y:-5.20, Z:1.66 [[ 9.99442965e-01 -2.12305408e-02 -2.57492671e-02 1.44905532e+02] [ 2.12587248e-02 9.99773670e-01 8.21277788e-04 -5.20307185e+00] [ 2.57260031e-02 -1.36821689e-03 9.99668095e-01 1.65678059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03071405699998 meters Centerline goodness [0,1] 0.9915374082470987 Centerline is valid? [True, True] Translation: X:144.93, Y:-5.20, Z:1.66 [[ 9.99436154e-01 -2.07391086e-02 -2.64057569e-02 1.44934892e+02] [ 2.07684678e-02 9.99783961e-01 8.38053687e-04 -5.20010926e+00] [ 2.63826717e-02 -1.38598826e-03 9.99650956e-01 1.65753448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06071405699998 meters Centerline goodness [0,1] 0.9918952199708945 Centerline is valid? [True, True] Translation: X:144.96, Y:-5.20, Z:1.66 [[ 9.99442835e-01 -1.97498138e-02 -2.69065724e-02 1.44962612e+02] [ 1.97798186e-02 9.99803999e-01 8.49426087e-04 -5.20367314e+00] [ 2.68845227e-02 -1.38115994e-03 9.99637592e-01 1.65673504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09071405699999 meters Centerline goodness [0,1] 0.9920236601541494 Centerline is valid? [True, True] Translation: X:144.99, Y:-5.20, Z:1.66 [[ 9.99471865e-01 -1.79546750e-02 -2.70854445e-02 1.44991505e+02] [ 1.79843637e-02 9.99837904e-01 8.52887376e-04 -5.20049964e+00] [ 2.70657408e-02 -1.33955142e-03 9.99632758e-01 1.65754847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.120714057 meters Centerline goodness [0,1] 0.9914610579299806 Centerline is valid? [True, True] Translation: X:145.02, Y:-5.20, Z:1.66 [[ 9.99494287e-01 -1.71312246e-02 -2.67897575e-02 1.45020293e+02] [ 1.71598634e-02 9.99852406e-01 8.39471693e-04 -5.20041921e+00] [ 2.67714223e-02 -1.29875574e-03 9.99640738e-01 1.65834237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.150714057 meters Centerline goodness [0,1] 0.9912225564584923 Centerline is valid? [True, True] Translation: X:145.05, Y:-5.20, Z:1.66 [[ 9.99564982e-01 -1.58508543e-02 -2.48716160e-02 1.45048140e+02] [ 1.58750382e-02 9.99873683e-01 7.75190298e-04 -5.20122907e+00] [ 2.48561869e-02 -1.16969093e-03 9.99690353e-01 1.66042308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.180714057 meters Centerline goodness [0,1] 0.9913779554078631 Centerline is valid? [True, True] Translation: X:145.08, Y:-5.20, Z:1.66 [[ 9.99598502e-01 -1.56173563e-02 -2.36417508e-02 1.45076798e+02] [ 1.56390601e-02 9.99877433e-01 7.33402810e-04 -5.20214927e+00] [ 2.36273993e-02 -1.10284311e-03 9.99720226e-01 1.66175481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.210714057 meters Centerline goodness [0,1] 0.99222733909918 Centerline is valid? [True, True] Translation: X:145.10, Y:-5.20, Z:1.66 [[ 9.99617516e-01 -1.61759421e-02 -2.24312503e-02 1.45104635e+02] [ 1.61954968e-02 9.99868606e-01 6.90355861e-04 -5.20385845e+00] [ 2.24171358e-02 -1.05337705e-03 9.99748149e-01 1.66328039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.240714057 meters Centerline goodness [0,1] 0.9906732730982221 Centerline is valid? [True, True] Translation: X:145.13, Y:-5.21, Z:1.66 [[ 9.99638905e-01 -1.68211779e-02 -2.09549071e-02 1.45132277e+02] [ 1.68382962e-02 9.99858021e-01 6.40724408e-04 -5.20744346e+00] [ 2.09411542e-02 -9.93337978e-04 9.99780217e-01 1.66477772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.270714057 meters Centerline goodness [0,1] 0.9905311104628985 Centerline is valid? [True, True] Translation: X:145.16, Y:-5.21, Z:1.67 [[ 9.99634303e-01 -1.72611858e-02 -2.08161458e-02 1.45161138e+02] [ 1.72781157e-02 9.99850521e-01 6.33720048e-04 -5.20881223e+00] [ 2.08020955e-02 -9.93152075e-04 9.99783120e-01 1.66588731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.300714057 meters Centerline goodness [0,1] 0.9908856790952861 Centerline is valid? [True, True] Translation: X:145.19, Y:-5.21, Z:1.67 [[ 9.99619686e-01 -1.77833479e-02 -2.10769039e-02 1.45189589e+02] [ 1.78007151e-02 9.99841352e-01 6.36648491e-04 -5.21074679e+00] [ 2.10622384e-02 -1.01159033e-03 9.99777655e-01 1.66620186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.330714057 meters Centerline goodness [0,1] 0.9910760330949124 Centerline is valid? [True, True] Translation: X:145.22, Y:-5.21, Z:1.67 [[ 9.99594432e-01 -1.81705491e-02 -2.19272137e-02 1.45218828e+02] [ 1.81893205e-02 9.99834345e-01 6.56918935e-04 -5.20679798e+00] [ 2.19116447e-02 -1.05549363e-03 9.99759354e-01 1.66687495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.360714057 meters Centerline goodness [0,1] 0.9914503133393017 Centerline is valid? [True, True] Translation: X:145.25, Y:-5.21, Z:1.67 [[ 9.99590323e-01 -1.70297067e-02 -2.30037952e-02 1.45246924e+02] [ 1.70499620e-02 9.99854404e-01 6.84662965e-04 -5.20906133e+00] [ 2.29887864e-02 -1.07659631e-03 9.99735143e-01 1.66599992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.390714057 meters Centerline goodness [0,1] 0.9912419495019277 Centerline is valid? [True, True] Translation: X:145.28, Y:-5.22, Z:1.66 [[ 9.99612833e-01 -1.42900274e-02 -2.38742217e-02 1.45275413e+02] [ 1.43110221e-02 9.99897341e-01 7.08752847e-04 -5.21673709e+00] [ 2.38616427e-02 -1.05014296e-03 9.99714719e-01 1.66434245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.420714057 meters Centerline goodness [0,1] 0.9934248911628742 Centerline is valid? [True, True] Translation: X:145.30, Y:-5.21, Z:1.67 [[ 9.99624315e-01 -1.28664069e-02 -2.42009314e-02 1.45304916e+02] [ 1.28874895e-02 9.99916697e-01 7.15373554e-04 -5.20950518e+00] [ 2.41897111e-02 -1.02699405e-03 9.99706859e-01 1.66633351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.450714057 meters Centerline goodness [0,1] 0.9922477146442015 Centerline is valid? [True, True] Translation: X:145.33, Y:-5.21, Z:1.67 [[ 9.99637205e-01 -1.07264020e-02 -2.47063302e-02 1.45333675e+02] [ 1.07476208e-02 9.99941979e-01 7.26209160e-04 -5.20774458e+00] [ 2.46971071e-02 -9.91479965e-04 9.99694488e-01 1.66714249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.480714057 meters Centerline goodness [0,1] 0.9922477146442015 Centerline is valid? [True, True] Translation: X:145.36, Y:-5.21, Z:1.67 [[ 9.99634062e-01 -1.10151830e-02 -2.47064493e-02 1.45361069e+02] [ 1.10363894e-02 9.99938836e-01 7.22138250e-04 -5.20848365e+00] [ 2.46969837e-02 -9.94543986e-04 9.99694488e-01 1.66753098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51071405699997 meters Centerline goodness [0,1] 0.9922239153818573 Centerline is valid? [True, True] Translation: X:145.39, Y:-5.21, Z:1.67 [[ 9.99677249e-01 -7.38865442e-03 -2.43064804e-02 1.45390398e+02] [ 7.40800258e-03 9.99972311e-01 7.06058899e-04 -5.20995600e+00] [ 2.43005905e-02 -8.85893487e-04 9.99704305e-01 1.66820912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54071405699997 meters Centerline goodness [0,1] 0.9930787322208534 Centerline is valid? [True, True] Translation: X:145.42, Y:-5.21, Z:1.67 [[ 9.99702707e-01 -6.07721685e-03 -2.36128101e-02 1.45419532e+02] [ 6.09504807e-03 9.99981192e-01 6.83252593e-04 -5.21075179e+00] [ 2.36082137e-02 -8.26970680e-04 9.99720945e-01 1.66915835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57071405699998 meters Centerline goodness [0,1] 0.9926350428689754 Centerline is valid? [True, True] Translation: X:145.45, Y:-5.21, Z:1.67 [[ 9.99742461e-01 -5.29183987e-03 -2.20682458e-02 1.45448507e+02] [ 5.30711266e-03 9.99985716e-01 6.33561535e-04 -5.21211558e+00] [ 2.20645779e-02 -7.50517036e-04 9.99756266e-01 1.67166757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60071405699998 meters Centerline goodness [0,1] 0.9933893557422969 Centerline is valid? [True, True] Translation: X:145.48, Y:-5.21, Z:1.67 [[ 9.99757353e-01 -6.04966762e-03 -2.11810610e-02 1.45477166e+02] [ 6.06379733e-03 9.99981433e-01 6.02928519e-04 -5.21332256e+00] [ 2.11770202e-02 -7.31219880e-04 9.99775474e-01 1.67276919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63071405699998 meters Centerline goodness [0,1] 0.9928432446939369 Centerline is valid? [True, True] Translation: X:145.51, Y:-5.22, Z:1.67 [[ 9.99757225e-01 -8.73006677e-03 -2.02306197e-02 1.45505716e+02] [ 8.74342871e-03 9.99961612e-01 5.72121822e-04 -5.21959487e+00] [ 2.02248484e-02 -7.48867906e-04 9.99795176e-01 1.67349032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66071405699998 meters Centerline goodness [0,1] 0.9918590386974462 Centerline is valid? [True, True] Translation: X:145.53, Y:-5.22, Z:1.67 [[ 9.99742287e-01 -1.11967723e-02 -1.97482367e-02 1.45534983e+02] [ 1.12099664e-02 9.99937011e-01 5.57540671e-04 -5.22344456e+00] [ 1.97407501e-02 -7.78774055e-04 9.99804829e-01 1.67407615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69071405699998 meters Centerline goodness [0,1] 0.9914493754035939 Centerline is valid? [True, True] Translation: X:145.56, Y:-5.23, Z:1.67 [[ 9.99720296e-01 -1.35140518e-02 -1.94087605e-02 1.45564834e+02] [ 1.35272189e-02 9.99908353e-01 5.47280261e-04 -5.22757472e+00] [ 1.93995857e-02 -8.09673736e-04 9.99811482e-01 1.67421052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72071405699998 meters Centerline goodness [0,1] 0.9915983196639327 Centerline is valid? [True, True] Translation: X:145.59, Y:-5.24, Z:1.67 [[ 9.99634137e-01 -1.87249072e-02 -1.95184454e-02 1.45594071e+02] [ 1.87392013e-02 9.99824255e-01 5.49684310e-04 -5.23600765e+00] [ 1.95047224e-02 -9.15243279e-04 9.99809346e-01 1.67383860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75071405699998 meters Centerline goodness [0,1] 0.9909663351356163 Centerline is valid? [True, True] Translation: X:145.62, Y:-5.24, Z:1.67 [[ 9.99533539e-01 -2.30476355e-02 -2.00377395e-02 1.45624200e+02] [ 2.30635547e-02 9.99733842e-01 5.63698883e-04 -5.24316427e+00] [ 2.00194144e-02 -1.02557744e-03 9.99799065e-01 1.67326466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78071405699998 meters Centerline goodness [0,1] 0.9911654093508689 Centerline is valid? [True, True] Translation: X:145.65, Y:-5.25, Z:1.67 [[ 9.99471808e-01 -2.50761423e-02 -2.06710663e-02 1.45653357e+02] [ 2.50935015e-02 9.99684940e-01 5.80786951e-04 -5.24666377e+00] [ 2.06499897e-02 -1.09918962e-03 9.99786162e-01 1.67312440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81071405699998 meters Centerline goodness [0,1] 0.9901009832580387 Centerline is valid? [True, True] Translation: X:145.68, Y:-5.25, Z:1.67 [[ 9.99406314e-01 -2.69674651e-02 -2.14423556e-02 1.45682990e+02] [ 2.69865498e-02 9.99635616e-01 6.01133078e-04 -5.25022491e+00] [ 2.14183314e-02 -1.17943139e-03 9.99769906e-01 1.67285288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84071405699999 meters Centerline goodness [0,1] 0.9907664306483475 Centerline is valid? [True, True] Translation: X:145.71, Y:-5.25, Z:1.67 [[ 9.99299734e-01 -3.00533001e-02 -2.22899156e-02 1.45713311e+02] [ 3.00746743e-02 9.99547460e-01 6.24239973e-04 -5.25057320e+00] [ 2.22610680e-02 -1.29416479e-03 9.99751354e-01 1.67289544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.870714057 meters Centerline goodness [0,1] 0.9908584614701902 Centerline is valid? [True, True] Translation: X:145.74, Y:-5.25, Z:1.67 [[ 9.99259120e-01 -3.13585281e-02 -2.23126268e-02 1.45742433e+02] [ 3.13802611e-02 9.99507323e-01 6.24473508e-04 -5.25428981e+00] [ 2.22820513e-02 -1.32418690e-03 9.99750847e-01 1.67297234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.900714057 meters Centerline goodness [0,1] 0.9894118950049839 Centerline is valid? [True, True] Translation: X:145.77, Y:-5.26, Z:1.67 [[ 9.99159924e-01 -3.43206579e-02 -2.23950589e-02 1.45771835e+02] [ 3.43432840e-02 9.99409899e-01 6.26379401e-04 -5.25931896e+00] [ 2.23603458e-02 -1.39497306e-03 9.99749003e-01 1.67302702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.930714057 meters Centerline goodness [0,1] 0.9892511169106913 Centerline is valid? [True, True] Translation: X:145.80, Y:-5.26, Z:1.67 [[ 9.99112909e-01 -3.54708178e-02 -2.26983526e-02 1.45802381e+02] [ 3.54943509e-02 9.99369676e-01 6.34607385e-04 -5.26203745e+00] [ 2.26615352e-02 -1.43970772e-03 9.99742158e-01 1.67305410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.960714057 meters Centerline goodness [0,1] 0.9895870258773485 Centerline is valid? [True, True] Translation: X:145.83, Y:-5.27, Z:1.67 [[ 9.99085000e-01 -3.64339166e-02 -2.23993772e-02 1.45833203e+02] [ 3.64570747e-02 9.99335024e-01 6.26248541e-04 -5.26500672e+00] [ 2.23616655e-02 -1.44229129e-03 9.99748906e-01 1.67359942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.990714057 meters Centerline goodness [0,1] 0.9894147086830392 Centerline is valid? [True, True] Translation: X:145.86, Y:-5.27, Z:1.67 [[ 9.99065170e-01 -3.68233301e-02 -2.26457013e-02 1.45864655e+02] [ 3.68471069e-02 9.99320714e-01 6.33434037e-04 -5.26547183e+00] [ 2.26069932e-02 -1.46727046e-03 9.99743353e-01 1.67412622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.020714057 meters Centerline goodness [0,1] 0.9891723130065099 Centerline is valid? [True, True] Translation: X:145.89, Y:-5.26, Z:1.68 [[ 9.99105466e-01 -3.59261947e-02 -2.23064266e-02 1.45894943e+02] [ 3.59490524e-02 9.99353429e-01 6.24434586e-04 -5.26322174e+00] [ 2.22695703e-02 -1.42577091e-03 9.99750986e-01 1.67544742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.050714057 meters Centerline goodness [0,1] 0.9895987784097197 Centerline is valid? [True, True] Translation: X:145.92, Y:-5.27, Z:1.68 [[ 9.99149230e-01 -3.47272132e-02 -2.22449283e-02 1.45924350e+02] [ 3.47496459e-02 9.99395855e-01 6.22569639e-04 -5.26640430e+00] [ 2.22098690e-02 -1.39504336e-03 9.99752357e-01 1.67557838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.080714057 meters Centerline goodness [0,1] 0.9893056416615003 Centerline is valid? [True, True] Translation: X:145.95, Y:-5.27, Z:1.68 [[ 9.99244249e-01 -3.27662885e-02 -2.09117572e-02 1.45953888e+02] [ 3.27856771e-02 9.99462234e-01 5.84906236e-04 -5.26617452e+00] [ 2.08813463e-02 -1.27007031e-03 9.99781154e-01 1.67678874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.110714057 meters Centerline goodness [0,1] 0.9889007045061811 Centerline is valid? [True, True] Translation: X:145.98, Y:-5.26, Z:1.68 [[ 9.99280877e-01 -3.18149970e-02 -2.06284986e-02 1.45984902e+02] [ 3.18336593e-02 9.99493014e-01 5.76856466e-04 -5.26436088e+00] [ 2.05996876e-02 -1.23312223e-03 9.99787043e-01 1.67786174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.140714057 meters Centerline goodness [0,1] 0.9899321417483479 Centerline is valid? [True, True] Translation: X:146.02, Y:-5.26, Z:1.68 [[ 9.99324489e-01 -3.05577346e-02 -2.04154278e-02 1.46015431e+02] [ 3.05757568e-02 9.99532289e-01 5.71142273e-04 -5.26310555e+00] [ 2.03884265e-02 -1.19497362e-03 9.99791420e-01 1.67871073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.170714057 meters Centerline goodness [0,1] 0.9906533756632551 Centerline is valid? [True, True] Translation: X:146.05, Y:-5.26, Z:1.68 [[ 9.99321626e-01 -3.03077875e-02 -2.09218829e-02 1.46046376e+02] [ 3.03266606e-02 9.99539870e-01 5.85310867e-04 -5.25908129e+00] [ 2.08945166e-02 -1.21940465e-03 9.99780942e-01 1.67925363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.200714057 meters Centerline goodness [0,1] 0.9908010221086546 Centerline is valid? [True, True] Translation: X:146.08, Y:-5.26, Z:1.68 [[ 9.99310910e-01 -3.03946702e-02 -2.13041991e-02 1.46077066e+02] [ 3.04142592e-02 9.99537202e-01 5.96006549e-04 -5.25890172e+00] [ 2.12762241e-02 -1.24354728e-03 9.99772862e-01 1.67919286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.230714057 meters Centerline goodness [0,1] 0.9905842641735694 Centerline is valid? [True, True] Translation: X:146.11, Y:-5.26, Z:1.68 [[ 9.99298189e-01 -3.05876826e-02 -2.16222727e-02 1.46106995e+02] [ 3.06079032e-02 9.99531285e-01 6.04771918e-04 -5.26086928e+00] [ 2.15936394e-02 -1.26615991e-03 9.99766028e-01 1.67905174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26071405699997 meters Centerline goodness [0,1] 0.991272291190122 Centerline is valid? [True, True] Translation: X:146.14, Y:-5.26, Z:1.68 [[ 9.99334575e-01 -3.00578811e-02 -2.06623270e-02 1.46137363e+02] [ 3.00762278e-02 9.99547441e-01 5.77681293e-04 -5.25779503e+00] [ 2.06356123e-02 -1.19874174e-03 9.99786344e-01 1.67985308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29071405699997 meters Centerline goodness [0,1] 0.9906218822746924 Centerline is valid? [True, True] Translation: X:146.17, Y:-5.26, Z:1.68 [[ 9.99361915e-01 -2.91651575e-02 -2.06193163e-02 1.46167620e+02] [ 2.91832386e-02 9.99573912e-01 5.76478791e-04 -5.25782487e+00] [ 2.05937176e-02 -1.17784938e-03 9.99787233e-01 1.68014256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32071405699998 meters Centerline goodness [0,1] 0.9902233085212754 Centerline is valid? [True, True] Translation: X:146.20, Y:-5.26, Z:1.68 [[ 9.99386514e-01 -2.80157255e-02 -2.10170199e-02 1.46198184e+02] [ 2.80342576e-02 9.99606790e-01 5.87597862e-04 -5.25671116e+00] [ 2.09922938e-02 -1.17643393e-03 9.99778945e-01 1.68055476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35071405699998 meters Centerline goodness [0,1] 0.9902852049910873 Centerline is valid? [True, True] Translation: X:146.23, Y:-5.25, Z:1.68 [[ 9.99474675e-01 -2.46031118e-02 -2.10964885e-02 1.46227536e+02] [ 2.46210225e-02 9.99696683e-01 5.89635076e-04 -5.25366414e+00] [ 2.10755827e-02 -1.10874245e-03 9.99777270e-01 1.68100424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38071405699998 meters Centerline goodness [0,1] 0.9902854214478287 Centerline is valid? [True, True] Translation: X:146.26, Y:-5.25, Z:1.68 [[ 9.99529398e-01 -2.28428400e-02 -2.04740609e-02 1.46257391e+02] [ 2.28593289e-02 9.99738528e-01 5.71650122e-04 -5.25188311e+00] [ 2.04556494e-02 -1.03940439e-03 9.99790221e-01 1.68162670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41071405699998 meters Centerline goodness [0,1] 0.9910309919190126 Centerline is valid? [True, True] Translation: X:146.29, Y:-5.25, Z:1.68 [[ 9.99642259e-01 -1.80343877e-02 -1.97513231e-02 1.46287067e+02] [ 1.80487843e-02 9.99836956e-01 5.50860813e-04 -5.24885073e+00] [ 1.97381683e-02 -9.07151118e-04 9.99804772e-01 1.68251030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44071405699998 meters Centerline goodness [0,1] 0.990870739492422 Centerline is valid? [True, True] Translation: X:146.32, Y:-5.25, Z:1.68 [[ 9.99685810e-01 -1.54559623e-02 -1.97331037e-02 1.46316951e+02] [ 1.54698209e-02 9.99880184e-01 5.49834062e-04 -5.24588833e+00] [ 1.97222412e-02 -8.54928889e-04 9.99805132e-01 1.68309639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47071405699998 meters Centerline goodness [0,1] 0.9910692357498493 Centerline is valid? [True, True] Translation: X:146.35, Y:-5.24, Z:1.68 [[ 9.99729182e-01 -1.27018356e-02 -1.94993812e-02 1.46346406e+02] [ 1.27148316e-02 9.99919016e-01 5.42643823e-04 -5.24356680e+00] [ 1.94909095e-02 -7.90428213e-04 9.99809722e-01 1.68333267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50071405699998 meters Centerline goodness [0,1] 0.9918931594345312 Centerline is valid? [True, True] Translation: X:146.38, Y:-5.24, Z:1.68 [[ 9.99773528e-01 -7.55145367e-03 -1.98964463e-02 1.46376123e+02] [ 7.56395193e-03 9.99971240e-01 5.52983898e-04 -5.23780104e+00] [ 1.98916983e-02 -7.03354427e-04 9.99801893e-01 1.68370670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53071405699998 meters Centerline goodness [0,1] 0.9927472970250487 Centerline is valid? [True, True] Translation: X:146.41, Y:-5.23, Z:1.68 [[ 9.99786532e-01 -2.55203706e-03 -2.05031215e-02 1.46406051e+02] [ 2.56424392e-03 9.99996550e-01 5.69097686e-04 -5.23280861e+00] [ 2.05015984e-02 -6.21551206e-04 9.99789627e-01 1.68393816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56071405699998 meters Centerline goodness [0,1] 0.9926263574205657 Centerline is valid? [True, True] Translation: X:146.43, Y:-5.23, Z:1.68 [[ 9.99786563e-01 -1.77483393e-04 -2.06590661e-02 1.46433701e+02] [ 1.89347420e-04 9.99999818e-01 5.72322327e-04 -5.23215964e+00] [ 2.06589608e-02 -5.76111913e-04 9.99786415e-01 1.68360422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59071405699999 meters Centerline goodness [0,1] 0.9931348574248985 Centerline is valid? [True, True] Translation: X:146.46, Y:-5.23, Z:1.68 [[ 9.99781864e-01 2.13545467e-03 -2.07765132e-02 1.46462356e+02] [-2.12401545e-03 9.99997580e-01 5.72635454e-04 -5.23130400e+00] [ 2.07776858e-02 -5.28380907e-04 9.99783981e-01 1.68374532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.620714057 meters Centerline goodness [0,1] 0.9934089584360848 Centerline is valid? [True, True] Translation: X:146.49, Y:-5.23, Z:1.68 [[ 9.99737085e-01 7.12460988e-03 -2.17945341e-02 1.46490531e+02] [-7.11329962e-03 9.99974522e-01 5.96431005e-04 -5.22904818e+00] [ 2.17982282e-02 -4.41243143e-04 9.99762293e-01 1.68347899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.650714057 meters Centerline goodness [0,1] 0.9935264207154537 Centerline is valid? [True, True] Translation: X:146.52, Y:-5.23, Z:1.68 [[ 9.99721204e-01 9.27596394e-03 -2.17133958e-02 1.46518662e+02] [-9.26528106e-03 9.99956901e-01 5.92547775e-04 -5.22887955e+00] [ 2.17179564e-02 -3.91201860e-04 9.99764061e-01 1.68370908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.680714057 meters Centerline goodness [0,1] 0.9939323115645647 Centerline is valid? [True, True] Translation: X:146.55, Y:-5.23, Z:1.68 [[ 9.99706462e-01 1.14449568e-02 -2.13542040e-02 1.46547040e+02] [-1.14351833e-02 9.99934448e-01 5.79744125e-04 -5.22862754e+00] [ 2.13594393e-02 -3.35384713e-04 9.99771805e-01 1.68427940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.710714057 meters Centerline goodness [0,1] 0.9938166119530513 Centerline is valid? [True, True] Translation: X:146.57, Y:-5.23, Z:1.68 [[ 9.99706102e-01 1.17716107e-02 -2.11928843e-02 1.46574407e+02] [-1.17621502e-02 9.99930660e-01 5.71001662e-04 -5.23156482e+00] [ 2.11981364e-02 -3.21559958e-04 9.99775243e-01 1.68423047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.740714057 meters Centerline goodness [0,1] 0.9937201426424742 Centerline is valid? [True, True] Translation: X:146.60, Y:-5.23, Z:1.69 [[ 9.99747966e-01 9.23658709e-03 -2.04618978e-02 1.46603423e+02] [-9.22728170e-03 9.99957277e-01 5.49135523e-04 -5.23490435e+00] [ 2.04660957e-02 -3.60189427e-04 9.99790483e-01 1.68619933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.770714057 meters Centerline goodness [0,1] 0.9933577182864708 Centerline is valid? [True, True] Translation: X:146.63, Y:-5.24, Z:1.69 [[ 9.99772541e-01 6.47394465e-03 -2.03212919e-02 1.46632330e+02] [-6.46422552e-03 9.99978959e-01 5.43925093e-04 -5.23823283e+00] [ 2.03243857e-02 -4.12439958e-04 9.99793353e-01 1.68721213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.800714057 meters Centerline goodness [0,1] 0.9933807415358469 Centerline is valid? [True, True] Translation: X:146.66, Y:-5.24, Z:1.69 [[ 9.99806370e-01 3.00833157e-03 -1.94466681e-02 1.46660886e+02] [-2.99880235e-03 9.99995369e-01 5.19160928e-04 -5.24255128e+00] [ 1.94481399e-02 -4.60743689e-04 9.99810761e-01 1.68767571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.830714057 meters Centerline goodness [0,1] 0.9918856862613968 Centerline is valid? [True, True] Translation: X:146.69, Y:-5.25, Z:1.69 [[ 9.99809873e-01 -4.80171882e-03 -1.88986868e-02 1.46689380e+02] [ 4.81209230e-03 9.99988295e-01 5.03462023e-04 -5.25452780e+00] [ 1.88960481e-02 -5.94308527e-04 9.99821277e-01 1.68744436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.860714057 meters Centerline goodness [0,1] 0.9921556392485459 Centerline is valid? [True, True] Translation: X:146.72, Y:-5.26, Z:1.69 [[ 9.99786599e-01 -8.76490580e-03 -1.87064961e-02 1.46718499e+02] [ 8.77575333e-03 9.99961368e-01 4.97868961e-04 -5.25711887e+00] [ 1.87014096e-02 -6.61926310e-04 9.99824894e-01 1.68826497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.890714057 meters Centerline goodness [0,1] 0.9914178357827333 Centerline is valid? [True, True] Translation: X:146.75, Y:-5.27, Z:1.69 [[ 9.99689647e-01 -1.59725652e-02 -1.91176949e-02 1.46747904e+02] [ 1.59851940e-02 9.99872100e-01 5.07939335e-04 -5.26581870e+00] [ 1.91071367e-02 -8.13381757e-04 9.99817111e-01 1.68844373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.920714057 meters Centerline goodness [0,1] 0.9910072342793544 Centerline is valid? [True, True] Translation: X:146.78, Y:-5.27, Z:1.69 [[ 9.99620636e-01 -1.86470254e-02 -2.02699824e-02 1.46777705e+02] [ 1.86617609e-02 9.99825709e-01 5.38031903e-04 -5.26743584e+00] [ 2.02564168e-02 -9.16101359e-04 9.99794398e-01 1.68871785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.950714057 meters Centerline goodness [0,1] 0.9914675390702712 Centerline is valid? [True, True] Translation: X:146.81, Y:-5.27, Z:1.69 [[ 9.99510395e-01 -2.28035209e-02 -2.14235682e-02 1.46806921e+02] [ 2.28209170e-02 9.99739408e-01 5.67846186e-04 -5.27335218e+00] [ 2.14050365e-02 -1.05647364e-03 9.99770328e-01 1.68804907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.980714057 meters Centerline goodness [0,1] 0.9907283884738527 Centerline is valid? [True, True] Translation: X:146.84, Y:-5.28, Z:1.69 [[ 9.99446834e-01 -2.47198345e-02 -2.22476173e-02 1.46835913e+02] [ 2.47390470e-02 9.99693770e-01 5.88721243e-04 -5.27581793e+00] [ 2.22262513e-02 -1.13878043e-03 9.99752318e-01 1.68766944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01071405699997 meters Centerline goodness [0,1] 0.990966395880499 Centerline is valid? [True, True] Translation: X:146.86, Y:-5.28, Z:1.69 [[ 9.99399039e-01 -2.60006088e-02 -2.29244323e-02 1.46864205e+02] [ 2.60213084e-02 9.99661205e-01 6.05062617e-04 -5.27851784e+00] [ 2.29009337e-02 -1.20122272e-03 9.99737018e-01 1.68783451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04071405699997 meters Centerline goodness [0,1] 0.9916266879886283 Centerline is valid? [True, True] Translation: X:146.89, Y:-5.28, Z:1.69 [[ 9.99286398e-01 -2.82981725e-02 -2.50181430e-02 1.46893752e+02] [ 2.83235010e-02 9.99598592e-01 6.58557580e-04 -5.28026072e+00] [ 2.49894645e-02 -1.36668903e-03 9.99686780e-01 1.68704529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07071405699998 meters Centerline goodness [0,1] 0.9908299658066522 Centerline is valid? [True, True] Translation: X:146.92, Y:-5.28, Z:1.69 [[ 9.99222715e-01 -2.96593420e-02 -2.59670691e-02 1.46922649e+02] [ 2.96870574e-02 9.99559009e-01 6.82388682e-04 -5.28259118e+00] [ 2.59353786e-02 -1.45274414e-03 9.99662566e-01 1.68643426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10071405699998 meters Centerline goodness [0,1] 0.9911516229435304 Centerline is valid? [True, True] Translation: X:146.95, Y:-5.28, Z:1.69 [[ 9.99228912e-01 -3.01919541e-02 -2.51003285e-02 1.46951426e+02] [ 3.02179292e-02 9.99543119e-01 6.56107559e-04 -5.28034751e+00] [ 2.50690514e-02 -1.41408159e-03 9.99684722e-01 1.68757437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13071405699998 meters Centerline goodness [0,1] 0.9909241837299392 Centerline is valid? [True, True] Translation: X:146.98, Y:-5.29, Z:1.69 [[ 9.99255656e-01 -2.99760206e-02 -2.42811015e-02 1.46979503e+02] [ 3.00001660e-02 9.99549695e-01 6.30667798e-04 -5.28563752e+00] [ 2.42512627e-02 -1.35863544e-03 9.99704972e-01 1.68767217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16071405699998 meters Centerline goodness [0,1] 0.9918985087914534 Centerline is valid? [True, True] Translation: X:147.01, Y:-5.28, Z:1.69 [[ 9.99302919e-01 -2.93961887e-02 -2.30117434e-02 1.47008934e+02] [ 2.94176975e-02 9.99567028e-01 5.96650631e-04 -5.28015031e+00] [ 2.29842407e-02 -1.27318722e-03 9.99735017e-01 1.69007168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19071405699998 meters Centerline goodness [0,1] 0.9909647268276399 Centerline is valid? [True, True] Translation: X:147.04, Y:-5.28, Z:1.69 [[ 9.99343609e-01 -2.88165847e-02 -2.19534937e-02 1.47039012e+02] [ 2.88360037e-02 9.99583994e-01 5.68434772e-04 -5.27719867e+00] [ 2.19279806e-02 -1.20111268e-03 9.99758831e-01 1.69177072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22071405699998 meters Centerline goodness [0,1] 0.9908601672300302 Centerline is valid? [True, True] Translation: X:147.07, Y:-5.28, Z:1.69 [[ 9.99358217e-01 -2.86388573e-02 -2.15167513e-02 1.47067987e+02] [ 2.86574562e-02 9.99589136e-01 5.56482162e-04 -5.28243237e+00] [ 2.14919738e-02 -1.17274038e-03 9.99768333e-01 1.69206330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25071405699998 meters Centerline goodness [0,1] 0.990890462826852 Centerline is valid? [True, True] Translation: X:147.10, Y:-5.28, Z:1.69 [[ 9.99370883e-01 -2.86964819e-02 -2.08410673e-02 1.47098170e+02] [ 2.87139380e-02 9.99587525e-01 5.38757101e-04 -5.28032855e+00] [ 2.08170105e-02 -1.13684727e-03 9.99782656e-01 1.69324822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28071405699998 meters Centerline goodness [0,1] 0.9909857775601505 Centerline is valid? [True, True] Translation: X:147.13, Y:-5.28, Z:1.69 [[ 9.99328954e-01 -3.04457039e-02 -2.03641996e-02 1.47127926e+02] [ 3.04627299e-02 9.99535765e-01 5.26320588e-04 -5.28386462e+00] [ 2.03387217e-02 -1.14631652e-03 9.99792490e-01 1.69330825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31071405699998 meters Centerline goodness [0,1] 0.9908448978682646 Centerline is valid? [True, True] Translation: X:147.16, Y:-5.28, Z:1.69 [[ 9.99283062e-01 -3.19183834e-02 -2.03612026e-02 1.47158267e+02] [ 3.19357041e-02 9.99489787e-01 5.25994282e-04 -5.28297166e+00] [ 2.03340251e-02 -1.17586652e-03 9.99792551e-01 1.69345606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34071405699999 meters Centerline goodness [0,1] 0.9908013719987527 Centerline is valid? [True, True] Translation: X:147.19, Y:-5.28, Z:1.69 [[ 9.99157686e-01 -3.49712622e-02 -2.14692521e-02 1.47189222e+02] [ 3.49912247e-02 9.99387466e-01 5.54748286e-04 -5.28372838e+00] [ 2.14367012e-02 -1.30551644e-03 9.99769355e-01 1.69340871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.370714057 meters Centerline goodness [0,1] 0.9899348202013036 Centerline is valid? [True, True] Translation: X:147.22, Y:-5.29, Z:1.69 [[ 9.99096933e-01 -3.64177982e-02 -2.18875044e-02 1.47219226e+02] [ 3.64389112e-02 9.99335722e-01 5.66431230e-04 -5.28711599e+00] [ 2.18523368e-02 -1.36347653e-03 9.99760279e-01 1.69286103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.400714057 meters Centerline goodness [0,1] 0.9899348202013036 Centerline is valid? [True, True] Translation: X:147.25, Y:-5.29, Z:1.69 [[ 9.99098201e-01 -3.63829993e-02 -2.18874680e-02 1.47250120e+02] [ 3.64041346e-02 9.99336988e-01 5.67834748e-04 -5.28794887e+00] [ 2.18522968e-02 -1.36411701e-03 9.99760279e-01 1.69329838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.430714057 meters Centerline goodness [0,1] 0.9901980396079216 Centerline is valid? [True, True] Translation: X:147.28, Y:-5.29, Z:1.69 [[ 9.99037779e-01 -3.75859089e-02 -2.26012093e-02 1.47280685e+02] [ 3.76087668e-02 9.99292368e-01 5.87006878e-04 -5.29043695e+00] [ 2.25631528e-02 -1.43644566e-03 9.99744388e-01 1.69257951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.460714057 meters Centerline goodness [0,1] 0.9903048943567799 Centerline is valid? [True, True] Translation: X:147.31, Y:-5.29, Z:1.69 [[ 9.98939945e-01 -3.93740837e-02 -2.38467435e-02 1.47311858e+02] [ 3.94000489e-02 9.99223324e-01 6.19784734e-04 -5.28846452e+00] [ 2.38038188e-02 -1.55869059e-03 9.99715434e-01 1.69233971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.490714057 meters Centerline goodness [0,1] 0.9906208924632968 Centerline is valid? [True, True] Translation: X:147.34, Y:-5.29, Z:1.69 [[ 9.98921243e-01 -3.92902456e-02 -2.47512819e-02 1.47343321e+02] [ 3.93182085e-02 9.99226533e-01 6.43921687e-04 -5.28933812e+00] [ 2.47068378e-02 -1.61640312e-03 9.99693433e-01 1.69216594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.520714057 meters Centerline goodness [0,1] 0.9907217414577572 Centerline is valid? [True, True] Translation: X:147.37, Y:-5.29, Z:1.69 [[ 9.98908007e-01 -3.86284707e-02 -2.62799290e-02 1.47373582e+02] [ 3.86597816e-02 9.99252197e-01 6.84215073e-04 -5.28731185e+00] [ 2.62338466e-02 -1.69944423e-03 9.99654389e-01 1.69128861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.550714057 meters Centerline goodness [0,1] 0.9909143673542281 Centerline is valid? [True, True] Translation: X:147.40, Y:-5.29, Z:1.69 [[ 9.98934168e-01 -3.76194443e-02 -2.67452021e-02 1.47403380e+02] [ 3.76515082e-02 9.99290688e-01 6.96110342e-04 -5.28729870e+00] [ 2.67000441e-02 -1.70236560e-03 9.99642041e-01 1.69125173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.580714057 meters Centerline goodness [0,1] 0.9908302132143578 Centerline is valid? [True, True] Translation: X:147.43, Y:-5.28, Z:1.69 [[ 9.99022552e-01 -3.48702148e-02 -2.71663047e-02 1.47433837e+02] [ 3.49022775e-02 9.99390480e-01 7.06821119e-04 -5.28109632e+00] [ 2.71250993e-02 -1.65429614e-03 9.99630678e-01 1.69237076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.610714057 meters Centerline goodness [0,1] 0.991135188377247 Centerline is valid? [True, True] Translation: X:147.46, Y:-5.28, Z:1.69 [[ 9.99063964e-01 -3.34319502e-02 -2.74499512e-02 1.47463829e+02] [ 3.34641326e-02 9.99439664e-01 7.13731979e-04 -5.27924173e+00] [ 2.74107085e-02 -1.63165271e-03 9.99622924e-01 1.69323938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.640714057 meters Centerline goodness [0,1] 0.9911228675827748 Centerline is valid? [True, True] Translation: X:147.49, Y:-5.28, Z:1.69 [[ 9.99100052e-01 -3.22282170e-02 -2.75758566e-02 1.47492384e+02] [ 3.22602053e-02 9.99479248e-01 7.15798812e-04 -5.28186176e+00] [ 2.75384275e-02 -1.60475743e-03 9.99619457e-01 1.69309867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.670714057 meters Centerline goodness [0,1] 0.9904281551221699 Centerline is valid? [True, True] Translation: X:147.52, Y:-5.27, Z:1.70 [[ 9.99213846e-01 -2.96756941e-02 -2.62876930e-02 1.47522401e+02] [ 2.97038578e-02 9.99558511e-01 6.81439694e-04 -5.27283484e+00] [ 2.62558651e-02 -1.46174987e-03 9.99654187e-01 1.69609833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.700714057 meters Centerline goodness [0,1] 0.9910756328901047 Centerline is valid? [True, True] Translation: X:147.55, Y:-5.27, Z:1.70 [[ 9.99257554e-01 -2.86711130e-02 -2.57353609e-02 1.47551606e+02] [ 2.86976995e-02 9.99587915e-01 6.64255563e-04 -5.27195310e+00] [ 2.57057108e-02 -1.40230804e-03 9.99668570e-01 1.69716653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.730714057 meters Centerline goodness [0,1] 0.9906278865433573 Centerline is valid? [True, True] Translation: X:147.58, Y:-5.27, Z:1.70 [[ 9.99307119e-01 -2.78018875e-02 -2.47454614e-02 1.47580542e+02] [ 2.78261118e-02 9.99612577e-01 6.35072812e-04 -5.27028078e+00] [ 2.47182182e-02 -1.32320276e-03 9.99693582e-01 1.69775934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76071405699997 meters Centerline goodness [0,1] 0.9900985642918223 Centerline is valid? [True, True] Translation: X:147.61, Y:-5.27, Z:1.70 [[ 9.99315115e-01 -2.76505113e-02 -2.45916881e-02 1.47609456e+02] [ 2.76743586e-02 9.99616793e-01 6.29862539e-04 -5.27057344e+00] [ 2.45648484e-02 -1.30999035e-03 9.99697380e-01 1.69775525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79071405699997 meters Centerline goodness [0,1] 0.991256929109018 Centerline is valid? [True, True] Translation: X:147.64, Y:-5.27, Z:1.70 [[ 9.99305388e-01 -2.78898188e-02 -2.47163673e-02 1.47638089e+02] [ 2.79139014e-02 9.99610133e-01 6.29810200e-04 -5.26966172e+00] [ 2.46891659e-02 -1.31930297e-03 9.99694306e-01 1.69768681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82071405699998 meters Centerline goodness [0,1] 0.9913057224154284 Centerline is valid? [True, True] Translation: X:147.67, Y:-5.26, Z:1.70 [[ 9.99252900e-01 -2.87610736e-02 -2.58155422e-02 1.47668146e+02] [ 2.87875350e-02 9.99585339e-01 6.53884624e-04 -5.26361658e+00] [ 2.57860311e-02 -1.39656193e-03 9.99666510e-01 1.69857281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85071405699998 meters Centerline goodness [0,1] 0.9918724883731431 Centerline is valid? [True, True] Translation: X:147.70, Y:-5.26, Z:1.70 [[ 9.99223101e-01 -2.95219836e-02 -2.61083524e-02 1.47698010e+02] [ 2.95492836e-02 9.99563106e-01 6.60369452e-04 -5.26133833e+00] [ 2.60774504e-02 -1.43133952e-03 9.99658901e-01 1.69948830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88071405699998 meters Centerline goodness [0,1] 0.9913865213754437 Centerline is valid? [True, True] Translation: X:147.73, Y:-5.26, Z:1.70 [[ 9.99182023e-01 -3.12409639e-02 -2.56765929e-02 1.47727872e+02] [ 3.12679104e-02 9.99510829e-01 6.48540954e-04 -5.26053788e+00] [ 2.56437716e-02 -1.45086387e-03 9.99670092e-01 1.70017769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91071405699998 meters Centerline goodness [0,1] 0.991053924330171 Centerline is valid? [True, True] Translation: X:147.76, Y:-5.26, Z:1.70 [[ 9.99163152e-01 -3.18346691e-02 -2.56817039e-02 1.47758101e+02] [ 3.18618089e-02 9.99492074e-01 6.48166333e-04 -5.26069423e+00] [ 2.56480253e-02 -1.46588946e-03 9.99669961e-01 1.70066998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94071405699998 meters Centerline goodness [0,1] 0.9910926231546583 Centerline is valid? [True, True] Translation: X:147.79, Y:-5.26, Z:1.70 [[ 9.99148325e-01 -3.31906038e-02 -2.45154608e-02 1.47788598e+02] [ 3.32157405e-02 9.99448014e-01 6.18732168e-04 -5.25869603e+00] [ 2.44813925e-02 -1.43250440e-03 9.99699259e-01 1.70169057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97071405699998 meters Centerline goodness [0,1] 0.9910136266920186 Centerline is valid? [True, True] Translation: X:147.82, Y:-5.26, Z:1.70 [[ 9.99150439e-01 -3.31743886e-02 -2.44511960e-02 1.47819238e+02] [ 3.31993933e-02 9.99448558e-01 6.17292659e-04 -5.26025886e+00] [ 2.44172343e-02 -1.42853311e-03 9.99700834e-01 1.70199622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00071405699998 meters Centerline goodness [0,1] 0.9912645967230922 Centerline is valid? [True, True] Translation: X:147.85, Y:-5.26, Z:1.70 [[ 9.99166094e-01 -3.29779185e-02 -2.40743393e-02 1.47850782e+02] [ 3.30021157e-02 9.99455097e-01 6.08379682e-04 -5.25743434e+00] [ 2.40411581e-02 -1.40237648e-03 9.99709986e-01 1.70294924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03071405699998 meters Centerline goodness [0,1] 0.991400825883741 Centerline is valid? [True, True] Translation: X:147.88, Y:-5.25, Z:1.70 [[ 9.99183376e-01 -3.17576394e-02 -2.49806686e-02 1.47881635e+02] [ 3.17833266e-02 9.99494583e-01 6.31807900e-04 -5.25360280e+00] [ 2.49479782e-02 -1.42526070e-03 9.99687735e-01 1.70332749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06071405699998 meters Centerline goodness [0,1] 0.9908921595348414 Centerline is valid? [True, True] Translation: X:147.91, Y:-5.25, Z:1.70 [[ 9.99196977e-01 -3.10250814e-02 -2.53544109e-02 1.47912163e+02] [ 3.10513270e-02 9.99517585e-01 6.42002577e-04 -5.25447807e+00] [ 2.53222614e-02 -1.42877514e-03 9.99678319e-01 1.70277437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09071405699999 meters Centerline goodness [0,1] 0.99085761069796 Centerline is valid? [True, True] Translation: X:147.94, Y:-5.25, Z:1.70 [[ 9.99195517e-01 -3.03229934e-02 -2.62456807e-02 1.47942889e+02] [ 3.03509014e-02 9.99539084e-01 6.65541587e-04 -5.25281783e+00] [ 2.62134024e-02 -1.46158624e-03 9.99655301e-01 1.70194788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.120714057 meters Centerline goodness [0,1] 0.990991605814509 Centerline is valid? [True, True] Translation: X:147.97, Y:-5.25, Z:1.70 [[ 9.99181911e-01 -3.04617291e-02 -2.66005992e-02 1.47972772e+02] [ 3.04904406e-02 9.99534831e-01 6.74322592e-04 -5.25331809e+00] [ 2.65676844e-02 -1.48483493e-03 9.99645914e-01 1.70169113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.150714057 meters Centerline goodness [0,1] 0.9910254658102137 Centerline is valid? [True, True] Translation: X:148.00, Y:-5.25, Z:1.70 [[ 9.99160369e-01 -3.10440901e-02 -2.67361498e-02 1.48002840e+02] [ 3.10732901e-02 9.99516879e-01 6.77285666e-04 -5.25212740e+00] [ 2.67022073e-02 -1.50749714e-03 9.99642296e-01 1.70228965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.180714057 meters Centerline goodness [0,1] 0.990041928721174 Centerline is valid? [True, True] Translation: X:148.03, Y:-5.26, Z:1.70 [[ 9.99042803e-01 -3.38877831e-02 -2.76603777e-02 1.48031893e+02] [ 3.39201035e-02 9.99424303e-01 6.99965016e-04 -5.25634921e+00] [ 2.76207334e-02 -1.63753789e-03 9.99617133e-01 1.70103639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.210714057 meters Centerline goodness [0,1] 0.9902819600328497 Centerline is valid? [True, True] Translation: X:148.06, Y:-5.26, Z:1.70 [[ 9.98947624e-01 -3.60542909e-02 -2.83501709e-02 1.48061860e+02] [ 3.60890913e-02 9.99348320e-01 7.16645378e-04 -5.25819784e+00] [ 2.83058575e-02 -1.73902310e-03 9.99597796e-01 1.70067147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.240714057 meters Centerline goodness [0,1] 0.9886482790061546 Centerline is valid? [True, True] Translation: X:148.09, Y:-5.26, Z:1.70 [[ 9.98761880e-01 -4.01580581e-02 -2.93604825e-02 1.48090850e+02] [ 4.01971643e-02 9.99191491e-01 7.42679619e-04 -5.26227826e+00] [ 2.93069197e-02 -1.92196823e-03 9.99568612e-01 1.69910285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.270714057 meters Centerline goodness [0,1] 0.9899468849020904 Centerline is valid? [True, True] Translation: X:148.12, Y:-5.26, Z:1.70 [[ 9.98710775e-01 -4.13561486e-02 -2.94356520e-02 1.48120647e+02] [ 4.13959945e-02 9.99142540e-01 7.45299612e-04 -5.26438855e+00] [ 2.93795894e-02 -1.96285684e-03 9.99566399e-01 1.69926434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.300714057 meters Centerline goodness [0,1] 0.988841730558598 Centerline is valid? [True, True] Translation: X:148.15, Y:-5.27, Z:1.70 [[ 9.98680872e-01 -4.22514770e-02 -2.91775519e-02 1.48151334e+02] [ 4.22910145e-02 9.99105062e-01 7.39016287e-04 -5.26627351e+00] [ 2.91202153e-02 -1.97198970e-03 9.99573971e-01 1.70008019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.330714057 meters Centerline goodness [0,1] 0.988858256055048 Centerline is valid? [True, True] Translation: X:148.18, Y:-5.27, Z:1.70 [[ 9.98709393e-01 -4.19032852e-02 -2.86995288e-02 1.48183017e+02] [ 4.19414146e-02 9.99119807e-01 7.27625565e-04 -5.26527043e+00] [ 2.86437778e-02 -1.93038532e-03 9.99587819e-01 1.70146974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.360714057 meters Centerline goodness [0,1] 0.9897420734203702 Centerline is valid? [True, True] Translation: X:148.21, Y:-5.25, Z:1.71 [[ 9.98871844e-01 -3.88221104e-02 -2.73474583e-02 1.48214630e+02] [ 3.88555991e-02 9.99244595e-01 6.94029701e-04 -5.25315826e+00] [ 2.72998562e-02 -1.75584860e-03 9.99625747e-01 1.70503267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.390714057 meters Centerline goodness [0,1] 0.9886140647104459 Centerline is valid? [True, True] Translation: X:148.24, Y:-5.26, Z:1.70 [[ 9.98945605e-01 -3.70615344e-02 -2.70946816e-02 1.48244628e+02] [ 3.70937748e-02 9.99311552e-01 6.88096566e-04 -5.26340651e+00] [ 2.70505264e-02 -1.69241506e-03 9.99632635e-01 1.70385813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.420714057 meters Centerline goodness [0,1] 0.9906717271022909 Centerline is valid? [True, True] Translation: X:148.28, Y:-5.25, Z:1.71 [[ 9.99034654e-01 -3.52111858e-02 -2.62665777e-02 1.48276477e+02] [ 3.52408655e-02 9.99378625e-01 6.67749337e-04 -5.25076160e+00] [ 2.62267440e-02 -1.59276166e-03 9.99654751e-01 1.70705957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.450714057 meters Centerline goodness [0,1] 0.9898642450926436 Centerline is valid? [True, True] Translation: X:148.31, Y:-5.25, Z:1.71 [[ 9.99186831e-01 -3.13086741e-02 -2.54055906e-02 1.48306188e+02] [ 3.13351943e-02 9.99508723e-01 6.46339482e-04 -5.24857222e+00] [ 2.53728734e-02 -1.44190302e-03 9.99677017e-01 1.70843420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.480714057 meters Centerline goodness [0,1] 0.9904484859590453 Centerline is valid? [True, True] Translation: X:148.34, Y:-5.24, Z:1.71 [[ 9.99248723e-01 -2.94027529e-02 -2.52481365e-02 1.48337165e+02] [ 2.94283434e-02 9.99566686e-01 6.42512275e-04 -5.24497110e+00] [ 2.52183045e-02 -1.38504040e-03 9.99681009e-01 1.70969567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51071405699997 meters Centerline goodness [0,1] 0.990664709390339 Centerline is valid? [True, True] Translation: X:148.37, Y:-5.24, Z:1.71 [[ 9.99404490e-01 -2.52879467e-02 -2.34773420e-02 1.48367811e+02] [ 2.53089442e-02 9.99679499e-01 5.97621298e-04 -5.24160771e+00] [ 2.34547049e-02 -1.19145215e-03 9.99724191e-01 1.71134014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54071405699997 meters Centerline goodness [0,1] 0.9912873563218391 Centerline is valid? [True, True] Translation: X:148.40, Y:-5.24, Z:1.71 [[ 9.99456753e-01 -2.33848546e-02 -2.32238368e-02 1.48397557e+02] [ 2.34048788e-02 9.99725894e-01 5.90750015e-04 -5.24117574e+00] [ 2.32036564e-02 -1.13398018e-03 9.99730116e-01 1.71140429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57071405699998 meters Centerline goodness [0,1] 0.9903704725133297 Centerline is valid? [True, True] Translation: X:148.43, Y:-5.24, Z:1.71 [[ 9.99498206e-01 -2.15444001e-02 -2.32201318e-02 1.48426777e+02] [ 2.15639034e-02 9.99767298e-01 5.89833507e-04 -5.24177844e+00] [ 2.32020208e-02 -1.09025421e-03 9.99730202e-01 1.71130840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60071405699998 meters Centerline goodness [0,1] 0.990979173858014 Centerline is valid? [True, True] Translation: X:148.46, Y:-5.24, Z:1.71 [[ 9.99530879e-01 -1.87029110e-02 -2.42533285e-02 1.48456272e+02] [ 1.87233331e-02 9.99824514e-01 6.15201170e-04 -5.23863428e+00] [ 2.42375663e-02 -1.06901571e-03 9.99705655e-01 1.71093841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63071405699998 meters Centerline goodness [0,1] 0.9903682197336283 Centerline is valid? [True, True] Translation: X:148.48, Y:-5.24, Z:1.71 [[ 9.99526005e-01 -1.79318323e-02 -2.50243012e-02 1.48484400e+02] [ 1.79532960e-02 9.99838626e-01 6.33291216e-04 -5.23872259e+00] [ 2.50089068e-02 -1.08225972e-03 9.99686643e-01 1.71069737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66071405699998 meters Centerline goodness [0,1] 0.9903165563830032 Centerline is valid? [True, True] Translation: X:148.51, Y:-5.24, Z:1.71 [[ 9.99513302e-01 -1.68902931e-02 -2.62274083e-02 1.48513185e+02] [ 1.69134010e-02 9.99856741e-01 6.59459120e-04 -5.23662102e+00] [ 2.62125125e-02 -1.10273284e-03 9.99655785e-01 1.71034059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69071405699998 meters Centerline goodness [0,1] 0.9895377241093238 Centerline is valid? [True, True] Translation: X:148.54, Y:-5.24, Z:1.71 [[ 9.99493844e-01 -1.69463615e-02 -2.69235167e-02 1.48541074e+02] [ 1.69706067e-02 9.99855763e-01 6.72263451e-04 -5.23860773e+00] [ 2.69082409e-02 -1.12883159e-03 9.99637270e-01 1.70924524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72071405699998 meters Centerline goodness [0,1] 0.9889521876513596 Centerline is valid? [True, True] Translation: X:148.57, Y:-5.24, Z:1.71 [[ 9.99462284e-01 -1.75812013e-02 -2.76774934e-02 1.48569472e+02] [ 1.76069385e-02 9.99844750e-01 6.86447164e-04 -5.23669344e+00] [ 2.76611279e-02 -1.17339397e-03 9.99616669e-01 1.71004532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75071405699998 meters Centerline goodness [0,1] 0.9885225037602684 Centerline is valid? [True, True] Translation: X:148.60, Y:-5.24, Z:1.71 [[ 9.99417977e-01 -1.95568578e-02 -2.79505918e-02 1.48597967e+02] [ 1.95836810e-02 9.99807986e-01 6.86220829e-04 -5.23823621e+00] [ 2.79318045e-02 -1.23319691e-03 9.99609070e-01 1.71005647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78071405699998 meters Centerline goodness [0,1] 0.9883788226034216 Centerline is valid? [True, True] Translation: X:148.63, Y:-5.24, Z:1.71 [[ 9.99385880e-01 -2.09546783e-02 -2.80849646e-02 1.48626299e+02] [ 2.09821149e-02 9.99779618e-01 6.82537356e-04 -5.23994416e+00] [ 2.80644728e-02 -1.27140015e-03 9.99605307e-01 1.71077081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81071405699998 meters Centerline goodness [0,1] 0.9864877414561665 Centerline is valid? [True, True] Translation: X:148.66, Y:-5.24, Z:1.71 [[ 9.99320694e-01 -2.36111882e-02 -2.82959840e-02 1.48655401e+02] [ 2.36399703e-02 9.99720304e-01 6.83038268e-04 -5.24131697e+00] [ 2.82719424e-02 -1.35149050e-03 9.99599355e-01 1.71224592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84071405699999 meters Centerline goodness [0,1] 0.986410648856732 Centerline is valid? [True, True] Translation: X:148.68, Y:-5.24, Z:1.71 [[ 9.99296092e-01 -2.50311912e-02 -2.79420927e-02 1.48683946e+02] [ 2.50596851e-02 9.99685732e-01 6.69981045e-04 -5.24228806e+00] [ 2.79165409e-02 -1.36972948e-03 9.99609319e-01 1.71316896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.870714057 meters Centerline goodness [0,1] 0.987032834714954 Centerline is valid? [True, True] Translation: X:148.71, Y:-5.25, Z:1.71 [[ 9.99256452e-01 -2.75617919e-02 -2.69609134e-02 1.48712576e+02] [ 2.75891196e-02 9.99619142e-01 6.42078700e-04 -5.24628273e+00] [ 2.69329483e-02 -1.38542915e-03 9.99636282e-01 1.71360733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.900714057 meters Centerline goodness [0,1] 0.9855247566160924 Centerline is valid? [True, True] Translation: X:148.74, Y:-5.25, Z:1.71 [[ 9.99218698e-01 -2.91804361e-02 -2.66551438e-02 1.48742248e+02] [ 2.92076812e-02 9.99573164e-01 6.33286622e-04 -5.24817357e+00] [ 2.66252869e-02 -1.41132678e-03 9.99644488e-01 1.71432991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.930714057 meters Centerline goodness [0,1] 0.9855889724310777 Centerline is valid? [True, True] Translation: X:148.77, Y:-5.25, Z:1.71 [[ 9.99166305e-01 -3.06395998e-02 -2.69798057e-02 1.48772111e+02] [ 3.06680235e-02 9.99529420e-01 6.40266533e-04 -5.25022395e+00] [ 2.69474920e-02 -1.46715006e-03 9.99635774e-01 1.71482631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.960714057 meters Centerline goodness [0,1] 0.9846983861215758 Centerline is valid? [True, True] Translation: X:148.80, Y:-5.25, Z:1.72 [[ 9.99096177e-01 -3.28787758e-02 -2.69409578e-02 1.48802530e+02] [ 3.29079223e-02 9.99458183e-01 6.39094758e-04 -5.25316580e+00] [ 2.69053480e-02 -1.52508807e-03 9.99636822e-01 1.71566777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.990714057 meters Centerline goodness [0,1] 0.9841780204020263 Centerline is valid? [True, True] Translation: X:148.83, Y:-5.25, Z:1.72 [[ 9.99081565e-01 -3.36568963e-02 -2.65186818e-02 1.48834100e+02] [ 3.36854205e-02 9.99432287e-01 6.29511927e-04 -5.25474307e+00] [ 2.64824393e-02 -1.52222671e-03 9.99648120e-01 1.71601765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.020714057 meters Centerline goodness [0,1] 0.9831039524682619 Centerline is valid? [True, True] Translation: X:148.87, Y:-5.26, Z:1.72 [[ 9.99038488e-01 -3.49407562e-02 -2.64810104e-02 1.48865371e+02] [ 3.49696734e-02 9.99388176e-01 6.29546794e-04 -5.25684854e+00] [ 2.64428118e-02 -1.55497376e-03 9.99649118e-01 1.71702258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.050714057 meters Centerline goodness [0,1] 0.9834994206257243 Centerline is valid? [True, True] Translation: X:148.90, Y:-5.26, Z:1.72 [[ 9.98999017e-01 -3.56385737e-02 -2.70343438e-02 1.48896982e+02] [ 3.56689929e-02 9.99363452e-01 6.43656446e-04 -5.25834808e+00] [ 2.69941961e-02 -1.60729997e-03 9.99634298e-01 1.71715866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.080714057 meters Centerline goodness [0,1] 0.983136827963216 Centerline is valid? [True, True] Translation: X:148.93, Y:-5.26, Z:1.72 [[ 9.98999610e-01 -3.57302852e-02 -2.68909970e-02 1.48927934e+02] [ 3.57604406e-02 9.99360185e-01 6.41175182e-04 -5.26033025e+00] [ 2.68508824e-02 -1.60216766e-03 9.99638166e-01 1.71761264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.110714057 meters Centerline goodness [0,1] 0.9840001852366398 Centerline is valid? [True, True] Translation: X:148.96, Y:-5.26, Z:1.72 [[ 9.98938236e-01 -3.68191906e-02 -2.76902186e-02 1.48957743e+02] [ 3.68516281e-02 9.99320529e-01 6.61868990e-04 -5.26428123e+00] [ 2.76470344e-02 -1.68159588e-03 9.99616333e-01 1.71722798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.140714057 meters Centerline goodness [0,1] 0.983127135075247 Centerline is valid? [True, True] Translation: X:148.99, Y:-5.27, Z:1.72 [[ 9.98893906e-01 -3.74303563e-02 -2.84593233e-02 1.48988231e+02] [ 3.74649102e-02 9.99297711e-01 6.81712211e-04 -5.26700191e+00] [ 2.84138199e-02 -1.74718416e-03 9.99594719e-01 1.71709915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.170714057 meters Centerline goodness [0,1] 0.9829353900152403 Centerline is valid? [True, True] Translation: X:149.02, Y:-5.27, Z:1.72 [[ 9.98790858e-01 -3.91715844e-02 -2.97053798e-02 1.49018433e+02] [ 3.92100222e-02 9.99230737e-01 7.12346257e-04 -5.27125669e+00] [ 2.96546249e-02 -1.87623353e-03 9.99558444e-01 1.71675849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.200714057 meters Centerline goodness [0,1] 0.9828451690153818 Centerline is valid? [True, True] Translation: X:149.05, Y:-5.27, Z:1.72 [[ 9.98758693e-01 -3.97958839e-02 -2.99559665e-02 1.49049301e+02] [ 3.98352755e-02 9.99206002e-01 7.19111421e-04 -5.27361888e+00] [ 2.99035638e-02 -1.91152296e-03 9.99550961e-01 1.71721285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.230714057 meters Centerline goodness [0,1] 0.9829957085505976 Centerline is valid? [True, True] Translation: X:149.08, Y:-5.28, Z:1.72 [[ 9.98712055e-01 -4.02266865e-02 -3.09199618e-02 1.49080034e+02] [ 4.02688688e-02 9.99188604e-01 7.42497408e-04 -5.27655240e+00] [ 3.08650053e-02 -1.98665300e-03 9.99521588e-01 1.71713262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26071405699997 meters Centerline goodness [0,1] 0.9826646969207331 Centerline is valid? [True, True] Translation: X:149.11, Y:-5.28, Z:1.72 [[ 9.98657022e-01 -4.09232465e-02 -3.17716802e-02 1.49109576e+02] [ 4.09681326e-02 9.99160162e-01 7.62807635e-04 -5.28042894e+00] [ 3.17137805e-02 -2.06340961e-03 9.99494862e-01 1.71695299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29071405699997 meters Centerline goodness [0,1] 0.9826646969207331 Centerline is valid? [True, True] Translation: X:149.14, Y:-5.28, Z:1.72 [[ 9.98657022e-01 -4.09232481e-02 -3.17716829e-02 1.49139632e+02] [ 4.09681306e-02 9.99160163e-01 7.62693166e-04 -5.28115041e+00] [ 3.17137880e-02 -2.06329534e-03 9.99494862e-01 1.71737885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32071405699998 meters Centerline goodness [0,1] 0.9838244054437978 Centerline is valid? [True, True] Translation: X:149.17, Y:-5.28, Z:1.72 [[ 9.98686145e-01 -4.06157968e-02 -3.12464464e-02 1.49169845e+02] [ 4.06590568e-02 9.99172797e-01 7.50084634e-04 -5.28353776e+00] [ 3.11901340e-02 -2.01955017e-03 9.99511429e-01 1.71826186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35071405699998 meters Centerline goodness [0,1] 0.9831055559370923 Centerline is valid? [True, True] Translation: X:149.20, Y:-5.29, Z:1.72 [[ 9.98719723e-01 -4.02201459e-02 -3.06798594e-02 1.49200097e+02] [ 4.02616645e-02 9.99188899e-01 7.36483466e-04 -5.28549641e+00] [ 3.06253535e-02 -1.97076277e-03 9.99528991e-01 1.71937361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38071405699998 meters Centerline goodness [0,1] 0.9830209431281792 Centerline is valid? [True, True] Translation: X:149.23, Y:-5.29, Z:1.72 [[ 9.98740909e-01 -4.01005612e-02 -3.01420280e-02 1.49229198e+02] [ 4.01405742e-02 9.99193781e-01 7.23314851e-04 -5.28857731e+00] [ 3.00887215e-02 -1.93232244e-03 9.99545364e-01 1.72008501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41071405699998 meters Centerline goodness [0,1] 0.9821609195402299 Centerline is valid? [True, True] Translation: X:149.26, Y:-5.29, Z:1.72 [[ 9.98745185e-01 -4.07317280e-02 -2.91372851e-02 1.49259399e+02] [ 4.07693775e-02 9.99168339e-01 6.98983529e-04 -5.29152636e+00] [ 2.90845819e-02 -1.88601541e-03 9.99575175e-01 1.72205954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44071405699998 meters Centerline goodness [0,1] 0.9846727423363711 Centerline is valid? [True, True] Translation: X:149.29, Y:-5.29, Z:1.72 [[ 9.98738355e-01 -4.12748191e-02 -2.86022236e-02 1.49289540e+02] [ 4.13113196e-02 9.99146087e-01 6.86147771e-04 -5.29256482e+00] [ 2.85494792e-02 -1.86687770e-03 9.99590637e-01 1.72330443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47071405699998 meters Centerline goodness [0,1] 0.9788894516322114 Centerline is valid? [True, True] Translation: X:149.32, Y:-5.30, Z:1.72 [[ 9.98641147e-01 -4.39286375e-02 -2.80380825e-02 1.49319559e+02] [ 4.39647526e-02 9.99032856e-01 6.72614413e-04 -5.30089580e+00] [ 2.79814187e-02 -1.90438779e-03 9.99606629e-01 1.72325445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50071405699998 meters Centerline goodness [0,1] 0.9766009286075484 Centerline is valid? [True, True] Translation: X:149.35, Y:-5.31, Z:1.72 [[ 9.98581184e-01 -4.55725562e-02 -2.75456020e-02 1.49350683e+02] [ 4.56080471e-02 9.98959193e-01 6.61220325e-04 -5.30549391e+00] [ 2.74867989e-02 -1.91658329e-03 9.99620329e-01 1.72393365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53071405699998 meters Centerline goodness [0,1] 0.9718575402938404 Centerline is valid? [True, True] Translation: X:149.38, Y:-5.31, Z:1.72 [[ 9.98437623e-01 -4.90632283e-02 -2.67416011e-02 1.49380727e+02] [ 4.90979344e-02 9.98793763e-01 6.42386763e-04 -5.31144379e+00] [ 2.66778268e-02 -1.95434049e-03 9.99642173e-01 1.72463091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56071405699998 meters Centerline goodness [0,1] 0.9845618214302075 Centerline is valid? [True, True] Translation: X:149.41, Y:-5.29, Z:1.73 [[ 9.98389437e-01 -5.00709947e-02 -2.66726033e-02 1.49413020e+02] [ 5.01059045e-02 9.98743704e-01 6.41672887e-04 -5.29311061e+00] [ 2.66069654e-02 -1.97709435e-03 9.99644017e-01 1.72870938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59071405699999 meters Centerline goodness [0,1] 0.9841237113402062 Centerline is valid? [True, True] Translation: X:149.44, Y:-5.30, Z:1.73 [[ 9.98332235e-01 -5.10852053e-02 -2.68895882e-02 1.49443978e+02] [ 5.11210975e-02 9.98692251e-01 6.48608312e-04 -5.29761988e+00] [ 2.68212891e-02 -2.02215185e-03 9.99638199e-01 1.72875341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.620714057 meters Centerline goodness [0,1] 0.9842296528238064 Centerline is valid? [True, True] Translation: X:149.47, Y:-5.30, Z:1.73 [[ 9.98208561e-01 -5.28355982e-02 -2.80725673e-02 1.49474547e+02] [ 5.28754366e-02 9.98600885e-01 6.78181181e-04 -5.30223086e+00] [ 2.79974585e-02 -2.16131551e-03 9.99605658e-01 1.72792722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.650714057 meters Centerline goodness [0,1] 0.9853954446606387 Centerline is valid? [True, True] Translation: X:149.51, Y:-5.30, Z:1.73 [[ 9.98141790e-01 -5.36297847e-02 -2.89277131e-02 1.49506177e+02] [ 5.36724698e-02 9.98558348e-01 7.00566537e-04 -5.30444152e+00] [ 2.88484382e-02 -2.25188654e-03 9.99581261e-01 1.72760063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.680714057 meters Centerline goodness [0,1] 0.9856120029186428 Centerline is valid? [True, True] Translation: X:149.54, Y:-5.31, Z:1.73 [[ 9.97995297e-01 -5.48383482e-02 -3.15933970e-02 1.49537365e+02] [ 5.48899373e-02 9.98492116e-01 7.67279858e-04 -5.30521703e+00] [ 3.15036814e-02 -2.49990127e-03 9.99500510e-01 1.72601150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.710714057 meters Centerline goodness [0,1] 0.9850035326025024 Centerline is valid? [True, True] Translation: X:149.57, Y:-5.31, Z:1.73 [[ 9.97985483e-01 -5.48187062e-02 -3.19356497e-02 1.49568765e+02] [ 5.48714559e-02 9.98493124e-01 7.77037741e-04 -5.30928534e+00] [ 3.18449304e-02 -2.52782798e-03 9.99489625e-01 1.72526211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.740714057 meters Centerline goodness [0,1] 0.9842074033502214 Centerline is valid? [True, True] Translation: X:149.60, Y:-5.31, Z:1.73 [[ 9.97976797e-01 -5.48041298e-02 -3.22307157e-02 1.49600235e+02] [ 5.48579064e-02 9.98493862e-01 7.85912566e-04 -5.31241245e+00] [ 3.21391005e-02 -2.55243209e-03 9.99480147e-01 1.72526485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.770714057 meters Centerline goodness [0,1] 0.9857322223490469 Centerline is valid? [True, True] Translation: X:149.63, Y:-5.31, Z:1.73 [[ 9.98071886e-01 -5.32683549e-02 -3.18589389e-02 1.49631804e+02] [ 5.33201631e-02 9.98577165e-01 7.78210054e-04 -5.30831974e+00] [ 3.17721549e-02 -2.47543339e-03 9.99492072e-01 1.72844079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.800714057 meters Centerline goodness [0,1] 0.9821176363387853 Centerline is valid? [True, True] Translation: X:149.66, Y:-5.32, Z:1.73 [[ 9.98238813e-01 -5.11991818e-02 -2.99652588e-02 1.49661033e+02] [ 5.12440900e-02 9.98685890e-01 7.32151629e-04 -5.31645000e+00] [ 2.98883956e-02 -2.26640459e-03 9.99550673e-01 1.72929073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.830714057 meters Centerline goodness [0,1] 0.986154197080292 Centerline is valid? [True, True] Translation: X:149.69, Y:-5.30, Z:1.73 [[ 9.98304558e-01 -4.98985373e-02 -2.99690728e-02 1.49692537e+02] [ 4.99428842e-02 9.98751807e-01 7.32573720e-04 -5.30354383e+00] [ 2.98951112e-02 -2.22807361e-03 9.99550558e-01 1.73304770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.860714057 meters Centerline goodness [0,1] 0.9862238286844438 Centerline is valid? [True, True] Translation: X:149.72, Y:-5.30, Z:1.73 [[ 9.98434003e-01 -4.79205495e-02 -2.88645710e-02 1.49723464e+02] [ 4.79608937e-02 9.98848964e-01 7.06603931e-04 -5.30398563e+00] [ 2.87974860e-02 -2.08986801e-03 9.99583082e-01 1.73386626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.890714057 meters Centerline goodness [0,1] 0.9860428992393266 Centerline is valid? [True, True] Translation: X:149.75, Y:-5.30, Z:1.74 [[ 9.98588934e-01 -4.51466867e-02 -2.79627786e-02 1.49754616e+02] [ 4.51834886e-02 9.98978470e-01 6.85329615e-04 -5.30421798e+00] [ 2.79032734e-02 -1.94781846e-03 9.99608730e-01 1.73532806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.920714057 meters Centerline goodness [0,1] 0.9828827387617981 Centerline is valid? [True, True] Translation: X:149.79, Y:-5.32, Z:1.73 [[ 9.98640644e-01 -4.39953776e-02 -2.79512164e-02 1.49785331e+02] [ 4.40317228e-02 9.99029898e-01 6.85853080e-04 -5.31583750e+00] [ 2.78939265e-02 -1.91566098e-03 9.99609053e-01 1.73354369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.950714057 meters Centerline goodness [0,1] 0.9854460843579624 Centerline is valid? [True, True] Translation: X:149.82, Y:-5.30, Z:1.74 [[ 9.98762447e-01 -4.16791014e-02 -2.71371815e-02 1.49816781e+02] [ 4.17125280e-02 9.99129431e-01 6.66599350e-04 -5.30413778e+00] [ 2.70857735e-02 -1.79773484e-03 9.99631497e-01 1.73649588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.980714057 meters Centerline goodness [0,1] 0.9849145308898373 Centerline is valid? [True, True] Translation: X:149.85, Y:-5.31, Z:1.74 [[ 9.98777779e-01 -4.13133946e-02 -2.71321088e-02 1.49848317e+02] [ 4.13466999e-02 9.99144637e-01 6.67417280e-04 -5.30698894e+00] [ 2.70813277e-02 -1.78842471e-03 9.99631634e-01 1.73625298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01071405699997 meters Centerline goodness [0,1] 0.9858523825770499 Centerline is valid? [True, True] Translation: X:149.88, Y:-5.31, Z:1.74 [[ 9.98818912e-01 -4.03827014e-02 -2.70188601e-02 1.49879652e+02] [ 4.04154226e-02 9.99182741e-01 6.65835784e-04 -5.30704041e+00] [ 2.69698905e-02 -1.75702802e-03 9.99634702e-01 1.73658568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04071405699997 meters Centerline goodness [0,1] 0.9859543516428392 Centerline is valid? [True, True] Translation: X:149.91, Y:-5.31, Z:1.74 [[ 9.98816687e-01 -3.96405116e-02 -2.81754309e-02 1.49909508e+02] [ 3.96758230e-02 9.99212363e-01 6.95103976e-04 -5.31000150e+00] [ 2.81256846e-02 -1.81216486e-03 9.99602752e-01 1.73596104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07071405699998 meters Centerline goodness [0,1] 0.9869949437434519 Centerline is valid? [True, True] Translation: X:149.94, Y:-5.31, Z:1.74 [[ 9.98833292e-01 -3.85801124e-02 -2.90453081e-02 1.49939414e+02] [ 3.86172283e-02 9.99253819e-01 7.17797374e-04 -5.31314668e+00] [ 2.89959423e-02 -1.83860921e-03 9.99577838e-01 1.73523312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10071405699998 meters Centerline goodness [0,1] 0.9870838182606513 Centerline is valid? [True, True] Translation: X:149.97, Y:-5.31, Z:1.74 [[ 9.98823545e-01 -3.83696219e-02 -2.96529705e-02 1.49970620e+02] [ 3.84082599e-02 9.99261861e-01 7.34311738e-04 -5.31056989e+00] [ 2.96029072e-02 -1.87236685e-03 9.99559984e-01 1.73655957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13071405699998 meters Centerline goodness [0,1] 0.9875989806134523 Centerline is valid? [True, True] Translation: X:150.00, Y:-5.32, Z:1.74 [[ 9.98835821e-01 -3.77543265e-02 -3.00268748e-02 1.49999708e+02] [ 3.77936878e-02 9.99285286e-01 7.44208927e-04 -5.31611461e+00] [ 2.99773171e-02 -1.87816887e-03 9.99548815e-01 1.73536275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16071405699998 meters Centerline goodness [0,1] 0.988829230559221 Centerline is valid? [True, True] Translation: X:150.03, Y:-5.31, Z:1.74 [[ 9.98874494e-01 -3.66733433e-02 -3.00800875e-02 1.50029869e+02] [ 3.67123271e-02 9.99325598e-01 7.44558104e-04 -5.31458331e+00] [ 3.00324960e-02 -1.84803011e-03 9.99547214e-01 1.73576365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19071405699998 meters Centerline goodness [0,1] 0.9882190039496981 Centerline is valid? [True, True] Translation: X:150.06, Y:-5.31, Z:1.74 [[ 9.98910149e-01 -3.56782652e-02 -3.00927961e-02 1.50060091e+02] [ 3.57168031e-02 9.99361675e-01 7.43906399e-04 -5.31322605e+00] [ 3.00470458e-02 -1.81791412e-03 9.99546832e-01 1.73676972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22071405699998 meters Centerline goodness [0,1] 0.9887995274445656 Centerline is valid? [True, True] Translation: X:150.09, Y:-5.32, Z:1.74 [[ 9.98986071e-01 -3.42852467e-02 -2.91779385e-02 1.50089776e+02] [ 3.43208762e-02 9.99410605e-01 7.21028638e-04 -5.31638554e+00] [ 2.91360206e-02 -1.72170998e-03 9.99573973e-01 1.73658685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25071405699998 meters Centerline goodness [0,1] 0.9891629636347148 Centerline is valid? [True, True] Translation: X:150.12, Y:-5.32, Z:1.74 [[ 9.99032297e-01 -3.35639407e-02 -2.84241247e-02 1.50119148e+02] [ 3.35974403e-02 9.99435200e-01 7.01665854e-04 -5.31540470e+00] [ 2.83845201e-02 -1.65596469e-03 9.99595707e-01 1.73819728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28071405699998 meters Centerline goodness [0,1] 0.9889865844815083 Centerline is valid? [True, True] Translation: X:150.15, Y:-5.32, Z:1.74 [[ 9.99062517e-01 -3.34286081e-02 -2.75066574e-02 1.50148807e+02] [ 3.34599087e-02 9.99439830e-01 6.78313036e-04 -5.31819493e+00] [ 2.74685740e-02 -1.59804737e-03 9.99621390e-01 1.73828018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31071405699998 meters Centerline goodness [0,1] 0.9888991883520608 Centerline is valid? [True, True] Translation: X:150.18, Y:-5.32, Z:1.74 [[ 9.99062087e-01 -3.39730935e-02 -2.68472553e-02 1.50179063e+02] [ 3.40031002e-02 9.99421508e-01 6.61814204e-04 -5.32009533e+00] [ 2.68092405e-02 -1.57408339e-03 9.99639328e-01 1.73916692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34071405699999 meters Centerline goodness [0,1] 0.9880849907126353 Centerline is valid? [True, True] Translation: X:150.21, Y:-5.32, Z:1.74 [[ 9.99038743e-01 -3.49472955e-02 -2.64627398e-02 1.50208973e+02] [ 3.49767835e-02 9.99387912e-01 6.52127492e-04 -5.32267978e+00] [ 2.64237522e-02 -1.57708215e-03 9.99649588e-01 1.73950702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.370714057 meters Centerline goodness [0,1] 0.9867497168742921 Centerline is valid? [True, True] Translation: X:150.24, Y:-5.33, Z:1.74 [[ 9.98981208e-01 -3.69438248e-02 -2.59171746e-02 1.50239415e+02] [ 3.69727773e-02 9.99316069e-01 6.38647501e-04 -5.32774756e+00] [ 2.58758549e-02 -1.59622678e-03 9.99663890e-01 1.73949854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.400714057 meters Centerline goodness [0,1] 0.9866705959694421 Centerline is valid? [True, True] Translation: X:150.27, Y:-5.33, Z:1.74 [[ 9.98921405e-01 -3.86565663e-02 -2.57234512e-02 1.50269722e+02] [ 3.86856590e-02 9.99251229e-01 6.34111331e-04 -5.32932048e+00] [ 2.56796777e-02 -1.62855605e-03 9.99668896e-01 1.73988917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.430714057 meters Centerline goodness [0,1] 0.9854615559083693 Centerline is valid? [True, True] Translation: X:150.30, Y:-5.34, Z:1.74 [[ 9.98797358e-01 -4.17187810e-02 -2.57561855e-02 1.50299365e+02] [ 4.17489725e-02 9.99127930e-01 6.35349078e-04 -5.33523448e+00] [ 2.57072183e-02 -1.70987926e-03 9.99668053e-01 1.73936595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.460714057 meters Centerline goodness [0,1] 0.985623256763192 Centerline is valid? [True, True] Translation: X:150.33, Y:-5.34, Z:1.74 [[ 9.98736972e-01 -4.33393273e-02 -2.54197474e-02 1.50330870e+02] [ 4.33692799e-02 9.99058913e-01 6.27940090e-04 -5.33840997e+00] [ 2.53686107e-02 -1.72958312e-03 9.99676669e-01 1.73931120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.490714057 meters Centerline goodness [0,1] 0.9835798615823043 Centerline is valid? [True, True] Translation: X:150.36, Y:-5.34, Z:1.74 [[ 9.98647043e-01 -4.53835011e-02 -2.53854712e-02 1.50361261e+02] [ 4.54140465e-02 9.98968053e-01 6.27742786e-04 -5.34286921e+00] [ 2.53307856e-02 -1.77975045e-03 9.99677540e-01 1.73887453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.520714057 meters Centerline goodness [0,1] 0.9827831949503405 Centerline is valid? [True, True] Translation: X:150.39, Y:-5.35, Z:1.74 [[ 9.98457747e-01 -4.95865477e-02 -2.49659926e-02 1.50390116e+02] [ 4.96174172e-02 9.98768106e-01 6.18131717e-04 -5.34958342e+00] [ 2.49045861e-02 -1.85592647e-03 9.99688110e-01 1.73910248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.550714057 meters Centerline goodness [0,1] 0.9813581890812251 Centerline is valid? [True, True] Translation: X:150.42, Y:-5.35, Z:1.74 [[ 9.98380453e-01 -5.11971548e-02 -2.48057082e-02 1.50421533e+02] [ 5.12281490e-02 9.98686787e-01 6.15204024e-04 -5.35211917e+00] [ 2.47416363e-02 -1.88495819e-03 9.99692102e-01 1.73962128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.580714057 meters Centerline goodness [0,1] 0.9785387407290516 Centerline is valid? [True, True] Translation: X:150.45, Y:-5.36, Z:1.74 [[ 9.98284420e-01 -5.34997884e-02 -2.37905177e-02 1.50452328e+02] [ 5.35289607e-02 9.98566123e-01 5.90621519e-04 -5.35741884e+00] [ 2.37248069e-02 -1.86308995e-03 9.99716791e-01 1.74065592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.610714057 meters Centerline goodness [0,1] 0.9863140540662616 Centerline is valid? [True, True] Translation: X:150.48, Y:-5.34, Z:1.74 [[ 9.98246730e-01 -5.43928217e-02 -2.33428066e-02 1.50484509e+02] [ 5.44211691e-02 9.98517901e-01 5.80389732e-04 -5.34394289e+00] [ 2.32766412e-02 -1.84971497e-03 9.99727351e-01 1.74341291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.640714057 meters Centerline goodness [0,1] 0.9852166640294763 Centerline is valid? [True, True] Translation: X:150.52, Y:-5.34, Z:1.74 [[ 9.98215682e-01 -5.49855282e-02 -2.32818299e-02 1.50516424e+02] [ 5.50139267e-02 9.98485418e-01 5.80549649e-04 -5.34331030e+00] [ 2.32146459e-02 -1.86033865e-03 9.99728773e-01 1.74441018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.670714057 meters Centerline goodness [0,1] 0.9859659398089746 Centerline is valid? [True, True] Translation: X:150.55, Y:-5.34, Z:1.74 [[ 9.98218296e-01 -5.48804901e-02 -2.34172073e-02 1.50548179e+02] [ 5.49092309e-02 9.98491178e-01 5.85625859e-04 -5.34429984e+00] [ 2.33497355e-02 -1.87040329e-03 9.99725608e-01 1.74487507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.700714057 meters Centerline goodness [0,1] 0.9868498086016663 Centerline is valid? [True, True] Translation: X:150.58, Y:-5.35, Z:1.74 [[ 9.98257501e-01 -5.38839717e-02 -2.40515891e-02 1.50579038e+02] [ 5.39140419e-02 9.98545398e-01 6.03067407e-04 -5.34752787e+00] [ 2.39841079e-02 -1.89873494e-03 9.99710537e-01 1.74343225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.730714057 meters Centerline goodness [0,1] 0.9852015610548399 Centerline is valid? [True, True] Translation: X:150.61, Y:-5.35, Z:1.74 [[ 9.98285164e-01 -5.30976465e-02 -2.46448844e-02 1.50610890e+02] [ 5.31290182e-02 9.98587464e-01 6.19457174e-04 -5.34927342e+00] [ 2.45771809e-02 -1.92775342e-03 9.99696077e-01 1.74304861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76071405699997 meters Centerline goodness [0,1] 0.9854525740360072 Centerline is valid? [True, True] Translation: X:150.64, Y:-5.35, Z:1.74 [[ 9.98308732e-01 -5.24499868e-02 -2.50733730e-02 1.50643254e+02] [ 5.24823008e-02 9.98621654e-01 6.32009253e-04 -5.34944327e+00] [ 2.50056643e-02 -1.94684866e-03 9.99685414e-01 1.74275406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79071405699997 meters Centerline goodness [0,1] 0.9857352774951961 Centerline is valid? [True, True] Translation: X:150.67, Y:-5.35, Z:1.74 [[ 9.98384600e-01 -5.06045737e-02 -2.58334451e-02 1.50673849e+02] [ 5.06383005e-02 9.98716845e-01 6.52609267e-04 -5.35064379e+00] [ 2.57672718e-02 -1.95971680e-03 9.99666048e-01 1.74245843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82071405699998 meters Centerline goodness [0,1] 0.9862942204270576 Centerline is valid? [True, True] Translation: X:150.71, Y:-5.35, Z:1.74 [[ 9.98548140e-01 -4.75571965e-02 -2.52967279e-02 1.50705117e+02] [ 4.75885804e-02 9.98866817e-01 6.39729384e-04 -5.34611351e+00] [ 2.52376383e-02 -1.84263596e-03 9.99679782e-01 1.74387766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85071405699998 meters Centerline goodness [0,1] 0.9859539690850729 Centerline is valid? [True, True] Translation: X:150.74, Y:-5.34, Z:1.74 [[ 9.98665153e-01 -4.53417660e-02 -2.47393665e-02 1.50735930e+02] [ 4.53711163e-02 9.98970004e-01 6.26069184e-04 -5.34498803e+00] [ 2.46854980e-02 -1.74768615e-03 9.99693739e-01 1.74479804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88071405699998 meters Centerline goodness [0,1] 0.9847616448326055 Centerline is valid? [True, True] Translation: X:150.77, Y:-5.34, Z:1.75 [[ 9.98778172e-01 -4.29642544e-02 -2.44179501e-02 1.50765295e+02] [ 4.29921627e-02 9.99075218e-01 6.18880926e-04 -5.34444763e+00] [ 2.43687791e-02 -1.66790524e-03 9.99701646e-01 1.74542768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91071405699998 meters Centerline goodness [0,1] 0.9856957087126138 Centerline is valid? [True, True] Translation: X:150.80, Y:-5.34, Z:1.75 [[ 9.98967984e-01 -3.83789382e-02 -2.42904308e-02 1.50796231e+02] [ 3.84052287e-02 9.99262057e-01 6.16585223e-04 -5.34058333e+00] [ 2.42488419e-02 -1.54882844e-03 9.99704754e-01 1.74584307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94071405699998 meters Centerline goodness [0,1] 0.9857862007699141 Centerline is valid? [True, True] Translation: X:150.83, Y:-5.34, Z:1.75 [[ 9.99063793e-01 -3.60920107e-02 -2.38517102e-02 1.50826375e+02] [ 3.61167105e-02 9.99347395e-01 6.05447226e-04 -5.33999343e+00] [ 2.38142926e-02 -1.46632571e-03 9.99715324e-01 1.74591224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97071405699998 meters Centerline goodness [0,1] 0.9849010126813247 Centerline is valid? [True, True] Translation: X:150.86, Y:-5.34, Z:1.75 [[ 9.99191059e-01 -3.25492401e-02 -2.36172561e-02 1.50856695e+02] [ 3.25724705e-02 9.99469197e-01 5.99495888e-04 -5.33809574e+00] [ 2.35852068e-02 -1.36828331e-03 9.99720894e-01 1.74554164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00071405699998 meters Centerline goodness [0,1] 0.9862935203648949 Centerline is valid? [True, True] Translation: X:150.89, Y:-5.34, Z:1.75 [[ 9.99247173e-01 -3.11418368e-02 -2.31359703e-02 1.50887106e+02] [ 3.11637538e-02 9.99514120e-01 5.87279023e-04 -5.33584976e+00] [ 2.31064401e-02 -1.30784059e-03 9.99732155e-01 1.74656508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03071405699998 meters Centerline goodness [0,1] 0.9872927923802546 Centerline is valid? [True, True] Translation: X:150.92, Y:-5.34, Z:1.75 [[ 9.99294806e-01 -2.99885376e-02 -2.25959763e-02 1.50916209e+02] [ 3.00091524e-02 9.99549459e-01 5.73711132e-04 -5.33714854e+00] [ 2.25685911e-02 -1.25139265e-03 9.99744514e-01 1.74667824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06071405699998 meters Centerline goodness [0,1] 0.9876205457903017 Centerline is valid? [True, True] Translation: X:150.95, Y:-5.34, Z:1.75 [[ 9.99349745e-01 -2.84887843e-02 -2.21015021e-02 1.50946676e+02] [ 2.85081459e-02 9.99593403e-01 5.61384866e-04 -5.33613251e+00] [ 2.20765225e-02 -1.19109267e-03 9.99755574e-01 1.74703724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09071405699999 meters Centerline goodness [0,1] 0.9864561371344761 Centerline is valid? [True, True] Translation: X:150.98, Y:-5.34, Z:1.75 [[ 9.99371088e-01 -2.81943086e-02 -2.15060290e-02 1.50977048e+02] [ 2.82125726e-02 9.99601797e-01 5.46259669e-04 -5.33737022e+00] [ 2.14820638e-02 -1.15265652e-03 9.99768569e-01 1.74751566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.120714057 meters Centerline goodness [0,1] 0.9879925897125083 Centerline is valid? [True, True] Translation: X:151.01, Y:-5.33, Z:1.75 [[ 9.99392147e-01 -2.85046190e-02 -2.00704760e-02 1.51008189e+02] [ 2.85205921e-02 9.99593075e-01 5.10004507e-04 -5.33414618e+00] [ 2.00477713e-02 -1.08211636e-03 9.99798438e-01 1.74951918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.150714057 meters Centerline goodness [0,1] 0.9866964835816808 Centerline is valid? [True, True] Translation: X:151.04, Y:-5.34, Z:1.75 [[ 9.99382081e-01 -2.93595543e-02 -1.93254383e-02 1.51038678e+02] [ 2.93745370e-02 9.99568354e-01 4.91816525e-04 -5.33828421e+00] [ 1.93026570e-02 -1.05918842e-03 9.99813125e-01 1.74995296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.180714057 meters Centerline goodness [0,1] 0.9848625620340365 Centerline is valid? [True, True] Translation: X:151.07, Y:-5.35, Z:1.75 [[ 9.99358564e-01 -3.08049200e-02 -1.82624593e-02 1.51069087e+02] [ 3.08185538e-02 9.99524887e-01 4.65517264e-04 -5.34614436e+00] [ 1.82394424e-02 -1.02804125e-03 9.99833119e-01 1.74998556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.210714057 meters Centerline goodness [0,1] 0.9848625620340365 Centerline is valid? [True, True] Translation: X:151.10, Y:-5.35, Z:1.75 [[ 9.99360588e-01 -3.07392029e-02 -1.82624463e-02 1.51100816e+02] [ 3.07528351e-02 9.99526911e-01 4.66028578e-04 -5.34702086e+00] [ 1.82394812e-02 -1.02735259e-03 9.99833119e-01 1.75043503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.240714057 meters Centerline goodness [0,1] 0.986268045924747 Centerline is valid? [True, True] Translation: X:151.13, Y:-5.35, Z:1.75 [[ 9.99344312e-01 -3.14299699e-02 -1.79750693e-02 1.51133187e+02] [ 3.14433088e-02 9.99505431e-01 4.59868876e-04 -5.34667139e+00] [ 1.79517258e-02 -1.02476300e-03 9.99838330e-01 1.75095157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.270714057 meters Centerline goodness [0,1] 0.9866751413070619 Centerline is valid? [True, True] Translation: X:151.17, Y:-5.34, Z:1.75 [[ 9.99336658e-01 -3.14995328e-02 -1.82763277e-02 1.51165606e+02] [ 3.15133571e-02 9.99503221e-01 4.68831033e-04 -5.34496951e+00] [ 1.82524805e-02 -1.04446848e-03 9.99832864e-01 1.75129490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.300714057 meters Centerline goodness [0,1] 0.9855187417848887 Centerline is valid? [True, True] Translation: X:151.20, Y:-5.35, Z:1.75 [[ 9.99275858e-01 -3.27382257e-02 -1.93899080e-02 1.51197141e+02] [ 3.27540426e-02 9.99463318e-01 4.98624301e-04 -5.34566085e+00] [ 1.93631777e-02 -1.13336110e-03 9.99811874e-01 1.75006954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.330714057 meters Centerline goodness [0,1] 0.9869328493647913 Centerline is valid? [True, True] Translation: X:151.23, Y:-5.35, Z:1.75 [[ 9.99271917e-01 -3.31187964e-02 -1.89415197e-02 1.51229541e+02] [ 3.31339736e-02 9.99450800e-01 4.87912492e-04 -5.34579584e+00] [ 1.89149580e-02 -1.11516507e-03 9.99820474e-01 1.75047368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.360714057 meters Centerline goodness [0,1] 0.9854790554600561 Centerline is valid? [True, True] Translation: X:151.26, Y:-5.35, Z:1.75 [[ 9.99258586e-01 -3.38943134e-02 -1.82607087e-02 1.51261357e+02] [ 3.39085722e-02 9.99424828e-01 4.71703788e-04 -5.34880882e+00] [ 1.82342176e-02 -1.09054862e-03 9.99833148e-01 1.75061909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.390714057 meters Centerline goodness [0,1] 0.9857275548809497 Centerline is valid? [True, True] Translation: X:151.29, Y:-5.35, Z:1.75 [[ 9.99285999e-01 -3.32696239e-02 -1.79059776e-02 1.51292406e+02] [ 3.32832598e-02 9.99445851e-01 4.63978712e-04 -5.34974290e+00] [ 1.78806186e-02 -1.05961673e-03 9.99839567e-01 1.75204970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.420714057 meters Centerline goodness [0,1] 0.9847017639570831 Centerline is valid? [True, True] Translation: X:151.32, Y:-5.35, Z:1.75 [[ 9.99303715e-01 -3.32296758e-02 -1.69668321e-02 1.51323505e+02] [ 3.32419276e-02 9.99447237e-01 4.40508458e-04 -5.35170474e+00] [ 1.69428155e-02 -1.00421194e-03 9.99855956e-01 1.75303107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.450714057 meters Centerline goodness [0,1] 0.9853081429674372 Centerline is valid? [True, True] Translation: X:151.36, Y:-5.35, Z:1.75 [[ 9.99341942e-01 -3.24068416e-02 -1.62935390e-02 1.51356280e+02] [ 3.24180456e-02 9.99474307e-01 4.23919287e-04 -5.34888872e+00] [ 1.62712357e-02 -9.51845013e-04 9.99867162e-01 1.75420174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.480714057 meters Centerline goodness [0,1] 0.9855243991260014 Centerline is valid? [True, True] Translation: X:151.39, Y:-5.35, Z:1.76 [[ 9.99362456e-01 -3.20840015e-02 -1.56620066e-02 1.51388503e+02] [ 3.20943346e-02 9.99484761e-01 4.08790630e-04 -5.34667426e+00] [ 1.56408212e-02 -9.11191686e-04 9.99877260e-01 1.75512680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51071405699997 meters Centerline goodness [0,1] 0.9842817440430088 Centerline is valid? [True, True] Translation: X:151.42, Y:-5.35, Z:1.76 [[ 9.99347096e-01 -3.26398606e-02 -1.54926050e-02 1.51419155e+02] [ 3.26500545e-02 9.99466763e-01 4.05445802e-04 -5.35332673e+00] [ 1.54711101e-02 -9.11015483e-04 9.99879900e-01 1.75597712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54071405699997 meters Centerline goodness [0,1] 0.9834023951550476 Centerline is valid? [True, True] Translation: X:151.45, Y:-5.36, Z:1.76 [[ 9.99327871e-01 -3.31800721e-02 -1.55848895e-02 1.51451707e+02] [ 3.31904667e-02 9.99448961e-01 4.08719670e-04 -5.35554499e+00] [ 1.55627402e-02 -9.25714713e-04 9.99878465e-01 1.75610139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57071405699998 meters Centerline goodness [0,1] 0.983123608776632 Centerline is valid? [True, True] Translation: X:151.48, Y:-5.36, Z:1.76 [[ 9.99264403e-01 -3.48509109e-02 -1.60021104e-02 1.51483851e+02] [ 3.48621007e-02 9.99392044e-01 4.20771488e-04 -5.35520045e+00] [ 1.59777175e-02 -9.78329153e-04 9.99871869e-01 1.75586480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60071405699998 meters Centerline goodness [0,1] 0.9829484821651567 Centerline is valid? [True, True] Translation: X:151.51, Y:-5.36, Z:1.76 [[ 9.99255592e-01 -3.51529878e-02 -1.58911616e-02 1.51514979e+02] [ 3.51640795e-02 9.99381465e-01 4.19015817e-04 -5.36084643e+00] [ 1.58666027e-02 -9.77501966e-04 9.99873640e-01 1.75629722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63071405699998 meters Centerline goodness [0,1] 0.9835475344088962 Centerline is valid? [True, True] Translation: X:151.55, Y:-5.36, Z:1.76 [[ 9.99211939e-01 -3.62406805e-02 -1.61899419e-02 1.51546989e+02] [ 3.62523633e-02 9.99342575e-01 4.28615828e-04 -5.35720876e+00] [ 1.61637649e-02 -1.01520171e-03 9.99868842e-01 1.75662417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66071405699998 meters Centerline goodness [0,1] 0.9829211640934554 Centerline is valid? [True, True] Translation: X:151.58, Y:-5.36, Z:1.76 [[ 9.99214401e-01 -3.62033047e-02 -1.61214556e-02 1.51578769e+02] [ 3.62149020e-02 9.99343934e-01 4.27917197e-04 -5.35528528e+00] [ 1.60953868e-02 -1.01141796e-03 9.99869949e-01 1.75685878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69071405699998 meters Centerline goodness [0,1] 0.9828002002093097 Centerline is valid? [True, True] Translation: X:151.61, Y:-5.36, Z:1.76 [[ 9.99173609e-01 -3.69381903e-02 -1.69608347e-02 1.51610162e+02] [ 3.69511527e-02 9.99316971e-01 4.51399204e-04 -5.36302010e+00] [ 1.69325761e-02 -1.07774857e-03 9.99856053e-01 1.75635056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72071405699998 meters Centerline goodness [0,1] 0.982034021650141 Centerline is valid? [True, True] Translation: X:151.64, Y:-5.36, Z:1.76 [[ 9.99083907e-01 -3.86389848e-02 -1.83949805e-02 1.51641775e+02] [ 3.86545369e-02 9.99252514e-01 4.90520942e-04 -5.36211268e+00] [ 1.83622773e-02 -1.20112103e-03 9.99830678e-01 1.75525102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75071405699998 meters Centerline goodness [0,1] 0.9824621263818752 Centerline is valid? [True, True] Translation: X:151.67, Y:-5.36, Z:1.75 [[ 9.99024552e-01 -3.97539709e-02 -1.92241277e-02 1.51673789e+02] [ 3.97711788e-02 9.99208682e-01 5.13477440e-04 -5.36480372e+00] [ 1.91885026e-02 -1.27754279e-03 9.99815068e-01 1.75488507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78071405699998 meters Centerline goodness [0,1] 0.9806311951691922 Centerline is valid? [True, True] Translation: X:151.70, Y:-5.37, Z:1.75 [[ 9.98869385e-01 -4.29054024e-02 -2.04713868e-02 1.51704522e+02] [ 4.29255969e-02 9.99078122e-01 5.47878047e-04 -5.36586673e+00] [ 2.04290077e-02 -1.42600511e-03 9.99790289e-01 1.75463679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81071405699998 meters Centerline goodness [0,1] 0.9827719793992982 Centerline is valid? [True, True] Translation: X:151.74, Y:-5.37, Z:1.76 [[ 9.98795716e-01 -4.43284759e-02 -2.10262604e-02 1.51735858e+02] [ 4.43501096e-02 9.99015891e-01 5.63470220e-04 -5.36931728e+00] [ 2.09805905e-02 -1.49530860e-03 9.99778765e-01 1.75503518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84071405699999 meters Centerline goodness [0,1] 0.9794356220724323 Centerline is valid? [True, True] Translation: X:151.77, Y:-5.37, Z:1.76 [[ 9.98603736e-01 -4.82764848e-02 -2.14466716e-02 1.51766092e+02] [ 4.82999251e-02 9.98832711e-01 5.76006321e-04 -5.37228304e+00] [ 2.13938296e-02 -1.61107469e-03 9.99769828e-01 1.75564826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.870714057 meters Centerline goodness [0,1] 0.981345496009122 Centerline is valid? [True, True] Translation: X:151.80, Y:-5.37, Z:1.76 [[ 9.98569462e-01 -4.91103385e-02 -2.11472077e-02 1.51797767e+02] [ 4.91333231e-02 9.98792067e-01 5.68373149e-04 -5.37002607e+00] [ 2.10937503e-02 -1.60659266e-03 9.99776211e-01 1.75725032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.900714057 meters Centerline goodness [0,1] 0.9784180868295577 Centerline is valid? [True, True] Translation: X:151.83, Y:-5.38, Z:1.76 [[ 9.98465165e-01 -5.13964745e-02 -2.06329230e-02 1.51827215e+02] [ 5.14188546e-02 9.98677021e-01 5.55279110e-04 -5.37680270e+00] [ 2.05770867e-02 -1.61534811e-03 9.99786964e-01 1.75772583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.930714057 meters Centerline goodness [0,1] 0.980813489802894 Centerline is valid? [True, True] Translation: X:151.86, Y:-5.37, Z:1.76 [[ 9.98452223e-01 -5.19195655e-02 -1.99378207e-02 1.51859659e+02] [ 5.19405744e-02 9.98650033e-01 5.36982099e-04 -5.37344740e+00] [ 1.98830254e-02 -1.57173283e-03 9.99801078e-01 1.75864323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.960714057 meters Centerline goodness [0,1] 0.9801738495585316 Centerline is valid? [True, True] Translation: X:151.89, Y:-5.38, Z:1.76 [[ 9.98383359e-01 -5.31475634e-02 -2.01495457e-02 1.51890842e+02] [ 5.31693033e-02 9.98585364e-01 5.44361493e-04 -5.37872588e+00] [ 2.00921100e-02 -1.61481876e-03 9.99796829e-01 1.75924806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.990714057 meters Centerline goodness [0,1] 0.9779792153092524 Centerline is valid? [True, True] Translation: X:151.92, Y:-5.38, Z:1.76 [[ 9.98346236e-01 -5.38226439e-02 -2.01969316e-02 1.51921346e+02] [ 5.38446613e-02 9.98549174e-01 5.47522170e-04 -5.38368068e+00] [ 2.01381602e-02 -1.63411364e-03 9.99795871e-01 1.75989163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.020714057 meters Centerline goodness [0,1] 0.9735472581414903 Centerline is valid? [True, True] Translation: X:151.95, Y:-5.39, Z:1.76 [[ 9.98315825e-01 -5.47302685e-02 -1.92382572e-02 1.51951845e+02] [ 5.47504289e-02 9.98499934e-01 5.22400533e-04 -5.38622502e+00] [ 1.91808075e-02 -1.57482355e-03 9.99814791e-01 1.76102302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.050714057 meters Centerline goodness [0,1] 0.978581573280799 Centerline is valid? [True, True] Translation: X:151.98, Y:-5.38, Z:1.76 [[ 9.98325988e-01 -5.48993153e-02 -1.82012815e-02 1.51983771e+02] [ 5.49174018e-02 9.98490778e-01 4.94981222e-04 -5.38229867e+00] [ 1.81466376e-02 -1.49371970e-03 9.99834220e-01 1.76223696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.080714057 meters Centerline goodness [0,1] 0.9811467001025875 Centerline is valid? [True, True] Translation: X:152.02, Y:-5.38, Z:1.76 [[ 9.98325318e-01 -5.51763520e-02 -1.73818689e-02 1.52016072e+02] [ 5.51929083e-02 9.98475597e-01 4.73871457e-04 -5.37983698e+00] [ 1.73292254e-02 -1.43243377e-03 9.99848812e-01 1.76322148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.110714057 meters Centerline goodness [0,1] 0.980451196423276 Centerline is valid? [True, True] Translation: X:152.05, Y:-5.38, Z:1.76 [[ 9.98332081e-01 -5.50710594e-02 -1.73272632e-02 1.52049507e+02] [ 5.50875196e-02 9.98481417e-01 4.73739533e-04 -5.38190384e+00] [ 1.72748609e-02 -1.42746532e-03 9.99849759e-01 1.76347849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.140714057 meters Centerline goodness [0,1] 0.9808622262773723 Centerline is valid? [True, True] Translation: X:152.08, Y:-5.38, Z:1.76 [[ 9.98329944e-01 -5.48478390e-02 -1.81393699e-02 1.52081836e+02] [ 5.48658760e-02 9.98493609e-01 4.97824647e-04 -5.38370998e+00] [ 1.80847403e-02 -1.49222567e-03 9.99835344e-01 1.76432823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.170714057 meters Centerline goodness [0,1] 0.9799917774427847 Centerline is valid? [True, True] Translation: X:152.11, Y:-5.39, Z:1.76 [[ 9.98381160e-01 -5.37913810e-02 -1.84809553e-02 1.52112403e+02] [ 5.38099445e-02 9.98551066e-01 5.08303800e-04 -5.38693382e+00] [ 1.84268353e-02 -1.50194012e-03 9.99829083e-01 1.76473209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.200714057 meters Centerline goodness [0,1] 0.979961875368765 Centerline is valid? [True, True] Translation: X:152.14, Y:-5.39, Z:1.77 [[ 9.98436997e-01 -5.27044083e-02 -1.85959416e-02 1.52142967e+02] [ 5.27230238e-02 9.98609043e-01 5.11872520e-04 -5.39083874e+00] [ 1.85430976e-02 -1.49150673e-03 9.99826949e-01 1.76540970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.230714057 meters Centerline goodness [0,1] 0.9811018943808414 Centerline is valid? [True, True] Translation: X:152.18, Y:-5.39, Z:1.77 [[ 9.98492226e-01 -5.12549812e-02 -1.96519910e-02 1.52175048e+02] [ 5.12755085e-02 9.98684399e-01 5.41751105e-04 -5.38922909e+00] [ 1.95983694e-02 -1.54860010e-03 9.99806734e-01 1.76540376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26071405699997 meters Centerline goodness [0,1] 0.9831915477497256 Centerline is valid? [True, True] Translation: X:152.21, Y:-5.39, Z:1.77 [[ 9.98531027e-01 -5.02848655e-02 -2.01796876e-02 1.52207270e+02] [ 5.03063371e-02 9.98733679e-01 5.57480934e-04 -5.38908740e+00] [ 2.01261007e-02 -1.57182817e-03 9.99796214e-01 1.76555308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29071405699997 meters Centerline goodness [0,1] 0.9813815187557182 Centerline is valid? [True, True] Translation: X:152.24, Y:-5.40, Z:1.76 [[ 9.98572871e-01 -4.92302560e-02 -2.07027144e-02 1.52237967e+02] [ 4.92526583e-02 9.98786187e-01 5.73292155e-04 -5.39504570e+00] [ 2.06493618e-02 -1.59213771e-03 9.99785511e-01 1.76452881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32071405699998 meters Centerline goodness [0,1] 0.9833386955922232 Centerline is valid? [True, True] Translation: X:152.27, Y:-5.39, Z:1.76 [[ 9.98597219e-01 -4.78701902e-02 -2.26283024e-02 1.52269912e+02] [ 4.78966362e-02 9.98852100e-01 6.27871738e-04 -5.38885971e+00] [ 2.25722710e-02 -1.71081054e-03 9.99743750e-01 1.76445583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35071405699998 meters Centerline goodness [0,1] 0.9842662562877552 Centerline is valid? [True, True] Translation: X:152.30, Y:-5.39, Z:1.76 [[ 9.98656765e-01 -4.66236485e-02 -2.26031148e-02 1.52300858e+02] [ 4.66497417e-02 9.98911111e-01 6.28213612e-04 -5.39096213e+00] [ 2.25492129e-02 -1.68179924e-03 9.99744320e-01 1.76434329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38071405699998 meters Centerline goodness [0,1] 0.9850612694478865 Centerline is valid? [True, True] Translation: X:152.33, Y:-5.39, Z:1.77 [[ 9.98700236e-01 -4.53556365e-02 -2.32530801e-02 1.52333400e+02] [ 4.53829373e-02 9.98969454e-01 6.47429290e-04 -5.38659835e+00] [ 2.31997522e-02 -1.70188086e-03 9.99729401e-01 1.76530903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41071405699998 meters Centerline goodness [0,1] 0.9835885463160063 Centerline is valid? [True, True] Translation: X:152.36, Y:-5.39, Z:1.77 [[ 9.98745960e-01 -4.45641181e-02 -2.28154762e-02 1.52364688e+02] [ 4.45902280e-02 9.99005158e-01 6.36684451e-04 -5.39293592e+00] [ 2.27644051e-02 -1.65323331e-03 9.99739490e-01 1.76514600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44071405699998 meters Centerline goodness [0,1] 0.9831476131517403 Centerline is valid? [True, True] Translation: X:152.40, Y:-5.39, Z:1.77 [[ 9.98780231e-01 -4.39659811e-02 -2.24731608e-02 1.52396480e+02] [ 4.39911921e-02 9.99031721e-01 6.28446494e-04 -5.39260849e+00] [ 2.24237702e-02 -1.61630107e-03 9.99747249e-01 1.76661294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47071405699998 meters Centerline goodness [0,1] 0.9843109411144958 Centerline is valid? [True, True] Translation: X:152.43, Y:-5.39, Z:1.77 [[ 9.98813874e-01 -4.33906260e-02 -2.20929536e-02 1.52428980e+02] [ 4.34148844e-02 9.99056937e-01 6.19333509e-04 -5.39224954e+00] [ 2.20452453e-02 -1.57776193e-03 9.99755729e-01 1.76749564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50071405699998 meters Centerline goodness [0,1] 0.984948495991595 Centerline is valid? [True, True] Translation: X:152.46, Y:-5.39, Z:1.77 [[ 9.98875934e-01 -4.22580261e-02 -2.14738703e-02 1.52460349e+02] [ 4.22807094e-02 9.99105589e-01 6.03203406e-04 -5.39228374e+00] [ 2.14291736e-02 -1.51045584e-03 9.99769228e-01 1.76824830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53071405699998 meters Centerline goodness [0,1] 0.9846051940339416 Centerline is valid? [True, True] Translation: X:152.49, Y:-5.40, Z:1.77 [[ 9.98912594e-01 -4.14256445e-02 -2.13903247e-02 1.52491622e+02] [ 4.14479926e-02 9.99140481e-01 6.02298897e-04 -5.39617783e+00] [ 2.13469887e-02 -1.48822997e-03 9.99771019e-01 1.76882514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56071405699998 meters Centerline goodness [0,1] 0.9838599370811106 Centerline is valid? [True, True] Translation: X:152.52, Y:-5.40, Z:1.77 [[ 9.98956587e-01 -4.04261869e-02 -2.12476064e-02 1.52523940e+02] [ 4.04480621e-02 9.99181462e-01 6.00608363e-04 -5.39522736e+00] [ 2.12059341e-02 -1.45940618e-03 9.99774064e-01 1.76989838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59071405699999 meters Centerline goodness [0,1] 0.9854097800068392 Centerline is valid? [True, True] Translation: X:152.56, Y:-5.40, Z:1.77 [[ 9.99043860e-01 -3.84532835e-02 -2.08016932e-02 1.52555069e+02] [ 3.84738492e-02 9.99259434e-01 5.89208250e-04 -5.39658371e+00] [ 2.07636312e-02 -1.38896609e-03 9.99783448e-01 1.77076998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.620714057 meters Centerline goodness [0,1] 0.9851383902195155 Centerline is valid? [True, True] Translation: X:152.59, Y:-5.40, Z:1.77 [[ 9.99094471e-01 -3.71122668e-02 -2.08066708e-02 1.52586463e+02] [ 3.71325680e-02 9.99310174e-01 5.90075245e-04 -5.39779416e+00] [ 2.07704188e-02 -1.36214603e-03 9.99783344e-01 1.77174562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.650714057 meters Centerline goodness [0,1] 0.9845954309638664 Centerline is valid? [True, True] Translation: X:152.62, Y:-5.40, Z:1.77 [[ 9.99134746e-01 -3.57013206e-02 -2.13348231e-02 1.52616898e+02] [ 3.57223588e-02 9.99361569e-01 6.05680783e-04 -5.39959799e+00] [ 2.12995787e-02 -1.36728692e-03 9.99772203e-01 1.77163845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.680714057 meters Centerline goodness [0,1] 0.9855019687279514 Centerline is valid? [True, True] Translation: X:152.65, Y:-5.40, Z:1.77 [[ 9.99163273e-01 -3.48103001e-02 -2.14708398e-02 1.52648098e+02] [ 3.48314133e-02 9.99393016e-01 6.10039722e-04 -5.39843811e+00] [ 2.14365717e-02 -1.35738898e-03 9.99769289e-01 1.77204172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.710714057 meters Centerline goodness [0,1] 0.9867640035477928 Centerline is valid? [True, True] Translation: X:152.68, Y:-5.40, Z:1.77 [[ 9.99167977e-01 -3.39159763e-02 -2.26508343e-02 1.52679105e+02] [ 3.39392641e-02 9.99423690e-01 6.44375769e-04 -5.39984885e+00] [ 2.26159257e-02 -1.41259228e-03 9.99743229e-01 1.77188944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.740714057 meters Centerline goodness [0,1] 0.9862026779038945 Centerline is valid? [True, True] Translation: X:152.71, Y:-5.40, Z:1.77 [[ 9.99180464e-01 -3.25010444e-02 -2.41263871e-02 1.52709346e+02] [ 3.25270719e-02 9.99470619e-01 6.87040403e-04 -5.40173470e+00] [ 2.40912855e-02 -1.47123808e-03 9.99708680e-01 1.76965042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.770714057 meters Centerline goodness [0,1] 0.9860934951984055 Centerline is valid? [True, True] Translation: X:152.74, Y:-5.40, Z:1.77 [[ 9.99177904e-01 -3.07090174e-02 -2.64664524e-02 1.52739065e+02] [ 3.07397160e-02 9.99527139e-01 7.53734407e-04 -5.40302975e+00] [ 2.64307910e-02 -1.56668600e-03 9.99649418e-01 1.76847130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.800714057 meters Centerline goodness [0,1] 0.9861601884570083 Centerline is valid? [True, True] Translation: X:152.77, Y:-5.40, Z:1.77 [[ 9.99194162e-01 -2.96838313e-02 -2.70165841e-02 1.52768806e+02] [ 2.97154283e-02 9.99558104e-01 7.68725391e-04 -5.40154949e+00] [ 2.69818268e-02 -1.57091529e-03 9.99634690e-01 1.76938207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.830714057 meters Centerline goodness [0,1] 0.9860282610174873 Centerline is valid? [True, True] Translation: X:152.80, Y:-5.40, Z:1.77 [[ 9.99211044e-01 -2.90998378e-02 -2.70275659e-02 1.52796944e+02] [ 2.91312058e-02 9.99575302e-01 7.67490187e-04 -5.40269441e+00] [ 2.69937535e-02 -1.55423025e-03 9.99634394e-01 1.76948894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.860714057 meters Centerline goodness [0,1] 0.9856877575977173 Centerline is valid? [True, True] Translation: X:152.83, Y:-5.40, Z:1.77 [[ 9.99283591e-01 -2.73882733e-02 -2.61186969e-02 1.52825333e+02] [ 2.74169384e-02 9.99623811e-01 7.39949069e-04 -5.40344871e+00] [ 2.60886054e-02 -1.45551367e-03 9.99658575e-01 1.77063966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.890714057 meters Centerline goodness [0,1] 0.9870053560532441 Centerline is valid? [True, True] Translation: X:152.85, Y:-5.40, Z:1.77 [[ 9.99314352e-01 -2.68489551e-02 -2.54942847e-02 1.52854210e+02] [ 2.68760067e-02 9.99638516e-01 7.18970708e-04 -5.40423012e+00] [ 2.54657653e-02 -1.40366231e-03 9.99674709e-01 1.77121206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.920714057 meters Centerline goodness [0,1] 0.9862279511533243 Centerline is valid? [True, True] Translation: X:152.88, Y:-5.41, Z:1.77 [[ 9.99324453e-01 -2.63064617e-02 -2.56633722e-02 1.52882370e+02] [ 2.63335873e-02 9.99652952e-01 7.19532281e-04 -5.40598535e+00] [ 2.56355374e-02 -1.39485485e-03 9.99670382e-01 1.77060751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.950714057 meters Centerline goodness [0,1] 0.9857310575273187 Centerline is valid? [True, True] Translation: X:152.91, Y:-5.41, Z:1.77 [[ 9.99297236e-01 -2.69741917e-02 -2.60274131e-02 1.52909935e+02] [ 2.70022633e-02 9.99635108e-01 7.27620284e-04 -5.40743316e+00] [ 2.59982890e-02 -1.42990800e-03 9.99660965e-01 1.77050219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.980714057 meters Centerline goodness [0,1] 0.9871977562145168 Centerline is valid? [True, True] Translation: X:152.94, Y:-5.40, Z:1.77 [[ 9.99241591e-01 -2.87351508e-02 -2.62780281e-02 1.52939246e+02] [ 2.87643263e-02 9.99585953e-01 7.32858912e-04 -5.40111006e+00] [ 2.62460889e-02 -1.48817288e-03 9.99654404e-01 1.77312447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01071405699997 meters Centerline goodness [0,1] 0.9864956415699381 Centerline is valid? [True, True] Translation: X:152.97, Y:-5.40, Z:1.77 [[ 9.99202349e-01 -2.99359815e-02 -2.64291902e-02 1.52967725e+02] [ 2.99658697e-02 9.99550652e-01 7.35458501e-04 -5.40332880e+00] [ 2.63952976e-02 -1.52684553e-03 9.99650417e-01 1.77344606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04071405699997 meters Centerline goodness [0,1] 0.9865035659474587 Centerline is valid? [True, True] Translation: X:153.00, Y:-5.40, Z:1.77 [[ 9.99092146e-01 -3.32993526e-02 -2.65713717e-02 1.52997560e+02] [ 3.33307153e-02 9.99444105e-01 7.38168578e-04 -5.40265330e+00] [ 2.65320203e-02 -1.62314125e-03 9.99646646e-01 1.77433645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07071405699998 meters Centerline goodness [0,1] 0.9865204684986747 Centerline is valid? [True, True] Translation: X:153.03, Y:-5.41, Z:1.77 [[ 9.98997644e-01 -3.54955956e-02 -2.72721510e-02 1.53027420e+02] [ 3.55294369e-02 9.99368343e-01 7.57152640e-04 -5.40591879e+00] [ 2.72280487e-02 -1.72535787e-03 9.99627759e-01 1.77417969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10071405699998 meters Centerline goodness [0,1] 0.9865204684986747 Centerline is valid? [True, True] Translation: X:153.06, Y:-5.41, Z:1.77 [[ 9.98997644e-01 -3.54955991e-02 -2.72721578e-02 1.53057468e+02] [ 3.55294337e-02 9.99368344e-01 7.56905814e-04 -5.40675263e+00] [ 2.72280643e-02 -1.72511145e-03 9.99627759e-01 1.77460552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13071405699998 meters Centerline goodness [0,1] 0.9862463924963925 Centerline is valid? [True, True] Translation: X:153.09, Y:-5.42, Z:1.77 [[ 9.98812939e-01 -3.97259088e-02 -2.81880346e-02 1.53087151e+02] [ 3.97637313e-02 9.99208804e-01 7.82299952e-04 -5.41715813e+00] [ 2.81346547e-02 -1.90223275e-03 9.99602332e-01 1.77342563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16071405699998 meters Centerline goodness [0,1] 0.9871858840606006 Centerline is valid? [True, True] Translation: X:153.12, Y:-5.41, Z:1.77 [[ 9.98723998e-01 -4.14778542e-02 -2.88090845e-02 1.53117673e+02] [ 4.15180871e-02 9.99137433e-01 7.99510208e-04 -5.41333022e+00] [ 2.87510727e-02 -1.99458811e-03 9.99584612e-01 1.77473767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19071405699998 meters Centerline goodness [0,1] 0.9873532273025497 Centerline is valid? [True, True] Translation: X:153.15, Y:-5.41, Z:1.78 [[ 9.98627734e-01 -4.34513433e-02 -2.92340459e-02 1.53148456e+02] [ 4.34936284e-02 9.99053375e-01 8.11806063e-04 -5.41432558e+00] [ 2.91710981e-02 -2.08218678e-03 9.99572264e-01 1.77526549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22071405699998 meters Centerline goodness [0,1] 0.9843718149079296 Centerline is valid? [True, True] Translation: X:153.18, Y:-5.42, Z:1.77 [[ 9.98484173e-01 -4.56850005e-02 -3.06958681e-02 1.53178011e+02] [ 4.57326875e-02 9.98953349e-01 8.52894794e-04 -5.41947054e+00] [ 3.06247757e-02 -2.25540649e-03 9.99528407e-01 1.77402481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25071405699998 meters Centerline goodness [0,1] 0.9847950040727668 Centerline is valid? [True, True] Translation: X:153.21, Y:-5.42, Z:1.77 [[ 9.98443144e-01 -4.62856671e-02 -3.11275620e-02 1.53208674e+02] [ 4.63349958e-02 9.98925583e-01 8.64889550e-04 -5.41858826e+00] [ 3.10540860e-02 -2.30583849e-03 9.99515046e-01 1.77470805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28071405699998 meters Centerline goodness [0,1] 0.983901600795876 Centerline is valid? [True, True] Translation: X:153.24, Y:-5.42, Z:1.78 [[ 9.98425197e-01 -4.68798189e-02 -3.08124684e-02 1.53238742e+02] [ 4.69284434e-02 9.98897887e-01 8.56416945e-04 -5.42141682e+00] [ 3.07383609e-02 -2.30104944e-03 9.99524816e-01 1.77523306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31071405699998 meters Centerline goodness [0,1] 0.9853276965161757 Centerline is valid? [True, True] Translation: X:153.27, Y:-5.42, Z:1.78 [[ 9.98497953e-01 -4.59532190e-02 -2.98351951e-02 1.53269789e+02] [ 4.59984098e-02 9.98941168e-01 8.29751264e-04 -5.41859274e+00] [ 2.97654749e-02 -2.20087647e-03 9.99554487e-01 1.77675416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34071405699999 meters Centerline goodness [0,1] 0.9859473137228322 Centerline is valid? [True, True] Translation: X:153.30, Y:-5.41, Z:1.78 [[ 9.98569869e-01 -4.46146456e-02 -2.94575840e-02 1.53300527e+02] [ 4.46581269e-02 9.99001992e-01 8.19485480e-04 -5.41346773e+00] [ 2.93916240e-02 -2.13383403e-03 9.99565695e-01 1.77831006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.370714057 meters Centerline goodness [0,1] 0.9856369361817812 Centerline is valid? [True, True] Translation: X:153.33, Y:-5.41, Z:1.78 [[ 9.98645759e-01 -4.30197946e-02 -2.92565329e-02 1.53331522e+02] [ 4.30620108e-02 9.99072070e-01 8.14154198e-04 -5.41251303e+00] [ 2.91943601e-02 -2.07289677e-03 9.99571604e-01 1.77872317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.400714057 meters Centerline goodness [0,1] 0.9858998732572877 Centerline is valid? [True, True] Translation: X:153.36, Y:-5.41, Z:1.78 [[ 9.98838533e-01 -3.89894206e-02 -2.83092003e-02 1.53362413e+02] [ 3.90273419e-02 9.99237832e-01 7.88042138e-04 -5.40634614e+00] [ 2.82568986e-02 -1.89195969e-03 9.99598904e-01 1.78081334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.430714057 meters Centerline goodness [0,1] 0.9852777966523975 Centerline is valid? [True, True] Translation: X:153.39, Y:-5.41, Z:1.78 [[ 9.98923041e-01 -3.69665608e-02 -2.80398272e-02 1.53392824e+02] [ 3.70029706e-02 9.99314851e-01 7.80556482e-04 -5.40504476e+00] [ 2.79917613e-02 -1.81727276e-03 9.99606502e-01 1.78140881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.460714057 meters Centerline goodness [0,1] 0.9855272381900002 Centerline is valid? [True, True] Translation: X:153.42, Y:-5.40, Z:1.78 [[ 9.99077853e-01 -3.34666223e-02 -2.68966254e-02 1.53423212e+02] [ 3.34988597e-02 9.99438475e-01 7.48753121e-04 -5.40235677e+00] [ 2.68564641e-02 -1.64906894e-03 9.99637940e-01 1.78242298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.490714057 meters Centerline goodness [0,1] 0.9852321630804077 Centerline is valid? [True, True] Translation: X:153.45, Y:-5.40, Z:1.78 [[ 9.99135116e-01 -3.22849517e-02 -2.62049967e-02 1.53453743e+02] [ 3.23151476e-02 9.99477463e-01 7.29521549e-04 -5.40304162e+00] [ 2.61677511e-02 -1.57570893e-03 9.99656324e-01 1.78344104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.520714057 meters Centerline goodness [0,1] 0.9843746461649947 Centerline is valid? [True, True] Translation: X:153.48, Y:-5.40, Z:1.78 [[ 9.99165548e-01 -3.12941823e-02 -2.62465703e-02 1.53483499e+02] [ 3.13241281e-02 9.99509012e-01 7.30469779e-04 -5.40401998e+00] [ 2.62108241e-02 -1.55201117e-03 9.99655233e-01 1.78348919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.550714057 meters Centerline goodness [0,1] 0.98511351792269 Centerline is valid? [True, True] Translation: X:153.51, Y:-5.41, Z:1.78 [[ 9.99169685e-01 -3.11463315e-02 -2.62649499e-02 1.53512963e+02] [ 3.11762510e-02 9.99513636e-01 7.30318482e-04 -5.40532650e+00] [ 2.62294289e-02 -1.54855476e-03 9.99654750e-01 1.78326585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.580714057 meters Centerline goodness [0,1] 0.9842174286618731 Centerline is valid? [True, True] Translation: X:153.54, Y:-5.41, Z:1.78 [[ 9.99160366e-01 -3.09906641e-02 -2.67981751e-02 1.53542768e+02] [ 3.10217304e-02 9.99518433e-01 7.44207295e-04 -5.40532872e+00] [ 2.67622065e-02 -1.57490819e-03 9.99640587e-01 1.78299516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.610714057 meters Centerline goodness [0,1] 0.9854388750283511 Centerline is valid? [True, True] Translation: X:153.57, Y:-5.40, Z:1.78 [[ 9.99123303e-01 -3.17104494e-02 -2.73326318e-02 1.53572905e+02] [ 3.17430093e-02 9.99495776e-01 7.58073796e-04 -5.40223101e+00] [ 2.72948112e-02 -1.62502918e-03 9.99626106e-01 1.78295799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.640714057 meters Centerline goodness [0,1] 0.9841510630108452 Centerline is valid? [True, True] Translation: X:153.60, Y:-5.41, Z:1.78 [[ 9.99107063e-01 -3.12165571e-02 -2.84711002e-02 1.53602499e+02] [ 3.12516652e-02 9.99511236e-01 7.88865604e-04 -5.40604838e+00] [ 2.84325588e-02 -1.67793049e-03 9.99594305e-01 1.78164766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.670714057 meters Centerline goodness [0,1] 0.9848917925683953 Centerline is valid? [True, True] Translation: X:153.63, Y:-5.41, Z:1.78 [[ 9.99112558e-01 -3.09315721e-02 -2.85890437e-02 1.53631450e+02] [ 3.09668273e-02 9.99520100e-01 7.91142787e-04 -5.40702065e+00] [ 2.85508525e-02 -1.67575267e-03 9.99590937e-01 1.78140543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.700714057 meters Centerline goodness [0,1] 0.9837248893428668 Centerline is valid? [True, True] Translation: X:153.66, Y:-5.41, Z:1.78 [[ 9.99081046e-01 -3.15192434e-02 -2.90447921e-02 1.53660362e+02] [ 3.15558364e-02 9.99501669e-01 8.02265463e-04 -5.40930429e+00] [ 2.90050314e-02 -1.71806093e-03 9.99577789e-01 1.78092625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.730714057 meters Centerline goodness [0,1] 0.9837142404131464 Centerline is valid? [True, True] Translation: X:153.69, Y:-5.41, Z:1.78 [[ 9.99046117e-01 -3.23575970e-02 -2.93230548e-02 1.53688919e+02] [ 3.23951294e-02 9.99474815e-01 8.05679869e-04 -5.40967053e+00] [ 2.92815849e-02 -1.75483550e-03 9.99569662e-01 1.78087432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76071405699997 meters Centerline goodness [0,1] 0.9831963304418911 Centerline is valid? [True, True] Translation: X:153.72, Y:-5.41, Z:1.78 [[ 9.99009472e-01 -3.43129139e-02 -2.83319478e-02 1.53718789e+02] [ 3.43486369e-02 9.99409611e-01 7.75013162e-04 -5.41258514e+00] [ 2.82886280e-02 -1.74740928e-03 9.99598269e-01 1.78163705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79071405699997 meters Centerline goodness [0,1] 0.9833822091886608 Centerline is valid? [True, True] Translation: X:153.75, Y:-5.41, Z:1.78 [[ 9.98991355e-01 -3.56323729e-02 -2.73241009e-02 1.53749009e+02] [ 3.56660799e-02 9.99363484e-01 7.47076888e-04 -5.40707018e+00] [ 2.72800885e-02 -1.72086692e-03 9.99626348e-01 1.78378515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82071405699998 meters Centerline goodness [0,1] 0.9819252548131371 Centerline is valid? [True, True] Translation: X:153.78, Y:-5.41, Z:1.78 [[ 9.98969597e-01 -3.69930053e-02 -2.62918709e-02 1.53778983e+02] [ 3.70246837e-02 9.99314093e-01 7.18922196e-04 -5.41465198e+00] [ 2.62472420e-02 -1.69162962e-03 9.99654050e-01 1.78324462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85071405699998 meters Centerline goodness [0,1] 0.9802402961684344 Centerline is valid? [True, True] Translation: X:153.81, Y:-5.42, Z:1.78 [[ 9.98832092e-01 -4.10464966e-02 -2.54879719e-02 1.53808151e+02] [ 4.10775824e-02 9.99155717e-01 6.97026055e-04 -5.42315380e+00] [ 2.54378423e-02 -1.74319626e-03 9.99674886e-01 1.78253378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88071405699998 meters Centerline goodness [0,1] 0.9774619840695149 Centerline is valid? [True, True] Translation: X:153.84, Y:-5.43, Z:1.78 [[ 9.98779729e-01 -4.26727989e-02 -2.48612999e-02 1.53838392e+02] [ 4.27028751e-02 9.99087585e-01 6.79870754e-04 -5.42688817e+00] [ 2.48096041e-02 -1.74069011e-03 9.99690679e-01 1.78265518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91071405699998 meters Centerline goodness [0,1] 0.9804640633842672 Centerline is valid? [True, True] Translation: X:153.87, Y:-5.42, Z:1.78 [[ 9.98609542e-01 -4.68256484e-02 -2.42144646e-02 1.53868946e+02] [ 4.68553996e-02 9.98901463e-01 6.62432654e-04 -5.41839891e+00] [ 2.41568452e-02 -1.79608998e-03 9.99706567e-01 1.78492528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94071405699998 meters Centerline goodness [0,1] 0.9808855169290001 Centerline is valid? [True, True] Translation: X:153.90, Y:-5.42, Z:1.79 [[ 9.98549598e-01 -4.85016538e-02 -2.33728268e-02 1.53900230e+02] [ 4.85298369e-02 9.98821528e-01 6.39769072e-04 -5.42163075e+00] [ 2.33142528e-02 -1.77312063e-03 9.99726613e-01 1.78578063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97071405699998 meters Centerline goodness [0,1] 0.9793283986279112 Centerline is valid? [True, True] Translation: X:153.93, Y:-5.43, Z:1.79 [[ 9.98425543e-01 -5.18086797e-02 -2.15010798e-02 1.53929680e+02] [ 5.18333038e-02 9.98655577e-01 5.89159194e-04 -5.42693127e+00] [ 2.14416496e-02 -1.70270359e-03 9.99768651e-01 1.78638572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00071405699998 meters Centerline goodness [0,1] 0.9799306075243214 Centerline is valid? [True, True] Translation: X:153.96, Y:-5.43, Z:1.79 [[ 9.98389175e-01 -5.26820830e-02 -2.10630696e-02 1.53961649e+02] [ 5.27059239e-02 9.98609910e-01 5.77967798e-04 -5.42655411e+00] [ 2.10033415e-02 -1.68718534e-03 9.99777982e-01 1.78697000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03071405699998 meters Centerline goodness [0,1] 0.9787234042553191 Centerline is valid? [True, True] Translation: X:153.99, Y:-5.43, Z:1.79 [[ 9.98355556e-01 -5.34330546e-02 -2.07627524e-02 1.53993762e+02] [ 5.34564117e-02 9.98570020e-01 5.71176461e-04 -5.42998749e+00] [ 2.07025424e-02 -1.68013943e-03 9.99784268e-01 1.78699617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06071405699998 meters Centerline goodness [0,1] 0.9782549790001355 Centerline is valid? [True, True] Translation: X:154.02, Y:-5.43, Z:1.79 [[ 9.98307708e-01 -5.38668069e-02 -2.19108827e-02 1.54024856e+02] [ 5.38929549e-02 9.98546536e-01 6.04214634e-04 -5.43276046e+00] [ 2.18464889e-02 -1.78403434e-03 9.99759745e-01 1.78568663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09071405699999 meters Centerline goodness [0,1] 0.9779150544203833 Centerline is valid? [True, True] Translation: X:154.06, Y:-5.44, Z:1.79 [[ 9.98303217e-01 -5.37765177e-02 -2.23332418e-02 1.54056482e+02] [ 5.38036940e-02 9.98551341e-01 6.17327628e-04 -5.43511658e+00] [ 2.22676908e-02 -1.81789106e-03 9.99750391e-01 1.78547922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.120714057 meters Centerline goodness [0,1] 0.9793702251139171 Centerline is valid? [True, True] Translation: X:154.09, Y:-5.43, Z:1.78 [[ 9.98321646e-01 -5.29186631e-02 -2.35267037e-02 1.54088428e+02] [ 5.29486316e-02 9.98597024e-01 6.52261126e-04 -5.43471948e+00] [ 2.34591795e-02 -1.89687317e-03 9.99722996e-01 1.78368563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.150714057 meters Centerline goodness [0,1] 0.9787012280781258 Centerline is valid? [True, True] Translation: X:154.12, Y:-5.44, Z:1.78 [[ 9.98325295e-01 -5.26301999e-02 -2.40138867e-02 1.54120946e+02] [ 5.26613804e-02 9.98612204e-01 6.67457526e-04 -5.43590193e+00] [ 2.39454319e-02 -1.93094416e-03 9.99711402e-01 1.78298635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.180714057 meters Centerline goodness [0,1] 0.9786569495054659 Centerline is valid? [True, True] Translation: X:154.15, Y:-5.44, Z:1.78 [[ 9.98340124e-01 -5.19187294e-02 -2.49287306e-02 1.54152886e+02] [ 5.19521555e-02 9.98649333e-01 6.94656387e-04 -5.43755347e+00] [ 2.48589946e-02 -1.98860463e-03 9.99688990e-01 1.78168098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.210714057 meters Centerline goodness [0,1] 0.9783613540580958 Centerline is valid? [True, True] Translation: X:154.18, Y:-5.44, Z:1.78 [[ 9.98335491e-01 -5.17553871e-02 -2.54485322e-02 1.54184988e+02] [ 5.17902149e-02 9.98657733e-01 7.10929089e-04 -5.43770105e+00] [ 2.53775791e-02 -2.02773070e-03 9.99675881e-01 1.78182908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.240714057 meters Centerline goodness [0,1] 0.9780988834280796 Centerline is valid? [True, True] Translation: X:154.22, Y:-5.44, Z:1.78 [[ 9.98371236e-01 -5.11961510e-02 -2.51759604e-02 1.54217421e+02] [ 5.12301032e-02 9.98686627e-01 7.05040956e-04 -5.43915199e+00] [ 2.51067996e-02 -1.99365966e-03 9.99682787e-01 1.78207466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.270714057 meters Centerline goodness [0,1] 0.9789813518761006 Centerline is valid? [True, True] Translation: X:154.25, Y:-5.44, Z:1.78 [[ 9.98433718e-01 -5.01699329e-02 -2.47606213e-02 1.54249038e+02] [ 5.02024926e-02 9.98738818e-01 6.94727844e-04 -5.43963769e+00] [ 2.46945392e-02 -1.93668461e-03 9.99693167e-01 1.78252936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.300714057 meters Centerline goodness [0,1] 0.9683703821439114 Centerline is valid? [True, True] Translation: X:154.28, Y:-5.45, Z:1.78 [[ 9.98465082e-01 -4.99227242e-02 -2.39833450e-02 1.54279881e+02] [ 4.99532276e-02 9.98751331e-01 6.74061330e-04 -5.44761299e+00] [ 2.39197467e-02 -1.87107219e-03 9.99712131e-01 1.78186482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.330714057 meters Centerline goodness [0,1] 0.9743671173214772 Centerline is valid? [True, True] Translation: X:154.31, Y:-5.45, Z:1.78 [[ 9.98481735e-01 -4.96792730e-02 -2.37948667e-02 1.54312047e+02] [ 4.97092682e-02 9.98763505e-01 6.70375411e-04 -5.44618932e+00] [ 2.37321407e-02 -1.85218301e-03 9.99716637e-01 1.78283086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.360714057 meters Centerline goodness [0,1] 0.9724548458648319 Centerline is valid? [True, True] Translation: X:154.34, Y:-5.45, Z:1.78 [[ 9.98516142e-01 -4.91289691e-02 -2.34916667e-02 1.54344067e+02] [ 4.91580900e-02 9.98790790e-01 6.63409172e-04 -5.44781514e+00] [ 2.34306677e-02 -1.81723023e-03 9.99723813e-01 1.78311788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.390714057 meters Centerline goodness [0,1] 0.9732507487067792 Centerline is valid? [True, True] Translation: X:154.37, Y:-5.45, Z:1.78 [[ 9.98596793e-01 -4.79238145e-02 -2.25333549e-02 1.54374348e+02] [ 4.79503261e-02 9.98849518e-01 6.37402169e-04 -5.44830300e+00] [ 2.24768840e-02 -1.71698948e-03 9.99745889e-01 1.78404289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.420714057 meters Centerline goodness [0,1] 0.9776446654611212 Centerline is valid? [True, True] Translation: X:154.41, Y:-5.44, Z:1.79 [[ 9.98658925e-01 -4.67120253e-02 -2.23234740e-02 1.54406210e+02] [ 4.67377588e-02 9.98906994e-01 6.32124182e-04 -5.44203547e+00] [ 2.22695465e-02 -1.67462560e-03 9.99750600e-01 1.78561742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.450714057 meters Centerline goodness [0,1] 0.9717730947406668 Centerline is valid? [True, True] Translation: X:154.44, Y:-5.45, Z:1.79 [[ 9.98659511e-01 -4.67177058e-02 -2.22853609e-02 1.54437657e+02] [ 4.67433784e-02 9.98906731e-01 6.32190370e-04 -5.45108906e+00] [ 2.22314626e-02 -1.67303598e-03 9.99751451e-01 1.78504407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.480714057 meters Centerline goodness [0,1] 0.9777343128112989 Centerline is valid? [True, True] Translation: X:154.47, Y:-5.45, Z:1.79 [[ 9.98640326e-01 -4.71788258e-02 -2.21733646e-02 1.54469811e+02] [ 4.72043820e-02 9.98885053e-01 6.30282423e-04 -5.44624608e+00] [ 2.21189064e-02 -1.67610541e-03 9.99753942e-01 1.78518364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51071405699997 meters Centerline goodness [0,1] 0.9788078869148912 Centerline is valid? [True, True] Translation: X:154.50, Y:-5.44, Z:1.79 [[ 9.98620926e-01 -4.75695473e-02 -2.22122475e-02 1.54501855e+02] [ 4.75953233e-02 9.98866500e-01 6.32924581e-04 -5.44499416e+00] [ 2.21569620e-02 -1.68925083e-03 9.99753077e-01 1.78547417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54071405699997 meters Centerline goodness [0,1] 0.9787359049104015 Centerline is valid? [True, True] Translation: X:154.53, Y:-5.45, Z:1.79 [[ 9.98622597e-01 -4.75446927e-02 -2.21903150e-02 1.54534066e+02] [ 4.75704461e-02 9.98867684e-01 6.33850584e-04 -5.44740986e+00] [ 2.21350524e-02 -1.68858070e-03 9.99753564e-01 1.78563344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57071405699998 meters Centerline goodness [0,1] 0.9776580753670622 Centerline is valid? [True, True] Translation: X:154.57, Y:-5.45, Z:1.78 [[ 9.98538060e-01 -4.91538240e-02 -2.24865305e-02 1.54565367e+02] [ 4.91807042e-02 9.98789690e-01 6.43599582e-04 -5.45140239e+00] [ 2.24276794e-02 -1.74856208e-03 9.99746939e-01 1.78495698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60071405699998 meters Centerline goodness [0,1] 0.9746574099283056 Centerline is valid? [True, True] Translation: X:154.60, Y:-5.46, Z:1.78 [[ 9.98488989e-01 -4.98211872e-02 -2.31859427e-02 1.54596250e+02] [ 4.98499675e-02 9.98756496e-01 6.64597548e-04 -5.45939613e+00] [ 2.31239999e-02 -1.81941182e-03 9.99730949e-01 1.78454157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63071405699998 meters Centerline goodness [0,1] 0.9777288412640756 Centerline is valid? [True, True] Translation: X:154.63, Y:-5.46, Z:1.78 [[ 9.98419698e-01 -5.10852780e-02 -2.34179527e-02 1.54628671e+02] [ 5.11150153e-02 9.98692547e-01 6.72632598e-04 -5.45789955e+00] [ 2.33529732e-02 -1.86857864e-03 9.99725536e-01 1.78484824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66071405699998 meters Centerline goodness [0,1] 0.9774797226879333 Centerline is valid? [True, True] Translation: X:154.66, Y:-5.46, Z:1.79 [[ 9.98393679e-01 -5.15717269e-02 -2.34610062e-02 1.54660463e+02] [ 5.16017448e-02 9.98667514e-01 6.75479990e-04 -5.46070077e+00] [ 2.33949090e-02 -1.88502380e-03 9.99724525e-01 1.78544140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69071405699998 meters Centerline goodness [0,1] 0.9759639345747814 Centerline is valid? [True, True] Translation: X:154.69, Y:-5.46, Z:1.79 [[ 9.98380721e-01 -5.20772459e-02 -2.28887681e-02 1.54692834e+02] [ 5.21059839e-02 9.98641342e-01 6.60542529e-04 -5.46418114e+00] [ 2.28232709e-02 -1.85211471e-03 9.99737800e-01 1.78614748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72071405699998 meters Centerline goodness [0,1] 0.976056593506258 Centerline is valid? [True, True] Translation: X:154.73, Y:-5.47, Z:1.79 [[ 9.98380648e-01 -5.19901363e-02 -2.30891137e-02 1.54725083e+02] [ 5.20193929e-02 9.98645851e-01 6.67902432e-04 -5.46536610e+00] [ 2.30231232e-02 -1.86790254e-03 9.99733188e-01 1.78705503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75071405699998 meters Centerline goodness [0,1] 0.9732387664000363 Centerline is valid? [True, True] Translation: X:154.76, Y:-5.47, Z:1.79 [[ 9.98418889e-01 -5.13336358e-02 -2.29037118e-02 1.54756571e+02] [ 5.13622880e-02 9.98679866e-01 6.64085047e-04 -5.46911994e+00] [ 2.28393859e-02 -1.83942209e-03 9.99737455e-01 1.78721990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78071405699998 meters Centerline goodness [0,1] 0.9737492349194115 Centerline is valid? [True, True] Translation: X:154.79, Y:-5.47, Z:1.79 [[ 9.98493725e-01 -5.00200819e-02 -2.25448833e-02 1.54787413e+02] [ 5.00475379e-02 9.98746622e-01 6.54905423e-04 -5.46999403e+00] [ 2.24838676e-02 -1.78223486e-03 9.99745617e-01 1.78790370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81071405699998 meters Centerline goodness [0,1] 0.9734475277953539 Centerline is valid? [True, True] Translation: X:154.82, Y:-5.47, Z:1.79 [[ 9.98629693e-01 -4.73718175e-02 -2.22406442e-02 1.54817470e+02] [ 4.73978950e-02 9.98875879e-01 6.46539428e-04 -5.47055089e+00] [ 2.21850152e-02 -1.69981319e-03 9.99752437e-01 1.78838268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84071405699999 meters Centerline goodness [0,1] 0.9736621029448493 Centerline is valid? [True, True] Translation: X:154.85, Y:-5.47, Z:1.79 [[ 9.98677612e-01 -4.60392126e-02 -2.28783285e-02 1.54848305e+02] [ 4.60664663e-02 9.98938155e-01 6.65362669e-04 -5.47119730e+00] [ 2.28234025e-02 -1.71840655e-03 9.99738035e-01 1.78893212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.870714057 meters Centerline goodness [0,1] 0.9743139357164039 Centerline is valid? [True, True] Translation: X:154.88, Y:-5.47, Z:1.79 [[ 9.98734672e-01 -4.45767799e-02 -2.32801536e-02 1.54879890e+02] [ 4.46046224e-02 9.99004489e-01 6.77817772e-04 -5.47039963e+00] [ 2.32267630e-02 -1.71536257e-03 9.99728751e-01 1.78933719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.900714057 meters Centerline goodness [0,1] 0.9759428272298973 Centerline is valid? [True, True] Translation: X:154.91, Y:-5.47, Z:1.79 [[ 9.98864106e-01 -4.14584136e-02 -2.34882270e-02 1.54909872e+02] [ 4.14859079e-02 9.99138855e-01 6.84274010e-04 -5.47017662e+00] [ 2.34396314e-02 -1.65792717e-03 9.99723879e-01 1.78983364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.930714057 meters Centerline goodness [0,1] 0.9764430612662138 Centerline is valid? [True, True] Translation: X:154.94, Y:-5.47, Z:1.79 [[ 9.98921154e-01 -4.00540308e-02 -2.34989859e-02 1.54940803e+02] [ 4.00811682e-02 9.99196192e-01 6.84785360e-04 -5.47093238e+00] [ 2.34526688e-02 -1.62591339e-03 9.99723626e-01 1.79035135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.960714057 meters Centerline goodness [0,1] 0.9760622652608715 Centerline is valid? [True, True] Translation: X:154.97, Y:-5.47, Z:1.79 [[ 9.98995842e-01 -3.83528656e-02 -2.31595573e-02 1.54971659e+02] [ 3.83787865e-02 9.99263035e-01 6.75628549e-04 -5.47088578e+00] [ 2.31165773e-02 -1.56378582e-03 9.99731553e-01 1.79164007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.990714057 meters Centerline goodness [0,1] 0.9763579434587285 Centerline is valid? [True, True] Translation: X:155.00, Y:-5.47, Z:1.79 [[ 9.99027136e-01 -3.77378695e-02 -2.28174239e-02 1.55002895e+02] [ 3.77628865e-02 9.99286506e-01 6.66362531e-04 -5.47216563e+00] [ 2.27759967e-02 -1.52736604e-03 9.99739427e-01 1.79268870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.020714057 meters Centerline goodness [0,1] 0.9763579434587285 Centerline is valid? [True, True] Translation: X:155.03, Y:-5.47, Z:1.79 [[ 9.99028316e-01 -3.77066398e-02 -2.28174031e-02 1.55033794e+02] [ 3.77316650e-02 9.99287685e-01 6.67075782e-04 -5.47310471e+00] [ 2.27759967e-02 -1.52736620e-03 9.99739427e-01 1.79312638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.050714057 meters Centerline goodness [0,1] 0.9832959869627216 Centerline is valid? [True, True] Translation: X:155.07, Y:-5.46, Z:1.80 [[ 9.99082275e-01 -3.59550064e-02 -2.32775741e-02 1.55065203e+02] [ 3.59805923e-02 9.99352257e-01 6.81137230e-04 -5.46033479e+00] [ 2.32380059e-02 -1.51805304e-03 9.99728809e-01 1.79596362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.080714057 meters Centerline goodness [0,1] 0.9842453642834474 Centerline is valid? [True, True] Translation: X:155.10, Y:-5.46, Z:1.80 [[ 9.99130422e-01 -3.47993193e-02 -2.29653349e-02 1.55096936e+02] [ 3.48239319e-02 9.99393237e-01 6.72556304e-04 -5.45628667e+00] [ 2.29279958e-02 -1.47171472e-03 9.99736036e-01 1.79734332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.110714057 meters Centerline goodness [0,1] 0.9847260678135354 Centerline is valid? [True, True] Translation: X:155.13, Y:-5.46, Z:1.80 [[ 9.99195524e-01 -3.24034522e-02 -2.36288307e-02 1.55126966e+02] [ 3.24288531e-02 9.99473807e-01 6.92509836e-04 -5.45739957e+00] [ 2.35939576e-02 -1.45820861e-03 9.99720560e-01 1.79760356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.140714057 meters Centerline goodness [0,1] 0.982726265572362 Centerline is valid? [True, True] Translation: X:155.16, Y:-5.47, Z:1.80 [[ 9.99271579e-01 -3.00405350e-02 -2.35345845e-02 1.55156059e+02] [ 3.00650769e-02 9.99547706e-01 6.89584075e-04 -5.46693571e+00] [ 2.35032244e-02 -1.39665086e-03 9.99722785e-01 1.79642849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.170714057 meters Centerline goodness [0,1] 0.9819361866291472 Centerline is valid? [True, True] Translation: X:155.19, Y:-5.47, Z:1.80 [[ 9.99281777e-01 -2.91539784e-02 -2.42069196e-02 1.55185104e+02] [ 2.91796738e-02 9.99573931e-01 7.08869067e-04 -5.47085593e+00] [ 2.41759394e-02 -1.41470996e-03 9.99706718e-01 1.79583820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.200714057 meters Centerline goodness [0,1] 0.9848113891911499 Centerline is valid? [True, True] Translation: X:155.22, Y:-5.46, Z:1.80 [[ 9.99294470e-01 -2.82868708e-02 -2.47065885e-02 1.55216005e+02] [ 2.83133686e-02 9.99598835e-01 7.23269764e-04 -5.45589047e+00] [ 2.46762181e-02 -1.42228622e-03 9.99694484e-01 1.79879762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.230714057 meters Centerline goodness [0,1] 0.982751586582049 Centerline is valid? [True, True] Translation: X:155.24, Y:-5.47, Z:1.80 [[ 9.99285332e-01 -2.76306600e-02 -2.57948076e-02 1.55244429e+02] [ 2.76593104e-02 9.99617123e-01 7.54505158e-04 -5.46752008e+00] [ 2.57640839e-02 -1.46743253e-03 9.99666974e-01 1.79683856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26071405699997 meters Centerline goodness [0,1] 0.9850647874516936 Centerline is valid? [True, True] Translation: X:155.27, Y:-5.46, Z:1.80 [[ 9.99257202e-01 -2.79726945e-02 -2.65060774e-02 1.55273666e+02] [ 2.80029665e-02 9.99607542e-01 7.71502067e-04 -5.46004046e+00] [ 2.64740939e-02 -1.51317780e-03 9.99648354e-01 1.79865852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29071405699997 meters Centerline goodness [0,1] 0.9843686285170585 Centerline is valid? [True, True] Translation: X:155.30, Y:-5.46, Z:1.80 [[ 9.99211065e-01 -2.84883827e-02 -2.76705533e-02 1.55301567e+02] [ 2.85214384e-02 9.99592860e-01 8.00594828e-04 -5.46434523e+00] [ 2.76364799e-02 -1.58916719e-03 9.99616776e-01 1.79796740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32071405699998 meters Centerline goodness [0,1] 0.9848244979193053 Centerline is valid? [True, True] Translation: X:155.33, Y:-5.47, Z:1.80 [[ 9.99174357e-01 -2.94716324e-02 -2.79647487e-02 1.55330612e+02] [ 2.95056507e-02 9.99564290e-01 8.04521934e-04 -5.46520733e+00] [ 2.79288536e-02 -1.62897579e-03 9.99608586e-01 1.79840095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35071405699998 meters Centerline goodness [0,1] 0.9842897714466032 Centerline is valid? [True, True] Translation: X:155.36, Y:-5.47, Z:1.80 [[ 9.99116930e-01 -3.09374137e-02 -2.84295035e-02 1.55359283e+02] [ 3.09730441e-02 9.99519889e-01 8.13677729e-04 -5.47010826e+00] [ 2.83906811e-02 -1.69350746e-03 9.99595469e-01 1.79881197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38071405699998 meters Centerline goodness [0,1] 0.985195246179966 Centerline is valid? [True, True] Translation: X:155.39, Y:-5.47, Z:1.80 [[ 9.99071019e-01 -3.21642699e-02 -2.86802888e-02 1.55388024e+02] [ 3.22009100e-02 9.99481083e-01 8.16471917e-04 -5.46528155e+00] [ 2.86391449e-02 -1.73924483e-03 9.99588302e-01 1.80124777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41071405699998 meters Centerline goodness [0,1] 0.984547710354162 Centerline is valid? [True, True] Translation: X:155.42, Y:-5.47, Z:1.80 [[ 9.99004096e-01 -3.37604730e-02 -2.91726872e-02 1.55416528e+02] [ 3.37989317e-02 9.99428311e-01 8.26071804e-04 -5.46944756e+00] [ 2.91281210e-02 -1.81125478e-03 9.99574045e-01 1.80124065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44071405699998 meters Centerline goodness [0,1] 0.9848286153567876 Centerline is valid? [True, True] Translation: X:155.45, Y:-5.47, Z:1.80 [[ 9.98970983e-01 -3.43293700e-02 -2.96389858e-02 1.55446483e+02] [ 3.43692791e-02 9.99408851e-01 8.37961154e-04 -5.47129633e+00] [ 2.95926981e-02 -1.85576945e-03 9.99560318e-01 1.80119135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47071405699998 meters Centerline goodness [0,1] 0.9835841006063328 Centerline is valid? [True, True] Translation: X:155.47, Y:-5.48, Z:1.80 [[ 9.98930467e-01 -3.51698968e-02 -3.00166578e-02 1.55474468e+02] [ 3.52111631e-02 9.99379536e-01 8.47142731e-04 -5.48134088e+00] [ 2.99682397e-02 -1.90315812e-03 9.99549040e-01 1.79909282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50071405699998 meters Centerline goodness [0,1] 0.9844235357673434 Centerline is valid? [True, True] Translation: X:155.50, Y:-5.48, Z:1.80 [[ 9.98832178e-01 -3.70173241e-02 -3.10483275e-02 1.55503851e+02] [ 3.70622962e-02 9.99312575e-01 8.74010398e-04 -5.48342412e+00] [ 3.09946306e-02 -2.02371202e-03 9.99517502e-01 1.79897883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53071405699998 meters Centerline goodness [0,1] 0.9841575727698478 Centerline is valid? [True, True] Translation: X:155.53, Y:-5.49, Z:1.80 [[ 9.98809129e-01 -3.78484339e-02 -3.07866938e-02 1.55532826e+02] [ 3.78929839e-02 9.99281429e-01 8.64696248e-04 -5.48671158e+00] [ 3.07318440e-02 -2.03026620e-03 9.99525603e-01 1.79982427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56071405699998 meters Centerline goodness [0,1] 0.984544985531953 Centerline is valid? [True, True] Translation: X:155.56, Y:-5.49, Z:1.80 [[ 9.98768556e-01 -3.88749177e-02 -3.08238836e-02 1.55561299e+02] [ 3.89199201e-02 9.99241962e-01 8.61130834e-04 -5.48841943e+00] [ 3.07670415e-02 -2.05973349e-03 9.99524460e-01 1.80068972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59071405699999 meters Centerline goodness [0,1] 0.9854785775300094 Centerline is valid? [True, True] Translation: X:155.59, Y:-5.48, Z:1.80 [[ 9.98734596e-01 -3.96588461e-02 -3.09254342e-02 1.55591378e+02] [ 3.97044081e-02 9.99211099e-01 8.60354505e-04 -5.48351111e+00] [ 3.08669164e-02 -2.08714187e-03 9.99521324e-01 1.80361126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.620714057 meters Centerline goodness [0,1] 0.9857447524974745 Centerline is valid? [True, True] Translation: X:155.62, Y:-5.49, Z:1.81 [[ 9.98691736e-01 -4.10191223e-02 -3.05327475e-02 1.55621183e+02] [ 4.10641503e-02 9.99156151e-01 8.48897157e-04 -5.48694219e+00] [ 3.04721614e-02 -2.10158791e-03 9.99533406e-01 1.80514103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.650714057 meters Centerline goodness [0,1] 0.9860908253376177 Centerline is valid? [True, True] Translation: X:155.65, Y:-5.49, Z:1.81 [[ 9.98646510e-01 -4.18807355e-02 -3.08407493e-02 1.55651308e+02] [ 4.19270781e-02 9.99120306e-01 8.57209985e-04 -5.48873208e+00] [ 3.07777182e-02 -2.14911226e-03 9.99523943e-01 1.80577672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.680714057 meters Centerline goodness [0,1] 0.9860141430014592 Centerline is valid? [True, True] Translation: X:155.68, Y:-5.49, Z:1.81 [[ 9.98601985e-01 -4.28884509e-02 -3.08974986e-02 1.55680361e+02] [ 4.29354352e-02 9.99077480e-01 8.58496033e-04 -5.49330806e+00] [ 3.08321755e-02 -2.18389339e-03 9.99522190e-01 1.80650078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.710714057 meters Centerline goodness [0,1] 0.9861154796674905 Centerline is valid? [True, True] Translation: X:155.71, Y:-5.49, Z:1.81 [[ 9.98555379e-01 -4.37515282e-02 -3.11922986e-02 1.55711232e+02] [ 4.37998250e-02 9.99039951e-01 8.66438540e-04 -5.49318723e+00] [ 3.11244444e-02 -2.23140408e-03 9.99513026e-01 1.80712318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.740714057 meters Centerline goodness [0,1] 0.9861232541977717 Centerline is valid? [True, True] Translation: X:155.74, Y:-5.50, Z:1.81 [[ 9.98486853e-01 -4.51070667e-02 -3.14540356e-02 1.55741808e+02] [ 4.51568468e-02 9.98979527e-01 8.73708894e-04 -5.49605347e+00] [ 3.13825271e-02 -2.29275191e-03 9.99504818e-01 1.80712604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.770714057 meters Centerline goodness [0,1] 0.9859126449177676 Centerline is valid? [True, True] Translation: X:155.77, Y:-5.50, Z:1.81 [[ 9.98449715e-01 -4.54377504e-02 -3.21493030e-02 1.55771747e+02] [ 4.54899248e-02 9.98964398e-01 8.92942634e-04 -5.49777532e+00] [ 3.20754358e-02 -2.35402769e-03 9.99482679e-01 1.80741070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.800714057 meters Centerline goodness [0,1] 0.9849280194651587 Centerline is valid? [True, True] Translation: X:155.80, Y:-5.51, Z:1.81 [[ 9.98385718e-01 -4.57848132e-02 -3.36111499e-02 1.55801341e+02] [ 4.58420256e-02 9.98948266e-01 9.33140930e-04 -5.50623558e+00] [ 3.35330762e-02 -2.47243777e-03 9.99434550e-01 1.80535190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.830714057 meters Centerline goodness [0,1] 0.9867405546082743 Centerline is valid? [True, True] Translation: X:155.83, Y:-5.50, Z:1.81 [[ 9.98368551e-01 -4.59911326e-02 -3.38386087e-02 1.55831559e+02] [ 4.60492089e-02 9.98938732e-01 9.38520649e-04 -5.50152770e+00] [ 3.37595332e-02 -2.49523066e-03 9.99426870e-01 1.80683117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.860714057 meters Centerline goodness [0,1] 0.9865838285611381 Centerline is valid? [True, True] Translation: X:155.86, Y:-5.50, Z:1.81 [[ 9.98328031e-01 -4.64042875e-02 -3.44642370e-02 1.55862285e+02] [ 4.64647601e-02 9.98919473e-01 9.55369764e-04 -5.49875415e+00] [ 3.43826642e-02 -2.55514492e-03 9.99405475e-01 1.80778914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.890714057 meters Centerline goodness [0,1] 0.9872230345292993 Centerline is valid? [True, True] Translation: X:155.89, Y:-5.50, Z:1.81 [[ 9.98309929e-01 -4.66652154e-02 -3.46358581e-02 1.55891234e+02] [ 4.67264830e-02 9.98907259e-01 9.61130175e-04 -5.50171426e+00] [ 3.45531588e-02 -2.57791763e-03 9.99399537e-01 1.80746123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.920714057 meters Centerline goodness [0,1] 0.985756009885419 Centerline is valid? [True, True] Translation: X:155.92, Y:-5.50, Z:1.81 [[ 9.98248617e-01 -4.79575093e-02 -3.46377821e-02 1.55921053e+02] [ 4.80195561e-02 9.98845933e-01 9.61157581e-04 -5.50462127e+00] [ 3.45517130e-02 -2.62276515e-03 9.99399470e-01 1.80735219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.950714057 meters Centerline goodness [0,1] 0.9856506679861454 Centerline is valid? [True, True] Translation: X:155.95, Y:-5.51, Z:1.81 [[ 9.98228711e-01 -4.86422876e-02 -3.42544637e-02 1.55950848e+02] [ 4.87033397e-02 9.98812837e-01 9.49678230e-04 -5.50852216e+00] [ 3.41676035e-02 -2.61630285e-03 9.99412692e-01 1.80726801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.980714057 meters Centerline goodness [0,1] 0.9857331927589223 Centerline is valid? [True, True] Translation: X:155.98, Y:-5.51, Z:1.81 [[ 9.98187261e-01 -4.94586215e-02 -3.42933887e-02 1.55981157e+02] [ 4.95202828e-02 9.98772666e-01 9.50509696e-04 -5.50834774e+00] [ 3.42042883e-02 -2.64700497e-03 9.99411357e-01 1.80796775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01071405699997 meters Centerline goodness [0,1] 0.9844261193026487 Centerline is valid? [True, True] Translation: X:156.01, Y:-5.51, Z:1.81 [[ 9.98141532e-01 -5.04622776e-02 -3.41619712e-02 1.56010572e+02] [ 5.05240391e-02 9.98722397e-01 9.46520981e-04 -5.51256224e+00] [ 3.40705621e-02 -2.67076267e-03 9.99415861e-01 1.80815041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04071405699997 meters Centerline goodness [0,1] 0.9848535922155554 Centerline is valid? [True, True] Translation: X:156.04, Y:-5.51, Z:1.81 [[ 9.98088497e-01 -5.19918582e-02 -3.34095669e-02 1.56040501e+02] [ 5.20517597e-02 9.98643960e-01 9.25106255e-04 -5.51499888e+00] [ 3.33161642e-02 -2.66236466e-03 9.99441316e-01 1.80901412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07071405699998 meters Centerline goodness [0,1] 0.9848018857335279 Centerline is valid? [True, True] Translation: X:156.07, Y:-5.52, Z:1.81 [[ 9.98068838e-01 -5.25861473e-02 -3.30649502e-02 1.56071376e+02] [ 5.26451346e-02 9.98612864e-01 9.15324933e-04 -5.51617659e+00] [ 3.29709512e-02 -2.65426605e-03 9.99452786e-01 1.80970513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10071405699998 meters Centerline goodness [0,1] 0.9775978407557355 Centerline is valid? [True, True] Translation: X:156.10, Y:-5.52, Z:1.81 [[ 9.98047539e-01 -5.32516091e-02 -3.26401081e-02 1.56101026e+02] [ 5.33094428e-02 9.98577632e-01 9.03564184e-04 -5.52286200e+00] [ 3.25455656e-02 -2.64182598e-03 9.99466761e-01 1.80911630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13071405699998 meters Centerline goodness [0,1] 0.9856019766397125 Centerline is valid? [True, True] Translation: X:156.13, Y:-5.51, Z:1.81 [[ 9.98036011e-01 -5.39709223e-02 -3.18003166e-02 1.56132786e+02] [ 5.40261989e-02 9.98539130e-01 8.80943579e-04 -5.51275952e+00] [ 3.17063151e-02 -2.59726365e-03 9.99493854e-01 1.81319575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16071405699998 meters Centerline goodness [0,1] 0.9844817161923103 Centerline is valid? [True, True] Translation: X:156.16, Y:-5.52, Z:1.81 [[ 9.98050844e-01 -5.38864878e-02 -3.14763194e-02 1.56162603e+02] [ 5.39406266e-02 9.98543763e-01 8.72771817e-04 -5.51951207e+00] [ 3.13834518e-02 -2.56892304e-03 9.99504117e-01 1.81298031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19071405699998 meters Centerline goodness [0,1] 0.9862937000291147 Centerline is valid? [True, True] Translation: X:156.19, Y:-5.51, Z:1.82 [[ 9.98116538e-01 -5.28441092e-02 -3.11588950e-02 1.56193910e+02] [ 5.28966831e-02 9.98599616e-01 8.64826749e-04 -5.51326062e+00] [ 3.10695596e-02 -2.51140007e-03 9.99514070e-01 1.81517435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22071405699998 meters Centerline goodness [0,1] 0.9853388844122124 Centerline is valid? [True, True] Translation: X:156.22, Y:-5.51, Z:1.82 [[ 9.98243835e-01 -5.04195905e-02 -3.10983891e-02 1.56223743e+02] [ 5.04708070e-02 9.98725163e-01 8.63653326e-04 -5.51376611e+00] [ 3.10151987e-02 -2.43169740e-03 9.99515955e-01 1.81519216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25071405699998 meters Centerline goodness [0,1] 0.9856758574310692 Centerline is valid? [True, True] Translation: X:156.25, Y:-5.51, Z:1.82 [[ 9.98327757e-01 -4.87745301e-02 -3.10279559e-02 1.56253952e+02] [ 4.88247344e-02 9.98806990e-01 8.61996442e-04 -5.51355100e+00] [ 3.09488957e-02 -2.37548668e-03 9.99518145e-01 1.81591750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28071405699998 meters Centerline goodness [0,1] 0.9863658788177782 Centerline is valid? [True, True] Translation: X:156.28, Y:-5.51, Z:1.82 [[ 9.98428295e-01 -4.68683162e-02 -3.07294799e-02 1.56284840e+02] [ 4.69166777e-02 9.98898441e-01 8.54245141e-04 -5.51025130e+00] [ 3.06555925e-02 -2.29462762e-03 9.99527373e-01 1.81719122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31071405699998 meters Centerline goodness [0,1] 0.9860944942323755 Centerline is valid? [True, True] Translation: X:156.32, Y:-5.51, Z:1.82 [[ 9.98651013e-01 -4.20620220e-02 -3.04456999e-02 1.56315080e+02] [ 4.21072790e-02 9.99112737e-01 8.46586854e-04 -5.50547444e+00] [ 3.03830774e-02 -2.12743040e-03 9.99536064e-01 1.81909526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34071405699999 meters Centerline goodness [0,1] 0.9868117079735337 Centerline is valid? [True, True] Translation: X:156.35, Y:-5.50, Z:1.82 [[ 9.98781035e-01 -3.89886593e-02 -3.02709033e-02 1.56345276e+02] [ 3.90319802e-02 9.99237608e-01 8.41300435e-04 -5.50381641e+00] [ 3.02150239e-02 -2.02180822e-03 9.99541377e-01 1.81964361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.370714057 meters Centerline goodness [0,1] 0.9865090843351713 Centerline is valid? [True, True] Translation: X:156.38, Y:-5.50, Z:1.82 [[ 9.99046836e-01 -3.20147079e-02 -2.96728368e-02 1.56375088e+02] [ 3.20532556e-02 9.99485823e-01 8.24221770e-04 -5.50074788e+00] [ 2.96311925e-02 -1.77454718e-03 9.99559325e-01 1.82035474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.400714057 meters Centerline goodness [0,1] 0.9871368825590595 Centerline is valid? [True, True] Translation: X:156.41, Y:-5.50, Z:1.82 [[ 9.99147139e-01 -2.86388830e-02 -2.97457551e-02 1.56405180e+02] [ 2.86761189e-02 9.99588414e-01 8.25883214e-04 -5.49653871e+00] [ 2.97098598e-02 -1.67817166e-03 9.99557156e-01 1.82111434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.430714057 meters Centerline goodness [0,1] 0.988283378746594 Centerline is valid? [True, True] Translation: X:156.44, Y:-5.49, Z:1.82 [[ 9.99303507e-01 -2.19846975e-02 -3.01525148e-02 1.56435511e+02] [ 2.20199190e-02 9.99757182e-01 8.36515313e-04 -5.48802482e+00] [ 3.01268027e-02 -1.49988862e-03 9.99544960e-01 1.82219348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.460714057 meters Centerline goodness [0,1] 0.9890204618665215 Centerline is valid? [True, True] Translation: X:156.47, Y:-5.49, Z:1.82 [[ 9.99369331e-01 -1.92630246e-02 -2.98307808e-02 1.56465097e+02] [ 1.92962611e-02 9.99813468e-01 8.26666245e-04 -5.48533707e+00] [ 2.98092923e-02 -1.40176743e-03 9.99554621e-01 1.82275919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.490714057 meters Centerline goodness [0,1] 0.9879259276007869 Centerline is valid? [True, True] Translation: X:156.49, Y:-5.49, Z:1.82 [[ 9.99440324e-01 -1.58564785e-02 -2.94552441e-02 1.56493687e+02] [ 1.58873680e-02 9.99873456e-01 8.14941542e-04 -5.48852560e+00] [ 2.94385946e-02 -1.28245174e-03 9.99565768e-01 1.82121701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.520714057 meters Centerline goodness [0,1] 0.9886350721672917 Centerline is valid? [True, True] Translation: X:156.52, Y:-5.48, Z:1.82 [[ 9.99449701e-01 -1.57465411e-02 -2.91948772e-02 1.56522809e+02] [ 1.57767083e-02 9.99875217e-01 8.03229245e-04 -5.48280656e+00] [ 2.91785861e-02 -1.26338629e-03 9.99573416e-01 1.82376705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.550714057 meters Centerline goodness [0,1] 0.9883884748227595 Centerline is valid? [True, True] Translation: X:156.55, Y:-5.48, Z:1.82 [[ 9.99460217e-01 -1.57801070e-02 -2.88142827e-02 1.56551271e+02] [ 1.58093002e-02 9.99874717e-01 7.85603254e-04 -5.48335348e+00] [ 2.87982758e-02 -1.24071284e-03 9.99584474e-01 1.82456835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.580714057 meters Centerline goodness [0,1] 0.9883755050448051 Centerline is valid? [True, True] Translation: X:156.58, Y:-5.49, Z:1.83 [[ 9.99467869e-01 -1.73226836e-02 -2.76388205e-02 1.56579548e+02] [ 1.73500041e-02 9.99849197e-01 7.48957762e-04 -5.48547371e+00] [ 2.76216785e-02 -1.22809287e-03 9.99617694e-01 1.82546019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.610714057 meters Centerline goodness [0,1] 0.9872527969262064 Centerline is valid? [True, True] Translation: X:156.61, Y:-5.49, Z:1.83 [[ 9.99432238e-01 -1.92463987e-02 -2.76546168e-02 1.56608174e+02] [ 1.92743564e-02 9.99813955e-01 7.44728158e-04 -5.48747522e+00] [ 2.76351384e-02 -1.27733027e-03 9.99617261e-01 1.82598769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.640714057 meters Centerline goodness [0,1] 0.9868525086407481 Centerline is valid? [True, True] Translation: X:156.64, Y:-5.49, Z:1.83 [[ 9.99375398e-01 -2.28487673e-02 -2.69582653e-02 1.56636910e+02] [ 2.28765299e-02 9.99738037e-01 7.21831728e-04 -5.49253895e+00] [ 2.69347103e-02 -1.33809243e-03 9.99636299e-01 1.82660382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.670714057 meters Centerline goodness [0,1] 0.9863337536023055 Centerline is valid? [True, True] Translation: X:156.67, Y:-5.50, Z:1.83 [[ 9.99331673e-01 -2.46442320e-02 -2.69975661e-02 1.56665384e+02] [ 2.46726904e-02 9.99695323e-01 7.21455018e-04 -5.49546073e+00] [ 2.69715609e-02 -1.38707544e-03 9.99635239e-01 1.82715985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.700714057 meters Centerline goodness [0,1] 0.9853870191767271 Centerline is valid? [True, True] Translation: X:156.69, Y:-5.50, Z:1.83 [[ 9.99231532e-01 -2.83292310e-02 -2.70887432e-02 1.56694807e+02] [ 2.83592055e-02 9.99597535e-01 7.22913615e-04 -5.50134767e+00] [ 2.70573614e-02 -1.49057331e-03 9.99632771e-01 1.82755209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.730714057 meters Centerline goodness [0,1] 0.9857426457318174 Centerline is valid? [True, True] Translation: X:156.72, Y:-5.51, Z:1.83 [[ 9.99127257e-01 -3.18617470e-02 -2.70102623e-02 1.56724783e+02] [ 3.18928216e-02 9.99491035e-01 7.20351209e-04 -5.50679312e+00] [ 2.69735634e-02 -1.58115601e-03 9.99634897e-01 1.82694652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76071405699997 meters Centerline goodness [0,1] 0.9857290775671904 Centerline is valid? [True, True] Translation: X:156.75, Y:-5.51, Z:1.83 [[ 9.99069102e-01 -3.34055297e-02 -2.72946924e-02 1.56754111e+02] [ 3.34378175e-02 9.99440535e-01 7.27238118e-04 -5.50945908e+00] [ 2.72551282e-02 -1.63923608e-03 9.99627166e-01 1.82713664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79071405699997 meters Centerline goodness [0,1] 0.9851489611033488 Centerline is valid? [True, True] Translation: X:156.78, Y:-5.51, Z:1.83 [[ 9.99009308e-01 -3.51222130e-02 -2.73282393e-02 1.56782858e+02] [ 3.51551944e-02 9.99381601e-01 7.27194326e-04 -5.51358635e+00] [ 2.72857989e-02 -1.68720347e-03 9.99626249e-01 1.82709718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82071405699998 meters Centerline goodness [0,1] 0.9845078023114628 Centerline is valid? [True, True] Translation: X:156.81, Y:-5.52, Z:1.83 [[ 9.98904551e-01 -3.84027929e-02 -2.67380514e-02 1.56811447e+02] [ 3.84355107e-02 9.99260830e-01 7.10592250e-04 -5.51887785e+00] [ 2.66909987e-02 -1.73750449e-03 9.99642222e-01 1.82699567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85071405699998 meters Centerline goodness [0,1] 0.9846098298506115 Centerline is valid? [True, True] Translation: X:156.84, Y:-5.52, Z:1.83 [[ 9.98859324e-01 -3.98016434e-02 -2.63795483e-02 1.56843046e+02] [ 3.98339737e-02 9.99206066e-01 7.01014772e-04 -5.51664154e+00] [ 2.63307032e-02 -1.75101737e-03 9.99651753e-01 1.82878221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88071405699998 meters Centerline goodness [0,1] 0.9838041176735595 Centerline is valid? [True, True] Translation: X:156.87, Y:-5.52, Z:1.83 [[ 9.98820488e-01 -4.16441800e-02 -2.49678760e-02 1.56874169e+02] [ 4.16737350e-02 9.99131052e-01 6.64332934e-04 -5.51933689e+00] [ 2.49185146e-02 -1.70405399e-03 9.99688033e-01 1.83033071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91071405699998 meters Centerline goodness [0,1] 0.9838041176735595 Centerline is valid? [True, True] Translation: X:156.91, Y:-5.52, Z:1.83 [[ 9.98823348e-01 -4.15755484e-02 -2.49678433e-02 1.56905923e+02] [ 4.16051126e-02 9.99133911e-01 6.65559932e-04 -5.52024681e+00] [ 2.49185479e-02 -1.70356673e-03 9.99688033e-01 1.83078047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94071405699998 meters Centerline goodness [0,1] 0.985629091561295 Centerline is valid? [True, True] Translation: X:156.94, Y:-5.52, Z:1.83 [[ 9.98830358e-01 -4.21725673e-02 -2.36514558e-02 1.56938457e+02] [ 4.21992993e-02 9.99109013e-01 6.32059771e-04 -5.51915707e+00] [ 2.36037271e-02 -1.62939535e-03 9.99720065e-01 1.83241760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97071405699998 meters Centerline goodness [0,1] 0.9849705018057829 Centerline is valid? [True, True] Translation: X:156.97, Y:-5.52, Z:1.83 [[ 9.98847831e-01 -4.22114653e-02 -2.28298467e-02 1.56970146e+02] [ 4.22364268e-02 9.99107456e-01 6.12078738e-04 -5.52050731e+00] [ 2.27836333e-02 -1.57562467e-03 9.99739178e-01 1.83284428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00071405699998 meters Centerline goodness [0,1] 0.9840299772494089 Centerline is valid? [True, True] Translation: X:157.00, Y:-5.53, Z:1.83 [[ 9.98855337e-01 -4.19666250e-02 -2.29525035e-02 1.57000846e+02] [ 4.19918399e-02 9.99117763e-01 6.17490358e-04 -5.52509103e+00] [ 2.29063399e-02 -1.58060139e-03 9.99736366e-01 1.83293260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03071405699998 meters Centerline goodness [0,1] 0.9865062737942376 Centerline is valid? [True, True] Translation: X:157.03, Y:-5.52, Z:1.83 [[ 9.98825720e-01 -4.21077045e-02 -2.39608336e-02 1.57033493e+02] [ 4.21352602e-02 9.99111707e-01 6.46097690e-04 -5.51846898e+00] [ 2.39123437e-02 -1.65493495e-03 9.99712689e-01 1.83324670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06071405699998 meters Centerline goodness [0,1] 0.9850889743360458 Centerline is valid? [True, True] Translation: X:157.06, Y:-5.53, Z:1.83 [[ 9.98829746e-01 -4.16605354e-02 -2.45670066e-02 1.57064927e+02] [ 4.16894083e-02 9.99130398e-01 6.64049818e-04 -5.52552863e+00] [ 2.45179784e-02 -1.68745668e-03 9.99697965e-01 1.83253750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09071405699999 meters Centerline goodness [0,1] 0.9863457428860646 Centerline is valid? [True, True] Translation: X:157.10, Y:-5.52, Z:1.83 [[ 9.98882603e-01 -4.03318678e-02 -2.46350492e-02 1.57096407e+02] [ 4.03605266e-02 9.99184959e-01 6.67025738e-04 -5.52184461e+00] [ 2.45880682e-02 -1.66056397e-03 9.99696289e-01 1.83317951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.120714057 meters Centerline goodness [0,1] 0.9863253620747726 Centerline is valid? [True, True] Translation: X:157.13, Y:-5.53, Z:1.83 [[ 9.98931088e-01 -3.90178919e-02 -2.47847958e-02 1.57127289e+02] [ 3.90465196e-02 9.99237168e-01 6.71964723e-04 -5.52509054e+00] [ 2.47396705e-02 -1.63900647e-03 9.99692584e-01 1.83313494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.150714057 meters Centerline goodness [0,1] 0.9868799424874192 Centerline is valid? [True, True] Translation: X:157.16, Y:-5.52, Z:1.83 [[ 9.98980648e-01 -3.74591670e-02 -2.51887991e-02 1.57158799e+02] [ 3.74882652e-02 9.99296834e-01 6.83816243e-04 -5.52262598e+00] [ 2.51454720e-02 -1.62740358e-03 9.99682478e-01 1.83339362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.180714057 meters Centerline goodness [0,1] 0.9873054321984479 Centerline is valid? [True, True] Translation: X:157.19, Y:-5.52, Z:1.83 [[ 9.99087024e-01 -3.34143606e-02 -2.66195375e-02 1.57188316e+02] [ 3.34454427e-02 9.99440283e-01 7.23145877e-04 -5.52142199e+00] [ 2.65804747e-02 -1.61278788e-03 9.99645376e-01 1.83197652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.210714057 meters Centerline goodness [0,1] 0.9877465360834048 Centerline is valid? [True, True] Translation: X:157.22, Y:-5.52, Z:1.83 [[ 9.99168000e-01 -2.96029404e-02 -2.80530656e-02 1.57217420e+02] [ 2.96359504e-02 9.99560469e-01 7.61568097e-04 -5.51905350e+00] [ 2.80181908e-02 -1.59231373e-03 9.99606145e-01 1.83109354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.240714057 meters Centerline goodness [0,1] 0.9878527884398284 Centerline is valid? [True, True] Translation: X:157.25, Y:-5.52, Z:1.83 [[ 9.99209879e-01 -2.75085365e-02 -2.86861890e-02 1.57246163e+02] [ 2.75421515e-02 9.99620341e-01 7.77281769e-04 -5.51832284e+00] [ 2.86539162e-02 -1.56674699e-03 9.99588164e-01 1.83129922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.270714057 meters Centerline goodness [0,1] 0.9868844289403343 Centerline is valid? [True, True] Translation: X:157.27, Y:-5.52, Z:1.83 [[ 9.99239831e-01 -2.59741116e-02 -2.90706968e-02 1.57274947e+02] [ 2.60079293e-02 9.99661428e-01 7.85721580e-04 -5.51758404e+00] [ 2.90404459e-02 -1.54119293e-03 9.99577049e-01 1.83107822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.300714057 meters Centerline goodness [0,1] 0.9886643332956984 Centerline is valid? [True, True] Translation: X:157.30, Y:-5.52, Z:1.83 [[ 9.99293139e-01 -2.37198564e-02 -2.91648974e-02 1.57303650e+02] [ 2.37528864e-02 9.99717551e-01 7.86547451e-04 -5.51687325e+00] [ 2.91380030e-02 -1.47874197e-03 9.99574304e-01 1.83105866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.330714057 meters Centerline goodness [0,1] 0.988208985566172 Centerline is valid? [True, True] Translation: X:157.33, Y:-5.52, Z:1.83 [[ 9.99301638e-01 -2.37425477e-02 -2.88535583e-02 1.57332556e+02] [ 2.37747652e-02 9.99717041e-01 7.73989041e-04 -5.51734313e+00] [ 2.88270175e-02 -1.45943509e-03 9.99583350e-01 1.83166979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.360714057 meters Centerline goodness [0,1] 0.9882025270594629 Centerline is valid? [True, True] Translation: X:157.36, Y:-5.52, Z:1.83 [[ 9.99302465e-01 -2.46469676e-02 -2.80554847e-02 1.57360605e+02] [ 2.46776589e-02 9.99695180e-01 7.48184676e-04 -5.51870720e+00] [ 2.80284924e-02 -1.44000647e-03 9.99606087e-01 1.83368662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.390714057 meters Centerline goodness [0,1] 0.9869948069541657 Centerline is valid? [True, True] Translation: X:157.39, Y:-5.52, Z:1.83 [[ 9.99314081e-01 -2.53032045e-02 -2.70391550e-02 1.57387941e+02] [ 2.53318916e-02 9.99678838e-01 7.18879725e-04 -5.52053603e+00] [ 2.70122811e-02 -1.40333958e-03 9.99634117e-01 1.83446406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.420714057 meters Centerline goodness [0,1] 0.9862998290290651 Centerline is valid? [True, True] Translation: X:157.42, Y:-5.53, Z:1.84 [[ 9.99297518e-01 -2.73133726e-02 -2.56602928e-02 1.57415809e+02] [ 2.73398204e-02 9.99625966e-01 6.80359506e-04 -5.52503372e+00] [ 2.56321120e-02 -1.38142936e-03 9.99670489e-01 1.83597785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.450714057 meters Centerline goodness [0,1] 0.9865313778219701 Centerline is valid? [True, True] Translation: X:157.44, Y:-5.53, Z:1.84 [[ 9.99275664e-01 -2.89210745e-02 -2.47329432e-02 1.57444747e+02] [ 2.89460535e-02 9.99580762e-01 6.52456744e-04 -5.52661632e+00] [ 2.47037045e-02 -1.36790524e-03 9.99693881e-01 1.83712088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.480714057 meters Centerline goodness [0,1] 0.9871110209783907 Centerline is valid? [True, True] Translation: X:157.47, Y:-5.53, Z:1.84 [[ 9.99252576e-01 -3.02012707e-02 -2.41282390e-02 1.57473563e+02] [ 3.02253308e-02 9.99542910e-01 6.33018679e-04 -5.52972457e+00] [ 2.40980923e-02 -1.36182955e-03 9.99708671e-01 1.83760957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51071405699997 meters Centerline goodness [0,1] 0.9858462925400046 Centerline is valid? [True, True] Translation: X:157.50, Y:-5.53, Z:1.84 [[ 9.99175490e-01 -3.28010679e-02 -2.39255112e-02 1.57503966e+02] [ 3.28254570e-02 9.99460903e-01 6.27244513e-04 -5.53361307e+00] [ 2.38920387e-02 -1.41209318e-03 9.99713547e-01 1.83851001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54071405699997 meters Centerline goodness [0,1] 0.9857904085257548 Centerline is valid? [True, True] Translation: X:157.53, Y:-5.54, Z:1.84 [[ 9.99112757e-01 -3.48182566e-02 -2.36936390e-02 1.57532706e+02] [ 3.48427405e-02 9.99392614e-01 6.21178567e-04 -5.53781782e+00] [ 2.36576195e-02 -1.44617875e-03 9.99719073e-01 1.83937477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57071405699998 meters Centerline goodness [0,1] 0.9863063063063063 Centerline is valid? [True, True] Translation: X:157.56, Y:-5.54, Z:1.84 [[ 9.99080774e-01 -3.58034620e-02 -2.35737138e-02 1.57562853e+02] [ 3.58279721e-02 9.99357781e-01 6.18053590e-04 -5.54007471e+00] [ 2.35364458e-02 -1.46208382e-03 9.99721910e-01 1.83992159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60071405699998 meters Centerline goodness [0,1] 0.9856317950106014 Centerline is valid? [True, True] Translation: X:157.59, Y:-5.54, Z:1.84 [[ 9.99037345e-01 -3.68488466e-02 -2.38022037e-02 1.57593694e+02] [ 3.68741335e-02 9.99319723e-01 6.24196315e-04 -5.54254225e+00] [ 2.37630107e-02 -1.50128107e-03 9.99716493e-01 1.84087871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63071405699998 meters Centerline goodness [0,1] 0.9848044843655028 Centerline is valid? [True, True] Translation: X:157.63, Y:-5.54, Z:1.84 [[ 9.99019596e-01 -3.73532312e-02 -2.37609532e-02 1.57625041e+02] [ 3.73785849e-02 9.99300982e-01 6.23638275e-04 -5.54427394e+00] [ 2.37210489e-02 -1.51117766e-03 9.99717474e-01 1.84139345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66071405699998 meters Centerline goodness [0,1] 0.9847448829914472 Centerline is valid? [True, True] Translation: X:157.66, Y:-5.55, Z:1.84 [[ 9.99010219e-01 -3.72601908e-02 -2.42952610e-02 1.57655985e+02] [ 3.72866893e-02 9.99304406e-01 6.38431110e-04 -5.54587997e+00] [ 2.42545733e-02 -1.54368905e-03 9.99704623e-01 1.84135513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69071405699998 meters Centerline goodness [0,1] 0.9846011424958794 Centerline is valid? [True, True] Translation: X:157.69, Y:-5.55, Z:1.84 [[ 9.98959745e-01 -3.77290501e-02 -2.56114515e-02 1.57686494e+02] [ 3.77586770e-02 9.99286660e-01 6.73991960e-04 -5.54805595e+00] [ 2.55677528e-02 -1.64034536e-03 9.99671746e-01 1.84027785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72071405699998 meters Centerline goodness [0,1] 0.985172018090588 Centerline is valid? [True, True] Translation: X:157.72, Y:-5.55, Z:1.84 [[ 9.98921521e-01 -3.80602012e-02 -2.65935306e-02 1.57716843e+02] [ 3.80922790e-02 9.99273980e-01 7.00489434e-04 -5.54856240e+00] [ 2.65475624e-02 -1.71274216e-03 9.99646084e-01 1.83981947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75071405699998 meters Centerline goodness [0,1] 0.9877203316869817 Centerline is valid? [True, True] Translation: X:157.75, Y:-5.53, Z:1.84 [[ 9.98896016e-01 -3.85042893e-02 -2.69103983e-02 1.57748546e+02] [ 3.85373088e-02 9.99256910e-01 7.09281440e-04 -5.53299909e+00] [ 2.68630911e-02 -1.74555273e-03 9.99637598e-01 1.84301272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78071405699998 meters Centerline goodness [0,1] 0.9866524896500237 Centerline is valid? [True, True] Translation: X:157.78, Y:-5.54, Z:1.84 [[ 9.98867545e-01 -3.90663110e-02 -2.71560490e-02 1.57778817e+02] [ 3.91001627e-02 9.99235039e-01 7.16480170e-04 -5.54157363e+00] [ 2.71072855e-02 -1.77747472e-03 9.99630950e-01 1.84134927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81071405699998 meters Centerline goodness [0,1] 0.9881749472298509 Centerline is valid? [True, True] Translation: X:157.81, Y:-5.54, Z:1.84 [[ 9.98797103e-01 -4.08134169e-02 -2.71774151e-02 1.57809420e+02] [ 4.08479724e-02 9.99165116e-01 7.17289188e-04 -5.53778597e+00] [ 2.71254501e-02 -1.82656866e-03 9.99630368e-01 1.84201368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84071405699999 meters Centerline goodness [0,1] 0.9873265892683368 Centerline is valid? [True, True] Translation: X:157.84, Y:-5.54, Z:1.84 [[ 9.98731308e-01 -4.19964294e-02 -2.77862193e-02 1.57840318e+02] [ 4.20330132e-02 9.99115953e-01 7.33590714e-04 -5.53987288e+00] [ 2.77308468e-02 -1.90059854e-03 9.99613619e-01 1.84222733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.870714057 meters Centerline goodness [0,1] 0.9876855638656031 Centerline is valid? [True, True] Translation: X:157.87, Y:-5.54, Z:1.84 [[ 9.98601147e-01 -4.45100182e-02 -2.85413289e-02 1.57870156e+02] [ 4.45496469e-02 9.99006887e-01 7.53775576e-04 -5.54366045e+00] [ 2.84794336e-02 -2.02422728e-03 9.99592329e-01 1.84115859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.900714057 meters Centerline goodness [0,1] 0.9868349496963654 Centerline is valid? [True, True] Translation: X:157.90, Y:-5.54, Z:1.84 [[ 9.98517167e-01 -4.59203141e-02 -2.92368412e-02 1.57901723e+02] [ 4.59625147e-02 9.98942866e-01 7.72647991e-04 -5.54437324e+00] [ 2.91704537e-02 -2.11530103e-03 9.99572214e-01 1.84114031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.930714057 meters Centerline goodness [0,1] 0.987243570895438 Centerline is valid? [True, True] Translation: X:157.93, Y:-5.54, Z:1.84 [[ 9.98457031e-01 -4.71984892e-02 -2.92550701e-02 1.57933156e+02] [ 4.72413173e-02 9.98883206e-01 7.74128153e-04 -5.54006057e+00] [ 2.91858605e-02 -2.15498175e-03 9.99571679e-01 1.84297097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.960714057 meters Centerline goodness [0,1] 0.9870423043929748 Centerline is valid? [True, True] Translation: X:157.96, Y:-5.54, Z:1.84 [[ 9.98395360e-01 -4.93278125e-02 -2.78113720e-02 1.57964580e+02] [ 4.93673632e-02 9.98780417e-01 7.36865735e-04 -5.54322665e+00] [ 2.77411057e-02 -2.10865743e-03 9.99612917e-01 1.84395351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.990714057 meters Centerline goodness [0,1] 0.9883436139332366 Centerline is valid? [True, True] Translation: X:158.00, Y:-5.54, Z:1.85 [[ 9.98352200e-01 -5.06923654e-02 -2.68918162e-02 1.57995737e+02] [ 5.07298652e-02 9.98712156e-01 7.13636721e-04 -5.54465125e+00] [ 2.68210078e-02 -2.07667900e-03 9.99638095e-01 1.84526752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.020714057 meters Centerline goodness [0,1] 0.9873779147499376 Centerline is valid? [True, True] Translation: X:158.03, Y:-5.54, Z:1.85 [[ 9.98298958e-01 -5.14951884e-02 -2.73392815e-02 1.58027920e+02] [ 5.15342920e-02 9.98670961e-01 7.27185655e-04 -5.54214178e+00] [ 2.72655000e-02 -2.13485920e-03 9.99625947e-01 1.84652618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.050714057 meters Centerline goodness [0,1] 0.9884399627535145 Centerline is valid? [True, True] Translation: X:158.06, Y:-5.54, Z:1.85 [[ 9.98292336e-01 -5.17669146e-02 -2.70665709e-02 1.58059764e+02] [ 5.18054069e-02 9.98656937e-01 7.22378173e-04 -5.53923922e+00] [ 2.69928235e-02 -2.12333931e-03 9.99633372e-01 1.84760924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.080714057 meters Centerline goodness [0,1] 0.9851575305044619 Centerline is valid? [True, True] Translation: X:158.09, Y:-5.55, Z:1.85 [[ 9.98255520e-01 -5.19759724e-02 -2.80074137e-02 1.58090548e+02] [ 5.20173372e-02 9.98645900e-01 7.49882269e-04 -5.54662018e+00] [ 2.79305131e-02 -2.20544520e-03 9.99607434e-01 1.84575302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.110714057 meters Centerline goodness [0,1] 0.9866112020367339 Centerline is valid? [True, True] Translation: X:158.12, Y:-5.54, Z:1.85 [[ 9.98269444e-01 -5.16976997e-02 -2.80261466e-02 1.58123129e+02] [ 5.17390596e-02 9.98660355e-01 7.52124128e-04 -5.53730173e+00] [ 2.79497184e-02 -2.20086901e-03 9.99606907e-01 1.84756359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.140714057 meters Centerline goodness [0,1] 0.9877135288206814 Centerline is valid? [True, True] Translation: X:158.16, Y:-5.54, Z:1.85 [[ 9.98283752e-01 -5.15063006e-02 -2.78684721e-02 1.58155379e+02] [ 5.15471775e-02 9.98670279e-01 7.49883280e-04 -5.53521967e+00] [ 2.77927911e-02 -2.18513737e-03 9.99611317e-01 1.84821489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.170714057 meters Centerline goodness [0,1] 0.9868204659661947 Centerline is valid? [True, True] Translation: X:158.19, Y:-5.54, Z:1.85 [[ 9.98312793e-01 -5.07920522e-02 -2.81377672e-02 1.58186405e+02] [ 5.08334913e-02 9.98706854e-01 7.58910797e-04 -5.53732315e+00] [ 2.80628343e-02 -2.18797130e-03 9.99603767e-01 1.84824711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.200714057 meters Centerline goodness [0,1] 0.9851329131268841 Centerline is valid? [True, True] Translation: X:158.22, Y:-5.54, Z:1.85 [[ 9.98383747e-01 -4.94220907e-02 -2.80597528e-02 1.58216433e+02] [ 4.94628165e-02 9.98775678e-01 7.58737964e-04 -5.54099774e+00] [ 2.79879002e-02 -2.14542606e-03 9.99605960e-01 1.84802609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.230714057 meters Centerline goodness [0,1] 0.9869685915525271 Centerline is valid? [True, True] Translation: X:158.25, Y:-5.53, Z:1.85 [[ 9.98429125e-01 -4.87523324e-02 -2.76132814e-02 1.58249060e+02] [ 4.87915765e-02 9.98808701e-01 7.48814531e-04 -5.53025858e+00] [ 2.75438792e-02 -2.09493377e-03 9.99618400e-01 1.84987858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26071405699997 meters Centerline goodness [0,1] 0.9869748669968813 Centerline is valid? [True, True] Translation: X:158.28, Y:-5.53, Z:1.85 [[ 9.98533459e-01 -4.71128298e-02 -2.66704298e-02 1.58280104e+02] [ 4.71488955e-02 9.98887610e-01 7.24689899e-04 -5.53058767e+00] [ 2.66066197e-02 -1.98110842e-03 9.99644018e-01 1.84993271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29071405699997 meters Centerline goodness [0,1] 0.9863226395707273 Centerline is valid? [True, True] Translation: X:158.31, Y:-5.53, Z:1.85 [[ 9.98613755e-01 -4.57639414e-02 -2.60044406e-02 1.58311240e+02] [ 4.57977969e-02 9.98950480e-01 7.07522132e-04 -5.52918428e+00] [ 2.59447694e-02 -1.89748742e-03 9.99661577e-01 1.85044728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32071405699998 meters Centerline goodness [0,1] 0.9874258654774493 Centerline is valid? [True, True] Translation: X:158.34, Y:-5.52, Z:1.85 [[ 9.98728107e-01 -4.28126241e-02 -2.66317010e-02 1.58342208e+02] [ 4.28471095e-02 9.99081378e-01 7.25341465e-04 -5.52037545e+00] [ 2.65761828e-02 -1.86551032e-03 9.99645050e-01 1.85136673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35071405699998 meters Centerline goodness [0,1] 0.9880721668512367 Centerline is valid? [True, True] Translation: X:158.37, Y:-5.52, Z:1.85 [[ 9.98918222e-01 -3.80280865e-02 -2.67628715e-02 1.58371395e+02] [ 3.80612120e-02 9.99275143e-01 7.29241111e-04 -5.52475809e+00] [ 2.67157406e-02 -1.74707956e-03 9.99641544e-01 1.85032695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38071405699998 meters Centerline goodness [0,1] 0.9894591165955484 Centerline is valid? [True, True] Translation: X:158.40, Y:-5.52, Z:1.85 [[ 9.99112968e-01 -3.27478120e-02 -2.64737067e-02 1.58402467e+02] [ 3.27783806e-02 9.99462384e-01 7.21429878e-04 -5.51509953e+00] [ 2.64358488e-02 -1.58855518e-03 9.99649250e-01 1.85246409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41071405699998 meters Centerline goodness [0,1] 0.9886183712338512 Centerline is valid? [True, True] Translation: X:158.43, Y:-5.51, Z:1.85 [[ 9.99338808e-01 -2.54859504e-02 -2.59309332e-02 1.58432603e+02] [ 2.55128401e-02 9.99674245e-01 7.06605093e-04 -5.51084561e+00] [ 2.59044776e-02 -1.36770964e-03 9.99663487e-01 1.85384306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44071405699998 meters Centerline goodness [0,1] 0.9901854374985567 Centerline is valid? [True, True] Translation: X:158.46, Y:-5.51, Z:1.85 [[ 9.99441669e-01 -2.08213022e-02 -2.61308989e-02 1.58462703e+02] [ 2.08470153e-02 9.99782424e-01 7.11946094e-04 -5.50860844e+00] [ 2.61103898e-02 -1.25629984e-03 9.99658276e-01 1.85268724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47071405699998 meters Centerline goodness [0,1] 0.9897568403082176 Centerline is valid? [True, True] Translation: X:158.49, Y:-5.51, Z:1.85 [[ 9.99470075e-01 -1.90948886e-02 -2.63619716e-02 1.58491409e+02] [ 1.91204345e-02 9.99816930e-01 7.17293821e-04 -5.50839975e+00] [ 2.63434489e-02 -1.22096606e-03 9.99652205e-01 1.85192055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50071405699998 meters Centerline goodness [0,1] 0.9895604268419712 Centerline is valid? [True, True] Translation: X:158.52, Y:-5.51, Z:1.85 [[ 9.99477036e-01 -1.79383114e-02 -2.69048751e-02 1.58520069e+02] [ 1.79643905e-02 9.99838362e-01 7.27894304e-04 -5.50850134e+00] [ 2.68874691e-02 -1.21084333e-03 9.99637733e-01 1.85109215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53071405699998 meters Centerline goodness [0,1] 0.9905163818489577 Centerline is valid? [True, True] Translation: X:158.55, Y:-5.51, Z:1.85 [[ 9.99524138e-01 -1.50673619e-02 -2.69160310e-02 1.58550035e+02] [ 1.50923123e-02 9.99885842e-01 7.24054433e-04 -5.50598302e+00] [ 2.69020487e-02 -1.12993503e-03 9.99637436e-01 1.85119427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56071405699998 meters Centerline goodness [0,1] 0.9899672494118732 Centerline is valid? [True, True] Translation: X:158.58, Y:-5.51, Z:1.85 [[ 9.99557214e-01 -1.39316415e-02 -2.62923224e-02 1.58577463e+02] [ 1.39550100e-02 9.99902375e-01 7.05506471e-04 -5.50683538e+00] [ 2.62799268e-02 -1.07210370e-03 9.99654048e-01 1.85247764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59071405699999 meters Centerline goodness [0,1] 0.98961993711855 Centerline is valid? [True, True] Translation: X:158.61, Y:-5.51, Z:1.85 [[ 9.99577414e-01 -1.45225885e-02 -2.51810998e-02 1.58605045e+02] [ 1.45441017e-02 9.99894004e-01 6.71394144e-04 -5.50696380e+00] [ 2.51686803e-02 -1.03734690e-03 9.99682680e-01 1.85404312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.620714057 meters Centerline goodness [0,1] 0.9895730005305774 Centerline is valid? [True, True] Translation: X:158.63, Y:-5.51, Z:1.85 [[ 9.99581495e-01 -1.57904976e-02 -2.42383081e-02 1.58633879e+02] [ 1.58106496e-02 9.99874799e-01 6.39983507e-04 -5.50911013e+00] [ 2.42251677e-02 -1.02293907e-03 9.99706004e-01 1.85488486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.650714057 meters Centerline goodness [0,1] 0.9893690459754245 Centerline is valid? [True, True] Translation: X:158.66, Y:-5.51, Z:1.86 [[ 9.99585401e-01 -1.87782537e-02 -2.18266529e-02 1.58662950e+02] [ 1.87952244e-02 9.99823190e-01 5.72619313e-04 -5.51334245e+00] [ 2.18120409e-02 -9.82618743e-04 9.99761606e-01 1.85613306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.680714057 meters Centerline goodness [0,1] 0.9894487064298385 Centerline is valid? [True, True] Translation: X:158.69, Y:-5.52, Z:1.86 [[ 9.99556122e-01 -2.14220846e-02 -2.07039320e-02 1.58692845e+02] [ 2.14378937e-02 9.99770035e-01 5.41906038e-04 -5.51515637e+00] [ 2.06875621e-02 -9.85514191e-04 9.99785504e-01 1.85718160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.710714057 meters Centerline goodness [0,1] 0.9876775943721551 Centerline is valid? [True, True] Translation: X:158.72, Y:-5.52, Z:1.86 [[ 9.99458088e-01 -2.65334251e-02 -1.94809577e-02 1.58721742e+02] [ 2.65483775e-02 9.99647400e-01 5.09277832e-04 -5.52314639e+00] [ 1.94605758e-02 -1.02618967e-03 9.99810098e-01 1.85780686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.740714057 meters Centerline goodness [0,1] 0.9872434957860022 Centerline is valid? [True, True] Translation: X:158.75, Y:-5.53, Z:1.86 [[ 9.99391105e-01 -2.92896641e-02 -1.89614061e-02 1.58752433e+02] [ 2.93043200e-02 9.99570413e-01 4.95486387e-04 -5.52739453e+00] [ 1.89387479e-02 -1.05083580e-03 9.99820094e-01 1.85805029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.770714057 meters Centerline goodness [0,1] 0.9866978043363784 Centerline is valid? [True, True] Translation: X:158.78, Y:-5.54, Z:1.86 [[ 9.99236437e-01 -3.42609077e-02 -1.87811954e-02 1.58782766e+02] [ 3.42761722e-02 9.99412279e-01 4.91359428e-04 -5.53567929e+00] [ 1.87533228e-02 -1.13473173e-03 9.99823497e-01 1.85711625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.800714057 meters Centerline goodness [0,1] 0.9866818960593946 Centerline is valid? [True, True] Translation: X:158.81, Y:-5.54, Z:1.86 [[ 9.99164460e-01 -3.61878487e-02 -1.89953002e-02 1.58814178e+02] [ 3.62038191e-02 9.99344303e-01 4.97434781e-04 -5.53802753e+00] [ 1.89648440e-02 -1.18472157e-03 9.99819449e-01 1.85699455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.830714057 meters Centerline goodness [0,1] 0.9866818960593946 Centerline is valid? [True, True] Translation: X:158.85, Y:-5.54, Z:1.86 [[ 9.99167000e-01 -3.61176727e-02 -1.89952781e-02 1.58845922e+02] [ 3.61336465e-02 9.99346842e-01 4.98277716e-04 -5.53892151e+00] [ 1.89648746e-02 -1.18423131e-03 9.99819449e-01 1.85744413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.860714057 meters Centerline goodness [0,1] 0.9841800965127925 Centerline is valid? [True, True] Translation: X:158.88, Y:-5.55, Z:1.86 [[ 9.99078127e-01 -3.85613993e-02 -1.88657235e-02 1.58875643e+02] [ 3.85776083e-02 9.99255484e-01 4.95867396e-04 -5.55317238e+00] [ 1.88325563e-02 -1.22320476e-03 9.99821903e-01 1.85696168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.890714057 meters Centerline goodness [0,1] 0.9861025676075912 Centerline is valid? [True, True] Translation: X:158.91, Y:-5.55, Z:1.86 [[ 9.99047396e-01 -3.94396048e-02 -1.86766470e-02 1.58907455e+02] [ 3.94556477e-02 9.99221202e-01 4.91133521e-04 -5.54865892e+00] [ 1.86427316e-02 -1.22756487e-03 9.99825456e-01 1.85836953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.920714057 meters Centerline goodness [0,1] 0.9846826137424038 Centerline is valid? [True, True] Translation: X:158.94, Y:-5.55, Z:1.86 [[ 9.99024173e-01 -4.01101304e-02 -1.84899688e-02 1.58938453e+02] [ 4.01259860e-02 9.99194510e-01 4.87179640e-04 -5.55487835e+00] [ 1.84555345e-02 -1.22863247e-03 9.99828927e-01 1.85900921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.950714057 meters Centerline goodness [0,1] 0.9855626037332605 Centerline is valid? [True, True] Translation: X:158.97, Y:-5.55, Z:1.86 [[ 9.99016743e-01 -4.02496477e-02 -1.85879630e-02 1.58970518e+02] [ 4.02657154e-02 9.99188887e-01 4.90810793e-04 -5.55221443e+00] [ 1.85531311e-02 -1.23878583e-03 9.99827108e-01 1.85962287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.980714057 meters Centerline goodness [0,1] 0.984509505530697 Centerline is valid? [True, True] Translation: X:159.00, Y:-5.56, Z:1.86 [[ 9.99085419e-01 -3.89402927e-02 -1.76629547e-02 1.59000487e+02] [ 3.89546148e-02 9.99240872e-01 4.67399847e-04 -5.55919890e+00] [ 1.76313456e-02 -1.15502597e-03 9.99843889e-01 1.85966498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01071405699997 meters Centerline goodness [0,1] 0.9842551839920142 Centerline is valid? [True, True] Translation: X:159.03, Y:-5.56, Z:1.86 [[ 9.99125800e-01 -3.79325564e-02 -1.75714601e-02 1.59031249e+02] [ 3.79465874e-02 9.99279660e-01 4.65662775e-04 -5.56291183e+00] [ 1.75411389e-02 -1.13203264e-03 9.99845502e-01 1.85985661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04071405699997 meters Centerline goodness [0,1] 0.9838921019338515 Centerline is valid? [True, True] Translation: X:159.06, Y:-5.56, Z:1.86 [[ 9.99166387e-01 -3.67337261e-02 -1.78091285e-02 1.59063074e+02] [ 3.67479867e-02 9.99324452e-01 4.74044863e-04 -5.56469248e+00] [ 1.77796842e-02 -1.12809931e-03 9.99841293e-01 1.85984265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07071405699998 meters Centerline goodness [0,1] 0.9850324447760519 Centerline is valid? [True, True] Translation: X:159.09, Y:-5.57, Z:1.86 [[ 9.99246648e-01 -3.45435375e-02 -1.76884239e-02 1.59093112e+02] [ 3.45572809e-02 9.99402607e-01 4.71817597e-04 -5.56770846e+00] [ 1.76615587e-02 -1.08272599e-03 9.99843436e-01 1.85924742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10071405699998 meters Centerline goodness [0,1] 0.985448538064633 Centerline is valid? [True, True] Translation: X:159.12, Y:-5.57, Z:1.86 [[ 9.99297020e-01 -3.30154112e-02 -1.77608866e-02 1.59124271e+02] [ 3.30290333e-02 9.99454280e-01 4.74106870e-04 -5.56862243e+00] [ 1.77355413e-02 -1.06039850e-03 9.99842151e-01 1.85976379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13071405699998 meters Centerline goodness [0,1] 0.9861038931694421 Centerline is valid? [True, True] Translation: X:159.15, Y:-5.57, Z:1.86 [[ 9.99358551e-01 -3.06848185e-02 -1.84642285e-02 1.59154502e+02] [ 3.06991550e-02 9.99528548e-01 4.93437433e-04 -5.57009123e+00] [ 1.84403825e-02 -1.05995713e-03 9.99829400e-01 1.85982696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16071405699998 meters Centerline goodness [0,1] 0.9883965528940761 Centerline is valid? [True, True] Translation: X:159.19, Y:-5.56, Z:1.86 [[ 9.99388365e-01 -2.89372187e-02 -1.96349849e-02 1.59186225e+02] [ 2.89531038e-02 9.99580633e-01 5.25168330e-04 -5.56198171e+00] [ 1.96115538e-02 -1.09334088e-03 9.99807077e-01 1.86025460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19071405699998 meters Centerline goodness [0,1] 0.9884014233593081 Centerline is valid? [True, True] Translation: X:159.22, Y:-5.56, Z:1.86 [[ 9.99393594e-01 -2.82727729e-02 -2.03247046e-02 1.59217773e+02] [ 2.82896719e-02 9.99599619e-01 5.44357973e-04 -5.56400552e+00] [ 2.03011765e-02 -1.11900710e-03 9.99793284e-01 1.86039131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22071405699998 meters Centerline goodness [0,1] 0.9884896947854488 Centerline is valid? [True, True] Translation: X:159.25, Y:-5.57, Z:1.86 [[ 9.99368430e-01 -2.83668974e-02 -2.14023340e-02 1.59249486e+02] [ 2.83856748e-02 9.99596881e-01 5.74007673e-04 -5.56522546e+00] [ 2.13774235e-02 -1.18116484e-03 9.99770779e-01 1.85999847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25071405699998 meters Centerline goodness [0,1] 0.9886847107812076 Centerline is valid? [True, True] Translation: X:159.28, Y:-5.57, Z:1.86 [[ 9.99275443e-01 -2.93875282e-02 -2.41859942e-02 1.59279246e+02] [ 2.94118213e-02 9.99567168e-01 6.49235808e-04 -5.57049727e+00] [ 2.41564462e-02 -1.36011954e-03 9.99707265e-01 1.85824170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28071405699998 meters Centerline goodness [0,1] 0.989612266558273 Centerline is valid? [True, True] Translation: X:159.31, Y:-5.57, Z:1.86 [[ 9.99233907e-01 -2.99978593e-02 -2.51342090e-02 1.59309825e+02] [ 3.00242877e-02 9.99548942e-01 6.74689175e-04 -5.57173596e+00] [ 2.51026327e-02 -1.42880902e-03 9.99683858e-01 1.85845742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31071405699998 meters Centerline goodness [0,1] 0.9887615194425714 Centerline is valid? [True, True] Translation: X:159.34, Y:-5.58, Z:1.86 [[ 9.99169209e-01 -3.11831002e-02 -2.62394165e-02 1.59339152e+02] [ 3.12123065e-02 9.99512529e-01 7.04140847e-04 -5.57841905e+00] [ 2.62046683e-02 -1.52254856e-03 9.99655439e-01 1.85772583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34071405699999 meters Centerline goodness [0,1] 0.988834361352483 Centerline is valid? [True, True] Translation: X:159.37, Y:-5.58, Z:1.86 [[ 9.99158289e-01 -3.18628881e-02 -2.58354487e-02 1.59367422e+02] [ 3.18914059e-02 9.99491100e-01 6.92441422e-04 -5.58320027e+00] [ 2.58002379e-02 -1.51578737e-03 9.99665969e-01 1.85805441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.370714057 meters Centerline goodness [0,1] 0.9882244337371099 Centerline is valid? [True, True] Translation: X:159.40, Y:-5.59, Z:1.86 [[ 9.99176513e-01 -3.19281386e-02 -2.50377806e-02 1.59396801e+02] [ 3.19549151e-02 9.99489087e-01 6.69970152e-04 -5.58559348e+00] [ 2.50035976e-02 -1.46949859e-03 9.99686281e-01 1.86009862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.400714057 meters Centerline goodness [0,1] 0.9889051094890511 Centerline is valid? [True, True] Translation: X:159.43, Y:-5.59, Z:1.86 [[ 9.99217937e-01 -3.14147312e-02 -2.40131102e-02 1.59427323e+02] [ 3.14392012e-02 9.99505460e-01 6.42082629e-04 -5.58734809e+00] [ 2.39810639e-02 -1.39653348e-03 9.99711437e-01 1.86123601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.430714057 meters Centerline goodness [0,1] 0.9886805165637282 Centerline is valid? [True, True] Translation: X:159.46, Y:-5.59, Z:1.86 [[ 9.99265506e-01 -3.06566115e-02 -2.29917508e-02 1.59457391e+02] [ 3.06788400e-02 9.99529105e-01 6.14620167e-04 -5.58818382e+00] [ 2.29620819e-02 -1.31952898e-03 9.99735466e-01 1.86303345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.460714057 meters Centerline goodness [0,1] 0.9883207424510749 Centerline is valid? [True, True] Translation: X:159.49, Y:-5.59, Z:1.87 [[ 9.99338862e-01 -2.90489605e-02 -2.18631355e-02 1.59488474e+02] [ 2.90686741e-02 9.99577246e-01 5.84350679e-04 -5.58945949e+00] [ 2.18369180e-02 -1.21949670e-03 9.99760802e-01 1.86501215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.490714057 meters Centerline goodness [0,1] 0.987889505730659 Centerline is valid? [True, True] Translation: X:159.52, Y:-5.59, Z:1.87 [[ 9.99409726e-01 -2.76439426e-02 -2.03963959e-02 1.59518901e+02] [ 2.76608122e-02 9.99617218e-01 5.45376445e-04 -5.58808371e+00] [ 2.03735122e-02 -1.10923540e-03 9.99791823e-01 1.86730007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.520714057 meters Centerline goodness [0,1] 0.9886954961421137 Centerline is valid? [True, True] Translation: X:159.55, Y:-5.59, Z:1.87 [[ 9.99427830e-01 -2.71725646e-02 -2.01410906e-02 1.59549363e+02] [ 2.71889211e-02 9.99630168e-01 5.38655548e-04 -5.59346390e+00] [ 2.01190051e-02 -1.08596187e-03 9.99797003e-01 1.86776873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.550714057 meters Centerline goodness [0,1] 0.9873948637434115 Centerline is valid? [True, True] Translation: X:159.58, Y:-5.60, Z:1.87 [[ 9.99423832e-01 -2.71472912e-02 -2.03722440e-02 1.59579353e+02] [ 2.71640252e-02 9.99630841e-01 5.45090388e-04 -5.59500754e+00] [ 2.03499256e-02 -1.09816847e-03 9.99792316e-01 1.86820257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.580714057 meters Centerline goodness [0,1] 0.9882508873612796 Centerline is valid? [True, True] Translation: X:159.61, Y:-5.60, Z:1.87 [[ 9.99382579e-01 -2.78250959e-02 -2.14528551e-02 1.59610239e+02] [ 2.78438085e-02 9.99612121e-01 5.74003784e-04 -5.59584628e+00] [ 2.14285623e-02 -1.17097857e-03 9.99769696e-01 1.86804454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.610714057 meters Centerline goodness [0,1] 0.9891597091300834 Centerline is valid? [True, True] Translation: X:159.64, Y:-5.60, Z:1.87 [[ 9.99354651e-01 -2.86970247e-02 -2.16046677e-02 1.59640720e+02] [ 2.87162063e-02 9.99587438e-01 5.78065760e-04 -5.59934454e+00] [ 2.15791656e-02 -1.19809680e-03 9.99766425e-01 1.86728277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.640714057 meters Centerline goodness [0,1] 0.9885067792044536 Centerline is valid? [True, True] Translation: X:159.67, Y:-5.61, Z:1.87 [[ 9.99238470e-01 -3.12479646e-02 -2.33676034e-02 1.59670044e+02] [ 3.12710968e-02 9.99510744e-01 6.25076824e-04 -5.60612327e+00] [ 2.33366382e-02 -1.35533140e-03 9.99726745e-01 1.86560719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.670714057 meters Centerline goodness [0,1] 0.9885841164464979 Centerline is valid? [True, True] Translation: X:159.70, Y:-5.61, Z:1.86 [[ 9.99170523e-01 -3.27581457e-02 -2.41902700e-02 1.59698912e+02] [ 3.27833727e-02 9.99462271e-01 6.46907983e-04 -5.60994544e+00] [ 2.41560707e-02 -1.43941003e-03 9.99707163e-01 1.86464028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.700714057 meters Centerline goodness [0,1] 0.9891328702666368 Centerline is valid? [True, True] Translation: X:159.73, Y:-5.62, Z:1.86 [[ 9.99033131e-01 -3.53424448e-02 -2.61479481e-02 1.59728293e+02] [ 3.53728013e-02 9.99373942e-01 6.99176120e-04 -5.61512400e+00] [ 2.61068674e-02 -1.62342628e-03 9.99657839e-01 1.86315560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.730714057 meters Centerline goodness [0,1] 0.9893247991406128 Centerline is valid? [True, True] Translation: X:159.76, Y:-5.62, Z:1.86 [[ 9.98970925e-01 -3.64139892e-02 -2.70390861e-02 1.59758219e+02] [ 3.64468234e-02 9.99335333e-01 7.22320852e-04 -5.61781419e+00] [ 2.69948115e-02 -1.70706633e-03 9.99634116e-01 1.86341974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76071405699997 meters Centerline goodness [0,1] 0.988795769282481 Centerline is valid? [True, True] Translation: X:159.79, Y:-5.62, Z:1.86 [[ 9.98908185e-01 -3.75231845e-02 -2.78289088e-02 1.59788183e+02] [ 3.75583744e-02 9.99294159e-01 7.42698830e-04 -5.62027604e+00] [ 2.77813976e-02 -1.78709652e-03 9.99612425e-01 1.86347231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79071405699997 meters Centerline goodness [0,1] 0.9885909486704325 Centerline is valid? [True, True] Translation: X:159.82, Y:-5.62, Z:1.87 [[ 9.98836228e-01 -3.91497308e-02 -2.81689375e-02 1.59818263e+02] [ 3.91864166e-02 9.99231635e-01 7.51289342e-04 -5.61938886e+00] [ 2.81178807e-02 -1.85425473e-03 9.99602894e-01 1.86522390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82071405699998 meters Centerline goodness [0,1] 0.9879223292333015 Centerline is valid? [True, True] Translation: X:159.85, Y:-5.62, Z:1.87 [[ 9.98774444e-01 -4.10764775e-02 -2.76103865e-02 1.59847697e+02] [ 4.11124419e-02 9.99154255e-01 7.35919361e-04 -5.62462598e+00] [ 2.75568062e-02 -1.87014786e-03 9.99618490e-01 1.86592296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85071405699998 meters Centerline goodness [0,1] 0.9880088426411808 Centerline is valid? [True, True] Translation: X:159.88, Y:-5.63, Z:1.87 [[ 9.98722066e-01 -4.23162654e-02 -2.76327606e-02 1.59877805e+02] [ 4.23527472e-02 9.99102449e-01 7.36038439e-04 -5.62618852e+00] [ 2.75768124e-02 -1.90542115e-03 9.99617871e-01 1.86730399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88071405699998 meters Centerline goodness [0,1] 0.9884711444117384 Centerline is valid? [True, True] Translation: X:159.91, Y:-5.63, Z:1.87 [[ 9.98683925e-01 -4.33593277e-02 -2.73931808e-02 1.59907732e+02] [ 4.33955567e-02 9.99057703e-01 7.29179754e-04 -5.62511770e+00] [ 2.73357515e-02 -1.91696243e-03 9.99624470e-01 1.86872356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91071405699998 meters Centerline goodness [0,1] 0.985570146983154 Centerline is valid? [True, True] Translation: X:159.94, Y:-5.63, Z:1.87 [[ 9.98618607e-01 -4.55155169e-02 -2.62529198e-02 1.59938042e+02] [ 4.55495373e-02 9.98961837e-01 6.99010264e-04 -5.63323231e+00] [ 2.61938492e-02 -1.89385301e-03 9.99655088e-01 1.86979770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94071405699998 meters Centerline goodness [0,1] 0.98540877701047 Centerline is valid? [True, True] Translation: X:159.97, Y:-5.64, Z:1.87 [[ 9.98580876e-01 -4.69766744e-02 -2.50883473e-02 1.59968975e+02] [ 4.70082231e-02 9.98894278e-01 6.68892058e-04 -5.63602319e+00] [ 2.50291842e-02 -1.84730144e-03 9.99685014e-01 1.87145087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97071405699998 meters Centerline goodness [0,1] 0.9859120503077573 Centerline is valid? [True, True] Translation: X:160.00, Y:-5.64, Z:1.87 [[ 9.98526413e-01 -4.80505388e-02 -2.52219703e-02 1.59999692e+02] [ 4.80827837e-02 9.98843127e-01 6.73189379e-04 -5.63602210e+00] [ 2.51604446e-02 -1.88493992e-03 9.99681649e-01 1.87224675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00071405699998 meters Centerline goodness [0,1] 0.985286916262298 Centerline is valid? [True, True] Translation: X:160.03, Y:-5.64, Z:1.87 [[ 9.98453996e-01 -4.89837130e-02 -2.62719261e-02 1.60031353e+02] [ 4.90190442e-02 9.98797597e-01 7.02103665e-04 -5.63890427e+00] [ 2.62059450e-02 -1.98884292e-03 9.99654587e-01 1.87234375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03071405699998 meters Centerline goodness [0,1] 0.9836798221234019 Centerline is valid? [True, True] Translation: X:160.06, Y:-5.64, Z:1.87 [[ 9.98332278e-01 -5.07380641e-02 -2.75374482e-02 1.60062595e+02] [ 5.07775799e-02 9.98709715e-01 7.37161798e-04 -5.64228827e+00] [ 2.74645149e-02 -2.13421739e-03 9.99620501e-01 1.87144665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06071405699998 meters Centerline goodness [0,1] 0.9827686005610223 Centerline is valid? [True, True] Translation: X:160.09, Y:-5.64, Z:1.87 [[ 9.98255767e-01 -5.18189014e-02 -2.82882564e-02 1.60093688e+02] [ 5.18610617e-02 9.98654022e-01 7.58249859e-04 -5.64433729e+00] [ 2.82108893e-02 -2.22398630e-03 9.99599520e-01 1.87160535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09071405699999 meters Centerline goodness [0,1] 0.9846006204387707 Centerline is valid? [True, True] Translation: X:160.13, Y:-5.64, Z:1.87 [[ 9.98163090e-01 -5.29466359e-02 -2.94465635e-02 1.60125376e+02] [ 5.29928395e-02 9.98594580e-01 7.90340657e-04 -5.64373975e+00] [ 2.93633328e-02 -2.34934589e-03 9.99566043e-01 1.87196697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.120714057 meters Centerline goodness [0,1] 0.9777218348296834 Centerline is valid? [True, True] Translation: X:160.16, Y:-5.65, Z:1.87 [[ 9.98115953e-01 -5.34898259e-02 -3.00563444e-02 1.60155307e+02] [ 5.35382321e-02 9.98565474e-01 8.07488905e-04 -5.65004653e+00] [ 2.99700354e-02 -2.41513110e-03 9.99547880e-01 1.87110276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.150714057 meters Centerline goodness [0,1] 0.9775958350946671 Centerline is valid? [True, True] Translation: X:160.19, Y:-5.65, Z:1.87 [[ 9.98095470e-01 -5.39609384e-02 -2.98939760e-02 1.60186949e+02] [ 5.40090558e-02 9.98540122e-01 8.03905137e-04 -5.65202578e+00] [ 2.98069550e-02 -2.41691949e-03 9.99552752e-01 1.87193236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.180714057 meters Centerline goodness [0,1] 0.9699184830763778 Centerline is valid? [True, True] Translation: X:160.22, Y:-5.66, Z:1.87 [[ 9.98099350e-01 -5.40729638e-02 -2.95601315e-02 1.60217090e+02] [ 5.41200823e-02 9.98534117e-01 7.95661195e-04 -5.65675346e+00] [ 2.94737761e-02 -2.39394567e-03 9.99562687e-01 1.87191931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.210714057 meters Centerline goodness [0,1] 0.9806336853807671 Centerline is valid? [True, True] Translation: X:160.25, Y:-5.65, Z:1.87 [[ 9.98110827e-01 -5.39878861e-02 -2.93271952e-02 1.60248643e+02] [ 5.40342503e-02 9.98538770e-01 7.90148380e-04 -5.65178197e+00] [ 2.92416829e-02 -2.37332866e-03 9.99569553e-01 1.87419232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.240714057 meters Centerline goodness [0,1] 0.9799950990220321 Centerline is valid? [True, True] Translation: X:160.28, Y:-5.65, Z:1.87 [[ 9.98130598e-01 -5.38618698e-02 -2.88826751e-02 1.60280332e+02] [ 5.39068142e-02 9.98545667e-01 7.79152743e-04 -5.65326978e+00] [ 2.87987034e-02 -2.33466919e-03 9.99582505e-01 1.87484125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.270714057 meters Centerline goodness [0,1] 0.9862138084632517 Centerline is valid? [True, True] Translation: X:160.31, Y:-5.65, Z:1.88 [[ 9.98210605e-01 -5.26546604e-02 -2.83385573e-02 1.60312334e+02] [ 5.26974780e-02 9.98610229e-01 7.65705819e-04 -5.64775131e+00] [ 2.82588552e-02 -2.25770617e-03 9.99598089e-01 1.87754405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.300714057 meters Centerline goodness [0,1] 0.9854772707054532 Centerline is valid? [True, True] Translation: X:160.34, Y:-5.65, Z:1.88 [[ 9.98248217e-01 -5.19438980e-02 -2.83254051e-02 1.60343642e+02] [ 5.19864271e-02 9.98647497e-01 7.66607672e-04 -5.64886968e+00] [ 2.82472743e-02 -2.23780135e-03 9.99598461e-01 1.87808531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.330714057 meters Centerline goodness [0,1] 0.9816224614360226 Centerline is valid? [True, True] Translation: X:160.37, Y:-5.66, Z:1.88 [[ 9.98299260e-01 -5.06756546e-02 -2.88195357e-02 1.60373517e+02] [ 5.07191781e-02 9.98712649e-01 7.80747607e-04 -5.65669833e+00] [ 2.87428700e-02 -2.24112293e-03 9.99584326e-01 1.87684970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.360714057 meters Centerline goodness [0,1] 0.985945608838007 Centerline is valid? [True, True] Translation: X:160.41, Y:-5.65, Z:1.88 [[ 9.98320019e-01 -5.00842445e-02 -2.91326124e-02 1.60405523e+02] [ 5.01284992e-02 9.98742464e-01 7.90266802e-04 -5.65150998e+00] [ 2.90563971e-02 -2.24931331e-03 9.99575243e-01 1.87846048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.390714057 meters Centerline goodness [0,1] 0.9842666666666666 Centerline is valid? [True, True] Translation: X:160.44, Y:-5.65, Z:1.88 [[ 9.98339745e-01 -4.90264549e-02 -3.02350815e-02 1.60436294e+02] [ 4.90736823e-02 9.98794823e-01 8.21503023e-04 -5.65387111e+00] [ 3.01583675e-02 -2.30388591e-03 9.99542478e-01 1.87811034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.420714057 meters Centerline goodness [0,1] 0.9856391044509857 Centerline is valid? [True, True] Translation: X:160.47, Y:-5.66, Z:1.88 [[ 9.98310445e-01 -4.89907110e-02 -3.12436359e-02 1.60466256e+02] [ 4.90411330e-02 9.98796399e-01 8.49120313e-04 -5.65564809e+00] [ 3.11644321e-02 -2.37990898e-03 9.99511438e-01 1.87800443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.450714057 meters Centerline goodness [0,1] 0.9854478194014218 Centerline is valid? [True, True] Translation: X:160.50, Y:-5.66, Z:1.88 [[ 9.98300823e-01 -4.89739778e-02 -3.15755799e-02 1.60496392e+02] [ 4.90254615e-02 9.98797161e-01 8.57895889e-04 -5.65763556e+00] [ 3.14955850e-02 -2.40444555e-03 9.99500999e-01 1.87803566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.480714057 meters Centerline goodness [0,1] 0.9856251392912859 Centerline is valid? [True, True] Translation: X:160.53, Y:-5.66, Z:1.88 [[ 9.98302360e-01 -4.87436085e-02 -3.18819356e-02 1.60525537e+02] [ 4.87959703e-02 9.98808392e-01 8.65919178e-04 -5.66118021e+00] [ 3.18017368e-02 -2.42015914e-03 9.99491267e-01 1.87735641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51071405699997 meters Centerline goodness [0,1] 0.9852538867018082 Centerline is valid? [True, True] Translation: X:160.55, Y:-5.66, Z:1.88 [[ 9.98310898e-01 -4.86144453e-02 -3.18117382e-02 1.60553661e+02] [ 4.86664757e-02 9.98814712e-01 8.62882609e-04 -5.66314522e+00] [ 3.17320836e-02 -2.40959030e-03 9.99493506e-01 1.87755934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54071405699997 meters Centerline goodness [0,1] 0.9852360019537321 Centerline is valid? [True, True] Translation: X:160.58, Y:-5.66, Z:1.88 [[ 9.98409074e-01 -4.70030209e-02 -3.11454279e-02 1.60583538e+02] [ 4.70520651e-02 9.98892082e-01 8.43248003e-04 -5.66338026e+00] [ 3.10712861e-02 -2.30736316e-03 9.99514508e-01 1.87937071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57071405699998 meters Centerline goodness [0,1] 0.9865114108575365 Centerline is valid? [True, True] Translation: X:160.61, Y:-5.66, Z:1.88 [[ 9.98478576e-01 -4.56495450e-02 -3.09298049e-02 1.60613352e+02] [ 4.56972272e-02 9.98954986e-01 8.36142802e-04 -5.66363372e+00] [ 3.08593133e-02 -2.24827700e-03 9.99521209e-01 1.88012150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60071405699998 meters Centerline goodness [0,1] 0.9862818774040065 Centerline is valid? [True, True] Translation: X:160.64, Y:-5.66, Z:1.88 [[ 9.98564665e-01 -4.39771851e-02 -3.05715098e-02 1.60643710e+02] [ 4.40229665e-02 9.99030178e-01 8.25725939e-04 -5.66422475e+00] [ 3.05055478e-02 -2.17038930e-03 9.99532241e-01 1.88086440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63071405699998 meters Centerline goodness [0,1] 0.9886667260420378 Centerline is valid? [True, True] Translation: X:160.67, Y:-5.66, Z:1.88 [[ 9.98761050e-01 -4.01271567e-02 -2.94308880e-02 1.60674405e+02] [ 4.01679124e-02 9.99192628e-01 7.94647807e-04 -5.65519715e+00] [ 2.93752393e-02 -1.97584061e-03 9.99566502e-01 1.88477989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66071405699998 meters Centerline goodness [0,1] 0.9878399144785194 Centerline is valid? [True, True] Translation: X:160.70, Y:-5.66, Z:1.88 [[ 9.98842521e-01 -3.83522427e-02 -2.90297189e-02 1.60702770e+02] [ 3.83911247e-02 9.99262482e-01 7.83010719e-04 -5.66300770e+00] [ 2.89782788e-02 -1.89658796e-03 9.99578242e-01 1.88431441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69071405699998 meters Centerline goodness [0,1] 0.98947227848383 Centerline is valid? [True, True] Translation: X:160.73, Y:-5.65, Z:1.89 [[ 9.98993869e-01 -3.52180803e-02 -2.77657615e-02 1.60733461e+02] [ 3.52524115e-02 9.99378161e-01 7.47777301e-04 -5.65267497e+00] [ 2.77221604e-02 -1.72583499e-03 9.99614177e-01 1.88822073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72071405699998 meters Centerline goodness [0,1] 0.98947227848383 Centerline is valid? [True, True] Translation: X:160.76, Y:-5.65, Z:1.89 [[ 9.98992652e-01 -3.52525483e-02 -2.77657866e-02 1.60762661e+02] [ 3.52868668e-02 9.99376946e-01 7.46842948e-04 -5.65342903e+00] [ 2.77221589e-02 -1.72585823e-03 9.99614177e-01 1.88863459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75071405699998 meters Centerline goodness [0,1] 0.9899198931909212 Centerline is valid? [True, True] Translation: X:160.79, Y:-5.65, Z:1.89 [[ 9.99021768e-01 -3.46885416e-02 -2.74264745e-02 1.60791891e+02] [ 3.47217198e-02 9.99396750e-01 7.34259651e-04 -5.65384545e+00] [ 2.73844591e-02 -1.68583574e-03 9.99623554e-01 1.88927041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78071405699998 meters Centerline goodness [0,1] 0.9902466118640302 Centerline is valid? [True, True] Translation: X:160.82, Y:-5.65, Z:1.89 [[ 9.99052900e-01 -3.38046277e-02 -2.73961740e-02 1.60821922e+02] [ 3.38373021e-02 9.99427088e-01 7.29815352e-04 -5.65263566e+00] [ 2.73558073e-02 -1.65613676e-03 9.99624388e-01 1.89042242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81071405699998 meters Centerline goodness [0,1] 0.9901104518078983 Centerline is valid? [True, True] Translation: X:160.85, Y:-5.66, Z:1.89 [[ 9.99028080e-01 -3.40775955e-02 -2.79573234e-02 1.60850033e+02] [ 3.41116950e-02 9.99417750e-01 7.43537561e-04 -5.65957063e+00] [ 2.79157072e-02 -1.69648659e-03 9.99608841e-01 1.88908475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84071405699999 meters Centerline goodness [0,1] 0.9906879344145428 Centerline is valid? [True, True] Translation: X:160.88, Y:-5.66, Z:1.89 [[ 9.98912739e-01 -3.57517006e-02 -2.99191576e-02 1.60879285e+02] [ 3.57914435e-02 9.99358966e-01 7.93684324e-04 -5.65792775e+00] [ 2.98716028e-02 -1.86367122e-03 9.99552007e-01 1.88862942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.870714057 meters Centerline goodness [0,1] 0.9892761989342806 Centerline is valid? [True, True] Translation: X:160.91, Y:-5.67, Z:1.89 [[ 9.98839140e-01 -3.68898046e-02 -3.09760216e-02 1.60906285e+02] [ 3.69328363e-02 9.99317415e-01 8.17997553e-04 -5.66640328e+00] [ 3.09247021e-02 -1.96108031e-03 9.99519793e-01 1.88638079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.900714057 meters Centerline goodness [0,1] 0.9900287119677714 Centerline is valid? [True, True] Translation: X:160.94, Y:-5.66, Z:1.89 [[ 9.98702038e-01 -3.96080981e-02 -3.20224599e-02 1.60936756e+02] [ 3.96553978e-02 9.99213060e-01 8.43085331e-04 -5.66230369e+00] [ 3.19638671e-02 -2.11185442e-03 9.99486794e-01 1.88806624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.930714057 meters Centerline goodness [0,1] 0.990546897643413 Centerline is valid? [True, True] Translation: X:160.97, Y:-5.66, Z:1.89 [[ 9.98631837e-01 -4.12190636e-02 -3.21783103e-02 1.60966745e+02] [ 4.12676289e-02 9.99147770e-01 8.46304664e-04 -5.66125560e+00] [ 3.21160031e-02 -2.17306935e-03 9.99481786e-01 1.88910006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.960714057 meters Centerline goodness [0,1] 0.9912933107686827 Centerline is valid? [True, True] Translation: X:161.00, Y:-5.66, Z:1.89 [[ 9.98484633e-01 -4.48512228e-02 -3.18873950e-02 1.60997074e+02] [ 4.49007324e-02 9.98991102e-01 8.37909710e-04 -5.66203581e+00] [ 3.18176426e-02 -2.26840736e-03 9.99491116e-01 1.89067817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.990714057 meters Centerline goodness [0,1] 0.990118665239115 Centerline is valid? [True, True] Translation: X:161.03, Y:-5.66, Z:1.89 [[ 9.98386605e-01 -4.67818930e-02 -3.21813704e-02 1.61026618e+02] [ 4.68332905e-02 9.98902362e-01 8.44789977e-04 -5.66450248e+00] [ 3.21065261e-02 -2.35058647e-03 9.99481689e-01 1.89102850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.020714057 meters Centerline goodness [0,1] 0.9884199977730765 Centerline is valid? [True, True] Translation: X:161.06, Y:-5.68, Z:1.89 [[ 9.98280843e-01 -4.95559208e-02 -3.12980580e-02 1.61055257e+02] [ 4.96058626e-02 9.98768534e-01 8.20752033e-04 -5.67690197e+00] [ 3.12188424e-02 -2.37190819e-03 9.99509759e-01 1.88959492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.050714057 meters Centerline goodness [0,1] 0.9905326234657281 Centerline is valid? [True, True] Translation: X:161.09, Y:-5.67, Z:1.89 [[ 9.98246988e-01 -5.07578551e-02 -3.04399601e-02 1.61085913e+02] [ 5.08056410e-02 9.98708241e-01 7.97962327e-04 -5.66574009e+00] [ 3.03601361e-02 -2.34308517e-03 9.99536279e-01 1.89339963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.080714057 meters Centerline goodness [0,1] 0.9877681973130138 Centerline is valid? [True, True] Translation: X:161.12, Y:-5.68, Z:1.89 [[ 9.98210966e-01 -5.17735850e-02 -2.99059044e-02 1.61115934e+02] [ 5.18201811e-02 9.98656124e-01 7.84638824e-04 -5.67872720e+00] [ 2.98250909e-02 -2.33296446e-03 9.99552410e-01 1.89235059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.110714057 meters Centerline goodness [0,1] 0.9892451614336822 Centerline is valid? [True, True] Translation: X:161.15, Y:-5.67, Z:1.90 [[ 9.98192806e-01 -5.31677353e-02 -2.80055998e-02 1.61147478e+02] [ 5.32091696e-02 9.98583118e-01 7.35834562e-04 -5.67067915e+00] [ 2.79267965e-02 -2.22465948e-03 9.99607495e-01 1.89553781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.140714057 meters Centerline goodness [0,1] 0.9892453964507582 Centerline is valid? [True, True] Translation: X:161.18, Y:-5.67, Z:1.90 [[ 9.98147786e-01 -5.44368544e-02 -2.71592727e-02 1.61178754e+02] [ 5.44763193e-02 9.98514807e-01 7.14758571e-04 -5.67220908e+00] [ 2.70800267e-02 -2.19297190e-03 9.99630863e-01 1.89653681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.170714057 meters Centerline goodness [0,1] 0.9895664528159478 Centerline is valid? [True, True] Translation: X:161.21, Y:-5.67, Z:1.90 [[ 9.98124300e-01 -5.49253583e-02 -2.70386043e-02 1.61211176e+02] [ 5.49646955e-02 9.98488044e-01 7.13227404e-04 -5.67085352e+00] [ 2.69585488e-02 -2.19805825e-03 9.99634136e-01 1.89741355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.200714057 meters Centerline goodness [0,1] 0.9900325558578246 Centerline is valid? [True, True] Translation: X:161.24, Y:-5.67, Z:1.90 [[ 9.98076909e-01 -5.56010742e-02 -2.74044428e-02 1.61243456e+02] [ 5.56417899e-02 9.98450532e-01 7.24831751e-04 -5.66921032e+00] [ 2.73216791e-02 -2.24827009e-03 9.99624165e-01 1.89763031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.230714057 meters Centerline goodness [0,1] 0.9874843554443054 Centerline is valid? [True, True] Translation: X:161.27, Y:-5.68, Z:1.90 [[ 9.97983376e-01 -5.68482854e-02 -2.82392076e-02 1.61272997e+02] [ 5.68920806e-02 9.98380053e-01 7.49191087e-04 -5.67576794e+00] [ 2.81508713e-02 -2.35426753e-03 9.99600913e-01 1.89629892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26071405699997 meters Centerline goodness [0,1] 0.9883559806901484 Centerline is valid? [True, True] Translation: X:161.31, Y:-5.67, Z:1.90 [[ 9.97923939e-01 -5.74233641e-02 -2.91610911e-02 1.61305483e+02] [ 5.74703785e-02 9.98346910e-01 7.75979068e-04 -5.67266303e+00] [ 2.90683259e-02 -2.45026703e-03 9.99574424e-01 1.89668950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29071405699997 meters Centerline goodness [0,1] 0.9890433579541651 Centerline is valid? [True, True] Translation: X:161.34, Y:-5.67, Z:1.90 [[ 9.97789080e-01 -5.87709186e-02 -3.10311272e-02 1.61336289e+02] [ 5.88248615e-02 9.98267975e-01 8.27506788e-04 -5.66876030e+00] [ 3.09287472e-02 -2.65107899e-03 9.99518076e-01 1.89604846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32071405699998 meters Centerline goodness [0,1] 0.9892156862745098 Centerline is valid? [True, True] Translation: X:161.37, Y:-5.67, Z:1.90 [[ 9.97713873e-01 -5.96858910e-02 -3.16957661e-02 1.61367884e+02] [ 5.97426780e-02 9.98213452e-01 8.46780904e-04 -5.66962041e+00] [ 3.15885992e-02 -2.73843500e-03 9.99497204e-01 1.89566473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35071405699998 meters Centerline goodness [0,1] 0.9873718149657427 Centerline is valid? [True, True] Translation: X:161.40, Y:-5.67, Z:1.90 [[ 9.97562252e-01 -6.16103016e-02 -3.27677338e-02 1.61397501e+02] [ 6.16720526e-02 9.98096083e-01 8.76198485e-04 -5.67178262e+00] [ 3.26513639e-02 -2.89491594e-03 9.99462610e-01 1.89528093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38071405699998 meters Centerline goodness [0,1] 0.9856643669922049 Centerline is valid? [True, True] Translation: X:161.43, Y:-5.67, Z:1.90 [[ 9.97523389e-01 -6.22212328e-02 -3.27964498e-02 1.61429129e+02] [ 6.22834515e-02 9.98058115e-01 8.77938097e-04 -5.67321149e+00] [ 3.26781364e-02 -2.91843987e-03 9.99461666e-01 1.89543003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41071405699998 meters Centerline goodness [0,1] 0.9882606451033646 Centerline is valid? [True, True] Translation: X:161.46, Y:-5.67, Z:1.90 [[ 9.97505699e-01 -6.24934374e-02 -3.28169351e-02 1.61461656e+02] [ 6.25559475e-02 9.98041070e-01 8.80551828e-04 -5.66785860e+00] [ 3.26976203e-02 -2.93124994e-03 9.99460991e-01 1.89707083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44071405699998 meters Centerline goodness [0,1] 0.9865896940563368 Centerline is valid? [True, True] Translation: X:161.49, Y:-5.67, Z:1.90 [[ 9.97545490e-01 -6.19835859e-02 -3.25734742e-02 1.61493096e+02] [ 6.20449660e-02 9.98072971e-01 8.75995741e-04 -5.67055672e+00] [ 3.24564068e-02 -2.89486570e-03 9.99468960e-01 1.89751134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47071405699998 meters Centerline goodness [0,1] 0.9875780583134912 Centerline is valid? [True, True] Translation: X:161.53, Y:-5.67, Z:1.90 [[ 9.97669464e-01 -6.03983374e-02 -3.17439932e-02 1.61525016e+02] [ 6.04558859e-02 9.98170504e-01 8.55358819e-04 -5.66545776e+00] [ 3.16342555e-02 -2.77247661e-03 9.99495666e-01 1.89990195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50071405699998 meters Centerline goodness [0,1] 0.9871708456906624 Centerline is valid? [True, True] Translation: X:161.56, Y:-5.67, Z:1.90 [[ 9.97752272e-01 -5.92345871e-02 -3.13315759e-02 1.61555876e+02] [ 5.92901220e-02 9.98240435e-01 8.45599125e-04 -5.66559228e+00] [ 3.12263573e-02 -2.70135141e-03 9.99508688e-01 1.90061092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53071405699998 meters Centerline goodness [0,1] 0.9879314994606256 Centerline is valid? [True, True] Translation: X:161.59, Y:-5.67, Z:1.90 [[ 9.97808391e-01 -5.81533655e-02 -3.15689959e-02 1.61587015e+02] [ 5.82092438e-02 9.98304040e-01 8.53122744e-04 -5.66553881e+00] [ 3.14658442e-02 -2.68886041e-03 9.99501211e-01 1.90100832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56071405699998 meters Centerline goodness [0,1] 0.9875157742924103 Centerline is valid? [True, True] Translation: X:161.62, Y:-5.66, Z:1.90 [[ 9.97893148e-01 -5.63104424e-02 -3.22242172e-02 1.61618533e+02] [ 5.63677491e-02 9.98409694e-01 8.71984681e-04 -5.66041069e+00] [ 3.21238690e-02 -2.68655413e-03 9.99480285e-01 1.90140314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59071405699999 meters Centerline goodness [0,1] 0.9877562003857021 Centerline is valid? [True, True] Translation: X:161.65, Y:-5.66, Z:1.90 [[ 9.97926146e-01 -5.55109978e-02 -3.25873607e-02 1.61649685e+02] [ 5.55692190e-02 9.98454447e-01 8.82979332e-04 -5.66089576e+00] [ 3.24879801e-02 -2.69200235e-03 9.99468501e-01 1.90179236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.620714057 meters Centerline goodness [0,1] 0.9875840662183135 Centerline is valid? [True, True] Translation: X:161.68, Y:-5.66, Z:1.90 [[ 9.98007386e-01 -5.38997505e-02 -3.28035731e-02 1.61680090e+02] [ 5.39579105e-02 9.98542814e-01 8.89677537e-04 -5.66174353e+00] [ 3.27078188e-02 -2.65791702e-03 9.99461422e-01 1.90145181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.650714057 meters Centerline goodness [0,1] 0.9880297347676691 Centerline is valid? [True, True] Translation: X:161.71, Y:-5.66, Z:1.90 [[ 9.98072378e-01 -5.28140266e-02 -3.25915086e-02 1.61710934e+02] [ 5.28708730e-02 9.98600966e-01 8.84276384e-04 -5.66217272e+00] [ 3.24992097e-02 -2.60571334e-03 9.99468364e-01 1.90185439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.680714057 meters Centerline goodness [0,1] 0.9878400288236354 Centerline is valid? [True, True] Translation: X:161.74, Y:-5.66, Z:1.90 [[ 9.98196100e-01 -5.02711092e-02 -3.28231737e-02 1.61740969e+02] [ 5.03274035e-02 9.98732376e-01 8.90638227e-04 -5.66154486e+00] [ 3.27367929e-02 -2.54093672e-03 9.99460778e-01 1.90303201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.710714057 meters Centerline goodness [0,1] 0.9886519404058336 Centerline is valid? [True, True] Translation: X:161.77, Y:-5.66, Z:1.90 [[ 9.98292484e-01 -4.84784322e-02 -3.25877032e-02 1.61772128e+02] [ 4.85329766e-02 9.98821189e-01 8.84397270e-04 -5.65891332e+00] [ 3.25064143e-02 -2.46446539e-03 9.99468488e-01 1.90417763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.740714057 meters Centerline goodness [0,1] 0.9880504984584918 Centerline is valid? [True, True] Translation: X:161.80, Y:-5.66, Z:1.90 [[ 9.98420429e-01 -4.63203758e-02 -3.17973302e-02 1.61802069e+02] [ 4.63712203e-02 9.98923904e-01 8.63058531e-04 -5.66004763e+00] [ 3.17231360e-02 -2.33617627e-03 9.99493964e-01 1.90478241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.770714057 meters Centerline goodness [0,1] 0.9880373073803731 Centerline is valid? [True, True] Translation: X:161.83, Y:-5.66, Z:1.91 [[ 9.98674164e-01 -4.11623693e-02 -3.09123406e-02 1.61831809e+02] [ 4.12079533e-02 9.99150240e-01 8.38732573e-04 -5.65635505e+00] [ 3.08515483e-02 -2.11145484e-03 9.99521747e-01 1.90580383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.800714057 meters Centerline goodness [0,1] 0.9897476340694006 Centerline is valid? [True, True] Translation: X:161.86, Y:-5.64, Z:1.91 [[ 9.98886132e-01 -3.64015760e-02 -3.00236546e-02 1.61862128e+02] [ 3.64424254e-02 9.99335422e-01 8.14326774e-04 -5.64491188e+00] [ 2.99740587e-02 -1.90755451e-03 9.99548857e-01 1.90881628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.830714057 meters Centerline goodness [0,1] 0.9882793129874228 Centerline is valid? [True, True] Translation: X:161.89, Y:-5.65, Z:1.91 [[ 9.98975521e-01 -3.40532068e-02 -2.98041374e-02 1.61890875e+02] [ 3.40924021e-02 9.99418359e-01 8.07779934e-04 -5.65128272e+00] [ 2.97592945e-02 -1.82304702e-03 9.99555432e-01 1.90730118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.860714057 meters Centerline goodness [0,1] 0.9893686657788412 Centerline is valid? [True, True] Translation: X:161.92, Y:-5.65, Z:1.91 [[ 9.99056831e-01 -3.19403256e-02 -2.94153605e-02 1.61921100e+02] [ 3.19775702e-02 9.99488269e-01 7.96494102e-04 -5.64982710e+00] [ 2.93748675e-02 -1.73637463e-03 9.99566957e-01 1.90807966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.890714057 meters Centerline goodness [0,1] 0.9895633748844758 Centerline is valid? [True, True] Translation: X:161.95, Y:-5.64, Z:1.91 [[ 9.99189776e-01 -2.85084593e-02 -2.84088058e-02 1.61951506e+02] [ 2.85418013e-02 9.99592304e-01 7.68760629e-04 -5.64011387e+00] [ 2.83753075e-02 -1.57897625e-03 9.99596093e-01 1.91102751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.920714057 meters Centerline goodness [0,1] 0.9886358511837655 Centerline is valid? [True, True] Translation: X:161.98, Y:-5.64, Z:1.91 [[ 9.99290249e-01 -2.57159717e-02 -2.75260990e-02 1.61981778e+02] [ 2.57462037e-02 9.99668234e-01 7.44397481e-04 -5.63882359e+00] [ 2.74978239e-02 -1.45256170e-03 9.99620808e-01 1.91177695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.950714057 meters Centerline goodness [0,1] 0.988939551261794 Centerline is valid? [True, True] Translation: X:162.01, Y:-5.64, Z:1.91 [[ 9.99328338e-01 -2.48187485e-02 -2.69611433e-02 1.62009457e+02] [ 2.48473896e-02 9.99690991e-01 7.27758034e-04 -5.64251836e+00] [ 2.69347500e-02 -1.39718326e-03 9.99636217e-01 1.91132147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.980714057 meters Centerline goodness [0,1] 0.9887156108239861 Centerline is valid? [True, True] Translation: X:162.04, Y:-5.64, Z:1.91 [[ 9.99355368e-01 -2.40312519e-02 -2.66710977e-02 1.62038082e+02] [ 2.40588837e-02 9.99710287e-01 7.15562453e-04 -5.63602416e+00] [ 2.66461748e-02 -1.35677802e-03 9.99644007e-01 1.91379240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01071405699997 meters Centerline goodness [0,1] 0.9887286965574995 Centerline is valid? [True, True] Translation: X:162.07, Y:-5.64, Z:1.91 [[ 9.99405685e-01 -2.30669604e-02 -2.56162430e-02 1.62067378e+02] [ 2.30920073e-02 9.99733111e-01 6.82354643e-04 -5.63622803e+00] [ 2.55936665e-02 -1.27347958e-03 9.99671617e-01 1.91440257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04071405699997 meters Centerline goodness [0,1] 0.9884099227328182 Centerline is valid? [True, True] Translation: X:162.10, Y:-5.64, Z:1.91 [[ 9.99400948e-01 -2.35926852e-02 -2.53205335e-02 1.62095688e+02] [ 2.36172538e-02 9.99720848e-01 6.71648513e-04 -5.63647681e+00] [ 2.52976193e-02 -1.26924763e-03 9.99679158e-01 1.91484827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07071405699998 meters Centerline goodness [0,1] 0.9884951160639762 Centerline is valid? [True, True] Translation: X:162.12, Y:-5.64, Z:1.91 [[ 9.99339898e-01 -2.51946682e-02 -2.61724381e-02 1.62124383e+02] [ 2.52214085e-02 9.99681650e-01 6.92040928e-04 -5.64202463e+00] [ 2.61466703e-02 -1.35168986e-03 9.99657204e-01 1.91290269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10071405699998 meters Centerline goodness [0,1] 0.9882281307083418 Centerline is valid? [True, True] Translation: X:162.15, Y:-5.64, Z:1.91 [[ 9.99285340e-01 -2.68124280e-02 -2.66439953e-02 1.62152871e+02] [ 2.68406034e-02 9.99639481e-01 7.00342318e-04 -5.64417989e+00] [ 2.66156118e-02 -1.41498272e-03 9.99644740e-01 1.91235682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13071405699998 meters Centerline goodness [0,1] 0.9872223225573415 Centerline is valid? [True, True] Translation: X:162.18, Y:-5.65, Z:1.91 [[ 9.99204348e-01 -2.88329916e-02 -2.75559419e-02 1.62181057e+02] [ 2.88637667e-02 9.99583096e-01 7.19634849e-04 -5.65391311e+00] [ 2.75237045e-02 -1.51443055e-03 9.99620004e-01 1.91016422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16071405699998 meters Centerline goodness [0,1] 0.9874850609962342 Centerline is valid? [True, True] Translation: X:162.21, Y:-5.66, Z:1.91 [[ 9.99086449e-01 -3.22923977e-02 -2.79905034e-02 1.62209633e+02] [ 3.23254606e-02 9.99477130e-01 7.29413931e-04 -5.66193440e+00] [ 2.79523135e-02 -1.63355349e-03 9.99607923e-01 1.90852746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19071405699998 meters Centerline goodness [0,1] 0.9885298359473589 Centerline is valid? [True, True] Translation: X:162.24, Y:-5.65, Z:1.91 [[ 9.99016643e-01 -3.48460855e-02 -2.74134479e-02 1.62239364e+02] [ 3.48787307e-02 9.99391297e-01 7.13440201e-04 -5.65386149e+00] [ 2.73719007e-02 -1.66888490e-03 9.99623926e-01 1.91201466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22071405699998 meters Centerline goodness [0,1] 0.9880460183354305 Centerline is valid? [True, True] Translation: X:162.27, Y:-5.66, Z:1.91 [[ 9.98994339e-01 -3.54891410e-02 -2.74013083e-02 1.62269152e+02] [ 3.55220167e-02 9.99368639e-01 7.13800490e-04 -5.65862736e+00] [ 2.73586760e-02 -1.68643238e-03 9.99624259e-01 1.91151318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25071405699998 meters Centerline goodness [0,1] 0.9888201552131369 Centerline is valid? [True, True] Translation: X:162.30, Y:-5.66, Z:1.91 [[ 9.98968678e-01 -3.59910470e-02 -2.76807680e-02 1.62299275e+02] [ 3.60248243e-02 9.99350634e-01 7.22359305e-04 -5.65825740e+00] [ 2.76367946e-02 -1.71880912e-03 9.99616553e-01 1.91213997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28071405699998 meters Centerline goodness [0,1] 0.9880582218016313 Centerline is valid? [True, True] Translation: X:162.33, Y:-5.66, Z:1.91 [[ 9.98915866e-01 -3.70806858e-02 -2.81445402e-02 1.62329814e+02] [ 3.71160425e-02 9.99310692e-01 7.34707525e-04 -5.66156108e+00] [ 2.80978965e-02 -1.77852495e-03 9.99603594e-01 1.91182861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31071405699998 meters Centerline goodness [0,1] 0.9874613108013465 Centerline is valid? [True, True] Translation: X:162.36, Y:-5.66, Z:1.91 [[ 9.98878469e-01 -3.82735712e-02 -2.78736075e-02 1.62359894e+02] [ 3.83087261e-02 9.99265686e-01 7.28118332e-04 -5.66492010e+00] [ 2.78252718e-02 -1.79510412e-03 9.99611190e-01 1.91191721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34071405699999 meters Centerline goodness [0,1] 0.9883178097020816 Centerline is valid? [True, True] Translation: X:162.39, Y:-5.67, Z:1.91 [[ 9.98873820e-01 -3.86471263e-02 -2.75225651e-02 1.62391284e+02] [ 3.86815615e-02 9.99251329e-01 7.19654171e-04 -5.66507544e+00] [ 2.74741472e-02 -1.78345951e-03 9.99620923e-01 1.91266653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.370714057 meters Centerline goodness [0,1] 0.9880453870052681 Centerline is valid? [True, True] Translation: X:162.42, Y:-5.67, Z:1.91 [[ 9.98869197e-01 -3.91555695e-02 -2.69660628e-02 1.62421890e+02] [ 3.91888406e-02 9.99231573e-01 7.06235490e-04 -5.66714120e+00] [ 2.69176882e-02 -1.76220561e-03 9.99636100e-01 1.91320808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.400714057 meters Centerline goodness [0,1] 0.9875247703116555 Centerline is valid? [True, True] Translation: X:162.45, Y:-5.67, Z:1.91 [[ 9.98848125e-01 -4.04910139e-02 -2.57468634e-02 1.62452407e+02] [ 4.05218076e-02 9.99178426e-01 6.75189855e-04 -5.67014619e+00] [ 2.56983713e-02 -1.71772156e-03 9.99668267e-01 1.91407794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.430714057 meters Centerline goodness [0,1] 0.9873380646614848 Centerline is valid? [True, True] Translation: X:162.48, Y:-5.67, Z:1.91 [[ 9.98822042e-01 -4.14660972e-02 -2.52010035e-02 1.62483319e+02] [ 4.14959255e-02 9.99138454e-01 6.61594139e-04 -5.67232883e+00] [ 2.51518579e-02 -1.70655377e-03 9.99682185e-01 1.91475667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.460714057 meters Centerline goodness [0,1] 0.9877703340677128 Centerline is valid? [True, True] Translation: X:162.51, Y:-5.67, Z:1.92 [[ 9.98789283e-01 -4.28850016e-02 -2.41007306e-02 1.62514909e+02] [ 4.29127151e-02 9.99078624e-01 6.33651594e-04 -5.66870152e+00] [ 2.40513507e-02 -1.66711221e-03 9.99709334e-01 1.91690626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.490714057 meters Centerline goodness [0,1] 0.9880914862005312 Centerline is valid? [True, True] Translation: X:162.55, Y:-5.67, Z:1.92 [[ 9.98764307e-01 -4.37731591e-02 -2.35323121e-02 1.62546956e+02] [ 4.37998526e-02 9.99040134e-01 6.19859894e-04 -5.67044928e+00] [ 2.34825910e-02 -1.64980574e-03 9.99722885e-01 1.91721468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.520714057 meters Centerline goodness [0,1] 0.9870950336113672 Centerline is valid? [True, True] Translation: X:162.58, Y:-5.67, Z:1.92 [[ 9.98683572e-01 -4.56723837e-02 -2.33485881e-02 1.62577982e+02] [ 4.56992052e-02 9.98955056e-01 6.16177974e-04 -5.67337141e+00] [ 2.32960478e-02 -1.68237874e-03 9.99727195e-01 1.91753596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.550714057 meters Centerline goodness [0,1] 0.9876732394366197 Centerline is valid? [True, True] Translation: X:162.61, Y:-5.67, Z:1.92 [[ 9.98644202e-01 -4.64866026e-02 -2.34254892e-02 1.62610583e+02] [ 4.65138454e-02 9.98917453e-01 6.19122787e-04 -5.67203429e+00] [ 2.33713491e-02 -1.70789296e-03 9.99725394e-01 1.91818847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.580714057 meters Centerline goodness [0,1] 0.9874065593642669 Centerline is valid? [True, True] Translation: X:162.64, Y:-5.68, Z:1.92 [[ 9.98518684e-01 -4.85705870e-02 -2.45221491e-02 1.62641376e+02] [ 4.86010965e-02 9.98818057e-01 6.49355557e-04 -5.67541271e+00] [ 2.44616258e-02 -1.84019699e-03 9.99699076e-01 1.91666797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.610714057 meters Centerline goodness [0,1] 0.9862362587853667 Centerline is valid? [True, True] Translation: X:162.67, Y:-5.68, Z:1.92 [[ 9.98444230e-01 -4.97950209e-02 -2.50913599e-02 1.62672504e+02] [ 4.98273693e-02 9.98757624e-01 6.65270595e-04 -5.68291061e+00] [ 2.50270598e-02 -1.91447204e-03 9.99684941e-01 1.91527654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.640714057 meters Centerline goodness [0,1] 0.9862362587853667 Centerline is valid? [True, True] Translation: X:162.70, Y:-5.68, Z:1.92 [[ 9.98447656e-01 -4.97262933e-02 -2.50913198e-02 1.62704277e+02] [ 4.97586577e-02 9.98761048e-01 6.66779248e-04 -5.68381965e+00] [ 2.50270764e-02 -1.91425457e-03 9.99684941e-01 1.91572647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.670714057 meters Centerline goodness [0,1] 0.9874334446349607 Centerline is valid? [True, True] Translation: X:162.74, Y:-5.68, Z:1.92 [[ 9.98305860e-01 -5.16705016e-02 -2.67501174e-02 1.62735960e+02] [ 5.17080222e-02 9.98661991e-01 7.12354502e-04 -5.67789656e+00] [ 2.66775178e-02 -2.09434334e-03 9.99641898e-01 1.91565392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.700714057 meters Centerline goodness [0,1] 0.985515094084202 Centerline is valid? [True, True] Translation: X:162.77, Y:-5.69, Z:1.91 [[ 9.98258693e-01 -5.24010744e-02 -2.70870620e-02 1.62766927e+02] [ 5.24398466e-02 9.98623823e-01 7.22541372e-04 -5.68794620e+00] [ 2.70119235e-02 -2.14172458e-03 9.99632817e-01 1.91443885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.730714057 meters Centerline goodness [0,1] 0.9868575029255559 Centerline is valid? [True, True] Translation: X:162.80, Y:-5.68, Z:1.92 [[ 9.98226642e-01 -5.27917098e-02 -2.75064808e-02 1.62799413e+02] [ 5.28318871e-02 9.98603150e-01 7.35445781e-04 -5.68264413e+00] [ 2.74292330e-02 -2.18736086e-03 9.99621355e-01 1.91590936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76071405699997 meters Centerline goodness [0,1] 0.9873081596831541 Centerline is valid? [True, True] Translation: X:162.83, Y:-5.68, Z:1.92 [[ 9.98235359e-01 -5.25863815e-02 -2.75833345e-02 1.62831875e+02] [ 5.26267595e-02 9.98613978e-01 7.39451877e-04 -5.68310318e+00] [ 2.75062183e-02 -2.18976852e-03 9.99619234e-01 1.91667497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79071405699997 meters Centerline goodness [0,1] 0.987818607583536 Centerline is valid? [True, True] Translation: X:162.86, Y:-5.68, Z:1.92 [[ 9.98289584e-01 -5.19807509e-02 -2.67564567e-02 1.62864544e+02] [ 5.20185830e-02 9.98645858e-01 7.19378683e-04 -5.68151584e+00] [ 2.66828308e-02 -2.10998121e-03 9.99641723e-01 1.91763607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82071405699998 meters Centerline goodness [0,1] 0.9868572071565208 Centerline is valid? [True, True] Translation: X:162.90, Y:-5.68, Z:1.92 [[ 9.98417771e-01 -5.00482918e-02 -2.56344000e-02 1.62895717e+02] [ 5.00824192e-02 9.98744849e-01 6.90621211e-04 -5.68212693e+00] [ 2.55676606e-02 -1.97336126e-03 9.99671146e-01 1.91846015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85071405699998 meters Centerline goodness [0,1] 0.9870788797185767 Centerline is valid? [True, True] Translation: X:162.93, Y:-5.68, Z:1.92 [[ 9.98496346e-01 -4.87696201e-02 -2.50314117e-02 1.62927322e+02] [ 4.88017765e-02 9.98808255e-01 6.75005831e-04 -5.68073481e+00] [ 2.49686609e-02 -1.89556821e-03 9.99686437e-01 1.91970951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88071405699998 meters Centerline goodness [0,1] 0.9867805755395683 Centerline is valid? [True, True] Translation: X:162.96, Y:-5.68, Z:1.92 [[ 9.98622729e-01 -4.69079965e-02 -2.35007460e-02 1.62958669e+02] [ 4.69358454e-02 9.98897704e-01 6.34532622e-04 -5.67888259e+00] [ 2.34450765e-02 -1.73668608e-03 9.99723618e-01 1.92146494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91071405699998 meters Centerline goodness [0,1] 0.9874101934641112 Centerline is valid? [True, True] Translation: X:162.99, Y:-5.68, Z:1.92 [[ 9.98650723e-01 -4.68109190e-02 -2.24826700e-02 1.62990852e+02] [ 4.68364062e-02 9.98902388e-01 6.08120401e-04 -5.67642716e+00] [ 2.24295261e-02 -1.66030734e-03 9.99747048e-01 1.92228443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94071405699998 meters Centerline goodness [0,1] 0.9860323886639676 Centerline is valid? [True, True] Translation: X:163.02, Y:-5.68, Z:1.92 [[ 9.98649969e-01 -4.71482773e-02 -2.18008832e-02 1.63022148e+02] [ 4.71723520e-02 9.98886590e-01 5.91073148e-04 -5.67970667e+00] [ 2.17487418e-02 -1.61867412e-03 9.99762158e-01 1.92254278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97071405699998 meters Centerline goodness [0,1] 0.9854968020899018 Centerline is valid? [True, True] Translation: X:163.05, Y:-5.69, Z:1.92 [[ 9.98619553e-01 -4.78420924e-02 -2.16822885e-02 1.63053389e+02] [ 4.78660932e-02 9.98853588e-01 5.89007075e-04 -5.68683114e+00] [ 2.16292523e-02 -1.62604042e-03 9.99764738e-01 1.92197540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00071405699998 meters Centerline goodness [0,1] 0.9864743214655444 Centerline is valid? [True, True] Translation: X:163.08, Y:-5.69, Z:1.92 [[ 9.98457565e-01 -5.07060333e-02 -2.26139248e-02 1.63083883e+02] [ 5.07328912e-02 9.98712068e-01 6.15182337e-04 -5.68505842e+00] [ 2.25536061e-02 -1.76150324e-03 9.99744083e-01 1.92145138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03071405699998 meters Centerline goodness [0,1] 0.9869179501035756 Centerline is valid? [True, True] Translation: X:163.12, Y:-5.69, Z:1.92 [[ 9.98345449e-01 -5.24597627e-02 -2.35443809e-02 1.63115356e+02] [ 5.24893730e-02 9.98621277e-01 6.40978523e-04 -5.68742185e+00] [ 2.34782942e-02 -1.87574779e-03 9.99722587e-01 1.92066897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06071405699998 meters Centerline goodness [0,1] 0.9855039790788376 Centerline is valid? [True, True] Translation: X:163.14, Y:-5.69, Z:1.92 [[ 9.98089361e-01 -5.64629808e-02 -2.50910365e-02 1.63144400e+02] [ 5.64978713e-02 9.98402486e-01 6.83265740e-04 -5.69426045e+00] [ 2.50123740e-02 -2.09955042e-03 9.99684937e-01 1.91855415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09071405699999 meters Centerline goodness [0,1] 0.9842308903585729 Centerline is valid? [True, True] Translation: X:163.18, Y:-5.70, Z:1.92 [[ 9.97970776e-01 -5.80715087e-02 -2.61156931e-02 1.63175882e+02] [ 5.81098536e-02 9.98309941e-01 7.11114722e-04 -5.69523202e+00] [ 2.60302605e-02 -2.22725081e-03 9.99658674e-01 1.91832002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.120714057 meters Centerline goodness [0,1] 0.9861515213027494 Centerline is valid? [True, True] Translation: X:163.21, Y:-5.69, Z:1.92 [[ 9.97876095e-01 -5.94709854e-02 -2.65800841e-02 1.63206938e+02] [ 5.95112186e-02 9.98227374e-01 7.24483544e-04 -5.69341421e+00] [ 2.64898818e-02 -2.30475801e-03 9.99646425e-01 1.91877344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.150714057 meters Centerline goodness [0,1] 0.9764864864864865 Centerline is valid? [True, True] Translation: X:163.24, Y:-5.70, Z:1.92 [[ 9.97785560e-01 -6.09696693e-02 -2.65833593e-02 1.63237232e+02] [ 6.10104526e-02 9.98136864e-01 7.25046728e-04 -5.70474739e+00] [ 2.64896250e-02 -2.34530394e-03 9.99646337e-01 1.91794569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.180714057 meters Centerline goodness [0,1] 0.9853919159584301 Centerline is valid? [True, True] Translation: X:163.27, Y:-5.70, Z:1.92 [[ 9.97792056e-01 -6.15706712e-02 -2.49010976e-02 1.63269609e+02] [ 6.16066648e-02 9.98100274e-01 6.80170805e-04 -5.69718333e+00] [ 2.48119138e-02 -2.21274260e-03 9.99689688e-01 1.92040017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.210714057 meters Centerline goodness [0,1] 0.9846647968877228 Centerline is valid? [True, True] Translation: X:163.30, Y:-5.70, Z:1.92 [[ 9.97854035e-01 -6.07759006e-02 -2.43642254e-02 1.63300976e+02] [ 6.08101829e-02 9.98149125e-01 6.67962055e-04 -5.69894650e+00] [ 2.42785343e-02 -2.14812163e-03 9.99702925e-01 1.92152288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.240714057 meters Centerline goodness [0,1] 0.9837433300171837 Centerline is valid? [True, True] Translation: X:163.33, Y:-5.70, Z:1.92 [[ 9.97937390e-01 -5.98311802e-02 -2.32636180e-02 1.63332109e+02] [ 5.98622318e-02 9.98206443e-01 6.40047156e-04 -5.69918641e+00] [ 2.31835986e-02 -2.03133908e-03 9.99729161e-01 1.92250164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.270714057 meters Centerline goodness [0,1] 0.9719136496514504 Centerline is valid? [True, True] Translation: X:163.36, Y:-5.71, Z:1.92 [[ 9.98124146e-01 -5.72259053e-02 -2.17573983e-02 1.63361279e+02] [ 5.72524603e-02 9.98359553e-01 5.99054024e-04 -5.71015968e+00] [ 2.16874251e-02 -1.84359487e-03 9.99763100e-01 1.92232878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.300714057 meters Centerline goodness [0,1] 0.9841194756048115 Centerline is valid? [True, True] Translation: X:163.39, Y:-5.70, Z:1.92 [[ 9.98184342e-01 -5.62198846e-02 -2.16181541e-02 1.63394242e+02] [ 5.62458797e-02 9.98416770e-01 5.95836233e-04 -5.69818809e+00] [ 2.15504297e-02 -1.81068649e-03 9.99766123e-01 1.92417108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.330714057 meters Centerline goodness [0,1] 0.9859653075016895 Centerline is valid? [True, True] Translation: X:163.43, Y:-5.70, Z:1.92 [[ 9.98250457e-01 -5.51911767e-02 -2.12122296e-02 1.63426507e+02] [ 5.52160105e-02 9.98474260e-01 5.86380708e-04 -5.69545025e+00] [ 2.11475022e-02 -1.75660950e-03 9.99774823e-01 1.92423550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.360714057 meters Centerline goodness [0,1] 0.9837114470453061 Centerline is valid? [True, True] Translation: X:163.46, Y:-5.70, Z:1.92 [[ 9.98240081e-01 -5.52593302e-02 -2.15208707e-02 1.63457465e+02] [ 5.52849386e-02 9.98470440e-01 5.96341851e-04 -5.69997803e+00] [ 2.14549998e-02 -1.78507235e-03 9.99768221e-01 1.92359100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.390714057 meters Centerline goodness [0,1] 0.9843640869663175 Centerline is valid? [True, True] Translation: X:163.49, Y:-5.70, Z:1.92 [[ 9.98102719e-01 -5.74000701e-02 -2.22754123e-02 1.63488926e+02] [ 5.74280595e-02 9.98349456e-01 6.18332219e-04 -5.70178458e+00] [ 2.22031535e-02 -1.89639277e-03 9.99751681e-01 1.92218526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.420714057 meters Centerline goodness [0,1] 0.9834918921350336 Centerline is valid? [True, True] Translation: X:163.52, Y:-5.71, Z:1.92 [[ 9.98020038e-01 -5.84442829e-02 -2.32436838e-02 1.63519865e+02] [ 5.84750640e-02 9.98288660e-01 6.46226963e-04 -5.70623757e+00] [ 2.31661376e-02 -2.00412335e-03 9.99729620e-01 1.92136980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.450714057 meters Centerline goodness [0,1] 0.9817515787581186 Centerline is valid? [True, True] Translation: X:163.55, Y:-5.71, Z:1.92 [[ 9.97808075e-01 -6.11295036e-02 -2.53422441e-02 1.63550219e+02] [ 6.11669822e-02 9.98127298e-01 7.05639902e-04 -5.71205682e+00] [ 2.52516502e-02 -2.25420178e-03 9.99678585e-01 1.91979187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.480714057 meters Centerline goodness [0,1] 0.9814706543737352 Centerline is valid? [True, True] Translation: X:163.58, Y:-5.72, Z:1.92 [[ 9.97729655e-01 -6.21940046e-02 -2.58348967e-02 1.63582476e+02] [ 6.22333383e-02 9.98061367e-01 7.20496326e-04 -5.71627492e+00] [ 2.57400018e-02 -2.32665242e-03 9.99665964e-01 1.91896334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51071405699997 meters Centerline goodness [0,1] 0.9563653530562237 Centerline is valid? [True, True] Translation: X:163.61, Y:-5.73, Z:1.92 [[ 9.97629987e-01 -6.35718679e-02 -2.63254109e-02 1.63612170e+02] [ 6.36132127e-02 9.97974358e-01 7.35200374e-04 -5.72783494e+00] [ 2.62253470e-02 -2.40810190e-03 9.99653156e-01 1.91799225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54071405699997 meters Centerline goodness [0,1] 0.973780419423573 Centerline is valid? [True, True] Translation: X:163.64, Y:-5.73, Z:1.92 [[ 9.97545789e-01 -6.49151812e-02 -2.62377411e-02 1.63643803e+02] [ 6.49567280e-02 9.97887812e-01 7.33384094e-04 -5.72521670e+00] [ 2.61347143e-02 -2.43590203e-03 9.99655462e-01 1.91973298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57071405699998 meters Centerline goodness [0,1] 0.9798140829890426 Centerline is valid? [True, True] Translation: X:163.68, Y:-5.72, Z:1.92 [[ 9.97516193e-01 -6.54581173e-02 -2.60130807e-02 1.63675866e+02] [ 6.54991794e-02 9.97852357e-01 7.28687624e-04 -5.72214843e+00] [ 2.59095154e-02 -2.43071314e-03 9.99661337e-01 1.92207202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60071405699998 meters Centerline goodness [0,1] 0.9794270073811501 Centerline is valid? [True, True] Translation: X:163.71, Y:-5.72, Z:1.92 [[ 9.97530677e-01 -6.53944267e-02 -2.56147725e-02 1.63708751e+02] [ 6.54342759e-02 9.97856622e-01 7.19734047e-04 -5.72488247e+00] [ 2.55128037e-02 -2.39404088e-03 9.99671629e-01 1.92289853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63071405699998 meters Centerline goodness [0,1] 0.9789431149822655 Centerline is valid? [True, True] Translation: X:163.74, Y:-5.73, Z:1.92 [[ 9.97528069e-01 -6.55762100e-02 -2.52489886e-02 1.63741269e+02] [ 6.56150430e-02 9.97844757e-01 7.11705102e-04 -5.72558048e+00] [ 2.51478999e-02 -2.36665929e-03 9.99680940e-01 1.92412591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66071405699998 meters Centerline goodness [0,1] 0.9770249046443796 Centerline is valid? [True, True] Translation: X:163.77, Y:-5.73, Z:1.93 [[ 9.97597434e-01 -6.48981879e-02 -2.42401566e-02 1.63773798e+02] [ 6.49338288e-02 9.97889337e-01 6.85282821e-04 -5.72947150e+00] [ 2.41445202e-02 -2.25764256e-03 9.99705929e-01 1.92568467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69071405699998 meters Centerline goodness [0,1] 0.9797605218479135 Centerline is valid? [True, True] Translation: X:163.81, Y:-5.73, Z:1.93 [[ 9.97735582e-01 -6.32748002e-02 -2.28036679e-02 1.63805567e+02] [ 6.33059625e-02 9.97993956e-01 6.46524890e-04 -5.72901846e+00] [ 2.27170140e-02 -2.08866903e-03 9.99739754e-01 1.92762701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72071405699998 meters Centerline goodness [0,1] 0.9794635466768081 Centerline is valid? [True, True] Translation: X:163.84, Y:-5.73, Z:1.93 [[ 9.97799134e-01 -6.22523715e-02 -2.28370340e-02 1.63837170e+02] [ 6.22833835e-02 9.98058295e-01 6.48522726e-04 -5.73091710e+00] [ 2.27523191e-02 -2.06946316e-03 9.99738991e-01 1.92829021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75071405699998 meters Centerline goodness [0,1] 0.9803299208726363 Centerline is valid? [True, True] Translation: X:163.87, Y:-5.73, Z:1.93 [[ 9.97904033e-01 -6.03999372e-02 -2.32247470e-02 1.63868741e+02] [ 6.04315407e-02 9.98172126e-01 6.60698045e-04 -5.73234389e+00] [ 2.31423890e-02 -2.06282049e-03 9.99730051e-01 1.92885477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78071405699998 meters Centerline goodness [0,1] 0.9810902743588596 Centerline is valid? [True, True] Translation: X:163.90, Y:-5.73, Z:1.93 [[ 9.97943394e-01 -5.95187093e-02 -2.38013960e-02 1.63901134e+02] [ 5.95516949e-02 9.98224992e-01 6.78843334e-04 -5.72967125e+00] [ 2.37187445e-02 -2.09486070e-03 9.99716476e-01 1.92900433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81071405699998 meters Centerline goodness [0,1] 0.9829427170774293 Centerline is valid? [True, True] Translation: X:163.93, Y:-5.73, Z:1.93 [[ 9.97984522e-01 -5.86100102e-02 -2.43261394e-02 1.63933622e+02] [ 5.86442415e-02 9.98278703e-01 6.95561464e-04 -5.73200821e+00] [ 2.42435001e-02 -2.12074757e-03 9.99703834e-01 1.92827262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84071405699999 meters Centerline goodness [0,1] 0.9802279495734343 Centerline is valid? [True, True] Translation: X:163.96, Y:-5.74, Z:1.93 [[ 9.98014810e-01 -5.76862149e-02 -2.52732910e-02 1.63964457e+02] [ 5.77229329e-02 9.98332378e-01 7.25103892e-04 -5.73951734e+00] [ 2.51893162e-02 -2.18251290e-03 9.99680316e-01 1.92678303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.870714057 meters Centerline goodness [0,1] 0.9783789826718837 Centerline is valid? [True, True] Translation: X:164.00, Y:-5.75, Z:1.93 [[ 9.97996151e-01 -5.77054669e-02 -2.59569133e-02 1.63995466e+02] [ 5.77442691e-02 9.98331128e-01 7.47178281e-04 -5.74502693e+00] [ 2.58704782e-02 -2.24454403e-03 9.99662783e-01 1.92628509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.900714057 meters Centerline goodness [0,1] 0.9838875941197562 Centerline is valid? [True, True] Translation: X:164.03, Y:-5.74, Z:1.93 [[ 9.97970404e-01 -5.73068678e-02 -2.77668036e-02 1.64027514e+02] [ 5.73511675e-02 9.98353746e-01 8.01017716e-04 -5.73870141e+00] [ 2.76751886e-02 -2.39185058e-03 9.99614107e-01 1.92648122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.930714057 meters Centerline goodness [0,1] 0.9758046415585582 Centerline is valid? [True, True] Translation: X:164.06, Y:-5.75, Z:1.92 [[ 9.97957174e-01 -5.69684450e-02 -2.89149793e-02 1.64058060e+02] [ 5.70163976e-02 9.98372892e-01 8.35962820e-04 -5.74963179e+00] [ 2.88203080e-02 -2.48288305e-03 9.99581525e-01 1.92470130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.960714057 meters Centerline goodness [0,1] 0.9844923021760079 Centerline is valid? [True, True] Translation: X:164.09, Y:-5.74, Z:1.93 [[ 9.97988941e-01 -5.57300526e-02 -3.02032122e-02 1.64090000e+02] [ 5.57818621e-02 9.98442597e-01 8.74843375e-04 -5.74231236e+00] [ 3.01074186e-02 -2.55787543e-03 9.99543396e-01 1.92594166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.990714057 meters Centerline goodness [0,1] 0.9838662627622574 Centerline is valid? [True, True] Translation: X:164.12, Y:-5.74, Z:1.93 [[ 9.98001055e-01 -5.50802907e-02 -3.09847630e-02 1.64121533e+02] [ 5.51345492e-02 9.98478529e-01 8.98850814e-04 -5.74453638e+00] [ 3.08881117e-02 -2.60538500e-03 9.99519453e-01 1.92593903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.020714057 meters Centerline goodness [0,1] 0.9863059827141093 Centerline is valid? [True, True] Translation: X:164.15, Y:-5.74, Z:1.93 [[ 9.98162042e-01 -5.24029483e-02 -3.04379663e-02 1.64152478e+02] [ 5.24540974e-02 9.98622945e-01 8.83842206e-04 -5.73747252e+00] [ 3.03497356e-02 -2.47881379e-03 9.99536267e-01 1.92855205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.050714057 meters Centerline goodness [0,1] 0.9858972063037249 Centerline is valid? [True, True] Translation: X:164.18, Y:-5.74, Z:1.93 [[ 9.98286682e-01 -5.03491093e-02 -2.98105200e-02 1.64182599e+02] [ 5.03972696e-02 9.98728875e-01 8.65931266e-04 -5.73832080e+00] [ 2.97290282e-02 -2.36681646e-03 9.99555193e-01 1.92935720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.080714057 meters Centerline goodness [0,1] 0.987295744298797 Centerline is valid? [True, True] Translation: X:164.21, Y:-5.73, Z:1.93 [[ 9.98547947e-01 -4.55024285e-02 -2.88362096e-02 1.64213147e+02] [ 4.55454811e-02 9.98961915e-01 8.37609044e-04 -5.73484571e+00] [ 2.87681619e-02 -2.14975183e-03 9.99583799e-01 1.93139595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.110714057 meters Centerline goodness [0,1] 0.9867877972184836 Centerline is valid? [True, True] Translation: X:164.24, Y:-5.73, Z:1.93 [[ 9.98682649e-01 -4.26816285e-02 -2.84823498e-02 1.64243964e+02] [ 4.27224961e-02 9.99086635e-01 8.27565583e-04 -5.73471003e+00] [ 2.84210131e-02 -2.04331247e-03 9.99593953e-01 1.93217294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.140714057 meters Centerline goodness [0,1] 0.9875219209496829 Centerline is valid? [True, True] Translation: X:164.28, Y:-5.73, Z:1.93 [[ 9.98801152e-01 -3.99767173e-02 -2.82510160e-02 1.64275279e+02] [ 4.00158609e-02 9.99198707e-01 8.21342835e-04 -5.73409991e+00] [ 2.81955441e-02 -1.95084690e-03 9.99600523e-01 1.93305413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.170714057 meters Centerline goodness [0,1] 0.9877569358643155 Centerline is valid? [True, True] Translation: X:164.31, Y:-5.73, Z:1.93 [[ 9.99006100e-01 -3.46823570e-02 -2.79990375e-02 1.64305849e+02] [ 3.47187408e-02 9.99396791e-01 8.14224663e-04 -5.73024150e+00] [ 2.79539090e-02 -1.78550673e-03 9.99607618e-01 1.93394684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.200714057 meters Centerline goodness [0,1] 0.9879490984306848 Centerline is valid? [True, True] Translation: X:164.33, Y:-5.73, Z:1.94 [[ 9.99167274e-01 -2.99368838e-02 -2.77225839e-02 1.64334945e+02] [ 2.99707239e-02 9.99550452e-01 8.05866869e-04 -5.72753705e+00] [ 2.76859962e-02 -1.63606171e-03 9.99615330e-01 1.93521904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.230714057 meters Centerline goodness [0,1] 0.9894791037091756 Centerline is valid? [True, True] Translation: X:164.36, Y:-5.73, Z:1.94 [[ 9.99215530e-01 -2.85431596e-02 -2.74519932e-02 1.64362889e+02] [ 2.85757786e-02 9.99591312e-01 7.96571139e-04 -5.72760464e+00] [ 2.74180372e-02 -1.58040833e-03 9.99622806e-01 1.93566512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26071405699997 meters Centerline goodness [0,1] 0.9898277681719174 Centerline is valid? [True, True] Translation: X:164.39, Y:-5.73, Z:1.94 [[ 9.99226491e-01 -2.78943753e-02 -2.77186441e-02 1.64392251e+02] [ 2.79272983e-02 9.99609636e-01 8.01263046e-04 -5.72532950e+00] [ 2.76854730e-02 -1.57475010e-03 9.99615443e-01 1.93683014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29071405699997 meters Centerline goodness [0,1] 0.9904704246827212 Centerline is valid? [True, True] Translation: X:164.42, Y:-5.72, Z:1.94 [[ 9.99209933e-01 -2.81511203e-02 -2.80539519e-02 1.64420467e+02] [ 2.81847821e-02 9.99602406e-01 8.05117203e-04 -5.72451935e+00] [ 2.80201329e-02 -1.59517563e-03 9.99606086e-01 1.93713360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32071405699998 meters Centerline goodness [0,1] 0.9892663867244516 Centerline is valid? [True, True] Translation: X:164.45, Y:-5.73, Z:1.94 [[ 9.99172919e-01 -2.88747238e-02 -2.86308898e-02 1.64449033e+02] [ 2.89098627e-02 9.99581691e-01 8.14041093e-04 -5.72624763e+00] [ 2.85954080e-02 -1.64108291e-03 9.99589721e-01 1.93704532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35071405699998 meters Centerline goodness [0,1] 0.989893569448171 Centerline is valid? [True, True] Translation: X:164.48, Y:-5.73, Z:1.94 [[ 9.99130391e-01 -2.99697331e-02 -2.89875246e-02 1.64476451e+02] [ 3.00060729e-02 9.99549381e-01 8.19358710e-04 -5.72888673e+00] [ 2.89499063e-02 -1.68844796e-03 9.99579438e-01 1.93674037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38071405699998 meters Centerline goodness [0,1] 0.9904659111350962 Centerline is valid? [True, True] Translation: X:164.50, Y:-5.72, Z:1.94 [[ 9.99080909e-01 -3.08140151e-02 -2.97965472e-02 1.64504918e+02] [ 3.08526822e-02 9.99523591e-01 8.38712798e-04 -5.72449863e+00] [ 2.97565077e-02 -1.75724535e-03 9.99555632e-01 1.93858682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41071405699998 meters Centerline goodness [0,1] 0.9907276123601827 Centerline is valid? [True, True] Translation: X:164.53, Y:-5.73, Z:1.94 [[ 9.99064846e-01 -3.08965986e-02 -3.02462227e-02 1.64532202e+02] [ 3.09363746e-02 9.99520996e-01 8.47887536e-04 -5.73038976e+00] [ 3.02055378e-02 -1.78280311e-03 9.99542119e-01 1.93764326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44071405699998 meters Centerline goodness [0,1] 0.9909426820475847 Centerline is valid? [True, True] Translation: X:164.56, Y:-5.72, Z:1.94 [[ 9.99074886e-01 -3.07129924e-02 -3.01012194e-02 1.64560688e+02] [ 3.07521463e-02 9.99526689e-01 8.38555182e-04 -5.72251754e+00] [ 3.00612176e-02 -1.76345653e-03 9.99546504e-01 1.94040053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47071405699998 meters Centerline goodness [0,1] 0.9899800049425984 Centerline is valid? [True, True] Translation: X:164.59, Y:-5.72, Z:1.94 [[ 9.99104857e-01 -3.06097483e-02 -2.91980697e-02 1.64588631e+02] [ 3.06464027e-02 9.99529962e-01 8.08591176e-04 -5.72492656e+00] [ 2.91595947e-02 -1.70268317e-03 9.99573318e-01 1.94132745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50071405699998 meters Centerline goodness [0,1] 0.990238073766796 Centerline is valid? [True, True] Translation: X:164.62, Y:-5.72, Z:1.94 [[ 9.99090285e-01 -3.13840878e-02 -2.88728602e-02 1.64617386e+02] [ 3.14201082e-02 9.99505951e-01 7.94601226e-04 -5.72197304e+00] [ 2.88336578e-02 -1.70106676e-03 9.99582776e-01 1.94302490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53071405699998 meters Centerline goodness [0,1] 0.990238073766796 Centerline is valid? [True, True] Translation: X:164.65, Y:-5.72, Z:1.94 [[ 9.99082281e-01 -3.16376598e-02 -2.88730603e-02 1.64645654e+02] [ 3.16735749e-02 9.99497956e-01 7.87278658e-04 -5.72270633e+00] [ 2.88336572e-02 -1.70106920e-03 9.99582776e-01 1.94342668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56071405699998 meters Centerline goodness [0,1] 0.9893049332402675 Centerline is valid? [True, True] Translation: X:164.67, Y:-5.73, Z:1.94 [[ 9.99043633e-01 -3.33921179e-02 -2.82273807e-02 1.64673994e+02] [ 3.34270127e-02 9.99440868e-01 7.65103575e-04 -5.72894595e+00] [ 2.81860494e-02 -1.70792887e-03 9.99601235e-01 1.94329411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59071405699999 meters Centerline goodness [0,1] 0.990297833935018 Centerline is valid? [True, True] Translation: X:164.70, Y:-5.73, Z:1.95 [[ 9.98995916e-01 -3.48326079e-02 -2.81753318e-02 1.64703683e+02] [ 3.48679006e-02 9.99391639e-01 7.62126128e-04 -5.72510039e+00] [ 2.81316442e-02 -1.74377556e-03 9.99602706e-01 1.94504330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.620714057 meters Centerline goodness [0,1] 0.9890637683773789 Centerline is valid? [True, True] Translation: X:164.73, Y:-5.73, Z:1.94 [[ 9.98872017e-01 -3.83497896e-02 -2.79997645e-02 1.64732401e+02] [ 3.83859913e-02 9.99262700e-01 7.56371987e-04 -5.73180549e+00] [ 2.79501135e-02 -1.83031753e-03 9.99607644e-01 1.94432914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.650714057 meters Centerline goodness [0,1] 0.9889634668228299 Centerline is valid? [True, True] Translation: X:164.76, Y:-5.73, Z:1.94 [[ 9.98773913e-01 -4.04727363e-02 -2.85066340e-02 1.64763384e+02] [ 4.05111144e-02 9.99178791e-01 7.69801337e-04 -5.73210312e+00] [ 2.84520682e-02 -1.92369300e-03 9.99593307e-01 1.94484450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.680714057 meters Centerline goodness [0,1] 0.9890611987665714 Centerline is valid? [True, True] Translation: X:164.79, Y:-5.73, Z:1.94 [[ 9.98683507e-01 -4.26348582e-02 -2.85223153e-02 1.64794148e+02] [ 4.26741703e-02 9.99088745e-01 7.70732274e-04 -5.73360056e+00] [ 2.84634641e-02 -1.98688375e-03 9.99592859e-01 1.94498455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.710714057 meters Centerline goodness [0,1] 0.9870921315972925 Centerline is valid? [True, True] Translation: X:164.82, Y:-5.74, Z:1.94 [[ 9.98459072e-01 -4.71062861e-02 -2.93339162e-02 1.64823821e+02] [ 4.71497883e-02 9.98887516e-01 7.92695556e-04 -5.73969983e+00] [ 2.92639417e-02 -2.17456201e-03 9.99569354e-01 1.94443950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.740714057 meters Centerline goodness [0,1] 0.9871872410008288 Centerline is valid? [True, True] Translation: X:164.86, Y:-5.74, Z:1.94 [[ 9.98358871e-01 -4.89723334e-02 -2.96862660e-02 1.64855150e+02] [ 4.90177174e-02 9.98797587e-01 8.02547052e-04 -5.74247979e+00] [ 2.96112682e-02 -2.25638297e-03 9.99558943e-01 1.94408898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.770714057 meters Centerline goodness [0,1] 0.9881448759268859 Centerline is valid? [True, True] Translation: X:164.89, Y:-5.74, Z:1.94 [[ 9.98199138e-01 -5.09615892e-02 -3.16448479e-02 1.64885894e+02] [ 5.10141870e-02 9.98697561e-01 8.56462242e-04 -5.74178510e+00] [ 3.15599857e-02 -2.46925606e-03 9.99498809e-01 1.94438789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.800714057 meters Centerline goodness [0,1] 0.9873209620754887 Centerline is valid? [True, True] Translation: X:164.92, Y:-5.74, Z:1.94 [[ 9.98206489e-01 -5.05128918e-02 -3.21286964e-02 1.64916596e+02] [ 5.05669021e-02 9.98720297e-01 8.70234518e-04 -5.74269320e+00] [ 3.20436231e-02 -2.49332239e-03 9.99483361e-01 1.94422302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.830714057 meters Centerline goodness [0,1] 0.9858695407600747 Centerline is valid? [True, True] Translation: X:164.95, Y:-5.74, Z:1.94 [[ 9.98395379e-01 -4.63289040e-02 -3.25622606e-02 1.64946045e+02] [ 4.63821681e-02 9.98923379e-01 8.81909719e-04 -5.74165573e+00] [ 3.24863455e-02 -2.39080283e-03 9.99469320e-01 1.94483774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.860714057 meters Centerline goodness [0,1] 0.986567635903919 Centerline is valid? [True, True] Translation: X:164.98, Y:-5.74, Z:1.95 [[ 9.98571828e-01 -4.24153178e-02 -3.24845386e-02 1.64976212e+02] [ 4.24662596e-02 9.99097514e-01 8.79551296e-04 -5.73770285e+00] [ 3.24179153e-02 -2.25779199e-03 9.99471851e-01 1.94613147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.890714057 meters Centerline goodness [0,1] 0.9887559104997624 Centerline is valid? [True, True] Translation: X:165.01, Y:-5.72, Z:1.95 [[ 9.98930907e-01 -3.34176311e-02 -3.19421990e-02 1.65007408e+02] [ 3.34622973e-02 9.99439606e-01 8.64654490e-04 -5.72419448e+00] [ 3.18954041e-02 -1.93258946e-03 9.99489344e-01 1.94925795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.920714057 meters Centerline goodness [0,1] 0.9887746821747363 Centerline is valid? [True, True] Translation: X:165.04, Y:-5.72, Z:1.95 [[ 9.99113000e-01 -2.83145541e-02 -3.11688846e-02 1.65037488e+02] [ 2.83546012e-02 9.99597572e-01 8.43505868e-04 -5.72126688e+00] [ 3.11324578e-02 -1.72653897e-03 9.99513776e-01 1.94981397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.950714057 meters Centerline goodness [0,1] 0.9908098663459575 Centerline is valid? [True, True] Translation: X:165.07, Y:-5.71, Z:1.95 [[ 9.99375138e-01 -1.81723312e-02 -3.03166745e-02 1.65066989e+02] [ 1.82055509e-02 9.99833929e-01 8.20062529e-04 -5.71358575e+00] [ 3.02967373e-02 -1.37148186e-03 9.99540008e-01 1.95064673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98071405699997 meters Centerline goodness [0,1] 0.9902645072395022 Centerline is valid? [True, True] Translation: X:165.10, Y:-5.71, Z:1.95 [[ 9.99475435e-01 -1.33721848e-02 -2.94964425e-02 1.65097089e+02] [ 1.34015278e-02 9.99909878e-01 7.97324351e-04 -5.71060776e+00] [ 2.94831223e-02 -1.19220350e-03 9.99564567e-01 1.95143673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01071405699997 meters Centerline goodness [0,1] 0.9910257581293387 Centerline is valid? [True, True] Translation: X:165.13, Y:-5.70, Z:1.95 [[ 9.99579012e-01 -5.05508759e-03 -2.85699903e-02 1.65127135e+02] [ 5.07921530e-03 9.99986803e-01 7.72003498e-04 -5.70439776e+00] [ 2.85657107e-02 -9.16791626e-04 9.99591496e-01 1.95233378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04071405699997 meters Centerline goodness [0,1] 0.991247514796956 Centerline is valid? [True, True] Translation: X:165.16, Y:-5.70, Z:1.95 [[ 9.99602844e-01 -1.58594025e-03 -2.81360789e-02 1.65155932e+02] [ 1.60793835e-03 9.99998419e-01 7.59239033e-04 -5.69979395e+00] [ 2.81348303e-02 -8.04178577e-04 9.99603814e-01 1.95434534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07071405699998 meters Centerline goodness [0,1] 0.9924772488224265 Centerline is valid? [True, True] Translation: X:165.18, Y:-5.70, Z:1.96 [[ 9.99619367e-01 3.28607413e-03 -2.73920351e-02 1.65184546e+02] [-3.26709844e-03 9.99994391e-01 7.37470849e-04 -5.69719254e+00] [ 2.73943048e-02 -6.47697668e-04 9.99624496e-01 1.95547155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10071405699998 meters Centerline goodness [0,1] 0.9912354973798028 Centerline is valid? [True, True] Translation: X:165.21, Y:-5.70, Z:1.96 [[ 9.99626590e-01 4.41148920e-03 -2.69670215e-02 1.65212613e+02] [-4.39355774e-03 9.99990086e-01 7.24155719e-04 -5.69751040e+00] [ 2.69699488e-02 -6.05404146e-04 9.99636061e-01 1.95575902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13071405699998 meters Centerline goodness [0,1] 0.992608308808432 Centerline is valid? [True, True] Translation: X:165.24, Y:-5.70, Z:1.96 [[ 9.99641240e-01 3.92403609e-03 -2.64951703e-02 1.65240551e+02] [-3.90668038e-03 9.99992119e-01 7.06783582e-04 -5.69956661e+00] [ 2.64977349e-02 -6.03021854e-04 9.99648691e-01 1.95623763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16071405699998 meters Centerline goodness [0,1] 0.9928486565527326 Centerline is valid? [True, True] Translation: X:165.27, Y:-5.70, Z:1.96 [[ 9.99642810e-01 2.38136034e-03 -2.66192008e-02 1.65268916e+02] [-2.36348513e-03 9.99996960e-01 7.02957853e-04 -5.70114843e+00] [ 2.66207938e-02 -6.39792678e-04 9.99645399e-01 1.95647800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19071405699998 meters Centerline goodness [0,1] 0.992896174863388 Centerline is valid? [True, True] Translation: X:165.30, Y:-5.70, Z:1.96 [[ 9.99634384e-01 8.59315593e-04 -2.70251587e-02 1.65296571e+02] [-8.40463521e-04 9.99999396e-01 7.08926034e-04 -5.70467534e+00] [ 2.70257516e-02 -6.85953179e-04 9.99634502e-01 1.95609371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22071405699998 meters Centerline goodness [0,1] 0.9933813996861283 Centerline is valid? [True, True] Translation: X:165.33, Y:-5.71, Z:1.95 [[ 9.99595400e-01 -2.08569924e-03 -2.83669989e-02 1.65326275e+02] [ 2.10760365e-03 9.99997503e-01 7.42301733e-04 -5.70977455e+00] [ 2.83653799e-02 -8.01787788e-04 9.99597300e-01 1.95469380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25071405699998 meters Centerline goodness [0,1] 0.9934743065029559 Centerline is valid? [True, True] Translation: X:165.35, Y:-5.72, Z:1.95 [[ 9.99550428e-01 -4.13589683e-03 -2.96957265e-02 1.65353573e+02] [ 4.16074172e-03 9.99991044e-01 7.74905425e-04 -5.71523378e+00] [ 2.96922556e-02 -8.98113297e-04 9.99558684e-01 1.95331730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28071405699998 meters Centerline goodness [0,1] 0.993069441919651 Centerline is valid? [True, True] Translation: X:165.38, Y:-5.72, Z:1.95 [[ 9.99525618e-01 -5.11909776e-03 -3.03699544e-02 1.65382089e+02] [ 5.14536814e-03 9.99986453e-01 7.86924545e-04 -5.71690550e+00] [ 3.03655146e-02 -9.42815838e-04 9.99538417e-01 1.95378922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31071405699998 meters Centerline goodness [0,1] 0.9925097033388565 Centerline is valid? [True, True] Translation: X:165.41, Y:-5.72, Z:1.95 [[ 9.99520238e-01 -5.58202417e-03 -3.04653170e-02 1.65410259e+02] [ 5.60852289e-03 9.99983964e-01 7.84415792e-04 -5.71944459e+00] [ 3.04604498e-02 -9.54904887e-04 9.99535517e-01 1.95438563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34071405699999 meters Centerline goodness [0,1] 0.9928019981834696 Centerline is valid? [True, True] Translation: X:165.44, Y:-5.72, Z:1.96 [[ 9.99523980e-01 -5.91614333e-03 -3.02789060e-02 1.65437987e+02] [ 5.94239167e-03 9.99982042e-01 7.76973047e-04 -5.72327315e+00] [ 3.02737656e-02 -9.56532311e-04 9.99541187e-01 1.95575797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.370714057 meters Centerline goodness [0,1] 0.9931177031753964 Centerline is valid? [True, True] Translation: X:165.47, Y:-5.72, Z:1.96 [[ 9.99539286e-01 -6.09263610e-03 -2.97337373e-02 1.65467007e+02] [ 6.11787719e-03 9.99980998e-01 7.58003334e-04 -5.72457461e+00] [ 2.97285541e-02 -9.39561465e-04 9.99557567e-01 1.95688291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.400714057 meters Centerline goodness [0,1] 0.9933378653976886 Centerline is valid? [True, True] Translation: X:165.49, Y:-5.73, Z:1.96 [[ 9.99570228e-01 -6.73838888e-03 -2.85298572e-02 1.65494214e+02] [ 6.76174630e-03 9.99976878e-01 7.22303455e-04 -5.72845071e+00] [ 2.85243304e-02 -9.14904686e-04 9.99592680e-01 1.95835419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.430714057 meters Centerline goodness [0,1] 0.9923219786193151 Centerline is valid? [True, True] Translation: X:165.52, Y:-5.73, Z:1.96 [[ 9.99558730e-01 -9.78719236e-03 -2.80455923e-02 1.65522585e+02] [ 9.81089510e-03 9.99951622e-01 7.07668436e-04 -5.73451541e+00] [ 2.80373094e-02 -9.82508528e-04 9.99606395e-01 1.95866326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.460714057 meters Centerline goodness [0,1] 0.992503680217416 Centerline is valid? [True, True] Translation: X:165.55, Y:-5.74, Z:1.96 [[ 9.99528757e-01 -1.24793356e-02 -2.80451524e-02 1.65550867e+02] [ 1.25040558e-02 9.99921572e-01 7.06234791e-04 -5.73919957e+00] [ 2.80341396e-02 -1.05658013e-03 9.99606408e-01 1.95876670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.490714057 meters Centerline goodness [0,1] 0.9921190497696685 Centerline is valid? [True, True] Translation: X:165.58, Y:-5.74, Z:1.96 [[ 9.99473876e-01 -1.53740086e-02 -2.85589064e-02 1.65580742e+02] [ 1.54007876e-02 9.99881143e-01 7.17939787e-04 -5.73982918e+00] [ 2.85444744e-02 -1.15739171e-03 9.99591853e-01 1.96010480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.520714057 meters Centerline goodness [0,1] 0.992084671400787 Centerline is valid? [True, True] Translation: X:165.61, Y:-5.75, Z:1.96 [[ 9.99311435e-01 -2.25330185e-02 -2.94774233e-02 1.65610344e+02] [ 2.25646333e-02 9.99745112e-01 7.40260747e-04 -5.75205852e+00] [ 2.94532295e-02 -1.40489828e-03 9.99565172e-01 1.95841669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.550714057 meters Centerline goodness [0,1] 0.9922169332461028 Centerline is valid? [True, True] Translation: X:165.64, Y:-5.75, Z:1.96 [[ 9.99196471e-01 -2.63613975e-02 -3.01908847e-02 1.65640949e+02] [ 2.63962974e-02 9.99651270e-01 7.57933738e-04 -5.75445419e+00] [ 3.01603760e-02 -1.55425229e-03 9.99543864e-01 1.95935088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.580714057 meters Centerline goodness [0,1] 0.9923621124729632 Centerline is valid? [True, True] Translation: X:165.67, Y:-5.76, Z:1.96 [[ 9.98971241e-01 -3.38384589e-02 -3.01896940e-02 1.65670673e+02] [ 3.38767524e-02 9.99425731e-01 7.57705904e-04 -5.75837875e+00] [ 3.01467174e-02 -1.77965520e-03 9.99543900e-01 1.96165488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.610714057 meters Centerline goodness [0,1] 0.9911496473336628 Centerline is valid? [True, True] Translation: X:165.70, Y:-5.77, Z:1.96 [[ 9.98761228e-01 -3.98047896e-02 -2.98594709e-02 1.65700195e+02] [ 3.98448916e-02 9.99205596e-01 7.48987229e-04 -5.76569318e+00] [ 2.98059372e-02 -1.93780679e-03 9.99553826e-01 1.96278919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.640714057 meters Centerline goodness [0,1] 0.9913990568156299 Centerline is valid? [True, True] Translation: X:165.73, Y:-5.77, Z:1.96 [[ 9.98667051e-01 -4.23680839e-02 -2.94799260e-02 1.65729789e+02] [ 4.24082693e-02 9.99100091e-01 7.38969399e-04 -5.77004927e+00] [ 2.94220881e-02 -1.98817703e-03 9.99565099e-01 1.96343202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.670714057 meters Centerline goodness [0,1] 0.9913484753643924 Centerline is valid? [True, True] Translation: X:165.76, Y:-5.77, Z:1.96 [[ 9.98595592e-01 -4.41165841e-02 -2.93354828e-02 1.65760321e+02] [ 4.41571200e-02 9.99024328e-01 7.35102348e-04 -5.77003759e+00] [ 2.92744308e-02 -2.02944040e-03 9.99569352e-01 1.96445274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.700714057 meters Centerline goodness [0,1] 0.9909017569021155 Centerline is valid? [True, True] Translation: X:165.79, Y:-5.78, Z:1.96 [[ 9.98489844e-01 -4.63000539e-02 -2.95691897e-02 1.65790061e+02] [ 4.63421910e-02 9.98925349e-01 7.40958686e-04 -5.77581543e+00] [ 2.95031067e-02 -2.11014076e-03 9.99562461e-01 1.96425624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73071405699997 meters Centerline goodness [0,1] 0.990897853691426 Centerline is valid? [True, True] Translation: X:165.82, Y:-5.78, Z:1.96 [[ 9.98459569e-01 -4.64993259e-02 -3.02704837e-02 1.65820214e+02] [ 4.65435861e-02 9.98915972e-01 7.58811198e-04 -5.77819569e+00] [ 3.02023855e-02 -2.16653917e-03 9.99541456e-01 1.96425144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76071405699997 meters Centerline goodness [0,1] 0.9913789232634368 Centerline is valid? [True, True] Translation: X:165.85, Y:-5.77, Z:1.97 [[ 9.98532854e-01 -4.46625313e-02 -3.06169533e-02 1.65851044e+02] [ 4.47069685e-02 9.98999848e-01 7.68032633e-04 -5.77494440e+00] [ 3.05520294e-02 -2.13569698e-03 9.99530896e-01 1.96538599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79071405699997 meters Centerline goodness [0,1] 0.991359576282598 Centerline is valid? [True, True] Translation: X:165.88, Y:-5.78, Z:1.97 [[ 9.98608316e-01 -4.31352351e-02 -3.03444144e-02 1.65881788e+02] [ 4.31781900e-02 9.99067097e-01 7.61441581e-04 -5.77547937e+00] [ 3.02832610e-02 -2.07059879e-03 9.99539212e-01 1.96536756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82071405699998 meters Centerline goodness [0,1] 0.991049743635873 Centerline is valid? [True, True] Translation: X:165.91, Y:-5.77, Z:1.97 [[ 9.98751152e-01 -4.01305240e-02 -2.97603275e-02 1.65912427e+02] [ 4.01705205e-02 9.99192560e-01 7.47056073e-04 -5.77348160e+00] [ 2.97063181e-02 -1.94161096e-03 9.99556784e-01 1.96672137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85071405699998 meters Centerline goodness [0,1] 0.9917632496905593 Centerline is valid? [True, True] Translation: X:165.94, Y:-5.77, Z:1.97 [[ 9.98849846e-01 -3.84558850e-02 -2.86378976e-02 1.65943614e+02] [ 3.84922485e-02 9.99258640e-01 7.19367524e-04 -5.77316784e+00] [ 2.85890026e-02 -1.82087721e-03 9.99589592e-01 1.96760204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88071405699998 meters Centerline goodness [0,1] 0.9907174323473883 Centerline is valid? [True, True] Translation: X:165.97, Y:-5.78, Z:1.97 [[ 9.99025524e-01 -3.46037588e-02 -2.73967685e-02 1.65972798e+02] [ 3.46355933e-02 9.99399771e-01 6.88152872e-04 -5.77580517e+00] [ 2.73565115e-02 -1.63638562e-03 9.99624401e-01 1.96805328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91071405699998 meters Centerline goodness [0,1] 0.9913235029670923 Centerline is valid? [True, True] Translation: X:166.00, Y:-5.77, Z:1.97 [[ 9.99098872e-01 -3.26315902e-02 -2.71407946e-02 1.66002745e+02] [ 3.26620874e-02 9.99466220e-01 6.80991391e-04 -5.77102809e+00] [ 2.71040856e-02 -1.56685274e-03 9.99631389e-01 1.96981107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94071405699998 meters Centerline goodness [0,1] 0.9909735943955452 Centerline is valid? [True, True] Translation: X:166.03, Y:-5.77, Z:1.97 [[ 9.99145840e-01 -3.11241611e-02 -2.71822797e-02 1.66031513e+02] [ 3.11541641e-02 9.99514359e-01 6.80868624e-04 -5.77340025e+00] [ 2.71478874e-02 -1.52712826e-03 9.99630262e-01 1.96898231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97071405699998 meters Centerline goodness [0,1] 0.99250826790254 Centerline is valid? [True, True] Translation: X:166.06, Y:-5.76, Z:1.97 [[ 9.99179421e-01 -2.95643382e-02 -2.76845366e-02 1.66061786e+02] [ 2.95948363e-02 9.99561737e-01 6.92450010e-04 -5.76181058e+00] [ 2.76519317e-02 -1.51120113e-03 9.99616470e-01 1.97161171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00071405699998 meters Centerline goodness [0,1] 0.990883370009431 Centerline is valid? [True, True] Translation: X:166.09, Y:-5.77, Z:1.97 [[ 9.99203105e-01 -2.88509496e-02 -2.75821860e-02 1.66090024e+02] [ 2.88809244e-02 9.99582622e-01 6.88903026e-04 -5.77113500e+00] [ 2.75507983e-02 -1.48495307e-03 9.99619302e-01 1.96950555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03071405699998 meters Centerline goodness [0,1] 0.9918792202256769 Centerline is valid? [True, True] Translation: X:166.12, Y:-5.77, Z:1.97 [[ 9.99190762e-01 -2.94625892e-02 -2.73820685e-02 1.66118410e+02] [ 2.94922537e-02 9.99564778e-01 6.80042761e-04 -5.77092335e+00] [ 2.73501154e-02 -1.48705135e-03 9.99624810e-01 1.97009394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06071405699998 meters Centerline goodness [0,1] 0.991131119864941 Centerline is valid? [True, True] Translation: X:166.15, Y:-5.78, Z:1.97 [[ 9.99120820e-01 -3.09260464e-02 -2.83048734e-02 1.66146724e+02] [ 3.09582135e-02 9.99520435e-01 6.98827631e-04 -5.77551161e+00] [ 2.82696874e-02 -1.57448155e-03 9.99599093e-01 1.96854493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09071405699999 meters Centerline goodness [0,1] 0.9926027520460473 Centerline is valid? [True, True] Translation: X:166.18, Y:-5.77, Z:1.97 [[ 9.99083722e-01 -3.18534521e-02 -2.85845078e-02 1.66175416e+02] [ 3.18865137e-02 9.99491250e-01 7.01432791e-04 -5.76760109e+00] [ 2.85476224e-02 -1.61225038e-03 9.99591133e-01 1.97090922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.120714057 meters Centerline goodness [0,1] 0.9908050628358176 Centerline is valid? [True, True] Translation: X:166.20, Y:-5.78, Z:1.97 [[ 9.99041467e-01 -3.32517917e-02 -2.84686739e-02 1.66204118e+02] [ 3.32850303e-02 9.99445659e-01 6.94329957e-04 -5.77838066e+00] [ 2.84298049e-02 -1.64124509e-03 9.99594444e-01 1.96907671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.150714057 meters Centerline goodness [0,1] 0.991245201697084 Centerline is valid? [True, True] Translation: X:166.23, Y:-5.78, Z:1.97 [[ 9.99027807e-01 -3.39503214e-02 -2.81214475e-02 1.66233259e+02] [ 3.39829893e-02 9.99422177e-01 6.84431006e-04 -5.77738238e+00] [ 2.80819616e-02 -1.63941646e-03 9.99604280e-01 1.97054293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.180714057 meters Centerline goodness [0,1] 0.9902203237410072 Centerline is valid? [True, True] Translation: X:166.26, Y:-5.78, Z:1.97 [[ 9.99015599e-01 -3.52483288e-02 -2.69330486e-02 1.66263159e+02] [ 3.52787331e-02 9.99377297e-01 6.54405429e-04 -5.77605280e+00] [ 2.68932106e-02 -1.60392506e-03 9.99637025e-01 1.97337356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.210714057 meters Centerline goodness [0,1] 0.9909188994785111 Centerline is valid? [True, True] Translation: X:166.29, Y:-5.78, Z:1.97 [[ 9.98998836e-01 -3.61988528e-02 -2.62862937e-02 1.66293598e+02] [ 3.62281294e-02 9.99343342e-01 6.38225788e-04 -5.77797301e+00] [ 2.62459295e-02 -1.58989007e-03 9.99654252e-01 1.97417344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.240714057 meters Centerline goodness [0,1] 0.9911239944272168 Centerline is valid? [True, True] Translation: X:166.32, Y:-5.78, Z:1.98 [[ 9.98958995e-01 -3.75410809e-02 -2.59151395e-02 1.66324661e+02] [ 3.75699965e-02 9.99293800e-01 6.29615460e-04 -5.77751027e+00] [ 2.58732018e-02 -1.60259173e-03 9.99663948e-01 1.97583666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.270714057 meters Centerline goodness [0,1] 0.9910055402283382 Centerline is valid? [True, True] Translation: X:166.36, Y:-5.77, Z:1.98 [[ 9.98820010e-01 -4.10735591e-02 -2.59142783e-02 1.66355960e+02] [ 4.11036784e-02 9.99154688e-01 6.30437001e-04 -5.77482554e+00] [ 2.58664784e-02 -1.69486525e-03 9.99663970e-01 1.97753399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.300714057 meters Centerline goodness [0,1] 0.9905144189801318 Centerline is valid? [True, True] Translation: X:166.38, Y:-5.78, Z:1.98 [[ 9.98593586e-01 -4.60108102e-02 -2.63411218e-02 1.66384821e+02] [ 4.60436404e-02 9.98939224e-01 6.40860305e-04 -5.78254078e+00] [ 2.62836933e-02 -1.85280013e-03 9.99652807e-01 1.97684784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.330714057 meters Centerline goodness [0,1] 0.9902236206315317 Centerline is valid? [True, True] Translation: X:166.42, Y:-5.78, Z:1.98 [[ 9.98465885e-01 -4.86167884e-02 -2.65006638e-02 1.66416005e+02] [ 4.86509239e-02 9.98815635e-01 6.44490378e-04 -5.78464433e+00] [ 2.64379443e-02 -1.93278343e-03 9.99648588e-01 1.97723578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.360714057 meters Centerline goodness [0,1] 0.9890210839999104 Centerline is valid? [True, True] Translation: X:166.45, Y:-5.79, Z:1.98 [[ 9.98357405e-01 -5.08205697e-02 -2.64530201e-02 1.66445831e+02] [ 5.08553639e-02 9.98705821e-01 6.43794855e-04 -5.79137023e+00] [ 2.63860671e-02 -1.98801532e-03 9.99649850e-01 1.97642659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.390714057 meters Centerline goodness [0,1] 0.9896948788028137 Centerline is valid? [True, True] Translation: X:166.48, Y:-5.79, Z:1.98 [[ 9.98120710e-01 -5.50466435e-02 -2.69242579e-02 1.66476670e+02] [ 5.50842246e-02 9.98481496e-01 6.55555197e-04 -5.78869047e+00] [ 2.68472872e-02 -2.13742509e-03 9.99637262e-01 1.97739333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.420714057 meters Centerline goodness [0,1] 0.9892591017923874 Centerline is valid? [True, True] Translation: X:166.51, Y:-5.79, Z:1.98 [[ 9.98005177e-01 -5.68572969e-02 -2.74392905e-02 1.66507556e+02] [ 5.68970273e-02 9.98379828e-01 6.68730822e-04 -5.79111191e+00] [ 2.73568119e-02 -2.22861088e-03 9.99623248e-01 1.97753740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.450714057 meters Centerline goodness [0,1] 0.9892591017923874 Centerline is valid? [True, True] Translation: X:166.54, Y:-5.79, Z:1.98 [[ 9.98009224e-01 -5.67862338e-02 -2.74392520e-02 1.66539345e+02] [ 5.68259805e-02 9.98383873e-01 6.70305139e-04 -5.79194980e+00] [ 2.73568426e-02 -2.22823311e-03 9.99623248e-01 1.97798757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48071405699997 meters Centerline goodness [0,1] 0.9903954041560074 Centerline is valid? [True, True] Translation: X:166.57, Y:-5.79, Z:1.98 [[ 9.97783091e-01 -5.98238950e-02 -2.91548528e-02 1.66570277e+02] [ 5.98700901e-02 9.98205922e-01 7.13338095e-04 -5.79353759e+00] [ 2.90598721e-02 -2.45726036e-03 9.99574652e-01 1.97727634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51071405699997 meters Centerline goodness [0,1] 0.9886292275948686 Centerline is valid? [True, True] Translation: X:166.60, Y:-5.80, Z:1.98 [[ 9.97706531e-01 -6.06753711e-02 -3.00029433e-02 1.66600768e+02] [ 6.07246950e-02 9.98154282e-01 7.34702546e-04 -5.79664588e+00] [ 2.99029880e-02 -2.55493711e-03 9.99549540e-01 1.97711840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54071405699997 meters Centerline goodness [0,1] 0.9879097259537882 Centerline is valid? [True, True] Translation: X:166.63, Y:-5.80, Z:1.98 [[ 9.97614403e-01 -6.19882204e-02 -3.03803183e-02 1.66632311e+02] [ 6.20394303e-02 9.98073421e-01 7.45022967e-04 -5.79895577e+00] [ 3.02756056e-02 -2.62802328e-03 9.99538134e-01 1.97718209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57071405699998 meters Centerline goodness [0,1] 0.9906259110582853 Centerline is valid? [True, True] Translation: X:166.66, Y:-5.79, Z:1.98 [[ 9.97602939e-01 -6.22372063e-02 -3.02474159e-02 1.66664688e+02] [ 6.22881329e-02 9.98057932e-01 7.43436097e-04 -5.79396616e+00] [ 3.01424040e-02 -2.62570910e-03 9.99542166e-01 1.97927410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60071405699998 meters Centerline goodness [0,1] 0.9899716688402213 Centerline is valid? [True, True] Translation: X:166.70, Y:-5.79, Z:1.98 [[ 9.97630801e-01 -6.17516829e-02 -3.03235001e-02 1.66697110e+02] [ 6.18027106e-02 9.98088105e-01 7.47524197e-04 -5.79391072e+00] [ 3.02193639e-02 -2.61982766e-03 9.99539857e-01 1.98043446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63071405699998 meters Centerline goodness [0,1] 0.9825872321328397 Centerline is valid? [True, True] Translation: X:166.73, Y:-5.81, Z:1.98 [[ 9.97693652e-01 -6.07469441e-02 -3.02850650e-02 1.66728166e+02] [ 6.07974405e-02 9.98149844e-01 7.48475723e-04 -5.80526172e+00] [ 3.01835653e-02 -2.58800391e-03 9.99541022e-01 1.97942890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66071405699998 meters Centerline goodness [0,1] 0.989451192082771 Centerline is valid? [True, True] Translation: X:166.76, Y:-5.80, Z:1.98 [[ 9.97825172e-01 -5.87881232e-02 -2.98141278e-02 1.66758747e+02] [ 5.88362147e-02 9.98267377e-01 7.37586449e-04 -5.79666602e+00] [ 2.97191098e-02 -2.49013275e-03 9.99555188e-01 1.98221059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69071405699998 meters Centerline goodness [0,1] 0.9894433565174331 Centerline is valid? [True, True] Translation: X:166.79, Y:-5.80, Z:1.98 [[ 9.97887177e-01 -5.77975019e-02 -2.96754245e-02 1.66790734e+02] [ 5.78447446e-02 9.98325320e-01 7.35266004e-04 -5.79525042e+00] [ 2.95832312e-02 -2.45027987e-03 9.99559317e-01 1.98343803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72071405699998 meters Centerline goodness [0,1] 0.9889934275682002 Centerline is valid? [True, True] Translation: X:166.82, Y:-5.80, Z:1.99 [[ 9.98012238e-01 -5.62428004e-02 -2.84309699e-02 1.66820926e+02] [ 5.62856059e-02 9.98414458e-01 7.06919402e-04 -5.79586499e+00] [ 2.83461323e-02 -2.30576858e-03 9.99595508e-01 1.98524693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75071405699998 meters Centerline goodness [0,1] 0.989182123459016 Centerline is valid? [True, True] Translation: X:166.85, Y:-5.79, Z:1.99 [[ 9.98071059e-01 -5.52903537e-02 -2.82336226e-02 1.66853454e+02] [ 5.53322586e-02 9.98467749e-01 7.04515282e-04 -5.79389535e+00] [ 2.81514087e-02 -2.26538642e-03 9.99601104e-01 1.98676361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78071405699998 meters Centerline goodness [0,1] 0.9901797378260282 Centerline is valid? [True, True] Translation: X:166.88, Y:-5.79, Z:1.99 [[ 9.98161528e-01 -5.35604805e-02 -2.83696724e-02 1.66884565e+02] [ 5.36021396e-02 9.98562120e-01 7.09442227e-04 -5.79342366e+00] [ 2.82908821e-02 -2.22881308e-03 9.99597248e-01 1.98716030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81071405699998 meters Centerline goodness [0,1] 0.9896925777557726 Centerline is valid? [True, True] Translation: X:166.92, Y:-5.80, Z:1.99 [[ 9.98212286e-01 -5.25003791e-02 -2.85646909e-02 1.66915825e+02] [ 5.25422521e-02 9.98618445e-01 7.16783857e-04 -5.79573191e+00] [ 2.84875958e-02 -2.21635565e-03 9.99591689e-01 1.98707325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84071405699999 meters Centerline goodness [0,1] 0.9902958420378731 Centerline is valid? [True, True] Translation: X:166.95, Y:-5.80, Z:1.99 [[ 9.98249400e-01 -5.13591853e-02 -2.93320393e-02 1.66947935e+02] [ 5.14029388e-02 9.98677722e-01 7.39078065e-04 -5.79551525e+00] [ 2.92552957e-02 -2.24553725e-03 9.99569450e-01 1.98691138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.870714057 meters Centerline goodness [0,1] 0.9899421731206264 Centerline is valid? [True, True] Translation: X:166.98, Y:-5.80, Z:1.99 [[ 9.98272761e-01 -5.04985980e-02 -3.00231078e-02 1.66979238e+02] [ 5.05441073e-02 9.98721542e-01 7.58347146e-04 -5.79700419e+00] [ 2.99464291e-02 -2.27452848e-03 9.99548917e-01 1.98749588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.900714057 meters Centerline goodness [0,1] 0.989441049604601 Centerline is valid? [True, True] Translation: X:167.01, Y:-5.80, Z:1.99 [[ 9.98280746e-01 -5.02190047e-02 -3.02258670e-02 1.67011295e+02] [ 5.02650600e-02 9.98735620e-01 7.65332440e-04 -5.79892906e+00] [ 3.01492157e-02 -2.28332166e-03 9.99542801e-01 1.98779304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.930714057 meters Centerline goodness [0,1] 0.9907224368766286 Centerline is valid? [True, True] Translation: X:167.04, Y:-5.79, Z:1.99 [[ 9.98310832e-01 -4.94601064e-02 -3.04824681e-02 1.67043478e+02] [ 4.95066620e-02 9.98773494e-01 7.74005661e-04 -5.79345597e+00] [ 3.04067988e-02 -2.28178348e-03 9.99535002e-01 1.98965963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.960714057 meters Centerline goodness [0,1] 0.9899594777127421 Centerline is valid? [True, True] Translation: X:167.07, Y:-5.80, Z:1.99 [[ 9.98329853e-01 -4.80346085e-02 -3.20964339e-02 1.67074046e+02] [ 4.80855507e-02 9.98842887e-01 8.16718344e-04 -5.80264018e+00] [ 3.20200639e-02 -2.35872900e-03 9.99484443e-01 1.98750510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.990714057 meters Centerline goodness [0,1] 0.9907034327518289 Centerline is valid? [True, True] Translation: X:167.11, Y:-5.79, Z:1.99 [[ 9.98355822e-01 -4.70886548e-02 -3.26850368e-02 1.67105389e+02] [ 4.71410186e-02 9.98887897e-01 8.32888434e-04 -5.79425831e+00] [ 3.26094680e-02 -2.37232494e-03 9.99465354e-01 1.98964429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.020714057 meters Centerline goodness [0,1] 0.6954981156808127 Centerline is valid? [True, False] Translation: X:167.14, Y:-5.79, Z:1.99 [[ 9.98334956e-01 -4.56738218e-02 -3.52309067e-02 1.67141007e+02] [ 4.55123014e-02 9.98949326e-01 -5.37346427e-03 -5.79247966e+00] [ 3.54393172e-02 3.76107757e-03 9.99364753e-01 1.99434557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.050714057 meters Centerline goodness [0,1] 0.9904016903814598 Centerline is valid? [False, True] Translation: X:167.07, Y:-5.79, Z:1.99 [[ 9.98588373e-01 -3.98824407e-02 -3.50806578e-02 1.67072191e+02] [ 3.98050986e-02 9.99203253e-01 -2.90062569e-03 -5.79452473e+00] [ 3.51683915e-02 1.50014204e-03 9.99380275e-01 1.99227312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.080714057 meters Centerline goodness [0,1] 0.9903760271525545 Centerline is valid? [True, True] Translation: X:167.10, Y:-5.80, Z:1.99 [[ 9.98682434e-01 -3.83387674e-02 -3.41106255e-02 1.67101154e+02] [ 3.83941609e-02 9.99262201e-01 9.70165431e-04 -5.80344757e+00] [ 3.40482638e-02 -2.27853602e-03 9.99417592e-01 1.99008438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.110714057 meters Centerline goodness [0,1] 0.9909021646573746 Centerline is valid? [True, True] Translation: X:167.13, Y:-5.80, Z:1.99 [[ 9.98730447e-01 -3.74373454e-02 -3.37036938e-02 1.67130486e+02] [ 3.74907504e-02 9.99296520e-01 9.53753287e-04 -5.79603086e+00] [ 3.36442779e-02 -2.21611922e-03 9.99431414e-01 1.99367809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.140714057 meters Centerline goodness [0,1] 0.9900608018666847 Centerline is valid? [True, True] Translation: X:167.16, Y:-5.80, Z:2.00 [[ 9.98864233e-01 -3.50966753e-02 -3.22252469e-02 1.67160043e+02] [ 3.51441571e-02 9.99381841e-01 9.08032172e-04 -5.79743434e+00] [ 3.21734577e-02 -2.03953000e-03 9.99480219e-01 1.99524878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.170714057 meters Centerline goodness [0,1] 0.9896310261244277 Centerline is valid? [True, True] Translation: X:167.19, Y:-5.80, Z:2.00 [[ 9.98923441e-01 -3.41957856e-02 -3.13465761e-02 1.67188763e+02] [ 3.42402269e-02 9.99413242e-01 8.81893602e-04 -5.79999304e+00] [ 3.12980262e-02 -1.95425807e-03 9.99508186e-01 1.99596155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.200714057 meters Centerline goodness [0,1] 0.989949861223028 Centerline is valid? [True, True] Translation: X:167.22, Y:-5.80, Z:2.00 [[ 9.98983126e-01 -3.30788188e-02 -3.06350259e-02 1.67217650e+02] [ 3.31206829e-02 9.99450990e-01 8.59971427e-04 -5.79608611e+00] [ 3.05897601e-02 -1.87374992e-03 9.99530267e-01 1.99885029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23071405699997 meters Centerline goodness [0,1] 0.9904636117391596 Centerline is valid? [True, True] Translation: X:167.25, Y:-5.80, Z:2.00 [[ 9.98996712e-01 -3.29939631e-02 -3.02814713e-02 1.67246142e+02] [ 3.30347703e-02 9.99453843e-01 8.48163282e-04 -5.80412928e+00] [ 3.02369486e-02 -1.84765378e-03 9.99541051e-01 1.99780791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26071405699997 meters Centerline goodness [0,1] 0.9904817361313296 Centerline is valid? [True, True] Translation: X:167.27, Y:-5.80, Z:2.00 [[ 9.98955945e-01 -3.34623765e-02 -3.11012858e-02 1.67274995e+02] [ 3.35055019e-02 9.99438158e-01 8.66343019e-04 -5.80368012e+00] [ 3.10548218e-02 -1.90750270e-03 9.99515863e-01 1.99786494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29071405699997 meters Centerline goodness [0,1] 0.9908482142857142 Centerline is valid? [True, True] Translation: X:167.30, Y:-5.81, Z:2.00 [[ 9.98934459e-01 -3.40636676e-02 -3.11386236e-02 1.67303498e+02] [ 3.41069502e-02 9.99417819e-01 8.59751064e-04 -5.80527575e+00] [ 3.10912090e-02 -1.92087845e-03 9.99514706e-01 1.99750674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32071405699998 meters Centerline goodness [0,1] 0.9905516405583733 Centerline is valid? [True, True] Translation: X:167.33, Y:-5.81, Z:2.00 [[ 9.98810807e-01 -3.63759112e-02 -3.24617526e-02 1.67333003e+02] [ 3.64240352e-02 9.99336026e-01 8.92172347e-04 -5.81035572e+00] [ 3.24077453e-02 -2.07349940e-03 9.99472580e-01 1.99643996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35071405699998 meters Centerline goodness [0,1] 0.9916167933113667 Centerline is valid? [True, True] Translation: X:167.36, Y:-5.81, Z:2.00 [[ 9.98728901e-01 -3.77876062e-02 -3.33568521e-02 1.67362273e+02] [ 3.78391641e-02 9.99283423e-01 9.15502153e-04 -5.80649116e+00] [ 3.32983547e-02 -2.17653386e-03 9.99443086e-01 1.99798474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38071405699998 meters Centerline goodness [0,1] 0.9913027884874025 Centerline is valid? [True, True] Translation: X:167.39, Y:-5.81, Z:2.00 [[ 9.98654950e-01 -3.90698193e-02 -3.40857815e-02 1.67390373e+02] [ 3.91243259e-02 9.99233915e-01 9.33329505e-04 -5.81370013e+00] [ 3.40232039e-02 -2.26565735e-03 9.99418475e-01 1.99679877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41071405699998 meters Centerline goodness [0,1] 0.99067055393586 Centerline is valid? [True, True] Translation: X:167.42, Y:-5.81, Z:2.00 [[ 9.98565398e-01 -4.12526919e-02 -3.41374010e-02 1.67420156e+02] [ 4.13085742e-02 9.99146001e-01 9.33013809e-04 -5.81456288e+00] [ 3.40697583e-02 -2.34184267e-03 9.99416714e-01 1.99775059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44071405699998 meters Centerline goodness [0,1] 0.990920272839092 Centerline is valid? [True, True] Translation: X:167.45, Y:-5.82, Z:2.00 [[ 9.98551498e-01 -4.23470732e-02 -3.31908167e-02 1.67448735e+02] [ 4.24004498e-02 9.99100286e-01 9.05666088e-04 -5.82428581e+00] [ 3.31226022e-02 -2.31165979e-03 9.99448623e-01 1.99709138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47071405699998 meters Centerline goodness [0,1] 0.9908716663683551 Centerline is valid? [True, True] Translation: X:167.48, Y:-5.81, Z:2.00 [[ 9.98524661e-01 -4.29922299e-02 -3.31688053e-02 1.67479321e+02] [ 4.30458639e-02 9.99072688e-01 9.04281809e-04 -5.81443378e+00] [ 3.30991704e-02 -2.33072756e-03 9.99449355e-01 2.00092151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50071405699998 meters Centerline goodness [0,1] 0.9914704038685412 Centerline is valid? [True, True] Translation: X:167.51, Y:-5.82, Z:2.00 [[ 9.98543676e-01 -4.30002980e-02 -3.25806968e-02 1.67509467e+02] [ 4.30520500e-02 9.99072436e-01 8.88248194e-04 -5.81572342e+00] [ 3.25122811e-02 -2.28962040e-03 9.99468713e-01 2.00192470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53071405699998 meters Centerline goodness [0,1] 0.9913854668809141 Centerline is valid? [True, True] Translation: X:167.54, Y:-5.82, Z:2.00 [[ 9.98594623e-01 -4.23754528e-02 -3.18292261e-02 1.67539710e+02] [ 4.24245278e-02 9.99099298e-01 8.67760835e-04 -5.81587064e+00] [ 3.17637857e-02 -2.21688119e-03 9.99492945e-01 2.00347862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56071405699998 meters Centerline goodness [0,1] 0.9910167597765364 Centerline is valid? [True, True] Translation: X:167.57, Y:-5.82, Z:2.00 [[ 9.98627635e-01 -4.22167310e-02 -3.09934574e-02 1.67569516e+02] [ 4.22631882e-02 9.99106155e-01 8.45079397e-04 -5.81767534e+00] [ 3.09300776e-02 -2.15380196e-03 9.99519230e-01 2.00401996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59071405699999 meters Centerline goodness [0,1] 0.9907908265903707 Centerline is valid? [True, True] Translation: X:167.60, Y:-5.82, Z:2.00 [[ 9.98658257e-01 -4.20832400e-02 -3.01775773e-02 1.67598560e+02] [ 4.21272270e-02 9.99111915e-01 8.23014784e-04 -5.81975582e+00] [ 3.01161420e-02 -2.09320816e-03 9.99544214e-01 2.00472540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.620714057 meters Centerline goodness [0,1] 0.9913962635201573 Centerline is valid? [True, True] Translation: X:167.63, Y:-5.82, Z:2.01 [[ 9.98642650e-01 -4.25141084e-02 -3.00899949e-02 1.67630340e+02] [ 4.25580536e-02 9.99093658e-01 8.21249443e-04 -5.82055749e+00] [ 3.00278083e-02 -2.10070633e-03 9.99546856e-01 2.00536207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.650714057 meters Centerline goodness [0,1] 0.9915696957467321 Centerline is valid? [True, True] Translation: X:167.66, Y:-5.82, Z:2.01 [[ 9.98516671e-01 -4.46447553e-02 -3.11657344e-02 1.67660465e+02] [ 4.46929785e-02 9.99000406e-01 8.52072502e-04 -5.82290219e+00] [ 3.10965407e-02 -2.24369809e-03 9.99513867e-01 2.00548758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.680714057 meters Centerline goodness [0,1] 0.9911686453372683 Centerline is valid? [True, True] Translation: X:167.69, Y:-5.83, Z:2.01 [[ 9.98438679e-01 -4.61713158e-02 -3.14390457e-02 1.67690895e+02] [ 4.62211681e-02 9.98930860e-01 8.60390578e-04 -5.82527795e+00] [ 3.13657076e-02 -2.31219665e-03 9.99505301e-01 2.00520668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.710714057 meters Centerline goodness [0,1] 0.9909950170938261 Centerline is valid? [True, True] Translation: X:167.72, Y:-5.83, Z:2.00 [[ 9.98197911e-01 -5.01094774e-02 -3.30147130e-02 1.67719868e+02] [ 5.01666264e-02 9.98740453e-01 9.04431235e-04 -5.83050882e+00] [ 3.29278089e-02 -2.55903814e-03 9.99454457e-01 2.00324528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.740714057 meters Centerline goodness [0,1] 0.9906171623074167 Centerline is valid? [True, True] Translation: X:167.75, Y:-5.83, Z:2.00 [[ 9.98043011e-01 -5.24840888e-02 -3.39936589e-02 1.67750580e+02] [ 5.25460829e-02 9.98618065e-01 9.32278667e-04 -5.83440510e+00] [ 3.38977521e-02 -2.71668783e-03 9.99421614e-01 2.00260405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.770714057 meters Centerline goodness [0,1] 0.9895898629891645 Centerline is valid? [True, True] Translation: X:167.78, Y:-5.84, Z:2.00 [[ 9.97714214e-01 -5.78328558e-02 -3.49529343e-02 1.67780631e+02] [ 5.79016640e-02 9.98321831e-01 9.58739841e-04 -5.83902321e+00] [ 3.48388307e-02 -2.98038142e-03 9.99388500e-01 2.00218819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.800714057 meters Centerline goodness [0,1] 0.9894977271200484 Centerline is valid? [True, True] Translation: X:167.81, Y:-5.84, Z:2.00 [[ 9.97555533e-01 -6.02978190e-02 -3.53147397e-02 1.67811841e+02] [ 6.03696035e-02 9.98175622e-01 9.68970732e-04 -5.83876278e+00] [ 3.51918855e-02 -3.09853895e-03 9.99375770e-01 2.00284602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.830714057 meters Centerline goodness [0,1] 0.9789848261044716 Centerline is valid? [True, True] Translation: X:167.84, Y:-5.84, Z:2.00 [[ 9.97330643e-01 -6.39421669e-02 -3.52560342e-02 1.67841110e+02] [ 6.40159820e-02 9.97948404e-01 9.67695561e-04 -5.84450564e+00] [ 3.51218265e-02 -3.22206209e-03 9.99377844e-01 2.00288897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.860714057 meters Centerline goodness [0,1] 0.9674165846676804 Centerline is valid? [True, True] Translation: X:167.87, Y:-5.85, Z:2.00 [[ 9.97254740e-01 -6.50076981e-02 -3.54539578e-02 1.67871740e+02] [ 6.50830273e-02 9.97879377e-01 9.73547111e-04 -5.84680332e+00] [ 3.53154853e-02 -3.27832537e-03 9.99370837e-01 2.00301723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.890714057 meters Centerline goodness [0,1] 0.943763857472397 Centerline is valid? [True, False] Translation: X:167.87, Y:-5.85, Z:2.00 [[ 9.97246208e-01 -6.50862510e-02 -3.55496834e-02 1.67872059e+02] [ 6.51555254e-02 9.97874807e-01 7.92427502e-04 -5.84607558e+00] [ 3.54225573e-02 -3.10650362e-03 9.99367596e-01 2.00288638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.920714057 meters Centerline goodness [0,1] 0.9824459141351867 Centerline is valid? [False, True] Translation: X:167.87, Y:-5.85, Z:2.00 [[ 9.97473964e-01 -6.15616752e-02 -3.54379901e-02 1.67871303e+02] [ 6.17764758e-02 9.98077498e-01 4.99756128e-03 -5.84770068e+00] [ 3.50622022e-02 -7.17417140e-03 9.99359381e-01 2.00262948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.950714057 meters Centerline goodness [0,1] 0.9812147777082029 Centerline is valid? [True, True] Translation: X:167.90, Y:-5.84, Z:2.01 [[ 9.97634826e-01 -5.92701769e-02 -3.48109215e-02 1.67901026e+02] [ 5.93430543e-02 9.98237082e-01 1.06314741e-03 -5.84497334e+00] [ 3.46865397e-02 -3.12641928e-03 9.99393351e-01 2.00516191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98071405699997 meters Centerline goodness [0,1] 0.9841294747932124 Centerline is valid? [True, True] Translation: X:167.93, Y:-5.84, Z:2.01 [[ 9.97768601e-01 -5.74247089e-02 -3.40620129e-02 1.67931615e+02] [ 5.74934151e-02 9.98345344e-01 1.04026894e-03 -5.84419071e+00] [ 3.39459148e-02 -2.99628914e-03 9.99419180e-01 2.00646078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01071405699997 meters Centerline goodness [0,1] 0.9854939240392807 Centerline is valid? [True, True] Translation: X:167.96, Y:-5.84, Z:2.01 [[ 9.98043799e-01 -5.36083821e-02 -3.21670061e-02 1.67961754e+02] [ 5.36676833e-02 9.98558368e-01 9.82370411e-04 -5.84215269e+00] [ 3.20679699e-02 -2.70677739e-03 9.99482025e-01 2.00962816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04071405699997 meters Centerline goodness [0,1] 0.9781836973128426 Centerline is valid? [True, True] Translation: X:167.99, Y:-5.85, Z:2.01 [[ 9.98186695e-01 -5.15758449e-02 -3.10363288e-02 1.67991446e+02] [ 5.16300718e-02 9.98665829e-01 9.47819888e-04 -5.84520486e+00] [ 3.09460364e-02 -2.54850908e-03 9.99517808e-01 2.01013152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07071405699998 meters Centerline goodness [0,1] 0.9883499068441491 Centerline is valid? [True, True] Translation: X:168.02, Y:-5.84, Z:2.01 [[ 9.98404082e-01 -4.79158166e-02 -2.98891727e-02 1.68022200e+02] [ 4.79644770e-02 9.98848625e-01 9.12778394e-04 -5.84181883e+00] [ 2.98110226e-02 -2.34494021e-03 9.99552802e-01 2.01250386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10071405699998 meters Centerline goodness [0,1] 0.9886864597390913 Centerline is valid? [True, True] Translation: X:168.05, Y:-5.84, Z:2.01 [[ 9.98457089e-01 -4.67538325e-02 -2.99586631e-02 1.68053272e+02] [ 4.68022070e-02 9.98903757e-01 9.15142095e-04 -5.84140729e+00] [ 2.98830347e-02 -2.31586166e-03 9.99550720e-01 2.01281271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13071405699998 meters Centerline goodness [0,1] 0.9901335796184083 Centerline is valid? [True, True] Translation: X:168.08, Y:-5.84, Z:2.01 [[ 9.98548179e-01 -4.44048502e-02 -3.04917119e-02 1.68084507e+02] [ 4.44538893e-02 9.99011003e-01 9.31935042e-04 -5.83914125e+00] [ 3.04201732e-02 -2.28605722e-03 9.99534585e-01 2.01214355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16071405699998 meters Centerline goodness [0,1] 0.9870647887323943 Centerline is valid? [True, True] Translation: X:168.11, Y:-5.84, Z:2.01 [[ 9.98579773e-01 -4.31944297e-02 -3.11877809e-02 1.68114997e+02] [ 4.32451639e-02 9.99064035e-01 9.53732373e-04 -5.84282026e+00] [ 3.11173943e-02 -2.30109855e-03 9.99513088e-01 2.01067529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19071405699998 meters Centerline goodness [0,1] 0.9905973077183251 Centerline is valid? [True, True] Translation: X:168.15, Y:-5.84, Z:2.01 [[ 9.98666751e-01 -4.04961877e-02 -3.20121875e-02 1.68145639e+02] [ 4.05482705e-02 9.99177101e-01 9.79195037e-04 -5.83771226e+00] [ 3.19461910e-02 -2.27592836e-03 9.99486999e-01 2.01079524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22071405699998 meters Centerline goodness [0,1] 0.99089208016773 Centerline is valid? [True, True] Translation: X:168.18, Y:-5.84, Z:2.01 [[ 9.98718246e-01 -3.89316727e-02 -3.23448623e-02 1.68175902e+02] [ 3.89840189e-02 9.99239345e-01 9.89084456e-04 -5.83777394e+00] [ 3.22817523e-02 -2.24874942e-03 9.99476279e-01 2.01108401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25071405699998 meters Centerline goodness [0,1] 0.9909367602299628 Centerline is valid? [True, True] Translation: X:168.21, Y:-5.84, Z:2.01 [[ 9.98862515e-01 -3.56167387e-02 -3.17036811e-02 1.68205672e+02] [ 3.56653488e-02 9.99363319e-01 9.68902436e-04 -5.83579722e+00] [ 3.16489868e-02 -2.09852317e-03 9.99496842e-01 2.01247721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28071405699998 meters Centerline goodness [0,1] 0.9906678989247797 Centerline is valid? [True, True] Translation: X:168.24, Y:-5.84, Z:2.01 [[ 9.98931046e-01 -3.39313823e-02 -3.13915042e-02 1.68235199e+02] [ 3.39781848e-02 9.99422115e-01 9.58535494e-04 -5.83526911e+00] [ 3.13408391e-02 -2.02413719e-03 9.99506706e-01 2.01330690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31071405699998 meters Centerline goodness [0,1] 0.9906240115674845 Centerline is valid? [True, True] Translation: X:168.26, Y:-5.83, Z:2.01 [[ 9.99000709e-01 -3.25914086e-02 -3.05840277e-02 1.68263174e+02] [ 3.26351553e-02 9.99466897e-01 9.32163561e-04 -5.83451391e+00] [ 3.05373427e-02 -1.92934655e-03 9.99531765e-01 2.01420921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34071405699999 meters Centerline goodness [0,1] 0.9906240115674845 Centerline is valid? [True, True] Translation: X:168.29, Y:-5.84, Z:2.01 [[ 9.98993391e-01 -3.28148336e-02 -3.05841703e-02 1.68291462e+02] [ 3.28585414e-02 9.99459582e-01 9.27466030e-04 -5.83529676e+00] [ 3.05372074e-02 -1.93148366e-03 9.99531765e-01 2.01462985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.370714057 meters Centerline goodness [0,1] 0.9911388694730672 Centerline is valid? [True, True] Translation: X:168.32, Y:-5.82, Z:2.02 [[ 9.99121904e-01 -2.91641974e-02 -3.00810790e-02 1.68322460e+02] [ 2.92047250e-02 9.99573038e-01 9.08709782e-04 -5.82091049e+00] [ 3.00417338e-02 -1.78642149e-03 9.99547049e-01 2.01869525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.400714057 meters Centerline goodness [0,1] 0.9913991602329676 Centerline is valid? [True, True] Translation: X:168.35, Y:-5.82, Z:2.02 [[ 9.99275596e-01 -2.53237602e-02 -2.84075693e-02 1.68351632e+02] [ 2.53583407e-02 9.99678058e-01 8.57645205e-04 -5.81971270e+00] [ 2.83767049e-02 -1.57739275e-03 9.99596056e-01 2.01942118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.430714057 meters Centerline goodness [0,1] 0.9909836621246018 Centerline is valid? [True, True] Translation: X:168.38, Y:-5.82, Z:2.02 [[ 9.99329293e-01 -2.38676383e-02 -2.77723016e-02 1.68380978e+02] [ 2.39000375e-02 9.99714004e-01 8.35197560e-04 -5.81671581e+00] [ 2.77444246e-02 -1.49839644e-03 9.99613926e-01 2.02061826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.460714057 meters Centerline goodness [0,1] 0.9915256152403336 Centerline is valid? [True, True] Translation: X:168.41, Y:-5.81, Z:2.02 [[ 9.99370991e-01 -2.29765715e-02 -2.70129518e-02 1.68409505e+02] [ 2.30067261e-02 9.99734985e-01 8.05993152e-04 -5.81382908e+00] [ 2.69872740e-02 -1.42696576e-03 9.99634759e-01 2.02193730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.490714057 meters Centerline goodness [0,1] 0.9910661781336229 Centerline is valid? [True, True] Translation: X:168.44, Y:-5.81, Z:2.02 [[ 9.99435044e-01 -2.20073962e-02 -2.54020949e-02 1.68437416e+02] [ 2.20336348e-02 9.99756946e-01 7.53463577e-04 -5.81346486e+00] [ 2.53793391e-02 -1.31273839e-03 9.99677031e-01 2.02261435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.520714057 meters Centerline goodness [0,1] 0.9903004815844808 Centerline is valid? [True, True] Translation: X:168.46, Y:-5.82, Z:2.02 [[ 9.99461210e-01 -2.21583268e-02 -2.42135967e-02 1.68464909e+02] [ 2.21821603e-02 9.99753689e-01 7.16120606e-04 -5.82223651e+00] [ 2.41917646e-02 -1.25284465e-03 9.99706551e-01 2.02140010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.550714057 meters Centerline goodness [0,1] 0.9896601656183538 Centerline is valid? [True, True] Translation: X:168.49, Y:-5.82, Z:2.02 [[ 9.99441506e-01 -2.37179016e-02 -2.35401073e-02 1.68493499e+02] [ 2.37407781e-02 9.99717908e-01 6.92774316e-04 -5.81599068e+00] [ 2.35170357e-02 -1.25124787e-03 9.99722653e-01 2.02269521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.580714057 meters Centerline goodness [0,1] 0.9902618676427394 Centerline is valid? [True, True] Translation: X:168.52, Y:-5.82, Z:2.02 [[ 9.99422386e-01 -2.49390689e-02 -2.30854451e-02 1.68523327e+02] [ 2.49613047e-02 9.99688190e-01 6.75492596e-04 -5.81639321e+00] [ 2.30614006e-02 -1.25134525e-03 9.99733267e-01 2.02289482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.610714057 meters Centerline goodness [0,1] 0.9895498755937571 Centerline is valid? [True, True] Translation: X:168.55, Y:-5.82, Z:2.02 [[ 9.99303741e-01 -2.86131696e-02 -2.39441027e-02 1.68553315e+02] [ 2.86381249e-02 9.99589600e-01 6.99901672e-04 -5.81860343e+00] [ 2.39142496e-02 -1.38512856e-03 9.99713054e-01 2.02210612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.640714057 meters Centerline goodness [0,1] 0.98911961635903 Centerline is valid? [True, True] Translation: X:168.58, Y:-5.82, Z:2.02 [[ 9.99235306e-01 -3.08674506e-02 -2.40000866e-02 1.68582869e+02] [ 3.08931787e-02 9.99522445e-01 7.01879875e-04 -5.82296225e+00] [ 2.39669600e-02 -1.44278211e-03 9.99711710e-01 2.02141256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.670714057 meters Centerline goodness [0,1] 0.98898084117447 Centerline is valid? [True, True] Translation: X:168.61, Y:-5.82, Z:2.02 [[ 9.99058617e-01 -3.55661309e-02 -2.48380947e-02 1.68613525e+02] [ 3.55951600e-02 9.99366027e-01 7.27443218e-04 -5.82284976e+00] [ 2.47964757e-02 -1.61087437e-03 9.99691222e-01 2.02166771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.700714057 meters Centerline goodness [0,1] 0.9882275849602313 Centerline is valid? [True, True] Translation: X:168.64, Y:-5.83, Z:2.02 [[ 9.98950545e-01 -3.81219338e-02 -2.53875287e-02 1.68643306e+02] [ 3.81530846e-02 9.99271629e-01 7.43584046e-04 -5.83206256e+00] [ 2.53406903e-02 -1.71141622e-03 9.99677408e-01 2.02058699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73071405699997 meters Centerline goodness [0,1] 0.9873371842790803 Centerline is valid? [True, True] Translation: X:168.67, Y:-5.83, Z:2.02 [[ 9.98766230e-01 -4.26255740e-02 -2.54770008e-02 1.68673740e+02] [ 4.26584032e-02 9.99089437e-01 7.46235459e-04 -5.83457109e+00] [ 2.54219936e-02 -1.83212295e-03 9.99675130e-01 2.02069041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76071405699997 meters Centerline goodness [0,1] 0.9879523539421441 Centerline is valid? [True, True] Translation: X:168.70, Y:-5.83, Z:2.02 [[ 9.98697526e-01 -4.44239558e-02 -2.50951125e-02 1.68704813e+02] [ 4.44563858e-02 9.99011055e-01 7.35580901e-04 -5.83331448e+00] [ 2.50376174e-02 -1.85026083e-03 9.99684797e-01 2.02156110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79071405699997 meters Centerline goodness [0,1] 0.9867068254902849 Centerline is valid? [True, True] Translation: X:168.73, Y:-5.84, Z:2.02 [[ 9.98617982e-01 -4.63015058e-02 -2.48655609e-02 1.68734337e+02] [ 4.63339604e-02 9.98925738e-01 7.30336202e-04 -5.84058156e+00] [ 2.48050331e-02 -1.88144678e-03 9.99690537e-01 2.02113955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82071405699998 meters Centerline goodness [0,1] 0.9861813891220984 Centerline is valid? [True, True] Translation: X:168.77, Y:-5.84, Z:2.02 [[ 9.98505152e-01 -4.89882583e-02 -2.42407147e-02 1.68765273e+02] [ 4.90199239e-02 9.98797546e-01 7.13443788e-04 -5.83960954e+00] [ 2.41766160e-02 -1.90065529e-03 9.99705896e-01 2.02273526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85071405699998 meters Centerline goodness [0,1] 0.984027872041989 Centerline is valid? [True, True] Translation: X:168.80, Y:-5.84, Z:2.02 [[ 9.98468900e-01 -5.03180496e-02 -2.29771748e-02 1.68796089e+02] [ 5.03468827e-02 9.98731562e-01 6.77730456e-04 -5.84280789e+00] [ 2.29139276e-02 -1.83352191e-03 9.99735760e-01 2.02419464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88071405699998 meters Centerline goodness [0,1] 0.9836239849811133 Centerline is valid? [True, True] Translation: X:168.83, Y:-5.84, Z:2.02 [[ 9.98472039e-01 -5.05993943e-02 -2.22101042e-02 1.68828371e+02] [ 5.06264526e-02 9.98717443e-01 6.57342333e-04 -5.84415629e+00] [ 2.21483573e-02 -1.78075673e-03 9.99753109e-01 2.02496456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91071405699998 meters Centerline goodness [0,1] 0.9829055953568514 Centerline is valid? [True, True] Translation: X:168.86, Y:-5.85, Z:2.03 [[ 9.98480248e-01 -5.07469953e-02 -2.14927149e-02 1.68860225e+02] [ 5.07723983e-02 9.98710047e-01 6.37554179e-04 -5.84648914e+00] [ 2.14326363e-02 -1.72782193e-03 9.99768802e-01 2.02546414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94071405699998 meters Centerline goodness [0,1] 0.9817581771739867 Centerline is valid? [True, True] Translation: X:168.89, Y:-5.85, Z:2.03 [[ 9.98492950e-01 -5.06111872e-02 -2.12211392e-02 1.68891156e+02] [ 5.06359582e-02 9.98716978e-01 6.31227296e-04 -5.84851706e+00] [ 2.11619648e-02 -1.70482872e-03 9.99774607e-01 2.02570510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97071405699998 meters Centerline goodness [0,1] 0.9802539106778508 Centerline is valid? [True, True] Translation: X:168.92, Y:-5.85, Z:2.03 [[ 9.98459773e-01 -5.07826963e-02 -2.23427510e-02 1.68922619e+02] [ 5.08102467e-02 9.98708103e-01 6.66756133e-04 -5.85009922e+00] [ 2.22800268e-02 -1.80096987e-03 9.99750147e-01 2.02509246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00071405699998 meters Centerline goodness [0,1] 0.9756522526191931 Centerline is valid? [True, True] Translation: X:168.95, Y:-5.85, Z:2.02 [[ 9.98455015e-01 -5.06668404e-02 -2.28134475e-02 1.68953307e+02] [ 5.06955715e-02 9.98713920e-01 6.82441710e-04 -5.85310288e+00] [ 2.27495304e-02 -1.83792810e-03 9.99739507e-01 2.02421436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03071405699998 meters Centerline goodness [0,1] 0.9777057797312912 Centerline is valid? [True, True] Translation: X:168.99, Y:-5.85, Z:2.02 [[ 9.98452821e-01 -5.05403711e-02 -2.31869410e-02 1.68985161e+02] [ 5.05700683e-02 9.98720273e-01 6.95830782e-04 -5.85323750e+00] [ 2.31221005e-02 -1.86731940e-03 9.99730905e-01 2.02377029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06071405699998 meters Centerline goodness [0,1] 0.972848627699839 Centerline is valid? [True, True] Translation: X:169.02, Y:-5.85, Z:2.02 [[ 9.98444592e-01 -5.01937204e-02 -2.42690436e-02 1.69016621e+02] [ 5.02261897e-02 9.98737602e-01 7.29800817e-04 -5.85478085e+00] [ 2.42017750e-02 -1.94760727e-03 9.99705197e-01 2.02289495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09071405699999 meters Centerline goodness [0,1] 0.9663608562691132 Centerline is valid? [True, True] Translation: X:169.05, Y:-5.86, Z:2.02 [[ 9.98463284e-01 -4.96017520e-02 -2.47131068e-02 1.69048970e+02] [ 4.96352749e-02 9.98767133e-01 7.44539085e-04 -5.85655904e+00] [ 2.46457084e-02 -1.97003679e-03 9.99694307e-01 2.02300003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.120714057 meters Centerline goodness [0,1] 0.9745283661377103 Centerline is valid? [True, True] Translation: X:169.08, Y:-5.85, Z:2.02 [[ 9.98496567e-01 -4.82034059e-02 -2.60966961e-02 1.69080956e+02] [ 4.82403554e-02 9.98835446e-01 7.87794883e-04 -5.85306000e+00] [ 2.60283307e-02 -2.04552438e-03 9.99659113e-01 2.02332220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.150714057 meters Centerline goodness [0,1] 0.9711475111888589 Centerline is valid? [True, True] Translation: X:169.11, Y:-5.85, Z:2.02 [[ 9.98510528e-01 -4.77740512e-02 -2.63508003e-02 1.69113623e+02] [ 4.78116193e-02 9.98856053e-01 7.97133380e-04 -5.85395169e+00] [ 2.62825741e-02 -2.05582051e-03 9.99652440e-01 2.02427606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.180714057 meters Centerline goodness [0,1] 0.9644700052283421 Centerline is valid? [True, True] Translation: X:169.14, Y:-5.86, Z:2.03 [[ 9.98558613e-01 -4.68981790e-02 -2.61009212e-02 1.69144433e+02] [ 4.69347855e-02 9.98897642e-01 7.91307354e-04 -5.85513493e+00] [ 2.60350377e-02 -2.01520791e-03 9.99659000e-01 2.02530585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.210714057 meters Centerline goodness [0,1] 0.9855009885689612 Centerline is valid? [True, True] Translation: X:169.18, Y:-5.84, Z:2.03 [[ 9.98604272e-01 -4.61127395e-02 -2.57511750e-02 1.69176881e+02] [ 4.61481494e-02 9.98934300e-01 7.82174538e-04 -5.84203697e+00] [ 2.56876637e-02 -1.96945190e-03 9.99668078e-01 2.02819980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.240714057 meters Centerline goodness [0,1] 0.9859901294093566 Centerline is valid? [True, True] Translation: X:169.21, Y:-5.84, Z:2.03 [[ 9.98697171e-01 -4.41411434e-02 -2.56031439e-02 1.69208949e+02] [ 4.41755440e-02 9.99023480e-01 7.79284310e-04 -5.83788538e+00] [ 2.55437434e-02 -1.90930184e-03 9.99671882e-01 2.03051186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.270714057 meters Centerline goodness [0,1] 0.9854950551324315 Centerline is valid? [True, True] Translation: X:169.24, Y:-5.84, Z:2.03 [[ 9.98750463e-01 -4.29647406e-02 -2.55253432e-02 1.69239329e+02] [ 4.29985753e-02 9.99074831e-01 7.77895250e-04 -5.83879917e+00] [ 2.54683058e-02 -1.87447663e-03 9.99673873e-01 2.03157834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.300714057 meters Centerline goodness [0,1] 0.9856044755753661 Centerline is valid? [True, True] Translation: X:169.27, Y:-5.84, Z:2.03 [[ 9.98823808e-01 -4.12180616e-02 -2.55356925e-02 1.69271202e+02] [ 4.12513786e-02 9.99148496e-01 7.79095765e-04 -5.83617965e+00] [ 2.54818359e-02 -1.83156192e-03 9.99673607e-01 2.03230304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.330714057 meters Centerline goodness [0,1] 0.9864091396255672 Centerline is valid? [True, True] Translation: X:169.30, Y:-5.84, Z:2.03 [[ 9.98846312e-01 -4.08080414e-02 -2.53130204e-02 1.69302735e+02] [ 4.08406842e-02 9.99165372e-01 7.73710579e-04 -5.83822254e+00] [ 2.52603198e-02 -1.80661903e-03 9.99679275e-01 2.03240952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.360714057 meters Centerline goodness [0,1] 0.9869604007961018 Centerline is valid? [True, True] Translation: X:169.34, Y:-5.84, Z:2.03 [[ 9.98840446e-01 -4.08541372e-02 -2.54696550e-02 1.69335069e+02] [ 4.08872393e-02 9.99163463e-01 7.80032278e-04 -5.83870995e+00] [ 2.54164811e-02 -1.82051167e-03 9.99675291e-01 2.03326187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.390714057 meters Centerline goodness [0,1] 0.9864404454302244 Centerline is valid? [True, True] Translation: X:169.37, Y:-5.84, Z:2.03 [[ 9.98830196e-01 -4.11017010e-02 -2.54733301e-02 1.69367050e+02] [ 4.11349381e-02 9.99153294e-01 7.81929175e-04 -5.84081607e+00] [ 2.54196231e-02 -1.82885833e-03 9.99675196e-01 2.03380788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.420714057 meters Centerline goodness [0,1] 0.9869336384439359 Centerline is valid? [True, True] Translation: X:169.40, Y:-5.84, Z:2.03 [[ 9.98762237e-01 -4.27133397e-02 -2.54865471e-02 1.69398451e+02] [ 4.27471692e-02 9.99085615e-01 7.83749850e-04 -5.83732560e+00] [ 2.54297660e-02 -1.87225749e-03 9.99674858e-01 2.03469563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.450714057 meters Centerline goodness [0,1] 0.9859374284274656 Centerline is valid? [True, True] Translation: X:169.43, Y:-5.84, Z:2.03 [[ 9.98738639e-01 -4.32257957e-02 -2.55472283e-02 1.69429054e+02] [ 4.32600007e-02 9.99063538e-01 7.87477648e-04 -5.84483134e+00] [ 2.54892649e-02 -1.89165747e-03 9.99673306e-01 2.03382001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48071405699997 meters Centerline goodness [0,1] 0.9857597472469608 Centerline is valid? [True, True] Translation: X:169.46, Y:-5.85, Z:2.03 [[ 9.98699565e-01 -4.39942055e-02 -2.57621631e-02 1.69460420e+02] [ 4.40293050e-02 9.99029922e-01 7.96518557e-04 -5.84852059e+00] [ 2.57021296e-02 -1.92977287e-03 9.99667783e-01 2.03358828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51071405699997 meters Centerline goodness [0,1] 0.987210634884254 Centerline is valid? [True, True] Translation: X:169.49, Y:-5.84, Z:2.03 [[ 9.98604573e-01 -4.53855376e-02 -2.70010994e-02 1.69491417e+02] [ 4.54246285e-02 9.98967419e-01 8.35832906e-04 -5.84415389e+00] [ 2.69352838e-02 -2.06118147e-03 9.99635054e-01 2.03368447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54071405699997 meters Centerline goodness [0,1] 0.987606329461264 Centerline is valid? [True, True] Translation: X:169.52, Y:-5.85, Z:2.03 [[ 9.98580054e-01 -4.58666723e-02 -2.70947244e-02 1.69523894e+02] [ 4.59062414e-02 9.98945400e-01 8.39856847e-04 -5.84528859e+00] [ 2.70276288e-02 -2.08248125e-03 9.99632518e-01 2.03369168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57071405699998 meters Centerline goodness [0,1] 0.9804105116555173 Centerline is valid? [True, True] Translation: X:169.55, Y:-5.86, Z:2.03 [[ 9.98523496e-01 -4.70567521e-02 -2.71383326e-02 1.69554646e+02] [ 4.70969313e-02 9.98889968e-01 8.42900953e-04 -5.85607683e+00] [ 2.70685440e-02 -2.11978859e-03 9.99631332e-01 2.03200759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60071405699998 meters Centerline goodness [0,1] 0.9868297916048481 Centerline is valid? [True, True] Translation: X:169.59, Y:-5.85, Z:2.03 [[ 9.98472026e-01 -4.75640226e-02 -2.81296645e-02 1.69587056e+02] [ 4.76074407e-02 9.98865739e-01 8.75417926e-04 -5.84977264e+00] [ 2.80561197e-02 -2.21326165e-03 9.99603899e-01 2.03315371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63071405699998 meters Centerline goodness [0,1] 0.9720161603250326 Centerline is valid? [True, True] Translation: X:169.62, Y:-5.86, Z:2.03 [[ 9.98456722e-01 -4.76667112e-02 -2.84966429e-02 1.69617446e+02] [ 4.77113548e-02 9.98860770e-01 8.88352542e-04 -5.86060313e+00] [ 2.84218338e-02 -2.24659501e-03 9.99593493e-01 2.03053941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66071405699998 meters Centerline goodness [0,1] 0.9875350363466491 Centerline is valid? [True, True] Translation: X:169.65, Y:-5.85, Z:2.03 [[ 9.98477107e-01 -4.72551981e-02 -2.84677699e-02 1.69649934e+02] [ 4.72996262e-02 9.98880351e-01 8.88904379e-04 -5.85263888e+00] [ 2.83938906e-02 -2.23406555e-03 9.99594316e-01 2.03242716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69071405699998 meters Centerline goodness [0,1] 0.9881644660327017 Centerline is valid? [True, True] Translation: X:169.68, Y:-5.85, Z:2.04 [[ 9.98531767e-01 -4.64197236e-02 -2.79198631e-02 1.69682731e+02] [ 4.64621935e-02 9.98919667e-01 8.73980512e-04 -5.84509962e+00] [ 2.78491304e-02 -2.16991539e-03 9.99609783e-01 2.03511165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72071405699998 meters Centerline goodness [0,1] 0.987570131825024 Centerline is valid? [True, True] Translation: X:169.71, Y:-5.85, Z:2.04 [[ 9.98583446e-01 -4.58195917e-02 -2.70493361e-02 1.69713502e+02] [ 4.58593132e-02 9.98947547e-01 8.49640206e-04 -5.84794782e+00] [ 2.69819378e-02 -2.08890062e-03 9.99633739e-01 2.03564913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75071405699998 meters Centerline goodness [0,1] 0.9880642658268292 Centerline is valid? [True, True] Translation: X:169.75, Y:-5.85, Z:2.04 [[ 9.98597972e-01 -4.57796549e-02 -2.65765654e-02 1.69745540e+02] [ 4.58180587e-02 9.98949450e-01 8.37558581e-04 -5.84650493e+00] [ 2.65103022e-02 -2.05407093e-03 9.99646430e-01 2.03739842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78071405699998 meters Centerline goodness [0,1] 0.9881004042664961 Centerline is valid? [True, True] Translation: X:169.78, Y:-5.85, Z:2.04 [[ 9.98587915e-01 -4.58468727e-02 -2.68372748e-02 1.69777796e+02] [ 4.58861100e-02 9.98946318e-01 8.47710705e-04 -5.84856742e+00] [ 2.67701319e-02 -2.07797181e-03 9.99639456e-01 2.03805725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81071405699998 meters Centerline goodness [0,1] 0.9876763381118961 Centerline is valid? [True, True] Translation: X:169.81, Y:-5.85, Z:2.04 [[ 9.98528747e-01 -4.65081002e-02 -2.78807999e-02 1.69810285e+02] [ 4.65507625e-02 9.98915536e-01 8.82712501e-04 -5.85068213e+00] [ 2.78095109e-02 -2.17928630e-03 9.99610865e-01 2.03831011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84071405699999 meters Centerline goodness [0,1] 0.9870547211523122 Centerline is valid? [True, True] Translation: X:169.84, Y:-5.86, Z:2.04 [[ 9.98514063e-01 -4.72269585e-02 -2.71896991e-02 1.69841277e+02] [ 4.72678420e-02 9.98881878e-01 8.62530929e-04 -5.85506556e+00] [ 2.71185630e-02 -2.14644767e-03 9.99629920e-01 2.03740831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.870714057 meters Centerline goodness [0,1] 0.9876748152359295 Centerline is valid? [True, True] Translation: X:169.87, Y:-5.86, Z:2.04 [[ 9.98442435e-01 -4.85269787e-02 -2.75288180e-02 1.69872927e+02] [ 4.85694200e-02 9.98819426e-01 8.74752991e-04 -5.86061103e+00] [ 2.74538690e-02 -2.21044923e-03 9.99620628e-01 2.03603064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.900714057 meters Centerline goodness [0,1] 0.9866836630170039 Centerline is valid? [True, True] Translation: X:169.91, Y:-5.86, Z:2.04 [[ 9.98413420e-01 -4.88930240e-02 -2.79305383e-02 1.69905470e+02] [ 4.89369036e-02 9.98801476e-01 8.89230924e-04 -5.86280260e+00] [ 2.78535857e-02 -2.25465415e-03 9.99609471e-01 2.03583145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.930714057 meters Centerline goodness [0,1] 0.9862907456830676 Centerline is valid? [True, True] Translation: X:169.94, Y:-5.87, Z:2.04 [[ 9.98418013e-01 -4.84686004e-02 -2.85002987e-02 1.69936365e+02] [ 4.85141687e-02 9.98822081e-01 9.09170525e-04 -5.86690121e+00] [ 2.84226614e-02 -2.29040053e-03 9.99593371e-01 2.03623364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.960714057 meters Centerline goodness [0,1] 0.9864704540269222 Centerline is valid? [True, True] Translation: X:169.97, Y:-5.87, Z:2.04 [[ 9.98447026e-01 -4.77255782e-02 -2.87368250e-02 1.69969115e+02] [ 4.77716586e-02 9.98857860e-01 9.18734289e-04 -5.86736023e+00] [ 2.86601564e-02 -2.29011331e-03 9.99586590e-01 2.03750552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.990714057 meters Centerline goodness [0,1] 0.9858988085746179 Centerline is valid? [True, True] Translation: X:170.00, Y:-5.87, Z:2.04 [[ 9.98529959e-01 -4.63309301e-02 -2.81312391e-02 1.69999267e+02] [ 4.63745803e-02 9.98923714e-01 9.00885909e-04 -5.86886443e+00] [ 2.80592230e-02 -2.20413598e-03 9.99603832e-01 2.03814862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.020714057 meters Centerline goodness [0,1] 0.987313177410154 Centerline is valid? [True, True] Translation: X:170.03, Y:-5.87, Z:2.04 [[ 9.98673436e-01 -4.36575629e-02 -2.73017333e-02 1.70028673e+02] [ 4.36976838e-02 9.99044417e-01 8.74361016e-04 -5.87057357e+00] [ 2.72374718e-02 -2.06622363e-03 9.99626856e-01 2.03897660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.050714057 meters Centerline goodness [0,1] 0.9856632455681223 Centerline is valid? [True, True] Translation: X:170.06, Y:-5.87, Z:2.04 [[ 9.98831826e-01 -4.03833063e-02 -2.65362558e-02 1.70058984e+02] [ 4.04200535e-02 9.99182414e-01 8.49642504e-04 -5.87188268e+00] [ 2.64802488e-02 -1.92124685e-03 9.99647490e-01 2.03919811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.080714057 meters Centerline goodness [0,1] 0.9867572310988535 Centerline is valid? [True, True] Translation: X:170.09, Y:-5.87, Z:2.04 [[ 9.98903513e-01 -3.86681261e-02 -2.63921839e-02 1.70090728e+02] [ 3.87038965e-02 9.99250366e-01 8.45671203e-04 -5.87251099e+00] [ 2.63396989e-02 -1.86622429e-03 9.99651308e-01 2.03926986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.110714057 meters Centerline goodness [0,1] 0.9875202482261413 Centerline is valid? [True, True] Translation: X:170.12, Y:-5.87, Z:2.04 [[ 9.98973709e-01 -3.66792138e-02 -2.65737593e-02 1.70120941e+02] [ 3.67148035e-02 9.99325421e-01 8.52443545e-04 -5.87421777e+00] [ 2.65245662e-02 -1.82721904e-03 9.99646492e-01 2.03913165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.140714057 meters Centerline goodness [0,1] 0.9881798305547964 Centerline is valid? [True, True] Translation: X:170.15, Y:-5.87, Z:2.04 [[ 9.99132701e-01 -3.21468896e-02 -2.64655231e-02 1.70151508e+02] [ 3.21806135e-02 9.99481709e-01 8.49221888e-04 -5.86682041e+00] [ 2.64245064e-02 -1.70016213e-03 9.99649366e-01 2.04057779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.170714057 meters Centerline goodness [0,1] 0.987971094035858 Centerline is valid? [True, True] Translation: X:170.18, Y:-5.87, Z:2.04 [[ 9.99218920e-01 -2.97506646e-02 -2.60086012e-02 1.70180912e+02] [ 2.97824202e-02 9.99556057e-01 8.34368514e-04 -5.87326234e+00] [ 2.59722319e-02 -1.60831590e-03 9.99661371e-01 2.04014121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.200714057 meters Centerline goodness [0,1] 0.9894248481954016 Centerline is valid? [True, True] Translation: X:170.21, Y:-5.86, Z:2.04 [[ 9.99361092e-01 -2.50891911e-02 -2.54546730e-02 1.70211778e+02] [ 2.51180940e-02 9.99684158e-01 8.16311555e-04 -5.86046863e+00] [ 2.54261528e-02 -1.45516288e-03 9.99675644e-01 2.04361559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23071405699997 meters Centerline goodness [0,1] 0.989807837658322 Centerline is valid? [True, True] Translation: X:170.24, Y:-5.86, Z:2.04 [[ 9.99395502e-01 -2.33350790e-02 -2.57702216e-02 1.70240946e+02] [ 2.33640556e-02 9.99726684e-01 8.23853391e-04 -5.86106641e+00] [ 2.57439535e-02 -1.42545226e-03 9.99667553e-01 2.04402157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26071405699997 meters Centerline goodness [0,1] 0.989807837658322 Centerline is valid? [True, True] Translation: X:170.27, Y:-5.86, Z:2.04 [[ 9.99389665e-01 -2.35835466e-02 -2.57704168e-02 1.70269199e+02] [ 2.36124475e-02 9.99720853e-01 8.17710628e-04 -5.86192013e+00] [ 2.57439385e-02 -1.42571416e-03 9.99667553e-01 2.04444262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29071405699997 meters Centerline goodness [0,1] 0.9889578390217193 Centerline is valid? [True, True] Translation: X:170.30, Y:-5.86, Z:2.04 [[ 9.99468750e-01 -2.04495056e-02 -2.53778599e-02 1.70298399e+02] [ 2.04764235e-02 9.99790015e-01 8.01247642e-04 -5.86428769e+00] [ 2.53561458e-02 -1.32046979e-03 9.99677609e-01 2.04397473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32071405699998 meters Centerline goodness [0,1] 0.9905443277358792 Centerline is valid? [True, True] Translation: X:170.33, Y:-5.86, Z:2.04 [[ 9.99497266e-01 -1.88461985e-02 -2.54958084e-02 1.70327088e+02] [ 1.88728145e-02 9.99821570e-01 8.03691160e-04 -5.86307560e+00] [ 2.54761127e-02 -1.28446478e-03 9.99674606e-01 2.04456301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35071405699998 meters Centerline goodness [0,1] 0.9910283268057201 Centerline is valid? [True, True] Translation: X:170.36, Y:-5.86, Z:2.04 [[ 9.99511385e-01 -1.68341194e-02 -2.63363478e-02 1.70356024e+02] [ 1.68617732e-02 9.99857487e-01 8.28283914e-04 -5.86412942e+00] [ 2.63186511e-02 -1.27195672e-03 9.99652795e-01 2.04409041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38071405699998 meters Centerline goodness [0,1] 0.9908075269061867 Centerline is valid? [True, True] Translation: X:170.38, Y:-5.86, Z:2.04 [[ 9.99513404e-01 -1.66519624e-02 -2.63754951e-02 1.70384787e+02] [ 1.66795313e-02 9.99860546e-01 8.25574852e-04 -5.86476721e+00] [ 2.63580695e-02 -1.26510403e-03 9.99651765e-01 2.04398160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41071405699998 meters Centerline goodness [0,1] 0.9907295629000296 Centerline is valid? [True, True] Translation: X:170.41, Y:-5.87, Z:2.04 [[ 9.99509630e-01 -1.68430377e-02 -2.63971915e-02 1.70412622e+02] [ 1.68705936e-02 9.99857344e-01 8.21521096e-04 -5.86872822e+00] [ 2.63795889e-02 -1.26645454e-03 9.99651196e-01 2.04318561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44071405699998 meters Centerline goodness [0,1] 0.9912606113020324 Centerline is valid? [True, True] Translation: X:170.44, Y:-5.87, Z:2.04 [[ 9.99497358e-01 -1.78238072e-02 -2.62172222e-02 1.70441670e+02] [ 1.78512177e-02 9.99840325e-01 8.11823111e-04 -5.87208343e+00] [ 2.61985662e-02 -1.27942440e-03 9.99655940e-01 2.04334322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47071405699998 meters Centerline goodness [0,1] 0.991610548035281 Centerline is valid? [True, True] Translation: X:170.47, Y:-5.87, Z:2.04 [[ 9.99475320e-01 -1.89341923e-02 -2.62789240e-02 1.70470308e+02] [ 1.89619444e-02 9.99819880e-01 8.07245625e-04 -5.87393328e+00] [ 2.62589061e-02 -1.30512157e-03 9.99654324e-01 2.04381654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50071405699998 meters Centerline goodness [0,1] 0.9917330971361087 Centerline is valid? [True, True] Translation: X:170.50, Y:-5.88, Z:2.04 [[ 9.99423586e-01 -2.16656190e-02 -2.61361228e-02 1.70499313e+02] [ 2.16938905e-02 9.99764341e-01 7.98609459e-04 -5.87773083e+00] [ 2.61126612e-02 -1.36514332e-03 9.99658074e-01 2.04342370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53071405699998 meters Centerline goodness [0,1] 0.9910273463038528 Centerline is valid? [True, True] Translation: X:170.53, Y:-5.88, Z:2.04 [[ 9.99394232e-01 -2.29401231e-02 -2.61709549e-02 1.70527035e+02] [ 2.29688592e-02 9.99735863e-01 7.97894375e-04 -5.88280451e+00] [ 2.61457383e-02 -1.39852801e-03 9.99657163e-01 2.04354407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56071405699998 meters Centerline goodness [0,1] 0.9922023755553541 Centerline is valid? [True, True] Translation: X:170.56, Y:-5.88, Z:2.05 [[ 9.99369338e-01 -2.43225272e-02 -2.58716356e-02 1.70556058e+02] [ 2.43509663e-02 9.99703163e-01 7.84709729e-04 -5.88065700e+00] [ 2.58448698e-02 -1.41421417e-03 9.99664965e-01 2.04509362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59071405699999 meters Centerline goodness [0,1] 0.9904235810826107 Centerline is valid? [True, True] Translation: X:170.58, Y:-5.89, Z:2.05 [[ 9.99330106e-01 -2.69757589e-02 -2.47315052e-02 1.70584208e+02] [ 2.70024501e-02 9.99635089e-01 7.45856722e-04 -5.88918022e+00] [ 2.47023604e-02 -1.41316831e-03 9.99693851e-01 2.04509487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.620714057 meters Centerline goodness [0,1] 0.9906687754179846 Centerline is valid? [True, True] Translation: X:170.61, Y:-5.89, Z:2.05 [[ 9.99292978e-01 -2.93276225e-02 -2.35251755e-02 1.70613945e+02] [ 2.93523912e-02 9.99568875e-01 7.08171142e-04 -5.89358637e+00] [ 2.34942642e-02 -1.39819061e-03 9.99722994e-01 2.04652382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.650714057 meters Centerline goodness [0,1] 0.990112003620319 Centerline is valid? [True, True] Translation: X:170.64, Y:-5.89, Z:2.05 [[ 9.99267077e-01 -3.03990462e-02 -2.32638687e-02 1.70644711e+02] [ 3.04235485e-02 9.99536852e-01 6.99947138e-04 -5.89307596e+00] [ 2.32318163e-02 -1.40720357e-03 9.99729115e-01 2.04806063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.680714057 meters Centerline goodness [0,1] 0.9899256849856565 Centerline is valid? [True, True] Translation: X:170.67, Y:-5.90, Z:2.05 [[ 9.99266870e-01 -3.11028153e-02 -2.23234584e-02 1.70674812e+02] [ 3.11255597e-02 9.99515256e-01 6.72037141e-04 -5.89692131e+00] [ 2.22917350e-02 -1.36637459e-03 9.99750575e-01 2.04868885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.710714057 meters Centerline goodness [0,1] 0.9895519027246116 Centerline is valid? [True, True] Translation: X:170.71, Y:-5.90, Z:2.05 [[ 9.99254071e-01 -3.26445161e-02 -2.06309649e-02 1.70705750e+02] [ 3.26642760e-02 9.99466187e-01 6.21428598e-04 -5.89894104e+00] [ 2.05996656e-02 -1.29486059e-03 9.99786966e-01 2.04984280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.740714057 meters Centerline goodness [0,1] 0.9892395659808203 Centerline is valid? [True, True] Translation: X:170.74, Y:-5.90, Z:2.05 [[ 9.99219383e-01 -3.39972051e-02 -2.01200256e-02 1.70736854e+02] [ 3.40162799e-02 9.99421095e-01 6.06474904e-04 -5.90228849e+00] [ 2.00877595e-02 -1.29040990e-03 9.99797388e-01 2.05023399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.770714057 meters Centerline goodness [0,1] 0.9887438090950023 Centerline is valid? [True, True] Translation: X:170.77, Y:-5.90, Z:2.05 [[ 9.99202843e-01 -3.43980298e-02 -2.02596861e-02 1.70768546e+02] [ 3.44174686e-02 9.99407356e-01 6.11484957e-04 -5.90466379e+00] [ 2.02266455e-02 -1.30828462e-03 9.99794565e-01 2.05062664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.800714057 meters Centerline goodness [0,1] 0.9884573845738457 Centerline is valid? [True, True] Translation: X:170.80, Y:-5.90, Z:2.05 [[ 9.99175241e-01 -3.51363280e-02 -2.03537766e-02 1.70800975e+02] [ 3.51561240e-02 9.99381643e-01 6.15485508e-04 -5.90438644e+00] [ 2.03195648e-02 -1.33053777e-03 9.99792651e-01 2.05077982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.830714057 meters Centerline goodness [0,1] 0.9876426497400229 Centerline is valid? [True, True] Translation: X:170.83, Y:-5.91, Z:2.05 [[ 9.99095783e-01 -3.70650754e-02 -2.08277741e-02 1.70831121e+02] [ 3.70862459e-02 9.99311869e-01 6.30986895e-04 -5.91236559e+00] [ 2.07900543e-02 -1.40284030e-03 9.99782879e-01 2.05035663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.860714057 meters Centerline goodness [0,1] 0.9888678564990084 Centerline is valid? [True, True] Translation: X:170.86, Y:-5.91, Z:2.05 [[ 9.99041863e-01 -3.85766939e-02 -2.06686726e-02 1.70862295e+02] [ 3.85978734e-02 9.99254628e-01 6.26622783e-04 -5.90989756e+00] [ 2.06290938e-02 -1.42378920e-03 9.99786184e-01 2.05083711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.890714057 meters Centerline goodness [0,1] 0.9871231084951402 Centerline is valid? [True, True] Translation: X:170.89, Y:-5.91, Z:2.05 [[ 9.98920551e-01 -4.15063656e-02 -2.08555765e-02 1.70893374e+02] [ 4.15285781e-02 9.99137116e-01 6.32908632e-04 -5.91319277e+00] [ 2.08113109e-02 -1.49832788e-03 9.99782298e-01 2.05081323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.920714057 meters Centerline goodness [0,1] 0.9875833576576779 Centerline is valid? [True, True] Translation: X:170.93, Y:-5.91, Z:2.05 [[ 9.98854450e-01 -4.30283710e-02 -2.09367276e-02 1.70925172e+02] [ 4.30511013e-02 9.99072669e-01 6.35944252e-04 -5.91342560e+00] [ 2.08899487e-02 -1.53656493e-03 9.99780600e-01 2.05130072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.950714057 meters Centerline goodness [0,1] 0.9868400297451383 Centerline is valid? [True, True] Translation: X:170.96, Y:-5.92, Z:2.05 [[ 9.98734445e-01 -4.55743438e-02 -2.12717526e-02 1.70955939e+02] [ 4.55984007e-02 9.98959642e-01 6.47016223e-04 -5.91603878e+00] [ 2.12201350e-02 -1.61615529e-03 9.99773521e-01 2.05109993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98071405699997 meters Centerline goodness [0,1] 0.9863053809942113 Centerline is valid? [True, True] Translation: X:170.99, Y:-5.92, Z:2.05 [[ 9.98689691e-01 -4.64585632e-02 -2.14593231e-02 1.70986778e+02] [ 4.64832623e-02 9.98918855e-01 6.53331634e-04 -5.92405151e+00] [ 2.14057696e-02 -1.64997491e-03 9.99769509e-01 2.05028940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01071405699997 meters Centerline goodness [0,1] 0.9887125538975552 Centerline is valid? [True, True] Translation: X:171.02, Y:-5.92, Z:2.05 [[ 9.98645816e-01 -4.69587539e-02 -2.23921585e-02 1.71019100e+02] [ 4.69858028e-02 9.98895324e-01 6.83084509e-04 -5.91719049e+00] [ 2.23353457e-02 -1.73427303e-03 9.99749031e-01 2.05085117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04071405699997 meters Centerline goodness [0,1] 0.9876417923911328 Centerline is valid? [True, True] Translation: X:171.05, Y:-5.92, Z:2.05 [[ 9.98574156e-01 -4.74437413e-02 -2.44692997e-02 1.71051053e+02] [ 4.74762328e-02 9.98872088e-01 7.48291328e-04 -5.91832524e+00] [ 2.44061987e-02 -1.90893455e-03 9.99700302e-01 2.04993715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07071405699998 meters Centerline goodness [0,1] 0.9879109273532122 Centerline is valid? [True, True] Translation: X:171.08, Y:-5.92, Z:2.05 [[ 9.98576645e-01 -4.68522519e-02 -2.54862887e-02 1.71081886e+02] [ 4.68873521e-02 9.98899878e-01 7.81050404e-04 -5.91901632e+00] [ 2.54216567e-02 -1.97492328e-03 9.99674867e-01 2.05006347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10071405699998 meters Centerline goodness [0,1] 0.981828417023193 Centerline is valid? [True, True] Translation: X:171.11, Y:-5.93, Z:2.05 [[ 9.98600055e-01 -4.62112637e-02 -2.57380791e-02 1.71112595e+02] [ 4.62469041e-02 9.98929726e-01 7.90892903e-04 -5.92925380e+00] [ 2.56739841e-02 -1.98009217e-03 9.99668408e-01 2.04965040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13071405699998 meters Centerline goodness [0,1] 0.9872269362700848 Centerline is valid? [True, True] Translation: X:171.15, Y:-5.92, Z:2.05 [[ 9.98617976e-01 -4.57722285e-02 -2.58271245e-02 1.71145247e+02] [ 4.58080369e-02 9.98949944e-01 7.96219291e-04 -5.91984076e+00] [ 2.57635598e-02 -1.97820877e-03 9.99666107e-01 2.05214623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16071405699998 meters Centerline goodness [0,1] 0.9865770298012498 Centerline is valid? [True, True] Translation: X:171.18, Y:-5.92, Z:2.05 [[ 9.98666110e-01 -4.51348086e-02 -2.50768874e-02 1.71177034e+02] [ 4.51684048e-02 9.98979086e-01 7.74628484e-04 -5.92091979e+00] [ 2.50163233e-02 -1.90627821e-03 9.99685225e-01 2.05340272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19071405699998 meters Centerline goodness [0,1] 0.9758374766586425 Centerline is valid? [True, True] Translation: X:171.21, Y:-5.93, Z:2.05 [[ 9.98685892e-01 -4.50151852e-02 -2.44974053e-02 1.71208325e+02] [ 4.50472411e-02 9.98984570e-01 7.57986793e-04 -5.93396028e+00] [ 2.44384090e-02 -1.86053124e-03 9.99699606e-01 2.05239434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22071405699998 meters Centerline goodness [0,1] 0.9866753550242675 Centerline is valid? [True, True] Translation: X:171.24, Y:-5.93, Z:2.05 [[ 9.98659041e-01 -4.52561017e-02 -2.51397152e-02 1.71240258e+02] [ 4.52899838e-02 9.98973578e-01 7.79719287e-04 -5.92633797e+00] [ 2.50786242e-02 -1.91725101e-03 9.99683643e-01 2.05425347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25071405699998 meters Centerline goodness [0,1] 0.9861801976186725 Centerline is valid? [True, True] Translation: X:171.27, Y:-5.93, Z:2.05 [[ 9.98638769e-01 -4.54357889e-02 -2.56163706e-02 1.71272572e+02] [ 4.54710860e-02 9.98965337e-01 7.96803398e-04 -5.92622493e+00] [ 2.55536629e-02 -1.96052296e-03 9.99671529e-01 2.05494312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28071405699998 meters Centerline goodness [0,1] 0.983371855575253 Centerline is valid? [True, True] Translation: X:171.30, Y:-5.93, Z:2.06 [[ 9.98648799e-01 -4.51377865e-02 -2.57518082e-02 1.71304117e+02] [ 4.51733999e-02 9.98978839e-01 8.02587472e-04 -5.92976180e+00] [ 2.56892844e-02 -1.96479975e-03 9.99668045e-01 2.05561664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31071405699998 meters Centerline goodness [0,1] 0.985314323039845 Centerline is valid? [True, True] Translation: X:171.34, Y:-5.93, Z:2.06 [[ 9.98657385e-01 -4.48341736e-02 -2.59484783e-02 1.71336001e+02] [ 4.48702655e-02 9.98992494e-01 8.10034076e-04 -5.92929955e+00] [ 2.58860178e-02 -1.97326162e-03 9.99662953e-01 2.05634528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34071405699999 meters Centerline goodness [0,1] 0.9834305139692474 Centerline is valid? [True, True] Translation: X:171.37, Y:-5.93, Z:2.06 [[ 9.98692930e-01 -4.40342615e-02 -2.59502472e-02 1.71365870e+02] [ 4.40701140e-02 9.99028111e-01 8.11018784e-04 -5.93243960e+00] [ 2.58893138e-02 -1.95358908e-03 9.99662907e-01 2.05687641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.370714057 meters Centerline goodness [0,1] 0.9856436755785217 Centerline is valid? [True, True] Translation: X:171.40, Y:-5.93, Z:2.06 [[ 9.98772988e-01 -4.23131094e-02 -2.57316881e-02 1.71397578e+02] [ 4.23478125e-02 9.99102605e-01 8.04974127e-04 -5.93146968e+00] [ 2.56745356e-02 -1.89366712e-03 9.99668561e-01 2.05775129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.400714057 meters Centerline goodness [0,1] 0.9853321635058829 Centerline is valid? [True, True] Translation: X:171.43, Y:-5.93, Z:2.06 [[ 9.98796780e-01 -4.13859331e-02 -2.63096393e-02 1.71429396e+02] [ 4.14219280e-02 9.99141404e-01 8.24375950e-04 -5.93225941e+00] [ 2.62529323e-02 -1.91318003e-03 9.99653502e-01 2.05842110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.430714057 meters Centerline goodness [0,1] 0.9853447693658405 Centerline is valid? [True, True] Translation: X:171.46, Y:-5.93, Z:2.06 [[ 9.98872872e-01 -3.89017035e-02 -2.71963753e-02 1.71459398e+02] [ 3.89392713e-02 9.99241215e-01 8.52919324e-04 -5.93139626e+00] [ 2.71425591e-02 -1.91096501e-03 9.99629746e-01 2.05835342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.460714057 meters Centerline goodness [0,1] 0.9858888237680898 Centerline is valid? [True, True] Translation: X:171.49, Y:-5.93, Z:2.06 [[ 9.98930522e-01 -3.73736069e-02 -2.72217773e-02 1.71490090e+02] [ 3.74106804e-02 9.99299611e-01 8.53715968e-04 -5.93167850e+00] [ 2.71708050e-02 -1.87118815e-03 9.99629054e-01 2.05868278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.490714057 meters Centerline goodness [0,1] 0.9863158843951486 Centerline is valid? [True, True] Translation: X:171.52, Y:-5.93, Z:2.06 [[ 9.99041469e-01 -3.38343911e-02 -2.77736788e-02 1.71520054e+02] [ 3.38716186e-02 9.99425813e-01 8.70887447e-04 -5.93080387e+00] [ 2.77282656e-02 -1.81079213e-03 9.99613858e-01 2.05823571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.520714057 meters Centerline goodness [0,1] 0.9856092389588127 Centerline is valid? [True, True] Translation: X:171.55, Y:-5.93, Z:2.06 [[ 9.99094126e-01 -3.21086993e-02 -2.79277377e-02 1.71550029e+02] [ 3.21456596e-02 9.99482811e-01 8.75351854e-04 -5.93063747e+00] [ 2.78851873e-02 -1.77231444e-03 9.99609561e-01 2.05828662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.550714057 meters Centerline goodness [0,1] 0.986632818116463 Centerline is valid? [True, True] Translation: X:171.58, Y:-5.93, Z:2.06 [[ 9.99232538e-01 -2.82997653e-02 -2.70824377e-02 1.71579814e+02] [ 2.83331150e-02 9.99598177e-01 8.48394440e-04 -5.92969115e+00] [ 2.70475459e-02 -1.61507315e-03 9.99632843e-01 2.05937323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.580714057 meters Centerline goodness [0,1] 0.9859808871258565 Centerline is valid? [True, True] Translation: X:171.61, Y:-5.93, Z:2.06 [[ 9.99285780e-01 -2.68220047e-02 -2.66178690e-02 1.71608354e+02] [ 2.68536702e-02 9.99639028e-01 8.32825294e-04 -5.92970586e+00] [ 2.65859227e-02 -1.54701795e-03 9.99645335e-01 2.06045502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.610714057 meters Centerline goodness [0,1] 0.986283135927806 Centerline is valid? [True, True] Translation: X:171.64, Y:-5.93, Z:2.06 [[ 9.99405605e-01 -2.42079394e-02 -2.45441002e-02 1.71637175e+02] [ 2.42340473e-02 9.99706018e-01 7.66782790e-04 -5.92972938e+00] [ 2.45183225e-02 -1.36112990e-03 9.99698454e-01 2.06215228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.640714057 meters Centerline goodness [0,1] 0.9857791020518725 Centerline is valid? [True, True] Translation: X:171.67, Y:-5.93, Z:2.06 [[ 9.99439256e-01 -2.34180156e-02 -2.39326173e-02 1.71665865e+02] [ 2.34425548e-02 9.99724908e-01 7.45260744e-04 -5.93062027e+00] [ 2.39085811e-02 -1.30588454e-03 9.99713296e-01 2.06299515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.670714057 meters Centerline goodness [0,1] 0.9877690359920419 Centerline is valid? [True, True] Translation: X:171.69, Y:-5.92, Z:2.06 [[ 9.99446833e-01 -2.28837088e-02 -2.41322156e-02 1.71694950e+02] [ 2.29083737e-02 9.99737290e-01 7.46078209e-04 -5.92478376e+00] [ 2.41088028e-02 -1.29849532e-03 9.99708497e-01 2.06359138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.700714057 meters Centerline goodness [0,1] 0.9868673421034817 Centerline is valid? [True, True] Translation: X:171.72, Y:-5.93, Z:2.06 [[ 9.99400924e-01 -2.37279778e-02 -2.51947570e-02 1.71722342e+02] [ 2.37550059e-02 9.99717510e-01 7.73968521e-04 -5.92920691e+00] [ 2.51692750e-02 -1.37200645e-03 9.99682262e-01 2.06210867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73071405699997 meters Centerline goodness [0,1] 0.9869190659714351 Centerline is valid? [True, True] Translation: X:171.75, Y:-5.94, Z:2.06 [[ 9.99354325e-01 -2.45435392e-02 -2.62401931e-02 1.71749269e+02] [ 2.45730555e-02 9.99697714e-01 8.02940198e-04 -5.94064992e+00] [ 2.62125540e-02 -1.44722348e-03 9.99655344e-01 2.05977713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76071405699997 meters Centerline goodness [0,1] 0.987706588182024 Centerline is valid? [True, True] Translation: X:171.78, Y:-5.93, Z:2.06 [[ 9.99322960e-01 -2.56296877e-02 -2.63958505e-02 1.71778447e+02] [ 2.56598229e-02 9.99670410e-01 8.03526962e-04 -5.93059359e+00] [ 2.63665565e-02 -1.48029579e-03 9.99651246e-01 2.06218061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79071405699997 meters Centerline goodness [0,1] 0.9839718265345283 Centerline is valid? [True, True] Translation: X:171.81, Y:-5.95, Z:2.06 [[ 9.99272658e-01 -2.76472832e-02 -2.62636994e-02 1.71806818e+02] [ 2.76777054e-02 9.99616582e-01 7.95449964e-04 -5.95121775e+00] [ 2.62316374e-02 -1.52179033e-03 9.99654733e-01 2.05824925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82071405699998 meters Centerline goodness [0,1] 0.9833518061933091 Centerline is valid? [True, True] Translation: X:171.84, Y:-5.95, Z:2.06 [[ 9.99254687e-01 -2.86668048e-02 -2.58512099e-02 1.71835164e+02] [ 2.86965406e-02 9.99587865e-01 7.79946855e-04 -5.95402590e+00] [ 2.58181971e-02 -1.52120585e-03 9.99665497e-01 2.05785312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85071405699998 meters Centerline goodness [0,1] 0.9860641320524963 Centerline is valid? [True, True] Translation: X:171.86, Y:-5.94, Z:2.06 [[ 9.99198640e-01 -3.05320414e-02 -2.58818831e-02 1.71864996e+02] [ 3.05623824e-02 9.99532559e-01 7.77434074e-04 -5.94445185e+00] [ 2.58460482e-02 -1.56782308e-03 9.99664706e-01 2.05957027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88071405699998 meters Centerline goodness [0,1] 0.9862078321425342 Centerline is valid? [True, True] Translation: X:171.89, Y:-5.95, Z:2.06 [[ 9.99155716e-01 -3.18063122e-02 -2.60041200e-02 1.71894528e+02] [ 3.18373481e-02 9.99492759e-01 7.80245885e-04 -5.94560069e+00] [ 2.59661128e-02 -1.60748935e-03 9.99661531e-01 2.05958451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91071405699998 meters Centerline goodness [0,1] 0.9863035335529582 Centerline is valid? [True, True] Translation: X:171.93, Y:-5.94, Z:2.06 [[ 9.99141710e-01 -3.30316081e-02 -2.49951076e-02 1.71925018e+02] [ 3.30606514e-02 9.99453066e-01 7.49498886e-04 -5.94333428e+00] [ 2.49566798e-02 -1.57521014e-03 9.99687293e-01 2.06114142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94071405699998 meters Centerline goodness [0,1] 0.9864925810670635 Centerline is valid? [True, True] Translation: X:171.96, Y:-5.94, Z:2.06 [[ 9.99136922e-01 -3.36043867e-02 -2.44163196e-02 1.71955758e+02] [ 3.36322704e-02 9.99434007e-01 7.32143450e-04 -5.94418105e+00] [ 2.43778969e-02 -1.55268781e-03 9.99701609e-01 2.06198491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97071405699998 meters Centerline goodness [0,1] 0.9867690223526755 Centerline is valid? [True, True] Translation: X:171.99, Y:-5.95, Z:2.06 [[ 9.99158865e-01 -3.36350118e-02 -2.34573762e-02 1.71987371e+02] [ 3.36607627e-02 9.99433068e-01 7.03679311e-04 -5.94628461e+00] [ 2.34204092e-02 -1.49268060e-03 9.99724590e-01 2.06276682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00071405699998 meters Centerline goodness [0,1] 0.9861867266591676 Centerline is valid? [True, True] Translation: X:172.02, Y:-5.95, Z:2.06 [[ 9.99194278e-01 -3.41484431e-02 -2.10873947e-02 1.72017461e+02] [ 3.41693777e-02 9.99415856e-01 6.33138575e-04 -5.95005676e+00] [ 2.10534559e-02 -1.35317159e-03 9.99777436e-01 2.06425982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03071405699998 meters Centerline goodness [0,1] 0.9860250197227545 Centerline is valid? [True, True] Translation: X:172.05, Y:-5.95, Z:2.06 [[ 9.99203769e-01 -3.43780094e-02 -2.02479786e-02 1.72048421e+02] [ 3.43973655e-02 9.99408050e-01 6.08353063e-04 -5.95181893e+00] [ 2.02150789e-02 -1.30434579e-03 9.99794804e-01 2.06475633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06071405699998 meters Centerline goodness [0,1] 0.9868073282580704 Centerline is valid? [True, True] Translation: X:172.08, Y:-5.94, Z:2.07 [[ 9.99138457e-01 -3.63923690e-02 -1.99484032e-02 1.72080182e+02] [ 3.64115694e-02 9.99336699e-01 6.00018689e-04 -5.94419742e+00] [ 1.99133353e-02 -1.32585442e-03 9.99800831e-01 2.06575862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09071405699999 meters Centerline goodness [0,1] 0.9867851344037525 Centerline is valid? [True, True] Translation: X:172.11, Y:-5.95, Z:2.07 [[ 9.99086673e-01 -3.77482652e-02 -2.00221936e-02 1.72111795e+02] [ 3.77678951e-02 9.99286357e-01 6.03047208e-04 -5.94673261e+00] [ 1.99851409e-02 -1.35869254e-03 9.99799354e-01 2.06540241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.120714057 meters Centerline goodness [0,1] 0.9844556083714434 Centerline is valid? [True, True] Translation: X:172.14, Y:-5.95, Z:2.06 [[ 9.98951920e-01 -4.05859497e-02 -2.11622839e-02 1.72141870e+02] [ 4.06085307e-02 9.99174930e-01 6.38225755e-04 -5.95262627e+00] [ 2.11189206e-02 -1.49692610e-03 9.99775850e-01 2.06378770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.150714057 meters Centerline goodness [0,1] 0.9844556083714434 Centerline is valid? [True, True] Translation: X:172.17, Y:-5.95, Z:2.06 [[ 9.98954794e-01 -4.05151654e-02 -2.11622704e-02 1.72173625e+02] [ 4.05377401e-02 9.99177804e-01 6.38673639e-04 -5.95364711e+00] [ 2.11189949e-02 -1.49587671e-03 9.99775850e-01 2.06425952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.180714057 meters Centerline goodness [0,1] 0.9856175208850756 Centerline is valid? [True, True] Translation: X:172.21, Y:-5.96, Z:2.06 [[ 9.98899040e-01 -4.16061627e-02 -2.16710867e-02 1.72205588e+02] [ 4.16301255e-02 9.99132875e-01 6.55589557e-04 -5.95631994e+00] [ 2.16250186e-02 -1.55703784e-03 9.99764939e-01 2.06362681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.210714057 meters Centerline goodness [0,1] 0.9855504380023481 Centerline is valid? [True, True] Translation: X:172.24, Y:-5.96, Z:2.06 [[ 9.98828626e-01 -4.27290565e-02 -2.27069094e-02 1.72237658e+02] [ 4.27556914e-02 9.99085320e-01 6.88574777e-04 -5.95807276e+00] [ 2.26567177e-02 -1.65861781e-03 9.99741928e-01 2.06288025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.240714057 meters Centerline goodness [0,1] 0.9848876200833786 Centerline is valid? [True, True] Translation: X:172.27, Y:-5.96, Z:2.06 [[ 9.98726826e-01 -4.41466964e-02 -2.44089227e-02 1.72268512e+02] [ 4.41779277e-02 9.99023404e-01 7.41473069e-04 -5.96027673e+00] [ 2.43523515e-02 -1.81886467e-03 9.99701783e-01 2.06184049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.270714057 meters Centerline goodness [0,1] 0.9842525037386142 Centerline is valid? [True, True] Translation: X:172.30, Y:-5.96, Z:2.06 [[ 9.98706992e-01 -4.38113791e-02 -2.57858124e-02 1.72299316e+02] [ 4.38461451e-02 9.99037988e-01 7.84136999e-04 -5.96193055e+00] [ 2.57266520e-02 -1.91373158e-03 9.99667183e-01 2.06086715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.300714057 meters Centerline goodness [0,1] 0.9861401911697769 Centerline is valid? [True, True] Translation: X:172.33, Y:-5.96, Z:2.06 [[ 9.98752029e-01 -4.28784491e-02 -2.56090612e-02 1.72331145e+02] [ 4.29124672e-02 9.99078531e-01 7.80026628e-04 -5.96257313e+00] [ 2.55520170e-02 -1.87800118e-03 9.99671730e-01 2.06143500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.330714057 meters Centerline goodness [0,1] 0.9849524935218439 Centerline is valid? [True, True] Translation: X:172.36, Y:-5.96, Z:2.06 [[ 9.98778532e-01 -4.22545316e-02 -2.56124580e-02 1.72362804e+02] [ 4.22883817e-02 9.99105141e-01 7.81188121e-04 -5.96173971e+00] [ 2.55565297e-02 -1.86334333e-03 9.99671642e-01 2.06174990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.360714057 meters Centerline goodness [0,1] 0.9849407168491346 Centerline is valid? [True, True] Translation: X:172.39, Y:-5.96, Z:2.06 [[ 9.98923104e-01 -3.90974609e-02 -2.49804259e-02 1.72393967e+02] [ 3.91286941e-02 9.99233888e-01 7.62542714e-04 -5.95851266e+00] [ 2.49314746e-02 -1.73917298e-03 9.99687650e-01 2.06373132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.390714057 meters Centerline goodness [0,1] 0.9866023701749198 Centerline is valid? [True, True] Translation: X:172.43, Y:-5.95, Z:2.07 [[ 9.98993337e-01 -3.76666777e-02 -2.43625426e-02 1.72425942e+02] [ 3.76959781e-02 9.99288977e-01 7.44383278e-04 -5.95190254e+00] [ 2.43171818e-02 -1.66200381e-03 9.99702912e-01 2.06576858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.420714057 meters Centerline goodness [0,1] 0.9858044880530571 Centerline is valid? [True, True] Translation: X:172.46, Y:-5.96, Z:2.07 [[ 9.99094081e-01 -3.55774284e-02 -2.33508912e-02 1.72455885e+02] [ 3.56037946e-02 9.99365729e-01 7.14223992e-04 -5.95690169e+00] [ 2.33106702e-02 -1.54495730e-03 9.99727076e-01 2.06561964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.450714057 meters Centerline goodness [0,1] 0.986004422055572 Centerline is valid? [True, True] Translation: X:172.49, Y:-5.96, Z:2.07 [[ 9.99133638e-01 -3.46256853e-02 -2.30875498e-02 1.72487674e+02] [ 3.46512164e-02 9.99399217e-01 7.06578678e-04 -5.95630978e+00] [ 2.30492135e-02 -1.50597821e-03 9.99733197e-01 2.06664764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48071405699997 meters Centerline goodness [0,1] 0.9859203139975354 Centerline is valid? [True, True] Translation: X:172.52, Y:-5.96, Z:2.07 [[ 9.99170681e-01 -3.38438407e-02 -2.26394309e-02 1.72519055e+02] [ 3.38682123e-02 9.99426067e-01 6.93842225e-04 -5.95507863e+00] [ 2.26029551e-02 -1.46002386e-03 9.99743454e-01 2.06749368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51071405699997 meters Centerline goodness [0,1] 0.9864390555201021 Centerline is valid? [True, True] Translation: X:172.55, Y:-5.94, Z:2.07 [[ 9.99158403e-01 -3.40677772e-02 -2.28445347e-02 1.72550530e+02] [ 3.40926685e-02 9.99418430e-01 7.00903389e-04 -5.94462729e+00] [ 2.28073708e-02 -1.47914466e-03 9.99738784e-01 2.06944679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54071405699997 meters Centerline goodness [0,1] 0.9848350297151445 Centerline is valid? [True, True] Translation: X:172.58, Y:-5.96, Z:2.07 [[ 9.99116771e-01 -3.50574849e-02 -2.31657336e-02 1.72579959e+02] [ 3.50833586e-02 9.99384136e-01 7.11293611e-04 -5.95692950e+00] [ 2.31265305e-02 -1.52339711e-03 9.99731385e-01 2.06772257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57071405699998 meters Centerline goodness [0,1] 0.9837158844353089 Centerline is valid? [True, True] Translation: X:172.61, Y:-5.96, Z:2.07 [[ 9.99086907e-01 -3.56718520e-02 -2.35132283e-02 1.72610337e+02] [ 3.56986806e-02 9.99362338e-01 7.22103777e-04 -5.95893555e+00] [ 2.34724761e-02 -1.56083566e-03 9.99723265e-01 2.06741029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60071405699998 meters Centerline goodness [0,1] 0.9841410896165151 Centerline is valid? [True, True] Translation: X:172.64, Y:-5.96, Z:2.07 [[ 9.99075741e-01 -3.60915445e-02 -2.33466188e-02 1.72641949e+02] [ 3.61181203e-02 9.99347270e-01 7.17502028e-04 -5.95992287e+00] [ 2.33054840e-02 -1.56007486e-03 9.99727173e-01 2.06789875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63071405699998 meters Centerline goodness [0,1] 0.9880555428675832 Centerline is valid? [True, True] Translation: X:172.67, Y:-5.95, Z:2.07 [[ 9.99018621e-01 -3.71637260e-02 -2.40967499e-02 1.72673212e+02] [ 3.71923639e-02 9.99307850e-01 7.41218519e-04 -5.94516906e+00] [ 2.40525249e-02 -1.63670619e-03 9.99709356e-01 2.06944567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66071405699998 meters Centerline goodness [0,1] 0.9880565597400814 Centerline is valid? [True, True] Translation: X:172.71, Y:-5.94, Z:2.07 [[ 9.98983647e-01 -3.73914103e-02 -2.51705358e-02 1.72705572e+02] [ 3.74227560e-02 9.99299223e-01 7.75268784e-04 -5.94461630e+00] [ 2.51239085e-02 -1.71643166e-03 9.99682871e-01 2.06984119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69071405699998 meters Centerline goodness [0,1] 0.9874888087968596 Centerline is valid? [True, True] Translation: X:172.74, Y:-5.95, Z:2.07 [[ 9.98946515e-01 -3.73964995e-02 -2.65962879e-02 1.72737111e+02] [ 3.74315469e-02 9.99298857e-01 8.20944897e-04 -5.94525664e+00] [ 2.65469397e-02 -1.81562024e-03 9.99645919e-01 2.06815748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72071405699998 meters Centerline goodness [0,1] 0.9871727328950683 Centerline is valid? [True, True] Translation: X:172.77, Y:-5.94, Z:2.07 [[ 9.98953843e-01 -3.67525537e-02 -2.72115719e-02 1.72768764e+02] [ 3.67890382e-02 9.99322700e-01 8.41182533e-04 -5.94393914e+00] [ 2.71622259e-02 -1.84139008e-03 9.99629343e-01 2.06856394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75071405699998 meters Centerline goodness [0,1] 0.987140119594579 Centerline is valid? [True, True] Translation: X:172.80, Y:-5.94, Z:2.07 [[ 9.99020772e-01 -3.54349678e-02 -2.64926560e-02 1.72799326e+02] [ 3.54691065e-02 9.99370437e-01 8.19656935e-04 -5.94153167e+00] [ 2.64469326e-02 -1.75852514e-03 9.99648672e-01 2.06925914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78071405699998 meters Centerline goodness [0,1] 0.9876115994186448 Centerline is valid? [True, True] Translation: X:172.83, Y:-5.93, Z:2.07 [[ 9.99082830e-01 -3.42342354e-02 -2.57199485e-02 1.72831410e+02] [ 3.42660363e-02 9.99412429e-01 7.96585398e-04 -5.93267054e+00] [ 2.56775657e-02 -1.67717548e-03 9.99668870e-01 2.07179355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81071405699998 meters Centerline goodness [0,1] 0.9869362507501269 Centerline is valid? [True, True] Translation: X:172.86, Y:-5.93, Z:2.07 [[ 9.99150926e-01 -3.29894274e-02 -2.46804520e-02 1.72862891e+02] [ 3.30183584e-02 9.99454452e-01 7.65517213e-04 -5.93146008e+00] [ 2.46417337e-02 -1.57977524e-03 9.99695098e-01 2.07298526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84071405699999 meters Centerline goodness [0,1] 0.9853219915861495 Centerline is valid? [True, True] Translation: X:172.89, Y:-5.93, Z:2.07 [[ 9.99267117e-01 -3.08157218e-02 -2.27072835e-02 1.72892307e+02] [ 3.08396595e-02 9.99524096e-01 7.04668598e-04 -5.93219017e+00] [ 2.26747622e-02 -1.40443705e-03 9.99741908e-01 2.07457049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.870714057 meters Centerline goodness [0,1] 0.9853383284769437 Centerline is valid? [True, True] Translation: X:172.92, Y:-5.94, Z:2.07 [[ 9.99305450e-01 -3.01193630e-02 -2.19417688e-02 1.72922576e+02] [ 3.01415433e-02 9.99545409e-01 6.80779645e-04 -5.93579622e+00] [ 2.19112897e-02 -1.34166559e-03 9.99759019e-01 2.07499725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.900714057 meters Centerline goodness [0,1] 0.9853214850655997 Centerline is valid? [True, True] Translation: X:172.95, Y:-5.93, Z:2.08 [[ 9.99349304e-01 -2.83597584e-02 -2.22865917e-02 1.72954380e+02] [ 2.83822171e-02 9.99596904e-01 6.91994205e-04 -5.92852538e+00] [ 2.22579833e-02 -1.32408681e-03 9.99751384e-01 2.07547065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.930714057 meters Centerline goodness [0,1] 0.9860714534438332 Centerline is valid? [True, True] Translation: X:172.99, Y:-5.92, Z:2.08 [[ 9.99408859e-01 -2.64722429e-02 -2.19351894e-02 1.72985733e+02] [ 2.64935622e-02 9.99648751e-01 6.81833337e-04 -5.92148533e+00] [ 2.19094350e-02 -1.26257158e-03 9.99759162e-01 2.07598017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.960714057 meters Centerline goodness [0,1] 0.9871146631870821 Centerline is valid? [True, True] Translation: X:173.02, Y:-5.92, Z:2.08 [[ 9.99431236e-01 -2.53209382e-02 -2.22722658e-02 1.73017372e+02] [ 2.53426507e-02 9.99678583e-01 6.93106088e-04 -5.92175124e+00] [ 2.22475570e-02 -1.25715013e-03 9.99751702e-01 2.07599978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.990714057 meters Centerline goodness [0,1] 0.9867688022284122 Centerline is valid? [True, True] Translation: X:173.05, Y:-5.92, Z:2.08 [[ 9.99452984e-01 -2.41508100e-02 -2.25936131e-02 1.73047839e+02] [ 2.41728676e-02 9.99707546e-01 7.03633257e-04 -5.92214759e+00] [ 2.25700122e-02 -1.24940078e-03 9.99744484e-01 2.07581521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.020714057 meters Centerline goodness [0,1] 0.9875348837209302 Centerline is valid? [True, True] Translation: X:173.08, Y:-5.92, Z:2.08 [[ 9.99472909e-01 -2.15996762e-02 -2.42354639e-02 1.73078130e+02] [ 2.16243055e-02 9.99765883e-01 7.54601888e-04 -5.91928197e+00] [ 2.42134908e-02 -1.27827922e-03 9.99705993e-01 2.07539447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.050714057 meters Centerline goodness [0,1] 0.9870672641575147 Centerline is valid? [True, True] Translation: X:173.11, Y:-5.92, Z:2.07 [[ 9.99504328e-01 -1.84344871e-02 -2.55199690e-02 1.73107295e+02] [ 1.84607520e-02 9.99829271e-01 7.93956653e-04 -5.91743611e+00] [ 2.55009758e-02 -1.26468093e-03 9.99673997e-01 2.07462568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.080714057 meters Centerline goodness [0,1] 0.9885030720536213 Centerline is valid? [True, True] Translation: X:173.14, Y:-5.91, Z:2.08 [[ 9.99516216e-01 -1.71194099e-02 -2.59665017e-02 1.73135843e+02] [ 1.71460733e-02 9.99852672e-01 8.04518810e-04 -5.91185951e+00] [ 2.59489032e-02 -1.24935314e-03 9.99662490e-01 2.07572973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.110714057 meters Centerline goodness [0,1] 0.9892948568768909 Centerline is valid? [True, True] Translation: X:173.16, Y:-5.91, Z:2.08 [[ 9.99533973e-01 -1.56150664e-02 -2.62298620e-02 1.73163747e+02] [ 1.56416309e-02 9.99877336e-01 8.07876019e-04 -5.91229076e+00] [ 2.62140295e-02 -1.21777735e-03 9.99655612e-01 2.07556736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.140714057 meters Centerline goodness [0,1] 0.9886612339930151 Centerline is valid? [True, True] Translation: X:173.19, Y:-5.91, Z:2.08 [[ 9.99579376e-01 -1.25824740e-02 -2.61295477e-02 1.73192735e+02] [ 1.26077568e-02 9.99920197e-01 8.03067653e-04 -5.91136387e+00] [ 2.61173579e-02 -1.13216485e-03 9.99658243e-01 2.07677469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.170714057 meters Centerline goodness [0,1] 0.988950276243094 Centerline is valid? [True, True] Translation: X:173.22, Y:-5.91, Z:2.08 [[ 9.99619212e-01 -1.10392355e-02 -2.52896305e-02 1.73221389e+02] [ 1.10623941e-02 9.99938509e-01 7.76012639e-04 -5.91077931e+00] [ 2.52795088e-02 -1.05548100e-03 9.99679865e-01 2.07822473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.200714057 meters Centerline goodness [0,1] 0.9889626266154383 Centerline is valid? [True, True] Translation: X:173.25, Y:-5.91, Z:2.08 [[ 9.99681646e-01 -8.17468663e-03 -2.38700787e-02 1.73251512e+02] [ 8.19446836e-03 9.99966158e-01 7.31025507e-04 -5.90880730e+00] [ 2.38632950e-02 -9.26395387e-04 9.99714802e-01 2.08076506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23071405699997 meters Centerline goodness [0,1] 0.9903725115389995 Centerline is valid? [True, True] Translation: X:173.28, Y:-5.91, Z:2.08 [[ 9.99702720e-01 -7.42955074e-03 -2.32222806e-02 1.73280404e+02] [ 7.44800770e-03 9.99972012e-01 7.08403789e-04 -5.90758025e+00] [ 2.32163676e-02 -8.81152919e-04 9.99730075e-01 2.08222003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26071405699997 meters Centerline goodness [0,1] 0.9895254980637335 Centerline is valid? [True, True] Translation: X:173.31, Y:-5.91, Z:2.08 [[ 9.99723919e-01 -6.68665410e-03 -2.25249600e-02 1.73309008e+02] [ 6.70370810e-03 9.99977298e-01 6.81690075e-04 -5.90844035e+00] [ 2.25198904e-02 -8.32502631e-04 9.99746048e-01 2.08288138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29071405699997 meters Centerline goodness [0,1] 0.9895192845164896 Centerline is valid? [True, True] Translation: X:173.34, Y:-5.91, Z:2.08 [[ 9.99721422e-01 -6.96560831e-03 -2.25512260e-02 1.73336808e+02] [ 6.98264182e-03 9.99975392e-01 6.76668734e-04 -5.90993634e+00] [ 2.25459576e-02 -8.33947363e-04 9.99745460e-01 2.08317728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32071405699998 meters Centerline goodness [0,1] 0.9886874141663369 Centerline is valid? [True, True] Translation: X:173.36, Y:-5.91, Z:2.08 [[ 9.99695176e-01 -8.13752374e-03 -2.33095661e-02 1.73364757e+02] [ 8.15592267e-03 9.99966499e-01 6.94368598e-04 -5.91418182e+00] [ 2.33031347e-02 -8.84267957e-04 9.99728054e-01 2.08196148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35071405699998 meters Centerline goodness [0,1] 0.9896242875421659 Centerline is valid? [True, True] Translation: X:173.39, Y:-5.92, Z:2.08 [[ 9.99669537e-01 -9.07471816e-03 -2.40513120e-02 1.73393228e+02] [ 9.09449179e-03 9.99958390e-01 7.12885790e-04 -5.91605011e+00] [ 2.40438420e-02 -9.31384667e-04 9.99710471e-01 2.08252076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38071405699998 meters Centerline goodness [0,1] 0.9893985539255574 Centerline is valid? [True, True] Translation: X:173.42, Y:-5.92, Z:2.08 [[ 9.99610213e-01 -1.08467043e-02 -2.57249199e-02 1.73421794e+02] [ 1.08697430e-02 9.99940637e-01 7.55907763e-04 -5.91831630e+00] [ 2.57151936e-02 -1.03523639e-03 9.99668774e-01 2.08229512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41071405699998 meters Centerline goodness [0,1] 0.9893179759886678 Centerline is valid? [True, True] Translation: X:173.45, Y:-5.92, Z:2.08 [[ 9.99569664e-01 -1.15178826e-02 -2.69782238e-02 1.73449417e+02] [ 1.15433322e-02 9.99933063e-01 7.87784932e-04 -5.92197849e+00] [ 2.69673443e-02 -1.09886452e-03 9.99635711e-01 2.08125993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44071405699998 meters Centerline goodness [0,1] 0.9883306320907618 Centerline is valid? [True, True] Translation: X:173.48, Y:-5.93, Z:2.08 [[ 9.99552211e-01 -1.32459163e-02 -2.68313673e-02 1.73477061e+02] [ 1.32716328e-02 9.99911623e-01 7.80587657e-04 -5.92679354e+00] [ 2.68186565e-02 -1.13633417e-03 9.99639669e-01 2.08327843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47071405699998 meters Centerline goodness [0,1] 0.9890069112667563 Centerline is valid? [True, True] Translation: X:173.51, Y:-5.93, Z:2.09 [[ 9.99558038e-01 -1.44978525e-02 -2.59526483e-02 1.73505908e+02] [ 1.45222116e-02 9.99894266e-01 7.50359500e-04 -5.92845485e+00] [ 2.59390256e-02 -1.12691772e-03 9.99662892e-01 2.08522319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50071405699998 meters Centerline goodness [0,1] 0.9891870615202946 Centerline is valid? [True, True] Translation: X:173.53, Y:-5.93, Z:2.09 [[ 9.99563765e-01 -1.53394848e-02 -2.52384496e-02 1.73534149e+02] [ 1.53626335e-02 9.99881726e-01 7.23549861e-04 -5.93019023e+00] [ 2.52243656e-02 -1.11096327e-03 9.99681198e-01 2.08686035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53071405699998 meters Centerline goodness [0,1] 0.9885596745862993 Centerline is valid? [True, True] Translation: X:173.56, Y:-5.94, Z:2.09 [[ 9.99555578e-01 -1.71515461e-02 -2.43817874e-02 1.73561779e+02] [ 1.71735796e-02 9.99852282e-01 6.94566460e-04 -5.93787257e+00] [ 2.43662728e-02 -1.11298034e-03 9.99702479e-01 2.08759762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56071405699998 meters Centerline goodness [0,1] 0.9878436980992803 Centerline is valid? [True, True] Translation: X:173.59, Y:-5.95, Z:2.09 [[ 9.99517779e-01 -1.87178064e-02 -2.47760509e-02 1.73589039e+02] [ 1.87409844e-02 9.99824125e-01 7.03609445e-04 -5.94580071e+00] [ 2.47585234e-02 -1.16759773e-03 9.99692779e-01 2.08717610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59071405699999 meters Centerline goodness [0,1] 0.987846982460986 Centerline is valid? [True, True] Translation: X:173.62, Y:-5.95, Z:2.09 [[ 9.99501048e-01 -1.97038624e-02 -2.46863053e-02 1.73617628e+02] [ 1.97270819e-02 9.99805159e-01 6.97379679e-04 -5.94885703e+00] [ 2.46677543e-02 -1.18402049e-03 9.99695003e-01 2.08767607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.620714057 meters Centerline goodness [0,1] 0.987185964267671 Centerline is valid? [True, True] Translation: X:173.65, Y:-5.96, Z:2.09 [[ 9.99478821e-01 -2.06263786e-02 -2.48321983e-02 1.73645275e+02] [ 2.06500458e-02 9.99786522e-01 6.97003935e-04 -5.95644258e+00] [ 2.48125205e-02 -1.20942670e-03 9.99691390e-01 2.08741848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.650714057 meters Centerline goodness [0,1] 0.9872309208867289 Centerline is valid? [True, True] Translation: X:173.67, Y:-5.96, Z:2.09 [[ 9.99413830e-01 -2.26594893e-02 -2.56621231e-02 1.73674431e+02] [ 2.26853863e-02 9.99742395e-01 7.18440021e-04 -5.96114238e+00] [ 2.56392329e-02 -1.30017407e-03 9.99670415e-01 2.08825666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.680714057 meters Centerline goodness [0,1] 0.9875990590814625 Centerline is valid? [True, True] Translation: X:173.70, Y:-5.96, Z:2.09 [[ 9.99368211e-01 -2.38725726e-02 -2.63301871e-02 1.73702802e+02] [ 2.39001648e-02 9.99714081e-01 7.33682132e-04 -5.96494755e+00] [ 2.63051439e-02 -1.36251441e-03 9.99653031e-01 2.08835878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.710714057 meters Centerline goodness [0,1] 0.9871692790681803 Centerline is valid? [True, True] Translation: X:173.73, Y:-5.97, Z:2.09 [[ 9.99287757e-01 -2.55928131e-02 -2.77306253e-02 1.73730564e+02] [ 2.56239547e-02 9.99671357e-01 7.68173173e-04 -5.97455494e+00] [ 2.77018522e-02 -1.47819433e-03 9.99615137e-01 2.08680381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.740714057 meters Centerline goodness [0,1] 0.9872996328978271 Centerline is valid? [True, True] Translation: X:173.76, Y:-5.98, Z:2.09 [[ 9.99236188e-01 -2.64186076e-02 -2.87940476e-02 1.73759340e+02] [ 2.64524036e-02 9.99649759e-01 7.93363562e-04 -5.97843269e+00] [ 2.87630032e-02 -1.55442935e-03 9.99585051e-01 2.08631575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.770714057 meters Centerline goodness [0,1] 0.9881933564925187 Centerline is valid? [True, True] Translation: X:173.79, Y:-5.99, Z:2.08 [[ 9.99176052e-01 -2.69288524e-02 -3.03653310e-02 1.73787205e+02] [ 2.69665256e-02 9.99635991e-01 8.31753311e-04 -5.98564742e+00] [ 3.03318796e-02 -1.64991546e-03 9.99538521e-01 2.08445801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.800714057 meters Centerline goodness [0,1] 0.9893095465068773 Centerline is valid? [True, True] Translation: X:173.82, Y:-5.98, Z:2.09 [[ 9.99151622e-01 -2.67981379e-02 -3.12713299e-02 1.73815514e+02] [ 2.68378447e-02 9.99639438e-01 8.50638508e-04 -5.97889684e+00] [ 3.12372591e-02 -1.68917194e-03 9.99510570e-01 2.08714674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.830714057 meters Centerline goodness [0,1] 0.9889105587808418 Centerline is valid? [True, True] Translation: X:173.84, Y:-5.98, Z:2.09 [[ 9.99134249e-01 -2.51465391e-02 -3.31421811e-02 1.73844003e+02] [ 2.51899358e-02 9.99682285e-01 8.92454787e-04 -5.98156012e+00] [ 3.31092091e-02 -1.72653156e-03 9.99450249e-01 2.08695929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.860714057 meters Centerline goodness [0,1] 0.9896163243145417 Centerline is valid? [True, True] Translation: X:173.87, Y:-5.98, Z:2.09 [[ 9.99145495e-01 -2.40820747e-02 -3.35906612e-02 1.73872334e+02] [ 2.41257696e-02 9.99708530e-01 8.96037294e-04 -5.98356579e+00] [ 3.35592921e-02 -1.70567218e-03 9.99435273e-01 2.08768291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.890714057 meters Centerline goodness [0,1] 0.9894402900521188 Centerline is valid? [True, True] Translation: X:173.90, Y:-5.99, Z:2.09 [[ 9.99132947e-01 -2.35518987e-02 -3.43316567e-02 1.73899886e+02] [ 2.35970115e-02 9.99721138e-01 9.09384129e-04 -5.99052540e+00] [ 3.43006652e-02 -1.71872015e-03 9.99410081e-01 2.08592531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.920714057 meters Centerline goodness [0,1] 0.9874105994630328 Centerline is valid? [True, True] Translation: X:173.93, Y:-5.99, Z:2.09 [[ 9.99157479e-01 -2.25137477e-02 -3.43141715e-02 1.73927302e+02] [ 2.25580796e-02 9.99745124e-01 9.05293113e-04 -5.99497114e+00] [ 3.42850441e-02 -1.67859220e-03 9.99410685e-01 2.08618298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.950714057 meters Centerline goodness [0,1] 0.9884597108139298 Centerline is valid? [True, True] Translation: X:173.96, Y:-6.00, Z:2.09 [[ 9.99184313e-01 -2.19444960e-02 -3.38990842e-02 1.73956246e+02] [ 2.19872411e-02 9.99757856e-01 8.88639831e-04 -5.99748303e+00] [ 3.38713750e-02 -1.63326232e-03 9.99424866e-01 2.08739308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98071405699997 meters Centerline goodness [0,1] 0.9879787594622077 Centerline is valid? [True, True] Translation: X:173.98, Y:-6.00, Z:2.09 [[ 9.99208554e-01 -2.19794847e-02 -3.31537025e-02 1.73984662e+02] [ 2.20201260e-02 9.99757157e-01 8.61174358e-04 -5.99572580e+00] [ 3.31267231e-02 -1.59054149e-03 9.99449894e-01 2.09171835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01071405699997 meters Centerline goodness [0,1] 0.988575177593774 Centerline is valid? [True, True] Translation: X:174.01, Y:-6.00, Z:2.09 [[ 9.99224408e-01 -2.20186645e-02 -3.26460047e-02 1.74013781e+02] [ 2.20578262e-02 9.99756344e-01 8.39882383e-04 -5.99640781e+00] [ 3.26195572e-02 -1.55933087e-03 9.99466624e-01 2.09371642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04071405699997 meters Centerline goodness [0,1] 0.986516043202778 Centerline is valid? [True, True] Translation: X:174.04, Y:-6.00, Z:2.09 [[ 9.99228007e-01 -2.35601322e-02 -3.14374106e-02 1.74041512e+02] [ 2.35970474e-02 9.99721228e-01 8.03703271e-04 -6.00302879e+00] [ 3.14097114e-02 -1.54491289e-03 9.99505399e-01 2.09420060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07071405699998 meters Centerline goodness [0,1] 0.986516043202778 Centerline is valid? [True, True] Translation: X:174.07, Y:-6.00, Z:2.09 [[ 9.99221294e-01 -2.38429302e-02 -3.14375636e-02 1.74068923e+02] [ 2.38797960e-02 9.99714519e-01 7.97684619e-04 -6.00365162e+00] [ 3.14095696e-02 -1.54778606e-03 9.99505399e-01 2.09460822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10071405699998 meters Centerline goodness [0,1] 0.9875636461947461 Centerline is valid? [True, True] Translation: X:174.10, Y:-6.01, Z:2.10 [[ 9.99204363e-01 -2.49352660e-02 -3.11267405e-02 1.74097747e+02] [ 2.49716801e-02 9.99687853e-01 7.81615020e-04 -6.00682012e+00] [ 3.10975346e-02 -1.55828014e-03 9.99515140e-01 2.09520436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13071405699998 meters Centerline goodness [0,1] 0.987629886194953 Centerline is valid? [True, True] Translation: X:174.13, Y:-6.01, Z:2.10 [[ 9.99126028e-01 -2.80177984e-02 -3.10190924e-02 1.74125685e+02] [ 2.80552854e-02 9.99606073e-01 7.73859758e-04 -6.01385224e+00] [ 3.09851913e-02 -1.64343292e-03 9.99518493e-01 2.09560739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16071405699998 meters Centerline goodness [0,1] 0.9866879899090009 Centerline is valid? [True, True] Translation: X:174.16, Y:-6.02, Z:2.10 [[ 9.99061151e-01 -3.00654811e-02 -3.11910835e-02 1.74155519e+02] [ 3.01043219e-02 9.99546461e-01 7.76286779e-04 -6.01649684e+00] [ 3.11535977e-02 -1.71454438e-03 9.99513138e-01 2.09605089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19071405699998 meters Centerline goodness [0,1] 0.9871460087344108 Centerline is valid? [True, True] Translation: X:174.18, Y:-6.02, Z:2.10 [[ 9.98908179e-01 -3.42137450e-02 -3.18098965e-02 1.74184831e+02] [ 3.42562075e-02 9.99412771e-01 7.90703024e-04 -6.02478041e+00] [ 3.17641639e-02 -1.87952613e-03 9.99493624e-01 2.09509884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22071405699998 meters Centerline goodness [0,1] 0.9865492069214131 Centerline is valid? [True, True] Translation: X:174.21, Y:-6.03, Z:2.09 [[ 9.98798836e-01 -3.65632059e-02 -3.26192717e-02 1.74213721e+02] [ 3.66090626e-02 9.99329336e-01 8.09486996e-04 -6.02812518e+00] [ 3.25677977e-02 -2.00267563e-03 9.99467522e-01 2.09483048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25071405699998 meters Centerline goodness [0,1] 0.9869829136690648 Centerline is valid? [True, True] Translation: X:174.24, Y:-6.03, Z:2.09 [[ 9.98705172e-01 -3.88868941e-02 -3.27992170e-02 1.74243318e+02] [ 3.89344604e-02 9.99241436e-01 8.12552729e-04 -6.03278284e+00] [ 3.27427390e-02 -2.08852043e-03 9.99461631e-01 2.09410640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28071405699998 meters Centerline goodness [0,1] 0.9874868016085189 Centerline is valid? [True, True] Translation: X:174.27, Y:-6.04, Z:2.09 [[ 9.98561274e-01 -4.22130453e-02 -3.30672205e-02 1.74271951e+02] [ 4.22631700e-02 9.99106178e-01 8.18047816e-04 -6.03965141e+00] [ 3.30031320e-02 -2.21439643e-03 9.99452795e-01 2.09381355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31071405699998 meters Centerline goodness [0,1] 0.9857162137844161 Centerline is valid? [True, True] Translation: X:174.30, Y:-6.04, Z:2.09 [[ 9.98446528e-01 -4.43097226e-02 -3.37813444e-02 1.74300864e+02] [ 4.43631809e-02 9.99015121e-01 8.34219098e-04 -6.04204710e+00] [ 3.37111099e-02 -2.33157106e-03 9.99428899e-01 2.09387687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34071405699999 meters Centerline goodness [0,1] 0.9865110946246712 Centerline is valid? [True, True] Translation: X:174.33, Y:-6.05, Z:2.09 [[ 9.98435480e-01 -4.45867364e-02 -3.37433629e-02 1.74329443e+02] [ 4.46401735e-02 9.99002784e-01 8.31550964e-04 -6.04523711e+00] [ 3.36726374e-02 -2.33655956e-03 9.99430185e-01 2.09379961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.370714057 meters Centerline goodness [0,1] 0.9870319593653076 Centerline is valid? [True, True] Translation: X:174.36, Y:-6.05, Z:2.09 [[ 9.98460413e-01 -4.42072149e-02 -3.35041017e-02 1.74358752e+02] [ 4.42596374e-02 9.99019722e-01 8.24267025e-04 -6.04513094e+00] [ 3.34348198e-02 -2.30587739e-03 9.99438240e-01 2.09441665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.400714057 meters Centerline goodness [0,1] 0.98712388485652 Centerline is valid? [True, True] Translation: X:174.39, Y:-6.04, Z:2.10 [[ 9.98500338e-01 -4.34354114e-02 -3.33232767e-02 1.74388210e+02] [ 4.34868038e-02 9.99053666e-01 8.18687221e-04 -6.04444788e+00] [ 3.32561817e-02 -2.26658226e-03 9.99444290e-01 2.09535093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.430714057 meters Centerline goodness [0,1] 0.9872477043622729 Centerline is valid? [True, True] Translation: X:174.42, Y:-6.05, Z:2.10 [[ 9.98530384e-01 -4.30092078e-02 -3.29739328e-02 1.74416765e+02] [ 4.30592494e-02 9.99072193e-01 8.08677127e-04 -6.04501909e+00] [ 3.29085588e-02 -2.22732148e-03 9.99455885e-01 2.09573977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.460714057 meters Centerline goodness [0,1] 0.9869370685972525 Centerline is valid? [True, True] Translation: X:174.45, Y:-6.04, Z:2.10 [[ 9.98538086e-01 -4.31021624e-02 -3.26173978e-02 1.74446372e+02] [ 4.31511316e-02 9.99068237e-01 7.98559469e-04 -6.03889260e+00] [ 3.25525865e-02 -2.20486967e-03 9.99467592e-01 2.09809487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.490714057 meters Centerline goodness [0,1] 0.9877437200620685 Centerline is valid? [True, True] Translation: X:174.48, Y:-6.03, Z:2.10 [[ 9.98545453e-01 -4.35613078e-02 -3.17709255e-02 1.74476774e+02] [ 4.36079820e-02 9.99048417e-01 7.77328480e-04 -6.03252230e+00] [ 3.17068314e-02 -2.16166377e-03 9.99494874e-01 2.10087890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.520714057 meters Centerline goodness [0,1] 0.9866355726971029 Centerline is valid? [True, True] Translation: X:174.51, Y:-6.04, Z:2.10 [[ 9.98542947e-01 -4.41565101e-02 -3.10191265e-02 1.74506808e+02] [ 4.42012950e-02 9.99022357e-01 7.59228671e-04 -6.03869340e+00] [ 3.09552760e-02 -2.12920800e-03 9.99518503e-01 2.10020822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.550714057 meters Centerline goodness [0,1] 0.9881967507405081 Centerline is valid? [True, True] Translation: X:174.54, Y:-6.04, Z:2.10 [[ 9.98527626e-01 -4.48803203e-02 -3.04686342e-02 1.74537431e+02] [ 4.49238721e-02 9.98990135e-01 7.46019874e-04 -6.03693669e+00] [ 3.04043834e-02 -2.11369048e-03 9.99535445e-01 2.10164201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.580714057 meters Centerline goodness [0,1] 0.9873744748725092 Centerline is valid? [True, True] Translation: X:174.57, Y:-6.04, Z:2.10 [[ 9.98463106e-01 -4.65709651e-02 -3.00428263e-02 1.74567902e+02] [ 4.66140769e-02 9.98912702e-01 7.35862419e-04 -6.04022195e+00] [ 2.99758909e-02 -2.13515009e-03 9.99548342e-01 2.10202840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.610714057 meters Centerline goodness [0,1] 0.9877447685620827 Centerline is valid? [True, True] Translation: X:174.60, Y:-6.04, Z:2.10 [[ 9.98365491e-01 -4.84829552e-02 -3.02613500e-02 1.74599286e+02] [ 4.85275947e-02 9.98821567e-01 7.42022029e-04 -6.03986125e+00] [ 3.01897136e-02 -2.20931971e-03 9.99541745e-01 2.10309153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.640714057 meters Centerline goodness [0,1] 0.9878540695589817 Centerline is valid? [True, True] Translation: X:174.63, Y:-6.04, Z:2.10 [[ 9.98313126e-01 -4.95573502e-02 -3.02484793e-02 1.74630482e+02] [ 4.96024749e-02 9.98768763e-01 7.42793738e-04 -6.03504349e+00] [ 3.01744254e-02 -2.24194017e-03 9.99542134e-01 2.10455751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.670714057 meters Centerline goodness [0,1] 0.987999910279703 Centerline is valid? [True, True] Translation: X:174.66, Y:-6.04, Z:2.10 [[ 9.98225103e-01 -5.10000101e-02 -3.07513064e-02 1.74661066e+02] [ 5.10473648e-02 9.98695947e-01 7.56311301e-04 -6.03857211e+00] [ 3.06726331e-02 -2.32474208e-03 9.99526781e-01 2.10405977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.700714057 meters Centerline goodness [0,1] 0.9877063890882987 Centerline is valid? [True, True] Translation: X:174.69, Y:-6.04, Z:2.10 [[ 9.98045261e-01 -5.41598481e-02 -3.11828174e-02 1.74691468e+02] [ 5.42100946e-02 9.98529257e-01 7.67574475e-04 -6.03823454e+00] [ 3.10953837e-02 -2.45649755e-03 9.99513403e-01 2.10350146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73071405699997 meters Centerline goodness [0,1] 0.9873872256384937 Centerline is valid? [True, True] Translation: X:174.72, Y:-6.04, Z:2.10 [[ 9.97929078e-01 -5.59463827e-02 -3.17420540e-02 1.74722786e+02] [ 5.59993678e-02 9.98430498e-01 7.82015194e-04 -6.04025010e+00] [ 3.16484838e-02 -2.55793066e-03 9.99495788e-01 2.10352479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76071405699997 meters Centerline goodness [0,1] 0.9861348314606742 Centerline is valid? [True, True] Translation: X:174.75, Y:-6.04, Z:2.10 [[ 9.97748477e-01 -5.87807764e-02 -3.22923612e-02 1.74752764e+02] [ 5.88371241e-02 9.98267278e-01 7.96638184e-04 -6.04443313e+00] [ 3.21895805e-02 -2.69483420e-03 9.99478148e-01 2.10298678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79071405699997 meters Centerline goodness [0,1] 0.9857466723530336 Centerline is valid? [True, True] Translation: X:174.78, Y:-6.04, Z:2.10 [[ 9.97655327e-01 -6.00018260e-02 -3.29185362e-02 1.74784395e+02] [ 6.00610774e-02 9.98194373e-01 8.13180591e-04 -6.04476914e+00] [ 3.28103052e-02 -2.78839670e-03 9.99457707e-01 2.10366172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82071405699998 meters Centerline goodness [0,1] 0.9862715628434914 Centerline is valid? [True, True] Translation: X:174.82, Y:-6.05, Z:2.10 [[ 9.97638269e-01 -6.07915840e-02 -3.19729186e-02 1.74816970e+02] [ 6.08479360e-02 9.98146734e-01 7.91559586e-04 -6.04530516e+00] [ 3.18655441e-02 -2.73517624e-03 9.99488422e-01 2.10470205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85071405699998 meters Centerline goodness [0,1] 0.985421822272216 Centerline is valid? [True, True] Translation: X:174.85, Y:-6.05, Z:2.11 [[ 9.97636321e-01 -6.10484055e-02 -3.15414608e-02 1.74849307e+02] [ 6.11034435e-02 9.98131132e-01 7.83113299e-04 -6.04648313e+00] [ 3.14347061e-02 -2.70855414e-03 9.99502138e-01 2.10563976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88071405699998 meters Centerline goodness [0,1] 0.9863951687133781 Centerline is valid? [True, True] Translation: X:174.88, Y:-6.04, Z:2.11 [[ 9.97755181e-01 -6.01328657e-02 -2.94726484e-02 1.74880777e+02] [ 6.01805649e-02 9.98187238e-01 7.33267238e-04 -6.04432771e+00] [ 2.93751280e-02 -2.50530182e-03 9.99565318e-01 2.10793114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91071405699998 meters Centerline goodness [0,1] 0.9863198026463332 Centerline is valid? [True, True] Translation: X:174.91, Y:-6.04, Z:2.11 [[ 9.97794884e-01 -5.97543868e-02 -2.88926030e-02 1.74913076e+02] [ 5.98001128e-02 9.98210112e-01 7.20374490e-04 -6.04446026e+00] [ 2.87978429e-02 -2.44656690e-03 9.99582262e-01 2.10916788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94071405699998 meters Centerline goodness [0,1] 0.986275565123789 Centerline is valid? [True, True] Translation: X:174.95, Y:-6.04, Z:2.11 [[ 9.97863171e-01 -5.91294891e-02 -2.77992053e-02 1.74945544e+02] [ 5.91716316e-02 9.98247582e-01 6.95071785e-04 -6.04383455e+00] [ 2.77093902e-02 -2.33851087e-03 9.99613286e-01 2.11076184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97071405699998 meters Centerline goodness [0,1] 0.9866923991831422 Centerline is valid? [True, True] Translation: X:174.98, Y:-6.05, Z:2.11 [[ 9.97885701e-01 -5.88718325e-02 -2.75360717e-02 1.74977053e+02] [ 5.89131309e-02 9.98262874e-01 6.90227120e-04 -6.04655708e+00] [ 2.74476032e-02 -2.31100397e-03 9.99620572e-01 2.11105741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00071405699998 meters Centerline goodness [0,1] 0.9870765088624636 Centerline is valid? [True, True] Translation: X:175.01, Y:-6.05, Z:2.11 [[ 9.97898766e-01 -5.87064435e-02 -2.74154489e-02 1.75008899e+02] [ 5.87473644e-02 9.98272644e-01 6.88875872e-04 -6.04880143e+00] [ 2.73276513e-02 -2.29801375e-03 9.99623889e-01 2.11118917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03071405699998 meters Centerline goodness [0,1] 0.9859205452425791 Centerline is valid? [True, True] Translation: X:175.04, Y:-6.05, Z:2.11 [[ 9.97894337e-01 -5.88766316e-02 -2.72109400e-02 1.75039942e+02] [ 5.89170526e-02 9.98262646e-01 6.85421982e-04 -6.05188547e+00] [ 2.71233097e-02 -2.28716710e-03 9.99629479e-01 2.11038192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06071405699998 meters Centerline goodness [0,1] 0.9874127756961116 Centerline is valid? [True, True] Translation: X:175.07, Y:-6.05, Z:2.11 [[ 9.97862649e-01 -5.93412434e-02 -2.73633070e-02 1.75072086e+02] [ 5.93823376e-02 9.98235073e-01 6.90933522e-04 -6.05068110e+00] [ 2.72740119e-02 -2.31435389e-03 9.99625316e-01 2.11045337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09071405699999 meters Centerline goodness [0,1] 0.9870252100840337 Centerline is valid? [True, True] Translation: X:175.10, Y:-6.05, Z:2.11 [[ 9.97779447e-01 -6.04082989e-02 -2.80537449e-02 1.75102971e+02] [ 6.04519768e-02 9.98170854e-01 7.10662935e-04 -6.05443422e+00] [ 2.79595006e-02 -2.40498921e-03 9.99606164e-01 2.10903344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.120714057 meters Centerline goodness [0,1] 0.9859631813799135 Centerline is valid? [True, True] Translation: X:175.13, Y:-6.06, Z:2.11 [[ 9.97732273e-01 -6.07988893e-02 -2.88757070e-02 1.75134781e+02] [ 6.08453966e-02 9.98146933e-01 7.33872128e-04 -6.05643783e+00] [ 2.87775797e-02 -2.48916175e-03 9.99582740e-01 2.10870939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.150714057 meters Centerline goodness [0,1] 0.9854367844420048 Centerline is valid? [True, True] Translation: X:175.17, Y:-6.06, Z:2.11 [[ 9.97633065e-01 -6.18127516e-02 -3.01239308e-02 1.75167128e+02] [ 6.18638920e-02 9.98084300e-01 7.67738752e-04 -6.05833406e+00] [ 3.00187663e-02 -2.62950516e-03 9.99545877e-01 2.10780177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.180714057 meters Centerline goodness [0,1] 0.9802238302845072 Centerline is valid? [True, True] Translation: X:175.20, Y:-6.06, Z:2.11 [[ 9.97592829e-01 -6.24465521e-02 -3.01492147e-02 1.75197920e+02] [ 6.24981204e-02 9.98044784e-01 7.70208609e-04 -6.06337111e+00] [ 3.00421696e-02 -2.65262384e-03 9.99545112e-01 2.10745015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.210714057 meters Centerline goodness [0,1] 0.9666195571707383 Centerline is valid? [True, True] Translation: X:175.23, Y:-6.07, Z:2.11 [[ 9.97522506e-01 -6.33183975e-02 -3.06533818e-02 1.75229042e+02] [ 6.33721632e-02 9.97989656e-01 7.84687705e-04 -6.06783555e+00] [ 3.05420728e-02 -2.72531476e-03 9.99529767e-01 2.10721443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.240714057 meters Centerline goodness [0,1] 0.958172688962611 Centerline is valid? [True, True] Translation: X:175.26, Y:-6.07, Z:2.11 [[ 9.97530222e-01 -6.31267100e-02 -3.07973018e-02 1.75261665e+02] [ 6.31809480e-02 9.98001775e-01 7.90215965e-04 -6.07030129e+00] [ 3.06858781e-02 -2.73406703e-03 9.99525338e-01 2.10740584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.270714057 meters Centerline goodness [0,1] 0.9620017913121361 Centerline is valid? [True, True] Translation: X:175.29, Y:-6.07, Z:2.11 [[ 9.97583112e-01 -6.25469814e-02 -3.02623583e-02 1.75293471e+02] [ 6.25991469e-02 9.98038447e-01 7.78510569e-04 -6.07073560e+00] [ 3.01543036e-02 -2.67102681e-03 9.99541687e-01 2.10816608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.300714057 meters Centerline goodness [0,1] 0.9885993850849436 Centerline is valid? [True, True] Translation: X:175.32, Y:-6.06, Z:2.11 [[ 9.97713228e-01 -6.11524685e-02 -2.87869896e-02 1.75324920e+02] [ 6.11991349e-02 9.98125300e-01 7.42014666e-04 -6.05744271e+00] [ 2.86876466e-02 -2.50205671e-03 9.99585293e-01 2.11169019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.330714057 meters Centerline goodness [0,1] 0.9872280037842952 Centerline is valid? [True, True] Translation: X:175.35, Y:-6.06, Z:2.11 [[ 9.97943814e-01 -5.82284245e-02 -2.67879574e-02 1.75354609e+02] [ 5.82677946e-02 9.98300750e-01 6.90807132e-04 -6.05796616e+00] [ 2.67022134e-02 -2.25026190e-03 9.99640900e-01 2.11339961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.360714057 meters Centerline goodness [0,1] 0.9876156807998019 Centerline is valid? [True, True] Translation: X:175.39, Y:-6.05, Z:2.11 [[ 9.98052141e-01 -5.65449159e-02 -2.63551823e-02 1.75386555e+02] [ 5.65824515e-02 9.98397698e-01 6.80053994e-04 -6.05318960e+00] [ 2.62744997e-02 -2.16997017e-03 9.99652411e-01 2.11476356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.390714057 meters Centerline goodness [0,1] 0.9886686190583465 Centerline is valid? [True, True] Translation: X:175.42, Y:-6.05, Z:2.12 [[ 9.98192808e-01 -5.43918934e-02 -2.55468251e-02 1.75417026e+02] [ 5.44264805e-02 9.98517563e-01 6.59984813e-04 -6.05211163e+00] [ 2.54730557e-02 -2.04921587e-03 9.99673409e-01 2.11562044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.420714057 meters Centerline goodness [0,1] 0.988753662384494 Centerline is valid? [True, True] Translation: X:175.45, Y:-6.05, Z:2.12 [[ 9.98438313e-01 -5.02754149e-02 -2.43581117e-02 1.75447493e+02] [ 5.03056392e-02 9.98733672e-01 6.29271635e-04 -6.05040844e+00] [ 2.42956294e-02 -1.85363929e-03 9.99703099e-01 2.11594405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.450714057 meters Centerline goodness [0,1] 0.9887275678600415 Centerline is valid? [True, True] Translation: X:175.48, Y:-6.05, Z:2.12 [[ 9.98542552e-01 -4.85598770e-02 -2.35522835e-02 1.75479456e+02] [ 4.85876705e-02 9.98818736e-01 6.08921205e-04 -6.05068984e+00] [ 2.34948929e-02 -1.75238432e-03 9.99722421e-01 2.11670161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48071405699997 meters Centerline goodness [0,1] 0.9888268156424581 Centerline is valid? [True, True] Translation: X:175.51, Y:-6.05, Z:2.12 [[ 9.98676704e-01 -4.62038523e-02 -2.25841721e-02 1.75510645e+02] [ 4.62288284e-02 9.98930705e-01 5.84803535e-04 -6.05010236e+00] [ 2.25330027e-02 -1.62806948e-03 9.99744774e-01 2.11694774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51071405699997 meters Centerline goodness [0,1] 0.9878715600459036 Centerline is valid? [True, True] Translation: X:175.54, Y:-6.05, Z:2.12 [[ 9.98718170e-01 -4.50499762e-02 -2.30763027e-02 1.75542992e+02] [ 4.50757666e-02 9.98983392e-01 5.98408934e-04 -6.05135031e+00] [ 2.30258848e-02 -1.63782391e-03 9.99733528e-01 2.11690877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54071405699997 meters Centerline goodness [0,1] 0.9875174306149072 Centerline is valid? [True, True] Translation: X:175.57, Y:-6.05, Z:2.12 [[ 9.98740123e-01 -4.40472269e-02 -2.40417960e-02 1.75573788e+02] [ 4.40749705e-02 9.99028031e-01 6.25042788e-04 -6.05417594e+00] [ 2.39908967e-02 -1.68389676e-03 9.99710759e-01 2.11531505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57071405699998 meters Centerline goodness [0,1] 0.9867457429123422 Centerline is valid? [True, True] Translation: X:175.61, Y:-6.05, Z:2.12 [[ 9.98730285e-01 -4.37391428e-02 -2.49941163e-02 1.75605958e+02] [ 4.37690714e-02 9.99041463e-01 6.51350001e-04 -6.05248823e+00] [ 2.49416690e-02 -1.74449223e-03 9.99687386e-01 2.11547612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60071405699998 meters Centerline goodness [0,1] 0.9877125592470293 Centerline is valid? [True, True] Translation: X:175.64, Y:-6.05, Z:2.11 [[ 9.98694382e-01 -4.36096508e-02 -2.66031833e-02 1.75638397e+02] [ 4.36435653e-02 9.99046924e-01 6.95255866e-04 -6.05399200e+00] [ 2.65475086e-02 -1.85540590e-03 9.99645831e-01 2.11455458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63071405699998 meters Centerline goodness [0,1] 0.9878493589026383 Centerline is valid? [True, True] Translation: X:175.67, Y:-6.06, Z:2.11 [[ 9.98692122e-01 -4.31856288e-02 -2.73687126e-02 1.75669305e+02] [ 4.32214139e-02 9.99065261e-01 7.17025080e-04 -6.05684908e+00] [ 2.73121648e-02 -1.89900175e-03 9.99625149e-01 2.11391204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66071405699998 meters Centerline goodness [0,1] 0.9874525824336154 Centerline is valid? [True, True] Translation: X:175.70, Y:-6.06, Z:2.11 [[ 9.98708142e-01 -4.25537240e-02 -2.77709843e-02 1.75700455e+02] [ 4.25903611e-02 9.99092353e-01 7.28822666e-04 -6.05740031e+00] [ 2.77147640e-02 -1.91065738e-03 9.99614046e-01 2.11434362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69071405699998 meters Centerline goodness [0,1] 0.9878358058217565 Centerline is valid? [True, True] Translation: X:175.73, Y:-6.06, Z:2.11 [[ 9.98736747e-01 -4.18226923e-02 -2.78526996e-02 1.75731882e+02] [ 4.18592898e-02 9.99123248e-01 7.31949778e-04 -6.05707437e+00] [ 2.77976676e-02 -1.89691936e-03 9.99611770e-01 2.11485356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72071405699998 meters Centerline goodness [0,1] 0.988032422480185 Centerline is valid? [True, True] Translation: X:175.76, Y:-6.06, Z:2.12 [[ 9.98861658e-01 -3.92211093e-02 -2.71494394e-02 1.75761980e+02] [ 3.92549385e-02 9.99228973e-01 7.13979592e-04 -6.05745216e+00] [ 2.71005034e-02 -1.77891641e-03 9.99631131e-01 2.11556886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75071405699998 meters Centerline goodness [0,1] 0.9876174880549138 Centerline is valid? [True, True] Translation: X:175.79, Y:-6.06, Z:2.12 [[ 9.98950545e-01 -3.76483228e-02 -2.60847109e-02 1.75793181e+02] [ 3.76790208e-02 9.99289658e-01 6.86175634e-04 -6.05632869e+00] [ 2.60403485e-02 -1.66830189e-03 9.99659501e-01 2.11695015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78071405699998 meters Centerline goodness [0,1] 0.9873079342258964 Centerline is valid? [True, True] Translation: X:175.82, Y:-6.06, Z:2.12 [[ 9.99103261e-01 -3.45543054e-02 -2.44677982e-02 1.75823341e+02] [ 3.45803960e-02 9.99401712e-01 6.43884905e-04 -6.05539974e+00] [ 2.44309104e-02 -1.48941366e-03 9.99700411e-01 2.11878199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81071405699998 meters Centerline goodness [0,1] 0.9883244848375776 Centerline is valid? [True, True] Translation: X:175.85, Y:-6.05, Z:2.12 [[ 9.99186386e-01 -3.27288132e-02 -2.35667221e-02 1.75854565e+02] [ 3.27525147e-02 9.99463300e-01 6.20330517e-04 -6.04960851e+00] [ 2.35337712e-02 -1.39169522e-03 9.99722074e-01 2.12079861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84071405699999 meters Centerline goodness [0,1] 0.9878797418542421 Centerline is valid? [True, True] Translation: X:175.88, Y:-6.05, Z:2.12 [[ 9.99295421e-01 -2.98459497e-02 -2.27570125e-02 1.75884951e+02] [ 2.98673109e-02 9.99553693e-01 5.99276629e-04 -6.04845278e+00] [ 2.27289699e-02 -1.27854516e-03 9.99740846e-01 2.12214109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.870714057 meters Centerline goodness [0,1] 0.9885235592687418 Centerline is valid? [True, True] Translation: X:175.92, Y:-6.05, Z:2.12 [[ 9.99337109e-01 -2.85180119e-02 -2.26288573e-02 1.75916578e+02] [ 2.85388001e-02 9.99592508e-01 5.96185642e-04 -6.04749649e+00] [ 2.26026342e-02 -1.24159087e-03 9.99743757e-01 2.12294101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.900714057 meters Centerline goodness [0,1] 0.9875213598345175 Centerline is valid? [True, True] Translation: X:175.95, Y:-6.05, Z:2.12 [[ 9.99368927e-01 -2.73337959e-02 -2.26850401e-02 1.75946490e+02] [ 2.73543957e-02 9.99625620e-01 5.98208244e-04 -6.04906495e+00] [ 2.26601960e-02 -1.21836629e-03 9.99742482e-01 2.12323753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.930714057 meters Centerline goodness [0,1] 0.9868972038362825 Centerline is valid? [True, True] Translation: X:175.98, Y:-6.05, Z:2.12 [[ 9.99389374e-01 -2.63627658e-02 -2.29321449e-02 1.75976335e+02] [ 2.63835588e-02 9.99651711e-01 6.04581318e-04 -6.04989446e+00] [ 2.29082194e-02 -1.20924374e-03 9.99736841e-01 2.12272772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.960714057 meters Centerline goodness [0,1] 0.9868972038362825 Centerline is valid? [True, True] Translation: X:176.01, Y:-6.05, Z:2.12 [[ 9.99388447e-01 -2.63978879e-02 -2.29321593e-02 1.76005516e+02] [ 2.64186776e-02 9.99650783e-01 6.04034649e-04 -6.05063297e+00] [ 2.29082058e-02 -1.20950257e-03 9.99736841e-01 2.12316130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.990714057 meters Centerline goodness [0,1] 0.9867828514815815 Centerline is valid? [True, True] Translation: X:176.04, Y:-6.05, Z:2.12 [[ 9.99395751e-01 -2.58296038e-02 -2.32586454e-02 1.76035299e+02] [ 2.58508171e-02 9.99665625e-01 6.11807176e-04 -6.05126269e+00] [ 2.32350656e-02 -1.21269248e-03 9.99729294e-01 2.12359286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.020714057 meters Centerline goodness [0,1] 0.9874226572167848 Centerline is valid? [True, True] Translation: X:176.06, Y:-6.06, Z:2.12 [[ 9.99425795e-01 -2.47208493e-02 -2.31724062e-02 1.76064188e+02] [ 2.47415861e-02 9.99693695e-01 6.08576466e-04 -6.05575482e+00] [ 2.31502639e-02 -1.18154910e-03 9.99731299e-01 2.12238306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.050714057 meters Centerline goodness [0,1] 0.9874643362613169 Centerline is valid? [True, True] Translation: X:176.09, Y:-6.05, Z:2.12 [[ 9.99441037e-01 -2.40047902e-02 -2.32676362e-02 1.76093628e+02] [ 2.40254793e-02 9.99711160e-01 6.10000913e-04 -6.05448567e+00] [ 2.32462726e-02 -1.16867606e-03 9.99729086e-01 2.12271416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.080714057 meters Centerline goodness [0,1] 0.9885946955211122 Centerline is valid? [True, True] Translation: X:176.12, Y:-6.05, Z:2.12 [[ 9.99469006e-01 -2.25408296e-02 -2.35290654e-02 1.76123388e+02] [ 2.25615623e-02 9.99745266e-01 6.16025153e-04 -6.05061130e+00] [ 2.35091860e-02 -1.14655052e-03 9.99722963e-01 2.12295675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.110714057 meters Centerline goodness [0,1] 0.9888269412346568 Centerline is valid? [True, True] Translation: X:176.15, Y:-6.05, Z:2.12 [[ 9.99480884e-01 -2.18788571e-02 -2.36490819e-02 1.76151928e+02] [ 2.18995524e-02 9.99759986e-01 6.16435821e-04 -6.05096676e+00] [ 2.36299189e-02 -1.13402013e-03 9.99720131e-01 2.12359302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.140714057 meters Centerline goodness [0,1] 0.9884443646644379 Centerline is valid? [True, True] Translation: X:176.18, Y:-6.05, Z:2.12 [[ 9.99485299e-01 -2.13835223e-02 -2.39140381e-02 1.76179537e+02] [ 2.14044340e-02 9.99770707e-01 6.18795839e-04 -6.05188559e+00] [ 2.38953228e-02 -1.13034380e-03 9.99713827e-01 2.12360722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.170714057 meters Centerline goodness [0,1] 0.988946552537575 Centerline is valid? [True, True] Translation: X:176.21, Y:-6.05, Z:2.12 [[ 9.99482568e-01 -2.13815478e-02 -2.40296884e-02 1.76206957e+02] [ 2.14026109e-02 9.99770746e-01 6.19669275e-04 -6.05385819e+00] [ 2.40109300e-02 -1.13364671e-03 9.99711053e-01 2.12359182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.200714057 meters Centerline goodness [0,1] 0.9886041807147674 Centerline is valid? [True, True] Translation: X:176.24, Y:-6.06, Z:2.12 [[ 9.99477049e-01 -2.19965575e-02 -2.37019105e-02 1.76235892e+02] [ 2.20171407e-02 9.99757409e-01 6.07776840e-04 -6.05522320e+00] [ 2.36827917e-02 -1.12930730e-03 9.99718886e-01 2.12404146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23071405699997 meters Centerline goodness [0,1] 0.9892253014216303 Centerline is valid? [True, True] Translation: X:176.26, Y:-6.06, Z:2.12 [[ 9.99451456e-01 -2.29697876e-02 -2.38574090e-02 1.76264188e+02] [ 2.29907794e-02 9.99735493e-01 6.05932655e-04 -6.05677803e+00] [ 2.38371804e-02 -1.15410070e-03 9.99715188e-01 2.12417327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26071405699997 meters Centerline goodness [0,1] 0.9881155260561485 Centerline is valid? [True, True] Translation: X:176.29, Y:-6.06, Z:2.12 [[ 9.99425207e-01 -2.45693514e-02 -2.33581569e-02 1.76291914e+02] [ 2.45898099e-02 9.99697451e-01 5.88995819e-04 -6.06087722e+00] [ 2.33366186e-02 -1.16302991e-03 9.99726988e-01 2.12431780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29071405699997 meters Centerline goodness [0,1] 0.988912082239131 Centerline is valid? [True, True] Translation: X:176.32, Y:-6.06, Z:2.12 [[ 9.99397124e-01 -2.57866371e-02 -2.32473184e-02 1.76320958e+02] [ 2.58071909e-02 9.99666768e-01 5.84506080e-04 -6.06316756e+00] [ 2.32244992e-02 -1.18410168e-03 9.99729574e-01 2.12483079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32071405699998 meters Centerline goodness [0,1] 0.9879985643142357 Centerline is valid? [True, True] Translation: X:176.35, Y:-6.07, Z:2.13 [[ 9.99382844e-01 -2.67193949e-02 -2.28036263e-02 1.76349643e+02] [ 2.67393874e-02 9.99642275e-01 5.72204816e-04 -6.06678034e+00] [ 2.27801799e-02 -1.18160668e-03 9.99739800e-01 2.12530394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35071405699998 meters Centerline goodness [0,1] 0.9891524053362081 Centerline is valid? [True, True] Translation: X:176.38, Y:-6.06, Z:2.13 [[ 9.99387637e-01 -2.69746039e-02 -2.22872624e-02 1.76379022e+02] [ 2.69937419e-02 9.99635447e-01 5.58245322e-04 -6.06153895e+00] [ 2.22640791e-02 -1.15952008e-03 9.99751452e-01 2.12717231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38071405699998 meters Centerline goodness [0,1] 0.9889226612630868 Centerline is valid? [True, True] Translation: X:176.41, Y:-6.06, Z:2.13 [[ 9.99390262e-01 -2.72676832e-02 -2.18077388e-02 1.76409255e+02] [ 2.72860647e-02 9.99627517e-01 5.45715317e-04 -6.06304977e+00] [ 2.17847354e-02 -1.14042995e-03 9.99762034e-01 2.12855793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41071405699998 meters Centerline goodness [0,1] 0.9889225929670824 Centerline is valid? [True, True] Translation: X:176.44, Y:-6.06, Z:2.13 [[ 9.99376978e-01 -2.74734203e-02 -2.21555297e-02 1.76439989e+02] [ 2.74924433e-02 9.99621858e-01 5.54418412e-04 -6.06243231e+00] [ 2.21319200e-02 -1.16318264e-03 9.99754382e-01 2.12911437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44071405699998 meters Centerline goodness [0,1] 0.9892743346946102 Centerline is valid? [True, True] Translation: X:176.47, Y:-6.07, Z:2.13 [[ 9.99311928e-01 -2.90843988e-02 -2.30166775e-02 1.76469249e+02] [ 2.91053535e-02 9.99576184e-01 5.75867455e-04 -6.06746766e+00] [ 2.29901739e-02 -1.24537975e-03 9.99734915e-01 2.12803356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47071405699998 meters Centerline goodness [0,1] 0.989441998382604 Centerline is valid? [True, True] Translation: X:176.50, Y:-6.07, Z:2.13 [[ 9.99267098e-01 -3.03081739e-02 -2.33812093e-02 1.76499957e+02] [ 3.03301274e-02 9.99539765e-01 5.84802928e-04 -6.06842714e+00] [ 2.33527241e-02 -1.29352938e-03 9.99726451e-01 2.12799130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50071405699998 meters Centerline goodness [0,1] 0.9900640665392829 Centerline is valid? [True, True] Translation: X:176.53, Y:-6.07, Z:2.13 [[ 9.99181070e-01 -3.26422070e-02 -2.39097263e-02 1.76530356e+02] [ 3.26658306e-02 9.99466150e-01 5.98022018e-04 -6.07131132e+00] [ 2.38774414e-02 -1.37856335e-03 9.99713943e-01 2.12758296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53071405699998 meters Centerline goodness [0,1] 0.9893981002115878 Centerline is valid? [True, True] Translation: X:176.56, Y:-6.08, Z:2.13 [[ 9.99153968e-01 -3.34961419e-02 -2.38611959e-02 1.76560320e+02] [ 3.35199161e-02 9.99437871e-01 5.96967918e-04 -6.08066789e+00] [ 2.38277867e-02 -1.39628815e-03 9.99715103e-01 2.12702679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56071405699998 meters Centerline goodness [0,1] 0.9888590694842245 Centerline is valid? [True, True] Translation: X:176.59, Y:-6.08, Z:2.13 [[ 9.99113411e-01 -3.45808174e-02 -2.40116598e-02 1.76591769e+02] [ 3.46052183e-02 9.99400879e-01 6.01307951e-04 -6.07922442e+00] [ 2.39764802e-02 -1.43170357e-03 9.99711498e-01 2.12810846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59071405699999 meters Centerline goodness [0,1] 0.9896043827742602 Centerline is valid? [True, True] Translation: X:176.62, Y:-6.08, Z:2.13 [[ 9.99101868e-01 -3.48017324e-02 -2.41722469e-02 1.76623608e+02] [ 3.48265454e-02 9.99393188e-01 6.06159463e-04 -6.07718379e+00] [ 2.41364834e-02 -1.44745090e-03 9.99707625e-01 2.12901152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.620714057 meters Centerline goodness [0,1] 0.9894623074844636 Centerline is valid? [True, True] Translation: X:176.65, Y:-6.08, Z:2.13 [[ 9.99052235e-01 -3.54700949e-02 -2.52290279e-02 1.76654735e+02] [ 3.54973606e-02 9.99369569e-01 6.33555326e-04 -6.07742645e+00] [ 2.51906505e-02 -1.52851877e-03 9.99681497e-01 2.12842318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.650714057 meters Centerline goodness [0,1] 0.9893911750793972 Centerline is valid? [True, True] Translation: X:176.69, Y:-6.08, Z:2.13 [[ 9.99029899e-01 -3.59156247e-02 -2.54819227e-02 1.76685924e+02] [ 3.59436069e-02 9.99353614e-01 6.40792973e-04 -6.07770858e+00] [ 2.54424371e-02 -1.55608355e-03 9.99675078e-01 2.12900100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.680714057 meters Centerline goodness [0,1] 0.988712506183388 Centerline is valid? [True, True] Translation: X:176.72, Y:-6.08, Z:2.13 [[ 9.98967545e-01 -3.76121497e-02 -2.54788183e-02 1.76716027e+02] [ 3.76406924e-02 9.99291132e-01 6.41412004e-04 -6.07975633e+00] [ 2.54366323e-02 -1.59979014e-03 9.99675156e-01 2.12907019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.710714057 meters Centerline goodness [0,1] 0.9886647324741921 Centerline is valid? [True, True] Translation: X:176.75, Y:-6.08, Z:2.13 [[ 9.98908967e-01 -3.92862878e-02 -2.52480321e-02 1.76746885e+02] [ 3.93148588e-02 9.99226670e-01 6.36031632e-04 -6.08016064e+00] [ 2.52035198e-02 -1.62796052e-03 9.99681015e-01 2.12988230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.740714057 meters Centerline goodness [0,1] 0.9889567510310788 Centerline is valid? [True, True] Translation: X:176.78, Y:-6.08, Z:2.13 [[ 9.98878560e-01 -4.00748155e-02 -2.52117298e-02 1.76778096e+02] [ 4.01035700e-02 9.99195326e-01 6.35731172e-04 -6.07736552e+00] [ 2.51659658e-02 -1.64609861e-03 9.99681932e-01 2.13089221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.770714057 meters Centerline goodness [0,1] 0.9877223359042971 Centerline is valid? [True, True] Translation: X:176.81, Y:-6.08, Z:2.13 [[ 9.98836720e-01 -4.12557694e-02 -2.49633405e-02 1.76808490e+02] [ 4.12843442e-02 9.99147239e-01 6.30156320e-04 -6.08373449e+00] [ 2.49160552e-02 -1.66001841e-03 9.99688169e-01 2.13099287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.800714057 meters Centerline goodness [0,1] 0.9891859079565638 Centerline is valid? [True, True] Translation: X:176.84, Y:-6.08, Z:2.13 [[ 9.98713038e-01 -4.44481600e-02 -2.44260035e-02 1.76839200e+02] [ 4.44764810e-02 9.99010241e-01 6.17148063e-04 -6.07867264e+00] [ 2.43743965e-02 -1.70273650e-03 9.99701450e-01 2.13300914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.830714057 meters Centerline goodness [0,1] 0.9872677374364511 Centerline is valid? [True, True] Translation: X:176.87, Y:-6.08, Z:2.13 [[ 9.98636187e-01 -4.60465235e-02 -2.46065695e-02 1.76869313e+02] [ 4.60757635e-02 9.98937754e-01 6.22353876e-04 -6.08235587e+00] [ 2.45517740e-02 -1.75527158e-03 9.99697019e-01 2.13286950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.860714057 meters Centerline goodness [0,1] 0.9872413326721068 Centerline is valid? [True, True] Translation: X:176.90, Y:-6.08, Z:2.13 [[ 9.98483967e-01 -4.90122789e-02 -2.50512426e-02 1.76900101e+02] [ 4.90435225e-02 9.98796441e-01 6.33947189e-04 -6.08401504e+00] [ 2.49900208e-02 -1.86158729e-03 9.99685967e-01 2.13286691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.890714057 meters Centerline goodness [0,1] 0.9879640502212989 Centerline is valid? [True, True] Translation: X:176.93, Y:-6.08, Z:2.13 [[ 9.98406804e-01 -5.02678043e-02 -2.56320386e-02 1.76932241e+02] [ 5.03009483e-02 9.98733895e-01 6.49540234e-04 -6.07867610e+00] [ 2.55669348e-02 -1.93782124e-03 9.99671234e-01 2.13375062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.920714057 meters Centerline goodness [0,1] 0.9850736157528679 Centerline is valid? [True, True] Translation: X:176.96, Y:-6.09, Z:2.13 [[ 9.98237852e-01 -5.29196505e-02 -2.68458804e-02 1.76962281e+02] [ 5.29569921e-02 9.98596562e-01 6.81408044e-04 -6.08747817e+00] [ 2.67721440e-02 -2.10188438e-03 9.99639352e-01 2.13147318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.950714057 meters Centerline goodness [0,1] 0.9852512704686618 Centerline is valid? [True, True] Translation: X:176.99, Y:-6.09, Z:2.13 [[ 9.98075324e-01 -5.53193115e-02 -2.80253774e-02 1.76992847e+02] [ 5.53609541e-02 9.98466153e-01 7.11571867e-04 -6.08628055e+00] [ 2.79430271e-02 -2.26171395e-03 9.99606959e-01 2.13086528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98071405699997 meters Centerline goodness [0,1] 0.9874038896426957 Centerline is valid? [True, True] Translation: X:177.03, Y:-6.08, Z:2.13 [[ 9.98011838e-01 -5.63152793e-02 -2.83012572e-02 1.77025171e+02] [ 5.63581788e-02 9.98410355e-01 7.19812162e-04 -6.07832179e+00] [ 2.82157319e-02 -2.31338837e-03 9.99599180e-01 2.13264295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01071405699997 meters Centerline goodness [0,1] 0.9872154591120966 Centerline is valid? [True, True] Translation: X:177.06, Y:-6.08, Z:2.13 [[ 9.97985440e-01 -5.68766357e-02 -2.81088799e-02 1.77056686e+02] [ 5.69192453e-02 9.98378528e-01 7.17435180e-04 -6.08223217e+00] [ 2.80224969e-02 -2.31592610e-03 9.99604610e-01 2.13238354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04071405699997 meters Centerline goodness [0,1] 0.9862200262907393 Centerline is valid? [True, True] Translation: X:177.09, Y:-6.08, Z:2.13 [[ 9.97969142e-01 -5.72276527e-02 -2.79747544e-02 1.77087498e+02] [ 5.72700578e-02 9.98358466e-01 7.16320298e-04 -6.08296950e+00] [ 2.78878396e-02 -2.31698135e-03 9.99608373e-01 2.13253479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07071405699998 meters Centerline goodness [0,1] 0.9869680309509264 Centerline is valid? [True, True] Translation: X:177.12, Y:-6.08, Z:2.13 [[ 9.98025668e-01 -5.63151480e-02 -2.78095285e-02 1.77119948e+02] [ 5.63567491e-02 9.98410440e-01 7.13801085e-04 -6.08106302e+00] [ 2.77251258e-02 -2.27964643e-03 9.99612985e-01 2.13343177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10071405699998 meters Centerline goodness [0,1] 0.9863411535145438 Centerline is valid? [True, True] Translation: X:177.15, Y:-6.08, Z:2.13 [[ 9.98183515e-01 -5.33247550e-02 -2.80381872e-02 1.77150968e+02] [ 5.33659075e-02 9.98574764e-01 7.20961825e-04 -6.07831111e+00] [ 2.79597810e-02 -2.21593551e-03 9.99606593e-01 2.13367166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13071405699998 meters Centerline goodness [0,1] 0.9871574178935447 Centerline is valid? [True, True] Translation: X:177.18, Y:-6.08, Z:2.13 [[ 9.98293849e-01 -5.12709995e-02 -2.79405589e-02 1.77182648e+02] [ 5.13110967e-02 9.98682459e-01 7.19540346e-04 -6.07677537e+00] [ 2.78668545e-02 -2.15197342e-03 9.99609327e-01 2.13416623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16071405699998 meters Centerline goodness [0,1] 0.9882146439317954 Centerline is valid? [True, True] Translation: X:177.21, Y:-6.07, Z:2.14 [[ 9.98522800e-01 -4.68590210e-02 -2.75036279e-02 1.77213618e+02] [ 4.68962345e-02 9.98899515e-01 7.09218177e-04 -6.06780469e+00] [ 2.74401273e-02 -1.99798710e-03 9.99621452e-01 2.13598883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19071405699998 meters Centerline goodness [0,1] 0.988059565967493 Centerline is valid? [True, True] Translation: X:177.24, Y:-6.07, Z:2.14 [[ 9.98643733e-01 -4.45598783e-02 -2.69279025e-02 1.77243145e+02] [ 4.45947120e-02 9.99004920e-01 6.94152324e-04 -6.07122211e+00] [ 2.68701757e-02 -1.89405293e-03 9.99637137e-01 2.13625389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22071405699998 meters Centerline goodness [0,1] 0.9884800510983872 Centerline is valid? [True, True] Translation: X:177.27, Y:-6.07, Z:2.14 [[ 9.98865341e-01 -3.99184822e-02 -2.59720250e-02 1.77273209e+02] [ 3.99493172e-02 9.99201483e-01 6.69248874e-04 -6.06725253e+00] [ 2.59245705e-02 -1.70605417e-03 9.99662446e-01 2.13759439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25071405699998 meters Centerline goodness [0,1] 0.9881511188078203 Centerline is valid? [True, True] Translation: X:177.30, Y:-6.07, Z:2.14 [[ 9.98972039e-01 -3.74398951e-02 -2.55562098e-02 1.77302539e+02] [ 3.74689603e-02 9.99297575e-01 6.59226506e-04 -6.06564475e+00] [ 2.55135771e-02 -1.61611346e-03 9.99673169e-01 2.13828507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28071405699998 meters Centerline goodness [0,1] 0.9897617189293421 Centerline is valid? [True, True] Translation: X:177.33, Y:-6.06, Z:2.14 [[ 9.99135781e-01 -3.29667492e-02 -2.53156908e-02 1.77333793e+02] [ 3.29938644e-02 9.99455340e-01 6.54016079e-04 -6.05508276e+00] [ 2.52803416e-02 -1.48871333e-03 9.99679293e-01 2.13987219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31071405699998 meters Centerline goodness [0,1] 0.9892164735574165 Centerline is valid? [True, True] Translation: X:177.36, Y:-6.06, Z:2.14 [[ 9.99203450e-01 -3.04753787e-02 -2.57627181e-02 1.77363783e+02] [ 3.05026362e-02 9.99534465e-01 6.65613502e-04 -6.06030684e+00] [ 2.57304399e-02 -1.45091413e-03 9.99667864e-01 2.13870010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34071405699999 meters Centerline goodness [0,1] 0.989544470544885 Centerline is valid? [True, True] Translation: X:177.39, Y:-6.06, Z:2.14 [[ 9.99313097e-01 -2.61757166e-02 -2.62329060e-02 1.77393024e+02] [ 2.62024936e-02 9.99656426e-01 6.77459196e-04 -6.05778161e+00] [ 2.62061601e-02 -1.36436140e-03 9.99655629e-01 2.13762477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.370714057 meters Centerline goodness [0,1] 0.9901985596944528 Centerline is valid? [True, True] Translation: X:177.42, Y:-6.05, Z:2.14 [[ 9.99360999e-01 -2.42395083e-02 -2.62686244e-02 1.77422677e+02] [ 2.42656703e-02 9.99705316e-01 6.77587106e-04 -6.05110324e+00] [ 2.62444590e-02 -1.31457991e-03 9.99654691e-01 2.13890682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.400714057 meters Centerline goodness [0,1] 0.990819144040497 Centerline is valid? [True, True] Translation: X:177.45, Y:-6.05, Z:2.14 [[ 9.99439348e-01 -2.06612815e-02 -2.63458106e-02 1.77452433e+02] [ 2.06863329e-02 9.99785785e-01 6.78649396e-04 -6.04702186e+00] [ 2.63261452e-02 -1.22326712e-03 9.99652659e-01 2.13960933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.430714057 meters Centerline goodness [0,1] 0.9913505555427756 Centerline is valid? [True, True] Translation: X:177.48, Y:-6.05, Z:2.14 [[ 9.99487463e-01 -1.90363443e-02 -2.57377046e-02 1.77481160e+02] [ 1.90596814e-02 9.99818129e-01 6.61694892e-04 -6.04544826e+00] [ 2.57204274e-02 -1.15190820e-03 9.99668511e-01 2.14034701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.460714057 meters Centerline goodness [0,1] 0.9902579456471672 Centerline is valid? [True, True] Translation: X:177.51, Y:-6.05, Z:2.14 [[ 9.99537836e-01 -1.69595063e-02 -2.52287469e-02 1.77509167e+02] [ 1.69812198e-02 9.99855600e-01 6.46655010e-04 -6.04617805e+00] [ 2.52141369e-02 -1.07477105e-03 9.99681495e-01 2.14039904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.490714057 meters Centerline goodness [0,1] 0.9908117792989387 Centerline is valid? [True, True] Translation: X:177.54, Y:-6.04, Z:2.14 [[ 9.99561521e-01 -1.60526218e-02 -2.48813145e-02 1.77537787e+02] [ 1.60733649e-02 9.99870614e-01 6.33900516e-04 -6.04283828e+00] [ 2.48679195e-02 -1.03354901e-03 9.99690211e-01 2.14139234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.520714057 meters Centerline goodness [0,1] 0.9910628130312916 Centerline is valid? [True, True] Translation: X:177.57, Y:-6.04, Z:2.14 [[ 9.99545975e-01 -1.63481874e-02 -2.53096969e-02 1.77565506e+02] [ 1.63696247e-02 9.99865804e-01 6.40029156e-04 -6.04489354e+00] [ 2.52958371e-02 -1.05404881e-03 9.99679453e-01 2.14111640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.550714057 meters Centerline goodness [0,1] 0.9904711609110948 Centerline is valid? [True, True] Translation: X:177.59, Y:-6.05, Z:2.14 [[ 9.99527048e-01 -1.69889837e-02 -2.56330946e-02 1.77594114e+02] [ 1.70110793e-02 9.99855094e-01 6.44168875e-04 -6.04686715e+00] [ 2.56184365e-02 -1.07991082e-03 9.99671211e-01 2.14057638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.580714057 meters Centerline goodness [0,1] 0.989723827874117 Centerline is valid? [True, True] Translation: X:177.62, Y:-6.06, Z:2.14 [[ 9.99484173e-01 -1.87367070e-02 -2.60830127e-02 1.77621092e+02] [ 1.87600349e-02 9.99823804e-01 6.49938865e-04 -6.05686964e+00] [ 2.60662392e-02 -1.13892184e-03 9.99659569e-01 2.13775841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.610714057 meters Centerline goodness [0,1] 0.9902772031443938 Centerline is valid? [True, True] Translation: X:177.65, Y:-6.05, Z:2.14 [[ 9.99449404e-01 -1.99025061e-02 -2.65476835e-02 1.77649939e+02] [ 1.99269434e-02 9.99801223e-01 6.56243034e-04 -6.05255557e+00] [ 2.65293456e-02 -1.18489590e-03 9.99647333e-01 2.13961593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.640714057 meters Centerline goodness [0,1] 0.9904036452340406 Centerline is valid? [True, True] Translation: X:177.68, Y:-6.05, Z:2.14 [[ 9.99423310e-01 -2.13807488e-02 -2.63801205e-02 1.77678273e+02] [ 2.14052199e-02 9.99770674e-01 6.45566209e-04 -6.05234984e+00] [ 2.63602681e-02 -1.20986620e-03 9.99651776e-01 2.14121737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.670714057 meters Centerline goodness [0,1] 0.9901133183465615 Centerline is valid? [True, True] Translation: X:177.71, Y:-6.05, Z:2.14 [[ 9.99442521e-01 -2.14595497e-02 -2.55760452e-02 1.77707088e+02] [ 2.14824161e-02 9.99769034e-01 6.19593147e-04 -6.05335452e+00] [ 2.55568418e-02 -1.16868298e-03 9.99672687e-01 2.14260935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.700714057 meters Centerline goodness [0,1] 0.9902977200789027 Centerline is valid? [True, True] Translation: X:177.74, Y:-6.05, Z:2.14 [[ 9.99499353e-01 -2.08580574e-02 -2.37904463e-02 1.77735396e+02] [ 2.08775364e-02 9.99781878e-01 5.70666451e-04 -6.05391342e+00] [ 2.37733541e-02 -1.06706666e-03 9.99716804e-01 2.14489595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73071405699997 meters Centerline goodness [0,1] 0.9898106712564544 Centerline is valid? [True, True] Translation: X:177.76, Y:-6.05, Z:2.15 [[ 9.99529897e-01 -2.06513672e-02 -2.26606746e-02 1.77763700e+02] [ 2.06688629e-02 9.99786231e-01 5.38103840e-04 -6.05406884e+00] [ 2.26447178e-02 -1.00622125e-03 9.99743069e-01 2.14582842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76071405699997 meters Centerline goodness [0,1] 0.9891983820555249 Centerline is valid? [True, True] Translation: X:177.79, Y:-6.06, Z:2.15 [[ 9.99563252e-01 -2.03983780e-02 -2.13824805e-02 1.77791784e+02] [ 2.04138135e-02 9.99791489e-01 5.03825243e-04 -6.05824865e+00] [ 2.13677448e-02 -9.40103167e-04 9.99771242e-01 2.14597912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79071405699997 meters Centerline goodness [0,1] 0.9898945921173236 Centerline is valid? [True, True] Translation: X:177.82, Y:-6.06, Z:2.15 [[ 9.99569458e-01 -2.04462192e-02 -2.10440290e-02 1.77821715e+02] [ 2.04611557e-02 9.99790526e-01 4.94680430e-04 -6.05654960e+00] [ 2.10295065e-02 -9.25052605e-04 9.99778428e-01 2.14708232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82071405699998 meters Centerline goodness [0,1] 0.9894199365196191 Centerline is valid? [True, True] Translation: X:177.85, Y:-6.06, Z:2.15 [[ 9.99550009e-01 -2.17173488e-02 -2.06914458e-02 1.77850771e+02] [ 2.17320435e-02 9.99763713e-01 4.85565652e-04 -6.05727445e+00] [ 2.06760115e-02 -9.35014553e-04 9.99785791e-01 2.14811767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85071405699998 meters Centerline goodness [0,1] 0.9885365797739414 Centerline is valid? [True, True] Translation: X:177.88, Y:-6.06, Z:2.15 [[ 9.99536085e-01 -2.26414663e-02 -2.03710104e-02 1.77880211e+02] [ 2.26558829e-02 9.99743209e-01 4.77167593e-04 -6.06460843e+00] [ 2.03549755e-02 -9.38469455e-04 9.99792376e-01 2.14806088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88071405699998 meters Centerline goodness [0,1] 0.9885365797739414 Centerline is valid? [True, True] Translation: X:177.91, Y:-6.07, Z:2.15 [[ 9.99536085e-01 -2.26414702e-02 -2.03710166e-02 1.77910231e+02] [ 2.26558815e-02 9.99743209e-01 4.76903941e-04 -6.06531114e+00] [ 2.03549876e-02 -9.38206035e-04 9.99792376e-01 2.14850692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91071405699998 meters Centerline goodness [0,1] 0.9889702517162471 Centerline is valid? [True, True] Translation: X:177.94, Y:-6.07, Z:2.15 [[ 9.99464708e-01 -2.55525551e-02 -2.04295014e-02 1.77940235e+02] [ 2.55676543e-02 9.99672980e-01 4.78194328e-04 -6.06504987e+00] [ 2.04106015e-02 -1.00027279e-03 9.99791182e-01 2.14914026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94071405699998 meters Centerline goodness [0,1] 0.9890459202341749 Centerline is valid? [True, True] Translation: X:177.97, Y:-6.07, Z:2.15 [[ 9.99341295e-01 -2.91802747e-02 -2.15751667e-02 1.77971635e+02] [ 2.91979590e-02 9.99573521e-01 5.05035369e-04 -6.06772650e+00] [ 2.15512283e-02 -1.13465353e-03 9.99767101e-01 2.14920262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97071405699998 meters Centerline goodness [0,1] 0.987316939641407 Centerline is valid? [True, True] Translation: X:178.00, Y:-6.08, Z:2.15 [[ 9.99266064e-01 -3.10723404e-02 -2.24018528e-02 1.78001387e+02] [ 3.10918928e-02 9.99516392e-01 5.24948874e-04 -6.07869280e+00] [ 2.23747077e-02 -1.22107960e-03 9.99748909e-01 2.14821407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00071405699998 meters Centerline goodness [0,1] 0.9882116879859544 Centerline is valid? [True, True] Translation: X:178.03, Y:-6.08, Z:2.15 [[ 9.99128551e-01 -3.42661199e-02 -2.38321751e-02 1.78031891e+02] [ 3.42891589e-02 9.99411798e-01 5.58618604e-04 -6.08211317e+00] [ 2.37990153e-02 -1.37531704e-03 9.99715817e-01 2.14761105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03071405699998 meters Centerline goodness [0,1] 0.9883662461144633 Centerline is valid? [True, True] Translation: X:178.06, Y:-6.09, Z:2.15 [[ 9.99044803e-01 -3.58112712e-02 -2.50406615e-02 1.78062394e+02] [ 3.58372013e-02 9.99357469e-01 5.87381764e-04 -6.08589011e+00] [ 2.50035372e-02 -1.48420792e-03 9.99686261e-01 2.14705158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06071405699998 meters Centerline goodness [0,1] 0.9882834717324537 Centerline is valid? [True, True] Translation: X:178.09, Y:-6.09, Z:2.15 [[ 9.98921485e-01 -3.81181810e-02 -2.65117201e-02 1.78092129e+02] [ 3.81480816e-02 9.99271903e-01 6.22786487e-04 -6.09216302e+00] [ 2.64686775e-02 -1.63348607e-03 9.99648309e-01 2.14546919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09071405699999 meters Centerline goodness [0,1] 0.9880322470761894 Centerline is valid? [True, True] Translation: X:178.12, Y:-6.09, Z:2.15 [[ 9.98872727e-01 -3.88359684e-02 -2.72954802e-02 1.78122837e+02] [ 3.88679591e-02 9.99244149e-01 6.42232704e-04 -6.09482529e+00] [ 2.72499072e-02 -1.70242834e-03 9.99627203e-01 2.14547943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.120714057 meters Centerline goodness [0,1] 0.9893299965874189 Centerline is valid? [True, True] Translation: X:178.15, Y:-6.09, Z:2.15 [[ 9.98818231e-01 -3.93031666e-02 -2.85902394e-02 1.78154020e+02] [ 3.93384778e-02 9.99225716e-01 6.73449700e-04 -6.08567241e+00] [ 2.85416337e-02 -1.79735034e-03 9.99590989e-01 2.14793632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.150714057 meters Centerline goodness [0,1] 0.9893188184654627 Centerline is valid? [True, True] Translation: X:178.18, Y:-6.09, Z:2.15 [[ 9.98843059e-01 -3.86000162e-02 -2.86807115e-02 1.78183999e+02] [ 3.86352851e-02 9.99253150e-01 6.76365551e-04 -6.08695708e+00] [ 2.86331836e-02 -1.78367050e-03 9.99588395e-01 2.14861104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.180714057 meters Centerline goodness [0,1] 0.9889468766380273 Centerline is valid? [True, True] Translation: X:178.22, Y:-6.09, Z:2.15 [[ 9.98853703e-01 -3.86454390e-02 -2.82455190e-02 1.78215512e+02] [ 3.86796845e-02 9.99251438e-01 6.66849669e-04 -6.08568212e+00] [ 2.81986048e-02 -1.75861302e-03 9.99600793e-01 2.14977581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.210714057 meters Centerline goodness [0,1] 0.9887264279857885 Centerline is valid? [True, True] Translation: X:178.25, Y:-6.09, Z:2.15 [[ 9.98921875e-01 -3.80967332e-02 -2.65278482e-02 1.78245762e+02] [ 3.81267647e-02 9.99272714e-01 6.27011837e-04 -6.08792192e+00] [ 2.64846678e-02 -1.63775687e-03 9.99647878e-01 2.15079122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.240714057 meters Centerline goodness [0,1] 0.9889219313976981 Centerline is valid? [True, True] Translation: X:178.28, Y:-6.09, Z:2.15 [[ 9.98963635e-01 -3.78884804e-02 -2.52214071e-02 1.78277157e+02] [ 3.79155751e-02 9.99280768e-01 5.96753669e-04 -6.08964419e+00] [ 2.51806570e-02 -1.55241937e-03 9.99681712e-01 2.15194888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.270714057 meters Centerline goodness [0,1] 0.9889293021141169 Centerline is valid? [True, True] Translation: X:178.31, Y:-6.09, Z:2.15 [[ 9.98965211e-01 -3.81096399e-02 -2.48226229e-02 1.78309622e+02] [ 3.81359830e-02 9.99272385e-01 5.88558544e-04 -6.08819815e+00] [ 2.47821319e-02 -1.53458464e-03 9.99691698e-01 2.15342590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.300714057 meters Centerline goodness [0,1] 0.9881749472298509 Centerline is valid? [True, True] Translation: X:178.34, Y:-6.09, Z:2.16 [[ 9.98932901e-01 -3.94379353e-02 -2.40355733e-02 1.78341264e+02] [ 3.94630497e-02 9.99220867e-01 5.71268934e-04 -6.08942806e+00] [ 2.39943167e-02 -1.51917636e-03 9.99710941e-01 2.15501263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.330714057 meters Centerline goodness [0,1] 0.9867798307090198 Centerline is valid? [True, True] Translation: X:178.37, Y:-6.10, Z:2.16 [[ 9.98761458e-01 -4.32722133e-02 -2.45573759e-02 1.78370426e+02] [ 4.32995940e-02 9.99061962e-01 5.84074470e-04 -6.09825956e+00] [ 2.45090660e-02 -1.64667548e-03 9.99698252e-01 2.15548162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.360714057 meters Centerline goodness [0,1] 0.987537523878832 Centerline is valid? [True, True] Translation: X:178.40, Y:-6.10, Z:2.16 [[ 9.98662542e-01 -4.53390511e-02 -2.48495200e-02 1.78401416e+02] [ 4.53677300e-02 9.98970179e-01 5.91259180e-04 -6.09518775e+00] [ 2.47971223e-02 -1.71783471e-03 9.99691028e-01 2.15652400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.390714057 meters Centerline goodness [0,1] 0.9872436841509007 Centerline is valid? [True, True] Translation: X:178.43, Y:-6.10, Z:2.16 [[ 9.98444319e-01 -4.94890843e-02 -2.56860227e-02 1.78431130e+02] [ 4.95211069e-02 9.98772890e-01 6.11697628e-04 -6.10233164e+00] [ 2.56242308e-02 -1.88274630e-03 9.99669873e-01 2.15599854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.420714057 meters Centerline goodness [0,1] 0.986334386866459 Centerline is valid? [True, True] Translation: X:178.46, Y:-6.11, Z:2.16 [[ 9.98328870e-01 -5.14215717e-02 -2.63683332e-02 1.78462666e+02] [ 5.14559936e-02 9.98675065e-01 6.28119729e-04 -6.10539794e+00] [ 2.63010980e-02 -1.98387885e-03 9.99652098e-01 2.15537115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.450714057 meters Centerline goodness [0,1] 0.9855836690354411 Centerline is valid? [True, True] Translation: X:178.49, Y:-6.11, Z:2.16 [[ 9.98197137e-01 -5.38117495e-02 -2.65851564e-02 1.78492125e+02] [ 5.38476018e-02 9.98548964e-01 6.34008640e-04 -6.11071573e+00] [ 2.65124633e-02 -2.06441252e-03 9.99646351e-01 2.15555925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48071405699997 meters Centerline goodness [0,1] 0.9849090001361595 Centerline is valid? [True, True] Translation: X:178.52, Y:-6.11, Z:2.16 [[ 9.98164580e-01 -5.41841681e-02 -2.70471370e-02 1.78524099e+02] [ 5.42214437e-02 9.98528726e-01 6.46136511e-04 -6.11118502e+00] [ 2.69723329e-02 -2.11148539e-03 9.99633950e-01 2.15671606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51071405699997 meters Centerline goodness [0,1] 0.9836017103347889 Centerline is valid? [True, True] Translation: X:178.56, Y:-6.11, Z:2.16 [[ 9.98216785e-01 -5.31573221e-02 -2.71578747e-02 1.78555099e+02] [ 5.31945712e-02 9.98583955e-01 6.50454666e-04 -6.11136996e+00] [ 2.70848415e-02 -2.09394626e-03 9.99630945e-01 2.15733441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54071405699997 meters Centerline goodness [0,1] 0.9855518333675167 Centerline is valid? [True, True] Translation: X:178.59, Y:-6.11, Z:2.16 [[ 9.98256091e-01 -5.22678566e-02 -2.74380775e-02 1.78587567e+02] [ 5.23055898e-02 9.98630908e-01 6.58808303e-04 -6.11015743e+00] [ 2.73660778e-02 -2.09282423e-03 9.99623288e-01 2.15756906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57071405699998 meters Centerline goodness [0,1] 0.9855931430655603 Centerline is valid? [True, True] Translation: X:178.62, Y:-6.11, Z:2.16 [[ 9.98358947e-01 -4.94808773e-02 -2.88280215e-02 1.78617178e+02] [ 4.95214079e-02 9.98772822e-01 6.93256664e-04 -6.11072058e+00] [ 2.87583414e-02 -2.11972321e-03 9.99584146e-01 2.15678397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60071405699998 meters Centerline goodness [0,1] 0.9858428095172854 Centerline is valid? [True, True] Translation: X:178.65, Y:-6.11, Z:2.16 [[ 9.98408528e-01 -4.80336609e-02 -2.95496075e-02 1.78648328e+02] [ 4.80756312e-02 9.98843445e-01 7.11105096e-04 -6.10952887e+00] [ 2.94812748e-02 -2.13058943e-03 9.99563062e-01 2.15715440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63071405699998 meters Centerline goodness [0,1] 0.986835188444221 Centerline is valid? [True, True] Translation: X:178.68, Y:-6.11, Z:2.16 [[ 9.98543753e-01 -4.51082781e-02 -2.95908089e-02 1.78677834e+02] [ 4.51490952e-02 9.98980006e-01 7.12353069e-04 -6.10772325e+00] [ 2.95284935e-02 -2.04731396e-03 9.99561842e-01 2.15821811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66071405699998 meters Centerline goodness [0,1] 0.9856775280643031 Centerline is valid? [True, True] Translation: X:178.71, Y:-6.11, Z:2.16 [[ 9.98599849e-01 -4.39264773e-02 -2.94755277e-02 1.78709770e+02] [ 4.39664787e-02 9.99032755e-01 7.10057374e-04 -6.10714672e+00] [ 2.94158273e-02 -2.00499835e-03 9.99565250e-01 2.15912248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69071405699998 meters Centerline goodness [0,1] 0.9851135947233419 Centerline is valid? [True, True] Translation: X:178.74, Y:-6.11, Z:2.16 [[ 9.98702267e-01 -4.25204893e-02 -2.80319472e-02 1.78740760e+02] [ 4.25561469e-02 9.99093848e-01 6.76413641e-04 -6.10750823e+00] [ 2.79777846e-02 -1.86846750e-03 9.99606799e-01 2.16062639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72071405699998 meters Centerline goodness [0,1] 0.9854208084824387 Centerline is valid? [True, True] Translation: X:178.77, Y:-6.11, Z:2.16 [[ 9.98745577e-01 -4.19164740e-02 -2.73912867e-02 1.78772261e+02] [ 4.19503178e-02 9.99119479e-01 6.61839099e-04 -6.10739715e+00] [ 2.73394262e-02 -1.81008206e-03 9.99624569e-01 2.16163973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75071405699998 meters Centerline goodness [0,1] 0.9878018137378075 Centerline is valid? [True, True] Translation: X:178.80, Y:-6.09, Z:2.16 [[ 9.98783318e-01 -4.11624670e-02 -2.71575880e-02 1.78804910e+02] [ 4.11954953e-02 9.99150889e-01 6.57570101e-04 -6.09386388e+00] [ 2.71074610e-02 -1.77554034e-03 9.99630948e-01 2.16495739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78071405699998 meters Centerline goodness [0,1] 0.9875291748661389 Centerline is valid? [True, True] Translation: X:178.84, Y:-6.10, Z:2.16 [[ 9.98784532e-01 -4.12876201e-02 -2.69219611e-02 1.78836389e+02] [ 4.13201901e-02 9.99145742e-01 6.54366990e-04 -6.09710524e+00] [ 2.68719455e-02 -1.76599218e-03 9.99637324e-01 2.16466187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81071405699998 meters Centerline goodness [0,1] 0.9881031366537784 Centerline is valid? [True, True] Translation: X:178.87, Y:-6.10, Z:2.16 [[ 9.98752907e-01 -4.14693127e-02 -2.78015564e-02 1.78868766e+02] [ 4.15041929e-02 9.99138099e-01 6.78489803e-04 -6.09676790e+00] [ 2.77494577e-02 -1.83152483e-03 9.99613232e-01 2.16493380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84071405699999 meters Centerline goodness [0,1] 0.9888255363971514 Centerline is valid? [True, True] Translation: X:178.90, Y:-6.10, Z:2.17 [[ 9.98732024e-01 -4.16904713e-02 -2.82178966e-02 1.78901388e+02] [ 4.17265502e-02 9.99128830e-01 6.90700241e-04 -6.09665612e+00] [ 2.81645184e-02 -1.86725993e-03 9.99601557e-01 2.16525911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.870714057 meters Centerline goodness [0,1] 0.9891573445809646 Centerline is valid? [True, True] Translation: X:178.93, Y:-6.10, Z:2.16 [[ 9.98693172e-01 -4.20119723e-02 -2.91022632e-02 1.78933587e+02] [ 4.20505474e-02 9.99115229e-01 7.14488601e-04 -6.09830220e+00] [ 2.90464973e-02 -1.93732098e-03 9.99576184e-01 2.16487489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.900714057 meters Centerline goodness [0,1] 0.988415220477128 Centerline is valid? [True, True] Translation: X:178.96, Y:-6.10, Z:2.16 [[ 9.98663178e-01 -4.24705227e-02 -2.94637254e-02 1.78964387e+02] [ 4.25103164e-02 9.99095765e-01 7.25242192e-04 -6.10075510e+00] [ 2.94062818e-02 -1.97678496e-03 9.99565587e-01 2.16484544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.930714057 meters Centerline goodness [0,1] 0.9883460023811704 Centerline is valid? [True, True] Translation: X:179.00, Y:-6.10, Z:2.17 [[ 9.98637715e-01 -4.32604385e-02 -2.91761638e-02 1.78995042e+02] [ 4.32998692e-02 9.99061861e-01 7.20732792e-04 -6.10338418e+00] [ 2.91176133e-02 -1.98307503e-03 9.99574025e-01 2.16506059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.960714057 meters Centerline goodness [0,1] 0.9871648472114375 Centerline is valid? [True, True] Translation: X:179.03, Y:-6.11, Z:2.16 [[ 9.98653665e-01 -4.31784774e-02 -2.87484869e-02 1.79025717e+02] [ 4.32168251e-02 9.99065462e-01 7.13615144e-04 -6.11009893e+00] [ 2.86908075e-02 -1.95507271e-03 9.99586422e-01 2.16480560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.990714057 meters Centerline goodness [0,1] 0.9881276449731213 Centerline is valid? [True, True] Translation: X:179.06, Y:-6.11, Z:2.17 [[ 9.98681223e-01 -4.27668655e-02 -2.84044032e-02 1.79057112e+02] [ 4.28041970e-02 9.99083230e-01 7.07272653e-04 -6.10689271e+00] [ 2.83481150e-02 -1.92216759e-03 9.99596263e-01 2.16697782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.020714057 meters Centerline goodness [0,1] 0.9889363842092029 Centerline is valid? [True, True] Translation: X:179.09, Y:-6.10, Z:2.17 [[ 9.98700979e-01 -4.22429911e-02 -2.84935961e-02 1.79089633e+02] [ 4.22803884e-02 9.99105532e-01 7.11009398e-04 -6.10202687e+00] [ 2.84380744e-02 -1.91480609e-03 9.99593722e-01 2.16851295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.050714057 meters Centerline goodness [0,1] 0.9887506859337846 Centerline is valid? [True, True] Translation: X:179.12, Y:-6.10, Z:2.17 [[ 9.98744645e-01 -4.09311491e-02 -2.88751644e-02 1.79121366e+02] [ 4.09690633e-02 9.99160154e-01 7.22397138e-04 -6.10207066e+00] [ 2.88213452e-02 -1.90447871e-03 9.99582764e-01 2.16892112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.080714057 meters Centerline goodness [0,1] 0.9883561643835617 Centerline is valid? [True, True] Translation: X:179.15, Y:-6.11, Z:2.17 [[ 9.98760741e-01 -4.02345348e-02 -2.92944438e-02 1.79151800e+02] [ 4.02732920e-02 9.99188432e-01 7.33970057e-04 -6.10684441e+00] [ 2.92411384e-02 -1.91284417e-03 9.99570556e-01 2.16843152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.110714057 meters Centerline goodness [0,1] 0.9891758580530245 Centerline is valid? [True, True] Translation: X:179.18, Y:-6.11, Z:2.17 [[ 9.98787699e-01 -3.95014916e-02 -2.93728561e-02 1.79183124e+02] [ 3.95401640e-02 9.99217710e-01 7.36718175e-04 -6.10628554e+00] [ 2.93207766e-02 -1.89723260e-03 9.99568253e-01 2.16878723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.140714057 meters Centerline goodness [0,1] 0.9894547031567414 Centerline is valid? [True, True] Translation: X:179.21, Y:-6.11, Z:2.17 [[ 9.98869151e-01 -3.79772814e-02 -2.86032423e-02 1.79214391e+02] [ 3.80133596e-02 9.99276973e-01 7.18430996e-04 -6.10503158e+00] [ 2.85552773e-02 -1.80492390e-03 9.99590585e-01 2.16986769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.170714057 meters Centerline goodness [0,1] 0.9887024991441288 Centerline is valid? [True, True] Translation: X:179.24, Y:-6.11, Z:2.17 [[ 9.98895293e-01 -3.69837035e-02 -2.89896339e-02 1.79244756e+02] [ 3.70203702e-02 9.99314245e-01 7.28941366e-04 -6.10673514e+00] [ 2.89427951e-02 -1.80134308e-03 9.99579446e-01 2.17003397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.200714057 meters Centerline goodness [0,1] 0.9887555707919095 Centerline is valid? [True, True] Translation: X:179.28, Y:-6.11, Z:2.17 [[ 9.98933521e-01 -3.60619235e-02 -2.88332703e-02 1.79275015e+02] [ 3.60978279e-02 9.99347998e-01 7.25525965e-04 -6.10801021e+00] [ 2.87883070e-02 -1.76557063e-03 9.99583972e-01 2.17028738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23071405699997 meters Centerline goodness [0,1] 0.989639557222578 Centerline is valid? [True, True] Translation: X:179.31, Y:-6.11, Z:2.17 [[ 9.98966334e-01 -3.51851617e-02 -2.87796432e-02 1.79305209e+02] [ 3.52205777e-02 9.99379300e-01 7.24441217e-04 -6.10632424e+00] [ 2.87362901e-02 -1.73732805e-03 9.99585518e-01 2.17193460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26071405699997 meters Centerline goodness [0,1] 0.9883755452531573 Centerline is valid? [True, True] Translation: X:179.34, Y:-6.12, Z:2.17 [[ 9.98972977e-01 -3.54702614e-02 -2.81931090e-02 1.79335461e+02] [ 3.55043678e-02 9.99369269e-01 7.09917347e-04 -6.11885653e+00] [ 2.81501458e-02 -1.71016676e-03 9.99602243e-01 2.16984638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29071405699997 meters Centerline goodness [0,1] 0.9888214627914405 Centerline is valid? [True, True] Translation: X:179.37, Y:-6.11, Z:2.17 [[ 9.98930759e-01 -3.65666878e-02 -2.82881008e-02 1.79366846e+02] [ 3.66014834e-02 9.99329687e-01 7.13054491e-04 -6.11360157e+00] [ 2.82430648e-02 -1.74767852e-03 9.99599557e-01 2.17204798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32071405699998 meters Centerline goodness [0,1] 0.9889894453689562 Centerline is valid? [True, True] Translation: X:179.40, Y:-6.12, Z:2.17 [[ 9.98842394e-01 -3.82443797e-02 -2.91760133e-02 1.79398386e+02] [ 3.82821383e-02 9.99266699e-01 7.36484260e-04 -6.11860302e+00] [ 2.91264521e-02 -1.85255188e-03 9.99574018e-01 2.17123268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35071405699998 meters Centerline goodness [0,1] 0.9892077340785677 Centerline is valid? [True, True] Translation: X:179.43, Y:-6.12, Z:2.17 [[ 9.98800369e-01 -3.91626179e-02 -2.93957846e-02 1.79429353e+02] [ 3.92013671e-02 9.99231055e-01 7.42823080e-04 -6.11717298e+00] [ 2.93440899e-02 -1.89428691e-03 9.99567575e-01 2.17188494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38071405699998 meters Centerline goodness [0,1] 0.9885820861574853 Centerline is valid? [True, True] Translation: X:179.46, Y:-6.12, Z:2.17 [[ 9.98720214e-01 -4.07358895e-02 -2.99753415e-02 1.79459236e+02] [ 4.07769301e-02 9.99167987e-01 7.58877348e-04 -6.12235660e+00] [ 2.99194881e-02 -1.98020855e-03 9.99550350e-01 2.17208076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41071405699998 meters Centerline goodness [0,1] 0.9885392032017464 Centerline is valid? [True, True] Translation: X:179.49, Y:-6.13, Z:2.17 [[ 9.98693441e-01 -4.14085852e-02 -2.99456004e-02 1.79489612e+02] [ 4.14499009e-02 9.99140295e-01 7.59984441e-04 -6.12604841e+00] [ 2.98883861e-02 -2.00023365e-03 9.99551241e-01 2.17194487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44071405699998 meters Centerline goodness [0,1] 0.9885276812285604 Centerline is valid? [True, True] Translation: X:179.52, Y:-6.13, Z:2.17 [[ 9.98662983e-01 -4.23897501e-02 -2.95864105e-02 1.79520442e+02] [ 4.24305377e-02 9.99099136e-01 7.51852968e-04 -6.12988910e+00] [ 2.95278863e-02 -2.00621503e-03 9.99561944e-01 2.17213419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47071405699998 meters Centerline goodness [0,1] 0.9893860703513029 Centerline is valid? [True, True] Translation: X:179.55, Y:-6.13, Z:2.17 [[ 9.98680648e-01 -4.23052800e-02 -2.91071672e-02 1.79551905e+02] [ 4.23447427e-02 9.99102785e-01 7.40438665e-04 -6.12889886e+00] [ 2.90497273e-02 -1.97199727e-03 9.99576022e-01 2.17359768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50071405699998 meters Centerline goodness [0,1] 0.9886990264824018 Centerline is valid? [True, True] Translation: X:179.58, Y:-6.13, Z:2.17 [[ 9.98691311e-01 -4.23533393e-02 -2.86680844e-02 1.79583465e+02] [ 4.23916755e-02 9.99100802e-01 7.30526045e-04 -6.13247374e+00] [ 2.86113659e-02 -1.94485815e-03 9.99588719e-01 2.17458490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53071405699998 meters Centerline goodness [0,1] 0.988212936358906 Centerline is valid? [True, True] Translation: X:179.61, Y:-6.13, Z:2.18 [[ 9.98703417e-01 -4.18764521e-02 -2.89456031e-02 1.79614288e+02] [ 4.19153723e-02 9.99120891e-01 7.38882943e-04 -6.13478502e+00] [ 2.88892150e-02 -1.95119065e-03 9.99580715e-01 2.17506142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56071405699998 meters Centerline goodness [0,1] 0.9876262912929958 Centerline is valid? [True, True] Translation: X:179.64, Y:-6.14, Z:2.17 [[ 9.98703946e-01 -4.10676525e-02 -3.00645364e-02 1.79644268e+02] [ 4.11093238e-02 9.99154359e-01 7.69010535e-04 -6.13731158e+00] [ 3.00075312e-02 -2.00394662e-03 9.99547664e-01 2.17471665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59071405699999 meters Centerline goodness [0,1] 0.9877181055970995 Centerline is valid? [True, True] Translation: X:179.67, Y:-6.14, Z:2.17 [[ 9.98734105e-01 -4.01465222e-02 -3.03058294e-02 1.79674165e+02] [ 4.01884741e-02 9.99191815e-01 7.76195870e-04 -6.13968734e+00] [ 3.02501752e-02 -1.99315833e-03 9.99540371e-01 2.17481505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.620714057 meters Centerline goodness [0,1] 0.9876453323018817 Centerline is valid? [True, True] Translation: X:179.70, Y:-6.14, Z:2.18 [[ 9.98737101e-01 -3.99399183e-02 -3.04796111e-02 1.79704489e+02] [ 3.99822571e-02 9.99200085e-01 7.80646783e-04 -6.14098680e+00] [ 3.04240510e-02 -1.99830455e-03 9.99535084e-01 2.17559858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.650714057 meters Centerline goodness [0,1] 0.9888283378746594 Centerline is valid? [True, True] Translation: X:179.74, Y:-6.14, Z:2.18 [[ 9.98754083e-01 -3.96172560e-02 -3.03439376e-02 1.79735027e+02] [ 3.96590703e-02 9.99212967e-01 7.77171901e-04 -6.13823595e+00] [ 3.02892665e-02 -1.97961596e-03 9.99539215e-01 2.17726306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.680714057 meters Centerline goodness [0,1] 0.9879553666795445 Centerline is valid? [True, True] Translation: X:179.77, Y:-6.14, Z:2.18 [[ 9.98761538e-01 -3.98824460e-02 -2.97452518e-02 1.79765805e+02] [ 3.99227428e-02 9.99202479e-01 7.61838302e-04 -6.13961868e+00] [ 2.96911454e-02 -1.94840683e-03 9.99557222e-01 2.17847055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.710714057 meters Centerline goodness [0,1] 0.9890864444545496 Centerline is valid? [True, True] Translation: X:179.80, Y:-6.14, Z:2.18 [[ 9.98766409e-01 -4.01501087e-02 -2.92169307e-02 1.79796146e+02] [ 4.01890999e-02 9.99191812e-01 7.48306889e-04 -6.14138525e+00] [ 2.91632733e-02 -1.92158593e-03 9.99572814e-01 2.17868312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.740714057 meters Centerline goodness [0,1] 0.9882644590506948 Centerline is valid? [True, True] Translation: X:179.83, Y:-6.15, Z:2.18 [[ 9.98748397e-01 -4.05108071e-02 -2.93345306e-02 1.79826519e+02] [ 4.05502752e-02 9.99177217e-01 7.51564505e-04 -6.14714691e+00] [ 2.92799481e-02 -1.94014713e-03 9.99569368e-01 2.17753709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.770714057 meters Centerline goodness [0,1] 0.9882644590506948 Centerline is valid? [True, True] Translation: X:179.86, Y:-6.15, Z:2.18 [[ 9.98748397e-01 -4.05108034e-02 -2.93345241e-02 1.79856575e+02] [ 4.05502788e-02 9.99177216e-01 7.51815901e-04 -6.14791732e+00] [ 2.92799315e-02 -1.94039806e-03 9.99569368e-01 2.17798348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.800714057 meters Centerline goodness [0,1] 0.9886087174006958 Centerline is valid? [True, True] Translation: X:179.89, Y:-6.15, Z:2.18 [[ 9.98727474e-01 -4.07193430e-02 -2.97551420e-02 1.79887211e+02] [ 4.07600513e-02 9.99168673e-01 7.62595936e-04 -6.14836726e+00] [ 2.96993533e-02 -1.97444663e-03 9.99556927e-01 2.17861653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.830714057 meters Centerline goodness [0,1] 0.988768124163282 Centerline is valid? [True, True] Translation: X:179.92, Y:-6.15, Z:2.18 [[ 9.98795382e-01 -3.94344025e-02 -2.92012567e-02 1.79917446e+02] [ 3.94730656e-02 9.99220354e-01 7.48526056e-04 -6.14848880e+00] [ 2.91489724e-02 -1.90028749e-03 9.99573272e-01 2.17970995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.860714057 meters Centerline goodness [0,1] 0.9890707904403429 Centerline is valid? [True, True] Translation: X:179.95, Y:-6.15, Z:2.18 [[ 9.98839998e-01 -3.85107010e-02 -2.89064585e-02 1.79947857e+02] [ 3.85482055e-02 9.99256467e-01 7.41097980e-04 -6.14797908e+00] [ 2.88564254e-02 -1.85453041e-03 9.99581846e-01 2.18081770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.890714057 meters Centerline goodness [0,1] 0.9907994275199346 Centerline is valid? [True, True] Translation: X:179.98, Y:-6.14, Z:2.18 [[ 9.98962416e-01 -3.61573399e-02 -2.76900398e-02 1.79978601e+02] [ 3.61908525e-02 9.99344644e-01 7.09911679e-04 -6.13747574e+00] [ 2.76462244e-02 -1.71130123e-03 9.99616305e-01 2.18438611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.920714057 meters Centerline goodness [0,1] 0.9886056084968955 Centerline is valid? [True, True] Translation: X:180.01, Y:-6.15, Z:2.18 [[ 9.98980967e-01 -3.52966424e-02 -2.81278202e-02 1.80007923e+02] [ 3.53308771e-02 9.99375410e-01 7.20899405e-04 -6.14977004e+00] [ 2.80848065e-02 -1.71394535e-03 9.99604075e-01 2.18269972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.950714057 meters Centerline goodness [0,1] 0.9898053963435355 Centerline is valid? [True, True] Translation: X:180.04, Y:-6.14, Z:2.19 [[ 9.99002854e-01 -3.41012469e-02 -2.88167181e-02 1.80038564e+02] [ 3.41366767e-02 9.99416901e-01 7.38285337e-04 -6.13740722e+00] [ 2.87747386e-02 -1.72125615e-03 9.99584440e-01 2.18557962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98071405699997 meters Centerline goodness [0,1] 0.9896514161220044 Centerline is valid? [True, True] Translation: X:180.07, Y:-6.14, Z:2.19 [[ 9.98988799e-01 -3.40744300e-02 -2.93310912e-02 1.80069139e+02] [ 3.41111251e-02 9.99417764e-01 7.51463595e-04 -6.13820040e+00] [ 2.92884079e-02 -1.75122023e-03 9.99569469e-01 2.18571946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01071405699997 meters Centerline goodness [0,1] 0.9905795292034595 Centerline is valid? [True, True] Translation: X:180.10, Y:-6.14, Z:2.19 [[ 9.98963064e-01 -3.39583833e-02 -3.03253103e-02 1.80098914e+02] [ 3.39975480e-02 9.99421615e-01 7.76660221e-04 -6.14130825e+00] [ 3.02813965e-02 -1.80684107e-03 9.99539780e-01 2.18525383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04071405699997 meters Centerline goodness [0,1] 0.9908452783898594 Centerline is valid? [True, True] Translation: X:180.13, Y:-6.14, Z:2.19 [[ 9.98965843e-01 -3.38728864e-02 -3.03294006e-02 1.80128701e+02] [ 3.39119977e-02 9.99424522e-01 7.75948843e-04 -6.13999644e+00] [ 3.02856630e-02 -1.80367695e-03 9.99539657e-01 2.18591747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07071405699998 meters Centerline goodness [0,1] 0.9900548230709981 Centerline is valid? [True, True] Translation: X:180.16, Y:-6.14, Z:2.19 [[ 9.98896024e-01 -3.46576692e-02 -3.17108561e-02 1.80158523e+02] [ 3.47007842e-02 9.99397418e-01 8.10141944e-04 -6.14277807e+00] [ 3.16636701e-02 -1.90963914e-03 9.99496756e-01 2.18546482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10071405699998 meters Centerline goodness [0,1] 0.9904260628885158 Centerline is valid? [True, True] Translation: X:180.19, Y:-6.15, Z:2.19 [[ 9.98871785e-01 -3.52258976e-02 -3.18479794e-02 1.80188161e+02] [ 3.52696384e-02 9.99377502e-01 8.12519060e-04 -6.14516047e+00] [ 3.17995323e-02 -1.93486908e-03 9.99492394e-01 2.18559071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13071405699998 meters Centerline goodness [0,1] 0.9903654334421472 Centerline is valid? [True, True] Translation: X:180.22, Y:-6.15, Z:2.19 [[ 9.98812290e-01 -3.61250625e-02 -3.26954099e-02 1.80217125e+02] [ 3.61716394e-02 9.99345244e-01 8.34018711e-04 -6.14893612e+00] [ 3.26438734e-02 -2.01567471e-03 9.99465014e-01 2.18613666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16071405699998 meters Centerline goodness [0,1] 0.9900213180931646 Centerline is valid? [True, True] Translation: X:180.25, Y:-6.15, Z:2.19 [[ 9.98805661e-01 -3.64369524e-02 -3.25515024e-02 1.80246590e+02] [ 3.64832759e-02 9.99333919e-01 8.30071913e-04 -6.14965364e+00] [ 3.24995752e-02 -2.01666597e-03 9.99469715e-01 2.18732403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19071405699998 meters Centerline goodness [0,1] 0.9908302578848461 Centerline is valid? [True, True] Translation: X:180.28, Y:-6.15, Z:2.19 [[ 9.98780056e-01 -3.73716766e-02 -3.22762705e-02 1.80275730e+02] [ 3.74176594e-02 9.99299376e-01 8.21618077e-04 -6.14993596e+00] [ 3.22229517e-02 -2.02831824e-03 9.99478648e-01 2.18893104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22071405699998 meters Centerline goodness [0,1] 0.9903582204677964 Centerline is valid? [True, True] Translation: X:180.31, Y:-6.15, Z:2.19 [[ 9.98750893e-01 -3.77791069e-02 -3.27015696e-02 1.80305640e+02] [ 3.78264916e-02 9.99283976e-01 8.31338757e-04 -6.15208664e+00] [ 3.26467473e-02 -2.06728597e-03 9.99464815e-01 2.18922233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25071405699998 meters Centerline goodness [0,1] 0.990433327302334 Centerline is valid? [True, True] Translation: X:180.34, Y:-6.15, Z:2.19 [[ 9.98720429e-01 -3.79604831e-02 -3.34141677e-02 1.80335734e+02] [ 3.80100272e-02 9.99276998e-01 8.48534883e-04 -6.15251064e+00] [ 3.33577984e-02 -2.11752255e-03 9.99441231e-01 2.18997838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28071405699998 meters Centerline goodness [0,1] 0.9898710656907842 Centerline is valid? [True, True] Translation: X:180.36, Y:-6.16, Z:2.19 [[ 9.98708420e-01 -3.82063619e-02 -3.34927679e-02 1.80364587e+02] [ 3.82562378e-02 9.99267601e-01 8.49353802e-04 -6.15986138e+00] [ 3.34357871e-02 -2.12956409e-03 9.99438599e-01 2.18886639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31071405699998 meters Centerline goodness [0,1] 0.9897469557738445 Centerline is valid? [True, True] Translation: X:180.39, Y:-6.15, Z:2.19 [[ 9.98692538e-01 -3.89191795e-02 -3.31437969e-02 1.80394099e+02] [ 3.89683730e-02 9.99240092e-01 8.39337818e-04 -6.15295178e+00] [ 3.30859443e-02 -2.12980025e-03 9.99450241e-01 2.19336443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34071405699999 meters Centerline goodness [0,1] 0.99009117028256 Centerline is valid? [True, True] Translation: X:180.42, Y:-6.16, Z:2.19 [[ 9.98711448e-01 -3.93262919e-02 -3.20762467e-02 1.80423454e+02] [ 3.93725593e-02 9.99224270e-01 8.11827225e-04 -6.15836927e+00] [ 3.20194380e-02 -2.07370507e-03 9.99485095e-01 2.19373453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.370714057 meters Centerline goodness [0,1] 0.9896307650692033 Centerline is valid? [True, True] Translation: X:180.45, Y:-6.16, Z:2.20 [[ 9.98684224e-01 -4.12893208e-02 -3.04140201e-02 1.80454196e+02] [ 4.13318216e-02 9.99145179e-01 7.69786855e-04 -6.15872425e+00] [ 3.03562375e-02 -2.02584084e-03 9.99537090e-01 2.19621370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.400714057 meters Centerline goodness [0,1] 0.9894651173305602 Centerline is valid? [True, True] Translation: X:180.49, Y:-6.16, Z:2.20 [[ 9.98619420e-01 -4.28717381e-02 -3.03523877e-02 1.80485387e+02] [ 4.29148105e-02 9.99078439e-01 7.68772092e-04 -6.16173214e+00] [ 3.02914576e-02 -2.07027771e-03 9.99538964e-01 2.19675579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.430714057 meters Centerline goodness [0,1] 0.9900905171440826 Centerline is valid? [True, True] Translation: X:180.52, Y:-6.16, Z:2.20 [[ 9.98535705e-01 -4.45026896e-02 -3.07563980e-02 1.80516139e+02] [ 4.45477117e-02 9.99006954e-01 7.79816365e-04 -6.16387950e+00] [ 3.06911516e-02 -2.14880163e-03 9.99526606e-01 2.19679199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.460714057 meters Centerline goodness [0,1] 0.9889724085160012 Centerline is valid? [True, True] Translation: X:180.55, Y:-6.17, Z:2.20 [[ 9.98462857e-01 -4.56107600e-02 -3.14893983e-02 1.80546218e+02] [ 4.56585208e-02 9.98956786e-01 7.98964723e-04 -6.16875347e+00] [ 3.14201067e-02 -2.23549595e-03 9.99503767e-01 2.19634436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.490714057 meters Centerline goodness [0,1] 0.9888083228247163 Centerline is valid? [True, True] Translation: X:180.58, Y:-6.17, Z:2.20 [[ 9.98366810e-01 -4.65916712e-02 -3.30594793e-02 1.80576483e+02] [ 4.66448711e-02 9.98911183e-01 8.39389177e-04 -6.17212724e+00] [ 3.29843751e-02 -2.38007345e-03 9.99453034e-01 2.19614031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.520714057 meters Centerline goodness [0,1] 0.9892827327903251 Centerline is valid? [True, True] Translation: X:180.61, Y:-6.17, Z:2.20 [[ 9.98306361e-01 -4.72153684e-02 -3.39870429e-02 1.80607752e+02] [ 4.72719885e-02 9.98881681e-01 8.63867839e-04 -6.17085387e+00] [ 3.39082467e-02 -2.46903986e-03 9.99421900e-01 2.19708001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.550714057 meters Centerline goodness [0,1] 0.9891211122647046 Centerline is valid? [True, True] Translation: X:180.64, Y:-6.18, Z:2.20 [[ 9.98301462e-01 -4.72056216e-02 -3.41441027e-02 1.80638365e+02] [ 4.72627900e-02 9.98882112e-01 8.68710906e-04 -6.17651749e+00] [ 3.40649254e-02 -2.48098092e-03 9.99416543e-01 2.19639357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.580714057 meters Centerline goodness [0,1] 0.9871682114426178 Centerline is valid? [True, True] Translation: X:180.67, Y:-6.18, Z:2.20 [[ 9.98268086e-01 -4.74867318e-02 -3.47251911e-02 1.80668980e+02] [ 4.75460422e-02 9.98868656e-01 8.83755435e-04 -6.17872270e+00] [ 3.46439383e-02 -2.53327025e-03 9.99396508e-01 2.19656096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.610714057 meters Centerline goodness [0,1] 0.9874938143866121 Centerline is valid? [True, True] Translation: X:180.70, Y:-6.18, Z:2.20 [[ 9.98258337e-01 -4.74926322e-02 -3.49963117e-02 1.80699535e+02] [ 4.75528767e-02 9.98868325e-01 8.90655450e-04 -6.17937288e+00] [ 3.49144077e-02 -2.55327952e-03 9.99387045e-01 2.19662851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.640714057 meters Centerline goodness [0,1] 0.9891640517416529 Centerline is valid? [True, True] Translation: X:180.73, Y:-6.18, Z:2.20 [[ 9.98232099e-01 -4.73200872e-02 -3.59650754e-02 1.80730451e+02] [ 4.73836046e-02 9.98876347e-01 9.15310467e-04 -6.17782206e+00] [ 3.58813505e-02 -2.61784720e-03 9.99352628e-01 2.19730905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.670714057 meters Centerline goodness [0,1] 0.984522708300431 Centerline is valid? [True, True] Translation: X:180.76, Y:-6.18, Z:2.20 [[ 9.98288922e-01 -4.68701799e-02 -3.49630428e-02 1.80759496e+02] [ 4.69299184e-02 9.98897788e-01 8.89472135e-04 -6.18223268e+00] [ 3.48828164e-02 -2.52876293e-03 9.99388210e-01 2.19807936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.700714057 meters Centerline goodness [0,1] 0.984522708300431 Centerline is valid? [True, True] Translation: X:180.79, Y:-6.18, Z:2.20 [[ 9.98287394e-01 -4.69026879e-02 -3.49630658e-02 1.80788720e+02] [ 4.69624148e-02 9.98896262e-01 8.88569098e-04 -6.18294103e+00] [ 3.48827994e-02 -2.52899733e-03 9.99388210e-01 2.19851355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73071405699997 meters Centerline goodness [0,1] 0.9889705051418239 Centerline is valid? [True, True] Translation: X:180.82, Y:-6.17, Z:2.20 [[ 9.98295416e-01 -4.70886295e-02 -3.44807695e-02 1.80819548e+02] [ 4.71468127e-02 9.98887587e-01 8.75835106e-04 -6.17398392e+00] [ 3.44011707e-02 -2.50000055e-03 9.99404978e-01 2.20226075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76071405699997 meters Centerline goodness [0,1] 0.9888582534803833 Centerline is valid? [True, True] Translation: X:180.85, Y:-6.17, Z:2.20 [[ 9.98294424e-01 -4.72512522e-02 -3.42864852e-02 1.80850585e+02] [ 4.73089007e-02 9.98879927e-01 8.71606681e-04 -6.16911256e+00] [ 3.42068973e-02 -2.49217601e-03 9.99411666e-01 2.20470270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79071405699997 meters Centerline goodness [0,1] 0.9876153308218096 Centerline is valid? [True, True] Translation: X:180.88, Y:-6.18, Z:2.20 [[ 9.98300729e-01 -4.76860845e-02 -3.34916569e-02 1.80880844e+02] [ 4.77413614e-02 9.98859368e-01 8.52263637e-04 -6.17790935e+00] [ 3.34128141e-02 -2.44975270e-03 9.99438634e-01 2.20340683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82071405699998 meters Centerline goodness [0,1] 0.9871910721547011 Centerline is valid? [True, True] Translation: X:180.91, Y:-6.18, Z:2.20 [[ 9.98211459e-01 -4.96116030e-02 -3.33552448e-02 1.80911194e+02] [ 4.96675183e-02 9.98765446e-01 8.49374979e-04 -6.18099507e+00] [ 3.32719271e-02 -2.50452807e-03 9.99443198e-01 2.20381952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85071405699998 meters Centerline goodness [0,1] 0.9872335651783711 Centerline is valid? [True, True] Translation: X:180.94, Y:-6.18, Z:2.20 [[ 9.98164128e-01 -5.04676661e-02 -3.34871291e-02 1.80942305e+02] [ 5.05245331e-02 9.98722455e-01 8.53616471e-04 -6.18363496e+00] [ 3.34012677e-02 -2.54397090e-03 9.99438784e-01 2.20405529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88071405699998 meters Centerline goodness [0,1] 0.9882671480144405 Centerline is valid? [True, True] Translation: X:180.97, Y:-6.18, Z:2.21 [[ 9.98017391e-01 -5.25009373e-02 -3.47122167e-02 1.80973068e+02] [ 5.25632968e-02 9.98617202e-01 8.85718542e-04 -6.17810840e+00] [ 3.46177156e-02 -2.70855106e-03 9.99396957e-01 2.20515472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91071405699998 meters Centerline goodness [0,1] 0.9883862529316255 Centerline is valid? [True, True] Translation: X:181.00, Y:-6.18, Z:2.20 [[ 9.97964250e-01 -5.30615458e-02 -3.53811878e-02 1.81004141e+02] [ 5.31267193e-02 9.98587370e-01 9.03788425e-04 -6.18144966e+00] [ 3.52832509e-02 -2.78163497e-03 9.99373481e-01 2.20441519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94071405699998 meters Centerline goodness [0,1] 0.9899948171350024 Centerline is valid? [True, True] Translation: X:181.04, Y:-6.18, Z:2.20 [[ 9.97857101e-01 -5.40394489e-02 -3.68909785e-02 1.81035733e+02] [ 5.41110217e-02 9.98534479e-01 9.43708098e-04 -6.18001890e+00] [ 3.67859165e-02 -2.93789436e-03 9.99318851e-01 2.20443780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97071405699998 meters Centerline goodness [0,1] 0.9893810884384351 Centerline is valid? [True, True] Translation: X:181.07, Y:-6.18, Z:2.20 [[ 9.97840912e-01 -5.40688014e-02 -3.72837540e-02 1.81067747e+02] [ 5.41420087e-02 9.98532788e-01 9.55923328e-04 -6.18260906e+00] [ 3.71773652e-02 -2.97247674e-03 9.99304262e-01 2.20442641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00071405699998 meters Centerline goodness [0,1] 0.9882485366951823 Centerline is valid? [True, True] Translation: X:181.10, Y:-6.19, Z:2.20 [[ 9.97874654e-01 -5.35615658e-02 -3.71124428e-02 1.81098181e+02] [ 5.36338072e-02 9.98560217e-01 9.52998502e-04 -6.18639920e+00] [ 3.70079648e-02 -2.94145465e-03 9.99310642e-01 2.20450248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03071405699998 meters Centerline goodness [0,1] 0.9886404615939416 Centerline is valid? [True, True] Translation: X:181.13, Y:-6.18, Z:2.21 [[ 9.97931370e-01 -5.31155733e-02 -3.62176264e-02 1.81130069e+02] [ 5.31841241e-02 9.98584289e-01 9.31282836e-04 -6.18220714e+00] [ 3.61168871e-02 -2.85555910e-03 9.99343493e-01 2.20703579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06071405699998 meters Centerline goodness [0,1] 0.9881658138538872 Centerline is valid? [True, True] Translation: X:181.16, Y:-6.18, Z:2.21 [[ 9.97983814e-01 -5.25513399e-02 -3.55902064e-02 1.81160300e+02] [ 5.26172154e-02 9.98614335e-01 9.16206268e-04 -6.18494348e+00] [ 3.54927424e-02 -2.78701658e-03 9.99366048e-01 2.20723053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09071405699999 meters Centerline goodness [0,1] 0.9880235469246904 Centerline is valid? [True, True] Translation: X:181.19, Y:-6.18, Z:2.21 [[ 9.98083437e-01 -5.13126848e-02 -3.45899063e-02 1.81191188e+02] [ 5.13741885e-02 9.98679077e-01 8.91067987e-04 -6.18487061e+00] [ 3.44984926e-02 -2.66638857e-03 9.99401193e-01 2.20817929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.120714057 meters Centerline goodness [0,1] 0.9882342334219898 Centerline is valid? [True, True] Translation: X:181.22, Y:-6.19, Z:2.21 [[ 9.98204578e-01 -4.96179428e-02 -3.35511693e-02 1.81222092e+02] [ 4.96748738e-02 9.98765067e-01 8.64899288e-04 -6.18528162e+00] [ 3.34668213e-02 -2.52999653e-03 9.99436627e-01 2.20842671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.150714057 meters Centerline goodness [0,1] 0.9870533402382186 Centerline is valid? [True, True] Translation: X:181.25, Y:-6.19, Z:2.21 [[ 9.98266102e-01 -4.85269618e-02 -3.33155188e-02 1.81252766e+02] [ 4.85825218e-02 9.98818802e-01 8.59744038e-04 -6.19041087e+00] [ 3.32344458e-02 -2.47680525e-03 9.99444514e-01 2.20740805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.180714057 meters Centerline goodness [0,1] 0.987333469046165 Centerline is valid? [True, True] Translation: X:181.28, Y:-6.19, Z:2.21 [[ 9.98351460e-01 -4.64235018e-02 -3.37523414e-02 1.81283959e+02] [ 4.64793546e-02 9.98918871e-01 8.71631353e-04 -6.18509580e+00] [ 3.36753866e-02 -2.43898148e-03 9.99429847e-01 2.20893460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.210714057 meters Centerline goodness [0,1] 0.9870112237509051 Centerline is valid? [True, True] Translation: X:181.31, Y:-6.19, Z:2.21 [[ 9.98435798e-01 -4.47982913e-02 -3.34524953e-02 1.81314731e+02] [ 4.48522610e-02 9.98993257e-01 8.64272476e-04 -6.18522289e+00] [ 3.33800993e-02 -2.36334063e-03 9.99439935e-01 2.20938600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.240714057 meters Centerline goodness [0,1] 0.9877938517179023 Centerline is valid? [True, True] Translation: X:181.35, Y:-6.18, Z:2.21 [[ 9.98524448e-01 -4.30545478e-02 -3.30943060e-02 1.81345453e+02] [ 4.31064227e-02 9.99070120e-01 8.55272826e-04 -6.18481163e+00] [ 3.30267088e-02 -2.28058797e-03 9.99451867e-01 2.21011206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.270714057 meters Centerline goodness [0,1] 0.9868593658117338 Centerline is valid? [True, True] Translation: X:181.37, Y:-6.18, Z:2.21 [[ 9.98692212e-01 -4.00538909e-02 -3.17734546e-02 1.81374912e+02] [ 4.01001906e-02 9.99195327e-01 8.21044620e-04 -6.18354137e+00] [ 3.17150013e-02 -2.09409245e-03 9.99494759e-01 2.21150437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.300714057 meters Centerline goodness [0,1] 0.986639538826721 Centerline is valid? [True, True] Translation: X:181.41, Y:-6.18, Z:2.21 [[ 9.98772769e-01 -3.88112645e-02 -3.07675402e-02 1.81405894e+02] [ 3.88540962e-02 9.99244578e-01 7.95241364e-04 -6.18380159e+00] [ 3.07134334e-02 -1.98971039e-03 9.99526251e-01 2.21252549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.330714057 meters Centerline goodness [0,1] 0.9865624291864944 Centerline is valid? [True, True] Translation: X:181.44, Y:-6.18, Z:2.21 [[ 9.98852722e-01 -3.69891699e-02 -3.04144893e-02 1.81436594e+02] [ 3.70301901e-02 9.99313838e-01 7.86363863e-04 -6.18276789e+00] [ 3.03645330e-02 -1.91171600e-03 9.99537063e-01 2.21296470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.360714057 meters Centerline goodness [0,1] 0.9868271890445744 Centerline is valid? [True, True] Translation: X:181.47, Y:-6.18, Z:2.21 [[ 9.98866040e-01 -3.61594266e-02 -3.09698399e-02 1.81466507e+02] [ 3.62015622e-02 9.99344188e-01 8.00722404e-04 -6.18366658e+00] [ 3.09205759e-02 -1.92097100e-03 9.99519999e-01 2.21255105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.390714057 meters Centerline goodness [0,1] 0.986777270466977 Centerline is valid? [True, True] Translation: X:181.50, Y:-6.18, Z:2.21 [[ 9.98893999e-01 -3.48416187e-02 -3.15727889e-02 1.81495739e+02] [ 3.48847386e-02 9.99391009e-01 8.15754249e-04 -6.18301024e+00] [ 3.15251392e-02 -1.91626051e-03 9.99501122e-01 2.21196879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.420714057 meters Centerline goodness [0,1] 0.9869224656601203 Centerline is valid? [True, True] Translation: X:181.52, Y:-6.18, Z:2.21 [[ 9.98899237e-01 -3.46929098e-02 -3.15708117e-02 1.81524229e+02] [ 3.47359088e-02 9.99396194e-01 8.14383313e-04 -6.18481040e+00] [ 3.15234957e-02 -1.91012770e-03 9.99501186e-01 2.21167686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.450714057 meters Centerline goodness [0,1] 0.9869473588796484 Centerline is valid? [True, True] Translation: X:181.55, Y:-6.18, Z:2.21 [[ 9.98915578e-01 -3.45426209e-02 -3.12165790e-02 1.81553466e+02] [ 3.45845472e-02 9.99401452e-01 8.03978683e-04 -6.18432638e+00] [ 3.11701229e-02 -1.88271808e-03 9.99512320e-01 2.21240422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48071405699997 meters Centerline goodness [0,1] 0.9884530211958241 Centerline is valid? [True, True] Translation: X:181.58, Y:-6.18, Z:2.21 [[ 9.98920036e-01 -3.49112548e-02 -3.06588597e-02 1.81583176e+02] [ 3.49518367e-02 9.99388687e-01 7.88577027e-04 -6.17944735e+00] [ 3.06125873e-02 -1.85930885e-03 9.99529596e-01 2.21452300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51071405699997 meters Centerline goodness [0,1] 0.9878131808278867 Centerline is valid? [True, True] Translation: X:181.61, Y:-6.18, Z:2.22 [[ 9.98915267e-01 -3.58425212e-02 -2.97254462e-02 1.81612684e+02] [ 3.58810562e-02 9.99355776e-01 7.63801432e-04 -6.18147063e+00] [ 2.96789197e-02 -1.82955332e-03 9.99557809e-01 2.21500749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54071405699997 meters Centerline goodness [0,1] 0.9880453732424661 Centerline is valid? [True, True] Translation: X:181.64, Y:-6.18, Z:2.22 [[ 9.98895263e-01 -3.62805055e-02 -2.98660008e-02 1.81643353e+02] [ 3.63195931e-02 9.99339931e-01 7.67149611e-04 -6.18104181e+00] [ 2.98184546e-02 -1.85102311e-03 9.99553617e-01 2.21574774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57071405699998 meters Centerline goodness [0,1] 0.9886044404168555 Centerline is valid? [True, True] Translation: X:181.67, Y:-6.18, Z:2.22 [[ 9.98835541e-01 -3.76749757e-02 -3.01356650e-02 1.81673482e+02] [ 3.77154128e-02 9.99288221e-01 7.74341713e-04 -6.18418288e+00] [ 3.00850418e-02 -1.91001907e-03 9.99545518e-01 2.21525299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60071405699998 meters Centerline goodness [0,1] 0.9889716705541339 Centerline is valid? [True, True] Translation: X:181.70, Y:-6.19, Z:2.22 [[ 9.98804320e-01 -3.83766474e-02 -3.02846994e-02 1.81703610e+02] [ 3.84178146e-02 9.99261460e-01 7.78430010e-04 -6.18575925e+00] [ 3.02324594e-02 -1.94097122e-03 9.99541010e-01 2.21548030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63071405699998 meters Centerline goodness [0,1] 0.9897411508934031 Centerline is valid? [True, True] Translation: X:181.74, Y:-6.18, Z:2.22 [[ 9.98719129e-01 -4.05039508e-02 -3.03237907e-02 1.81735296e+02] [ 4.05462175e-02 9.99177360e-01 7.79992923e-04 -6.18362861e+00] [ 3.02672524e-02 -2.00850887e-03 9.99539824e-01 2.21660588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66071405699998 meters Centerline goodness [0,1] 0.9889062464624511 Centerline is valid? [True, True] Translation: X:181.77, Y:-6.19, Z:2.22 [[ 9.98686485e-01 -4.14626673e-02 -3.01023500e-02 1.81765220e+02] [ 4.15047762e-02 9.99138005e-01 7.75100785e-04 -6.19010220e+00] [ 3.00442642e-02 -2.02347398e-03 9.99546521e-01 2.21572653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69071405699998 meters Centerline goodness [0,1] 0.9889062464624511 Centerline is valid? [True, True] Translation: X:181.80, Y:-6.19, Z:2.22 [[ 9.98687920e-01 -4.14281033e-02 -3.01023296e-02 1.81796127e+02] [ 4.14702203e-02 9.99139439e-01 7.75893763e-04 -6.19092993e+00] [ 3.00442809e-02 -2.02322597e-03 9.99546521e-01 2.21618557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72071405699998 meters Centerline goodness [0,1] 0.989660399556551 Centerline is valid? [True, True] Translation: X:181.83, Y:-6.19, Z:2.22 [[ 9.98653675e-01 -4.28364845e-02 -2.92553010e-02 1.81827334e+02] [ 4.28768944e-02 9.99080078e-01 7.55074038e-04 -6.18935136e+00] [ 2.91960437e-02 -2.00843391e-03 9.99571687e-01 2.21762775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75071405699998 meters Centerline goodness [0,1] 0.9898424450363414 Centerline is valid? [True, True] Translation: X:181.86, Y:-6.19, Z:2.22 [[ 9.98661962e-01 -4.32202941e-02 -2.83952670e-02 1.81859027e+02] [ 4.32585746e-02 9.99063639e-01 7.34935345e-04 -6.19143349e+00] [ 2.83369147e-02 -1.96229075e-03 9.99596503e-01 2.21847041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78071405699998 meters Centerline goodness [0,1] 0.9882605745306492 Centerline is valid? [True, True] Translation: X:181.89, Y:-6.20, Z:2.22 [[ 9.98694209e-01 -4.31913052e-02 -2.72834667e-02 1.81889975e+02] [ 4.32266969e-02 9.99065038e-01 7.08444822e-04 -6.20057615e+00] [ 2.72273590e-02 -1.88689388e-03 9.99627486e-01 2.21849254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81071405699998 meters Centerline goodness [0,1] 0.9879308396428975 Centerline is valid? [True, True] Translation: X:181.92, Y:-6.20, Z:2.22 [[ 9.98731809e-01 -4.25417585e-02 -2.69253163e-02 1.81921127e+02] [ 4.25760504e-02 9.99092983e-01 7.01326651e-04 -6.20207204e+00] [ 2.68710589e-02 -1.84681086e-03 9.99637202e-01 2.21848955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84071405699999 meters Centerline goodness [0,1] 0.989493382634771 Centerline is valid? [True, True] Translation: X:181.95, Y:-6.20, Z:2.22 [[ 9.98761391e-01 -4.16238285e-02 -2.72606119e-02 1.81952948e+02] [ 4.16586992e-02 9.99131646e-01 7.12239199e-04 -6.19557247e+00] [ 2.72072939e-02 -1.84699864e-03 9.99628107e-01 2.21982446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.870714057 meters Centerline goodness [0,1] 0.9887637909206005 Centerline is valid? [True, True] Translation: X:181.98, Y:-6.20, Z:2.22 [[ 9.98826299e-01 -4.01860428e-02 -2.70389933e-02 1.81984605e+02] [ 4.02198551e-02 9.99190604e-01 7.07595393e-04 -6.19558973e+00] [ 2.69886726e-02 -1.79426928e-03 9.99634129e-01 2.22014684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.900714057 meters Centerline goodness [0,1] 0.9896713402342069 Centerline is valid? [True, True] Translation: X:182.02, Y:-6.19, Z:2.22 [[ 9.98962436e-01 -3.70639426e-02 -2.64634718e-02 1.82015509e+02] [ 3.70952648e-02 9.99311493e-01 6.93493304e-04 -6.19209215e+00] [ 2.64195479e-02 -1.67444325e-03 9.99649540e-01 2.22101653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.930714057 meters Centerline goodness [0,1] 0.9886763337644949 Centerline is valid? [True, True] Translation: X:182.05, Y:-6.19, Z:2.22 [[ 9.99035013e-01 -3.50320594e-02 -2.64914483e-02 1.82045417e+02] [ 3.50627432e-02 9.99384872e-01 6.94484675e-04 -6.19180321e+00] [ 2.64508234e-02 -1.62267735e-03 9.99648799e-01 2.22177537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.960714057 meters Centerline goodness [0,1] 0.9890304156656543 Centerline is valid? [True, True] Translation: X:182.08, Y:-6.18, Z:2.22 [[ 9.99158108e-01 -3.14034041e-02 -2.63989080e-02 1.82076832e+02] [ 3.14326173e-02 9.99505633e-01 6.92266324e-04 -6.18412192e+00] [ 2.63641178e-02 -1.52147028e-03 9.99651248e-01 2.22335351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.990714057 meters Centerline goodness [0,1] 0.9888888888888889 Centerline is valid? [True, True] Translation: X:182.11, Y:-6.19, Z:2.22 [[ 9.99213869e-01 -2.97822683e-02 -2.61660138e-02 1.82106197e+02] [ 2.98104157e-02 9.99555335e-01 6.86221301e-04 -6.18943870e+00] [ 2.61339415e-02 -1.46570159e-03 9.99657376e-01 2.22260912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.020714057 meters Centerline goodness [0,1] 0.9890394172510042 Centerline is valid? [True, True] Translation: X:182.14, Y:-6.18, Z:2.22 [[ 9.99320621e-01 -2.69436718e-02 -2.51462616e-02 1.82136597e+02] [ 2.69687603e-02 9.99636060e-01 6.59040160e-04 -6.18190496e+00] [ 2.51193529e-02 -1.33675593e-03 9.99683566e-01 2.22386292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.050714057 meters Centerline goodness [0,1] 0.988519074250898 Centerline is valid? [True, True] Translation: X:182.17, Y:-6.19, Z:2.22 [[ 9.99349378e-01 -2.56489327e-02 -2.53565127e-02 1.82165630e+02] [ 2.56740109e-02 9.99670148e-01 6.63914312e-04 -6.18735464e+00] [ 2.53311201e-02 -1.31448574e-03 9.99678251e-01 2.22302998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.080714057 meters Centerline goodness [0,1] 0.9892123170759461 Centerline is valid? [True, True] Translation: X:182.20, Y:-6.18, Z:2.22 [[ 9.99404147e-01 -2.32367269e-02 -2.55226523e-02 1.82196032e+02] [ 2.32613322e-02 9.99729196e-01 6.67548514e-04 -6.17908678e+00] [ 2.55002290e-02 -1.26084165e-03 9.99674021e-01 2.22413875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.110714057 meters Centerline goodness [0,1] 0.9903323400286618 Centerline is valid? [True, True] Translation: X:182.23, Y:-6.18, Z:2.22 [[ 9.99421664e-01 -2.23435764e-02 -2.56340136e-02 1.82225211e+02] [ 2.23680330e-02 9.99749581e-01 6.67693495e-04 -6.17783107e+00] [ 2.56126757e-02 -1.24068981e-03 9.99671172e-01 2.22469182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.140714057 meters Centerline goodness [0,1] 0.9898507190970326 Centerline is valid? [True, True] Translation: X:182.25, Y:-6.18, Z:2.22 [[ 9.99447907e-01 -2.09228667e-02 -2.58091820e-02 1.82252887e+02] [ 2.09470718e-02 9.99780363e-01 6.67819024e-04 -6.17842112e+00] [ 2.57895406e-02 -1.20807712e-03 9.99666665e-01 2.22403646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.170714057 meters Centerline goodness [0,1] 0.9907105940210833 Centerline is valid? [True, True] Translation: X:182.28, Y:-6.18, Z:2.22 [[ 9.99454916e-01 -2.05441231e-02 -2.58420216e-02 1.82281285e+02] [ 2.05681585e-02 9.99788232e-01 6.64599244e-04 -6.17767803e+00] [ 2.58228955e-02 -1.19575978e-03 9.99665818e-01 2.22427026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.200714057 meters Centerline goodness [0,1] 0.9902748607433112 Centerline is valid? [True, True] Translation: X:182.31, Y:-6.18, Z:2.22 [[ 9.99443235e-01 -2.05778177e-02 -2.62635255e-02 1.82308866e+02] [ 2.06024706e-02 9.99787523e-01 6.68399989e-04 -6.17878400e+00] [ 2.62441909e-02 -1.20912136e-03 9.99654831e-01 2.22469190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23071405699997 meters Centerline goodness [0,1] 0.990510515990693 Centerline is valid? [True, True] Translation: X:182.34, Y:-6.18, Z:2.23 [[ 9.99438586e-01 -2.09865693e-02 -2.61165861e-02 1.82336787e+02] [ 2.10108904e-02 9.99779031e-01 6.57156107e-04 -6.17676199e+00] [ 2.60970237e-02 -1.20551990e-03 9.99658688e-01 2.22595437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26071405699997 meters Centerline goodness [0,1] 0.9904280049227403 Centerline is valid? [True, True] Translation: X:182.36, Y:-6.18, Z:2.23 [[ 9.99423240e-01 -2.16971444e-02 -2.61231890e-02 1.82364605e+02] [ 2.17215804e-02 9.99763846e-01 6.51978274e-04 -6.17928274e+00] [ 2.61028738e-02 -1.21903919e-03 9.99658519e-01 2.22567041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29071405699997 meters Centerline goodness [0,1] 0.9900367907497544 Centerline is valid? [True, True] Translation: X:182.39, Y:-6.18, Z:2.23 [[ 9.99401149e-01 -2.29725051e-02 -2.58767823e-02 1.82393077e+02] [ 2.29968025e-02 9.99735333e-01 6.41725964e-04 -6.17942437e+00] [ 2.58551915e-02 -1.23642492e-03 9.99664934e-01 2.22593789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32071405699998 meters Centerline goodness [0,1] 0.990435973522027 Centerline is valid? [True, True] Translation: X:182.42, Y:-6.18, Z:2.23 [[ 9.99377685e-01 -2.38661189e-02 -2.59740408e-02 1.82421361e+02] [ 2.38907771e-02 9.99714370e-01 6.39385869e-04 -6.18126446e+00] [ 2.59513622e-02 -1.25952799e-03 9.99662413e-01 2.22576410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35071405699998 meters Centerline goodness [0,1] 0.9901741747218676 Centerline is valid? [True, True] Translation: X:182.45, Y:-6.18, Z:2.23 [[ 9.99327376e-01 -2.61263490e-02 -2.57334492e-02 1.82450111e+02] [ 2.61512510e-02 9.99657798e-01 6.31570181e-04 -6.18405476e+00] [ 2.57081425e-02 -1.30410726e-03 9.99668640e-01 2.22627672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38071405699998 meters Centerline goodness [0,1] 0.990162063455832 Centerline is valid? [True, True] Translation: X:182.48, Y:-6.19, Z:2.23 [[ 9.99285119e-01 -2.72835154e-02 -2.61698252e-02 1.82479637e+02] [ 2.73096338e-02 9.99626817e-01 6.41083658e-04 -6.18630542e+00] [ 2.61425681e-02 -1.35531370e-03 9.99657306e-01 2.22699441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41071405699998 meters Centerline goodness [0,1] 0.9892042089919373 Centerline is valid? [True, True] Translation: X:182.51, Y:-6.19, Z:2.23 [[ 9.99222915e-01 -2.95382076e-02 -2.60971308e-02 1.82508400e+02] [ 2.95649354e-02 9.99562658e-01 6.38828799e-04 -6.18991821e+00] [ 2.60668476e-02 -1.40989236e-03 9.99659208e-01 2.22695909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44071405699998 meters Centerline goodness [0,1] 0.9895939835957558 Centerline is valid? [True, True] Translation: X:182.54, Y:-6.19, Z:2.23 [[ 9.99180926e-01 -3.06512777e-02 -2.64192366e-02 1.82539140e+02] [ 3.06790589e-02 9.99529078e-01 6.46771496e-04 -6.19237613e+00] [ 2.63869708e-02 -1.45675906e-03 9.99650742e-01 2.22697748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47071405699998 meters Centerline goodness [0,1] 0.9888782967905942 Centerline is valid? [True, True] Translation: X:182.57, Y:-6.20, Z:2.23 [[ 9.99093043e-01 -3.31939680e-02 -2.66693148e-02 1.82569034e+02] [ 3.32231997e-02 9.99447743e-01 6.53609745e-04 -6.19707122e+00] [ 2.66328906e-02 -1.53905692e-03 9.99644097e-01 2.22652074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50071405699998 meters Centerline goodness [0,1] 0.9889219990446078 Centerline is valid? [True, True] Translation: X:182.60, Y:-6.20, Z:2.23 [[ 9.99048004e-01 -3.45911120e-02 -2.65808401e-02 1.82600237e+02] [ 3.46206771e-02 9.99400312e-01 6.52735273e-04 -6.19921327e+00] [ 2.65423210e-02 -1.57236055e-03 9.99646454e-01 2.22673968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53071405699998 meters Centerline goodness [0,1] 0.9887944974605416 Centerline is valid? [True, True] Translation: X:182.63, Y:-6.20, Z:2.23 [[ 9.98956246e-01 -3.77543485e-02 -2.57104779e-02 1.82630238e+02] [ 3.77830644e-02 9.99285765e-01 6.31849093e-04 -6.20426143e+00] [ 2.56682595e-02 -1.60261024e-03 9.99669231e-01 2.22724469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56071405699998 meters Centerline goodness [0,1] 0.9880830547406245 Centerline is valid? [True, True] Translation: X:182.66, Y:-6.21, Z:2.23 [[ 9.98912676e-01 -3.88341602e-02 -2.57948334e-02 1.82661736e+02] [ 3.88634329e-02 9.99244330e-01 6.34288894e-04 -6.20637816e+00] [ 2.57507089e-02 -1.63607499e-03 9.99667057e-01 2.22791883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59071405699999 meters Centerline goodness [0,1] 0.9881220049510572 Centerline is valid? [True, True] Translation: X:182.69, Y:-6.21, Z:2.23 [[ 9.98869950e-01 -4.04746468e-02 -2.49123608e-02 1.82691866e+02] [ 4.05024743e-02 9.99179250e-01 6.13237079e-04 -6.20928404e+00] [ 2.48670934e-02 -1.62155634e-03 9.99689451e-01 2.22843894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.620714057 meters Centerline goodness [0,1] 0.9878655668416388 Centerline is valid? [True, True] Translation: X:182.72, Y:-6.21, Z:2.23 [[ 9.98845799e-01 -4.12022891e-02 -2.46868798e-02 1.82724077e+02] [ 4.12298582e-02 9.99149503e-01 6.08582449e-04 -6.21127820e+00] [ 2.46408086e-02 -1.62571657e-03 9.99695047e-01 2.22901937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.650714057 meters Centerline goodness [0,1] 0.987279843444227 Centerline is valid? [True, True] Translation: X:182.76, Y:-6.21, Z:2.23 [[ 9.98849763e-01 -4.16469155e-02 -2.37631306e-02 1.82756466e+02] [ 4.16726209e-02 9.99131146e-01 5.87341308e-04 -6.21350949e+00] [ 2.37180230e-02 -1.57693766e-03 9.99717444e-01 2.22966919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.680714057 meters Centerline goodness [0,1] 0.9858500192748135 Centerline is valid? [True, True] Translation: X:182.79, Y:-6.22, Z:2.23 [[ 9.98864065e-01 -4.17966482e-02 -2.28827315e-02 1.82787856e+02] [ 4.18205532e-02 9.99124977e-01 5.66917051e-04 -6.21620596e+00] [ 2.28390134e-02 -1.52324156e-03 9.99737995e-01 2.23033229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.710714057 meters Centerline goodness [0,1] 0.9854993408791308 Centerline is valid? [True, True] Translation: X:182.82, Y:-6.22, Z:2.23 [[ 9.98840861e-01 -4.25437287e-02 -2.25159144e-02 1.82818858e+02] [ 4.25670866e-02 9.99093454e-01 5.58918510e-04 -6.21967229e+00] [ 2.24717243e-02 -1.51670753e-03 9.99746328e-01 2.23033972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.740714057 meters Centerline goodness [0,1] 0.984359015163571 Centerline is valid? [True, True] Translation: X:182.85, Y:-6.22, Z:2.23 [[ 9.98810547e-01 -4.31722540e-02 -2.26638057e-02 1.82850442e+02] [ 4.31961057e-02 9.99066454e-01 5.63687309e-04 -6.22269196e+00] [ 2.26183123e-02 -1.54200498e-03 9.99742984e-01 2.23026666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.770714057 meters Centerline goodness [0,1] 0.9838871187983614 Centerline is valid? [True, True] Translation: X:182.88, Y:-6.23, Z:2.23 [[ 9.98720515e-01 -4.48443066e-02 -2.33735121e-02 1.82880355e+02] [ 4.48701488e-02 9.98992658e-01 5.82072584e-04 -6.22681183e+00] [ 2.33238644e-02 -1.63010080e-03 9.99726633e-01 2.22894344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.800714057 meters Centerline goodness [0,1] 0.9828150572831424 Centerline is valid? [True, True] Translation: X:182.91, Y:-6.23, Z:2.23 [[ 9.98680577e-01 -4.56606143e-02 -2.34992112e-02 1.82912747e+02] [ 4.56869730e-02 9.98955633e-01 5.85749366e-04 -6.22890359e+00] [ 2.34479238e-02 -1.65858434e-03 9.99723684e-01 2.22899717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.830714057 meters Centerline goodness [0,1] 0.9798334959054511 Centerline is valid? [True, True] Translation: X:182.94, Y:-6.23, Z:2.23 [[ 9.98611846e-01 -4.68437601e-02 -2.40840885e-02 1.82944888e+02] [ 4.68718269e-02 9.98900731e-01 6.01864594e-04 -6.23235529e+00] [ 2.40294200e-02 -1.72989434e-03 9.99709755e-01 2.22876069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.860714057 meters Centerline goodness [0,1] 0.9723586806420211 Centerline is valid? [True, True] Translation: X:182.97, Y:-6.24, Z:2.23 [[ 9.98468927e-01 -4.95180752e-02 -2.46528379e-02 1.82974524e+02] [ 4.95483162e-02 9.98771537e-01 6.16970703e-04 -6.23663111e+00] [ 2.45920016e-02 -1.83753269e-03 9.99695882e-01 2.22897202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.890714057 meters Centerline goodness [0,1] 0.9625577602609405 Centerline is valid? [True, True] Translation: X:183.00, Y:-6.24, Z:2.23 [[ 9.98375742e-01 -5.15449187e-02 -2.42693061e-02 1.83004391e+02] [ 5.15748191e-02 9.98668949e-01 6.07291941e-04 -6.24087566e+00] [ 2.42056996e-02 -1.85799061e-03 9.99705273e-01 2.22954181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.920714057 meters Centerline goodness [0,1] 0.953663061676999 Centerline is valid? [True, True] Translation: X:183.04, Y:-6.24, Z:2.23 [[ 9.98333550e-01 -5.23254584e-02 -2.43345406e-02 1.83036877e+02] [ 5.23557645e-02 9.98628310e-01 6.09507806e-04 -6.24357606e+00] [ 2.42692684e-02 -1.88254557e-03 9.99703685e-01 2.23005071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.950714057 meters Centerline goodness [0,1] 0.9436396917583784 Centerline is valid? [True, False] Translation: X:183.04, Y:-6.24, Z:2.23 [[ 9.98341165e-01 -5.21356767e-02 -2.44292639e-02 1.83037358e+02] [ 5.21733315e-02 9.98637633e-01 9.06113750e-04 -6.24395627e+00] [ 2.43487414e-02 -2.17916674e-03 9.99701150e-01 2.22966933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98071405699997 meters Centerline goodness [0,1] 0.9894155858904763 Centerline is valid? [False, True] Translation: X:183.04, Y:-6.24, Z:2.23 [[ 9.98347819e-01 -5.19087978e-02 -2.46395928e-02 1.83038102e+02] [ 5.19519691e-02 9.98648962e-01 1.11478971e-03 -6.24391413e+00] [ 2.45484364e-02 -2.39302323e-03 9.99695778e-01 2.22924627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01071405699997 meters Centerline goodness [0,1] 0.987908074139613 Centerline is valid? [True, True] Translation: X:183.07, Y:-6.25, Z:2.23 [[ 9.98359733e-01 -5.09783988e-02 -2.60585137e-02 1.83069612e+02] [ 5.10133346e-02 9.98697743e-01 6.77218280e-04 -6.24680423e+00] [ 2.59900553e-02 -2.00543914e-03 9.99660190e-01 2.22896153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04071405699997 meters Centerline goodness [0,1] 0.9873023805197165 Centerline is valid? [True, True] Translation: X:183.10, Y:-6.25, Z:2.23 [[ 9.98402669e-01 -5.01361056e-02 -2.60476900e-02 1.83101193e+02] [ 5.01707693e-02 9.98740423e-01 6.78550112e-04 -6.24766266e+00] [ 2.59808611e-02 -1.98429889e-03 9.99660471e-01 2.22906665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07071405699998 meters Centerline goodness [0,1] 0.9874355304114694 Centerline is valid? [True, True] Translation: X:183.13, Y:-6.25, Z:2.23 [[ 9.98438925e-01 -4.93244469e-02 -2.62070896e-02 1.83133190e+02] [ 4.93593065e-02 9.98780852e-01 6.84543987e-04 -6.24797146e+00] [ 2.61413746e-02 -1.97703913e-03 9.99656301e-01 2.22974491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10071405699998 meters Centerline goodness [0,1] 0.9880556945897985 Centerline is valid? [True, True] Translation: X:183.17, Y:-6.24, Z:2.23 [[ 9.98494292e-01 -4.82880928e-02 -2.60270878e-02 1.83165556e+02] [ 4.83221791e-02 9.98831568e-01 6.81925510e-04 -6.24222508e+00] [ 2.59637481e-02 -1.93858433e-03 9.99661005e-01 2.23156539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13071405699998 meters Centerline goodness [0,1] 0.9874832161307208 Centerline is valid? [True, True] Translation: X:183.20, Y:-6.25, Z:2.23 [[ 9.98516670e-01 -4.80464371e-02 -2.56124716e-02 1.83196235e+02] [ 4.80794150e-02 9.98843289e-01 6.72959635e-04 -6.24920774e+00] [ 2.55505121e-02 -1.90339407e-03 9.99671720e-01 2.23133332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16071405699998 meters Centerline goodness [0,1] 0.9879007450953585 Centerline is valid? [True, True] Translation: X:183.23, Y:-6.25, Z:2.23 [[ 9.98545722e-01 -4.75579903e-02 -2.53905238e-02 1.83228924e+02] [ 4.75902820e-02 9.98866717e-01 6.68708115e-04 -6.24592238e+00] [ 2.53299468e-02 -1.87607782e-03 9.99677385e-01 2.23298704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19071405699998 meters Centerline goodness [0,1] 0.9878694259557939 Centerline is valid? [True, True] Translation: X:183.26, Y:-6.25, Z:2.23 [[ 9.98609365e-01 -4.68188815e-02 -2.42348709e-02 1.83261102e+02] [ 4.68481283e-02 9.98901819e-01 6.40142606e-04 -6.24616924e+00] [ 2.41782859e-02 -1.77461074e-03 9.99706087e-01 2.23409837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22071405699998 meters Centerline goodness [0,1] 0.9883367950151781 Centerline is valid? [True, True] Translation: X:183.29, Y:-6.25, Z:2.23 [[ 9.98643285e-01 -4.61828597e-02 -2.40568553e-02 1.83293034e+02] [ 4.62115417e-02 9.98931473e-01 6.37400496e-04 -6.24745675e+00] [ 2.40017130e-02 -1.74824010e-03 9.99710389e-01 2.23423681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25071405699998 meters Centerline goodness [0,1] 0.9882717314568104 Centerline is valid? [True, True] Translation: X:183.33, Y:-6.25, Z:2.23 [[ 9.98668900e-01 -4.54378824e-02 -2.44095482e-02 1.83325643e+02] [ 4.54672335e-02 9.98965620e-01 6.48506878e-04 -6.24738092e+00] [ 2.43548326e-02 -1.75747828e-03 9.99701832e-01 2.23445294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28071405699998 meters Centerline goodness [0,1] 0.9884751773049646 Centerline is valid? [True, True] Translation: X:183.36, Y:-6.25, Z:2.23 [[ 9.98664527e-01 -4.52810019e-02 -2.48755559e-02 1.83358050e+02] [ 4.53114808e-02 9.98972688e-01 6.62675924e-04 -6.24792140e+00] [ 2.48199943e-02 -1.78893921e-03 9.99690336e-01 2.23412587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31071405699998 meters Centerline goodness [0,1] 0.9883138942362133 Centerline is valid? [True, True] Translation: X:183.39, Y:-6.25, Z:2.23 [[ 9.98620602e-01 -4.55885983e-02 -2.60494259e-02 1.83390458e+02] [ 4.56221766e-02 9.98958524e-01 6.95853606e-04 -6.24659070e+00] [ 2.59905731e-02 -1.88332525e-03 9.99660414e-01 2.23344418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34071405699999 meters Centerline goodness [0,1] 0.9893233562987636 Centerline is valid? [True, True] Translation: X:183.42, Y:-6.25, Z:2.23 [[ 9.98494386e-01 -4.76969798e-02 -2.70916644e-02 1.83421243e+02] [ 4.77341062e-02 9.98859815e-01 7.24970178e-04 -6.24578656e+00] [ 2.70261960e-02 -2.01707504e-03 9.99632691e-01 2.23328215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.370714057 meters Centerline goodness [0,1] 0.987987987987988 Centerline is valid? [True, True] Translation: X:183.45, Y:-6.25, Z:2.23 [[ 9.98424851e-01 -4.88055687e-02 -2.76737029e-02 1.83451949e+02] [ 4.88447593e-02 9.98806107e-01 7.41550183e-04 -6.25457619e+00] [ 2.76044717e-02 -2.09209749e-03 9.99616735e-01 2.23247972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.400714057 meters Centerline goodness [0,1] 0.9893677701978142 Centerline is valid? [True, True] Translation: X:183.48, Y:-6.25, Z:2.23 [[ 9.98352123e-01 -5.00724384e-02 -2.80319502e-02 1.83484264e+02] [ 5.01131965e-02 9.98743261e-01 7.52915842e-04 -6.25101645e+00] [ 2.79590210e-02 -2.15644576e-03 9.99606744e-01 2.23374059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.430714057 meters Centerline goodness [0,1] 0.9885440438156093 Centerline is valid? [True, True] Translation: X:183.51, Y:-6.25, Z:2.23 [[ 9.98229672e-01 -5.20957442e-02 -2.86976500e-02 1.83514948e+02] [ 5.21393292e-02 9.98639522e-01 7.72062107e-04 -6.25266556e+00] [ 2.86183863e-02 -2.26697152e-03 9.99587839e-01 2.23365631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.460714057 meters Centerline goodness [0,1] 0.9892193732193733 Centerline is valid? [True, True] Translation: X:183.55, Y:-6.25, Z:2.23 [[ 9.98198887e-01 -5.25905882e-02 -2.88654114e-02 1.83546608e+02] [ 5.26349200e-02 9.98613519e-01 7.77616463e-04 -6.25462208e+00] [ 2.87844948e-02 -2.29554451e-03 9.99583005e-01 2.23371158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.490714057 meters Centerline goodness [0,1] 0.9883805871341825 Centerline is valid? [True, True] Translation: X:183.58, Y:-6.26, Z:2.23 [[ 9.98140006e-01 -5.37536329e-02 -2.87589301e-02 1.83577291e+02] [ 5.37981534e-02 9.98551529e-01 7.75995242e-04 -6.25648986e+00] [ 2.86755610e-02 -2.32172923e-03 9.99586075e-01 2.23414421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.520714057 meters Centerline goodness [0,1] 0.9877482913895175 Centerline is valid? [True, True] Translation: X:183.61, Y:-6.26, Z:2.23 [[ 9.98128710e-01 -5.41673815e-02 -2.83720479e-02 1.83609317e+02] [ 5.42109200e-02 9.98529212e-01 7.67050537e-04 -6.25744703e+00] [ 2.82887696e-02 -2.30368998e-03 9.99597138e-01 2.23496899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.550714057 meters Centerline goodness [0,1] 0.9881316474186334 Centerline is valid? [True, True] Translation: X:183.64, Y:-6.26, Z:2.24 [[ 9.98129326e-01 -5.44117331e-02 -2.78785215e-02 1.83641031e+02] [ 5.44539112e-02 9.98515999e-01 7.55407308e-04 -6.25647342e+00] [ 2.77960467e-02 -2.27208872e-03 9.99611033e-01 2.23592932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.580714057 meters Centerline goodness [0,1] 0.9881316474186334 Centerline is valid? [True, True] Translation: X:183.67, Y:-6.26, Z:2.24 [[ 9.98133210e-01 -5.43404650e-02 -2.78784742e-02 1.83672821e+02] [ 5.43826639e-02 9.98519881e-01 7.57151390e-04 -6.25739886e+00] [ 2.77960667e-02 -2.27184364e-03 9.99611033e-01 2.23636679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.610714057 meters Centerline goodness [0,1] 0.9888713694842439 Centerline is valid? [True, True] Translation: X:183.70, Y:-6.26, Z:2.24 [[ 9.98184039e-01 -5.42165656e-02 -2.62523952e-02 1.83704822e+02] [ 5.42539888e-02 9.98526912e-01 7.14823959e-04 -6.25603178e+00] [ 2.61749678e-02 -2.13782302e-03 9.99655091e-01 2.23755217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.640714057 meters Centerline goodness [0,1] 0.984765080742788 Centerline is valid? [True, True] Translation: X:183.74, Y:-6.27, Z:2.24 [[ 9.98197001e-01 -5.42005808e-02 -2.57884585e-02 1.83736048e+02] [ 5.42367292e-02 9.98527857e-01 7.03826632e-04 -6.26776027e+00] [ 2.57123464e-02 -2.10123927e-03 9.99667175e-01 2.23658225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.670714057 meters Centerline goodness [0,1] 0.9882498171177762 Centerline is valid? [True, True] Translation: X:183.77, Y:-6.26, Z:2.24 [[ 9.98266094e-01 -5.35652310e-02 -2.44043162e-02 1.83768106e+02] [ 5.35974488e-02 9.98562401e-01 6.67515239e-04 -6.26121169e+00] [ 2.43334769e-02 -1.97436692e-03 9.99701947e-01 2.23881537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.700714057 meters Centerline goodness [0,1] 0.9881501438421846 Centerline is valid? [True, True] Translation: X:183.80, Y:-6.26, Z:2.24 [[ 9.98262158e-01 -5.37256637e-02 -2.42119194e-02 1.83800348e+02] [ 5.37574637e-02 9.98553801e-01 6.63971734e-04 -6.26179987e+00] [ 2.41412318e-02 -1.96438923e-03 9.99706628e-01 2.23933354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73071405699997 meters Centerline goodness [0,1] 0.983571395974992 Centerline is valid? [True, True] Translation: X:183.83, Y:-6.27, Z:2.24 [[ 9.98267013e-01 -5.36246100e-02 -2.42357432e-02 1.83831617e+02] [ 5.36564803e-02 9.98559231e-01 6.66161455e-04 -6.27314721e+00] [ 2.41651025e-02 -1.96541168e-03 9.99706049e-01 2.23822554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76071405699997 meters Centerline goodness [0,1] 0.9875474980542965 Centerline is valid? [True, True] Translation: X:183.86, Y:-6.26, Z:2.24 [[ 9.98278165e-01 -5.34182180e-02 -2.42322109e-02 1.83864564e+02] [ 5.34500587e-02 9.98570301e-01 6.67724889e-04 -6.26488457e+00] [ 2.41618974e-02 -1.96178827e-03 9.99706134e-01 2.23984584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79071405699997 meters Centerline goodness [0,1] 0.9865565715845503 Centerline is valid? [True, True] Translation: X:183.90, Y:-6.27, Z:2.24 [[ 9.98271615e-01 -5.32124675e-02 -2.49442746e-02 1.83895383e+02] [ 5.32461899e-02 9.98581178e-01 6.89194881e-04 -6.27138596e+00] [ 2.48722094e-02 -2.01619127e-03 9.99688606e-01 2.23858159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82071405699998 meters Centerline goodness [0,1] 0.9890715379866938 Centerline is valid? [True, True] Translation: X:183.93, Y:-6.26, Z:2.24 [[ 9.98253625e-01 -5.33715117e-02 -2.53215813e-02 1.83927648e+02] [ 5.34063530e-02 9.98572616e-01 7.01197260e-04 -6.26461015e+00] [ 2.52480137e-02 -2.05230602e-03 9.99679111e-01 2.23954256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85071405699998 meters Centerline goodness [0,1] 0.9885833257069644 Centerline is valid? [True, True] Translation: X:183.96, Y:-6.27, Z:2.24 [[ 9.98212929e-01 -5.37254621e-02 -2.61633828e-02 1.83960017e+02] [ 5.37628307e-02 9.98553469e-01 7.26441798e-04 -6.26599440e+00] [ 2.60865082e-02 -2.13176111e-03 9.99657416e-01 2.23854704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88071405699998 meters Centerline goodness [0,1] 0.9874845558962156 Centerline is valid? [True, True] Translation: X:183.99, Y:-6.27, Z:2.24 [[ 9.98150300e-01 -5.41075359e-02 -2.77192004e-02 1.83990720e+02] [ 5.41496797e-02 9.98532532e-01 7.71457552e-04 -6.27177383e+00] [ 2.76367817e-02 -2.27101641e-03 9.99615451e-01 2.23639569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91071405699998 meters Centerline goodness [0,1] 0.9877649964552794 Centerline is valid? [True, True] Translation: X:184.02, Y:-6.27, Z:2.24 [[ 9.98146595e-01 -5.40024878e-02 -2.80554213e-02 1.84022073e+02] [ 5.40456620e-02 9.98538159e-01 7.82337065e-04 -6.27438864e+00] [ 2.79721605e-02 -2.29716089e-03 9.99606063e-01 2.23525913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94071405699998 meters Centerline goodness [0,1] 0.9885814969909156 Centerline is valid? [True, True] Translation: X:184.05, Y:-6.27, Z:2.24 [[ 9.98144161e-01 -5.37903123e-02 -2.85453478e-02 1.84053883e+02] [ 5.38349737e-02 9.98549528e-01 7.97807222e-04 -6.27361891e+00] [ 2.84610293e-02 -2.33306467e-03 9.99592180e-01 2.23594590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97071405699998 meters Centerline goodness [0,1] 0.9876059564719358 Centerline is valid? [True, True] Translation: X:184.09, Y:-6.27, Z:2.24 [[ 9.98190465e-01 -5.31810247e-02 -2.80637652e-02 1.84086236e+02] [ 5.32240080e-02 9.98582288e-01 7.86347906e-04 -6.27225865e+00] [ 2.79821601e-02 -2.27859104e-03 9.99605826e-01 2.23652712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00071405699998 meters Centerline goodness [0,1] 0.9865655273259002 Centerline is valid? [True, True] Translation: X:184.12, Y:-6.28, Z:2.24 [[ 9.98245914e-01 -5.21348337e-02 -2.80544991e-02 1.84117178e+02] [ 5.21774273e-02 9.98637520e-01 7.87844660e-04 -6.27804948e+00] [ 2.79752012e-02 -2.25027430e-03 9.99606085e-01 2.23660730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03071405699998 meters Centerline goodness [0,1] 0.9866079618418638 Centerline is valid? [True, True] Translation: X:184.15, Y:-6.27, Z:2.24 [[ 9.98304324e-01 -5.16447450e-02 -2.68569744e-02 1.84149189e+02] [ 5.16836459e-02 9.98663221e-01 7.55850249e-04 -6.27487687e+00] [ 2.67820369e-02 -2.14263493e-03 9.99639001e-01 2.23811943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06071405699998 meters Centerline goodness [0,1] 0.9868303520304161 Centerline is valid? [True, True] Translation: X:184.18, Y:-6.28, Z:2.24 [[ 9.98424027e-01 -5.06197549e-02 -2.42301823e-02 1.84179673e+02] [ 5.06511418e-02 9.98716174e-01 6.82991679e-04 -6.27641782e+00] [ 2.41645021e-02 -1.90920170e-03 9.99706173e-01 2.24027719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09071405699999 meters Centerline goodness [0,1] 0.9858327811164682 Centerline is valid? [True, True] Translation: X:184.21, Y:-6.28, Z:2.24 [[ 9.98467188e-01 -5.02038037e-02 -2.32991812e-02 1.84211632e+02] [ 5.02327326e-02 9.98737323e-01 6.57651473e-04 -6.27789210e+00] [ 2.32367452e-02 -1.82702496e-03 9.99728321e-01 2.24110142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.120714057 meters Centerline goodness [0,1] 0.9843814315115481 Centerline is valid? [True, True] Translation: X:184.24, Y:-6.28, Z:2.24 [[ 9.98500763e-01 -4.98185776e-02 -2.26789667e-02 1.84242423e+02] [ 4.98459229e-02 9.98756713e-01 6.41706477e-04 -6.28326433e+00] [ 2.26188014e-02 -1.77119843e-03 9.99742593e-01 2.24101437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.150714057 meters Centerline goodness [0,1] 0.9867748996716527 Centerline is valid? [True, True] Translation: X:184.27, Y:-6.28, Z:2.24 [[ 9.98500480e-01 -4.98582913e-02 -2.26040498e-02 1.84274470e+02] [ 4.98855024e-02 9.98754737e-01 6.41186599e-04 -6.27904421e+00] [ 2.25439334e-02 -1.76783951e-03 9.99744290e-01 2.24190359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.180714057 meters Centerline goodness [0,1] 0.9853740645542843 Centerline is valid? [True, True] Translation: X:184.31, Y:-6.29, Z:2.24 [[ 9.98457707e-01 -5.04125794e-02 -2.32546570e-02 1.84306071e+02] [ 5.04415687e-02 9.98726795e-01 6.61340010e-04 -6.28506089e+00] [ 2.31917092e-02 -1.83332141e-03 9.99729355e-01 2.24083150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.210714057 meters Centerline goodness [0,1] 0.9860198868819559 Centerline is valid? [True, True] Translation: X:184.34, Y:-6.28, Z:2.24 [[ 9.98406842e-01 -5.11445855e-02 -2.38329463e-02 1.84338579e+02] [ 5.11752834e-02 9.98689456e-01 6.79516262e-04 -6.28419856e+00] [ 2.37669586e-02 -1.89809147e-03 9.99715724e-01 2.24083824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.240714057 meters Centerline goodness [0,1] 0.9856075787939516 Centerline is valid? [True, True] Translation: X:184.37, Y:-6.29, Z:2.24 [[ 9.98313735e-01 -5.23562735e-02 -2.50700600e-02 1.84368980e+02] [ 5.23906578e-02 9.98626410e-01 7.16229284e-04 -6.28898814e+00] [ 2.49981249e-02 -2.02845847e-03 9.99685440e-01 2.24004386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.270714057 meters Centerline goodness [0,1] 0.9857729138166895 Centerline is valid? [True, True] Translation: X:184.40, Y:-6.29, Z:2.24 [[ 9.98249449e-01 -5.32662059e-02 -2.57050550e-02 1.84401368e+02] [ 5.33026890e-02 9.98578130e-01 7.35717321e-04 -6.28946017e+00] [ 2.56293169e-02 -2.10457796e-03 9.99669300e-01 2.24063444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.300714057 meters Centerline goodness [0,1] 0.9839116504192514 Centerline is valid? [True, True] Translation: X:184.43, Y:-6.30, Z:2.24 [[ 9.98181511e-01 -5.42162117e-02 -2.63490638e-02 1.84432329e+02] [ 5.42549194e-02 9.98526831e-01 7.55828280e-04 -6.29632315e+00] [ 2.62692691e-02 -2.18402015e-03 9.99652517e-01 2.24005184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.330714057 meters Centerline goodness [0,1] 0.9826857532379005 Centerline is valid? [True, True] Translation: X:184.46, Y:-6.30, Z:2.24 [[ 9.98028732e-01 -5.67043630e-02 -2.68935940e-02 1.84462219e+02] [ 5.67456043e-02 9.98388371e-01 7.72188765e-04 -6.30222758e+00] [ 2.68064651e-02 -2.29675982e-03 9.99638004e-01 2.24001109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.360714057 meters Centerline goodness [0,1] 0.9842653770179143 Centerline is valid? [True, True] Translation: X:184.49, Y:-6.30, Z:2.24 [[ 9.97989879e-01 -5.73866180e-02 -2.68882276e-02 1.84494122e+02] [ 5.74281132e-02 9.98349345e-01 7.72949588e-04 -6.30165193e+00] [ 2.67994875e-02 -2.31553605e-03 9.99638147e-01 2.24101600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.390714057 meters Centerline goodness [0,1] 0.9825923151993827 Centerline is valid? [True, True] Translation: X:184.53, Y:-6.31, Z:2.24 [[ 9.97932628e-01 -5.82783747e-02 -2.70943165e-02 1.84526249e+02] [ 5.83208926e-02 9.98297583e-01 7.81012876e-04 -6.30726277e+00] [ 2.70026745e-02 -2.35956295e-03 9.99632577e-01 2.24086304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.420714057 meters Centerline goodness [0,1] 0.9768320550238693 Centerline is valid? [True, True] Translation: X:184.56, Y:-6.32, Z:2.24 [[ 9.97942925e-01 -5.77619936e-02 -2.78113269e-02 1.84557033e+02] [ 5.78066484e-02 9.98327474e-01 8.03653323e-04 -6.31567435e+00] [ 2.77183911e-02 -2.40967975e-03 9.99612867e-01 2.24036025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.450714057 meters Centerline goodness [0,1] 0.9823127094845547 Centerline is valid? [True, True] Translation: X:184.59, Y:-6.31, Z:2.24 [[ 9.97983730e-01 -5.68980603e-02 -2.81262496e-02 1.84589828e+02] [ 5.69434473e-02 9.98377073e-01 8.14718582e-04 -6.31123499e+00] [ 2.80342468e-02 -2.41468150e-03 9.99604047e-01 2.24190172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48071405699997 meters Centerline goodness [0,1] 0.9847381749118206 Centerline is valid? [True, True] Translation: X:184.62, Y:-6.31, Z:2.24 [[ 9.98078086e-01 -5.52657647e-02 -2.80326522e-02 1.84621626e+02] [ 5.53102650e-02 9.98468884e-01 8.13944522e-04 -6.30602770e+00] [ 2.79447477e-02 -2.36287362e-03 9.99606677e-01 2.24377569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51071405699997 meters Centerline goodness [0,1] 0.9830143323657474 Centerline is valid? [True, True] Translation: X:184.65, Y:-6.31, Z:2.24 [[ 9.98275357e-01 -5.17928290e-02 -2.76371981e-02 1.84650975e+02] [ 5.18347736e-02 9.98655352e-01 8.02947504e-04 -6.31171161e+00] [ 2.75584488e-02 -2.23413061e-03 9.99617697e-01 2.24441042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54071405699997 meters Centerline goodness [0,1] 0.9832354270221418 Centerline is valid? [True, True] Translation: X:184.68, Y:-6.31, Z:2.24 [[ 9.98403532e-01 -4.96537515e-02 -2.69238150e-02 1.84680925e+02] [ 4.96927788e-02 9.98764245e-01 7.81993045e-04 -6.31351007e+00] [ 2.68517148e-02 -2.11866380e-03 9.99637183e-01 2.24479983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57071405699998 meters Centerline goodness [0,1] 0.9833028310626087 Centerline is valid? [True, True] Translation: X:184.71, Y:-6.31, Z:2.25 [[ 9.98609800e-01 -4.53716360e-02 -2.68306332e-02 1.84710104e+02] [ 4.54088507e-02 9.98968182e-01 7.79057108e-04 -6.31482427e+00] [ 2.67676018e-02 -1.99632228e-03 9.99639690e-01 2.24517137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60071405699998 meters Centerline goodness [0,1] 0.9830141923856724 Centerline is valid? [True, True] Translation: X:184.74, Y:-6.32, Z:2.25 [[ 9.98713907e-01 -4.29580346e-02 -2.69283935e-02 1.84740072e+02] [ 4.29946421e-02 9.99074997e-01 7.81653351e-04 -6.31522669e+00] [ 2.68699064e-02 -1.93842471e-03 9.99637059e-01 2.24551081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63071405699998 meters Centerline goodness [0,1] 0.9849462365591398 Centerline is valid? [True, True] Translation: X:184.77, Y:-6.31, Z:2.25 [[ 9.98877683e-01 -3.83946843e-02 -2.77348800e-02 1.84769835e+02] [ 3.84317614e-02 9.99260903e-01 8.04830377e-04 -6.31327040e+00] [ 2.76834801e-02 -1.86982739e-03 9.99614990e-01 2.24588070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66071405699998 meters Centerline goodness [0,1] 0.9891397800805466 Centerline is valid? [True, True] Translation: X:184.80, Y:-6.30, Z:2.25 [[ 9.98949411e-01 -3.62408338e-02 -2.80477503e-02 1.84801057e+02] [ 3.62779024e-02 9.99341409e-01 8.13732506e-04 -6.29770689e+00] [ 2.79997879e-02 -1.83039115e-03 9.99606253e-01 2.24971098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69071405699998 meters Centerline goodness [0,1] 0.988414454777906 Centerline is valid? [True, True] Translation: X:184.83, Y:-6.30, Z:2.25 [[ 9.99080060e-01 -3.24570420e-02 -2.80280999e-02 1.84830847e+02] [ 3.24925753e-02 9.99471646e-01 8.13144012e-04 -6.30218543e+00] [ 2.79868989e-02 -1.72310111e-03 9.99606805e-01 2.24931315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72071405699998 meters Centerline goodness [0,1] 0.9888269422536488 Centerline is valid? [True, True] Translation: X:184.86, Y:-6.30, Z:2.25 [[ 9.99130383e-01 -3.09752995e-02 -2.79107133e-02 1.84860921e+02] [ 3.10099508e-02 9.99518748e-01 8.09416792e-04 -6.29878198e+00] [ 2.78722092e-02 -1.67422275e-03 9.99610092e-01 2.25071839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75071405699998 meters Centerline goodness [0,1] 0.9893438534439759 Centerline is valid? [True, True] Translation: X:184.89, Y:-6.30, Z:2.25 [[ 9.99193398e-01 -2.95275052e-02 -2.72154360e-02 1.84891156e+02] [ 2.95599027e-02 9.99562699e-01 7.88773149e-04 -6.29955305e+00] [ 2.71802442e-02 -1.59262256e-03 9.99629280e-01 2.25193529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78071405699998 meters Centerline goodness [0,1] 0.9888294631372283 Centerline is valid? [True, True] Translation: X:184.92, Y:-6.30, Z:2.25 [[ 9.99217185e-01 -2.92313128e-02 -2.66561047e-02 1.84920503e+02] [ 2.92622681e-02 9.99571470e-01 7.71862704e-04 -6.30137750e+00] [ 2.66221192e-02 -1.55127656e-03 9.99644365e-01 2.25259790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81071405699998 meters Centerline goodness [0,1] 0.9889632712140402 Centerline is valid? [True, True] Translation: X:184.95, Y:-6.30, Z:2.25 [[ 9.99214921e-01 -2.92930619e-02 -2.66731820e-02 1.84950174e+02] [ 2.93240535e-02 9.99569660e-01 7.71404510e-04 -6.30218538e+00] [ 2.66391067e-02 -1.55296471e-03 9.99643910e-01 2.25326049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84071405699999 meters Centerline goodness [0,1] 0.9883589255786566 Centerline is valid? [True, True] Translation: X:184.98, Y:-6.31, Z:2.25 [[ 9.99182011e-01 -2.99331843e-02 -2.71903321e-02 1.84978576e+02] [ 2.99655863e-02 9.99550623e-01 7.84902770e-04 -6.31034077e+00] [ 2.71546188e-02 -1.59903497e-03 9.99629966e-01 2.25246199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.870714057 meters Centerline goodness [0,1] 0.9894596367419873 Centerline is valid? [True, True] Translation: X:185.01, Y:-6.31, Z:2.25 [[ 9.99117328e-01 -3.10267663e-02 -2.83179266e-02 1.85007927e+02] [ 3.10623070e-02 9.99517117e-01 8.15919264e-04 -6.31008607e+00] [ 2.82789370e-02 -1.69481920e-03 9.99598634e-01 2.25337496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.900714057 meters Centerline goodness [0,1] 0.9902805090300852 Centerline is valid? [True, True] Translation: X:185.04, Y:-6.31, Z:2.25 [[ 9.99073389e-01 -3.17836769e-02 -2.90200123e-02 1.85037575e+02] [ 3.18212907e-02 9.99493226e-01 8.35114113e-04 -6.31339125e+00] [ 2.89787627e-02 -1.75779453e-03 9.99578482e-01 2.25317064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.930714057 meters Centerline goodness [0,1] 0.9894948490872945 Centerline is valid? [True, True] Translation: X:185.07, Y:-6.32, Z:2.25 [[ 9.99025474e-01 -3.25370664e-02 -2.98234973e-02 1.85065906e+02] [ 3.25770875e-02 9.99468858e-01 8.56896448e-04 -6.31634800e+00] [ 2.97797759e-02 -1.82762406e-03 9.99554813e-01 2.25329990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.960714057 meters Centerline goodness [0,1] 0.9894226432115472 Centerline is valid? [True, True] Translation: X:185.10, Y:-6.32, Z:2.25 [[ 9.98937444e-01 -3.38769499e-02 -3.12463498e-02 1.85095613e+02] [ 3.39214930e-02 9.99424099e-01 8.96405181e-04 -6.31781857e+00] [ 3.11979875e-02 -1.95537554e-03 9.99511312e-01 2.25396785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.990714057 meters Centerline goodness [0,1] 0.9898967119209778 Centerline is valid? [True, True] Translation: X:185.12, Y:-6.32, Z:2.25 [[ 9.98909966e-01 -3.43557596e-02 -3.16000160e-02 1.85123938e+02] [ 3.44013994e-02 9.99407690e-01 9.01594930e-04 -6.31812449e+00] [ 3.15503240e-02 -1.98769693e-03 9.99500188e-01 2.25488456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.020714057 meters Centerline goodness [0,1] 0.9898393673823417 Centerline is valid? [True, True] Translation: X:185.15, Y:-6.32, Z:2.26 [[ 9.98860696e-01 -3.49414598e-02 -3.25023721e-02 1.85152549e+02] [ 3.49897862e-02 9.99387247e-01 9.19100462e-04 -6.32078581e+00] [ 3.24503414e-02 -2.05530438e-03 9.99471236e-01 2.25531204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.050714057 meters Centerline goodness [0,1] 0.9899568936333476 Centerline is valid? [True, True] Translation: X:185.18, Y:-6.33, Z:2.25 [[ 9.98860314e-01 -3.49098431e-02 -3.25480606e-02 1.85180420e+02] [ 3.49581224e-02 9.99388359e-01 9.15271907e-04 -6.32611719e+00] [ 3.24962009e-02 -2.05204787e-03 9.99469752e-01 2.25479940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.080714057 meters Centerline goodness [0,1] 0.9895356148387676 Centerline is valid? [True, True] Translation: X:185.21, Y:-6.33, Z:2.26 [[ 9.98862758e-01 -3.41913926e-02 -3.32285784e-02 1.85209028e+02] [ 3.42411169e-02 9.99413170e-01 9.28368322e-04 -6.32567511e+00] [ 3.31773366e-02 -2.06509618e-03 9.99447347e-01 2.25618524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.110714057 meters Centerline goodness [0,1] 0.9887207085996188 Centerline is valid? [True, True] Translation: X:185.24, Y:-6.33, Z:2.25 [[ 9.98894957e-01 -3.28728308e-02 -3.35892974e-02 1.85237141e+02] [ 3.29227375e-02 9.99457464e-01 9.33642136e-04 -6.33468512e+00] [ 3.35403825e-02 -2.03846204e-03 9.99435284e-01 2.25466649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.140714057 meters Centerline goodness [0,1] 0.9901050080775444 Centerline is valid? [True, True] Translation: X:185.27, Y:-6.33, Z:2.26 [[ 9.98918937e-01 -3.24113917e-02 -3.33235357e-02 1.85266050e+02] [ 3.24600647e-02 9.99472609e-01 9.20523834e-04 -6.32802960e+00] [ 3.32761257e-02 -2.00121281e-03 9.99444193e-01 2.25817939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.170714057 meters Centerline goodness [0,1] 0.9898899123792406 Centerline is valid? [True, True] Translation: X:185.29, Y:-6.33, Z:2.26 [[ 9.98948091e-01 -3.21957878e-02 -3.26518292e-02 1.85294910e+02] [ 3.22421451e-02 9.99479687e-01 8.94081901e-04 -6.32971481e+00] [ 3.26060544e-02 -1.94590642e-03 9.99466387e-01 2.25919028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.200714057 meters Centerline goodness [0,1] 0.9892576810944158 Centerline is valid? [True, True] Translation: X:185.32, Y:-6.33, Z:2.26 [[ 9.98941869e-01 -3.24737846e-02 -3.25667859e-02 1.85322631e+02] [ 3.25198865e-02 9.99470695e-01 8.86796711e-04 -6.33241219e+00] [ 3.25207505e-02 -1.94492654e-03 9.99469168e-01 2.25938597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23071405699997 meters Centerline goodness [0,1] 0.9895898770528583 Centerline is valid? [True, True] Translation: X:185.35, Y:-6.33, Z:2.26 [[ 9.98904858e-01 -3.41263555e-02 -3.20074421e-02 1.85351284e+02] [ 3.41715527e-02 9.99415607e-01 8.65977073e-04 -6.33441512e+00] [ 3.19591845e-02 -1.95877270e-03 9.99487255e-01 2.26109695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26071405699997 meters Centerline goodness [0,1] 0.9896685898295988 Centerline is valid? [True, True] Translation: X:185.38, Y:-6.34, Z:2.26 [[ 9.98818057e-01 -3.70266818e-02 -3.14883141e-02 1.85381723e+02] [ 3.70717559e-02 9.99312246e-01 8.48652059e-04 -6.33874331e+00] [ 3.14352351e-02 -2.01497610e-03 9.99503760e-01 2.26177466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29071405699997 meters Centerline goodness [0,1] 0.989720800790017 Centerline is valid? [True, True] Translation: X:185.41, Y:-6.34, Z:2.26 [[ 9.98702727e-01 -3.93414240e-02 -3.23282387e-02 1.85412223e+02] [ 3.93901434e-02 9.99223527e-01 8.71289146e-04 -6.34062122e+00] [ 3.22688589e-02 -2.14357281e-03 9.99476926e-01 2.26241010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32071405699998 meters Centerline goodness [0,1] 0.9888138171730279 Centerline is valid? [True, True] Translation: X:185.44, Y:-6.35, Z:2.26 [[ 9.98632635e-01 -4.11579538e-02 -3.22317093e-02 1.85440959e+02] [ 4.12073035e-02 9.99150241e-01 8.68046482e-04 -6.34797355e+00] [ 3.21685931e-02 -2.19504137e-03 9.99480047e-01 2.26131486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35071405699998 meters Centerline goodness [0,1] 0.9897341641637154 Centerline is valid? [True, True] Translation: X:185.47, Y:-6.34, Z:2.26 [[ 9.98428350e-01 -4.53916558e-02 -3.28698458e-02 1.85471838e+02] [ 4.54452457e-02 9.98966439e-01 8.84730197e-04 -6.34408610e+00] [ 3.27957134e-02 -2.37711793e-03 9.99459249e-01 2.26280713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38071405699998 meters Centerline goodness [0,1] 0.9896678966789668 Centerline is valid? [True, True] Translation: X:185.50, Y:-6.35, Z:2.26 [[ 9.98342338e-01 -4.71541651e-02 -3.30009226e-02 1.85501388e+02] [ 4.72091846e-02 9.98884629e-01 8.89581334e-04 -6.35121675e+00] [ 3.29221669e-02 -2.44605336e-03 9.99454925e-01 2.26177245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41071405699998 meters Centerline goodness [0,1] 0.9851613479932064 Centerline is valid? [True, True] Translation: X:185.53, Y:-6.36, Z:2.26 [[ 9.98189423e-01 -4.98327520e-02 -3.36834327e-02 1.85530744e+02] [ 4.98916023e-02 9.98754225e-01 9.08401186e-04 -6.36225742e+00] [ 3.35962026e-02 -2.58727688e-03 9.99432139e-01 2.26012905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44071405699998 meters Centerline goodness [0,1] 0.9839521923051098 Centerline is valid? [True, True] Translation: X:185.56, Y:-6.36, Z:2.26 [[ 9.98149865e-01 -5.05680557e-02 -3.37597343e-02 1.85560262e+02] [ 5.06275724e-02 9.98717188e-01 9.09905061e-04 -6.36405441e+00] [ 3.36704147e-02 -2.61739500e-03 9.99429564e-01 2.26031525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47071405699998 meters Centerline goodness [0,1] 0.9818250747067482 Centerline is valid? [True, True] Translation: X:185.59, Y:-6.37, Z:2.26 [[ 9.98139806e-01 -5.09508407e-02 -3.34804465e-02 1.85591014e+02] [ 5.10095861e-02 9.98697756e-01 9.02260009e-04 -6.36555135e+00] [ 3.33908759e-02 -2.60840535e-03 9.99438965e-01 2.26076756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50071405699998 meters Centerline goodness [0,1] 0.9818250747067482 Centerline is valid? [True, True] Translation: X:185.62, Y:-6.37, Z:2.26 [[ 9.98139806e-01 -5.09508407e-02 -3.34804465e-02 1.85621097e+02] [ 5.10095861e-02 9.98697756e-01 9.02260009e-04 -6.36636206e+00] [ 3.33908759e-02 -2.60840535e-03 9.99438965e-01 2.26118178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53071405699998 meters Centerline goodness [0,1] 0.9740581847432632 Centerline is valid? [True, True] Translation: X:185.65, Y:-6.37, Z:2.26 [[ 9.98169479e-01 -5.09174245e-02 -3.26359871e-02 1.85650806e+02] [ 5.09732285e-02 9.98699633e-01 8.79634184e-04 -6.36930986e+00] [ 3.25487596e-02 -2.54158562e-03 9.99466917e-01 2.26153550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56071405699998 meters Centerline goodness [0,1] 0.9786573795012613 Centerline is valid? [True, True] Translation: X:185.68, Y:-6.37, Z:2.26 [[ 9.98213966e-01 -5.04617120e-02 -3.19764486e-02 1.85681362e+02] [ 5.05150525e-02 9.98722928e-01 8.61951507e-04 -6.36909719e+00] [ 3.18921168e-02 -2.47570401e-03 9.99488251e-01 2.26277523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59071405699999 meters Centerline goodness [0,1] 0.9888499877349866 Centerline is valid? [True, True] Translation: X:185.71, Y:-6.36, Z:2.27 [[ 9.98343453e-01 -4.89773142e-02 -3.01922478e-02 1.85712710e+02] [ 4.90241988e-02 9.98797259e-01 8.14140171e-04 -6.35896942e+00] [ 3.01160599e-02 -2.29294226e-03 9.99543779e-01 2.26626666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.620714057 meters Centerline goodness [0,1] 0.9891832820375575 Centerline is valid? [True, True] Translation: X:185.74, Y:-6.36, Z:2.27 [[ 9.98413314e-01 -4.78274331e-02 -2.97218799e-02 1.85744171e+02] [ 4.78723841e-02 9.98853138e-01 8.02240969e-04 -6.35943621e+00] [ 2.96494239e-02 -2.22382532e-03 9.99557885e-01 2.26661593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.650714057 meters Centerline goodness [0,1] 0.9899589432345591 Centerline is valid? [True, True] Translation: X:185.77, Y:-6.35, Z:2.27 [[ 9.98553453e-01 -4.49340180e-02 -2.95285491e-02 1.85774981e+02] [ 4.49771500e-02 9.98987697e-01 7.97777829e-04 -6.35051705e+00] [ 2.94628099e-02 -2.12473379e-03 9.99563619e-01 2.26827422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.680714057 meters Centerline goodness [0,1] 0.9903848303928803 Centerline is valid? [True, True] Translation: X:185.81, Y:-6.35, Z:2.27 [[ 9.98598104e-01 -4.35569881e-02 -3.00768182e-02 1.85806090e+02] [ 4.36011417e-02 9.99048687e-01 8.13441040e-04 -6.34719842e+00] [ 3.00127747e-02 -2.12368429e-03 9.99547259e-01 2.26904679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.710714057 meters Centerline goodness [0,1] 0.990501852475581 Centerline is valid? [True, True] Translation: X:185.84, Y:-6.35, Z:2.27 [[ 9.98751014e-01 -3.94641358e-02 -3.06430167e-02 1.85835841e+02] [ 3.95080593e-02 9.99218908e-01 8.29017682e-04 -6.34770654e+00] [ 3.05863652e-02 -2.03862837e-03 9.99530049e-01 2.26769072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.740714057 meters Centerline goodness [0,1] 0.9910940619602037 Centerline is valid? [True, True] Translation: X:185.87, Y:-6.34, Z:2.27 [[ 9.98835051e-01 -3.71486440e-02 -3.07980394e-02 1.85866725e+02] [ 3.71919206e-02 9.99307794e-01 8.33313197e-04 -6.34307274e+00] [ 3.07457644e-02 -1.97778067e-03 9.99525280e-01 2.26878302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.770714057 meters Centerline goodness [0,1] 0.9914665830496326 Centerline is valid? [True, True] Translation: X:185.90, Y:-6.34, Z:2.27 [[ 9.98921759e-01 -3.46079995e-02 -3.09451953e-02 1.85895993e+02] [ 3.46504656e-02 9.99399142e-01 8.36933345e-04 -6.34238890e+00] [ 3.08976370e-02 -1.90829636e-03 9.99520732e-01 2.26896601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.800714057 meters Centerline goodness [0,1] 0.9913102206213418 Centerline is valid? [True, True] Translation: X:185.92, Y:-6.34, Z:2.27 [[ 9.99136549e-01 -2.87382040e-02 -3.00045467e-02 1.85924631e+02] [ 2.87754525e-02 9.99585573e-01 8.10286063e-04 -6.33765149e+00] [ 2.99688259e-02 -1.67298083e-03 9.99549434e-01 2.27028048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.830714057 meters Centerline goodness [0,1] 0.9918814375028111 Centerline is valid? [True, True] Translation: X:185.95, Y:-6.33, Z:2.27 [[ 9.99246849e-01 -2.53113713e-02 -2.94120654e-02 1.85954427e+02] [ 2.53456486e-02 9.99678433e-01 7.93127509e-04 -6.33445146e+00] [ 2.93825323e-02 -1.53799804e-03 9.99567057e-01 2.27178706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.860714057 meters Centerline goodness [0,1] 0.9908451339406512 Centerline is valid? [True, True] Translation: X:185.98, Y:-6.33, Z:2.27 [[ 9.99465701e-01 -1.79234580e-02 -2.73324557e-02 1.85984056e+02] [ 1.79502786e-02 9.99838610e-01 7.36211998e-04 -6.32880606e+00] [ 2.73148490e-02 -1.22644384e-03 9.99626128e-01 2.27412498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.890714057 meters Centerline goodness [0,1] 0.9914875361271677 Centerline is valid? [True, True] Translation: X:186.01, Y:-6.33, Z:2.28 [[ 9.99562653e-01 -1.41643945e-02 -2.59590625e-02 1.86012595e+02] [ 1.41872953e-02 9.99899111e-01 6.98218762e-04 -6.32665233e+00] [ 2.59465536e-02 -1.06620228e-03 9.99662763e-01 2.27518639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.920714057 meters Centerline goodness [0,1] 0.9919149032272635 Centerline is valid? [True, True] Translation: X:186.04, Y:-6.32, Z:2.28 [[ 9.99692964e-01 -5.28120414e-03 -2.42092190e-02 1.86042960e+02] [ 5.29849719e-03 9.99985751e-01 6.50226580e-04 -6.31921578e+00] [ 2.42054401e-02 -7.78299417e-04 9.99706702e-01 2.27714733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.950714057 meters Centerline goodness [0,1] 0.9920369197357706 Centerline is valid? [True, True] Translation: X:186.07, Y:-6.32, Z:2.28 [[ 9.99726331e-01 -1.26338573e-03 -2.33595368e-02 1.86071770e+02] [ 1.27837080e-03 9.99998987e-01 6.26574881e-04 -6.31840801e+00] [ 2.33587215e-02 -6.56265557e-04 9.99726932e-01 2.27738950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98071405699997 meters Centerline goodness [0,1] 0.9932975567782986 Centerline is valid? [True, True] Translation: X:186.10, Y:-6.31, Z:2.28 [[ 9.99739078e-01 2.78920438e-03 -2.26714782e-02 1.86100772e+02] [-2.77616056e-03 9.99995962e-01 6.06793894e-04 -6.31244113e+00] [ 2.26730791e-02 -5.43695905e-04 9.99742785e-01 2.27978867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01071405699997 meters Centerline goodness [0,1] 0.9933585692590158 Centerline is valid? [True, True] Translation: X:186.13, Y:-6.31, Z:2.28 [[ 9.99740809e-01 9.14020711e-03 -2.08511670e-02 1.86129576e+02] [-9.13058173e-03 9.99958160e-01 5.56780378e-04 -6.31019766e+00] [ 2.08553837e-02 -3.66252781e-04 9.99782436e-01 2.28146609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04071405699997 meters Centerline goodness [0,1] 0.9933452951463808 Centerline is valid? [True, True] Translation: X:186.16, Y:-6.31, Z:2.28 [[ 9.99738866e-01 1.11212686e-02 -1.99629057e-02 1.86157328e+02] [-1.11128711e-02 9.99938109e-01 5.31541754e-04 -6.31208686e+00] [ 1.99675816e-02 -3.09557752e-04 9.99800580e-01 2.28136113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07071405699998 meters Centerline goodness [0,1] 0.9942471235617809 Centerline is valid? [True, True] Translation: X:186.19, Y:-6.31, Z:2.28 [[ 9.99724431e-01 1.31149251e-02 -1.94694755e-02 1.86185687e+02] [-1.31073771e-02 9.99913962e-01 5.15245109e-04 -6.31340810e+00] [ 1.94745578e-02 -2.59909365e-04 9.99810319e-01 2.28216723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10071405699998 meters Centerline goodness [0,1] 0.9938341827448125 Centerline is valid? [True, True] Translation: X:186.21, Y:-6.32, Z:2.28 [[ 9.99715818e-01 1.32096038e-02 -1.98441491e-02 1.86213507e+02] [-1.32018623e-02 9.99912716e-01 5.21075308e-04 -6.31616332e+00] [ 1.98493002e-02 -2.58947505e-04 9.99802950e-01 2.28211736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13071405699998 meters Centerline goodness [0,1] 0.9938144329896907 Centerline is valid? [True, True] Translation: X:186.24, Y:-6.32, Z:2.28 [[ 9.99714363e-01 1.24195215e-02 -2.04192823e-02 1.86242510e+02] [-1.24112000e-02 9.99922835e-01 5.34212985e-04 -6.31942305e+00] [ 2.04243414e-02 -2.80632599e-04 9.99791362e-01 2.28191208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16071405699998 meters Centerline goodness [0,1] 0.9932840530064004 Centerline is valid? [True, True] Translation: X:186.27, Y:-6.33, Z:2.28 [[ 9.99731501e-01 9.69111151e-03 -2.10477618e-02 1.86270612e+02] [-9.68170010e-03 9.99952981e-01 5.49002349e-04 -6.32737025e+00] [ 2.10520926e-02 -3.45076825e-04 9.99778321e-01 2.28058877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19071405699998 meters Centerline goodness [0,1] 0.9934282830548391 Centerline is valid? [True, True] Translation: X:186.30, Y:-6.33, Z:2.28 [[ 9.99742053e-01 8.20878812e-03 -2.11764874e-02 1.86298681e+02] [-8.19896885e-03 9.99966236e-01 5.50469583e-04 -6.33370595e+00] [ 2.11802911e-02 -3.76702230e-04 9.99775602e-01 2.27972739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22071405699998 meters Centerline goodness [0,1] 0.9931347034012384 Centerline is valid? [True, True] Translation: X:186.33, Y:-6.34, Z:2.28 [[ 9.99758292e-01 4.71644194e-03 -2.14735225e-02 1.86327049e+02] [-4.70557837e-03 9.99988774e-01 5.56406186e-04 -6.34205453e+00] [ 2.14759057e-02 -4.55226356e-04 9.99769263e-01 2.27959161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25071405699998 meters Centerline goodness [0,1] 0.9938149874506992 Centerline is valid? [True, True] Translation: X:186.36, Y:-6.35, Z:2.28 [[ 9.99759279e-01 3.42123076e-03 -2.16720971e-02 1.86355349e+02] [-3.40989489e-03 9.99994029e-01 5.59995475e-04 -6.34731312e+00] [ 2.16738836e-02 -4.85961099e-04 9.99764976e-01 2.27957767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28071405699998 meters Centerline goodness [0,1] 0.9928932195056541 Centerline is valid? [True, True] Translation: X:186.38, Y:-6.36, Z:2.28 [[ 9.99762842e-01 2.58133332e-03 -2.16239795e-02 1.86383111e+02] [-2.56989495e-03 9.99996543e-01 5.56738990e-04 -6.35887213e+00] [ 2.16253418e-02 -5.01035599e-04 9.99766019e-01 2.27883699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31071405699998 meters Centerline goodness [0,1] 0.9936502985473665 Centerline is valid? [True, True] Translation: X:186.41, Y:-6.36, Z:2.28 [[ 9.99763613e-01 2.40597254e-03 -2.16085421e-02 1.86410493e+02] [-2.39456546e-03 9.99996980e-01 5.53755587e-04 -6.36249206e+00] [ 2.16098092e-02 -5.01881618e-04 9.99766355e-01 2.27963821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34071405699999 meters Centerline goodness [0,1] 0.9932495655661008 Centerline is valid? [True, True] Translation: X:186.44, Y:-6.37, Z:2.28 [[ 9.99775269e-01 2.69746916e-03 -2.10270240e-02 1.86438059e+02] [-2.68677250e-03 9.99996246e-01 5.36943897e-04 -6.36642743e+00] [ 2.10283935e-02 -4.80328398e-04 9.99778764e-01 2.28032435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.370714057 meters Centerline goodness [0,1] 0.9944816537237712 Centerline is valid? [True, True] Translation: X:186.47, Y:-6.37, Z:2.28 [[ 9.99774525e-01 2.90920394e-03 -2.10341507e-02 1.86466731e+02] [-2.89858136e-03 9.99995656e-01 5.35486238e-04 -6.36978502e+00] [ 2.10356171e-02 -4.74396303e-04 9.99778614e-01 2.28217211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.400714057 meters Centerline goodness [0,1] 0.9946074964639321 Centerline is valid? [True, True] Translation: X:186.49, Y:-6.38, Z:2.28 [[ 9.99780435e-01 2.57777105e-03 -2.07951326e-02 1.86494991e+02] [-2.56734743e-03 9.99996565e-01 5.27934776e-04 -6.37804831e+00] [ 2.07964220e-02 -4.74430530e-04 9.99783618e-01 2.28206259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.430714057 meters Centerline goodness [0,1] 0.9944432145229134 Centerline is valid? [True, True] Translation: X:186.52, Y:-6.38, Z:2.28 [[ 9.99793692e-01 2.35634293e-03 -2.01747676e-02 1.86522396e+02] [-2.34651987e-03 9.99997117e-01 5.10556819e-04 -6.38232796e+00] [ 2.01759124e-02 -4.63110994e-04 9.99796338e-01 2.28270479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.460714057 meters Centerline goodness [0,1] 0.9937793660247501 Centerline is valid? [True, True] Translation: X:186.55, Y:-6.39, Z:2.28 [[ 9.99803514e-01 2.24779726e-03 -1.96946803e-02 1.86549910e+02] [-2.23845571e-03 9.99997371e-01 4.96350799e-04 -6.38663216e+00] [ 1.96957442e-02 -4.52167604e-04 9.99805918e-01 2.28316924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.490714057 meters Centerline goodness [0,1] 0.9936413641364137 Centerline is valid? [True, True] Translation: X:186.58, Y:-6.39, Z:2.28 [[ 9.99811261e-01 1.07139358e-03 -1.93982928e-02 1.86578785e+02] [-1.06214567e-03 9.99999317e-01 4.87035313e-04 -6.39330406e+00] [ 1.93988014e-02 -4.66339578e-04 9.99811717e-01 2.28364417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.520714057 meters Centerline goodness [0,1] 0.9932335947626266 Centerline is valid? [True, True] Translation: X:186.61, Y:-6.40, Z:2.28 [[ 9.99821859e-01 -8.85097976e-04 -1.88538027e-02 1.86607215e+02] [ 8.94156100e-04 9.99999489e-01 4.72015694e-04 -6.40232776e+00] [ 1.88533753e-02 -4.88789851e-04 9.99822140e-01 2.28327175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.550714057 meters Centerline goodness [0,1] 0.9934653421923996 Centerline is valid? [True, True] Translation: X:186.64, Y:-6.41, Z:2.28 [[ 9.99818182e-01 -2.31762368e-03 -1.89270087e-02 1.86635598e+02] [ 2.32698238e-03 9.99997181e-01 4.72454097e-04 -6.40748290e+00] [ 1.89258604e-02 -5.16411012e-04 9.99820757e-01 2.28344367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.580714057 meters Centerline goodness [0,1] 0.9927445693869051 Centerline is valid? [True, True] Translation: X:186.66, Y:-6.41, Z:2.28 [[ 9.99821477e-01 -4.14225200e-03 -1.84352003e-02 1.86662802e+02] [ 4.15141278e-03 9.99991278e-01 4.58676448e-04 -6.41340390e+00] [ 1.84331395e-02 -5.35126690e-04 9.99829952e-01 2.28356127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.610714057 meters Centerline goodness [0,1] 0.9903936218877295 Centerline is valid? [True, True] Translation: X:186.69, Y:-6.43, Z:2.28 [[ 9.99811564e-01 -9.65090424e-03 -1.68432642e-02 1.86691162e+02] [ 9.65930669e-03 9.99953261e-01 4.17577247e-04 -6.43169576e+00] [ 1.68384469e-02 -5.80192815e-04 9.99858055e-01 2.28334550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.640714057 meters Centerline goodness [0,1] 0.9911157564672067 Centerline is valid? [True, True] Translation: X:186.72, Y:-6.43, Z:2.28 [[ 9.99780732e-01 -1.30197732e-02 -1.64004314e-02 1.86721109e+02] [ 1.30281828e-02 9.99915047e-01 4.06020448e-04 -6.43138788e+00] [ 1.63937519e-02 -6.19599238e-04 9.99865421e-01 2.28450727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.670714057 meters Centerline goodness [0,1] 0.9890181439361055 Centerline is valid? [True, True] Translation: X:186.75, Y:-6.44, Z:2.28 [[ 9.99662415e-01 -2.06285667e-02 -1.57961184e-02 1.86751046e+02] [ 2.06373084e-02 9.99786952e-01 3.90586000e-04 -6.44343154e+00] [ 1.57846958e-02 -7.16443510e-04 9.99875157e-01 2.28400609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.700714057 meters Centerline goodness [0,1] 0.9885820960319528 Centerline is valid? [True, True] Translation: X:186.78, Y:-6.45, Z:2.28 [[ 9.99570234e-01 -2.46315435e-02 -1.58944859e-02 1.86780754e+02] [ 2.46408987e-02 9.99696290e-01 3.92976287e-04 -6.44919117e+00] [ 1.58799790e-02 -7.84461816e-04 9.99873597e-01 2.28406482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73071405699997 meters Centerline goodness [0,1] 0.9884538044065818 Centerline is valid? [True, True] Translation: X:186.81, Y:-6.46, Z:2.28 [[ 9.99365586e-01 -3.14142995e-02 -1.67799398e-02 1.86809647e+02] [ 3.14256733e-02 9.99506006e-01 4.14509031e-04 -6.45938834e+00] [ 1.67586291e-02 -9.41566967e-04 9.99859121e-01 2.28296562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76071405699997 meters Centerline goodness [0,1] 0.9878658101356174 Centerline is valid? [True, True] Translation: X:186.84, Y:-6.46, Z:2.28 [[ 9.99296682e-01 -3.35760821e-02 -1.66969414e-02 1.86839935e+02] [ 3.35876369e-02 9.99435691e-01 4.12008353e-04 -6.46369438e+00] [ 1.66736855e-02 -9.72529384e-04 9.99860511e-01 2.28311671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79071405699997 meters Centerline goodness [0,1] 0.9874606120775241 Centerline is valid? [True, True] Translation: X:186.87, Y:-6.47, Z:2.28 [[ 9.99232455e-01 -3.59149414e-02 -1.56402934e-02 1.86869945e+02] [ 3.59253653e-02 9.99354401e-01 3.85934847e-04 -6.46858525e+00] [ 1.56163352e-02 -9.47521880e-04 9.99877609e-01 2.28392390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82071405699998 meters Centerline goodness [0,1] 0.9869147193239631 Centerline is valid? [True, True] Translation: X:186.90, Y:-6.47, Z:2.28 [[ 9.99246009e-01 -3.54157004e-02 -1.59104337e-02 1.86900188e+02] [ 3.54264251e-02 9.99372210e-01 3.92638097e-04 -6.47002189e+00] [ 1.58865398e-02 -9.55991840e-04 9.99873344e-01 2.28480259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85071405699998 meters Centerline goodness [0,1] 0.988624145198056 Centerline is valid? [True, True] Translation: X:186.93, Y:-6.47, Z:2.28 [[ 9.99340740e-01 -3.20957001e-02 -1.69691535e-02 1.86930888e+02] [ 3.21074280e-02 9.99484336e-01 4.19074982e-04 -6.46842085e+00] [ 1.69469526e-02 -9.63634577e-04 9.99855926e-01 2.28436239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88071405699998 meters Centerline goodness [0,1] 0.9880356988876433 Centerline is valid? [True, True] Translation: X:186.96, Y:-6.47, Z:2.28 [[ 9.99406027e-01 -2.95015165e-02 -1.78116444e-02 1.86961352e+02] [ 2.95140318e-02 9.99564269e-01 4.40128931e-04 -6.46744520e+00] [ 1.77908988e-02 -9.65560943e-04 9.99841263e-01 2.28420806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91071405699998 meters Centerline goodness [0,1] 0.9884933863856329 Centerline is valid? [True, True] Translation: X:186.99, Y:-6.46, Z:2.28 [[ 9.99544443e-01 -2.35632813e-02 -1.88594293e-02 1.86990914e+02] [ 2.35762564e-02 9.99721933e-01 4.65918757e-04 -6.46462456e+00] [ 1.88432065e-02 -9.10341246e-04 9.99822037e-01 2.28328535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94071405699998 meters Centerline goodness [0,1] 0.9888420690544782 Centerline is valid? [True, True] Translation: X:187.02, Y:-6.46, Z:2.28 [[ 9.99614876e-01 -2.01840712e-02 -1.90447825e-02 1.87020430e+02] [ 2.01966821e-02 9.99795916e-01 4.70044996e-04 -6.46301655e+00] [ 1.90314083e-02 -8.54505388e-04 9.99818521e-01 2.28361333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97071405699998 meters Centerline goodness [0,1] 0.9889068042566914 Centerline is valid? [True, True] Translation: X:187.05, Y:-6.46, Z:2.28 [[ 9.99678207e-01 -1.70353784e-02 -1.87956822e-02 1.87050027e+02] [ 1.70470942e-02 9.99854580e-01 4.63267589e-04 -6.45876475e+00] [ 1.87850570e-02 -7.83530278e-04 9.99823238e-01 2.28445409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00071405699998 meters Centerline goodness [0,1] 0.9890534449452673 Centerline is valid? [True, True] Translation: X:187.08, Y:-6.46, Z:2.29 [[ 9.99787986e-01 -1.06335632e-02 -1.76326756e-02 1.87079023e+02] [ 1.06428704e-02 9.99943269e-01 4.34077369e-04 -6.45852924e+00] [ 1.76270594e-02 -6.21647619e-04 9.99844438e-01 2.28502306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03071405699998 meters Centerline goodness [0,1] 0.9904425693128982 Centerline is valid? [True, True] Translation: X:187.11, Y:-6.45, Z:2.29 [[ 9.99858544e-01 -5.23939526e-03 -1.59824932e-02 1.87109121e+02] [ 5.24634849e-03 9.99986161e-01 3.93156070e-04 -6.45053050e+00] [ 1.59802121e-02 -4.76950185e-04 9.99872195e-01 2.28741500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06071405699998 meters Centerline goodness [0,1] 0.9891089534284241 Centerline is valid? [True, True] Translation: X:187.14, Y:-6.45, Z:2.29 [[ 9.99883953e-01 -2.88287410e-03 -1.49589153e-02 1.87136555e+02] [ 2.88869664e-03 9.99995760e-01 3.67642742e-04 -6.45490316e+00] [ 1.49577921e-02 -4.10811846e-04 9.99888042e-01 2.28809230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09071405699999 meters Centerline goodness [0,1] 0.9899334621163339 Centerline is valid? [True, True] Translation: X:187.17, Y:-6.45, Z:2.29 [[ 9.99902126e-01 -7.06289446e-04 -1.39728122e-02 1.87165916e+02] [ 7.11141047e-04 9.99999689e-01 3.42251674e-04 -6.45411987e+00] [ 1.39725661e-02 -3.52154817e-04 9.99902317e-01 2.28913006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.120714057 meters Centerline goodness [0,1] 0.9911574700062241 Centerline is valid? [True, True] Translation: X:187.19, Y:-6.45, Z:2.29 [[ 9.99921383e-01 2.07461050e-03 -1.23662473e-02 1.87194443e+02] [-2.07103639e-03 9.99997810e-01 3.01820059e-04 -6.44886785e+00] [ 1.23668464e-02 -2.76185382e-04 9.99923489e-01 2.29000008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.150714057 meters Centerline goodness [0,1] 0.9914213588909807 Centerline is valid? [True, True] Translation: X:187.22, Y:-6.45, Z:2.29 [[ 9.99919926e-01 2.55000710e-03 -1.23951546e-02 1.87221989e+02] [-2.54649379e-03 9.99996713e-01 2.99216690e-04 -6.45055264e+00] [ 1.23958769e-02 -2.67628546e-04 9.99923132e-01 2.29025062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.180714057 meters Centerline goodness [0,1] 0.9903868849644872 Centerline is valid? [True, True] Translation: X:187.25, Y:-6.45, Z:2.29 [[ 9.99929042e-01 1.25789652e-03 -1.18460390e-02 1.87250899e+02] [-1.25460909e-03 9.99999172e-01 2.84940285e-04 -6.45348972e+00] [ 1.18463876e-02 -2.70057918e-04 9.99929793e-01 2.28952532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.210714057 meters Centerline goodness [0,1] 0.9900868742473765 Centerline is valid? [True, True] Translation: X:187.28, Y:-6.46, Z:2.29 [[ 9.99936354e-01 -2.11270212e-03 -1.10826557e-02 1.87278526e+02] [ 2.11577887e-03 9.99997726e-01 2.65901445e-04 -6.45932940e+00] [ 1.10820687e-02 -2.89332970e-04 9.99938550e-01 2.29006886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.240714057 meters Centerline goodness [0,1] 0.9898979043524987 Centerline is valid? [True, True] Translation: X:187.31, Y:-6.46, Z:2.29 [[ 9.99929541e-01 -4.23176549e-03 -1.10907484e-02 1.87307685e+02] [ 4.23496580e-03 9.99990997e-01 2.65087210e-04 -6.46220554e+00] [ 1.10895267e-02 -3.12037473e-04 9.99938461e-01 2.29021285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.270714057 meters Centerline goodness [0,1] 0.9891869901291137 Centerline is valid? [True, True] Translation: X:187.34, Y:-6.47, Z:2.29 [[ 9.99898463e-01 -9.26061444e-03 -1.08307730e-02 1.87336107e+02] [ 9.26395270e-03 9.99957055e-01 2.58090934e-04 -6.47020089e+00] [ 1.08279178e-02 -3.58400497e-04 9.99941312e-01 2.28974757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.300714057 meters Centerline goodness [0,1] 0.9894267515923567 Centerline is valid? [True, True] Translation: X:187.37, Y:-6.47, Z:2.29 [[ 9.99876409e-01 -1.15206918e-02 -1.06976848e-02 1.87365083e+02] [ 1.15240780e-02 9.99933563e-01 2.54942457e-04 -6.47460130e+00] [ 1.06940370e-02 -3.78191903e-04 9.99942746e-01 2.28964380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.330714057 meters Centerline goodness [0,1] 0.9889889033802998 Centerline is valid? [True, True] Translation: X:187.39, Y:-6.48, Z:2.29 [[ 9.99833610e-01 -1.43872368e-02 -1.12142773e-02 1.87394866e+02] [ 1.43911008e-02 9.99896408e-01 2.63931184e-04 -6.47521074e+00] [ 1.12093183e-02 -4.25273062e-04 9.99937083e-01 2.28914572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.360714057 meters Centerline goodness [0,1] 0.9876653671630344 Centerline is valid? [True, True] Translation: X:187.42, Y:-6.48, Z:2.29 [[ 9.99732864e-01 -1.94501183e-02 -1.24857481e-02 1.87423447e+02] [ 1.94552961e-02 9.99810685e-01 2.93358854e-04 -6.48302873e+00] [ 1.24776785e-02 -5.36194415e-04 9.99922007e-01 2.28765041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.390714057 meters Centerline goodness [0,1] 0.9876653671630344 Centerline is valid? [True, True] Translation: X:187.45, Y:-6.48, Z:2.29 [[ 9.99732184e-01 -1.94850152e-02 -1.24857584e-02 1.87452620e+02] [ 1.94901902e-02 9.99810005e-01 2.92920890e-04 -6.48368225e+00] [ 1.24776786e-02 -5.36192248e-04 9.99922007e-01 2.28805216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.420714057 meters Centerline goodness [0,1] 0.9871335608453272 Centerline is valid? [True, True] Translation: X:187.48, Y:-6.49, Z:2.29 [[ 9.99671881e-01 -2.19519261e-02 -1.32000902e-02 1.87482068e+02] [ 2.19579184e-02 9.99758848e-01 3.09181098e-04 -6.48904266e+00] [ 1.31901199e-02 -5.98926154e-04 9.99912827e-01 2.28774795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.450714057 meters Centerline goodness [0,1] 0.9873709360866968 Centerline is valid? [True, True] Translation: X:187.51, Y:-6.49, Z:2.29 [[ 9.99563387e-01 -2.63429639e-02 -1.33821769e-02 1.87512194e+02] [ 2.63495121e-02 9.99652742e-01 3.13214319e-04 -6.49251468e+00] [ 1.33692788e-02 -6.65691398e-04 9.99910406e-01 2.28783920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48071405699997 meters Centerline goodness [0,1] 0.9853776898026946 Centerline is valid? [True, True] Translation: X:187.54, Y:-6.50, Z:2.29 [[ 9.99477703e-01 -3.03369227e-02 -1.11351968e-02 1.87541803e+02] [ 3.03416993e-02 9.99539551e-01 2.60235423e-04 -6.50155444e+00] [ 1.11221749e-02 -5.97960295e-04 9.99937968e-01 2.28985114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51071405699997 meters Centerline goodness [0,1] 0.984925907000511 Centerline is valid? [True, True] Translation: X:187.57, Y:-6.50, Z:2.29 [[ 9.99425883e-01 -3.23463741e-02 -1.00805101e-02 1.87573073e+02] [ 3.23503932e-02 9.99476561e-01 2.35855571e-04 -6.50337920e+00] [ 1.00676045e-02 -5.61828626e-04 9.99949163e-01 2.29083841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54071405699997 meters Centerline goodness [0,1] 0.9854668482424036 Centerline is valid? [True, True] Translation: X:187.60, Y:-6.50, Z:2.29 [[ 9.99360956e-01 -3.45342781e-02 -9.22300297e-03 1.87604493e+02] [ 3.45377378e-02 9.99403371e-01 2.16065501e-04 -6.50439177e+00] [ 9.21003860e-03 -5.34469084e-04 9.99957444e-01 2.29203698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57071405699998 meters Centerline goodness [0,1] 0.984391945052842 Centerline is valid? [True, True] Translation: X:187.63, Y:-6.51, Z:2.29 [[ 9.99187277e-01 -3.93707081e-02 -8.64479220e-03 1.87634648e+02] [ 3.93739318e-02 9.99224525e-01 2.02954177e-04 -6.50899951e+00] [ 8.63009793e-03 -5.43168690e-04 9.99962612e-01 2.29284708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60071405699998 meters Centerline goodness [0,1] 0.9832104222897584 Centerline is valid? [True, True] Translation: X:187.67, Y:-6.51, Z:2.29 [[ 9.98975874e-01 -4.43781997e-02 -8.81926628e-03 1.87665285e+02] [ 4.43817492e-02 9.99014623e-01 2.07076282e-04 -6.51092437e+00] [ 8.80138630e-03 -5.98278674e-04 9.99961088e-01 2.29247593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63071405699998 meters Centerline goodness [0,1] 0.9823659386419649 Centerline is valid? [True, True] Translation: X:187.70, Y:-6.51, Z:2.29 [[ 9.98873002e-01 -4.66006098e-02 -9.00603230e-03 1.87696644e+02] [ 4.66044001e-02 9.98913402e-01 2.11335332e-04 -6.51274486e+00] [ 8.98639801e-03 -6.30817889e-04 9.99959423e-01 2.29241086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66071405699998 meters Centerline goodness [0,1] 0.98114689709348 Centerline is valid? [True, True] Translation: X:187.73, Y:-6.52, Z:2.29 [[ 9.98741175e-01 -4.93472325e-02 -8.99538158e-03 1.87726747e+02] [ 4.93511288e-02 9.98781468e-01 2.11563691e-04 -6.51505959e+00] [ 8.97398034e-03 -6.55229605e-04 9.99959518e-01 2.29244583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69071405699998 meters Centerline goodness [0,1] 0.984253809048216 Centerline is valid? [True, True] Translation: X:187.76, Y:-6.51, Z:2.29 [[ 9.98696231e-01 -5.03115564e-02 -8.63629053e-03 1.87759367e+02] [ 5.03151805e-02 9.98733369e-01 2.02740133e-04 -6.50526986e+00] [ 8.61515136e-03 -6.37012323e-04 9.99962686e-01 2.29214238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72071405699998 meters Centerline goodness [0,1] 0.9844615909284679 Centerline is valid? [True, True] Translation: X:187.79, Y:-6.51, Z:2.29 [[ 9.98699867e-01 -5.03435581e-02 -8.00635288e-03 1.87790604e+02] [ 5.03466788e-02 9.98731784e-01 1.88577260e-04 -6.50669265e+00] [ 7.98670545e-03 -5.91425361e-04 9.99967931e-01 2.29305334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75071405699998 meters Centerline goodness [0,1] 0.983091273052515 Centerline is valid? [True, True] Translation: X:187.82, Y:-6.50, Z:2.29 [[ 9.98762169e-01 -4.93219415e-02 -6.44025001e-03 1.87822810e+02] [ 4.93239401e-02 9.98782822e-01 1.51768316e-04 -6.50229913e+00] [ 6.42492557e-03 -4.69238957e-04 9.99979250e-01 2.29427031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78071405699998 meters Centerline goodness [0,1] 0.9834158994748368 Centerline is valid? [True, True] Translation: X:187.85, Y:-6.50, Z:2.30 [[ 9.98849050e-01 -4.76101559e-02 -5.81785684e-03 1.87854356e+02] [ 4.76117615e-02 9.98865908e-01 1.37715235e-04 -6.49727488e+00] [ 5.80470221e-03 -4.14555144e-04 9.99983067e-01 2.29560946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81071405699998 meters Centerline goodness [0,1] 0.9831487104914247 Centerline is valid? [True, True] Translation: X:187.89, Y:-6.50, Z:2.30 [[ 9.98871576e-01 -4.71642503e-02 -5.57755010e-03 1.87887021e+02] [ 4.71657185e-02 9.98887069e-01 1.31919978e-04 -6.49607872e+00] [ 5.56512076e-03 -3.94840274e-04 9.99984437e-01 2.29626410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84071405699999 meters Centerline goodness [0,1] 0.9823249054264891 Centerline is valid? [True, True] Translation: X:187.92, Y:-6.49, Z:2.30 [[ 9.98904734e-01 -4.65296326e-02 -4.93200869e-03 1.87919096e+02] [ 4.65307741e-02 9.98916850e-01 1.16893183e-04 -6.49481771e+00] [ 4.92122759e-03 -3.46255337e-04 9.99987831e-01 2.29641626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.870714057 meters Centerline goodness [0,1] 0.9835313872384397 Centerline is valid? [True, True] Translation: X:187.95, Y:-6.49, Z:2.30 [[ 9.98952549e-01 -4.54762662e-02 -5.07094178e-03 1.87950570e+02] [ 4.54774621e-02 9.98965358e-01 1.20729439e-04 -6.49138076e+00] [ 5.06020485e-03 -3.51216543e-04 9.99987135e-01 2.29539239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.900714057 meters Centerline goodness [0,1] 0.9843554981708629 Centerline is valid? [True, True] Translation: X:187.98, Y:-6.49, Z:2.29 [[ 9.98985089e-01 -4.46598013e-02 -5.85605051e-03 1.87982864e+02] [ 4.46613840e-02 9.99002173e-01 1.39703149e-04 -6.48913188e+00] [ 5.84396807e-03 -4.01100683e-04 9.99982843e-01 2.29443650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.930714057 meters Centerline goodness [0,1] 0.9844141265866505 Centerline is valid? [True, True] Translation: X:188.01, Y:-6.48, Z:2.29 [[ 9.99050214e-01 -4.30216952e-02 -6.91394925e-03 1.88014325e+02] [ 4.30238685e-02 9.99074031e-01 1.65839183e-04 -6.48274095e+00] [ 6.90041247e-03 -4.63146514e-04 9.99976085e-01 2.29355678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.960714057 meters Centerline goodness [0,1] 0.9851768620756715 Centerline is valid? [True, True] Translation: X:188.05, Y:-6.48, Z:2.29 [[ 9.99094036e-01 -4.19622528e-02 -7.09056561e-03 1.88047137e+02] [ 4.19645112e-02 9.99119087e-01 1.69974049e-04 -6.47805846e+00] [ 7.07718695e-03 -4.67372179e-04 9.99974847e-01 2.29389081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.990714057 meters Centerline goodness [0,1] 0.9838493180342065 Centerline is valid? [True, True] Translation: X:188.08, Y:-6.48, Z:2.29 [[ 9.99162007e-01 -4.01670311e-02 -7.86719150e-03 1.88077659e+02] [ 4.01697660e-02 9.99192851e-01 1.89872117e-04 -6.48002389e+00] [ 7.85321491e-03 -5.05736248e-04 9.99969035e-01 2.29458632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.020714057 meters Centerline goodness [0,1] 0.9854098467275132 Centerline is valid? [True, True] Translation: X:188.11, Y:-6.47, Z:2.29 [[ 9.99185208e-01 -3.95371480e-02 -8.10770241e-03 1.88110582e+02] [ 3.95400292e-02 9.99217968e-01 1.95325701e-04 -6.47322165e+00] [ 8.09363930e-03 -5.15745341e-04 9.99967113e-01 2.29382755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.050714057 meters Centerline goodness [0,1] 0.9853356506626113 Centerline is valid? [True, True] Translation: X:188.14, Y:-6.47, Z:2.29 [[ 9.99190299e-01 -3.91147447e-02 -9.42247828e-03 1.88143212e+02] [ 3.91186309e-02 9.99234547e-01 2.28417477e-04 -6.47141905e+00] [ 9.40633132e-03 -5.96826977e-04 9.99955581e-01 2.29386396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.080714057 meters Centerline goodness [0,1] 0.9833442052620135 Centerline is valid? [True, True] Translation: X:188.17, Y:-6.47, Z:2.29 [[ 9.99169562e-01 -3.95057395e-02 -9.97410443e-03 1.88174271e+02] [ 3.95101218e-02 9.99219141e-01 2.42627791e-04 -6.47494095e+00] [ 9.95673087e-03 -6.36504384e-04 9.99950228e-01 2.29384585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.110714057 meters Centerline goodness [0,1] 0.9851019341348667 Centerline is valid? [True, True] Translation: X:188.21, Y:-6.47, Z:2.29 [[ 9.99135166e-01 -4.02817288e-02 -1.03103350e-02 1.88206714e+02] [ 4.02864579e-02 9.99188140e-01 2.51319004e-04 -6.46961639e+00] [ 1.02918409e-02 -6.66468531e-04 9.99946816e-01 2.29380234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.140714057 meters Centerline goodness [0,1] 0.9850245962300291 Centerline is valid? [True, True] Translation: X:188.24, Y:-6.47, Z:2.29 [[ 9.99134163e-01 -4.02867158e-02 -1.03876806e-02 1.88238948e+02] [ 4.02915241e-02 9.99187935e-01 2.53946013e-04 -6.46780911e+00] [ 1.03690145e-02 -6.72261623e-04 9.99946014e-01 2.29459978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.170714057 meters Centerline goodness [0,1] 0.9847098141150259 Centerline is valid? [True, True] Translation: X:188.27, Y:-6.47, Z:2.30 [[ 9.99152797e-01 -3.98889001e-02 -1.01274206e-02 1.88269845e+02] [ 3.98934579e-02 9.99203908e-01 2.48345779e-04 -6.46625854e+00] [ 1.01094520e-02 -6.52153208e-04 9.99948686e-01 2.29660815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.200714057 meters Centerline goodness [0,1] 0.9840961647541341 Centerline is valid? [True, True] Translation: X:188.30, Y:-6.46, Z:2.30 [[ 9.99157269e-01 -3.97934387e-02 -1.00615561e-02 1.88302629e+02] [ 3.97979358e-02 9.99207718e-01 2.47059758e-04 -6.46286329e+00] [ 1.00437531e-02 -6.47280715e-04 9.99949351e-01 2.29744703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23071405699997 meters Centerline goodness [0,1] 0.9839441000591418 Centerline is valid? [True, True] Translation: X:188.33, Y:-6.46, Z:2.30 [[ 9.99170397e-01 -3.96168558e-02 -9.43518399e-03 1.88333292e+02] [ 3.96208134e-02 9.99214760e-01 2.32828594e-04 -6.46427458e+00] [ 9.41855117e-03 -6.06465102e-04 9.99955461e-01 2.29829541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26071405699997 meters Centerline goodness [0,1] 0.9848001049776922 Centerline is valid? [True, True] Translation: X:188.37, Y:-6.46, Z:2.30 [[ 9.99126367e-01 -4.08570173e-02 -8.78668906e-03 1.88365050e+02] [ 4.08605009e-02 9.99164837e-01 2.17234983e-04 -6.45968889e+00] [ 8.77047518e-03 -5.76073716e-04 9.99961373e-01 2.29883211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29071405699997 meters Centerline goodness [0,1] 0.9845325865803234 Centerline is valid? [True, True] Translation: X:188.40, Y:-6.46, Z:2.30 [[ 9.99060225e-01 -4.24130058e-02 -8.93327264e-03 1.88396715e+02] [ 4.24166729e-02 9.99099983e-01 2.21355172e-04 -6.46024631e+00] [ 8.91584421e-03 -6.00066852e-04 9.99960073e-01 2.29961303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32071405699998 meters Centerline goodness [0,1] 0.9834777838727372 Centerline is valid? [True, True] Translation: X:188.43, Y:-6.46, Z:2.30 [[ 9.98882203e-01 -4.61631613e-02 -1.01639959e-02 1.88426427e+02] [ 4.61681095e-02 9.98933652e-01 2.52614082e-04 -6.46224244e+00] [ 1.01414960e-02 -7.21584185e-04 9.99948313e-01 2.29898691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35071405699998 meters Centerline goodness [0,1] 0.9835144331028427 Centerline is valid? [True, True] Translation: X:188.46, Y:-6.47, Z:2.30 [[ 9.98653554e-01 -5.05765584e-02 -1.15364888e-02 1.88455726e+02] [ 5.05832299e-02 9.98719808e-01 2.87056853e-04 -6.46607510e+00] [ 1.15072016e-02 -8.70223213e-04 9.99933411e-01 2.29811741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38071405699998 meters Centerline goodness [0,1] 0.9833603718156706 Centerline is valid? [True, True] Translation: X:188.49, Y:-6.47, Z:2.30 [[ 9.98529552e-01 -5.26843127e-02 -1.27709370e-02 1.88486599e+02] [ 5.26926604e-02 9.98610726e-01 3.17820193e-04 -6.46744789e+00] [ 1.27364505e-02 -9.90287501e-04 9.99918398e-01 2.29759730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41071405699998 meters Centerline goodness [0,1] 0.9833150142888547 Centerline is valid? [True, True] Translation: X:188.52, Y:-6.47, Z:2.30 [[ 9.98447125e-01 -5.39693840e-02 -1.38074177e-02 1.88518376e+02] [ 5.39792729e-02 9.98541997e-01 3.44259774e-04 -6.46895380e+00] [ 1.37687070e-02 -1.08903955e-03 9.99904614e-01 2.29747778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44071405699998 meters Centerline goodness [0,1] 0.9847074614385988 Centerline is valid? [True, True] Translation: X:188.55, Y:-6.46, Z:2.30 [[ 9.98339276e-01 -5.54438017e-02 -1.56420747e-02 1.88550016e+02] [ 5.54566870e-02 9.98461017e-01 3.90880274e-04 -6.46425407e+00] [ 1.55963299e-02 -1.25768877e-03 9.99877579e-01 2.29674547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47071405699998 meters Centerline goodness [0,1] 0.9826848377115017 Centerline is valid? [True, True] Translation: X:188.58, Y:-6.47, Z:2.30 [[ 9.98307635e-01 -5.57998297e-02 -1.63781968e-02 1.88581181e+02] [ 5.58140148e-02 9.98441099e-01 4.09924596e-04 -6.46842446e+00] [ 1.63297911e-02 -1.32336377e-03 9.99865784e-01 2.29673887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50071405699998 meters Centerline goodness [0,1] 0.9857668495384141 Centerline is valid? [True, True] Translation: X:188.61, Y:-6.46, Z:2.30 [[ 9.98328256e-01 -5.53945656e-02 -1.64965239e-02 1.88613621e+02] [ 5.54089168e-02 9.98463660e-01 4.13815351e-04 -6.46208169e+00] [ 1.64482565e-02 -1.32717808e-03 9.99863837e-01 2.29775018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53071405699998 meters Centerline goodness [0,1] 0.9830814645107283 Centerline is valid? [True, True] Translation: X:188.64, Y:-6.47, Z:2.30 [[ 9.98404231e-01 -5.41511535e-02 -1.60201198e-02 1.88643831e+02] [ 5.41645443e-02 9.98531942e-01 4.02851762e-04 -6.46717723e+00] [ 1.59747865e-02 -1.26993139e-03 9.99871588e-01 2.29844830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56071405699998 meters Centerline goodness [0,1] 0.9854524551745484 Centerline is valid? [True, True] Translation: X:188.68, Y:-6.46, Z:2.30 [[ 9.98494453e-01 -5.22254354e-02 -1.67729603e-02 1.88675279e+02] [ 5.22398506e-02 9.98634478e-01 4.22142436e-04 -6.45611181e+00] [ 1.67280099e-02 -1.29772382e-03 9.99859235e-01 2.29917152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59071405699999 meters Centerline goodness [0,1] 0.9870560902754729 Centerline is valid? [True, True] Translation: X:188.71, Y:-6.45, Z:2.30 [[ 9.98553847e-01 -5.08518753e-02 -1.74442274e-02 1.88707278e+02] [ 5.08672715e-02 9.98705326e-01 4.39744217e-04 -6.44936225e+00] [ 1.73992810e-02 -1.32644853e-03 9.99847741e-01 2.29980156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.620714057 meters Centerline goodness [0,1] 0.9843663866287403 Centerline is valid? [True, True] Translation: X:188.74, Y:-6.46, Z:2.30 [[ 9.98630058e-01 -4.93299025e-02 -1.74518851e-02 1.88737125e+02] [ 4.93451012e-02 9.98781691e-01 4.41090061e-04 -6.46181549e+00] [ 1.74088644e-02 -1.30165083e-03 9.99847607e-01 2.29925168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.650714057 meters Centerline goodness [0,1] 0.9868855364302962 Centerline is valid? [True, True] Translation: X:188.77, Y:-6.45, Z:2.30 [[ 9.98796047e-01 -4.56688814e-02 -1.79111545e-02 1.88768342e+02] [ 4.56843327e-02 9.98955823e-01 4.54242333e-04 -6.44630702e+00] [ 1.78717073e-02 -1.27195459e-03 9.99839479e-01 2.30010086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.680714057 meters Centerline goodness [0,1] 0.9887946497774431 Centerline is valid? [True, True] Translation: X:188.80, Y:-6.44, Z:2.30 [[ 9.98907791e-01 -4.30054244e-02 -1.82690687e-02 1.88798850e+02] [ 4.30210573e-02 9.99074058e-01 4.63371976e-04 -6.44090061e+00] [ 1.82322251e-02 -1.24882053e-03 9.99832999e-01 2.30083357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.710714057 meters Centerline goodness [0,1] 0.9855056428413366 Centerline is valid? [True, True] Translation: X:188.83, Y:-6.45, Z:2.30 [[ 9.99124292e-01 -3.73210480e-02 -1.89152972e-02 1.88828343e+02] [ 3.73367903e-02 9.99302624e-01 4.79663246e-04 -6.44993735e+00] [ 1.88842046e-02 -1.18547968e-03 9.99820975e-01 2.29983585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.740714057 meters Centerline goodness [0,1] 0.9890019552079631 Centerline is valid? [True, True] Translation: X:188.86, Y:-6.44, Z:2.30 [[ 9.99227714e-01 -3.40910735e-02 -1.95390578e-02 1.88859469e+02] [ 3.41072532e-02 9.99418056e-01 4.95327977e-04 -6.43564809e+00] [ 1.95108009e-02 -1.16136903e-03 9.99808972e-01 2.30094010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.770714057 meters Centerline goodness [0,1] 0.9901613800779077 Centerline is valid? [True, True] Translation: X:188.89, Y:-6.43, Z:2.30 [[ 9.99384366e-01 -2.81352091e-02 -2.09594722e-02 1.88890350e+02] [ 2.81525281e-02 9.99603498e-01 5.31644591e-04 -6.42653158e+00] [ 2.09362038e-02 -1.12137942e-03 9.99780185e-01 2.30133555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.800714057 meters Centerline goodness [0,1] 0.9894502559537057 Centerline is valid? [True, True] Translation: X:188.92, Y:-6.43, Z:2.30 [[ 9.99443601e-01 -2.52776186e-02 -2.17607640e-02 1.88919594e+02] [ 2.52956089e-02 9.99679863e-01 5.51823188e-04 -6.42707564e+00] [ 2.17398488e-02 -1.10196793e-03 9.99763054e-01 2.30110802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.830714057 meters Centerline goodness [0,1] 0.9907916101336773 Centerline is valid? [True, True] Translation: X:188.95, Y:-6.42, Z:2.30 [[ 9.99503008e-01 -2.26299172e-02 -2.19459470e-02 1.88949578e+02] [ 2.26475624e-02 9.99743357e-01 5.55792669e-04 -6.42384699e+00] [ 2.19277371e-02 -1.05253865e-03 9.99759004e-01 2.30150811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.860714057 meters Centerline goodness [0,1] 0.9902856378949245 Centerline is valid? [True, True] Translation: X:188.98, Y:-6.42, Z:2.30 [[ 9.99552376e-01 -1.91293531e-02 -2.30025285e-02 1.88978104e+02] [ 1.91477833e-02 9.99816495e-01 5.81219081e-04 -6.42227060e+00] [ 2.29871891e-02 -1.02140634e-03 9.99735238e-01 2.30076978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.890714057 meters Centerline goodness [0,1] 0.9902048284171538 Centerline is valid? [True, True] Translation: X:189.01, Y:-6.42, Z:2.30 [[ 9.99598584e-01 -1.64639179e-02 -2.30566594e-02 1.89008115e+02] [ 1.64816995e-02 9.99863999e-01 5.81381793e-04 -6.42166375e+00] [ 2.30439518e-02 -9.61161349e-04 9.99733991e-01 2.30102864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.920714057 meters Centerline goodness [0,1] 0.9862578175657303 Centerline is valid? [True, True] Translation: X:189.04, Y:-6.44, Z:2.30 [[ 9.99710270e-01 -1.35426714e-02 -1.98990546e-02 1.89036138e+02] [ 1.35553190e-02 9.99907997e-01 5.00836527e-04 -6.44038401e+00] [ 1.98904411e-02 -7.70429453e-04 9.99801869e-01 2.29909311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.950714057 meters Centerline goodness [0,1] 0.9902251118879561 Centerline is valid? [True, True] Translation: X:189.07, Y:-6.42, Z:2.30 [[ 9.99620204e-01 -1.58859451e-02 -2.25185152e-02 1.89065797e+02] [ 1.59027075e-02 9.99873384e-01 5.65489876e-04 -6.42180145e+00] [ 2.25066806e-02 -9.23380465e-04 9.99746266e-01 2.30287621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98071405699997 meters Centerline goodness [0,1] 0.9903852573946719 Centerline is valid? [True, True] Translation: X:189.09, Y:-6.42, Z:2.30 [[ 9.99596963e-01 -1.75153231e-02 -2.23410866e-02 1.89094759e+02] [ 1.75321647e-02 9.99846144e-01 5.58176386e-04 -6.42321825e+00] [ 2.23278726e-02 -9.49639028e-04 9.99750251e-01 2.30374433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01071405699997 meters Centerline goodness [0,1] 0.9904605190011341 Centerline is valid? [True, True] Translation: X:189.12, Y:-6.43, Z:2.30 [[ 9.99564820e-01 -1.88926774e-02 -2.26547323e-02 1.89122196e+02] [ 1.89102431e-02 9.99821028e-01 5.61365446e-04 -6.42716700e+00] [ 2.26400721e-02 -9.89527647e-04 9.99743191e-01 2.30370760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04071405699997 meters Centerline goodness [0,1] 0.9897761010781972 Centerline is valid? [True, True] Translation: X:189.15, Y:-6.43, Z:2.31 [[ 9.99478244e-01 -2.28342070e-02 -2.28437713e-02 1.89152275e+02] [ 2.28530488e-02 9.99738676e-01 5.64057654e-04 -6.42983805e+00] [ 2.28249218e-02 -1.08581317e-03 9.99738888e-01 2.30527288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07071405699998 meters Centerline goodness [0,1] 0.9881089971550497 Centerline is valid? [True, True] Translation: X:189.18, Y:-6.44, Z:2.31 [[ 9.99450221e-01 -2.48281164e-02 -2.19731553e-02 1.89180831e+02] [ 2.48460148e-02 9.99691143e-01 5.41888922e-04 -6.44082105e+00] [ 2.19529146e-02 -1.08753635e-03 9.99758414e-01 2.30520851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10071405699998 meters Centerline goodness [0,1] 0.9881217190141471 Centerline is valid? [True, True] Translation: X:189.21, Y:-6.45, Z:2.31 [[ 9.99321714e-01 -2.98797042e-02 -2.15247421e-02 1.89210657e+02] [ 2.98980327e-02 9.99552813e-01 5.30128917e-04 -6.44549057e+00] [ 2.14992765e-02 -1.17331678e-03 9.99768175e-01 2.30686030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13071405699998 meters Centerline goodness [0,1] 0.9884004613200852 Centerline is valid? [True, True] Translation: X:189.24, Y:-6.44, Z:2.31 [[ 9.99260994e-01 -3.20000668e-02 -2.12946378e-02 1.89241066e+02] [ 3.20184858e-02 9.99487139e-01 5.24485317e-04 -6.44231016e+00] [ 2.12669331e-02 -1.20591978e-03 9.99773106e-01 2.30837485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16071405699998 meters Centerline goodness [0,1] 0.9876641817536386 Centerline is valid? [True, True] Translation: X:189.27, Y:-6.45, Z:2.31 [[ 9.99090362e-01 -3.66020578e-02 -2.18800719e-02 1.89271180e+02] [ 3.66226039e-02 9.99329022e-01 5.38936952e-04 -6.44759004e+00] [ 2.18456646e-02 -1.33975192e-03 9.99760457e-01 2.30887593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19071405699998 meters Centerline goodness [0,1] 0.9867223400494874 Centerline is valid? [True, True] Translation: X:189.30, Y:-6.46, Z:2.31 [[ 9.99030030e-01 -3.82314762e-02 -2.18484367e-02 1.89301220e+02] [ 3.82523553e-02 9.99267966e-01 5.38353101e-04 -6.45785801e+00] [ 2.18118609e-02 -1.37358508e-03 9.99761149e-01 2.30820030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22071405699998 meters Centerline goodness [0,1] 0.986895586700131 Centerline is valid? [True, True] Translation: X:189.33, Y:-6.46, Z:2.31 [[ 9.98911414e-01 -4.07906593e-02 -2.26298258e-02 1.89332139e+02] [ 4.08137219e-02 9.99166617e-01 5.58006011e-04 -6.45641182e+00] [ 2.25882051e-02 -1.48100599e-03 9.99743757e-01 2.30906784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25071405699998 meters Centerline goodness [0,1] 0.9874519732604882 Centerline is valid? [True, True] Translation: X:189.36, Y:-6.46, Z:2.31 [[ 9.98882698e-01 -4.11991677e-02 -2.31513147e-02 1.89363326e+02] [ 4.12234281e-02 9.99149790e-01 5.71428813e-04 -6.45665501e+00] [ 2.31080889e-02 -1.52516691e-03 9.99731809e-01 2.30957691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28071405699998 meters Centerline goodness [0,1] 0.9872695928921894 Centerline is valid? [True, True] Translation: X:189.40, Y:-6.46, Z:2.31 [[ 9.98877227e-01 -4.13349264e-02 -2.31453751e-02 1.89395160e+02] [ 4.13592364e-02 9.99144177e-01 5.72397584e-04 -6.45853565e+00] [ 2.31019068e-02 -1.52902995e-03 9.99731946e-01 2.31030234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31071405699998 meters Centerline goodness [0,1] 0.9872695928921894 Centerline is valid? [True, True] Translation: X:189.43, Y:-6.46, Z:2.31 [[ 9.98880052e-01 -4.12666457e-02 -2.31453359e-02 1.89426910e+02] [ 4.12909740e-02 9.99146999e-01 5.73979595e-04 -6.45938704e+00] [ 2.31019067e-02 -1.52903023e-03 9.99731946e-01 2.31073920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34071405699999 meters Centerline goodness [0,1] 0.9869370765620157 Centerline is valid? [True, True] Translation: X:189.46, Y:-6.46, Z:2.31 [[ 9.98880099e-01 -4.12537133e-02 -2.31663327e-02 1.89459567e+02] [ 4.12781189e-02 9.99147529e-01 5.76084449e-04 -6.46013997e+00] [ 2.31228184e-02 -1.53170193e-03 9.99731459e-01 2.31152305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.370714057 meters Centerline goodness [0,1] 0.9872971534982709 Centerline is valid? [True, True] Translation: X:189.49, Y:-6.46, Z:2.31 [[ 9.98901061e-01 -4.09642441e-02 -2.27728344e-02 1.89491361e+02] [ 4.09877804e-02 9.99159487e-01 5.67529645e-04 -6.46015538e+00] [ 2.27304451e-02 -1.50031390e-03 9.99740504e-01 2.31287973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.400714057 meters Centerline goodness [0,1] 0.9862359862359862 Centerline is valid? [True, True] Translation: X:189.52, Y:-6.46, Z:2.31 [[ 9.98906709e-01 -4.10061571e-02 -2.24472935e-02 1.89522805e+02] [ 4.10290559e-02 9.99157797e-01 5.60320700e-04 -6.46269398e+00] [ 2.24054117e-02 -1.48069937e-03 9.99747871e-01 2.31278117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.430714057 meters Centerline goodness [0,1] 0.9861569469977187 Centerline is valid? [True, True] Translation: X:189.55, Y:-6.47, Z:2.31 [[ 9.98877077e-01 -4.16026177e-02 -2.26673342e-02 1.89553732e+02] [ 4.16261434e-02 9.99133096e-01 5.66819528e-04 -6.46511807e+00] [ 2.26241026e-02 -1.50973674e-03 9.99742902e-01 2.31242213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.460714057 meters Centerline goodness [0,1] 0.9864418795276811 Centerline is valid? [True, True] Translation: X:189.58, Y:-6.47, Z:2.31 [[ 9.98836417e-01 -4.21934903e-02 -2.33563960e-02 1.89584982e+02] [ 4.22186479e-02 9.99108224e-01 5.84845221e-04 -6.46698564e+00] [ 2.33108906e-02 -1.57024016e-03 9.99727031e-01 2.31210427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.490714057 meters Centerline goodness [0,1] 0.9864276511617576 Centerline is valid? [True, True] Translation: X:189.62, Y:-6.47, Z:2.31 [[ 9.98718284e-01 -4.42022439e-02 -2.46566674e-02 1.89616384e+02] [ 4.42309118e-02 9.99021143e-01 6.18252228e-04 -6.46773205e+00] [ 2.46052039e-02 -1.70804668e-03 9.99695787e-01 2.31131994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.520714057 meters Centerline goodness [0,1] 0.9851191792331845 Centerline is valid? [True, True] Translation: X:189.65, Y:-6.47, Z:2.31 [[ 9.98667025e-01 -4.52406501e-02 -2.48486945e-02 1.89646136e+02] [ 4.52701206e-02 9.98974587e-01 6.24455098e-04 -6.47304701e+00] [ 2.47949636e-02 -1.74852611e-03 9.99691028e-01 2.31047318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.550714057 meters Centerline goodness [0,1] 0.9867386378781821 Centerline is valid? [True, True] Translation: X:189.68, Y:-6.47, Z:2.31 [[ 9.98556415e-01 -4.66604079e-02 -2.66062479e-02 1.89677732e+02] [ 4.66947419e-02 9.98908981e-01 6.70276808e-04 -6.47231918e+00] [ 2.65459446e-02 -1.91168108e-03 9.99645766e-01 2.31052729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.580714057 meters Centerline goodness [0,1] 0.9845418961056194 Centerline is valid? [True, True] Translation: X:189.71, Y:-6.48, Z:2.31 [[ 9.98399322e-01 -4.93861602e-02 -2.75644766e-02 1.89707009e+02] [ 4.94240564e-02 9.98777643e-01 6.94800655e-04 -6.47665105e+00] [ 2.74964694e-02 -2.05603675e-03 9.99619786e-01 2.30980195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.610714057 meters Centerline goodness [0,1] 0.986271596176451 Centerline is valid? [True, True] Translation: X:189.74, Y:-6.47, Z:2.31 [[ 9.98261144e-01 -5.21822305e-02 -2.74171905e-02 1.89737883e+02] [ 5.22207780e-02 9.98635325e-01 6.91352860e-04 -6.47060282e+00] [ 2.73436986e-02 -2.12189772e-03 9.99623839e-01 2.31273851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.640714057 meters Centerline goodness [0,1] 0.9855072463768116 Centerline is valid? [True, True] Translation: X:189.77, Y:-6.47, Z:2.31 [[ 9.98216302e-01 -5.31901863e-02 -2.71112134e-02 1.89768599e+02] [ 5.32282744e-02 9.98582136e-01 6.84640181e-04 -6.47415340e+00] [ 2.70363573e-02 -2.12650210e-03 9.99632189e-01 2.31336032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.670714057 meters Centerline goodness [0,1] 0.9859546191968354 Centerline is valid? [True, True] Translation: X:189.80, Y:-6.47, Z:2.31 [[ 9.98178708e-01 -5.39892152e-02 -2.69152742e-02 1.89801062e+02] [ 5.40270853e-02 9.98539238e-01 6.81265534e-04 -6.47201740e+00] [ 2.68391764e-02 -2.13417857e-03 9.99637486e-01 2.31428816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.700714057 meters Centerline goodness [0,1] 0.9816267730496454 Centerline is valid? [True, True] Translation: X:189.83, Y:-6.48, Z:2.31 [[ 9.98201717e-01 -5.40824708e-02 -2.58538025e-02 1.89831838e+02] [ 5.41174823e-02 9.98534360e-01 6.55932615e-04 -6.47617301e+00] [ 2.57804356e-02 -2.05389576e-03 9.99665519e-01 2.31469440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73071405699997 meters Centerline goodness [0,1] 0.9781316536550745 Centerline is valid? [True, True] Translation: X:189.86, Y:-6.48, Z:2.32 [[ 9.98241485e-01 -5.39558858e-02 -2.45499503e-02 1.89862733e+02] [ 5.39874451e-02 9.98541419e-01 6.24058564e-04 -6.47629159e+00] [ 2.44804706e-02 -1.94835024e-03 9.99698410e-01 2.31597865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76071405699997 meters Centerline goodness [0,1] 0.9871457850650508 Centerline is valid? [True, True] Translation: X:189.89, Y:-6.47, Z:2.32 [[ 9.98259539e-01 -5.36669905e-02 -2.44488461e-02 1.89894771e+02] [ 5.36982390e-02 9.98557014e-01 6.22915051e-04 -6.46561580e+00] [ 2.43801367e-02 -1.93469087e-03 9.99700888e-01 2.31855708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79071405699997 meters Centerline goodness [0,1] 0.9881087834370748 Centerline is valid? [True, True] Translation: X:189.93, Y:-6.46, Z:2.32 [[ 9.98298195e-01 -5.33105123e-02 -2.36369120e-02 1.89926740e+02] [ 5.33396585e-02 9.98576245e-01 6.03869545e-04 -6.46038243e+00] [ 2.35710662e-02 -1.86362669e-03 9.99720427e-01 2.32019380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82071405699998 meters Centerline goodness [0,1] 0.9886117015326099 Centerline is valid? [True, True] Translation: X:189.96, Y:-6.46, Z:2.32 [[ 9.98319652e-01 -5.32994269e-02 -2.27385864e-02 1.89958690e+02] [ 5.33264324e-02 9.98576964e-01 5.82512758e-04 -6.45834396e+00] [ 2.26751810e-02 -1.79410162e-03 9.99741275e-01 2.32177663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85071405699998 meters Centerline goodness [0,1] 0.9865036696633726 Centerline is valid? [True, True] Translation: X:189.99, Y:-6.47, Z:2.32 [[ 9.98299632e-01 -5.37969914e-02 -2.24439091e-02 1.89989543e+02] [ 5.38234583e-02 9.98550301e-01 5.76399355e-04 -6.46575920e+00] [ 2.23803636e-02 -1.78342807e-03 9.99747938e-01 2.32131437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88071405699998 meters Centerline goodness [0,1] 0.985410606399642 Centerline is valid? [True, True] Translation: X:190.02, Y:-6.47, Z:2.32 [[ 9.98195667e-01 -5.53480350e-02 -2.32810107e-02 1.90020797e+02] [ 5.53769579e-02 9.98465339e-01 5.98981182e-04 -6.46615349e+00] [ 2.32121298e-02 -1.88713197e-03 9.99728781e-01 2.32004741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91071405699998 meters Centerline goodness [0,1] 0.9845344673231871 Centerline is valid? [True, True] Translation: X:190.05, Y:-6.47, Z:2.32 [[ 9.98098314e-01 -5.67777489e-02 -2.40008934e-02 1.90052355e+02] [ 5.68089191e-02 9.98384878e-01 6.18330082e-04 -6.46723734e+00] [ 2.39270217e-02 -1.98061903e-03 9.99711746e-01 2.31934430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94071405699998 meters Centerline goodness [0,1] 0.9874683345663237 Centerline is valid? [True, True] Translation: X:190.08, Y:-6.46, Z:2.32 [[ 9.97992429e-01 -5.83895735e-02 -2.45309795e-02 1.90083330e+02] [ 5.84226361e-02 9.98291739e-01 6.32653545e-04 -6.46306027e+00] [ 2.44521338e-02 -2.06454794e-03 9.99698870e-01 2.31965675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97071405699998 meters Centerline goodness [0,1] 0.9660546971086116 Centerline is valid? [True, True] Translation: X:190.11, Y:-6.47, Z:2.32 [[ 9.97792554e-01 -6.12407974e-02 -2.56823586e-02 1.90112412e+02] [ 6.12779771e-02 9.98120519e-01 6.62431788e-04 -6.47369937e+00] [ 2.55935212e-02 -2.23473249e-03 9.99669934e-01 2.31823468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00071405699998 meters Centerline goodness [0,1] 0.9610468245425189 Centerline is valid? [True, True] Translation: X:190.14, Y:-6.47, Z:2.32 [[ 9.97694600e-01 -6.26528189e-02 -2.60789107e-02 1.90143630e+02] [ 6.26916401e-02 9.98032718e-01 6.72870414e-04 -6.47402110e+00] [ 2.59854489e-02 -2.30624886e-03 9.99659661e-01 2.31834168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03071405699998 meters Centerline goodness [0,1] 0.9801938097262941 Centerline is valid? [True, True] Translation: X:190.17, Y:-6.47, Z:2.32 [[ 9.97557200e-01 -6.45876576e-02 -2.66095465e-02 1.90174986e+02] [ 6.46287840e-02 9.97909138e-01 6.87540674e-04 -6.46809807e+00] [ 2.65095030e-02 -2.40560378e-03 9.99645667e-01 2.31935633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06071405699998 meters Centerline goodness [0,1] 0.9831200897867565 Centerline is valid? [True, True] Translation: X:190.21, Y:-6.47, Z:2.32 [[ 9.97503266e-01 -6.53197771e-02 -2.68432805e-02 1.90207211e+02] [ 6.53619318e-02 9.97861381e-01 6.95051014e-04 -6.46685189e+00] [ 2.67404723e-02 -2.44784432e-03 9.99639413e-01 2.31993806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09071405699999 meters Centerline goodness [0,1] 0.9856263756007726 Centerline is valid? [True, True] Translation: X:190.24, Y:-6.46, Z:2.32 [[ 9.97478687e-01 -6.56820746e-02 -2.68725461e-02 1.90239243e+02] [ 6.57245025e-02 9.97837563e-01 6.97706600e-04 -6.46301855e+00] [ 2.67686091e-02 -2.46213219e-03 9.99638624e-01 2.32051965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.120714057 meters Centerline goodness [0,1] 0.9804727877398769 Centerline is valid? [True, True] Translation: X:190.27, Y:-6.47, Z:2.32 [[ 9.97485887e-01 -6.55410503e-02 -2.69495061e-02 1.90270325e+02] [ 6.55837157e-02 9.97846824e-01 7.01384763e-04 -6.46606261e+00] [ 2.68455096e-02 -2.46707015e-03 9.99636550e-01 2.32048831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.150714057 meters Centerline goodness [0,1] 0.97702183150842 Centerline is valid? [True, True] Translation: X:190.30, Y:-6.47, Z:2.32 [[ 9.97530375e-01 -6.48697518e-02 -2.69270460e-02 1.90301632e+02] [ 6.49121415e-02 9.97890736e-01 7.02209369e-04 -6.46537759e+00] [ 2.68246976e-02 -2.44836740e-03 9.99637155e-01 2.32033681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.180714057 meters Centerline goodness [0,1] 0.9711852569446009 Centerline is valid? [True, True] Translation: X:190.33, Y:-6.47, Z:2.32 [[ 9.97532965e-01 -6.47397481e-02 -2.71431084e-02 1.90333880e+02] [ 6.47828238e-02 9.97899134e-01 7.09710266e-04 -6.46638929e+00] [ 2.70401379e-02 -2.46636659e-03 9.99631306e-01 2.32031316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.210714057 meters Centerline goodness [0,1] 0.9672470885049445 Centerline is valid? [True, True] Translation: X:190.37, Y:-6.47, Z:2.32 [[ 9.97545416e-01 -6.44141652e-02 -2.74582964e-02 1.90366356e+02] [ 6.44581834e-02 9.97920149e-01 7.20074837e-04 -6.46616762e+00] [ 2.73548042e-02 -2.48821926e-03 9.99622691e-01 2.32046327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.240714057 meters Centerline goodness [0,1] 0.97685164315016 Centerline is valid? [True, True] Translation: X:190.40, Y:-6.46, Z:2.32 [[ 9.97555284e-01 -6.43223342e-02 -2.73147006e-02 1.90398645e+02] [ 6.43659095e-02 9.97926106e-01 7.18170423e-04 -6.46328543e+00] [ 2.72118585e-02 -2.47455025e-03 9.99626626e-01 2.32149160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.270714057 meters Centerline goodness [0,1] 0.9819779025538852 Centerline is valid? [True, True] Translation: X:190.43, Y:-6.46, Z:2.32 [[ 9.97590910e-01 -6.38366755e-02 -2.71524361e-02 1.90430952e+02] [ 6.38796068e-02 9.97957356e-01 7.15778736e-04 -6.45909853e+00] [ 2.70512803e-02 -2.44854130e-03 9.99631048e-01 2.32242138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.300714057 meters Centerline goodness [0,1] 0.9857589204854194 Centerline is valid? [True, True] Translation: X:190.46, Y:-6.45, Z:2.32 [[ 9.97607580e-01 -6.35278382e-02 -2.72640705e-02 1.90463154e+02] [ 6.35710613e-02 9.97977054e-01 7.20648495e-04 -6.45474382e+00] [ 2.71631356e-02 -2.45213030e-03 9.99628006e-01 2.32327374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.330714057 meters Centerline goodness [0,1] 0.9846906422683214 Centerline is valid? [True, True] Translation: X:190.49, Y:-6.46, Z:2.32 [[ 9.97635201e-01 -6.31801784e-02 -2.70604901e-02 1.90494401e+02] [ 6.32226766e-02 9.97999188e-01 7.16950198e-04 -6.45608032e+00] [ 2.69610501e-02 -2.42609137e-03 9.99633541e-01 2.32323137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.360714057 meters Centerline goodness [0,1] 0.9765665722379604 Centerline is valid? [True, True] Translation: X:190.53, Y:-6.46, Z:2.32 [[ 9.97651722e-01 -6.29297624e-02 -2.70348975e-02 1.90526003e+02] [ 6.29721547e-02 9.98015026e-01 7.18708898e-04 -6.46017040e+00] [ 2.69360058e-02 -2.41946692e-03 9.99634232e-01 2.32314160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.390714057 meters Centerline goodness [0,1] 0.9813071391302375 Centerline is valid? [True, True] Translation: X:190.56, Y:-6.46, Z:2.32 [[ 9.97734368e-01 -6.16749555e-02 -2.68761988e-02 1.90557922e+02] [ 6.17164721e-02 9.98093464e-01 7.17188819e-04 -6.45732950e+00] [ 2.67807258e-02 -2.37426810e-03 9.99638512e-01 2.32365814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.420714057 meters Centerline goodness [0,1] 0.9803105745401632 Centerline is valid? [True, True] Translation: X:190.59, Y:-6.46, Z:2.32 [[ 9.97783062e-01 -6.11376266e-02 -2.62897488e-02 1.90590659e+02] [ 6.11772187e-02 9.98126672e-01 7.03577658e-04 -6.45871723e+00] [ 2.61974844e-02 -2.31035158e-03 9.99654117e-01 2.32358001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.450714057 meters Centerline goodness [0,1] 0.9852857565213436 Centerline is valid? [True, True] Translation: X:190.62, Y:-6.45, Z:2.32 [[ 9.97882687e-01 -5.96409857e-02 -2.59440962e-02 1.90622706e+02] [ 5.96790876e-02 9.98217372e-01 6.96124244e-04 -6.45454644e+00] [ 2.58563300e-02 -2.24297032e-03 9.99663153e-01 2.32473374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48071405699997 meters Centerline goodness [0,1] 0.9849013829063704 Centerline is valid? [True, True] Translation: X:190.65, Y:-6.46, Z:2.32 [[ 9.97942258e-01 -5.86113136e-02 -2.59993146e-02 1.90653691e+02] [ 5.86492608e-02 9.98278406e-01 6.98748426e-04 -6.45522691e+00] [ 2.59135998e-02 -2.22215117e-03 9.99661716e-01 2.32483126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51071405699997 meters Centerline goodness [0,1] 0.988089002254663 Centerline is valid? [True, True] Translation: X:190.68, Y:-6.45, Z:2.33 [[ 9.98078270e-01 -5.67782770e-02 -2.48192418e-02 1.90684740e+02] [ 5.68123097e-02 9.98384653e-01 6.67680883e-04 -6.44930364e+00] [ 2.47412404e-02 -2.07643623e-03 9.99691732e-01 2.32679020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54071405699997 meters Centerline goodness [0,1] 0.9880310373859421 Centerline is valid? [True, True] Translation: X:190.72, Y:-6.45, Z:2.33 [[ 9.98142407e-01 -5.57714043e-02 -2.45211445e-02 1.90717593e+02] [ 5.58043517e-02 9.98441504e-01 6.60865406e-04 -6.44549288e+00] [ 2.44460710e-02 -2.02802436e-03 9.99699093e-01 2.32809855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57071405699998 meters Centerline goodness [0,1] 0.9846213344859749 Centerline is valid? [True, True] Translation: X:190.75, Y:-6.46, Z:2.33 [[ 9.98225856e-01 -5.45138850e-02 -2.39452976e-02 1.90747982e+02] [ 5.45449808e-02 9.98511105e-01 6.46915587e-04 -6.45510186e+00] [ 2.38743797e-02 -1.95186366e-03 9.99713061e-01 2.32763921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60071405699998 meters Centerline goodness [0,1] 0.9890940552355365 Centerline is valid? [True, True] Translation: X:190.78, Y:-6.45, Z:2.33 [[ 9.98416714e-01 -5.11868912e-02 -2.33231187e-02 1.90778901e+02] [ 5.12155013e-02 9.98687426e-01 6.30613521e-04 -6.44528114e+00] [ 2.32602262e-02 -1.82412029e-03 9.99727780e-01 2.32913334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63071405699998 meters Centerline goodness [0,1] 0.9877471711052692 Centerline is valid? [True, True] Translation: X:190.81, Y:-6.45, Z:2.33 [[ 9.98622787e-01 -4.70857505e-02 -2.31400363e-02 1.90808265e+02] [ 4.71128153e-02 9.98889379e-01 6.25534658e-04 -6.44713421e+00] [ 2.30848827e-02 -1.71486542e-03 9.99732038e-01 2.32838282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66071405699998 meters Centerline goodness [0,1] 0.9889772028513517 Centerline is valid? [True, True] Translation: X:190.84, Y:-6.44, Z:2.33 [[ 9.98735456e-01 -4.44707621e-02 -2.34486900e-02 1.90838927e+02] [ 4.44978313e-02 9.99009280e-01 6.33629775e-04 -6.44423710e+00] [ 2.33972809e-02 -1.67624437e-03 9.99724841e-01 2.32878819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69071405699998 meters Centerline goodness [0,1] 0.9899511259306628 Centerline is valid? [True, True] Translation: X:190.87, Y:-6.44, Z:2.33 [[ 9.98847842e-01 -4.17655093e-02 -2.36353666e-02 1.90870083e+02] [ 4.17922626e-02 9.99126117e-01 6.38877950e-04 -6.43636546e+00] [ 2.35880290e-02 -1.62591731e-03 9.99720442e-01 2.32968540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72071405699998 meters Centerline goodness [0,1] 0.9904364378597803 Centerline is valid? [True, True] Translation: X:190.90, Y:-6.44, Z:2.33 [[ 9.99061460e-01 -3.59456309e-02 -2.41683881e-02 1.90900194e+02] [ 3.59719159e-02 9.99352587e-01 6.53562142e-04 -6.43667491e+00] [ 2.41292485e-02 -1.52233197e-03 9.99707688e-01 2.32854666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75071405699998 meters Centerline goodness [0,1] 0.9898141775636614 Centerline is valid? [True, True] Translation: X:190.93, Y:-6.44, Z:2.33 [[ 9.99152873e-01 -3.31565751e-02 -2.43757686e-02 1.90929936e+02] [ 3.31824860e-02 9.99449092e-01 6.59151565e-04 -6.43767838e+00] [ 2.43404846e-02 -1.46744178e-03 9.99702650e-01 2.32816568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78071405699998 meters Centerline goodness [0,1] 0.9907721972270682 Centerline is valid? [True, True] Translation: X:190.96, Y:-6.43, Z:2.33 [[ 9.99305620e-01 -2.81910314e-02 -2.43627457e-02 1.90960262e+02] [ 2.82154449e-02 9.99601648e-01 6.58843790e-04 -6.43241487e+00] [ 2.43344673e-02 -1.34579201e-03 9.99702967e-01 2.32927870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81071405699998 meters Centerline goodness [0,1] 0.9899423637741395 Centerline is valid? [True, True] Translation: X:190.99, Y:-6.43, Z:2.33 [[ 9.99426721e-01 -2.40955437e-02 -2.37830663e-02 1.90989587e+02] [ 2.41176510e-02 9.99708920e-01 6.43101401e-04 -6.43035581e+00] [ 2.37606476e-02 -1.21632442e-03 9.99716936e-01 2.33092225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84071405699999 meters Centerline goodness [0,1] 0.9906666666666667 Centerline is valid? [True, True] Translation: X:191.02, Y:-6.43, Z:2.33 [[ 9.99491902e-01 -2.20112875e-02 -2.30529933e-02 1.91019598e+02] [ 2.20314976e-02 9.99757083e-01 6.23037090e-04 -6.42671498e+00] [ 2.30336795e-02 -1.13061249e-03 9.99734050e-01 2.33269635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.870714057 meters Centerline goodness [0,1] 0.9914518098661321 Centerline is valid? [True, True] Translation: X:191.05, Y:-6.42, Z:2.33 [[ 9.99541414e-01 -2.00739866e-02 -2.26714907e-02 1.91049313e+02] [ 2.00930233e-02 9.99797927e-01 6.12170669e-04 -6.42143217e+00] [ 2.26546207e-02 -1.06742873e-03 9.99742781e-01 2.33443334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.900714057 meters Centerline goodness [0,1] 0.9907038818196461 Centerline is valid? [True, True] Translation: X:191.08, Y:-6.42, Z:2.33 [[ 9.99610255e-01 -1.62501477e-02 -2.26995988e-02 1.91078246e+02] [ 1.62682293e-02 9.99867476e-01 6.12110389e-04 -6.42472263e+00] [ 2.26866437e-02 -9.81154101e-04 9.99742144e-01 2.33354159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.930714057 meters Centerline goodness [0,1] 0.9911732847825586 Centerline is valid? [True, True] Translation: X:191.11, Y:-6.42, Z:2.33 [[ 9.99638969e-01 -1.43136795e-02 -2.27387204e-02 1.91107359e+02] [ 1.43312657e-02 9.99897116e-01 6.10620799e-04 -6.42183568e+00] [ 2.27276407e-02 -9.36274989e-04 9.99741255e-01 2.33419945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.960714057 meters Centerline goodness [0,1] 0.9918997507615619 Centerline is valid? [True, True] Translation: X:191.14, Y:-6.42, Z:2.33 [[ 9.99663425e-01 -1.19680727e-02 -2.30174271e-02 1.91136639e+02] [ 1.19853489e-02 9.99927985e-01 6.12759849e-04 -6.42000179e+00] [ 2.30084359e-02 -8.88425504e-04 9.99734876e-01 2.33462165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.990714057 meters Centerline goodness [0,1] 0.9916518691049974 Centerline is valid? [True, True] Translation: X:191.16, Y:-6.42, Z:2.33 [[ 9.99667450e-01 -1.16290531e-02 -2.30163815e-02 1.91164786e+02] [ 1.16461108e-02 9.99931997e-01 6.07203027e-04 -6.42213919e+00] [ 2.30077552e-02 -8.75052431e-04 9.99734904e-01 2.33454291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.020714057 meters Centerline goodness [0,1] 0.9914216534071255 Centerline is valid? [True, True] Translation: X:191.19, Y:-6.42, Z:2.33 [[ 9.99660905e-01 -1.21001395e-02 -2.30577917e-02 1.91193187e+02] [ 1.21172520e-02 9.99926402e-01 6.02577799e-04 -6.42356467e+00] [ 2.30488034e-02 -8.81770540e-04 9.99733952e-01 2.33466249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.050714057 meters Centerline goodness [0,1] 0.9915213345281588 Centerline is valid? [True, True] Translation: X:191.22, Y:-6.42, Z:2.34 [[ 9.99639819e-01 -1.33587257e-02 -2.32760800e-02 1.91221754e+02] [ 1.33763700e-02 9.99910351e-01 6.02506567e-04 -6.42449367e+00] [ 2.32659446e-02 -9.13639013e-04 9.99728894e-01 2.33506778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.080714057 meters Centerline goodness [0,1] 0.9903722426470588 Centerline is valid? [True, True] Translation: X:191.25, Y:-6.43, Z:2.33 [[ 9.99585529e-01 -1.66482020e-02 -2.34863121e-02 1.91250437e+02] [ 1.66669795e-02 9.99860914e-01 6.03972290e-04 -6.43143023e+00] [ 2.34729904e-02 -9.95167844e-04 9.99723976e-01 2.33442305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.110714057 meters Centerline goodness [0,1] 0.9908871800757488 Centerline is valid? [True, True] Translation: X:191.28, Y:-6.44, Z:2.33 [[ 9.99542332e-01 -1.89810615e-02 -2.35551455e-02 1.91279491e+02] [ 1.90005664e-02 9.99819290e-01 6.04498779e-04 -6.43508220e+00] [ 2.35394148e-02 -1.05178323e-03 9.99722356e-01 2.33481421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.140714057 meters Centerline goodness [0,1] 0.9904576212868448 Centerline is valid? [True, True] Translation: X:191.31, Y:-6.44, Z:2.34 [[ 9.99497148e-01 -2.13183284e-02 -2.34729601e-02 1.91308979e+02] [ 2.13383156e-02 9.99772131e-01 6.01330348e-04 -6.43742547e+00] [ 2.34547920e-02 -1.10190140e-03 9.99724291e-01 2.33550427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.170714057 meters Centerline goodness [0,1] 0.9897621060810348 Centerline is valid? [True, True] Translation: X:191.34, Y:-6.45, Z:2.34 [[ 9.99441932e-01 -2.48784958e-02 -2.22909000e-02 1.91338082e+02] [ 2.48973864e-02 9.99689849e-01 5.70287606e-04 -6.44610747e+00] [ 2.22697986e-02 -1.12495450e-03 9.99751364e-01 2.33606248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.200714057 meters Centerline goodness [0,1] 0.9897621060810348 Centerline is valid? [True, True] Translation: X:191.37, Y:-6.45, Z:2.34 [[ 9.99441932e-01 -2.48785024e-02 -2.22909124e-02 1.91368108e+02] [ 2.48973823e-02 9.99689850e-01 5.69805045e-04 -6.44687481e+00] [ 2.22698229e-02 -1.12447242e-03 9.99751364e-01 2.33647609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23071405699997 meters Centerline goodness [0,1] 0.990535628557712 Centerline is valid? [True, True] Translation: X:191.40, Y:-6.44, Z:2.34 [[ 9.99423145e-01 -2.62195765e-02 -2.15849570e-02 1.91398661e+02] [ 2.62375910e-02 9.99655583e-01 5.51759264e-04 -6.44336306e+00] [ 2.15630559e-02 -1.11777825e-03 9.99766865e-01 2.33843003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26071405699997 meters Centerline goodness [0,1] 0.9888787394382279 Centerline is valid? [True, True] Translation: X:191.43, Y:-6.45, Z:2.34 [[ 9.99365874e-01 -2.90190127e-02 -2.06336165e-02 1.91428525e+02] [ 2.90360713e-02 9.99578225e-01 5.27564637e-04 -6.45484202e+00] [ 2.06096044e-02 -1.12634925e-03 9.99786965e-01 2.33874448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29071405699997 meters Centerline goodness [0,1] 0.9900172429440058 Centerline is valid? [True, True] Translation: X:191.46, Y:-6.46, Z:2.34 [[ 9.99331773e-01 -3.06282374e-02 -1.99478807e-02 1.91459462e+02] [ 3.06445072e-02 9.99530217e-01 5.10375165e-04 -6.45859646e+00] [ 1.99228776e-02 -1.12132709e-03 9.99800891e-01 2.33941467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32071405699998 meters Centerline goodness [0,1] 0.9897698792435634 Centerline is valid? [True, True] Translation: X:191.49, Y:-6.46, Z:2.34 [[ 9.99275632e-01 -3.22987044e-02 -2.01247453e-02 1.91491299e+02] [ 3.23156131e-02 9.99477581e-01 5.15472696e-04 -6.45643371e+00] [ 2.00975826e-02 -1.16544278e-03 9.99797344e-01 2.34034149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35071405699998 meters Centerline goodness [0,1] 0.9891141311758557 Centerline is valid? [True, True] Translation: X:191.52, Y:-6.47, Z:2.34 [[ 9.99143727e-01 -3.60754732e-02 -2.02576526e-02 1.91521081e+02] [ 3.60934000e-02 9.99348286e-01 5.19897037e-04 -6.47085147e+00] [ 2.02256949e-02 -1.25061942e-03 9.99794658e-01 2.33886675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38071405699998 meters Centerline goodness [0,1] 0.9899818676337262 Centerline is valid? [True, True] Translation: X:191.55, Y:-6.47, Z:2.34 [[ 9.99002450e-01 -3.92563097e-02 -2.12848890e-02 1.91552277e+02] [ 3.92768364e-02 9.99228218e-01 5.47026491e-04 -6.46619795e+00] [ 2.12469874e-02 -1.38248391e-03 9.99773301e-01 2.33906147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41071405699998 meters Centerline goodness [0,1] 0.9894767876987277 Centerline is valid? [True, True] Translation: X:191.58, Y:-6.47, Z:2.34 [[ 9.98950539e-01 -4.02924810e-02 -2.17792501e-02 1.91582939e+02] [ 4.03142451e-02 9.99186893e-01 5.60994158e-04 -6.47395854e+00] [ 2.17389374e-02 -1.43841944e-03 9.99762647e-01 2.33825935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44071405699998 meters Centerline goodness [0,1] 0.9891169083874471 Centerline is valid? [True, True] Translation: X:191.62, Y:-6.48, Z:2.34 [[ 9.98895331e-01 -4.09561153e-02 -2.30372487e-02 1.91615284e+02] [ 4.09806998e-02 9.99159761e-01 5.95874253e-04 -6.47562900e+00] [ 2.29934872e-02 -1.53929858e-03 9.99734430e-01 2.33812281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47071405699998 meters Centerline goodness [0,1] 0.9900120309627041 Centerline is valid? [True, True] Translation: X:191.65, Y:-6.47, Z:2.34 [[ 9.98813516e-01 -4.19043351e-02 -2.48110355e-02 1.91647503e+02] [ 4.19331889e-02 9.99120210e-01 6.43574972e-04 -6.47489629e+00] [ 2.47622384e-02 -1.68321722e-03 9.99691952e-01 2.33824656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50071405699998 meters Centerline goodness [0,1] 0.9898222866987034 Centerline is valid? [True, True] Translation: X:191.68, Y:-6.48, Z:2.34 [[ 9.98842818e-01 -4.09485777e-02 -2.52237613e-02 1.91677646e+02] [ 4.09781266e-02 9.99159829e-01 6.55476332e-04 -6.47968566e+00] [ 2.51757282e-02 -1.68834031e-03 9.99681615e-01 2.33823292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53071405699998 meters Centerline goodness [0,1] 0.9907394828601186 Centerline is valid? [True, True] Translation: X:191.71, Y:-6.48, Z:2.34 [[ 9.98885432e-01 -4.01200789e-02 -2.48651074e-02 1.91709757e+02] [ 4.01485633e-02 9.99193512e-01 6.47191230e-04 -6.47539892e+00] [ 2.48190886e-02 -1.64476823e-03 9.99690606e-01 2.33968374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56071405699998 meters Centerline goodness [0,1] 0.9893797694798578 Centerline is valid? [True, True] Translation: X:191.74, Y:-6.48, Z:2.34 [[ 9.98939437e-01 -3.90651799e-02 -2.43703482e-02 1.91740278e+02] [ 3.90922723e-02 9.99235403e-01 6.36090457e-04 -6.47738301e+00] [ 2.43268657e-02 -1.58810813e-03 9.99702797e-01 2.34028096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59071405699999 meters Centerline goodness [0,1] 0.989248528746039 Centerline is valid? [True, True] Translation: X:191.77, Y:-6.47, Z:2.34 [[ 9.99044044e-01 -3.67139906e-02 -2.37293163e-02 1.91771261e+02] [ 3.67390440e-02 9.99324701e-01 6.20559218e-04 -6.47393924e+00] [ 2.36905087e-02 -1.49175839e-03 9.99718228e-01 2.34167880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.620714057 meters Centerline goodness [0,1] 0.9900954194147912 Centerline is valid? [True, True] Translation: X:191.80, Y:-6.47, Z:2.34 [[ 9.99080484e-01 -3.56325341e-02 -2.38434182e-02 1.91802735e+02] [ 3.56575369e-02 9.99363873e-01 6.24151776e-04 -6.47342315e+00] [ 2.38060107e-02 -1.47377542e-03 9.99715510e-01 2.34273125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.650714057 meters Centerline goodness [0,1] 0.9893537330034277 Centerline is valid? [True, True] Translation: X:191.83, Y:-6.47, Z:2.34 [[ 9.99163776e-01 -3.36233490e-02 -2.32641255e-02 1.91833415e+02] [ 3.36466278e-02 9.99433606e-01 6.09809445e-04 -6.47371440e+00] [ 2.32304450e-02 -1.39205888e-03 9.99729168e-01 2.34330279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.680714057 meters Centerline goodness [0,1] 0.9908229855886885 Centerline is valid? [True, True] Translation: X:191.86, Y:-6.47, Z:2.34 [[ 9.99246014e-01 -3.16136025e-02 -2.25384762e-02 1.91864910e+02] [ 3.16349597e-02 9.99499314e-01 5.91584031e-04 -6.47150211e+00] [ 2.25084894e-02 -1.30414177e-03 9.99745801e-01 2.34419866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.710714057 meters Centerline goodness [0,1] 0.9899397290071147 Centerline is valid? [True, True] Translation: X:191.90, Y:-6.48, Z:2.34 [[ 9.99264529e-01 -3.09625876e-02 -2.26211985e-02 1.91895303e+02] [ 3.09839506e-02 9.99519705e-01 5.94414181e-04 -6.47609694e+00] [ 2.25919290e-02 -1.29487110e-03 9.99743931e-01 2.34407075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.740714057 meters Centerline goodness [0,1] 0.990913828654295 Centerline is valid? [True, True] Translation: X:191.93, Y:-6.47, Z:2.35 [[ 9.99297580e-01 -2.99731467e-02 -2.24934977e-02 1.91927041e+02] [ 2.99940317e-02 9.99549903e-01 5.91614256e-04 -6.47318567e+00] [ 2.24656409e-02 -1.26586938e-03 9.99746814e-01 2.34558582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.770714057 meters Centerline goodness [0,1] 0.9903619375907112 Centerline is valid? [True, True] Translation: X:191.96, Y:-6.47, Z:2.35 [[ 9.99323486e-01 -2.92377447e-02 -2.23097576e-02 1.91958936e+02] [ 2.92581282e-02 9.99571717e-01 5.87724235e-04 -6.47340990e+00] [ 2.22830190e-02 -1.24006838e-03 9.99750934e-01 2.34634389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.800714057 meters Centerline goodness [0,1] 0.9903432017046743 Centerline is valid? [True, True] Translation: X:191.99, Y:-6.48, Z:2.35 [[ 9.99342072e-01 -2.84386631e-02 -2.25092141e-02 1.91990102e+02] [ 2.84592379e-02 9.99594777e-01 5.94188999e-04 -6.47549716e+00] [ 2.24831949e-02 -1.23439314e-03 9.99746459e-01 2.34611865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.830714057 meters Centerline goodness [0,1] 0.991222499432978 Centerline is valid? [True, True] Translation: X:192.02, Y:-6.48, Z:2.35 [[ 9.99330906e-01 -2.82158026e-02 -2.32724833e-02 1.92021587e+02] [ 2.82377623e-02 9.99601045e-01 6.15440541e-04 -6.47554284e+00] [ 2.32458335e-02 -1.27219160e-03 9.99728970e-01 2.34656926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.860714057 meters Centerline goodness [0,1] 0.9909745255985017 Centerline is valid? [True, True] Translation: X:192.05, Y:-6.48, Z:2.35 [[ 9.99337153e-01 -2.76600169e-02 -2.36680837e-02 1.92052484e+02] [ 2.76825863e-02 9.99616568e-01 6.26405670e-04 -6.47575171e+00] [ 2.36416822e-02 -1.28118423e-03 9.99719675e-01 2.34633204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.890714057 meters Centerline goodness [0,1] 0.9914555097230406 Centerline is valid? [True, True] Translation: X:192.08, Y:-6.48, Z:2.34 [[ 9.99317933e-01 -2.71082375e-02 -2.50761183e-02 1.92081570e+02] [ 2.71333949e-02 9.99631601e-01 6.63469628e-04 -6.47918104e+00] [ 2.50488948e-02 -1.34341732e-03 9.99685325e-01 2.34489164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.920714057 meters Centerline goodness [0,1] 0.9912134080231297 Centerline is valid? [True, True] Translation: X:192.11, Y:-6.48, Z:2.35 [[ 9.99321317e-01 -2.67873486e-02 -2.52852546e-02 1.92111662e+02] [ 2.68128087e-02 9.99640249e-01 6.68351345e-04 -6.47948560e+00] [ 2.52582548e-02 -1.34586644e-03 9.99680053e-01 2.34508999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.950714057 meters Centerline goodness [0,1] 0.9916615684408493 Centerline is valid? [True, True] Translation: X:192.14, Y:-6.48, Z:2.35 [[ 9.99353021e-01 -2.60231519e-02 -2.48260802e-02 1.92141417e+02] [ 2.60474386e-02 9.99660493e-01 6.55341853e-04 -6.47825034e+00] [ 2.48005975e-02 -1.30157366e-03 9.99691571e-01 2.34655997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98071405699997 meters Centerline goodness [0,1] 0.9904854676845706 Centerline is valid? [True, True] Translation: X:192.17, Y:-6.48, Z:2.35 [[ 9.99368044e-01 -2.55360732e-02 -2.47269217e-02 1.92170186e+02] [ 2.55599908e-02 9.99673078e-01 6.51644198e-04 -6.48385795e+00] [ 2.47021975e-02 -1.28325228e-03 9.99694031e-01 2.34642830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01071405699997 meters Centerline goodness [0,1] 0.991287577992059 Centerline is valid? [True, True] Translation: X:192.20, Y:-6.48, Z:2.35 [[ 9.99389343e-01 -2.48627017e-02 -2.45517184e-02 1.92200087e+02] [ 2.48860516e-02 9.99690086e-01 6.45917451e-04 -6.48110033e+00] [ 2.45280502e-02 -1.25651835e-03 9.99698352e-01 2.34819831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04071405699997 meters Centerline goodness [0,1] 0.9916222045635146 Centerline is valid? [True, True] Translation: X:192.23, Y:-6.48, Z:2.35 [[ 9.99448724e-01 -2.36805227e-02 -2.32697285e-02 1.92229817e+02] [ 2.37011590e-02 9.99718901e-01 6.11394311e-04 -6.47928564e+00] [ 2.32487093e-02 -1.16257680e-03 9.99729036e-01 2.35067266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07071405699998 meters Centerline goodness [0,1] 0.9917196443519377 Centerline is valid? [True, True] Translation: X:192.26, Y:-6.48, Z:2.35 [[ 9.99476192e-01 -2.40115955e-02 -2.16975937e-02 1.92258358e+02] [ 2.40295932e-02 9.99711086e-01 5.69097846e-04 -6.48366726e+00] [ 2.16776600e-02 -1.09018410e-03 9.99764418e-01 2.35159976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10071405699998 meters Centerline goodness [0,1] 0.9907728581468634 Centerline is valid? [True, True] Translation: X:192.29, Y:-6.49, Z:2.35 [[ 9.99451986e-01 -2.51666659e-02 -2.15026907e-02 1.92288283e+02] [ 2.51845829e-02 9.99682660e-01 5.62805389e-04 -6.48620715e+00] [ 2.14817031e-02 -1.10403326e-03 9.99768632e-01 2.35183755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13071405699998 meters Centerline goodness [0,1] 0.9912199316602928 Centerline is valid? [True, True] Translation: X:192.32, Y:-6.49, Z:2.35 [[ 9.99366562e-01 -2.80254676e-02 -2.19328124e-02 1.92318551e+02] [ 2.80447846e-02 9.99606503e-01 5.73581056e-04 -6.49067432e+00] [ 2.19081070e-02 -1.18831873e-03 9.99759282e-01 2.35189261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16071405699998 meters Centerline goodness [0,1] 0.9912755784178204 Centerline is valid? [True, True] Translation: X:192.35, Y:-6.50, Z:2.35 [[ 9.99318271e-01 -2.95576058e-02 -2.21210464e-02 1.92348796e+02] [ 2.95776332e-02 9.99562319e-01 5.78645827e-04 -6.49774008e+00] [ 2.20942611e-02 -1.23253954e-03 9.99755132e-01 2.35151728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19071405699998 meters Centerline goodness [0,1] 0.9911006708377567 Centerline is valid? [True, True] Translation: X:192.38, Y:-6.49, Z:2.35 [[ 9.99212282e-01 -3.28490031e-02 -2.22656325e-02 1.92379959e+02] [ 3.28701160e-02 9.99459462e-01 5.82814437e-04 -6.49369052e+00] [ 2.22344522e-02 -1.31422927e-03 9.99751920e-01 2.35284710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22071405699998 meters Centerline goodness [0,1] 0.991176802437098 Centerline is valid? [True, True] Translation: X:192.41, Y:-6.50, Z:2.35 [[ 9.99139298e-01 -3.47387686e-02 -2.26689301e-02 1.92409817e+02] [ 3.47611438e-02 9.99395473e-01 5.93619861e-04 -6.50077132e+00] [ 2.26346045e-02 -1.38110687e-03 9.99742851e-01 2.35254639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25071405699998 meters Centerline goodness [0,1] 0.9918023531537228 Centerline is valid? [True, True] Translation: X:192.44, Y:-6.50, Z:2.35 [[ 9.99007029e-01 -3.76669322e-02 -2.37940604e-02 1.92440720e+02] [ 3.76924156e-02 9.99289194e-01 6.23261194e-04 -6.50057166e+00] [ 2.37536711e-02 -1.51949793e-03 9.99716687e-01 2.35284540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28071405699998 meters Centerline goodness [0,1] 0.9909907880808126 Centerline is valid? [True, True] Translation: X:192.47, Y:-6.51, Z:2.35 [[ 9.98938351e-01 -3.90986858e-02 -2.43611185e-02 1.92471027e+02] [ 3.91258334e-02 9.99234087e-01 6.38552407e-04 -6.50528301e+00] [ 2.43174934e-02 -1.59102355e-03 9.99703020e-01 2.35271388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31071405699998 meters Centerline goodness [0,1] 0.9911462557447959 Centerline is valid? [True, True] Translation: X:192.50, Y:-6.51, Z:2.35 [[ 9.98893265e-01 -3.99461439e-02 -2.48304582e-02 1.92501884e+02] [ 3.99746196e-02 9.99200483e-01 6.51293962e-04 -6.50765106e+00] [ 2.47845891e-02 -1.64316127e-03 9.99691464e-01 2.35268074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34071405699999 meters Centerline goodness [0,1] 0.9913018070664389 Centerline is valid? [True, True] Translation: X:192.53, Y:-6.51, Z:2.35 [[ 9.98848251e-01 -4.04162307e-02 -2.58592230e-02 1.92531781e+02] [ 4.04472843e-02 9.99181443e-01 6.78732000e-04 -6.51109762e+00] [ 2.58106240e-02 -1.72388562e-03 9.99665364e-01 2.35235563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.370714057 meters Centerline goodness [0,1] 0.991633403242902 Centerline is valid? [True, True] Translation: X:192.56, Y:-6.50, Z:2.35 [[ 9.98897101e-01 -3.80814113e-02 -2.74661142e-02 1.92563217e+02] [ 3.81155878e-02 9.99273076e-01 7.21657916e-04 -6.50268970e+00] [ 2.74186667e-02 -1.76774909e-03 9.99622475e-01 2.35386276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.400714057 meters Centerline goodness [0,1] 0.9912256958541977 Centerline is valid? [True, True] Translation: X:192.59, Y:-6.51, Z:2.35 [[ 9.98971936e-01 -3.57236681e-02 -2.79086245e-02 1.92592495e+02] [ 3.57580460e-02 9.99360207e-01 7.33540475e-04 -6.50523022e+00] [ 2.78645640e-02 -1.73074423e-03 9.99610209e-01 2.35377186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.430714057 meters Centerline goodness [0,1] 0.9922835676090341 Centerline is valid? [True, True] Translation: X:192.62, Y:-6.50, Z:2.36 [[ 9.99189174e-01 -2.91346456e-02 -2.77878838e-02 1.92623416e+02] [ 2.91661863e-02 9.99574309e-01 7.30330980e-04 -6.49709988e+00] [ 2.77547768e-02 -1.54020541e-03 9.99613575e-01 2.35634697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.460714057 meters Centerline goodness [0,1] 0.9922731072501751 Centerline is valid? [True, True] Translation: X:192.65, Y:-6.50, Z:2.36 [[ 9.99301964e-01 -2.54738934e-02 -2.73251940e-02 1.92653877e+02] [ 2.55030265e-02 9.99674487e-01 7.18130915e-04 -6.49517289e+00] [ 2.72980057e-02 -1.41450478e-03 9.99626339e-01 2.35760757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.490714057 meters Centerline goodness [0,1] 0.9922142000316864 Centerline is valid? [True, True] Translation: X:192.68, Y:-6.49, Z:2.36 [[ 9.99406403e-01 -2.19078634e-02 -2.65873380e-02 1.92682943e+02] [ 2.19341667e-02 9.99759174e-01 6.98047636e-04 -6.49380145e+00] [ 2.65656423e-02 -1.28080438e-03 9.99646251e-01 2.35860301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.520714057 meters Centerline goodness [0,1] 0.9922303266434105 Centerline is valid? [True, True] Translation: X:192.71, Y:-6.49, Z:2.36 [[ 9.99582692e-01 -1.44738591e-02 -2.49989991e-02 1.92713215e+02] [ 1.44947721e-02 9.99894730e-01 6.55538662e-04 -6.48985200e+00] [ 2.49868793e-02 -1.01761989e-03 9.99687261e-01 2.36046367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.550714057 meters Centerline goodness [0,1] 0.9925653928101908 Centerline is valid? [True, True] Translation: X:192.74, Y:-6.49, Z:2.36 [[ 9.99630422e-01 -1.17019071e-02 -2.45374181e-02 1.92742524e+02] [ 1.17211483e-02 9.99931100e-01 6.40471287e-04 -6.48621862e+00] [ 2.45282327e-02 -9.27841298e-04 9.99698707e-01 2.36190611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.580714057 meters Centerline goodness [0,1] 0.9925803978169682 Centerline is valid? [True, True] Translation: X:192.77, Y:-6.49, Z:2.36 [[ 9.99683976e-01 -6.92140613e-03 -2.41669569e-02 1.92771019e+02] [ 6.93858467e-03 9.99975731e-01 6.27044121e-04 -6.48880731e+00] [ 2.41620304e-02 -7.94530437e-04 9.99707740e-01 2.36081937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.610714057 meters Centerline goodness [0,1] 0.9929267135205984 Centerline is valid? [True, True] Translation: X:192.80, Y:-6.49, Z:2.36 [[ 9.99684804e-01 -5.83119355e-03 -2.44190395e-02 1.92799976e+02] [ 5.84832525e-03 9.99982700e-01 6.30213747e-04 -6.48740343e+00] [ 2.44149422e-02 -7.72825592e-04 9.99701612e-01 2.36165152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.640714057 meters Centerline goodness [0,1] 0.9926906539941163 Centerline is valid? [True, True] Translation: X:192.83, Y:-6.49, Z:2.36 [[ 9.99676843e-01 -5.66024556e-03 -2.47824663e-02 1.92827917e+02] [ 5.67767488e-03 9.99983682e-01 6.32984143e-04 -6.48752143e+00] [ 2.47784791e-02 -7.73486377e-04 9.99692667e-01 2.36196015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.670714057 meters Centerline goodness [0,1] 0.992541867245237 Centerline is valid? [True, True] Translation: X:192.86, Y:-6.49, Z:2.36 [[ 9.99671195e-01 -6.58660776e-03 -2.47814162e-02 1.92856210e+02] [ 6.60419728e-03 9.99977995e-01 6.28009259e-04 -6.48984713e+00] [ 2.47767345e-02 -7.91464128e-04 9.99692696e-01 2.36170755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.700714057 meters Centerline goodness [0,1] 0.9918790886532822 Centerline is valid? [True, True] Translation: X:192.88, Y:-6.50, Z:2.36 [[ 9.99626598e-01 -9.78224870e-03 -2.55141617e-02 1.92884117e+02] [ 9.80187740e-03 9.99951753e-01 6.44372472e-04 -6.49661710e+00] [ 2.55066273e-02 -8.94218547e-04 9.99674253e-01 2.36094206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73071405699997 meters Centerline goodness [0,1] 0.992 Centerline is valid? [True, True] Translation: X:192.91, Y:-6.50, Z:2.36 [[ 9.99596751e-01 -1.23002179e-02 -2.55937336e-02 1.92912798e+02] [ 1.23206905e-02 9.99923891e-01 6.42360844e-04 -6.49985217e+00] [ 2.55838845e-02 -9.57434283e-04 9.99672220e-01 2.36110813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76071405699997 meters Centerline goodness [0,1] 0.991273250714109 Centerline is valid? [True, True] Translation: X:192.94, Y:-6.51, Z:2.36 [[ 9.99531583e-01 -1.65152417e-02 -2.57655059e-02 1.92943254e+02] [ 1.65373001e-02 9.99863043e-01 6.43258552e-04 -6.50518894e+00] [ 2.57513536e-02 -1.06904914e-03 9.99667807e-01 2.36146089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79071405699997 meters Centerline goodness [0,1] 0.9913485090222691 Centerline is valid? [True, True] Translation: X:192.97, Y:-6.51, Z:2.36 [[ 9.99491287e-01 -1.87799338e-02 -2.57775259e-02 1.92972241e+02] [ 1.88026878e-02 9.99823009e-01 6.40589063e-04 -6.50808944e+00] [ 2.57609333e-02 -1.12494996e-03 9.99667499e-01 2.36196695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82071405699998 meters Centerline goodness [0,1] 0.9914814981746067 Centerline is valid? [True, True] Translation: X:193.00, Y:-6.51, Z:2.36 [[ 9.99459502e-01 -2.07625805e-02 -2.54876201e-02 1.93000450e+02] [ 2.07853428e-02 9.99783764e-01 6.28442169e-04 -6.51120030e+00] [ 2.54690607e-02 -1.15787142e-03 9.99674940e-01 2.36208940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85071405699998 meters Centerline goodness [0,1] 0.991927323424254 Centerline is valid? [True, True] Translation: X:193.03, Y:-6.51, Z:2.36 [[ 9.99414711e-01 -2.38458635e-02 -2.45277517e-02 1.93029728e+02] [ 2.38678114e-02 9.99714942e-01 6.02413167e-04 -6.51415820e+00] [ 2.45063948e-02 -1.18748433e-03 9.99698968e-01 2.36301699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88071405699998 meters Centerline goodness [0,1] 0.991655420602789 Centerline is valid? [True, True] Translation: X:193.06, Y:-6.52, Z:2.36 [[ 9.99373331e-01 -2.66955342e-02 -2.32441995e-02 1.93059420e+02] [ 2.67159891e-02 9.99642902e-01 5.69851014e-04 -6.51672395e+00] [ 2.32206865e-02 -1.19048568e-03 9.99729655e-01 2.36432735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91071405699998 meters Centerline goodness [0,1] 0.9913940319971238 Centerline is valid? [True, True] Translation: X:193.09, Y:-6.52, Z:2.37 [[ 9.99336345e-01 -2.82404931e-02 -2.30074614e-02 1.93088484e+02] [ 2.82609228e-02 9.99600422e-01 5.63230196e-04 -6.51979943e+00] [ 2.29823622e-02 -1.21306850e-03 9.99735135e-01 2.36526429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94071405699998 meters Centerline goodness [0,1] 0.99138747350859 Centerline is valid? [True, True] Translation: X:193.12, Y:-6.52, Z:2.37 [[ 9.99274431e-01 -3.09369192e-02 -2.22152583e-02 1.93118526e+02] [ 3.09566162e-02 9.99520581e-01 5.43213534e-04 -6.52094868e+00] [ 2.21878025e-02 -1.23052862e-03 9.99753063e-01 2.36668873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97071405699998 meters Centerline goodness [0,1] 0.9911709723191964 Centerline is valid? [True, True] Translation: X:193.15, Y:-6.52, Z:2.37 [[ 9.99229636e-01 -3.25140301e-02 -2.19766297e-02 1.93149302e+02] [ 3.25336842e-02 9.99470495e-01 5.37283073e-04 -6.52249401e+00] [ 2.19475237e-02 -1.25184990e-03 9.99758340e-01 2.36723639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00071405699998 meters Centerline goodness [0,1] 0.9907894145662038 Centerline is valid? [True, True] Translation: X:193.18, Y:-6.52, Z:2.37 [[ 9.99179952e-01 -3.42144227e-02 -2.16517048e-02 1.93180090e+02] [ 3.42339059e-02 9.99413708e-01 5.29723008e-04 -6.52483702e+00] [ 2.16208864e-02 -1.27051103e-03 9.99765434e-01 2.36708163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03071405699998 meters Centerline goodness [0,1] 0.9898287540223677 Centerline is valid? [True, True] Translation: X:193.21, Y:-6.53, Z:2.37 [[ 9.99042080e-01 -3.78228584e-02 -2.20080345e-02 1.93210196e+02] [ 3.78438659e-02 9.99283519e-01 5.38687864e-04 -6.53073410e+00] [ 2.19718914e-02 -1.37104095e-03 9.99757649e-01 2.36598937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06071405699998 meters Centerline goodness [0,1] 0.9915456758950311 Centerline is valid? [True, True] Translation: X:193.24, Y:-6.53, Z:2.37 [[ 9.98994528e-01 -3.91804704e-02 -2.17904303e-02 1.93241848e+02] [ 3.92013922e-02 9.99231188e-01 5.33641324e-04 -6.53251122e+00] [ 2.17527693e-02 -1.38731997e-03 9.99762418e-01 2.36615659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09071405699999 meters Centerline goodness [0,1] 0.9897153145043321 Centerline is valid? [True, True] Translation: X:193.27, Y:-6.54, Z:2.36 [[ 9.98869979e-01 -4.14156339e-02 -2.33133002e-02 1.93272042e+02] [ 4.14402053e-02 9.99140822e-01 5.71625872e-04 -6.53682393e+00] [ 2.32695957e-02 -1.53708787e-03 9.99728045e-01 2.36485062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.120714057 meters Centerline goodness [0,1] 0.9897153145043321 Centerline is valid? [True, True] Translation: X:193.30, Y:-6.54, Z:2.37 [[ 9.98872869e-01 -4.13458785e-02 -2.33132779e-02 1.93303793e+02] [ 4.13704521e-02 9.99143712e-01 5.72535412e-04 -6.53766659e+00] [ 2.32696431e-02 -1.53637094e-03 9.99728045e-01 2.36528772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.150714057 meters Centerline goodness [0,1] 0.9909410492157923 Centerline is valid? [True, True] Translation: X:193.34, Y:-6.54, Z:2.37 [[ 9.98843537e-01 -4.16798250e-02 -2.39662273e-02 1.93336008e+02] [ 4.17059312e-02 9.99129755e-01 5.90270910e-04 -6.53788423e+00] [ 2.39207684e-02 -1.58912211e-03 9.99712594e-01 2.36509861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.180714057 meters Centerline goodness [0,1] 0.9895607864357865 Centerline is valid? [True, True] Translation: X:193.37, Y:-6.54, Z:2.36 [[ 9.98808923e-01 -4.16653896e-02 -2.53915560e-02 1.93368090e+02] [ 4.16947364e-02 9.99130200e-01 6.27206607e-04 -6.53581892e+00] [ 2.53433376e-02 -1.68515379e-03 9.99677386e-01 2.36443389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.210714057 meters Centerline goodness [0,1] 0.9894974590626765 Centerline is valid? [True, True] Translation: X:193.40, Y:-6.54, Z:2.36 [[ 9.98829012e-01 -4.11252755e-02 -2.54816821e-02 1.93398196e+02] [ 4.11546859e-02 9.99152588e-01 6.30602229e-04 -6.53852803e+00] [ 2.54341549e-02 -1.67855443e-03 9.99675090e-01 2.36411163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.240714057 meters Centerline goodness [0,1] 0.9895421588778713 Centerline is valid? [True, True] Translation: X:193.43, Y:-6.54, Z:2.36 [[ 9.98891257e-01 -3.99265843e-02 -2.49424345e-02 1.93428953e+02] [ 3.99544059e-02 9.99201313e-01 6.17871947e-04 -6.53855500e+00] [ 2.48978438e-02 -1.61374704e-03 9.99688698e-01 2.36402450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.270714057 meters Centerline goodness [0,1] 0.9900452488687783 Centerline is valid? [True, True] Translation: X:193.46, Y:-6.53, Z:2.37 [[ 9.99081094e-01 -3.55946259e-02 -2.38744557e-02 1.93459408e+02] [ 3.56188949e-02 9.99365271e-01 5.91911772e-04 -6.53375498e+00] [ 2.38382330e-02 -1.44174959e-03 9.99714789e-01 2.36509325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.300714057 meters Centerline goodness [0,1] 0.9911083961175592 Centerline is valid? [True, True] Translation: X:193.49, Y:-6.53, Z:2.37 [[ 9.99286601e-01 -2.93546624e-02 -2.37611834e-02 1.93489371e+02] [ 2.93769445e-02 9.99568231e-01 5.89152803e-04 -6.52818899e+00] [ 2.37336297e-02 -1.28676347e-03 9.99717490e-01 2.36617091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.330714057 meters Centerline goodness [0,1] 0.9911755365001588 Centerline is valid? [True, True] Translation: X:193.52, Y:-6.52, Z:2.37 [[ 9.99372358e-01 -2.62471544e-02 -2.37902635e-02 1.93520836e+02] [ 2.62686168e-02 9.99654746e-01 5.90032659e-04 -6.51816285e+00] [ 2.37665632e-02 -1.21459965e-03 9.99716798e-01 2.36805262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.360714057 meters Centerline goodness [0,1] 0.9902714006455425 Centerline is valid? [True, True] Translation: X:193.55, Y:-6.52, Z:2.37 [[ 9.99545333e-01 -1.94936818e-02 -2.30026718e-02 1.93550656e+02] [ 1.95119667e-02 9.99809461e-01 5.70708118e-04 -6.51794413e+00] [ 2.29871637e-02 -1.01927600e-03 9.99735241e-01 2.36749264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.390714057 meters Centerline goodness [0,1] 0.9922328770243491 Centerline is valid? [True, True] Translation: X:193.58, Y:-6.51, Z:2.37 [[ 9.99603883e-01 -1.68042492e-02 -2.25764017e-02 1.93580286e+02] [ 1.68211699e-02 9.99858357e-01 5.59777641e-04 -6.50843241e+00] [ 2.25637973e-02 -9.39317392e-04 9.99744964e-01 2.36982612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.420714057 meters Centerline goodness [0,1] 0.9916190911166933 Centerline is valid? [True, True] Translation: X:193.61, Y:-6.51, Z:2.37 [[ 9.99689759e-01 -1.20300561e-02 -2.18097315e-02 1.93608775e+02] [ 1.20446928e-02 9.99927314e-01 5.39865762e-04 -6.51190483e+00] [ 2.18016516e-02 -8.02389788e-04 9.99761994e-01 2.36919254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.450714057 meters Centerline goodness [0,1] 0.9925306653875146 Centerline is valid? [True, True] Translation: X:193.64, Y:-6.50, Z:2.37 [[ 9.99715528e-01 -1.04487015e-02 -2.14403189e-02 1.93637477e+02] [ 1.04624271e-02 9.99945128e-01 5.28099359e-04 -6.50352986e+00] [ 2.14336245e-02 -7.52266903e-04 9.99769990e-01 2.37158810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48071405699997 meters Centerline goodness [0,1] 0.9925055979527487 Centerline is valid? [True, True] Translation: X:193.67, Y:-6.50, Z:2.37 [[ 9.99725372e-01 -8.66807082e-03 -2.17725887e-02 1.93666189e+02] [ 8.68168503e-03 9.99962173e-01 5.30844695e-04 -6.50154320e+00] [ 2.17671637e-02 -7.19721667e-04 9.99762808e-01 2.37104983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51071405699997 meters Centerline goodness [0,1] 0.9929332662489136 Centerline is valid? [True, True] Translation: X:193.69, Y:-6.50, Z:2.37 [[ 9.99725245e-01 -8.66835794e-03 -2.17783095e-02 1.93694455e+02] [ 8.68185593e-03 9.99962174e-01 5.25315901e-04 -6.50106742e+00] [ 2.17729321e-02 -7.14247713e-04 9.99762686e-01 2.37110877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54071405699997 meters Centerline goodness [0,1] 0.9929828571428572 Centerline is valid? [True, True] Translation: X:193.72, Y:-6.50, Z:2.37 [[ 9.99726600e-01 -8.95707580e-03 -2.15985273e-02 1.93722221e+02] [ 8.97028719e-03 9.99959634e-01 5.14871787e-04 -6.50107373e+00] [ 2.15930437e-02 -7.08476014e-04 9.99766592e-01 2.37126703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57071405699998 meters Centerline goodness [0,1] 0.9929701230228472 Centerline is valid? [True, True] Translation: X:193.75, Y:-6.50, Z:2.37 [[ 9.99692910e-01 -1.01223178e-02 -2.26191322e-02 1.93750201e+02] [ 1.01369948e-02 9.99948477e-01 5.34308274e-04 -6.50266191e+00] [ 2.26125583e-02 -7.63434218e-04 9.99744012e-01 2.37081096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60071405699998 meters Centerline goodness [0,1] 0.9926284318871671 Centerline is valid? [True, True] Translation: X:193.78, Y:-6.50, Z:2.37 [[ 9.99670998e-01 -1.13793618e-02 -2.29870696e-02 1.93779235e+02] [ 1.13947718e-02 9.99934932e-01 5.39499000e-04 -6.50478860e+00] [ 2.29794347e-02 -8.01253915e-04 9.99735617e-01 2.37036950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63071405699998 meters Centerline goodness [0,1] 0.9914965597640981 Centerline is valid? [True, True] Translation: X:193.81, Y:-6.51, Z:2.37 [[ 9.99627839e-01 -1.40385618e-02 -2.33902275e-02 1.93807666e+02] [ 1.40551518e-02 9.99901073e-01 5.45016706e-04 -6.50980140e+00] [ 2.33802623e-02 -8.73567070e-04 9.99726263e-01 2.36935136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66071405699998 meters Centerline goodness [0,1] 0.9923910063065533 Centerline is valid? [True, True] Translation: X:193.84, Y:-6.51, Z:2.37 [[ 9.99585923e-01 -1.60848984e-02 -2.38591433e-02 1.93836446e+02] [ 1.61026655e-02 9.99870191e-01 5.52712395e-04 -6.50921533e+00] [ 2.38471559e-02 -9.36679333e-04 9.99715177e-01 2.37060760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69071405699998 meters Centerline goodness [0,1] 0.9911678115799804 Centerline is valid? [True, True] Translation: X:193.87, Y:-6.52, Z:2.37 [[ 9.99527106e-01 -1.99679291e-02 -2.33847610e-02 1.93865066e+02] [ 1.99859675e-02 9.99800116e-01 5.37890884e-04 -6.51750226e+00] [ 2.33693462e-02 -1.00500359e-03 9.99726394e-01 2.36995632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72071405699998 meters Centerline goodness [0,1] 0.9914738401914966 Centerline is valid? [True, True] Translation: X:193.89, Y:-6.52, Z:2.37 [[ 9.99477979e-01 -2.23242567e-02 -2.33537439e-02 1.93894262e+02] [ 2.23428557e-02 9.99750224e-01 5.35742798e-04 -6.51581805e+00] [ 2.33359507e-02 -1.05725246e-03 9.99727121e-01 2.37107350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75071405699998 meters Centerline goodness [0,1] 0.989732639756491 Centerline is valid? [True, True] Translation: X:193.92, Y:-6.53, Z:2.37 [[ 9.99350095e-01 -2.71320913e-02 -2.37326157e-02 1.93922753e+02] [ 2.71526203e-02 9.99631152e-01 5.43132850e-04 -6.52839525e+00] [ 2.37091257e-02 -1.18718257e-03 9.99718194e-01 2.36947706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78071405699998 meters Centerline goodness [0,1] 0.9888901510848574 Centerline is valid? [True, True] Translation: X:193.95, Y:-6.53, Z:2.37 [[ 9.99280754e-01 -2.95026828e-02 -2.38236339e-02 1.93952151e+02] [ 2.95240251e-02 9.99563923e-01 5.44531437e-04 -6.53238279e+00] [ 2.37971798e-02 -1.24750935e-03 9.99716029e-01 2.36947315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81071405699998 meters Centerline goodness [0,1] 0.9896363636363636 Centerline is valid? [True, True] Translation: X:193.98, Y:-6.53, Z:2.37 [[ 9.99204142e-01 -3.21739413e-02 -2.35779457e-02 1.93982284e+02] [ 3.21955725e-02 9.99481443e-01 5.38306741e-04 -6.53296717e+00] [ 2.35483997e-02 -1.29698379e-03 9.99721857e-01 2.36992676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84071405699999 meters Centerline goodness [0,1] 0.9882307761814403 Centerline is valid? [True, True] Translation: X:194.01, Y:-6.53, Z:2.37 [[ 9.99056659e-01 -3.65240265e-02 -2.34901656e-02 1.94012590e+02] [ 3.65466906e-02 9.99331803e-01 5.36110931e-04 -6.53310071e+00] [ 2.34548886e-02 -1.39409301e-03 9.99723924e-01 2.37110632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.870714057 meters Centerline goodness [0,1] 0.9882646125962845 Centerline is valid? [True, True] Translation: X:194.04, Y:-6.54, Z:2.37 [[ 9.98958496e-01 -3.89751397e-02 -2.37246980e-02 1.94042410e+02] [ 3.89989637e-02 9.99239104e-01 5.42154841e-04 -6.53770372e+00] [ 2.36855155e-02 -1.46682882e-03 9.99718383e-01 2.37119802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.900714057 meters Centerline goodness [0,1] 0.9869756924816281 Centerline is valid? [True, True] Translation: X:194.07, Y:-6.55, Z:2.37 [[ 9.98790574e-01 -4.33056761e-02 -2.32810477e-02 1.94072002e+02] [ 4.33298054e-02 9.99060681e-01 5.32745942e-04 -6.55291483e+00] [ 2.32361085e-02 -1.54086489e-03 9.99728818e-01 2.36968878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.930714057 meters Centerline goodness [0,1] 0.9877988160332595 Centerline is valid? [True, True] Translation: X:194.10, Y:-6.54, Z:2.37 [[ 9.98676858e-01 -4.56932300e-02 -2.35936894e-02 1.94103550e+02] [ 4.57186786e-02 9.98954209e-01 5.40054933e-04 -6.54440830e+00] [ 2.35443384e-02 -1.61801267e-03 9.99721484e-01 2.37133674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.960714057 meters Centerline goodness [0,1] 0.9884885903611733 Centerline is valid? [True, True] Translation: X:194.13, Y:-6.55, Z:2.37 [[ 9.98452577e-01 -5.01072866e-02 -2.41186774e-02 1.94134420e+02] [ 5.01351742e-02 9.98742289e-01 5.52591113e-04 -6.54795105e+00] [ 2.40606542e-02 -1.76093011e-03 9.99708950e-01 2.37159302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.990714057 meters Centerline goodness [0,1] 0.9876986276634164 Centerline is valid? [True, True] Translation: X:194.17, Y:-6.55, Z:2.37 [[ 9.98338663e-01 -5.20010946e-02 -2.48153048e-02 1.94165253e+02] [ 5.20312042e-02 9.98645298e-01 5.68775286e-04 -6.55070572e+00] [ 2.47521106e-02 -1.85900055e-03 9.99691891e-01 2.37132798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.020714057 meters Centerline goodness [0,1] 0.9873297862746866 Centerline is valid? [True, True] Translation: X:194.20, Y:-6.55, Z:2.37 [[ 9.98223683e-01 -5.37345612e-02 -2.57308339e-02 1.94195969e+02] [ 5.37675190e-02 9.98553306e-01 5.90228480e-04 -6.55355938e+00] [ 2.56618936e-02 -1.97266315e-03 9.99668733e-01 2.37110986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.050714057 meters Centerline goodness [0,1] 0.9861086135587125 Centerline is valid? [True, True] Translation: X:194.23, Y:-6.56, Z:2.37 [[ 9.98066881e-01 -5.61934167e-02 -2.65480797e-02 1.94225738e+02] [ 5.62293732e-02 9.98417691e-01 6.09227824e-04 -6.55968657e+00] [ 2.64718379e-02 -2.10083200e-03 9.99647352e-01 2.36966597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.080714057 meters Centerline goodness [0,1] 0.9869109947643979 Centerline is valid? [True, True] Translation: X:194.26, Y:-6.56, Z:2.37 [[ 9.97986918e-01 -5.72811966e-02 -2.72208714e-02 1.94258143e+02] [ 5.73194275e-02 9.98355694e-01 6.25623854e-04 -6.55946094e+00] [ 2.71402755e-02 -2.18464919e-03 9.99629248e-01 2.36997738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.110714057 meters Centerline goodness [0,1] 0.9861475943512719 Centerline is valid? [True, True] Translation: X:194.29, Y:-6.56, Z:2.37 [[ 9.97897436e-01 -5.85230669e-02 -2.78524265e-02 1.94290239e+02] [ 5.85636291e-02 9.98283471e-01 6.42132441e-04 -6.56099115e+00] [ 2.77670374e-02 -2.27192149e-03 9.99611840e-01 2.37047663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.140714057 meters Centerline goodness [0,1] 0.9854530715186453 Centerline is valid? [True, True] Translation: X:194.32, Y:-6.56, Z:2.37 [[ 9.97873418e-01 -5.88348482e-02 -2.80553430e-02 1.94322082e+02] [ 5.88761820e-02 9.98265082e-01 6.48801568e-04 -6.56196278e+00] [ 2.79684971e-02 -2.29921332e-03 9.99606161e-01 2.37114218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.170714057 meters Centerline goodness [0,1] 0.9854494673063495 Centerline is valid? [True, True] Translation: X:194.35, Y:-6.56, Z:2.37 [[ 9.97885152e-01 -5.89083798e-02 -2.74777441e-02 1.94354325e+02] [ 5.89481090e-02 9.98260845e-01 6.37376654e-04 -6.56294506e+00] [ 2.73924092e-02 -2.25578975e-03 9.99622212e-01 2.37157962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.200714057 meters Centerline goodness [0,1] 0.9856518605279755 Centerline is valid? [True, True] Translation: X:194.39, Y:-6.56, Z:2.37 [[ 9.97924943e-01 -5.84202394e-02 -2.70718440e-02 1.94386112e+02] [ 5.84586763e-02 9.98289631e-01 6.29879754e-04 -6.56223487e+00] [ 2.69887434e-02 -2.21115688e-03 9.99633292e-01 2.37278972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23071405699997 meters Centerline goodness [0,1] 0.9860639708692036 Centerline is valid? [True, True] Translation: X:194.42, Y:-6.56, Z:2.37 [[ 9.97964571e-01 -5.77736039e-02 -2.69986407e-02 1.94418827e+02] [ 5.78116562e-02 9.98327309e-01 6.30336176e-04 -6.56242686e+00] [ 2.69170636e-02 -2.18988931e-03 9.99635272e-01 2.37327360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26071405699997 meters Centerline goodness [0,1] 0.9857255609426091 Centerline is valid? [True, True] Translation: X:194.45, Y:-6.56, Z:2.37 [[ 9.97968736e-01 -5.74364350e-02 -2.75582643e-02 1.94450907e+02] [ 5.74760153e-02 9.98346679e-01 6.45625113e-04 -6.56271896e+00] [ 2.74756193e-02 -2.22825290e-03 9.99619990e-01 2.37364616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29071405699997 meters Centerline goodness [0,1] 0.9863668116366586 Centerline is valid? [True, True] Translation: X:194.48, Y:-6.56, Z:2.37 [[ 9.97967542e-01 -5.73244813e-02 -2.78332177e-02 1.94482972e+02] [ 5.73648673e-02 9.98353066e-01 6.54039956e-04 -6.56325991e+00] [ 2.77498857e-02 -2.24935949e-03 9.99612367e-01 2.37373556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32071405699998 meters Centerline goodness [0,1] 0.9855660802886784 Centerline is valid? [True, True] Translation: X:194.51, Y:-6.56, Z:2.37 [[ 9.97960264e-01 -5.73347815e-02 -2.80719626e-02 1.94514865e+02] [ 5.73759231e-02 9.98352426e-01 6.61629553e-04 -6.56371787e+00] [ 2.79877775e-02 -2.27093477e-03 9.99605686e-01 2.37369553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35071405699998 meters Centerline goodness [0,1] 0.9860313729035758 Centerline is valid? [True, True] Translation: X:194.55, Y:-6.56, Z:2.37 [[ 9.97962320e-01 -5.72745011e-02 -2.81218586e-02 1.94545762e+02] [ 5.73158136e-02 9.98355876e-01 6.64521927e-04 -6.56476084e+00] [ 2.80375626e-02 -2.27499505e-03 9.99604281e-01 2.37396408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38071405699998 meters Centerline goodness [0,1] 0.984876571118546 Centerline is valid? [True, True] Translation: X:194.58, Y:-6.57, Z:2.37 [[ 9.97963667e-01 -5.72934684e-02 -2.80352904e-02 1.94578108e+02] [ 5.73345818e-02 9.98354799e-01 6.64177567e-04 -6.56543821e+00] [ 2.79511137e-02 -2.27021673e-03 9.99606713e-01 2.37454318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41071405699998 meters Centerline goodness [0,1] 0.9838603946743824 Centerline is valid? [True, True] Translation: X:194.61, Y:-6.57, Z:2.38 [[ 9.97969664e-01 -5.72135879e-02 -2.79849226e-02 1.94609691e+02] [ 5.72545693e-02 9.98359390e-01 6.64660613e-04 -6.56607692e+00] [ 2.79009827e-02 -2.26557582e-03 9.99608124e-01 2.37502555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44071405699998 meters Centerline goodness [0,1] 0.9827013843409137 Centerline is valid? [True, True] Translation: X:194.64, Y:-6.57, Z:2.38 [[ 9.97969998e-01 -5.74782905e-02 -2.74249571e-02 1.94640624e+02] [ 5.75177847e-02 9.98344268e-01 6.52747957e-04 -6.56701809e+00] [ 2.73420299e-02 -2.22884565e-03 9.99623652e-01 2.37577468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47071405699998 meters Centerline goodness [0,1] 0.9820223701489834 Centerline is valid? [True, True] Translation: X:194.67, Y:-6.57, Z:2.38 [[ 9.97956695e-01 -5.78028859e-02 -2.72260995e-02 1.94672495e+02] [ 5.78419725e-02 9.98325540e-01 6.49611950e-04 -6.56824729e+00] [ 2.71429610e-02 -2.22309589e-03 9.99629090e-01 2.37626610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50071405699998 meters Centerline goodness [0,1] 0.9794983444459564 Centerline is valid? [True, True] Translation: X:194.70, Y:-6.57, Z:2.38 [[ 9.97981551e-01 -5.75979468e-02 -2.67450921e-02 1.94703751e+02] [ 5.76356322e-02 9.98337480e-01 6.39689700e-04 -6.56891371e+00] [ 2.66637830e-02 -2.17986881e-03 9.99642081e-01 2.37704393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53071405699998 meters Centerline goodness [0,1] 0.976382423072556 Centerline is valid? [True, True] Translation: X:194.74, Y:-6.57, Z:2.38 [[ 9.97982060e-01 -5.75764770e-02 -2.67723349e-02 1.94735959e+02] [ 5.76142729e-02 9.98338712e-01 6.41889864e-04 -6.56978034e+00] [ 2.66909006e-02 -2.18306318e-03 9.99641351e-01 2.37737502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56071405699998 meters Centerline goodness [0,1] 0.9788432818934697 Centerline is valid? [True, True] Translation: X:194.77, Y:-6.57, Z:2.38 [[ 9.98016923e-01 -5.71132471e-02 -2.64631554e-02 1.94768613e+02] [ 5.71500682e-02 9.98365396e-01 6.36567859e-04 -6.56956330e+00] [ 2.63835421e-02 -2.14767663e-03 9.99649587e-01 2.37825404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59071405699999 meters Centerline goodness [0,1] 0.9741459539212348 Centerline is valid? [True, True] Translation: X:194.80, Y:-6.57, Z:2.38 [[ 9.97981485e-01 -5.77708165e-02 -2.63721282e-02 1.94799549e+02] [ 5.78076779e-02 9.98327535e-01 6.36861007e-04 -6.57137408e+00] [ 2.62912297e-02 -2.16008698e-03 9.99651992e-01 2.37875197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.620714057 meters Centerline goodness [0,1] 0.969930784068989 Centerline is valid? [True, True] Translation: X:194.83, Y:-6.57, Z:2.38 [[ 9.97957900e-01 -5.81108627e-02 -2.65171140e-02 1.94831471e+02] [ 5.81483066e-02 9.98307749e-01 6.42505656e-04 -6.57280578e+00] [ 2.64349039e-02 -2.18311887e-03 9.99648153e-01 2.37928318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.650714057 meters Centerline goodness [0,1] 0.963780277601379 Centerline is valid? [True, True] Translation: X:194.86, Y:-6.57, Z:2.38 [[ 9.97922477e-01 -5.86996191e-02 -2.65534121e-02 1.94862230e+02] [ 5.87374074e-02 9.98273260e-01 6.44698808e-04 -6.57481482e+00] [ 2.64697177e-02 -2.20303801e-03 9.99647188e-01 2.37884920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.680714057 meters Centerline goodness [0,1] 0.9868687558316834 Centerline is valid? [True, True] Translation: X:194.90, Y:-6.55, Z:2.38 [[ 9.97911888e-01 -5.88401988e-02 -2.66400974e-02 1.94895264e+02] [ 5.88783212e-02 9.98264956e-01 6.48200035e-04 -6.55488079e+00] [ 2.65557354e-02 -2.21537073e-03 9.99644879e-01 2.38200280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.710714057 meters Centerline goodness [0,1] 0.9859103800340329 Centerline is valid? [True, True] Translation: X:194.93, Y:-6.56, Z:2.38 [[ 9.97906929e-01 -5.87503013e-02 -2.70215261e-02 1.94926793e+02] [ 5.87895665e-02 9.98270179e-01 6.60286569e-04 -6.55839499e+00] [ 2.69359917e-02 -2.24748835e-03 9.99634634e-01 2.38140305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.740714057 meters Centerline goodness [0,1] 0.9864553183791607 Centerline is valid? [True, True] Translation: X:194.96, Y:-6.56, Z:2.38 [[ 9.97898785e-01 -5.86099883e-02 -2.76203484e-02 1.94959258e+02] [ 5.86510466e-02 9.98278315e-01 6.78044219e-04 -6.56017642e+00] [ 2.75330547e-02 -2.29658184e-03 9.99618255e-01 2.38084843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.770714057 meters Centerline goodness [0,1] 0.984622004801377 Centerline is valid? [True, True] Translation: X:194.99, Y:-6.57, Z:2.38 [[ 9.97880838e-01 -5.81579689e-02 -2.91802069e-02 1.94989980e+02] [ 5.82036679e-02 9.98304471e-01 7.18450220e-04 -6.56567912e+00] [ 2.90889474e-02 -2.41532278e-03 9.99573909e-01 2.37877692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.800714057 meters Centerline goodness [0,1] 0.9872714438600086 Centerline is valid? [True, True] Translation: X:195.02, Y:-6.56, Z:2.38 [[ 9.97847720e-01 -5.84456969e-02 -2.97326203e-02 1.95022735e+02] [ 5.84933258e-02 9.98287530e-01 7.33922580e-04 -6.56085348e+00] [ 2.96388095e-02 -2.47150282e-03 9.99557618e-01 2.37952446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.830714057 meters Centerline goodness [0,1] 0.9867432007653409 Centerline is valid? [True, True] Translation: X:195.05, Y:-6.56, Z:2.38 [[ 9.97863725e-01 -5.81456043e-02 -2.97838015e-02 1.95054817e+02] [ 5.81933272e-02 9.98305060e-01 7.37291563e-04 -6.56299319e+00] [ 2.96904495e-02 -2.46893501e-03 9.99556092e-01 2.37986125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.860714057 meters Centerline goodness [0,1] 0.986885469463827 Centerline is valid? [True, True] Translation: X:195.09, Y:-6.56, Z:2.38 [[ 9.97955682e-01 -5.71407171e-02 -2.86250923e-02 1.95086002e+02] [ 5.71844283e-02 9.98363379e-01 7.10067975e-04 -6.56150401e+00] [ 2.85376700e-02 -2.34552591e-03 9.99589966e-01 2.38157097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.890714057 meters Centerline goodness [0,1] 0.9858152803982633 Centerline is valid? [True, True] Translation: X:195.12, Y:-6.56, Z:2.38 [[ 9.98030169e-01 -5.61180046e-02 -2.80455346e-02 1.95117398e+02] [ 5.61595892e-02 9.98421562e-01 6.96671280e-04 -6.56185446e+00] [ 2.79621706e-02 -2.27032465e-03 9.99606404e-01 2.38261683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.920714057 meters Centerline goodness [0,1] 0.9857598541809068 Centerline is valid? [True, True] Translation: X:195.15, Y:-6.56, Z:2.38 [[ 9.98172957e-01 -5.39303781e-02 -2.72444868e-02 1.95147477e+02] [ 5.39688232e-02 9.98542391e-01 6.77241614e-04 -6.56218111e+00] [ 2.71682511e-02 -2.14635715e-03 9.99628571e-01 2.38350384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.950714057 meters Centerline goodness [0,1] 0.9866368184206319 Centerline is valid? [True, True] Translation: X:195.18, Y:-6.56, Z:2.38 [[ 9.98244227e-01 -5.27211971e-02 -2.69988804e-02 1.95179526e+02] [ 5.27585307e-02 9.98607073e-01 6.71819112e-04 -6.55921539e+00] [ 2.69258539e-02 -2.09506081e-03 9.99635238e-01 2.38481965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98071405699997 meters Centerline goodness [0,1] 0.9853608482499145 Centerline is valid? [True, True] Translation: X:195.21, Y:-6.56, Z:2.39 [[ 9.98334613e-01 -5.11989349e-02 -2.65832487e-02 1.95209751e+02] [ 5.12346154e-02 9.98686425e-01 6.62396169e-04 -6.56019030e+00] [ 2.65144157e-02 -2.02327555e-03 9.99646384e-01 2.38565199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01071405699997 meters Centerline goodness [0,1] 0.9853608482499145 Centerline is valid? [True, True] Translation: X:195.24, Y:-6.56, Z:2.39 [[ 9.98338062e-01 -5.11316609e-02 -2.65832213e-02 1.95241528e+02] [ 5.11673468e-02 9.98689873e-01 6.63497043e-04 -6.56104881e+00] [ 2.65144682e-02 -2.02258725e-03 9.99646384e-01 2.38608943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04071405699997 meters Centerline goodness [0,1] 0.9871406786990463 Centerline is valid? [True, True] Translation: X:195.27, Y:-6.55, Z:2.39 [[ 9.98488184e-01 -4.83307822e-02 -2.61816983e-02 1.95272409e+02] [ 4.83644717e-02 9.98829540e-01 6.54678752e-04 -6.55205096e+00] [ 2.61194125e-02 -1.91995300e-03 9.99656986e-01 2.38754364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07071405699998 meters Centerline goodness [0,1] 0.9877589238815173 Centerline is valid? [True, True] Translation: X:195.30, Y:-6.55, Z:2.39 [[ 9.98555432e-01 -4.69508477e-02 -2.61279068e-02 1.95303939e+02] [ 4.69839488e-02 9.98895430e-01 6.54093321e-04 -6.54982274e+00] [ 2.60683364e-02 -1.88074067e-03 9.99658394e-01 2.38826034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10071405699998 meters Centerline goodness [0,1] 0.9873736795068632 Centerline is valid? [True, True] Translation: X:195.34, Y:-6.55, Z:2.39 [[ 9.98610838e-01 -4.53786348e-02 -2.67800943e-02 1.95335122e+02] [ 4.54128733e-02 9.98968078e-01 6.71390780e-04 -6.54549569e+00] [ 2.67219925e-02 -1.88661914e-03 9.99641123e-01 2.38908167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13071405699998 meters Centerline goodness [0,1] 0.9881465517241379 Centerline is valid? [True, True] Translation: X:195.37, Y:-6.55, Z:2.39 [[ 9.98639894e-01 -4.47706085e-02 -2.67199432e-02 1.95367168e+02] [ 4.48045148e-02 9.98995548e-01 6.71310609e-04 -6.54551237e+00] [ 2.66630494e-02 -1.86757165e-03 9.99642733e-01 2.38974267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16071405699998 meters Centerline goodness [0,1] 0.9866069377440846 Centerline is valid? [True, True] Translation: X:195.40, Y:-6.55, Z:2.39 [[ 9.98667361e-01 -4.40667714e-02 -2.68630013e-02 1.95399369e+02] [ 4.41008470e-02 9.99026855e-01 6.77082367e-04 -6.54637148e+00] [ 2.68070229e-02 -1.86086117e-03 9.99638895e-01 2.38997410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19071405699998 meters Centerline goodness [0,1] 0.9872393258685306 Centerline is valid? [True, True] Translation: X:195.43, Y:-6.55, Z:2.39 [[ 9.98687184e-01 -4.33911994e-02 -2.72233742e-02 1.95430654e+02] [ 4.34260001e-02 9.99056409e-01 6.88154493e-04 -6.54510980e+00] [ 2.71678267e-02 -1.86945332e-03 9.99629138e-01 2.39003197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22071405699998 meters Centerline goodness [0,1] 0.9866685054934952 Centerline is valid? [True, True] Translation: X:195.46, Y:-6.55, Z:2.39 [[ 9.98699736e-01 -4.29504160e-02 -2.74608543e-02 1.95462098e+02] [ 4.29857272e-02 9.99075444e-01 6.96573113e-04 -6.54813123e+00] [ 2.74055471e-02 -1.87609218e-03 9.99622637e-01 2.38989579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25071405699998 meters Centerline goodness [0,1] 0.9871945461664249 Centerline is valid? [True, True] Translation: X:195.49, Y:-6.55, Z:2.39 [[ 9.98707525e-01 -4.26099815e-02 -2.77068388e-02 1.95494386e+02] [ 4.26458715e-02 9.99090002e-01 7.05469272e-04 -6.54592715e+00] [ 2.76515656e-02 -1.88613976e-03 9.99615843e-01 2.39046875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28071405699998 meters Centerline goodness [0,1] 0.9866632883401668 Centerline is valid? [True, True] Translation: X:195.52, Y:-6.54, Z:2.39 [[ 9.98752624e-01 -4.13332533e-02 -2.80135439e-02 1.95524612e+02] [ 4.13694768e-02 9.99143661e-01 7.14493108e-04 -6.54483720e+00] [ 2.79600225e-02 -1.87250752e-03 9.99607288e-01 2.39070357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31071405699998 meters Centerline goodness [0,1] 0.9867694936387356 Centerline is valid? [True, True] Translation: X:195.56, Y:-6.55, Z:2.39 [[ 9.98775029e-01 -4.08188985e-02 -2.79689049e-02 1.95556111e+02] [ 4.08548598e-02 9.99164836e-01 7.15282642e-04 -6.54662908e+00] [ 2.79163492e-02 -1.85707213e-03 9.99608538e-01 2.39095575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34071405699999 meters Centerline goodness [0,1] 0.9862681744749596 Centerline is valid? [True, True] Translation: X:195.59, Y:-6.54, Z:2.39 [[ 9.98825394e-01 -3.98028996e-02 -2.76326071e-02 1.95587197e+02] [ 3.98376716e-02 9.99205913e-01 7.08777559e-04 -6.54238157e+00] [ 2.75824530e-02 -1.80876375e-03 9.99617895e-01 2.39264604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.370714057 meters Centerline goodness [0,1] 0.9859158170897291 Centerline is valid? [True, True] Translation: X:195.62, Y:-6.55, Z:2.39 [[ 9.98874550e-01 -3.90018129e-02 -2.69905844e-02 1.95617676e+02] [ 3.90347145e-02 9.99237615e-01 6.92996293e-04 -6.54534992e+00] [ 2.69429790e-02 -1.74578611e-03 9.99635448e-01 2.39318797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.400714057 meters Centerline goodness [0,1] 0.9867367886882107 Centerline is valid? [True, True] Translation: X:195.65, Y:-6.54, Z:2.40 [[ 9.98897475e-01 -3.85890192e-02 -2.67342833e-02 1.95650089e+02] [ 3.86211827e-02 9.99253687e-01 6.87590298e-04 -6.53564162e+00] [ 2.66877977e-02 -1.71934185e-03 9.99642339e-01 2.39580540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.430714057 meters Centerline goodness [0,1] 0.9853751931904685 Centerline is valid? [True, True] Translation: X:195.68, Y:-6.55, Z:2.39 [[ 9.98904130e-01 -3.82902759e-02 -2.69145778e-02 1.95681434e+02] [ 3.83228131e-02 9.99265170e-01 6.93944211e-04 -6.54678112e+00] [ 2.68682288e-02 -1.72462607e-03 9.99637496e-01 2.39403266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.460714057 meters Centerline goodness [0,1] 0.9867021276595744 Centerline is valid? [True, True] Translation: X:195.71, Y:-6.54, Z:2.40 [[ 9.98903631e-01 -3.81415861e-02 -2.71432263e-02 1.95713471e+02] [ 3.81746705e-02 9.99270835e-01 7.01553305e-04 -6.53703138e+00] [ 2.70966761e-02 -1.73696787e-03 9.99631309e-01 2.39615743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.490714057 meters Centerline goodness [0,1] 0.9862223350488103 Centerline is valid? [True, True] Translation: X:195.74, Y:-6.54, Z:2.40 [[ 9.98869301e-01 -3.85418512e-02 -2.78324521e-02 1.95744534e+02] [ 3.85768420e-02 9.99255376e-01 7.21139797e-04 -6.53967957e+00] [ 2.77839333e-02 -1.79401251e-03 9.99612342e-01 2.39564098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.520714057 meters Centerline goodness [0,1] 0.986391733554756 Centerline is valid? [True, True] Translation: X:195.78, Y:-6.54, Z:2.40 [[ 9.98843551e-01 -3.89994133e-02 -2.81177144e-02 1.95776527e+02] [ 3.90353551e-02 9.99237563e-01 7.30288748e-04 -6.54092038e+00] [ 2.80677956e-02 -1.82702917e-03 9.99604352e-01 2.39568056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.550714057 meters Centerline goodness [0,1] 0.9877232657959109 Centerline is valid? [True, True] Translation: X:195.81, Y:-6.54, Z:2.40 [[ 9.98817990e-01 -3.93713571e-02 -2.85047325e-02 1.95808367e+02] [ 3.94085042e-02 9.99222907e-01 7.42370579e-04 -6.54146466e+00] [ 2.84533535e-02 -1.86482196e-03 9.99593382e-01 2.39606026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.580714057 meters Centerline goodness [0,1] 0.9869545139690603 Centerline is valid? [True, True] Translation: X:195.84, Y:-6.54, Z:2.40 [[ 9.98745333e-01 -4.08793521e-02 -2.89247149e-02 1.95839115e+02] [ 4.09182838e-02 9.99162211e-01 7.55102412e-04 -6.54300324e+00] [ 2.88696140e-02 -1.93770470e-03 9.99581308e-01 2.39712743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.610714057 meters Centerline goodness [0,1] 0.9867670492598324 Centerline is valid? [True, True] Translation: X:195.87, Y:-6.55, Z:2.40 [[ 9.98720226e-01 -4.13358435e-02 -2.91420410e-02 1.95869651e+02] [ 4.13755934e-02 9.99143373e-01 7.62057858e-04 -6.54971392e+00] [ 2.90855769e-02 -1.96685184e-03 9.99574990e-01 2.39640995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.640714057 meters Centerline goodness [0,1] 0.98673691020842 Centerline is valid? [True, True] Translation: X:195.90, Y:-6.55, Z:2.40 [[ 9.98633096e-01 -4.28472926e-02 -2.99340956e-02 1.95900469e+02] [ 4.28899329e-02 9.99079496e-01 7.83552822e-04 -6.55355169e+00] [ 2.98729680e-02 -2.06635313e-03 9.99551567e-01 2.39608450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.670714057 meters Centerline goodness [0,1] 0.98616299986163 Centerline is valid? [True, True] Translation: X:195.93, Y:-6.56, Z:2.40 [[ 9.98605574e-01 -4.31557162e-02 -3.04054643e-02 1.95931857e+02] [ 4.31998776e-02 9.99066132e-01 7.96702042e-04 -6.55637316e+00] [ 3.03426873e-02 -2.10910344e-03 9.99537329e-01 2.39569566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.700714057 meters Centerline goodness [0,1] 0.9870653878078023 Centerline is valid? [True, True] Translation: X:195.96, Y:-6.55, Z:2.40 [[ 9.98586275e-01 -4.34443927e-02 -3.06273652e-02 1.95964359e+02] [ 4.34893885e-02 9.99053565e-01 8.04217020e-04 -6.54962134e+00] [ 3.05634397e-02 -2.13504546e-03 9.99530549e-01 2.39812980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73071405699997 meters Centerline goodness [0,1] 0.9857803468208093 Centerline is valid? [True, True] Translation: X:196.00, Y:-6.56, Z:2.40 [[ 9.98586256e-01 -4.35167447e-02 -3.05250948e-02 1.95995080e+02] [ 4.35615318e-02 9.99050423e-01 8.03428561e-04 -6.56186696e+00] [ 3.04611463e-02 -2.13201261e-03 9.99533678e-01 2.39633870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76071405699997 meters Centerline goodness [0,1] 0.9855266498926618 Centerline is valid? [True, True] Translation: X:196.03, Y:-6.56, Z:2.40 [[ 9.98616548e-01 -4.30482818e-02 -3.01966077e-02 1.96026024e+02] [ 4.30919349e-02 9.99070794e-01 7.96057490e-04 -6.56278760e+00] [ 3.01342799e-02 -2.09618643e-03 9.99543661e-01 2.39708794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79071405699997 meters Centerline goodness [0,1] 0.9857490920792534 Centerline is valid? [True, True] Translation: X:196.06, Y:-6.56, Z:2.40 [[ 9.98723197e-01 -4.11847709e-02 -2.92538981e-02 1.96056352e+02] [ 4.12249642e-02 9.99149592e-01 7.71898343e-04 -6.56371963e+00] [ 2.91972299e-02 -1.97690368e-03 9.99571715e-01 2.39896210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82071405699998 meters Centerline goodness [0,1] 0.9865150957290133 Centerline is valid? [True, True] Translation: X:196.09, Y:-6.56, Z:2.40 [[ 9.98773607e-01 -4.01527191e-02 -2.89662188e-02 1.96087915e+02] [ 4.01917151e-02 9.99191694e-01 7.65058227e-04 -6.55598942e+00] [ 2.89120861e-02 -1.92832198e-03 9.99580098e-01 2.40216407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85071405699998 meters Centerline goodness [0,1] 0.9855439436490032 Centerline is valid? [True, True] Translation: X:196.12, Y:-6.57, Z:2.40 [[ 9.98821037e-01 -3.91939064e-02 -2.86421540e-02 1.96118187e+02] [ 3.92316628e-02 9.99229855e-01 7.57229075e-04 -6.56563345e+00] [ 2.85904167e-02 -1.88001566e-03 9.99589443e-01 2.40131022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88071405699998 meters Centerline goodness [0,1] 0.9877173613027878 Centerline is valid? [True, True] Translation: X:196.15, Y:-6.55, Z:2.41 [[ 9.98931855e-01 -3.69027460e-02 -2.78089190e-02 1.96149489e+02] [ 3.69374659e-02 9.99317308e-01 7.35681322e-04 -6.55311858e+00] [ 2.77627854e-02 -1.76208651e-03 9.99612987e-01 2.40607674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91071405699998 meters Centerline goodness [0,1] 0.9857539400334931 Centerline is valid? [True, True] Translation: X:196.18, Y:-6.56, Z:2.41 [[ 9.98999457e-01 -3.55884269e-02 -2.70840875e-02 1.96180994e+02] [ 3.56209043e-02 9.99365117e-01 7.17457336e-04 -6.55565192e+00] [ 2.70413591e-02 -1.68149918e-03 9.99632901e-01 2.40637103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94071405699998 meters Centerline goodness [0,1] 0.9867560346416068 Centerline is valid? [True, True] Translation: X:196.21, Y:-6.55, Z:2.41 [[ 9.99026362e-01 -3.46089676e-02 -2.73596040e-02 1.96212503e+02] [ 3.46417774e-02 9.99399530e-01 7.25994538e-04 -6.55483521e+00] [ 2.73180494e-02 -1.67307299e-03 9.99625392e-01 2.40745341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97071405699998 meters Centerline goodness [0,1] 0.9880919540229886 Centerline is valid? [True, True] Translation: X:196.24, Y:-6.55, Z:2.41 [[ 9.99129003e-01 -3.21332338e-02 -2.66212587e-02 1.96242918e+02] [ 3.21634334e-02 9.99482373e-01 7.06890269e-04 -6.55451150e+00] [ 2.65847642e-02 -1.56250565e-03 9.99645342e-01 2.40858410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00071405699998 meters Centerline goodness [0,1] 0.9873108052494398 Centerline is valid? [True, True] Translation: X:196.27, Y:-6.56, Z:2.41 [[ 9.99182396e-01 -3.06146398e-02 -2.64061233e-02 1.96272867e+02] [ 3.06438246e-02 9.99530122e-01 7.01177648e-04 -6.55707561e+00] [ 2.63722493e-02 -1.50978897e-03 9.99651052e-01 2.40867650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03071405699998 meters Centerline goodness [0,1] 0.9881151772398761 Centerline is valid? [True, True] Translation: X:196.30, Y:-6.56, Z:2.41 [[ 9.99272772e-01 -2.70737305e-02 -2.68503128e-02 1.96303665e+02] [ 2.71026378e-02 9.99632402e-01 7.13207527e-04 -6.55599908e+00] [ 2.68211335e-02 -1.44040317e-03 9.99639211e-01 2.40915652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06071405699998 meters Centerline goodness [0,1] 0.9874026990926259 Centerline is valid? [True, True] Translation: X:196.33, Y:-6.56, Z:2.41 [[ 9.99318087e-01 -2.49872298e-02 -2.71845589e-02 1.96332868e+02] [ 2.50161079e-02 9.99686787e-01 7.22676564e-04 -6.55698253e+00] [ 2.71579867e-02 -1.40223562e-03 9.99630170e-01 2.40918203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09071405699999 meters Centerline goodness [0,1] 0.9881351264515537 Centerline is valid? [True, True] Translation: X:196.36, Y:-6.56, Z:2.41 [[ 9.99351151e-01 -2.30276592e-02 -2.76948409e-02 1.96361188e+02] [ 2.30568712e-02 9.99733884e-01 7.35862943e-04 -6.55774333e+00] [ 2.76705256e-02 -1.37394186e-03 9.99616153e-01 2.40909224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.120714057 meters Centerline goodness [0,1] 0.9887398727514075 Centerline is valid? [True, True] Translation: X:196.39, Y:-6.56, Z:2.41 [[ 9.99416717e-01 -1.84230266e-02 -2.87544519e-02 1.96391015e+02] [ 1.84525871e-02 9.99829445e-01 7.62998777e-04 -6.55602145e+00] [ 2.87354909e-02 -1.29314776e-03 9.99586214e-01 2.40910712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.150714057 meters Centerline goodness [0,1] 0.9888206472983231 Centerline is valid? [True, True] Translation: X:196.42, Y:-6.56, Z:2.41 [[ 9.99432587e-01 -1.67388106e-02 -2.92286888e-02 1.96420194e+02] [ 1.67685240e-02 9.99859101e-01 7.71749825e-04 -6.55568398e+00] [ 2.92116523e-02 -1.26143390e-03 9.99572453e-01 2.40906645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.180714057 meters Centerline goodness [0,1] 0.988765596942769 Centerline is valid? [True, True] Translation: X:196.45, Y:-6.56, Z:2.41 [[ 9.99449484e-01 -1.50654865e-02 -2.95594371e-02 1.96448254e+02] [ 1.50950095e-02 9.99885763e-01 7.75862537e-04 -6.55775953e+00] [ 2.95443716e-02 -1.22163540e-03 9.99562723e-01 2.40845191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.210714057 meters Centerline goodness [0,1] 0.9895380653468534 Centerline is valid? [True, True] Translation: X:196.48, Y:-6.56, Z:2.41 [[ 9.99495289e-01 -1.26802319e-02 -2.91269376e-02 1.96476956e+02] [ 1.27078194e-02 9.99918962e-01 7.62226594e-04 -6.55809866e+00] [ 2.91149120e-02 -1.13198175e-03 9.99575430e-01 2.40906719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.240714057 meters Centerline goodness [0,1] 0.9899077939355017 Centerline is valid? [True, True] Translation: X:196.51, Y:-6.56, Z:2.41 [[ 9.99499629e-01 -1.23936311e-02 -2.91013601e-02 1.96505971e+02] [ 1.24209098e-02 9.99922571e-01 7.56776030e-04 -6.55931529e+00] [ 2.90897276e-02 -1.11786273e-03 9.99576179e-01 2.40941285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.270714057 meters Centerline goodness [0,1] 0.9897599193622285 Centerline is valid? [True, True] Translation: X:196.53, Y:-6.56, Z:2.41 [[ 9.99496406e-01 -1.25386722e-02 -2.91498939e-02 1.96533499e+02] [ 1.25658755e-02 9.99920765e-01 7.50217044e-04 -6.56150682e+00] [ 2.91381775e-02 -1.11613318e-03 9.99574770e-01 2.40989439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.300714057 meters Centerline goodness [0,1] 0.9892574098676074 Centerline is valid? [True, True] Translation: X:196.56, Y:-6.56, Z:2.41 [[ 9.99501699e-01 -1.29934306e-02 -2.87667188e-02 1.96560888e+02] [ 1.30199615e-02 9.99914966e-01 7.35150669e-04 -6.56478052e+00] [ 2.87547205e-02 -1.10932591e-03 9.99585882e-01 2.41006796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.330714057 meters Centerline goodness [0,1] 0.9889023636821271 Centerline is valid? [True, True] Translation: X:196.59, Y:-6.57, Z:2.41 [[ 9.99482423e-01 -1.39268683e-02 -2.89987710e-02 1.96589520e+02] [ 1.39540768e-02 9.99902366e-01 7.36100259e-04 -6.56646781e+00] [ 2.89856882e-02 -1.14037035e-03 9.99579176e-01 2.41075098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.360714057 meters Centerline goodness [0,1] 0.9875933922818562 Centerline is valid? [True, True] Translation: X:196.62, Y:-6.57, Z:2.41 [[ 9.99450578e-01 -1.59452315e-02 -2.90567075e-02 1.96617517e+02] [ 1.59732628e-02 9.99872151e-01 7.32836926e-04 -6.57141869e+00] [ 2.90413074e-02 -1.19656472e-03 9.99577496e-01 2.41179455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.390714057 meters Centerline goodness [0,1] 0.9886646707955299 Centerline is valid? [True, True] Translation: X:196.65, Y:-6.57, Z:2.41 [[ 9.99436725e-01 -1.74799964e-02 -2.86475391e-02 1.96645725e+02] [ 1.75078005e-02 9.99846467e-01 7.19997215e-04 -6.57191113e+00] [ 2.86305552e-02 -1.22114706e-03 9.99589316e-01 2.41311162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.420714057 meters Centerline goodness [0,1] 0.9875570776255708 Centerline is valid? [True, True] Translation: X:196.67, Y:-6.58, Z:2.41 [[ 9.99398220e-01 -2.10222600e-02 -2.75909753e-02 1.96673900e+02] [ 2.10493439e-02 9.99778199e-01 6.91514061e-04 -6.58431606e+00] [ 2.75703184e-02 -1.27186985e-03 9.99619057e-01 2.41210555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45071405699997 meters Centerline goodness [0,1] 0.9877385745808595 Centerline is valid? [True, True] Translation: X:196.70, Y:-6.59, Z:2.41 [[ 9.99350218e-01 -2.32585829e-02 -2.75350548e-02 1.96702175e+02] [ 2.32863575e-02 9.99728599e-01 6.88428459e-04 -6.58910023e+00] [ 2.75115699e-02 -1.32917226e-03 9.99620601e-01 2.41250523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48071405699997 meters Centerline goodness [0,1] 0.987553940495117 Centerline is valid? [True, True] Translation: X:196.73, Y:-6.59, Z:2.41 [[ 9.99303637e-01 -2.54090786e-02 -2.73243412e-02 1.96732040e+02] [ 2.54371934e-02 9.99676190e-01 6.81773295e-04 -6.59304923e+00] [ 2.72981701e-02 -1.37635309e-03 9.99626388e-01 2.41267840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51071405699997 meters Centerline goodness [0,1] 0.9884554678692221 Centerline is valid? [True, True] Translation: X:196.76, Y:-6.59, Z:2.42 [[ 9.99187072e-01 -2.97754244e-02 -2.71775383e-02 1.96761803e+02] [ 2.98048293e-02 9.99555508e-01 6.77422700e-04 -6.59235739e+00] [ 2.71452876e-02 -1.48689389e-03 9.99630393e-01 2.41533372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54071405699997 meters Centerline goodness [0,1] 0.9884467555957495 Centerline is valid? [True, True] Translation: X:196.79, Y:-6.59, Z:2.42 [[ 9.99143230e-01 -3.16890232e-02 -2.66197522e-02 1.96791664e+02] [ 3.17178974e-02 9.99496641e-01 6.63050785e-04 -6.59454024e+00] [ 2.65853415e-02 -1.50680527e-03 9.99645412e-01 2.41584716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57071405699998 meters Centerline goodness [0,1] 0.988549101093143 Centerline is valid? [True, True] Translation: X:196.82, Y:-6.60, Z:2.42 [[ 9.98990894e-01 -3.61469670e-02 -2.66568867e-02 1.96821728e+02] [ 3.61774958e-02 9.99345160e-01 6.63710284e-04 -6.59884095e+00] [ 2.66154396e-02 -1.62741994e-03 9.99644422e-01 2.41662741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60071405699998 meters Centerline goodness [0,1] 0.9891331360278336 Centerline is valid? [True, True] Translation: X:196.85, Y:-6.60, Z:2.42 [[ 9.98926157e-01 -3.80688832e-02 -2.64063044e-02 1.96852425e+02] [ 3.80995148e-02 9.99273733e-01 6.57680738e-04 -6.60237986e+00] [ 2.63620892e-02 -1.66304188e-03 9.99651076e-01 2.41691556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63071405699998 meters Centerline goodness [0,1] 0.9885221407226297 Centerline is valid? [True, True] Translation: X:196.88, Y:-6.61, Z:2.42 [[ 9.98819606e-01 -4.04046929e-02 -2.69602597e-02 1.96883156e+02] [ 4.04374901e-02 9.99181844e-01 6.72187874e-04 -6.60561594e+00] [ 2.69110424e-02 -1.76159966e-03 9.99636280e-01 2.41717236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66071405699998 meters Centerline goodness [0,1] 0.9884743774810538 Centerline is valid? [True, True] Translation: X:196.91, Y:-6.61, Z:2.42 [[ 9.98641802e-01 -4.40385321e-02 -2.78416833e-02 1.96912227e+02] [ 4.40749232e-02 9.99027987e-01 6.94452022e-04 -6.61138381e+00] [ 2.77840381e-02 -1.92062887e-03 9.99612104e-01 2.41693960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69071405699998 meters Centerline goodness [0,1] 0.988262593493737 Centerline is valid? [True, True] Translation: X:196.94, Y:-6.62, Z:2.42 [[ 9.98561915e-01 -4.55989489e-02 -2.81928651e-02 1.96942818e+02] [ 4.56368977e-02 9.98957846e-01 7.03729584e-04 -6.61528269e+00] [ 2.81313944e-02 -1.98935246e-03 9.99602254e-01 2.41679912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72071405699998 meters Centerline goodness [0,1] 0.9884761969194686 Centerline is valid? [True, True] Translation: X:196.97, Y:-6.61, Z:2.42 [[ 9.98482047e-01 -4.70613605e-02 -2.86152206e-02 1.96973896e+02] [ 4.71010803e-02 9.98889872e-01 7.15236531e-04 -6.61496392e+00] [ 2.85497941e-02 -2.06195864e-03 9.99590245e-01 2.41751274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75071405699998 meters Centerline goodness [0,1] 0.9888433104940497 Centerline is valid? [True, True] Translation: X:197.00, Y:-6.62, Z:2.42 [[ 9.98346392e-01 -4.93979982e-02 -2.93992978e-02 1.97004789e+02] [ 4.94409489e-02 9.98776778e-01 7.35373476e-04 -6.61913740e+00] [ 2.93270099e-02 -2.18768664e-03 9.99567477e-01 2.41790065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78071405699998 meters Centerline goodness [0,1] 0.9887917203353445 Centerline is valid? [True, True] Translation: X:197.04, Y:-6.62, Z:2.42 [[ 9.98312805e-01 -5.01865383e-02 -2.92036738e-02 1.97036465e+02] [ 5.02293058e-02 9.98737443e-01 7.32242556e-04 -6.62042074e+00] [ 2.91300538e-02 -2.19788738e-03 9.99573214e-01 2.41818511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81071405699998 meters Centerline goodness [0,1] 0.9887377241192901 Centerline is valid? [True, True] Translation: X:197.07, Y:-6.62, Z:2.42 [[ 9.98281357e-01 -5.07446155e-02 -2.93140905e-02 1.97067037e+02] [ 5.07880025e-02 9.98709185e-01 7.36930410e-04 -6.62418243e+00] [ 2.92388562e-02 -2.22446799e-03 9.99569978e-01 2.41806491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84071405699999 meters Centerline goodness [0,1] 0.9887982329606924 Centerline is valid? [True, True] Translation: X:197.10, Y:-6.63, Z:2.42 [[ 9.98256138e-01 -5.13060603e-02 -2.91953815e-02 1.97098256e+02] [ 5.13493735e-02 9.98680480e-01 7.35264538e-04 -6.62734162e+00] [ 2.91191341e-02 -2.23314689e-03 9.99573454e-01 2.41844112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.870714057 meters Centerline goodness [0,1] 0.9902580601615407 Centerline is valid? [True, True] Translation: X:197.13, Y:-6.63, Z:2.42 [[ 9.98267018e-01 -5.12020416e-02 -2.90053803e-02 1.97130226e+02] [ 5.12448018e-02 9.98685854e-01 7.32306292e-04 -6.62515247e+00] [ 2.89297674e-02 -2.21741218e-03 9.99578987e-01 2.41956134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.900714057 meters Centerline goodness [0,1] 0.9895613048368954 Centerline is valid? [True, True] Translation: X:197.16, Y:-6.63, Z:2.42 [[ 9.98293760e-01 -5.08222401e-02 -2.87518456e-02 1.97161316e+02] [ 5.08641504e-02 9.98705316e-01 7.27694413e-04 -6.62952851e+00] [ 2.86776380e-02 -2.18889099e-03 9.99586315e-01 2.41953177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.930714057 meters Centerline goodness [0,1] 0.9895613048368954 Centerline is valid? [True, True] Translation: X:197.19, Y:-6.63, Z:2.42 [[ 9.98297307e-01 -5.07525368e-02 -2.87518004e-02 1.97193092e+02] [ 5.07944695e-02 9.98708861e-01 7.29479832e-04 -6.63039696e+00] [ 2.86776548e-02 -2.18867020e-03 9.99586315e-01 2.41996905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.960714057 meters Centerline goodness [0,1] 0.9893484981833773 Centerline is valid? [True, True] Translation: X:197.22, Y:-6.63, Z:2.42 [[ 9.98364524e-01 -4.94734475e-02 -2.86470856e-02 1.97224896e+02] [ 4.95146011e-02 9.98773134e-01 7.28551666e-04 -6.62886644e+00] [ 2.85758955e-02 -2.14580915e-03 9.99589323e-01 2.42070687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.990714057 meters Centerline goodness [0,1] 0.9894864810103784 Centerline is valid? [True, True] Translation: X:197.26, Y:-6.63, Z:2.42 [[ 9.98411948e-01 -4.85710797e-02 -2.85382695e-02 1.97257077e+02] [ 4.86116044e-02 9.98817492e-01 7.27535278e-04 -6.62817136e+00] [ 2.84691856e-02 -2.11367098e-03 9.99592436e-01 2.42150201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.020714057 meters Centerline goodness [0,1] 0.9897274964441334 Centerline is valid? [True, True] Translation: X:197.29, Y:-6.62, Z:2.42 [[ 9.98456634e-01 -4.77802173e-02 -2.83090072e-02 1.97288975e+02] [ 4.78198418e-02 9.98855715e-01 7.23982359e-04 -6.62480365e+00] [ 2.82420215e-02 -2.07659723e-03 9.99598958e-01 2.42286652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.050714057 meters Centerline goodness [0,1] 0.9901934201012292 Centerline is valid? [True, True] Translation: X:197.32, Y:-6.62, Z:2.42 [[ 9.98511632e-01 -4.66780294e-02 -2.82078376e-02 1.97320793e+02] [ 4.67169916e-02 9.98907903e-01 7.23452981e-04 -6.62255991e+00] [ 2.81432626e-02 -2.04016153e-03 9.99601818e-01 2.42336780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.080714057 meters Centerline goodness [0,1] 0.9905438952832317 Centerline is valid? [True, True] Translation: X:197.35, Y:-6.63, Z:2.42 [[ 9.98530278e-01 -4.64046483e-02 -2.79980981e-02 1.97352446e+02] [ 4.64429836e-02 9.98920683e-01 7.20133224e-04 -6.62545095e+00] [ 2.79344618e-02 -2.01939004e-03 9.99607717e-01 2.42341853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.110714057 meters Centerline goodness [0,1] 0.989241733952817 Centerline is valid? [True, True] Translation: X:197.38, Y:-6.63, Z:2.42 [[ 9.98564363e-01 -4.61861613e-02 -2.71302604e-02 1.97383635e+02] [ 4.62221540e-02 9.98930939e-01 7.00702320e-04 -6.63132504e+00] [ 2.70688938e-02 -1.95371544e-03 9.99631661e-01 2.42319564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.140714057 meters Centerline goodness [0,1] 0.9888359058961784 Centerline is valid? [True, True] Translation: X:197.42, Y:-6.63, Z:2.42 [[ 9.98569307e-01 -4.62335117e-02 -2.68663795e-02 1.97415772e+02] [ 4.62688938e-02 9.98928778e-01 6.96479923e-04 -6.63214834e+00] [ 2.68053990e-02 -1.93856114e-03 9.99638791e-01 2.42398074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.170714057 meters Centerline goodness [0,1] 0.9889217301053677 Centerline is valid? [True, True] Translation: X:197.45, Y:-6.62, Z:2.43 [[ 9.98555576e-01 -4.67570170e-02 -2.64677654e-02 1.97447920e+02] [ 4.67915879e-02 9.98904437e-01 6.87979391e-04 -6.62431435e+00] [ 2.64066004e-02 -1.92545443e-03 9.99649431e-01 2.42646312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20071405699997 meters Centerline goodness [0,1] 0.9881557830971271 Centerline is valid? [True, True] Translation: X:197.48, Y:-6.64, Z:2.42 [[ 9.98523451e-01 -4.76888927e-02 -2.60132223e-02 1.97479114e+02] [ 4.77226427e-02 9.98860396e-01 6.77797284e-04 -6.63730412e+00] [ 2.59512541e-02 -1.91821620e-03 9.99661369e-01 2.42476130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23071405699997 meters Centerline goodness [0,1] 0.9891201300167035 Centerline is valid? [True, True] Translation: X:197.51, Y:-6.63, Z:2.43 [[ 9.98501007e-01 -4.82033642e-02 -2.59263298e-02 1.97511956e+02] [ 4.82371030e-02 9.98835684e-01 6.77139291e-04 -6.62825783e+00] [ 2.58635030e-02 -1.92673531e-03 9.99663627e-01 2.42663961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26071405699997 meters Centerline goodness [0,1] 0.986679331478843 Centerline is valid? [True, True] Translation: X:197.54, Y:-6.64, Z:2.43 [[ 9.98458605e-01 -4.90668436e-02 -2.59395188e-02 1.97542970e+02] [ 4.91009488e-02 9.98793590e-01 6.79116528e-04 -6.64073994e+00] [ 2.58749030e-02 -1.95172472e-03 9.99663283e-01 2.42582003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29071405699997 meters Centerline goodness [0,1] 0.9887009487580101 Centerline is valid? [True, True] Translation: X:197.58, Y:-6.63, Z:2.43 [[ 9.98425049e-01 -4.96311818e-02 -2.61566101e-02 1.97575795e+02] [ 4.96660952e-02 9.98765642e-01 6.86419117e-04 -6.62931920e+00] [ 2.60902557e-02 -1.98443473e-03 9.99657622e-01 2.42826127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32071405699998 meters Centerline goodness [0,1] 0.9892198517447116 Centerline is valid? [True, True] Translation: X:197.61, Y:-6.63, Z:2.43 [[ 9.98420875e-01 -4.96892266e-02 -2.62056812e-02 1.97606551e+02] [ 4.97243540e-02 9.98762741e-01 6.90111244e-04 -6.63123453e+00] [ 2.61389669e-02 -1.99208204e-03 9.99656334e-01 2.42858694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35071405699998 meters Centerline goodness [0,1] 0.9884295283848704 Centerline is valid? [True, True] Translation: X:197.64, Y:-6.63, Z:2.43 [[ 9.98430425e-01 -4.96139428e-02 -2.59835322e-02 1.97637478e+02] [ 4.96485086e-02 9.98766516e-01 6.86464374e-04 -6.63346421e+00] [ 2.59174237e-02 -1.97543054e-03 9.99662135e-01 2.42866037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38071405699998 meters Centerline goodness [0,1] 0.9883528209785447 Centerline is valid? [True, True] Translation: X:197.67, Y:-6.63, Z:2.43 [[ 9.98438481e-01 -4.95899223e-02 -2.57184529e-02 1.97669311e+02] [ 4.96238184e-02 9.98767747e-01 6.81023695e-04 -6.63194658e+00] [ 2.56529894e-02 -1.95620810e-03 9.99668994e-01 2.42952402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41071405699998 meters Centerline goodness [0,1] 0.9900597771940948 Centerline is valid? [True, True] Translation: X:197.70, Y:-6.63, Z:2.43 [[ 9.98481573e-01 -4.89195111e-02 -2.53264604e-02 1.97701566e+02] [ 4.89522125e-02 9.98800895e-01 6.72444002e-04 -6.62920702e+00] [ 2.52631957e-02 -1.91120922e-03 9.99679008e-01 2.43027774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44071405699998 meters Centerline goodness [0,1] 0.9890254112642274 Centerline is valid? [True, True] Translation: X:197.73, Y:-6.63, Z:2.43 [[ 9.98525593e-01 -4.82817280e-02 -2.48095899e-02 1.97732226e+02] [ 4.83129507e-02 9.98832029e-01 6.60284280e-04 -6.63451444e+00] [ 2.47487333e-02 -1.85793525e-03 9.99691977e-01 2.42996079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47071405699998 meters Centerline goodness [0,1] 0.988347049355007 Centerline is valid? [True, True] Translation: X:197.76, Y:-6.63, Z:2.43 [[ 9.98553506e-01 -4.78641812e-02 -2.44931915e-02 1.97764054e+02] [ 4.78945231e-02 9.98852185e-01 6.53322106e-04 -6.63468998e+00] [ 2.44338071e-02 -1.82546680e-03 9.99699783e-01 2.43077076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50071405699998 meters Centerline goodness [0,1] 0.9893416785722384 Centerline is valid? [True, True] Translation: X:197.80, Y:-6.63, Z:2.43 [[ 9.98605785e-01 -4.71522726e-02 -2.37307786e-02 1.97796456e+02] [ 4.71805928e-02 9.98886174e-01 6.34606458e-04 -6.62864279e+00] [ 2.36744235e-02 -1.75335388e-03 9.99718184e-01 2.43273033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53071405699998 meters Centerline goodness [0,1] 0.9888547708404413 Centerline is valid? [True, True] Translation: X:197.83, Y:-6.63, Z:2.43 [[ 9.98615360e-01 -4.71240685e-02 -2.33813125e-02 1.97827451e+02] [ 4.71515871e-02 9.98887549e-01 6.26731848e-04 -6.63074549e+00] [ 2.33257678e-02 -1.72833004e-03 9.99726423e-01 2.43316125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56071405699998 meters Centerline goodness [0,1] 0.989563675223392 Centerline is valid? [True, True] Translation: X:197.86, Y:-6.63, Z:2.43 [[ 9.98630360e-01 -4.69951450e-02 -2.29969524e-02 1.97859970e+02] [ 4.70217637e-02 9.98893674e-01 6.17808036e-04 -6.62853783e+00] [ 2.29424763e-02 -1.69831912e-03 9.99735344e-01 2.43397572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59071405699999 meters Centerline goodness [0,1] 0.9892008639308856 Centerline is valid? [True, True] Translation: X:197.89, Y:-6.63, Z:2.43 [[ 9.98624588e-01 -4.72898148e-02 -2.26407773e-02 1.97891602e+02] [ 4.73157344e-02 9.98879797e-01 6.10187077e-04 -6.63087734e+00] [ 2.25865594e-02 -1.68061283e-03 9.99743479e-01 2.43380466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.620714057 meters Centerline goodness [0,1] 0.9882732603063498 Centerline is valid? [True, True] Translation: X:197.92, Y:-6.63, Z:2.43 [[ 9.98614752e-01 -4.76568045e-02 -2.23026122e-02 1.97923987e+02] [ 4.76820928e-02 9.98862380e-01 6.03163018e-04 -6.63297244e+00] [ 2.22484955e-02 -1.66576271e-03 9.99751084e-01 2.43408435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.650714057 meters Centerline goodness [0,1] 0.9889448833197131 Centerline is valid? [True, True] Translation: X:197.96, Y:-6.63, Z:2.43 [[ 9.98596291e-01 -4.81244555e-02 -2.21243164e-02 1.97956611e+02] [ 4.81494894e-02 9.98839961e-01 5.99895374e-04 -6.63360738e+00] [ 2.20697817e-02 -1.66432783e-03 9.99755047e-01 2.43466511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.680714057 meters Centerline goodness [0,1] 0.9881065867719824 Centerline is valid? [True, True] Translation: X:197.99, Y:-6.64, Z:2.43 [[ 9.98547894e-01 -4.90240804e-02 -2.23325560e-02 1.97987607e+02] [ 4.90498437e-02 9.98796148e-01 6.06981840e-04 -6.63695699e+00] [ 2.22759142e-02 -1.70150882e-03 9.99750413e-01 2.43419576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.710714057 meters Centerline goodness [0,1] 0.9884558572889445 Centerline is valid? [True, True] Translation: X:198.02, Y:-6.64, Z:2.43 [[ 9.98524000e-01 -4.95758129e-02 -2.21824263e-02 1.98019851e+02] [ 4.96013953e-02 9.98768910e-01 6.04217461e-04 -6.63873342e+00] [ 2.21251632e-02 -1.70360493e-03 9.99753757e-01 2.43443774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.740714057 meters Centerline goodness [0,1] 0.9884645079249739 Centerline is valid? [True, True] Translation: X:198.05, Y:-6.64, Z:2.43 [[ 9.98471353e-01 -5.04182561e-02 -2.26485626e-02 1.98051245e+02] [ 5.04451736e-02 9.98726640e-01 6.18368225e-04 -6.64134848e+00] [ 2.25885457e-02 -1.75993363e-03 9.99743297e-01 2.43357460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.770714057 meters Centerline goodness [0,1] 0.9878638023727968 Centerline is valid? [True, True] Translation: X:198.08, Y:-6.64, Z:2.43 [[ 9.98471558e-01 -5.04766342e-02 -2.25090306e-02 1.98083119e+02] [ 5.05032654e-02 9.98723706e-01 6.15881358e-04 -6.64310212e+00] [ 2.24492149e-02 -1.75171957e-03 9.99746450e-01 2.43340494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.800714057 meters Centerline goodness [0,1] 0.9873076312866889 Centerline is valid? [True, True] Translation: X:198.11, Y:-6.65, Z:2.43 [[ 9.98473184e-01 -5.05476169e-02 -2.22764334e-02 1.98114523e+02] [ 5.05737590e-02 9.98720142e-01 6.11362895e-04 -6.64674872e+00] [ 2.22170198e-02 -1.73703243e-03 9.99751663e-01 2.43312614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.830714057 meters Centerline goodness [0,1] 0.9864870992608715 Centerline is valid? [True, True] Translation: X:198.15, Y:-6.65, Z:2.43 [[ 9.98507190e-01 -5.02223951e-02 -2.14733135e-02 1.98146873e+02] [ 5.02466551e-02 9.98736664e-01 5.91387970e-04 -6.65047057e+00] [ 2.14164845e-02 -1.66946732e-03 9.99769247e-01 2.43357281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.860714057 meters Centerline goodness [0,1] 0.9880871186286546 Centerline is valid? [True, True] Translation: X:198.18, Y:-6.64, Z:2.43 [[ 9.98525619e-01 -4.99579507e-02 -2.12318443e-02 1.98179386e+02] [ 4.99816446e-02 9.98749964e-01 5.86438285e-04 -6.64358183e+00] [ 2.11760064e-02 -1.64677615e-03 9.99774407e-01 2.43490068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.890714057 meters Centerline goodness [0,1] 0.985046516904924 Centerline is valid? [True, True] Translation: X:198.21, Y:-6.66, Z:2.43 [[ 9.98535880e-01 -4.98543501e-02 -2.09914306e-02 1.98210580e+02] [ 4.98775165e-02 9.98755173e-01 5.81179204e-04 -6.65524555e+00] [ 2.09363256e-02 -1.62732871e-03 9.99779487e-01 2.43445420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.920714057 meters Centerline goodness [0,1] 0.9847946826914322 Centerline is valid? [True, True] Translation: X:198.24, Y:-6.66, Z:2.43 [[ 9.98543498e-01 -4.99380830e-02 -2.04222856e-02 1.98242403e+02] [ 4.99600512e-02 9.98751056e-01 5.66596598e-04 -6.65633720e+00] [ 2.03684846e-02 -1.58606978e-03 9.99791283e-01 2.43485232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95071405699997 meters Centerline goodness [0,1] 0.9861686154966104 Centerline is valid? [True, True] Translation: X:198.27, Y:-6.66, Z:2.44 [[ 9.98531124e-01 -5.02218302e-02 -2.03313005e-02 1.98274754e+02] [ 5.02436891e-02 9.98736828e-01 5.65433583e-04 -6.65674118e+00] [ 2.02772214e-02 -1.58612257e-03 9.99793138e-01 2.43575132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98071405699997 meters Centerline goodness [0,1] 0.9883723565810648 Centerline is valid? [True, True] Translation: X:198.31, Y:-6.64, Z:2.44 [[ 9.98490272e-01 -5.09308396e-02 -2.05724638e-02 1.98306942e+02] [ 5.09533993e-02 9.98700867e-01 5.73574056e-04 -6.64418629e+00] [ 2.05165248e-02 -1.62094508e-03 9.99788200e-01 2.43701011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01071405699997 meters Centerline goodness [0,1] 0.9885464153682157 Centerline is valid? [True, True] Translation: X:198.34, Y:-6.65, Z:2.44 [[ 9.98462738e-01 -5.12014159e-02 -2.12267750e-02 1.98338612e+02] [ 5.12255254e-02 9.98686935e-01 5.93275225e-04 -6.64636795e+00] [ 2.11685263e-02 -1.67971591e-03 9.99774511e-01 2.43679652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04071405699997 meters Centerline goodness [0,1] 0.9872690963554668 Centerline is valid? [True, True] Translation: X:198.37, Y:-6.65, Z:2.44 [[ 9.98431743e-01 -5.16406074e-02 -2.16171584e-02 1.98369865e+02] [ 5.16657405e-02 9.98664250e-01 6.05391698e-04 -6.65452772e+00] [ 2.15570205e-02 -1.72130879e-03 9.99766139e-01 2.43607535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07071405699998 meters Centerline goodness [0,1] 0.9888626238748978 Centerline is valid? [True, True] Translation: X:198.40, Y:-6.66, Z:2.43 [[ 9.98350593e-01 -5.25265772e-02 -2.31743793e-02 1.98401689e+02] [ 5.25557305e-02 9.98617781e-01 6.50320130e-04 -6.65715692e+00] [ 2.31081881e-02 -1.86719392e-03 9.99731226e-01 2.43462257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10071405699998 meters Centerline goodness [0,1] 0.9879156823550791 Centerline is valid? [True, True] Translation: X:198.43, Y:-6.66, Z:2.43 [[ 9.98326015e-01 -5.27506286e-02 -2.37179093e-02 1.98434018e+02] [ 5.27812637e-02 9.98605875e-01 6.67048757e-04 -6.65952071e+00] [ 2.36496563e-02 -1.91779335e-03 9.99718468e-01 2.43410622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13071405699998 meters Centerline goodness [0,1] 0.9880594978165939 Centerline is valid? [True, True] Translation: X:198.46, Y:-6.66, Z:2.43 [[ 9.98316278e-01 -5.25206782e-02 -2.46208833e-02 1.98464694e+02] [ 5.25536611e-02 9.98617860e-01 6.94048451e-04 -6.66374546e+00] [ 2.45504019e-02 -1.98679743e-03 9.99696619e-01 2.43302187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16071405699998 meters Centerline goodness [0,1] 0.9886201022146508 Centerline is valid? [True, True] Translation: X:198.50, Y:-6.66, Z:2.43 [[ 9.98309440e-01 -5.24857729e-02 -2.49700930e-02 1.98497020e+02] [ 5.25197260e-02 9.98619638e-01 7.05433293e-04 -6.66414562e+00] [ 2.48986000e-02 -2.01566316e-03 9.99687950e-01 2.43304253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19071405699998 meters Centerline goodness [0,1] 0.9881325876415223 Centerline is valid? [True, True] Translation: X:198.53, Y:-6.67, Z:2.43 [[ 9.98338568e-01 -5.19492551e-02 -2.49274527e-02 1.98529389e+02] [ 5.19829701e-02 9.98647722e-01 7.05992744e-04 -6.66500554e+00] [ 2.48570680e-02 -2.00062281e-03 9.99689013e-01 2.43344341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22071405699998 meters Centerline goodness [0,1] 0.9888217591021202 Centerline is valid? [True, True] Translation: X:198.56, Y:-6.67, Z:2.43 [[ 9.98372469e-01 -5.13716539e-02 -2.47662391e-02 1.98560150e+02] [ 5.14047954e-02 9.98677652e-01 7.02966243e-04 -6.66787374e+00] [ 2.46973770e-02 -1.97492560e-03 9.99693023e-01 2.43384829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25071405699998 meters Centerline goodness [0,1] 0.9886294001497923 Centerline is valid? [True, True] Translation: X:198.59, Y:-6.67, Z:2.43 [[ 9.98429710e-01 -5.05216389e-02 -2.42007785e-02 1.98592391e+02] [ 5.05530702e-02 9.98721139e-01 6.88349033e-04 -6.66605973e+00] [ 2.41350525e-02 -1.91069178e-03 9.99706881e-01 2.43486187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28071405699998 meters Centerline goodness [0,1] 0.987525469775866 Centerline is valid? [True, True] Translation: X:198.62, Y:-6.67, Z:2.43 [[ 9.98448203e-01 -5.01488580e-02 -2.42131874e-02 1.98623499e+02] [ 5.01802491e-02 9.98739939e-01 6.90207764e-04 -6.66966244e+00] [ 2.41480642e-02 -1.90416048e-03 9.99706580e-01 2.43494634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31071405699998 meters Centerline goodness [0,1] 0.9880579394269627 Centerline is valid? [True, True] Translation: X:198.66, Y:-6.67, Z:2.44 [[ 9.98479725e-01 -4.96004665e-02 -2.40423056e-02 1.98655584e+02] [ 4.96312922e-02 9.98767372e-01 6.86761879e-04 -6.66782473e+00] [ 2.39786066e-02 -1.87896850e-03 9.99710706e-01 2.43594299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34071405699999 meters Centerline goodness [0,1] 0.9888987264183069 Centerline is valid? [True, True] Translation: X:198.69, Y:-6.66, Z:2.44 [[ 9.98499701e-01 -4.93374912e-02 -2.37520426e-02 1.98687912e+02] [ 4.93675421e-02 9.98780448e-01 6.80132376e-04 -6.66384633e+00] [ 2.36895197e-02 -1.85169194e-03 9.99717649e-01 2.43693176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.370714057 meters Centerline goodness [0,1] 0.9880974014174086 Centerline is valid? [True, True] Translation: X:198.72, Y:-6.67, Z:2.44 [[ 9.98501200e-01 -4.91455713e-02 -2.40845543e-02 1.98718504e+02] [ 4.91764517e-02 9.98789867e-01 6.91206739e-04 -6.67074587e+00] [ 2.40214391e-02 -1.87456368e-03 9.99709686e-01 2.43690639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.400714057 meters Centerline goodness [0,1] 0.9886528685548294 Centerline is valid? [True, True] Translation: X:198.75, Y:-6.67, Z:2.44 [[ 9.98535665e-01 -4.91852682e-02 -2.25240864e-02 1.98750326e+02] [ 4.92123148e-02 9.98788130e-01 6.47729766e-04 -6.66730262e+00] [ 2.24649313e-02 -1.75524370e-03 9.99746091e-01 2.43860666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.430714057 meters Centerline goodness [0,1] 0.9871806507237827 Centerline is valid? [True, True] Translation: X:198.78, Y:-6.68, Z:2.44 [[ 9.98554688e-01 -4.89628574e-02 -2.21624391e-02 1.98781405e+02] [ 4.89890312e-02 9.98799112e-01 6.39292212e-04 -6.67590951e+00] [ 2.21045230e-02 -1.72408466e-03 9.99754179e-01 2.43889060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.460714057 meters Centerline goodness [0,1] 0.9860318753961785 Centerline is valid? [True, True] Translation: X:198.81, Y:-6.68, Z:2.44 [[ 9.98557510e-01 -4.90225004e-02 -2.19019007e-02 1.98812966e+02] [ 4.90481210e-02 9.98796216e-01 6.33812677e-04 -6.67887889e+00] [ 2.18444645e-02 -1.70714549e-03 9.99759924e-01 2.43941758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.490714057 meters Centerline goodness [0,1] 0.9844577245563407 Centerline is valid? [True, True] Translation: X:198.85, Y:-6.68, Z:2.44 [[ 9.98551842e-01 -4.91907352e-02 -2.17828018e-02 1.98845511e+02] [ 4.92161442e-02 9.98787952e-01 6.31590068e-04 -6.68095968e+00] [ 2.17253316e-02 -1.70274094e-03 9.99762527e-01 2.43987759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.520714057 meters Centerline goodness [0,1] 0.982743392893539 Centerline is valid? [True, True] Translation: X:198.88, Y:-6.68, Z:2.44 [[ 9.98550516e-01 -4.89577318e-02 -2.23608533e-02 1.98876515e+02] [ 4.89844911e-02 9.98799328e-01 6.50213118e-04 -6.68271531e+00] [ 2.23021723e-02 -1.74460567e-03 9.99749753e-01 2.43987075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.550714057 meters Centerline goodness [0,1] 0.9826384948823276 Centerline is valid? [True, True] Translation: X:198.91, Y:-6.68, Z:2.44 [[ 9.98496001e-01 -4.97643565e-02 -2.30053233e-02 1.98908914e+02] [ 4.97929425e-02 9.98759337e-01 6.71074056e-04 -6.68470401e+00] [ 2.29433859e-02 -1.81556750e-03 9.99735117e-01 2.43916129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.580714057 meters Centerline goodness [0,1] 0.9880416496157869 Centerline is valid? [True, True] Translation: X:198.94, Y:-6.67, Z:2.44 [[ 9.98449463e-01 -5.04506028e-02 -2.35245787e-02 1.98941324e+02] [ 5.04807213e-02 9.98724799e-01 6.87835284e-04 -6.67288485e+00] [ 2.34598784e-02 -1.87430647e-03 9.99723022e-01 2.44079577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.610714057 meters Centerline goodness [0,1] 0.9884945087428091 Centerline is valid? [True, True] Translation: X:198.97, Y:-6.67, Z:2.44 [[ 9.98423163e-01 -5.08595691e-02 -2.37590350e-02 1.98973372e+02] [ 5.08904465e-02 9.98703999e-01 6.96391418e-04 -6.67391990e+00] [ 2.36928251e-02 -1.90440122e-03 9.99717472e-01 2.44124199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.640714057 meters Centerline goodness [0,1] 0.9889428753065117 Centerline is valid? [True, True] Translation: X:199.00, Y:-6.67, Z:2.44 [[ 9.98340124e-01 -5.23678854e-02 -2.39708408e-02 1.99004973e+02] [ 5.23997804e-02 9.98625940e-01 7.03956622e-04 -6.67409660e+00] [ 2.39010387e-02 -1.95885493e-03 9.99712410e-01 2.44136195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.670714057 meters Centerline goodness [0,1] 0.9883084746532271 Centerline is valid? [True, True] Translation: X:199.04, Y:-6.68, Z:2.44 [[ 9.98309416e-01 -5.28913075e-02 -2.41001976e-02 1.99036764e+02] [ 5.29237290e-02 9.98598306e-01 7.08994440e-04 -6.67641486e+00] [ 2.40289169e-02 -1.98326815e-03 9.99709297e-01 2.44134328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70071405699997 meters Centerline goodness [0,1] 0.9870141622551016 Centerline is valid? [True, True] Translation: X:199.07, Y:-6.68, Z:2.44 [[ 9.98233859e-01 -5.40798663e-02 -2.45872064e-02 1.99068594e+02] [ 5.41140220e-02 9.98534499e-01 7.25451266e-04 -6.67927909e+00] [ 2.45119415e-02 -2.05468265e-03 9.99697426e-01 2.44128946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73071405699997 meters Centerline goodness [0,1] 0.9871873509166497 Centerline is valid? [True, True] Translation: X:199.10, Y:-6.68, Z:2.44 [[ 9.98188661e-01 -5.46690525e-02 -2.51135708e-02 1.99100420e+02] [ 5.47049287e-02 9.98502288e-01 7.43246237e-04 -6.68148854e+00] [ 2.50353253e-02 -2.11573607e-03 9.99684328e-01 2.44134181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76071405699997 meters Centerline goodness [0,1] 0.9876800907543959 Centerline is valid? [True, True] Translation: X:199.13, Y:-6.68, Z:2.44 [[ 9.98203967e-01 -5.44709299e-02 -2.49350766e-02 1.99131342e+02] [ 5.45062947e-02 9.98513153e-01 7.40306409e-04 -6.68279355e+00] [ 2.48576768e-02 -2.09809543e-03 9.99688799e-01 2.44171490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79071405699997 meters Centerline goodness [0,1] 0.6968984365069277 Centerline is valid? [True, False] Translation: X:199.18, Y:-6.68, Z:2.44 [[ 9.98116096e-01 -5.64198871e-02 -2.41050716e-02 1.99180869e+02] [ 5.64033228e-02 9.98407130e-01 -1.36706407e-03 -6.68172915e+00] [ 2.41438049e-02 4.88252234e-06 9.99708496e-01 2.44294376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82071405699998 meters Centerline goodness [0,1] 0.6968984365069277 Centerline is valid? [False, False] Translation: X:199.18, Y:-6.68, Z:2.44 [[ 9.98116096e-01 -5.64198871e-02 -2.41050716e-02 1.99180869e+02] [ 5.64033228e-02 9.98407130e-01 -1.36706407e-03 -6.68172915e+00] [ 2.41438049e-02 4.88252234e-06 9.99708496e-01 2.44294376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85071405699998 meters Centerline goodness [0,1] 0.9876450852375771 Centerline is valid? [False, True] Translation: X:199.11, Y:-6.68, Z:2.44 [[ 9.98319514e-01 -5.27008026e-02 -2.40992272e-02 1.99105681e+02] [ 5.27291540e-02 9.98608703e-01 5.42060248e-04 -6.68195787e+00] [ 2.40371311e-02 -1.81188119e-03 9.99709424e-01 2.44080264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88071405699998 meters Centerline goodness [0,1] 0.9867432410959526 Centerline is valid? [True, True] Translation: X:199.14, Y:-6.68, Z:2.44 [[ 9.98367758e-01 -5.17872146e-02 -2.40812198e-02 1.99136594e+02] [ 5.18202871e-02 9.98656144e-01 7.50947428e-04 -6.68337470e+00] [ 2.40099686e-02 -1.99761742e-03 9.99709723e-01 2.44106726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91071405699998 meters Centerline goodness [0,1] 0.9865279323897586 Centerline is valid? [True, True] Translation: X:199.17, Y:-6.68, Z:2.44 [[ 9.98380883e-01 -5.14342836e-02 -2.42925466e-02 1.99168848e+02] [ 5.14678708e-02 9.98674362e-01 7.58994533e-04 -6.68291356e+00] [ 2.42213051e-02 -2.00805128e-03 9.99704604e-01 2.44207804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94071405699998 meters Centerline goodness [0,1] 0.988028858189763 Centerline is valid? [True, True] Translation: X:199.20, Y:-6.68, Z:2.44 [[ 9.98415477e-01 -5.08472141e-02 -2.41059437e-02 1.99201081e+02] [ 5.08801577e-02 9.98704481e-01 7.54848296e-04 -6.67817659e+00] [ 2.40363320e-02 -1.98016644e-03 9.99709125e-01 2.44353750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97071405699998 meters Centerline goodness [0,1] 0.9834665697674418 Centerline is valid? [True, True] Translation: X:199.23, Y:-6.69, Z:2.44 [[ 9.98487025e-01 -4.95930543e-02 -2.37526724e-02 1.99231283e+02] [ 4.96247127e-02 9.98767657e-01 7.44887249e-04 -6.68735822e+00] [ 2.36864597e-02 -1.92247979e-03 9.99717588e-01 2.44309503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00071405699998 meters Centerline goodness [0,1] 0.9881507425686279 Centerline is valid? [True, True] Translation: X:199.26, Y:-6.68, Z:2.44 [[ 9.98534582e-01 -4.86598131e-02 -2.36835711e-02 1.99264087e+02] [ 4.86910546e-02 9.98813610e-01 7.43903848e-04 -6.67955566e+00] [ 2.36192750e-02 -1.89599177e-03 9.99719228e-01 2.44472093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03071405699998 meters Centerline goodness [0,1] 0.9850885368126747 Centerline is valid? [True, True] Translation: X:199.30, Y:-6.69, Z:2.44 [[ 9.98570188e-01 -4.80031615e-02 -2.35218348e-02 1.99295171e+02] [ 4.80338360e-02 9.98845435e-01 7.40502270e-04 -6.68542781e+00] [ 2.34591309e-02 -1.86928745e-03 9.99723049e-01 2.44434652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06071405699998 meters Centerline goodness [0,1] 0.987869822485207 Centerline is valid? [True, True] Translation: X:199.33, Y:-6.68, Z:2.45 [[ 9.98655458e-01 -4.60696855e-02 -2.37667708e-02 1.99326856e+02] [ 4.61004835e-02 9.98936527e-01 7.49279270e-04 -6.67894340e+00] [ 2.37069764e-02 -1.84393146e-03 9.99717250e-01 2.44565509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09071405699999 meters Centerline goodness [0,1] 0.9885224995445436 Centerline is valid? [True, True] Translation: X:199.36, Y:-6.68, Z:2.45 [[ 9.98722287e-01 -4.47862606e-02 -2.34090719e-02 1.99357955e+02] [ 4.48158071e-02 9.98994994e-01 7.38825467e-04 -6.67745015e+00] [ 2.33524564e-02 -1.78697791e-03 9.99725697e-01 2.44646674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.120714057 meters Centerline goodness [0,1] 0.9871896790605764 Centerline is valid? [True, True] Translation: X:199.39, Y:-6.68, Z:2.45 [[ 9.98799599e-01 -4.27634554e-02 -2.38882214e-02 1.99388865e+02] [ 4.27936694e-02 9.99083646e-01 7.54803764e-04 -6.68246657e+00] [ 2.38340534e-02 -1.77616235e-03 9.99714351e-01 2.44637560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.150714057 meters Centerline goodness [0,1] 0.9874737610659852 Centerline is valid? [True, True] Translation: X:199.42, Y:-6.68, Z:2.45 [[ 9.98833275e-01 -4.16908406e-02 -2.43713273e-02 1.99420818e+02] [ 4.17220021e-02 9.99128960e-01 7.71308751e-04 -6.68332559e+00] [ 2.43179424e-02 -1.78722942e-03 9.99702678e-01 2.44631613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.180714057 meters Centerline goodness [0,1] 0.988391376451078 Centerline is valid? [True, True] Translation: X:199.45, Y:-6.68, Z:2.45 [[ 9.98860240e-01 -4.08527100e-02 -2.46835503e-02 1.99452842e+02] [ 4.08844628e-02 9.99163574e-01 7.82896599e-04 -6.67895020e+00] [ 2.46309209e-02 -1.79117798e-03 9.99695008e-01 2.44708199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.210714057 meters Centerline goodness [0,1] 0.98729615691641 Centerline is valid? [True, True] Translation: X:199.48, Y:-6.69, Z:2.45 [[ 9.98856209e-01 -4.00989452e-02 -2.60451152e-02 1.99483475e+02] [ 4.01340868e-02 9.99193960e-01 8.27717771e-04 -6.68579820e+00] [ 2.59909312e-02 -1.87206795e-03 9.99660426e-01 2.44530119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.240714057 meters Centerline goodness [0,1] 0.9893655864901871 Centerline is valid? [True, True] Translation: X:199.52, Y:-6.68, Z:2.45 [[ 9.98891259e-01 -3.92190037e-02 -2.60407917e-02 1.99515138e+02] [ 3.92538657e-02 9.99228926e-01 8.28714106e-04 -6.67745514e+00] [ 2.59882110e-02 -1.84999701e-03 9.99660538e-01 2.44697760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.270714057 meters Centerline goodness [0,1] 0.9886521907893234 Centerline is valid? [True, True] Translation: X:199.55, Y:-6.68, Z:2.45 [[ 9.98908561e-01 -3.80897341e-02 -2.70343880e-02 1.99546158e+02] [ 3.81269231e-02 9.99272533e-01 8.61302372e-04 -6.67641497e+00] [ 2.69819146e-02 -1.89110034e-03 9.99634133e-01 2.44709071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.300714057 meters Centerline goodness [0,1] 0.9894770480951403 Centerline is valid? [True, True] Translation: X:199.58, Y:-6.68, Z:2.45 [[ 9.98961475e-01 -3.67752309e-02 -2.68989459e-02 1.99577694e+02] [ 3.68115992e-02 9.99321855e-01 8.57930900e-04 -6.67712267e+00] [ 2.68491539e-02 -1.84723313e-03 9.99637790e-01 2.44727678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.330714057 meters Centerline goodness [0,1] 0.9899929335065764 Centerline is valid? [True, True] Translation: X:199.61, Y:-6.68, Z:2.45 [[ 9.99007110e-01 -3.54179822e-02 -2.70251726e-02 1.99609567e+02] [ 3.54542311e-02 9.99370928e-01 8.63163818e-04 -6.67503125e+00] [ 2.69776004e-02 -1.82046351e-03 9.99634381e-01 2.44843961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.360714057 meters Centerline goodness [0,1] 0.9901974256790802 Centerline is valid? [True, True] Translation: X:199.64, Y:-6.68, Z:2.45 [[ 9.99129855e-01 -3.16798567e-02 -2.71278312e-02 1.99639156e+02] [ 3.17150246e-02 9.99496576e-01 8.66993225e-04 -6.67516822e+00] [ 2.70867082e-02 -1.72659865e-03 9.99631597e-01 2.44948815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.390714057 meters Centerline goodness [0,1] 0.9900232178570607 Centerline is valid? [True, True] Translation: X:199.67, Y:-6.67, Z:2.45 [[ 9.99308909e-01 -2.64254857e-02 -2.61418707e-02 1.99670402e+02] [ 2.64563457e-02 9.99649621e-01 8.35261057e-04 -6.66510014e+00] [ 2.61106389e-02 -1.52630219e-03 9.99657894e-01 2.45296975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.420714057 meters Centerline goodness [0,1] 0.9904418353514234 Centerline is valid? [True, True] Translation: X:199.70, Y:-6.66, Z:2.45 [[ 9.99394732e-01 -2.30211591e-02 -2.60805783e-02 1.99700651e+02] [ 2.30507104e-02 9.99733950e-01 8.32963171e-04 -6.66090485e+00] [ 2.60544638e-02 -1.43363486e-03 9.99659497e-01 2.45475690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45071405699997 meters Centerline goodness [0,1] 0.9908085694540428 Centerline is valid? [True, True] Translation: X:199.73, Y:-6.66, Z:2.46 [[ 9.99469879e-01 -1.98051451e-02 -2.58402060e-02 1.99730232e+02] [ 1.98330642e-02 9.99802965e-01 8.24587541e-04 -6.65726496e+00] [ 2.58187835e-02 -1.33664087e-03 9.99665746e-01 2.45617544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48071405699997 meters Centerline goodness [0,1] 0.9900608286468495 Centerline is valid? [True, True] Translation: X:199.76, Y:-6.66, Z:2.46 [[ 9.99537516e-01 -1.64055718e-02 -2.56049247e-02 1.99760334e+02] [ 1.64318545e-02 9.99864655e-01 8.16390027e-04 -6.65566215e+00] [ 2.55880659e-02 -1.23674886e-03 9.99671807e-01 2.45670220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51071405699997 meters Centerline goodness [0,1] 0.9909974377322777 Centerline is valid? [True, True] Translation: X:199.79, Y:-6.65, Z:2.46 [[ 9.99623319e-01 -1.07814477e-02 -2.52384594e-02 1.99789913e+02] [ 1.08051820e-02 9.99941299e-01 8.04211374e-04 -6.65279272e+00] [ 2.52283073e-02 -1.07661459e-03 9.99681136e-01 2.45682929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54071405699997 meters Centerline goodness [0,1] 0.9905270210947067 Centerline is valid? [True, True] Translation: X:199.82, Y:-6.65, Z:2.46 [[ 9.99628196e-01 -8.54107992e-03 -2.58943893e-02 1.99819055e+02] [ 8.56528282e-03 9.99962978e-01 8.23904277e-04 -6.65129686e+00] [ 2.58863936e-02 -1.04539071e-03 9.99664345e-01 2.45688336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57071405699998 meters Centerline goodness [0,1] 0.9911336435400606 Centerline is valid? [True, True] Translation: X:199.85, Y:-6.65, Z:2.46 [[ 9.99647228e-01 -4.16253624e-03 -2.62315380e-02 1.99849280e+02] [ 4.18583838e-03 9.99990892e-01 8.33477876e-04 -6.64891421e+00] [ 2.62278297e-02 -9.42984826e-04 9.99655547e-01 2.45695354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60071405699998 meters Centerline goodness [0,1] 0.9923351241200444 Centerline is valid? [True, True] Translation: X:199.88, Y:-6.65, Z:2.46 [[ 9.99649339e-01 -2.48849106e-03 -2.63629741e-02 1.99878616e+02] [ 2.51135717e-03 9.99996499e-01 8.34283338e-04 -6.64714181e+00] [ 2.63608057e-02 -9.00197632e-04 9.99652088e-01 2.45739826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63071405699998 meters Centerline goodness [0,1] 0.9917827878338966 Centerline is valid? [True, True] Translation: X:199.91, Y:-6.65, Z:2.46 [[ 9.99648013e-01 -9.37391056e-04 -2.65136038e-02 1.99907212e+02] [ 9.59804481e-04 9.99999193e-01 8.32642144e-04 -6.64679071e+00] [ 2.65128019e-02 -8.57796941e-04 9.99648106e-01 2.45770089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66071405699998 meters Centerline goodness [0,1] 0.9922070113773009 Centerline is valid? [True, True] Translation: X:199.94, Y:-6.65, Z:2.46 [[ 9.99638599e-01 7.90755591e-04 -2.68709261e-02 1.99935026e+02] [-7.68477771e-04 9.99999352e-01 8.39384451e-04 -6.64743620e+00] [ 2.68715724e-02 -8.18431387e-04 9.99638559e-01 2.45746238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69071405699998 meters Centerline goodness [0,1] 0.9924214332066377 Centerline is valid? [True, True] Translation: X:199.96, Y:-6.65, Z:2.46 [[ 9.99638289e-01 7.69003153e-04 -2.68830824e-02 1.99961872e+02] [-7.46773639e-04 9.99999371e-01 8.36925877e-04 -6.64916321e+00] [ 2.68837091e-02 -8.16547574e-04 9.99638234e-01 2.45734678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72071405699998 meters Centerline goodness [0,1] 0.9925373134328358 Centerline is valid? [True, True] Translation: X:199.99, Y:-6.65, Z:2.46 [[ 9.99630883e-01 -1.06962770e-03 -2.71468727e-02 1.99990914e+02] [ 1.09290285e-03 9.99999048e-01 8.42555919e-04 -6.65061436e+00] [ 2.71459456e-02 -8.71913813e-04 9.99631101e-01 2.45729412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75071405699998 meters Centerline goodness [0,1] 0.99077861748596 Centerline is valid? [True, True] Translation: X:200.02, Y:-6.66, Z:2.46 [[ 9.99634919e-01 -2.58009141e-03 -2.68955571e-02 2.00018368e+02] [ 2.60342619e-03 9.99996264e-01 8.32626807e-04 -6.65575173e+00] [ 2.68933083e-02 -9.02343429e-04 9.99637902e-01 2.45667662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78071405699998 meters Centerline goodness [0,1] 0.9915586373228821 Centerline is valid? [True, True] Translation: X:200.05, Y:-6.66, Z:2.46 [[ 9.99646511e-01 -4.29167911e-03 -2.62380384e-02 2.00046812e+02] [ 4.31442165e-03 9.99990365e-01 8.10228010e-04 -6.65520647e+00] [ 2.62343083e-02 -9.23143564e-04 9.99655395e-01 2.45834653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81071405699998 meters Centerline goodness [0,1] 0.9910402148496285 Centerline is valid? [True, True] Translation: X:200.08, Y:-6.66, Z:2.46 [[ 9.99637567e-01 -7.24364637e-03 -2.59280673e-02 2.00075703e+02] [ 7.26680481e-03 9.99973277e-01 7.99067900e-04 -6.65925858e+00] [ 2.59215862e-02 -9.87192496e-04 9.99663492e-01 2.45923005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84071405699999 meters Centerline goodness [0,1] 0.9921459921459922 Centerline is valid? [True, True] Translation: X:200.10, Y:-6.66, Z:2.46 [[ 9.99640836e-01 -8.86662415e-03 -2.52899396e-02 2.00103845e+02] [ 8.88913046e-03 9.99960189e-01 7.77647012e-04 -6.66230393e+00] [ 2.52820376e-02 -1.00217328e-03 9.99679856e-01 2.45996963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.870714057 meters Centerline goodness [0,1] 0.9912757239537775 Centerline is valid? [True, True] Translation: X:200.13, Y:-6.67, Z:2.46 [[ 9.99612407e-01 -1.24087281e-02 -2.49210443e-02 2.00133190e+02] [ 1.24316429e-02 9.99922432e-01 7.64772401e-04 -6.66744954e+00] [ 2.49096213e-02 -1.07428550e-03 9.99689130e-01 2.46072591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.900714057 meters Centerline goodness [0,1] 0.9903912622701507 Centerline is valid? [True, True] Translation: X:200.16, Y:-6.67, Z:2.46 [[ 9.99576231e-01 -1.39960096e-02 -2.55239324e-02 2.00161079e+02] [ 1.40205233e-02 9.99901402e-01 7.81705584e-04 -6.67145039e+00] [ 2.55104750e-02 -1.13923321e-03 9.99673906e-01 2.46110691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.930714057 meters Centerline goodness [0,1] 0.9919416112172772 Centerline is valid? [True, True] Translation: X:200.19, Y:-6.67, Z:2.46 [[ 9.99567293e-01 -1.51145599e-02 -2.52344388e-02 2.00189505e+02] [ 1.51388054e-02 9.99885105e-01 7.70035878e-04 -6.66818550e+00] [ 2.52199008e-02 -1.15172194e-03 9.99681264e-01 2.46273282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.960714057 meters Centerline goodness [0,1] 0.9914663599769983 Centerline is valid? [True, True] Translation: X:200.22, Y:-6.67, Z:2.46 [[ 9.99551425e-01 -1.55938170e-02 -2.55691561e-02 2.00217298e+02] [ 1.56187915e-02 9.99877717e-01 7.77310352e-04 -6.67269217e+00] [ 2.55539082e-02 -1.17632099e-03 9.99672753e-01 2.46157335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.990714057 meters Centerline goodness [0,1] 0.9910595265456217 Centerline is valid? [True, True] Translation: X:200.25, Y:-6.68, Z:2.46 [[ 9.99551385e-01 -1.50548876e-02 -2.58916828e-02 2.00245375e+02] [ 1.50802008e-02 9.99885981e-01 7.82665934e-04 -6.68007957e+00] [ 2.58769477e-02 -1.17276659e-03 9.99664448e-01 2.45982510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.020714057 meters Centerline goodness [0,1] 0.9913459767998527 Centerline is valid? [True, True] Translation: X:200.27, Y:-6.68, Z:2.46 [[ 9.99589355e-01 -1.24162845e-02 -2.58255252e-02 2.00274463e+02] [ 1.24404960e-02 9.99922312e-01 7.77039179e-04 -6.68109745e+00] [ 2.58138709e-02 -1.09800243e-03 9.99666164e-01 2.45988317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.050714057 meters Centerline goodness [0,1] 0.991287556607894 Centerline is valid? [True, True] Translation: X:200.30, Y:-6.68, Z:2.46 [[ 9.99617547e-01 -1.10024560e-02 -2.53713517e-02 2.00303665e+02] [ 1.10253223e-02 9.99938929e-01 7.61549423e-04 -6.68103743e+00] [ 2.53614234e-02 -1.04098550e-03 9.99677805e-01 2.46057063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.080714057 meters Centerline goodness [0,1] 0.9913765349767741 Centerline is valid? [True, True] Translation: X:200.33, Y:-6.68, Z:2.46 [[ 9.99650786e-01 -9.49921513e-03 -2.46591109e-02 2.00332666e+02] [ 9.52030515e-03 9.99954409e-01 7.38002054e-04 -6.68113992e+00] [ 2.46509762e-02 -9.72506594e-04 9.99695645e-01 2.46150888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.110714057 meters Centerline goodness [0,1] 0.992714485992048 Centerline is valid? [True, True] Translation: X:200.36, Y:-6.67, Z:2.47 [[ 9.99714152e-01 -7.80383583e-03 -2.25989825e-02 2.00361504e+02] [ 7.82108253e-03 9.99969187e-01 6.74876170e-04 -6.67406186e+00] [ 2.25930196e-02 -8.51431765e-04 9.99744383e-01 2.46554740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.140714057 meters Centerline goodness [0,1] 0.9921453342826302 Centerline is valid? [True, True] Translation: X:200.39, Y:-6.68, Z:2.47 [[ 9.99732737e-01 -8.03747781e-03 -2.16761014e-02 2.00388846e+02] [ 8.05332482e-03 9.99967364e-01 6.43887358e-04 -6.67551905e+00] [ 2.16702187e-02 -8.18279955e-04 9.99764838e-01 2.46657080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.170714057 meters Centerline goodness [0,1] 0.9918264263574791 Centerline is valid? [True, True] Translation: X:200.42, Y:-6.68, Z:2.47 [[ 9.99722741e-01 -1.03792199e-02 -2.11355668e-02 2.00416838e+02] [ 1.03947172e-02 9.99945779e-01 6.23504259e-04 -6.67888295e+00] [ 2.11279494e-02 -8.43029628e-04 9.99776425e-01 2.46677473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20071405699997 meters Centerline goodness [0,1] 0.9906616923393834 Centerline is valid? [True, True] Translation: X:200.44, Y:-6.68, Z:2.47 [[ 9.99690180e-01 -1.21656444e-02 -2.17149766e-02 2.00444346e+02] [ 1.21823510e-02 9.99925589e-01 6.37236646e-04 -6.68378002e+00] [ 2.17056083e-02 -9.01578685e-04 9.99763999e-01 2.46606836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23071405699997 meters Centerline goodness [0,1] 0.991422805247225 Centerline is valid? [True, True] Translation: X:200.47, Y:-6.69, Z:2.47 [[ 9.99609569e-01 -1.59607708e-02 -2.29338923e-02 2.00474448e+02] [ 1.59803221e-02 9.99872082e-01 6.69476376e-04 -6.68585099e+00] [ 2.29202732e-02 -1.03570598e-03 9.99736760e-01 2.46565175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26071405699997 meters Centerline goodness [0,1] 0.9911129434938959 Centerline is valid? [True, True] Translation: X:200.50, Y:-6.69, Z:2.47 [[ 9.99570220e-01 -1.78418207e-02 -2.32603628e-02 2.00502821e+02] [ 1.78624010e-02 9.99840225e-01 6.77296007e-04 -6.68878450e+00] [ 2.32445622e-02 -1.09249085e-03 9.99729212e-01 2.46534528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29071405699997 meters Centerline goodness [0,1] 0.9910212474297464 Centerline is valid? [True, True] Translation: X:200.53, Y:-6.69, Z:2.47 [[ 9.99542145e-01 -1.95782610e-02 -2.30692775e-02 2.00531137e+02] [ 1.95989030e-02 9.99807699e-01 6.69004780e-04 -6.68945154e+00] [ 2.30517433e-02 -1.12083100e-03 9.99733645e-01 2.46640207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32071405699998 meters Centerline goodness [0,1] 0.9905675459632294 Centerline is valid? [True, True] Translation: X:200.56, Y:-6.69, Z:2.47 [[ 9.99507929e-01 -2.22611823e-02 -2.20984189e-02 2.00559521e+02] [ 2.22807415e-02 9.99751549e-01 6.39243963e-04 -6.69400073e+00] [ 2.20786982e-02 -1.13129857e-03 9.99755596e-01 2.46695752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35071405699998 meters Centerline goodness [0,1] 0.991077133728891 Centerline is valid? [True, True] Translation: X:200.59, Y:-6.69, Z:2.47 [[ 9.99478675e-01 -2.33335272e-02 -2.23142206e-02 2.00589623e+02] [ 2.33537177e-02 9.99727057e-01 6.44627643e-04 -6.69304444e+00] [ 2.22930886e-02 -1.16541159e-03 9.99750799e-01 2.46804115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38071405699998 meters Centerline goodness [0,1] 0.9902414440830164 Centerline is valid? [True, True] Translation: X:200.62, Y:-6.70, Z:2.47 [[ 9.99423118e-01 -2.51882913e-02 -2.27811631e-02 2.00619206e+02] [ 2.52098069e-02 9.99681966e-01 6.57705286e-04 -6.69843616e+00] [ 2.27573514e-02 -1.23163459e-03 9.99740259e-01 2.46715186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41071405699998 meters Centerline goodness [0,1] 0.9902402230806153 Centerline is valid? [True, True] Translation: X:200.65, Y:-6.70, Z:2.47 [[ 9.99404323e-01 -2.56051983e-02 -2.31381082e-02 2.00648880e+02] [ 2.56274986e-02 9.99671339e-01 6.67731410e-04 -6.70390661e+00] [ 2.31134063e-02 -1.26030549e-03 9.99732055e-01 2.46606220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44071405699998 meters Centerline goodness [0,1] 0.9900804534649844 Centerline is valid? [True, True] Translation: X:200.68, Y:-6.71, Z:2.47 [[ 9.99409509e-01 -2.56110800e-02 -2.29064539e-02 2.00679194e+02] [ 2.56329360e-02 9.99671204e-01 6.60987226e-04 -6.70519511e+00] [ 2.28819937e-02 -1.24775659e-03 9.99737394e-01 2.46613249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47071405699998 meters Centerline goodness [0,1] 0.9903824187874081 Centerline is valid? [True, True] Translation: X:200.71, Y:-6.70, Z:2.47 [[ 9.99416574e-01 -2.54622521e-02 -2.27636974e-02 2.00709531e+02] [ 2.54837980e-02 9.99675019e-01 6.56867853e-04 -6.69927846e+00] [ 2.27395743e-02 -1.23659009e-03 9.99740658e-01 2.46807169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50071405699998 meters Centerline goodness [0,1] 0.9903145487356374 Centerline is valid? [True, True] Translation: X:200.74, Y:-6.70, Z:2.47 [[ 9.99433347e-01 -2.51859517e-02 -2.23305374e-02 2.00740074e+02] [ 2.52066165e-02 9.99682055e-01 6.44368615e-04 -6.69798148e+00] [ 2.23072085e-02 -1.20688077e-03 9.99750435e-01 2.46934928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53071405699998 meters Centerline goodness [0,1] 0.9913864010235789 Centerline is valid? [True, True] Translation: X:200.77, Y:-6.70, Z:2.47 [[ 9.99449780e-01 -2.51401973e-02 -2.16357973e-02 2.00771043e+02] [ 2.51595852e-02 9.99683253e-01 6.24321238e-04 -6.69776152e+00] [ 2.16132487e-02 -1.16832541e-03 9.99765724e-01 2.47052202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56071405699998 meters Centerline goodness [0,1] 0.989769996567113 Centerline is valid? [True, True] Translation: X:200.80, Y:-6.70, Z:2.47 [[ 9.99450105e-01 -2.53955714e-02 -2.13202414e-02 2.00801308e+02] [ 2.54144557e-02 9.99676811e-01 6.15215577e-04 -6.69797127e+00] [ 2.12977272e-02 -1.15671960e-03 9.99772509e-01 2.47109451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59071405699999 meters Centerline goodness [0,1] 0.9895961951799516 Centerline is valid? [True, True] Translation: X:200.83, Y:-6.70, Z:2.47 [[ 9.99410447e-01 -2.70198899e-02 -2.11821463e-02 2.00832637e+02] [ 2.70389003e-02 9.99634195e-01 6.11531051e-04 -6.69849824e+00] [ 2.11578743e-02 -1.18391246e-03 9.99775446e-01 2.47187478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.620714057 meters Centerline goodness [0,1] 0.9903514974567186 Centerline is valid? [True, True] Translation: X:200.86, Y:-6.70, Z:2.47 [[ 9.99382256e-01 -2.84711212e-02 -2.06034225e-02 2.00863940e+02] [ 2.84894291e-02 9.99593916e-01 5.95550297e-04 -6.70039108e+00] [ 2.05780998e-02 -1.18216215e-03 9.99787550e-01 2.47189055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.650714057 meters Centerline goodness [0,1] 0.9897891586906367 Centerline is valid? [True, True] Translation: X:200.89, Y:-6.71, Z:2.47 [[ 9.99312025e-01 -3.03226389e-02 -2.13544867e-02 2.00894331e+02] [ 3.03427408e-02 9.99539362e-01 6.17888348e-04 -6.70506152e+00] [ 2.13259140e-02 -1.26541691e-03 9.99771776e-01 2.47143500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.680714057 meters Centerline goodness [0,1] 0.9901105693290296 Centerline is valid? [True, True] Translation: X:200.93, Y:-6.70, Z:2.47 [[ 9.99160086e-01 -3.40477048e-02 -2.28007918e-02 2.00925323e+02] [ 3.40715958e-02 9.99419177e-01 6.60042804e-04 -6.70288270e+00] [ 2.27650756e-02 -1.43634779e-03 9.99739810e-01 2.47085706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.710714057 meters Centerline goodness [0,1] 0.9890361418205956 Centerline is valid? [True, True] Translation: X:200.96, Y:-6.71, Z:2.47 [[ 9.99087079e-01 -3.57348498e-02 -2.34100411e-02 2.00955649e+02] [ 3.57605097e-02 9.99360158e-01 6.78257895e-04 -6.71438978e+00] [ 2.33708250e-02 -1.51479370e-03 9.99725717e-01 2.46899675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.740714057 meters Centerline goodness [0,1] 0.9890361418205956 Centerline is valid? [True, True] Translation: X:200.99, Y:-6.72, Z:2.47 [[ 9.99089479e-01 -3.56676980e-02 -2.34100031e-02 2.00987396e+02] [ 3.56933702e-02 9.99362558e-01 6.79569533e-04 -6.71537638e+00] [ 2.33708419e-02 -1.51453268e-03 9.99725717e-01 2.46940400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.770714057 meters Centerline goodness [0,1] 0.9883255121895388 Centerline is valid? [True, True] Translation: X:201.02, Y:-6.72, Z:2.47 [[ 9.99006318e-01 -3.77276801e-02 -2.37275757e-02 2.01018894e+02] [ 3.77546615e-02 9.99286800e-01 6.90025319e-04 -6.71787673e+00] [ 2.36846202e-02 -1.58516624e-03 9.99718223e-01 2.46948072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.800714057 meters Centerline goodness [0,1] 0.9902090560525836 Centerline is valid? [True, True] Translation: X:201.05, Y:-6.71, Z:2.47 [[ 9.99006653e-01 -3.79803115e-02 -2.33067013e-02 2.01051644e+02] [ 3.80064395e-02 9.99277264e-01 6.78956390e-04 -6.70966011e+00] [ 2.32640697e-02 -1.56408668e-03 9.99728131e-01 2.47169568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.830714057 meters Centerline goodness [0,1] 0.99013384848903 Centerline is valid? [True, True] Translation: X:201.08, Y:-6.71, Z:2.47 [[ 9.99026900e-01 -3.74834226e-02 -2.32431769e-02 2.01083875e+02] [ 3.75093202e-02 9.99296047e-01 6.79075433e-04 -6.70916569e+00] [ 2.32013607e-02 -1.55025039e-03 9.99729610e-01 2.47294083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.860714057 meters Centerline goodness [0,1] 0.9894632936963409 Centerline is valid? [True, True] Translation: X:201.12, Y:-6.71, Z:2.47 [[ 9.99062056e-01 -3.65966042e-02 -2.31451290e-02 2.01115017e+02] [ 3.66221087e-02 9.99328955e-01 6.78887760e-04 -6.71398210e+00] [ 2.31047525e-02 -1.52587443e-03 9.99731885e-01 2.47255086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.890714057 meters Centerline goodness [0,1] 0.9894400954982668 Centerline is valid? [True, True] Translation: X:201.15, Y:-6.71, Z:2.47 [[ 9.99086639e-01 -3.56098354e-02 -2.36183888e-02 2.01146939e+02] [ 3.56361786e-02 9.99364588e-01 6.95283287e-04 -6.71385345e+00] [ 2.35786225e-02 -1.53631736e-03 9.99720805e-01 2.47255490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.920714057 meters Centerline goodness [0,1] 0.9892008639308856 Centerline is valid? [True, True] Translation: X:201.18, Y:-6.72, Z:2.47 [[ 9.99143948e-01 -3.31617958e-02 -2.47318728e-02 2.01177251e+02] [ 3.31899640e-02 9.99448795e-01 7.29211396e-04 -6.71521656e+00] [ 2.46940585e-02 -1.54943712e-03 9.99693854e-01 2.47070355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95071405699997 meters Centerline goodness [0,1] 0.9902977353718818 Centerline is valid? [True, True] Translation: X:201.21, Y:-6.71, Z:2.47 [[ 9.99171097e-01 -3.19655236e-02 -2.52056480e-02 2.01208396e+02] [ 3.19944137e-02 9.99487771e-01 7.43622627e-04 -6.71351914e+00] [ 2.51689667e-02 -1.54944617e-03 9.99682011e-01 2.47048777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98071405699997 meters Centerline goodness [0,1] 0.9903567318757193 Centerline is valid? [True, True] Translation: X:201.24, Y:-6.71, Z:2.47 [[ 9.99310726e-01 -2.81256928e-02 -2.42284544e-02 2.01239257e+02] [ 2.81512700e-02 9.99603419e-01 7.15170522e-04 -6.70790783e+00] [ 2.41987312e-02 -1.39673934e-03 9.99706192e-01 2.47285634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01071405699997 meters Centerline goodness [0,1] 0.9900969576932821 Centerline is valid? [True, True] Translation: X:201.27, Y:-6.70, Z:2.47 [[ 9.99381533e-01 -2.61094329e-02 -2.35552173e-02 2.01269867e+02] [ 2.61330541e-02 9.99658231e-01 6.95478094e-04 -6.70436092e+00] [ 2.35290083e-02 -1.31061773e-03 9.99722295e-01 2.47499034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04071405699997 meters Centerline goodness [0,1] 0.9895893313678974 Centerline is valid? [True, True] Translation: X:201.30, Y:-6.70, Z:2.48 [[ 9.99519309e-01 -2.26379166e-02 -2.11819467e-02 2.01299980e+02] [ 2.26562393e-02 9.99743119e-01 6.25406240e-04 -6.70342490e+00] [ 2.11623475e-02 -1.10500887e-03 9.99775442e-01 2.47701318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07071405699998 meters Centerline goodness [0,1] 0.9901387032855629 Centerline is valid? [True, True] Translation: X:201.33, Y:-6.70, Z:2.48 [[ 9.99562981e-01 -2.12522233e-02 -2.05472601e-02 2.01330061e+02] [ 2.12691694e-02 9.99773602e-01 6.06529876e-04 -6.70334127e+00] [ 2.05297181e-02 -1.04328797e-03 9.99788699e-01 2.47764328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10071405699998 meters Centerline goodness [0,1] 0.9900316127096938 Centerline is valid? [True, True] Translation: X:201.36, Y:-6.70, Z:2.48 [[ 9.99596169e-01 -2.00937704e-02 -2.00932453e-02 2.01360374e+02] [ 2.01097378e-02 9.99797603e-01 5.92905617e-04 -6.70354612e+00] [ 2.00772648e-02 -9.96736080e-04 9.99797935e-01 2.47804516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13071405699998 meters Centerline goodness [0,1] 0.9887886182605092 Centerline is valid? [True, True] Translation: X:201.39, Y:-6.71, Z:2.48 [[ 9.99613070e-01 -1.95251198e-02 -1.98111273e-02 2.01389360e+02] [ 1.95405257e-02 9.99808895e-01 5.84336504e-04 -6.71084176e+00] [ 1.97959320e-02 -9.71230248e-04 9.99803570e-01 2.47619768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16071405699998 meters Centerline goodness [0,1] 0.9899900823396452 Centerline is valid? [True, True] Translation: X:201.42, Y:-6.71, Z:2.48 [[ 9.99609354e-01 -1.97259656e-02 -1.97996403e-02 2.01419243e+02] [ 1.97413791e-02 9.99804950e-01 5.83300417e-04 -6.70595859e+00] [ 1.97842722e-02 -9.73944757e-04 9.99803798e-01 2.47699384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19071405699998 meters Centerline goodness [0,1] 0.9905112851220635 Centerline is valid? [True, True] Translation: X:201.45, Y:-6.71, Z:2.48 [[ 9.99595735e-01 -2.00465519e-02 -2.01618793e-02 2.01448401e+02] [ 2.00625877e-02 9.99798550e-01 5.93375875e-04 -6.70845565e+00] [ 2.01459225e-02 -9.97635466e-04 9.99796553e-01 2.47690893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22071405699998 meters Centerline goodness [0,1] 0.9905176183571544 Centerline is valid? [True, True] Translation: X:201.48, Y:-6.71, Z:2.48 [[ 9.99559252e-01 -2.13536094e-02 -2.06234204e-02 2.01477769e+02] [ 2.13706549e-02 9.99771438e-01 6.06449847e-04 -6.71045536e+00] [ 2.06057567e-02 -1.04691856e-03 9.99787131e-01 2.47651924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25071405699998 meters Centerline goodness [0,1] 0.9903561341875043 Centerline is valid? [True, True] Translation: X:201.51, Y:-6.71, Z:2.48 [[ 9.99528962e-01 -2.24841880e-02 -2.08881657e-02 2.01508187e+02] [ 2.25019106e-02 9.99746612e-01 6.13773880e-04 -6.71213972e+00] [ 2.08690726e-02 -1.08350841e-03 9.99781630e-01 2.47634319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28071405699998 meters Centerline goodness [0,1] 0.9901868407142693 Centerline is valid? [True, True] Translation: X:201.54, Y:-6.71, Z:2.48 [[ 9.99519392e-01 -2.30243013e-02 -2.07573024e-02 2.01538691e+02] [ 2.30419186e-02 9.99734314e-01 6.09928619e-04 -6.71461077e+00] [ 2.07377443e-02 -1.08792356e-03 9.99784358e-01 2.47653344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31071405699998 meters Centerline goodness [0,1] 0.9901811994113319 Centerline is valid? [True, True] Translation: X:201.57, Y:-6.72, Z:2.48 [[ 9.99523878e-01 -2.33358513e-02 -2.01855083e-02 2.01568371e+02] [ 2.33525719e-02 9.99727116e-01 5.92995048e-04 -6.72084858e+00] [ 2.01661620e-02 -1.06409624e-03 9.99796076e-01 2.47659040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34071405699999 meters Centerline goodness [0,1] 0.9895596704986118 Centerline is valid? [True, True] Translation: X:201.60, Y:-6.72, Z:2.48 [[ 9.99523306e-01 -2.40783395e-02 -1.93234043e-02 2.01598511e+02] [ 2.40937961e-02 9.99709541e-01 5.67448621e-04 -6.72098803e+00] [ 1.93041284e-02 -1.03275229e-03 9.99813125e-01 2.47834558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.370714057 meters Centerline goodness [0,1] 0.9904759719098545 Centerline is valid? [True, True] Translation: X:201.63, Y:-6.72, Z:2.48 [[ 9.99527051e-01 -2.42384324e-02 -1.89254265e-02 2.01629726e+02] [ 2.42532916e-02 9.99705691e-01 5.55980306e-04 -6.72175723e+00] [ 1.89063805e-02 -1.01472124e-03 9.99820743e-01 2.47903018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.400714057 meters Centerline goodness [0,1] 0.9906942629902129 Centerline is valid? [True, True] Translation: X:201.66, Y:-6.73, Z:2.48 [[ 9.99503254e-01 -2.51339502e-02 -1.90139138e-02 2.01660145e+02] [ 2.51491210e-02 9.99683554e-01 5.59150976e-04 -6.72644467e+00] [ 1.89938433e-02 -1.03705644e-03 9.99819063e-01 2.47820377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.430714057 meters Centerline goodness [0,1] 0.9900071050399945 Centerline is valid? [True, True] Translation: X:201.69, Y:-6.73, Z:2.48 [[ 9.99479741e-01 -2.57704979e-02 -1.93940480e-02 2.01691692e+02] [ 2.57864099e-02 9.99667312e-01 5.70793234e-04 -6.72923437e+00] [ 1.93728862e-02 -1.07059915e-03 9.99811755e-01 2.47789703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.460714057 meters Centerline goodness [0,1] 0.9902657496058314 Centerline is valid? [True, True] Translation: X:201.72, Y:-6.73, Z:2.48 [[ 9.99467782e-01 -2.63283342e-02 -1.92606181e-02 2.01722915e+02] [ 2.63441443e-02 9.99652772e-01 5.67541145e-04 -6.73219757e+00] [ 1.92389878e-02 -1.07464359e-03 9.99814336e-01 2.47769304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.490714057 meters Centerline goodness [0,1] 0.9896118721461187 Centerline is valid? [True, True] Translation: X:201.75, Y:-6.74, Z:2.48 [[ 9.99400682e-01 -2.81106469e-02 -2.02007216e-02 2.01752563e+02] [ 2.81284221e-02 9.99604140e-01 5.96274411e-04 -6.73725919e+00] [ 2.01759632e-02 -1.16413148e-03 9.99795767e-01 2.47703337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.520714057 meters Centerline goodness [0,1] 0.9896481747497549 Centerline is valid? [True, True] Translation: X:201.78, Y:-6.74, Z:2.48 [[ 9.99367157e-01 -2.91726922e-02 -2.03528560e-02 2.01783265e+02] [ 2.91909782e-02 9.99573671e-01 6.01876115e-04 -6.74128689e+00] [ 2.03266207e-02 -1.19561500e-03 9.99792678e-01 2.47696014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.550714057 meters Centerline goodness [0,1] 0.9885490980142682 Centerline is valid? [True, True] Translation: X:201.81, Y:-6.75, Z:2.48 [[ 9.99298491e-01 -3.17081924e-02 -1.99278000e-02 2.01812825e+02] [ 3.17262290e-02 9.99496423e-01 5.89522683e-04 -6.74793816e+00] [ 1.98990721e-02 -1.22134307e-03 9.99801248e-01 2.47715505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.580714057 meters Centerline goodness [0,1] 0.9886035349514343 Centerline is valid? [True, True] Translation: X:201.85, Y:-6.75, Z:2.48 [[ 9.99280891e-01 -3.25159407e-02 -1.95042340e-02 2.01845163e+02] [ 3.25333806e-02 9.99470483e-01 5.77445637e-04 -6.75114027e+00] [ 1.94751300e-02 -1.21156906e-03 9.99809608e-01 2.47778524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.610714057 meters Centerline goodness [0,1] 0.9883736803785949 Centerline is valid? [True, True] Translation: X:201.88, Y:-6.75, Z:2.48 [[ 9.99269588e-01 -3.31118526e-02 -1.90760460e-02 2.01877127e+02] [ 3.31286675e-02 9.99450935e-01 5.66041878e-04 -6.75392488e+00] [ 1.90468293e-02 -1.19759242e-03 9.99817875e-01 2.47838099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.640714057 meters Centerline goodness [0,1] 0.989081727816573 Centerline is valid? [True, True] Translation: X:201.91, Y:-6.76, Z:2.48 [[ 9.99259285e-01 -3.34421819e-02 -1.90394649e-02 2.01908185e+02] [ 3.34590144e-02 9.99439930e-01 5.66134760e-04 -6.75801046e+00] [ 1.90098687e-02 -1.20275715e-03 9.99818573e-01 2.47859172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.670714057 meters Centerline goodness [0,1] 0.9878473407523725 Centerline is valid? [True, True] Translation: X:201.94, Y:-6.76, Z:2.48 [[ 9.99245331e-01 -3.37743977e-02 -1.91848462e-02 2.01940582e+02] [ 3.37915699e-02 9.99428738e-01 5.71532907e-04 -6.75996489e+00] [ 1.91545835e-02 -1.21938766e-03 9.99815791e-01 2.47871830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70071405699997 meters Centerline goodness [0,1] 0.9868887475004544 Centerline is valid? [True, True] Translation: X:201.97, Y:-6.76, Z:2.48 [[ 9.99223879e-01 -3.44271390e-02 -1.91418612e-02 2.01971866e+02] [ 3.44443820e-02 9.99406453e-01 5.71738569e-04 -6.76340581e+00] [ 1.91108163e-02 -1.23062441e-03 9.99816614e-01 2.47898273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73071405699997 meters Centerline goodness [0,1] 0.9870513659229849 Centerline is valid? [True, True] Translation: X:202.00, Y:-6.77, Z:2.48 [[ 9.99214553e-01 -3.47705965e-02 -1.90074280e-02 2.02003421e+02] [ 3.47876900e-02 9.99394563e-01 5.69305036e-04 -6.76626394e+00] [ 1.89761251e-02 -1.23008239e-03 9.99819180e-01 2.47947617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76071405699997 meters Centerline goodness [0,1] 0.9865370231862378 Centerline is valid? [True, True] Translation: X:202.03, Y:-6.77, Z:2.48 [[ 9.99139420e-01 -3.65275726e-02 -1.96508580e-02 2.02034429e+02] [ 3.65461964e-02 9.99331791e-01 5.89337084e-04 -6.77068781e+00] [ 1.96162001e-02 -1.30699403e-03 9.99806730e-01 2.47935539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79071405699997 meters Centerline goodness [0,1] 0.9863987145540544 Centerline is valid? [True, True] Translation: X:202.07, Y:-6.77, Z:2.48 [[ 9.99100577e-01 -3.74562154e-02 -1.98763414e-02 2.02066938e+02] [ 3.74754653e-02 9.99297370e-01 5.96764923e-04 -6.77353241e+00] [ 1.98400232e-02 -1.34110332e-03 9.99802268e-01 2.47947849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82071405699998 meters Centerline goodness [0,1] 0.9864550120977772 Centerline is valid? [True, True] Translation: X:202.10, Y:-6.78, Z:2.48 [[ 9.99060351e-01 -3.85526755e-02 -1.98016654e-02 2.02099303e+02] [ 3.85720206e-02 9.99255645e-01 5.95799985e-04 -6.77570246e+00] [ 1.97639563e-02 -1.35903039e-03 9.99803750e-01 2.47959175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85071405699998 meters Centerline goodness [0,1] 0.9886057311133764 Centerline is valid? [True, True] Translation: X:202.13, Y:-6.77, Z:2.48 [[ 9.98959710e-01 -4.09031770e-02 -2.01600572e-02 2.02130531e+02] [ 4.09237246e-02 9.99162089e-01 6.07556491e-04 -6.76619139e+00] [ 2.01183139e-02 -1.43194909e-03 9.99796581e-01 2.48064856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88071405699998 meters Centerline goodness [0,1] 0.9886184358800991 Centerline is valid? [True, True] Translation: X:202.16, Y:-6.77, Z:2.48 [[ 9.98865692e-01 -4.32553041e-02 -1.99074737e-02 2.02161854e+02] [ 4.32758141e-02 9.99062983e-01 6.00419428e-04 -6.76856957e+00] [ 1.98628488e-02 -1.46125050e-03 9.99801646e-01 2.48111637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91071405699998 meters Centerline goodness [0,1] 0.9876289126108196 Centerline is valid? [True, True] Translation: X:202.19, Y:-6.77, Z:2.48 [[ 9.98809024e-01 -4.45135269e-02 -1.99769600e-02 2.02194251e+02] [ 4.45344499e-02 9.99007667e-01 6.03482367e-04 -6.77029255e+00] [ 1.99302730e-02 -1.49242656e-03 9.99800258e-01 2.48174343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94071405699998 meters Centerline goodness [0,1] 0.9871977885029343 Centerline is valid? [True, True] Translation: X:202.23, Y:-6.77, Z:2.48 [[ 9.98763891e-01 -4.56531343e-02 -1.96591092e-02 2.02225724e+02] [ 4.56736409e-02 9.98956237e-01 5.95146415e-04 -6.77333459e+00] [ 1.96114194e-02 -1.49231384e-03 9.99806564e-01 2.48197963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97071405699998 meters Centerline goodness [0,1] 0.987062715243792 Centerline is valid? [True, True] Translation: X:202.26, Y:-6.77, Z:2.48 [[ 9.98690429e-01 -4.71645099e-02 -1.98226030e-02 2.02256941e+02] [ 4.71856736e-02 9.98885955e-01 6.01033109e-04 -6.77485513e+00] [ 1.97721723e-02 -1.53558889e-03 9.99803332e-01 2.48228647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00071405699998 meters Centerline goodness [0,1] 0.9865856687970009 Centerline is valid? [True, True] Translation: X:202.29, Y:-6.78, Z:2.48 [[ 9.98604135e-01 -4.88920743e-02 -1.99836434e-02 2.02287070e+02] [ 4.89139387e-02 9.98802813e-01 6.06499229e-04 -6.77975932e+00] [ 1.99300663e-02 -1.58313135e-03 9.99800123e-01 2.48092555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03071405699998 meters Centerline goodness [0,1] 0.9865093891939529 Centerline is valid? [True, True] Translation: X:202.32, Y:-6.78, Z:2.48 [[ 9.98543014e-01 -5.00338312e-02 -2.02105190e-02 2.02318797e+02] [ 5.00564397e-02 9.98746202e-01 6.14000232e-04 -6.78189080e+00] [ 2.01544583e-02 -1.62477227e-03 9.99795558e-01 2.48042015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06071405699998 meters Centerline goodness [0,1] 0.9867045249684514 Centerline is valid? [True, True] Translation: X:202.35, Y:-6.79, Z:2.48 [[ 9.98523119e-01 -5.04129370e-02 -2.02513131e-02 2.02349869e+02] [ 5.04357435e-02 9.98727118e-01 6.16684799e-04 -6.78590256e+00] [ 2.01944467e-02 -1.63716406e-03 9.99794731e-01 2.48042198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09071405699999 meters Centerline goodness [0,1] 0.9873192486148025 Centerline is valid? [True, True] Translation: X:202.38, Y:-6.79, Z:2.48 [[ 9.98487840e-01 -5.08735637e-02 -2.08306050e-02 2.02382526e+02] [ 5.08978337e-02 9.98703663e-01 6.36260805e-04 -6.78531297e+00] [ 2.07712327e-02 -1.69553135e-03 9.99782817e-01 2.48024126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.120714057 meters Centerline goodness [0,1] 0.9858308286818377 Centerline is valid? [True, True] Translation: X:202.41, Y:-6.79, Z:2.48 [[ 9.98439118e-01 -5.12595457e-02 -2.21762484e-02 2.02413136e+02] [ 5.12871770e-02 9.98683716e-01 6.78661949e-04 -6.78782814e+00] [ 2.21122703e-02 -1.81495982e-03 9.99753846e-01 2.47930904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.150714057 meters Centerline goodness [0,1] 0.9866094614429265 Centerline is valid? [True, True] Translation: X:202.45, Y:-6.79, Z:2.48 [[ 9.98423657e-01 -5.10510315e-02 -2.33236543e-02 2.02445696e+02] [ 5.10815684e-02 9.98694229e-01 7.14974160e-04 -6.78786310e+00] [ 2.32566987e-02 -1.90525596e-03 9.99727711e-01 2.47949425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.180714057 meters Centerline goodness [0,1] 0.9854517611026034 Centerline is valid? [True, True] Translation: X:202.48, Y:-6.79, Z:2.48 [[ 9.98492990e-01 -4.95545216e-02 -2.35817520e-02 2.02475778e+02] [ 4.95853702e-02 9.98769626e-01 7.24865329e-04 -6.78949804e+00] [ 2.35168173e-02 -1.89308285e-03 9.99721649e-01 2.47957898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.210714057 meters Centerline goodness [0,1] 0.9853586784340348 Centerline is valid? [True, True] Translation: X:202.51, Y:-6.79, Z:2.48 [[ 9.98548178e-01 -4.84408071e-02 -2.35589662e-02 2.02506912e+02] [ 4.84713272e-02 9.98824311e-01 7.25824761e-04 -6.79058854e+00] [ 2.34961086e-02 -1.86670535e-03 9.99722186e-01 2.47996370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.240714057 meters Centerline goodness [0,1] 0.987730754456922 Centerline is valid? [True, True] Translation: X:202.54, Y:-6.78, Z:2.48 [[ 9.98690807e-01 -4.56105500e-02 -2.31592250e-02 2.02537655e+02] [ 4.56392962e-02 9.98957729e-01 7.13934112e-04 -6.78102754e+00] [ 2.31025239e-02 -1.76997017e-03 9.99731534e-01 2.48193601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.270714057 meters Centerline goodness [0,1] 0.9881146797314462 Centerline is valid? [True, True] Translation: X:202.57, Y:-6.78, Z:2.48 [[ 9.98761047e-01 -4.41077145e-02 -2.30408585e-02 2.02569505e+02] [ 4.41357827e-02 9.99025289e-01 7.10836939e-04 -6.77787718e+00] [ 2.29870469e-02 -1.72688257e-03 9.99734271e-01 2.48314740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.300714057 meters Centerline goodness [0,1] 0.9889959985449255 Centerline is valid? [True, True] Translation: X:202.60, Y:-6.78, Z:2.48 [[ 9.98907284e-01 -4.11730785e-02 -2.21137101e-02 2.02599959e+02] [ 4.11982320e-02 9.99150759e-01 6.82897668e-04 -6.77553098e+00] [ 2.20668132e-02 -1.59319721e-03 9.99755229e-01 2.48479238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.330714057 meters Centerline goodness [0,1] 0.9886502928224452 Centerline is valid? [True, True] Translation: X:202.63, Y:-6.78, Z:2.49 [[ 9.98992428e-01 -3.95661486e-02 -2.11813519e-02 2.02631930e+02] [ 3.95888753e-02 9.99215839e-01 6.54555012e-04 -6.77626076e+00] [ 2.11388441e-02 -1.49244140e-03 9.99775436e-01 2.48529840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.360714057 meters Centerline goodness [0,1] 0.9896401308615049 Centerline is valid? [True, True] Translation: X:202.66, Y:-6.77, Z:2.49 [[ 9.99051028e-01 -3.84586206e-02 -2.04445273e-02 2.02663772e+02] [ 3.84795847e-02 9.99259186e-01 6.32869447e-04 -6.77372388e+00] [ 2.04050424e-02 -1.41896579e-03 9.99790789e-01 2.48626302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.390714057 meters Centerline goodness [0,1] 0.988361581920904 Centerline is valid? [True, True] Translation: X:202.69, Y:-6.78, Z:2.49 [[ 9.99141517e-01 -3.68889364e-02 -1.88529799e-02 2.02694395e+02] [ 3.69065011e-02 9.99318552e-01 5.84470464e-04 -6.78188509e+00] [ 1.88185721e-02 -1.27976623e-03 9.99822096e-01 2.48698216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.420714057 meters Centerline goodness [0,1] 0.9890214364941032 Centerline is valid? [True, True] Translation: X:202.73, Y:-6.78, Z:2.49 [[ 9.99175963e-01 -3.65193485e-02 -1.77124832e-02 2.02726471e+02] [ 3.65348080e-02 9.99332230e-01 5.49893636e-04 -6.78267483e+00] [ 1.76805736e-02 -1.19656268e-03 9.99842970e-01 2.48820507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45071405699997 meters Centerline goodness [0,1] 0.989282396392722 Centerline is valid? [True, True] Translation: X:202.76, Y:-6.78, Z:2.49 [[ 9.99198104e-01 -3.62796700e-02 -1.69391458e-02 2.02758369e+02] [ 3.62937942e-02 9.99341024e-01 5.27046835e-04 -6.77958315e+00] [ 1.69088622e-02 -1.14141007e-03 9.99856383e-01 2.48919772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48071405699997 meters Centerline goodness [0,1] 0.9889180387190157 Centerline is valid? [True, True] Translation: X:202.79, Y:-6.78, Z:2.49 [[ 9.99199242e-01 -3.62266655e-02 -1.69854185e-02 2.02790969e+02] [ 3.62408805e-02 9.99342943e-01 5.29737797e-04 -6.78204862e+00] [ 1.69550675e-02 -1.14488013e-03 9.99855597e-01 2.48927163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51071405699997 meters Centerline goodness [0,1] 0.9874323104693141 Centerline is valid? [True, True] Translation: X:202.82, Y:-6.79, Z:2.49 [[ 9.99193921e-01 -3.61888037e-02 -1.73746338e-02 2.02822091e+02] [ 3.62036931e-02 9.99344284e-01 5.43092225e-04 -6.79380288e+00] [ 1.73435871e-02 -1.17168036e-03 9.99848902e-01 2.48854390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54071405699997 meters Centerline goodness [0,1] 0.9872055698720557 Centerline is valid? [True, True] Translation: X:202.85, Y:-6.80, Z:2.49 [[ 9.99223249e-01 -3.53181460e-02 -1.74793557e-02 2.02852816e+02] [ 3.53330995e-02 9.99375441e-01 5.47313851e-04 -6.79981039e+00] [ 1.74491087e-02 -1.16448854e-03 9.99847075e-01 2.48728400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57071405699998 meters Centerline goodness [0,1] 0.9856324431613136 Centerline is valid? [True, True] Translation: X:202.88, Y:-6.80, Z:2.49 [[ 9.99254539e-01 -3.43583154e-02 -1.76032061e-02 2.02884108e+02] [ 3.43733477e-02 9.99408909e-01 5.52013991e-04 -6.80142393e+00] [ 1.75738347e-02 -1.15668361e-03 9.99844899e-01 2.48708124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60071405699998 meters Centerline goodness [0,1] 0.9877362736273627 Centerline is valid? [True, True] Translation: X:202.91, Y:-6.80, Z:2.49 [[ 9.99347830e-01 -3.17979189e-02 -1.71116260e-02 2.02914858e+02] [ 3.18117566e-02 9.99493734e-01 5.37017181e-04 -6.79505119e+00] [ 1.70858870e-02 -1.08101784e-03 9.99853441e-01 2.48853053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63071405699998 meters Centerline goodness [0,1] 0.9877362736273627 Centerline is valid? [True, True] Translation: X:202.95, Y:-6.80, Z:2.49 [[ 9.99350115e-01 -3.17260324e-02 -1.71116163e-02 2.02946599e+02] [ 3.17398648e-02 9.99496019e-01 5.37325794e-04 -6.79610667e+00] [ 1.70859452e-02 -1.08009698e-03 9.99853441e-01 2.48893795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66071405699998 meters Centerline goodness [0,1] 0.9872222472619101 Centerline is valid? [True, True] Translation: X:202.98, Y:-6.80, Z:2.49 [[ 9.99464678e-01 -2.79409130e-02 -1.70194642e-02 2.02976782e+02] [ 2.79540657e-02 9.99609065e-01 5.35350348e-04 -6.79916601e+00] [ 1.69978525e-02 -1.01082698e-03 9.99855015e-01 2.48964095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69071405699998 meters Centerline goodness [0,1] 0.9869306126134261 Centerline is valid? [True, True] Translation: X:203.01, Y:-6.80, Z:2.49 [[ 9.99522089e-01 -2.59106476e-02 -1.68591970e-02 2.03007935e+02] [ 2.59232683e-02 9.99663795e-01 5.30452832e-04 -6.79995811e+00] [ 1.68397845e-02 -9.67244811e-04 9.99857733e-01 2.49003400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72071405699998 meters Centerline goodness [0,1] 0.9876292383403313 Centerline is valid? [True, True] Translation: X:203.04, Y:-6.80, Z:2.49 [[ 9.99564365e-01 -2.38895769e-02 -1.73311106e-02 2.03039864e+02] [ 2.39026237e-02 9.99714142e-01 5.46015950e-04 -6.79830393e+00] [ 1.73131122e-02 -9.60037101e-04 9.99849656e-01 2.49033046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75071405699998 meters Centerline goodness [0,1] 0.9880362292718097 Centerline is valid? [True, True] Translation: X:203.07, Y:-6.80, Z:2.49 [[ 9.99625134e-01 -2.12787443e-02 -1.72280612e-02 2.03070756e+02] [ 2.12912623e-02 9.99773168e-01 5.43493985e-04 -6.80000447e+00] [ 1.72125885e-02 -9.10097418e-04 9.99851438e-01 2.49024441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78071405699998 meters Centerline goodness [0,1] 0.988579023247432 Centerline is valid? [True, True] Translation: X:203.10, Y:-6.80, Z:2.49 [[ 9.99710767e-01 -1.69005599e-02 -1.71100249e-02 2.03101150e+02] [ 1.69122688e-02 9.99856832e-01 5.39856453e-04 -6.80014014e+00] [ 1.70984514e-02 -8.29069650e-04 9.99853467e-01 2.48975682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81071405699998 meters Centerline goodness [0,1] 0.9888833992094862 Centerline is valid? [True, True] Translation: X:203.13, Y:-6.80, Z:2.49 [[ 9.99750270e-01 -1.45985877e-02 -1.69197940e-02 2.03130808e+02] [ 1.46097063e-02 9.99893130e-01 5.33706777e-04 -6.80225641e+00] [ 1.69101945e-02 -7.80766715e-04 9.99856708e-01 2.48975563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84071405699999 meters Centerline goodness [0,1] 0.9895721205597416 Centerline is valid? [True, True] Translation: X:203.16, Y:-6.81, Z:2.49 [[ 9.99791051e-01 -1.17560871e-02 -1.67227155e-02 2.03159116e+02] [ 1.17665402e-02 9.99930633e-01 5.26824723e-04 -6.80511451e+00] [ 1.67153621e-02 -7.23483148e-04 9.99860027e-01 2.48977420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.870714057 meters Centerline goodness [0,1] 0.9891987784065391 Centerline is valid? [True, True] Translation: X:203.19, Y:-6.81, Z:2.49 [[ 9.99797529e-01 -1.11785707e-02 -1.67314276e-02 2.03187681e+02] [ 1.11889262e-02 9.99937264e-01 5.25441612e-04 -6.80826248e+00] [ 1.67245042e-02 -7.12541934e-04 9.99859882e-01 2.48986607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.900714057 meters Centerline goodness [0,1] 0.9897876733851058 Centerline is valid? [True, True] Translation: X:203.22, Y:-6.81, Z:2.49 [[ 9.99793918e-01 -1.12849353e-02 -1.68751824e-02 2.03215862e+02] [ 1.12954108e-02 9.99936067e-01 5.25579108e-04 -6.80941279e+00] [ 1.68681724e-02 -7.16082913e-04 9.99857466e-01 2.49007399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.930714057 meters Centerline goodness [0,1] 0.9900775470981295 Centerline is valid? [True, True] Translation: X:203.24, Y:-6.82, Z:2.49 [[ 9.99774863e-01 -1.22865985e-02 -1.72992071e-02 2.03243110e+02] [ 1.22976841e-02 9.99924238e-01 5.34582051e-04 -6.81660397e+00] [ 1.72913282e-02 -7.47201881e-04 9.99850215e-01 2.48967857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.960714057 meters Centerline goodness [0,1] 0.9893391144983573 Centerline is valid? [True, True] Translation: X:203.27, Y:-6.82, Z:2.49 [[ 9.99727969e-01 -1.48609069e-02 -1.79761114e-02 2.03272126e+02] [ 1.48732662e-02 9.99889233e-01 5.54034632e-04 -6.82437494e+00] [ 1.79658868e-02 -8.21247407e-04 9.99838263e-01 2.48934357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.990714057 meters Centerline goodness [0,1] 0.9896040156162855 Centerline is valid? [True, True] Translation: X:203.30, Y:-6.83, Z:2.49 [[ 9.99702657e-01 -1.63292707e-02 -1.81094400e-02 2.03301112e+02] [ 1.63420181e-02 9.99866306e-01 5.56138096e-04 -6.82851855e+00] [ 1.80979375e-02 -8.51917528e-04 9.99835856e-01 2.48929327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.020714057 meters Centerline goodness [0,1] 0.989083603080701 Centerline is valid? [True, True] Translation: X:203.33, Y:-6.84, Z:2.49 [[ 9.99666613e-01 -1.77788048e-02 -1.87237243e-02 2.03328680e+02] [ 1.77926140e-02 9.99841536e-01 5.71181769e-04 -6.83713120e+00] [ 1.87106023e-02 -9.04135343e-04 9.99824533e-01 2.48872940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.050714057 meters Centerline goodness [0,1] 0.9881307620362535 Centerline is valid? [True, True] Translation: X:203.36, Y:-6.84, Z:2.49 [[ 9.99612066e-01 -2.01483100e-02 -1.92292255e-02 2.03357624e+02] [ 2.01632838e-02 9.99796529e-01 5.85117522e-04 -6.84444758e+00] [ 1.92135238e-02 -9.72614866e-04 9.99814930e-01 2.48831827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.080714057 meters Centerline goodness [0,1] 0.989597487358831 Centerline is valid? [True, True] Translation: X:203.39, Y:-6.84, Z:2.49 [[ 9.99592253e-01 -2.15100092e-02 -1.87788884e-02 2.03386687e+02] [ 2.15244895e-02 9.99768159e-01 5.69295312e-04 -6.84378687e+00] [ 1.87622891e-02 -9.73269170e-04 9.99823499e-01 2.48882675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.110714057 meters Centerline goodness [0,1] 0.989404944359299 Centerline is valid? [True, True] Translation: X:203.42, Y:-6.85, Z:2.49 [[ 9.99540185e-01 -2.32448221e-02 -1.94704280e-02 2.03415809e+02] [ 2.32606456e-02 9.99729262e-01 5.86589897e-04 -6.84901470e+00] [ 1.94515214e-02 -1.03921490e-03 9.99810261e-01 2.48955051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.140714057 meters Centerline goodness [0,1] 0.9899786685627944 Centerline is valid? [True, True] Translation: X:203.45, Y:-6.85, Z:2.49 [[ 9.99526531e-01 -2.35642727e-02 -1.97847980e-02 2.03445301e+02] [ 2.35806550e-02 9.99721761e-01 5.95107978e-04 -6.84933337e+00] [ 1.97652698e-02 -1.06136471e-03 9.99804085e-01 2.49024050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.170714057 meters Centerline goodness [0,1] 0.9892377676689227 Centerline is valid? [True, True] Translation: X:203.47, Y:-6.86, Z:2.49 [[ 9.99501295e-01 -2.40066856e-02 -2.05143979e-02 2.03473762e+02] [ 2.40243730e-02 9.99711183e-01 6.16147331e-04 -6.85565835e+00] [ 2.04936814e-02 -1.10868560e-03 9.99789368e-01 2.48983480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20071405699997 meters Centerline goodness [0,1] 0.9893862687627676 Centerline is valid? [True, True] Translation: X:203.50, Y:-6.86, Z:2.49 [[ 9.99462343e-01 -2.45506314e-02 -2.17322574e-02 2.03502908e+02] [ 2.45705449e-02 9.99697887e-01 6.49726691e-04 -6.85745085e+00] [ 2.17097406e-02 -1.18335077e-03 9.99763615e-01 2.48937854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23071405699997 meters Centerline goodness [0,1] 0.9896966354109211 Centerline is valid? [True, True] Translation: X:203.53, Y:-6.86, Z:2.49 [[ 9.99452788e-01 -2.47749981e-02 -2.19162777e-02 2.03531151e+02] [ 2.47951818e-02 9.99692341e-01 6.49642924e-04 -6.85986657e+00] [ 2.18934401e-02 -1.19270552e-03 9.99759598e-01 2.48955548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26071405699997 meters Centerline goodness [0,1] 0.989615852983505 Centerline is valid? [True, True] Translation: X:203.56, Y:-6.87, Z:2.49 [[ 9.99423553e-01 -2.55008915e-02 -2.24112923e-02 2.03558672e+02] [ 2.55220856e-02 9.99674041e-01 6.60126807e-04 -6.86575101e+00] [ 2.23871533e-02 -1.23172920e-03 9.99748618e-01 2.49001766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29071405699997 meters Centerline goodness [0,1] 0.989362407943915 Centerline is valid? [True, True] Translation: X:203.59, Y:-6.87, Z:2.49 [[ 9.99407498e-01 -2.61073187e-02 -2.24290017e-02 2.03586911e+02] [ 2.61286537e-02 9.99658371e-01 6.58644202e-04 -6.86715249e+00] [ 2.24041438e-02 -1.24429357e-03 9.99748221e-01 2.49068426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32071405699998 meters Centerline goodness [0,1] 0.989180697833927 Centerline is valid? [True, True] Translation: X:203.62, Y:-6.87, Z:2.49 [[ 9.99365582e-01 -2.68506574e-02 -2.33981991e-02 2.03615267e+02] [ 2.68739907e-02 9.99638596e-01 6.83297186e-04 -6.86912496e+00] [ 2.33713960e-02 -1.31166668e-03 9.99725991e-01 2.49121031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35071405699998 meters Centerline goodness [0,1] 0.9889033798271403 Centerline is valid? [True, True] Translation: X:203.64, Y:-6.87, Z:2.49 [[ 9.99302179e-01 -2.74842209e-02 -2.52937190e-02 2.03643801e+02] [ 2.75115244e-02 9.99621218e-01 7.32035895e-04 -6.86931284e+00] [ 2.52640187e-02 -1.42739383e-03 9.99679795e-01 2.49111441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38071405699998 meters Centerline goodness [0,1] 0.9892541924095322 Centerline is valid? [True, True] Translation: X:203.67, Y:-6.87, Z:2.49 [[ 9.99284472e-01 -2.73336262e-02 -2.61422246e-02 2.03671959e+02] [ 2.73626221e-02 9.99625290e-01 7.52015468e-04 -6.87170979e+00] [ 2.61118736e-02 -1.46679719e-03 9.99657951e-01 2.49109761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41071405699998 meters Centerline goodness [0,1] 0.9889664589160262 Centerline is valid? [True, True] Translation: X:203.70, Y:-6.87, Z:2.49 [[ 9.99290657e-01 -2.61055245e-02 -2.71419368e-02 2.03700001e+02] [ 2.61361999e-02 9.99658090e-01 7.75981125e-04 -6.87464893e+00] [ 2.71123993e-02 -1.48481778e-03 9.99631289e-01 2.49050271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44071405699998 meters Centerline goodness [0,1] 0.9894964473277726 Centerline is valid? [True, True] Translation: X:203.73, Y:-6.87, Z:2.49 [[ 9.99291432e-01 -2.47953281e-02 -2.83165387e-02 2.03728446e+02] [ 2.48279874e-02 9.99691416e-01 8.02301303e-04 -6.87225159e+00] [ 2.82879074e-02 -1.50477548e-03 9.99598684e-01 2.49134809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47071405699998 meters Centerline goodness [0,1] 0.9902343319445363 Centerline is valid? [True, True] Translation: X:203.76, Y:-6.87, Z:2.49 [[ 9.99306102e-01 -2.31735760e-02 -2.91598875e-02 2.03757619e+02] [ 2.32073131e-02 9.99730339e-01 8.19023240e-04 -6.87133321e+00] [ 2.91330445e-02 -1.49517756e-03 9.99574425e-01 2.49233268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50071405699998 meters Centerline goodness [0,1] 0.9899471015606137 Centerline is valid? [True, True] Translation: X:203.79, Y:-6.87, Z:2.49 [[ 9.99402906e-01 -1.76528504e-02 -2.97020043e-02 2.03787167e+02] [ 1.76853198e-02 9.99843257e-01 8.30805555e-04 -6.87210692e+00] [ 2.96826827e-02 -1.35559893e-03 9.99558453e-01 2.49326385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53071405699998 meters Centerline goodness [0,1] 0.9905262460526025 Centerline is valid? [True, True] Translation: X:203.82, Y:-6.87, Z:2.49 [[ 9.99448253e-01 -1.48497008e-02 -2.97098702e-02 2.03816959e+02] [ 1.48809260e-02 9.99888928e-01 8.30161986e-04 -6.87137569e+00] [ 2.96942426e-02 -1.27181433e-03 9.99558220e-01 2.49432606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56071405699998 meters Centerline goodness [0,1] 0.9902479922336952 Centerline is valid? [True, True] Translation: X:203.85, Y:-6.87, Z:2.50 [[ 9.99568249e-01 -9.39332782e-03 -2.78402697e-02 2.03847419e+02] [ 9.41861924e-03 9.99955342e-01 7.77449917e-04 -6.86916136e+00] [ 2.78317236e-02 -1.03933115e-03 9.99612082e-01 2.49747268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59071405699999 meters Centerline goodness [0,1] 0.9915248626100774 Centerline is valid? [True, True] Translation: X:203.88, Y:-6.86, Z:2.50 [[ 9.99605116e-01 -7.86490316e-03 -2.69769235e-02 2.03876316e+02] [ 7.88799427e-03 9.99968608e-01 7.49647056e-04 -6.86356390e+00] [ 2.69701808e-02 -9.62144850e-04 9.99635775e-01 2.50114498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.620714057 meters Centerline goodness [0,1] 0.9908299349718946 Centerline is valid? [True, True] Translation: X:203.90, Y:-6.87, Z:2.50 [[ 9.99660192e-01 -6.37636697e-03 -2.52753209e-02 2.03904162e+02] [ 6.39605367e-03 9.99979301e-01 6.98122112e-04 -6.86628242e+00] [ 2.52703463e-02 -8.59547194e-04 9.99680284e-01 2.50265779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.650714057 meters Centerline goodness [0,1] 0.990905487536334 Centerline is valid? [True, True] Translation: X:203.93, Y:-6.87, Z:2.50 [[ 9.99678026e-01 -6.90116732e-03 -2.44175671e-02 2.03931551e+02] [ 6.91964357e-03 9.99975833e-01 6.72265416e-04 -6.86892639e+00] [ 2.44123375e-02 -8.41009826e-04 9.99701621e-01 2.50287332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.680714057 meters Centerline goodness [0,1] 0.9903413601481873 Centerline is valid? [True, True] Translation: X:203.96, Y:-6.87, Z:2.50 [[ 9.99650184e-01 -1.02936396e-02 -2.43628846e-02 2.03960788e+02] [ 1.03129964e-02 9.99946596e-01 6.69003321e-04 -6.87133839e+00] [ 2.43546970e-02 -9.20023635e-04 9.99702957e-01 2.50483308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.710714057 meters Centerline goodness [0,1] 0.9906902016022537 Centerline is valid? [True, True] Translation: X:203.99, Y:-6.88, Z:2.50 [[ 9.99582120e-01 -1.50511046e-02 -2.46789324e-02 2.03991114e+02] [ 1.50723970e-02 9.99886176e-01 6.76978305e-04 -6.87762016e+00] [ 2.46659341e-02 -1.04866608e-03 9.99695200e-01 2.50465156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.740714057 meters Centerline goodness [0,1] 0.9906902016022537 Centerline is valid? [True, True] Translation: X:204.02, Y:-6.88, Z:2.51 [[ 9.99577701e-01 -1.53416093e-02 -2.46790264e-02 2.04018524e+02] [ 1.53629052e-02 9.99881757e-01 6.73532871e-04 -6.87830789e+00] [ 2.46657752e-02 -1.05238998e-03 9.99695200e-01 2.50500331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.770714057 meters Centerline goodness [0,1] 0.9901790236275956 Centerline is valid? [True, True] Translation: X:204.05, Y:-6.89, Z:2.50 [[ 9.99479305e-01 -1.99046302e-02 -2.53953756e-02 2.04047238e+02] [ 1.99285476e-02 9.99801169e-01 6.89040500e-04 -6.88507577e+00] [ 2.53766111e-02 -1.19477467e-03 9.99677248e-01 2.50477753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.800714057 meters Centerline goodness [0,1] 0.9894189186222642 Centerline is valid? [True, True] Translation: X:204.08, Y:-6.89, Z:2.50 [[ 9.99417652e-01 -2.21551073e-02 -2.59520513e-02 2.04075717e+02] [ 2.21808182e-02 9.99753728e-01 7.03227043e-04 -6.89279449e+00] [ 2.59300800e-02 -1.27845525e-03 9.99662941e-01 2.50352938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.830714057 meters Centerline goodness [0,1] 0.9892024755300004 Centerline is valid? [True, True] Translation: X:204.10, Y:-6.89, Z:2.50 [[ 9.99321696e-01 -2.50225727e-02 -2.70188664e-02 2.04104610e+02] [ 2.50514376e-02 9.99685897e-01 7.30306284e-04 -6.89364659e+00] [ 2.69921055e-02 -1.40667236e-03 9.99634657e-01 2.50422368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.860714057 meters Centerline goodness [0,1] 0.9894612040574364 Centerline is valid? [True, True] Translation: X:204.13, Y:-6.90, Z:2.50 [[ 9.99271378e-01 -2.67004698e-02 -2.72726626e-02 2.04133522e+02] [ 2.67303782e-02 9.99642411e-01 7.32597032e-04 -6.89655351e+00] [ 2.72433495e-02 -1.46107183e-03 9.99627763e-01 2.50434489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.890714057 meters Centerline goodness [0,1] 0.9888754799780581 Centerline is valid? [True, True] Translation: X:204.16, Y:-6.90, Z:2.50 [[ 9.99226988e-01 -2.82301843e-02 -2.73584228e-02 2.04162083e+02] [ 2.82606690e-02 9.99600322e-01 7.28180007e-04 -6.89912152e+00] [ 2.73269316e-02 -1.50078445e-03 9.99625423e-01 2.50438113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.920714057 meters Centerline goodness [0,1] 0.9889466412263965 Centerline is valid? [True, True] Translation: X:204.19, Y:-6.90, Z:2.50 [[ 9.99180354e-01 -2.96965908e-02 -2.75087844e-02 2.04189928e+02] [ 2.97278441e-02 9.99557765e-01 7.27761655e-04 -6.90245550e+00] [ 2.74750070e-02 -1.54494200e-03 9.99621297e-01 2.50472119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95071405699997 meters Centerline goodness [0,1] 0.9889120192834447 Centerline is valid? [True, True] Translation: X:204.22, Y:-6.90, Z:2.51 [[ 9.99171487e-01 -3.00951330e-02 -2.73974941e-02 2.04217833e+02] [ 3.01262188e-02 9.99545841e-01 7.22466178e-04 -6.90416450e+00] [ 2.73633086e-02 -1.54725051e-03 9.99624357e-01 2.50521069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98071405699997 meters Centerline goodness [0,1] 0.9882948986722572 Centerline is valid? [True, True] Translation: X:204.25, Y:-6.90, Z:2.51 [[ 9.99201970e-01 -2.95622246e-02 -2.68607297e-02 2.04246621e+02] [ 2.95917930e-02 9.99561819e-01 7.03884415e-04 -6.90498238e+00] [ 2.68281515e-02 -1.49817985e-03 9.99638938e-01 2.50682333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01071405699997 meters Centerline goodness [0,1] 0.9892640389123815 Centerline is valid? [True, True] Translation: X:204.28, Y:-6.91, Z:2.51 [[ 9.99224890e-01 -2.92005526e-02 -2.63997680e-02 2.04275831e+02] [ 2.92288299e-02 9.99572511e-01 6.85789052e-04 -6.90511989e+00] [ 2.63684570e-02 -1.45689182e-03 9.99651230e-01 2.50867983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04071405699997 meters Centerline goodness [0,1] 0.9883346124328473 Centerline is valid? [True, True] Translation: X:204.30, Y:-6.91, Z:2.51 [[ 9.99288121e-01 -2.81758478e-02 -2.50873194e-02 2.04304211e+02] [ 2.82009720e-02 9.99602063e-01 6.48166392e-04 -6.90605054e+00] [ 2.50590736e-02 -1.35519177e-03 9.99685054e-01 2.51128942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07071405699998 meters Centerline goodness [0,1] 0.9888562277892335 Centerline is valid? [True, True] Translation: X:204.33, Y:-6.91, Z:2.51 [[ 9.99282465e-01 -2.86150277e-02 -2.48140331e-02 2.04332115e+02] [ 2.86396412e-02 9.99589598e-01 6.37028983e-04 -6.90740239e+00] [ 2.47856207e-02 -1.34723690e-03 9.99691882e-01 2.51261213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10071405699998 meters Centerline goodness [0,1] 0.988507259727157 Centerline is valid? [True, True] Translation: X:204.36, Y:-6.91, Z:2.51 [[ 9.99266364e-01 -2.91068340e-02 -2.48902943e-02 2.04360506e+02] [ 2.91315952e-02 9.99575385e-01 6.32712084e-04 -6.90845937e+00] [ 2.48613092e-02 -1.35734188e-03 9.99689988e-01 2.51313334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13071405699998 meters Centerline goodness [0,1] 0.9875312815559556 Centerline is valid? [True, True] Translation: X:204.39, Y:-6.91, Z:2.51 [[ 9.99248471e-01 -2.96549160e-02 -2.49615676e-02 2.04388237e+02] [ 2.96798897e-02 9.99559256e-01 6.30517430e-04 -6.91014735e+00] [ 2.49318680e-02 -1.37090015e-03 9.99688213e-01 2.51378532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16071405699998 meters Centerline goodness [0,1] 0.9880322361053163 Centerline is valid? [True, True] Translation: X:204.42, Y:-6.91, Z:2.51 [[ 9.99228762e-01 -3.01323999e-02 -2.51777423e-02 2.04416971e+02] [ 3.01578612e-02 9.99544948e-01 6.32072075e-04 -6.91157560e+00] [ 2.51472393e-02 -1.39089145e-03 9.99682791e-01 2.51358252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19071405699998 meters Centerline goodness [0,1] 0.9870258166491043 Centerline is valid? [True, True] Translation: X:204.44, Y:-6.91, Z:2.51 [[ 9.99205947e-01 -3.02800814e-02 -2.58957810e-02 2.04444533e+02] [ 3.03069597e-02 9.99540430e-01 6.46003912e-04 -6.91195485e+00] [ 2.58643190e-02 -1.43031334e-03 9.99664439e-01 2.51323320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22071405699998 meters Centerline goodness [0,1] 0.9875054896794028 Centerline is valid? [True, True] Translation: X:204.47, Y:-6.91, Z:2.51 [[ 9.99179605e-01 -3.07350692e-02 -2.63718015e-02 2.04473294e+02] [ 3.07629941e-02 9.99526493e-01 6.53743582e-04 -6.91252685e+00] [ 2.63392214e-02 -1.46448283e-03 9.99651990e-01 2.51283753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25071405699998 meters Centerline goodness [0,1] 0.9871574965914589 Centerline is valid? [True, True] Translation: X:204.50, Y:-6.91, Z:2.51 [[ 9.99154115e-01 -3.08562044e-02 -2.71836197e-02 2.04501288e+02] [ 3.08857383e-02 9.99522699e-01 6.67159211e-04 -6.91339028e+00] [ 2.71500590e-02 -1.50618104e-03 9.99630234e-01 2.51286961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28071405699998 meters Centerline goodness [0,1] 0.9877475736682623 Centerline is valid? [True, True] Translation: X:204.53, Y:-6.90, Z:2.51 [[ 9.99100170e-01 -3.31390027e-02 -2.64699325e-02 2.04531224e+02] [ 3.31677059e-02 9.99449592e-01 6.45936939e-04 -6.90489229e+00] [ 2.64339575e-02 -1.52330264e-03 9.99649401e-01 2.51446180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31071405699998 meters Centerline goodness [0,1] 0.9866555645638407 Centerline is valid? [True, True] Translation: X:204.56, Y:-6.92, Z:2.51 [[ 9.99064540e-01 -3.43881817e-02 -2.62201726e-02 2.04559117e+02] [ 3.44167319e-02 9.99407365e-01 6.38227319e-04 -6.91792493e+00] [ 2.61826861e-02 -1.54004293e-03 9.99655988e-01 2.51173476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34071405699999 meters Centerline goodness [0,1] 0.9880960224901715 Centerline is valid? [True, True] Translation: X:204.59, Y:-6.91, Z:2.52 [[ 9.98918024e-01 -3.81756472e-02 -2.65593895e-02 2.04589257e+02] [ 3.82062381e-02 9.99269667e-01 6.45107776e-04 -6.90712982e+00] [ 2.65153649e-02 -1.65914414e-03 9.99647029e-01 2.51516173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.370714057 meters Centerline goodness [0,1] 0.9877863936911012 Centerline is valid? [True, True] Translation: X:204.62, Y:-6.91, Z:2.51 [[ 9.98830536e-01 -3.99289669e-02 -2.72623851e-02 2.04617975e+02] [ 3.99618443e-02 9.99200987e-01 6.61980753e-04 -6.91252652e+00] [ 2.72141699e-02 -1.75066178e-03 9.99628093e-01 2.51423165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.400714057 meters Centerline goodness [0,1] 0.9872784699070012 Centerline is valid? [True, True] Translation: X:204.65, Y:-6.91, Z:2.51 [[ 9.98594936e-01 -4.47063535e-02 -2.84516474e-02 2.04648515e+02] [ 4.47440913e-02 9.98998243e-01 6.90796634e-04 -6.91157728e+00] [ 2.83922628e-02 -1.96286913e-03 9.99594931e-01 2.51448907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.430714057 meters Centerline goodness [0,1] 0.9877146110721794 Centerline is valid? [True, True] Translation: X:204.68, Y:-6.91, Z:2.51 [[ 9.98491302e-01 -4.67303380e-02 -2.88339109e-02 2.04678637e+02] [ 4.67699263e-02 9.98905443e-01 6.99721923e-04 -6.91445929e+00] [ 2.87696523e-02 -2.04722614e-03 9.99583971e-01 2.51458049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.460714057 meters Centerline goodness [0,1] 0.9863848319549534 Centerline is valid? [True, True] Translation: X:204.71, Y:-6.92, Z:2.51 [[ 9.98253945e-01 -5.12536265e-02 -2.93620108e-02 2.04707686e+02] [ 5.12966096e-02 9.98683208e-01 7.12032438e-04 -6.92306394e+00] [ 2.92868529e-02 -2.21696080e-03 9.99568590e-01 2.51318680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.490714057 meters Centerline goodness [0,1] 0.9865337646049244 Centerline is valid? [True, True] Translation: X:204.74, Y:-6.92, Z:2.51 [[ 9.98162322e-01 -5.28660941e-02 -2.96168080e-02 2.04738291e+02] [ 5.29105259e-02 9.98598999e-01 7.17995291e-04 -6.92035971e+00] [ 2.95373572e-02 -2.28371673e-03 9.99561068e-01 2.51420154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.520714057 meters Centerline goodness [0,1] 0.9866356002989405 Centerline is valid? [True, True] Translation: X:204.77, Y:-6.92, Z:2.51 [[ 9.98113519e-01 -5.37877642e-02 -2.96020341e-02 2.04768792e+02] [ 5.38325544e-02 9.98549719e-01 7.17637130e-04 -6.92105202e+00] [ 2.95205027e-02 -2.30983643e-03 9.99561506e-01 2.51493892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.550714057 meters Centerline goodness [0,1] 0.9866356002989405 Centerline is valid? [True, True] Translation: X:204.80, Y:-6.92, Z:2.52 [[ 9.98115381e-01 -5.37531919e-02 -2.96020200e-02 2.04799723e+02] [ 5.37979841e-02 9.98551582e-01 7.18218182e-04 -6.92183384e+00] [ 2.95205374e-02 -2.30939362e-03 9.99561506e-01 2.51533586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.580714057 meters Centerline goodness [0,1] 0.9861945967369047 Centerline is valid? [True, True] Translation: X:204.83, Y:-6.92, Z:2.52 [[ 9.98035691e-01 -5.50849610e-02 -2.98396644e-02 2.04830210e+02] [ 5.51310892e-02 9.98478862e-01 7.24724552e-04 -6.92333836e+00] [ 2.97543528e-02 -2.36839417e-03 9.99554435e-01 2.51573864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.610714057 meters Centerline goodness [0,1] 0.9862682632099308 Centerline is valid? [True, True] Translation: X:204.86, Y:-6.92, Z:2.52 [[ 9.98028069e-01 -5.48651904e-02 -3.04923706e-02 2.04861515e+02] [ 5.49132830e-02 9.98490852e-01 7.41404033e-04 -6.92381466e+00] [ 3.04056759e-02 -2.41437822e-03 9.99534725e-01 2.51625516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.640714057 meters Centerline goodness [0,1] 0.9871387602029561 Centerline is valid? [True, True] Translation: X:204.89, Y:-6.92, Z:2.52 [[ 9.98047567e-01 -5.42877664e-02 -3.08851626e-02 2.04892564e+02] [ 5.43368553e-02 9.98522379e-01 7.51707467e-04 -6.92144732e+00] [ 3.07987175e-02 -2.42844242e-03 9.99522657e-01 2.51699042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.670714057 meters Centerline goodness [0,1] 0.9874788196201836 Centerline is valid? [True, True] Translation: X:204.92, Y:-6.91, Z:2.52 [[ 9.98175258e-01 -5.17802570e-02 -3.10637874e-02 2.04923101e+02] [ 5.18287158e-02 9.98655703e-01 7.56276819e-04 -6.91281977e+00] [ 3.09828682e-02 -2.36489302e-03 9.99517118e-01 2.51905230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70071405699997 meters Centerline goodness [0,1] 0.987779098956269 Centerline is valid? [True, True] Translation: X:204.95, Y:-6.91, Z:2.52 [[ 9.98283358e-01 -5.00479943e-02 -3.04226256e-02 2.04952665e+02] [ 5.00936630e-02 9.98744250e-01 7.40356330e-04 -6.91278342e+00] [ 3.03473690e-02 -2.26306615e-03 9.99536851e-01 2.51985733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73071405699997 meters Centerline goodness [0,1] 0.9875348097069354 Centerline is valid? [True, True] Translation: X:204.98, Y:-6.92, Z:2.52 [[ 9.98485259e-01 -4.66357157e-02 -2.91941522e-02 2.04982570e+02] [ 4.66763044e-02 9.98909815e-01 7.09992907e-04 -6.91531254e+00] [ 2.91292142e-02 -2.07159259e-03 9.99573508e-01 2.52029014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76071405699997 meters Centerline goodness [0,1] 0.9883158475980122 Centerline is valid? [True, True] Translation: X:205.01, Y:-6.91, Z:2.52 [[ 9.98578291e-01 -4.51701623e-02 -2.83028866e-02 2.05012679e+02] [ 4.52077182e-02 9.98977371e-01 6.88127500e-04 -6.91451481e+00] [ 2.82428605e-02 -1.96665811e-03 9.99599156e-01 2.52125436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79071405699997 meters Centerline goodness [0,1] 0.9875850490412653 Centerline is valid? [True, True] Translation: X:205.04, Y:-6.91, Z:2.52 [[ 9.98663598e-01 -4.35273109e-02 -2.78637937e-02 2.05043685e+02] [ 4.35630808e-02 9.99050449e-01 6.77710686e-04 -6.90665716e+00] [ 2.78078367e-02 -1.89063769e-03 9.99611499e-01 2.52355488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82071405699998 meters Centerline goodness [0,1] 0.9871132305644893 Centerline is valid? [True, True] Translation: X:205.07, Y:-6.91, Z:2.52 [[ 9.98824726e-01 -4.05215610e-02 -2.65926748e-02 2.05073253e+02] [ 4.05530816e-02 9.99177176e-01 6.46856983e-04 -6.91031610e+00] [ 2.65445821e-02 -1.72451166e-03 9.99646143e-01 2.52312099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85071405699998 meters Centerline goodness [0,1] 0.9896943852167732 Centerline is valid? [True, True] Translation: X:205.10, Y:-6.90, Z:2.53 [[ 9.98884174e-01 -3.95924158e-02 -2.57458369e-02 2.05103921e+02] [ 3.96216492e-02 9.99214558e-01 6.26124705e-04 -6.89852215e+00] [ 2.57008253e-02 -1.64551858e-03 9.99668325e-01 2.52595365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88071405699998 meters Centerline goodness [0,1] 0.9882593159775396 Centerline is valid? [True, True] Translation: X:205.13, Y:-6.90, Z:2.53 [[ 9.98936162e-01 -3.86725582e-02 -2.51192660e-02 2.05134339e+02] [ 3.87001176e-02 9.99250683e-01 6.11749149e-04 -6.89840882e+00] [ 2.50767858e-02 -1.58321689e-03 9.99684274e-01 2.52622427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91071405699998 meters Centerline goodness [0,1] 0.9890593729152769 Centerline is valid? [True, True] Translation: X:205.17, Y:-6.90, Z:2.53 [[ 9.98933021e-01 -3.87294511e-02 -2.51565111e-02 2.05166167e+02] [ 3.87571435e-02 9.99248471e-01 6.13982064e-04 -6.89721273e+00] [ 2.51138261e-02 -1.58832147e-03 9.99683336e-01 2.52632143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94071405699998 meters Centerline goodness [0,1] 0.9883102135334327 Centerline is valid? [True, True] Translation: X:205.20, Y:-6.90, Z:2.53 [[ 9.98893878e-01 -3.94542962e-02 -2.55808257e-02 2.05197663e+02] [ 3.94831904e-02 9.99220039e-01 6.25224892e-04 -6.89766175e+00] [ 2.55362059e-02 -1.63454593e-03 9.99672562e-01 2.52606775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97071405699998 meters Centerline goodness [0,1] 0.9880340739752229 Centerline is valid? [True, True] Translation: X:205.23, Y:-6.90, Z:2.53 [[ 9.98797935e-01 -4.13728831e-02 -2.62863109e-02 2.05227975e+02] [ 4.14040790e-02 9.99142276e-01 6.43375829e-04 -6.89872223e+00] [ 2.62371462e-02 -1.73096294e-03 9.99654248e-01 2.52558121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00071405699998 meters Centerline goodness [0,1] 0.987848764883597 Centerline is valid? [True, True] Translation: X:205.26, Y:-6.90, Z:2.53 [[ 9.98712143e-01 -4.32795612e-02 -2.64751614e-02 2.05258318e+02] [ 4.33118855e-02 9.99061390e-01 6.48435998e-04 -6.90008632e+00] [ 2.64222475e-02 -1.79429006e-03 9.99649261e-01 2.52535059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03071405699998 meters Centerline goodness [0,1] 0.986889924416401 Centerline is valid? [True, True] Translation: X:205.29, Y:-6.90, Z:2.53 [[ 9.98626340e-01 -4.49909097e-02 -2.68561027e-02 2.05289421e+02] [ 4.50247997e-02 9.98985653e-01 6.58236780e-04 -6.90218477e+00] [ 2.67992466e-02 -1.86652323e-03 9.99639093e-01 2.52504380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06071405699998 meters Centerline goodness [0,1] 0.9882584043930532 Centerline is valid? [True, True] Translation: X:205.32, Y:-6.90, Z:2.53 [[ 9.98463329e-01 -4.85003529e-02 -2.68085103e-02 2.05319955e+02] [ 4.85353958e-02 9.98821247e-01 6.57625152e-04 -6.89756025e+00] [ 2.67450147e-02 -1.95777626e-03 9.99640371e-01 2.52646569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09071405699999 meters Centerline goodness [0,1] 0.9883718335007253 Centerline is valid? [True, True] Translation: X:205.35, Y:-6.90, Z:2.53 [[ 9.98387462e-01 -5.01161290e-02 -2.66617449e-02 2.05350930e+02] [ 5.01513714e-02 9.98741414e-01 6.54381677e-04 -6.89908730e+00] [ 2.65953938e-02 -1.99044954e-03 9.99644298e-01 2.52707174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.120714057 meters Centerline goodness [0,1] 0.9870367478078493 Centerline is valid? [True, True] Translation: X:205.38, Y:-6.90, Z:2.53 [[ 9.98238289e-01 -5.35174796e-02 -2.56163569e-02 2.05380380e+02] [ 5.35511256e-02 9.98564911e-01 6.28764534e-04 -6.90082111e+00] [ 2.55459452e-02 -1.99944158e-03 9.99671650e-01 2.52871976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.150714057 meters Centerline goodness [0,1] 0.9878968209579633 Centerline is valid? [True, True] Translation: X:205.41, Y:-6.90, Z:2.53 [[ 9.98193151e-01 -5.45822775e-02 -2.51238584e-02 2.05412762e+02] [ 5.46149948e-02 9.98507296e-01 6.17398773e-04 -6.89577762e+00] [ 2.50526569e-02 -1.98842262e-03 9.99684155e-01 2.53101885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.180714057 meters Centerline goodness [0,1] 0.9872258698467997 Centerline is valid? [True, True] Translation: X:205.44, Y:-6.90, Z:2.53 [[ 9.98062762e-01 -5.71391713e-02 -2.46137793e-02 2.05442736e+02] [ 5.71713679e-02 9.98364196e-01 6.05777883e-04 -6.90398436e+00] [ 2.45389024e-02 -2.01180778e-03 9.99696852e-01 2.53082128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.210714057 meters Centerline goodness [0,1] 0.987166347310726 Centerline is valid? [True, True] Translation: X:205.47, Y:-6.90, Z:2.53 [[ 9.98008017e-01 -5.80470514e-02 -2.47090632e-02 2.05474374e+02] [ 5.80797899e-02 9.98311759e-01 6.08761938e-04 -6.90152640e+00] [ 2.46320115e-02 -2.04264649e-03 9.99694499e-01 2.53175508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.240714057 meters Centerline goodness [0,1] 0.9873216761325522 Centerline is valid? [True, True] Translation: X:205.51, Y:-6.90, Z:2.53 [[ 9.97981039e-01 -5.83990190e-02 -2.49679979e-02 2.05506744e+02] [ 5.84325958e-02 9.98291166e-01 6.16703714e-04 -6.90278934e+00] [ 2.48893168e-02 -2.07440354e-03 9.99688061e-01 2.53166204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.270714057 meters Centerline goodness [0,1] 0.9866229743681825 Centerline is valid? [True, True] Translation: X:205.54, Y:-6.90, Z:2.53 [[ 9.97923154e-01 -5.87776758e-02 -2.63545900e-02 2.05538857e+02] [ 5.88152687e-02 9.98268670e-01 6.52873884e-04 -6.90404046e+00] [ 2.62705872e-02 -2.20157026e-03 9.99652444e-01 2.53084577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.300714057 meters Centerline goodness [0,1] 0.9859940839010398 Centerline is valid? [True, True] Translation: X:205.57, Y:-6.90, Z:2.53 [[ 9.98035301e-01 -5.68103628e-02 -2.64219885e-02 2.05569050e+02] [ 5.68474876e-02 9.98382659e-01 6.55452518e-04 -6.90459539e+00] [ 2.63420186e-02 -2.15618841e-03 9.99650663e-01 2.53090663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.330714057 meters Centerline goodness [0,1] 0.9869377861567465 Centerline is valid? [True, True] Translation: X:205.60, Y:-6.90, Z:2.53 [[ 9.98128688e-01 -5.53242070e-02 -2.60452510e-02 2.05600550e+02] [ 5.53597900e-02 9.98466262e-01 6.46582379e-04 -6.89991669e+00] [ 2.59695327e-02 -2.08723205e-03 9.99660556e-01 2.53227364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.360714057 meters Centerline goodness [0,1] 0.9865410497981157 Centerline is valid? [True, True] Translation: X:205.63, Y:-6.90, Z:2.53 [[ 9.98242102e-01 -5.33517538e-02 -2.58127108e-02 2.05632376e+02] [ 5.33860784e-02 9.98573740e-01 6.41962519e-04 -6.89937651e+00] [ 2.57416454e-02 -2.01887342e-03 9.99666590e-01 2.53268441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.390714057 meters Centerline goodness [0,1] 0.9864382423602847 Centerline is valid? [True, True] Translation: X:205.66, Y:-6.89, Z:2.53 [[ 9.98366049e-01 -5.08486961e-02 -2.60699545e-02 2.05663750e+02] [ 5.08828855e-02 9.98704416e-01 6.49329925e-04 -6.89325823e+00] [ 2.60031611e-02 -1.97478346e-03 9.99659910e-01 2.53401633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.420714057 meters Centerline goodness [0,1] 0.9872072559902532 Centerline is valid? [True, True] Translation: X:205.69, Y:-6.89, Z:2.53 [[ 9.98608732e-01 -4.56575389e-02 -2.63816183e-02 2.05693422e+02] [ 4.56907493e-02 9.98955416e-01 6.57104477e-04 -6.88974365e+00] [ 2.63240587e-02 -1.86158618e-03 9.99651729e-01 2.53397162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45071405699997 meters Centerline goodness [0,1] 0.9864919810255252 Centerline is valid? [True, True] Translation: X:205.72, Y:-6.89, Z:2.53 [[ 9.98810974e-01 -4.11278946e-02 -2.61750678e-02 2.05722976e+02] [ 4.11590262e-02 9.99152396e-01 6.51481735e-04 -6.88708584e+00] [ 2.61260876e-02 -1.72804741e-03 9.99657162e-01 2.53412640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48071405699997 meters Centerline goodness [0,1] 0.9862769439115224 Centerline is valid? [True, True] Translation: X:205.75, Y:-6.89, Z:2.54 [[ 9.98903721e-01 -3.87415519e-02 -2.62763826e-02 2.05754121e+02] [ 3.87721090e-02 9.99247865e-01 6.54235031e-04 -6.88571943e+00] [ 2.62312731e-02 -1.67230858e-03 9.99654502e-01 2.53515123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51071405699997 meters Centerline goodness [0,1] 0.9879234700800579 Centerline is valid? [True, True] Translation: X:205.78, Y:-6.88, Z:2.54 [[ 9.98994355e-01 -3.67631651e-02 -2.56661082e-02 2.05784882e+02] [ 3.67916852e-02 9.99322752e-01 6.39692823e-04 -6.88465825e+00] [ 2.56252087e-02 -1.58334889e-03 9.99670367e-01 2.53586570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54071405699997 meters Centerline goodness [0,1] 0.9891360813099943 Centerline is valid? [True, True] Translation: X:205.82, Y:-6.88, Z:2.54 [[ 9.99062711e-01 -3.50293898e-02 -2.54291442e-02 2.05815073e+02] [ 3.50568373e-02 9.99385119e-01 6.34232206e-04 -6.88470956e+00] [ 2.53912915e-02 -1.52510312e-03 9.99676426e-01 2.53686454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57071405699998 meters Centerline goodness [0,1] 0.9880150151508299 Centerline is valid? [True, True] Translation: X:205.85, Y:-6.88, Z:2.54 [[ 9.99162820e-01 -3.27362958e-02 -2.45355576e-02 2.05846341e+02] [ 3.27611688e-02 9.99463021e-01 6.12367415e-04 -6.88292057e+00] [ 2.45023359e-02 -1.41566830e-03 9.99698770e-01 2.53789020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60071405699998 meters Centerline goodness [0,1] 0.9879322033898305 Centerline is valid? [True, True] Translation: X:205.88, Y:-6.88, Z:2.54 [[ 9.99209019e-01 -3.16796663e-02 -2.40361290e-02 2.05877135e+02] [ 3.17032373e-02 9.99497146e-01 6.00121357e-04 -6.88388951e+00] [ 2.40050307e-02 -1.36166977e-03 9.99710910e-01 2.53928437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63071405699998 meters Centerline goodness [0,1] 0.986467011934249 Centerline is valid? [True, True] Translation: X:205.91, Y:-6.89, Z:2.54 [[ 9.99240387e-01 -3.12259823e-02 -2.33149701e-02 2.05907280e+02] [ 3.12480520e-02 9.99511490e-01 5.82778070e-04 -6.88596047e+00] [ 2.32853827e-02 -1.31088278e-03 9.99727999e-01 2.54027841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66071405699998 meters Centerline goodness [0,1] 0.9868914704154048 Centerline is valid? [True, True] Translation: X:205.94, Y:-6.88, Z:2.54 [[ 9.99240222e-01 -3.10669964e-02 -2.35334109e-02 2.05938998e+02] [ 3.10894657e-02 9.99516432e-01 5.89426111e-04 -6.88460274e+00] [ 2.35037192e-02 -1.32061945e-03 9.99722877e-01 2.54110452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69071405699998 meters Centerline goodness [0,1] 0.9882281307083418 Centerline is valid? [True, True] Translation: X:205.97, Y:-6.88, Z:2.54 [[ 9.99221283e-01 -3.13023950e-02 -2.40205852e-02 2.05970414e+02] [ 3.13258928e-02 9.99509042e-01 6.02479044e-04 -6.88313868e+00] [ 2.39899330e-02 -1.35447616e-03 9.99711283e-01 2.54167728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72071405699998 meters Centerline goodness [0,1] 0.9870835399666381 Centerline is valid? [True, True] Translation: X:206.00, Y:-6.89, Z:2.54 [[ 9.99119611e-01 -3.30140949e-02 -2.58857707e-02 2.06001342e+02] [ 3.30419762e-02 9.99453753e-01 6.49986508e-04 -6.88540127e+00] [ 2.58501719e-02 -1.50473129e-03 9.99664696e-01 2.54063499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75071405699998 meters Centerline goodness [0,1] 0.987643762238077 Centerline is valid? [True, True] Translation: X:206.03, Y:-6.89, Z:2.54 [[ 9.99042071e-01 -3.42035595e-02 -2.72957398e-02 2.06031878e+02] [ 3.42350183e-02 9.99413575e-01 6.85892246e-04 -6.88810639e+00] [ 2.72562730e-02 -1.61970536e-03 9.99627167e-01 2.54030614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78071405699998 meters Centerline goodness [0,1] 0.9882606935636217 Centerline is valid? [True, True] Translation: X:206.06, Y:-6.89, Z:2.54 [[ 9.98905974e-01 -3.67140730e-02 -2.89643192e-02 2.06061488e+02] [ 3.67505432e-02 9.99324206e-01 7.27630521e-04 -6.89220749e+00] [ 2.89180310e-02 -1.79128894e-03 9.99580181e-01 2.53990242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81071405699998 meters Centerline goodness [0,1] 0.9876454467855699 Centerline is valid? [True, True] Translation: X:206.09, Y:-6.89, Z:2.54 [[ 9.98833389e-01 -3.81729938e-02 -2.95750509e-02 2.06091658e+02] [ 3.82116382e-02 9.99269393e-01 7.42374534e-04 -6.89286708e+00] [ 2.95251045e-02 -1.87161962e-03 9.99562287e-01 2.54021453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84071405699999 meters Centerline goodness [0,1] 0.9863164764926968 Centerline is valid? [True, True] Translation: X:206.12, Y:-6.90, Z:2.54 [[ 9.98712211e-01 -4.07558575e-02 -3.02138918e-02 2.06121185e+02] [ 4.07973520e-02 9.99167154e-01 7.57912028e-04 -6.89572998e+00] [ 3.01578389e-02 -1.98958278e-03 9.99543169e-01 2.53944152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.870714057 meters Centerline goodness [0,1] 0.9878936256232873 Centerline is valid? [True, True] Translation: X:206.15, Y:-6.90, Z:2.54 [[ 9.98724196e-01 -4.07764933e-02 -2.97868743e-02 2.06150233e+02] [ 4.08168266e-02 9.99166367e-01 7.47027717e-04 -6.89772423e+00] [ 2.97315818e-02 -1.96188034e-03 9.99555993e-01 2.54023742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.900714057 meters Centerline goodness [0,1] 0.9869722284940167 Centerline is valid? [True, True] Translation: X:206.18, Y:-6.90, Z:2.54 [[ 9.98704516e-01 -4.12908535e-02 -2.97381201e-02 2.06181624e+02] [ 4.13313003e-02 9.99145218e-01 7.46429532e-04 -6.89832141e+00] [ 2.96818798e-02 -1.97457772e-03 9.99557446e-01 2.54083712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.930714057 meters Centerline goodness [0,1] 0.9809352436052206 Centerline is valid? [True, True] Translation: X:206.21, Y:-6.90, Z:2.54 [[ 9.98592053e-01 -4.44373083e-02 -2.89695929e-02 2.06212298e+02] [ 4.44770290e-02 9.99010142e-01 7.27866110e-04 -6.89901885e+00] [ 2.89085727e-02 -2.01532274e-03 9.99580028e-01 2.54114798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.960714057 meters Centerline goodness [0,1] 0.9791619272942355 Centerline is valid? [True, True] Translation: X:206.24, Y:-6.90, Z:2.54 [[ 9.98640229e-01 -4.36172352e-02 -2.85522262e-02 2.06243698e+02] [ 4.36555077e-02 9.99046386e-01 7.18156412e-04 -6.89770605e+00] [ 2.84936744e-02 -1.96364181e-03 9.99592044e-01 2.54158881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.990714057 meters Centerline goodness [0,1] 0.9793428942748352 Centerline is valid? [True, True] Translation: X:206.27, Y:-6.90, Z:2.54 [[ 9.98643834e-01 -4.33727550e-02 -2.87975171e-02 2.06274980e+02] [ 4.34116239e-02 9.99057008e-01 7.25607022e-04 -6.90103265e+00] [ 2.87388897e-02 -1.97476996e-03 9.99585002e-01 2.54235718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.020714057 meters Centerline goodness [0,1] 0.9782979594622262 Centerline is valid? [True, True] Translation: X:206.31, Y:-6.90, Z:2.54 [[ 9.98695004e-01 -4.18259962e-02 -2.93065577e-02 2.06305568e+02] [ 4.18656173e-02 9.99122977e-01 7.39389979e-04 -6.90151472e+00] [ 2.92499295e-02 -1.96536221e-03 9.99570197e-01 2.54330272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.050714057 meters Centerline goodness [0,1] 0.9795936959096292 Centerline is valid? [True, True] Translation: X:206.34, Y:-6.89, Z:2.55 [[ 9.98722798e-01 -4.12177193e-02 -2.92210933e-02 2.06337419e+02] [ 4.12568739e-02 9.99148300e-01 7.38037870e-04 -6.89336270e+00] [ 2.91657854e-02 -1.94266620e-03 9.99572700e-01 2.54575414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.080714057 meters Centerline goodness [0,1] 0.9796053684523401 Centerline is valid? [True, True] Translation: X:206.37, Y:-6.90, Z:2.55 [[ 9.98750285e-01 -4.01731502e-02 -2.97318986e-02 2.06368180e+02] [ 4.02132574e-02 9.99190837e-01 7.52009304e-04 -6.89578955e+00] [ 2.96776301e-02 -1.94668600e-03 9.99557626e-01 2.54588964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.110714057 meters Centerline goodness [0,1] 0.9791595177635943 Centerline is valid? [True, True] Translation: X:206.40, Y:-6.90, Z:2.55 [[ 9.98749888e-01 -3.98899051e-02 -3.01240347e-02 2.06397351e+02] [ 3.99309655e-02 9.99202150e-01 7.62458438e-04 -6.89814484e+00] [ 3.00695858e-02 -1.96438707e-03 9.99545877e-01 2.54566800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.140714057 meters Centerline goodness [0,1] 0.9796647180583673 Centerline is valid? [True, True] Translation: X:206.43, Y:-6.90, Z:2.55 [[ 9.98760563e-01 -3.96955241e-02 -3.00267064e-02 2.06427993e+02] [ 3.97362335e-02 9.99209915e-01 7.60045561e-04 -6.89895441e+00] [ 2.99728123e-02 -1.95225175e-03 9.99548808e-01 2.54549069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.170714057 meters Centerline goodness [0,1] 0.9780209758321934 Centerline is valid? [True, True] Translation: X:206.46, Y:-6.90, Z:2.54 [[ 9.98705622e-01 -4.00898156e-02 -3.13031460e-02 2.06456855e+02] [ 4.01342346e-02 9.99193983e-01 7.91714281e-04 -6.90219789e+00] [ 3.12461755e-02 -2.04701731e-03 9.99509623e-01 2.54417136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20071405699997 meters Centerline goodness [0,1] 0.977318789424544 Centerline is valid? [True, True] Translation: X:206.49, Y:-6.90, Z:2.54 [[ 9.98695136e-01 -4.01001619e-02 -3.16228222e-02 2.06486460e+02] [ 4.01454741e-02 9.99193526e-01 7.99027412e-04 -6.90459134e+00] [ 3.15652781e-02 -2.06749798e-03 9.99499554e-01 2.54376902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23071405699997 meters Centerline goodness [0,1] 0.9768707173264735 Centerline is valid? [True, True] Translation: X:206.52, Y:-6.91, Z:2.54 [[ 9.98713736e-01 -3.91297176e-02 -3.22449850e-02 2.06517266e+02] [ 3.91763206e-02 9.99231981e-01 8.14523343e-04 -6.90571502e+00] [ 3.21883482e-02 -2.07671552e-03 9.99479663e-01 2.54384778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26071405699997 meters Centerline goodness [0,1] 0.9775437156601235 Centerline is valid? [True, True] Translation: X:206.55, Y:-6.90, Z:2.54 [[ 9.98718356e-01 -3.82599198e-02 -3.31334399e-02 2.06546963e+02] [ 3.83086285e-02 9.99265605e-01 8.36271533e-04 -6.90433657e+00] [ 3.30771112e-02 -2.10449637e-03 9.99450587e-01 2.54492972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29071405699997 meters Centerline goodness [0,1] 0.9780805687203792 Centerline is valid? [True, True] Translation: X:206.58, Y:-6.90, Z:2.55 [[ 9.98762334e-01 -3.71775317e-02 -3.30398487e-02 2.06576211e+02] [ 3.72252134e-02 9.99306558e-01 8.28993951e-04 -6.90437166e+00] [ 3.29861175e-02 -2.05788335e-03 9.99453691e-01 2.54520591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32071405699998 meters Centerline goodness [0,1] 0.978746693423333 Centerline is valid? [True, True] Translation: X:206.61, Y:-6.91, Z:2.55 [[ 9.98858724e-01 -3.44075416e-02 -3.31265990e-02 2.06605393e+02] [ 3.44538399e-02 9.99405948e-01 8.27637990e-04 -6.90531612e+00] [ 3.30784431e-02 -1.96803197e-03 9.99450821e-01 2.54588092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35071405699998 meters Centerline goodness [0,1] 0.9790789264006192 Centerline is valid? [True, True] Translation: X:206.63, Y:-6.90, Z:2.55 [[ 9.98918336e-01 -3.31420643e-02 -3.26153726e-02 2.06634793e+02] [ 3.31861174e-02 9.99448861e-01 8.10129889e-04 -6.90454372e+00] [ 3.25705477e-02 -1.89163119e-03 9.99467649e-01 2.54711782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38071405699998 meters Centerline goodness [0,1] 0.9786150944253801 Centerline is valid? [True, True] Translation: X:206.66, Y:-6.91, Z:2.55 [[ 9.99049562e-01 -3.04163319e-02 -3.12220849e-02 2.06664177e+02] [ 3.04552704e-02 9.99535832e-01 7.72240144e-04 -6.90564650e+00] [ 3.11841039e-02 -1.72238322e-03 9.99512174e-01 2.54873187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41071405699998 meters Centerline goodness [0,1] 0.978645987310395 Centerline is valid? [True, True] Translation: X:206.69, Y:-6.91, Z:2.55 [[ 9.99100289e-01 -2.95663793e-02 -3.04046369e-02 2.06692131e+02] [ 2.96028561e-02 9.99561458e-01 7.50179079e-04 -6.90644000e+00] [ 3.03691231e-02 -1.64956823e-03 9.99537391e-01 2.54978238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44071405699998 meters Centerline goodness [0,1] 0.978645987310395 Centerline is valid? [True, True] Translation: X:206.72, Y:-6.91, Z:2.55 [[ 9.99092549e-01 -2.98266355e-02 -3.04047748e-02 2.06719561e+02] [ 2.98630619e-02 9.99553722e-01 7.44559321e-04 -6.90700949e+00] [ 3.03689981e-02 -1.65186334e-03 9.99537391e-01 2.55013471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47071405699998 meters Centerline goodness [0,1] 0.9792996887000386 Centerline is valid? [True, True] Translation: X:206.75, Y:-6.91, Z:2.55 [[ 9.99112712e-01 -2.96802200e-02 -2.98809891e-02 2.06747962e+02] [ 2.97151221e-02 9.99558146e-01 7.24558970e-04 -6.90712731e+00] [ 2.98462810e-02 -1.61183332e-03 9.99553201e-01 2.55107224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50071405699998 meters Centerline goodness [0,1] 0.9791140536482151 Centerline is valid? [True, True] Translation: X:206.78, Y:-6.91, Z:2.55 [[ 9.99164690e-01 -2.92739870e-02 -2.85123968e-02 2.06776930e+02] [ 2.93054174e-02 9.99570269e-01 6.85008313e-04 -6.90842363e+00] [ 2.84800912e-02 -1.52000381e-03 9.99593204e-01 2.55210900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53071405699998 meters Centerline goodness [0,1] 0.9803943815380426 Centerline is valid? [True, True] Translation: X:206.81, Y:-6.90, Z:2.55 [[ 9.99171598e-01 -2.96721259e-02 -2.78510949e-02 2.06806133e+02] [ 2.97020887e-02 9.99558576e-01 6.62648504e-04 -6.90422674e+00] [ 2.78191386e-02 -1.48933526e-03 9.99611863e-01 2.55429398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56071405699998 meters Centerline goodness [0,1] 0.9804006079441054 Centerline is valid? [True, True] Translation: X:206.84, Y:-6.90, Z:2.55 [[ 9.99137363e-01 -3.08842049e-02 -2.77614248e-02 2.06835442e+02] [ 3.09143414e-02 9.99521822e-01 6.56911621e-04 -6.90468508e+00] [ 2.77278617e-02 -1.51457111e-03 9.99614362e-01 2.55469006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59071405699999 meters Centerline goodness [0,1] 0.9796520870236636 Centerline is valid? [True, True] Translation: X:206.86, Y:-6.91, Z:2.55 [[ 9.99103577e-01 -3.16778586e-02 -2.80812451e-02 2.06863595e+02] [ 3.17089711e-02 9.99496924e-01 6.63224986e-04 -6.91042905e+00] [ 2.80461086e-02 -1.55305784e-03 9.99605424e-01 2.55421478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.620714057 meters Centerline goodness [0,1] 0.981035226782348 Centerline is valid? [True, True] Translation: X:206.89, Y:-6.91, Z:2.55 [[ 9.98985202e-01 -3.46843506e-02 -2.87325776e-02 2.06893689e+02] [ 3.47181354e-02 9.99396914e-01 6.77647232e-04 -6.91240477e+00] [ 2.86917457e-02 -1.67450108e-03 9.99586905e-01 2.55429473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.650714057 meters Centerline goodness [0,1] 0.9806186596464154 Centerline is valid? [True, True] Translation: X:206.92, Y:-6.91, Z:2.56 [[ 9.98903774e-01 -3.66769740e-02 -2.90869346e-02 2.06924295e+02] [ 3.67124327e-02 9.99325636e-01 6.85780322e-04 -6.91201373e+00] [ 2.90421670e-02 -1.75288068e-03 9.99576650e-01 2.55513878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.680714057 meters Centerline goodness [0,1] 0.9797023310604173 Centerline is valid? [True, True] Translation: X:206.95, Y:-6.92, Z:2.55 [[ 9.98828262e-01 -3.88282156e-02 -2.88872406e-02 2.06953433e+02] [ 3.88640767e-02 9.99244274e-01 6.80786942e-04 -6.92129020e+00] [ 2.88389761e-02 -1.80266517e-03 9.99582445e-01 2.55313394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.710714057 meters Centerline goodness [0,1] 0.9778265493133018 Centerline is valid? [True, True] Translation: X:206.98, Y:-6.92, Z:2.55 [[ 9.98758422e-01 -4.07059185e-02 -2.87165938e-02 2.06984178e+02] [ 4.07421233e-02 9.99169466e-01 6.76538990e-04 -6.92410590e+00] [ 2.86652045e-02 -1.84567402e-03 9.99587365e-01 2.55312707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.740714057 meters Centerline goodness [0,1] 0.9780177488001449 Centerline is valid? [True, True] Translation: X:207.01, Y:-6.93, Z:2.55 [[ 9.98615730e-01 -4.43741484e-02 -2.82410894e-02 2.07014583e+02] [ 4.44106232e-02 9.99013140e-01 6.65325400e-04 -6.93007925e+00] [ 2.81836961e-02 -1.91860879e-03 9.99600919e-01 2.55306246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.770714057 meters Centerline goodness [0,1] 0.9779024268880193 Centerline is valid? [True, True] Translation: X:207.05, Y:-6.93, Z:2.55 [[ 9.98534237e-01 -4.61870878e-02 -2.82157720e-02 2.07045477e+02] [ 4.62242247e-02 9.98930868e-01 6.64993081e-04 -6.92591893e+00] [ 2.81548915e-02 -1.96827054e-03 9.99601635e-01 2.55484286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.800714057 meters Centerline goodness [0,1] 0.9783469466253366 Centerline is valid? [True, True] Translation: X:207.08, Y:-6.93, Z:2.56 [[ 9.98480169e-01 -4.79408168e-02 -2.71850988e-02 2.07075359e+02] [ 4.79759415e-02 9.98848286e-01 6.40921431e-04 -6.92941769e+00] [ 2.71230631e-02 -1.94417805e-03 9.99630211e-01 2.55599564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.830714057 meters Centerline goodness [0,1] 0.9785392163527998 Centerline is valid? [True, True] Translation: X:207.11, Y:-6.93, Z:2.56 [[ 9.98481310e-01 -4.85060882e-02 -2.61195779e-02 2.07107869e+02] [ 4.85387290e-02 9.98821111e-01 6.16737788e-04 -6.93077047e+00] [ 2.60588703e-02 -1.88361227e-03 9.99658635e-01 2.55691254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.860714057 meters Centerline goodness [0,1] 0.9772588280595257 Centerline is valid? [True, True] Translation: X:207.14, Y:-6.93, Z:2.56 [[ 9.98494773e-01 -4.91107911e-02 -2.44196320e-02 2.07138876e+02] [ 4.91395353e-02 9.98791756e-01 5.78053651e-04 -6.93454164e+00] [ 2.43617385e-02 -1.77715292e-03 9.99701629e-01 2.55795125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.890714057 meters Centerline goodness [0,1] 0.9763563340972522 Centerline is valid? [True, True] Translation: X:207.17, Y:-6.94, Z:2.56 [[ 9.98482062e-01 -4.96622478e-02 -2.38166660e-02 2.07170875e+02] [ 4.96897794e-02 9.98764540e-01 5.65204267e-04 -6.93600925e+00] [ 2.37591722e-02 -1.74779120e-03 9.99716183e-01 2.55835059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.920714057 meters Centerline goodness [0,1] 0.9760041731872717 Centerline is valid? [True, True] Translation: X:207.20, Y:-6.94, Z:2.56 [[ 9.98469394e-01 -5.00143554e-02 -2.36100492e-02 2.07202682e+02] [ 5.00415476e-02 9.98746979e-01 5.61935901e-04 -6.93753509e+00] [ 2.35523604e-02 -1.74255920e-03 9.99721086e-01 2.55825821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95071405699997 meters Centerline goodness [0,1] 0.9745891765347637 Centerline is valid? [True, True] Translation: X:207.23, Y:-6.94, Z:2.56 [[ 9.98409330e-01 -5.10480269e-02 -2.39355247e-02 2.07233626e+02] [ 5.10763167e-02 9.98694589e-01 5.71657866e-04 -6.94118789e+00] [ 2.38750970e-02 -1.79328699e-03 9.99713341e-01 2.55758190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98071405699997 meters Centerline goodness [0,1] 0.9751674043808876 Centerline is valid? [True, True] Translation: X:207.27, Y:-6.94, Z:2.56 [[ 9.98392376e-01 -5.16247024e-02 -2.33998454e-02 2.07265897e+02] [ 5.16519422e-02 9.98664990e-01 5.60789631e-04 -6.94304166e+00] [ 2.33396558e-02 -1.76853555e-03 9.99726029e-01 2.55761433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01071405699997 meters Centerline goodness [0,1] 0.9732124599550133 Centerline is valid? [True, True] Translation: X:207.30, Y:-6.95, Z:2.56 [[ 9.98356254e-01 -5.24776010e-02 -2.30410890e-02 2.07296585e+02] [ 5.25042847e-02 9.98620545e-01 5.54245984e-04 -6.94549745e+00] [ 2.29802193e-02 -1.76309084e-03 9.99734365e-01 2.55809231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04071405699997 meters Centerline goodness [0,1] 0.9719315046628816 Centerline is valid? [True, True] Translation: X:207.33, Y:-6.95, Z:2.56 [[ 9.98336008e-01 -5.30065112e-02 -2.27051653e-02 2.07328126e+02] [ 5.30326029e-02 9.98592631e-01 5.48140729e-04 -6.94788730e+00] [ 2.26441558e-02 -1.75134265e-03 9.99742054e-01 2.55750552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07071405699998 meters Centerline goodness [0,1] 0.9708503316088155 Centerline is valid? [True, True] Translation: X:207.36, Y:-6.95, Z:2.56 [[ 9.98278639e-01 -5.37316655e-02 -2.35088758e-02 2.07359300e+02] [ 5.37598655e-02 9.98553731e-01 5.68731967e-04 -6.95004449e+00] [ 2.34443167e-02 -1.83158697e-03 9.99723466e-01 2.55638998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10071405699998 meters Centerline goodness [0,1] 0.9685831622176592 Centerline is valid? [True, True] Translation: X:207.39, Y:-6.95, Z:2.56 [[ 9.98223676e-01 -5.45082774e-02 -2.40487148e-02 2.07389937e+02] [ 5.45380361e-02 9.98511524e-01 5.82807686e-04 -6.95087225e+00] [ 2.39811510e-02 -1.89334211e-03 9.99710618e-01 2.55613767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13071405699998 meters Centerline goodness [0,1] 0.9671725843005288 Centerline is valid? [True, True] Translation: X:207.42, Y:-6.95, Z:2.56 [[ 9.98201306e-01 -5.51749334e-02 -2.34494969e-02 2.07421550e+02] [ 5.52034316e-02 9.98474966e-01 5.69213637e-04 -6.95148519e+00] [ 2.33823293e-02 -1.86268249e-03 9.99724861e-01 2.55668736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16071405699998 meters Centerline goodness [0,1] 0.9607063205573311 Centerline is valid? [True, True] Translation: X:207.45, Y:-6.95, Z:2.56 [[ 9.98140722e-01 -5.66679042e-02 -2.24465592e-02 2.07451710e+02] [ 5.66944078e-02 9.98391429e-01 5.45621109e-04 -6.95307415e+00] [ 2.23795332e-02 -1.81720103e-03 9.99747895e-01 2.55784937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19071405699998 meters Centerline goodness [0,1] 0.9571873854052072 Centerline is valid? [True, True] Translation: X:207.48, Y:-6.95, Z:2.56 [[ 9.98126310e-01 -5.71464189e-02 -2.18667994e-02 2.07484078e+02] [ 5.71717018e-02 9.98364219e-01 5.32306846e-04 -6.95393012e+00] [ 2.18006106e-02 -1.78147160e-03 9.99760751e-01 2.55851542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22071405699998 meters Centerline goodness [0,1] 0.9477594773647405 Centerline is valid? [True, False] Translation: X:207.48, Y:-6.95, Z:2.56 [[ 9.98288773e-01 -5.44160215e-02 -2.14108210e-02 2.07482623e+02] [ 5.45117700e-02 9.98505458e-01 3.91360361e-03 -6.95336990e+00] [ 2.11658589e-02 -5.07404829e-03 9.99763102e-01 2.55818936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25071405699998 meters Centerline goodness [0,1] 0.9762107638808926 Centerline is valid? [False, True] Translation: X:207.48, Y:-6.95, Z:2.56 [[ 9.98281918e-01 -5.44801255e-02 -2.15668491e-02 2.07482940e+02] [ 5.45699437e-02 9.98503469e-01 3.59782793e-03 -6.95212333e+00] [ 2.13385636e-02 -4.76854831e-03 9.99760935e-01 2.55816116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28071405699998 meters Centerline goodness [0,1] 0.9774482901745567 Centerline is valid? [True, True] Translation: X:207.52, Y:-6.95, Z:2.56 [[ 9.98244867e-01 -5.50462663e-02 -2.18424651e-02 2.07515610e+02] [ 5.50727464e-02 9.98482157e-01 6.12190327e-04 -6.95022500e+00] [ 2.17756128e-02 -1.81404039e-03 9.99761237e-01 2.55972855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31071405699998 meters Centerline goodness [0,1] 0.9731469813266125 Centerline is valid? [True, True] Translation: X:207.55, Y:-6.95, Z:2.56 [[ 9.98235452e-01 -5.49605486e-02 -2.24793151e-02 2.07546990e+02] [ 5.49886232e-02 9.98486781e-01 6.32220941e-04 -6.95126382e+00] [ 2.24105517e-02 -1.86721194e-03 9.99747108e-01 2.55942371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34071405699999 meters Centerline goodness [0,1] 0.9733333333333334 Centerline is valid? [True, True] Translation: X:207.58, Y:-6.95, Z:2.56 [[ 9.98240440e-01 -5.49942547e-02 -2.21733287e-02 2.07578909e+02] [ 5.50216286e-02 9.98484967e-01 6.25893480e-04 -6.95041352e+00] [ 2.21053148e-02 -1.84480484e-03 9.99753946e-01 2.55989077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.370714057 meters Centerline goodness [0,1] 0.9744835403798552 Centerline is valid? [True, True] Translation: X:207.61, Y:-6.95, Z:2.56 [[ 9.98291634e-01 -5.36714657e-02 -2.30908568e-02 2.07609703e+02] [ 5.37008307e-02 9.98556856e-01 6.53072008e-04 -6.94824362e+00] [ 2.30224820e-02 -1.89195451e-03 9.99733157e-01 2.55983615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.400714057 meters Centerline goodness [0,1] 0.9740990209013263 Centerline is valid? [True, True] Translation: X:207.64, Y:-6.94, Z:2.56 [[ 9.98313634e-01 -5.28923375e-02 -2.39225521e-02 2.07642211e+02] [ 5.29236640e-02 9.98598331e-01 6.77827739e-04 -6.94345276e+00] [ 2.38531687e-02 -1.94275378e-03 9.99713585e-01 2.56028039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.430714057 meters Centerline goodness [0,1] 0.9751941578764345 Centerline is valid? [True, True] Translation: X:207.67, Y:-6.94, Z:2.56 [[ 9.98352907e-01 -5.19177756e-02 -2.44134836e-02 2.07674790e+02] [ 5.19501541e-02 9.98649438e-01 6.93467649e-04 -6.94014304e+00] [ 2.43445084e-02 -1.96060968e-03 9.99701706e-01 2.56075896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.460714057 meters Centerline goodness [0,1] 0.9737771991816998 Centerline is valid? [True, True] Translation: X:207.70, Y:-6.94, Z:2.56 [[ 9.98477458e-01 -4.91532543e-02 -2.50344512e-02 2.07704664e+02] [ 4.91864612e-02 9.98789360e-01 7.12032010e-04 -6.94003684e+00] [ 2.49691448e-02 -1.94230397e-03 9.99686335e-01 2.56084561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.490714057 meters Centerline goodness [0,1] 0.9738034913181934 Centerline is valid? [True, True] Translation: X:207.74, Y:-6.94, Z:2.56 [[ 9.98541785e-01 -4.76874303e-02 -2.53024300e-02 2.07735545e+02] [ 4.77208951e-02 9.98860450e-01 7.20076301e-04 -6.93934247e+00] [ 2.52392580e-02 -1.92648088e-03 9.99679583e-01 2.56124365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.520714057 meters Centerline goodness [0,1] 0.9779265930886436 Centerline is valid? [True, True] Translation: X:207.77, Y:-6.93, Z:2.56 [[ 9.98665205e-01 -4.56954711e-02 -2.40776397e-02 2.07766430e+02] [ 4.57252077e-02 9.98953820e-01 6.85632767e-04 -6.92680775e+00] [ 2.40211198e-02 -1.78567266e-03 9.99709856e-01 2.56480367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.550714057 meters Centerline goodness [0,1] 0.9745847835735476 Centerline is valid? [True, True] Translation: X:207.80, Y:-6.94, Z:2.56 [[ 9.98717230e-01 -4.49431970e-02 -2.33238763e-02 2.07797041e+02] [ 4.49709289e-02 9.98988074e-01 6.65569378e-04 -6.93547678e+00] [ 2.32703614e-02 -1.71361199e-03 9.99727740e-01 2.56479969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.580714057 meters Centerline goodness [0,1] 0.9780235195099712 Centerline is valid? [True, True] Translation: X:207.83, Y:-6.92, Z:2.57 [[ 9.98772136e-01 -4.43370932e-02 -2.21007224e-02 2.07829672e+02] [ 4.43618948e-02 9.99015326e-01 6.32958114e-04 -6.92308890e+00] [ 2.20508969e-02 -1.61261085e-03 9.99755549e-01 2.56793406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.610714057 meters Centerline goodness [0,1] 0.9777158774373259 Centerline is valid? [True, True] Translation: X:207.86, Y:-6.92, Z:2.57 [[ 9.98794959e-01 -4.39862330e-02 -2.17678728e-02 2.07861623e+02] [ 4.40102441e-02 9.99030884e-01 6.24992395e-04 -6.92292114e+00] [ 2.17192861e-02 -1.58224865e-03 9.99762856e-01 2.56888024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.640714057 meters Centerline goodness [0,1] 0.9769713723469053 Centerline is valid? [True, True] Translation: X:207.89, Y:-6.92, Z:2.57 [[ 9.98801971e-01 -4.37629480e-02 -2.18958303e-02 2.07892503e+02] [ 4.37872202e-02 9.99040681e-01 6.30096021e-04 -6.92436567e+00] [ 2.18472503e-02 -1.58809869e-03 9.99760059e-01 2.56859044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.670714057 meters Centerline goodness [0,1] 0.9774896241236195 Centerline is valid? [True, True] Translation: X:207.93, Y:-6.92, Z:2.57 [[ 9.98778358e-01 -4.40634769e-02 -2.23651650e-02 2.07925087e+02] [ 4.40889073e-02 9.99027403e-01 6.45004445e-04 -6.92363139e+00] [ 2.23149915e-02 -1.63027217e-03 9.99749660e-01 2.56857612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70071405699997 meters Centerline goodness [0,1] 0.9764796923365537 Centerline is valid? [True, True] Translation: X:207.95, Y:-6.92, Z:2.57 [[ 9.98658688e-01 -4.57404551e-02 -2.42618350e-02 2.07954829e+02] [ 4.57709233e-02 9.98951716e-01 7.01681996e-04 -6.92460113e+00] [ 2.42043065e-02 -1.81122741e-03 9.99705392e-01 2.56756786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73071405699997 meters Centerline goodness [0,1] 0.9742785592248461 Centerline is valid? [True, True] Translation: X:207.99, Y:-6.93, Z:2.57 [[ 9.98581752e-01 -4.69500221e-02 -2.51034003e-02 2.07985861e+02] [ 4.69830660e-02 9.98895421e-01 7.27798378e-04 -6.92835783e+00] [ 2.50415015e-02 -1.90620089e-03 9.99684595e-01 2.56671928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76071405699997 meters Centerline goodness [0,1] 0.974452725823841 Centerline is valid? [True, True] Translation: X:208.02, Y:-6.93, Z:2.57 [[ 9.98497481e-01 -4.83419232e-02 -2.58038464e-02 2.08016901e+02] [ 4.83773234e-02 9.98828851e-01 7.49033493e-04 -6.92947074e+00] [ 2.57374166e-02 -1.99622908e-03 9.99666745e-01 2.56700799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79071405699997 meters Centerline goodness [0,1] 0.9745792467404789 Centerline is valid? [True, True] Translation: X:208.05, Y:-6.93, Z:2.57 [[ 9.98394969e-01 -5.00532459e-02 -2.64982684e-02 2.08048396e+02] [ 5.00911959e-02 9.98744351e-01 7.69914026e-04 -6.92775957e+00] [ 2.64264592e-02 -2.09600825e-03 9.99648563e-01 2.56713863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82071405699998 meters Centerline goodness [0,1] 0.9750234301780694 Centerline is valid? [True, True] Translation: X:208.08, Y:-6.93, Z:2.57 [[ 9.98361129e-01 -5.06370309e-02 -2.66635913e-02 2.08080922e+02] [ 5.06757017e-02 9.98714860e-01 7.76173946e-04 -6.92992956e+00] [ 2.65900217e-02 -2.12609810e-03 9.99644162e-01 2.56686520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85071405699998 meters Centerline goodness [0,1] 0.9741589354324806 Centerline is valid? [True, True] Translation: X:208.11, Y:-6.93, Z:2.57 [[ 9.98266754e-01 -5.19946428e-02 -2.75689249e-02 2.08111668e+02] [ 5.20365332e-02 9.98644858e-01 8.03743567e-04 -6.92816361e+00] [ 2.74897747e-02 -2.23694176e-03 9.99619582e-01 2.56715578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88071405699998 meters Centerline goodness [0,1] 0.9736725094193911 Centerline is valid? [True, True] Translation: X:208.14, Y:-6.93, Z:2.57 [[ 9.98272493e-01 -5.19495314e-02 -2.74458629e-02 2.08144174e+02] [ 5.19910665e-02 9.98647228e-01 8.01432459e-04 -6.92983387e+00] [ 2.73671009e-02 -2.22698766e-03 9.99622970e-01 2.56783296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91071405699998 meters Centerline goodness [0,1] 0.9739437277995887 Centerline is valid? [True, True] Translation: X:208.18, Y:-6.93, Z:2.57 [[ 9.98284324e-01 -5.16938924e-02 -2.74981908e-02 2.08175749e+02] [ 5.17355364e-02 9.98660496e-01 8.04663585e-04 -6.92972032e+00] [ 2.74197606e-02 -2.22591669e-03 9.99621529e-01 2.56823778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94071405699998 meters Centerline goodness [0,1] 0.9724110542668255 Centerline is valid? [True, True] Translation: X:208.21, Y:-6.93, Z:2.57 [[ 9.98302776e-01 -5.13493199e-02 -2.74738943e-02 2.08207618e+02] [ 5.13908078e-02 9.98678294e-01 8.05670174e-04 -6.93053541e+00] [ 2.73962113e-02 -2.21620839e-03 9.99622197e-01 2.56892006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97071405699998 meters Centerline goodness [0,1] 0.972092805469061 Centerline is valid? [True, True] Translation: X:208.24, Y:-6.93, Z:2.57 [[ 9.98338803e-01 -5.08917865e-02 -2.70122186e-02 2.08240046e+02] [ 5.09317759e-02 9.98701819e-01 7.94024121e-04 -6.93065818e+00] [ 2.69367426e-02 -2.16848535e-03 9.99634788e-01 2.56937900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00071405699998 meters Centerline goodness [0,1] 0.9726458030310139 Centerline is valid? [True, True] Translation: X:208.27, Y:-6.93, Z:2.57 [[ 9.98377679e-01 -5.02880462e-02 -2.67043482e-02 2.08272249e+02] [ 5.03269641e-02 9.98732485e-01 7.86849181e-04 -6.93194119e+00] [ 2.66309310e-02 -2.12952144e-03 9.99643066e-01 2.57029370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03071405699998 meters Centerline goodness [0,1] 0.972142035720153 Centerline is valid? [True, True] Translation: X:208.30, Y:-6.93, Z:2.57 [[ 9.98462599e-01 -4.92298747e-02 -2.54726743e-02 2.08303327e+02] [ 4.92649751e-02 9.98785461e-01 7.51865783e-04 -6.93090025e+00] [ 2.54047224e-02 -2.00562053e-03 9.99675236e-01 2.57186022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06071405699998 meters Centerline goodness [0,1] 0.9729805930172454 Centerline is valid? [True, True] Translation: X:208.33, Y:-6.93, Z:2.57 [[ 9.98529816e-01 -4.78865251e-02 -2.53985785e-02 2.08334002e+02] [ 4.79210122e-02 9.98850846e-01 7.50570499e-04 -6.92959640e+00] [ 2.53334494e-02 -1.96659261e-03 9.99677122e-01 2.57242524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09071405699999 meters Centerline goodness [0,1] 0.9734523697352304 Centerline is valid? [True, True] Translation: X:208.36, Y:-6.93, Z:2.57 [[ 9.98644360e-01 -4.51607800e-02 -2.58833053e-02 2.08364333e+02] [ 4.51956982e-02 9.98977859e-01 7.65352528e-04 -6.92801860e+00] [ 2.58222850e-02 -1.93412904e-03 9.99664678e-01 2.57202987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.120714057 meters Centerline goodness [0,1] 0.9743650213428295 Centerline is valid? [True, True] Translation: X:208.40, Y:-6.93, Z:2.57 [[ 9.98686540e-01 -4.39021625e-02 -2.64158268e-02 2.08395830e+02] [ 4.39381075e-02 9.99033949e-01 7.81565174e-04 -6.92696998e+00] [ 2.63559953e-02 -1.94120006e-03 9.99650736e-01 2.57269130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.150714057 meters Centerline goodness [0,1] 0.9742134513941221 Centerline is valid? [True, True] Translation: X:208.43, Y:-6.93, Z:2.57 [[ 9.98761706e-01 -4.23062506e-02 -2.61770147e-02 2.08427591e+02] [ 4.23410323e-02 9.99102915e-01 7.75614792e-04 -6.92744026e+00] [ 2.61207183e-02 -1.88301618e-03 9.99657022e-01 2.57277748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.180714057 meters Centerline goodness [0,1] 0.9747158486731728 Centerline is valid? [True, True] Translation: X:208.46, Y:-6.93, Z:2.57 [[ 9.98850050e-01 -3.92848104e-02 -2.74823880e-02 2.08457196e+02] [ 3.93220300e-02 9.99226258e-01 8.14977093e-04 -6.92726895e+00] [ 2.74291075e-02 -1.89470320e-03 9.99621956e-01 2.57216347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.210714057 meters Centerline goodness [0,1] 0.9747881355932203 Centerline is valid? [True, True] Translation: X:208.49, Y:-6.92, Z:2.57 [[ 9.98897859e-01 -3.78527469e-02 -2.77531481e-02 2.08488312e+02] [ 3.78901677e-02 9.99281570e-01 8.23511281e-04 -6.92475233e+00] [ 2.77020373e-02 -1.87417509e-03 9.99614468e-01 2.57247751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.240714057 meters Centerline goodness [0,1] 0.9761149512356785 Centerline is valid? [True, True] Translation: X:208.52, Y:-6.92, Z:2.57 [[ 9.98955202e-01 -3.55150691e-02 -2.87608127e-02 2.08520057e+02] [ 3.55543224e-02 9.99367380e-01 8.54417491e-04 -6.91682768e+00] [ 2.87122733e-02 -1.87609600e-03 9.99585957e-01 2.57329762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.270714057 meters Centerline goodness [0,1] 0.9774699165464905 Centerline is valid? [True, True] Translation: X:208.55, Y:-6.91, Z:2.57 [[ 9.98997755e-01 -3.42431388e-02 -2.88251980e-02 2.08551514e+02] [ 3.42820705e-02 9.99411829e-01 8.57356671e-04 -6.91223106e+00] [ 2.87788853e-02 -1.84468486e-03 9.99584100e-01 2.57476806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.300714057 meters Centerline goodness [0,1] 0.9769953943307536 Centerline is valid? [True, True] Translation: X:208.58, Y:-6.91, Z:2.57 [[ 9.99048898e-01 -3.30378128e-02 -2.84570259e-02 2.08582334e+02] [ 3.30752978e-02 9.99452503e-01 8.47421202e-04 -6.91356301e+00] [ 2.84134489e-02 -1.78783983e-03 9.99594658e-01 2.57488517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.330714057 meters Centerline goodness [0,1] 0.9767981438515081 Centerline is valid? [True, True] Translation: X:208.61, Y:-6.91, Z:2.58 [[ 9.99144512e-01 -3.08040433e-02 -2.75926623e-02 2.08612680e+02] [ 3.08384485e-02 9.99524044e-01 8.22125142e-04 -6.91111998e+00] [ 2.75542046e-02 -1.67233672e-03 9.99618912e-01 2.57647328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.360714057 meters Centerline goodness [0,1] 0.9767981438515081 Centerline is valid? [True, True] Translation: X:208.64, Y:-6.91, Z:2.58 [[ 9.99145611e-01 -3.07683851e-02 -2.75926465e-02 2.08643573e+02] [ 3.08027913e-02 9.99525143e-01 8.22652460e-04 -6.91207060e+00] [ 2.75542323e-02 -1.67188013e-03 9.99618912e-01 2.57686958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.390714057 meters Centerline goodness [0,1] 0.974750593824228 Centerline is valid? [True, True] Translation: X:208.67, Y:-6.92, Z:2.57 [[ 9.99168341e-01 -2.99063049e-02 -2.77171444e-02 2.08674255e+02] [ 2.99407193e-02 9.99551334e-01 8.27351868e-04 -6.92125466e+00] [ 2.76799656e-02 -1.65653503e-03 9.99615464e-01 2.57496536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.420714057 meters Centerline goodness [0,1] 0.976003044212429 Centerline is valid? [True, True] Translation: X:208.70, Y:-6.92, Z:2.58 [[ 9.99214083e-01 -2.83878179e-02 -2.76649286e-02 2.08704901e+02] [ 2.84215353e-02 9.99595685e-01 8.26246293e-04 -6.91758869e+00] [ 2.76302880e-02 -1.61187668e-03 9.99616911e-01 2.57556570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45071405699997 meters Centerline goodness [0,1] 0.9763362764644451 Centerline is valid? [True, True] Translation: X:208.74, Y:-6.92, Z:2.58 [[ 9.99226135e-01 -2.78861585e-02 -2.77397568e-02 2.08735588e+02] [ 2.79198660e-02 9.99609821e-01 8.28481127e-04 -6.91725888e+00] [ 2.77058302e-02 -1.60233029e-03 9.99614836e-01 2.57611376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48071405699997 meters Centerline goodness [0,1] 0.9774382576925814 Centerline is valid? [True, True] Translation: X:208.77, Y:-6.92, Z:2.58 [[ 9.99252224e-01 -2.76800158e-02 -2.69964622e-02 2.08765746e+02] [ 2.77118654e-02 9.99615627e-01 8.06281741e-04 -6.91607986e+00] [ 2.69637676e-02 -1.55380115e-03 9.99635204e-01 2.57702378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51071405699997 meters Centerline goodness [0,1] 0.9762085848742691 Centerline is valid? [True, True] Translation: X:208.80, Y:-6.92, Z:2.58 [[ 9.99252836e-01 -2.80013320e-02 -2.66400957e-02 2.08796025e+02] [ 2.80324597e-02 9.99606697e-01 7.95638427e-04 -6.91712056e+00] [ 2.66073391e-02 -1.54183136e-03 9.99644773e-01 2.57791418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54071405699997 meters Centerline goodness [0,1] 0.9756155528092024 Centerline is valid? [True, True] Translation: X:208.83, Y:-6.92, Z:2.58 [[ 9.99254681e-01 -2.83081531e-02 -2.62436767e-02 2.08826653e+02] [ 2.83384724e-02 9.99598077e-01 7.84030802e-04 -6.92010282e+00] [ 2.62109343e-02 -1.52715216e-03 9.99655268e-01 2.57845889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57071405699998 meters Centerline goodness [0,1] 0.9770833333333333 Centerline is valid? [True, True] Translation: X:208.86, Y:-6.92, Z:2.58 [[ 9.99233817e-01 -2.93618353e-02 -2.58778109e-02 2.08857558e+02] [ 2.93916784e-02 9.99567672e-01 7.73547206e-04 -6.92043193e+00] [ 2.58439104e-02 -1.53354682e-03 9.99664814e-01 2.57987868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60071405699998 meters Centerline goodness [0,1] 0.9767541053529537 Centerline is valid? [True, True] Translation: X:208.89, Y:-6.92, Z:2.58 [[ 9.99224005e-01 -2.97462443e-02 -2.58176238e-02 2.08888620e+02] [ 2.97760938e-02 9.99556295e-01 7.72419023e-04 -6.92335128e+00] [ 2.57831918e-02 -1.54056762e-03 9.99666371e-01 2.57952960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63071405699998 meters Centerline goodness [0,1] 0.9745778744738212 Centerline is valid? [True, True] Translation: X:208.92, Y:-6.93, Z:2.58 [[ 9.99140252e-01 -3.16972050e-02 -2.67216162e-02 2.08918581e+02] [ 3.17298896e-02 9.99496160e-01 7.99921220e-04 -6.92779520e+00] [ 2.66827976e-02 -1.64710742e-03 9.99642594e-01 2.57863566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66071405699998 meters Centerline goodness [0,1] 0.9763124955718773 Centerline is valid? [True, True] Translation: X:208.95, Y:-6.93, Z:2.58 [[ 9.99119906e-01 -3.24129680e-02 -2.66235468e-02 2.08948438e+02] [ 3.24456970e-02 9.99473181e-01 7.98149090e-04 -6.93110363e+00] [ 2.65836506e-02 -1.66126618e-03 9.99645212e-01 2.57861293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69071405699998 meters Centerline goodness [0,1] 0.9753624896852529 Centerline is valid? [True, True] Translation: X:208.98, Y:-6.93, Z:2.58 [[ 9.99096033e-01 -3.31707365e-02 -2.65860585e-02 2.08979374e+02] [ 3.32036814e-02 9.99448287e-01 7.98565504e-04 -6.93404171e+00] [ 2.65449016e-02 -1.68059865e-03 9.99646209e-01 2.57861393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72071405699998 meters Centerline goodness [0,1] 0.9748712861933777 Centerline is valid? [True, True] Translation: X:209.01, Y:-6.94, Z:2.58 [[ 9.99063265e-01 -3.42445486e-02 -2.64556910e-02 2.09008992e+02] [ 3.42775574e-02 9.99412036e-01 7.95077460e-04 -6.93863681e+00] [ 2.64129089e-02 -1.70116915e-03 9.99649671e-01 2.57868576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75071405699998 meters Centerline goodness [0,1] 0.9757744616547034 Centerline is valid? [True, True] Translation: X:209.04, Y:-6.94, Z:2.58 [[ 9.99077482e-01 -3.41986930e-02 -2.59737361e-02 2.09040167e+02] [ 3.42305059e-02 9.99413659e-01 7.81045697e-04 -6.93649376e+00] [ 2.59317959e-02 -1.66941929e-03 9.99662320e-01 2.58038185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78071405699998 meters Centerline goodness [0,1] 0.974376990818812 Centerline is valid? [True, True] Translation: X:209.07, Y:-6.94, Z:2.58 [[ 9.99150204e-01 -3.32578661e-02 -2.43471653e-02 2.09070852e+02] [ 3.32855594e-02 9.99445613e-01 7.32945740e-04 -6.94337052e+00] [ 2.43092913e-02 -1.54273190e-03 9.99703295e-01 2.58066442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81071405699998 meters Centerline goodness [0,1] 0.9758129029222155 Centerline is valid? [True, True] Translation: X:209.10, Y:-6.94, Z:2.58 [[ 9.99191747e-01 -3.23389990e-02 -2.38755349e-02 2.09102514e+02] [ 3.23653875e-02 9.99475845e-01 7.19557113e-04 -6.94024469e+00] [ 2.38397506e-02 -1.49171647e-03 9.99714680e-01 2.58229873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84071405699999 meters Centerline goodness [0,1] 0.9756120417008317 Centerline is valid? [True, True] Translation: X:209.13, Y:-6.94, Z:2.58 [[ 9.99226648e-01 -3.15866388e-02 -2.34177134e-02 2.09132475e+02] [ 3.16118331e-02 9.99499972e-01 7.06363861e-04 -6.94189578e+00] [ 2.33836923e-02 -1.44609444e-03 9.99725518e-01 2.58321027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.870714057 meters Centerline goodness [0,1] 0.9759994352808301 Centerline is valid? [True, True] Translation: X:209.16, Y:-6.94, Z:2.58 [[ 9.99288841e-01 -3.02770631e-02 -2.24746946e-02 2.09163313e+02] [ 3.02999505e-02 9.99540621e-01 6.78451093e-04 -6.94455509e+00] [ 2.24438286e-02 -1.35895074e-03 9.99747182e-01 2.58299698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.900714057 meters Centerline goodness [0,1] 0.9777417383537818 Centerline is valid? [True, True] Translation: X:209.19, Y:-6.94, Z:2.58 [[ 9.99305271e-01 -2.97939155e-02 -2.23896776e-02 2.09194677e+02] [ 2.98165263e-02 9.99555160e-01 6.76644764e-04 -6.94198130e+00] [ 2.23595579e-02 -1.34375709e-03 9.99749091e-01 2.58332810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.930714057 meters Centerline goodness [0,1] 0.9764603925610156 Centerline is valid? [True, True] Translation: X:209.22, Y:-6.95, Z:2.58 [[ 9.99292801e-01 -2.97279176e-02 -2.30249715e-02 2.09224657e+02] [ 2.97518271e-02 9.99557074e-01 6.96475221e-04 -6.95061411e+00] [ 2.29940684e-02 -1.38101764e-03 9.99734648e-01 2.58096915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.960714057 meters Centerline goodness [0,1] 0.9766836949899236 Centerline is valid? [True, True] Translation: X:209.26, Y:-6.95, Z:2.58 [[ 9.99259000e-01 -3.00310039e-02 -2.40746752e-02 2.09256364e+02] [ 3.00572459e-02 9.99547913e-01 7.28826975e-04 -6.95283764e+00] [ 2.40419040e-02 -1.45190535e-03 9.99709897e-01 2.58039914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.990714057 meters Centerline goodness [0,1] 0.9780060026261489 Centerline is valid? [True, True] Translation: X:209.29, Y:-6.95, Z:2.58 [[ 9.99230278e-01 -3.05392249e-02 -2.46212641e-02 2.09287984e+02] [ 3.05668467e-02 9.99532446e-01 7.46208712e-04 -6.94981428e+00] [ 2.45869637e-02 -1.49822874e-03 9.99696572e-01 2.58113766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.020714057 meters Centerline goodness [0,1] 0.9762753188297074 Centerline is valid? [True, True] Translation: X:209.32, Y:-6.96, Z:2.58 [[ 9.99189327e-01 -3.11859784e-02 -2.54582868e-02 2.09318157e+02] [ 3.12157468e-02 9.99512371e-01 7.72629368e-04 -6.95898033e+00] [ 2.54217774e-02 -1.56670245e-03 9.99675587e-01 2.57953859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.050714057 meters Centerline goodness [0,1] 0.9775262505554126 Centerline is valid? [True, True] Translation: X:209.35, Y:-6.96, Z:2.58 [[ 9.99102782e-01 -3.29448589e-02 -2.66133012e-02 2.09349264e+02] [ 3.29780353e-02 9.99455750e-01 8.08550215e-04 -6.95773912e+00] [ 2.65721793e-02 -1.68547916e-03 9.99645476e-01 2.58036268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.080714057 meters Centerline goodness [0,1] 0.977245088868101 Centerline is valid? [True, True] Translation: X:209.38, Y:-6.96, Z:2.58 [[ 9.99053495e-01 -3.46633247e-02 -2.62786801e-02 2.09379168e+02] [ 3.46962940e-02 9.99397583e-01 7.99538390e-04 -6.96352867e+00] [ 2.62351347e-02 -1.71055443e-03 9.99654336e-01 2.58007876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.110714057 meters Centerline goodness [0,1] 0.9769674601135275 Centerline is valid? [True, True] Translation: X:209.41, Y:-6.97, Z:2.58 [[ 9.99019507e-01 -3.54855617e-02 -2.64726371e-02 2.09409625e+02] [ 3.55193369e-02 9.99368664e-01 8.06568418e-04 -6.96744445e+00] [ 2.64273024e-02 -1.74606810e-03 9.99649213e-01 2.58007282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.140714057 meters Centerline goodness [0,1] 0.9771370152652246 Centerline is valid? [True, True] Translation: X:209.44, Y:-6.97, Z:2.58 [[ 9.99010629e-01 -3.61651224e-02 -2.58813960e-02 2.09441126e+02] [ 3.61976487e-02 9.99344339e-01 7.89194964e-04 -6.96979078e+00] [ 2.58358852e-02 -1.72525984e-03 9.99664709e-01 2.58101333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.170714057 meters Centerline goodness [0,1] 0.9765526573654986 Centerline is valid? [True, True] Translation: X:209.47, Y:-6.97, Z:2.58 [[ 9.98980892e-01 -3.74097074e-02 -2.52525574e-02 2.09472232e+02] [ 3.74410885e-02 9.99298539e-01 7.70853081e-04 -6.96993204e+00] [ 2.52060064e-02 -1.71555073e-03 9.99680806e-01 2.58299215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20071405699997 meters Centerline goodness [0,1] 0.9779991115475439 Centerline is valid? [True, True] Translation: X:209.50, Y:-6.97, Z:2.58 [[ 9.98985236e-01 -3.78115121e-02 -2.44701333e-02 2.09504135e+02] [ 3.78411282e-02 9.99283488e-01 7.48207881e-04 -6.96697030e+00] [ 2.44243093e-02 -1.67342608e-03 9.99700281e-01 2.58473070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23071405699997 meters Centerline goodness [0,1] 0.976460432997387 Centerline is valid? [True, True] Translation: X:209.53, Y:-6.97, Z:2.59 [[ 9.98957886e-01 -3.92614966e-02 -2.32739524e-02 2.09534677e+02] [ 3.92887282e-02 9.99227645e-01 7.13764109e-04 -6.97127622e+00] [ 2.32279532e-02 -1.62742428e-03 9.99728870e-01 2.58591440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26071405699997 meters Centerline goodness [0,1] 0.9774761092548891 Centerline is valid? [True, True] Translation: X:209.57, Y:-6.97, Z:2.59 [[ 9.98946523e-01 -3.96779103e-02 -2.30544512e-02 2.09566459e+02] [ 3.97047929e-02 9.99211202e-01 7.09289712e-04 -6.97372144e+00] [ 2.30081227e-02 -1.62391470e-03 9.99733959e-01 2.58655226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29071405699997 meters Centerline goodness [0,1] 0.9777969742248785 Centerline is valid? [True, True] Translation: X:209.60, Y:-6.97, Z:2.59 [[ 9.98926198e-01 -4.02942308e-02 -2.28654068e-02 2.09598806e+02] [ 4.03208712e-02 9.99186534e-01 7.05072771e-04 -6.97232547e+00] [ 2.28183962e-02 -1.62626879e-03 9.99738304e-01 2.58743610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32071405699998 meters Centerline goodness [0,1] 0.977491436959713 Centerline is valid? [True, True] Translation: X:209.63, Y:-6.98, Z:2.59 [[ 9.98875702e-01 -4.15842319e-02 -2.27614483e-02 2.09630423e+02] [ 4.16109964e-02 9.99133640e-01 7.03306969e-04 -6.97635061e+00] [ 2.27124822e-02 -1.64964279e-03 9.99740677e-01 2.58787671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35071405699998 meters Centerline goodness [0,1] 0.9786131216437077 Centerline is valid? [True, True] Translation: X:209.66, Y:-6.98, Z:2.59 [[ 9.98846696e-01 -4.21066630e-02 -2.30717729e-02 2.09662416e+02] [ 4.21343343e-02 9.99111699e-01 7.14332949e-04 -6.97508777e+00] [ 2.30212001e-02 -1.68562290e-03 9.99733556e-01 2.58834598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38071405699998 meters Centerline goodness [0,1] 0.9746497200083649 Centerline is valid? [True, True] Translation: X:209.69, Y:-6.99, Z:2.59 [[ 9.98838808e-01 -4.22429215e-02 -2.31640268e-02 2.09693710e+02] [ 4.22708855e-02 9.99105928e-01 7.18679817e-04 -6.98716344e+00] [ 2.31129574e-02 -1.69700921e-03 9.99731420e-01 2.58716534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41071405699998 meters Centerline goodness [0,1] 0.9785747554727526 Centerline is valid? [True, True] Translation: X:209.73, Y:-6.98, Z:2.59 [[ 9.98854332e-01 -4.17813600e-02 -2.33311191e-02 2.09726031e+02] [ 4.18096373e-02 9.99125332e-01 7.25305059e-04 -6.98060606e+00] [ 2.32804079e-02 -1.69993973e-03 9.99727529e-01 2.58856121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44071405699998 meters Centerline goodness [0,1] 0.9754699839262003 Centerline is valid? [True, True] Translation: X:209.76, Y:-6.99, Z:2.59 [[ 9.98863227e-01 -4.12519193e-02 -2.38858377e-02 2.09756781e+02] [ 4.12814433e-02 9.99147281e-01 7.44065721e-04 -6.99098322e+00] [ 2.38347757e-02 -1.72926174e-03 9.99714416e-01 2.58728353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47071405699998 meters Centerline goodness [0,1] 0.9790778406840475 Centerline is valid? [True, True] Translation: X:209.79, Y:-6.98, Z:2.59 [[ 9.98910674e-01 -4.02193197e-02 -2.36615877e-02 2.09789518e+02] [ 4.02480373e-02 9.99189447e-01 7.38509791e-04 -6.98431302e+00] [ 2.36127063e-02 -1.69003778e-03 9.99719753e-01 2.58875050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50071405699998 meters Centerline goodness [0,1] 0.9782917238651434 Centerline is valid? [True, True] Translation: X:209.82, Y:-6.99, Z:2.59 [[ 9.98942242e-01 -3.94052028e-02 -2.36986847e-02 2.09821393e+02] [ 3.94338218e-02 9.99221909e-01 7.41322935e-04 -6.98629535e+00] [ 2.36510330e-02 -1.67506851e-03 9.99718872e-01 2.58943701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53071405699998 meters Centerline goodness [0,1] 0.9775511154580597 Centerline is valid? [True, True] Translation: X:209.85, Y:-6.99, Z:2.59 [[ 9.99033714e-01 -3.77350530e-02 -2.25322864e-02 2.09851415e+02] [ 3.77605235e-02 9.99286568e-01 7.05853566e-04 -6.99085826e+00] [ 2.24895757e-02 -1.55600244e-03 9.99745867e-01 2.58894772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56071405699998 meters Centerline goodness [0,1] 0.9784781295030911 Centerline is valid? [True, True] Translation: X:209.88, Y:-6.99, Z:2.59 [[ 9.99086480e-01 -3.65939960e-02 -2.20699944e-02 2.09883482e+02] [ 3.66181702e-02 9.99329090e-01 6.92070199e-04 -6.98854868e+00] [ 2.20298618e-02 -1.49960079e-03 9.99756188e-01 2.58971018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59071405699999 meters Centerline goodness [0,1] 0.9784448681579314 Centerline is valid? [True, True] Translation: X:209.92, Y:-6.99, Z:2.59 [[ 9.99112710e-01 -3.56664113e-02 -2.23986580e-02 2.09915890e+02] [ 3.56911088e-02 9.99362622e-01 7.03707676e-04 -6.98947139e+00] [ 2.23592828e-02 -1.50251622e-03 9.99748871e-01 2.58993845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.620714057 meters Centerline goodness [0,1] 0.9792978461395478 Centerline is valid? [True, True] Translation: X:209.95, Y:-6.99, Z:2.59 [[ 9.99192344e-01 -3.30649560e-02 -2.28334805e-02 2.09946922e+02] [ 3.30899701e-02 9.99452119e-01 7.18437711e-04 -6.98778470e+00] [ 2.27972154e-02 -1.47341665e-03 9.99739024e-01 2.59056747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.650714057 meters Centerline goodness [0,1] 0.9786248166344564 Centerline is valid? [True, True] Translation: X:209.98, Y:-6.99, Z:2.59 [[ 9.99226639e-01 -3.17998690e-02 -2.31277233e-02 2.09977379e+02] [ 3.18252079e-02 9.99493184e-01 7.28272664e-04 -6.99224762e+00] [ 2.30928428e-02 -1.46375405e-03 9.99732253e-01 2.59004360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.680714057 meters Centerline goodness [0,1] 0.9803492942024604 Centerline is valid? [True, True] Translation: X:210.01, Y:-6.99, Z:2.59 [[ 9.99283062e-01 -2.90332346e-02 -2.42988361e-02 2.10008413e+02] [ 2.90604070e-02 9.99577364e-01 7.65811719e-04 -6.98744493e+00] [ 2.42663325e-02 -1.47139674e-03 9.99704446e-01 2.59058856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.710714057 meters Centerline goodness [0,1] 0.9799939446165312 Centerline is valid? [True, True] Translation: X:210.04, Y:-6.99, Z:2.59 [[ 9.99302786e-01 -2.79794119e-02 -2.47203254e-02 2.10039172e+02] [ 2.80072198e-02 9.99607417e-01 7.79322148e-04 -6.98786787e+00] [ 2.46888156e-02 -1.47112638e-03 9.99694102e-01 2.59084927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.740714057 meters Centerline goodness [0,1] 0.9812137719114463 Centerline is valid? [True, True] Translation: X:210.07, Y:-6.99, Z:2.59 [[ 9.99358619e-01 -2.52127329e-02 -2.54296706e-02 2.10069141e+02] [ 2.52412676e-02 9.99681067e-01 8.01684656e-04 -6.98879477e+00] [ 2.54013476e-02 -1.44304759e-03 9.99676292e-01 2.59019030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.770714057 meters Centerline goodness [0,1] 0.9823284581579743 Centerline is valid? [True, True] Translation: X:210.10, Y:-6.98, Z:2.59 [[ 9.99391505e-01 -2.36943698e-02 -2.55967974e-02 2.10098860e+02] [ 2.37227728e-02 9.99718250e-01 8.06495637e-04 -6.98421968e+00] [ 2.55704761e-02 -1.41323190e-03 9.99672023e-01 2.59165666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.800714057 meters Centerline goodness [0,1] 0.982330590456654 Centerline is valid? [True, True] Translation: X:210.13, Y:-6.98, Z:2.59 [[ 9.99438664e-01 -2.17819120e-02 -2.54539827e-02 2.10127731e+02] [ 2.18093459e-02 9.99761827e-01 8.00636270e-04 -6.98439055e+00] [ 2.54304809e-02 -1.35532156e-03 9.99675674e-01 2.59227271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.830714057 meters Centerline goodness [0,1] 0.9815535111214627 Centerline is valid? [True, True] Translation: X:210.16, Y:-6.99, Z:2.59 [[ 9.99486989e-01 -1.99565286e-02 -2.50498676e-02 2.10155836e+02] [ 1.99824821e-02 9.99800021e-01 7.86157763e-04 -6.98514890e+00] [ 2.50291692e-02 -1.28631299e-03 9.99685894e-01 2.59317725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.860714057 meters Centerline goodness [0,1] 0.9812735827083431 Centerline is valid? [True, True] Translation: X:210.19, Y:-6.98, Z:2.60 [[ 9.99600138e-01 -1.56013104e-02 -2.35831069e-02 2.10185975e+02] [ 1.56230815e-02 9.99877679e-01 7.39189164e-04 -6.98387240e+00] [ 2.35686898e-02 -1.10733439e-03 9.99721607e-01 2.59527953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.890714057 meters Centerline goodness [0,1] 0.9819849252094369 Centerline is valid? [True, True] Translation: X:210.22, Y:-6.98, Z:2.60 [[ 9.99646367e-01 -1.35716983e-02 -2.28680991e-02 2.10215028e+02] [ 1.35916086e-02 9.99907374e-01 7.15452084e-04 -6.98422048e+00] [ 2.28562710e-02 -1.02601333e-03 9.99738235e-01 2.59635557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.920714057 meters Centerline goodness [0,1] 0.9828149046308818 Centerline is valid? [True, True] Translation: X:210.25, Y:-6.98, Z:2.60 [[ 9.99715771e-01 -9.83738730e-03 -2.17164170e-02 2.10245348e+02] [ 9.85442713e-03 9.99951214e-01 6.77774876e-04 -6.98375017e+00] [ 2.17086900e-02 -8.91585082e-04 9.99763941e-01 2.59756947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95071405699997 meters Centerline goodness [0,1] 0.9825945317044793 Centerline is valid? [True, True] Translation: X:210.27, Y:-6.98, Z:2.60 [[ 9.99735475e-01 -8.29640318e-03 -2.14510868e-02 2.10274136e+02] [ 8.31262559e-03 9.99965227e-01 6.67192897e-04 -6.98453925e+00] [ 2.14448056e-02 -8.45331262e-04 9.99769676e-01 2.59794881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98071405699997 meters Centerline goodness [0,1] 0.9819169016381982 Centerline is valid? [True, True] Translation: X:210.30, Y:-6.99, Z:2.60 [[ 9.99753644e-01 -6.99315857e-03 -2.10653028e-02 2.10301838e+02] [ 7.00843487e-03 9.99975228e-01 6.51448889e-04 -6.98735282e+00] [ 2.10602253e-02 -7.98923203e-04 9.99777890e-01 2.59845556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01071405699997 meters Centerline goodness [0,1] 0.9832772035768204 Centerline is valid? [True, True] Translation: X:210.33, Y:-6.99, Z:2.60 [[ 9.99760602e-01 -5.89418174e-03 -2.10712607e-02 2.10330916e+02] [ 5.90915572e-03 9.99982331e-01 6.48442106e-04 -6.98550241e+00] [ 2.10670663e-02 -7.72800231e-04 9.99777766e-01 2.59939532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04071405699997 meters Centerline goodness [0,1] 0.9823874301870177 Centerline is valid? [True, True] Translation: X:210.36, Y:-6.99, Z:2.60 [[ 9.99755496e-01 -5.33446526e-03 -2.14590531e-02 2.10359025e+02] [ 5.34974988e-03 9.99985476e-01 6.54924629e-04 -6.99067129e+00] [ 2.14552477e-02 -7.69565064e-04 9.99769513e-01 2.59854456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07071405699998 meters Centerline goodness [0,1] 0.9835803612783696 Centerline is valid? [True, True] Translation: X:210.39, Y:-6.99, Z:2.60 [[ 9.99727793e-01 -5.28029516e-03 -2.27257263e-02 2.10387208e+02] [ 5.29728305e-03 9.99985733e-01 6.87382351e-04 -6.99114174e+00] [ 2.27217725e-02 -8.07579846e-04 9.99741501e-01 2.59803801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10071405699998 meters Centerline goodness [0,1] 0.983012850143293 Centerline is valid? [True, True] Translation: X:210.42, Y:-6.99, Z:2.60 [[ 9.99727201e-01 -5.75845092e-03 -2.26354587e-02 2.10415047e+02] [ 5.77528216e-03 9.99983093e-01 6.78277001e-04 -6.99410758e+00] [ 2.26311702e-02 -8.08818129e-04 9.99743555e-01 2.59777404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13071405699998 meters Centerline goodness [0,1] 0.9843684965083476 Centerline is valid? [True, True] Translation: X:210.44, Y:-7.00, Z:2.60 [[ 9.99721134e-01 -6.48559891e-03 -2.27066499e-02 2.10443810e+02] [ 6.50258548e-03 9.99978631e-01 6.74331948e-04 -6.99556138e+00] [ 2.27017913e-02 -8.21795832e-04 9.99741943e-01 2.59809171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16071405699998 meters Centerline goodness [0,1] 0.9836829836829837 Centerline is valid? [True, True] Translation: X:210.47, Y:-7.00, Z:2.60 [[ 9.99708371e-01 -6.96545691e-03 -2.31226253e-02 2.10471850e+02] [ 6.98310393e-03 9.99975385e-01 6.82534713e-04 -6.99935212e+00] [ 2.31173020e-02 -8.43803361e-04 9.99732403e-01 2.59789467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19071405699998 meters Centerline goodness [0,1] 0.9845742350526874 Centerline is valid? [True, True] Translation: X:210.50, Y:-7.00, Z:2.60 [[ 9.99684278e-01 -8.44078530e-03 -2.36663745e-02 2.10500385e+02] [ 8.45959403e-03 9.99963976e-01 6.94737885e-04 -7.00279735e+00] [ 2.36596578e-02 -8.94726462e-04 9.99719671e-01 2.59740498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22071405699998 meters Centerline goodness [0,1] 0.9854423808974507 Centerline is valid? [True, True] Translation: X:210.53, Y:-7.01, Z:2.60 [[ 9.99673052e-01 -9.63928688e-03 -2.36827655e-02 2.10528925e+02] [ 9.65831828e-03 9.99953120e-01 6.89341902e-04 -7.00620167e+00] [ 2.36750105e-02 -9.17852209e-04 9.99719286e-01 2.59741861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25071405699998 meters Centerline goodness [0,1] 0.9854423808974507 Centerline is valid? [True, True] Translation: X:210.56, Y:-7.01, Z:2.60 [[ 9.99670281e-01 -9.92210980e-03 -2.36829459e-02 2.10556312e+02] [ 9.94107278e-03 9.99950353e-01 6.83100229e-04 -7.00692176e+00] [ 2.36749923e-02 -9.18308887e-04 9.99719286e-01 2.59777109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28071405699998 meters Centerline goodness [0,1] 0.9839590600330457 Centerline is valid? [True, True] Translation: X:210.58, Y:-7.01, Z:2.60 [[ 9.99657359e-01 -1.18924624e-02 -2.33181010e-02 2.10584553e+02] [ 1.19112755e-02 9.99928835e-01 6.68069117e-04 -7.01116061e+00] [ 2.33084966e-02 -9.45588534e-04 9.99727873e-01 2.59803785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31071405699998 meters Centerline goodness [0,1] 0.9839373970345964 Centerline is valid? [True, True] Translation: X:210.61, Y:-7.02, Z:2.60 [[ 9.99659716e-01 -1.27581844e-02 -2.27525941e-02 2.10612512e+02] [ 1.27762742e-02 9.99918169e-01 6.49874544e-04 -7.01526947e+00] [ 2.27424410e-02 -9.40346784e-04 9.99740915e-01 2.59805587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34071405699999 meters Centerline goodness [0,1] 0.98416 Centerline is valid? [True, True] Translation: X:210.64, Y:-7.02, Z:2.60 [[ 9.99671267e-01 -1.30935923e-02 -2.20434958e-02 2.10639614e+02] [ 1.31106043e-02 9.99913856e-01 6.27398540e-04 -7.02055090e+00] [ 2.20333820e-02 -9.16195844e-04 9.99756816e-01 2.59888410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.370714057 meters Centerline goodness [0,1] 0.9851493065868537 Centerline is valid? [True, True] Translation: X:210.67, Y:-7.02, Z:2.60 [[ 9.99678139e-01 -1.35739359e-02 -2.14328270e-02 2.10667036e+02] [ 1.35900445e-02 9.99907467e-01 6.06102609e-04 -7.02271075e+00] [ 2.14226166e-02 -8.97180601e-04 9.99770107e-01 2.59970310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.400714057 meters Centerline goodness [0,1] 0.9852770244091438 Centerline is valid? [True, True] Translation: X:210.69, Y:-7.02, Z:2.60 [[ 9.99678117e-01 -1.38014976e-02 -2.12880424e-02 2.10694753e+02] [ 1.38173144e-02 9.99904359e-01 5.96071112e-04 -7.02335480e+00] [ 2.12777797e-02 -8.90022822e-04 9.99773206e-01 2.60118967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.430714057 meters Centerline goodness [0,1] 0.9859774727529755 Centerline is valid? [True, True] Translation: X:210.72, Y:-7.03, Z:2.60 [[ 9.99692313e-01 -1.37760587e-02 -2.06276608e-02 2.10723480e+02] [ 1.37907915e-02 9.99904739e-01 5.72135186e-04 -7.02731857e+00] [ 2.06178140e-02 -8.56430915e-04 9.99787063e-01 2.60171099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.460714057 meters Centerline goodness [0,1] 0.9856115107913669 Centerline is valid? [True, True] Translation: X:210.75, Y:-7.03, Z:2.60 [[ 9.99697127e-01 -1.40372254e-02 -2.02141190e-02 2.10750269e+02] [ 1.40513346e-02 9.99901120e-01 5.56121856e-04 -7.03026406e+00] [ 2.02043139e-02 -8.39988773e-04 9.99795519e-01 2.60227869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.490714057 meters Centerline goodness [0,1] 0.9862442779384636 Centerline is valid? [True, True] Translation: X:210.78, Y:-7.03, Z:2.60 [[ 9.99699435e-01 -1.47050430e-02 -1.96163359e-02 2.10778784e+02] [ 1.47183776e-02 9.99891535e-01 5.35561022e-04 -7.03162529e+00] [ 1.96063328e-02 -8.24120690e-04 9.99807438e-01 2.60235999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.520714057 meters Centerline goodness [0,1] 0.9868594853108631 Centerline is valid? [True, True] Translation: X:210.81, Y:-7.03, Z:2.60 [[ 9.99679307e-01 -1.57695633e-02 -1.98142204e-02 2.10807158e+02] [ 1.57832779e-02 9.99875293e-01 5.35958199e-04 -7.03337959e+00] [ 1.98032976e-02 -8.48519668e-04 9.99803535e-01 2.60260490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.550714057 meters Centerline goodness [0,1] 0.9866123925825419 Centerline is valid? [True, True] Translation: X:210.84, Y:-7.04, Z:2.60 [[ 9.99630849e-01 -1.79513779e-02 -2.03939527e-02 2.10835169e+02] [ 1.79662799e-02 9.99838443e-01 5.47710794e-04 -7.04018336e+00] [ 2.03808257e-02 -9.13912069e-04 9.99791872e-01 2.60208029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.580714057 meters Centerline goodness [0,1] 0.9857534992400354 Centerline is valid? [True, True] Translation: X:210.86, Y:-7.04, Z:2.60 [[ 9.99584850e-01 -1.96649775e-02 -2.10574703e-02 2.10862749e+02] [ 1.96812080e-02 9.99806147e-01 5.63788260e-04 -7.04482899e+00] [ 2.10423013e-02 -9.77990655e-04 9.99778108e-01 2.60148475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.610714057 meters Centerline goodness [0,1] 0.9853643016226535 Centerline is valid? [True, True] Translation: X:210.89, Y:-7.05, Z:2.60 [[ 9.99491789e-01 -2.28319116e-02 -2.22456346e-02 2.10893329e+02] [ 2.28507819e-02 9.99738710e-01 5.94407432e-04 -7.04972089e+00] [ 2.22262505e-02 -1.10243549e-03 9.99752359e-01 2.60115487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.640714057 meters Centerline goodness [0,1] 0.9847586598523567 Centerline is valid? [True, True] Translation: X:210.92, Y:-7.05, Z:2.60 [[ 9.99437479e-01 -2.46431352e-02 -2.27473324e-02 2.10922727e+02] [ 2.46633262e-02 9.99695629e-01 6.07457812e-04 -7.05228307e+00] [ 2.27254391e-02 -1.16814098e-03 9.99741061e-01 2.60132564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.670714057 meters Centerline goodness [0,1] 0.9843604585177619 Centerline is valid? [True, True] Translation: X:210.95, Y:-7.06, Z:2.60 [[ 9.99405852e-01 -2.58088645e-02 -2.28439209e-02 2.10951035e+02] [ 2.58295041e-02 9.99666177e-01 6.08854297e-04 -7.05648109e+00] [ 2.28205812e-02 -1.19853970e-03 9.99738858e-01 2.60125893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70071405699997 meters Centerline goodness [0,1] 0.9836191857171988 Centerline is valid? [True, True] Translation: X:210.98, Y:-7.06, Z:2.60 [[ 9.99383919e-01 -2.74720126e-02 -2.18419684e-02 2.10979556e+02] [ 2.74912434e-02 9.99621876e-01 5.80614067e-04 -7.06227291e+00] [ 2.18177588e-02 -1.18071923e-03 9.99761267e-01 2.60171622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73071405699997 meters Centerline goodness [0,1] 0.9838921315777567 Centerline is valid? [True, True] Translation: X:211.01, Y:-7.06, Z:2.60 [[ 9.99378975e-01 -2.80316768e-02 -2.13515859e-02 2.11009869e+02] [ 2.80501616e-02 9.99606356e-01 5.66673103e-04 -7.06442802e+00] [ 2.13272962e-02 -1.16523662e-03 9.99771868e-01 2.60284473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76071405699997 meters Centerline goodness [0,1] 0.983775245402234 Centerline is valid? [True, True] Translation: X:211.04, Y:-7.07, Z:2.60 [[ 9.99369710e-01 -2.90848648e-02 -2.03531925e-02 2.11039204e+02] [ 2.91018760e-02 9.99576305e-01 5.40046606e-04 -7.06857402e+00] [ 2.03288618e-02 -1.13202231e-03 9.99792706e-01 2.60405757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79071405699997 meters Centerline goodness [0,1] 0.9828502907305595 Centerline is valid? [True, True] Translation: X:211.07, Y:-7.07, Z:2.60 [[ 9.99341177e-01 -3.00853116e-02 -2.02998941e-02 2.11070335e+02] [ 3.01024403e-02 9.99546674e-01 5.38668032e-04 -7.07015239e+00] [ 2.02744856e-02 -1.14938949e-03 9.99793791e-01 2.60480081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82071405699998 meters Centerline goodness [0,1] 0.9831341121072172 Centerline is valid? [True, True] Translation: X:211.10, Y:-7.07, Z:2.60 [[ 9.99319219e-01 -3.09883789e-02 -2.00204739e-02 2.11101472e+02] [ 3.10052332e-02 9.99519081e-01 5.31927358e-04 -7.07166732e+00] [ 1.99943621e-02 -1.15230470e-03 9.99799429e-01 2.60499346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85071405699998 meters Centerline goodness [0,1] 0.9823673026494258 Centerline is valid? [True, True] Translation: X:211.13, Y:-7.08, Z:2.60 [[ 9.99240239e-01 -3.29563834e-02 -2.08043681e-02 2.11131840e+02] [ 3.29750209e-02 9.99456023e-01 5.53340185e-04 -7.07566237e+00] [ 2.07748149e-02 -1.23894425e-03 9.99783413e-01 2.60425743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88071405699998 meters Centerline goodness [0,1] 0.9831559882273035 Centerline is valid? [True, True] Translation: X:211.16, Y:-7.07, Z:2.60 [[ 9.99180912e-01 -3.42554920e-02 -2.15421855e-02 2.11163525e+02] [ 3.42757873e-02 9.99412248e-01 5.73489374e-04 -7.07339266e+00] [ 2.15098788e-02 -1.31139500e-03 9.99767776e-01 2.60452856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91071405699998 meters Centerline goodness [0,1] 0.9814145702542794 Centerline is valid? [True, True] Translation: X:211.19, Y:-7.08, Z:2.60 [[ 9.99044552e-01 -3.70212127e-02 -2.32252760e-02 2.11193084e+02] [ 3.70455598e-02 9.99313386e-01 6.18774656e-04 -7.08161565e+00] [ 2.31864215e-02 -1.47857680e-03 9.99730065e-01 2.60278444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94071405699998 meters Centerline goodness [0,1] 0.9839080978604315 Centerline is valid? [True, True] Translation: X:211.22, Y:-7.07, Z:2.60 [[ 9.98985478e-01 -3.84018809e-02 -2.35225684e-02 2.11224413e+02] [ 3.84272455e-02 9.99261204e-01 6.27075950e-04 -7.07310850e+00] [ 2.34811091e-02 -1.53034728e-03 9.99723109e-01 2.60482693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97071405699998 meters Centerline goodness [0,1] 0.9841305775020941 Centerline is valid? [True, True] Translation: X:211.26, Y:-7.07, Z:2.61 [[ 9.98914654e-01 -4.01688464e-02 -2.35791999e-02 2.11255833e+02] [ 4.01948433e-02 9.99191662e-01 6.29433379e-04 -7.07180447e+00] [ 2.35348563e-02 -1.57651247e-03 9.99721774e-01 2.60602083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00071405699998 meters Centerline goodness [0,1] 0.9815839608092171 Centerline is valid? [True, True] Translation: X:211.29, Y:-7.08, Z:2.61 [[ 9.98797796e-01 -4.30990840e-02 -2.33544723e-02 2.11285656e+02] [ 4.31254097e-02 9.99069472e-01 6.24508444e-04 -7.08065161e+00] [ 2.33058245e-02 -1.63092884e-03 9.99727052e-01 2.60628116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03071405699998 meters Centerline goodness [0,1] 0.9833601595973793 Centerline is valid? [True, True] Translation: X:211.32, Y:-7.08, Z:2.61 [[ 9.98767806e-01 -4.39270233e-02 -2.30930038e-02 2.11318277e+02] [ 4.39530167e-02 9.99033407e-01 6.18987926e-04 -7.07539513e+00] [ 2.30434920e-02 -1.63323240e-03 9.99733129e-01 2.60819902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06071405699998 meters Centerline goodness [0,1] 0.9819613359956435 Centerline is valid? [True, True] Translation: X:211.35, Y:-7.07, Z:2.61 [[ 9.98715637e-01 -4.53080247e-02 -2.26772874e-02 2.11350306e+02] [ 4.53334808e-02 9.98971723e-01 6.09448685e-04 -7.07388574e+00] [ 2.26263559e-02 -1.63670630e-03 9.99742651e-01 2.60983777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09071405699999 meters Centerline goodness [0,1] 0.9828024321626282 Centerline is valid? [True, True] Translation: X:211.38, Y:-7.07, Z:2.61 [[ 9.98709408e-01 -4.56853239e-02 -2.21894105e-02 2.11382332e+02] [ 4.57098235e-02 9.98954581e-01 5.97906745e-04 -7.07289290e+00] [ 2.21388977e-02 -1.61140913e-03 9.99753606e-01 2.61082781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.120714057 meters Centerline goodness [0,1] 0.9814634146341463 Centerline is valid? [True, True] Translation: X:211.41, Y:-7.08, Z:2.61 [[ 9.98714019e-01 -4.58574544e-02 -2.16194774e-02 2.11413923e+02] [ 4.58807929e-02 9.98946751e-01 5.84472923e-04 -7.07539717e+00] [ 2.15699042e-02 -1.57564007e-03 9.99766101e-01 2.61151335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.150714057 meters Centerline goodness [0,1] 0.981610134859011 Centerline is valid? [True, True] Translation: X:211.45, Y:-7.07, Z:2.61 [[ 9.98700133e-01 -4.65122267e-02 -2.08484522e-02 2.11445896e+02] [ 4.65341135e-02 9.98916541e-01 5.65635785e-04 -7.07485765e+00] [ 2.07995548e-02 -1.53506477e-03 9.99782487e-01 2.61286540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.180714057 meters Centerline goodness [0,1] 0.9809495697191254 Centerline is valid? [True, True] Translation: X:211.48, Y:-7.07, Z:2.61 [[ 9.98613334e-01 -4.81722257e-02 -2.12331093e-02 2.11476867e+02] [ 4.81953235e-02 9.98837763e-01 5.77139737e-04 -7.07397147e+00] [ 2.11806293e-02 -1.59967601e-03 9.99774386e-01 2.61408196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.210714057 meters Centerline goodness [0,1] 0.9803458762652626 Centerline is valid? [True, True] Translation: X:211.51, Y:-7.08, Z:2.61 [[ 9.98481095e-01 -5.06563101e-02 -2.16666024e-02 2.11507513e+02] [ 5.06809504e-02 9.98714721e-01 5.89304998e-04 -7.07588391e+00] [ 2.16089027e-02 -1.68649390e-03 9.99765078e-01 2.61359282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.240714057 meters Centerline goodness [0,1] 0.9806725937379204 Centerline is valid? [True, True] Translation: X:211.54, Y:-7.07, Z:2.61 [[ 9.98387710e-01 -5.23283631e-02 -2.19937048e-02 2.11538738e+02] [ 5.23541649e-02 9.98628401e-01 5.98591546e-04 -7.07285136e+00] [ 2.19322149e-02 -1.74908849e-03 9.99757930e-01 2.61391180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.270714057 meters Centerline goodness [0,1] 0.9791808873720137 Centerline is valid? [True, True] Translation: X:211.57, Y:-7.08, Z:2.61 [[ 9.98274531e-01 -5.41273607e-02 -2.27637900e-02 2.11568367e+02] [ 5.41554899e-02 9.98532322e-01 6.20598569e-04 -7.07962679e+00] [ 2.26967887e-02 -1.85231195e-03 9.99740679e-01 2.61310716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.300714057 meters Centerline goodness [0,1] 0.9793694841233737 Centerline is valid? [True, True] Translation: X:211.60, Y:-7.08, Z:2.61 [[ 9.98132460e-01 -5.62642111e-02 -2.37893129e-02 2.11599156e+02] [ 5.62955659e-02 9.98413936e-01 6.49841568e-04 -7.07799078e+00] [ 2.37150187e-02 -1.98786079e-03 9.99716783e-01 2.61264130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.330714057 meters Centerline goodness [0,1] 0.9786813336666742 Centerline is valid? [True, True] Translation: X:211.63, Y:-7.08, Z:2.61 [[ 9.97847051e-01 -6.01444006e-02 -2.61517624e-02 2.11630325e+02] [ 6.01836333e-02 9.98187066e-01 7.14985446e-04 -7.07741297e+00] [ 2.60613486e-02 -2.28735420e-03 9.99657728e-01 2.61106925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.360714057 meters Centerline goodness [0,1] 0.9804189435336976 Centerline is valid? [True, True] Translation: X:211.66, Y:-7.08, Z:2.61 [[ 9.97725149e-01 -6.13981076e-02 -2.78352149e-02 2.11661089e+02] [ 6.14430581e-02 9.98110300e-01 7.61648108e-04 -7.07822662e+00] [ 2.77358509e-02 -2.47019620e-03 9.99612235e-01 2.61055397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.390714057 meters Centerline goodness [0,1] 0.9796211447719346 Centerline is valid? [True, True] Translation: X:211.69, Y:-7.08, Z:2.61 [[ 9.97720907e-01 -6.14226403e-02 -2.79329636e-02 2.11693297e+02] [ 6.14679528e-02 9.98108764e-01 7.65619682e-04 -7.07868005e+00] [ 2.78331094e-02 -2.48085685e-03 9.99609505e-01 2.61070952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.420714057 meters Centerline goodness [0,1] 0.9575438356476731 Centerline is valid? [True, True] Translation: X:211.72, Y:-7.09, Z:2.61 [[ 9.97735306e-01 -6.12604888e-02 -2.77742823e-02 2.11723978e+02] [ 6.13052721e-02 9.98118771e-01 7.62959014e-04 -7.08852307e+00] [ 2.76752933e-02 -2.46394108e-03 9.99613929e-01 2.60983885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45071405699997 meters Centerline goodness [0,1] 0.9794454848581738 Centerline is valid? [True, True] Translation: X:211.76, Y:-7.08, Z:2.61 [[ 9.97797830e-01 -6.03955257e-02 -2.74202599e-02 2.11756985e+02] [ 6.04389032e-02 9.98171613e-01 7.55178243e-04 -7.07841390e+00] [ 2.73245157e-02 -2.41076565e-03 9.99623709e-01 2.61241605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48071405699997 meters Centerline goodness [0,1] 0.9771343556878004 Centerline is valid? [True, True] Translation: X:211.79, Y:-7.08, Z:2.61 [[ 9.97958686e-01 -5.82386614e-02 -2.62053380e-02 2.11787280e+02] [ 5.82775686e-02 9.98300157e-01 7.22789799e-04 -7.07750584e+00] [ 2.61186987e-02 -2.24849774e-03 9.99656320e-01 2.61404188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51071405699997 meters Centerline goodness [0,1] 0.9791714194460921 Centerline is valid? [True, True] Translation: X:211.82, Y:-7.07, Z:2.62 [[ 9.98041498e-01 -5.70885115e-02 -2.55748027e-02 2.11818466e+02] [ 5.71252050e-02 9.98366773e-01 7.05855531e-04 -7.07063787e+00] [ 2.54927370e-02 -2.16543896e-03 9.99672662e-01 2.61633369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54071405699997 meters Centerline goodness [0,1] 0.9799537746859196 Centerline is valid? [True, True] Translation: X:211.85, Y:-7.07, Z:2.62 [[ 9.98131244e-01 -5.59568194e-02 -2.45530859e-02 2.11850431e+02] [ 5.59903247e-02 9.98431081e-01 6.78723864e-04 -7.06891325e+00] [ 2.44765849e-02 -2.05219075e-03 9.99698297e-01 2.61768029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57071405699998 meters Centerline goodness [0,1] 0.9757439589160438 Centerline is valid? [True, True] Translation: X:211.88, Y:-7.07, Z:2.62 [[ 9.98313257e-01 -5.31404597e-02 -2.33823059e-02 2.11880483e+02] [ 5.31700907e-02 9.98585261e-01 6.46924495e-04 -7.07379959e+00] [ 2.33148482e-02 -1.88907263e-03 9.99726387e-01 2.61783310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60071405699998 meters Centerline goodness [0,1] 0.9805680462512618 Centerline is valid? [True, True] Translation: X:211.91, Y:-7.06, Z:2.62 [[ 9.98374667e-01 -5.21163141e-02 -2.30632538e-02 2.11912975e+02] [ 5.21448848e-02 9.98639326e-01 6.38733263e-04 -7.06202143e+00] [ 2.29985838e-02 -1.84032582e-03 9.99733804e-01 2.61992135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63071405699998 meters Centerline goodness [0,1] 0.9813596239825748 Centerline is valid? [True, True] Translation: X:211.94, Y:-7.06, Z:2.62 [[ 9.98478717e-01 -5.04057026e-02 -2.23498882e-02 2.11944310e+02] [ 5.04321346e-02 9.98727298e-01 6.20220610e-04 -7.05862331e+00] [ 2.22901808e-02 -1.74642965e-03 9.99750018e-01 2.62042933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66071405699998 meters Centerline goodness [0,1] 0.9799640735111234 Centerline is valid? [True, True] Translation: X:211.98, Y:-7.06, Z:2.62 [[ 9.98512956e-01 -4.98526108e-02 -2.20588510e-02 2.11976836e+02] [ 4.98782494e-02 9.98755117e-01 6.13273280e-04 -7.05897866e+00] [ 2.20008171e-02 -1.71261819e-03 9.99756486e-01 2.62070608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69071405699998 meters Centerline goodness [0,1] 0.9798592909366809 Centerline is valid? [True, True] Translation: X:212.01, Y:-7.06, Z:2.62 [[ 9.98533574e-01 -4.94114468e-02 -2.21180835e-02 2.12009052e+02] [ 4.94371510e-02 9.98777046e-01 6.16522200e-04 -7.05915153e+00] [ 2.20605709e-02 -1.70907315e-03 9.99755175e-01 2.62113762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72071405699998 meters Centerline goodness [0,1] 0.9806996103027648 Centerline is valid? [True, True] Translation: X:212.04, Y:-7.06, Z:2.62 [[ 9.98538519e-01 -4.93583085e-02 -2.20132366e-02 2.12040778e+02] [ 4.93837953e-02 9.98779686e-01 6.15351183e-04 -7.06010044e+00] [ 2.19560008e-02 -1.70154903e-03 9.99757490e-01 2.62071414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75071405699998 meters Centerline goodness [0,1] 0.9806686481878297 Centerline is valid? [True, True] Translation: X:212.07, Y:-7.06, Z:2.62 [[ 9.98521275e-01 -4.93999122e-02 -2.26916942e-02 2.12072843e+02] [ 4.94270483e-02 9.98777534e-01 6.36215650e-04 -7.06054903e+00] [ 2.26325253e-02 -1.75685833e-03 9.99742308e-01 2.62082707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78071405699998 meters Centerline goodness [0,1] 0.9806303197607545 Centerline is valid? [True, True] Translation: X:212.10, Y:-7.06, Z:2.62 [[ 9.98504293e-01 -4.95866205e-02 -2.30291971e-02 2.12104731e+02] [ 4.96146577e-02 9.98768225e-01 6.47344554e-04 -7.06116099e+00] [ 2.29687307e-02 -1.78896205e-03 9.99734583e-01 2.62016022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81071405699998 meters Centerline goodness [0,1] 0.9811194614781686 Centerline is valid? [True, True] Translation: X:212.14, Y:-7.06, Z:2.62 [[ 9.98429371e-01 -5.07178988e-02 -2.38009752e-02 2.12135894e+02] [ 5.07482034e-02 9.98711255e-01 6.70580783e-04 -7.06460690e+00] [ 2.37362913e-02 -1.87738428e-03 9.99716492e-01 2.61867968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84071405699999 meters Centerline goodness [0,1] 0.9806105039885645 Centerline is valid? [True, True] Translation: X:212.17, Y:-7.07, Z:2.62 [[ 9.98378529e-01 -5.14944760e-02 -2.42617425e-02 2.12168010e+02] [ 5.15262302e-02 9.98671407e-01 6.85075298e-04 -7.06648862e+00] [ 2.41942309e-02 -1.93408060e-03 9.99705406e-01 2.61834010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.870714057 meters Centerline goodness [0,1] 0.9794850517483807 Centerline is valid? [True, True] Translation: X:212.20, Y:-7.07, Z:2.62 [[ 9.98257464e-01 -5.36082024e-02 -2.46616522e-02 2.12198358e+02] [ 5.36416809e-02 9.98560005e-01 6.97497810e-04 -7.07092760e+00] [ 2.45887480e-02 -2.01917487e-03 9.99695612e-01 2.61740912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.900714057 meters Centerline goodness [0,1] 0.9789924676940087 Centerline is valid? [True, True] Translation: X:212.23, Y:-7.07, Z:2.62 [[ 9.98225563e-01 -5.41879811e-02 -2.46857743e-02 2.12230433e+02] [ 5.42217271e-02 9.98528675e-01 6.99232045e-04 -7.07365968e+00] [ 2.46115636e-02 -2.03649662e-03 9.99695015e-01 2.61776472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.930714057 meters Centerline goodness [0,1] 0.9786699836454518 Centerline is valid? [True, True] Translation: X:212.26, Y:-7.08, Z:2.62 [[ 9.98209822e-01 -5.46679701e-02 -2.42603489e-02 2.12262046e+02] [ 5.47007527e-02 9.98502555e-01 6.89222757e-04 -7.07597921e+00] [ 2.41863420e-02 -2.01504827e-03 9.99705437e-01 2.61845539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.960714057 meters Centerline goodness [0,1] 0.9787229137851544 Centerline is valid? [True, True] Translation: X:212.29, Y:-7.08, Z:2.62 [[ 9.98215325e-01 -5.48302625e-02 -2.36602588e-02 2.12293713e+02] [ 5.48615315e-02 9.98493745e-01 6.74013698e-04 -7.07645370e+00] [ 2.35876641e-02 -1.97084884e-03 9.99719830e-01 2.61967339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.990714057 meters Centerline goodness [0,1] 0.9763082231167337 Centerline is valid? [True, True] Translation: X:212.32, Y:-7.08, Z:2.62 [[ 9.98308687e-01 -5.38928502e-02 -2.18019671e-02 2.12324290e+02] [ 5.39191972e-02 9.98545108e-01 6.22006664e-04 -7.07925240e+00] [ 2.17367259e-02 -1.79649922e-03 9.99762115e-01 2.62203897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.020714057 meters Centerline goodness [0,1] 0.9752224219794404 Centerline is valid? [True, True] Translation: X:212.36, Y:-7.08, Z:2.62 [[ 9.98367802e-01 -5.30693140e-02 -2.11040254e-02 2.12357063e+02] [ 5.30938416e-02 9.98589345e-01 6.03225933e-04 -7.08086389e+00] [ 2.10422422e-02 -1.72273513e-03 9.99777103e-01 2.62328971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.050714057 meters Centerline goodness [0,1] 0.974670695979146 Centerline is valid? [True, True] Translation: X:212.39, Y:-7.08, Z:2.62 [[ 9.98504970e-01 -5.07993388e-02 -2.01805081e-02 2.12388038e+02] [ 5.08213291e-02 9.98707594e-01 5.77992924e-04 -7.08073765e+00] [ 2.01250650e-02 -1.60272905e-03 9.99796186e-01 2.62472709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.080714057 meters Centerline goodness [0,1] 0.9736702189139832 Centerline is valid? [True, True] Translation: X:212.42, Y:-7.08, Z:2.62 [[ 9.98578788e-01 -4.92804254e-02 -2.02939231e-02 2.12418804e+02] [ 4.93023614e-02 9.98783730e-01 5.81712162e-04 -7.08269925e+00] [ 2.02405732e-02 -1.58142376e-03 9.99793888e-01 2.62489652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.110714057 meters Centerline goodness [0,1] 0.9711292146500197 Centerline is valid? [True, True] Translation: X:212.45, Y:-7.08, Z:2.62 [[ 9.98623121e-01 -4.80245991e-02 -2.11068764e-02 2.12449115e+02] [ 4.80480618e-02 9.98844841e-01 6.05603297e-04 -7.08411086e+00] [ 2.10534107e-02 -1.61891395e-03 9.99777042e-01 2.62430905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.140714057 meters Centerline goodness [0,1] 0.9743885822498326 Centerline is valid? [True, True] Translation: X:212.48, Y:-7.08, Z:2.62 [[ 9.98802427e-01 -4.41588147e-02 -2.10644294e-02 2.12479766e+02] [ 4.41813333e-02 9.99023345e-01 6.04631414e-04 -7.08420243e+00] [ 2.10171569e-02 -1.53456190e-03 9.99777937e-01 2.62403580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.170714057 meters Centerline goodness [0,1] 0.9743885822498326 Centerline is valid? [True, True] Translation: X:212.51, Y:-7.09, Z:2.62 [[ 9.98805335e-01 -4.40930176e-02 -2.10644122e-02 2.12511528e+02] [ 4.41155342e-02 9.99026253e-01 6.05227926e-04 -7.08518240e+00] [ 2.10172145e-02 -1.53377268e-03 9.99777937e-01 2.62444324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20071405699997 meters Centerline goodness [0,1] 0.9749390880612601 Centerline is valid? [True, True] Translation: X:212.54, Y:-7.09, Z:2.62 [[ 9.98878110e-01 -4.22202172e-02 -2.14470012e-02 2.12542735e+02] [ 4.22431545e-02 9.99107169e-01 6.17365169e-04 -7.08504056e+00] [ 2.14017874e-02 -1.52266154e-03 9.99769796e-01 2.62476644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23071405699997 meters Centerline goodness [0,1] 0.9751513885988724 Centerline is valid? [True, True] Translation: X:212.57, Y:-7.09, Z:2.62 [[ 9.98962802e-01 -4.00802362e-02 -2.16077283e-02 2.12573310e+02] [ 4.01030297e-02 9.99195356e-01 6.22417190e-04 -7.08559971e+00] [ 2.15653951e-02 -1.48830699e-03 9.99766332e-01 2.62471110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26071405699997 meters Centerline goodness [0,1] 0.975940548072457 Centerline is valid? [True, True] Translation: X:212.60, Y:-7.08, Z:2.62 [[ 9.99120236e-01 -3.57539551e-02 -2.19182303e-02 2.12603083e+02] [ 3.57763689e-02 9.99359621e-01 6.31214957e-04 -7.08473924e+00] [ 2.18816259e-02 -1.41481433e-03 9.99759567e-01 2.62464750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29071405699997 meters Centerline goodness [0,1] 0.9778904477473723 Centerline is valid? [True, True] Translation: X:212.64, Y:-7.08, Z:2.62 [[ 9.99196020e-01 -3.37555264e-02 -2.16304991e-02 2.12635203e+02] [ 3.37768941e-02 9.99429204e-01 6.23158576e-04 -7.08181530e+00] [ 2.15971174e-02 -1.35326864e-03 9.99765839e-01 2.62480137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32071405699998 meters Centerline goodness [0,1] 0.978336342174698 Centerline is valid? [True, True] Translation: X:212.66, Y:-7.08, Z:2.62 [[ 9.99341795e-01 -2.91135559e-02 -2.16420200e-02 2.12664952e+02] [ 2.91338723e-02 9.99575324e-01 6.23980177e-04 -7.08164483e+00] [ 2.16146628e-02 -1.25408532e-03 9.99765589e-01 2.62491786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35071405699998 meters Centerline goodness [0,1] 0.9774453501296777 Centerline is valid? [True, True] Translation: X:212.69, Y:-7.08, Z:2.63 [[ 9.99389649e-01 -2.72611695e-02 -2.18439421e-02 2.12694262e+02] [ 2.72814182e-02 9.99627595e-01 6.29453655e-04 -7.08125451e+00] [ 2.18186477e-02 -1.22500319e-03 9.99761194e-01 2.62531092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38071405699998 meters Centerline goodness [0,1] 0.9789113444017944 Centerline is valid? [True, True] Translation: X:212.72, Y:-7.08, Z:2.63 [[ 9.99472093e-01 -2.42426779e-02 -2.16293402e-02 2.12724846e+02] [ 2.42618204e-02 9.99705445e-01 6.23014832e-04 -7.07939804e+00] [ 2.16078656e-02 -1.14745310e-03 9.99765864e-01 2.62533744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41071405699998 meters Centerline goodness [0,1] 0.9796728158719109 Centerline is valid? [True, True] Translation: X:212.75, Y:-7.08, Z:2.63 [[ 9.99492617e-01 -2.32275394e-02 -2.17942548e-02 2.12754633e+02] [ 2.32467266e-02 9.99729561e-01 6.27405845e-04 -7.07998098e+00] [ 2.17737877e-02 -1.13373259e-03 9.99762280e-01 2.62539852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44071405699998 meters Centerline goodness [0,1] 0.979731453352195 Centerline is valid? [True, True] Translation: X:212.78, Y:-7.08, Z:2.63 [[ 9.99512594e-01 -2.25303985e-02 -2.16091715e-02 2.12784771e+02] [ 2.25490872e-02 9.99745544e-01 6.21546322e-04 -7.08079840e+00] [ 2.15896692e-02 -1.10851047e-03 9.99766301e-01 2.62538473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47071405699998 meters Centerline goodness [0,1] 0.9836647562475346 Centerline is valid? [True, True] Translation: X:212.81, Y:-7.07, Z:2.63 [[ 9.99568353e-01 -2.14025694e-02 -2.01255392e-02 2.12814457e+02] [ 2.14185424e-02 9.99770429e-01 5.78429483e-04 -7.06910079e+00] [ 2.01085391e-02 -1.00923952e-03 9.99797294e-01 2.62789876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50071405699998 meters Centerline goodness [0,1] 0.9822607165188393 Centerline is valid? [True, True] Translation: X:212.85, Y:-7.07, Z:2.63 [[ 9.99583849e-01 -2.12488771e-02 -1.95093304e-02 2.12845033e+02] [ 2.12638491e-02 9.99773742e-01 5.60279980e-04 -7.07121467e+00] [ 1.94930109e-02 -9.74890275e-04 9.99809518e-01 2.62842051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53071405699998 meters Centerline goodness [0,1] 0.9815556224109602 Centerline is valid? [True, True] Translation: X:212.87, Y:-7.07, Z:2.63 [[ 9.99586075e-01 -2.20050640e-02 -1.85325679e-02 2.12874986e+02] [ 2.20187017e-02 9.99757417e-01 5.32128096e-04 -7.07346856e+00] [ 1.85163627e-02 -9.39970919e-04 9.99828116e-01 2.62956691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56071405699998 meters Centerline goodness [0,1] 0.9791849965269739 Centerline is valid? [True, True] Translation: X:212.91, Y:-7.08, Z:2.63 [[ 9.99550997e-01 -2.30622067e-02 -1.91295105e-02 2.12905140e+02] [ 2.30769281e-02 9.99733541e-01 5.49145575e-04 -7.07824840e+00] [ 1.91117488e-02 -9.90349346e-04 9.99816863e-01 2.62915723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59071405699999 meters Centerline goodness [0,1] 0.9788803836576593 Centerline is valid? [True, True] Translation: X:212.94, Y:-7.08, Z:2.63 [[ 9.99538597e-01 -2.37377222e-02 -1.89503098e-02 2.12935303e+02] [ 2.37522943e-02 9.99717726e-01 5.44223119e-04 -7.08156975e+00] [ 1.89320420e-02 -9.94085347e-04 9.99820279e-01 2.62937425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.620714057 meters Centerline goodness [0,1] 0.9762926064295927 Centerline is valid? [True, True] Translation: X:212.97, Y:-7.09, Z:2.63 [[ 9.99456747e-01 -2.65907852e-02 -1.94715385e-02 2.12965711e+02] [ 2.66067120e-02 9.99645822e-01 5.59304763e-04 -7.08876504e+00] [ 1.94497697e-02 -1.07707454e-03 9.99810255e-01 2.62829322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.650714057 meters Centerline goodness [0,1] 0.9762514122339813 Centerline is valid? [True, True] Translation: X:213.00, Y:-7.09, Z:2.63 [[ 9.99394447e-01 -2.82307615e-02 -2.03411666e-02 2.12996684e+02] [ 2.82484914e-02 9.99600761e-01 5.84764956e-04 -7.09302927e+00] [ 2.03165372e-02 -1.15901812e-03 9.99792926e-01 2.62802988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.680714057 meters Centerline goodness [0,1] 0.9773408326033839 Centerline is valid? [True, True] Translation: X:213.03, Y:-7.09, Z:2.63 [[ 9.99271222e-01 -3.17833703e-02 -2.11386257e-02 2.13027771e+02] [ 3.18033225e-02 9.99493961e-01 6.08282483e-04 -7.09437929e+00] [ 2.11085954e-02 -1.28011771e-03 9.99776369e-01 2.62835276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.710714057 meters Centerline goodness [0,1] 0.9739377810406534 Centerline is valid? [True, True] Translation: X:213.06, Y:-7.11, Z:2.63 [[ 9.99210915e-01 -3.34639262e-02 -2.13942171e-02 2.13057824e+02] [ 3.34847556e-02 9.99439038e-01 6.16010042e-04 -7.10519148e+00] [ 2.13616017e-02 -1.33190409e-03 9.99770928e-01 2.62756776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.740714057 meters Centerline goodness [0,1] 0.9729618257641721 Centerline is valid? [True, True] Translation: X:213.09, Y:-7.11, Z:2.63 [[ 9.99165020e-01 -3.47640255e-02 -2.14644964e-02 2.13088726e+02] [ 3.47852986e-02 9.99394617e-01 6.18400991e-04 -7.10867890e+00] [ 2.14300041e-02 -1.36453356e-03 9.99769420e-01 2.62843075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.770714057 meters Centerline goodness [0,1] 0.9747355377590123 Centerline is valid? [True, True] Translation: X:213.12, Y:-7.11, Z:2.63 [[ 9.99132789e-01 -3.59936017e-02 -2.09315781e-02 2.13120276e+02] [ 3.60141131e-02 9.99351099e-01 6.03673009e-04 -7.10663339e+00] [ 2.08962672e-02 -1.35698172e-03 9.99780728e-01 2.63000926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.800714057 meters Centerline goodness [0,1] 0.9746597626357513 Centerline is valid? [True, True] Translation: X:213.15, Y:-7.10, Z:2.63 [[ 9.99068933e-01 -3.79145258e-02 -2.05853322e-02 2.13151357e+02] [ 3.79347910e-02 9.99280040e-01 5.94711524e-04 -7.10489295e+00] [ 2.05479634e-02 -1.37505808e-03 9.99787923e-01 2.63207180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.830714057 meters Centerline goodness [0,1] 0.9752213604228156 Centerline is valid? [True, True] Translation: X:213.18, Y:-7.11, Z:2.63 [[ 9.99067978e-01 -3.84291705e-02 -1.96564119e-02 2.13183077e+02] [ 3.84477679e-02 9.99260449e-01 5.68952233e-04 -7.10699277e+00] [ 1.96200106e-02 -1.32416712e-03 9.99806632e-01 2.63295035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.860714057 meters Centerline goodness [0,1] 0.9754646159479996 Centerline is valid? [True, True] Translation: X:213.22, Y:-7.11, Z:2.63 [[ 9.99031605e-01 -3.95702353e-02 -1.92366632e-02 2.13215482e+02] [ 3.95882835e-02 9.99215921e-01 5.58169514e-04 -7.10836525e+00] [ 1.91994932e-02 -1.31917546e-03 9.99814802e-01 2.63408286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.890714057 meters Centerline goodness [0,1] 0.9762171813125186 Centerline is valid? [True, True] Translation: X:213.25, Y:-7.11, Z:2.63 [[ 9.99008191e-01 -4.03205016e-02 -1.88915524e-02 2.13247954e+02] [ 4.03380671e-02 9.99185938e-01 5.49519692e-04 -7.10833485e+00] [ 1.88540166e-02 -1.31102338e-03 9.99821388e-01 2.63488085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.920714057 meters Centerline goodness [0,1] 0.9745390492748318 Centerline is valid? [True, True] Translation: X:213.28, Y:-7.11, Z:2.64 [[ 9.99011379e-01 -4.04010168e-02 -1.85478424e-02 2.13279204e+02] [ 4.04179857e-02 9.99182713e-01 5.40765506e-04 -7.11469892e+00] [ 1.85108360e-02 -1.28989732e-03 9.99827828e-01 2.63513921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95071405699997 meters Centerline goodness [0,1] 0.9738228288750458 Centerline is valid? [True, True] Translation: X:213.31, Y:-7.12, Z:2.64 [[ 9.98963672e-01 -4.13912808e-02 -1.89299561e-02 2.13309947e+02] [ 4.14091508e-02 9.99142120e-01 5.52842103e-04 -7.11610104e+00] [ 1.88908337e-02 -1.33614259e-03 9.99820659e-01 2.63513960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98071405699997 meters Centerline goodness [0,1] 0.9732642297769355 Centerline is valid? [True, True] Translation: X:213.34, Y:-7.12, Z:2.64 [[ 9.98972898e-01 -4.12234296e-02 -1.88090003e-02 2.13341972e+02] [ 4.12410585e-02 9.99149074e-01 5.50176414e-04 -7.11726722e+00] [ 1.87703151e-02 -1.32531441e-03 9.99822944e-01 2.63508998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01071405699997 meters Centerline goodness [0,1] 0.9740352002933358 Centerline is valid? [True, True] Translation: X:213.37, Y:-7.12, Z:2.63 [[ 9.98937211e-01 -4.17801064e-02 -1.94646177e-02 2.13372928e+02] [ 4.17991159e-02 9.99125872e-01 5.70625053e-04 -7.11890491e+00] [ 1.94237624e-02 -1.38362241e-03 9.99810384e-01 2.63457329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04071405699997 meters Centerline goodness [0,1] 0.9755639528226269 Centerline is valid? [True, True] Translation: X:213.41, Y:-7.11, Z:2.64 [[ 9.98887112e-01 -4.23362298e-02 -2.07889611e-02 2.13405404e+02] [ 4.23580611e-02 9.99102308e-01 6.10730695e-04 -7.11421057e+00] [ 2.07444429e-02 -1.49063110e-03 9.99783700e-01 2.63525856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07071405699998 meters Centerline goodness [0,1] 0.9741219114914313 Centerline is valid? [True, True] Translation: X:213.44, Y:-7.12, Z:2.63 [[ 9.98837554e-01 -4.33653033e-02 -2.10473690e-02 2.13436668e+02] [ 4.33879367e-02 9.99058108e-01 6.19682398e-04 -7.11725193e+00] [ 2.10006719e-02 -1.53216397e-03 9.99778288e-01 2.63478653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10071405699998 meters Centerline goodness [0,1] 0.971684464347227 Centerline is valid? [True, True] Translation: X:213.47, Y:-7.12, Z:2.63 [[ 9.98715580e-01 -4.55501914e-02 -2.21894323e-02 2.13466623e+02] [ 4.55759152e-02 9.98960664e-01 6.54687285e-04 -7.12457579e+00] [ 2.21365489e-02 -1.66515008e-03 9.99753570e-01 2.63302386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13071405699998 meters Centerline goodness [0,1] 0.9711511980170752 Centerline is valid? [True, True] Translation: X:213.50, Y:-7.13, Z:2.63 [[ 9.98656086e-01 -4.66948959e-02 -2.24857397e-02 2.13497142e+02] [ 4.67216278e-02 9.98907727e-01 6.64671934e-04 -7.12645654e+00] [ 2.24301423e-02 -1.71434903e-03 9.99746943e-01 2.63280517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16071405699998 meters Centerline goodness [0,1] 0.9745924006512418 Centerline is valid? [True, True] Translation: X:213.53, Y:-7.12, Z:2.63 [[ 9.98598752e-01 -4.76119346e-02 -2.31005496e-02 2.13529407e+02] [ 4.76404196e-02 9.98864316e-01 6.84012211e-04 -7.11826767e+00] [ 2.30417476e-02 -1.78357362e-03 9.99732913e-01 2.63375365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19071405699998 meters Centerline goodness [0,1] 0.9754289004029937 Centerline is valid? [True, True] Translation: X:213.56, Y:-7.11, Z:2.63 [[ 9.98477348e-01 -4.94740596e-02 -2.43988367e-02 2.13560961e+02] [ 4.95064234e-02 9.98773543e-01 7.23829936e-04 -7.11369626e+00] [ 2.43331018e-02 -1.93062694e-03 9.99702042e-01 2.63377229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22071405699998 meters Centerline goodness [0,1] 0.9628239952120068 Centerline is valid? [True, True] Translation: X:213.59, Y:-7.13, Z:2.63 [[ 9.98478775e-01 -4.95791652e-02 -2.41255402e-02 2.13591739e+02] [ 4.96108640e-02 9.98768366e-01 7.16792894e-04 -7.12922441e+00] [ 2.40602884e-02 -1.91259139e-03 9.99708680e-01 2.63199922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25071405699998 meters Centerline goodness [0,1] 0.9754302588474139 Centerline is valid? [True, True] Translation: X:213.62, Y:-7.12, Z:2.64 [[ 9.98488863e-01 -4.94396829e-02 -2.39939060e-02 2.13624737e+02] [ 4.94710322e-02 9.98775303e-01 7.14362495e-04 -7.11607345e+00] [ 2.39292029e-02 -1.90028629e-03 9.99711850e-01 2.63541736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28071405699998 meters Centerline goodness [0,1] 0.9758485338259063 Centerline is valid? [True, True] Translation: X:213.66, Y:-7.11, Z:2.64 [[ 9.98611853e-01 -4.76934514e-02 -2.23540219e-02 2.13656687e+02] [ 4.77202560e-02 9.98860517e-01 6.66892085e-04 -7.11164605e+00] [ 2.22967435e-02 -1.73270599e-03 9.99749895e-01 2.63774780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31071405699998 meters Centerline goodness [0,1] 0.9762129986387652 Centerline is valid? [True, True] Translation: X:213.69, Y:-7.11, Z:2.64 [[ 9.98666973e-01 -4.66097953e-02 -2.21766472e-02 2.13689579e+02] [ 4.66359439e-02 9.98911732e-01 6.63111791e-04 -7.10950501e+00] [ 2.21216056e-02 -1.69645672e-03 9.99753848e-01 2.63885156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34071405699999 meters Centerline goodness [0,1] 0.9775010416184435 Centerline is valid? [True, True] Translation: X:213.72, Y:-7.11, Z:2.64 [[ 9.98802129e-01 -4.36604384e-02 -2.20924016e-02 2.13721025e+02] [ 4.36857000e-02 9.99045105e-01 6.61894085e-04 -7.10606680e+00] [ 2.20424070e-02 -1.62622325e-03 9.99755714e-01 2.63998624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.370714057 meters Centerline goodness [0,1] 0.9781542164213645 Centerline is valid? [True, True] Translation: X:213.75, Y:-7.10, Z:2.64 [[ 9.98864962e-01 -4.23296810e-02 -2.18399930e-02 2.13752160e+02] [ 4.23540640e-02 9.99102449e-01 6.54881918e-04 -7.10300110e+00] [ 2.17926696e-02 -1.57915106e-03 9.99761264e-01 2.64078417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.400714057 meters Centerline goodness [0,1] 0.9778277709488137 Centerline is valid? [True, True] Translation: X:213.78, Y:-7.10, Z:2.64 [[ 9.98934764e-01 -4.06200762e-02 -2.18939914e-02 2.13783053e+02] [ 4.06441887e-02 9.99173467e-01 6.57289183e-04 -7.10271336e+00] [ 2.18491961e-02 -1.54645253e-03 9.99760082e-01 2.64111391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.430714057 meters Centerline goodness [0,1] 0.9788449480992963 Centerline is valid? [True, True] Translation: X:213.81, Y:-7.10, Z:2.64 [[ 9.99048146e-01 -3.71729198e-02 -2.28248782e-02 2.13812984e+02] [ 3.71982425e-02 9.99307671e-01 6.85713669e-04 -7.09912401e+00] [ 2.27835859e-02 -1.53410632e-03 9.99739243e-01 2.64138077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.460714057 meters Centerline goodness [0,1] 0.978789783707015 Centerline is valid? [True, True] Translation: X:213.84, Y:-7.10, Z:2.64 [[ 9.99096151e-01 -3.55060100e-02 -2.33709942e-02 2.13843621e+02] [ 3.55321097e-02 9.99368288e-01 7.02307376e-04 -7.09824327e+00] [ 2.33312944e-02 -1.53209333e-03 9.99726614e-01 2.64114339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.490714057 meters Centerline goodness [0,1] 0.9804196130598147 Centerline is valid? [True, True] Translation: X:213.87, Y:-7.09, Z:2.64 [[ 9.99194987e-01 -3.21517903e-02 -2.39925093e-02 2.13874649e+02] [ 3.21783444e-02 9.99481883e-01 7.21412869e-04 -7.09421603e+00] [ 2.39568836e-02 -1.49287135e-03 9.99711878e-01 2.64077250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.520714057 meters Centerline goodness [0,1] 0.9824942230936209 Centerline is valid? [True, True] Translation: X:213.91, Y:-7.09, Z:2.64 [[ 9.99254252e-01 -3.01378638e-02 -2.41381377e-02 2.13905805e+02] [ 3.01641711e-02 9.99544694e-01 7.26420847e-04 -7.09134023e+00] [ 2.41052547e-02 -1.45398604e-03 9.99708369e-01 2.64155661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.550714057 meters Centerline goodness [0,1] 0.9812686846038864 Centerline is valid? [True, True] Translation: X:213.94, Y:-7.09, Z:2.64 [[ 9.99321192e-01 -2.80691551e-02 -2.38595215e-02 2.13935692e+02] [ 2.80942817e-02 9.99605020e-01 7.18487549e-04 -7.09387211e+00] [ 2.38299301e-02 -1.38831595e-03 9.99715063e-01 2.64162613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.580714057 meters Centerline goodness [0,1] 0.9830329978937514 Centerline is valid? [True, True] Translation: X:213.97, Y:-7.09, Z:2.64 [[ 9.99449167e-01 -2.43225930e-02 -2.25781662e-02 2.13967154e+02] [ 2.43441435e-02 9.99703406e-01 6.80075658e-04 -7.08539465e+00] [ 2.25549284e-02 -1.22934717e-03 9.99744849e-01 2.64401026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.610714057 meters Centerline goodness [0,1] 0.9824388873279011 Centerline is valid? [True, True] Translation: X:214.00, Y:-7.09, Z:2.64 [[ 9.99507864e-01 -2.20936153e-02 -2.22688454e-02 2.13996221e+02] [ 2.21140288e-02 9.99755230e-01 6.70816773e-04 -7.09038621e+00] [ 2.22485739e-02 -1.16294053e-03 9.99751793e-01 2.64364333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.640714057 meters Centerline goodness [0,1] 0.9835168705534293 Centerline is valid? [True, True] Translation: X:214.03, Y:-7.09, Z:2.64 [[ 9.99582259e-01 -1.88858644e-02 -2.18776426e-02 2.14025828e+02] [ 1.89047924e-02 9.99821071e-01 6.58659580e-04 -7.08891345e+00] [ 2.18612887e-02 -1.07197672e-03 9.99760439e-01 2.64397410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.670714057 meters Centerline goodness [0,1] 0.9844149747682197 Centerline is valid? [True, True] Translation: X:214.06, Y:-7.09, Z:2.64 [[ 9.99606548e-01 -1.78061128e-02 -2.16723516e-02 2.14055104e+02] [ 1.78243883e-02 9.99840921e-01 6.50372415e-04 -7.08918341e+00] [ 2.16573234e-02 -1.03641294e-03 9.99764915e-01 2.64434263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70071405699997 meters Centerline goodness [0,1] 0.9865346720465422 Centerline is valid? [True, True] Translation: X:214.08, Y:-7.08, Z:2.65 [[ 9.99620594e-01 -1.72152351e-02 -2.15012383e-02 2.14084085e+02] [ 1.72329814e-02 9.99851296e-01 6.40334853e-04 -7.08177435e+00] [ 2.14870174e-02 -1.01062235e-03 9.99768617e-01 2.64609983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73071405699997 meters Centerline goodness [0,1] 0.9858180965775902 Centerline is valid? [True, True] Translation: X:214.11, Y:-7.08, Z:2.65 [[ 9.99629497e-01 -1.70344164e-02 -2.12296295e-02 2.14112266e+02] [ 1.70515931e-02 9.99854414e-01 6.28320419e-04 -7.08363588e+00] [ 2.12158356e-02 -9.90086627e-04 9.99774429e-01 2.64673094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76071405699997 meters Centerline goodness [0,1] 0.9846670423593501 Centerline is valid? [True, True] Translation: X:214.14, Y:-7.09, Z:2.65 [[ 9.99587603e-01 -1.87485617e-02 -2.17511946e-02 2.14139462e+02] [ 1.87669554e-02 9.99823679e-01 6.41809443e-04 -7.09482392e+00] [ 2.17353264e-02 -1.04974846e-03 9.99763209e-01 2.64524706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79071405699997 meters Centerline goodness [0,1] 0.9841009286183284 Centerline is valid? [True, True] Translation: X:214.17, Y:-7.10, Z:2.64 [[ 9.99555475e-01 -2.02456753e-02 -2.18852594e-02 2.14168050e+02] [ 2.02646204e-02 9.99794444e-01 6.44203465e-04 -7.09871175e+00] [ 2.18677184e-02 -1.08741357e-03 9.99760281e-01 2.64469926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82071405699998 meters Centerline goodness [0,1] 0.9865927277832374 Centerline is valid? [True, True] Translation: X:214.20, Y:-7.10, Z:2.65 [[ 9.99464946e-01 -2.41675388e-02 -2.20397915e-02 2.14198736e+02] [ 2.41876895e-02 9.99707225e-01 6.48132113e-04 -7.09610239e+00] [ 2.20176751e-02 -1.18087696e-03 9.99756884e-01 2.64582435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85071405699998 meters Centerline goodness [0,1] 0.9850473850473851 Centerline is valid? [True, True] Translation: X:214.23, Y:-7.10, Z:2.65 [[ 9.99406252e-01 -2.63849736e-02 -2.21579956e-02 2.14228605e+02] [ 2.64058844e-02 9.99651091e-01 6.51608183e-04 -7.10261832e+00] [ 2.21330718e-02 -1.23632276e-03 9.99754269e-01 2.64591783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88071405699998 meters Centerline goodness [0,1] 0.9858121216370989 Centerline is valid? [True, True] Translation: X:214.26, Y:-7.10, Z:2.65 [[ 9.99336031e-01 -2.88689224e-02 -2.22279530e-02 2.14260158e+02] [ 2.88905853e-02 9.99582366e-01 6.54000827e-04 -7.10147138e+00] [ 2.21997896e-02 -1.29574516e-03 9.99752715e-01 2.64676362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91071405699998 meters Centerline goodness [0,1] 0.982308104706184 Centerline is valid? [True, True] Translation: X:214.29, Y:-7.12, Z:2.65 [[ 9.99159831e-01 -3.39851859e-02 -2.29050059e-02 2.14289075e+02] [ 3.40095405e-02 9.99421281e-01 6.74467640e-04 -7.11603606e+00] [ 2.28688284e-02 -1.45288970e-03 9.99737418e-01 2.64543670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94071405699998 meters Centerline goodness [0,1] 0.9836710924761239 Centerline is valid? [True, True] Translation: X:214.32, Y:-7.11, Z:2.65 [[ 9.99085529e-01 -3.60409521e-02 -2.30033694e-02 2.14320539e+02] [ 3.60660693e-02 9.99349178e-01 6.77818374e-04 -7.11219537e+00] [ 2.29639691e-02 -1.50683965e-03 9.99735158e-01 2.64709246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97071405699998 meters Centerline goodness [0,1] 0.9848463751972524 Centerline is valid? [True, True] Translation: X:214.35, Y:-7.11, Z:2.65 [[ 9.98957781e-01 -3.96106267e-02 -2.26793022e-02 2.14351312e+02] [ 3.96359678e-02 9.99213962e-01 6.68768535e-04 -7.11464888e+00] [ 2.26349851e-02 -1.56698763e-03 9.99742568e-01 2.64819895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00071405699998 meters Centerline goodness [0,1] 0.9837986502727188 Centerline is valid? [True, True] Translation: X:214.38, Y:-7.12, Z:2.65 [[ 9.98904931e-01 -4.10965523e-02 -2.23609343e-02 2.14383650e+02] [ 4.11215740e-02 9.99153932e-01 6.60135250e-04 -7.11703930e+00] [ 2.23148862e-02 -1.57892917e-03 9.99749745e-01 2.64862058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03071405699998 meters Centerline goodness [0,1] 0.9834727984979486 Centerline is valid? [True, True] Translation: X:214.42, Y:-7.12, Z:2.65 [[ 9.98802709e-01 -4.38955695e-02 -2.15945969e-02 2.14415019e+02] [ 4.39195817e-02 9.99034865e-01 6.38716216e-04 -7.11885962e+00] [ 2.15457184e-02 -1.58637715e-03 9.99766605e-01 2.65003684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06071405699998 meters Centerline goodness [0,1] 0.9834727984979486 Centerline is valid? [True, True] Translation: X:214.45, Y:-7.12, Z:2.65 [[ 9.98807528e-01 -4.37858159e-02 -2.15945546e-02 2.14447637e+02] [ 4.38098333e-02 9.99039683e-01 6.40145299e-04 -7.11991440e+00] [ 2.15457877e-02 -1.58543578e-03 9.99766605e-01 2.65045511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09071405699999 meters Centerline goodness [0,1] 0.9815330363771344 Centerline is valid? [True, True] Translation: X:214.48, Y:-7.12, Z:2.65 [[ 9.98783724e-01 -4.44917987e-02 -2.12497485e-02 2.14479901e+02] [ 4.45152564e-02 9.99008505e-01 6.31926675e-04 -7.12279511e+00] [ 2.12005640e-02 -1.57709608e-03 9.99773999e-01 2.65079745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.120714057 meters Centerline goodness [0,1] 0.9822641596921151 Centerline is valid? [True, True] Translation: X:214.51, Y:-7.12, Z:2.65 [[ 9.98757729e-01 -4.49894544e-02 -2.14230676e-02 2.14510595e+02] [ 4.50134372e-02 9.98986178e-01 6.38340166e-04 -7.12453130e+00] [ 2.13726299e-02 -1.60187308e-03 9.99770296e-01 2.65174785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.150714057 meters Centerline goodness [0,1] 0.98147120055517 Centerline is valid? [True, True] Translation: X:214.54, Y:-7.13, Z:2.65 [[ 9.98688524e-01 -4.63549036e-02 -2.17360105e-02 2.14541337e+02] [ 4.63799484e-02 9.98923660e-01 6.49258547e-04 -7.12856208e+00] [ 2.16825189e-02 -1.65652211e-03 9.99763534e-01 2.65154548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.180714057 meters Centerline goodness [0,1] 0.9791835318607609 Centerline is valid? [True, True] Translation: X:214.57, Y:-7.13, Z:2.65 [[ 9.98663945e-01 -4.68401216e-02 -2.18249315e-02 2.14573137e+02] [ 4.68655359e-02 9.98900993e-01 6.54162575e-04 -7.13035641e+00] [ 2.17703047e-02 -1.67612569e-03 9.99761594e-01 2.65156435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.210714057 meters Centerline goodness [0,1] 0.9791063445368419 Centerline is valid? [True, True] Translation: X:214.60, Y:-7.13, Z:2.65 [[ 9.98655866e-01 -4.68767229e-02 -2.21140996e-02 2.14604192e+02] [ 4.69028554e-02 9.98899235e-01 6.64240299e-04 -7.13239305e+00] [ 2.20586197e-02 -1.70056189e-03 9.99755233e-01 2.65162841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.240714057 meters Centerline goodness [0,1] 0.9775935521013241 Centerline is valid? [True, True] Translation: X:214.64, Y:-7.14, Z:2.65 [[ 9.98635651e-01 -4.67510513e-02 -2.32631907e-02 2.14635774e+02] [ 4.67799664e-02 9.98904973e-01 7.00016008e-04 -7.13503177e+00] [ 2.32049904e-02 -1.78731222e-03 9.99729130e-01 2.65036225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.270714057 meters Centerline goodness [0,1] 0.9783782531111678 Centerline is valid? [True, True] Translation: X:214.67, Y:-7.14, Z:2.65 [[ 9.98618390e-01 -4.69068383e-02 -2.36866982e-02 2.14668377e+02] [ 4.69368938e-02 9.98897601e-01 7.14197271e-04 -7.13588813e+00] [ 2.36270853e-02 -1.82499057e-03 9.99719176e-01 2.65044031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.300714057 meters Centerline goodness [0,1] 0.9781103055291747 Centerline is valid? [True, True] Translation: X:214.70, Y:-7.14, Z:2.65 [[ 9.98586952e-01 -4.69841331e-02 -2.48312338e-02 2.14699163e+02] [ 4.70172266e-02 9.98893797e-01 7.50260776e-04 -7.13654989e+00] [ 2.47685151e-02 -1.91669637e-03 9.99691376e-01 2.65058558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.330714057 meters Centerline goodness [0,1] 0.9768927078495123 Centerline is valid? [True, True] Translation: X:214.73, Y:-7.14, Z:2.65 [[ 9.98604172e-01 -4.66004996e-02 -2.48616360e-02 2.14730940e+02] [ 4.66335928e-02 9.98911779e-01 7.52660236e-04 -7.13836724e+00] [ 2.47995067e-02 -1.91099706e-03 9.99690618e-01 2.65078614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.360714057 meters Centerline goodness [0,1] 0.976793786947954 Centerline is valid? [True, True] Translation: X:214.76, Y:-7.14, Z:2.65 [[ 9.98608666e-01 -4.65071330e-02 -2.48559751e-02 2.14762913e+02] [ 4.65402243e-02 9.98916132e-01 7.54178686e-04 -7.13888105e+00] [ 2.47939598e-02 -1.90993203e-03 9.99690758e-01 2.65101305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.390714057 meters Centerline goodness [0,1] 0.9804445891270985 Centerline is valid? [True, True] Translation: X:214.80, Y:-7.13, Z:2.65 [[ 9.98643982e-01 -4.56957092e-02 -2.49419381e-02 2.14795075e+02] [ 4.57288219e-02 9.98953602e-01 7.58540510e-04 -7.13074946e+00] [ 2.48811769e-02 -1.89807736e-03 9.99688614e-01 2.65251409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.420714057 meters Centerline goodness [0,1] 0.9796307491977864 Centerline is valid? [True, True] Translation: X:214.83, Y:-7.13, Z:2.65 [[ 9.98704913e-01 -4.41471054e-02 -2.52889206e-02 2.14825808e+02] [ 4.41806875e-02 9.99023260e-01 7.70479721e-04 -7.12967713e+00] [ 2.52302054e-02 -1.88676378e-03 9.99679887e-01 2.65300807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45071405699997 meters Centerline goodness [0,1] 0.9780436802973977 Centerline is valid? [True, True] Translation: X:214.86, Y:-7.14, Z:2.65 [[ 9.98740746e-01 -4.31907516e-02 -2.55241158e-02 2.14857017e+02] [ 4.32246799e-02 9.99065073e-01 7.78780974e-04 -7.13780058e+00] [ 2.54666165e-02 -1.88107203e-03 9.99673903e-01 2.65225222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48071405699997 meters Centerline goodness [0,1] 0.9817931741887356 Centerline is valid? [True, True] Translation: X:214.89, Y:-7.13, Z:2.66 [[ 9.98853834e-01 -4.07450530e-02 -2.51168911e-02 2.14887666e+02] [ 4.07771545e-02 9.99167972e-01 7.67022243e-04 -7.12577207e+00] [ 2.50647408e-02 -1.79033846e-03 9.99684227e-01 2.65515015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51071405699997 meters Centerline goodness [0,1] 0.9802319882372161 Centerline is valid? [True, True] Translation: X:214.92, Y:-7.13, Z:2.66 [[ 9.98899389e-01 -3.96847896e-02 -2.50025736e-02 2.14919015e+02] [ 3.97162851e-02 9.99210705e-01 7.64172962e-04 -7.12761728e+00] [ 2.49525132e-02 -1.75634125e-03 9.99687095e-01 2.65509153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54071405699997 meters Centerline goodness [0,1] 0.9812410824971347 Centerline is valid? [True, True] Translation: X:214.95, Y:-7.13, Z:2.66 [[ 9.98961800e-01 -3.84145130e-02 -2.44876956e-02 2.14950848e+02] [ 3.84443755e-02 9.99260461e-01 7.49708632e-04 -7.12725358e+00] [ 2.44407863e-02 -1.69034445e-03 9.99699850e-01 2.65578917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57071405699998 meters Centerline goodness [0,1] 0.9818713450292398 Centerline is valid? [True, True] Translation: X:214.98, Y:-7.13, Z:2.66 [[ 9.99062416e-01 -3.60570563e-02 -2.39620043e-02 2.14981507e+02] [ 3.60849908e-02 9.99348455e-01 7.34271029e-04 -7.12506765e+00] [ 2.39199163e-02 -1.59825129e-03 9.99712600e-01 2.65648680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60071405699998 meters Centerline goodness [0,1] 0.9822490749847782 Centerline is valid? [True, True] Translation: X:215.01, Y:-7.12, Z:2.66 [[ 9.99096406e-01 -3.51631428e-02 -2.38730987e-02 2.15014153e+02] [ 3.51906354e-02 9.99380349e-01 7.32346241e-04 -7.11953208e+00] [ 2.38325542e-02 -1.57179401e-03 9.99714729e-01 2.65785595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63071405699998 meters Centerline goodness [0,1] 0.9813815497465368 Centerline is valid? [True, True] Translation: X:215.05, Y:-7.12, Z:2.66 [[ 9.99133626e-01 -3.42136218e-02 -2.36944158e-02 2.15045066e+02] [ 3.42404948e-02 9.99413356e-01 7.29251870e-04 -7.12488759e+00] [ 2.36555653e-02 -1.53992859e-03 9.99718982e-01 2.65792965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66071405699998 meters Centerline goodness [0,1] 0.9821797520661157 Centerline is valid? [True, True] Translation: X:215.08, Y:-7.12, Z:2.66 [[ 9.99138104e-01 -3.36607900e-02 -2.42899251e-02 2.15077206e+02] [ 3.36889313e-02 9.99432085e-01 7.50162145e-04 -7.11877795e+00] [ 2.42508794e-02 -1.56781720e-03 9.99704675e-01 2.65964489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69071405699998 meters Centerline goodness [0,1] 0.9823425958494548 Centerline is valid? [True, True] Translation: X:215.11, Y:-7.12, Z:2.66 [[ 9.99159367e-01 -3.30997956e-02 -2.41859875e-02 2.15109393e+02] [ 3.31275740e-02 9.99450851e-01 7.48656022e-04 -7.11929780e+00] [ 2.41479254e-02 -1.54924977e-03 9.99707196e-01 2.66003863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72071405699998 meters Centerline goodness [0,1] 0.9819367551843858 Centerline is valid? [True, True] Translation: X:215.14, Y:-7.12, Z:2.66 [[ 9.99183923e-01 -3.30405322e-02 -2.32338278e-02 2.15141827e+02] [ 3.30661870e-02 9.99452904e-01 7.20782703e-04 -7.12223069e+00] [ 2.31973016e-02 -1.48844858e-03 9.99729798e-01 2.66045541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75071405699998 meters Centerline goodness [0,1] 0.983216914350007 Centerline is valid? [True, True] Translation: X:215.17, Y:-7.12, Z:2.66 [[ 9.99197969e-01 -3.27607966e-02 -2.30249425e-02 2.15173646e+02] [ 3.27859553e-02 9.99462140e-01 7.15924234e-04 -7.12092649e+00] [ 2.29891041e-02 -1.47024478e-03 9.99734635e-01 2.66164907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78071405699998 meters Centerline goodness [0,1] 0.9830857892517453 Centerline is valid? [True, True] Translation: X:215.21, Y:-7.12, Z:2.66 [[ 9.99207270e-01 -3.24189402e-02 -2.31050804e-02 2.15206177e+02] [ 3.24442215e-02 9.99473288e-01 7.20069353e-04 -7.12178657e+00] [ 2.30695668e-02 -1.46912488e-03 9.99732783e-01 2.66192430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81071405699998 meters Centerline goodness [0,1] 0.9819035165553636 Centerline is valid? [True, True] Translation: X:215.24, Y:-7.13, Z:2.66 [[ 9.99252116e-01 -3.10536917e-02 -2.30407656e-02 2.15236816e+02] [ 3.10785003e-02 9.99516688e-01 7.19336737e-04 -7.12851154e+00] [ 2.30072917e-02 -1.43487120e-03 9.99734268e-01 2.66118957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84071405699999 meters Centerline goodness [0,1] 0.9821663225079782 Centerline is valid? [True, True] Translation: X:215.27, Y:-7.13, Z:2.66 [[ 9.99271793e-01 -3.03681394e-02 -2.31010860e-02 2.15267330e+02] [ 3.03929101e-02 9.99537768e-01 7.21847671e-04 -7.12961634e+00] [ 2.30684867e-02 -1.42343125e-03 9.99732874e-01 2.66104964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.870714057 meters Centerline goodness [0,1] 0.9837946700388741 Centerline is valid? [True, True] Translation: X:215.30, Y:-7.13, Z:2.66 [[ 9.99313102e-01 -2.91895400e-02 -2.28318931e-02 2.15298318e+02] [ 2.92134426e-02 9.99572941e-01 7.13983461e-04 -7.13066103e+00] [ 2.28013017e-02 -1.38049123e-03 9.99739063e-01 2.66155317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.900714057 meters Centerline goodness [0,1] 0.9821043249835819 Centerline is valid? [True, True] Translation: X:215.33, Y:-7.13, Z:2.66 [[ 9.99337890e-01 -2.81073993e-02 -2.31031411e-02 2.15328883e+02] [ 2.81315992e-02 9.99603967e-01 7.23067993e-04 -7.13228882e+00] [ 2.30736680e-02 -1.37251755e-03 9.99732825e-01 2.66111831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.930714057 meters Centerline goodness [0,1] 0.9816378218657662 Centerline is valid? [True, True] Translation: X:215.36, Y:-7.13, Z:2.66 [[ 9.99346240e-01 -2.77894582e-02 -2.31265950e-02 2.15359864e+02] [ 2.78136352e-02 9.99612864e-01 7.24354628e-04 -7.13257844e+00] [ 2.30975124e-02 -1.36711575e-03 9.99732282e-01 2.66181842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.960714057 meters Centerline goodness [0,1] 0.9818846523399967 Centerline is valid? [True, True] Translation: X:215.39, Y:-7.14, Z:2.66 [[ 9.99346927e-01 -2.78512303e-02 -2.30223285e-02 2.15389715e+02] [ 2.78752196e-02 9.99611150e-01 7.21679928e-04 -7.13556044e+00] [ 2.29932766e-02 -1.36296108e-03 9.99734691e-01 2.66166863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.990714057 meters Centerline goodness [0,1] 0.9815509400346946 Centerline is valid? [True, True] Translation: X:215.42, Y:-7.14, Z:2.66 [[ 9.99333939e-01 -2.79901669e-02 -2.34142685e-02 2.15421343e+02] [ 2.80150314e-02 9.99607232e-01 7.34527382e-04 -7.13685872e+00] [ 2.33845125e-02 -1.38998961e-03 9.99725579e-01 2.66169515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.020714057 meters Centerline goodness [0,1] 0.98083284457478 Centerline is valid? [True, True] Translation: X:215.45, Y:-7.14, Z:2.66 [[ 9.99320434e-01 -2.79661355e-02 -2.40117680e-02 2.15451207e+02] [ 2.79922933e-02 9.99607855e-01 7.53881166e-04 -7.13924259e+00] [ 2.39812688e-02 -1.42551331e-03 9.99711392e-01 2.66080258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.050714057 meters Centerline goodness [0,1] 0.9836522472304846 Centerline is valid? [True, True] Translation: X:215.48, Y:-7.13, Z:2.66 [[ 9.99320592e-01 -2.74580798e-02 -2.45847164e-02 2.15482622e+02] [ 2.74853636e-02 9.99621908e-01 7.72504243e-04 -7.12800541e+00] [ 2.45542097e-02 -1.44769927e-03 9.99697452e-01 2.66325655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.080714057 meters Centerline goodness [0,1] 0.9840191208173212 Centerline is valid? [True, True] Translation: X:215.51, Y:-7.13, Z:2.66 [[ 9.99353113e-01 -2.66828347e-02 -2.41118787e-02 2.15513775e+02] [ 2.67088747e-02 9.99642967e-01 7.58506805e-04 -7.12881877e+00] [ 2.40830308e-02 -1.40201728e-03 9.99708979e-01 2.66425712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.110714057 meters Centerline goodness [0,1] 0.9840127522914274 Centerline is valid? [True, True] Translation: X:215.54, Y:-7.13, Z:2.67 [[ 9.99378519e-01 -2.60807234e-02 -2.37143902e-02 2.15544658e+02] [ 2.61057535e-02 9.99658908e-01 7.46458447e-04 -7.12996460e+00] [ 2.36868332e-02 -1.36507656e-03 9.99718496e-01 2.66551241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.140714057 meters Centerline goodness [0,1] 0.9839930628793738 Centerline is valid? [True, True] Translation: X:215.58, Y:-7.13, Z:2.67 [[ 9.99442385e-01 -2.48067584e-02 -2.23504809e-02 2.15575621e+02] [ 2.48286777e-02 9.99691473e-01 7.03697249e-04 -7.13083751e+00] [ 2.23261288e-02 -1.25823774e-03 9.99749949e-01 2.66663688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.170714057 meters Centerline goodness [0,1] 0.9827820783485808 Centerline is valid? [True, True] Translation: X:215.61, Y:-7.13, Z:2.67 [[ 9.99472967e-01 -2.40105368e-02 -2.18468090e-02 2.15605575e+02] [ 2.40312978e-02 9.99710970e-01 6.88223286e-04 -7.13327226e+00] [ 2.18239700e-02 -1.21286774e-03 9.99761093e-01 2.66707956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20071405699997 meters Centerline goodness [0,1] 0.9816886605161742 Centerline is valid? [True, True] Translation: X:215.64, Y:-7.14, Z:2.67 [[ 9.99506017e-01 -2.33640936e-02 -2.10200330e-02 2.15636166e+02] [ 2.33831777e-02 9.99726357e-01 6.62540342e-04 -7.13580228e+00] [ 2.09988014e-02 -1.15372822e-03 9.99778835e-01 2.66749984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23071405699997 meters Centerline goodness [0,1] 0.9816300675675675 Centerline is valid? [True, True] Translation: X:215.67, Y:-7.14, Z:2.67 [[ 9.99509365e-01 -2.35165785e-02 -2.06881615e-02 2.15666866e+02] [ 2.35351017e-02 9.99722798e-01 6.52301404e-04 -7.13703094e+00] [ 2.06670868e-02 -1.13887935e-03 9.99785764e-01 2.66798620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26071405699997 meters Centerline goodness [0,1] 0.9814290063464556 Centerline is valid? [True, True] Translation: X:215.70, Y:-7.14, Z:2.67 [[ 9.99510774e-01 -2.39273379e-02 -2.01418747e-02 2.15697023e+02] [ 2.39449813e-02 9.99713076e-01 6.35204354e-04 -7.13985815e+00] [ 2.01208968e-02 -1.11719041e-03 9.99796930e-01 2.66846794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29071405699997 meters Centerline goodness [0,1] 0.9820191047012549 Centerline is valid? [True, True] Translation: X:215.73, Y:-7.15, Z:2.67 [[ 9.99492977e-01 -2.49742474e-02 -1.97503483e-02 2.15727190e+02] [ 2.49914218e-02 9.99687471e-01 6.23194653e-04 -7.14576256e+00] [ 1.97286119e-02 -1.11646796e-03 9.99804749e-01 2.66854333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32071405699998 meters Centerline goodness [0,1] 0.9808780214128758 Centerline is valid? [True, True] Translation: X:215.76, Y:-7.15, Z:2.67 [[ 9.99458046e-01 -2.63073621e-02 -1.97873166e-02 2.15758040e+02] [ 2.63248679e-02 9.99653245e-01 6.24699430e-04 -7.14884375e+00] [ 1.97640211e-02 -1.14525937e-03 9.99804017e-01 2.66865443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35071405699998 meters Centerline goodness [0,1] 0.9801913205786281 Centerline is valid? [True, True] Translation: X:215.79, Y:-7.16, Z:2.67 [[ 9.99367220e-01 -2.92499528e-02 -2.02385938e-02 2.15788240e+02] [ 2.92688746e-02 9.99571370e-01 6.39292527e-04 -7.15610989e+00] [ 2.02112197e-02 -1.23124886e-03 9.99794974e-01 2.66754451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38071405699998 meters Centerline goodness [0,1] 0.9801319870344892 Centerline is valid? [True, True] Translation: X:215.82, Y:-7.16, Z:2.67 [[ 9.99308359e-01 -3.10275766e-02 -2.04961699e-02 2.15818825e+02] [ 3.10473657e-02 9.99517704e-01 6.47920336e-04 -7.16011369e+00] [ 2.04661813e-02 -1.28382429e-03 9.99789722e-01 2.66759115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41071405699998 meters Centerline goodness [0,1] 0.9794887316073757 Centerline is valid? [True, True] Translation: X:215.85, Y:-7.16, Z:2.67 [[ 9.99211824e-01 -3.33746454e-02 -2.14910097e-02 2.15849769e+02] [ 3.33969565e-02 9.99441935e-01 6.79992289e-04 -7.16369538e+00] [ 2.14563219e-02 -1.39719065e-03 9.99768810e-01 2.66714694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44071405699998 meters Centerline goodness [0,1] 0.9776560941089121 Centerline is valid? [True, True] Translation: X:215.88, Y:-7.17, Z:2.66 [[ 9.99020353e-01 -3.73451080e-02 -2.37418951e-02 2.15879357e+02] [ 3.73734625e-02 9.99301086e-01 7.51529801e-04 -7.17089762e+00] [ 2.36972356e-02 -1.63811039e-03 9.99717839e-01 2.66435962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47071405699998 meters Centerline goodness [0,1] 0.9798774543935385 Centerline is valid? [True, True] Translation: X:215.91, Y:-7.16, Z:2.67 [[ 9.98925132e-01 -3.92234877e-02 -2.47001589e-02 2.15910857e+02] [ 3.92547623e-02 9.99228928e-01 7.82388333e-04 -7.16170069e+00] [ 2.46504253e-02 -1.75114624e-03 9.99694598e-01 2.66545101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50071405699998 meters Centerline goodness [0,1] 0.9806688171543942 Centerline is valid? [True, True] Translation: X:215.94, Y:-7.17, Z:2.66 [[ 9.98756739e-01 -4.26856380e-02 -2.57470715e-02 2.15940835e+02] [ 4.27207785e-02 9.99086718e-01 8.16073694e-04 -7.16644082e+00] [ 2.56887226e-02 -1.91499404e-03 9.99668156e-01 2.66464343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53071405699998 meters Centerline goodness [0,1] 0.9769433770081948 Centerline is valid? [True, True] Translation: X:215.97, Y:-7.18, Z:2.66 [[ 9.98719903e-01 -4.37200204e-02 -2.54384664e-02 2.15971256e+02] [ 4.37546693e-02 9.99041980e-01 8.06786229e-04 -7.17738217e+00] [ 2.53788231e-02 -1.91880515e-03 9.99676064e-01 2.66328179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56071405699998 meters Centerline goodness [0,1] 0.9790832735602397 Centerline is valid? [True, True] Translation: X:216.00, Y:-7.17, Z:2.67 [[ 9.98680852e-01 -4.48288940e-02 -2.50385106e-02 2.16003136e+02] [ 4.48628479e-02 9.98992839e-01 7.95697107e-04 -7.17132111e+00] [ 2.49776226e-02 -1.91794636e-03 9.99686171e-01 2.66505787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59071405699999 meters Centerline goodness [0,1] 0.9543494389316517 Centerline is valid? [True, True] Translation: X:216.03, Y:-7.19, Z:2.66 [[ 9.98638580e-01 -4.63432644e-02 -2.39434366e-02 2.16033493e+02] [ 4.63747860e-02 9.98923820e-01 7.62624096e-04 -7.19062619e+00] [ 2.38823267e-02 -1.87195760e-03 9.99713024e-01 2.66443172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.620714057 meters Centerline goodness [0,1] 0.9785674650883196 Centerline is valid? [True, True] Translation: X:216.07, Y:-7.18, Z:2.67 [[ 9.98650120e-01 -4.64449124e-02 -2.32552795e-02 2.16066436e+02] [ 4.64747069e-02 9.98919191e-01 7.42081323e-04 -7.17688654e+00] [ 2.31956791e-02 -1.82186190e-03 9.99729284e-01 2.66781894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.650714057 meters Centerline goodness [0,1] 0.976760351259297 Centerline is valid? [True, True] Translation: X:216.10, Y:-7.18, Z:2.67 [[ 9.98685269e-01 -4.64241392e-02 -2.17378035e-02 2.16097995e+02] [ 4.64501946e-02 9.98920365e-01 6.94962692e-04 -7.18002902e+00] [ 2.16820715e-02 -1.70377420e-03 9.99763464e-01 2.66889032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.680714057 meters Centerline goodness [0,1] 0.9751119151995917 Centerline is valid? [True, True] Translation: X:216.13, Y:-7.18, Z:2.67 [[ 9.98714694e-01 -4.61083889e-02 -2.10470163e-02 2.16128924e+02] [ 4.61327779e-02 9.98935089e-01 6.74467019e-04 -7.18248861e+00] [ 2.09935045e-02 -1.64455745e-03 9.99778260e-01 2.66976976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.710714057 meters Centerline goodness [0,1] 0.9757263529193354 Centerline is valid? [True, True] Translation: X:216.16, Y:-7.18, Z:2.67 [[ 9.98748315e-01 -4.56155297e-02 -2.05189584e-02 2.16160775e+02] [ 4.56386465e-02 9.98957796e-01 6.59498590e-04 -7.18407684e+00] [ 2.04674901e-02 -1.59513060e-03 9.99789246e-01 2.67074689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.740714057 meters Centerline goodness [0,1] 0.977776231238546 Centerline is valid? [True, True] Translation: X:216.19, Y:-7.18, Z:2.67 [[ 9.98778824e-01 -4.50219930e-02 -2.03440804e-02 2.16193097e+02] [ 4.50446237e-02 9.98984761e-01 6.55290259e-04 -7.17524424e+00] [ 2.02939238e-02 -1.57088148e-03 9.99792823e-01 2.67227595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.770714057 meters Centerline goodness [0,1] 0.974154701250579 Centerline is valid? [True, True] Translation: X:216.22, Y:-7.19, Z:2.67 [[ 9.98791876e-01 -4.44843874e-02 -2.08788909e-02 2.16223633e+02] [ 4.45081360e-02 9.99008795e-01 6.73907235e-04 -7.18783338e+00] [ 2.08282173e-02 -1.60237359e-03 9.99781785e-01 2.67112451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.800714057 meters Centerline goodness [0,1] 0.9742689786620798 Centerline is valid? [True, True] Translation: X:216.26, Y:-7.19, Z:2.67 [[ 9.98761725e-01 -4.46445336e-02 -2.19518250e-02 2.16255404e+02] [ 4.46708543e-02 9.99001507e-01 7.09876440e-04 -7.18959427e+00] [ 2.18982142e-02 -1.68960419e-03 9.99758778e-01 2.67018878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.830714057 meters Centerline goodness [0,1] 0.9712153270245762 Centerline is valid? [True, True] Translation: X:216.29, Y:-7.19, Z:2.67 [[ 9.98732673e-01 -4.44278527e-02 -2.36477078e-02 2.16286646e+02] [ 4.44583873e-02 9.99010943e-01 7.66797947e-04 -7.19409712e+00] [ 2.35902517e-02 -1.81716512e-03 9.99720060e-01 2.66735413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.860714057 meters Centerline goodness [0,1] 0.9775798311510105 Centerline is valid? [True, True] Translation: X:216.32, Y:-7.18, Z:2.67 [[ 9.98729564e-01 -4.42796868e-02 -2.40534114e-02 2.16318781e+02] [ 4.43112884e-02 9.99017466e-01 7.82143046e-04 -7.18400147e+00] [ 2.39951451e-02 -1.84698703e-03 9.99710369e-01 2.66827650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.890714057 meters Centerline goodness [0,1] 0.9716447445000582 Centerline is valid? [True, True] Translation: X:216.35, Y:-7.19, Z:2.67 [[ 9.98701805e-01 -4.41402736e-02 -2.54232426e-02 2.16349689e+02] [ 4.41755748e-02 9.99023439e-01 8.28309670e-04 -7.19491008e+00] [ 2.53618534e-02 -1.95032072e-03 9.99676434e-01 2.66663676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.920714057 meters Centerline goodness [0,1] 0.9779125364431487 Centerline is valid? [True, True] Translation: X:216.38, Y:-7.18, Z:2.67 [[ 9.98712736e-01 -4.39204466e-02 -2.53745019e-02 2.16381978e+02] [ 4.39555818e-02 9.99033143e-01 8.28293569e-04 -7.18065037e+00] [ 2.53135894e-02 -1.94257833e-03 9.99677672e-01 2.66942138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95071405699997 meters Centerline goodness [0,1] 0.9772144223144736 Centerline is valid? [True, True] Translation: X:216.41, Y:-7.18, Z:2.67 [[ 9.98735029e-01 -4.33296731e-02 -2.55123739e-02 2.16413521e+02] [ 4.33650403e-02 9.99058946e-01 8.34389147e-04 -7.18286280e+00] [ 2.54522115e-02 -1.93967879e-03 9.99674158e-01 2.66979450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98071405699997 meters Centerline goodness [0,1] 0.9772144223144736 Centerline is valid? [True, True] Translation: X:216.45, Y:-7.18, Z:2.67 [[ 9.98738054e-01 -4.32599172e-02 -2.55123226e-02 2.16445292e+02] [ 4.32953015e-02 9.99061969e-01 8.35955341e-04 -7.18396611e+00] [ 2.54522279e-02 -1.93946411e-03 9.99674158e-01 2.67020185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01071405699997 meters Centerline goodness [0,1] 0.97532419068943 Centerline is valid? [True, True] Translation: X:216.48, Y:-7.19, Z:2.67 [[ 9.98776764e-01 -4.26650750e-02 -2.49933360e-02 2.16476682e+02] [ 4.26988864e-02 9.99087650e-01 8.20461871e-04 -7.18927824e+00] [ 2.49355283e-02 -1.88664587e-03 9.99687281e-01 2.66981004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04071405699997 meters Centerline goodness [0,1] 0.9766387889548194 Centerline is valid? [True, True] Translation: X:216.51, Y:-7.19, Z:2.67 [[ 9.98834025e-01 -4.18992728e-02 -2.39800392e-02 2.16508579e+02] [ 4.19302067e-02 9.99120231e-01 7.88403376e-04 -7.18836227e+00] [ 2.39259088e-02 -1.79297212e-03 9.99712127e-01 2.67102108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07071405699998 meters Centerline goodness [0,1] 0.9785503995513809 Centerline is valid? [True, True] Translation: X:216.54, Y:-7.18, Z:2.67 [[ 9.98853506e-01 -4.16639251e-02 -2.35752365e-02 2.16540715e+02] [ 4.16937908e-02 9.99130134e-01 7.76492818e-04 -7.18168165e+00] [ 2.35223774e-02 -1.75854355e-03 9.99721764e-01 2.67256934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10071405699998 meters Centerline goodness [0,1] 0.9770718167611318 Centerline is valid? [True, True] Translation: X:216.57, Y:-7.18, Z:2.67 [[ 9.98892351e-01 -4.11918010e-02 -2.27443821e-02 2.16571551e+02] [ 4.12195080e-02 9.99149833e-01 7.50524817e-04 -7.18426049e+00] [ 2.26941301e-02 -1.68720574e-03 9.99741031e-01 2.67335003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13071405699998 meters Centerline goodness [0,1] 0.9783491204330176 Centerline is valid? [True, True] Translation: X:216.60, Y:-7.18, Z:2.67 [[ 9.98912795e-01 -4.09371825e-02 -2.23019038e-02 2.16603950e+02] [ 4.09637884e-02 9.99160360e-01 7.37262434e-04 -7.17912672e+00] [ 2.22529968e-02 -1.65003135e-03 9.99751010e-01 2.67460330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16071405699998 meters Centerline goodness [0,1] 0.9783179410247996 Centerline is valid? [True, True] Translation: X:216.63, Y:-7.18, Z:2.67 [[ 9.98996865e-01 -3.89670824e-02 -2.20642140e-02 2.16634756e+02] [ 3.89926733e-02 9.99239229e-01 7.30637375e-04 -7.17946252e+00] [ 2.20189574e-02 -1.59024713e-03 9.99756289e-01 2.67485299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19071405699998 meters Centerline goodness [0,1] 0.9794607268464244 Centerline is valid? [True, True] Translation: X:216.67, Y:-7.18, Z:2.68 [[ 9.99062832e-01 -3.73601221e-02 -2.18558504e-02 2.16666282e+02] [ 3.73848661e-02 9.99300679e-01 7.24512316e-04 -7.17615626e+00] [ 2.18134983e-02 -1.54091137e-03 9.99760870e-01 2.67567373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22071405699998 meters Centerline goodness [0,1] 0.9777923538230885 Centerline is valid? [True, True] Translation: X:216.70, Y:-7.18, Z:2.68 [[ 9.99093321e-01 -3.64709547e-02 -2.19637162e-02 2.16697788e+02] [ 3.64957577e-02 9.99333542e-01 7.29360168e-04 -7.18138882e+00] [ 2.19224779e-02 -1.53028134e-03 9.99758502e-01 2.67527787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25071405699998 meters Centerline goodness [0,1] 0.9798841816519354 Centerline is valid? [True, True] Translation: X:216.73, Y:-7.18, Z:2.68 [[ 9.99117276e-01 -3.55155767e-02 -2.24346109e-02 2.16730234e+02] [ 3.55412570e-02 9.99367931e-01 7.46858158e-04 -7.17628851e+00] [ 2.23939056e-02 -1.54355316e-03 9.99748033e-01 2.67560223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28071405699998 meters Centerline goodness [0,1] 0.9809177326604859 Centerline is valid? [True, True] Translation: X:216.76, Y:-7.18, Z:2.67 [[ 9.99195826e-01 -3.19583682e-02 -2.42149743e-02 2.16759694e+02] [ 3.19872671e-02 9.99487951e-01 8.06930306e-04 -7.17828224e+00] [ 2.41767869e-02 -1.58085224e-03 9.99706449e-01 2.67320326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31071405699998 meters Centerline goodness [0,1] 0.9822238942839004 Centerline is valid? [True, True] Translation: X:216.79, Y:-7.18, Z:2.67 [[ 9.99225304e-01 -3.07610672e-02 -2.45468522e-02 2.16791386e+02] [ 3.07904088e-02 9.99525528e-01 8.18176651e-04 -7.17690293e+00] [ 2.45100374e-02 -1.57335042e-03 9.99698346e-01 2.67353066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34071405699999 meters Centerline goodness [0,1] 0.9822476870332973 Centerline is valid? [True, True] Translation: X:216.82, Y:-7.18, Z:2.67 [[ 9.99280449e-01 -2.91083490e-02 -2.43164277e-02 2.16822801e+02] [ 2.91366759e-02 9.99575108e-01 8.11361582e-04 -7.17673945e+00] [ 2.42824785e-02 -1.51927764e-03 9.99703983e-01 2.67412936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.370714057 meters Centerline goodness [0,1] 0.9812392871398719 Centerline is valid? [True, True] Translation: X:216.85, Y:-7.18, Z:2.67 [[ 9.99296721e-01 -2.85320691e-02 -2.43307107e-02 2.16853600e+02] [ 2.85602801e-02 9.99591742e-01 8.12701521e-04 -7.17966582e+00] [ 2.42975894e-02 -1.50702188e-03 9.99703634e-01 2.67394658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.400714057 meters Centerline goodness [0,1] 0.9815506827422501 Centerline is valid? [True, True] Translation: X:216.88, Y:-7.18, Z:2.67 [[ 9.99312418e-01 -2.77965562e-02 -2.45365456e-02 2.16883527e+02] [ 2.78250419e-02 9.99612472e-01 8.20232111e-04 -7.18324088e+00] [ 2.45042374e-02 -1.50239855e-03 9.99698597e-01 2.67321125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.430714057 meters Centerline goodness [0,1] 0.9825966461552915 Centerline is valid? [True, True] Translation: X:216.91, Y:-7.18, Z:2.67 [[ 9.99330295e-01 -2.72872864e-02 -2.43796029e-02 2.16914322e+02] [ 2.73152631e-02 9.99626536e-01 8.15202669e-04 -7.17710051e+00] [ 2.43482533e-02 -1.48059199e-03 9.99702441e-01 2.67450893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.460714057 meters Centerline goodness [0,1] 0.9829872990579744 Centerline is valid? [True, True] Translation: X:216.94, Y:-7.18, Z:2.68 [[ 9.99342879e-01 -2.76871574e-02 -2.33929834e-02 2.16944358e+02] [ 2.77130239e-02 9.99615614e-01 7.82212189e-04 -7.17850734e+00] [ 2.33623343e-02 -1.42998849e-03 9.99726041e-01 2.67528185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.490714057 meters Centerline goodness [0,1] 0.9818207440811725 Centerline is valid? [True, True] Translation: X:216.97, Y:-7.19, Z:2.68 [[ 9.99328015e-01 -2.87547384e-02 -2.27306605e-02 2.16973758e+02] [ 2.87794356e-02 9.99585497e-01 7.60065504e-04 -7.18924610e+00] [ 2.26993831e-02 -1.41373033e-03 9.99741336e-01 2.67540684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.520714057 meters Centerline goodness [0,1] 0.9820568825007633 Centerline is valid? [True, True] Translation: X:217.00, Y:-7.18, Z:2.68 [[ 9.99258439e-01 -3.21141050e-02 -2.12427960e-02 2.17004568e+02] [ 3.21364331e-02 9.99483239e-01 7.10464703e-04 -7.18342416e+00] [ 2.12090026e-02 -1.39260554e-03 9.99774094e-01 2.67880964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.550714057 meters Centerline goodness [0,1] 0.9826708875600891 Centerline is valid? [True, True] Translation: X:217.04, Y:-7.19, Z:2.68 [[ 9.99198398e-01 -3.42319383e-02 -2.07541606e-02 2.17036044e+02] [ 3.42537159e-02 9.99412928e-01 6.94627337e-04 -7.18618125e+00] [ 2.07181980e-02 -1.40497764e-03 9.99784368e-01 2.67967400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.580714057 meters Centerline goodness [0,1] 0.9830611576435356 Centerline is valid? [True, True] Translation: X:217.07, Y:-7.19, Z:2.68 [[ 9.99089540e-01 -3.75946185e-02 -2.01677076e-02 2.17066445e+02] [ 3.76158756e-02 9.99292044e-01 6.75569434e-04 -7.18957510e+00] [ 2.01280320e-02 -1.43358034e-03 9.99796383e-01 2.67949486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.610714057 meters Centerline goodness [0,1] 0.9818075665576833 Centerline is valid? [True, True] Translation: X:217.10, Y:-7.20, Z:2.68 [[ 9.99026286e-01 -3.93406693e-02 -1.99697602e-02 2.17096747e+02] [ 3.93618699e-02 9.99224797e-01 6.69536797e-04 -7.19501878e+00] [ 1.99279396e-02 -1.45493197e-03 9.99800360e-01 2.67946763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.640714057 meters Centerline goodness [0,1] 0.9800294303132226 Centerline is valid? [True, True] Translation: X:217.13, Y:-7.20, Z:2.68 [[ 9.98929728e-01 -4.16284855e-02 -2.01610591e-02 2.17126963e+02] [ 4.16505776e-02 9.99132009e-01 6.76938726e-04 -7.20215658e+00] [ 2.01153795e-02 -1.51593397e-03 9.99796516e-01 2.67924417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.670714057 meters Centerline goodness [0,1] 0.9810646742937194 Centerline is valid? [True, True] Translation: X:217.16, Y:-7.21, Z:2.68 [[ 9.98746697e-01 -4.60564775e-02 -1.95917347e-02 2.17156834e+02] [ 4.60781965e-02 9.98937619e-01 6.58371843e-04 -7.20547663e+00] [ 1.95405985e-02 -1.56029850e-03 9.99807847e-01 2.68065094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70071405699997 meters Centerline goodness [0,1] 0.9801159514773335 Centerline is valid? [True, True] Translation: X:217.19, Y:-7.21, Z:2.68 [[ 9.98641884e-01 -4.82592980e-02 -1.96323286e-02 2.17188323e+02] [ 4.82815359e-02 9.98833549e-01 6.60037778e-04 -7.20810106e+00] [ 1.95775755e-02 -1.60702035e-03 9.99807049e-01 2.68120968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73071405699997 meters Centerline goodness [0,1] 0.9780201964054104 Centerline is valid? [True, True] Translation: X:217.22, Y:-7.22, Z:2.68 [[ 9.98441525e-01 -5.20894968e-02 -2.00300980e-02 2.17218655e+02] [ 5.21134199e-02 9.98640945e-01 6.73891433e-04 -7.21567522e+00] [ 1.99677733e-02 -1.71667810e-03 9.99799150e-01 2.68070604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76071405699997 meters Centerline goodness [0,1] 0.9783087808838882 Centerline is valid? [True, True] Translation: X:217.25, Y:-7.22, Z:2.68 [[ 9.98354409e-01 -5.36227600e-02 -2.03242073e-02 2.17250107e+02] [ 5.36477120e-02 9.98559690e-01 6.84068176e-04 -7.21970718e+00] [ 2.02582526e-02 -1.77328970e-03 9.99793208e-01 2.68033037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79071405699997 meters Centerline goodness [0,1] 0.9760535954378969 Centerline is valid? [True, True] Translation: X:217.28, Y:-7.22, Z:2.68 [[ 9.98270265e-01 -5.49719695e-02 -2.08461368e-02 2.17281529e+02] [ 5.49985305e-02 9.98486188e-01 7.02543895e-04 -7.22403917e+00] [ 2.07759594e-02 -1.84783557e-03 9.99782449e-01 2.67990420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82071405699998 meters Centerline goodness [0,1] 0.966056109436587 Centerline is valid? [True, True] Translation: X:217.31, Y:-7.23, Z:2.68 [[ 9.98153404e-01 -5.68330049e-02 -2.14427669e-02 2.17311277e+02] [ 5.68615497e-02 9.98381811e-01 7.23368320e-04 -7.23455253e+00] [ 2.13669573e-02 -1.94130151e-03 9.99769816e-01 2.67871615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85071405699998 meters Centerline goodness [0,1] 0.9741068122917438 Centerline is valid? [True, True] Translation: X:217.34, Y:-7.23, Z:2.68 [[ 9.98100680e-01 -5.76460989e-02 -2.17246385e-02 2.17343612e+02] [ 5.76756042e-02 9.98335107e-01 7.33518097e-04 -7.23121374e+00] [ 2.16461848e-02 -1.98510656e-03 9.99763723e-01 2.67954632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88071405699998 meters Centerline goodness [0,1] 0.9770442436877461 Centerline is valid? [True, True] Translation: X:217.38, Y:-7.23, Z:2.68 [[ 9.98032988e-01 -5.87645200e-02 -2.18377013e-02 2.17375578e+02] [ 5.87946331e-02 9.98269826e-01 7.38914494e-04 -7.23066870e+00] [ 2.17564963e-02 -2.02140068e-03 9.99761256e-01 2.68073929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91071405699998 meters Centerline goodness [0,1] 0.9718887601390498 Centerline is valid? [True, True] Translation: X:217.41, Y:-7.24, Z:2.68 [[ 9.98030776e-01 -5.91084583e-02 -2.09942914e-02 2.17406654e+02] [ 5.91364061e-02 9.98249657e-01 7.12341810e-04 -7.23660385e+00] [ 2.09154388e-02 -1.95246599e-03 9.99779342e-01 2.68098981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94071405699998 meters Centerline goodness [0,1] 0.9686465974037994 Centerline is valid? [True, True] Translation: X:217.44, Y:-7.24, Z:2.68 [[ 9.98002124e-01 -5.96329405e-02 -2.08727681e-02 2.17437535e+02] [ 5.96607340e-02 9.98218459e-01 7.10849022e-04 -7.24059066e+00] [ 2.07931924e-02 -1.95471350e-03 9.99781887e-01 2.68142926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97071405699998 meters Centerline goodness [0,1] 0.9656208817885464 Centerline is valid? [True, True] Translation: X:217.47, Y:-7.24, Z:2.68 [[ 9.97932776e-01 -6.11573783e-02 -1.97471566e-02 2.17468489e+02] [ 6.11825831e-02 9.98126363e-01 6.74192611e-04 -7.24378138e+00] [ 1.96689257e-02 -1.88098095e-03 9.99804779e-01 2.68135253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00071405699998 meters Centerline goodness [0,1] 0.9654231960430824 Centerline is valid? [True, True] Translation: X:217.50, Y:-7.25, Z:2.68 [[ 9.97912846e-01 -6.16374314e-02 -1.92556416e-02 2.17500318e+02] [ 6.16615021e-02 9.98096902e-01 6.58285876e-04 -7.24599774e+00] [ 1.91784211e-02 -1.84424372e-03 9.99814376e-01 2.68151500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03071405699998 meters Centerline goodness [0,1] 0.9564876699700392 Centerline is valid? [True, True] Translation: X:217.53, Y:-7.25, Z:2.68 [[ 9.97886363e-01 -6.20393230e-02 -1.93372548e-02 2.17530880e+02] [ 6.20636944e-02 9.98071971e-01 6.62187960e-04 -7.25190744e+00] [ 1.92588903e-02 -1.86092981e-03 9.99812799e-01 2.68108818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06071405699998 meters Centerline goodness [0,1] 0.9546279908980164 Centerline is valid? [True, True] Translation: X:217.56, Y:-7.25, Z:2.68 [[ 9.97907277e-01 -6.18477144e-02 -1.88660092e-02 2.17562826e+02] [ 6.18708940e-02 9.98083951e-01 6.46886875e-04 -7.25428905e+00] [ 1.87898526e-02 -1.81278998e-03 9.99821812e-01 2.68126339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09071405699999 meters Centerline goodness [0,1] 0.9541685859051129 Centerline is valid? [True, True] Translation: X:217.59, Y:-7.26, Z:2.68 [[ 9.97906688e-01 -6.19055213e-02 -1.87069168e-02 2.17594811e+02] [ 6.19283450e-02 9.98080391e-01 6.42688339e-04 -7.25582840e+00] [ 1.86312209e-02 -1.79983139e-03 9.99824804e-01 2.68160834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.120714057 meters Centerline goodness [0,1] 0.945549569461712 Centerline is valid? [True, False] Translation: X:217.60, Y:-7.26, Z:2.68 [[ 9.97930079e-01 -6.15436148e-02 -1.86531926e-02 2.17595012e+02] [ 6.15758126e-02 9.98101740e-01 1.15618202e-03 -7.25676500e+00] [ 1.85466284e-02 -2.30237431e-03 9.99825346e-01 2.68134481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.150714057 meters Centerline goodness [0,1] 0.9705199254949755 Centerline is valid? [False, True] Translation: X:217.60, Y:-7.26, Z:2.68 [[ 9.97949576e-01 -6.11923588e-02 -1.87653720e-02 2.17595578e+02] [ 6.12337394e-02 9.98122110e-01 1.63801380e-03 -7.25756330e+00] [ 1.86298988e-02 -2.78372908e-03 9.99822573e-01 2.68095357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.180714057 meters Centerline goodness [0,1] 0.9704293628808864 Centerline is valid? [True, True] Translation: X:217.63, Y:-7.26, Z:2.68 [[ 9.97954332e-01 -6.11170458e-02 -1.87578919e-02 2.17628800e+02] [ 6.11398857e-02 9.98128998e-01 6.46026592e-04 -7.25967299e+00] [ 1.86833126e-02 -1.79156040e-03 9.99823847e-01 2.68127463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.210714057 meters Centerline goodness [0,1] 0.970478686715409 Centerline is valid? [True, True] Translation: X:217.66, Y:-7.26, Z:2.68 [[ 9.98036676e-01 -5.97291890e-02 -1.88472278e-02 2.17659422e+02] [ 5.97520335e-02 9.98213039e-01 6.50789844e-04 -7.26260447e+00] [ 1.87746773e-02 -1.77567232e-03 9.99822163e-01 2.68015388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.240714057 meters Centerline goodness [0,1] 0.9764323726587878 Centerline is valid? [True, True] Translation: X:217.69, Y:-7.26, Z:2.68 [[ 9.98092104e-01 -5.86685486e-02 -1.92393763e-02 2.17690950e+02] [ 5.86921717e-02 9.98275907e-01 6.65020607e-04 -7.25609675e+00] [ 1.91671901e-02 -1.79295259e-03 9.99814685e-01 2.68019009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.270714057 meters Centerline goodness [0,1] 0.9675958908831843 Centerline is valid? [True, True] Translation: X:217.72, Y:-7.27, Z:2.68 [[ 9.98251897e-01 -5.51939381e-02 -2.11371723e-02 2.17720642e+02] [ 5.52216926e-02 9.98473850e-01 7.31197347e-04 -7.26691083e+00] [ 2.10645562e-02 -1.89714957e-03 9.99776318e-01 2.67814728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.300714057 meters Centerline goodness [0,1] 0.977406453985474 Centerline is valid? [True, True] Translation: X:217.75, Y:-7.26, Z:2.68 [[ 9.98359959e-01 -5.28585439e-02 -2.19856146e-02 2.17751810e+02] [ 5.28880127e-02 9.98600160e-01 7.60666271e-04 -7.25523727e+00] [ 2.19146306e-02 -1.92219421e-03 9.99757998e-01 2.67845884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.330714057 meters Centerline goodness [0,1] 0.9765736028973548 Centerline is valid? [True, True] Translation: X:217.78, Y:-7.26, Z:2.68 [[ 9.98503071e-01 -4.97237227e-02 -2.27852722e-02 2.17780955e+02] [ 4.97545671e-02 9.98761163e-01 7.88445111e-04 -7.25675545e+00] [ 2.27178406e-02 -1.92093622e-03 9.99740071e-01 2.67839992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.360714057 meters Centerline goodness [0,1] 0.9797532572350974 Centerline is valid? [True, True] Translation: X:217.81, Y:-7.25, Z:2.68 [[ 9.98830361e-01 -4.26657989e-02 -2.27494877e-02 2.17811733e+02] [ 4.26947237e-02 9.99087855e-01 7.87042273e-04 -7.24668454e+00] [ 2.26951571e-02 -1.75740481e-03 9.99740887e-01 2.68001447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.390714057 meters Centerline goodness [0,1] 0.9793236982228062 Centerline is valid? [True, True] Translation: X:217.84, Y:-7.25, Z:2.68 [[ 9.99002353e-01 -3.87712171e-02 -2.21605895e-02 2.17840935e+02] [ 3.87977082e-02 9.99246791e-01 7.66564129e-04 -7.24517821e+00] [ 2.21141773e-02 -1.62557945e-03 9.99754130e-01 2.68093960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.420714057 meters Centerline goodness [0,1] 0.981484481681209 Centerline is valid? [True, True] Translation: X:217.87, Y:-7.24, Z:2.68 [[ 9.99171550e-01 -3.44512543e-02 -2.16639109e-02 2.17872140e+02] [ 3.44755586e-02 9.99405260e-01 7.49287313e-04 -7.23918136e+00] [ 2.16252127e-02 -1.49554200e-03 9.99765029e-01 2.68302672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45071405699997 meters Centerline goodness [0,1] 0.9812598571296038 Centerline is valid? [True, True] Translation: X:217.90, Y:-7.24, Z:2.68 [[ 9.99464368e-01 -2.57685867e-02 -2.01731545e-02 2.17901572e+02] [ 2.57879022e-02 9.99667193e-01 6.97888410e-04 -7.23504737e+00] [ 2.01484571e-02 -1.21773793e-03 9.99796258e-01 2.68438938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48071405699997 meters Centerline goodness [0,1] 0.9815529018168301 Centerline is valid? [True, True] Translation: X:217.93, Y:-7.23, Z:2.69 [[ 9.99580403e-01 -2.11642087e-02 -1.97761182e-02 2.17932198e+02] [ 2.11818689e-02 9.99775405e-01 6.83943707e-04 -7.23257645e+00] [ 1.97572014e-02 -1.10255187e-03 9.99804200e-01 2.68529617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51071405699997 meters Centerline goodness [0,1] 0.9817479163756577 Centerline is valid? [True, True] Translation: X:217.96, Y:-7.23, Z:2.69 [[ 9.99719874e-01 -1.49644567e-02 -1.83368249e-02 2.17962324e+02] [ 1.49786002e-02 9.99887613e-01 6.34210886e-04 -7.22942596e+00] [ 1.83252734e-02 -9.08693196e-04 9.99831665e-01 2.68604837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54071405699997 meters Centerline goodness [0,1] 0.9827790835679877 Centerline is valid? [True, True] Translation: X:217.99, Y:-7.23, Z:2.69 [[ 9.99760171e-01 -1.27827015e-02 -1.77820742e-02 2.17990918e+02] [ 1.27956528e-02 9.99917943e-01 6.14744742e-04 -7.22928095e+00] [ 1.77727569e-02 -8.42130556e-04 9.99841697e-01 2.68667855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57071405699998 meters Centerline goodness [0,1] 0.9821707778114863 Centerline is valid? [True, True] Translation: X:218.02, Y:-7.23, Z:2.69 [[ 9.99786518e-01 -1.11809066e-02 -1.73754547e-02 2.18019841e+02] [ 1.11930104e-02 9.99937177e-01 5.99506536e-04 -7.22942076e+00] [ 1.73676601e-02 -7.93862197e-04 9.99848856e-01 2.68706788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60071405699998 meters Centerline goodness [0,1] 0.9830765285904101 Centerline is valid? [True, True] Translation: X:218.05, Y:-7.23, Z:2.69 [[ 9.99783084e-01 -1.08604989e-02 -1.77717518e-02 2.18047694e+02] [ 1.08730850e-02 9.99940699e-01 6.11735628e-04 -7.23065227e+00] [ 1.77640542e-02 -8.04836700e-04 9.99841883e-01 2.68741270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63071405699998 meters Centerline goodness [0,1] 0.9832582249515492 Centerline is valid? [True, True] Translation: X:218.08, Y:-7.23, Z:2.69 [[ 9.99763648e-01 -1.18071404e-02 -1.82548749e-02 2.18076361e+02] [ 1.18205273e-02 9.99929939e-01 6.25600313e-04 -7.23352540e+00] [ 1.82462094e-02 -8.41234698e-04 9.99833170e-01 2.68762456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66071405699998 meters Centerline goodness [0,1] 0.983504578178514 Centerline is valid? [True, True] Translation: X:218.10, Y:-7.23, Z:2.69 [[ 9.99751673e-01 -1.28546933e-02 -1.82029841e-02 2.18104997e+02] [ 1.28680976e-02 9.99917011e-01 6.19437866e-04 -7.23107333e+00] [ 1.81935108e-02 -8.53521819e-04 9.99834120e-01 2.68822791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69071405699998 meters Centerline goodness [0,1] 0.9811596556764658 Centerline is valid? [True, True] Translation: X:218.13, Y:-7.24, Z:2.69 [[ 9.99711160e-01 -1.53920204e-02 -1.84575910e-02 2.18133111e+02] [ 1.54061619e-02 9.99881123e-01 6.24205507e-04 -7.24385052e+00] [ 1.84457890e-02 -9.08385845e-04 9.99829449e-01 2.68741498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72071405699998 meters Centerline goodness [0,1] 0.9810702838296094 Centerline is valid? [True, True] Translation: X:218.16, Y:-7.25, Z:2.69 [[ 9.99678483e-01 -1.66657155e-02 -1.91097903e-02 2.18161431e+02] [ 1.66810795e-02 9.99860653e-01 6.44860464e-04 -7.24644087e+00] [ 1.90963804e-02 -9.63425063e-04 9.99817183e-01 2.68721511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75071405699998 meters Centerline goodness [0,1] 0.9817873487118731 Centerline is valid? [True, True] Translation: X:218.19, Y:-7.25, Z:2.69 [[ 9.99619226e-01 -1.81735893e-02 -2.07635161e-02 2.18190529e+02] [ 1.81920045e-02 9.99834268e-01 6.98344419e-04 -7.24525604e+00] [ 2.07473835e-02 -1.07580849e-03 9.99784171e-01 2.68716770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78071405699998 meters Centerline goodness [0,1] 0.9827542245195985 Centerline is valid? [True, True] Translation: X:218.22, Y:-7.25, Z:2.69 [[ 9.99596231e-01 -1.85674675e-02 -2.15087078e-02 2.18219014e+02] [ 1.85872638e-02 9.99826982e-01 7.20818638e-04 -7.24587517e+00] [ 2.14916027e-02 -1.12031562e-03 9.99768401e-01 2.68725659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81071405699998 meters Centerline goodness [0,1] 0.982175142552501 Centerline is valid? [True, True] Translation: X:218.25, Y:-7.25, Z:2.69 [[ 9.99581530e-01 -1.87270237e-02 -2.20468260e-02 2.18246673e+02] [ 1.87477652e-02 9.99823975e-01 7.34460699e-04 -7.25286414e+00] [ 2.20291910e-02 -1.14748207e-03 9.99756669e-01 2.68650209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84071405699999 meters Centerline goodness [0,1] 0.9821420309969928 Centerline is valid? [True, True] Translation: X:218.28, Y:-7.25, Z:2.69 [[ 9.99577721e-01 -1.90571526e-02 -2.19363648e-02 2.18275544e+02] [ 1.90776969e-02 9.99817739e-01 7.27629224e-04 -7.25199307e+00] [ 2.19185002e-02 -1.14581728e-03 9.99759104e-01 2.68763069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.870714057 meters Centerline goodness [0,1] 0.9821420309969928 Centerline is valid? [True, True] Translation: X:218.30, Y:-7.25, Z:2.69 [[ 9.99572964e-01 -1.93048617e-02 -2.19365439e-02 2.18303791e+02] [ 1.93253466e-02 9.99812987e-01 7.22198351e-04 -7.25287870e+00] [ 2.19184995e-02 -1.14582126e-03 9.99759104e-01 2.68803797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.900714057 meters Centerline goodness [0,1] 0.9815667136942896 Centerline is valid? [True, True] Translation: X:218.33, Y:-7.26, Z:2.69 [[ 9.99605106e-01 -1.94324205e-02 -2.02981057e-02 2.18331992e+02] [ 1.94498882e-02 9.99810613e-01 6.63480355e-04 -7.25616687e+00] [ 2.02813685e-02 -1.05801424e-03 9.99793752e-01 2.68979923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.930714057 meters Centerline goodness [0,1] 0.980332026746599 Centerline is valid? [True, True] Translation: X:218.36, Y:-7.26, Z:2.69 [[ 9.99629614e-01 -1.88663641e-02 -1.96136538e-02 2.18360506e+02] [ 1.88824915e-02 9.99821507e-01 6.37369052e-04 -7.26324539e+00] [ 1.95981280e-02 -1.00748763e-03 9.99807431e-01 2.69028824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.960714057 meters Centerline goodness [0,1] 0.9812474146251781 Centerline is valid? [True, True] Translation: X:218.39, Y:-7.26, Z:2.69 [[ 9.99673239e-01 -1.80352755e-02 -1.81147614e-02 2.18389732e+02] [ 1.80488741e-02 9.99836933e-01 5.87472791e-04 -7.26319134e+00] [ 1.81012123e-02 -9.14231876e-04 9.99835742e-01 2.69206134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.990714057 meters Centerline goodness [0,1] 0.9798271553996745 Centerline is valid? [True, True] Translation: X:218.42, Y:-7.27, Z:2.69 [[ 9.99691590e-01 -1.72291870e-02 -1.78851899e-02 2.18418443e+02] [ 1.72422777e-02 9.99851174e-01 5.77975702e-04 -7.27062859e+00] [ 1.78725701e-02 -8.86178860e-04 9.99839880e-01 2.69209306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.020714057 meters Centerline goodness [0,1] 0.9797134670487107 Centerline is valid? [True, True] Translation: X:218.45, Y:-7.27, Z:2.69 [[ 9.99682525e-01 -1.70554101e-02 -1.85462416e-02 2.18448295e+02] [ 1.70694370e-02 9.99854128e-01 5.98273950e-04 -7.27226697e+00] [ 1.85333324e-02 -9.14657915e-04 9.99827825e-01 2.69252397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.050714057 meters Centerline goodness [0,1] 0.9802277361559787 Centerline is valid? [True, True] Translation: X:218.48, Y:-7.28, Z:2.69 [[ 9.99655604e-01 -1.72284097e-02 -1.97953432e-02 2.18476279e+02] [ 1.72444088e-02 9.99851101e-01 6.37802208e-04 -7.27873107e+00] [ 1.97814073e-02 -9.78941542e-04 9.99803850e-01 2.69139886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.080714057 meters Centerline goodness [0,1] 0.9801203303365131 Centerline is valid? [True, True] Translation: X:218.50, Y:-7.28, Z:2.69 [[ 9.99627096e-01 -1.78438054e-02 -2.06704478e-02 2.18504729e+02] [ 1.78613376e-02 9.99840253e-01 6.63849493e-04 -7.28207699e+00] [ 2.06553002e-02 -1.03280379e-03 9.99786123e-01 2.69115012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.110714057 meters Centerline goodness [0,1] 0.9802245033263985 Centerline is valid? [True, True] Translation: X:218.53, Y:-7.29, Z:2.69 [[ 9.99596662e-01 -1.88422482e-02 -2.12481280e-02 2.18533065e+02] [ 1.88608939e-02 9.99821888e-01 6.77445604e-04 -7.28669773e+00] [ 2.12315789e-02 -1.07793105e-03 9.99774004e-01 2.69091487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.140714057 meters Centerline goodness [0,1] 0.9797883018523588 Centerline is valid? [True, True] Translation: X:218.56, Y:-7.30, Z:2.69 [[ 9.99539929e-01 -2.01580891e-02 -2.26623462e-02 2.18560815e+02] [ 2.01795433e-02 9.99796114e-01 7.18378571e-04 -7.29512085e+00] [ 2.26432445e-02 -1.17536386e-03 9.99742918e-01 2.68953927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.170714057 meters Centerline goodness [0,1] 0.9826761974139501 Centerline is valid? [True, True] Translation: X:218.59, Y:-7.29, Z:2.69 [[ 9.99526237e-01 -2.06043786e-02 -2.28639510e-02 2.18589360e+02] [ 2.06262574e-02 9.99786996e-01 7.21472465e-04 -7.28834120e+00] [ 2.28442154e-02 -1.19272840e-03 9.99738325e-01 2.69172125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20071405699997 meters Centerline goodness [0,1] 0.9836886047728461 Centerline is valid? [True, True] Translation: X:218.62, Y:-7.29, Z:2.69 [[ 9.99513591e-01 -2.16832215e-02 -2.24147334e-02 2.18618172e+02] [ 2.17043947e-02 9.99764186e-01 7.01736614e-04 -7.29454972e+00] [ 2.23942318e-02 -1.18789350e-03 9.99748512e-01 2.69211436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23071405699997 meters Centerline goodness [0,1] 0.9837996052004628 Centerline is valid? [True, True] Translation: X:218.65, Y:-7.30, Z:2.69 [[ 9.99521138e-01 -2.16538346e-02 -2.21044378e-02 2.18646266e+02] [ 2.16743242e-02 9.99764848e-01 6.87762007e-04 -7.29874464e+00] [ 2.20843472e-02 -1.16653142e-03 9.99755430e-01 2.69249338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26071405699997 meters Centerline goodness [0,1] 0.9841695246314929 Centerline is valid? [True, True] Translation: X:218.68, Y:-7.30, Z:2.69 [[ 9.99504142e-01 -2.20492730e-02 -2.24788553e-02 2.18675158e+02] [ 2.20704880e-02 9.99756175e-01 6.96094635e-04 -7.30210751e+00] [ 2.24580260e-02 -1.19186878e-03 9.99747076e-01 2.69262559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29071405699997 meters Centerline goodness [0,1] 0.9850452042689144 Centerline is valid? [True, True] Translation: X:218.70, Y:-7.31, Z:2.69 [[ 9.99501660e-01 -2.10192958e-02 -2.35503760e-02 2.18704242e+02] [ 2.10421595e-02 9.99778328e-01 7.23430040e-04 -7.30608245e+00] [ 2.35299496e-02 -1.21862030e-03 9.99722390e-01 2.69261977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32071405699998 meters Centerline goodness [0,1] 0.9844768283852281 Centerline is valid? [True, True] Translation: X:218.73, Y:-7.31, Z:2.69 [[ 9.99498017e-01 -2.01792765e-02 -2.44235673e-02 2.18732669e+02] [ 2.02034725e-02 9.99795612e-01 7.44304636e-04 -7.30705331e+00] [ 2.44035559e-02 -1.23737188e-03 9.99701423e-01 2.69279129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35071405699998 meters Centerline goodness [0,1] 0.9850374064837906 Centerline is valid? [True, True] Translation: X:218.76, Y:-7.31, Z:2.69 [[ 9.99530181e-01 -1.79151423e-02 -2.48689459e-02 2.18760860e+02] [ 1.79394206e-02 9.99838792e-01 7.53473337e-04 -7.31290267e+00] [ 2.48514383e-02 -1.19925382e-03 9.99690436e-01 2.69285416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38071405699998 meters Centerline goodness [0,1] 0.9847962700182444 Centerline is valid? [True, True] Translation: X:218.79, Y:-7.32, Z:2.69 [[ 9.99529550e-01 -1.77123677e-02 -2.50389751e-02 2.18789751e+02] [ 1.77368257e-02 9.99842405e-01 7.55030369e-04 -7.31564114e+00] [ 2.50216557e-02 -1.19878710e-03 9.99686191e-01 2.69337016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41071405699998 meters Centerline goodness [0,1] 0.9850394231417211 Centerline is valid? [True, True] Translation: X:218.82, Y:-7.32, Z:2.69 [[ 9.99543546e-01 -1.73999415e-02 -2.46970016e-02 2.18818526e+02] [ 1.74234934e-02 9.99847926e-01 7.38751770e-04 -7.31523622e+00] [ 2.46803916e-02 -1.16872261e-03 9.99694710e-01 2.69473673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44071405699998 meters Centerline goodness [0,1] 0.985586112297902 Centerline is valid? [True, True] Translation: X:218.85, Y:-7.32, Z:2.70 [[ 9.99554534e-01 -1.79502926e-02 -2.38436727e-02 2.18846252e+02] [ 1.79722544e-02 9.99838236e-01 7.07085831e-04 -7.31866120e+00] [ 2.38271232e-02 -1.13529540e-03 9.99715449e-01 2.69620746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47071405699998 meters Centerline goodness [0,1] 0.9857662430964034 Centerline is valid? [True, True] Translation: X:218.88, Y:-7.32, Z:2.70 [[ 9.99547243e-01 -1.86240581e-02 -2.36316063e-02 2.18875111e+02] [ 1.86456681e-02 9.99825913e-01 6.94418442e-04 -7.32200478e+00] [ 2.36145594e-02 -1.13473113e-03 9.99720493e-01 2.69647172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50071405699998 meters Centerline goodness [0,1] 0.9859432799013563 Centerline is valid? [True, True] Translation: X:218.90, Y:-7.33, Z:2.70 [[ 9.99532226e-01 -1.95694966e-02 -2.35024286e-02 2.18902669e+02] [ 1.95910190e-02 9.99807842e-01 6.85828838e-04 -7.32739534e+00] [ 2.34844911e-02 -1.14594455e-03 9.99723545e-01 2.69621359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53071405699998 meters Centerline goodness [0,1] 0.9851100512751618 Centerline is valid? [True, True] Translation: X:218.93, Y:-7.33, Z:2.70 [[ 9.99482863e-01 -2.22092235e-02 -2.32541720e-02 2.18931891e+02] [ 2.22309502e-02 9.99752633e-01 6.76182152e-04 -7.32915336e+00] [ 2.32334022e-02 -1.19279481e-03 9.99729357e-01 2.69742239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56071405699998 meters Centerline goodness [0,1] 0.983594465926108 Centerline is valid? [True, True] Translation: X:218.96, Y:-7.34, Z:2.70 [[ 9.99436433e-01 -2.42516117e-02 -2.32094042e-02 2.18959956e+02] [ 2.42737743e-02 9.99705122e-01 6.73605649e-04 -7.34435104e+00] [ 2.31862243e-02 -1.23660587e-03 9.99730399e-01 2.69605172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59071405699999 meters Centerline goodness [0,1] 0.9826470981844136 Centerline is valid? [True, True] Translation: X:218.99, Y:-7.35, Z:2.70 [[ 9.99272705e-01 -2.97902102e-02 -2.38034630e-02 2.18990096e+02] [ 2.98150692e-02 9.99555194e-01 6.90046054e-04 -7.35023996e+00] [ 2.37723185e-02 -1.39924608e-03 9.99716419e-01 2.69690202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.620714057 meters Centerline goodness [0,1] 0.983319618352868 Centerline is valid? [True, True] Translation: X:219.02, Y:-7.35, Z:2.70 [[ 9.99183108e-01 -3.27391801e-02 -2.36909906e-02 2.19020565e+02] [ 3.27646305e-02 9.99462859e-01 6.86792993e-04 -7.35054804e+00] [ 2.36557802e-02 -1.46245851e-03 9.99719093e-01 2.69798307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.650714057 meters Centerline goodness [0,1] 0.9816338328812203 Centerline is valid? [True, True] Translation: X:219.05, Y:-7.36, Z:2.70 [[ 9.99063625e-01 -3.61390899e-02 -2.37873801e-02 2.19049830e+02] [ 3.61657035e-02 9.99345569e-01 6.89421446e-04 -7.36209254e+00] [ 2.37468978e-02 -1.54906322e-03 9.99716803e-01 2.69746835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.680714057 meters Centerline goodness [0,1] 0.9823635113250659 Centerline is valid? [True, True] Translation: X:219.08, Y:-7.36, Z:2.70 [[ 9.98836697e-01 -4.22704991e-02 -2.32046824e-02 2.19080575e+02] [ 4.22974654e-02 9.99104836e-01 6.72302317e-04 -7.36262078e+00] [ 2.31554918e-02 -1.65301947e-03 9.99730509e-01 2.69880032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.710714057 meters Centerline goodness [0,1] 0.9807198512484505 Centerline is valid? [True, True] Translation: X:219.11, Y:-7.37, Z:2.70 [[ 9.98726030e-01 -4.50004056e-02 -2.28315690e-02 2.19111746e+02] [ 4.50272283e-02 9.98985541e-01 6.61820913e-04 -7.36763547e+00] [ 2.27786251e-02 -1.68902004e-03 9.99739107e-01 2.69899370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.740714057 meters Centerline goodness [0,1] 0.979801997701759 Centerline is valid? [True, True] Translation: X:219.14, Y:-7.37, Z:2.70 [[ 9.98540347e-01 -4.88010325e-02 -2.31437690e-02 2.19142136e+02] [ 4.88296214e-02 9.98806897e-01 6.71423105e-04 -7.37384843e+00] [ 2.30833899e-02 -1.80054454e-03 9.99731922e-01 2.69922797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.770714057 meters Centerline goodness [0,1] 0.9803006853858058 Centerline is valid? [True, True] Translation: X:219.17, Y:-7.38, Z:2.70 [[ 9.98493409e-01 -4.94387263e-02 -2.38059802e-02 2.19172917e+02] [ 4.94691801e-02 9.98775411e-01 6.91677529e-04 -7.37841372e+00] [ 2.37426320e-02 -1.86829778e-03 9.99716358e-01 2.69933515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.800714057 meters Centerline goodness [0,1] 0.9797750830784128 Centerline is valid? [True, True] Translation: X:219.20, Y:-7.38, Z:2.70 [[ 9.98490313e-01 -4.92145024e-02 -2.43932002e-02 2.19203261e+02] [ 4.92464642e-02 9.98786404e-01 7.10918099e-04 -7.38171908e+00] [ 2.43286093e-02 -1.91112370e-03 9.99702189e-01 2.69905788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.830714057 meters Centerline goodness [0,1] 0.9800229064798908 Centerline is valid? [True, True] Translation: X:219.23, Y:-7.38, Z:2.70 [[ 9.98565331e-01 -4.73139655e-02 -2.50732504e-02 2.19233712e+02] [ 4.73471675e-02 9.98878226e-01 7.31858807e-04 -7.38438487e+00] [ 2.50104968e-02 -1.91795622e-03 9.99685349e-01 2.69872788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.860714057 meters Centerline goodness [0,1] 0.9810866347024901 Centerline is valid? [True, True] Translation: X:219.26, Y:-7.38, Z:2.70 [[ 9.98627836e-01 -4.58867501e-02 -2.52359239e-02 2.19264736e+02] [ 4.59199427e-02 9.98944851e-01 7.37053753e-04 -7.38302459e+00] [ 2.51754752e-02 -1.89487457e-03 9.99681252e-01 2.69949350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.890714057 meters Centerline goodness [0,1] 0.980205246162693 Centerline is valid? [True, True] Translation: X:219.29, Y:-7.38, Z:2.70 [[ 9.98818007e-01 -4.18524033e-02 -2.47176939e-02 2.19294250e+02] [ 4.18830191e-02 9.99122261e-01 7.21987711e-04 -7.38461179e+00] [ 2.46657813e-02 -1.75638598e-03 9.99694210e-01 2.70058330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.920714057 meters Centerline goodness [0,1] 0.980573297677194 Centerline is valid? [True, True] Translation: X:219.32, Y:-7.39, Z:2.70 [[ 9.98930836e-01 -3.93751290e-02 -2.42236230e-02 2.19323843e+02] [ 3.94038021e-02 9.99223118e-01 7.07316301e-04 -7.38507372e+00] [ 2.41769534e-02 -1.66106291e-03 9.99706315e-01 2.70149352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95071405699997 meters Centerline goodness [0,1] 0.9801286570320762 Centerline is valid? [True, True] Translation: X:219.35, Y:-7.38, Z:2.70 [[ 9.99026268e-01 -3.69775625e-02 -2.40660517e-02 2.19353592e+02] [ 3.70051634e-02 9.99314828e-01 7.02388324e-04 -7.38323527e+00] [ 2.40235897e-02 -1.59227256e-03 9.99710124e-01 2.70257476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98071405699997 meters Centerline goodness [0,1] 0.9814753556070129 Centerline is valid? [True, True] Translation: X:219.38, Y:-7.38, Z:2.70 [[ 9.99189620e-01 -3.29561756e-02 -2.31082930e-02 2.19384091e+02] [ 3.29805402e-02 9.99455767e-01 6.73942921e-04 -7.37848904e+00] [ 2.30735061e-02 -1.43552076e-03 9.99732741e-01 2.70433004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01071405699997 meters Centerline goodness [0,1] 0.9824894561353148 Centerline is valid? [True, True] Translation: X:219.41, Y:-7.38, Z:2.71 [[ 9.99231504e-01 -3.15285572e-02 -2.32884230e-02 2.19413784e+02] [ 3.15529087e-02 9.99501852e-01 6.78840649e-04 -7.37517916e+00] [ 2.32554191e-02 -1.41313645e-03 9.99728557e-01 2.70573009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04071405699997 meters Centerline goodness [0,1] 0.9830071747484396 Centerline is valid? [True, True] Translation: X:219.44, Y:-7.38, Z:2.71 [[ 9.99286976e-01 -3.01708969e-02 -2.26992755e-02 2.19442254e+02] [ 3.01936618e-02 9.99543849e-01 6.60753640e-04 -7.37771881e+00] [ 2.26689856e-02 -1.34565675e-03 9.99742120e-01 2.70645164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07071405699998 meters Centerline goodness [0,1] 0.983941184309893 Centerline is valid? [True, True] Translation: X:219.47, Y:-7.37, Z:2.71 [[ 9.99267255e-01 -3.08976699e-02 -2.25895418e-02 2.19472373e+02] [ 3.09203772e-02 9.99521635e-01 6.56536811e-04 -7.37418027e+00] [ 2.25584503e-02 -1.35453289e-03 9.99744608e-01 2.70726093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10071405699998 meters Centerline goodness [0,1] 0.9822539090262971 Centerline is valid? [True, True] Translation: X:219.50, Y:-7.38, Z:2.71 [[ 9.99226064e-01 -3.28935323e-02 -2.15705645e-02 2.19502339e+02] [ 3.29146869e-02 9.99457969e-01 6.26317757e-04 -7.37580185e+00] [ 2.15382708e-02 -1.33582140e-03 9.99767132e-01 2.70820279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13071405699998 meters Centerline goodness [0,1] 0.9821444395214887 Centerline is valid? [True, True] Translation: X:219.53, Y:-7.38, Z:2.71 [[ 9.99188275e-01 -3.41909153e-02 -2.13019432e-02 2.19532707e+02] [ 3.42118345e-02 9.99414413e-01 6.18269847e-04 -7.37720458e+00] [ 2.12683299e-02 -1.34654654e-03 9.99772897e-01 2.70879578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16071405699998 meters Centerline goodness [0,1] 0.9823992897569637 Centerline is valid? [True, True] Translation: X:219.56, Y:-7.38, Z:2.71 [[ 9.99130732e-01 -3.56905458e-02 -2.15398723e-02 2.19562996e+02] [ 3.57122847e-02 9.99361917e-01 6.25300214e-04 -7.37972438e+00] [ 2.15038108e-02 -1.39399471e-03 9.99767794e-01 2.70923572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19071405699998 meters Centerline goodness [0,1] 0.9819727588355738 Centerline is valid? [True, True] Translation: X:219.59, Y:-7.38, Z:2.71 [[ 9.98975731e-01 -3.92368406e-02 -2.25379695e-02 2.19593297e+02] [ 3.92615464e-02 9.99228754e-01 6.54568075e-04 -7.38216306e+00] [ 2.24949040e-02 -1.53877316e-03 9.99745773e-01 2.70912921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22071405699998 meters Centerline goodness [0,1] 0.9811767832229776 Centerline is valid? [True, True] Translation: X:219.62, Y:-7.39, Z:2.71 [[ 9.98905004e-01 -4.07575028e-02 -2.29699509e-02 2.19623571e+02] [ 4.07835698e-02 9.99167781e-01 6.67320053e-04 -7.38629891e+00] [ 2.29236366e-02 -1.60338594e-03 9.99735933e-01 2.70919616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25071405699998 meters Centerline goodness [0,1] 0.9811173880165474 Centerline is valid? [True, True] Translation: X:219.65, Y:-7.39, Z:2.71 [[ 9.98755122e-01 -4.38988623e-02 -2.36874537e-02 2.19654147e+02] [ 4.39274696e-02 9.99034486e-01 6.88465644e-04 -7.38790680e+00] [ 2.36343602e-02 -1.72813849e-03 9.99719176e-01 2.70843752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28071405699998 meters Centerline goodness [0,1] 0.9801406794328444 Centerline is valid? [True, True] Translation: X:219.68, Y:-7.39, Z:2.71 [[ 9.98722540e-01 -4.46124753e-02 -2.37279469e-02 2.19683853e+02] [ 4.46413826e-02 9.99002838e-01 6.89714434e-04 -7.39191307e+00] [ 2.36735164e-02 -1.74808171e-03 9.99718215e-01 2.70806211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31071405699998 meters Centerline goodness [0,1] 0.979167593045489 Centerline is valid? [True, True] Translation: X:219.71, Y:-7.40, Z:2.71 [[ 9.98656675e-01 -4.60013563e-02 -2.38478575e-02 2.19713988e+02] [ 4.60309541e-02 9.98939773e-01 6.93359277e-04 -7.39588673e+00] [ 2.37906779e-02 -1.79016751e-03 9.99715359e-01 2.70772476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34071405699999 meters Centerline goodness [0,1] 0.9802792476321758 Centerline is valid? [True, True] Translation: X:219.75, Y:-7.39, Z:2.71 [[ 9.98597608e-01 -4.71735889e-02 -2.40305830e-02 2.19745751e+02] [ 4.72039932e-02 9.98885025e-01 6.99243754e-04 -7.39261883e+00] [ 2.39708036e-02 -1.83260262e-03 9.99710979e-01 2.70795762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.370714057 meters Centerline goodness [0,1] 0.9825980392156862 Centerline is valid? [True, True] Translation: X:219.78, Y:-7.39, Z:2.71 [[ 9.98602912e-01 -4.67682845e-02 -2.45957785e-02 2.19776883e+02] [ 4.68000353e-02 9.98904021e-01 7.16552025e-04 -7.38649986e+00] [ 2.45353102e-02 -1.86663424e-03 9.99697221e-01 2.70925515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.400714057 meters Centerline goodness [0,1] 0.9796018131721624 Centerline is valid? [True, True] Translation: X:219.81, Y:-7.40, Z:2.71 [[ 9.98650887e-01 -4.56121901e-02 -2.48180123e-02 2.19807178e+02] [ 4.56441799e-02 9.98957499e-01 7.23723003e-04 -7.39537732e+00] [ 2.47591289e-02 -1.85554444e-03 9.99691724e-01 2.70797980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.430714057 meters Centerline goodness [0,1] 0.9840816235404434 Centerline is valid? [True, True] Translation: X:219.84, Y:-7.38, Z:2.71 [[ 9.98686195e-01 -4.46389505e-02 -2.51644102e-02 2.19838753e+02] [ 4.46715487e-02 9.99001458e-01 7.34466332e-04 -7.38196184e+00] [ 2.51064967e-02 -1.85763456e-03 9.99683056e-01 2.71020843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.460714057 meters Centerline goodness [0,1] 0.9838518750139593 Centerline is valid? [True, True] Translation: X:219.87, Y:-7.38, Z:2.71 [[ 9.98733656e-01 -4.33916885e-02 -2.54606694e-02 2.19869407e+02] [ 4.34246743e-02 9.99056427e-01 7.43828757e-04 -7.38230304e+00] [ 2.54043694e-02 -1.84850809e-03 9.99675548e-01 2.70986697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.490714057 meters Centerline goodness [0,1] 0.9819392909830569 Centerline is valid? [True, True] Translation: X:219.90, Y:-7.39, Z:2.71 [[ 9.98876570e-01 -3.98158824e-02 -2.56961841e-02 2.19898663e+02] [ 3.98483077e-02 9.99205459e-01 7.50842324e-04 -7.39023577e+00] [ 2.56458719e-02 -1.77394825e-03 9.99669517e-01 2.70882256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.520714057 meters Centerline goodness [0,1] 0.9844864200290601 Centerline is valid? [True, True] Translation: X:219.93, Y:-7.38, Z:2.71 [[ 9.98973300e-01 -3.74485668e-02 -2.54941246e-02 2.19929469e+02] [ 3.74797127e-02 9.99297111e-01 7.44782727e-04 -7.37760167e+00] [ 2.54483140e-02 -1.69953052e-03 9.99674695e-01 2.71126498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.550714057 meters Centerline goodness [0,1] 0.9856585846815757 Centerline is valid? [True, True] Translation: X:219.96, Y:-7.37, Z:2.71 [[ 9.99191197e-01 -3.16460996e-02 -2.48087977e-02 2.19959888e+02] [ 3.16738113e-02 9.99497996e-01 7.24753236e-04 -7.36853489e+00] [ 2.47734080e-02 -1.50995623e-03 9.99691952e-01 2.71412310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.580714057 meters Centerline goodness [0,1] 0.9859101294744859 Centerline is valid? [True, True] Translation: X:219.99, Y:-7.37, Z:2.71 [[ 9.99306077e-01 -2.85569213e-02 -2.39137162e-02 2.19989174e+02] [ 2.85817791e-02 9.99591214e-01 6.98257468e-04 -7.36762291e+00] [ 2.38840005e-02 -1.38126948e-03 9.99713782e-01 2.71499196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.610714057 meters Centerline goodness [0,1] 0.9873041599135602 Centerline is valid? [True, True] Translation: X:220.02, Y:-7.36, Z:2.72 [[ 9.99476642e-01 -2.31724201e-02 -2.25716903e-02 2.20019737e+02] [ 2.31931852e-02 9.99730785e-01 6.58573879e-04 -7.35788610e+00] [ 2.25503529e-02 -1.18173860e-03 9.99745010e-01 2.71737831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.640714057 meters Centerline goodness [0,1] 0.9875517738159554 Centerline is valid? [True, True] Translation: X:220.05, Y:-7.36, Z:2.72 [[ 9.99544001e-01 -2.09408172e-02 -2.17548130e-02 2.20049155e+02] [ 2.09595723e-02 9.99780123e-01 6.34436073e-04 -7.35632752e+00] [ 2.17367440e-02 -1.09011835e-03 9.99763135e-01 2.71804338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.670714057 meters Centerline goodness [0,1] 0.9873882395333649 Centerline is valid? [True, True] Translation: X:220.08, Y:-7.36, Z:2.72 [[ 9.99581740e-01 -1.95374403e-02 -2.13221170e-02 2.20077081e+02] [ 1.95551076e-02 9.99808588e-01 6.20383688e-04 -7.35657091e+00] [ 2.13059150e-02 -1.03708050e-03 9.99772465e-01 2.71854950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70071405699997 meters Centerline goodness [0,1] 0.9889294733044733 Centerline is valid? [True, True] Translation: X:220.11, Y:-7.35, Z:2.72 [[ 9.99601148e-01 -1.83540467e-02 -2.14633250e-02 2.20106341e+02] [ 1.83716155e-02 9.99831034e-01 6.21640518e-04 -7.35328454e+00] [ 2.14482888e-02 -1.01570853e-03 9.99769443e-01 2.71939022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73071405699997 meters Centerline goodness [0,1] 0.9879659259926984 Centerline is valid? [True, True] Translation: X:220.13, Y:-7.36, Z:2.72 [[ 9.99591607e-01 -1.89526109e-02 -2.13873450e-02 2.20133878e+02] [ 1.89701386e-02 9.99819860e-01 6.16930969e-04 -7.35612446e+00] [ 2.13717999e-02 -1.02239992e-03 9.99771074e-01 2.71899175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76071405699997 meters Centerline goodness [0,1] 0.9873805660717505 Centerline is valid? [True, True] Translation: X:220.16, Y:-7.36, Z:2.72 [[ 9.99550778e-01 -2.16287120e-02 -2.07470803e-02 2.20163232e+02] [ 2.16457445e-02 9.99765525e-01 5.96715635e-04 -7.35585870e+00] [ 2.07293095e-02 -1.04553358e-03 9.99784578e-01 2.72019753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79071405699997 meters Centerline goodness [0,1] 0.9873805660717505 Centerline is valid? [True, True] Translation: X:220.19, Y:-7.36, Z:2.72 [[ 9.99545408e-01 -2.18753731e-02 -2.07471579e-02 2.20191492e+02] [ 2.18924025e-02 9.99760156e-01 5.94006764e-04 -7.35662463e+00] [ 2.07291877e-02 -1.04794186e-03 9.99784578e-01 2.72060397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82071405699998 meters Centerline goodness [0,1] 0.9875180245133381 Centerline is valid? [True, True] Translation: X:220.22, Y:-7.36, Z:2.72 [[ 9.99512707e-01 -2.38705483e-02 -2.01133295e-02 2.20220777e+02] [ 2.38868805e-02 9.99714504e-01 5.72119075e-04 -7.35814017e+00] [ 2.00939304e-02 -1.05228498e-03 9.99797543e-01 2.72127881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85071405699998 meters Centerline goodness [0,1] 0.9864791779340184 Centerline is valid? [True, True] Translation: X:220.25, Y:-7.36, Z:2.72 [[ 9.99468977e-01 -2.57243237e-02 -2.00005913e-02 2.20250760e+02] [ 2.57408263e-02 9.99668489e-01 5.68060637e-04 -7.36013097e+00] [ 1.99793479e-02 -1.08259073e-03 9.99799807e-01 2.72188345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88071405699998 meters Centerline goodness [0,1] 0.9860706626030026 Centerline is valid? [True, True] Translation: X:220.28, Y:-7.36, Z:2.72 [[ 9.99360627e-01 -2.95093181e-02 -2.01875642e-02 2.20280737e+02] [ 2.95268932e-02 9.99563822e-01 5.73014170e-04 -7.36019306e+00] [ 2.01618496e-02 -1.16872385e-03 9.99796046e-01 2.72219120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91071405699998 meters Centerline goodness [0,1] 0.9873257574046043 Centerline is valid? [True, True] Translation: X:220.31, Y:-7.36, Z:2.72 [[ 9.99299008e-01 -3.14120884e-02 -2.03659978e-02 2.20312163e+02] [ 3.14303685e-02 9.99505777e-01 5.78034302e-04 -7.36236658e+00] [ 2.03377752e-02 -1.21773992e-03 9.99792424e-01 2.72213825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94071405699998 meters Centerline goodness [0,1] 0.986449864498645 Centerline is valid? [True, True] Translation: X:220.34, Y:-7.36, Z:2.72 [[ 9.99189707e-01 -3.43042576e-02 -2.10510840e-02 2.20342879e+02] [ 3.43244415e-02 9.99410564e-01 5.98123734e-04 -7.36432751e+00] [ 2.10181576e-02 -1.32020578e-03 9.99778222e-01 2.72146847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97071405699998 meters Centerline goodness [0,1] 0.9865435415772956 Centerline is valid? [True, True] Translation: X:220.37, Y:-7.36, Z:2.72 [[ 9.99145996e-01 -3.52842216e-02 -2.15011994e-02 2.20374398e+02] [ 3.53055151e-02 9.99376379e-01 6.11429779e-04 -7.36381438e+00] [ 2.14662170e-02 -1.37001854e-03 9.99768636e-01 2.72129624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00071405699998 meters Centerline goodness [0,1] 0.9850729416015537 Centerline is valid? [True, True] Translation: X:220.40, Y:-7.37, Z:2.72 [[ 9.99124074e-01 -3.56622778e-02 -2.18926278e-02 2.20404765e+02] [ 3.56844587e-02 9.99362913e-01 6.23221016e-04 -7.37349539e+00] [ 2.18564548e-02 -1.40390169e-03 9.99760133e-01 2.72016877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03071405699998 meters Centerline goodness [0,1] 0.9862232779097387 Centerline is valid? [True, True] Translation: X:220.44, Y:-7.37, Z:2.72 [[ 9.99117259e-01 -3.56004805e-02 -2.23004087e-02 2.20436045e+02] [ 3.56234924e-02 9.99365080e-01 6.35370217e-04 -7.36687722e+00] [ 2.22636303e-02 -1.42922779e-03 9.99751113e-01 2.72031155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06071405699998 meters Centerline goodness [0,1] 0.9862407085244346 Centerline is valid? [True, True] Translation: X:220.47, Y:-7.37, Z:2.72 [[ 9.99150834e-01 -3.44474613e-02 -2.26049503e-02 2.20466334e+02] [ 3.44708271e-02 9.99405497e-01 6.44703553e-04 -7.36799744e+00] [ 2.25693032e-02 -1.42336743e-03 9.99744268e-01 2.72058636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09071405699999 meters Centerline goodness [0,1] 0.9857589204854194 Centerline is valid? [True, True] Translation: X:220.50, Y:-7.37, Z:2.72 [[ 9.99206948e-01 -3.28678794e-02 -2.24761522e-02 2.20497326e+02] [ 3.28905869e-02 9.99458753e-01 6.41264986e-04 -7.36610096e+00] [ 2.24429101e-02 -1.38001027e-03 9.99747174e-01 2.72104118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.120714057 meters Centerline goodness [0,1] 0.9864343723061567 Centerline is valid? [True, True] Translation: X:220.53, Y:-7.36, Z:2.72 [[ 9.99360440e-01 -2.80820483e-02 -2.21384294e-02 2.20527000e+02] [ 2.81029047e-02 9.99604836e-01 6.31477739e-04 -7.36247659e+00] [ 2.21119479e-02 -1.25322804e-03 9.99754716e-01 2.72164773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.150714057 meters Centerline goodness [0,1] 0.9871905518964342 Centerline is valid? [True, True] Translation: X:220.56, Y:-7.36, Z:2.72 [[ 9.99428815e-01 -2.57331037e-02 -2.19055138e-02 2.20556346e+02] [ 2.57529531e-02 9.99668143e-01 6.24473800e-04 -7.36141133e+00] [ 2.18821746e-02 -1.18824878e-03 9.99759850e-01 2.72244604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.180714057 meters Centerline goodness [0,1] 0.9876343963812425 Centerline is valid? [True, True] Translation: X:220.59, Y:-7.36, Z:2.72 [[ 9.99530220e-01 -2.26028592e-02 -2.06990269e-02 2.20586779e+02] [ 2.26199020e-02 9.99743963e-01 5.89576571e-04 -7.35816896e+00] [ 2.06804010e-02 -1.05750956e-03 9.99785578e-01 2.72404438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.210714057 meters Centerline goodness [0,1] 0.987745822439468 Centerline is valid? [True, True] Translation: X:220.62, Y:-7.35, Z:2.73 [[ 9.99573308e-01 -2.16895221e-02 -1.95644081e-02 2.20616762e+02] [ 2.17045579e-02 9.99764273e-01 5.56494281e-04 -7.35400291e+00] [ 1.95477262e-02 -9.80893658e-04 9.99808444e-01 2.72583502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.240714057 meters Centerline goodness [0,1] 0.9870709277975053 Centerline is valid? [True, True] Translation: X:220.65, Y:-7.36, Z:2.73 [[ 9.99584586e-01 -2.18931883e-02 -1.87441600e-02 2.20646568e+02] [ 2.19070146e-02 9.99759871e-01 5.32596658e-04 -7.35663598e+00] [ 1.87279988e-02 -9.43003998e-04 9.99824171e-01 2.72669720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.270714057 meters Centerline goodness [0,1] 0.9877261569233566 Centerline is valid? [True, True] Translation: X:220.68, Y:-7.36, Z:2.73 [[ 9.99557659e-01 -2.35461964e-02 -1.81676287e-02 2.20677103e+02] [ 2.35594530e-02 9.99722304e-01 5.15969746e-04 -7.35608843e+00] [ 1.81504345e-02 -9.43760907e-04 9.99834822e-01 2.72699260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.300714057 meters Centerline goodness [0,1] 0.987946884576098 Centerline is valid? [True, True] Translation: X:220.71, Y:-7.36, Z:2.73 [[ 9.99520291e-01 -2.50767085e-02 -1.81754474e-02 2.20707430e+02] [ 2.50902289e-02 9.99685057e-01 5.16191800e-04 -7.35855183e+00] [ 1.81567788e-02 -9.71970312e-04 9.99834680e-01 2.72664500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.330714057 meters Centerline goodness [0,1] 0.9864637746990688 Centerline is valid? [True, True] Translation: X:220.74, Y:-7.36, Z:2.73 [[ 9.99386766e-01 -2.91452064e-02 -1.94074343e-02 2.20738247e+02] [ 2.91613876e-02 9.99574564e-01 5.51222487e-04 -7.36158773e+00] [ 1.93831122e-02 -1.11683217e-03 9.99811506e-01 2.72541686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.360714057 meters Centerline goodness [0,1] 0.986747753471907 Centerline is valid? [True, True] Translation: X:220.77, Y:-7.37, Z:2.73 [[ 9.99308755e-01 -3.12764164e-02 -2.00947166e-02 2.20768469e+02] [ 3.12941980e-02 9.99510054e-01 5.70966783e-04 -7.36528543e+00] [ 2.00670135e-02 -1.19942014e-03 9.99797918e-01 2.72521759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.390714057 meters Centerline goodness [0,1] 0.9859170925610449 Centerline is valid? [True, True] Translation: X:220.80, Y:-7.37, Z:2.73 [[ 9.99218362e-01 -3.35367175e-02 -2.09273234e-02 2.20799250e+02] [ 3.35565053e-02 9.99436645e-01 5.95002178e-04 -7.36752952e+00] [ 2.08955794e-02 -1.29678494e-03 9.99780823e-01 2.72530083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.420714057 meters Centerline goodness [0,1] 0.9852227913512533 Centerline is valid? [True, True] Translation: X:220.83, Y:-7.37, Z:2.73 [[ 9.99043024e-01 -3.77766041e-02 -2.20446040e-02 2.20829182e+02] [ 3.77995973e-02 9.99285143e-01 6.27129444e-04 -7.37188808e+00] [ 2.20051544e-02 -1.45980645e-03 9.99756791e-01 2.72508177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45071405699997 meters Centerline goodness [0,1] 0.9842832195586602 Centerline is valid? [True, True] Translation: X:220.86, Y:-7.38, Z:2.72 [[ 9.98852952e-01 -4.22528444e-02 -2.25272404e-02 2.20858916e+02] [ 4.22779901e-02 9.99105680e-01 6.40930775e-04 -7.37746404e+00] [ 2.24800127e-02 -1.59260204e-03 9.99746024e-01 2.72498288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48071405699997 meters Centerline goodness [0,1] 0.9838011735653277 Centerline is valid? [True, True] Translation: X:220.89, Y:-7.38, Z:2.73 [[ 9.98762102e-01 -4.41275744e-02 -2.29569186e-02 2.20890188e+02] [ 4.41541834e-02 9.99024515e-01 6.53243691e-04 -7.38109273e+00] [ 2.29056984e-02 -1.66607904e-03 9.99736242e-01 2.72522278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51071405699997 meters Centerline goodness [0,1] 0.9839309188160101 Centerline is valid? [True, True] Translation: X:220.92, Y:-7.38, Z:2.73 [[ 9.98664842e-01 -4.60490546e-02 -2.34097971e-02 2.20921453e+02] [ 4.60772682e-02 9.98937656e-01 6.66945054e-04 -7.38021879e+00] [ 2.33542157e-02 -1.74471408e-03 9.99725731e-01 2.72583147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54071405699997 meters Centerline goodness [0,1] 0.9834861970812814 Centerline is valid? [True, True] Translation: X:220.95, Y:-7.38, Z:2.73 [[ 9.98490505e-01 -4.97322500e-02 -2.33112626e-02 2.20951871e+02] [ 4.97612364e-02 9.98760921e-01 6.64665987e-04 -7.38098615e+00] [ 2.32493228e-02 -1.82365993e-03 9.99728035e-01 2.72642269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57071405699998 meters Centerline goodness [0,1] 0.9832695660048448 Centerline is valid? [True, True] Translation: X:220.98, Y:-7.38, Z:2.73 [[ 9.98410967e-01 -5.13615653e-02 -2.31846894e-02 2.20982882e+02] [ 5.13906790e-02 9.98678407e-01 6.61266249e-04 -7.38015852e+00] [ 2.31200850e-02 -1.85169240e-03 9.99730980e-01 2.72729247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60071405699998 meters Centerline goodness [0,1] 0.9835887943294431 Centerline is valid? [True, True] Translation: X:221.01, Y:-7.38, Z:2.73 [[ 9.98264956e-01 -5.43456324e-02 -2.26633893e-02 2.21013596e+02] [ 5.43742231e-02 9.98520418e-01 6.46763090e-04 -7.38287766e+00] [ 2.25947082e-02 -1.87794511e-03 9.99742943e-01 2.72814542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63071405699998 meters Centerline goodness [0,1] 0.9764671241874476 Centerline is valid? [True, True] Translation: X:221.04, Y:-7.40, Z:2.73 [[ 9.98200053e-01 -5.57496799e-02 -2.21049096e-02 2.21044280e+02] [ 5.57772335e-02 9.98443039e-01 6.31422958e-04 -7.39726582e+00] [ 2.20352915e-02 -1.86323713e-03 9.99755457e-01 2.72753003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66071405699998 meters Centerline goodness [0,1] 0.9715403931859828 Centerline is valid? [True, True] Translation: X:221.08, Y:-7.40, Z:2.73 [[ 9.98159593e-01 -5.65565356e-02 -2.18811619e-02 2.21075894e+02] [ 5.65837510e-02 9.98397660e-01 6.26157185e-04 -7.40002634e+00] [ 2.18106875e-02 -1.86312302e-03 9.99760383e-01 2.72819496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69071405699998 meters Centerline goodness [0,1] 0.9801323008150272 Centerline is valid? [True, True] Translation: X:221.11, Y:-7.39, Z:2.73 [[ 9.98103570e-01 -5.77804566e-02 -2.12292846e-02 2.21108466e+02] [ 5.78063737e-02 9.98327628e-01 6.08679829e-04 -7.39166028e+00] [ 2.11586115e-02 -1.83471347e-03 9.99774448e-01 2.73016428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72071405699998 meters Centerline goodness [0,1] 0.9791327545668295 Centerline is valid? [True, True] Translation: X:221.14, Y:-7.39, Z:2.73 [[ 9.98018771e-01 -5.93931228e-02 -2.07602689e-02 2.21139174e+02] [ 5.94182799e-02 9.98232995e-01 5.96514306e-04 -7.39374602e+00] [ 2.06881565e-02 -1.82887194e-03 9.99784304e-01 2.73121084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75071405699998 meters Centerline goodness [0,1] 0.9808999164653557 Centerline is valid? [True, True] Translation: X:221.17, Y:-7.39, Z:2.73 [[ 9.97975987e-01 -6.00894113e-02 -2.08132667e-02 2.21171568e+02] [ 6.01148705e-02 9.98191286e-01 5.99164299e-04 -7.39120887e+00] [ 2.07396181e-02 -1.84913842e-03 9.99783201e-01 2.73187200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78071405699998 meters Centerline goodness [0,1] 0.9808875418438433 Centerline is valid? [True, True] Translation: X:221.20, Y:-7.39, Z:2.73 [[ 9.97899678e-01 -6.12159019e-02 -2.11859900e-02 2.21204010e+02] [ 6.12425656e-02 9.98122725e-01 6.11426711e-04 -7.39332748e+00] [ 2.11087890e-02 -1.90762690e-03 9.99775365e-01 2.73191922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81071405699998 meters Centerline goodness [0,1] 0.9802734507856609 Centerline is valid? [True, True] Translation: X:221.24, Y:-7.39, Z:2.73 [[ 9.97710773e-01 -6.34424246e-02 -2.34152157e-02 2.21235320e+02] [ 6.34756349e-02 9.97983159e-01 6.77054756e-04 -7.39381291e+00] [ 2.33250369e-02 -2.16180051e-03 9.99725597e-01 2.73056770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84071405699999 meters Centerline goodness [0,1] 0.9804637037372799 Centerline is valid? [True, True] Translation: X:221.27, Y:-7.40, Z:2.73 [[ 9.97657820e-01 -6.39769286e-02 -2.42038460e-02 2.21267493e+02] [ 6.40125937e-02 9.97948845e-01 7.00827583e-04 -7.39679810e+00] [ 2.41093633e-02 -2.24853708e-03 9.99706798e-01 2.72991909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.870714057 meters Centerline goodness [0,1] 0.9803251222604601 Centerline is valid? [True, True] Translation: X:221.30, Y:-7.40, Z:2.73 [[ 9.97571699e-01 -6.48141606e-02 -2.54917695e-02 2.21299291e+02] [ 6.48540376e-02 9.97894487e-01 7.39805981e-04 -7.39802938e+00] [ 2.53901463e-02 -2.39125369e-03 9.99674758e-01 2.72892347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.900714057 meters Centerline goodness [0,1] 0.9812973807254074 Centerline is valid? [True, True] Translation: X:221.33, Y:-7.40, Z:2.73 [[ 9.97576727e-01 -6.46598686e-02 -2.56860906e-02 2.21332877e+02] [ 6.47003571e-02 9.97904457e-01 7.47463418e-04 -7.39718781e+00] [ 2.55839334e-02 -2.40755134e-03 9.99669779e-01 2.72928774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.930714057 meters Centerline goodness [0,1] 0.9808673180241652 Centerline is valid? [True, True] Translation: X:221.37, Y:-7.40, Z:2.73 [[ 9.97608453e-01 -6.42059192e-02 -2.55924524e-02 2.21365045e+02] [ 6.42460254e-02 9.97933810e-01 7.47110808e-04 -7.39777997e+00] [ 2.54916046e-02 -2.38953740e-03 9.99672180e-01 2.72969688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.960714057 meters Centerline goodness [0,1] 0.9813746124425736 Centerline is valid? [True, True] Translation: X:221.40, Y:-7.40, Z:2.73 [[ 9.97730407e-01 -6.24316256e-02 -2.52255109e-02 2.21396264e+02] [ 6.24700578e-02 9.98046566e-01 7.37616106e-04 -7.39802750e+00] [ 2.51301839e-02 -2.31178114e-03 9.99681514e-01 2.73085924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.990714057 meters Centerline goodness [0,1] 0.9808947511558336 Centerline is valid? [True, True] Translation: X:221.43, Y:-7.40, Z:2.73 [[ 9.97810547e-01 -6.10484562e-02 -2.54401019e-02 2.21427006e+02] [ 6.10871162e-02 9.98132161e-01 7.44546942e-04 -7.39846424e+00] [ 2.53471305e-02 -2.29697925e-03 9.99676071e-01 2.73172373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.020714057 meters Centerline goodness [0,1] 0.9815625354348566 Centerline is valid? [True, True] Translation: X:221.46, Y:-7.40, Z:2.73 [[ 9.98053917e-01 -5.73190865e-02 -2.45540426e-02 2.21457708e+02] [ 5.73539915e-02 9.98353646e-01 7.19105718e-04 -7.39641297e+00] [ 2.44723995e-02 -2.12597863e-03 9.99698245e-01 2.73326117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.050714057 meters Centerline goodness [0,1] 0.9819842277012327 Centerline is valid? [True, True] Translation: X:221.49, Y:-7.40, Z:2.73 [[ 9.98177085e-01 -5.53709866e-02 -2.40116919e-02 2.21487381e+02] [ 5.54038065e-02 9.98463782e-01 7.03214529e-04 -7.39668291e+00] [ 2.39358670e-02 -2.03227176e-03 9.99711430e-01 2.73395737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.080714057 meters Centerline goodness [0,1] 0.9840809106988979 Centerline is valid? [True, True] Translation: X:221.52, Y:-7.39, Z:2.74 [[ 9.98412293e-01 -5.15608643e-02 -2.26797299e-02 2.21517944e+02] [ 5.15891665e-02 9.98668171e-01 6.64202407e-04 -7.39215461e+00] [ 2.26152775e-02 -1.83317621e-03 9.99742561e-01 2.73590814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.110714057 meters Centerline goodness [0,1] 0.9859477346388341 Centerline is valid? [True, True] Translation: X:221.55, Y:-7.39, Z:2.74 [[ 9.98510189e-01 -4.98389031e-02 -2.22145366e-02 2.21549284e+02] [ 4.98656385e-02 9.98755723e-01 6.50856830e-04 -7.38950779e+00] [ 2.21544576e-02 -1.75762923e-03 9.99753015e-01 2.73700791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.140714057 meters Centerline goodness [0,1] 0.9851499717034522 Centerline is valid? [True, True] Translation: X:221.58, Y:-7.39, Z:2.74 [[ 9.98666247e-01 -4.67801921e-02 -2.18481311e-02 2.21579878e+02] [ 4.68053390e-02 9.98903824e-01 6.40762971e-04 -7.38897129e+00] [ 2.17942067e-02 -1.66251753e-03 9.99761096e-01 2.73776995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.170714057 meters Centerline goodness [0,1] 0.9850340752145267 Centerline is valid? [True, True] Translation: X:221.61, Y:-7.39, Z:2.74 [[ 9.98720041e-01 -4.56059037e-02 -2.18719399e-02 2.21610812e+02] [ 4.56308368e-02 9.98958165e-01 6.41978562e-04 -7.39081402e+00] [ 2.18198749e-02 -1.63919177e-03 9.99760574e-01 2.73801370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20071405699997 meters Centerline goodness [0,1] 0.9856786766372082 Centerline is valid? [True, True] Translation: X:221.64, Y:-7.39, Z:2.74 [[ 9.98781266e-01 -4.41649850e-02 -2.20326098e-02 2.21641887e+02] [ 4.41899546e-02 9.99022937e-01 6.47487260e-04 -7.38931132e+00] [ 2.19824863e-02 -1.62031817e-03 9.99757043e-01 2.73852070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23071405699997 meters Centerline goodness [0,1] 0.9860428231562253 Centerline is valid? [True, True] Translation: X:221.67, Y:-7.39, Z:2.74 [[ 9.98893946e-01 -4.12250701e-02 -2.26136917e-02 2.21672006e+02] [ 4.12506371e-02 9.99148609e-01 6.65095798e-04 -7.38975788e+00] [ 2.25670199e-02 -1.59718935e-03 9.99744057e-01 2.73831555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26071405699997 meters Centerline goodness [0,1] 0.9862401958561908 Centerline is valid? [True, True] Translation: X:221.70, Y:-7.39, Z:2.74 [[ 9.98969839e-01 -3.92064523e-02 -2.28498192e-02 2.21703619e+02] [ 3.92320378e-02 9.99229901e-01 6.72346508e-04 -7.38721363e+00] [ 2.28058623e-02 -1.56809885e-03 9.99738683e-01 2.73854710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29071405699997 meters Centerline goodness [0,1] 0.9860884168482208 Centerline is valid? [True, True] Translation: X:221.73, Y:-7.39, Z:2.74 [[ 9.99121371e-01 -3.50104279e-02 -2.30381469e-02 2.21733170e+02] [ 3.50353353e-02 9.99385844e-01 6.78274504e-04 -7.38594853e+00] [ 2.30002512e-02 -1.48482775e-03 9.99734357e-01 2.73902424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32071405699998 meters Centerline goodness [0,1] 0.9858666847863016 Centerline is valid? [True, True] Translation: X:221.76, Y:-7.38, Z:2.74 [[ 9.99205180e-01 -3.27363785e-02 -2.27450538e-02 2.21763490e+02] [ 3.27600642e-02 9.99463021e-01 6.69425492e-04 -7.38497785e+00] [ 2.27109256e-02 -1.41402284e-03 9.99741074e-01 2.73985341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35071405699998 meters Centerline goodness [0,1] 0.985825591168253 Centerline is valid? [True, True] Translation: X:221.79, Y:-7.39, Z:2.74 [[ 9.99266919e-01 -3.06976678e-02 -2.28752615e-02 2.21794058e+02] [ 3.07210968e-02 9.99527769e-01 6.73409385e-04 -7.38533721e+00] [ 2.28437870e-02 -1.37566884e-03 9.99738100e-01 2.74064981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38071405699998 meters Centerline goodness [0,1] 0.9873293903548681 Centerline is valid? [True, True] Translation: X:221.82, Y:-7.38, Z:2.74 [[ 9.99384277e-01 -2.68120084e-02 -2.26314657e-02 2.21824652e+02] [ 2.68339545e-02 9.99639682e-01 6.66535157e-04 -7.38385561e+00] [ 2.26054400e-02 -1.27341647e-03 9.99743653e-01 2.74075536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41071405699998 meters Centerline goodness [0,1] 0.9877188992494883 Centerline is valid? [True, True] Translation: X:221.85, Y:-7.38, Z:2.74 [[ 9.99406834e-01 -2.56410177e-02 -2.29895148e-02 2.21854982e+02] [ 2.56633572e-02 9.99670412e-01 6.77168216e-04 -7.38383567e+00] [ 2.29645744e-02 -1.26675467e-03 9.99735477e-01 2.74117960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44071405699998 meters Centerline goodness [0,1] 0.9872854418308964 Centerline is valid? [True, True] Translation: X:221.89, Y:-7.38, Z:2.74 [[ 9.99429304e-01 -2.41663216e-02 -2.36019971e-02 2.21885210e+02] [ 2.41894538e-02 9.99707151e-01 6.95050218e-04 -7.38403727e+00] [ 2.35782885e-02 -1.26557298e-03 9.99721192e-01 2.74114429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47071405699998 meters Centerline goodness [0,1] 0.9867732094886855 Centerline is valid? [True, True] Translation: X:221.91, Y:-7.39, Z:2.74 [[ 9.99404540e-01 -2.45360887e-02 -2.42599729e-02 2.21914093e+02] [ 2.45606194e-02 9.99698088e-01 7.13666004e-04 -7.38775146e+00] [ 2.42351380e-02 -1.30908101e-03 9.99705429e-01 2.74061720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50071405699998 meters Centerline goodness [0,1] 0.9866274831419719 Centerline is valid? [True, True] Translation: X:221.94, Y:-7.39, Z:2.74 [[ 9.99378771e-01 -2.53830670e-02 -2.44493915e-02 2.21942486e+02] [ 2.54081575e-02 9.99676904e-01 7.16064167e-04 -7.38653709e+00] [ 2.44233161e-02 -1.33683332e-03 9.99700812e-01 2.74128463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53071405699998 meters Centerline goodness [0,1] 0.9865277651135224 Centerline is valid? [True, True] Translation: X:221.97, Y:-7.39, Z:2.74 [[ 9.99324295e-01 -2.73809248e-02 -2.45201760e-02 2.21970771e+02] [ 2.74066624e-02 9.99624112e-01 7.14146411e-04 -7.39190543e+00] [ 2.44914052e-02 -1.38568005e-03 9.99699080e-01 2.74113524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56071405699998 meters Centerline goodness [0,1] 0.9858438953223306 Centerline is valid? [True, True] Translation: X:222.00, Y:-7.39, Z:2.74 [[ 9.99277576e-01 -2.88490151e-02 -2.47398593e-02 2.22000707e+02] [ 2.88756376e-02 9.99582753e-01 7.19453119e-04 -7.39469646e+00] [ 2.47087812e-02 -1.43331258e-03 9.99693664e-01 2.74169858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59071405699999 meters Centerline goodness [0,1] 0.9851259876389487 Centerline is valid? [True, True] Translation: X:222.03, Y:-7.40, Z:2.74 [[ 9.99199210e-01 -3.15864394e-02 -2.45608724e-02 2.22030049e+02] [ 3.16134858e-02 9.99499914e-01 7.13596342e-04 -7.40107692e+00] [ 2.45260499e-02 -1.48947969e-03 9.99698082e-01 2.74238505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.620714057 meters Centerline goodness [0,1] 0.9839941631136141 Centerline is valid? [True, True] Translation: X:222.06, Y:-7.40, Z:2.74 [[ 9.99120355e-01 -3.36253087e-02 -2.50570198e-02 2.22060618e+02] [ 3.36540917e-02 9.99433276e-01 7.27766165e-04 -7.40323944e+00] [ 2.50183480e-02 -1.57039723e-03 9.99685759e-01 2.74283538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.650714057 meters Centerline goodness [0,1] 0.9831542524130396 Centerline is valid? [True, True] Translation: X:222.09, Y:-7.41, Z:2.74 [[ 9.99072550e-01 -3.48860506e-02 -2.52389094e-02 2.22091261e+02] [ 3.49156538e-02 9.99389994e-01 7.33049039e-04 -7.40560562e+00] [ 2.51979403e-02 -1.61360219e-03 9.99681179e-01 2.74363189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.680714057 meters Centerline goodness [0,1] 0.9831542524130396 Centerline is valid? [True, True] Translation: X:222.12, Y:-7.41, Z:2.74 [[ 9.99072550e-01 -3.48860506e-02 -2.52389094e-02 2.22121309e+02] [ 3.49156538e-02 9.99389994e-01 7.33049039e-04 -7.40647833e+00] [ 2.51979403e-02 -1.61360219e-03 9.99681179e-01 2.74406367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.710714057 meters Centerline goodness [0,1] 0.9838096322441079 Centerline is valid? [True, True] Translation: X:222.15, Y:-7.40, Z:2.75 [[ 9.99025176e-01 -3.70935671e-02 -2.39325079e-02 2.22152876e+02] [ 3.71208225e-02 9.99310543e-01 6.95437169e-04 -7.40332511e+00] [ 2.38902112e-02 -1.58315362e-03 9.99713335e-01 2.74733448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.740714057 meters Centerline goodness [0,1] 0.9827680276439029 Centerline is valid? [True, True] Translation: X:222.18, Y:-7.41, Z:2.75 [[ 9.99018632e-01 -3.75957026e-02 -2.34165964e-02 2.22184477e+02] [ 3.76219512e-02 9.99291812e-01 6.81244830e-04 -7.40562219e+00] [ 2.33744011e-02 -1.56155432e-03 9.99725562e-01 2.74823300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.770714057 meters Centerline goodness [0,1] 0.9818017611198916 Centerline is valid? [True, True] Translation: X:222.22, Y:-7.41, Z:2.75 [[ 9.98991960e-01 -3.85624627e-02 -2.29782730e-02 2.22215139e+02] [ 3.85880066e-02 9.99254981e-01 6.69127008e-04 -7.40896112e+00] [ 2.29353506e-02 -1.55513825e-03 9.99735741e-01 2.74897677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.800714057 meters Centerline goodness [0,1] 0.9821355794049722 Centerline is valid? [True, True] Translation: X:222.25, Y:-7.41, Z:2.75 [[ 9.98952131e-01 -3.92393168e-02 -2.35566492e-02 2.22246532e+02] [ 3.92663641e-02 9.99228543e-01 6.86550316e-04 -7.40616103e+00] [ 2.35115365e-02 -1.61081487e-03 9.99722268e-01 2.74949258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.830714057 meters Centerline goodness [0,1] 0.9823733581361584 Centerline is valid? [True, True] Translation: X:222.28, Y:-7.40, Z:2.75 [[ 9.98886741e-01 -4.00912836e-02 -2.48589551e-02 2.22278021e+02] [ 4.01216909e-02 9.99194537e-01 7.25431082e-04 -7.40467138e+00] [ 2.48098486e-02 -1.72200680e-03 9.99690705e-01 2.74993083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.860714057 meters Centerline goodness [0,1] 0.9817679432881118 Centerline is valid? [True, True] Translation: X:222.31, Y:-7.41, Z:2.75 [[ 9.98851860e-01 -4.01697590e-02 -2.61027326e-02 2.22310303e+02] [ 4.02033499e-02 9.99191227e-01 7.63139681e-04 -7.40645352e+00] [ 2.60509663e-02 -1.81168078e-03 9.99658974e-01 2.74951185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.890714057 meters Centerline goodness [0,1] 0.9824103495233772 Centerline is valid? [True, True] Translation: X:222.34, Y:-7.41, Z:2.75 [[ 9.98827385e-01 -4.00910759e-02 -2.71396583e-02 2.22340831e+02] [ 4.01274031e-02 9.99194255e-01 7.95014229e-04 -7.41240359e+00] [ 2.70859177e-02 -1.88312599e-03 9.99631335e-01 2.74869701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.920714057 meters Centerline goodness [0,1] 0.9818754389542128 Centerline is valid? [True, True] Translation: X:222.37, Y:-7.41, Z:2.75 [[ 9.98777892e-01 -4.00990694e-02 -2.88926870e-02 2.22372370e+02] [ 4.01402779e-02 9.99193695e-01 8.47440384e-04 -7.41239297e+00] [ 2.88354091e-02 -2.00616521e-03 9.99582160e-01 2.74830936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95071405699997 meters Centerline goodness [0,1] 0.9808675200144737 Centerline is valid? [True, True] Translation: X:222.40, Y:-7.42, Z:2.75 [[ 9.98735685e-01 -4.02742163e-02 -3.00835419e-02 2.22402338e+02] [ 4.03189969e-02 9.99186468e-01 8.83177102e-04 -7.41541395e+00] [ 3.00234988e-02 -2.09499872e-03 9.99546998e-01 2.74780766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98071405699997 meters Centerline goodness [0,1] 0.9816062234923227 Centerline is valid? [True, True] Translation: X:222.43, Y:-7.41, Z:2.75 [[ 9.98685571e-01 -4.02828716e-02 -3.16925978e-02 2.22433088e+02] [ 4.03325864e-02 9.99185877e-01 9.30681510e-04 -7.41382939e+00] [ 3.16293056e-02 -2.20770264e-03 9.99497230e-01 2.74867903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01071405699997 meters Centerline goodness [0,1] 0.9781652493627772 Centerline is valid? [True, True] Translation: X:222.46, Y:-7.43, Z:2.75 [[ 9.98710429e-01 -3.99766023e-02 -3.12945811e-02 2.22462041e+02] [ 4.00249166e-02 9.99198260e-01 9.18695112e-04 -7.42651574e+00] [ 3.12327646e-02 -2.17007339e-03 9.99509782e-01 2.74644242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04071405699997 meters Centerline goodness [0,1] 0.9816540807764701 Centerline is valid? [True, True] Translation: X:222.49, Y:-7.41, Z:2.75 [[ 9.98710723e-01 -4.00322429e-02 -3.12139488e-02 2.22492414e+02] [ 4.00803276e-02 9.99196041e-01 9.16075952e-04 -7.41482017e+00] [ 3.11521815e-02 -2.16596017e-03 9.99512306e-01 2.75051033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07071405699998 meters Centerline goodness [0,1] 0.9814886057616149 Centerline is valid? [True, True] Translation: X:222.52, Y:-7.42, Z:2.75 [[ 9.98730878e-01 -3.97023467e-02 -3.09896229e-02 2.22521690e+02] [ 3.97495753e-02 9.99209260e-01 9.09200098e-04 -7.41767383e+00] [ 3.09290208e-02 -2.13987056e-03 9.99519293e-01 2.75048205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10071405699998 meters Centerline goodness [0,1] 0.98068269624108 Centerline is valid? [True, True] Translation: X:222.55, Y:-7.42, Z:2.75 [[ 9.98723667e-01 -3.95626539e-02 -3.13979904e-02 2.22551395e+02] [ 3.96110502e-02 9.99214750e-01 9.20630911e-04 -7.42381155e+00] [ 3.13369126e-02 -2.16316325e-03 9.99506538e-01 2.74917373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13071405699998 meters Centerline goodness [0,1] 0.9795811756155174 Centerline is valid? [True, True] Translation: X:222.58, Y:-7.43, Z:2.75 [[ 9.98729043e-01 -3.94733117e-02 -3.13393714e-02 2.22580782e+02] [ 3.95214670e-02 9.99218300e-01 9.18382954e-04 -7.42581497e+00] [ 3.12786218e-02 -2.15579366e-03 9.99508379e-01 2.74958602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16071405699998 meters Centerline goodness [0,1] 0.9830924461412599 Centerline is valid? [True, True] Translation: X:222.61, Y:-7.42, Z:2.75 [[ 9.98723342e-01 -3.95029465e-02 -3.14833947e-02 2.22611298e+02] [ 3.95515529e-02 9.99217105e-01 9.22364543e-04 -7.41642241e+00] [ 3.14223104e-02 -2.16640415e-03 9.99503849e-01 2.75270821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19071405699998 meters Centerline goodness [0,1] 0.9826878134004946 Centerline is valid? [True, True] Translation: X:222.64, Y:-7.41, Z:2.75 [[ 9.98698061e-01 -3.96279776e-02 -3.21217293e-02 2.22641578e+02] [ 3.96786405e-02 9.99212050e-01 9.41065742e-04 -7.41424431e+00] [ 3.20591265e-02 -2.21438708e-03 9.99483521e-01 2.75441189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22071405699998 meters Centerline goodness [0,1] 0.9825419948103974 Centerline is valid? [True, True] Translation: X:222.67, Y:-7.42, Z:2.75 [[ 9.98699068e-01 -3.97197271e-02 -3.19767733e-02 2.22672481e+02] [ 3.97699803e-02 9.99208422e-01 9.36818985e-04 -7.41515876e+00] [ 3.19142510e-02 -2.20731589e-03 9.99488173e-01 2.75487130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25071405699998 meters Centerline goodness [0,1] 0.9833435729401324 Centerline is valid? [True, True] Translation: X:222.70, Y:-7.42, Z:2.76 [[ 9.98683432e-01 -3.97732578e-02 -3.23958294e-02 2.22702416e+02] [ 3.98248661e-02 9.99206225e-01 9.49108885e-04 -7.41646085e+00] [ 3.23323652e-02 -2.23801889e-03 9.99474667e-01 2.75558102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28071405699998 meters Centerline goodness [0,1] 0.9829437920419565 Centerline is valid? [True, True] Translation: X:222.73, Y:-7.42, Z:2.76 [[ 9.98673677e-01 -4.00150768e-02 -3.23987582e-02 2.22731705e+02] [ 4.00668008e-02 9.99196553e-01 9.48570917e-04 -7.41794772e+00] [ 3.23347704e-02 -2.24542740e-03 9.99474572e-01 2.75642998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31071405699998 meters Centerline goodness [0,1] 0.9833477607180282 Centerline is valid? [True, True] Translation: X:222.76, Y:-7.42, Z:2.76 [[ 9.98672970e-01 -4.00353070e-02 -3.23955882e-02 2.22762125e+02] [ 4.00870152e-02 9.99195743e-01 9.47973826e-04 -7.41906704e+00] [ 3.23315814e-02 -2.24535827e-03 9.99474676e-01 2.75721358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34071405699999 meters Centerline goodness [0,1] 0.9833610648918469 Centerline is valid? [True, True] Translation: X:222.79, Y:-7.42, Z:2.76 [[ 9.98723199e-01 -3.86758619e-02 -3.24984537e-02 2.22791630e+02] [ 3.87271967e-02 9.99249368e-01 9.51406723e-04 -7.41791213e+00] [ 3.24372628e-02 -2.20876597e-03 9.99471333e-01 2.75866746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.370714057 meters Centerline goodness [0,1] 0.9831049499532593 Centerline is valid? [True, True] Translation: X:222.82, Y:-7.42, Z:2.76 [[ 9.98765581e-01 -3.75418905e-02 -3.25256836e-02 2.22821377e+02] [ 3.75927036e-02 9.99292691e-01 9.51914145e-04 -7.41723033e+00] [ 3.24669412e-02 -2.17346747e-03 9.99470447e-01 2.75900216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.400714057 meters Centerline goodness [0,1] 0.9831279577513088 Centerline is valid? [True, True] Translation: X:222.85, Y:-7.42, Z:2.76 [[ 9.98845453e-01 -3.50907821e-02 -3.28085098e-02 2.22850156e+02] [ 3.51411294e-02 9.99381900e-01 9.59043345e-04 -7.41559738e+00] [ 3.27545773e-02 -2.11086417e-03 9.99461196e-01 2.75925529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.430714057 meters Centerline goodness [0,1] 0.9827092637123555 Centerline is valid? [True, True] Translation: X:222.88, Y:-7.42, Z:2.76 [[ 9.98890204e-01 -3.38231915e-02 -3.27773203e-02 2.22878864e+02] [ 3.38727063e-02 9.99425698e-01 9.56385185e-04 -7.41544043e+00] [ 3.27261482e-02 -2.06558033e-03 9.99462222e-01 2.75966587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.460714057 meters Centerline goodness [0,1] 0.9827633566817745 Centerline is valid? [True, True] Translation: X:222.91, Y:-7.42, Z:2.76 [[ 9.98916414e-01 -3.30794057e-02 -3.27375915e-02 2.22906858e+02] [ 3.31283209e-02 9.99450652e-01 9.52724272e-04 -7.41530798e+00] [ 3.26880917e-02 -2.03623335e-03 9.99463527e-01 2.75981955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.490714057 meters Centerline goodness [0,1] 0.9834237767340052 Centerline is valid? [True, True] Translation: X:222.94, Y:-7.41, Z:2.76 [[ 9.98974082e-01 -3.16822815e-02 -3.23576394e-02 2.22936220e+02] [ 3.17291734e-02 9.99496064e-01 9.36600609e-04 -7.41323075e+00] [ 3.23116595e-02 -1.96232088e-03 9.99475916e-01 2.76054788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.520714057 meters Centerline goodness [0,1] 0.9842125794534065 Centerline is valid? [True, True] Translation: X:222.96, Y:-7.41, Z:2.76 [[ 9.98957106e-01 -3.17341179e-02 -3.28275162e-02 2.22964627e+02] [ 3.17821569e-02 9.99494375e-01 9.42475600e-04 -7.41307490e+00] [ 3.27810092e-02 -1.98482197e-03 9.99460587e-01 2.76073802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.550714057 meters Centerline goodness [0,1] 0.9827843795251339 Centerline is valid? [True, True] Translation: X:222.99, Y:-7.41, Z:2.76 [[ 9.98893856e-01 -3.28694397e-02 -3.36253522e-02 2.22992073e+02] [ 3.29202689e-02 9.99457521e-01 9.58967374e-04 -7.41267687e+00] [ 3.35755904e-02 -2.06486225e-03 9.99434048e-01 2.76020576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.580714057 meters Centerline goodness [0,1] 0.9829351535836177 Centerline is valid? [True, True] Translation: X:223.02, Y:-7.41, Z:2.76 [[ 9.98850613e-01 -3.37273703e-02 -3.40575648e-02 2.23020589e+02] [ 3.37797884e-02 9.99428834e-01 9.64718771e-04 -7.41369915e+00] [ 3.40055748e-02 -2.11406727e-03 9.99419407e-01 2.76018240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.610714057 meters Centerline goodness [0,1] 0.9832051193198882 Centerline is valid? [True, True] Translation: X:223.05, Y:-7.40, Z:2.76 [[ 9.98767190e-01 -3.60265495e-02 -3.41494835e-02 2.23050466e+02] [ 3.60804533e-02 9.99348424e-01 9.63339991e-04 -7.40406835e+00] [ 3.40925267e-02 -2.19428122e-03 9.99416272e-01 2.76339424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.640714057 meters Centerline goodness [0,1] 0.9811394801237361 Centerline is valid? [True, True] Translation: X:223.08, Y:-7.42, Z:2.76 [[ 9.98725754e-01 -3.72360450e-02 -3.40638425e-02 2.23077681e+02] [ 3.72903023e-02 9.99304015e-01 9.58672025e-04 -7.41763686e+00] [ 3.40044375e-02 -2.22770143e-03 9.99419199e-01 2.75993389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.670714057 meters Centerline goodness [0,1] 0.9827586206896551 Centerline is valid? [True, True] Translation: X:223.11, Y:-7.41, Z:2.76 [[ 9.98683320e-01 -3.84926408e-02 -3.39108229e-02 2.23107258e+02] [ 3.85470665e-02 9.99256332e-01 9.52419349e-04 -7.40737163e+00] [ 3.38489434e-02 -2.25832806e-03 9.99424409e-01 2.76326508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70071405699997 meters Centerline goodness [0,1] 0.9824488283782532 Centerline is valid? [True, True] Translation: X:223.14, Y:-7.41, Z:2.76 [[ 9.98608530e-01 -4.06099349e-02 -3.36427973e-02 2.23137187e+02] [ 4.06646708e-02 9.99172404e-01 9.44059158e-04 -7.40867020e+00] [ 3.35766165e-02 -2.31081880e-03 9.99433475e-01 2.76335162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73071405699997 meters Centerline goodness [0,1] 0.981652861968442 Centerline is valid? [True, True] Translation: X:223.17, Y:-7.41, Z:2.76 [[ 9.98568085e-01 -4.19207236e-02 -3.32329955e-02 2.23167910e+02] [ 4.19748473e-02 9.99118233e-01 9.32312718e-04 -7.40681645e+00] [ 3.31646085e-02 -2.32592763e-03 9.99447197e-01 2.76468124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76071405699997 meters Centerline goodness [0,1] 0.9798148534836779 Centerline is valid? [True, True] Translation: X:223.20, Y:-7.41, Z:2.76 [[ 9.98474613e-01 -4.43558389e-02 -3.28786751e-02 2.23197422e+02] [ 4.44101268e-02 9.99012958e-01 9.22372677e-04 -7.41119744e+00] [ 3.28053099e-02 -2.38111183e-03 9.99458925e-01 2.76463468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79071405699997 meters Centerline goodness [0,1] 0.9806206960729574 Centerline is valid? [True, True] Translation: X:223.23, Y:-7.41, Z:2.77 [[ 9.98427019e-01 -4.58072643e-02 -3.23292837e-02 2.23228836e+02] [ 4.58605293e-02 9.98947440e-01 9.07602361e-04 -7.41316286e+00] [ 3.22536804e-02 -2.38881278e-03 9.99476860e-01 2.76580083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82071405699998 meters Centerline goodness [0,1] 0.9780342777194824 Centerline is valid? [True, True] Translation: X:223.26, Y:-7.42, Z:2.77 [[ 9.98308477e-01 -4.87305627e-02 -3.17098805e-02 2.23258590e+02] [ 4.87833015e-02 9.98808988e-01 8.91185640e-04 -7.41808184e+00] [ 3.16286857e-02 -2.43659084e-03 9.99496718e-01 2.76627457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85071405699998 meters Centerline goodness [0,1] 0.9770045244647605 Centerline is valid? [True, True] Translation: X:223.29, Y:-7.42, Z:2.77 [[ 9.98253753e-01 -4.98752313e-02 -3.16528997e-02 2.23289126e+02] [ 4.99283843e-02 9.98752403e-01 8.90592793e-04 -7.42017157e+00] [ 3.15689912e-02 -2.46941574e-03 9.99498525e-01 2.76681441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88071405699998 meters Centerline goodness [0,1] 0.9792461218091205 Centerline is valid? [True, True] Translation: X:223.32, Y:-7.42, Z:2.77 [[ 9.98194981e-01 -5.15172765e-02 -3.08666368e-02 2.23320272e+02] [ 5.15686250e-02 9.98669075e-01 8.69281056e-04 -7.41522465e+00] [ 3.07807726e-02 -2.45946200e-03 9.99523134e-01 2.76887066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91071405699998 meters Centerline goodness [0,1] 0.9775655212580081 Centerline is valid? [True, True] Translation: X:223.35, Y:-7.42, Z:2.77 [[ 9.98202538e-01 -5.20010352e-02 -2.97923677e-02 2.23351405e+02] [ 5.20491171e-02 9.98644173e-01 8.40148611e-04 -7.42068946e+00] [ 2.97082858e-02 -2.38930491e-03 9.99555756e-01 2.76873194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94071405699998 meters Centerline goodness [0,1] 0.9783060020061116 Centerline is valid? [True, True] Translation: X:223.38, Y:-7.42, Z:2.77 [[ 9.98207595e-01 -5.20356264e-02 -2.95616552e-02 2.23383510e+02] [ 5.20830383e-02 9.98642408e-01 8.35580749e-04 -7.41898150e+00] [ 2.94780426e-02 -2.37374387e-03 9.99562610e-01 2.76988705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97071405699998 meters Centerline goodness [0,1] 0.9709218203033839 Centerline is valid? [True, True] Translation: X:223.41, Y:-7.43, Z:2.77 [[ 9.98258746e-01 -5.12041994e-02 -2.92849144e-02 2.23414174e+02] [ 5.12504665e-02 9.98685486e-01 8.30996956e-04 -7.42912022e+00] [ 2.92038684e-02 -2.33041550e-03 9.99570759e-01 2.76742834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00071405699998 meters Centerline goodness [0,1] 0.9710974555480268 Centerline is valid? [True, True] Translation: X:223.45, Y:-7.43, Z:2.77 [[ 9.98307428e-01 -4.99762691e-02 -2.97430983e-02 2.23445155e+02] [ 5.00235337e-02 9.98747680e-01 8.46662260e-04 -7.42847321e+00] [ 2.96635374e-02 -2.33308410e-03 9.99557218e-01 2.76760311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03071405699998 meters Centerline goodness [0,1] 0.9798133022170362 Centerline is valid? [True, True] Translation: X:223.48, Y:-7.42, Z:2.77 [[ 9.98309643e-01 -4.98041547e-02 -2.99566676e-02 2.23477299e+02] [ 4.98520745e-02 9.98756247e-01 8.54436066e-04 -7.41804518e+00] [ 2.98768544e-02 -2.34639379e-03 9.99550833e-01 2.76972422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06071405699998 meters Centerline goodness [0,1] 0.9789627838861898 Centerline is valid? [True, True] Translation: X:223.51, Y:-7.42, Z:2.77 [[ 9.98369472e-01 -4.89122161e-02 -2.94277566e-02 2.23508832e+02] [ 4.89581377e-02 9.98800477e-01 8.41562371e-04 -7.42136177e+00] [ 2.93512947e-02 -2.28091834e-03 9.99566556e-01 2.76936493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09071405699999 meters Centerline goodness [0,1] 0.9811536131948003 Centerline is valid? [True, True] Translation: X:223.54, Y:-7.42, Z:2.77 [[ 9.98386681e-01 -4.89138038e-02 -2.88352971e-02 2.23541035e+02] [ 4.89579551e-02 9.98800498e-01 8.26719654e-04 -7.41656441e+00] [ 2.87602711e-02 -2.23710307e-03 9.99583834e-01 2.77011929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.120714057 meters Centerline goodness [0,1] 0.9798043180180809 Centerline is valid? [True, True] Translation: X:223.57, Y:-7.42, Z:2.77 [[ 9.98355612e-01 -4.91756449e-02 -2.94589104e-02 2.23573073e+02] [ 4.92219031e-02 9.98787509e-01 8.46717681e-04 -7.41908463e+00] [ 2.93815538e-02 -2.29534898e-03 9.99565633e-01 2.77023289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.150714057 meters Centerline goodness [0,1] 0.9798087387408247 Centerline is valid? [True, True] Translation: X:223.60, Y:-7.42, Z:2.77 [[ 9.98314017e-01 -4.99755698e-02 -2.95222946e-02 2.23604246e+02] [ 5.00224287e-02 9.98747733e-01 8.50361974e-04 -7.42483397e+00] [ 2.94428274e-02 -2.32570515e-03 9.99563760e-01 2.76909504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.180714057 meters Centerline goodness [0,1] 0.9797944568452381 Centerline is valid? [True, True] Translation: X:223.64, Y:-7.43, Z:2.77 [[ 9.98281787e-01 -5.06937483e-02 -2.93873589e-02 2.23636056e+02] [ 5.07405560e-02 9.98711508e-01 8.48771069e-04 -7.42578494e+00] [ 2.93064661e-02 -2.33844363e-03 9.99567738e-01 2.76945652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.210714057 meters Centerline goodness [0,1] 0.9786118585877331 Centerline is valid? [True, True] Translation: X:223.67, Y:-7.43, Z:2.77 [[ 9.98252301e-01 -5.14026551e-02 -2.91566563e-02 2.23667959e+02] [ 5.14491034e-02 9.98675261e-01 8.44606750e-04 -7.42881864e+00] [ 2.90746163e-02 -2.34321446e-03 9.99574497e-01 2.76965687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.240714057 meters Centerline goodness [0,1] 0.9792760559453557 Centerline is valid? [True, True] Translation: X:223.70, Y:-7.43, Z:2.77 [[ 9.98238172e-01 -5.19387941e-02 -2.86864803e-02 2.23700567e+02] [ 5.19840331e-02 9.98647569e-01 8.32994882e-04 -7.42865265e+00] [ 2.86044190e-02 -2.32276623e-03 9.99588111e-01 2.77017534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.270714057 meters Centerline goodness [0,1] 0.975700545639508 Centerline is valid? [True, True] Translation: X:223.73, Y:-7.43, Z:2.77 [[ 9.98209573e-01 -5.22499796e-02 -2.91133654e-02 2.23731303e+02] [ 5.22967598e-02 9.98631229e-01 8.47202601e-04 -7.43326915e+00] [ 2.90292496e-02 -2.36822042e-03 9.99575757e-01 2.76997818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.300714057 meters Centerline goodness [0,1] 0.9770953472752959 Centerline is valid? [True, True] Translation: X:223.76, Y:-7.43, Z:2.77 [[ 9.98116624e-01 -5.38324909e-02 -2.94154431e-02 2.23762573e+02] [ 5.38809683e-02 9.98546998e-01 8.57304405e-04 -7.42957554e+00] [ 2.93265516e-02 -2.44062234e-03 9.99566905e-01 2.77118438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.330714057 meters Centerline goodness [0,1] 0.9722408258469781 Centerline is valid? [True, True] Translation: X:223.79, Y:-7.44, Z:2.77 [[ 9.98108971e-01 -5.41964914e-02 -2.90038493e-02 2.23793364e+02] [ 5.42438114e-02 9.98527362e-01 8.46616046e-04 -7.44298008e+00] [ 2.89152535e-02 -2.41829440e-03 9.99578941e-01 2.76953635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.360714057 meters Centerline goodness [0,1] 0.9662994017508604 Centerline is valid? [True, True] Translation: X:223.82, Y:-7.45, Z:2.77 [[ 9.98072649e-01 -5.51861740e-02 -2.83808807e-02 2.23823802e+02] [ 5.52319141e-02 9.98473208e-01 8.29666317e-04 -7.45009355e+00] [ 2.82917629e-02 -2.39559762e-03 9.99596837e-01 2.76972830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.390714057 meters Centerline goodness [0,1] 0.966728280961183 Centerline is valid? [True, True] Translation: X:223.86, Y:-7.45, Z:2.77 [[ 9.98077731e-01 -5.51012661e-02 -2.83671084e-02 2.23855486e+02] [ 5.51469683e-02 9.98477903e-01 8.30692689e-04 -7.45165477e+00] [ 2.82781587e-02 -2.39345590e-03 9.99597227e-01 2.77023743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.420714057 meters Centerline goodness [0,1] 0.9677136055836743 Centerline is valid? [True, True] Translation: X:223.89, Y:-7.45, Z:2.77 [[ 9.98078588e-01 -5.51322268e-02 -2.82766614e-02 2.23887760e+02] [ 5.51777038e-02 9.98476205e-01 8.29945466e-04 -7.45304244e+00] [ 2.81878168e-02 -2.38859204e-03 9.99599791e-01 2.77116518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45071405699997 meters Centerline goodness [0,1] 0.9655569104755769 Centerline is valid? [True, True] Translation: X:223.92, Y:-7.46, Z:2.77 [[ 9.98092995e-01 -5.45155041e-02 -2.89556958e-02 2.23918719e+02] [ 5.45629845e-02 9.98509968e-01 8.51593590e-04 -7.45656097e+00] [ 2.88661259e-02 -2.42987878e-03 9.99580333e-01 2.77243169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48071405699997 meters Centerline goodness [0,1] 0.9767313019390582 Centerline is valid? [True, True] Translation: X:223.95, Y:-7.44, Z:2.78 [[ 9.98095109e-01 -5.43592183e-02 -2.91758163e-02 2.23950883e+02] [ 5.44074097e-02 9.98518450e-01 8.59861233e-04 -7.44403132e+00] [ 2.90858495e-02 -2.44560388e-03 9.99573925e-01 2.77549277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51071405699997 meters Centerline goodness [0,1] 0.9771424625371176 Centerline is valid? [True, True] Translation: X:223.98, Y:-7.45, Z:2.78 [[ 9.98158972e-01 -5.34282679e-02 -2.87069148e-02 2.23982729e+02] [ 5.34745913e-02 9.98568851e-01 8.47842632e-04 -7.44662661e+00] [ 2.86205322e-02 -2.38137227e-03 9.99587512e-01 2.77620675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54071405699997 meters Centerline goodness [0,1] 0.97413098062703 Centerline is valid? [True, True] Translation: X:224.01, Y:-7.46, Z:2.77 [[ 9.98201014e-01 -5.29000130e-02 -2.82192058e-02 2.24013422e+02] [ 5.29446079e-02 9.98597102e-01 8.34951708e-04 -7.45866014e+00] [ 2.81354482e-02 -2.32750443e-03 9.99601410e-01 2.77477117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57071405699998 meters Centerline goodness [0,1] 0.9763891762650297 Centerline is valid? [True, True] Translation: X:224.04, Y:-7.45, Z:2.78 [[ 9.98285047e-01 -5.14839634e-02 -2.78633628e-02 2.24044722e+02] [ 5.15269269e-02 9.98671264e-01 8.25666901e-04 -7.45329315e+00] [ 2.77838311e-02 -2.25996438e-03 9.99611400e-01 2.77682223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60071405699998 meters Centerline goodness [0,1] 0.9763891762650297 Centerline is valid? [True, True] Translation: X:224.08, Y:-7.45, Z:2.78 [[ 9.98288696e-01 -5.14131700e-02 -2.78633192e-02 2.24076506e+02] [ 5.14561469e-02 9.98674912e-01 8.27134811e-04 -7.45429808e+00] [ 2.77838723e-02 -2.25945838e-03 9.99611400e-01 2.77727883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63071405699998 meters Centerline goodness [0,1] 0.9555172809737054 Centerline is valid? [True, True] Translation: X:224.11, Y:-7.47, Z:2.77 [[ 9.98316500e-01 -5.07204152e-02 -2.81354928e-02 2.24106829e+02] [ 5.07640122e-02 9.98710326e-01 8.36971735e-04 -7.47269515e+00] [ 2.80567556e-02 -2.26383319e-03 9.99603768e-01 2.77481433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66071405699998 meters Centerline goodness [0,1] 0.9778348270566393 Centerline is valid? [True, True] Translation: X:224.14, Y:-7.46, Z:2.78 [[ 9.98335266e-01 -5.01511672e-02 -2.84878414e-02 2.24139799e+02] [ 5.01956840e-02 9.98739041e-01 8.49235448e-04 -7.45772785e+00] [ 2.84093292e-02 -2.27778838e-03 9.99593778e-01 2.77664369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69071405699998 meters Centerline goodness [0,1] 0.9770713437471453 Centerline is valid? [True, True] Translation: X:224.17, Y:-7.46, Z:2.78 [[ 9.98345583e-01 -4.95268903e-02 -2.92093292e-02 2.24170687e+02] [ 4.95735103e-02 9.98770096e-01 8.73628567e-04 -7.46166883e+00] [ 2.91301364e-02 -2.32019220e-03 9.99572935e-01 2.77616258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72071405699998 meters Centerline goodness [0,1] 0.9788111457929872 Centerline is valid? [True, True] Translation: X:224.20, Y:-7.47, Z:2.77 [[ 9.98444492e-01 -4.70741553e-02 -2.98767353e-02 2.24200748e+02] [ 4.71218940e-02 9.98888745e-01 8.95398798e-04 -7.47021313e+00] [ 2.98013845e-02 -2.30185435e-03 9.99553190e-01 2.77444480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75071405699998 meters Centerline goodness [0,1] 0.9796095246784052 Centerline is valid? [True, True] Translation: X:224.23, Y:-7.47, Z:2.78 [[ 9.98538971e-01 -4.49696457e-02 -2.99608674e-02 2.24231683e+02] [ 4.50167148e-02 9.98985830e-01 8.98013211e-04 -7.46765083e+00] [ 2.98900987e-02 -2.24544101e-03 9.99550669e-01 2.77542653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78071405699998 meters Centerline goodness [0,1] 0.9798051090569646 Centerline is valid? [True, True] Translation: X:224.26, Y:-7.47, Z:2.78 [[ 9.98670577e-01 -4.20661005e-02 -2.97913063e-02 2.24262121e+02] [ 4.21113557e-02 9.99112524e-01 8.93016021e-04 -7.46781811e+00] [ 2.97273015e-02 -2.14638112e-03 9.99555742e-01 2.77678597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81071405699998 meters Centerline goodness [0,1] 0.980562834681554 Centerline is valid? [True, True] Translation: X:224.29, Y:-7.46, Z:2.78 [[ 9.99005138e-01 -3.45829582e-02 -2.81558776e-02 2.24292541e+02] [ 3.46204198e-02 9.99400177e-01 8.43967457e-04 -7.46434619e+00] [ 2.81098022e-02 -1.81789613e-03 9.99603188e-01 2.77917777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84071405699999 meters Centerline goodness [0,1] 0.9821844062229116 Centerline is valid? [True, True] Translation: X:224.32, Y:-7.46, Z:2.78 [[ 9.99148132e-01 -3.05604045e-02 -2.77321545e-02 2.24322810e+02] [ 3.05952011e-02 9.99531512e-01 8.31190541e-04 -7.46440015e+00] [ 2.76937608e-02 -1.67895332e-03 9.99615044e-01 2.78050922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.870714057 meters Centerline goodness [0,1] 0.9836435291705583 Centerline is valid? [True, True] Translation: X:224.35, Y:-7.47, Z:2.78 [[ 9.99400465e-01 -2.28423827e-02 -2.60179900e-02 2.24351921e+02] [ 2.28703909e-02 9.99738135e-01 7.79393425e-04 -7.46543822e+00] [ 2.59933736e-02 -1.37396775e-03 9.99661171e-01 2.78118699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.900714057 meters Centerline goodness [0,1] 0.9841718098795236 Centerline is valid? [True, True] Translation: X:224.38, Y:-7.47, Z:2.78 [[ 9.99499037e-01 -1.97952236e-02 -2.46946296e-02 2.24381591e+02] [ 1.98195072e-02 9.99803301e-01 7.38965853e-04 -7.46678283e+00] [ 2.46751442e-02 -1.22803105e-03 9.99694768e-01 2.78192194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.930714057 meters Centerline goodness [0,1] 0.9855003186743149 Centerline is valid? [True, True] Translation: X:224.41, Y:-7.47, Z:2.78 [[ 9.99627650e-01 -1.59589405e-02 -2.21330933e-02 2.24410678e+02] [ 1.59774926e-02 9.99872133e-01 6.61611370e-04 -7.47014763e+00] [ 2.21197046e-02 -1.01499635e-03 9.99754814e-01 2.78459633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.960714057 meters Centerline goodness [0,1] 0.9846181727567225 Centerline is valid? [True, True] Translation: X:224.44, Y:-7.47, Z:2.79 [[ 9.99667333e-01 -1.53280870e-02 -2.07430291e-02 2.24439190e+02] [ 1.53442056e-02 9.99882080e-01 6.18117592e-04 -7.47239155e+00] [ 2.07311085e-02 -9.36197268e-04 9.99784649e-01 2.78614136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.990714057 meters Centerline goodness [0,1] 0.9840544636192975 Centerline is valid? [True, True] Translation: X:224.47, Y:-7.48, Z:2.79 [[ 9.99689566e-01 -1.66391065e-02 -1.85448331e-02 2.24466621e+02] [ 1.66521526e-02 9.99861192e-01 5.49283599e-04 -7.48020190e+00] [ 1.85331194e-02 -8.57924474e-04 9.99827879e-01 2.78756719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.020714057 meters Centerline goodness [0,1] 0.9871328102032971 Centerline is valid? [True, True] Translation: X:224.50, Y:-7.48, Z:2.79 [[ 9.99670124e-01 -1.87035429e-02 -1.76017503e-02 2.24495773e+02] [ 1.87155807e-02 9.99824713e-01 5.19405764e-04 -7.47665252e+00] [ 1.75889502e-02 -8.48661403e-04 9.99844942e-01 2.78888519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.050714057 meters Centerline goodness [0,1] 0.9865855033254425 Centerline is valid? [True, True] Translation: X:224.52, Y:-7.48, Z:2.79 [[ 9.99618106e-01 -2.17597789e-02 -1.70339177e-02 2.24524720e+02] [ 2.17714349e-02 9.99762850e-01 4.99117976e-04 -7.48368327e+00] [ 1.70190174e-02 -8.69780196e-04 9.99854788e-01 2.78880052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.080714057 meters Centerline goodness [0,1] 0.9840849401782307 Centerline is valid? [True, True] Translation: X:224.55, Y:-7.50, Z:2.79 [[ 9.99425420e-01 -2.99645043e-02 -1.58416789e-02 2.24554619e+02] [ 2.99756117e-02 9.99550523e-01 4.64119685e-04 -7.49765529e+00] [ 1.58206513e-02 -9.38717027e-04 9.99874405e-01 2.78912907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.110714057 meters Centerline goodness [0,1] 0.9797627822823829 Centerline is valid? [True, True] Translation: X:224.58, Y:-7.51, Z:2.79 [[ 9.99118567e-01 -3.92345797e-02 -1.49244027e-02 2.24583316e+02] [ 3.92454665e-02 9.99229504e-01 4.37176048e-04 -7.51432412e+00] [ 1.48957511e-02 -1.02250585e-03 9.99888529e-01 2.78969448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.140714057 meters Centerline goodness [0,1] 0.9794439613849687 Centerline is valid? [True, True] Translation: X:224.61, Y:-7.52, Z:2.79 [[ 9.98930414e-01 -4.38248006e-02 -1.47449665e-02 2.24612045e+02] [ 4.38359370e-02 9.99038650e-01 4.32763600e-04 -7.52381899e+00] [ 1.47118257e-02 -1.07866015e-03 9.99891193e-01 2.79038673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.170714057 meters Centerline goodness [0,1] 0.9774669774669774 Centerline is valid? [True, True] Translation: X:224.64, Y:-7.53, Z:2.79 [[ 9.98740456e-01 -4.81537733e-02 -1.40966749e-02 2.24642197e+02] [ 4.81643907e-02 9.98839336e-01 4.14461067e-04 -7.53121275e+00] [ 1.40603556e-02 -1.09289679e-03 9.99900551e-01 2.79026773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20071405699997 meters Centerline goodness [0,1] 0.9735235113864332 Centerline is valid? [True, True] Translation: X:224.67, Y:-7.55, Z:2.79 [[ 9.98340685e-01 -5.59808467e-02 -1.34915012e-02 2.24671458e+02] [ 5.59912821e-02 9.98431179e-01 3.96708452e-04 -7.54951799e+00] [ 1.34481274e-02 -1.15145664e-03 9.99908907e-01 2.78971058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23071405699997 meters Centerline goodness [0,1] 0.9711183352130741 Centerline is valid? [True, True] Translation: X:224.70, Y:-7.56, Z:2.79 [[ 9.98156457e-01 -5.93575759e-02 -1.26635675e-02 2.24701276e+02] [ 5.93670391e-02 9.98236152e-01 3.72346497e-04 -7.55835065e+00] [ 1.26191293e-02 -1.12345857e-03 9.99919744e-01 2.78974235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26071405699997 meters Centerline goodness [0,1] 0.9748722783783191 Centerline is valid? [True, True] Translation: X:224.73, Y:-7.56, Z:2.79 [[ 9.97891348e-01 -6.36693283e-02 -1.26124239e-02 2.24732104e+02] [ 6.36790581e-02 9.97970360e-01 3.70958392e-04 -7.56081692e+00] [ 1.25632066e-02 -1.17332345e-03 9.99920391e-01 2.78884779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29071405699997 meters Centerline goodness [0,1] 0.9743324226667842 Centerline is valid? [True, True] Translation: X:224.76, Y:-7.57, Z:2.79 [[ 9.97803614e-01 -6.50083251e-02 -1.27226050e-02 2.24762350e+02] [ 6.50183353e-02 9.97883999e-01 3.74332810e-04 -7.56753541e+00] [ 1.26713492e-02 -1.20071323e-03 9.99918994e-01 2.78872066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32071405699998 meters Centerline goodness [0,1] 0.9746077848922922 Centerline is valid? [True, True] Translation: X:224.79, Y:-7.57, Z:2.79 [[ 9.97794745e-01 -6.50790030e-02 -1.30525789e-02 2.24794267e+02] [ 6.50895474e-02 9.97879353e-01 3.84212411e-04 -7.57155284e+00] [ 1.29998948e-02 -1.23295158e-03 9.99914738e-01 2.78892058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35071405699998 meters Centerline goodness [0,1] 0.9765217964782694 Centerline is valid? [True, True] Translation: X:224.83, Y:-7.57, Z:2.79 [[ 9.97877960e-01 -6.36923423e-02 -1.35226491e-02 2.24825982e+02] [ 6.37035475e-02 9.97968786e-01 3.99067691e-04 -7.57199384e+00] [ 1.34697642e-02 -1.25966157e-03 9.99908485e-01 2.78919204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38071405699998 meters Centerline goodness [0,1] 0.9766231474947071 Centerline is valid? [True, True] Translation: X:224.86, Y:-7.57, Z:2.79 [[ 9.97989511e-01 -6.20054268e-02 -1.31249152e-02 2.24857276e+02] [ 6.20158471e-02 9.98075089e-01 3.88046299e-04 -7.57077176e+00] [ 1.30755899e-02 -1.20121887e-03 9.99913789e-01 2.78965868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41071405699998 meters Centerline goodness [0,1] 0.9753188886947405 Centerline is valid? [True, True] Translation: X:224.89, Y:-7.58, Z:2.79 [[ 9.98265097e-01 -5.76618706e-02 -1.19123983e-02 2.24887175e+02] [ 5.76701533e-02 9.98335629e-01 3.52684928e-04 -7.57726202e+00] [ 1.18722352e-02 -1.03906289e-03 9.99928983e-01 2.78994608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44071405699998 meters Centerline goodness [0,1] 0.9750537068700952 Centerline is valid? [True, True] Translation: X:224.92, Y:-7.58, Z:2.79 [[ 9.98375467e-01 -5.59314820e-02 -1.08671789e-02 2.24918963e+02] [ 5.59382710e-02 9.98434177e-01 3.21533228e-04 -7.57524458e+00] [ 1.08321790e-02 -9.28902086e-04 9.99940899e-01 2.79029810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47071405699998 meters Centerline goodness [0,1] 0.9753600631343579 Centerline is valid? [True, True] Translation: X:224.95, Y:-7.58, Z:2.79 [[ 9.98636926e-01 -5.12408385e-02 -9.93306996e-03 2.24948688e+02] [ 5.12462866e-02 9.98686002e-01 2.94576199e-04 -7.57784642e+00] [ 9.90492360e-03 -8.03207620e-04 9.99950622e-01 2.79185490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50071405699998 meters Centerline goodness [0,1] 0.9771112519948407 Centerline is valid? [True, True] Translation: X:224.98, Y:-7.57, Z:2.79 [[ 9.98837075e-01 -4.71972732e-02 -9.84457575e-03 2.24979739e+02] [ 4.72024307e-02 9.98885301e-01 2.92073137e-04 -7.57266994e+00] [ 9.81981696e-03 -7.56421383e-04 9.99951498e-01 2.79248033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53071405699998 meters Centerline goodness [0,1] 0.9736761554943373 Centerline is valid? [True, True] Translation: X:225.01, Y:-7.58, Z:2.79 [[ 9.98908233e-01 -4.56587042e-02 -9.88053257e-03 2.25010561e+02] [ 4.56638230e-02 9.98956821e-01 2.92977310e-04 -7.57848321e+00] [ 9.85684844e-03 -7.43840337e-04 9.99951143e-01 2.79274369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56071405699998 meters Centerline goodness [0,1] 0.9762805237959906 Centerline is valid? [True, True] Translation: X:225.04, Y:-7.57, Z:2.79 [[ 9.98975455e-01 -4.41533248e-02 -9.92590991e-03 2.25041935e+02] [ 4.41584204e-02 9.99024498e-01 2.94683635e-04 -7.57488832e+00] [ 9.90321590e-03 -7.32694222e-04 9.99950694e-01 2.79198522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59071405699999 meters Centerline goodness [0,1] 0.9751004888647474 Centerline is valid? [True, True] Translation: X:225.07, Y:-7.58, Z:2.79 [[ 9.99026261e-01 -4.29877883e-02 -9.92878256e-03 2.25072647e+02] [ 4.29928331e-02 9.99075337e-01 2.95126415e-04 -7.57684282e+00] [ 9.90691495e-03 -7.21705531e-04 9.99950665e-01 2.79185790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.620714057 meters Centerline goodness [0,1] 0.975286251201818 Centerline is valid? [True, True] Translation: X:225.10, Y:-7.58, Z:2.79 [[ 9.99061952e-01 -4.21487781e-02 -9.93463814e-03 2.25103533e+02] [ 4.21537904e-02 9.99111090e-01 2.95578314e-04 -7.57772318e+00] [ 9.91334888e-03 -7.14083701e-04 9.99950607e-01 2.79179285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.650714057 meters Centerline goodness [0,1] 0.9785193457268607 Centerline is valid? [True, True] Translation: X:225.14, Y:-7.57, Z:2.79 [[ 9.99016548e-01 -4.29971354e-02 -1.08250771e-02 2.25136188e+02] [ 4.30031423e-02 9.99074885e-01 3.22639862e-04 -7.57288256e+00] [ 1.08011900e-02 -7.87834891e-04 9.99941355e-01 2.79189024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.680714057 meters Centerline goodness [0,1] 0.9778951058143102 Centerline is valid? [True, True] Translation: X:225.17, Y:-7.57, Z:2.79 [[ 9.98974661e-01 -4.37634210e-02 -1.15926158e-02 2.25168246e+02] [ 4.37703717e-02 9.99041558e-01 3.46424754e-04 -7.57309194e+00] [ 1.15663443e-02 -8.53482656e-04 9.99932743e-01 2.79208263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.710714057 meters Centerline goodness [0,1] 0.9782342389639935 Centerline is valid? [True, True] Translation: X:225.20, Y:-7.57, Z:2.79 [[ 9.98933660e-01 -4.43586485e-02 -1.28005550e-02 2.25199529e+02] [ 4.43671845e-02 9.99015218e-01 3.83506598e-04 -7.57440948e+00] [ 1.27709374e-02 -9.51022235e-04 9.99917996e-01 2.79174715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.740714057 meters Centerline goodness [0,1] 0.9779264947888097 Centerline is valid? [True, True] Translation: X:225.23, Y:-7.58, Z:2.79 [[ 9.98819249e-01 -4.63423940e-02 -1.45770435e-02 2.25229917e+02] [ 4.63536981e-02 9.98924993e-01 4.38381414e-04 -7.57707906e+00] [ 1.45410574e-02 -1.11356367e-03 9.99893653e-01 2.79009344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.770714057 meters Centerline goodness [0,1] 0.9772622825254405 Centerline is valid? [True, True] Translation: X:225.26, Y:-7.58, Z:2.79 [[ 9.98763476e-01 -4.72691870e-02 -1.53994469e-02 2.25261977e+02] [ 4.72819237e-02 9.98881477e-01 4.63863354e-04 -7.57771727e+00] [ 1.53602958e-02 -1.19140525e-03 9.99881314e-01 2.78979115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.800714057 meters Centerline goodness [0,1] 0.9801131984055322 Centerline is valid? [True, True] Translation: X:225.29, Y:-7.57, Z:2.79 [[ 9.98680249e-01 -4.85221540e-02 -1.68333194e-02 2.25294055e+02] [ 4.85375711e-02 9.98821228e-01 5.08283384e-04 -7.57032209e+00] [ 1.67888137e-02 -1.32466101e-03 9.99858180e-01 2.79011214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.830714057 meters Centerline goodness [0,1] 0.9778629485230952 Centerline is valid? [True, True] Translation: X:225.33, Y:-7.58, Z:2.79 [[ 9.98660107e-01 -4.88313053e-02 -1.71316692e-02 2.25325014e+02] [ 4.88473351e-02 9.98806122e-01 5.18234895e-04 -7.57531774e+00] [ 1.70859100e-02 -1.35437690e-03 9.99853108e-01 2.79083356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.860714057 meters Centerline goodness [0,1] 0.9779301855271256 Centerline is valid? [True, True] Translation: X:225.36, Y:-7.57, Z:2.79 [[ 9.98617240e-01 -4.97642838e-02 -1.69447606e-02 2.25357192e+02] [ 4.97801151e-02 9.98760069e-01 5.13530279e-04 -7.56643448e+00] [ 1.68981948e-02 -1.35633232e-03 9.99856295e-01 2.79260883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.890714057 meters Centerline goodness [0,1] 0.9748531814368349 Centerline is valid? [True, True] Translation: X:225.39, Y:-7.57, Z:2.79 [[ 9.98583253e-01 -5.06476293e-02 -1.63188463e-02 2.25388224e+02] [ 5.06624475e-02 9.98715711e-01 4.95654120e-04 -7.57271144e+00] [ 1.62727845e-02 -1.32170460e-03 9.99866716e-01 2.79370703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.920714057 meters Centerline goodness [0,1] 0.9756307719499802 Centerline is valid? [True, True] Translation: X:225.42, Y:-7.56, Z:2.79 [[ 9.98486376e-01 -5.23253468e-02 -1.69415094e-02 2.25420060e+02] [ 5.23415723e-02 9.98629107e-01 5.15451414e-04 -7.56465182e+00] [ 1.68913132e-02 -1.40141646e-03 9.99856349e-01 2.79484484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95071405699997 meters Centerline goodness [0,1] 0.9775831485587583 Centerline is valid? [True, True] Translation: X:225.45, Y:-7.56, Z:2.80 [[ 9.98409797e-01 -5.35064461e-02 -1.77464578e-02 2.25452127e+02] [ 5.35244493e-02 9.98566393e-01 5.40712575e-04 -7.56157431e+00] [ 1.76920848e-02 -1.48972211e-03 9.99842373e-01 2.79514473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98071405699997 meters Centerline goodness [0,1] 0.9772259022131637 Centerline is valid? [True, True] Translation: X:225.48, Y:-7.56, Z:2.79 [[ 9.98301729e-01 -5.49886698e-02 -1.92328984e-02 2.25483168e+02] [ 5.50101150e-02 9.98485624e-01 5.87356211e-04 -7.55943516e+00] [ 1.91714747e-02 -1.64436267e-03 9.99814858e-01 2.79429456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01071405699997 meters Centerline goodness [0,1] 0.9766331267630661 Centerline is valid? [True, True] Translation: X:225.52, Y:-7.56, Z:2.79 [[ 9.98266060e-01 -5.53239243e-02 -2.01031604e-02 2.25515742e+02] [ 5.53474452e-02 9.98466966e-01 6.15086527e-04 -7.55902056e+00] [ 2.00383126e-02 -1.72667857e-03 9.99797722e-01 2.79442193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04071405699997 meters Centerline goodness [0,1] 0.9770347480047131 Centerline is valid? [True, True] Translation: X:225.55, Y:-7.56, Z:2.80 [[ 9.98264883e-01 -5.51955375e-02 -2.05104100e-02 2.25548304e+02] [ 5.52200247e-02 9.98474012e-01 6.29029898e-04 -7.55779351e+00] [ 2.04443918e-02 -1.76052381e-03 9.99789442e-01 2.79507199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07071405699998 meters Centerline goodness [0,1] 0.9769552451285701 Centerline is valid? [True, True] Translation: X:225.58, Y:-7.55, Z:2.80 [[ 9.98384537e-01 -5.27800377e-02 -2.10376578e-02 2.25578558e+02] [ 5.28052899e-02 9.98604618e-01 6.46246676e-04 -7.55290371e+00] [ 2.09741933e-02 -1.75610231e-03 9.99778475e-01 2.79662454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10071405699998 meters Centerline goodness [0,1] 0.9781662313307883 Centerline is valid? [True, True] Translation: X:225.61, Y:-7.55, Z:2.80 [[ 9.98663470e-01 -4.74246240e-02 -2.05469674e-02 2.25608297e+02] [ 4.74475851e-02 9.98873530e-01 6.31161955e-04 -7.54795860e+00] [ 2.04938893e-02 -1.60522237e-03 9.99788690e-01 2.79807501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13071405699998 meters Centerline goodness [0,1] 0.9795607350963693 Centerline is valid? [True, True] Translation: X:225.64, Y:-7.54, Z:2.80 [[ 9.98829614e-01 -4.39627998e-02 -2.01661951e-02 2.25639343e+02] [ 4.39842160e-02 9.99032034e-01 6.19459295e-04 -7.54079895e+00] [ 2.01194418e-02 -1.50572857e-03 9.99796450e-01 2.79966228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16071405699998 meters Centerline goodness [0,1] 0.9818663910298182 Centerline is valid? [True, True] Translation: X:225.67, Y:-7.53, Z:2.80 [[ 9.98996715e-01 -4.03208712e-02 -1.94882362e-02 2.25669824e+02] [ 4.03401833e-02 9.99185824e-01 5.98702811e-04 -7.53298662e+00] [ 1.94482291e-02 -1.38426116e-03 9.99809907e-01 2.80158948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19071405699998 meters Centerline goodness [0,1] 0.9824620649286325 Centerline is valid? [True, True] Translation: X:225.70, Y:-7.52, Z:2.80 [[ 9.99296279e-01 -3.31014781e-02 -1.76419506e-02 2.25701129e+02] [ 3.31161856e-02 9.99451362e-01 5.42100506e-04 -7.52393493e+00] [ 1.76143273e-02 -1.12595313e-03 9.99844222e-01 2.80458774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22071405699998 meters Centerline goodness [0,1] 0.983201425060317 Centerline is valid? [True, True] Translation: X:225.73, Y:-7.52, Z:2.81 [[ 9.99392140e-01 -3.02903718e-02 -1.72581436e-02 2.25731254e+02] [ 3.03040334e-02 9.99540586e-01 5.30579265e-04 -7.52243449e+00] [ 1.72341436e-02 -1.05324811e-03 9.99850926e-01 2.80577899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25071405699998 meters Centerline goodness [0,1] 0.9822486540064428 Centerline is valid? [True, True] Translation: X:225.76, Y:-7.52, Z:2.81 [[ 9.99502048e-01 -2.67785634e-02 -1.66902401e-02 2.25761079e+02] [ 2.67908527e-02 9.99640929e-01 5.13119806e-04 -7.52044443e+00] [ 1.66705065e-02 -9.60010060e-04 9.99860577e-01 2.80726665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28071405699998 meters Centerline goodness [0,1] 0.982161760400009 Centerline is valid? [True, True] Translation: X:225.79, Y:-7.52, Z:2.81 [[ 9.99538136e-01 -2.51741585e-02 -1.70228400e-02 2.25792818e+02] [ 2.51867130e-02 9.99682627e-01 5.23485991e-04 -7.51933447e+00] [ 1.70042591e-02 -9.51993596e-04 9.99854964e-01 2.80781477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31071405699998 meters Centerline goodness [0,1] 0.9823812428000271 Centerline is valid? [True, True] Translation: X:225.82, Y:-7.52, Z:2.81 [[ 9.99563096e-01 -2.37341650e-02 -1.76155248e-02 2.25822906e+02] [ 2.37474009e-02 9.99717843e-01 5.42553192e-04 -7.52054528e+00] [ 1.75976774e-02 -9.60639079e-04 9.99844687e-01 2.80800683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34071405699999 meters Centerline goodness [0,1] 0.9828984525019767 Centerline is valid? [True, True] Translation: X:225.85, Y:-7.52, Z:2.81 [[ 9.99558034e-01 -2.37075560e-02 -1.79356541e-02 2.25853273e+02] [ 2.37212777e-02 9.99718458e-01 5.52666904e-04 -7.52187137e+00] [ 1.79175021e-02 -9.77879276e-04 9.99838990e-01 2.80820124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.370714057 meters Centerline goodness [0,1] 0.9819547515394853 Centerline is valid? [True, True] Translation: X:225.88, Y:-7.53, Z:2.81 [[ 9.99534221e-01 -2.42814135e-02 -1.84866030e-02 2.25883067e+02] [ 2.42960957e-02 9.99704644e-01 5.69996434e-04 -7.52596242e+00] [ 1.84673025e-02 -1.01888322e-03 9.99828946e-01 2.80812506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.400714057 meters Centerline goodness [0,1] 0.9812376415603092 Centerline is valid? [True, True] Translation: X:225.91, Y:-7.53, Z:2.81 [[ 9.99530454e-01 -2.45813493e-02 -1.82928877e-02 2.25913971e+02] [ 2.45957976e-02 9.99697318e-01 5.65236255e-04 -7.52865764e+00] [ 1.82734565e-02 -1.01489901e-03 9.99832511e-01 2.80813766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.430714057 meters Centerline goodness [0,1] 0.9830893942805674 Centerline is valid? [True, True] Translation: X:225.94, Y:-7.53, Z:2.81 [[ 9.99484851e-01 -2.48122643e-02 -2.03564429e-02 2.25944051e+02] [ 2.48302048e-02 9.99691485e-01 6.28998535e-04 -7.53200924e+00] [ 2.03345557e-02 -1.13412915e-03 9.99792588e-01 2.80656502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.460714057 meters Centerline goodness [0,1] 0.9831270080208497 Centerline is valid? [True, True] Translation: X:225.97, Y:-7.54, Z:2.81 [[ 9.99461697e-01 -2.49860527e-02 -2.12606030e-02 2.25973386e+02] [ 2.50056594e-02 9.99687094e-01 6.56820452e-04 -7.53502107e+00] [ 2.12375391e-02 -1.18810228e-03 9.99773752e-01 2.80624653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.490714057 meters Centerline goodness [0,1] 0.9831270080208497 Centerline is valid? [True, True] Translation: X:226.00, Y:-7.54, Z:2.81 [[ 9.99460859e-01 -2.50195540e-02 -2.12606176e-02 2.26002570e+02] [ 2.50391583e-02 9.99686256e-01 6.56348223e-04 -7.53588958e+00] [ 2.12375257e-02 -1.18834233e-03 9.99773752e-01 2.80666599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.520714057 meters Centerline goodness [0,1] 0.9834681122734705 Centerline is valid? [True, True] Translation: X:226.03, Y:-7.54, Z:2.81 [[ 9.99413077e-01 -2.55655858e-02 -2.28013829e-02 2.26030981e+02] [ 2.55882521e-02 9.99672320e-01 7.02822473e-04 -7.54084181e+00] [ 2.27759432e-02 -1.28585750e-03 9.99739768e-01 2.80696141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.550714057 meters Centerline goodness [0,1] 0.9858793902055133 Centerline is valid? [True, True] Translation: X:226.06, Y:-7.54, Z:2.81 [[ 9.99382851e-01 -2.62817201e-02 -2.33063859e-02 2.26060221e+02] [ 2.63055616e-02 9.99653692e-01 7.16911426e-04 -7.53543092e+00] [ 2.32794730e-02 -1.32955655e-03 9.99728112e-01 2.80885366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.580714057 meters Centerline goodness [0,1] 0.9825557900408604 Centerline is valid? [True, True] Translation: X:226.09, Y:-7.55, Z:2.81 [[ 9.99379592e-01 -2.70228774e-02 -2.25875142e-02 2.26088592e+02] [ 2.70454293e-02 9.99633965e-01 6.93481930e-04 -7.54754877e+00] [ 2.25605065e-02 -1.30394071e-03 9.99744629e-01 2.80817554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.610714057 meters Centerline goodness [0,1] 0.9838277340957827 Centerline is valid? [True, True] Translation: X:226.12, Y:-7.54, Z:2.81 [[ 9.99328131e-01 -2.96120847e-02 -2.15965574e-02 2.26118888e+02] [ 2.96332797e-02 9.99560619e-01 6.61971514e-04 -7.54486156e+00] [ 2.15674659e-02 -1.30150358e-03 9.99766548e-01 2.81086768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.640714057 meters Centerline goodness [0,1] 0.982660120508815 Centerline is valid? [True, True] Translation: X:226.15, Y:-7.56, Z:2.81 [[ 9.99275819e-01 -3.16914960e-02 -2.10591151e-02 2.26148119e+02] [ 3.17121011e-02 9.99496837e-01 6.45128941e-04 -7.55603005e+00] [ 2.10280738e-02 -1.31249054e-03 9.99778024e-01 2.81092190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.670714057 meters Centerline goodness [0,1] 0.9836131183991106 Centerline is valid? [True, True] Translation: X:226.18, Y:-7.56, Z:2.81 [[ 9.99253919e-01 -3.26088459e-02 -2.06946731e-02 2.26179542e+02] [ 3.26289393e-02 9.99467333e-01 6.33940145e-04 -7.55684990e+00] [ 2.06629777e-02 -1.30871241e-03 9.99785641e-01 2.81156105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70071405699997 meters Centerline goodness [0,1] 0.9830980269897118 Centerline is valid? [True, True] Translation: X:226.21, Y:-7.56, Z:2.81 [[ 9.99232772e-01 -3.30798346e-02 -2.09664542e-02 2.26210918e+02] [ 3.31005783e-02 9.99451819e-01 6.43017631e-04 -7.56101299e+00] [ 2.09336899e-02 -1.33652605e-03 9.99779973e-01 2.81207505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73071405699997 meters Centerline goodness [0,1] 0.9827379365502533 Centerline is valid? [True, True] Translation: X:226.24, Y:-7.57, Z:2.81 [[ 9.99187614e-01 -3.39672422e-02 -2.16872979e-02 2.26241742e+02] [ 3.39896644e-02 9.99421963e-01 6.66001883e-04 -7.56575620e+00] [ 2.16521396e-02 -1.40260481e-03 9.99764581e-01 2.81278923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76071405699997 meters Centerline goodness [0,1] 0.9838137472283813 Centerline is valid? [True, True] Translation: X:226.27, Y:-7.57, Z:2.81 [[ 9.99172092e-01 -3.41122810e-02 -2.21694001e-02 2.26273441e+02] [ 3.41357687e-02 9.99416972e-01 6.81789021e-04 -7.56787017e+00] [ 2.21332173e-02 -1.43799408e-03 9.99753996e-01 2.81315206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79071405699997 meters Centerline goodness [0,1] 0.9835200177442608 Centerline is valid? [True, True] Translation: X:226.30, Y:-7.58, Z:2.81 [[ 9.99102227e-01 -3.45268590e-02 -2.45486382e-02 2.26303883e+02] [ 3.45558036e-02 9.99402484e-01 7.55709922e-04 -7.57530691e+00] [ 2.45078777e-02 -1.60332939e-03 9.99698351e-01 2.81222848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82071405699998 meters Centerline goodness [0,1] 0.9823644820668826 Centerline is valid? [True, True] Translation: X:226.33, Y:-7.58, Z:2.81 [[ 9.99076930e-01 -3.48741381e-02 -2.50815262e-02 2.26333586e+02] [ 3.49044642e-02 9.99390355e-01 7.72187211e-04 -7.58144382e+00] [ 2.50393060e-02 -1.64693166e-03 9.99685111e-01 2.81150935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85071405699998 meters Centerline goodness [0,1] 0.983566055632762 Centerline is valid? [True, True] Translation: X:226.36, Y:-7.58, Z:2.81 [[ 9.99024728e-01 -3.65627235e-02 -2.47539842e-02 2.26363316e+02] [ 3.65927630e-02 9.99329970e-01 7.61484870e-04 -7.58368908e+00] [ 2.47095563e-02 -1.66655889e-03 9.99693283e-01 2.81324643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88071405699998 meters Centerline goodness [0,1] 0.9833377239199157 Centerline is valid? [True, True] Translation: X:226.39, Y:-7.59, Z:2.81 [[ 9.99016755e-01 -3.73612355e-02 -2.38675616e-02 2.26393626e+02] [ 3.73893766e-02 9.99300503e-01 7.33723425e-04 -7.58668631e+00] [ 2.38234535e-02 -1.62539524e-03 9.99714860e-01 2.81424619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91071405699998 meters Centerline goodness [0,1] 0.9820113751598254 Centerline is valid? [True, True] Translation: X:226.42, Y:-7.59, Z:2.81 [[ 9.98912347e-01 -3.96682764e-02 -2.45061367e-02 2.26423251e+02] [ 3.96986302e-02 9.99211415e-01 7.53170713e-04 -7.59157175e+00] [ 2.44569346e-02 -1.72521159e-03 9.99699396e-01 2.81459976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94071405699998 meters Centerline goodness [0,1] 0.9819968709371764 Centerline is valid? [True, True] Translation: X:226.45, Y:-7.60, Z:2.81 [[ 9.98857795e-01 -4.07640839e-02 -2.49277844e-02 2.26453053e+02] [ 4.07958245e-02 9.99167210e-01 7.65865755e-04 -7.59825113e+00] [ 2.48758049e-02 -1.78194050e-03 9.99688961e-01 2.81389924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97071405699998 meters Centerline goodness [0,1] 0.9829239920107109 Centerline is valid? [True, True] Translation: X:226.48, Y:-7.60, Z:2.81 [[ 9.98821610e-01 -4.14037320e-02 -2.53204122e-02 2.26483826e+02] [ 4.14366852e-02 9.99140829e-01 7.77928609e-04 -7.60083122e+00] [ 2.52664485e-02 -1.82620585e-03 9.99679084e-01 2.81404439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00071405699998 meters Centerline goodness [0,1] 0.9832600087989442 Centerline is valid? [True, True] Translation: X:226.51, Y:-7.61, Z:2.81 [[ 9.98771162e-01 -4.27832383e-02 -2.50152141e-02 2.26513888e+02] [ 4.28158319e-02 9.99082686e-01 7.68551893e-04 -7.60732351e+00] [ 2.49593862e-02 -1.83865467e-03 9.99686775e-01 2.81396819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03071405699998 meters Centerline goodness [0,1] 0.9825922588302526 Centerline is valid? [True, True] Translation: X:226.54, Y:-7.61, Z:2.82 [[ 9.98732168e-01 -4.39498891e-02 -2.45451350e-02 2.26543669e+02] [ 4.39816147e-02 9.99032056e-01 7.53928158e-04 -7.61125261e+00] [ 2.44882416e-02 -1.83250697e-03 9.99698439e-01 2.81532164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06071405699998 meters Centerline goodness [0,1] 0.9837581921399294 Centerline is valid? [True, True] Translation: X:226.58, Y:-7.61, Z:2.82 [[ 9.98726604e-01 -4.43943354e-02 -2.39648368e-02 2.26575227e+02] [ 4.44247076e-02 9.99012464e-01 7.36201024e-04 -7.61172739e+00] [ 2.39084875e-02 -1.79989442e-03 9.99712531e-01 2.81651004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09071405699999 meters Centerline goodness [0,1] 0.9821791704021167 Centerline is valid? [True, True] Translation: X:226.60, Y:-7.62, Z:2.82 [[ 9.98715463e-01 -4.46358332e-02 -2.39805532e-02 2.26604953e+02] [ 4.46663475e-02 9.99001688e-01 7.38062993e-04 -7.61750816e+00] [ 2.39236691e-02 -1.80823865e-03 9.99712153e-01 2.81678402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.120714057 meters Centerline goodness [0,1] 0.9821878491773108 Centerline is valid? [True, True] Translation: X:226.64, Y:-7.62, Z:2.82 [[ 9.98615263e-01 -4.72565346e-02 -2.31165937e-02 2.26635990e+02] [ 4.72856219e-02 9.98881155e-01 7.12985444e-04 -7.61811620e+00] [ 2.30570366e-02 -1.80508065e-03 9.99732522e-01 2.81722575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.150714057 meters Centerline goodness [0,1] 0.9809683678140874 Centerline is valid? [True, True] Translation: X:226.67, Y:-7.63, Z:2.82 [[ 9.98527596e-01 -4.90171179e-02 -2.32370846e-02 2.26665649e+02] [ 4.90469934e-02 9.98796215e-01 7.17155141e-04 -7.62870262e+00] [ 2.31739592e-02 -1.85580833e-03 9.99729725e-01 2.81636768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.180714057 meters Centerline goodness [0,1] 0.9812870338096897 Centerline is valid? [True, True] Translation: X:226.70, Y:-7.63, Z:2.82 [[ 9.98363035e-01 -5.20033796e-02 -2.38096399e-02 2.26696573e+02] [ 5.20355913e-02 9.98644961e-01 7.34907828e-04 -7.63347204e+00] [ 2.37391592e-02 -1.97265350e-03 9.99716240e-01 2.81590405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.210714057 meters Centerline goodness [0,1] 0.9801263691816612 Centerline is valid? [True, True] Translation: X:226.73, Y:-7.64, Z:2.82 [[ 9.98262381e-01 -5.36477432e-02 -2.43749402e-02 2.26726390e+02] [ 5.36819930e-02 9.98557799e-01 7.52484119e-04 -7.63816451e+00] [ 2.42994176e-02 -2.05967196e-03 9.99702604e-01 2.81548445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.240714057 meters Centerline goodness [0,1] 0.9777282363997989 Centerline is valid? [True, True] Translation: X:226.76, Y:-7.64, Z:2.82 [[ 9.98137338e-01 -5.57677728e-02 -2.47347960e-02 2.26757043e+02] [ 5.58036921e-02 9.98441468e-01 7.63772464e-04 -7.64382134e+00] [ 2.46536521e-02 -2.14264275e-03 9.99693756e-01 2.81516120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.270714057 meters Centerline goodness [0,1] 0.9799886274166739 Centerline is valid? [True, True] Translation: X:226.79, Y:-7.64, Z:2.82 [[ 9.98098940e-01 -5.66246458e-02 -2.43342564e-02 2.26788636e+02] [ 5.66596779e-02 9.98393267e-01 7.51999002e-04 -7.64363260e+00] [ 2.42525761e-02 -2.12934054e-03 9.99703595e-01 2.81616120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.300714057 meters Centerline goodness [0,1] 0.9825229127020583 Centerline is valid? [True, True] Translation: X:226.82, Y:-7.64, Z:2.82 [[ 9.98034687e-01 -5.79067290e-02 -2.39494266e-02 2.26819885e+02] [ 5.79410480e-02 9.98319731e-01 7.40955600e-04 -7.63860321e+00] [ 2.38662788e-02 -2.12715426e-03 9.99712897e-01 2.81848121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.330714057 meters Centerline goodness [0,1] 0.9760517939501548 Centerline is valid? [True, True] Translation: X:226.85, Y:-7.65, Z:2.82 [[ 9.98046480e-01 -5.79061022e-02 -2.34543642e-02 2.26849654e+02] [ 5.79390322e-02 9.98319859e-01 7.26320919e-04 -7.64901245e+00] [ 2.33728991e-02 -2.08382520e-03 9.99724645e-01 2.81826727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.360714057 meters Centerline goodness [0,1] 0.9805149465415667 Centerline is valid? [True, True] Translation: X:226.88, Y:-7.64, Z:2.82 [[ 9.98130881e-01 -5.68136329e-02 -2.25156631e-02 2.26881266e+02] [ 5.68437155e-02 9.98382845e-01 6.97797532e-04 -7.64163747e+00] [ 2.24396074e-02 -1.97636722e-03 9.99746247e-01 2.82096053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.390714057 meters Centerline goodness [0,1] 0.9809166957127919 Centerline is valid? [True, True] Translation: X:226.91, Y:-7.64, Z:2.82 [[ 9.98236063e-01 -5.53032954e-02 -2.15941452e-02 2.26913306e+02] [ 5.53306337e-02 9.98467862e-01 6.70126349e-04 -7.64041796e+00] [ 2.15239998e-02 -1.86376202e-03 9.99766595e-01 2.82253398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42071405699997 meters Centerline goodness [0,1] 0.9739288292032108 Centerline is valid? [True, True] Translation: X:226.94, Y:-7.65, Z:2.82 [[ 9.98349592e-01 -5.34448009e-02 -2.10177283e-02 2.26942485e+02] [ 5.34703032e-02 9.98569227e-01 6.52873802e-04 -7.64913021e+00] [ 2.09527639e-02 -1.77562060e-03 9.99778890e-01 2.82303614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45071405699997 meters Centerline goodness [0,1] 0.9816654268586181 Centerline is valid? [True, True] Translation: X:226.97, Y:-7.64, Z:2.82 [[ 9.98612639e-01 -4.88341807e-02 -1.96982073e-02 2.26973391e+02] [ 4.88556848e-02 9.98805661e-01 6.11640019e-04 -7.63668304e+00] [ 1.96448121e-02 -1.57316086e-03 9.99805784e-01 2.82392356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48071405699997 meters Centerline goodness [0,1] 0.9810593619304123 Centerline is valid? [True, True] Translation: X:227.00, Y:-7.63, Z:2.82 [[ 9.98794563e-01 -4.49968483e-02 -1.96139093e-02 2.27002594e+02] [ 4.50174312e-02 9.98986016e-01 6.08915148e-04 -7.63320726e+00] [ 1.95666218e-02 -1.49114895e-03 9.99807443e-01 2.82371593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51071405699997 meters Centerline goodness [0,1] 0.9807810443176832 Centerline is valid? [True, True] Translation: X:227.03, Y:-7.63, Z:2.82 [[ 9.98877957e-01 -4.32489707e-02 -1.92964467e-02 2.27033826e+02] [ 4.32685669e-02 9.99063297e-01 5.98992017e-04 -7.63182150e+00] [ 1.92524659e-02 -1.43324952e-03 9.99813627e-01 2.82389922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54071405699997 meters Centerline goodness [0,1] 0.9800757342257056 Centerline is valid? [True, True] Translation: X:227.06, Y:-7.63, Z:2.82 [[ 9.98994815e-01 -4.07658156e-02 -1.86415873e-02 2.27063891e+02] [ 4.07836830e-02 9.99167832e-01 5.79152307e-04 -7.63063591e+00] [ 1.86024647e-02 -1.33884274e-03 9.99826063e-01 2.82427398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57071405699998 meters Centerline goodness [0,1] 0.9794464839198962 Centerline is valid? [True, True] Translation: X:227.10, Y:-7.63, Z:2.82 [[ 9.99040608e-01 -3.96924718e-02 -1.85032962e-02 2.27095269e+02] [ 3.97098946e-02 9.99211086e-01 5.74999607e-04 -7.63039308e+00] [ 1.84658755e-02 -1.30921190e-03 9.99828634e-01 2.82407940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60071405699998 meters Centerline goodness [0,1] 0.9796246885267591 Centerline is valid? [True, True] Translation: X:227.13, Y:-7.63, Z:2.82 [[ 9.99072512e-01 -3.86336120e-02 -1.90147501e-02 2.27126564e+02] [ 3.86518333e-02 9.99252564e-01 5.91563325e-04 -7.63078463e+00] [ 1.89776835e-02 -1.32596961e-03 9.99819028e-01 2.82419396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63071405699998 meters Centerline goodness [0,1] 0.97947382360731 Centerline is valid? [True, True] Translation: X:227.16, Y:-7.63, Z:2.82 [[ 9.99123867e-01 -3.64748500e-02 -2.05203241e-02 2.27156128e+02] [ 3.64956274e-02 9.99333609e-01 6.38826837e-04 -7.62922408e+00] [ 2.04833484e-02 -1.38716924e-03 9.99789232e-01 2.82186201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66071405699998 meters Centerline goodness [0,1] 0.9800114724440718 Centerline is valid? [True, True] Translation: X:227.19, Y:-7.63, Z:2.82 [[ 9.99167024e-01 -3.42846005e-02 -2.21319623e-02 2.27185820e+02] [ 3.43082271e-02 9.99411062e-01 6.88606288e-04 -7.62739245e+00] [ 2.20953193e-02 -1.44734108e-03 9.99754821e-01 2.82020985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69071405699998 meters Centerline goodness [0,1] 0.9797526056073111 Centerline is valid? [True, True] Translation: X:227.22, Y:-7.63, Z:2.82 [[ 9.99202033e-01 -3.30266034e-02 -2.24619706e-02 2.27215875e+02] [ 3.30506151e-02 9.99453435e-01 6.98494696e-04 -7.62647571e+00] [ 2.24266248e-02 -1.44031926e-03 9.99747454e-01 2.82009859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72071405699998 meters Centerline goodness [0,1] 0.9804233505678555 Centerline is valid? [True, True] Translation: X:227.24, Y:-7.62, Z:2.82 [[ 9.99318546e-01 -3.02606480e-02 -2.11361474e-02 2.27244699e+02] [ 3.02812823e-02 9.99541201e-01 6.56816536e-04 -7.62446341e+00] [ 2.11065744e-02 -1.29639859e-03 9.99776391e-01 2.82112922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75071405699998 meters Centerline goodness [0,1] 0.9795452530804006 Centerline is valid? [True, True] Translation: X:227.27, Y:-7.62, Z:2.82 [[ 9.99369047e-01 -2.91067559e-02 -2.03544628e-02 2.27274044e+02] [ 2.91256401e-02 9.99575559e-01 6.31871247e-04 -7.62385676e+00] [ 2.03274318e-02 -1.22430932e-03 9.99792627e-01 2.82183767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78071405699998 meters Centerline goodness [0,1] 0.9785466516426946 Centerline is valid? [True, True] Translation: X:227.30, Y:-7.62, Z:2.82 [[ 9.99483177e-01 -2.56344288e-02 -1.93973127e-02 2.27302863e+02] [ 2.56509149e-02 9.99670780e-01 6.01551906e-04 -7.62219229e+00] [ 1.93755063e-02 -1.09879983e-03 9.99811673e-01 2.82273923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81071405699998 meters Centerline goodness [0,1] 0.9802979655989197 Centerline is valid? [True, True] Translation: X:227.33, Y:-7.62, Z:2.82 [[ 9.99522822e-01 -2.40598343e-02 -1.93714524e-02 2.27332575e+02] [ 2.40759699e-02 9.99709952e-01 6.00140088e-04 -7.62032206e+00] [ 1.93513944e-02 -1.06624022e-03 9.99812176e-01 2.82367153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84071405699999 meters Centerline goodness [0,1] 0.9804898573832934 Centerline is valid? [True, True] Translation: X:227.36, Y:-7.62, Z:2.82 [[ 9.99563673e-01 -2.23206935e-02 -1.93455312e-02 2.27361595e+02] [ 2.23364490e-02 9.99750331e-01 5.98706712e-04 -7.61983094e+00] [ 1.93273376e-02 -1.03055595e-03 9.99812678e-01 2.82463654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.870714057 meters Centerline goodness [0,1] 0.9798231189724901 Centerline is valid? [True, True] Translation: X:227.39, Y:-7.62, Z:2.83 [[ 9.99642382e-01 -1.91173580e-02 -1.86985180e-02 2.27390525e+02] [ 1.91315072e-02 9.99816809e-01 5.78094258e-04 -7.61744179e+00] [ 1.86840410e-02 -9.35618353e-04 9.99825000e-01 2.82646497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.900714057 meters Centerline goodness [0,1] 0.9792124725164901 Centerline is valid? [True, True] Translation: X:227.42, Y:-7.62, Z:2.83 [[ 9.99674923e-01 -1.81376644e-02 -1.79185254e-02 2.27419187e+02] [ 1.81504784e-02 9.99835114e-01 5.52742224e-04 -7.61747031e+00] [ 1.79055455e-02 -8.77792349e-04 9.99839298e-01 2.82708721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.930714057 meters Centerline goodness [0,1] 0.9783250793932798 Centerline is valid? [True, True] Translation: X:227.45, Y:-7.62, Z:2.83 [[ 9.99705660e-01 -1.69475736e-02 -1.73601299e-02 2.27446797e+02] [ 1.69593642e-02 9.99856038e-01 5.32173359e-04 -7.61895614e+00] [ 1.73486116e-02 -8.26433484e-04 9.99849160e-01 2.82817476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.960714057 meters Centerline goodness [0,1] 0.9819825794756157 Centerline is valid? [True, True] Translation: X:227.48, Y:-7.61, Z:2.83 [[ 9.99710493e-01 -1.70121531e-02 -1.70151864e-02 2.27475571e+02] [ 1.70234592e-02 9.99854955e-01 5.19840668e-04 -7.61114227e+00] [ 1.70038748e-02 -8.09347502e-04 9.99855096e-01 2.82929771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.990714057 meters Centerline goodness [0,1] 0.9804951570361504 Centerline is valid? [True, True] Translation: X:227.50, Y:-7.62, Z:2.83 [[ 9.99681943e-01 -1.83394690e-02 -1.73111556e-02 2.27503188e+02] [ 1.83513046e-02 9.99831463e-01 5.25082931e-04 -7.61524150e+00] [ 1.72986083e-02 -8.42598215e-04 9.99850013e-01 2.82844756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.020714057 meters Centerline goodness [0,1] 0.9807188817395163 Centerline is valid? [True, True] Translation: X:227.53, Y:-7.62, Z:2.83 [[ 9.99652905e-01 -1.95266185e-02 -1.76855826e-02 2.27531597e+02] [ 1.95391208e-02 9.99808950e-01 5.34381756e-04 -7.61725403e+00] [ 1.76717691e-02 -8.79757010e-04 9.99843455e-01 2.82824937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.050714057 meters Centerline goodness [0,1] 0.9807295709058654 Centerline is valid? [True, True] Translation: X:227.56, Y:-7.62, Z:2.83 [[ 9.99583532e-01 -2.15027951e-02 -1.92455626e-02 2.27561415e+02] [ 2.15178906e-02 9.99768297e-01 5.77601291e-04 -7.61650105e+00] [ 1.92286833e-02 -9.91484648e-04 9.99814620e-01 2.82721205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.080714057 meters Centerline goodness [0,1] 0.9783737024221453 Centerline is valid? [True, True] Translation: X:227.59, Y:-7.63, Z:2.83 [[ 9.99554146e-01 -2.25435073e-02 -1.95780371e-02 2.27588718e+02] [ 2.25593088e-02 9.99745334e-01 5.86594883e-04 -7.62540739e+00] [ 1.95598274e-02 -1.02800033e-03 9.99808160e-01 2.82634500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.110714057 meters Centerline goodness [0,1] 0.9771902654867257 Centerline is valid? [True, True] Translation: X:227.62, Y:-7.63, Z:2.83 [[ 9.99491681e-01 -2.48451230e-02 -1.99774691e-02 2.27617095e+02] [ 2.48620028e-02 9.99690714e-01 5.96983771e-04 -7.63115339e+00] [ 1.99564582e-02 -1.09336021e-03 9.99800252e-01 2.82562951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.140714057 meters Centerline goodness [0,1] 0.9800733442318739 Centerline is valid? [True, True] Translation: X:227.65, Y:-7.63, Z:2.83 [[ 9.99453265e-01 -2.73416045e-02 -1.85905271e-02 2.27646673e+02] [ 2.73566368e-02 9.99625583e-01 5.54720081e-04 -7.62739359e+00] [ 1.85683995e-02 -1.06299109e-03 9.99827027e-01 2.82760421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17071405699997 meters Centerline goodness [0,1] 0.980042481635543 Centerline is valid? [True, True] Translation: X:227.68, Y:-7.63, Z:2.83 [[ 9.99427911e-01 -2.85733658e-02 -1.80945943e-02 2.27676730e+02] [ 2.85877987e-02 9.99591140e-01 5.39421923e-04 -7.63100280e+00] [ 1.80717830e-02 -1.05639794e-03 9.99836134e-01 2.82868835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20071405699997 meters Centerline goodness [0,1] 0.9783039647577092 Centerline is valid? [True, True] Translation: X:227.71, Y:-7.64, Z:2.83 [[ 9.99389475e-01 -3.05822391e-02 -1.68938840e-02 2.27706265e+02] [ 3.05951090e-02 9.99531733e-01 5.03818269e-04 -7.63706180e+00] [ 1.68705652e-02 -1.02038090e-03 9.99857161e-01 2.82950002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23071405699997 meters Centerline goodness [0,1] 0.9787845303867403 Centerline is valid? [True, True] Translation: X:227.74, Y:-7.64, Z:2.83 [[ 9.99385621e-01 -3.11083176e-02 -1.61447764e-02 2.27737361e+02] [ 3.11201573e-02 9.99515534e-01 4.82572846e-04 -7.63993622e+00] [ 1.61219427e-02 -9.84704343e-04 9.99869548e-01 2.82979786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26071405699997 meters Centerline goodness [0,1] 0.978202778207195 Centerline is valid? [True, True] Translation: X:227.77, Y:-7.64, Z:2.83 [[ 9.99374926e-01 -3.13933740e-02 -1.62546230e-02 2.27768262e+02] [ 3.14054222e-02 9.99506610e-01 4.86426485e-04 -7.64296261e+00] [ 1.62313326e-02 -9.96605733e-04 9.99867767e-01 2.83025380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29071405699997 meters Centerline goodness [0,1] 0.9764269080363812 Centerline is valid? [True, True] Translation: X:227.80, Y:-7.65, Z:2.83 [[ 9.99348223e-01 -3.23593715e-02 -1.60000228e-02 2.27798856e+02] [ 3.23711768e-02 9.99475801e-01 4.79325333e-04 -7.64793875e+00] [ 1.59761249e-02 -9.96952485e-04 9.99871877e-01 2.82941048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32071405699998 meters Centerline goodness [0,1] 0.97791651959054 Centerline is valid? [True, True] Translation: X:227.83, Y:-7.65, Z:2.83 [[ 9.99327147e-01 -3.28547544e-02 -1.63039510e-02 2.27829663e+02] [ 3.28670839e-02 9.99459612e-01 4.88781949e-04 -7.64948769e+00] [ 1.62790818e-02 -1.02431640e-03 9.99866962e-01 2.82935389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35071405699998 meters Centerline goodness [0,1] 0.9790288436094204 Centerline is valid? [True, True] Translation: X:227.86, Y:-7.65, Z:2.83 [[ 9.99284641e-01 -3.37391139e-02 -1.70844413e-02 2.27860883e+02] [ 3.37527958e-02 9.99430080e-01 5.13047764e-04 -7.65228833e+00] [ 1.70573948e-02 -1.08932841e-03 9.99853919e-01 2.82836208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38071405699998 meters Centerline goodness [0,1] 0.9803332965456352 Centerline is valid? [True, True] Translation: X:227.89, Y:-7.65, Z:2.83 [[ 9.99249354e-01 -3.44117396e-02 -1.77921633e-02 2.27891748e+02] [ 3.44266953e-02 9.99407082e-01 5.34885424e-04 -7.65425212e+00] [ 1.77632076e-02 -1.14700930e-03 9.99841564e-01 2.82855812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41071405699998 meters Centerline goodness [0,1] 0.9803332965456352 Centerline is valid? [True, True] Translation: X:227.92, Y:-7.66, Z:2.83 [[ 9.99250563e-01 -3.43766093e-02 -1.77921520e-02 2.27922639e+02] [ 3.43915661e-02 9.99408292e-01 5.35258631e-04 -7.65521223e+00] [ 1.77632239e-02 -1.14675746e-03 9.99841564e-01 2.82900198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44071405699998 meters Centerline goodness [0,1] 0.9789095557122708 Centerline is valid? [True, True] Translation: X:227.95, Y:-7.66, Z:2.83 [[ 9.99173208e-01 -3.61493277e-02 -1.86044653e-02 2.27952545e+02] [ 3.61660029e-02 9.99345639e-01 5.60521252e-04 -7.65928313e+00] [ 1.85720288e-02 -1.23290697e-03 9.99826765e-01 2.82799064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47071405699998 meters Centerline goodness [0,1] 0.9786526260133944 Centerline is valid? [True, True] Translation: X:227.98, Y:-7.66, Z:2.83 [[ 9.99114949e-01 -3.73209521e-02 -1.94026953e-02 2.27983814e+02] [ 3.73393329e-02 9.99302472e-01 5.85791900e-04 -7.66153476e+00] [ 1.93672991e-02 -1.30975714e-03 9.99811578e-01 2.82850159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50071405699998 meters Centerline goodness [0,1] 0.9796706692565778 Centerline is valid? [True, True] Translation: X:228.01, Y:-7.67, Z:2.83 [[ 9.99022441e-01 -3.93235718e-02 -2.01945519e-02 2.28014330e+02] [ 3.93439015e-02 9.99225543e-01 6.10218305e-04 -7.66518641e+00] [ 2.01549161e-02 -1.40415424e-03 9.99795883e-01 2.82810469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53071405699998 meters Centerline goodness [0,1] 0.9769052608359987 Centerline is valid? [True, True] Translation: X:228.04, Y:-7.67, Z:2.83 [[ 9.98978504e-01 -4.03019803e-02 -2.04376657e-02 2.28044418e+02] [ 4.03230083e-02 9.99186506e-01 6.17668796e-04 -7.66940892e+00] [ 2.03961465e-02 -1.44114601e-03 9.99790938e-01 2.82745114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56071405699998 meters Centerline goodness [0,1] 0.9799655796302017 Centerline is valid? [True, True] Translation: X:228.08, Y:-7.67, Z:2.83 [[ 9.98905653e-01 -4.20628402e-02 -2.04502779e-02 2.28075266e+02] [ 4.20842686e-02 9.99113873e-01 6.18405579e-04 -7.66673344e+00] [ 2.04061445e-02 -1.47836382e-03 9.99790680e-01 2.82787455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59071405699999 meters Centerline goodness [0,1] 0.9785748888008103 Centerline is valid? [True, True] Translation: X:228.11, Y:-7.67, Z:2.83 [[ 9.98892795e-01 -4.24728667e-02 -2.02296764e-02 2.28105750e+02] [ 4.24939261e-02 9.99096538e-01 6.12093593e-04 -7.67468384e+00] [ 2.01854023e-02 -1.47105425e-03 9.99795172e-01 2.82800309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.620714057 meters Centerline goodness [0,1] 0.9788868830082339 Centerline is valid? [True, True] Translation: X:228.14, Y:-7.67, Z:2.83 [[ 9.98864595e-01 -4.30613974e-02 -2.03773447e-02 2.28136968e+02] [ 4.30828966e-02 9.99071310e-01 6.17029880e-04 -7.67159718e+00] [ 2.03318503e-02 -1.49424434e-03 9.99792170e-01 2.82952537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.650714057 meters Centerline goodness [0,1] 0.9787683439308266 Centerline is valid? [True, True] Translation: X:228.17, Y:-7.67, Z:2.83 [[ 9.98851561e-01 -4.35065037e-02 -2.00684723e-02 2.28168055e+02] [ 4.35274593e-02 9.99052046e-01 6.08372883e-04 -7.67265555e+00] [ 2.00229802e-02 -1.48120382e-03 9.99798423e-01 2.83004415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.680714057 meters Centerline goodness [0,1] 0.9731245463942466 Centerline is valid? [True, True] Translation: X:228.20, Y:-7.68, Z:2.83 [[ 9.98822450e-01 -4.46345562e-02 -1.90123543e-02 2.28197661e+02] [ 4.46535760e-02 9.99002365e-01 5.76832413e-04 -7.68194356e+00] [ 1.89676402e-02 -1.42512277e-03 9.99819082e-01 2.83179299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.710714057 meters Centerline goodness [0,1] 0.9773391652196848 Centerline is valid? [True, True] Translation: X:228.23, Y:-7.67, Z:2.83 [[ 9.98821805e-01 -4.49890708e-02 -1.81929781e-02 2.28230402e+02] [ 4.50065496e-02 9.98986539e-01 5.52242967e-04 -7.67441155e+00] [ 1.81496953e-02 -1.37039549e-03 9.99834342e-01 2.83344272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.740714057 meters Centerline goodness [0,1] 0.976281106294968 Centerline is valid? [True, True] Translation: X:228.26, Y:-7.68, Z:2.84 [[ 9.98714939e-01 -4.78226693e-02 -1.67768654e-02 2.28261308e+02] [ 4.78379462e-02 9.98854980e-01 5.10232406e-04 -7.67577570e+00] [ 1.67332549e-02 -1.31214751e-03 9.99859128e-01 2.83515585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.770714057 meters Centerline goodness [0,1] 0.9755100246218783 Centerline is valid? [True, True] Translation: X:228.29, Y:-7.68, Z:2.84 [[ 9.98643471e-01 -4.92374226e-02 -1.69379653e-02 2.28292637e+02] [ 4.92532024e-02 9.98786192e-01 5.15478290e-04 -7.67556455e+00] [ 1.68920250e-02 -1.34902806e-03 9.99856409e-01 2.83615929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.800714057 meters Centerline goodness [0,1] 0.9748253591669962 Centerline is valid? [True, True] Translation: X:228.32, Y:-7.68, Z:2.84 [[ 9.98463953e-01 -5.27836955e-02 -1.68409253e-02 2.28321737e+02] [ 5.27998050e-02 9.98604986e-01 5.13063374e-04 -7.67839133e+00] [ 1.67903505e-02 -1.40147285e-03 9.99858050e-01 2.83685646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.830714057 meters Centerline goodness [0,1] 0.9752387224234442 Centerline is valid? [True, True] Translation: X:228.35, Y:-7.68, Z:2.84 [[ 9.98378454e-01 -5.43717041e-02 -1.68576610e-02 2.28353291e+02] [ 5.43880750e-02 9.98519741e-01 5.13849289e-04 -7.67841059e+00] [ 1.68047684e-02 -1.42987179e-03 9.99857767e-01 2.83719440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.860714057 meters Centerline goodness [0,1] 0.9774678111587983 Centerline is valid? [True, True] Translation: X:228.38, Y:-7.68, Z:2.84 [[ 9.98283172e-01 -5.59443759e-02 -1.73474990e-02 2.28384302e+02] [ 5.59619578e-02 9.98432761e-01 5.29357390e-04 -7.67566213e+00] [ 1.72906968e-02 -1.49924858e-03 9.99849381e-01 2.83713089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.890714057 meters Centerline goodness [0,1] 0.9784014910645763 Centerline is valid? [True, True] Translation: X:228.42, Y:-7.67, Z:2.84 [[ 9.98097229e-01 -5.84985334e-02 -1.94895597e-02 2.28415892e+02] [ 5.85212189e-02 9.98285987e-01 5.95203237e-04 -7.67295878e+00] [ 1.94213358e-02 -1.73462349e-03 9.99809883e-01 2.83613300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92071405699997 meters Centerline goodness [0,1] 0.9761157333216254 Centerline is valid? [True, True] Translation: X:228.45, Y:-7.68, Z:2.83 [[ 9.97997989e-01 -5.97027294e-02 -2.08710080e-02 2.28446305e+02] [ 5.97290236e-02 9.98214424e-01 6.38193620e-04 -7.67986467e+00] [ 2.07956393e-02 -1.88352088e-03 9.99781973e-01 2.83499643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95071405699997 meters Centerline goodness [0,1] 0.9769076526452637 Centerline is valid? [True, True] Translation: X:228.48, Y:-7.68, Z:2.83 [[ 9.97861104e-01 -6.09537940e-02 -2.36189107e-02 2.28477606e+02] [ 6.09878398e-02 9.98138247e-01 7.23148395e-04 -7.67570059e+00] [ 2.35308595e-02 -2.16206800e-03 9.99720773e-01 2.83484547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98071405699997 meters Centerline goodness [0,1] 0.9763300568607572 Centerline is valid? [True, True] Translation: X:228.51, Y:-7.67, Z:2.84 [[ 9.97859979e-01 -6.07313475e-02 -2.42315165e-02 2.28509576e+02] [ 6.07671481e-02 9.98151693e-01 7.43158339e-04 -7.67364331e+00] [ 2.41415962e-02 -2.21404812e-03 9.99706097e-01 2.83556822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01071405699997 meters Centerline goodness [0,1] 0.9764064534639917 Centerline is valid? [True, True] Translation: X:228.54, Y:-7.67, Z:2.84 [[ 9.97947992e-01 -5.92971899e-02 -2.41587988e-02 2.28541218e+02] [ 5.93323929e-02 9.98238006e-01 7.42329257e-04 -7.67026519e+00] [ 2.40722131e-02 -2.17420533e-03 9.99707858e-01 2.83682154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04071405699997 meters Centerline goodness [0,1] 0.975412187962125 Centerline is valid? [True, True] Translation: X:228.57, Y:-7.67, Z:2.84 [[ 9.98046344e-01 -5.77560299e-02 -2.38272107e-02 2.28572050e+02] [ 5.77898574e-02 9.98328501e-01 7.32995999e-04 -7.66976433e+00] [ 2.37450486e-02 -2.10853509e-03 9.99715823e-01 2.83780467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07071405699998 meters Centerline goodness [0,1] 0.9766577427705379 Centerline is valid? [True, True] Translation: X:228.60, Y:-7.66, Z:2.84 [[ 9.98262140e-01 -5.39448004e-02 -2.37204260e-02 2.28602574e+02] [ 5.39772707e-02 9.98541897e-01 7.30275776e-04 -7.66385699e+00] [ 2.36464446e-02 -2.00937051e-03 9.99718364e-01 2.83992594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10071405699998 meters Centerline goodness [0,1] 0.9771616811478853 Centerline is valid? [True, True] Translation: X:228.63, Y:-7.66, Z:2.84 [[ 9.98391988e-01 -5.15473230e-02 -2.35862419e-02 2.28633306e+02] [ 5.15787682e-02 9.98668665e-01 7.26384694e-04 -7.66069617e+00] [ 2.35173976e-02 -1.94176596e-03 9.99721542e-01 2.84114239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13071405699998 meters Centerline goodness [0,1] 0.9773759666733143 Centerline is valid? [True, True] Translation: X:228.66, Y:-7.66, Z:2.84 [[ 9.98608787e-01 -4.73160321e-02 -2.32740949e-02 2.28663066e+02] [ 4.73455104e-02 9.98878315e-01 7.16859391e-04 -7.65632214e+00] [ 2.32140698e-02 -1.81778599e-03 9.99728865e-01 2.84154309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16071405699998 meters Centerline goodness [0,1] 0.977818853974122 Centerline is valid? [True, True] Translation: X:228.69, Y:-7.65, Z:2.84 [[ 9.98692979e-01 -4.52801490e-02 -2.37074322e-02 2.28693538e+02] [ 4.53101590e-02 9.98972701e-01 7.29939611e-04 -7.65324101e+00] [ 2.36500258e-02 -1.80317309e-03 9.99718673e-01 2.84247403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19071405699998 meters Centerline goodness [0,1] 0.9798281825281714 Centerline is valid? [True, True] Translation: X:228.72, Y:-7.65, Z:2.84 [[ 9.98792796e-01 -4.27096193e-02 -2.42660005e-02 2.28724191e+02] [ 4.27403063e-02 9.99085936e-01 7.47137640e-04 -7.64509620e+00] [ 2.42119099e-02 -1.78337199e-03 9.99705258e-01 2.84349859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22071405699998 meters Centerline goodness [0,1] 0.9775186049094746 Centerline is valid? [True, True] Translation: X:228.75, Y:-7.65, Z:2.84 [[ 9.98819980e-01 -4.20955521e-02 -2.42200740e-02 2.28754080e+02] [ 4.21259587e-02 9.99112029e-01 7.46352154e-04 -7.64986808e+00] [ 2.41671491e-02 -1.76576528e-03 9.99706372e-01 2.84268270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25071405699998 meters Centerline goodness [0,1] 0.9795306592693676 Centerline is valid? [True, True] Translation: X:228.79, Y:-7.64, Z:2.84 [[ 9.98833892e-01 -4.05870960e-02 -2.61446810e-02 2.28785900e+02] [ 4.06220516e-02 9.99174258e-01 8.07058928e-04 -7.64246143e+00] [ 2.60903361e-02 -1.86816839e-03 9.99657844e-01 2.84247903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28071405699998 meters Centerline goodness [0,1] 0.9806195464435522 Centerline is valid? [True, True] Translation: X:228.82, Y:-7.64, Z:2.84 [[ 9.98825133e-01 -3.99670556e-02 -2.74041507e-02 2.28816984e+02] [ 4.00052439e-02 9.99199111e-01 8.46463033e-04 -7.63837574e+00] [ 2.73483724e-02 -1.94177829e-03 9.99624077e-01 2.84178200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31071405699998 meters Centerline goodness [0,1] 0.9802603571508592 Centerline is valid? [True, True] Translation: X:228.85, Y:-7.64, Z:2.84 [[ 9.98826789e-01 -3.97374596e-02 -2.76763408e-02 2.28846672e+02] [ 3.97763166e-02 9.99208244e-01 8.54640218e-04 -7.63815518e+00] [ 2.76204667e-02 -1.95450044e-03 9.99616571e-01 2.84184839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34071405699999 meters Centerline goodness [0,1] 0.9814848103541255 Centerline is valid? [True, True] Translation: X:228.88, Y:-7.64, Z:2.84 [[ 9.98844501e-01 -3.91369026e-02 -2.78920269e-02 2.28877226e+02] [ 3.91761279e-02 9.99231950e-01 8.61050532e-04 -7.63577883e+00] [ 2.78369055e-02 -1.95275720e-03 9.99610571e-01 2.84241941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.370714057 meters Centerline goodness [0,1] 0.9819943352964978 Centerline is valid? [True, True] Translation: X:228.91, Y:-7.63, Z:2.84 [[ 9.98929713e-01 -3.69920825e-02 -2.77671419e-02 2.28906947e+02] [ 3.70301262e-02 9.99313782e-01 8.56965010e-04 -7.63253935e+00] [ 2.77163866e-02 -1.88426858e-03 9.99614051e-01 2.84246511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.400714057 meters Centerline goodness [0,1] 0.9818954659949622 Centerline is valid? [True, True] Translation: X:228.94, Y:-7.63, Z:2.84 [[ 9.98993441e-01 -3.53805004e-02 -2.75740052e-02 2.28937598e+02] [ 3.54173986e-02 9.99372245e-01 8.50759658e-04 -7.62871505e+00] [ 2.75265951e-02 -1.82650285e-03 9.99619403e-01 2.84329475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.430714057 meters Centerline goodness [0,1] 0.982818876688237 Centerline is valid? [True, True] Translation: X:228.97, Y:-7.63, Z:2.84 [[ 9.99142672e-01 -3.13042673e-02 -2.70917714e-02 2.28967262e+02] [ 3.13383865e-02 9.99508483e-01 8.35624479e-04 -7.62532929e+00] [ 2.70522967e-02 -1.68392048e-03 9.99632601e-01 2.84411220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.460714057 meters Centerline goodness [0,1] 0.9820364666471818 Centerline is valid? [True, True] Translation: X:229.00, Y:-7.62, Z:2.85 [[ 9.99219798e-01 -2.93151280e-02 -2.64654210e-02 2.28997048e+02] [ 2.93469737e-02 9.99568952e-01 8.15606910e-04 -7.61843568e+00] [ 2.64301035e-02 -1.59165058e-03 9.99649397e-01 2.84623500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.490714057 meters Centerline goodness [0,1] 0.9840331566788966 Centerline is valid? [True, True] Translation: X:229.03, Y:-7.61, Z:2.85 [[ 9.99311481e-01 -2.68701214e-02 -2.55843864e-02 2.29026788e+02] [ 2.68990606e-02 9.99637845e-01 7.87581859e-04 -7.60981228e+00] [ 2.55539585e-02 -1.47523555e-03 9.99672356e-01 2.84829767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.520714057 meters Centerline goodness [0,1] 0.9823937279071875 Centerline is valid? [True, True] Translation: X:229.06, Y:-7.61, Z:2.85 [[ 9.99321772e-01 -2.67438968e-02 -2.53132211e-02 2.29055673e+02] [ 2.67721043e-02 9.99641262e-01 7.76036678e-04 -7.60947420e+00] [ 2.52833860e-02 -1.45319854e-03 9.99679268e-01 2.84891464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.550714057 meters Centerline goodness [0,1] 0.9830827067669173 Centerline is valid? [True, True] Translation: X:229.08, Y:-7.61, Z:2.85 [[ 9.99322738e-01 -2.70566869e-02 -2.49399300e-02 2.29084784e+02] [ 2.70840649e-02 9.99632870e-01 7.60560994e-04 -7.60919252e+00] [ 2.49101955e-02 -1.43552058e-03 9.99688662e-01 2.84878967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.580714057 meters Centerline goodness [0,1] 0.9826452860229729 Centerline is valid? [True, True] Translation: X:229.11, Y:-7.61, Z:2.85 [[ 9.99284983e-01 -2.81967816e-02 -2.51885693e-02 2.29114474e+02] [ 2.82250408e-02 9.99601300e-01 7.67010764e-04 -7.60957505e+00] [ 2.51568993e-02 -1.47741073e-03 9.99682423e-01 2.84910643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.610714057 meters Centerline goodness [0,1] 0.981538251924518 Centerline is valid? [True, True] Translation: X:229.14, Y:-7.61, Z:2.85 [[ 9.99160954e-01 -3.15314791e-02 -2.61372090e-02 2.29143516e+02] [ 3.15630203e-02 9.99501448e-01 7.94976209e-04 -7.61123694e+00] [ 2.60991114e-02 -1.61927844e-03 9.99658049e-01 2.84868028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.640714057 meters Centerline goodness [0,1] 0.9807552320291174 Centerline is valid? [True, True] Translation: X:229.17, Y:-7.61, Z:2.85 [[ 9.99090942e-01 -3.34893024e-02 -2.63772092e-02 2.29173537e+02] [ 3.35220867e-02 9.99437655e-01 8.01573828e-04 -7.61369938e+00] [ 2.63355320e-02 -1.68506424e-03 9.99651740e-01 2.84863538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67071405699997 meters Centerline goodness [0,1] 0.9794500262000775 Centerline is valid? [True, True] Translation: X:229.20, Y:-7.62, Z:2.85 [[ 9.98950336e-01 -3.73187276e-02 -2.65619629e-02 2.29203205e+02] [ 3.73533076e-02 9.99301796e-01 8.06703293e-04 -7.61844841e+00] [ 2.65133121e-02 -1.79803370e-03 9.99646843e-01 2.84770836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70071405699997 meters Centerline goodness [0,1] 0.9809497766839851 Centerline is valid? [True, True] Translation: X:229.23, Y:-7.61, Z:2.85 [[ 9.98864798e-01 -3.91456321e-02 -2.71428486e-02 2.29234636e+02] [ 3.91824173e-02 9.99231734e-01 8.24510349e-04 -7.61324530e+00] [ 2.70897197e-02 -1.88709678e-03 9.99631225e-01 2.84893167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73071405699997 meters Centerline goodness [0,1] 0.9771258193736344 Centerline is valid? [True, True] Translation: X:229.26, Y:-7.62, Z:2.85 [[ 9.98756300e-01 -4.18663976e-02 -2.70750290e-02 2.29264321e+02] [ 4.19040218e-02 9.99121301e-01 8.23495961e-04 -7.62160149e+00] [ 2.70167614e-02 -1.95702439e-03 9.99633065e-01 2.84805074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76071405699997 meters Centerline goodness [0,1] 0.9798764784976868 Centerline is valid? [True, True] Translation: X:229.30, Y:-7.61, Z:2.85 [[ 9.98711914e-01 -4.27952161e-02 -2.72595240e-02 2.29295520e+02] [ 4.28337317e-02 9.99081870e-01 8.30303768e-04 -7.61460610e+00] [ 2.71989632e-02 -1.99686140e-03 9.99628045e-01 2.84964235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79071405699997 meters Centerline goodness [0,1] 0.9800487949472149 Centerline is valid? [True, True] Translation: X:229.33, Y:-7.61, Z:2.85 [[ 9.98673190e-01 -4.33310004e-02 -2.78259546e-02 2.29327087e+02] [ 4.33713723e-02 9.99058659e-01 8.48690532e-04 -7.61463132e+00] [ 2.77629863e-02 -2.05441432e-03 9.99612423e-01 2.85033228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82071405699998 meters Centerline goodness [0,1] 0.9695452269313061 Centerline is valid? [True, True] Translation: X:229.36, Y:-7.62, Z:2.85 [[ 9.98639015e-01 -4.39571786e-02 -2.80692751e-02 2.29357427e+02] [ 4.39985269e-02 9.99031228e-01 8.56857284e-04 -7.62372986e+00] [ 2.80044174e-02 -2.09069787e-03 9.99605613e-01 2.84890653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85071405699998 meters Centerline goodness [0,1] 0.977912427117869 Centerline is valid? [True, True] Translation: X:229.39, Y:-7.62, Z:2.85 [[ 9.98640946e-01 -4.40376332e-02 -2.78737768e-02 2.29390097e+02] [ 4.40784711e-02 9.99027709e-01 8.52066175e-04 -7.61566885e+00] [ 2.78091524e-02 -2.07954164e-03 9.99611088e-01 2.85077878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88071405699998 meters Centerline goodness [0,1] 0.9770559304586527 Centerline is valid? [True, True] Translation: X:229.42, Y:-7.62, Z:2.85 [[ 9.98637807e-01 -4.41232140e-02 -2.78508799e-02 2.29421904e+02] [ 4.41640708e-02 9.99023927e-01 8.53271826e-04 -7.61699714e+00] [ 2.77860463e-02 -2.08211774e-03 9.99611725e-01 2.85129292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91071405699998 meters Centerline goodness [0,1] 0.977506793633395 Centerline is valid? [True, True] Translation: X:229.45, Y:-7.62, Z:2.85 [[ 9.98674235e-01 -4.38098431e-02 -2.70272261e-02 2.29453799e+02] [ 4.38482472e-02 9.99037859e-01 8.29639391e-04 -7.61560966e+00] [ 2.69648757e-02 -2.01363597e-03 9.99634354e-01 2.85248293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94071405699998 meters Centerline goodness [0,1] 0.9756276678753385 Centerline is valid? [True, True] Translation: X:229.48, Y:-7.62, Z:2.85 [[ 9.98678733e-01 -4.40358338e-02 -2.64883797e-02 2.29484513e+02] [ 4.40728358e-02 9.99027989e-01 8.14444542e-04 -7.61620789e+00] [ 2.64267680e-02 -1.98078645e-03 9.99648790e-01 2.85339899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97071405699998 meters Centerline goodness [0,1] 0.9772826161632354 Centerline is valid? [True, True] Translation: X:229.52, Y:-7.61, Z:2.85 [[ 9.98687807e-01 -4.39709271e-02 -2.62530301e-02 2.29516456e+02] [ 4.40072927e-02 9.99030882e-01 8.08766365e-04 -7.61351791e+00] [ 2.61920256e-02 -1.96302989e-03 9.99655003e-01 2.85461734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00071405699998 meters Centerline goodness [0,1] 0.97787997240745 Centerline is valid? [True, True] Translation: X:229.55, Y:-7.61, Z:2.85 [[ 9.98663818e-01 -4.46717743e-02 -2.59809741e-02 2.29547836e+02] [ 4.47076671e-02 9.98999790e-01 8.01983090e-04 -7.61294232e+00] [ 2.59191617e-02 -1.96246024e-03 9.99662116e-01 2.85456637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03071405699998 meters Centerline goodness [0,1] 0.9772805666061122 Centerline is valid? [True, True] Translation: X:229.58, Y:-7.61, Z:2.85 [[ 9.98645527e-01 -4.48860615e-02 -2.63126163e-02 2.29580117e+02] [ 4.49229922e-02 9.98990121e-01 8.13798971e-04 -7.61421339e+00] [ 2.62495155e-02 -1.99473816e-03 9.99653432e-01 2.85461564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06071405699998 meters Centerline goodness [0,1] 0.9781487451070688 Centerline is valid? [True, True] Translation: X:229.61, Y:-7.61, Z:2.86 [[ 9.98642788e-01 -4.52770634e-02 -2.57404258e-02 2.29612755e+02] [ 4.53125790e-02 9.98972539e-01 7.97860672e-04 -7.61064583e+00] [ 2.56778538e-02 -1.96314289e-03 9.99668342e-01 2.85599929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09071405699999 meters Centerline goodness [0,1] 0.9772543958703017 Centerline is valid? [True, True] Translation: X:229.65, Y:-7.61, Z:2.86 [[ 9.98625951e-01 -4.57628870e-02 -2.55336758e-02 2.29645333e+02] [ 4.57980374e-02 9.98950404e-01 7.93231921e-04 -7.61147999e+00] [ 2.54705752e-02 -1.96153422e-03 9.99673648e-01 2.85686195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.120714057 meters Centerline goodness [0,1] 0.9764478586871521 Centerline is valid? [True, True] Translation: X:229.68, Y:-7.61, Z:2.86 [[ 9.98650371e-01 -4.58221083e-02 -2.44493650e-02 2.29676565e+02] [ 4.58543896e-02 9.98947844e-01 7.61036359e-04 -7.61119875e+00] [ 2.43887682e-02 -1.88111995e-03 9.99700780e-01 2.85823303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.150714057 meters Centerline goodness [0,1] 0.976636701869526 Centerline is valid? [True, True] Translation: X:229.71, Y:-7.61, Z:2.86 [[ 9.98642420e-01 -4.59568035e-02 -2.45212135e-02 2.29708439e+02] [ 4.59893508e-02 9.98941637e-01 7.64726750e-04 -7.61203968e+00] [ 2.44601168e-02 -1.89140326e-03 9.99699017e-01 2.85900970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.180714057 meters Centerline goodness [0,1] 0.9786856127886323 Centerline is valid? [True, True] Translation: X:229.74, Y:-7.61, Z:2.86 [[ 9.98617395e-01 -4.62325067e-02 -2.50170824e-02 2.29740324e+02] [ 4.62665097e-02 9.98928826e-01 7.81776764e-04 -7.60529939e+00] [ 2.49541412e-02 -1.93814896e-03 9.99686718e-01 2.86023097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.210714057 meters Centerline goodness [0,1] 0.9765814452989676 Centerline is valid? [True, True] Translation: X:229.77, Y:-7.61, Z:2.86 [[ 9.98616218e-01 -4.60213895e-02 -2.54495810e-02 2.29771647e+02] [ 4.60565646e-02 9.98938515e-01 7.97414192e-04 -7.60917611e+00] [ 2.53858685e-02 -1.96843101e-03 9.99675789e-01 2.85980181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.240714057 meters Centerline goodness [0,1] 0.9785917842496699 Centerline is valid? [True, True] Translation: X:229.80, Y:-7.61, Z:2.86 [[ 9.98580570e-01 -4.62047825e-02 -2.64945843e-02 2.29803561e+02] [ 4.62430413e-02 9.98929871e-01 8.32817170e-04 -7.60607041e+00] [ 2.64277515e-02 -2.05682520e-03 9.99648610e-01 2.86036066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.270714057 meters Centerline goodness [0,1] 0.9790470457492129 Centerline is valid? [True, True] Translation: X:229.84, Y:-7.60, Z:2.86 [[ 9.98587113e-01 -4.58863758e-02 -2.67996071e-02 2.29835914e+02] [ 4.59254589e-02 9.98944513e-01 8.44343855e-04 -7.60280590e+00] [ 2.67325766e-02 -2.07393514e-03 9.99640469e-01 2.86129437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.300714057 meters Centerline goodness [0,1] 0.9790470457492129 Centerline is valid? [True, True] Translation: X:229.87, Y:-7.60, Z:2.86 [[ 9.98590443e-01 -4.58138873e-02 -2.67995456e-02 2.29867689e+02] [ 4.58529964e-02 9.98947840e-01 8.46291011e-04 -7.60386818e+00] [ 2.67325763e-02 -2.07393759e-03 9.99640469e-01 2.86175065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.330714057 meters Centerline goodness [0,1] 0.9795588031263007 Centerline is valid? [True, True] Translation: X:229.90, Y:-7.61, Z:2.86 [[ 9.98570475e-01 -4.57618696e-02 -2.76198942e-02 2.29899344e+02] [ 4.58034404e-02 9.98950089e-01 8.73989083e-04 -7.60539821e+00] [ 2.75509004e-02 -2.13782587e-03 9.99618116e-01 2.86115041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.360714057 meters Centerline goodness [0,1] 0.9800590841949779 Centerline is valid? [True, True] Translation: X:229.93, Y:-7.61, Z:2.86 [[ 9.98585492e-01 -4.54368279e-02 -2.76135740e-02 2.29931221e+02] [ 4.54783038e-02 9.98964943e-01 8.75515081e-04 -7.60616703e+00] [ 2.75452117e-02 -2.13009516e-03 9.99618289e-01 2.86154124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.390714057 meters Centerline goodness [0,1] 0.9799180043082482 Centerline is valid? [True, True] Translation: X:229.96, Y:-7.61, Z:2.86 [[ 9.98663735e-01 -4.40175774e-02 -2.70776190e-02 2.29961652e+02] [ 4.40569729e-02 9.99028650e-01 8.59758205e-04 -7.60689434e+00] [ 2.70134727e-02 -2.05156727e-03 9.99632964e-01 2.86245828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42071405699997 meters Centerline goodness [0,1] 0.9787091249913217 Centerline is valid? [True, True] Translation: X:229.99, Y:-7.61, Z:2.86 [[ 9.98735856e-01 -4.30320056e-02 -2.59795521e-02 2.29991750e+02] [ 4.30679738e-02 9.99071803e-01 8.26272773e-04 -7.60994795e+00] [ 2.59198818e-02 -1.94411491e-03 9.99662133e-01 2.86358442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45071405699997 meters Centerline goodness [0,1] 0.9787234042553191 Centerline is valid? [True, True] Translation: X:230.02, Y:-7.61, Z:2.87 [[ 9.98838038e-01 -4.16789191e-02 -2.41958887e-02 2.30022069e+02] [ 4.17097570e-02 9.99129472e-01 7.71016590e-04 -7.61059237e+00] [ 2.41426904e-02 -1.77932534e-03 9.99706939e-01 2.86531072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48071405699997 meters Centerline goodness [0,1] 0.9807018764641755 Centerline is valid? [True, True] Translation: X:230.05, Y:-7.60, Z:2.87 [[ 9.98855974e-01 -4.13991066e-02 -2.39344417e-02 2.30054035e+02] [ 4.14292238e-02 9.99141149e-01 7.63618062e-04 -7.60435087e+00] [ 2.38822725e-02 -1.75432980e-03 9.99713239e-01 2.86688974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51071405699997 meters Centerline goodness [0,1] 0.9808477091448711 Centerline is valid? [True, True] Translation: X:230.09, Y:-7.60, Z:2.87 [[ 9.98839533e-01 -4.16779655e-02 -2.41357716e-02 2.30085878e+02] [ 4.17087148e-02 9.99129515e-01 7.71787533e-04 -7.60436753e+00] [ 2.40825952e-02 -1.77756391e-03 9.99708392e-01 2.86717956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54071405699997 meters Centerline goodness [0,1] 0.9795705649364186 Centerline is valid? [True, True] Translation: X:230.12, Y:-7.61, Z:2.87 [[ 9.98804403e-01 -4.24472282e-02 -2.42486437e-02 2.30116944e+02] [ 4.24785295e-02 9.99097078e-01 7.76974846e-04 -7.60969571e+00] [ 2.41937686e-02 -1.80609262e-03 9.99705656e-01 2.86677290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57071405699998 meters Centerline goodness [0,1] 0.9782880711836129 Centerline is valid? [True, True] Translation: X:230.15, Y:-7.61, Z:2.87 [[ 9.98710775e-01 -4.41349150e-02 -2.50778068e-02 2.30146735e+02] [ 4.41689658e-02 9.99023750e-01 8.05243101e-04 -7.61426801e+00] [ 2.50177853e-02 -1.91186575e-03 9.99685178e-01 2.86626289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60071405699998 meters Centerline goodness [0,1] 0.9800611365846881 Centerline is valid? [True, True] Translation: X:230.18, Y:-7.61, Z:2.87 [[ 9.98655047e-01 -4.52606671e-02 -2.52896977e-02 2.30178796e+02] [ 4.52957052e-02 9.98973291e-01 8.14048027e-04 -7.61158219e+00] [ 2.52268882e-02 -1.95846786e-03 9.99679833e-01 2.86703604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63071405699998 meters Centerline goodness [0,1] 0.9782618697092381 Centerline is valid? [True, True] Translation: X:230.21, Y:-7.62, Z:2.87 [[ 9.98555305e-01 -4.74878197e-02 -2.51437803e-02 2.30209147e+02] [ 4.75231865e-02 9.98869806e-01 8.10570742e-04 -7.61781742e+00] [ 2.50768708e-02 -2.00431228e-03 9.99683517e-01 2.86705288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66071405699998 meters Centerline goodness [0,1] 0.9795913655777444 Centerline is valid? [True, True] Translation: X:230.24, Y:-7.62, Z:2.87 [[ 9.98498400e-01 -4.87736789e-02 -2.49413948e-02 2.30240972e+02] [ 4.88088978e-02 9.98807811e-01 8.04882302e-04 -7.61592011e+00] [ 2.48724029e-02 -2.02103568e-03 9.99688591e-01 2.86817275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69071405699998 meters Centerline goodness [0,1] 0.9796673683236566 Centerline is valid? [True, True] Translation: X:230.27, Y:-7.62, Z:2.87 [[ 9.98425506e-01 -5.03726229e-02 -2.46801264e-02 2.30270594e+02] [ 5.04076119e-02 9.98728410e-01 7.97232385e-04 -7.62207734e+00] [ 2.46085847e-02 -2.04004338e-03 9.99695081e-01 2.86798488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72071405699998 meters Centerline goodness [0,1] 0.9788526589502267 Centerline is valid? [True, True] Translation: X:230.30, Y:-7.63, Z:2.87 [[ 9.98403975e-01 -5.07425552e-02 -2.47930519e-02 2.30302058e+02] [ 5.07779924e-02 9.98709644e-01 8.01445802e-04 -7.62586804e+00] [ 2.47203927e-02 -2.05910808e-03 9.99692284e-01 2.86816992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75071405699998 meters Centerline goodness [0,1] 0.9774691500670148 Centerline is valid? [True, True] Translation: X:230.33, Y:-7.63, Z:2.87 [[ 9.98438603e-01 -5.03024497e-02 -2.42902993e-02 2.30333427e+02] [ 5.03363658e-02 9.98732012e-01 7.86486891e-04 -7.62831650e+00] [ 2.42199373e-02 -2.00794427e-03 9.99704638e-01 2.86854122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78071405699998 meters Centerline goodness [0,1] 0.9789291083612813 Centerline is valid? [True, True] Translation: X:230.37, Y:-7.63, Z:2.87 [[ 9.98464118e-01 -4.98218500e-02 -2.42319663e-02 2.30365863e+02] [ 4.98554985e-02 9.98756132e-01 7.86072093e-04 -7.62585631e+00] [ 2.41626613e-02 -1.99296154e-03 9.99706054e-01 2.86930427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81071405699998 meters Centerline goodness [0,1] 0.9791912053396152 Centerline is valid? [True, True] Translation: X:230.40, Y:-7.63, Z:2.87 [[ 9.98546987e-01 -4.85066746e-02 -2.34737640e-02 2.30397697e+02] [ 4.85379267e-02 9.98821049e-01 7.63102353e-04 -7.62697543e+00] [ 2.34090740e-02 -1.90136139e-03 9.99724162e-01 2.86966464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84071405699999 meters Centerline goodness [0,1] 0.9793106636769228 Centerline is valid? [True, True] Translation: X:230.43, Y:-7.63, Z:2.87 [[ 9.98593309e-01 -4.78416440e-02 -2.28600330e-02 2.30429681e+02] [ 4.78711454e-02 9.98853242e-01 7.44717095e-04 -7.62833200e+00] [ 2.27981896e-02 -1.83800547e-03 9.99738398e-01 2.87043148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.870714057 meters Centerline goodness [0,1] 0.9794389064921248 Centerline is valid? [True, True] Translation: X:230.46, Y:-7.63, Z:2.87 [[ 9.98705583e-01 -4.60854697e-02 -2.15241092e-02 2.30461225e+02] [ 4.61112438e-02 9.98936064e-01 7.02415180e-04 -7.62532654e+00] [ 2.14688378e-02 -1.69400941e-03 9.99768083e-01 2.87205552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.900714057 meters Centerline goodness [0,1] 0.9799949061103522 Centerline is valid? [True, True] Translation: X:230.49, Y:-7.63, Z:2.87 [[ 9.98764190e-01 -4.50173438e-02 -2.10601989e-02 2.30492711e+02] [ 4.50417982e-02 9.98984866e-01 6.88024057e-04 -7.62610697e+00] [ 2.10078469e-02 -1.63576302e-03 9.99777973e-01 2.87277967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.930714057 meters Centerline goodness [0,1] 0.9749670009031332 Centerline is valid? [True, True] Translation: X:230.52, Y:-7.64, Z:2.87 [[ 9.98797488e-01 -4.40314386e-02 -2.15594482e-02 2.30524061e+02] [ 4.40568651e-02 9.99028776e-01 7.05585375e-04 -7.63606444e+00] [ 2.15074412e-02 -1.65457860e-03 9.99767319e-01 2.87175436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.960714057 meters Centerline goodness [0,1] 0.9793117811769606 Centerline is valid? [True, True] Translation: X:230.56, Y:-7.63, Z:2.87 [[ 9.98810984e-01 -4.34958220e-02 -2.20166079e-02 2.30556732e+02] [ 4.35222536e-02 9.99052196e-01 7.22569807e-04 -7.62870365e+00] [ 2.19643117e-02 -1.67992305e-03 9.99757344e-01 2.87268925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.990714057 meters Centerline goodness [0,1] 0.981270038982308 Centerline is valid? [True, True] Translation: X:230.59, Y:-7.63, Z:2.87 [[ 9.98778634e-01 -4.36580903e-02 -2.31346523e-02 2.30588657e+02] [ 4.36873582e-02 9.99044962e-01 7.60971475e-04 -7.63002005e+00] [ 2.30793352e-02 -1.77073389e-03 9.99732068e-01 2.87155228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.020714057 meters Centerline goodness [0,1] 0.9808674353582735 Centerline is valid? [True, True] Translation: X:230.62, Y:-7.63, Z:2.87 [[ 9.98742684e-01 -4.40456258e-02 -2.39381292e-02 2.30621207e+02] [ 4.40771151e-02 9.99027820e-01 7.89149973e-04 -7.63171979e+00] [ 2.38800984e-02 -1.84328144e-03 9.99713130e-01 2.87128814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.050714057 meters Centerline goodness [0,1] 0.9758944430347628 Centerline is valid? [True, True] Translation: X:230.65, Y:-7.64, Z:2.87 [[ 9.98717723e-01 -4.42021731e-02 -2.46794922e-02 2.30652399e+02] [ 4.42357310e-02 9.99020788e-01 8.15200956e-04 -7.64430103e+00] [ 2.46192921e-02 -1.90587102e-03 9.99695083e-01 2.86962259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.080714057 meters Centerline goodness [0,1] 0.9800744319363861 Centerline is valid? [True, True] Translation: X:230.68, Y:-7.64, Z:2.87 [[ 9.98673471e-01 -4.44931561e-02 -2.59163574e-02 2.30684670e+02] [ 4.45303028e-02 9.99007666e-01 8.57682120e-04 -7.63589573e+00] [ 2.58524787e-02 -2.01060762e-03 9.99663747e-01 2.87017661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.110714057 meters Centerline goodness [0,1] 0.9804888161986594 Centerline is valid? [True, True] Translation: X:230.72, Y:-7.64, Z:2.87 [[ 9.98684537e-01 -4.39711222e-02 -2.63768139e-02 2.30715354e+02] [ 4.40094642e-02 9.99030731e-01 8.74595116e-04 -7.64194032e+00] [ 2.63127908e-02 -2.03427407e-03 9.99651689e-01 2.86974747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.140714057 meters Centerline goodness [0,1] 0.9809558942199064 Centerline is valid? [True, True] Translation: X:230.75, Y:-7.64, Z:2.87 [[ 9.98745419e-01 -4.24982866e-02 -2.64855184e-02 2.30746916e+02] [ 4.25364622e-02 9.99094528e-01 8.79392864e-04 -7.63761974e+00] [ 2.64241638e-02 -2.00488985e-03 9.99648810e-01 2.87088795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17071405699997 meters Centerline goodness [0,1] 0.9824529083958918 Centerline is valid? [True, True] Translation: X:230.78, Y:-7.64, Z:2.87 [[ 9.98885026e-01 -3.98084002e-02 -2.53770786e-02 2.30776657e+02] [ 3.98425952e-02 9.99205613e-01 8.43076502e-04 -7.63946901e+00] [ 2.53233579e-02 -1.85322517e-03 9.99677595e-01 2.87179870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20071405699997 meters Centerline goodness [0,1] 0.9829036133444229 Centerline is valid? [True, True] Translation: X:230.81, Y:-7.64, Z:2.87 [[ 9.98957322e-01 -3.81807579e-02 -2.50299536e-02 2.30808570e+02] [ 3.82135292e-02 9.99269250e-01 8.32103902e-04 -7.63875280e+00] [ 2.49798926e-02 -1.78771915e-03 9.99686355e-01 2.87286749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23071405699997 meters Centerline goodness [0,1] 0.9825209540742109 Centerline is valid? [True, True] Translation: X:230.84, Y:-7.64, Z:2.87 [[ 9.99029042e-01 -3.68207174e-02 -2.41910651e-02 2.30839798e+02] [ 3.68509572e-02 9.99320448e-01 8.05284103e-04 -7.63914065e+00] [ 2.41449749e-02 -1.69596611e-03 9.99707029e-01 2.87395937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26071405699997 meters Centerline goodness [0,1] 0.9827653831068454 Centerline is valid? [True, True] Translation: X:230.87, Y:-7.64, Z:2.87 [[ 9.99141616e-01 -3.41095630e-02 -2.35067960e-02 2.30870382e+02] [ 3.41373804e-02 9.99416843e-01 7.82989836e-04 -7.63665195e+00] [ 2.34663804e-02 -1.58477816e-03 9.99723370e-01 2.87491404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29071405699997 meters Centerline goodness [0,1] 0.9847588558702763 Centerline is valid? [True, True] Translation: X:230.90, Y:-7.63, Z:2.88 [[ 9.99195942e-01 -3.23084147e-02 -2.37410205e-02 2.30902134e+02] [ 3.23362962e-02 9.99476732e-01 7.91337436e-04 -7.63357251e+00] [ 2.37030308e-02 -1.55839783e-03 9.99717829e-01 2.87568976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32071405699998 meters Centerline goodness [0,1] 0.9830516323222969 Centerline is valid? [True, True] Translation: X:230.93, Y:-7.64, Z:2.87 [[ 9.99227663e-01 -3.13370402e-02 -2.37079457e-02 2.30932279e+02] [ 3.13646072e-02 9.99507696e-01 7.91732250e-04 -7.64067558e+00] [ 2.36714636e-02 -1.53471117e-03 9.99718614e-01 2.87469974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35071405699998 meters Centerline goodness [0,1] 0.9845266498343795 Centerline is valid? [True, True] Translation: X:230.96, Y:-7.64, Z:2.88 [[ 9.99249421e-01 -3.06704679e-02 -2.36625729e-02 2.30963333e+02] [ 3.06977751e-02 9.99528399e-01 7.91557329e-04 -7.63773815e+00] [ 2.36271362e-02 -1.51735154e-03 9.99719689e-01 2.87548085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38071405699998 meters Centerline goodness [0,1] 0.9837945303650276 Centerline is valid? [True, True] Translation: X:230.99, Y:-7.64, Z:2.88 [[ 9.99261494e-01 -3.06122052e-02 -2.32241112e-02 2.30994684e+02] [ 3.06385123e-02 9.99530228e-01 7.77686477e-04 -7.63957252e+00] [ 2.31893944e-02 -1.48866437e-03 9.99729981e-01 2.87610256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41071405699998 meters Centerline goodness [0,1] 0.9837732883361842 Centerline is valid? [True, True] Translation: X:231.02, Y:-7.64, Z:2.88 [[ 9.99255667e-01 -3.11036663e-02 -2.28182850e-02 2.31024509e+02] [ 3.11292104e-02 9.99515076e-01 7.65020936e-04 -7.64343462e+00] [ 2.27834249e-02 -1.47476670e-03 9.99739336e-01 2.87636806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44071405699998 meters Centerline goodness [0,1] 0.9842123485285632 Centerline is valid? [True, True] Translation: X:231.06, Y:-7.64, Z:2.88 [[ 9.99258809e-01 -3.10085933e-02 -2.28100664e-02 2.31055771e+02] [ 3.10341178e-02 9.99518032e-01 7.65775785e-04 -7.64413624e+00] [ 2.27753271e-02 -1.47309849e-03 9.99739523e-01 2.87671488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47071405699998 meters Centerline goodness [0,1] 0.9836111046901366 Centerline is valid? [True, True] Translation: X:231.09, Y:-7.64, Z:2.88 [[ 9.99231596e-01 -3.14827758e-02 -2.33463724e-02 2.31086715e+02] [ 3.15096664e-02 9.99503139e-01 7.84747252e-04 -7.64417472e+00] [ 2.33100665e-02 -1.51978065e-03 9.99727128e-01 2.87671727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50071405699998 meters Centerline goodness [0,1] 0.9837627142099314 Centerline is valid? [True, True] Translation: X:231.12, Y:-7.65, Z:2.87 [[ 9.99203950e-01 -3.15760731e-02 -2.43807044e-02 2.31117245e+02] [ 3.16054507e-02 9.99500086e-01 8.20457458e-04 -7.65275287e+00] [ 2.43426093e-02 -1.59036748e-03 9.99702410e-01 2.87489181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53071405699998 meters Centerline goodness [0,1] 0.9832241092855825 Centerline is valid? [True, True] Translation: X:231.15, Y:-7.65, Z:2.88 [[ 9.99199449e-01 -3.11907562e-02 -2.50518977e-02 2.31148223e+02] [ 3.12216691e-02 9.99512129e-01 8.43665590e-04 -7.65186961e+00] [ 2.50133610e-02 -1.62515225e-03 9.99685796e-01 2.87559023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56071405699998 meters Centerline goodness [0,1] 0.9849205616109367 Centerline is valid? [True, True] Translation: X:231.18, Y:-7.65, Z:2.88 [[ 9.99229003e-01 -3.02771292e-02 -2.49939011e-02 2.31178842e+02] [ 3.03076267e-02 9.99540264e-01 8.42200909e-04 -7.65317624e+00] [ 2.49569110e-02 -1.59905740e-03 9.99687249e-01 2.87621700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59071405699999 meters Centerline goodness [0,1] 0.9840405904059041 Centerline is valid? [True, True] Translation: X:231.21, Y:-7.65, Z:2.88 [[ 9.99326388e-01 -2.72861065e-02 -2.45405414e-02 2.31208535e+02] [ 2.73146089e-02 9.99626544e-01 8.26924387e-04 -7.65467704e+00] [ 2.45088131e-02 -1.49668265e-03 9.99698494e-01 2.87680047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.620714057 meters Centerline goodness [0,1] 0.984349429526334 Centerline is valid? [True, True] Translation: X:231.24, Y:-7.66, Z:2.88 [[ 9.99393047e-01 -2.55690783e-02 -2.36592261e-02 2.31237933e+02] [ 2.55950830e-02 9.99672075e-01 7.96916319e-04 -7.65516401e+00] [ 2.36310912e-02 -1.40199249e-03 9.99719764e-01 2.87746487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.650714057 meters Centerline goodness [0,1] 0.9852582677889702 Centerline is valid? [True, True] Translation: X:231.27, Y:-7.65, Z:2.88 [[ 9.99454914e-01 -2.34575348e-02 -2.32297019e-02 2.31268058e+02] [ 2.34820206e-02 9.99723954e-01 7.81821617e-04 -7.64995260e+00] [ 2.32049498e-02 -1.32687580e-03 9.99729848e-01 2.87924519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.680714057 meters Centerline goodness [0,1] 0.9847433481917192 Centerline is valid? [True, True] Translation: X:231.30, Y:-7.66, Z:2.88 [[ 9.99610524e-01 -1.80346224e-02 -2.12967986e-02 2.31297011e+02] [ 1.80539669e-02 9.99836757e-01 7.16395434e-04 -7.65585877e+00] [ 2.12804022e-02 -1.10060811e-03 9.99772941e-01 2.87954537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.710714057 meters Centerline goodness [0,1] 0.9874015385324059 Centerline is valid? [True, True] Translation: X:231.33, Y:-7.64, Z:2.88 [[ 9.99707936e-01 -1.20950713e-02 -2.09225111e-02 2.31327944e+02] [ 1.21124376e-02 9.99926394e-01 7.03495676e-04 -7.64464912e+00] [ 2.09124622e-02 -9.56712819e-04 9.99780853e-01 2.88145086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.740714057 meters Centerline goodness [0,1] 0.9879520847730937 Centerline is valid? [True, True] Translation: X:231.36, Y:-7.64, Z:2.88 [[ 9.99744699e-01 -9.15417441e-03 -2.06576345e-02 2.31357701e+02] [ 9.17047136e-03 9.99957709e-01 6.94312343e-04 -7.64356810e+00] [ 2.06504051e-02 -8.83575331e-04 9.99786367e-01 2.88191289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.770714057 meters Centerline goodness [0,1] 0.9878588213611021 Centerline is valid? [True, True] Translation: X:231.39, Y:-7.64, Z:2.88 [[ 9.99754936e-01 -6.62301078e-03 -2.11235122e-02 2.31386113e+02] [ 6.63946589e-03 9.99977707e-01 7.08957131e-04 -7.64447037e+00] [ 2.11183458e-02 -8.49032231e-04 9.99776622e-01 2.88147738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.800714057 meters Centerline goodness [0,1] 0.9882309502930724 Centerline is valid? [True, True] Translation: X:231.42, Y:-7.64, Z:2.88 [[ 9.99750650e-01 -2.21120940e-03 -2.22204552e-02 2.31415930e+02] [ 2.22830012e-03 9.99997240e-01 7.44413392e-04 -7.64442770e+00] [ 2.22187478e-02 -7.93741616e-04 9.99752818e-01 2.88084511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.830714057 meters Centerline goodness [0,1] 0.9875889382670566 Centerline is valid? [True, True] Translation: X:231.44, Y:-7.65, Z:2.88 [[ 9.99748562e-01 -9.72201800e-04 -2.24024078e-02 2.31444058e+02] [ 9.89206460e-04 9.99999231e-01 7.47985809e-04 -7.64790614e+00] [ 2.24016634e-02 -7.69958344e-04 9.99748755e-01 2.87994369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.860714057 meters Centerline goodness [0,1] 0.9880108615611193 Centerline is valid? [True, True] Translation: X:231.47, Y:-7.65, Z:2.88 [[ 9.99743004e-01 2.88228473e-07 -2.26699273e-02 2.31472605e+02] [ 1.67452297e-05 9.99999718e-01 7.51178176e-04 -7.64804050e+00] [ 2.26699211e-02 -7.51364740e-04 9.99742722e-01 2.88062193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.890714057 meters Centerline goodness [0,1] 0.9871441689623508 Centerline is valid? [True, True] Translation: X:231.50, Y:-7.65, Z:2.88 [[ 9.99752403e-01 -1.28102335e-04 -2.22511887e-02 2.31499528e+02] [ 1.44441693e-04 9.99999721e-01 7.32708282e-04 -7.65398690e+00] [ 2.22510887e-02 -7.35740865e-04 9.99752143e-01 2.88021929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92071405699997 meters Centerline goodness [0,1] 0.9859997250355163 Centerline is valid? [True, True] Translation: X:231.53, Y:-7.66, Z:2.88 [[ 9.99760221e-01 -2.85261253e-03 -2.17109211e-02 2.31528105e+02] [ 2.86876274e-03 9.99995631e-01 7.12765668e-04 -7.66341444e+00] [ 2.17087930e-02 -7.74878243e-04 9.99764036e-01 2.88021170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95071405699997 meters Centerline goodness [0,1] 0.9866206202543226 Centerline is valid? [True, True] Translation: X:231.56, Y:-7.66, Z:2.88 [[ 9.99759033e-01 -4.66717040e-03 -2.14497664e-02 2.31556805e+02] [ 4.68332483e-03 9.99988786e-01 7.02956327e-04 -7.66405540e+00] [ 2.14462450e-02 -8.03243162e-04 9.99769680e-01 2.88116596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98071405699997 meters Centerline goodness [0,1] 0.9862348731739556 Centerline is valid? [True, True] Translation: X:231.59, Y:-7.67, Z:2.88 [[ 9.99724136e-01 -8.75062331e-03 -2.17963137e-02 2.31585524e+02] [ 8.76824194e-03 9.99961304e-01 7.12890863e-04 -7.67310104e+00] [ 2.17892321e-02 -9.03809554e-04 9.99762178e-01 2.88078010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01071405699997 meters Centerline goodness [0,1] 0.9855956309022642 Centerline is valid? [True, True] Translation: X:231.61, Y:-7.68, Z:2.88 [[ 9.99710832e-01 -1.06218599e-02 -2.15737836e-02 2.31613648e+02] [ 1.06395256e-02 9.99943151e-01 7.04232384e-04 -7.67810098e+00] [ 2.15650769e-02 -9.33563565e-04 9.99767011e-01 2.88130661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04071405699997 meters Centerline goodness [0,1] 0.9865321392132411 Centerline is valid? [True, True] Translation: X:231.64, Y:-7.68, Z:2.88 [[ 9.99697397e-01 -1.25907635e-02 -2.11326023e-02 2.31642496e+02] [ 1.26080915e-02 9.99920279e-01 6.86923953e-04 -7.68321497e+00] [ 2.11222687e-02 -9.53157871e-04 9.99776446e-01 2.88162289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07071405699998 meters Centerline goodness [0,1] 0.984790016473721 Centerline is valid? [True, True] Translation: X:231.67, Y:-7.69, Z:2.88 [[ 9.99661877e-01 -1.52368371e-02 -2.10706184e-02 2.31670309e+02] [ 1.52545661e-02 9.99883410e-01 6.80924836e-04 -7.69164238e+00] [ 2.10577866e-02 -1.00211774e-03 9.99777758e-01 2.88188445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10071405699998 meters Centerline goodness [0,1] 0.9843725335438043 Centerline is valid? [True, True] Translation: X:231.70, Y:-7.70, Z:2.88 [[ 9.99610710e-01 -1.75243464e-02 -2.17100456e-02 2.31698779e+02] [ 1.75436756e-02 9.99845853e-01 7.00178757e-04 -7.70013842e+00] [ 2.16944288e-02 -1.08078018e-03 9.99764064e-01 2.88160900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13071405699998 meters Centerline goodness [0,1] 0.9836028700600553 Centerline is valid? [True, True] Translation: X:231.73, Y:-7.70, Z:2.88 [[ 9.99584727e-01 -1.87215679e-02 -2.19060800e-02 2.31727747e+02] [ 1.87414786e-02 9.99824115e-01 7.03943949e-04 -7.70458268e+00] [ 2.18890481e-02 -1.11420395e-03 9.99759785e-01 2.88153756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16071405699998 meters Centerline goodness [0,1] 0.983963963963964 Centerline is valid? [True, True] Translation: X:231.76, Y:-7.71, Z:2.88 [[ 9.99553813e-01 -2.01059731e-02 -2.20890369e-02 2.31756026e+02] [ 2.01264376e-02 9.99797195e-01 7.04510726e-04 -7.70905499e+00] [ 2.20703923e-02 -1.14877001e-03 9.99755759e-01 2.88165913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19071405699998 meters Centerline goodness [0,1] 0.9838194256908812 Centerline is valid? [True, True] Translation: X:231.79, Y:-7.72, Z:2.88 [[ 9.99537907e-01 -2.18671494e-02 -2.11139670e-02 2.31785418e+02] [ 2.18861645e-02 9.99760245e-01 6.69912329e-04 -7.71683309e+00] [ 2.10942558e-02 -1.13170652e-03 9.99776851e-01 2.88163797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22071405699998 meters Centerline goodness [0,1] 0.9838194256908812 Centerline is valid? [True, True] Translation: X:231.81, Y:-7.72, Z:2.88 [[ 9.99532705e-01 -2.21036121e-02 -2.11140329e-02 2.31813684e+02] [ 2.21226360e-02 9.99755041e-01 6.67828730e-04 -7.71767036e+00] [ 2.10940994e-02 -1.13461472e-03 9.99776851e-01 2.88204432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25071405699998 meters Centerline goodness [0,1] 0.9824978683301171 Centerline is valid? [True, True] Translation: X:231.84, Y:-7.73, Z:2.88 [[ 9.99518252e-01 -2.27502080e-02 -2.11114166e-02 2.31841147e+02] [ 2.27692873e-02 9.99740526e-01 6.63780692e-04 -7.72543793e+00] [ 2.10908375e-02 -1.14415283e-03 9.99776909e-01 2.88124220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28071405699998 meters Centerline goodness [0,1] 0.9838911759441561 Centerline is valid? [True, True] Translation: X:231.87, Y:-7.73, Z:2.88 [[ 9.99516859e-01 -2.23450417e-02 -2.16043383e-02 2.31870027e+02] [ 2.23648654e-02 9.99749646e-01 6.76366856e-04 -7.72795790e+00] [ 2.15838161e-02 -1.15921819e-03 9.99766370e-01 2.88091820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31071405699998 meters Centerline goodness [0,1] 0.9848240666129465 Centerline is valid? [True, True] Translation: X:231.90, Y:-7.73, Z:2.88 [[ 9.99520181e-01 -2.08118394e-02 -2.29406903e-02 2.31898125e+02] [ 2.08336955e-02 9.99782700e-01 7.14107472e-04 -7.73149430e+00] [ 2.29208434e-02 -1.19170419e-03 9.99736573e-01 2.88007607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34071405699999 meters Centerline goodness [0,1] 0.9843350813500067 Centerline is valid? [True, True] Translation: X:231.93, Y:-7.73, Z:2.88 [[ 9.99554769e-01 -1.93370355e-02 -2.27231787e-02 2.31926726e+02] [ 1.93580654e-02 9.99812366e-01 7.05859900e-04 -7.73300871e+00] [ 2.27052658e-02 -1.14542241e-03 9.99741546e-01 2.88028983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.370714057 meters Centerline goodness [0,1] 0.9856142385583013 Centerline is valid? [True, True] Translation: X:231.96, Y:-7.73, Z:2.88 [[ 9.99592475e-01 -1.76721834e-02 -2.24182394e-02 2.31955162e+02] [ 1.76922026e-02 9.99843239e-01 6.94945551e-04 -7.73435489e+00] [ 2.24024439e-02 -1.09129038e-03 9.99748438e-01 2.88125916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.400714057 meters Centerline goodness [0,1] 0.9855689508358356 Centerline is valid? [True, True] Translation: X:231.98, Y:-7.74, Z:2.88 [[ 9.99675727e-01 -1.34492370e-02 -2.16230910e-02 2.31983729e+02] [ 1.34668484e-02 9.99909094e-01 6.69055734e-04 -7.73511094e+00] [ 2.16121270e-02 -9.60033665e-04 9.99765970e-01 2.88270414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.430714057 meters Centerline goodness [0,1] 0.9871505508502983 Centerline is valid? [True, True] Translation: X:232.01, Y:-7.73, Z:2.89 [[ 9.99764067e-01 -7.74912025e-03 -2.02918912e-02 2.32014455e+02] [ 7.76344388e-03 9.99969667e-01 6.27197763e-04 -7.73354689e+00] [ 2.02864155e-02 -7.84584745e-04 9.99793902e-01 2.88540147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.460714057 meters Centerline goodness [0,1] 0.9867750871235814 Centerline is valid? [True, True] Translation: X:232.04, Y:-7.73, Z:2.89 [[ 9.99794766e-01 -4.66821472e-03 -1.97137878e-02 2.32042968e+02] [ 4.68112940e-03 9.99988858e-01 6.09013658e-04 -7.73246209e+00] [ 1.97107251e-02 -7.01171460e-04 9.99805479e-01 2.88675685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.490714057 meters Centerline goodness [0,1] 0.990347231532377 Centerline is valid? [True, True] Translation: X:232.07, Y:-7.72, Z:2.89 [[ 9.99830851e-01 2.62388400e-03 -1.82039860e-02 2.32073887e+02] [-2.61409189e-03 9.99996426e-01 5.61684634e-04 -7.72088730e+00] [ 1.82053947e-02 -5.14002733e-04 9.99834136e-01 2.89072103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.520714057 meters Centerline goodness [0,1] 0.9906613047363717 Centerline is valid? [True, True] Translation: X:232.10, Y:-7.72, Z:2.89 [[ 9.99837448e-01 5.82114052e-03 -1.70643432e-02 2.32103003e+02] [-5.81301071e-03 9.99982966e-01 5.25984210e-04 -7.72097219e+00] [ 1.70671144e-02 -4.26703500e-04 9.99854255e-01 2.89144278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.550714057 meters Centerline goodness [0,1] 0.9910901701576527 Centerline is valid? [True, True] Translation: X:232.13, Y:-7.72, Z:2.89 [[ 9.99836312e-01 8.21721811e-03 -1.61191385e-02 2.32131994e+02] [-8.21030862e-03 9.99966172e-01 4.94781432e-04 -7.72196211e+00] [ 1.61226589e-02 -3.62357340e-04 9.99869956e-01 2.89196614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.580714057 meters Centerline goodness [0,1] 0.9914609948052527 Centerline is valid? [True, True] Translation: X:232.16, Y:-7.73, Z:2.89 [[ 9.99795476e-01 1.21650104e-02 -1.61560683e-02 2.32160760e+02] [-1.21586447e-02 9.99925960e-01 4.92186318e-04 -7.72555802e+00] [ 1.61608596e-02 -2.95649759e-04 9.99869361e-01 2.89216157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.610714057 meters Centerline goodness [0,1] 0.9919266709783894 Centerline is valid? [True, True] Translation: X:232.19, Y:-7.73, Z:2.89 [[ 9.99785945e-01 1.29275637e-02 -1.61536784e-02 2.32189046e+02] [-1.29213179e-02 9.99916396e-01 4.90963904e-04 -7.72840529e+00] [ 1.61586749e-02 -2.82131998e-04 9.99869400e-01 2.89217960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.640714057 meters Centerline goodness [0,1] 0.9911541795390394 Centerline is valid? [True, True] Translation: X:232.22, Y:-7.73, Z:2.89 [[ 9.99789386e-01 1.23187080e-02 -1.64144089e-02 2.32216444e+02] [-1.23121970e-02 9.99924078e-01 4.97663139e-04 -7.73455938e+00] [ 1.64192933e-02 -2.95460889e-04 9.99865151e-01 2.89207092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67071405699997 meters Centerline goodness [0,1] 0.9901391983410911 Centerline is valid? [True, True] Translation: X:232.25, Y:-7.74, Z:2.89 [[ 9.99792146e-01 1.11378530e-02 -1.70766819e-02 2.32245033e+02] [-1.11306597e-02 9.99937919e-01 5.16225003e-04 -7.74132886e+00] [ 1.70813714e-02 -3.26042968e-04 9.99854050e-01 2.89226342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70071405699997 meters Centerline goodness [0,1] 0.9910200831637619 Centerline is valid? [True, True] Translation: X:232.27, Y:-7.75, Z:2.89 [[ 9.99805135e-01 1.00952356e-02 -1.69640442e-02 2.32273901e+02] [-1.00880073e-02 9.99948984e-01 5.11616270e-04 -7.74590443e+00] [ 1.69683436e-02 -3.40383173e-04 9.99855969e-01 2.89235487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73071405699997 meters Centerline goodness [0,1] 0.988860325621251 Centerline is valid? [True, True] Translation: X:232.30, Y:-7.75, Z:2.89 [[ 9.99813223e-01 8.56037210e-03 -1.73274161e-02 2.32301905e+02] [-8.55262314e-03 9.99963290e-01 5.21263054e-04 -7.75487588e+00] [ 1.73312422e-02 -3.72970835e-04 9.99849733e-01 2.89160420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76071405699997 meters Centerline goodness [0,1] 0.9890795631825273 Centerline is valid? [True, True] Translation: X:232.33, Y:-7.76, Z:2.89 [[ 9.99805900e-01 8.36013445e-03 -1.78401137e-02 2.32330130e+02] [-8.35191602e-03 9.99964979e-01 5.35128961e-04 -7.75962727e+00] [ 1.78439626e-02 -3.86025962e-04 9.99840709e-01 2.89200603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79071405699997 meters Centerline goodness [0,1] 0.9886413665580699 Centerline is valid? [True, True] Translation: X:232.36, Y:-7.77, Z:2.89 [[ 9.99816343e-01 7.83702632e-03 -1.74888697e-02 2.32359094e+02] [-7.82906962e-03 9.99969215e-01 5.23378644e-04 -7.76700436e+00] [ 1.74924330e-02 -3.86360944e-04 9.99846921e-01 2.89214391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82071405699998 meters Centerline goodness [0,1] 0.9887647831800263 Centerline is valid? [True, True] Translation: X:232.39, Y:-7.77, Z:2.89 [[ 9.99815204e-01 7.82999426e-03 -1.75570296e-02 2.32386548e+02] [-7.82199820e-03 9.99969270e-01 5.24059173e-04 -7.77103667e+00] [ 1.75605935e-02 -3.86631275e-04 9.99845726e-01 2.89264165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85071405699998 meters Centerline goodness [0,1] 0.9887527352297593 Centerline is valid? [True, True] Translation: X:232.41, Y:-7.78, Z:2.89 [[ 9.99838182e-01 7.15213155e-03 -1.65062584e-02 2.32414638e+02] [-7.14499847e-03 9.99974354e-01 4.91076787e-04 -7.77823360e+00] [ 1.65093473e-02 -3.73060132e-04 9.99863642e-01 2.89306602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88071405699998 meters Centerline goodness [0,1] 0.9885542037089622 Centerline is valid? [True, True] Translation: X:232.44, Y:-7.78, Z:2.89 [[ 9.99843785e-01 6.71638520e-03 -1.63491613e-02 2.32442403e+02] [-6.70935269e-03 9.99977374e-01 4.84957249e-04 -7.78371659e+00] [ 1.63520485e-02 -3.75189203e-04 9.99866226e-01 2.89338713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91071405699998 meters Centerline goodness [0,1] 0.988493996867931 Centerline is valid? [True, True] Translation: X:232.47, Y:-7.79, Z:2.89 [[ 9.99868810e-01 5.64265535e-03 -1.51830203e-02 2.32470534e+02] [-5.63648550e-03 9.99984014e-01 4.49126614e-04 -7.79409812e+00] [ 1.51853119e-02 -3.63488819e-04 9.99884630e-01 2.89332524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94071405699998 meters Centerline goodness [0,1] 0.9883162855343454 Centerline is valid? [True, True] Translation: X:232.50, Y:-7.80, Z:2.89 [[ 9.99878563e-01 4.79483733e-03 -1.48279928e-02 2.32498874e+02] [-4.78887465e-03 9.99988438e-01 4.37603437e-04 -7.79856742e+00] [ 1.48299196e-02 -3.66540897e-04 9.99889964e-01 2.89394931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97071405699998 meters Centerline goodness [0,1] 0.9878353426740524 Centerline is valid? [True, True] Translation: X:232.53, Y:-7.80, Z:2.90 [[ 9.99895501e-01 3.62335872e-03 -1.39949623e-02 2.32525976e+02] [-3.61794557e-03 9.99993370e-01 4.12091446e-04 -7.80476185e+00] [ 1.39963627e-02 -3.61415371e-04 9.99901981e-01 2.89561047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00071405699998 meters Centerline goodness [0,1] 0.9883172515252477 Centerline is valid? [True, True] Translation: X:232.55, Y:-7.81, Z:2.90 [[ 9.99910171e-01 1.16808328e-03 -1.33523534e-02 2.32554560e+02] [-1.16295557e-03 9.99999247e-01 3.91788484e-04 -7.81218855e+00] [ 1.33528010e-02 -3.76225096e-04 9.99910777e-01 2.89660594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03071405699998 meters Centerline goodness [0,1] 0.9872207903780069 Centerline is valid? [True, True] Translation: X:232.58, Y:-7.82, Z:2.90 [[ 9.99903417e-01 -1.62738661e-03 -1.38024583e-02 2.32583009e+02] [ 1.63311767e-03 9.99998585e-01 4.03958927e-04 -7.82201107e+00] [ 1.38017814e-02 -4.26460950e-04 9.99904660e-01 2.89595596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06071405699998 meters Centerline goodness [0,1] 0.9862192028206561 Centerline is valid? [True, True] Translation: X:232.61, Y:-7.83, Z:2.90 [[ 9.99894498e-01 -3.17194498e-03 -1.41750011e-02 2.32610507e+02] [ 3.17812967e-03 9.99994864e-01 4.13805055e-04 -7.82971861e+00] [ 1.41736157e-02 -4.58811389e-04 9.99899444e-01 2.89529440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09071405699999 meters Centerline goodness [0,1] 0.9857290455895648 Centerline is valid? [True, True] Translation: X:232.64, Y:-7.84, Z:2.89 [[ 9.99859778e-01 -6.87572967e-03 -1.52692163e-02 2.32639569e+02] [ 6.88331544e-03 9.99976211e-01 4.44301552e-04 -7.83880052e+00] [ 1.52657982e-02 -5.49342083e-04 9.99883320e-01 2.89413367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.120714057 meters Centerline goodness [0,1] 0.9846904909748838 Centerline is valid? [True, True] Translation: X:232.67, Y:-7.85, Z:2.89 [[ 9.99842491e-01 -8.23805088e-03 -1.57202755e-02 2.32666983e+02] [ 8.24624420e-03 9.99965895e-01 4.56443673e-04 -7.84558381e+00] [ 1.57159792e-02 -5.86005010e-04 9.99876325e-01 2.89379197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.150714057 meters Centerline goodness [0,1] 0.983607609835434 Centerline is valid? [True, True] Translation: X:232.70, Y:-7.85, Z:2.89 [[ 9.99791367e-01 -1.13617621e-02 -1.69744680e-02 2.32695821e+02] [ 1.13717268e-02 9.99935219e-01 4.90628420e-04 -7.85312374e+00] [ 1.69677940e-02 -6.83555071e-04 9.99855803e-01 2.89314377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.180714057 meters Centerline goodness [0,1] 0.983183568677792 Centerline is valid? [True, True] Translation: X:232.72, Y:-7.86, Z:2.89 [[ 9.99757080e-01 -1.30968841e-02 -1.77271705e-02 2.32723908e+02] [ 1.31080051e-02 9.99913956e-01 5.11291597e-04 -7.85771338e+00] [ 1.77189488e-02 -7.43535236e-04 9.99842731e-01 2.89358805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.210714057 meters Centerline goodness [0,1] 0.982402497434143 Centerline is valid? [True, True] Translation: X:232.75, Y:-7.87, Z:2.89 [[ 9.99699823e-01 -1.65219094e-02 -1.80911454e-02 2.32753543e+02] [ 1.65340258e-02 9.99863168e-01 5.20363661e-04 -7.86685545e+00] [ 1.80800725e-02 -8.19326923e-04 9.99836206e-01 2.89387792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.240714057 meters Centerline goodness [0,1] 0.9822140709304558 Centerline is valid? [True, True] Translation: X:232.78, Y:-7.87, Z:2.89 [[ 9.99656088e-01 -1.87125519e-02 -1.83724256e-02 2.32783315e+02] [ 1.87254051e-02 9.99824525e-01 5.27798301e-04 -7.87186174e+00] [ 1.83593253e-02 -8.71647898e-04 9.99831073e-01 2.89403825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.270714057 meters Centerline goodness [0,1] 0.9820782427312588 Centerline is valid? [True, True] Translation: X:232.81, Y:-7.88, Z:2.89 [[ 9.99549099e-01 -2.33578065e-02 -1.88682737e-02 2.32812510e+02] [ 2.33721771e-02 9.99726687e-01 5.41438720e-04 -7.88079281e+00] [ 1.88504699e-02 -9.82187219e-04 9.99821832e-01 2.89488617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.300714057 meters Centerline goodness [0,1] 0.9794779286926995 Centerline is valid? [True, True] Translation: X:232.84, Y:-7.89, Z:2.90 [[ 9.99494902e-01 -2.55258467e-02 -1.89306920e-02 2.32840419e+02] [ 2.55406891e-02 9.99673636e-01 5.42640915e-04 -7.88713766e+00] [ 1.89106623e-02 -1.02586975e-03 9.99820651e-01 2.89513037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.330714057 meters Centerline goodness [0,1] 0.9798822064132064 Centerline is valid? [True, True] Translation: X:232.87, Y:-7.89, Z:2.90 [[ 9.99386100e-01 -2.90747481e-02 -1.95469267e-02 2.32870530e+02] [ 2.90912269e-02 9.99576604e-01 5.59158655e-04 -7.89221470e+00] [ 1.95223933e-02 -1.12745947e-03 9.99808784e-01 2.89648069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.360714057 meters Centerline goodness [0,1] 0.9816908878752519 Centerline is valid? [True, True] Translation: X:232.90, Y:-7.89, Z:2.90 [[ 9.99331361e-01 -3.07627217e-02 -1.97607404e-02 2.32900321e+02] [ 3.07798815e-02 9.99526028e-01 5.64750075e-04 -7.88854700e+00] [ 1.97340011e-02 -1.17260571e-03 9.99804578e-01 2.89801557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.390714057 meters Centerline goodness [0,1] 0.9791852134469456 Centerline is valid? [True, True] Translation: X:232.93, Y:-7.89, Z:2.90 [[ 9.99227359e-01 -3.41628156e-02 -1.94315779e-02 2.32929721e+02] [ 3.41800370e-02 9.99415538e-01 5.54734443e-04 -7.89380259e+00] [ 1.94012696e-02 -1.21847788e-03 9.99811035e-01 2.89906876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42071405699997 meters Centerline goodness [0,1] 0.9798694577638833 Centerline is valid? [True, True] Translation: X:232.96, Y:-7.90, Z:2.90 [[ 9.99116409e-01 -3.70154227e-02 -1.99062816e-02 2.32959883e+02] [ 3.70340524e-02 9.99313843e-01 5.67919081e-04 -7.89850658e+00] [ 1.98716010e-02 -1.30462755e-03 9.99801689e-01 2.89984271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45071405699997 meters Centerline goodness [0,1] 0.9771880721395653 Centerline is valid? [True, True] Translation: X:232.99, Y:-7.91, Z:2.90 [[ 9.99056419e-01 -3.85303671e-02 -2.00420370e-02 2.32988051e+02] [ 3.85495439e-02 9.99256527e-01 5.71224116e-04 -7.90939580e+00] [ 2.00051268e-02 -1.34329650e-03 9.99798975e-01 2.89952747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48071405699997 meters Centerline goodness [0,1] 0.9790261695720406 Centerline is valid? [True, True] Translation: X:233.02, Y:-7.90, Z:2.90 [[ 9.98982127e-01 -4.03230401e-02 -2.02178650e-02 2.33017373e+02] [ 4.03428982e-02 9.99185728e-01 5.75139213e-04 -7.90357018e+00] [ 2.01782108e-02 -1.39020106e-03 9.99795433e-01 2.90059855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51071405699997 meters Centerline goodness [0,1] 0.9799005651638125 Centerline is valid? [True, True] Translation: X:233.05, Y:-7.91, Z:2.90 [[ 9.98867291e-01 -4.30178595e-02 -2.03371217e-02 2.33047984e+02] [ 4.30384926e-02 9.99073248e-01 5.77754324e-04 -7.90636037e+00] [ 2.02934204e-02 -1.45237896e-03 9.99793012e-01 2.90170247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54071405699997 meters Centerline goodness [0,1] 0.9782109604183495 Centerline is valid? [True, True] Translation: X:233.08, Y:-7.91, Z:2.90 [[ 9.98791123e-01 -4.46585432e-02 -2.05403913e-02 2.33076036e+02] [ 4.46799270e-02 9.99001183e-01 5.83091091e-04 -7.90859689e+00] [ 2.04938353e-02 -1.50012939e-03 9.99788854e-01 2.90213553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57071405699998 meters Centerline goodness [0,1] 0.9776969646010258 Centerline is valid? [True, True] Translation: X:233.11, Y:-7.91, Z:2.90 [[ 9.98677505e-01 -4.71998091e-02 -2.03818241e-02 2.33105077e+02] [ 4.72213652e-02 9.98884282e-01 5.77369527e-04 -7.91075600e+00] [ 2.03318320e-02 -1.53906352e-03 9.99792102e-01 2.90287565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60071405699998 meters Centerline goodness [0,1] 0.9767866624190294 Centerline is valid? [True, True] Translation: X:233.13, Y:-7.91, Z:2.90 [[ 9.98521042e-01 -5.02176938e-02 -2.08305520e-02 2.33133907e+02] [ 5.02408471e-02 9.98736957e-01 5.89343272e-04 -7.91224291e+00] [ 2.07746466e-02 -1.63501624e-03 9.99782847e-01 2.90328600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63071405699998 meters Centerline goodness [0,1] 0.9761651867272805 Centerline is valid? [True, True] Translation: X:233.16, Y:-7.91, Z:2.90 [[ 9.98465476e-01 -5.15098306e-02 -2.03329964e-02 2.33162976e+02] [ 5.15321385e-02 9.98671172e-01 5.74350199e-04 -7.91337902e+00] [ 2.02763927e-02 -1.62127163e-03 9.99793098e-01 2.90394547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66071405699998 meters Centerline goodness [0,1] 0.9757991349298449 Centerline is valid? [True, True] Translation: X:233.19, Y:-7.91, Z:2.90 [[ 9.98420880e-01 -5.23637432e-02 -2.03416856e-02 2.33192966e+02] [ 5.23862238e-02 9.98626734e-01 5.73492208e-04 -7.91301684e+00] [ 2.02837209e-02 -1.63821069e-03 9.99792922e-01 2.90477836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69071405699998 meters Centerline goodness [0,1] 0.9745396825396826 Centerline is valid? [True, True] Translation: X:233.22, Y:-7.91, Z:2.90 [[ 9.98252503e-01 -5.53735655e-02 -2.06327160e-02 2.33223288e+02] [ 5.53973283e-02 9.98464220e-01 5.81490604e-04 -7.91199683e+00] [ 2.05688295e-02 -1.72347179e-03 9.99786954e-01 2.90478824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72071405699998 meters Centerline goodness [0,1] 0.9760933316333036 Centerline is valid? [True, True] Translation: X:233.25, Y:-7.91, Z:2.91 [[ 9.98105745e-01 -5.77165698e-02 -2.13006678e-02 2.33253418e+02] [ 5.77424204e-02 9.98331334e-01 6.00046783e-04 -7.90735881e+00] [ 2.12304915e-02 -1.82886226e-03 9.99772935e-01 2.90504221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75071405699998 meters Centerline goodness [0,1] 0.9769850892306383 Centerline is valid? [True, True] Translation: X:233.28, Y:-7.91, Z:2.91 [[ 9.97784060e-01 -6.26770408e-02 -2.23284198e-02 2.33283666e+02] [ 6.27066701e-02 9.98031802e-01 6.28608686e-04 -7.90534280e+00] [ 2.22450737e-02 -2.02735658e-03 9.99750492e-01 2.90503941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78071405699998 meters Centerline goodness [0,1] 0.9546634881443957 Centerline is valid? [True, True] Translation: X:233.31, Y:-7.92, Z:2.90 [[ 9.97605626e-01 -6.53109277e-02 -2.27485878e-02 2.33312570e+02] [ 6.53423510e-02 9.97862700e-01 6.39965312e-04 -7.91848998e+00] [ 2.26581705e-02 -2.12487920e-03 9.99741013e-01 2.90390981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81071405699998 meters Centerline goodness [0,1] 0.9135181236673774 Centerline is valid? [True, False] Translation: X:233.31, Y:-7.92, Z:2.90 [[ 9.97547094e-01 -6.62277035e-02 -2.26646759e-02 2.33312483e+02] [ 6.62366318e-02 9.97803879e-01 -3.57380385e-04 -7.91613098e+00] [ 2.26385700e-02 -1.14472803e-03 9.99743059e-01 2.90378309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84071405699999 meters Centerline goodness [0,1] 0.97293778678903 Centerline is valid? [False, True] Translation: X:233.31, Y:-7.92, Z:2.90 [[ 9.97733042e-01 -6.34123326e-02 -2.25311337e-02 2.33311544e+02] [ 6.35015770e-02 9.97976390e-01 3.26706821e-03 -7.91672816e+00] [ 2.22783671e-02 -4.69042443e-03 9.99740804e-01 2.90377962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.870714057 meters Centerline goodness [0,1] 0.9686853388510848 Centerline is valid? [True, True] Translation: X:233.34, Y:-7.91, Z:2.91 [[ 9.97594521e-01 -6.55775959e-02 -2.24666477e-02 2.33341203e+02] [ 6.56124515e-02 9.97844847e-01 8.17033071e-04 -7.91449624e+00] [ 2.23646496e-02 -2.28915955e-03 9.99747259e-01 2.90572890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.900714057 meters Centerline goodness [0,1] 0.8507711368394071 Centerline is valid? [True, False] Translation: X:233.34, Y:-7.91, Z:2.91 [[ 9.97795352e-01 -6.24842556e-02 -2.23640893e-02 2.33340299e+02] [ 6.25987607e-02 9.98028825e-01 4.45644558e-03 -7.91460678e+00] [ 2.20415481e-02 -5.84658497e-03 9.99739960e-01 2.90581159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.930714057 meters Centerline goodness [0,1] 0.7897893411307707 Centerline is valid? [False, False] Translation: X:233.34, Y:-7.91, Z:2.91 [[ 9.97954959e-01 -5.99053217e-02 -2.22991745e-02 2.33339812e+02] [ 6.00751476e-02 9.98169138e-01 7.02483810e-03 -7.91205706e+00] [ 2.18375226e-02 -8.35009821e-03 9.99726662e-01 2.90551924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.960714057 meters Centerline goodness [0,1] 0.9724615318674724 Centerline is valid? [False, True] Translation: X:233.34, Y:-7.91, Z:2.91 [[ 9.97942309e-01 -6.00284387e-02 -2.25329515e-02 2.33340407e+02] [ 6.01839096e-02 9.98167515e-01 6.28555807e-03 -7.90953929e+00] [ 2.21143480e-02 -7.62874545e-03 9.99726341e-01 2.90535346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.990714057 meters Centerline goodness [0,1] 0.9755700325732899 Centerline is valid? [True, True] Translation: X:233.37, Y:-7.90, Z:2.91 [[ 9.98013225e-01 -5.84269637e-02 -2.35773952e-02 2.33371303e+02] [ 5.84671621e-02 9.98288813e-01 1.01863538e-03 -7.90101564e+00] [ 2.34775340e-02 -2.39511497e-03 9.99721496e-01 2.90685612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.020714057 meters Centerline goodness [0,1] 0.9728812831468877 Centerline is valid? [True, True] Translation: X:233.40, Y:-7.90, Z:2.91 [[ 9.98095903e-01 -5.68844515e-02 -2.38480281e-02 2.33400947e+02] [ 5.69251537e-02 9.98377917e-01 1.03079897e-03 -7.90151816e+00] [ 2.37507082e-02 -2.38638889e-03 9.99715064e-01 2.90711264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.050714057 meters Centerline goodness [0,1] 0.9790205276068339 Centerline is valid? [True, True] Translation: X:233.43, Y:-7.89, Z:2.91 [[ 9.98211697e-01 -5.48533962e-02 -2.37594804e-02 2.33432267e+02] [ 5.48932424e-02 9.98491700e-01 1.02762135e-03 -7.89420793e+00] [ 2.36672755e-02 -2.33001857e-03 9.99717176e-01 2.90842398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.080714057 meters Centerline goodness [0,1] 0.8087096428188352 Centerline is valid? [True, False] Translation: X:233.43, Y:-7.89, Z:2.91 [[ 9.98417269e-01 -5.08558371e-02 -2.40133622e-02 2.33432200e+02] [ 5.09576738e-02 9.98694152e-01 3.64773538e-03 -7.88924902e+00] [ 2.37964958e-02 -4.86562707e-03 9.99704983e-01 2.90878295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.110714057 meters Centerline goodness [0,1] 0.8087096428188352 Centerline is valid? [False, False] Translation: X:233.43, Y:-7.89, Z:2.91 [[ 9.98417269e-01 -5.08558371e-02 -2.40133622e-02 2.33432200e+02] [ 5.09576738e-02 9.98694152e-01 3.64773538e-03 -7.88924902e+00] [ 2.37964958e-02 -4.86562707e-03 9.99704983e-01 2.90878295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.140714057 meters Centerline goodness [0,1] 0.9814217352705541 Centerline is valid? [False, True] Translation: X:233.43, Y:-7.89, Z:2.91 [[ 9.98593866e-01 -4.73402766e-02 -2.38576933e-02 2.33431178e+02] [ 4.75168715e-02 9.98846673e-01 6.88996256e-03 -7.88773124e+00] [ 2.35040048e-02 -8.01391729e-03 9.99691622e-01 2.90918100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17071405699997 meters Centerline goodness [0,1] 0.9811182004974587 Centerline is valid? [True, True] Translation: X:233.46, Y:-7.88, Z:2.91 [[ 9.98862449e-01 -4.19201484e-02 -2.27268559e-02 2.33460720e+02] [ 4.19533041e-02 9.99119088e-01 9.83840941e-04 -7.88117479e+00] [ 2.26655928e-02 -1.93618847e-03 9.99741228e-01 2.91184375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20071405699997 meters Centerline goodness [0,1] 0.9818075498668053 Centerline is valid? [True, True] Translation: X:233.49, Y:-7.88, Z:2.91 [[ 9.99079999e-01 -3.67141931e-02 -2.21635610e-02 2.33490394e+02] [ 3.67444467e-02 9.99324234e-01 9.59182955e-04 -7.87555189e+00] [ 2.21133680e-02 -1.77268829e-03 9.99753898e-01 2.91256017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23071405699997 meters Centerline goodness [0,1] 0.9816903248280067 Centerline is valid? [True, True] Translation: X:233.52, Y:-7.87, Z:2.91 [[ 9.99143701e-01 -3.49437309e-02 -2.21540230e-02 2.33520736e+02] [ 3.49735164e-02 9.99387780e-01 9.58335933e-04 -7.87135317e+00] [ 2.21069720e-02 -1.73231940e-03 9.99754110e-01 2.91286514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26071405699997 meters Centerline goodness [0,1] 0.9821249509526093 Centerline is valid? [True, True] Translation: X:233.55, Y:-7.86, Z:2.91 [[ 9.99243647e-01 -3.19131107e-02 -2.22190570e-02 2.33551190e+02] [ 3.19423196e-02 9.99489252e-01 9.60833292e-04 -7.86473228e+00] [ 2.21770454e-02 -1.66983478e-03 9.99752665e-01 2.91324726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29071405699997 meters Centerline goodness [0,1] 0.9824114586734582 Centerline is valid? [True, True] Translation: X:233.58, Y:-7.86, Z:2.91 [[ 9.99256421e-01 -3.11965038e-02 -2.26579468e-02 2.33580648e+02] [ 3.12266442e-02 9.99511851e-01 9.77555291e-04 -7.86099976e+00] [ 2.26163901e-02 -1.68436004e-03 9.99742798e-01 2.91386592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32071405699998 meters Centerline goodness [0,1] 0.9827345047644025 Centerline is valid? [True, True] Translation: X:233.61, Y:-7.86, Z:2.91 [[ 9.99251912e-01 -3.10477788e-02 -2.30575573e-02 2.33609606e+02] [ 3.10788663e-02 9.99516444e-01 9.91049472e-04 -7.85891852e+00] [ 2.30156378e-02 -1.70691082e-03 9.99733648e-01 2.91383863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35071405699998 meters Centerline goodness [0,1] 0.9818564291348935 Centerline is valid? [True, True] Translation: X:233.64, Y:-7.86, Z:2.91 [[ 9.99225843e-01 -3.12770818e-02 -2.38633363e-02 2.33637817e+02] [ 3.13104150e-02 9.99509184e-01 1.02438468e-03 -7.85934010e+00] [ 2.38195841e-02 -1.77076261e-03 9.99714705e-01 2.91356834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38071405699998 meters Centerline goodness [0,1] 0.9825676649845992 Centerline is valid? [True, True] Translation: X:233.67, Y:-7.86, Z:2.91 [[ 9.99164151e-01 -3.23312951e-02 -2.50137356e-02 2.33667447e+02] [ 3.23682201e-02 9.99475436e-01 1.07260699e-03 -7.85614699e+00] [ 2.49659355e-02 -1.88136055e-03 9.99686532e-01 2.91318377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41071405699998 meters Centerline goodness [0,1] 0.9809798144157614 Centerline is valid? [True, True] Translation: X:233.70, Y:-7.86, Z:2.91 [[ 9.99128366e-01 -3.30164078e-02 -2.55425992e-02 2.33695626e+02] [ 3.30550997e-02 9.99452932e-01 1.09394529e-03 -7.85754354e+00] [ 2.54925076e-02 -1.93730494e-03 9.99673136e-01 2.91302907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44071405699998 meters Centerline goodness [0,1] 0.9807844516753144 Centerline is valid? [True, True] Translation: X:233.72, Y:-7.86, Z:2.91 [[ 9.99093741e-01 -3.40950443e-02 -2.54798751e-02 2.33723221e+02] [ 3.41338444e-02 9.99416677e-01 1.08926859e-03 -7.85608731e+00] [ 2.54278734e-02 -1.95800752e-03 9.99674742e-01 2.91363429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47071405699998 meters Centerline goodness [0,1] 0.980059051648158 Centerline is valid? [True, True] Translation: X:233.75, Y:-7.86, Z:2.91 [[ 9.99099433e-01 -3.47543158e-02 -2.43405247e-02 2.33752413e+02] [ 3.47898759e-02 9.99394109e-01 1.03887964e-03 -7.85714657e+00] [ 2.42896715e-02 -1.88474789e-03 9.99703186e-01 2.91453128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50071405699998 meters Centerline goodness [0,1] 0.9806324808974869 Centerline is valid? [True, True] Translation: X:233.78, Y:-7.85, Z:2.92 [[ 9.99101246e-01 -3.55782967e-02 -2.30409507e-02 2.33782803e+02] [ 3.56103585e-02 9.99365267e-01 9.82579626e-04 -7.85006325e+00] [ 2.29913673e-02 -1.80219304e-03 9.99734039e-01 2.91704992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53071405699998 meters Centerline goodness [0,1] 0.981155390793945 Centerline is valid? [True, True] Translation: X:233.81, Y:-7.85, Z:2.92 [[ 9.99111270e-01 -3.55872781e-02 -2.25879446e-02 2.33811920e+02] [ 3.56180890e-02 9.99365011e-01 9.63064436e-04 -7.85108227e+00] [ 2.25393286e-02 -1.76674795e-03 9.99744396e-01 2.91746946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56071405699998 meters Centerline goodness [0,1] 0.9811129028695134 Centerline is valid? [True, True] Translation: X:233.84, Y:-7.85, Z:2.92 [[ 9.99083143e-01 -3.64223011e-02 -2.25008683e-02 2.33842816e+02] [ 3.64530867e-02 9.99334905e-01 9.59412236e-04 -7.84744774e+00] [ 2.24509591e-02 -1.77875869e-03 9.99746363e-01 2.91832272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59071405699999 meters Centerline goodness [0,1] 0.9803391931984236 Centerline is valid? [True, True] Translation: X:233.87, Y:-7.85, Z:2.92 [[ 9.99066909e-01 -3.66028094e-02 -2.29247773e-02 2.33873083e+02] [ 3.66348252e-02 9.99328241e-01 9.77999463e-04 -7.84896281e+00] [ 2.28735798e-02 -1.81693211e-03 9.99736714e-01 2.91826174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.620714057 meters Centerline goodness [0,1] 0.9806734409244869 Centerline is valid? [True, True] Translation: X:233.90, Y:-7.84, Z:2.92 [[ 9.99018797e-01 -3.76719606e-02 -2.32866106e-02 2.33903610e+02] [ 3.77053014e-02 9.99288408e-01 9.94187332e-04 -7.84467014e+00] [ 2.32325871e-02 -1.87124050e-03 9.99728336e-01 2.91891265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.650714057 meters Centerline goodness [0,1] 0.9805423353624793 Centerline is valid? [True, True] Translation: X:233.93, Y:-7.84, Z:2.92 [[ 9.98984675e-01 -3.82244842e-02 -2.38433950e-02 2.33934727e+02] [ 3.82596040e-02 9.99267314e-01 1.01832602e-03 -7.84421274e+00] [ 2.37870003e-02 -1.92953093e-03 9.99715187e-01 2.91903188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.680714057 meters Centerline goodness [0,1] 0.9788859931975794 Centerline is valid? [True, True] Translation: X:233.96, Y:-7.85, Z:2.92 [[ 9.98892530e-01 -4.01168513e-02 -2.45835477e-02 2.33964431e+02] [ 4.01547831e-02 9.99192919e-01 1.05107592e-03 -7.84764286e+00] [ 2.45215409e-02 -2.03705891e-03 9.99697226e-01 2.91782989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.710714057 meters Centerline goodness [0,1] 0.9735899929278642 Centerline is valid? [True, True] Translation: X:233.99, Y:-7.85, Z:2.92 [[ 9.98835948e-01 -4.11169149e-02 -2.52219916e-02 2.33994179e+02] [ 4.11571801e-02 9.99152101e-01 1.07917884e-03 -7.85060020e+00] [ 2.51562334e-02 -2.11598867e-03 9.99681292e-01 2.91779531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.740714057 meters Centerline goodness [0,1] 0.9802855049619252 Centerline is valid? [True, True] Translation: X:234.03, Y:-7.84, Z:2.92 [[ 9.98788174e-01 -4.21936167e-02 -2.53353767e-02 2.34026291e+02] [ 4.22345994e-02 9.99107133e-01 1.08445480e-03 -7.83831376e+00] [ 2.52669985e-02 -2.15317012e-03 9.99678420e-01 2.91970099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.770714057 meters Centerline goodness [0,1] 0.9795954735810389 Centerline is valid? [True, True] Translation: X:234.06, Y:-7.84, Z:2.92 [[ 9.98841509e-01 -4.16335946e-02 -2.41305462e-02 2.34057782e+02] [ 4.16706289e-02 9.99130867e-01 1.03372575e-03 -7.83564556e+00] [ 2.40665358e-02 -2.03806322e-03 9.99708282e-01 2.92117352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.800714057 meters Centerline goodness [0,1] 0.9779441251169629 Centerline is valid? [True, True] Translation: X:234.09, Y:-7.84, Z:2.92 [[ 9.98889260e-01 -4.08253072e-02 -2.35274389e-02 2.34087948e+02] [ 4.08603055e-02 9.99164360e-01 1.00853778e-03 -7.83811931e+00] [ 2.34666046e-02 -1.96875590e-03 9.99722683e-01 2.92193814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.830714057 meters Centerline goodness [0,1] 0.9790244120141027 Centerline is valid? [True, True] Translation: X:234.12, Y:-7.83, Z:2.92 [[ 9.98978276e-01 -3.92246873e-02 -2.24461126e-02 2.34119187e+02] [ 3.92561464e-02 9.99228717e-01 9.62462881e-04 -7.83247928e+00] [ 2.23910480e-02 -1.84262739e-03 9.99747591e-01 2.92380002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.860714057 meters Centerline goodness [0,1] 0.981647470084704 Centerline is valid? [True, True] Translation: X:234.15, Y:-7.83, Z:2.92 [[ 9.99008858e-01 -3.87759515e-02 -2.18569520e-02 2.34151107e+02] [ 3.88056850e-02 9.99246336e-01 9.37716719e-04 -7.82975845e+00] [ 2.18041184e-02 -1.78496131e-03 9.99760669e-01 2.92461975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.890714057 meters Centerline goodness [0,1] 0.9810045580079485 Centerline is valid? [True, True] Translation: X:234.18, Y:-7.83, Z:2.92 [[ 9.98996417e-01 -3.88277953e-02 -2.23284775e-02 2.34181945e+02] [ 3.88588657e-02 9.99244249e-01 9.59155644e-04 -7.82990588e+00] [ 2.22743608e-02 -1.82585236e-03 9.99750228e-01 2.92482903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92071405699997 meters Centerline goodness [0,1] 0.9796441089242384 Centerline is valid? [True, True] Translation: X:234.21, Y:-7.83, Z:2.92 [[ 9.98910630e-01 -4.07106905e-02 -2.28077458e-02 2.34211758e+02] [ 4.07436137e-02 9.99169153e-01 9.80483168e-04 -7.83020110e+00] [ 2.27488799e-02 -1.90868504e-03 9.99739389e-01 2.92462078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95071405699997 meters Centerline goodness [0,1] 0.9801840215439857 Centerline is valid? [True, True] Translation: X:234.24, Y:-7.83, Z:2.92 [[ 9.98749953e-01 -4.40089939e-02 -2.37010540e-02 2.34242349e+02] [ 4.40454698e-02 9.99029008e-01 1.01891426e-03 -7.83123916e+00] [ 2.36331991e-02 -2.06156462e-03 9.99718571e-01 2.92300512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98071405699997 meters Centerline goodness [0,1] 0.9810187788147982 Centerline is valid? [True, True] Translation: X:234.27, Y:-7.83, Z:2.92 [[ 9.98631205e-01 -4.61132464e-02 -2.46837092e-02 2.34273510e+02] [ 4.61534542e-02 9.98933798e-01 1.06139675e-03 -7.83078986e+00] [ 2.46084469e-02 -2.19918236e-03 9.99694747e-01 2.92285166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01071405699997 meters Centerline goodness [0,1] 0.9801124859392576 Centerline is valid? [True, True] Translation: X:234.30, Y:-7.83, Z:2.92 [[ 9.98408691e-01 -4.99360617e-02 -2.62006598e-02 2.34304590e+02] [ 4.99826860e-02 9.98749448e-01 1.12722845e-03 -7.82947839e+00] [ 2.61116052e-02 -2.43501404e-03 9.99656068e-01 2.92191616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04071405699997 meters Centerline goodness [0,1] 0.9777687772827506 Centerline is valid? [True, True] Translation: X:234.34, Y:-7.83, Z:2.92 [[ 9.98360791e-01 -5.08454723e-02 -2.62767733e-02 2.34335985e+02] [ 5.08927231e-02 9.98703484e-01 1.13213952e-03 -7.83200428e+00] [ 2.61851409e-02 -2.46758025e-03 9.99654065e-01 2.92214397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07071405699998 meters Centerline goodness [0,1] 0.9768164920581277 Centerline is valid? [True, True] Translation: X:234.37, Y:-7.83, Z:2.92 [[ 9.98298151e-01 -5.19563708e-02 -2.64827640e-02 2.34367615e+02] [ 5.20048009e-02 9.98646181e-01 1.14282988e-03 -7.83226552e+00] [ 2.63875338e-02 -2.51811582e-03 9.99648617e-01 2.92300221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10071405699998 meters Centerline goodness [0,1] 0.9741412407687617 Centerline is valid? [True, True] Translation: X:234.40, Y:-7.83, Z:2.92 [[ 9.98341106e-01 -5.15971784e-02 -2.55493092e-02 2.34398544e+02] [ 5.16421860e-02 9.98665041e-01 1.10448458e-03 -7.83289722e+00] [ 2.54582136e-02 -2.42207454e-03 9.99672953e-01 2.92416031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13071405699998 meters Centerline goodness [0,1] 0.9762736306076925 Centerline is valid? [True, True] Translation: X:234.43, Y:-7.83, Z:2.92 [[ 9.98379516e-01 -5.09947451e-02 -2.52562424e-02 2.34430905e+02] [ 5.10385970e-02 9.98696082e-01 1.09428865e-03 -7.83188737e+00] [ 2.51675074e-02 -2.38155856e-03 9.99680411e-01 2.92471733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16071405699998 meters Centerline goodness [0,1] 0.9661691542288557 Centerline is valid? [True, True] Translation: X:234.46, Y:-7.84, Z:2.93 [[ 9.98489960e-01 -4.94216887e-02 -2.39853431e-02 2.34460349e+02] [ 4.94608045e-02 9.98775524e-01 1.03995474e-03 -7.83589399e+00] [ 2.39045773e-02 -2.22471873e-03 9.99711769e-01 2.92526440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19071405699998 meters Centerline goodness [0,1] 0.9694277855435812 Centerline is valid? [True, True] Translation: X:234.49, Y:-7.83, Z:2.93 [[ 9.98544674e-01 -4.87575083e-02 -2.30486366e-02 2.34492635e+02] [ 4.87934619e-02 9.98808389e-01 9.99765886e-04 -7.83343595e+00] [ 2.29724255e-02 -2.12293367e-03 9.99733845e-01 2.92716478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22071405699998 meters Centerline goodness [0,1] 0.9765704584040747 Centerline is valid? [True, True] Translation: X:234.53, Y:-7.83, Z:2.93 [[ 9.98527043e-01 -4.91486269e-02 -2.29816605e-02 2.34525236e+02] [ 4.91845111e-02 9.98789210e-01 9.98453015e-04 -7.82947234e+00] [ 2.29047619e-02 -2.12732407e-03 9.99735388e-01 2.92860344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25071405699998 meters Centerline goodness [0,1] 0.9752310786684445 Centerline is valid? [True, True] Translation: X:234.56, Y:-7.83, Z:2.93 [[ 9.98526942e-01 -4.93888473e-02 -2.24652469e-02 2.34556008e+02] [ 4.94232281e-02 9.98777447e-01 9.77421330e-04 -7.83219162e+00] [ 2.23895082e-02 -2.08628655e-03 9.99747147e-01 2.92910970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28071405699998 meters Centerline goodness [0,1] 0.969553924336533 Centerline is valid? [True, True] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98421122e-01 -5.13289580e-02 -2.28166771e-02 2.34586372e+02] [ 5.13649454e-02 9.98679456e-01 9.93596650e-04 -7.83590051e+00] [ 2.27355464e-02 -2.16400526e-03 9.99739172e-01 2.92931054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31071405699998 meters Centerline goodness [0,1] 0.9481874647092039 Centerline is valid? [True, False] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98423365e-01 -5.12702090e-02 -2.28506117e-02 2.34586823e+02] [ 5.13146110e-02 9.98681611e-01 1.36064776e-03 -7.83660738e+00] [ 2.27507250e-02 -2.53107277e-03 9.99737965e-01 2.92866182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34071405699999 meters Centerline goodness [0,1] 0.9284322168336129 Centerline is valid? [False, False] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98417013e-01 -5.13969602e-02 -2.28433856e-02 2.34587394e+02] [ 5.14535293e-02 9.98673592e-01 1.89517530e-03 -7.83786975e+00] [ 2.27156797e-02 -3.06754807e-03 9.99737260e-01 2.92756534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.370714057 meters Centerline goodness [0,1] 0.9373506470084314 Centerline is valid? [False, False] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98426870e-01 -5.10981043e-02 -2.30817787e-02 2.34588534e+02] [ 5.11698523e-02 9.98686765e-01 2.52818305e-03 -7.83870704e+00] [ 2.29222816e-02 -3.70529709e-03 9.99730384e-01 2.92654564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.400714057 meters Centerline goodness [0,1] 0.9224033136734051 Centerline is valid? [False, False] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98431931e-01 -5.08715461e-02 -2.33616320e-02 2.34589293e+02] [ 5.09493462e-02 9.98697461e-01 2.74681685e-03 -7.83874387e+00] [ 2.31914677e-02 -3.93276953e-03 9.99723306e-01 2.92623903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.430714057 meters Centerline goodness [0,1] 0.9316448246983997 Centerline is valid? [False, False] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98442846e-01 -5.06086003e-02 -2.34659826e-02 2.34589793e+02] [ 5.06922842e-02 9.98709860e-01 2.98476231e-03 -7.83865402e+00] [ 2.32846536e-02 -4.16965883e-03 9.99720180e-01 2.92583254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.460714057 meters Centerline goodness [0,1] 0.9209704431267822 Centerline is valid? [False, False] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98614391e-01 -4.71410760e-02 -2.33884019e-02 2.34588943e+02] [ 4.73148691e-02 9.98855960e-01 6.93354354e-03 -7.84003414e+00] [ 2.30347900e-02 -8.03055554e-03 9.99702410e-01 2.92598586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.490714057 meters Centerline goodness [0,1] 0.9458779819215695 Centerline is valid? [False, False] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98769588e-01 -4.38122280e-02 -2.32335626e-02 2.34587615e+02] [ 4.40653663e-02 9.98973497e-01 1.04974527e-02 -7.84045842e+00] [ 2.27497964e-02 -1.15083320e-02 9.99674950e-01 2.92667797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.520714057 meters Centerline goodness [0,1] 0.9468665775824973 Centerline is valid? [False, False] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98772659e-01 -4.36963459e-02 -2.33196148e-02 2.34587676e+02] [ 4.39453610e-02 9.98981099e-01 1.02746741e-02 -7.83964246e+00] [ 2.28468887e-02 -1.12868524e-02 9.99675261e-01 2.92698498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.550714057 meters Centerline goodness [0,1] 0.982308111050626 Centerline is valid? [False, True] Translation: X:234.59, Y:-7.84, Z:2.93 [[ 9.98788579e-01 -4.33184034e-02 -2.33428758e-02 2.34587730e+02] [ 4.35650456e-02 9.98998899e-01 1.01629554e-02 -7.83869776e+00] [ 2.28792642e-02 -1.11675773e-02 9.99675860e-01 2.92723587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.580714057 meters Centerline goodness [0,1] 0.9826315670135819 Centerline is valid? [True, True] Translation: X:234.62, Y:-7.84, Z:2.93 [[ 9.98839660e-01 -4.22034102e-02 -2.31992494e-02 2.34618477e+02] [ 4.22402842e-02 9.99106874e-01 1.10149523e-03 -7.83897859e+00] [ 2.31320427e-02 -2.08016001e-03 9.99730254e-01 2.93056227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.610714057 meters Centerline goodness [0,1] 0.9822568553059046 Centerline is valid? [True, True] Translation: X:234.65, Y:-7.84, Z:2.93 [[ 9.98869154e-01 -4.14450249e-02 -2.32964114e-02 2.34650188e+02] [ 4.14820234e-02 9.99138637e-01 1.10695055e-03 -7.83778732e+00] [ 2.32304672e-02 -2.07208105e-03 9.99727989e-01 2.93130140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.640714057 meters Centerline goodness [0,1] 0.9818655786013828 Centerline is valid? [True, True] Translation: X:234.68, Y:-7.84, Z:2.93 [[ 9.98886884e-01 -4.07979457e-02 -2.36753101e-02 2.34680941e+02] [ 4.08360024e-02 9.99165228e-01 1.12600100e-03 -7.84020860e+00] [ 2.36096081e-02 -2.09155265e-03 9.99719066e-01 2.93136645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67071405699997 meters Centerline goodness [0,1] 0.9698155899988686 Centerline is valid? [True, True] Translation: X:234.71, Y:-7.85, Z:2.93 [[ 9.98874251e-01 -4.08588458e-02 -2.40994868e-02 2.34711876e+02] [ 4.08983278e-02 9.99162654e-01 1.14747987e-03 -7.85330227e+00] [ 2.40324225e-02 -2.13181680e-03 9.99708907e-01 2.92945479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70071405699997 meters Centerline goodness [0,1] 0.9813376214526759 Centerline is valid? [True, True] Translation: X:234.74, Y:-7.85, Z:2.93 [[ 9.98856865e-01 -4.09956400e-02 -2.45829245e-02 2.34744187e+02] [ 4.10368011e-02 9.99156948e-01 1.17203069e-03 -7.84638984e+00] [ 2.45141517e-02 -2.17949549e-03 9.99697107e-01 2.93072707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73071405699997 meters Centerline goodness [0,1] 0.9823847319268254 Centerline is valid? [True, True] Translation: X:234.78, Y:-7.85, Z:2.93 [[ 9.98849343e-01 -4.11539948e-02 -2.46239532e-02 2.34776155e+02] [ 4.11953849e-02 9.99150418e-01 1.17576781e-03 -7.84715711e+00] [ 2.45546456e-02 -2.18880813e-03 9.99696093e-01 2.93115328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76071405699997 meters Centerline goodness [0,1] 0.9819511753249694 Centerline is valid? [True, True] Translation: X:234.81, Y:-7.85, Z:2.93 [[ 9.98814058e-01 -4.16472723e-02 -2.52186723e-02 2.34807009e+02] [ 4.16908783e-02 9.99129830e-01 1.20558481e-03 -7.85068886e+00] [ 2.51465185e-02 -2.25554366e-03 9.99681232e-01 2.93123407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79071405699997 meters Centerline goodness [0,1] 0.9807908841147592 Centerline is valid? [True, True] Translation: X:234.84, Y:-7.86, Z:2.93 [[ 9.98844014e-01 -4.12063300e-02 -2.47522497e-02 2.34836793e+02] [ 4.12482197e-02 9.99148229e-01 1.18396130e-03 -7.85594043e+00] [ 2.46823798e-02 -2.20357890e-03 9.99692915e-01 2.93141876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82071405699998 meters Centerline goodness [0,1] 0.9816028567554129 Centerline is valid? [True, True] Translation: X:234.87, Y:-7.86, Z:2.93 [[ 9.98898010e-01 -3.97970796e-02 -2.48788620e-02 2.34867825e+02] [ 3.98389816e-02 9.99205403e-01 1.19067041e-03 -7.85728601e+00] [ 2.48117082e-02 -2.18050683e-03 9.99689764e-01 2.93155742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85071405699998 meters Centerline goodness [0,1] 0.9809536704804459 Centerline is valid? [True, True] Translation: X:234.90, Y:-7.86, Z:2.93 [[ 9.98948690e-01 -3.87614927e-02 -2.44757266e-02 2.34898558e+02] [ 3.88017600e-02 9.99246241e-01 1.17224303e-03 -7.86143480e+00] [ 2.44118399e-02 -2.12071191e-03 9.99699737e-01 2.93170300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88071405699998 meters Centerline goodness [0,1] 0.9823574591126774 Centerline is valid? [True, True] Translation: X:234.93, Y:-7.86, Z:2.93 [[ 9.99024726e-01 -3.66210643e-02 -2.46676661e-02 2.34929562e+02] [ 3.66613327e-02 9.99327048e-01 1.18202350e-03 -7.86076315e+00] [ 2.46077790e-02 -2.08522021e-03 9.99695008e-01 2.93267465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91071405699998 meters Centerline goodness [0,1] 0.9835458751833879 Centerline is valid? [True, True] Translation: X:234.96, Y:-7.86, Z:2.93 [[ 9.99080431e-01 -3.52861530e-02 -2.43552804e-02 2.34960563e+02] [ 3.53250171e-02 9.99375195e-01 1.16719061e-03 -7.85868425e+00] [ 2.42988774e-02 -2.02646799e-03 9.99702685e-01 2.93373188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94071405699998 meters Centerline goodness [0,1] 0.9835018506815925 Centerline is valid? [True, True] Translation: X:234.99, Y:-7.86, Z:2.93 [[ 9.99171887e-01 -3.25835894e-02 -2.43690418e-02 2.34991639e+02] [ 3.26217042e-02 9.99467088e-01 1.16805979e-03 -7.85842525e+00] [ 2.43179957e-02 -1.96205218e-03 9.99702348e-01 2.93447025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97071405699998 meters Centerline goodness [0,1] 0.9841007779989144 Centerline is valid? [True, True] Translation: X:235.02, Y:-7.86, Z:2.93 [[ 9.99204538e-01 -3.13144102e-02 -2.46920909e-02 2.35021526e+02] [ 3.13531636e-02 9.99507668e-01 1.18378921e-03 -7.86017619e+00] [ 2.46428645e-02 -1.95702272e-03 9.99694403e-01 2.93457689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00071405699998 meters Centerline goodness [0,1] 0.9857413163941073 Centerline is valid? [True, True] Translation: X:235.05, Y:-7.86, Z:2.93 [[ 9.99304483e-01 -2.82179654e-02 -2.43782105e-02 2.35052206e+02] [ 2.82548224e-02 9.99600070e-01 1.16868740e-03 -7.86135320e+00] [ 2.43354830e-02 -1.85667657e-03 9.99702124e-01 2.93368753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03071405699998 meters Centerline goodness [0,1] 0.9857413163941073 Centerline is valid? [True, True] Translation: X:235.08, Y:-7.86, Z:2.93 [[ 9.99303466e-01 -2.82539375e-02 -2.43782327e-02 2.35081410e+02] [ 2.82907939e-02 9.99599053e-01 1.16822524e-03 -7.86272254e+00] [ 2.43354513e-02 -1.85709109e-03 9.99702124e-01 2.93407799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06071405699998 meters Centerline goodness [0,1] 0.9852393526982193 Centerline is valid? [True, True] Translation: X:235.11, Y:-7.86, Z:2.93 [[ 9.99318816e-01 -2.72131282e-02 -2.49268894e-02 2.35111329e+02] [ 2.72513183e-02 9.99627901e-01 1.19360824e-03 -7.86476121e+00] [ 2.48851324e-02 -1.87208578e-03 9.99688564e-01 2.93379478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09071405699999 meters Centerline goodness [0,1] 0.985975926469592 Centerline is valid? [True, True] Translation: X:235.14, Y:-7.87, Z:2.93 [[ 9.99355869e-01 -2.51289650e-02 -2.56199683e-02 2.35140092e+02] [ 2.51685986e-02 9.99682469e-01 1.22564208e-03 -7.86597051e+00] [ 2.55810341e-02 -1.86967130e-03 9.99671003e-01 2.93355144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.120714057 meters Centerline goodness [0,1] 0.9861776131538531 Centerline is valid? [True, True] Translation: X:235.17, Y:-7.87, Z:2.93 [[ 9.99377534e-01 -2.40578262e-02 -2.58024193e-02 2.35168818e+02] [ 2.40976301e-02 9.99708850e-01 1.23276777e-03 -7.86533637e+00] [ 2.57652492e-02 -1.85377757e-03 9.99666302e-01 2.93431528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.150714057 meters Centerline goodness [0,1] 0.9858284063727039 Centerline is valid? [True, True] Translation: X:235.20, Y:-7.86, Z:2.93 [[ 9.99419679e-01 -2.22346570e-02 -2.58055412e-02 2.35198959e+02] [ 2.22738360e-02 9.99751149e-01 1.23175603e-03 -7.86457389e+00] [ 2.57717318e-02 -1.80582961e-03 9.99666223e-01 2.93499289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.180714057 meters Centerline goodness [0,1] 0.9860332670403182 Centerline is valid? [True, True] Translation: X:235.23, Y:-7.87, Z:2.94 [[ 9.99442822e-01 -2.16158191e-02 -2.54322934e-02 2.35227030e+02] [ 2.16535922e-02 9.99764800e-01 1.21075463e-03 -7.86579480e+00] [ 2.54001402e-02 -1.76078053e-03 9.99675814e-01 2.93533485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.210714057 meters Centerline goodness [0,1] 0.9863128365232342 Centerline is valid? [True, True] Translation: X:235.26, Y:-7.86, Z:2.94 [[ 9.99517249e-01 -1.98743604e-02 -2.38805012e-02 2.35257420e+02] [ 1.99070912e-02 9.99801192e-01 1.13363482e-03 -7.86473687e+00] [ 2.38532232e-02 -1.60847887e-03 9.99714177e-01 2.93726969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.240714057 meters Centerline goodness [0,1] 0.9856141144537435 Centerline is valid? [True, True] Translation: X:235.29, Y:-7.87, Z:2.94 [[ 9.99544911e-01 -1.92330376e-02 -2.32392288e-02 2.35285084e+02] [ 1.92638358e-02 9.99813828e-01 1.10210688e-03 -7.86598680e+00] [ 2.32137054e-02 -1.54928201e-03 9.99729325e-01 2.93883578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.270714057 meters Centerline goodness [0,1] 0.9844430333817126 Centerline is valid? [True, True] Translation: X:235.31, Y:-7.87, Z:2.94 [[ 9.99598795e-01 -1.87891905e-02 -2.11947105e-02 2.35312667e+02] [ 1.88146638e-02 9.99822485e-01 1.00308910e-03 -7.86780621e+00] [ 2.11721009e-02 -1.40145800e-03 9.99774864e-01 2.94055023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.300714057 meters Centerline goodness [0,1] 0.9840395384161963 Centerline is valid? [True, True] Translation: X:235.34, Y:-7.87, Z:2.94 [[ 9.99605397e-01 -1.90311818e-02 -2.06607191e-02 2.35340751e+02] [ 1.90553633e-02 9.99817956e-01 9.74153550e-04 -7.86840252e+00] [ 2.06384186e-02 -1.36746665e-03 9.99786070e-01 2.94174186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.330714057 meters Centerline goodness [0,1] 0.9855670103092784 Centerline is valid? [True, True] Translation: X:235.37, Y:-7.86, Z:2.94 [[ 9.99596906e-01 -1.94626064e-02 -2.06696007e-02 2.35369924e+02] [ 1.94867873e-02 9.99809645e-01 9.69089063e-04 -7.86321084e+00] [ 2.06468051e-02 -1.37148254e-03 9.99785891e-01 2.94255567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.360714057 meters Centerline goodness [0,1] 0.9845147268569876 Centerline is valid? [True, True] Translation: X:235.40, Y:-7.87, Z:2.94 [[ 9.99582950e-01 -1.96404399e-02 -2.11702554e-02 2.35397477e+02] [ 1.96657521e-02 9.99806122e-01 9.88107508e-04 -7.87287178e+00] [ 2.11467441e-02 -1.40402441e-03 9.99775397e-01 2.94169839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.390714057 meters Centerline goodness [0,1] 0.985914856096403 Centerline is valid? [True, True] Translation: X:235.43, Y:-7.87, Z:2.94 [[ 9.99554589e-01 -2.01939595e-02 -2.19733404e-02 2.35426912e+02] [ 2.02212745e-02 9.99795007e-01 1.02159210e-03 -7.86549074e+00] [ 2.19482060e-02 -1.46546601e-03 9.99758035e-01 2.94258990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42071405699997 meters Centerline goodness [0,1] 0.9855676643179192 Centerline is valid? [True, True] Translation: X:235.46, Y:-7.87, Z:2.94 [[ 9.99485632e-01 -2.16010098e-02 -2.37037595e-02 2.35456601e+02] [ 2.16330978e-02 9.99765374e-01 1.09808863e-03 -7.86772021e+00] [ 2.36744782e-02 -1.61030955e-03 9.99718423e-01 2.94078668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45071405699997 meters Centerline goodness [0,1] 0.9861003861003861 Centerline is valid? [True, True] Translation: X:235.49, Y:-7.87, Z:2.94 [[ 9.99381433e-01 -2.35446739e-02 -2.61227623e-02 2.35485972e+02] [ 2.35842892e-02 9.99721120e-01 1.20940517e-03 -7.87155358e+00] [ 2.60870021e-02 -1.82474386e-03 9.99658011e-01 2.93900378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48071405699997 meters Centerline goodness [0,1] 0.9862858180827392 Centerline is valid? [True, True] Translation: X:235.51, Y:-7.87, Z:2.94 [[ 9.99336678e-01 -2.47275371e-02 -2.67348727e-02 2.35514437e+02] [ 2.47693587e-02 9.99692430e-01 1.23423093e-03 -7.87409782e+00] [ 2.66961304e-02 -1.89561789e-03 9.99641797e-01 2.93871616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51071405699997 meters Centerline goodness [0,1] 0.9848320693391116 Centerline is valid? [True, True] Translation: X:235.54, Y:-7.87, Z:2.94 [[ 9.99314724e-01 -2.55872871e-02 -2.67464725e-02 2.35543416e+02] [ 2.56292764e-02 9.99670762e-01 1.22822035e-03 -7.87466283e+00] [ 2.67062397e-02 -1.91287142e-03 9.99641495e-01 2.93881571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54071405699997 meters Centerline goodness [0,1] 0.9855990914253265 Centerline is valid? [True, True] Translation: X:235.57, Y:-7.88, Z:2.94 [[ 9.99305960e-01 -2.62791760e-02 -2.64008243e-02 2.35571041e+02] [ 2.63202121e-02 9.99652833e-01 1.20799464e-03 -7.87736543e+00] [ 2.63599137e-02 -1.90203154e-03 9.99650708e-01 2.93942517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57071405699998 meters Centerline goodness [0,1] 0.9861533572433832 Centerline is valid? [True, True] Translation: X:235.60, Y:-7.87, Z:2.94 [[ 9.99305190e-01 -2.66497677e-02 -2.60562435e-02 2.35599929e+02] [ 2.66897530e-02 9.99643059e-01 1.18794645e-03 -7.87351052e+00] [ 2.60152845e-02 -1.88255576e-03 9.99659773e-01 2.94097678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60071405699998 meters Centerline goodness [0,1] 0.9839182949298274 Centerline is valid? [True, True] Translation: X:235.63, Y:-7.88, Z:2.94 [[ 9.99320865e-01 -2.64751875e-02 -2.56295538e-02 2.35627452e+02] [ 2.65137058e-02 9.99647772e-01 1.16417273e-03 -7.87907391e+00] [ 2.55897046e-02 -1.84291654e-03 9.99670831e-01 2.94245871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63071405699998 meters Centerline goodness [0,1] 0.9855877598415337 Centerline is valid? [True, True] Translation: X:235.66, Y:-7.87, Z:2.94 [[ 9.99308644e-01 -2.70318945e-02 -2.55247097e-02 2.35656097e+02] [ 2.70701718e-02 9.99632868e-01 1.15521190e-03 -7.87198757e+00] [ 2.54841112e-02 -1.84537152e-03 9.99673524e-01 2.94460527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66071405699998 meters Centerline goodness [0,1] 0.9863778218182646 Centerline is valid? [True, True] Translation: X:235.69, Y:-7.87, Z:2.95 [[ 9.99300601e-01 -2.79091166e-02 -2.48875632e-02 2.35685655e+02] [ 2.79456858e-02 9.99608813e-01 1.12271768e-03 -7.87051297e+00] [ 2.48464934e-02 -1.81743248e-03 9.99689626e-01 2.94666052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69071405699998 meters Centerline goodness [0,1] 0.9845445427190663 Centerline is valid? [True, True] Translation: X:235.72, Y:-7.87, Z:2.95 [[ 9.99297746e-01 -2.86128817e-02 -2.41933264e-02 2.35715445e+02] [ 2.86476306e-02 9.99588977e-01 1.09085794e-03 -7.87276012e+00] [ 2.41521698e-02 -1.78317336e-03 9.99706703e-01 2.94754769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72071405699998 meters Centerline goodness [0,1] 0.9842494594287015 Centerline is valid? [True, True] Translation: X:235.74, Y:-7.88, Z:2.95 [[ 9.99284686e-01 -2.96388442e-02 -2.34873233e-02 2.35744760e+02] [ 2.96718695e-02 9.99559132e-01 1.05875669e-03 -7.87622182e+00] [ 2.34455882e-02 -1.75491214e-03 9.99723574e-01 2.94762884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75071405699998 meters Centerline goodness [0,1] 0.9838434406644669 Centerline is valid? [True, True] Translation: X:235.78, Y:-7.88, Z:2.95 [[ 9.99158483e-01 -3.32548348e-02 -2.40092036e-02 2.35775353e+02] [ 3.32903765e-02 9.99445136e-01 1.08205277e-03 -7.87694204e+00] [ 2.39598983e-02 -1.88041764e-03 9.99711152e-01 2.94809316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78071405699998 meters Centerline goodness [0,1] 0.9818334773316356 Centerline is valid? [True, True] Translation: X:235.80, Y:-7.88, Z:2.95 [[ 9.98998302e-01 -3.72251080e-02 -2.48331244e-02 2.35804496e+02] [ 3.72643464e-02 9.99304816e-01 1.11903280e-03 -7.88260819e+00] [ 2.47742047e-02 -2.04330202e-03 9.99690984e-01 2.94739835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81071405699998 meters Centerline goodness [0,1] 0.9823466435844286 Centerline is valid? [True, True] Translation: X:235.84, Y:-7.89, Z:2.95 [[ 9.98892186e-01 -3.94757257e-02 -2.56138071e-02 2.35835232e+02] [ 3.95182058e-02 9.99218184e-01 1.15422639e-03 -7.88583793e+00] [ 2.55482179e-02 -2.16515942e-03 9.99671246e-01 2.94749147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84071405699999 meters Centerline goodness [0,1] 0.9819672131147541 Centerline is valid? [True, True] Translation: X:235.87, Y:-7.89, Z:2.95 [[ 9.98803640e-01 -4.13489410e-02 -2.61065758e-02 2.35866681e+02] [ 4.13937250e-02 9.99142219e-01 1.17712242e-03 -7.88881821e+00] [ 2.60355093e-02 -2.25636257e-03 9.99658472e-01 2.94739273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.870714057 meters Centerline goodness [0,1] 0.9797337210887445 Centerline is valid? [True, True] Translation: X:235.90, Y:-7.89, Z:2.95 [[ 9.98666639e-01 -4.42467700e-02 -2.65926218e-02 2.35896729e+02] [ 4.42942771e-02 9.99017806e-01 1.19979655e-03 -7.89201422e+00] [ 2.65134155e-02 -2.37609775e-03 9.99645634e-01 2.94754492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.900714057 meters Centerline goodness [0,1] 0.9831630679620487 Centerline is valid? [True, True] Translation: X:235.93, Y:-7.89, Z:2.95 [[ 9.98650334e-01 -4.45634007e-02 -2.66760957e-02 2.35929607e+02] [ 4.46113524e-02 9.99003691e-01 1.20482934e-03 -7.88528858e+00] [ 2.65958268e-02 -2.39325993e-03 9.99643404e-01 2.94932729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.930714057 meters Centerline goodness [0,1] 0.9786720688320852 Centerline is valid? [True, True] Translation: X:235.96, Y:-7.89, Z:2.95 [[ 9.98688638e-01 -4.39904616e-02 -2.61886251e-02 2.35960932e+02] [ 4.40365303e-02 9.99029219e-01 1.18471120e-03 -7.89204427e+00] [ 2.61110857e-02 -2.33641380e-03 9.99656317e-01 2.94928786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.960714057 meters Centerline goodness [0,1] 0.9782093902272416 Centerline is valid? [True, True] Translation: X:235.99, Y:-7.89, Z:2.95 [[ 9.98758012e-01 -4.27578875e-02 -2.55772709e-02 2.35992871e+02] [ 4.28014691e-02 9.99082925e-01 1.15864122e-03 -7.89237705e+00] [ 2.55042736e-02 -2.25194697e-03 9.99672177e-01 2.95055271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.990714057 meters Centerline goodness [0,1] 0.9817053770283168 Centerline is valid? [True, True] Translation: X:236.02, Y:-7.88, Z:2.95 [[ 9.98922499e-01 -3.95479153e-02 -2.42858884e-02 2.36024121e+02] [ 3.95862806e-02 9.99215550e-01 1.10082073e-03 -7.88477152e+00] [ 2.42233022e-02 -2.06102259e-03 9.99704448e-01 2.95342313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.020714057 meters Centerline goodness [0,1] 0.9826386512444961 Centerline is valid? [True, True] Translation: X:236.05, Y:-7.88, Z:2.95 [[ 9.99014758e-01 -3.74391132e-02 -2.38291099e-02 2.36054694e+02] [ 3.74754532e-02 9.99296965e-01 1.08013414e-03 -7.88292169e+00] [ 2.37719180e-02 -1.97207664e-03 9.99715463e-01 2.95440769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.050714057 meters Centerline goodness [0,1] 0.9816912690239158 Centerline is valid? [True, True] Translation: X:236.08, Y:-7.88, Z:2.95 [[ 9.99200286e-01 -3.24746024e-02 -2.33278635e-02 2.36084447e+02] [ 3.25080804e-02 9.99470914e-01 1.05721932e-03 -7.87933533e+00] [ 2.32811883e-02 -1.81471791e-03 9.99727309e-01 2.95491375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.080714057 meters Centerline goodness [0,1] 0.9827763908293443 Centerline is valid? [True, True] Translation: X:236.11, Y:-7.88, Z:2.96 [[ 9.99291996e-01 -2.95248100e-02 -2.33193656e-02 2.36114169e+02] [ 2.95574591e-02 9.99562524e-01 1.05657502e-03 -7.87742994e+00] [ 2.32779688e-02 -1.74508816e-03 9.99727508e-01 2.95501954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.110714057 meters Centerline goodness [0,1] 0.9842729697415616 Centerline is valid? [True, True] Translation: X:236.14, Y:-7.87, Z:2.96 [[ 9.99420846e-01 -2.40225582e-02 -2.41016405e-02 2.36144846e+02] [ 2.40558432e-02 9.99710020e-01 1.09200364e-03 -7.86831982e+00] [ 2.40684188e-02 -1.67115649e-03 9.99708917e-01 2.95611198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.140714057 meters Centerline goodness [0,1] 0.9831191561881074 Centerline is valid? [True, True] Translation: X:236.17, Y:-7.87, Z:2.96 [[ 9.99471899e-01 -2.15625864e-02 -2.43100545e-02 2.36174009e+02] [ 2.15957154e-02 9.99766179e-01 1.10102811e-03 -7.87196757e+00] [ 2.42806293e-02 -1.62543967e-03 9.99703861e-01 2.95558024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17071405699997 meters Centerline goodness [0,1] 0.9832265794203032 Centerline is valid? [True, True] Translation: X:236.20, Y:-7.87, Z:2.96 [[ 9.99523286e-01 -1.94266269e-02 -2.39959576e-02 2.36202591e+02] [ 1.94582676e-02 9.99810080e-01 1.08577442e-03 -7.87199431e+00] [ 2.39703074e-02 -1.55217659e-03 9.99711466e-01 2.95556717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20071405699997 meters Centerline goodness [0,1] 0.9858218260749088 Centerline is valid? [True, True] Translation: X:236.23, Y:-7.86, Z:2.96 [[ 9.99565116e-01 -1.60286920e-02 -2.47519677e-02 2.36232678e+02] [ 1.60612932e-02 9.99870383e-01 1.11886094e-03 -7.86290374e+00] [ 2.47308256e-02 -1.51592298e-03 9.99692997e-01 2.95752103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23071405699997 meters Centerline goodness [0,1] 0.9851118343605013 Centerline is valid? [True, True] Translation: X:236.26, Y:-7.86, Z:2.96 [[ 9.99584856e-01 -1.41921760e-02 -2.50738566e-02 2.36261087e+02] [ 1.42250220e-02 9.99898178e-01 1.13208139e-03 -7.86478491e+00] [ 2.50552369e-02 -1.48828758e-03 9.99684960e-01 2.95730281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26071405699997 meters Centerline goodness [0,1] 0.9851652681841361 Centerline is valid? [True, True] Translation: X:236.29, Y:-7.86, Z:2.96 [[ 9.99593654e-01 -1.06766091e-02 -2.64298417e-02 2.36291013e+02] [ 1.07118478e-02 9.99941916e-01 1.19206509e-03 -7.86282978e+00] [ 2.64155794e-02 -1.47469314e-03 9.99649960e-01 2.95684416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29071405699997 meters Centerline goodness [0,1] 0.9870455495194317 Centerline is valid? [True, True] Translation: X:236.32, Y:-7.86, Z:2.96 [[ 9.99597836e-01 -8.92314615e-03 -2.69173453e-02 2.36320453e+02] [ 8.95901242e-03 9.99959133e-01 1.21215293e-03 -7.86041577e+00] [ 2.69054291e-02 -1.45281828e-03 9.99636928e-01 2.95739005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32071405699998 meters Centerline goodness [0,1] 0.9867354287174483 Centerline is valid? [True, True] Translation: X:236.35, Y:-7.86, Z:2.96 [[ 9.99633941e-01 -4.82389829e-03 -2.66216724e-02 2.36350556e+02] [ 4.85748186e-03 9.99987486e-01 1.19698734e-03 -7.85949405e+00] [ 2.66155651e-02 -1.32586347e-03 9.99644864e-01 2.95780008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35071405699998 meters Centerline goodness [0,1] 0.9866462295919552 Centerline is valid? [True, True] Translation: X:236.38, Y:-7.86, Z:2.96 [[ 9.99636641e-01 -3.27577605e-03 -2.67554814e-02 2.36379887e+02] [ 3.30905494e-03 9.99993805e-01 1.19963447e-03 -7.85913432e+00] [ 2.67513859e-02 -1.28773393e-03 9.99641288e-01 2.95853567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38071405699998 meters Centerline goodness [0,1] 0.9867546591067528 Centerline is valid? [True, True] Translation: X:236.41, Y:-7.86, Z:2.96 [[ 9.99651080e-01 -1.52302869e-03 -2.63703945e-02 2.36408584e+02] [ 1.55464254e-03 9.99998097e-01 1.17837830e-03 -7.85961238e+00] [ 2.63685496e-02 -1.21896368e-03 9.99651546e-01 2.95957459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41071405699998 meters Centerline goodness [0,1] 0.9860169097835176 Centerline is valid? [True, True] Translation: X:236.44, Y:-7.86, Z:2.96 [[ 9.99684334e-01 8.39839509e-04 -2.51102945e-02 2.36437541e+02] [-8.11952480e-04 9.99999042e-01 1.12075668e-03 -7.86048941e+00] [ 2.51112117e-02 -1.10001453e-03 9.99684059e-01 2.96003023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44071405699998 meters Centerline goodness [0,1] 0.9866289057059288 Centerline is valid? [True, True] Translation: X:236.47, Y:-7.86, Z:2.96 [[ 9.99696140e-01 1.71525532e-03 -2.45903426e-02 2.36466230e+02] [-1.68885522e-03 9.99997975e-01 1.09432399e-03 -7.86104983e+00] [ 2.45921699e-02 -1.05246194e-03 9.99697013e-01 2.96165578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47071405699998 meters Centerline goodness [0,1] 0.9853142790751713 Centerline is valid? [True, True] Translation: X:236.49, Y:-7.86, Z:2.96 [[ 9.99696386e-01 1.06672455e-03 -2.46170274e-02 2.36494978e+02] [-1.04021987e-03 9.99998866e-01 1.08946105e-03 -7.86357454e+00] [ 2.46181617e-02 -1.06352315e-03 9.99696361e-01 2.96218762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50071405699998 meters Centerline goodness [0,1] 0.9857987345864314 Centerline is valid? [True, True] Translation: X:236.52, Y:-7.87, Z:2.96 [[ 9.99709011e-01 2.61604163e-04 -2.41210487e-02 2.36523379e+02] [-2.36064137e-04 9.99999409e-01 1.06166871e-03 -7.86686465e+00] [ 2.41213121e-02 -1.05566567e-03 9.99708481e-01 2.96224814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53071405699998 meters Centerline goodness [0,1] 0.9848071408750347 Centerline is valid? [True, True] Translation: X:236.55, Y:-7.87, Z:2.96 [[ 9.99687002e-01 -2.80604581e-03 -2.48600854e-02 2.36551328e+02] [ 2.83401829e-03 9.99995390e-01 1.09003544e-03 -7.87350758e+00] [ 2.48569121e-02 -1.16014820e-03 9.99690346e-01 2.96115451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56071405699998 meters Centerline goodness [0,1] 0.9846224997109493 Centerline is valid? [True, True] Translation: X:236.58, Y:-7.88, Z:2.96 [[ 9.99654309e-01 -4.88460667e-03 -2.58341424e-02 2.36579924e+02] [ 4.91546589e-03 9.99987279e-01 1.13114360e-03 -7.87822374e+00] [ 2.58282886e-02 -1.25773942e-03 9.99665603e-01 2.96073184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59071405699999 meters Centerline goodness [0,1] 0.9835706209474583 Centerline is valid? [True, True] Translation: X:236.61, Y:-7.89, Z:2.96 [[ 9.99597164e-01 -9.28701711e-03 -2.68190313e-02 2.36608591e+02] [ 9.32182620e-03 9.99955863e-01 1.17319026e-03 -7.88637033e+00] [ 2.68069521e-02 -1.42272001e-03 9.99639617e-01 2.96006908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.620714057 meters Centerline goodness [0,1] 0.981816924778761 Centerline is valid? [True, True] Translation: X:236.64, Y:-7.89, Z:2.96 [[ 9.99552195e-01 -1.16859227e-02 -2.75472240e-02 2.36637389e+02] [ 1.17235266e-02 9.99930552e-01 1.20395591e-03 -7.89119672e+00] [ 2.75312415e-02 -1.52636739e-03 9.99619778e-01 2.95969281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.650714057 meters Centerline goodness [0,1] 0.9795181830720426 Centerline is valid? [True, True] Translation: X:236.67, Y:-7.90, Z:2.96 [[ 9.99447863e-01 -1.72300393e-02 -2.84094328e-02 2.36666496e+02] [ 1.72722447e-02 9.99850054e-01 1.24086707e-03 -7.90122363e+00] [ 2.83837928e-02 -1.73087662e-03 9.99595600e-01 2.95969912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.680714057 meters Centerline goodness [0,1] 0.9788528655400441 Centerline is valid? [True, True] Translation: X:236.70, Y:-7.91, Z:2.96 [[ 9.99398337e-01 -2.01403832e-02 -2.82369972e-02 2.36696017e+02] [ 2.01832256e-02 9.99795538e-01 1.23302020e-03 -7.90739459e+00] [ 2.82063903e-02 -1.80219202e-03 9.99600496e-01 2.95988617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.710714057 meters Centerline goodness [0,1] 0.9759487882944673 Centerline is valid? [True, True] Translation: X:236.73, Y:-7.92, Z:2.96 [[ 9.99278104e-01 -2.56595722e-02 -2.80152993e-02 2.36725213e+02] [ 2.57038905e-02 9.99668852e-01 1.22290084e-03 -7.91785468e+00] [ 2.79746430e-02 -1.94212022e-03 9.99606746e-01 2.95979263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.740714057 meters Centerline goodness [0,1] 0.9735453361661298 Centerline is valid? [True, True] Translation: X:236.75, Y:-7.92, Z:2.96 [[ 9.99214801e-01 -2.78266271e-02 -2.82038976e-02 2.36754716e+02] [ 2.78723907e-02 9.99610732e-01 1.23069131e-03 -7.92352836e+00] [ 2.81586727e-02 -2.01583502e-03 9.99601433e-01 2.95999200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.770714057 meters Centerline goodness [0,1] 0.9691799544419134 Centerline is valid? [True, True] Translation: X:236.79, Y:-7.93, Z:2.96 [[ 9.99105057e-01 -3.12068985e-02 -2.85519605e-02 2.36785097e+02] [ 3.12551645e-02 9.99510662e-01 1.24562846e-03 -7.92999184e+00] [ 2.84991167e-02 -2.13690992e-03 9.99591534e-01 2.96036416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.800714057 meters Centerline goodness [0,1] 0.9605810543544977 Centerline is valid? [True, True] Translation: X:236.81, Y:-7.93, Z:2.96 [[ 9.99046991e-01 -3.26357085e-02 -2.89830997e-02 2.36814361e+02] [ 3.26860263e-02 9.99464870e-01 1.26391087e-03 -7.93435142e+00] [ 2.89263413e-02 -2.21004870e-03 9.99579103e-01 2.96060951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.830714057 meters Centerline goodness [0,1] 0.9807543388147406 Centerline is valid? [True, True] Translation: X:236.84, Y:-7.92, Z:2.96 [[ 9.98994560e-01 -3.38584290e-02 -2.93849674e-02 2.36844795e+02] [ 3.39106572e-02 9.99424048e-01 1.28071919e-03 -7.92037863e+00] [ 2.93246799e-02 -2.27589506e-03 9.99567348e-01 2.96437635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.860714057 meters Centerline goodness [0,1] 0.9799881748305818 Centerline is valid? [True, True] Translation: X:236.87, Y:-7.92, Z:2.97 [[ 9.98923516e-01 -3.55226958e-02 -2.98319694e-02 2.36874183e+02] [ 3.55772385e-02 9.99366085e-01 1.29936917e-03 -7.92318627e+00] [ 2.97669014e-02 -2.35930951e-03 9.99554083e-01 2.96514634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.890714057 meters Centerline goodness [0,1] 0.980465644520159 Centerline is valid? [True, True] Translation: X:236.90, Y:-7.93, Z:2.96 [[ 9.98813396e-01 -3.73986671e-02 -3.11952022e-02 2.36902891e+02] [ 3.74591958e-02 9.99297235e-01 1.35796243e-03 -7.92879253e+00] [ 3.11224933e-02 -2.52489825e-03 9.99512389e-01 2.96400097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92071405699997 meters Centerline goodness [0,1] 0.980465644520159 Centerline is valid? [True, True] Translation: X:236.93, Y:-7.93, Z:2.96 [[ 9.98813395e-01 -3.73986699e-02 -3.11952114e-02 2.36932964e+02] [ 3.74591921e-02 9.99297236e-01 1.35775026e-03 -7.93010132e+00] [ 3.11225105e-02 -2.52468656e-03 9.99512389e-01 2.96440303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95071405699997 meters Centerline goodness [0,1] 0.980774475047723 Centerline is valid? [True, True] Translation: X:236.96, Y:-7.93, Z:2.96 [[ 9.98760665e-01 -3.84825859e-02 -3.15630278e-02 2.36963053e+02] [ 3.85450717e-02 9.99255919e-01 1.37343139e-03 -7.92978786e+00] [ 3.14866891e-02 -2.58832842e-03 9.99500820e-01 2.96465227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98071405699997 meters Centerline goodness [0,1] 0.980164500590748 Centerline is valid? [True, True] Translation: X:236.99, Y:-7.93, Z:2.96 [[ 9.98666715e-01 -4.04837428e-02 -3.20290480e-02 2.36993592e+02] [ 4.05491024e-02 9.99176575e-01 1.39346629e-03 -7.93423577e+00] [ 3.19462618e-02 -2.69035755e-03 9.99485967e-01 2.96443361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01071405699997 meters Centerline goodness [0,1] 0.979533490651661 Centerline is valid? [True, True] Translation: X:237.02, Y:-7.94, Z:2.96 [[ 9.98630893e-01 -4.13738983e-02 -3.20084476e-02 2.37023982e+02] [ 4.14396277e-02 9.99140039e-01 1.39257004e-03 -7.93741465e+00] [ 3.19233055e-02 -2.71708161e-03 9.99486628e-01 2.96474450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04071405699997 meters Centerline goodness [0,1] 0.98065482948095 Centerline is valid? [True, True] Translation: X:237.05, Y:-7.94, Z:2.96 [[ 9.98585075e-01 -4.21504707e-02 -3.24220042e-02 2.37054223e+02] [ 4.22183168e-02 9.99107414e-01 1.41056237e-03 -7.94055483e+00] [ 3.23336089e-02 -2.77736897e-03 9.99473273e-01 2.96499612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07071405699998 meters Centerline goodness [0,1] 0.9795904483298183 Centerline is valid? [True, True] Translation: X:237.08, Y:-7.94, Z:2.97 [[ 9.98537161e-01 -4.26779521e-02 -3.31983509e-02 2.37084224e+02] [ 4.27493729e-02 9.99084784e-01 1.44419566e-03 -7.94259542e+00] [ 3.31063319e-02 -2.86129172e-03 9.99447739e-01 2.96569694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10071405699998 meters Centerline goodness [0,1] 0.978298827637815 Centerline is valid? [True, True] Translation: X:237.11, Y:-7.95, Z:2.97 [[ 9.98544783e-01 -4.25611811e-02 -3.31188979e-02 2.37113945e+02] [ 4.26321818e-02 9.99089797e-01 1.44029613e-03 -7.94550236e+00] [ 3.30274523e-02 -2.85013106e-03 9.99450381e-01 2.96584229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13071405699998 meters Centerline goodness [0,1] 0.978373604474739 Centerline is valid? [True, True] Translation: X:237.14, Y:-7.95, Z:2.97 [[ 9.98618302e-01 -4.12939948e-02 -3.25006731e-02 2.37144251e+02] [ 4.13616910e-02 9.99143240e-01 1.41307371e-03 -7.94599042e+00] [ 3.24144764e-02 -2.75540407e-03 9.99470715e-01 2.96739395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16071405699998 meters Centerline goodness [0,1] 0.9788693992547487 Centerline is valid? [True, True] Translation: X:237.17, Y:-7.95, Z:2.97 [[ 9.98666697e-01 -4.05580209e-02 -3.19354772e-02 2.37174888e+02] [ 4.06230058e-02 9.99173580e-01 1.38842701e-03 -7.94707073e+00] [ 3.18527733e-02 -2.68389089e-03 9.99488968e-01 2.96812128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19071405699998 meters Centerline goodness [0,1] 0.9801694568748154 Centerline is valid? [True, True] Translation: X:237.20, Y:-7.94, Z:2.97 [[ 9.98790519e-01 -3.80602052e-02 -3.11274851e-02 2.37204987e+02] [ 3.81207323e-02 9.99272225e-01 1.35314910e-03 -7.94381551e+00] [ 3.10533301e-02 -2.53811502e-03 9.99514506e-01 2.97028646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22071405699998 meters Centerline goodness [0,1] 0.9785221808944933 Centerline is valid? [True, True] Translation: X:237.23, Y:-7.95, Z:2.97 [[ 9.98854441e-01 -3.66468675e-02 -3.07703188e-02 2.37234948e+02] [ 3.67053433e-02 9.99325237e-01 1.33751174e-03 -7.94706717e+00] [ 3.07005405e-02 -2.46541465e-03 9.99525587e-01 2.97053336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25071405699998 meters Centerline goodness [0,1] 0.9787117779649825 Centerline is valid? [True, True] Translation: X:237.26, Y:-7.95, Z:2.97 [[ 9.98909203e-01 -3.46707806e-02 -3.12784454e-02 2.37263739e+02] [ 3.47302138e-02 9.99395801e-01 1.35868886e-03 -7.94705103e+00] [ 3.12124402e-02 -2.44351390e-03 9.99509786e-01 2.97053760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28071405699998 meters Centerline goodness [0,1] 0.9785613923763767 Centerline is valid? [True, True] Translation: X:237.29, Y:-7.95, Z:2.97 [[ 9.98932430e-01 -3.39890942e-02 -3.12848371e-02 2.37293694e+02] [ 3.40481795e-02 9.99419270e-01 1.35768693e-03 -7.94718355e+00] [ 3.12205225e-02 -2.42142925e-03 9.99509588e-01 2.97042165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31071405699998 meters Centerline goodness [0,1] 0.9771337652005909 Centerline is valid? [True, True] Translation: X:237.32, Y:-7.95, Z:2.97 [[ 9.98913643e-01 -3.40397558e-02 -3.18249647e-02 2.37322588e+02] [ 3.41007739e-02 9.99417452e-01 1.37635045e-03 -7.94866481e+00] [ 3.17595745e-02 -2.46011117e-03 9.99492510e-01 2.96976839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34071405699999 meters Centerline goodness [0,1] 0.9752865491777285 Centerline is valid? [True, True] Translation: X:237.35, Y:-7.95, Z:2.97 [[ 9.98911942e-01 -3.41084918e-02 -3.18047739e-02 2.37350866e+02] [ 3.41693391e-02 9.99415117e-01 1.37144472e-03 -7.95134177e+00] [ 3.17393939e-02 -2.45670062e-03 9.99493159e-01 2.96971388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.370714057 meters Centerline goodness [0,1] 0.9833545281133618 Centerline is valid? [True, True] Translation: X:237.38, Y:-7.94, Z:2.97 [[ 9.98830095e-01 -3.57275962e-02 -3.25880293e-02 2.37380963e+02] [ 3.57922911e-02 9.99358265e-01 1.40385945e-03 -7.94305940e+00] [ 3.25169599e-02 -2.56861730e-03 9.99467883e-01 2.97216059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.400714057 meters Centerline goodness [0,1] 0.9832434032283769 Centerline is valid? [True, True] Translation: X:237.41, Y:-7.94, Z:2.97 [[ 9.98795589e-01 -3.63218719e-02 -3.29862428e-02 2.37410117e+02] [ 3.63884305e-02 9.99336714e-01 1.41949365e-03 -7.94457515e+00] [ 3.29128048e-02 -2.61810160e-03 9.99454798e-01 2.97307309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.430714057 meters Centerline goodness [0,1] 0.9830435079882398 Centerline is valid? [True, True] Translation: X:237.44, Y:-7.95, Z:2.97 [[ 9.98751815e-01 -3.74415186e-02 -3.30597233e-02 2.37439357e+02] [ 3.75089259e-02 9.99295282e-01 1.42090779e-03 -7.94647159e+00] [ 3.29832246e-02 -2.65916894e-03 9.99452368e-01 2.97356422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.460714057 meters Centerline goodness [0,1] 0.982570209659389 Centerline is valid? [True, True] Translation: X:237.47, Y:-7.95, Z:2.97 [[ 9.98768294e-01 -3.74577775e-02 -3.25393460e-02 2.37469132e+02] [ 3.75230424e-02 9.99294786e-01 1.39717891e-03 -7.94871064e+00] [ 3.24640635e-02 -2.61643325e-03 9.99469479e-01 2.97388697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.490714057 meters Centerline goodness [0,1] 0.9826467172234747 Centerline is valid? [True, True] Translation: X:237.50, Y:-7.95, Z:2.98 [[ 9.98800601e-01 -3.71790955e-02 -3.18602348e-02 2.37498660e+02] [ 3.72414869e-02 9.99305360e-01 1.36690858e-03 -7.94848884e+00] [ 3.17872830e-02 -2.55179163e-03 9.99491399e-01 2.97508551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.520714057 meters Centerline goodness [0,1] 0.9816999429549343 Centerline is valid? [True, True] Translation: X:237.53, Y:-7.95, Z:2.98 [[ 9.98821652e-01 -3.70009572e-02 -3.14044125e-02 2.37529252e+02] [ 3.70614730e-02 9.99312080e-01 1.34688828e-03 -7.95051798e+00] [ 3.13329726e-02 -2.50919496e-03 9.99505852e-01 2.97563581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.550714057 meters Centerline goodness [0,1] 0.9815169769989047 Centerline is valid? [True, True] Translation: X:237.56, Y:-7.95, Z:2.98 [[ 9.98830673e-01 -3.66695890e-02 -3.15060045e-02 2.37558433e+02] [ 3.67303234e-02 9.99324301e-01 1.35092621e-03 -7.95212378e+00] [ 3.14351780e-02 -2.50657227e-03 9.99502650e-01 2.97676868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.580714057 meters Centerline goodness [0,1] 0.9827107061503417 Centerline is valid? [True, True] Translation: X:237.59, Y:-7.95, Z:2.98 [[ 9.98850088e-01 -3.64085202e-02 -3.11916913e-02 2.37588789e+02] [ 3.64679145e-02 9.99333930e-01 1.33721695e-03 -7.94815007e+00] [ 3.11222293e-02 -2.47317520e-03 9.99512526e-01 2.97851546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.610714057 meters Centerline goodness [0,1] 0.9806099869972854 Centerline is valid? [True, True] Translation: X:237.62, Y:-7.96, Z:2.98 [[ 9.98858683e-01 -3.62780649e-02 -3.10681919e-02 2.37617671e+02] [ 3.63369300e-02 9.99338708e-01 1.33202143e-03 -7.95582093e+00] [ 3.09993236e-02 -2.45942389e-03 9.99516380e-01 2.97752003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.640714057 meters Centerline goodness [0,1] 0.9823773481670618 Centerline is valid? [True, True] Translation: X:237.65, Y:-7.95, Z:2.98 [[ 9.98835121e-01 -3.65245295e-02 -3.15334610e-02 2.37648368e+02] [ 3.65852963e-02 9.99329619e-01 1.35204505e-03 -7.95225817e+00] [ 3.14629388e-02 -2.50413109e-03 9.99501782e-01 2.97952535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67071405699997 meters Centerline goodness [0,1] 0.9778366163748831 Centerline is valid? [True, True] Translation: X:237.68, Y:-7.96, Z:2.98 [[ 9.98807044e-01 -3.70131471e-02 -3.18514695e-02 2.37677701e+02] [ 3.70753828e-02 9.99311539e-01 1.36535208e-03 -7.96117267e+00] [ 3.17790051e-02 -2.54462869e-03 9.99491681e-01 2.97795017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70071405699997 meters Centerline goodness [0,1] 0.9825074217857959 Centerline is valid? [True, True] Translation: X:237.71, Y:-7.96, Z:2.98 [[ 9.98794114e-01 -3.73603630e-02 -3.18515516e-02 2.37708212e+02] [ 3.74227669e-02 9.99298590e-01 1.36511921e-03 -7.95627011e+00] [ 3.17782093e-02 -2.55544622e-03 9.99491678e-01 2.97939451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73071405699997 meters Centerline goodness [0,1] 0.9820612431444241 Centerline is valid? [True, True] Translation: X:237.74, Y:-7.96, Z:2.98 [[ 9.98795773e-01 -3.77183608e-02 -3.13740102e-02 2.37737511e+02] [ 3.77790815e-02 9.99285211e-01 1.34464136e-03 -7.95979939e+00] [ 3.13008667e-02 -2.52830340e-03 9.99506810e-01 2.97931126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76071405699997 meters Centerline goodness [0,1] 0.982005434906716 Centerline is valid? [True, True] Translation: X:237.77, Y:-7.96, Z:2.98 [[ 9.98818435e-01 -3.77210203e-02 -3.06408102e-02 2.37768200e+02] [ 3.77789356e-02 9.99285258e-01 1.31320961e-03 -7.96146444e+00] [ 3.05693743e-02 -2.46923516e-03 9.99529597e-01 2.97963260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79071405699997 meters Centerline goodness [0,1] 0.982716500376721 Centerline is valid? [True, True] Translation: X:237.80, Y:-7.96, Z:2.98 [[ 9.98836957e-01 -3.72003590e-02 -3.06735576e-02 2.37798337e+02] [ 3.72581543e-02 9.99304809e-01 1.31461310e-03 -7.96294031e+00] [ 3.06033295e-02 -2.45592429e-03 9.99528591e-01 2.98057130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82071405699998 meters Centerline goodness [0,1] 0.9811561510242213 Centerline is valid? [True, True] Translation: X:237.83, Y:-7.96, Z:2.98 [[ 9.98851103e-01 -3.65325786e-02 -3.10136182e-02 2.37827471e+02] [ 3.65913492e-02 9.99329428e-01 1.32937082e-03 -7.96463659e+00] [ 3.09442560e-02 -2.46267364e-03 9.99518078e-01 2.98119480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85071405699998 meters Centerline goodness [0,1] 0.9782821945933615 Centerline is valid? [True, True] Translation: X:237.86, Y:-7.97, Z:2.98 [[ 9.98861974e-01 -3.62756246e-02 -3.09650708e-02 2.37856836e+02] [ 3.63340836e-02 9.99338818e-01 1.32713018e-03 -7.96747191e+00] [ 3.08964548e-02 -2.45070734e-03 9.99519586e-01 2.98094932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88071405699998 meters Centerline goodness [0,1] 0.9777909657391979 Centerline is valid? [True, True] Translation: X:237.89, Y:-7.97, Z:2.98 [[ 9.98858033e-01 -3.64983195e-02 -3.08302325e-02 2.37886167e+02] [ 3.65563506e-02 9.99330721e-01 1.32053811e-03 -7.97019284e+00] [ 3.07614010e-02 -2.44607089e-03 9.99523763e-01 2.98081465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91071405699998 meters Centerline goodness [0,1] 0.9829908675799087 Centerline is valid? [True, True] Translation: X:237.92, Y:-7.97, Z:2.98 [[ 9.98820877e-01 -3.74296394e-02 -3.09172688e-02 2.37916304e+02] [ 3.74884217e-02 9.99296185e-01 1.32360778e-03 -7.96625733e+00] [ 3.08459666e-02 -2.48108669e-03 9.99521071e-01 2.98220804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94071405699998 meters Centerline goodness [0,1] 0.9830940408200414 Centerline is valid? [True, True] Translation: X:237.95, Y:-7.97, Z:2.98 [[ 9.98802361e-01 -3.77896526e-02 -3.10770814e-02 2.37946783e+02] [ 3.78492127e-02 9.99282576e-01 1.33029077e-03 -7.96858100e+00] [ 3.10045147e-02 -2.50494063e-03 9.99516106e-01 2.98222764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97071405699998 meters Centerline goodness [0,1] 0.9826606739522256 Centerline is valid? [True, True] Translation: X:237.98, Y:-7.97, Z:2.98 [[ 9.98796453e-01 -3.84154814e-02 -3.04941979e-02 2.37977514e+02] [ 3.84731167e-02 9.99258783e-01 1.30533977e-03 -7.97205322e+00] [ 3.04214499e-02 -2.47697556e-03 9.99534091e-01 2.98285643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00071405699998 meters Centerline goodness [0,1] 0.9814464045277163 Centerline is valid? [True, True] Translation: X:238.01, Y:-7.97, Z:2.98 [[ 9.98803969e-01 -3.85199413e-02 -3.01138666e-02 2.38007856e+02] [ 3.85761943e-02 9.99254830e-01 1.28905924e-03 -7.97449599e+00] [ 3.00417722e-02 -2.44919586e-03 9.99545643e-01 2.98373910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03071405699998 meters Centerline goodness [0,1] 0.9809056689859701 Centerline is valid? [True, True] Translation: X:238.04, Y:-7.98, Z:2.98 [[ 9.98796405e-01 -3.87939239e-02 -3.00128740e-02 2.38038660e+02] [ 3.88499228e-02 9.99244231e-01 1.28473613e-03 -7.97729072e+00] [ 2.99403512e-02 -2.44918767e-03 9.99548687e-01 2.98422219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06071405699998 meters Centerline goodness [0,1] 0.9797051328722243 Centerline is valid? [True, True] Translation: X:238.07, Y:-7.98, Z:2.98 [[ 9.98836741e-01 -3.87018792e-02 -2.87633412e-02 2.38067743e+02] [ 3.87532750e-02 9.99248051e-01 1.23134276e-03 -7.98071401e+00] [ 2.86940573e-02 -2.34458406e-03 9.99585491e-01 2.98479804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09071405699999 meters Centerline goodness [0,1] 0.9795872028337231 Centerline is valid? [True, True] Translation: X:238.10, Y:-7.98, Z:2.99 [[ 9.98852125e-01 -3.86103370e-02 -2.83491464e-02 2.38098629e+02] [ 3.86602282e-02 9.99251677e-01 1.21369173e-03 -7.98307430e+00] [ 2.82810710e-02 -2.30828303e-03 9.99597345e-01 2.98551374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.120714057 meters Centerline goodness [0,1] 0.9694778020378457 Centerline is valid? [True, True] Translation: X:238.13, Y:-7.99, Z:2.99 [[ 9.98847197e-01 -3.88661780e-02 -2.81726158e-02 2.38128011e+02] [ 3.89155506e-02 9.99241775e-01 1.20613405e-03 -7.98838733e+00] [ 2.81043768e-02 -2.30109647e-03 9.99602345e-01 2.98556327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.150714057 meters Centerline goodness [0,1] 0.9691505589326777 Centerline is valid? [True, True] Translation: X:238.16, Y:-7.99, Z:2.99 [[ 9.98849232e-01 -3.90929603e-02 -2.77840304e-02 2.38158173e+02] [ 3.91410668e-02 9.99232987e-01 1.18949782e-03 -7.99077069e+00] [ 2.77162187e-02 -2.27562558e-03 9.99613242e-01 2.98577842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.180714057 meters Centerline goodness [0,1] 0.9654999658415503 Centerline is valid? [True, True] Translation: X:238.19, Y:-7.99, Z:2.99 [[ 9.98786124e-01 -4.01175068e-02 -2.85808449e-02 2.38188654e+02] [ 4.01688373e-02 9.99192157e-01 1.22386539e-03 -7.99262011e+00] [ 2.85086576e-02 -2.37043908e-03 9.99590735e-01 2.98650503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.210714057 meters Centerline goodness [0,1] 0.9623566428783146 Centerline is valid? [True, True] Translation: X:238.22, Y:-8.00, Z:2.99 [[ 9.98768403e-01 -4.03695583e-02 -2.88439933e-02 2.38219005e+02] [ 4.04219497e-02 9.99181935e-01 1.23535818e-03 -7.99501878e+00] [ 2.87705262e-02 -2.39976717e-03 9.99583162e-01 2.98661143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.240714057 meters Centerline goodness [0,1] 0.9548420956553487 Centerline is valid? [True, True] Translation: X:238.25, Y:-8.00, Z:2.99 [[ 9.98711462e-01 -4.16826335e-02 -2.89477821e-02 2.38249529e+02] [ 4.17359503e-02 9.99127906e-01 1.23980335e-03 -7.99888425e+00] [ 2.88708587e-02 -2.44636901e-03 9.99580156e-01 2.98623070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.270714057 meters Centerline goodness [0,1] 0.9470592253569233 Centerline is valid? [True, False] Translation: X:238.25, Y:-8.00, Z:2.99 [[ 9.98711578e-01 -4.16720452e-02 -2.89590180e-02 2.38249487e+02] [ 4.17326563e-02 9.99127700e-01 1.49149937e-03 -7.99961414e+00] [ 2.88716032e-02 -2.69811443e-03 9.99579487e-01 2.98625907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.300714057 meters Centerline goodness [0,1] 0.940162985494745 Centerline is valid? [False, False] Translation: X:238.25, Y:-8.00, Z:2.99 [[ 9.98719368e-01 -4.15325193e-02 -2.88907310e-02 2.38249467e+02] [ 4.16055612e-02 9.99132247e-01 1.93143109e-03 -8.00054233e+00] [ 2.87854438e-02 -3.13097272e-03 9.99580710e-01 2.98609130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.330714057 meters Centerline goodness [0,1] 0.9196914700544465 Centerline is valid? [False, False] Translation: X:238.25, Y:-8.00, Z:2.99 [[ 9.98726959e-01 -4.13117481e-02 -2.89447917e-02 2.38249751e+02] [ 4.13937202e-02 9.99140405e-01 2.23831327e-03 -8.00085500e+00] [ 2.88274423e-02 -3.43359641e-03 9.99578506e-01 2.98588689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.360714057 meters Centerline goodness [0,1] 0.9791548529044843 Centerline is valid? [False, True] Translation: X:238.25, Y:-8.00, Z:2.99 [[ 9.98738307e-01 -4.09571451e-02 -2.90569572e-02 2.38250311e+02] [ 4.10455087e-02 9.99154272e-01 2.45088923e-03 -8.00048023e+00] [ 2.89320015e-02 -3.64045455e-03 9.99574753e-01 2.98552215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.390714057 meters Centerline goodness [0,1] 0.9802155416903007 Centerline is valid? [True, True] Translation: X:238.28, Y:-8.00, Z:2.99 [[ 9.98742883e-01 -4.07070153e-02 -2.92505288e-02 2.38282006e+02] [ 4.07620506e-02 9.99168053e-01 1.28745291e-03 -8.00064242e+00] [ 2.91737856e-02 -2.47814597e-03 9.99571283e-01 2.98648101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42071405699997 meters Centerline goodness [0,1] 0.9791027825099375 Centerline is valid? [True, True] Translation: X:238.31, Y:-8.00, Z:2.99 [[ 9.98766409e-01 -4.06825768e-02 -2.84708422e-02 2.38312920e+02] [ 4.07347266e-02 9.99169210e-01 1.25386141e-03 -8.00301754e+00] [ 2.83961785e-02 -2.41206663e-03 9.99593837e-01 2.98730203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45071405699997 meters Centerline goodness [0,1] 0.978616924476797 Centerline is valid? [True, True] Translation: X:238.34, Y:-8.01, Z:2.99 [[ 9.98748159e-01 -4.12153323e-02 -2.83445269e-02 2.38344383e+02] [ 4.12672542e-02 9.99147363e-01 1.24904649e-03 -8.00517663e+00] [ 2.82688795e-02 -2.41718368e-03 9.99597433e-01 2.98794729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48071405699997 meters Centerline goodness [0,1] 0.9802431610942249 Centerline is valid? [True, True] Translation: X:238.38, Y:-8.00, Z:2.99 [[ 9.98674026e-01 -4.26187001e-02 -2.88762342e-02 2.38375136e+02] [ 4.26731932e-02 9.99088273e-01 1.27323315e-03 -8.00314791e+00] [ 2.87956434e-02 -2.50378599e-03 9.99582184e-01 2.98938935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51071405699997 meters Centerline goodness [0,1] 0.979778079710145 Centerline is valid? [True, True] Translation: X:238.41, Y:-8.01, Z:2.99 [[ 9.98619745e-01 -4.37033638e-02 -2.91311041e-02 2.38406083e+02] [ 4.37592966e-02 9.99041277e-01 1.28499249e-03 -8.00573863e+00] [ 2.90470170e-02 -2.55797550e-03 9.99574773e-01 2.98989969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54071405699997 meters Centerline goodness [0,1] 0.9766174801362089 Centerline is valid? [True, True] Translation: X:238.44, Y:-8.01, Z:2.99 [[ 9.98503183e-01 -4.60614736e-02 -2.94912508e-02 2.38437079e+02] [ 4.61198342e-02 9.98935067e-01 1.30140374e-03 -8.01054167e+00] [ 2.93999001e-02 -2.65958738e-03 9.99564191e-01 2.99010697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57071405699998 meters Centerline goodness [0,1] 0.9748007900292855 Centerline is valid? [True, True] Translation: X:238.47, Y:-8.01, Z:2.99 [[ 9.98453875e-01 -4.71814188e-02 -2.93900218e-02 2.38467671e+02] [ 4.72398755e-02 9.98882731e-01 1.29745568e-03 -8.01389131e+00] [ 2.92959695e-02 -2.68383062e-03 9.99567178e-01 2.99012333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60071405699998 meters Centerline goodness [0,1] 0.9717763873775843 Centerline is valid? [True, True] Translation: X:238.50, Y:-8.02, Z:2.99 [[ 9.98323319e-01 -4.93294283e-02 -3.02846352e-02 2.38498221e+02] [ 4.93924959e-02 9.98778550e-01 1.33749571e-03 -8.01712214e+00] [ 3.01816662e-02 -2.83108688e-03 9.99540420e-01 2.98988547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63071405699998 meters Centerline goodness [0,1] 0.9374675016390478 Centerline is valid? [True, False] Translation: X:238.50, Y:-8.02, Z:2.99 [[ 9.98327406e-01 -4.91969160e-02 -3.03653429e-02 2.38498662e+02] [ 4.92699079e-02 9.98784121e-01 1.65981657e-03 -8.01764334e+00] [ 3.02467645e-02 -3.15313802e-03 9.99537489e-01 2.98946908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66071405699998 meters Centerline goodness [0,1] 0.9393535262206149 Centerline is valid? [False, False] Translation: X:238.50, Y:-8.02, Z:2.99 [[ 9.98330431e-01 -4.90270604e-02 -3.05401123e-02 2.38499151e+02] [ 4.91132122e-02 9.98791059e-01 2.07676733e-03 -8.01821958e+00] [ 3.04013733e-02 -3.57322303e-03 9.99531384e-01 2.98915857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69071405699998 meters Centerline goodness [0,1] 0.9711704349405248 Centerline is valid? [False, True] Translation: X:238.50, Y:-8.02, Z:2.99 [[ 9.98339067e-01 -4.88412730e-02 -3.05554682e-02 2.38499261e+02] [ 4.89357648e-02 9.98799159e-01 2.35190117e-03 -8.01849676e+00] [ 3.04039061e-02 -3.84325002e-03 9.99530306e-01 2.98906687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72071405699998 meters Centerline goodness [0,1] 0.9001133786848072 Centerline is valid? [True, False] Translation: X:238.50, Y:-8.02, Z:2.99 [[ 9.98340673e-01 -4.88024246e-02 -3.05650896e-02 2.38498998e+02] [ 4.89010168e-02 9.98800536e-01 2.48604691e-03 -8.01892925e+00] [ 3.04071027e-02 -3.97658571e-03 9.99529687e-01 2.98952406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75071405699998 meters Centerline goodness [0,1] 0.9505611367544574 Centerline is valid? [False, True] Translation: X:238.50, Y:-8.02, Z:2.99 [[ 9.98351127e-01 -4.86680275e-02 -3.04376480e-02 2.38498757e+02] [ 4.87793004e-02 9.98805303e-01 2.92353629e-03 -8.02011563e+00] [ 3.02590014e-02 -4.40344292e-03 9.99532392e-01 2.98954367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78071405699998 meters Centerline goodness [0,1] 0.9604774237135458 Centerline is valid? [True, True] Translation: X:238.53, Y:-8.02, Z:2.99 [[ 9.98376298e-01 -4.85416822e-02 -2.98072674e-02 2.38529701e+02] [ 4.86045896e-02 9.98817132e-01 1.38913785e-03 -8.01969374e+00] [ 2.97045782e-02 -2.83565230e-03 9.99554699e-01 2.99111447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81071405699998 meters Centerline goodness [0,1] 0.7001039971061676 Centerline is valid? [True, False] Translation: X:238.53, Y:-8.02, Z:2.99 [[ 9.98389899e-01 -4.82573893e-02 -2.98133317e-02 2.38529754e+02] [ 4.83294056e-02 9.98830006e-01 1.69930248e-03 -8.02013782e+00] [ 2.96964464e-02 -3.13742703e-03 9.99554039e-01 2.99116032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84071405699999 meters Centerline goodness [0,1] 0.7001039971061676 Centerline is valid? [False, False] Translation: X:238.53, Y:-8.02, Z:2.99 [[ 9.98389899e-01 -4.82573893e-02 -2.98133317e-02 2.38529754e+02] [ 4.83294056e-02 9.98830006e-01 1.69930248e-03 -8.02013782e+00] [ 2.96964464e-02 -3.13742703e-03 9.99554039e-01 2.99116032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.870714057 meters Centerline goodness [0,1] 0.7006599764939878 Centerline is valid? [False, False] Translation: X:238.53, Y:-8.02, Z:2.99 [[ 9.98400243e-01 -4.79671107e-02 -2.99351285e-02 2.38530069e+02] [ 4.80468793e-02 9.98843177e-01 1.95071171e-03 -8.02028330e+00] [ 2.98069288e-02 -3.38588055e-03 9.99549940e-01 2.99112734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.900714057 meters Centerline goodness [0,1] 0.960381279363932 Centerline is valid? [False, True] Translation: X:238.53, Y:-8.02, Z:2.99 [[ 9.98540006e-01 -4.50154442e-02 -2.98574389e-02 2.38528845e+02] [ 4.51964601e-02 9.98963439e-01 5.41541937e-03 -8.02193767e+00] [ 2.95827123e-02 -6.75696344e-03 9.99539497e-01 2.99169018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.930714057 meters Centerline goodness [0,1] 0.9566275375706915 Centerline is valid? [True, True] Translation: X:238.56, Y:-8.02, Z:2.99 [[ 9.98580617e-01 -4.40852730e-02 -2.98871215e-02 2.38558918e+02] [ 4.41472293e-02 9.99024032e-01 1.41600520e-03 -8.02340967e+00] [ 2.97955277e-02 -2.73342896e-03 9.99552277e-01 2.99279909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.960714057 meters Centerline goodness [0,1] 0.959098272138229 Centerline is valid? [True, True] Translation: X:238.59, Y:-8.02, Z:2.99 [[ 9.98604042e-01 -4.32103613e-02 -3.03781510e-02 2.38589976e+02] [ 4.32739858e-02 9.99062205e-01 1.43979276e-03 -8.02450553e+00] [ 3.02874485e-02 -2.75236654e-03 9.99537440e-01 2.99275248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.990714057 meters Centerline goodness [0,1] 0.9458113649677797 Centerline is valid? [True, False] Translation: X:238.59, Y:-8.03, Z:2.99 [[ 9.98751229e-01 -3.96485264e-02 -3.03970013e-02 2.38589613e+02] [ 3.98344700e-02 9.99190957e-01 5.53596744e-03 -8.02600363e+00] [ 3.01529159e-02 -6.73990272e-03 9.99522574e-01 2.99245501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.020714057 meters Centerline goodness [0,1] 0.9486149052897749 Centerline is valid? [False, False] Translation: X:238.59, Y:-8.03, Z:2.99 [[ 9.98762399e-01 -3.91395871e-02 -3.06881439e-02 2.38590309e+02] [ 3.93265405e-02 9.99211209e-01 5.51208952e-03 -8.02503783e+00] [ 3.04481965e-02 -6.71212629e-03 9.99513809e-01 2.99256535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.050714057 meters Centerline goodness [0,1] 0.9766831167655182 Centerline is valid? [False, True] Translation: X:238.59, Y:-8.02, Z:2.99 [[ 9.98772110e-01 -3.87969617e-02 -3.08069557e-02 2.38590669e+02] [ 3.89895057e-02 9.99223511e-01 5.67386456e-03 -8.02482021e+00] [ 3.05629058e-02 -6.86804565e-03 9.99509249e-01 2.99247355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.080714057 meters Centerline goodness [0,1] 0.9808166497002602 Centerline is valid? [True, True] Translation: X:238.62, Y:-8.02, Z:3.00 [[ 9.98868586e-01 -3.59370084e-02 -3.11460853e-02 2.38621434e+02] [ 3.59992842e-02 9.99350777e-01 1.44085026e-03 -8.01623450e+00] [ 3.10740847e-02 -2.56045684e-03 9.99513804e-01 2.99541474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.110714057 meters Centerline goodness [0,1] 0.9802912292583813 Centerline is valid? [True, True] Translation: X:238.65, Y:-8.02, Z:2.99 [[ 9.98906422e-01 -3.43472041e-02 -3.17211378e-02 2.38650480e+02] [ 3.44109959e-02 9.99406689e-01 1.46713672e-03 -8.02174301e+00] [ 3.16519253e-02 -2.55708823e-03 9.99495681e-01 2.99452433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.140714057 meters Centerline goodness [0,1] 0.9813977668279011 Centerline is valid? [True, True] Translation: X:238.68, Y:-8.02, Z:3.00 [[ 9.98948485e-01 -3.29758813e-02 -3.18514552e-02 2.38680073e+02] [ 3.30394781e-02 9.99452963e-01 1.47228286e-03 -8.01805502e+00] [ 3.17854814e-02 -2.52309019e-03 9.99491529e-01 2.99546211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17071405699997 meters Centerline goodness [0,1] 0.98168240421282 Centerline is valid? [True, True] Translation: X:238.71, Y:-8.02, Z:3.00 [[ 9.99028097e-01 -2.99698217e-02 -3.23213888e-02 2.38709024e+02] [ 3.00337094e-02 9.99547772e-01 1.49285151e-03 -8.01810575e+00] [ 3.22620317e-02 -2.46213180e-03 9.99476413e-01 2.99596155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20071405699997 meters Centerline goodness [0,1] 0.9827496316445653 Centerline is valid? [True, True] Translation: X:238.74, Y:-8.02, Z:3.00 [[ 9.99151738e-01 -2.68332052e-02 -3.12375350e-02 2.38738604e+02] [ 2.68913361e-02 9.99637322e-01 1.44223351e-03 -8.01915137e+00] [ 3.11875061e-02 -2.28102917e-03 9.99510949e-01 2.99640819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23071405699997 meters Centerline goodness [0,1] 0.9829805556814576 Centerline is valid? [True, True] Translation: X:238.77, Y:-8.01, Z:3.00 [[ 9.99217614e-01 -2.52672920e-02 -3.04257127e-02 2.38768415e+02] [ 2.53216984e-02 9.99678368e-01 1.40413704e-03 -8.01463742e+00] [ 3.03804481e-02 -2.17346918e-03 9.99536045e-01 2.99880281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26071405699997 meters Centerline goodness [0,1] 0.9831801157643855 Centerline is valid? [True, True] Translation: X:238.80, Y:-8.02, Z:3.00 [[ 9.99272568e-01 -2.38742938e-02 -2.97380859e-02 2.38797252e+02] [ 2.39256070e-02 9.99712802e-01 1.37082294e-03 -8.01581337e+00] [ 2.96968177e-02 -2.08132751e-03 9.99556785e-01 2.99958111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29071405699997 meters Centerline goodness [0,1] 0.9839240707522536 Centerline is valid? [True, True] Translation: X:238.83, Y:-8.02, Z:3.00 [[ 9.99376376e-01 -2.04690097e-02 -2.87728928e-02 2.38826756e+02] [ 2.05156021e-02 9.99788655e-01 1.32500823e-03 -8.01572352e+00] [ 2.87396901e-02 -1.91447514e-03 9.99585096e-01 3.00075880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32071405699998 meters Centerline goodness [0,1] 0.983752584816052 Centerline is valid? [True, True] Translation: X:238.86, Y:-8.02, Z:3.00 [[ 9.99465318e-01 -1.69119219e-02 -2.79832828e-02 2.38856425e+02] [ 1.69545860e-02 9.99855431e-01 1.28804423e-03 -8.01632851e+00] [ 2.79574540e-02 -1.76180051e-03 9.99607561e-01 3.00047178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35071405699998 meters Centerline goodness [0,1] 0.9843831811869693 Centerline is valid? [True, True] Translation: X:238.89, Y:-8.01, Z:3.00 [[ 9.99492341e-01 -1.49593518e-02 -2.81296540e-02 2.38885992e+02] [ 1.50016714e-02 9.99886631e-01 1.29399796e-03 -8.01433348e+00] [ 2.81071076e-02 -1.71533288e-03 9.99603445e-01 3.00147989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38071405699998 meters Centerline goodness [0,1] 0.9844419134396355 Centerline is valid? [True, True] Translation: X:238.91, Y:-8.02, Z:3.00 [[ 9.99512472e-01 -1.35528307e-02 -2.81272052e-02 2.38914051e+02] [ 1.35945414e-02 9.99906755e-01 1.29222558e-03 -8.01561422e+00] [ 2.81070691e-02 -1.67397203e-03 9.99603517e-01 3.00149399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41071405699998 meters Centerline goodness [0,1] 0.9857041722807097 Centerline is valid? [True, True] Translation: X:238.94, Y:-8.01, Z:3.00 [[ 9.99545395e-01 -1.02241265e-02 -2.83631748e-02 2.38944660e+02] [ 1.02651533e-02 9.99946465e-01 1.30124861e-03 -8.00830784e+00] [ 2.83483522e-02 -1.59180939e-03 9.99596837e-01 3.00350017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44071405699998 meters Centerline goodness [0,1] 0.9875068643602416 Centerline is valid? [True, True] Translation: X:238.97, Y:-8.01, Z:3.00 [[ 9.99601855e-01 -7.86416137e-03 -2.70977242e-02 2.38974921e+02] [ 7.90072206e-03 9.99968017e-01 1.24241323e-03 -8.00603137e+00] [ 2.70870870e-02 -1.45601015e-03 9.99632017e-01 3.00481047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47071405699998 meters Centerline goodness [0,1] 0.9860620024180486 Centerline is valid? [True, True] Translation: X:239.00, Y:-8.01, Z:3.01 [[ 9.99622079e-01 -7.26569416e-03 -2.65124184e-02 2.39002301e+02] [ 7.30044691e-03 9.99972614e-01 1.21425127e-03 -8.00797378e+00] [ 2.65028699e-02 -1.40734488e-03 9.99647747e-01 3.00518586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50071405699998 meters Centerline goodness [0,1] 0.9845131227300761 Centerline is valid? [True, True] Translation: X:239.03, Y:-8.02, Z:3.00 [[ 9.99652249e-01 -5.90335253e-03 -2.57008139e-02 2.39029659e+02] [ 5.93550172e-03 9.99981695e-01 1.17479481e-03 -8.01951732e+00] [ 2.56934082e-02 -1.32693350e-03 9.99668989e-01 3.00365874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53071405699998 meters Centerline goodness [0,1] 0.9861786946291092 Centerline is valid? [True, True] Translation: X:239.06, Y:-8.01, Z:3.01 [[ 9.99654744e-01 -5.63275481e-03 -2.56644854e-02 2.39059104e+02] [ 5.66462039e-03 9.99983273e-01 1.16908856e-03 -8.01113899e+00] [ 2.56574709e-02 -1.31406449e-03 9.99669929e-01 3.00631755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56071405699998 meters Centerline goodness [0,1] 0.9869572169304918 Centerline is valid? [True, True] Translation: X:239.09, Y:-8.01, Z:3.01 [[ 9.99631005e-01 -4.93492314e-03 -2.67114406e-02 2.39087605e+02] [ 4.96901187e-03 9.99986922e-01 1.20995819e-03 -8.01258364e+00] [ 2.67051202e-02 -1.34224118e-03 9.99642454e-01 3.00607302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59071405699999 meters Centerline goodness [0,1] 0.9857987625288248 Centerline is valid? [True, True] Translation: X:239.12, Y:-8.02, Z:3.00 [[ 9.99607475e-01 -2.97936610e-03 -2.78571328e-02 2.39115015e+02] [ 3.01554610e-03 9.99994663e-01 1.25684972e-03 -8.01944433e+00] [ 2.78532395e-02 -1.34036084e-03 9.99611125e-01 3.00433536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.620714057 meters Centerline goodness [0,1] 0.9865823705994724 Centerline is valid? [True, True] Translation: X:239.14, Y:-8.02, Z:3.01 [[ 9.99602161e-01 -1.72773613e-03 -2.81519861e-02 2.39143554e+02] [ 1.76406237e-03 9.99997643e-01 1.26557698e-03 -8.01554934e+00] [ 2.81497332e-02 -1.31473535e-03 9.99602853e-01 3.00591589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.650714057 meters Centerline goodness [0,1] 0.9859953545566335 Centerline is valid? [True, True] Translation: X:239.17, Y:-8.02, Z:3.01 [[ 9.99604889e-01 1.46343848e-03 -2.80699798e-02 2.39172381e+02] [-1.42869324e-03 9.99998188e-01 1.25782331e-03 -8.02113410e+00] [ 2.80717697e-02 -1.21722294e-03 9.99605169e-01 3.00548880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.680714057 meters Centerline goodness [0,1] 0.9873634660207486 Centerline is valid? [True, True] Translation: X:239.20, Y:-8.01, Z:3.01 [[ 9.99608462e-01 2.83330498e-03 -2.78369486e-02 2.39201637e+02] [-2.79976888e-03 9.99995307e-01 1.24363567e-03 -8.01462263e+00] [ 2.78403416e-02 -1.16521171e-03 9.99611703e-01 3.00860226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.710714057 meters Centerline goodness [0,1] 0.9874705626814825 Centerline is valid? [True, True] Translation: X:239.23, Y:-8.01, Z:3.01 [[ 9.99587806e-01 6.95695701e-03 -2.78535419e-02 2.39231767e+02] [-6.92509833e-03 9.99975252e-01 1.24009373e-03 -8.01320695e+00] [ 2.78614799e-02 -1.04669405e-03 9.99611246e-01 3.01011376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.740714057 meters Centerline goodness [0,1] 0.9873339582523606 Centerline is valid? [True, True] Translation: X:239.26, Y:-8.01, Z:3.01 [[ 9.99574735e-01 9.72639516e-03 -2.74908339e-02 2.39259182e+02] [-9.69646876e-03 9.99952242e-01 1.22169647e-03 -8.01495632e+00] [ 2.75014037e-02 -9.54612912e-04 9.99621309e-01 3.01022541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.770714057 meters Centerline goodness [0,1] 0.9882750897081343 Centerline is valid? [True, True] Translation: X:239.29, Y:-8.02, Z:3.01 [[ 9.99514215e-01 1.48415125e-02 -2.74055338e-02 2.39289449e+02] [-1.48137488e-02 9.99889531e-01 1.21582990e-03 -8.01583730e+00] [ 2.74205511e-02 -8.09260573e-04 9.99623658e-01 3.01071258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.800714057 meters Centerline goodness [0,1] 0.9883078328385476 Centerline is valid? [True, True] Translation: X:239.32, Y:-8.02, Z:3.01 [[ 9.99495668e-01 1.61243781e-02 -2.73571597e-02 2.39318607e+02] [-1.60972788e-02 9.99869698e-01 1.21052745e-03 -8.01746001e+00] [ 2.73731140e-02 -7.69541119e-04 9.99624990e-01 3.01124048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.830714057 meters Centerline goodness [0,1] 0.9892228120941466 Centerline is valid? [True, True] Translation: X:239.35, Y:-8.02, Z:3.01 [[ 9.99445647e-01 1.82813334e-02 -2.78242870e-02 2.39346953e+02] [-1.82543248e-02 9.99832626e-01 1.22440169e-03 -8.02021326e+00] [ 2.78420137e-02 -7.15809362e-04 9.99612080e-01 3.01140077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.860714057 meters Centerline goodness [0,1] 0.9896498267371877 Centerline is valid? [True, True] Translation: X:239.37, Y:-8.02, Z:3.01 [[ 9.99440379e-01 1.84066494e-02 -2.79307153e-02 2.39374178e+02] [-1.83796347e-02 9.99830331e-01 1.22364363e-03 -8.02412495e+00] [ 2.79484995e-02 -7.09602510e-04 9.99609113e-01 3.01149468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.890714057 meters Centerline goodness [0,1] 0.9893061483970574 Centerline is valid? [True, True] Translation: X:239.40, Y:-8.03, Z:3.01 [[ 9.99445203e-01 1.78413079e-02 -2.81242701e-02 2.39403080e+02] [-1.78138411e-02 9.99840568e-01 1.22689027e-03 -8.03091636e+00] [ 2.81416756e-02 -7.25208316e-04 9.99603682e-01 3.01177159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92071405699997 meters Centerline goodness [0,1] 0.9895257096218373 Centerline is valid? [True, True] Translation: X:239.43, Y:-8.04, Z:3.01 [[ 9.99463854e-01 1.70597587e-02 -2.79458431e-02 2.39431291e+02] [-1.70325307e-02 9.99854201e-01 1.21208147e-03 -8.03543036e+00] [ 2.79624464e-02 -7.35443188e-04 9.99608704e-01 3.01217531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95071405699997 meters Centerline goodness [0,1] 0.9895062984824841 Centerline is valid? [True, True] Translation: X:239.46, Y:-8.04, Z:3.01 [[ 9.99475748e-01 1.64031041e-02 -2.79135805e-02 2.39459130e+02] [-1.63758201e-02 9.99865180e-01 1.20577807e-03 -8.04041461e+00] [ 2.79295957e-02 -7.48038164e-04 9.99609613e-01 3.01260989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98071405699997 meters Centerline goodness [0,1] 0.9891989605694271 Centerline is valid? [True, True] Translation: X:239.49, Y:-8.05, Z:3.01 [[ 9.99482130e-01 1.48797435e-02 -2.85318261e-02 2.39487188e+02] [-1.48507535e-02 9.99888968e-01 1.22770227e-03 -8.04765706e+00] [ 2.85469260e-02 -8.03347367e-04 9.99592131e-01 3.01296112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01071405699997 meters Centerline goodness [0,1] 0.9901680653362431 Centerline is valid? [True, True] Translation: X:239.52, Y:-8.05, Z:3.01 [[ 9.99512693e-01 1.39964241e-02 -2.79011952e-02 2.39515743e+02] [-1.39685530e-02 9.99901723e-01 1.19358993e-03 -8.05414697e+00] [ 2.79151591e-02 -8.03268959e-04 9.99609973e-01 3.01377136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04071405699997 meters Centerline goodness [0,1] 0.9899242066437263 Centerline is valid? [True, True] Translation: X:239.54, Y:-8.06, Z:3.01 [[ 9.99526083e-01 1.35217009e-02 -2.76545181e-02 2.39543103e+02] [-1.34942754e-02 9.99908254e-01 1.17811148e-03 -8.06043395e+00] [ 2.76679110e-02 -8.04375471e-04 9.99616846e-01 3.01348962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07071405699998 meters Centerline goodness [0,1] 0.9899118972358598 Centerline is valid? [True, True] Translation: X:239.57, Y:-8.07, Z:3.02 [[ 9.99558063e-01 1.19146973e-02 -2.72345289e-02 2.39571769e+02] [-1.18876240e-02 9.99928672e-01 1.15577639e-03 -8.06674422e+00] [ 2.72463570e-02 -8.31511767e-04 9.99628403e-01 3.01510935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10071405699998 meters Centerline goodness [0,1] 0.9902960489455638 Centerline is valid? [True, True] Translation: X:239.60, Y:-8.07, Z:3.02 [[ 9.99569882e-01 1.11179271e-02 -2.71374748e-02 2.39599106e+02] [-1.10908839e-02 9.99937837e-01 1.14684312e-03 -8.07169874e+00] [ 2.71485384e-02 -8.45371260e-04 9.99631053e-01 3.01565998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13071405699998 meters Centerline goodness [0,1] 0.9893334523464173 Centerline is valid? [True, True] Translation: X:239.63, Y:-8.08, Z:3.01 [[ 9.99582411e-01 8.68250018e-03 -2.75611796e-02 2.39626563e+02] [-8.65374872e-03 9.99961880e-01 1.16229400e-03 -8.08001131e+00] [ 2.75702206e-02 -9.23301118e-04 9.99619443e-01 3.01470061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16071405699998 meters Centerline goodness [0,1] 0.9903228683553336 Centerline is valid? [True, True] Translation: X:239.66, Y:-8.08, Z:3.02 [[ 9.99586870e-01 7.22610801e-03 -2.78185742e-02 2.39655262e+02] [-7.19637955e-03 9.99973423e-01 1.16862391e-03 -8.08349257e+00] [ 2.78262794e-02 -9.67948098e-04 9.99612305e-01 3.01528054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19071405699998 meters Centerline goodness [0,1] 0.9899039100208121 Centerline is valid? [True, True] Translation: X:239.68, Y:-8.09, Z:3.01 [[ 9.99588290e-01 2.94745747e-03 -2.85405583e-02 2.39684595e+02] [-2.91453839e-03 9.99995039e-01 1.19494516e-03 -8.09312774e+00] [ 2.85439388e-02 -1.11127063e-03 9.99591921e-01 3.01460757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22071405699998 meters Centerline goodness [0,1] 0.9884810014204546 Centerline is valid? [True, True] Translation: X:239.71, Y:-8.10, Z:3.01 [[ 9.99581459e-01 1.25476992e-04 -2.89290652e-02 2.39712872e+02] [-9.05044278e-05 9.99999264e-01 1.21021373e-03 -8.10176569e+00] [ 2.89291958e-02 -1.20708900e-03 9.99580734e-01 3.01329252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25071405699998 meters Centerline goodness [0,1] 0.9879555417792144 Centerline is valid? [True, True] Translation: X:239.74, Y:-8.11, Z:3.02 [[ 9.99568033e-01 -4.89112781e-03 -2.89797112e-02 2.39743042e+02] [ 4.92829701e-03 9.99987122e-01 1.21130720e-03 -8.10623138e+00] [ 2.89734133e-02 -1.35360458e-03 9.99579266e-01 3.01551086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28071405699998 meters Centerline goodness [0,1] 0.9882157859827548 Centerline is valid? [True, True] Translation: X:239.77, Y:-8.11, Z:3.02 [[ 9.99554950e-01 -7.31699430e-03 -2.89199461e-02 2.39771472e+02] [ 7.35499389e-03 9.99972222e-01 1.20779962e-03 -8.11182441e+00] [ 2.89103053e-02 -1.41996812e-03 9.99581001e-01 3.01605757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31071405699998 meters Centerline goodness [0,1] 0.9864549892255596 Centerline is valid? [True, True] Translation: X:239.80, Y:-8.12, Z:3.02 [[ 9.99534021e-01 -1.05639620e-02 -2.86381599e-02 2.39800034e+02] [ 1.06025106e-02 9.99943078e-01 1.19453730e-03 -8.12045858e+00] [ 2.86239107e-02 -1.49761706e-03 9.99589130e-01 3.01667160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34071405699999 meters Centerline goodness [0,1] 0.9854189575544315 Centerline is valid? [True, True] Translation: X:239.83, Y:-8.12, Z:3.02 [[ 9.99519347e-01 -1.21354131e-02 -2.85273138e-02 2.39828663e+02] [ 1.21741839e-02 9.99925189e-01 1.18577940e-03 -8.12296303e+00] [ 2.85107897e-02 -1.53250621e-03 9.99592310e-01 3.01752713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.370714057 meters Centerline goodness [0,1] 0.9844000968118111 Centerline is valid? [True, True] Translation: X:239.86, Y:-8.13, Z:3.02 [[ 9.99513465e-01 -1.37808327e-02 -2.79807577e-02 2.39855897e+02] [ 1.38186421e-02 9.99903847e-01 1.15833658e-03 -8.12922123e+00] [ 2.79621045e-02 -1.54442908e-03 9.99607791e-01 3.01814427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.400714057 meters Centerline goodness [0,1] 0.9839209225700165 Centerline is valid? [True, True] Translation: X:239.88, Y:-8.13, Z:3.02 [[ 9.99537874e-01 -1.41930399e-02 -2.68811476e-02 2.39882950e+02] [ 1.42280108e-02 9.99898160e-01 1.11011535e-03 -8.13422285e+00] [ 2.68626541e-02 -1.49206759e-03 9.99638020e-01 3.01882901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.430714057 meters Centerline goodness [0,1] 0.9853435584170164 Centerline is valid? [True, True] Translation: X:239.91, Y:-8.13, Z:3.02 [[ 9.99536119e-01 -1.42852840e-02 -2.68975449e-02 2.39910476e+02] [ 1.43201901e-02 9.99896850e-01 1.10555615e-03 -8.13247427e+00] [ 2.68789772e-02 -1.49022126e-03 9.99637584e-01 3.02010964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.460714057 meters Centerline goodness [0,1] 0.9851579850040678 Centerline is valid? [True, True] Translation: X:239.94, Y:-8.13, Z:3.02 [[ 9.99529402e-01 -1.39850236e-02 -2.73019009e-02 2.39939456e+02] [ 1.40206731e-02 9.99901084e-01 1.11474682e-03 -8.13303465e+00] [ 2.72836105e-02 -1.49701325e-03 9.99626612e-01 3.02054742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.490714057 meters Centerline goodness [0,1] 0.9855419043440106 Centerline is valid? [True, True] Translation: X:239.97, Y:-8.13, Z:3.02 [[ 9.99536590e-01 -1.27363213e-02 -2.76476183e-02 2.39968349e+02] [ 1.27722112e-02 9.99917803e-01 1.12190747e-03 -8.13390453e+00] [ 2.76310568e-02 -1.47450878e-03 9.99617102e-01 3.02113270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.520714057 meters Centerline goodness [0,1] 0.9841732611411912 Centerline is valid? [True, True] Translation: X:240.00, Y:-8.14, Z:3.02 [[ 9.99565594e-01 -1.13331745e-02 -2.72062888e-02 2.39996214e+02] [ 1.13672805e-02 9.99934786e-01 1.09927308e-03 -8.13813920e+00] [ 2.71920563e-02 -1.40805706e-03 9.99629236e-01 3.02141371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.550714057 meters Centerline goodness [0,1] 0.9840889611673955 Centerline is valid? [True, True] Translation: X:240.02, Y:-8.14, Z:3.02 [[ 9.99575779e-01 -1.06716637e-02 -2.70993857e-02 2.40024596e+02] [ 1.07051423e-02 9.99942104e-01 1.09061790e-03 -8.13814154e+00] [ 2.70861780e-02 -1.38025801e-03 9.99632149e-01 3.02191786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.580714057 meters Centerline goodness [0,1] 0.9845046310521927 Centerline is valid? [True, True] Translation: X:240.05, Y:-8.14, Z:3.02 [[ 9.99599835e-01 -8.83156595e-03 -2.68732776e-02 2.40052762e+02] [ 8.86370509e-03 9.99960137e-01 1.07706447e-03 -8.14496074e+00] [ 2.68626941e-02 -1.31483027e-03 9.99638268e-01 3.02050990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.610714057 meters Centerline goodness [0,1] 0.9851434088963988 Centerline is valid? [True, True] Translation: X:240.08, Y:-8.14, Z:3.02 [[ 9.99605515e-01 -8.11329120e-03 -2.68884645e-02 2.40081903e+02] [ 8.14510081e-03 9.99966252e-01 1.07370577e-03 -8.13912751e+00] [ 2.68788457e-02 -1.29229146e-03 9.99637863e-01 3.02223420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.640714057 meters Centerline goodness [0,1] 0.9862221540753072 Centerline is valid? [True, True] Translation: X:240.11, Y:-8.13, Z:3.02 [[ 9.99600181e-01 -7.26595312e-03 -2.73255294e-02 2.40110573e+02] [ 7.29830330e-03 9.99972779e-01 1.08433288e-03 -8.13461928e+00] [ 2.73169069e-02 -1.28332934e-03 9.99626000e-01 3.02368641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67071405699997 meters Centerline goodness [0,1] 0.9857516081582471 Centerline is valid? [True, True] Translation: X:240.14, Y:-8.14, Z:3.02 [[ 9.99602326e-01 -7.14162890e-03 -2.72797931e-02 2.40138902e+02] [ 7.17363694e-03 9.99973691e-01 1.07563732e-03 -8.13550754e+00] [ 2.72713936e-02 -1.27090490e-03 9.99627258e-01 3.02431713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70071405699997 meters Centerline goodness [0,1] 0.9862682100259672 Centerline is valid? [True, True] Translation: X:240.17, Y:-8.14, Z:3.03 [[ 9.99621094e-01 -6.80757230e-03 -2.66706966e-02 2.40166718e+02] [ 6.83790841e-03 9.99976074e-01 1.04639396e-03 -8.13751498e+00] [ 2.66629351e-02 -1.22836925e-03 9.99643726e-01 3.02546809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73071405699997 meters Centerline goodness [0,1] 0.9862682100259672 Centerline is valid? [True, True] Translation: X:240.19, Y:-8.14, Z:3.03 [[ 9.99619107e-01 -7.09251791e-03 -2.66709051e-02 2.40194127e+02] [ 7.12281315e-03 9.99974091e-01 1.04105821e-03 -8.13851590e+00] [ 2.66628303e-02 -1.23063355e-03 9.99643726e-01 3.02587597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76071405699997 meters Centerline goodness [0,1] 0.9855859023093319 Centerline is valid? [True, True] Translation: X:240.22, Y:-8.14, Z:3.03 [[ 9.99614737e-01 -7.67962161e-03 -2.66720925e-02 2.40223118e+02] [ 7.70993687e-03 9.99969743e-01 1.03393701e-03 -8.13967988e+00] [ 2.66633452e-02 -1.23917882e-03 9.99643702e-01 3.02675178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79071405699997 meters Centerline goodness [0,1] 0.9856649737264472 Centerline is valid? [True, True] Translation: X:240.25, Y:-8.14, Z:3.03 [[ 9.99605847e-01 -8.09840294e-03 -2.68805795e-02 2.40252373e+02] [ 8.12916438e-03 9.99966422e-01 1.03529139e-03 -8.13865057e+00] [ 2.68712927e-02 -1.25339997e-03 9.99638116e-01 3.02847282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82071405699998 meters Centerline goodness [0,1] 0.9866033316551015 Centerline is valid? [True, True] Translation: X:240.28, Y:-8.14, Z:3.03 [[ 9.99610287e-01 -8.56316838e-03 -2.65696431e-02 2.40279919e+02] [ 8.59326036e-03 9.99962558e-01 1.01859457e-03 -8.14221863e+00] [ 2.65599259e-02 -1.24651747e-03 9.99646446e-01 3.02836467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85071405699998 meters Centerline goodness [0,1] 0.9858224727016555 Centerline is valid? [True, True] Translation: X:240.31, Y:-8.15, Z:3.03 [[ 9.99603647e-01 -1.04845845e-02 -2.61270478e-02 2.40307987e+02] [ 1.05142825e-02 9.99944224e-01 9.99553334e-04 -8.14522600e+00] [ 2.61151106e-02 -1.27386432e-03 9.99658131e-01 3.02913221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88071405699998 meters Centerline goodness [0,1] 0.9845802398629354 Centerline is valid? [True, True] Translation: X:240.34, Y:-8.14, Z:3.03 [[ 9.99565679e-01 -1.35753681e-02 -2.61565111e-02 2.40337735e+02] [ 1.36061509e-02 9.99906933e-01 9.99246047e-04 -8.14364464e+00] [ 2.61405117e-02 -1.35470149e-03 9.99657361e-01 3.03054097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91071405699998 meters Centerline goodness [0,1] 0.9858308948097951 Centerline is valid? [True, True] Translation: X:240.37, Y:-8.15, Z:3.03 [[ 9.99544290e-01 -1.53175591e-02 -2.60112348e-02 2.40365774e+02] [ 1.53485542e-02 9.99881712e-01 9.92360143e-04 -8.14952825e+00] [ 2.59929574e-02 -1.39114276e-03 9.99661158e-01 3.03052970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94071405699998 meters Centerline goodness [0,1] 0.9851120958763562 Centerline is valid? [True, True] Translation: X:240.40, Y:-8.15, Z:3.03 [[ 9.99527553e-01 -1.72108321e-02 -2.54648554e-02 2.40395742e+02] [ 1.72411146e-02 9.99850890e-01 9.70093785e-04 -8.14866889e+00] [ 2.54443622e-02 -1.40867796e-03 9.99675247e-01 3.03207339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97071405699998 meters Centerline goodness [0,1] 0.9854252964253621 Centerline is valid? [True, True] Translation: X:240.42, Y:-8.15, Z:3.03 [[ 9.99473580e-01 -2.09678143e-02 -2.47570960e-02 2.40424476e+02] [ 2.09975683e-02 9.99779083e-01 9.42461271e-04 -8.15264784e+00] [ 2.47318654e-02 -1.46180395e-03 9.99693052e-01 3.03341254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00071405699998 meters Centerline goodness [0,1] 0.9840975524628071 Centerline is valid? [True, True] Translation: X:240.45, Y:-8.16, Z:3.03 [[ 9.99455834e-01 -2.26833226e-02 -2.39479005e-02 2.40452673e+02] [ 2.27116364e-02 9.99741642e-01 9.10952284e-04 -8.15717168e+00] [ 2.39210500e-02 -1.45435259e-03 9.99712793e-01 3.03360327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03071405699998 meters Centerline goodness [0,1] 0.9848481521333362 Centerline is valid? [True, True] Translation: X:240.48, Y:-8.16, Z:3.04 [[ 9.99407754e-01 -2.61370039e-02 -2.23829748e-02 2.40482952e+02] [ 2.61625805e-02 9.99657339e-01 8.50560154e-04 -8.15557669e+00] [ 2.23530740e-02 -1.43565279e-03 9.99749108e-01 3.03615048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06071405699998 meters Centerline goodness [0,1] 0.9836033188463058 Centerline is valid? [True, True] Translation: X:240.51, Y:-8.16, Z:3.04 [[ 9.99362104e-01 -2.88886835e-02 -2.09959287e-02 2.40512488e+02] [ 2.89117847e-02 9.99581649e-01 7.97492785e-04 -8.15918140e+00] [ 2.09641065e-02 -1.40401384e-03 9.99779243e-01 3.03704955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09071405699999 meters Centerline goodness [0,1] 0.9833304088436567 Centerline is valid? [True, True] Translation: X:240.54, Y:-8.16, Z:3.04 [[ 9.99311291e-01 -3.03744398e-02 -2.13151634e-02 2.40543277e+02] [ 3.03985797e-02 9.99537529e-01 8.09350305e-04 -8.16108139e+00] [ 2.12807222e-02 -1.45674359e-03 9.99772478e-01 3.03701018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.120714057 meters Centerline goodness [0,1] 0.982675923695219 Centerline is valid? [True, True] Translation: X:240.57, Y:-8.16, Z:3.04 [[ 9.99208109e-01 -3.33485401e-02 -2.17032092e-02 2.40573619e+02] [ 3.33742624e-02 9.99442584e-01 8.23960678e-04 -8.15982603e+00] [ 2.16636336e-02 -1.54763679e-03 9.99764118e-01 3.03670501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.150714057 meters Centerline goodness [0,1] 0.9825976137637055 Centerline is valid? [True, True] Translation: X:240.61, Y:-8.16, Z:3.04 [[ 9.99149922e-01 -3.48736031e-02 -2.19833149e-02 2.40605047e+02] [ 3.49003609e-02 9.99390448e-01 8.34585046e-04 -8.15954126e+00] [ 2.19408099e-02 -1.60110121e-03 9.99757989e-01 3.03649360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.180714057 meters Centerline goodness [0,1] 0.9819778188539742 Centerline is valid? [True, True] Translation: X:240.63, Y:-8.16, Z:3.04 [[ 9.99019316e-01 -3.87218109e-02 -2.14715700e-02 2.40634671e+02] [ 3.87482299e-02 9.99248673e-01 8.15589160e-04 -8.16442895e+00] [ 2.14238568e-02 -1.64677466e-03 9.99769127e-01 3.03584312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.210714057 meters Centerline goodness [0,1] 0.9809842666141491 Centerline is valid? [True, True] Translation: X:240.67, Y:-8.17, Z:3.04 [[ 9.98892798e-01 -4.21378749e-02 -2.09183375e-02 2.40665483e+02] [ 4.21636899e-02 9.99110400e-01 7.94383542e-04 -8.16578962e+00] [ 2.08662549e-02 -1.67549829e-03 9.99780872e-01 3.03634847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.240714057 meters Centerline goodness [0,1] 0.9803003533568905 Centerline is valid? [True, True] Translation: X:240.70, Y:-8.16, Z:3.04 [[ 9.98800708e-01 -4.41042822e-02 -2.12592870e-02 2.40696308e+02] [ 4.41313919e-02 9.99025409e-01 8.07504730e-04 -8.16412063e+00] [ 2.12029535e-02 -1.74473822e-03 9.99773670e-01 3.03706509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.270714057 meters Centerline goodness [0,1] 0.980583596562921 Centerline is valid? [True, True] Translation: X:240.73, Y:-8.17, Z:3.04 [[ 9.98727552e-01 -4.55316406e-02 -2.16828657e-02 2.40727903e+02] [ 4.55601871e-02 9.98961256e-01 8.24119301e-04 -8.16507629e+00] [ 2.16228192e-02 -1.81094607e-03 9.99764559e-01 3.03717576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.300714057 meters Centerline goodness [0,1] 0.9792765553618327 Centerline is valid? [True, True] Translation: X:240.76, Y:-8.17, Z:3.04 [[ 9.98583182e-01 -4.79949035e-02 -2.29808232e-02 2.40757427e+02] [ 4.80276316e-02 9.98845625e-01 8.74023551e-04 -8.16581039e+00] [ 2.29123461e-02 -1.97649973e-03 9.99735524e-01 3.03679842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.330714057 meters Centerline goodness [0,1] 0.9687217182085072 Centerline is valid? [True, True] Translation: X:240.79, Y:-8.18, Z:3.04 [[ 9.98542474e-01 -4.89821034e-02 -2.26645315e-02 2.40788045e+02] [ 4.90141984e-02 9.98797710e-01 8.62414630e-04 -8.17817147e+00] [ 2.25950393e-02 -1.97204148e-03 9.99742755e-01 3.03600203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.360714057 meters Centerline goodness [0,1] 0.9772742389641488 Centerline is valid? [True, True] Translation: X:240.82, Y:-8.17, Z:3.04 [[ 9.98434957e-01 -5.07484212e-02 -2.34996500e-02 2.40819524e+02] [ 5.07834341e-02 9.98709288e-01 8.95172051e-04 -8.16809421e+00] [ 2.34238902e-02 -2.08716400e-03 9.99723444e-01 3.03705462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.390714057 meters Centerline goodness [0,1] 0.9772223699370735 Centerline is valid? [True, True] Translation: X:240.85, Y:-8.17, Z:3.04 [[ 9.98413536e-01 -5.12669481e-02 -2.32832883e-02 2.40852063e+02] [ 5.13014788e-02 9.98682818e-01 8.87788958e-04 -8.16761902e+00] [ 2.32071058e-02 -2.08084763e-03 9.99728513e-01 3.03734621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42071405699997 meters Centerline goodness [0,1] 0.9507898473553426 Centerline is valid? [True, True] Translation: X:240.88, Y:-8.18, Z:3.04 [[ 9.98382484e-01 -5.19810603e-02 -2.30300967e-02 2.40882568e+02] [ 5.20150793e-02 9.98645912e-01 8.80182208e-04 -8.17619753e+00] [ 2.29531591e-02 -2.07667081e-03 9.99734385e-01 3.03757761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45071405699997 meters Centerline goodness [0,1] 0.9748146168748747 Centerline is valid? [True, True] Translation: X:240.92, Y:-8.17, Z:3.04 [[ 9.98385648e-01 -5.21219960e-02 -2.25698033e-02 2.40915382e+02] [ 5.21547564e-02 9.98638640e-01 8.64916339e-04 -8.16738463e+00] [ 2.24939965e-02 -2.04064265e-03 9.99744895e-01 3.03931132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48071405699997 meters Centerline goodness [0,1] 0.971259790256206 Centerline is valid? [True, True] Translation: X:240.95, Y:-8.17, Z:3.04 [[ 9.98381915e-01 -5.22182661e-02 -2.25123157e-02 2.40946875e+02] [ 5.22509258e-02 9.98633613e-01 8.64579519e-04 -8.16681763e+00] [ 2.24364083e-02 -2.03946989e-03 9.99746192e-01 3.03987068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51071405699997 meters Centerline goodness [0,1] 0.9736074300095771 Centerline is valid? [True, True] Translation: X:240.98, Y:-8.17, Z:3.04 [[ 9.98327242e-01 -5.31286597e-02 -2.28049041e-02 2.40979358e+02] [ 5.31624594e-02 9.98585491e-01 8.77999269e-04 -8.16503175e+00] [ 2.27259995e-02 -2.08889538e-03 9.99739549e-01 3.04052510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54071405699997 meters Centerline goodness [0,1] 0.9696813977389517 Centerline is valid? [True, True] Translation: X:241.01, Y:-8.17, Z:3.04 [[ 9.98283287e-01 -5.39329870e-02 -2.28410233e-02 2.41011474e+02] [ 5.39671385e-02 9.98542324e-01 8.80970088e-04 -8.16571378e+00] [ 2.27602151e-02 -2.11212238e-03 9.99738722e-01 3.04093760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57071405699998 meters Centerline goodness [0,1] 0.9654694898597338 Centerline is valid? [True, True] Translation: X:241.04, Y:-8.17, Z:3.04 [[ 9.98215001e-01 -5.50956568e-02 -2.30495030e-02 2.41043015e+02] [ 5.51307721e-02 9.98478746e-01 8.90323222e-04 -8.16696227e+00] [ 2.29653859e-02 -2.15947089e-03 9.99733928e-01 3.04125294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60071405699998 meters Centerline goodness [0,1] 0.9752750317988084 Centerline is valid? [True, True] Translation: X:241.07, Y:-8.16, Z:3.04 [[ 9.98085076e-01 -5.74144038e-02 -2.30166777e-02 2.41074515e+02] [ 5.74500449e-02 9.98347986e-01 8.89702959e-04 -8.16077690e+00] [ 2.29275720e-02 -2.21030841e-03 9.99734685e-01 3.04256867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63071405699998 meters Centerline goodness [0,1] 0.9755301794453507 Centerline is valid? [True, True] Translation: X:241.11, Y:-8.16, Z:3.04 [[ 9.97960241e-01 -5.94655604e-02 -2.32207739e-02 2.41105307e+02] [ 5.95023959e-02 9.98227759e-01 8.98003138e-04 -8.15945001e+00] [ 2.31262208e-02 -2.27786311e-03 9.99729958e-01 3.04252644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66071405699998 meters Centerline goodness [0,1] 0.9741075018989321 Centerline is valid? [True, True] Translation: X:241.14, Y:-8.16, Z:3.04 [[ 9.97902701e-01 -6.02325000e-02 -2.37117176e-02 2.41136298e+02] [ 6.02711424e-02 9.98181620e-01 9.17745133e-04 -8.16098087e+00] [ 2.36133226e-02 -2.34495265e-03 9.99718416e-01 3.04246914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69071405699998 meters Centerline goodness [0,1] 0.9727017262143718 Centerline is valid? [True, True] Translation: X:241.17, Y:-8.16, Z:3.04 [[ 9.97828579e-01 -6.12353923e-02 -2.42560042e-02 2.41168749e+02] [ 6.12761592e-02 9.98120408e-01 9.40307904e-04 -8.16131258e+00] [ 2.41528327e-02 -2.42458087e-03 9.99705338e-01 3.04182557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72071405699998 meters Centerline goodness [0,1] 0.9606789377043307 Centerline is valid? [True, True] Translation: X:241.20, Y:-8.17, Z:3.04 [[ 9.97819681e-01 -6.13825323e-02 -2.42501221e-02 2.41199279e+02] [ 6.14233761e-02 9.98111357e-01 9.42301019e-04 -8.16587401e+00] [ 2.41464814e-02 -2.42977087e-03 9.99705478e-01 3.04172764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75071405699998 meters Centerline goodness [0,1] 0.9771565638450502 Centerline is valid? [True, True] Translation: X:241.23, Y:-8.16, Z:3.04 [[ 9.97824475e-01 -6.11268741e-02 -2.46945700e-02 2.41232240e+02] [ 6.11692153e-02 9.98126947e-01 9.62156873e-04 -8.15742330e+00] [ 2.45895021e-02 -2.47061115e-03 9.99694580e-01 3.04320808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78071405699998 meters Centerline goodness [0,1] 0.9641313839195755 Centerline is valid? [True, True] Translation: X:241.26, Y:-8.16, Z:3.04 [[ 9.97840247e-01 -6.09416098e-02 -2.45145142e-02 2.41262847e+02] [ 6.09833193e-02 9.98138327e-01 9.56737277e-04 -8.16456484e+00] [ 2.44105711e-02 -2.44964741e-03 9.99699016e-01 3.04315244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81071405699998 meters Centerline goodness [0,1] 0.9730953768889288 Centerline is valid? [True, True] Translation: X:241.30, Y:-8.16, Z:3.05 [[ 9.97854781e-01 -6.07845802e-02 -2.43119494e-02 2.41295144e+02] [ 6.08255927e-02 9.98147957e-01 9.50311601e-04 -8.16005958e+00] [ 2.42091584e-02 -2.42706171e-03 9.99703969e-01 3.04520070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84071405699999 meters Centerline goodness [0,1] 0.9568136902623069 Centerline is valid? [True, True] Translation: X:241.33, Y:-8.17, Z:3.05 [[ 9.97862478e-01 -6.06656857e-02 -2.42929800e-02 2.41327320e+02] [ 6.07066457e-02 9.98155197e-01 9.51488633e-04 -8.16641903e+00] [ 2.41904416e-02 -2.42420014e-03 9.99704429e-01 3.04558254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.870714057 meters Centerline goodness [0,1] 0.9539864955506864 Centerline is valid? [True, True] Translation: X:241.36, Y:-8.17, Z:3.05 [[ 9.97881380e-01 -6.06902547e-02 -2.34402377e-02 2.41359162e+02] [ 6.07284393e-02 9.98153901e-01 9.19970745e-04 -8.16734188e+00] [ 2.33411314e-02 -2.34151073e-03 9.99724817e-01 3.04581375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.900714057 meters Centerline goodness [0,1] 0.9773833830689492 Centerline is valid? [True, True] Translation: X:241.39, Y:-8.16, Z:3.05 [[ 9.97863493e-01 -6.10307939e-02 -2.33171827e-02 2.41391257e+02] [ 6.10687050e-02 9.98133144e-01 9.16626488e-04 -8.15842979e+00] [ 2.32177104e-02 -2.33861826e-03 9.99727697e-01 3.04683603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.930714057 meters Centerline goodness [0,1] 0.9700717289141726 Centerline is valid? [True, True] Translation: X:241.42, Y:-8.16, Z:3.05 [[ 9.97844949e-01 -6.12006618e-02 -2.36629783e-02 2.41422322e+02] [ 6.12397842e-02 9.98122648e-01 9.31528579e-04 -8.16392880e+00] [ 2.35615444e-02 -2.37863677e-03 9.99719559e-01 3.04631937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.960714057 meters Centerline goodness [0,1] 0.9170155300472653 Centerline is valid? [True, False] Translation: X:241.42, Y:-8.16, Z:3.05 [[ 9.97850530e-01 -6.10164655e-02 -2.39021089e-02 2.41423069e+02] [ 6.10577063e-02 9.98133738e-01 9.98729941e-04 -8.16359475e+00] [ 2.37965623e-02 -2.45599114e-03 9.99713805e-01 3.04597535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.990714057 meters Centerline goodness [0,1] 0.9237695347583977 Centerline is valid? [False, False] Translation: X:241.42, Y:-8.16, Z:3.05 [[ 9.97850762e-01 -6.09022280e-02 -2.41821227e-02 2.41423881e+02] [ 6.09448001e-02 9.98140610e-01 1.02672014e-03 -8.16313112e+00] [ 2.40746292e-02 -2.49828811e-03 9.99707042e-01 3.04560842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.020714057 meters Centerline goodness [0,1] 0.9744345010567972 Centerline is valid? [False, True] Translation: X:241.42, Y:-8.16, Z:3.05 [[ 9.98032250e-01 -5.78077192e-02 -2.42877617e-02 2.41423590e+02] [ 5.79408083e-02 9.98308425e-01 4.81156615e-03 -8.16415883e+00] [ 2.39685315e-02 -6.20935074e-03 9.99693430e-01 3.04521475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.050714057 meters Centerline goodness [0,1] 0.9719500134855704 Centerline is valid? [True, True] Translation: X:241.45, Y:-8.16, Z:3.05 [[ 9.98091066e-01 -5.67916239e-02 -2.42679893e-02 2.41453772e+02] [ 5.68332211e-02 9.98383158e-01 1.02725652e-03 -8.16493354e+00] [ 2.41704122e-02 -2.40452356e-03 9.99704961e-01 3.04590013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.080714057 meters Centerline goodness [0,1] 0.9694840438709096 Centerline is valid? [True, True] Translation: X:241.49, Y:-8.17, Z:3.05 [[ 9.98109965e-01 -5.65165447e-02 -2.41324941e-02 2.41486409e+02] [ 5.65576312e-02 9.98398812e-01 1.02286321e-03 -8.16713001e+00] [ 2.40360447e-02 -2.38580666e-03 9.99708246e-01 3.04626436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.110714057 meters Centerline goodness [0,1] 0.9679902480868643 Centerline is valid? [True, True] Translation: X:241.52, Y:-8.17, Z:3.05 [[ 9.98135019e-01 -5.60487432e-02 -2.41872347e-02 2.41518541e+02] [ 5.60899306e-02 9.98425192e-01 1.02726699e-03 -8.16852113e+00] [ 2.40915674e-02 -2.38201147e-03 9.99706918e-01 3.04709928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.140714057 meters Centerline goodness [0,1] 0.9680764721796374 Centerline is valid? [True, True] Translation: X:241.55, Y:-8.17, Z:3.05 [[ 9.98245394e-01 -5.42057010e-02 -2.38301262e-02 2.41549348e+02] [ 5.42451866e-02 9.98527132e-01 1.01319079e-03 -8.16781918e+00] [ 2.37401068e-02 -2.30408268e-03 9.99715509e-01 3.04786812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17071405699997 meters Centerline goodness [0,1] 0.9651810899244049 Centerline is valid? [True, True] Translation: X:241.58, Y:-8.17, Z:3.05 [[ 9.98306305e-01 -5.29847660e-02 -2.40236571e-02 2.41581305e+02] [ 5.30245647e-02 9.98592685e-01 1.02222217e-03 -8.16893095e+00] [ 2.39356860e-02 -2.29433479e-03 9.99710868e-01 3.04830569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20071405699997 meters Centerline goodness [0,1] 0.9652160173355605 Centerline is valid? [True, True] Translation: X:241.61, Y:-8.17, Z:3.05 [[ 9.98461467e-01 -4.99938389e-02 -2.39857341e-02 2.41610598e+02] [ 5.00326684e-02 9.98747060e-01 1.02110244e-03 -8.16953155e+00] [ 2.39046326e-02 -2.21960172e-03 9.99711779e-01 3.04827552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23071405699997 meters Centerline goodness [0,1] 0.9672012812704428 Centerline is valid? [True, True] Translation: X:241.64, Y:-8.17, Z:3.05 [[ 9.98640072e-01 -4.65835649e-02 -2.34089522e-02 2.41640533e+02] [ 4.66196146e-02 9.98912218e-01 9.96336181e-04 -8.16794362e+00] [ 2.33370755e-02 -2.08629757e-03 9.99725476e-01 3.04943937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26071405699997 meters Centerline goodness [0,1] 0.9657685711706833 Centerline is valid? [True, True] Translation: X:241.67, Y:-8.17, Z:3.05 [[ 9.98721404e-01 -4.48236123e-02 -2.33752313e-02 2.41672093e+02] [ 4.48590920e-02 9.98992828e-01 9.95414680e-04 -8.16817614e+00] [ 2.33070703e-02 -2.04273360e-03 9.99726266e-01 3.05042944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29071405699997 meters Centerline goodness [0,1] 0.9633460556923147 Centerline is valid? [True, True] Translation: X:241.70, Y:-8.17, Z:3.05 [[ 9.98798192e-01 -4.31289665e-02 -2.32822722e-02 2.41703991e+02] [ 4.31637346e-02 9.99067519e-01 9.92624034e-04 -8.16850048e+00] [ 2.32177511e-02 -1.99638091e-03 9.99728438e-01 3.05100795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32071405699998 meters Centerline goodness [0,1] 0.9656787676785875 Centerline is valid? [True, True] Translation: X:241.73, Y:-8.17, Z:3.05 [[ 9.98930290e-01 -3.97866546e-02 -2.35647679e-02 2.41733723e+02] [ 3.98213600e-02 9.99206309e-01 1.00516337e-03 -8.16645357e+00] [ 2.35060727e-02 -1.94246924e-03 9.99721807e-01 3.05164073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35071405699998 meters Centerline goodness [0,1] 0.971252798950535 Centerline is valid? [True, True] Translation: X:241.77, Y:-8.17, Z:3.05 [[ 9.98993439e-01 -3.80433101e-02 -2.37658480e-02 2.41765146e+02] [ 3.80781242e-02 9.99274251e-01 1.01389492e-03 -8.16524742e+00] [ 2.37100280e-02 -1.91783328e-03 9.99717038e-01 3.05224917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38071405699998 meters Centerline goodness [0,1] 0.9774560075899614 Centerline is valid? [True, True] Translation: X:241.79, Y:-8.16, Z:3.05 [[ 9.99174830e-01 -3.32372803e-02 -2.33440073e-02 2.41794889e+02] [ 3.32695710e-02 9.99445918e-01 9.96136998e-04 -8.16346240e+00] [ 2.32979640e-02 -1.77196013e-03 9.99726995e-01 3.05279345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41071405699998 meters Centerline goodness [0,1] 0.9758362207577508 Centerline is valid? [True, True] Translation: X:241.83, Y:-8.16, Z:3.05 [[ 9.99218860e-01 -3.13853104e-02 -2.40131501e-02 2.41825186e+02] [ 3.14189419e-02 9.99505778e-01 1.02445087e-03 -8.16301659e+00] [ 2.39691295e-02 -1.77811840e-03 9.99711118e-01 3.05307788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44071405699998 meters Centerline goodness [0,1] 0.9763368231453338 Centerline is valid? [True, True] Translation: X:241.85, Y:-8.16, Z:3.05 [[ 9.99344018e-01 -2.72538159e-02 -2.38487436e-02 2.41854500e+02] [ 2.72858137e-02 9.99627155e-01 1.01725662e-03 -8.16145148e+00] [ 2.38121276e-02 -1.66732170e-03 9.99715061e-01 3.05456028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47071405699998 meters Centerline goodness [0,1] 0.9783404101544855 Centerline is valid? [True, True] Translation: X:241.88, Y:-8.16, Z:3.06 [[ 9.99390419e-01 -2.54303992e-02 -2.39182945e-02 2.41884663e+02] [ 2.54620551e-02 9.99675269e-01 1.01983469e-03 -8.16114579e+00] [ 2.38845927e-02 -1.62822195e-03 9.99713396e-01 3.05513838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50071405699998 meters Centerline goodness [0,1] 0.9796830556684275 Centerline is valid? [True, True] Translation: X:241.91, Y:-8.16, Z:3.06 [[ 9.99434780e-01 -2.35998335e-02 -2.39409326e-02 2.41914640e+02] [ 2.36310175e-02 9.99720228e-01 1.02042178e-03 -8.16035616e+00] [ 2.39101528e-02 -1.58559362e-03 9.99712854e-01 3.05528635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53071405699998 meters Centerline goodness [0,1] 0.9854325973996506 Centerline is valid? [True, True] Translation: X:241.95, Y:-8.15, Z:3.06 [[ 9.99495281e-01 -1.99259143e-02 -2.47414957e-02 2.41945106e+02] [ 1.99580920e-02 9.99800262e-01 1.05428161e-03 -8.14981512e+00] [ 2.47155464e-02 -1.54754255e-03 9.99693326e-01 3.05663655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56071405699998 meters Centerline goodness [0,1] 0.986924233450271 Centerline is valid? [True, True] Translation: X:241.98, Y:-8.14, Z:3.06 [[ 9.99562858e-01 -1.61962141e-02 -2.47341092e-02 2.41975685e+02] [ 1.62272234e-02 9.99867775e-01 1.05349278e-03 -8.13773748e+00] [ 2.47137762e-02 -1.45439817e-03 9.99693510e-01 3.05934806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59071405699999 meters Centerline goodness [0,1] 0.9872971065631616 Centerline is valid? [True, True] Translation: X:242.00, Y:-8.14, Z:3.06 [[ 9.99585568e-01 -1.46954511e-02 -2.47535036e-02 2.42003139e+02] [ 1.47260129e-02 9.99891012e-01 1.05280167e-03 -8.13788138e+00] [ 2.47353344e-02 -1.41688577e-03 9.99693031e-01 3.05983027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.620714057 meters Centerline goodness [0,1] 0.9870947220139504 Centerline is valid? [True, True] Translation: X:242.03, Y:-8.14, Z:3.06 [[ 9.99613400e-01 -1.35273648e-02 -2.42911898e-02 2.42032375e+02] [ 1.35563602e-02 9.99907578e-01 1.02937523e-03 -8.13751403e+00] [ 2.42750200e-02 -1.35827740e-03 9.99704396e-01 3.06028936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.650714057 meters Centerline goodness [0,1] 0.9870947220139504 Centerline is valid? [True, True] Translation: X:242.06, Y:-8.14, Z:3.06 [[ 9.99609501e-01 -1.38119915e-02 -2.42914522e-02 2.42059773e+02] [ 1.38409200e-02 9.99903686e-01 1.02315367e-03 -8.13859735e+00] [ 2.42749808e-02 -1.35897017e-03 9.99704396e-01 3.06064628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.680714057 meters Centerline goodness [0,1] 0.9872301541976014 Centerline is valid? [True, True] Translation: X:242.09, Y:-8.14, Z:3.06 [[ 9.99638186e-01 -1.18115210e-02 -2.41657932e-02 2.42089036e+02] [ 1.18394161e-02 9.99929400e-01 1.01157032e-03 -8.13682152e+00] [ 2.41521389e-02 -1.29731321e-03 9.99707453e-01 3.06219865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.710714057 meters Centerline goodness [0,1] 0.9867380070425755 Centerline is valid? [True, True] Translation: X:242.12, Y:-8.14, Z:3.06 [[ 9.99668073e-01 -1.10301741e-02 -2.32826108e-02 2.42117668e+02] [ 1.10557276e-02 9.99938414e-01 9.69098363e-04 -8.13776281e+00] [ 2.32704876e-02 -1.22618290e-03 9.99728454e-01 3.06264907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.740714057 meters Centerline goodness [0,1] 0.9876061353053958 Centerline is valid? [True, True] Translation: X:242.15, Y:-8.14, Z:3.06 [[ 9.99682160e-01 -1.09036377e-02 -2.27308092e-02 2.42146473e+02] [ 1.09278332e-02 9.99939847e-01 9.40489033e-04 -8.13823544e+00] [ 2.27191871e-02 -1.18858860e-03 9.99741179e-01 3.06347929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.770714057 meters Centerline goodness [0,1] 0.9880134249640403 Centerline is valid? [True, True] Translation: X:242.17, Y:-8.14, Z:3.06 [[ 9.99699218e-01 -1.06917269e-02 -2.20717096e-02 2.42174439e+02] [ 1.07143997e-02 9.99942186e-01 9.09226897e-04 -8.14111728e+00] [ 2.20607123e-02 -1.14543854e-03 9.99755977e-01 3.06399675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.800714057 meters Centerline goodness [0,1] 0.988201399368912 Centerline is valid? [True, True] Translation: X:242.20, Y:-8.14, Z:3.06 [[ 9.99692827e-01 -1.10861063e-02 -2.21664027e-02 2.42202110e+02] [ 1.11089873e-02 9.99937880e-01 9.09361905e-04 -8.14234662e+00] [ 2.21549444e-02 -1.15532886e-03 9.99753882e-01 3.06480365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.830714057 meters Centerline goodness [0,1] 0.9878897073916117 Centerline is valid? [True, True] Translation: X:242.23, Y:-8.14, Z:3.06 [[ 9.99708259e-01 -1.03019096e-02 -2.18464689e-02 2.42229849e+02] [ 1.03238520e-02 9.99946310e-01 8.91843015e-04 -8.14438740e+00] [ 2.18361083e-02 -1.11712254e-03 9.99760940e-01 3.06429736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.860714057 meters Centerline goodness [0,1] 0.9877121257108924 Centerline is valid? [True, True] Translation: X:242.26, Y:-8.14, Z:3.06 [[ 9.99708499e-01 -1.01377050e-02 -2.19121710e-02 2.42258704e+02] [ 1.01596693e-02 9.99947992e-01 8.91287287e-04 -8.14454696e+00] [ 2.19019958e-02 -1.11364789e-03 9.99759502e-01 3.06490693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.890714057 meters Centerline goodness [0,1] 0.9885783330293635 Centerline is valid? [True, True] Translation: X:242.29, Y:-8.14, Z:3.07 [[ 9.99706680e-01 -9.88218733e-03 -2.21110224e-02 2.42287380e+02] [ 9.90437076e-03 9.99950551e-01 8.93985936e-04 -8.14422521e+00] [ 2.21010945e-02 -1.11271948e-03 9.99755122e-01 3.06597733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92071405699997 meters Centerline goodness [0,1] 0.9887922001002324 Centerline is valid? [True, True] Translation: X:242.32, Y:-8.14, Z:3.07 [[ 9.99710468e-01 -9.00411049e-03 -2.23138111e-02 2.42315930e+02] [ 9.02635754e-03 9.99958860e-01 8.96487898e-04 -8.14417491e+00] [ 2.23048211e-02 -1.09764077e-03 9.99750614e-01 3.06704409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95071405699997 meters Centerline goodness [0,1] 0.98904959620386 Centerline is valid? [True, True] Translation: X:242.34, Y:-8.14, Z:3.07 [[ 9.99725436e-01 -8.35536270e-03 -2.18915543e-02 2.42344573e+02] [ 8.37649987e-03 9.99964535e-01 8.74018178e-04 -8.14479938e+00] [ 2.18834752e-02 -1.05715281e-03 9.99759969e-01 3.06787988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98071405699997 meters Centerline goodness [0,1] 0.988608346269747 Centerline is valid? [True, True] Translation: X:242.37, Y:-8.15, Z:3.07 [[ 9.99729718e-01 -7.95466569e-03 -2.18452449e-02 2.42372704e+02] [ 7.97552836e-03 9.99967818e-01 8.68061973e-04 -8.14713358e+00] [ 2.18376367e-02 -1.04205472e-03 9.99760987e-01 3.06806638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01071405699997 meters Centerline goodness [0,1] 0.9896213503649635 Centerline is valid? [True, True] Translation: X:242.40, Y:-8.15, Z:3.07 [[ 9.99733536e-01 -7.75675383e-03 -2.17414293e-02 2.42401558e+02] [ 7.77729841e-03 9.99969386e-01 8.60553718e-04 -8.14840424e+00] [ 2.17340886e-02 -1.02941399e-03 9.99763257e-01 3.06800784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04071405699997 meters Centerline goodness [0,1] 0.9885434460767566 Centerline is valid? [True, True] Translation: X:242.43, Y:-8.16, Z:3.07 [[ 9.99727334e-01 -7.31943511e-03 -2.21739450e-02 2.42429483e+02] [ 7.34057295e-03 9.99972677e-01 8.72027633e-04 -8.15606625e+00] [ 2.21669564e-02 -1.03455932e-03 9.99753748e-01 3.06691930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07071405699998 meters Centerline goodness [0,1] 0.9900129967850058 Centerline is valid? [True, True] Translation: X:242.46, Y:-8.15, Z:3.07 [[ 9.99721711e-01 -6.66424382e-03 -2.26293892e-02 2.42458552e+02] [ 6.68596141e-03 9.99977258e-01 8.84182619e-04 -8.14956009e+00] [ 2.26229821e-02 -1.03523578e-03 9.99743532e-01 3.06842494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10071405699998 meters Centerline goodness [0,1] 0.9888645989889329 Centerline is valid? [True, True] Translation: X:242.49, Y:-8.15, Z:3.07 [[ 9.99710507e-01 -6.92085594e-03 -2.30435280e-02 2.42485801e+02] [ 6.94334625e-03 9.99975493e-01 8.96124520e-04 -8.15259974e+00] [ 2.30367614e-02 -1.05586429e-03 9.99734061e-01 3.06845827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13071405699998 meters Centerline goodness [0,1] 0.9898552376610054 Centerline is valid? [True, True] Translation: X:242.51, Y:-8.15, Z:3.07 [[ 9.99698142e-01 -7.72720556e-03 -2.33219997e-02 2.42514509e+02] [ 7.75037360e-03 9.99969558e-01 9.03171320e-04 -8.15294436e+00] [ 2.33143108e-02 -1.08365290e-03 9.99727597e-01 3.06941824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16071405699998 meters Centerline goodness [0,1] 0.9893035958124715 Centerline is valid? [True, True] Translation: X:242.54, Y:-8.16, Z:3.07 [[ 9.99680285e-01 -1.02595758e-02 -2.31099104e-02 2.42544121e+02] [ 1.02829161e-02 9.99946732e-01 8.91357880e-04 -8.15624935e+00] [ 2.30995345e-02 -1.12871017e-03 9.99732533e-01 3.06954965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19071405699998 meters Centerline goodness [0,1] 0.9891009416968785 Centerline is valid? [True, True] Translation: X:242.57, Y:-8.16, Z:3.07 [[ 9.99659223e-01 -1.21106062e-02 -2.31251232e-02 2.42572117e+02] [ 1.21344436e-02 9.99925978e-01 8.90753184e-04 -8.16086714e+00] [ 2.31126239e-02 -1.17106014e-03 9.99732182e-01 3.06947588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22071405699998 meters Centerline goodness [0,1] 0.9892604954249257 Centerline is valid? [True, True] Translation: X:242.60, Y:-8.16, Z:3.07 [[ 9.99566739e-01 -1.66861246e-02 -2.42467904e-02 2.42602115e+02] [ 1.67136477e-02 9.99859882e-01 9.32895299e-04 -8.16472702e+00] [ 2.42278266e-02 -1.33774342e-03 9.99705568e-01 3.06894752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25071405699998 meters Centerline goodness [0,1] 0.9876762164620282 Centerline is valid? [True, True] Translation: X:242.63, Y:-8.17, Z:3.07 [[ 9.99514800e-01 -1.92578464e-02 -2.44805891e-02 2.42630597e+02] [ 1.92866541e-02 9.99813552e-01 9.41166482e-04 -8.16949774e+00] [ 2.44578999e-02 -1.41285848e-03 9.99699862e-01 3.06817601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28071405699998 meters Centerline goodness [0,1] 0.988141127386513 Centerline is valid? [True, True] Translation: X:242.66, Y:-8.17, Z:3.07 [[ 9.99411233e-01 -2.38078580e-02 -2.47057220e-02 2.42660399e+02] [ 2.38385648e-02 9.99715371e-01 9.49088267e-04 -8.17446207e+00] [ 2.46760942e-02 -1.53747843e-03 9.99694317e-01 3.06801356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31071405699998 meters Centerline goodness [0,1] 0.9873814170940947 Centerline is valid? [True, True] Translation: X:242.69, Y:-8.18, Z:3.07 [[ 9.99347029e-01 -2.61213104e-02 -2.49638254e-02 2.42689395e+02] [ 2.61533642e-02 9.99657483e-01 9.58323898e-04 -8.17698190e+00] [ 2.49302422e-02 -1.61058616e-03 9.99687896e-01 3.06831416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34071405699999 meters Centerline goodness [0,1] 0.9883786655814059 Centerline is valid? [True, True] Translation: X:242.72, Y:-8.18, Z:3.07 [[ 9.99249925e-01 -2.94810372e-02 -2.51088837e-02 2.42719329e+02] [ 2.95144975e-02 9.99563888e-01 9.62975183e-04 -8.17837819e+00] [ 2.50695439e-02 -1.70332896e-03 9.99684258e-01 3.06961024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.370714057 meters Centerline goodness [0,1] 0.9873715656542796 Centerline is valid? [True, True] Translation: X:242.75, Y:-8.19, Z:3.07 [[ 9.99210786e-01 -3.10772772e-02 -2.47387782e-02 2.42748979e+02] [ 3.11102391e-02 9.99515509e-01 9.48548887e-04 -8.18526131e+00] [ 2.46973141e-02 -1.71742958e-03 9.99693500e-01 3.06967226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.400714057 meters Centerline goodness [0,1] 0.9861067113182785 Centerline is valid? [True, True] Translation: X:242.78, Y:-8.19, Z:3.07 [[ 9.99162331e-01 -3.27615125e-02 -2.45218095e-02 2.42779496e+02] [ 3.27944081e-02 9.99461676e-01 9.40430997e-04 -8.18891889e+00] [ 2.44777989e-02 -1.74382146e-03 9.99698853e-01 3.07051159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.430714057 meters Centerline goodness [0,1] 0.9841997155948807 Centerline is valid? [True, True] Translation: X:242.81, Y:-8.20, Z:3.07 [[ 9.99059140e-01 -3.56866337e-02 -2.46434400e-02 2.42808882e+02] [ 3.57207471e-02 9.99361363e-01 9.45319834e-04 -8.19683814e+00] [ 2.45939666e-02 -1.82471251e-03 9.99695857e-01 3.07075368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.460714057 meters Centerline goodness [0,1] 0.9853330617233652 Centerline is valid? [True, True] Translation: X:242.84, Y:-8.19, Z:3.07 [[ 9.98978545e-01 -3.75458279e-02 -2.51431382e-02 2.42840517e+02] [ 3.75819353e-02 9.99293084e-01 9.64911660e-04 -8.19498990e+00] [ 2.50891357e-02 -1.90885384e-03 9.99683396e-01 3.07162657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.490714057 meters Centerline goodness [0,1] 0.9831018413789984 Centerline is valid? [True, True] Translation: X:242.87, Y:-8.20, Z:3.07 [[ 9.98929117e-01 -3.84863940e-02 -2.56791120e-02 2.42871041e+02] [ 3.85243900e-02 9.99257173e-01 9.86391345e-04 -8.20047911e+00] [ 2.56220742e-02 -1.97460716e-03 9.99669751e-01 3.07089654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.520714057 meters Centerline goodness [0,1] 0.982199402877047 Centerline is valid? [True, True] Translation: X:242.90, Y:-8.20, Z:3.07 [[ 9.98893787e-01 -3.92316600e-02 -2.59244735e-02 2.42901656e+02] [ 3.92706618e-02 9.99228113e-01 9.96837591e-04 -8.20332661e+00] [ 2.58653552e-02 -2.01380611e-03 9.99663407e-01 3.07075587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.550714057 meters Centerline goodness [0,1] 0.9792250655574645 Centerline is valid? [True, True] Translation: X:242.93, Y:-8.20, Z:3.07 [[ 9.98885324e-01 -3.95102305e-02 -2.58273498e-02 2.42934089e+02] [ 3.95490698e-02 9.99217135e-01 9.94529352e-04 -8.20483935e+00] [ 2.57678364e-02 -2.01486843e-03 9.99665924e-01 3.07142600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.580714057 meters Centerline goodness [0,1] 0.9775047429758785 Centerline is valid? [True, True] Translation: X:242.96, Y:-8.21, Z:3.07 [[ 9.98905580e-01 -3.91730581e-02 -2.55560755e-02 2.42964803e+02] [ 3.92110033e-02 9.99230467e-01 9.85158518e-04 -8.20676550e+00] [ 2.54978176e-02 -1.98615970e-03 9.99672905e-01 3.07211473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.610714057 meters Centerline goodness [0,1] 0.9773116438356164 Centerline is valid? [True, True] Translation: X:243.00, Y:-8.21, Z:3.07 [[ 9.98949969e-01 -3.83435055e-02 -2.50745748e-02 2.42996057e+02] [ 3.83797893e-02 9.99262756e-01 9.67211413e-04 -8.20697580e+00] [ 2.50190025e-02 -1.92855271e-03 9.99685116e-01 3.07315833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.640714057 meters Centerline goodness [0,1] 0.9823294441560786 Centerline is valid? [True, True] Translation: X:243.03, Y:-8.20, Z:3.07 [[ 9.98967916e-01 -3.81895745e-02 -2.45898002e-02 2.43028372e+02] [ 3.82244520e-02 9.99268727e-01 9.49730066e-04 -8.20403486e+00] [ 2.45355486e-02 -1.88868150e-03 9.99697174e-01 3.07433197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67071405699997 meters Centerline goodness [0,1] 0.9803921568627451 Centerline is valid? [True, True] Translation: X:243.06, Y:-8.21, Z:3.07 [[ 9.98958895e-01 -3.84097437e-02 -2.46133788e-02 2.43059188e+02] [ 3.84447911e-02 9.99260272e-01 9.52124414e-04 -8.20724896e+00] [ 2.45586007e-02 -1.89738936e-03 9.99696591e-01 3.07396645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70071405699997 meters Centerline goodness [0,1] 0.9805569323660613 Centerline is valid? [True, True] Translation: X:243.09, Y:-8.21, Z:3.07 [[ 9.98937222e-01 -3.89701624e-02 -2.46120333e-02 2.43090511e+02] [ 3.90054009e-02 9.99238545e-01 9.53129184e-04 -8.20878183e+00] [ 2.45561488e-02 -1.91211845e-03 9.99696624e-01 3.07410960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73071405699997 meters Centerline goodness [0,1] 0.9762001443782711 Centerline is valid? [True, True] Translation: X:243.12, Y:-8.21, Z:3.07 [[ 9.98849833e-01 -4.02659663e-02 -2.60319509e-02 2.43120336e+02] [ 4.03058638e-02 9.99186879e-01 1.00953544e-03 -8.21318413e+00] [ 2.59701338e-02 -2.05761458e-03 9.99660602e-01 3.07297986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76071405699997 meters Centerline goodness [0,1] 0.9733002032979444 Centerline is valid? [True, True] Translation: X:243.15, Y:-8.22, Z:3.07 [[ 9.98776717e-01 -4.13423635e-02 -2.71270971e-02 2.43151443e+02] [ 4.13861240e-02 9.99142672e-01 1.05346487e-03 -8.21541101e+00] [ 2.70602876e-02 -2.17486159e-03 9.99631437e-01 3.07249246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79071405699997 meters Centerline goodness [0,1] 0.9645747614956821 Centerline is valid? [True, True] Translation: X:243.18, Y:-8.22, Z:3.07 [[ 9.98625136e-01 -4.39371672e-02 -2.85895479e-02 2.43180525e+02] [ 4.39868385e-02 9.99031493e-01 1.11050432e-03 -8.22012972e+00] [ 2.85130663e-02 -2.36654135e-03 9.99590618e-01 3.07206401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82071405699998 meters Centerline goodness [0,1] 0.9610793980280228 Centerline is valid? [True, True] Translation: X:243.21, Y:-8.22, Z:3.07 [[ 9.98570426e-01 -4.48976120e-02 -2.90053305e-02 2.43211637e+02] [ 4.49491518e-02 9.98988640e-01 1.12700730e-03 -8.22260297e+00] [ 2.89253957e-02 -2.42916117e-03 9.99578622e-01 3.07234681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85071405699998 meters Centerline goodness [0,1] 0.9797755859198263 Centerline is valid? [True, True] Translation: X:243.24, Y:-8.21, Z:3.08 [[ 9.98458536e-01 -4.69942153e-02 -2.95312568e-02 2.43242551e+02] [ 4.70485737e-02 9.98891943e-01 1.14817145e-03 -8.21324129e+00] [ 2.94445771e-02 -2.53580510e-03 9.99563198e-01 3.07573195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88071405699998 meters Centerline goodness [0,1] 0.979645436638214 Centerline is valid? [True, True] Translation: X:243.27, Y:-8.21, Z:3.08 [[ 9.98432162e-01 -4.75443231e-02 -2.95424261e-02 2.43274521e+02] [ 4.75990031e-02 9.98865863e-01 1.15001343e-03 -8.21412978e+00] [ 2.94542444e-02 -2.55440043e-03 9.99562866e-01 3.07687271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91071405699998 meters Centerline goodness [0,1] 0.9777295439643673 Centerline is valid? [True, True] Translation: X:243.31, Y:-8.22, Z:3.08 [[ 9.98454437e-01 -4.73572194e-02 -2.90866059e-02 2.43305725e+02] [ 4.74101965e-02 9.98874861e-01 1.13403125e-03 -8.21715648e+00] [ 2.90001749e-02 -2.51128024e-03 9.99576252e-01 3.07724197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94071405699998 meters Centerline goodness [0,1] 0.9758631569458217 Centerline is valid? [True, True] Translation: X:243.34, Y:-8.22, Z:3.08 [[ 9.98472660e-01 -4.67836952e-02 -2.93876251e-02 2.43336961e+02] [ 4.68375743e-02 9.98901860e-01 1.14733124e-03 -8.21802134e+00] [ 2.93016770e-02 -2.52202395e-03 9.99567432e-01 3.07776119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97071405699998 meters Centerline goodness [0,1] 0.9808044910247414 Centerline is valid? [True, True] Translation: X:243.37, Y:-8.21, Z:3.08 [[ 9.98480072e-01 -4.65074319e-02 -2.95737099e-02 2.43369347e+02] [ 4.65619315e-02 9.98914736e-01 1.15648902e-03 -8.21283552e+00] [ 2.94878293e-02 -2.53174029e-03 9.99561933e-01 3.07908796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00071405699998 meters Centerline goodness [0,1] 0.9521088741423912 Centerline is valid? [True, True] Translation: X:243.40, Y:-8.23, Z:3.08 [[ 9.98504181e-01 -4.59744628e-02 -2.95930781e-02 2.43399376e+02] [ 4.60288467e-02 9.98939439e-01 1.15877740e-03 -8.22601468e+00] [ 2.95084187e-02 -2.51917934e-03 9.99561357e-01 3.07726248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03071405699998 meters Centerline goodness [0,1] 0.9794000722804481 Centerline is valid? [True, True] Translation: X:243.43, Y:-8.21, Z:3.08 [[ 9.98493317e-01 -4.60827963e-02 -2.97904601e-02 2.43432355e+02] [ 4.61380060e-02 9.98934392e-01 1.16817770e-03 -8.21492447e+00] [ 2.97048823e-02 -2.54089005e-03 9.99555483e-01 3.08000981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06071405699998 meters Centerline goodness [0,1] 0.9785379547667021 Centerline is valid? [True, True] Translation: X:243.46, Y:-8.22, Z:3.08 [[ 9.98490090e-01 -4.61461684e-02 -2.98005288e-02 2.43464567e+02] [ 4.62015064e-02 9.98931454e-01 1.17069151e-03 -8.21692312e+00] [ 2.97146627e-02 -2.54575319e-03 9.99555180e-01 3.08031181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09071405699999 meters Centerline goodness [0,1] 0.9778864217650121 Centerline is valid? [True, True] Translation: X:243.50, Y:-8.22, Z:3.08 [[ 9.98491718e-01 -4.59717713e-02 -3.00147497e-02 2.43497261e+02] [ 4.60279028e-02 9.98939456e-01 1.18153756e-03 -8.21782798e+00] [ 2.99286004e-02 -2.56127145e-03 9.99548758e-01 3.08061128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.120714057 meters Centerline goodness [0,1] 0.9777213122192477 Centerline is valid? [True, True] Translation: X:243.53, Y:-8.22, Z:3.08 [[ 9.98516738e-01 -4.52988065e-02 -3.02049950e-02 2.43528148e+02] [ 4.53554088e-02 9.98970204e-01 1.19108992e-03 -8.21887030e+00] [ 3.01199351e-02 -2.55928312e-03 9.99543015e-01 3.08064075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.150714057 meters Centerline goodness [0,1] 0.9777858455673799 Centerline is valid? [True, True] Translation: X:243.56, Y:-8.22, Z:3.08 [[ 9.98577391e-01 -4.32039585e-02 -3.12507927e-02 2.43559432e+02] [ 4.32635640e-02 9.99062932e-01 1.23335633e-03 -8.21631988e+00] [ 3.11682227e-02 -2.58362242e-03 9.99510814e-01 3.08142455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.180714057 meters Centerline goodness [0,1] 0.9783694221253801 Centerline is valid? [True, True] Translation: X:243.59, Y:-8.22, Z:3.08 [[ 9.98617604e-01 -4.19469301e-02 -3.16754790e-02 2.43591357e+02] [ 4.20075778e-02 9.99116509e-01 1.25132714e-03 -8.21630906e+00] [ 3.15950046e-02 -2.58020746e-03 9.99497423e-01 3.08182401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.210714057 meters Centerline goodness [0,1] 0.9778560873024895 Centerline is valid? [True, True] Translation: X:243.62, Y:-8.22, Z:3.08 [[ 9.98666467e-01 -4.04644978e-02 -3.20610736e-02 2.43622223e+02] [ 4.05259057e-02 9.99177684e-01 1.26757810e-03 -8.21663463e+00] [ 3.19834174e-02 -2.56519179e-03 9.99485108e-01 3.08192133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.240714057 meters Centerline goodness [0,1] 0.9787922276133852 Centerline is valid? [True, True] Translation: X:243.65, Y:-8.22, Z:3.08 [[ 9.98734429e-01 -3.79224861e-02 -3.30367421e-02 2.43651920e+02] [ 3.79863166e-02 9.99277405e-01 1.30638387e-03 -8.21702027e+00] [ 3.29633286e-02 -2.55967469e-03 9.99453284e-01 3.08150093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.270714057 meters Centerline goodness [0,1] 0.9727194061119461 Centerline is valid? [True, True] Translation: X:243.68, Y:-8.22, Z:3.08 [[ 9.98750524e-01 -3.69884169e-02 -3.36042716e-02 2.43681430e+02] [ 3.70539235e-02 9.99312385e-01 1.32847656e-03 -8.22130151e+00] [ 3.35320266e-02 -2.57198678e-03 9.99434334e-01 3.08094256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.300714057 meters Centerline goodness [0,1] 0.9791184347905034 Centerline is valid? [True, True] Translation: X:243.71, Y:-8.22, Z:3.08 [[ 9.98871207e-01 -3.49354777e-02 -3.21842253e-02 2.43711857e+02] [ 3.49944852e-02 9.99386696e-01 1.27180419e-03 -8.21910772e+00] [ 3.21200555e-02 -2.39663898e-03 9.99481144e-01 3.08341273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.330714057 meters Centerline goodness [0,1] 0.9801267149824513 Centerline is valid? [True, True] Translation: X:243.74, Y:-8.22, Z:3.08 [[ 9.98926815e-01 -3.39427996e-02 -3.15135633e-02 2.43742121e+02] [ 3.39988645e-02 9.99421096e-01 1.24477799e-03 -8.21986874e+00] [ 3.14530688e-02 -2.31486749e-03 9.99502549e-01 3.08455045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.360714057 meters Centerline goodness [0,1] 0.9798925171926948 Centerline is valid? [True, True] Translation: X:243.77, Y:-8.22, Z:3.09 [[ 9.99051432e-01 -3.19050050e-02 -2.96362591e-02 2.43770937e+02] [ 3.19536717e-02 9.99488666e-01 1.16986862e-03 -8.22142140e+00] [ 2.95837804e-02 -2.11574621e-03 9.99560065e-01 3.08575635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.390714057 meters Centerline goodness [0,1] 0.9806292637294942 Centerline is valid? [True, True] Translation: X:243.80, Y:-8.22, Z:3.09 [[ 9.99098334e-01 -3.06986352e-02 -2.93276917e-02 2.43800386e+02] [ 3.07457480e-02 9.99526568e-01 1.15672639e-03 -8.22187341e+00] [ 2.92782972e-02 -2.05738523e-03 9.99569181e-01 3.08657088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42071405699997 meters Centerline goodness [0,1] 0.9806806258838556 Centerline is valid? [True, True] Translation: X:243.83, Y:-8.22, Z:3.09 [[ 9.99161451e-01 -2.91069688e-02 -2.87954558e-02 2.43829851e+02] [ 2.91517018e-02 9.99574355e-01 1.13480111e-03 -8.22262181e+00] [ 2.87501685e-02 -1.97328607e-03 9.99584681e-01 3.08738090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45071405699997 meters Centerline goodness [0,1] 0.9822560780915021 Centerline is valid? [True, True] Translation: X:243.86, Y:-8.22, Z:3.09 [[ 9.99255428e-01 -2.61683522e-02 -2.83514930e-02 2.43858600e+02] [ 2.62105256e-02 9.99655821e-01 1.11685276e-03 -8.22191380e+00] [ 2.83125088e-02 -1.85912872e-03 9.99597392e-01 3.08768226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48071405699997 meters Centerline goodness [0,1] 0.9852605118829981 Centerline is valid? [True, True] Translation: X:243.89, Y:-8.22, Z:3.09 [[ 9.99299907e-01 -2.35149187e-02 -2.90988772e-02 2.43888820e+02] [ 2.35582171e-02 9.99721810e-01 1.14599184e-03 -8.21535840e+00] [ 2.90638343e-02 -1.83070721e-03 9.99575881e-01 3.08848123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51071405699997 meters Centerline goodness [0,1] 0.9862804182075515 Centerline is valid? [True, True] Translation: X:243.92, Y:-8.21, Z:3.09 [[ 9.99313050e-01 -2.28377246e-02 -2.91867505e-02 2.43917845e+02] [ 2.28808716e-02 9.99737543e-01 1.14513832e-03 -8.20784714e+00] [ 2.91529379e-02 -1.81216996e-03 9.99573320e-01 3.08998221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54071405699997 meters Centerline goodness [0,1] 0.9862804182075515 Centerline is valid? [True, True] Translation: X:243.95, Y:-8.21, Z:3.09 [[ 9.99306409e-01 -2.31260810e-02 -2.91870608e-02 2.43945255e+02] [ 2.31691192e-02 9.99730913e-01 1.13719116e-03 -8.20884793e+00] [ 2.91529081e-02 -1.81264090e-03 9.99573320e-01 3.09033936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57071405699998 meters Centerline goodness [0,1] 0.9853622890548286 Centerline is valid? [True, True] Translation: X:243.97, Y:-8.22, Z:3.09 [[ 9.99323052e-01 -2.24487185e-02 -2.91460455e-02 2.43972996e+02] [ 2.24911978e-02 9.99746402e-01 1.13040719e-03 -8.21931298e+00] [ 2.91132779e-02 -1.78517144e-03 9.99574525e-01 3.08709845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60071405699998 meters Centerline goodness [0,1] 0.9839457397976661 Centerline is valid? [True, True] Translation: X:244.00, Y:-8.22, Z:3.09 [[ 9.99301681e-01 -2.25759451e-02 -2.97737728e-02 2.44000311e+02] [ 2.26202547e-02 9.99743465e-01 1.15218705e-03 -8.22194501e+00] [ 2.97401231e-02 -1.82487278e-03 9.99555999e-01 3.08556281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63071405699998 meters Centerline goodness [0,1] 0.9865197755576844 Centerline is valid? [True, True] Translation: X:244.03, Y:-8.21, Z:3.09 [[ 9.99311319e-01 -2.25132487e-02 -2.94964753e-02 2.44028965e+02] [ 2.25565569e-02 9.99744923e-01 1.13629235e-03 -8.21386612e+00] [ 2.94633698e-02 -1.80084873e-03 9.99564238e-01 3.08795455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66071405699998 meters Centerline goodness [0,1] 0.9854200258896737 Centerline is valid? [True, True] Translation: X:244.06, Y:-8.22, Z:3.09 [[ 9.99318702e-01 -2.29057056e-02 -2.89389087e-02 2.44056386e+02] [ 2.29474232e-02 9.99736057e-01 1.11024904e-03 -8.21701563e+00] [ 2.89058394e-02 -1.77356601e-03 9.99580565e-01 3.08831932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69071405699998 meters Centerline goodness [0,1] 0.9840597531538917 Centerline is valid? [True, True] Translation: X:244.08, Y:-8.22, Z:3.09 [[ 9.99342482e-01 -2.30915304e-02 -2.79532606e-02 2.44084517e+02] [ 2.31303936e-02 9.99731887e-01 1.06769898e-03 -8.21968383e+00] [ 2.79211111e-02 -1.71356687e-03 9.99608661e-01 3.08880099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72071405699998 meters Centerline goodness [0,1] 0.9845698005698006 Centerline is valid? [True, True] Translation: X:244.11, Y:-8.22, Z:3.09 [[ 9.99409073e-01 -2.22394414e-02 -2.62090053e-02 2.44113335e+02] [ 2.22732109e-02 9.99751424e-01 9.97205998e-04 -8.21949134e+00] [ 2.61803131e-02 -1.58037543e-03 9.99655988e-01 3.09075010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75071405699998 meters Centerline goodness [0,1] 0.984453599799695 Centerline is valid? [True, True] Translation: X:244.14, Y:-8.22, Z:3.09 [[ 9.99437038e-01 -2.17387822e-02 -2.55544814e-02 2.44140679e+02] [ 2.17706720e-02 9.99762520e-01 9.70333230e-04 -8.22149014e+00] [ 2.55273189e-02 -1.52612520e-03 9.99672960e-01 3.09118327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78071405699998 meters Centerline goodness [0,1] 0.9841548493000776 Centerline is valid? [True, True] Translation: X:244.17, Y:-8.22, Z:3.09 [[ 9.99485313e-01 -2.09519090e-02 -2.42925152e-02 2.44169371e+02] [ 2.09804011e-02 9.99779465e-01 9.18568507e-04 -8.21744303e+00] [ 2.42679121e-02 -1.42776244e-03 9.99704471e-01 3.09281721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81071405699998 meters Centerline goodness [0,1] 0.9839231962054182 Centerline is valid? [True, True] Translation: X:244.20, Y:-8.22, Z:3.09 [[ 9.99514878e-01 -2.02440625e-02 -2.36682806e-02 2.44198173e+02] [ 2.02708242e-02 9.99794128e-01 8.91299698e-04 -8.22041272e+00] [ 2.36453645e-02 -1.37064286e-03 9.99719470e-01 3.09330439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84071405699999 meters Centerline goodness [0,1] 0.9843369379624359 Centerline is valid? [True, True] Translation: X:244.23, Y:-8.22, Z:3.09 [[ 9.99518639e-01 -2.06998323e-02 -2.31085754e-02 2.44227121e+02] [ 2.07253914e-02 9.99784830e-01 8.67071201e-04 -8.22155281e+00] [ 2.30856549e-02 -1.34558810e-03 9.99732585e-01 3.09359519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.870714057 meters Centerline goodness [0,1] 0.9850949740979733 Centerline is valid? [True, True] Translation: X:244.26, Y:-8.22, Z:3.09 [[ 9.99521369e-01 -2.09514245e-02 -2.27611603e-02 2.44257014e+02] [ 2.09762067e-02 9.99779613e-01 8.50562391e-04 -8.22272884e+00] [ 2.27383235e-02 -1.32759809e-03 9.99740569e-01 3.09338884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.900714057 meters Centerline goodness [0,1] 0.9850009145783793 Centerline is valid? [True, True] Translation: X:244.29, Y:-8.22, Z:3.09 [[ 9.99479510e-01 -2.21523503e-02 -2.34517040e-02 2.44286937e+02] [ 2.21789691e-02 9.99753633e-01 8.75520093e-04 -8.22418204e+00] [ 2.34265315e-02 -1.39519901e-03 9.99724588e-01 3.09293884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.930714057 meters Centerline goodness [0,1] 0.9850537880521859 Centerline is valid? [True, True] Translation: X:244.32, Y:-8.23, Z:3.09 [[ 9.99468364e-01 -2.24873647e-02 -2.36073826e-02 2.44316682e+02] [ 2.25144113e-02 9.99746131e-01 8.80487241e-04 -8.22660904e+00] [ 2.35815896e-02 -1.41152547e-03 9.99720919e-01 3.09247805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.960714057 meters Centerline goodness [0,1] 0.9842102861315201 Centerline is valid? [True, True] Translation: X:244.35, Y:-8.23, Z:3.09 [[ 9.99439931e-01 -2.31929645e-02 -2.41228102e-02 2.44346034e+02] [ 2.32213893e-02 9.99729943e-01 8.98844827e-04 -8.22938277e+00] [ 2.40954488e-02 -1.45850658e-03 9.99708599e-01 3.09193596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.990714057 meters Centerline goodness [0,1] 0.9849820511655383 Centerline is valid? [True, True] Translation: X:244.37, Y:-8.23, Z:3.09 [[ 9.99436662e-01 -2.33130197e-02 -2.41425487e-02 2.44374518e+02] [ 2.33415006e-02 9.99727146e-01 8.98528335e-04 -8.23191302e+00] [ 2.41150139e-02 -1.46154547e-03 9.99708122e-01 3.09129150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.020714057 meters Centerline goodness [0,1] 0.985036895326592 Centerline is valid? [True, True] Translation: X:244.40, Y:-8.23, Z:3.09 [[ 9.99476615e-01 -2.18440737e-02 -2.38606933e-02 2.44403677e+02] [ 2.18714510e-02 9.99760398e-01 8.86980313e-04 -8.23342830e+00] [ 2.38356009e-02 -1.40838406e-03 9.99714900e-01 3.09220965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.050714057 meters Centerline goodness [0,1] 0.9859190116054598 Centerline is valid? [True, True] Translation: X:244.43, Y:-8.23, Z:3.09 [[ 9.99507652e-01 -2.08480878e-02 -2.34480398e-02 2.44433360e+02] [ 2.08742341e-02 9.99781730e-01 8.70836917e-04 -8.23427230e+00] [ 2.34247666e-02 -1.35986804e-03 9.99724678e-01 3.09307087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.080714057 meters Centerline goodness [0,1] 0.9855320508432031 Centerline is valid? [True, True] Translation: X:244.46, Y:-8.23, Z:3.09 [[ 9.99541409e-01 -1.95072705e-02 -2.31611308e-02 2.44462655e+02] [ 1.95323590e-02 9.99808858e-01 8.57462723e-04 -8.23432430e+00] [ 2.31399770e-02 -1.30946102e-03 9.99731377e-01 3.09322442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.110714057 meters Centerline goodness [0,1] 0.9859019983575144 Centerline is valid? [True, True] Translation: X:244.49, Y:-8.23, Z:3.10 [[ 9.99635292e-01 -1.58914262e-02 -2.18345038e-02 2.44492707e+02] [ 1.59127992e-02 9.99873059e-01 8.05461108e-04 -8.22987092e+00] [ 2.18189321e-02 -1.15261543e-03 9.99761274e-01 3.09504775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.140714057 meters Centerline goodness [0,1] 0.9866809587885146 Centerline is valid? [True, True] Translation: X:244.52, Y:-8.23, Z:3.10 [[ 9.99677255e-01 -1.39555321e-02 -2.12280048e-02 2.44520591e+02] [ 1.39752787e-02 9.99902035e-01 7.82141552e-04 -8.23024246e+00] [ 2.12150100e-02 -1.07855640e-03 9.99774355e-01 3.09564442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17071405699997 meters Centerline goodness [0,1] 0.9873770229861444 Centerline is valid? [True, True] Translation: X:244.55, Y:-8.23, Z:3.10 [[ 9.99759591e-01 -1.01113151e-02 -1.94556174e-02 2.44550278e+02] [ 1.01271504e-02 9.99948463e-01 7.15565129e-04 -8.22644113e+00] [ 1.94473794e-02 -9.12423066e-04 9.99810465e-01 3.09724069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20071405699997 meters Centerline goodness [0,1] 0.9856406983634954 Centerline is valid? [True, True] Translation: X:244.58, Y:-8.23, Z:3.10 [[ 9.99782186e-01 -8.60245546e-03 -1.90151965e-02 2.44578018e+02] [ 8.61729066e-03 9.99962627e-01 6.98375351e-04 -8.23103021e+00] [ 1.90084781e-02 -8.62082710e-04 9.99818951e-01 3.09751569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23071405699997 meters Centerline goodness [0,1] 0.9874591680562853 Centerline is valid? [True, True] Translation: X:244.61, Y:-8.23, Z:3.10 [[ 9.99820644e-01 -6.94812782e-03 -1.76182875e-02 2.44606700e+02] [ 6.96058197e-03 9.99975566e-01 6.45664015e-04 -8.22511856e+00] [ 1.76133709e-02 -7.68181746e-04 9.99844577e-01 3.09904279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26071405699997 meters Centerline goodness [0,1] 0.9873383004982401 Centerline is valid? [True, True] Translation: X:244.63, Y:-8.23, Z:3.10 [[ 9.99820788e-01 -7.39353889e-03 -1.74277624e-02 2.44634297e+02] [ 7.40575361e-03 9.99972374e-01 6.36442615e-04 -8.22685396e+00] [ 1.74225754e-02 -7.65394271e-04 9.99847922e-01 3.09917779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29071405699997 meters Centerline goodness [0,1] 0.9872955774011815 Centerline is valid? [True, True] Translation: X:244.66, Y:-8.23, Z:3.10 [[ 9.99807360e-01 -9.26559360e-03 -1.73029114e-02 2.44663292e+02] [ 9.27782959e-03 9.99956763e-01 6.27022840e-04 -8.22996858e+00] [ 1.72963536e-02 -7.87435514e-04 9.99850097e-01 3.09865323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32071405699998 meters Centerline goodness [0,1] 0.9870387243735763 Centerline is valid? [True, True] Translation: X:244.69, Y:-8.23, Z:3.10 [[ 9.99780280e-01 -1.10361282e-02 -1.78212233e-02 2.44690726e+02] [ 1.10493206e-02 9.99938748e-01 6.41966328e-04 -8.23326658e+00] [ 1.78130469e-02 -8.38737683e-04 9.99840983e-01 3.09862945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35071405699998 meters Centerline goodness [0,1] 0.9872582480091012 Centerline is valid? [True, True] Translation: X:244.72, Y:-8.24, Z:3.10 [[ 9.99754155e-01 -1.29661719e-02 -1.79863215e-02 2.44718892e+02] [ 1.29798938e-02 9.99915549e-01 6.46373364e-04 -8.23648160e+00] [ 1.79764215e-02 -8.79674999e-04 9.99838024e-01 3.09789025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38071405699998 meters Centerline goodness [0,1] 0.9844489981785064 Centerline is valid? [True, True] Translation: X:244.75, Y:-8.24, Z:3.10 [[ 9.99694675e-01 -1.64298789e-02 -1.84558068e-02 2.44747566e+02] [ 1.64448943e-02 9.99864554e-01 6.62104471e-04 -8.24182803e+00] [ 1.84424287e-02 -9.65406105e-04 9.99829458e-01 3.09791874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41071405699998 meters Centerline goodness [0,1] 0.9841670647648946 Centerline is valid? [True, True] Translation: X:244.78, Y:-8.24, Z:3.10 [[ 9.99678573e-01 -1.79663810e-02 -1.78874393e-02 2.44776612e+02] [ 1.79807182e-02 9.99838128e-01 6.41008389e-04 -8.24368432e+00] [ 1.78730272e-02 -9.62431357e-04 9.99839801e-01 3.09812360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44071405699998 meters Centerline goodness [0,1] 0.9845478130262619 Centerline is valid? [True, True] Translation: X:244.81, Y:-8.25, Z:3.10 [[ 9.99650187e-01 -2.06085652e-02 -1.65767948e-02 2.44806388e+02] [ 2.06212285e-02 9.99787184e-01 5.93333532e-04 -8.24652462e+00] [ 1.65610392e-02 -9.34959849e-04 9.99862419e-01 3.09943629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47071405699998 meters Centerline goodness [0,1] 0.9840944307720354 Centerline is valid? [True, True] Translation: X:244.84, Y:-8.25, Z:3.10 [[ 9.99639594e-01 -2.14906348e-02 -1.60883187e-02 2.44838060e+02] [ 2.15026747e-02 9.99768625e-01 5.75734833e-04 -8.24862332e+00] [ 1.60722233e-02 -9.21469219e-04 9.99870409e-01 3.10031351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50071405699998 meters Centerline goodness [0,1] 0.9821894498014747 Centerline is valid? [True, True] Translation: X:244.87, Y:-8.26, Z:3.10 [[ 9.99625922e-01 -2.22661932e-02 -1.58818570e-02 2.44867762e+02] [ 2.22780317e-02 9.99751652e-01 5.68859159e-04 -8.25597842e+00] [ 1.58652464e-02 -9.22462875e-04 9.99873714e-01 3.10018193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53071405699998 meters Centerline goodness [0,1] 0.9837096443462213 Centerline is valid? [True, True] Translation: X:244.90, Y:-8.25, Z:3.10 [[ 9.99599414e-01 -2.33695889e-02 -1.59647522e-02 2.44899362e+02] [ 2.33816970e-02 9.99726447e-01 5.72167093e-04 -8.25421130e+00] [ 1.59470137e-02 -9.45220891e-04 9.99872392e-01 3.10006448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56071405699998 meters Centerline goodness [0,1] 0.9829504177261169 Centerline is valid? [True, True] Translation: X:244.93, Y:-8.26, Z:3.10 [[ 9.99596634e-01 -2.38048679e-02 -1.54885974e-02 2.44930752e+02] [ 2.38163276e-02 9.99716197e-01 5.55826723e-04 -8.25892572e+00] [ 1.54709703e-02 -9.24484033e-04 9.99879890e-01 3.09952123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59071405699999 meters Centerline goodness [0,1] 0.982211822436276 Centerline is valid? [True, True] Translation: X:244.96, Y:-8.26, Z:3.10 [[ 9.99583771e-01 -2.42948277e-02 -1.55578253e-02 2.44962314e+02] [ 2.43064728e-02 9.99704397e-01 5.59826661e-04 -8.26155819e+00] [ 1.55396255e-02 -9.37749503e-04 9.99878813e-01 3.09948008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.620714057 meters Centerline goodness [0,1] 0.9827347281855562 Centerline is valid? [True, True] Translation: X:244.99, Y:-8.26, Z:3.10 [[ 9.99601629e-01 -2.41062081e-02 -1.46790336e-02 2.44994841e+02] [ 2.41165623e-02 9.99709014e-01 5.28747624e-04 -8.26353213e+00] [ 1.46620162e-02 -8.82544816e-04 9.99892117e-01 3.09993478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.650714057 meters Centerline goodness [0,1] 0.983034316949806 Centerline is valid? [True, True] Translation: X:245.03, Y:-8.26, Z:3.10 [[ 9.99616510e-01 -2.33982705e-02 -1.48106203e-02 2.45026853e+02] [ 2.34087492e-02 9.99725835e-01 5.34524495e-04 -8.26439369e+00] [ 1.47940528e-02 -8.81017606e-04 9.99890174e-01 3.10020040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.680714057 meters Centerline goodness [0,1] 0.9844551354786003 Centerline is valid? [True, True] Translation: X:245.06, Y:-8.26, Z:3.10 [[ 9.99654854e-01 -2.12458640e-02 -1.54526975e-02 2.45059024e+02] [ 2.12570313e-02 9.99773888e-01 5.58766314e-04 -8.26096742e+00] [ 1.54373320e-02 -8.87051932e-04 9.99880444e-01 3.09969644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.710714057 meters Centerline goodness [0,1] 0.9848178367690175 Centerline is valid? [True, True] Translation: X:245.09, Y:-8.26, Z:3.10 [[ 9.99685951e-01 -1.95821368e-02 -1.56377752e-02 2.45089423e+02] [ 1.95933820e-02 9.99807871e-01 5.66203305e-04 -8.26360655e+00] [ 1.56236833e-02 -8.72422393e-04 9.99877562e-01 3.09962831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.740714057 meters Centerline goodness [0,1] 0.9868253968253968 Centerline is valid? [True, True] Translation: X:245.12, Y:-8.26, Z:3.10 [[ 9.99749614e-01 -1.64162971e-02 -1.52057082e-02 2.45120304e+02] [ 1.64265682e-02 9.99864923e-01 5.50820112e-04 -8.25932076e+00] [ 1.51946119e-02 -8.00459798e-04 9.99884235e-01 3.09969458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.770714057 meters Centerline goodness [0,1] 0.9846248462484625 Centerline is valid? [True, True] Translation: X:245.15, Y:-8.26, Z:3.10 [[ 9.99772245e-01 -1.54485922e-02 -1.47241143e-02 2.45149399e+02] [ 1.54581211e-02 9.99880374e-01 5.33567467e-04 -8.26418049e+00] [ 1.47141100e-02 -7.61053085e-04 9.99891452e-01 3.09973454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.800714057 meters Centerline goodness [0,1] 0.9851083753968435 Centerline is valid? [True, True] Translation: X:245.18, Y:-8.26, Z:3.10 [[ 9.99796734e-01 -1.41757031e-02 -1.43366694e-02 2.45179799e+02] [ 1.41846034e-02 9.99899259e-01 5.19303263e-04 -8.25905571e+00] [ 1.43278636e-02 -7.22557676e-04 9.99897090e-01 3.10003500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.830714057 meters Centerline goodness [0,1] 0.9858786015260221 Centerline is valid? [True, True] Translation: X:245.21, Y:-8.26, Z:3.10 [[ 9.99813319e-01 -1.33284182e-02 -1.39885828e-02 2.45210028e+02] [ 1.33368087e-02 9.99910932e-01 5.06694859e-04 -8.25830680e+00] [ 1.39805834e-02 -6.93163321e-04 9.99902027e-01 3.09992394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.860714057 meters Centerline goodness [0,1] 0.9851160443995963 Centerline is valid? [True, True] Translation: X:245.24, Y:-8.26, Z:3.10 [[ 9.99814184e-01 -1.36934354e-02 -1.35678908e-02 2.45239167e+02] [ 1.37013621e-02 9.99906011e-01 4.91445828e-04 -8.26011054e+00] [ 1.35598859e-02 -6.77253094e-04 9.99907831e-01 3.09949936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.890714057 meters Centerline goodness [0,1] 0.9849118716137439 Centerline is valid? [True, True] Translation: X:245.27, Y:-8.26, Z:3.10 [[ 9.99808905e-01 -1.45209127e-02 -1.30880527e-02 2.45269962e+02] [ 1.45283565e-02 9.99894346e-01 4.73842755e-04 -8.26207402e+00] [ 1.30797893e-02 -6.63900102e-04 9.99914235e-01 3.09947971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92071405699997 meters Centerline goodness [0,1] 0.98433872069201 Centerline is valid? [True, True] Translation: X:245.30, Y:-8.27, Z:3.10 [[ 9.99771930e-01 -1.73896680e-02 -1.23970373e-02 2.45300630e+02] [ 1.73965661e-02 9.99848568e-01 4.48802554e-04 -8.26619410e+00] [ 1.23873555e-02 -6.64366075e-04 9.99923053e-01 3.09886056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95071405699997 meters Centerline goodness [0,1] 0.9847232371209353 Centerline is valid? [True, True] Translation: X:245.33, Y:-8.27, Z:3.10 [[ 9.99735206e-01 -1.96196596e-02 -1.20244465e-02 2.45332036e+02] [ 1.96263156e-02 9.99807290e-01 4.35778333e-04 -8.26874447e+00] [ 1.20135795e-02 -6.71658524e-04 9.99927609e-01 3.09893315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98071405699997 meters Centerline goodness [0,1] 0.9829479306960075 Centerline is valid? [True, True] Translation: X:245.36, Y:-8.27, Z:3.10 [[ 9.99697217e-01 -2.19438283e-02 -1.11329333e-02 2.45362489e+02] [ 2.19496813e-02 9.99758995e-01 4.03812002e-04 -8.27360578e+00] [ 1.11213891e-02 -6.48054074e-04 9.99937945e-01 3.09911068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01071405699997 meters Centerline goodness [0,1] 0.980827677612486 Centerline is valid? [True, True] Translation: X:245.39, Y:-8.28, Z:3.10 [[ 9.99556312e-01 -2.77746381e-02 -1.07586247e-02 2.45393467e+02] [ 2.77804457e-02 9.99613973e-01 3.90719317e-04 -8.27917597e+00] [ 1.07436195e-02 -6.89425349e-04 9.99942048e-01 3.09901265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04071405699997 meters Centerline goodness [0,1] 0.984290444114625 Centerline is valid? [True, True] Translation: X:245.42, Y:-8.28, Z:3.10 [[ 9.99480176e-01 -3.05698940e-02 -1.02400739e-02 2.45424558e+02] [ 3.05753043e-02 9.99532397e-01 3.72172903e-04 -8.27955974e+00] [ 1.02239083e-02 -6.85072813e-04 9.99947500e-01 3.09909923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07071405699998 meters Centerline goodness [0,1] 0.9815440069352558 Centerline is valid? [True, True] Translation: X:245.45, Y:-8.29, Z:3.10 [[ 9.99281002e-01 -3.65354554e-02 -1.01311246e-02 2.45454023e+02] [ 3.65410565e-02 9.99332085e-01 3.68242284e-04 -8.28783352e+00] [ 1.01109040e-02 -7.38179515e-04 9.99948611e-01 3.09848092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10071405699998 meters Centerline goodness [0,1] 0.9788713133062862 Centerline is valid? [True, True] Translation: X:245.48, Y:-8.29, Z:3.10 [[ 9.99070071e-01 -4.18339166e-02 -1.04363607e-02 2.45484741e+02] [ 4.18401571e-02 9.99124245e-01 3.80248037e-04 -8.29434668e+00] [ 1.04113137e-02 -8.16553404e-04 9.99945467e-01 3.09733712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13071405699998 meters Centerline goodness [0,1] 0.977537039987255 Centerline is valid? [True, True] Translation: X:245.51, Y:-8.30, Z:3.10 [[ 9.98992133e-01 -4.36219761e-02 -1.05755298e-02 2.45514912e+02] [ 4.36284850e-02 9.99047750e-01 3.85436076e-04 -8.30112481e+00] [ 1.05486458e-02 -8.46441953e-04 9.99944003e-01 3.09751476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16071405699998 meters Centerline goodness [0,1] 0.9746734809767178 Centerline is valid? [True, True] Translation: X:245.55, Y:-8.31, Z:3.10 [[ 9.98925903e-01 -4.50842630e-02 -1.06981433e-02 2.45545358e+02] [ 4.50910082e-02 9.98982807e-01 3.90019902e-04 -8.30586902e+00] [ 1.06696774e-02 -8.71991049e-04 9.99942697e-01 3.09726710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19071405699998 meters Centerline goodness [0,1] 0.9765635676217373 Centerline is valid? [True, True] Translation: X:245.58, Y:-8.30, Z:3.10 [[ 9.98855361e-01 -4.63911203e-02 -1.16546543e-02 2.45577507e+02] [ 4.63992212e-02 9.98922886e-01 4.25504260e-04 -8.30211836e+00] [ 1.16223613e-02 -9.65784095e-04 9.99931992e-01 3.09649256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22071405699998 meters Centerline goodness [0,1] 0.9759920275412213 Centerline is valid? [True, True] Translation: X:245.61, Y:-8.30, Z:3.10 [[ 9.98881571e-01 -4.56878189e-02 -1.21749505e-02 2.45609021e+02] [ 4.56966182e-02 9.98955265e-01 4.45390698e-04 -8.30252839e+00] [ 1.21418820e-02 -1.00124663e-03 9.99925783e-01 3.09587083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25071405699998 meters Centerline goodness [0,1] 0.9751477669504096 Centerline is valid? [True, True] Translation: X:245.64, Y:-8.30, Z:3.10 [[ 9.98896817e-01 -4.54766309e-02 -1.17057558e-02 2.45640927e+02] [ 4.54847572e-02 9.98964941e-01 4.28784670e-04 -8.30365694e+00] [ 1.16741400e-02 -9.60745101e-04 9.99931393e-01 3.09659213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28071405699998 meters Centerline goodness [0,1] 0.9742634454069621 Centerline is valid? [True, True] Translation: X:245.67, Y:-8.30, Z:3.10 [[ 9.98966644e-01 -4.43907167e-02 -9.75234341e-03 2.45673518e+02] [ 4.43963101e-02 9.99013934e-01 3.57695415e-04 -8.30283190e+00] [ 9.72684859e-03 -7.90293850e-04 9.99952381e-01 3.09822816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31071405699998 meters Centerline goodness [0,1] 0.9738547180142362 Centerline is valid? [True, True] Translation: X:245.71, Y:-8.30, Z:3.10 [[ 9.98988374e-01 -4.40719070e-02 -8.93838466e-03 2.45705415e+02] [ 4.40765994e-02 9.99028100e-01 3.28567983e-04 -8.30418683e+00] [ 8.91521683e-03 -7.22209195e-04 9.99959998e-01 3.09907266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34071405699999 meters Centerline goodness [0,1] 0.9706916229171422 Centerline is valid? [True, True] Translation: X:245.74, Y:-8.31, Z:3.10 [[ 9.98986258e-01 -4.42456645e-02 -8.29323517e-03 2.45736260e+02] [ 4.42497117e-02 9.99020455e-01 3.05070713e-04 -8.30586941e+00] [ 8.27161351e-03 -6.71734715e-04 9.99965564e-01 3.09903378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.370714057 meters Centerline goodness [0,1] 0.9710755148741419 Centerline is valid? [True, True] Translation: X:245.77, Y:-8.31, Z:3.10 [[ 9.98965315e-01 -4.47180439e-02 -8.28230064e-03 2.45768494e+02] [ 4.47221075e-02 9.98999419e-01 3.05991560e-04 -8.30738105e+00] [ 8.26033018e-03 -6.76076895e-04 9.99965654e-01 3.09838567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.400714057 meters Centerline goodness [0,1] 0.9647276803074318 Centerline is valid? [True, True] Translation: X:245.80, Y:-8.31, Z:3.10 [[ 9.98882626e-01 -4.64764460e-02 -8.56967812e-03 2.45799040e+02] [ 4.64808677e-02 9.98919130e-01 3.17423074e-04 -8.31054858e+00] [ 8.54566271e-03 -7.15394469e-04 9.99963229e-01 3.09731152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.430714057 meters Centerline goodness [0,1] 0.9629680490707682 Centerline is valid? [True, True] Translation: X:245.83, Y:-8.31, Z:3.10 [[ 9.98825005e-01 -4.76157842e-02 -9.01922417e-03 2.45830826e+02] [ 4.76207284e-02 9.98865434e-01 3.34102677e-04 -8.31333235e+00] [ 8.99308270e-03 -7.63212132e-04 9.99959270e-01 3.09674122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.460714057 meters Centerline goodness [0,1] 0.9629680490707682 Centerline is valid? [True, True] Translation: X:245.86, Y:-8.31, Z:3.10 [[ 9.98829725e-01 -4.75166681e-02 -9.01921492e-03 2.45863455e+02] [ 4.75216105e-02 9.98870154e-01 3.34352434e-04 -8.31464953e+00] [ 8.99313728e-03 -7.62568768e-04 9.99959270e-01 3.09716474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.490714057 meters Centerline goodness [0,1] 0.9457041528429242 Centerline is valid? [True, False] Translation: X:245.86, Y:-8.32, Z:3.10 [[ 9.98827628e-01 -4.75714353e-02 -8.96259377e-03 2.45864156e+02] [ 4.75823133e-02 9.98866815e-01 1.00429333e-03 -8.31559503e+00] [ 8.90466182e-03 -1.42957687e-03 9.99959331e-01 3.09565980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.520714057 meters Centerline goodness [0,1] 0.9442593775668522 Centerline is valid? [False, False] Translation: X:245.86, Y:-8.32, Z:3.09 [[ 9.98831424e-01 -4.74598223e-02 -9.12966611e-03 2.45864897e+02] [ 4.74746774e-02 9.98871436e-01 1.41722216e-03 -8.31610485e+00] [ 9.05210158e-03 -1.84899398e-03 9.99957319e-01 3.09490661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.550714057 meters Centerline goodness [0,1] 0.9348919054801408 Centerline is valid? [False, False] Translation: X:245.87, Y:-8.32, Z:3.09 [[ 9.98831103e-01 -4.74801844e-02 -9.05865905e-03 2.45865381e+02] [ 4.74991737e-02 9.98869484e-01 1.89264662e-03 -8.31674082e+00] [ 8.95855489e-03 -2.32071314e-03 9.99957178e-01 3.09381917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.580714057 meters Centerline goodness [0,1] 0.9719044568500046 Centerline is valid? [False, True] Translation: X:245.87, Y:-8.32, Z:3.09 [[ 9.98836817e-01 -4.73230650e-02 -9.24878311e-03 2.45866088e+02] [ 4.73447737e-02 9.98876310e-01 2.14238737e-03 -8.31677567e+00] [ 9.13700601e-03 -2.57777693e-03 9.99954934e-01 3.09329997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.610714057 meters Centerline goodness [0,1] 0.918964172668471 Centerline is valid? [True, False] Translation: X:245.87, Y:-8.32, Z:3.09 [[ 9.98988248e-01 -4.40229402e-02 -9.19025881e-03 2.45866060e+02] [ 4.40818969e-02 9.99007967e-01 6.31418030e-03 -8.31816108e+00] [ 8.90317299e-03 -6.71291596e-03 9.99937833e-01 3.09218247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.640714057 meters Centerline goodness [0,1] 0.9738940595197059 Centerline is valid? [False, True] Translation: X:245.87, Y:-8.32, Z:3.09 [[ 9.98997668e-01 -4.37680862e-02 -9.38157318e-03 2.45866740e+02] [ 4.38287169e-02 9.99018831e-01 6.35752759e-03 -8.31747481e+00] [ 9.09411146e-03 -6.76233755e-03 9.99935782e-01 3.09183788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67071405699997 meters Centerline goodness [0,1] 0.9745092158988673 Centerline is valid? [True, True] Translation: X:245.90, Y:-8.32, Z:3.09 [[ 9.99121835e-01 -4.08978111e-02 -9.10647934e-03 2.45896693e+02] [ 4.09033166e-02 9.99163021e-01 4.19071986e-04 -8.31531471e+00] [ 9.08171828e-03 -7.91189179e-04 9.99958447e-01 3.09452608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70071405699997 meters Centerline goodness [0,1] 0.9697660495532836 Centerline is valid? [True, True] Translation: X:245.93, Y:-8.32, Z:3.10 [[ 9.99190377e-01 -3.92260816e-02 -8.93895529e-03 2.45927409e+02] [ 3.92313190e-02 9.99230071e-01 4.11241505e-04 -8.32006026e+00] [ 8.91594153e-03 -7.61595560e-04 9.99959962e-01 3.09513711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73071405699997 meters Centerline goodness [0,1] 0.9746423627134287 Centerline is valid? [True, True] Translation: X:245.96, Y:-8.31, Z:3.10 [[ 9.99311564e-01 -3.61208063e-02 -8.46678101e-03 2.45958871e+02] [ 3.61253968e-02 9.99347189e-01 3.89816604e-04 -8.31243184e+00] [ 8.44717331e-03 -6.95414063e-04 9.99964080e-01 3.09669854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76071405699997 meters Centerline goodness [0,1] 0.9739236599018681 Centerline is valid? [True, True] Translation: X:245.99, Y:-8.31, Z:3.10 [[ 9.99365276e-01 -3.46746160e-02 -8.16804534e-03 2.45990109e+02] [ 3.46788403e-02 9.99398437e-01 3.76066943e-04 -8.31305758e+00] [ 8.15009177e-03 -6.59086584e-04 9.99966570e-01 3.09712755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79071405699997 meters Centerline goodness [0,1] 0.9732463821550373 Centerline is valid? [True, True] Translation: X:246.02, Y:-8.32, Z:3.10 [[ 9.99431748e-01 -3.27193150e-02 -8.10114057e-03 2.46021035e+02] [ 3.27234088e-02 9.99464376e-01 3.73266990e-04 -8.31563347e+00] [ 8.08458837e-03 -6.38151815e-04 9.99967116e-01 3.09771331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82071405699998 meters Centerline goodness [0,1] 0.9747259088286209 Centerline is valid? [True, True] Translation: X:246.05, Y:-8.31, Z:3.10 [[ 9.99522424e-01 -2.96096672e-02 -8.84262672e-03 2.46051882e+02] [ 2.96144267e-02 9.99561314e-01 4.07765483e-04 -8.31343414e+00] [ 8.82667378e-03 -6.69440064e-04 9.99960820e-01 3.09685671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85071405699998 meters Centerline goodness [0,1] 0.9751816399492561 Centerline is valid? [True, True] Translation: X:246.08, Y:-8.31, Z:3.10 [[ 9.99617102e-01 -2.58076722e-02 -9.98065258e-03 2.46081945e+02] [ 2.58135486e-02 9.99666669e-01 4.60389363e-04 -8.31397630e+00] [ 9.96544414e-03 -7.17849142e-04 9.99950086e-01 3.09631896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88071405699998 meters Centerline goodness [0,1] 0.9765235457063712 Centerline is valid? [True, True] Translation: X:246.11, Y:-8.31, Z:3.10 [[ 9.99662783e-01 -2.36304267e-02 -1.07667909e-02 2.46113489e+02] [ 2.36371411e-02 9.99720480e-01 4.96777911e-04 -8.31430802e+00] [ 1.07520423e-02 -7.51106546e-04 9.99941913e-01 3.09601852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91071405699998 meters Centerline goodness [0,1] 0.9821601661666282 Centerline is valid? [True, True] Translation: X:246.14, Y:-8.30, Z:3.10 [[ 9.99767825e-01 -1.83277806e-02 -1.13308340e-02 2.46144370e+02] [ 1.83348851e-02 9.99831765e-01 5.23430469e-04 -8.30165756e+00] [ 1.13193344e-02 -7.31058480e-04 9.99935667e-01 3.09667126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94071405699998 meters Centerline goodness [0,1] 0.9827299976942587 Centerline is valid? [True, True] Translation: X:246.17, Y:-8.30, Z:3.10 [[ 9.99801670e-01 -1.60741447e-02 -1.17576413e-02 2.46174757e+02] [ 1.60816398e-02 9.99870535e-01 5.43187955e-04 -8.30417995e+00] [ 1.17473878e-02 -7.32162377e-04 9.99930729e-01 3.09670367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97071405699998 meters Centerline goodness [0,1] 0.9837178687729509 Centerline is valid? [True, True] Translation: X:246.21, Y:-8.30, Z:3.10 [[ 9.99866363e-01 -1.16302384e-02 -1.14888655e-02 2.46205715e+02] [ 1.16371043e-02 9.99932146e-01 5.30942524e-04 -8.30166316e+00] [ 1.14819110e-02 -6.64568696e-04 9.99933860e-01 3.09728071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00071405699998 meters Centerline goodness [0,1] 0.9842160968202107 Centerline is valid? [True, True] Translation: X:246.24, Y:-8.30, Z:3.10 [[ 9.99896702e-01 -9.36933974e-03 -1.08996111e-02 2.46236391e+02] [ 9.37538600e-03 9.99955923e-01 5.03758280e-04 -8.30200566e+00] [ 1.08944108e-02 -6.05894304e-04 9.99940471e-01 3.09778058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03071405699998 meters Centerline goodness [0,1] 0.9808332562656062 Centerline is valid? [True, True] Translation: X:246.27, Y:-8.31, Z:3.10 [[ 9.99918617e-01 -5.93527220e-03 -1.12929647e-02 2.46265037e+02] [ 5.94154354e-03 9.99982213e-01 5.21862093e-04 -8.30729729e+00] [ 1.12896665e-02 -5.88917264e-04 9.99936096e-01 3.09798148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06071405699998 meters Centerline goodness [0,1] 0.983324467469991 Centerline is valid? [True, True] Translation: X:246.29, Y:-8.30, Z:3.10 [[ 9.99912603e-01 -5.04531823e-03 -1.22201269e-02 2.46293809e+02] [ 5.05258197e-03 9.99987077e-01 5.63607669e-04 -8.29983922e+00] [ 1.22171254e-02 -6.25301604e-04 9.99925173e-01 3.09867086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09071405699999 meters Centerline goodness [0,1] 0.9829670202685525 Centerline is valid? [True, True] Translation: X:246.32, Y:-8.30, Z:3.10 [[ 9.99911985e-01 -3.31306234e-03 -1.28470510e-02 2.46322846e+02] [ 3.32091488e-03 9.99994312e-01 5.89948006e-04 -8.29643828e+00] [ 1.28450234e-02 -6.32560044e-04 9.99917299e-01 3.09966195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.120714057 meters Centerline goodness [0,1] 0.9833653378988039 Centerline is valid? [True, True] Translation: X:246.35, Y:-8.30, Z:3.10 [[ 9.99907982e-01 -3.39483964e-03 -1.31339902e-02 2.46351076e+02] [ 3.40302958e-03 9.99994029e-01 6.01269918e-04 -8.29603149e+00] [ 1.31318705e-02 -6.45909948e-04 9.99913565e-01 3.09986408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.150714057 meters Centerline goodness [0,1] 0.9831571154246581 Centerline is valid? [True, True] Translation: X:246.38, Y:-8.30, Z:3.10 [[ 9.99891605e-01 -4.19228504e-03 -1.41139160e-02 2.46379303e+02] [ 4.20177547e-03 9.99990966e-01 6.42830355e-04 -8.29884519e+00] [ 1.41110936e-02 -7.02064181e-04 9.99900187e-01 3.10042178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.180714057 meters Centerline goodness [0,1] 0.9824419357823633 Centerline is valid? [True, True] Translation: X:246.41, Y:-8.30, Z:3.10 [[ 9.99888347e-01 -5.14911475e-03 -1.40278677e-02 2.46407226e+02] [ 5.15856609e-03 9.99986491e-01 6.37654020e-04 -8.30280773e+00] [ 1.40243948e-02 -7.09946506e-04 9.99901401e-01 3.10051473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.210714057 meters Centerline goodness [0,1] 0.9824852890273451 Centerline is valid? [True, True] Translation: X:246.44, Y:-8.31, Z:3.10 [[ 9.99876096e-01 -6.86458179e-03 -1.41658288e-02 2.46436558e+02] [ 6.87437748e-03 9.99976165e-01 6.42923716e-04 -8.30588818e+00] [ 1.41610778e-02 -7.40225310e-04 9.99899453e-01 3.10076921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.240714057 meters Centerline goodness [0,1] 0.9820465955625477 Centerline is valid? [True, True] Translation: X:246.46, Y:-8.31, Z:3.10 [[ 9.99869350e-01 -7.63425420e-03 -1.42478370e-02 2.46463955e+02] [ 7.64422652e-03 9.99970574e-01 6.45589511e-04 -8.30919760e+00] [ 1.42424891e-02 -7.54418858e-04 9.99898286e-01 3.10116495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.270714057 meters Centerline goodness [0,1] 0.9818614538564628 Centerline is valid? [True, True] Translation: X:246.49, Y:-8.31, Z:3.10 [[ 9.99861069e-01 -9.27160962e-03 -1.38520463e-02 2.46492643e+02] [ 9.28115849e-03 9.99956734e-01 6.25220798e-04 -8.31075633e+00] [ 1.38456501e-02 -7.53696972e-04 9.99903860e-01 3.10183105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.300714057 meters Centerline goodness [0,1] 0.9821989287033617 Centerline is valid? [True, True] Translation: X:246.52, Y:-8.31, Z:3.10 [[ 9.99853649e-01 -1.02838120e-02 -1.36720385e-02 2.46520713e+02] [ 1.02931742e-02 9.99946835e-01 6.14581523e-04 -8.31409802e+00] [ 1.36649913e-02 -7.55220252e-04 9.99906344e-01 3.10258957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.330714057 meters Centerline goodness [0,1] 0.9820150486327767 Centerline is valid? [True, True] Translation: X:246.55, Y:-8.32, Z:3.10 [[ 9.99828545e-01 -1.24245979e-02 -1.37298991e-02 2.46550526e+02] [ 1.24342308e-02 9.99922502e-01 6.16454545e-04 -8.31700963e+00] [ 1.37211759e-02 -7.87069585e-04 9.99905550e-01 3.10308555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.360714057 meters Centerline goodness [0,1] 0.9816886846639862 Centerline is valid? [True, True] Translation: X:246.58, Y:-8.32, Z:3.10 [[ 9.99796633e-01 -1.41845435e-02 -1.43349354e-02 2.46580154e+02] [ 1.41952169e-02 9.99899036e-01 6.43097110e-04 -8.32016099e+00] [ 1.43243661e-02 -8.46453844e-04 9.99897043e-01 3.10319264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.390714057 meters Centerline goodness [0,1] 0.9816808613209063 Centerline is valid? [True, True] Translation: X:246.61, Y:-8.32, Z:3.10 [[ 9.99773011e-01 -1.52506708e-02 -1.48776506e-02 2.46609997e+02] [ 1.52622797e-02 9.99883302e-01 6.67054888e-04 -8.32345805e+00] [ 1.48657413e-02 -8.93970338e-04 9.99889099e-01 3.10334864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42071405699997 meters Centerline goodness [0,1] 0.9811195532771878 Centerline is valid? [True, True] Translation: X:246.64, Y:-8.33, Z:3.10 [[ 9.99718183e-01 -1.78731973e-02 -1.56237967e-02 2.46639311e+02] [ 1.78863157e-02 9.99839782e-01 7.00300850e-04 -8.32998854e+00] [ 1.56087769e-02 -9.79555654e-04 9.99877696e-01 3.10248257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45071405699997 meters Centerline goodness [0,1] 0.9818381696172961 Centerline is valid? [True, True] Translation: X:246.67, Y:-8.33, Z:3.10 [[ 9.99670848e-01 -1.95577780e-02 -1.66038785e-02 2.46669717e+02] [ 1.95728228e-02 9.99808157e-01 7.44062531e-04 -8.33314401e+00] [ 1.65861410e-02 -1.06880239e-03 9.99861869e-01 3.10245044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48071405699997 meters Centerline goodness [0,1] 0.9813722801243372 Centerline is valid? [True, True] Translation: X:246.70, Y:-8.34, Z:3.10 [[ 9.99606390e-01 -2.21814757e-02 -1.71769540e-02 2.46700652e+02] [ 2.21979651e-02 9.99753298e-01 7.69885060e-04 -8.33673778e+00] [ 1.71556392e-02 -1.15087545e-03 9.99852169e-01 3.10215316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51071405699997 meters Centerline goodness [0,1] 0.9803957368144784 Centerline is valid? [True, True] Translation: X:246.73, Y:-8.34, Z:3.10 [[ 9.99565573e-01 -2.35862388e-02 -1.76735679e-02 2.46731051e+02] [ 2.36039197e-02 9.99721075e-01 7.92454843e-04 -8.34190418e+00] [ 1.76499473e-02 -1.20927606e-03 9.99843496e-01 3.10162604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54071405699997 meters Centerline goodness [0,1] 0.9803117309269893 Centerline is valid? [True, True] Translation: X:246.76, Y:-8.35, Z:3.10 [[ 9.99498546e-01 -2.57278109e-02 -1.84590475e-02 2.46761088e+02] [ 2.57474680e-02 9.99668136e-01 8.27997481e-04 -8.34902379e+00] [ 1.84316191e-02 -1.30285601e-03 9.99829274e-01 3.10082834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57071405699998 meters Centerline goodness [0,1] 0.9816177308033985 Centerline is valid? [True, True] Translation: X:246.79, Y:-8.35, Z:3.10 [[ 9.99457635e-01 -2.70758116e-02 -1.87439550e-02 2.46792325e+02] [ 2.70963254e-02 9.99632473e-01 8.41272002e-04 -8.34604202e+00] [ 1.87142880e-02 -1.34870803e-03 9.99823963e-01 3.10167621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60071405699998 meters Centerline goodness [0,1] 0.9791823254754584 Centerline is valid? [True, True] Translation: X:246.82, Y:-8.36, Z:3.10 [[ 9.99396153e-01 -2.93277553e-02 -1.86336371e-02 2.46821819e+02] [ 2.93484332e-02 9.99568891e-01 8.37159360e-04 -8.35638690e+00] [ 1.86010519e-02 -1.38352190e-03 9.99826028e-01 3.10133379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63071405699998 meters Centerline goodness [0,1] 0.9766968997738229 Centerline is valid? [True, True] Translation: X:246.85, Y:-8.36, Z:3.10 [[ 9.99363159e-01 -3.07181012e-02 -1.81569463e-02 2.46853100e+02] [ 3.07379768e-02 9.99527143e-01 8.16527327e-04 -8.35933669e+00] [ 1.81232785e-02 -1.37411512e-03 9.99834816e-01 3.10160536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66071405699998 meters Centerline goodness [0,1] 0.9816611506551208 Centerline is valid? [True, True] Translation: X:246.88, Y:-8.36, Z:3.10 [[ 9.99316505e-01 -3.29382936e-02 -1.67806797e-02 2.46884443e+02] [ 3.29555879e-02 9.99456532e-01 7.55048162e-04 -8.35520906e+00] [ 1.67466899e-02 -1.30754925e-03 9.99858909e-01 3.10389762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69071405699998 meters Centerline goodness [0,1] 0.9817359896413076 Centerline is valid? [True, True] Translation: X:246.92, Y:-8.36, Z:3.10 [[ 9.99285158e-01 -3.39016647e-02 -1.67287356e-02 2.46916000e+02] [ 3.39189955e-02 9.99424301e-01 7.53271477e-04 -8.35748242e+00] [ 1.66935677e-02 -1.32015491e-03 9.99859781e-01 3.10422687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72071405699998 meters Centerline goodness [0,1] 0.9797885642832784 Centerline is valid? [True, True] Translation: X:246.95, Y:-8.36, Z:3.10 [[ 9.99232153e-01 -3.55249314e-02 -1.65252380e-02 2.46945779e+02] [ 3.55420715e-02 9.99367904e-01 7.44577721e-04 -8.36232097e+00] [ 1.64883414e-02 -1.33134719e-03 9.99863172e-01 3.10446624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75071405699998 meters Centerline goodness [0,1] 0.9826264923251847 Centerline is valid? [True, True] Translation: X:246.98, Y:-8.36, Z:3.11 [[ 9.99208388e-01 -3.60912183e-02 -1.67338355e-02 2.46977799e+02] [ 3.61088797e-02 9.99347577e-01 7.54392516e-04 -8.35804953e+00] [ 1.66956910e-02 -1.35803538e-03 9.99859695e-01 3.10523968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78071405699998 meters Centerline goodness [0,1] 0.9834124838101297 Centerline is valid? [True, True] Translation: X:247.01, Y:-8.36, Z:3.10 [[ 9.99161088e-01 -3.71294611e-02 -1.72778555e-02 2.47009568e+02] [ 3.71484665e-02 9.99309453e-01 7.80228018e-04 -8.36120228e+00] [ 1.72369549e-02 -1.42141931e-03 9.99850422e-01 3.10492408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81071405699998 meters Centerline goodness [0,1] 0.9737625900916264 Centerline is valid? [True, True] Translation: X:247.04, Y:-8.38, Z:3.10 [[ 9.99133702e-01 -3.78164414e-02 -1.73712781e-02 2.47040128e+02] [ 3.78357791e-02 9.99283662e-01 7.85780466e-04 -8.37504537e+00] [ 1.73291190e-02 -1.44235559e-03 9.99848799e-01 3.10319978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84071405699999 meters Centerline goodness [0,1] 0.9726511206701381 Centerline is valid? [True, True] Translation: X:247.07, Y:-8.38, Z:3.10 [[ 9.99095162e-01 -3.85012128e-02 -1.80696753e-02 2.47071870e+02] [ 3.85222654e-02 9.99257407e-01 8.18327006e-04 -8.37711985e+00] [ 1.80247503e-02 -1.51367138e-03 9.99836395e-01 3.10287854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.870714057 meters Centerline goodness [0,1] 0.9820374239258788 Centerline is valid? [True, True] Translation: X:247.10, Y:-8.37, Z:3.10 [[ 9.98989824e-01 -4.06177389e-02 -1.92231726e-02 2.47103059e+02] [ 4.06419674e-02 9.99173394e-01 8.71231192e-04 -8.36855079e+00] [ 1.91718952e-02 -1.65161865e-03 9.99814838e-01 3.10353066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.900714057 meters Centerline goodness [0,1] 0.9812823305200109 Centerline is valid? [True, True] Translation: X:247.13, Y:-8.37, Z:3.10 [[ 9.98901964e-01 -4.22547005e-02 -2.02337756e-02 2.47133338e+02] [ 4.22818848e-02 9.99105300e-01 9.17404325e-04 -8.37361403e+00] [ 2.01769078e-02 -1.77191915e-03 9.99794855e-01 3.10252460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.930714057 meters Centerline goodness [0,1] 0.9800657670937748 Centerline is valid? [True, True] Translation: X:247.17, Y:-8.38, Z:3.10 [[ 9.98861109e-01 -4.29776953e-02 -2.07220251e-02 2.47165594e+02] [ 4.30063827e-02 9.99074355e-01 9.40542231e-04 -8.37541355e+00] [ 2.06624215e-02 -1.83065040e-03 9.99784833e-01 3.10261162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.960714057 meters Centerline goodness [0,1] 0.9782165200834164 Centerline is valid? [True, True] Translation: X:247.20, Y:-8.38, Z:3.10 [[ 9.98821717e-01 -4.41860221e-02 -2.00692150e-02 2.47195926e+02] [ 4.42131924e-02 9.99021702e-01 9.11930770e-04 -8.38132102e+00] [ 2.00092868e-02 -1.79818032e-03 9.99798177e-01 3.10249241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.990714057 meters Centerline goodness [0,1] 0.9762476768958797 Centerline is valid? [True, True] Translation: X:247.23, Y:-8.38, Z:3.10 [[ 9.98821071e-01 -4.45364491e-02 -1.93125265e-02 2.47228118e+02] [ 4.45616936e-02 9.99006248e-01 8.78579755e-04 -8.38388383e+00] [ 1.92542058e-02 -1.73814286e-03 9.99813110e-01 3.10315917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.020714057 meters Centerline goodness [0,1] 0.9784464216984763 Centerline is valid? [True, True] Translation: X:247.26, Y:-8.38, Z:3.10 [[ 9.98807289e-01 -4.49460266e-02 -1.90749860e-02 2.47260326e+02] [ 4.49707535e-02 9.98987926e-01 8.69123873e-04 -8.38166117e+00] [ 1.90166170e-02 -1.72590375e-03 9.99817678e-01 3.10472869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.050714057 meters Centerline goodness [0,1] 0.9771847626807904 Centerline is valid? [True, True] Translation: X:247.29, Y:-8.38, Z:3.11 [[ 9.98819700e-01 -4.49894165e-02 -1.83073384e-02 2.47292501e+02] [ 4.50122235e-02 9.98986087e-01 8.35429111e-04 -8.38411359e+00] [ 1.82511909e-02 -1.65849706e-03 9.99832058e-01 3.10580821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.080714057 meters Centerline goodness [0,1] 0.978373604474739 Centerline is valid? [True, True] Translation: X:247.33, Y:-8.38, Z:3.11 [[ 9.98854872e-01 -4.46134597e-02 -1.72795776e-02 2.47325051e+02] [ 4.46337423e-02 9.99003106e-01 7.89726277e-04 -8.38345307e+00] [ 1.72271192e-02 -1.56007415e-03 9.99850385e-01 3.10651570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.110714057 meters Centerline goodness [0,1] 0.9764460278200096 Centerline is valid? [True, True] Translation: X:247.36, Y:-8.39, Z:3.11 [[ 9.98842918e-01 -4.47535623e-02 -1.76052114e-02 2.47356121e+02] [ 4.47746579e-02 9.98996787e-01 8.05725675e-04 -8.38873669e+00] [ 1.75514906e-02 -1.59306070e-03 9.99844692e-01 3.10649349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.140714057 meters Centerline goodness [0,1] 0.9766529019376503 Centerline is valid? [True, True] Translation: X:247.39, Y:-8.39, Z:3.11 [[ 9.98834349e-01 -4.48501639e-02 -1.78439266e-02 2.47387875e+02] [ 4.48718705e-02 9.98992416e-01 8.17754757e-04 -8.38965124e+00] [ 1.77892709e-02 -1.61749190e-03 9.99840450e-01 3.10634387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17071405699997 meters Centerline goodness [0,1] 0.9738729740772688 Centerline is valid? [True, True] Translation: X:247.42, Y:-8.39, Z:3.11 [[ 9.98805863e-01 -4.48802823e-02 -1.93030628e-02 2.47419409e+02] [ 4.49057247e-02 9.98990836e-01 8.86408155e-04 -8.39300677e+00] [ 1.92438006e-02 -1.75216769e-03 9.99813286e-01 3.10556584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20071405699997 meters Centerline goodness [0,1] 0.9723622655220966 Centerline is valid? [True, True] Translation: X:247.45, Y:-8.39, Z:3.10 [[ 9.98776358e-01 -4.48829223e-02 -2.07680237e-02 2.47451237e+02] [ 4.49124129e-02 9.98990471e-01 9.55533338e-04 -8.39456682e+00] [ 2.07041707e-02 -1.88710616e-03 9.99783865e-01 3.10399102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23071405699997 meters Centerline goodness [0,1] 0.9714052102023666 Centerline is valid? [True, True] Translation: X:247.48, Y:-8.40, Z:3.10 [[ 9.98770091e-01 -4.47295842e-02 -2.13908554e-02 2.47483717e+02] [ 4.47608678e-02 9.98997244e-01 9.85688839e-04 -8.39582665e+00] [ 2.13253162e-02 -1.94194978e-03 9.99770704e-01 3.10348216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26071405699997 meters Centerline goodness [0,1] 0.9633716300762143 Centerline is valid? [True, True] Translation: X:247.51, Y:-8.40, Z:3.10 [[ 9.98781294e-01 -4.42780800e-02 -2.18031863e-02 2.47514804e+02] [ 4.43105032e-02 9.99017301e-01 1.00598583e-03 -8.40052039e+00] [ 2.17372172e-02 -1.97086998e-03 9.99761776e-01 3.10267846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29071405699997 meters Centerline goodness [0,1] 0.9577419941775837 Centerline is valid? [True, True] Translation: X:247.55, Y:-8.40, Z:3.10 [[ 9.98807135e-01 -4.38219032e-02 -2.15394333e-02 2.47545587e+02] [ 4.38534647e-02 9.99037479e-01 9.94908816e-04 -8.40282630e+00] [ 2.14751023e-02 -1.93830080e-03 9.99767504e-01 3.10266024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32071405699998 meters Centerline goodness [0,1] 0.9596415607985481 Centerline is valid? [True, True] Translation: X:247.58, Y:-8.40, Z:3.10 [[ 9.98827798e-01 -4.33190889e-02 -2.15982984e-02 2.47577792e+02] [ 4.33507346e-02 9.99059416e-01 9.98928332e-04 -8.40335578e+00] [ 2.15347107e-02 -1.93405949e-03 9.99766231e-01 3.10338384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35071405699998 meters Centerline goodness [0,1] 0.9596415607985481 Centerline is valid? [True, True] Translation: X:247.61, Y:-8.40, Z:3.10 [[ 9.98830698e-01 -4.32521946e-02 -2.15982314e-02 2.47609578e+02] [ 4.32838559e-02 9.99062314e-01 1.00037455e-03 -8.40489489e+00] [ 2.15347107e-02 -1.93405955e-03 9.99766231e-01 3.10367202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38071405699998 meters Centerline goodness [0,1] 0.9616491548652353 Centerline is valid? [True, True] Translation: X:247.64, Y:-8.40, Z:3.10 [[ 9.98913345e-01 -4.19505535e-02 -2.03047007e-02 2.47640819e+02] [ 4.19782874e-02 9.99118080e-01 9.41409921e-04 -8.40467770e+00] [ 2.02473009e-02 -1.79274349e-03 9.99793395e-01 3.10472508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41071405699998 meters Centerline goodness [0,1] 0.9627665653356494 Centerline is valid? [True, True] Translation: X:247.67, Y:-8.41, Z:3.11 [[ 9.98955540e-01 -4.13366807e-02 -1.94706920e-02 2.47672867e+02] [ 4.13620861e-02 9.99143814e-01 9.03728839e-04 -8.40543936e+00] [ 1.94166643e-02 -1.70813337e-03 9.99810020e-01 3.10566299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44071405699998 meters Centerline goodness [0,1] 0.9767998905009582 Centerline is valid? [True, True] Translation: X:247.71, Y:-8.39, Z:3.11 [[ 9.99008970e-01 -4.05428369e-02 -1.83672553e-02 2.47705899e+02] [ 4.05653333e-02 9.99176523e-01 8.53746040e-04 -8.39480307e+00] [ 1.83175170e-02 -1.59797378e-03 9.99830943e-01 3.10816348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47071405699998 meters Centerline goodness [0,1] 0.9729649571089615 Centerline is valid? [True, True] Translation: X:247.74, Y:-8.40, Z:3.11 [[ 9.99027564e-01 -4.03404931e-02 -1.77924189e-02 2.47736420e+02] [ 4.03616003e-02 9.99184795e-01 8.28662912e-04 -8.40148833e+00] [ 1.77444858e-02 -1.54598759e-03 9.99841359e-01 3.10777171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50071405699998 meters Centerline goodness [0,1] 0.9752996066233648 Centerline is valid? [True, True] Translation: X:247.77, Y:-8.40, Z:3.11 [[ 9.98998202e-01 -4.10151034e-02 -1.78984163e-02 2.47768631e+02] [ 4.10366003e-02 9.99157295e-01 8.35276306e-04 -8.40079644e+00] [ 1.78490743e-02 -1.56892968e-03 9.99839462e-01 3.10745571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53071405699998 meters Centerline goodness [0,1] 0.9764150943396226 Centerline is valid? [True, True] Translation: X:247.80, Y:-8.40, Z:3.11 [[ 9.98976089e-01 -4.16015995e-02 -1.77786386e-02 2.47800414e+02] [ 4.16229211e-02 9.99133045e-01 8.30783291e-04 -8.40103559e+00] [ 1.77286635e-02 -1.56993152e-03 9.99841602e-01 3.10753013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56071405699998 meters Centerline goodness [0,1] 0.973633704989947 Centerline is valid? [True, True] Translation: X:247.83, Y:-8.41, Z:3.11 [[ 9.98883406e-01 -4.35022903e-02 -1.84252995e-02 2.47830568e+02] [ 4.35255245e-02 9.99051944e-01 8.61664696e-04 -8.40683320e+00] [ 1.83703469e-02 -1.66267339e-03 9.99829868e-01 3.10652982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59071405699999 meters Centerline goodness [0,1] 0.9626260086405924 Centerline is valid? [True, True] Translation: X:247.86, Y:-8.41, Z:3.11 [[ 9.98828417e-01 -4.45934784e-02 -1.87940326e-02 2.47861766e+02] [ 4.46178647e-02 9.99003740e-01 8.80040462e-04 -8.41255200e+00] [ 1.87360648e-02 -1.71755903e-03 9.99822989e-01 3.10546096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.620714057 meters Centerline goodness [0,1] 0.9771563157413335 Centerline is valid? [True, True] Translation: X:247.89, Y:-8.40, Z:3.11 [[ 9.98742828e-01 -4.61730234e-02 -1.95144683e-02 2.47893333e+02] [ 4.61996364e-02 9.98931808e-01 9.14902393e-04 -8.40240915e+00] [ 1.94513793e-02 -1.81531354e-03 9.99809156e-01 3.10645870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.650714057 meters Centerline goodness [0,1] 0.9739380915367382 Centerline is valid? [True, True] Translation: X:247.92, Y:-8.41, Z:3.11 [[ 9.98710988e-01 -4.70616307e-02 -1.90148542e-02 2.47924249e+02] [ 4.70870711e-02 9.98890390e-01 8.92179882e-04 -8.40973672e+00] [ 1.89517677e-02 -1.78638364e-03 9.99818803e-01 3.10570723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.680714057 meters Centerline goodness [0,1] 0.9502255228028612 Centerline is valid? [True, True] Translation: X:247.95, Y:-8.42, Z:3.11 [[ 9.98707350e-01 -4.73997402e-02 -1.83546596e-02 2.47954884e+02] [ 4.74235186e-02 9.98874500e-01 8.62167975e-04 -8.41909470e+00] [ 1.82931349e-02 -1.73149603e-03 9.99831167e-01 3.10519060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.710714057 meters Centerline goodness [0,1] 0.9709244080145719 Centerline is valid? [True, True] Translation: X:247.99, Y:-8.41, Z:3.11 [[ 9.98688205e-01 -4.78856929e-02 -1.81336510e-02 2.47986908e+02] [ 4.79089986e-02 9.98851341e-01 8.52738055e-04 -8.41477558e+00] [ 1.80719877e-02 -1.72038450e-03 9.99835208e-01 3.10627706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.740714057 meters Centerline goodness [0,1] 0.9772193464529223 Centerline is valid? [True, True] Translation: X:248.02, Y:-8.41, Z:3.11 [[ 9.98668266e-01 -4.85686490e-02 -1.74005998e-02 2.48018698e+02] [ 4.85902268e-02 9.98818461e-01 8.19181550e-04 -8.41142861e+00] [ 1.73402538e-02 -1.66358971e-03 9.99848263e-01 3.10761851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.770714057 meters Centerline goodness [0,1] 0.9724021530882219 Centerline is valid? [True, True] Translation: X:248.05, Y:-8.42, Z:3.11 [[ 9.98670892e-01 -4.88446600e-02 -1.64513810e-02 2.48049977e+02] [ 4.88639989e-02 9.98805140e-01 7.75366487e-04 -8.41787480e+00] [ 1.63938514e-02 -1.57821621e-03 9.99864366e-01 3.10808007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.800714057 meters Centerline goodness [0,1] 0.973645913866024 Centerline is valid? [True, True] Translation: X:248.08, Y:-8.42, Z:3.11 [[ 9.98675252e-01 -4.86064178e-02 -1.68866152e-02 2.48081867e+02] [ 4.86267782e-02 9.98816701e-01 7.96964101e-04 -8.41712578e+00] [ 1.68278957e-02 -1.61705001e-03 9.99857093e-01 3.10843894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.830714057 meters Centerline goodness [0,1] 0.9692206046522225 Centerline is valid? [True, True] Translation: X:248.11, Y:-8.42, Z:3.11 [[ 9.98689775e-01 -4.81721048e-02 -1.72679165e-02 2.48112659e+02] [ 4.81933504e-02 9.98837692e-01 8.16095462e-04 -8.42222466e+00] [ 1.72085328e-02 -1.64722494e-03 9.99850565e-01 3.10783598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.860714057 meters Centerline goodness [0,1] 0.9648958523661612 Centerline is valid? [True, True] Translation: X:248.14, Y:-8.42, Z:3.11 [[ 9.98769799e-01 -4.61631952e-02 -1.81065816e-02 2.48143086e+02] [ 4.61862373e-02 9.98932479e-01 8.56255460e-04 -8.42401187e+00] [ 1.80477250e-02 -1.69147697e-03 9.99835696e-01 3.10712550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.890714057 meters Centerline goodness [0,1] 0.9663690951848216 Centerline is valid? [True, True] Translation: X:248.17, Y:-8.42, Z:3.11 [[ 9.98836854e-01 -4.46636458e-02 -1.81686107e-02 2.48173234e+02] [ 4.46866181e-02 9.99000684e-01 8.60181552e-04 -8.42489442e+00] [ 1.81120356e-02 -1.67107480e-03 9.99834567e-01 3.10740302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92071405699997 meters Centerline goodness [0,1] 0.9780322558569245 Centerline is valid? [True, True] Translation: X:248.20, Y:-8.42, Z:3.11 [[ 9.99024244e-01 -4.03394365e-02 -1.79802560e-02 2.48204581e+02] [ 4.03612604e-02 9.99184789e-01 8.52395870e-04 -8.41505405e+00] [ 1.79312131e-02 -1.57726993e-03 9.99837979e-01 3.10801320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95071405699997 meters Centerline goodness [0,1] 0.9783076782114715 Centerline is valid? [True, True] Translation: X:248.24, Y:-8.41, Z:3.11 [[ 9.99130188e-01 -3.77235997e-02 -1.77706932e-02 2.48236012e+02] [ 3.77445127e-02 9.99287067e-01 8.42778309e-04 -8.41191456e+00] [ 1.77262312e-02 -1.51279140e-03 9.99841734e-01 3.10824537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98071405699997 meters Centerline goodness [0,1] 0.9806450135141326 Centerline is valid? [True, True] Translation: X:248.27, Y:-8.41, Z:3.11 [[ 9.99337459e-01 -3.19225966e-02 -1.74811568e-02 2.48265724e+02] [ 3.19419545e-02 9.99489382e-01 8.29193442e-04 -8.40999983e+00] [ 1.74457606e-02 -1.38702638e-03 9.99846849e-01 3.10919713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01071405699997 meters Centerline goodness [0,1] 0.9799756584839369 Centerline is valid? [True, True] Translation: X:248.30, Y:-8.41, Z:3.11 [[ 9.99435766e-01 -2.90776416e-02 -1.68119173e-02 2.48295996e+02] [ 2.90951450e-02 9.99576329e-01 7.97431034e-04 -8.40981278e+00] [ 1.67816072e-02 -1.28612627e-03 9.99858352e-01 3.10979697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04071405699997 meters Centerline goodness [0,1] 0.9803120697567692 Centerline is valid? [True, True] Translation: X:248.33, Y:-8.41, Z:3.11 [[ 9.99601402e-01 -2.37567454e-02 -1.52530133e-02 2.48325954e+02] [ 2.37705377e-02 9.99717179e-01 7.23550414e-04 -8.40778901e+00] [ 1.52315102e-02 -1.08583434e-03 9.99883404e-01 3.11147304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07071405699998 meters Centerline goodness [0,1] 0.9818783920522491 Centerline is valid? [True, True] Translation: X:248.36, Y:-8.41, Z:3.11 [[ 9.99655334e-01 -2.15967168e-02 -1.49263266e-02 2.48357585e+02] [ 2.16096908e-02 9.99766232e-01 7.08441441e-04 -8.40654433e+00] [ 1.49075373e-02 -1.03075057e-03 9.99888345e-01 3.11230499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10071405699998 meters Centerline goodness [0,1] 0.9820294523699954 Centerline is valid? [True, True] Translation: X:248.39, Y:-8.41, Z:3.11 [[ 9.99736991e-01 -1.79971627e-02 -1.42144895e-02 2.48387322e+02] [ 1.80085720e-02 9.99837605e-01 6.75049812e-04 -8.40810477e+00] [ 1.42000321e-02 -9.30854925e-04 9.99898741e-01 3.11223387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13071405699998 meters Centerline goodness [0,1] 0.9814457166505725 Centerline is valid? [True, True] Translation: X:248.42, Y:-8.41, Z:3.11 [[ 9.99747002e-01 -1.69262285e-02 -1.48133383e-02 2.48418481e+02] [ 1.69385027e-02 9.99856286e-01 7.03507173e-04 -8.40776141e+00] [ 1.47993016e-02 -9.54244957e-04 9.99890029e-01 3.11180446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16071405699998 meters Centerline goodness [0,1] 0.982965401348956 Centerline is valid? [True, True] Translation: X:248.45, Y:-8.41, Z:3.11 [[ 9.99787132e-01 -1.43670838e-02 -1.48080104e-02 2.48448525e+02] [ 1.43790719e-02 9.99896368e-01 7.03411703e-04 -8.40863344e+00] [ 1.47963698e-02 -9.16187416e-04 9.99890108e-01 3.11216170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19071405699998 meters Centerline goodness [0,1] 0.9828471438767757 Centerline is valid? [True, True] Translation: X:248.48, Y:-8.41, Z:3.11 [[ 9.99798357e-01 -1.31164501e-02 -1.52054070e-02 2.48478191e+02] [ 1.31289430e-02 9.99913551e-01 7.22077282e-04 -8.40966808e+00] [ 1.51946214e-02 -9.21562602e-04 9.99884130e-01 3.11205613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22071405699998 meters Centerline goodness [0,1] 0.9841218629732906 Centerline is valid? [True, True] Translation: X:248.51, Y:-8.40, Z:3.11 [[ 9.99817787e-01 -1.08645876e-02 -1.56956602e-02 2.48508479e+02] [ 1.08776159e-02 9.99940560e-01 7.44917898e-04 -8.40478548e+00] [ 1.56866340e-02 -9.15513526e-04 9.99876538e-01 3.11318621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25071405699998 meters Centerline goodness [0,1] 0.9853364996656906 Centerline is valid? [True, True] Translation: X:248.54, Y:-8.41, Z:3.11 [[ 9.99828746e-01 -1.00407015e-02 -1.55454970e-02 2.48536544e+02] [ 1.00533546e-02 9.99949193e-01 7.36008546e-04 -8.40848128e+00] [ 1.55373172e-02 -8.92166897e-04 9.99878891e-01 3.11331979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28071405699998 meters Centerline goodness [0,1] 0.9826736095110824 Centerline is valid? [True, True] Translation: X:248.56, Y:-8.42, Z:3.11 [[ 9.99837826e-01 -8.35339953e-03 -1.59544002e-02 2.48564184e+02] [ 8.36646652e-03 9.99964717e-01 7.52450013e-04 -8.41553861e+00] [ 1.59475518e-02 -8.85809941e-04 9.99872437e-01 3.11225802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31071405699998 meters Centerline goodness [0,1] 0.9832836923645263 Centerline is valid? [True, True] Translation: X:248.59, Y:-8.42, Z:3.11 [[ 9.99834316e-01 -7.93261232e-03 -1.63833462e-02 2.48592791e+02] [ 7.94629428e-03 9.99968131e-01 7.70184004e-04 -8.41820199e+00] [ 1.63767145e-02 -9.00243287e-04 9.99865487e-01 3.11210172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34071405699999 meters Centerline goodness [0,1] 0.9844569116159294 Centerline is valid? [True, True] Translation: X:248.62, Y:-8.42, Z:3.11 [[ 9.99840561e-01 -7.63244356e-03 -1.61430394e-02 2.48622092e+02] [ 7.64562997e-03 9.99970487e-01 7.55288830e-04 -8.41793702e+00] [ 1.61367982e-02 -8.78592114e-04 9.99869407e-01 3.11209681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.370714057 meters Centerline goodness [0,1] 0.9846298763957175 Centerline is valid? [True, True] Translation: X:248.65, Y:-8.42, Z:3.11 [[ 9.99840990e-01 -7.03721777e-03 -1.63851319e-02 2.48651084e+02] [ 7.05066129e-03 9.99974853e-01 7.62847815e-04 -8.41625206e+00] [ 1.63793515e-02 -8.78252530e-04 9.99865464e-01 3.11294643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.400714057 meters Centerline goodness [0,1] 0.9845190587587725 Centerline is valid? [True, True] Translation: X:248.68, Y:-8.42, Z:3.11 [[ 9.99847063e-01 -6.43449019e-03 -1.62618351e-02 2.48679241e+02] [ 6.44758932e-03 9.99978930e-01 7.53212927e-04 -8.41980096e+00] [ 1.62566460e-02 -8.57947368e-04 9.99867484e-01 3.11369538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.430714057 meters Centerline goodness [0,1] 0.984543411457139 Centerline is valid? [True, True] Translation: X:248.71, Y:-8.42, Z:3.11 [[ 9.99851615e-01 -6.19709914e-03 -1.60730697e-02 2.48708118e+02] [ 6.20980412e-03 9.99980445e-01 7.40662836e-04 -8.42151544e+00] [ 1.60681654e-02 -8.40363548e-04 9.99870546e-01 3.11415824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.460714057 meters Centerline goodness [0,1] 0.9863129900499794 Centerline is valid? [True, True] Translation: X:248.74, Y:-8.42, Z:3.12 [[ 9.99859311e-01 -5.79180378e-03 -1.57421055e-02 2.48737468e+02] [ 5.80389356e-03 9.99982896e-01 7.22412565e-04 -8.41941974e+00] [ 1.57376522e-02 -8.13676434e-04 9.99875824e-01 3.11581600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.490714057 meters Centerline goodness [0,1] 0.9852301351041906 Centerline is valid? [True, True] Translation: X:248.77, Y:-8.42, Z:3.12 [[ 9.99860774e-01 -5.57366187e-03 -1.57278738e-02 2.48766185e+02] [ 5.58565763e-03 9.99984142e-01 7.18882105e-04 -8.42113948e+00] [ 1.57236176e-02 -8.06632536e-04 9.99876051e-01 3.11627324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.520714057 meters Centerline goodness [0,1] 0.9852207732784259 Centerline is valid? [True, True] Translation: X:248.79, Y:-8.42, Z:3.12 [[ 9.99858704e-01 -5.89463774e-03 -1.57424483e-02 2.48794446e+02] [ 5.90663003e-03 9.99982300e-01 7.15393676e-04 -8.42348755e+00] [ 1.57379527e-02 -8.08277412e-04 9.99875824e-01 3.11608386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.550714057 meters Centerline goodness [0,1] 0.9856235143536296 Centerline is valid? [True, True] Translation: X:248.82, Y:-8.43, Z:3.12 [[ 9.99843052e-01 -6.63019499e-03 -1.64289893e-02 2.48822121e+02] [ 6.64330060e-03 9.99977657e-01 7.43265233e-04 -8.42806908e+00] [ 1.64236942e-02 -8.52291293e-04 9.99864759e-01 3.11610799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.580714057 meters Centerline goodness [0,1] 0.986107625978055 Centerline is valid? [True, True] Translation: X:248.85, Y:-8.43, Z:3.12 [[ 9.99846819e-01 -8.42356028e-03 -1.53421891e-02 2.48851414e+02] [ 8.43518482e-03 9.99964183e-01 6.93130399e-04 -8.43101998e+00] [ 1.53358010e-02 -8.22438425e-04 9.99882061e-01 3.11682397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.610714057 meters Centerline goodness [0,1] 0.9852240337475773 Centerline is valid? [True, True] Translation: X:248.88, Y:-8.44, Z:3.12 [[ 9.99835616e-01 -9.54110351e-03 -1.54177861e-02 2.48879172e+02] [ 9.55296183e-03 9.99954127e-01 6.95666498e-04 -8.43743750e+00] [ 1.54104414e-02 -8.42837664e-04 9.99880897e-01 3.11668914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.640714057 meters Centerline goodness [0,1] 0.9858359520881723 Centerline is valid? [True, True] Translation: X:248.91, Y:-8.44, Z:3.12 [[ 9.99805182e-01 -1.12206082e-02 -1.62387196e-02 2.48908272e+02] [ 1.12339643e-02 9.99936629e-01 7.31493905e-04 -8.43942164e+00] [ 1.62294827e-02 -9.13776593e-04 9.99867876e-01 3.11642803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67071405699997 meters Centerline goodness [0,1] 0.9849452554744526 Centerline is valid? [True, True] Translation: X:248.94, Y:-8.45, Z:3.12 [[ 9.99783000e-01 -1.18781585e-02 -1.71131929e-02 2.48935991e+02] [ 1.18930611e-02 9.99928979e-01 7.69310697e-04 -8.44591710e+00] [ 1.71028395e-02 -9.72672004e-04 9.99853263e-01 3.11539262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70071405699997 meters Centerline goodness [0,1] 0.9866167268076554 Centerline is valid? [True, True] Translation: X:248.96, Y:-8.44, Z:3.12 [[ 9.99753003e-01 -1.24251474e-02 -1.84268601e-02 2.48964602e+02] [ 1.24424791e-02 9.99922248e-01 8.26211785e-04 -8.43959231e+00] [ 1.84151615e-02 -1.05528353e-03 9.99829870e-01 3.11572002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73071405699997 meters Centerline goodness [0,1] 0.9864399826796417 Centerline is valid? [True, True] Translation: X:248.99, Y:-8.45, Z:3.11 [[ 9.99740417e-01 -1.25985793e-02 -1.89835424e-02 2.48991532e+02] [ 1.26169344e-02 9.99920044e-01 8.47432768e-04 -8.44625746e+00] [ 1.89713481e-02 -1.08672690e-03 9.99819437e-01 3.11480513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76071405699997 meters Centerline goodness [0,1] 0.9856935234807884 Centerline is valid? [True, True] Translation: X:249.02, Y:-8.45, Z:3.11 [[ 9.99745754e-01 -1.18899459e-02 -1.91586994e-02 2.49018946e+02] [ 1.19084438e-02 9.99928729e-01 8.51709646e-04 -8.44795847e+00] [ 1.91472071e-02 -1.07964340e-03 9.99816093e-01 3.11475200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79071405699997 meters Centerline goodness [0,1] 0.9860449207616008 Centerline is valid? [True, True] Translation: X:249.05, Y:-8.45, Z:3.12 [[ 9.99749886e-01 -1.13100526e-02 -1.92937355e-02 2.49047298e+02] [ 1.13286417e-02 9.99935464e-01 8.54451887e-04 -8.44955159e+00] [ 1.92828264e-02 -1.07280999e-03 9.99813493e-01 3.11521772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82071405699998 meters Centerline goodness [0,1] 0.985623438564615 Centerline is valid? [True, True] Translation: X:249.08, Y:-8.45, Z:3.12 [[ 9.99768435e-01 -1.00610246e-02 -1.90224089e-02 2.49076383e+02] [ 1.00787862e-02 9.99948857e-01 8.38079866e-04 -8.45065347e+00] [ 1.90130041e-02 -1.02960859e-03 9.99818706e-01 3.11574233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85071405699998 meters Centerline goodness [0,1] 0.986639961763434 Centerline is valid? [True, True] Translation: X:249.10, Y:-8.45, Z:3.12 [[ 9.99772034e-01 -9.87519322e-03 -1.89304055e-02 2.49104901e+02] [ 9.89266776e-03 9.99950722e-01 8.29669142e-04 -8.45130443e+00] [ 1.89212796e-02 -1.01675222e-03 9.99820460e-01 3.11642665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88071405699998 meters Centerline goodness [0,1] 0.9854082512594744 Centerline is valid? [True, True] Translation: X:249.13, Y:-8.45, Z:3.12 [[ 9.99779362e-01 -9.48242625e-03 -1.87432645e-02 2.49134130e+02] [ 9.49940819e-03 9.99954546e-01 8.17201824e-04 -8.45272888e+00] [ 1.87346635e-02 -9.95071439e-04 9.99823996e-01 3.11708010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91071405699998 meters Centerline goodness [0,1] 0.9870821014327951 Centerline is valid? [True, True] Translation: X:249.16, Y:-8.45, Z:3.12 [[ 9.99795642e-01 -9.29127373e-03 -1.79540333e-02 2.49162814e+02] [ 9.30675085e-03 9.99956388e-01 7.78678481e-04 -8.44881497e+00] [ 1.79460154e-02 -9.45613066e-04 9.99838510e-01 3.11893819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94071405699998 meters Centerline goodness [0,1] 0.9854291689398073 Centerline is valid? [True, True] Translation: X:249.19, Y:-8.45, Z:3.12 [[ 9.99786447e-01 -1.06693445e-02 -1.76981969e-02 2.49191082e+02] [ 1.06845461e-02 9.99942626e-01 7.64601131e-04 -8.45202139e+00] [ 1.76890237e-02 -9.53535049e-04 9.99843082e-01 3.11908398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97071405699998 meters Centerline goodness [0,1] 0.9863016815709832 Centerline is valid? [True, True] Translation: X:249.22, Y:-8.45, Z:3.12 [[ 9.99766259e-01 -1.23313067e-02 -1.77585778e-02 2.49220856e+02] [ 1.23468538e-02 9.99923481e-01 7.66095237e-04 -8.45287731e+00] [ 1.77477720e-02 -9.85178732e-04 9.99842011e-01 3.12002837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00071405699998 meters Centerline goodness [0,1] 0.9847132892472145 Centerline is valid? [True, True] Translation: X:249.25, Y:-8.46, Z:3.12 [[ 9.99702519e-01 -1.68702588e-02 -1.76144307e-02 2.49249912e+02] [ 1.68862474e-02 9.99857129e-01 7.59350435e-04 -8.45956184e+00] [ 1.75991037e-02 -1.05656618e-03 9.99844566e-01 3.11963243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03071405699998 meters Centerline goodness [0,1] 0.9852723925543763 Centerline is valid? [True, True] Translation: X:249.28, Y:-8.46, Z:3.12 [[ 9.99627733e-01 -2.00048835e-02 -1.85526143e-02 2.49280430e+02] [ 2.00231545e-02 9.99799197e-01 7.99567470e-04 -8.46251475e+00] [ 1.85328937e-02 -1.17075168e-03 9.99827566e-01 3.11999605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06071405699998 meters Centerline goodness [0,1] 0.9849964870928994 Centerline is valid? [True, True] Translation: X:249.31, Y:-8.47, Z:3.12 [[ 9.99509613e-01 -2.54634100e-02 -1.82249157e-02 2.49309245e+02] [ 2.54819471e-02 9.99674974e-01 7.85589411e-04 -8.47080180e+00] [ 1.81989883e-02 -1.24961050e-03 9.99833604e-01 3.11951109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09071405699999 meters Centerline goodness [0,1] 0.9846292743482676 Centerline is valid? [True, True] Translation: X:249.34, Y:-8.48, Z:3.12 [[ 9.99449457e-01 -2.81654703e-02 -1.75353542e-02 2.49338965e+02] [ 2.81830471e-02 9.99602493e-01 7.56003280e-04 -8.47669684e+00] [ 1.75070906e-02 -1.24978678e-03 9.99845958e-01 3.12007193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.120714057 meters Centerline goodness [0,1] 0.9831821149559853 Centerline is valid? [True, True] Translation: X:249.37, Y:-8.48, Z:3.12 [[ 9.99273515e-01 -3.35444406e-02 -1.80890088e-02 2.49369263e+02] [ 3.35640269e-02 9.99436265e-01 7.80185189e-04 -8.48273574e+00] [ 1.80526405e-02 -1.38675837e-03 9.99836076e-01 3.12057365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.150714057 meters Centerline goodness [0,1] 0.983214729470236 Centerline is valid? [True, True] Translation: X:249.40, Y:-8.49, Z:3.12 [[ 9.99198812e-01 -3.56539208e-02 -1.81805180e-02 2.49399311e+02] [ 3.56740614e-02 9.99363170e-01 7.84603396e-04 -8.48810819e+00] [ 1.81409659e-02 -1.43254770e-03 9.99834413e-01 3.12066448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.180714057 meters Centerline goodness [0,1] 0.9817241223512402 Centerline is valid? [True, True] Translation: X:249.43, Y:-8.49, Z:3.12 [[ 9.99045884e-01 -3.89795993e-02 -1.96954990e-02 2.49429712e+02] [ 3.90038832e-02 9.99238697e-01 8.50188447e-04 -8.49222888e+00] [ 1.96473648e-02 -1.61757821e-03 9.99805663e-01 3.11937667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.210714057 meters Centerline goodness [0,1] 0.9820242988121585 Centerline is valid? [True, True] Translation: X:249.46, Y:-8.50, Z:3.12 [[ 9.99004815e-01 -3.97907257e-02 -2.01513865e-02 2.49461821e+02] [ 3.98163269e-02 9.99206636e-01 8.70661788e-04 -8.49543151e+00] [ 2.01007549e-02 -1.67214951e-03 9.99796561e-01 3.11924548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.240714057 meters Centerline goodness [0,1] 0.9797245427861819 Centerline is valid? [True, True] Translation: X:249.49, Y:-8.50, Z:3.12 [[ 9.98985609e-01 -4.02319718e-02 -2.02272222e-02 2.49493633e+02] [ 4.02578839e-02 9.99188939e-01 8.75329371e-04 -8.49808704e+00] [ 2.01756005e-02 -1.68874661e-03 9.99795026e-01 3.11920594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.270714057 meters Centerline goodness [0,1] 0.9797245427861819 Centerline is valid? [True, True] Translation: X:249.53, Y:-8.50, Z:3.12 [[ 9.98988363e-01 -4.01635821e-02 -2.02271622e-02 2.49525406e+02] [ 4.01895082e-02 9.99191691e-01 8.76713574e-04 -8.49952875e+00] [ 2.01756005e-02 -1.68874636e-03 9.99795026e-01 3.11949396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.300714057 meters Centerline goodness [0,1] 0.9801102974414609 Centerline is valid? [True, True] Translation: X:249.56, Y:-8.50, Z:3.12 [[ 9.98990888e-01 -4.00960991e-02 -2.02363127e-02 2.49557413e+02] [ 4.01220628e-02 9.99194400e-01 8.78496231e-04 -8.50122285e+00] [ 2.01847861e-02 -1.68953234e-03 9.99794839e-01 3.12022205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.330714057 meters Centerline goodness [0,1] 0.984426359576542 Centerline is valid? [True, True] Translation: X:249.59, Y:-8.50, Z:3.12 [[ 9.99084118e-01 -3.81229723e-02 -1.94310121e-02 2.49587916e+02] [ 3.81465512e-02 9.99271799e-01 8.44131216e-04 -8.49663328e+00] [ 1.93846816e-02 -1.58458419e-03 9.99810844e-01 3.12270043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.360714057 meters Centerline goodness [0,1] 0.9810843182896789 Centerline is valid? [True, True] Translation: X:249.62, Y:-8.50, Z:3.12 [[ 9.99157429e-01 -3.67057404e-02 -1.83608708e-02 2.49617753e+02] [ 3.67265585e-02 9.99325034e-01 7.97805502e-04 -8.50236934e+00] [ 1.83191938e-02 -1.47146489e-03 9.99831107e-01 3.12326309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.390714057 meters Centerline goodness [0,1] 0.983055838713331 Centerline is valid? [True, True] Translation: X:249.65, Y:-8.50, Z:3.13 [[ 9.99251376e-01 -3.45264617e-02 -1.74531238e-02 2.49648947e+02] [ 3.45449466e-02 9.99402857e-01 7.58658367e-04 -8.49709721e+00] [ 1.74165080e-02 -1.36100765e-03 9.99847395e-01 3.12543286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42071405699997 meters Centerline goodness [0,1] 0.9856240915697675 Centerline is valid? [True, True] Translation: X:249.68, Y:-8.49, Z:3.13 [[ 9.99302990e-01 -3.33082166e-02 -1.68551644e-02 2.49680798e+02] [ 3.33252936e-02 9.99444289e-01 7.33229661e-04 -8.49357373e+00] [ 1.68213753e-02 -1.29442190e-03 9.99857673e-01 3.12643308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45071405699997 meters Centerline goodness [0,1] 0.9810713395144288 Centerline is valid? [True, True] Translation: X:249.71, Y:-8.50, Z:3.13 [[ 9.99336188e-01 -3.22648255e-02 -1.69164070e-02 2.49710705e+02] [ 3.22818887e-02 9.99478533e-01 7.36512433e-04 -8.50157664e+00] [ 1.68838222e-02 -1.28211710e-03 9.99856636e-01 3.12572770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48071405699997 meters Centerline goodness [0,1] 0.9779463535397125 Centerline is valid? [True, True] Translation: X:249.74, Y:-8.51, Z:3.12 [[ 9.99364259e-01 -3.11317665e-02 -1.73749982e-02 2.49740867e+02] [ 3.11496025e-02 9.99514447e-01 7.56778690e-04 -8.50520075e+00] [ 1.73430018e-02 -1.29752186e-03 9.99848757e-01 3.12442968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51071405699997 meters Centerline goodness [0,1] 0.985992553577915 Centerline is valid? [True, True] Translation: X:249.77, Y:-8.50, Z:3.12 [[ 9.99373653e-01 -3.03046195e-02 -1.82737735e-02 2.49773246e+02] [ 3.03242260e-02 9.99539797e-01 7.96728055e-04 -8.49570622e+00] [ 1.82412193e-02 -1.35036706e-03 9.99832703e-01 3.12485162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54071405699997 meters Centerline goodness [0,1] 0.9868023533153124 Centerline is valid? [True, True] Translation: X:249.81, Y:-8.49, Z:3.13 [[ 9.99361428e-01 -3.03336706e-02 -1.88839593e-02 2.49805862e+02] [ 3.03546393e-02 9.99538852e-01 8.24689258e-04 -8.49391922e+00] [ 1.88502351e-02 -1.39737841e-03 9.99821342e-01 3.12502230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57071405699998 meters Centerline goodness [0,1] 0.9850776778413737 Centerline is valid? [True, True] Translation: X:249.84, Y:-8.50, Z:3.12 [[ 9.99344180e-01 -3.05175710e-02 -1.94907351e-02 2.49837255e+02] [ 3.05399778e-02 9.99533182e-01 8.52928049e-04 -8.50039232e+00] [ 1.94556072e-02 -1.44761530e-03 9.99809674e-01 3.12388456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60071405699998 meters Centerline goodness [0,1] 0.9875973922722213 Centerline is valid? [True, True] Translation: X:249.87, Y:-8.50, Z:3.12 [[ 9.99323320e-01 -3.04460977e-02 -2.06382584e-02 2.49868634e+02] [ 3.04712349e-02 9.99535235e-01 9.04539798e-04 -8.49773815e+00] [ 2.06011268e-02 -1.53280093e-03 9.99786599e-01 3.12303348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63071405699998 meters Centerline goodness [0,1] 0.9860950173812283 Centerline is valid? [True, True] Translation: X:249.90, Y:-8.50, Z:3.12 [[ 9.99310504e-01 -3.02419013e-02 -2.15393690e-02 2.49898617e+02] [ 3.02692468e-02 9.99541335e-01 9.44588855e-04 -8.50297408e+00] [ 2.15009234e-02 -1.59591804e-03 9.99767555e-01 3.12210779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66071405699998 meters Centerline goodness [0,1] 0.9864044230943533 Centerline is valid? [True, True] Translation: X:249.93, Y:-8.50, Z:3.12 [[ 9.99349382e-01 -2.89040981e-02 -2.15723474e-02 2.49929955e+02] [ 2.89312304e-02 9.99580956e-01 9.46635165e-04 -8.50088165e+00] [ 2.15359460e-02 -1.57013382e-03 9.99766842e-01 3.12280790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69071405699998 meters Centerline goodness [0,1] 0.9865033741564608 Centerline is valid? [True, True] Translation: X:249.96, Y:-8.50, Z:3.12 [[ 9.99380630e-01 -2.79841526e-02 -2.13364196e-02 2.49960186e+02] [ 2.80104972e-02 9.99607190e-01 9.36810089e-04 -8.50301780e+00] [ 2.13018226e-02 -1.53387358e-03 9.99771914e-01 3.12339113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72071405699998 meters Centerline goodness [0,1] 0.9873098178344818 Centerline is valid? [True, True] Translation: X:249.99, Y:-8.50, Z:3.13 [[ 9.99462302e-01 -2.58138171e-02 -2.02176435e-02 2.49990979e+02] [ 2.58370320e-02 9.99665774e-01 8.87837050e-04 -8.49558355e+00] [ 2.01879677e-02 -1.40972356e-03 9.99795208e-01 3.12630639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75071405699998 meters Centerline goodness [0,1] 0.984631473650707 Centerline is valid? [True, True] Translation: X:250.02, Y:-8.51, Z:3.13 [[ 9.99511717e-01 -2.42755995e-02 -1.96729030e-02 2.50020133e+02] [ 2.42972890e-02 9.99704404e-01 8.64202711e-04 -8.50526951e+00] [ 1.96461087e-02 -1.34177895e-03 9.99806096e-01 3.12599566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78071405699998 meters Centerline goodness [0,1] 0.9862628005721941 Centerline is valid? [True, True] Translation: X:250.05, Y:-8.50, Z:3.13 [[ 9.99554436e-01 -2.28383946e-02 -1.92181717e-02 2.50051181e+02] [ 2.28588330e-02 9.99738346e-01 8.44466312e-04 -8.49877882e+00] [ 1.91938569e-02 -1.28339503e-03 9.99814957e-01 3.12819275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81071405699998 meters Centerline goodness [0,1] 0.9869707581063258 Centerline is valid? [True, True] Translation: X:250.08, Y:-8.50, Z:3.13 [[ 9.99625100e-01 -2.03357839e-02 -1.83334608e-02 2.50082214e+02] [ 2.03539674e-02 9.99792512e-01 8.05753832e-04 -8.49898700e+00] [ 1.83132712e-02 -1.17861042e-03 9.99831603e-01 3.12925640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84071405699999 meters Centerline goodness [0,1] 0.9868971792538671 Centerline is valid? [True, True] Translation: X:250.11, Y:-8.50, Z:3.13 [[ 9.99654242e-01 -1.92705650e-02 -1.78897249e-02 2.50112479e+02] [ 1.92877117e-02 9.99813666e-01 7.86406478e-04 -8.49954997e+00] [ 1.78712369e-02 -1.13118643e-03 9.99839657e-01 3.12974833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.870714057 meters Centerline goodness [0,1] 0.9868439022169618 Centerline is valid? [True, True] Translation: X:250.14, Y:-8.50, Z:3.13 [[ 9.99698840e-01 -1.66210684e-02 -1.80546426e-02 2.50141729e+02] [ 1.66380968e-02 9.99861263e-01 7.93344973e-04 -8.50044608e+00] [ 1.80389515e-02 -1.09350094e-03 9.99836687e-01 3.12968853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.900714057 meters Centerline goodness [0,1] 0.9872016760794315 Centerline is valid? [True, True] Translation: X:250.17, Y:-8.50, Z:3.13 [[ 9.99717467e-01 -1.51033569e-02 -1.83541719e-02 2.50171722e+02] [ 1.51206884e-02 9.99885351e-01 8.05864322e-04 -8.49929033e+00] [ 1.83398963e-02 -1.08316435e-03 9.99831223e-01 3.13042621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.930714057 meters Centerline goodness [0,1] 0.9863719234275297 Centerline is valid? [True, True] Translation: X:250.20, Y:-8.50, Z:3.13 [[ 9.99720222e-01 -1.24579832e-02 -2.01066178e-02 2.50200801e+02] [ 1.24782353e-02 9.99921755e-01 8.82080690e-04 -8.49865217e+00] [ 2.00940556e-02 -1.13272901e-03 9.99797452e-01 3.12990699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.960714057 meters Centerline goodness [0,1] 0.9876961564703207 Centerline is valid? [True, True] Translation: X:250.23, Y:-8.50, Z:3.13 [[ 9.99736805e-01 -1.08316132e-02 -2.02236761e-02 2.50228491e+02] [ 1.08517445e-02 9.99940726e-01 8.85952756e-04 -8.49932144e+00] [ 2.02128811e-02 -1.10518174e-03 9.99795088e-01 3.12994020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.990714057 meters Centerline goodness [0,1] 0.9877526862138044 Centerline is valid? [True, True] Translation: X:250.26, Y:-8.50, Z:3.13 [[ 9.99756941e-01 -7.40042168e-03 -2.07675707e-02 2.50257347e+02] [ 7.42088792e-03 9.99972052e-01 9.08597055e-04 -8.49898926e+00] [ 2.07602663e-02 -1.06249003e-03 9.99783918e-01 3.12991996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.020714057 meters Centerline goodness [0,1] 0.9884931506849315 Centerline is valid? [True, True] Translation: X:250.29, Y:-8.49, Z:3.13 [[ 9.99768827e-01 -5.67512475e-03 -2.07385145e-02 2.50286740e+02] [ 5.69510102e-03 9.99983374e-01 9.04310976e-04 -8.49218460e+00] [ 2.07330377e-02 -1.02220986e-03 9.99784525e-01 3.13209689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.050714057 meters Centerline goodness [0,1] 0.9891671999268672 Centerline is valid? [True, True] Translation: X:250.32, Y:-8.49, Z:3.13 [[ 9.99790885e-01 -1.73034400e-03 -2.03762706e-02 2.50315935e+02] [ 1.74876076e-03 9.99998078e-01 8.86049727e-04 -8.49181689e+00] [ 2.03746983e-02 -9.21497663e-04 9.99791990e-01 3.13290558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.080714057 meters Centerline goodness [0,1] 0.9890362873814734 Centerline is valid? [True, True] Translation: X:250.34, Y:-8.49, Z:3.13 [[ 9.99803225e-01 9.46494545e-06 -1.98371195e-02 2.50344762e+02] [ 7.62684597e-06 9.99999629e-01 8.61530686e-04 -8.49171168e+00] [ 1.98371203e-02 -8.61512453e-04 9.99802854e-01 3.13362343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.110714057 meters Centerline goodness [0,1] 0.9884394386832406 Centerline is valid? [True, True] Translation: X:250.37, Y:-8.49, Z:3.14 [[ 9.99816590e-01 2.86195766e-03 -1.89366142e-02 2.50374524e+02] [-2.84691157e-03 9.99995610e-01 8.21459984e-04 -8.49067874e+00] [ 1.89388821e-02 -7.67398454e-04 9.99820349e-01 3.13500087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.140714057 meters Centerline goodness [0,1] 0.9893802069028655 Centerline is valid? [True, True] Translation: X:250.40, Y:-8.49, Z:3.14 [[ 9.99816564e-01 4.21059637e-03 -1.86844693e-02 2.50402070e+02] [-4.19621271e-03 9.99990869e-01 8.08957898e-04 -8.49282356e+00] [ 1.86877049e-02 -7.30405498e-04 9.99825103e-01 3.13551302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17071405699997 meters Centerline goodness [0,1] 0.9890846681922196 Centerline is valid? [True, True] Translation: X:250.43, Y:-8.49, Z:3.14 [[ 9.99822279e-01 5.20497499e-03 -1.81195389e-02 2.50431324e+02] [-5.19164360e-03 9.99986217e-01 7.82708592e-04 -8.49158908e+00] [ 1.81233632e-02 -6.88499300e-04 9.99835521e-01 3.13648956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20071405699997 meters Centerline goodness [0,1] 0.98906655733224 Centerline is valid? [True, True] Translation: X:250.46, Y:-8.49, Z:3.14 [[ 9.99826215e-01 5.11055061e-03 -1.79282740e-02 2.50458211e+02] [-5.09751552e-03 9.99986709e-01 7.72692374e-04 -8.49405554e+00] [ 1.79319846e-02 -6.81168437e-04 9.99838977e-01 3.13629844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23071405699997 meters Centerline goodness [0,1] 0.988710119755005 Centerline is valid? [True, True] Translation: X:250.49, Y:-8.50, Z:3.13 [[ 9.99814754e-01 3.56220885e-03 -1.89147809e-02 2.50485303e+02] [-3.54746202e-03 9.99993377e-01 8.13141620e-04 -8.50318798e+00] [ 1.89175522e-02 -7.45891521e-04 9.99820769e-01 3.13417106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26071405699997 meters Centerline goodness [0,1] 0.9879509824056959 Centerline is valid? [True, True] Translation: X:250.51, Y:-8.51, Z:3.13 [[ 9.99805684e-01 2.32290769e-03 -1.95754548e-02 2.50514037e+02] [-2.30690533e-03 9.99996986e-01 8.40012385e-04 -8.50636742e+00] [ 1.95773470e-02 -7.94690436e-04 9.99808030e-01 3.13341934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29071405699997 meters Centerline goodness [0,1] 0.9874716295960054 Centerline is valid? [True, True] Translation: X:250.54, Y:-8.51, Z:3.13 [[ 9.99792719e-01 9.86133199e-04 -2.03358411e-02 2.50542873e+02] [-9.68615054e-04 9.99999151e-01 8.71273736e-04 -8.51003751e+00] [ 2.03366830e-02 -8.51395536e-04 9.99792826e-01 3.13253641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32071405699998 meters Centerline goodness [0,1] 0.988337001656418 Centerline is valid? [True, True] Translation: X:250.57, Y:-8.52, Z:3.13 [[ 9.99750853e-01 -1.30548925e-03 -2.22828809e-02 2.50571228e+02] [ 1.32706245e-03 9.99998665e-01 9.53391462e-04 -8.51582542e+00] [ 2.22816065e-02 -9.82724702e-04 9.99751251e-01 3.13031857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35071405699998 meters Centerline goodness [0,1] 0.9891583517057981 Centerline is valid? [True, True] Translation: X:250.60, Y:-8.51, Z:3.13 [[ 9.99734754e-01 -2.21212161e-03 -2.29244049e-02 2.50600065e+02] [ 2.23510610e-03 9.99997025e-01 9.77046740e-04 -8.51383124e+00] [ 2.29221753e-02 -1.02802606e-03 9.99736724e-01 3.13100882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38071405699998 meters Centerline goodness [0,1] 0.9903282465384703 Centerline is valid? [True, True] Translation: X:250.63, Y:-8.52, Z:3.13 [[ 9.99709898e-01 -2.28164379e-03 -2.39773435e-02 2.50629034e+02] [ 2.30666897e-03 9.99996823e-01 1.01609500e-03 -8.51667561e+00] [ 2.39749490e-02 -1.07110802e-03 9.99711986e-01 3.13068442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41071405699998 meters Centerline goodness [0,1] 0.9891304347826086 Centerline is valid? [True, True] Translation: X:250.66, Y:-8.52, Z:3.13 [[ 9.99710765e-01 -2.16438143e-03 -2.39520711e-02 2.50656884e+02] [ 2.18923868e-03 9.99997092e-01 1.01161775e-03 -8.51855323e+00] [ 2.39498119e-02 -1.06376195e-03 9.99712596e-01 3.13098611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44071405699998 meters Centerline goodness [0,1] 0.9899352493468135 Centerline is valid? [True, True] Translation: X:250.69, Y:-8.51, Z:3.13 [[ 9.99722659e-01 -4.03044627e-04 -2.35465870e-02 2.50685708e+02] [ 4.26537489e-04 9.99999416e-01 9.92704399e-04 -8.51388944e+00] [ 2.35461732e-02 -1.00247258e-03 9.99722248e-01 3.13417775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47071405699998 meters Centerline goodness [0,1] 0.9904142494561277 Centerline is valid? [True, True] Translation: X:250.71, Y:-8.51, Z:3.14 [[ 9.99742591e-01 -5.15917320e-05 -2.26880917e-02 2.50714722e+02] [ 7.32199242e-05 9.99999544e-01 9.52454200e-04 -8.51421363e+00] [ 2.26880322e-02 -9.53870250e-04 9.99742138e-01 3.13515237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50071405699998 meters Centerline goodness [0,1] 0.9898309711763769 Centerline is valid? [True, True] Translation: X:250.74, Y:-8.52, Z:3.14 [[ 9.99779435e-01 5.86994917e-04 -2.09937178e-02 2.50742816e+02] [-5.68724671e-04 9.99999454e-01 8.76231936e-04 -8.51562684e+00] [ 2.09942207e-02 -8.64099025e-04 9.99779224e-01 3.13753587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53071405699998 meters Centerline goodness [0,1] 0.9891185576397742 Centerline is valid? [True, True] Translation: X:250.77, Y:-8.52, Z:3.14 [[ 9.99804053e-01 9.18470981e-04 -1.97740460e-02 2.50771806e+02] [-9.02384370e-04 9.99999255e-01 8.22428859e-04 -8.51635228e+00] [ 1.97747867e-02 -8.04423916e-04 9.99804136e-01 3.13893538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56071405699998 meters Centerline goodness [0,1] 0.9898980706224972 Centerline is valid? [True, True] Translation: X:250.80, Y:-8.52, Z:3.14 [[ 9.99830867e-01 6.34107876e-04 -1.83802912e-02 2.50800503e+02] [-6.20184680e-04 9.99999516e-01 7.63197019e-04 -8.51803165e+00] [ 1.83807663e-02 -7.51668762e-04 9.99830777e-01 3.13980065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59071405699999 meters Centerline goodness [0,1] 0.988744706388568 Centerline is valid? [True, True] Translation: X:250.83, Y:-8.52, Z:3.14 [[ 9.99858144e-01 1.30113874e-04 -1.68426352e-02 2.50828317e+02] [-1.18373217e-04 9.99999749e-01 6.98074623e-04 -8.52161052e+00] [ 1.68427218e-02 -6.95981880e-04 9.99857909e-01 3.14080498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.620714057 meters Centerline goodness [0,1] 0.9882761122953422 Centerline is valid? [True, True] Translation: X:250.86, Y:-8.52, Z:3.14 [[ 9.99855419e-01 -1.19785495e-03 -1.69618784e-02 2.50856646e+02] [ 1.20993018e-03 9.99999022e-01 7.01659486e-04 -8.52466006e+00] [ 1.69610213e-02 -7.22080728e-04 9.99855891e-01 3.14046348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.650714057 meters Centerline goodness [0,1] 0.9875789091239384 Centerline is valid? [True, True] Translation: X:250.89, Y:-8.53, Z:3.14 [[ 9.99812505e-01 -5.65638833e-03 -1.85191960e-02 2.50886349e+02] [ 5.67153033e-03 9.99983624e-01 7.65218988e-04 -8.52885862e+00] [ 1.85145643e-02 -8.70107695e-04 9.99828212e-01 3.13875489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.680714057 meters Centerline goodness [0,1] 0.9879181522948698 Centerline is valid? [True, True] Translation: X:250.91, Y:-8.54, Z:3.14 [[ 9.99770025e-01 -8.64349646e-03 -1.96262024e-02 2.50914584e+02] [ 8.66105929e-03 9.99962164e-01 8.10041127e-04 -8.53523216e+00] [ 1.96184583e-02 -9.79838540e-04 9.99807059e-01 3.13759282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.710714057 meters Centerline goodness [0,1] 0.9883620884843545 Centerline is valid? [True, True] Translation: X:250.94, Y:-8.54, Z:3.14 [[ 9.99720985e-01 -1.16828928e-02 -2.05295373e-02 2.50944280e+02] [ 1.17027308e-02 9.99931162e-01 8.46441997e-04 -8.53969820e+00] [ 2.05182352e-02 -1.08645748e-03 9.99788889e-01 3.13680575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.740714057 meters Centerline goodness [0,1] 0.986894612733539 Centerline is valid? [True, True] Translation: X:250.97, Y:-8.55, Z:3.14 [[ 9.99595674e-01 -1.79676299e-02 -2.20375362e-02 2.50972833e+02] [ 1.79920127e-02 9.99837718e-01 9.08631945e-04 -8.54786432e+00] [ 2.20176340e-02 -1.30476419e-03 9.99756731e-01 3.13562120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.770714057 meters Centerline goodness [0,1] 0.9862656664324728 Centerline is valid? [True, True] Translation: X:251.00, Y:-8.55, Z:3.14 [[ 9.99521980e-01 -2.11107025e-02 -2.25864850e-02 2.51003144e+02] [ 2.11371129e-02 9.99776153e-01 9.31175728e-04 -8.55131491e+00] [ 2.25617713e-02 -1.40814369e-03 9.99744459e-01 3.13543814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.800714057 meters Centerline goodness [0,1] 0.9862425536697763 Centerline is valid? [True, True] Translation: X:251.03, Y:-8.55, Z:3.14 [[ 9.99430457e-01 -2.49410886e-02 -2.27311154e-02 2.51033529e+02] [ 2.49688193e-02 9.99687791e-01 9.36898777e-04 -8.55376803e+00] [ 2.27006513e-02 -1.50393429e-03 9.99741176e-01 3.13600507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.830714057 meters Centerline goodness [0,1] 0.9871983021381319 Centerline is valid? [True, True] Translation: X:251.06, Y:-8.55, Z:3.14 [[ 9.99389767e-01 -2.64740046e-02 -2.27864030e-02 2.51063513e+02] [ 2.65022602e-02 9.99648313e-01 9.38877577e-04 -8.55205273e+00] [ 2.27535335e-02 -1.54219582e-03 9.99739915e-01 3.13725170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.860714057 meters Centerline goodness [0,1] 0.9863965595291987 Centerline is valid? [True, True] Translation: X:251.09, Y:-8.55, Z:3.14 [[ 9.99378314e-01 -2.74103724e-02 -2.21733309e-02 2.51093135e+02] [ 2.74373484e-02 9.99623108e-01 9.13230375e-04 -8.55472489e+00] [ 2.21399420e-02 -1.52104004e-03 9.99753724e-01 3.13783867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.890714057 meters Centerline goodness [0,1] 0.986292058457007 Centerline is valid? [True, True] Translation: X:251.12, Y:-8.56, Z:3.14 [[ 9.99395060e-01 -2.81111377e-02 -2.04762633e-02 2.51123453e+02] [ 2.81342849e-02 9.99603797e-01 8.43188041e-04 -8.55536491e+00] [ 2.04444476e-02 -1.41876299e-03 9.99789984e-01 3.13945052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92071405699997 meters Centerline goodness [0,1] 0.9858864573422138 Centerline is valid? [True, True] Translation: X:251.15, Y:-8.56, Z:3.14 [[ 9.99406952e-01 -2.78999013e-02 -2.01826855e-02 2.51154954e+02] [ 2.79223543e-02 9.99609749e-01 8.31484870e-04 -8.55634312e+00] [ 2.01516108e-02 -1.39453985e-03 9.99795963e-01 3.13993777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95071405699997 meters Centerline goodness [0,1] 0.9854207039524089 Centerline is valid? [True, True] Translation: X:251.19, Y:-8.56, Z:3.14 [[ 9.99451581e-01 -2.72444973e-02 -1.88221936e-02 2.51186867e+02] [ 2.72639240e-02 9.99627969e-01 7.76234215e-04 -8.55715820e+00] [ 1.87940431e-02 -1.28897537e-03 9.99822545e-01 3.14116752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98071405699997 meters Centerline goodness [0,1] 0.9857236589063101 Centerline is valid? [True, True] Translation: X:251.22, Y:-8.56, Z:3.14 [[ 9.99450954e-01 -2.77001327e-02 -1.81794462e-02 2.51217952e+02] [ 2.77183439e-02 9.99615491e-01 7.50496092e-04 -8.55711026e+00] [ 1.81516672e-02 -1.25398818e-03 9.99834459e-01 3.14166891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.010714057 meters Centerline goodness [0,1] 0.9836897671900379 Centerline is valid? [True, True] Translation: X:251.25, Y:-8.56, Z:3.14 [[ 9.99426825e-01 -2.90018796e-02 -1.74617642e-02 2.51249572e+02] [ 2.90188892e-02 9.99578603e-01 7.21461258e-04 -8.55815778e+00] [ 1.74334821e-02 -1.22776873e-03 9.99847271e-01 3.14241317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.040714057 meters Centerline goodness [0,1] 0.9845640478514517 Centerline is valid? [True, True] Translation: X:251.28, Y:-8.56, Z:3.14 [[ 9.99379350e-01 -3.05316965e-02 -1.75707374e-02 2.51281184e+02] [ 3.05491651e-02 9.99533001e-01 7.26577422e-04 -8.55890363e+00] [ 1.75403482e-02 -1.26289783e-03 9.99845359e-01 3.14266213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07071405700003 meters Centerline goodness [0,1] 0.9819094568314414 Centerline is valid? [True, True] Translation: X:251.31, Y:-8.56, Z:3.14 [[ 9.99333421e-01 -3.17448757e-02 -1.80270928e-02 2.51311594e+02] [ 3.17634854e-02 9.99495134e-01 7.46865301e-04 -8.56344956e+00] [ 1.79942824e-02 -1.31897076e-03 9.99837220e-01 3.14273090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.100714057 meters Centerline goodness [0,1] 0.9813537791488975 Centerline is valid? [True, True] Translation: X:251.34, Y:-8.57, Z:3.14 [[ 9.99214306e-01 -3.47540612e-02 -1.90506324e-02 2.51341495e+02] [ 3.47754112e-02 9.99394840e-01 7.90471981e-04 -8.56932574e+00] [ 1.90116316e-02 -1.45234449e-03 9.99818208e-01 3.14119298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13071405700003 meters Centerline goodness [0,1] 0.9778025173808333 Centerline is valid? [True, True] Translation: X:251.37, Y:-8.57, Z:3.14 [[ 9.99078299e-01 -3.76860821e-02 -2.05502346e-02 2.51370781e+02] [ 3.77115404e-02 9.99288303e-01 8.52573096e-04 -8.57365043e+00] [ 2.05034790e-02 -1.62676828e-03 9.99788458e-01 3.13910949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.160714057 meters Centerline goodness [0,1] 0.9778025173808333 Centerline is valid? [True, True] Translation: X:251.40, Y:-8.58, Z:3.14 [[ 9.99080780e-01 -3.76202666e-02 -2.05502083e-02 2.51402545e+02] [ 3.76457240e-02 9.99290784e-01 8.53206163e-04 -8.57503621e+00] [ 2.05035360e-02 -1.62604935e-03 9.99788458e-01 3.13939766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19071405700004 meters Centerline goodness [0,1] 0.9783947111343345 Centerline is valid? [True, True] Translation: X:251.43, Y:-8.58, Z:3.14 [[ 9.99000546e-01 -3.92739411e-02 -2.13416498e-02 2.51433549e+02] [ 3.93017900e-02 9.99226993e-01 8.86890127e-04 -8.57519905e+00] [ 2.12903209e-02 -1.72476876e-03 9.99771848e-01 3.13896572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.220714057 meters Centerline goodness [0,1] 0.9709760739532355 Centerline is valid? [True, True] Translation: X:251.46, Y:-8.58, Z:3.14 [[ 9.98941737e-01 -4.03833322e-02 -2.20134811e-02 2.51463817e+02] [ 4.04132383e-02 9.99182632e-01 9.15178598e-04 -8.57855999e+00] [ 2.19585301e-02 -1.80384616e-03 9.99757255e-01 3.13849697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25071405700004 meters Centerline goodness [0,1] 0.9680238512483216 Centerline is valid? [True, True] Translation: X:251.50, Y:-8.58, Z:3.14 [[ 9.98886748e-01 -4.14813435e-02 -2.24624719e-02 2.51495529e+02] [ 4.15127759e-02 9.99137536e-01 9.34643997e-04 -8.57746466e+00] [ 2.24043286e-02 -1.86608307e-03 9.99747250e-01 3.13836411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.280714057 meters Centerline goodness [0,1] 0.9808885239919722 Centerline is valid? [True, True] Translation: X:251.53, Y:-8.57, Z:3.14 [[ 9.98892661e-01 -4.12164905e-02 -2.26859474e-02 2.51528131e+02] [ 4.12485211e-02 9.99148470e-01 9.45591569e-04 -8.56678965e+00] [ 2.26276557e-02 -1.88030626e-03 9.99742194e-01 3.14094490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.310714057 meters Centerline goodness [0,1] 0.961317266876626 Centerline is valid? [True, True] Translation: X:251.56, Y:-8.58, Z:3.14 [[ 9.98977821e-01 -3.98342627e-02 -2.13668947e-02 2.51558762e+02] [ 3.98623874e-02 9.99204781e-01 8.91805053e-04 -8.57703733e+00] [ 2.13143790e-02 -1.74262890e-03 9.99771304e-01 3.14061216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.340714057 meters Centerline goodness [0,1] 0.9823010870558144 Centerline is valid? [True, True] Translation: X:251.59, Y:-8.56, Z:3.14 [[ 9.99025240e-01 -3.90980116e-02 -2.04918380e-02 2.51591524e+02] [ 3.91237487e-02 9.99234006e-01 8.56421637e-04 -8.56008385e+00] [ 2.04426570e-02 -1.65730435e-03 9.99789653e-01 3.14434978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.370714057 meters Centerline goodness [0,1] 0.9818322733593198 Centerline is valid? [True, True] Translation: X:251.62, Y:-8.56, Z:3.15 [[ 9.99078221e-01 -3.81535060e-02 -1.96727777e-02 2.51623173e+02] [ 3.81770643e-02 9.99270651e-01 8.23204787e-04 -8.56041290e+00] [ 1.96270212e-02 -1.57349487e-03 9.99806133e-01 3.14527259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.400714057 meters Centerline goodness [0,1] 0.9812123847227625 Centerline is valid? [True, True] Translation: X:251.66, Y:-8.56, Z:3.15 [[ 9.99139125e-01 -3.72665793e-02 -1.82266575e-02 2.51655062e+02] [ 3.72866687e-02 9.99304319e-01 7.63491016e-04 -8.55930436e+00] [ 1.81855248e-02 -1.44244508e-03 9.99833589e-01 3.14677793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.430714057 meters Centerline goodness [0,1] 0.9795568752855185 Centerline is valid? [True, True] Translation: X:251.69, Y:-8.56, Z:3.15 [[ 9.99147718e-01 -3.72598353e-02 -1.77634827e-02 2.51685867e+02] [ 3.72789322e-02 9.99304621e-01 7.45034274e-04 -8.56233216e+00] [ 1.77233705e-02 -1.40660296e-03 9.99841939e-01 3.14696700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.460714057 meters Centerline goodness [0,1] 0.9803337988507063 Centerline is valid? [True, True] Translation: X:251.72, Y:-8.56, Z:3.15 [[ 9.99138699e-01 -3.75243603e-02 -1.77138965e-02 2.51717815e+02] [ 3.75434115e-02 9.99294721e-01 7.44057609e-04 -8.56387563e+00] [ 1.76734830e-02 -1.40845686e-03 9.99842820e-01 3.14720206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.490714057 meters Centerline goodness [0,1] 0.9785860349700158 Centerline is valid? [True, True] Translation: X:251.75, Y:-8.57, Z:3.15 [[ 9.99109033e-01 -3.82486571e-02 -1.78375865e-02 2.51750336e+02] [ 3.82681127e-02 9.99267226e-01 7.50527788e-04 -8.56618075e+00] [ 1.77958089e-02 -1.43246986e-03 9.99840616e-01 3.14691568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.520714057 meters Centerline goodness [0,1] 0.9789558417663293 Centerline is valid? [True, True] Translation: X:251.78, Y:-8.57, Z:3.15 [[ 9.99005394e-01 -4.03965522e-02 -1.88770143e-02 2.51780852e+02] [ 4.04187386e-02 9.99182513e-01 7.95115848e-04 -8.56841236e+00] [ 1.88294626e-02 -1.55731013e-03 9.99821497e-01 3.14614872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.550714057 meters Centerline goodness [0,1] 0.9766634478318849 Centerline is valid? [True, True] Translation: X:251.81, Y:-8.57, Z:3.15 [[ 9.98950197e-01 -4.13602174e-02 -1.96935463e-02 2.51813171e+02] [ 4.13845690e-02 9.99142947e-01 8.30418236e-04 -8.57106703e+00] [ 1.96423216e-02 -1.64455539e-03 9.99805718e-01 3.14574724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.580714057 meters Centerline goodness [0,1] 0.9778374902393092 Centerline is valid? [True, True] Translation: X:251.84, Y:-8.57, Z:3.14 [[ 9.98862698e-01 -4.27113400e-02 -2.11908455e-02 2.51844495e+02] [ 4.27398614e-02 9.99085834e-01 8.94656961e-04 -8.57279029e+00] [ 2.11332616e-02 -1.79933327e-03 9.99775049e-01 3.14438326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.610714057 meters Centerline goodness [0,1] 0.9790097372772368 Centerline is valid? [True, True] Translation: X:251.88, Y:-8.57, Z:3.14 [[ 9.98833174e-01 -4.30485056e-02 -2.18887317e-02 2.51876915e+02] [ 4.30790443e-02 9.99071239e-01 9.25350801e-04 -8.57194532e+00] [ 2.18285673e-02 -1.86721672e-03 9.99759985e-01 3.14374005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.640714057 meters Centerline goodness [0,1] 0.9764226894235635 Centerline is valid? [True, True] Translation: X:251.91, Y:-8.58, Z:3.14 [[ 9.98856782e-01 -4.22793683e-02 -2.23065981e-02 2.51907791e+02] [ 4.23109471e-02 9.99104044e-01 9.45398638e-04 -8.57550593e+00] [ 2.22466415e-02 -1.88813113e-03 9.99750730e-01 3.14316178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.670714057 meters Centerline goodness [0,1] 0.975744592633543 Centerline is valid? [True, True] Translation: X:251.94, Y:-8.57, Z:3.14 [[ 9.98953841e-01 -3.95936305e-02 -2.28816164e-02 2.51937811e+02] [ 3.96261869e-02 9.99214102e-01 9.70982631e-04 -8.57468746e+00] [ 2.28251891e-02 -1.87667804e-03 9.99737710e-01 3.14300024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.700714057 meters Centerline goodness [0,1] 0.9772402012834126 Centerline is valid? [True, True] Translation: X:251.97, Y:-8.57, Z:3.14 [[ 9.99033029e-01 -3.74536176e-02 -2.30267886e-02 2.51968298e+02] [ 3.74860239e-02 9.99296674e-01 9.77143020e-04 -8.57259621e+00] [ 2.29739957e-02 -1.83938090e-03 9.99734371e-01 3.14368087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.730714057 meters Centerline goodness [0,1] 0.9776404416359975 Centerline is valid? [True, True] Translation: X:252.00, Y:-8.57, Z:3.14 [[ 9.99244516e-01 -3.16297660e-02 -2.25822011e-02 2.51998058e+02] [ 3.16594536e-02 9.99498255e-01 9.58252859e-04 -8.56879230e+00] [ 2.25405613e-02 -1.67246906e-03 9.99744530e-01 3.14438542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76071405700003 meters Centerline goodness [0,1] 0.9788180764774044 Centerline is valid? [True, True] Translation: X:252.03, Y:-8.57, Z:3.15 [[ 9.99370224e-01 -2.79191720e-02 -2.19014841e-02 2.52029162e+02] [ 2.79462097e-02 9.99608996e-01 9.29359363e-04 -8.56542440e+00] [ 2.18669736e-02 -1.54083754e-03 9.99759702e-01 3.14508503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.790714057 meters Centerline goodness [0,1] 0.9813144928883518 Centerline is valid? [True, True] Translation: X:252.06, Y:-8.55, Z:3.15 [[ 9.99564920e-01 -2.07517689e-02 -2.09603199e-02 2.52061075e+02] [ 2.07749674e-02 9.99783781e-01 8.89613758e-04 -8.54797662e+00] [ 2.09373268e-02 -1.32467667e-03 9.99779913e-01 3.14864382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82071405700003 meters Centerline goodness [0,1] 0.9820380206877272 Centerline is valid? [True, True] Translation: X:252.09, Y:-8.55, Z:3.15 [[ 9.99658929e-01 -1.69136473e-02 -1.98985881e-02 2.52090615e+02] [ 1.69337948e-02 9.99856256e-01 8.44440454e-04 -8.54725594e+00] [ 1.98814453e-02 -1.18111105e-03 9.99801647e-01 3.14932713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.850714057 meters Centerline goodness [0,1] 0.982715991789513 Centerline is valid? [True, True] Translation: X:252.12, Y:-8.54, Z:3.15 [[ 9.99734133e-01 -1.32220687e-02 -1.88902054e-02 2.52120567e+02] [ 1.32395619e-02 9.99912032e-01 8.01278930e-04 -8.54175872e+00] [ 1.88779491e-02 -1.05116394e-03 9.99821243e-01 3.15062852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88071405700003 meters Centerline goodness [0,1] 0.9843001658762236 Centerline is valid? [True, True] Translation: X:252.15, Y:-8.54, Z:3.15 [[ 9.99826659e-01 -7.16663337e-03 -1.71840677e-02 2.52151138e+02] [ 7.18021449e-03 9.99973956e-01 7.28764389e-04 -8.53633301e+00] [ 1.71783974e-02 -8.52023356e-04 9.99852077e-01 3.15203514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.910714057 meters Centerline goodness [0,1] 0.9843354874964878 Centerline is valid? [True, True] Translation: X:252.18, Y:-8.53, Z:3.15 [[ 9.99844049e-01 -5.35645410e-03 -1.68281294e-02 2.52180273e+02] [ 5.36921301e-03 9.99985331e-01 7.13100416e-04 -8.53249960e+00] [ 1.68240628e-02 -8.03343019e-04 9.99858143e-01 3.15306292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94071405700004 meters Centerline goodness [0,1] 0.9846776457378122 Centerline is valid? [True, True] Translation: X:252.21, Y:-8.53, Z:3.15 [[ 9.99854944e-01 -4.73283510e-03 -1.63612758e-02 2.52208045e+02] [ 4.74478568e-03 9.99988504e-01 6.91678041e-04 -8.53471632e+00] [ 1.63578141e-02 -7.69208456e-04 9.99865906e-01 3.15203940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.970714057 meters Centerline goodness [0,1] 0.9850959288722508 Centerline is valid? [True, True] Translation: X:252.24, Y:-8.54, Z:3.15 [[ 9.99842237e-01 -5.64987103e-03 -1.68398552e-02 2.52236420e+02] [ 5.66260681e-03 9.99983716e-01 7.08701861e-04 -8.53661580e+00] [ 1.68355769e-02 -8.03947533e-04 9.99857948e-01 3.15124137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00071405700004 meters Centerline goodness [0,1] 0.9846806118385608 Centerline is valid? [True, True] Translation: X:252.26, Y:-8.54, Z:3.15 [[ 9.99815331e-01 -7.11429662e-03 -1.78519026e-02 2.52264742e+02] [ 7.12878560e-03 9.99974310e-01 7.48115562e-04 -8.53909284e+00] [ 1.78461216e-02 -8.75239794e-04 9.99840362e-01 3.15028402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.030714057 meters Centerline goodness [0,1] 0.9847702693233048 Centerline is valid? [True, True] Translation: X:252.30, Y:-8.54, Z:3.15 [[ 9.99748075e-01 -1.05577739e-02 -1.98070770e-02 2.52295172e+02] [ 1.05762673e-02 9.99943726e-01 8.29155780e-04 -8.54315767e+00] [ 1.97972084e-02 -1.03843184e-03 9.99803477e-01 3.14778005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.060714057 meters Centerline goodness [0,1] 0.9858306683162539 Centerline is valid? [True, True] Translation: X:252.33, Y:-8.54, Z:3.15 [[ 9.99707194e-01 -1.23945560e-02 -2.07822235e-02 2.52325059e+02] [ 1.24153026e-02 9.99922549e-01 8.69554545e-04 -8.54386119e+00] [ 2.07698362e-02 -1.12731753e-03 9.99783648e-01 3.14805669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.090714057 meters Centerline goodness [0,1] 0.9861169541438788 Centerline is valid? [True, True] Translation: X:252.35, Y:-8.55, Z:3.15 [[ 9.99665886e-01 -1.53735938e-02 -2.07790604e-02 2.52354798e+02] [ 1.53949603e-02 9.99881113e-01 8.68686768e-04 -8.54531545e+00] [ 2.07632352e-02 -1.18828934e-03 9.99783715e-01 3.14896696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.120714057 meters Centerline goodness [0,1] 0.9850951991589768 Centerline is valid? [True, True] Translation: X:252.38, Y:-8.55, Z:3.15 [[ 9.99662052e-01 -1.65417190e-02 -2.00537709e-02 2.52382872e+02] [ 1.65618337e-02 9.99862493e-01 8.37361350e-04 -8.54912715e+00] [ 2.00371620e-02 -1.16920558e-03 9.99798552e-01 3.14934149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.150714057 meters Centerline goodness [0,1] 0.984239448146849 Centerline is valid? [True, True] Translation: X:252.41, Y:-8.55, Z:3.15 [[ 9.99683393e-01 -1.77247140e-02 -1.78591196e-02 2.52412667e+02] [ 1.77408395e-02 9.99842341e-01 7.44890986e-04 -8.54951467e+00] [ 1.78431010e-02 -1.06149092e-03 9.99840236e-01 3.15149140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.180714057 meters Centerline goodness [0,1] 0.9833053142803774 Centerline is valid? [True, True] Translation: X:252.44, Y:-8.55, Z:3.15 [[ 9.99704204e-01 -1.74935132e-02 -1.68962105e-02 2.52441752e+02] [ 1.75079059e-02 9.99846477e-01 7.04277955e-04 -8.55371978e+00] [ 1.68812963e-02 -9.99886896e-04 9.99857001e-01 3.15230137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.210714057 meters Centerline goodness [0,1] 0.983809257185517 Centerline is valid? [True, True] Translation: X:252.47, Y:-8.55, Z:3.15 [[ 9.99720102e-01 -1.74352878e-02 -1.59915210e-02 2.52472110e+02] [ 1.74481705e-02 9.99847547e-01 6.66414231e-04 -8.55173575e+00] [ 1.59774639e-02 -9.45250488e-04 9.99871905e-01 3.15327611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.240714057 meters Centerline goodness [0,1] 0.9842274978969997 Centerline is valid? [True, True] Translation: X:252.50, Y:-8.55, Z:3.15 [[ 9.99722101e-01 -1.76334729e-02 -1.56455033e-02 2.52502940e+02] [ 1.76458318e-02 9.99844087e-01 6.52227191e-04 -8.55363428e+00] [ 1.56315629e-02 -9.28123858e-04 9.99877389e-01 3.15332617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.270714057 meters Centerline goodness [0,1] 0.9845704266510812 Centerline is valid? [True, True] Translation: X:252.53, Y:-8.55, Z:3.15 [[ 9.99717877e-01 -1.80320530e-02 -1.54600164e-02 2.52534152e+02] [ 1.80441764e-02 9.99836983e-01 6.45040588e-04 -8.55320670e+00] [ 1.54458647e-02 -9.23821871e-04 9.99880279e-01 3.15342788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.300714057 meters Centerline goodness [0,1] 0.98317992804747 Centerline is valid? [True, True] Translation: X:252.56, Y:-8.56, Z:3.15 [[ 9.99701560e-01 -1.85339684e-02 -1.59148888e-02 2.52564342e+02] [ 1.85468865e-02 9.99827771e-01 6.64476751e-04 -8.56437315e+00] [ 1.58998324e-02 -9.59450081e-04 9.99873129e-01 3.15159981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.330714057 meters Centerline goodness [0,1] 0.9811774596576446 Centerline is valid? [True, True] Translation: X:252.60, Y:-8.57, Z:3.15 [[ 9.99666891e-01 -1.94361941e-02 -1.69805937e-02 2.52595147e+02] [ 1.94510354e-02 9.99810559e-01 7.09276045e-04 -8.56732330e+00] [ 1.69635912e-02 -1.03932991e-03 9.99855568e-01 3.15090773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.360714057 meters Centerline goodness [0,1] 0.983374915475552 Centerline is valid? [True, True] Translation: X:252.63, Y:-8.56, Z:3.15 [[ 9.99604742e-01 -2.09737613e-02 -1.87205953e-02 2.52626293e+02] [ 2.09920754e-02 9.99779336e-01 7.82291804e-04 -8.56447197e+00] [ 1.87000568e-02 -1.17496675e-03 9.99824448e-01 3.15084625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.390714057 meters Centerline goodness [0,1] 0.981892564096604 Centerline is valid? [True, True] Translation: X:252.66, Y:-8.57, Z:3.15 [[ 9.99578828e-01 -2.14797114e-02 -1.95137996e-02 2.52656541e+02] [ 2.14997135e-02 9.99768522e-01 8.15787893e-04 -8.57452937e+00] [ 1.94917597e-02 -1.23498541e-03 9.99809255e-01 3.14936280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.420714057 meters Centerline goodness [0,1] 0.9831226575412622 Centerline is valid? [True, True] Translation: X:252.69, Y:-8.57, Z:3.15 [[ 9.99573717e-01 -2.18270053e-02 -1.93898272e-02 2.52686695e+02] [ 2.18468222e-02 9.99761001e-01 8.10763085e-04 -8.57410432e+00] [ 1.93674965e-02 -1.23402358e-03 9.99811671e-01 3.14971241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.450714057 meters Centerline goodness [0,1] 0.9832063913539701 Centerline is valid? [True, True] Translation: X:252.72, Y:-8.57, Z:3.15 [[ 9.99564318e-01 -2.23167909e-02 -1.93167276e-02 2.52717371e+02] [ 2.23365496e-02 9.99750182e-01 8.07706509e-04 -8.57350030e+00] [ 1.92938765e-02 -1.23882365e-03 9.99813088e-01 3.15035134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.480714057 meters Centerline goodness [0,1] 0.9815358107478812 Centerline is valid? [True, True] Translation: X:252.75, Y:-8.58, Z:3.15 [[ 9.99569934e-01 -2.21077060e-02 -1.92664712e-02 2.52746884e+02] [ 2.21273267e-02 9.99754836e-01 8.05779660e-04 -8.58394089e+00] [ 1.92439338e-02 -1.23174862e-03 9.99814060e-01 3.14944369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51071405700003 meters Centerline goodness [0,1] 0.982539240271199 Centerline is valid? [True, True] Translation: X:252.78, Y:-8.59, Z:3.15 [[ 9.99603432e-01 -2.15625231e-02 -1.81117949e-02 2.52777004e+02] [ 2.15797783e-02 9.99766842e-01 7.57778757e-04 -8.58616771e+00] [ 1.80912324e-02 -1.14832677e-03 9.99835681e-01 3.15056214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.540714057 meters Centerline goodness [0,1] 0.9825316337923334 Centerline is valid? [True, True] Translation: X:252.81, Y:-8.58, Z:3.15 [[ 9.99619006e-01 -2.13068793e-02 -1.75459293e-02 2.52807620e+02] [ 2.13230345e-02 9.99772369e-01 7.34147911e-04 -8.58105401e+00] [ 1.75262929e-02 -1.10800066e-03 9.99845789e-01 3.15233972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57071405700003 meters Centerline goodness [0,1] 0.9825146483244169 Centerline is valid? [True, True] Translation: X:252.84, Y:-8.58, Z:3.15 [[ 9.99634889e-01 -2.10104829e-02 -1.69896370e-02 2.52838911e+02] [ 2.10255900e-02 9.99778685e-01 7.11042322e-04 -8.58112379e+00] [ 1.69709376e-02 -1.06799985e-03 9.99855413e-01 3.15406806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.600714057 meters Centerline goodness [0,1] 0.9824928506661087 Centerline is valid? [True, True] Translation: X:252.87, Y:-8.58, Z:3.16 [[ 9.99666647e-01 -2.04579624e-02 -1.57501405e-02 2.52870283e+02] [ 2.04708851e-02 9.99790232e-01 6.59678184e-04 -8.58260695e+00] [ 1.57333410e-02 -9.81877595e-04 9.99875741e-01 3.15600031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63071405700003 meters Centerline goodness [0,1] 0.9817234190410007 Centerline is valid? [True, True] Translation: X:252.90, Y:-8.58, Z:3.16 [[ 9.99678616e-01 -2.00105081e-02 -1.55641983e-02 2.52900613e+02] [ 2.00230797e-02 9.99799305e-01 6.52299464e-04 -8.58498067e+00] [ 1.55480218e-02 -9.63733008e-04 9.99878658e-01 3.15663653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.660714057 meters Centerline goodness [0,1] 0.9829272258484123 Centerline is valid? [True, True] Translation: X:252.93, Y:-8.58, Z:3.16 [[ 9.99683541e-01 -1.98883478e-02 -1.54036177e-02 2.52933493e+02] [ 1.99006560e-02 9.99801754e-01 6.46165452e-04 -8.58037676e+00] [ 1.53877128e-02 -9.52503063e-04 9.99881148e-01 3.15752937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69071405700004 meters Centerline goodness [0,1] 0.9828290328568776 Centerline is valid? [True, True] Translation: X:252.96, Y:-8.58, Z:3.16 [[ 9.99687696e-01 -1.96497400e-02 -1.54401422e-02 2.52964987e+02] [ 1.96620996e-02 9.99806472e-01 6.49076412e-04 -8.58427608e+00] [ 1.54243999e-02 -9.52459315e-04 9.99880583e-01 3.15748054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.720714057 meters Centerline goodness [0,1] 0.9826882966396292 Centerline is valid? [True, True] Translation: X:253.00, Y:-8.59, Z:3.16 [[ 9.99682662e-01 -1.98388215e-02 -1.55240781e-02 2.52995920e+02] [ 1.98513583e-02 9.99802729e-01 6.53881454e-04 -8.58733053e+00] [ 1.55080434e-02 -9.61847989e-04 9.99879280e-01 3.15738752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75071405700004 meters Centerline goodness [0,1] 0.9825574652656971 Centerline is valid? [True, True] Translation: X:253.03, Y:-8.59, Z:3.16 [[ 9.99650204e-01 -2.06077269e-02 -1.65768365e-02 2.53026041e+02] [ 2.06221349e-02 9.99787097e-01 6.98681201e-04 -8.59200802e+00] [ 1.65589091e-02 -1.04028657e-03 9.99862351e-01 3.15666227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.780714057 meters Centerline goodness [0,1] 0.982173862715592 Centerline is valid? [True, True] Translation: X:253.06, Y:-8.59, Z:3.16 [[ 9.99629373e-01 -2.13252453e-02 -1.69218942e-02 2.53056940e+02] [ 2.13403690e-02 9.99772014e-01 7.13647896e-04 -8.59473029e+00] [ 1.69028176e-02 -1.07450287e-03 9.99856560e-01 3.15614290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.810714057 meters Centerline goodness [0,1] 0.981695479338079 Centerline is valid? [True, True] Translation: X:253.09, Y:-8.60, Z:3.16 [[ 9.99617698e-01 -2.17378418e-02 -1.70857981e-02 2.53088067e+02] [ 2.17533299e-02 9.99763108e-01 7.21140228e-04 -8.59838752e+00] [ 1.70660746e-02 -1.09253754e-03 9.99853767e-01 3.15592643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.840714057 meters Centerline goodness [0,1] 0.9821218753599815 Centerline is valid? [True, True] Translation: X:253.12, Y:-8.60, Z:3.16 [[ 9.99588264e-01 -2.27102656e-02 -1.75369880e-02 2.53118251e+02] [ 2.27267396e-02 9.99741440e-01 7.40638740e-04 -8.60382520e+00] [ 1.75156335e-02 -1.13889235e-03 9.99845941e-01 3.15544630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.870714057 meters Centerline goodness [0,1] 0.9826393692073593 Centerline is valid? [True, True] Translation: X:253.15, Y:-8.61, Z:3.16 [[ 9.99562604e-01 -2.31540593e-02 -1.83981256e-02 2.53149577e+02] [ 2.31722748e-02 9.99731184e-01 7.77479935e-04 -8.60653520e+00] [ 1.83751781e-02 -1.20346629e-03 9.99830438e-01 3.15546565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.900714057 meters Centerline goodness [0,1] 0.9825140141641099 Centerline is valid? [True, True] Translation: X:253.18, Y:-8.61, Z:3.16 [[ 9.99578320e-01 -2.25857459e-02 -1.82500782e-02 2.53179365e+02] [ 2.26035834e-02 9.99744209e-01 7.71678999e-04 -8.61136498e+00] [ 1.82279810e-02 -1.18387076e-03 9.99833156e-01 3.15607394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.930714057 meters Centerline goodness [0,1] 0.9834889389688636 Centerline is valid? [True, True] Translation: X:253.21, Y:-8.61, Z:3.16 [[ 9.99595795e-01 -2.20700554e-02 -1.79209234e-02 2.53210473e+02] [ 2.20871737e-02 9.99755761e-01 7.57826785e-04 -8.61058464e+00] [ 1.78998212e-02 -1.15334302e-03 9.99839120e-01 3.15712229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.960714057 meters Centerline goodness [0,1] 0.9836537354667895 Centerline is valid? [True, True] Translation: X:253.24, Y:-8.61, Z:3.16 [[ 9.99620509e-01 -2.13362690e-02 -1.74241650e-02 2.53241850e+02] [ 2.13523438e-02 9.99771741e-01 7.37019373e-04 -8.61368081e+00] [ 1.74044626e-02 -1.10878644e-03 9.99847916e-01 3.15780258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.990714057 meters Centerline goodness [0,1] 0.982896735877722 Centerline is valid? [True, True] Translation: X:253.27, Y:-8.62, Z:3.16 [[ 9.99672395e-01 -1.93567877e-02 -1.67456648e-02 2.53271873e+02] [ 1.93713631e-02 9.99812106e-01 7.08612502e-04 -8.61667128e+00] [ 1.67288020e-02 -1.03276671e-03 9.99859530e-01 3.15913355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.020714057 meters Centerline goodness [0,1] 0.9871451650126933 Centerline is valid? [True, True] Translation: X:253.30, Y:-8.61, Z:3.16 [[ 9.99694720e-01 -1.85679644e-02 -1.63002384e-02 2.53303378e+02] [ 1.85816721e-02 9.99827108e-01 6.89891862e-04 -8.60663508e+00] [ 1.62846104e-02 -9.92566938e-04 9.99866904e-01 3.16119691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.050714057 meters Centerline goodness [0,1] 0.9857997698504027 Centerline is valid? [True, True] Translation: X:253.33, Y:-8.61, Z:3.16 [[ 9.99713050e-01 -1.68552669e-02 -1.70210991e-02 2.53332916e+02] [ 1.68699707e-02 9.99857432e-01 7.20633235e-04 -8.61465525e+00] [ 1.70065260e-02 -1.00757189e-03 9.99854871e-01 3.16077362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.080714057 meters Centerline goodness [0,1] 0.9874341211939887 Centerline is valid? [True, True] Translation: X:253.36, Y:-8.61, Z:3.16 [[ 9.99722793e-01 -1.58451188e-02 -1.74146331e-02 2.53364074e+02] [ 1.58603591e-02 9.99873945e-01 7.37369545e-04 -8.60710038e+00] [ 1.74007542e-02 -1.01336748e-03 9.99848082e-01 3.16240628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.110714057 meters Centerline goodness [0,1] 0.9874341211939887 Centerline is valid? [True, True] Translation: X:253.39, Y:-8.61, Z:3.16 [[ 9.99722217e-01 -1.58814320e-02 -1.74146460e-02 2.53393248e+02] [ 1.58966725e-02 9.99873368e-01 7.37065862e-04 -8.60830628e+00] [ 1.74007351e-02 -1.01369604e-03 9.99848082e-01 3.16267089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.140714057 meters Centerline goodness [0,1] 0.9876904635669994 Centerline is valid? [True, True] Translation: X:253.42, Y:-8.61, Z:3.16 [[ 9.99722233e-01 -1.51514662e-02 -1.80524356e-02 2.53422771e+02] [ 1.51677160e-02 9.99884672e-01 7.63556046e-04 -8.61205171e+00] [ 1.80387847e-02 -1.03715817e-03 9.99836750e-01 3.16207312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.170714057 meters Centerline goodness [0,1] 0.9874419246515479 Centerline is valid? [True, True] Translation: X:253.45, Y:-8.62, Z:3.16 [[ 9.99716521e-01 -1.35722140e-02 -1.95620243e-02 2.53450855e+02] [ 1.35909801e-02 9.99907297e-01 8.26674994e-04 -8.62299490e+00] [ 1.95489910e-02 -1.09230773e-03 9.99808304e-01 3.15933519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.200714057 meters Centerline goodness [0,1] 0.9864892810367409 Centerline is valid? [True, True] Translation: X:253.48, Y:-8.63, Z:3.16 [[ 9.99720862e-01 -1.23796645e-02 -2.01231609e-02 2.53478514e+02] [ 1.23992538e-02 9.99922766e-01 8.48991548e-04 -8.63045000e+00] [ 2.01110964e-02 -1.09826674e-03 9.99797148e-01 3.15761955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.230714057 meters Centerline goodness [0,1] 0.9879542999011517 Centerline is valid? [True, True] Translation: X:253.51, Y:-8.62, Z:3.16 [[ 9.99723090e-01 -9.56582791e-03 -2.14997461e-02 2.53508452e+02] [ 9.58751474e-03 9.99953628e-01 9.05849249e-04 -8.62086355e+00] [ 2.14900839e-02 -1.11172754e-03 9.99768443e-01 3.15979655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26071405700003 meters Centerline goodness [0,1] 0.98895485296148 Centerline is valid? [True, True] Translation: X:253.54, Y:-8.62, Z:3.16 [[ 9.99728779e-01 -8.32646370e-03 -2.17494529e-02 2.53536848e+02] [ 8.34829217e-03 9.99964736e-01 9.13028172e-04 -8.62182931e+00] [ 2.17410836e-02 -1.09435133e-03 9.99763036e-01 3.16018522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.290714057 meters Centerline goodness [0,1] 0.988812313347117 Centerline is valid? [True, True] Translation: X:253.57, Y:-8.62, Z:3.16 [[ 9.99740735e-01 -6.62535678e-03 -2.17845714e-02 2.53565688e+02] [ 6.64678696e-03 9.99977494e-01 9.11470921e-04 -8.62321037e+00] [ 2.17780423e-02 -1.05603201e-03 9.99762273e-01 3.16028620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32071405700003 meters Centerline goodness [0,1] 0.9900487221915794 Centerline is valid? [True, True] Translation: X:253.60, Y:-8.62, Z:3.16 [[ 9.99766630e-01 -3.45711820e-03 -2.13245030e-02 2.53595525e+02] [ 3.47691611e-03 9.99993558e-01 8.91405277e-04 -8.62457466e+00] [ 2.13212839e-02 -9.65340757e-04 9.99772210e-01 3.16087269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.350714057 meters Centerline goodness [0,1] 0.9890359428401037 Centerline is valid? [True, True] Translation: X:253.62, Y:-8.63, Z:3.16 [[ 9.99789087e-01 -1.81983433e-03 -2.04565460e-02 2.53624143e+02] [ 1.83769199e-03 9.99997947e-01 8.54191159e-04 -8.62585296e+00] [ 2.04549495e-02 -8.91603829e-04 9.99790378e-01 3.16136774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38071405700003 meters Centerline goodness [0,1] 0.9885714285714285 Centerline is valid? [True, True] Translation: X:253.65, Y:-8.63, Z:3.16 [[ 9.99789280e-01 -3.59768525e-04 -2.05247785e-02 2.53652335e+02] [ 3.77370509e-04 9.99999564e-01 8.53730095e-04 -8.62876333e+00] [ 2.05244624e-02 -8.61295643e-04 9.99788980e-01 3.16174497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.410714057 meters Centerline goodness [0,1] 0.9895315542320468 Centerline is valid? [True, True] Translation: X:253.68, Y:-8.63, Z:3.16 [[ 9.99807413e-01 1.53560990e-03 -1.95647303e-02 2.53681317e+02] [-1.52003201e-03 9.99998516e-01 8.11069161e-04 -8.63060899e+00] [ 1.95659467e-02 -7.81173944e-04 9.99808263e-01 3.16342883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44071405700004 meters Centerline goodness [0,1] 0.9896601310173244 Centerline is valid? [True, True] Translation: X:253.71, Y:-8.63, Z:3.16 [[ 9.99814172e-01 2.12144116e-03 -1.91604111e-02 2.53710108e+02] [-2.10663236e-03 9.99997467e-01 7.93036110e-04 -8.63336783e+00] [ 1.91620449e-02 -7.52524799e-04 9.99816108e-01 3.16380249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.470714057 meters Centerline goodness [0,1] 0.9898728428701181 Centerline is valid? [True, True] Translation: X:253.74, Y:-8.64, Z:3.16 [[ 9.99815266e-01 2.32694553e-03 -1.90792882e-02 2.53737848e+02] [-2.31232659e-03 9.99997016e-01 7.88245124e-04 -8.64004832e+00] [ 1.90810655e-02 -7.43981963e-04 9.99817663e-01 3.16317772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50071405700004 meters Centerline goodness [0,1] 0.9903898582333697 Centerline is valid? [True, True] Translation: X:253.77, Y:-8.64, Z:3.16 [[ 9.99811144e-01 1.77639505e-03 -1.93525364e-02 2.53766178e+02] [-1.76127908e-03 9.99998130e-01 7.98101022e-04 -8.64412068e+00] [ 1.93539179e-02 -7.63865079e-04 9.99812404e-01 3.16315409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.530714057 meters Centerline goodness [0,1] 0.9906921837045108 Centerline is valid? [True, True] Translation: X:253.80, Y:-8.64, Z:3.16 [[ 9.99802070e-01 9.89051661e-04 -1.98706393e-02 2.53795340e+02] [-9.72987261e-04 9.99999192e-01 8.18100723e-04 -8.64230440e+00] [ 1.98714323e-02 -7.98604918e-04 9.99802225e-01 3.16450790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.560714057 meters Centerline goodness [0,1] 0.9903299075719073 Centerline is valid? [True, True] Translation: X:253.82, Y:-8.65, Z:3.16 [[ 9.99789210e-01 -7.31013665e-04 -2.05182991e-02 2.53822124e+02] [ 7.48466073e-04 9.99999365e-01 8.42911150e-04 -8.65422199e+00] [ 2.05176699e-02 -8.58090724e-04 9.99789122e-01 3.16286866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.590714057 meters Centerline goodness [0,1] 0.9906241507382915 Centerline is valid? [True, True] Translation: X:253.85, Y:-8.66, Z:3.16 [[ 9.99770433e-01 -1.96101801e-03 -2.13362601e-02 2.53850074e+02] [ 1.98012725e-03 9.99997657e-01 8.74533271e-04 -8.66012334e+00] [ 2.13344952e-02 -9.16581017e-04 9.99771974e-01 3.16230112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.620714057 meters Centerline goodness [0,1] 0.989543661971831 Centerline is valid? [True, True] Translation: X:253.88, Y:-8.67, Z:3.16 [[ 9.99750784e-01 -3.97415727e-03 -2.19675989e-02 2.53879516e+02] [ 3.99487360e-03 9.99991616e-01 8.99236186e-04 -8.66590804e+00] [ 2.19638410e-02 -9.86769863e-04 9.99758279e-01 3.16246319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.650714057 meters Centerline goodness [0,1] 0.990626053725975 Centerline is valid? [True, True] Translation: X:253.91, Y:-8.67, Z:3.16 [[ 9.99756819e-01 -4.59762278e-03 -2.15676857e-02 2.53907441e+02] [ 4.61770841e-03 9.99988950e-01 8.81573341e-04 -8.67204410e+00] [ 2.15633942e-02 -9.80952243e-04 9.99767002e-01 3.16208877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.680714057 meters Centerline goodness [0,1] 0.990892696122633 Centerline is valid? [True, True] Translation: X:253.94, Y:-8.68, Z:3.16 [[ 9.99750903e-01 -5.37946190e-03 -2.16608727e-02 2.53936301e+02] [ 5.39982883e-03 9.99985032e-01 8.81883608e-04 -8.67620453e+00] [ 2.16558044e-02 -9.98628939e-04 9.99764987e-01 3.16233396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.710714057 meters Centerline goodness [0,1] 0.9905772552890764 Centerline is valid? [True, True] Translation: X:253.96, Y:-8.67, Z:3.17 [[ 9.99746649e-01 -6.23992471e-03 -2.16264183e-02 2.53964874e+02] [ 6.26031746e-03 9.99980021e-01 8.75380876e-04 -8.67000961e+00] [ 2.16205239e-02 -1.01054734e-03 9.99765738e-01 3.16602067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.740714057 meters Centerline goodness [0,1] 0.9909440237298038 Centerline is valid? [True, True] Translation: X:253.99, Y:-8.67, Z:3.17 [[ 9.99750775e-01 -6.77449583e-03 -2.12718895e-02 2.53992437e+02] [ 6.79422542e-03 9.99976553e-01 8.55361196e-04 -8.67310598e+00] [ 2.12655961e-02 -9.99674031e-04 9.99773362e-01 3.16633858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.770714057 meters Centerline goodness [0,1] 0.9916094927454729 Centerline is valid? [True, True] Translation: X:254.02, Y:-8.68, Z:3.17 [[ 9.99755630e-01 -7.09359083e-03 -2.09370627e-02 2.54020638e+02] [ 7.11265071e-03 9.99974355e-01 8.36013763e-04 -8.67654880e+00] [ 2.09305954e-02 -9.84727480e-04 9.99780446e-01 3.16665401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.800714057 meters Centerline goodness [0,1] 0.9912890040427955 Centerline is valid? [True, True] Translation: X:254.05, Y:-8.69, Z:3.17 [[ 9.99770744e-01 -7.75383632e-03 -1.99583707e-02 2.54048467e+02] [ 7.77121915e-03 9.99969489e-01 7.93542340e-04 -8.68585931e+00] [ 1.99516088e-02 -9.48461289e-04 9.99800497e-01 3.16601986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.830714057 meters Centerline goodness [0,1] 0.9908788088797478 Centerline is valid? [True, True] Translation: X:254.08, Y:-8.69, Z:3.17 [[ 9.99778123e-01 -8.24452286e-03 -1.93838277e-02 2.54076027e+02] [ 8.26094136e-03 9.99965584e-01 7.67100152e-04 -8.68732382e+00] [ 1.93768362e-02 -9.27058614e-04 9.99811822e-01 3.16701060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.860714057 meters Centerline goodness [0,1] 0.9914273563578575 Centerline is valid? [True, True] Translation: X:254.11, Y:-8.69, Z:3.17 [[ 9.99754030e-01 -1.06314662e-02 -1.94641119e-02 2.54105871e+02] [ 1.06484164e-02 9.99943010e-01 7.67406219e-04 -8.68708919e+00] [ 1.94548440e-02 -9.74479427e-04 9.99810262e-01 3.16928277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.890714057 meters Centerline goodness [0,1] 0.9907573180556799 Centerline is valid? [True, True] Translation: X:254.13, Y:-8.69, Z:3.17 [[ 9.99740898e-01 -1.23825789e-02 -1.90999891e-02 2.54133168e+02] [ 1.23991958e-02 9.99922844e-01 7.51813151e-04 -8.69268059e+00] [ 1.90892060e-02 -9.88442860e-04 9.99817296e-01 3.16918711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.920714057 meters Centerline goodness [0,1] 0.9905708859345325 Centerline is valid? [True, True] Translation: X:254.16, Y:-8.70, Z:3.17 [[ 9.99721519e-01 -1.40886517e-02 -1.89312918e-02 2.54160116e+02] [ 1.41052358e-02 9.99900240e-01 7.42763372e-04 -8.69931577e+00] [ 1.89189387e-02 -1.00958686e-03 9.99820511e-01 3.16826003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.950714057 meters Centerline goodness [0,1] 0.9902498884426595 Centerline is valid? [True, True] Translation: X:254.19, Y:-8.71, Z:3.17 [[ 9.99644584e-01 -1.75768074e-02 -2.00439688e-02 2.54190133e+02] [ 1.75960626e-02 9.99844869e-01 7.84676093e-04 -8.70520812e+00] [ 2.00270673e-02 -1.13709214e-03 9.99798792e-01 3.16807552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.980714057 meters Centerline goodness [0,1] 0.9907473468295728 Centerline is valid? [True, True] Translation: X:254.22, Y:-8.71, Z:3.17 [[ 9.99613795e-01 -1.91451894e-02 -2.01425623e-02 2.54219496e+02] [ 1.91649407e-02 9.99816025e-01 7.87980729e-04 -8.70907709e+00] [ 2.01237705e-02 -1.17370742e-03 9.99796807e-01 3.16788738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01071405700003 meters Centerline goodness [0,1] 0.9901669182278257 Centerline is valid? [True, True] Translation: X:254.25, Y:-8.72, Z:3.17 [[ 9.99547643e-01 -2.17005455e-02 -2.08229654e-02 2.54247465e+02] [ 2.17221823e-02 9.99763715e-01 8.13436737e-04 -8.71635567e+00] [ 2.08003932e-02 -1.26538902e-03 9.99782848e-01 3.16695141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.040714057 meters Centerline goodness [0,1] 0.9886733902249806 Centerline is valid? [True, True] Translation: X:254.28, Y:-8.72, Z:3.17 [[ 9.99527303e-01 -2.25409258e-02 -2.09063858e-02 2.54276625e+02] [ 2.25628886e-02 9.99745093e-01 8.15217294e-04 -8.71895693e+00] [ 2.08826809e-02 -1.28654040e-03 9.99781105e-01 3.16729147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07071405700003 meters Centerline goodness [0,1] 0.9892680975869884 Centerline is valid? [True, True] Translation: X:254.30, Y:-8.72, Z:3.17 [[ 9.99505959e-01 -2.32033576e-02 -2.12000645e-02 2.54304872e+02] [ 2.32260632e-02 9.99729898e-01 8.25383904e-04 -8.72293324e+00] [ 2.11751866e-02 -1.31737017e-03 9.99774913e-01 3.16744246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.100714057 meters Centerline goodness [0,1] 0.9897646536412078 Centerline is valid? [True, True] Translation: X:254.33, Y:-8.72, Z:3.17 [[ 9.99494506e-01 -2.37444800e-02 -2.11407819e-02 2.54333959e+02] [ 2.37671067e-02 9.99717186e-01 8.19635682e-04 -8.72428288e+00] [ 2.11153412e-02 -1.32167658e-03 9.99776173e-01 3.16823002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13071405700003 meters Centerline goodness [0,1] 0.9891321292563972 Centerline is valid? [True, True] Translation: X:254.36, Y:-8.73, Z:3.17 [[ 9.99505975e-01 -2.34936544e-02 -2.08771055e-02 2.54362183e+02] [ 2.35156069e-02 9.99723144e-01 8.06603489e-04 -8.72908143e+00] [ 2.08523755e-02 -1.29714281e-03 9.99781724e-01 3.16821287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.160714057 meters Centerline goodness [0,1] 0.9894962628808986 Centerline is valid? [True, True] Translation: X:254.39, Y:-8.73, Z:3.17 [[ 9.99537411e-01 -2.27919814e-02 -2.01367893e-02 2.54392131e+02] [ 2.28122457e-02 9.99739465e-01 7.77168049e-04 -8.73058032e+00] [ 2.01138298e-02 -1.23617393e-03 9.99796932e-01 3.16887146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19071405700004 meters Centerline goodness [0,1] 0.9892740556505518 Centerline is valid? [True, True] Translation: X:254.42, Y:-8.73, Z:3.17 [[ 9.99580575e-01 -2.16884802e-02 -1.91907246e-02 2.54421647e+02] [ 2.17066313e-02 9.99764111e-01 7.38006555e-04 -8.72664115e+00] [ 1.91701914e-02 -1.15426300e-03 9.99815569e-01 3.17057474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.220714057 meters Centerline goodness [0,1] 0.9881872279953815 Centerline is valid? [True, True] Translation: X:254.45, Y:-8.73, Z:3.17 [[ 9.99595253e-01 -2.12953354e-02 -1.88636997e-02 2.54449931e+02] [ 2.13127524e-02 9.99772596e-01 7.22731223e-04 -8.73422453e+00] [ 1.88440193e-02 -1.12447606e-03 9.99821803e-01 3.17035277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25071405700004 meters Centerline goodness [0,1] 0.9890860692102929 Centerline is valid? [True, True] Translation: X:254.48, Y:-8.73, Z:3.17 [[ 9.99602356e-01 -2.10010479e-02 -1.88171623e-02 2.54479333e+02] [ 2.10182745e-02 9.99778834e-01 7.18152893e-04 -8.73072635e+00] [ 1.87979187e-02 -1.11337161e-03 9.99822684e-01 3.17102885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.280714057 meters Centerline goodness [0,1] 0.9893077846441115 Centerline is valid? [True, True] Translation: X:254.51, Y:-8.73, Z:3.17 [[ 9.99609042e-01 -2.05127274e-02 -1.89997768e-02 2.54509006e+02] [ 2.05301564e-02 9.99788973e-01 7.22703881e-04 -8.73250998e+00] [ 1.89809427e-02 -1.11248972e-03 9.99819227e-01 3.17128939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.310714057 meters Centerline goodness [0,1] 0.9894518993257226 Centerline is valid? [True, True] Translation: X:254.54, Y:-8.74, Z:3.17 [[ 9.99619713e-01 -2.05268546e-02 -1.84140472e-02 2.54537527e+02] [ 2.05432131e-02 9.99788721e-01 6.99634581e-04 -8.73604113e+00] [ 1.83957954e-02 -1.07765222e-03 9.99830202e-01 3.17122251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.340714057 meters Centerline goodness [0,1] 0.9889973104536665 Centerline is valid? [True, True] Translation: X:254.57, Y:-8.73, Z:3.17 [[ 9.99646402e-01 -2.03147638e-02 -1.71575249e-02 2.54567202e+02] [ 2.03289221e-02 9.99793134e-01 6.51169956e-04 -8.73462443e+00] [ 1.71407472e-02 -9.99733691e-04 9.99852587e-01 3.17298178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.370714057 meters Centerline goodness [0,1] 0.9887039502885042 Centerline is valid? [True, True] Translation: X:254.60, Y:-8.74, Z:3.17 [[ 9.99662709e-01 -2.01022992e-02 -1.64428253e-02 2.54596734e+02] [ 2.01152666e-02 9.99797473e-01 6.23608536e-04 -8.73922505e+00] [ 1.64269592e-02 -9.54150013e-04 9.99864613e-01 3.17317564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.400714057 meters Centerline goodness [0,1] 0.9893531895976884 Centerline is valid? [True, True] Translation: X:254.63, Y:-8.74, Z:3.17 [[ 9.99674563e-01 -1.92340092e-02 -1.67577095e-02 2.54626849e+02] [ 1.92473491e-02 9.99814551e-01 6.35115864e-04 -8.73577044e+00] [ 1.67423860e-02 -9.57450659e-04 9.99859378e-01 3.17348299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.430714057 meters Centerline goodness [0,1] 0.9893084976327546 Centerline is valid? [True, True] Translation: X:254.66, Y:-8.74, Z:3.17 [[ 9.99691425e-01 -1.83663894e-02 -1.67251538e-02 2.54656007e+02] [ 1.83795529e-02 9.99830881e-01 6.33661541e-04 -8.73759113e+00] [ 1.67106872e-02 -9.40866859e-04 9.99859924e-01 3.17309242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.460714057 meters Centerline goodness [0,1] 0.9889037135868357 Centerline is valid? [True, True] Translation: X:254.68, Y:-8.74, Z:3.17 [[ 9.99694015e-01 -1.77025982e-02 -1.72770136e-02 2.54684214e+02] [ 1.77165407e-02 9.99842836e-01 6.54263567e-04 -8.74338605e+00] [ 1.72627161e-02 -9.60152286e-04 9.99850527e-01 3.17225767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.490714057 meters Centerline goodness [0,1] 0.9279546015297311 Centerline is valid? [True, False] Translation: X:254.77, Y:-8.74, Z:3.17 [[ 9.99682793e-01 -1.93872220e-02 -1.60763643e-02 2.54767074e+02] [ 1.93221291e-02 9.99804512e-01 -4.19448386e-03 -8.74188735e+00] [ 1.61545409e-02 3.88252375e-03 9.99861969e-01 3.17207918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.520714057 meters Centerline goodness [0,1] 0.9893765354226147 Centerline is valid? [False, True] Translation: X:254.67, Y:-8.74, Z:3.17 [[ 9.99820796e-01 -1.43483201e-02 -1.23491405e-02 2.54673532e+02] [ 1.43261801e-02 9.99895609e-01 -1.87943532e-03 -8.74246244e+00] [ 1.23748181e-02 1.70218251e-03 9.99921980e-01 3.16757282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.550714057 meters Centerline goodness [0,1] 0.9897149443631689 Centerline is valid? [True, True] Translation: X:254.70, Y:-8.74, Z:3.17 [[ 9.99839232e-01 -1.37340468e-02 -1.15276466e-02 2.54704082e+02] [ 1.37401007e-02 9.99905501e-01 4.46122711e-04 -8.73517745e+00] [ 1.15204302e-02 -6.04442014e-04 9.99933455e-01 3.16876051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.580714057 meters Centerline goodness [0,1] 0.9896139133529045 Centerline is valid? [True, True] Translation: X:254.73, Y:-8.74, Z:3.17 [[ 9.99844168e-01 -1.35197582e-02 -1.13514441e-02 2.54734428e+02] [ 1.35256146e-02 9.99908428e-01 4.39303630e-04 -8.73610858e+00] [ 1.13444653e-02 -5.92770431e-04 9.99935474e-01 3.16892244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.610714057 meters Centerline goodness [0,1] 0.9900374980585325 Centerline is valid? [True, True] Translation: X:254.76, Y:-8.74, Z:3.17 [[ 9.99832163e-01 -1.38591516e-02 -1.19820858e-02 2.54763961e+02] [ 1.38656995e-02 9.99903759e-01 4.63577268e-04 -8.73780162e+00] [ 1.19745079e-02 -6.29639464e-04 9.99928105e-01 3.16906322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.640714057 meters Centerline goodness [0,1] 0.9906106398020502 Centerline is valid? [True, True] Translation: X:254.79, Y:-8.74, Z:3.17 [[ 9.99819053e-01 -1.48806950e-02 -1.18501144e-02 2.54793271e+02] [ 1.48871686e-02 9.99889075e-01 4.58262650e-04 -8.74095348e+00] [ 1.18419807e-02 -6.34594380e-04 9.99929680e-01 3.16869694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.670714057 meters Centerline goodness [0,1] 0.9903481328629435 Centerline is valid? [True, True] Translation: X:254.82, Y:-8.74, Z:3.17 [[ 9.99810117e-01 -1.57608972e-02 -1.14596683e-02 2.54823429e+02] [ 1.57670065e-02 9.99875595e-01 4.42960008e-04 -8.73876054e+00] [ 1.14512612e-02 -6.23560562e-04 9.99934238e-01 3.16881060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.700714057 meters Centerline goodness [0,1] 0.9895990419586623 Centerline is valid? [True, True] Translation: X:254.85, Y:-8.75, Z:3.17 [[ 9.99800732e-01 -1.65410856e-02 -1.11753987e-02 2.54853931e+02] [ 1.65469446e-02 9.99862997e-01 4.32010960e-04 -8.74503490e+00] [ 1.11667217e-02 -6.16843576e-04 9.99937460e-01 3.16755120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.730714057 meters Centerline goodness [0,1] 0.9900153098582174 Centerline is valid? [True, True] Translation: X:254.89, Y:-8.74, Z:3.17 [[ 9.99799592e-01 -1.67813216e-02 -1.09161554e-02 2.54885580e+02] [ 1.67869295e-02 9.99859000e-01 4.22295102e-04 -8.74474407e+00] [ 1.09075295e-02 -6.05459202e-04 9.99940328e-01 3.16771417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76071405700003 meters Centerline goodness [0,1] 0.9897237421593488 Centerline is valid? [True, True] Translation: X:254.92, Y:-8.74, Z:3.17 [[ 9.99800281e-01 -1.67349845e-02 -1.09241770e-02 2.54916976e+02] [ 1.67406022e-02 9.99859777e-01 4.22995304e-04 -8.74465798e+00] [ 1.09155664e-02 -6.05788126e-04 9.99940240e-01 3.16795903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.790714057 meters Centerline goodness [0,1] 0.9893048128342246 Centerline is valid? [True, True] Translation: X:254.95, Y:-8.75, Z:3.17 [[ 9.99825344e-01 -1.62750460e-02 -9.18713683e-03 2.54947318e+02] [ 1.62790018e-02 9.99867425e-01 3.55955258e-04 -8.75032559e+00] [ 9.18012566e-03 -5.05450505e-04 9.99957734e-01 3.16767769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82071405700003 meters Centerline goodness [0,1] 0.9894286096614479 Centerline is valid? [True, True] Translation: X:254.98, Y:-8.75, Z:3.17 [[ 9.99840106e-01 -1.58737639e-02 -8.23324664e-03 2.54979030e+02] [ 1.58769289e-02 9.99873903e-01 3.19198704e-04 -8.74842571e+00] [ 8.22714156e-03 -4.49866338e-04 9.99966055e-01 3.16859695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.850714057 meters Centerline goodness [0,1] 0.9884841992501339 Centerline is valid? [True, True] Translation: X:255.01, Y:-8.75, Z:3.17 [[ 9.99859374e-01 -1.54746852e-02 -6.46264830e-03 2.55010651e+02] [ 1.54766287e-02 9.99880198e-01 2.50812328e-04 -8.75040517e+00] [ 6.45799282e-03 -3.50797066e-04 9.99979085e-01 3.16889244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88071405700003 meters Centerline goodness [0,1] 0.988240291533457 Centerline is valid? [True, True] Translation: X:255.04, Y:-8.75, Z:3.17 [[ 9.99861600e-01 -1.54379584e-02 -6.20079814e-03 2.55042997e+02] [ 1.54397494e-02 9.99880771e-01 2.41069237e-04 -8.75123407e+00] [ 6.19633721e-03 -3.36774642e-04 9.99980746e-01 3.16897124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.910714057 meters Centerline goodness [0,1] 0.9887103971441321 Centerline is valid? [True, True] Translation: X:255.08, Y:-8.75, Z:3.17 [[ 9.99859351e-01 -1.56223325e-02 -6.10083280e-03 2.55075210e+02] [ 1.56240722e-02 9.99877909e-01 2.37602560e-04 -8.75039813e+00] [ 6.09637603e-03 -3.32888994e-04 9.99981362e-01 3.16921243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94071405700004 meters Centerline goodness [0,1] 0.9889751101370843 Centerline is valid? [True, True] Translation: X:255.11, Y:-8.75, Z:3.17 [[ 9.99855936e-01 -1.61689575e-02 -5.16449232e-03 2.55107831e+02] [ 1.61702131e-02 9.99869233e-01 2.01450905e-04 -8.75093288e+00] [ 5.16055973e-03 -2.84932824e-04 9.99986644e-01 3.16983431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.970714057 meters Centerline goodness [0,1] 0.9889751101370843 Centerline is valid? [True, True] Translation: X:255.14, Y:-8.75, Z:3.17 [[ 9.99857076e-01 -1.60983286e-02 -5.16447805e-03 2.55139546e+02] [ 1.60995851e-02 9.99870373e-01 2.01816114e-04 -8.75223273e+00] [ 5.16055969e-03 -2.84933223e-04 9.99986644e-01 3.16997878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00071405700004 meters Centerline goodness [0,1] 0.987870083959346 Centerline is valid? [True, True] Translation: X:255.17, Y:-8.76, Z:3.17 [[ 9.99847746e-01 -1.67314686e-02 -4.95411481e-03 2.55170398e+02] [ 1.67326342e-02 9.99859981e-01 1.93925704e-04 -8.75589875e+00] [ 4.95017648e-03 -2.76791569e-04 9.99987709e-01 3.17065377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.030714057 meters Centerline goodness [0,1] 0.9872323358363599 Centerline is valid? [True, True] Translation: X:255.20, Y:-8.76, Z:3.17 [[ 9.99827974e-01 -1.79874470e-02 -4.52474078e-03 2.55202825e+02] [ 1.79884332e-02 9.99838179e-01 1.77335475e-04 -8.75710158e+00] [ 4.52081877e-03 -2.58697966e-04 9.99989748e-01 3.17096166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.060714057 meters Centerline goodness [0,1] 0.9877374476054579 Centerline is valid? [True, True] Translation: X:255.23, Y:-8.76, Z:3.17 [[ 9.99771060e-01 -2.08357330e-02 -4.86816235e-03 2.55233576e+02] [ 2.08369098e-02 9.99782870e-01 1.91141174e-04 -8.75713251e+00] [ 4.86312275e-03 -2.92534874e-04 9.99988132e-01 3.17007796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.090714057 meters Centerline goodness [0,1] 0.9851719517641805 Centerline is valid? [True, True] Translation: X:255.26, Y:-8.77, Z:3.17 [[ 9.99725726e-01 -2.27447769e-02 -5.58100488e-03 2.55263642e+02] [ 2.27463539e-02 9.99741244e-01 2.19240823e-04 -8.76716138e+00] [ 5.57457418e-03 -3.46128203e-04 9.99984402e-01 3.16925181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.120714057 meters Centerline goodness [0,1] 0.9871002298747964 Centerline is valid? [True, True] Translation: X:255.29, Y:-8.76, Z:3.17 [[ 9.99631228e-01 -2.62381382e-02 -6.99770065e-03 2.55294325e+02] [ 2.62407036e-02 9.99655616e-01 2.75035386e-04 -8.76331732e+00] [ 6.98807434e-03 -4.58558549e-04 9.99975478e-01 3.16794699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.150714057 meters Centerline goodness [0,1] 0.9870865931721194 Centerline is valid? [True, True] Translation: X:255.33, Y:-8.77, Z:3.17 [[ 9.99605011e-01 -2.70427149e-02 -7.64944704e-03 2.55325077e+02] [ 2.70458075e-02 9.99634150e-01 3.01115479e-04 -8.76622556e+00] [ 7.63850551e-03 -5.07882014e-04 9.99970697e-01 3.16726422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.180714057 meters Centerline goodness [0,1] 0.9864153958846641 Centerline is valid? [True, True] Translation: X:255.36, Y:-8.77, Z:3.17 [[ 9.99589221e-01 -2.76025575e-02 -7.71282789e-03 2.55357100e+02] [ 2.76057242e-02 9.99618843e-01 3.04394158e-04 -8.76785833e+00] [ 7.70148604e-03 -5.17187319e-04 9.99970209e-01 3.16727254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.210714057 meters Centerline goodness [0,1] 0.9862863779509973 Centerline is valid? [True, True] Translation: X:255.39, Y:-8.77, Z:3.17 [[ 9.99585801e-01 -2.77541517e-02 -7.61135462e-03 2.55388642e+02] [ 2.77572435e-02 9.99614648e-01 3.00862215e-04 -8.76933643e+00] [ 7.60007139e-03 -5.12007822e-04 9.99970988e-01 3.16748757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.240714057 meters Centerline goodness [0,1] 0.9857633884022619 Centerline is valid? [True, True] Translation: X:255.42, Y:-8.77, Z:3.17 [[ 9.99610327e-01 -2.67967758e-02 -7.81841840e-03 2.55420237e+02] [ 2.68000126e-02 9.99640767e-01 3.09514065e-04 -8.77035719e+00] [ 7.80731579e-03 -5.18927168e-04 9.99969388e-01 3.16839123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.270714057 meters Centerline goodness [0,1] 0.9875804145818442 Centerline is valid? [True, True] Translation: X:255.45, Y:-8.76, Z:3.17 [[ 9.99656264e-01 -2.53111036e-02 -6.83380549e-03 2.55451975e+02] [ 2.53135444e-02 9.99679524e-01 2.70889043e-04 -8.76437820e+00] [ 6.82475892e-03 -4.43783768e-04 9.99976613e-01 3.16940907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.300714057 meters Centerline goodness [0,1] 0.9861343693482484 Centerline is valid? [True, True] Translation: X:255.48, Y:-8.77, Z:3.17 [[ 9.99682243e-01 -2.42983287e-02 -6.70852516e-03 2.55483479e+02] [ 2.43006602e-02 9.99704660e-01 2.66232851e-04 -8.76654329e+00] [ 6.70007485e-03 -4.29169844e-04 9.99977462e-01 3.16969910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.330714057 meters Centerline goodness [0,1] 0.9856973386753811 Centerline is valid? [True, True] Translation: X:255.51, Y:-8.77, Z:3.17 [[ 9.99700206e-01 -2.36153690e-02 -6.46625890e-03 2.55514979e+02] [ 2.36175235e-02 9.99721034e-01 2.57024744e-04 -8.76740029e+00] [ 6.45838530e-03 -4.09664711e-04 9.99979060e-01 3.16978243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.360714057 meters Centerline goodness [0,1] 0.9873097582811101 Centerline is valid? [True, True] Translation: X:255.55, Y:-8.76, Z:3.17 [[ 9.99736993e-01 -2.20120915e-02 -6.43526497e-03 2.55547197e+02] [ 2.20141945e-02 9.99757625e-01 2.56126837e-04 -8.76273034e+00] [ 6.42806734e-03 -3.97726648e-04 9.99979261e-01 3.17000051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.390714057 meters Centerline goodness [0,1] 0.9865200187780833 Centerline is valid? [True, True] Translation: X:255.58, Y:-8.76, Z:3.17 [[ 9.99756538e-01 -2.10782454e-02 -6.52478221e-03 2.55579643e+02] [ 2.10803900e-02 9.99777750e-01 2.60074081e-04 -8.76235560e+00] [ 6.51785018e-03 -3.97555717e-04 9.99978680e-01 3.17023374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.420714057 meters Centerline goodness [0,1] 0.9879064767535609 Centerline is valid? [True, True] Translation: X:255.61, Y:-8.76, Z:3.17 [[ 9.99778397e-01 -1.98029012e-02 -7.14151094e-03 2.55612365e+02] [ 1.98054418e-02 9.99803812e-01 2.85197522e-04 -8.75758963e+00] [ 7.13446213e-03 -4.26575101e-04 9.99974458e-01 3.17065736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.450714057 meters Centerline goodness [0,1] 0.988985650003358 Centerline is valid? [True, True] Translation: X:255.64, Y:-8.76, Z:3.17 [[ 9.99784239e-01 -1.92993253e-02 -7.68191776e-03 2.55644753e+02] [ 1.93022547e-02 9.99813647e-01 3.07361870e-04 -8.75810760e+00] [ 7.67455433e-03 -4.55573886e-04 9.99970446e-01 3.17029251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.480714057 meters Centerline goodness [0,1] 0.9892787305297701 Centerline is valid? [True, True] Translation: X:255.68, Y:-8.76, Z:3.17 [[ 9.99790029e-01 -1.89199549e-02 -7.86982749e-03 2.55676507e+02] [ 1.89230221e-02 9.99820894e-01 3.15457983e-04 -8.75846204e+00] [ 7.86244950e-03 -4.64312665e-04 9.99968983e-01 3.16974946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51071405700003 meters Centerline goodness [0,1] 0.9888938748036796 Centerline is valid? [True, True] Translation: X:255.71, Y:-8.76, Z:3.17 [[ 9.99802993e-01 -1.74256441e-02 -9.50379531e-03 2.55707849e+02] [ 1.74300602e-02 9.99848012e-01 3.82031190e-04 -8.75832034e+00] [ 9.49569371e-03 -5.47607651e-04 9.99954765e-01 3.16915984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.540714057 meters Centerline goodness [0,1] 0.9894559730790802 Centerline is valid? [True, True] Translation: X:255.74, Y:-8.76, Z:3.17 [[ 9.99814726e-01 -1.65662001e-02 -9.80177195e-03 2.55739438e+02] [ 1.65708645e-02 9.99862616e-01 3.94841548e-04 -8.75666022e+00] [ 9.79388432e-03 -5.57192229e-04 9.99951884e-01 3.16927082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57071405700003 meters Centerline goodness [0,1] 0.9888694403303263 Centerline is valid? [True, True] Translation: X:255.77, Y:-8.76, Z:3.17 [[ 9.99825182e-01 -1.56131570e-02 -1.02875801e-02 2.55771119e+02] [ 1.56182488e-02 9.99877942e-01 4.14789463e-04 -8.75638547e+00] [ 1.02798482e-02 -5.75390936e-04 9.99946995e-01 3.16936833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.600714057 meters Centerline goodness [0,1] 0.989206206431302 Centerline is valid? [True, True] Translation: X:255.80, Y:-8.75, Z:3.17 [[ 9.99866883e-01 -1.31446249e-02 -9.66614736e-03 2.55801255e+02] [ 1.31490066e-02 9.99913472e-01 3.89887432e-04 -8.75483728e+00] [ 9.66018604e-03 -5.16935767e-04 9.99953206e-01 3.17009418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63071405700003 meters Centerline goodness [0,1] 0.9888741244566563 Centerline is valid? [True, True] Translation: X:255.83, Y:-8.75, Z:3.17 [[ 9.99881588e-01 -1.19574054e-02 -9.68661728e-03 2.55832432e+02] [ 1.19617510e-02 9.99928379e-01 3.90804652e-04 -8.75277347e+00] [ 9.68125051e-03 -5.06627279e-04 9.99953007e-01 3.17078990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.660714057 meters Centerline goodness [0,1] 0.9898514851485148 Centerline is valid? [True, True] Translation: X:255.86, Y:-8.75, Z:3.17 [[ 9.99907040e-01 -9.98449233e-03 -9.28555378e-03 2.55862378e+02] [ 9.98840138e-03 9.99950044e-01 3.74701594e-04 -8.75151646e+00] [ 9.28134871e-03 -4.67414600e-04 9.99956818e-01 3.17146328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69071405700004 meters Centerline goodness [0,1] 0.9904090204622538 Centerline is valid? [True, True] Translation: X:255.89, Y:-8.75, Z:3.17 [[ 9.99916406e-01 -9.59209170e-03 -8.67021276e-03 2.55893273e+02] [ 9.59548510e-03 9.99953901e-01 3.49870629e-04 -8.74852075e+00] [ 8.66645708e-03 -4.33036279e-04 9.99962352e-01 3.17179214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.720714057 meters Centerline goodness [0,1] 0.9892550303954777 Centerline is valid? [True, True] Translation: X:255.92, Y:-8.75, Z:3.17 [[ 9.99919800e-01 -9.02231314e-03 -8.88772105e-03 2.55922888e+02] [ 9.02585579e-03 9.99959202e-01 3.58569580e-04 -8.75132783e+00] [ 8.88412332e-03 -4.38760111e-04 9.99960439e-01 3.17204325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75071405700004 meters Centerline goodness [0,1] 0.98939069715058 Centerline is valid? [True, True] Translation: X:255.95, Y:-8.75, Z:3.17 [[ 9.99920217e-01 -8.75639271e-03 -9.10409823e-03 2.55953232e+02] [ 8.76009820e-03 9.99961562e-01 3.67215128e-04 -8.74984111e+00] [ 9.10053281e-03 -4.46938625e-04 9.99958489e-01 3.17303552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.780714057 meters Centerline goodness [0,1] 0.9888176397795028 Centerline is valid? [True, True] Translation: X:255.98, Y:-8.75, Z:3.17 [[ 9.99920058e-01 -8.79539153e-03 -9.08402359e-03 2.55983136e+02] [ 8.79908084e-03 9.99961220e-01 3.66243796e-04 -8.75034064e+00] [ 9.08045006e-03 -4.46145576e-04 9.99958672e-01 3.17310230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.810714057 meters Centerline goodness [0,1] 0.9885272505973043 Centerline is valid? [True, True] Translation: X:256.01, Y:-8.76, Z:3.17 [[ 9.99901394e-01 -9.58730439e-03 -1.02609004e-02 2.56012082e+02] [ 9.59205359e-03 9.99953910e-01 4.13731148e-04 -8.75516728e+00] [ 1.02564609e-02 -5.12113458e-04 9.99947270e-01 3.17221304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.840714057 meters Centerline goodness [0,1] 0.9884003783954232 Centerline is valid? [True, True] Translation: X:256.04, Y:-8.76, Z:3.17 [[ 9.99884870e-01 -1.04729435e-02 -1.09801635e-02 2.56041491e+02] [ 1.04784349e-02 9.99945002e-01 4.42705093e-04 -8.75672846e+00] [ 1.09749232e-02 -5.57709053e-04 9.99939618e-01 3.17149453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.870714057 meters Centerline goodness [0,1] 0.9892647722147045 Centerline is valid? [True, True] Translation: X:256.07, Y:-8.75, Z:3.17 [[ 9.99875732e-01 -1.12748941e-02 -1.10180065e-02 2.56071270e+02] [ 1.12804677e-02 9.99936275e-01 4.43847867e-04 -8.75359641e+00] [ 1.10123000e-02 -5.68080977e-04 9.99939201e-01 3.17200659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.900714057 meters Centerline goodness [0,1] 0.9886542704065553 Centerline is valid? [True, True] Translation: X:256.10, Y:-8.75, Z:3.17 [[ 9.99865063e-01 -1.23559348e-02 -1.08253187e-02 2.56101289e+02] [ 1.23613760e-02 9.99923500e-01 4.35868653e-04 -8.75374213e+00] [ 1.08191050e-02 -5.69625673e-04 9.99941310e-01 3.17228968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.930714057 meters Centerline goodness [0,1] 0.9879279724838702 Centerline is valid? [True, True] Translation: X:256.13, Y:-8.76, Z:3.17 [[ 9.99859068e-01 -1.28695628e-02 -1.07804767e-02 2.56130636e+02] [ 1.28749871e-02 9.99917020e-01 4.33909145e-04 -8.75727469e+00] [ 1.07739979e-02 -5.72646492e-04 9.99941795e-01 3.17255847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.960714057 meters Centerline goodness [0,1] 0.987148558158411 Centerline is valid? [True, True] Translation: X:256.16, Y:-8.76, Z:3.17 [[ 9.99852105e-01 -1.35190775e-02 -1.06303089e-02 2.56161021e+02] [ 1.35243909e-02 9.99908450e-01 4.28102171e-04 -8.75964454e+00] [ 1.06235482e-02 -5.71807310e-04 9.99943405e-01 3.17265634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.990714057 meters Centerline goodness [0,1] 0.9875899726979399 Centerline is valid? [True, True] Translation: X:256.19, Y:-8.76, Z:3.17 [[ 9.99845787e-01 -1.37908771e-02 -1.08726043e-02 2.56192047e+02] [ 1.37964541e-02 9.99904728e-01 4.38102994e-04 -8.75682711e+00] [ 1.08655267e-02 -5.88038820e-04 9.99940796e-01 3.17282967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.020714057 meters Centerline goodness [0,1] 0.9882097845236482 Centerline is valid? [True, True] Translation: X:256.22, Y:-8.76, Z:3.17 [[ 9.99843955e-01 -1.37820331e-02 -1.10508438e-02 2.56222080e+02] [ 1.37877939e-02 9.99904845e-01 4.45285010e-04 -8.75742030e+00] [ 1.10436553e-02 -5.97582282e-04 9.99938838e-01 3.17282818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.050714057 meters Centerline goodness [0,1] 0.9876116978066612 Centerline is valid? [True, True] Translation: X:256.25, Y:-8.77, Z:3.17 [[ 9.99839985e-01 -1.40142314e-02 -1.11177725e-02 2.56252363e+02] [ 1.40200779e-02 9.99901613e-01 4.48098954e-04 -8.76637298e+00] [ 1.11103989e-02 -6.03899288e-04 9.99938095e-01 3.17123221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.080714057 meters Centerline goodness [0,1] 0.9872825381188008 Centerline is valid? [True, True] Translation: X:256.28, Y:-8.77, Z:3.17 [[ 9.99841080e-01 -1.40259244e-02 -1.10040190e-02 2.56282980e+02] [ 1.40316534e-02 9.99901453e-01 4.43594468e-04 -8.76626602e+00] [ 1.09967128e-02 -5.97928554e-04 9.99939356e-01 3.17135958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.110714057 meters Centerline goodness [0,1] 0.9877609791216703 Centerline is valid? [True, True] Translation: X:256.31, Y:-8.76, Z:3.17 [[ 9.99814898e-01 -1.48970149e-02 -1.21757207e-02 2.56313992e+02] [ 1.49040934e-02 9.99888807e-01 4.90828155e-04 -8.76220566e+00] [ 1.21670550e-02 -6.72205381e-04 9.99925753e-01 3.17110818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.140714057 meters Centerline goodness [0,1] 0.9882028566262882 Centerline is valid? [True, True] Translation: X:256.34, Y:-8.76, Z:3.17 [[ 9.99798198e-01 -1.53642801e-02 -1.29422312e-02 2.56344318e+02] [ 1.53723170e-02 9.99881703e-01 5.21727758e-04 -8.76263172e+00] [ 1.29326842e-02 -7.20574553e-04 9.99916110e-01 3.17113916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.170714057 meters Centerline goodness [0,1] 0.9874368459040058 Centerline is valid? [True, True] Translation: X:256.38, Y:-8.76, Z:3.17 [[ 9.99793700e-01 -1.55292361e-02 -1.30919914e-02 2.56375222e+02] [ 1.55374742e-02 9.99879147e-01 5.27764895e-04 -8.76306208e+00] [ 1.30822134e-02 -7.31072496e-04 9.99914157e-01 3.17089428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.200714057 meters Centerline goodness [0,1] 0.9869355167955726 Centerline is valid? [True, True] Translation: X:256.41, Y:-8.76, Z:3.17 [[ 9.99771159e-01 -1.61466056e-02 -1.40326964e-02 2.56406145e+02] [ 1.61561309e-02 9.99869321e-01 5.65686636e-04 -8.76354728e+00] [ 1.40217287e-02 -7.92271264e-04 9.99901377e-01 3.17097375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.230714057 meters Centerline goodness [0,1] 0.988083101112395 Centerline is valid? [True, True] Translation: X:256.44, Y:-8.76, Z:3.17 [[ 9.99766464e-01 -1.63666594e-02 -1.41120682e-02 2.56436687e+02] [ 1.63763146e-02 9.99865737e-01 5.68886272e-04 -8.76292758e+00] [ 1.41008627e-02 -7.99857085e-04 9.99900258e-01 3.17129763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26071405700003 meters Centerline goodness [0,1] 0.9878068163756499 Centerline is valid? [True, True] Translation: X:256.47, Y:-8.76, Z:3.17 [[ 9.99762957e-01 -1.67921328e-02 -1.38583765e-02 2.56467667e+02] [ 1.68014847e-02 9.99858689e-01 5.58659444e-04 -8.76278167e+00] [ 1.38470371e-02 -7.91368318e-04 9.99903812e-01 3.17096699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.290714057 meters Centerline goodness [0,1] 0.9871969490602016 Centerline is valid? [True, True] Translation: X:256.50, Y:-8.76, Z:3.17 [[ 9.99757973e-01 -1.68472868e-02 -1.41479336e-02 2.56498519e+02] [ 1.68570391e-02 9.99857747e-01 5.70332082e-04 -8.76336250e+00] [ 1.41363125e-02 -8.08686316e-04 9.99899750e-01 3.17055159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32071405700003 meters Centerline goodness [0,1] 0.9863029231013447 Centerline is valid? [True, True] Translation: X:256.53, Y:-8.76, Z:3.17 [[ 9.99764550e-01 -1.65418595e-02 -1.40432037e-02 2.56529298e+02] [ 1.65514380e-02 9.99862855e-01 5.66110205e-04 -8.76325686e+00] [ 1.40319132e-02 -7.98412129e-04 9.99901229e-01 3.17033522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.350714057 meters Centerline goodness [0,1] 0.98692230713246 Centerline is valid? [True, True] Translation: X:256.56, Y:-8.76, Z:3.17 [[ 9.99760683e-01 -1.64274476e-02 -1.44469840e-02 2.56560200e+02] [ 1.64375754e-02 9.99864724e-01 5.82560907e-04 -8.76175122e+00] [ 1.44354597e-02 -8.19894879e-04 9.99895467e-01 3.16993766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38071405700003 meters Centerline goodness [0,1] 0.9865261624598858 Centerline is valid? [True, True] Translation: X:256.59, Y:-8.76, Z:3.17 [[ 9.99757997e-01 -1.63333700e-02 -1.47366095e-02 2.56591141e+02] [ 1.63438990e-02 9.99866253e-01 5.94321157e-04 -8.76162710e+00] [ 1.47249313e-02 -8.35030987e-04 9.99891234e-01 3.16956133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.410714057 meters Centerline goodness [0,1] 0.9849311332333288 Centerline is valid? [True, True] Translation: X:256.62, Y:-8.76, Z:3.17 [[ 9.99766090e-01 -1.61733125e-02 -1.43592904e-02 2.56621015e+02] [ 1.61832903e-02 9.99868874e-01 5.78933577e-04 -8.76144089e+00] [ 1.43480442e-02 -8.11178723e-04 9.99896732e-01 3.16934993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44071405700004 meters Centerline goodness [0,1] 0.985919017288444 Centerline is valid? [True, True] Translation: X:256.65, Y:-8.76, Z:3.17 [[ 9.99771568e-01 -1.62702311e-02 -1.38597152e-02 2.56651685e+02] [ 1.62795348e-02 9.99867323e-01 5.58715521e-04 -8.75822071e+00] [ 1.38487859e-02 -7.84217609e-04 9.99903793e-01 3.17051402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.470714057 meters Centerline goodness [0,1] 0.9861869652284726 Centerline is valid? [True, True] Translation: X:256.68, Y:-8.76, Z:3.17 [[ 9.99776761e-01 -1.65308759e-02 -1.31589719e-02 2.56682753e+02] [ 1.65392851e-02 9.99863076e-01 5.30467021e-04 -8.75642913e+00] [ 1.31484010e-02 -7.47988587e-04 9.99913276e-01 3.17144459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50071405700004 meters Centerline goodness [0,1] 0.9844837784957 Centerline is valid? [True, True] Translation: X:256.71, Y:-8.76, Z:3.17 [[ 9.99758756e-01 -1.80566138e-02 -1.25055395e-02 2.56713112e+02] [ 1.80643292e-02 9.99836700e-01 5.04266824e-04 -8.76139920e+00] [ 1.24943920e-02 -7.30049355e-04 9.99921676e-01 3.17190563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.530714057 meters Centerline goodness [0,1] 0.9827184199698258 Centerline is valid? [True, True] Translation: X:256.74, Y:-8.76, Z:3.17 [[ 9.99746460e-01 -1.89313830e-02 -1.21908930e-02 2.56743617e+02] [ 1.89387851e-02 9.99820524e-01 4.92019818e-04 -8.76363319e+00] [ 1.21793904e-02 -7.22775774e-04 9.99925567e-01 3.17218315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.560714057 meters Centerline goodness [0,1] 0.9843369379624359 Centerline is valid? [True, True] Translation: X:256.77, Y:-8.76, Z:3.17 [[ 9.99729807e-01 -2.02517275e-02 -1.14096563e-02 2.56774924e+02] [ 2.02583020e-02 9.99794673e-01 4.60931821e-04 -8.75889389e+00] [ 1.13979789e-02 -6.91947543e-04 9.99934802e-01 3.17295161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.590714057 meters Centerline goodness [0,1] 0.9832865264744161 Centerline is valid? [True, True] Translation: X:256.81, Y:-8.76, Z:3.17 [[ 9.99712554e-01 -2.08481829e-02 -1.18390143e-02 2.56807582e+02] [ 2.08553113e-02 9.99782390e-01 4.78962206e-04 -8.75761103e+00] [ 1.18264525e-02 -7.25730859e-04 9.99929802e-01 3.17316272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.620714057 meters Centerline goodness [0,1] 0.9843907351460222 Centerline is valid? [True, True] Translation: X:256.84, Y:-8.76, Z:3.17 [[ 9.99708881e-01 -2.10112891e-02 -1.18608223e-02 2.56839628e+02] [ 2.10184654e-02 9.99778972e-01 4.80699605e-04 -8.75645416e+00] [ 1.18481007e-02 -7.29855949e-04 9.99929542e-01 3.17317619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.650714057 meters Centerline goodness [0,1] 0.9841381982269423 Centerline is valid? [True, True] Translation: X:256.87, Y:-8.76, Z:3.17 [[ 9.99723059e-01 -2.09697632e-02 -1.06805310e-02 2.56870332e+02] [ 2.09755865e-02 9.99779894e-01 4.33492212e-04 -8.75848854e+00] [ 1.06690899e-02 -6.57402562e-04 9.99942868e-01 3.17282034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.680714057 meters Centerline goodness [0,1] 0.9842546754675467 Centerline is valid? [True, True] Translation: X:256.90, Y:-8.76, Z:3.17 [[ 9.99734459e-01 -2.04193615e-02 -1.06799222e-02 2.56902389e+02] [ 2.04251602e-02 9.99791290e-01 4.34150334e-04 -8.75724401e+00] [ 1.06688281e-02 -6.52174170e-04 9.99942874e-01 3.17274953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.710714057 meters Centerline goodness [0,1] 0.9858032206932991 Centerline is valid? [True, True] Translation: X:256.93, Y:-8.75, Z:3.17 [[ 9.99747900e-01 -1.98778081e-02 -1.04407658e-02 2.56934585e+02] [ 1.98833284e-02 9.99802217e-01 4.25178353e-04 -8.75430925e+00] [ 1.04302492e-02 -6.32668341e-04 9.99945403e-01 3.17285718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.740714057 meters Centerline goodness [0,1] 0.9845608706656542 Centerline is valid? [True, True] Translation: X:256.97, Y:-8.76, Z:3.17 [[ 9.99757672e-01 -1.92358776e-02 -1.07041247e-02 2.56965954e+02] [ 1.92416505e-02 9.99814767e-01 4.36582345e-04 -8.75764919e+00] [ 1.06937439e-02 -6.42441575e-04 9.99942614e-01 3.17223697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.770714057 meters Centerline goodness [0,1] 0.985366977762415 Centerline is valid? [True, True] Translation: X:257.00, Y:-8.75, Z:3.17 [[ 9.99798155e-01 -1.73274149e-02 -1.01691119e-02 2.56997770e+02] [ 1.73325323e-02 9.99849694e-01 4.15308119e-04 -8.75393474e+00] [ 1.01603873e-02 -5.91480752e-04 9.99948207e-01 3.17208643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.800714057 meters Centerline goodness [0,1] 0.9850880427768046 Centerline is valid? [True, True] Translation: X:257.03, Y:-8.76, Z:3.17 [[ 9.99818887e-01 -1.61405679e-02 -1.00834045e-02 2.57028318e+02] [ 1.61455428e-02 9.99869567e-01 4.12157880e-04 -8.75634991e+00] [ 1.00754368e-02 -5.74885271e-04 9.99949076e-01 3.17194724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.830714057 meters Centerline goodness [0,1] 0.9848512627767337 Centerline is valid? [True, True] Translation: X:257.06, Y:-8.76, Z:3.17 [[ 9.99866662e-01 -1.36490027e-02 -8.96451842e-03 2.57059530e+02] [ 1.36528370e-02 9.99906728e-01 3.66657090e-04 -8.75544739e+00] [ 8.95867778e-03 -4.88999309e-04 9.99959751e-01 3.17268583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.860714057 meters Centerline goodness [0,1] 0.9845919638326337 Centerline is valid? [True, True] Translation: X:257.09, Y:-8.76, Z:3.17 [[ 9.99878907e-01 -1.28710180e-02 -8.74687698e-03 2.57091199e+02] [ 1.28746414e-02 9.99917054e-01 3.58066366e-04 -8.75667611e+00] [ 8.74154279e-03 -4.70635911e-04 9.99961681e-01 3.17293410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.890714057 meters Centerline goodness [0,1] 0.9852118029161772 Centerline is valid? [True, True] Translation: X:257.12, Y:-8.76, Z:3.17 [[ 9.99893446e-01 -1.18555745e-02 -8.51711287e-03 2.57121383e+02] [ 1.18589752e-02 9.99929619e-01 3.48889692e-04 -8.75950405e+00] [ 8.51237714e-03 -4.49856747e-04 9.99963668e-01 3.17252190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.920714057 meters Centerline goodness [0,1] 0.9852118029161772 Centerline is valid? [True, True] Translation: X:257.15, Y:-8.76, Z:3.17 [[ 9.99893858e-01 -1.18208279e-02 -8.51710391e-03 2.57152247e+02] [ 1.18242293e-02 9.99930030e-01 3.49108250e-04 -8.76079968e+00] [ 8.51238123e-03 -4.49779385e-04 9.99963668e-01 3.17266257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.950714057 meters Centerline goodness [0,1] 0.9857326951399117 Centerline is valid? [True, True] Translation: X:257.18, Y:-8.76, Z:3.17 [[ 9.99909845e-01 -1.06834158e-02 -8.13429252e-03 2.57183842e+02] [ 1.06864830e-02 9.99942842e-01 3.33697395e-04 -8.75863730e+00] [ 8.13026256e-03 -4.20594289e-04 9.99966860e-01 3.17264611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.980714057 meters Centerline goodness [0,1] 0.9855708184231791 Centerline is valid? [True, True] Translation: X:257.21, Y:-8.76, Z:3.17 [[ 9.99914811e-01 -1.01948234e-02 -8.15084210e-03 2.57214535e+02] [ 1.01978901e-02 9.99947944e-01 3.34773711e-04 -8.76123169e+00] [ 8.14700484e-03 -4.17866584e-04 9.99966725e-01 3.17236794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01071405700003 meters Centerline goodness [0,1] 0.9855296204981682 Centerline is valid? [True, True] Translation: X:257.24, Y:-8.76, Z:3.17 [[ 9.99911938e-01 -1.03156295e-02 -8.34889471e-03 2.57244977e+02] [ 1.03188543e-02 9.99946700e-01 3.43277508e-04 -8.76425475e+00] [ 8.34490859e-03 -4.29398307e-04 9.99965088e-01 3.17227336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.040714057 meters Centerline goodness [0,1] 0.9861878453038674 Centerline is valid? [True, True] Translation: X:257.28, Y:-8.77, Z:3.17 [[ 9.99913429e-01 -9.90076094e-03 -8.66661180e-03 2.57276583e+02] [ 9.90422237e-03 9.99950888e-01 3.56569105e-04 -8.76545396e+00] [ 8.66265587e-03 -4.42374287e-04 9.99962381e-01 3.17224376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07071405700003 meters Centerline goodness [0,1] 0.985497905252981 Centerline is valid? [True, True] Translation: X:257.31, Y:-8.77, Z:3.17 [[ 9.99913711e-01 -9.78936992e-03 -8.76005248e-03 2.57307341e+02] [ 9.79290355e-03 9.99951983e-01 3.60575048e-04 -8.76623376e+00] [ 8.75610205e-03 -4.46330284e-04 9.99961565e-01 3.17235117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.100714057 meters Centerline goodness [0,1] 0.9864397398643974 Centerline is valid? [True, True] Translation: X:257.34, Y:-8.77, Z:3.17 [[ 9.99915959e-01 -9.24365463e-03 -9.09008273e-03 2.57337267e+02] [ 9.24743776e-03 9.99957172e-01 3.74238892e-04 -8.76880982e+00] [ 9.08623408e-03 -4.58267415e-04 9.99958614e-01 3.17282500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13071405700003 meters Centerline goodness [0,1] 0.9864930275440821 Centerline is valid? [True, True] Translation: X:257.37, Y:-8.77, Z:3.17 [[ 9.99911899e-01 -9.23755582e-03 -9.53211916e-03 2.57367949e+02] [ 9.24171637e-03 9.99957217e-01 3.92520981e-04 -8.76884158e+00] [ 9.52808541e-03 -4.80579541e-04 9.99954491e-01 3.17288357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.160714057 meters Centerline goodness [0,1] 0.9868445347119645 Centerline is valid? [True, True] Translation: X:257.40, Y:-8.77, Z:3.17 [[ 9.99910803e-01 -9.32063642e-03 -9.56612717e-03 2.57398622e+02] [ 9.32483051e-03 9.99956445e-01 3.93921389e-04 -8.76908854e+00] [ 9.56203892e-03 -4.83088767e-04 9.99954166e-01 3.17296170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19071405700004 meters Centerline goodness [0,1] 0.9861601273268286 Centerline is valid? [True, True] Translation: X:257.43, Y:-8.77, Z:3.17 [[ 9.99905455e-01 -9.64996686e-03 -9.79592738e-03 2.57428571e+02] [ 9.65437972e-03 9.99953314e-01 4.03290034e-04 -8.77089215e+00] [ 9.79157832e-03 -4.97825507e-04 9.99951937e-01 3.17280516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.220714057 meters Centerline goodness [0,1] 0.9842186385700155 Centerline is valid? [True, True] Translation: X:257.46, Y:-8.78, Z:3.17 [[ 9.99901873e-01 -9.92365260e-03 -9.88762770e-03 2.57458037e+02] [ 9.92816098e-03 9.99950632e-01 4.06980907e-04 -8.77858217e+00] [ 9.88310083e-03 -5.05106930e-04 9.99951033e-01 3.17170596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25071405700004 meters Centerline goodness [0,1] 0.9848460459447651 Centerline is valid? [True, True] Translation: X:257.49, Y:-8.78, Z:3.17 [[ 9.99896552e-01 -1.01819541e-02 -1.01593447e-02 2.57487855e+02] [ 1.01867317e-02 9.99948026e-01 4.18631482e-04 -8.78082505e+00] [ 1.01545542e-02 -5.22078694e-04 9.99948305e-01 3.17192087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.280714057 meters Centerline goodness [0,1] 0.9851512500575533 Centerline is valid? [True, True] Translation: X:257.52, Y:-8.77, Z:3.17 [[ 9.99874894e-01 -1.11371051e-02 -1.12321145e-02 2.57518742e+02] [ 1.11430098e-02 9.99937807e-01 4.63256543e-04 -8.77404869e+00] [ 1.12262566e-02 -5.88358150e-04 9.99936811e-01 3.17238283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.310714057 meters Centerline goodness [0,1] 0.9834514822316333 Centerline is valid? [True, True] Translation: X:257.55, Y:-8.79, Z:3.17 [[ 9.99871367e-01 -1.17546828e-02 -1.09122005e-02 2.57548213e+02] [ 1.17602989e-02 9.99930744e-01 4.50633768e-04 -8.78573812e+00] [ 1.09061477e-02 -5.78906541e-04 9.99940359e-01 3.17116471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.340714057 meters Centerline goodness [0,1] 0.9832675358060963 Centerline is valid? [True, True] Translation: X:257.58, Y:-8.79, Z:3.17 [[ 9.99860584e-01 -1.25248700e-02 -1.10426202e-02 2.57578318e+02] [ 1.25306726e-02 9.99921384e-01 4.56433485e-04 -8.78831009e+00] [ 1.10360353e-02 -5.94741310e-04 9.99938924e-01 3.17105978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.370714057 meters Centerline goodness [0,1] 0.9816839740503862 Centerline is valid? [True, True] Translation: X:257.61, Y:-8.79, Z:3.17 [[ 9.99828071e-01 -1.51675438e-02 -1.06665275e-02 2.57607572e+02] [ 1.51731067e-02 9.99884785e-01 4.40788664e-04 -8.79308081e+00] [ 1.06586129e-02 -6.02557239e-04 9.99943014e-01 3.17148364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.400714057 meters Centerline goodness [0,1] 0.9837886313465783 Centerline is valid? [True, True] Translation: X:257.64, Y:-8.79, Z:3.17 [[ 9.99822065e-01 -1.58137672e-02 -1.02841252e-02 2.57639111e+02] [ 1.58189737e-02 9.99874782e-01 4.25118549e-04 -8.78529883e+00] [ 1.02761147e-02 -5.87727213e-04 9.99947027e-01 3.17297398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.430714057 meters Centerline goodness [0,1] 0.9845722944120483 Centerline is valid? [True, True] Translation: X:257.67, Y:-8.79, Z:3.17 [[ 9.99796451e-01 -1.72773097e-02 -1.04187937e-02 2.57669869e+02] [ 1.72827370e-02 9.99850549e-01 4.31104203e-04 -8.78729014e+00] [ 1.04097883e-02 -6.11081724e-04 9.99945630e-01 3.17371364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.460714057 meters Centerline goodness [0,1] 0.983565976758578 Centerline is valid? [True, True] Translation: X:257.70, Y:-8.79, Z:3.17 [[ 9.99791048e-01 -1.77568787e-02 -1.01268516e-02 2.57701904e+02] [ 1.77620367e-02 9.99842155e-01 4.19618796e-04 -8.78914296e+00] [ 1.01178020e-02 -5.99404626e-04 9.99948634e-01 3.17387569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.490714057 meters Centerline goodness [0,1] 0.9841470129393411 Centerline is valid? [True, True] Translation: X:257.73, Y:-8.79, Z:3.17 [[ 9.99771170e-01 -1.85458460e-02 -1.06611147e-02 2.57734358e+02] [ 1.85516159e-02 9.99827806e-01 4.42556032e-04 -8.78804165e+00] [ 1.06510713e-02 -6.40235666e-04 9.99943071e-01 3.17438153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.520714057 meters Centerline goodness [0,1] 0.9832808947477206 Centerline is valid? [True, True] Translation: X:257.77, Y:-8.79, Z:3.17 [[ 9.99743445e-01 -1.96985609e-02 -1.11807972e-02 2.57765196e+02] [ 1.97049869e-02 9.99805730e-01 4.64848086e-04 -8.79488483e+00] [ 1.11694683e-02 -6.85046289e-04 9.99937385e-01 3.17371118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.550714057 meters Centerline goodness [0,1] 0.9832377894978216 Centerline is valid? [True, True] Translation: X:257.80, Y:-8.80, Z:3.17 [[ 9.99734378e-01 -2.01364552e-02 -1.12114554e-02 2.57797479e+02] [ 2.01429520e-02 9.99797001e-01 4.66851187e-04 -8.79715516e+00] [ 1.11997787e-02 -6.92558988e-04 9.99937041e-01 3.17354953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.580714057 meters Centerline goodness [0,1] 0.9826919999085443 Centerline is valid? [True, True] Translation: X:257.83, Y:-8.80, Z:3.17 [[ 9.99711472e-01 -2.11223266e-02 -1.14376357e-02 2.57828690e+02] [ 2.11291605e-02 9.99776641e-01 4.76968231e-04 -8.80082138e+00] [ 1.14250063e-02 -7.18498252e-04 9.99934474e-01 3.17268710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.610714057 meters Centerline goodness [0,1] 0.9825935993786692 Centerline is valid? [True, True] Translation: X:257.86, Y:-8.80, Z:3.17 [[ 9.99699685e-01 -2.14405071e-02 -1.18677678e-02 2.57859917e+02] [ 2.14478946e-02 9.99769845e-01 4.95541510e-04 -8.80381925e+00] [ 1.18544117e-02 -7.49931324e-04 9.99929453e-01 3.17240326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.640714057 meters Centerline goodness [0,1] 0.9828258277538292 Centerline is valid? [True, True] Translation: X:257.89, Y:-8.81, Z:3.17 [[ 9.99684839e-01 -2.19009098e-02 -1.22708016e-02 2.57890683e+02] [ 2.19088552e-02 9.99759840e-01 5.13441770e-04 -8.80730716e+00] [ 1.22566098e-02 -7.82119169e-04 9.99924579e-01 3.17215195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.670714057 meters Centerline goodness [0,1] 0.9822614889391138 Centerline is valid? [True, True] Translation: X:257.92, Y:-8.81, Z:3.17 [[ 9.99652510e-01 -2.28087469e-02 -1.32143836e-02 2.57921847e+02] [ 2.28180532e-02 9.99739481e-01 5.53895692e-04 -8.81166345e+00] [ 1.31983074e-02 -8.55229728e-04 9.99912533e-01 3.17154146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.700714057 meters Centerline goodness [0,1] 0.9833809578237512 Centerline is valid? [True, True] Translation: X:257.95, Y:-8.81, Z:3.17 [[ 9.99644035e-01 -2.31812176e-02 -1.32073923e-02 2.57954541e+02] [ 2.31905577e-02 9.99730909e-01 5.54454805e-04 -8.80903371e+00] [ 1.31909854e-02 -8.60544232e-04 9.99912625e-01 3.17200168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.730714057 meters Centerline goodness [0,1] 0.9829414581860476 Centerline is valid? [True, True] Translation: X:257.99, Y:-8.82, Z:3.17 [[ 9.99629571e-01 -2.34065812e-02 -1.38871650e-02 2.57985480e+02] [ 2.34169408e-02 9.99725615e-01 5.83826298e-04 -8.81702471e+00] [ 1.38696892e-02 -9.08804953e-04 9.99903398e-01 3.17054517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76071405700003 meters Centerline goodness [0,1] 0.9823310247091362 Centerline is valid? [True, True] Translation: X:258.02, Y:-8.82, Z:3.17 [[ 9.99620753e-01 -2.34248604e-02 -1.44784879e-02 2.58017812e+02] [ 2.34361364e-02 9.99725150e-01 6.09606033e-04 -8.81932582e+00] [ 1.44602285e-02 -9.48694658e-04 9.99894995e-01 3.17006186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.790714057 meters Centerline goodness [0,1] 0.9844493230881814 Centerline is valid? [True, True] Translation: X:258.05, Y:-8.81, Z:3.17 [[ 9.99617010e-01 -2.31692126e-02 -1.51334404e-02 2.58049990e+02] [ 2.31815190e-02 9.99731069e-01 6.38256969e-04 -8.81356381e+00] [ 1.51145826e-02 -9.88828660e-04 9.99885279e-01 3.17100905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82071405700003 meters Centerline goodness [0,1] 0.9838508188157267 Centerline is valid? [True, True] Translation: X:258.08, Y:-8.82, Z:3.17 [[ 9.99645512e-01 -2.20760303e-02 -1.48828684e-02 2.58080019e+02] [ 2.20878193e-02 9.99755837e-01 6.28189813e-04 -8.81759117e+00] [ 1.48653666e-02 -9.56697234e-04 9.99889047e-01 3.17065689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.850714057 meters Centerline goodness [0,1] 0.9827535006967129 Centerline is valid? [True, True] Translation: X:258.11, Y:-8.82, Z:3.17 [[ 9.99656690e-01 -2.15560634e-02 -1.48942415e-02 2.58110681e+02] [ 2.15678194e-02 9.99767190e-01 6.29103719e-04 -8.82390838e+00] [ 1.48772130e-02 -9.50124051e-04 9.99888877e-01 3.17020422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88071405700003 meters Centerline goodness [0,1] 0.9842571859434264 Centerline is valid? [True, True] Translation: X:258.14, Y:-8.81, Z:3.17 [[ 9.99700207e-01 -1.97145166e-02 -1.45201457e-02 2.58142199e+02] [ 1.97255033e-02 9.99805245e-01 6.13809611e-04 -8.81369269e+00] [ 1.45052169e-02 -9.00042778e-04 9.99894389e-01 3.17347509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.910714057 meters Centerline goodness [0,1] 0.9845134764732755 Centerline is valid? [True, True] Translation: X:258.17, Y:-8.81, Z:3.17 [[ 9.99724024e-01 -1.90490596e-02 -1.37480839e-02 2.58173826e+02] [ 1.90588527e-02 9.99818194e-01 5.81648970e-04 -8.81493722e+00] [ 1.37345046e-02 -8.43511155e-04 9.99905321e-01 3.17396424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94071405700004 meters Centerline goodness [0,1] 0.9848280281013295 Centerline is valid? [True, True] Translation: X:258.21, Y:-8.81, Z:3.18 [[ 9.99732320e-01 -1.86476273e-02 -1.36950189e-02 2.58205634e+02] [ 1.86573141e-02 9.99825769e-01 5.79890951e-04 -8.81337725e+00] [ 1.36818192e-02 -8.35247995e-04 9.99906051e-01 3.17501914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.970714057 meters Centerline goodness [0,1] 0.9848727206251999 Centerline is valid? [True, True] Translation: X:258.24, Y:-8.82, Z:3.17 [[ 9.99754614e-01 -1.81991836e-02 -1.26293569e-02 2.58235637e+02] [ 1.82073895e-02 9.99834089e-01 5.35061453e-04 -8.81587466e+00] [ 1.26175238e-02 -7.64877775e-04 9.99920103e-01 3.17492483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00071405700004 meters Centerline goodness [0,1] 0.9839190677188475 Centerline is valid? [True, True] Translation: X:258.27, Y:-8.82, Z:3.17 [[ 9.99748905e-01 -1.82926716e-02 -1.29424052e-02 2.58267326e+02] [ 1.83013060e-02 9.99832366e-01 5.49006018e-04 -8.81781564e+00] [ 1.29301929e-02 -7.85731083e-04 9.99916093e-01 3.17468455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.030714057 meters Centerline goodness [0,1] 0.9844627265852373 Centerline is valid? [True, True] Translation: X:258.30, Y:-8.82, Z:3.17 [[ 9.99747890e-01 -1.77758990e-02 -1.37176299e-02 2.58299044e+02] [ 1.77855595e-02 9.99841655e-01 5.82562732e-04 -8.81834778e+00] [ 1.37051022e-02 -8.26391586e-04 9.99905739e-01 3.17468379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.060714057 meters Centerline goodness [0,1] 0.9645335057099763 Centerline is valid? [True, True] Translation: X:258.33, Y:-8.85, Z:3.17 [[ 9.99802620e-01 -1.63744505e-02 -1.12516080e-02 2.58327641e+02] [ 1.63808628e-02 9.99865710e-01 4.77968875e-04 -8.84718447e+00] [ 1.12422706e-02 -6.62185580e-04 9.99936584e-01 3.17220138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.090714057 meters Centerline goodness [0,1] 0.9845662708711329 Centerline is valid? [True, True] Translation: X:258.36, Y:-8.82, Z:3.17 [[ 9.99737369e-01 -1.72788115e-02 -1.50544086e-02 2.58359888e+02] [ 1.72903962e-02 9.99850305e-01 6.39699729e-04 -8.81874441e+00] [ 1.50411017e-02 -8.99828414e-04 9.99886471e-01 3.17478942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.120714057 meters Centerline goodness [0,1] 0.98371178135137 Centerline is valid? [True, True] Translation: X:258.39, Y:-8.82, Z:3.17 [[ 9.99728807e-01 -1.71269490e-02 -1.57791194e-02 2.58390359e+02] [ 1.71396617e-02 9.99852880e-01 6.70778572e-04 -8.82354077e+00] [ 1.57653096e-02 -9.41045429e-04 9.99875277e-01 3.17399052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.150714057 meters Centerline goodness [0,1] 0.9841802713267418 Centerline is valid? [True, True] Translation: X:258.42, Y:-8.82, Z:3.17 [[ 9.99731416e-01 -1.63604364e-02 -1.64143694e-02 2.58420941e+02] [ 1.63740919e-02 9.99865692e-01 6.97867194e-04 -8.82331006e+00] [ 1.64007474e-02 -9.66450152e-04 9.99865032e-01 3.17307056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.180714057 meters Centerline goodness [0,1] 0.98496482596901 Centerline is valid? [True, True] Translation: X:258.45, Y:-8.82, Z:3.17 [[ 9.99739997e-01 -1.57872964e-02 -1.64529587e-02 2.58450632e+02] [ 1.58009319e-02 9.99874913e-01 6.99083982e-04 -8.82383219e+00] [ 1.64398640e-02 -9.58874298e-04 9.99864397e-01 3.17293033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.210714057 meters Centerline goodness [0,1] 0.9845218986470993 Centerline is valid? [True, True] Translation: X:258.48, Y:-8.83, Z:3.17 [[ 9.99759309e-01 -1.43713826e-02 -1.65767381e-02 2.58479710e+02] [ 1.43850204e-02 9.99896283e-01 7.03756441e-04 -8.82502530e+00] [ 1.65649049e-02 -9.42043769e-04 9.99862349e-01 3.17230960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.240714057 meters Centerline goodness [0,1] 0.9852132919397494 Centerline is valid? [True, True] Translation: X:258.51, Y:-8.82, Z:3.17 [[ 9.99779527e-01 -1.32261013e-02 -1.63084940e-02 2.58509625e+02] [ 1.32391400e-02 9.99912119e-01 6.91795046e-04 -8.82418783e+00] [ 1.62979111e-02 -9.07552959e-04 9.99866768e-01 3.17339957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.270714057 meters Centerline goodness [0,1] 0.9847277250529808 Centerline is valid? [True, True] Translation: X:258.54, Y:-8.83, Z:3.17 [[ 9.99823227e-01 -1.08154723e-02 -1.53798793e-02 2.58538367e+02] [ 1.08267757e-02 9.99941176e-01 6.51872710e-04 -8.82715679e+00] [ 1.53719243e-02 -8.18271979e-04 9.99881510e-01 3.17315624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.300714057 meters Centerline goodness [0,1] 0.9847927115446556 Centerline is valid? [True, True] Translation: X:258.57, Y:-8.82, Z:3.17 [[ 9.99840983e-01 -9.42613905e-03 -1.51378989e-02 2.58567098e+02] [ 9.43691715e-03 9.99955266e-01 6.40719098e-04 -8.82449382e+00] [ 1.51311822e-02 -7.83472311e-04 9.99885210e-01 3.17352863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.330714057 meters Centerline goodness [0,1] 0.9849049657140228 Centerline is valid? [True, True] Translation: X:258.60, Y:-8.83, Z:3.17 [[ 9.99848496e-01 -8.60283056e-03 -1.51319591e-02 2.58595129e+02] [ 8.61346228e-03 9.99962700e-01 6.37566592e-04 -8.82690160e+00] [ 1.51259098e-02 -7.67808558e-04 9.99885302e-01 3.17318159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.360714057 meters Centerline goodness [0,1] 0.9866417927635367 Centerline is valid? [True, True] Translation: X:258.62, Y:-8.83, Z:3.17 [[ 9.99853588e-01 -7.40253713e-03 -1.54274225e-02 2.58623815e+02] [ 7.41338723e-03 9.99972312e-01 6.46229260e-04 -8.82527430e+00] [ 1.54222116e-02 -7.60504101e-04 9.99880781e-01 3.17371565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.390714057 meters Centerline goodness [0,1] 0.9855305836074625 Centerline is valid? [True, True] Translation: X:258.65, Y:-8.83, Z:3.17 [[ 9.99850176e-01 -7.31240905e-03 -1.56893285e-02 2.58652479e+02] [ 7.32355959e-03 9.99972969e-01 6.53371201e-04 -8.82609199e+00] [ 1.56841267e-02 -7.68175042e-04 9.99876701e-01 3.17370813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.420714057 meters Centerline goodness [0,1] 0.9858549151294907 Centerline is valid? [True, True] Translation: X:258.68, Y:-8.83, Z:3.17 [[ 9.99839083e-01 -6.82861266e-03 -1.65885047e-02 2.58680313e+02] [ 6.84097525e-03 9.99976363e-01 6.88619142e-04 -8.82852146e+00] [ 1.65834103e-02 -8.01989882e-04 9.99862164e-01 3.17339887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.450714057 meters Centerline goodness [0,1] 0.9863552692130695 Centerline is valid? [True, True] Translation: X:258.71, Y:-8.83, Z:3.17 [[ 9.99828578e-01 -7.21169608e-03 -1.70530297e-02 2.58708773e+02] [ 7.22475857e-03 9.99973653e-01 7.04508871e-04 -8.82995570e+00] [ 1.70474997e-02 -8.27592125e-04 9.99854338e-01 3.17298722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.480714057 meters Centerline goodness [0,1] 0.9866877825977186 Centerline is valid? [True, True] Translation: X:258.74, Y:-8.83, Z:3.17 [[ 9.99800025e-01 -8.40648588e-03 -1.81450255e-02 2.58736079e+02] [ 8.42142536e-03 9.99964260e-01 7.47083473e-04 -8.83357686e+00] [ 1.81380967e-02 -8.99741053e-04 9.99835086e-01 3.17236932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51071405700003 meters Centerline goodness [0,1] 0.9856159669649002 Centerline is valid? [True, True] Translation: X:258.77, Y:-8.84, Z:3.17 [[ 9.99774950e-01 -9.83097896e-03 -1.87989747e-02 2.58765056e+02] [ 9.84719450e-03 9.99951219e-01 7.70201151e-04 -8.83600709e+00] [ 1.87904858e-02 -9.55144978e-04 9.99822987e-01 3.17204305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.540714057 meters Centerline goodness [0,1] 0.9856410963310129 Centerline is valid? [True, True] Translation: X:258.79, Y:-8.84, Z:3.17 [[ 9.99733702e-01 -1.22551590e-02 -1.95534278e-02 2.58792997e+02] [ 1.22731212e-02 9.99924363e-01 7.98876394e-04 -8.84060913e+00] [ 1.95421585e-02 -1.03864524e-03 9.99808494e-01 3.17145121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57071405700003 meters Centerline goodness [0,1] 0.986010291279978 Centerline is valid? [True, True] Translation: X:258.82, Y:-8.84, Z:3.17 [[ 9.99717196e-01 -1.38989840e-02 -1.92962652e-02 2.58822509e+02] [ 1.39167662e-02 9.99902847e-01 7.87548502e-04 -8.84400052e+00] [ 1.92834444e-02 -1.05586739e-03 9.99813500e-01 3.17129890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.600714057 meters Centerline goodness [0,1] 0.9844879414396842 Centerline is valid? [True, True] Translation: X:258.85, Y:-8.85, Z:3.17 [[ 9.99671452e-01 -1.57100764e-02 -2.02529420e-02 2.58852202e+02] [ 1.57300228e-02 9.99875934e-01 8.25923984e-04 -8.84697015e+00] [ 2.02374539e-02 -1.14423187e-03 9.99794547e-01 3.17107143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63071405700003 meters Centerline goodness [0,1] 0.9841138659320477 Centerline is valid? [True, True] Translation: X:258.88, Y:-8.85, Z:3.17 [[ 9.99622294e-01 -1.86687339e-02 -2.01679848e-02 2.58880924e+02] [ 1.86891001e-02 9.99825006e-01 8.21803225e-04 -8.85248271e+00] [ 2.01491135e-02 -1.19841431e-03 9.99796268e-01 3.17137950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.660714057 meters Centerline goodness [0,1] 0.9848255627378169 Centerline is valid? [True, True] Translation: X:258.91, Y:-8.85, Z:3.17 [[ 9.99598649e-01 -2.03198355e-02 -1.97394086e-02 2.58910776e+02] [ 2.03396528e-02 9.99792805e-01 8.03678292e-04 -8.85010940e+00] [ 1.97189880e-02 -1.20484845e-03 9.99804836e-01 3.17322678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69071405700004 meters Centerline goodness [0,1] 0.9855608098801708 Centerline is valid? [True, True] Translation: X:258.94, Y:-8.85, Z:3.18 [[ 9.99533977e-01 -2.33898626e-02 -1.96148683e-02 2.58940918e+02] [ 2.34100110e-02 9.99725630e-01 7.98186482e-04 -8.84796002e+00] [ 1.95908171e-02 -1.25699879e-03 9.99807291e-01 3.17574288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.720714057 meters Centerline goodness [0,1] 0.9855524469109755 Centerline is valid? [True, True] Translation: X:258.97, Y:-8.85, Z:3.18 [[ 9.99500627e-01 -2.47749633e-02 -1.96137405e-02 2.58971881e+02] [ 2.47953787e-02 9.99692229e-01 7.98330029e-04 -8.84737734e+00] [ 1.95879254e-02 -1.28426149e-03 9.99807313e-01 3.17696354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75071405700004 meters Centerline goodness [0,1] 0.9862375851549419 Centerline is valid? [True, True] Translation: X:259.00, Y:-8.85, Z:3.18 [[ 9.99467562e-01 -2.60891545e-02 -1.95946275e-02 2.59003322e+02] [ 2.61097936e-02 9.99658763e-01 7.98169316e-04 -8.85018087e+00] [ 1.95671176e-02 -1.30935602e-03 9.99807688e-01 3.17721945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.780714057 meters Centerline goodness [0,1] 0.986142709410548 Centerline is valid? [True, True] Translation: X:259.03, Y:-8.85, Z:3.18 [[ 9.99391323e-01 -2.86233390e-02 -1.99421242e-02 2.59034822e+02] [ 2.86452332e-02 9.99589310e-01 8.13041788e-04 -8.85180343e+00] [ 1.99106622e-02 -1.38379370e-03 9.99800805e-01 3.17774145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.810714057 meters Centerline goodness [0,1] 0.986142709410548 Centerline is valid? [True, True] Translation: X:259.07, Y:-8.85, Z:3.18 [[ 9.99392347e-01 -2.85875928e-02 -1.99420951e-02 2.59065722e+02] [ 2.86094941e-02 9.99590333e-01 8.13755312e-04 -8.85309350e+00] [ 1.99106621e-02 -1.38379408e-03 9.99800805e-01 3.17788225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.840714057 meters Centerline goodness [0,1] 0.9855072463768116 Centerline is valid? [True, True] Translation: X:259.10, Y:-8.86, Z:3.18 [[ 9.99356869e-01 -2.97123527e-02 -2.00754719e-02 2.59096595e+02] [ 2.97347937e-02 9.99557487e-01 8.20193660e-04 -8.85715567e+00] [ 2.00422184e-02 -1.41660619e-03 9.99798131e-01 3.17734191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.870714057 meters Centerline goodness [0,1] 0.9856893462580971 Centerline is valid? [True, True] Translation: X:259.13, Y:-8.86, Z:3.18 [[ 9.99285228e-01 -3.10556673e-02 -2.15540794e-02 2.59127447e+02] [ 3.10818679e-02 9.99516453e-01 8.81551894e-04 -8.85856551e+00] [ 2.15162798e-02 -1.55086283e-03 9.99767295e-01 3.17658158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.900714057 meters Centerline goodness [0,1] 0.9853157459325306 Centerline is valid? [True, True] Translation: X:259.16, Y:-8.86, Z:3.18 [[ 9.99278016e-01 -3.09775293e-02 -2.19963575e-02 2.59158193e+02] [ 3.10048222e-02 9.99518829e-01 9.00757715e-04 -8.86038863e+00] [ 2.19578703e-02 -1.58210054e-03 9.99757645e-01 3.17592661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.930714057 meters Centerline goodness [0,1] 0.9856219374726817 Centerline is valid? [True, True] Translation: X:259.19, Y:-8.86, Z:3.18 [[ 9.99284385e-01 -2.99436116e-02 -2.31105611e-02 2.59189983e+02] [ 2.99734943e-02 9.99550245e-01 9.47639481e-04 -8.85669689e+00] [ 2.30717912e-02 -1.63966561e-03 9.99732466e-01 3.17545345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.960714057 meters Centerline goodness [0,1] 0.9852937791995581 Centerline is valid? [True, True] Translation: X:259.22, Y:-8.86, Z:3.17 [[ 9.99295314e-01 -2.90657474e-02 -2.37499017e-02 2.59220428e+02] [ 2.90970743e-02 9.99576116e-01 9.74452569e-04 -8.86125165e+00] [ 2.37115113e-02 -1.66481854e-03 9.99717456e-01 3.17403723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.990714057 meters Centerline goodness [0,1] 0.985468195845424 Centerline is valid? [True, True] Translation: X:259.25, Y:-8.86, Z:3.18 [[ 9.99312604e-01 -2.80388990e-02 -2.42515883e-02 2.59252008e+02] [ 2.80712822e-02 9.99605428e-01 9.95831445e-04 -8.85595469e+00] [ 2.42140972e-02 -1.67592009e-03 9.99705391e-01 3.17562362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.020714057 meters Centerline goodness [0,1] 0.9850380974370815 Centerline is valid? [True, True] Translation: X:259.28, Y:-8.85, Z:3.18 [[ 9.99394936e-01 -2.54791797e-02 -2.36764202e-02 2.59281707e+02] [ 2.55093253e-02 9.99674112e-01 9.72029825e-04 -8.85356611e+00] [ 2.36439379e-02 -1.57541119e-03 9.99719202e-01 3.17647001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.050714057 meters Centerline goodness [0,1] 0.9843284787776675 Centerline is valid? [True, True] Translation: X:259.31, Y:-8.86, Z:3.18 [[ 9.99436708e-01 -2.41235990e-02 -2.33306307e-02 2.59310855e+02] [ 2.41524930e-02 9.99707828e-01 9.57424405e-04 -8.85854326e+00] [ 2.33007176e-02 -1.52037799e-03 9.99727345e-01 3.17557640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.080714057 meters Centerline goodness [0,1] 0.9850034714186531 Centerline is valid? [True, True] Translation: X:259.34, Y:-8.85, Z:3.18 [[ 9.99490095e-01 -2.23983787e-02 -2.27565771e-02 2.59340976e+02] [ 2.24253975e-02 9.99748084e-01 9.32765497e-04 -8.85457673e+00] [ 2.27299519e-02 -1.44261516e-03 9.99740600e-01 3.17733219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.110714057 meters Centerline goodness [0,1] 0.9851316612242063 Centerline is valid? [True, True] Translation: X:259.37, Y:-8.85, Z:3.18 [[ 9.99576813e-01 -1.95129822e-02 -2.15740429e-02 2.59369969e+02] [ 1.95365780e-02 9.99808753e-01 8.83465481e-04 -8.85353684e+00] [ 2.15526779e-02 -1.30457458e-03 9.99766863e-01 3.17744865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.140714057 meters Centerline goodness [0,1] 0.9859184384803067 Centerline is valid? [True, True] Translation: X:259.40, Y:-8.85, Z:3.18 [[ 9.99592887e-01 -1.84529266e-02 -2.17611856e-02 2.59399676e+02] [ 1.84766664e-02 9.99828895e-01 8.90352691e-04 -8.84718854e+00] [ 2.17410325e-02 -1.29206438e-03 9.99762801e-01 3.17906888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.170714057 meters Centerline goodness [0,1] 0.9846757528616871 Centerline is valid? [True, True] Translation: X:259.43, Y:-8.85, Z:3.18 [[ 9.99637304e-01 -1.67902465e-02 -2.10558205e-02 2.59427975e+02] [ 1.68120826e-02 9.99858297e-01 8.60460637e-04 -8.84981686e+00] [ 2.10383895e-02 -1.21414075e-03 9.99777931e-01 3.17806570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.200714057 meters Centerline goodness [0,1] 0.9857754807468455 Centerline is valid? [True, True] Translation: X:259.46, Y:-8.84, Z:3.18 [[ 9.99639105e-01 -1.67671124e-02 -2.09886413e-02 2.59456529e+02] [ 1.67887118e-02 9.99858696e-01 8.53301023e-04 -8.84436868e+00] [ 2.09713682e-02 -1.20536532e-03 9.99779350e-01 3.17995022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.230714057 meters Centerline goodness [0,1] 0.9852834853184691 Centerline is valid? [True, True] Translation: X:259.48, Y:-8.85, Z:3.18 [[ 9.99646718e-01 -1.64315848e-02 -2.08912068e-02 2.59484438e+02] [ 1.64528563e-02 9.99864284e-01 8.46721112e-04 -8.84543316e+00] [ 2.08744586e-02 -1.19014200e-03 9.99781396e-01 3.18018656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26071405700003 meters Centerline goodness [0,1] 0.9840236273575033 Centerline is valid? [True, True] Translation: X:259.51, Y:-8.85, Z:3.18 [[ 9.99650396e-01 -1.66264000e-02 -2.05584126e-02 2.59511608e+02] [ 1.66469879e-02 9.99861084e-01 8.30689817e-04 -8.85309279e+00] [ 2.05417453e-02 -1.17263505e-03 9.99788308e-01 3.17823416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.290714057 meters Centerline goodness [0,1] 0.9852002050995199 Centerline is valid? [True, True] Translation: X:259.54, Y:-8.85, Z:3.18 [[ 9.99639722e-01 -1.73591441e-02 -2.04716058e-02 2.59540855e+02] [ 1.73796237e-02 9.99848624e-01 8.22887666e-04 -8.84837063e+00] [ 2.04542223e-02 -1.17838000e-03 9.99790096e-01 3.17964653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32071405700003 meters Centerline goodness [0,1] 0.9837971610011207 Centerline is valid? [True, True] Translation: X:259.57, Y:-8.85, Z:3.18 [[ 9.99606026e-01 -1.86785341e-02 -2.09500478e-02 2.59569221e+02] [ 1.87002302e-02 9.99824782e-01 8.40164258e-04 -8.85054699e+00] [ 2.09306839e-02 -1.23160397e-03 9.99780171e-01 3.17909228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.350714057 meters Centerline goodness [0,1] 0.9847059098232424 Centerline is valid? [True, True] Translation: X:259.60, Y:-8.85, Z:3.18 [[ 9.99602926e-01 -1.92057024e-02 -2.06187151e-02 2.59598833e+02] [ 1.92268121e-02 9.99814807e-01 8.26047456e-04 -8.84671808e+00] [ 2.05990318e-02 -1.22215162e-03 9.99787070e-01 3.18020489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38071405700003 meters Centerline goodness [0,1] 0.9835698282300224 Centerline is valid? [True, True] Translation: X:259.63, Y:-8.85, Z:3.18 [[ 9.99586808e-01 -2.03496457e-02 -2.03003982e-02 2.59627624e+02] [ 2.03703490e-02 9.99792172e-01 8.13560740e-04 -8.85263345e+00] [ 2.02796236e-02 -1.22675078e-03 9.99793595e-01 3.17908310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.410714057 meters Centerline goodness [0,1] 0.9839766763848397 Centerline is valid? [True, True] Translation: X:259.66, Y:-8.85, Z:3.18 [[ 9.99576192e-01 -2.09933705e-02 -2.01671934e-02 2.59658111e+02] [ 2.10139359e-02 9.99778856e-01 8.08345973e-04 -8.85352954e+00] [ 2.01457636e-02 -1.23179550e-03 9.99796295e-01 3.17972173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44071405700004 meters Centerline goodness [0,1] 0.9837432555532198 Centerline is valid? [True, True] Translation: X:259.69, Y:-8.85, Z:3.18 [[ 9.99575598e-01 -2.12173775e-02 -1.99611156e-02 2.59689090e+02] [ 2.12375691e-02 9.99774137e-01 8.00085920e-04 -8.85397306e+00] [ 1.99396315e-02 -1.22367194e-03 9.99800437e-01 3.18003287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.470714057 meters Centerline goodness [0,1] 0.9827778552503138 Centerline is valid? [True, True] Translation: X:259.72, Y:-8.86, Z:3.18 [[ 9.99601576e-01 -2.12471572e-02 -1.85808255e-02 2.59718069e+02] [ 2.12646595e-02 9.99773604e-01 7.44865295e-04 -8.85740092e+00] [ 1.85607927e-02 -1.13968345e-03 9.99827084e-01 3.18033779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50071405700004 meters Centerline goodness [0,1] 0.9829017961278284 Centerline is valid? [True, True] Translation: X:259.75, Y:-8.86, Z:3.18 [[ 9.99590002e-01 -2.20452031e-02 -1.82712108e-02 2.59749424e+02] [ 2.20622691e-02 9.99756330e-01 7.32967769e-04 -8.85744214e+00] [ 1.82506002e-02 -1.13577162e-03 9.99832799e-01 3.18090583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.530714057 meters Centerline goodness [0,1] 0.9832555970149254 Centerline is valid? [True, True] Translation: X:259.78, Y:-8.86, Z:3.18 [[ 9.99596695e-01 -2.19848526e-02 -1.79753589e-02 2.59779441e+02] [ 2.20013675e-02 9.99757680e-01 7.21490082e-04 -8.86065243e+00] [ 1.79551412e-02 -1.11668158e-03 9.99838170e-01 3.18067836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.560714057 meters Centerline goodness [0,1] 0.9814267426975445 Centerline is valid? [True, True] Translation: X:259.81, Y:-8.86, Z:3.18 [[ 9.99611528e-01 -2.17248247e-02 -1.74592175e-02 2.59809264e+02] [ 2.17403704e-02 9.99763404e-01 7.01074214e-04 -8.86260971e+00] [ 1.74398561e-02 -1.08037172e-03 9.99847330e-01 3.18053917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.590714057 meters Centerline goodness [0,1] 0.981907818241012 Centerline is valid? [True, True] Translation: X:259.84, Y:-8.87, Z:3.18 [[ 9.99620356e-01 -2.13916182e-02 -1.73650011e-02 2.59839250e+02] [ 2.14069517e-02 9.99770602e-01 6.97588738e-04 -8.86503047e+00] [ 1.73460950e-02 -1.06905564e-03 9.99848974e-01 3.18068961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.620714057 meters Centerline goodness [0,1] 0.9819427293273375 Centerline is valid? [True, True] Translation: X:259.87, Y:-8.87, Z:3.18 [[ 9.99624066e-01 -2.15963721e-02 -1.68914972e-02 2.59870918e+02] [ 2.16109181e-02 9.99766226e-01 6.79062343e-04 -8.86955395e+00] [ 1.68728831e-02 -1.04384782e-03 9.99857098e-01 3.17957628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.650714057 meters Centerline goodness [0,1] 0.981371087928465 Centerline is valid? [True, True] Translation: X:259.90, Y:-8.87, Z:3.18 [[ 9.99616635e-01 -2.19690100e-02 -1.68506842e-02 2.59900921e+02] [ 2.19835446e-02 9.99758103e-01 6.77783501e-04 -8.87394867e+00] [ 1.68317179e-02 -1.04796143e-03 9.99857787e-01 3.17909357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.680714057 meters Centerline goodness [0,1] 0.982323290980465 Centerline is valid? [True, True] Translation: X:259.93, Y:-8.87, Z:3.18 [[ 9.99562600e-01 -2.42572058e-02 -1.69173575e-02 2.59931857e+02] [ 2.42721871e-02 9.99705155e-01 6.80761721e-04 -8.87285486e+00] [ 1.68958561e-02 -1.09108522e-03 9.99856660e-01 3.17974934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.710714057 meters Centerline goodness [0,1] 0.9810625376663112 Centerline is valid? [True, True] Translation: X:259.96, Y:-8.88, Z:3.18 [[ 9.99534371e-01 -2.51876026e-02 -1.72228182e-02 2.59962461e+02] [ 2.52032803e-02 9.99682106e-01 6.93804917e-04 -8.88497010e+00] [ 1.71998678e-02 -1.12755337e-03 9.99851436e-01 3.17792670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.740714057 meters Centerline goodness [0,1] 0.9830496667982446 Centerline is valid? [True, True] Translation: X:259.99, Y:-8.88, Z:3.18 [[ 9.99488430e-01 -2.67142555e-02 -1.75848633e-02 2.59993674e+02] [ 2.67308429e-02 9.99642416e-01 7.08866726e-04 -8.88027109e+00] [ 1.75596384e-02 -1.17856231e-03 9.99845123e-01 3.17879077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.770714057 meters Centerline goodness [0,1] 0.9829146892001389 Centerline is valid? [True, True] Translation: X:260.02, Y:-8.89, Z:3.18 [[ 9.99435147e-01 -2.85444183e-02 -1.77370598e-02 2.60023139e+02] [ 2.85615824e-02 9.99591779e-01 7.15083577e-04 -8.88712860e+00] [ 1.77094075e-02 -1.22127815e-03 9.99842430e-01 3.17797732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.800714057 meters Centerline goodness [0,1] 0.981534910559723 Centerline is valid? [True, True] Translation: X:260.05, Y:-8.89, Z:3.18 [[ 9.99381407e-01 -3.03835044e-02 -1.77100495e-02 2.60054103e+02] [ 3.04009117e-02 9.99537530e-01 7.14454922e-04 -8.89375287e+00] [ 1.76801515e-02 -1.25241462e-03 9.99842910e-01 3.17775242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.830714057 meters Centerline goodness [0,1] 0.9820653679253993 Centerline is valid? [True, True] Translation: X:260.09, Y:-8.90, Z:3.18 [[ 9.99365931e-01 -3.09938400e-02 -1.75247838e-02 2.60085741e+02] [ 3.10109930e-02 9.99518793e-01 7.07821400e-04 -8.89725522e+00] [ 1.74944126e-02 -1.25083354e-03 9.99846179e-01 3.17795944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.860714057 meters Centerline goodness [0,1] 0.9818917179887857 Centerline is valid? [True, True] Translation: X:260.12, Y:-8.90, Z:3.18 [[ 9.99375280e-01 -3.08272594e-02 -1.72837982e-02 2.60116967e+02] [ 3.08439347e-02 9.99523968e-01 6.98988653e-04 -8.90149776e+00] [ 1.72540227e-02 -1.23165232e-03 9.99850380e-01 3.17771904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.890714057 meters Centerline goodness [0,1] 0.9830656064529435 Centerline is valid? [True, True] Translation: X:260.15, Y:-8.90, Z:3.18 [[ 9.99366068e-01 -3.09896237e-02 -1.75244253e-02 2.60149524e+02] [ 3.10068122e-02 9.99518921e-01 7.09906316e-04 -8.89975936e+00] [ 1.74939949e-02 -1.25283285e-03 9.99846183e-01 3.17930369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.920714057 meters Centerline goodness [0,1] 0.9812726355842846 Centerline is valid? [True, True] Translation: X:260.18, Y:-8.91, Z:3.18 [[ 9.99381653e-01 -3.05757275e-02 -1.73619319e-02 2.60180034e+02] [ 3.05925542e-02 9.99531690e-01 7.04347458e-04 -8.91119665e+00] [ 1.73322652e-02 -1.23505777e-03 9.99849022e-01 3.17802664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.950714057 meters Centerline goodness [0,1] 0.9811114402242019 Centerline is valid? [True, True] Translation: X:260.21, Y:-8.92, Z:3.18 [[ 9.99411035e-01 -2.95311679e-02 -1.74783905e-02 2.60211179e+02] [ 2.95480743e-02 9.99563108e-01 7.09759296e-04 -8.91704008e+00] [ 1.74497943e-02 -1.22579405e-03 9.99846989e-01 3.17827613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.980714057 meters Centerline goodness [0,1] 0.9806022201454263 Centerline is valid? [True, True] Translation: X:260.24, Y:-8.92, Z:3.18 [[ 9.99423078e-01 -2.92598591e-02 -1.72444692e-02 2.60243217e+02] [ 2.92762932e-02 9.99571111e-01 7.01279566e-04 -8.92027344e+00] [ 1.72165539e-02 -1.20572912e-03 9.99851057e-01 3.17840390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01071405700003 meters Centerline goodness [0,1] 0.9828184182905125 Centerline is valid? [True, True] Translation: X:260.28, Y:-8.92, Z:3.18 [[ 9.99423963e-01 -2.89944372e-02 -1.76370103e-02 2.60275319e+02] [ 2.90116093e-02 9.99578816e-01 7.18508835e-04 -8.91610857e+00] [ 1.76087492e-02 -1.22977300e-03 9.99844198e-01 3.17996878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.040714057 meters Centerline goodness [0,1] 0.9824489517175442 Centerline is valid? [True, True] Translation: X:260.31, Y:-8.92, Z:3.18 [[ 9.99442167e-01 -2.82822285e-02 -1.77614898e-02 2.60306123e+02] [ 2.82995506e-02 9.99599225e-01 7.24626760e-04 -8.92320025e+00] [ 1.77338774e-02 -1.22686472e-03 9.99841990e-01 3.17956876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07071405700003 meters Centerline goodness [0,1] 0.981353889533165 Centerline is valid? [True, True] Translation: X:260.34, Y:-8.93, Z:3.18 [[ 9.99451518e-01 -2.82895392e-02 -1.72152661e-02 2.60336978e+02] [ 2.83058286e-02 9.99599062e-01 7.03245043e-04 -8.93361470e+00] [ 1.71884694e-02 -1.19015170e-03 9.99851559e-01 3.17829821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.100714057 meters Centerline goodness [0,1] 0.9847615592190299 Centerline is valid? [True, True] Translation: X:260.37, Y:-8.93, Z:3.18 [[ 9.99444498e-01 -2.82079039e-02 -1.77485289e-02 2.60369598e+02] [ 2.82252269e-02 9.99601325e-01 7.26234169e-04 -8.92813032e+00] [ 1.77209675e-02 -1.22678700e-03 9.99842219e-01 3.18033513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13071405700003 meters Centerline goodness [0,1] 0.9815003509725335 Centerline is valid? [True, True] Translation: X:260.40, Y:-8.94, Z:3.18 [[ 9.99448260e-01 -2.79787548e-02 -1.78987342e-02 2.60400106e+02] [ 2.79963546e-02 9.99607756e-01 7.33437060e-04 -8.94328220e+00] [ 1.78711929e-02 -1.23413170e-03 9.99839536e-01 3.17802340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.160714057 meters Centerline goodness [0,1] 0.9835679155050883 Centerline is valid? [True, True] Translation: X:260.43, Y:-8.94, Z:3.18 [[ 9.99444572e-01 -2.76785565e-02 -1.85592454e-02 2.60431966e+02] [ 2.76974416e-02 9.99616062e-01 7.61241395e-04 -8.94026024e+00] [ 1.85310497e-02 -1.27486220e-03 9.99827473e-01 3.17915344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19071405700004 meters Centerline goodness [0,1] 0.9854235299426869 Centerline is valid? [True, True] Translation: X:260.46, Y:-8.94, Z:3.18 [[ 9.99452224e-01 -2.70473486e-02 -1.90707466e-02 2.60463017e+02] [ 2.70671878e-02 9.99633310e-01 7.82898636e-04 -8.94109116e+00] [ 1.90425782e-02 -1.29866126e-03 9.99817830e-01 3.17957040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.220714057 meters Centerline goodness [0,1] 0.9850521149906576 Centerline is valid? [True, True] Translation: X:260.49, Y:-8.95, Z:3.18 [[ 9.99489212e-01 -2.61585226e-02 -1.83588321e-02 2.60492982e+02] [ 2.61767801e-02 9.99657044e-01 7.54836839e-04 -8.94735422e+00] [ 1.83327904e-02 -1.23502639e-03 9.99831178e-01 3.17912266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25071405700004 meters Centerline goodness [0,1] 0.9854012956631276 Centerline is valid? [True, True] Translation: X:260.52, Y:-8.95, Z:3.18 [[ 9.99510429e-01 -2.56871788e-02 -1.78625859e-02 2.60523933e+02] [ 2.57044019e-02 9.99669317e-01 7.35237660e-04 -8.94809838e+00] [ 1.78377928e-02 -1.19402479e-03 9.99840181e-01 3.17978728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.280714057 meters Centerline goodness [0,1] 0.9849426063470628 Centerline is valid? [True, True] Translation: X:260.56, Y:-8.95, Z:3.18 [[ 9.99519444e-01 -2.52210508e-02 -1.80216376e-02 2.60555367e+02] [ 2.52385183e-02 9.99681182e-01 7.42435053e-04 -8.95167308e+00] [ 1.79971670e-02 -1.19691770e-03 9.99837321e-01 3.17974484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.310714057 meters Centerline goodness [0,1] 0.9865086681806939 Centerline is valid? [True, True] Translation: X:260.59, Y:-8.96, Z:3.18 [[ 9.99551879e-01 -2.42397640e-02 -1.75634595e-02 2.60585176e+02] [ 2.42562105e-02 9.99705513e-01 7.23952183e-04 -8.95640250e+00] [ 1.75407389e-02 -1.14965074e-03 9.99845488e-01 3.17961722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.340714057 meters Centerline goodness [0,1] 0.9853744018332548 Centerline is valid? [True, True] Translation: X:260.62, Y:-8.96, Z:3.18 [[ 9.99569458e-01 -2.35440246e-02 -1.75093636e-02 2.60616549e+02] [ 2.35602731e-02 9.99722157e-01 7.22263829e-04 -8.95763289e+00] [ 1.74874938e-02 -1.13447825e-03 9.99846438e-01 3.17955412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.370714057 meters Centerline goodness [0,1] 0.986100490306329 Centerline is valid? [True, True] Translation: X:260.65, Y:-8.96, Z:3.18 [[ 9.99603363e-01 -2.20726793e-02 -1.74904101e-02 2.60646227e+02] [ 2.20886752e-02 9.99755755e-01 7.21871420e-04 -8.96260699e+00] [ 1.74702045e-02 -1.10792509e-03 9.99846770e-01 3.17906495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.400714057 meters Centerline goodness [0,1] 0.9861531222692748 Centerline is valid? [True, True] Translation: X:260.68, Y:-8.96, Z:3.18 [[ 9.99636284e-01 -2.07290174e-02 -1.72513073e-02 2.60676892e+02] [ 2.07443809e-02 9.99784559e-01 7.12082156e-04 -8.95999246e+00] [ 1.72328299e-02 -1.06969085e-03 9.99850932e-01 3.18000148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.430714057 meters Centerline goodness [0,1] 0.988177118453585 Centerline is valid? [True, True] Translation: X:260.71, Y:-8.96, Z:3.18 [[ 9.99662216e-01 -1.96218030e-02 -1.70422400e-02 2.60707557e+02] [ 1.96366360e-02 9.99806935e-01 7.03452482e-04 -8.95612557e+00] [ 1.70251467e-02 -1.03786713e-03 9.99854523e-01 3.18153662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.460714057 meters Centerline goodness [0,1] 0.9880759539236861 Centerline is valid? [True, True] Translation: X:260.74, Y:-8.96, Z:3.18 [[ 9.99720781e-01 -1.72852543e-02 -1.61115176e-02 2.60737387e+02] [ 1.72982055e-02 9.99850154e-01 6.64827007e-04 -8.95706305e+00] [ 1.60976116e-02 -9.43341717e-04 9.99869980e-01 3.18214746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.490714057 meters Centerline goodness [0,1] 0.9877261998426435 Centerline is valid? [True, True] Translation: X:260.77, Y:-8.96, Z:3.18 [[ 9.99746733e-01 -1.58859165e-02 -1.59407467e-02 2.60766950e+02] [ 1.58984095e-02 9.99873396e-01 6.57289783e-04 -8.95783816e+00] [ 1.59282869e-02 -9.10555832e-04 9.99872722e-01 3.18245135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.520714057 meters Centerline goodness [0,1] 0.9882046327709003 Centerline is valid? [True, True] Translation: X:260.80, Y:-8.96, Z:3.18 [[ 9.99788622e-01 -1.29312473e-02 -1.59841774e-02 2.60795686e+02] [ 1.29434197e-02 9.99916014e-01 6.58305239e-04 -8.95910480e+00] [ 1.59743222e-02 -8.65056004e-04 9.99872028e-01 3.18266953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.550714057 meters Centerline goodness [0,1] 0.9880401061103368 Centerline is valid? [True, True] Translation: X:260.82, Y:-8.96, Z:3.18 [[ 9.99808393e-01 -1.15180563e-02 -1.58275845e-02 2.60824707e+02] [ 1.15297982e-02 9.99933318e-01 6.50812327e-04 -8.95955490e+00] [ 1.58190329e-02 -8.33176481e-04 9.99874524e-01 3.18288102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.580714057 meters Centerline goodness [0,1] 0.9881249578301059 Centerline is valid? [True, True] Translation: X:260.85, Y:-8.96, Z:3.18 [[ 9.99841711e-01 -8.46793007e-03 -1.56475960e-02 2.60854041e+02] [ 8.47902276e-03 9.99963846e-01 6.42699562e-04 -8.96001955e+00] [ 1.56415879e-02 -7.75274152e-04 9.99877362e-01 3.18333128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.610714057 meters Centerline goodness [0,1] 0.9881961463228185 Centerline is valid? [True, True] Translation: X:260.88, Y:-8.96, Z:3.18 [[ 9.99853184e-01 -7.24446191e-03 -1.55282847e-02 2.60883181e+02] [ 7.25519718e-03 9.99973479e-01 6.35113350e-04 -8.95926970e+00] [ 1.55232719e-02 -7.47680873e-04 9.99879227e-01 3.18394806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.640714057 meters Centerline goodness [0,1] 0.9880713915959578 Centerline is valid? [True, True] Translation: X:260.91, Y:-8.96, Z:3.18 [[ 9.99864729e-01 -5.37092891e-03 -1.55459337e-02 2.60911934e+02] [ 5.38143422e-03 9.99985319e-01 6.34005913e-04 -8.95907694e+00] [ 1.55423003e-02 -7.17579571e-04 9.99878954e-01 3.18467068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.670714057 meters Centerline goodness [0,1] 0.9885515069725596 Centerline is valid? [True, True] Translation: X:260.94, Y:-8.96, Z:3.18 [[ 9.99858788e-01 -3.03151915e-03 -1.65291872e-02 2.60940555e+02] [ 3.04305693e-03 9.99995143e-01 6.72918207e-04 -8.95919008e+00] [ 1.65270669e-02 -7.23122440e-04 9.99863157e-01 3.18431701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.700714057 meters Centerline goodness [0,1] 0.9884333228318106 Centerline is valid? [True, True] Translation: X:260.97, Y:-8.96, Z:3.18 [[ 9.99856216e-01 -2.09337482e-03 -1.68275336e-02 2.60968532e+02] [ 2.10516796e-03 9.99997551e-01 6.83141044e-04 -8.96335381e+00] [ 1.68260623e-02 -7.18467603e-04 9.99858174e-01 3.18332005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.730714057 meters Centerline goodness [0,1] 0.9884333228318106 Centerline is valid? [True, True] Translation: X:261.00, Y:-8.96, Z:3.18 [[ 9.99855614e-01 -2.36238812e-03 -1.68276910e-02 2.60995928e+02] [ 2.37415388e-03 9.99996951e-01 6.79247422e-04 -8.96437278e+00] [ 1.68260351e-02 -7.19100876e-04 9.99858174e-01 3.18344512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76071405700003 meters Centerline goodness [0,1] 0.9885745130673385 Centerline is valid? [True, True] Translation: X:261.03, Y:-8.96, Z:3.19 [[ 9.99863839e-01 -1.09066011e-03 -1.64655101e-02 2.61025286e+02] [ 1.10168809e-03 9.99999175e-01 6.60706517e-04 -8.96122711e+00] [ 1.64647759e-02 -6.78756411e-04 9.99864216e-01 3.18505338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.790714057 meters Centerline goodness [0,1] 0.9889901633426587 Centerline is valid? [True, True] Translation: X:261.05, Y:-8.96, Z:3.19 [[ 9.99867898e-01 -8.79832617e-04 -1.62299660e-02 2.61053882e+02] [ 8.90456212e-04 9.99999394e-01 6.47351780e-04 -8.96173048e+00] [ 1.62293866e-02 -6.61718338e-04 9.99868076e-01 3.18587880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82071405700003 meters Centerline goodness [0,1] 0.9874103549830264 Centerline is valid? [True, True] Translation: X:261.08, Y:-8.97, Z:3.19 [[ 9.99883833e-01 -3.21437888e-04 -1.52386945e-02 2.61081424e+02] [ 3.30708266e-04 9.99999762e-01 6.05828653e-04 -8.96748508e+00] [ 1.52384962e-02 -6.10797838e-04 9.99883701e-01 3.18519168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.850714057 meters Centerline goodness [0,1] 0.9879507218305894 Centerline is valid? [True, True] Translation: X:261.11, Y:-8.96, Z:3.19 [[ 9.99903850e-01 -2.61820786e-04 -1.38644354e-02 2.61110825e+02] [ 2.69454779e-04 9.99999813e-01 5.48751752e-04 -8.96457386e+00] [ 1.38642892e-02 -5.52434828e-04 9.99903734e-01 3.18713115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88071405700003 meters Centerline goodness [0,1] 0.987860189092222 Centerline is valid? [True, True] Translation: X:261.14, Y:-8.97, Z:3.19 [[ 9.99910370e-01 -6.00822957e-04 -1.33750459e-02 2.61139748e+02] [ 6.07936584e-04 9.99999676e-01 5.27798724e-04 -8.96678841e+00] [ 1.33747245e-02 -5.35882597e-04 9.99910411e-01 3.18738643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.910714057 meters Centerline goodness [0,1] 0.9866999168744804 Centerline is valid? [True, True] Translation: X:261.17, Y:-8.97, Z:3.19 [[ 9.99921119e-01 -2.20712998e-03 -1.23646051e-02 2.61167247e+02] [ 2.21332015e-03 9.99997432e-01 4.86975041e-04 -8.97100563e+00] [ 1.23634985e-02 -5.14303457e-04 9.99923437e-01 3.18731798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94071405700004 meters Centerline goodness [0,1] 0.9876762543009423 Centerline is valid? [True, True] Translation: X:261.20, Y:-8.97, Z:3.19 [[ 9.99917312e-01 -3.50323306e-03 -1.23732476e-02 2.61196177e+02] [ 3.50951948e-03 9.99993723e-01 4.86389268e-04 -8.97139046e+00] [ 1.23714660e-02 -5.29773203e-04 9.99923330e-01 3.18781584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.970714057 meters Centerline goodness [0,1] 0.9870653000939892 Centerline is valid? [True, True] Translation: X:261.22, Y:-8.98, Z:3.19 [[ 9.99903283e-01 -6.00224626e-03 -1.25457852e-02 2.61224754e+02] [ 6.00889641e-03 9.99981825e-01 4.92442697e-04 -8.97918594e+00] [ 1.25426014e-02 -5.67781393e-04 9.99921177e-01 3.18633324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00071405700004 meters Centerline goodness [0,1] 0.9863204162181557 Centerline is valid? [True, True] Translation: X:261.25, Y:-8.98, Z:3.19 [[ 9.99893905e-01 -7.22695539e-03 -1.26471516e-02 2.61253850e+02] [ 7.23378349e-03 9.99973714e-01 4.94229981e-04 -8.97798141e+00] [ 1.26432473e-02 -5.85664302e-04 9.99919899e-01 3.18642647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.030714057 meters Centerline goodness [0,1] 0.9868029615049098 Centerline is valid? [True, True] Translation: X:261.28, Y:-8.99, Z:3.19 [[ 9.99887166e-01 -8.01355950e-03 -1.27058361e-02 2.61281414e+02] [ 8.02049160e-03 9.99967713e-01 4.94721599e-04 -8.98541423e+00] [ 1.27014613e-02 -5.96572829e-04 9.99919155e-01 3.18573294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.060714057 meters Centerline goodness [0,1] 0.9861540529641081 Centerline is valid? [True, True] Translation: X:261.31, Y:-8.99, Z:3.19 [[ 9.99876945e-01 -9.03191648e-03 -1.28265059e-02 2.61309328e+02] [ 9.03905086e-03 9.99959023e-01 4.98357652e-04 -8.98986274e+00] [ 1.28214791e-02 -6.14235765e-04 9.99917613e-01 3.18568680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.090714057 meters Centerline goodness [0,1] 0.9866085401296669 Centerline is valid? [True, True] Translation: X:261.34, Y:-8.99, Z:3.19 [[ 9.99880791e-01 -9.25718221e-03 -1.23575417e-02 2.61337594e+02] [ 9.26379550e-03 9.99956976e-01 4.78027266e-04 -8.99223285e+00] [ 1.23525848e-02 -5.92448020e-04 9.99923528e-01 3.18626634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.120714057 meters Centerline goodness [0,1] 0.9879943660712289 Centerline is valid? [True, True] Translation: X:261.37, Y:-8.99, Z:3.19 [[ 9.99890346e-01 -8.56152375e-03 -1.20829002e-02 2.61366751e+02] [ 8.56776161e-03 9.99963188e-01 4.64585311e-04 -8.98747176e+00] [ 1.20784779e-02 -5.68057776e-04 9.99926891e-01 3.18844442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.150714057 meters Centerline goodness [0,1] 0.9878225896547872 Centerline is valid? [True, True] Translation: X:261.39, Y:-8.99, Z:3.19 [[ 9.99905235e-01 -7.39097595e-03 -1.16144230e-02 2.61394507e+02] [ 7.39664140e-03 9.99972545e-01 4.44914127e-04 -8.98952751e+00] [ 1.16108158e-02 -5.30779686e-04 9.99932451e-01 3.18848976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.180714057 meters Centerline goodness [0,1] 0.9879111548087236 Centerline is valid? [True, True] Translation: X:261.42, Y:-8.99, Z:3.19 [[ 9.99933759e-01 -3.68865915e-03 -1.09027813e-02 2.61423108e+02] [ 3.69342444e-03 9.99993092e-01 4.16967814e-04 -8.99112643e+00] [ 1.09011679e-02 -4.57208792e-04 9.99940476e-01 3.18877399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.210714057 meters Centerline goodness [0,1] 0.9880535024451242 Centerline is valid? [True, True] Translation: X:261.45, Y:-8.99, Z:3.19 [[ 9.99935702e-01 -1.91319786e-03 -1.11772814e-02 2.61452313e+02] [ 1.91807665e-03 9.99998070e-01 4.25788163e-04 -8.99208419e+00] [ 1.11764452e-02 -4.47199668e-04 9.99937442e-01 3.18891724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.240714057 meters Centerline goodness [0,1] 0.9885975677786455 Centerline is valid? [True, True] Translation: X:261.48, Y:-8.99, Z:3.19 [[ 9.99940928e-01 1.34317416e-04 -1.08683848e-02 2.61481185e+02] [-1.29840365e-04 9.99999906e-01 4.12637956e-04 -8.99310212e+00] [ 1.08684392e-02 -4.11202426e-04 9.99940852e-01 3.18910456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.270714057 meters Centerline goodness [0,1] 0.9899342280686161 Centerline is valid? [True, True] Translation: X:261.51, Y:-8.99, Z:3.19 [[ 9.99947452e-01 4.33083692e-03 -9.29181694e-03 2.61511693e+02] [-4.32774871e-03 9.99990573e-01 3.52438820e-04 -8.99029282e+00] [ 9.29325570e-03 -3.12207651e-04 9.99956768e-01 3.19059756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.300714057 meters Centerline goodness [0,1] 0.9887798036465638 Centerline is valid? [True, True] Translation: X:261.54, Y:-9.00, Z:3.19 [[ 9.99947623e-01 5.44210681e-03 -8.66808431e-03 2.61538874e+02] [-5.43946476e-03 9.99985152e-01 3.28348191e-04 -8.99644187e+00] [ 8.66974252e-03 -2.81181253e-04 9.99962378e-01 3.19099665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.330714057 meters Centerline goodness [0,1] 0.9898630624221946 Centerline is valid? [True, True] Translation: X:261.57, Y:-9.00, Z:3.19 [[ 9.99947965e-01 6.55621493e-03 -7.81554956e-03 2.61568175e+02] [-6.55410518e-03 9.99978478e-01 2.95524648e-04 -8.99502580e+00] [ 7.81731887e-03 -2.44285337e-04 9.99969414e-01 3.19230432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.360714057 meters Centerline goodness [0,1] 0.9909107111031902 Centerline is valid? [True, True] Translation: X:261.60, Y:-9.00, Z:3.19 [[ 9.99950442e-01 6.36241174e-03 -7.65725003e-03 2.61596596e+02] [-6.36038446e-03 9.99979731e-01 2.89075585e-04 -8.99556474e+00] [ 7.65893404e-03 -2.40358205e-04 9.99970641e-01 3.19229075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.390714057 meters Centerline goodness [0,1] 0.991317125300561 Centerline is valid? [True, True] Translation: X:261.62, Y:-9.00, Z:3.19 [[ 9.99951638e-01 6.10416686e-03 -7.71104969e-03 2.61623800e+02] [-6.10210813e-03 9.99981340e-01 2.90483480e-04 -8.99925643e+00] [ 7.71267896e-03 -2.43415773e-04 9.99970227e-01 3.19191263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.420714057 meters Centerline goodness [0,1] 0.9904797834095247 Centerline is valid? [True, True] Translation: X:261.65, Y:-9.01, Z:3.19 [[ 9.99955989e-01 4.80687591e-03 -8.05689526e-03 2.61651326e+02] [-4.80459232e-03 9.99988412e-01 3.02763859e-04 -9.00713756e+00] [ 8.05825724e-03 -2.64040437e-04 9.99967497e-01 3.19076524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.450714057 meters Centerline goodness [0,1] 0.9907624828319525 Centerline is valid? [True, True] Translation: X:261.68, Y:-9.01, Z:3.19 [[ 9.99960571e-01 3.29029831e-03 -8.24799740e-03 2.61680382e+02] [-3.28785923e-03 9.99994547e-01 3.09259913e-04 -9.00979669e+00] [ 8.24896998e-03 -2.82129465e-04 9.99965937e-01 3.19053190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.480714057 meters Centerline goodness [0,1] 0.9903482168552011 Centerline is valid? [True, True] Translation: X:261.71, Y:-9.01, Z:3.19 [[ 9.99967294e-01 1.54608306e-03 -7.93853059e-03 2.61708202e+02] [-1.54377358e-03 9.99998764e-01 2.97040472e-04 -9.01487567e+00] [ 7.93898003e-03 -2.84775463e-04 9.99968445e-01 3.18999659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51071405700003 meters Centerline goodness [0,1] 0.9901878638207797 Centerline is valid? [True, True] Translation: X:261.74, Y:-9.02, Z:3.19 [[ 9.99961775e-01 -2.93784039e-03 -8.23509998e-03 2.61737986e+02] [ 2.94047350e-03 9.99995629e-01 3.07652403e-04 -9.02440206e+00] [ 8.23416015e-03 -3.31855736e-04 9.99966044e-01 3.18938815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.540714057 meters Centerline goodness [0,1] 0.9894945928051203 Centerline is valid? [True, True] Translation: X:261.77, Y:-9.03, Z:3.19 [[ 9.99954180e-01 -5.59217689e-03 -7.76952310e-03 2.61767545e+02] [ 5.59459919e-03 9.99984308e-01 2.90069669e-04 -9.03001229e+00] [ 7.76777906e-03 -3.33523746e-04 9.99969775e-01 3.18912395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57071405700003 meters Centerline goodness [0,1] 0.987473030689974 Centerline is valid? [True, True] Translation: X:261.80, Y:-9.04, Z:3.19 [[ 9.99905104e-01 -1.16453223e-02 -7.36002481e-03 2.61796884e+02] [ 1.16476581e-02 9.99932126e-01 2.74573229e-04 -9.04086462e+00] [ 7.35632777e-03 -3.60274225e-04 9.99972877e-01 3.18922005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.600714057 meters Centerline goodness [0,1] 0.9870246970596644 Centerline is valid? [True, True] Translation: X:261.83, Y:-9.05, Z:3.19 [[ 9.99858994e-01 -1.49820078e-02 -7.58494176e-03 2.61827482e+02] [ 1.49845840e-02 9.99887685e-01 2.82923183e-04 -9.04620610e+00] [ 7.57985110e-03 -3.96540486e-04 9.99971194e-01 3.18917383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63071405700003 meters Centerline goodness [0,1] 0.9856721542389295 Centerline is valid? [True, True] Translation: X:261.86, Y:-9.06, Z:3.19 [[ 9.99746893e-01 -2.13324015e-02 -7.14696841e-03 2.61857850e+02] [ 2.13348518e-02 9.99772351e-01 2.66770012e-04 -9.05703200e+00] [ 7.13965056e-03 -4.19182002e-04 9.99974425e-01 3.18856596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.660714057 meters Centerline goodness [0,1] 0.9849729777230986 Centerline is valid? [True, True] Translation: X:261.89, Y:-9.06, Z:3.19 [[ 9.99667478e-01 -2.47600611e-02 -7.20229238e-03 2.61889129e+02] [ 2.47626402e-02 9.99693323e-01 2.69118823e-04 -9.06318131e+00] [ 7.19342020e-03 -4.47377109e-04 9.99974027e-01 3.18839463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69071405700004 meters Centerline goodness [0,1] 0.983063473631165 Centerline is valid? [True, True] Translation: X:261.92, Y:-9.07, Z:3.19 [[ 9.99467041e-01 -3.17635818e-02 -7.53056864e-03 2.61918109e+02] [ 3.17666010e-02 9.99495275e-01 2.81622908e-04 -9.07364533e+00] [ 7.51782242e-03 -5.20693384e-04 9.99971605e-01 3.18772538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.720714057 meters Centerline goodness [0,1] 0.9820595386738517 Centerline is valid? [True, True] Translation: X:261.95, Y:-9.08, Z:3.19 [[ 9.99339961e-01 -3.53892897e-02 -8.20007269e-03 2.61948418e+02] [ 3.53929922e-02 9.99373425e-01 3.06794055e-04 -9.07905054e+00] [ 8.18407750e-03 -5.96816667e-04 9.99966332e-01 3.18712450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75071405700004 meters Centerline goodness [0,1] 0.9827242670403539 Centerline is valid? [True, True] Translation: X:261.98, Y:-9.08, Z:3.19 [[ 9.99219375e-01 -3.85591496e-02 -8.59262452e-03 2.61978632e+02] [ 3.85633321e-02 9.99256106e-01 3.21541465e-04 -9.07898293e+00] [ 8.57383416e-03 -6.52650695e-04 9.99963031e-01 3.18704948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.780714057 meters Centerline goodness [0,1] 0.9791319961460979 Centerline is valid? [True, True] Translation: X:262.01, Y:-9.09, Z:3.19 [[ 9.99006253e-01 -4.37646888e-02 -8.43557895e-03 2.62008487e+02] [ 4.37689050e-02 9.99041632e-01 3.15764104e-04 -9.09027637e+00] [ 8.41367525e-03 -6.84666368e-04 9.99964370e-01 3.18686956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.810714057 meters Centerline goodness [0,1] 0.9765471887112931 Centerline is valid? [True, True] Translation: X:262.04, Y:-9.10, Z:3.19 [[ 9.98931056e-01 -4.55553106e-02 -7.83956178e-03 2.62038183e+02] [ 4.55590072e-02 9.98961606e-01 2.93506414e-04 -9.09525206e+00] [ 7.81805045e-03 -6.50355323e-04 9.99969227e-01 3.18717986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.840714057 meters Centerline goodness [0,1] 0.9774560676754023 Centerline is valid? [True, True] Translation: X:262.07, Y:-9.09, Z:3.19 [[ 9.98873972e-01 -4.67609036e-02 -8.01283456e-03 2.62069879e+02] [ 4.67648067e-02 9.98905883e-01 3.00341098e-04 -9.09371213e+00] [ 7.99002335e-03 -6.74721564e-04 9.99967852e-01 3.18716635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.870714057 meters Centerline goodness [0,1] 0.973974060958919 Centerline is valid? [True, True] Translation: X:262.10, Y:-9.10, Z:3.19 [[ 9.98873765e-01 -4.66244253e-02 -8.79573907e-03 2.62100920e+02] [ 4.66291295e-02 9.98912216e-01 3.30404569e-04 -9.09837883e+00] [ 8.77076629e-03 -7.40170112e-04 9.99961262e-01 3.18682616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.900714057 meters Centerline goodness [0,1] 0.9810194397673351 Centerline is valid? [True, True] Translation: X:262.13, Y:-9.09, Z:3.19 [[ 9.98894099e-01 -4.60392716e-02 -9.53747651e-03 2.62133347e+02] [ 4.60447819e-02 9.98939312e-01 3.58868648e-04 -9.09042924e+00] [ 9.51083817e-03 -7.97622802e-04 9.99954453e-01 3.18692149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.930714057 meters Centerline goodness [0,1] 0.9783284444639027 Centerline is valid? [True, True] Translation: X:262.16, Y:-9.10, Z:3.19 [[ 9.98972671e-01 -4.41584398e-02 -1.01800833e-02 2.62164050e+02] [ 4.41646263e-02 9.99024193e-01 3.83584638e-04 -9.09501222e+00] [ 1.01532110e-02 -8.32790143e-04 9.99948108e-01 3.18555671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.960714057 meters Centerline goodness [0,1] 0.9817537411394067 Centerline is valid? [True, True] Translation: X:262.20, Y:-9.09, Z:3.19 [[ 9.99041048e-01 -4.26839362e-02 -9.75017179e-03 2.62195932e+02] [ 4.26895462e-02 9.99088318e-01 3.67887596e-04 -9.08955171e+00] [ 9.72557984e-03 -7.83765219e-04 9.99952398e-01 3.18651066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.990714057 meters Centerline goodness [0,1] 0.982727292628998 Centerline is valid? [True, True] Translation: X:262.23, Y:-9.08, Z:3.19 [[ 9.99170522e-01 -3.99141140e-02 -8.07041385e-03 2.62226897e+02] [ 3.99178702e-02 9.99202918e-01 3.04824038e-04 -9.08077173e+00] [ 8.05181429e-03 -6.26724926e-04 9.99967387e-01 3.18872745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.020714057 meters Centerline goodness [0,1] 0.9821573043535303 Centerline is valid? [True, True] Translation: X:262.26, Y:-9.08, Z:3.19 [[ 9.99240771e-01 -3.82083654e-02 -7.61597373e-03 2.62257191e+02] [ 3.82116642e-02 9.99269626e-01 2.88059262e-04 -9.08101349e+00] [ 7.59940494e-03 -5.78859589e-04 9.99970957e-01 3.18940669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.050714057 meters Centerline goodness [0,1] 0.9835311637685603 Centerline is valid? [True, True] Translation: X:262.29, Y:-9.08, Z:3.19 [[ 9.99295161e-01 -3.67649680e-02 -7.58407063e-03 2.62289261e+02] [ 3.67682029e-02 9.99323780e-01 2.87493428e-04 -9.07655794e+00] [ 7.56837244e-03 -5.66143438e-04 9.99971199e-01 3.19024026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.080714057 meters Centerline goodness [0,1] 0.9835722622272137 Centerline is valid? [True, True] Translation: X:262.32, Y:-9.07, Z:3.19 [[ 9.99360485e-01 -3.50083616e-02 -7.28250350e-03 2.62320778e+02] [ 3.50113003e-02 9.99386878e-01 2.76393937e-04 -9.07239164e+00] [ 7.26836234e-03 -5.31187096e-04 9.99973444e-01 3.19006990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.110714057 meters Centerline goodness [0,1] 0.983559292191214 Centerline is valid? [True, True] Translation: X:262.35, Y:-9.07, Z:3.19 [[ 9.99382337e-01 -3.43314051e-02 -7.50326772e-03 2.62351682e+02] [ 3.43345081e-02 9.99410356e-01 2.85099491e-04 -9.07424197e+00] [ 7.48905560e-03 -5.42544402e-04 9.99971809e-01 3.19003774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.140714057 meters Centerline goodness [0,1] 0.9826257376904783 Centerline is valid? [True, True] Translation: X:262.38, Y:-9.07, Z:3.19 [[ 9.99369627e-01 -3.47673479e-02 -7.18187643e-03 2.62384451e+02] [ 3.47702050e-02 9.99395296e-01 2.73308687e-04 -9.07131693e+00] [ 7.16803130e-03 -5.22851716e-04 9.99974173e-01 3.18999314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.170714057 meters Centerline goodness [0,1] 0.9824657895894751 Centerline is valid? [True, True] Translation: X:262.42, Y:-9.07, Z:3.19 [[ 9.99346968e-01 -3.53892382e-02 -7.29653099e-03 2.62415414e+02] [ 3.53922084e-02 9.99373461e-01 2.78307295e-04 -9.07320574e+00] [ 7.28211034e-03 -5.36365897e-04 9.99973341e-01 3.18988028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.200714057 meters Centerline goodness [0,1] 0.9826646964116362 Centerline is valid? [True, True] Translation: X:262.45, Y:-9.07, Z:3.19 [[ 9.99287953e-01 -3.67837297e-02 -8.39909696e-03 2.62447014e+02] [ 3.67877209e-02 9.99323051e-01 3.21146942e-04 -9.07460798e+00] [ 8.38159822e-03 -6.29901905e-04 9.99964675e-01 3.18915157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.230714057 meters Centerline goodness [0,1] 0.982585635359116 Centerline is valid? [True, True] Translation: X:262.48, Y:-9.08, Z:3.19 [[ 9.99138991e-01 -3.99260209e-02 -1.12778448e-02 2.62477309e+02] [ 3.99334200e-02 9.99202250e-01 4.31562879e-04 -9.07553783e+00] [ 1.12516173e-02 -8.81554213e-04 9.99936310e-01 3.18657311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26071405700003 meters Centerline goodness [0,1] 0.9817642632673838 Centerline is valid? [True, True] Translation: X:262.51, Y:-9.08, Z:3.19 [[ 9.99045135e-01 -4.18665715e-02 -1.24903466e-02 2.62508572e+02] [ 4.18758017e-02 9.99122709e-01 4.78254460e-04 -9.07688152e+00] [ 1.24593661e-02 -1.00084107e-03 9.99921878e-01 3.18551475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.290714057 meters Centerline goodness [0,1] 0.9829603143071558 Centerline is valid? [True, True] Translation: X:262.54, Y:-9.07, Z:3.18 [[ 9.98850517e-01 -4.56633044e-02 -1.45776230e-02 2.62539576e+02] [ 4.56762823e-02 9.98956138e-01 5.58392771e-04 -9.07350216e+00] [ 1.45369079e-02 -1.22360253e-03 9.99893585e-01 3.18472817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32071405700003 meters Centerline goodness [0,1] 0.9826383506433111 Centerline is valid? [True, True] Translation: X:262.57, Y:-9.07, Z:3.18 [[ 9.98773512e-01 -4.72437841e-02 -1.48154313e-02 2.62570931e+02] [ 4.72573673e-02 9.98882585e-01 5.67885053e-04 -9.07328008e+00] [ 1.47720473e-02 -1.26732683e-03 9.99890084e-01 3.18483973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.350714057 meters Centerline goodness [0,1] 0.9810574937265439 Centerline is valid? [True, True] Translation: X:262.60, Y:-9.08, Z:3.19 [[ 9.98655897e-01 -4.97560545e-02 -1.45167268e-02 2.62600931e+02] [ 4.97693700e-02 9.98760582e-01 5.57211998e-04 -9.07583283e+00] [ 1.44710098e-02 -1.27895139e-03 9.99894472e-01 3.18571227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38071405700003 meters Centerline goodness [0,1] 0.981863901375228 Centerline is valid? [True, True] Translation: X:262.63, Y:-9.07, Z:3.19 [[ 9.98620276e-01 -5.06646979e-02 -1.38069976e-02 2.62633085e+02] [ 5.06768422e-02 9.98714962e-01 5.30911515e-04 -9.07128647e+00] [ 1.37623566e-02 -1.22987404e-03 9.99904538e-01 3.18672488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.410714057 meters Centerline goodness [0,1] 0.9793262718450914 Centerline is valid? [True, True] Translation: X:262.66, Y:-9.08, Z:3.19 [[ 9.98644195e-01 -5.05041775e-02 -1.26134574e-02 2.62664501e+02] [ 5.05143179e-02 9.98723218e-01 4.86439947e-04 -9.07706623e+00] [ 1.25727856e-02 -1.12294063e-03 9.99920329e-01 3.18717982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44071405700004 meters Centerline goodness [0,1] 0.9797113714311166 Centerline is valid? [True, True] Translation: X:262.70, Y:-9.07, Z:3.19 [[ 9.98703276e-01 -4.98959898e-02 -1.01072833e-02 2.62697257e+02] [ 4.99024789e-02 9.98754019e-01 3.90692558e-04 -9.07097452e+00] [ 1.00751958e-02 -8.94564429e-04 9.99948844e-01 3.18978310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.470714057 meters Centerline goodness [0,1] 0.9809072925696251 Centerline is valid? [True, True] Translation: X:262.73, Y:-9.06, Z:3.19 [[ 9.98782598e-01 -4.86469544e-02 -8.17287631e-03 2.62729067e+02] [ 4.86511590e-02 9.98815781e-01 3.16314914e-04 -9.06402314e+00] [ 8.14781008e-03 -7.13549736e-04 9.99966551e-01 3.19192105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50071405700004 meters Centerline goodness [0,1] 0.9787039921669857 Centerline is valid? [True, True] Translation: X:262.76, Y:-9.07, Z:3.19 [[ 9.98813938e-01 -4.80116150e-02 -8.09950288e-03 2.62759665e+02] [ 4.80157266e-02 9.98846531e-01 3.13833721e-04 -9.07090724e+00] [ 8.07509269e-03 -7.02365010e-04 9.99967149e-01 3.19191851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.530714057 meters Centerline goodness [0,1] 0.9803943435785342 Centerline is valid? [True, True] Translation: X:262.79, Y:-9.06, Z:3.19 [[ 9.98826154e-01 -4.76101588e-02 -8.92112432e-03 2.62792004e+02] [ 4.76151363e-02 9.98865696e-01 3.46257456e-04 -9.06428432e+00] [ 8.89451968e-03 -7.70631554e-04 9.99960146e-01 3.19192101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.560714057 meters Centerline goodness [0,1] 0.980097726410674 Centerline is valid? [True, True] Translation: X:262.82, Y:-9.06, Z:3.19 [[ 9.98853141e-01 -4.68084756e-02 -1.00681977e-02 2.62823687e+02] [ 4.68147866e-02 9.98903510e-01 3.91941779e-04 -9.06276123e+00] [ 1.00388118e-02 -8.62832802e-04 9.99949238e-01 3.19052031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.590714057 meters Centerline goodness [0,1] 0.980638959064589 Centerline is valid? [True, True] Translation: X:262.86, Y:-9.06, Z:3.19 [[ 9.98845852e-01 -4.62120718e-02 -1.30922853e-02 2.62856002e+02] [ 4.62227120e-02 9.98931028e-01 5.11121757e-04 -9.06063066e+00] [ 1.30546700e-02 -1.11569278e-03 9.99914162e-01 3.18764860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.620714057 meters Centerline goodness [0,1] 0.980638959064589 Centerline is valid? [True, True] Translation: X:262.89, Y:-9.06, Z:3.19 [[ 9.98850786e-01 -4.61053129e-02 -1.30922370e-02 2.62888634e+02] [ 4.61159601e-02 9.98935962e-01 5.12357509e-04 -9.06199915e+00] [ 1.30546839e-02 -1.11552978e-03 9.99914162e-01 3.18779725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.650714057 meters Centerline goodness [0,1] 0.9826279924683942 Centerline is valid? [True, True] Translation: X:262.92, Y:-9.06, Z:3.19 [[ 9.98873511e-01 -4.52605455e-02 -1.42545485e-02 2.62921538e+02] [ 4.52731019e-02 9.98974491e-01 5.59249666e-04 -9.05853026e+00] [ 1.42146184e-02 -1.20396731e-03 9.99898242e-01 3.18693926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.680714057 meters Centerline goodness [0,1] 0.9812127726275247 Centerline is valid? [True, True] Translation: X:262.95, Y:-9.06, Z:3.19 [[ 9.98905822e-01 -4.42055294e-02 -1.52653254e-02 2.62952722e+02] [ 4.42198377e-02 9.99021644e-01 6.00884861e-04 -9.05963750e+00] [ 1.52238281e-02 -1.27525760e-03 9.99883298e-01 3.18592314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.710714057 meters Centerline goodness [0,1] 0.9814332540074536 Centerline is valid? [True, True] Translation: X:262.98, Y:-9.06, Z:3.19 [[ 9.98932046e-01 -4.33580263e-02 -1.59640008e-02 2.62984212e+02] [ 4.33735875e-02 9.99058725e-01 6.29672341e-04 -9.05925429e+00] [ 1.59216730e-02 -1.32141587e-03 9.99872369e-01 3.18557676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.740714057 meters Centerline goodness [0,1] 0.982430519670179 Centerline is valid? [True, True] Translation: X:263.02, Y:-9.05, Z:3.19 [[ 9.98986006e-01 -4.22016483e-02 -1.56837669e-02 2.63015902e+02] [ 4.22165363e-02 9.99108293e-01 6.19254131e-04 -9.05459258e+00] [ 1.56436481e-02 -1.28074053e-03 9.99876810e-01 3.18603072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.770714057 meters Centerline goodness [0,1] 0.9815106392550272 Centerline is valid? [True, True] Translation: X:263.05, Y:-9.05, Z:3.19 [[ 9.99107447e-01 -3.95684695e-02 -1.47867016e-02 2.63047012e+02] [ 3.95814213e-02 9.99216178e-01 5.84170747e-04 -9.04894899e+00] [ 1.47519967e-02 -1.16892801e-03 9.99890500e-01 3.18698990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.800714057 meters Centerline goodness [0,1] 0.9821339838279803 Centerline is valid? [True, True] Translation: X:263.08, Y:-9.04, Z:3.19 [[ 9.99237104e-01 -3.67527276e-02 -1.32078488e-02 2.63078170e+02] [ 3.67628203e-02 9.99323883e-01 5.22086321e-04 -9.03794966e+00] [ 1.31797307e-02 -1.00724580e-03 9.99912636e-01 3.18984678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.830714057 meters Centerline goodness [0,1] 0.9807909349465036 Centerline is valid? [True, True] Translation: X:263.11, Y:-9.04, Z:3.19 [[ 9.99289479e-01 -3.57244479e-02 -1.20125636e-02 2.63109844e+02] [ 3.57327303e-02 9.99361269e-01 4.75489236e-04 -9.03963972e+00] [ 1.19879042e-02 -9.04393084e-04 9.99927734e-01 3.19015827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.860714057 meters Centerline goodness [0,1] 0.9807888127078949 Centerline is valid? [True, True] Translation: X:263.14, Y:-9.04, Z:3.19 [[ 9.99329464e-01 -3.48626785e-02 -1.11900210e-02 2.63140817e+02] [ 3.48698251e-02 9.99391764e-01 4.44129910e-04 -9.03964620e+00] [ 1.11677313e-02 -8.34026180e-04 9.99937291e-01 3.19103135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.890714057 meters Centerline goodness [0,1] 0.980668673744256 Centerline is valid? [True, True] Translation: X:263.17, Y:-9.04, Z:3.19 [[ 9.99355732e-01 -3.41670658e-02 -1.09878007e-02 2.63173198e+02] [ 3.41739262e-02 9.99415805e-01 4.37162284e-04 -9.03818755e+00] [ 1.09664451e-02 -8.12376925e-04 9.99939537e-01 3.19127935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.920714057 meters Centerline goodness [0,1] 0.980218435602284 Centerline is valid? [True, True] Translation: X:263.21, Y:-9.04, Z:3.19 [[ 9.99335065e-01 -3.47538766e-02 -1.10270961e-02 2.63205810e+02] [ 3.47608304e-02 9.99395563e-01 4.39521211e-04 -9.03588675e+00] [ 1.10051558e-02 -8.22539975e-04 9.99939103e-01 3.19064056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.950714057 meters Centerline goodness [0,1] 0.9782406462006217 Centerline is valid? [True, True] Translation: X:263.24, Y:-9.04, Z:3.19 [[ 9.99222672e-01 -3.77011828e-02 -1.15183220e-02 2.63235467e+02] [ 3.77089729e-02 9.99288658e-01 4.59821698e-04 -9.04249009e+00] [ 1.14927928e-02 -8.93808361e-04 9.99933556e-01 3.18954492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.980714057 meters Centerline goodness [0,1] 0.978950003413513 Centerline is valid? [True, True] Translation: X:263.27, Y:-9.05, Z:3.19 [[ 9.99132005e-01 -3.98079753e-02 -1.22703882e-02 2.63266282e+02] [ 3.98169787e-02 9.99206869e-01 4.90241459e-04 -9.04523434e+00] [ 1.22411406e-02 -9.78385717e-04 9.99924596e-01 3.18872590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01071405700003 meters Centerline goodness [0,1] 0.9726477024070022 Centerline is valid? [True, True] Translation: X:263.30, Y:-9.05, Z:3.19 [[ 9.99027599e-01 -4.20472779e-02 -1.32620773e-02 2.63295885e+02] [ 4.20580004e-02 9.99115030e-01 5.30521119e-04 -9.05489965e+00] [ 1.32280338e-02 -1.08778169e-03 9.99911914e-01 3.18690297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.040714057 meters Centerline goodness [0,1] 0.9789286852045692 Centerline is valid? [True, True] Translation: X:263.33, Y:-9.05, Z:3.19 [[ 9.98830351e-01 -4.57710971e-02 -1.55864014e-02 2.63326647e+02] [ 4.57863640e-02 9.98951060e-01 6.23884009e-04 -9.04812449e+00] [ 1.55414964e-02 -1.33679893e-03 9.99878330e-01 3.18649462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07071405700003 meters Centerline goodness [0,1] 0.974586315357615 Centerline is valid? [True, True] Translation: X:263.36, Y:-9.06, Z:3.18 [[ 9.98731473e-01 -4.75189267e-02 -1.66552339e-02 2.63356082e+02] [ 4.75366169e-02 9.98869273e-01 6.67640099e-04 -9.05554307e+00] [ 1.66046758e-02 -1.45852665e-03 9.99861069e-01 3.18495333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.100714057 meters Centerline goodness [0,1] 0.9748261315699465 Centerline is valid? [True, True] Translation: X:263.39, Y:-9.06, Z:3.19 [[ 9.98719265e-01 -4.74975757e-02 -1.74301460e-02 2.63388086e+02] [ 4.75169699e-02 9.98870186e-01 6.99989844e-04 -9.05586389e+00] [ 1.73772053e-02 -1.52732106e-03 9.99847838e-01 3.18512551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13071405700003 meters Centerline goodness [0,1] 0.9726608854404382 Centerline is valid? [True, True] Translation: X:263.42, Y:-9.06, Z:3.19 [[ 9.98760152e-01 -4.65878365e-02 -1.75422916e-02 2.63419292e+02] [ 4.66073594e-02 9.98913037e-01 7.05500432e-04 -9.05760861e+00] [ 1.74903561e-02 -1.52222561e-03 9.99845873e-01 3.18519443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.160714057 meters Centerline goodness [0,1] 0.9775119289513938 Centerline is valid? [True, True] Translation: X:263.45, Y:-9.05, Z:3.19 [[ 9.98831721e-01 -4.49187317e-02 -1.78185641e-02 2.63450802e+02] [ 4.49386235e-02 9.98989492e-01 7.17325355e-04 -9.05358389e+00] [ 1.77683370e-02 -1.51722906e-03 9.99840979e-01 3.18600739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19071405700004 meters Centerline goodness [0,1] 0.979847943574242 Centerline is valid? [True, True] Translation: X:263.48, Y:-9.05, Z:3.19 [[ 9.99056090e-01 -3.99607779e-02 -1.70313227e-02 2.63481307e+02] [ 3.99782373e-02 9.99200315e-01 6.85766591e-04 -9.04754672e+00] [ 1.69902993e-02 -1.36600155e-03 9.99854721e-01 3.18745905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.220714057 meters Centerline goodness [0,1] 0.9799505063929242 Centerline is valid? [True, True] Translation: X:263.51, Y:-9.05, Z:3.19 [[ 9.99187036e-01 -3.69516962e-02 -1.61195109e-02 2.63510529e+02] [ 3.69669414e-02 9.99316278e-01 6.48720812e-04 -9.04722353e+00] [ 1.60845183e-02 -1.24408244e-03 9.99869862e-01 3.18799780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25071405700004 meters Centerline goodness [0,1] 0.9806469386349549 Centerline is valid? [True, True] Translation: X:263.54, Y:-9.04, Z:3.19 [[ 9.99442253e-01 -3.03742094e-02 -1.38777224e-02 2.63541865e+02] [ 3.03848778e-02 9.99538117e-01 5.58494202e-04 -9.03768268e+00] [ 1.38543487e-02 -9.79855602e-04 9.99903544e-01 3.19125480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.280714057 meters Centerline goodness [0,1] 0.9806516843604945 Centerline is valid? [True, True] Translation: X:263.57, Y:-9.04, Z:3.19 [[ 9.99540332e-01 -2.71701509e-02 -1.34502232e-02 2.63571762e+02] [ 2.71798840e-02 9.99630412e-01 5.41338560e-04 -9.04221226e+00] [ 1.34305439e-02 -9.06665229e-04 9.99909395e-01 3.19172472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.310714057 meters Centerline goodness [0,1] 0.9802366999885097 Centerline is valid? [True, True] Translation: X:263.60, Y:-9.04, Z:3.19 [[ 9.99698452e-01 -2.12813446e-02 -1.22519236e-02 2.63602073e+02] [ 2.12889799e-02 9.99773242e-01 4.93097617e-04 -9.03871385e+00] [ 1.22386516e-02 -7.53779879e-04 9.99924821e-01 3.19333277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.340714057 meters Centerline goodness [0,1] 0.9808991863191284 Centerline is valid? [True, True] Translation: X:263.63, Y:-9.04, Z:3.19 [[ 9.99752589e-01 -1.86850530e-02 -1.20677051e-02 2.63632474e+02] [ 1.86922719e-02 9.99825166e-01 4.85676291e-04 -9.03757101e+00] [ 1.20565204e-02 -7.11128955e-04 9.99927065e-01 3.19379856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.370714057 meters Centerline goodness [0,1] 0.9817206027384693 Centerline is valid? [True, True] Translation: X:263.66, Y:-9.04, Z:3.19 [[ 9.99800260e-01 -1.61687602e-02 -1.17478332e-02 2.63662753e+02] [ 1.61754283e-02 9.99869057e-01 4.72802739e-04 -9.03749986e+00] [ 1.17386502e-02 -6.62734534e-04 9.99930880e-01 3.19378716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.400714057 meters Centerline goodness [0,1] 0.9822220180536095 Centerline is valid? [True, True] Translation: X:263.69, Y:-9.04, Z:3.19 [[ 9.99831601e-01 -1.30631825e-02 -1.28888716e-02 2.63692580e+02] [ 1.30709517e-02 9.99914437e-01 5.18724920e-04 -9.03821397e+00] [ 1.28809926e-02 -6.87107386e-04 9.99916800e-01 3.19265433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.430714057 meters Centerline goodness [0,1] 0.9831766679690194 Centerline is valid? [True, True] Translation: X:263.72, Y:-9.03, Z:3.19 [[ 9.99836312e-01 -1.19130814e-02 -1.36171830e-02 2.63722958e+02] [ 1.19216472e-02 9.99928784e-01 5.48036503e-04 -9.03179782e+00] [ 1.36096844e-02 -7.10286047e-04 9.99907132e-01 3.19326024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.460714057 meters Centerline goodness [0,1] 0.9842261153077859 Centerline is valid? [True, True] Translation: X:263.75, Y:-9.03, Z:3.19 [[ 9.99831777e-01 -9.63255667e-03 -1.56086982e-02 2.63752760e+02] [ 9.64352819e-03 9.99953303e-01 6.27795517e-04 -9.03246931e+00] [ 1.56019221e-02 -7.78212829e-04 9.99877980e-01 3.19213681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.490714057 meters Centerline goodness [0,1] 0.9842261153077859 Centerline is valid? [True, True] Translation: X:263.78, Y:-9.03, Z:3.19 [[ 9.99829012e-01 -9.91518827e-03 -1.56088299e-02 2.63780150e+02] [ 9.92614296e-03 9.99950540e-01 6.24509109e-04 -9.03349685e+00] [ 1.56018658e-02 -7.79337803e-04 9.99877980e-01 3.19226171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.520714057 meters Centerline goodness [0,1] 0.984261556842202 Centerline is valid? [True, True] Translation: X:263.81, Y:-9.03, Z:3.19 [[ 9.99828917e-01 -7.37005962e-03 -1.69652063e-02 2.63809119e+02] [ 7.38259704e-03 9.99972519e-01 6.76497307e-04 -9.03390632e+00] [ 1.69597543e-02 -8.01628852e-04 9.99855852e-01 3.19158593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.550714057 meters Centerline goodness [0,1] 0.9843724863833797 Centerline is valid? [True, True] Translation: X:263.84, Y:-9.03, Z:3.19 [[ 9.99822861e-01 -6.87918032e-03 -1.75192527e-02 2.63838243e+02] [ 6.89241274e-03 9.99976005e-01 6.95039234e-04 -9.03494160e+00] [ 1.75140511e-02 -8.15666036e-04 9.99846285e-01 3.19164798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.580714057 meters Centerline goodness [0,1] 0.9851068224063153 Centerline is valid? [True, True] Translation: X:263.87, Y:-9.04, Z:3.19 [[ 9.99841701e-01 -4.03097843e-03 -1.73298814e-02 2.63868447e+02] [ 4.04346888e-03 9.99991590e-01 6.85767641e-04 -9.03639095e+00] [ 1.73269714e-02 -7.55731921e-04 9.99849591e-01 3.19211358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.610714057 meters Centerline goodness [0,1] 0.9857864523536165 Centerline is valid? [True, True] Translation: X:263.90, Y:-9.04, Z:3.19 [[ 9.99846267e-01 -3.26799667e-03 -1.72268169e-02 2.63897197e+02] [ 3.28016808e-03 9.99994390e-01 6.78330276e-04 -9.03782635e+00] [ 1.72245034e-02 -7.34732848e-04 9.99851377e-01 3.19249315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.640714057 meters Centerline goodness [0,1] 0.9862084765177549 Centerline is valid? [True, True] Translation: X:263.93, Y:-9.04, Z:3.19 [[ 9.99852033e-01 -1.14828171e-03 -1.71637246e-02 2.63925934e+02] [ 1.16001766e-03 9.99999100e-01 6.73824751e-04 -9.03901468e+00] [ 1.71629354e-02 -6.93635271e-04 9.99852465e-01 3.19326295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.670714057 meters Centerline goodness [0,1] 0.9851655143995238 Centerline is valid? [True, True] Translation: X:263.95, Y:-9.04, Z:3.19 [[ 9.99853648e-01 -1.75124836e-04 -1.71070451e-02 2.63953429e+02] [ 1.86616569e-04 9.99999758e-01 6.70160373e-04 -9.04405095e+00] [ 1.71069236e-02 -6.73254752e-04 9.99853439e-01 3.19269030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.700714057 meters Centerline goodness [0,1] 0.985963070321594 Centerline is valid? [True, True] Translation: X:263.98, Y:-9.04, Z:3.19 [[ 9.99850959e-01 5.39654524e-04 -1.72559944e-02 2.63981891e+02] [-5.28128893e-04 9.99999634e-01 6.72470501e-04 -9.04377244e+00] [ 1.72563510e-02 -6.63256886e-04 9.99850878e-01 3.19387096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.730714057 meters Centerline goodness [0,1] 0.9863205169332294 Centerline is valid? [True, True] Translation: X:264.01, Y:-9.05, Z:3.19 [[ 9.99855309e-01 8.78809344e-04 -1.69878988e-02 2.64009113e+02] [-8.67724989e-04 9.99999406e-01 6.59845306e-04 -9.05130198e+00] [ 1.69884686e-02 -6.45009008e-04 9.99855478e-01 3.19276560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76071405700003 meters Centerline goodness [0,1] 0.9865596927929782 Centerline is valid? [True, True] Translation: X:264.04, Y:-9.05, Z:3.19 [[ 9.99848152e-01 -1.20442822e-03 -1.73845392e-02 2.64038671e+02] [ 1.21633569e-03 9.99999033e-01 6.74389093e-04 -9.05125611e+00] [ 1.73837101e-02 -6.95432124e-04 9.99848650e-01 3.19498303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.790714057 meters Centerline goodness [0,1] 0.9864044892558967 Centerline is valid? [True, True] Translation: X:264.07, Y:-9.06, Z:3.19 [[ 9.99839426e-01 -2.91409855e-03 -1.76813467e-02 2.64066454e+02] [ 2.92665953e-03 9.99995483e-01 6.84574504e-04 -9.05625656e+00] [ 1.76792719e-02 -7.36211860e-04 9.99843438e-01 3.19462054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82071405700003 meters Centerline goodness [0,1] 0.9856517895595802 Centerline is valid? [True, True] Translation: X:264.10, Y:-9.07, Z:3.19 [[ 9.99812807e-01 -7.34340440e-03 -1.79004156e-02 2.64095071e+02] [ 7.35697633e-03 9.99972697e-01 6.92456435e-04 -9.06634276e+00] [ 1.78948419e-02 -8.24019746e-04 9.99839535e-01 3.19355196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.850714057 meters Centerline goodness [0,1] 0.9865106894284613 Centerline is valid? [True, True] Translation: X:264.12, Y:-9.07, Z:3.19 [[ 9.99779179e-01 -1.03179556e-02 -1.83066613e-02 2.64124811e+02] [ 1.03326381e-02 9.99946366e-01 7.07622179e-04 -9.06925989e+00] [ 1.82983782e-02 -8.96622026e-04 9.99832169e-01 3.19366808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88071405700003 meters Centerline goodness [0,1] 0.9853874037154509 Centerline is valid? [True, True] Translation: X:264.15, Y:-9.08, Z:3.19 [[ 9.99708331e-01 -1.53278095e-02 -1.86630830e-02 2.64153941e+02] [ 1.53439372e-02 9.99882015e-01 7.21258016e-04 -9.07910239e+00] [ 1.86498257e-02 -1.00741282e-03 9.99825569e-01 3.19347221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.910714057 meters Centerline goodness [0,1] 0.9853436010930195 Centerline is valid? [True, True] Translation: X:264.18, Y:-9.08, Z:3.19 [[ 9.99680304e-01 -1.73861559e-02 -1.83578554e-02 2.64183382e+02] [ 1.74020977e-02 9.99848321e-01 7.08990375e-04 -9.08408448e+00] [ 1.83427443e-02 -1.02822891e-03 9.99831229e-01 3.19390464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94071405700004 meters Centerline goodness [0,1] 0.9860939777952226 Centerline is valid? [True, True] Translation: X:264.21, Y:-9.09, Z:3.19 [[ 9.99658047e-01 -1.89918135e-02 -1.79749700e-02 2.64211264e+02] [ 1.90073364e-02 9.99819104e-01 6.93124186e-04 -9.08972003e+00] [ 1.79585547e-02 -1.03454347e-03 9.99838197e-01 3.19427988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.970714057 meters Centerline goodness [0,1] 0.9848041422782531 Centerline is valid? [True, True] Translation: X:264.24, Y:-9.10, Z:3.19 [[ 9.99626650e-01 -2.04961558e-02 -1.80684505e-02 2.64239495e+02] [ 2.05120629e-02 9.99789364e-01 6.95477986e-04 -9.09517798e+00] [ 1.80503900e-02 -1.06583952e-03 9.99836510e-01 3.19445845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00071405700004 meters Centerline goodness [0,1] 0.9852858586993148 Centerline is valid? [True, True] Translation: X:264.27, Y:-9.10, Z:3.20 [[ 9.99607841e-01 -2.16871188e-02 -1.77153097e-02 2.64269284e+02] [ 2.17025831e-02 9.99764239e-01 6.81129635e-04 -9.09986137e+00] [ 1.76963613e-02 -1.06533050e-03 9.99842840e-01 3.19561929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.030714057 meters Centerline goodness [0,1] 0.9850692812213193 Centerline is valid? [True, True] Translation: X:264.30, Y:-9.11, Z:3.20 [[ 9.99614687e-01 -2.19801920e-02 -1.69513736e-02 2.64298399e+02] [ 2.19943871e-02 9.99757882e-01 6.51401838e-04 -9.10558519e+00] [ 1.69329515e-02 -1.02398592e-03 9.99856103e-01 3.19579227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.060714057 meters Centerline goodness [0,1] 0.9864500471888904 Centerline is valid? [True, True] Translation: X:264.33, Y:-9.10, Z:3.20 [[ 9.99619603e-01 -2.21846098e-02 -1.63857071e-02 2.64328681e+02] [ 2.21978994e-02 9.99753398e-01 6.29590887e-04 -9.09962910e+00] [ 1.63676991e-02 -9.93079669e-04 9.99865547e-01 3.19782032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.090714057 meters Centerline goodness [0,1] 0.9858420603173176 Centerline is valid? [True, True] Translation: X:264.36, Y:-9.11, Z:3.20 [[ 9.99637053e-01 -2.19488906e-02 -1.56207976e-02 2.64359105e+02] [ 2.19609426e-02 9.99758649e-01 6.00397038e-04 -9.10587868e+00] [ 1.56038495e-02 -9.43226564e-04 9.99877808e-01 3.19720970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.120714057 meters Centerline goodness [0,1] 0.9848583413714977 Centerline is valid? [True, True] Translation: X:264.39, Y:-9.11, Z:3.20 [[ 9.99654500e-01 -2.13826872e-02 -1.52859686e-02 2.64388808e+02] [ 2.13941740e-02 9.99770945e-01 5.88308752e-04 -9.11369093e+00] [ 1.52698877e-02 -9.15136163e-04 9.99882990e-01 3.19640620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.150714057 meters Centerline goodness [0,1] 0.984726832331569 Centerline is valid? [True, True] Translation: X:264.42, Y:-9.12, Z:3.20 [[ 9.99685271e-01 -2.06932010e-02 -1.41827415e-02 2.64418578e+02] [ 2.07030242e-02 9.99785520e-01 5.46125182e-04 -9.11833396e+00] [ 1.41683985e-02 -8.39578941e-04 9.99899271e-01 3.19648593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.180714057 meters Centerline goodness [0,1] 0.9840513949413721 Centerline is valid? [True, True] Translation: X:264.45, Y:-9.12, Z:3.20 [[ 9.99693949e-01 -2.02999608e-02 -1.41392821e-02 2.64448476e+02] [ 2.03096868e-02 9.99793589e-01 5.44605402e-04 -9.12318855e+00] [ 1.41253081e-02 -8.31603116e-04 9.99899887e-01 3.19579148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.210714057 meters Centerline goodness [0,1] 0.9860551526546691 Centerline is valid? [True, True] Translation: X:264.48, Y:-9.12, Z:3.20 [[ 9.99703855e-01 -2.00653524e-02 -1.37689631e-02 2.64479826e+02] [ 2.00745587e-02 9.99798345e-01 5.30731019e-04 -9.11644297e+00] [ 1.37555372e-02 -8.06979704e-04 9.99905062e-01 3.19686927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.240714057 meters Centerline goodness [0,1] 0.9860713006091006 Centerline is valid? [True, True] Translation: X:264.51, Y:-9.12, Z:3.20 [[ 9.99700924e-01 -2.00398753e-02 -1.40166108e-02 2.64511561e+02] [ 2.00494202e-02 9.99798844e-01 5.40767517e-04 -9.11752742e+00] [ 1.40029543e-02 -8.21630706e-04 9.99901616e-01 3.19716355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.270714057 meters Centerline goodness [0,1] 0.9859569345994382 Centerline is valid? [True, True] Translation: X:264.54, Y:-9.12, Z:3.20 [[ 9.99711443e-01 -1.96361838e-02 -1.38366156e-02 2.64542391e+02] [ 1.96454510e-02 9.99806867e-01 5.34141601e-04 -9.12196534e+00] [ 1.38234548e-02 -8.05814024e-04 9.99904127e-01 3.19663177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.300714057 meters Centerline goodness [0,1] 0.9850793011654699 Centerline is valid? [True, True] Translation: X:264.57, Y:-9.13, Z:3.20 [[ 9.99708913e-01 -1.94253270e-02 -1.43089624e-02 2.64572085e+02] [ 1.94352198e-02 9.99810966e-01 5.52626021e-04 -9.12698918e+00] [ 1.42955225e-02 -8.30562987e-04 9.99897469e-01 3.19595206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.330714057 meters Centerline goodness [0,1] 0.9866136277292332 Centerline is valid? [True, True] Translation: X:264.60, Y:-9.13, Z:3.20 [[ 9.99709952e-01 -1.88190443e-02 -1.50284780e-02 2.64602819e+02] [ 1.88298901e-02 9.99822533e-01 5.80496908e-04 -9.12540879e+00] [ 1.50148866e-02 -8.63313125e-04 9.99886898e-01 3.19637224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.360714057 meters Centerline goodness [0,1] 0.9861734602262525 Centerline is valid? [True, True] Translation: X:264.63, Y:-9.13, Z:3.20 [[ 9.99711840e-01 -1.85225665e-02 -1.52692763e-02 2.64633483e+02] [ 1.85337282e-02 9.99828062e-01 5.89798092e-04 -9.12785957e+00] [ 1.52557263e-02 -8.72624753e-04 9.99883244e-01 3.19641239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.390714057 meters Centerline goodness [0,1] 0.9854453586120551 Centerline is valid? [True, True] Translation: X:264.66, Y:-9.13, Z:3.20 [[ 9.99725855e-01 -1.79045943e-02 -1.50877352e-02 2.64662528e+02] [ 1.79154237e-02 9.99839336e-01 5.82900610e-04 -9.13340212e+00] [ 1.50748745e-02 -8.53043979e-04 9.99886004e-01 3.19575535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.420714057 meters Centerline goodness [0,1] 0.9867731972606418 Centerline is valid? [True, True] Translation: X:264.69, Y:-9.13, Z:3.20 [[ 9.99748646e-01 -1.68315047e-02 -1.48103295e-02 2.64692868e+02] [ 1.68418202e-02 9.99858003e-01 5.72050642e-04 -9.13024881e+00] [ 1.47985980e-02 -8.21339761e-04 9.99890157e-01 3.19827586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.450714057 meters Centerline goodness [0,1] 0.9857344095879078 Centerline is valid? [True, True] Translation: X:264.72, Y:-9.14, Z:3.20 [[ 9.99750009e-01 -1.68519289e-02 -1.46946208e-02 2.64721850e+02] [ 1.68620822e-02 9.99857664e-01 5.67323736e-04 -9.13558972e+00] [ 1.46829687e-02 -8.14963815e-04 9.99891867e-01 3.19844916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.480714057 meters Centerline goodness [0,1] 0.9857585415320155 Centerline is valid? [True, True] Translation: X:264.75, Y:-9.14, Z:3.20 [[ 9.99728756e-01 -1.84552815e-02 -1.42062555e-02 2.64751213e+02] [ 1.84649266e-02 9.99829359e-01 5.48056485e-04 -9.13787478e+00] [ 1.41937168e-02 -8.10225293e-04 9.99898936e-01 3.20028086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51071405700003 meters Centerline goodness [0,1] 0.9854079742966153 Centerline is valid? [True, True] Translation: X:264.78, Y:-9.14, Z:3.20 [[ 9.99698388e-01 -2.01694982e-02 -1.40116019e-02 2.64781408e+02] [ 2.01790464e-02 9.99796236e-01 5.40391061e-04 -9.14139919e+00] [ 1.39978475e-02 -8.22968837e-04 9.99901687e-01 3.20079626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.540714057 meters Centerline goodness [0,1] 0.9854079742966153 Centerline is valid? [True, True] Translation: X:264.81, Y:-9.14, Z:3.20 [[ 9.99698388e-01 -2.01694982e-02 -1.40116019e-02 2.64811439e+02] [ 2.01790464e-02 9.99796236e-01 5.40391061e-04 -9.14255739e+00] [ 1.39978475e-02 -8.22968837e-04 9.99901687e-01 3.20093313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57071405700003 meters Centerline goodness [0,1] 0.984479875125432 Centerline is valid? [True, True] Translation: X:264.84, Y:-9.15, Z:3.20 [[ 9.99659280e-01 -2.19825045e-02 -1.40745835e-02 2.64842231e+02] [ 2.19923201e-02 9.99757992e-01 5.42985482e-04 -9.14570803e+00] [ 1.40592411e-02 -8.52333221e-04 9.99900801e-01 3.20130719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.600714057 meters Centerline goodness [0,1] 0.9835992512701667 Centerline is valid? [True, True] Translation: X:264.87, Y:-9.15, Z:3.20 [[ 9.99537152e-01 -2.69545378e-02 -1.41043951e-02 2.64871566e+02] [ 2.69648872e-02 9.99636233e-01 5.44078959e-04 -9.15383696e+00] [ 1.40845990e-02 -9.24150555e-04 9.99900380e-01 3.20159462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63071405700003 meters Centerline goodness [0,1] 0.9850829468426686 Centerline is valid? [True, True] Translation: X:264.90, Y:-9.15, Z:3.20 [[ 9.99483738e-01 -2.90459766e-02 -1.37327969e-02 2.64902808e+02] [ 2.90559879e-02 9.99577645e-01 5.30009282e-04 -9.15341147e+00] [ 1.37116022e-02 -9.28755640e-04 9.99905560e-01 3.20276610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.660714057 meters Centerline goodness [0,1] 0.9841856735566643 Centerline is valid? [True, True] Translation: X:264.93, Y:-9.15, Z:3.20 [[ 9.99416800e-01 -3.12033826e-02 -1.38711689e-02 2.64934274e+02] [ 3.12138105e-02 9.99512587e-01 5.35853269e-04 -9.15415925e+00] [ 1.38476875e-02 -9.68512796e-04 9.99903647e-01 3.20319646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69071405700004 meters Centerline goodness [0,1] 0.9822922228154476 Centerline is valid? [True, True] Translation: X:264.96, Y:-9.17, Z:3.20 [[ 9.99285367e-01 -3.48067076e-02 -1.47393455e-02 2.64963832e+02] [ 3.48188749e-02 9.99393477e-01 5.69607358e-04 -9.16893836e+00] [ 1.47105796e-02 -1.08240772e-03 9.99891208e-01 3.20182498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.720714057 meters Centerline goodness [0,1] 0.983414526129318 Centerline is valid? [True, True] Translation: X:265.00, Y:-9.17, Z:3.20 [[ 9.99241502e-01 -3.60038059e-02 -1.48373597e-02 2.64996387e+02] [ 3.60162779e-02 9.99351038e-01 5.74142957e-04 -9.16626610e+00] [ 1.48070595e-02 -1.10809394e-03 9.99889755e-01 3.20264612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75071405700004 meters Centerline goodness [0,1] 0.9834295868502888 Centerline is valid? [True, True] Translation: X:265.03, Y:-9.17, Z:3.20 [[ 9.99153424e-01 -3.82321026e-02 -1.51901848e-02 2.65027360e+02] [ 3.82454387e-02 9.99268202e-01 5.88314681e-04 -9.16925820e+00] [ 1.51565761e-02 -1.16877191e-03 9.99884449e-01 3.20264967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.780714057 meters Centerline goodness [0,1] 0.9842402418422691 Centerline is valid? [True, True] Translation: X:265.06, Y:-9.17, Z:3.20 [[ 9.99132908e-01 -3.86764946e-02 -1.54130118e-02 2.65059318e+02] [ 3.86902909e-02 9.99251072e-01 5.97818314e-04 -9.16696218e+00] [ 1.53783470e-02 -1.19363386e-03 9.99881034e-01 3.20321344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.810714057 meters Centerline goodness [0,1] 0.9837741180626076 Centerline is valid? [True, True] Translation: X:265.09, Y:-9.17, Z:3.20 [[ 9.99142817e-01 -3.84892550e-02 -1.52383859e-02 2.65091687e+02] [ 3.85027355e-02 9.99258319e-01 5.92146593e-04 -9.16932597e+00] [ 1.52042926e-02 -1.17835856e-03 9.99883714e-01 3.20313415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.840714057 meters Centerline goodness [0,1] 0.9838383838383838 Centerline is valid? [True, True] Translation: X:265.12, Y:-9.17, Z:3.20 [[ 9.99157852e-01 -3.80561017e-02 -1.53401270e-02 2.65122697e+02] [ 3.80697261e-02 9.99274907e-01 5.97013042e-04 -9.17259515e+00] [ 1.53062840e-02 -1.18050470e-03 9.99882155e-01 3.20242152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.870714057 meters Centerline goodness [0,1] 0.9841785531498253 Centerline is valid? [True, True] Translation: X:265.16, Y:-9.17, Z:3.20 [[ 9.99188222e-01 -3.73794495e-02 -1.50224730e-02 2.65155289e+02] [ 3.73924542e-02 9.99300486e-01 5.85638717e-04 -9.17297922e+00] [ 1.49900737e-02 -1.14689044e-03 9.99886985e-01 3.20257042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.900714057 meters Centerline goodness [0,1] 0.9828161123955184 Centerline is valid? [True, True] Translation: X:265.19, Y:-9.18, Z:3.20 [[ 9.99188409e-01 -3.71275690e-02 -1.56226255e-02 2.65186085e+02] [ 3.71416176e-02 9.99309826e-01 6.09962310e-04 -9.17523308e+00] [ 1.55891967e-02 -1.18971685e-03 9.99877773e-01 3.20235513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.930714057 meters Centerline goodness [0,1] 0.983231301570402 Centerline is valid? [True, True] Translation: X:265.22, Y:-9.18, Z:3.20 [[ 9.99194650e-01 -3.68252499e-02 -1.59359073e-02 2.65218089e+02] [ 3.68398459e-02 9.99320988e-01 6.23233436e-04 -9.17664800e+00] [ 1.59021359e-02 -1.20980788e-03 9.99872821e-01 3.20210256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.960714057 meters Centerline goodness [0,1] 0.9830583643782154 Centerline is valid? [True, True] Translation: X:265.25, Y:-9.18, Z:3.20 [[ 9.99196738e-01 -3.66677366e-02 -1.61665170e-02 2.65250183e+02] [ 3.66827558e-02 9.99326761e-01 6.33374898e-04 -9.17863645e+00] [ 1.61324086e-02 -1.22589853e-03 9.99869113e-01 3.20136451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.990714057 meters Centerline goodness [0,1] 0.9826928652675246 Centerline is valid? [True, True] Translation: X:265.28, Y:-9.18, Z:3.20 [[ 9.99186439e-01 -3.67304836e-02 -1.66533029e-02 2.65282593e+02] [ 3.67464488e-02 9.99324407e-01 6.53600094e-04 -9.18063941e+00] [ 1.66180450e-02 -1.26501809e-03 9.99861111e-01 3.20023117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.020714057 meters Centerline goodness [0,1] 0.9838379796362989 Centerline is valid? [True, True] Translation: X:265.31, Y:-9.18, Z:3.20 [[ 9.99180610e-01 -3.67676350e-02 -1.69189216e-02 2.65314831e+02] [ 3.67841392e-02 9.99323013e-01 6.65223065e-04 -9.17661900e+00] [ 1.68830091e-02 -1.28702596e-03 9.99856644e-01 3.20095371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.050714057 meters Centerline goodness [0,1] 0.9831529621778422 Centerline is valid? [True, True] Translation: X:265.35, Y:-9.18, Z:3.20 [[ 9.99160682e-01 -3.73752086e-02 -1.67638150e-02 2.65345976e+02] [ 3.73915127e-02 9.99300475e-01 6.60094019e-04 -9.18116313e+00] [ 1.67274171e-02 -1.28636439e-03 9.99859259e-01 3.20092771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.080714057 meters Centerline goodness [0,1] 0.9833697445271746 Centerline is valid? [True, True] Translation: X:265.38, Y:-9.18, Z:3.20 [[ 9.99140879e-01 -3.78227857e-02 -1.69393247e-02 2.65377675e+02] [ 3.78395120e-02 9.99283606e-01 6.67891024e-04 -9.18299596e+00] [ 1.69019280e-02 -1.30829300e-03 9.99856296e-01 3.20073972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.110714057 meters Centerline goodness [0,1] 0.9811266099202282 Centerline is valid? [True, True] Translation: X:265.41, Y:-9.19, Z:3.20 [[ 9.99130464e-01 -3.78358699e-02 -1.75146314e-02 2.65408334e+02] [ 3.78537698e-02 9.99283050e-01 6.91485459e-04 -9.18891935e+00] [ 1.74759113e-02 -1.35387901e-03 9.99846368e-01 3.19989912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.140714057 meters Centerline goodness [0,1] 0.9843145107462288 Centerline is valid? [True, True] Translation: X:265.44, Y:-9.18, Z:3.20 [[ 9.99083907e-01 -3.86076500e-02 -1.84606509e-02 2.65440875e+02] [ 3.86276902e-02 9.99253406e-01 7.30090496e-04 -9.17730470e+00] [ 1.84186812e-02 -1.44251397e-03 9.99829321e-01 3.20131794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.170714057 meters Centerline goodness [0,1] 0.9843551514341111 Centerline is valid? [True, True] Translation: X:265.47, Y:-9.18, Z:3.20 [[ 9.99058669e-01 -3.90888450e-02 -1.88106091e-02 2.65471859e+02] [ 3.91097727e-02 9.99234642e-01 7.45828108e-04 -9.18225295e+00] [ 1.87670587e-02 -1.48080468e-03 9.99822787e-01 3.20012739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.200714057 meters Centerline goodness [0,1] 0.984597819516891 Centerline is valid? [True, True] Translation: X:265.50, Y:-9.18, Z:3.20 [[ 9.98995152e-01 -4.03637459e-02 -1.94796073e-02 2.65503601e+02] [ 4.03864502e-02 9.99183835e-01 7.73401095e-04 -9.18104667e+00] [ 1.94324913e-02 -1.55933613e-03 9.99809955e-01 3.20039107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.230714057 meters Centerline goodness [0,1] 0.9840728352125468 Centerline is valid? [True, True] Translation: X:265.54, Y:-9.18, Z:3.20 [[ 9.98977168e-01 -4.08385135e-02 -1.94121849e-02 2.65536183e+02] [ 4.08611737e-02 9.99164535e-01 7.71948577e-04 -9.18112186e+00] [ 1.93644415e-02 -1.56436366e-03 9.99811268e-01 3.20064215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26071405700003 meters Centerline goodness [0,1] 0.9855704697986577 Centerline is valid? [True, True] Translation: X:265.57, Y:-9.18, Z:3.20 [[ 9.98949004e-01 -4.15388276e-02 -1.93755914e-02 2.65568671e+02] [ 4.15615599e-02 9.99135647e-01 7.71872771e-04 -9.18203717e+00] [ 1.93267814e-02 -1.57634134e-03 9.99811978e-01 3.20087238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.290714057 meters Centerline goodness [0,1] 0.9845661753193012 Centerline is valid? [True, True] Translation: X:265.60, Y:-9.18, Z:3.20 [[ 9.98922427e-01 -4.24046718e-02 -1.88634265e-02 2.65599509e+02] [ 4.24263915e-02 9.99099312e-01 7.52544455e-04 -9.18277615e+00] [ 1.88145250e-02 -1.55204065e-03 9.99821787e-01 3.20107939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32071405700003 meters Centerline goodness [0,1] 0.98336830825557 Centerline is valid? [True, True] Translation: X:265.63, Y:-9.18, Z:3.20 [[ 9.98938262e-01 -4.25450834e-02 -1.76709847e-02 2.65630408e+02] [ 4.25641961e-02 9.99093484e-01 7.06727153e-04 -9.18367997e+00] [ 1.76248980e-02 -1.45812806e-03 9.99843606e-01 3.20239110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.350714057 meters Centerline goodness [0,1] 0.9828677506653843 Centerline is valid? [True, True] Translation: X:265.66, Y:-9.18, Z:3.20 [[ 9.98941908e-01 -4.27165786e-02 -1.70399104e-02 2.65662360e+02] [ 4.27343986e-02 9.99086235e-01 6.82864477e-04 -9.18407728e+00] [ 1.69951703e-02 -1.41033227e-03 9.99854577e-01 3.20329795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38071405700003 meters Centerline goodness [0,1] 0.9823159402771249 Centerline is valid? [True, True] Translation: X:265.69, Y:-9.18, Z:3.20 [[ 9.98937087e-01 -4.30185067e-02 -1.65561182e-02 2.65694373e+02] [ 4.30353889e-02 9.99073327e-01 6.64610516e-04 -9.18472988e+00] [ 1.65121855e-02 -1.37640308e-03 9.99862717e-01 3.20415258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.410714057 meters Centerline goodness [0,1] 0.9846767328285317 Centerline is valid? [True, True] Translation: X:265.73, Y:-9.17, Z:3.21 [[ 9.98891740e-01 -4.40725678e-02 -1.65196812e-02 2.65726674e+02] [ 4.40895348e-02 9.99027363e-01 6.64118401e-04 -9.17413262e+00] [ 1.64743441e-02 -1.39172744e-03 9.99863320e-01 3.20681393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44071405700004 meters Centerline goodness [0,1] 0.9833687744823727 Centerline is valid? [True, True] Translation: X:265.76, Y:-9.18, Z:3.21 [[ 9.98887755e-01 -4.43014339e-02 -1.61441940e-02 2.65757631e+02] [ 4.43176933e-02 9.99017277e-01 6.50592841e-04 -9.17773007e+00] [ 1.60995065e-02 -1.36534266e-03 9.99869462e-01 3.20636135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.470714057 meters Centerline goodness [0,1] 0.9820187435541007 Centerline is valid? [True, True] Translation: X:265.79, Y:-9.18, Z:3.21 [[ 9.98839061e-01 -4.50610490e-02 -1.70303053e-02 2.65788982e+02] [ 4.50792727e-02 9.98983176e-01 6.87516053e-04 -9.18157582e+00] [ 1.69820083e-02 -1.45443167e-03 9.99854737e-01 3.20531191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50071405700004 meters Centerline goodness [0,1] 0.9829653703911241 Centerline is valid? [True, True] Translation: X:265.82, Y:-9.18, Z:3.21 [[ 9.98817785e-01 -4.53798321e-02 -1.74270808e-02 2.65820831e+02] [ 4.53989794e-02 9.98968686e-01 7.04464208e-04 -9.17904640e+00] [ 1.73771395e-02 -1.49480306e-03 9.99847889e-01 3.20551936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.530714057 meters Centerline goodness [0,1] 0.9843609764853707 Centerline is valid? [True, True] Translation: X:265.85, Y:-9.17, Z:3.21 [[ 9.98802487e-01 -4.54776969e-02 -1.80380212e-02 2.65852966e+02] [ 4.54982483e-02 9.98964151e-01 7.30386766e-04 -9.17314423e+00] [ 1.79861202e-02 -1.55021049e-03 9.99837035e-01 3.20582213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.560714057 meters Centerline goodness [0,1] 0.9844581695676586 Centerline is valid? [True, True] Translation: X:265.88, Y:-9.18, Z:3.21 [[ 9.98801541e-01 -4.53049536e-02 -1.85187055e-02 2.65883743e+02] [ 4.53266059e-02 9.98971939e-01 7.50941394e-04 -9.17574231e+00] [ 1.84656458e-02 -1.58943149e-03 9.99828232e-01 3.20564642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.590714057 meters Centerline goodness [0,1] 0.9841866114810149 Centerline is valid? [True, True] Translation: X:265.92, Y:-9.17, Z:3.21 [[ 9.98792744e-01 -4.51827035e-02 -1.92763644e-02 2.65916400e+02] [ 4.52061667e-02 9.98977372e-01 7.82970339e-04 -9.17484838e+00] [ 1.92212751e-02 -1.65343563e-03 9.99813887e-01 3.20572501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.620714057 meters Centerline goodness [0,1] 0.9852914676997928 Centerline is valid? [True, True] Translation: X:265.95, Y:-9.17, Z:3.21 [[ 9.98786120e-01 -4.45974020e-02 -2.09131332e-02 2.65949308e+02] [ 4.46249247e-02 9.99003449e-01 8.50991921e-04 -9.16926053e+00] [ 2.08543401e-02 -1.78320591e-03 9.99780934e-01 3.20605457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.650714057 meters Centerline goodness [0,1] 0.9838597123111902 Centerline is valid? [True, True] Translation: X:265.98, Y:-9.17, Z:3.20 [[ 9.98802721e-01 -4.41059034e-02 -2.11611364e-02 2.65980639e+02] [ 4.41339993e-02 9.99025248e-01 8.62314775e-04 -9.17455298e+00] [ 2.11024764e-02 -1.79520792e-03 9.99775706e-01 3.20470742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.680714057 meters Centerline goodness [0,1] 0.9852186687761328 Centerline is valid? [True, True] Translation: X:266.01, Y:-9.17, Z:3.21 [[ 9.98840675e-01 -4.31098085e-02 -2.14207723e-02 2.66013472e+02] [ 4.31384022e-02 9.99068723e-01 8.74361398e-04 -9.16787155e+00] [ 2.13631300e-02 -1.79740562e-03 9.99770167e-01 3.20603702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.710714057 meters Centerline goodness [0,1] 0.9846938775510204 Centerline is valid? [True, True] Translation: X:266.04, Y:-9.17, Z:3.21 [[ 9.98890539e-01 -4.21894895e-02 -2.09221840e-02 2.66044962e+02] [ 4.22165859e-02 9.99108117e-01 8.54921222e-04 -9.16694270e+00] [ 2.08674551e-02 -1.73723590e-03 9.99780742e-01 3.20639756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.740714057 meters Centerline goodness [0,1] 0.984271691300914 Centerline is valid? [True, True] Translation: X:266.08, Y:-9.17, Z:3.21 [[ 9.98952479e-01 -4.06231890e-02 -2.10642024e-02 2.66075821e+02] [ 4.06503246e-02 9.99173063e-01 8.61478643e-04 -9.16863759e+00] [ 2.10117876e-02 -1.71684289e-03 9.99777754e-01 3.20704051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.770714057 meters Centerline goodness [0,1] 0.9849424870935604 Centerline is valid? [True, True] Translation: X:266.11, Y:-9.16, Z:3.21 [[ 9.99040970e-01 -3.83932072e-02 -2.10500019e-02 2.66106354e+02] [ 3.84198178e-02 9.99261315e-01 8.61060055e-04 -9.16426015e+00] [ 2.10013937e-02 -1.66897151e-03 9.99778053e-01 3.20927714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.800714057 meters Centerline goodness [0,1] 0.9841704787354499 Centerline is valid? [True, True] Translation: X:266.14, Y:-9.17, Z:3.21 [[ 9.99099868e-01 -3.71355756e-02 -2.05037274e-02 2.66136799e+02] [ 3.71605653e-02 9.99308955e-01 8.38998643e-04 -9.16523053e+00] [ 2.04584017e-02 -1.60017354e-03 9.99789424e-01 3.20989027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.830714057 meters Centerline goodness [0,1] 0.984709271988929 Centerline is valid? [True, True] Translation: X:266.17, Y:-9.16, Z:3.21 [[ 9.99196001e-01 -3.46997040e-02 -2.00818731e-02 2.66167609e+02] [ 3.47231937e-02 9.99396630e-01 8.22088017e-04 -9.16104000e+00] [ 2.00412300e-02 -1.51873383e-03 9.99798001e-01 3.21147564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.860714057 meters Centerline goodness [0,1] 0.9842884593647564 Centerline is valid? [True, True] Translation: X:266.20, Y:-9.16, Z:3.21 [[ 9.99233982e-01 -3.36407527e-02 -1.99937397e-02 2.66199512e+02] [ 3.36638435e-02 9.99432876e-01 8.19364567e-04 -9.16137832e+00] [ 1.99548367e-02 -1.49180304e-03 9.99799769e-01 3.21150283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.890714057 meters Centerline goodness [0,1] 0.9842715982231892 Centerline is valid? [True, True] Translation: X:266.23, Y:-9.16, Z:3.21 [[ 9.99255265e-01 -3.28473856e-02 -2.02475671e-02 2.66231421e+02] [ 3.28709259e-02 9.99459260e-01 8.30820953e-04 -9.16217402e+00] [ 2.02093281e-02 -1.49575849e-03 9.99794652e-01 3.21155309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.920714057 meters Centerline goodness [0,1] 0.9855092214045608 Centerline is valid? [True, True] Translation: X:266.26, Y:-9.16, Z:3.21 [[ 9.99308588e-01 -3.11708839e-02 -2.02662646e-02 2.66262712e+02] [ 3.11941411e-02 9.99512998e-01 8.32392639e-04 -9.15669358e+00] [ 2.02304485e-02 -1.46400583e-03 9.99794272e-01 3.21261808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.950714057 meters Centerline goodness [0,1] 0.9853365767158478 Centerline is valid? [True, True] Translation: X:266.29, Y:-9.16, Z:3.21 [[ 9.99312265e-01 -3.05852461e-02 -2.09652022e-02 2.66294000e+02] [ 3.06100294e-02 9.99531031e-01 8.62154391e-04 -9.16125055e+00] [ 2.09290009e-02 -1.50330691e-03 9.99779834e-01 3.21154251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.980714057 meters Centerline goodness [0,1] 0.9848192168715769 Centerline is valid? [True, True] Translation: X:266.32, Y:-9.16, Z:3.21 [[ 9.99360008e-01 -2.85520956e-02 -2.15488389e-02 2.66324339e+02] [ 2.85778198e-02 9.99591177e-01 8.86703254e-04 -9.16372423e+00] [ 2.15147120e-02 -1.50195461e-03 9.99767404e-01 3.21037535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01071405700003 meters Centerline goodness [0,1] 0.9859748184239885 Centerline is valid? [True, True] Translation: X:266.36, Y:-9.16, Z:3.21 [[ 9.99380893e-01 -2.75549007e-02 -2.18759780e-02 2.66356064e+02] [ 2.75811894e-02 9.99619161e-01 9.00851538e-04 -9.15862899e+00] [ 2.18428239e-02 -1.50365931e-03 9.99760286e-01 3.21190332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.040714057 meters Centerline goodness [0,1] 0.9846118928733545 Centerline is valid? [True, True] Translation: X:266.39, Y:-9.16, Z:3.21 [[ 9.99410106e-01 -2.62497758e-02 -2.21447218e-02 2.66385587e+02] [ 2.62763925e-02 9.99654300e-01 9.11773566e-04 -9.16495662e+00] [ 2.21131326e-02 -1.49311912e-03 9.99754360e-01 3.21040764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07071405700003 meters Centerline goodness [0,1] 0.9861551444928495 Centerline is valid? [True, True] Translation: X:266.42, Y:-9.15, Z:3.21 [[ 9.99466818e-01 -2.33125818e-02 -2.28605353e-02 2.66416566e+02] [ 2.33401808e-02 9.99727138e-01 9.41164335e-04 -9.15368765e+00] [ 2.28323566e-02 -1.47423155e-03 9.99738221e-01 3.21249126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.100714057 meters Centerline goodness [0,1] 0.9862230723687206 Centerline is valid? [True, True] Translation: X:266.45, Y:-9.15, Z:3.21 [[ 9.99490910e-01 -2.19596575e-02 -2.31450762e-02 2.66446778e+02] [ 2.19875791e-02 9.99757790e-01 9.52546519e-04 -9.15359336e+00] [ 2.31185526e-02 -1.46096578e-03 9.99731663e-01 3.21246249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13071405700003 meters Centerline goodness [0,1] 0.9859193563134314 Centerline is valid? [True, True] Translation: X:266.48, Y:-9.15, Z:3.21 [[ 9.99583650e-01 -1.89089043e-02 -2.17940159e-02 2.66477110e+02] [ 1.89329298e-02 9.99820354e-01 8.96560350e-04 -9.15257932e+00] [ 2.17731478e-02 -1.30881164e-03 9.99762080e-01 3.21269075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.160714057 meters Centerline goodness [0,1] 0.9863352331250429 Centerline is valid? [True, True] Translation: X:266.51, Y:-9.15, Z:3.21 [[ 9.99623407e-01 -1.77130365e-02 -2.09592863e-02 2.66505181e+02] [ 1.77349625e-02 9.99842353e-01 8.60697171e-04 -9.15367297e+00] [ 2.09407366e-02 -1.23208520e-03 9.99779960e-01 3.21295575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19071405700004 meters Centerline goodness [0,1] 0.9861793260993718 Centerline is valid? [True, True] Translation: X:266.53, Y:-9.15, Z:3.21 [[ 9.99694310e-01 -1.54000948e-02 -1.93422877e-02 2.66534806e+02] [ 1.54183189e-02 9.99880816e-01 7.93405517e-04 -9.15202688e+00] [ 1.93277639e-02 -1.09138854e-03 9.99812606e-01 3.21460906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.220714057 meters Centerline goodness [0,1] 0.986048429589242 Centerline is valid? [True, True] Translation: X:266.56, Y:-9.15, Z:3.21 [[ 9.99714941e-01 -1.46641903e-02 -1.88413897e-02 2.66562905e+02] [ 1.46812836e-02 9.99891928e-01 7.69217705e-04 -9.15385698e+00] [ 1.88280735e-02 -1.04561422e-03 9.99822189e-01 3.21469224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25071405700004 meters Centerline goodness [0,1] 0.9862007209606686 Centerline is valid? [True, True] Translation: X:266.59, Y:-9.15, Z:3.22 [[ 9.99725324e-01 -1.39579293e-02 -1.88269057e-02 2.66592051e+02] [ 1.39747851e-02 9.99902056e-01 7.64031304e-04 -9.15209977e+00] [ 1.88143974e-02 -1.02692340e-03 9.99822466e-01 3.21603791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.280714057 meters Centerline goodness [0,1] 0.9854303423983898 Centerline is valid? [True, True] Translation: X:266.62, Y:-9.15, Z:3.22 [[ 9.99767569e-01 -1.26186466e-02 -1.74807765e-02 2.66619563e+02] [ 1.26329271e-02 9.99919952e-01 7.06736273e-04 -9.15353396e+00] [ 1.74704591e-02 -9.27405381e-04 9.99846950e-01 3.21586600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.310714057 meters Centerline goodness [0,1] 0.9858128305357553 Centerline is valid? [True, True] Translation: X:266.65, Y:-9.16, Z:3.22 [[ 9.99774098e-01 -1.25110399e-02 -1.71821594e-02 2.66648408e+02] [ 1.25247595e-02 9.99921323e-01 6.91094119e-04 -9.15515361e+00] [ 1.71721613e-02 -9.06140413e-04 9.99852137e-01 3.21625044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.340714057 meters Centerline goodness [0,1] 0.9858291226458429 Centerline is valid? [True, True] Translation: X:266.68, Y:-9.15, Z:3.22 [[ 9.99786091e-01 -1.23703706e-02 -1.65754597e-02 2.66676870e+02] [ 1.23830535e-02 9.99923107e-01 6.62745823e-04 -9.15488743e+00] [ 1.65659868e-02 -8.67858861e-04 9.99862398e-01 3.21644486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.370714057 meters Centerline goodness [0,1] 0.9854666513603489 Centerline is valid? [True, True] Translation: X:266.70, Y:-9.16, Z:3.22 [[ 9.99780274e-01 -1.25996894e-02 -1.67526698e-02 2.66704478e+02] [ 1.26126411e-02 9.99920235e-01 6.67677189e-04 -9.15757713e+00] [ 1.67429210e-02 -8.78825893e-04 9.99859441e-01 3.21608164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.400714057 meters Centerline goodness [0,1] 0.9870497308736256 Centerline is valid? [True, True] Translation: X:266.73, Y:-9.16, Z:3.22 [[ 9.99780124e-01 -1.23703779e-02 -1.69315482e-02 2.66733069e+02] [ 1.23835177e-02 9.99923096e-01 6.71429542e-04 -9.15667623e+00] [ 1.69219402e-02 -8.80954038e-04 9.99856426e-01 3.21672826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.430714057 meters Centerline goodness [0,1] 0.9870497308736256 Centerline is valid? [True, True] Translation: X:266.76, Y:-9.16, Z:3.22 [[ 9.99777115e-01 -1.26109882e-02 -1.69317091e-02 2.66761314e+02] [ 1.26240937e-02 9.99920090e-01 6.67355531e-04 -9.15774027e+00] [ 1.69219401e-02 -8.80954269e-04 9.99856426e-01 3.21685743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.460714057 meters Centerline goodness [0,1] 0.9861768082663604 Centerline is valid? [True, True] Translation: X:266.79, Y:-9.16, Z:3.22 [[ 9.99789895e-01 -1.21728647e-02 -1.64920101e-02 2.66788786e+02] [ 1.21852044e-02 9.99925548e-01 6.47937690e-04 -9.16188075e+00] [ 1.64828950e-02 -8.48760069e-04 9.99863788e-01 3.21647110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.490714057 meters Centerline goodness [0,1] 0.9863369155873978 Centerline is valid? [True, True] Translation: X:266.82, Y:-9.16, Z:3.22 [[ 9.99802719e-01 -1.12710335e-02 -1.63550330e-02 2.66817726e+02] [ 1.12829977e-02 9.99936141e-01 6.39435731e-04 -9.16293803e+00] [ 1.63467815e-02 -8.23843382e-04 9.99866043e-01 3.21607169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.520714057 meters Centerline goodness [0,1] 0.9864195265186273 Centerline is valid? [True, True] Translation: X:266.85, Y:-9.16, Z:3.22 [[ 9.99803261e-01 -1.08451368e-02 -1.66079148e-02 2.66846729e+02] [ 1.08573513e-02 9.99940849e-01 6.45473306e-04 -9.16431557e+00] [ 1.65999322e-02 -8.25664282e-04 9.99861871e-01 3.21621866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.550714057 meters Centerline goodness [0,1] 0.9865220475503993 Centerline is valid? [True, True] Translation: X:266.88, Y:-9.16, Z:3.22 [[ 9.99809594e-01 -1.04384771e-02 -1.64867825e-02 2.66875404e+02] [ 1.04503948e-02 9.99945190e-01 6.36879664e-04 -9.16165938e+00] [ 1.64792308e-02 -8.09051785e-04 9.99863881e-01 3.21698482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.580714057 meters Centerline goodness [0,1] 0.9865343890986097 Centerline is valid? [True, True] Translation: X:266.90, Y:-9.16, Z:3.22 [[ 9.99790944e-01 -1.03318132e-02 -1.76443444e-02 2.66903057e+02] [ 1.03453618e-02 9.99946256e-01 6.76766224e-04 -9.15983713e+00] [ 1.76364039e-02 -8.59161868e-04 9.99844097e-01 3.21699406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.610714057 meters Centerline goodness [0,1] 0.9860776623317049 Centerline is valid? [True, True] Translation: X:266.93, Y:-9.17, Z:3.22 [[ 9.99798134e-01 -9.92056152e-03 -1.74721064e-02 2.66931035e+02] [ 9.93373305e-03 9.99950437e-01 6.67231535e-04 -9.16580992e+00] [ 1.74646211e-02 -8.40660085e-04 9.99847128e-01 3.21577386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.640714057 meters Centerline goodness [0,1] 0.9858846601144734 Centerline is valid? [True, True] Translation: X:266.96, Y:-9.17, Z:3.22 [[ 9.99796473e-01 -1.03310150e-02 -1.73286391e-02 2.66958790e+02] [ 1.03439625e-02 9.99946283e-01 6.57704649e-04 -9.16522146e+00] [ 1.73209135e-02 -8.36817581e-04 9.99849632e-01 3.21643860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.670714057 meters Centerline goodness [0,1] 0.9849273899378284 Centerline is valid? [True, True] Translation: X:266.99, Y:-9.17, Z:3.22 [[ 9.99805536e-01 -1.07896550e-02 -1.65067426e-02 2.66986844e+02] [ 1.08014296e-02 9.99941468e-01 6.24330556e-04 -9.16995891e+00] [ 1.64990401e-02 -8.02505564e-04 9.99863560e-01 3.21598330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.700714057 meters Centerline goodness [0,1] 0.9863867626163084 Centerline is valid? [True, True] Translation: X:267.02, Y:-9.16, Z:3.22 [[ 9.99801837e-01 -1.17928273e-02 -1.60379300e-02 2.67015474e+02] [ 1.18040487e-02 9.99930147e-01 6.05189339e-04 -9.16245778e+00] [ 1.60296728e-02 -7.94381919e-04 9.99871201e-01 3.21772540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.730714057 meters Centerline goodness [0,1] 0.9860496064979465 Centerline is valid? [True, True] Translation: X:267.04, Y:-9.17, Z:3.22 [[ 9.99797838e-01 -1.27978620e-02 -1.55079689e-02 2.67043358e+02] [ 1.28084531e-02 9.99917798e-01 5.83815165e-04 -9.16517435e+00] [ 1.54992225e-02 -7.82330233e-04 9.99879574e-01 3.21754948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76071405700003 meters Centerline goodness [0,1] 0.9863114209066104 Centerline is valid? [True, True] Translation: X:267.07, Y:-9.17, Z:3.22 [[ 9.99792178e-01 -1.35128332e-02 -1.52644872e-02 2.67072159e+02] [ 1.35231626e-02 9.99908393e-01 5.73679753e-04 -9.16785812e+00] [ 1.52553369e-02 -7.79984673e-04 9.99883326e-01 3.21751178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.790714057 meters Centerline goodness [0,1] 0.9863487482535102 Centerline is valid? [True, True] Translation: X:267.10, Y:-9.17, Z:3.22 [[ 9.99777689e-01 -1.62632023e-02 -1.34193858e-02 2.67100616e+02] [ 1.62714233e-02 9.99867485e-01 5.03659080e-04 -9.17189394e+00] [ 1.34094164e-02 -7.21899618e-04 9.99909829e-01 3.21783284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82071405700003 meters Centerline goodness [0,1] 0.9865707214226785 Centerline is valid? [True, True] Translation: X:267.13, Y:-9.17, Z:3.22 [[ 9.99766369e-01 -1.77517797e-02 -1.23321155e-02 2.67132384e+02] [ 1.77588360e-02 9.99842192e-01 4.62912494e-04 -9.17111179e+00] [ 1.23219519e-02 -6.81808360e-04 9.99923849e-01 3.21840739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.850714057 meters Centerline goodness [0,1] 0.9853215178368553 Centerline is valid? [True, True] Translation: X:267.16, Y:-9.18, Z:3.22 [[ 9.99724075e-01 -2.09759699e-02 -1.05727388e-02 2.67162349e+02] [ 2.09813387e-02 9.99779789e-01 3.97118530e-04 -9.18146295e+00] [ 1.05620807e-02 -6.18839170e-04 9.99944028e-01 3.21829239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88071405700003 meters Centerline goodness [0,1] 0.9841084204733076 Centerline is valid? [True, True] Translation: X:267.19, Y:-9.19, Z:3.22 [[ 9.99695468e-01 -2.26770977e-02 -9.73243255e-03 2.67192874e+02] [ 2.26817340e-02 9.99742669e-01 3.66249272e-04 -9.18529166e+00] [ 9.72162263e-03 -5.86886184e-04 9.99952572e-01 3.21863688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.910714057 meters Centerline goodness [0,1] 0.984557919190999 Centerline is valid? [True, True] Translation: X:267.22, Y:-9.19, Z:3.22 [[ 9.99641650e-01 -2.51437041e-02 -9.18508525e-03 2.67224051e+02] [ 2.51479434e-02 9.99683680e-01 3.46320571e-04 -9.18955252e+00] [ 9.17347204e-03 -5.77182471e-04 9.99957756e-01 3.21790305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94071405700004 meters Centerline goodness [0,1] 0.9826430070249065 Centerline is valid? [True, True] Translation: X:267.26, Y:-9.19, Z:3.22 [[ 9.99613684e-01 -2.62828818e-02 -9.03842048e-03 2.67255538e+02] [ 2.62870373e-02 9.99654378e-01 3.41244886e-04 -9.19400014e+00] [ 9.02632770e-03 -5.78706354e-04 9.99959094e-01 3.21724085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.970714057 meters Centerline goodness [0,1] 0.9837615621788284 Centerline is valid? [True, True] Translation: X:267.29, Y:-9.19, Z:3.22 [[ 9.99589016e-01 -2.70260165e-02 -9.56002327e-03 2.67287417e+02] [ 2.70307057e-02 9.99634538e-01 3.61605857e-04 -9.19489431e+00] [ 9.54675668e-03 -6.19871418e-04 9.99954237e-01 3.21709448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00071405700004 meters Centerline goodness [0,1] 0.9851928138230919 Centerline is valid? [True, True] Translation: X:267.32, Y:-9.19, Z:3.22 [[ 9.99563020e-01 -2.80732615e-02 -9.25533347e-03 2.67319492e+02] [ 2.80777071e-02 9.99605682e-01 3.50720866e-04 -9.18985759e+00] [ 9.24183805e-03 -6.10436151e-04 9.99957107e-01 3.21664016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.030714057 meters Centerline goodness [0,1] 0.9852860411899313 Centerline is valid? [True, True] Translation: X:267.35, Y:-9.19, Z:3.22 [[ 9.99569496e-01 -2.79496575e-02 -8.92405961e-03 2.67350789e+02] [ 2.79537906e-02 9.99609159e-01 3.38716074e-04 -9.19231945e+00] [ 8.91110472e-03 -5.88031549e-04 9.99960122e-01 3.21593769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.060714057 meters Centerline goodness [0,1] 0.9864169582218564 Centerline is valid? [True, True] Translation: X:267.38, Y:-9.19, Z:3.22 [[ 9.99575414e-01 -2.75983949e-02 -9.34453260e-03 2.67382968e+02] [ 2.76029170e-02 9.99618904e-01 3.55275235e-04 -9.19022551e+00] [ 9.33116641e-03 -6.13060747e-04 9.99956276e-01 3.21509756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.090714057 meters Centerline goodness [0,1] 0.9853421310988836 Centerline is valid? [True, True] Translation: X:267.41, Y:-9.19, Z:3.21 [[ 9.99592077e-01 -2.70228827e-02 -9.24354547e-03 2.67414499e+02] [ 2.70272919e-02 9.99634634e-01 3.52404735e-04 -9.19216916e+00] [ 9.23064520e-03 -6.02088982e-04 9.99957215e-01 3.21492909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.120714057 meters Centerline goodness [0,1] 0.9856543758736852 Centerline is valid? [True, True] Translation: X:267.45, Y:-9.19, Z:3.22 [[ 9.99604188e-01 -2.67187860e-02 -8.80757838e-03 2.67446494e+02] [ 2.67227852e-02 9.99642826e-01 3.36681499e-04 -9.19324642e+00] [ 8.79543682e-03 -5.71911262e-04 9.99961156e-01 3.21508979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.150714057 meters Centerline goodness [0,1] 0.9864431620408537 Centerline is valid? [True, True] Translation: X:267.48, Y:-9.19, Z:3.22 [[ 9.99647094e-01 -2.53146778e-02 -8.05324567e-03 2.67477755e+02] [ 2.53179794e-02 9.99679401e-01 3.08270584e-04 -9.18813898e+00] [ 8.04286004e-03 -5.12053702e-04 9.99967525e-01 3.21559074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.180714057 meters Centerline goodness [0,1] 0.9853654074819355 Centerline is valid? [True, True] Translation: X:267.51, Y:-9.19, Z:3.22 [[ 9.99675233e-01 -2.42975881e-02 -7.68472606e-03 2.67508477e+02] [ 2.43005670e-02 9.99704654e-01 2.94493021e-04 -9.19343900e+00] [ 7.67530094e-03 -4.81140580e-04 9.99970429e-01 3.21504461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.210714057 meters Centerline goodness [0,1] 0.9858325118635519 Centerline is valid? [True, True] Translation: X:267.54, Y:-9.19, Z:3.22 [[ 9.99710848e-01 -2.26720910e-02 -8.01225852e-03 2.67540495e+02] [ 2.26752808e-02 9.99742835e-01 3.07485190e-04 -9.18908826e+00] [ 8.00322672e-03 -4.89076492e-04 9.99967854e-01 3.21540335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.240714057 meters Centerline goodness [0,1] 0.9847627340008707 Centerline is valid? [True, True] Translation: X:267.57, Y:-9.19, Z:3.22 [[ 9.99736327e-01 -2.17171683e-02 -7.45931743e-03 2.67571856e+02] [ 2.17199093e-02 9.99764054e-01 2.86642295e-04 -9.19183419e+00] [ 7.45133237e-03 -4.48582413e-04 9.99972138e-01 3.21552419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.270714057 meters Centerline goodness [0,1] 0.9839985286003311 Centerline is valid? [True, True] Translation: X:267.60, Y:-9.19, Z:3.22 [[ 9.99751403e-01 -2.11247182e-02 -7.13292173e-03 2.67602786e+02] [ 2.11272121e-02 9.99776758e-01 2.74459814e-04 -9.19449088e+00] [ 7.12553147e-03 -4.25090335e-04 9.99974523e-01 3.21569188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.300714057 meters Centerline goodness [0,1] 0.9860044730349773 Centerline is valid? [True, True] Translation: X:267.64, Y:-9.18, Z:3.22 [[ 9.99775980e-01 -2.02508143e-02 -6.15587673e-03 2.67635307e+02] [ 2.02526572e-02 9.99794866e-01 2.37183079e-04 -9.18452578e+00] [ 6.14981080e-03 -3.61802807e-04 9.99981024e-01 3.21666846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.330714057 meters Centerline goodness [0,1] 0.9858031399569932 Centerline is valid? [True, True] Translation: X:267.67, Y:-9.19, Z:3.22 [[ 9.99792355e-01 -1.95635331e-02 -5.70215529e-03 2.67666086e+02] [ 1.95651054e-02 9.99808561e-01 2.20072240e-04 -9.18682602e+00] [ 5.69675828e-03 -3.31589812e-04 9.99983718e-01 3.21674462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.360714057 meters Centerline goodness [0,1] 0.9856671359660258 Centerline is valid? [True, True] Translation: X:267.70, Y:-9.19, Z:3.22 [[ 9.99802829e-01 -1.90768806e-02 -5.51145166e-03 2.67698727e+02] [ 1.90783438e-02 9.99817969e-01 2.13019911e-04 -9.18756306e+00] [ 5.50638465e-03 -3.18127280e-04 9.99984789e-01 3.21693342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.390714057 meters Centerline goodness [0,1] 0.9856793653721981 Centerline is valid? [True, True] Translation: X:267.73, Y:-9.19, Z:3.22 [[ 9.99810657e-01 -1.86912408e-02 -5.41184903e-03 2.67730604e+02] [ 1.86926480e-02 9.99825255e-01 2.09552103e-04 -9.18789991e+00] [ 5.40698655e-03 -3.10674215e-04 9.99985334e-01 3.21632298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.420714057 meters Centerline goodness [0,1] 0.9851226284127719 Centerline is valid? [True, True] Translation: X:267.76, Y:-9.19, Z:3.22 [[ 9.99803344e-01 -1.90037116e-02 -5.66855872e-03 2.67763198e+02] [ 1.90052628e-02 9.99819359e-01 2.19913119e-04 -9.18893317e+00] [ 5.66335559e-03 -3.27602320e-04 9.99983909e-01 3.21631028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.450714057 meters Centerline goodness [0,1] 0.9850350488839698 Centerline is valid? [True, True] Translation: X:267.79, Y:-9.19, Z:3.22 [[ 9.99804012e-01 -1.89493290e-02 -5.73233577e-03 2.67794933e+02] [ 1.89509168e-02 9.99820390e-01 2.22800322e-04 -9.19092298e+00] [ 5.72708427e-03 -3.31389674e-04 9.99983545e-01 3.21643014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.480714057 meters Centerline goodness [0,1] 0.9853250444870698 Centerline is valid? [True, True] Translation: X:267.83, Y:-9.19, Z:3.22 [[ 9.99810187e-01 -1.87541705e-02 -5.27935523e-03 2.67827685e+02] [ 1.87555164e-02 9.99824079e-01 2.05544390e-04 -9.18906354e+00] [ 5.27457166e-03 -3.04522409e-04 9.99986043e-01 3.21685837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51071405700003 meters Centerline goodness [0,1] 0.9852407899295531 Centerline is valid? [True, True] Translation: X:267.86, Y:-9.19, Z:3.22 [[ 9.99816960e-01 -1.83673763e-02 -5.35588895e-03 2.67858621e+02] [ 1.83687580e-02 9.99831258e-01 2.08904683e-04 -9.19254649e+00] [ 5.35114815e-03 -3.07247473e-04 9.99985635e-01 3.21669964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.540714057 meters Centerline goodness [0,1] 0.9847614636405744 Centerline is valid? [True, True] Translation: X:267.89, Y:-9.19, Z:3.22 [[ 9.99831977e-01 -1.73767060e-02 -5.83675155e-03 2.67891149e+02] [ 1.73783323e-02 9.99848959e-01 2.28020850e-04 -9.19327782e+00] [ 5.83190771e-03 -3.29415546e-04 9.99982940e-01 3.21655766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57071405700003 meters Centerline goodness [0,1] 0.9836278165018641 Centerline is valid? [True, True] Translation: X:267.92, Y:-9.20, Z:3.22 [[ 9.99858411e-01 -1.59908544e-02 -5.23936491e-03 2.67922830e+02] [ 1.59921476e-02 9.99872096e-01 2.05021993e-04 -9.19536844e+00] [ 5.23541630e-03 -2.88781662e-04 9.99986253e-01 3.21670841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.600714057 meters Centerline goodness [0,1] 0.9850804777936633 Centerline is valid? [True, True] Translation: X:267.95, Y:-9.19, Z:3.22 [[ 9.99881358e-01 -1.46652330e-02 -4.71173809e-03 2.67954780e+02] [ 1.46662656e-02 9.99892427e-01 1.84676483e-04 -9.19346491e+00] [ 4.70852291e-03 -2.53758175e-04 9.99988883e-01 3.21716799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63071405700003 meters Centerline goodness [0,1] 0.9850388988629564 Centerline is valid? [True, True] Translation: X:267.99, Y:-9.19, Z:3.22 [[ 9.99895761e-01 -1.35783829e-02 -4.90861448e-03 2.67987469e+02] [ 1.35794924e-02 9.99907776e-01 1.92769689e-04 -9.19460290e+00] [ 4.90554428e-03 -2.59406088e-04 9.99987934e-01 3.21695804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.660714057 meters Centerline goodness [0,1] 0.9861499687854054 Centerline is valid? [True, True] Translation: X:268.02, Y:-9.20, Z:3.22 [[ 9.99909094e-01 -1.26872740e-02 -4.56475027e-03 2.68019493e+02] [ 1.26882262e-02 9.99919485e-01 1.79691134e-04 -9.19565200e+00] [ 4.56210295e-03 -2.37593383e-04 9.99989565e-01 3.21731225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69071405700004 meters Centerline goodness [0,1] 0.9861483054760366 Centerline is valid? [True, True] Translation: X:268.05, Y:-9.20, Z:3.22 [[ 9.99933212e-01 -1.05280019e-02 -4.76792563e-03 2.68051175e+02] [ 1.05290179e-02 9.99944551e-01 1.88041269e-04 -9.19641676e+00] [ 4.76568155e-03 -2.38230285e-04 9.99988616e-01 3.21732438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.720714057 meters Centerline goodness [0,1] 0.984921954373326 Centerline is valid? [True, True] Translation: X:268.08, Y:-9.20, Z:3.22 [[ 9.99943890e-01 -9.58235685e-03 -4.51621746e-03 2.68082713e+02] [ 9.58325992e-03 9.99954064e-01 1.78362840e-04 -9.20021911e+00] [ 4.51430087e-03 -2.21632917e-04 9.99989786e-01 3.21736519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75071405700004 meters Centerline goodness [0,1] 0.9866725181318428 Centerline is valid? [True, True] Translation: X:268.11, Y:-9.20, Z:3.22 [[ 9.99956878e-01 -7.93819120e-03 -4.81941436e-03 2.68114569e+02] [ 7.93920229e-03 9.99968466e-01 1.90700285e-04 -9.19813457e+00] [ 4.81774857e-03 -2.28954367e-04 9.99988368e-01 3.21684348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.780714057 meters Centerline goodness [0,1] 0.9870138856852886 Centerline is valid? [True, True] Translation: X:268.15, Y:-9.20, Z:3.22 [[ 9.99962838e-01 -7.14723856e-03 -4.82076463e-03 2.68145369e+02] [ 7.14824231e-03 9.99974433e-01 1.91015785e-04 -9.20177568e+00] [ 4.81927614e-03 -2.25468680e-04 9.99988362e-01 3.21631077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.810714057 meters Centerline goodness [0,1] 0.9857271322834282 Centerline is valid? [True, True] Translation: X:268.18, Y:-9.21, Z:3.22 [[ 9.99964162e-01 -6.46365073e-03 -5.46767629e-03 2.68175940e+02] [ 6.46493337e-03 9.99979079e-01 2.16943733e-04 -9.20538857e+00] [ 5.46615965e-03 -2.52284121e-04 9.99985029e-01 3.21563849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.840714057 meters Centerline goodness [0,1] 0.9857260877547274 Centerline is valid? [True, True] Translation: X:268.21, Y:-9.21, Z:3.21 [[ 9.99971245e-01 -4.56802149e-03 -6.05327203e-03 2.68205969e+02] [ 4.56955946e-03 9.99989531e-01 2.40267187e-04 -9.20819195e+00] [ 6.05211111e-03 -2.67921065e-04 9.99981650e-01 3.21477113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.870714057 meters Centerline goodness [0,1] 0.9881861766797422 Centerline is valid? [True, True] Translation: X:268.24, Y:-9.21, Z:3.21 [[ 9.99966803e-01 -3.01205918e-03 -7.57108916e-03 2.68236168e+02] [ 3.01442023e-03 9.99995411e-01 3.00458302e-04 -9.20604315e+00] [ 7.57014942e-03 -3.23270771e-04 9.99971294e-01 3.21450892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.900714057 meters Centerline goodness [0,1] 0.9861710138974464 Centerline is valid? [True, True] Translation: X:268.26, Y:-9.21, Z:3.21 [[ 9.99962361e-01 -1.95046987e-03 -8.45407663e-03 2.68264610e+02] [ 1.95337337e-03 9.99998036e-01 3.35199575e-04 -9.21064895e+00] [ 8.45340623e-03 -3.51700927e-04 9.99964207e-01 3.21398180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.930714057 meters Centerline goodness [0,1] 0.9871238756221177 Centerline is valid? [True, True] Translation: X:268.29, Y:-9.21, Z:3.21 [[ 9.99956274e-01 -1.65635534e-03 -9.20360722e-03 2.68292989e+02] [ 1.65977109e-03 9.99998557e-01 3.63505404e-04 -9.21072053e+00] [ 9.20299184e-03 -3.78765391e-04 9.99957580e-01 3.21333617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.960714057 meters Centerline goodness [0,1] 0.9873487348734874 Centerline is valid? [True, True] Translation: X:268.32, Y:-9.21, Z:3.21 [[ 9.99951602e-01 -7.98711966e-04 -9.80594607e-03 2.68321212e+02] [ 8.02523917e-04 9.99999604e-01 3.84809984e-04 -9.21387797e+00] [ 9.80563484e-03 -3.92660866e-04 9.99951847e-01 3.21310193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.990714057 meters Centerline goodness [0,1] 0.9875886929342247 Centerline is valid? [True, True] Translation: X:268.35, Y:-9.22, Z:3.21 [[ 9.99957304e-01 -3.38429037e-04 -9.23451718e-03 2.68349738e+02] [ 3.41769756e-04 9.99999877e-01 3.60188668e-04 -9.21595016e+00] [ 9.23439414e-03 -3.63329368e-04 9.99957296e-01 3.21354761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.020714057 meters Centerline goodness [0,1] 0.9898427335600648 Centerline is valid? [True, True] Translation: X:268.38, Y:-9.22, Z:3.21 [[ 9.99959518e-01 1.09493576e-03 -8.93109153e-03 2.68378743e+02] [-1.09188745e-03 9.99999344e-01 3.46183300e-04 -9.21682339e+00] [ 8.93146472e-03 -3.36417539e-04 9.99960057e-01 3.21490668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.050714057 meters Centerline goodness [0,1] 0.9898326043646523 Centerline is valid? [True, True] Translation: X:268.41, Y:-9.22, Z:3.21 [[ 9.99963134e-01 1.87389482e-03 -8.37969642e-03 2.68407578e+02] [-1.87125551e-03 9.99998197e-01 3.22794511e-04 -9.21908002e+00] [ 8.38028619e-03 -3.07102058e-04 9.99964838e-01 3.21499284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.080714057 meters Centerline goodness [0,1] 0.9886633753885536 Centerline is valid? [True, True] Translation: X:268.44, Y:-9.22, Z:3.21 [[ 9.99956725e-01 2.83327451e-03 -8.86116803e-03 2.68435618e+02] [-2.83038079e-03 9.99995937e-01 3.39084753e-04 -9.22318832e+00] [ 8.86209275e-03 -3.13989600e-04 9.99960682e-01 3.21495538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.110714057 meters Centerline goodness [0,1] 0.9892044548705218 Centerline is valid? [True, True] Translation: X:268.46, Y:-9.23, Z:3.21 [[ 9.99949600e-01 4.35118417e-03 -9.04790872e-03 2.68463766e+02] [-4.34824922e-03 9.99990487e-01 3.44024948e-04 -9.22703835e+00] [ 9.04931956e-03 -3.04665047e-04 9.99959008e-01 3.21473284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.140714057 meters Centerline goodness [0,1] 0.9897693537337292 Centerline is valid? [True, True] Translation: X:268.49, Y:-9.23, Z:3.22 [[ 9.99945933e-01 4.45730479e-03 -9.39487922e-03 2.68492324e+02] [-4.45415879e-03 9.99990017e-01 3.55760619e-04 -9.22565392e+00] [ 9.39637117e-03 -3.13895100e-04 9.99955804e-01 3.21521481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.170714057 meters Centerline goodness [0,1] 0.9897159311652992 Centerline is valid? [True, True] Translation: X:268.52, Y:-9.23, Z:3.21 [[ 9.99942887e-01 4.23547758e-03 -9.81243823e-03 2.68519499e+02] [-4.23204285e-03 9.99990976e-01 3.70775580e-04 -9.23220819e+00] [ 9.81392010e-03 -3.29227744e-04 9.99951788e-01 3.21477462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.200714057 meters Centerline goodness [0,1] 0.9904729344729345 Centerline is valid? [True, True] Translation: X:268.55, Y:-9.23, Z:3.21 [[ 9.99939954e-01 3.20946073e-03 -1.04780042e-02 2.68548335e+02] [-3.20549673e-03 9.99994784e-01 3.95089352e-04 -9.23435697e+00] [ 1.04792176e-02 -3.61478420e-04 9.99945026e-01 3.21473504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.230714057 meters Centerline goodness [0,1] 0.9899279266989519 Centerline is valid? [True, True] Translation: X:268.58, Y:-9.24, Z:3.22 [[ 9.99932614e-01 2.73645523e-03 -1.12817958e-02 2.68577240e+02] [-2.73183868e-03 9.99996178e-01 4.24593175e-04 -9.23776373e+00] [ 1.12829145e-02 -3.93744517e-04 9.99936268e-01 3.21504467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26071405700003 meters Centerline goodness [0,1] 0.98881325164511 Centerline is valid? [True, True] Translation: X:268.60, Y:-9.25, Z:3.21 [[ 9.99911971e-01 9.42937092e-04 -1.32348091e-02 2.68604417e+02] [-9.36441532e-04 9.99999438e-01 4.96982135e-04 -9.24701632e+00] [ 1.32352703e-02 -4.84544762e-04 9.99912293e-01 3.21248129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.290714057 meters Centerline goodness [0,1] 0.9895944564353062 Centerline is valid? [True, True] Translation: X:268.63, Y:-9.25, Z:3.21 [[ 9.99901185e-01 -3.26108486e-04 -1.40539574e-02 2.68631701e+02] [ 3.33541523e-04 9.99999806e-01 5.26552202e-04 -9.25264786e+00] [ 1.40537829e-02 -5.31187749e-04 9.99901100e-01 3.21118573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32071405700003 meters Centerline goodness [0,1] 0.9903937866194304 Centerline is valid? [True, True] Translation: X:268.66, Y:-9.25, Z:3.21 [[ 9.99885795e-01 -1.28416078e-03 -1.50581802e-02 2.68660663e+02] [ 1.29278587e-03 9.99999006e-01 5.63064192e-04 -9.25202352e+00] [ 1.50574421e-02 -5.82466889e-04 9.99886461e-01 3.21155730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.350714057 meters Centerline goodness [0,1] 0.9903937866194304 Centerline is valid? [True, True] Translation: X:268.69, Y:-9.25, Z:3.21 [[ 9.99885405e-01 -1.55722444e-03 -1.50582986e-02 2.68688053e+02] [ 1.56583266e-03 9.99998617e-01 5.59885874e-04 -9.25295909e+00] [ 1.50574059e-02 -5.83400489e-04 9.99886461e-01 3.21168224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38071405700003 meters Centerline goodness [0,1] 0.9901571678044134 Centerline is valid? [True, True] Translation: X:268.72, Y:-9.26, Z:3.21 [[ 9.99857692e-01 -4.01973353e-03 -1.63840491e-02 2.68716966e+02] [ 4.03022229e-03 9.99991694e-01 6.07213435e-04 -9.25748595e+00] [ 1.63814722e-02 -6.73158384e-04 9.99865588e-01 3.21098108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.410714057 meters Centerline goodness [0,1] 0.9906995643242511 Centerline is valid? [True, True] Translation: X:268.74, Y:-9.26, Z:3.21 [[ 9.99854593e-01 -5.08039517e-03 -1.62782657e-02 2.68744112e+02] [ 5.09086589e-03 9.99986860e-01 6.01859026e-04 -9.26193645e+00] [ 1.62749941e-02 -6.84641979e-04 9.99867319e-01 3.21071092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44071405700004 meters Centerline goodness [0,1] 0.9903041782227333 Centerline is valid? [True, True] Translation: X:268.77, Y:-9.27, Z:3.21 [[ 9.99836127e-01 -8.01122635e-03 -1.62338998e-02 2.68772368e+02] [ 8.02200852e-03 9.99967644e-01 5.99165255e-04 -9.26905108e+00] [ 1.62285745e-02 -7.29295550e-04 9.99868042e-01 3.21003148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.470714057 meters Centerline goodness [0,1] 0.9895861448493027 Centerline is valid? [True, True] Translation: X:268.80, Y:-9.27, Z:3.21 [[ 9.99837594e-01 -9.57352292e-03 -1.52686826e-02 2.68800038e+02] [ 9.58321896e-03 9.99953922e-01 5.61986810e-04 -9.27354185e+00] [ 1.52625989e-02 -7.08218669e-04 9.99883269e-01 3.21031338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50071405700004 meters Centerline goodness [0,1] 0.9905125899280576 Centerline is valid? [True, True] Translation: X:268.83, Y:-9.28, Z:3.21 [[ 9.99835056e-01 -1.10916574e-02 -1.43818164e-02 2.68828243e+02] [ 1.11003969e-02 9.99938249e-01 5.27990513e-04 -9.27728295e+00] [ 1.43750721e-02 -6.87547294e-04 9.99896437e-01 3.21103526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.530714057 meters Centerline goodness [0,1] 0.9904120996601472 Centerline is valid? [True, True] Translation: X:268.86, Y:-9.28, Z:3.21 [[ 9.99823365e-01 -1.29713893e-02 -1.36008030e-02 2.68856735e+02] [ 1.29793453e-02 9.99915641e-01 4.96853872e-04 -9.28113154e+00] [ 1.35932107e-02 -6.73295628e-04 9.99907381e-01 3.21160077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.560714057 meters Centerline goodness [0,1] 0.9885668168673079 Centerline is valid? [True, True] Translation: X:268.89, Y:-9.29, Z:3.21 [[ 9.99792292e-01 -1.66042694e-02 -1.18182576e-02 2.68886909e+02] [ 1.66105187e-02 9.99861943e-01 4.30815231e-04 -9.28799439e+00] [ 1.18094727e-02 -6.27033137e-04 9.99930069e-01 3.21318317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.590714057 meters Centerline goodness [0,1] 0.9894849881426462 Centerline is valid? [True, True] Translation: X:268.92, Y:-9.29, Z:3.21 [[ 9.99730109e-01 -2.06336119e-02 -1.06753407e-02 2.68917379e+02] [ 2.06389399e-02 9.99786919e-01 3.89152064e-04 -9.28840444e+00] [ 1.06650363e-02 -6.09374749e-04 9.99942941e-01 3.21474305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.620714057 meters Centerline goodness [0,1] 0.9898018517690209 Centerline is valid? [True, True] Translation: X:268.95, Y:-9.29, Z:3.21 [[ 9.99685175e-01 -2.30021373e-02 -1.00225563e-02 2.68948618e+02] [ 2.30069540e-02 9.99735238e-01 3.65546579e-04 -9.29331336e+00] [ 1.00114943e-02 -5.96019987e-04 9.99949706e-01 3.21466704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.650714057 meters Centerline goodness [0,1] 0.9882808131863217 Centerline is valid? [True, True] Translation: X:268.98, Y:-9.30, Z:3.21 [[ 9.99624488e-01 -2.55173148e-02 -9.98744458e-03 2.68979176e+02] [ 2.55222255e-02 9.99674188e-01 3.64518739e-04 -9.29769297e+00] [ 9.97488901e-03 -6.19283670e-04 9.99950058e-01 3.21444764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.680714057 meters Centerline goodness [0,1] 0.9869726492670718 Centerline is valid? [True, True] Translation: X:269.01, Y:-9.30, Z:3.21 [[ 9.99472891e-01 -3.06141858e-02 -1.08033333e-02 2.69009763e+02] [ 3.06202292e-02 9.99531013e-01 3.94399898e-04 -9.30470593e+00] [ 1.07861925e-02 -7.24992549e-04 9.99941565e-01 3.21310851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.710714057 meters Centerline goodness [0,1] 0.9866911221956293 Centerline is valid? [True, True] Translation: X:269.04, Y:-9.31, Z:3.21 [[ 9.99389563e-01 -3.28165427e-02 -1.19822774e-02 2.69040607e+02] [ 3.28241385e-02 9.99461047e-01 4.37756960e-04 -9.30922899e+00] [ 1.19614539e-02 -8.30797671e-04 9.99928114e-01 3.21221274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.740714057 meters Centerline goodness [0,1] 0.9876757816852756 Centerline is valid? [True, True] Translation: X:269.07, Y:-9.31, Z:3.21 [[ 9.99267125e-01 -3.60384511e-02 -1.29012546e-02 2.69071713e+02] [ 3.60475277e-02 9.99349965e-01 4.71621376e-04 -9.30509894e+00] [ 1.28758718e-02 -9.36334067e-04 9.99916664e-01 3.21173341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.770714057 meters Centerline goodness [0,1] 0.98479180583389 Centerline is valid? [True, True] Translation: X:269.10, Y:-9.32, Z:3.21 [[ 9.99231536e-01 -3.68953022e-02 -1.32315486e-02 2.69102309e+02] [ 3.69049312e-02 9.99318664e-01 4.84219343e-04 -9.31700754e+00] [ 1.32046680e-02 -9.72156628e-04 9.99912342e-01 3.21071841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.800714057 meters Centerline goodness [0,1] 0.9866832939918941 Centerline is valid? [True, True] Translation: X:269.13, Y:-9.31, Z:3.21 [[ 9.99234621e-01 -3.68998832e-02 -1.29834725e-02 2.69134374e+02] [ 3.69091658e-02 9.99318511e-01 4.75987511e-04 -9.31150647e+00] [ 1.29570605e-02 -9.54832338e-04 9.99915598e-01 3.21131957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.830714057 meters Centerline goodness [0,1] 0.9851518259241093 Centerline is valid? [True, True] Translation: X:269.16, Y:-9.32, Z:3.21 [[ 9.99299298e-01 -3.53017138e-02 -1.24378958e-02 2.69164838e+02] [ 3.53101168e-02 9.99376299e-01 4.56579073e-04 -9.31688757e+00] [ 1.24140203e-02 -8.95442702e-04 9.99922542e-01 3.21119113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.860714057 meters Centerline goodness [0,1] 0.985665239878723 Centerline is valid? [True, True] Translation: X:269.20, Y:-9.31, Z:3.21 [[ 9.99353359e-01 -3.39156891e-02 -1.19411294e-02 2.69196929e+02] [ 3.39233432e-02 9.99424341e-01 4.38964473e-04 -9.31468592e+00] [ 1.19193676e-02 -8.43763651e-04 9.99928606e-01 3.21179600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.890714057 meters Centerline goodness [0,1] 0.9879501881383265 Centerline is valid? [True, True] Translation: X:269.23, Y:-9.30, Z:3.21 [[ 9.99514915e-01 -2.89483693e-02 -1.14859732e-02 2.69228267e+02] [ 2.89551290e-02 9.99580623e-01 4.22632707e-04 -9.30454928e+00] [ 1.14689217e-02 -7.55005529e-04 9.99933945e-01 3.21335112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.920714057 meters Centerline goodness [0,1] 0.9876335775253713 Centerline is valid? [True, True] Translation: X:269.26, Y:-9.31, Z:3.21 [[ 9.99587928e-01 -2.64324851e-02 -1.11936454e-02 2.69257984e+02] [ 2.64387490e-02 9.99650350e-01 4.11955908e-04 -9.30649897e+00] [ 1.11788426e-02 -7.07732134e-04 9.99937264e-01 3.21341850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.950714057 meters Centerline goodness [0,1] 0.9879275203261138 Centerline is valid? [True, True] Translation: X:269.29, Y:-9.31, Z:3.21 [[ 9.99658938e-01 -2.37405321e-02 -1.08809373e-02 2.69288550e+02] [ 2.37462920e-02 9.99717937e-01 4.00447418e-04 -9.30513174e+00] [ 1.08683614e-02 -6.58692754e-04 9.99940721e-01 3.21359133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.980714057 meters Centerline goodness [0,1] 0.9879896029398584 Centerline is valid? [True, True] Translation: X:269.32, Y:-9.30, Z:3.21 [[ 9.99776801e-01 -1.83352100e-02 -1.04960669e-02 2.69319764e+02] [ 1.83402727e-02 9.99831728e-01 3.86285065e-04 -9.29939188e+00] [ 1.04872180e-02 -5.78699575e-04 9.99944840e-01 3.21406213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01071405700003 meters Centerline goodness [0,1] 0.9882540538112563 Centerline is valid? [True, True] Translation: X:269.35, Y:-9.30, Z:3.21 [[ 9.99822105e-01 -1.57586307e-02 -1.03645303e-02 2.69350988e+02] [ 1.57634315e-02 9.99875677e-01 3.81651933e-04 -9.29777532e+00] [ 1.03572275e-02 -5.44964602e-04 9.99946214e-01 3.21413961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.040714057 meters Centerline goodness [0,1] 0.9873646612345128 Centerline is valid? [True, True] Translation: X:269.38, Y:-9.29, Z:3.21 [[ 9.99888910e-01 -1.08187693e-02 -1.02529357e-02 2.69380932e+02] [ 1.08232092e-02 9.99941356e-01 3.77645100e-04 -9.29460822e+00] [ 1.02482487e-02 -4.88572815e-04 9.99947366e-01 3.21433061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07071405700003 meters Centerline goodness [0,1] 0.988815318539728 Centerline is valid? [True, True] Translation: X:269.41, Y:-9.29, Z:3.21 [[ 9.99913741e-01 -8.85561577e-03 -9.69996217e-03 2.69411123e+02] [ 8.85949616e-03 9.99960690e-01 3.57144598e-04 -9.29376726e+00] [ 9.69641813e-03 -4.43050568e-04 9.99952890e-01 3.21424739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.100714057 meters Centerline goodness [0,1] 0.9890658747300216 Centerline is valid? [True, True] Translation: X:269.44, Y:-9.29, Z:3.21 [[ 9.99934132e-01 -6.94710444e-03 -9.13614749e-03 2.69441310e+02] [ 6.95046592e-03 9.99975789e-01 3.36231122e-04 -9.29288657e+00] [ 9.13359046e-03 -3.99709457e-04 9.99958208e-01 3.21424486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13071405700003 meters Centerline goodness [0,1] 0.9879007728184215 Centerline is valid? [True, True] Translation: X:269.47, Y:-9.29, Z:3.21 [[ 9.99958578e-01 -3.56434686e-03 -8.37485380e-03 2.69470207e+02] [ 3.56705130e-03 9.99993591e-01 3.08009408e-04 -9.29178485e+00] [ 8.37370227e-03 -3.37870183e-04 9.99964883e-01 3.21420324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.160714057 meters Centerline goodness [0,1] 0.9886990387429369 Centerline is valid? [True, True] Translation: X:269.50, Y:-9.29, Z:3.21 [[ 9.99965877e-01 -2.52119902e-03 -7.86686736e-03 2.69498050e+02] [ 2.52354862e-03 9.99996774e-01 2.88758653e-04 -9.29207710e+00] [ 7.86611396e-03 -3.08601222e-04 9.99969014e-01 3.21403713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19071405700004 meters Centerline goodness [0,1] 0.9892543513104725 Centerline is valid? [True, True] Translation: X:269.53, Y:-9.29, Z:3.21 [[ 9.99979280e-01 -3.78003202e-05 -6.43718616e-03 2.69526702e+02] [ 3.93182608e-05 9.99999971e-01 2.35681710e-04 -9.29059729e+00] [ 6.43717707e-03 -2.35929926e-04 9.99979253e-01 3.21402168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.220714057 meters Centerline goodness [0,1] 0.9890162044884399 Centerline is valid? [True, True] Translation: X:269.56, Y:-9.29, Z:3.21 [[ 9.99980849e-01 7.13220860e-04 -6.14766968e-03 2.69555804e+02] [-7.11854689e-04 9.99999721e-01 2.24411085e-04 -9.28999654e+00] [ 6.14782803e-03 -2.20030540e-04 9.99981078e-01 3.21381206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25071405700004 meters Centerline goodness [0,1] 0.9881989259443116 Centerline is valid? [True, True] Translation: X:269.58, Y:-9.29, Z:3.21 [[ 9.99985575e-01 1.91942993e-03 -5.01654502e-03 2.69583568e+02] [-1.91854002e-03 9.99998143e-01 1.82202487e-04 -9.29002913e+00] [ 5.01688543e-03 -1.72575417e-04 9.99987400e-01 3.21358719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.280714057 meters Centerline goodness [0,1] 0.9887361459109275 Centerline is valid? [True, True] Translation: X:269.61, Y:-9.29, Z:3.21 [[ 9.99990555e-01 1.95425817e-03 -3.88202946e-03 2.69612163e+02] [-1.95372649e-03 9.99998082e-01 1.40745771e-04 -9.29037177e+00] [ 3.88229707e-03 -1.33160017e-04 9.99992455e-01 3.21385523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.310714057 meters Centerline goodness [0,1] 0.9897542370968834 Centerline is valid? [True, True] Translation: X:269.64, Y:-9.29, Z:3.21 [[ 9.99994635e-01 1.63309594e-03 -2.83960090e-03 2.69640911e+02] [-1.63281045e-03 9.99998662e-01 1.02853338e-04 -9.28625956e+00] [ 2.83976507e-03 -9.82162557e-05 9.99995963e-01 3.21381400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.340714057 meters Centerline goodness [0,1] 0.9891851617710145 Centerline is valid? [True, True] Translation: X:269.67, Y:-9.29, Z:3.21 [[ 9.99999049e-01 -1.44582255e-04 -1.37131729e-03 2.69670357e+02] [ 1.44650444e-04 9.99999988e-01 4.96264760e-05 -9.28812975e+00] [ 1.37131010e-03 -4.98247905e-05 9.99999059e-01 3.21429487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.370714057 meters Centerline goodness [0,1] 0.9888300999412111 Centerline is valid? [True, True] Translation: X:269.70, Y:-9.29, Z:3.21 [[ 9.99998212e-01 -1.57293560e-03 -1.05006196e-03 2.69700223e+02] [ 1.57297622e-03 9.99998762e-01 3.78593718e-05 -9.29050982e+00] [ 1.05000111e-03 -3.95110266e-05 9.99999448e-01 3.21410515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.400714057 meters Centerline goodness [0,1] 0.9878164342764316 Centerline is valid? [True, True] Translation: X:269.73, Y:-9.29, Z:3.21 [[ 9.99985584e-01 -5.36925507e-03 -5.39245777e-05 2.69730541e+02] [ 5.36925518e-03 9.99985585e-01 1.94537618e-06 -9.29479670e+00] [ 5.39133551e-05 -2.23488296e-06 9.99999999e-01 3.21285542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.430714057 meters Centerline goodness [0,1] 0.9880252999302226 Centerline is valid? [True, True] Translation: X:269.76, Y:-9.30, Z:3.21 [[ 9.99972021e-01 -7.47457112e-03 -2.95923361e-04 2.69762335e+02] [ 7.47457445e-03 9.99972065e-01 1.01432093e-05 -9.29787745e+00] [ 2.95839279e-04 -1.23548267e-05 9.99999956e-01 3.21222887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.460714057 meters Centerline goodness [0,1] 0.9888235426665766 Centerline is valid? [True, True] Translation: X:269.79, Y:-9.30, Z:3.21 [[ 9.99954003e-01 -9.58693847e-03 -2.86794604e-04 2.69794526e+02] [ 9.58694176e-03 9.99954044e-01 1.00731283e-05 -9.29857242e+00] [ 2.86684854e-04 -1.28221481e-05 9.99999959e-01 3.21156126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.490714057 meters Centerline goodness [0,1] 0.9853466681649623 Centerline is valid? [True, True] Translation: X:269.82, Y:-9.31, Z:3.21 [[ 9.99923199e-01 -1.23805672e-02 -5.64434140e-04 2.69823995e+02] [ 1.23805808e-02 9.99923357e-01 2.04739908e-05 -9.30539202e+00] [ 5.64137401e-04 -2.74604409e-05 9.99999840e-01 3.21128195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.520714057 meters Centerline goodness [0,1] 0.9865627519484009 Centerline is valid? [True, True] Translation: X:269.85, Y:-9.31, Z:3.21 [[ 9.99854801e-01 -1.70008171e-02 -1.16150621e-03 2.69854719e+02] [ 1.70008775e-02 9.99855474e-01 4.20979221e-05 -9.30548034e+00] [ 1.16062265e-03 -6.18384344e-05 9.99999325e-01 3.21094664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.550714057 meters Centerline goodness [0,1] 0.984998088212141 Centerline is valid? [True, True] Translation: X:269.88, Y:-9.31, Z:3.21 [[ 9.99806299e-01 -1.96708294e-02 -6.49579103e-04 2.69884126e+02] [ 1.96708489e-02 9.99806510e-01 2.35690005e-05 -9.31435912e+00] [ 6.48989794e-04 -3.63422076e-05 9.99999789e-01 3.21168273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.580714057 meters Centerline goodness [0,1] 0.9839956720690666 Centerline is valid? [True, True] Translation: X:269.91, Y:-9.32, Z:3.21 [[ 9.99690190e-01 -2.48782454e-02 -7.72538201e-04 2.69914898e+02] [ 2.48782744e-02 9.99690487e-01 2.80189650e-05 -9.31634679e+00] [ 7.71602029e-04 -4.72297018e-05 9.99999701e-01 3.21047996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.610714057 meters Centerline goodness [0,1] 0.9846250674339148 Centerline is valid? [True, True] Translation: X:269.95, Y:-9.32, Z:3.21 [[ 9.99631028e-01 -2.71411823e-02 -1.07883434e-03 2.69946292e+02] [ 2.71412402e-02 9.99631608e-01 3.90258874e-05 -9.31977708e+00] [ 1.07737770e-03 -6.82923900e-05 9.99999417e-01 3.21035632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.640714057 meters Centerline goodness [0,1] 0.9841380551680691 Centerline is valid? [True, True] Translation: X:269.98, Y:-9.32, Z:3.21 [[ 9.99563013e-01 -2.95167964e-02 -1.59404047e-03 2.69977029e+02] [ 2.95169261e-02 9.99564279e-01 5.78451863e-05 -9.32018404e+00] [ 1.59163850e-03 -1.04871083e-04 9.99998728e-01 3.20965195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.670714057 meters Centerline goodness [0,1] 0.9829888462487937 Centerline is valid? [True, True] Translation: X:270.01, Y:-9.32, Z:3.21 [[ 9.99458379e-01 -3.27984043e-02 -2.68577205e-03 2.70007856e+02] [ 3.27987843e-02 9.99461970e-01 9.75661592e-05 -9.32365533e+00] [ 2.68112701e-03 -1.85603374e-04 9.99996389e-01 3.20815866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.700714057 meters Centerline goodness [0,1] 0.9806377619861474 Centerline is valid? [True, True] Translation: X:270.04, Y:-9.33, Z:3.21 [[ 9.99411714e-01 -3.41510273e-02 -3.15175823e-03 2.70038663e+02] [ 3.41515571e-02 9.99416659e-01 1.14423596e-04 -9.33055251e+00] [ 3.14601200e-03 -2.21993734e-04 9.99995027e-01 3.20741619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.730714057 meters Centerline goodness [0,1] 0.9813566936208445 Centerline is valid? [True, True] Translation: X:270.07, Y:-9.33, Z:3.21 [[ 9.99373552e-01 -3.51849893e-02 -3.81042929e-03 2.70071253e+02] [ 3.51857734e-02 9.99380779e-01 1.38929751e-04 -9.32876841e+00] [ 3.80318156e-03 -2.72915620e-04 9.99992731e-01 3.20693899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76071405700003 meters Centerline goodness [0,1] 0.9809681980384676 Centerline is valid? [True, True] Translation: X:270.10, Y:-9.33, Z:3.21 [[ 9.99302539e-01 -3.70648790e-02 -4.54204267e-03 2.70101220e+02] [ 3.70660142e-02 9.99312805e-01 1.65986985e-04 -9.33091690e+00] [ 4.53276912e-03 -3.34226634e-04 9.99989671e-01 3.20728020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.790714057 meters Centerline goodness [0,1] 0.9813958732664336 Centerline is valid? [True, True] Translation: X:270.13, Y:-9.33, Z:3.21 [[ 9.99279914e-01 -3.77305194e-02 -4.00769122e-03 2.70133294e+02] [ 3.77314084e-02 9.99287906e-01 1.46420968e-04 -9.32949734e+00] [ 3.99931282e-03 -2.97531366e-04 9.99991958e-01 3.20785211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82071405700003 meters Centerline goodness [0,1] 0.9810033986810417 Centerline is valid? [True, True] Translation: X:270.16, Y:-9.33, Z:3.21 [[ 9.99258871e-01 -3.82970830e-02 -3.87844043e-03 2.70164487e+02] [ 3.82979209e-02 9.99266355e-01 1.41974265e-04 -9.33133214e+00] [ 3.87015784e-03 -2.90405249e-04 9.99992469e-01 3.20867016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.850714057 meters Centerline goodness [0,1] 0.9827940943724706 Centerline is valid? [True, True] Translation: X:270.20, Y:-9.33, Z:3.21 [[ 9.99264441e-01 -3.81702217e-02 -3.68920204e-03 2.70197637e+02] [ 3.81709794e-02 9.99271213e-01 1.35180908e-04 -9.32781041e+00] [ 3.68135351e-03 -2.75901929e-04 9.99993186e-01 3.20884439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88071405700003 meters Centerline goodness [0,1] 0.9817445595620504 Centerline is valid? [True, True] Translation: X:270.23, Y:-9.33, Z:3.21 [[ 9.99267586e-01 -3.81041528e-02 -3.51633071e-03 2.70230744e+02] [ 3.81048420e-02 9.99273738e-01 1.29204939e-04 -9.33032356e+00] [ 3.50885369e-03 -2.63099534e-04 9.99993809e-01 3.20893755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.910714057 meters Centerline goodness [0,1] 0.9811078006500542 Centerline is valid? [True, True] Translation: X:270.26, Y:-9.34, Z:3.21 [[ 9.99279938e-01 -3.77434378e-02 -3.87792073e-03 2.70262169e+02] [ 3.77442754e-02 9.99287421e-01 1.42996294e-04 -9.33541884e+00] [ 3.86976023e-03 -2.89262636e-04 9.99992471e-01 3.20897611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94071405700004 meters Centerline goodness [0,1] 0.983901600795876 Centerline is valid? [True, True] Translation: X:270.29, Y:-9.33, Z:3.21 [[ 9.99287035e-01 -3.75458096e-02 -3.96649277e-03 2.70294785e+02] [ 3.75466851e-02 9.99294864e-01 1.46469769e-04 -9.32842914e+00] [ 3.95819653e-03 -2.95293997e-04 9.99992123e-01 3.20941427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.970714057 meters Centerline goodness [0,1] 0.9821586252179229 Centerline is valid? [True, True] Translation: X:270.33, Y:-9.33, Z:3.21 [[ 9.99334560e-01 -3.61540253e-02 -4.82948541e-03 2.70325120e+02] [ 3.61553092e-02 9.99346167e-01 1.78764494e-04 -9.33072062e+00] [ 4.81986468e-03 -3.53257076e-04 9.99988322e-01 3.20922146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00071405700004 meters Centerline goodness [0,1] 0.9823981152164556 Centerline is valid? [True, True] Translation: X:270.36, Y:-9.33, Z:3.21 [[ 9.99372643e-01 -3.49628382e-02 -5.64973761e-03 2.70357394e+02] [ 3.49645799e-02 9.99388530e-01 2.09764706e-04 -9.32959096e+00] [ 5.63894900e-03 -4.07173811e-04 9.99984018e-01 3.20929857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.030714057 meters Centerline goodness [0,1] 0.9822149630234562 Centerline is valid? [True, True] Translation: X:270.39, Y:-9.33, Z:3.21 [[ 9.99417746e-01 -3.36120153e-02 -5.86523837e-03 2.70388475e+02] [ 3.36138714e-02 9.99434870e-01 2.18141220e-04 -9.33064622e+00] [ 5.85459159e-03 -4.15167575e-04 9.99982776e-01 3.20921844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.060714057 meters Centerline goodness [0,1] 0.9852441180470556 Centerline is valid? [True, True] Translation: X:270.42, Y:-9.33, Z:3.21 [[ 9.99509535e-01 -3.05621736e-02 -6.82957478e-03 2.70419981e+02] [ 3.05646210e-02 9.99532760e-01 2.54233461e-04 -9.32534501e+00] [ 6.81861381e-03 -4.62852133e-04 9.99976646e-01 3.20882660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.090714057 meters Centerline goodness [0,1] 0.9834761321909424 Centerline is valid? [True, True] Translation: X:270.45, Y:-9.33, Z:3.21 [[ 9.99565757e-01 -2.85131607e-02 -7.43626710e-03 2.70450785e+02] [ 2.85160072e-02 9.99593298e-01 2.77007780e-04 -9.32841112e+00] [ 7.42534439e-03 -4.88940137e-04 9.99972312e-01 3.20835698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.120714057 meters Centerline goodness [0,1] 0.9851739169920988 Centerline is valid? [True, True] Translation: X:270.48, Y:-9.32, Z:3.21 [[ 9.99672399e-01 -2.36527213e-02 -9.77972118e-03 2.70481288e+02] [ 2.36574150e-02 9.99720058e-01 3.64520059e-04 -9.31908550e+00] [ 9.76836153e-03 -5.95763565e-04 9.99952111e-01 3.20834540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.150714057 meters Centerline goodness [0,1] 0.9861244019138756 Centerline is valid? [True, True] Translation: X:270.51, Y:-9.32, Z:3.21 [[ 9.99734487e-01 -2.04655747e-02 -1.05884526e-02 2.70512138e+02] [ 2.04709000e-02 9.99790371e-01 3.94791118e-04 -9.31645047e+00] [ 1.05781533e-02 -6.11441451e-04 9.99943863e-01 3.20875955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.180714057 meters Centerline goodness [0,1] 0.984878204543381 Centerline is valid? [True, True] Translation: X:270.54, Y:-9.32, Z:3.21 [[ 9.99795618e-01 -1.69897662e-02 -1.09576316e-02 2.70541418e+02] [ 1.69952610e-02 9.99855487e-01 4.08538621e-04 -9.31744659e+00] [ 1.09491071e-02 -5.94682934e-04 9.99939880e-01 3.20828066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.210714057 meters Centerline goodness [0,1] 0.9862180879025438 Centerline is valid? [True, True] Translation: X:270.57, Y:-9.31, Z:3.21 [[ 9.99877763e-01 -9.96316638e-03 -1.20496812e-02 2.70572686e+02] [ 9.96930053e-03 9.99950204e-01 4.49111647e-04 -9.30907494e+00] [ 1.20446066e-02 -5.69183641e-04 9.99927299e-01 3.20905562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.240714057 meters Centerline goodness [0,1] 0.9862180879025438 Centerline is valid? [True, True] Translation: X:270.60, Y:-9.31, Z:3.21 [[ 9.99875258e-01 -1.02113274e-02 -1.20497515e-02 2.70600925e+02] [ 1.02174567e-02 9.99947700e-01 4.47217829e-04 -9.31008214e+00] [ 1.20445546e-02 -5.70279857e-04 9.99927299e-01 3.20918433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.270714057 meters Centerline goodness [0,1] 0.9876887871853547 Centerline is valid? [True, True] Translation: X:270.63, Y:-9.30, Z:3.21 [[ 9.99923473e-01 -2.36887175e-03 -1.21423549e-02 2.70632175e+02] [ 2.37450611e-03 9.99997080e-01 4.49629919e-04 -9.30374795e+00] [ 1.21412544e-02 -4.78427606e-04 9.99926178e-01 3.21015867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.300714057 meters Centerline goodness [0,1] 0.9872370490234064 Centerline is valid? [True, True] Translation: X:270.66, Y:-9.30, Z:3.21 [[ 9.99931711e-01 1.06656728e-03 -1.16376469e-02 2.70660653e+02] [-1.06162756e-03 9.99999344e-01 4.30629697e-04 -9.30429189e+00] [ 1.16380986e-02 -4.18245443e-04 9.99932188e-01 3.21038544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.330714057 meters Centerline goodness [0,1] 0.9873533934678327 Centerline is valid? [True, True] Translation: X:270.69, Y:-9.30, Z:3.21 [[ 9.99921828e-01 3.76975156e-03 -1.19217092e-02 2.70689890e+02] [-3.76477324e-03 9.99992816e-01 4.39999497e-04 -9.30039830e+00] [ 1.19232822e-02 -3.95082570e-04 9.99928837e-01 3.21155901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.360714057 meters Centerline goodness [0,1] 0.9880162538166625 Centerline is valid? [True, True] Translation: X:270.72, Y:-9.30, Z:3.21 [[ 9.99913470e-01 6.35123395e-03 -1.15201449e-02 2.70719228e+02] [-6.34678135e-03 9.99979770e-01 4.23023473e-04 -9.29869278e+00] [ 1.15225986e-02 -3.49871028e-04 9.99933551e-01 3.21227298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.390714057 meters Centerline goodness [0,1] 0.9878563885955649 Centerline is valid? [True, True] Translation: X:270.75, Y:-9.30, Z:3.21 [[ 9.99891654e-01 9.76079420e-03 -1.10185032e-02 2.70747409e+02] [-9.75694401e-03 9.99952319e-01 4.03131332e-04 -9.29791401e+00] [ 1.10219127e-02 -2.95580735e-04 9.99939213e-01 3.21305102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.420714057 meters Centerline goodness [0,1] 0.9875753616211631 Centerline is valid? [True, True] Translation: X:270.78, Y:-9.30, Z:3.21 [[ 9.99894589e-01 9.95862289e-03 -1.05658705e-02 2.70776155e+02] [-9.95510130e-03 9.99950372e-01 3.85841476e-04 -9.30013837e+00] [ 1.05691886e-02 -2.80616493e-04 9.99944105e-01 3.21367103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.450714057 meters Centerline goodness [0,1] 0.9883496926887442 Centerline is valid? [True, True] Translation: X:270.80, Y:-9.30, Z:3.21 [[ 9.99903415e-01 8.83536822e-03 -1.07283230e-02 2.70804983e+02] [-8.83168108e-03 9.99960923e-01 3.91011285e-04 -9.30156423e+00] [ 1.07313585e-02 -2.96224393e-04 9.99942373e-01 3.21404301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.480714057 meters Centerline goodness [0,1] 0.987886420883902 Centerline is valid? [True, True] Translation: X:270.83, Y:-9.31, Z:3.21 [[ 9.99913063e-01 7.04233455e-03 -1.11477335e-02 2.70832888e+02] [-7.03825238e-03 9.99975149e-01 4.05378131e-04 -9.30524865e+00] [ 1.11503112e-02 -3.26882327e-04 9.99937780e-01 3.21343794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51071405700003 meters Centerline goodness [0,1] 0.9878377760504778 Centerline is valid? [True, True] Translation: X:270.86, Y:-9.31, Z:3.21 [[ 9.99913856e-01 1.68228240e-03 -1.30172990e-02 2.70862664e+02] [-1.67627044e-03 9.99998483e-01 4.72740774e-04 -9.30958672e+00] [ 1.30180745e-02 -4.50879537e-04 9.99915160e-01 3.21311149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.540714057 meters Centerline goodness [0,1] 0.9869988428289429 Centerline is valid? [True, True] Translation: X:270.89, Y:-9.32, Z:3.21 [[ 9.99887133e-01 -4.83437901e-03 -1.42249874e-02 2.70891630e+02] [ 4.84221202e-03 9.99988143e-01 5.16260802e-04 -9.31824026e+00] [ 1.42223229e-02 -5.85082938e-04 9.99898686e-01 3.21211045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57071405700003 meters Centerline goodness [0,1] 0.9867889408453262 Centerline is valid? [True, True] Translation: X:270.92, Y:-9.32, Z:3.21 [[ 9.99853608e-01 -8.38141461e-03 -1.49169009e-02 2.70921338e+02] [ 8.39041500e-03 9.99964654e-01 5.40886941e-04 -9.32367897e+00] [ 1.49118402e-02 -6.65966748e-04 9.99888591e-01 3.21225059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.600714057 meters Centerline goodness [0,1] 0.9874043982479631 Centerline is valid? [True, True] Translation: X:270.95, Y:-9.33, Z:3.21 [[ 9.99806292e-01 -1.20098793e-02 -1.55929829e-02 2.70951514e+02] [ 1.20201488e-02 9.99927596e-01 5.65040238e-04 -9.32882104e+00] [ 1.55850678e-02 -7.52360759e-04 9.99878262e-01 3.21258242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63071405700003 meters Centerline goodness [0,1] 0.9862855851784907 Centerline is valid? [True, True] Translation: X:270.98, Y:-9.33, Z:3.21 [[ 9.99756053e-01 -1.55676730e-02 -1.56678743e-02 2.70981326e+02] [ 1.55784728e-02 9.99878487e-01 5.67477189e-04 -9.33403493e+00] [ 1.56571362e-02 -8.11420309e-04 9.99877090e-01 3.21279365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.660714057 meters Centerline goodness [0,1] 0.9861585434807192 Centerline is valid? [True, True] Translation: X:271.01, Y:-9.34, Z:3.21 [[ 9.99616041e-01 -2.25752951e-02 -1.60663248e-02 2.71010377e+02] [ 2.25875504e-02 9.99744699e-01 5.81719182e-04 -9.34422460e+00] [ 1.60490906e-02 -9.44394747e-04 9.99870759e-01 3.21333096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69071405700004 meters Centerline goodness [0,1] 0.9855662222621911 Centerline is valid? [True, True] Translation: X:271.04, Y:-9.35, Z:3.21 [[ 9.99561249e-01 -2.52953628e-02 -1.54095639e-02 2.71041755e+02] [ 2.53069637e-02 9.99679572e-01 5.58278785e-04 -9.34831324e+00] [ 1.53905043e-02 -9.48003113e-04 9.99881110e-01 3.21401278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.720714057 meters Centerline goodness [0,1] 0.9853269825503962 Centerline is valid? [True, True] Translation: X:271.07, Y:-9.36, Z:3.22 [[ 9.99416592e-01 -3.02307204e-02 -1.58927252e-02 2.71072187e+02] [ 3.02436848e-02 9.99542389e-01 5.75979875e-04 -9.35549950e+00] [ 1.58680402e-02 -1.05629841e-03 9.99873537e-01 3.21545855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75071405700004 meters Centerline goodness [0,1] 0.9861880942724528 Centerline is valid? [True, True] Translation: X:271.10, Y:-9.36, Z:3.22 [[ 9.99372730e-01 -3.16461134e-02 -1.58955832e-02 2.71103390e+02] [ 3.16592672e-02 9.99498554e-01 5.76490967e-04 -9.35911238e+00] [ 1.58693687e-02 -1.07937187e-03 9.99873491e-01 3.21583129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.780714057 meters Centerline goodness [0,1] 0.9849334504425377 Centerline is valid? [True, True] Translation: X:271.14, Y:-9.36, Z:3.22 [[ 9.99329796e-01 -3.26834052e-02 -1.64849540e-02 2.71135115e+02] [ 3.26977063e-02 9.99465108e-01 5.98672980e-04 -9.35787335e+00] [ 1.64565696e-02 -1.13729193e-03 9.99863935e-01 3.21656250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.810714057 meters Centerline goodness [0,1] 0.9853701289945616 Centerline is valid? [True, True] Translation: X:271.17, Y:-9.37, Z:3.22 [[ 9.99308011e-01 -3.30731477e-02 -1.70195949e-02 2.71165751e+02] [ 3.30884636e-02 9.99452235e-01 6.19009404e-04 -9.36713460e+00] [ 1.69897996e-02 -1.18173330e-03 9.99854965e-01 3.21578032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.840714057 meters Centerline goodness [0,1] 0.9866486547337611 Centerline is valid? [True, True] Translation: X:271.20, Y:-9.37, Z:3.22 [[ 9.99301905e-01 -3.28810702e-02 -1.77352376e-02 2.71196488e+02] [ 3.28976877e-02 9.99458516e-01 6.45966413e-04 -9.37001115e+00] [ 1.77043942e-02 -1.22896377e-03 9.99842510e-01 3.21582589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.870714057 meters Centerline goodness [0,1] 0.9861483366742494 Centerline is valid? [True, True] Translation: X:271.23, Y:-9.38, Z:3.22 [[ 9.99298501e-01 -3.24915462e-02 -1.86227347e-02 2.71227657e+02] [ 3.25098194e-02 9.99471185e-01 6.79250284e-04 -9.37603012e+00] [ 1.85908168e-02 -1.28419553e-03 9.99826351e-01 3.21526123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.900714057 meters Centerline goodness [0,1] 0.988133498145859 Centerline is valid? [True, True] Translation: X:271.26, Y:-9.37, Z:3.22 [[ 9.99307733e-01 -3.16499753e-02 -1.95533409e-02 2.71259428e+02] [ 3.16699757e-02 9.99498125e-01 7.13976561e-04 -9.36538012e+00] [ 1.95209303e-02 -1.33273613e-03 9.99808560e-01 3.21815336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.930714057 meters Centerline goodness [0,1] 0.9882392624241061 Centerline is valid? [True, True] Translation: X:271.29, Y:-9.37, Z:3.22 [[ 9.99333867e-01 -3.04598238e-02 -2.01002692e-02 2.71290076e+02] [ 3.04807338e-02 9.99535084e-01 7.34670844e-04 -9.37259540e+00] [ 2.00685463e-02 -1.34685241e-03 9.99797699e-01 3.21711025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.960714057 meters Centerline goodness [0,1] 0.9886931843776746 Centerline is valid? [True, True] Translation: X:271.32, Y:-9.37, Z:3.22 [[ 9.99375393e-01 -2.77217897e-02 -2.19163304e-02 2.71320912e+02] [ 2.77459984e-02 9.99614685e-01 8.01225534e-04 -9.36661259e+00] [ 2.18856743e-02 -1.40881555e-03 9.99759487e-01 3.21821399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.990714057 meters Centerline goodness [0,1] 0.9886720502467474 Centerline is valid? [True, True] Translation: X:271.35, Y:-9.37, Z:3.22 [[ 9.99429221e-01 -2.56872013e-02 -2.19408091e-02 2.71350123e+02] [ 2.57109690e-02 9.99669097e-01 8.01810082e-04 -9.37003117e+00] [ 2.19129525e-02 -1.36547189e-03 9.99758950e-01 3.21760650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.020714057 meters Centerline goodness [0,1] 0.9897708582114774 Centerline is valid? [True, True] Translation: X:271.38, Y:-9.37, Z:3.22 [[ 9.99489825e-01 -2.34444474e-02 -2.16898063e-02 2.71380237e+02] [ 2.34671256e-02 9.99724296e-01 7.91601572e-04 -9.36633784e+00] [ 2.16652676e-02 -1.30019513e-03 9.99764435e-01 3.21908222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.050714057 meters Centerline goodness [0,1] 0.9895922121035395 Centerline is valid? [True, True] Translation: X:271.41, Y:-9.37, Z:3.22 [[ 9.99626436e-01 -1.79850085e-02 -2.05798088e-02 2.71409946e+02] [ 1.80042594e-02 9.99837629e-01 7.50514032e-04 -9.36676280e+00] [ 2.05629692e-02 -1.12075788e-03 9.99787932e-01 3.21889374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.080714057 meters Centerline goodness [0,1] 0.9894054005521762 Centerline is valid? [True, True] Translation: X:271.44, Y:-9.37, Z:3.22 [[ 9.99668863e-01 -1.56100912e-02 -2.04569939e-02 2.71440106e+02] [ 1.56286096e-02 9.99877588e-01 7.45666791e-04 -9.36543930e+00] [ 2.04428498e-02 -1.06513425e-03 9.99790456e-01 3.21917517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.110714057 meters Centerline goodness [0,1] 0.9900887740195528 Centerline is valid? [True, True] Translation: X:271.47, Y:-9.36, Z:3.22 [[ 9.99726624e-01 -1.11764846e-02 -2.05368595e-02 2.71470349e+02] [ 1.11942021e-02 9.99937063e-01 7.47956467e-04 -9.36126876e+00] [ 2.05272074e-02 -9.77645748e-04 9.99788817e-01 3.21947113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.140714057 meters Centerline goodness [0,1] 0.9909887640449438 Centerline is valid? [True, True] Translation: X:271.50, Y:-9.36, Z:3.22 [[ 9.99751520e-01 -9.24225130e-03 -2.02849636e-02 2.71499019e+02] [ 9.25911424e-03 9.99956861e-01 7.37537701e-04 -9.36179831e+00] [ 2.02772721e-02 -9.25175233e-04 9.99793967e-01 3.21905290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.170714057 meters Centerline goodness [0,1] 0.9914153445098656 Centerline is valid? [True, True] Translation: X:271.53, Y:-9.36, Z:3.22 [[ 9.99753177e-01 -7.14517243e-03 -2.10364229e-02 2.71526782e+02] [ 7.16279654e-03 9.99974056e-01 7.62560591e-04 -9.36238043e+00] [ 2.10304285e-02 -9.13051991e-04 9.99778419e-01 3.21883527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.200714057 meters Centerline goodness [0,1] 0.9908826164874552 Centerline is valid? [True, True] Translation: X:271.55, Y:-9.36, Z:3.22 [[ 9.99760128e-01 -6.26025715e-03 -2.09879759e-02 2.71554487e+02] [ 6.27756485e-03 9.99980008e-01 7.58864971e-04 -9.36498792e+00] [ 2.09828057e-02 -8.90436321e-04 9.99779440e-01 3.21838325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.230714057 meters Centerline goodness [0,1] 0.9908275443447764 Centerline is valid? [True, True] Translation: X:271.58, Y:-9.37, Z:3.22 [[ 9.99759355e-01 -6.55124506e-03 -2.09359533e-02 2.71582141e+02] [ 6.56849424e-03 9.99978142e-01 7.55241546e-04 -9.36687332e+00] [ 2.09305479e-02 -8.92577489e-04 9.99780534e-01 3.21850473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26071405700003 meters Centerline goodness [0,1] 0.9911745502848008 Centerline is valid? [True, True] Translation: X:271.61, Y:-9.37, Z:3.22 [[ 9.99760164e-01 -7.98568415e-03 -2.03922249e-02 2.71611202e+02] [ 8.00226263e-03 9.99967714e-01 7.31508163e-04 -9.36764455e+00] [ 2.03857249e-02 -8.94516660e-04 9.99791789e-01 3.22029390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.290714057 meters Centerline goodness [0,1] 0.9911011235955056 Centerline is valid? [True, True] Translation: X:271.64, Y:-9.37, Z:3.22 [[ 9.99752362e-01 -9.33543277e-03 -2.02006272e-02 2.71639945e+02] [ 9.35188020e-03 9.99956011e-01 7.19888669e-04 -9.37081542e+00] [ 2.01930181e-02 -9.08624242e-04 9.99795687e-01 3.22042497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32071405700003 meters Centerline goodness [0,1] 0.9897242601691683 Centerline is valid? [True, True] Translation: X:271.67, Y:-9.37, Z:3.22 [[ 9.99727786e-01 -1.12797252e-02 -2.04235697e-02 2.71668834e+02] [ 1.12968447e-02 9.99935927e-01 7.23039519e-04 -9.37428155e+00] [ 2.04141054e-02 -9.53564592e-04 9.99791156e-01 3.22039017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.350714057 meters Centerline goodness [0,1] 0.9898885493438792 Centerline is valid? [True, True] Translation: X:271.70, Y:-9.38, Z:3.22 [[ 9.99660053e-01 -1.63086917e-02 -2.03421757e-02 2.71697794e+02] [ 1.63266921e-02 9.99866452e-01 7.19107182e-04 -9.38213521e+00] [ 2.03277314e-02 -1.05098316e-03 9.99792818e-01 3.22012756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38071405700003 meters Centerline goodness [0,1] 0.9890233226335047 Centerline is valid? [True, True] Translation: X:271.73, Y:-9.39, Z:3.22 [[ 9.99605178e-01 -1.95381443e-02 -2.01927838e-02 2.71726896e+02] [ 1.95565279e-02 9.99808498e-01 7.13314848e-04 -9.38745121e+00] [ 2.01749800e-02 -1.10793396e-03 9.99795850e-01 3.22000941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.410714057 meters Centerline goodness [0,1] 0.9882604295513325 Centerline is valid? [True, True] Translation: X:271.76, Y:-9.39, Z:3.22 [[ 9.99469004e-01 -2.60537091e-02 -1.95681773e-02 2.71756938e+02] [ 2.60722091e-02 9.99659823e-01 6.90852293e-04 -9.38581443e+00] [ 1.95435214e-02 -1.20067106e-03 9.99808286e-01 3.22228335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44071405700004 meters Centerline goodness [0,1] 0.9888936448219153 Centerline is valid? [True, True] Translation: X:271.79, Y:-9.39, Z:3.22 [[ 9.99401362e-01 -2.87295116e-02 -1.92752081e-02 2.71788041e+02] [ 2.87479610e-02 9.99586460e-01 6.80698671e-04 -9.38686998e+00] [ 1.92476808e-02 -1.23441411e-03 9.99813984e-01 3.22352517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.470714057 meters Centerline goodness [0,1] 0.986701827935177 Centerline is valid? [True, True] Translation: X:271.82, Y:-9.40, Z:3.22 [[ 9.99325336e-01 -3.13213328e-02 -1.91793475e-02 2.71817327e+02] [ 3.13400759e-02 9.99508550e-01 6.77394958e-04 -9.40328815e+00] [ 1.91487049e-02 -1.27802015e-03 9.99815830e-01 3.22124600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50071405700004 meters Centerline goodness [0,1] 0.9810487414651734 Centerline is valid? [True, True] Translation: X:271.85, Y:-9.41, Z:3.22 [[ 9.99198951e-01 -3.55468182e-02 -1.83814872e-02 2.71846111e+02] [ 3.55647380e-02 9.99367164e-01 6.48809294e-04 -9.41039214e+00] [ 1.83467916e-02 -1.30202234e-03 9.99830836e-01 3.22036546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.530714057 meters Centerline goodness [0,1] 0.9731360017939231 Centerline is valid? [True, True] Translation: X:271.88, Y:-9.42, Z:3.22 [[ 9.99068334e-01 -3.90857212e-02 -1.82967224e-02 2.71875080e+02] [ 3.91040606e-02 9.99234935e-01 6.45502585e-04 -9.41612773e+00] [ 1.82574943e-02 -1.36037733e-03 9.99832393e-01 3.21978566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.560714057 meters Centerline goodness [0,1] 0.962192137581105 Centerline is valid? [True, True] Translation: X:271.90, Y:-9.42, Z:3.22 [[ 9.98975299e-01 -4.13673921e-02 -1.83600256e-02 2.71904953e+02] [ 4.13862406e-02 9.99143013e-01 6.47675510e-04 -9.42007089e+00] [ 1.83174987e-02 -1.40686427e-03 9.99831231e-01 3.21912528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.590714057 meters Centerline goodness [0,1] 0.953771015732259 Centerline is valid? [True, True] Translation: X:271.94, Y:-9.42, Z:3.22 [[ 9.98900187e-01 -4.30107610e-02 -1.86678937e-02 2.71936221e+02] [ 4.30305405e-02 9.99073540e-01 6.58979293e-04 -9.42271449e+00] [ 1.86222554e-02 -1.46154409e-03 9.99825523e-01 3.21892078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.620714057 meters Centerline goodness [0,1] 0.9865077934949095 Centerline is valid? [True, True] Translation: X:271.97, Y:-9.41, Z:3.22 [[ 9.98808192e-01 -4.49591938e-02 -1.89964726e-02 2.71968220e+02] [ 4.49800383e-02 9.98987660e-01 6.71225540e-04 -9.40909466e+00] [ 1.89470640e-02 -1.52488763e-03 9.99819325e-01 3.22144210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.650714057 meters Centerline goodness [0,1] 0.9862506728871344 Centerline is valid? [True, True] Translation: X:272.00, Y:-9.41, Z:3.22 [[ 9.98685206e-01 -4.74611221e-02 -1.93726956e-02 2.71999022e+02] [ 4.74832762e-02 9.98871798e-01 6.84938265e-04 -9.41158123e+00] [ 1.93183314e-02 -1.60391677e-03 9.99812097e-01 3.22146235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.680714057 meters Centerline goodness [0,1] 0.9824960064796274 Centerline is valid? [True, True] Translation: X:272.03, Y:-9.42, Z:3.22 [[ 9.98652474e-01 -4.81981084e-02 -1.92400088e-02 2.72030109e+02] [ 4.82201120e-02 9.98836502e-01 6.81091062e-04 -9.41625274e+00] [ 1.91847958e-02 -1.60792866e-03 9.99814662e-01 3.22063256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.710714057 meters Centerline goodness [0,1] 0.9869251679284703 Centerline is valid? [True, True] Translation: X:272.06, Y:-9.41, Z:3.22 [[ 9.98692940e-01 -4.79111153e-02 -1.78026882e-02 2.72063038e+02] [ 4.79299332e-02 9.98850501e-01 6.31610188e-04 -9.40999721e+00] [ 1.77519628e-02 -1.48406629e-03 9.99841320e-01 3.22304970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.740714057 meters Centerline goodness [0,1] 0.9869549598096008 Centerline is valid? [True, True] Translation: X:272.09, Y:-9.41, Z:3.22 [[ 9.98755848e-01 -4.69177451e-02 -1.68961678e-02 2.72094901e+02] [ 4.69345714e-02 9.98897785e-01 6.00492223e-04 -9.40989876e+00] [ 1.68493708e-02 -1.39275951e-03 9.99857069e-01 3.22379363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.770714057 meters Centerline goodness [0,1] 0.9868005288752437 Centerline is valid? [True, True] Translation: X:272.13, Y:-9.41, Z:3.22 [[ 9.98815337e-01 -4.58092289e-02 -1.64145658e-02 2.72126732e+02] [ 4.58249750e-02 9.98949313e-01 5.84241993e-04 -9.41000587e+00] [ 1.63705556e-02 -1.33574693e-03 9.99865101e-01 3.22440366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.800714057 meters Centerline goodness [0,1] 0.9873431950002248 Centerline is valid? [True, True] Translation: X:272.16, Y:-9.41, Z:3.22 [[ 9.98951468e-01 -4.29937489e-02 -1.57322190e-02 2.72156147e+02] [ 4.30078665e-02 9.99074577e-01 5.59984264e-04 -9.40922348e+00] [ 1.56935843e-02 -1.23600628e-03 9.99876084e-01 3.22451217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.830714057 meters Centerline goodness [0,1] 0.9867210982010677 Centerline is valid? [True, True] Translation: X:272.19, Y:-9.41, Z:3.22 [[ 9.99005402e-01 -4.16082857e-02 -1.60299052e-02 2.72186191e+02] [ 4.16227830e-02 9.99133233e-01 5.71685155e-04 -9.41013462e+00] [ 1.59922242e-02 -1.23832582e-03 9.99871349e-01 3.22431188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.860714057 meters Centerline goodness [0,1] 0.986229552460455 Centerline is valid? [True, True] Translation: X:272.22, Y:-9.41, Z:3.22 [[ 9.99095239e-01 -3.93022010e-02 -1.62493418e-02 2.72216694e+02] [ 3.93168026e-02 9.99226627e-01 5.79988924e-04 -9.40772531e+00] [ 1.62139801e-02 -1.21833633e-03 9.99867803e-01 3.22351805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.890714057 meters Centerline goodness [0,1] 0.9864139588152074 Centerline is valid? [True, True] Translation: X:272.25, Y:-9.41, Z:3.22 [[ 9.99114767e-01 -3.87392206e-02 -1.63998456e-02 2.72247636e+02] [ 3.87540285e-02 9.99248609e-01 5.85971247e-04 -9.40958179e+00] [ 1.63648228e-02 -1.22101261e-03 9.99865342e-01 3.22296314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.920714057 meters Centerline goodness [0,1] 0.9857740962499437 Centerline is valid? [True, True] Translation: X:272.28, Y:-9.41, Z:3.22 [[ 9.99133036e-01 -3.83108603e-02 -1.62927588e-02 2.72280199e+02] [ 3.83254356e-02 9.99265140e-01 5.83179441e-04 -9.40884604e+00] [ 1.62584438e-02 -1.20710092e-03 9.99867094e-01 3.22349226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.950714057 meters Centerline goodness [0,1] 0.9857838057045014 Centerline is valid? [True, True] Translation: X:272.31, Y:-9.41, Z:3.22 [[ 9.99147238e-01 -3.80215685e-02 -1.60983667e-02 2.72311686e+02] [ 3.80357874e-02 9.99276211e-01 5.77883675e-04 -9.41105545e+00] [ 1.60647428e-02 -1.18970493e-03 9.99870246e-01 3.22348818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.980714057 meters Centerline goodness [0,1] 0.9851389139455169 Centerline is valid? [True, True] Translation: X:272.34, Y:-9.41, Z:3.22 [[ 9.99139812e-01 -3.82031334e-02 -1.61293593e-02 2.72343847e+02] [ 3.82174517e-02 9.99269278e-01 5.80308033e-04 -9.41203443e+00] [ 1.60954037e-02 -1.19623187e-03 9.99869745e-01 3.22350419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01071405700003 meters Centerline goodness [0,1] 0.9855493281112837 Centerline is valid? [True, True] Translation: X:272.38, Y:-9.41, Z:3.22 [[ 9.99115162e-01 -3.86166051e-02 -1.66628334e-02 2.72375629e+02] [ 3.86319589e-02 9.99253327e-01 6.00424946e-04 -9.41256169e+00] [ 1.66272053e-02 -1.24361156e-03 9.99860985e-01 3.22268295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.040714057 meters Centerline goodness [0,1] 0.9853935623478496 Centerline is valid? [True, True] Translation: X:272.41, Y:-9.41, Z:3.22 [[ 9.99115069e-01 -3.85463195e-02 -1.68303284e-02 2.72407493e+02] [ 3.85619913e-02 9.99256025e-01 6.07511674e-04 -9.41343521e+00] [ 1.67943897e-02 -1.25598505e-03 9.99858175e-01 3.22205126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07071405700003 meters Centerline goodness [0,1] 0.9848703820793063 Centerline is valid? [True, True] Translation: X:272.44, Y:-9.41, Z:3.22 [[ 9.99105039e-01 -3.85449847e-02 -1.74185492e-02 2.72439618e+02] [ 3.85617917e-02 9.99256019e-01 6.29928737e-04 -9.41118101e+00] [ 1.73813095e-02 -1.30105544e-03 9.99848087e-01 3.22166668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.100714057 meters Centerline goodness [0,1] 0.9861076543656809 Centerline is valid? [True, True] Translation: X:272.47, Y:-9.41, Z:3.22 [[ 9.99110478e-01 -3.83856921e-02 -1.74582984e-02 2.72471850e+02] [ 3.84025724e-02 9.99262149e-01 6.32551902e-04 -9.41036390e+00] [ 1.74211358e-02 -1.30243280e-03 9.99847392e-01 3.22271871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13071405700003 meters Centerline goodness [0,1] 0.9855023448773449 Centerline is valid? [True, True] Translation: X:272.50, Y:-9.41, Z:3.22 [[ 9.99136305e-01 -3.80159377e-02 -1.67759314e-02 2.72503749e+02] [ 3.80314910e-02 9.99276356e-01 6.08950801e-04 -9.41132655e+00] [ 1.67406417e-02 -1.24643854e-03 9.99859089e-01 3.22301254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.160714057 meters Centerline goodness [0,1] 0.9855023448773449 Centerline is valid? [True, True] Translation: X:272.54, Y:-9.41, Z:3.22 [[ 9.99138865e-01 -3.79486203e-02 -1.67758903e-02 2.72535510e+02] [ 3.79641830e-02 9.99278914e-01 6.10081172e-04 -9.41254626e+00] [ 1.67406417e-02 -1.24643878e-03 9.99859089e-01 3.22315720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19071405700004 meters Centerline goodness [0,1] 0.9828777206531832 Centerline is valid? [True, True] Translation: X:272.57, Y:-9.42, Z:3.22 [[ 9.99153913e-01 -3.79119426e-02 -1.59418388e-02 2.72566896e+02] [ 3.79260052e-02 9.99280382e-01 5.80614190e-04 -9.41740044e+00] [ 1.59083546e-02 -1.18473320e-03 9.99872752e-01 3.22367765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.220714057 meters Centerline goodness [0,1] 0.985113855216948 Centerline is valid? [True, True] Translation: X:272.60, Y:-9.41, Z:3.23 [[ 9.99211039e-01 -3.70523217e-02 -1.42977387e-02 2.72599450e+02] [ 3.70635577e-02 9.99312774e-01 5.21593339e-04 -9.41127863e+00] [ 1.42685866e-02 -1.05110689e-03 9.99897646e-01 3.22650838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.250714057 meters Centerline goodness [0,1] 0.9847946600294151 Centerline is valid? [True, True] Translation: X:272.63, Y:-9.41, Z:3.23 [[ 9.99235533e-01 -3.66877519e-02 -1.35040240e-02 2.72632098e+02] [ 3.66977540e-02 9.99326289e-01 4.93544017e-04 -9.40754252e+00] [ 1.34768192e-02 -9.88734071e-04 9.99908695e-01 3.22837259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.280714057 meters Centerline goodness [0,1] 0.9828250328544886 Centerline is valid? [True, True] Translation: X:272.66, Y:-9.41, Z:3.23 [[ 9.99248862e-01 -3.68941653e-02 -1.18546419e-02 2.72662720e+02] [ 3.69018953e-02 9.99318799e-01 4.33914203e-04 -9.41300312e+00] [ 1.18305576e-02 -8.71047026e-04 9.99929637e-01 3.22951894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.310714057 meters Centerline goodness [0,1] 0.9846913243255538 Centerline is valid? [True, True] Translation: X:272.69, Y:-9.40, Z:3.23 [[ 9.99251557e-01 -3.70553769e-02 -1.11007063e-02 2.72694966e+02] [ 3.70621723e-02 9.99312879e-01 4.06998924e-04 -9.40464604e+00] [ 1.10779973e-02 -8.18110598e-04 9.99938302e-01 3.23079120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.340714057 meters Centerline goodness [0,1] 0.984424738517508 Centerline is valid? [True, True] Translation: X:272.73, Y:-9.41, Z:3.23 [[ 9.99243463e-01 -3.72518335e-02 -1.11714619e-02 2.72725921e+02] [ 3.72587410e-02 9.99305568e-01 4.10760138e-04 -9.40690685e+00] [ 1.11484025e-02 -8.26683988e-04 9.99937513e-01 3.23045875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.370714057 meters Centerline goodness [0,1] 0.984893230349841 Centerline is valid? [True, True] Translation: X:272.76, Y:-9.41, Z:3.23 [[ 9.99202571e-01 -3.83355145e-02 -1.11628926e-02 2.72757335e+02] [ 3.83424890e-02 9.99264572e-01 4.11369872e-04 -9.40956096e+00] [ 1.11389130e-02 -8.39054919e-04 9.99937608e-01 3.22918309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.400714057 meters Centerline goodness [0,1] 0.9858722358722358 Centerline is valid? [True, True] Translation: X:272.79, Y:-9.40, Z:3.23 [[ 9.99166606e-01 -3.90420321e-02 -1.19085218e-02 2.72789450e+02] [ 3.90500287e-02 9.99237160e-01 4.39636475e-04 -9.40327146e+00] [ 1.18822732e-02 -9.04298203e-04 9.99928994e-01 3.22937714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.430714057 meters Centerline goodness [0,1] 0.9855105481386978 Centerline is valid? [True, True] Translation: X:272.82, Y:-9.41, Z:3.23 [[ 9.99074703e-01 -4.08481420e-02 -1.34598192e-02 2.72819864e+02] [ 4.08585281e-02 9.99164818e-01 4.97442132e-04 -9.40686948e+00] [ 1.34282582e-02 -1.04693025e-03 9.99909289e-01 3.22737720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.460714057 meters Centerline goodness [0,1] 0.9802780034299124 Centerline is valid? [True, True] Translation: X:272.85, Y:-9.42, Z:3.23 [[ 9.99044938e-01 -4.12354493e-02 -1.44516328e-02 2.72850389e+02] [ 4.12474720e-02 9.99148818e-01 5.34722014e-04 -9.42013381e+00] [ 1.44172823e-02 -1.13030464e-03 9.99895427e-01 3.22541987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.490714057 meters Centerline goodness [0,1] 0.9850494553078992 Centerline is valid? [True, True] Translation: X:272.88, Y:-9.41, Z:3.23 [[ 9.98992443e-01 -4.22939572e-02 -1.50106627e-02 2.72882629e+02] [ 4.23070590e-02 9.99104501e-01 5.56223040e-04 -9.41016223e+00] [ 1.49736958e-02 -1.19071961e-03 9.99887179e-01 3.22636918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.520714057 meters Centerline goodness [0,1] 0.986536665375766 Centerline is valid? [True, True] Translation: X:272.91, Y:-9.41, Z:3.23 [[ 9.98941031e-01 -4.36928466e-02 -1.44135701e-02 2.72914431e+02] [ 4.37050823e-02 9.99044333e-01 5.34858944e-04 -9.41379378e+00] [ 1.43764260e-02 -1.16423881e-03 9.99895976e-01 3.22658461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.550714057 meters Centerline goodness [0,1] 0.9864855625697942 Centerline is valid? [True, True] Translation: X:272.95, Y:-9.41, Z:3.23 [[ 9.98936750e-01 -4.38751210e-02 -1.41542536e-02 2.72946678e+02] [ 4.38869518e-02 9.99036365e-01 5.26173491e-04 -9.41181599e+00] [ 1.41175281e-02 -1.14680108e-03 9.99899685e-01 3.22733884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.580714057 meters Centerline goodness [0,1] 0.9855711604134156 Centerline is valid? [True, True] Translation: X:272.98, Y:-9.42, Z:3.23 [[ 9.98948032e-01 -4.39049193e-02 -1.32358260e-02 2.72978333e+02] [ 4.39152814e-02 9.99035137e-01 4.93120886e-04 -9.41767895e+00] [ 1.32014048e-02 -1.07385716e-03 9.99912281e-01 3.22803982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.610714057 meters Centerline goodness [0,1] 0.9861423987985528 Centerline is valid? [True, True] Translation: X:273.01, Y:-9.41, Z:3.23 [[ 9.98974129e-01 -4.35345221e-02 -1.24673905e-02 2.73010482e+02] [ 4.35436990e-02 9.99051415e-01 4.65446753e-04 -9.41312261e+00] [ 1.24353011e-02 -1.00784556e-03 9.99922171e-01 3.22922779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.640714057 meters Centerline goodness [0,1] 0.9855955427717256 Centerline is valid? [True, True] Translation: X:273.04, Y:-9.42, Z:3.23 [[ 9.99009298e-01 -4.29048801e-02 -1.18150143e-02 2.73041663e+02] [ 4.29130862e-02 9.99078712e-01 4.41790831e-04 -9.41822832e+00] [ 1.17851743e-02 -9.48371874e-04 9.99930103e-01 3.22930951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.670714057 meters Centerline goodness [0,1] 0.9858235106721885 Centerline is valid? [True, True] Translation: X:273.07, Y:-9.42, Z:3.23 [[ 9.99061480e-01 -4.17881316e-02 -1.13978857e-02 2.73074370e+02] [ 4.17957085e-02 9.99126086e-01 4.27271217e-04 -9.41609577e+00] [ 1.13700700e-02 -9.03252920e-04 9.99934951e-01 3.22923938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.700714057 meters Centerline goodness [0,1] 0.9851215375918598 Centerline is valid? [True, True] Translation: X:273.11, Y:-9.42, Z:3.23 [[ 9.99074563e-01 -4.14214574e-02 -1.15879321e-02 2.73105112e+02] [ 4.14292755e-02 9.99141344e-01 4.35339070e-04 -9.42228407e+00] [ 1.15599497e-02 -9.15015822e-04 9.99932763e-01 3.22884031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.730714057 meters Centerline goodness [0,1] 0.9848115549537351 Centerline is valid? [True, True] Translation: X:273.14, Y:-9.42, Z:3.23 [[ 9.99095847e-01 -4.08656080e-02 -1.17256760e-02 2.73136860e+02] [ 4.08735837e-02 9.99164228e-01 4.41251704e-04 -9.42437832e+00] [ 1.16978440e-02 -9.20123145e-04 9.99931155e-01 3.22830947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76071405700003 meters Centerline goodness [0,1] 0.9854520734194425 Centerline is valid? [True, True] Translation: X:273.17, Y:-9.42, Z:3.23 [[ 9.99077167e-01 -4.12506283e-02 -1.19666582e-02 2.73169009e+02] [ 4.12589727e-02 9.99148384e-01 4.51159458e-04 -9.42285624e+00] [ 1.19378566e-02 -9.44475137e-04 9.99928295e-01 3.22835115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.790714057 meters Centerline goodness [0,1] 0.9847052719438742 Centerline is valid? [True, True] Translation: X:273.20, Y:-9.43, Z:3.23 [[ 9.99032388e-01 -4.22612898e-02 -1.21766259e-02 2.73199546e+02] [ 4.22700193e-02 9.99106117e-01 4.60325972e-04 -9.42769645e+00] [ 1.21462874e-02 -9.74586766e-04 9.99925756e-01 3.22805829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82071405700003 meters Centerline goodness [0,1] 0.9861010009099181 Centerline is valid? [True, True] Translation: X:273.23, Y:-9.43, Z:3.23 [[ 9.98992743e-01 -4.31986027e-02 -1.21400608e-02 2.73231528e+02] [ 4.32073617e-02 9.99066020e-01 4.60020121e-04 -9.42979725e+00] [ 1.21088500e-02 -9.84096761e-04 9.99926201e-01 3.22829236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.850714057 meters Centerline goodness [0,1] 0.9856814405062715 Centerline is valid? [True, True] Translation: X:273.26, Y:-9.43, Z:3.23 [[ 9.98862616e-01 -4.60334976e-02 -1.24254067e-02 2.73262057e+02] [ 4.60428961e-02 9.98939352e-01 4.71241195e-04 -9.42506450e+00] [ 1.23905349e-02 -1.04280692e-03 9.99922691e-01 3.22926488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88071405700003 meters Centerline goodness [0,1] 0.985346822120401 Centerline is valid? [True, True] Translation: X:273.29, Y:-9.43, Z:3.23 [[ 9.98805440e-01 -4.72332966e-02 -1.25183641e-02 2.73292581e+02] [ 4.72429431e-02 9.98883315e-01 4.75830782e-04 -9.43341781e+00] [ 1.24819099e-02 -1.06666673e-03 9.99921529e-01 3.22892000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.910714057 meters Centerline goodness [0,1] 0.9803868093906957 Centerline is valid? [True, True] Translation: X:273.32, Y:-9.44, Z:3.23 [[ 9.98749424e-01 -4.83702421e-02 -1.26454748e-02 2.73323389e+02] [ 4.83801887e-02 9.98828877e-01 4.81674864e-04 -9.44368554e+00] [ 1.26073666e-02 -1.09286295e-03 9.99919927e-01 3.22815496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94071405700004 meters Centerline goodness [0,1] 0.9853900161323306 Centerline is valid? [True, True] Translation: X:273.35, Y:-9.44, Z:3.23 [[ 9.98644918e-01 -5.02775848e-02 -1.34347337e-02 2.73354407e+02] [ 5.02889887e-02 9.98734577e-01 5.12150891e-04 -9.44102645e+00] [ 1.33919834e-02 -1.18707606e-03 9.99909619e-01 3.22732117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.970714057 meters Centerline goodness [0,1] 0.9652270562083201 Centerline is valid? [True, True] Translation: X:273.38, Y:-9.45, Z:3.23 [[ 9.98631257e-01 -5.04626815e-02 -1.37524601e-02 2.73384923e+02] [ 5.04746666e-02 9.98725203e-01 5.25570871e-04 -9.45474652e+00] [ 1.37084068e-02 -1.21900234e-03 9.99905292e-01 3.22547690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.000714057 meters Centerline goodness [0,1] 0.6450654359233736 Centerline is valid? [True, False] Translation: X:273.44, Y:-9.45, Z:3.23 [[ 9.98511774e-01 -5.27942043e-02 -1.36751427e-02 2.73443054e+02] [ 5.27323508e-02 9.98596928e-01 -4.84508040e-03 -9.45329879e+00] [ 1.39117476e-02 4.11674740e-03 9.99894752e-01 3.22635149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.030714057 meters Centerline goodness [0,1] 0.9846164333757499 Centerline is valid? [False, True] Translation: X:273.37, Y:-9.46, Z:3.22 [[ 9.98804150e-01 -4.74993604e-02 -1.15793590e-02 2.73368910e+02] [ 4.74965401e-02 9.98871268e-01 -5.18593753e-04 -9.45580559e+00] [ 1.15909219e-02 -3.20058962e-05 9.99932822e-01 3.22302215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.060714057 meters Centerline goodness [0,1] 0.9851989739165967 Centerline is valid? [True, True] Translation: X:273.40, Y:-9.46, Z:3.22 [[ 9.98875171e-01 -4.61200261e-02 -1.10152794e-02 2.73400432e+02] [ 4.61276608e-02 9.98935456e-01 4.39908606e-04 -9.45577949e+00] [ 1.09832646e-02 -9.47522856e-04 9.99939233e-01 3.22379119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.090714057 meters Centerline goodness [0,1] 0.985011144975663 Centerline is valid? [True, True] Translation: X:273.43, Y:-9.46, Z:3.23 [[ 9.99043918e-01 -4.26852790e-02 -9.44546731e-03 2.73429445e+02] [ 4.26907398e-02 9.99088264e-01 3.77181160e-04 -9.45779844e+00] [ 9.42075545e-03 -7.80054531e-04 9.99955319e-01 3.22526905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.120714057 meters Centerline goodness [0,1] 0.9852449698760941 Centerline is valid? [True, True] Translation: X:273.46, Y:-9.46, Z:3.23 [[ 9.99129289e-01 -4.08058435e-02 -8.69173628e-03 2.73461238e+02] [ 4.08103992e-02 9.99166848e-01 3.47356851e-04 -9.45714721e+00] [ 8.67032055e-03 -7.01767630e-04 9.99962166e-01 3.22589669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.150714057 meters Centerline goodness [0,1] 0.9849813687176224 Centerline is valid? [True, True] Translation: X:273.49, Y:-9.46, Z:3.23 [[ 9.99209538e-01 -3.90062475e-02 -7.66887341e-03 2.73492085e+02] [ 3.90097437e-02 9.99238783e-01 3.06779746e-04 -9.46065217e+00] [ 7.65106940e-03 -6.05698034e-04 9.99970547e-01 3.22587889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.180714057 meters Centerline goodness [0,1] 0.9836847845846209 Centerline is valid? [True, True] Translation: X:273.52, Y:-9.46, Z:3.23 [[ 9.99334033e-01 -3.58208508e-02 -6.95389839e-03 2.73521941e+02] [ 3.58236489e-02 9.99358088e-01 2.78210485e-04 -9.46213267e+00] [ 6.93946887e-03 -5.27139221e-04 9.99975783e-01 3.22550683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.210714057 meters Centerline goodness [0,1] 0.9840988596610786 Centerline is valid? [True, True] Translation: X:273.55, Y:-9.46, Z:3.22 [[ 9.99382967e-01 -3.43291855e-02 -7.42917955e-03 2.73552690e+02] [ 3.43323392e-02 9.99410427e-01 2.97349938e-04 -9.46409000e+00] [ 7.41459173e-03 -5.52227575e-04 9.99972359e-01 3.22492241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.240714057 meters Centerline goodness [0,1] 0.9869879189753837 Centerline is valid? [True, True] Translation: X:273.58, Y:-9.46, Z:3.22 [[ 9.99432910e-01 -3.25807767e-02 -8.50591740e-03 2.73584904e+02] [ 3.25848513e-02 9.99468915e-01 3.40859652e-04 -9.45989419e+00] [ 8.49029456e-03 -6.17830408e-04 9.99963766e-01 3.22389770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.270714057 meters Centerline goodness [0,1] 0.9842884388338934 Centerline is valid? [True, True] Translation: X:273.62, Y:-9.47, Z:3.22 [[ 9.99434828e-01 -3.23054836e-02 -9.29414621e-03 2.73616060e+02] [ 3.23103456e-02 9.99477815e-01 3.73416554e-04 -9.47059535e+00] [ 9.27722954e-03 -6.73502585e-04 9.99956739e-01 3.22204723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.300714057 meters Centerline goodness [0,1] 0.9869152096514502 Centerline is valid? [True, True] Translation: X:273.65, Y:-9.47, Z:3.22 [[ 9.99432800e-01 -3.22952396e-02 -9.54440289e-03 2.73648073e+02] [ 3.23003744e-02 9.99478133e-01 3.84294544e-04 -9.46572612e+00] [ 9.52701109e-03 -6.92364358e-04 9.99954377e-01 3.22199022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.330714057 meters Centerline goodness [0,1] 0.9837847631126008 Centerline is valid? [True, True] Translation: X:273.68, Y:-9.48, Z:3.22 [[ 9.99411671e-01 -3.28337254e-02 -9.91257061e-03 2.73679019e+02] [ 3.28392960e-02 9.99460565e-01 3.99692337e-04 -9.47874078e+00] [ 9.89410003e-03 -7.24979027e-04 9.99950789e-01 3.21984846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.360714057 meters Centerline goodness [0,1] 0.9836384620606938 Centerline is valid? [True, True] Translation: X:273.71, Y:-9.48, Z:3.22 [[ 9.99403733e-01 -3.30784397e-02 -9.89927140e-03 2.73711453e+02] [ 3.30840134e-02 9.99452494e-01 3.99771286e-04 -9.48131417e+00] [ 9.88062768e-03 -7.27040544e-04 9.99950921e-01 3.21966373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.390714057 meters Centerline goodness [0,1] 0.9863180709834733 Centerline is valid? [True, True] Translation: X:273.74, Y:-9.47, Z:3.22 [[ 9.99391967e-01 -3.33003776e-02 -1.03335135e-02 2.73744520e+02] [ 3.33064705e-02 9.99445098e-01 4.18049938e-04 -9.46893906e+00] [ 1.03138582e-02 -7.61968612e-04 9.99946520e-01 3.22085857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.420714057 meters Centerline goodness [0,1] 0.9865228501006263 Centerline is valid? [True, True] Translation: X:273.78, Y:-9.47, Z:3.22 [[ 9.99370810e-01 -3.38453491e-02 -1.06055182e-02 2.73775387e+02] [ 3.38518042e-02 9.99426771e-01 4.29685136e-04 -9.47400842e+00] [ 1.05848960e-02 -7.88430708e-04 9.99943668e-01 3.22015903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.450714057 meters Centerline goodness [0,1] 0.9861978459589104 Centerline is valid? [True, True] Translation: X:273.81, Y:-9.48, Z:3.22 [[ 9.99370121e-01 -3.38671363e-02 -1.06008677e-02 2.73807097e+02] [ 3.38735945e-02 9.99426033e-01 4.30210814e-04 -9.47675143e+00] [ 1.05802131e-02 -7.89029326e-04 9.99943717e-01 3.22017623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.480714057 meters Centerline goodness [0,1] 0.9868459712961917 Centerline is valid? [True, True] Translation: X:273.84, Y:-9.48, Z:3.22 [[ 9.99359024e-01 -3.43436429e-02 -1.01022622e-02 2.73838534e+02] [ 3.43495379e-02 9.99409796e-01 4.10556996e-04 -9.48124676e+00] [ 1.00821998e-02 -7.57301876e-04 9.99948887e-01 3.22100986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51071405700003 meters Centerline goodness [0,1] 0.9857486456717692 Centerline is valid? [True, True] Translation: X:273.87, Y:-9.48, Z:3.22 [[ 9.99365968e-01 -3.42774978e-02 -9.62886871e-03 2.73869958e+02] [ 3.42828574e-02 9.99412093e-01 3.92069710e-04 -9.48496493e+00] [ 9.60976867e-03 -7.21926259e-04 9.99953565e-01 3.22143334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.540714057 meters Centerline goodness [0,1] 0.9865939661582137 Centerline is valid? [True, True] Translation: X:273.90, Y:-9.49, Z:3.22 [[ 9.99371058e-01 -3.44082943e-02 -8.57657795e-03 2.73902493e+02] [ 3.44125566e-02 9.99407651e-01 3.49849148e-04 -9.48803398e+00] [ 8.55945992e-03 -6.44771087e-04 9.99963159e-01 3.22213938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57071405700003 meters Centerline goodness [0,1] 0.9859863456701401 Centerline is valid? [True, True] Translation: X:273.93, Y:-9.49, Z:3.22 [[ 9.99401555e-01 -3.39928627e-02 -6.40439618e-03 2.73933528e+02] [ 3.39952330e-02 9.99421961e-01 2.61579511e-04 -9.49351178e+00] [ 6.39180235e-03 -4.79141910e-04 9.99979457e-01 3.22371507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.600714057 meters Centerline goodness [0,1] 0.9853655261921278 Centerline is valid? [True, True] Translation: X:273.97, Y:-9.50, Z:3.22 [[ 9.99418502e-01 -3.36099012e-02 -5.74732073e-03 2.73965627e+02] [ 3.36118057e-02 9.99434936e-01 2.35079985e-04 -9.49609037e+00] [ 5.73617211e-03 -4.28121114e-04 9.99983456e-01 3.22489278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63071405700003 meters Centerline goodness [0,1] 0.9857040100701313 Centerline is valid? [True, True] Translation: X:274.00, Y:-9.50, Z:3.23 [[ 9.99448592e-01 -3.30976317e-02 -2.65688958e-03 2.73996728e+02] [ 3.30980371e-02 9.99452104e-01 1.08753753e-04 -9.50170388e+00] [ 2.65183439e-03 -1.96631615e-04 9.99996465e-01 3.22745666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.660714057 meters Centerline goodness [0,1] 0.9852713699643554 Centerline is valid? [True, True] Translation: X:274.03, Y:-9.50, Z:3.23 [[ 9.99462825e-01 -3.27234757e-02 -1.79873880e-03 2.74028668e+02] [ 3.27236613e-02 9.99464435e-01 7.38169075e-05 -9.50393632e+00] [ 1.79535991e-03 -1.32638574e-04 9.99998380e-01 3.22820642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69071405700004 meters Centerline goodness [0,1] 0.9839324130512729 Centerline is valid? [True, True] Translation: X:274.06, Y:-9.51, Z:3.23 [[ 9.99459926e-01 -3.28046649e-02 -1.92621217e-03 2.74060561e+02] [ 3.28048781e-02 9.99461772e-01 7.91935533e-05 -9.50721959e+00] [ 1.92257751e-03 -1.42339938e-04 9.99998142e-01 3.22815279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.720714057 meters Centerline goodness [0,1] 0.9852369678831465 Centerline is valid? [True, True] Translation: X:274.09, Y:-9.51, Z:3.23 [[ 9.99463831e-01 -3.26416749e-02 -2.56347203e-03 2.74092733e+02] [ 3.26420526e-02 9.99467101e-01 1.05629470e-04 -9.51075406e+00] [ 2.55865804e-03 -1.89249824e-04 9.99996709e-01 3.22724948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.750714057 meters Centerline goodness [0,1] 0.9863201094391245 Centerline is valid? [True, True] Translation: X:274.12, Y:-9.51, Z:3.23 [[ 9.99474280e-01 -3.23483817e-02 -2.17854765e-03 2.74124907e+02] [ 3.23486540e-02 9.99476641e-01 8.98889983e-05 -9.50872875e+00] [ 2.17449972e-03 -1.60314826e-04 9.99997623e-01 3.22853827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.780714057 meters Centerline goodness [0,1] 0.9821861987574874 Centerline is valid? [True, True] Translation: X:274.16, Y:-9.52, Z:3.23 [[ 9.99504537e-01 -3.14734248e-02 -3.22237098e-04 2.74156264e+02] [ 3.14734307e-02 9.99504589e-01 1.31572277e-05 -9.51902752e+00] [ 3.21663355e-04 -2.32926158e-05 9.99999948e-01 3.23104807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.810714057 meters Centerline goodness [0,1] 0.9828070019152821 Centerline is valid? [True, True] Translation: X:274.19, Y:-9.52, Z:3.24 [[ 9.99591021e-01 -2.83806844e-02 3.51101221e-03 2.74187163e+02] [ 2.83813698e-02 9.99597157e-01 -1.45526954e-04 -9.51588877e+00] [-3.50546767e-03 2.45114772e-04 9.99993826e-01 3.23506088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.840714057 meters Centerline goodness [0,1] 0.9835390029848087 Centerline is valid? [True, True] Translation: X:274.22, Y:-9.51, Z:3.24 [[ 9.99649754e-01 -2.60502927e-02 4.66394787e-03 2.74219116e+02] [ 2.60514792e-02 9.99660584e-01 -1.93802905e-04 -9.51484713e+00] [-4.65731623e-03 3.15237767e-04 9.99989105e-01 3.23614992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.870714057 meters Centerline goodness [0,1] 0.9849041480195043 Centerline is valid? [True, True] Translation: X:274.25, Y:-9.51, Z:3.23 [[ 9.99774796e-01 -2.09725317e-02 3.24199444e-03 2.74250068e+02] [ 2.09730779e-02 9.99780032e-01 -1.34572627e-04 -9.51201845e+00] [-3.23845898e-03 2.02536923e-04 9.99994736e-01 3.23355856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.900714057 meters Centerline goodness [0,1] 0.9851387127633541 Centerline is valid? [True, True] Translation: X:274.28, Y:-9.52, Z:3.23 [[ 9.99837615e-01 -1.79956853e-02 9.48638853e-04 2.74279534e+02] [ 1.79957307e-02 9.99838063e-01 -3.93776875e-05 -9.51554073e+00] [-9.47776605e-04 5.64427424e-05 9.99999549e-01 3.23217301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.930714057 meters Centerline goodness [0,1] 0.9855382967327263 Centerline is valid? [True, True] Translation: X:274.31, Y:-9.51, Z:3.23 [[ 9.99897083e-01 -1.43420162e-02 -3.59154349e-04 2.74310788e+02] [ 1.43420225e-02 9.99897148e-01 1.48677388e-05 -9.51144936e+00] [ 3.58904175e-04 -2.00172084e-05 9.99999935e-01 3.23090358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.960714057 meters Centerline goodness [0,1] 0.9845633702566841 Centerline is valid? [True, True] Translation: X:274.34, Y:-9.51, Z:3.23 [[ 9.99972555e-01 -7.39666901e-03 -4.22802916e-04 2.74340348e+02] [ 7.39667711e-03 9.99972644e-01 1.75998670e-05 -9.51078964e+00] [ 4.22661169e-04 -2.07267207e-05 9.99999910e-01 3.22968193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.990714057 meters Centerline goodness [0,1] 0.9853170536072368 Centerline is valid? [True, True] Translation: X:274.37, Y:-9.51, Z:3.23 [[ 9.99991323e-01 -4.13607112e-03 4.96863608e-04 2.74371536e+02] [ 4.13608193e-03 9.99991446e-01 -2.07307285e-05 -9.50856708e+00] [-4.96773614e-04 2.27856172e-05 9.99999876e-01 3.23159479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.020714057 meters Centerline goodness [0,1] 0.9858487402472558 Centerline is valid? [True, True] Translation: X:274.40, Y:-9.50, Z:3.23 [[ 9.99998068e-01 1.43147466e-03 1.34753948e-03 2.74402725e+02] [-1.43140044e-03 9.99998974e-01 -5.60389426e-05 -9.50492059e+00] [-1.34761832e-03 5.41099657e-05 9.99999090e-01 3.23313538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.050714057 meters Centerline goodness [0,1] 0.9858487402472558 Centerline is valid? [True, True] Translation: X:274.43, Y:-9.51, Z:3.23 [[ 9.99998068e-01 1.43147477e-03 1.34754113e-03 2.74432723e+02] [-1.43140061e-03 9.99998974e-01 -5.59992343e-05 -9.50616724e+00] [-1.34761991e-03 5.40702549e-05 9.99999090e-01 3.23321655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.080714057 meters Centerline goodness [0,1] 0.9846875771795505 Centerline is valid? [True, True] Translation: X:274.46, Y:-9.51, Z:3.23 [[ 9.99992765e-01 3.69502999e-03 9.03185853e-04 2.74463619e+02] [-3.69499760e-03 9.99993173e-01 -3.75317651e-05 -9.50709265e+00] [-9.03318367e-04 3.41942240e-05 9.99999591e-01 3.23296497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.110714057 meters Centerline goodness [0,1] 0.9838227694519963 Centerline is valid? [True, True] Translation: X:274.49, Y:-9.51, Z:3.23 [[ 9.99988813e-01 4.68060136e-03 6.82393406e-04 2.74492662e+02] [-4.68058318e-03 9.99989046e-01 -2.82405043e-05 -9.50873772e+00] [-6.82518114e-04 2.50461893e-05 9.99999767e-01 3.23141156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.140714057 meters Centerline goodness [0,1] 0.9819413604024109 Centerline is valid? [True, True] Translation: X:274.52, Y:-9.52, Z:3.23 [[ 9.99984873e-01 5.48870588e-03 -3.56684398e-04 2.74521325e+02] [-5.48870090e-03 9.99984937e-01 1.49429637e-05 -9.51889679e+00] [ 3.56761042e-04 -1.29850037e-05 9.99999936e-01 3.22936378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.170714057 meters Centerline goodness [0,1] 0.9807081304715536 Centerline is valid? [True, True] Translation: X:274.55, Y:-9.52, Z:3.23 [[ 9.99986027e-01 5.22808955e-03 -7.82578471e-04 2.74549936e+02] [-5.22806564e-03 9.99986333e-01 3.25965705e-05 -9.51705928e+00] [ 7.82738194e-04 -2.85047434e-05 9.99999693e-01 3.22745551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.200714057 meters Centerline goodness [0,1] 0.9805297557619539 Centerline is valid? [True, True] Translation: X:274.58, Y:-9.52, Z:3.23 [[ 9.99987323e-01 4.73815561e-03 -1.70376131e-03 2.74577740e+02] [-4.73804218e-03 9.99988773e-01 7.06041810e-05 -9.52034200e+00] [ 1.70407672e-03 -6.25307931e-05 9.99998546e-01 3.22632795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.230714057 meters Centerline goodness [0,1] 0.9749080882352941 Centerline is valid? [True, True] Translation: X:274.61, Y:-9.54, Z:3.22 [[ 9.99997438e-01 7.38182800e-04 -2.14006717e-03 2.74605630e+02] [-7.37995294e-04 9.99999724e-01 8.84050406e-05 -9.54012711e+00] [ 2.14013184e-03 -8.68254546e-05 9.99997706e-01 3.22291230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26071405700003 meters Centerline goodness [0,1] 0.9769532258443052 Centerline is valid? [True, True] Translation: X:274.63, Y:-9.54, Z:3.22 [[ 9.99992573e-01 -9.97399160e-04 -3.72288459e-03 2.74634875e+02] [ 9.97977730e-04 9.99999490e-01 1.53554513e-04 -9.53993689e+00] [ 3.72272954e-03 -1.57268728e-04 9.99993058e-01 3.22188850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.290714057 meters Centerline goodness [0,1] 0.9762195982499883 Centerline is valid? [True, True] Translation: X:274.66, Y:-9.55, Z:3.22 [[ 9.99954069e-01 -7.01052580e-03 -6.53546889e-03 2.74663976e+02] [ 7.01243469e-03 9.99975376e-01 2.69212550e-04 -9.55499546e+00] [ 6.53342064e-03 -3.15029734e-04 9.99978607e-01 3.21998718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32071405700003 meters Centerline goodness [0,1] 0.9726529731802603 Centerline is valid? [True, True] Translation: X:274.69, Y:-9.56, Z:3.22 [[ 9.99921983e-01 -9.87643435e-03 -7.64753195e-03 2.74693410e+02] [ 9.87912999e-03 9.99951151e-01 3.14788237e-04 -9.56150287e+00] [ 7.64404939e-03 -3.90314640e-04 9.99970708e-01 3.21811991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.350714057 meters Centerline goodness [0,1] 0.9765917148268661 Centerline is valid? [True, True] Translation: X:274.72, Y:-9.57, Z:3.22 [[ 9.99876709e-01 -1.22243034e-02 -9.85558905e-03 2.74724025e+02] [ 1.22288931e-02 9.99925142e-01 4.05556806e-04 -9.56510556e+00] [ 9.84989363e-03 -5.26029749e-04 9.99951350e-01 3.21828490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38071405700003 meters Centerline goodness [0,1] 0.9686381498260456 Centerline is valid? [True, True] Translation: X:274.75, Y:-9.58, Z:3.22 [[ 9.99847667e-01 -1.35500677e-02 -1.10017800e-02 2.74751343e+02] [ 1.35558624e-02 9.99908013e-01 4.52302316e-04 -9.58289492e+00] [ 1.09946392e-02 -6.01372031e-04 9.99939376e-01 3.21844786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.410714057 meters Centerline goodness [0,1] 0.9671100790064872 Centerline is valid? [True, True] Translation: X:274.78, Y:-9.60, Z:3.22 [[ 9.99830545e-01 -1.41158807e-02 -1.18162322e-02 2.74778997e+02] [ 1.41225990e-02 9.99900153e-01 4.85309845e-04 -9.59963787e+00] [ 1.18082018e-02 -6.52103516e-04 9.99930068e-01 3.21750579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44071405700004 meters Centerline goodness [0,1] 0.9640267636807693 Centerline is valid? [True, True] Translation: X:274.81, Y:-9.60, Z:3.22 [[ 9.99779938e-01 -1.68347913e-02 -1.25165655e-02 2.74807923e+02] [ 1.68425342e-02 9.99858023e-01 5.13446301e-04 -9.59703577e+00] [ 1.25061446e-02 -7.24143992e-04 9.99921533e-01 3.21727662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.470714057 meters Centerline goodness [0,1] 0.9766583489290913 Centerline is valid? [True, True] Translation: X:274.84, Y:-9.60, Z:3.22 [[ 9.99843049e-01 -1.37018292e-02 -1.12310906e-02 2.74837233e+02] [ 1.37078617e-02 9.99905937e-01 4.60315983e-04 -9.60169062e+00] [ 1.12237270e-02 -6.14197972e-04 9.99936823e-01 3.22301357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.500714057 meters Centerline goodness [0,1] 0.9783495866016536 Centerline is valid? [True, True] Translation: X:274.87, Y:-9.60, Z:3.22 [[ 9.99862960e-01 -1.28441213e-02 -1.04446085e-02 2.74867150e+02] [ 1.28492884e-02 9.99917353e-01 4.27760206e-04 -9.60476893e+00] [ 1.04382511e-02 -5.61907372e-04 9.99945362e-01 3.22250009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.530714057 meters Centerline goodness [0,1] 0.9732081821528107 Centerline is valid? [True, True] Translation: X:274.90, Y:-9.61, Z:3.22 [[ 9.99866847e-01 -1.24061448e-02 -1.06007023e-02 2.74895352e+02] [ 1.24114382e-02 9.99922881e-01 4.33700148e-04 -9.61150043e+00] [ 1.05945043e-02 -5.65212361e-04 9.99943717e-01 3.22054619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.560714057 meters Centerline goodness [0,1] 0.9703625853914871 Centerline is valid? [True, True] Translation: X:274.92, Y:-9.61, Z:3.22 [[ 9.99856090e-01 -1.30299400e-02 -1.08637366e-02 2.74924750e+02] [ 1.30355144e-02 9.99914936e-01 4.42466369e-04 -9.60736666e+00] [ 1.08570472e-02 -5.84017088e-04 9.99940890e-01 3.21708476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.590714057 meters Centerline goodness [0,1] 0.9637995868862878 Centerline is valid? [True, True] Translation: X:274.95, Y:-9.62, Z:3.21 [[ 9.99819327e-01 -1.50475890e-02 -1.16139019e-02 2.74952589e+02] [ 1.50540829e-02 9.99886570e-01 4.71922931e-04 -9.61909436e+00] [ 1.16054833e-02 -6.46674310e-04 9.99932445e-01 3.21028179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.620714057 meters Centerline goodness [0,1] 0.9697859618488239 Centerline is valid? [True, True] Translation: X:274.98, Y:-9.63, Z:3.21 [[ 9.99827858e-01 -1.36368253e-02 -1.25813556e-02 2.74980586e+02] [ 1.36443272e-02 9.99906781e-01 5.10626145e-04 -9.62890145e+00] [ 1.25732195e-02 -6.82202377e-04 9.99920721e-01 3.21381479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.650714057 meters Centerline goodness [0,1] 0.9754018509498296 Centerline is valid? [True, True] Translation: X:275.01, Y:-9.62, Z:3.21 [[ 9.99817330e-01 -1.42723436e-02 -1.27124979e-02 2.75009313e+02] [ 1.42800230e-02 9.99897903e-01 5.13517604e-04 -9.62420782e+00] [ 1.27038709e-02 -6.94958562e-04 9.99919061e-01 3.21446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.680714057 meters Centerline goodness [0,1] 0.9683975342539504 Centerline is valid? [True, True] Translation: X:275.04, Y:-9.63, Z:3.21 [[ 9.99649631e-01 -2.10677146e-02 -1.60239574e-02 2.75038979e+02] [ 2.10807708e-02 9.99777567e-01 6.46299182e-04 -9.62718532e+00] [ 1.60067771e-02 -9.83870110e-04 9.99871399e-01 3.20861668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.710714057 meters Centerline goodness [0,1] 0.9534294313321717 Centerline is valid? [True, True] Translation: X:275.07, Y:-9.65, Z:3.21 [[ 9.99606003e-01 -2.30682729e-02 -1.59904239e-02 2.75066629e+02] [ 2.30815147e-02 9.99733379e-01 6.44029887e-04 -9.64636454e+00] [ 1.59713039e-02 -1.01285935e-03 9.99871938e-01 3.20652944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.740714057 meters Centerline goodness [0,1] 0.9610911397758511 Centerline is valid? [True, True] Translation: X:275.10, Y:-9.64, Z:3.21 [[ 9.99534704e-01 -2.54673371e-02 -1.67866368e-02 2.75097481e+02] [ 2.54822645e-02 9.99675046e-01 6.75911150e-04 -9.64160481e+00] [ 1.67639682e-02 -1.10335817e-03 9.99858866e-01 3.20692649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.770714057 meters Centerline goodness [0,1] 0.9604217441983681 Centerline is valid? [True, True] Translation: X:275.12, Y:-9.65, Z:3.20 [[ 9.99536165e-01 -2.58559012e-02 -1.60912231e-02 2.75124917e+02] [ 2.58696418e-02 9.99665116e-01 6.46319059e-04 -9.64546627e+00] [ 1.60691232e-02 -1.06229345e-03 9.99870319e-01 3.20414447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.800714057 meters Centerline goodness [0,1] 0.9601132065490517 Centerline is valid? [True, True] Translation: X:275.15, Y:-9.65, Z:3.20 [[ 9.99558439e-01 -2.56647724e-02 -1.49748691e-02 2.75152903e+02] [ 2.56766367e-02 9.99670120e-01 6.00526058e-04 -9.65135373e+00] [ 1.49545168e-02 -9.84765164e-04 9.99887690e-01 3.20489039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.830714057 meters Centerline goodness [0,1] 0.9533452761118467 Centerline is valid? [True, True] Translation: X:275.18, Y:-9.66, Z:3.20 [[ 9.99604662e-01 -2.60373920e-02 -1.06101019e-02 2.75182256e+02] [ 2.60433649e-02 9.99660724e-01 4.25138609e-04 -9.65596017e+00] [ 1.05954327e-02 -7.01293291e-04 9.99943621e-01 3.20253323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.860714057 meters Centerline goodness [0,1] 0.9690503801056565 Centerline is valid? [True, True] Translation: X:275.21, Y:-9.65, Z:3.20 [[ 9.99655610e-01 -2.45572480e-02 -9.25214079e-03 2.75213820e+02] [ 2.45617269e-02 9.99698247e-01 3.70765118e-04 -9.64515606e+00] [ 9.24024396e-03 -5.97885986e-04 9.99957129e-01 3.20344356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.890714057 meters Centerline goodness [0,1] 0.9615829145728643 Centerline is valid? [True, True] Translation: X:275.24, Y:-9.65, Z:3.20 [[ 9.99699072e-01 -2.34626695e-02 -7.16025699e-03 2.75244167e+02] [ 2.34653249e-02 9.99724610e-01 2.87048439e-04 -9.65100039e+00] [ 7.15155021e-03 -4.54979814e-04 9.99974324e-01 3.19967544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.920714057 meters Centerline goodness [0,1] 0.9601091118396357 Centerline is valid? [True, True] Translation: X:275.27, Y:-9.65, Z:3.20 [[ 9.99755568e-01 -2.12471751e-02 -6.11250542e-03 2.75274270e+02] [ 2.12490692e-02 9.99774183e-01 2.45084441e-04 -9.65483802e+00] [ 6.10591776e-03 -3.74909584e-04 9.99981288e-01 3.19814516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.950714057 meters Centerline goodness [0,1] 0.954328173374613 Centerline is valid? [True, True] Translation: X:275.30, Y:-9.66, Z:3.20 [[ 9.99743409e-01 -2.23433042e-02 -3.72740391e-03 2.75304582e+02] [ 2.23440162e-02 9.99750330e-01 1.49469130e-04 -9.66326678e+00] [ 3.72313366e-03 -2.32715951e-04 9.99993042e-01 3.19946084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.980714057 meters Centerline goodness [0,1] 0.9652083872637847 Centerline is valid? [True, True] Translation: X:275.34, Y:-9.66, Z:3.20 [[ 9.99773251e-01 -2.12906734e-02 -3.92585479e-04 2.75335851e+02] [ 2.12906812e-02 9.99773328e-01 1.56676773e-05 -9.66387470e+00] [ 3.92162916e-04 -2.40225369e-05 9.99999923e-01 3.20477158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01071405700003 meters Centerline goodness [0,1] 0.9543220091501996 Centerline is valid? [True, True] Translation: X:275.37, Y:-9.67, Z:3.20 [[ 9.99714577e-01 -2.38579679e-02 1.25013872e-03 2.75365841e+02] [ 2.38580492e-02 9.99715355e-01 -5.01885345e-05 -9.66947735e+00] [-1.24858547e-03 8.00000805e-05 9.99999217e-01 3.20215090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.040714057 meters Centerline goodness [0,1] 0.9514871843917369 Centerline is valid? [True, True] Translation: X:275.40, Y:-9.67, Z:3.20 [[ 9.99654558e-01 -2.61843750e-02 2.26780775e-03 2.75396979e+02] [ 2.61846490e-02 9.99657119e-01 -9.12122281e-05 -9.67479196e+00] [-2.26464183e-03 1.50562469e-04 9.99997424e-01 3.20360223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07071405700003 meters Centerline goodness [0,1] 0.9503485961937064 Centerline is valid? [True, True] Translation: X:275.43, Y:-9.69, Z:3.21 [[ 9.99476200e-01 -3.20649832e-02 4.37743433e-03 2.75426957e+02] [ 3.20660597e-02 9.99485736e-01 -1.75947783e-04 -9.68504915e+00] [-4.36954141e-03 3.16222692e-04 9.99990404e-01 3.20527469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.100714057 meters Centerline goodness [0,1] 0.9475219339182378 Centerline is valid? [True, False] Translation: X:275.43, Y:-9.69, Z:3.20 [[ 9.99484714e-01 -3.18099908e-02 4.29317490e-03 2.75427657e+02] [ 3.18021766e-02 9.99492422e-01 1.87632250e-03 -9.69075639e+00] [-4.35068158e-03 -1.73882335e-03 9.99989024e-01 3.20403558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13071405700003 meters Centerline goodness [0,1] 0.9466163134951162 Centerline is valid? [False, False] Translation: X:275.43, Y:-9.70, Z:3.20 [[ 9.99391831e-01 -3.46361586e-02 4.03792754e-03 2.75429527e+02] [ 3.46345938e-02 9.99399938e-01 4.56831696e-04 -9.69650279e+00] [-4.05132743e-03 -3.16701885e-04 9.99991743e-01 3.20243754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.160714057 meters Centerline goodness [0,1] 0.9467968586143413 Centerline is valid? [False, False] Translation: X:275.43, Y:-9.70, Z:3.20 [[ 9.99405396e-01 -3.42496096e-02 3.97726950e-03 2.75430057e+02] [ 3.42431700e-02 9.99412125e-01 1.67607811e-03 -9.69887840e+00] [-4.03233639e-03 -1.53888719e-03 9.99990686e-01 3.20174996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19071405700004 meters Centerline goodness [0,1] 0.9447119837006853 Centerline is valid? [False, False] Translation: X:275.43, Y:-9.70, Z:3.20 [[ 9.99424820e-01 -3.36886794e-02 3.88605745e-03 2.75430877e+02] [ 3.36776331e-02 9.99428616e-01 2.87382758e-03 -9.70125664e+00] [-3.98065247e-03 -2.74130140e-03 9.99988320e-01 3.20086126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.220714057 meters Centerline goodness [0,1] 0.9449848582178582 Centerline is valid? [False, False] Translation: X:275.43, Y:-9.71, Z:3.20 [[ 9.99449346e-01 -3.29515155e-02 3.89909653e-03 2.75431676e+02] [ 3.29330552e-02 9.99446473e-01 4.70761898e-03 -9.70599124e+00] [-4.05206145e-03 -4.57661754e-03 9.99981318e-01 3.19971613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.250714057 meters Centerline goodness [0,1] 0.9461235517699318 Centerline is valid? [False, False] Translation: X:275.43, Y:-9.71, Z:3.20 [[ 9.99472172e-01 -3.22731552e-02 3.71756874e-03 2.75432653e+02] [ 3.22513897e-02 9.99463116e-01 5.77307032e-03 -9.70783438e+00] [-3.90188803e-03 -5.65012638e-03 9.99976425e-01 3.19891198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.280714057 meters Centerline goodness [0,1] 0.95156934389397 Centerline is valid? [False, True] Translation: X:275.43, Y:-9.71, Z:3.20 [[ 9.99493965e-01 -3.16042308e-02 3.60366687e-03 2.75433742e+02] [ 3.15805596e-02 9.99480420e-01 6.44654524e-03 -9.70920755e+00] [-3.80553258e-03 -6.32947725e-03 9.99972727e-01 3.19820340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.310714057 meters Centerline goodness [0,1] 0.9514996809189534 Centerline is valid? [True, True] Translation: X:275.46, Y:-9.71, Z:3.20 [[ 9.99545493e-01 -2.98497652e-02 4.21894850e-03 2.75464037e+02] [ 2.98508432e-02 9.99554346e-01 -1.92770104e-04 -9.70932900e+00] [-4.21131417e-03 3.18621659e-04 9.99991082e-01 3.20074864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.340714057 meters Centerline goodness [0,1] 0.9502475135110586 Centerline is valid? [True, True] Translation: X:275.50, Y:-9.71, Z:3.20 [[ 9.99558233e-01 -2.92119223e-02 5.47746779e-03 2.75496407e+02] [ 2.92137284e-02 9.99573157e-01 -2.50000229e-04 -9.71305489e+00] [-5.46782679e-03 4.09907044e-04 9.99984967e-01 3.20241285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.370714057 meters Centerline goodness [0,1] 0.950865020520146 Centerline is valid? [True, True] Translation: X:275.53, Y:-9.72, Z:3.20 [[ 9.99566031e-01 -2.87251880e-02 6.52794894e-03 2.75527692e+02] [ 2.87277433e-02 9.99587229e-01 -2.97980602e-04 -9.71682900e+00] [-6.51669484e-03 4.85384528e-04 9.99978648e-01 3.20268021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.400714057 meters Centerline goodness [0,1] 0.946865685123295 Centerline is valid? [True, False] Translation: X:275.53, Y:-9.72, Z:3.20 [[ 9.99572112e-01 -2.84867838e-02 6.64052254e-03 2.75527687e+02] [ 2.84842528e-02 9.99594128e-01 4.75435242e-04 -9.71844436e+00] [-6.65137096e-03 -2.86081487e-04 9.99977838e-01 3.20240690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.430714057 meters Centerline goodness [0,1] 0.945615608880915 Centerline is valid? [False, False] Translation: X:275.53, Y:-9.72, Z:3.20 [[ 9.99576276e-01 -2.83456398e-02 6.61757777e-03 2.75528327e+02] [ 2.83348794e-02 9.99597017e-01 1.71418506e-03 -9.72154051e+00] [-6.66350067e-03 -1.52595045e-03 9.99976634e-01 3.20146865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.460714057 meters Centerline goodness [0,1] 0.9499798486409028 Centerline is valid? [False, False] Translation: X:275.53, Y:-9.72, Z:3.20 [[ 9.99581728e-01 -2.81700988e-02 6.54329662e-03 2.75528918e+02] [ 2.81532814e-02 9.99600110e-01 2.64822382e-03 -9.72366435e+00] [-6.61528075e-03 -2.46290088e-03 9.99975086e-01 3.20077184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.490714057 meters Centerline goodness [0,1] 0.9512359399205227 Centerline is valid? [False, True] Translation: X:275.53, Y:-9.73, Z:3.20 [[ 9.99586396e-01 -2.79951359e-02 6.58105264e-03 2.75529441e+02] [ 2.79719676e-02 9.99602274e-01 3.58653581e-03 -9.72592016e+00] [-6.67884074e-03 -3.40096741e-03 9.99971913e-01 3.19985712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.520714057 meters Centerline goodness [0,1] 0.9496492874056204 Centerline is valid? [True, False] Translation: X:275.53, Y:-9.73, Z:3.20 [[ 9.99595004e-01 -2.77637218e-02 6.24533943e-03 2.75530748e+02] [ 2.77363713e-02 9.99605482e-01 4.42415732e-03 -9.72782217e+00] [-6.36570661e-03 -4.24914250e-03 9.99970711e-01 3.19891594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.550714057 meters Centerline goodness [0,1] 0.9467227713954938 Centerline is valid? [False, False] Translation: X:275.53, Y:-9.73, Z:3.20 [[ 9.99590448e-01 -2.78972965e-02 6.37789809e-03 2.75531003e+02] [ 2.78638134e-02 9.99597785e-01 5.27980546e-03 -9.73037500e+00] [-6.52262510e-03 -5.09993054e-03 9.99965722e-01 3.19808187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.580714057 meters Centerline goodness [0,1] 0.9514775955795173 Centerline is valid? [False, True] Translation: X:275.53, Y:-9.73, Z:3.20 [[ 9.99597834e-01 -2.76365928e-02 6.35527176e-03 2.75531411e+02] [ 2.75999598e-02 9.99602330e-01 5.78141277e-03 -9.73132951e+00] [-6.51252301e-03 -5.60368244e-03 9.99963092e-01 3.19768479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.610714057 meters Centerline goodness [0,1] 0.9494011244194573 Centerline is valid? [True, False] Translation: X:275.53, Y:-9.73, Z:3.20 [[ 9.99610733e-01 -2.72431634e-02 6.01595122e-03 2.75532423e+02] [ 2.72084295e-02 9.99613060e-01 5.78193052e-03 -9.73081188e+00] [-6.17114149e-03 -5.61599523e-03 9.99965188e-01 3.19730451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.640714057 meters Centerline goodness [0,1] 0.9481014059559394 Centerline is valid? [False, False] Translation: X:275.53, Y:-9.73, Z:3.20 [[ 9.99627268e-01 -2.66880746e-02 5.75088407e-03 2.75533333e+02] [ 2.66538109e-02 9.99626990e-01 5.95448638e-03 -9.73016858e+00] [-5.90765271e-03 -5.79898397e-03 9.99965735e-01 3.19699011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.670714057 meters Centerline goodness [0,1] 0.9508356824184849 Centerline is valid? [False, True] Translation: X:275.53, Y:-9.73, Z:3.20 [[ 9.99633388e-01 -2.64667096e-02 5.70983864e-03 2.75533402e+02] [ 2.64341747e-02 9.99634304e-01 5.70019092e-03 -9.72895529e+00] [-5.85861587e-03 -5.54716629e-03 9.99967452e-01 3.19728467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.700714057 meters Centerline goodness [0,1] 0.9517330023934049 Centerline is valid? [True, True] Translation: X:275.56, Y:-9.73, Z:3.20 [[ 9.99729432e-01 -2.25953161e-02 5.52400380e-03 2.75564265e+02] [ 2.25971026e-02 9.99744619e-01 -2.61202109e-04 -9.72505118e+00] [-5.51669113e-03 3.85957917e-04 9.99984708e-01 3.19972528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.730714057 meters Centerline goodness [0,1] 0.9532529369882521 Centerline is valid? [True, True] Translation: X:275.60, Y:-9.72, Z:3.20 [[ 9.99747574e-01 -2.15543620e-02 6.34015882e-03 2.75596321e+02] [ 2.15567034e-02 9.99767582e-01 -3.01193039e-04 -9.72453227e+00] [-6.33219323e-03 4.37789934e-04 9.99979856e-01 3.19932546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76071405700003 meters Centerline goodness [0,1] 0.9531087106004481 Centerline is valid? [True, True] Translation: X:275.63, Y:-9.72, Z:3.20 [[ 9.99778280e-01 -1.99168423e-02 6.83447027e-03 2.75627897e+02] [ 1.99195229e-02 9.99801534e-01 -3.24366006e-04 -9.72451350e+00] [-6.82665351e-03 4.60433474e-04 9.99976592e-01 3.19939185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.790714057 meters Centerline goodness [0,1] 0.951207546328301 Centerline is valid? [True, True] Translation: X:275.66, Y:-9.73, Z:3.20 [[ 9.99750051e-01 -2.09431167e-02 7.82437291e-03 2.75658916e+02] [ 2.09466660e-02 9.99780525e-01 -3.71934032e-04 -9.73160616e+00] [-7.81486620e-03 5.35735594e-04 9.99969320e-01 3.20132672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82071405700003 meters Centerline goodness [0,1] 0.9531086874430796 Centerline is valid? [True, True] Translation: X:275.69, Y:-9.73, Z:3.20 [[ 9.99707137e-01 -2.32294425e-02 6.78479204e-03 2.75690144e+02] [ 2.32321642e-02 9.99730045e-01 -3.22595237e-04 -9.73310948e+00] [-6.77546675e-03 4.80126163e-04 9.99976931e-01 3.20089723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.850714057 meters Centerline goodness [0,1] 0.9520288628568884 Centerline is valid? [True, True] Translation: X:275.72, Y:-9.73, Z:3.20 [[ 9.99689733e-01 -2.39773300e-02 6.74721349e-03 2.75721696e+02] [ 2.39800515e-02 9.99712385e-01 -3.22717908e-04 -9.73485194e+00] [-6.73753497e-03 4.84416306e-04 9.99977185e-01 3.20173270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88071405700003 meters Centerline goodness [0,1] 0.9551229096429927 Centerline is valid? [True, True] Translation: X:275.75, Y:-9.74, Z:3.20 [[ 9.99622584e-01 -2.68052008e-02 6.01422525e-03 2.75752679e+02] [ 2.68074099e-02 9.99640576e-01 -2.86988777e-04 -9.73590619e+00] [-6.00437080e-03 4.48106265e-04 9.99981873e-01 3.20054980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.910714057 meters Centerline goodness [0,1] 0.9522612506395569 Centerline is valid? [True, True] Translation: X:275.78, Y:-9.75, Z:3.20 [[ 9.99529010e-01 -3.03498255e-02 4.54383575e-03 2.75782145e+02] [ 3.03511233e-02 9.99539275e-01 -2.16917045e-04 -9.74781183e+00] [-4.53515890e-03 3.54725399e-04 9.99989653e-01 3.20166323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94071405700004 meters Centerline goodness [0,1] 0.9532498164259807 Centerline is valid? [True, True] Translation: X:275.81, Y:-9.75, Z:3.20 [[ 9.99507409e-01 -3.11381233e-02 3.91869650e-03 2.75814386e+02] [ 3.11390983e-02 9.99515043e-01 -1.88020943e-04 -9.74647733e+00] [-3.91094148e-03 3.09953001e-04 9.99992304e-01 3.20140012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.970714057 meters Centerline goodness [0,1] 0.9532498164259807 Centerline is valid? [True, True] Translation: X:275.85, Y:-9.75, Z:3.20 [[ 9.99509619e-01 -3.10671006e-02 3.91868320e-03 2.75846129e+02] [ 3.10680761e-02 9.99517253e-01 -1.88298572e-04 -9.74805529e+00] [-3.91094158e-03 3.09952182e-04 9.99992304e-01 3.20184206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.000714057 meters Centerline goodness [0,1] 0.9553114688752574 Centerline is valid? [True, True] Translation: X:275.88, Y:-9.75, Z:3.20 [[ 9.99412992e-01 -3.40712380e-02 3.58076103e-03 2.75875598e+02] [ 3.40720676e-02 9.99419364e-01 -1.70936209e-04 -9.75355176e+00] [-3.57285790e-03 2.92839800e-04 9.99993574e-01 3.20336257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.030714057 meters Centerline goodness [0,1] 0.9571604248183343 Centerline is valid? [True, True] Translation: X:275.91, Y:-9.75, Z:3.20 [[ 9.99354751e-01 -3.56908260e-02 4.03060611e-03 2.75906638e+02] [ 3.56918924e-02 9.99362823e-01 -1.92922729e-04 -9.75485180e+00] [-4.02115233e-03 3.36658205e-04 9.99991858e-01 3.20360745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.060714057 meters Centerline goodness [0,1] 0.9523565915612002 Centerline is valid? [True, True] Translation: X:275.94, Y:-9.77, Z:3.21 [[ 9.99361284e-01 -3.54929036e-02 4.15657385e-03 2.75937382e+02] [ 3.54940388e-02 9.99369868e-01 -1.99648403e-04 -9.77048523e+00] [-4.14686856e-03 3.47054479e-04 9.99991341e-01 3.20790155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.090714057 meters Centerline goodness [0,1] 0.9565518628612297 Centerline is valid? [True, True] Translation: X:275.97, Y:-9.75, Z:3.20 [[ 9.99405867e-01 -3.43656086e-02 2.63009845e-03 2.75969750e+02] [ 3.43660596e-02 9.99409305e-01 -1.26462322e-04 -9.74961763e+00] [-2.62419891e-03 2.16773307e-04 9.99996533e-01 3.20483324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.120714057 meters Centerline goodness [0,1] 0.9573218568578665 Centerline is valid? [True, True] Translation: X:276.00, Y:-9.75, Z:3.21 [[ 9.99441273e-01 -3.33178903e-02 2.65714668e-03 2.76001851e+02] [ 3.33183487e-02 9.99444781e-01 -1.28439953e-04 -9.75019418e+00] [-2.65139203e-03 2.16899930e-04 9.99996462e-01 3.20632797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.150714057 meters Centerline goodness [0,1] 0.958003665459747 Centerline is valid? [True, True] Translation: X:276.03, Y:-9.75, Z:3.21 [[ 9.99465302e-01 -3.25229668e-02 3.37145727e-03 2.76033784e+02] [ 3.25237002e-02 9.99470951e-01 -1.62933362e-04 -9.75075497e+00] [-3.36437453e-03 2.72498508e-04 9.99994303e-01 3.20761699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.180714057 meters Centerline goodness [0,1] 0.9584848893080067 Centerline is valid? [True, True] Translation: X:276.07, Y:-9.75, Z:3.21 [[ 9.99433958e-01 -3.36011405e-02 1.65134616e-03 2.76066284e+02] [ 3.36013189e-02 9.99435313e-01 -8.04198126e-05 -9.75263260e+00] [-1.64771147e-03 1.35861701e-04 9.99998633e-01 3.20719712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.210714057 meters Centerline goodness [0,1] 0.950812717692239 Centerline is valid? [True, True] Translation: X:276.10, Y:-9.77, Z:3.21 [[ 9.99399614e-01 -3.45746019e-02 2.23803710e-03 2.76095969e+02] [ 3.45749303e-02 9.99402102e-01 -1.08229833e-04 -9.77466811e+00] [-2.23295698e-03 1.85544830e-04 9.99997490e-01 3.21104624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.240714057 meters Centerline goodness [0,1] 0.9436396509006495 Centerline is valid? [True, False] Translation: X:276.10, Y:-9.78, Z:3.21 [[ 9.99497316e-01 -3.16410775e-02 1.98958686e-03 2.76096457e+02] [ 3.16331483e-02 9.99491946e-01 3.89796540e-03 -9.77520751e+00] [-2.11191186e-03 -3.83306906e-03 9.99990424e-01 3.21017459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.270714057 meters Centerline goodness [0,1] 0.9354025910317301 Centerline is valid? [False, False] Translation: X:276.10, Y:-9.77, Z:3.21 [[ 9.99497203e-01 -3.16631888e-02 1.66817484e-03 2.76097327e+02] [ 3.16566216e-02 9.99491480e-01 3.82613332e-03 -9.77436603e+00] [-1.78847412e-03 -3.77140077e-03 9.99991289e-01 3.20976059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.300714057 meters Centerline goodness [0,1] 0.9580600544326953 Centerline is valid? [False, True] Translation: X:276.10, Y:-9.77, Z:3.21 [[ 9.99482459e-01 -3.21382628e-02 1.39480736e-03 2.76097876e+02] [ 3.21335214e-02 9.99478143e-01 3.29815830e-03 -9.77289076e+00] [-1.50007655e-03 -3.25163129e-03 9.99993588e-01 3.20975746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.330714057 meters Centerline goodness [0,1] 0.9565768973959492 Centerline is valid? [True, True] Translation: X:276.13, Y:-9.77, Z:3.21 [[ 9.99451972e-01 -3.31021955e-02 -2.82059411e-05 2.76129980e+02] [ 3.31021956e-02 9.99451972e-01 9.91429197e-07 -9.76872849e+00] [ 2.81576650e-05 -1.92456445e-06 1.00000000e+00 3.20998550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.360714057 meters Centerline goodness [0,1] 0.9561738741758856 Centerline is valid? [True, True] Translation: X:276.16, Y:-9.77, Z:3.21 [[ 9.99434154e-01 -3.36357990e-02 6.95594020e-05 2.76161130e+02] [ 3.36357994e-02 9.99434156e-01 -4.53336362e-06 -9.77499045e+00] [-6.93675590e-05 6.87048452e-06 9.99999998e-01 3.21077944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.390714057 meters Centerline goodness [0,1] 0.955358542100432 Centerline is valid? [True, True] Translation: X:276.19, Y:-9.77, Z:3.21 [[ 9.99474320e-01 -3.24166426e-02 -4.95839206e-04 2.76193258e+02] [ 3.24166602e-02 9.99474442e-01 2.74800119e-05 -9.76859381e+00] [ 4.94687804e-04 -4.35390172e-05 9.99999877e-01 3.21190383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.420714057 meters Centerline goodness [0,1] 0.9540360492836931 Centerline is valid? [True, True] Translation: X:276.22, Y:-9.77, Z:3.21 [[ 9.99515214e-01 -3.11336830e-02 1.78199811e-04 2.76223223e+02] [ 3.11336853e-02 9.99515229e-01 -1.02938562e-05 -9.77368032e+00] [-1.77792939e-04 1.58368827e-05 9.99999984e-01 3.21332957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.450714057 meters Centerline goodness [0,1] 0.9572596132374614 Centerline is valid? [True, True] Translation: X:276.25, Y:-9.77, Z:3.21 [[ 9.99561410e-01 -2.96129025e-02 2.52077631e-04 2.76254850e+02] [ 2.96129071e-02 9.99561442e-01 -1.46842756e-05 -9.76794133e+00] [-2.51532237e-04 2.21425867e-05 9.99999968e-01 3.21374695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.480714057 meters Centerline goodness [0,1] 0.9559586651158629 Centerline is valid? [True, True] Translation: X:276.29, Y:-9.77, Z:3.21 [[ 9.99636351e-01 -2.69459857e-02 -1.03894224e-03 2.76286076e+02] [ 2.69460612e-02 9.99636887e-01 5.87417220e-05 -9.76544739e+00] [ 1.03698214e-03 -8.67157618e-05 9.99999459e-01 3.21327581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51071405700003 meters Centerline goodness [0,1] 0.9555023066242666 Centerline is valid? [True, True] Translation: X:276.32, Y:-9.77, Z:3.21 [[ 9.99674534e-01 -2.54205540e-02 -2.14979598e-03 2.76318146e+02] [ 2.54208735e-02 9.99676830e-01 1.21409009e-04 -9.76576567e+00] [ 2.14601495e-03 -1.76019186e-04 9.99997682e-01 3.21371635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.540714057 meters Centerline goodness [0,1] 0.956811076373381 Centerline is valid? [True, True] Translation: X:276.35, Y:-9.77, Z:3.21 [[ 9.99722977e-01 -2.34514149e-02 -1.99992706e-03 2.76348469e+02] [ 2.34516883e-02 9.99724965e-01 1.13338193e-04 -9.76675509e+00] [ 1.99671907e-03 -1.60208462e-04 9.99997994e-01 3.21423868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57071405700003 meters Centerline goodness [0,1] 0.9568957791916839 Centerline is valid? [True, True] Translation: X:276.38, Y:-9.76, Z:3.21 [[ 9.99759036e-01 -2.18581951e-02 -2.02239290e-03 2.76380582e+02] [ 2.18584708e-02 9.99761069e-01 1.14322616e-04 -9.76297383e+00] [ 2.01941080e-03 -1.58501484e-04 9.99997948e-01 3.21495990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.600714057 meters Centerline goodness [0,1] 0.9593152064451158 Centerline is valid? [True, True] Translation: X:276.41, Y:-9.76, Z:3.21 [[ 9.99765854e-01 -2.15088177e-02 -2.36816640e-03 2.76412756e+02] [ 2.15091949e-02 9.99768642e-01 1.33928136e-04 -9.75981329e+00] [ 2.36473787e-03 -1.84834130e-04 9.99997187e-01 3.21454153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63071405700003 meters Centerline goodness [0,1] 0.959541967660412 Centerline is valid? [True, True] Translation: X:276.44, Y:-9.76, Z:3.22 [[ 9.99826423e-01 -1.85035217e-02 -2.17778954e-03 2.76442609e+02] [ 1.85038352e-02 9.99828782e-01 1.23892705e-04 -9.75921665e+00] [ 2.17512421e-03 -1.64168659e-04 9.99997621e-01 3.21665172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.660714057 meters Centerline goodness [0,1] 0.9585628582260978 Centerline is valid? [True, True] Translation: X:276.47, Y:-9.76, Z:3.22 [[ 9.99837813e-01 -1.78216091e-02 -2.59558048e-03 2.76474652e+02] [ 1.78220505e-02 9.99841164e-01 1.47055567e-04 -9.75965897e+00] [ 2.59254744e-03 -1.93290283e-04 9.99996621e-01 3.21752279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69071405700004 meters Centerline goodness [0,1] 0.9599579681631193 Centerline is valid? [True, True] Translation: X:276.51, Y:-9.77, Z:3.22 [[ 9.99835567e-01 -1.79244614e-02 -2.74826733e-03 2.76505890e+02] [ 1.79249578e-02 9.99839323e-01 1.56098670e-04 -9.76613648e+00] [ 2.74502776e-03 -2.05335578e-04 9.99996211e-01 3.21835222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.720714057 meters Centerline goodness [0,1] 0.9577788180744109 Centerline is valid? [True, True] Translation: X:276.54, Y:-9.77, Z:3.22 [[ 9.99824235e-01 -1.81470071e-02 -4.71005991e-03 2.76537076e+02] [ 1.81484708e-02 9.99835267e-01 2.68205710e-04 -9.77226489e+00] [ 4.70441688e-03 -3.53638953e-04 9.99988872e-01 3.21755001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.750714057 meters Centerline goodness [0,1] 0.9612432589675312 Centerline is valid? [True, True] Translation: X:276.57, Y:-9.77, Z:3.22 [[ 9.99785881e-01 -2.00328668e-02 -5.18419491e-03 2.76568452e+02] [ 2.00346679e-02 9.99799242e-01 2.95724308e-04 -9.76779647e+00] [ 5.17722993e-03 -3.99524611e-04 9.99986518e-01 3.21626468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.780714057 meters Centerline goodness [0,1] 0.9587665670043286 Centerline is valid? [True, True] Translation: X:276.60, Y:-9.77, Z:3.22 [[ 9.99747054e-01 -2.14942312e-02 -6.62015723e-03 2.76598602e+02] [ 2.14972007e-02 9.99768837e-01 3.77708671e-04 -9.77400448e+00] [ 6.61050834e-03 -5.19927979e-04 9.99978015e-01 3.21839956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.810714057 meters Centerline goodness [0,1] 0.9603366460739547 Centerline is valid? [True, True] Translation: X:276.63, Y:-9.77, Z:3.22 [[ 9.99711261e-01 -2.30539070e-02 -6.77583150e-03 2.76630181e+02] [ 2.30570553e-02 9.99734076e-01 3.86881326e-04 -9.77187270e+00] [ 6.76511052e-03 -5.43000340e-04 9.99976969e-01 3.21862248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.840714057 meters Centerline goodness [0,1] 0.9592967406116659 Centerline is valid? [True, True] Translation: X:276.66, Y:-9.77, Z:3.22 [[ 9.99699755e-01 -2.35279002e-02 -6.84384582e-03 2.76661739e+02] [ 2.35311247e-02 9.99723028e-01 3.91005584e-04 -9.77444609e+00] [ 6.83275073e-03 -5.51931576e-04 9.99976504e-01 3.21905062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.870714057 meters Centerline goodness [0,1] 0.9594220376077538 Centerline is valid? [True, True] Translation: X:276.69, Y:-9.78, Z:3.22 [[ 9.99658677e-01 -2.50767846e-02 -7.32690353e-03 2.76691567e+02] [ 2.50805247e-02 9.99685346e-01 4.19016435e-04 -9.77924412e+00] [ 7.31409051e-03 -6.02636000e-04 9.99973070e-01 3.22002056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.900714057 meters Centerline goodness [0,1] 0.9581046713960648 Centerline is valid? [True, True] Translation: X:276.72, Y:-9.78, Z:3.22 [[ 9.99681099e-01 -2.43770110e-02 -6.59255036e-03 2.76721873e+02] [ 2.43800234e-02 9.99702692e-01 3.76942666e-04 -9.78256522e+00] [ 6.58140160e-03 -5.37548991e-04 9.99978198e-01 3.22152037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.930714057 meters Centerline goodness [0,1] 0.9583351900539192 Centerline is valid? [True, True] Translation: X:276.75, Y:-9.78, Z:3.22 [[ 9.99652156e-01 -2.52865154e-02 -7.49399137e-03 2.76753286e+02] [ 2.52904339e-02 9.99680054e-01 4.28575749e-04 -9.78479547e+00] [ 7.48075651e-03 -6.17952965e-04 9.99971828e-01 3.22244413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.960714057 meters Centerline goodness [0,1] 0.9557923424027164 Centerline is valid? [True, True] Translation: X:276.78, Y:-9.79, Z:3.22 [[ 9.99632732e-01 -2.61314888e-02 -7.17964384e-03 2.76783030e+02] [ 2.61351098e-02 9.99658335e-01 4.10957916e-04 -9.78695700e+00] [ 7.16645187e-03 -5.98447764e-04 9.99974142e-01 3.22427509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.990714057 meters Centerline goodness [0,1] 0.9557468828764526 Centerline is valid? [True, True] Translation: X:276.81, Y:-9.79, Z:3.23 [[ 9.99634461e-01 -2.61002907e-02 -7.05117335e-03 2.76813819e+02] [ 2.61037815e-02 9.99659157e-01 4.03468279e-04 -9.78885087e+00] [ 7.03823937e-03 -5.87383084e-04 9.99975059e-01 3.22640374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.020714057 meters Centerline goodness [0,1] 0.9568680828275615 Centerline is valid? [True, True] Translation: X:276.85, Y:-9.79, Z:3.23 [[ 9.99571152e-01 -2.83923587e-02 -7.16836304e-03 2.76845372e+02] [ 2.83960267e-02 9.99596667e-01 4.10416072e-04 -9.78848662e+00] [ 7.15381913e-03 -6.13793094e-04 9.99974223e-01 3.22624394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.050714057 meters Centerline goodness [0,1] 0.951435763772862 Centerline is valid? [True, True] Translation: X:276.88, Y:-9.80, Z:3.23 [[ 9.99538315e-01 -2.93486740e-02 -7.86212339e-03 2.76875081e+02] [ 2.93531186e-02 9.99569003e-01 4.50494028e-04 -9.79735880e+00] [ 7.84551344e-03 -6.81063882e-04 9.99968992e-01 3.22580097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.080714057 meters Centerline goodness [0,1] 0.9563917824719502 Centerline is valid? [True, True] Translation: X:276.91, Y:-9.80, Z:3.23 [[ 9.99533536e-01 -2.93741602e-02 -8.35877900e-03 2.76906439e+02] [ 2.93791858e-02 9.99568224e-01 4.79056706e-04 -9.79582442e+00] [ 8.34109799e-03 -7.24407365e-04 9.99964950e-01 3.22554333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.110714057 meters Centerline goodness [0,1] 0.8448265069793645 Centerline is valid? [True, False] Translation: X:276.95, Y:-9.80, Z:3.23 [[ 9.99462702e-01 -3.16634107e-02 -8.46965007e-03 2.76953947e+02] [ 3.16216488e-02 9.99487304e-01 -5.02008373e-03 -9.79575763e+00] [ 8.62426068e-03 4.74956215e-03 9.99951531e-01 3.22727407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.140714057 meters Centerline goodness [0,1] 0.9470067603629247 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.23 [[ 9.99453160e-01 -3.13260300e-02 -1.05858848e-02 2.76876557e+02] [ 3.13256285e-02 9.99509211e-01 -2.03774595e-04 -9.79360117e+00] [ 1.05870729e-02 -1.27946333e-04 9.99943947e-01 3.22687755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.170714057 meters Centerline goodness [0,1] 0.9385931937288547 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.23 [[ 9.99451845e-01 -3.12159862e-02 -1.10259239e-02 2.76877594e+02] [ 3.12160712e-02 9.99512646e-01 -1.64434836e-04 -9.79320662e+00] [ 1.10256833e-02 -1.79841324e-04 9.99939199e-01 3.22676298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.200714057 meters Centerline goodness [0,1] 0.9242815771886834 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.23 [[ 9.99449121e-01 -3.13158430e-02 -1.09896934e-02 2.76877442e+02] [ 3.13183466e-02 9.99509459e-01 5.57487835e-05 -9.79359370e+00] [ 1.09825567e-02 -3.99897099e-04 9.99939610e-01 3.22679902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.230714057 meters Centerline goodness [0,1] 0.9376333096338428 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.23 [[ 9.99454794e-01 -3.11068868e-02 -1.10668968e-02 2.76877763e+02] [ 3.11147769e-02 9.99515671e-01 5.41444390e-04 -9.79442635e+00] [ 1.10446941e-02 -8.85493217e-04 9.99938613e-01 3.22657490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26071405700003 meters Centerline goodness [0,1] 0.8980679546968687 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.80, Z:3.23 [[ 9.99460145e-01 -3.09065219e-02 -1.11447815e-02 2.76878216e+02] [ 3.09198481e-02 9.99521341e-01 1.02538218e-03 -9.79512475e+00] [ 1.11077559e-02 -1.36942357e-03 9.99937369e-01 3.22614369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.290714057 meters Centerline goodness [0,1] 0.8799250786005752 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.23 [[ 9.99453555e-01 -3.10296978e-02 -1.13907401e-02 2.76879361e+02] [ 3.10434785e-02 9.99517499e-01 1.03496327e-03 -9.79450114e+00] [ 1.13531295e-02 -1.38800592e-03 9.99934588e-01 3.22509831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32071405700003 meters Centerline goodness [0,1] 0.8458644105532673 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99454089e-01 -3.09109950e-02 -1.16633979e-02 2.76880146e+02] [ 3.09265614e-02 9.99520990e-01 1.15659529e-03 -9.79433350e+00] [ 1.16220595e-02 -1.51667268e-03 9.99931311e-01 3.22478483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.350714057 meters Centerline goodness [0,1] 0.9439485897893609 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.23 [[ 9.99442855e-01 -3.12639354e-02 -1.16853044e-02 2.76879952e+02] [ 3.12737326e-02 9.99510642e-01 6.56588805e-04 -9.79316021e+00] [ 1.16590585e-02 -1.02166607e-03 9.99931509e-01 3.22519937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38071405700003 meters Centerline goodness [0,1] 0.8029231284168248 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99448981e-01 -3.10632952e-02 -1.16963813e-02 2.76880339e+02] [ 3.10781173e-02 9.99516367e-01 1.08757550e-03 -9.79361121e+00] [ 1.16569409e-02 -1.45047774e-03 9.99931004e-01 3.22469923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.410714057 meters Centerline goodness [0,1] 0.7934683533047286 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99458774e-01 -3.06348446e-02 -1.19860131e-02 2.76881320e+02] [ 3.06572314e-02 9.99528531e-01 1.68844778e-03 -9.79442082e+00] [ 1.19286367e-02 -2.05499192e-03 9.99926740e-01 3.22416770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44071405700004 meters Centerline goodness [0,1] 0.8521603215362287 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.80, Z:3.22 [[ 9.99539689e-01 -2.80689164e-02 -1.15128976e-02 2.76880815e+02] [ 2.81286433e-02 9.99591509e-01 5.05909989e-03 -9.79617201e+00] [ 1.13661913e-02 -5.38061332e-03 9.99920926e-01 3.22317829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.470714057 meters Centerline goodness [0,1] 0.7399995542976846 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99544950e-01 -2.77888373e-02 -1.17334065e-02 2.76881592e+02] [ 2.78481545e-02 9.99600044e-01 4.92263147e-03 -9.79484295e+00] [ 1.15919194e-02 -5.24714514e-03 9.99919044e-01 3.22290069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.500714057 meters Centerline goodness [0,1] 0.7302465692290527 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99628341e-01 -2.46611351e-02 -1.16193490e-02 2.76880804e+02] [ 2.47527534e-02 9.99663109e-01 7.80825320e-03 -9.79264327e+00] [ 1.14228742e-02 -8.09296207e-03 9.99902006e-01 3.22332401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.530714057 meters Centerline goodness [0,1] 0.7157711142416314 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99633187e-01 -2.43980214e-02 -1.17570579e-02 2.76881236e+02] [ 2.44898288e-02 9.99670201e-01 7.72903197e-03 -9.79166358e+00] [ 1.15646073e-02 -8.01412519e-03 9.99901012e-01 3.22327433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.560714057 meters Centerline goodness [0,1] 0.944104666532249 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99637078e-01 -2.42130200e-02 -1.18085755e-02 2.76881382e+02] [ 2.43052196e-02 9.99674715e-01 7.72784705e-03 -9.79135658e+00] [ 1.16176198e-02 -8.01205246e-03 9.99900414e-01 3.22337647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.590714057 meters Centerline goodness [0,1] 0.7045734093704573 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99642315e-01 -2.40587916e-02 -1.16797148e-02 2.76881338e+02] [ 2.41486224e-02 9.99679399e-01 7.61203701e-03 -9.79044791e+00] [ 1.14928339e-02 -7.89136333e-03 9.99902816e-01 3.22325619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.620714057 meters Centerline goodness [0,1] 0.9416993171386993 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99643490e-01 -2.39276825e-02 -1.18472887e-02 2.76881976e+02] [ 2.40174815e-02 9.99683433e-01 7.49633626e-03 -9.78955354e+00] [ 1.16641682e-02 -7.77820578e-03 9.99901719e-01 3.22290611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.650714057 meters Centerline goodness [0,1] 0.9348084915197125 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99651444e-01 -2.33078583e-02 -1.23989458e-02 2.76884221e+02] [ 2.34014018e-02 9.99698363e-01 7.45364162e-03 -9.78683598e+00] [ 1.22214774e-02 -7.74119632e-03 9.99895349e-01 3.22152698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.680714057 meters Centerline goodness [0,1] 0.937867224961167 Centerline is valid? [False, False] Translation: X:276.88, Y:-9.79, Z:3.22 [[ 9.99652417e-01 -2.31837145e-02 -1.25523350e-02 2.76884730e+02] [ 2.32737534e-02 9.99704094e-01 7.07514283e-03 -9.78509626e+00] [ 1.23845926e-02 -7.36482358e-03 9.99896185e-01 3.22143893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.710714057 meters Centerline goodness [0,1] 0.9327475498479216 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.78, Z:3.22 [[ 9.99659644e-01 -2.27559577e-02 -1.27578529e-02 2.76885540e+02] [ 2.28423397e-02 9.99716852e-01 6.66653907e-03 -9.78265232e+00] [ 1.26025370e-02 -6.95568928e-03 9.99896392e-01 3.22126800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.740714057 meters Centerline goodness [0,1] 0.9215505824785077 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.78, Z:3.22 [[ 9.99666846e-01 -2.24638440e-02 -1.27111178e-02 2.76885706e+02] [ 2.25490824e-02 9.99723934e-01 6.60269293e-03 -9.78161139e+00] [ 1.25592868e-02 -6.88711726e-03 9.99897411e-01 3.22116958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.770714057 meters Centerline goodness [0,1] 0.9322251214684182 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.78, Z:3.22 [[ 9.99667461e-01 -2.23783941e-02 -1.28131071e-02 2.76885898e+02] [ 2.24573515e-02 9.99729485e-01 6.05185946e-03 -9.77969782e+00] [ 1.26742100e-02 -6.33759542e-03 9.99899595e-01 3.22152597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.800714057 meters Centerline goodness [0,1] 0.9349328171771961 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.78, Z:3.22 [[ 9.99728202e-01 -1.93934573e-02 -1.29389221e-02 2.76885588e+02] [ 1.95041573e-02 9.99773771e-01 8.48495254e-03 -9.77674129e+00] [ 1.27714424e-02 -8.73500912e-03 9.99880288e-01 3.22206923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.830714057 meters Centerline goodness [0,1] 0.935441489602682 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.77, Z:3.22 [[ 9.99726984e-01 -1.93933754e-02 -1.30328238e-02 2.76885812e+02] [ 1.94955057e-02 9.99779864e-01 7.75556972e-03 -9.77420348e+00] [ 1.28795481e-02 -8.00753382e-03 9.99884992e-01 3.22230779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.860714057 meters Centerline goodness [0,1] 0.935441489602682 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.77, Z:3.22 [[ 9.99726984e-01 -1.93933754e-02 -1.30328238e-02 2.76885812e+02] [ 1.94955057e-02 9.99779864e-01 7.75556972e-03 -9.77420348e+00] [ 1.28795481e-02 -8.00753382e-03 9.99884992e-01 3.22230779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.890714057 meters Centerline goodness [0,1] 0.9103052569510591 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.77, Z:3.22 [[ 9.99779880e-01 -1.64372188e-02 -1.30387875e-02 2.76885418e+02] [ 1.65713506e-02 9.99810180e-01 1.02466759e-02 -9.77134009e+00] [ 1.28678856e-02 -1.04604907e-02 9.99862488e-01 3.22266012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.920714057 meters Centerline goodness [0,1] 0.9031196823596143 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.77, Z:3.22 [[ 9.99775680e-01 -1.65387228e-02 -1.32310128e-02 2.76885786e+02] [ 1.66633920e-02 9.99817265e-01 9.36840354e-03 -9.76872647e+00] [ 1.30736536e-02 -9.58677557e-03 9.99868578e-01 3.22293436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.950714057 meters Centerline goodness [0,1] 0.9438839133885047 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.77, Z:3.22 [[ 9.99775335e-01 -1.65556469e-02 -1.32359571e-02 2.76885927e+02] [ 1.66724145e-02 9.99822623e-01 8.76086544e-03 -9.76658619e+00] [ 1.30885676e-02 -8.97957255e-03 9.99874020e-01 3.22296419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.980714057 meters Centerline goodness [0,1] 0.9403612404861978 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.76, Z:3.22 [[ 9.99779868e-01 -1.60507570e-02 -1.35125045e-02 2.76886920e+02] [ 1.61604465e-02 9.99837022e-01 8.04795290e-03 -9.76281594e+00] [ 1.33811265e-02 -8.26454940e-03 9.99876314e-01 3.22283516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01071405700003 meters Centerline goodness [0,1] 0.9423138164778673 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.76, Z:3.22 [[ 9.99780052e-01 -1.59538756e-02 -1.36133107e-02 2.76887239e+02] [ 1.60572185e-02 9.99842825e-01 7.51607845e-03 -9.76067569e+00] [ 1.34912605e-02 -7.73301721e-03 9.99879086e-01 3.22288600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.040714057 meters Centerline goodness [0,1] 0.9328039792821776 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.76, Z:3.22 [[ 9.99779187e-01 -1.59997210e-02 -1.36230273e-02 2.76887306e+02] [ 1.60864150e-02 9.99850895e-01 6.27816115e-03 -9.75643742e+00] [ 1.35205473e-02 -6.49592052e-03 9.99887493e-01 3.22326131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07071405700003 meters Centerline goodness [0,1] 0.9421204224386229 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99777458e-01 -1.58721535e-02 -1.38963641e-02 2.76887923e+02] [ 1.59542763e-02 9.99855790e-01 5.81887929e-03 -9.75441983e+00] [ 1.38020019e-02 -6.03929078e-03 9.99886509e-01 3.22340342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.100714057 meters Centerline goodness [0,1] 0.9377472841623785 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99774926e-01 -1.58081131e-02 -1.41492302e-02 2.76888420e+02] [ 1.58853095e-02 9.99859453e-01 5.36020758e-03 -9.75267634e+00] [ 1.40625068e-02 -5.58376604e-03 9.99885527e-01 3.22364120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13071405700003 meters Centerline goodness [0,1] 0.9187768314240455 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99772253e-01 -1.60592878e-02 -1.40549354e-02 2.76888076e+02] [ 1.61225396e-02 9.99860348e-01 4.39864577e-03 -9.74988455e+00] [ 1.39823335e-02 -4.62424525e-03 9.99891549e-01 3.22420497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.160714057 meters Centerline goodness [0,1] 0.9240462825065873 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99775461e-01 -1.59248718e-02 -1.39794906e-02 2.76888401e+02] [ 1.59864454e-02 9.99862946e-01 4.30391894e-03 -9.74884073e+00] [ 1.39090353e-02 -4.52643490e-03 9.99893019e-01 3.22380074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19071405700004 meters Centerline goodness [0,1] 0.9159456118665018 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99777872e-01 -1.59091705e-02 -1.38240590e-02 2.76888289e+02] [ 1.59708552e-02 9.99862938e-01 4.36324015e-03 -9.74874772e+00] [ 1.37527487e-02 -4.58305300e-03 9.99894923e-01 3.22358206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.220714057 meters Centerline goodness [0,1] 0.9439867826246586 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99779078e-01 -1.57931119e-02 -1.38698218e-02 2.76888461e+02] [ 1.58555019e-02 9.99864613e-01 4.39986585e-03 -9.74845319e+00] [ 1.37984564e-02 -4.61880681e-03 9.99894129e-01 3.22353976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.250714057 meters Centerline goodness [0,1] 0.9483040128780039 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99778666e-01 -1.59554311e-02 -1.37128799e-02 2.76888280e+02] [ 1.60114676e-02 9.99863862e-01 3.98637608e-03 -9.74706764e+00] [ 1.36474087e-02 -4.20505709e-03 9.99898028e-01 3.22358103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.280714057 meters Centerline goodness [0,1] 0.9458875454002115 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99779883e-01 -1.58137198e-02 -1.37881332e-02 2.76888555e+02] [ 1.58715972e-02 9.99865639e-01 4.09834594e-03 -9.74689450e+00] [ 1.37214705e-02 -4.31628351e-03 9.99896540e-01 3.22347475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.310714057 meters Centerline goodness [0,1] 0.9170592038422463 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99781650e-01 -1.58651091e-02 -1.35996827e-02 2.76888062e+02] [ 1.59204137e-02 9.99865389e-01 3.96803165e-03 -9.74661460e+00] [ 1.35348988e-02 -4.18367780e-03 9.99899647e-01 3.22376871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.340714057 meters Centerline goodness [0,1] 0.8571856839774928 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99784372e-01 -1.56451295e-02 -1.36542524e-02 2.76888249e+02] [ 1.57040782e-02 9.99867775e-01 4.22074474e-03 -9.74681492e+00] [ 1.35864129e-02 -4.43426208e-03 9.99897868e-01 3.22370143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.370714057 meters Centerline goodness [0,1] 0.9570314302856879 Centerline is valid? [False, True] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99788965e-01 -1.52920851e-02 -1.37177599e-02 2.76888522e+02] [ 1.53560669e-02 9.99871640e-01 4.57101252e-03 -9.74708717e+00] [ 1.36460988e-02 -4.78069872e-03 9.99895459e-01 3.22366710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.400714057 meters Centerline goodness [0,1] 0.8421222681221296 Centerline is valid? [True, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99791584e-01 -1.50545370e-02 -1.37894339e-02 2.76888836e+02] [ 1.51190328e-02 9.99875189e-01 4.58494056e-03 -9.74669678e+00] [ 1.37186887e-02 -4.79246789e-03 9.99894409e-01 3.22360031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.430714057 meters Centerline goodness [0,1] 0.8367605698741297 Centerline is valid? [False, False] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99793018e-01 -1.48674528e-02 -1.38880974e-02 2.76889206e+02] [ 1.49344465e-02 9.99877275e-01 4.73262426e-03 -9.74655877e+00] [ 1.38160309e-02 -4.93905574e-03 9.99892356e-01 3.22337674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.460714057 meters Centerline goodness [0,1] 0.9607838606059206 Centerline is valid? [False, True] Translation: X:276.89, Y:-9.75, Z:3.22 [[ 9.99799667e-01 -1.44655863e-02 -1.38337355e-02 2.76889061e+02] [ 1.45342383e-02 9.99882488e-01 4.87505733e-03 -9.74663109e+00] [ 1.37615893e-02 -5.07514351e-03 9.99892425e-01 3.22381214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.490714057 meters Centerline goodness [0,1] 0.9590133616903231 Centerline is valid? [True, True] Translation: X:276.92, Y:-9.75, Z:3.23 [[ 9.99831160e-01 -1.32822368e-02 -1.26977616e-02 2.76917524e+02] [ 1.32951720e-02 9.99911178e-01 9.34827080e-04 -9.74896191e+00] [ 1.26842172e-02 -1.10348817e-03 9.99918943e-01 3.22603086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.520714057 meters Centerline goodness [0,1] 0.9587897516315753 Centerline is valid? [True, True] Translation: X:276.95, Y:-9.75, Z:3.23 [[ 9.99883593e-01 -1.05944971e-02 -1.09798035e-02 2.76947384e+02] [ 1.06040027e-02 9.99943450e-01 8.07878148e-04 -9.74965345e+00] [ 1.09706235e-02 -9.24213971e-04 9.99939394e-01 3.22782207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.550714057 meters Centerline goodness [0,1] 0.9626459323519911 Centerline is valid? [True, True] Translation: X:276.98, Y:-9.75, Z:3.23 [[ 9.99915420e-01 -8.54010152e-03 -9.80912510e-03 2.76977728e+02] [ 8.54758800e-03 9.99963208e-01 7.21546015e-04 -9.74651628e+00] [ 9.80260213e-03 -8.05329346e-04 9.99951629e-01 3.22937351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.580714057 meters Centerline goodness [0,1] 0.9634931997136722 Centerline is valid? [True, True] Translation: X:277.01, Y:-9.75, Z:3.23 [[ 9.99939850e-01 -5.99688248e-03 -9.18338928e-03 2.77007515e+02] [ 6.00333643e-03 9.99981752e-01 6.75380238e-04 -9.74808400e+00] [ 9.17917153e-03 -7.30470589e-04 9.99957604e-01 3.23008997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.610714057 meters Centerline goodness [0,1] 0.9636635944700461 Centerline is valid? [True, True] Translation: X:277.04, Y:-9.75, Z:3.23 [[ 9.99967274e-01 -3.75683807e-04 -8.08149030e-03 2.77037201e+02] [ 3.80496696e-04 9.99999751e-01 5.94015521e-04 -9.74966657e+00] [ 8.08126513e-03 -5.97071061e-04 9.99967168e-01 3.23101608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.640714057 meters Centerline goodness [0,1] 0.9644003973479336 Centerline is valid? [True, True] Translation: X:277.07, Y:-9.75, Z:3.23 [[ 9.99967592e-01 2.52231108e-03 -7.64548042e-03 2.77067757e+02] [-2.51808797e-03 9.99996672e-01 5.61943474e-04 -9.74837314e+00] [ 7.64687237e-03 -5.42673270e-04 9.99970615e-01 3.23124722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.670714057 meters Centerline goodness [0,1] 0.9666897827092001 Centerline is valid? [True, True] Translation: X:277.10, Y:-9.75, Z:3.23 [[ 9.99922144e-01 9.59963477e-03 -7.97197321e-03 2.77097209e+02] [-9.59526842e-03 9.99953793e-01 5.85780200e-04 -9.74824699e+00] [ 7.97722813e-03 -5.09241371e-04 9.99968052e-01 3.23075420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.700714057 meters Centerline goodness [0,1] 0.9673943205993896 Centerline is valid? [True, True] Translation: X:277.13, Y:-9.75, Z:3.23 [[ 9.99872228e-01 1.35789263e-02 -8.43447647e-03 2.77127149e+02] [-1.35741804e-02 9.99907675e-01 6.19672549e-04 -9.74945457e+00] [ 8.44211224e-03 -5.05102268e-04 9.99964237e-01 3.22964208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.730714057 meters Centerline goodness [0,1] 0.9697654574387122 Centerline is valid? [True, True] Translation: X:277.16, Y:-9.75, Z:3.23 [[ 9.99807811e-01 1.74811918e-02 -8.87406280e-03 2.77157160e+02] [-1.74760919e-02 9.99847069e-01 6.51918161e-04 -9.74841275e+00] [ 8.88410199e-03 -4.96708933e-04 9.99960412e-01 3.22917030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76071405700003 meters Centerline goodness [0,1] 0.9717819957615406 Centerline is valid? [True, True] Translation: X:277.19, Y:-9.75, Z:3.23 [[ 9.99619638e-01 2.56371217e-02 -1.01644971e-02 2.77186700e+02] [-2.56308540e-02 9.99671197e-01 7.46433774e-04 -9.74765848e+00] [ 1.01802914e-02 -4.85625117e-04 9.99948062e-01 3.22964442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.790714057 meters Centerline goodness [0,1] 0.9765034771157267 Centerline is valid? [True, True] Translation: X:277.22, Y:-9.74, Z:3.23 [[ 9.99398619e-01 3.32483587e-02 -9.84619116e-03 2.77217128e+02] [-3.32428476e-02 9.99447042e-01 7.22894017e-04 -9.74346438e+00] [ 9.86478168e-03 -3.95143849e-04 9.99951264e-01 3.23016930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82071405700003 meters Centerline goodness [0,1] 0.9762809441565918 Centerline is valid? [True, True] Translation: X:277.25, Y:-9.75, Z:3.23 [[ 9.99272482e-01 3.70194232e-02 -9.16895507e-03 2.77246225e+02] [-3.70148045e-02 9.99314491e-01 6.72969639e-04 -9.74653938e+00] [ 9.18758262e-03 -3.33092962e-04 9.99957738e-01 3.23117696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.850714057 meters Centerline goodness [0,1] 0.9773708638326367 Centerline is valid? [True, True] Translation: X:277.28, Y:-9.75, Z:3.23 [[ 9.99165392e-01 4.00469425e-02 -8.04743161e-03 2.77275223e+02] [-4.00434820e-02 9.99197763e-01 5.90753077e-04 -9.74800920e+00] [ 8.06463352e-03 -2.68012847e-04 9.99967444e-01 3.23145664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88071405700003 meters Centerline goodness [0,1] 0.9730908776779544 Centerline is valid? [True, True] Translation: X:277.30, Y:-9.76, Z:3.23 [[ 9.98790208e-01 4.83127668e-02 -9.16502972e-03 2.77303979e+02] [-4.83086483e-02 9.98832231e-01 6.70356834e-04 -9.76211642e+00] [ 9.18671388e-03 -2.26795645e-04 9.99957776e-01 3.23164513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.910714057 meters Centerline goodness [0,1] 0.9794378288562725 Centerline is valid? [True, True] Translation: X:277.33, Y:-9.75, Z:3.23 [[ 9.98940052e-01 4.54513880e-02 -7.27619810e-03 2.77333085e+02] [-4.54487150e-02 9.98966531e-01 5.32379463e-04 -9.75267053e+00] [ 7.29287576e-03 -2.01121315e-04 9.99973386e-01 3.23100455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94071405700004 meters Centerline goodness [0,1] 0.9800105448960411 Centerline is valid? [True, True] Translation: X:277.36, Y:-9.76, Z:3.23 [[ 9.98926351e-01 4.58843843e-02 -6.38509330e-03 2.77360904e+02] [-4.58823401e-02 9.98946742e-01 4.66349806e-04 -9.75925160e+00] [ 6.39976632e-03 -1.72886088e-04 9.99979506e-01 3.23050255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.970714057 meters Centerline goodness [0,1] 0.9796793651521754 Centerline is valid? [True, True] Translation: X:277.39, Y:-9.76, Z:3.23 [[ 9.98992869e-01 4.43571084e-02 -6.75977981e-03 2.77389782e+02] [-4.43547869e-02 9.99015720e-01 4.93031276e-04 -9.76487115e+00] [ 6.77499573e-03 -1.92706136e-04 9.99977031e-01 3.23092631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.000714057 meters Centerline goodness [0,1] 0.9776283283008509 Centerline is valid? [True, True] Translation: X:277.42, Y:-9.77, Z:3.23 [[ 9.99082575e-01 4.23477059e-02 -6.37803059e-03 2.77418544e+02] [-4.23456008e-02 9.99102915e-01 4.64789171e-04 -9.77128309e+00] [ 6.39199171e-03 -1.94281224e-04 9.99979552e-01 3.23063235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.030714057 meters Centerline goodness [0,1] 0.9746679446802684 Centerline is valid? [True, True] Translation: X:277.45, Y:-9.78, Z:3.23 [[ 9.99264836e-01 3.77384381e-02 -6.75256618e-03 2.77446583e+02] [-3.77359771e-02 9.99287623e-01 4.91529735e-04 -9.78364597e+00] [ 6.76630538e-03 -2.36353697e-04 9.99977080e-01 3.23073846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.060714057 meters Centerline goodness [0,1] 0.9695367859828203 Centerline is valid? [True, True] Translation: X:277.47, Y:-9.80, Z:3.23 [[ 9.99365725e-01 3.50682852e-02 -6.19379832e-03 2.77474673e+02] [-3.50661647e-02 9.99384891e-01 4.50658349e-04 -9.79656171e+00] [ 6.20579228e-03 -2.33179755e-04 9.99980717e-01 3.23078035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.090714057 meters Centerline goodness [0,1] 0.971761175026147 Centerline is valid? [True, True] Translation: X:277.51, Y:-9.80, Z:3.23 [[ 9.99569559e-01 2.87597824e-02 -5.79418610e-03 2.77505265e+02] [-2.87578245e-02 9.99586320e-01 4.20955240e-04 -9.80121026e+00] [ 5.80389574e-03 -2.54145856e-04 9.99983125e-01 3.23071795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.120714057 meters Centerline goodness [0,1] 0.968428697882385 Centerline is valid? [True, True] Translation: X:277.53, Y:-9.81, Z:3.23 [[ 9.99638291e-01 2.63028038e-02 -5.60796985e-03 2.77533057e+02] [-2.63009298e-02 9.99653988e-01 4.07667414e-04 -9.81093223e+00] [ 5.61675222e-03 -2.60025135e-04 9.99984192e-01 3.23195744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.150714057 meters Centerline goodness [0,1] 0.9673273599420762 Centerline is valid? [True, True] Translation: X:277.56, Y:-9.82, Z:3.23 [[ 9.99764214e-01 2.09303489e-02 -5.78246955e-03 2.77562897e+02] [-2.09282710e-02 9.99780892e-01 4.19627156e-04 -9.81895167e+00] [ 5.78998551e-03 -2.98511123e-04 9.99983193e-01 3.23102473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.180714057 meters Centerline goodness [0,1] 0.9654532282894142 Centerline is valid? [True, True] Translation: X:277.59, Y:-9.83, Z:3.23 [[ 9.99809372e-01 1.83520975e-02 -6.66478536e-03 2.77592011e+02] [-1.83492795e-02 9.99831521e-01 4.83734426e-04 -9.82589100e+00] [ 6.67254003e-03 -3.61348204e-04 9.99977673e-01 3.23089030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.210714057 meters Centerline goodness [0,1] 0.9650689577210039 Centerline is valid? [True, True] Translation: X:277.62, Y:-9.83, Z:3.23 [[ 9.99884725e-01 1.34272410e-02 -7.08844308e-03 2.77622158e+02] [-1.34239324e-02 9.99909763e-01 5.14134611e-04 -9.83234406e+00] [ 7.09470685e-03 -4.18920563e-04 9.99974745e-01 3.22969753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.240714057 meters Centerline goodness [0,1] 0.9649578049550973 Centerline is valid? [True, True] Translation: X:277.65, Y:-9.84, Z:3.23 [[ 9.99909562e-01 1.12200045e-02 -7.41475034e-03 2.77651193e+02] [-1.12163230e-02 9.99936950e-01 5.37910053e-04 -9.83598820e+00] [ 7.42031820e-03 -4.54695171e-04 9.99972366e-01 3.23014125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.270714057 meters Centerline goodness [0,1] 0.8043984793361403 Centerline is valid? [True, False] Translation: X:277.70, Y:-9.84, Z:3.23 [[ 9.99940879e-01 9.06090076e-03 -6.01150298e-03 2.77703202e+02] [-9.10019248e-03 9.99937197e-01 -6.54125276e-03 -9.83872337e+00] [ 5.95185580e-03 6.59557187e-03 9.99960536e-01 3.23044362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.300714057 meters Centerline goodness [0,1] 0.9636441402908469 Centerline is valid? [False, True] Translation: X:277.64, Y:-9.84, Z:3.23 [[ 9.99959352e-01 4.57127368e-03 -7.77165313e-03 2.77638815e+02] [-4.54892941e-03 9.99985476e-01 2.89034778e-03 -9.84106647e+00] [ 7.78475283e-03 -2.85487759e-03 9.99965623e-01 3.22868677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.330714057 meters Centerline goodness [0,1] 0.9614597621028489 Centerline is valid? [True, True] Translation: X:277.67, Y:-9.85, Z:3.23 [[ 9.99956531e-01 3.63146245e-03 -8.58770893e-03 2.77665931e+02] [-3.62636363e-03 9.99993239e-01 6.09231416e-04 -9.84587617e+00] [ 8.58986327e-03 -5.78062778e-04 9.99962939e-01 3.22975411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.360714057 meters Centerline goodness [0,1] 0.96115217830903 Centerline is valid? [True, True] Translation: X:277.69, Y:-9.85, Z:3.23 [[ 9.99947178e-01 3.04003580e-03 -9.81832680e-03 2.77694321e+02] [-3.03335194e-03 9.99995157e-01 6.95573701e-04 -9.84974937e+00] [ 9.82039382e-03 -6.65754519e-04 9.99951557e-01 3.22841215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.390714057 meters Centerline goodness [0,1] 0.9612437933901009 Centerline is valid? [True, True] Translation: X:277.72, Y:-9.85, Z:3.23 [[ 9.99945136e-01 3.33198675e-03 -9.93089834e-03 2.77723411e+02] [-3.32516997e-03 9.99994225e-01 7.02852884e-04 -9.85355134e+00] [ 9.93318288e-03 -6.69792398e-04 9.99950440e-01 3.22796352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.420714057 meters Centerline goodness [0,1] 0.9599506117409361 Centerline is valid? [True, True] Translation: X:277.75, Y:-9.86, Z:3.23 [[ 9.99941358e-01 3.90677294e-03 -1.01003928e-02 2.77751015e+02] [-3.89975601e-03 9.99992141e-01 7.14320373e-04 -9.85767312e+00] [ 1.01031041e-02 -6.74889416e-04 9.99948735e-01 3.22806994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.450714057 meters Centerline goodness [0,1] 0.9566473341245494 Centerline is valid? [True, True] Translation: X:277.78, Y:-9.87, Z:3.23 [[ 9.99920162e-01 5.38243419e-03 -1.14323345e-02 2.77778002e+02] [-5.37355288e-03 9.99985236e-01 8.07434389e-04 -9.86708781e+00] [ 1.14365116e-02 -7.45937671e-04 9.99934323e-01 3.22832233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.480714057 meters Centerline goodness [0,1] 0.9613510296660603 Centerline is valid? [True, True] Translation: X:277.81, Y:-9.86, Z:3.23 [[ 9.99902331e-01 5.62382617e-03 -1.27945564e-02 2.77807115e+02] [-5.61273619e-03 9.99983841e-01 9.02516312e-04 -9.86169840e+00] [ 1.27994253e-02 -8.30615695e-04 9.99917739e-01 3.22841897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51071405700003 meters Centerline goodness [0,1] 0.9604888440408117 Centerline is valid? [True, True] Translation: X:277.84, Y:-9.86, Z:3.23 [[ 9.99889224e-01 6.85479303e-03 -1.32117847e-02 2.77835065e+02] [-6.84308749e-03 9.99976152e-01 9.30996055e-04 -9.86444142e+00] [ 1.32178514e-02 -8.40483525e-04 9.99912287e-01 3.22770507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.540714057 meters Centerline goodness [0,1] 0.9614901538599561 Centerline is valid? [True, True] Translation: X:277.86, Y:-9.87, Z:3.23 [[ 9.99884852e-01 7.66820387e-03 -1.30950973e-02 2.77863732e+02] [-7.65678710e-03 9.99970262e-01 9.21749337e-04 -9.86655333e+00] [ 1.31017760e-02 -8.21376828e-04 9.99913831e-01 3.22844081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57071405700003 meters Centerline goodness [0,1] 0.9607081949555695 Centerline is valid? [True, True] Translation: X:277.89, Y:-9.87, Z:3.23 [[ 9.99879254e-01 8.99179493e-03 -1.26737744e-02 2.77892840e+02] [-8.98121870e-03 9.99959271e-01 8.91167032e-04 -9.86805940e+00] [ 1.26812714e-02 -7.77233488e-04 9.99919287e-01 3.22933342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.600714057 meters Centerline goodness [0,1] 0.9620701243418842 Centerline is valid? [True, True] Translation: X:277.92, Y:-9.87, Z:3.23 [[ 9.99861009e-01 1.08904664e-02 -1.26238227e-02 2.77921210e+02] [-1.08801392e-02 9.99940417e-01 8.86456027e-04 -9.86875785e+00] [ 1.26327245e-02 -7.48983868e-04 9.99919923e-01 3.23077509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63071405700003 meters Centerline goodness [0,1] 0.970019777058612 Centerline is valid? [True, True] Translation: X:277.95, Y:-9.86, Z:3.23 [[ 9.99794203e-01 1.55376046e-02 -1.30435924e-02 2.77952147e+02] [-1.55269789e-02 9.99879030e-01 9.15503636e-04 -9.85551489e+00] [ 1.30562392e-02 -7.12787644e-04 9.99914510e-01 3.23263967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.660714057 meters Centerline goodness [0,1] 0.9699010971680898 Centerline is valid? [True, True] Translation: X:277.98, Y:-9.86, Z:3.23 [[ 9.99689514e-01 2.06359159e-02 -1.39654512e-02 2.77981348e+02] [-2.06242329e-02 9.99786817e-01 9.80089780e-04 -9.85791355e+00] [ 1.39826990e-02 -6.91758759e-04 9.99901998e-01 3.23263996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69071405700004 meters Centerline goodness [0,1] 0.972937650690642 Centerline is valid? [True, True] Translation: X:278.01, Y:-9.85, Z:3.23 [[ 9.99625793e-01 2.35597040e-02 -1.39001815e-02 2.78011434e+02] [-2.35484167e-02 9.99722222e-01 9.75163718e-04 -9.85485740e+00] [ 1.39192949e-02 -6.47471540e-04 9.99902912e-01 3.23324906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.720714057 meters Centerline goodness [0,1] 0.9690621906219062 Centerline is valid? [True, True] Translation: X:278.04, Y:-9.87, Z:3.23 [[ 9.99572358e-01 2.57683689e-02 -1.38236293e-02 2.78038823e+02] [-2.57574276e-02 9.99667753e-01 9.68978685e-04 -9.86545494e+00] [ 1.38440055e-02 -6.12503178e-04 9.99903980e-01 3.23229181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.750714057 meters Centerline goodness [0,1] 0.9690621906219062 Centerline is valid? [True, True] Translation: X:278.07, Y:-9.87, Z:3.23 [[ 9.99574768e-01 2.56746440e-02 -1.38237405e-02 2.78066262e+02] [-2.56637157e-02 9.99670165e-01 9.67390632e-04 -9.86726838e+00] [ 1.38440183e-02 -6.12210721e-04 9.99903980e-01 3.23257023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.780714057 meters Centerline goodness [0,1] 0.9734805142357138 Centerline is valid? [True, True] Translation: X:278.10, Y:-9.86, Z:3.23 [[ 9.99505281e-01 2.84625463e-02 -1.33819636e-02 2.78096949e+02] [-2.84525678e-02 9.99594706e-01 9.35497137e-04 -9.85819770e+00] [ 1.34031666e-02 -5.54283100e-04 9.99910020e-01 3.23377072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.810714057 meters Centerline goodness [0,1] 0.9745852136234031 Centerline is valid? [True, True] Translation: X:278.13, Y:-9.86, Z:3.23 [[ 9.99389518e-01 3.23057315e-02 -1.33015303e-02 2.78126802e+02] [-3.22962163e-02 9.99477909e-01 9.29586703e-04 -9.85727792e+00] [ 1.33246166e-02 -4.99430108e-04 9.99911099e-01 3.23492186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.840714057 meters Centerline goodness [0,1] 0.9754506322302933 Centerline is valid? [True, True] Translation: X:278.16, Y:-9.86, Z:3.24 [[ 9.99332073e-01 3.41936513e-02 -1.28919593e-02 2.78155347e+02] [-3.41848769e-02 9.99415121e-01 9.00427401e-04 -9.85817297e+00] [ 1.29152079e-02 -4.59115940e-04 9.99916490e-01 3.23555143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.870714057 meters Centerline goodness [0,1] 0.9759707976888968 Centerline is valid? [True, True] Translation: X:278.18, Y:-9.86, Z:3.24 [[ 9.99247380e-01 3.65242221e-02 -1.30634519e-02 2.78183066e+02] [-3.65154242e-02 9.99332674e-01 9.11437438e-04 -9.86000399e+00] [ 1.30880239e-02 -4.33733984e-04 9.99914254e-01 3.23559324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.900714057 meters Centerline goodness [0,1] 0.9756447312406175 Centerline is valid? [True, True] Translation: X:278.21, Y:-9.86, Z:3.24 [[ 9.99214090e-01 3.76484505e-02 -1.24014975e-02 2.78210691e+02] [-3.76406210e-02 9.99290967e-01 8.64229898e-04 -9.86323851e+00] [ 1.24252414e-02 -3.96750622e-04 9.99922725e-01 3.23513081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.930714057 meters Centerline goodness [0,1] 0.9762507561669617 Centerline is valid? [True, True] Translation: X:278.24, Y:-9.87, Z:3.23 [[ 9.99208880e-01 3.77400556e-02 -1.25420272e-02 2.78238413e+02] [-3.77320683e-02 9.99287511e-01 8.72944239e-04 -9.86736921e+00] [ 1.25660361e-02 -3.99017007e-04 9.99920965e-01 3.23487529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.960714057 meters Centerline goodness [0,1] 0.9764413719041547 Centerline is valid? [True, True] Translation: X:278.27, Y:-9.87, Z:3.24 [[ 9.99210782e-01 3.74699955e-02 -1.31838338e-02 2.78267396e+02] [-3.74611610e-02 9.99297664e-01 9.16501622e-04 -9.87121470e+00] [ 1.32089156e-02 -4.21896584e-04 9.99912669e-01 3.23510387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.990714057 meters Centerline goodness [0,1] 0.9721029565526907 Centerline is valid? [True, True] Translation: X:278.29, Y:-9.88, Z:3.23 [[ 9.99242573e-01 3.67047667e-02 -1.29244247e-02 2.78294950e+02] [-3.66962246e-02 9.99326064e-01 8.97530560e-04 -9.88174023e+00] [ 1.29486581e-02 -4.22573154e-04 9.99916073e-01 3.23488824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.020714057 meters Centerline goodness [0,1] 0.9747512020574751 Centerline is valid? [True, True] Translation: X:278.32, Y:-9.88, Z:3.24 [[ 9.99354551e-01 3.39041762e-02 -1.18738430e-02 2.78324493e+02] [-3.38967794e-02 9.99425000e-01 8.23706965e-04 -9.87973098e+00] [ 1.18949426e-02 -4.20690268e-04 9.99929164e-01 3.23874438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.050714057 meters Centerline goodness [0,1] 0.9738444043079805 Centerline is valid? [True, True] Translation: X:278.35, Y:-9.88, Z:3.24 [[ 9.99412766e-01 3.23269761e-02 -1.13617779e-02 2.78353183e+02] [-3.23201066e-02 9.99477258e-01 7.87756102e-04 -9.88433171e+00] [ 1.13813044e-02 -4.20079631e-04 9.99935143e-01 3.23888642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.080714057 meters Centerline goodness [0,1] 0.9727582292849035 Centerline is valid? [True, True] Translation: X:278.38, Y:-9.89, Z:3.24 [[ 9.99532393e-01 2.80726714e-02 -1.21210981e-02 2.78382827e+02] [-2.80645502e-02 9.99605760e-01 8.39611800e-04 -9.89433692e+00] [ 1.21398896e-02 -4.99046026e-04 9.99926184e-01 3.23859978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.110714057 meters Centerline goodness [0,1] 0.9712876127827903 Centerline is valid? [True, True] Translation: X:278.41, Y:-9.90, Z:3.24 [[ 9.99590502e-01 2.56142802e-02 -1.27568075e-02 2.78410536e+02] [-2.56050897e-02 9.99671746e-01 8.83274983e-04 -9.90253629e+00] [ 1.27752445e-02 -5.56274083e-04 9.99918239e-01 3.23722601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.140714057 meters Centerline goodness [0,1] 0.9696220962297867 Centerline is valid? [True, True] Translation: X:278.44, Y:-9.91, Z:3.24 [[ 9.99665777e-01 2.16040244e-02 -1.41985902e-02 2.78439153e+02] [-2.15922482e-02 9.99766378e-01 9.82182769e-04 -9.91337596e+00] [ 1.42164922e-02 -6.75275018e-04 9.99898713e-01 3.23684778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.170714057 meters Centerline goodness [0,1] 0.9700290613838543 Centerline is valid? [True, True] Translation: X:278.47, Y:-9.92, Z:3.24 [[ 9.99721283e-01 1.88295783e-02 -1.42408985e-02 2.78468448e+02] [-1.88174590e-02 9.99822451e-01 9.84550063e-04 -9.91546427e+00] [ 1.42569087e-02 -7.16298127e-04 9.99898109e-01 3.23810626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.200714057 meters Centerline goodness [0,1] 0.966809113654983 Centerline is valid? [True, True] Translation: X:278.50, Y:-9.92, Z:3.24 [[ 9.99756385e-01 1.69814358e-02 -1.40996721e-02 2.78496480e+02] [-1.69693827e-02 9.99855535e-01 9.74056734e-04 -9.92375591e+00] [ 1.41141760e-02 -7.34556709e-04 9.99900120e-01 3.23927509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.230714057 meters Centerline goodness [0,1] 0.9683002851647987 Centerline is valid? [True, True] Translation: X:278.53, Y:-9.93, Z:3.24 [[ 9.99827525e-01 1.39142765e-02 -1.23009692e-02 2.78525819e+02] [-1.39048783e-02 9.99902962e-01 8.49223411e-04 -9.92593870e+00] [ 1.23115919e-02 -6.78033461e-04 9.99923980e-01 3.24168463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26071405700003 meters Centerline goodness [0,1] 0.9670795449554179 Centerline is valid? [True, True] Translation: X:278.56, Y:-9.93, Z:3.24 [[ 9.99853352e-01 1.22880170e-02 -1.19280698e-02 2.78555446e+02] [-1.22790716e-02 9.99924271e-01 8.22900962e-04 -9.93163255e+00] [ 1.19372783e-02 -6.76314662e-04 9.99928519e-01 3.24214125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.290714057 meters Centerline goodness [0,1] 0.9665424229725855 Centerline is valid? [True, True] Translation: X:278.59, Y:-9.94, Z:3.24 [[ 9.99881162e-01 9.52592576e-03 -1.21209831e-02 2.78585610e+02] [-9.51649065e-03 9.99954368e-01 8.35851206e-04 -9.93769523e+00] [ 1.21283922e-02 -7.20402653e-04 9.99926189e-01 3.24121253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32071405700003 meters Centerline goodness [0,1] 0.9679480094608635 Centerline is valid? [True, True] Translation: X:278.62, Y:-9.94, Z:3.24 [[ 9.99888032e-01 7.78411736e-03 -1.27801079e-02 2.78615473e+02] [-7.77348762e-03 9.99969398e-01 8.81205593e-04 -9.93752969e+00] [ 1.27865762e-02 -7.81760916e-04 9.99917943e-01 3.24154074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.350714057 meters Centerline goodness [0,1] 0.9628950276243093 Centerline is valid? [True, True] Translation: X:278.64, Y:-9.95, Z:3.24 [[ 9.99889596e-01 6.61514563e-03 -1.33054763e-02 2.78642497e+02] [-6.60353144e-03 9.99977776e-01 9.16632506e-04 -9.95199423e+00] [ 1.33112443e-02 -8.28668175e-04 9.99911058e-01 3.24113817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38071405700003 meters Centerline goodness [0,1] 0.9652562325346008 Centerline is valid? [True, True] Translation: X:278.67, Y:-9.95, Z:3.24 [[ 9.99906111e-01 3.62488073e-03 -1.32147668e-02 2.78673258e+02] [-3.61318138e-03 9.99993059e-01 9.09091863e-04 -9.95040181e+00] [ 1.32179704e-02 -8.61259160e-04 9.99912268e-01 3.24239856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.410714057 meters Centerline goodness [0,1] 0.9645508455963101 Centerline is valid? [True, True] Translation: X:278.70, Y:-9.96, Z:3.24 [[ 9.99906011e-01 -2.83121432e-04 -1.37072456e-02 2.78703517e+02] [ 2.96074284e-04 9.99999512e-01 9.42943812e-04 -9.95549220e+00] [ 1.37069719e-02 -9.46913549e-04 9.99905607e-01 3.24234021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44071405700004 meters Centerline goodness [0,1] 0.9600158527456075 Centerline is valid? [True, True] Translation: X:278.73, Y:-9.97, Z:3.24 [[ 9.99900654e-01 -1.99476017e-03 -1.39536363e-02 2.78731511e+02] [ 2.00834480e-03 9.99997523e-01 9.59610336e-04 -9.96700701e+00] [ 1.39516875e-02 -9.87538715e-04 9.99902183e-01 3.24237650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.470714057 meters Centerline goodness [0,1] 0.9636635909180999 Centerline is valid? [True, True] Translation: X:278.76, Y:-9.96, Z:3.24 [[ 9.99889546e-01 -4.13892497e-03 -1.42746313e-02 2.78760884e+02] [ 4.15334686e-03 9.99990894e-01 9.80818864e-04 -9.96275764e+00] [ 1.42704418e-02 -1.03999802e-03 9.99897631e-01 3.24345015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.500714057 meters Centerline goodness [0,1] 0.9628200321961762 Centerline is valid? [True, True] Translation: X:278.79, Y:-9.96, Z:3.24 [[ 9.99884214e-01 -5.35872941e-03 -1.42422865e-02 2.78790280e+02] [ 5.37319605e-03 9.99985086e-01 9.77681228e-04 -9.96401422e+00] [ 1.42368350e-02 -1.05409462e-03 9.99898096e-01 3.24417649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.530714057 meters Centerline goodness [0,1] 0.9636031354588691 Centerline is valid? [True, True] Translation: X:278.82, Y:-9.97, Z:3.24 [[ 9.99863895e-01 -6.84263224e-03 -1.50123084e-02 2.78819670e+02] [ 6.85886361e-03 9.99975947e-01 1.02998344e-03 -9.96608852e+00] [ 1.50048995e-02 -1.13281063e-03 9.99886778e-01 3.24423904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.560714057 meters Centerline goodness [0,1] 0.9630843691563085 Centerline is valid? [True, True] Translation: X:278.85, Y:-9.97, Z:3.24 [[ 9.99863023e-01 -7.41034399e-03 -1.47993987e-02 2.78847330e+02] [ 7.42616852e-03 9.99971911e-01 1.01459999e-03 -9.96918140e+00] [ 1.47914644e-02 -1.12436384e-03 9.99889968e-01 3.24438550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.590714057 meters Centerline goodness [0,1] 0.9643657946801495 Centerline is valid? [True, True] Translation: X:278.88, Y:-9.97, Z:3.25 [[ 9.99850270e-01 -8.38168638e-03 -1.51388422e-02 2.78876031e+02] [ 8.39832287e-03 9.99964197e-01 1.03568648e-03 -9.96903416e+00] [ 1.51296194e-02 -1.16267229e-03 9.99884865e-01 3.24515496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.620714057 meters Centerline goodness [0,1] 0.9628396993674373 Centerline is valid? [True, True] Translation: X:278.90, Y:-9.97, Z:3.25 [[ 9.99833677e-01 -9.31776619e-03 -1.56779032e-02 2.78904815e+02] [ 9.33566006e-03 9.99955851e-01 1.06854228e-03 -9.97083494e+00] [ 1.56672547e-02 -1.21472813e-03 9.99876523e-01 3.24531112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.650714057 meters Centerline goodness [0,1] 0.9631484873226384 Centerline is valid? [True, True] Translation: X:278.93, Y:-9.97, Z:3.25 [[ 9.99827634e-01 -1.02086679e-02 -1.55076119e-02 2.78931884e+02] [ 1.02262293e-02 9.99947156e-01 1.05356212e-03 -9.97486874e+00] [ 1.54960370e-02 -1.21196492e-03 9.99879195e-01 3.24616171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.680714057 meters Centerline goodness [0,1] 0.963763327165389 Centerline is valid? [True, True] Translation: X:278.96, Y:-9.97, Z:3.25 [[ 9.99824452e-01 -1.06353080e-02 -1.54258334e-02 2.78960590e+02] [ 1.06526894e-02 9.99942712e-01 1.04504439e-03 -9.97227185e+00] [ 1.54138353e-02 -1.20918754e-03 9.99880469e-01 3.24714564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.710714057 meters Centerline goodness [0,1] 0.9635226221419446 Centerline is valid? [True, True] Translation: X:278.99, Y:-9.98, Z:3.25 [[ 9.99820172e-01 -1.10327402e-02 -1.54240503e-02 2.78988385e+02] [ 1.10501180e-02 9.99938403e-01 1.04189285e-03 -9.97741362e+00] [ 1.54116053e-02 -1.21214306e-03 9.99880499e-01 3.24790925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.740714057 meters Centerline goodness [0,1] 0.8317374309763613 Centerline is valid? [True, False] Translation: X:279.04, Y:-9.98, Z:3.25 [[ 9.99811544e-01 -1.26677581e-02 -1.47106739e-02 2.79036890e+02] [ 1.26041186e-02 9.99910837e-01 -4.41075857e-03 -9.97831021e+00] [ 1.47652367e-02 4.22451226e-03 9.99882064e-01 3.24856231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.770714057 meters Centerline goodness [0,1] 0.9633116525190166 Centerline is valid? [False, True] Translation: X:278.97, Y:-9.98, Z:3.25 [[ 9.99829573e-01 -1.11684130e-02 -1.47000734e-02 2.78965887e+02] [ 1.11924663e-02 9.99936153e-01 1.55501927e-03 -9.97778878e+00] [ 1.46817678e-02 -1.71928433e-03 9.99890739e-01 3.24602718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.800714057 meters Centerline goodness [0,1] 0.9626372172992991 Centerline is valid? [True, True] Translation: X:279.00, Y:-9.98, Z:3.25 [[ 9.99786270e-01 -1.34402520e-02 -1.57090284e-02 2.78995971e+02] [ 1.34592821e-02 9.99908808e-01 1.10631322e-03 -9.97918923e+00] [ 1.56927267e-02 -1.31750901e-03 9.99875994e-01 3.24662629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.830714057 meters Centerline goodness [0,1] 0.9627564625250677 Centerline is valid? [True, True] Translation: X:279.03, Y:-9.98, Z:3.25 [[ 9.99757719e-01 -1.46622031e-02 -1.64171847e-02 2.79025057e+02] [ 1.46831180e-02 9.99891531e-01 1.15414421e-03 -9.97744589e+00] [ 1.63984817e-02 -1.39492005e-03 9.99864563e-01 3.24727039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.860714057 meters Centerline goodness [0,1] 0.9592410556145944 Centerline is valid? [True, True] Translation: X:279.05, Y:-9.99, Z:3.25 [[ 9.99733640e-01 -1.58795704e-02 -1.67478132e-02 2.79053309e+02] [ 1.59014598e-02 9.99872874e-01 1.17463472e-03 -9.98808614e+00] [ 1.67270314e-02 -1.44063652e-03 9.99859056e-01 3.24628152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.890714057 meters Centerline goodness [0,1] 0.9609922028582157 Centerline is valid? [True, True] Translation: X:279.08, Y:-9.98, Z:3.25 [[ 9.99717509e-01 -1.65066650e-02 -1.71006624e-02 2.79082005e+02] [ 1.65295350e-02 9.99862662e-01 1.19688524e-03 -9.98433622e+00] [ 1.70785572e-02 -1.47921313e-03 9.99853057e-01 3.24698252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.920714057 meters Centerline goodness [0,1] 0.9600265751301074 Centerline is valid? [True, True] Translation: X:279.11, Y:-9.99, Z:3.25 [[ 9.99717167e-01 -1.68914339e-02 -1.67411054e-02 2.79110885e+02] [ 1.69133373e-02 9.99856278e-01 1.16763222e-03 -9.98617919e+00] [ 1.67189763e-02 -1.45044993e-03 9.99859176e-01 3.24783023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.950714057 meters Centerline goodness [0,1] 0.9616807318315724 Centerline is valid? [True, True] Translation: X:279.14, Y:-9.99, Z:3.25 [[ 9.99716363e-01 -1.67778375e-02 -1.69026209e-02 2.79139937e+02] [ 1.68000790e-02 9.99858179e-01 1.17471922e-03 -9.98508024e+00] [ 1.68805145e-02 -1.45835139e-03 9.99856450e-01 3.24781716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.980714057 meters Centerline goodness [0,1] 0.9589895593700231 Centerline is valid? [True, True] Translation: X:279.17, Y:-9.99, Z:3.25 [[ 9.99719772e-01 -1.67903691e-02 -1.66871541e-02 2.79167709e+02] [ 1.68120012e-02 9.99857999e-01 1.15688537e-03 -9.98914361e+00] [ 1.66653600e-02 -1.43710564e-03 9.99860090e-01 3.24762323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01071405700003 meters Centerline goodness [0,1] 0.957543408929837 Centerline is valid? [True, True] Translation: X:279.20, Y:-9.99, Z:3.25 [[ 9.99714489e-01 -1.71516225e-02 -1.66361790e-02 2.79196712e+02] [ 1.71731291e-02 9.99851869e-01 1.15075261e-03 -9.98923168e+00] [ 1.66139774e-02 -1.43611930e-03 9.99860947e-01 3.24857525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.040714057 meters Centerline goodness [0,1] 0.9539231757565017 Centerline is valid? [True, True] Translation: X:279.22, Y:-9.99, Z:3.25 [[ 9.99742093e-01 -1.60485153e-02 -1.60683864e-02 2.79224755e+02] [ 1.60683943e-02 9.99870280e-01 1.10880207e-03 -9.98988505e+00] [ 1.60485074e-02 -1.36670927e-03 9.99870280e-01 3.24984346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07071405700003 meters Centerline goodness [0,1] 0.9569384359400999 Centerline is valid? [True, True] Translation: X:279.25, Y:-9.99, Z:3.25 [[ 9.99766343e-01 -1.50860226e-02 -1.54813287e-02 2.79253402e+02] [ 1.51043428e-02 9.99885353e-01 1.06712545e-03 -9.98921249e+00] [ 1.54634552e-02 -1.30071140e-03 9.99879588e-01 3.25115600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.100714057 meters Centerline goodness [0,1] 0.9558830026951796 Centerline is valid? [True, True] Translation: X:279.28, Y:-9.99, Z:3.25 [[ 9.99809387e-01 -1.31993713e-02 -1.43863045e-02 2.79282257e+02] [ 1.32149871e-02 9.99912187e-01 9.90937857e-04 -9.98879140e+00] [ 1.43719614e-02 -1.18086380e-03 9.99896021e-01 3.25135846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13071405700003 meters Centerline goodness [0,1] 0.9627497010231651 Centerline is valid? [True, True] Translation: X:279.31, Y:-9.98, Z:3.25 [[ 9.99813184e-01 -1.25596432e-02 -1.46919201e-02 2.79311728e+02] [ 1.25758375e-02 9.99920411e-01 1.01038828e-03 -9.98306431e+00] [ 1.46780607e-02 -1.19496272e-03 9.99891557e-01 3.25253674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.160714057 meters Centerline goodness [0,1] 0.9611021069692058 Centerline is valid? [True, True] Translation: X:279.34, Y:-9.98, Z:3.25 [[ 9.99815931e-01 -1.20483460e-02 -1.49312547e-02 2.79340946e+02] [ 1.20649621e-02 9.99926692e-01 1.02325887e-03 -9.98264961e+00] [ 1.49178316e-02 -1.20321554e-03 9.99887999e-01 3.25292821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19071405700004 meters Centerline goodness [0,1] 0.9646843876027718 Centerline is valid? [True, True] Translation: X:279.37, Y:-9.98, Z:3.25 [[ 9.99818968e-01 -1.04855543e-02 -1.58771789e-02 2.79371029e+02] [ 1.05041070e-02 9.99944241e-01 1.08556844e-03 -9.97611166e+00] [ 1.58649108e-02 -1.25214751e-03 9.99873360e-01 3.25290590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.220714057 meters Centerline goodness [0,1] 0.9675279719498849 Centerline is valid? [True, True] Translation: X:279.40, Y:-9.97, Z:3.25 [[ 9.99829006e-01 -8.94971578e-03 -1.61821018e-02 2.79401311e+02] [ 8.96877881e-03 9.99959168e-01 1.10584289e-03 -9.97083216e+00] [ 1.61715441e-02 -1.25078749e-03 9.99868450e-01 3.25348015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.250714057 meters Centerline goodness [0,1] 0.9628119429590017 Centerline is valid? [True, True] Translation: X:279.43, Y:-9.98, Z:3.25 [[ 9.99839461e-01 -7.77273615e-03 -1.61442615e-02 2.79428972e+02] [ 7.79154425e-03 9.99969038e-01 1.10242970e-03 -9.98044923e+00] [ 1.61351927e-02 -1.22804144e-03 9.99869065e-01 3.25247914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.280714057 meters Centerline goodness [0,1] 0.9627183686218513 Centerline is valid? [True, True] Translation: X:279.46, Y:-9.98, Z:3.25 [[ 9.99833210e-01 -7.65203053e-03 -1.65830747e-02 2.79458207e+02] [ 7.67181861e-03 9.99969933e-01 1.12998220e-03 -9.98032089e+00] [ 1.65739294e-02 -1.25701607e-03 9.99861853e-01 3.25266063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.310714057 meters Centerline goodness [0,1] 0.9630789041339195 Centerline is valid? [True, True] Translation: X:279.49, Y:-9.98, Z:3.25 [[ 9.99829447e-01 -6.95746908e-03 -1.71076060e-02 2.79485635e+02] [ 6.97837951e-03 9.99974975e-01 1.16289575e-03 -9.98217188e+00] [ 1.70990871e-02 -1.28208079e-03 9.99852978e-01 3.25257682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.340714057 meters Centerline goodness [0,1] 0.9640476083941116 Centerline is valid? [True, True] Translation: X:279.51, Y:-9.98, Z:3.25 [[ 9.99832180e-01 -6.93382720e-03 -1.69568239e-02 2.79514078e+02] [ 6.95432386e-03 9.99975157e-01 1.15008813e-03 -9.98159711e+00] [ 1.69484282e-02 -1.26781836e-03 9.99855561e-01 3.25350736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.370714057 meters Centerline goodness [0,1] 0.9690996151436498 Centerline is valid? [True, True] Translation: X:279.54, Y:-9.97, Z:3.26 [[ 9.99839818e-01 -6.79095196e-03 -1.65596467e-02 2.79543363e+02] [ 6.81041571e-03 9.99976182e-01 1.11926182e-03 -9.96969919e+00] [ 1.65516514e-02 -1.23186061e-03 9.99862253e-01 3.25605726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.400714057 meters Centerline goodness [0,1] 0.9660337647216873 Centerline is valid? [True, True] Translation: X:279.57, Y:-9.97, Z:3.26 [[ 9.99840021e-01 -6.76793551e-03 -1.65567872e-02 2.79570732e+02] [ 6.78734157e-03 9.99976343e-01 1.11617883e-03 -9.97301824e+00] [ 1.65488413e-02 -1.22837684e-03 9.99862304e-01 3.25584626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.430714057 meters Centerline goodness [0,1] 0.9674687457991665 Centerline is valid? [True, True] Translation: X:279.60, Y:-9.97, Z:3.26 [[ 9.99847958e-01 -6.48128230e-03 -1.61880963e-02 2.79598116e+02] [ 6.49977382e-03 9.99978282e-01 1.08993904e-03 -9.97426505e+00] [ 1.61806806e-02 -1.19499229e-03 9.99868370e-01 3.25636631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.460714057 meters Centerline goodness [0,1] 0.967401295876959 Centerline is valid? [True, True] Translation: X:279.63, Y:-9.97, Z:3.26 [[ 9.99848452e-01 -7.13508548e-03 -1.58796413e-02 2.79627276e+02] [ 7.15292219e-03 9.99973849e-01 1.06673029e-03 -9.97089795e+00] [ 1.58716148e-02 -1.18015446e-03 9.99873342e-01 3.25704981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.490714057 meters Centerline goodness [0,1] 0.9668958720630726 Centerline is valid? [True, True] Translation: X:279.65, Y:-9.97, Z:3.26 [[ 9.99846287e-01 -7.22550920e-03 -1.59748124e-02 2.79653661e+02] [ 7.24352267e-03 9.99973193e-01 1.07004362e-03 -9.97419232e+00] [ 1.59666525e-02 -1.18559306e-03 9.99871822e-01 3.25637129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.520714057 meters Centerline goodness [0,1] 0.9644848511991401 Centerline is valid? [True, True] Translation: X:279.68, Y:-9.98, Z:3.26 [[ 9.99834685e-01 -7.84685835e-03 -1.64021481e-02 2.79681165e+02] [ 7.86590286e-03 9.99968462e-01 1.09690737e-03 -9.97978239e+00] [ 1.63930235e-02 -1.22574373e-03 9.99864874e-01 3.25605780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.550714057 meters Centerline goodness [0,1] 0.9654260682515853 Centerline is valid? [True, True] Translation: X:279.71, Y:-9.98, Z:3.26 [[ 9.99826602e-01 -8.00094510e-03 -1.68151995e-02 2.79708974e+02] [ 8.02093468e-03 9.99967203e-01 1.12167376e-03 -9.98069982e+00] [ 1.68056735e-02 -1.25635288e-03 9.99857985e-01 3.25652837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.580714057 meters Centerline goodness [0,1] 0.9669792274215981 Centerline is valid? [True, True] Translation: X:279.74, Y:-9.98, Z:3.26 [[ 9.99799317e-01 -8.87639132e-03 -1.79592951e-02 2.79738278e+02] [ 8.89925040e-03 9.99959689e-01 1.19330770e-03 -9.97570583e+00] [ 1.79479789e-02 -1.35289249e-03 9.99838007e-01 3.25749309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.610714057 meters Centerline goodness [0,1] 0.9686114798730959 Centerline is valid? [True, True] Translation: X:279.77, Y:-9.98, Z:3.26 [[ 9.99795807e-01 -9.09824072e-03 -1.80434293e-02 2.79766204e+02] [ 9.12126688e-03 9.99957687e-01 1.19426461e-03 -9.97517773e+00] [ 1.80318001e-02 -1.35859968e-03 9.99836491e-01 3.25776058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.640714057 meters Centerline goodness [0,1] 0.9658542064472649 Centerline is valid? [True, True] Translation: X:279.79, Y:-9.98, Z:3.26 [[ 9.99808067e-01 -8.30558056e-03 -1.77439195e-02 2.79793954e+02] [ 8.32766798e-03 9.99964638e-01 1.17126091e-03 -9.97829374e+00] [ 1.77335640e-02 -1.31880158e-03 9.99841878e-01 3.25806890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.670714057 meters Centerline goodness [0,1] 0.9658542064472649 Centerline is valid? [True, True] Translation: X:279.82, Y:-9.98, Z:3.26 [[ 9.99805817e-01 -8.57169253e-03 -1.77441226e-02 2.79821398e+02] [ 8.59376720e-03 9.99962391e-01 1.16817776e-03 -9.98000064e+00] [ 1.77334419e-02 -1.32043978e-03 9.99841878e-01 3.25831802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.700714057 meters Centerline goodness [0,1] 0.9665916253939667 Centerline is valid? [True, True] Translation: X:279.85, Y:-9.98, Z:3.26 [[ 9.99820183e-01 -8.29140668e-03 -1.70544726e-02 2.79850723e+02] [ 8.31168849e-03 9.99964832e-01 1.11869937e-03 -9.97928273e+00] [ 1.70445972e-02 -1.26024967e-03 9.99853936e-01 3.25938137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.730714057 meters Centerline goodness [0,1] 0.9659297906312546 Centerline is valid? [True, True] Translation: X:279.88, Y:-9.98, Z:3.26 [[ 9.99827886e-01 -7.15693856e-03 -1.71165822e-02 2.79878246e+02] [ 7.17715756e-03 9.99973617e-01 1.12011492e-03 -9.98136021e+00] [ 1.71081140e-02 -1.24277054e-03 9.99852873e-01 3.25984905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76071405700003 meters Centerline goodness [0,1] 0.9665356997696789 Centerline is valid? [True, True] Translation: X:279.91, Y:-9.98, Z:3.26 [[ 9.99829363e-01 -6.18945918e-03 -1.74050484e-02 2.79906433e+02] [ 6.21019444e-03 9.99980070e-01 1.13753939e-03 -9.97856321e+00] [ 1.73976607e-02 -1.24543402e-03 9.99847874e-01 3.26107468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.790714057 meters Centerline goodness [0,1] 0.9666252681494862 Centerline is valid? [True, True] Translation: X:279.94, Y:-9.98, Z:3.26 [[ 9.99831938e-01 -5.93134172e-03 -1.73469015e-02 2.79935432e+02] [ 5.95185435e-03 9.99981648e-01 1.13110698e-03 -9.97889754e+00] [ 1.73398742e-02 -1.23416312e-03 9.99848891e-01 3.26185316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82071405700003 meters Centerline goodness [0,1] 0.9662677805373674 Centerline is valid? [True, True] Translation: X:279.96, Y:-9.98, Z:3.26 [[ 9.99844934e-01 -5.59196603e-03 -1.66984399e-02 2.79964513e+02] [ 5.61086431e-03 9.99983670e-01 1.08510379e-03 -9.97985775e+00] [ 1.66920994e-02 -1.17862821e-03 9.99859983e-01 3.26244983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.850714057 meters Centerline goodness [0,1] 0.9705010074483258 Centerline is valid? [True, True] Translation: X:279.99, Y:-9.97, Z:3.26 [[ 9.99840732e-01 -6.25875292e-03 -1.67134342e-02 2.79994125e+02] [ 6.27771190e-03 9.99979709e-01 1.08213139e-03 -9.96819533e+00] [ 1.67063223e-02 -1.18688116e-03 9.99859735e-01 3.26395822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88071405700003 meters Centerline goodness [0,1] 0.971828434258798 Centerline is valid? [True, True] Translation: X:280.02, Y:-9.97, Z:3.26 [[ 9.99841553e-01 -6.83871893e-03 -1.64347495e-02 2.80022692e+02] [ 6.85706296e-03 9.99975928e-01 1.06008077e-03 -9.97095144e+00] [ 1.64271043e-02 -1.17260691e-03 9.99864378e-01 3.26384420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.910714057 meters Centerline goodness [0,1] 0.967980015896446 Centerline is valid? [True, True] Translation: X:280.05, Y:-9.97, Z:3.26 [[ 9.99816156e-01 -9.25600076e-03 -1.67922919e-02 2.80052441e+02] [ 9.27545062e-03 9.99956398e-01 1.08074598e-03 -9.97286179e+00] [ 1.67815564e-02 -1.23630336e-03 9.99858415e-01 3.26444950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94071405700004 meters Centerline goodness [0,1] 0.9684019507769083 Centerline is valid? [True, True] Translation: X:280.08, Y:-9.98, Z:3.26 [[ 9.99791387e-01 -1.11546852e-02 -1.71100798e-02 2.80080332e+02] [ 1.11751425e-02 9.99936951e-01 1.10047930e-03 -9.97501773e+00] [ 1.70967256e-02 -1.29145731e-03 9.99853006e-01 3.26457740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.970714057 meters Centerline goodness [0,1] 0.9680718383636817 Centerline is valid? [True, True] Translation: X:280.11, Y:-9.98, Z:3.27 [[ 9.99767295e-01 -1.24103687e-02 -1.76447927e-02 2.80110254e+02] [ 1.24323026e-02 9.99922073e-01 1.13392912e-03 -9.97672941e+00] [ 1.76293453e-02 -1.35303065e-03 9.99843676e-01 3.26537641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.000714057 meters Centerline goodness [0,1] 0.9662987557509689 Centerline is valid? [True, True] Translation: X:280.14, Y:-9.98, Z:3.26 [[ 9.99711604e-01 -1.57334508e-02 -1.81429630e-02 2.80140155e+02] [ 1.57571786e-02 9.99875169e-01 1.16560022e-03 -9.97995404e+00] [ 1.81223593e-02 -1.45114597e-03 9.99834723e-01 3.26492369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.030714057 meters Centerline goodness [0,1] 0.9646411852929146 Centerline is valid? [True, True] Translation: X:280.17, Y:-9.98, Z:3.26 [[ 9.99697387e-01 -1.69936457e-02 -1.77862331e-02 2.80168098e+02] [ 1.70166363e-02 9.99854554e-01 1.14205440e-03 -9.98397652e+00] [ 1.77642385e-02 -1.44437066e-03 9.99841160e-01 3.26460401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.060714057 meters Centerline goodness [0,1] 0.9620802471940746 Centerline is valid? [True, True] Translation: X:280.20, Y:-9.99, Z:3.26 [[ 9.99650774e-01 -1.94579125e-02 -1.78806948e-02 2.80196639e+02] [ 1.94815257e-02 9.99809559e-01 1.14734585e-03 -9.98925112e+00] [ 1.78549646e-02 -1.49528839e-03 9.99839469e-01 3.26414115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.090714057 meters Centerline goodness [0,1] 0.9612674455607583 Centerline is valid? [True, True] Translation: X:280.23, Y:-9.99, Z:3.26 [[ 9.99606852e-01 -2.10356402e-02 -1.85375927e-02 2.80226530e+02] [ 2.10612811e-02 9.99777480e-01 1.18902329e-03 -9.99030932e+00] [ 1.85084559e-02 -1.57898128e-03 9.99827457e-01 3.26491273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.120714057 meters Centerline goodness [0,1] 0.9565068960808412 Centerline is valid? [True, True] Translation: X:280.25, Y:-9.99, Z:3.27 [[ 9.99579699e-01 -2.22161899e-02 -1.86243256e-02 2.80254885e+02] [ 2.22422565e-02 9.99751898e-01 1.19360309e-03 -9.99436550e+00] [ 1.85931875e-02 -1.60734844e-03 9.99825840e-01 3.26549786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.150714057 meters Centerline goodness [0,1] 0.9585585585585585 Centerline is valid? [True, True] Translation: X:280.29, Y:-9.99, Z:3.27 [[ 9.99531287e-01 -2.43588526e-02 -1.85432471e-02 2.80285470e+02] [ 2.43850438e-02 9.99701935e-01 1.18760924e-03 -9.99106427e+00] [ 1.85087912e-02 -1.63923049e-03 9.99827354e-01 3.26742962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.180714057 meters Centerline goodness [0,1] 0.9444685070782137 Centerline is valid? [True, False] Translation: X:280.29, Y:-9.99, Z:3.27 [[ 9.99531612e-01 -2.43518053e-02 -1.85350094e-02 2.80285561e+02] [ 2.43769223e-02 9.99702200e-01 1.13035635e-03 -9.99065062e+00] [ 1.85019635e-02 -1.58165339e-03 9.99827573e-01 3.26737665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.210714057 meters Centerline goodness [0,1] 0.935575567380725 Centerline is valid? [False, False] Translation: X:280.29, Y:-9.99, Z:3.27 [[ 9.99523162e-01 -2.47588697e-02 -1.84512322e-02 2.80285187e+02] [ 2.47741035e-02 9.99692896e-01 5.97471543e-04 -9.98928538e+00] [ 1.84307730e-02 -1.05429938e-03 9.99829583e-01 3.26767032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.240714057 meters Centerline goodness [0,1] 0.9577738193112268 Centerline is valid? [False, True] Translation: X:280.29, Y:-9.99, Z:3.27 [[ 9.99518574e-01 -2.49137183e-02 -1.84912528e-02 2.80285132e+02] [ 2.49235347e-02 9.99689315e-01 3.00563857e-04 -9.98835051e+00] [ 1.84780197e-02 -7.61286538e-04 9.99828977e-01 3.26785796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.270714057 meters Centerline goodness [0,1] 0.9666125454503877 Centerline is valid? [True, True] Translation: X:280.31, Y:-9.98, Z:3.27 [[ 9.99508030e-01 -2.54406049e-02 -1.83432341e-02 2.80314526e+02] [ 2.54671813e-02 9.99674918e-01 1.21666694e-03 -9.98158168e+00] [ 1.83063183e-02 -1.68321884e-03 9.99831008e-01 3.26915280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.300714057 meters Centerline goodness [0,1] 0.9666704871060172 Centerline is valid? [True, True] Translation: X:280.34, Y:-9.98, Z:3.27 [[ 9.99466338e-01 -2.67372821e-02 -1.87658680e-02 2.80344045e+02] [ 2.67652665e-02 9.99640975e-01 1.24162096e-03 -9.98025652e+00] [ 1.87259330e-02 -1.74323181e-03 9.99823135e-01 3.27005575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.330714057 meters Centerline goodness [0,1] 0.9658674124335228 Centerline is valid? [True, True] Translation: X:280.37, Y:-9.98, Z:3.27 [[ 9.99478345e-01 -2.65588565e-02 -1.83756651e-02 2.80373585e+02] [ 2.65856439e-02 9.99645801e-01 1.21497450e-03 -9.98103069e+00] [ 1.83368881e-02 -1.70286959e-03 9.99830415e-01 3.27067604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.360714057 meters Centerline goodness [0,1] 0.9146257409364518 Centerline is valid? [True, False] Translation: X:280.37, Y:-9.98, Z:3.27 [[ 9.99555017e-01 -2.38223067e-02 -1.79517816e-02 2.80372326e+02] [ 2.39064126e-02 9.99704140e-01 4.48512612e-03 -9.98087993e+00] [ 1.78396243e-02 -4.91229301e-03 9.99828794e-01 3.27059418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.390714057 meters Centerline goodness [0,1] 0.9641693811074918 Centerline is valid? [False, True] Translation: X:280.37, Y:-9.98, Z:3.27 [[ 9.99553668e-01 -2.38090908e-02 -1.80441464e-02 2.80372821e+02] [ 2.38914388e-02 9.99705043e-01 4.36192099e-03 -9.98006272e+00] [ 1.79349708e-02 -4.79107475e-03 9.99827676e-01 3.27020624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.420714057 meters Centerline goodness [0,1] 0.964240542715879 Centerline is valid? [True, True] Translation: X:280.40, Y:-9.98, Z:3.27 [[ 9.99529399e-01 -2.43901840e-02 -1.86037349e-02 2.80401994e+02] [ 2.44183633e-02 9.99700996e-01 1.28902958e-03 -9.97912159e+00] [ 1.85667327e-02 -1.74269572e-03 9.99826105e-01 3.27109162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.450714057 meters Centerline goodness [0,1] 0.964348186337691 Centerline is valid? [True, True] Translation: X:280.43, Y:-9.98, Z:3.27 [[ 9.99479954e-01 -2.56068341e-02 -1.95987742e-02 2.80431151e+02] [ 2.56382777e-02 9.99670367e-01 1.35474658e-03 -9.97724322e+00] [ 1.95576230e-02 -1.85652086e-03 9.99807008e-01 3.27249630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.480714057 meters Centerline goodness [0,1] 0.967357955200812 Centerline is valid? [True, True] Translation: X:280.46, Y:-9.97, Z:3.27 [[ 9.99447206e-01 -2.64120890e-02 -2.01911667e-02 2.80460492e+02] [ 2.64455556e-02 9.99649286e-01 1.39222973e-03 -9.97053562e+00] [ 2.01473137e-02 -1.92542674e-03 9.99795168e-01 3.27357570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51071405700003 meters Centerline goodness [0,1] 0.9681455149808411 Centerline is valid? [True, True] Translation: X:280.49, Y:-9.97, Z:3.27 [[ 9.99418062e-01 -2.69183438e-02 -2.09508802e-02 2.80488505e+02] [ 2.69544190e-02 9.99635624e-01 1.44136572e-03 -9.97393004e+00] [ 2.09044471e-02 -2.00524574e-03 9.99779467e-01 3.27351692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.540714057 meters Centerline goodness [0,1] 0.9590054074039839 Centerline is valid? [True, True] Translation: X:280.52, Y:-9.98, Z:3.27 [[ 9.99405430e-01 -2.77087912e-02 -2.05185088e-02 2.80515508e+02] [ 2.77435254e-02 9.99614080e-01 1.41005184e-03 -9.98172721e+00] [ 2.04715194e-02 -1.97846923e-03 9.99788479e-01 3.27283893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57071405700003 meters Centerline goodness [0,1] 0.9639675082733563 Centerline is valid? [True, True] Translation: X:280.54, Y:-9.98, Z:3.27 [[ 9.99406293e-01 -2.80502412e-02 -2.00061137e-02 2.80544197e+02] [ 2.80832620e-02 9.99604647e-01 1.37145210e-03 -9.97968260e+00] [ 1.99597346e-02 -1.93247479e-03 9.99798917e-01 3.27430066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.600714057 meters Centerline goodness [0,1] 0.9595335600749636 Centerline is valid? [True, True] Translation: X:280.57, Y:-9.98, Z:3.28 [[ 9.99440880e-01 -2.78179250e-02 -1.85496623e-02 2.80572949e+02] [ 2.78462239e-02 9.99611413e-01 1.26898349e-03 -9.98198069e+00] [ 1.85071537e-02 -1.78481202e-03 9.99827135e-01 3.27608585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63071405700003 meters Centerline goodness [0,1] 0.9663575237653605 Centerline is valid? [True, True] Translation: X:280.60, Y:-9.98, Z:3.28 [[ 9.99460400e-01 -2.74496975e-02 -1.80395013e-02 2.80604206e+02] [ 2.74763929e-02 9.99621691e-01 1.23360247e-03 -9.97533022e+00] [ 1.79988147e-02 -1.72859724e-03 9.99836514e-01 3.27812553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.660714057 meters Centerline goodness [0,1] 0.9655028515788009 Centerline is valid? [True, True] Translation: X:280.64, Y:-9.98, Z:3.28 [[ 9.99467977e-01 -2.71428516e-02 -1.80839325e-02 2.80635181e+02] [ 2.71696289e-02 9.99630073e-01 1.23664083e-03 -9.97511891e+00] [ 1.80436768e-02 -1.72731665e-03 9.99835708e-01 3.27867894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69071405700004 meters Centerline goodness [0,1] 0.9687049523366659 Centerline is valid? [True, True] Translation: X:280.67, Y:-9.97, Z:3.28 [[ 9.99502056e-01 -2.61307485e-02 -1.76868344e-02 2.80665431e+02] [ 2.61562030e-02 9.99657136e-01 1.20933982e-03 -9.97417416e+00] [ 1.76491693e-02 -1.67135807e-03 9.99842844e-01 3.27931228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.720714057 meters Centerline goodness [0,1] 0.9677809851941521 Centerline is valid? [True, True] Translation: X:280.70, Y:-9.98, Z:3.28 [[ 9.99471876e-01 -2.67998982e-02 -1.83775428e-02 2.80695765e+02] [ 2.68274888e-02 9.99639289e-01 1.25638990e-03 -9.97709719e+00] [ 1.83372427e-02 -1.74874970e-03 9.99830329e-01 3.27734584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.750714057 meters Centerline goodness [0,1] 0.9600167177486765 Centerline is valid? [True, True] Translation: X:280.72, Y:-9.99, Z:3.28 [[ 9.99443946e-01 -2.74517100e-02 -1.89262164e-02 2.80724530e+02] [ 2.74810856e-02 9.99621486e-01 1.29373410e-03 -9.98608794e+00] [ 1.88835374e-02 -1.81312769e-03 9.99820046e-01 3.27608807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.780714057 meters Centerline goodness [0,1] 0.9686613660668619 Centerline is valid? [True, True] Translation: X:280.75, Y:-9.98, Z:3.28 [[ 9.99400394e-01 -2.81443375e-02 -2.01680198e-02 2.80754415e+02] [ 2.81778237e-02 9.99601976e-01 1.37805832e-03 -9.97982277e+00] [ 2.01212079e-02 -1.94552294e-03 9.99795655e-01 3.27687236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.810714057 meters Centerline goodness [0,1] 0.9660779366414354 Centerline is valid? [True, True] Translation: X:280.78, Y:-9.98, Z:3.28 [[ 9.99354382e-01 -2.93052264e-02 -2.07851636e-02 2.80783347e+02] [ 2.93410358e-02 9.99568451e-01 1.41990394e-03 -9.98486233e+00] [ 2.07345832e-02 -2.02884545e-03 9.99782957e-01 3.27649226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.840714057 meters Centerline goodness [0,1] 0.955201604440195 Centerline is valid? [True, True] Translation: X:280.81, Y:-9.99, Z:3.28 [[ 9.99275641e-01 -3.11814066e-02 -2.18154479e-02 2.80811948e+02] [ 3.12212888e-02 9.99511386e-01 1.48988307e-03 -9.99062992e+00] [ 2.17583320e-02 -2.16991026e-03 9.99760905e-01 3.27562757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.870714057 meters Centerline goodness [0,1] 0.9675609984107694 Centerline is valid? [True, True] Translation: X:280.84, Y:-9.98, Z:3.28 [[ 9.99274262e-01 -3.10256705e-02 -2.20988024e-02 2.80842426e+02] [ 3.10665407e-02 9.99516180e-01 1.50844639e-03 -9.98240705e+00] [ 2.20413100e-02 -2.19388500e-03 9.99754654e-01 3.27719991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.900714057 meters Centerline goodness [0,1] 0.968389327601514 Centerline is valid? [True, True] Translation: X:280.87, Y:-9.98, Z:3.28 [[ 9.99299664e-01 -3.01899485e-02 -2.21076662e-02 2.80871905e+02] [ 3.02306315e-02 9.99541812e-01 1.50825850e-03 -9.98315975e+00] [ 2.20520025e-02 -2.17553092e-03 9.99754458e-01 3.27719541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.930714057 meters Centerline goodness [0,1] 0.9677170688406643 Centerline is valid? [True, True] Translation: X:280.90, Y:-9.99, Z:3.28 [[ 9.99336537e-01 -2.86659188e-02 -2.24666833e-02 2.80900671e+02] [ 2.87075347e-02 9.99586680e-01 1.53194452e-03 -9.98689669e+00] [ 2.24134827e-02 -2.17589122e-03 9.99746418e-01 3.27779556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.960714057 meters Centerline goodness [0,1] 0.9628059715396977 Centerline is valid? [True, True] Translation: X:280.93, Y:-9.99, Z:3.28 [[ 9.99385779e-01 -2.68291144e-02 -2.25447098e-02 2.80929108e+02] [ 2.68705340e-02 9.99637742e-01 1.53624397e-03 -9.98955166e+00] [ 2.24953267e-02 -2.14108877e-03 9.99744655e-01 3.27771603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.990714057 meters Centerline goodness [0,1] 0.9703736717412211 Centerline is valid? [True, True] Translation: X:280.96, Y:-9.98, Z:3.28 [[ 9.99475500e-01 -2.29631971e-02 -2.28345453e-02 2.80960259e+02] [ 2.30046647e-02 9.99734148e-01 1.55494369e-03 -9.97898938e+00] [ 2.27927682e-02 -2.07942918e-03 9.99738049e-01 3.28007411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.020714057 meters Centerline goodness [0,1] 0.9712890579148766 Centerline is valid? [True, True] Translation: X:280.99, Y:-9.98, Z:3.28 [[ 9.99526973e-01 -2.09632754e-02 -2.25026939e-02 2.80989183e+02] [ 2.10030246e-02 9.99778239e-01 1.53150478e-03 -9.97929324e+00] [ 2.24655983e-02 -2.00340497e-03 9.99745609e-01 3.28092430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.050714057 meters Centerline goodness [0,1] 0.9711369236184442 Centerline is valid? [True, True] Translation: X:281.02, Y:-9.98, Z:3.28 [[ 9.99646772e-01 -1.68026522e-02 -2.05912876e-02 2.81017746e+02] [ 1.68350412e-02 9.99857300e-01 1.40059974e-03 -9.97954506e+00] [ 2.05648154e-02 -1.74676018e-03 9.99786996e-01 3.28219576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.080714057 meters Centerline goodness [0,1] 0.9690024114438227 Centerline is valid? [True, True] Translation: X:281.05, Y:-9.98, Z:3.28 [[ 9.99693797e-01 -1.46271946e-02 -1.99589045e-02 2.81045933e+02] [ 1.46571746e-02 9.99891658e-01 1.35662146e-03 -9.98462480e+00] [ 1.99368985e-02 -1.64874721e-03 9.99799881e-01 3.28257707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.110714057 meters Centerline goodness [0,1] 0.9727371095220173 Centerline is valid? [True, True] Translation: X:281.08, Y:-9.98, Z:3.28 [[ 9.99717187e-01 -1.31221347e-02 -1.98331989e-02 2.81076532e+02] [ 1.31514241e-02 9.99912609e-01 1.34707580e-03 -9.97925018e+00] [ 1.98137892e-02 -1.60752964e-03 9.99802395e-01 3.28418075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.140714057 meters Centerline goodness [0,1] 0.971007001550679 Centerline is valid? [True, True] Translation: X:281.11, Y:-9.98, Z:3.29 [[ 9.99765317e-01 -9.62312532e-03 -1.94089411e-02 2.81106024e+02] [ 9.65050683e-03 9.99952565e-01 1.31759722e-03 -9.98109882e+00] [ 1.93953410e-02 -1.50459412e-03 9.99810761e-01 3.28521550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.170714057 meters Centerline goodness [0,1] 0.9731714205026829 Centerline is valid? [True, True] Translation: X:281.14, Y:-9.97, Z:3.29 [[ 9.99774944e-01 -8.46849790e-03 -1.94510901e-02 2.81135677e+02] [ 8.49576388e-03 9.99963040e-01 1.31956413e-03 -9.97271163e+00] [ 1.94391964e-02 -1.48451903e-03 9.99809939e-01 3.28622126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.200714057 meters Centerline goodness [0,1] 0.9750182821825387 Centerline is valid? [True, True] Translation: X:281.16, Y:-9.97, Z:3.28 [[ 9.99773019e-01 -5.50770836e-03 -2.05809571e-02 2.81164931e+02] [ 5.53758825e-03 9.99983694e-01 1.39511341e-03 -9.97372043e+00] [ 2.05729376e-02 -1.50876561e-03 9.99787216e-01 3.28440002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.230714057 meters Centerline goodness [0,1] 0.9757515598411798 Centerline is valid? [True, True] Translation: X:281.19, Y:-9.98, Z:3.28 [[ 9.99759585e-01 -3.83418477e-03 -2.15886959e-02 2.81193760e+02] [ 3.86664945e-03 9.99991455e-01 1.46223950e-03 -9.97504181e+00] [ 2.15829050e-02 -1.54536388e-03 9.99765868e-01 3.28415448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26071405700003 meters Centerline goodness [0,1] 0.9745942630685035 Centerline is valid? [True, True] Translation: X:281.22, Y:-9.98, Z:3.28 [[ 9.99765271e-01 -1.48612744e-03 -2.16146717e-02 2.81222066e+02] [ 1.51809644e-03 9.99997778e-01 1.46270863e-03 -9.98094586e+00] [ 2.16124499e-02 -1.49517845e-03 9.99765306e-01 3.28303742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.290714057 meters Centerline goodness [0,1] 0.9765429179475054 Centerline is valid? [True, True] Translation: X:281.25, Y:-9.97, Z:3.29 [[ 9.99748873e-01 4.60477214e-03 -2.19313997e-02 2.81252216e+02] [-4.57333715e-03 9.99988442e-01 1.48327306e-03 -9.97205556e+00] [ 2.19379763e-02 -1.38260089e-03 9.99758378e-01 3.28544369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32071405700003 meters Centerline goodness [0,1] 0.9764466620947336 Centerline is valid? [True, True] Translation: X:281.28, Y:-9.97, Z:3.29 [[ 9.99735982e-01 7.98321963e-03 -2.15461141e-02 2.81281819e+02] [-7.95367594e-03 9.99967308e-01 1.45653255e-03 -9.97106003e+00] [ 2.15570375e-02 -1.28477719e-03 9.99766795e-01 3.28693488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.350714057 meters Centerline goodness [0,1] 0.9766906952480319 Centerline is valid? [True, True] Translation: X:281.31, Y:-9.97, Z:3.29 [[ 9.99703629e-01 1.45466629e-02 -1.95204656e-02 2.81311720e+02] [-1.45236724e-02 9.99893656e-01 1.31902124e-03 -9.96616427e+00] [ 1.95375771e-02 -1.03512147e-03 9.99808587e-01 3.28896153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38071405700003 meters Centerline goodness [0,1] 0.9768846363356465 Centerline is valid? [True, True] Translation: X:281.34, Y:-9.97, Z:3.29 [[ 9.99680862e-01 1.66138821e-02 -1.90302988e-02 2.81340221e+02] [-1.65924178e-02 9.99861510e-01 1.28525218e-03 -9.96715568e+00] [ 1.90490164e-02 -9.69083338e-04 9.99818081e-01 3.28885179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.410714057 meters Centerline goodness [0,1] 0.9778436018957346 Centerline is valid? [True, True] Translation: X:281.37, Y:-9.97, Z:3.29 [[ 9.99670355e-01 1.79202494e-02 -1.83860163e-02 2.81368842e+02] [-1.79004521e-02 9.99839004e-01 1.24077970e-03 -9.96891734e+00] [ 1.84052913e-02 -9.11252676e-04 9.99830193e-01 3.28912607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44071405700004 meters Centerline goodness [0,1] 0.9785565349255995 Centerline is valid? [True, True] Translation: X:281.40, Y:-9.97, Z:3.29 [[ 9.99686855e-01 1.81105065e-02 -1.72685217e-02 2.81397860e+02] [-1.80930909e-02 9.99835629e-01 1.16422981e-03 -9.96565900e+00] [ 1.72867680e-02 -8.51424309e-04 9.99850210e-01 3.29072957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.470714057 meters Centerline goodness [0,1] 0.9778019947407074 Centerline is valid? [True, True] Translation: X:281.43, Y:-9.97, Z:3.29 [[ 9.99713849e-01 1.58372477e-02 -1.79276595e-02 2.81427505e+02] [-1.58181301e-02 9.99874156e-01 1.20768025e-03 -9.96753742e+00] [ 1.79445298e-02 -9.23752619e-04 9.99838557e-01 3.29197941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.500714057 meters Centerline goodness [0,1] 0.9770251065845571 Centerline is valid? [True, True] Translation: X:281.46, Y:-9.97, Z:3.29 [[ 9.99754175e-01 1.41300422e-02 -1.70860039e-02 2.81456088e+02] [-1.41124436e-02 9.99899753e-01 1.15013596e-03 -9.97048395e+00] [ 1.71005426e-02 -9.08727960e-04 9.99853362e-01 3.29279039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.530714057 meters Centerline goodness [0,1] 0.9770863940097626 Centerline is valid? [True, True] Translation: X:281.49, Y:-9.97, Z:3.29 [[ 9.99782055e-01 1.21624933e-02 -1.69681002e-02 2.81485432e+02] [-1.21448700e-02 9.99925597e-01 1.14127663e-03 -9.97394504e+00] [ 1.69807185e-02 -9.34952521e-04 9.99855380e-01 3.29325346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.560714057 meters Centerline goodness [0,1] 0.9770863940097626 Centerline is valid? [True, True] Translation: X:281.51, Y:-9.98, Z:3.29 [[ 9.99783324e-01 1.20576538e-02 -1.69681750e-02 2.81512875e+02] [-1.20400343e-02 9.99926866e-01 1.14016305e-03 -9.97569797e+00] [ 1.69806818e-02 -9.35618596e-04 9.99855380e-01 3.29351618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.590714057 meters Centerline goodness [0,1] 0.9757008462156668 Centerline is valid? [True, True] Translation: X:281.54, Y:-9.99, Z:3.29 [[ 9.99832938e-01 7.50149202e-03 -1.66680488e-02 2.81541578e+02] [-7.48387847e-03 9.99971369e-01 1.11885005e-03 -9.98521892e+00] [ 1.66759647e-02 -9.93921479e-04 9.99860452e-01 3.29286873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.620714057 meters Centerline goodness [0,1] 0.975169995498377 Centerline is valid? [True, True] Translation: X:281.57, Y:-9.99, Z:3.29 [[ 9.99842527e-01 4.70625845e-03 -1.71105684e-02 2.81571286e+02] [-4.68729539e-03 9.99988355e-01 1.14820157e-03 -9.98883022e+00] [ 1.71157729e-02 -1.06781847e-03 9.99852944e-01 3.29287741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.650714057 meters Centerline goodness [0,1] 0.9753263892161945 Centerline is valid? [True, True] Translation: X:281.60, Y:-10.00, Z:3.29 [[ 9.99839325e-01 3.45223298e-05 -1.79254649e-02 2.81599956e+02] [-1.29584894e-05 9.99999276e-01 1.20308720e-03 -9.99626104e+00] [ 1.79254935e-02 -1.20266161e-03 9.99838602e-01 3.29208702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.680714057 meters Centerline goodness [0,1] 0.9757893246495823 Centerline is valid? [True, True] Translation: X:281.63, Y:-10.00, Z:3.29 [[ 9.99808466e-01 -1.42905417e-03 -1.95189440e-02 2.81627637e+02] [ 1.45489625e-03 9.99998084e-01 1.30981273e-03 -1.00018040e+01] [ 1.95170348e-02 -1.33795990e-03 9.99808629e-01 3.29155500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.710714057 meters Centerline goodness [0,1] 0.9747358967693144 Centerline is valid? [True, True] Translation: X:281.66, Y:-10.00, Z:3.29 [[ 9.99781878e-01 -3.12505740e-03 -2.06501765e-02 2.81656894e+02] [ 3.15431580e-03 9.99994067e-01 1.38443936e-03 -1.00014790e+01] [ 2.06457275e-02 -1.44927456e-03 9.99785804e-01 3.29133468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.740714057 meters Centerline goodness [0,1] 0.9751677535204613 Centerline is valid? [True, True] Translation: X:281.69, Y:-10.01, Z:3.29 [[ 9.99771836e-01 -4.97038532e-03 -2.07742843e-02 2.81685982e+02] [ 5.00036463e-03 9.99986530e-01 1.39140069e-03 -1.00058414e+01] [ 2.07670887e-02 -1.49496222e-03 9.99783223e-01 3.29118025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.770714057 meters Centerline goodness [0,1] 0.9733641880563886 Centerline is valid? [True, True] Translation: X:281.71, Y:-10.01, Z:3.29 [[ 9.99764777e-01 -5.77113760e-03 -2.09065772e-02 2.81714369e+02] [ 5.80159989e-03 9.99982195e-01 1.39670742e-03 -1.00079375e+01] [ 2.08981444e-02 -1.51767048e-03 9.99780458e-01 3.29144157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.800714057 meters Centerline goodness [0,1] 0.9728230071779372 Centerline is valid? [True, True] Translation: X:281.74, Y:-10.01, Z:3.29 [[ 9.99768344e-01 -7.24681645e-03 -2.02667855e-02 2.81743027e+02] [ 7.27568215e-03 9.99972619e-01 1.35091292e-03 -1.00135030e+01] [ 2.02564407e-02 -1.49805467e-03 9.99793695e-01 3.29195753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.830714057 meters Centerline goodness [0,1] 0.9739883712718627 Centerline is valid? [True, True] Translation: X:281.77, Y:-10.01, Z:3.29 [[ 9.99780776e-01 -7.77659002e-03 -1.94402648e-02 2.81771384e+02] [ 7.80318815e-03 9.99968719e-01 1.29271642e-03 -1.00129712e+01] [ 1.94296038e-02 -1.44412907e-03 9.99810184e-01 3.29353936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.860714057 meters Centerline goodness [0,1] 0.9703607639707617 Centerline is valid? [True, True] Translation: X:281.80, Y:-10.02, Z:3.29 [[ 9.99795725e-01 -8.25177773e-03 -1.84503509e-02 2.81798446e+02] [ 8.27576019e-03 9.99965006e-01 1.22386285e-03 -1.00213330e+01] [ 1.84396062e-02 -1.37630353e-03 9.99829029e-01 3.29413185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.890714057 meters Centerline goodness [0,1] 0.9698098966932402 Centerline is valid? [True, True] Translation: X:281.83, Y:-10.02, Z:3.30 [[ 9.99794651e-01 -9.97117994e-03 -1.76417518e-02 2.81827510e+02] [ 9.99335076e-03 9.99949382e-01 1.16901166e-03 -1.00236841e+01] [ 1.76292024e-02 -1.34507181e-03 9.99843689e-01 3.29518265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.920714057 meters Centerline goodness [0,1] 0.9687293651542307 Centerline is valid? [True, True] Translation: X:281.85, Y:-10.03, Z:3.30 [[ 9.99794130e-01 -1.09281615e-02 -1.70959647e-02 2.81854896e+02] [ 1.09490954e-02 9.99939417e-01 1.13136968e-03 -1.00291575e+01] [ 1.70825652e-02 -1.31832212e-03 9.99853213e-01 3.29555823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.950714057 meters Centerline goodness [0,1] 0.9716952155936208 Centerline is valid? [True, True] Translation: X:281.89, Y:-10.02, Z:3.30 [[ 9.99782241e-01 -1.32392241e-02 -1.61305121e-02 2.81885566e+02] [ 1.32581379e-02 9.99911539e-01 1.06616765e-03 -1.00228752e+01] [ 1.61149699e-02 -1.27979604e-03 9.99869326e-01 3.29738793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.980714057 meters Centerline goodness [0,1] 0.9712806694085945 Centerline is valid? [True, True] Translation: X:281.91, Y:-10.03, Z:3.30 [[ 9.99765750e-01 -1.45361215e-02 -1.60357849e-02 2.81914006e+02] [ 1.45549508e-02 9.99893511e-01 1.05811511e-03 -1.00262834e+01] [ 1.60186964e-02 -1.29126731e-03 9.99870859e-01 3.29761550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01071405700003 meters Centerline goodness [0,1] 0.970926668238623 Centerline is valid? [True, True] Translation: X:281.94, Y:-10.03, Z:3.30 [[ 9.99742671e-01 -1.60392994e-02 -1.60416210e-02 2.81943472e+02] [ 1.60582928e-02 9.99870500e-01 1.05589312e-03 -1.00294900e+01] [ 1.60226078e-02 -1.31322246e-03 9.99870767e-01 3.29740564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.040714057 meters Centerline goodness [0,1] 0.9694773256771704 Centerline is valid? [True, True] Translation: X:281.97, Y:-10.03, Z:3.30 [[ 9.99660708e-01 -1.89081000e-02 -1.79151688e-02 2.81973274e+02] [ 1.89322395e-02 9.99820074e-01 1.17877555e-03 -1.00341275e+01] [ 1.78896570e-02 -1.51754987e-03 9.99838816e-01 3.29609373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07071405700003 meters Centerline goodness [0,1] 0.9692184406523994 Centerline is valid? [True, True] Translation: X:282.00, Y:-10.04, Z:3.30 [[ 9.99635476e-01 -2.00643609e-02 -1.80647804e-02 2.82002134e+02] [ 2.00890833e-02 9.99797488e-01 1.18809840e-03 -1.00379545e+01] [ 1.80372836e-02 -1.55057019e-03 9.99836113e-01 3.29543507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.100714057 meters Centerline goodness [0,1] 0.9699087144739319 Centerline is valid? [True, True] Translation: X:282.03, Y:-10.04, Z:3.30 [[ 9.99611611e-01 -2.08389212e-02 -1.85031676e-02 2.82031815e+02] [ 2.08649745e-02 9.99781563e-01 1.21609394e-03 -1.00387318e+01] [ 1.84737837e-02 -1.60168975e-03 9.99828062e-01 3.29544695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13071405700003 meters Centerline goodness [0,1] 0.9682049589893467 Centerline is valid? [True, True] Translation: X:282.06, Y:-10.04, Z:3.29 [[ 9.99582531e-01 -2.16690284e-02 -1.91106546e-02 2.82060520e+02] [ 2.16969550e-02 9.99763805e-01 1.25516061e-03 -1.00436767e+01] [ 1.90789427e-02 -1.66927963e-03 9.99816587e-01 3.29451736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.160714057 meters Centerline goodness [0,1] 0.9673065598869391 Centerline is valid? [True, True] Translation: X:282.09, Y:-10.05, Z:3.29 [[ 9.99599320e-01 -2.08235406e-02 -1.91723523e-02 2.82089404e+02] [ 2.08514709e-02 9.99781793e-01 1.25802897e-03 -1.00456510e+01] [ 1.91419721e-02 -1.65729665e-03 9.99815402e-01 3.29408844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19071405700004 meters Centerline goodness [0,1] 0.9691875427950795 Centerline is valid? [True, True] Translation: X:282.12, Y:-10.04, Z:3.30 [[ 9.99671809e-01 -1.72679744e-02 -1.89232763e-02 2.82120239e+02] [ 1.72945383e-02 9.99849668e-01 1.24100394e-03 -1.00430198e+01] [ 1.88990019e-02 -1.56786598e-03 9.99820169e-01 3.29545757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.220714057 meters Centerline goodness [0,1] 0.9684580541662735 Centerline is valid? [True, True] Translation: X:282.15, Y:-10.04, Z:3.30 [[ 9.99718077e-01 -1.44003249e-02 -1.88784592e-02 2.82149574e+02] [ 1.44262506e-02 9.99895170e-01 1.23782504e-03 -1.00437141e+01] [ 1.88586551e-02 -1.50982145e-03 9.99821020e-01 3.29614612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.250714057 meters Centerline goodness [0,1] 0.9712477481748365 Centerline is valid? [True, True] Translation: X:282.18, Y:-10.04, Z:3.30 [[ 9.99753401e-01 -1.17171503e-02 -1.88638858e-02 2.82180019e+02] [ 1.17425510e-02 9.99930290e-01 1.23631951e-03 -1.00417555e+01] [ 1.88480846e-02 -1.45752478e-03 9.99821297e-01 3.29757398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.280714057 meters Centerline goodness [0,1] 0.9728790314953183 Centerline is valid? [True, True] Translation: X:282.21, Y:-10.03, Z:3.30 [[ 9.99820027e-01 -6.02590632e-03 -1.79889539e-02 2.82211236e+02] [ 6.04808237e-03 9.99981016e-01 1.17860930e-03 -1.00333790e+01] [ 1.79815102e-02 -1.28719586e-03 9.99837491e-01 3.29897517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.310714057 meters Centerline goodness [0,1] 0.9714245061538097 Centerline is valid? [True, True] Translation: X:282.24, Y:-10.04, Z:3.30 [[ 9.99830838e-01 -3.81464611e-03 -1.79929042e-02 2.82239895e+02] [ 3.83646925e-03 9.99991946e-01 1.17851349e-03 -1.00380574e+01] [ 1.79882636e-02 -1.24734336e-03 9.99837420e-01 3.29866588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.340714057 meters Centerline goodness [0,1] 0.9707297323044679 Centerline is valid? [True, True] Translation: X:282.27, Y:-10.04, Z:3.30 [[ 9.99852994e-01 1.05397823e-03 -1.71136980e-02 2.82269066e+02] [-1.03495689e-03 9.99998837e-01 1.12028769e-03 -1.00379476e+01] [ 1.71148589e-02 -1.10241106e-03 9.99852922e-01 3.29944376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.370714057 meters Centerline goodness [0,1] 0.9709153122326775 Centerline is valid? [True, True] Translation: X:282.30, Y:-10.04, Z:3.30 [[ 9.99857250e-01 2.67981540e-03 -1.66822539e-02 2.82298231e+02] [-2.66197699e-03 9.99995861e-01 1.09141867e-03 -1.00376848e+01] [ 1.66851096e-02 -1.04685510e-03 9.99860246e-01 3.30012496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.400714057 meters Centerline goodness [0,1] 0.9738887829072873 Centerline is valid? [True, True] Translation: X:282.33, Y:-10.03, Z:3.30 [[ 9.99850290e-01 4.62622460e-03 -1.66732288e-02 2.82328508e+02] [-4.60868453e-03 9.99988786e-01 1.09025973e-03 -1.00279449e+01] [ 1.66780856e-02 -1.01325486e-03 9.99860398e-01 3.30184689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.430714057 meters Centerline goodness [0,1] 0.9755729939231542 Centerline is valid? [True, True] Translation: X:282.36, Y:-10.03, Z:3.30 [[ 9.99816148e-01 7.41352055e-03 -1.76836156e-02 2.82358512e+02] [-7.39423319e-03 9.99971994e-01 1.15582632e-03 -1.00263620e+01] [ 1.76916891e-02 -1.02485704e-03 9.99842965e-01 3.30174241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.460714057 meters Centerline goodness [0,1] 0.9759157531124811 Centerline is valid? [True, True] Translation: X:282.39, Y:-10.03, Z:3.30 [[ 9.99800327e-01 8.00143538e-03 -1.83107495e-02 2.82387303e+02] [-7.98086843e-03 9.99967437e-01 1.19601732e-03 -1.00255465e+01] [ 1.83197231e-02 -1.04964282e-03 9.99831629e-01 3.30088513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.490714057 meters Centerline goodness [0,1] 0.9756273089286571 Centerline is valid? [True, True] Translation: X:282.42, Y:-10.03, Z:3.30 [[ 9.99759689e-01 1.04215851e-02 -1.92861523e-02 2.82415568e+02] [-1.03992408e-02 9.99945134e-01 1.25849655e-03 -1.00284887e+01] [ 1.92982097e-02 -1.05763278e-03 9.99813213e-01 3.29950295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.520714057 meters Centerline goodness [0,1] 0.9752274418493003 Centerline is valid? [True, True] Translation: X:282.44, Y:-10.03, Z:3.30 [[ 9.99757808e-01 1.11003506e-02 -1.90028274e-02 2.82444771e+02] [-1.10788024e-02 9.99937861e-01 1.23884873e-03 -1.00284953e+01] [ 1.90153983e-02 -1.02802012e-03 9.99818662e-01 3.30016316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.550714057 meters Centerline goodness [0,1] 0.975300081296925 Centerline is valid? [True, True] Translation: X:282.47, Y:-10.03, Z:3.30 [[ 9.99746114e-01 1.23822010e-02 -1.88252051e-02 2.82474278e+02] [-1.23613332e-02 9.99922846e-01 1.22446855e-03 -1.00266722e+01] [ 1.88389142e-02 -9.91453045e-04 9.99822040e-01 3.30192062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.580714057 meters Centerline goodness [0,1] 0.9740138209041175 Centerline is valid? [True, True] Translation: X:282.50, Y:-10.03, Z:3.30 [[ 9.99740826e-01 1.44122526e-02 -1.76229277e-02 2.82503016e+02] [-1.43943238e-02 9.99895742e-01 1.14378871e-03 -1.00288170e+01] [ 1.76375749e-02 -8.89822146e-04 9.99844050e-01 3.30264233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.610714057 meters Centerline goodness [0,1] 0.9732690832374377 Centerline is valid? [True, True] Translation: X:282.53, Y:-10.03, Z:3.30 [[ 9.99739935e-01 1.56929271e-02 -1.65467058e-02 2.82532017e+02] [-1.56773297e-02 9.99876529e-01 1.07192854e-03 -1.00305530e+01] [ 1.65614845e-02 -8.12241603e-04 9.99862519e-01 3.30352785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.640714057 meters Centerline goodness [0,1] 0.9762733008660605 Centerline is valid? [True, True] Translation: X:282.56, Y:-10.03, Z:3.30 [[ 9.99743977e-01 1.69194490e-02 -1.50237087e-02 2.82561333e+02] [-1.69067636e-02 9.99856599e-01 9.70977898e-04 -1.00273129e+01] [ 1.50379827e-02 -7.16727016e-04 9.99886666e-01 3.30497365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.670714057 meters Centerline goodness [0,1] 0.9745799327892463 Centerline is valid? [True, True] Translation: X:282.59, Y:-10.03, Z:3.30 [[ 9.99739439e-01 1.68740289e-02 -1.53727310e-02 2.82588463e+02] [-1.68607635e-02 9.99857355e-01 9.92125705e-04 -1.00329425e+01] [ 1.53872793e-02 -7.32671215e-04 9.99881340e-01 3.30440471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.700714057 meters Centerline goodness [0,1] 0.9756723071760702 Centerline is valid? [True, True] Translation: X:282.62, Y:-10.03, Z:3.30 [[ 9.99727351e-01 1.65766703e-02 -1.64449713e-02 2.82617053e+02] [-1.65614781e-02 9.99862288e-01 1.05958551e-03 -1.00317581e+01] [ 1.64602710e-02 -7.86943587e-04 9.99864211e-01 3.30441498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.730714057 meters Centerline goodness [0,1] 0.9771588811926276 Centerline is valid? [True, True] Translation: X:282.65, Y:-10.03, Z:3.30 [[ 9.99718781e-01 1.54692167e-02 -1.79739454e-02 2.82645492e+02] [-1.54509130e-02 9.99879958e-01 1.15677863e-03 -1.00337971e+01] [ 1.79896822e-02 -8.78739452e-04 9.99837786e-01 3.30404710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76071405700003 meters Centerline goodness [0,1] 0.9775577241230489 Centerline is valid? [True, True] Translation: X:282.67, Y:-10.04, Z:3.30 [[ 9.99719902e-01 1.48567072e-02 -1.84226892e-02 2.82673776e+02] [-1.48374013e-02 9.99889218e-01 1.18418813e-03 -1.00351747e+01] [ 1.84382414e-02 -9.10511606e-04 9.99829587e-01 3.30381572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.790714057 meters Centerline goodness [0,1] 0.9777271637497003 Centerline is valid? [True, True] Translation: X:282.70, Y:-10.04, Z:3.30 [[ 9.99731595e-01 1.36830664e-02 -1.86952215e-02 2.82702500e+02] [-1.36630087e-02 9.99905936e-01 1.20019517e-03 -1.00387639e+01] [ 1.87098853e-02 -9.44440058e-04 9.99824509e-01 3.30319556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82071405700003 meters Centerline goodness [0,1] 0.9770520106467161 Centerline is valid? [True, True] Translation: X:282.73, Y:-10.04, Z:3.30 [[ 9.99741971e-01 1.14364687e-02 -1.96265000e-02 2.82730291e+02] [-1.14139588e-02 9.99934067e-01 1.25855299e-03 -1.00437779e+01] [ 1.96395993e-02 -1.03421219e-03 9.99806590e-01 3.30327718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.850714057 meters Centerline goodness [0,1] 0.9765636232925953 Centerline is valid? [True, True] Translation: X:282.76, Y:-10.05, Z:3.30 [[ 9.99746594e-01 1.07802288e-02 -1.97619444e-02 2.82758571e+02] [-1.07573065e-02 9.99941337e-01 1.26585881e-03 -1.00466384e+01] [ 1.97744313e-02 -1.05295274e-03 9.99803912e-01 3.30364721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88071405700003 meters Centerline goodness [0,1] 0.9763181092607153 Centerline is valid? [True, True] Translation: X:282.79, Y:-10.05, Z:3.30 [[ 9.99747279e-01 1.00566925e-02 -2.01057321e-02 2.82786951e+02] [-1.00328479e-02 9.99948842e-01 1.28648245e-03 -1.00479802e+01] [ 2.01176412e-02 -1.08443958e-03 9.99797032e-01 3.30389557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.910714057 meters Centerline goodness [0,1] 0.9766182741603181 Centerline is valid? [True, True] Translation: X:282.82, Y:-10.05, Z:3.30 [[ 9.99754587e-01 9.52254157e-03 -2.00021641e-02 2.82815301e+02] [-9.49886314e-03 9.99954068e-01 1.27847077e-03 -1.00505203e+01] [ 2.00134196e-02 -1.08815920e-03 9.99799119e-01 3.30407014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94071405700004 meters Centerline goodness [0,1] 0.9775504336575782 Centerline is valid? [True, True] Translation: X:282.84, Y:-10.05, Z:3.30 [[ 9.99761246e-01 9.51939643e-03 -1.96680687e-02 2.82844430e+02] [-9.49652878e-03 9.99954118e-01 1.25575254e-03 -1.00508304e+01] [ 1.96791203e-02 -1.06867435e-03 9.99805776e-01 3.30445043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.970714057 meters Centerline goodness [0,1] 0.9748019813826605 Centerline is valid? [True, True] Translation: X:282.87, Y:-10.06, Z:3.30 [[ 9.99765545e-01 9.76418174e-03 -1.93265317e-02 2.82871959e+02] [-9.74217646e-03 9.99951784e-01 1.23242939e-03 -1.00604665e+01] [ 1.93376336e-02 -1.04385795e-03 9.99812466e-01 3.30290314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.000714057 meters Centerline goodness [0,1] 0.9763224542457113 Centerline is valid? [True, True] Translation: X:282.90, Y:-10.05, Z:3.30 [[ 9.99777821e-01 9.99998483e-03 -1.85555572e-02 2.82900823e+02] [-9.97976767e-03 9.99949502e-01 1.18182770e-03 -1.00544548e+01] [ 1.85664385e-02 -9.96384975e-04 9.99827132e-01 3.30476259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.030714057 meters Centerline goodness [0,1] 0.9747643081611275 Centerline is valid? [True, True] Translation: X:282.93, Y:-10.06, Z:3.31 [[ 9.99791498e-01 1.06334796e-02 -1.74324219e-02 2.82928843e+02] [-1.06157553e-02 9.99943036e-01 1.10896824e-03 -1.00565252e+01] [ 1.74432210e-02 -9.23678691e-04 9.99847429e-01 3.30587609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.060714057 meters Centerline goodness [0,1] 0.9757819417522196 Centerline is valid? [True, True] Translation: X:282.96, Y:-10.06, Z:3.31 [[ 9.99801086e-01 1.05851891e-02 -1.69039022e-02 2.82958096e+02] [-1.05685390e-02 9.99943575e-01 1.07401353e-03 -1.00579670e+01] [ 1.69143171e-02 -8.95150339e-04 9.99856542e-01 3.30596942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.090714057 meters Centerline goodness [0,1] 0.9723884689668327 Centerline is valid? [True, True] Translation: X:282.99, Y:-10.07, Z:3.31 [[ 9.99819676e-01 9.69090054e-03 -1.63309911e-02 2.82985395e+02] [-9.67526635e-03 9.99952657e-01 1.03607101e-03 -1.00691800e+01] [ 1.63402584e-02 -8.77877490e-04 9.99866104e-01 3.30656589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.120714057 meters Centerline goodness [0,1] 0.974736191653199 Centerline is valid? [True, True] Translation: X:283.01, Y:-10.07, Z:3.31 [[ 9.99827630e-01 8.93310173e-03 -1.62760409e-02 2.83014555e+02] [-8.91750039e-03 9.99959707e-01 1.03087143e-03 -1.00658815e+01] [ 1.62845940e-02 -8.85552134e-04 9.99867005e-01 3.30762345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.150714057 meters Centerline goodness [0,1] 0.9740644329281398 Centerline is valid? [True, True] Translation: X:283.04, Y:-10.07, Z:3.31 [[ 9.99833227e-01 5.85325651e-03 -1.72990773e-02 2.83043117e+02] [-5.83518936e-03 9.99982376e-01 1.09469108e-03 -1.00730405e+01] [ 1.73051799e-02 -9.93565121e-04 9.99849761e-01 3.30810663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.180714057 meters Centerline goodness [0,1] 0.9735571232422707 Centerline is valid? [True, True] Translation: X:283.07, Y:-10.08, Z:3.31 [[ 9.99839916e-01 4.22326639e-03 -1.73869390e-02 2.83071885e+02] [-4.20478244e-03 9.99990555e-01 1.09951382e-03 -1.00775414e+01] [ 1.73914184e-02 -1.02622951e-03 9.99848231e-01 3.30816693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.210714057 meters Centerline goodness [0,1] 0.9731987718087258 Centerline is valid? [True, True] Translation: X:283.10, Y:-10.08, Z:3.31 [[ 9.99835210e-01 1.74254326e-03 -1.80697647e-02 2.83101361e+02] [-1.72218959e-03 9.99997865e-01 1.14189362e-03 -1.00814227e+01] [ 1.80717159e-02 -1.11058589e-03 9.99836076e-01 3.30844579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.240714057 meters Centerline goodness [0,1] 0.9728490664639651 Centerline is valid? [True, True] Translation: X:283.13, Y:-10.09, Z:3.31 [[ 9.99830060e-01 -1.64124198e-03 -1.83618600e-02 2.83131502e+02] [ 1.66281858e-03 9.99997945e-01 1.15987163e-03 -1.00870747e+01] [ 1.83599186e-02 -1.19020696e-03 9.99830734e-01 3.30877995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.270714057 meters Centerline goodness [0,1] 0.9720499834335211 Centerline is valid? [True, True] Translation: X:283.16, Y:-10.09, Z:3.31 [[ 9.99839261e-01 -2.87713182e-03 -1.76967385e-02 2.83158587e+02] [ 2.89734428e-03 9.99995179e-01 1.11662437e-03 -1.00922477e+01] [ 1.76934406e-02 -1.16771843e-03 9.99842777e-01 3.30925608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.300714057 meters Centerline goodness [0,1] 0.9696028452874926 Centerline is valid? [True, True] Translation: X:283.19, Y:-10.10, Z:3.31 [[ 9.99856456e-01 -5.18288347e-03 -1.61308492e-02 2.83186574e+02] [ 5.19994893e-03 9.99985964e-01 1.01617683e-03 -1.00981892e+01] [ 1.61253561e-02 -1.09991056e-03 9.99869373e-01 3.31088473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.330714057 meters Centerline goodness [0,1] 0.9724794543258414 Centerline is valid? [True, True] Translation: X:283.22, Y:-10.09, Z:3.31 [[ 9.99862007e-01 -6.28203766e-03 -1.53786321e-02 2.83215576e+02] [ 6.29764493e-03 9.99979702e-01 9.66649419e-04 -1.00933603e+01] [ 1.53722474e-02 -1.06336519e-03 9.99881275e-01 3.31258053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.360714057 meters Centerline goodness [0,1] 0.9721834897076549 Centerline is valid? [True, True] Translation: X:283.24, Y:-10.10, Z:3.31 [[ 9.99860043e-01 -7.68492214e-03 -1.48605556e-02 2.83243942e+02] [ 7.69959598e-03 9.99969925e-01 9.30473751e-04 -1.00971151e+01] [ 1.48529580e-02 -1.04476380e-03 9.99889143e-01 3.31356468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.390714057 meters Centerline goodness [0,1] 0.9666721740977647 Centerline is valid? [True, True] Translation: X:283.27, Y:-10.11, Z:3.31 [[ 9.99833948e-01 -9.37320344e-03 -1.56275011e-02 2.83271693e+02] [ 9.38959246e-03 9.99955441e-01 9.75685706e-04 -1.01100336e+01] [ 1.56176594e-02 -1.12225956e-03 9.99877407e-01 3.31244404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.420714057 meters Centerline goodness [0,1] 0.9689396981363819 Centerline is valid? [True, True] Translation: X:283.30, Y:-10.11, Z:3.31 [[ 9.99820941e-01 -1.07023734e-02 -1.56059495e-02 2.83300254e+02] [ 1.07188479e-02 9.99942079e-01 9.72396759e-04 -1.01092118e+01] [ 1.55946386e-02 -1.13950044e-03 9.99877747e-01 3.31279145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.450714057 meters Centerline goodness [0,1] 0.9688880489475797 Centerline is valid? [True, True] Translation: X:283.33, Y:-10.11, Z:3.31 [[ 9.99787487e-01 -1.32451677e-02 -1.57970286e-02 2.83329766e+02] [ 1.32623261e-02 9.99911569e-01 9.81908931e-04 -1.01133114e+01] [ 1.57826261e-02 -1.19120561e-03 9.99874737e-01 3.31246734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.480714057 meters Centerline goodness [0,1] 0.9688880489475797 Centerline is valid? [True, True] Translation: X:283.36, Y:-10.11, Z:3.31 [[ 9.99783834e-01 -1.35180021e-02 -1.57971447e-02 2.83357191e+02] [ 1.35351649e-02 9.99907915e-01 9.80036875e-04 -1.01149217e+01] [ 1.57824419e-02 -1.19364198e-03 9.99874737e-01 3.31272974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51071405700003 meters Centerline goodness [0,1] 0.9700874911326555 Centerline is valid? [True, True] Translation: X:283.39, Y:-10.11, Z:3.31 [[ 9.99764974e-01 -1.46466418e-02 -1.59834989e-02 2.83385552e+02] [ 1.46643041e-02 9.99891985e-01 9.88389150e-04 -1.01137013e+01] [ 1.59672958e-02 -1.22254374e-03 9.99871767e-01 3.31299558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.540714057 meters Centerline goodness [0,1] 0.9717431366063413 Centerline is valid? [True, True] Translation: X:283.41, Y:-10.12, Z:3.31 [[ 9.99751755e-01 -1.58279769e-02 -1.56812844e-02 2.83414181e+02] [ 1.58450854e-02 9.99873991e-01 9.67363357e-04 -1.01178947e+01] [ 1.56639970e-02 -1.21559450e-03 9.99876573e-01 3.31319365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57071405700003 meters Centerline goodness [0,1] 0.9684099189093901 Centerline is valid? [True, True] Translation: X:283.44, Y:-10.13, Z:3.31 [[ 9.99693094e-01 -1.84780996e-02 -1.65008237e-02 2.83442448e+02] [ 1.84973573e-02 9.99828394e-01 1.01520623e-03 -1.01250411e+01] [ 1.64792330e-02 -1.32011629e-03 9.99863337e-01 3.31322269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.600714057 meters Centerline goodness [0,1] 0.9681366180881971 Centerline is valid? [True, True] Translation: X:283.47, Y:-10.13, Z:3.31 [[ 9.99674424e-01 -2.01077644e-02 -1.57074733e-02 2.83472161e+02] [ 2.01254062e-02 9.99796997e-01 9.65867171e-04 -1.01291074e+01] [ 1.56848632e-02 -1.28167199e-03 9.99876164e-01 3.31398537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63071405700003 meters Centerline goodness [0,1] 0.9683718307211504 Centerline is valid? [True, True] Translation: X:283.50, Y:-10.13, Z:3.32 [[ 9.99647463e-01 -2.29976527e-02 -1.32687101e-02 2.83502475e+02] [ 2.30104893e-02 9.99734891e-01 8.15562309e-04 -1.01291701e+01] [ 1.32464365e-02 -1.12059431e-03 9.99911634e-01 3.31556429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.660714057 meters Centerline goodness [0,1] 0.9674488667121708 Centerline is valid? [True, True] Translation: X:283.53, Y:-10.13, Z:3.32 [[ 9.99621541e-01 -2.43274231e-02 -1.28433325e-02 2.83533644e+02] [ 2.43395582e-02 9.99703437e-01 7.89370186e-04 -1.01338458e+01] [ 1.28203203e-02 -1.10167248e-03 9.99917209e-01 3.31609882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69071405700004 meters Centerline goodness [0,1] 0.9663484150126987 Centerline is valid? [True, True] Translation: X:283.56, Y:-10.14, Z:3.32 [[ 9.99582019e-01 -2.58866720e-02 -1.28711833e-02 2.83563809e+02] [ 2.58989932e-02 9.99664251e-01 7.91481987e-04 -1.01386482e+01] [ 1.28463730e-02 -1.12450185e-03 9.99916850e-01 3.31572738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.720714057 meters Centerline goodness [0,1] 0.9668737060041408 Centerline is valid? [True, True] Translation: X:283.59, Y:-10.14, Z:3.32 [[ 9.99487810e-01 -2.88329827e-02 -1.38844051e-02 2.83593973e+02] [ 2.88476052e-02 9.99583456e-01 8.53997558e-04 -1.01423606e+01] [ 1.38539984e-02 -1.25409199e-03 9.99903242e-01 3.31519580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.750714057 meters Centerline goodness [0,1] 0.9643536903447142 Centerline is valid? [True, True] Translation: X:283.62, Y:-10.15, Z:3.31 [[ 9.99444953e-01 -2.99440882e-02 -1.45992323e-02 2.83623862e+02] [ 2.99603803e-02 9.99550683e-01 8.98473616e-04 -1.01465649e+01] [ 1.45657686e-02 -1.33537347e-03 9.99893022e-01 3.31470796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.780714057 meters Centerline goodness [0,1] 0.9661725668913999 Centerline is valid? [True, True] Translation: X:283.65, Y:-10.15, Z:3.31 [[ 9.99357343e-01 -3.25011762e-02 -1.51186585e-02 2.83654228e+02] [ 3.25189519e-02 9.99470685e-01 9.31335232e-04 -1.01469703e+01] [ 1.50803865e-02 -1.42237963e-03 9.99885273e-01 3.31410638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.810714057 meters Centerline goodness [0,1] 0.9648497078630593 Centerline is valid? [True, True] Translation: X:283.68, Y:-10.15, Z:3.31 [[ 9.99326782e-01 -3.36524764e-02 -1.46113954e-02 2.83684126e+02] [ 3.36692055e-02 9.99432626e-01 9.00392598e-04 -1.01526991e+01] [ 1.45728048e-02 -1.39174051e-03 9.99892842e-01 3.31376771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.840714057 meters Centerline goodness [0,1] 0.9563545111283097 Centerline is valid? [True, True] Translation: X:283.71, Y:-10.16, Z:3.31 [[ 9.99277856e-01 -3.51579849e-02 -1.44112028e-02 2.83713918e+02] [ 3.51744236e-02 9.99380793e-01 8.88731437e-04 -1.01621289e+01] [ 1.43710333e-02 -1.39499540e-03 9.99895758e-01 3.31311482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.870714057 meters Centerline goodness [0,1] 0.9549490453320839 Centerline is valid? [True, True] Translation: X:283.74, Y:-10.17, Z:3.31 [[ 9.99201189e-01 -3.73263039e-02 -1.42734672e-02 2.83744741e+02] [ 3.73426554e-02 9.99302132e-01 8.80696775e-04 -1.01662155e+01] [ 1.42306331e-02 -1.41300243e-03 9.99897741e-01 3.31354374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.900714057 meters Centerline goodness [0,1] 0.9645676691729324 Centerline is valid? [True, True] Translation: X:283.78, Y:-10.16, Z:3.31 [[ 9.99175454e-01 -3.78685274e-02 -1.46419821e-02 2.83777780e+02] [ 3.78857997e-02 9.99281667e-01 9.03966992e-04 -1.01592102e+01] [ 1.45972324e-02 -1.45794483e-03 9.99892392e-01 3.31389182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.930714057 meters Centerline goodness [0,1] 0.9619744314861991 Centerline is valid? [True, True] Translation: X:283.81, Y:-10.16, Z:3.31 [[ 9.99203199e-01 -3.71106853e-02 -1.46888921e-02 2.83809263e+02] [ 3.71280028e-02 9.99310106e-01 9.07922264e-04 -1.01625650e+01] [ 1.46450647e-02 -1.45256806e-03 9.99891700e-01 3.31294655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.960714057 meters Centerline goodness [0,1] 0.9541161858786587 Centerline is valid? [True, True] Translation: X:283.84, Y:-10.17, Z:3.31 [[ 9.99227398e-01 -3.65200519e-02 -1.45221319e-02 2.83839554e+02] [ 3.65369303e-02 9.99331899e-01 8.98556245e-04 -1.01717036e+01] [ 1.44796144e-02 -1.42845614e-03 9.99894145e-01 3.31274532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.990714057 meters Centerline goodness [0,1] 0.9618974107080205 Centerline is valid? [True, True] Translation: X:283.87, Y:-10.17, Z:3.31 [[ 9.99257714e-01 -3.58764409e-02 -1.40321424e-02 2.83871473e+02] [ 3.58921457e-02 9.99355292e-01 8.68888961e-04 -1.01662555e+01] [ 1.39919231e-02 -1.37188770e-03 9.99901167e-01 3.31360052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.020714057 meters Centerline goodness [0,1] 0.9625088090204369 Centerline is valid? [True, True] Translation: X:283.90, Y:-10.16, Z:3.31 [[ 9.99336676e-01 -3.37819711e-02 -1.36009844e-02 2.83902629e+02] [ 3.37965387e-02 9.99428379e-01 8.42589330e-04 -1.01638710e+01] [ 1.35647455e-02 -1.30169662e-03 9.99907147e-01 3.31472282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.050714057 meters Centerline goodness [0,1] 0.9580194767100786 Centerline is valid? [True, True] Translation: X:283.93, Y:-10.17, Z:3.32 [[ 9.99379046e-01 -3.27272205e-02 -1.30556908e-02 2.83932716e+02] [ 3.27405570e-02 9.99463557e-01 8.09032603e-04 -1.01695069e+01] [ 1.30222097e-02 -1.23598082e-03 9.99914444e-01 3.31507203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.080714057 meters Centerline goodness [0,1] 0.9603347633448203 Centerline is valid? [True, True] Translation: X:283.96, Y:-10.17, Z:3.32 [[ 9.99478310e-01 -2.98175353e-02 -1.24105880e-02 2.83963824e+02] [ 2.98293661e-02 9.99554709e-01 7.69231474e-04 -1.01673740e+01] [ 1.23821251e-02 -1.13903015e-03 9.99922690e-01 3.31624975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.110714057 meters Centerline goodness [0,1] 0.9628637239693508 Centerline is valid? [True, True] Translation: X:284.00, Y:-10.16, Z:3.32 [[ 9.99505278e-01 -2.86376349e-02 -1.30032659e-02 2.83995603e+02] [ 2.86505260e-02 9.99589164e-01 8.06141252e-04 -1.01639623e+01] [ 1.29748378e-02 -1.17829285e-03 9.99915129e-01 3.31653560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.140714057 meters Centerline goodness [0,1] 0.964548368847822 Centerline is valid? [True, True] Translation: X:284.03, Y:-10.16, Z:3.32 [[ 9.99539536e-01 -2.73052322e-02 -1.32340799e-02 2.84027361e+02] [ 2.73184764e-02 9.99626444e-01 8.20990598e-04 -1.01639381e+01] [ 1.32067188e-02 -1.18214746e-03 9.99912089e-01 3.31591957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.170714057 meters Centerline goodness [0,1] 0.9658610343279703 Centerline is valid? [True, True] Translation: X:284.06, Y:-10.16, Z:3.31 [[ 9.99611287e-01 -2.40739466e-02 -1.40612847e-02 2.84056704e+02] [ 2.40885876e-02 9.99709447e-01 8.72771106e-04 -1.01613000e+01] [ 1.40361881e-02 -1.21114834e-03 9.99900754e-01 3.31472075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.200714057 meters Centerline goodness [0,1] 0.9672658467360454 Centerline is valid? [True, True] Translation: X:284.09, Y:-10.16, Z:3.31 [[ 9.99651884e-01 -2.15757143e-02 -1.51855086e-02 2.84087604e+02] [ 2.15925033e-02 9.99766410e-01 9.42486229e-04 -1.01608607e+01] [ 1.51616266e-02 -1.27005128e-03 9.99884249e-01 3.31412453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.230714057 meters Centerline goodness [0,1] 0.9683835746498932 Centerline is valid? [True, True] Translation: X:284.12, Y:-10.15, Z:3.31 [[ 9.99725567e-01 -1.64586559e-02 -1.66704258e-02 2.84118670e+02] [ 1.64781853e-02 9.99863690e-01 1.03481000e-03 -1.01545354e+01] [ 1.66511219e-02 -1.30922438e-03 9.99860503e-01 3.31350926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26071405700003 meters Centerline goodness [0,1] 0.9681182694124315 Centerline is valid? [True, True] Translation: X:284.15, Y:-10.15, Z:3.31 [[ 9.99767034e-01 -1.30701982e-02 -1.71769563e-02 2.84148795e+02] [ 1.30904345e-02 9.99913748e-01 1.06619992e-03 -1.01524068e+01] [ 1.71615394e-02 -1.29080536e-03 9.99851897e-01 3.31387312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.290714057 meters Centerline goodness [0,1] 0.969274544498111 Centerline is valid? [True, True] Translation: X:284.18, Y:-10.15, Z:3.31 [[ 9.99811887e-01 -9.71188257e-03 -1.67889923e-02 2.84178739e+02] [ 9.73074105e-03 9.99952112e-01 1.04193750e-03 -1.01518674e+01] [ 1.67780691e-02 -1.20511083e-03 9.99858512e-01 3.31486907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32071405700003 meters Centerline goodness [0,1] 0.9680969662468275 Centerline is valid? [True, True] Translation: X:284.21, Y:-10.15, Z:3.32 [[ 9.99873304e-01 -4.72394362e-03 -1.52006365e-02 2.84207922e+02] [ 4.73882210e-03 9.99988327e-01 9.42936812e-04 -1.01467164e+01] [ 1.51960047e-02 -1.01485046e-03 9.99884019e-01 3.31643781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.350714057 meters Centerline goodness [0,1] 0.9667893152386868 Centerline is valid? [True, True] Translation: X:284.24, Y:-10.15, Z:3.32 [[ 9.99895611e-01 -3.08869093e-03 -1.41147919e-02 2.84236928e+02] [ 3.10134963e-03 9.99994808e-01 8.75038998e-04 -1.01455747e+01] [ 1.41120159e-02 -9.18722558e-04 9.99899998e-01 3.31767868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38071405700003 meters Centerline goodness [0,1] 0.9670509125840538 Centerline is valid? [True, True] Translation: X:284.27, Y:-10.14, Z:3.32 [[ 9.99920053e-01 -1.16565841e-03 -1.25908386e-02 2.84266777e+02] [ 1.17557432e-03 9.99999005e-01 7.80177616e-04 -1.01399467e+01] [ 1.25899166e-02 -7.94916709e-04 9.99920428e-01 3.31983260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.410714057 meters Centerline goodness [0,1] 0.9652717233362395 Centerline is valid? [True, True] Translation: X:284.29, Y:-10.14, Z:3.32 [[ 9.99930879e-01 -1.01122417e-03 -1.17138459e-02 2.84294847e+02] [ 1.01979060e-03 9.99999217e-01 7.25358160e-04 -1.01414035e+01] [ 1.17131032e-02 -7.37253693e-04 9.99931127e-01 3.32041160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44071405700004 meters Centerline goodness [0,1] 0.9639941586267985 Centerline is valid? [True, True] Translation: X:284.32, Y:-10.14, Z:3.32 [[ 9.99933662e-01 -1.35813381e-03 -1.14379743e-02 2.84322607e+02] [ 1.36630948e-03 9.99998817e-01 7.06999536e-04 -1.01416669e+01] [ 1.14370006e-02 -7.22580448e-04 9.99934334e-01 3.32012187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.470714057 meters Centerline goodness [0,1] 0.9622433578495964 Centerline is valid? [True, True] Translation: X:284.35, Y:-10.15, Z:3.32 [[ 9.99923535e-01 -2.42985231e-03 -1.21252140e-02 2.84350404e+02] [ 2.43908279e-03 9.99996747e-01 7.46533296e-04 -1.01453271e+01] [ 1.21233606e-02 -7.76050613e-04 9.99926208e-01 3.31872515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.500714057 meters Centerline goodness [0,1] 0.9638280929514249 Centerline is valid? [True, True] Translation: X:284.38, Y:-10.14, Z:3.32 [[ 9.99889767e-01 -5.53402308e-03 -1.37777912e-02 2.84380926e+02] [ 5.54621820e-03 9.99984261e-01 8.47076898e-04 -1.01447034e+01] [ 1.37728866e-02 -9.23398159e-04 9.99904723e-01 3.31743322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.530714057 meters Centerline goodness [0,1] 0.9628798842257598 Centerline is valid? [True, True] Translation: X:284.41, Y:-10.15, Z:3.32 [[ 9.99870369e-01 -6.96047021e-03 -1.45188814e-02 2.84409444e+02] [ 6.97415640e-03 9.99975282e-01 8.92229560e-04 -1.01478845e+01] [ 1.45123122e-02 -9.93370849e-04 9.99894197e-01 3.31713151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.560714057 meters Centerline goodness [0,1] 0.9623328111820701 Centerline is valid? [True, True] Translation: X:284.44, Y:-10.15, Z:3.32 [[ 9.99845393e-01 -8.82738408e-03 -1.52074730e-02 2.84438435e+02] [ 8.84260085e-03 9.99960468e-01 9.33660188e-04 -1.01507498e+01] [ 1.51986300e-02 -1.06798945e-03 9.99883924e-01 3.31729519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.590714057 meters Centerline goodness [0,1] 0.9636178910955756 Centerline is valid? [True, True] Translation: X:284.47, Y:-10.15, Z:3.32 [[ 9.99787255e-01 -1.28696735e-02 -1.61187933e-02 2.84468622e+02] [ 1.28872784e-02 9.99916467e-01 9.88794896e-04 -1.01494842e+01] [ 1.61047214e-02 -1.19631191e-03 9.99869595e-01 3.31597156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.620714057 meters Centerline goodness [0,1] 0.9619570428612523 Centerline is valid? [True, True] Translation: X:284.50, Y:-10.16, Z:3.32 [[ 9.99770410e-01 -1.41551529e-02 -1.60860005e-02 2.84496661e+02] [ 1.41728437e-02 9.99899074e-01 9.86289042e-04 -1.01556474e+01] [ 1.60704159e-02 -1.21404697e-03 9.99870125e-01 3.31522312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.650714057 meters Centerline goodness [0,1] 0.9631210435449837 Centerline is valid? [True, True] Translation: X:284.53, Y:-10.15, Z:3.32 [[ 9.99740489e-01 -1.65499282e-02 -1.56542161e-02 2.84527025e+02] [ 1.65669647e-02 9.99862298e-01 9.59240837e-04 -1.01542841e+01] [ 1.56361851e-02 -1.21833475e-03 9.99877005e-01 3.31701328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.680714057 meters Centerline goodness [0,1] 0.9616443603802045 Centerline is valid? [True, True] Translation: X:284.56, Y:-10.16, Z:3.32 [[ 9.99736187e-01 -1.71991844e-02 -1.52231839e-02 2.84556871e+02] [ 1.72153664e-02 9.99851370e-01 9.32570943e-04 -1.01564595e+01] [ 1.52048818e-02 -1.19439761e-03 9.99883686e-01 3.31834937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.710714057 meters Centerline goodness [0,1] 0.9605523634783448 Centerline is valid? [True, True] Translation: X:284.59, Y:-10.16, Z:3.32 [[ 9.99709387e-01 -1.85398864e-02 -1.54082174e-02 2.84586117e+02] [ 1.85566183e-02 9.99827366e-01 9.43639749e-04 -1.01608197e+01] [ 1.53880625e-02 -1.22928993e-03 9.99880841e-01 3.31909972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.740714057 meters Centerline goodness [0,1] 0.9617038755194742 Centerline is valid? [True, True] Translation: X:284.62, Y:-10.16, Z:3.32 [[ 9.99718944e-01 -1.92633680e-02 -1.38186797e-02 2.84616391e+02] [ 1.92768922e-02 9.99813825e-01 8.46146179e-04 -1.01594237e+01] [ 1.37998073e-02 -1.11228956e-03 9.99904159e-01 3.32138220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.770714057 meters Centerline goodness [0,1] 0.962101574500768 Centerline is valid? [True, True] Translation: X:284.65, Y:-10.16, Z:3.32 [[ 9.99734761e-01 -1.91082304e-02 -1.28562377e-02 2.84647489e+02] [ 1.91199248e-02 9.99816888e-01 7.87329446e-04 -1.01605308e+01] [ 1.28388391e-02 -1.03293091e-03 9.99917045e-01 3.32239187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.800714057 meters Centerline goodness [0,1] 0.9625358840132198 Centerline is valid? [True, True] Translation: X:284.68, Y:-10.16, Z:3.32 [[ 9.99745222e-01 -1.90316886e-02 -1.21361206e-02 2.84678812e+02] [ 1.90421089e-02 9.99818406e-01 7.43631575e-04 -1.01644561e+01] [ 1.21197642e-02 -9.74539444e-04 9.99926078e-01 3.32368361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.830714057 meters Centerline goodness [0,1] 0.961570633080802 Centerline is valid? [True, True] Translation: X:284.71, Y:-10.17, Z:3.32 [[ 9.99758163e-01 -1.86509612e-02 -1.16514763e-02 2.84709368e+02] [ 1.86605447e-02 9.99825622e-01 7.14324784e-04 -1.01702898e+01] [ 1.16361217e-02 -9.31574927e-04 9.99931864e-01 3.32382541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.860714057 meters Centerline goodness [0,1] 0.9613546393743362 Centerline is valid? [True, True] Translation: X:284.74, Y:-10.18, Z:3.32 [[ 9.99755542e-01 -1.85581089e-02 -1.20188683e-02 2.84740636e+02] [ 1.85683052e-02 9.99827322e-01 7.37312428e-04 -1.01755552e+01] [ 1.20031098e-02 -9.60302200e-04 9.99927499e-01 3.32442795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.890714057 meters Centerline goodness [0,1] 0.9639812242551968 Centerline is valid? [True, True] Translation: X:284.77, Y:-10.17, Z:3.32 [[ 9.99752741e-01 -1.83983666e-02 -1.24882729e-02 2.84772109e+02] [ 1.84093701e-02 9.99830239e-01 7.66714495e-04 -1.01710620e+01] [ 1.24720466e-02 -9.96426156e-04 9.99921725e-01 3.32445030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.920714057 meters Centerline goodness [0,1] 0.961960690316395 Centerline is valid? [True, True] Translation: X:284.80, Y:-10.18, Z:3.32 [[ 9.99724851e-01 -1.85574842e-02 -1.43471700e-02 2.84801523e+02] [ 1.85720330e-02 9.99827136e-01 8.81470191e-04 -1.01831672e+01] [ 1.43283320e-02 -1.14768377e-03 9.99896686e-01 3.32287246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.950714057 meters Centerline goodness [0,1] 0.965772988022946 Centerline is valid? [True, True] Translation: X:284.83, Y:-10.18, Z:3.32 [[ 9.99713408e-01 -1.88699727e-02 -1.47318182e-02 2.84832411e+02] [ 1.88853531e-02 9.99821246e-01 9.05601360e-04 -1.01769002e+01] [ 1.47120962e-02 -1.18355741e-03 9.99891071e-01 3.32315770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.980714057 meters Centerline goodness [0,1] 0.964502391092289 Centerline is valid? [True, True] Translation: X:284.86, Y:-10.18, Z:3.32 [[ 9.99708860e-01 -1.89731412e-02 -1.49069158e-02 2.84861967e+02] [ 1.89889051e-02 9.99819274e-01 9.16650227e-04 -1.01832940e+01] [ 1.48868300e-02 -1.19944936e-03 9.99888466e-01 3.32243963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01071405700003 meters Centerline goodness [0,1] 0.964332988375731 Centerline is valid? [True, True] Translation: X:284.89, Y:-10.19, Z:3.32 [[ 9.99701754e-01 -1.92172934e-02 -1.50697982e-02 2.84891239e+02] [ 1.92334376e-02 9.99814591e-01 9.27082540e-04 -1.01875756e+01] [ 1.50491881e-02 -1.21665006e-03 9.99886014e-01 3.32259757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.040714057 meters Centerline goodness [0,1] 0.9674824083191239 Centerline is valid? [True, True] Translation: X:284.92, Y:-10.18, Z:3.32 [[ 9.99688305e-01 -1.94205798e-02 -1.56886500e-02 2.84922152e+02] [ 1.94380996e-02 9.99810597e-01 9.64984164e-04 -1.01842065e+01] [ 1.56669379e-02 -1.26964092e-03 9.99876460e-01 3.32328282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07071405700003 meters Centerline goodness [0,1] 0.9675348012554807 Centerline is valid? [True, True] Translation: X:284.95, Y:-10.19, Z:3.32 [[ 9.99701754e-01 -1.85857412e-02 -1.58421050e-02 2.84952264e+02] [ 1.86035012e-02 9.99826465e-01 9.74422941e-04 -1.01872369e+01] [ 1.58212454e-02 -1.26885094e-03 9.99874031e-01 3.32411125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.100714057 meters Centerline goodness [0,1] 0.9643319740945071 Centerline is valid? [True, True] Translation: X:284.98, Y:-10.20, Z:3.32 [[ 9.99692869e-01 -1.85681576e-02 -1.64131525e-02 2.84981085e+02] [ 1.85872170e-02 9.99826733e-01 1.00942570e-03 -1.01963787e+01] [ 1.63915655e-02 -1.31419050e-03 9.99864786e-01 3.32324771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13071405700003 meters Centerline goodness [0,1] 0.9634815969308237 Centerline is valid? [True, True] Translation: X:285.01, Y:-10.20, Z:3.32 [[ 9.99715030e-01 -1.80469258e-02 -1.56258219e-02 2.85011106e+02] [ 1.80641329e-02 9.99836369e-01 9.60740929e-04 -1.01989074e+01] [ 1.56059266e-02 -1.24273407e-03 9.99877448e-01 3.32387404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.160714057 meters Centerline goodness [0,1] 0.9633887976386013 Centerline is valid? [True, True] Translation: X:285.04, Y:-10.20, Z:3.32 [[ 9.99735294e-01 -1.73883885e-02 -1.50660493e-02 2.85040464e+02] [ 1.74043051e-02 9.99848105e-01 9.25977736e-04 -1.01981750e+01] [ 1.50476596e-02 -1.18794674e-03 9.99886072e-01 3.32469270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19071405700004 meters Centerline goodness [0,1] 0.9634925536210541 Centerline is valid? [True, True] Translation: X:285.07, Y:-10.20, Z:3.33 [[ 9.99765144e-01 -1.59961856e-02 -1.46211903e-02 2.85070502e+02] [ 1.60110222e-02 9.99871412e-01 8.98230216e-04 -1.02022626e+01] [ 1.46049419e-02 -1.13211946e-03 9.99892701e-01 3.32537610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.220714057 meters Centerline goodness [0,1] 0.9673476222371065 Centerline is valid? [True, True] Translation: X:285.10, Y:-10.20, Z:3.33 [[ 9.99770538e-01 -1.54837884e-02 -1.48028505e-02 2.85100110e+02] [ 1.54989349e-02 9.99879471e-01 9.09039312e-04 -1.02017131e+01] [ 1.47869910e-02 -1.13825914e-03 9.99890019e-01 3.32524433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.250714057 meters Centerline goodness [0,1] 0.9667721142639678 Centerline is valid? [True, True] Translation: X:285.13, Y:-10.20, Z:3.33 [[ 9.99789684e-01 -1.44360092e-02 -1.45667343e-02 2.85129503e+02] [ 1.44505584e-02 9.99895186e-01 8.94032974e-04 -1.02049544e+01] [ 1.45523013e-02 -1.10434239e-03 9.99893500e-01 3.32615553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.280714057 meters Centerline goodness [0,1] 0.9667543649844534 Centerline is valid? [True, True] Translation: X:285.16, Y:-10.21, Z:3.33 [[ 9.99794066e-01 -1.36527303e-02 -1.50143028e-02 2.85157970e+02] [ 1.36680897e-02 9.99906163e-01 9.20841128e-04 -1.02078321e+01] [ 1.50003219e-02 -1.12586833e-03 9.99886855e-01 3.32618509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.310714057 meters Centerline goodness [0,1] 0.9663298866620922 Centerline is valid? [True, True] Translation: X:285.19, Y:-10.21, Z:3.32 [[ 9.99803993e-01 -1.17177951e-02 -1.59583229e-02 2.85186156e+02] [ 1.17348872e-02 9.99930666e-01 9.77821560e-04 -1.02123373e+01] [ 1.59457585e-02 -1.16489902e-03 9.99872180e-01 3.32390506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.340714057 meters Centerline goodness [0,1] 0.9694629192591003 Centerline is valid? [True, True] Translation: X:285.22, Y:-10.21, Z:3.32 [[ 9.99795843e-01 -1.10883606e-02 -1.68914579e-02 2.85215214e+02] [ 1.11073821e-02 9.99937778e-01 1.03269584e-03 -1.02133551e+01] [ 1.68789559e-02 -1.22010488e-03 9.99856796e-01 3.32387870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.370714057 meters Centerline goodness [0,1] 0.9694629192591003 Centerline is valid? [True, True] Translation: X:285.24, Y:-10.21, Z:3.32 [[ 9.99792736e-01 -1.13646603e-02 -1.68917220e-02 2.85242630e+02] [ 1.13836481e-02 9.99934675e-01 1.02836086e-03 -1.02149370e+01] [ 1.68789316e-02 -1.22043714e-03 9.99856796e-01 3.32414172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.400714057 meters Centerline goodness [0,1] 0.9680724610117916 Centerline is valid? [True, True] Translation: X:285.27, Y:-10.22, Z:3.32 [[ 9.99804265e-01 -9.90877548e-03 -1.71244607e-02 2.85271274e+02] [ 9.92802297e-03 9.99950176e-01 1.03932782e-03 -1.02177888e+01] [ 1.71133090e-02 -1.20913643e-03 9.99852825e-01 3.32364633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.430714057 meters Centerline goodness [0,1] 0.9699337121212122 Centerline is valid? [True, True] Translation: X:285.30, Y:-10.22, Z:3.32 [[ 9.99832569e-01 -6.78803622e-03 -1.69928187e-02 2.85301115e+02] [ 6.80652718e-03 9.99976304e-01 1.03056410e-03 -1.02206604e+01] [ 1.69854206e-02 -1.14605364e-03 9.99855081e-01 3.32379020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.460714057 meters Centerline goodness [0,1] 0.9695142219478607 Centerline is valid? [True, True] Translation: X:285.33, Y:-10.22, Z:3.32 [[ 9.99839774e-01 -5.33441854e-03 -1.70871565e-02 2.85328818e+02] [ 5.35289042e-03 9.99985137e-01 1.03548441e-03 -1.02234965e+01] [ 1.70813788e-02 -1.12678417e-03 9.99853468e-01 3.32382148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.490714057 meters Centerline goodness [0,1] 0.9701517346187638 Centerline is valid? [True, True] Translation: X:285.36, Y:-10.23, Z:3.32 [[ 9.99862664e-01 -1.80191200e-03 -1.64744144e-02 2.85359404e+02] [ 1.81859179e-03 9.99997849e-01 9.97541262e-04 -1.02256592e+01] [ 1.64725815e-02 -1.02736450e-03 9.99863790e-01 3.32444911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.520714057 meters Centerline goodness [0,1] 0.9708950996128789 Centerline is valid? [True, True] Translation: X:285.39, Y:-10.23, Z:3.33 [[ 9.99879658e-01 1.16658148e-04 -1.55130731e-02 2.85387749e+02] [-1.02103714e-04 9.99999554e-01 9.38993135e-04 -1.02281907e+01] [ 1.55131757e-02 -9.37296193e-04 9.99879224e-01 3.32512777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.550714057 meters Centerline goodness [0,1] 0.970523422505509 Centerline is valid? [True, True] Translation: X:285.42, Y:-10.23, Z:3.32 [[ 9.99873519e-01 1.73217214e-03 -1.58096574e-02 2.85416447e+02] [-1.71727131e-03 9.99998068e-01 9.56041475e-04 -1.02302939e+01] [ 1.58112829e-02 -9.28771083e-04 9.99874562e-01 3.32477199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.580714057 meters Centerline goodness [0,1] 0.9731026495544683 Centerline is valid? [True, True] Translation: X:285.45, Y:-10.23, Z:3.32 [[ 9.99861883e-01 5.17069043e-03 -1.57949261e-02 2.85445797e+02] [-5.15625823e-03 9.99986251e-01 9.54311570e-04 -1.02332145e+01] [ 1.57996434e-02 -8.72737045e-04 9.99874797e-01 3.32488831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.610714057 meters Centerline goodness [0,1] 0.9721278202586614 Centerline is valid? [True, True] Translation: X:285.47, Y:-10.24, Z:3.33 [[ 9.99853140e-01 6.06394087e-03 -1.60289406e-02 2.85473058e+02] [-6.04920583e-03 9.99981235e-01 9.67602219e-04 -1.02365252e+01] [ 1.60345073e-02 -8.70497756e-04 9.99871060e-01 3.32533863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.640714057 meters Centerline goodness [0,1] 0.9748397928539336 Centerline is valid? [True, True] Translation: X:285.50, Y:-10.24, Z:3.33 [[ 9.99846290e-01 6.97675817e-03 -1.60847962e-02 2.85502289e+02] [-6.96205764e-03 9.99975294e-01 9.69754710e-04 -1.02364448e+01] [ 1.60911646e-02 -8.57622370e-04 9.99870161e-01 3.32566258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.670714057 meters Centerline goodness [0,1] 0.9754731192919688 Centerline is valid? [True, True] Translation: X:285.53, Y:-10.24, Z:3.33 [[ 9.99855617e-01 6.90587995e-03 -1.55259090e-02 2.85531290e+02] [-6.89219066e-03 9.99975811e-01 9.35040671e-04 -1.02404364e+01] [ 1.55319907e-02 -8.27898142e-04 9.99879029e-01 3.32563048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.700714057 meters Centerline goodness [0,1] 0.9755477630557059 Centerline is valid? [True, True] Translation: X:285.56, Y:-10.24, Z:3.33 [[ 9.99861504e-01 6.92242684e-03 -1.51344770e-02 2.85560215e+02] [-6.90943616e-03 9.99975715e-01 9.10470319e-04 -1.02440688e+01] [ 1.51404121e-02 -8.05773520e-04 9.99885053e-01 3.32594304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.730714057 meters Centerline goodness [0,1] 0.9748975529797448 Centerline is valid? [True, True] Translation: X:285.59, Y:-10.25, Z:3.33 [[ 9.99859206e-01 6.78829417e-03 -1.53456076e-02 2.85588849e+02] [-6.77493863e-03 9.99976625e-01 9.22135486e-04 -1.02497911e+01] [ 1.53515086e-02 -8.18040105e-04 9.99881824e-01 3.32535587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76071405700003 meters Centerline goodness [0,1] 0.9727621005419548 Centerline is valid? [True, True] Translation: X:285.62, Y:-10.26, Z:3.32 [[ 9.99857881e-01 6.58441886e-03 -1.55197608e-02 2.85615602e+02] [-6.57075166e-03 9.99977979e-01 9.31459771e-04 -1.02610000e+01] [ 1.55255522e-02 -8.29350899e-04 9.99879127e-01 3.32431687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.790714057 meters Centerline goodness [0,1] 0.9743327443504138 Centerline is valid? [True, True] Translation: X:285.65, Y:-10.26, Z:3.33 [[ 9.99847069e-01 7.46553800e-03 -1.58147057e-02 2.85645072e+02] [-7.45148084e-03 9.99971788e-01 9.47605956e-04 -1.02581176e+01] [ 1.58213340e-02 -8.29618061e-04 9.99874491e-01 3.32570518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82071405700003 meters Centerline goodness [0,1] 0.9776020158185763 Centerline is valid? [True, True] Translation: X:285.67, Y:-10.25, Z:3.33 [[ 9.99846299e-01 7.87364135e-03 -1.56647287e-02 2.85673734e+02] [-7.85992389e-03 9.99968671e-01 9.37064809e-04 -1.02548513e+01] [ 1.56716161e-02 -8.13797206e-04 9.99876862e-01 3.32649302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.850714057 meters Centerline goodness [0,1] 0.9749429993950957 Centerline is valid? [True, True] Translation: X:285.70, Y:-10.26, Z:3.33 [[ 9.99846498e-01 8.47995539e-03 -1.53320048e-02 2.85701160e+02] [-8.46690677e-03 9.99963736e-01 9.15782979e-04 -1.02630013e+01] [ 1.53392146e-02 -7.85827749e-04 9.99882039e-01 3.32607181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88071405700003 meters Centerline goodness [0,1] 0.9768398420154712 Centerline is valid? [True, True] Translation: X:285.73, Y:-10.26, Z:3.33 [[ 9.99846834e-01 9.98461741e-03 -1.43741283e-02 2.85730307e+02] [-9.97332449e-03 9.99949898e-01 8.57112569e-04 -1.02630967e+01] [ 1.43819661e-02 -7.13623443e-04 9.99896320e-01 3.32676233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.910714057 meters Centerline goodness [0,1] 0.9778590905912788 Centerline is valid? [True, True] Translation: X:285.76, Y:-10.27, Z:3.33 [[ 9.99847976e-01 1.06245777e-02 -1.38254877e-02 2.85758733e+02] [-1.06142043e-02 9.99943329e-01 8.23470292e-04 -1.02667048e+01] [ 1.38334533e-02 -6.76598553e-04 9.99904084e-01 3.32687951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94071405700004 meters Centerline goodness [0,1] 0.9767258565533868 Centerline is valid? [True, True] Translation: X:285.79, Y:-10.27, Z:3.33 [[ 9.99859550e-01 1.11575833e-02 -1.25055690e-02 2.85785962e+02] [-1.11491497e-02 9.99937570e-01 7.43899764e-04 -1.02712353e+01] [ 1.25130884e-02 -6.04368822e-04 9.99921526e-01 3.32662155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.970714057 meters Centerline goodness [0,1] 0.9777788054662752 Centerline is valid? [True, True] Translation: X:285.81, Y:-10.27, Z:3.33 [[ 9.99862176e-01 1.08980302e-02 -1.25244812e-02 2.85814350e+02] [-1.08895680e-02 9.99940430e-01 7.43653663e-04 -1.02721864e+01] [ 1.25318395e-02 -6.07164979e-04 9.99921289e-01 3.32675963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.000714057 meters Centerline goodness [0,1] 0.9756667360581037 Centerline is valid? [True, True] Translation: X:285.84, Y:-10.28, Z:3.33 [[ 9.99865601e-01 9.99738109e-03 -1.29935180e-02 2.85841604e+02] [-9.98821005e-03 9.99949820e-01 7.70520257e-04 -1.02785970e+01] [ 1.30005692e-02 -6.40634713e-04 9.99915284e-01 3.32640733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.030714057 meters Centerline goodness [0,1] 0.9773670662987269 Centerline is valid? [True, True] Translation: X:285.87, Y:-10.28, Z:3.32 [[ 9.99874993e-01 7.63781657e-03 -1.38441898e-02 2.85870803e+02] [-7.62719618e-03 9.99970576e-01 8.19774110e-04 -1.02815855e+01] [ 1.38500437e-02 -7.14079282e-04 9.99903829e-01 3.32477304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.060714057 meters Centerline goodness [0,1] 0.9752316960148285 Centerline is valid? [True, True] Translation: X:285.90, Y:-10.29, Z:3.32 [[ 9.99876799e-01 6.29187129e-03 -1.43805427e-02 2.85897627e+02] [-6.28029229e-03 9.99979917e-01 8.50203202e-04 -1.02903065e+01] [ 1.43856032e-02 -7.59784444e-04 9.99896233e-01 3.32358095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.090714057 meters Centerline goodness [0,1] 0.9556038894575231 Centerline is valid? [True, True] Translation: X:285.92, Y:-10.32, Z:3.32 [[ 9.99868924e-01 6.87929988e-03 -1.46563938e-02 2.85923276e+02] [-6.86735913e-03 9.99976045e-01 8.64885496e-04 -1.03238420e+01] [ 1.46619925e-02 -7.64121411e-04 9.99892215e-01 3.32020880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.120714057 meters Centerline goodness [0,1] 0.9760267651130595 Centerline is valid? [True, True] Translation: X:285.96, Y:-10.29, Z:3.32 [[ 9.99883026e-01 1.53260421e-03 -1.52179385e-02 2.85955928e+02] [-1.51912597e-03 9.99998444e-01 8.97200966e-04 -1.02949602e+01] [ 1.52192899e-02 -8.73978051e-04 9.99883798e-01 3.32299517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.150714057 meters Centerline goodness [0,1] 0.9760016646244191 Centerline is valid? [True, True] Translation: X:285.99, Y:-10.30, Z:3.32 [[ 9.99883082e-01 -5.13538143e-04 -1.52826314e-02 2.85985695e+02] [ 5.27366248e-04 9.99999455e-01 9.00808624e-04 -1.02964309e+01] [ 1.52821605e-02 -9.08762847e-04 9.99882808e-01 3.32322298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.180714057 meters Centerline goodness [0,1] 0.9736866487538219 Centerline is valid? [True, True] Translation: X:286.02, Y:-10.30, Z:3.32 [[ 9.99886993e-01 -3.86907489e-03 -1.45269118e-02 2.86015951e+02] [ 3.88191724e-03 9.99992099e-01 8.55945138e-04 -1.03016191e+01] [ 1.45234853e-02 -9.12240680e-04 9.99894112e-01 3.32349403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.210714057 meters Centerline goodness [0,1] 0.9737509803017023 Centerline is valid? [True, True] Translation: X:286.04, Y:-10.31, Z:3.32 [[ 9.99880889e-01 -5.58303353e-03 -1.43887832e-02 2.86043903e+02] [ 5.59580477e-03 9.99983984e-01 8.47474840e-04 -1.03066915e+01] [ 1.43838213e-02 -9.27890719e-04 9.99896117e-01 3.32377343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.240714057 meters Centerline goodness [0,1] 0.9702017993971329 Centerline is valid? [True, True] Translation: X:286.07, Y:-10.31, Z:3.32 [[ 9.99866803e-01 -8.71373090e-03 -1.38002364e-02 2.86072935e+02] [ 8.72576486e-03 9.99961600e-01 8.12039029e-04 -1.03123213e+01] [ 1.37926305e-02 -9.32348486e-04 9.99904442e-01 3.32374406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.270714057 meters Centerline goodness [0,1] 0.9713523090729193 Centerline is valid? [True, True] Translation: X:286.10, Y:-10.32, Z:3.32 [[ 9.99865790e-01 -9.60900301e-03 -1.32690848e-02 2.86101188e+02] [ 9.62019074e-03 9.99953421e-01 7.79569977e-04 -1.03151486e+01] [ 1.32609758e-02 -9.07116478e-04 9.99911658e-01 3.32424908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.300714057 meters Centerline goodness [0,1] 0.9703911127432978 Centerline is valid? [True, True] Translation: X:286.13, Y:-10.32, Z:3.32 [[ 9.99860694e-01 -1.07023325e-02 -1.28082661e-02 2.86128561e+02] [ 1.07128121e-02 9.99942335e-01 7.49855619e-04 -1.03185515e+01] [ 1.27995024e-02 -8.86963709e-04 9.99917690e-01 3.32465310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.330714057 meters Centerline goodness [0,1] 0.9710011295267513 Centerline is valid? [True, True] Translation: X:286.16, Y:-10.31, Z:3.33 [[ 9.99859298e-01 -1.14455112e-02 -1.22631166e-02 2.86157909e+02] [ 1.14551504e-02 9.99934131e-01 7.16074922e-04 -1.03144568e+01] [ 1.22541130e-02 -8.56450014e-04 9.99924549e-01 3.32586581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.360714057 meters Centerline goodness [0,1] 0.9711026791911527 Centerline is valid? [True, True] Translation: X:286.19, Y:-10.32, Z:3.33 [[ 9.99852543e-01 -1.22615892e-02 -1.20227136e-02 2.86185733e+02] [ 1.22708826e-02 9.99924465e-01 6.99515516e-04 -1.03171374e+01] [ 1.20132283e-02 -8.46941673e-04 9.99927480e-01 3.32632567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.390714057 meters Centerline goodness [0,1] 0.9678140263570177 Centerline is valid? [True, True] Translation: X:286.21, Y:-10.33, Z:3.33 [[ 9.99852275e-01 -1.30792722e-02 -1.11517339e-02 2.86214211e+02] [ 1.30873088e-02 9.99914148e-01 6.47984544e-04 -1.03265045e+01] [ 1.11423014e-02 -7.93835007e-04 9.99937608e-01 3.32611000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.420714057 meters Centerline goodness [0,1] 0.9690128477678159 Centerline is valid? [True, True] Translation: X:286.24, Y:-10.32, Z:3.33 [[ 9.99834913e-01 -1.43991832e-02 -1.10819356e-02 2.86243665e+02] [ 1.44071934e-02 9.99896004e-01 6.43326088e-04 -1.03233059e+01] [ 1.10715197e-02 -8.02879473e-04 9.99938387e-01 3.32581696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.450714057 meters Centerline goodness [0,1] 0.9656897784131523 Centerline is valid? [True, True] Translation: X:286.27, Y:-10.33, Z:3.33 [[ 9.99822276e-01 -1.54061726e-02 -1.08658107e-02 2.86272950e+02] [ 1.54139251e-02 9.99881000e-01 6.30089172e-04 -1.03337121e+01] [ 1.08548104e-02 -7.97461982e-04 9.99940767e-01 3.32576921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.480714057 meters Centerline goodness [0,1] 0.9670377898918969 Centerline is valid? [True, True] Translation: X:286.30, Y:-10.33, Z:3.32 [[ 9.99764300e-01 -1.84672471e-02 -1.14151036e-02 2.86303557e+02] [ 1.84759999e-02 9.99829085e-01 6.61785553e-04 -1.03317839e+01] [ 1.14009312e-02 -8.72535023e-04 9.99934627e-01 3.32490720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51071405700003 meters Centerline goodness [0,1] 0.9650167301257644 Centerline is valid? [True, True] Translation: X:286.33, Y:-10.34, Z:3.33 [[ 9.99729119e-01 -2.07138596e-02 -1.06124826e-02 2.86332913e+02] [ 2.07215479e-02 9.99785097e-01 6.15002898e-04 -1.03364564e+01] [ 1.05974628e-02 -8.34743373e-04 9.99943497e-01 3.32501001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.540714057 meters Centerline goodness [0,1] 0.9635213446309422 Centerline is valid? [True, True] Translation: X:286.36, Y:-10.34, Z:3.33 [[ 9.99705313e-01 -2.17808943e-02 -1.07181923e-02 2.86362750e+02] [ 2.17887959e-02 9.99762403e-01 6.20985985e-04 -1.03416026e+01] [ 1.07021201e-02 -8.54339494e-04 9.99942366e-01 3.32532392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57071405700003 meters Centerline goodness [0,1] 0.9635320251758608 Centerline is valid? [True, True] Translation: X:286.39, Y:-10.34, Z:3.33 [[ 9.99684693e-01 -2.26627505e-02 -1.08126743e-02 2.86393529e+02] [ 2.26708453e-02 9.99742787e-01 6.26642511e-04 -1.03420490e+01] [ 1.07956917e-02 -8.71577393e-04 9.99941345e-01 3.32528161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.600714057 meters Centerline goodness [0,1] 0.9630910390299007 Centerline is valid? [True, True] Translation: X:286.42, Y:-10.34, Z:3.33 [[ 9.99675435e-01 -2.31015665e-02 -1.07397225e-02 2.86423358e+02] [ 2.31095795e-02 9.99732744e-01 6.22592970e-04 -1.03446972e+01] [ 1.07224694e-02 -8.70581369e-04 9.99942134e-01 3.32515243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63071405700003 meters Centerline goodness [0,1] 0.9619950841719612 Centerline is valid? [True, True] Translation: X:286.45, Y:-10.35, Z:3.33 [[ 9.99670441e-01 -2.32283584e-02 -1.09294158e-02 2.86454336e+02] [ 2.32366667e-02 9.99729791e-01 6.33796826e-04 -1.03459261e+01] [ 1.09117406e-02 -8.87551146e-04 9.99940071e-01 3.32517489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.660714057 meters Centerline goodness [0,1] 0.9616903359889158 Centerline is valid? [True, True] Translation: X:286.48, Y:-10.35, Z:3.33 [[ 9.99691144e-01 -2.26201242e-02 -1.02930406e-02 2.86484482e+02] [ 2.26274643e-02 9.99743788e-01 5.97202279e-04 -1.03481142e+01] [ 1.02768946e-02 -8.29923239e-04 9.99946847e-01 3.32615029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69071405700004 meters Centerline goodness [0,1] 0.9615670774238549 Centerline is valid? [True, True] Translation: X:286.52, Y:-10.35, Z:3.33 [[ 9.99698631e-01 -2.24538260e-02 -9.92330599e-03 2.86515873e+02] [ 2.24606417e-02 9.99747562e-01 5.75913606e-04 -1.03497579e+01] [ 9.90786951e-03 -7.98623865e-04 9.99950597e-01 3.32710507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.720714057 meters Centerline goodness [0,1] 0.9597789234127537 Centerline is valid? [True, True] Translation: X:286.55, Y:-10.35, Z:3.33 [[ 9.99710572e-01 -2.22613750e-02 -9.12154299e-03 2.86547276e+02] [ 2.22671282e-02 9.99751916e-01 5.29653507e-04 -1.03515185e+01] [ 9.10748927e-03 -7.32610778e-04 9.99958258e-01 3.32764233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.750714057 meters Centerline goodness [0,1] 0.9668580917456584 Centerline is valid? [True, True] Translation: X:286.58, Y:-10.34, Z:3.33 [[ 9.99713025e-01 -2.24310992e-02 -8.40917728e-03 2.86578929e+02] [ 2.24359970e-02 9.99748162e-01 4.88534454e-04 -1.03402407e+01] [ 8.39610116e-03 -6.77062532e-04 9.99964523e-01 3.32839346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.780714057 meters Centerline goodness [0,1] 0.9564258007572062 Centerline is valid? [True, True] Translation: X:286.61, Y:-10.36, Z:3.33 [[ 9.99710203e-01 -2.26387684e-02 -8.18511021e-03 2.86609056e+02] [ 2.26434176e-02 9.99743492e-01 4.75772069e-04 -1.03575703e+01] [ 8.17223977e-03 -6.60973060e-04 9.99966388e-01 3.32891788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.810714057 meters Centerline goodness [0,1] 0.9663155941168283 Centerline is valid? [True, True] Translation: X:286.64, Y:-10.34, Z:3.33 [[ 9.99693755e-01 -2.33973153e-02 -8.05990161e-03 2.86641770e+02] [ 2.34018512e-02 9.99726029e-01 4.68907941e-04 -1.03425437e+01] [ 8.04672225e-03 -6.57380958e-04 9.99967409e-01 3.32768249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.840714057 meters Centerline goodness [0,1] 0.9657068609480498 Centerline is valid? [True, True] Translation: X:286.67, Y:-10.34, Z:3.33 [[ 9.99670564e-01 -2.40770989e-02 -8.89137225e-03 2.86673982e+02] [ 2.40826503e-02 9.99709837e-01 5.17800637e-04 -1.03446921e+01] [ 8.87632516e-03 -7.31757863e-04 9.99960337e-01 3.32744019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.870714057 meters Centerline goodness [0,1] 0.9638747471929702 Centerline is valid? [True, True] Translation: X:286.71, Y:-10.35, Z:3.33 [[ 9.99672051e-01 -2.39525592e-02 -9.05902299e-03 2.86705106e+02] [ 2.39583228e-02 9.99712819e-01 5.28233997e-04 -1.03513956e+01] [ 9.04376885e-03 -7.45099760e-04 9.99958827e-01 3.32732341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.900714057 meters Centerline goodness [0,1] 0.9664296998420221 Centerline is valid? [True, True] Translation: X:286.74, Y:-10.35, Z:3.33 [[ 9.99649157e-01 -2.48000847e-02 -9.30150219e-03 2.86737562e+02] [ 2.48062022e-02 9.99692131e-01 5.42878792e-04 -1.03485615e+01] [ 9.28517511e-03 -7.73423271e-04 9.99956593e-01 3.32663820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.930714057 meters Centerline goodness [0,1] 0.9631841952353283 Centerline is valid? [True, True] Translation: X:286.77, Y:-10.36, Z:3.33 [[ 9.99652243e-01 -2.45994847e-02 -9.50047877e-03 2.86768657e+02] [ 2.46058644e-02 9.99697076e-01 5.55191690e-04 -1.03558300e+01] [ 9.48394341e-03 -7.88766111e-04 9.99954715e-01 3.32719552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.960714057 meters Centerline goodness [0,1] 0.9689436668755658 Centerline is valid? [True, True] Translation: X:286.80, Y:-10.35, Z:3.33 [[ 9.99682727e-01 -2.32708697e-02 -9.63907434e-03 2.86800408e+02] [ 2.32773805e-02 9.99728886e-01 5.63814091e-04 -1.03511635e+01] [ 9.62334061e-03 -7.88007610e-04 9.99953384e-01 3.32803344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.990714057 meters Centerline goodness [0,1] 0.9668943650479099 Centerline is valid? [True, True] Translation: X:286.83, Y:-10.35, Z:3.33 [[ 9.99705855e-01 -2.23578784e-02 -9.39831429e-03 2.86831451e+02] [ 2.23640311e-02 9.99749742e-01 5.50062512e-04 -1.03519675e+01] [ 9.38366406e-03 -7.60084907e-04 9.99955684e-01 3.32874814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.020714057 meters Centerline goodness [0,1] 0.9643345461287108 Centerline is valid? [True, True] Translation: X:286.86, Y:-10.36, Z:3.33 [[ 9.99731836e-01 -2.10732724e-02 -9.60073025e-03 2.86861874e+02] [ 2.10796375e-02 9.99777642e-01 5.62260248e-04 -1.03580044e+01] [ 9.58674679e-03 -7.64489383e-04 9.99953754e-01 3.32934118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.050714057 meters Centerline goodness [0,1] 0.9684931187853667 Centerline is valid? [True, True] Translation: X:286.89, Y:-10.35, Z:3.33 [[ 9.99789362e-01 -1.83211091e-02 -9.25028872e-03 2.86893027e+02] [ 1.83269039e-02 9.99831901e-01 5.42059921e-04 -1.03527376e+01] [ 9.23880262e-03 -7.11474896e-04 9.99957068e-01 3.33070756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.080714057 meters Centerline goodness [0,1] 0.9695157424429293 Centerline is valid? [True, True] Translation: X:286.92, Y:-10.35, Z:3.33 [[ 9.99818174e-01 -1.69038365e-02 -8.82492160e-03 2.86923986e+02] [ 1.69090570e-02 9.99856898e-01 5.17282207e-04 -1.03516208e+01] [ 8.81491468e-03 -6.66409254e-04 9.99960926e-01 3.33060397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.110714057 meters Centerline goodness [0,1] 0.9685788210065034 Centerline is valid? [True, True] Translation: X:286.95, Y:-10.35, Z:3.33 [[ 9.99882551e-01 -1.28042310e-02 -8.42235700e-03 2.86953945e+02] [ 1.28088427e-02 9.99917841e-01 4.93847152e-04 -1.03539767e+01] [ 8.41534170e-03 -6.01669797e-04 9.99964409e-01 3.33060567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.140714057 meters Centerline goodness [0,1] 0.9681996882778514 Centerline is valid? [True, True] Translation: X:286.98, Y:-10.35, Z:3.33 [[ 9.99907010e-01 -1.05240744e-02 -8.67272808e-03 2.86984646e+02] [ 1.05288790e-02 9.99944441e-01 5.08519027e-04 -1.03542152e+01] [ 8.66689453e-03 -5.99785844e-04 9.99962262e-01 3.33068008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.170714057 meters Centerline goodness [0,1] 0.9501351233545462 Centerline is valid? [True, True] Translation: X:287.01, Y:-10.38, Z:3.33 [[ 9.99938881e-01 -5.96953804e-03 -9.30580012e-03 2.87012370e+02] [ 5.97487507e-03 9.99982001e-01 5.45821082e-04 -1.03826701e+01] [ 9.30237433e-03 -6.01388715e-04 9.99956551e-01 3.33153254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.200714057 meters Centerline goodness [0,1] 0.972663447857626 Centerline is valid? [True, True] Translation: X:287.04, Y:-10.35, Z:3.33 [[ 9.99944439e-01 -5.65992381e-03 -8.89292900e-03 2.87043606e+02] [ 5.66478521e-03 9.99983819e-01 5.21565098e-04 -1.03487323e+01] [ 8.88983309e-03 -5.71912652e-04 9.99960321e-01 3.33223338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.230714057 meters Centerline goodness [0,1] 0.9726690722849494 Centerline is valid? [True, True] Translation: X:287.07, Y:-10.35, Z:3.33 [[ 9.99954078e-01 -3.63268181e-03 -8.86818754e-03 2.87071860e+02] [ 3.63741762e-03 9.99993250e-01 5.17951732e-04 -1.03513119e+01] [ 8.86624613e-03 -5.50185248e-04 9.99960543e-01 3.33266864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26071405700003 meters Centerline goodness [0,1] 0.9747382688352964 Centerline is valid? [True, True] Translation: X:287.10, Y:-10.35, Z:3.33 [[ 9.99957626e-01 -1.32556292e-03 -9.10987167e-03 2.87101499e+02] [ 1.33046121e-03 9.99998974e-01 5.31651236e-04 -1.03495098e+01] [ 9.10915759e-03 -5.43749038e-04 9.99958363e-01 3.33238048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.290714057 meters Centerline goodness [0,1] 0.9747382688352964 Centerline is valid? [True, True] Translation: X:287.13, Y:-10.35, Z:3.33 [[ 9.99957211e-01 -1.60844216e-03 -9.10988434e-03 2.87128899e+02] [ 1.61335017e-03 9.99998557e-01 5.31434280e-04 -1.03510316e+01] [ 9.10901642e-03 -5.46108974e-04 9.99958363e-01 3.33264264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32071405700003 meters Centerline goodness [0,1] 0.9738610903659447 Centerline is valid? [True, True] Translation: X:287.16, Y:-10.35, Z:3.33 [[ 9.99957373e-01 -1.10795085e-03 -9.16650766e-03 2.87157628e+02] [ 1.11287499e-03 9.99999239e-01 5.32105218e-04 -1.03529465e+01] [ 9.16591114e-03 -5.42283713e-04 9.99957845e-01 3.33239978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.350714057 meters Centerline goodness [0,1] 0.9738785046728972 Centerline is valid? [True, True] Translation: X:287.19, Y:-10.36, Z:3.33 [[ 9.99959894e-01 -2.02447887e-04 -8.95375635e-03 2.87185387e+02] [ 2.07089773e-04 9.99999845e-01 5.17504768e-04 -1.03564086e+01] [ 8.95365019e-03 -5.19338244e-04 9.99959780e-01 3.33300895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38071405700003 meters Centerline goodness [0,1] 0.9759668057530478 Centerline is valid? [True, True] Translation: X:287.22, Y:-10.35, Z:3.33 [[ 9.99955199e-01 2.03232287e-03 -9.24502341e-03 2.87215477e+02] [-2.02747717e-03 9.99997802e-01 5.33483336e-04 -1.03537549e+01] [ 9.24608730e-03 -5.14715361e-04 9.99957122e-01 3.33388113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.410714057 meters Centerline goodness [0,1] 0.9748645569325923 Centerline is valid? [True, True] Translation: X:287.24, Y:-10.36, Z:3.33 [[ 9.99949595e-01 3.21408523e-03 -9.51197410e-03 2.87243265e+02] [-3.20901057e-03 9.99994701e-01 5.48716097e-04 -1.03575333e+01] [ 9.51368731e-03 -5.18164414e-04 9.99954610e-01 3.33405812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44071405700004 meters Centerline goodness [0,1] 0.9785182244845542 Centerline is valid? [True, True] Translation: X:287.27, Y:-10.35, Z:3.33 [[ 9.99923916e-01 5.70546510e-03 -1.09366021e-02 2.87273465e+02] [-5.69891581e-03 9.99983563e-01 6.29912502e-04 -1.03548411e+01] [ 1.09400163e-02 -5.67537802e-04 9.99939995e-01 3.33404874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.470714057 meters Centerline goodness [0,1] 0.9777844979994417 Centerline is valid? [True, True] Translation: X:287.30, Y:-10.36, Z:3.33 [[ 9.99909225e-01 6.51849834e-03 -1.17919608e-02 2.87302617e+02] [-6.51094483e-03 9.99978573e-01 6.78840742e-04 -1.03557323e+01] [ 1.17961332e-02 -6.02002314e-04 9.99930242e-01 3.33411678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.500714057 meters Centerline goodness [0,1] 0.9793566746751884 Centerline is valid? [True, True] Translation: X:287.33, Y:-10.36, Z:3.33 [[ 9.99894864e-01 7.92634420e-03 -1.21422494e-02 2.87331589e+02] [-7.91844931e-03 9.99968405e-01 6.98138083e-04 -1.03565921e+01] [ 1.21473994e-02 -6.01916897e-04 9.99926036e-01 3.33402840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.530714057 meters Centerline goodness [0,1] 0.9788436390808892 Centerline is valid? [True, True] Translation: X:287.36, Y:-10.36, Z:3.33 [[ 9.99892900e-01 8.06835188e-03 -1.22102544e-02 2.87360081e+02] [-8.06038937e-03 9.99967269e-01 7.01188139e-04 -1.03581739e+01] [ 1.22155121e-02 -6.02693637e-04 9.99925206e-01 3.33424619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.560714057 meters Centerline goodness [0,1] 0.9788676791602805 Centerline is valid? [True, True] Translation: X:287.39, Y:-10.36, Z:3.33 [[ 9.99887929e-01 7.47549301e-03 -1.29710008e-02 2.87388253e+02] [-7.46647064e-03 9.99971849e-01 7.43867474e-04 -1.03607478e+01] [ 1.29761964e-02 -6.46936511e-04 9.99915596e-01 3.33484292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.590714057 meters Centerline goodness [0,1] 0.9778307286191511 Centerline is valid? [True, True] Translation: X:287.42, Y:-10.36, Z:3.34 [[ 9.99891839e-01 6.58871399e-03 -1.31491062e-02 2.87416970e+02] [-6.57937998e-03 9.99978072e-01 7.52991691e-04 -1.03630421e+01] [ 1.31537791e-02 -6.66397280e-04 9.99913263e-01 3.33532836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.620714057 meters Centerline goodness [0,1] 0.9786471067644662 Centerline is valid? [True, True] Translation: X:287.45, Y:-10.37, Z:3.34 [[ 9.99899834e-01 5.98678239e-03 -1.28249726e-02 2.87445844e+02] [-5.97786472e-03 9.99981863e-01 7.33558195e-04 -1.03659302e+01] [ 1.28291317e-02 -6.56818766e-04 9.99917488e-01 3.33502354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.650714057 meters Centerline goodness [0,1] 0.9789409787075084 Centerline is valid? [True, True] Translation: X:287.48, Y:-10.37, Z:3.34 [[ 9.99901842e-01 3.90117756e-03 -1.34568760e-02 2.87475171e+02] [-3.89118310e-03 9.99992134e-01 7.68805217e-04 -1.03669413e+01] [ 1.34597694e-02 -7.16366584e-04 9.99909157e-01 3.33526341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.680714057 meters Centerline goodness [0,1] 0.9786901681005339 Centerline is valid? [True, True] Translation: X:287.51, Y:-10.37, Z:3.34 [[ 9.99895703e-01 9.92389075e-04 -1.44082845e-02 2.87505475e+02] [-9.80638000e-04 9.99999181e-01 8.22619725e-04 -1.03699987e+01] [ 1.44090891e-02 -8.08404617e-04 9.99895857e-01 3.33572030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.710714057 meters Centerline goodness [0,1] 0.9775655212580081 Centerline is valid? [True, True] Translation: X:287.53, Y:-10.37, Z:3.34 [[ 9.99897690e-01 -8.05397630e-04 -1.42814772e-02 2.87534231e+02] [ 8.17121948e-04 9.99999334e-01 8.15129570e-04 -1.03742007e+01] [ 1.42808112e-02 -8.26715882e-04 9.99897682e-01 3.33626548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.740714057 meters Centerline goodness [0,1] 0.9759322191704297 Centerline is valid? [True, True] Translation: X:287.56, Y:-10.38, Z:3.34 [[ 9.99894368e-01 -2.61873910e-03 -1.42966837e-02 2.87563654e+02] [ 2.63066352e-03 9.99996207e-01 8.15326607e-04 -1.03767917e+01] [ 1.42944944e-02 -8.52850247e-04 9.99897465e-01 3.33671446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.770714057 meters Centerline goodness [0,1] 0.9759496620834305 Centerline is valid? [True, True] Translation: X:287.59, Y:-10.38, Z:3.34 [[ 9.99894864e-01 -4.85760044e-03 -1.36625324e-02 2.87591927e+02] [ 4.86869005e-03 9.99987845e-01 7.78536620e-04 -1.03815220e+01] [ 1.36585845e-02 -8.44973404e-04 9.99906360e-01 3.33851555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.800714057 meters Centerline goodness [0,1] 0.9743649444690214 Centerline is valid? [True, True] Translation: X:287.62, Y:-10.39, Z:3.34 [[ 9.99897963e-01 -5.24643200e-03 -1.32867464e-02 2.87619131e+02] [ 5.25693864e-03 9.99985896e-01 7.55958566e-04 -1.03857575e+01] [ 1.32825929e-02 -8.25729042e-04 9.99911442e-01 3.33871258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.830714057 meters Centerline goodness [0,1] 0.9740791586197268 Centerline is valid? [True, True] Translation: X:287.65, Y:-10.39, Z:3.34 [[ 9.99882321e-01 -6.26791740e-03 -1.40020794e-02 2.87647816e+02] [ 6.27965243e-03 9.99979967e-01 7.94282679e-04 -1.03859256e+01] [ 1.39968204e-02 -8.82117400e-04 9.99901651e-01 3.33923627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.860714057 meters Centerline goodness [0,1] 0.9738755534840363 Centerline is valid? [True, True] Translation: X:287.68, Y:-10.39, Z:3.34 [[ 9.99878136e-01 -6.53704879e-03 -1.41767501e-02 2.87675529e+02] [ 6.54905404e-03 9.99978234e-01 8.00566968e-04 -1.03876361e+01] [ 1.41712082e-02 -8.93313711e-04 9.99899184e-01 3.33932813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.890714057 meters Centerline goodness [0,1] 0.9751607791965701 Centerline is valid? [True, True] Translation: X:287.70, Y:-10.39, Z:3.34 [[ 9.99867347e-01 -5.97039550e-03 -1.51539929e-02 2.87704827e+02] [ 5.98398467e-03 9.99981733e-01 8.51553166e-04 -1.03851164e+01] [ 1.51486320e-02 -9.42121465e-04 9.99884809e-01 3.33934324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.920714057 meters Centerline goodness [0,1] 0.9763884037722669 Centerline is valid? [True, True] Translation: X:287.73, Y:-10.39, Z:3.34 [[ 9.99852197e-01 -6.17768458e-03 -1.60443332e-02 2.87732544e+02] [ 6.19287468e-03 9.99980421e-01 8.97246622e-04 -1.03856457e+01] [ 1.60384762e-02 -9.96474551e-04 9.99870879e-01 3.33918211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.950714057 meters Centerline goodness [0,1] 0.9741202755539006 Centerline is valid? [True, True] Translation: X:287.76, Y:-10.39, Z:3.34 [[ 9.99819372e-01 -7.35051781e-03 -1.75269051e-02 2.87759983e+02] [ 7.36876080e-03 9.99972374e-01 9.76501831e-04 -1.03943122e+01] [ 1.75192431e-02 -1.10547702e-03 9.99845915e-01 3.33782098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.980714057 meters Centerline goodness [0,1] 0.9760423221235638 Centerline is valid? [True, True] Translation: X:287.79, Y:-10.39, Z:3.34 [[ 9.99798625e-01 -8.81965034e-03 -1.80256204e-02 2.87789265e+02] [ 8.83913065e-03 9.99960433e-01 1.00131380e-03 -1.03875698e+01] [ 1.80160759e-02 -1.16044297e-03 9.99837024e-01 3.33889839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01071405700003 meters Centerline goodness [0,1] 0.9775854830433363 Centerline is valid? [True, True] Translation: X:287.82, Y:-10.39, Z:3.34 [[ 9.99783922e-01 -9.95534734e-03 -1.82483039e-02 2.87817390e+02] [ 9.97544257e-03 9.99949733e-01 1.01051418e-03 -1.03897691e+01] [ 1.82373266e-02 -1.19233074e-03 9.99832975e-01 3.33939650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.040714057 meters Centerline goodness [0,1] 0.9748733157415408 Centerline is valid? [True, True] Translation: X:287.85, Y:-10.39, Z:3.34 [[ 9.99762644e-01 -1.14395022e-02 -1.85416694e-02 2.87846945e+02] [ 1.14604813e-02 9.99933801e-01 1.02559063e-03 -1.03920247e+01] [ 1.85287097e-02 -1.23784366e-03 9.99827562e-01 3.33938239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07071405700003 meters Centerline goodness [0,1] 0.7974759230391424 Centerline is valid? [True, False] Translation: X:287.90, Y:-10.39, Z:3.34 [[ 9.99748310e-01 -1.46478651e-02 -1.69928326e-02 2.87901615e+02] [ 1.45457282e-02 9.99875484e-01 -6.11869349e-03 -1.03904972e+01] [ 1.70803425e-02 5.86998035e-03 9.99836889e-01 3.34003815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.100714057 meters Centerline goodness [0,1] 0.9720420070011668 Centerline is valid? [False, True] Translation: X:287.82, Y:-10.39, Z:3.34 [[ 9.99769554e-01 -1.34742506e-02 -1.67117568e-02 2.87824873e+02] [ 1.34649008e-02 9.99909118e-01 -6.71871063e-04 -1.03906433e+01] [ 1.67192910e-02 4.46694084e-04 9.99860123e-01 3.33600209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13071405700003 meters Centerline goodness [0,1] 0.9733202733272698 Centerline is valid? [True, True] Translation: X:287.85, Y:-10.39, Z:3.33 [[ 9.99691247e-01 -1.78219133e-02 -1.73144423e-02 2.87854920e+02] [ 1.78424531e-02 9.99840278e-01 1.03251739e-03 -1.03949242e+01] [ 1.72932753e-02 -1.34113073e-03 9.99849561e-01 3.33485231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.160714057 meters Centerline goodness [0,1] 0.9706246062670617 Centerline is valid? [True, True] Translation: X:287.88, Y:-10.40, Z:3.33 [[ 9.99629225e-01 -2.03729275e-02 -1.80653571e-02 2.87883562e+02] [ 2.03956944e-02 9.99791406e-01 1.07688531e-03 -1.03985716e+01] [ 1.80396495e-02 -1.44494153e-03 9.99836228e-01 3.33465627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19071405700004 meters Centerline goodness [0,1] 0.9708837447840175 Centerline is valid? [True, True] Translation: X:287.91, Y:-10.40, Z:3.34 [[ 9.99595830e-01 -2.20478639e-02 -1.79462764e-02 2.87912913e+02] [ 2.20705801e-02 9.99755844e-01 1.06869063e-03 -1.04000717e+01] [ 1.79183323e-02 -1.46434343e-03 9.99838381e-01 3.33519302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.220714057 meters Centerline goodness [0,1] 0.972035166479611 Centerline is valid? [True, True] Translation: X:287.94, Y:-10.39, Z:3.34 [[ 9.99547937e-01 -2.46646283e-02 -1.71923667e-02 2.87943092e+02] [ 2.46858491e-02 9.99694734e-01 1.02316101e-03 -1.03945305e+01] [ 1.71618825e-02 -1.44710665e-03 9.99851677e-01 3.33838097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.250714057 meters Centerline goodness [0,1] 0.9722300337457818 Centerline is valid? [True, True] Translation: X:287.97, Y:-10.40, Z:3.34 [[ 9.99548482e-01 -2.57220212e-02 -1.55309374e-02 2.87973616e+02] [ 2.57394634e-02 9.99668258e-01 9.24186496e-04 -1.03959887e+01] [ 1.55020132e-02 -1.32352720e-03 9.99878961e-01 3.33997223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.280714057 meters Centerline goodness [0,1] 0.9699139060452929 Centerline is valid? [True, True] Translation: X:288.00, Y:-10.40, Z:3.34 [[ 9.99550405e-01 -2.61691224e-02 -1.46343502e-02 2.88003462e+02] [ 2.61846584e-02 9.99656744e-01 8.70986471e-04 -1.03997935e+01] [ 1.46065339e-02 -1.25379034e-03 9.99892533e-01 3.34014280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.310714057 meters Centerline goodness [0,1] 0.9692145862552595 Centerline is valid? [True, True] Translation: X:288.03, Y:-10.40, Z:3.34 [[ 9.99534276e-01 -2.69795739e-02 -1.42594921e-02 2.88034806e+02] [ 2.69944116e-02 9.99635224e-01 8.49069812e-04 -1.04022227e+01] [ 1.42313830e-02 -1.23360098e-03 9.99897968e-01 3.34072909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.340714057 meters Centerline goodness [0,1] 0.9687455905178496 Centerline is valid? [True, True] Translation: X:288.07, Y:-10.40, Z:3.34 [[ 9.99501580e-01 -2.79110322e-02 -1.47501054e-02 2.88066333e+02] [ 2.79270170e-02 9.99609578e-01 8.78808263e-04 -1.04024116e+01] [ 1.47198181e-02 -1.29029669e-03 9.99890825e-01 3.34171341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.370714057 meters Centerline goodness [0,1] 0.9692448878744382 Centerline is valid? [True, True] Translation: X:288.10, Y:-10.40, Z:3.34 [[ 9.99466668e-01 -2.88084123e-02 -1.53770616e-02 2.88097287e+02] [ 2.88258964e-02 9.99584027e-01 9.16548822e-04 -1.04012945e+01] [ 1.53442608e-02 -1.35931758e-03 9.99881346e-01 3.34151996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.400714057 meters Centerline goodness [0,1] 0.9680335200790924 Centerline is valid? [True, True] Translation: X:288.13, Y:-10.40, Z:3.34 [[ 9.99412235e-01 -3.04017332e-02 -1.58404109e-02 2.88128115e+02] [ 3.04204899e-02 9.99536744e-01 9.44449385e-04 -1.04033838e+01] [ 1.58043598e-02 -1.42576733e-03 9.99874087e-01 3.34113814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.430714057 meters Centerline goodness [0,1] 0.9687809245558645 Centerline is valid? [True, True] Translation: X:288.16, Y:-10.40, Z:3.34 [[ 9.99370473e-01 -3.14845103e-02 -1.63518350e-02 2.88159131e+02] [ 3.15046465e-02 9.99503130e-01 9.75235591e-04 -1.04029642e+01] [ 1.63130054e-02 -1.48978044e-03 9.99865824e-01 3.34079945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.460714057 meters Centerline goodness [0,1] 0.9570604169120245 Centerline is valid? [True, True] Translation: X:288.19, Y:-10.42, Z:3.34 [[ 9.99339055e-01 -3.22128592e-02 -1.68459336e-02 2.88188257e+02] [ 3.22343353e-02 9.99479834e-01 1.00481570e-03 -1.04159129e+01] [ 1.68048029e-02 -1.54716904e-03 9.99857592e-01 3.33815669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.490714057 meters Centerline goodness [0,1] 0.9687293651542307 Centerline is valid? [True, True] Translation: X:288.22, Y:-10.40, Z:3.34 [[ 9.99234305e-01 -3.43124211e-02 -1.88005609e-02 2.88220349e+02] [ 3.43395481e-02 9.99409594e-01 1.12186384e-03 -1.04046702e+01] [ 1.87509671e-02 -1.76660760e-03 9.99822624e-01 3.33827484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.520714057 meters Centerline goodness [0,1] 0.9705416459796203 Centerline is valid? [True, True] Translation: X:288.25, Y:-10.40, Z:3.34 [[ 9.99216514e-01 -3.45415299e-02 -1.93194647e-02 2.88252205e+02] [ 3.45702314e-02 9.99401605e-01 1.15353490e-03 -1.04046270e+01] [ 1.92680592e-02 -1.82050948e-03 9.99812696e-01 3.33845745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.550714057 meters Centerline goodness [0,1] 0.9664483484264536 Centerline is valid? [True, True] Translation: X:288.28, Y:-10.41, Z:3.34 [[ 9.99204754e-01 -3.45159259e-02 -1.99627430e-02 2.88283453e+02] [ 3.45465855e-02 9.99402377e-01 1.19292443e-03 -1.04071838e+01] [ 1.99096379e-02 -1.88162037e-03 9.99800013e-01 3.33732647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.580714057 meters Centerline goodness [0,1] 0.9682929710572947 Centerline is valid? [True, True] Translation: X:288.31, Y:-10.41, Z:3.34 [[ 9.99220818e-01 -3.42504931e-02 -1.96127473e-02 2.88314860e+02] [ 3.42800520e-02 9.99411578e-01 1.17282057e-03 -1.04052629e+01] [ 1.95610371e-02 -1.84423272e-03 9.99806964e-01 3.33786706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.610714057 meters Centerline goodness [0,1] 0.9675276927820868 Centerline is valid? [True, True] Translation: X:288.34, Y:-10.41, Z:3.34 [[ 9.99264118e-01 -3.33974105e-02 -1.88636105e-02 2.88344988e+02] [ 3.34246116e-02 9.99440604e-01 1.12846383e-03 -1.04066381e+01] [ 1.88153705e-02 -1.75814226e-03 9.99821429e-01 3.33841573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.640714057 meters Centerline goodness [0,1] 0.966084007304983 Centerline is valid? [True, True] Translation: X:288.38, Y:-10.41, Z:3.34 [[ 9.99297536e-01 -3.27244541e-02 -1.82632031e-02 2.88375614e+02] [ 3.27498453e-02 9.99462982e-01 1.09286771e-03 -1.04079715e+01] [ 1.82176319e-02 -1.69021709e-03 9.99832617e-01 3.33888789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.670714057 meters Centerline goodness [0,1] 0.9670097211988686 Centerline is valid? [True, True] Translation: X:288.41, Y:-10.41, Z:3.34 [[ 9.99327325e-01 -3.21326193e-02 -1.76746071e-02 2.88406683e+02] [ 3.21563173e-02 9.99482292e-01 1.05816070e-03 -1.04070110e+01] [ 1.76314554e-02 -1.62579918e-03 9.99843232e-01 3.34044435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.700714057 meters Centerline goodness [0,1] 0.966711940334072 Centerline is valid? [True, True] Translation: X:288.44, Y:-10.41, Z:3.34 [[ 9.99371392e-01 -3.11050094e-02 -1.70088084e-02 2.88438480e+02] [ 3.11268212e-02 9.99514924e-01 1.01908880e-03 -1.04058472e+01] [ 1.69688591e-02 -1.54787833e-03 9.99854820e-01 3.34250446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.730714057 meters Centerline goodness [0,1] 0.9671873511763025 Centerline is valid? [True, True] Translation: X:288.47, Y:-10.41, Z:3.34 [[ 9.99379683e-01 -3.10103162e-02 -1.66915839e-02 2.88471132e+02] [ 3.10313265e-02 9.99517911e-01 1.00115433e-03 -1.04068050e+01] [ 1.66524910e-02 -1.51849529e-03 9.99860185e-01 3.34316753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76071405700003 meters Centerline goodness [0,1] 0.968527797661656 Centerline is valid? [True, True] Translation: X:288.50, Y:-10.41, Z:3.34 [[ 9.99404696e-01 -3.05795256e-02 -1.59733086e-02 2.88502285e+02] [ 3.05987240e-02 9.99531290e-01 9.58839160e-04 -1.04075343e+01] [ 1.59365009e-02 -1.44703122e-03 9.99871959e-01 3.34405194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.790714057 meters Centerline goodness [0,1] 0.9666063262195121 Centerline is valid? [True, True] Translation: X:288.53, Y:-10.41, Z:3.34 [[ 9.99398206e-01 -3.05438229e-02 -1.64408328e-02 2.88533658e+02] [ 3.05641698e-02 9.99532319e-01 9.87680205e-04 -1.04128587e+01] [ 1.64029762e-02 -1.48958623e-03 9.99864353e-01 3.34339829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82071405700003 meters Centerline goodness [0,1] 0.9654474448730771 Centerline is valid? [True, True] Translation: X:288.57, Y:-10.42, Z:3.34 [[ 9.99398857e-01 -3.06787863e-02 -1.61473299e-02 2.88565734e+02] [ 3.06984470e-02 9.99528220e-01 9.71071246e-04 -1.04155259e+01] [ 1.61099206e-02 -1.46618544e-03 9.99869152e-01 3.34300843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.850714057 meters Centerline goodness [0,1] 0.9678833508052987 Centerline is valid? [True, True] Translation: X:288.60, Y:-10.41, Z:3.34 [[ 9.99363546e-01 -3.13386778e-02 -1.70408489e-02 2.88597411e+02] [ 3.13606843e-02 9.99507607e-01 1.02564397e-03 -1.04142127e+01] [ 1.70003157e-02 -1.55940388e-03 9.99854268e-01 3.34260909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88071405700003 meters Centerline goodness [0,1] 0.9658244172716851 Centerline is valid? [True, True] Translation: X:288.63, Y:-10.42, Z:3.34 [[ 9.99314266e-01 -3.24854927e-02 -1.77676842e-02 2.88627246e+02] [ 3.25096005e-02 9.99470851e-01 1.06961540e-03 -1.04182121e+01] [ 1.77235354e-02 -1.64650224e-03 9.99841570e-01 3.34242236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.910714057 meters Centerline goodness [0,1] 0.966652344122983 Centerline is valid? [True, True] Translation: X:288.66, Y:-10.42, Z:3.34 [[ 9.99302050e-01 -3.29518304e-02 -1.75951622e-02 2.88659513e+02] [ 3.29755582e-02 9.99455596e-01 1.06004296e-03 -1.04195583e+01] [ 1.75506529e-02 -1.63951340e-03 9.99844631e-01 3.34270346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94071405700004 meters Centerline goodness [0,1] 0.9651526362269375 Centerline is valid? [True, True] Translation: X:288.69, Y:-10.42, Z:3.34 [[ 9.99294440e-01 -3.32789312e-02 -1.74107497e-02 2.88691608e+02] [ 3.33022346e-02 9.99444775e-01 1.05015780e-03 -1.04235357e+01] [ 1.73661347e-02 -1.62923372e-03 9.99847870e-01 3.34249746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.970714057 meters Centerline goodness [0,1] 0.966295351000644 Centerline is valid? [True, True] Translation: X:288.72, Y:-10.42, Z:3.34 [[ 9.99268269e-01 -3.39347059e-02 -1.76454488e-02 2.88723203e+02] [ 3.39587581e-02 9.99422667e-01 1.06515769e-03 -1.04249741e+01] [ 1.75991157e-02 -1.66359581e-03 9.99843740e-01 3.34252137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.000714057 meters Centerline goodness [0,1] 0.9662550463072904 Centerline is valid? [True, True] Translation: X:288.76, Y:-10.43, Z:3.34 [[ 9.99249764e-01 -3.40980543e-02 -1.83638472e-02 2.88755317e+02] [ 3.41241525e-02 9.99416986e-01 1.10961159e-03 -1.04265353e+01] [ 1.83153053e-02 -1.73542984e-03 9.99830755e-01 3.34263222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.030714057 meters Centerline goodness [0,1] 0.9650880533079486 Centerline is valid? [True, True] Translation: X:288.79, Y:-10.43, Z:3.34 [[ 9.99249624e-01 -3.40711246e-02 -1.84213921e-02 2.88787193e+02] [ 3.40974060e-02 9.99417893e-01 1.11438463e-03 -1.04277835e+01] [ 1.83727005e-02 -1.74167011e-03 9.99829691e-01 3.34276369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.060714057 meters Centerline goodness [0,1] 0.9672517684045061 Centerline is valid? [True, True] Translation: X:288.82, Y:-10.43, Z:3.34 [[ 9.99276106e-01 -3.34091802e-02 -1.81959034e-02 2.88818418e+02] [ 3.34347287e-02 9.99440296e-01 1.10159655e-03 -1.04259989e+01] [ 1.81489156e-02 -1.70917420e-03 9.99833834e-01 3.34404046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.090714057 meters Centerline goodness [0,1] 0.966533276165976 Centerline is valid? [True, True] Translation: X:288.85, Y:-10.43, Z:3.34 [[ 9.99312031e-01 -3.23243563e-02 -1.81824302e-02 2.88849188e+02] [ 3.23497007e-02 9.99476005e-01 1.10142714e-03 -1.04295657e+01] [ 1.81372998e-02 -1.68886557e-03 9.99834079e-01 3.34391603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.120714057 meters Centerline goodness [0,1] 0.9682596546535789 Centerline is valid? [True, True] Translation: X:288.88, Y:-10.43, Z:3.34 [[ 9.99407310e-01 -2.94346995e-02 -1.78501360e-02 2.88879460e+02] [ 2.94586733e-02 9.99565414e-01 1.08154949e-03 -1.04274044e+01] [ 1.78105435e-02 -1.60674979e-03 9.99840089e-01 3.34467807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.150714057 meters Centerline goodness [0,1] 0.9688201844507096 Centerline is valid? [True, True] Translation: X:288.91, Y:-10.43, Z:3.35 [[ 9.99471315e-01 -2.73855305e-02 -1.75249504e-02 2.88910590e+02] [ 2.74083300e-02 9.99623757e-01 1.06206822e-03 -1.04264259e+01] [ 1.74892715e-02 -1.54183635e-03 9.99845862e-01 3.34524094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.180714057 meters Centerline goodness [0,1] 0.9688201844507096 Centerline is valid? [True, True] Translation: X:288.94, Y:-10.43, Z:3.35 [[ 9.99472278e-01 -2.73503780e-02 -1.75249195e-02 2.88941500e+02] [ 2.73731810e-02 9.99624720e-01 1.06257758e-03 -1.04283309e+01] [ 1.74892809e-02 -1.54172963e-03 9.99845862e-01 3.34542952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.210714057 meters Centerline goodness [0,1] 0.9679347696133521 Centerline is valid? [True, True] Translation: X:288.97, Y:-10.43, Z:3.35 [[ 9.99577153e-01 -2.41146553e-02 -1.62480400e-02 2.88971196e+02] [ 2.41338321e-02 9.99708251e-01 9.85185349e-04 -1.04301260e+01] [ 1.62195422e-02 -1.37689623e-03 9.99867507e-01 3.34643200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.240714057 meters Centerline goodness [0,1] 0.9688119402985075 Centerline is valid? [True, True] Translation: X:289.00, Y:-10.43, Z:3.35 [[ 9.99618735e-01 -2.23065691e-02 -1.62727552e-02 2.89001775e+02] [ 2.23255648e-02 9.99750267e-01 9.86581613e-04 -1.04289065e+01] [ 1.62466841e-02 -1.34950391e-03 9.99867103e-01 3.34733022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.270714057 meters Centerline goodness [0,1] 0.9713826906023056 Centerline is valid? [True, True] Translation: X:289.03, Y:-10.43, Z:3.35 [[ 9.99647104e-01 -2.11078474e-02 -1.61284457e-02 2.89032183e+02] [ 2.11263526e-02 9.99776336e-01 9.77832443e-04 -1.04275765e+01] [ 1.61041984e-02 -1.31822260e-03 9.99869450e-01 3.34821188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.300714057 meters Centerline goodness [0,1] 0.9703604230114385 Centerline is valid? [True, True] Translation: X:289.06, Y:-10.43, Z:3.35 [[ 9.99686838e-01 -1.92295812e-02 -1.60140582e-02 2.89062816e+02] [ 1.92475854e-02 9.99814277e-01 9.70897379e-04 -1.04277808e+01] [ 1.59924141e-02 -1.27882528e-03 9.99871295e-01 3.34806584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.330714057 meters Centerline goodness [0,1] 0.9667001819400556 Centerline is valid? [True, True] Translation: X:289.09, Y:-10.44, Z:3.35 [[ 9.99692249e-01 -1.88708010e-02 -1.61028219e-02 2.89091861e+02] [ 1.88889564e-02 9.99821111e-01 9.76104442e-04 -1.04364633e+01] [ 1.60815214e-02 -1.27996955e-03 9.99869865e-01 3.34672949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.360714057 meters Centerline goodness [0,1] 0.9668059758850939 Centerline is valid? [True, True] Translation: X:289.12, Y:-10.44, Z:3.35 [[ 9.99703027e-01 -1.82388401e-02 -1.61617311e-02 2.89120805e+02] [ 1.82570394e-02 9.99832847e-01 9.79235096e-04 -1.04388964e+01] [ 1.61411695e-02 -1.27400965e-03 9.99868911e-01 3.34694049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.390714057 meters Centerline goodness [0,1] 0.9713957440697034 Centerline is valid? [True, True] Translation: X:289.15, Y:-10.43, Z:3.35 [[ 9.99709782e-01 -1.79023933e-02 -1.61200598e-02 2.89151401e+02] [ 1.79204464e-02 9.99838939e-01 9.76153521e-04 -1.04294597e+01] [ 1.60999881e-02 -1.26474889e-03 9.99869587e-01 3.34897641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.420714057 meters Centerline goodness [0,1] 0.9659229499964129 Centerline is valid? [True, True] Translation: X:289.18, Y:-10.44, Z:3.35 [[ 9.99749930e-01 -1.57397627e-02 -1.58851082e-02 2.89179335e+02] [ 1.57570132e-02 9.99875388e-01 9.61372599e-04 -1.04399947e+01] [ 1.58679969e-02 -1.21143405e-03 9.99873362e-01 3.34888585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.450714057 meters Centerline goodness [0,1] 0.9673609774870118 Centerline is valid? [True, True] Translation: X:289.21, Y:-10.44, Z:3.35 [[ 9.99765651e-01 -1.49270890e-02 -1.56788320e-02 2.89208979e+02] [ 1.49437867e-02 9.99887886e-01 9.48355829e-04 -1.04350858e+01] [ 1.56629180e-02 -1.18243470e-03 9.99876630e-01 3.34911895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.480714057 meters Centerline goodness [0,1] 0.9686401079050051 Centerline is valid? [True, True] Translation: X:289.24, Y:-10.44, Z:3.35 [[ 9.99774694e-01 -1.38495094e-02 -1.60857626e-02 2.89237009e+02] [ 1.38669323e-02 9.99903377e-01 9.72088648e-04 -1.04380578e+01] [ 1.60707454e-02 -1.19492981e-03 9.99870143e-01 3.34914195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51071405700003 meters Centerline goodness [0,1] 0.9702581639533764 Centerline is valid? [True, True] Translation: X:289.27, Y:-10.43, Z:3.35 [[ 9.99800984e-01 -1.13822478e-02 -1.63840438e-02 2.89266793e+02] [ 1.13999808e-02 9.99934529e-01 9.89346518e-04 -1.04340665e+01] [ 1.63717101e-02 -1.17592741e-03 9.99865283e-01 3.34906352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.540714057 meters Centerline goodness [0,1] 0.9679530525502318 Centerline is valid? [True, True] Translation: X:289.29, Y:-10.44, Z:3.35 [[ 9.99814567e-01 -1.04862522e-02 -1.61514758e-02 2.89294788e+02] [ 1.05033519e-02 9.99944364e-01 9.74244436e-04 -1.04356669e+01] [ 1.61403611e-02 -1.14370841e-03 9.99869082e-01 3.34913749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57071405700003 meters Centerline goodness [0,1] 0.9687794732896423 Centerline is valid? [True, True] Translation: X:289.32, Y:-10.44, Z:3.35 [[ 9.99815181e-01 -1.03533758e-02 -1.61991294e-02 2.89324050e+02] [ 1.03705147e-02 9.99945750e-01 9.74363981e-04 -1.04357860e+01] [ 1.61881627e-02 -1.14217721e-03 9.99868311e-01 3.34961168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.600714057 meters Centerline goodness [0,1] 0.9704787234042553 Centerline is valid? [True, True] Translation: X:289.35, Y:-10.43, Z:3.35 [[ 9.99816430e-01 -1.01646816e-02 -1.62414474e-02 2.89352505e+02] [ 1.01818232e-02 9.99947690e-01 9.73076103e-04 -1.04338173e+01] [ 1.62307068e-02 -1.13826502e-03 9.99867625e-01 3.35035692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63071405700003 meters Centerline goodness [0,1] 0.96985957025113 Centerline is valid? [True, True] Translation: X:289.38, Y:-10.43, Z:3.35 [[ 9.99818809e-01 -9.03407578e-03 -1.67551535e-02 2.89381593e+02] [ 9.05212269e-03 9.99958527e-01 1.00156728e-03 -1.04338438e+01] [ 1.67454104e-02 -1.15305551e-03 9.99859121e-01 3.34998753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.660714057 meters Centerline goodness [0,1] 0.9672344737731023 Centerline is valid? [True, True] Translation: X:289.41, Y:-10.44, Z:3.35 [[ 9.99847720e-01 -6.10881271e-03 -1.63468652e-02 2.89410263e+02] [ 6.12558879e-03 9.99980762e-01 9.76382330e-04 -1.04425115e+01] [ 1.63405862e-02 -1.07636782e-03 9.99865904e-01 3.34928450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69071405700004 meters Centerline goodness [0,1] 0.9721611367535825 Centerline is valid? [True, True] Translation: X:289.44, Y:-10.43, Z:3.35 [[ 9.99860135e-01 -4.71824021e-03 -1.60451887e-02 2.89439388e+02] [ 4.73420967e-03 9.99988335e-01 9.57442900e-04 -1.04329845e+01] [ 1.60404841e-02 -1.03327028e-03 9.99870809e-01 3.35180865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.720714057 meters Centerline goodness [0,1] 0.9684322392097191 Centerline is valid? [True, True] Translation: X:289.47, Y:-10.44, Z:3.35 [[ 9.99873698e-01 -2.90321187e-03 -1.56255830e-02 2.89468315e+02] [ 2.91812432e-03 9.99995308e-01 9.31645468e-04 -1.04400748e+01] [ 1.56228049e-02 -9.77125194e-04 9.99877479e-01 3.35203435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.750714057 meters Centerline goodness [0,1] 0.9726850058117009 Centerline is valid? [True, True] Translation: X:289.50, Y:-10.43, Z:3.35 [[ 9.99883098e-01 1.20490414e-03 -1.52426541e-02 2.89499027e+02] [-1.19119302e-03 9.99998878e-01 9.08569821e-04 -1.04314037e+01] [ 1.52437317e-02 -8.90306665e-04 9.99883411e-01 3.35385056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.780714057 meters Centerline goodness [0,1] 0.9706616275407612 Centerline is valid? [True, True] Translation: X:289.53, Y:-10.44, Z:3.35 [[ 9.99882361e-01 3.33959258e-03 -1.49703311e-02 2.89527614e+02] [-3.32661056e-03 9.99994069e-01 8.92001002e-04 -1.04380456e+01] [ 1.49732212e-02 -8.42095606e-04 9.99887540e-01 3.35292930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.810714057 meters Centerline goodness [0,1] 0.9753881931154769 Centerline is valid? [True, True] Translation: X:289.56, Y:-10.43, Z:3.35 [[ 9.99858007e-01 7.43730167e-03 -1.51212520e-02 2.89557882e+02] [-7.42452935e-03 9.99972032e-01 9.00623152e-04 -1.04336193e+01] [ 1.51275273e-02 -7.88227090e-04 9.99885262e-01 3.35362452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.840714057 meters Centerline goodness [0,1] 0.974420521772864 Centerline is valid? [True, True] Translation: X:289.59, Y:-10.43, Z:3.35 [[ 9.99846185e-01 8.70256933e-03 -1.52272989e-02 2.89586836e+02] [-8.68977480e-03 9.99961833e-01 9.06200276e-04 -1.04347551e+01] [ 1.52346040e-02 -7.73739091e-04 9.99883647e-01 3.35330138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.870714057 meters Centerline goodness [0,1] 0.973796068202676 Centerline is valid? [True, True] Translation: X:289.61, Y:-10.44, Z:3.35 [[ 9.99821478e-01 1.03070309e-02 -1.58359192e-02 2.89614905e+02] [-1.02934114e-02 9.99946578e-01 9.41311134e-04 -1.04411202e+01] [ 1.58447753e-02 -7.78137459e-04 9.99874161e-01 3.35214583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.900714057 meters Centerline goodness [0,1] 0.9756993979253814 Centerline is valid? [True, True] Translation: X:289.64, Y:-10.44, Z:3.35 [[ 9.99826908e-01 9.76562956e-03 -1.58362593e-02 2.89643554e+02] [-9.75195888e-03 9.99952006e-01 9.40246205e-04 -1.04397932e+01] [ 1.58446814e-02 -7.85648906e-04 9.99874156e-01 3.35280802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.930714057 meters Centerline goodness [0,1] 0.9756003564804778 Centerline is valid? [True, True] Translation: X:289.67, Y:-10.44, Z:3.35 [[ 9.99839667e-01 8.93874215e-03 -1.55157853e-02 2.89671130e+02] [-8.92553868e-03 9.99959743e-01 9.20010921e-04 -1.04449774e+01] [ 1.55233844e-02 -7.81376670e-04 9.99879200e-01 3.35315916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.960714057 meters Centerline goodness [0,1] 0.9736326257410595 Centerline is valid? [True, True] Translation: X:289.70, Y:-10.45, Z:3.35 [[ 9.99843340e-01 8.44847184e-03 -1.55537654e-02 2.89698533e+02] [-8.43516483e-03 9.99963999e-01 9.20954824e-04 -1.04505455e+01] [ 1.55609861e-02 -7.89611972e-04 9.99878609e-01 3.35266495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.990714057 meters Centerline goodness [0,1] 0.9747541535428338 Centerline is valid? [True, True] Translation: X:289.73, Y:-10.45, Z:3.35 [[ 9.99842795e-01 7.60827551e-03 -1.60155788e-02 2.89727627e+02] [-7.59407836e-03 9.99970716e-01 9.47088777e-04 -1.04476976e+01] [ 1.60223155e-02 -8.25316330e-04 9.99871294e-01 3.35335170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.020714057 meters Centerline goodness [0,1] 0.9757444243520192 Centerline is valid? [True, True] Translation: X:289.76, Y:-10.45, Z:3.35 [[ 9.99827983e-01 7.88313247e-03 -1.67887163e-02 2.89756077e+02] [-7.86759002e-03 9.99968558e-01 9.91615454e-04 -1.04483595e+01] [ 1.67960055e-02 -8.59358142e-04 9.99858568e-01 3.35337251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.050714057 meters Centerline goodness [0,1] 0.9767811934900542 Centerline is valid? [True, True] Translation: X:289.78, Y:-10.45, Z:3.35 [[ 9.99809825e-01 8.83382547e-03 -1.73861327e-02 2.89784518e+02] [-8.81732187e-03 9.99960601e-01 1.02566735e-03 -1.04499514e+01] [ 1.73945082e-02 -8.72173162e-04 9.99848324e-01 3.35225212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.080714057 meters Centerline goodness [0,1] 0.975393487925027 Centerline is valid? [True, True] Translation: X:289.81, Y:-10.45, Z:3.35 [[ 9.99805170e-01 9.39774725e-03 -1.73581202e-02 2.89812005e+02] [-9.38140596e-03 9.99955471e-01 1.02261035e-03 -1.04528996e+01] [ 1.73669575e-02 -8.59567544e-04 9.99848814e-01 3.35217727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.110714057 meters Centerline goodness [0,1] 0.9754183218971951 Centerline is valid? [True, True] Translation: X:289.84, Y:-10.45, Z:3.35 [[ 9.99808559e-01 9.46141606e-03 -1.71267623e-02 2.89841163e+02] [-9.44553878e-03 9.99954882e-01 1.00770169e-03 -1.04546108e+01] [ 1.71355239e-02 -8.45737281e-04 9.99852818e-01 3.35229695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.140714057 meters Centerline goodness [0,1] 0.9747276793228653 Centerline is valid? [True, True] Translation: X:289.87, Y:-10.46, Z:3.35 [[ 9.99813460e-01 8.59052220e-03 -1.72987985e-02 2.89868884e+02] [-8.57421811e-03 9.99962724e-01 1.01644707e-03 -1.04590804e+01] [ 1.73068854e-02 -8.67933792e-04 9.99849848e-01 3.35240511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.170714057 meters Centerline goodness [0,1] 0.9744940927356288 Centerline is valid? [True, True] Translation: X:289.90, Y:-10.46, Z:3.35 [[ 9.99828044e-01 7.97115593e-03 -1.67434459e-02 2.89897397e+02] [-7.95581590e-03 9.99967869e-01 9.82591214e-04 -1.04620065e+01] [ 1.67507403e-02 -8.49214479e-04 9.99859336e-01 3.35287537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.200714057 meters Centerline goodness [0,1] 0.9740377719340186 Centerline is valid? [True, True] Translation: X:289.93, Y:-10.47, Z:3.35 [[ 9.99846884e-01 5.32577735e-03 -1.66687009e-02 2.89926705e+02] [-5.31022027e-03 9.99985423e-01 9.77432834e-04 -1.04658154e+01] [ 1.66736636e-02 -8.88768699e-04 9.99860590e-01 3.35453184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.230714057 meters Centerline goodness [0,1] 0.9743233199875333 Centerline is valid? [True, True] Translation: X:289.96, Y:-10.47, Z:3.35 [[ 9.99850839e-01 3.80251331e-03 -1.68475720e-02 2.89955963e+02] [-3.78641462e-03 9.99992344e-01 9.87344552e-04 -1.04699689e+01] [ 1.68511974e-02 -9.23405385e-04 9.99857582e-01 3.35484949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26071405700003 meters Centerline goodness [0,1] 0.9735844558350221 Centerline is valid? [True, True] Translation: X:289.99, Y:-10.47, Z:3.36 [[ 9.99863034e-01 1.92805965e-04 -1.65492054e-02 2.89986167e+02] [-1.76786088e-04 9.99999514e-01 9.69472367e-04 -1.04740967e+01] [ 1.65493843e-02 -9.66413913e-04 9.99862583e-01 3.35503884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.290714057 meters Centerline goodness [0,1] 0.9698707380593984 Centerline is valid? [True, True] Translation: X:290.01, Y:-10.49, Z:3.35 [[ 9.99869265e-01 -1.91306774e-03 -1.60559225e-02 2.90014367e+02] [ 1.92840726e-03 9.99997699e-01 9.39952774e-04 -1.04867623e+01] [ 1.60540873e-02 -9.70792247e-04 9.99870654e-01 3.35404812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32071405700003 meters Centerline goodness [0,1] 0.9750303491942587 Centerline is valid? [True, True] Translation: X:290.04, Y:-10.48, Z:3.36 [[ 9.99849210e-01 -6.16313474e-03 -1.62349433e-02 2.90044773e+02] [ 6.17937028e-03 9.99980456e-01 9.50061883e-04 -1.04815275e+01] [ 1.62287707e-02 -1.05024035e-03 9.99867753e-01 3.35654930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.350714057 meters Centerline goodness [0,1] 0.9718695011176107 Centerline is valid? [True, True] Translation: X:290.07, Y:-10.49, Z:3.36 [[ 9.99826233e-01 -8.42745564e-03 -1.66277272e-02 2.90072603e+02] [ 8.44478818e-03 9.99963869e-01 9.72448382e-04 -1.04938230e+01] [ 1.66189311e-02 -1.11269704e-03 9.99861277e-01 3.35530181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38071405700003 meters Centerline goodness [0,1] 0.972344765428585 Centerline is valid? [True, True] Translation: X:290.10, Y:-10.49, Z:3.36 [[ 9.99805017e-01 -9.96720476e-03 -1.70465012e-02 2.90101766e+02] [ 9.98562857e-03 9.99949646e-01 9.96020153e-04 -1.04915455e+01] [ 1.70357153e-02 -1.16604598e-03 9.99854202e-01 3.35704568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.410714057 meters Centerline goodness [0,1] 0.9737507981176248 Centerline is valid? [True, True] Translation: X:290.13, Y:-10.50, Z:3.36 [[ 9.99745196e-01 -1.42573307e-02 -1.75006134e-02 2.90131568e+02] [ 1.42773938e-02 9.99897551e-01 1.02201284e-03 -1.04961698e+01] [ 1.74842493e-02 -1.27161557e-03 9.99846330e-01 3.35691162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44071405700004 meters Centerline goodness [0,1] 0.9729819248604145 Centerline is valid? [True, True] Translation: X:290.16, Y:-10.50, Z:3.36 [[ 9.99722932e-01 -1.58401987e-02 -1.74111316e-02 2.90159416e+02] [ 1.58602792e-02 9.99873702e-01 1.01582956e-03 -1.05014037e+01] [ 1.73928416e-02 -1.29169351e-03 9.99847899e-01 3.35678982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.470714057 meters Centerline goodness [0,1] 0.9705541496180318 Centerline is valid? [True, True] Translation: X:290.19, Y:-10.51, Z:3.36 [[ 9.99688255e-01 -1.85675165e-02 -1.66924884e-02 2.90189271e+02] [ 1.85863410e-02 9.99826785e-01 9.73279623e-04 -1.05081015e+01] [ 1.66715256e-02 -1.28322849e-03 9.99860197e-01 3.35635698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.500714057 meters Centerline goodness [0,1] 0.9714718266546813 Centerline is valid? [True, True] Translation: X:290.22, Y:-10.51, Z:3.36 [[ 9.99665017e-01 -1.92428311e-02 -1.73080047e-02 2.90218213e+02] [ 1.92631583e-02 9.99813940e-01 1.00847138e-03 -1.05117495e+01] [ 1.72853785e-02 -1.34154039e-03 9.99849697e-01 3.35640208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.530714057 meters Centerline goodness [0,1] 0.9714906582894395 Centerline is valid? [True, True] Translation: X:290.25, Y:-10.51, Z:3.36 [[ 9.99628568e-01 -1.98468416e-02 -1.86769640e-02 2.90247818e+02] [ 1.98706022e-02 9.99801969e-01 1.08745360e-03 -1.05138065e+01] [ 1.86516829e-02 -1.45817221e-03 9.99824979e-01 3.35586222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.560714057 meters Centerline goodness [0,1] 0.9718688787671395 Centerline is valid? [True, True] Translation: X:290.28, Y:-10.52, Z:3.36 [[ 9.99632408e-01 -1.96250589e-02 -1.87057848e-02 2.90276806e+02] [ 1.96487930e-02 9.99806354e-01 1.08584804e-03 -1.05162123e+01] [ 1.86808527e-02 -1.45299498e-03 9.99824442e-01 3.35561196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.590714057 meters Centerline goodness [0,1] 0.9722563569335476 Centerline is valid? [True, True] Translation: X:290.31, Y:-10.52, Z:3.36 [[ 9.99642360e-01 -1.89610400e-02 -1.88581565e-02 2.90305051e+02] [ 1.89850023e-02 9.99819172e-01 1.09243059e-03 -1.05193641e+01] [ 1.88340328e-02 -1.45006204e-03 9.99821572e-01 3.35525787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.620714057 meters Centerline goodness [0,1] 0.9718529363149071 Centerline is valid? [True, True] Translation: X:290.34, Y:-10.52, Z:3.35 [[ 9.99664402e-01 -1.71178072e-02 -1.94438745e-02 2.90335093e+02] [ 1.71429230e-02 9.99852416e-01 1.12575452e-03 -1.05209105e+01] [ 1.94217345e-02 -1.45870156e-03 9.99810316e-01 3.35482899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.650714057 meters Centerline goodness [0,1] 0.9734913640754966 Centerline is valid? [True, True] Translation: X:290.36, Y:-10.52, Z:3.35 [[ 9.99685464e-01 -1.58709588e-02 -1.94186787e-02 2.90363834e+02] [ 1.58957561e-02 9.99873024e-01 1.12328788e-03 -1.05218296e+01] [ 1.93983853e-02 -1.43160915e-03 9.99810809e-01 3.35485679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.680714057 meters Centerline goodness [0,1] 0.9745728666965995 Centerline is valid? [True, True] Translation: X:290.39, Y:-10.52, Z:3.36 [[ 9.99727788e-01 -1.20564776e-02 -1.99747659e-02 2.90393974e+02] [ 1.20819484e-02 9.99926344e-01 1.15495825e-03 -1.05193957e+01] [ 1.99593699e-02 -1.39597795e-03 9.99799817e-01 3.35569530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.710714057 meters Centerline goodness [0,1] 0.9738310245378469 Centerline is valid? [True, True] Translation: X:290.42, Y:-10.52, Z:3.36 [[ 9.99746729e-01 -1.05343047e-02 -1.98873550e-02 2.90422225e+02] [ 1.05592344e-02 9.99943590e-01 1.14894925e-03 -1.05229345e+01] [ 1.98741298e-02 -1.35865350e-03 9.99801567e-01 3.35522220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.740714057 meters Centerline goodness [0,1] 0.9772538602025569 Centerline is valid? [True, True] Translation: X:290.45, Y:-10.52, Z:3.36 [[ 9.99795613e-01 -5.64135872e-03 -1.94140997e-02 2.90452182e+02] [ 5.66418332e-03 9.99983330e-01 1.12088389e-03 -1.05166087e+01] [ 1.94074528e-02 -1.23061982e-03 9.99810900e-01 3.35674606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.770714057 meters Centerline goodness [0,1] 0.9770562667743391 Centerline is valid? [True, True] Translation: X:290.48, Y:-10.51, Z:3.36 [[ 9.99813133e-01 -3.49761278e-03 -1.90122307e-02 2.90482683e+02] [ 3.51910897e-03 9.99993206e-01 1.09731205e-03 -1.05133091e+01] [ 1.90082635e-02 -1.16401311e-03 9.99818649e-01 3.35776991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.800714057 meters Centerline goodness [0,1] 0.9798352537853537 Centerline is valid? [True, True] Translation: X:290.51, Y:-10.51, Z:3.36 [[ 9.99829885e-01 5.99767445e-04 -1.84347625e-02 2.90513396e+02] [-5.80254251e-04 9.99999266e-01 1.06383053e-03 -1.05069153e+01] [ 1.84353870e-02 -1.05295271e-03 9.99829499e-01 3.36065428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.830714057 meters Centerline goodness [0,1] 0.9784035772048331 Centerline is valid? [True, True] Translation: X:290.54, Y:-10.51, Z:3.36 [[ 9.99833187e-01 2.11509000e-03 -1.81417973e-02 2.90541004e+02] [-2.09646084e-03 9.99997256e-01 1.04582122e-03 -1.05090250e+01] [ 1.81439595e-02 -1.00761320e-03 9.99834877e-01 3.36065895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.860714057 meters Centerline goodness [0,1] 0.9787492265955928 Centerline is valid? [True, True] Translation: X:290.57, Y:-10.51, Z:3.36 [[ 9.99836187e-01 3.52258969e-03 -1.77535816e-02 2.90568756e+02] [-3.50500547e-03 9.99993336e-01 1.02147919e-03 -1.05103153e+01] [ 1.77570615e-02 -9.59085458e-04 9.99841871e-01 3.36080861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.890714057 meters Centerline goodness [0,1] 0.9790313335880779 Centerline is valid? [True, True] Translation: X:290.60, Y:-10.51, Z:3.36 [[ 9.99835402e-01 2.84395754e-03 -1.79187112e-02 2.90597804e+02] [-2.82596441e-03 9.99995477e-01 1.02939426e-03 -1.05100326e+01] [ 1.79215577e-02 -9.78587185e-04 9.99838917e-01 3.36091315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.920714057 meters Centerline goodness [0,1] 0.9779054038018843 Centerline is valid? [True, True] Translation: X:290.63, Y:-10.51, Z:3.36 [[ 9.99850765e-01 6.30597365e-04 -1.72641278e-02 2.90627076e+02] [-6.13583445e-04 9.99999321e-01 9.90786253e-04 -1.05128889e+01] [ 1.72647408e-02 -9.80045410e-04 9.99850473e-01 3.36038166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.950714057 meters Centerline goodness [0,1] 0.9783157794404994 Centerline is valid? [True, True] Translation: X:290.66, Y:-10.51, Z:3.36 [[ 9.99850289e-01 -1.32243157e-03 -1.72525825e-02 2.90656204e+02] [ 1.33969226e-03 9.99998614e-01 9.88950906e-04 -1.05132503e+01] [ 1.72512508e-02 -1.01191600e-03 9.99850674e-01 3.36157197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.980714057 meters Centerline goodness [0,1] 0.9748976872561149 Centerline is valid? [True, True] Translation: X:290.68, Y:-10.52, Z:3.36 [[ 9.99864267e-01 -3.64066140e-03 -1.60683848e-02 2.90684152e+02] [ 3.65591338e-03 9.99992894e-01 9.19920067e-04 -1.05201845e+01] [ 1.60649215e-02 -9.78539827e-04 9.99870472e-01 3.36097454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01071405700003 meters Centerline goodness [0,1] 0.9732778108268888 Centerline is valid? [True, True] Translation: X:290.71, Y:-10.53, Z:3.36 [[ 9.99860395e-01 -7.41519882e-03 -1.49735074e-02 2.90712621e+02] [ 7.42885372e-03 9.99972039e-01 8.56521410e-04 -1.05258714e+01] [ 1.49667374e-02 -9.67637831e-04 9.99887524e-01 3.36226108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.040714057 meters Centerline goodness [0,1] 0.9737004656466787 Centerline is valid? [True, True] Translation: X:290.74, Y:-10.53, Z:3.36 [[ 9.99847859e-01 -9.10388897e-03 -1.48787882e-02 2.90742320e+02] [ 9.11755014e-03 9.99958073e-01 8.50588016e-04 -1.05273427e+01] [ 1.48704207e-02 -9.86116704e-04 9.99888943e-01 3.36309690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07071405700003 meters Centerline goodness [0,1] 0.9729324738957734 Centerline is valid? [True, True] Translation: X:290.77, Y:-10.53, Z:3.36 [[ 9.99817260e-01 -1.21073163e-02 -1.47938895e-02 2.90771880e+02] [ 1.21211432e-02 9.99926179e-01 8.45329078e-04 -1.05331067e+01] [ 1.47825628e-02 -1.02449346e-03 9.99890207e-01 3.36278100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.100714057 meters Centerline goodness [0,1] 0.9729324738957734 Centerline is valid? [True, True] Translation: X:290.80, Y:-10.53, Z:3.36 [[ 9.99814292e-01 -1.23498320e-02 -1.47940178e-02 2.90800142e+02] [ 1.23636523e-02 9.99923212e-01 8.43079561e-04 -1.05346616e+01] [ 1.47824699e-02 -1.02583109e-03 9.99890207e-01 3.36295344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13071405700003 meters Centerline goodness [0,1] 0.9731998861588085 Centerline is valid? [True, True] Translation: X:290.83, Y:-10.54, Z:3.36 [[ 9.99799734e-01 -1.36682509e-02 -1.46174791e-02 2.90829422e+02] [ 1.36818530e-02 9.99906054e-01 8.30934791e-04 -1.05357362e+01] [ 1.46047484e-02 -1.03076258e-03 9.99892814e-01 3.36283723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.160714057 meters Centerline goodness [0,1] 0.9722044349579034 Centerline is valid? [True, True] Translation: X:290.86, Y:-10.54, Z:3.36 [[ 9.99757423e-01 -1.52490484e-02 -1.58922133e-02 2.90859315e+02] [ 1.52653122e-02 9.99883071e-01 9.02569694e-04 -1.05373323e+01] [ 1.58765917e-02 -1.14495035e-03 9.99873303e-01 3.36239462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19071405700004 meters Centerline goodness [0,1] 0.9724707501720579 Centerline is valid? [True, True] Translation: X:290.89, Y:-10.54, Z:3.36 [[ 9.99750960e-01 -1.55300741e-02 -1.60260748e-02 2.90888343e+02] [ 1.55466372e-02 9.99878730e-01 9.09432975e-04 -1.05398552e+01] [ 1.60100078e-02 -1.15835806e-03 9.99871161e-01 3.36224678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.220714057 meters Centerline goodness [0,1] 0.972302064280115 Centerline is valid? [True, True] Translation: X:290.92, Y:-10.54, Z:3.36 [[ 9.99740070e-01 -1.54628152e-02 -1.67539421e-02 2.90917229e+02] [ 1.54808929e-02 9.99879713e-01 9.49846924e-04 -1.05427586e+01] [ 1.67372395e-02 -1.20896601e-03 9.99859192e-01 3.36208894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.250714057 meters Centerline goodness [0,1] 0.9726921160644381 Centerline is valid? [True, True] Translation: X:290.95, Y:-10.54, Z:3.36 [[ 9.99735116e-01 -1.51251053e-02 -1.73473133e-02 2.90946516e+02] [ 1.51444046e-02 9.99884835e-01 9.81689337e-04 -1.05441543e+01] [ 1.73304673e-02 -1.24414403e-03 9.99849042e-01 3.36209572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.280714057 meters Centerline goodness [0,1] 0.9707853378168897 Centerline is valid? [True, True] Translation: X:290.97, Y:-10.55, Z:3.36 [[ 9.99741724e-01 -1.39151015e-02 -1.79681861e-02 2.90974470e+02] [ 1.39355798e-02 9.99902380e-01 1.01498545e-03 -1.05459306e+01] [ 1.79523085e-02 -1.26512040e-03 9.99838044e-01 3.36263431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.310714057 meters Centerline goodness [0,1] 0.9712058732391009 Centerline is valid? [True, True] Translation: X:291.00, Y:-10.54, Z:3.36 [[ 9.99768782e-01 -1.29616044e-02 -1.71574998e-02 2.91003075e+02] [ 1.29801148e-02 9.99915286e-01 9.67927404e-04 -1.05436519e+01] [ 1.71435004e-02 -1.19040992e-03 9.99852331e-01 3.36374658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.340714057 meters Centerline goodness [0,1] 0.9725527602241564 Centerline is valid? [True, True] Translation: X:291.03, Y:-10.54, Z:3.36 [[ 9.99781451e-01 -1.22515127e-02 -1.69396414e-02 2.91031755e+02] [ 1.22694029e-02 9.99924274e-01 9.52591359e-04 -1.05433415e+01] [ 1.69266879e-02 -1.16022246e-03 9.99856060e-01 3.36448347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.370714057 meters Centerline goodness [0,1] 0.9721680384414102 Centerline is valid? [True, True] Translation: X:291.06, Y:-10.55, Z:3.36 [[ 9.99797647e-01 -1.16927517e-02 -1.63689859e-02 2.91060700e+02] [ 1.17093183e-02 9.99931023e-01 9.16593828e-04 -1.05450706e+01] [ 1.63571393e-02 -1.10807802e-03 9.99865599e-01 3.36455640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.400714057 meters Centerline goodness [0,1] 0.9727995037102432 Centerline is valid? [True, True] Translation: X:291.09, Y:-10.54, Z:3.37 [[ 9.99806074e-01 -1.15738819e-02 -1.59329766e-02 2.91089479e+02] [ 1.15895011e-02 9.99932445e-01 8.88318265e-04 -1.05427368e+01] [ 1.59216189e-02 -1.07280125e-03 9.99872667e-01 3.36585339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.430714057 meters Centerline goodness [0,1] 0.972242809668396 Centerline is valid? [True, True] Translation: X:291.12, Y:-10.54, Z:3.37 [[ 9.99800155e-01 -1.19312778e-02 -1.60404231e-02 2.91117110e+02] [ 1.19470851e-02 9.99928235e-01 8.90003401e-04 -1.05438816e+01] [ 1.60286531e-02 -1.08146184e-03 9.99870948e-01 3.36625897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.460714057 meters Centerline goodness [0,1] 0.9708120005741901 Centerline is valid? [True, True] Translation: X:291.14, Y:-10.55, Z:3.37 [[ 9.99794020e-01 -1.20722509e-02 -1.63149883e-02 2.91144888e+02] [ 1.20885733e-02 9.99926524e-01 9.02204560e-04 -1.05476355e+01] [ 1.63028979e-02 -1.09924366e-03 9.99866495e-01 3.36575400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.490714057 meters Centerline goodness [0,1] 0.9706206038566438 Centerline is valid? [True, True] Translation: X:291.17, Y:-10.55, Z:3.37 [[ 9.99776830e-01 -1.31214080e-02 -1.65565250e-02 2.91173222e+02] [ 1.31383327e-02 9.99913271e-01 9.13877557e-04 -1.05499153e+01] [ 1.65430977e-02 -1.13119874e-03 9.99862514e-01 3.36500300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.520714057 meters Centerline goodness [0,1] 0.9695740365111561 Centerline is valid? [True, True] Translation: X:291.20, Y:-10.55, Z:3.36 [[ 9.99744935e-01 -1.47089301e-02 -1.71380603e-02 2.91202999e+02] [ 1.47272811e-02 9.99891101e-01 9.45054481e-04 -1.05530800e+01] [ 1.71222932e-02 -1.19721046e-03 9.99852686e-01 3.36492526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.550714057 meters Centerline goodness [0,1] 0.9683308672617059 Centerline is valid? [True, True] Translation: X:291.23, Y:-10.56, Z:3.36 [[ 9.99723546e-01 -1.56130186e-02 -1.75802441e-02 2.91230618e+02] [ 1.56324383e-02 9.99877338e-01 9.67746262e-04 -1.05579903e+01] [ 1.75629782e-02 -1.24230081e-03 9.99844987e-01 3.36465360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.580714057 meters Centerline goodness [0,1] 0.9685539110025387 Centerline is valid? [True, True] Translation: X:291.26, Y:-10.56, Z:3.37 [[ 9.99715720e-01 -1.58194304e-02 -1.78388333e-02 2.91259007e+02] [ 1.58393947e-02 9.99874070e-01 9.78403554e-04 -1.05592609e+01] [ 1.78211090e-02 -1.26068173e-03 9.99840397e-01 3.36532365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.610714057 meters Centerline goodness [0,1] 0.967212328931285 Centerline is valid? [True, True] Translation: X:291.29, Y:-10.56, Z:3.37 [[ 9.99693626e-01 -1.70745604e-02 -1.79196157e-02 2.91287791e+02] [ 1.70948305e-02 9.99853394e-01 9.78588392e-04 -1.05612483e+01] [ 1.79002796e-02 -1.28462137e-03 9.99838952e-01 3.36632017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.640714057 meters Centerline goodness [0,1] 0.9670232368918563 Centerline is valid? [True, True] Translation: X:291.32, Y:-10.56, Z:3.37 [[ 9.99674966e-01 -1.78664025e-02 -1.81866674e-02 2.91316099e+02] [ 1.78873667e-02 9.99839517e-01 9.90693753e-04 -1.05639375e+01] [ 1.81660487e-02 -1.31568333e-03 9.99834118e-01 3.36647173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.670714057 meters Centerline goodness [0,1] 0.9680713978905169 Centerline is valid? [True, True] Translation: X:291.34, Y:-10.56, Z:3.37 [[ 9.99666759e-01 -1.82755857e-02 -1.82311321e-02 2.91344877e+02] [ 1.82966578e-02 9.99832112e-01 9.89688867e-04 -1.05638182e+01] [ 1.82099842e-02 -1.32292785e-03 9.99833309e-01 3.36618231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.700714057 meters Centerline goodness [0,1] 0.9683498948977642 Centerline is valid? [True, True] Translation: X:291.37, Y:-10.57, Z:3.37 [[ 9.99630095e-01 -1.95302852e-02 -1.89272363e-02 2.91373529e+02] [ 1.95531341e-02 9.99808296e-01 1.02287393e-03 -1.05654775e+01] [ 1.89036309e-02 -1.39258235e-03 9.99820341e-01 3.36575106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.730714057 meters Centerline goodness [0,1] 0.9691184191685361 Centerline is valid? [True, True] Translation: X:291.40, Y:-10.56, Z:3.37 [[ 9.99602706e-01 -2.05664904e-02 -1.92730282e-02 2.91402569e+02] [ 2.05902822e-02 9.99787460e-01 1.03681373e-03 -1.05644223e+01] [ 1.92476083e-02 -1.43323890e-03 9.99813720e-01 3.36686313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76071405700003 meters Centerline goodness [0,1] 0.9688082159063769 Centerline is valid? [True, True] Translation: X:291.43, Y:-10.57, Z:3.37 [[ 9.99577182e-01 -2.17271674e-02 -1.93232461e-02 2.91431204e+02] [ 2.17512514e-02 9.99762876e-01 1.03705373e-03 -1.05677964e+01] [ 1.92961319e-02 -1.45692003e-03 9.99812751e-01 3.36721156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.790714057 meters Centerline goodness [0,1] 0.9672547095291668 Centerline is valid? [True, True] Translation: X:291.46, Y:-10.57, Z:3.37 [[ 9.99529383e-01 -2.37781965e-02 -1.93806698e-02 2.91460459e+02] [ 2.38027854e-02 9.99716134e-01 1.03901002e-03 -1.05714021e+01] [ 1.93504625e-02 -1.49983497e-03 9.99811637e-01 3.36772269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82071405700003 meters Centerline goodness [0,1] 0.9675347926762312 Centerline is valid? [True, True] Translation: X:291.49, Y:-10.57, Z:3.37 [[ 9.99509469e-01 -2.46903994e-02 -1.92667165e-02 2.91490052e+02] [ 2.47148535e-02 9.99694009e-01 1.03212887e-03 -1.05726186e+01] [ 1.92353373e-02 -1.50779665e-03 9.99813847e-01 3.36824765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.850714057 meters Centerline goodness [0,1] 0.9665166818247092 Centerline is valid? [True, True] Translation: X:291.52, Y:-10.58, Z:3.37 [[ 9.99430457e-01 -2.70966163e-02 -2.01130579e-02 2.91520078e+02] [ 2.71237461e-02 9.99631503e-01 1.07724616e-03 -1.05764554e+01] [ 2.00764565e-02 -1.62217410e-03 9.99797132e-01 3.36783338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88071405700003 meters Centerline goodness [0,1] 0.968431893846854 Centerline is valid? [True, True] Translation: X:291.55, Y:-10.58, Z:3.37 [[ 9.99390693e-01 -2.82606000e-02 -2.04836910e-02 2.91551128e+02] [ 2.82889872e-02 9.99599184e-01 1.09735310e-03 -1.05774443e+01] [ 2.04444689e-02 -1.67614734e-03 9.99789585e-01 3.36782694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.910714057 meters Centerline goodness [0,1] 0.9664841863689608 Centerline is valid? [True, True] Translation: X:291.58, Y:-10.58, Z:3.37 [[ 9.99293829e-01 -3.10489301e-02 -2.11614375e-02 2.91580934e+02] [ 3.10798565e-02 9.99516261e-01 1.13405467e-03 -1.05816316e+01] [ 2.11159897e-02 -1.79094827e-03 9.99775429e-01 3.36811875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94071405700004 meters Centerline goodness [0,1] 0.9666053555645797 Centerline is valid? [True, True] Translation: X:291.61, Y:-10.58, Z:3.37 [[ 9.99278442e-01 -3.16847561e-02 -2.09445039e-02 2.91611882e+02] [ 3.17152034e-02 9.99496315e-01 1.12306173e-03 -1.05835212e+01] [ 2.08983705e-02 -1.78651058e-03 9.99780009e-01 3.36879314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.970714057 meters Centerline goodness [0,1] 0.9639377149407719 Centerline is valid? [True, True] Translation: X:291.64, Y:-10.59, Z:3.37 [[ 9.99235276e-01 -3.29249433e-02 -2.10905278e-02 2.91642343e+02] [ 3.29561008e-02 9.99456160e-01 1.13136726e-03 -1.05875775e+01] [ 2.10418077e-02 -1.82556363e-03 9.99776930e-01 3.36858304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.000714057 meters Centerline goodness [0,1] 0.9650436358433878 Centerline is valid? [True, True] Translation: X:291.67, Y:-10.59, Z:3.37 [[ 9.99203087e-01 -3.36152857e-02 -2.15221562e-02 2.91673794e+02] [ 3.36479046e-02 9.99433081e-01 1.15516083e-03 -1.05904418e+01] [ 2.14711238e-02 -1.87841572e-03 9.99767704e-01 3.36922124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.030714057 meters Centerline goodness [0,1] 0.9663423612937155 Centerline is valid? [True, True] Translation: X:291.71, Y:-10.59, Z:3.37 [[ 9.99172187e-01 -3.45105567e-02 -2.15397642e-02 2.91705270e+02] [ 3.45434517e-02 9.99402527e-01 1.15686435e-03 -1.05873773e+01] [ 2.14869708e-02 -1.89996449e-03 9.99767323e-01 3.37003005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.060714057 meters Centerline goodness [0,1] 0.964552060426427 Centerline is valid? [True, True] Translation: X:291.74, Y:-10.59, Z:3.37 [[ 9.99183326e-01 -3.48682629e-02 -2.04177648e-02 2.91735393e+02] [ 3.48979027e-02 9.99390281e-01 1.09706078e-03 -1.05904771e+01] [ 2.03670631e-02 -1.80870201e-03 9.99790934e-01 3.37084443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.090714057 meters Centerline goodness [0,1] 0.9651959375299416 Centerline is valid? [True, True] Translation: X:291.77, Y:-10.59, Z:3.37 [[ 9.99211803e-01 -3.45966191e-02 -1.94639782e-02 2.91766980e+02] [ 3.46235139e-02 9.99399879e-01 1.04638746e-03 -1.05912783e+01] [ 1.94160960e-02 -1.71947402e-03 9.99810011e-01 3.37250251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.120714057 meters Centerline goodness [0,1] 0.9637589347613015 Centerline is valid? [True, True] Translation: X:291.80, Y:-10.60, Z:3.37 [[ 9.99214525e-01 -3.44312274e-02 -1.96169270e-02 2.91797722e+02] [ 3.44585332e-02 9.99405571e-01 1.05554033e-03 -1.05951242e+01] [ 1.95689226e-02 -1.73068176e-03 9.99807012e-01 3.37198859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.150714057 meters Centerline goodness [0,1] 0.965214891476211 Centerline is valid? [True, True] Translation: X:291.83, Y:-10.60, Z:3.37 [[ 9.99204614e-01 -3.44950463e-02 -2.00057991e-02 2.91829878e+02] [ 3.45234845e-02 9.99403306e-01 1.07777194e-03 -1.05962535e+01] [ 1.99566840e-02 -1.76758459e-03 9.99799283e-01 3.37166807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.180714057 meters Centerline goodness [0,1] 0.9647919414797937 Centerline is valid? [True, True] Translation: X:291.86, Y:-10.60, Z:3.37 [[ 9.99162598e-01 -3.45881796e-02 -2.18577577e-02 2.91861631e+02] [ 3.46221845e-02 9.99399777e-01 1.17911477e-03 -1.05983451e+01] [ 2.18038548e-02 -1.93489069e-03 9.99760395e-01 3.37145387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.210714057 meters Centerline goodness [0,1] 0.962894692744117 Centerline is valid? [True, True] Translation: X:291.89, Y:-10.60, Z:3.37 [[ 9.99137447e-01 -3.42100421e-02 -2.35379693e-02 2.91892078e+02] [ 3.42493913e-02 9.99412510e-01 1.27051491e-03 -1.06024130e+01] [ 2.34806766e-02 -2.07558014e-03 9.99722136e-01 3.36996616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.240714057 meters Centerline goodness [0,1] 0.9670924442520026 Centerline is valid? [True, True] Translation: X:291.92, Y:-10.60, Z:3.37 [[ 9.99134340e-01 -3.35355523e-02 -2.46158129e-02 2.91922837e+02] [ 3.35783887e-02 9.99435204e-01 1.32880424e-03 -1.05974065e+01] [ 2.45573478e-02 -2.15421328e-03 9.99696102e-01 3.37088800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.270714057 meters Centerline goodness [0,1] 0.9656957149735195 Centerline is valid? [True, True] Translation: X:291.95, Y:-10.60, Z:3.37 [[ 9.99104264e-01 -3.33096700e-02 -2.60985763e-02 2.91953252e+02] [ 3.33577479e-02 9.99442482e-01 1.40884637e-03 -1.05978959e+01] [ 2.60370976e-02 -2.27817415e-03 9.99658381e-01 3.36980347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.300714057 meters Centerline goodness [0,1] 0.9649981908093113 Centerline is valid? [True, True] Translation: X:291.98, Y:-10.60, Z:3.37 [[ 9.99115493e-01 -3.29070735e-02 -2.61793230e-02 2.91981955e+02] [ 3.29552939e-02 9.99455829e-01 1.41250142e-03 -1.06023537e+01] [ 2.61185957e-02 -2.27399934e-03 9.99656265e-01 3.36931387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.330714057 meters Centerline goodness [0,1] 0.9617392978318935 Centerline is valid? [True, True] Translation: X:292.01, Y:-10.61, Z:3.37 [[ 9.99142523e-01 -3.25678725e-02 -2.55646652e-02 2.92011248e+02] [ 3.26137302e-02 9.99467080e-01 1.37878857e-03 -1.06083247e+01] [ 2.55061371e-02 -2.21136538e-03 9.99672220e-01 3.36864030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.360714057 meters Centerline goodness [0,1] 0.9596826698174628 Centerline is valid? [True, True] Translation: X:292.04, Y:-10.61, Z:3.37 [[ 9.99202403e-01 -3.14021454e-02 -2.46670569e-02 2.92040755e+02] [ 3.14444680e-02 9.99504616e-01 1.32965639e-03 -1.06089473e+01] [ 2.46130832e-02 -2.10423834e-03 9.99694838e-01 3.36951075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.390714057 meters Centerline goodness [0,1] 0.9681829121540313 Centerline is valid? [True, True] Translation: X:292.07, Y:-10.60, Z:3.37 [[ 9.99307526e-01 -2.91964098e-02 -2.30659594e-02 2.92071594e+02] [ 2.92328204e-02 9.99571857e-01 1.24286189e-03 -1.05987947e+01] [ 2.30197967e-02 -1.91628429e-03 9.99733173e-01 3.37423558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.420714057 meters Centerline goodness [0,1] 0.966327443254611 Centerline is valid? [True, True] Translation: X:292.10, Y:-10.60, Z:3.37 [[ 9.99333242e-01 -2.87440392e-02 -2.25133663e-02 2.92101084e+02] [ 2.87786028e-02 9.99585075e-01 1.21269454e-03 -1.06034031e+01] [ 2.24691672e-02 -1.85978919e-03 9.99745807e-01 3.37425506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.450714057 meters Centerline goodness [0,1] 0.9677020740453577 Centerline is valid? [True, True] Translation: X:292.13, Y:-10.60, Z:3.38 [[ 9.99357989e-01 -2.82592145e-02 -2.20232990e-02 2.92131545e+02] [ 2.82921701e-02 9.99598993e-01 1.18619278e-03 -1.06007420e+01] [ 2.19809467e-02 -1.80851816e-03 9.99756754e-01 3.37573987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.480714057 meters Centerline goodness [0,1] 0.9656906598322009 Centerline is valid? [True, True] Translation: X:292.16, Y:-10.60, Z:3.38 [[ 9.99371616e-01 -2.78832683e-02 -2.18837241e-02 2.92161230e+02] [ 2.79157118e-02 9.99609586e-01 1.17839883e-03 -1.06044069e+01] [ 2.18423228e-02 -1.78855808e-03 9.99759828e-01 3.37565568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51071405700003 meters Centerline goodness [0,1] 0.9677231894234727 Centerline is valid? [True, True] Translation: X:292.19, Y:-10.60, Z:3.38 [[ 9.99366537e-01 -2.79919650e-02 -2.19766686e-02 2.92192204e+02] [ 2.80247085e-02 9.99606530e-01 1.18329694e-03 -1.06040065e+01] [ 2.19348987e-02 -1.79843710e-03 9.99757784e-01 3.37614853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.540714057 meters Centerline goodness [0,1] 0.9657789163323505 Centerline is valid? [True, True] Translation: X:292.22, Y:-10.61, Z:3.37 [[ 9.99353634e-01 -2.85154777e-02 -2.18902206e-02 2.92221625e+02] [ 2.85480866e-02 9.99591726e-01 1.17854040e-03 -1.06123004e+01] [ 2.18476767e-02 -1.80270255e-03 9.99759686e-01 3.37432197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57071405700003 meters Centerline goodness [0,1] 0.9692553887932498 Centerline is valid? [True, True] Translation: X:292.25, Y:-10.61, Z:3.37 [[ 9.99327056e-01 -2.89768299e-02 -2.24895313e-02 2.92252049e+02] [ 2.90113644e-02 9.99578348e-01 1.21076623e-03 -1.06080996e+01] [ 2.24449644e-02 -1.86240344e-03 9.99746345e-01 3.37453098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.600714057 meters Centerline goodness [0,1] 0.9682682269537983 Centerline is valid? [True, True] Translation: X:292.28, Y:-10.61, Z:3.37 [[ 9.99306957e-01 -2.91607483e-02 -2.31356092e-02 2.92281833e+02] [ 2.91973382e-02 9.99572891e-01 1.24525043e-03 -1.06106735e+01] [ 2.30894153e-02 -1.91988562e-03 9.99731560e-01 3.37402088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63071405700003 meters Centerline goodness [0,1] 0.964836445761189 Centerline is valid? [True, True] Translation: X:292.31, Y:-10.62, Z:3.37 [[ 9.99291705e-01 -2.94267245e-02 -2.34554160e-02 2.92311294e+02] [ 2.94643963e-02 9.99565034e-01 1.26205330e-03 -1.06176268e+01] [ 2.34080756e-02 -1.95225907e-03 9.99724087e-01 3.37264019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.660714057 meters Centerline goodness [0,1] 0.9681028845455206 Centerline is valid? [True, True] Translation: X:292.34, Y:-10.62, Z:3.37 [[ 9.99273914e-01 -2.96965964e-02 -2.38695795e-02 2.92341389e+02] [ 2.97356773e-02 9.99556972e-01 1.28392056e-03 -1.06157118e+01] [ 2.38208766e-02 -1.99276644e-03 9.99714257e-01 3.37308874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69071405700004 meters Centerline goodness [0,1] 0.9691869938471266 Centerline is valid? [True, True] Translation: X:292.37, Y:-10.62, Z:3.37 [[ 9.99278502e-01 -2.95118927e-02 -2.39065776e-02 2.92371522e+02] [ 2.95510399e-02 9.99562446e-01 1.28580462e-03 -1.06169904e+01] [ 2.38581706e-02 -1.99134114e-03 9.99713370e-01 3.37379628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.720714057 meters Centerline goodness [0,1] 0.9718491484184915 Centerline is valid? [True, True] Translation: X:292.40, Y:-10.61, Z:3.38 [[ 9.99336292e-01 -2.85344815e-02 -2.26441655e-02 2.92402023e+02] [ 2.85693465e-02 9.99591071e-01 1.21761319e-03 -1.06139874e+01] [ 2.26001617e-02 -1.86373406e-03 9.99742847e-01 3.37534405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.750714057 meters Centerline goodness [0,1] 0.9677450860700769 Centerline is valid? [True, True] Translation: X:292.43, Y:-10.62, Z:3.37 [[ 9.99325542e-01 -2.87662257e-02 -2.28246602e-02 2.92430946e+02] [ 2.88016997e-02 9.99584392e-01 1.22691662e-03 -1.06227347e+01] [ 2.27798803e-02 -1.88347813e-03 9.99738731e-01 3.37417290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.780714057 meters Centerline goodness [0,1] 0.9704098601193387 Centerline is valid? [True, True] Translation: X:292.46, Y:-10.62, Z:3.38 [[ 9.99361212e-01 -2.84084786e-02 -2.16824189e-02 2.92461708e+02] [ 2.84404042e-02 9.99594811e-01 1.16541531e-03 -1.06163253e+01] [ 2.16405257e-02 -1.78132761e-03 9.99764229e-01 3.37666421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.810714057 meters Centerline goodness [0,1] 0.9696369152476023 Centerline is valid? [True, True] Translation: X:292.49, Y:-10.62, Z:3.38 [[ 9.99363585e-01 -2.83035897e-02 -2.17101827e-02 2.92492461e+02] [ 2.83355725e-02 9.99597786e-01 1.16690760e-03 -1.06173337e+01] [ 2.16684229e-02 -1.78133542e-03 9.99763625e-01 3.37679227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.840714057 meters Centerline goodness [0,1] 0.9686407743260088 Centerline is valid? [True, True] Translation: X:292.52, Y:-10.62, Z:3.38 [[ 9.99395279e-01 -2.78837191e-02 -2.07743833e-02 2.92523029e+02] [ 2.79129338e-02 9.99609733e-01 1.11759376e-03 -1.06212778e+01] [ 2.07351131e-02 -1.69679192e-03 9.99783565e-01 3.37720802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.870714057 meters Centerline goodness [0,1] 0.9715932785477738 Centerline is valid? [True, True] Translation: X:292.55, Y:-10.62, Z:3.38 [[ 9.99424594e-01 -2.73225476e-02 -2.00987474e-02 2.92554675e+02] [ 2.73497979e-02 9.99625339e-01 1.08214401e-03 -1.06155388e+01] [ 2.00616503e-02 -1.63121802e-03 9.99797414e-01 3.38015810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.900714057 meters Centerline goodness [0,1] 0.9694040287557966 Centerline is valid? [True, True] Translation: X:292.58, Y:-10.62, Z:3.38 [[ 9.99460846e-01 -2.67136150e-02 -1.90892462e-02 2.92584616e+02] [ 2.67380941e-02 9.99641944e-01 1.02822975e-03 -1.06215370e+01] [ 1.90549434e-02 -1.53808543e-03 9.99817255e-01 3.38159906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.930714057 meters Centerline goodness [0,1] 0.9713723561239548 Centerline is valid? [True, True] Translation: X:292.62, Y:-10.62, Z:3.38 [[ 9.99465261e-01 -2.66786172e-02 -1.89061987e-02 2.92616448e+02] [ 2.67026334e-02 9.99642902e-01 1.01893302e-03 -1.06192494e+01] [ 1.88722636e-02 -1.52323345e-03 9.99820743e-01 3.38241089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.960714057 meters Centerline goodness [0,1] 0.97123719464145 Centerline is valid? [True, True] Translation: X:292.65, Y:-10.63, Z:3.38 [[ 9.99445862e-01 -2.66053641e-02 -2.00031076e-02 2.92646750e+02] [ 2.66322435e-02 9.99644717e-01 1.07852293e-03 -1.06250428e+01] [ 1.99673063e-02 -1.61065291e-03 9.99799336e-01 3.38156561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.990714057 meters Centerline goodness [0,1] 0.97123719464145 Centerline is valid? [True, True] Translation: X:292.68, Y:-10.63, Z:3.38 [[ 9.99446779e-01 -2.65709193e-02 -2.00030760e-02 2.92677653e+02] [ 2.65978034e-02 9.99645633e-01 1.07910905e-03 -1.06267415e+01] [ 1.99673146e-02 -1.61054994e-03 9.99799336e-01 3.38175407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.020714057 meters Centerline goodness [0,1] 0.9708960750431992 Centerline is valid? [True, True] Translation: X:292.71, Y:-10.63, Z:3.38 [[ 9.99446617e-01 -2.65312952e-02 -2.00636420e-02 2.92708834e+02] [ 2.65583484e-02 9.99646678e-01 1.08307173e-03 -1.06283052e+01] [ 2.00278177e-02 -1.61532957e-03 9.99798118e-01 3.38167984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.050714057 meters Centerline goodness [0,1] 0.9732440645304741 Centerline is valid? [True, True] Translation: X:292.74, Y:-10.63, Z:3.38 [[ 9.99419681e-01 -2.69004297e-02 -2.08966126e-02 2.92740546e+02] [ 2.69298721e-02 9.99636688e-01 1.12878094e-03 -1.06259797e+01] [ 2.08586559e-02 -1.69086899e-03 9.99781005e-01 3.38163862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.080714057 meters Centerline goodness [0,1] 0.9715914700365288 Centerline is valid? [True, True] Translation: X:292.77, Y:-10.63, Z:3.38 [[ 9.99425472e-01 -2.67139608e-02 -2.08588301e-02 2.92771179e+02] [ 2.67432663e-02 9.99641699e-01 1.12721373e-03 -1.06285061e+01] [ 2.08212440e-02 -1.68439936e-03 9.99781795e-01 3.38197388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.110714057 meters Centerline goodness [0,1] 0.9693962970258027 Centerline is valid? [True, True] Translation: X:292.80, Y:-10.63, Z:3.38 [[ 9.99437830e-01 -2.63973736e-02 -2.06688983e-02 2.92800950e+02] [ 2.64260826e-02 9.99650146e-01 1.11705533e-03 -1.06324878e+01] [ 2.06321799e-02 -1.66262537e-03 9.99785751e-01 3.38250066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.140714057 meters Centerline goodness [0,1] 0.9697871816951654 Centerline is valid? [True, True] Translation: X:292.83, Y:-10.64, Z:3.38 [[ 9.99417000e-01 -2.69646818e-02 -2.09419601e-02 2.92831194e+02] [ 2.69942783e-02 9.99634947e-01 1.13181301e-03 -1.06351553e+01] [ 2.09037962e-02 -1.69646627e-03 9.99780052e-01 3.38195243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.170714057 meters Centerline goodness [0,1] 0.9683004926108374 Centerline is valid? [True, True] Translation: X:292.86, Y:-10.64, Z:3.38 [[ 9.99419704e-01 -2.70234364e-02 -2.07361904e-02 2.92860968e+02] [ 2.70524718e-02 9.99633386e-01 1.12094096e-03 -1.06410161e+01] [ 2.06982966e-02 -1.68125569e-03 9.99784354e-01 3.38114145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.200714057 meters Centerline goodness [0,1] 0.9703350223840213 Centerline is valid? [True, True] Translation: X:292.89, Y:-10.64, Z:3.38 [[ 9.99401864e-01 -2.82234179e-02 -1.99838198e-02 2.92892206e+02] [ 2.82506291e-02 9.99600287e-01 1.08061320e-03 -1.06361488e+01] [ 1.99453334e-02 -1.64452233e-03 9.99799720e-01 3.38307063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.230714057 meters Centerline goodness [0,1] 0.9672356625322363 Centerline is valid? [True, True] Translation: X:292.92, Y:-10.64, Z:3.38 [[ 9.99396441e-01 -2.85849620e-02 -1.97396431e-02 2.92922247e+02] [ 2.86115984e-02 9.99590034e-01 1.06822926e-03 -1.06435837e+01] [ 1.97010152e-02 -1.63236726e-03 9.99804584e-01 3.38338440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26071405700003 meters Centerline goodness [0,1] 0.9678791903391623 Centerline is valid? [True, True] Translation: X:292.95, Y:-10.64, Z:3.38 [[ 9.99377261e-01 -2.93132619e-02 -1.96423577e-02 2.92953740e+02] [ 2.93397914e-02 9.99568930e-01 1.06375077e-03 -1.06415535e+01] [ 1.96027084e-02 -1.63939101e-03 9.99806504e-01 3.38474095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.290714057 meters Centerline goodness [0,1] 0.9667321867321867 Centerline is valid? [True, True] Translation: X:292.98, Y:-10.65, Z:3.39 [[ 9.99356101e-01 -3.01553386e-02 -1.94432203e-02 2.92984240e+02] [ 3.01815068e-02 9.99543879e-01 1.05377737e-03 -1.06454822e+01] [ 1.94025749e-02 -1.63992453e-03 9.99810407e-01 3.38542680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32071405700003 meters Centerline goodness [0,1] 0.9660049019607844 Centerline is valid? [True, True] Translation: X:293.02, Y:-10.65, Z:3.39 [[ 9.99333726e-01 -3.07689116e-02 -1.96310284e-02 2.93015008e+02] [ 3.07957154e-02 9.99525133e-01 1.06446456e-03 -1.06489236e+01] [ 1.95889538e-02 -1.66830689e-03 9.99806726e-01 3.38544024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.350714057 meters Centerline goodness [0,1] 0.9646076060672675 Centerline is valid? [True, True] Translation: X:293.05, Y:-10.65, Z:3.39 [[ 9.99337879e-01 -3.09245189e-02 -1.91696854e-02 2.93045487e+02] [ 3.09501120e-02 9.99520390e-01 1.03977258e-03 -1.06534908e+01] [ 1.91283370e-02 -1.63238804e-03 9.99815704e-01 3.38604545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38071405700003 meters Centerline goodness [0,1] 0.9636186057868392 Centerline is valid? [True, True] Translation: X:293.08, Y:-10.65, Z:3.39 [[ 9.99368972e-01 -3.04881513e-02 -1.82244677e-02 2.93076638e+02] [ 3.05112195e-02 9.99533935e-01 9.89010590e-04 -1.06548409e+01] [ 1.81858208e-02 -1.54443723e-03 9.99833431e-01 3.38713178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.410714057 meters Centerline goodness [0,1] 0.9659218696523737 Centerline is valid? [True, True] Translation: X:293.11, Y:-10.65, Z:3.39 [[ 9.99366751e-01 -3.04838160e-02 -1.83530579e-02 2.93109096e+02] [ 3.05072295e-02 9.99534049e-01 9.97047622e-04 -1.06514024e+01] [ 1.83141125e-02 -1.55631719e-03 9.99831071e-01 3.38770882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44071405700004 meters Centerline goodness [0,1] 0.9649416909620991 Centerline is valid? [True, True] Translation: X:293.14, Y:-10.65, Z:3.39 [[ 9.99369368e-01 -2.99046303e-02 -1.91462647e-02 2.93139692e+02] [ 2.99300191e-02 9.99551455e-01 1.04080476e-03 -1.06539937e+01] [ 1.91065519e-02 -1.61319646e-03 9.99816152e-01 3.38774606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.470714057 meters Centerline goodness [0,1] 0.9683971811065863 Centerline is valid? [True, True] Translation: X:293.17, Y:-10.65, Z:3.39 [[ 9.99393565e-01 -2.88620768e-02 -1.94803208e-02 2.93171605e+02] [ 2.88881742e-02 9.99582088e-01 1.05955036e-03 -1.06489644e+01] [ 1.94415989e-02 -1.62165872e-03 9.99809679e-01 3.38877186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.500714057 meters Centerline goodness [0,1] 0.9623612635687279 Centerline is valid? [True, True] Translation: X:293.20, Y:-10.66, Z:3.39 [[ 9.99406446e-01 -2.82812496e-02 -1.96704250e-02 2.93201604e+02] [ 2.83077694e-02 9.99598681e-01 1.07102023e-03 -1.06611029e+01] [ 1.96322410e-02 -1.62721037e-03 9.99805945e-01 3.38722774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.530714057 meters Centerline goodness [0,1] 0.9674477579186072 Centerline is valid? [True, True] Translation: X:293.23, Y:-10.65, Z:3.39 [[ 9.99415828e-01 -2.76278063e-02 -2.01173174e-02 2.93233148e+02] [ 2.76554318e-02 9.99616914e-01 1.09626088e-03 -1.06531234e+01] [ 2.00793235e-02 -1.65197357e-03 9.99797025e-01 3.38812715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.560714057 meters Centerline goodness [0,1] 0.966848540946071 Centerline is valid? [True, True] Translation: X:293.26, Y:-10.66, Z:3.39 [[ 9.99418365e-01 -2.70981033e-02 -2.07032258e-02 2.93264296e+02] [ 2.71272640e-02 9.99631351e-01 1.12891803e-03 -1.06554759e+01] [ 2.06650020e-02 -1.68988329e-03 9.99785028e-01 3.38916023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.590714057 meters Centerline goodness [0,1] 0.9649640375472388 Centerline is valid? [True, True] Translation: X:293.29, Y:-10.66, Z:3.39 [[ 9.99401607e-01 -2.77491758e-02 -2.06497388e-02 2.93294317e+02] [ 2.77783335e-02 9.99613473e-01 1.12646488e-03 -1.06591163e+01] [ 2.06104986e-02 -1.69940615e-03 9.99786137e-01 3.38900204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.620714057 meters Centerline goodness [0,1] 0.9657464212678937 Centerline is valid? [True, True] Translation: X:293.32, Y:-10.66, Z:3.39 [[ 9.99363029e-01 -2.90856037e-02 -2.06776128e-02 2.93324981e+02] [ 2.91151317e-02 9.99575428e-01 1.12834217e-03 -1.06624313e+01] [ 2.06360151e-02 -1.72965487e-03 9.99785559e-01 3.38932634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.650714057 meters Centerline goodness [0,1] 0.9645081249391846 Centerline is valid? [True, True] Translation: X:293.36, Y:-10.67, Z:3.39 [[ 9.99361169e-01 -2.93591266e-02 -2.03787929e-02 2.93355315e+02] [ 2.93878706e-02 9.99567464e-01 1.11238335e-03 -1.06670530e+01] [ 2.03373198e-02 -1.71056206e-03 9.99791712e-01 3.38942576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.680714057 meters Centerline goodness [0,1] 0.9646518633691269 Centerline is valid? [True, True] Translation: X:293.39, Y:-10.67, Z:3.39 [[ 9.99333650e-01 -3.02921482e-02 -2.03627523e-02 2.93386922e+02] [ 3.03210514e-02 9.99539593e-01 1.11210507e-03 -1.06671511e+01] [ 2.03196891e-02 -1.72878408e-03 9.99792039e-01 3.38997461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.710714057 meters Centerline goodness [0,1] 0.9612363636363637 Centerline is valid? [True, True] Translation: X:293.42, Y:-10.67, Z:3.39 [[ 9.99291543e-01 -3.15312707e-02 -2.05472768e-02 2.93416767e+02] [ 3.15609697e-02 9.99501198e-01 1.12264309e-03 -1.06742776e+01] [ 2.05016294e-02 -1.77033972e-03 9.99788252e-01 3.38888940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.740714057 meters Centerline goodness [0,1] 0.961687306501548 Centerline is valid? [True, True] Translation: X:293.45, Y:-10.68, Z:3.39 [[ 9.99279625e-01 -3.17142742e-02 -2.08431391e-02 2.93447945e+02] [ 3.17448868e-02 9.99495355e-01 1.13940671e-03 -1.06782400e+01] [ 2.07964853e-02 -1.80024900e-03 9.99782109e-01 3.38847498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.770714057 meters Centerline goodness [0,1] 0.9585647365625151 Centerline is valid? [True, True] Translation: X:293.48, Y:-10.68, Z:3.39 [[ 9.99248226e-01 -3.25483157e-02 -2.10615865e-02 2.93478446e+02] [ 3.25797669e-02 9.99468475e-01 1.15180218e-03 -1.06812146e+01] [ 2.10129025e-02 -1.83711787e-03 9.99777517e-01 3.38842122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.800714057 meters Centerline goodness [0,1] 0.9629282140107776 Centerline is valid? [True, True] Translation: X:293.51, Y:-10.68, Z:3.39 [[ 9.99236513e-01 -3.28430694e-02 -2.11595099e-02 2.93509391e+02] [ 3.28748869e-02 9.99458805e-01 1.15751486e-03 -1.06794915e+01] [ 2.11100422e-02 -1.85224760e-03 9.99775442e-01 3.38943105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.830714057 meters Centerline goodness [0,1] 0.9653891608981935 Centerline is valid? [True, True] Translation: X:293.54, Y:-10.68, Z:3.39 [[ 9.99213257e-01 -3.33968234e-02 -2.13897210e-02 2.93540911e+02] [ 3.34294767e-02 9.99440393e-01 1.17074633e-03 -1.06775492e+01] [ 2.13386520e-02 -1.88487243e-03 9.99770528e-01 3.39026943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.860714057 meters Centerline goodness [0,1] 0.963122444070243 Centerline is valid? [True, True] Translation: X:293.57, Y:-10.68, Z:3.39 [[ 9.99196824e-01 -3.41293073e-02 -2.09975417e-02 2.93571332e+02] [ 3.41609440e-02 9.99415683e-01 1.14974620e-03 -1.06831443e+01] [ 2.09460324e-02 -1.86611860e-03 9.99778866e-01 3.39018905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.890714057 meters Centerline goodness [0,1] 0.9645777222008465 Centerline is valid? [True, True] Translation: X:293.60, Y:-10.68, Z:3.39 [[ 9.99185927e-01 -3.46833326e-02 -2.06045994e-02 2.93603080e+02] [ 3.47139309e-02 9.99396652e-01 1.12910519e-03 -1.06825437e+01] [ 2.05530065e-02 -1.84345265e-03 9.99787065e-01 3.39079386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.920714057 meters Centerline goodness [0,1] 0.9608291052492366 Centerline is valid? [True, True] Translation: X:293.63, Y:-10.69, Z:3.39 [[ 9.99180288e-01 -3.47188422e-02 -2.08171544e-02 2.93634288e+02] [ 3.47501059e-02 9.99395380e-01 1.14186190e-03 -1.06902431e+01] [ 2.07649239e-02 -1.86432422e-03 9.99782647e-01 3.38957312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.950714057 meters Centerline goodness [0,1] 0.9647779111644658 Centerline is valid? [True, True] Translation: X:293.67, Y:-10.69, Z:3.39 [[ 9.99200508e-01 -3.39897416e-02 -2.10485793e-02 2.93666169e+02] [ 3.40215618e-02 9.99420431e-01 1.15540601e-03 -1.06861168e+01] [ 2.09971083e-02 -1.87058781e-03 9.99777786e-01 3.39061161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.980714057 meters Centerline goodness [0,1] 0.9644949020174994 Centerline is valid? [True, True] Translation: X:293.70, Y:-10.69, Z:3.39 [[ 9.99232684e-01 -3.26740315e-02 -2.15974528e-02 2.93698183e+02] [ 3.27072507e-02 9.99464270e-01 1.18656647e-03 -1.06866732e+01] [ 2.15471125e-02 -1.89204930e-03 9.99766044e-01 3.39077938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01071405700003 meters Centerline goodness [0,1] 0.9654125921287152 Centerline is valid? [True, True] Translation: X:293.73, Y:-10.69, Z:3.39 [[ 9.99256740e-01 -3.17290106e-02 -2.18914846e-02 2.93729610e+02] [ 3.17629347e-02 9.99494706e-01 1.20359551e-03 -1.06879147e+01] [ 2.18422340e-02 -1.89803872e-03 9.99759628e-01 3.39057890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.040714057 meters Centerline goodness [0,1] 0.9621781891813711 Centerline is valid? [True, True] Translation: X:293.76, Y:-10.69, Z:3.39 [[ 9.99302499e-01 -3.05181904e-02 -2.15210559e-02 2.93759641e+02] [ 3.05507075e-02 9.99532517e-01 1.18370718e-03 -1.06923432e+01] [ 2.14748706e-02 -1.84036502e-03 9.99767695e-01 3.38930758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07071405700003 meters Centerline goodness [0,1] 0.9637125921642331 Centerline is valid? [True, True] Translation: X:293.79, Y:-10.69, Z:3.39 [[ 9.99330349e-01 -3.00654921e-02 -2.08547447e-02 2.93790296e+02] [ 3.00959306e-02 9.99546357e-01 1.14716128e-03 -1.06890358e+01] [ 2.08107941e-02 -1.77403603e-03 9.99781858e-01 3.39069945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.100714057 meters Centerline goodness [0,1] 0.9631040802546542 Centerline is valid? [True, True] Translation: X:293.82, Y:-10.69, Z:3.39 [[ 9.99351695e-01 -2.96820362e-02 -2.03756242e-02 2.93820239e+02] [ 2.97110177e-02 9.99557902e-01 1.12105177e-03 -1.06924821e+01] [ 2.03333410e-02 -1.72570552e-03 9.99791767e-01 3.39075293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13071405700003 meters Centerline goodness [0,1] 0.9596018169517735 Centerline is valid? [True, True] Translation: X:293.85, Y:-10.70, Z:3.39 [[ 9.99354135e-01 -2.96188392e-02 -2.03478942e-02 2.93850779e+02] [ 2.96477359e-02 9.99559782e-01 1.11987204e-03 -1.06986397e+01] [ 2.03057674e-02 -1.72241774e-03 9.99792333e-01 3.39006243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.160714057 meters Centerline goodness [0,1] 0.9616182572614108 Centerline is valid? [True, True] Translation: X:293.88, Y:-10.69, Z:3.39 [[ 9.99384739e-01 -2.92115758e-02 -1.94120650e-02 2.93881650e+02] [ 2.92378007e-02 9.99571913e-01 1.06846574e-03 -1.06946111e+01] [ 1.93725434e-02 -1.63537444e-03 9.99810997e-01 3.39230252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19071405700004 meters Centerline goodness [0,1] 0.9662059483320067 Centerline is valid? [True, True] Translation: X:293.91, Y:-10.69, Z:3.39 [[ 9.99404737e-01 -2.87258978e-02 -1.91048121e-02 2.93913162e+02] [ 2.87512197e-02 9.99586045e-01 1.05201625e-03 -1.06889580e+01] [ 1.90666834e-02 -1.60067667e-03 9.99816933e-01 3.39451517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.220714057 meters Centerline goodness [0,1] 0.9627174017488229 Centerline is valid? [True, True] Translation: X:293.94, Y:-10.70, Z:3.39 [[ 9.99473072e-01 -2.67871000e-02 -1.83311288e-02 2.93942452e+02] [ 2.68100921e-02 9.99640035e-01 1.00962000e-03 -1.06963188e+01] [ 1.82974855e-02 -1.50054725e-03 9.99831461e-01 3.39335112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.250714057 meters Centerline goodness [0,1] 0.9618857294199793 Centerline is valid? [True, True] Translation: X:293.97, Y:-10.70, Z:3.39 [[ 9.99509081e-01 -2.56494560e-02 -1.79917440e-02 2.93973435e+02] [ 2.56714249e-02 9.99669943e-01 9.91126273e-04 -1.06983148e+01] [ 1.79603839e-02 -1.45251342e-03 9.99837644e-01 3.39366569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.280714057 meters Centerline goodness [0,1] 0.9660873966593555 Centerline is valid? [True, True] Translation: X:294.01, Y:-10.69, Z:3.40 [[ 9.99527987e-01 -2.50308646e-02 -1.78117928e-02 2.94005416e+02] [ 2.50523078e-02 9.99685660e-01 9.81726707e-04 -1.06902090e+01] [ 1.77816203e-02 -1.42748983e-03 9.99840875e-01 3.39510597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.310714057 meters Centerline goodness [0,1] 0.9658321486229248 Centerline is valid? [True, True] Translation: X:294.04, Y:-10.69, Z:3.40 [[ 9.99609675e-01 -2.20429070e-02 -1.71641677e-02 2.94035273e+02] [ 2.20623830e-02 9.99756148e-01 9.46139557e-04 -1.06919980e+01] [ 1.71391266e-02 -1.32445270e-03 9.99852237e-01 3.39554153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.340714057 meters Centerline goodness [0,1] 0.9701557197525813 Centerline is valid? [True, True] Translation: X:294.07, Y:-10.69, Z:3.40 [[ 9.99694442e-01 -1.80785167e-02 -1.68579585e-02 2.94065906e+02] [ 1.80967424e-02 9.99835809e-01 9.29202861e-04 -1.06861093e+01] [ 1.68383919e-02 -1.23399307e-03 9.99857463e-01 3.39636339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.370714057 meters Centerline goodness [0,1] 0.9687968289263789 Centerline is valid? [True, True] Translation: X:294.10, Y:-10.69, Z:3.40 [[ 9.99720818e-01 -1.61113376e-02 -1.72832288e-02 2.94096049e+02] [ 1.61301921e-02 9.99869447e-01 9.52053518e-04 -1.06869236e+01] [ 1.72656335e-02 -1.23056952e-03 9.99850181e-01 3.39617768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.400714057 meters Centerline goodness [0,1] 0.9712461609150927 Centerline is valid? [True, True] Translation: X:294.13, Y:-10.68, Z:3.40 [[ 9.99747972e-01 -1.41700811e-02 -1.74126608e-02 2.94126003e+02] [ 1.41889134e-02 9.99898873e-01 9.58460366e-04 -1.06848731e+01] [ 1.73973184e-02 -1.20528554e-03 9.99847929e-01 3.39603772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.430714057 meters Centerline goodness [0,1] 0.9711083618368387 Centerline is valid? [True, True] Translation: X:294.16, Y:-10.69, Z:3.40 [[ 9.99782290e-01 -9.49835724e-03 -1.85783016e-02 2.94155140e+02] [ 9.51898793e-03 9.99954171e-01 1.02235452e-03 -1.06875992e+01] [ 1.85677395e-02 -1.19897857e-03 9.99826886e-01 3.39558767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.460714057 meters Centerline goodness [0,1] 0.9749884431035741 Centerline is valid? [True, True] Translation: X:294.19, Y:-10.68, Z:3.40 [[ 9.99803886e-01 -5.16419900e-03 -1.91185954e-02 2.94185814e+02] [ 5.18525679e-03 9.99986003e-01 1.05202165e-03 -1.06788274e+01] [ 1.91128950e-02 -1.15095016e-03 9.99816669e-01 3.39718888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.490714057 meters Centerline goodness [0,1] 0.9741831971995333 Centerline is valid? [True, True] Translation: X:294.21, Y:-10.68, Z:3.40 [[ 9.99813953e-01 -3.80076443e-03 -1.89106937e-02 2.94214747e+02] [ 3.82110621e-03 9.99992159e-01 1.03965920e-03 -1.06788239e+01] [ 1.89065939e-02 -1.11172554e-03 9.99820636e-01 3.39686118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.520714057 meters Centerline goodness [0,1] 0.9731336012665937 Centerline is valid? [True, True] Translation: X:294.24, Y:-10.68, Z:3.40 [[ 9.99810912e-01 -1.96891544e-03 -1.93458898e-02 2.94242426e+02] [ 1.98983189e-03 9.99997456e-01 1.06199335e-03 -1.06832954e+01] [ 1.93437497e-02 -1.10028761e-03 9.99812287e-01 3.39530305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.550714057 meters Centerline goodness [0,1] 0.9743258714344871 Centerline is valid? [True, True] Translation: X:294.27, Y:-10.68, Z:3.39 [[ 9.99810141e-01 1.29166333e-03 -1.94425626e-02 2.94272101e+02] [-1.27117094e-03 9.99998624e-01 1.06631806e-03 -1.06833402e+01] [ 1.94439132e-02 -1.04140079e-03 9.99810407e-01 3.39401012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.580714057 meters Centerline goodness [0,1] 0.9761666869745339 Centerline is valid? [True, True] Translation: X:294.30, Y:-10.68, Z:3.40 [[ 9.99805292e-01 2.93274681e-03 -1.95135208e-02 2.94301655e+02] [-2.91245063e-03 9.99995188e-01 1.06844615e-03 -1.06813517e+01] [ 1.95165604e-02 -1.01140595e-03 9.99809022e-01 3.39505003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.610714057 meters Centerline goodness [0,1] 0.9756551099801816 Centerline is valid? [True, True] Translation: X:294.33, Y:-10.68, Z:3.40 [[ 9.99790392e-01 5.50700373e-03 -1.97191354e-02 2.94331588e+02] [-5.48680024e-03 9.99984366e-01 1.07851952e-03 -1.06780932e+01] [ 1.97247666e-02 -9.70098499e-04 9.99804977e-01 3.39633169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.640714057 meters Centerline goodness [0,1] 0.9756556595703078 Centerline is valid? [True, True] Translation: X:294.36, Y:-10.68, Z:3.40 [[ 9.99784864e-01 6.71163971e-03 -1.96259828e-02 2.94358964e+02] [-6.69188517e-03 9.99977034e-01 1.07205189e-03 -1.06818096e+01] [ 1.96327273e-02 -9.40486430e-04 9.99806817e-01 3.39668516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.670714057 meters Centerline goodness [0,1] 0.9741214994379551 Centerline is valid? [True, True] Translation: X:294.39, Y:-10.68, Z:3.40 [[ 9.99785696e-01 8.27309481e-03 -1.89767879e-02 2.94388065e+02] [-8.25494358e-03 9.99965392e-01 1.03463116e-03 -1.06820844e+01] [ 1.89846907e-02 -8.77757126e-04 9.99819389e-01 3.39866299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.700714057 meters Centerline goodness [0,1] 0.974989030276437 Centerline is valid? [True, True] Translation: X:294.42, Y:-10.69, Z:3.40 [[ 9.99817879e-01 8.39864607e-03 -1.71368480e-02 2.94415785e+02] [-8.38389696e-03 9.99964420e-01 9.32328309e-04 -1.06864567e+01] [ 1.71440686e-02 -7.88484945e-04 9.99852719e-01 3.40012959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.730714057 meters Centerline goodness [0,1] 0.974947553300483 Centerline is valid? [True, True] Translation: X:294.44, Y:-10.69, Z:3.40 [[ 9.99834643e-01 7.66141778e-03 -1.64920929e-02 2.94444710e+02] [-7.64768106e-03 9.99970355e-01 8.95834698e-04 -1.06896323e+01] [ 1.64984674e-02 -7.69560299e-04 9.99863595e-01 3.40104039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76071405700003 meters Centerline goodness [0,1] 0.9723934601983383 Centerline is valid? [True, True] Translation: X:294.47, Y:-10.70, Z:3.40 [[ 9.99842962e-01 6.53030327e-03 -1.64744486e-02 2.94471818e+02] [-6.51647182e-03 9.99978369e-01 8.93112091e-04 -1.06951032e+01] [ 1.64799245e-02 -7.85616558e-04 9.99863888e-01 3.40062908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.790714057 meters Centerline goodness [0,1] 0.9715472835066576 Centerline is valid? [True, True] Translation: X:294.50, Y:-10.70, Z:3.40 [[ 9.99840810e-01 3.00461250e-03 -1.75877005e-02 2.94501480e+02] [-2.98832251e-03 9.99995081e-01 9.52422385e-04 -1.06988692e+01] [ 1.75904757e-02 -8.99713047e-04 9.99844871e-01 3.40064878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82071405700003 meters Centerline goodness [0,1] 0.9722060535506403 Centerline is valid? [True, True] Translation: X:294.53, Y:-10.70, Z:3.40 [[ 9.99833716e-01 7.47060887e-04 -1.82203586e-02 2.94531134e+02] [-7.29213217e-04 9.99999248e-01 9.86169624e-04 -1.07025135e+01] [ 1.82210816e-02 -9.72719114e-04 9.99833509e-01 3.40010990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.850714057 meters Centerline goodness [0,1] 0.9717241045966456 Centerline is valid? [True, True] Translation: X:294.56, Y:-10.71, Z:3.40 [[ 9.99806590e-01 -3.16987741e-03 -1.94096521e-02 2.94559777e+02] [ 3.19085544e-03 9.99994358e-01 1.04992998e-03 -1.07113326e+01] [ 1.94062145e-02 -1.11166031e-03 9.99811064e-01 3.39837466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88071405700003 meters Centerline goodness [0,1] 0.9697466827503016 Centerline is valid? [True, True] Translation: X:294.59, Y:-10.72, Z:3.40 [[ 9.99790024e-01 -6.80785009e-03 -1.93277090e-02 2.94588193e+02] [ 6.82931675e-03 9.99976134e-01 1.04488049e-03 -1.07194853e+01] [ 1.93201344e-02 -1.17665613e-03 9.99812656e-01 3.39861153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.910714057 meters Centerline goodness [0,1] 0.9697466827503016 Centerline is valid? [True, True] Translation: X:294.62, Y:-10.72, Z:3.40 [[ 9.99788186e-01 -7.07216288e-03 -1.93279087e-02 2.94615599e+02] [ 7.09360743e-03 9.99974298e-01 1.04117809e-03 -1.07208651e+01] [ 1.93200485e-02 -1.17806215e-03 9.99812656e-01 3.39877873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94071405700004 meters Centerline goodness [0,1] 0.9690456131905163 Centerline is valid? [True, True] Translation: X:294.64, Y:-10.73, Z:3.40 [[ 9.99776057e-01 -9.03368898e-03 -1.91371187e-02 2.94644416e+02] [ 9.05502722e-03 9.99958473e-01 1.02865840e-03 -1.07250351e+01] [ 1.91270314e-02 -1.20171517e-03 9.99816339e-01 3.39984785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.970714057 meters Centerline goodness [0,1] 0.9680015374636655 Centerline is valid? [True, True] Translation: X:294.67, Y:-10.73, Z:3.40 [[ 9.99747931e-01 -1.28724593e-02 -1.83949661e-02 2.94673177e+02] [ 1.28928110e-02 9.99916396e-01 9.88202136e-04 -1.07338609e+01] [ 1.83807076e-02 -1.22511586e-03 9.99830310e-01 3.40085803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.000714057 meters Centerline goodness [0,1] 0.9689057110003833 Centerline is valid? [True, True] Translation: X:294.70, Y:-10.73, Z:3.40 [[ 9.99718957e-01 -1.49507599e-02 -1.83978841e-02 2.94702172e+02] [ 1.49714482e-02 9.99887434e-01 9.87263980e-04 -1.07340611e+01] [ 1.83810528e-02 -1.26242948e-03 9.99830257e-01 3.40131295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.030714057 meters Centerline goodness [0,1] 0.9699343586795075 Centerline is valid? [True, True] Translation: X:294.73, Y:-10.74, Z:3.40 [[ 9.99684142e-01 -1.65255142e-02 -1.89347021e-02 2.94731841e+02] [ 1.65476913e-02 9.99862562e-01 1.01515142e-03 -1.07382758e+01] [ 1.89153239e-02 -1.32815638e-03 9.99820207e-01 3.40091374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.060714057 meters Centerline goodness [0,1] 0.9714839821864675 Centerline is valid? [True, True] Translation: X:294.76, Y:-10.74, Z:3.40 [[ 9.99610029e-01 -1.96409004e-02 -1.98500696e-02 2.94761835e+02] [ 1.96658769e-02 9.99806042e-01 1.06381843e-03 -1.07408348e+01] [ 1.98253252e-02 -1.45377259e-03 9.99802402e-01 3.40133689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.090714057 meters Centerline goodness [0,1] 0.9695868400918133 Centerline is valid? [True, True] Translation: X:294.79, Y:-10.75, Z:3.40 [[ 9.99571561e-01 -2.12029973e-02 -2.01774102e-02 2.94790373e+02] [ 2.12291047e-02 9.99774053e-01 1.08054977e-03 -1.07453830e+01] [ 2.01499403e-02 -1.50843518e-03 9.99795831e-01 3.40051499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.120714057 meters Centerline goodness [0,1] 0.971640686543649 Centerline is valid? [True, True] Translation: X:294.82, Y:-10.75, Z:3.40 [[ 9.99550223e-01 -2.21615459e-02 -2.02043933e-02 2.94819851e+02] [ 2.21879017e-02 9.99753234e-01 1.08119682e-03 -1.07489164e+01] [ 2.01754465e-02 -1.52900362e-03 9.99795286e-01 3.40029376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.150714057 meters Centerline goodness [0,1] 0.9719496765260569 Centerline is valid? [True, True] Translation: X:294.85, Y:-10.75, Z:3.40 [[ 9.99564972e-01 -2.23696580e-02 -1.92214671e-02 2.94849756e+02] [ 2.23935372e-02 9.99748705e-01 1.02794975e-03 -1.07510398e+01] [ 1.91936420e-02 -1.45793920e-03 9.99814722e-01 3.40107695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.180714057 meters Centerline goodness [0,1] 0.9719588219839014 Centerline is valid? [True, True] Translation: X:294.88, Y:-10.75, Z:3.40 [[ 9.99588458e-01 -2.18816399e-02 -1.85501361e-02 2.94880441e+02] [ 2.19037926e-02 9.99759591e-01 9.91846888e-04 -1.07501232e+01] [ 1.85239733e-02 -1.39775704e-03 9.99827439e-01 3.40260910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.210714057 meters Centerline goodness [0,1] 0.9699000643976435 Centerline is valid? [True, True] Translation: X:294.91, Y:-10.76, Z:3.40 [[ 9.99616542e-01 -2.14331605e-02 -1.75325209e-02 2.94909895e+02] [ 2.14528769e-02 9.99769421e-01 9.37238383e-04 -1.07583905e+01] [ 1.75083902e-02 -1.31300200e-03 9.99845854e-01 3.40207376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.240714057 meters Centerline goodness [0,1] 0.9724658811157054 Centerline is valid? [True, True] Translation: X:294.94, Y:-10.76, Z:3.40 [[ 9.99643641e-01 -2.09182739e-02 -1.65836334e-02 2.94940452e+02] [ 2.09358414e-02 9.99780428e-01 8.86414016e-04 -1.07551134e+01] [ 1.65614499e-02 -1.23329045e-03 9.99862089e-01 3.40396473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.270714057 meters Centerline goodness [0,1] 0.9735619522007759 Centerline is valid? [True, True] Translation: X:294.97, Y:-10.76, Z:3.40 [[ 9.99650515e-01 -2.04396760e-02 -1.67650487e-02 2.94970700e+02] [ 2.04575632e-02 9.99790321e-01 8.96110870e-04 -1.07566326e+01] [ 1.67432172e-02 -1.23876974e-03 9.99859055e-01 3.40397524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.300714057 meters Centerline goodness [0,1] 0.9735359685499916 Centerline is valid? [True, True] Translation: X:295.00, Y:-10.76, Z:3.40 [[ 9.99647359e-01 -2.01949877e-02 -1.72429550e-02 2.95000082e+02] [ 2.02138698e-02 9.99795254e-01 9.21463150e-04 -1.07616089e+01] [ 1.72208156e-02 -1.26968505e-03 9.99850905e-01 3.40337348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.330714057 meters Centerline goodness [0,1] 0.9743791598082016 Centerline is valid? [True, True] Translation: X:295.03, Y:-10.76, Z:3.40 [[ 9.99621476e-01 -2.04902998e-02 -1.83589995e-02 2.95029721e+02] [ 2.05117456e-02 9.99789131e-01 9.80574439e-04 -1.07632340e+01] [ 1.83350359e-02 -1.35677839e-03 9.99830979e-01 3.40238845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.360714057 meters Centerline goodness [0,1] 0.9733783008036739 Centerline is valid? [True, True] Translation: X:295.06, Y:-10.77, Z:3.40 [[ 9.99596763e-01 -2.12464625e-02 -1.88387438e-02 2.95059652e+02] [ 2.12691694e-02 9.99773280e-01 1.00576794e-03 -1.07655152e+01] [ 1.88131037e-02 -1.40604681e-03 9.99822029e-01 3.40203005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.390714057 meters Centerline goodness [0,1] 0.9750377308770333 Centerline is valid? [True, True] Translation: X:295.09, Y:-10.77, Z:3.40 [[ 9.99599120e-01 -2.14105435e-02 -1.85253123e-02 2.95089138e+02] [ 2.14325192e-02 9.99769808e-01 9.88504320e-04 -1.07653053e+01] [ 1.84998835e-02 -1.38515216e-03 9.99827903e-01 3.40329405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.420714057 meters Centerline goodness [0,1] 0.9727091776781218 Centerline is valid? [True, True] Translation: X:295.12, Y:-10.77, Z:3.40 [[ 9.99604679e-01 -2.10877927e-02 -1.85954634e-02 2.95118142e+02] [ 2.11098718e-02 9.99776670e-01 9.91824872e-04 -1.07697123e+01] [ 1.85703950e-02 -1.38398063e-03 9.99826597e-01 3.40226713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.450714057 meters Centerline goodness [0,1] 0.9743146988992014 Centerline is valid? [True, True] Translation: X:295.15, Y:-10.77, Z:3.40 [[ 9.99627166e-01 -2.01040485e-02 -1.84758497e-02 2.95147710e+02] [ 2.01256678e-02 9.99796973e-01 9.84928948e-04 -1.07695321e+01] [ 1.84522975e-02 -1.35640054e-03 9.99828822e-01 3.40306227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.480714057 meters Centerline goodness [0,1] 0.9737993365703572 Centerline is valid? [True, True] Translation: X:295.18, Y:-10.77, Z:3.40 [[ 9.99649093e-01 -1.82693612e-02 -1.91812888e-02 2.95176155e+02] [ 1.82923108e-02 9.99832160e-01 1.02167410e-03 -1.07688072e+01] [ 1.91594041e-02 -1.37218569e-03 9.99815500e-01 3.40183684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51071405700003 meters Centerline goodness [0,1] 0.9739477033159651 Centerline is valid? [True, True] Translation: X:295.21, Y:-10.76, Z:3.40 [[ 9.99680900e-01 -1.59642054e-02 -1.95765963e-02 2.95206385e+02] [ 1.59876607e-02 9.99871646e-01 1.04219812e-03 -1.07646342e+01] [ 1.95574457e-02 -1.35484953e-03 9.99807817e-01 3.40264842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.540714057 meters Centerline goodness [0,1] 0.9754139851037674 Centerline is valid? [True, True] Translation: X:295.24, Y:-10.76, Z:3.40 [[ 9.99706695e-01 -1.50125494e-02 -1.90038968e-02 2.95235977e+02] [ 1.50344246e-02 9.99886468e-01 1.00873323e-03 -1.07589165e+01] [ 1.89865956e-02 -1.29415002e-03 9.99818901e-01 3.40429293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57071405700003 meters Centerline goodness [0,1] 0.9749515972894482 Centerline is valid? [True, True] Translation: X:295.26, Y:-10.76, Z:3.41 [[ 9.99762796e-01 -1.19401486e-02 -1.82149502e-02 2.95264974e+02] [ 1.19597062e-02 9.99928014e-01 9.65151794e-04 -1.07593392e+01] [ 1.82021149e-02 -1.18276831e-03 9.99833628e-01 3.40531076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.600714057 meters Centerline goodness [0,1] 0.9759469374863334 Centerline is valid? [True, True] Translation: X:295.29, Y:-10.75, Z:3.41 [[ 9.99790873e-01 -1.03135066e-02 -1.76590483e-02 2.95294821e+02] [ 1.03316253e-02 9.99946190e-01 9.35102164e-04 -1.07546323e+01] [ 1.76484539e-02 -1.11735328e-03 9.99843630e-01 3.40692333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63071405700003 meters Centerline goodness [0,1] 0.9761107877376795 Centerline is valid? [True, True] Translation: X:295.33, Y:-10.75, Z:3.41 [[ 9.99856585e-01 -5.42750735e-03 -1.60421686e-02 2.95325922e+02] [ 5.44182914e-03 9.99984833e-01 8.49241360e-04 -1.07509221e+01] [ 1.60373160e-02 -9.36418307e-04 9.99870955e-01 3.40861403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.660714057 meters Centerline goodness [0,1] 0.976808634772462 Centerline is valid? [True, True] Translation: X:295.35, Y:-10.75, Z:3.41 [[ 9.99869569e-01 -2.78697201e-03 -1.59084028e-02 2.95354706e+02] [ 2.80071434e-03 9.99995724e-01 8.41627123e-04 -1.07500955e+01] [ 1.59059892e-02 -8.86072241e-04 9.99873099e-01 3.40885433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69071405700004 meters Centerline goodness [0,1] 0.9794512180223325 Centerline is valid? [True, True] Translation: X:295.39, Y:-10.74, Z:3.41 [[ 9.99861362e-01 3.85868942e-03 -1.61977579e-02 2.95385254e+02] [-3.84532154e-03 9.99992240e-01 8.56355717e-04 -1.07418282e+01] [ 1.62009366e-02 -7.93951406e-04 9.99868441e-01 3.40962581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.720714057 meters Centerline goodness [0,1] 0.9814365831557809 Centerline is valid? [True, True] Translation: X:295.42, Y:-10.74, Z:3.41 [[ 9.99831307e-01 7.00197891e-03 -1.69802811e-02 2.95415570e+02] [-6.98774631e-03 9.99975183e-01 8.97371275e-04 -1.07389090e+01] [ 1.69861430e-02 -7.78565998e-04 9.99855422e-01 3.41010162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.750714057 meters Centerline goodness [0,1] 0.9823037086125224 Centerline is valid? [True, True] Translation: X:295.45, Y:-10.74, Z:3.41 [[ 9.99770597e-01 1.33808389e-02 -1.67244238e-02 2.95446711e+02] [-1.33679270e-02 9.99910255e-01 8.83594884e-04 -1.07356790e+01] [ 1.67347461e-02 -6.59821307e-04 9.99859747e-01 3.40972851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.780714057 meters Centerline goodness [0,1] 0.9811288343558282 Centerline is valid? [True, True] Translation: X:295.48, Y:-10.74, Z:3.41 [[ 9.99728466e-01 1.65034225e-02 -1.64508593e-02 2.95476041e+02] [-1.64913590e-02 9.99863631e-01 8.68702579e-04 -1.07358044e+01] [ 1.64629524e-02 -5.97169672e-04 9.99864298e-01 3.40938989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.810714057 meters Centerline goodness [0,1] 0.9817515555446251 Centerline is valid? [True, True] Translation: X:295.51, Y:-10.73, Z:3.41 [[ 9.99658071e-01 2.05488012e-02 -1.61705994e-02 2.95505904e+02] [-2.05376827e-02 9.99788715e-01 8.53356930e-04 -1.07341163e+01] [ 1.61847183e-02 -5.20958503e-04 9.99868883e-01 3.40965144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.840714057 meters Centerline goodness [0,1] 0.9781572312628926 Centerline is valid? [True, True] Translation: X:295.53, Y:-10.75, Z:3.41 [[ 9.99555883e-01 2.57855175e-02 -1.49379833e-02 2.95533968e+02] [-2.57766233e-02 9.99667417e-01 7.87673006e-04 -1.07471490e+01] [ 1.49533257e-02 -4.02272420e-04 9.99888112e-01 3.40668920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.870714057 meters Centerline goodness [0,1] 0.9827497235532621 Centerline is valid? [True, True] Translation: X:295.56, Y:-10.74, Z:3.41 [[ 9.99588360e-01 2.34520880e-02 -1.65260226e-02 2.95564227e+02] [-2.34408946e-02 9.99724845e-01 8.70723065e-04 -1.07354509e+01] [ 1.65418956e-02 -4.82979887e-04 9.99863057e-01 3.41055446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.900714057 meters Centerline goodness [0,1] 0.9819590809249982 Centerline is valid? [True, True] Translation: X:295.59, Y:-10.74, Z:3.41 [[ 9.99577650e-01 2.35095465e-02 -1.70828370e-02 2.95592269e+02] [-2.34976167e-02 9.99723489e-01 8.98759546e-04 -1.07376598e+01] [ 1.70992429e-02 -4.96973998e-04 9.99853674e-01 3.40986879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.930714057 meters Centerline goodness [0,1] 0.9805049536593161 Centerline is valid? [True, True] Translation: X:295.62, Y:-10.74, Z:3.41 [[ 9.99606742e-01 2.28153637e-02 -1.63039749e-02 2.95620180e+02] [-2.28044583e-02 9.99739579e-01 8.54501744e-04 -1.07419197e+01] [ 1.63192248e-02 -4.82362389e-04 9.99866716e-01 3.40949633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.960714057 meters Centerline goodness [0,1] 0.982756929114545 Centerline is valid? [True, True] Translation: X:295.65, Y:-10.74, Z:3.41 [[ 9.99638090e-01 2.17607412e-02 -1.58164164e-02 2.95648793e+02] [-2.17504088e-02 9.99763091e-01 8.25013806e-04 -1.07420393e+01] [ 1.58306223e-02 -4.80701703e-04 9.99874572e-01 3.41155161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.990714057 meters Centerline goodness [0,1] 0.97848961271492 Centerline is valid? [True, True] Translation: X:295.68, Y:-10.75, Z:3.41 [[ 9.99698168e-01 1.94239430e-02 -1.50427448e-02 2.95675742e+02] [-1.94143742e-02 9.99811218e-01 7.81889879e-04 -1.07511908e+01] [ 1.50550924e-02 -4.89608401e-04 9.99886546e-01 3.41106552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.020714057 meters Centerline goodness [0,1] 0.9800449965763475 Centerline is valid? [True, True] Translation: X:295.70, Y:-10.75, Z:3.41 [[ 9.99731927e-01 1.77718081e-02 -1.48403531e-02 2.95704349e+02] [-1.77623359e-02 9.99841941e-01 7.69842430e-04 -1.07492888e+01] [ 1.48516889e-02 -5.06036720e-04 9.99889580e-01 3.41251599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.050714057 meters Centerline goodness [0,1] 0.9767644918748484 Centerline is valid? [True, True] Translation: X:295.73, Y:-10.76, Z:3.41 [[ 9.99799602e-01 1.35676684e-02 -1.47198844e-02 2.95732326e+02] [-1.35579096e-02 9.99907797e-01 7.62559141e-04 -1.07590648e+01] [ 1.47288733e-02 -5.62835463e-04 9.99891366e-01 3.41143696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.080714057 meters Centerline goodness [0,1] 0.9756683907627304 Centerline is valid? [True, True] Translation: X:295.76, Y:-10.76, Z:3.41 [[ 9.99834311e-01 1.06608252e-02 -1.47545872e-02 2.95761827e+02] [-1.06507150e-02 9.99942988e-01 7.63632473e-04 -1.07637350e+01] [ 1.47618870e-02 -6.06359044e-04 9.99890854e-01 3.41163271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.110714057 meters Centerline goodness [0,1] 0.9724261155109136 Centerline is valid? [True, True] Translation: X:295.79, Y:-10.78, Z:3.41 [[ 9.99885604e-01 5.06394914e-03 -1.42525449e-02 2.95790148e+02] [-5.05395087e-03 9.99986957e-01 7.37437968e-04 -1.07768907e+01] [ 1.42560934e-02 -6.65321946e-04 9.99898155e-01 3.41063985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.140714057 meters Centerline goodness [0,1] 0.9729736257366438 Centerline is valid? [True, True] Translation: X:295.82, Y:-10.78, Z:3.41 [[ 9.99897016e-01 1.71273072e-03 -1.42486556e-02 2.95820404e+02] [-1.70240058e-03 9.99998279e-01 7.37088440e-04 -1.07786226e+01] [ 1.42498935e-02 -7.12755612e-04 9.99898211e-01 3.41155589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.170714057 meters Centerline goodness [0,1] 0.9704829626801565 Centerline is valid? [True, True] Translation: X:295.85, Y:-10.79, Z:3.41 [[ 9.99895945e-01 -4.31870084e-03 -1.37640314e-02 2.95848942e+02] [ 4.32891274e-03 9.99990377e-01 7.12219910e-04 -1.07895847e+01] [ 1.37608231e-02 -7.71729091e-04 9.99905018e-01 3.41170521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.200714057 meters Centerline goodness [0,1] 0.9691467445982849 Centerline is valid? [True, True] Translation: X:295.88, Y:-10.80, Z:3.41 [[ 9.99884947e-01 -7.43007947e-03 -1.32244713e-02 2.95878341e+02] [ 7.43977879e-03 9.99972090e-01 6.84392396e-04 -1.07961577e+01] [ 1.32190171e-02 -7.82700796e-04 9.99912319e-01 3.41212928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.230714057 meters Centerline goodness [0,1] 0.9690802441283336 Centerline is valid? [True, True] Translation: X:295.91, Y:-10.80, Z:3.41 [[ 9.99841687e-01 -1.20859514e-02 -1.30587398e-02 2.95908392e+02] [ 1.20958030e-02 9.99926615e-01 6.75687265e-04 -1.07982587e+01] [ 1.30496151e-02 -8.33536239e-04 9.99914503e-01 3.41208934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26071405700003 meters Centerline goodness [0,1] 0.9673739990019723 Centerline is valid? [True, True] Translation: X:295.94, Y:-10.81, Z:3.41 [[ 9.99818781e-01 -1.38774621e-02 -1.30315120e-02 2.95936850e+02] [ 1.38874244e-02 9.99903338e-01 6.74292851e-04 -1.08114200e+01] [ 1.30208949e-02 -8.55144794e-04 9.99914859e-01 3.41143073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.290714057 meters Centerline goodness [0,1] 0.966797385620915 Centerline is valid? [True, True] Translation: X:295.97, Y:-10.82, Z:3.41 [[ 9.99784283e-01 -1.61248923e-02 -1.30910383e-02 2.95966682e+02] [ 1.61351363e-02 9.99869591e-01 6.77276948e-04 -1.08152752e+01] [ 1.30784101e-02 -8.88356535e-04 9.99914079e-01 3.41164858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32071405700003 meters Centerline goodness [0,1] 0.9686008122936608 Centerline is valid? [True, True] Translation: X:296.00, Y:-10.81, Z:3.41 [[ 9.99779153e-01 -1.66244810e-02 -1.28558435e-02 2.95997116e+02] [ 1.66344001e-02 9.99861418e-01 6.65008302e-04 -1.08144587e+01] [ 1.28430065e-02 -8.78710682e-04 9.99917139e-01 3.41244756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.350714057 meters Centerline goodness [0,1] 0.9667133930480648 Centerline is valid? [True, True] Translation: X:296.03, Y:-10.82, Z:3.41 [[ 9.99770734e-01 -1.67611592e-02 -1.33245423e-02 2.96027534e+02] [ 1.67718285e-02 9.99859105e-01 6.89377474e-04 -1.08196366e+01] [ 1.33111102e-02 -9.12696362e-04 9.99910987e-01 3.41134152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38071405700003 meters Centerline goodness [0,1] 0.9678223108136969 Centerline is valid? [True, True] Translation: X:296.06, Y:-10.82, Z:3.41 [[ 9.99765094e-01 -1.70492039e-02 -1.33821010e-02 2.96058330e+02] [ 1.70599927e-02 9.99854228e-01 6.92460227e-04 -1.08226215e+01] [ 1.33683443e-02 -9.20596108e-04 9.99910216e-01 3.41084575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.410714057 meters Centerline goodness [0,1] 0.9673452980539594 Centerline is valid? [True, True] Translation: X:296.09, Y:-10.83, Z:3.41 [[ 9.99765587e-01 -1.70227753e-02 -1.33789469e-02 2.96088810e+02] [ 1.70335566e-02 9.99854679e-01 6.92297021e-04 -1.08254835e+01] [ 1.33652179e-02 -9.20025788e-04 9.99910258e-01 3.41071871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44071405700004 meters Centerline goodness [0,1] 0.967025157530677 Centerline is valid? [True, True] Translation: X:296.12, Y:-10.83, Z:3.41 [[ 9.99737104e-01 -1.78709600e-02 -1.43649767e-02 2.96117972e+02] [ 1.78834743e-02 9.99839802e-01 7.43179550e-04 -1.08302574e+01] [ 1.43493942e-02 -9.99879864e-04 9.99896542e-01 3.40948441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.470714057 meters Centerline goodness [0,1] 0.969633235655544 Centerline is valid? [True, True] Translation: X:296.15, Y:-10.83, Z:3.41 [[ 9.99714848e-01 -1.89006704e-02 -1.45940838e-02 2.96148887e+02] [ 1.89136949e-02 9.99820835e-01 7.54928208e-04 -1.08258718e+01] [ 1.45772004e-02 -1.03074099e-03 9.99893216e-01 3.40972131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.500714057 meters Centerline goodness [0,1] 0.9648587971168616 Centerline is valid? [True, True] Translation: X:296.18, Y:-10.84, Z:3.41 [[ 9.99704556e-01 -1.92661730e-02 -1.48194077e-02 2.96177973e+02] [ 1.92796404e-02 9.99813837e-01 7.66430136e-04 -1.08368582e+01] [ 1.48018827e-02 -1.05191655e-03 9.99889893e-01 3.40922599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.530714057 meters Centerline goodness [0,1] 0.9684041244915335 Centerline is valid? [True, True] Translation: X:296.21, Y:-10.83, Z:3.41 [[ 9.99688813e-01 -2.01404390e-02 -1.47187254e-02 2.96209308e+02] [ 2.01538190e-02 9.99796601e-01 7.61270818e-04 -1.08289769e+01] [ 1.47003993e-02 -1.05767245e-03 9.99891384e-01 3.41038169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.560714057 meters Centerline goodness [0,1] 0.9676388428578192 Centerline is valid? [True, True] Translation: X:296.24, Y:-10.83, Z:3.41 [[ 9.99678333e-01 -2.05436035e-02 -1.48724768e-02 2.96239404e+02] [ 2.05573106e-02 9.99788380e-01 7.69332646e-04 -1.08316157e+01] [ 1.48535247e-02 -1.07482330e-03 9.99889103e-01 3.41046763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.590714057 meters Centerline goodness [0,1] 0.9604173567406425 Centerline is valid? [True, True] Translation: X:296.27, Y:-10.85, Z:3.41 [[ 9.99683068e-01 -2.09679421e-02 -1.39322731e-02 2.96269344e+02] [ 2.09800136e-02 9.99779635e-01 7.20835456e-04 -1.08463118e+01] [ 1.39140884e-02 -1.01290628e-03 9.99902681e-01 3.41078314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.620714057 meters Centerline goodness [0,1] 0.9665165413001957 Centerline is valid? [True, True] Translation: X:296.30, Y:-10.84, Z:3.41 [[ 9.99696963e-01 -2.08000759e-02 -1.31658159e-02 2.96301444e+02] [ 2.08108457e-02 9.99783199e-01 6.81530743e-04 -1.08355786e+01] [ 1.31487856e-02 -9.55315978e-04 9.99913095e-01 3.41314495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.650714057 meters Centerline goodness [0,1] 0.9665600189595924 Centerline is valid? [True, True] Translation: X:296.33, Y:-10.84, Z:3.41 [[ 9.99684968e-01 -2.19466072e-02 -1.21782737e-02 2.96333083e+02] [ 2.19559115e-02 9.99758741e-01 6.30824897e-04 -1.08362687e+01] [ 1.21614912e-02 -8.98011268e-04 9.99925643e-01 3.41410594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.680714057 meters Centerline goodness [0,1] 0.965049234784672 Centerline is valid? [True, True] Translation: X:296.36, Y:-10.84, Z:3.41 [[ 9.99669404e-01 -2.25019367e-02 -1.24396808e-02 2.96363884e+02] [ 2.25116945e-02 9.99746372e-01 6.44924076e-04 -1.08411921e+01] [ 1.24220137e-02 -9.24749161e-04 9.99922416e-01 3.41366259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.710714057 meters Centerline goodness [0,1] 0.9645339596232771 Centerline is valid? [True, True] Translation: X:296.40, Y:-10.84, Z:3.41 [[ 9.99655370e-01 -2.31290827e-02 -1.24171767e-02 2.96395567e+02] [ 2.31388601e-02 9.99732053e-01 6.44303156e-04 -1.08427679e+01] [ 1.23989474e-02 -9.31400424e-04 9.99922696e-01 3.41352372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.740714057 meters Centerline goodness [0,1] 0.9643712787911853 Centerline is valid? [True, True] Translation: X:296.43, Y:-10.85, Z:3.41 [[ 9.99626225e-01 -2.43572655e-02 -1.24150765e-02 2.96426735e+02] [ 2.43671406e-02 9.99702869e-01 6.44741218e-04 -1.08481344e+01] [ 1.23956835e-02 -9.47020143e-04 9.99922722e-01 3.41291816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.770714057 meters Centerline goodness [0,1] 0.9641492870192422 Centerline is valid? [True, True] Translation: X:296.46, Y:-10.85, Z:3.41 [[ 9.99609132e-01 -2.48966202e-02 -1.27177377e-02 2.96458346e+02] [ 2.49070346e-02 9.99689553e-01 6.61134908e-04 -1.08499937e+01] [ 1.26973295e-02 -9.77637626e-04 9.99918908e-01 3.41282480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.800714057 meters Centerline goodness [0,1] 0.9641492870192422 Centerline is valid? [True, True] Translation: X:296.49, Y:-10.85, Z:3.41 [[ 9.99610867e-01 -2.48268871e-02 -1.27176971e-02 2.96490088e+02] [ 2.48373058e-02 9.99691287e-01 6.61916125e-04 -1.08517084e+01] [ 1.26973376e-02 -9.77531883e-04 9.99918908e-01 3.41301830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.830714057 meters Centerline goodness [0,1] 0.9687321937321938 Centerline is valid? [True, True] Translation: X:296.52, Y:-10.85, Z:3.41 [[ 9.99583586e-01 -2.53479765e-02 -1.37889251e-02 2.96522274e+02] [ 2.53602878e-02 9.99678118e-01 7.18693998e-04 -1.08472807e+01] [ 1.37662692e-02 -1.06808583e-03 9.99904670e-01 3.41299493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.860714057 meters Centerline goodness [0,1] 0.9677449912376261 Centerline is valid? [True, True] Translation: X:296.55, Y:-10.85, Z:3.41 [[ 9.99591402e-01 -2.44442655e-02 -1.48157509e-02 2.96552062e+02] [ 2.44583970e-02 9.99700550e-01 7.73351667e-04 -1.08519471e+01] [ 1.47924103e-02 -1.13540520e-03 9.99889942e-01 3.41204769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.890714057 meters Centerline goodness [0,1] 0.9666365452297156 Centerline is valid? [True, True] Translation: X:296.58, Y:-10.86, Z:3.41 [[ 9.99582537e-01 -2.43170174e-02 -1.56023566e-02 2.96582059e+02] [ 2.43326843e-02 9.99703584e-01 8.15062427e-04 -1.08569388e+01] [ 1.55779120e-02 -1.19436939e-03 9.99877944e-01 3.41157137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.920714057 meters Centerline goodness [0,1] 0.9649761904761904 Centerline is valid? [True, True] Translation: X:296.61, Y:-10.86, Z:3.41 [[ 9.99583899e-01 -2.40006634e-02 -1.59999319e-02 2.96612514e+02] [ 2.40171032e-02 9.99711198e-01 8.36109350e-04 -1.08604371e+01] [ 1.59752439e-02 -1.22003346e-03 9.99871643e-01 3.41100137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.950714057 meters Centerline goodness [0,1] 0.9647904077651425 Centerline is valid? [True, True] Translation: X:296.64, Y:-10.86, Z:3.41 [[ 9.99589664e-01 -2.37654365e-02 -1.59908419e-02 2.96642408e+02] [ 2.37818320e-02 9.99716823e-01 8.35903300e-04 -1.08633830e+01] [ 1.59664481e-02 -1.21585182e-03 9.99871789e-01 3.41160865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.980714057 meters Centerline goodness [0,1] 0.968075989144408 Centerline is valid? [True, True] Translation: X:296.67, Y:-10.85, Z:3.41 [[ 9.99593918e-01 -2.39574932e-02 -1.54284507e-02 2.96674340e+02] [ 2.39727849e-02 9.99712286e-01 8.06933050e-04 -1.08546049e+01] [ 1.54046796e-02 -1.17646830e-03 9.99880649e-01 3.41307167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01071405700003 meters Centerline goodness [0,1] 0.9666238767650834 Centerline is valid? [True, True] Translation: X:296.71, Y:-10.86, Z:3.41 [[ 9.99593802e-01 -2.40713340e-02 -1.52578590e-02 2.96706118e+02] [ 2.40863107e-02 9.99709564e-01 7.98544054e-04 -1.08562727e+01] [ 1.52342056e-02 -1.16572522e-03 9.99883273e-01 3.41327573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.040714057 meters Centerline goodness [0,1] 0.9650133282559025 Centerline is valid? [True, True] Translation: X:296.74, Y:-10.86, Z:3.41 [[ 9.99559873e-01 -2.51894442e-02 -1.56701328e-02 2.96736570e+02] [ 2.52053839e-02 9.99681957e-01 8.20505668e-04 -1.08590975e+01] [ 1.56444809e-02 -1.21511625e-03 9.99876879e-01 3.41342340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07071405700003 meters Centerline goodness [0,1] 0.9634669285868289 Centerline is valid? [True, True] Translation: X:296.77, Y:-10.86, Z:3.41 [[ 9.99531609e-01 -2.63875414e-02 -1.55003590e-02 2.96767692e+02] [ 2.64032873e-02 9.99651043e-01 8.12044987e-04 -1.08614854e+01] [ 1.54735222e-02 -1.22092506e-03 9.99879532e-01 3.41325538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.100714057 meters Centerline goodness [0,1] 0.9630983963098396 Centerline is valid? [True, True] Translation: X:296.80, Y:-10.86, Z:3.41 [[ 9.99482604e-01 -2.80644820e-02 -1.57133249e-02 2.96798897e+02] [ 2.80808781e-02 9.99605315e-01 8.23745397e-04 -1.08637864e+01] [ 1.56840051e-02 -1.26456316e-03 9.99876199e-01 3.41322813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13071405700003 meters Centerline goodness [0,1] 0.9602231907658413 Centerline is valid? [True, True] Translation: X:296.83, Y:-10.87, Z:3.41 [[ 9.99392407e-01 -3.14083471e-02 -1.51106487e-02 2.96828353e+02] [ 3.14238940e-02 9.99505833e-01 7.92482294e-04 -1.08676264e+01] [ 1.50782909e-02 -1.26683621e-03 9.99885514e-01 3.41448020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.160714057 meters Centerline goodness [0,1] 0.9610541937954806 Centerline is valid? [True, True] Translation: X:296.86, Y:-10.87, Z:3.42 [[ 9.99309618e-01 -3.42139671e-02 -1.44807658e-02 2.96859711e+02] [ 3.42285412e-02 9.99413743e-01 7.59730389e-04 -1.08653710e+01] [ 1.44462830e-02 -1.25486138e-03 9.99894860e-01 3.41539679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19071405700004 meters Centerline goodness [0,1] 0.958810836729801 Centerline is valid? [True, True] Translation: X:296.89, Y:-10.87, Z:3.41 [[ 9.99256672e-01 -3.54714498e-02 -1.50957094e-02 2.96889666e+02] [ 3.54874397e-02 9.99369808e-01 7.92601841e-04 -1.08707113e+01] [ 1.50580814e-02 -1.32772075e-03 9.99885739e-01 3.41494758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.220714057 meters Centerline goodness [0,1] 0.9528927400244154 Centerline is valid? [True, True] Translation: X:296.92, Y:-10.88, Z:3.41 [[ 9.99204331e-01 -3.67589576e-02 -1.54752526e-02 2.96919061e+02] [ 3.67759199e-02 9.99323206e-01 8.12847145e-04 -1.08782927e+01] [ 1.54348996e-02 -1.38131704e-03 9.99879921e-01 3.41371337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.250714057 meters Centerline goodness [0,1] 0.9597133681637349 Centerline is valid? [True, True] Translation: X:296.95, Y:-10.87, Z:3.42 [[ 9.99159420e-01 -3.75021913e-02 -1.65541505e-02 2.96951674e+02] [ 3.75217149e-02 9.99295434e-01 8.70258955e-04 -1.08698282e+01] [ 1.65098504e-02 -1.49066755e-03 9.99862592e-01 3.41510342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.280714057 meters Centerline goodness [0,1] 0.956956261234272 Centerline is valid? [True, True] Translation: X:296.98, Y:-10.87, Z:3.41 [[ 9.99112104e-01 -3.84092884e-02 -1.73127174e-02 2.96982611e+02] [ 3.84307957e-02 9.99260849e-01 9.11181012e-04 -1.08731302e+01] [ 1.72649229e-02 -1.57571349e-03 9.99849708e-01 3.41334245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.310714057 meters Centerline goodness [0,1] 0.9584522068519096 Centerline is valid? [True, True] Translation: X:297.01, Y:-10.87, Z:3.41 [[ 9.99092007e-01 -3.86636726e-02 -1.78964292e-02 2.97014481e+02] [ 3.86867126e-02 9.99250944e-01 9.42864175e-04 -1.08708166e+01] [ 1.78465692e-02 -1.63436207e-03 9.99839402e-01 3.41344373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.340714057 meters Centerline goodness [0,1] 0.9543449069633608 Centerline is valid? [True, True] Translation: X:297.05, Y:-10.88, Z:3.41 [[ 9.99105616e-01 -3.82117776e-02 -1.81060335e-02 2.97045911e+02] [ 3.82353081e-02 9.99268307e-01 9.55080389e-04 -1.08766086e+01] [ 1.80562901e-02 -1.64651595e-03 9.99835616e-01 3.41307221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.370714057 meters Centerline goodness [0,1] 0.9591625307184504 Centerline is valid? [True, True] Translation: X:297.08, Y:-10.87, Z:3.41 [[ 9.99108391e-01 -3.80410649e-02 -1.83111935e-02 2.97078377e+02] [ 3.80651270e-02 9.99274792e-01 9.67199911e-04 -1.08714359e+01] [ 1.82611207e-02 -1.66335545e-03 9.99831868e-01 3.41396005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.400714057 meters Centerline goodness [0,1] 0.9549491167434716 Centerline is valid? [True, True] Translation: X:297.11, Y:-10.88, Z:3.41 [[ 9.99156410e-01 -3.72000956e-02 -1.73960021e-02 2.97108987e+02] [ 3.72216997e-02 9.99306609e-01 9.19666661e-04 -1.08754431e+01] [ 1.73497281e-02 -1.56639961e-03 9.99848255e-01 3.41364684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.430714057 meters Centerline goodness [0,1] 0.5619297641590635 Centerline is valid? [True, False] Translation: X:297.17, Y:-10.87, Z:3.42 [[ 9.99141590e-01 -3.80437425e-02 -1.63938253e-02 2.97166068e+02] [ 3.79455447e-02 9.99260200e-01 -6.26003389e-03 -1.08739642e+01] [ 1.66198522e-02 5.63258758e-03 9.99846015e-01 3.41610545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.460714057 meters Centerline goodness [0,1] 0.9541331010958706 Centerline is valid? [False, True] Translation: X:297.07, Y:-10.87, Z:3.41 [[ 9.99373631e-01 -3.29176224e-02 -1.29913736e-02 2.97070614e+02] [ 3.28946862e-02 9.99456871e-01 -1.97529848e-03 -1.08720322e+01] [ 1.30493397e-02 1.54671406e-03 9.99913657e-01 3.41019687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.490714057 meters Centerline goodness [0,1] 0.9567174598589345 Centerline is valid? [True, True] Translation: X:297.10, Y:-10.87, Z:3.41 [[ 9.99384588e-01 -3.26114690e-02 -1.29204522e-02 2.97102976e+02] [ 3.26236241e-02 9.99467441e-01 7.31064751e-04 -1.08695924e+01] [ 1.28897302e-02 -1.15212682e-03 9.99916260e-01 3.40965385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.520714057 meters Centerline goodness [0,1] 0.9586924939467313 Centerline is valid? [True, True] Translation: X:297.14, Y:-10.87, Z:3.41 [[ 9.99401292e-01 -3.18347930e-02 -1.35500249e-02 2.97135373e+02] [ 3.18481038e-02 9.99492426e-01 7.67645393e-04 -1.08654157e+01] [ 1.35187094e-02 -1.19872840e-03 9.99907900e-01 3.41021337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.550714057 meters Centerline goodness [0,1] 0.9581469571314587 Centerline is valid? [True, True] Translation: X:297.17, Y:-10.87, Z:3.41 [[ 9.99422287e-01 -3.14588757e-02 -1.28620477e-02 2.97167875e+02] [ 3.14708496e-02 9.99504404e-01 7.29564752e-04 -1.08674627e+01] [ 1.28327220e-02 -1.13392284e-03 9.99917014e-01 3.40995775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.580714057 meters Centerline goodness [0,1] 0.959775672017018 Centerline is valid? [True, True] Translation: X:297.20, Y:-10.87, Z:3.41 [[ 9.99431066e-01 -3.11513639e-02 -1.29281542e-02 2.97200561e+02] [ 3.11634475e-02 9.99514032e-01 7.34231512e-04 -1.08652187e+01] [ 1.28989992e-02 -1.13669964e-03 9.99916158e-01 3.41099458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.610714057 meters Centerline goodness [0,1] 0.9578817196479232 Centerline is valid? [True, True] Translation: X:297.23, Y:-10.87, Z:3.41 [[ 9.99440761e-01 -3.08710359e-02 -1.28508736e-02 2.97231652e+02] [ 3.08829616e-02 9.99522741e-01 7.30552069e-04 -1.08678437e+01] [ 1.28221875e-02 -1.12701655e-03 9.99917157e-01 3.41108160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.640714057 meters Centerline goodness [0,1] 0.9570985860933565 Centerline is valid? [True, True] Translation: X:297.26, Y:-10.87, Z:3.41 [[ 9.99468683e-01 -3.00186725e-02 -1.26976765e-02 2.97264321e+02] [ 3.00302605e-02 9.99548729e-01 7.22890182e-04 -1.08689096e+01] [ 1.26702462e-02 -1.10382063e-03 9.99919120e-01 3.41069392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.670714057 meters Centerline goodness [0,1] 0.9581507926903062 Centerline is valid? [True, True] Translation: X:297.30, Y:-10.87, Z:3.41 [[ 9.99481974e-01 -2.94804080e-02 -1.29107788e-02 2.97296423e+02] [ 2.94923558e-02 9.99564735e-01 7.35959294e-04 -1.08693598e+01] [ 1.28834629e-02 -1.11634733e-03 9.99916382e-01 3.41050496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.700714057 meters Centerline goodness [0,1] 0.9576987336255115 Centerline is valid? [True, True] Translation: X:297.33, Y:-10.87, Z:3.41 [[ 9.99501188e-01 -2.89142935e-02 -1.27019170e-02 2.97328421e+02] [ 2.89258236e-02 9.99581298e-01 7.24933189e-04 -1.08716452e+01] [ 1.26756378e-02 -1.09198500e-03 9.99919065e-01 3.40991150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.730714057 meters Centerline goodness [0,1] 0.9567844317189168 Centerline is valid? [True, True] Translation: X:297.36, Y:-10.87, Z:3.41 [[ 9.99540031e-01 -2.71205564e-02 -1.35721204e-02 2.97358813e+02] [ 2.71335744e-02 9.99631516e-01 7.75914971e-04 -1.08716133e+01] [ 1.35460760e-02 -1.14381821e-03 9.99907593e-01 3.40919006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76071405700003 meters Centerline goodness [0,1] 0.9584353856973107 Centerline is valid? [True, True] Translation: X:297.39, Y:-10.87, Z:3.41 [[ 9.99590054e-01 -2.52226831e-02 -1.35476699e-02 2.97389596e+02] [ 2.52354861e-02 9.99681234e-01 7.74894638e-04 -1.08704205e+01] [ 1.35238064e-02 -1.11645901e-03 9.99907926e-01 3.40903495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.790714057 meters Centerline goodness [0,1] 0.9583424527613628 Centerline is valid? [True, True] Translation: X:297.42, Y:-10.87, Z:3.41 [[ 9.99596092e-01 -2.45715453e-02 -1.42790748e-02 2.97420516e+02] [ 2.45857087e-02 9.99697392e-01 8.17185021e-04 -1.08714877e+01] [ 1.42546743e-02 -1.16791613e-03 9.99897715e-01 3.40899625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82071405700003 meters Centerline goodness [0,1] 0.962698741204256 Centerline is valid? [True, True] Translation: X:297.45, Y:-10.86, Z:3.41 [[ 9.99630862e-01 -2.30008159e-02 -1.44603697e-02 2.97452653e+02] [ 2.30151855e-02 9.99734773e-01 8.28076104e-04 -1.08617881e+01] [ 1.44374880e-02 -1.16057852e-03 9.99895100e-01 3.40979726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.850714057 meters Centerline goodness [0,1] 0.9575096402596769 Centerline is valid? [True, True] Translation: X:297.48, Y:-10.87, Z:3.41 [[ 9.99640192e-01 -2.26580466e-02 -1.43561629e-02 2.97482890e+02] [ 2.26721852e-02 9.99742614e-01 8.22842161e-04 -1.08734216e+01] [ 1.43338238e-02 -1.14803168e-03 9.99896606e-01 3.40827405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88071405700003 meters Centerline goodness [0,1] 0.9640683434773044 Centerline is valid? [True, True] Translation: X:297.51, Y:-10.86, Z:3.41 [[ 9.99655951e-01 -2.18631865e-02 -1.44907378e-02 2.97514669e+02] [ 2.18775164e-02 9.99760313e-01 8.31102081e-04 -1.08635270e+01] [ 1.44690941e-02 -1.14783750e-03 9.99894658e-01 3.40972107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.910714057 meters Centerline goodness [0,1] 0.9647778729653653 Centerline is valid? [True, True] Translation: X:297.54, Y:-10.86, Z:3.41 [[ 9.99682872e-01 -2.08328142e-02 -1.41474465e-02 2.97544632e+02] [ 2.08463745e-02 9.99782361e-01 8.11691472e-04 -1.08649118e+01] [ 1.41274577e-02 -1.10635703e-03 9.99899590e-01 3.40871898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94071405700004 meters Centerline goodness [0,1] 0.9650028124923573 Centerline is valid? [True, True] Translation: X:297.58, Y:-10.87, Z:3.41 [[ 9.99711637e-01 -1.96508757e-02 -1.38016615e-02 2.97575851e+02] [ 1.96636755e-02 9.99806337e-01 7.92304430e-04 -1.08659837e+01] [ 1.37834191e-02 -1.06346735e-03 9.99904439e-01 3.40843821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.970714057 meters Centerline goodness [0,1] 0.9659863945578231 Centerline is valid? [True, True] Translation: X:297.61, Y:-10.87, Z:3.41 [[ 9.99734670e-01 -1.87194868e-02 -1.34227716e-02 2.97607367e+02] [ 1.87315162e-02 9.99824252e-01 7.71022625e-04 -1.08658655e+01] [ 1.34059795e-02 -1.02224691e-03 9.99909613e-01 3.40898457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.000714057 meters Centerline goodness [0,1] 0.9658172167203205 Centerline is valid? [True, True] Translation: X:297.64, Y:-10.86, Z:3.41 [[ 9.99789422e-01 -1.67612680e-02 -1.18394333e-02 2.97637806e+02] [ 1.67704908e-02 9.99859134e-01 6.80126661e-04 -1.08649713e+01] [ 1.18263657e-02 -8.78536548e-04 9.99929680e-01 3.41053181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.030714057 meters Centerline goodness [0,1] 0.8230866322432587 Centerline is valid? [True, False] Translation: X:297.69, Y:-10.86, Z:3.41 [[ 9.99779765e-01 -1.76145695e-02 -1.14082629e-02 2.97687589e+02] [ 1.75767304e-02 9.99839707e-01 -3.40864079e-03 -1.08643968e+01] [ 1.14664760e-02 3.20737012e-03 9.99929114e-01 3.41405428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.060714057 meters Centerline goodness [0,1] 0.9650693692807242 Centerline is valid? [False, True] Translation: X:297.61, Y:-10.86, Z:3.41 [[ 9.99859305e-01 -1.34011331e-02 -1.00886318e-02 2.97613466e+02] [ 1.34023691e-02 9.99910183e-01 5.49086496e-05 -1.08635313e+01] [ 1.00869899e-02 -1.90112491e-04 9.99949107e-01 3.41089231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.090714057 meters Centerline goodness [0,1] 0.9649338816518506 Centerline is valid? [True, True] Translation: X:297.64, Y:-10.86, Z:3.41 [[ 9.99889615e-01 -1.18525774e-02 -8.95961055e-03 2.97644016e+02] [ 1.18578120e-02 9.99929553e-01 5.31344026e-04 -1.08647063e+01] [ 8.95268157e-03 -6.37526751e-04 9.99959721e-01 3.41119919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.120714057 meters Centerline goodness [0,1] 0.9632083138375157 Centerline is valid? [True, True] Translation: X:297.67, Y:-10.87, Z:3.41 [[ 9.99909402e-01 -1.04472209e-02 -8.48785686e-03 2.97674058e+02] [ 1.04518694e-02 9.99945251e-01 5.03488341e-04 -1.08678540e+01] [ 8.48213210e-03 -5.92156697e-04 9.99963851e-01 3.41119004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.150714057 meters Centerline goodness [0,1] 0.9683481944923396 Centerline is valid? [True, True] Translation: X:297.71, Y:-10.86, Z:3.41 [[ 9.99914564e-01 -9.89581953e-03 -8.54032382e-03 2.97705094e+02] [ 9.90050585e-03 9.99950860e-01 5.06624311e-04 -1.08631055e+01] [ 8.53489069e-03 -5.91134553e-04 9.99963402e-01 3.41178455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.180714057 meters Centerline goodness [0,1] 0.9653327415735878 Centerline is valid? [True, True] Translation: X:297.74, Y:-10.87, Z:3.41 [[ 9.99912861e-01 -9.65385610e-03 -9.00406722e-03 2.97735070e+02] [ 9.65905964e-03 9.99953207e-01 5.34601648e-04 -1.08659941e+01] [ 8.99848493e-03 -6.21525886e-04 9.99959320e-01 3.41131397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.210714057 meters Centerline goodness [0,1] 0.9634617752062046 Centerline is valid? [True, True] Translation: X:297.76, Y:-10.87, Z:3.41 [[ 9.99922502e-01 -8.52939193e-03 -9.06860139e-03 2.97763752e+02] [ 8.53462387e-03 9.99963434e-01 5.38386133e-04 -1.08748358e+01] [ 9.06367769e-03 -6.15741511e-04 9.99958734e-01 3.41043113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.240714057 meters Centerline goodness [0,1] 0.9664929445892129 Centerline is valid? [True, True] Translation: X:297.79, Y:-10.87, Z:3.41 [[ 9.99917591e-01 -8.29998085e-03 -9.79394380e-03 2.97793339e+02] [ 8.30606925e-03 9.99965335e-01 5.81136948e-04 -1.08718237e+01] [ 9.78878087e-03 -6.62438233e-04 9.99951869e-01 3.41088915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.270714057 meters Centerline goodness [0,1] 0.9694270344963727 Centerline is valid? [True, True] Translation: X:297.82, Y:-10.87, Z:3.41 [[ 9.99896603e-01 -9.32747533e-03 -1.09444834e-02 2.97823677e+02] [ 9.33513712e-03 9.99956216e-01 6.49182346e-04 -1.08687726e+01] [ 1.09379490e-02 -7.51283476e-04 9.99939897e-01 3.41032405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.300714057 meters Centerline goodness [0,1] 0.9659390150862599 Centerline is valid? [True, True] Translation: X:297.85, Y:-10.88, Z:3.41 [[ 9.99885143e-01 -1.02809157e-02 -1.11357051e-02 2.97852126e+02] [ 1.02889004e-02 9.99946850e-01 6.59977410e-04 -1.08769581e+01] [ 1.11283281e-02 -7.74475767e-04 9.99937778e-01 3.40914465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.330714057 meters Centerline goodness [0,1] 0.9668748770411174 Centerline is valid? [True, True] Translation: X:297.88, Y:-10.88, Z:3.41 [[ 9.99875650e-01 -1.09082794e-02 -1.13883047e-02 2.97881840e+02] [ 1.09166660e-02 9.99940184e-01 6.74519427e-04 -1.08771801e+01] [ 1.13802656e-02 -7.98757869e-04 9.99934924e-01 3.40991447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.360714057 meters Centerline goodness [0,1] 0.9650451070524323 Centerline is valid? [True, True] Translation: X:297.91, Y:-10.88, Z:3.41 [[ 9.99863552e-01 -1.19261485e-02 -1.14299821e-02 2.97911081e+02] [ 1.19346603e-02 9.99928550e-01 6.76764788e-04 -1.08825135e+01] [ 1.14210942e-02 -8.13085398e-04 9.99934447e-01 3.40961754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.390714057 meters Centerline goodness [0,1] 0.9655393255659285 Centerline is valid? [True, True] Translation: X:297.94, Y:-10.89, Z:3.41 [[ 9.99842746e-01 -1.41892868e-02 -1.06370488e-02 2.97941201e+02] [ 1.41967839e-02 9.99899022e-01 6.29632216e-04 -1.08854492e+01] [ 1.06270407e-02 -7.80545088e-04 9.99943227e-01 3.41021695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.420714057 meters Centerline goodness [0,1] 0.9624373956594324 Centerline is valid? [True, True] Translation: X:297.97, Y:-10.89, Z:3.41 [[ 9.99837712e-01 -1.51901116e-02 -9.68560003e-03 2.97970959e+02] [ 1.51963753e-02 9.99884364e-01 5.73434682e-04 -1.08910643e+01] [ 9.67576949e-03 -7.20527633e-04 9.99952929e-01 3.41094973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.450714057 meters Centerline goodness [0,1] 0.9592292587137948 Centerline is valid? [True, True] Translation: X:298.00, Y:-10.90, Z:3.41 [[ 9.99797924e-01 -1.80272250e-02 -8.89557710e-03 2.98000862e+02] [ 1.80326203e-02 9.99837260e-01 5.26681502e-04 -1.08975752e+01] [ 8.88463483e-03 -6.86985637e-04 9.99960295e-01 3.41202965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.480714057 meters Centerline goodness [0,1] 0.9606853109144832 Centerline is valid? [True, True] Translation: X:298.03, Y:-10.90, Z:3.41 [[ 9.99771464e-01 -1.93706401e-02 -9.04425378e-03 2.98032412e+02] [ 1.93762743e-02 9.99812119e-01 5.35744127e-04 -1.08988160e+01] [ 9.03217682e-03 -7.10865632e-04 9.99958956e-01 3.41209569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51071405700003 meters Centerline goodness [0,1] 0.9603366855073527 Centerline is valid? [True, True] Translation: X:298.06, Y:-10.90, Z:3.41 [[ 9.99722024e-01 -2.16924052e-02 -9.23658027e-03 2.98063006e+02] [ 2.16983818e-02 9.99764413e-01 5.47319573e-04 -1.09017203e+01] [ 9.22253157e-03 -7.47586276e-04 9.99957192e-01 3.41174958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.540714057 meters Centerline goodness [0,1] 0.9617509042917196 Centerline is valid? [True, True] Translation: X:298.09, Y:-10.90, Z:3.41 [[ 9.99656910e-01 -2.44654610e-02 -9.35437987e-03 2.98094155e+02] [ 2.44717125e-02 9.99700369e-01 5.54401403e-04 -1.09019322e+01] [ 9.33801332e-03 -7.83128887e-04 9.99956093e-01 3.41102556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57071405700003 meters Centerline goodness [0,1] 0.9596995204071646 Centerline is valid? [True, True] Translation: X:298.12, Y:-10.91, Z:3.41 [[ 9.99624684e-01 -2.57285394e-02 -9.40917079e-03 2.98124465e+02] [ 2.57349293e-02 9.99668646e-01 5.58649864e-04 -1.09067058e+01] [ 9.39167977e-03 -8.00584539e-04 9.99955577e-01 3.41055193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.600714057 meters Centerline goodness [0,1] 0.9584298427404608 Centerline is valid? [True, True] Translation: X:298.16, Y:-10.91, Z:3.41 [[ 9.99606559e-01 -2.65153193e-02 -9.14681272e-03 2.98155459e+02] [ 2.65213957e-02 9.99648098e-01 5.43644216e-04 -1.09119176e+01] [ 9.12917903e-03 -7.86016564e-04 9.99958019e-01 3.41056650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63071405700003 meters Centerline goodness [0,1] 0.9550638463787894 Centerline is valid? [True, True] Translation: X:298.19, Y:-10.92, Z:3.41 [[ 9.99563610e-01 -2.81326632e-02 -9.00790437e-03 2.98185454e+02] [ 2.81386234e-02 9.99603887e-01 5.35590799e-04 -1.09168167e+01] [ 8.98926863e-03 -7.88827102e-04 9.99959285e-01 3.41064169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.660714057 meters Centerline goodness [0,1] 0.9565164581562007 Centerline is valid? [True, True] Translation: X:298.22, Y:-10.92, Z:3.41 [[ 9.99552119e-01 -2.83803195e-02 -9.49310492e-03 2.98217417e+02] [ 2.83869558e-02 9.99596849e-01 5.65029070e-04 -1.09167570e+01] [ 9.47324207e-03 -8.34256354e-04 9.99954780e-01 3.41114325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69071405700004 meters Centerline goodness [0,1] 0.9567307692307693 Centerline is valid? [True, True] Translation: X:298.25, Y:-10.92, Z:3.41 [[ 9.99559352e-01 -2.83267459e-02 -8.87118917e-03 2.98249042e+02] [ 2.83325455e-02 9.99598413e-01 5.28749539e-04 -1.09203941e+01] [ 8.85264886e-03 -7.79859918e-04 9.99960510e-01 3.41151868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.720714057 meters Centerline goodness [0,1] 0.9567307692307693 Centerline is valid? [True, True] Translation: X:298.28, Y:-10.92, Z:3.41 [[ 9.99561289e-01 -2.82583238e-02 -8.87115150e-03 2.98280801e+02] [ 2.82641264e-02 9.99600350e-01 5.29381094e-04 -1.09223533e+01] [ 8.85264672e-03 -7.79884196e-04 9.99960510e-01 3.41156261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.750714057 meters Centerline goodness [0,1] 0.9574110190151146 Centerline is valid? [True, True] Translation: X:298.31, Y:-10.92, Z:3.41 [[ 9.99581653e-01 -2.76861682e-02 -8.36632831e-03 2.98313404e+02] [ 2.76913141e-02 9.99616397e-01 4.99830885e-04 -1.09226223e+01] [ 8.34928056e-03 -7.31296406e-04 9.99964877e-01 3.41148301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.780714057 meters Centerline goodness [0,1] 0.9531482339175584 Centerline is valid? [True, True] Translation: X:298.34, Y:-10.93, Z:3.41 [[ 9.99585881e-01 -2.76288582e-02 -8.04438487e-03 2.98344735e+02] [ 2.76336192e-02 9.99618003e-01 4.81267216e-04 -1.09297829e+01] [ 8.02801508e-03 -7.03363382e-04 9.99967528e-01 3.41081333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.810714057 meters Centerline goodness [0,1] 0.9586326118185581 Centerline is valid? [True, True] Translation: X:298.38, Y:-10.92, Z:3.41 [[ 9.99596936e-01 -2.72554751e-02 -7.94387246e-03 2.98376898e+02] [ 2.72601107e-02 9.99628261e-01 4.75832405e-04 -1.09241049e+01] [ 7.92795038e-03 -6.92191456e-04 9.99968334e-01 3.41144954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.840714057 meters Centerline goodness [0,1] 0.9573270294640899 Centerline is valid? [True, True] Translation: X:298.41, Y:-10.93, Z:3.41 [[ 9.99604911e-01 -2.67609799e-02 -8.59484636e-03 2.98408555e+02] [ 2.67663934e-02 9.99641583e-01 5.15429533e-04 -1.09261806e+01] [ 8.57797242e-03 -7.45278932e-04 9.99962931e-01 3.41164805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.870714057 meters Centerline goodness [0,1] 0.9591901528842867 Centerline is valid? [True, True] Translation: X:298.44, Y:-10.93, Z:3.41 [[ 9.99628960e-01 -2.57910078e-02 -8.76163863e-03 2.98440764e+02] [ 2.57966019e-02 9.99667074e-01 5.26038951e-04 -1.09276483e+01] [ 8.74515458e-03 -7.51864273e-04 9.99961478e-01 3.41162069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.900714057 meters Centerline goodness [0,1] 0.9616925632756768 Centerline is valid? [True, True] Translation: X:298.47, Y:-10.92, Z:3.41 [[ 9.99647628e-01 -2.48784385e-02 -9.25653074e-03 2.98473364e+02] [ 2.48846497e-02 9.99690174e-01 5.56416542e-04 -1.09231903e+01] [ 9.23982005e-03 -7.86566001e-04 9.99957003e-01 3.41148968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.930714057 meters Centerline goodness [0,1] 0.9593006242684354 Centerline is valid? [True, True] Translation: X:298.50, Y:-10.93, Z:3.41 [[ 9.99657597e-01 -2.46011791e-02 -8.91466787e-03 2.98504326e+02] [ 2.46069334e-02 9.99697060e-01 5.36364009e-04 -1.09298741e+01] [ 8.89877207e-03 -7.55542995e-04 9.99960120e-01 3.41084587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.960714057 meters Centerline goodness [0,1] 0.9612804059823846 Centerline is valid? [True, True] Translation: X:298.54, Y:-10.93, Z:3.41 [[ 9.99697123e-01 -2.31950817e-02 -8.22502752e-03 2.98536608e+02] [ 2.31999364e-02 9.99730723e-01 4.95306026e-04 -1.09263842e+01] [ 8.21132404e-03 -6.85976124e-04 9.99966051e-01 3.41267780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.990714057 meters Centerline goodness [0,1] 0.9613779979017737 Centerline is valid? [True, True] Translation: X:298.57, Y:-10.93, Z:3.41 [[ 9.99717443e-01 -2.25067947e-02 -7.64712006e-03 2.98568675e+02] [ 2.25109751e-02 9.99746490e-01 4.61020140e-04 -1.09278674e+01] [ 7.63480535e-03 -6.33034004e-04 9.99970654e-01 3.41279089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.020714057 meters Centerline goodness [0,1] 0.9613712946232358 Centerline is valid? [True, True] Translation: X:298.60, Y:-10.93, Z:3.41 [[ 9.99763668e-01 -2.03300084e-02 -7.70054511e-03 2.98599033e+02] [ 2.03341840e-02 9.99793131e-01 4.64339923e-04 -1.09284520e+01] [ 7.68951208e-03 -6.20814486e-04 9.99970243e-01 3.41332167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.050714057 meters Centerline goodness [0,1] 0.9566013327149796 Centerline is valid? [True, True] Translation: X:298.63, Y:-10.94, Z:3.41 [[ 9.99778643e-01 -1.93843867e-02 -8.17991962e-03 2.98629285e+02] [ 1.93890743e-02 9.99811892e-01 4.94147415e-04 -1.09399991e+01] [ 8.16880217e-03 -6.52639101e-04 9.99966422e-01 3.41179281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.080714057 meters Centerline goodness [0,1] 0.9617700841155675 Centerline is valid? [True, True] Translation: X:298.66, Y:-10.93, Z:3.41 [[ 9.99797130e-01 -1.77075064e-02 -9.59909403e-03 2.98661607e+02] [ 1.77138912e-02 9.99842928e-01 5.80522830e-04 -1.09338540e+01] [ 9.58730668e-03 -7.50442366e-04 9.99953759e-01 3.41021583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.110714057 meters Centerline goodness [0,1] 0.9608922151295033 Centerline is valid? [True, True] Translation: X:298.69, Y:-10.94, Z:3.41 [[ 9.99799452e-01 -1.70314410e-02 -1.05349927e-02 2.98693132e+02] [ 1.70391017e-02 9.99854621e-01 6.37834034e-04 -1.09375990e+01] [ 1.05225979e-02 -8.17212929e-04 9.99944302e-01 3.40952952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.140714057 meters Centerline goodness [0,1] 0.9619808072668669 Centerline is valid? [True, True] Translation: X:298.72, Y:-10.94, Z:3.41 [[ 9.99808785e-01 -1.63470049e-02 -1.07316483e-02 2.98724891e+02] [ 1.63549196e-02 9.99866038e-01 6.50159320e-04 -1.09379757e+01] [ 1.07195825e-02 -8.25550246e-04 9.99942203e-01 3.40911838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.170714057 meters Centerline goodness [0,1] 0.9627891056672045 Centerline is valid? [True, True] Translation: X:298.76, Y:-10.94, Z:3.41 [[ 9.99820475e-01 -1.59614671e-02 -1.02102160e-02 2.98755957e+02] [ 1.59686149e-02 9.99872302e-01 6.18918296e-04 -1.09389164e+01] [ 1.01990333e-02 -7.81850192e-04 9.99947683e-01 3.41000934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.200714057 meters Centerline goodness [0,1] 0.9618984774054794 Centerline is valid? [True, True] Translation: X:298.79, Y:-10.94, Z:3.41 [[ 9.99854157e-01 -1.40582926e-02 -9.69683327e-03 2.98785585e+02] [ 1.40646511e-02 9.99900915e-01 5.87843378e-04 -1.09416319e+01] [ 9.68760838e-03 -7.24140222e-04 9.99952812e-01 3.41126739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.230714057 meters Centerline goodness [0,1] 0.9627336791621807 Centerline is valid? [True, True] Translation: X:298.82, Y:-10.94, Z:3.41 [[ 9.99880547e-01 -1.18752166e-02 -9.89302324e-03 2.98816263e+02] [ 1.18817287e-02 9.99929230e-01 5.99736846e-04 -1.09418222e+01] [ 9.88520111e-03 -7.17211424e-04 9.99950883e-01 3.41054721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26071405700003 meters Centerline goodness [0,1] 0.96230707139887 Centerline is valid? [True, True] Translation: X:298.85, Y:-10.95, Z:3.41 [[ 9.99889631e-01 -1.07768052e-02 -1.02267686e-02 2.98846723e+02] [ 1.07837085e-02 9.99941662e-01 6.20116567e-04 -1.09453019e+01] [ 1.02194891e-02 -7.30330617e-04 9.99947513e-01 3.40993299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.290714057 meters Centerline goodness [0,1] 0.9624786115864092 Centerline is valid? [True, True] Translation: X:298.88, Y:-10.95, Z:3.41 [[ 9.99892764e-01 -1.02083699e-02 -1.04999705e-02 2.98877053e+02] [ 1.02156160e-02 9.99947617e-01 6.36706186e-04 -1.09466433e+01] [ 1.04929207e-02 -7.43901574e-04 9.99944671e-01 3.40918225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32071405700003 meters Centerline goodness [0,1] 0.9637837308389245 Centerline is valid? [True, True] Translation: X:298.91, Y:-10.95, Z:3.41 [[ 9.99899162e-01 -9.25675129e-03 -1.07693068e-02 2.98906970e+02] [ 9.26431569e-03 9.99956872e-01 6.52728524e-04 -1.09484679e+01] [ 1.07628002e-02 -7.52432962e-04 9.99941796e-01 3.40842928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.350714057 meters Centerline goodness [0,1] 0.9635624556162303 Centerline is valid? [True, True] Translation: X:298.94, Y:-10.95, Z:3.41 [[ 9.99903184e-01 -9.09363157e-03 -1.05322596e-02 2.98936845e+02] [ 9.10085398e-03 9.99958383e-01 6.38016096e-04 -1.09505169e+01] [ 1.05260194e-02 -7.33806883e-04 9.99944331e-01 3.40824354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38071405700003 meters Centerline goodness [0,1] 0.965825794905739 Centerline is valid? [True, True] Translation: X:298.97, Y:-10.95, Z:3.41 [[ 9.99911904e-01 -8.81275751e-03 -9.92568809e-03 2.98966842e+02] [ 8.81915487e-03 9.99960930e-01 6.00940982e-04 -1.09491630e+01] [ 9.92000435e-03 -6.88424222e-04 9.99950559e-01 3.41034992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.410714057 meters Centerline goodness [0,1] 0.9656418646675294 Centerline is valid? [True, True] Translation: X:299.00, Y:-10.95, Z:3.41 [[ 9.99915916e-01 -9.00716574e-03 -9.32908942e-03 2.98996296e+02] [ 9.01282258e-03 9.99959224e-01 5.64501548e-04 -1.09473546e+01] [ 9.32362446e-03 -6.48535510e-04 9.99956324e-01 3.41068195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44071405700004 meters Centerline goodness [0,1] 0.9676859524333309 Centerline is valid? [True, True] Translation: X:299.03, Y:-10.95, Z:3.41 [[ 9.99906143e-01 -1.02457920e-02 -9.09554416e-03 2.99026721e+02] [ 1.02512197e-02 9.99947303e-01 5.50323198e-04 -1.09483349e+01] [ 9.08942636e-03 -6.43511967e-04 9.99958483e-01 3.41080992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.470714057 meters Centerline goodness [0,1] 0.9624850889792341 Centerline is valid? [True, True] Translation: X:299.06, Y:-10.96, Z:3.41 [[ 9.99877539e-01 -1.24926352e-02 -9.42560281e-03 2.99056291e+02] [ 1.24985633e-02 9.99921727e-01 5.70293298e-04 -1.09589781e+01] [ 9.41774058e-03 -6.88029953e-04 9.99955415e-01 3.40954157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.500714057 meters Centerline goodness [0,1] 0.9637446808510638 Centerline is valid? [True, True] Translation: X:299.09, Y:-10.96, Z:3.41 [[ 9.99858927e-01 -1.35300982e-02 -9.95302802e-03 2.99087428e+02] [ 1.35367624e-02 9.99908192e-01 6.02499984e-04 -1.09615985e+01] [ 9.94396237e-03 -7.37146763e-04 9.99950286e-01 3.40924448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.530714057 meters Centerline goodness [0,1] 0.9645931380916384 Centerline is valid? [True, True] Translation: X:299.12, Y:-10.96, Z:3.41 [[ 9.99839568e-01 -1.45414160e-02 -1.04587426e-02 2.99118587e+02] [ 1.45488335e-02 9.99893959e-01 6.33477234e-04 -1.09640656e+01] [ 1.04484219e-02 -7.85538108e-04 9.99945105e-01 3.40871078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.560714057 meters Centerline goodness [0,1] 0.9642303218301668 Centerline is valid? [True, True] Translation: X:299.15, Y:-10.97, Z:3.41 [[ 9.99785247e-01 -1.72334570e-02 -1.15094243e-02 2.99149534e+02] [ 1.72426208e-02 9.99851092e-01 6.97432849e-04 -1.09695238e+01] [ 1.14956913e-02 -8.95735712e-04 9.99933521e-01 3.40672308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.590714057 meters Centerline goodness [0,1] 0.9635045376024914 Centerline is valid? [True, True] Translation: X:299.18, Y:-10.97, Z:3.41 [[ 9.99759684e-01 -1.83224085e-02 -1.20358911e-02 2.99180855e+02] [ 1.83325131e-02 9.99831679e-01 7.29741141e-04 -1.09749641e+01] [ 1.20204945e-02 -9.50213903e-04 9.99927300e-01 3.40639059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.620714057 meters Centerline goodness [0,1] 0.9630295375048581 Centerline is valid? [True, True] Translation: X:299.21, Y:-10.98, Z:3.41 [[ 9.99717226e-01 -2.03127852e-02 -1.23636080e-02 2.99210993e+02] [ 2.03236031e-02 9.99793173e-01 7.49951206e-04 -1.09828048e+01] [ 1.23458173e-02 -1.00101220e-03 9.99923286e-01 3.40510035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.650714057 meters Centerline goodness [0,1] 0.9633992936281388 Centerline is valid? [True, True] Translation: X:299.24, Y:-10.99, Z:3.40 [[ 9.99699424e-01 -2.06694814e-02 -1.31846458e-02 2.99242514e+02] [ 2.06818205e-02 9.99785788e-01 8.00194672e-04 -1.09856062e+01] [ 1.31652818e-02 -1.07263663e-03 9.99912759e-01 3.40461521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.680714057 meters Centerline goodness [0,1] 0.9634979882689417 Centerline is valid? [True, True] Translation: X:299.27, Y:-10.99, Z:3.40 [[ 9.99689497e-01 -2.11300555e-02 -1.32071769e-02 2.99273767e+02] [ 2.11424827e-02 9.99776151e-01 8.02015712e-04 -1.09860836e+01] [ 1.31872739e-02 -1.08099919e-03 9.99912460e-01 3.40486124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.710714057 meters Centerline goodness [0,1] 0.9625799263708583 Centerline is valid? [True, True] Translation: X:299.30, Y:-10.99, Z:3.40 [[ 9.99702424e-01 -2.10560615e-02 -1.23168476e-02 2.99304062e+02] [ 2.10668727e-02 9.99777789e-01 7.48658131e-04 -1.09923766e+01] [ 1.22983469e-02 -1.00791281e-03 9.99923864e-01 3.40470285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.740714057 meters Centerline goodness [0,1] 0.9603493323011418 Centerline is valid? [True, True] Translation: X:299.33, Y:-11.00, Z:3.40 [[ 9.99725164e-01 -2.06296642e-02 -1.11361401e-02 2.99334857e+02] [ 2.06384818e-02 9.99786774e-01 6.77456755e-04 -1.09995906e+01] [ 1.11197899e-02 -9.07103590e-04 9.99937762e-01 3.40451273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.770714057 meters Centerline goodness [0,1] 0.959598154990461 Centerline is valid? [True, True] Translation: X:299.37, Y:-11.00, Z:3.41 [[ 9.99720570e-01 -2.10862582e-02 -1.06842227e-02 2.99365436e+02] [ 2.10944127e-02 9.99777276e-01 6.51107570e-04 -1.10037088e+01] [ 1.06681137e-02 -8.76303035e-04 9.99942710e-01 3.40560689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.800714057 meters Centerline goodness [0,1] 0.9610035911402472 Centerline is valid? [True, True] Translation: X:299.40, Y:-11.00, Z:3.41 [[ 9.99723436e-01 -2.11202793e-02 -1.03433961e-02 2.99397878e+02] [ 2.11279316e-02 9.99776581e-01 6.31095663e-04 -1.10031173e+01] [ 1.03277562e-02 -8.49455689e-04 9.99946306e-01 3.40670130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.830714057 meters Centerline goodness [0,1] 0.9591585354072071 Centerline is valid? [True, True] Translation: X:299.43, Y:-11.01, Z:3.41 [[ 9.99707064e-01 -2.19232100e-02 -1.02546834e-02 2.99429379e+02] [ 2.19307790e-02 9.99759295e-01 6.26227456e-04 -1.10059186e+01] [ 1.02384861e-02 -8.50937207e-04 9.99947223e-01 3.40710933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.860714057 meters Centerline goodness [0,1] 0.9611846857693234 Centerline is valid? [True, True] Translation: X:299.46, Y:-11.01, Z:3.41 [[ 9.99686355e-01 -2.31949083e-02 -9.44388963e-03 2.99461194e+02] [ 2.32013886e-02 9.99730645e-01 5.77199197e-04 -1.10082493e+01] [ 9.42795779e-03 -7.96129515e-04 9.99955239e-01 3.40815007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.890714057 meters Centerline goodness [0,1] 0.9610164597170083 Centerline is valid? [True, True] Translation: X:299.49, Y:-11.01, Z:3.41 [[ 9.99648599e-01 -2.47481153e-02 -9.49789552e-03 2.99492146e+02] [ 2.47547416e-02 9.99693386e-01 5.80713857e-04 -1.10116064e+01] [ 9.48061176e-03 -8.15627743e-04 9.99954725e-01 3.40772700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.920714057 meters Centerline goodness [0,1] 0.9576840086310238 Centerline is valid? [True, True] Translation: X:299.52, Y:-11.02, Z:3.41 [[ 9.99571154e-01 -2.76937802e-02 -9.51647400e-03 2.99521373e+02] [ 2.77005665e-02 9.99616096e-01 5.82019518e-04 -1.10240201e+01] [ 9.49670226e-03 -8.45381642e-04 9.99954548e-01 3.40613522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.950714057 meters Centerline goodness [0,1] 0.9577339854238588 Centerline is valid? [True, True] Translation: X:299.55, Y:-11.03, Z:3.41 [[ 9.99526447e-01 -2.92513458e-02 -9.55196152e-03 2.99552244e+02] [ 2.92582570e-02 9.99571715e-01 5.84571479e-04 -1.10272783e+01] [ 9.53077105e-03 -8.63768399e-04 9.99954208e-01 3.40555924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.980714057 meters Centerline goodness [0,1] 0.9579291891633619 Centerline is valid? [True, True] Translation: X:299.58, Y:-11.03, Z:3.40 [[ 9.99432232e-01 -3.19328585e-02 -1.07473553e-02 2.99582903e+02] [ 3.19417627e-02 9.99489515e-01 6.57828867e-04 -1.10334958e+01] [ 1.07208626e-02 -1.00074485e-03 9.99942029e-01 3.40475705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01071405700003 meters Centerline goodness [0,1] 0.9550768203072812 Centerline is valid? [True, True] Translation: X:299.61, Y:-11.04, Z:3.40 [[ 9.99342268e-01 -3.42921205e-02 -1.17932853e-02 2.99612345e+02] [ 3.43030035e-02 9.99411218e-01 7.21713907e-04 -1.10415785e+01] [ 1.17615925e-02 -1.12578432e-03 9.99930196e-01 3.40348640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.040714057 meters Centerline goodness [0,1] 0.9565455628350208 Centerline is valid? [True, True] Translation: X:299.64, Y:-11.04, Z:3.40 [[ 9.99300203e-01 -3.53243207e-02 -1.23002354e-02 2.99644831e+02] [ 3.53362459e-02 9.99375196e-01 7.53469830e-04 -1.10430008e+01] [ 1.22659344e-02 -1.18758670e-03 9.99924065e-01 3.40286694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07071405700003 meters Centerline goodness [0,1] 0.9549029391498562 Centerline is valid? [True, True] Translation: X:299.68, Y:-11.05, Z:3.40 [[ 9.99273600e-01 -3.58781828e-02 -1.28463134e-02 2.99675591e+02] [ 3.58912447e-02 9.99355391e-01 7.87612756e-04 -1.10492591e+01] [ 1.28097745e-02 -1.24811081e-03 9.99917173e-01 3.40216180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.100714057 meters Centerline goodness [0,1] 0.9572018609950627 Centerline is valid? [True, True] Translation: X:299.71, Y:-11.05, Z:3.40 [[ 9.99200563e-01 -3.75308779e-02 -1.37719835e-02 2.99706366e+02] [ 3.75460497e-02 9.99294542e-01 8.44659771e-04 -1.10508438e+01] [ 1.37305671e-02 -1.36106810e-03 9.99904805e-01 3.40119602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13071405700003 meters Centerline goodness [0,1] 0.9458830789679809 Centerline is valid? [True, False] Translation: X:299.71, Y:-11.05, Z:3.40 [[ 9.99211890e-01 -3.71864252e-02 -1.38841175e-02 2.99706917e+02] [ 3.72124847e-02 9.99306057e-01 1.62323452e-03 -1.10527457e+01] [ 1.38141204e-02 -2.13861774e-03 9.99902293e-01 3.40068641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.160714057 meters Centerline goodness [0,1] 0.9414410171886037 Centerline is valid? [False, False] Translation: X:299.71, Y:-11.06, Z:3.40 [[ 9.99229954e-01 -3.67064265e-02 -1.38613806e-02 2.99707006e+02] [ 3.67454716e-02 9.99321346e-01 2.57264531e-03 -1.10551309e+01] [ 1.37575409e-02 -3.08000722e-03 9.99900617e-01 3.40061725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19071405700004 meters Centerline goodness [0,1] 0.9573534614931006 Centerline is valid? [False, True] Translation: X:299.71, Y:-11.06, Z:3.40 [[ 9.99355688e-01 -3.32251762e-02 -1.35755718e-02 2.99705597e+02] [ 3.33164292e-02 9.99423378e-01 6.55185817e-03 -1.10568479e+01] [ 1.33500572e-02 -6.99992630e-03 9.99886382e-01 3.40121773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.220714057 meters Centerline goodness [0,1] 0.9542997426999976 Centerline is valid? [True, True] Translation: X:299.74, Y:-11.06, Z:3.40 [[ 9.99414830e-01 -3.13309101e-02 -1.37248551e-02 2.99735625e+02] [ 3.13458919e-02 9.99508211e-01 8.77775525e-04 -1.10595600e+01] [ 1.36906039e-02 -1.30747970e-03 9.99905424e-01 3.40289358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.250714057 meters Centerline goodness [0,1] 0.9613276635955587 Centerline is valid? [True, True] Translation: X:299.77, Y:-11.05, Z:3.40 [[ 9.99480649e-01 -2.90934455e-02 -1.38565487e-02 2.99767088e+02] [ 2.91085058e-02 9.99575865e-01 8.86393664e-04 -1.10538526e+01] [ 1.38248834e-02 -1.28927674e-03 9.99903601e-01 3.40400853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.280714057 meters Centerline goodness [0,1] 0.9619984431391975 Centerline is valid? [True, True] Translation: X:299.80, Y:-11.05, Z:3.40 [[ 9.99612180e-01 -2.45842545e-02 -1.30806558e-02 2.99797726e+02] [ 2.45972928e-02 9.99697091e-01 8.36790120e-04 -1.10516357e+01] [ 1.30561217e-02 -1.15821432e-03 9.99914094e-01 3.40444804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.310714057 meters Centerline goodness [0,1] 0.9638107386672337 Centerline is valid? [True, True] Translation: X:299.83, Y:-11.05, Z:3.41 [[ 9.99680343e-01 -2.20282761e-02 -1.24083658e-02 2.99828231e+02] [ 2.20398131e-02 9.99756779e-01 7.93778401e-04 -1.10507662e+01] [ 1.23878623e-02 -1.06700273e-03 9.99922698e-01 3.40533347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.340714057 meters Centerline goodness [0,1] 0.9630634883172056 Centerline is valid? [True, True] Translation: X:299.86, Y:-11.05, Z:3.41 [[ 9.99785145e-01 -1.72099104e-02 -1.15535066e-02 2.99858326e+02] [ 1.72195927e-02 9.99851459e-01 7.39077121e-04 -1.10505984e+01] [ 1.15390710e-02 -9.37865003e-04 9.99932983e-01 3.40565279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.370714057 meters Centerline goodness [0,1] 0.9635806109210991 Centerline is valid? [True, True] Translation: X:299.89, Y:-11.06, Z:3.41 [[ 9.99821222e-01 -1.48970854e-02 -1.16447635e-02 2.99887476e+02] [ 1.49067635e-02 9.99888611e-01 7.44754591e-04 -1.10562465e+01] [ 1.16323717e-02 -9.18207181e-04 9.99931920e-01 3.40565130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.400714057 meters Centerline goodness [0,1] 0.9665721710370896 Centerline is valid? [True, True] Translation: X:299.92, Y:-11.05, Z:3.41 [[ 9.99865236e-01 -1.10937780e-02 -1.21011128e-02 2.99918559e+02] [ 1.11039517e-02 9.99938050e-01 7.73860297e-04 -1.10489025e+01] [ 1.20917781e-02 -9.08126181e-04 9.99926479e-01 3.40598217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.430714057 meters Centerline goodness [0,1] 0.9673626451934725 Centerline is valid? [True, True] Translation: X:299.95, Y:-11.05, Z:3.40 [[ 9.99887263e-01 -8.04202864e-03 -1.26801946e-02 2.99947870e+02] [ 8.05295104e-03 9.99967246e-01 8.10550785e-04 -1.10494014e+01] [ 1.26732608e-02 -9.12572392e-04 9.99919275e-01 3.40475158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.460714057 meters Centerline goodness [0,1] 0.9678124851423953 Centerline is valid? [True, True] Translation: X:299.98, Y:-11.05, Z:3.40 [[ 9.99897204e-01 -7.31965656e-03 -1.23289772e-02 2.99976470e+02] [ 7.32989845e-03 9.99972827e-01 7.85734246e-04 -1.10496504e+01] [ 1.23228909e-02 -8.76023627e-04 9.99923687e-01 3.40489503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.490714057 meters Centerline goodness [0,1] 0.9668320710368242 Centerline is valid? [True, True] Translation: X:300.00, Y:-11.05, Z:3.41 [[ 9.99907621e-01 -6.21765291e-03 -1.20868053e-02 3.00004771e+02] [ 6.22740072e-03 9.99980314e-01 7.69014483e-04 -1.10502972e+01] [ 1.20817859e-02 -8.44212822e-04 9.99926656e-01 3.40567973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.520714057 meters Centerline goodness [0,1] 0.9689754000477669 Centerline is valid? [True, True] Translation: X:300.03, Y:-11.04, Z:3.41 [[ 9.99910361e-01 -5.58200366e-03 -1.21700793e-02 3.00034392e+02] [ 5.59181064e-03 9.99984068e-01 7.71948169e-04 -1.10434222e+01] [ 1.21655764e-02 -8.39931751e-04 9.99925644e-01 3.40625884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.550714057 meters Centerline goodness [0,1] 0.9663442016003821 Centerline is valid? [True, True] Translation: X:300.06, Y:-11.05, Z:3.40 [[ 9.99911492e-01 -5.70292130e-03 -1.20202199e-02 3.00061231e+02] [ 5.71247551e-03 9.99983394e-01 7.60661030e-04 -1.10517087e+01] [ 1.20156824e-02 -8.29258917e-04 9.99927465e-01 3.40406895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.580714057 meters Centerline goodness [0,1] 0.9667677322319574 Centerline is valid? [True, True] Translation: X:300.09, Y:-11.05, Z:3.40 [[ 9.99905753e-01 -6.88061467e-03 -1.18803247e-02 3.00090006e+02] [ 6.89000011e-03 9.99975983e-01 7.49250095e-04 -1.10481674e+01] [ 1.18748841e-02 -8.31034919e-04 9.99929146e-01 3.40483281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.610714057 meters Centerline goodness [0,1] 0.9667677322319574 Centerline is valid? [True, True] Translation: X:300.12, Y:-11.05, Z:3.40 [[ 9.99903801e-01 -7.15838230e-03 -1.18805261e-02 3.00117411e+02] [ 7.16774939e-03 9.99974033e-01 7.46047496e-04 -1.10498079e+01] [ 1.18748772e-02 -8.31132360e-04 9.99929146e-01 3.40490963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.640714057 meters Centerline goodness [0,1] 0.9674110125011929 Centerline is valid? [True, True] Translation: X:300.15, Y:-11.05, Z:3.41 [[ 9.99905340e-01 -8.58390788e-03 -1.07530121e-02 3.00146890e+02] [ 8.59165275e-03 9.99962864e-01 6.74263320e-04 -1.10513355e+01] [ 1.07468250e-02 -7.66585640e-04 9.99941957e-01 3.40517944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.670714057 meters Centerline goodness [0,1] 0.9684167936024372 Centerline is valid? [True, True] Translation: X:300.18, Y:-11.05, Z:3.41 [[ 9.99904116e-01 -8.88606517e-03 -1.06205828e-02 3.00176157e+02] [ 8.89361573e-03 9.99960231e-01 6.63917411e-04 -1.10504230e+01] [ 1.06142608e-02 -7.58309134e-04 9.99943380e-01 3.40577864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.700714057 meters Centerline goodness [0,1] 0.967311189815258 Centerline is valid? [True, True] Translation: X:300.21, Y:-11.05, Z:3.41 [[ 9.99906135e-01 -8.84432603e-03 -1.04642252e-02 3.00205466e+02] [ 8.85164366e-03 9.99960610e-01 6.53191193e-04 -1.10494705e+01] [ 1.04580359e-02 -7.45755473e-04 9.99945035e-01 3.40701293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.730714057 meters Centerline goodness [0,1] 0.9650735735375309 Centerline is valid? [True, True] Translation: X:300.23, Y:-11.06, Z:3.41 [[ 9.99913301e-01 -8.82992406e-03 -9.76845440e-03 3.00233936e+02] [ 8.83629573e-03 9.99960774e-01 6.09302157e-04 -1.10567657e+01] [ 9.76269112e-03 -6.95566283e-04 9.99952102e-01 3.40742512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76071405700003 meters Centerline goodness [0,1] 0.9664811171361389 Centerline is valid? [True, True] Translation: X:300.26, Y:-11.05, Z:3.41 [[ 9.99921002e-01 -8.99666460e-03 -8.77775220e-03 3.00264389e+02] [ 9.00181272e-03 9.99959333e-01 5.47163958e-04 -1.10504402e+01] [ 8.77247259e-03 -6.26136415e-04 9.99961325e-01 3.40874275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.790714057 meters Centerline goodness [0,1] 0.9639023920681523 Centerline is valid? [True, True] Translation: X:300.29, Y:-11.05, Z:3.41 [[ 9.99914569e-01 -9.57794452e-03 -8.89478816e-03 3.00293182e+02] [ 9.58325093e-03 9.99953926e-01 5.54144380e-04 -1.10543746e+01] [ 8.88907078e-03 -6.39338026e-04 9.99960287e-01 3.40846898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82071405700003 meters Centerline goodness [0,1] 0.9646835229869849 Centerline is valid? [True, True] Translation: X:300.32, Y:-11.05, Z:3.41 [[ 9.99916267e-01 -9.83699514e-03 -8.40785379e-03 3.00324037e+02] [ 9.84174478e-03 9.99951432e-01 5.23715806e-04 -1.10528278e+01] [ 8.40229364e-03 -6.06419905e-04 9.99964516e-01 3.40867182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.850714057 meters Centerline goodness [0,1] 0.9633109296331093 Centerline is valid? [True, True] Translation: X:300.35, Y:-11.06, Z:3.41 [[ 9.99913320e-01 -9.89944290e-03 -8.68063856e-03 3.00353587e+02] [ 9.90450720e-03 9.99950803e-01 5.40605007e-04 -1.10574889e+01] [ 8.67485981e-03 -6.26535594e-04 9.99962176e-01 3.40848818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88071405700003 meters Centerline goodness [0,1] 0.9643614457831325 Centerline is valid? [True, True] Translation: X:300.38, Y:-11.06, Z:3.41 [[ 9.99904245e-01 -9.51551815e-03 -1.00476708e-02 3.00383876e+02] [ 9.52228334e-03 9.99954466e-01 6.25683929e-04 -1.10553866e+01] [ 1.00412595e-02 -7.21300784e-04 9.99949325e-01 3.40723880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.910714057 meters Centerline goodness [0,1] 0.9641359924394795 Centerline is valid? [True, True] Translation: X:300.41, Y:-11.06, Z:3.41 [[ 9.99899306e-01 -9.26238198e-03 -1.07511013e-02 3.00413528e+02] [ 9.27011163e-03 9.99956808e-01 6.69352044e-04 -1.10583729e+01] [ 1.07444372e-02 -7.68948554e-04 9.99941981e-01 3.40662982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94071405700004 meters Centerline goodness [0,1] 0.9641625795173117 Centerline is valid? [True, True] Translation: X:300.44, Y:-11.06, Z:3.41 [[ 9.99901147e-01 -8.68608873e-03 -1.10566208e-02 3.00443301e+02] [ 8.69422528e-03 9.99961968e-01 6.88045115e-04 -1.10557083e+01] [ 1.10502239e-02 -7.84105851e-04 9.99938637e-01 3.40672827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.970714057 meters Centerline goodness [0,1] 0.963217048606043 Centerline is valid? [True, True] Translation: X:300.47, Y:-11.06, Z:3.41 [[ 9.99913949e-01 -8.01568346e-03 -1.03847893e-02 3.00472233e+02] [ 8.02280590e-03 9.99967609e-01 6.44375567e-04 -1.10569449e+01] [ 1.03792878e-02 -7.27635267e-04 9.99945869e-01 3.40696785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.000714057 meters Centerline goodness [0,1] 0.9629169710250791 Centerline is valid? [True, True] Translation: X:300.50, Y:-11.06, Z:3.41 [[ 9.99940280e-01 -5.59563575e-03 -9.38748709e-03 3.00501196e+02] [ 5.60134210e-03 9.99984143e-01 5.81685902e-04 -1.10556537e+01] [ 9.38408333e-03 -6.34233690e-04 9.99955767e-01 3.40766268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.030714057 meters Centerline goodness [0,1] 0.9635777637764746 Centerline is valid? [True, True] Translation: X:300.53, Y:-11.06, Z:3.41 [[ 9.99947062e-01 -4.11330620e-03 -9.43152064e-03 3.00529495e+02] [ 4.11899660e-03 9.99991346e-01 5.83993315e-04 -1.10568085e+01] [ 9.42903688e-03 -6.22810801e-04 9.99955352e-01 3.40780285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.060714057 meters Centerline goodness [0,1] 0.9632284808583272 Centerline is valid? [True, True] Translation: X:300.56, Y:-11.05, Z:3.41 [[ 9.99961925e-01 -1.98207337e-03 -8.49817827e-03 3.00558518e+02] [ 1.98661394e-03 9.99997888e-01 5.25890969e-04 -1.10548828e+01] [ 8.49711797e-03 -5.42753546e-04 9.99963752e-01 3.40783590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.090714057 meters Centerline goodness [0,1] 0.9656586365966171 Centerline is valid? [True, True] Translation: X:300.59, Y:-11.05, Z:3.41 [[ 9.99969882e-01 -3.74472670e-04 -7.75211034e-03 3.00587856e+02] [ 3.78199640e-04 9.99999814e-01 4.79308019e-04 -1.10499860e+01] [ 7.75192941e-03 -4.82225428e-04 9.99969837e-01 3.40939630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.120714057 meters Centerline goodness [0,1] 0.967925264647056 Centerline is valid? [True, True] Translation: X:300.62, Y:-11.04, Z:3.41 [[ 9.99976699e-01 1.37229029e-03 -6.68715633e-03 3.00617994e+02] [-1.36955787e-03 9.99998977e-01 4.13168370e-04 -1.10449706e+01] [ 6.68771648e-03 -4.04000295e-04 9.99977555e-01 3.41042688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.150714057 meters Centerline goodness [0,1] 0.9651737640724425 Centerline is valid? [True, True] Translation: X:300.65, Y:-11.05, Z:3.41 [[ 9.99978174e-01 2.31622842e-03 -6.18762879e-03 3.00645556e+02] [-2.31390933e-03 9.99997250e-01 3.81926238e-04 -1.10501586e+01] [ 6.18849640e-03 -3.67600290e-04 9.99980784e-01 3.41044720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.180714057 meters Centerline goodness [0,1] 0.9638592698147511 Centerline is valid? [True, True] Translation: X:300.67, Y:-11.05, Z:3.41 [[ 9.99971265e-01 3.74919565e-03 -6.58885829e-03 3.00673888e+02] [-3.74660037e-03 9.99992899e-01 4.06188019e-04 -1.10506058e+01] [ 6.59033438e-03 -3.81490528e-04 9.99978211e-01 3.40970153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.210714057 meters Centerline goodness [0,1] 0.9678354669877387 Centerline is valid? [True, True] Translation: X:300.70, Y:-11.05, Z:3.41 [[ 9.99968194e-01 3.58950491e-03 -7.12221022e-03 3.00702624e+02] [-3.58647196e-03 9.99993472e-01 4.38570300e-04 -1.10463632e+01] [ 7.12373798e-03 -4.13012743e-04 9.99974541e-01 3.40898334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.240714057 meters Centerline goodness [0,1] 0.9659291601255887 Centerline is valid? [True, True] Translation: X:300.73, Y:-11.05, Z:3.41 [[ 9.99958053e-01 2.18039729e-03 -8.89596018e-03 3.00732067e+02] [-2.17561392e-03 9.99997484e-01 5.47342794e-04 -1.10486769e+01] [ 8.89713122e-03 -5.27965660e-04 9.99960280e-01 3.40691498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.270714057 meters Centerline goodness [0,1] 0.9663960362039785 Centerline is valid? [True, True] Translation: X:300.76, Y:-11.05, Z:3.41 [[ 9.99952500e-01 2.89111905e-04 -9.74240106e-03 3.00760028e+02] [-2.83291174e-04 9.99999781e-01 5.98838384e-04 -1.10541079e+01] [ 9.74257206e-03 -5.96050002e-04 9.99952362e-01 3.40599224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.300714057 meters Centerline goodness [0,1] 0.9678495230154254 Centerline is valid? [True, True] Translation: X:300.79, Y:-11.05, Z:3.41 [[ 9.99956755e-01 -8.04220233e-04 -9.26502103e-03 3.00789278e+02] [ 8.09525317e-04 9.99999511e-01 5.68856797e-04 -1.10536408e+01] [ 9.26455901e-03 -5.76332466e-04 9.99956917e-01 3.40632355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.330714057 meters Centerline goodness [0,1] 0.9642464111907265 Centerline is valid? [True, True] Translation: X:300.82, Y:-11.06, Z:3.41 [[ 9.99949192e-01 -3.60846817e-03 -9.41238587e-03 3.00817723e+02] [ 3.61406472e-03 9.99993302e-01 5.77652714e-04 -1.10593433e+01] [ 9.41023839e-03 -6.11640336e-04 9.99955536e-01 3.40631103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.360714057 meters Centerline goodness [0,1] 0.9628411306042886 Centerline is valid? [True, True] Translation: X:300.85, Y:-11.07, Z:3.41 [[ 9.99952879e-01 -4.58648625e-03 -8.55588820e-03 3.00845106e+02] [ 4.59114180e-03 9.99989323e-01 5.24572322e-04 -1.10651560e+01] [ 8.55339090e-03 -5.63828900e-04 9.99963260e-01 3.40681882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.390714057 meters Centerline goodness [0,1] 0.9614432433757384 Centerline is valid? [True, True] Translation: X:300.87, Y:-11.07, Z:3.41 [[ 9.99935978e-01 -8.11206650e-03 -7.88881551e-03 3.00874814e+02] [ 8.11613136e-03 9.99966947e-01 4.83391728e-04 -1.10679896e+01] [ 7.88463345e-03 -5.47387444e-04 9.99968766e-01 3.40771811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.420714057 meters Centerline goodness [0,1] 0.9600566433907906 Centerline is valid? [True, True] Translation: X:300.90, Y:-11.07, Z:3.41 [[ 9.99924917e-01 -9.27803059e-03 -8.00492672e-03 3.00904890e+02] [ 9.28225291e-03 9.99956799e-01 4.90472701e-04 -1.10722877e+01] [ 8.00003028e-03 -5.64739629e-04 9.99967840e-01 3.40783109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.450714057 meters Centerline goodness [0,1] 0.9570985316752584 Centerline is valid? [True, True] Translation: X:300.93, Y:-11.08, Z:3.41 [[ 9.99898389e-01 -1.25777935e-02 -6.70906086e-03 3.00934477e+02] [ 1.25808333e-02 9.99920774e-01 4.11068991e-04 -1.10797439e+01] [ 6.70335899e-03 -4.95432798e-04 9.99977410e-01 3.40793761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.480714057 meters Centerline goodness [0,1] 0.9561217268223637 Centerline is valid? [True, True] Translation: X:300.96, Y:-11.08, Z:3.41 [[ 9.99870849e-01 -1.43524220e-02 -7.23136222e-03 3.00964968e+02] [ 1.43560007e-02 9.99896849e-01 4.43211380e-04 -1.10849205e+01] [ 7.22425515e-03 -5.46967580e-04 9.99973755e-01 3.40706960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51071405700003 meters Centerline goodness [0,1] 0.9565270336093522 Centerline is valid? [True, True] Translation: X:301.00, Y:-11.09, Z:3.41 [[ 9.99817828e-01 -1.68049874e-02 -9.05006416e-03 3.00995295e+02] [ 1.68106944e-02 9.99858536e-01 5.54897475e-04 -1.10893949e+01] [ 9.03945886e-03 -7.06934251e-04 9.99958893e-01 3.40548683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.540714057 meters Centerline goodness [0,1] 0.9595457425549544 Centerline is valid? [True, True] Translation: X:301.03, Y:-11.09, Z:3.41 [[ 9.99799822e-01 -1.76221151e-02 -9.47512416e-03 3.01027220e+02] [ 1.76284100e-02 9.99844439e-01 5.81240211e-04 -1.10873542e+01] [ 9.46340752e-03 -7.48155233e-04 9.99954941e-01 3.40534571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57071405700003 meters Centerline goodness [0,1] 0.9576550387596899 Centerline is valid? [True, True] Translation: X:301.06, Y:-11.10, Z:3.41 [[ 9.99776348e-01 -1.86174039e-02 -1.00322688e-02 3.01058297e+02] [ 1.86245154e-02 9.99826359e-01 6.15897622e-04 -1.10959205e+01] [ 1.00190604e-02 -8.02606020e-04 9.99949486e-01 3.40507540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.600714057 meters Centerline goodness [0,1] 0.9560351524567877 Centerline is valid? [True, True] Translation: X:301.09, Y:-11.10, Z:3.40 [[ 9.99769564e-01 -1.89280230e-02 -1.01266093e-02 3.01089362e+02] [ 1.89352900e-02 9.99820518e-01 6.22208242e-04 -1.11018376e+01] [ 1.01130146e-02 -8.13815147e-04 9.99948531e-01 3.40446343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63071405700003 meters Centerline goodness [0,1] 0.9613603859113277 Centerline is valid? [True, True] Translation: X:301.12, Y:-11.09, Z:3.41 [[ 9.99779315e-01 -1.85462901e-02 -9.86691520e-03 3.01121614e+02] [ 1.85531770e-02 9.99827691e-01 6.06887164e-04 -1.10948566e+01] [ 9.85395953e-03 -7.89815857e-04 9.99951137e-01 3.40579786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.660714057 meters Centerline goodness [0,1] 0.9601964769647696 Centerline is valid? [True, True] Translation: X:301.15, Y:-11.10, Z:3.41 [[ 9.99787801e-01 -1.77265286e-02 -1.04939567e-02 3.01152862e+02] [ 1.77342788e-02 9.99842527e-01 6.45931782e-04 -1.10969708e+01] [ 1.04808541e-02 -8.31897470e-04 9.99944728e-01 3.40560141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69071405700004 meters Centerline goodness [0,1] 0.9616055846422339 Centerline is valid? [True, True] Translation: X:301.19, Y:-11.10, Z:3.41 [[ 9.99788384e-01 -1.74013385e-02 -1.09718147e-02 3.01185567e+02] [ 1.74097986e-02 9.99848209e-01 6.76026022e-04 -1.10974042e+01] [ 1.09583856e-02 -8.66900048e-04 9.99939579e-01 3.40524244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.720714057 meters Centerline goodness [0,1] 0.9599874052365152 Centerline is valid? [True, True] Translation: X:301.22, Y:-11.10, Z:3.40 [[ 9.99799583e-01 -1.66706884e-02 -1.10852489e-02 3.01215194e+02] [ 1.66792835e-02 9.99860658e-01 6.83359493e-04 -1.11042965e+01] [ 1.10723122e-02 -8.68116545e-04 9.99938323e-01 3.40360944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.750714057 meters Centerline goodness [0,1] 0.9606767371601208 Centerline is valid? [True, True] Translation: X:301.25, Y:-11.11, Z:3.40 [[ 9.99801755e-01 -1.64918152e-02 -1.11566679e-02 3.01246823e+02] [ 1.65005141e-02 9.99863620e-01 6.88098937e-04 -1.11050215e+01] [ 1.11437983e-02 -8.72053281e-04 9.99937526e-01 3.40392107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.780714057 meters Centerline goodness [0,1] 0.9606087735004476 Centerline is valid? [True, True] Translation: X:301.28, Y:-11.10, Z:3.40 [[ 9.99803412e-01 -1.65037466e-02 -1.09892959e-02 3.01278350e+02] [ 1.65121913e-02 9.99863434e-01 6.78156287e-04 -1.11048640e+01] [ 1.09766030e-02 -8.59480326e-04 9.99939386e-01 3.40456310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.810714057 meters Centerline goodness [0,1] 0.9598935011497035 Centerline is valid? [True, True] Translation: X:301.31, Y:-11.11, Z:3.41 [[ 9.99815564e-01 -1.65140744e-02 -9.80425950e-03 3.01308959e+02] [ 1.65208009e-02 9.99863339e-01 6.05479285e-04 -1.11091938e+01] [ 9.79292071e-03 -7.67341831e-04 9.99951754e-01 3.40537570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.840714057 meters Centerline goodness [0,1] 0.9609103923519278 Centerline is valid? [True, True] Translation: X:301.34, Y:-11.11, Z:3.41 [[ 9.99806685e-01 -1.68742154e-02 -1.00922454e-02 3.01341653e+02] [ 1.68813678e-02 9.99857305e-01 6.23930006e-04 -1.11067186e+01] [ 1.00802769e-02 -7.94180297e-04 9.99948877e-01 3.40668626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.870714057 meters Centerline goodness [0,1] 0.9569065864778349 Centerline is valid? [True, True] Translation: X:301.37, Y:-11.12, Z:3.41 [[ 9.99799571e-01 -1.68647532e-02 -1.07887872e-02 3.01371826e+02] [ 1.68729333e-02 9.99857419e-01 6.67623740e-04 -1.11170028e+01] [ 1.07759896e-02 -8.49528416e-04 9.99941576e-01 3.40549568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.900714057 meters Centerline goodness [0,1] 0.9588436446535542 Centerline is valid? [True, True] Translation: X:301.40, Y:-11.12, Z:3.41 [[ 9.99787462e-01 -1.70869056e-02 -1.15355661e-02 3.01403470e+02] [ 1.70962773e-02 9.99853593e-01 7.14286876e-04 -1.11166885e+01] [ 1.15216722e-02 -9.11350298e-04 9.99933208e-01 3.40514877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.930714057 meters Centerline goodness [0,1] 0.9578955049620549 Centerline is valid? [True, True] Translation: X:301.44, Y:-11.12, Z:3.40 [[ 9.99779124e-01 -1.69178127e-02 -1.24695753e-02 3.01435025e+02] [ 1.69287579e-02 9.99856400e-01 7.72713321e-04 -1.11189126e+01] [ 1.24547121e-02 -9.83637069e-04 9.99921953e-01 3.40413965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.960714057 meters Centerline goodness [0,1] 0.9565491642203838 Centerline is valid? [True, True] Translation: X:301.46, Y:-11.12, Z:3.40 [[ 9.99780948e-01 -1.66850710e-02 -1.26358770e-02 3.01464856e+02] [ 1.66963008e-02 9.99860300e-01 7.83751561e-04 -1.11219834e+01] [ 1.26210348e-02 -9.94552281e-04 9.99919857e-01 3.40423790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.990714057 meters Centerline goodness [0,1] 0.9582837289535703 Centerline is valid? [True, True] Translation: X:301.50, Y:-11.12, Z:3.40 [[ 9.99797667e-01 -1.64167235e-02 -1.16239725e-02 3.01495497e+02] [ 1.64262104e-02 9.99864821e-01 7.21140626e-04 -1.11213860e+01] [ 1.16105624e-02 -9.11932533e-04 9.99932179e-01 3.40448252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.020714057 meters Centerline goodness [0,1] 0.9602402606877097 Centerline is valid? [True, True] Translation: X:301.53, Y:-11.12, Z:3.40 [[ 9.99791512e-01 -1.64365713e-02 -1.21149477e-02 3.01526802e+02] [ 1.64468819e-02 9.99864458e-01 7.51916785e-04 -1.11190549e+01] [ 1.21009466e-02 -9.51013132e-04 9.99926329e-01 3.40479382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.050714057 meters Centerline goodness [0,1] 0.9614776623945135 Centerline is valid? [True, True] Translation: X:301.56, Y:-11.12, Z:3.40 [[ 9.99798704e-01 -1.55540572e-02 -1.26737111e-02 3.01558574e+02] [ 1.55652759e-02 9.99878544e-01 7.87033154e-04 -1.11187920e+01] [ 1.26599302e-02 -9.84144536e-04 9.99919376e-01 3.40427238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.080714057 meters Centerline goodness [0,1] 0.9627873039036848 Centerline is valid? [True, True] Translation: X:301.59, Y:-11.12, Z:3.40 [[ 9.99807305e-01 -1.47077794e-02 -1.30013260e-02 3.01589500e+02] [ 1.47195181e-02 9.99891336e-01 8.07649132e-04 -1.11196571e+01] [ 1.29880345e-02 -9.98866755e-04 9.99915153e-01 3.40406673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.110714057 meters Centerline goodness [0,1] 0.9620678734134042 Centerline is valid? [True, True] Translation: X:301.62, Y:-11.12, Z:3.40 [[ 9.99848246e-01 -1.22144876e-02 -1.24214419e-02 3.01619553e+02] [ 1.22250117e-02 9.99924974e-01 7.71671635e-04 -1.11198784e+01] [ 1.24110844e-02 -9.23406803e-04 9.99922553e-01 3.40460225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.140714057 meters Centerline goodness [0,1] 0.9616842311171969 Centerline is valid? [True, True] Translation: X:301.65, Y:-11.12, Z:3.41 [[ 9.99859431e-01 -1.07938033e-02 -1.28300891e-02 3.01649343e+02] [ 1.08049106e-02 9.99941308e-01 7.96720231e-04 -1.11197595e+01] [ 1.28207364e-02 -9.35236203e-04 9.99917374e-01 3.40504635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.170714057 meters Centerline goodness [0,1] 0.9632266588373458 Centerline is valid? [True, True] Translation: X:301.68, Y:-11.12, Z:3.41 [[ 9.99900494e-01 -6.67667548e-03 -1.24267656e-02 3.01678818e+02] [ 6.68677552e-03 9.99977346e-01 7.71393574e-04 -1.11196433e+01] [ 1.24213337e-02 -8.54411807e-04 9.99922487e-01 3.40580104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.200714057 meters Centerline goodness [0,1] 0.9654725833251881 Centerline is valid? [True, True] Translation: X:301.71, Y:-11.12, Z:3.41 [[ 9.99913873e-01 -4.60602031e-03 -1.22895022e-02 3.01708849e+02] [ 4.61573815e-03 9.99989057e-01 7.62496166e-04 -1.11151422e+01] [ 1.22858557e-02 -8.19155618e-04 9.99924190e-01 3.40611419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.230714057 meters Centerline goodness [0,1] 0.9659595340282036 Centerline is valid? [True, True] Translation: X:301.74, Y:-11.11, Z:3.41 [[ 9.99908323e-01 -5.51256907e-04 -1.35292942e-02 3.01737920e+02] [ 5.62658114e-04 9.99999490e-01 8.38913330e-04 -1.11131564e+01] [ 1.35288248e-02 -8.46448788e-04 9.99908123e-01 3.40577642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26071405700003 meters Centerline goodness [0,1] 0.9678323742068762 Centerline is valid? [True, True] Translation: X:301.77, Y:-11.11, Z:3.41 [[ 9.99907061e-01 1.93864548e-03 -1.34948775e-02 3.01767902e+02] [-1.92753193e-03 9.99997792e-01 8.36495990e-04 -1.11122059e+01] [ 1.34964694e-02 -8.10406439e-04 9.99908590e-01 3.40592087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.290714057 meters Centerline goodness [0,1] 0.9684124669418424 Centerline is valid? [True, True] Translation: X:301.80, Y:-11.11, Z:3.41 [[ 9.99871013e-01 6.79328920e-03 -1.45536689e-02 3.01798476e+02] [-6.78087689e-03 9.99976603e-01 9.02041801e-04 -1.11086522e+01] [ 1.45594562e-02 -8.03238812e-04 9.99893683e-01 3.40596398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32071405700003 meters Centerline goodness [0,1] 0.972177529146761 Centerline is valid? [True, True] Translation: X:301.83, Y:-11.10, Z:3.41 [[ 9.99846524e-01 9.21318295e-03 -1.49011830e-02 3.01829359e+02] [-9.20044204e-03 9.99957249e-01 9.23355219e-04 -1.11002494e+01] [ 1.49090530e-02 -7.86116035e-04 9.99888545e-01 3.40798387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.350714057 meters Centerline goodness [0,1] 0.9690242515636202 Centerline is valid? [True, True] Translation: X:301.86, Y:-11.10, Z:3.41 [[ 9.99807019e-01 1.38869070e-02 -1.38952672e-02 3.01858179e+02] [-1.38762827e-02 9.99903349e-01 8.60726072e-04 -1.11041833e+01] [ 1.39058770e-02 -6.67745313e-04 9.99903086e-01 3.40828670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38071405700003 meters Centerline goodness [0,1] 0.970898815130633 Centerline is valid? [True, True] Translation: X:301.89, Y:-11.10, Z:3.41 [[ 9.99786101e-01 1.62459950e-02 -1.27992477e-02 3.01888175e+02] [-1.62371789e-02 9.99867854e-01 7.92422365e-04 -1.10980499e+01] [ 1.28104300e-02 -5.84429192e-04 9.99917772e-01 3.41175453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.410714057 meters Centerline goodness [0,1] 0.9720868080473138 Centerline is valid? [True, True] Translation: X:301.92, Y:-11.10, Z:3.41 [[ 9.99761588e-01 1.94591134e-02 -9.90502838e-03 3.01918187e+02] [-1.94539931e-02 9.99810565e-01 6.13035285e-04 -1.10991389e+01] [ 9.91508115e-03 -4.20196776e-04 9.99950756e-01 3.41495399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44071405700004 meters Centerline goodness [0,1] 0.9707360550617712 Centerline is valid? [True, True] Translation: X:301.95, Y:-11.10, Z:3.42 [[ 9.99770544e-01 1.96854366e-02 -8.44642953e-03 3.01947106e+02] [-1.96817251e-02 9.99806160e-01 5.22321528e-04 -1.11023635e+01] [ 8.45507440e-03 -3.55961374e-04 9.99964192e-01 3.41622200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.470714057 meters Centerline goodness [0,1] 0.9705331163387089 Centerline is valid? [True, True] Translation: X:301.98, Y:-11.11, Z:3.42 [[ 9.99793571e-01 1.87370948e-02 -7.85724973e-03 3.01975499e+02] [-1.87338581e-02 9.99824388e-01 4.85349925e-04 -1.11058025e+01] [ 7.86496395e-03 -3.38053134e-04 9.99969014e-01 3.41665148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.500714057 meters Centerline goodness [0,1] 0.9705331163387089 Centerline is valid? [True, True] Translation: X:302.00, Y:-11.11, Z:3.42 [[ 9.99795526e-01 1.86325004e-02 -7.85729446e-03 3.02002930e+02] [-1.86292661e-02 9.99826343e-01 4.84624942e-04 -1.11074047e+01] [ 7.86495976e-03 -3.38150220e-04 9.99969014e-01 3.41672821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.530714057 meters Centerline goodness [0,1] 0.9697581638181549 Centerline is valid? [True, True] Translation: X:302.03, Y:-11.11, Z:3.42 [[ 9.99834297e-01 1.58603182e-02 -8.93471884e-03 3.02031864e+02] [-1.58560315e-02 9.99874134e-01 5.50417176e-04 -1.11122378e+01] [ 8.94232405e-03 -4.08656787e-04 9.99959933e-01 3.41585630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.560714057 meters Centerline goodness [0,1] 0.9675911115485887 Centerline is valid? [True, True] Translation: X:302.06, Y:-11.12, Z:3.41 [[ 9.99849880e-01 1.44508526e-02 -9.55983663e-03 3.02059244e+02] [-1.44458880e-02 9.99895480e-01 5.88167849e-04 -1.11199378e+01] [ 9.56733696e-03 -4.49979223e-04 9.99954131e-01 3.41469483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.590714057 meters Centerline goodness [0,1] 0.9667612385657682 Centerline is valid? [True, True] Translation: X:302.09, Y:-11.13, Z:3.41 [[ 9.99863025e-01 1.16319506e-02 -1.17740849e-02 3.02087861e+02] [-1.16242339e-02 9.99932174e-01 7.23618987e-04 -1.11262517e+01] [ 1.17817035e-02 -5.86655151e-04 9.99930421e-01 3.41272589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.620714057 meters Centerline goodness [0,1] 0.9650557983932017 Centerline is valid? [True, True] Translation: X:302.12, Y:-11.14, Z:3.41 [[ 9.99855515e-01 1.10694471e-02 -1.29002139e-02 3.02115427e+02] [-1.10601505e-02 9.99938521e-01 7.91779140e-04 -1.11354208e+01] [ 1.29081854e-02 -6.48986434e-04 9.99916475e-01 3.41056917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.650714057 meters Centerline goodness [0,1] 0.9658183935372747 Centerline is valid? [True, True] Translation: X:302.14, Y:-11.14, Z:3.41 [[ 9.99834639e-01 1.05048436e-02 -1.48439436e-02 3.02144104e+02] [-1.04924884e-02 9.99944538e-01 9.09981171e-04 -1.11395169e+01] [ 1.48526795e-02 -7.54080790e-04 9.99889409e-01 3.40941369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.680714057 meters Centerline goodness [0,1] 0.9682539682539683 Centerline is valid? [True, True] Translation: X:302.17, Y:-11.14, Z:3.41 [[ 9.99822137e-01 1.13752894e-02 -1.50431674e-02 3.02173332e+02] [-1.13627145e-02 9.99935018e-01 9.21132915e-04 -1.11383863e+01] [ 1.50526680e-02 -7.50037864e-04 9.99886421e-01 3.41106252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.710714057 meters Centerline goodness [0,1] 0.9657625719350217 Centerline is valid? [True, True] Translation: X:302.20, Y:-11.15, Z:3.41 [[ 9.99814447e-01 1.21218275e-02 -1.49710808e-02 3.02200096e+02] [-1.21094753e-02 9.99926259e-01 9.15450051e-04 -1.11491036e+01] [ 1.49810737e-02 -7.33988254e-04 9.99887508e-01 3.40948749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.740714057 meters Centerline goodness [0,1] 0.9672154928555886 Centerline is valid? [True, True] Translation: X:302.23, Y:-11.15, Z:3.41 [[ 9.99822545e-01 1.25167542e-02 -1.40787100e-02 3.02229371e+02] [-1.25059075e-02 9.99921430e-01 8.58207096e-04 -1.11499042e+01] [ 1.40883458e-02 -6.81987758e-04 9.99900522e-01 3.41021558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.770714057 meters Centerline goodness [0,1] 0.9667596072251182 Centerline is valid? [True, True] Translation: X:302.26, Y:-11.15, Z:3.41 [[ 9.99832423e-01 1.21066898e-02 -1.37315301e-02 3.02258456e+02] [-1.20963512e-02 9.99926487e-01 8.35713468e-04 -1.11531841e+01] [ 1.37406384e-02 -6.69472010e-04 9.99905369e-01 3.41073132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.800714057 meters Centerline goodness [0,1] 0.9696406593141396 Centerline is valid? [True, True] Translation: X:302.29, Y:-11.15, Z:3.41 [[ 9.99842632e-01 1.18002337e-02 -1.32463615e-02 3.02287112e+02] [-1.17905984e-02 9.99930164e-01 8.05258023e-04 -1.11513135e+01] [ 1.32549387e-02 -6.48948773e-04 9.99911939e-01 3.41222239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.830714057 meters Centerline goodness [0,1] 0.9684474808681167 Centerline is valid? [True, True] Translation: X:302.31, Y:-11.16, Z:3.41 [[ 9.99867795e-01 1.06523241e-02 -1.22849931e-02 3.02314613e+02] [-1.06439629e-02 9.99943073e-01 7.45793200e-04 -1.11586716e+01] [ 1.22922382e-02 -6.14933592e-04 9.99924259e-01 3.41324959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.860714057 meters Centerline goodness [0,1] 0.9628978244633435 Centerline is valid? [True, True] Translation: X:302.34, Y:-11.17, Z:3.41 [[ 9.99900921e-01 7.27142353e-03 -1.20530053e-02 3.02342886e+02] [-7.26313411e-03 9.99973356e-01 7.31377857e-04 -1.11746635e+01] [ 1.20580023e-02 -6.43762798e-04 9.99927092e-01 3.41135982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.890714057 meters Centerline goodness [0,1] 0.9643756143168797 Centerline is valid? [True, True] Translation: X:302.37, Y:-11.18, Z:3.41 [[ 9.99912218e-01 5.41573810e-03 -1.20924372e-02 3.02372095e+02] [-5.40726507e-03 9.99985112e-01 7.33273123e-04 -1.11751826e+01] [ 1.20962284e-02 -6.67821741e-04 9.99926615e-01 3.41178251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.920714057 meters Centerline goodness [0,1] 0.9647887323943662 Centerline is valid? [True, True] Translation: X:302.40, Y:-11.18, Z:3.41 [[ 9.99915021e-01 2.73006041e-03 -1.27474238e-02 3.02402148e+02] [-2.72043107e-03 9.99996001e-01 7.72673959e-04 -1.11793959e+01] [ 1.27494823e-02 -7.37929810e-04 9.99918450e-01 3.41141450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.950714057 meters Centerline goodness [0,1] 0.9662835249042145 Centerline is valid? [True, True] Translation: X:302.43, Y:-11.19, Z:3.41 [[ 9.99893018e-01 -3.05099871e-03 -1.43053722e-02 3.02432086e+02] [ 3.06371182e-03 9.99994931e-01 8.66863847e-04 -1.11852450e+01] [ 1.43026549e-02 -9.10598647e-04 9.99897297e-01 3.41103792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.980714057 meters Centerline goodness [0,1] 0.9654424557305942 Centerline is valid? [True, True] Translation: X:302.46, Y:-11.19, Z:3.41 [[ 9.99879708e-01 -5.65552681e-03 -1.44424510e-02 3.02461047e+02] [ 5.66875301e-03 9.99983550e-01 8.75012862e-04 -1.11918847e+01] [ 1.44372647e-02 -9.56778292e-04 9.99895320e-01 3.41004667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01071405700003 meters Centerline goodness [0,1] 0.9623371383819446 Centerline is valid? [True, True] Translation: X:302.49, Y:-11.21, Z:3.41 [[ 9.99820343e-01 -1.07789304e-02 -1.55915664e-02 3.02489216e+02] [ 1.07949581e-02 9.99941287e-01 9.44174749e-04 -1.12058523e+01] [ 1.55804737e-02 -1.11231543e-03 9.99877998e-01 3.40796865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.040714057 meters Centerline goodness [0,1] 0.9635656340433607 Centerline is valid? [True, True] Translation: X:302.52, Y:-11.21, Z:3.41 [[ 9.99799187e-01 -1.25775003e-02 -1.56010394e-02 3.02518955e+02] [ 1.25937571e-02 9.99920250e-01 9.44223737e-04 -1.12081223e+01] [ 1.55879192e-02 -1.14050982e-03 9.99877851e-01 3.40849288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07071405700003 meters Centerline goodness [0,1] 0.9671001022178906 Centerline is valid? [True, True] Translation: X:302.55, Y:-11.20, Z:3.41 [[ 9.99766928e-01 -1.52866352e-02 -1.52449670e-02 3.02549401e+02] [ 1.53024667e-02 9.99882485e-01 9.22360399e-04 -1.12047288e+01] [ 1.52290757e-02 -1.15543102e-03 9.99883363e-01 3.41060901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.100714057 meters Centerline goodness [0,1] 0.9644096809471732 Centerline is valid? [True, True] Translation: X:302.58, Y:-11.21, Z:3.41 [[ 9.99762833e-01 -1.59131501e-02 -1.48677298e-02 3.02578246e+02] [ 1.59282695e-02 9.99872733e-01 8.99062615e-04 -1.12093120e+01] [ 1.48515307e-02 -1.13566659e-03 9.99889065e-01 3.41063298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13071405700003 meters Centerline goodness [0,1] 0.9656966385556479 Centerline is valid? [True, True] Translation: X:302.61, Y:-11.21, Z:3.41 [[ 9.99763814e-01 -1.67438895e-02 -1.38549014e-02 3.02607986e+02] [ 1.67570916e-02 9.99859239e-01 8.37333127e-04 -1.12095154e+01] [ 1.38389310e-02 -1.06930321e-03 9.99903666e-01 3.41150135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.160714057 meters Centerline goodness [0,1] 0.9634730255048829 Centerline is valid? [True, True] Translation: X:302.64, Y:-11.21, Z:3.41 [[ 9.99771504e-01 -1.62310489e-02 -1.39101825e-02 3.02636895e+02] [ 1.62443031e-02 9.99867699e-01 8.40379209e-04 -1.12140945e+01] [ 1.38947019e-02 -1.06614841e-03 9.99902896e-01 3.41172165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19071405700004 meters Centerline goodness [0,1] 0.9650983095979648 Centerline is valid? [True, True] Translation: X:302.67, Y:-11.21, Z:3.41 [[ 9.99764769e-01 -1.66234777e-02 -1.39307872e-02 3.02668117e+02] [ 1.66368084e-02 9.99861245e-01 8.41574918e-04 -1.12102728e+01] [ 1.39148643e-02 -1.07314079e-03 9.99902608e-01 3.41238215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.220714057 meters Centerline goodness [0,1] 0.9656861579435474 Centerline is valid? [True, True] Translation: X:302.70, Y:-11.21, Z:3.41 [[ 9.99772971e-01 -1.64184412e-02 -1.35809444e-02 3.02698993e+02] [ 1.64310919e-02 9.99864664e-01 8.20440511e-04 -1.12098466e+01] [ 1.35656361e-02 -1.04340399e-03 9.99907438e-01 3.41281758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.250714057 meters Centerline goodness [0,1] 0.9644306517068513 Centerline is valid? [True, True] Translation: X:302.73, Y:-11.21, Z:3.41 [[ 9.99770950e-01 -1.68719985e-02 -1.31675005e-02 3.02727889e+02] [ 1.68839272e-02 9.99857140e-01 7.95280649e-04 -1.12143351e+01] [ 1.31522014e-02 -1.01741761e-03 9.99912988e-01 3.41278927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.280714057 meters Centerline goodness [0,1] 0.9646345249182129 Centerline is valid? [True, True] Translation: X:302.76, Y:-11.21, Z:3.41 [[ 9.99761922e-01 -1.75062869e-02 -1.30241944e-02 3.02758604e+02] [ 1.75180103e-02 9.99846238e-01 7.86576758e-04 -1.12113057e+01] [ 1.30084218e-02 -1.01454746e-03 9.99914872e-01 3.41282724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.310714057 meters Centerline goodness [0,1] 0.9651096145579596 Centerline is valid? [True, True] Translation: X:302.79, Y:-11.21, Z:3.41 [[ 9.99742168e-01 -1.79305615e-02 -1.39316980e-02 3.02788390e+02] [ 1.79440167e-02 9.99838639e-01 8.41384081e-04 -1.12124277e+01] [ 1.39143635e-02 -1.09115777e-03 9.99902595e-01 3.41174773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.340714057 meters Centerline goodness [0,1] 0.9649904671115348 Centerline is valid? [True, True] Translation: X:302.82, Y:-11.21, Z:3.41 [[ 9.99739559e-01 -1.75482930e-02 -1.45901015e-02 3.02818843e+02] [ 1.75630198e-02 9.99845369e-01 8.81842371e-04 -1.12147238e+01] [ 1.45723706e-02 -1.13785894e-03 9.99893170e-01 3.41149640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.370714057 meters Centerline goodness [0,1] 0.9655122793553339 Centerline is valid? [True, True] Translation: X:302.85, Y:-11.21, Z:3.41 [[ 9.99754102e-01 -1.66995322e-02 -1.45897877e-02 3.02849345e+02] [ 1.67141709e-02 9.99859919e-01 8.81987300e-04 -1.12134640e+01] [ 1.45730152e-02 -1.12562663e-03 9.99893174e-01 3.41177180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.400714057 meters Centerline goodness [0,1] 0.963412290395426 Centerline is valid? [True, True] Translation: X:302.88, Y:-11.22, Z:3.41 [[ 9.99782226e-01 -1.49762528e-02 -1.45331548e-02 3.02878514e+02] [ 1.49905941e-02 9.99887249e-01 8.78360991e-04 -1.12156294e+01] [ 1.45183616e-02 -1.09603033e-03 9.99894002e-01 3.41162144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.430714057 meters Centerline goodness [0,1] 0.9666337658585907 Centerline is valid? [True, True] Translation: X:302.91, Y:-11.21, Z:3.41 [[ 9.99827551e-01 -1.20057389e-02 -1.41679094e-02 3.02909239e+02] [ 1.20190692e-02 9.99927402e-01 8.56100710e-04 -1.12097257e+01] [ 1.41566027e-02 -1.02623816e-03 9.99899264e-01 3.41308031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.460714057 meters Centerline goodness [0,1] 0.967756716345922 Centerline is valid? [True, True] Translation: X:302.94, Y:-11.21, Z:3.41 [[ 9.99864239e-01 -9.68327416e-03 -1.33318037e-02 3.02939437e+02] [ 9.69486455e-03 9.99952680e-01 8.05023768e-04 -1.12061749e+01] [ 1.33233776e-02 -9.34164509e-04 9.99910803e-01 3.41407141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.490714057 meters Centerline goodness [0,1] 0.9672944708046868 Centerline is valid? [True, True] Translation: X:302.97, Y:-11.20, Z:3.42 [[ 9.99921969e-01 -5.43928634e-03 -1.12458691e-02 3.02969436e+02] [ 5.44726456e-03 9.99984933e-01 6.78925922e-04 -1.12043132e+01] [ 1.12420068e-02 -7.40132169e-04 9.99936533e-01 3.41621048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.520714057 meters Centerline goodness [0,1] 0.9639888525384709 Centerline is valid? [True, True] Translation: X:303.00, Y:-11.21, Z:3.42 [[ 9.99944223e-01 -3.32119866e-03 -1.00260040e-02 3.02998021e+02] [ 3.32743122e-03 9.99994281e-01 6.05022881e-04 -1.12094683e+01] [ 1.00239372e-02 -6.38349973e-04 9.99949555e-01 3.41614035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.550714057 meters Centerline goodness [0,1] 0.9685539162245318 Centerline is valid? [True, True] Translation: X:303.03, Y:-11.20, Z:3.42 [[ 9.99952988e-01 -1.30005343e-03 -9.60895956e-03 3.03028342e+02] [ 1.30568208e-03 9.99998980e-01 5.79521711e-04 -1.11999969e+01] [ 9.60819635e-03 -5.92040713e-04 9.99953665e-01 3.41799118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.580714057 meters Centerline goodness [0,1] 0.968995835261453 Centerline is valid? [True, True] Translation: X:303.06, Y:-11.20, Z:3.42 [[ 9.99950342e-01 1.89829514e-03 -9.78318061e-03 3.03057631e+02] [-1.89261643e-03 9.99998035e-01 5.89682571e-04 -1.11990268e+01] [ 9.78428077e-03 -5.71137480e-04 9.99951970e-01 3.41778939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.610714057 meters Centerline goodness [0,1] 0.9701074378151875 Centerline is valid? [True, True] Translation: X:303.09, Y:-11.20, Z:3.42 [[ 9.99937061e-01 3.80365809e-03 -1.05549465e-02 3.03086761e+02] [-3.79717328e-03 9.99992590e-01 6.34358222e-04 -1.11981488e+01] [ 1.05572811e-02 -5.94239336e-04 9.99944094e-01 3.41771946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.640714057 meters Centerline goodness [0,1] 0.9687043351193375 Centerline is valid? [True, True] Translation: X:303.11, Y:-11.20, Z:3.42 [[ 9.99934679e-01 4.02612370e-03 -1.06971257e-02 3.03114229e+02] [-4.01948966e-03 9.99991716e-01 6.41597267e-04 -1.11999828e+01] [ 1.06996202e-02 -5.98558371e-04 9.99942578e-01 3.41695127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.670714057 meters Centerline goodness [0,1] 0.9690005605244559 Centerline is valid? [True, True] Translation: X:303.14, Y:-11.20, Z:3.42 [[ 9.99941334e-01 3.72564639e-03 -1.01709636e-02 3.03142509e+02] [-3.71964085e-03 9.99992896e-01 6.09312234e-04 -1.12016264e+01] [ 1.01731614e-02 -5.71444156e-04 9.99948089e-01 3.41655677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.700714057 meters Centerline goodness [0,1] 0.9673979355279534 Centerline is valid? [True, True] Translation: X:303.17, Y:-11.21, Z:3.42 [[ 9.99936233e-01 3.09665574e-03 -1.08600724e-02 3.03169619e+02] [-3.08978139e-03 9.99995016e-01 6.49714019e-04 -1.12071938e+01] [ 1.08620302e-02 -6.16117338e-04 9.99940817e-01 3.41544281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.730714057 meters Centerline goodness [0,1] 0.9699389499389499 Centerline is valid? [True, True] Translation: X:303.20, Y:-11.20, Z:3.42 [[ 9.99934442e-01 1.51922299e-03 -1.13491927e-02 3.03199011e+02] [-1.51162204e-03 9.99998627e-01 6.78283220e-04 -1.12027877e+01] [ 1.13502075e-02 -6.61083063e-04 9.99935366e-01 3.41553563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76071405700003 meters Centerline goodness [0,1] 0.9688475039001561 Centerline is valid? [True, True] Translation: X:303.23, Y:-11.21, Z:3.42 [[ 9.99939328e-01 8.69279504e-04 -1.09811181e-02 3.03226089e+02] [-8.62135462e-04 9.99999414e-01 6.55292075e-04 -1.12075910e+01] [ 1.09816813e-02 -6.45785106e-04 9.99939491e-01 3.41512559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.790714057 meters Centerline goodness [0,1] 0.9687020109689214 Centerline is valid? [True, True] Translation: X:303.25, Y:-11.21, Z:3.42 [[ 9.99939958e-01 -2.28831867e-04 -1.09557022e-02 3.03254599e+02] [ 2.35999132e-04 9.99999759e-01 6.52915682e-04 -1.12076748e+01] [ 1.09555501e-02 -6.55462016e-04 9.99939771e-01 3.41616373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82071405700003 meters Centerline goodness [0,1] 0.9686313637691035 Centerline is valid? [True, True] Translation: X:303.28, Y:-11.21, Z:3.42 [[ 9.99949570e-01 -1.98572383e-03 -9.84449569e-03 3.03284269e+02] [ 1.99159153e-03 9.99997845e-01 5.86271069e-04 -1.12117341e+01] [ 9.84331030e-03 -6.05847717e-04 9.99951370e-01 3.41703239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.850714057 meters Centerline goodness [0,1] 0.9670476979697287 Centerline is valid? [True, True] Translation: X:303.31, Y:-11.22, Z:3.42 [[ 9.99945105e-01 -3.27796046e-03 -9.95195472e-03 3.03312140e+02] [ 3.28401554e-03 9.99994432e-01 5.92150340e-04 -1.12158427e+01] [ 9.94995826e-03 -6.24800208e-04 9.99950303e-01 3.41681304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88071405700003 meters Centerline goodness [0,1] 0.9684213083294873 Centerline is valid? [True, True] Translation: X:303.34, Y:-11.22, Z:3.42 [[ 9.99932341e-01 -5.37652744e-03 -1.03153269e-02 3.03341348e+02] [ 5.38313812e-03 9.99985323e-01 6.13201484e-04 -1.12179567e+01] [ 1.03118786e-02 -6.68688825e-04 9.99946608e-01 3.41642737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.910714057 meters Centerline goodness [0,1] 0.9662668120683388 Centerline is valid? [True, True] Translation: X:303.37, Y:-11.23, Z:3.42 [[ 9.99922354e-01 -6.72241651e-03 -1.04926402e-02 3.03368791e+02] [ 6.72931796e-03 9.99977164e-01 6.22575080e-04 -1.12259737e+01] [ 1.04882154e-02 -6.93135052e-04 9.99944757e-01 3.41549447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94071405700004 meters Centerline goodness [0,1] 0.9661900145419292 Centerline is valid? [True, True] Translation: X:303.40, Y:-11.23, Z:3.42 [[ 9.99894840e-01 -8.94959285e-03 -1.14111481e-02 3.03398749e+02] [ 8.95789194e-03 9.99959649e-01 6.76374310e-04 -1.12260064e+01] [ 1.14046344e-02 -7.78523014e-04 9.99934662e-01 3.41547899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.970714057 meters Centerline goodness [0,1] 0.9649852493108284 Centerline is valid? [True, True] Translation: X:303.43, Y:-11.23, Z:3.42 [[ 9.99879401e-01 -9.84739538e-03 -1.20088141e-02 3.03427093e+02] [ 9.85664410e-03 9.99951169e-01 7.11217377e-04 -1.12307869e+01] [ 1.20012241e-02 -8.29498211e-04 9.99927639e-01 3.41503030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.000714057 meters Centerline goodness [0,1] 0.9644671278602873 Centerline is valid? [True, True] Translation: X:303.46, Y:-11.23, Z:3.41 [[ 9.99859700e-01 -1.09114975e-02 -1.27090423e-02 3.03456447e+02] [ 1.09219356e-02 9.99940071e-01 7.52193595e-04 -1.12344990e+01] [ 1.27000731e-02 -8.90895404e-04 9.99918954e-01 3.41422248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.030714057 meters Centerline goodness [0,1] 0.9660428323364847 Centerline is valid? [True, True] Translation: X:303.49, Y:-11.24, Z:3.41 [[ 9.99834122e-01 -1.25029101e-02 -1.32440587e-02 3.03486002e+02] [ 1.25143784e-02 9.99921385e-01 7.83393698e-04 -1.12357751e+01] [ 1.32332228e-02 -9.49004913e-04 9.99911987e-01 3.41475549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.060714057 meters Centerline goodness [0,1] 0.9664502688823216 Centerline is valid? [True, True] Translation: X:303.52, Y:-11.24, Z:3.42 [[ 9.99827361e-01 -1.33330321e-02 -1.29413769e-02 3.03515745e+02] [ 1.33440454e-02 9.99910672e-01 7.65041025e-04 -1.12385632e+01] [ 1.29300206e-02 -9.37599271e-04 9.99915964e-01 3.41511127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.090714057 meters Centerline goodness [0,1] 0.9647672901261418 Centerline is valid? [True, True] Translation: X:303.55, Y:-11.24, Z:3.42 [[ 9.99823777e-01 -1.39516825e-02 -1.25604898e-02 3.03545391e+02] [ 1.39621023e-02 9.99902250e-01 7.42261389e-04 -1.12424179e+01] [ 1.25489062e-02 -9.17501429e-04 9.99920838e-01 3.41513279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.120714057 meters Centerline goodness [0,1] 0.9664351571763908 Centerline is valid? [True, True] Translation: X:303.58, Y:-11.24, Z:3.42 [[ 9.99826302e-01 -1.38839647e-02 -1.24338966e-02 3.03576037e+02] [ 1.38941697e-02 9.99903201e-01 7.34732716e-04 -1.12417251e+01] [ 1.24224920e-02 -9.07363764e-04 9.99922426e-01 3.41613531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.150714057 meters Centerline goodness [0,1] 0.9632418819768991 Centerline is valid? [True, True] Translation: X:303.61, Y:-11.25, Z:3.42 [[ 9.99816540e-01 -1.48504047e-02 -1.20976262e-02 3.03605622e+02] [ 1.48601454e-02 9.99889326e-01 7.15682627e-04 -1.12484883e+01] [ 1.20856591e-02 -8.95323812e-04 9.99926565e-01 3.41634570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.180714057 meters Centerline goodness [0,1] 0.9633727953611984 Centerline is valid? [True, True] Translation: X:303.64, Y:-11.25, Z:3.42 [[ 9.99815171e-01 -1.53174345e-02 -1.16189910e-02 3.03636281e+02] [ 1.53264537e-02 9.99882307e-01 6.87602684e-04 -1.12498198e+01] [ 1.16070912e-02 -8.65553523e-04 9.99932261e-01 3.41644044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.210714057 meters Centerline goodness [0,1] 0.9625625770877168 Centerline is valid? [True, True] Translation: X:303.67, Y:-11.25, Z:3.42 [[ 9.99793159e-01 -1.69110364e-02 -1.12985018e-02 3.03666957e+02] [ 1.69196678e-02 9.99856629e-01 6.68783237e-04 -1.12529625e+01] [ 1.12855721e-02 -8.59811803e-04 9.99935946e-01 3.41713797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.240714057 meters Centerline goodness [0,1] 0.9617654171704958 Centerline is valid? [True, True] Translation: X:303.70, Y:-11.26, Z:3.42 [[ 9.99782857e-01 -1.78125356e-02 -1.08144284e-02 3.03698405e+02] [ 1.78204990e-02 9.99840997e-01 6.40450600e-04 -1.12572966e+01] [ 1.08013008e-02 -8.33030041e-04 9.99941317e-01 3.41697695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.270714057 meters Centerline goodness [0,1] 0.964308968577423 Centerline is valid? [True, True] Translation: X:303.73, Y:-11.26, Z:3.42 [[ 9.99750293e-01 -1.94510226e-02 -1.10004512e-02 3.03729435e+02] [ 1.94593650e-02 9.99810436e-01 6.51830807e-04 -1.12556422e+01] [ 1.09856871e-02 -8.65729834e-04 9.99939281e-01 3.41760325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.300714057 meters Centerline goodness [0,1] 0.9607279924690434 Centerline is valid? [True, True] Translation: X:303.76, Y:-11.26, Z:3.42 [[ 9.99721747e-01 -2.03858147e-02 -1.18679316e-02 3.03760399e+02] [ 2.03955971e-02 9.99791740e-01 7.03812644e-04 -1.12631527e+01] [ 1.18511121e-02 -9.45670355e-04 9.99929326e-01 3.41630416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.330714057 meters Centerline goodness [0,1] 0.9605095234655301 Centerline is valid? [True, True] Translation: X:303.79, Y:-11.27, Z:3.42 [[ 9.99680919e-01 -2.18903285e-02 -1.26044726e-02 3.03790185e+02] [ 2.19014858e-02 9.99759854e-01 7.47816201e-04 -1.12704660e+01] [ 1.25850758e-02 -1.02363427e-03 9.99920281e-01 3.41530243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.360714057 meters Centerline goodness [0,1] 0.9594704782003933 Centerline is valid? [True, True] Translation: X:303.82, Y:-11.27, Z:3.41 [[ 9.99665129e-01 -2.25538684e-02 -1.26867244e-02 3.03821694e+02] [ 2.25652319e-02 9.99745089e-01 7.53243508e-04 -1.12742242e+01] [ 1.26665019e-02 -1.03927015e-03 9.99919237e-01 3.41468210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.390714057 meters Centerline goodness [0,1] 0.9589654674180031 Centerline is valid? [True, True] Translation: X:303.85, Y:-11.28, Z:3.41 [[ 9.99602220e-01 -2.49124964e-02 -1.32200092e-02 3.03851017e+02] [ 2.49250484e-02 9.99689014e-01 7.85533989e-04 -1.12820756e+01] [ 1.31963284e-02 -1.11473089e-03 9.99912303e-01 3.41410376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.420714057 meters Centerline goodness [0,1] 0.9589654674180031 Centerline is valid? [True, True] Translation: X:303.88, Y:-11.28, Z:3.41 [[ 9.99603864e-01 -2.48464911e-02 -1.32199607e-02 3.03882765e+02] [ 2.48590481e-02 9.99690657e-01 7.86351051e-04 -1.12840309e+01] [ 1.31963331e-02 -1.11467519e-03 9.99912303e-01 3.41419244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.450714057 meters Centerline goodness [0,1] 0.9623154249434852 Centerline is valid? [True, True] Translation: X:303.92, Y:-11.28, Z:3.41 [[ 9.99570554e-01 -2.58097161e-02 -1.38768331e-02 3.03915000e+02] [ 2.58236552e-02 9.99666172e-01 8.26208978e-04 -1.12761974e+01] [ 1.38508764e-02 -1.18420472e-03 9.99903371e-01 3.41494936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.480714057 meters Centerline goodness [0,1] 0.9595396554623867 Centerline is valid? [True, True] Translation: X:303.95, Y:-11.29, Z:3.41 [[ 9.99546887e-01 -2.65283207e-02 -1.42221446e-02 3.03945725e+02] [ 2.65430524e-02 9.99647311e-01 8.48040299e-04 -1.12874530e+01] [ 1.41946316e-02 -1.22515517e-03 9.99898501e-01 3.41466068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51071405700003 meters Centerline goodness [0,1] 0.9595632349412047 Centerline is valid? [True, True] Translation: X:303.98, Y:-11.29, Z:3.42 [[ 9.99536247e-01 -2.70372417e-02 -1.40099740e-02 3.03977789e+02] [ 2.70516012e-02 9.99633689e-01 8.36420573e-04 -1.12896363e+01] [ 1.39822274e-02 -1.21502491e-03 9.99901506e-01 3.41530298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.540714057 meters Centerline goodness [0,1] 0.9626670505530363 Centerline is valid? [True, True] Translation: X:304.01, Y:-11.29, Z:3.42 [[ 9.99549435e-01 -2.67220014e-02 -1.36697263e-02 3.04009897e+02] [ 2.67356555e-02 9.99642205e-01 8.17057570e-04 -1.12866242e+01] [ 1.36430020e-02 -1.18215853e-03 9.99906231e-01 3.41613458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57071405700003 meters Centerline goodness [0,1] 0.9620638420245399 Centerline is valid? [True, True] Translation: X:304.04, Y:-11.29, Z:3.41 [[ 9.99574000e-01 -2.60228024e-02 -1.32148488e-02 3.04041496e+02] [ 2.60355119e-02 9.99660706e-01 7.90604528e-04 -1.12913590e+01] [ 1.31897914e-02 -1.13432308e-03 9.99912368e-01 3.41481009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.600714057 meters Centerline goodness [0,1] 0.9636407243074709 Centerline is valid? [True, True] Translation: X:304.07, Y:-11.29, Z:3.41 [[ 9.99581844e-01 -2.56764545e-02 -1.32987491e-02 3.04074016e+02] [ 2.56893072e-02 9.99669658e-01 7.96510392e-04 -1.12927365e+01] [ 1.32739044e-02 -1.13781298e-03 9.99911250e-01 3.41416942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63071405700003 meters Centerline goodness [0,1] 0.9624791019823262 Centerline is valid? [True, True] Translation: X:304.10, Y:-11.30, Z:3.41 [[ 9.99602974e-01 -2.45586746e-02 -1.38117987e-02 3.04104442e+02] [ 2.45724404e-02 9.99697709e-01 8.27827685e-04 -1.12976448e+01] [ 1.37872932e-02 -1.16688862e-03 9.99904270e-01 3.41348698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.660714057 meters Centerline goodness [0,1] 0.9618079636494081 Centerline is valid? [True, True] Translation: X:304.14, Y:-11.30, Z:3.41 [[ 9.99608429e-01 -2.42099556e-02 -1.40309354e-02 3.04135061e+02] [ 2.42241372e-02 9.99706198e-01 8.41643034e-04 -1.13005098e+01] [ 1.40064370e-02 -1.18120078e-03 9.99901207e-01 3.41356829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69071405700004 meters Centerline goodness [0,1] 0.9626452617706961 Centerline is valid? [True, True] Translation: X:304.17, Y:-11.30, Z:3.41 [[ 9.99620380e-01 -2.42156739e-02 -1.31414321e-02 3.04166303e+02] [ 2.42281211e-02 9.99706145e-01 7.88774119e-04 -1.13040821e+01] [ 1.31184698e-02 -1.10686689e-03 9.99913337e-01 3.41478675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.720714057 meters Centerline goodness [0,1] 0.9605288369419429 Centerline is valid? [True, True] Translation: X:304.20, Y:-11.31, Z:3.41 [[ 9.99611246e-01 -2.46088290e-02 -1.31058302e-02 3.04197078e+02] [ 2.46212505e-02 9.99696541e-01 7.87258121e-04 -1.13091048e+01] [ 1.30824796e-02 -1.10963400e-03 9.99913805e-01 3.41497859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.750714057 meters Centerline goodness [0,1] 0.964406779661017 Centerline is valid? [True, True] Translation: X:304.23, Y:-11.31, Z:3.42 [[ 9.99567548e-01 -2.61315936e-02 -1.34854455e-02 3.04228495e+02] [ 2.61448899e-02 9.99657835e-01 8.10585310e-04 -1.13064997e+01] [ 1.34596494e-02 -1.16281026e-03 9.99908739e-01 3.41509798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.780714057 meters Centerline goodness [0,1] 0.9642388529713481 Centerline is valid? [True, True] Translation: X:304.26, Y:-11.31, Z:3.41 [[ 9.99531119e-01 -2.72480710e-02 -1.39672768e-02 3.04260031e+02] [ 2.72624496e-02 9.99627957e-01 8.40044914e-04 -1.13099840e+01] [ 1.39391908e-02 -1.22043321e-03 9.99902100e-01 3.41459472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.810714057 meters Centerline goodness [0,1] 0.9535613280414478 Centerline is valid? [True, True] Translation: X:304.29, Y:-11.33, Z:3.41 [[ 9.99434736e-01 -3.03839534e-02 -1.43883075e-02 3.04288564e+02] [ 3.03995333e-02 9.99537453e-01 8.65296830e-04 -1.13269603e+01] [ 1.43553611e-02 -1.30220554e-03 9.99896109e-01 3.41262050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.840714057 meters Centerline goodness [0,1] 0.9616382285047952 Centerline is valid? [True, True] Translation: X:304.32, Y:-11.32, Z:3.41 [[ 9.99388122e-01 -3.18439341e-02 -1.44687551e-02 3.04319945e+02] [ 3.18598473e-02 9.99491967e-01 8.70605570e-04 -1.13190876e+01] [ 1.44336810e-02 -1.33104519e-03 9.99894943e-01 3.41419557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.870714057 meters Centerline goodness [0,1] 0.9635191090381229 Centerline is valid? [True, True] Translation: X:304.35, Y:-11.32, Z:3.41 [[ 9.99343115e-01 -3.32316522e-02 -1.44566908e-02 3.04350808e+02] [ 3.32476875e-02 9.99446764e-01 8.70208566e-04 -1.13221005e+01] [ 1.44197744e-02 -1.35028848e-03 9.99895118e-01 3.41470814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.900714057 meters Centerline goodness [0,1] 0.9619522807349429 Centerline is valid? [True, True] Translation: X:304.38, Y:-11.33, Z:3.41 [[ 9.99288900e-01 -3.51051933e-02 -1.37593301e-02 3.04381223e+02] [ 3.51198980e-02 9.99382763e-01 8.28471884e-04 -1.13290386e+01] [ 1.37217537e-02 -1.31110903e-03 9.99904993e-01 3.41464423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.930714057 meters Centerline goodness [0,1] 0.96075742890239 Centerline is valid? [True, True] Translation: X:304.41, Y:-11.33, Z:3.41 [[ 9.99249221e-01 -3.63612999e-02 -1.33735195e-02 3.04412259e+02] [ 3.63753085e-02 9.99337875e-01 8.05660401e-04 -1.13335410e+01] [ 1.33353697e-02 -1.29152143e-03 9.99910246e-01 3.41470947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.960714057 meters Centerline goodness [0,1] 0.9597871639120403 Centerline is valid? [True, True] Translation: X:304.44, Y:-11.34, Z:3.42 [[ 9.99198039e-01 -3.78453892e-02 -1.30768983e-02 3.04442739e+02] [ 3.78589127e-02 9.99282784e-01 7.88066630e-04 -1.13386849e+01] [ 1.30376947e-02 -1.28251178e-03 9.99914183e-01 3.41503058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.990714057 meters Centerline goodness [0,1] 0.9595203814289424 Centerline is valid? [True, True] Translation: X:304.47, Y:-11.34, Z:3.42 [[ 9.99156099e-01 -3.88165622e-02 -1.34299703e-02 3.04474325e+02] [ 3.88309210e-02 9.99245467e-01 8.09957732e-04 -1.13411736e+01] [ 1.33883972e-02 -1.33077232e-03 9.99909486e-01 3.41533328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.020714057 meters Centerline goodness [0,1] 0.9563040616773223 Centerline is valid? [True, True] Translation: X:304.51, Y:-11.35, Z:3.41 [[ 9.99117011e-01 -3.99017738e-02 -1.31547187e-02 3.04505114e+02] [ 3.99156520e-02 9.99202737e-01 7.94041716e-04 -1.13480685e+01] [ 1.31125473e-02 -1.31841976e-03 9.99913158e-01 3.41484199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.050714057 meters Centerline goodness [0,1] 0.9606855313338669 Centerline is valid? [True, True] Translation: X:304.54, Y:-11.35, Z:3.42 [[ 9.99093407e-01 -4.04497824e-02 -1.32732799e-02 3.04536781e+02] [ 4.04639692e-02 9.99180676e-01 8.01902254e-04 -1.13479110e+01] [ 1.32299680e-02 -1.33826484e-03 9.99911585e-01 3.41535398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.080714057 meters Centerline goodness [0,1] 0.9604635310156783 Centerline is valid? [True, True] Translation: X:304.57, Y:-11.35, Z:3.41 [[ 9.99026027e-01 -4.19322127e-02 -1.37363474e-02 3.04567450e+02] [ 4.19475502e-02 9.99119469e-01 8.30225438e-04 -1.13537618e+01] [ 1.36894390e-02 -1.40562294e-03 9.99905307e-01 3.41454469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.110714057 meters Centerline goodness [0,1] 0.9581632174198695 Centerline is valid? [True, True] Translation: X:304.60, Y:-11.36, Z:3.41 [[ 9.99014694e-01 -4.22838021e-02 -1.34803908e-02 3.04599508e+02] [ 4.22986157e-02 9.99104680e-01 8.15561701e-04 -1.13589528e+01] [ 1.34338365e-02 -1.38495999e-03 9.99908803e-01 3.41435471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.140714057 meters Centerline goodness [0,1] 0.9063766011755614 Centerline is valid? [True, False] Translation: X:304.60, Y:-11.36, Z:3.41 [[ 9.99033467e-01 -4.17745607e-02 -1.36754342e-02 3.04600534e+02] [ 4.18033676e-02 9.99124186e-01 1.82730940e-03 -1.13612428e+01] [ 1.35871220e-02 -2.39722244e-03 9.99904817e-01 3.41341993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.170714057 meters Centerline goodness [0,1] 0.9448349954457341 Centerline is valid? [False, False] Translation: X:304.60, Y:-11.36, Z:3.41 [[ 9.99049491e-01 -4.13096163e-02 -1.39151071e-02 3.04601386e+02] [ 4.13466557e-02 9.99142016e-01 2.38460673e-03 -1.13618850e+01] [ 1.38046609e-02 -2.95768328e-03 9.99900337e-01 3.41286960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.200714057 meters Centerline goodness [0,1] 0.9408393375128661 Centerline is valid? [False, False] Translation: X:304.60, Y:-11.36, Z:3.41 [[ 9.99074389e-01 -4.06421429e-02 -1.40918587e-02 3.04602117e+02] [ 4.06898539e-02 9.99166968e-01 3.11557457e-03 -1.13628404e+01] [ 1.39534961e-02 -3.68608643e-03 9.99895851e-01 3.41245143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.230714057 meters Centerline goodness [0,1] 0.9633967106030561 Centerline is valid? [False, True] Translation: X:304.60, Y:-11.36, Z:3.41 [[ 9.99095479e-01 -4.00338855e-02 -1.43356503e-02 3.04603097e+02] [ 4.00925823e-02 9.99188626e-01 3.83063946e-03 -1.13638134e+01] [ 1.41706634e-02 -4.40192781e-03 9.99889902e-01 3.41182014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26071405700003 meters Centerline goodness [0,1] 0.9643241472886352 Centerline is valid? [True, True] Translation: X:304.63, Y:-11.37, Z:3.41 [[ 9.99179578e-01 -3.79635750e-02 -1.41045390e-02 3.04634320e+02] [ 3.79792083e-02 9.99278175e-01 8.42098635e-04 -1.13653626e+01] [ 1.40623889e-02 -1.37708698e-03 9.99900171e-01 3.41242892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.290714057 meters Centerline goodness [0,1] 0.9614970760233919 Centerline is valid? [True, True] Translation: X:304.67, Y:-11.37, Z:3.41 [[ 9.99213599e-01 -3.71717760e-02 -1.38000764e-02 3.04665314e+02] [ 3.71866761e-02 9.99307996e-01 8.24589633e-04 -1.13699816e+01] [ 1.37598753e-02 -1.33712015e-03 9.99904434e-01 3.41242231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32071405700003 meters Centerline goodness [0,1] 0.9657752010473163 Centerline is valid? [True, True] Translation: X:304.70, Y:-11.37, Z:3.41 [[ 9.99281433e-01 -3.54436619e-02 -1.34299483e-02 3.04695836e+02] [ 3.54576202e-02 9.99370859e-01 8.02586485e-04 -1.13676241e+01] [ 1.33930524e-02 -1.27820378e-03 9.99909492e-01 3.41307521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.350714057 meters Centerline goodness [0,1] 0.9605450430481346 Centerline is valid? [True, True] Translation: X:304.73, Y:-11.38, Z:3.41 [[ 9.99324017e-01 -3.42914778e-02 -1.32515575e-02 3.04725966e+02] [ 3.43049699e-02 9.99411097e-01 7.92122805e-04 -1.13750363e+01] [ 1.32165905e-02 -1.24618162e-03 9.99911881e-01 3.41248464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38071405700003 meters Centerline goodness [0,1] 0.9663885079379838 Centerline is valid? [True, True] Translation: X:304.76, Y:-11.37, Z:3.41 [[ 9.99352461e-01 -3.35257126e-02 -1.30646291e-02 3.04758711e+02] [ 3.35387723e-02 9.99437111e-01 7.81753104e-04 -1.13723843e+01] [ 1.30310664e-02 -1.21941851e-03 9.99914348e-01 3.41343553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.410714057 meters Centerline goodness [0,1] 0.9485663543102844 Centerline is valid? [True, False] Translation: X:304.76, Y:-11.37, Z:3.41 [[ 9.99368107e-01 -3.29660517e-02 -1.32900557e-02 3.04759468e+02] [ 3.29873439e-02 9.99454808e-01 1.38603742e-03 -1.13732321e+01] [ 1.32371179e-02 -1.82356523e-03 9.99910723e-01 3.41308171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44071405700004 meters Centerline goodness [0,1] 0.9657695994762562 Centerline is valid? [False, True] Translation: X:304.76, Y:-11.37, Z:3.41 [[ 9.99488159e-01 -2.91154842e-02 -1.32555279e-02 3.04759366e+02] [ 2.91951060e-02 9.99556594e-01 5.85329847e-03 -1.13748539e+01] [ 1.30792287e-02 -6.23729905e-03 9.99895009e-01 3.41245600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.470714057 meters Centerline goodness [0,1] 0.9685362196607629 Centerline is valid? [True, True] Translation: X:304.79, Y:-11.37, Z:3.41 [[ 9.99530735e-01 -2.73740475e-02 -1.37466816e-02 3.04790686e+02] [ 2.73880758e-02 9.99624529e-01 8.33231801e-04 -1.13719047e+01] [ 1.37187112e-02 -1.20933595e-03 9.99905163e-01 3.41443838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.500714057 meters Centerline goodness [0,1] 0.966690074906367 Centerline is valid? [True, True] Translation: X:304.82, Y:-11.38, Z:3.41 [[ 9.99573675e-01 -2.58425940e-02 -1.35877946e-02 3.04821275e+02] [ 2.58561658e-02 9.99665334e-01 8.24072540e-04 -1.13772629e+01] [ 1.35619510e-02 -1.17504949e-03 9.99907342e-01 3.41430141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.530714057 meters Centerline goodness [0,1] 0.9671335069322261 Centerline is valid? [True, True] Translation: X:304.85, Y:-11.38, Z:3.41 [[ 9.99671343e-01 -2.20491173e-02 -1.30783268e-02 3.04851661e+02] [ 2.20613690e-02 9.99756304e-01 7.93248627e-04 -1.13771376e+01] [ 1.30576493e-02 -1.08151371e-03 9.99914160e-01 3.41472874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.560714057 meters Centerline goodness [0,1] 0.9699992957581164 Centerline is valid? [True, True] Translation: X:304.88, Y:-11.37, Z:3.42 [[ 9.99722471e-01 -1.98759817e-02 -1.26462177e-02 3.04882797e+02] [ 1.98872666e-02 9.99801934e-01 7.67213071e-04 -1.13738832e+01] [ 1.26284638e-02 -1.01849885e-03 9.99919739e-01 3.41585823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.590714057 meters Centerline goodness [0,1] 0.9706441840257392 Centerline is valid? [True, True] Translation: X:304.91, Y:-11.37, Z:3.42 [[ 9.99772134e-01 -1.68111319e-02 -1.31554213e-02 3.04914420e+02] [ 1.68230815e-02 9.99858163e-01 7.98203392e-04 -1.13672867e+01] [ 1.31401367e-02 -1.01933623e-03 9.99913145e-01 3.41618843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.620714057 meters Centerline goodness [0,1] 0.9682569496619083 Centerline is valid? [True, True] Translation: X:304.94, Y:-11.38, Z:3.42 [[ 9.99812181e-01 -1.48429771e-02 -1.24615236e-02 3.04943231e+02] [ 1.48535448e-02 9.99889394e-01 7.55898333e-04 -1.13789337e+01] [ 1.24489255e-02 -9.40854160e-04 9.99922066e-01 3.41524778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.650714057 meters Centerline goodness [0,1] 0.9684959827092046 Centerline is valid? [True, True] Translation: X:304.97, Y:-11.37, Z:3.42 [[ 9.99842888e-01 -1.27943070e-02 -1.22680669e-02 3.04973615e+02] [ 1.28043931e-02 9.99917744e-01 7.43948702e-04 -1.13745065e+01] [ 1.22575395e-02 -9.00916970e-04 9.99924468e-01 3.41587167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.680714057 meters Centerline goodness [0,1] 0.9683821452114135 Centerline is valid? [True, True] Translation: X:305.00, Y:-11.38, Z:3.42 [[ 9.99853237e-01 -1.17904093e-02 -1.24294644e-02 3.05002685e+02] [ 1.18006583e-02 9.99930087e-01 7.51551861e-04 -1.13754939e+01] [ 1.24197343e-02 -8.98117423e-04 9.99922469e-01 3.41598571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.710714057 meters Centerline goodness [0,1] 0.9716692550237658 Centerline is valid? [True, True] Translation: X:305.03, Y:-11.37, Z:3.42 [[ 9.99878084e-01 -9.93110495e-03 -1.20494750e-02 3.05033178e+02] [ 9.94059431e-03 9.99950326e-01 7.27895918e-04 -1.13667117e+01] [ 1.20416476e-02 -8.47586118e-04 9.99927138e-01 3.41722042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.740714057 meters Centerline goodness [0,1] 0.9704025349137425 Centerline is valid? [True, True] Translation: X:305.06, Y:-11.37, Z:3.42 [[ 9.99876166e-01 -9.67962974e-03 -1.24079288e-02 3.05061967e+02] [ 9.68964216e-03 9.99952775e-01 7.47074144e-04 -1.13675078e+01] [ 1.24001114e-02 -8.67210022e-04 9.99922740e-01 3.41761492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.770714057 meters Centerline goodness [0,1] 0.9709895194032669 Centerline is valid? [True, True] Translation: X:305.09, Y:-11.37, Z:3.42 [[ 9.99877835e-01 -9.59641448e-03 -1.23378707e-02 3.05090454e+02] [ 9.60627049e-03 9.99953585e-01 7.39825883e-04 -1.13658265e+01] [ 1.23301984e-02 -8.58256426e-04 9.99923612e-01 3.41822515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.800714057 meters Centerline goodness [0,1] 0.9683683352625735 Centerline is valid? [True, True] Translation: X:305.12, Y:-11.37, Z:3.42 [[ 9.99879699e-01 -9.84089857e-03 -1.19893155e-02 3.05118495e+02] [ 9.85020603e-03 9.99951228e-01 7.17507769e-04 -1.13691246e+01] [ 1.19816698e-02 -8.35518680e-04 9.99927868e-01 3.41816105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.830714057 meters Centerline goodness [0,1] 0.9698758058399697 Centerline is valid? [True, True] Translation: X:305.15, Y:-11.36, Z:3.42 [[ 9.99873010e-01 -1.06654802e-02 -1.18410603e-02 3.05147624e+02] [ 1.06745863e-02 9.99942776e-01 7.06088998e-04 -1.13648070e+01] [ 1.18328519e-02 -8.32397752e-04 9.99929643e-01 3.41866123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.860714057 meters Centerline goodness [0,1] 0.9694206262731536 Centerline is valid? [True, True] Translation: X:305.18, Y:-11.37, Z:3.42 [[ 9.99870199e-01 -1.09254259e-02 -1.18414893e-02 3.05177639e+02] [ 1.09345396e-02 9.99939967e-01 7.05171246e-04 -1.13668674e+01] [ 1.18330741e-02 -8.34560946e-04 9.99929638e-01 3.41883325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.890714057 meters Centerline goodness [0,1] 0.9674910487752828 Centerline is valid? [True, True] Translation: X:305.21, Y:-11.37, Z:3.42 [[ 9.99852600e-01 -1.21472129e-02 -1.21335282e-02 3.05206473e+02] [ 1.21568640e-02 9.99925842e-01 7.21965226e-04 -1.13689881e+01] [ 1.21238585e-02 -8.69364460e-04 9.99926125e-01 3.41921848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.920714057 meters Centerline goodness [0,1] 0.9660585590942606 Centerline is valid? [True, True] Translation: X:305.23, Y:-11.37, Z:3.42 [[ 9.99846613e-01 -1.27628765e-02 -1.19941381e-02 3.05234727e+02] [ 1.27723436e-02 9.99918176e-01 7.13046839e-04 -1.13737114e+01] [ 1.19840562e-02 -8.66130721e-04 9.99927814e-01 3.41943980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.950714057 meters Centerline goodness [0,1] 0.9651099357225872 Centerline is valid? [True, True] Translation: X:305.26, Y:-11.37, Z:3.42 [[ 9.99844771e-01 -1.37750680e-02 -1.09854915e-02 3.05264526e+02] [ 1.37830660e-02 9.99904796e-01 6.52669086e-04 -1.13729446e+01] [ 1.09754551e-02 -8.03981528e-04 9.99939445e-01 3.42069415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.980714057 meters Centerline goodness [0,1] 0.9644936663735533 Centerline is valid? [True, True] Translation: X:305.29, Y:-11.38, Z:3.42 [[ 9.99843774e-01 -1.41720156e-02 -1.05632222e-02 3.05294728e+02] [ 1.41794316e-02 9.99899270e-01 6.27498947e-04 -1.13755044e+01] [ 1.05532652e-02 -7.77181402e-04 9.99944011e-01 3.42080219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01071405700003 meters Centerline goodness [0,1] 0.9612717176291141 Centerline is valid? [True, True] Translation: X:305.33, Y:-11.38, Z:3.42 [[ 9.99855182e-01 -1.38560345e-02 -9.88052417e-03 3.05325082e+02] [ 1.38625088e-02 9.99903738e-01 5.87070936e-04 -1.13811149e+01] [ 9.87143858e-03 -7.23954771e-04 9.99951014e-01 3.42146770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.040714057 meters Centerline goodness [0,1] 0.9616035061810733 Centerline is valid? [True, True] Translation: X:305.36, Y:-11.38, Z:3.42 [[ 9.99862951e-01 -1.32522946e-02 -9.92250910e-03 3.05355698e+02] [ 1.32587949e-02 9.99911924e-01 5.89607843e-04 -1.13809313e+01] [ 9.91382151e-03 -7.21087550e-04 9.99950597e-01 3.42159921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07071405700003 meters Centerline goodness [0,1] 0.9607119031735443 Centerline is valid? [True, True] Translation: X:305.39, Y:-11.38, Z:3.42 [[ 9.99880527e-01 -1.14875947e-02 -1.03424830e-02 3.05386548e+02] [ 1.14945643e-02 9.99933746e-01 6.14695440e-04 -1.13800587e+01] [ 1.03347364e-02 -7.33504336e-04 9.99946326e-01 3.42157152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.100714057 meters Centerline goodness [0,1] 0.9627312880506148 Centerline is valid? [True, True] Translation: X:305.42, Y:-11.38, Z:3.42 [[ 9.99888705e-01 -1.07002073e-02 -1.03962621e-02 3.05417674e+02] [ 1.07072077e-02 9.99942485e-01 6.17933219e-04 -1.13759337e+01] [ 1.03890522e-02 -7.29179384e-04 9.99945766e-01 3.42209842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13071405700003 meters Centerline goodness [0,1] 0.9598924756761901 Centerline is valid? [True, True] Translation: X:305.45, Y:-11.38, Z:3.42 [[ 9.99896887e-01 -9.93221611e-03 -1.03714168e-02 3.05446493e+02] [ 9.93913919e-03 9.99950416e-01 6.16184539e-04 -1.13837324e+01] [ 1.03647824e-02 -7.19203957e-04 9.99946026e-01 3.42112496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.160714057 meters Centerline goodness [0,1] 0.9614459552782607 Centerline is valid? [True, True] Translation: X:305.48, Y:-11.38, Z:3.42 [[ 9.99904999e-01 -8.81220826e-03 -1.05989311e-02 3.05476320e+02] [ 8.81937195e-03 9.99960911e-01 6.29337888e-04 -1.13791906e+01] [ 1.05929710e-02 -7.22754016e-04 9.99943632e-01 3.42159670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19071405700004 meters Centerline goodness [0,1] 0.9597588868769656 Centerline is valid? [True, True] Translation: X:305.50, Y:-11.38, Z:3.42 [[ 9.99905624e-01 -8.37006126e-03 -1.08942306e-02 3.05504819e+02] [ 8.37759800e-03 9.99964698e-01 6.46358355e-04 -1.13830326e+01] [ 1.08884360e-02 -7.37564839e-04 9.99940447e-01 3.42018290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.220714057 meters Centerline goodness [0,1] 0.9637457906426883 Centerline is valid? [True, True] Translation: X:305.53, Y:-11.38, Z:3.42 [[ 9.99901389e-01 -8.54348158e-03 -1.11454120e-02 3.05533749e+02] [ 8.55135551e-03 9.99963219e-01 6.59007691e-04 -1.13791529e+01] [ 1.11393719e-02 -7.54251086e-04 9.99937671e-01 3.42071413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.250714057 meters Centerline goodness [0,1] 0.9632979232462436 Centerline is valid? [True, True] Translation: X:305.56, Y:-11.38, Z:3.42 [[ 9.99889560e-01 -9.63540860e-03 -1.13149292e-02 3.05562424e+02] [ 9.64356204e-03 9.99953278e-01 6.66251680e-04 -1.13809554e+01] [ 1.13079809e-02 -7.75294320e-04 9.99935762e-01 3.41972450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.280714057 meters Centerline goodness [0,1] 0.960316890452598 Centerline is valid? [True, True] Translation: X:305.59, Y:-11.39, Z:3.42 [[ 9.99892798e-01 -9.85017116e-03 -1.08336191e-02 3.05590158e+02] [ 9.85764825e-03 9.99951209e-01 6.36990775e-04 -1.13886138e+01] [ 1.08268161e-02 -7.43716494e-04 9.99941112e-01 3.41928086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.310714057 meters Centerline goodness [0,1] 0.960316890452598 Centerline is valid? [True, True] Translation: X:305.62, Y:-11.39, Z:3.42 [[ 9.99892472e-01 -9.88312012e-03 -1.08336412e-02 3.05619333e+02] [ 9.89059507e-03 9.99950884e-01 6.36614273e-04 -1.13902949e+01] [ 1.08268174e-02 -7.43696978e-04 9.99941112e-01 3.41935290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.340714057 meters Centerline goodness [0,1] 0.9605499532922944 Centerline is valid? [True, True] Translation: X:305.65, Y:-11.39, Z:3.42 [[ 9.99874481e-01 -1.05638691e-02 -1.18079475e-02 3.05648706e+02] [ 1.05727916e-02 9.99943866e-01 6.93470472e-04 -1.13927234e+01] [ 1.17999589e-02 -8.18226396e-04 9.99930043e-01 3.41892566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.370714057 meters Centerline goodness [0,1] 0.9607127522541864 Centerline is valid? [True, True] Translation: X:305.68, Y:-11.39, Z:3.42 [[ 9.99863780e-01 -1.10056112e-02 -1.23003566e-02 3.05678469e+02] [ 1.10153217e-02 9.99939069e-01 7.21976915e-04 -1.13926599e+01] [ 1.22916613e-02 -8.57370951e-04 9.99924087e-01 3.41900365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.400714057 meters Centerline goodness [0,1] 0.961937550805719 Centerline is valid? [True, True] Translation: X:305.71, Y:-11.39, Z:3.42 [[ 9.99849388e-01 -1.18955423e-02 -1.26371269e-02 3.05708230e+02] [ 1.19058571e-02 9.99928848e-01 7.41312215e-04 -1.13906890e+01] [ 1.26274094e-02 -8.91656392e-04 9.99919874e-01 3.41958265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.430714057 meters Centerline goodness [0,1] 0.9629939718687207 Centerline is valid? [True, True] Translation: X:305.74, Y:-11.39, Z:3.42 [[ 9.99843198e-01 -1.22655232e-02 -1.27724817e-02 3.05738077e+02] [ 1.22760847e-02 9.99924366e-01 7.48815858e-04 -1.13928351e+01] [ 1.27623311e-02 -9.05494509e-04 9.99918148e-01 3.42001651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.460714057 meters Centerline goodness [0,1] 0.9610172327254476 Centerline is valid? [True, True] Translation: X:305.77, Y:-11.39, Z:3.42 [[ 9.99831463e-01 -1.30748088e-02 -1.28877922e-02 3.05767137e+02] [ 1.30856183e-02 9.99914095e-01 7.54772636e-04 -1.13949740e+01] [ 1.28768166e-02 -9.23290159e-04 9.99916664e-01 3.41974600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.490714057 meters Centerline goodness [0,1] 0.9597118526822985 Centerline is valid? [True, True] Translation: X:305.80, Y:-11.40, Z:3.42 [[ 9.99811004e-01 -1.43688930e-02 -1.30954451e-02 3.05795779e+02] [ 1.43801548e-02 9.99896307e-01 7.66223832e-04 -1.14009918e+01] [ 1.30830774e-02 -9.54393547e-04 9.99913957e-01 3.41871247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.520714057 meters Centerline goodness [0,1] 0.9635789322548997 Centerline is valid? [True, True] Translation: X:305.83, Y:-11.40, Z:3.42 [[ 9.99816035e-01 -1.44214745e-02 -1.26458027e-02 3.05826240e+02] [ 1.44319744e-02 9.99895580e-01 7.39437714e-04 -1.13954883e+01] [ 1.26338185e-02 -9.21805584e-04 9.99919765e-01 3.42031839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.550714057 meters Centerline goodness [0,1] 0.9599238457877202 Centerline is valid? [True, True] Translation: X:305.86, Y:-11.40, Z:3.42 [[ 9.99837008e-01 -1.34567255e-02 -1.20363257e-02 3.05855427e+02] [ 1.34661651e-02 9.99909080e-01 7.03551346e-04 -1.14032869e+01] [ 1.20257639e-02 -8.65519823e-04 9.99927313e-01 3.42008094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.580714057 meters Centerline goodness [0,1] 0.9626844153971839 Centerline is valid? [True, True] Translation: X:305.89, Y:-11.40, Z:3.42 [[ 9.99857644e-01 -1.23193155e-02 -1.15293863e-02 3.05885766e+02] [ 1.23278991e-02 9.99923782e-01 6.73723453e-04 -1.13978578e+01] [ 1.15202077e-02 -8.15760655e-04 9.99933307e-01 3.42238131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.610714057 meters Centerline goodness [0,1] 0.9610508116415329 Centerline is valid? [True, True] Translation: X:305.92, Y:-11.40, Z:3.42 [[ 9.99863185e-01 -1.18755092e-02 -1.15144697e-02 3.05915141e+02] [ 1.18840373e-02 9.99929156e-01 6.72501187e-04 -1.13987725e+01] [ 1.15056677e-02 -8.09247566e-04 9.99933480e-01 3.42229006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.640714057 meters Centerline goodness [0,1] 0.9615883539925051 Centerline is valid? [True, True] Translation: X:305.94, Y:-11.40, Z:3.42 [[ 9.99876191e-01 -1.12280711e-02 -1.10241660e-02 3.05944535e+02] [ 1.12358451e-02 9.99936669e-01 6.43495071e-04 -1.14006529e+01] [ 1.10162426e-02 -7.67281223e-04 9.99939025e-01 3.42233041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.670714057 meters Centerline goodness [0,1] 0.9618407096711985 Centerline is valid? [True, True] Translation: X:305.97, Y:-11.40, Z:3.42 [[ 9.99875936e-01 -1.11506664e-02 -1.11254593e-02 3.05974594e+02] [ 1.11585750e-02 9.99937531e-01 6.49032327e-04 -1.14027970e+01] [ 1.11175271e-02 -7.73096077e-04 9.99937900e-01 3.42153868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.700714057 meters Centerline goodness [0,1] 0.9600221831070818 Centerline is valid? [True, True] Translation: X:306.00, Y:-11.41, Z:3.42 [[ 9.99877414e-01 -1.14765683e-02 -1.06510488e-02 3.06004180e+02] [ 1.14838340e-02 9.99933866e-01 6.21249767e-04 -1.14061536e+01] [ 1.06432146e-02 -7.43488487e-04 9.99943083e-01 3.42087852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.730714057 meters Centerline goodness [0,1] 0.9596752951318216 Centerline is valid? [True, True] Translation: X:306.03, Y:-11.41, Z:3.42 [[ 9.99864568e-01 -1.23717959e-02 -1.08528691e-02 3.06033393e+02] [ 1.23793911e-02 9.99923172e-01 6.32934449e-04 -1.14092899e+01] [ 1.08442048e-02 -7.67200641e-04 9.99940906e-01 3.42113450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76071405700003 meters Centerline goodness [0,1] 0.9622265446773768 Centerline is valid? [True, True] Translation: X:306.06, Y:-11.40, Z:3.42 [[ 9.99810158e-01 -1.51275994e-02 -1.22801954e-02 3.06063630e+02] [ 1.51375283e-02 9.99885165e-01 7.15978736e-04 -1.14048593e+01] [ 1.22679541e-02 -9.01734618e-04 9.99924339e-01 3.42087466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.790714057 meters Centerline goodness [0,1] 0.963815868877785 Centerline is valid? [True, True] Translation: X:306.09, Y:-11.40, Z:3.42 [[ 9.99783013e-01 -1.63521660e-02 -1.29048019e-02 3.06094015e+02] [ 1.63632316e-02 9.99865830e-01 7.52350583e-04 -1.14040236e+01] [ 1.28907679e-02 -9.63351595e-04 9.99916447e-01 3.42099841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82071405700003 meters Centerline goodness [0,1] 0.9614893360645861 Centerline is valid? [True, True] Translation: X:306.12, Y:-11.41, Z:3.42 [[ 9.99750548e-01 -1.76312751e-02 -1.37105847e-02 3.06123442e+02] [ 1.76438854e-02 9.99844015e-01 7.99327760e-04 -1.14099746e+01] [ 1.36943529e-02 -1.04103635e-03 9.99905686e-01 3.42021278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.850714057 meters Centerline goodness [0,1] 0.9616784362873876 Centerline is valid? [True, True] Translation: X:306.15, Y:-11.41, Z:3.42 [[ 9.99708507e-01 -1.94512573e-02 -1.43020706e-02 3.06154267e+02] [ 1.94651673e-02 9.99810188e-01 8.34015393e-04 -1.14132666e+01] [ 1.42831333e-02 -1.11216448e-03 9.99897372e-01 3.41924956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88071405700003 meters Centerline goodness [0,1] 0.838461015258349 Centerline is valid? [True, False] Translation: X:306.21, Y:-11.41, Z:3.42 [[ 9.99686373e-01 -2.06196832e-02 -1.42121060e-02 3.06207554e+02] [ 2.05730153e-02 9.99782496e-01 -3.42210302e-03 -1.14138431e+01] [ 1.42795775e-02 3.12864389e-03 9.99893147e-01 3.42086953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.910714057 meters Centerline goodness [0,1] 0.9602112421326774 Centerline is valid? [False, True] Translation: X:306.13, Y:-11.41, Z:3.42 [[ 9.99724826e-01 -1.94952592e-02 -1.30463508e-02 3.06127075e+02] [ 1.94983257e-02 9.99809884e-01 1.07876523e-04 -1.14123470e+01] [ 1.30417674e-02 -3.62228834e-04 9.99914887e-01 3.41757205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94071405700004 meters Centerline goodness [0,1] 0.9599816451721973 Centerline is valid? [True, True] Translation: X:306.16, Y:-11.41, Z:3.42 [[ 9.99711297e-01 -2.02183826e-02 -1.29822845e-02 3.06158215e+02] [ 2.02301809e-02 9.99795046e-01 7.78112562e-04 -1.14126272e+01] [ 1.29638915e-02 -1.04052188e-03 9.99915424e-01 3.41715256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.970714057 meters Centerline goodness [0,1] 0.9577088052436262 Centerline is valid? [True, True] Translation: X:306.19, Y:-11.42, Z:3.42 [[ 9.99691813e-01 -2.12490741e-02 -1.28357344e-02 3.06187878e+02] [ 2.12606925e-02 9.99773670e-01 7.69371242e-04 -1.14171028e+01] [ 1.28164809e-02 -1.04203073e-03 9.99917323e-01 3.41652589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.000714057 meters Centerline goodness [0,1] 0.9581172042751332 Centerline is valid? [True, True] Translation: X:306.22, Y:-11.42, Z:3.42 [[ 9.99674213e-01 -2.20982013e-02 -1.27725481e-02 3.06218730e+02] [ 2.21097769e-02 9.99755256e-01 7.65780377e-04 -1.14179417e+01] [ 1.27524997e-02 -1.04792909e-03 9.99918134e-01 3.41695370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.030714057 meters Centerline goodness [0,1] 0.9505265440875243 Centerline is valid? [True, True] Translation: X:306.25, Y:-11.43, Z:3.42 [[ 9.99630014e-01 -2.41558596e-02 -1.25031950e-02 3.06248379e+02] [ 2.41671196e-02 9.99707651e-01 7.50236222e-04 -1.14273950e+01] [ 1.24814171e-02 -1.05212485e-03 9.99921551e-01 3.41633169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.060714057 meters Centerline goodness [0,1] 0.9565699679278498 Centerline is valid? [True, True] Translation: X:306.28, Y:-11.43, Z:3.42 [[ 9.99616524e-01 -2.48446812e-02 -1.22288925e-02 3.06280977e+02] [ 2.48555135e-02 9.99690784e-01 7.34588883e-04 -1.14251570e+01] [ 1.22068605e-02 -1.03826259e-03 9.99924954e-01 3.41692590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.090714057 meters Centerline goodness [0,1] 0.9567158057277969 Centerline is valid? [True, True] Translation: X:306.31, Y:-11.42, Z:3.42 [[ 9.99582632e-01 -2.63053242e-02 -1.19411486e-02 3.06311893e+02] [ 2.63157630e-02 9.99653423e-01 7.17876994e-04 -1.14242257e+01] [ 1.19181261e-02 -1.03181781e-03 9.99928444e-01 3.41794515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.120714057 meters Centerline goodness [0,1] 0.9571404533544867 Centerline is valid? [True, True] Translation: X:306.34, Y:-11.43, Z:3.42 [[ 9.99580603e-01 -2.65567244e-02 -1.15481344e-02 3.06344296e+02] [ 2.65665128e-02 9.99646806e-01 6.95016975e-04 -1.14258332e+01] [ 1.15255983e-02 -1.00151915e-03 9.99933077e-01 3.41832563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.150714057 meters Centerline goodness [0,1] 0.9508716323296355 Centerline is valid? [True, True] Translation: X:306.38, Y:-11.44, Z:3.42 [[ 9.99580990e-01 -2.65165096e-02 -1.16068196e-02 3.06375258e+02] [ 2.65264099e-02 9.99647868e-01 6.99826413e-04 -1.14351068e+01] [ 1.15841755e-02 -1.00742043e-03 9.99932394e-01 3.41680178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.180714057 meters Centerline goodness [0,1] 0.9548716466791889 Centerline is valid? [True, True] Translation: X:306.41, Y:-11.43, Z:3.42 [[ 9.99599987e-01 -2.58413824e-02 -1.14930255e-02 3.06408167e+02] [ 2.58510549e-02 9.99665565e-01 6.93804534e-04 -1.14303533e+01] [ 1.14712530e-02 -9.90633837e-04 9.99933712e-01 3.41724489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.210714057 meters Centerline goodness [0,1] 0.9498167261502846 Centerline is valid? [True, False] Translation: X:306.41, Y:-11.43, Z:3.42 [[ 9.99683747e-01 -2.25271230e-02 -1.11773862e-02 3.06407220e+02] [ 2.25804352e-02 9.99734138e-01 4.66658250e-03 -1.14314385e+01] [ 1.10692899e-02 -4.91749692e-03 9.99926642e-01 3.41696411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.240714057 meters Centerline goodness [0,1] 0.9556591919582448 Centerline is valid? [False, True] Translation: X:306.41, Y:-11.43, Z:3.42 [[ 9.99749128e-01 -1.95103214e-02 -1.10013121e-02 3.06406284e+02] [ 1.95970126e-02 9.99777314e-01 7.82811656e-03 -1.14306173e+01] [ 1.08461332e-02 -8.04174556e-03 9.99908842e-01 3.41726861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.270714057 meters Centerline goodness [0,1] 0.9610242027128315 Centerline is valid? [True, True] Translation: X:306.44, Y:-11.42, Z:3.42 [[ 9.99777330e-01 -1.81241714e-02 -1.08075864e-02 3.06438785e+02] [ 1.81326818e-02 9.99835351e-01 6.89970525e-04 -1.14162065e+01] [ 1.07933018e-02 -8.85787415e-04 9.99941358e-01 3.42186091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.300714057 meters Centerline goodness [0,1] 0.9538368725868726 Centerline is valid? [True, True] Translation: X:306.47, Y:-11.43, Z:3.42 [[ 9.99796126e-01 -1.72881940e-02 -1.04319399e-02 3.06468489e+02] [ 1.72960799e-02 9.99850190e-01 6.66184400e-04 -1.14293861e+01] [ 1.04188600e-02 -8.46480248e-04 9.99945364e-01 3.42035315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.330714057 meters Centerline goodness [0,1] 0.9604543032886134 Centerline is valid? [True, True] Translation: X:306.50, Y:-11.42, Z:3.42 [[ 9.99817023e-01 -1.62816056e-02 -1.00413710e-02 3.06500853e+02] [ 1.62888650e-02 9.99867122e-01 6.41585216e-04 -1.14173252e+01] [ 1.00295907e-02 -8.05030357e-04 9.99949378e-01 3.42211826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.360714057 meters Centerline goodness [0,1] 0.9602860952842769 Centerline is valid? [True, True] Translation: X:306.53, Y:-11.42, Z:3.42 [[ 9.99823736e-01 -1.58922122e-02 -9.99668584e-03 3.06531617e+02] [ 1.58993912e-02 9.99873392e-01 6.39078419e-04 -1.14192169e+01] [ 9.98526381e-03 -7.97906992e-04 9.99949828e-01 3.42150058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.390714057 meters Centerline goodness [0,1] 0.9614458417455183 Centerline is valid? [True, True] Translation: X:306.56, Y:-11.42, Z:3.42 [[ 9.99829333e-01 -1.53651755e-02 -1.02574820e-02 3.06562800e+02] [ 1.53727102e-02 9.99881618e-01 6.56114282e-04 -1.14160773e+01] [ 1.02461864e-02 -8.13687602e-04 9.99947175e-01 3.42147185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.420714057 meters Centerline goodness [0,1] 0.9617450480009722 Centerline is valid? [True, True] Translation: X:306.59, Y:-11.42, Z:3.42 [[ 9.99825139e-01 -1.53763853e-02 -1.06422436e-02 3.06593986e+02] [ 1.53845006e-02 9.99881420e-01 6.81104061e-04 -1.14159074e+01] [ 1.06305087e-02 -8.44710565e-04 9.99943138e-01 3.42163239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.450714057 meters Centerline goodness [0,1] 0.9626546901315629 Centerline is valid? [True, True] Translation: X:306.63, Y:-11.42, Z:3.42 [[ 9.99828570e-01 -1.52783281e-02 -1.04596328e-02 3.06625432e+02] [ 1.52861676e-02 9.99882935e-01 6.69959322e-04 -1.14183146e+01] [ 1.04481725e-02 -8.29732170e-04 9.99945072e-01 3.42158547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.480714057 meters Centerline goodness [0,1] 0.9585453129183807 Centerline is valid? [True, True] Translation: X:306.66, Y:-11.42, Z:3.42 [[ 9.99829783e-01 -1.58888949e-02 -9.37806996e-03 3.06656683e+02] [ 1.58952326e-02 9.99873482e-01 6.01645940e-04 -1.14226357e+01] [ 9.36732398e-03 -7.50610133e-04 9.99955844e-01 3.42112978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51071405700003 meters Centerline goodness [0,1] 0.9603914599410862 Centerline is valid? [True, True] Translation: X:306.69, Y:-11.42, Z:3.42 [[ 9.99826305e-01 -1.60413817e-02 -9.48864647e-03 3.06689394e+02] [ 1.60478831e-02 9.99871039e-01 6.09427979e-04 -1.14229244e+01] [ 9.47764673e-03 -7.61594814e-04 9.99954796e-01 3.42077228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.540714057 meters Centerline goodness [0,1] 0.9599658036150465 Centerline is valid? [True, True] Translation: X:306.72, Y:-11.43, Z:3.42 [[ 9.99827687e-01 -1.56258460e-02 -1.00214111e-02 3.06721166e+02] [ 1.56330843e-02 9.99877588e-01 6.44345372e-04 -1.14252664e+01] [ 1.00101160e-02 -8.00899908e-04 9.99949577e-01 3.41968466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57071405700003 meters Centerline goodness [0,1] 0.9610516542051508 Centerline is valid? [True, True] Translation: X:306.75, Y:-11.42, Z:3.42 [[ 9.99881293e-01 -1.15134180e-02 -1.02392090e-02 3.06750590e+02] [ 1.15207588e-02 9.99933417e-01 6.58229063e-04 -1.14245801e+01] [ 1.02309488e-02 -7.76114383e-04 9.99947361e-01 3.42031622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.600714057 meters Centerline goodness [0,1] 0.9621546489794923 Centerline is valid? [True, True] Translation: X:306.78, Y:-11.42, Z:3.42 [[ 9.99902499e-01 -9.06653862e-03 -1.06202425e-02 3.06780907e+02] [ 9.07429407e-03 9.99958595e-01 6.82291975e-04 -1.14245461e+01] [ 1.06136167e-02 -7.78596654e-04 9.99943371e-01 3.42061064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63071405700003 meters Centerline goodness [0,1] 0.9673434442270059 Centerline is valid? [True, True] Translation: X:306.81, Y:-11.42, Z:3.42 [[ 9.99912834e-01 -6.73160804e-03 -1.13582753e-02 3.06811405e+02] [ 6.74032656e-03 9.99977018e-01 7.29485966e-04 -1.14194439e+01] [ 1.13531037e-02 -8.05980865e-04 9.99935227e-01 3.42056691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.660714057 meters Centerline goodness [0,1] 0.9646938177556402 Centerline is valid? [True, True] Translation: X:306.84, Y:-11.42, Z:3.42 [[ 9.99908250e-01 -6.47308484e-03 -1.18992172e-02 3.06838918e+02] [ 6.48261773e-03 9.99978697e-01 7.62739619e-04 -1.14234822e+01] [ 1.18940264e-02 -8.39807714e-04 9.99928911e-01 3.41935994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69071405700004 meters Centerline goodness [0,1] 0.9686857813876113 Centerline is valid? [True, True] Translation: X:306.87, Y:-11.42, Z:3.42 [[ 9.99908224e-01 -2.04133524e-03 -1.33931329e-02 3.06869367e+02] [ 2.05301465e-03 9.99997524e-01 8.58353697e-04 -1.14242219e+01] [ 1.33913475e-02 -8.85771219e-04 9.99909940e-01 3.41665664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.720714057 meters Centerline goodness [0,1] 0.9692691029900332 Centerline is valid? [True, True] Translation: X:306.90, Y:-11.43, Z:3.42 [[ 9.99920328e-01 -6.69039309e-04 -1.26051316e-02 3.06898727e+02] [ 6.79241550e-04 9.99999445e-01 8.05108262e-04 -1.14250258e+01] [ 1.26045860e-02 -8.13606047e-04 9.99920228e-01 3.41676419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.750714057 meters Centerline goodness [0,1] 0.9666609593229459 Centerline is valid? [True, True] Translation: X:306.93, Y:-11.43, Z:3.42 [[ 9.99931353e-01 1.25715212e-03 -1.16494388e-02 3.06927142e+02] [-1.24857701e-03 9.99998944e-01 7.43340424e-04 -1.14297172e+01] [ 1.16503610e-02 -7.28744175e-04 9.99931867e-01 3.41745974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.780714057 meters Centerline goodness [0,1] 0.9690216725847924 Centerline is valid? [True, True] Translation: X:306.96, Y:-11.43, Z:3.42 [[ 9.99927756e-01 1.84092003e-03 -1.18782803e-02 3.06956234e+02] [-1.83205544e-03 9.99998035e-01 7.57123398e-04 -1.14257889e+01] [ 1.18796508e-02 -7.35307032e-04 9.99929164e-01 3.41921353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.810714057 meters Centerline goodness [0,1] 0.9680676789163549 Centerline is valid? [True, True] Translation: X:306.99, Y:-11.43, Z:3.42 [[ 9.99930387e-01 3.55703136e-03 -1.12503104e-02 3.06985197e+02] [-3.54919218e-03 9.99993445e-01 7.16685005e-04 -1.14292091e+01] [ 1.12527859e-02 -6.76705601e-04 9.99936456e-01 3.41965977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.840714057 meters Centerline goodness [0,1] 0.9679181054539221 Centerline is valid? [True, True] Translation: X:307.01, Y:-11.43, Z:3.42 [[ 9.99932906e-01 3.84356453e-03 -1.09275092e-02 3.07012688e+02] [-3.83619555e-03 9.99992400e-01 6.95232080e-04 -1.14334794e+01] [ 1.09300983e-02 -6.53265372e-04 9.99940051e-01 3.41944262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.870714057 meters Centerline goodness [0,1] 0.9655273294651129 Centerline is valid? [True, True] Translation: X:307.04, Y:-11.44, Z:3.42 [[ 9.99948116e-01 2.23054674e-03 -9.93928421e-03 3.07041131e+02] [-2.22437615e-03 9.99997326e-01 6.31840389e-04 -1.14385971e+01] [ 9.94066698e-03 -6.09698900e-04 9.99950404e-01 3.42018560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.900714057 meters Centerline goodness [0,1] 0.9673769610478471 Centerline is valid? [True, True] Translation: X:307.07, Y:-11.44, Z:3.42 [[ 9.99951842e-01 4.33465557e-04 -9.80432914e-03 3.07070963e+02] [-4.27378831e-04 9.99999715e-01 6.22906790e-04 -1.14355842e+01] [ 9.80459635e-03 -6.18686630e-04 9.99951742e-01 3.42205105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.930714057 meters Centerline goodness [0,1] 0.9621732145465167 Centerline is valid? [True, True] Translation: X:307.10, Y:-11.45, Z:3.42 [[ 9.99956109e-01 -3.37389639e-03 -8.74058313e-03 3.07099632e+02] [ 3.37887617e-03 9.99994138e-01 5.55026332e-04 -1.14470137e+01] [ 8.73865929e-03 -5.84535319e-04 9.99961646e-01 3.42262775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.960714057 meters Centerline goodness [0,1] 0.9604782545171188 Centerline is valid? [True, True] Translation: X:307.13, Y:-11.46, Z:3.42 [[ 9.99951080e-01 -5.70490596e-03 -8.08035108e-03 3.07128110e+02] [ 5.70923540e-03 9.99983571e-01 5.12834035e-04 -1.14550208e+01] [ 8.07729265e-03 -5.58941573e-04 9.99967222e-01 3.42232703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.990714057 meters Centerline goodness [0,1] 0.9614685128155387 Centerline is valid? [True, True] Translation: X:307.16, Y:-11.46, Z:3.42 [[ 9.99906194e-01 -1.09933462e-02 -8.17000923e-03 3.07158567e+02] [ 1.09979477e-02 9.99939386e-01 5.18511680e-04 -1.14610558e+01] [ 8.16381383e-03 -6.08316376e-04 9.99966490e-01 3.42211170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.020714057 meters Centerline goodness [0,1] 0.9586441660027523 Centerline is valid? [True, True] Translation: X:307.19, Y:-11.47, Z:3.42 [[ 9.99879298e-01 -1.36024212e-02 -7.50756427e-03 3.07188550e+02] [ 1.36063812e-02 9.99907315e-01 4.76634349e-04 -1.14693021e+01] [ 7.50038506e-03 -5.78727599e-04 9.99971704e-01 3.42181567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.050714057 meters Centerline goodness [0,1] 0.9571663125362179 Centerline is valid? [True, True] Translation: X:307.22, Y:-11.48, Z:3.42 [[ 9.99783883e-01 -1.94786663e-02 -7.26422368e-03 3.07218874e+02] [ 1.94825280e-02 9.99810091e-01 4.61210498e-04 -1.14784310e+01] [ 7.25386038e-03 -6.02636264e-04 9.99973509e-01 3.42151833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.080714057 meters Centerline goodness [0,1] 0.9561209262022818 Centerline is valid? [True, True] Translation: X:307.25, Y:-11.48, Z:3.42 [[ 9.99714118e-01 -2.26607225e-02 -7.62724176e-03 3.07249053e+02] [ 2.26650719e-02 9.99742997e-01 4.84279622e-04 -1.14826320e+01] [ 7.61430741e-03 -6.57013158e-04 9.99970795e-01 3.42079616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.110714057 meters Centerline goodness [0,1] 0.9601843185254518 Centerline is valid? [True, True] Translation: X:307.28, Y:-11.48, Z:3.42 [[ 9.99586282e-01 -2.75998264e-02 -8.09404004e-03 3.07279496e+02] [ 2.76048847e-02 9.99618780e-01 5.13869279e-04 -1.14837465e+01] [ 8.07677173e-03 -7.37091725e-04 9.99967111e-01 3.42052149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.140714057 meters Centerline goodness [0,1] 0.9461769903051722 Centerline is valid? [True, False] Translation: X:307.28, Y:-11.49, Z:3.42 [[ 9.99591869e-01 -2.73596982e-02 -8.21839621e-03 3.07280338e+02] [ 2.73754134e-02 9.99623592e-01 1.80580465e-03 -1.14871478e+01] [ 8.16589647e-03 -2.03004964e-03 9.99964598e-01 3.41928601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.170714057 meters Centerline goodness [0,1] 0.9490747382011189 Centerline is valid? [False, False] Translation: X:307.28, Y:-11.49, Z:3.42 [[ 9.99587542e-01 -2.75404603e-02 -8.14051227e-03 3.07280561e+02] [ 2.75666707e-02 9.99615082e-01 3.12525383e-03 -1.14919387e+01] [ 8.05130791e-03 -3.34837162e-03 9.99961982e-01 3.41812967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.200714057 meters Centerline goodness [0,1] 0.8858336316982933 Centerline is valid? [False, False] Translation: X:307.28, Y:-11.49, Z:3.42 [[ 9.99595970e-01 -2.71761151e-02 -8.32799013e-03 3.07281324e+02] [ 2.72107036e-02 9.99621441e-01 4.06848957e-03 -1.14941281e+01] [ 8.21427176e-03 -4.29345625e-03 9.99957045e-01 3.41742274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.230714057 meters Centerline goodness [0,1] 0.8858336316982933 Centerline is valid? [False, False] Translation: X:307.28, Y:-11.49, Z:3.42 [[ 9.99595970e-01 -2.71761151e-02 -8.32799013e-03 3.07281324e+02] [ 2.72107036e-02 9.99621441e-01 4.06848957e-03 -1.14941281e+01] [ 8.21427176e-03 -4.29345625e-03 9.99957045e-01 3.41742274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26071405700003 meters Centerline goodness [0,1] 0.9583808167141501 Centerline is valid? [False, True] Translation: X:307.28, Y:-11.50, Z:3.42 [[ 9.99602179e-01 -2.69252291e-02 -8.39736345e-03 3.07281696e+02] [ 2.69676456e-02 9.99623905e-01 4.97949924e-03 -1.14967349e+01] [ 8.26013108e-03 -5.20397541e-03 9.99952343e-01 3.41699519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.290714057 meters Centerline goodness [0,1] 0.957877422584567 Centerline is valid? [True, True] Translation: X:307.31, Y:-11.50, Z:3.42 [[ 9.99596679e-01 -2.69376757e-02 -8.99118677e-03 3.07313934e+02] [ 2.69444839e-02 9.99636729e-01 6.36911820e-04 -1.14977942e+01] [ 8.97076361e-03 -8.78917827e-04 9.99959376e-01 3.41864218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32071405700003 meters Centerline goodness [0,1] 0.9595156120147216 Centerline is valid? [True, True] Translation: X:307.35, Y:-11.50, Z:3.42 [[ 9.99621630e-01 -2.61460289e-02 -8.54292523e-03 3.07346505e+02] [ 2.61521532e-02 9.99657790e-01 6.05946581e-04 -1.15004489e+01] [ 8.52415866e-03 -8.29133198e-04 9.99963325e-01 3.41845515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.350714057 meters Centerline goodness [0,1] 0.9558192973728472 Centerline is valid? [True, True] Translation: X:307.38, Y:-11.51, Z:3.42 [[ 9.99684615e-01 -2.40229713e-02 -7.31891900e-03 3.07375439e+02] [ 2.40274079e-02 9.99711166e-01 5.18850375e-04 -1.15076572e+01] [ 7.30434071e-03 -6.94541389e-04 9.99973082e-01 3.41737295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38071405700003 meters Centerline goodness [0,1] 0.9617807144724645 Centerline is valid? [True, True] Translation: X:307.41, Y:-11.51, Z:3.42 [[ 9.99731172e-01 -2.21787856e-02 -6.75908296e-03 3.07406333e+02] [ 2.21825288e-02 9.99753823e-01 4.79335522e-04 -1.15059508e+01] [ 6.74678795e-03 -6.29140216e-04 9.99977042e-01 3.41808445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.410714057 meters Centerline goodness [0,1] 0.9645715099850403 Centerline is valid? [True, True] Translation: X:307.44, Y:-11.50, Z:3.42 [[ 9.99819958e-01 -1.76905640e-02 -6.86259768e-03 3.07436967e+02] [ 1.76943177e-02 9.99843325e-01 4.86635403e-04 -1.15044346e+01] [ 6.85291363e-03 -6.07976772e-04 9.99976334e-01 3.41866154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44071405700004 meters Centerline goodness [0,1] 0.9607451763140386 Centerline is valid? [True, True] Translation: X:307.47, Y:-11.51, Z:3.42 [[ 9.99853352e-01 -1.53690383e-02 -7.55424999e-03 3.07466692e+02] [ 1.53735210e-02 9.99881677e-01 5.35683935e-04 -1.15119082e+01] [ 7.54512320e-03 -6.51740798e-04 9.99971323e-01 3.41779056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.470714057 meters Centerline goodness [0,1] 0.9627974078804219 Centerline is valid? [True, True] Translation: X:307.50, Y:-11.51, Z:3.42 [[ 9.99901337e-01 -1.12843421e-02 -8.36544554e-03 3.07496133e+02] [ 1.12896958e-02 9.99936093e-01 5.93032223e-04 -1.15141003e+01] [ 8.35821896e-03 -6.87417048e-04 9.99964833e-01 3.41709297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.500714057 meters Centerline goodness [0,1] 0.9614241912865733 Centerline is valid? [True, True] Translation: X:307.53, Y:-11.52, Z:3.42 [[ 9.99917988e-01 -9.83647099e-03 -8.20123705e-03 3.07526835e+02] [ 9.84156890e-03 9.99951402e-01 5.81476025e-04 -1.15168261e+01] [ 8.19511881e-03 -6.62141377e-04 9.99966200e-01 3.41691516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.530714057 meters Centerline goodness [0,1] 0.9696524254350609 Centerline is valid? [True, True] Translation: X:307.56, Y:-11.51, Z:3.42 [[ 9.99941970e-01 -7.39351971e-03 -7.83536904e-03 3.07557879e+02] [ 7.39809831e-03 9.99972479e-01 5.55526685e-04 -1.15090984e+01] [ 7.83104611e-03 -6.13461278e-04 9.99969149e-01 3.41779103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.560714057 meters Centerline goodness [0,1] 0.9694399696768692 Centerline is valid? [True, True] Translation: X:307.59, Y:-11.51, Z:3.42 [[ 9.99944951e-01 -6.25854412e-03 -8.42172635e-03 3.07587992e+02] [ 6.26379217e-03 9.99980204e-01 5.96923498e-04 -1.15111362e+01] [ 8.41782376e-03 -6.49642581e-04 9.99964358e-01 3.41765460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.590714057 meters Centerline goodness [0,1] 0.9704590249578495 Centerline is valid? [True, True] Translation: X:307.62, Y:-11.51, Z:3.42 [[ 9.99956660e-01 -3.50463673e-03 -8.62527041e-03 3.07617561e+02] [ 3.51003684e-03 9.99993653e-01 6.11022053e-04 -1.15121596e+01] [ 8.62307426e-03 -6.41270589e-04 9.99962615e-01 3.41844679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.620714057 meters Centerline goodness [0,1] 0.971009687122522 Centerline is valid? [True, True] Translation: X:307.65, Y:-11.51, Z:3.42 [[ 9.99963772e-01 -2.31480296e-03 -8.19119217e-03 3.07646579e+02] [ 2.31962826e-03 9.99997142e-01 5.79632188e-04 -1.15116202e+01] [ 8.18982702e-03 -5.98611710e-04 9.99966284e-01 3.41883563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.650714057 meters Centerline goodness [0,1] 0.9708837010473318 Centerline is valid? [True, True] Translation: X:307.67, Y:-11.52, Z:3.42 [[ 9.99965432e-01 -8.93444195e-05 -8.31425885e-03 3.07674803e+02] [ 9.42358951e-05 9.99999823e-01 5.87933817e-04 -1.15154889e+01] [ 8.31420485e-03 -5.88696994e-04 9.99965263e-01 3.41800012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.680714057 meters Centerline goodness [0,1] 0.9707086089563604 Centerline is valid? [True, True] Translation: X:307.70, Y:-11.52, Z:3.42 [[ 9.99964979e-01 6.06492738e-04 -8.34697806e-03 3.07703306e+02] [-6.01606137e-04 9.99999646e-01 5.87932014e-04 -1.15174955e+01] [ 8.34733168e-03 -5.82889831e-04 9.99964991e-01 3.41804944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.710714057 meters Centerline goodness [0,1] 0.9725411882176735 Centerline is valid? [True, True] Translation: X:307.73, Y:-11.52, Z:3.42 [[ 9.99970852e-01 1.92561856e-03 -7.38828466e-03 3.07732288e+02] [-1.92182804e-03 9.99998018e-01 5.20110598e-04 -1.15158145e+01] [ 7.38927155e-03 -5.05896425e-04 9.99972571e-01 3.41963497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.740714057 meters Centerline goodness [0,1] 0.972362287127771 Centerline is valid? [True, True] Translation: X:307.76, Y:-11.52, Z:3.42 [[ 9.99975895e-01 2.24794100e-03 -6.56930804e-03 3.07759545e+02] [-2.24495579e-03 9.99997373e-01 4.61756296e-04 -1.15189897e+01] [ 6.57032879e-03 -4.46997359e-04 9.99978315e-01 3.41965088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.770714057 meters Centerline goodness [0,1] 0.9708093032050676 Centerline is valid? [True, True] Translation: X:307.79, Y:-11.52, Z:3.42 [[ 9.99971160e-01 3.16817140e-03 -6.90232722e-03 3.07786919e+02] [-3.16490166e-03 9.99994874e-01 4.84585752e-04 -1.15241544e+01] [ 6.90382709e-03 -4.62726590e-04 9.99976061e-01 3.41896846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.800714057 meters Centerline goodness [0,1] 0.9708098374638677 Centerline is valid? [True, True] Translation: X:307.81, Y:-11.53, Z:3.42 [[ 9.99965688e-01 3.43363025e-03 -7.53872611e-03 3.07814465e+02] [-3.42974197e-03 9.99993979e-01 5.28640613e-04 -1.15288118e+01] [ 7.54049587e-03 -5.02766590e-04 9.99971444e-01 3.41795156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.830714057 meters Centerline goodness [0,1] 0.9721749811035525 Centerline is valid? [True, True] Translation: X:307.84, Y:-11.53, Z:3.42 [[ 9.99951224e-01 4.61587585e-03 -8.73169824e-03 3.07843824e+02] [-4.61070770e-03 9.99989183e-01 6.11922105e-04 -1.15271532e+01] [ 8.73442835e-03 -5.71632950e-04 9.99961691e-01 3.41776904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.860714057 meters Centerline goodness [0,1] 0.9740327557559934 Centerline is valid? [True, True] Translation: X:307.87, Y:-11.53, Z:3.42 [[ 9.99950173e-01 4.76713617e-03 -8.77070631e-03 3.07873268e+02] [-4.76193158e-03 9.99988473e-01 6.14193983e-04 -1.15262821e+01] [ 8.77353316e-03 -5.72397876e-04 9.99961348e-01 3.41837473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.890714057 meters Centerline goodness [0,1] 0.928169261898478 Centerline is valid? [True, False] Translation: X:307.93, Y:-11.53, Z:3.42 [[ 9.99955581e-01 5.44112204e-03 -7.69617116e-03 3.07930288e+02] [-5.47551426e-03 9.99975087e-01 -4.45475512e-03 -1.15282497e+01] [ 7.67174056e-03 4.49669774e-03 9.99960461e-01 3.41956167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.920714057 meters Centerline goodness [0,1] 0.9710100340780008 Centerline is valid? [False, True] Translation: X:307.84, Y:-11.53, Z:3.42 [[ 9.99958087e-01 4.79917016e-03 -7.79698865e-03 3.07843309e+02] [-4.79287543e-03 9.99988173e-01 8.25813355e-04 -1.15251123e+01] [ 7.80085965e-03 -7.88408747e-04 9.99969262e-01 3.41843389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.950714057 meters Centerline goodness [0,1] 0.9755387854557498 Centerline is valid? [True, True] Translation: X:307.87, Y:-11.52, Z:3.42 [[ 9.99953697e-01 6.36858296e-03 -7.21424597e-03 3.07873244e+02] [-6.36526009e-03 9.99979625e-01 4.83466229e-04 -1.15171900e+01] [ 7.21717797e-03 -4.37523291e-04 9.99973860e-01 3.42051745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.980714057 meters Centerline goodness [0,1] 0.9746614448166847 Centerline is valid? [True, True] Translation: X:307.90, Y:-11.52, Z:3.42 [[ 9.99944701e-01 8.00710624e-03 -6.81775803e-03 3.07900866e+02] [-8.00418249e-03 9.99967862e-01 4.56020387e-04 -1.15231709e+01] [ 6.82119032e-03 -4.01424590e-04 9.99976655e-01 3.42118758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01071405700003 meters Centerline goodness [0,1] 0.9767579046720151 Centerline is valid? [True, True] Translation: X:307.93, Y:-11.52, Z:3.42 [[ 9.99939909e-01 9.05845828e-03 -6.17430677e-03 3.07929892e+02] [-9.05608275e-03 9.99958908e-01 4.12593394e-04 -1.15210833e+01] [ 6.17779051e-03 -3.56653568e-04 9.99980854e-01 3.42255355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.040714057 meters Centerline goodness [0,1] 0.9755965420582762 Centerline is valid? [True, True] Translation: X:307.96, Y:-11.52, Z:3.42 [[ 9.99934929e-01 9.66972942e-03 -6.05267476e-03 3.07957681e+02] [-9.66746109e-03 9.99953187e-01 4.03910227e-04 -1.15238220e+01] [ 6.05629712e-03 -3.45369946e-04 9.99981601e-01 3.42247919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07071405700003 meters Centerline goodness [0,1] 0.9737623062791465 Centerline is valid? [True, True] Translation: X:307.99, Y:-11.53, Z:3.42 [[ 9.99929902e-01 1.10015031e-02 -4.37702073e-03 3.07985364e+02] [-1.10003319e-02 9.99939452e-01 2.91565971e-04 -1.15296453e+01] [ 4.37996338e-03 -2.43396852e-04 9.99990378e-01 3.42288617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.100714057 meters Centerline goodness [0,1] 0.9763482443936142 Centerline is valid? [True, True] Translation: X:308.01, Y:-11.53, Z:3.42 [[ 9.99920945e-01 1.18518959e-02 -4.19946244e-03 3.08014304e+02] [-1.18508264e-02 9.99929737e-01 2.79485370e-04 -1.15283018e+01] [ 4.20247980e-03 -2.29696175e-04 9.99991143e-01 3.42381089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13071405700003 meters Centerline goodness [0,1] 0.9754751686082158 Centerline is valid? [True, True] Translation: X:308.04, Y:-11.53, Z:3.42 [[ 9.99894945e-01 1.39115688e-02 -4.07040155e-03 3.08043376e+02] [-1.39105822e-02 9.99903207e-01 2.70600396e-04 -1.15286971e+01] [ 4.07377204e-03 -2.13950313e-04 9.99991679e-01 3.42442923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.160714057 meters Centerline goodness [0,1] 0.9777474915995018 Centerline is valid? [True, True] Translation: X:308.07, Y:-11.53, Z:3.42 [[ 9.99849505e-01 1.67912265e-02 -4.36131833e-03 3.08071899e+02] [-1.67901220e-02 9.99858994e-01 2.89739941e-04 -1.15311329e+01] [ 4.36556844e-03 -2.16469269e-04 9.99990447e-01 3.42494446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19071405700004 meters Centerline goodness [0,1] 0.976884445696048 Centerline is valid? [True, True] Translation: X:308.10, Y:-11.53, Z:3.42 [[ 9.99817878e-01 1.85706669e-02 -4.39775921e-03 3.08099480e+02] [-1.85695636e-02 9.99827528e-01 2.91581522e-04 -1.15346206e+01] [ 4.40241559e-03 -2.09863949e-04 9.99990287e-01 3.42485817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.220714057 meters Centerline goodness [0,1] 0.978401069393307 Centerline is valid? [True, True] Translation: X:308.13, Y:-11.54, Z:3.42 [[ 9.99760752e-01 2.12632614e-02 -5.12960234e-03 3.08129504e+02] [-2.12617953e-02 9.99773885e-01 3.40174149e-04 -1.15355844e+01] [ 5.13567567e-03 -2.31028208e-04 9.99986786e-01 3.42393168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.250714057 meters Centerline goodness [0,1] 0.9735771458895326 Centerline is valid? [True, True] Translation: X:308.16, Y:-11.55, Z:3.42 [[ 9.99652259e-01 2.59124581e-02 -4.88941964e-03 3.08156874e+02] [-2.59111831e-02 9.99664196e-01 3.23941618e-04 -1.15540991e+01] [ 4.89617188e-03 -1.97138322e-04 9.99987994e-01 3.42161009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.280714057 meters Centerline goodness [0,1] 0.9783195288486356 Centerline is valid? [True, True] Translation: X:308.19, Y:-11.54, Z:3.42 [[ 9.99691360e-01 2.41132586e-02 -5.97797352e-03 3.08187364e+02] [-2.41113215e-02 9.99709201e-01 3.95907575e-04 -1.15434540e+01] [ 5.98578175e-03 -2.51648540e-04 9.99982053e-01 3.42325387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.310714057 meters Centerline goodness [0,1] 0.9806026854189773 Centerline is valid? [True, True] Translation: X:308.22, Y:-11.54, Z:3.42 [[ 9.99619847e-01 2.69668801e-02 -5.74016015e-03 3.08217128e+02] [-2.69651422e-02 9.99636302e-01 3.79949536e-04 -1.15388424e+01] [ 5.74831852e-03 -2.25020862e-04 9.99983453e-01 3.42494543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.340714057 meters Centerline goodness [0,1] 0.9787608542595635 Centerline is valid? [True, True] Translation: X:308.24, Y:-11.55, Z:3.42 [[ 9.99584073e-01 2.84239081e-02 -4.87469144e-03 3.08244410e+02] [-2.84226746e-02 9.99595942e-01 3.22154941e-04 -1.15450452e+01] [ 4.88187868e-03 -1.83469180e-04 9.99988067e-01 3.42459232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.370714057 meters Centerline goodness [0,1] 0.9802389166607993 Centerline is valid? [True, True] Translation: X:308.27, Y:-11.55, Z:3.43 [[ 9.99541548e-01 3.00473366e-02 -3.72183417e-03 3.08272878e+02] [-3.00466297e-02 9.99548468e-01 2.45716860e-04 -1.15481332e+01] [ 3.72753678e-03 -1.33775637e-04 9.99993044e-01 3.42538789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.400714057 meters Centerline goodness [0,1] 0.9800997365449755 Centerline is valid? [True, True] Translation: X:308.30, Y:-11.55, Z:3.43 [[ 9.99527805e-01 3.05394170e-02 -3.39266569e-03 3.08301576e+02] [-3.05388332e-02 9.99533556e-01 2.23747342e-04 -1.15506736e+01] [ 3.39791631e-03 -1.20033638e-04 9.99994220e-01 3.42624361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.430714057 meters Centerline goodness [0,1] 0.980529978210445 Centerline is valid? [True, True] Translation: X:308.33, Y:-11.56, Z:3.43 [[ 9.99546120e-01 2.99676510e-02 -3.08127140e-03 3.08330260e+02] [-2.99671675e-02 9.99550863e-01 2.02995710e-04 -1.15563024e+01] [ 3.08597079e-03 -1.10566598e-04 9.99995232e-01 3.42632769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.460714057 meters Centerline goodness [0,1] 0.9790687340676817 Centerline is valid? [True, True] Translation: X:308.36, Y:-11.56, Z:3.43 [[ 9.99576154e-01 2.88960960e-02 -3.53938121e-03 3.08357643e+02] [-2.88954523e-02 9.99582412e-01 2.32872007e-04 -1.15611745e+01] [ 3.54463230e-03 -1.30501284e-04 9.99993709e-01 3.42576519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.490714057 meters Centerline goodness [0,1] 0.9788809462826275 Centerline is valid? [True, True] Translation: X:308.39, Y:-11.57, Z:3.43 [[ 9.99609321e-01 2.77641504e-02 -3.21814882e-03 3.08385618e+02] [-2.77636133e-02 9.99614494e-01 2.11464740e-04 -1.15661526e+01] [ 3.22277935e-03 -1.22034685e-04 9.99994799e-01 3.42578442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.520714057 meters Centerline goodness [0,1] 0.9813606710158435 Centerline is valid? [True, True] Translation: X:308.42, Y:-11.57, Z:3.43 [[ 9.99690289e-01 2.46925371e-02 -3.09921899e-03 3.08415441e+02] [-2.46920243e-02 9.99695085e-01 2.03601059e-04 -1.15687504e+01] [ 3.10330142e-03 -1.27012011e-04 9.99995177e-01 3.42592337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.550714057 meters Centerline goodness [0,1] 0.9783559858499349 Centerline is valid? [True, True] Translation: X:308.44, Y:-11.58, Z:3.42 [[ 9.99764960e-01 2.12216579e-02 -4.43456454e-03 3.08442722e+02] [-2.12205758e-02 9.99774776e-01 2.90944812e-04 -1.15832972e+01] [ 4.43974011e-03 -1.96772416e-04 9.99990125e-01 3.42335694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.580714057 meters Centerline goodness [0,1] 0.97804534214601 Centerline is valid? [True, True] Translation: X:308.47, Y:-11.59, Z:3.42 [[ 9.99797179e-01 1.94584464e-02 -5.19319076e-03 3.08472074e+02] [-1.94569390e-02 9.99810638e-01 3.40629050e-04 -1.15889997e+01] [ 5.19883548e-03 -2.39516367e-04 9.99986457e-01 3.42280886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.610714057 meters Centerline goodness [0,1] 0.9796102156745023 Centerline is valid? [True, True] Translation: X:308.50, Y:-11.59, Z:3.42 [[ 9.99830241e-01 1.76065873e-02 -5.43104960e-03 3.08501736e+02] [-1.76049125e-02 9.99844958e-01 3.56040552e-04 -1.15884083e+01] [ 5.43647622e-03 -2.60366958e-04 9.99985188e-01 3.42283392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.640714057 meters Centerline goodness [0,1] 0.9792503346720214 Centerline is valid? [True, True] Translation: X:308.53, Y:-11.60, Z:3.42 [[ 9.99891432e-01 1.34430556e-02 -6.03391464e-03 3.08531406e+02] [-1.34409131e-02 9.99909589e-01 3.95487383e-04 -1.15969862e+01] [ 6.03868566e-03 -3.14343123e-04 9.99981718e-01 3.42161779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.670714057 meters Centerline goodness [0,1] 0.9789987565053194 Centerline is valid? [True, True] Translation: X:308.56, Y:-11.60, Z:3.42 [[ 9.99929295e-01 1.02412129e-02 -6.04344724e-03 3.08560899e+02] [-1.02390059e-02 9.99947502e-01 3.96006868e-04 -1.16040667e+01] [ 6.04718555e-03 -3.34099976e-04 9.99981660e-01 3.42130124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.700714057 meters Centerline goodness [0,1] 0.9769264357778136 Centerline is valid? [True, True] Translation: X:308.59, Y:-11.61, Z:3.42 [[ 9.99945691e-01 8.64096898e-03 -5.82655506e-03 3.08590111e+02] [-8.63889186e-03 9.99962611e-01 3.81567248e-04 -1.16088434e+01] [ 5.82963432e-03 -3.31211547e-04 9.99982953e-01 3.42075469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.730714057 meters Centerline goodness [0,1] 0.9782983120909404 Centerline is valid? [True, True] Translation: X:308.62, Y:-11.61, Z:3.42 [[ 9.99971099e-01 4.98242480e-03 -5.74253627e-03 3.08620422e+02] [-4.98034675e-03 9.99987527e-01 3.76112901e-04 -1.16129519e+01] [ 5.74433860e-03 -3.47502209e-04 9.99983441e-01 3.42124788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76071405700003 meters Centerline goodness [0,1] 0.9767201834862386 Centerline is valid? [True, True] Translation: X:308.65, Y:-11.62, Z:3.42 [[ 9.99978320e-01 2.65875087e-03 -6.02419427e-03 3.08648798e+02] [-2.65642435e-03 9.99996394e-01 3.94164140e-04 -1.16193594e+01] [ 6.02522053e-03 -3.78152778e-04 9.99981777e-01 3.42099593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.790714057 meters Centerline goodness [0,1] 0.9758023784379448 Centerline is valid? [True, True] Translation: X:308.68, Y:-11.62, Z:3.42 [[ 9.99982803e-01 3.48839345e-04 -5.85424443e-03 3.08677670e+02] [-3.46604651e-04 9.99999867e-01 3.82732268e-04 -1.16227924e+01] [ 5.85437716e-03 -3.80696578e-04 9.99982791e-01 3.42105232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82071405700003 meters Centerline goodness [0,1] 0.973443831414116 Centerline is valid? [True, True] Translation: X:308.71, Y:-11.63, Z:3.42 [[ 9.99971129e-01 -5.13858753e-03 -5.59793591e-03 3.08706453e+02] [ 5.14071650e-03 9.99986719e-01 3.65991044e-04 -1.16320256e+01] [ 5.59598089e-03 -3.94757879e-04 9.99984264e-01 3.42053919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.850714057 meters Centerline goodness [0,1] 0.9720021977015705 Centerline is valid? [True, True] Translation: X:308.74, Y:-11.64, Z:3.42 [[ 9.99951499e-01 -8.11893372e-03 -5.57514082e-03 3.08736757e+02] [ 8.12109153e-03 9.99966957e-01 3.64511744e-04 -1.16361303e+01] [ 5.57199715e-03 -4.09770294e-04 9.99984392e-01 3.42081820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88071405700003 meters Centerline goodness [0,1] 0.9727522306108441 Centerline is valid? [True, True] Translation: X:308.77, Y:-11.64, Z:3.42 [[ 9.99899206e-01 -1.31115615e-02 -5.44660568e-03 3.08766723e+02] [ 1.31136946e-02 9.99913948e-01 3.56120448e-04 -1.16378862e+01] [ 5.44146769e-03 -4.27509677e-04 9.99985104e-01 3.42164651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.910714057 meters Centerline goodness [0,1] 0.971731125494591 Centerline is valid? [True, True] Translation: X:308.80, Y:-11.64, Z:3.42 [[ 9.99857476e-01 -1.59323838e-02 -5.58459620e-03 3.08797653e+02] [ 1.59346708e-02 9.99872968e-01 3.65262325e-04 -1.16418275e+01] [ 5.57806728e-03 -4.54198968e-04 9.99984339e-01 3.42118035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94071405700004 meters Centerline goodness [0,1] 0.7271446889911921 Centerline is valid? [True, False] Translation: X:308.85, Y:-11.64, Z:3.42 [[ 9.99786456e-01 -1.99940730e-02 -5.22291628e-03 3.08845485e+02] [ 1.99750856e-02 9.99793769e-01 -3.66262524e-03 -1.16430582e+01] [ 5.29506995e-03 3.55751491e-03 9.99979653e-01 3.42230853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.970714057 meters Centerline goodness [0,1] 0.9701989018249755 Centerline is valid? [False, True] Translation: X:308.78, Y:-11.64, Z:3.42 [[ 9.99833512e-01 -1.75065440e-02 -5.14488482e-03 3.08778492e+02] [ 1.75012660e-02 9.99846270e-01 -1.06909611e-03 -1.16420277e+01] [ 5.16281008e-03 9.78876125e-04 9.99986194e-01 3.42060218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.000714057 meters Centerline goodness [0,1] 0.9690304898937993 Centerline is valid? [True, True] Translation: X:308.81, Y:-11.65, Z:3.42 [[ 9.99820083e-01 -1.81956195e-02 -5.35920031e-03 3.08809706e+02] [ 1.81978468e-02 9.99834338e-01 3.67120222e-04 -1.16460629e+01] [ 5.35163251e-03 -4.64580077e-04 9.99985572e-01 3.42029869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.030714057 meters Centerline goodness [0,1] 0.970660258610825 Centerline is valid? [True, True] Translation: X:308.84, Y:-11.64, Z:3.42 [[ 9.99834430e-01 -1.75260444e-02 -4.89393938e-03 3.08841267e+02] [ 1.75278944e-02 9.99846318e-01 3.35390285e-04 -1.16431258e+01] [ 4.88730921e-03 -4.21115207e-04 9.99987968e-01 3.42098101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.060714057 meters Centerline goodness [0,1] 0.9705929505530999 Centerline is valid? [True, True] Translation: X:308.87, Y:-11.64, Z:3.42 [[ 9.99859640e-01 -1.60271348e-02 -4.88168843e-03 3.08872100e+02] [ 1.60289587e-02 9.99871472e-01 3.34726614e-04 -1.16449886e+01] [ 4.87569628e-03 -4.12928014e-04 9.99988028e-01 3.42156746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.090714057 meters Centerline goodness [0,1] 0.9714646175020071 Centerline is valid? [True, True] Translation: X:308.90, Y:-11.64, Z:3.42 [[ 9.99909155e-01 -1.25065399e-02 -5.02665074e-03 3.08902908e+02] [ 1.25084291e-02 9.99921707e-01 3.44573832e-04 -1.16429878e+01] [ 5.02194776e-03 -4.07418034e-04 9.99987307e-01 3.42113347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.120714057 meters Centerline goodness [0,1] 0.9714646175020071 Centerline is valid? [True, True] Translation: X:308.93, Y:-11.65, Z:3.42 [[ 9.99909597e-01 -1.24711983e-02 -5.02663219e-03 3.08933781e+02] [ 1.24730884e-02 9.99922149e-01 3.44844368e-04 -1.16451353e+01] [ 5.02194024e-03 -4.07510821e-04 9.99987307e-01 3.42104956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.150714057 meters Centerline goodness [0,1] 0.9712630518409965 Centerline is valid? [True, True] Translation: X:308.97, Y:-11.64, Z:3.42 [[ 9.99941224e-01 -9.70683899e-03 -4.82974494e-03 3.08965184e+02] [ 9.70855209e-03 9.99952816e-01 3.31378522e-04 -1.16441785e+01] [ 4.82630042e-03 -3.78248875e-04 9.99988282e-01 3.42082084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.180714057 meters Centerline goodness [0,1] 0.9726676636374094 Centerline is valid? [True, True] Translation: X:309.00, Y:-11.64, Z:3.42 [[ 9.99957987e-01 -7.52958174e-03 -5.22782809e-03 3.08996258e+02] [ 7.53155977e-03 9.99971573e-01 3.58780531e-04 -1.16422815e+01] [ 5.22497801e-03 -3.98139157e-04 9.99986270e-01 3.42141394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.210714057 meters Centerline goodness [0,1] 0.9747850605528335 Centerline is valid? [True, True] Translation: X:309.03, Y:-11.64, Z:3.42 [[ 9.99988818e-01 -1.07419780e-03 -4.60552499e-03 3.09027040e+02] [ 1.07566472e-03 9.99999372e-01 3.16049264e-04 -1.16359513e+01] [ 4.60518260e-03 -3.20999731e-04 9.99989345e-01 3.42350626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.240714057 meters Centerline goodness [0,1] 0.9750412110236586 Centerline is valid? [True, True] Translation: X:309.06, Y:-11.63, Z:3.42 [[ 9.99977466e-01 4.85085796e-03 -4.64070436e-03 3.09055833e+02] [-4.84943369e-03 9.99988191e-01 3.18111590e-04 -1.16327388e+01] [ 4.64219267e-03 -2.95599634e-04 9.99989181e-01 3.42411441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.270714057 meters Centerline goodness [0,1] 0.9759058560863296 Centerline is valid? [True, True] Translation: X:309.09, Y:-11.63, Z:3.42 [[ 9.99956972e-01 7.87670359e-03 -4.90019821e-03 3.09085946e+02] [-7.87515176e-03 9.99968934e-01 3.35901259e-04 -1.16307943e+01] [ 4.90269177e-03 -2.97297001e-04 9.99987938e-01 3.42406155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.300714057 meters Centerline goodness [0,1] 0.977762787560187 Centerline is valid? [True, True] Translation: X:309.12, Y:-11.63, Z:3.42 [[ 9.99928319e-01 1.10152670e-02 -4.69271072e-03 3.09115053e+02] [-1.10138792e-02 9.99939294e-01 3.21468587e-04 -1.16316354e+01] [ 4.69596690e-03 -2.69760595e-04 9.99988938e-01 3.42386549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.330714057 meters Centerline goodness [0,1] 0.9780611769094469 Centerline is valid? [True, True] Translation: X:309.15, Y:-11.63, Z:3.42 [[ 9.99860179e-01 1.59749579e-02 -4.94194599e-03 3.09145587e+02] [-1.59734788e-02 9.99872359e-01 3.38616100e-04 -1.16267210e+01] [ 4.94672458e-03 -2.59628685e-04 9.99987731e-01 3.42285031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.360714057 meters Centerline goodness [0,1] 0.9773923166472642 Centerline is valid? [True, True] Translation: X:309.17, Y:-11.63, Z:3.42 [[ 9.99816067e-01 1.83340894e-02 -5.62960892e-03 3.09174412e+02] [-1.83322097e-02 9.99831877e-01 3.85315018e-04 -1.16274258e+01] [ 5.63572685e-03 -2.82040975e-04 9.99984079e-01 3.42205457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.390714057 meters Centerline goodness [0,1] 0.9796970899162213 Centerline is valid? [True, True] Translation: X:309.20, Y:-11.62, Z:3.42 [[ 9.99727101e-01 2.24244595e-02 -6.54727083e-03 3.09204601e+02] [-2.24220057e-02 9.99748495e-01 4.47953792e-04 -1.16180304e+01] [ 6.55566928e-03 -3.01028603e-04 9.99978466e-01 3.42295144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.420714057 meters Centerline goodness [0,1] 0.9804786923525978 Centerline is valid? [True, True] Translation: X:309.23, Y:-11.62, Z:3.42 [[ 9.99678927e-01 2.45694433e-02 -6.19566882e-03 3.09233789e+02] [-2.45672895e-02 9.99698089e-01 4.23513645e-04 -1.16188815e+01] [ 6.20420378e-03 -2.71166877e-04 9.99980717e-01 3.42292678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.450714057 meters Centerline goodness [0,1] 0.9787973502519127 Centerline is valid? [True, True] Translation: X:309.26, Y:-11.62, Z:3.42 [[ 9.99586834e-01 2.80274723e-02 -6.37355299e-03 3.09262827e+02] [-2.80252642e-02 9.99607120e-01 4.35500756e-04 -1.16247503e+01] [ 6.38325494e-03 -2.56700315e-04 9.99979594e-01 3.42142107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.480714057 meters Centerline goodness [0,1] 0.9809731095976971 Centerline is valid? [True, True] Translation: X:309.29, Y:-11.62, Z:3.42 [[ 9.99571324e-01 2.85791017e-02 -6.35640797e-03 3.09291825e+02] [-2.85769201e-02 9.99591502e-01 4.33786151e-04 -1.16211764e+01] [ 6.36620861e-03 -2.51953634e-04 9.99979704e-01 3.42288656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51071405700003 meters Centerline goodness [0,1] 0.9800018668035656 Centerline is valid? [True, True] Translation: X:309.32, Y:-11.62, Z:3.42 [[ 9.99580161e-01 2.85038603e-02 -5.19928626e-03 3.09320310e+02] [-2.85024018e-02 9.99593661e-01 3.54415499e-04 -1.16228452e+01] [ 5.20727579e-03 -2.06074555e-04 9.99986421e-01 3.42312899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.540714057 meters Centerline goodness [0,1] 0.978814938840054 Centerline is valid? [True, True] Translation: X:309.35, Y:-11.63, Z:3.42 [[ 9.99616844e-01 2.72839682e-02 -4.66380858e-03 3.09347867e+02] [-2.72827836e-02 9.99627705e-01 3.17438297e-04 -1.16277346e+01] [ 4.67073325e-03 -1.90074989e-04 9.99989074e-01 3.42280641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57071405700003 meters Centerline goodness [0,1] 0.9789903229567448 Centerline is valid? [True, True] Translation: X:309.38, Y:-11.63, Z:3.42 [[ 9.99747785e-01 2.20436432e-02 -4.29463969e-03 3.09377585e+02] [-2.20425900e-02 9.99756990e-01 2.92407377e-04 -1.16322270e+01] [ 4.30004177e-03 -1.97668646e-04 9.99990735e-01 3.42217846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.600714057 meters Centerline goodness [0,1] 0.9788846018940722 Centerline is valid? [True, True] Translation: X:309.41, Y:-11.64, Z:3.42 [[ 9.99812754e-01 1.87975060e-02 -4.59474200e-03 3.09405461e+02] [-1.87962686e-02 9.99823286e-01 3.12350539e-04 -1.16383826e+01] [ 4.59980146e-03 -2.25928047e-04 9.99989395e-01 3.42188611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63071405700003 meters Centerline goodness [0,1] 0.9745770589328872 Centerline is valid? [True, True] Translation: X:309.43, Y:-11.65, Z:3.42 [[ 9.99916547e-01 1.17752733e-02 -5.31435432e-03 3.09433824e+02] [-1.17735192e-02 9.99930624e-01 3.61236168e-04 -1.16470786e+01] [ 5.31823929e-03 -2.98637369e-04 9.99985813e-01 3.42010197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.660714057 meters Centerline goodness [0,1] 0.9754555596876162 Centerline is valid? [True, True] Translation: X:309.46, Y:-11.65, Z:3.42 [[ 9.99946848e-01 8.82715411e-03 -5.32761886e-03 3.09464104e+02] [-8.82534904e-03 9.99960990e-01 3.62227501e-04 -1.16526566e+01] [ 5.33060847e-03 -3.15190152e-04 9.99985743e-01 3.41961892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69071405700004 meters Centerline goodness [0,1] 0.9747694166298817 Centerline is valid? [True, True] Translation: X:309.49, Y:-11.66, Z:3.42 [[ 9.99972831e-01 3.90153787e-03 -6.25429747e-03 3.09494404e+02] [-3.89895424e-03 9.99992309e-01 4.25235971e-04 -1.16594428e+01] [ 6.25590844e-03 -4.00839198e-04 9.99980351e-01 3.41833287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.720714057 meters Centerline goodness [0,1] 0.97557407880378 Centerline is valid? [True, True] Translation: X:309.52, Y:-11.66, Z:3.42 [[ 9.99974849e-01 2.15733805e-03 -6.75625755e-03 3.09523650e+02] [-2.15428681e-03 9.99997574e-01 4.58862348e-04 -1.16575273e+01] [ 6.75723108e-03 -4.44295891e-04 9.99977071e-01 3.41870254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.750714057 meters Centerline goodness [0,1] 0.9715923596444404 Centerline is valid? [True, True] Translation: X:309.55, Y:-11.67, Z:3.42 [[ 9.99982964e-01 -8.30786983e-04 -5.77765006e-03 3.09552246e+02] [ 8.33068086e-04 9.99999576e-01 3.92419620e-04 -1.16689760e+01] [ 5.77732159e-03 -3.97226110e-04 9.99983232e-01 3.41835559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.780714057 meters Centerline goodness [0,1] 0.9740455536484669 Centerline is valid? [True, True] Translation: X:309.58, Y:-11.66, Z:3.42 [[ 9.99988383e-01 -1.93370433e-03 -4.41527606e-03 3.09581765e+02] [ 1.93504508e-03 9.99998083e-01 2.99410701e-04 -1.16629757e+01] [ 4.41468863e-03 -3.07950981e-04 9.99990208e-01 3.42100901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.810714057 meters Centerline goodness [0,1] 0.973726392083072 Centerline is valid? [True, True] Translation: X:309.61, Y:-11.66, Z:3.42 [[ 9.99989033e-01 -1.91739138e-03 -4.27290740e-03 3.09611652e+02] [ 1.91864665e-03 9.99998117e-01 2.89696141e-04 -1.16648213e+01] [ 4.27234389e-03 -2.97891164e-04 9.99990829e-01 3.42085777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.840714057 meters Centerline goodness [0,1] 0.9727815323161244 Centerline is valid? [True, True] Translation: X:309.64, Y:-11.67, Z:3.42 [[ 9.99992175e-01 -1.05176704e-03 -3.81353026e-03 3.09639883e+02] [ 1.05275968e-03 9.99999412e-01 2.58296428e-04 -1.16681407e+01] [ 3.81325635e-03 -2.62309138e-04 9.99992695e-01 3.42019241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.870714057 meters Centerline goodness [0,1] 0.9748218195369637 Centerline is valid? [True, True] Translation: X:309.67, Y:-11.67, Z:3.42 [[ 9.99991034e-01 9.18050867e-04 -4.13395385e-03 3.09670250e+02] [-9.16901024e-04 9.99999540e-01 2.80032801e-04 -1.16666110e+01] [ 4.13420903e-03 -2.76239864e-04 9.99991416e-01 3.41954172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.900714057 meters Centerline goodness [0,1] 0.9742001583383785 Centerline is valid? [True, True] Translation: X:309.70, Y:-11.67, Z:3.42 [[ 9.99986832e-01 2.78138694e-03 -4.31265186e-03 3.09700570e+02] [-2.78015310e-03 9.99996093e-01 2.92065379e-04 -1.16670056e+01] [ 4.31344736e-03 -2.80071701e-04 9.99990658e-01 3.41948033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.930714057 meters Centerline goodness [0,1] 0.9761632386244251 Centerline is valid? [True, True] Translation: X:309.73, Y:-11.66, Z:3.42 [[ 9.99967416e-01 7.31115513e-03 -3.42266570e-03 3.09731422e+02] [-7.31040438e-03 9.99973252e-01 2.31805947e-04 -1.16595068e+01] [ 3.42426892e-03 -2.06777323e-04 9.99994116e-01 3.42115297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.960714057 meters Centerline goodness [0,1] 0.9772472172855673 Centerline is valid? [True, True] Translation: X:309.76, Y:-11.66, Z:3.42 [[ 9.99948442e-01 9.79234421e-03 -2.68765955e-03 3.09760200e+02] [-9.79189096e-03 9.99952042e-01 1.81746155e-04 -1.16602127e+01] [ 2.68931038e-03 -1.55419515e-04 9.99996372e-01 3.42158216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.990714057 meters Centerline goodness [0,1] 0.9783292637114951 Centerline is valid? [True, True] Translation: X:309.79, Y:-11.66, Z:3.42 [[ 9.99894911e-01 1.42865847e-02 -2.46182479e-03 3.09791203e+02] [-1.42862178e-02 9.99897933e-01 1.66560872e-04 -1.16592284e+01] [ 2.46395311e-03 -1.31373203e-04 9.99996956e-01 3.42186395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.020714057 meters Centerline goodness [0,1] 0.9768113220832257 Centerline is valid? [True, True] Translation: X:309.82, Y:-11.66, Z:3.42 [[ 9.99888759e-01 1.46602798e-02 -2.74687917e-03 3.09820283e+02] [-1.46598254e-02 9.99892522e-01 1.85491728e-04 -1.16601572e+01] [ 2.74930330e-03 -1.45202325e-04 9.99996210e-01 3.42100628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.050714057 meters Centerline goodness [0,1] 0.9761003034508715 Centerline is valid? [True, True] Translation: X:309.85, Y:-11.66, Z:3.42 [[ 9.99883549e-01 1.50015719e-02 -2.80010148e-03 3.09847706e+02] [-1.50011019e-02 9.99887459e-01 1.88800153e-04 -1.16625320e+01] [ 2.80261865e-03 -1.46773560e-04 9.99996062e-01 3.42047270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.080714057 meters Centerline goodness [0,1] 0.9759135236752438 Centerline is valid? [True, True] Translation: X:309.88, Y:-11.67, Z:3.42 [[ 9.99895960e-01 1.41566652e-02 -2.76743393e-03 3.09876325e+02] [-1.41562032e-02 9.99899779e-01 1.86452435e-04 -1.16650932e+01] [ 2.76979612e-03 -1.47256680e-04 9.99996153e-01 3.42059265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.110714057 meters Centerline goodness [0,1] 0.9754733825118639 Centerline is valid? [True, True] Translation: X:309.91, Y:-11.67, Z:3.42 [[ 9.99917188e-01 1.26636029e-02 -2.29113642e-03 3.09905323e+02] [-1.26632828e-02 9.99919806e-01 1.54172833e-04 -1.16677544e+01] [ 2.29290507e-03 -1.25146758e-04 9.99997363e-01 3.42056716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.140714057 meters Centerline goodness [0,1] 0.9724744808166139 Centerline is valid? [True, True] Translation: X:309.93, Y:-11.67, Z:3.42 [[ 9.99963633e-01 8.38420079e-03 -1.56115578e-03 3.09934196e+02] [-8.38404679e-03 9.99964848e-01 1.05161282e-04 -1.16741017e+01] [ 1.56198259e-03 -9.20686541e-05 9.99998776e-01 3.42049753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.170714057 meters Centerline goodness [0,1] 0.9701160201570374 Centerline is valid? [True, True] Translation: X:309.96, Y:-11.68, Z:3.42 [[ 9.99992396e-01 3.28297892e-03 -2.10486228e-03 3.09963155e+02] [-3.28268785e-03 9.99994602e-01 1.41720569e-04 -1.16815341e+01] [ 2.10531618e-03 -1.34809885e-04 9.99997775e-01 3.41920935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.200714057 meters Centerline goodness [0,1] 0.970563400103204 Centerline is valid? [True, True] Translation: X:309.99, Y:-11.69, Z:3.42 [[ 9.99997238e-01 1.20064362e-03 -2.02060240e-03 3.09991936e+02] [-1.20037105e-03 9.99999270e-01 1.36100799e-04 -1.16869332e+01] [ 2.02076433e-03 -1.33674951e-04 9.99997949e-01 3.41874761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.230714057 meters Centerline goodness [0,1] 0.9688203300825207 Centerline is valid? [True, True] Translation: X:310.02, Y:-11.69, Z:3.42 [[ 9.99997606e-01 -7.23640770e-04 -2.06507684e-03 3.10021059e+02] [ 7.23929047e-04 9.99999728e-01 1.38852274e-04 -1.16907402e+01] [ 2.06497580e-03 -1.40346911e-04 9.99997858e-01 3.41818068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26071405700003 meters Centerline goodness [0,1] 0.9661521163711321 Centerline is valid? [True, True] Translation: X:310.05, Y:-11.70, Z:3.42 [[ 9.99987978e-01 -4.22815617e-03 -2.48322598e-03 3.10049972e+02] [ 4.22858444e-03 9.99991046e-01 1.67240209e-04 -1.16965784e+01] [ 2.48249662e-03 -1.77738729e-04 9.99996903e-01 3.41762105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.290714057 meters Centerline goodness [0,1] 0.96510239906378 Centerline is valid? [True, True] Translation: X:310.08, Y:-11.70, Z:3.42 [[ 9.99981309e-01 -5.54498477e-03 -2.57563412e-03 3.10080550e+02] [ 5.54544992e-03 9.99984609e-01 1.73491160e-04 -1.17001997e+01] [ 2.57463247e-03 -1.87770967e-04 9.99996668e-01 3.41730181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32071405700003 meters Centerline goodness [0,1] 0.9686437299186191 Centerline is valid? [True, True] Translation: X:310.11, Y:-11.69, Z:3.42 [[ 9.99968940e-01 -7.58056844e-03 -2.15740327e-03 3.10112413e+02] [ 7.58089980e-03 9.99971254e-01 1.45452926e-04 -1.16949624e+01] [ 2.15623863e-03 -1.61803466e-04 9.99997662e-01 3.41767688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.350714057 meters Centerline goodness [0,1] 0.9665926358854471 Centerline is valid? [True, True] Translation: X:310.14, Y:-11.70, Z:3.42 [[ 9.99964596e-01 -8.15055365e-03 -2.09173880e-03 3.10142669e+02] [ 8.15086742e-03 9.99966771e-01 1.41519356e-04 -1.17023172e+01] [ 2.09051583e-03 -1.58563831e-04 9.99997802e-01 3.41760700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38071405700003 meters Centerline goodness [0,1] 0.969678507826413 Centerline is valid? [True, True] Translation: X:310.17, Y:-11.70, Z:3.42 [[ 9.99944385e-01 -1.00342680e-02 -3.24646744e-03 3.10174270e+02] [ 1.00350327e-02 9.99949624e-01 2.19343830e-04 -1.16980904e+01] [ 3.24410294e-03 -2.51910039e-04 9.99994706e-01 3.41708186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.410714057 meters Centerline goodness [0,1] 0.9669390526586902 Centerline is valid? [True, True] Translation: X:310.20, Y:-11.71, Z:3.42 [[ 9.99941730e-01 -1.01532896e-02 -3.66710323e-03 3.10204620e+02] [ 1.01542670e-02 9.99948413e-01 2.47994668e-04 -1.17058934e+01] [ 3.66439610e-03 -2.85216962e-04 9.99993245e-01 3.41589416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44071405700004 meters Centerline goodness [0,1] 0.9698730262849646 Centerline is valid? [True, True] Translation: X:310.24, Y:-11.70, Z:3.41 [[ 9.99932916e-01 -1.06102085e-02 -4.64622904e-03 3.10236814e+02] [ 1.06117839e-02 9.99943644e-01 3.14550750e-04 -1.17027214e+01] [ 4.64262975e-03 -3.63834427e-04 9.99989157e-01 3.41397724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.470714057 meters Centerline goodness [0,1] 0.9671486733118069 Centerline is valid? [True, True] Translation: X:310.27, Y:-11.71, Z:3.41 [[ 9.99932595e-01 -1.03412452e-02 -5.27873299e-03 3.10267093e+02] [ 1.03432761e-02 9.99946443e-01 3.57576934e-04 -1.17102133e+01] [ 5.27475248e-03 -4.12152224e-04 9.99986003e-01 3.41258817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.500714057 meters Centerline goodness [0,1] 0.970146103515396 Centerline is valid? [True, True] Translation: X:310.30, Y:-11.70, Z:3.41 [[ 9.99941157e-01 -9.00118991e-03 -6.05476699e-03 3.10298976e+02] [ 9.00383833e-03 9.99959380e-01 4.10294750e-04 -1.17039421e+01] [ 6.05082790e-03 -4.64786750e-04 9.99981586e-01 3.41328821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.530714057 meters Centerline goodness [0,1] 0.9701118169671112 Centerline is valid? [True, True] Translation: X:310.33, Y:-11.70, Z:3.41 [[ 9.99952441e-01 -7.94519505e-03 -5.65600781e-03 3.10329445e+02] [ 7.94748881e-03 9.99968345e-01 3.83182435e-04 -1.17042163e+01] [ 5.65278431e-03 -4.28115270e-04 9.99983931e-01 3.41331014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.560714057 meters Centerline goodness [0,1] 0.9699286920623006 Centerline is valid? [True, True] Translation: X:310.36, Y:-11.70, Z:3.42 [[ 9.99973567e-01 -5.27026821e-03 -5.00901703e-03 3.10360125e+02] [ 5.27203383e-03 9.99986045e-01 3.39350193e-04 -1.17016994e+01] [ 5.00715866e-03 -3.65748930e-04 9.99987397e-01 3.41514458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.590714057 meters Centerline goodness [0,1] 0.9706962293461375 Centerline is valid? [True, True] Translation: X:310.39, Y:-11.70, Z:3.42 [[ 9.99981295e-01 -4.18700212e-03 -4.45863723e-03 3.10390238e+02] [ 4.18838977e-03 9.99991183e-01 3.01936646e-04 -1.17016559e+01] [ 4.45733370e-03 -3.20605509e-04 9.99990015e-01 3.41550701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.620714057 meters Centerline goodness [0,1] 0.9689117951614421 Centerline is valid? [True, True] Translation: X:310.42, Y:-11.70, Z:3.42 [[ 9.99992253e-01 -2.49171657e-03 -3.04730102e-03 3.10420612e+02] [ 2.49235672e-03 9.99996873e-01 2.06293291e-04 -1.17003410e+01] [ 3.04677747e-03 -2.13886654e-04 9.99995336e-01 3.41683950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.650714057 meters Centerline goodness [0,1] 0.969450342061807 Centerline is valid? [True, True] Translation: X:310.45, Y:-11.70, Z:3.42 [[ 9.99994974e-01 -1.87194352e-03 -2.55873733e-03 3.10450934e+02] [ 1.87239271e-03 9.99998232e-01 1.73165666e-04 -1.17000560e+01] [ 2.55840865e-03 -1.77955757e-04 9.99996711e-01 3.41705254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.680714057 meters Centerline goodness [0,1] 0.9424652693420501 Centerline is valid? [True, False] Translation: X:310.50, Y:-11.70, Z:3.42 [[ 9.99987492e-01 -3.81676830e-03 -3.23250701e-03 3.10498919e+02] [ 3.80599330e-03 9.99987203e-01 -3.33294420e-03 -1.16989255e+01] [ 3.24518672e-03 3.32059961e-03 9.99989221e-01 3.41951702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.710714057 meters Centerline goodness [0,1] 0.9676496322746944 Centerline is valid? [False, True] Translation: X:310.44, Y:-11.70, Z:3.42 [[ 9.99988431e-01 -3.46747157e-03 -3.33388605e-03 3.10440739e+02] [ 3.47632143e-03 9.99990440e-01 2.65239913e-03 -1.16977293e+01] [ 3.32465706e-03 -2.66395810e-03 9.99990925e-01 3.41774726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.740714057 meters Centerline goodness [0,1] 0.9654732966747693 Centerline is valid? [True, True] Translation: X:310.47, Y:-11.70, Z:3.42 [[ 9.99989584e-01 -3.78472817e-03 -2.55091497e-03 3.10470562e+02] [ 3.78517467e-03 9.99992822e-01 1.70229643e-04 -1.16998305e+01] [ 2.55025238e-03 -1.79883529e-04 9.99996732e-01 3.41967659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.770714057 meters Centerline goodness [0,1] 0.9623853428456306 Centerline is valid? [True, True] Translation: X:310.50, Y:-11.71, Z:3.42 [[ 9.99988033e-01 -4.00785997e-03 -2.80565928e-03 3.10500762e+02] [ 4.00840123e-03 9.99991949e-01 1.87320405e-04 -1.17074383e+01] [ 2.80488594e-03 -1.98564372e-04 9.99996047e-01 3.41969634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.800714057 meters Centerline goodness [0,1] 0.9671730358414432 Centerline is valid? [True, True] Translation: X:310.53, Y:-11.70, Z:3.42 [[ 9.99990891e-01 -2.92846917e-03 -3.10527126e-03 3.10532312e+02] [ 2.92912719e-03 9.99995689e-01 2.07376988e-04 -1.17004508e+01] [ 3.10465058e-03 -2.16470833e-04 9.99995157e-01 3.42008944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.830714057 meters Centerline goodness [0,1] 0.9684832100170746 Centerline is valid? [True, True] Translation: X:310.56, Y:-11.70, Z:3.42 [[ 9.99992583e-01 -2.36596900e-03 -3.03905276e-03 3.10562968e+02] [ 2.36659660e-03 9.99997179e-01 2.02934798e-04 -1.16995609e+01] [ 3.03856405e-03 -2.10125505e-04 9.99995361e-01 3.41991696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.860714057 meters Centerline goodness [0,1] 0.9682705552652828 Centerline is valid? [True, True] Translation: X:310.59, Y:-11.70, Z:3.42 [[ 9.99992136e-01 -1.06718369e-03 -3.81961493e-03 3.10593460e+02] [ 1.06816567e-03 9.99999397e-01 2.55057364e-04 -1.17012704e+01] [ 3.81934043e-03 -2.59135340e-04 9.99992673e-01 3.41917375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.890714057 meters Centerline goodness [0,1] 0.9683015635039623 Centerline is valid? [True, True] Translation: X:310.62, Y:-11.70, Z:3.42 [[ 9.99990672e-01 -7.40008554e-04 -4.25533951e-03 3.10621924e+02] [ 7.41223190e-04 9.99999685e-01 2.83868260e-04 -1.17031633e+01] [ 4.25512810e-03 -2.87019769e-04 9.99990906e-01 3.41854275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.920714057 meters Centerline goodness [0,1] 0.9713987325247443 Centerline is valid? [True, True] Translation: X:310.65, Y:-11.70, Z:3.42 [[ 9.99986295e-01 1.97754473e-04 -5.23162325e-03 3.10651269e+02] [-1.95935225e-04 9.99999920e-01 3.48250873e-04 -1.17036688e+01] [ 5.23169170e-03 -3.47221041e-04 9.99986254e-01 3.41781813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.950714057 meters Centerline goodness [0,1] 0.9698238933841028 Centerline is valid? [True, True] Translation: X:310.68, Y:-11.71, Z:3.42 [[ 9.99983594e-01 6.53647552e-04 -5.69075846e-03 3.10678982e+02] [-6.51506481e-04 9.99999716e-01 3.78082065e-04 -1.17070256e+01] [ 5.69100398e-03 -3.74368296e-04 9.99983736e-01 3.41723580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.980714057 meters Centerline goodness [0,1] 0.9697365918600228 Centerline is valid? [True, True] Translation: X:310.71, Y:-11.71, Z:3.42 [[ 9.99973133e-01 1.78097969e-03 -7.11060910e-03 3.10706455e+02] [-1.77766900e-03 9.99998309e-01 4.71890967e-04 -1.17101843e+01] [ 7.11143750e-03 -4.59237980e-04 9.99974608e-01 3.41593293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01071405700003 meters Centerline goodness [0,1] 0.9711038884012242 Centerline is valid? [True, True] Translation: X:310.74, Y:-11.71, Z:3.42 [[ 9.99970973e-01 2.21738169e-03 -7.28945514e-03 3.10735731e+02] [-2.21391635e-03 9.99997432e-01 4.83426719e-04 -1.17115145e+01] [ 7.29050836e-03 -4.67274443e-04 9.99973315e-01 3.41540377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.040714057 meters Centerline goodness [0,1] 0.9711038884012242 Centerline is valid? [True, True] Translation: X:310.76, Y:-11.71, Z:3.42 [[ 9.99971196e-01 2.11446687e-03 -7.28950881e-03 3.10763194e+02] [-2.11100468e-03 9.99997655e-01 4.82616777e-04 -1.17132391e+01] [ 7.29051220e-03 -4.67214688e-04 9.99973315e-01 3.41537181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07071405700003 meters Centerline goodness [0,1] 0.9702845750361949 Centerline is valid? [True, True] Translation: X:310.79, Y:-11.71, Z:3.42 [[ 9.99964863e-01 2.58320685e-03 -7.97495106e-03 3.10792304e+02] [-2.57908173e-03 9.99996535e-01 5.27500827e-04 -1.17148176e+01] [ 7.97628607e-03 -5.06914242e-04 9.99968060e-01 3.41501029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.100714057 meters Centerline goodness [0,1] 0.971992119816762 Centerline is valid? [True, True] Translation: X:310.82, Y:-11.71, Z:3.42 [[ 9.99964849e-01 3.18250064e-03 -7.75707554e-03 3.10820907e+02] [-3.17862005e-03 9.99994817e-01 5.12542006e-04 -1.17147379e+01] [ 7.75866650e-03 -4.87867193e-04 9.99969782e-01 3.41505748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13071405700003 meters Centerline goodness [0,1] 0.9709407400361457 Centerline is valid? [True, True] Translation: X:310.85, Y:-11.72, Z:3.41 [[ 9.99959982e-01 2.77585868e-03 -8.50459697e-03 3.10848658e+02] [-2.77118627e-03 9.99996003e-01 5.61133007e-04 -1.17231571e+01] [ 8.50612060e-03 -5.37542729e-04 9.99963678e-01 3.41409812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.160714057 meters Centerline goodness [0,1] 0.9705365622032289 Centerline is valid? [True, True] Translation: X:310.88, Y:-11.73, Z:3.41 [[ 9.99963950e-01 2.66056793e-03 -8.06351676e-03 3.10876569e+02] [-2.65637055e-03 9.99996331e-01 5.31204304e-04 -1.17254760e+01] [ 8.06490047e-03 -5.09765466e-04 9.99967348e-01 3.41389848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19071405700004 meters Centerline goodness [0,1] 0.9729819327034643 Centerline is valid? [True, True] Translation: X:310.91, Y:-11.72, Z:3.42 [[ 9.99967592e-01 2.34222704e-03 -7.70250008e-03 3.10905755e+02] [-2.33839163e-03 9.99997137e-01 5.06912382e-04 -1.17225557e+01] [ 7.70366534e-03 -4.88884492e-04 9.99970207e-01 3.41501492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.220714057 meters Centerline goodness [0,1] 0.9711142654364797 Centerline is valid? [True, True] Translation: X:310.93, Y:-11.73, Z:3.42 [[ 9.99975228e-01 1.24143102e-03 -6.92842612e-03 3.10934231e+02] [-1.23830486e-03 9.99999130e-01 4.55479255e-04 -1.17267448e+01] [ 6.92898553e-03 -4.46888468e-04 9.99975894e-01 3.41589097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.250714057 meters Centerline goodness [0,1] 0.9683281412253375 Centerline is valid? [True, True] Translation: X:310.96, Y:-11.74, Z:3.42 [[ 9.99978749e-01 4.39796538e-04 -6.50441427e-03 3.10961268e+02] [-4.37028238e-04 9.99999813e-01 4.27018406e-04 -1.17359273e+01] [ 6.50460085e-03 -4.24166719e-04 9.99978755e-01 3.41532380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.280714057 meters Centerline goodness [0,1] 0.96717781248521 Centerline is valid? [True, True] Translation: X:310.99, Y:-11.74, Z:3.42 [[ 9.99976021e-01 -2.59983517e-03 -6.41859099e-03 3.10991516e+02] [ 2.60259306e-03 9.99996524e-01 4.21356628e-04 -1.17394721e+01] [ 6.41747322e-03 -4.38051504e-04 9.99979312e-01 3.41595968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.310714057 meters Centerline goodness [0,1] 0.9665646338591948 Centerline is valid? [True, True] Translation: X:311.02, Y:-11.74, Z:3.42 [[ 9.99966526e-01 -6.00467585e-03 -5.55802153e-03 3.11021096e+02] [ 6.00679572e-03 9.99981893e-01 3.64792613e-04 -1.17428800e+01] [ 5.55573042e-03 -3.98166302e-04 9.99984488e-01 3.41626676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.340714057 meters Centerline goodness [0,1] 0.9659351302827714 Centerline is valid? [True, True] Translation: X:311.05, Y:-11.75, Z:3.42 [[ 9.99959904e-01 -7.48710708e-03 -4.91263403e-03 3.11051631e+02] [ 7.48878108e-03 9.99971907e-01 3.22446887e-04 -1.17471963e+01] [ 4.91008182e-03 -3.59223599e-04 9.99987881e-01 3.41680400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.370714057 meters Centerline goodness [0,1] 0.964796038670125 Centerline is valid? [True, True] Translation: X:311.08, Y:-11.75, Z:3.42 [[ 9.99945214e-01 -9.02073373e-03 -5.31001465e-03 3.11082001e+02] [ 9.02271100e-03 9.99959234e-01 3.48529462e-04 -1.17511954e+01] [ 5.30665419e-03 -3.96421095e-04 9.99985841e-01 3.41644965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.400714057 meters Centerline goodness [0,1] 0.9623726895511128 Centerline is valid? [True, True] Translation: X:311.11, Y:-11.76, Z:3.41 [[ 9.99903652e-01 -1.21994538e-02 -6.62271674e-03 3.11111165e+02] [ 1.22025982e-02 9.99925451e-01 4.34586200e-04 -1.17579229e+01] [ 6.61692131e-03 -5.15358680e-04 9.99977975e-01 3.41464129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.430714057 meters Centerline goodness [0,1] 0.9659326669181441 Centerline is valid? [True, True] Translation: X:311.14, Y:-11.76, Z:3.41 [[ 9.99843229e-01 -1.57286899e-02 -8.13174735e-03 3.11141726e+02] [ 1.57335467e-02 9.99876078e-01 5.33645518e-04 -1.17563841e+01] [ 8.12234610e-03 -6.61503085e-04 9.99966794e-01 3.41331103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.460714057 meters Centerline goodness [0,1] 0.9652707325704848 Centerline is valid? [True, True] Translation: X:311.17, Y:-11.76, Z:3.41 [[ 9.99813361e-01 -1.71612339e-02 -8.87327429e-03 3.11172968e+02] [ 1.71670760e-02 9.99852465e-01 5.82647217e-04 -1.17595423e+01] [ 8.86196623e-03 -7.34866647e-04 9.99960462e-01 3.41216148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.490714057 meters Centerline goodness [0,1] 0.9634937041909416 Centerline is valid? [True, True] Translation: X:311.20, Y:-11.76, Z:3.41 [[ 9.99766923e-01 -1.94279325e-02 -9.41570771e-03 3.11202640e+02] [ 1.94346102e-02 9.99810939e-01 6.18223298e-04 -1.17643259e+01] [ 9.40191676e-03 -8.01069813e-04 9.99955480e-01 3.41110155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.520714057 meters Centerline goodness [0,1] 0.9625837501179579 Centerline is valid? [True, True] Translation: X:311.23, Y:-11.77, Z:3.41 [[ 9.99762092e-01 -1.96668902e-02 -9.43259391e-03 3.11234142e+02] [ 1.96736058e-02 9.99806264e-01 6.19687329e-04 -1.17677992e+01] [ 9.41857916e-03 -8.05113034e-04 9.99955320e-01 3.41113700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.550714057 meters Centerline goodness [0,1] 0.9622668074621612 Centerline is valid? [True, True] Translation: X:311.27, Y:-11.77, Z:3.41 [[ 9.99768752e-01 -1.93667762e-02 -9.34725716e-03 3.11265639e+02] [ 1.93733607e-02 9.99812130e-01 6.14394476e-04 -1.17686899e+01] [ 9.33360226e-03 -7.95340183e-04 9.99956125e-01 3.41089475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.580714057 meters Centerline goodness [0,1] 0.9626046950572137 Centerline is valid? [True, True] Translation: X:311.30, Y:-11.77, Z:3.41 [[ 9.99796253e-01 -1.74001324e-02 -1.02317491e-02 3.11296418e+02] [ 1.74079194e-02 9.99848245e-01 6.72489593e-04 -1.17667024e+01] [ 1.02184949e-02 -8.50466038e-04 9.99947428e-01 3.41104134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.610714057 meters Centerline goodness [0,1] 0.961692449835351 Centerline is valid? [True, True] Translation: X:311.33, Y:-11.76, Z:3.41 [[ 9.99812785e-01 -1.56084766e-02 -1.14354949e-02 3.11326096e+02] [ 1.56180850e-02 9.99877748e-01 7.51398583e-04 -1.17645757e+01] [ 1.14223687e-02 -9.29858441e-04 9.99934330e-01 3.41093757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.640714057 meters Centerline goodness [0,1] 0.9624370998606157 Centerline is valid? [True, True] Translation: X:311.36, Y:-11.76, Z:3.41 [[ 9.99826969e-01 -1.48283347e-02 -1.12317504e-02 3.11356268e+02] [ 1.48375550e-02 9.99889645e-01 7.38029823e-04 -1.17648485e+01] [ 1.12195671e-02 -9.04553835e-04 9.99936650e-01 3.41057943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.670714057 meters Centerline goodness [0,1] 0.9614521046536362 Centerline is valid? [True, True] Translation: X:311.39, Y:-11.77, Z:3.41 [[ 9.99825533e-01 -1.46184721e-02 -1.16277192e-02 3.11385778e+02] [ 1.46283404e-02 9.99892708e-01 7.64086569e-04 -1.17663945e+01] [ 1.16153019e-02 -9.34047497e-04 9.99932104e-01 3.40937257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.700714057 meters Centerline goodness [0,1] 0.9669243171471927 Centerline is valid? [True, True] Translation: X:311.42, Y:-11.76, Z:3.41 [[ 9.99800521e-01 -1.55860993e-02 -1.24897019e-02 3.11416542e+02] [ 1.55975571e-02 9.99878014e-01 8.20489579e-04 -1.17578340e+01] [ 1.24753901e-02 -1.01513475e-03 9.99921664e-01 3.41058378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.730714057 meters Centerline goodness [0,1] 0.9541679556433382 Centerline is valid? [True, True] Translation: X:311.45, Y:-11.77, Z:3.41 [[ 9.99759503e-01 -1.74283163e-02 -1.33112635e-02 3.11445555e+02] [ 1.74414903e-02 9.99847503e-01 8.74233102e-04 -1.17695846e+01] [ 1.32939971e-02 -1.10619112e-03 9.99911019e-01 3.40916960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76071405700003 meters Centerline goodness [0,1] 0.9588595574969139 Centerline is valid? [True, True] Translation: X:311.48, Y:-11.77, Z:3.41 [[ 9.99753372e-01 -1.83481441e-02 -1.25116153e-02 3.11476212e+02] [ 1.83598545e-02 9.99831106e-01 8.21733976e-04 -1.17674122e+01] [ 1.24944248e-02 -1.05124275e-03 9.99921389e-01 3.41019373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.790714057 meters Centerline goodness [0,1] 0.9400910729532302 Centerline is valid? [True, False] Translation: X:311.48, Y:-11.77, Z:3.41 [[ 9.99744174e-01 -1.89903036e-02 -1.22863635e-02 3.11475494e+02] [ 1.89999705e-02 9.99819259e-01 6.70539344e-04 -1.17677877e+01] [ 1.22714091e-02 -9.03808345e-04 9.99924295e-01 3.41040793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82071405700003 meters Centerline goodness [0,1] 0.9639813359996191 Centerline is valid? [False, True] Translation: X:311.47, Y:-11.77, Z:3.41 [[ 9.99738934e-01 -1.95248411e-02 -1.18678161e-02 3.11474512e+02] [ 1.95383777e-02 9.99808582e-01 1.02572855e-03 -1.17696198e+01] [ 1.18455172e-02 -1.25733864e-03 9.99929049e-01 3.41031810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.850714057 meters Centerline goodness [0,1] 0.9620828278503295 Centerline is valid? [True, True] Translation: X:311.50, Y:-11.78, Z:3.41 [[ 9.99680571e-01 -2.25144103e-02 -1.14829226e-02 3.11503291e+02] [ 2.25253022e-02 9.99745937e-01 8.20059068e-04 -1.17774874e+01] [ 1.14615421e-02 -1.07845342e-03 9.99933733e-01 3.41092208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88071405700003 meters Centerline goodness [0,1] 0.8632642892732578 Centerline is valid? [True, False] Translation: X:311.50, Y:-11.78, Z:3.41 [[ 9.99673718e-01 -2.28464649e-02 -1.14235091e-02 3.11502796e+02] [ 2.28555462e-02 9.99738557e-01 6.65034130e-04 -1.17772441e+01] [ 1.14053288e-02 -9.25907682e-04 9.99934528e-01 3.41142047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.910714057 meters Centerline goodness [0,1] 0.8632642892732578 Centerline is valid? [False, False] Translation: X:311.50, Y:-11.78, Z:3.41 [[ 9.99673718e-01 -2.28464649e-02 -1.14235091e-02 3.11502796e+02] [ 2.28555462e-02 9.99738557e-01 6.65034130e-04 -1.17772441e+01] [ 1.14053288e-02 -9.25907682e-04 9.99934528e-01 3.41142047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94071405700004 meters Centerline goodness [0,1] 0.9546551805746202 Centerline is valid? [False, True] Translation: X:311.50, Y:-11.78, Z:3.41 [[ 9.99675672e-01 -2.26737118e-02 -1.15953960e-02 3.11503340e+02] [ 2.26862282e-02 9.99742184e-01 9.49019270e-04 -1.17774412e+01] [ 1.15708887e-02 -1.21176728e-03 9.99932321e-01 3.41109274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.970714057 meters Centerline goodness [0,1] 0.9605763743579988 Centerline is valid? [True, True] Translation: X:311.53, Y:-11.78, Z:3.41 [[ 9.99672006e-01 -2.24163791e-02 -1.23849555e-02 3.11534717e+02] [ 2.24293063e-02 9.99748021e-01 9.05854807e-04 -1.17765955e+01] [ 1.23615287e-02 -1.18334365e-03 9.99922893e-01 3.41046275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.000714057 meters Centerline goodness [0,1] 0.9633527800928682 Centerline is valid? [True, True] Translation: X:311.57, Y:-11.77, Z:3.41 [[ 9.99701570e-01 -2.07606446e-02 -1.28750622e-02 3.11566318e+02] [ 2.07744850e-02 9.99783743e-01 9.42151029e-04 -1.17737308e+01] [ 1.28527182e-02 -1.20934265e-03 9.99916669e-01 3.40987672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.030714057 meters Centerline goodness [0,1] 0.9576499154902754 Centerline is valid? [True, True] Translation: X:311.60, Y:-11.78, Z:3.41 [[ 9.99729118e-01 -1.93787048e-02 -1.28901991e-02 3.11595805e+02] [ 1.93924668e-02 9.99811503e-01 9.43490467e-04 -1.17831821e+01] [ 1.28694857e-02 -1.19320765e-03 9.99916473e-01 3.40890664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.060714057 meters Centerline goodness [0,1] 0.9604937684330701 Centerline is valid? [True, True] Translation: X:311.63, Y:-11.78, Z:3.41 [[ 9.99784822e-01 -1.59331777e-02 -1.32832070e-02 3.11626413e+02] [ 1.59474900e-02 9.99872358e-01 9.72246676e-04 -1.17821304e+01] [ 1.32660205e-02 -1.18387128e-03 9.99911302e-01 3.40997433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.090714057 meters Centerline goodness [0,1] 0.961401835737275 Centerline is valid? [True, True] Translation: X:311.66, Y:-11.78, Z:3.41 [[ 9.99814631e-01 -1.38765521e-02 -1.33470912e-02 3.11656405e+02] [ 1.38908177e-02 9.99903041e-01 9.76698635e-04 -1.17832673e+01] [ 1.33322438e-02 -1.16191959e-03 9.99910447e-01 3.41004236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.120714057 meters Centerline goodness [0,1] 0.9692612200124004 Centerline is valid? [True, True] Translation: X:311.69, Y:-11.77, Z:3.41 [[ 9.99844984e-01 -1.17096865e-02 -1.31488108e-02 3.11686861e+02] [ 1.17233392e-02 9.99930817e-01 9.61720091e-04 -1.17741180e+01] [ 1.31366397e-02 -1.11571898e-03 9.99913088e-01 3.41134687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.150714057 meters Centerline goodness [0,1] 0.9666165198080092 Centerline is valid? [True, True] Translation: X:311.72, Y:-11.78, Z:3.41 [[ 9.99884336e-01 -7.33865452e-03 -1.33213639e-02 3.11715288e+02] [ 7.35227465e-03 9.99972498e-01 9.73741470e-04 -1.17787479e+01] [ 1.33138516e-02 -1.07157117e-03 9.99910793e-01 3.41013379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.180714057 meters Centerline goodness [0,1] 0.9692612200124004 Centerline is valid? [True, True] Translation: X:311.75, Y:-11.78, Z:3.41 [[ 9.99907201e-01 -4.74483505e-03 -1.27701311e-02 3.11745608e+02] [ 4.75713816e-03 9.99988249e-01 9.33224678e-04 -1.17767708e+01] [ 1.27655531e-02 -9.93887353e-04 9.99918023e-01 3.41082250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.210714057 meters Centerline goodness [0,1] 0.9686176540566263 Centerline is valid? [True, True] Translation: X:311.78, Y:-11.78, Z:3.41 [[ 9.99930423e-01 2.67258738e-04 -1.17931315e-02 3.11775031e+02] [-2.57116871e-04 9.99999596e-01 8.61488614e-04 -1.17755320e+01] [ 1.17933570e-02 -8.58396462e-04 9.99930087e-01 3.41251841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.240714057 meters Centerline goodness [0,1] 0.9689991142604074 Centerline is valid? [True, True] Translation: X:311.81, Y:-11.77, Z:3.41 [[ 9.99929602e-01 2.57298808e-03 -1.15832310e-02 3.11805309e+02] [-2.56336029e-03 9.99996357e-01 8.45953570e-04 -1.17744937e+01] [ 1.15853655e-02 -8.16202022e-04 9.99932554e-01 3.41325884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.270714057 meters Centerline goodness [0,1] 0.9678400383141762 Centerline is valid? [True, True] Translation: X:311.83, Y:-11.78, Z:3.41 [[ 9.99925734e-01 7.18509101e-03 -9.84386033e-03 3.11833987e+02] [-7.17836425e-03 9.99973977e-01 7.18508408e-04 -1.17752774e+01] [ 9.84876671e-03 -6.47792232e-04 9.99951290e-01 3.41401008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.300714057 meters Centerline goodness [0,1] 0.9658788242351529 Centerline is valid? [True, True] Translation: X:311.86, Y:-11.78, Z:3.41 [[ 9.99915980e-01 9.24919666e-03 -9.08215676e-03 3.11862657e+02] [-9.24355966e-03 9.99957058e-01 6.62449596e-04 -1.17774629e+01] [ 9.08789388e-03 -5.78442479e-04 9.99958537e-01 3.41436004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.330714057 meters Centerline goodness [0,1] 0.9685657684321073 Centerline is valid? [True, True] Translation: X:311.89, Y:-11.78, Z:3.41 [[ 9.99887006e-01 1.26051770e-02 -8.19050166e-03 3.11892447e+02] [-1.26007066e-02 9.99920430e-01 5.97180012e-04 -1.17779950e+01] [ 8.19737750e-03 -4.93906426e-04 9.99966279e-01 3.41416120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.360714057 meters Centerline goodness [0,1] 0.9677249437341379 Centerline is valid? [True, True] Translation: X:311.92, Y:-11.78, Z:3.41 [[ 9.99874925e-01 1.36121987e-02 -8.05251141e-03 3.11919946e+02] [-1.36079155e-02 9.99907236e-01 5.86454678e-04 -1.17816477e+01] [ 8.05974736e-03 -4.76803432e-04 9.99967406e-01 3.41330670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.390714057 meters Centerline goodness [0,1] 0.9679528634044694 Centerline is valid? [True, True] Translation: X:311.95, Y:-11.78, Z:3.41 [[ 9.99840773e-01 1.51220049e-02 -9.47387041e-03 3.11948950e+02] [-1.51161497e-02 9.99885507e-01 6.89344883e-04 -1.17825359e+01] [ 9.48320999e-03 -5.46026677e-04 9.99954884e-01 3.41135875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.420714057 meters Centerline goodness [0,1] 0.9671348046240565 Centerline is valid? [True, True] Translation: X:311.98, Y:-11.79, Z:3.41 [[ 9.99823208e-01 1.54770207e-02 -1.06777886e-02 3.11977194e+02] [-1.54696103e-02 9.99880037e-01 7.76247802e-04 -1.17850257e+01] [ 1.06885217e-02 -6.10929338e-04 9.99942689e-01 3.41002021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.450714057 meters Centerline goodness [0,1] 0.9673322970225996 Centerline is valid? [True, True] Translation: X:312.01, Y:-11.79, Z:3.41 [[ 9.99821220e-01 1.58372236e-02 -1.03300789e-02 3.12005223e+02] [-1.58303142e-02 9.99874411e-01 7.50299177e-04 -1.17900610e+01] [ 1.03406642e-02 -5.86636644e-04 9.99946362e-01 3.40851700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.480714057 meters Centerline goodness [0,1] 0.9659725870385405 Centerline is valid? [True, True] Translation: X:312.03, Y:-11.79, Z:3.41 [[ 9.99835687e-01 1.55613739e-02 -9.29746023e-03 3.12032820e+02] [-1.55557732e-02 9.99878774e-01 6.74398408e-04 -1.17927923e+01] [ 9.30682770e-03 -5.29658412e-04 9.99956550e-01 3.40895738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51071405700003 meters Centerline goodness [0,1] 0.9704819997607942 Centerline is valid? [True, True] Translation: X:312.06, Y:-11.79, Z:3.41 [[ 9.99856518e-01 1.42699800e-02 -9.12754185e-03 3.12061566e+02] [-1.42645358e-02 9.99898038e-01 6.61285391e-04 -1.17887845e+01] [ 9.13604771e-03 -5.30990361e-04 9.99958124e-01 3.41058632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.540714057 meters Centerline goodness [0,1] 0.970085367894976 Centerline is valid? [True, True] Translation: X:312.09, Y:-11.79, Z:3.41 [[ 9.99862532e-01 1.40555289e-02 -8.79537207e-03 3.12089946e+02] [-1.40504708e-02 9.99901085e-01 6.36615056e-04 -1.17919003e+01] [ 8.80345003e-03 -5.12948423e-04 9.99961117e-01 3.41092607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57071405700003 meters Centerline goodness [0,1] 0.9700697496655838 Centerline is valid? [True, True] Translation: X:312.12, Y:-11.79, Z:3.41 [[ 9.99881039e-01 1.32839723e-02 -7.83866513e-03 3.12118992e+02] [-1.32799354e-02 9.99911657e-01 5.66829369e-04 -1.17948787e+01] [ 7.84550239e-03 -4.62664972e-04 9.99969117e-01 3.41193128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.600714057 meters Centerline goodness [0,1] 0.9666087122204492 Centerline is valid? [True, True] Translation: X:312.15, Y:-11.80, Z:3.41 [[ 9.99901715e-01 1.21312449e-02 -7.02805738e-03 3.12146081e+02] [-1.21279756e-02 9.99926325e-01 5.07613650e-04 -1.18016173e+01] [ 7.03369757e-03 -4.22327650e-04 9.99975174e-01 3.41211267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63071405700003 meters Centerline goodness [0,1] 0.9666015996952961 Centerline is valid? [True, True] Translation: X:312.17, Y:-11.81, Z:3.41 [[ 9.99914852e-01 1.13595490e-02 -6.42250028e-03 3.12174280e+02] [-1.13568064e-02 9.99935402e-01 4.63335396e-04 -1.18051097e+01] [ 6.42734868e-03 -3.90356852e-04 9.99979268e-01 3.41255882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.660714057 meters Centerline goodness [0,1] 0.9678501737185284 Centerline is valid? [True, True] Translation: X:312.20, Y:-11.81, Z:3.41 [[ 9.99934192e-01 9.42576463e-03 -6.53958284e-03 3.12203267e+02] [-9.42288303e-03 9.99955493e-01 4.71311410e-04 -1.18060702e+01] [ 6.54373425e-03 -4.09658670e-04 9.99978506e-01 3.41355797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69071405700004 meters Centerline goodness [0,1] 0.9714340035172775 Centerline is valid? [True, True] Translation: X:312.23, Y:-11.81, Z:3.41 [[ 9.99947063e-01 8.08232697e-03 -6.36763784e-03 3.12232039e+02] [-8.07957069e-03 9.99967255e-01 4.58463619e-04 -1.18064207e+01] [ 6.37113478e-03 -4.06991569e-04 9.99979621e-01 3.41380949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.720714057 meters Centerline goodness [0,1] 0.9634369287020109 Centerline is valid? [True, True] Translation: X:312.26, Y:-11.82, Z:3.41 [[ 9.99954556e-01 6.68178924e-03 -6.79990691e-03 3.12259361e+02] [-6.67861707e-03 9.99977578e-01 4.89103348e-04 -1.18201577e+01] [ 6.80302252e-03 -4.43667147e-04 9.99976761e-01 3.41287636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.750714057 meters Centerline goodness [0,1] 0.9670233209176532 Centerline is valid? [True, True] Translation: X:312.29, Y:-11.82, Z:3.41 [[ 9.99967395e-01 3.70340639e-03 -7.17590304e-03 3.12288990e+02] [-3.69979826e-03 9.99993023e-01 5.16021619e-04 -1.18221181e+01] [ 7.17776400e-03 -4.89455401e-04 9.99974120e-01 3.41180068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.780714057 meters Centerline goodness [0,1] 0.9677967301295208 Centerline is valid? [True, True] Translation: X:312.32, Y:-11.83, Z:3.41 [[ 9.99967982e-01 1.10769338e-03 -7.92518448e-03 3.12318556e+02] [-1.10321237e-03 9.99999229e-01 5.69763485e-04 -1.18252750e+01] [ 7.92580949e-03 -5.61002080e-04 9.99968433e-01 3.41050186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.810714057 meters Centerline goodness [0,1] 0.9656683710737765 Centerline is valid? [True, True] Translation: X:312.35, Y:-11.83, Z:3.41 [[ 9.99962309e-01 4.16548483e-04 -8.67218273e-03 3.12346079e+02] [-4.11163572e-04 9.99999722e-01 6.22714323e-04 -1.18343822e+01] [ 8.67243971e-03 -6.19125166e-04 9.99962202e-01 3.40918770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.840714057 meters Centerline goodness [0,1] 0.9691273261044557 Centerline is valid? [True, True] Translation: X:312.38, Y:-11.83, Z:3.41 [[ 9.99943872e-01 6.58260937e-04 -1.05744754e-02 3.12375102e+02] [-6.50294964e-04 9.99999502e-01 7.56741528e-04 -1.18306308e+01] [ 1.05749683e-02 -7.49822526e-04 9.99943802e-01 3.40957883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.870714057 meters Centerline goodness [0,1] 0.9683381054923211 Centerline is valid? [True, True] Translation: X:312.40, Y:-11.83, Z:3.41 [[ 9.99936319e-01 1.54619382e-03 -1.11788561e-02 3.12404285e+02] [-1.53736183e-03 9.99998499e-01 7.98612730e-04 -1.18325404e+01] [ 1.11800741e-02 -7.81375927e-04 9.99937196e-01 3.40932041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.900714057 meters Centerline goodness [0,1] 0.9683828040205748 Centerline is valid? [True, True] Translation: X:312.43, Y:-11.83, Z:3.41 [[ 9.99928273e-01 2.24895427e-03 -1.17640011e-02 3.12433070e+02] [-2.23925498e-03 9.99997142e-01 8.37595776e-04 -1.18342570e+01] [ 1.17658512e-02 -8.11193100e-04 9.99930451e-01 3.40874084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.930714057 meters Centerline goodness [0,1] 0.9683828040205748 Centerline is valid? [True, True] Translation: X:312.46, Y:-11.84, Z:3.41 [[ 9.99928496e-01 2.14669956e-03 -1.17640873e-02 3.12460534e+02] [-2.13700741e-03 9.99997367e-01 8.36384845e-04 -1.18361150e+01] [ 1.17658517e-02 -8.11185099e-04 9.99930451e-01 3.40874246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.960714057 meters Centerline goodness [0,1] 0.969284244874796 Centerline is valid? [True, True] Translation: X:312.49, Y:-11.84, Z:3.41 [[ 9.99922031e-01 4.65626967e-03 -1.15867158e-02 3.12490707e+02] [-4.64704081e-03 9.99988864e-01 8.23298999e-04 -1.18366745e+01] [ 1.15904203e-02 -7.69390866e-04 9.99932533e-01 3.40865553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.990714057 meters Centerline goodness [0,1] 0.9685403873405762 Centerline is valid? [True, True] Translation: X:312.52, Y:-11.84, Z:3.41 [[ 9.99920205e-01 6.30987312e-03 -1.09439074e-02 3.12519192e+02] [-6.30174462e-03 9.99979842e-01 7.77067424e-04 -1.18397463e+01] [ 1.09485899e-02 -7.08039708e-04 9.99939812e-01 3.40865180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.020714057 meters Centerline goodness [0,1] 0.9729123370489325 Centerline is valid? [True, True] Translation: X:312.55, Y:-11.83, Z:3.41 [[ 9.99899899e-01 9.19557027e-03 -1.07532787e-02 3.12549970e+02] [-9.18789075e-03 9.99957499e-01 7.63340393e-04 -1.18333268e+01] [ 1.07598410e-02 -6.64464032e-04 9.99941890e-01 3.41053630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.050714057 meters Centerline goodness [0,1] 0.9700580362430415 Centerline is valid? [True, True] Translation: X:312.58, Y:-11.84, Z:3.41 [[ 9.99874492e-01 1.12506487e-02 -1.11545090e-02 3.12578766e+02] [-1.12425171e-02 9.99936488e-01 7.91433548e-04 -1.18399178e+01] [ 1.11627047e-02 -6.65929459e-04 9.99937473e-01 3.40995341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.080714057 meters Centerline goodness [0,1] 0.9727752657370801 Centerline is valid? [True, True] Translation: X:312.61, Y:-11.84, Z:3.41 [[ 9.99871149e-01 1.15085511e-02 -1.11909898e-02 3.12607632e+02] [-1.15003910e-02 9.99933554e-01 7.93248855e-04 -1.18367320e+01] [ 1.11993754e-02 -6.64445885e-04 9.99937064e-01 3.41035957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.110714057 meters Centerline goodness [0,1] 0.9719384732064561 Centerline is valid? [True, True] Translation: X:312.63, Y:-11.84, Z:3.41 [[ 9.99876844e-01 1.04886839e-02 -1.16740666e-02 3.12634817e+02] [-1.04797488e-02 9.99944745e-01 8.26288581e-04 -1.18401715e+01] [ 1.16820882e-02 -7.03845533e-04 9.99931514e-01 3.41053037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.140714057 meters Centerline goodness [0,1] 0.9667037677315462 Centerline is valid? [True, True] Translation: X:312.66, Y:-11.85, Z:3.41 [[ 9.99893735e-01 9.12373875e-03 -1.13699652e-02 3.12661909e+02] [-9.11518628e-03 9.99958133e-01 8.03794360e-04 -1.18492169e+01] [ 1.13768228e-02 -7.00069594e-04 9.99935037e-01 3.40955091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.170714057 meters Centerline goodness [0,1] 0.9689312149356466 Centerline is valid? [True, True] Translation: X:312.69, Y:-11.85, Z:3.41 [[ 9.99919576e-01 6.66286655e-03 -1.07910833e-02 3.12691929e+02] [-6.65502407e-03 9.99977564e-01 7.62502011e-04 -1.18486122e+01] [ 1.07959216e-02 -6.90625768e-04 9.99941484e-01 3.41129373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.200714057 meters Centerline goodness [0,1] 0.9681518112770036 Centerline is valid? [True, True] Translation: X:312.72, Y:-11.85, Z:3.41 [[ 9.99934160e-01 4.69960351e-03 -1.04685119e-02 3.12720415e+02] [-4.69212129e-03 9.99988719e-01 7.39182220e-04 -1.18542171e+01] [ 1.04718677e-02 -6.90014025e-04 9.99944930e-01 3.41167744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.230714057 meters Centerline goodness [0,1] 0.9676886402794496 Centerline is valid? [True, True] Translation: X:312.75, Y:-11.86, Z:3.41 [[ 9.99943720e-01 -4.96863037e-05 -1.06091351e-02 3.12750730e+02] [ 5.76362173e-05 9.99999718e-01 7.49041638e-04 -1.18611652e+01] [ 1.06090949e-02 -7.49610952e-04 9.99943441e-01 3.41090903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26071405700003 meters Centerline goodness [0,1] 0.9666603702304496 Centerline is valid? [True, True] Translation: X:312.78, Y:-11.87, Z:3.41 [[ 9.99937543e-01 -2.45971342e-03 -1.09022603e-02 3.12780737e+02] [ 2.46824927e-03 9.99996658e-01 7.69556442e-04 -1.18668341e+01] [ 1.09003310e-02 -7.96417874e-04 9.99940272e-01 3.41000055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.290714057 meters Centerline goodness [0,1] 0.9652190261327317 Centerline is valid? [True, True] Translation: X:312.81, Y:-11.87, Z:3.41 [[ 9.99900287e-01 -6.99143760e-03 -1.22692656e-02 3.12809348e+02] [ 7.00258277e-03 9.99975107e-01 8.65655438e-04 -1.18745333e+01] [ 1.22629080e-02 -9.51485669e-04 9.99924355e-01 3.40877800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32071405700003 meters Centerline goodness [0,1] 0.9623295749398499 Centerline is valid? [True, True] Translation: X:312.84, Y:-11.88, Z:3.41 [[ 9.99872053e-01 -9.02776695e-03 -1.32052115e-02 3.12839699e+02] [ 9.04085397e-03 9.99958697e-01 9.31688878e-04 -1.18792894e+01] [ 1.31962550e-02 -1.05095606e-03 9.99912373e-01 3.40786354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.350714057 meters Centerline goodness [0,1] 0.9543346750464892 Centerline is valid? [True, True] Translation: X:312.87, Y:-11.89, Z:3.41 [[ 9.99815370e-01 -1.21550329e-02 -1.48822369e-02 3.12868216e+02] [ 1.21719921e-02 9.99925368e-01 1.04951003e-03 -1.18867874e+01] [ 1.48683694e-02 -1.23046273e-03 9.99888703e-01 3.40636559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38071405700003 meters Centerline goodness [0,1] 0.9472297376779203 Centerline is valid? [True, False] Translation: X:312.87, Y:-11.89, Z:3.41 [[ 9.99813563e-01 -1.22362156e-02 -1.49369837e-02 3.12868337e+02] [ 1.22561840e-02 9.99924114e-01 1.24603025e-03 -1.18874322e+01] [ 1.49206035e-02 -1.42886836e-03 9.99887661e-01 3.40622387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.410714057 meters Centerline goodness [0,1] 0.9664796601018756 Centerline is valid? [False, True] Translation: X:312.87, Y:-11.89, Z:3.41 [[ 9.99811885e-01 -1.23889452e-02 -1.49234015e-02 3.12868335e+02] [ 1.24115843e-02 9.99921957e-01 1.42535342e-03 -1.18880882e+01] [ 1.49045782e-02 -1.61030835e-03 9.99887624e-01 3.40614540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44071405700004 meters Centerline goodness [0,1] 0.950802340060616 Centerline is valid? [True, True] Translation: X:312.89, Y:-11.90, Z:3.40 [[ 9.99802597e-01 -1.34847594e-02 -1.45920554e-02 3.12894799e+02] [ 1.35017607e-02 9.99908278e-01 1.06721232e-03 -1.19006806e+01] [ 1.45763259e-02 -1.26402009e-03 9.99892961e-01 3.40494807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.470714057 meters Centerline goodness [0,1] 0.965415971618542 Centerline is valid? [True, True] Translation: X:312.92, Y:-11.89, Z:3.41 [[ 9.99801127e-01 -1.41664002e-02 -1.40363498e-02 3.12924642e+02] [ 1.41821499e-02 9.99898905e-01 1.02316389e-03 -1.18919719e+01] [ 1.40204362e-02 -1.22202602e-03 9.99900962e-01 3.40746457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.500714057 meters Centerline goodness [0,1] 0.9653653134792546 Centerline is valid? [True, True] Translation: X:312.95, Y:-11.90, Z:3.41 [[ 9.99810314e-01 -1.39195660e-02 -1.36228016e-02 3.12952800e+02] [ 1.39343681e-02 9.99902420e-01 9.92245600e-04 -1.18968144e+01] [ 1.36076606e-02 -1.18188252e-03 9.99906713e-01 3.40705964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.530714057 meters Centerline goodness [0,1] 0.9665364522050172 Centerline is valid? [True, True] Translation: X:312.98, Y:-11.89, Z:3.41 [[ 9.99792440e-01 -1.41965369e-02 -1.46128728e-02 3.12982353e+02] [ 1.42135906e-02 9.99898416e-01 1.06383598e-03 -1.18942843e+01] [ 1.45962856e-02 -1.27131657e-03 9.99892660e-01 3.40705371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.560714057 meters Centerline goodness [0,1] 0.9664119256533635 Centerline is valid? [True, True] Translation: X:313.01, Y:-11.90, Z:3.41 [[ 9.99784053e-01 -1.45721437e-02 -1.48155573e-02 3.13010822e+02] [ 1.45896618e-02 9.99892987e-01 1.07501034e-03 -1.18969922e+01] [ 1.47983067e-02 -1.29093216e-03 9.99889666e-01 3.40662672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.590714057 meters Centerline goodness [0,1] 0.9623331289211755 Centerline is valid? [True, True] Translation: X:313.04, Y:-11.90, Z:3.41 [[ 9.99784926e-01 -1.47121373e-02 -1.46169596e-02 3.13038621e+02] [ 1.47291880e-02 9.99890958e-01 1.05952332e-03 -1.19025770e+01] [ 1.45997779e-02 -1.27459139e-03 9.99892605e-01 3.40680945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.620714057 meters Centerline goodness [0,1] 0.946456176511922 Centerline is valid? [True, False] Translation: X:313.04, Y:-11.90, Z:3.41 [[ 9.99784195e-01 -1.45186381e-02 -1.48584220e-02 3.13039122e+02] [ 1.45364619e-02 9.99893743e-01 1.09227321e-03 -1.19022741e+01] [ 1.48409849e-02 -1.30802638e-03 9.99889011e-01 3.40691884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.650714057 meters Centerline goodness [0,1] 0.9627485586539593 Centerline is valid? [False, True] Translation: X:313.04, Y:-11.90, Z:3.41 [[ 9.99786435e-01 -1.42861455e-02 -1.49328978e-02 3.13039409e+02] [ 1.43046764e-02 9.99897039e-01 1.13486976e-03 -1.19018525e+01] [ 1.49151474e-02 -1.34823766e-03 9.99887854e-01 3.40688248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.680714057 meters Centerline goodness [0,1] 0.9629725775239534 Centerline is valid? [True, True] Translation: X:313.07, Y:-11.90, Z:3.41 [[ 9.99785101e-01 -1.39417375e-02 -1.53421158e-02 3.13068522e+02] [ 1.39602785e-02 9.99901943e-01 1.10206314e-03 -1.19043471e+01] [ 1.53252467e-02 -1.31600652e-03 9.99881695e-01 3.40674241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.710714057 meters Centerline goodness [0,1] 0.9634063008082189 Centerline is valid? [True, True] Translation: X:313.10, Y:-11.91, Z:3.41 [[ 9.99826080e-01 -1.09264265e-02 -1.51136880e-02 3.13097410e+02] [ 1.09440690e-02 9.99939523e-01 1.08510088e-03 -1.19056526e+01] [ 1.51009177e-02 -1.25031740e-03 9.99885193e-01 3.40665945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.740714057 meters Centerline goodness [0,1] 0.9639177693761815 Centerline is valid? [True, True] Translation: X:313.13, Y:-11.91, Z:3.41 [[ 9.99838307e-01 -9.27070832e-03 -1.54082242e-02 3.13127234e+02] [ 9.28884219e-03 9.99956246e-01 1.10574470e-03 -1.19051111e+01] [ 1.53972990e-02 -1.24869047e-03 9.99880675e-01 3.40651195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.770714057 meters Centerline goodness [0,1] 0.9664873320218994 Centerline is valid? [True, True] Translation: X:313.16, Y:-11.90, Z:3.41 [[ 9.99860997e-01 -4.33016083e-03 -1.61008500e-02 3.13156457e+02] [ 4.34931391e-03 9.99989875e-01 1.15474394e-03 -1.19013736e+01] [ 1.60956867e-02 -1.22461108e-03 9.99869706e-01 3.40674498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.800714057 meters Centerline goodness [0,1] 0.9666001520334474 Centerline is valid? [True, True] Translation: X:313.19, Y:-11.90, Z:3.41 [[ 9.99862557e-01 -2.20663542e-03 -1.64315967e-02 3.13186549e+02] [ 2.22629342e-03 9.99996828e-01 1.17815753e-03 -1.19009271e+01] [ 1.64289449e-02 -1.21457716e-03 9.99864298e-01 3.40668428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.830714057 meters Centerline goodness [0,1] 0.9675766703825811 Centerline is valid? [True, True] Translation: X:313.22, Y:-11.90, Z:3.41 [[ 9.99866230e-01 2.99091770e-03 -1.60803441e-02 3.13215956e+02] [-2.97276695e-03 9.99994917e-01 1.15253859e-03 -1.18996715e+01] [ 1.60837095e-02 -1.10458129e-03 9.99870039e-01 3.40626277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.860714057 meters Centerline goodness [0,1] 0.9678265014299333 Centerline is valid? [True, True] Translation: X:313.25, Y:-11.90, Z:3.41 [[ 9.99856724e-01 4.72989184e-03 -1.62529655e-02 3.13245718e+02] [-4.71158644e-03 9.99988223e-01 1.16438747e-03 -1.18999649e+01] [ 1.62582815e-02 -1.08764339e-03 9.99867234e-01 3.40645592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.890714057 meters Centerline goodness [0,1] 0.9742409425906934 Centerline is valid? [True, True] Translation: X:313.28, Y:-11.89, Z:3.41 [[ 9.99829624e-01 8.40688359e-03 -1.64331072e-02 3.13277176e+02] [-8.38866664e-03 9.99964122e-01 1.17716963e-03 -1.18866184e+01] [ 1.64424139e-02 -1.03911721e-03 9.99864274e-01 3.40892150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.920714057 meters Centerline goodness [0,1] 0.972531003784723 Centerline is valid? [True, True] Translation: X:313.31, Y:-11.89, Z:3.41 [[ 9.99812939e-01 1.04384112e-02 -1.62827338e-02 3.13305807e+02] [-1.04208031e-02 9.99945022e-01 1.16586622e-03 -1.18911325e+01] [ 1.62940084e-02 -9.95968965e-04 9.99866748e-01 3.40785925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.950714057 meters Centerline goodness [0,1] 0.9703181057163358 Centerline is valid? [True, True] Translation: X:313.34, Y:-11.90, Z:3.41 [[ 9.99759621e-01 1.44513330e-02 -1.64881722e-02 3.13335190e+02] [-1.44338275e-02 9.99895130e-01 1.18021515e-03 -1.18960171e+01] [ 1.65034988e-02 -9.41944022e-04 9.99863364e-01 3.40573343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.980714057 meters Centerline goodness [0,1] 0.9751630226313771 Centerline is valid? [True, True] Translation: X:313.37, Y:-11.88, Z:3.41 [[ 9.99678693e-01 1.89769920e-02 -1.68042959e-02 3.13367052e+02] [-1.89594477e-02 9.99819530e-01 1.20274790e-03 -1.18822559e+01] [ 1.68240878e-02 -8.83761275e-04 9.99858074e-01 3.40890327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01071405700003 meters Centerline goodness [0,1] 0.9752636625119847 Centerline is valid? [True, True] Translation: X:313.40, Y:-11.88, Z:3.41 [[ 9.99635264e-01 2.08421088e-02 -1.71739861e-02 3.13396061e+02] [-2.08240780e-02 9.99782401e-01 1.22807197e-03 -1.18814050e+01] [ 1.71958446e-02 -8.69991624e-04 9.99851762e-01 3.40895008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.040714057 meters Centerline goodness [0,1] 0.9752876725437191 Centerline is valid? [True, True] Translation: X:313.42, Y:-11.89, Z:3.41 [[ 9.99604743e-01 2.22305897e-02 -1.72092645e-02 3.13424089e+02] [-2.22127108e-02 9.99752511e-01 1.22938259e-03 -1.18865137e+01] [ 1.72323353e-02 -8.46632257e-04 9.99851154e-01 3.40747675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07071405700003 meters Centerline goodness [0,1] 0.9760575194727381 Centerline is valid? [True, True] Translation: X:313.45, Y:-11.88, Z:3.41 [[ 9.99569570e-01 2.42763913e-02 -1.64721281e-02 3.13453226e+02] [-2.42603072e-02 9.99704984e-01 1.17559650e-03 -1.18846612e+01] [ 1.64958078e-02 -7.75471604e-04 9.99863634e-01 3.40927119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.100714057 meters Centerline goodness [0,1] 0.9768061018900509 Centerline is valid? [True, True] Translation: X:313.48, Y:-11.88, Z:3.41 [[ 9.99577297e-01 2.45764867e-02 -1.55313588e-02 3.13482372e+02] [-2.45622406e-02 9.99697689e-01 1.10736420e-03 -1.18845623e+01] [ 1.55538786e-02 -7.25411140e-04 9.99878768e-01 3.41027175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13071405700003 meters Centerline goodness [0,1] 0.9755254822919666 Centerline is valid? [True, True] Translation: X:313.51, Y:-11.89, Z:3.41 [[ 9.99620812e-01 2.35314016e-02 -1.43005477e-02 3.13510714e+02] [-2.35192653e-02 9.99722867e-01 1.01626603e-03 -1.18876080e+01] [ 1.43204987e-02 -6.79542294e-04 9.99897225e-01 3.41148687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.160714057 meters Centerline goodness [0,1] 0.975862316929936 Centerline is valid? [True, True] Translation: X:313.54, Y:-11.89, Z:3.41 [[ 9.99660647e-01 2.25891890e-02 -1.29738073e-02 3.13539131e+02] [-2.25791357e-02 9.99744635e-01 9.20861514e-04 -1.18912163e+01] [ 1.29912957e-02 -6.27611661e-04 9.99915413e-01 3.41195344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19071405700004 meters Centerline goodness [0,1] 0.9749700885379278 Centerline is valid? [True, True] Translation: X:313.57, Y:-11.90, Z:3.41 [[ 9.99735835e-01 1.95162352e-02 -1.21399132e-02 3.13567588e+02] [-1.95072180e-02 9.99809346e-01 8.60754674e-04 -1.18975152e+01] [ 1.21543974e-02 -6.23711360e-04 9.99925938e-01 3.41200804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.220714057 meters Centerline goodness [0,1] 0.9745643183285123 Centerline is valid? [True, True] Translation: X:313.60, Y:-11.90, Z:3.41 [[ 9.99769862e-01 1.77944133e-02 -1.19825653e-02 3.13596451e+02] [-1.77855129e-02 9.99841465e-01 8.48935231e-04 -1.19015073e+01] [ 1.19957719e-02 -6.35623789e-04 9.99927846e-01 3.41140757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.250714057 meters Centerline goodness [0,1] 0.9738823753693642 Centerline is valid? [True, True] Translation: X:313.63, Y:-11.91, Z:3.41 [[ 9.99828725e-01 1.42419609e-02 -1.18189278e-02 3.13626453e+02] [-1.42330553e-02 9.99898354e-01 8.37276753e-04 -1.19095527e+01] [ 1.18296509e-02 -6.68913896e-04 9.99929803e-01 3.41123288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.280714057 meters Centerline goodness [0,1] 0.9721393741419306 Centerline is valid? [True, True] Translation: X:313.65, Y:-11.92, Z:3.41 [[ 9.99860328e-01 1.20174676e-02 -1.16148576e-02 3.13654358e+02] [-1.20087267e-02 9.99927555e-01 8.22016243e-04 -1.19170331e+01] [ 1.16238947e-02 -6.82421780e-04 9.99932207e-01 3.41081265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.310714057 meters Centerline goodness [0,1] 0.9726711307763292 Centerline is valid? [True, True] Translation: X:313.68, Y:-11.92, Z:3.41 [[ 9.99896941e-01 7.78752777e-03 -1.20607667e-02 3.13683919e+02] [-7.77779783e-03 9.99969388e-01 8.53438852e-04 -1.19240629e+01] [ 1.20670437e-02 -7.59544693e-04 9.99926902e-01 3.41111719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.340714057 meters Centerline goodness [0,1] 0.9714204126311782 Centerline is valid? [True, True] Translation: X:313.71, Y:-11.93, Z:3.41 [[ 9.99911833e-01 5.55148185e-03 -1.20626631e-02 3.13712265e+02] [-5.54159355e-03 9.99984281e-01 8.53014243e-04 -1.19303111e+01] [ 1.20672089e-02 -7.86092659e-04 9.99926880e-01 3.41086110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.370714057 meters Centerline goodness [0,1] 0.9715759203365258 Centerline is valid? [True, True] Translation: X:313.74, Y:-11.94, Z:3.41 [[ 9.99933278e-01 2.37261560e-03 -1.13053268e-02 3.13741609e+02] [-2.36373038e-03 9.99996887e-01 7.99228785e-04 -1.19375250e+01] [ 1.13071878e-02 -7.72452715e-04 9.99935773e-01 3.41129056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.400714057 meters Centerline goodness [0,1] 0.9711257396801255 Centerline is valid? [True, True] Translation: X:313.77, Y:-11.94, Z:3.41 [[ 9.99945838e-01 9.71890788e-04 -1.03622576e-02 3.13771399e+02] [-9.64354738e-04 9.99999267e-01 7.32231213e-04 -1.19412377e+01] [ 1.03629616e-02 -7.22198662e-04 9.99946042e-01 3.41135489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.430714057 meters Centerline goodness [0,1] 0.970886404990902 Centerline is valid? [True, True] Translation: X:313.80, Y:-11.95, Z:3.41 [[ 9.99959216e-01 -9.32328010e-04 -8.98318319e-03 3.13799326e+02] [ 9.38063489e-04 9.99999359e-01 6.34276170e-04 -1.19486806e+01] [ 8.98258608e-03 -6.42677098e-04 9.99959449e-01 3.41174819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.460714057 meters Centerline goodness [0,1] 0.968479809976247 Centerline is valid? [True, True] Translation: X:313.83, Y:-11.95, Z:3.41 [[ 9.99957760e-01 -2.40306729e-03 -8.87153855e-03 3.13828843e+02] [ 2.40871575e-03 9.99996903e-01 6.26064365e-04 -1.19531331e+01] [ 8.87000660e-03 -6.47406934e-04 9.99960451e-01 3.41149702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.490714057 meters Centerline goodness [0,1] 0.9697679924242424 Centerline is valid? [True, True] Translation: X:313.86, Y:-11.96, Z:3.41 [[ 9.99956854e-01 -3.20481496e-03 -8.71892964e-03 3.13857936e+02] [ 3.21029631e-03 9.99994658e-01 6.14749490e-04 -1.19552091e+01] [ 8.71691290e-03 -6.42713314e-04 9.99961800e-01 3.41145940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.520714057 meters Centerline goodness [0,1] 0.9726464012178297 Centerline is valid? [True, True] Translation: X:313.89, Y:-11.95, Z:3.41 [[ 9.99953840e-01 -5.05285717e-03 -8.17224195e-03 3.13887628e+02] [ 5.05773038e-03 9.99987044e-01 5.75755431e-04 -1.19518535e+01] [ 8.16922686e-03 -6.17061851e-04 9.99966441e-01 3.41264189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.550714057 meters Centerline goodness [0,1] 0.9644378194207837 Centerline is valid? [True, True] Translation: X:313.92, Y:-11.97, Z:3.41 [[ 9.99944519e-01 -6.63223429e-03 -8.18365640e-03 3.13915186e+02] [ 6.63716943e-03 9.99977808e-01 5.76036837e-04 -1.19667491e+01] [ 8.17965437e-03 -6.30321192e-04 9.99966347e-01 3.41125736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.580714057 meters Centerline goodness [0,1] 0.9650809476332906 Centerline is valid? [True, True] Translation: X:313.94, Y:-11.97, Z:3.41 [[ 9.99942481e-01 -7.33639037e-03 -7.82386012e-03 3.13944599e+02] [ 7.34092020e-03 9.99972904e-01 5.50416405e-04 -1.19701960e+01] [ 7.81961005e-03 -6.07819079e-04 9.99969242e-01 3.41116787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.610714057 meters Centerline goodness [0,1] 0.9631560241677526 Centerline is valid? [True, True] Translation: X:313.97, Y:-11.98, Z:3.41 [[ 9.99938531e-01 -7.82247288e-03 -7.85762885e-03 3.13973157e+02] [ 7.82705395e-03 9.99969216e-01 5.52426844e-04 -1.19757481e+01] [ 7.85306562e-03 -6.13894972e-04 9.99968976e-01 3.40996108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.640714057 meters Centerline goodness [0,1] 0.9682528459308491 Centerline is valid? [True, True] Translation: X:314.00, Y:-11.97, Z:3.41 [[ 9.99931394e-01 -7.76520822e-03 -8.76974595e-03 3.14003390e+02] [ 7.77090953e-03 9.99969616e-01 6.16223177e-04 -1.19685849e+01] [ 8.76469439e-03 -6.84329803e-04 9.99961355e-01 3.41020319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.670714057 meters Centerline goodness [0,1] 0.9698752480861922 Centerline is valid? [True, True] Translation: X:314.03, Y:-11.97, Z:3.41 [[ 9.99903973e-01 -8.33010716e-03 -1.10749486e-02 3.14032715e+02] [ 8.33922548e-03 9.99964926e-01 7.77403130e-04 -1.19665519e+01] [ 1.10680843e-02 -8.69684971e-04 9.99938369e-01 3.40830492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.700714057 meters Centerline goodness [0,1] 0.9693695386639105 Centerline is valid? [True, True] Translation: X:314.06, Y:-11.97, Z:3.41 [[ 9.99899437e-01 -8.10451560e-03 -1.16375298e-02 3.14061657e+02] [ 8.11453736e-03 9.99966745e-01 8.14198069e-04 -1.19693519e+01] [ 1.16305441e-02 -9.08549362e-04 9.99931950e-01 3.40771987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.730714057 meters Centerline goodness [0,1] 0.9707319375929379 Centerline is valid? [True, True] Translation: X:314.09, Y:-11.97, Z:3.41 [[ 9.99912581e-01 -6.11721355e-03 -1.17221955e-02 3.14091123e+02] [ 6.12723785e-03 9.99980893e-01 8.19432314e-04 -1.19696167e+01] [ 1.17169588e-02 -8.91185360e-04 9.99930957e-01 3.40850014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76071405700003 meters Centerline goodness [0,1] 0.9687809712586719 Centerline is valid? [True, True] Translation: X:314.12, Y:-11.97, Z:3.41 [[ 9.99933470e-01 -3.86963914e-03 -1.08665382e-02 3.14119514e+02] [ 3.87811817e-03 9.99992192e-01 7.59324614e-04 -1.19738641e+01] [ 1.08635150e-02 -8.01415815e-04 9.99940669e-01 3.40837410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.790714057 meters Centerline goodness [0,1] 0.9713109907523474 Centerline is valid? [True, True] Translation: X:314.15, Y:-11.97, Z:3.41 [[ 9.99946676e-01 2.19586007e-03 -1.00907657e-02 3.14150855e+02] [-2.18885551e-03 9.99997356e-01 7.05146862e-04 -1.19695242e+01] [ 1.00922874e-02 -6.83022033e-04 9.99948838e-01 3.41062071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82071405700003 meters Centerline goodness [0,1] 0.9739738321288555 Centerline is valid? [True, True] Translation: X:314.18, Y:-11.97, Z:3.41 [[ 9.99935822e-01 6.15553161e-03 -9.51108861e-03 3.14181438e+02] [-6.14948726e-03 9.99980871e-01 6.64619991e-04 -1.19678573e+01] [ 9.51499776e-03 -6.06089019e-04 9.99954548e-01 3.41197406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.850714057 meters Centerline goodness [0,1] 0.9739738321288555 Centerline is valid? [True, True] Translation: X:314.21, Y:-11.97, Z:3.41 [[ 9.99936467e-01 6.04973975e-03 -9.51114994e-03 3.14208892e+02] [-6.04369896e-03 9.99981516e-01 6.63741681e-04 -1.19696832e+01] [ 9.51498960e-03 -6.06216985e-04 9.99954548e-01 3.41200847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88071405700003 meters Centerline goodness [0,1] 0.9758425502688108 Centerline is valid? [True, True] Translation: X:314.24, Y:-11.97, Z:3.41 [[ 9.99871416e-01 1.28131975e-02 -9.64222609e-03 3.14238311e+02] [-1.28073062e-02 9.99917757e-01 6.72491683e-04 -1.19678351e+01] [ 9.65004985e-03 -5.48914269e-04 9.99953287e-01 3.41107651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.910714057 meters Centerline goodness [0,1] 0.9768475599610165 Centerline is valid? [True, True] Translation: X:314.27, Y:-11.97, Z:3.41 [[ 9.99821085e-01 1.59846339e-02 -1.01138228e-02 3.14268617e+02] [-1.59783160e-02 9.99872090e-01 7.05187449e-04 -1.19688063e+01] [ 1.01238014e-02 -5.43459423e-04 9.99948605e-01 3.41059906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94071405700004 meters Centerline goodness [0,1] 0.9792514336022081 Centerline is valid? [True, True] Translation: X:314.30, Y:-11.97, Z:3.41 [[ 9.99703102e-01 2.22269746e-02 -9.98347337e-03 3.14298186e+02] [-2.22211309e-02 9.99752838e-01 6.95899625e-04 -1.19688193e+01] [ 9.99647357e-03 -4.73848945e-04 9.99949922e-01 3.41029443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.970714057 meters Centerline goodness [0,1] 0.9792603163277441 Centerline is valid? [True, True] Translation: X:314.33, Y:-11.97, Z:3.41 [[ 9.99602501e-01 2.68051427e-02 -8.73639202e-03 3.14328224e+02] [-2.68008436e-02 9.99640607e-01 6.08825935e-04 -1.19700525e+01] [ 8.74957190e-03 -3.74441252e-04 9.99961652e-01 3.41154934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.000714057 meters Centerline goodness [0,1] 0.9795241390831205 Centerline is valid? [True, True] Translation: X:314.36, Y:-11.97, Z:3.41 [[ 9.99544011e-01 2.91406695e-02 -7.91143899e-03 3.14355918e+02] [-2.91372216e-02 9.99575269e-01 5.50753121e-04 -1.19737271e+01] [ 7.92412807e-03 -3.19984633e-04 9.99968552e-01 3.41217939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.030714057 meters Centerline goodness [0,1] 0.9808342459882863 Centerline is valid? [True, True] Translation: X:314.39, Y:-11.98, Z:3.41 [[ 9.99459933e-01 3.22526675e-02 -6.29343344e-03 3.14385641e+02] [-3.22505488e-02 9.99479720e-01 4.37863044e-04 -1.19762993e+01] [ 6.30428134e-03 -2.34659886e-04 9.99980100e-01 3.41344983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.060714057 meters Centerline goodness [0,1] 0.9809358752166378 Centerline is valid? [True, True] Translation: X:314.41, Y:-11.98, Z:3.41 [[ 9.99436878e-01 3.30247863e-02 -5.94055224e-03 3.14413626e+02] [-3.30229158e-02 9.99454510e-01 4.12699768e-04 -1.19798115e+01] [ 5.95094105e-03 -2.16293011e-04 9.99982270e-01 3.41381087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.090714057 meters Centerline goodness [0,1] 0.9835723103219067 Centerline is valid? [True, True] Translation: X:314.44, Y:-11.98, Z:3.41 [[ 9.99418586e-01 3.37298161e-02 -4.97886033e-03 3.14442432e+02] [-3.37285129e-02 9.99430972e-01 3.45501311e-04 -1.19817548e+01] [ 4.98768092e-03 -1.77370877e-04 9.99987546e-01 3.41464782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.120714057 meters Centerline goodness [0,1] 0.9791498456423653 Centerline is valid? [True, True] Translation: X:314.47, Y:-11.99, Z:3.41 [[ 9.99446438e-01 3.28820579e-02 -5.05841836e-03 3.14469747e+02] [-3.28807040e-02 9.99459222e-01 3.50603442e-04 -1.19913575e+01] [ 5.06721144e-03 -1.84085005e-04 9.99987145e-01 3.41372117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.150714057 meters Centerline goodness [0,1] 0.9838531246322232 Centerline is valid? [True, True] Translation: X:314.50, Y:-12.00, Z:3.41 [[ 9.99525314e-01 3.02774602e-02 -5.69397713e-03 3.14498931e+02] [-3.02757041e-02 9.99541508e-01 3.94377486e-04 -1.19962418e+01] [ 5.70330724e-03 -2.21801114e-04 9.99983711e-01 3.41288957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.180714057 meters Centerline goodness [0,1] 0.9816844669289864 Centerline is valid? [True, True] Translation: X:314.53, Y:-12.00, Z:3.41 [[ 9.99561236e-01 2.88731183e-02 -6.60899067e-03 3.14526298e+02] [-2.88707252e-02 9.99583049e-01 4.57236608e-04 -1.20044514e+01] [ 6.61943690e-03 -2.66229636e-04 9.99978056e-01 3.41189213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.210714057 meters Centerline goodness [0,1] 0.9811441128517757 Centerline is valid? [True, True] Translation: X:314.56, Y:-12.01, Z:3.41 [[ 9.99663122e-01 2.50478547e-02 -6.80057737e-03 3.14555006e+02] [-2.50452361e-02 9.99686208e-01 4.69962053e-04 -1.20114642e+01] [ 6.81021494e-03 -2.99481667e-04 9.99976765e-01 3.41186497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.240714057 meters Centerline goodness [0,1] 0.9803644249581595 Centerline is valid? [True, True] Translation: X:314.58, Y:-12.02, Z:3.41 [[ 9.99713112e-01 2.30026429e-02 -6.67623824e-03 3.14583801e+02] [-2.30000768e-02 9.99735357e-01 4.60893765e-04 -1.20193107e+01] [ 6.68507320e-03 -3.07207547e-04 9.99977607e-01 3.41138817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.270714057 meters Centerline goodness [0,1] 0.9796095546482707 Centerline is valid? [True, True] Translation: X:314.61, Y:-12.02, Z:3.41 [[ 9.99714421e-01 2.28435288e-02 -7.01776733e-03 3.14612681e+02] [-2.28406930e-02 9.99739000e-01 4.83978331e-04 -1.20239234e+01] [ 7.02699146e-03 -3.23549447e-04 9.99975258e-01 3.41101960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.300714057 meters Centerline goodness [0,1] 0.9801241076844119 Centerline is valid? [True, True] Translation: X:314.64, Y:-12.03, Z:3.41 [[ 9.99694252e-01 2.36506308e-02 -7.21451915e-03 3.14640482e+02] [-2.36476591e-02 9.99720231e-01 4.96945205e-04 -1.20307490e+01] [ 7.22425382e-03 -3.26186775e-04 9.99973852e-01 3.41089283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.330714057 meters Centerline goodness [0,1] 0.9791427701959315 Centerline is valid? [True, True] Translation: X:314.67, Y:-12.03, Z:3.41 [[ 9.99680463e-01 2.42683144e-02 -7.07251659e-03 3.14668760e+02] [-2.42654775e-02 9.99705431e-01 4.86661362e-04 -1.20342455e+01] [ 7.08224370e-03 -3.14887864e-04 9.99974871e-01 3.41082840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.360714057 meters Centerline goodness [0,1] 0.9774615582652655 Centerline is valid? [True, True] Translation: X:314.70, Y:-12.04, Z:3.41 [[ 9.99666554e-01 2.49060321e-02 -6.81694611e-03 3.14696998e+02] [-2.49034145e-02 9.99689752e-01 4.68613172e-04 -1.20372598e+01] [ 6.82650246e-03 -2.98691680e-04 9.99976655e-01 3.41131207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.390714057 meters Centerline goodness [0,1] 0.9777564896376083 Centerline is valid? [True, True] Translation: X:314.72, Y:-12.04, Z:3.41 [[ 9.99645901e-01 2.59319499e-02 -5.96710213e-03 3.14724141e+02] [-2.59299653e-02 9.99663678e-01 4.09718227e-04 -1.20438154e+01] [ 5.97572005e-03 -2.54846395e-04 9.99982113e-01 3.41224343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.420714057 meters Centerline goodness [0,1] 0.9769388611668144 Centerline is valid? [True, True] Translation: X:314.75, Y:-12.05, Z:3.41 [[ 9.99662044e-01 2.56387584e-02 -4.29545479e-03 3.14752767e+02] [-2.56377286e-02 9.99671256e-01 2.94649607e-04 -1.20475562e+01] [ 4.30159713e-03 -1.84424324e-04 9.99990731e-01 3.41350427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.450714057 meters Centerline goodness [0,1] 0.9765934629551919 Centerline is valid? [True, True] Translation: X:314.78, Y:-12.05, Z:3.41 [[ 9.99690771e-01 2.45885026e-02 -3.71038964e-03 3.14781194e+02] [-2.45877279e-02 9.99697644e-01 2.54267377e-04 -1.20509928e+01] [ 3.71551983e-03 -1.62958699e-04 9.99993084e-01 3.41362221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.480714057 meters Centerline goodness [0,1] 0.9739199034757994 Centerline is valid? [True, True] Translation: X:314.81, Y:-12.06, Z:3.41 [[ 9.99737789e-01 2.26191454e-02 -3.56750874e-03 3.14809348e+02] [-2.26184175e-02 9.99744141e-01 2.44269100e-04 -1.20600846e+01] [ 3.57212112e-03 -1.63513648e-04 9.99993607e-01 3.41324782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51071405700003 meters Centerline goodness [0,1] 0.9742447445357093 Centerline is valid? [True, True] Translation: X:314.84, Y:-12.06, Z:3.41 [[ 9.99773071e-01 2.10090247e-02 -3.52521460e-03 3.14838173e+02] [-2.10083047e-02 9.99779272e-01 2.41148852e-04 -1.20646979e+01] [ 3.52950279e-03 -1.67035346e-04 9.99993757e-01 3.41339573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.540714057 meters Centerline goodness [0,1] 0.9711450311697837 Centerline is valid? [True, True] Translation: X:314.87, Y:-12.07, Z:3.41 [[ 9.99833499e-01 1.79062240e-02 -3.51298087e-03 3.14866684e+02] [-1.79054906e-02 9.99839655e-01 2.40106392e-04 -1.20722150e+01] [ 3.51671698e-03 -1.77164768e-04 9.99993801e-01 3.41295361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57071405700003 meters Centerline goodness [0,1] 0.9697318448613189 Centerline is valid? [True, True] Translation: X:314.90, Y:-12.08, Z:3.41 [[ 9.99863297e-01 1.61267934e-02 -3.64867795e-03 3.14895882e+02] [-1.61259910e-02 9.99869937e-01 2.49229310e-04 -1.20773655e+01] [ 3.65222266e-03 -1.90356692e-04 9.99993312e-01 3.41226385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.600714057 meters Centerline goodness [0,1] 0.9707876531292376 Centerline is valid? [True, True] Translation: X:314.92, Y:-12.08, Z:3.41 [[ 9.99893099e-01 1.41061773e-02 -3.84784846e-03 3.14924776e+02] [-1.41052707e-02 9.99900481e-01 2.62648373e-04 -1.20824614e+01] [ 3.85117049e-03 -2.08345351e-04 9.99992563e-01 3.41141301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63071405700003 meters Centerline goodness [0,1] 0.9696218226906386 Centerline is valid? [True, True] Translation: X:314.95, Y:-12.09, Z:3.41 [[ 9.99904936e-01 1.32006189e-02 -3.98283340e-03 3.14953083e+02] [-1.31996415e-02 9.99912844e-01 2.71598251e-04 -1.20871880e+01] [ 3.98607154e-03 -2.19000459e-04 9.99992032e-01 3.41099873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.660714057 meters Centerline goodness [0,1] 0.9699258445482011 Centerline is valid? [True, True] Translation: X:314.98, Y:-12.09, Z:3.41 [[ 9.99924152e-01 1.13441057e-02 -4.79591032e-03 3.14982332e+02] [-1.13426683e-02 9.99935616e-01 3.26810312e-04 -1.20925490e+01] [ 4.79930891e-03 -2.72387105e-04 9.99988446e-01 3.40937987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69071405700004 meters Centerline goodness [0,1] 0.9662179150190853 Centerline is valid? [True, True] Translation: X:315.01, Y:-12.10, Z:3.41 [[ 9.99938783e-01 1.01033193e-02 -4.51134155e-03 3.15009806e+02] [-1.01020365e-02 9.99948926e-01 3.07035322e-04 -1.21000534e+01] [ 4.51421322e-03 -2.61442789e-04 9.99989777e-01 3.40912568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.720714057 meters Centerline goodness [0,1] 0.968066192560175 Centerline is valid? [True, True] Translation: X:315.04, Y:-12.10, Z:3.41 [[ 9.99954590e-01 8.47671571e-03 -4.35457802e-03 3.15039324e+02] [-8.47550623e-03 9.99964038e-01 2.96129628e-04 -1.21016627e+01] [ 4.35693163e-03 -2.59208928e-04 9.99990475e-01 3.40944125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.750714057 meters Centerline goodness [0,1] 0.9640500568828214 Centerline is valid? [True, True] Translation: X:315.07, Y:-12.11, Z:3.41 [[ 9.99982128e-01 4.53012824e-03 -3.90137699e-03 3.15068029e+02] [-4.52912778e-03 9.99989708e-01 2.65233102e-04 -1.21097894e+01] [ 3.90253837e-03 -2.47558527e-04 9.99992354e-01 3.40820371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.780714057 meters Centerline goodness [0,1] 0.9637836116292825 Centerline is valid? [True, True] Translation: X:315.10, Y:-12.12, Z:3.41 [[ 9.99991308e-01 2.38429216e-03 -3.42030476e-03 3.15096796e+02] [-2.38351117e-03 9.99997132e-01 2.32397452e-04 -1.21152909e+01] [ 3.42084906e-03 -2.24243098e-04 9.99994124e-01 3.40830699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.810714057 meters Centerline goodness [0,1] 0.9629847504411965 Centerline is valid? [True, True] Translation: X:315.13, Y:-12.12, Z:3.41 [[ 9.99995480e-01 -1.31242346e-03 -2.70507336e-03 3.15127059e+02] [ 1.31292526e-03 9.99999121e-01 1.83733075e-04 -1.21217305e+01] [ 2.70482985e-03 -1.87283804e-04 9.99996324e-01 3.40840387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.840714057 meters Centerline goodness [0,1] 0.960708782742681 Centerline is valid? [True, True] Translation: X:315.16, Y:-12.13, Z:3.41 [[ 9.99989880e-01 -4.06858745e-03 -1.92019394e-03 3.15156002e+02] [ 4.06884529e-03 9.99991714e-01 1.30390092e-04 -1.21280536e+01] [ 1.91964752e-03 -1.38201745e-04 9.99998148e-01 3.40974767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.870714057 meters Centerline goodness [0,1] 0.9613568249931886 Centerline is valid? [True, True] Translation: X:315.19, Y:-12.13, Z:3.41 [[ 9.99983673e-01 -5.47458200e-03 -1.63766090e-03 3.15186366e+02] [ 5.47477136e-03 9.99985007e-01 1.11167332e-04 -1.21306082e+01] [ 1.63702775e-03 -1.20131336e-04 9.99998653e-01 3.40972494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.900714057 meters Centerline goodness [0,1] 0.9605456643214262 Centerline is valid? [True, True] Translation: X:315.22, Y:-12.14, Z:3.41 [[ 9.99969067e-01 -7.71822141e-03 -1.51438373e-03 3.15216744e+02] [ 7.71838590e-03 9.99970208e-01 1.02803761e-04 -1.21358287e+01] [ 1.51354515e-03 -1.14489179e-04 9.99998848e-01 3.40914580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.930714057 meters Centerline goodness [0,1] 0.9597664735698769 Centerline is valid? [True, True] Translation: X:315.25, Y:-12.14, Z:3.41 [[ 9.99963563e-01 -8.42633571e-03 -1.36735433e-03 3.15247354e+02] [ 8.42647052e-03 9.99964492e-01 9.28572219e-05 -1.21403093e+01] [ 1.36652333e-03 -1.04375809e-04 9.99999061e-01 3.40908438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.960714057 meters Centerline goodness [0,1] 0.9568089087261333 Centerline is valid? [True, True] Translation: X:315.28, Y:-12.15, Z:3.41 [[ 9.99952060e-01 -9.69320624e-03 -1.38579988e-03 3.15276762e+02] [ 9.69334615e-03 9.99953014e-01 9.42768116e-05 -1.21458752e+01] [ 1.38482093e-03 -1.07705330e-04 9.99999035e-01 3.40951531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.990714057 meters Centerline goodness [0,1] 0.9572837049432409 Centerline is valid? [True, True] Translation: X:315.31, Y:-12.15, Z:3.41 [[ 9.99952980e-01 -9.68136996e-03 -5.55457255e-04 3.15308850e+02] [ 9.68139244e-03 9.99953134e-01 3.77837995e-05 -1.21475934e+01] [ 5.55065424e-04 -4.31596226e-05 9.99999845e-01 3.40985890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.020714057 meters Centerline goodness [0,1] 0.9564086323123557 Centerline is valid? [True, True] Translation: X:315.34, Y:-12.15, Z:3.41 [[ 9.99958851e-01 -9.05371359e-03 5.71405105e-04 3.15340351e+02] [ 9.05373736e-03 9.99959013e-01 -3.90185890e-05 -1.21477779e+01] [-5.71028422e-04 4.41903352e-05 9.99999836e-01 3.41106406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.050714057 meters Centerline goodness [0,1] 0.9574149320137108 Centerline is valid? [True, True] Translation: X:315.37, Y:-12.14, Z:3.41 [[ 9.99957795e-01 -9.13924325e-03 9.39061716e-04 3.15372343e+02] [ 9.13930752e-03 9.99958234e-01 -6.41695348e-05 -1.21446301e+01] [-9.38436034e-04 7.27492004e-05 9.99999557e-01 3.41115436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.080714057 meters Centerline goodness [0,1] 0.9583969031082773 Centerline is valid? [True, True] Translation: X:315.40, Y:-12.14, Z:3.41 [[ 9.99959168e-01 -9.02895314e-03 3.75060811e-04 3.15404919e+02] [ 9.02896342e-03 9.99959238e-01 -2.57163606e-05 -1.21449016e+01] [-3.74813331e-04 2.91017209e-05 9.99999929e-01 3.40988451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.110714057 meters Centerline goodness [0,1] 0.9615174423900174 Centerline is valid? [True, True] Translation: X:315.44, Y:-12.14, Z:3.41 [[ 9.99958214e-01 -9.10431164e-03 -8.25766119e-04 3.15437055e+02] [ 9.10436130e-03 9.99958553e-01 5.63972966e-05 -1.21418778e+01] [ 8.25218435e-04 -6.39130131e-05 9.99999657e-01 3.40925067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.140714057 meters Centerline goodness [0,1] 0.9610990765021092 Centerline is valid? [True, True] Translation: X:315.47, Y:-12.14, Z:3.41 [[ 9.99942473e-01 -1.04734794e-02 -2.31447970e-03 3.15468339e+02] [ 1.04738738e-02 9.99945135e-01 1.58360835e-04 -1.21418588e+01] [ 2.31269412e-03 -1.82593293e-04 9.99997309e-01 3.40730947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.170714057 meters Centerline goodness [0,1] 0.9605248146035368 Centerline is valid? [True, True] Translation: X:315.50, Y:-12.14, Z:3.41 [[ 9.99937447e-01 -1.08903640e-02 -2.54976345e-03 3.15500217e+02] [ 1.08908444e-02 9.99940678e-01 1.74601117e-04 -1.21441724e+01] [ 2.54771073e-03 -2.02359272e-04 9.99996734e-01 3.40768658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.200714057 meters Centerline goodness [0,1] 0.960660159553798 Centerline is valid? [True, True] Translation: X:315.53, Y:-12.14, Z:3.41 [[ 9.99914352e-01 -1.27950565e-02 -2.75247371e-03 3.15531460e+02] [ 1.27956239e-02 9.99918115e-01 1.88604755e-04 -1.21441158e+01] [ 2.74983511e-03 -2.23808220e-04 9.99996194e-01 3.40767237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.230714057 meters Centerline goodness [0,1] 0.9589298825256976 Centerline is valid? [True, True] Translation: X:315.56, Y:-12.15, Z:3.41 [[ 9.99882563e-01 -1.50126185e-02 -3.07917647e-03 3.15562905e+02] [ 1.50133392e-02 9.99887271e-01 2.11080667e-04 -1.21451346e+01] [ 3.07566049e-03 -2.57284599e-04 9.99995237e-01 3.40764973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26071405700003 meters Centerline goodness [0,1] 0.9518568830152189 Centerline is valid? [True, True] Translation: X:315.59, Y:-12.16, Z:3.41 [[ 9.99868953e-01 -1.59236722e-02 -2.91790052e-03 3.15593247e+02] [ 1.59243237e-02 9.99873180e-01 2.00155222e-04 -1.21562187e+01] [ 2.91434326e-03 -2.46594585e-04 9.99995723e-01 3.40756974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.290714057 meters Centerline goodness [0,1] 0.9552666220179673 Centerline is valid? [True, True] Translation: X:315.62, Y:-12.15, Z:3.41 [[ 9.99819559e-01 -1.87242773e-02 -3.20158138e-03 3.15624594e+02] [ 1.87250761e-02 9.99824646e-01 2.19704047e-04 -1.21506124e+01] [ 3.19690617e-03 -2.79614258e-04 9.99994851e-01 3.40773730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32071405700003 meters Centerline goodness [0,1] 0.9584523261169968 Centerline is valid? [True, True] Translation: X:315.66, Y:-12.15, Z:3.41 [[ 9.99795295e-01 -1.99177441e-02 -3.55681359e-03 3.15657347e+02] [ 1.99187381e-02 9.99801572e-01 2.44258452e-04 -1.21464576e+01] [ 3.55124274e-03 -3.15055689e-04 9.99993645e-01 3.40788860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.350714057 meters Centerline goodness [0,1] 0.9594400740397964 Centerline is valid? [True, True] Translation: X:315.69, Y:-12.15, Z:3.41 [[ 9.99751812e-01 -2.20245923e-02 -3.35139315e-03 3.15688989e+02] [ 2.20254871e-02 9.99757383e-01 2.30310969e-04 -1.21459951e+01] [ 3.34550754e-03 -3.04069875e-04 9.99994358e-01 3.40945575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38071405700003 meters Centerline goodness [0,1] 0.9550939113921119 Centerline is valid? [True, True] Translation: X:315.72, Y:-12.15, Z:3.41 [[ 9.99731839e-01 -2.29619410e-02 -2.99988186e-03 3.15719747e+02] [ 2.29626627e-02 9.99736302e-01 2.06358323e-04 -1.21513864e+01] [ 2.99435241e-03 -2.75188262e-04 9.99995479e-01 3.40942270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.410714057 meters Centerline goodness [0,1] 0.9525993883792049 Centerline is valid? [True, True] Translation: X:315.75, Y:-12.15, Z:3.41 [[ 9.99686251e-01 -2.49151347e-02 -2.57603289e-03 3.15749973e+02] [ 2.49156737e-02 9.99689541e-01 1.77325387e-04 -1.21537109e+01] [ 2.57081505e-03 -2.41453346e-04 9.99996666e-01 3.41021765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44071405700004 meters Centerline goodness [0,1] 0.9548005565862708 Centerline is valid? [True, True] Translation: X:315.78, Y:-12.15, Z:3.41 [[ 9.99668996e-01 -2.56239579e-02 -2.30475656e-03 3.15782465e+02] [ 2.56243914e-02 9.99671629e-01 1.58745857e-04 -1.21531351e+01] [ 2.29993205e-03 -2.17751296e-04 9.99997331e-01 3.41160058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.470714057 meters Centerline goodness [0,1] 0.9564591078066914 Centerline is valid? [True, True] Translation: X:315.81, Y:-12.15, Z:3.41 [[ 9.99613089e-01 -2.77031012e-02 -2.49205690e-03 3.15814171e+02] [ 2.77036148e-02 9.99616166e-01 1.71786788e-04 -1.21513359e+01] [ 2.48634134e-03 -2.40759306e-04 9.99996880e-01 3.41152657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.500714057 meters Centerline goodness [0,1] 0.9551566366310286 Centerline is valid? [True, True] Translation: X:315.84, Y:-12.15, Z:3.41 [[ 9.99523741e-01 -3.05864060e-02 -4.09420321e-03 3.15844854e+02] [ 3.05878165e-02 9.99532043e-01 2.82311212e-04 -1.21545408e+01] [ 4.08365241e-03 -4.07409496e-04 9.99991579e-01 3.41000298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.530714057 meters Centerline goodness [0,1] 0.9521673092651011 Centerline is valid? [True, True] Translation: X:315.87, Y:-12.16, Z:3.41 [[ 9.99468680e-01 -3.21183405e-02 -5.54712211e-03 3.15874022e+02] [ 3.21209531e-02 9.99483916e-01 3.82500776e-04 -1.21623028e+01] [ 5.53197404e-03 -5.60476395e-04 9.99984541e-01 3.40898035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.560714057 meters Centerline goodness [0,1] 0.9518762665672824 Centerline is valid? [True, True] Translation: X:315.90, Y:-12.16, Z:3.41 [[ 9.99359263e-01 -3.50330048e-02 -7.33156341e-03 3.15904707e+02] [ 3.50376463e-02 9.99385865e-01 5.05565557e-04 -1.21638029e+01] [ 7.30934937e-03 -7.62122348e-04 9.99972996e-01 3.40661037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.590714057 meters Centerline goodness [0,1] 0.9533467609724109 Centerline is valid? [True, True] Translation: X:315.94, Y:-12.16, Z:3.41 [[ 9.99314734e-01 -3.60979864e-02 -8.18527348e-03 3.15935466e+02] [ 3.61038082e-02 9.99347886e-01 5.64563689e-04 -1.21638629e+01] [ 8.15955613e-03 -8.59696356e-04 9.99966341e-01 3.40612238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.620714057 meters Centerline goodness [0,1] 0.9504694835680751 Centerline is valid? [True, True] Translation: X:315.97, Y:-12.17, Z:3.41 [[ 9.99297708e-01 -3.64581252e-02 -8.65423095e-03 3.15966805e+02] [ 3.64646502e-02 9.99334765e-01 5.97328763e-04 -1.21683310e+01] [ 8.62669637e-03 -9.12482768e-04 9.99962373e-01 3.40546860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.650714057 meters Centerline goodness [0,1] 0.9503335283791691 Centerline is valid? [True, True] Translation: X:316.00, Y:-12.17, Z:3.41 [[ 9.99325909e-01 -3.56145683e-02 -8.90675516e-03 3.15997367e+02] [ 3.56214496e-02 9.99365165e-01 6.15097853e-04 -1.21710114e+01] [ 8.87919440e-03 -9.31954751e-04 9.99960145e-01 3.40559811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.680714057 meters Centerline goodness [0,1] 0.9584411916976514 Centerline is valid? [True, True] Translation: X:316.03, Y:-12.17, Z:3.41 [[ 9.99401135e-01 -3.33565739e-02 -9.20379970e-03 3.16028748e+02] [ 3.33638288e-02 9.99443070e-01 6.35797804e-04 -1.21670078e+01] [ 9.17746579e-03 -9.42491045e-04 9.99957442e-01 3.40756865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.710714057 meters Centerline goodness [0,1] 0.9531662269129287 Centerline is valid? [True, True] Translation: X:316.06, Y:-12.17, Z:3.41 [[ 9.99437644e-01 -3.22473114e-02 -9.19278212e-03 3.16059129e+02] [ 3.22545040e-02 9.99479486e-01 6.35199815e-04 -1.21706141e+01] [ 9.16751367e-03 -9.31351235e-04 9.99957544e-01 3.40741004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.740714057 meters Centerline goodness [0,1] 0.9531662269129287 Centerline is valid? [True, True] Translation: X:316.09, Y:-12.17, Z:3.41 [[ 9.99439877e-01 -3.21780196e-02 -9.19274252e-03 3.16090903e+02] [ 3.21852145e-02 9.99481720e-01 6.35772696e-04 -1.21728755e+01] [ 9.16752019e-03 -9.31286975e-04 9.99957544e-01 3.40744987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.770714057 meters Centerline goodness [0,1] 0.958594375618258 Centerline is valid? [True, True] Translation: X:316.12, Y:-12.17, Z:3.41 [[ 9.99558270e-01 -2.86211243e-02 -8.00597992e-03 3.16121994e+02] [ 2.86264689e-02 9.99590025e-01 5.53763652e-04 -1.21663077e+01] [ 7.98684833e-03 -7.82701973e-04 9.99967798e-01 3.40915360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.800714057 meters Centerline goodness [0,1] 0.9579928889307495 Centerline is valid? [True, True] Translation: X:316.15, Y:-12.17, Z:3.41 [[ 9.99614235e-01 -2.66564542e-02 -7.79833885e-03 3.16153217e+02] [ 2.66614671e-02 9.99644374e-01 5.39544657e-04 -1.21654850e+01] [ 7.78118322e-03 -7.47251675e-04 9.99969447e-01 3.40935867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.830714057 meters Centerline goodness [0,1] 0.9591649622681431 Centerline is valid? [True, True] Translation: X:316.18, Y:-12.16, Z:3.41 [[ 9.99729787e-01 -2.20076252e-02 -7.48448128e-03 3.16183895e+02] [ 2.20121136e-02 9.99757570e-01 5.17844288e-04 -1.21614939e+01] [ 7.47127029e-03 -6.82453611e-04 9.99971857e-01 3.41053495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.860714057 meters Centerline goodness [0,1] 0.9618978307822331 Centerline is valid? [True, True] Translation: X:316.21, Y:-12.16, Z:3.41 [[ 9.99808969e-01 -1.83923466e-02 -6.61409397e-03 3.16214393e+02] [ 1.83957733e-02 9.99830679e-01 4.57617767e-04 -1.21566570e+01] [ 6.60455739e-03 -5.79201721e-04 9.99978022e-01 3.41011644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.890714057 meters Centerline goodness [0,1] 0.959749700063516 Centerline is valid? [True, True] Translation: X:316.24, Y:-12.16, Z:3.41 [[ 9.99827736e-01 -1.71931648e-02 -6.99235749e-03 3.16244953e+02] [ 1.71969670e-02 9.99852004e-01 4.83992638e-04 -1.21596052e+01] [ 6.98300129e-03 -6.04156604e-04 9.99975436e-01 3.40988901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.920714057 meters Centerline goodness [0,1] 0.9637242192103712 Centerline is valid? [True, True] Translation: X:316.28, Y:-12.16, Z:3.41 [[ 9.99853187e-01 -1.51350478e-02 -8.03334960e-03 3.16276044e+02] [ 1.51400018e-02 9.99885229e-01 5.56218867e-04 -1.21555110e+01] [ 8.02400921e-03 -6.77762134e-04 9.99967577e-01 3.40832203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.950714057 meters Centerline goodness [0,1] 0.9603116687460276 Centerline is valid? [True, True] Translation: X:316.31, Y:-12.17, Z:3.41 [[ 9.99856020e-01 -1.46504123e-02 -8.56178819e-03 3.16305993e+02] [ 1.46560261e-02 9.99892419e-01 5.93307304e-04 -1.21651958e+01] [ 8.55217491e-03 -7.18703672e-04 9.99963171e-01 3.40670958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.980714057 meters Centerline goodness [0,1] 0.9638743947727166 Centerline is valid? [True, True] Translation: X:316.34, Y:-12.16, Z:3.41 [[ 9.99861405e-01 -1.39440763e-02 -9.09584212e-03 3.16337830e+02] [ 1.39503867e-02 9.99902490e-01 6.30681103e-04 -1.21574971e+01] [ 9.08616092e-03 -7.57484208e-04 9.99958433e-01 3.40602523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01071405700003 meters Centerline goodness [0,1] 0.9629307098474863 Centerline is valid? [True, True] Translation: X:316.37, Y:-12.16, Z:3.41 [[ 9.99857369e-01 -1.42057457e-02 -9.13443428e-03 3.16368666e+02] [ 1.42121210e-02 9.99898802e-01 6.33401523e-04 -1.21595771e+01] [ 9.12451196e-03 -7.63130866e-04 9.99958080e-01 3.40581012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.040714057 meters Centerline goodness [0,1] 0.9638241686335912 Centerline is valid? [True, True] Translation: X:316.40, Y:-12.16, Z:3.41 [[ 9.99864367e-01 -1.36151767e-02 -9.26684602e-03 3.16398664e+02] [ 1.36217142e-02 9.99907014e-01 6.42723957e-04 -1.21625732e+01] [ 9.25723353e-03 -7.68867111e-04 9.99956855e-01 3.40579840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07071405700003 meters Centerline goodness [0,1] 0.966107233724703 Centerline is valid? [True, True] Translation: X:316.43, Y:-12.16, Z:3.41 [[ 9.99856406e-01 -1.39456130e-02 -9.62747320e-03 3.16429633e+02] [ 1.39526847e-02 9.99902434e-01 6.67758845e-04 -1.21599330e+01] [ 9.61722157e-03 -8.01992056e-04 9.99953432e-01 3.40572735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.100714057 meters Centerline goodness [0,1] 0.9646396185846499 Centerline is valid? [True, True] Translation: X:316.46, Y:-12.16, Z:3.41 [[ 9.99885163e-01 -1.22085740e-02 -8.97835502e-03 3.16459641e+02] [ 1.22146547e-02 9.99925204e-01 6.22736190e-04 -1.21619710e+01] [ 8.97008076e-03 -7.32332184e-04 9.99959500e-01 3.40570193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13071405700003 meters Centerline goodness [0,1] 0.9628954197937856 Centerline is valid? [True, True] Translation: X:316.49, Y:-12.17, Z:3.41 [[ 9.99892016e-01 -1.18536980e-02 -8.68600698e-03 3.16489151e+02] [ 1.18593765e-02 9.99929494e-01 6.02528466e-04 -1.21652557e+01] [ 8.67825237e-03 -7.05474029e-04 9.99962094e-01 3.40514238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.160714057 meters Centerline goodness [0,1] 0.9672361667721296 Centerline is valid? [True, True] Translation: X:316.52, Y:-12.16, Z:3.41 [[ 9.99923702e-01 -9.42799886e-03 -7.98146726e-03 3.16519894e+02] [ 9.43271452e-03 9.99955358e-01 5.53388375e-04 -1.21588724e+01] [ 7.97589361e-03 -6.28633054e-04 9.99967994e-01 3.40587693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19071405700004 meters Centerline goodness [0,1] 0.967137577770501 Centerline is valid? [True, True] Translation: X:316.55, Y:-12.16, Z:3.41 [[ 9.99936716e-01 -8.11151537e-03 -7.79529434e-03 3.16549358e+02] [ 8.11597473e-03 9.99966919e-01 5.40593736e-04 -1.21615318e+01] [ 7.79065142e-03 -6.03825937e-04 9.99969470e-01 3.40565571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.220714057 meters Centerline goodness [0,1] 0.9680759073593681 Centerline is valid? [True, True] Translation: X:316.58, Y:-12.16, Z:3.41 [[ 9.99967767e-01 -4.70088869e-03 -6.50903053e-03 3.16578895e+02] [ 4.70392542e-03 9.99988835e-01 4.51310311e-04 -1.21630761e+01] [ 6.50683630e-03 -4.81913758e-04 9.99978714e-01 3.40568478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.250714057 meters Centerline goodness [0,1] 0.9716945734252614 Centerline is valid? [True, True] Translation: X:316.61, Y:-12.16, Z:3.41 [[ 9.99973116e-01 -2.79843746e-03 -6.77758225e-03 3.16609761e+02] [ 2.80168565e-03 9.99995965e-01 4.69807439e-04 -1.21561154e+01] [ 6.77624017e-03 -4.88783464e-04 9.99976922e-01 3.40696114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.280714057 meters Centerline goodness [0,1] 0.9714675190373225 Centerline is valid? [True, True] Translation: X:316.64, Y:-12.16, Z:3.41 [[ 9.99976198e-01 -5.32688714e-04 -6.87886103e-03 3.16638725e+02] [ 5.35979876e-04 9.99999743e-01 4.76611203e-04 -1.21582662e+01] [ 6.87860538e-03 -4.80286790e-04 9.99976227e-01 3.40652357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.310714057 meters Centerline goodness [0,1] 0.9731335572203565 Centerline is valid? [True, True] Translation: X:316.67, Y:-12.15, Z:3.41 [[ 9.99975603e-01 2.33246399e-05 -6.98523472e-03 3.16668290e+02] [-1.99547867e-05 9.99999883e-01 4.82494487e-04 -1.21482110e+01] [ 6.98524516e-03 -4.82343326e-04 9.99975487e-01 3.40695597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.340714057 meters Centerline goodness [0,1] 0.9723501221574892 Centerline is valid? [True, True] Translation: X:316.70, Y:-12.15, Z:3.41 [[ 9.99975450e-01 2.28511583e-03 -6.62408986e-03 3.16696574e+02] [-2.28213869e-03 9.99997292e-01 4.56964768e-04 -1.21516746e+01] [ 6.62511614e-03 -4.41836458e-04 9.99977956e-01 3.40707359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.370714057 meters Centerline goodness [0,1] 0.9749599924691706 Centerline is valid? [True, True] Translation: X:316.73, Y:-12.15, Z:3.41 [[ 9.99972813e-01 3.16119645e-03 -6.66185267e-03 3.16726255e+02] [-3.15821346e-03 9.99994908e-01 4.58245433e-04 -1.21467802e+01] [ 6.66326735e-03 -4.37193422e-04 9.99977705e-01 3.40763211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.400714057 meters Centerline goodness [0,1] 0.9756964050442312 Centerline is valid? [True, True] Translation: X:316.76, Y:-12.14, Z:3.41 [[ 9.99958651e-01 5.94161729e-03 -6.88427227e-03 3.16756385e+02] [-5.93850111e-03 9.99982255e-01 4.73005005e-04 -1.21448517e+01] [ 6.88696052e-03 -4.32103188e-04 9.99976191e-01 3.40842065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.430714057 meters Centerline goodness [0,1] 0.9750330064126744 Centerline is valid? [True, True] Translation: X:316.78, Y:-12.15, Z:3.41 [[ 9.99950837e-01 7.18471206e-03 -6.83405720e-03 3.16784785e+02] [-7.18167316e-03 9.99974101e-01 4.69107398e-04 -1.21457925e+01] [ 6.83725061e-03 -4.20004370e-04 9.99976538e-01 3.40781608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.460714057 meters Centerline goodness [0,1] 0.9762515593004919 Centerline is valid? [True, True] Translation: X:316.82, Y:-12.14, Z:3.41 [[ 9.99909569e-01 1.13349018e-02 -7.23695526e-03 3.16815007e+02] [-1.13316032e-02 9.99935672e-01 4.96645824e-04 -1.21436444e+01] [ 7.24211915e-03 -4.14594606e-04 9.99973690e-01 3.40770312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.490714057 meters Centerline goodness [0,1] 0.9781982917276202 Centerline is valid? [True, True] Translation: X:316.84, Y:-12.14, Z:3.41 [[ 9.99885909e-01 1.30485026e-02 -7.60960322e-03 3.16843832e+02] [-1.30449083e-02 9.99914775e-01 5.21773848e-04 -1.21429583e+01] [ 7.61576306e-03 -4.22447742e-04 9.99970910e-01 3.40795126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.520714057 meters Centerline goodness [0,1] 0.9767110942465493 Centerline is valid? [True, True] Translation: X:316.87, Y:-12.14, Z:3.41 [[ 9.99831929e-01 1.66226499e-02 -7.73316440e-03 3.16874526e+02] [-1.66190461e-02 9.99861754e-01 5.30045747e-04 -1.21385115e+01] [ 7.74090608e-03 -4.01438846e-04 9.99969958e-01 3.40856878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.550714057 meters Centerline goodness [0,1] 0.9766259679794764 Centerline is valid? [True, True] Translation: X:316.90, Y:-12.14, Z:3.41 [[ 9.99794513e-01 1.90096933e-02 -7.04012817e-03 3.16903903e+02] [-1.90067671e-02 9.99819239e-01 4.82324359e-04 -1.21367658e+01] [ 7.04802442e-03 -3.48415171e-04 9.99975102e-01 3.40871188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.580714057 meters Centerline goodness [0,1] 0.9786158724104227 Centerline is valid? [True, True] Translation: X:316.93, Y:-12.13, Z:3.41 [[ 9.99775984e-01 2.00216225e-02 -6.86410635e-03 3.16933259e+02] [-2.00188676e-02 9.99799492e-01 4.69825451e-04 -1.21337507e+01] [ 6.87213671e-03 -3.32308566e-04 9.99976331e-01 3.41004389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.610714057 meters Centerline goodness [0,1] 0.9762119557475903 Centerline is valid? [True, True] Translation: X:316.96, Y:-12.14, Z:3.41 [[ 9.99764377e-01 2.05198370e-02 -7.07996609e-03 3.16960829e+02] [-2.05169229e-02 9.99789389e-01 4.83997714e-04 -1.21356552e+01] [ 7.08840652e-03 -3.38624555e-04 9.99974820e-01 3.40962001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.640714057 meters Centerline goodness [0,1] 0.9784525909329266 Centerline is valid? [True, True] Translation: X:316.99, Y:-12.13, Z:3.41 [[ 9.99733267e-01 2.19687583e-02 -7.12524828e-03 3.16990261e+02] [-2.19658465e-02 9.99758603e-01 4.86670463e-04 -1.21328722e+01] [ 7.13421981e-03 -3.30028541e-04 9.99974497e-01 3.41035546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.670714057 meters Centerline goodness [0,1] 0.9762358319839984 Centerline is valid? [True, True] Translation: X:317.02, Y:-12.14, Z:3.41 [[ 9.99700116e-01 2.35604861e-02 -6.67687374e-03 3.17018258e+02] [-2.35579677e-02 9.99722369e-01 4.55601550e-04 -1.21375112e+01] [ 6.68575422e-03 -2.98171347e-04 9.99977606e-01 3.41085615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.700714057 meters Centerline goodness [0,1] 0.9801218108574717 Centerline is valid? [True, True] Translation: X:317.05, Y:-12.13, Z:3.41 [[ 9.99667307e-01 2.48238487e-02 -7.00371740e-03 3.17047553e+02] [-2.48211121e-02 9.99691795e-01 4.77404539e-04 -1.21325263e+01] [ 7.01340984e-03 -3.03405655e-04 9.99975360e-01 3.41174999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.730714057 meters Centerline goodness [0,1] 0.9800344728526286 Centerline is valid? [True, True] Translation: X:317.08, Y:-12.13, Z:3.41 [[ 9.99561815e-01 2.87228072e-02 -7.15384453e-03 3.17077462e+02] [-2.87200538e-02 9.99587375e-01 4.87340123e-04 -1.21317075e+01] [ 7.16489046e-03 -2.81667778e-04 9.99974292e-01 3.41079705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76071405700003 meters Centerline goodness [0,1] 0.9780051273450415 Centerline is valid? [True, True] Translation: X:317.10, Y:-12.14, Z:3.41 [[ 9.99489269e-01 3.10022463e-02 -7.75000362e-03 3.17104796e+02] [-3.09990881e-02 9.99519274e-01 5.27337712e-04 -1.21378028e+01] [ 7.76262664e-03 -2.86825340e-04 9.99969829e-01 3.40893672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.790714057 meters Centerline goodness [0,1] 0.9799788492044417 Centerline is valid? [True, True] Translation: X:317.14, Y:-12.13, Z:3.41 [[ 9.99334122e-01 3.55734611e-02 -8.11428907e-03 3.17135639e+02] [-3.55701513e-02 9.99367030e-01 5.51894737e-04 -1.21324446e+01] [ 8.12878577e-03 -2.62900752e-04 9.99966926e-01 3.40917217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82071405700003 meters Centerline goodness [0,1] 0.9815166903323627 Centerline is valid? [True, True] Translation: X:317.16, Y:-12.13, Z:3.41 [[ 9.99238371e-01 3.80930991e-02 -8.46133886e-03 3.17164523e+02] [-3.80895947e-02 9.99274163e-01 5.74991353e-04 -1.21334058e+01] [ 8.47710051e-03 -2.52264456e-04 9.99964037e-01 3.40946315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.850714057 meters Centerline goodness [0,1] 0.9816443227139493 Centerline is valid? [True, True] Translation: X:317.19, Y:-12.13, Z:3.41 [[ 9.99099570e-01 4.15039646e-02 -8.80167296e-03 3.17193395e+02] [-4.15003102e-02 9.99138312e-01 5.97504933e-04 -1.21316937e+01] [ 8.81888749e-03 -2.31694764e-04 9.99961086e-01 3.40963846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88071405700003 meters Centerline goodness [0,1] 0.9833818330487483 Centerline is valid? [True, True] Translation: X:317.22, Y:-12.13, Z:3.41 [[ 9.99038738e-01 4.29154872e-02 -8.93653855e-03 3.17220631e+02] [-4.29117831e-02 9.99078681e-01 6.05908977e-04 -1.21345046e+01] [ 8.95430803e-03 -2.21843736e-04 9.99959885e-01 3.40967261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.910714057 meters Centerline goodness [0,1] 0.9815930307902757 Centerline is valid? [True, True] Translation: X:317.25, Y:-12.14, Z:3.41 [[ 9.99010624e-01 4.35805703e-02 -8.86036736e-03 3.17249044e+02] [-4.35769725e-02 9.99049893e-01 5.98795945e-04 -1.21393411e+01] [ 8.87804493e-03 -2.12095526e-04 9.99960567e-01 3.40937607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94071405700004 meters Centerline goodness [0,1] 0.9821983273596177 Centerline is valid? [True, True] Translation: X:317.28, Y:-12.15, Z:3.41 [[ 9.98989487e-01 4.41045747e-02 -8.64817313e-03 3.17276702e+02] [-4.41011749e-02 9.99026899e-01 5.83526935e-04 -1.21461289e+01] [ 8.66549380e-03 -2.01542677e-04 9.99962434e-01 3.40924198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.970714057 meters Centerline goodness [0,1] 0.982639220555927 Centerline is valid? [True, True] Translation: X:317.30, Y:-12.15, Z:3.41 [[ 9.99019392e-01 4.35015558e-02 -8.23828631e-03 3.17303869e+02] [-4.34984673e-02 9.99053340e-01 5.53786710e-04 -1.21512638e+01] [ 8.25457804e-03 -1.94890834e-04 9.99965911e-01 3.41021061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.000714057 meters Centerline goodness [0,1] 0.9830367931009975 Centerline is valid? [True, True] Translation: X:317.33, Y:-12.16, Z:3.41 [[ 9.99022514e-01 4.34063773e-02 -8.36078105e-03 3.17330665e+02] [-4.34032033e-02 9.99057480e-01 5.60788021e-04 -1.21562844e+01] [ 8.37724262e-03 -1.97355179e-04 9.99964891e-01 3.41011423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.030714057 meters Centerline goodness [0,1] 0.9833175355450237 Centerline is valid? [True, True] Translation: X:317.36, Y:-12.16, Z:3.41 [[ 9.99014095e-01 4.36486177e-02 -8.10160755e-03 3.17359511e+02] [-4.36456505e-02 9.99046927e-01 5.42775877e-04 -1.21611709e+01] [ 8.11757754e-03 -1.88640820e-04 9.99967034e-01 3.40963779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.060714057 meters Centerline goodness [0,1] 0.9821538461538462 Centerline is valid? [True, True] Translation: X:317.39, Y:-12.17, Z:3.41 [[ 9.99028848e-01 4.32629683e-02 -8.34728168e-03 3.17386389e+02] [-4.32598109e-02 9.99063700e-01 5.58528845e-04 -1.21722848e+01] [ 8.36362974e-03 -1.96884602e-04 9.99965005e-01 3.40760481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.090714057 meters Centerline goodness [0,1] 0.9834116541353384 Centerline is valid? [True, True] Translation: X:317.41, Y:-12.17, Z:3.41 [[ 9.99054912e-01 4.27309737e-02 -7.95908402e-03 3.17414847e+02] [-4.27280908e-02 9.99086596e-01 5.31977181e-04 -1.21739933e+01] [ 7.97454607e-03 -1.91397951e-04 9.99968184e-01 3.40832308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.120714057 meters Centerline goodness [0,1] 0.982003993891695 Centerline is valid? [True, True] Translation: X:317.44, Y:-12.18, Z:3.41 [[ 9.99151852e-01 4.01754547e-02 -9.02824288e-03 3.17441908e+02] [-4.01716481e-02 9.99192612e-01 6.02656930e-04 -1.21829506e+01] [ 9.04516560e-03 -2.39466392e-04 9.99959063e-01 3.40843233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.150714057 meters Centerline goodness [0,1] 0.9823093195713323 Centerline is valid? [True, True] Translation: X:317.47, Y:-12.19, Z:3.41 [[ 9.99305282e-01 3.62233670e-02 -8.76474499e-03 3.17469720e+02] [-3.62196318e-02 9.99343683e-01 5.84570009e-04 -1.21943463e+01] [ 8.78016763e-03 -2.66708061e-04 9.99961418e-01 3.40798850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.180714057 meters Centerline goodness [0,1] 0.9810361316507663 Centerline is valid? [True, True] Translation: X:317.50, Y:-12.20, Z:3.41 [[ 9.99417440e-01 3.31315264e-02 -8.19043666e-03 3.17498929e+02] [-3.31281634e-02 9.99450963e-01 5.45961715e-04 -1.22007218e+01] [ 8.20402835e-03 -2.74309535e-04 9.99966309e-01 3.40780931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.210714057 meters Centerline goodness [0,1] 0.9790833875615879 Centerline is valid? [True, True] Translation: X:317.53, Y:-12.22, Z:3.41 [[ 9.99606661e-01 2.66280432e-02 -8.80177524e-03 3.17527643e+02] [-2.66239084e-02 9.99645349e-01 5.86629408e-04 -1.22159104e+01] [ 8.81427448e-03 -3.52061006e-04 9.99961092e-01 3.40743755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.240714057 meters Centerline goodness [0,1] 0.9793780915445531 Centerline is valid? [True, True] Translation: X:317.56, Y:-12.22, Z:3.41 [[ 9.99700161e-01 2.28930990e-02 -8.68870279e-03 3.17556426e+02] [-2.28889324e-02 9.99737847e-01 5.78690763e-04 -1.22192659e+01] [ 8.69967304e-03 -3.79642118e-04 9.99962085e-01 3.40808839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.270714057 meters Centerline goodness [0,1] 0.97677157172874 Centerline is valid? [True, True] Translation: X:317.59, Y:-12.23, Z:3.41 [[ 9.99840527e-01 1.57359437e-02 -8.44399361e-03 3.17586588e+02] [-1.57317543e-02 9.99876090e-01 5.62332154e-04 -1.22295673e+01] [ 8.45179614e-03 -4.29403644e-04 9.99964191e-01 3.40826779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.300714057 meters Centerline goodness [0,1] 0.9752740308385228 Centerline is valid? [True, True] Translation: X:317.61, Y:-12.24, Z:3.41 [[ 9.99886629e-01 1.29399554e-02 -7.69981439e-03 3.17614835e+02] [-1.29363919e-02 9.99916190e-01 5.12430446e-04 -1.22375524e+01] [ 7.70579989e-03 -4.12764535e-04 9.99970225e-01 3.40805394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.330714057 meters Centerline goodness [0,1] 0.9723856845190392 Centerline is valid? [True, True] Translation: X:317.64, Y:-12.25, Z:3.41 [[ 9.99942308e-01 7.74561148e-03 -7.44213616e-03 3.17643655e+02] [-7.74213953e-03 9.99969907e-01 4.95222662e-04 -1.22485434e+01] [ 7.44574801e-03 -4.37576036e-04 9.99972184e-01 3.40756973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.360714057 meters Centerline goodness [0,1] 0.9721674989691667 Centerline is valid? [True, True] Translation: X:317.67, Y:-12.25, Z:3.41 [[ 9.99958789e-01 5.49632021e-03 -7.22574050e-03 3.17673065e+02] [-5.49299024e-03 9.99984798e-01 4.80613264e-04 -1.22524234e+01] [ 7.22827226e-03 -4.40902535e-04 9.99973778e-01 3.40775794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.390714057 meters Centerline goodness [0,1] 0.9689355870260393 Centerline is valid? [True, True] Translation: X:317.70, Y:-12.26, Z:3.41 [[ 9.99968550e-01 -5.01594182e-04 -7.91502780e-03 3.17702144e+02] [ 5.05775676e-04 9.99999734e-01 5.26305247e-04 -1.22624722e+01] [ 7.91476170e-03 -5.30291923e-04 9.99968537e-01 3.40750629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.420714057 meters Centerline goodness [0,1] 0.9674943463462549 Centerline is valid? [True, True] Translation: X:317.73, Y:-12.27, Z:3.41 [[ 9.99957790e-01 -3.72548882e-03 -8.39880583e-03 3.17730885e+02] [ 3.73030803e-03 9.99992887e-01 5.58204264e-04 -1.22703751e+01] [ 8.39666651e-03 -5.89510835e-04 9.99964574e-01 3.40682874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.450714057 meters Centerline goodness [0,1] 0.9654047890535918 Centerline is valid? [True, True] Translation: X:317.76, Y:-12.28, Z:3.41 [[ 9.99934146e-01 -7.12550774e-03 -8.99614006e-03 3.17759385e+02] [ 7.13117170e-03 9.99974394e-01 5.97678929e-04 -1.22778495e+01] [ 8.99165094e-03 -6.61792589e-04 9.99959355e-01 3.40592142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.480714057 meters Centerline goodness [0,1] 0.9672336168084043 Centerline is valid? [True, True] Translation: X:317.79, Y:-12.28, Z:3.41 [[ 9.99879094e-01 -1.31545714e-02 -8.29179317e-03 3.17789905e+02] [ 1.31595881e-02 9.99913257e-01 5.50743577e-04 -1.22773112e+01] [ 8.28382913e-03 -6.59793572e-04 9.99965471e-01 3.40610870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51071405700003 meters Centerline goodness [0,1] 0.9657373957694317 Centerline is valid? [True, True] Translation: X:317.82, Y:-12.28, Z:3.41 [[ 9.99841212e-01 -1.55748419e-02 -8.65878184e-03 3.17819631e+02] [ 1.55804051e-02 9.99878453e-01 5.75411401e-04 -1.22838193e+01] [ 8.64876744e-03 -7.10227362e-04 9.99962346e-01 3.40626230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.540714057 meters Centerline goodness [0,1] 0.958271979702331 Centerline is valid? [True, True] Translation: X:317.85, Y:-12.30, Z:3.40 [[ 9.99760417e-01 -1.93102181e-02 -1.03065529e-02 3.17848657e+02] [ 1.93182967e-02 9.99813150e-01 6.84843418e-04 -1.22961077e+01] [ 1.02914026e-02 -8.83784387e-04 9.99946652e-01 3.40426719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57071405700003 meters Centerline goodness [0,1] 0.9662001224962004 Centerline is valid? [True, True] Translation: X:317.88, Y:-12.29, Z:3.40 [[ 9.99690393e-01 -2.16844844e-02 -1.22025303e-02 3.17880319e+02] [ 2.16959856e-02 9.99764286e-01 8.10921414e-04 -1.22893025e+01] [ 1.21820696e-02 -1.07541627e-03 9.99925218e-01 3.40339579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.600714057 meters Centerline goodness [0,1] 0.9654695192504027 Centerline is valid? [True, True] Translation: X:317.91, Y:-12.29, Z:3.40 [[ 9.99684532e-01 -2.17066650e-02 -1.26355608e-02 3.17911121e+02] [ 2.17189990e-02 9.99763762e-01 8.39712305e-04 -1.22916625e+01] [ 1.26143484e-02 -1.11387913e-03 9.99919816e-01 3.40316931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63071405700003 meters Centerline goodness [0,1] 0.9338131783297761 Centerline is valid? [True, False] Translation: X:317.91, Y:-12.29, Z:3.40 [[ 9.99751697e-01 -1.86654750e-02 -1.21714648e-02 3.17909469e+02] [ 1.87192355e-02 9.99815455e-01 4.31806114e-03 -1.22913941e+01] [ 1.20886200e-02 -4.54482947e-03 9.99916601e-01 3.40381627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.660714057 meters Centerline goodness [0,1] 0.9338131783297761 Centerline is valid? [False, False] Translation: X:317.91, Y:-12.29, Z:3.40 [[ 9.99751697e-01 -1.86654750e-02 -1.21714648e-02 3.17909469e+02] [ 1.87192355e-02 9.99815455e-01 4.31806114e-03 -1.22913941e+01] [ 1.20886200e-02 -4.54482947e-03 9.99916601e-01 3.40381627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69071405700004 meters Centerline goodness [0,1] 0.9604319004988724 Centerline is valid? [False, True] Translation: X:317.91, Y:-12.29, Z:3.40 [[ 9.99752207e-01 -1.85883323e-02 -1.22473999e-02 3.17909481e+02] [ 1.86380876e-02 9.99818450e-01 3.96097696e-03 -1.22900412e+01] [ 1.21715484e-02 -4.18826357e-03 9.99917152e-01 3.40423496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.720714057 meters Centerline goodness [0,1] 0.9680331036991565 Centerline is valid? [True, True] Translation: X:317.94, Y:-12.28, Z:3.41 [[ 9.99794669e-01 -1.64267001e-02 -1.18652563e-02 3.17940933e+02] [ 1.64374458e-02 9.99864569e-01 8.08683963e-04 -1.22778206e+01] [ 1.18503654e-02 -1.00355242e-03 9.99929278e-01 3.40719273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.750714057 meters Centerline goodness [0,1] 0.9675039282217112 Centerline is valid? [True, True] Translation: X:317.97, Y:-12.28, Z:3.41 [[ 9.99818094e-01 -1.48245079e-02 -1.20005330e-02 3.17970150e+02] [ 1.48353835e-02 9.99889615e-01 8.17743523e-04 -1.22803564e+01] [ 1.19870857e-02 -9.95627280e-04 9.99927657e-01 3.40786047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.780714057 meters Centerline goodness [0,1] 0.966833756780883 Centerline is valid? [True, True] Translation: X:318.00, Y:-12.28, Z:3.41 [[ 9.99839019e-01 -1.32285070e-02 -1.21219843e-02 3.18000644e+02] [ 1.32394810e-02 9.99912013e-01 8.25491743e-04 -1.22791245e+01] [ 1.21099977e-02 -9.85847635e-04 9.99926185e-01 3.40795148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.810714057 meters Centerline goodness [0,1] 0.9685350638667367 Centerline is valid? [True, True] Translation: X:318.03, Y:-12.28, Z:3.41 [[ 9.99850602e-01 -1.19324290e-02 -1.25056714e-02 3.18030067e+02] [ 1.19440019e-02 9.99928306e-01 8.51129046e-04 -1.22791583e+01] [ 1.24946188e-02 -1.00036965e-03 9.99921439e-01 3.40794733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.840714057 meters Centerline goodness [0,1] 0.971165517715228 Centerline is valid? [True, True] Translation: X:318.06, Y:-12.28, Z:3.41 [[ 9.99886676e-01 -9.24974334e-03 -1.18775983e-02 3.18060652e+02] [ 9.25999179e-03 9.99956799e-01 8.08132372e-04 -1.22778137e+01] [ 1.18696102e-02 -9.18027254e-04 9.99929132e-01 3.40806642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.870714057 meters Centerline goodness [0,1] 0.9707304774347337 Centerline is valid? [True, True] Translation: X:318.09, Y:-12.28, Z:3.41 [[ 9.99890252e-01 -8.50717669e-03 -1.21289850e-02 3.18089929e+02] [ 8.51778358e-03 9.99963384e-01 8.23117596e-04 -1.22786838e+01] [ 1.21215385e-02 -9.26339330e-04 9.99926102e-01 3.40779661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.900714057 meters Centerline goodness [0,1] 0.972169367964971 Centerline is valid? [True, True] Translation: X:318.12, Y:-12.28, Z:3.41 [[ 9.99903164e-01 -6.27959454e-03 -1.24188848e-02 3.18120325e+02] [ 6.29053320e-03 9.99979860e-01 8.41942164e-04 -1.22753243e+01] [ 1.24133477e-02 -9.19982042e-04 9.99922528e-01 3.40787001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.930714057 meters Centerline goodness [0,1] 0.9731890015529369 Centerline is valid? [True, True] Translation: X:318.15, Y:-12.27, Z:3.41 [[ 9.99914421e-01 -5.19520305e-03 -1.20066888e-02 3.18149019e+02] [ 5.20534165e-03 9.99986121e-01 8.13316048e-04 -1.22737613e+01] [ 1.20022968e-02 -8.75745362e-04 9.99927586e-01 3.40823826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.960714057 meters Centerline goodness [0,1] 0.9737760631946358 Centerline is valid? [True, True] Translation: X:318.18, Y:-12.27, Z:3.41 [[ 9.99917472e-01 -2.72516841e-03 -1.25547674e-02 3.18179669e+02] [ 2.73605532e-03 9.99995896e-01 8.50058878e-04 -1.22715695e+01] [ 1.25523993e-02 -8.84339262e-04 9.99920824e-01 3.40881194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.990714057 meters Centerline goodness [0,1] 0.9710839505606641 Centerline is valid? [True, True] Translation: X:318.21, Y:-12.28, Z:3.41 [[ 9.99924602e-01 -1.24232868e-03 -1.22166449e-02 3.18207694e+02] [ 1.25251854e-03 9.99998874e-01 8.26481148e-04 -1.22792372e+01] [ 1.22156044e-02 -8.41720407e-04 9.99925032e-01 3.40788861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.020714057 meters Centerline goodness [0,1] 0.9738509573442307 Centerline is valid? [True, True] Translation: X:318.24, Y:-12.27, Z:3.41 [[ 9.99927686e-01 2.52689804e-03 -1.17574792e-02 3.18238425e+02] [-2.51772364e-03 9.99996514e-01 7.95039940e-04 -1.22679479e+01] [ 1.17594472e-02 -7.65380364e-04 9.99930562e-01 3.40944939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.050714057 meters Centerline goodness [0,1] 0.9756982143269652 Centerline is valid? [True, True] Translation: X:318.27, Y:-12.26, Z:3.41 [[ 9.99908617e-01 6.43466978e-03 -1.18891469e-02 3.18269213e+02] [-6.42556544e-03 9.99979033e-01 8.03808663e-04 -1.22638335e+01] [ 1.18940699e-02 -7.27340718e-04 9.99928999e-01 3.41098425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.080714057 meters Centerline goodness [0,1] 0.9770584973662323 Centerline is valid? [True, True] Translation: X:318.30, Y:-12.26, Z:3.41 [[ 9.99898921e-01 8.27531180e-03 -1.15614291e-02 3.18299639e+02] [-8.26683060e-03 9.99965524e-01 7.81175218e-04 -1.22604306e+01] [ 1.15674950e-02 -6.85519882e-04 9.99932859e-01 3.41201845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.110714057 meters Centerline goodness [0,1] 0.9756652051870925 Centerline is valid? [True, True] Translation: X:318.33, Y:-12.26, Z:3.41 [[ 9.99885092e-01 9.97720649e-03 -1.14131083e-02 3.18328370e+02] [-9.96906046e-03 9.99950011e-01 7.70413035e-04 -1.22576398e+01] [ 1.14202243e-02 -6.56546541e-04 9.99934572e-01 3.41302227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.140714057 meters Centerline goodness [0,1] 0.9758313773790988 Centerline is valid? [True, True] Translation: X:318.36, Y:-12.26, Z:3.41 [[ 9.99887406e-01 1.06041772e-02 -1.06173093e-02 3.18355763e+02] [-1.05971719e-02 9.99943592e-01 7.15844853e-04 -1.22626074e+01] [ 1.06243013e-02 -6.03250803e-04 9.99943379e-01 3.41315242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.170714057 meters Centerline goodness [0,1] 0.974902307406029 Centerline is valid? [True, True] Translation: X:318.38, Y:-12.26, Z:3.41 [[ 9.99909151e-01 8.92784946e-03 -1.00987201e-02 3.18384880e+02] [-8.92143266e-03 9.99959972e-01 6.80279030e-04 -1.22631578e+01] [ 1.01043893e-02 -5.90122175e-04 9.99948775e-01 3.41498105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.200714057 meters Centerline goodness [0,1] 0.9772034706552839 Centerline is valid? [True, True] Translation: X:318.41, Y:-12.26, Z:3.42 [[ 9.99920067e-01 7.64880457e-03 -1.00675145e-02 3.18413932e+02] [-7.64236924e-03 9.99970567e-01 6.77533691e-04 -1.22604420e+01] [ 1.00724005e-02 -6.00539871e-04 9.99949092e-01 3.41598393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.230714057 meters Centerline goodness [0,1] 0.9765944041257322 Centerline is valid? [True, True] Translation: X:318.44, Y:-12.26, Z:3.42 [[ 9.99935037e-01 3.04986475e-03 -1.09826833e-02 3.18444244e+02] [-3.04193276e-03 9.99995100e-01 7.38859745e-04 -1.22604407e+01] [ 1.09848829e-02 -7.05403162e-04 9.99939416e-01 3.41580938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26071405700003 meters Centerline goodness [0,1] 0.973091976516634 Centerline is valid? [True, True] Translation: X:318.47, Y:-12.27, Z:3.41 [[ 9.99939485e-01 5.59386762e-04 -1.09869930e-02 3.18472230e+02] [-5.51303650e-04 9.99999575e-01 7.38713236e-04 -1.22721680e+01] [ 1.09874015e-02 -7.32611363e-04 9.99939368e-01 3.41447397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.290714057 meters Centerline goodness [0,1] 0.974831785057391 Centerline is valid? [True, True] Translation: X:318.50, Y:-12.27, Z:3.41 [[ 9.99904810e-01 -5.87347991e-03 -1.24849069e-02 3.18501994e+02] [ 5.88441237e-03 9.99982335e-01 8.39099124e-04 -1.22726855e+01] [ 1.24797579e-02 -9.12485590e-04 9.99921708e-01 3.41462073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32071405700003 meters Centerline goodness [0,1] 0.9736294564582115 Centerline is valid? [True, True] Translation: X:318.53, Y:-12.28, Z:3.41 [[ 9.99808129e-01 -1.29245125e-02 -1.47194227e-02 3.18532234e+02] [ 1.29404675e-02 9.99915779e-01 9.89212313e-04 -1.22758816e+01] [ 1.47053979e-02 -1.17949872e-03 9.99891174e-01 3.41327111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.350714057 meters Centerline goodness [0,1] 0.9729065768231908 Centerline is valid? [True, True] Translation: X:318.56, Y:-12.28, Z:3.41 [[ 9.99760167e-01 -1.57193381e-02 -1.52482756e-02 3.18561966e+02] [ 1.57367800e-02 9.99875644e-01 1.02454109e-03 -1.22797921e+01] [ 1.52302743e-02 -1.26425413e-03 9.99883213e-01 3.41363138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38071405700003 meters Centerline goodness [0,1] 0.9715033168270578 Centerline is valid? [True, True] Translation: X:318.59, Y:-12.28, Z:3.41 [[ 9.99690477e-01 -1.96618449e-02 -1.52434157e-02 3.18592328e+02] [ 1.96797299e-02 9.99805811e-01 1.02416904e-03 -1.22801919e+01] [ 1.52203185e-02 -1.32383834e-03 9.99883288e-01 3.41489233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.410714057 meters Centerline goodness [0,1] 0.9658409814572018 Centerline is valid? [True, True] Translation: X:318.62, Y:-12.29, Z:3.41 [[ 9.99651755e-01 -2.14867509e-02 -1.53195297e-02 3.18621159e+02] [ 2.15050211e-02 9.99768211e-01 1.02885111e-03 -1.22851641e+01] [ 1.52938721e-02 -1.35793962e-03 9.99882120e-01 3.41377647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44071405700004 meters Centerline goodness [0,1] 0.9606539663150971 Centerline is valid? [True, True] Translation: X:318.65, Y:-12.29, Z:3.41 [[ 9.99648976e-01 -2.19473888e-02 -1.48403567e-02 3.18650922e+02] [ 2.19645826e-02 9.99758253e-01 9.96569394e-04 -1.22877259e+01] [ 1.48148970e-02 -1.32218182e-03 9.99889379e-01 3.41390591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.470714057 meters Centerline goodness [0,1] 0.9590478206666196 Centerline is valid? [True, True] Translation: X:318.68, Y:-12.29, Z:3.42 [[ 9.99712408e-01 -1.96505904e-02 -1.37461082e-02 3.18681281e+02] [ 1.96651263e-02 9.99806197e-01 9.23073822e-04 -1.22855386e+01] [ 1.37253052e-02 -1.19312731e-03 9.99905092e-01 3.41592633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.500714057 meters Centerline goodness [0,1] 0.9655864233955673 Centerline is valid? [True, True] Translation: X:318.71, Y:-12.28, Z:3.42 [[ 9.99733479e-01 -1.85483287e-02 -1.37451823e-02 3.18711869e+02] [ 1.85627591e-02 9.99827271e-01 9.23007827e-04 -1.22811636e+01] [ 1.37256878e-02 -1.17791033e-03 9.99905105e-01 3.41792597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.530714057 meters Centerline goodness [0,1] 0.9648887318968562 Centerline is valid? [True, True] Translation: X:318.74, Y:-12.28, Z:3.42 [[ 9.99770846e-01 -1.71515559e-02 -1.28093741e-02 3.18742136e+02] [ 1.71639744e-02 9.99852318e-01 8.60167026e-04 -1.22804524e+01] [ 1.27927292e-02 -1.07982968e-03 9.99917587e-01 3.41833218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.560714057 meters Centerline goodness [0,1] 0.9650478990799582 Centerline is valid? [True, True] Translation: X:318.77, Y:-12.28, Z:3.42 [[ 9.99821563e-01 -1.41341603e-02 -1.25326319e-02 3.18772020e+02] [ 1.41458108e-02 9.99899589e-01 8.41452238e-04 -1.22765029e+01] [ 1.25194802e-02 -1.01858633e-03 9.99921109e-01 3.41942471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.590714057 meters Centerline goodness [0,1] 0.9665219351318006 Centerline is valid? [True, True] Translation: X:318.80, Y:-12.27, Z:3.42 [[ 9.99824371e-01 -1.31747330e-02 -1.33287031e-02 3.18802453e+02] [ 1.31878231e-02 9.99912637e-01 8.94680744e-04 -1.22726110e+01] [ 1.33157514e-02 -1.07030019e-03 9.99910769e-01 3.41896083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.620714057 meters Centerline goodness [0,1] 0.9680455606919888 Centerline is valid? [True, True] Translation: X:318.83, Y:-12.27, Z:3.42 [[ 9.99823978e-01 -1.08058797e-02 -1.53377600e-02 3.18832723e+02] [ 1.08229328e-02 9.99940901e-01 1.02926772e-03 -1.22689814e+01] [ 1.53257314e-02 -1.19508609e-03 9.99881840e-01 3.41640576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.650714057 meters Centerline goodness [0,1] 0.9678628560513812 Centerline is valid? [True, True] Translation: X:318.86, Y:-12.27, Z:3.42 [[ 9.99813576e-01 -1.03192277e-02 -1.63195267e-02 3.18860220e+02] [ 1.03384504e-02 9.99945958e-01 1.09396875e-03 -1.22698709e+01] [ 1.63073559e-02 -1.26248343e-03 9.99866229e-01 3.41537889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.680714057 meters Centerline goodness [0,1] 0.9720179200306653 Centerline is valid? [True, True] Translation: X:318.89, Y:-12.26, Z:3.42 [[ 9.99802038e-01 -9.08385106e-03 -1.77022081e-02 3.18890343e+02] [ 9.10624003e-03 9.99957836e-01 1.18455826e-03 -1.22589199e+01] [ 1.76907014e-02 -1.34552432e-03 9.99842602e-01 3.41677039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.710714057 meters Centerline goodness [0,1] 0.9714155097326821 Centerline is valid? [True, True] Translation: X:318.92, Y:-12.25, Z:3.42 [[ 9.99796363e-01 -6.72706154e-03 -1.90257408e-02 3.18920854e+02] [ 6.75248692e-03 9.99976392e-01 1.27244107e-03 -1.22543518e+01] [ 1.90167318e-02 -1.40065302e-03 9.99818185e-01 3.41746453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.740714057 meters Centerline goodness [0,1] 0.9722429344558028 Centerline is valid? [True, True] Translation: X:318.95, Y:-12.25, Z:3.42 [[ 9.99813176e-01 -4.95385686e-03 -1.86834749e-02 3.18950826e+02] [ 4.97806138e-03 9.99986829e-01 1.24921854e-03 -1.22545601e+01] [ 1.86770403e-02 -1.34199264e-03 9.99824668e-01 3.41756698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.770714057 meters Centerline goodness [0,1] 0.9738882581704872 Centerline is valid? [True, True] Translation: X:318.98, Y:-12.25, Z:3.42 [[ 9.99828513e-01 -1.28032837e-03 -1.84744384e-02 3.18981467e+02] [ 1.30336718e-03 9.99998388e-01 1.23507748e-03 -1.22503666e+01] [ 1.84728273e-02 -1.25894466e-03 9.99828570e-01 3.41940453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.800714057 meters Centerline goodness [0,1] 0.9729684068254772 Centerline is valid? [True, True] Translation: X:319.01, Y:-12.25, Z:3.42 [[ 9.99850144e-01 8.91909793e-04 -1.72885661e-02 3.19010142e+02] [-8.72066244e-04 9.99998952e-01 1.15528947e-03 -1.22510110e+01] [ 1.72895784e-02 -1.14003957e-03 9.99849874e-01 3.41930847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.830714057 meters Centerline goodness [0,1] 0.9729124530482519 Centerline is valid? [True, True] Translation: X:319.04, Y:-12.25, Z:3.42 [[ 9.99857585e-01 4.65738349e-03 -1.62209395e-02 3.19040896e+02] [-4.64041122e-03 9.99988646e-01 1.08380035e-03 -1.22470110e+01] [ 1.62258030e-02 -1.00837417e-03 9.99867845e-01 3.42048608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.860714057 meters Centerline goodness [0,1] 0.9739942424462346 Centerline is valid? [True, True] Translation: X:319.07, Y:-12.25, Z:3.42 [[ 9.99853583e-01 6.16782903e-03 -1.59615182e-02 3.19069822e+02] [-6.15160192e-03 9.99980511e-01 1.06553780e-03 -1.22462712e+01] [ 1.59677792e-02 -9.67192886e-04 9.99872039e-01 3.42124572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.890714057 meters Centerline goodness [0,1] 0.9735479322165763 Centerline is valid? [True, True] Translation: X:319.10, Y:-12.24, Z:3.42 [[ 9.99850631e-01 8.69036718e-03 -1.49396524e-02 3.19099860e+02] [-8.67643818e-03 9.99961862e-01 9.96914387e-04 -1.22441356e+01] [ 1.49477461e-02 -8.67142509e-04 9.99887900e-01 3.42236590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.920714057 meters Centerline goodness [0,1] 0.9747654008849127 Centerline is valid? [True, True] Translation: X:319.13, Y:-12.24, Z:3.42 [[ 9.99844551e-01 9.61861178e-03 -1.47768737e-02 3.19128517e+02] [-9.60509874e-03 9.99953385e-01 9.85172135e-04 -1.22449503e+01] [ 1.47856609e-02 -8.43085659e-04 9.99890331e-01 3.42289161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.950714057 meters Centerline goodness [0,1] 0.9728879678166524 Centerline is valid? [True, True] Translation: X:319.16, Y:-12.25, Z:3.42 [[ 9.99835939e-01 8.78318626e-03 -1.58414463e-02 3.19155978e+02] [-8.76757255e-03 9.99961008e-01 1.05480548e-03 -1.22461380e+01] [ 1.58500932e-02 -9.15741399e-04 9.99873960e-01 3.42244792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.980714057 meters Centerline goodness [0,1] 0.972410938222904 Centerline is valid? [True, True] Translation: X:319.18, Y:-12.25, Z:3.42 [[ 9.99837752e-01 8.18164445e-03 -1.60477762e-02 3.19183616e+02] [-8.16556627e-03 9.99966092e-01 1.06716337e-03 -1.22500276e+01] [ 1.60559632e-02 -9.35951047e-04 9.99870657e-01 3.42142038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01071405700003 meters Centerline goodness [0,1] 0.9712863799370594 Centerline is valid? [True, True] Translation: X:319.21, Y:-12.26, Z:3.42 [[ 9.99846617e-01 5.60241285e-03 -1.65938570e-02 3.19214063e+02] [-5.58487211e-03 9.99983796e-01 1.10321479e-03 -1.22550134e+01] [ 1.65997687e-02 -1.01037101e-03 9.99861704e-01 3.41980808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.040714057 meters Centerline goodness [0,1] 0.9714160711681493 Centerline is valid? [True, True] Translation: X:319.24, Y:-12.26, Z:3.42 [[ 9.99843944e-01 3.99701534e-03 -1.72078667e-02 3.19243669e+02] [-3.97792373e-03 9.99991434e-01 1.14355555e-03 -1.22580893e+01] [ 1.72122901e-02 -1.07492551e-03 9.99851280e-01 3.41911503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07071405700003 meters Centerline goodness [0,1] 0.971973777203714 Centerline is valid? [True, True] Translation: X:319.27, Y:-12.26, Z:3.42 [[ 9.99830423e-01 7.01359190e-04 -1.84019984e-02 3.19273792e+02] [-6.78975531e-04 9.99999022e-01 1.22259064e-03 -1.22623335e+01] [ 1.84028379e-02 -1.20988881e-03 9.99829921e-01 3.41717475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.100714057 meters Centerline goodness [0,1] 0.9698565993561604 Centerline is valid? [True, True] Translation: X:319.30, Y:-12.27, Z:3.42 [[ 9.99817852e-01 -5.28569017e-04 -1.90783357e-02 3.19303184e+02] [ 5.52840413e-04 9.99999045e-01 1.26694503e-03 -1.22657795e+01] [ 1.90776478e-02 -1.27726153e-03 9.99817189e-01 3.41704300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13071405700003 meters Centerline goodness [0,1] 0.968799473902136 Centerline is valid? [True, True] Translation: X:319.33, Y:-12.27, Z:3.42 [[ 9.99814075e-01 -2.15101552e-03 -1.91621544e-02 3.19332014e+02] [ 2.17577990e-03 9.99996824e-01 1.27160440e-03 -1.22703859e+01] [ 1.91593583e-02 -1.31306061e-03 9.99815580e-01 3.41716778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.160714057 meters Centerline goodness [0,1] 0.9716381179795814 Centerline is valid? [True, True] Translation: X:319.36, Y:-12.27, Z:3.42 [[ 9.99811992e-01 -3.07202553e-03 -1.91453327e-02 3.19360664e+02] [ 3.09688494e-03 9.99994400e-01 1.26894537e-03 -1.22670749e+01] [ 1.91413272e-02 -1.32799769e-03 9.99815906e-01 3.41889170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19071405700004 meters Centerline goodness [0,1] 0.9678057114962167 Centerline is valid? [True, True] Translation: X:319.39, Y:-12.27, Z:3.42 [[ 9.99824842e-01 -3.68890376e-03 -1.83487481e-02 3.19388192e+02] [ 3.71180036e-03 9.99992374e-01 1.21395671e-03 -1.22721729e+01] [ 1.83441300e-02 -1.28185097e-03 9.99830911e-01 3.41879496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.220714057 meters Centerline goodness [0,1] 0.969275447202089 Centerline is valid? [True, True] Translation: X:319.42, Y:-12.27, Z:3.42 [[ 9.99824570e-01 -4.06509944e-03 -1.82839696e-02 3.19415767e+02] [ 4.08781475e-03 9.99990919e-01 1.20515972e-03 -1.22717969e+01] [ 1.82789044e-02 -1.27968978e-03 9.99832108e-01 3.42003555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.250714057 meters Centerline goodness [0,1] 0.9677072383699611 Centerline is valid? [True, True] Translation: X:319.44, Y:-12.27, Z:3.42 [[ 9.99843149e-01 -4.51424766e-03 -1.71259529e-02 3.19443643e+02] [ 4.53416376e-03 9.99989089e-01 1.12426858e-03 -1.22728874e+01] [ 1.71206908e-02 -1.20174412e-03 9.99852708e-01 3.42097771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.280714057 meters Centerline goodness [0,1] 0.9677309119312634 Centerline is valid? [True, True] Translation: X:319.47, Y:-12.28, Z:3.42 [[ 9.99865636e-01 -4.57953566e-03 -1.57396919e-02 3.19472493e+02] [ 4.59630720e-03 9.99988907e-01 1.02954772e-03 -1.22754577e+01] [ 1.57348024e-02 -1.10175384e-03 9.99875593e-01 3.42206128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.310714057 meters Centerline goodness [0,1] 0.969142578363215 Centerline is valid? [True, True] Translation: X:319.50, Y:-12.27, Z:3.42 [[ 9.99891021e-01 -4.79103463e-03 -1.39639342e-02 3.19501542e+02] [ 4.80421029e-03 9.99988046e-01 9.10157754e-04 -1.22733377e+01] [ 1.39594067e-02 -9.77144242e-04 9.99902085e-01 3.42446716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.340714057 meters Centerline goodness [0,1] 0.9676210536628377 Centerline is valid? [True, True] Translation: X:319.53, Y:-12.28, Z:3.42 [[ 9.99880283e-01 -5.11362230e-03 -1.46037707e-02 3.19528619e+02] [ 5.12803516e-03 9.99986401e-01 9.49651388e-04 -1.22793611e+01] [ 1.45987159e-02 -1.02442635e-03 9.99892908e-01 3.42312532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.370714057 meters Centerline goodness [0,1] 0.9701499829009722 Centerline is valid? [True, True] Translation: X:319.56, Y:-12.28, Z:3.42 [[ 9.99870517e-01 -5.46319442e-03 -1.51361236e-02 3.19557636e+02] [ 5.47866718e-03 9.99984511e-01 9.80964076e-04 -1.22750214e+01] [ 1.51305300e-02 -1.06376284e-03 9.99884961e-01 3.42323857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.400714057 meters Centerline goodness [0,1] 0.9691351961891667 Centerline is valid? [True, True] Translation: X:319.59, Y:-12.28, Z:3.42 [[ 9.99818890e-01 -7.53807166e-03 -1.74746937e-02 3.19586793e+02] [ 7.55899668e-03 9.99970790e-01 1.13170484e-03 -1.22815245e+01] [ 1.74656524e-02 -1.26359103e-03 9.99846665e-01 3.41937691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.430714057 meters Centerline goodness [0,1] 0.9687407844293718 Centerline is valid? [True, True] Translation: X:319.61, Y:-12.28, Z:3.42 [[ 9.99793865e-01 -8.26891824e-03 -1.85432480e-02 3.19614999e+02] [ 8.29258184e-03 9.99964896e-01 1.19959966e-03 -1.22837419e+01] [ 1.85326776e-02 -1.35312378e-03 9.99827340e-01 3.41841627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.460714057 meters Centerline goodness [0,1] 0.9679813816756492 Centerline is valid? [True, True] Translation: X:319.64, Y:-12.28, Z:3.42 [[ 9.99733807e-01 -9.94344404e-03 -2.08192789e-02 3.19644763e+02] [ 9.97362356e-03 9.99949356e-01 1.34626119e-03 -1.22845425e+01] [ 2.08048381e-02 -1.55354647e-03 9.99782349e-01 3.41649569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.490714057 meters Centerline goodness [0,1] 0.9618389791069635 Centerline is valid? [True, True] Translation: X:319.67, Y:-12.29, Z:3.41 [[ 9.99727077e-01 -1.02638106e-02 -2.09863439e-02 3.19671665e+02] [ 1.02945079e-02 9.99946092e-01 1.35521142e-03 -1.22918478e+01] [ 2.09713029e-02 -1.57088563e-03 9.99778844e-01 3.41478061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.520714057 meters Centerline goodness [0,1] 0.9415803331938873 Centerline is valid? [True, False] Translation: X:319.67, Y:-12.29, Z:3.42 [[ 9.99727492e-01 -1.04026886e-02 -2.08980063e-02 3.19671371e+02] [ 1.04271887e-02 9.99945070e-01 1.06373861e-03 -1.22905765e+01] [ 2.08857926e-02 -1.28135619e-03 9.99781047e-01 3.41500019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.550714057 meters Centerline goodness [0,1] 0.9415803331938873 Centerline is valid? [False, False] Translation: X:319.67, Y:-12.29, Z:3.42 [[ 9.99727492e-01 -1.04026886e-02 -2.08980063e-02 3.19671371e+02] [ 1.04271887e-02 9.99945070e-01 1.06373861e-03 -1.22905765e+01] [ 2.08857926e-02 -1.28135619e-03 9.99781047e-01 3.41500019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.580714057 meters Centerline goodness [0,1] 0.9620110084529192 Centerline is valid? [False, True] Translation: X:319.67, Y:-12.29, Z:3.42 [[ 9.99727079e-01 -1.03821437e-02 -2.09279478e-02 3.19671390e+02] [ 1.04025222e-02 9.99945518e-01 8.65115918e-04 -1.22896291e+01] [ 2.09178259e-02 -1.08258325e-03 9.99780612e-01 3.41518273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.610714057 meters Centerline goodness [0,1] 0.9663300492610838 Centerline is valid? [True, True] Translation: X:319.70, Y:-12.29, Z:3.42 [[ 9.99754628e-01 -9.82859636e-03 -1.98515301e-02 3.19700651e+02] [ 9.85608955e-03 9.99950599e-01 1.28757447e-03 -1.22883564e+01] [ 1.98378943e-02 -1.48291699e-03 9.99802110e-01 3.41708694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.640714057 meters Centerline goodness [0,1] 0.9580805839128076 Centerline is valid? [True, True] Translation: X:319.73, Y:-12.29, Z:3.42 [[ 9.99774659e-01 -1.02350021e-02 -1.85977538e-02 3.19727002e+02] [ 1.02591566e-02 9.99946649e-01 1.20384097e-03 -1.22939282e+01] [ 1.85844402e-02 -1.39436696e-03 9.99826322e-01 3.41671385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.670714057 meters Centerline goodness [0,1] 0.9627596731318303 Centerline is valid? [True, True] Translation: X:319.76, Y:-12.29, Z:3.42 [[ 9.99786989e-01 -1.05978174e-02 -1.77105123e-02 3.19755106e+02] [ 1.06197046e-02 9.99942957e-01 1.14223779e-03 -1.22920315e+01] [ 1.76973968e-02 -1.33007489e-03 9.99842504e-01 3.41878267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.700714057 meters Centerline goodness [0,1] 0.9535313694071244 Centerline is valid? [True, True] Translation: X:319.78, Y:-12.30, Z:3.42 [[ 9.99782488e-01 -1.09682304e-02 -1.77390646e-02 3.19782891e+02] [ 1.09902104e-02 9.99938954e-01 1.14205854e-03 -1.22992218e+01] [ 1.77254553e-02 -1.33676618e-03 9.99841998e-01 3.41780384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.730714057 meters Centerline goodness [0,1] 0.9593505949594737 Centerline is valid? [True, True] Translation: X:319.81, Y:-12.30, Z:3.42 [[ 9.99745063e-01 -1.29131233e-02 -1.85219018e-02 3.19813251e+02] [ 1.29374133e-02 9.99915597e-01 1.19218873e-03 -1.22994040e+01] [ 1.85049436e-02 -1.43151030e-03 9.99827744e-01 3.41720599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76071405700003 meters Centerline goodness [0,1] 0.9582463465553236 Centerline is valid? [True, True] Translation: X:319.84, Y:-12.30, Z:3.42 [[ 9.99670619e-01 -1.60475595e-02 -2.00282312e-02 3.19843441e+02] [ 1.60765864e-02 9.99869932e-01 1.28912328e-03 -1.23033284e+01] [ 2.00049389e-02 -1.61068426e-03 9.99798584e-01 3.41685596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.790714057 meters Centerline goodness [0,1] 0.9659448818897638 Centerline is valid? [True, True] Translation: X:319.87, Y:-12.30, Z:3.42 [[ 9.99636658e-01 -1.77153626e-02 -2.03154821e-02 3.19873472e+02] [ 1.77455582e-02 9.99841681e-01 1.30701402e-03 -1.22990764e+01] [ 2.02891116e-02 -1.66704870e-03 9.99792765e-01 3.41865370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82071405700003 meters Centerline goodness [0,1] 0.9557682422343524 Centerline is valid? [True, True] Translation: X:319.90, Y:-12.31, Z:3.42 [[ 9.99554703e-01 -2.14321863e-02 -2.07619250e-02 3.19902596e+02] [ 2.14645115e-02 9.99768719e-01 1.33532474e-03 -1.23095532e+01] [ 2.07285042e-02 -1.78037470e-03 9.99783556e-01 3.41781701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.850714057 meters Centerline goodness [0,1] 0.9592631604732627 Centerline is valid? [True, True] Translation: X:319.93, Y:-12.31, Z:3.42 [[ 9.99531246e-01 -2.29059138e-02 -2.03127428e-02 3.19932021e+02] [ 2.29371499e-02 9.99736056e-01 1.30608317e-03 -1.23114430e+01] [ 2.02774644e-02 -1.77138736e-03 9.99792822e-01 3.41868268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88071405700003 meters Centerline goodness [0,1] 0.9565377351548895 Centerline is valid? [True, True] Translation: X:319.96, Y:-12.32, Z:3.42 [[ 9.99478564e-01 -2.50878348e-02 -2.03273477e-02 3.19961353e+02] [ 2.51195563e-02 9.99683600e-01 1.30666716e-03 -1.23169315e+01] [ 2.02881347e-02 -1.81659977e-03 9.99792524e-01 3.41907870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.910714057 meters Centerline goodness [0,1] 0.9400273490916194 Centerline is valid? [True, False] Translation: X:319.96, Y:-12.32, Z:3.42 [[ 9.99482060e-01 -2.48161085e-02 -2.04883308e-02 3.19961905e+02] [ 2.48580921e-02 9.99689375e-01 1.79697882e-03 -1.23179765e+01] [ 2.04373726e-02 -2.30534891e-03 9.99788477e-01 3.41874515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94071405700004 meters Centerline goodness [0,1] 0.958981612446959 Centerline is valid? [False, True] Translation: X:319.96, Y:-12.32, Z:3.42 [[ 9.99487680e-01 -2.48445216e-02 -2.01773987e-02 3.19961174e+02] [ 2.48954494e-02 9.99687468e-01 2.27670550e-03 -1.23195201e+01] [ 2.01145290e-02 -2.77786450e-03 9.99793823e-01 3.41879624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.970714057 meters Centerline goodness [0,1] 0.9393303397110504 Centerline is valid? [True, False] Translation: X:319.96, Y:-12.32, Z:3.42 [[ 9.99495679e-01 -2.46029403e-02 -2.00769151e-02 3.19961097e+02] [ 2.46614338e-02 9.99692292e-01 2.67106591e-03 -1.23203218e+01] [ 2.00050212e-02 -3.16484434e-03 9.99794870e-01 3.41869079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.000714057 meters Centerline goodness [0,1] 0.9507258378799688 Centerline is valid? [False, True] Translation: X:319.96, Y:-12.32, Z:3.42 [[ 9.99505652e-01 -2.43093224e-02 -1.99376296e-02 3.19960953e+02] [ 2.43818037e-02 9.99696937e-01 3.40037555e-03 -1.23222484e+01] [ 1.98489264e-02 -3.88480995e-03 9.99795443e-01 3.41843536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.030714057 meters Centerline goodness [0,1] 0.9577991061616236 Centerline is valid? [True, True] Translation: X:319.99, Y:-12.32, Z:3.42 [[ 9.99490339e-01 -2.44664604e-02 -2.05049746e-02 3.19991513e+02] [ 2.44993259e-02 9.99698931e-01 1.35309913e-03 -1.23201464e+01] [ 2.04656956e-02 -1.85476757e-03 9.99788835e-01 3.42018070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.060714057 meters Centerline goodness [0,1] 0.9569740528688025 Centerline is valid? [True, True] Translation: X:320.02, Y:-12.32, Z:3.42 [[ 9.99474440e-01 -2.46255685e-02 -2.10814092e-02 3.20020762e+02] [ 2.46603378e-02 9.99694920e-01 1.39087269e-03 -1.23245149e+01] [ 2.10407266e-02 -1.91001637e-03 9.99776795e-01 3.41972043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.090714057 meters Centerline goodness [0,1] 0.9619289340101522 Centerline is valid? [True, True] Translation: X:320.05, Y:-12.32, Z:3.42 [[ 9.99466967e-01 -2.47369742e-02 -2.13040807e-02 3.20051492e+02] [ 2.47725050e-02 9.99692126e-01 1.40546352e-03 -1.23236033e+01] [ 2.12627548e-02 -1.93246981e-03 9.99772054e-01 3.42033289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.120714057 meters Centerline goodness [0,1] 0.9638730081498601 Centerline is valid? [True, True] Translation: X:320.08, Y:-12.32, Z:3.42 [[ 9.99465148e-01 -2.47041053e-02 -2.14272258e-02 3.20082375e+02] [ 2.47400406e-02 9.99692919e-01 1.41358760e-03 -1.23246639e+01] [ 2.13857245e-02 -1.94294198e-03 9.99769411e-01 3.41978834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.150714057 meters Centerline goodness [0,1] 0.962063549595264 Centerline is valid? [True, True] Translation: X:320.11, Y:-12.33, Z:3.42 [[ 9.99458127e-01 -2.43923059e-02 -2.21013296e-02 3.20111736e+02] [ 2.44304565e-02 9.99700469e-01 1.45776637e-03 -1.23293956e+01] [ 2.20591513e-02 -1.99692202e-03 9.99754673e-01 3.41944605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.180714057 meters Centerline goodness [0,1] 0.9633450925433722 Centerline is valid? [True, True] Translation: X:320.14, Y:-12.33, Z:3.42 [[ 9.99449396e-01 -2.36249599e-02 -2.32973554e-02 3.20141376e+02] [ 2.36671289e-02 9.99718714e-01 1.53592747e-03 -1.23325848e+01] [ 2.32545160e-02 -2.08646329e-03 9.99727400e-01 3.41839665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.210714057 meters Centerline goodness [0,1] 0.9637045097328013 Centerline is valid? [True, True] Translation: X:320.17, Y:-12.34, Z:3.42 [[ 9.99446374e-01 -2.35681760e-02 -2.34837628e-02 3.20170213e+02] [ 2.36108998e-02 9.99720032e-01 1.54364064e-03 -1.23352284e+01] [ 2.34408073e-02 -2.09725881e-03 9.99723027e-01 3.41885638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.240714057 meters Centerline goodness [0,1] 0.965885170937069 Centerline is valid? [True, True] Translation: X:320.20, Y:-12.34, Z:3.42 [[ 9.99456311e-01 -2.23167302e-02 -2.42702691e-02 3.20198799e+02] [ 2.23619314e-02 9.99748672e-01 1.59256917e-03 -1.23363406e+01] [ 2.42286283e-02 -2.13443340e-03 9.99704165e-01 3.41914097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.270714057 meters Centerline goodness [0,1] 0.9592539938796656 Centerline is valid? [True, True] Translation: X:320.23, Y:-12.34, Z:3.42 [[ 9.99479008e-01 -2.14385959e-02 -2.41267313e-02 3.20226800e+02] [ 2.14829694e-02 9.99767964e-01 1.58146475e-03 -1.23433524e+01] [ 2.40872286e-02 -2.09895465e-03 9.99707657e-01 3.41818388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.300714057 meters Centerline goodness [0,1] 0.9649622354672909 Centerline is valid? [True, True] Translation: X:320.26, Y:-12.34, Z:3.42 [[ 9.99556122e-01 -1.85164159e-02 -2.33388351e-02 3.20257724e+02] [ 1.85571360e-02 9.99826632e-01 1.52934815e-03 -1.23436922e+01] [ 2.33064709e-02 -1.96177124e-03 9.99726443e-01 3.41960227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.330714057 meters Centerline goodness [0,1] 0.9613177060724449 Centerline is valid? [True, True] Translation: X:320.29, Y:-12.35, Z:3.42 [[ 9.99647579e-01 -1.53082110e-02 -2.16881472e-02 3.20286954e+02] [ 1.53426162e-02 9.99881286e-01 1.42084097e-03 -1.23459260e+01] [ 2.16638219e-02 -1.75309315e-03 9.99763775e-01 3.42068322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.360714057 meters Centerline goodness [0,1] 0.9679876578921994 Centerline is valid? [True, True] Translation: X:320.32, Y:-12.34, Z:3.42 [[ 9.99687392e-01 -1.36746802e-02 -2.09313656e-02 3.20316919e+02] [ 1.37063565e-02 9.99905124e-01 1.37062002e-03 -1.23380149e+01] [ 2.09106369e-02 -1.65708431e-03 9.99779975e-01 3.42353634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.390714057 meters Centerline goodness [0,1] 0.9675887796133908 Centerline is valid? [True, True] Translation: X:320.35, Y:-12.34, Z:3.43 [[ 9.99749413e-01 -1.03497439e-02 -1.98492645e-02 3.20345913e+02] [ 1.03775680e-02 9.99945307e-01 1.29927615e-03 -1.23411311e+01] [ 1.98347317e-02 -1.50493766e-03 9.99802140e-01 3.42505758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.420714057 meters Centerline goodness [0,1] 0.9695083555340276 Centerline is valid? [True, True] Translation: X:320.38, Y:-12.34, Z:3.43 [[ 9.99766036e-01 -9.45127159e-03 -1.94562975e-02 3.20375430e+02] [ 9.47777115e-03 9.99954278e-01 1.27024290e-03 -1.23361133e+01] [ 1.94434025e-02 -1.45434804e-03 9.99809901e-01 3.42672931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.450714057 meters Centerline goodness [0,1] 0.9673035066505441 Centerline is valid? [True, True] Translation: X:320.40, Y:-12.34, Z:3.43 [[ 9.99790492e-01 -8.93114453e-03 -1.84175739e-02 3.20402363e+02] [ 8.95475785e-03 9.99959185e-01 1.20003582e-03 -1.23444955e+01] [ 1.84061045e-02 -1.36470932e-03 9.99829662e-01 3.42660221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.480714057 meters Centerline goodness [0,1] 0.9656030338897075 Centerline is valid? [True, True] Translation: X:320.43, Y:-12.35, Z:3.43 [[ 9.99781638e-01 -1.00053079e-02 -1.83458555e-02 3.20431061e+02] [ 1.00288532e-02 9.99948999e-01 1.19185895e-03 -1.23482133e+01] [ 1.83329949e-02 -1.37558658e-03 9.99830990e-01 3.42656968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51071405700003 meters Centerline goodness [0,1] 0.9639228496625273 Centerline is valid? [True, True] Translation: X:320.46, Y:-12.36, Z:3.43 [[ 9.99759535e-01 -1.22819928e-02 -1.81665694e-02 3.20460825e+02] [ 1.23054248e-02 9.99923591e-01 1.17861704e-03 -1.23550325e+01] [ 1.81507055e-02 -1.40188097e-03 9.99834280e-01 3.42616793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.540714057 meters Centerline goodness [0,1] 0.9656043295249549 Centerline is valid? [True, True] Translation: X:320.49, Y:-12.36, Z:3.43 [[ 9.99740412e-01 -1.37289950e-02 -1.81830285e-02 3.20490280e+02] [ 1.37526975e-02 9.99904732e-01 1.17914171e-03 -1.23568876e+01] [ 1.81651078e-02 -1.42890131e-03 9.99833980e-01 3.42655915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57071405700003 meters Centerline goodness [0,1] 0.956934131736527 Centerline is valid? [True, True] Translation: X:320.52, Y:-12.37, Z:3.42 [[ 9.99675969e-01 -1.74609009e-02 -1.85222554e-02 3.20518971e+02] [ 1.74861286e-02 9.99846385e-01 1.20092976e-03 -1.23717745e+01] [ 1.84984408e-02 -1.52442316e-03 9.99827727e-01 3.42399321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.600714057 meters Centerline goodness [0,1] 0.9629266660292571 Centerline is valid? [True, True] Translation: X:320.55, Y:-12.37, Z:3.42 [[ 9.99602853e-01 -2.00121405e-02 -1.98406137e-02 3.20549782e+02] [ 2.00415870e-02 9.99798320e-01 1.28641048e-03 -1.23688626e+01] [ 1.98108684e-02 -1.68353698e-03 9.99802328e-01 3.42401679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63071405700003 meters Centerline goodness [0,1] 0.9661122115361669 Centerline is valid? [True, True] Translation: X:320.58, Y:-12.37, Z:3.42 [[ 9.99564336e-01 -2.13538599e-02 -2.03752373e-02 3.20579529e+02] [ 2.13851813e-02 9.99770439e-01 1.32055441e-03 -1.23687590e+01] [ 2.03423610e-02 -1.75570723e-03 9.99791531e-01 3.42456156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.660714057 meters Centerline goodness [0,1] 0.9654794259285748 Centerline is valid? [True, True] Translation: X:320.61, Y:-12.37, Z:3.42 [[ 9.99556559e-01 -2.17722154e-02 -2.03139578e-02 3.20608828e+02] [ 2.18034197e-02 9.99761411e-01 1.31585902e-03 -1.23721664e+01] [ 2.02804619e-02 -1.75818926e-03 9.99792784e-01 3.42438887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69071405700004 meters Centerline goodness [0,1] 0.966502956322716 Centerline is valid? [True, True] Translation: X:320.64, Y:-12.37, Z:3.42 [[ 9.99577812e-01 -2.11017047e-02 -1.99728971e-02 3.20638061e+02] [ 2.11316963e-02 9.99775866e-01 1.29173445e-03 -1.23747807e+01] [ 1.99411627e-02 -1.71325029e-03 9.99799687e-01 3.42460747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.720714057 meters Centerline goodness [0,1] 0.9593426629726978 Centerline is valid? [True, True] Translation: X:320.67, Y:-12.39, Z:3.42 [[ 9.99627554e-01 -1.83426219e-02 -2.02064791e-02 3.20666949e+02] [ 1.83727372e-02 9.99830354e-01 1.30572978e-03 -1.23850847e+01] [ 2.01791007e-02 -1.67649180e-03 9.99794976e-01 3.42342128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.750714057 meters Centerline goodness [0,1] 0.9596680221635633 Centerline is valid? [True, True] Translation: X:320.70, Y:-12.39, Z:3.42 [[ 9.99666226e-01 -1.61248747e-02 -2.01847695e-02 3.20695512e+02] [ 1.61544589e-02 9.99868659e-01 1.30346504e-03 -1.23861867e+01] [ 2.01611002e-02 -1.62910401e-03 9.99795417e-01 3.42367130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.780714057 meters Centerline goodness [0,1] 0.9666595120555198 Centerline is valid? [True, True] Translation: X:320.73, Y:-12.38, Z:3.43 [[ 9.99698798e-01 -1.35674620e-02 -2.04508626e-02 3.20725529e+02] [ 1.35972836e-02 9.99906682e-01 1.31985605e-03 -1.23806400e+01] [ 2.04310471e-02 -1.59753468e-03 9.99789988e-01 3.42541025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.810714057 meters Centerline goodness [0,1] 0.9705559532331186 Centerline is valid? [True, True] Translation: X:320.76, Y:-12.38, Z:3.43 [[ 9.99768975e-01 -7.32899022e-03 -2.02060119e-02 3.20755909e+02] [ 7.35682615e-03 9.99972088e-01 1.30361642e-03 -1.23751193e+01] [ 2.01958938e-02 -1.45196737e-03 9.99794988e-01 3.42661103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.840714057 meters Centerline goodness [0,1] 0.9722580029578741 Centerline is valid? [True, True] Translation: X:320.79, Y:-12.37, Z:3.43 [[ 9.99818676e-01 1.05657701e-04 -1.90421417e-02 3.20786164e+02] [-8.22822154e-05 9.99999242e-01 1.22834528e-03 -1.23738129e+01] [ 1.90422571e-02 -1.22655572e-03 9.99817927e-01 3.42708190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.870714057 meters Centerline goodness [0,1] 0.9731300619342544 Centerline is valid? [True, True] Translation: X:320.82, Y:-12.37, Z:3.43 [[ 9.99826557e-01 4.63306043e-03 -1.80386128e-02 3.20816580e+02] [-4.61281952e-03 9.99988684e-01 1.16353416e-03 -1.23734871e+01] [ 1.80437994e-02 -1.08012349e-03 9.99836614e-01 3.42790487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.900714057 meters Centerline goodness [0,1] 0.9745282341967425 Centerline is valid? [True, True] Translation: X:320.85, Y:-12.37, Z:3.43 [[ 9.99745711e-01 1.49060289e-02 -1.69210832e-02 3.20846288e+02] [-1.48896897e-02 9.99888547e-01 1.09119129e-03 -1.23698102e+01] [ 1.69354626e-02 -8.38964134e-04 9.99856233e-01 3.42874028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.930714057 meters Centerline goodness [0,1] 0.9772809231878832 Centerline is valid? [True, True] Translation: X:320.88, Y:-12.36, Z:3.43 [[ 9.99659399e-01 1.98950518e-02 -1.68900163e-02 3.20877195e+02] [-1.98794875e-02 9.99801790e-01 1.08892036e-03 -1.23623035e+01] [ 1.69083327e-02 -7.52784608e-04 9.99856761e-01 3.43035808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.960714057 meters Centerline goodness [0,1] 0.9798822256940272 Centerline is valid? [True, True] Translation: X:320.91, Y:-12.36, Z:3.43 [[ 9.99403920e-01 3.00299751e-02 -1.70295328e-02 3.20906177e+02] [-3.00156313e-02 9.99548827e-01 1.09731433e-03 -1.23599832e+01] [ 1.70548019e-02 -5.85508062e-04 9.99854385e-01 3.43087505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.990714057 meters Centerline goodness [0,1] 0.9801152737752161 Centerline is valid? [True, True] Translation: X:320.94, Y:-12.36, Z:3.43 [[ 9.99320039e-01 3.29572727e-02 -1.65310900e-02 3.20935140e+02] [-3.29441729e-02 9.99456627e-01 1.06420116e-03 -1.23587865e+01] [ 1.65571806e-02 -5.18874461e-04 9.99862786e-01 3.43148237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.020714057 meters Centerline goodness [0,1] 0.9806242496998799 Centerline is valid? [True, True] Translation: X:320.96, Y:-12.36, Z:3.43 [[ 9.99218943e-01 3.60951853e-02 -1.60823214e-02 3.20963244e+02] [-3.60832106e-02 9.99348254e-01 1.03423063e-03 -1.23607541e+01] [ 1.61091705e-02 -4.53121048e-04 9.99870136e-01 3.43067388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.050714057 meters Centerline goodness [0,1] 0.9804342064046649 Centerline is valid? [True, True] Translation: X:320.99, Y:-12.36, Z:3.43 [[ 9.99239551e-01 3.55418882e-02 -1.60341555e-02 3.20991341e+02] [-3.55299663e-02 9.99368083e-01 1.02787415e-03 -1.23611804e+01] [ 1.60605559e-02 -4.57399497e-04 9.99870916e-01 3.43108722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.080714057 meters Centerline goodness [0,1] 0.982143717769531 Centerline is valid? [True, True] Translation: X:321.02, Y:-12.37, Z:3.43 [[ 9.99320049e-01 3.27184823e-02 -1.69982735e-02 3.21020338e+02] [-3.27047145e-02 9.99464466e-01 1.08738094e-03 -1.23661274e+01] [ 1.70247478e-02 -5.30717894e-04 9.99854928e-01 3.43022281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.110714057 meters Centerline goodness [0,1] 0.9801316548145301 Centerline is valid? [True, True] Translation: X:321.05, Y:-12.38, Z:3.43 [[ 9.99399619e-01 2.99965595e-02 -1.73380724e-02 3.21048290e+02] [-2.99818425e-02 9.99549829e-01 1.10819451e-03 -1.23761165e+01] [ 1.73635093e-02 -5.87701819e-04 9.99849070e-01 3.42800501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.140714057 meters Centerline goodness [0,1] 0.979314941324891 Centerline is valid? [True, True] Translation: X:321.08, Y:-12.39, Z:3.43 [[ 9.99536721e-01 2.42993161e-02 -1.83272114e-02 3.21077409e+02] [-2.42819265e-02 9.99704465e-01 1.17080687e-03 -1.23868437e+01] [ 1.83502448e-02 -7.25244459e-04 9.99831357e-01 3.42676229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.170714057 meters Centerline goodness [0,1] 0.9804763950546566 Centerline is valid? [True, True] Translation: X:321.11, Y:-12.39, Z:3.43 [[ 9.99618666e-01 2.09021701e-02 -1.80449888e-02 3.21106672e+02] [-2.08847735e-02 9.99781226e-01 1.15199990e-03 -1.23878219e+01] [ 1.80651203e-02 -7.74695096e-04 9.99836512e-01 3.42866670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.200714057 meters Centerline goodness [0,1] 0.9788176756308494 Centerline is valid? [True, True] Translation: X:321.14, Y:-12.40, Z:3.43 [[ 9.99738593e-01 1.45187352e-02 -1.76621625e-02 3.21135302e+02] [-1.45010799e-02 9.99894218e-01 1.12727991e-03 -1.23972238e+01] [ 1.76766608e-02 -8.70864804e-04 9.99843376e-01 3.43010773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.230714057 meters Centerline goodness [0,1] 0.9777435776015153 Centerline is valid? [True, True] Translation: X:321.17, Y:-12.41, Z:3.43 [[ 9.99810401e-01 9.60631569e-03 -1.69375556e-02 3.21165182e+02] [-9.58937789e-03 9.99953437e-01 1.08094857e-03 -1.24054077e+01] [ 1.69471509e-02 -9.18323001e-04 9.99855965e-01 3.43169267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26071405700003 meters Centerline goodness [0,1] 0.9787299484218994 Centerline is valid? [True, True] Translation: X:321.19, Y:-12.41, Z:3.43 [[ 9.99847699e-01 6.87056465e-03 -1.60428647e-02 3.21194022e+02] [-6.85502762e-03 9.99975980e-01 1.02326036e-03 -1.24086034e+01] [ 1.60495097e-02 -9.13130233e-04 9.99870781e-01 3.43250044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.290714057 meters Centerline goodness [0,1] 0.9756349467161166 Centerline is valid? [True, True] Translation: X:321.22, Y:-12.42, Z:3.43 [[ 9.99882291e-01 4.26870141e-03 -1.47371146e-02 3.21221726e+02] [-4.25532368e-03 9.99990505e-01 9.38996186e-04 -1.24184277e+01] [ 1.47409830e-02 -8.76174465e-04 9.99890962e-01 3.43304812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32071405700003 meters Centerline goodness [0,1] 0.9744510978043912 Centerline is valid? [True, True] Translation: X:321.25, Y:-12.42, Z:3.43 [[ 9.99890598e-01 2.53994979e-03 -1.45719210e-02 3.21250375e+02] [-2.52670317e-03 9.99996378e-01 9.27389593e-04 -1.24235963e+01] [ 1.45742238e-02 -8.90469216e-04 9.99893394e-01 3.43286252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.350714057 meters Centerline goodness [0,1] 0.976322595814719 Centerline is valid? [True, True] Translation: X:321.28, Y:-12.43, Z:3.43 [[ 9.99893100e-01 1.76675861e-03 -1.45143445e-02 3.21278454e+02] [-1.75355708e-03 9.99998037e-01 9.22226601e-04 -1.24279496e+01] [ 1.45159453e-02 -8.96676284e-04 9.99894236e-01 3.43294756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38071405700003 meters Centerline goodness [0,1] 0.9748651817116061 Centerline is valid? [True, True] Translation: X:321.31, Y:-12.43, Z:3.43 [[ 9.99884846e-01 7.04999209e-04 -1.51590952e-02 3.21306695e+02] [-6.90500545e-04 9.99999299e-01 9.61646056e-04 -1.24317349e+01] [ 1.51597625e-02 -9.51067955e-04 9.99884632e-01 3.43310207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.410714057 meters Centerline goodness [0,1] 0.9736133548734518 Centerline is valid? [True, True] Translation: X:321.33, Y:-12.44, Z:3.43 [[ 9.99887126e-01 2.63942937e-04 -1.50221549e-02 3.21333866e+02] [-2.49674627e-04 9.99999516e-01 9.51685253e-04 -1.24357143e+01] [ 1.50223989e-02 -9.47827182e-04 9.99886708e-01 3.43272440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44071405700004 meters Centerline goodness [0,1] 0.9732459540084091 Centerline is valid? [True, True] Translation: X:321.36, Y:-12.44, Z:3.43 [[ 9.99885213e-01 1.16861509e-04 -1.51508289e-02 3.21362425e+02] [-1.02348000e-04 9.99999535e-01 9.58706771e-04 -1.24393093e+01] [ 1.51509339e-02 -9.57046066e-04 9.99884760e-01 3.43229937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.470714057 meters Centerline goodness [0,1] 0.9732459540084091 Centerline is valid? [True, True] Translation: X:321.39, Y:-12.44, Z:3.43 [[ 9.99885218e-01 1.54391094e-05 -1.51509137e-02 3.21389892e+02] [-9.34266276e-07 9.99999542e-01 9.57364256e-04 -1.24409485e+01] [ 1.51509216e-02 -9.57240213e-04 9.99884760e-01 3.43245795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.500714057 meters Centerline goodness [0,1] 0.9729906695040105 Centerline is valid? [True, True] Translation: X:321.42, Y:-12.44, Z:3.43 [[ 9.99878271e-01 5.43135222e-04 -1.55931913e-02 3.21417312e+02] [-5.27857319e-04 9.99999377e-01 9.83879407e-04 -1.24443559e+01] [ 1.55937159e-02 -9.75528660e-04 9.99877935e-01 3.43202258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.530714057 meters Centerline goodness [0,1] 0.9730851288303285 Centerline is valid? [True, True] Translation: X:321.45, Y:-12.45, Z:3.43 [[ 9.99871675e-01 8.41549177e-04 -1.59976569e-02 3.21446357e+02] [-8.25552952e-04 9.99999153e-01 1.00648804e-03 -1.24464882e+01] [ 1.59984904e-02 -9.93151970e-04 9.99871523e-01 3.43204192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.560714057 meters Centerline goodness [0,1] 0.9726687347245723 Centerline is valid? [True, True] Translation: X:321.48, Y:-12.45, Z:3.43 [[ 9.99865637e-01 1.25397636e-03 -1.63442904e-02 3.21475510e+02] [-1.23736841e-03 9.99998708e-01 1.02620474e-03 -1.24483863e+01] [ 1.63455561e-02 -1.00584294e-03 9.99865897e-01 3.43156551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.590714057 meters Centerline goodness [0,1] 0.9716058052434456 Centerline is valid? [True, True] Translation: X:321.50, Y:-12.45, Z:3.43 [[ 9.99849720e-01 1.79644623e-03 -1.72427138e-02 3.21502888e+02] [-1.77806577e-03 9.99997835e-01 1.08125570e-03 -1.24512451e+01] [ 1.72446189e-02 -1.05043453e-03 9.99850749e-01 3.43084787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.620714057 meters Centerline goodness [0,1] 0.9721285366310661 Centerline is valid? [True, True] Translation: X:321.53, Y:-12.45, Z:3.43 [[ 9.99853754e-01 1.74367445e-03 -1.70126448e-02 3.21531935e+02] [-1.72579425e-03 9.99997943e-01 1.06561968e-03 -1.24531049e+01] [ 1.70144679e-02 -1.03610352e-03 9.99854707e-01 3.43126227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.650714057 meters Centerline goodness [0,1] 0.9732238903699546 Centerline is valid? [True, True] Translation: X:321.56, Y:-12.45, Z:3.43 [[ 9.99874839e-01 1.05615327e-03 -1.57858061e-02 3.21560418e+02] [-1.04069011e-03 9.99998971e-01 9.87743813e-04 -1.24519555e+01] [ 1.57868330e-02 -9.71192054e-04 9.99874909e-01 3.43319399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.680714057 meters Centerline goodness [0,1] 0.9723133139698305 Centerline is valid? [True, True] Translation: X:321.59, Y:-12.46, Z:3.43 [[ 9.99898017e-01 -6.94158446e-04 -1.42644028e-02 3.21589977e+02] [ 7.06952589e-04 9.99999352e-01 8.91905192e-04 -1.24563016e+01] [ 1.42637744e-02 -9.01898489e-04 9.99897860e-01 3.43432951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.710714057 meters Centerline goodness [0,1] 0.9699575844210625 Centerline is valid? [True, True] Translation: X:321.62, Y:-12.46, Z:3.43 [[ 9.99897271e-01 -2.09849312e-03 -1.41789661e-02 3.21618720e+02] [ 2.11126623e-03 9.99997379e-01 8.85940475e-04 -1.24612313e+01] [ 1.41770698e-02 -9.15785036e-04 9.99899081e-01 3.43386256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.740714057 meters Centerline goodness [0,1] 0.9718501170960188 Centerline is valid? [True, True] Translation: X:321.65, Y:-12.46, Z:3.43 [[ 9.99870693e-01 -3.30450401e-03 -1.57378010e-02 3.21648218e+02] [ 3.32037874e-03 9.99994005e-01 9.82678272e-04 -1.24627722e+01] [ 1.57344594e-02 -1.03480666e-03 9.99875670e-01 3.43304067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.770714057 meters Centerline goodness [0,1] 0.9713046536162232 Centerline is valid? [True, True] Translation: X:321.68, Y:-12.46, Z:3.43 [[ 9.99854440e-01 -3.98043341e-03 -1.65908240e-02 3.21677361e+02] [ 3.99812238e-03 9.99991474e-01 1.03315799e-03 -1.24641116e+01] [ 1.65865701e-02 -1.09933975e-03 9.99861829e-01 3.43263798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.800714057 meters Centerline goodness [0,1] 0.9712070096523288 Centerline is valid? [True, True] Translation: X:321.71, Y:-12.47, Z:3.43 [[ 9.99850314e-01 -4.77987368e-03 -1.66283430e-02 3.21705052e+02] [ 4.79771483e-03 9.99987957e-01 1.03320955e-03 -1.24679838e+01] [ 1.66232042e-02 -1.11283294e-03 9.99861206e-01 3.43166770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.830714057 meters Centerline goodness [0,1] 0.9706164463679963 Centerline is valid? [True, True] Translation: X:321.73, Y:-12.47, Z:3.43 [[ 9.99848086e-01 -5.05839189e-03 -1.66798351e-02 3.21732812e+02] [ 5.07632526e-03 9.99986582e-01 1.03298843e-03 -1.24696095e+01] [ 1.66743860e-02 -1.11750377e-03 9.99860348e-01 3.43184976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.860714057 meters Centerline goodness [0,1] 0.9700502277771288 Centerline is valid? [True, True] Translation: X:321.76, Y:-12.47, Z:3.43 [[ 9.99850520e-01 -5.38252385e-03 -1.64306419e-02 3.21760276e+02] [ 5.39992937e-03 9.99984905e-01 1.01515105e-03 -1.24725472e+01] [ 1.64249298e-02 -1.10372361e-03 9.99864493e-01 3.43192437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.890714057 meters Centerline goodness [0,1] 0.9701765063907486 Centerline is valid? [True, True] Translation: X:321.79, Y:-12.47, Z:3.43 [[ 9.99855484e-01 -6.41840328e-03 -1.57421165e-02 3.21788928e+02] [ 6.43448756e-03 9.99978827e-01 9.71298796e-04 -1.24694043e+01] [ 1.57355490e-02 -1.07245088e-03 9.99875613e-01 3.43333635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.920714057 meters Centerline goodness [0,1] 0.9733348968105066 Centerline is valid? [True, True] Translation: X:321.82, Y:-12.46, Z:3.44 [[ 9.99854503e-01 -7.38470515e-03 -1.53765398e-02 3.21818418e+02] [ 7.40011994e-03 9.99972171e-01 9.45830207e-04 -1.24638394e+01] [ 1.53691272e-02 -1.05948083e-03 9.99881327e-01 3.43550052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.950714057 meters Centerline goodness [0,1] 0.9712892868024469 Centerline is valid? [True, True] Translation: X:321.85, Y:-12.47, Z:3.43 [[ 9.99852896e-01 -7.78659078e-03 -1.52825198e-02 3.21845624e+02] [ 7.80182929e-03 9.99969126e-01 9.37753284e-04 -1.24701802e+01] [ 1.52747461e-02 -1.05684695e-03 9.99882776e-01 3.43479424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.980714057 meters Centerline goodness [0,1] 0.9688130188059841 Centerline is valid? [True, True] Translation: X:321.87, Y:-12.47, Z:3.43 [[ 9.99848170e-01 -7.68539773e-03 -1.56387622e-02 3.21872882e+02] [ 7.70132129e-03 9.99969885e-01 9.58241911e-04 -1.24748139e+01] [ 1.56309268e-02 -1.07853555e-03 9.99877248e-01 3.43358836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01071405700003 meters Centerline goodness [0,1] 0.9697454100942664 Centerline is valid? [True, True] Translation: X:321.90, Y:-12.48, Z:3.43 [[ 9.99831592e-01 -8.06895784e-03 -1.64826814e-02 3.21902011e+02] [ 8.08664836e-03 9.99966796e-01 1.00691059e-03 -1.24760944e+01] [ 1.64740094e-02 -1.14003067e-03 9.99863644e-01 3.43327765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.040714057 meters Centerline goodness [0,1] 0.971888306005787 Centerline is valid? [True, True] Translation: X:321.93, Y:-12.47, Z:3.43 [[ 9.99828821e-01 -8.26135531e-03 -1.65553057e-02 3.21930806e+02] [ 8.27915553e-03 9.99965220e-01 1.00694798e-03 -1.24696177e+01] [ 1.65464112e-02 -1.14383956e-03 9.99862444e-01 3.43391268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07071405700003 meters Centerline goodness [0,1] 0.9690762957550616 Centerline is valid? [True, True] Translation: X:321.96, Y:-12.48, Z:3.43 [[ 9.99834367e-01 -8.50974168e-03 -1.60879644e-02 3.21958004e+02] [ 8.52654327e-03 9.99963172e-01 9.76052952e-04 -1.24752469e+01] [ 1.60790659e-02 -1.11306601e-03 9.99870104e-01 3.43409273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.100714057 meters Centerline goodness [0,1] 0.9685641461342396 Centerline is valid? [True, True] Translation: X:321.99, Y:-12.48, Z:3.43 [[ 9.99834274e-01 -8.46318379e-03 -1.61182678e-02 3.21985384e+02] [ 8.48002085e-03 9.99963567e-01 9.76534364e-04 -1.24785019e+01] [ 1.61094159e-02 -1.11305577e-03 9.99869615e-01 3.43431201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13071405700003 meters Centerline goodness [0,1] 0.9703121691877015 Centerline is valid? [True, True] Translation: X:322.01, Y:-12.47, Z:3.43 [[ 9.99831779e-01 -9.17723102e-03 -1.58805546e-02 3.22014890e+02] [ 9.19361860e-03 9.99957278e-01 9.59229354e-04 -1.24734448e+01] [ 1.58710731e-02 -1.10506775e-03 9.99873436e-01 3.43488618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.160714057 meters Centerline goodness [0,1] 0.972995283018868 Centerline is valid? [True, True] Translation: X:322.04, Y:-12.47, Z:3.44 [[ 9.99811603e-01 -1.02412817e-02 -1.64886074e-02 3.22043289e+02] [ 1.02590449e-02 9.99946881e-01 9.93072955e-04 -1.24710213e+01] [ 1.64775612e-02 -1.16204323e-03 9.99863561e-01 3.43529557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19071405700004 meters Centerline goodness [0,1] 0.9730630183596796 Centerline is valid? [True, True] Translation: X:322.07, Y:-12.47, Z:3.43 [[ 9.99796295e-01 -1.15853998e-02 -1.65271321e-02 3.22072417e+02] [ 1.16034025e-02 9.99932184e-01 9.93806182e-04 -1.24734053e+01] [ 1.65144977e-02 -1.18537471e-03 9.99862924e-01 3.43455203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.220714057 meters Centerline goodness [0,1] 0.9734245213810729 Centerline is valid? [True, True] Translation: X:322.10, Y:-12.48, Z:3.43 [[ 9.99751746e-01 -1.41932878e-02 -1.71754704e-02 3.22102527e+02] [ 1.42131025e-02 9.99898456e-01 1.03214294e-03 -1.24759958e+01] [ 1.71590768e-02 -1.27600342e-03 9.99851958e-01 3.43358553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.250714057 meters Centerline goodness [0,1] 0.9724128174294405 Centerline is valid? [True, True] Translation: X:322.13, Y:-12.48, Z:3.43 [[ 9.99725505e-01 -1.53615020e-02 -1.76900871e-02 3.22130813e+02] [ 1.53826911e-02 9.99881115e-01 1.06233993e-03 -1.24798150e+01] [ 1.76716649e-02 -1.33416947e-03 9.99842954e-01 3.43292233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.280714057 meters Centerline goodness [0,1] 0.9727541022311416 Centerline is valid? [True, True] Translation: X:322.16, Y:-12.48, Z:3.43 [[ 9.99699388e-01 -1.71251559e-02 -1.75460019e-02 3.22158819e+02] [ 1.71462517e-02 9.99852438e-01 1.05257594e-03 -1.24833293e+01] [ 1.75253873e-02 -1.35310769e-03 9.99845503e-01 3.43312706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.310714057 meters Centerline goodness [0,1] 0.9680533696647953 Centerline is valid? [True, True] Translation: X:322.19, Y:-12.49, Z:3.43 [[ 9.99695319e-01 -1.81772422e-02 -1.66990139e-02 3.22186878e+02] [ 1.81964804e-02 9.99833929e-01 1.00082856e-03 -1.24883872e+01] [ 1.66780484e-02 -1.30438691e-03 9.99860061e-01 3.43390230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.340714057 meters Centerline goodness [0,1] 0.9714508727943612 Centerline is valid? [True, True] Translation: X:322.22, Y:-12.48, Z:3.44 [[ 9.99685319e-01 -1.86048157e-02 -1.68262631e-02 3.22217157e+02] [ 1.86243970e-02 9.99826043e-01 1.00776529e-03 -1.24805832e+01] [ 1.68045867e-02 -1.32082717e-03 9.99857921e-01 3.43558214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.370714057 meters Centerline goodness [0,1] 0.9684188115064345 Centerline is valid? [True, True] Translation: X:322.25, Y:-12.49, Z:3.43 [[ 9.99671793e-01 -1.89632181e-02 -1.72250811e-02 3.22246396e+02] [ 1.89837845e-02 9.99819260e-01 1.03123977e-03 -1.24876576e+01] [ 1.72024122e-02 -1.35789854e-03 9.99851105e-01 3.43442558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.400714057 meters Centerline goodness [0,1] 0.9710435171877577 Centerline is valid? [True, True] Translation: X:322.28, Y:-12.49, Z:3.44 [[ 9.99681868e-01 -1.86467704e-02 -1.69841031e-02 3.22276413e+02] [ 1.86667116e-02 9.99825245e-01 1.01632351e-03 -1.24861751e+01] [ 1.69621839e-02 -1.33303754e-03 9.99855243e-01 3.43507907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.430714057 meters Centerline goodness [0,1] 0.9724523122071284 Centerline is valid? [True, True] Translation: X:322.31, Y:-12.49, Z:3.43 [[ 9.99647464e-01 -1.93538609e-02 -1.81762293e-02 3.22306161e+02] [ 1.93768046e-02 9.99811661e-01 1.08701082e-03 -1.24853312e+01] [ 1.81517681e-02 -1.43882485e-03 9.99834208e-01 3.43434567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.460714057 meters Centerline goodness [0,1] 0.9698211536183821 Centerline is valid? [True, True] Translation: X:322.33, Y:-12.49, Z:3.43 [[ 9.99646494e-01 -1.90195227e-02 -1.85780841e-02 3.22334807e+02] [ 1.90434186e-02 9.99818041e-01 1.11016637e-03 -1.24896905e+01] [ 1.85535888e-02 -1.46356416e-03 9.99826796e-01 3.43347950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.490714057 meters Centerline goodness [0,1] 0.9721695429546747 Centerline is valid? [True, True] Translation: X:322.37, Y:-12.48, Z:3.43 [[ 9.99668644e-01 -1.61272443e-02 -2.00627371e-02 3.22365236e+02] [ 1.61545162e-02 9.99868790e-01 1.19799413e-03 -1.24848835e+01] [ 2.00407843e-02 -1.52170097e-03 9.99798005e-01 3.43429263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.520714057 meters Centerline goodness [0,1] 0.9729517369461178 Centerline is valid? [True, True] Translation: X:322.40, Y:-12.48, Z:3.43 [[ 9.99681598e-01 -1.44537627e-02 -2.06831341e-02 3.22395070e+02] [ 1.44823761e-02 9.99894363e-01 1.23429138e-03 -1.24837164e+01] [ 2.06631090e-02 -1.53343930e-03 9.99785319e-01 3.43492286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.550714057 meters Centerline goodness [0,1] 0.9723347471762855 Centerline is valid? [True, True] Translation: X:322.42, Y:-12.48, Z:3.44 [[ 9.99720068e-01 -1.18963244e-02 -2.04514819e-02 3.22423939e+02] [ 1.19237537e-02 9.99928166e-01 1.21976965e-03 -1.24834711e+01] [ 2.04355020e-02 -1.46328663e-03 9.99790102e-01 3.43533535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.580714057 meters Centerline goodness [0,1] 0.9743089121169551 Centerline is valid? [True, True] Translation: X:322.46, Y:-12.48, Z:3.44 [[ 9.99805471e-01 -5.32617287e-03 -1.89908514e-02 3.22455215e+02] [ 5.34864046e-03 9.99985055e-01 1.13247807e-03 -1.24754112e+01] [ 1.89845358e-02 -1.23383301e-03 9.99819016e-01 3.43757846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.610714057 meters Centerline goodness [0,1] 0.9744486218539716 Centerline is valid? [True, True] Translation: X:322.49, Y:-12.47, Z:3.44 [[ 9.99833702e-01 -2.39429830e-03 -1.80786101e-02 3.22485297e+02] [ 2.41417781e-03 9.99996505e-01 1.07787099e-03 -1.24749462e+01] [ 1.80759662e-02 -1.12133672e-03 9.99835988e-01 3.43853412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.640714057 meters Centerline goodness [0,1] 0.9760800057696468 Centerline is valid? [True, True] Translation: X:322.52, Y:-12.46, Z:3.44 [[ 9.99850957e-01 2.92025694e-03 -1.70157544e-02 3.22516890e+02] [-2.90341620e-03 9.99995271e-01 1.01433464e-03 -1.24633345e+01] [ 1.70186361e-02 -9.64779639e-04 9.99854707e-01 3.44175060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.670714057 meters Centerline goodness [0,1] 0.9766067767997106 Centerline is valid? [True, True] Translation: X:322.55, Y:-12.46, Z:3.44 [[ 9.99821791e-01 7.41243002e-03 -1.73621133e-02 3.22546650e+02] [-7.39557718e-03 9.99972117e-01 1.03467327e-03 -1.24610880e+01] [ 1.73692987e-02 -9.06086028e-04 9.99848732e-01 3.44180118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.700714057 meters Centerline goodness [0,1] 0.9766606389391199 Centerline is valid? [True, True] Translation: X:322.58, Y:-12.46, Z:3.44 [[ 9.99800688e-01 8.88530335e-03 -1.78783642e-02 3.22575860e+02] [-8.86772070e-03 9.99960117e-01 1.06249762e-03 -1.24598655e+01] [ 1.78870917e-02 -9.03745515e-04 9.99839605e-01 3.44214336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.730714057 meters Centerline goodness [0,1] 0.9706619123919569 Centerline is valid? [True, True] Translation: X:322.60, Y:-12.48, Z:3.44 [[ 9.99755385e-01 1.36687528e-02 -1.73877936e-02 3.22604530e+02] [-1.36528708e-02 9.99906263e-01 1.03178369e-03 -1.24796122e+01] [ 1.74002669e-02 -7.94138000e-04 9.99848289e-01 3.43660859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76071405700003 meters Centerline goodness [0,1] 0.9783524625889873 Centerline is valid? [True, True] Translation: X:322.64, Y:-12.46, Z:3.44 [[ 9.99748835e-01 1.02371577e-02 -1.99365763e-02 3.22636184e+02] [-1.02155996e-02 9.99947120e-01 1.18287575e-03 -1.24597582e+01] [ 1.99476314e-02 -9.78914576e-04 9.99800547e-01 3.44081961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.790714057 meters Centerline goodness [0,1] 0.977521028715073 Centerline is valid? [True, True] Translation: X:322.67, Y:-12.46, Z:3.44 [[ 9.99766172e-01 8.85166778e-03 -1.97294010e-02 3.22665348e+02] [-8.83030622e-03 9.99960328e-01 1.16958287e-03 -1.24600063e+01] [ 1.97389710e-02 -9.95092742e-04 9.99804672e-01 3.44178815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82071405700003 meters Centerline goodness [0,1] 0.9757254531813452 Centerline is valid? [True, True] Translation: X:322.69, Y:-12.47, Z:3.44 [[ 9.99779907e-01 7.67645342e-03 -1.95245883e-02 3.22692960e+02] [-7.65534152e-03 9.99970029e-01 1.15581047e-03 -1.24670625e+01] [ 1.95328756e-02 -1.00608869e-03 9.99808709e-01 3.44123376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.850714057 meters Centerline goodness [0,1] 0.9742833663653502 Centerline is valid? [True, True] Translation: X:322.72, Y:-12.47, Z:3.44 [[ 9.99802268e-01 5.68398157e-03 -1.90556241e-02 3.22720897e+02] [-5.66353760e-03 9.99983327e-01 1.12665196e-03 -1.24710187e+01] [ 1.90617102e-02 -1.01850694e-03 9.99817790e-01 3.44138079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88071405700003 meters Centerline goodness [0,1] 0.9739895571456199 Centerline is valid? [True, True] Translation: X:322.75, Y:-12.47, Z:3.44 [[ 9.99805658e-01 4.57522039e-03 -1.91758705e-02 3.22749673e+02] [-4.55433897e-03 9.99988988e-01 1.13247185e-03 -1.24728497e+01] [ 1.91808407e-02 -1.04491835e-03 9.99815485e-01 3.44168896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.910714057 meters Centerline goodness [0,1] 0.9743490183706652 Centerline is valid? [True, True] Translation: X:322.78, Y:-12.48, Z:3.44 [[ 9.99810303e-01 3.45428647e-03 -1.91683499e-02 3.22778380e+02] [-3.43324054e-03 9.99993467e-01 1.13075134e-03 -1.24770646e+01] [ 1.91721306e-02 -1.06472728e-03 9.99815631e-01 3.44167546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94071405700004 meters Centerline goodness [0,1] 0.9727202248279873 Centerline is valid? [True, True] Translation: X:322.81, Y:-12.48, Z:3.44 [[ 9.99813310e-01 1.56843203e-03 -1.92583993e-02 3.22806406e+02] [-1.54686602e-03 9.99998160e-01 1.13466905e-03 -1.24813845e+01] [ 1.92601435e-02 -1.10466705e-03 9.99813896e-01 3.44047733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.970714057 meters Centerline goodness [0,1] 0.9727419783191289 Centerline is valid? [True, True] Translation: X:322.83, Y:-12.48, Z:3.44 [[ 9.99812350e-01 7.03869730e-04 -1.93589485e-02 3.22834830e+02] [-6.81947222e-04 9.99999119e-01 1.13900070e-03 -1.24799071e+01] [ 1.93597332e-02 -1.12558518e-03 9.99811949e-01 3.44138180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.000714057 meters Centerline goodness [0,1] 0.973542806197441 Centerline is valid? [True, True] Translation: X:322.86, Y:-12.48, Z:3.44 [[ 9.99807141e-01 -1.27569999e-03 -1.95972650e-02 3.22863841e+02] [ 1.29852536e-03 9.99998493e-01 1.15204166e-03 -1.24819538e+01] [ 1.95957658e-02 -1.17726702e-03 9.99807291e-01 3.44210974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.030714057 meters Centerline goodness [0,1] 0.9724351379452087 Centerline is valid? [True, True] Translation: X:322.89, Y:-12.48, Z:3.44 [[ 9.99810362e-01 -2.24981666e-03 -1.93437011e-02 3.22892731e+02] [ 2.27221417e-03 9.99996773e-01 1.13597078e-03 -1.24825764e+01] [ 1.93410830e-02 -1.17970839e-03 9.99812248e-01 3.44260536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.060714057 meters Centerline goodness [0,1] 0.9727494740914476 Centerline is valid? [True, True] Translation: X:322.92, Y:-12.49, Z:3.44 [[ 9.99813479e-01 -2.34184956e-03 -1.91708987e-02 3.22919114e+02] [ 2.36382631e-03 9.99996575e-01 1.12377979e-03 -1.24869123e+01] [ 1.91682013e-02 -1.16888685e-03 9.99815590e-01 3.44254038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.090714057 meters Centerline goodness [0,1] 0.9736848470189866 Centerline is valid? [True, True] Translation: X:322.95, Y:-12.49, Z:3.44 [[ 9.99805486e-01 -2.30540963e-03 -1.95876312e-02 3.22947518e+02] [ 2.32826527e-03 9.99996635e-01 1.14411589e-03 -1.24866316e+01] [ 1.95849276e-02 -1.18949854e-03 9.99807489e-01 3.44216539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.120714057 meters Centerline goodness [0,1] 0.9731273498505736 Centerline is valid? [True, True] Translation: X:322.98, Y:-12.49, Z:3.44 [[ 9.99806480e-01 -2.01784531e-03 -1.95686203e-02 3.22975891e+02] [ 2.04050828e-03 9.99997270e-01 1.13823024e-03 -1.24876366e+01] [ 1.95662701e-02 -1.17793990e-03 9.99807868e-01 3.44254230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.150714057 meters Centerline goodness [0,1] 0.9729181262532313 Centerline is valid? [True, True] Translation: X:323.00, Y:-12.49, Z:3.44 [[ 9.99816364e-01 -1.90082403e-03 -1.90689556e-02 3.23003276e+02] [ 1.92227503e-03 9.99997540e-01 1.10665107e-03 -1.24904955e+01] [ 1.90668051e-02 -1.14310362e-03 9.99817558e-01 3.44244128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.180714057 meters Centerline goodness [0,1] 0.9730253281030559 Centerline is valid? [True, True] Translation: X:323.03, Y:-12.49, Z:3.44 [[ 9.99819962e-01 -1.47159859e-03 -1.89176876e-02 3.23031829e+02] [ 1.49256516e-03 9.99998287e-01 1.09423370e-03 -1.24925472e+01] [ 1.89160449e-02 -1.12227258e-03 9.99820446e-01 3.44276314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.210714057 meters Centerline goodness [0,1] 0.9715667311411992 Centerline is valid? [True, True] Translation: X:323.06, Y:-12.49, Z:3.44 [[ 9.99827435e-01 -1.44896675e-03 -1.85202560e-02 3.23059290e+02] [ 1.46901269e-03 9.99998350e-01 1.06882047e-03 -1.24946857e+01] [ 1.85186768e-02 -1.09584252e-03 9.99827914e-01 3.44286873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.240714057 meters Centerline goodness [0,1] 0.9722275982194697 Centerline is valid? [True, True] Translation: X:323.09, Y:-12.50, Z:3.44 [[ 9.99838653e-01 -1.92204377e-03 -1.78598439e-02 3.23087590e+02] [ 1.94069308e-03 9.99997590e-01 1.02693064e-03 -1.24956609e+01] [ 1.78578271e-02 -1.06142542e-03 9.99839973e-01 3.44409243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.270714057 meters Centerline goodness [0,1] 0.9686380143822603 Centerline is valid? [True, True] Translation: X:323.11, Y:-12.50, Z:3.45 [[ 9.99865404e-01 -3.47964637e-03 -1.60333071e-02 3.23114539e+02] [ 3.49483591e-03 9.99993470e-01 9.19452924e-04 -1.25016160e+01] [ 1.60300030e-02 -9.75362947e-04 9.99871036e-01 3.44542192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.300714057 meters Centerline goodness [0,1] 0.9677280344745032 Centerline is valid? [True, True] Translation: X:323.14, Y:-12.50, Z:3.45 [[ 9.99880750e-01 -4.08448073e-03 -1.48930555e-02 3.23141884e+02] [ 4.09762822e-03 9.99991241e-01 8.52385586e-04 -1.25046578e+01] [ 1.48894435e-02 -9.13310144e-04 9.99888729e-01 3.44594650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.330714057 meters Centerline goodness [0,1] 0.9672087827611886 Centerline is valid? [True, True] Translation: X:323.17, Y:-12.51, Z:3.45 [[ 9.99880533e-01 -5.48527288e-03 -1.44510247e-02 3.23171459e+02] [ 5.49778296e-03 9.99984546e-01 8.26103376e-04 -1.25066594e+01] [ 1.44462700e-02 -9.05453281e-04 9.99895237e-01 3.44665232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.360714057 meters Centerline goodness [0,1] 0.9672087827611886 Centerline is valid? [True, True] Translation: X:323.20, Y:-12.51, Z:3.45 [[ 9.99879035e-01 -5.75145284e-03 -1.44511677e-02 3.23198858e+02] [ 5.76395451e-03 9.99983049e-01 8.23595921e-04 -1.25081239e+01] [ 1.44461859e-02 -9.06792168e-04 9.99895237e-01 3.44681039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.390714057 meters Centerline goodness [0,1] 0.9665180185609257 Centerline is valid? [True, True] Translation: X:323.23, Y:-12.51, Z:3.45 [[ 9.99867580e-01 -6.74663027e-03 -1.48089360e-02 3.23227218e+02] [ 6.75981275e-03 9.99976799e-01 8.40295270e-04 -1.25096395e+01] [ 1.48029232e-02 -9.40289633e-04 9.99889989e-01 3.44682536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.420714057 meters Centerline goodness [0,1] 0.9702521575623162 Centerline is valid? [True, True] Translation: X:323.26, Y:-12.51, Z:3.45 [[ 9.99844532e-01 -7.34808249e-03 -1.60286521e-02 3.23256665e+02] [ 7.36353958e-03 9.99972479e-01 9.05535771e-04 -1.25053444e+01] [ 1.60215570e-02 -1.02342260e-03 9.99871123e-01 3.44653071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.450714057 meters Centerline goodness [0,1] 0.9688668999637987 Centerline is valid? [True, True] Translation: X:323.28, Y:-12.51, Z:3.45 [[ 9.99832623e-01 -7.20831539e-03 -1.68156297e-02 3.23284050e+02] [ 7.22526716e-03 9.99973448e-01 9.47560117e-04 -1.25093137e+01] [ 1.68083529e-02 -1.06889893e-03 9.99858158e-01 3.44609209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.480714057 meters Centerline goodness [0,1] 0.9716259145167501 Centerline is valid? [True, True] Translation: X:323.31, Y:-12.51, Z:3.45 [[ 9.99827511e-01 -6.38768466e-03 -1.74397564e-02 3.23312729e+02] [ 6.40573429e-03 9.99979004e-01 9.79304321e-04 -1.25060965e+01] [ 1.74331348e-02 -1.09084985e-03 9.99847436e-01 3.44521115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51071405700003 meters Centerline goodness [0,1] 0.9701237008994237 Centerline is valid? [True, True] Translation: X:323.34, Y:-12.51, Z:3.44 [[ 9.99825408e-01 -5.23903848e-03 -1.79361780e-02 3.23340124e+02] [ 5.25790070e-03 9.99985672e-01 1.00463416e-03 -1.25118492e+01] [ 1.79306577e-02 -1.09876540e-03 9.99838629e-01 3.44444791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.540714057 meters Centerline goodness [0,1] 0.9718159547891048 Centerline is valid? [True, True] Translation: X:323.37, Y:-12.51, Z:3.45 [[ 9.99819418e-01 -2.60580126e-03 -1.88239450e-02 3.23370705e+02] [ 2.62609089e-03 9.99995997e-01 1.05322445e-03 -1.25059013e+01] [ 1.88211251e-02 -1.10246765e-03 9.99822259e-01 3.44521864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57071405700003 meters Centerline goodness [0,1] 0.9731607199242185 Centerline is valid? [True, True] Translation: X:323.40, Y:-12.51, Z:3.45 [[ 9.99817534e-01 -2.41117262e-04 -1.91007841e-02 3.23399505e+02] [ 2.61559617e-04 9.99999396e-01 1.06774545e-03 -1.25054970e+01] [ 1.91005151e-02 -1.07254662e-03 9.99816993e-01 3.44573107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.600714057 meters Centerline goodness [0,1] 0.9731071576334299 Centerline is valid? [True, True] Translation: X:323.43, Y:-12.50, Z:3.45 [[ 9.99830728e-01 4.25943879e-03 -1.78989739e-02 3.23429986e+02] [-4.24221389e-03 9.99990502e-01 1.00019891e-03 -1.25019984e+01] [ 1.79030642e-02 -9.24098331e-04 9.99839300e-01 3.44728676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63071405700003 meters Centerline goodness [0,1] 0.9707816633096319 Centerline is valid? [True, True] Translation: X:323.46, Y:-12.51, Z:3.45 [[ 9.99841819e-01 6.30864257e-03 -1.66294258e-02 3.23459035e+02] [-6.29406435e-03 9.99979761e-01 9.28843826e-04 -1.25069660e+01] [ 1.66349490e-02 -8.24030224e-04 9.99861290e-01 3.44699193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.660714057 meters Centerline goodness [0,1] 0.9714611042469171 Centerline is valid? [True, True] Translation: X:323.49, Y:-12.51, Z:3.45 [[ 9.99847496e-01 9.33129571e-03 -1.47618208e-02 3.23489395e+02] [-9.32014186e-03 9.99956227e-01 8.24203826e-04 -1.25056989e+01] [ 1.47688655e-02 -6.86495868e-04 9.99890699e-01 3.44888602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69071405700004 meters Centerline goodness [0,1] 0.9742596921878044 Centerline is valid? [True, True] Translation: X:323.52, Y:-12.50, Z:3.45 [[ 9.99857107e-01 9.23149318e-03 -1.41613666e-02 3.23518867e+02] [-9.22122801e-03 9.99957172e-01 7.89997733e-04 -1.25006188e+01] [ 1.41680529e-02 -6.59299658e-04 9.99899411e-01 3.45023304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.720714057 meters Centerline goodness [0,1] 0.9728201519159366 Centerline is valid? [True, True] Translation: X:323.55, Y:-12.50, Z:3.45 [[ 9.99861812e-01 7.74548715e-03 -1.47093089e-02 3.23547478e+02] [-7.73426718e-03 9.99969754e-01 8.19513420e-04 -1.25021109e+01] [ 1.47152115e-02 -7.05634448e-04 9.99891476e-01 3.44951896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.750714057 meters Centerline goodness [0,1] 0.9742748870427052 Centerline is valid? [True, True] Translation: X:323.58, Y:-12.51, Z:3.45 [[ 9.99865037e-01 6.49009798e-03 -1.50925711e-02 3.23576259e+02] [-6.47815925e-03 9.99978664e-01 8.39788524e-04 -1.25050285e+01] [ 1.50976994e-02 -7.41903104e-04 9.99885748e-01 3.44895144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.780714057 meters Centerline goodness [0,1] 0.9715958790941782 Centerline is valid? [True, True] Translation: X:323.61, Y:-12.51, Z:3.45 [[ 9.99864825e-01 1.88267258e-03 -1.63336080e-02 3.23606036e+02] [-1.86808513e-03 9.99997843e-01 9.08304988e-04 -1.25110587e+01] [ 1.63352828e-02 -8.77669638e-04 9.99866185e-01 3.44702774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.810714057 meters Centerline goodness [0,1] 0.9695461058357822 Centerline is valid? [True, True] Translation: X:323.63, Y:-12.52, Z:3.45 [[ 9.99857211e-01 1.09708571e-04 -1.68980905e-02 3.23633669e+02] [-9.38566627e-05 9.99999555e-01 9.38878957e-04 -1.25204240e+01] [ 1.68981860e-02 -9.37158897e-04 9.99856776e-01 3.44603829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.840714057 meters Centerline goodness [0,1] 0.968020304568528 Centerline is valid? [True, True] Translation: X:323.66, Y:-12.53, Z:3.45 [[ 9.99827450e-01 -4.17803682e-03 -1.81000917e-02 3.23664177e+02] [ 4.19691664e-03 9.99990688e-01 1.00521865e-03 -1.25261355e+01] [ 1.80957233e-02 -1.08100978e-03 9.99835675e-01 3.44553342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.870714057 meters Centerline goodness [0,1] 0.9716765535349606 Centerline is valid? [True, True] Translation: X:323.69, Y:-12.52, Z:3.45 [[ 9.99808555e-01 -6.39197529e-03 -1.84931479e-02 3.23694056e+02] [ 6.41205279e-03 9.99978916e-01 1.02658094e-03 -1.25212870e+01] [ 1.84861961e-02 -1.14496345e-03 9.99828460e-01 3.44715302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.900714057 meters Centerline goodness [0,1] 0.9689502816080793 Centerline is valid? [True, True] Translation: X:323.72, Y:-12.53, Z:3.45 [[ 9.99775809e-01 -9.77769861e-03 -1.87810507e-02 3.23724354e+02] [ 9.79899721e-03 9.99951445e-01 1.04235427e-03 -1.25268321e+01] [ 1.87699470e-02 -1.22615604e-03 9.99823077e-01 3.44661028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.930714057 meters Centerline goodness [0,1] 0.9689727056770252 Centerline is valid? [True, True] Translation: X:323.75, Y:-12.53, Z:3.45 [[ 9.99756787e-01 -1.11334184e-02 -1.90371576e-02 3.23753831e+02] [ 1.11555376e-02 9.99937217e-01 1.05609508e-03 -1.25306840e+01] [ 1.90242045e-02 -1.26820795e-03 9.99818219e-01 3.44704344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.960714057 meters Centerline goodness [0,1] 0.9681262384611666 Centerline is valid? [True, True] Translation: X:323.78, Y:-12.53, Z:3.45 [[ 9.99734522e-01 -1.31816664e-02 -1.88978735e-02 3.23783670e+02] [ 1.32038146e-02 9.99912277e-01 1.04769549e-03 -1.25333546e+01] [ 1.88824053e-02 -1.29694137e-03 9.99820870e-01 3.44702747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.990714057 meters Centerline goodness [0,1] 0.9648490419972905 Centerline is valid? [True, True] Translation: X:323.81, Y:-12.54, Z:3.45 [[ 9.99725673e-01 -1.44131416e-02 -1.84618630e-02 3.23811420e+02] [ 1.44344640e-02 9.99895295e-01 1.02220537e-03 -1.25409357e+01] [ 1.84451968e-02 -1.28841205e-03 9.99829043e-01 3.44642678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.020714057 meters Centerline goodness [0,1] 0.9655966081162931 Centerline is valid? [True, True] Translation: X:323.84, Y:-12.54, Z:3.45 [[ 9.99720011e-01 -1.50862015e-02 -1.82292670e-02 3.23839928e+02] [ 1.51070379e-02 9.99885376e-01 1.00584511e-03 -1.25414130e+01] [ 1.82120031e-02 -1.28095372e-03 9.99833327e-01 3.44712048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.050714057 meters Centerline goodness [0,1] 0.9680727272727273 Centerline is valid? [True, True] Translation: X:323.87, Y:-12.54, Z:3.45 [[ 9.99720448e-01 -1.53987740e-02 -1.79416846e-02 3.23868726e+02] [ 1.54189301e-02 9.99880635e-01 9.85627412e-04 -1.25390605e+01] [ 1.79243656e-02 -1.26199346e-03 9.99838549e-01 3.44836978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.080714057 meters Centerline goodness [0,1] 0.8945659526493799 Centerline is valid? [True, False] Translation: X:323.92, Y:-12.54, Z:3.45 [[ 9.99705369e-01 -1.66621746e-02 -1.76507100e-02 3.23919732e+02] [ 1.66065250e-02 9.99856674e-01 -3.29472559e-03 -1.25387071e+01] [ 1.77030774e-02 3.00063790e-03 9.99838786e-01 3.45148392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.110714057 meters Centerline goodness [0,1] 0.9686433911591783 Centerline is valid? [False, True] Translation: X:323.87, Y:-12.54, Z:3.45 [[ 9.99747796e-01 -1.49201658e-02 -1.67849053e-02 3.23865011e+02] [ 1.49680574e-02 9.99884242e-01 2.73124462e-03 -1.25391228e+01] [ 1.67422117e-02 -2.98179321e-03 9.99855393e-01 3.44688008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.140714057 meters Centerline goodness [0,1] 0.9676215404003684 Centerline is valid? [True, True] Translation: X:323.89, Y:-12.54, Z:3.45 [[ 9.99753349e-01 -1.45714326e-02 -1.67605233e-02 3.23893911e+02] [ 1.45889265e-02 9.99893151e-01 9.21957928e-04 -1.25434678e+01] [ 1.67452982e-02 -1.16624857e-03 9.99859108e-01 3.44728286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.170714057 meters Centerline goodness [0,1] 0.9699963587814056 Centerline is valid? [True, True] Translation: X:323.92, Y:-12.54, Z:3.45 [[ 9.99746960e-01 -1.48674549e-02 -1.68812047e-02 3.23922878e+02] [ 1.48851920e-02 9.99888781e-01 9.25528354e-04 -1.25402676e+01] [ 1.68655670e-02 -1.17657413e-03 9.99857074e-01 3.44811134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.200714057 meters Centerline goodness [0,1] 0.9686032437666424 Centerline is valid? [True, True] Translation: X:323.95, Y:-12.54, Z:3.45 [[ 9.99735878e-01 -1.49358724e-02 -1.74669502e-02 3.23952552e+02] [ 1.49548410e-02 9.99887713e-01 9.55852034e-04 -1.25419963e+01] [ 1.74507124e-02 -1.21681504e-03 9.99846984e-01 3.44697178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.230714057 meters Centerline goodness [0,1] 0.9668663739782182 Centerline is valid? [True, True] Translation: X:323.98, Y:-12.55, Z:3.45 [[ 9.99713767e-01 -1.59133559e-02 -1.78647239e-02 3.23980379e+02] [ 1.59333347e-02 9.99872579e-01 9.76548473e-04 -1.25471155e+01] [ 1.78469074e-02 -1.26091358e-03 9.99839936e-01 3.44584390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26071405700003 meters Centerline goodness [0,1] 0.9653394650853201 Centerline is valid? [True, True] Translation: X:324.01, Y:-12.55, Z:3.45 [[ 9.99707756e-01 -1.60916755e-02 -1.80405205e-02 3.24009151e+02] [ 1.61120598e-02 9.99869707e-01 9.85130809e-04 -1.25517699e+01] [ 1.80223176e-02 -1.27551286e-03 9.99836771e-01 3.44515880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.290714057 meters Centerline goodness [0,1] 0.9670040879890986 Centerline is valid? [True, True] Translation: X:324.04, Y:-12.55, Z:3.45 [[ 9.99690691e-01 -1.69023952e-02 -1.82436784e-02 3.24038137e+02] [ 1.69233132e-02 9.99856298e-01 9.92805376e-04 -1.25483667e+01] [ 1.82242759e-02 -1.30124178e-03 9.99833077e-01 3.44592901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32071405700003 meters Centerline goodness [0,1] 0.9688790632136437 Centerline is valid? [True, True] Translation: X:324.07, Y:-12.55, Z:3.45 [[ 9.99684662e-01 -1.69592099e-02 -1.85192234e-02 3.24068277e+02] [ 1.69807417e-02 9.99855311e-01 1.00603234e-03 -1.25481505e+01] [ 1.84994823e-02 -1.32018524e-03 9.99827998e-01 3.44660936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.350714057 meters Centerline goodness [0,1] 0.9659875522707381 Centerline is valid? [True, True] Translation: X:324.10, Y:-12.55, Z:3.45 [[ 9.99687511e-01 -1.68163499e-02 -1.84957010e-02 3.24096519e+02] [ 1.68377865e-02 9.99857730e-01 1.00388308e-03 -1.25511826e+01] [ 1.84761880e-02 -1.31499605e-03 9.99828436e-01 3.44633264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38071405700003 meters Centerline goodness [0,1] 0.9692866900858704 Centerline is valid? [True, True] Translation: X:324.13, Y:-12.55, Z:3.45 [[ 9.99704679e-01 -1.66502165e-02 -1.77009949e-02 3.24126514e+02] [ 1.66698120e-02 9.99860588e-01 9.60049279e-04 -1.25464102e+01] [ 1.76825421e-02 -1.25483801e-03 9.99842864e-01 3.44775217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.410714057 meters Centerline goodness [0,1] 0.9632893163123337 Centerline is valid? [True, True] Translation: X:324.15, Y:-12.56, Z:3.45 [[ 9.99710265e-01 -1.64507193e-02 -1.75715489e-02 3.24154511e+02] [ 1.64699841e-02 9.99863907e-01 9.52202634e-04 -1.25556156e+01] [ 1.75534931e-02 -1.24132988e-03 9.99845155e-01 3.44693148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44071405700004 meters Centerline goodness [0,1] 0.9708113133685653 Centerline is valid? [True, True] Translation: X:324.18, Y:-12.55, Z:3.45 [[ 9.99727581e-01 -1.61829393e-02 -1.68188962e-02 3.24184919e+02] [ 1.62005397e-02 9.99868348e-01 9.10739136e-04 -1.25455839e+01] [ 1.68019435e-02 -1.18296623e-03 9.99858138e-01 3.44946464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.470714057 meters Centerline goodness [0,1] 0.9665876950882935 Centerline is valid? [True, True] Translation: X:324.21, Y:-12.55, Z:3.45 [[ 9.99728188e-01 -1.66310207e-02 -1.63388818e-02 3.24213975e+02] [ 1.66476863e-02 9.99861026e-01 8.84507858e-04 -1.25533084e+01] [ 1.63219009e-02 -1.15627202e-03 9.99866120e-01 3.44900122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.500714057 meters Centerline goodness [0,1] 0.9651372568140816 Centerline is valid? [True, True] Translation: X:324.24, Y:-12.55, Z:3.45 [[ 9.99717697e-01 -1.74877029e-02 -1.60843518e-02 3.24243958e+02] [ 1.75039572e-02 9.99846415e-01 8.70335834e-04 -1.25546257e+01] [ 1.60666613e-02 -1.15162994e-03 9.99870260e-01 3.44867512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.530714057 meters Centerline goodness [0,1] 0.9694568752598244 Centerline is valid? [True, True] Translation: X:324.27, Y:-12.55, Z:3.45 [[ 9.99671235e-01 -1.88926505e-02 -1.73346594e-02 3.24274283e+02] [ 1.89117335e-02 9.99820718e-01 9.37580298e-04 -1.25491713e+01] [ 1.73138382e-02 -1.26510051e-03 9.99849304e-01 3.44940133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.560714057 meters Centerline goodness [0,1] 0.9658192850676519 Centerline is valid? [True, True] Translation: X:324.30, Y:-12.55, Z:3.45 [[ 9.99606748e-01 -2.10291136e-02 -1.85506379e-02 3.24303574e+02] [ 2.10513278e-02 9.99777893e-01 1.00301083e-03 -1.25546117e+01] [ 1.85254253e-02 -1.39313195e-03 9.99827419e-01 3.44815678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.590714057 meters Centerline goodness [0,1] 0.9655775962660443 Centerline is valid? [True, True] Translation: X:324.33, Y:-12.56, Z:3.45 [[ 9.99587257e-01 -2.17123288e-02 -1.88120000e-02 3.24333693e+02] [ 2.17353034e-02 9.99763242e-01 1.01765049e-03 -1.25573668e+01] [ 1.87854505e-02 -1.42611499e-03 9.99822521e-01 3.44767890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.620714057 meters Centerline goodness [0,1] 0.9644471594379963 Centerline is valid? [True, True] Translation: X:324.36, Y:-12.56, Z:3.45 [[ 9.99557425e-01 -2.26705344e-02 -1.92614029e-02 3.24363814e+02] [ 2.26948061e-02 9.99741896e-01 1.04244423e-03 -1.25619615e+01] [ 1.92327987e-02 -1.47911668e-03 9.99813939e-01 3.44666199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.650714057 meters Centerline goodness [0,1] 0.9673435516938397 Centerline is valid? [True, True] Translation: X:324.39, Y:-12.56, Z:3.45 [[ 9.99480646e-01 -2.49183728e-02 -2.04331302e-02 3.24394620e+02] [ 2.49461623e-02 9.99688184e-01 1.10622499e-03 -1.25600582e+01] [ 2.03991935e-02 -1.61537865e-03 9.99790610e-01 3.44652122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.680714057 meters Centerline goodness [0,1] 0.9633890191481047 Centerline is valid? [True, True] Translation: X:324.42, Y:-12.57, Z:3.45 [[ 9.99471614e-01 -2.51437162e-02 -2.05982198e-02 3.24424982e+02] [ 2.51720236e-02 9.99682511e-01 1.11610122e-03 -1.25664820e+01] [ 2.05636172e-02 -1.63401036e-03 9.99787211e-01 3.44548505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.710714057 meters Centerline goodness [0,1] 0.8139787624244346 Centerline is valid? [True, False] Translation: X:324.48, Y:-12.56, Z:3.45 [[ 9.99483746e-01 -2.55568438e-02 -1.94702099e-02 3.24484103e+02] [ 2.54191793e-02 9.99650332e-01 -7.28552862e-03 -1.25637180e+01] [ 1.96495969e-02 6.78685068e-03 9.99783893e-01 3.44943115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.740714057 meters Centerline goodness [0,1] 0.9641856498964552 Centerline is valid? [False, True] Translation: X:324.42, Y:-12.56, Z:3.45 [[ 9.99608127e-01 -2.07737837e-02 -1.87627759e-02 3.24415029e+02] [ 2.06443410e-02 9.99761910e-01 -7.06646924e-03 -1.25616953e+01] [ 1.89051059e-02 6.67635494e-03 9.99798991e-01 3.44776403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.770714057 meters Centerline goodness [0,1] 0.965815112027289 Centerline is valid? [True, True] Translation: X:324.45, Y:-12.56, Z:3.45 [[ 9.99691041e-01 -1.73562173e-02 -1.77927881e-02 3.24445917e+02] [ 1.73766717e-02 9.99848519e-01 9.95620965e-04 -1.25606157e+01] [ 1.77728126e-02 -1.30449280e-03 9.99841200e-01 3.44550660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.800714057 meters Centerline goodness [0,1] 0.9661579296615793 Centerline is valid? [True, True] Translation: X:324.48, Y:-12.56, Z:3.45 [[ 9.99743186e-01 -1.49397418e-02 -1.70401253e-02 3.24475700e+02] [ 1.49581451e-02 9.99887666e-01 9.53046798e-04 -1.25595189e+01] [ 1.70239729e-02 -1.20769071e-03 9.99854352e-01 3.44591666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.830714057 meters Centerline goodness [0,1] 0.9669776577461331 Centerline is valid? [True, True] Translation: X:324.51, Y:-12.56, Z:3.45 [[ 9.99818543e-01 -9.22710199e-03 -1.66655761e-02 3.24505049e+02] [ 9.24390669e-03 9.99956840e-01 9.31594718e-04 -1.25576443e+01] [ 1.66562609e-02 -1.08548070e-03 9.99860686e-01 3.44643222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.860714057 meters Centerline goodness [0,1] 0.9670494504143409 Centerline is valid? [True, True] Translation: X:324.53, Y:-12.56, Z:3.45 [[ 9.99840297e-01 -7.19584372e-03 -1.63584639e-02 3.24534973e+02] [ 7.21175860e-03 9.99973577e-01 9.14100870e-04 -1.25571998e+01] [ 1.63514539e-02 -1.03192818e-03 9.99865774e-01 3.44670421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.890714057 meters Centerline goodness [0,1] 0.9691227725688478 Centerline is valid? [True, True] Translation: X:324.57, Y:-12.56, Z:3.45 [[ 9.99858466e-01 -3.52704801e-03 -1.64501882e-02 3.24565642e+02] [ 3.54264484e-03 9.99993302e-01 9.19080158e-04 -1.25555161e+01] [ 1.64468364e-02 -9.77227251e-04 9.99864264e-01 3.44637138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.920714057 meters Centerline goodness [0,1] 0.9705838803612852 Centerline is valid? [True, True] Translation: X:324.59, Y:-12.56, Z:3.45 [[ 9.99855805e-01 -2.78924580e-03 -1.67508075e-02 3.24594620e+02] [ 2.80526538e-03 9.99995630e-01 9.32925611e-04 -1.25557007e+01] [ 1.67481322e-02 -9.79781548e-04 9.99859260e-01 3.44624269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.950714057 meters Centerline goodness [0,1] 0.9700999136548661 Centerline is valid? [True, True] Translation: X:324.62, Y:-12.56, Z:3.45 [[ 9.99853761e-01 -2.15799495e-03 -1.69646640e-02 3.24622716e+02] [ 2.17429195e-03 9.99997192e-01 9.42257716e-04 -1.25577320e+01] [ 1.69625830e-02 -9.79006054e-04 9.99855646e-01 3.44550199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.980714057 meters Centerline goodness [0,1] 0.9696363277003657 Centerline is valid? [True, True] Translation: X:324.65, Y:-12.56, Z:3.44 [[ 9.99841944e-01 -8.14335906e-04 -1.77601653e-02 3.24650355e+02] [ 8.31948431e-04 9.99999169e-01 9.84321197e-04 -1.25585011e+01] [ 1.77593490e-02 -9.98941161e-04 9.99841791e-01 3.44452857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01071405700003 meters Centerline goodness [0,1] 0.9711069882498454 Centerline is valid? [True, True] Translation: X:324.68, Y:-12.56, Z:3.44 [[ 9.99829245e-01 -6.19760221e-05 -1.84790985e-02 3.24679066e+02] [ 8.08453213e-05 9.99999476e-01 1.02037050e-03 -1.25576995e+01] [ 1.84790256e-02 -1.02169021e-03 9.99828726e-01 3.44482273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.040714057 meters Centerline goodness [0,1] 0.9721672928613803 Centerline is valid? [True, True] Translation: X:324.71, Y:-12.56, Z:3.45 [[ 9.99824906e-01 2.17238824e-03 -1.85859692e-02 3.24707764e+02] [-2.15371637e-03 9.99997156e-01 1.02457887e-03 -1.25577471e+01] [ 1.85881421e-02 -9.84370568e-04 9.99826741e-01 3.44503158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07071405700003 meters Centerline goodness [0,1] 0.9730470873066851 Centerline is valid? [True, True] Translation: X:324.74, Y:-12.56, Z:3.45 [[ 9.99835368e-01 4.73387034e-03 -1.75164617e-02 3.24736415e+02] [-4.71769244e-03 9.99988406e-01 9.64789528e-04 -1.25584465e+01] [ 1.75208258e-02 -8.81993415e-04 9.99846110e-01 3.44559769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.100714057 meters Centerline goodness [0,1] 0.9716869255855322 Centerline is valid? [True, True] Translation: X:324.76, Y:-12.56, Z:3.45 [[ 9.99842169e-01 6.29081025e-03 -1.66151147e-02 3.24764215e+02] [-6.27648852e-03 9.99979885e-01 9.13975797e-04 -1.25595874e+01] [ 1.66205302e-02 -8.09546967e-04 9.99861542e-01 3.44672939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13071405700003 meters Centerline goodness [0,1] 0.9726485977136906 Centerline is valid? [True, True] Translation: X:324.79, Y:-12.56, Z:3.45 [[ 9.99845575e-01 7.32216588e-03 -1.59753566e-02 3.24792907e+02] [-7.30907421e-03 9.99972903e-01 8.77724645e-04 -1.25602179e+01] [ 1.59813505e-02 -7.60824036e-04 9.99872001e-01 3.44708538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.160714057 meters Centerline goodness [0,1] 0.9721247467009341 Centerline is valid? [True, True] Translation: X:324.82, Y:-12.56, Z:3.45 [[ 9.99839306e-01 1.11647433e-02 -1.40253537e-02 3.24822302e+02] [-1.11550377e-02 9.99937484e-01 7.70051760e-04 -1.25598794e+01] [ 1.40330743e-02 -6.13474668e-04 9.99901343e-01 3.44951619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19071405700004 meters Centerline goodness [0,1] 0.9735120670003469 Centerline is valid? [True, True] Translation: X:324.85, Y:-12.56, Z:3.45 [[ 9.99825048e-01 1.30225648e-02 -1.34270993e-02 3.24851355e+02] [-1.30138460e-02 9.99915045e-01 7.36515868e-04 -1.25605572e+01] [ 1.34355499e-02 -5.61648811e-04 9.99909581e-01 3.45023812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.220714057 meters Centerline goodness [0,1] 0.9741202110007677 Centerline is valid? [True, True] Translation: X:324.88, Y:-12.56, Z:3.45 [[ 9.99768985e-01 1.73062449e-02 -1.27464137e-02 3.24879960e+02] [-1.72987435e-02 9.99850122e-01 6.98537708e-04 -1.25599790e+01] [ 1.27565924e-02 -4.77879394e-04 9.99918517e-01 3.45114991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.250714057 meters Centerline goodness [0,1] 0.974809897703911 Centerline is valid? [True, True] Translation: X:324.91, Y:-12.56, Z:3.45 [[ 9.99732836e-01 1.90783977e-02 -1.30488429e-02 3.24909048e+02] [-1.90706964e-02 9.99817883e-01 7.14377017e-04 -1.25605620e+01] [ 1.30600957e-02 -4.65335639e-04 9.99914605e-01 3.45062864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.280714057 meters Centerline goodness [0,1] 0.9764356435643564 Centerline is valid? [True, True] Translation: X:324.94, Y:-12.56, Z:3.45 [[ 9.99618972e-01 2.36017067e-02 -1.43133230e-02 3.24938076e+02] [-2.35929119e-02 9.99721342e-01 7.83012350e-04 -1.25597342e+01] [ 1.43278149e-02 -4.45021031e-04 9.99897253e-01 3.44941656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.310714057 meters Centerline goodness [0,1] 0.9764356435643564 Centerline is valid? [True, True] Translation: X:324.97, Y:-12.56, Z:3.45 [[ 9.99621084e-01 2.35120517e-02 -1.43133791e-02 3.24965512e+02] [-2.35032625e-02 9.99723454e-01 7.81985298e-04 -1.25611243e+01] [ 1.43278069e-02 -4.45277885e-04 9.99897253e-01 3.44953523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.340714057 meters Centerline goodness [0,1] 0.9828453853590818 Centerline is valid? [True, True] Translation: X:324.99, Y:-12.55, Z:3.45 [[ 9.99570853e-01 2.52724539e-02 -1.48126109e-02 3.24994736e+02] [-2.52632781e-02 9.99680507e-01 8.06281301e-04 -1.25527284e+01] [ 1.48282551e-02 -4.31720179e-04 9.99889962e-01 3.45177489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.370714057 meters Centerline goodness [0,1] 0.9832579073620694 Centerline is valid? [True, True] Translation: X:325.02, Y:-12.55, Z:3.45 [[ 9.99417963e-01 2.96750994e-02 -1.68262562e-02 3.25023113e+02] [-2.96639173e-02 9.99559511e-01 9.13814825e-04 -1.25547725e+01] [ 1.68459620e-02 -4.14150278e-04 9.99858011e-01 3.44989717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.400714057 meters Centerline goodness [0,1] 0.9829212148214153 Centerline is valid? [True, True] Translation: X:325.05, Y:-12.56, Z:3.45 [[ 9.99327267e-01 3.23523370e-02 -1.72725270e-02 3.25050511e+02] [-3.23409865e-02 9.99476455e-01 9.36141974e-04 -1.25628947e+01] [ 1.72937704e-02 -3.76901640e-04 9.99850381e-01 3.44545153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.430714057 meters Centerline goodness [0,1] 0.9849190507873142 Centerline is valid? [True, True] Translation: X:325.08, Y:-12.56, Z:3.45 [[ 9.99131270e-01 3.80431057e-02 -1.70125827e-02 3.25079776e+02] [-3.80329338e-02 9.99276062e-01 9.21160013e-04 -1.25618778e+01] [ 1.70353105e-02 -2.73321340e-04 9.99854851e-01 3.44645544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.460714057 meters Centerline goodness [0,1] 0.9850331093223051 Centerline is valid? [True, True] Translation: X:325.11, Y:-12.56, Z:3.45 [[ 9.99006503e-01 4.12422965e-02 -1.68843285e-02 3.25107274e+02] [-4.12327516e-02 9.99149151e-01 9.13187427e-04 -1.25614839e+01] [ 1.69076244e-02 -2.16092854e-04 9.99857033e-01 3.44695401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.490714057 meters Centerline goodness [0,1] 0.9887001477104874 Centerline is valid? [True, True] Translation: X:325.14, Y:-12.56, Z:3.45 [[ 9.98668157e-01 4.90988562e-02 -1.58497540e-02 3.25136360e+02] [-4.90914519e-02 9.98793921e-01 8.56126295e-04 -1.25562530e+01] [ 1.58726727e-02 -7.68986355e-05 9.99874018e-01 3.45341418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.520714057 meters Centerline goodness [0,1] 0.9907569015954177 Centerline is valid? [True, True] Translation: X:325.16, Y:-12.56, Z:3.45 [[ 9.98490171e-01 5.28477628e-02 -1.49830741e-02 3.25164574e+02] [-5.28416116e-02 9.98602581e-01 8.06409071e-04 -1.25576100e+01] [ 1.50047534e-02 -1.34617473e-05 9.99887422e-01 3.44947068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.550714057 meters Centerline goodness [0,1] 0.9918295457325277 Centerline is valid? [True, True] Translation: X:325.19, Y:-12.56, Z:3.45 [[ 9.98096744e-01 6.00735493e-02 -1.39304823e-02 3.25193523e+02] [-6.00689812e-02 9.98193949e-01 7.46489013e-04 -1.25584933e+01] [ 1.39501674e-02 9.17216252e-05 9.99902687e-01 3.45434706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.580714057 meters Centerline goodness [0,1] 0.9925897035881436 Centerline is valid? [True, True] Translation: X:325.22, Y:-12.56, Z:3.45 [[ 9.97940547e-01 6.26567313e-02 -1.37403911e-02 3.25221179e+02] [-6.26525565e-02 9.98035128e-01 7.34499713e-04 -1.25604412e+01] [ 1.37594144e-02 1.27883586e-04 9.99905327e-01 3.45418480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.610714057 meters Centerline goodness [0,1] 0.9931096610829763 Centerline is valid? [True, True] Translation: X:325.25, Y:-12.57, Z:3.45 [[ 9.97876059e-01 6.36954186e-02 -1.36479092e-02 3.25249147e+02] [-6.36914322e-02 9.97969375e-01 7.26983386e-04 -1.25672752e+01] [ 1.36665010e-02 1.43815570e-04 9.99906599e-01 3.45427364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.640714057 meters Centerline goodness [0,1] 0.9927370122819293 Centerline is valid? [True, True] Translation: X:325.28, Y:-12.57, Z:3.45 [[ 9.97963102e-01 6.22566042e-02 -1.39198480e-02 3.25276817e+02] [-6.22523686e-02 9.98060168e-01 7.37791999e-04 -1.25735109e+01] [ 1.39387783e-02 1.30254317e-04 9.99902842e-01 3.45431664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.670714057 meters Centerline goodness [0,1] 0.9903150044793104 Centerline is valid? [True, True] Translation: X:325.30, Y:-12.59, Z:3.45 [[ 9.98348460e-01 5.53996801e-02 -1.52061518e-02 3.25304584e+02] [-5.53938896e-02 9.98464258e-01 8.02046030e-04 -1.25867281e+01] [ 1.52272322e-02 4.16064777e-05 9.99884058e-01 3.45309642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.700714057 meters Centerline goodness [0,1] 0.9898082112567463 Centerline is valid? [True, True] Translation: X:325.33, Y:-12.59, Z:3.45 [[ 9.98581126e-01 5.09312363e-02 -1.55481397e-02 3.25331557e+02] [-5.09246782e-02 9.98702162e-01 8.17671785e-04 -1.25948999e+01] [ 1.55696058e-02 -2.47276010e-05 9.99878786e-01 3.45219998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.730714057 meters Centerline goodness [0,1] 0.9884991097637265 Centerline is valid? [True, True] Translation: X:325.36, Y:-12.60, Z:3.45 [[ 9.98832517e-01 4.59141946e-02 -1.50162905e-02 3.25359111e+02] [-4.59075317e-02 9.98945382e-01 7.88293960e-04 -1.26045756e+01] [ 1.50366480e-02 -9.80128075e-05 9.99886938e-01 3.45094753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76071405700003 meters Centerline goodness [0,1] 0.9863323033040171 Centerline is valid? [True, True] Translation: X:325.39, Y:-12.62, Z:3.45 [[ 9.99296468e-01 3.43213017e-02 -1.51200752e-02 3.25386715e+02] [-3.43132327e-02 9.99410813e-01 7.92839675e-04 -1.26234843e+01] [ 1.51383779e-02 -2.73463228e-04 9.99885371e-01 3.45023882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.790714057 meters Centerline goodness [0,1] 0.9860734825799705 Centerline is valid? [True, True] Translation: X:325.42, Y:-12.63, Z:3.45 [[ 9.99478583e-01 2.85458922e-02 -1.50895104e-02 3.25415530e+02] [-2.85372094e-02 9.99592418e-01 7.90467984e-04 -1.26316326e+01] [ 1.51059248e-02 -3.59443303e-04 9.99885834e-01 3.45151531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82071405700003 meters Centerline goodness [0,1] 0.9840405557641757 Centerline is valid? [True, True] Translation: X:325.45, Y:-12.65, Z:3.45 [[ 9.99735778e-01 1.76993829e-02 -1.46664680e-02 3.25445469e+02] [-1.76900170e-02 9.99843224e-01 7.68091306e-04 -1.26479112e+01] [ 1.46777634e-02 -5.08438292e-04 9.99892147e-01 3.45242096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.850714057 meters Centerline goodness [0,1] 0.9804953343155827 Centerline is valid? [True, True] Translation: X:325.47, Y:-12.66, Z:3.45 [[ 9.99814561e-01 1.24300211e-02 -1.47084730e-02 3.25473667e+02] [-1.24200342e-02 9.99922572e-01 7.70137963e-04 -1.26627640e+01] [ 1.47169070e-02 -5.87315411e-04 9.99891528e-01 3.45058193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88071405700003 meters Centerline goodness [0,1] 0.9826078869047619 Centerline is valid? [True, True] Translation: X:325.50, Y:-12.66, Z:3.45 [[ 9.99861529e-01 7.67087285e-03 -1.47675616e-02 3.25503803e+02] [-7.66029113e-03 9.99970361e-01 7.72984213e-04 -1.26645746e+01] [ 1.47730533e-02 -6.59753356e-04 9.99890655e-01 3.45240885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.910714057 meters Centerline goodness [0,1] 0.9810173755065915 Centerline is valid? [True, True] Translation: X:325.53, Y:-12.68, Z:3.45 [[ 9.99905850e-01 -2.50053862e-04 -1.37196459e-02 3.25533370e+02] [ 2.59927643e-04 9.99999709e-01 7.17903471e-04 -1.26761089e+01] [ 1.37194624e-02 -7.21401995e-04 9.99905624e-01 3.45335487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94071405700004 meters Centerline goodness [0,1] 0.9771456414301956 Centerline is valid? [True, True] Translation: X:325.56, Y:-12.69, Z:3.45 [[ 9.99921866e-01 -5.36082545e-03 -1.12926349e-02 3.25562036e+02] [ 5.36783707e-03 9.99985419e-01 5.90683983e-04 -1.26926137e+01] [ 1.12893037e-02 -6.51254855e-04 9.99936062e-01 3.45382854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.970714057 meters Centerline goodness [0,1] 0.9785212817720522 Centerline is valid? [True, True] Translation: X:325.59, Y:-12.69, Z:3.46 [[ 9.99916579e-01 -6.92714048e-03 -1.09018302e-02 3.25590535e+02] [ 6.93374911e-03 9.99975800e-01 5.68514769e-04 -1.26917175e+01] [ 1.08976282e-02 -6.44057898e-04 9.99940412e-01 3.45527147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.000714057 meters Centerline goodness [0,1] 0.9784604031179374 Centerline is valid? [True, True] Translation: X:325.62, Y:-12.70, Z:3.46 [[ 9.99911467e-01 -7.99867300e-03 -1.06338778e-02 3.25619003e+02] [ 8.00499354e-03 9.99967807e-01 5.51946748e-04 -1.26965184e+01] [ 1.06291206e-02 -6.37022005e-04 9.99943306e-01 3.45510478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.030714057 meters Centerline goodness [0,1] 0.977392025048347 Centerline is valid? [True, True] Translation: X:325.65, Y:-12.70, Z:3.45 [[ 9.99893561e-01 -9.50338442e-03 -1.10703576e-02 3.25647849e+02] [ 9.51031025e-03 9.99954612e-01 5.73143574e-04 -1.27020833e+01] [ 1.10644083e-02 -6.78365104e-04 9.99938557e-01 3.45447775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.060714057 meters Centerline goodness [0,1] 0.9767581415745378 Centerline is valid? [True, True] Translation: X:325.68, Y:-12.70, Z:3.45 [[ 9.99866203e-01 -1.07667382e-02 -1.23147697e-02 3.25676718e+02] [ 1.07753769e-02 9.99941742e-01 6.35347340e-04 -1.27044186e+01] [ 1.23072117e-02 -7.67958617e-04 9.99923968e-01 3.45401361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.090714057 meters Centerline goodness [0,1] 0.975567672027055 Centerline is valid? [True, True] Translation: X:325.70, Y:-12.71, Z:3.45 [[ 9.99867830e-01 -1.08720626e-02 -1.20880479e-02 3.25704712e+02] [ 1.08803749e-02 9.99940613e-01 6.22093546e-04 -1.27130093e+01] [ 1.20805666e-02 -7.53533817e-04 9.99926743e-01 3.45283008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.120714057 meters Centerline goodness [0,1] 0.9766365896326306 Centerline is valid? [True, True] Translation: X:325.73, Y:-12.71, Z:3.45 [[ 9.99865876e-01 -1.10831887e-02 -1.20578773e-02 3.25733712e+02] [ 1.10914489e-02 9.99938297e-01 6.18388857e-04 -1.27122433e+01] [ 1.20502795e-02 -7.52045246e-04 9.99927110e-01 3.45357086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.150714057 meters Centerline goodness [0,1] 0.976194865649629 Centerline is valid? [True, True] Translation: X:325.76, Y:-12.71, Z:3.45 [[ 9.99856880e-01 -1.16492445e-02 -1.22684583e-02 3.25762680e+02] [ 1.16578016e-02 9.99931849e-01 6.26201460e-04 -1.27130503e+01] [ 1.22603274e-02 -7.69135090e-04 9.99924544e-01 3.45359442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.180714057 meters Centerline goodness [0,1] 0.9761806035475696 Centerline is valid? [True, True] Translation: X:325.79, Y:-12.72, Z:3.45 [[ 9.99851841e-01 -1.21938482e-02 -1.21493323e-02 3.25791675e+02] [ 1.22022444e-02 9.99925359e-01 6.17194510e-04 -1.27151715e+01] [ 1.21408995e-02 -7.65352189e-04 9.99926004e-01 3.45349210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.210714057 meters Centerline goodness [0,1] 0.9763577101409356 Centerline is valid? [True, True] Translation: X:325.82, Y:-12.72, Z:3.45 [[ 9.99839707e-01 -1.20947112e-02 -1.32014356e-02 3.25820546e+02] [ 1.21045952e-02 9.99926513e-01 6.69055807e-04 -1.27190418e+01] [ 1.31923734e-02 -8.28746595e-04 9.99912633e-01 3.45276409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.240714057 meters Centerline goodness [0,1] 0.9777300840025847 Centerline is valid? [True, True] Translation: X:325.85, Y:-12.71, Z:3.45 [[ 9.99823934e-01 -1.27436248e-02 -1.37732005e-02 3.25849934e+02] [ 1.27544088e-02 9.99918417e-01 6.95414598e-04 -1.27122592e+01] [ 1.37632148e-02 -8.70961190e-04 9.99904903e-01 3.45373905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.270714057 meters Centerline goodness [0,1] 0.9780686566475056 Centerline is valid? [True, True] Translation: X:325.88, Y:-12.71, Z:3.45 [[ 9.99826289e-01 -1.22481600e-02 -1.40489999e-02 3.25879205e+02] [ 1.22592839e-02 9.99924603e-01 7.05947880e-04 -1.27120809e+01] [ 1.40392941e-02 -8.78055927e-04 9.99901059e-01 3.45491470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.300714057 meters Centerline goodness [0,1] 0.9770522774923392 Centerline is valid? [True, True] Translation: X:325.91, Y:-12.71, Z:3.45 [[ 9.99837191e-01 -1.14352476e-02 -1.39580491e-02 3.25907586e+02] [ 1.14461278e-02 9.99934246e-01 6.99857837e-04 -1.27141367e+01] [ 1.39491283e-02 -8.59509509e-04 9.99902337e-01 3.45486000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.330714057 meters Centerline goodness [0,1] 0.978308526595131 Centerline is valid? [True, True] Translation: X:325.94, Y:-12.71, Z:3.46 [[ 9.99832168e-01 -1.14418166e-02 -1.43080548e-02 3.25936215e+02] [ 1.14532109e-02 9.99934154e-01 7.14670848e-04 -1.27127460e+01] [ 1.42989356e-02 -8.78424073e-04 9.99897379e-01 3.45530813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.360714057 meters Centerline goodness [0,1] 0.9778070906229751 Centerline is valid? [True, True] Translation: X:325.96, Y:-12.71, Z:3.46 [[ 9.99844059e-01 -1.10300190e-02 -1.37911733e-02 3.25964160e+02] [ 1.10405400e-02 9.99938815e-01 6.86975194e-04 -1.27141656e+01] [ 1.37827522e-02 -8.39130066e-04 9.99904661e-01 3.45578348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.390714057 meters Centerline goodness [0,1] 0.9768087765588113 Centerline is valid? [True, True] Translation: X:325.99, Y:-12.71, Z:3.46 [[ 9.99863649e-01 -1.06929695e-02 -1.25834957e-02 3.25992963e+02] [ 1.07016718e-02 9.99942541e-01 6.24429681e-04 -1.27139223e+01] [ 1.25760956e-02 -7.59008980e-04 9.99920630e-01 3.45665000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.420714057 meters Centerline goodness [0,1] 0.9752966931674156 Centerline is valid? [True, True] Translation: X:326.02, Y:-12.72, Z:3.46 [[ 9.99877543e-01 -9.84646680e-03 -1.21633454e-02 3.26021183e+02] [ 9.85449936e-03 9.99951263e-01 6.00631917e-04 -1.27166106e+01] [ 1.21568385e-02 -7.20422045e-04 9.99925843e-01 3.45681807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.450714057 meters Centerline goodness [0,1] 0.9762042948345908 Centerline is valid? [True, True] Translation: X:326.05, Y:-12.71, Z:3.46 [[ 9.99869462e-01 -1.01768989e-02 -1.25494581e-02 3.26049747e+02] [ 1.01854365e-02 9.99947937e-01 6.16589391e-04 -1.27136797e+01] [ 1.25425298e-02 -7.44330612e-04 9.99921062e-01 3.45751752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.480714057 meters Centerline goodness [0,1] 0.9754410399257196 Centerline is valid? [True, True] Translation: X:326.08, Y:-12.72, Z:3.46 [[ 9.99877032e-01 -1.03689488e-02 -1.17646359e-02 3.26077885e+02] [ 1.03764477e-02 9.99945997e-01 5.76546103e-04 -1.27151405e+01] [ 1.17580224e-02 -6.98550335e-04 9.99930628e-01 3.45729228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51071405700003 meters Centerline goodness [0,1] 0.975914237980323 Centerline is valid? [True, True] Translation: X:326.11, Y:-12.72, Z:3.46 [[ 9.99883122e-01 -1.06542535e-02 -1.09649339e-02 3.26106392e+02] [ 1.06607779e-02 9.99943028e-01 5.36746674e-04 -1.27170411e+01] [ 1.09585906e-02 -6.53578665e-04 9.99939739e-01 3.45717359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.540714057 meters Centerline goodness [0,1] 0.9759581881533101 Centerline is valid? [True, True] Translation: X:326.14, Y:-12.72, Z:3.46 [[ 9.99869475e-01 -1.20553934e-02 -1.07564582e-02 3.26135742e+02] [ 1.20617453e-02 9.99927116e-01 5.25837212e-04 -1.27166360e+01] [ 1.07493350e-02 -6.55510235e-04 9.99942009e-01 3.45690981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57071405700003 meters Centerline goodness [0,1] 0.9740626664505222 Centerline is valid? [True, True] Translation: X:326.16, Y:-12.72, Z:3.46 [[ 9.99831220e-01 -1.49135325e-02 -1.07293088e-02 3.26164523e+02] [ 1.49200116e-02 9.99888553e-01 5.24079220e-04 -1.27212971e+01] [ 1.07202972e-02 -6.84072178e-04 9.99942302e-01 3.45632380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.600714057 meters Centerline goodness [0,1] 0.9725421136779665 Centerline is valid? [True, True] Translation: X:326.19, Y:-12.72, Z:3.46 [[ 9.99803526e-01 -1.66122741e-02 -1.08139464e-02 3.26194794e+02] [ 1.66189540e-02 9.99861756e-01 5.28141232e-04 -1.27241408e+01] [ 1.08036778e-02 -7.07753945e-04 9.99941388e-01 3.45649854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63071405700003 meters Centerline goodness [0,1] 0.9694688221709007 Centerline is valid? [True, True] Translation: X:326.22, Y:-12.73, Z:3.46 [[ 9.99736492e-01 -1.98917152e-02 -1.14571335e-02 3.26224603e+02] [ 1.98994282e-02 9.99801830e-01 5.59593095e-04 -1.27311833e+01] [ 1.14437318e-02 -7.87436045e-04 9.99934208e-01 3.45606887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.660714057 meters Centerline goodness [0,1] 0.9684345196557339 Centerline is valid? [True, True] Translation: X:326.26, Y:-12.73, Z:3.45 [[ 9.99661513e-01 -2.32820799e-02 -1.16104968e-02 3.26255320e+02] [ 2.32902290e-02 9.99728585e-01 5.67133327e-04 -1.27344680e+01] [ 1.15941415e-02 -8.37352489e-04 9.99932435e-01 3.45490384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69071405700004 meters Centerline goodness [0,1] 0.9700922388894065 Centerline is valid? [True, True] Translation: X:326.29, Y:-12.73, Z:3.46 [[ 9.99623963e-01 -2.47092592e-02 -1.18905646e-02 3.26286127e+02] [ 2.47179083e-02 9.99694297e-01 5.80956977e-04 -1.27326039e+01] [ 1.18725746e-02 -8.74648402e-04 9.99929136e-01 3.45507000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.720714057 meters Centerline goodness [0,1] 0.9683920781917003 Centerline is valid? [True, True] Translation: X:326.32, Y:-12.73, Z:3.46 [[ 9.99596177e-01 -2.58348529e-02 -1.18340007e-02 3.26318680e+02] [ 2.58435053e-02 9.99665833e-01 5.78778916e-04 -1.27329844e+01] [ 1.18150935e-02 -8.84377252e-04 9.99929808e-01 3.45508890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.750714057 meters Centerline goodness [0,1] 0.9661423744611441 Centerline is valid? [True, True] Translation: X:326.35, Y:-12.74, Z:3.45 [[ 9.99542882e-01 -2.77567445e-02 -1.19829337e-02 3.26348577e+02] [ 2.77657569e-02 9.99614285e-01 5.86360905e-04 -1.27388659e+01] [ 1.19620362e-02 -9.18808091e-04 9.99928030e-01 3.45384031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.780714057 meters Centerline goodness [0,1] 0.9704686447175818 Centerline is valid? [True, True] Translation: X:326.38, Y:-12.73, Z:3.45 [[ 9.99517299e-01 -2.86063795e-02 -1.21179048e-02 3.26380697e+02] [ 2.86156672e-02 9.99590312e-01 5.93722654e-04 -1.27301709e+01] [ 1.20959560e-02 -9.40197996e-04 9.99926399e-01 3.45434289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.810714057 meters Centerline goodness [0,1] 0.9660783489751132 Centerline is valid? [True, True] Translation: X:326.41, Y:-12.74, Z:3.45 [[ 9.99492074e-01 -2.94798985e-02 -1.21049576e-02 3.26411700e+02] [ 2.94892401e-02 9.99564921e-01 5.93913444e-04 -1.27372525e+01] [ 1.20821825e-02 -9.50577780e-04 9.99926556e-01 3.45347617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.840714057 meters Centerline goodness [0,1] 0.9658053824428728 Centerline is valid? [True, True] Translation: X:326.44, Y:-12.74, Z:3.45 [[ 9.99492623e-01 -2.95728760e-02 -1.18297185e-02 3.26443815e+02] [ 2.95818126e-02 9.99562193e-01 5.81137072e-04 -1.27359057e+01] [ 1.18073535e-02 -9.30786731e-04 9.99929858e-01 3.45392461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.870714057 meters Centerline goodness [0,1] 0.9654859218891917 Centerline is valid? [True, True] Translation: X:326.48, Y:-12.74, Z:3.46 [[ 9.99471256e-01 -3.06525632e-02 -1.08456599e-02 3.26476065e+02] [ 3.06601456e-02 9.99529725e-01 5.33501443e-04 -1.27354674e+01] [ 1.08242063e-02 -8.65748870e-04 9.99941042e-01 3.45550339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.900714057 meters Centerline goodness [0,1] 0.9632631136437947 Centerline is valid? [True, True] Translation: X:326.51, Y:-12.74, Z:3.46 [[ 9.99452677e-01 -3.13760170e-02 -1.04829640e-02 3.26507443e+02] [ 3.13831464e-02 9.99507294e-01 5.16250166e-04 -1.27389367e+01] [ 1.04616012e-02 -8.44956005e-04 9.99944919e-01 3.45573233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.930714057 meters Centerline goodness [0,1] 0.9636141979650209 Centerline is valid? [True, True] Translation: X:326.54, Y:-12.74, Z:3.46 [[ 9.99417362e-01 -3.23554372e-02 -1.08656165e-02 3.26539213e+02] [ 3.23631601e-02 9.99476032e-01 5.35646222e-04 -1.27399152e+01] [ 1.08425922e-02 -8.86979821e-04 9.99940824e-01 3.45574687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.960714057 meters Centerline goodness [0,1] 0.9655979953631062 Centerline is valid? [True, True] Translation: X:326.57, Y:-12.74, Z:3.45 [[ 9.99336868e-01 -3.42859584e-02 -1.22595716e-02 3.26570391e+02] [ 3.42959390e-02 9.99411538e-01 6.04742314e-04 -1.27382016e+01] [ 1.22316231e-02 -1.02479481e-03 9.99924666e-01 3.45383374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.990714057 meters Centerline goodness [0,1] 0.9691415966583752 Centerline is valid? [True, True] Translation: X:326.60, Y:-12.73, Z:3.45 [[ 9.99297774e-01 -3.52193089e-02 -1.27890103e-02 3.26602477e+02] [ 3.52302529e-02 9.99379023e-01 6.31383677e-04 -1.27337119e+01] [ 1.27588317e-02 -1.08150037e-03 9.99918018e-01 3.45327201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.020714057 meters Centerline goodness [0,1] 0.9693097627309387 Centerline is valid? [True, True] Translation: X:326.63, Y:-12.73, Z:3.45 [[ 9.99224025e-01 -3.65992552e-02 -1.45548044e-02 3.26633466e+02] [ 3.66135820e-02 9.99329239e-01 7.19000349e-04 -1.27336373e+01] [ 1.45187268e-02 -1.25134595e-03 9.99893815e-01 3.45134729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.050714057 meters Centerline goodness [0,1] 0.7635821941815633 Centerline is valid? [True, False] Translation: X:326.68, Y:-12.73, Z:3.45 [[ 9.99138756e-01 -3.84366676e-02 -1.56323208e-02 3.26683524e+02] [ 3.84058934e-02 9.99259656e-01 -2.26419962e-03 -1.27324499e+01] [ 1.57077758e-02 1.66187634e-03 9.99875244e-01 3.45350994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.080714057 meters Centerline goodness [0,1] 0.9680208651519068 Centerline is valid? [False, True] Translation: X:326.61, Y:-12.73, Z:3.45 [[ 9.99289170e-01 -3.45242125e-02 -1.51404851e-02 3.26611268e+02] [ 3.45320585e-02 9.99403558e-01 2.57009709e-04 -1.27301940e+01] [ 1.51225816e-02 -7.79659137e-04 9.99885343e-01 3.44996866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.110714057 meters Centerline goodness [0,1] 0.9674756827534605 Centerline is valid? [True, True] Translation: X:326.64, Y:-12.73, Z:3.45 [[ 9.99309338e-01 -3.39531163e-02 -1.51007310e-02 3.26643385e+02] [ 3.39688043e-02 9.99422586e-01 7.83538306e-04 -1.27316009e+01] [ 1.50654080e-02 -1.29595092e-03 9.99885670e-01 3.44991891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.140714057 meters Centerline goodness [0,1] 0.9707513986921933 Centerline is valid? [True, True] Translation: X:326.68, Y:-12.72, Z:3.45 [[ 9.99377584e-01 -3.21864032e-02 -1.44388124e-02 3.26675226e+02] [ 3.22005717e-02 9.99481146e-01 7.49810009e-04 -1.27232915e+01] [ 1.44071871e-02 -1.21428133e-03 9.99895474e-01 3.45245695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.170714057 meters Centerline goodness [0,1] 0.9707513986921933 Centerline is valid? [True, True] Translation: X:326.71, Y:-12.73, Z:3.45 [[ 9.99379885e-01 -3.21149124e-02 -1.44387646e-02 3.26706990e+02] [ 3.21290866e-02 9.99483446e-01 7.50729856e-04 -1.27250028e+01] [ 1.44071966e-02 -1.21416864e-03 9.99895474e-01 3.45255807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.200714057 meters Centerline goodness [0,1] 0.9666352052855121 Centerline is valid? [True, True] Translation: X:326.74, Y:-12.73, Z:3.45 [[ 9.99430471e-01 -3.10121958e-02 -1.33032779e-02 3.26737658e+02] [ 3.10241387e-02 9.99518396e-01 6.92262705e-04 -1.27312604e+01] [ 1.32754024e-02 -1.10459118e-03 9.99911268e-01 3.45264980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.230714057 meters Centerline goodness [0,1] 0.9654395369799327 Centerline is valid? [True, True] Translation: X:326.77, Y:-12.73, Z:3.45 [[ 9.99488964e-01 -2.97113937e-02 -1.17917007e-02 3.26768560e+02] [ 2.97206913e-02 9.99558054e-01 6.14002368e-04 -1.27294065e+01] [ 1.17682465e-02 -9.64146088e-04 9.99930287e-01 3.45399421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26071405700003 meters Centerline goodness [0,1] 0.9661544308006556 Centerline is valid? [True, True] Translation: X:326.80, Y:-12.73, Z:3.45 [[ 9.99504593e-01 -2.91389535e-02 -1.18949395e-02 3.26800996e+02] [ 2.91483829e-02 9.99574903e-01 6.20087793e-04 -1.27280721e+01] [ 1.18718143e-02 -9.66498848e-04 9.99929060e-01 3.45439965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.290714057 meters Centerline goodness [0,1] 0.96639474873356 Centerline is valid? [True, True] Translation: X:326.83, Y:-12.73, Z:3.45 [[ 9.99505174e-01 -2.91948504e-02 -1.17075860e-02 3.26833692e+02] [ 2.92039983e-02 9.99573285e-01 6.11129152e-04 -1.27273879e+01] [ 1.16847484e-02 -9.52735071e-04 9.99931277e-01 3.45401502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32071405700003 meters Centerline goodness [0,1] 0.9656716773471187 Centerline is valid? [True, True] Translation: X:326.86, Y:-12.73, Z:3.45 [[ 9.99486553e-01 -2.97647690e-02 -1.18612316e-02 3.26864326e+02] [ 2.97742046e-02 9.99556458e-01 6.19676164e-04 -1.27300761e+01] [ 1.18375261e-02 -9.72516729e-04 9.99929461e-01 3.45383854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.350714057 meters Centerline goodness [0,1] 0.9652138667683945 Centerline is valid? [True, True] Translation: X:326.90, Y:-12.73, Z:3.45 [[ 9.99415090e-01 -3.16891915e-02 -1.28558233e-02 3.26895358e+02] [ 3.17004378e-02 9.99497189e-01 6.71923355e-04 -1.27312443e+01] [ 1.28280666e-02 -1.07906557e-03 9.99917135e-01 3.45336480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38071405700003 meters Centerline goodness [0,1] 0.9683123835014099 Centerline is valid? [True, True] Translation: X:326.93, Y:-12.73, Z:3.45 [[ 9.99379575e-01 -3.26172653e-02 -1.32883277e-02 3.26927572e+02] [ 3.26293729e-02 9.99467278e-01 6.95305669e-04 -1.27273040e+01] [ 1.32585698e-02 -1.12846408e-03 9.99911465e-01 3.45330068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.410714057 meters Centerline goodness [0,1] 0.9681482900660983 Centerline is valid? [True, True] Translation: X:326.96, Y:-12.73, Z:3.45 [[ 9.99278627e-01 -3.49882153e-02 -1.47665272e-02 3.26958513e+02] [ 3.50034305e-02 9.99386893e-01 7.73109063e-04 -1.27273693e+01] [ 1.47304240e-02 -1.28943047e-03 9.99890670e-01 3.45216931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44071405700004 meters Centerline goodness [0,1] 0.9644170607059273 Centerline is valid? [True, True] Translation: X:326.99, Y:-12.74, Z:3.45 [[ 9.99226144e-01 -3.62898995e-02 -1.51708744e-02 3.26988293e+02] [ 3.63061124e-02 9.99340400e-01 7.94550075e-04 -1.27373735e+01] [ 1.51320336e-02 -1.34473068e-03 9.99884600e-01 3.45033115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.470714057 meters Centerline goodness [0,1] 0.9660835160644484 Centerline is valid? [True, True] Translation: X:327.02, Y:-12.74, Z:3.45 [[ 9.99174922e-01 -3.75308982e-02 -1.55211714e-02 3.27019368e+02] [ 3.75480213e-02 9.99294494e-01 8.13169401e-04 -1.27360660e+01] [ 1.54797021e-02 -1.39528775e-03 9.99879209e-01 3.45071686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.500714057 meters Centerline goodness [0,1] 0.9588962482963105 Centerline is valid? [True, True] Translation: X:327.05, Y:-12.74, Z:3.45 [[ 9.99118678e-01 -3.91183763e-02 -1.52190435e-02 3.27048681e+02] [ 3.91350226e-02 9.99233613e-01 7.97394931e-04 -1.27447177e+01] [ 1.51761871e-02 -1.39228978e-03 9.99883866e-01 3.44955828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.530714057 meters Centerline goodness [0,1] 0.9665369835549085 Centerline is valid? [True, True] Translation: X:327.08, Y:-12.74, Z:3.45 [[ 9.99122639e-01 -3.92154113e-02 -1.47004935e-02 3.27081432e+02] [ 3.92309649e-02 9.99229872e-01 7.71047964e-04 -1.27362876e+01] [ 1.46589353e-02 -1.34708602e-03 9.99891645e-01 3.45060229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.560714057 meters Centerline goodness [0,1] 0.960385898046689 Centerline is valid? [True, True] Translation: X:327.11, Y:-12.75, Z:3.45 [[ 9.99144729e-01 -3.87670108e-02 -1.43850551e-02 3.27111984e+02] [ 3.87818697e-02 9.99247415e-01 7.55321595e-04 -1.27459647e+01] [ 1.43449476e-02 -1.31255492e-03 9.99896244e-01 3.44992331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.590714057 meters Centerline goodness [0,1] 0.9601814275483409 Centerline is valid? [True, True] Translation: X:327.14, Y:-12.75, Z:3.45 [[ 9.99174026e-01 -3.81221295e-02 -1.40701166e-02 3.27144648e+02] [ 3.81362967e-02 9.99272273e-01 7.39870563e-04 -1.27466893e+01] [ 1.40316720e-02 -1.27584159e-03 9.99900737e-01 3.45050671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.620714057 meters Centerline goodness [0,1] 0.9581659012629162 Centerline is valid? [True, True] Translation: X:327.18, Y:-12.75, Z:3.45 [[ 9.99225340e-01 -3.71865842e-02 -1.28793563e-02 3.27175500e+02] [ 3.71983849e-02 9.99307671e-01 6.77826961e-04 -1.27477550e+01] [ 1.28452334e-02 -1.15639313e-03 9.99916828e-01 3.45057118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.650714057 meters Centerline goodness [0,1] 0.9579432521964568 Centerline is valid? [True, True] Translation: X:327.21, Y:-12.75, Z:3.45 [[ 9.99263800e-01 -3.63454133e-02 -1.22828821e-02 3.27207139e+02] [ 3.63560882e-02 9.99338690e-01 6.46841760e-04 -1.27485964e+01] [ 1.22512495e-02 -1.09292310e-03 9.99924353e-01 3.45079135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.680714057 meters Centerline goodness [0,1] 0.9652456975992724 Centerline is valid? [True, True] Translation: X:327.24, Y:-12.74, Z:3.45 [[ 9.99342626e-01 -3.41207687e-02 -1.22510670e-02 3.27238644e+02] [ 3.41312256e-02 9.99417152e-01 6.45432237e-04 -1.27368870e+01] [ 1.22219038e-02 -1.06315188e-03 9.99924745e-01 3.45189303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.710714057 meters Centerline goodness [0,1] 0.9686022228089969 Centerline is valid? [True, True] Translation: X:327.27, Y:-12.73, Z:3.45 [[ 9.99380162e-01 -3.30236841e-02 -1.21954418e-02 3.27270820e+02] [ 3.30339719e-02 9.99454023e-01 6.43043681e-04 -1.27338585e+01] [ 1.21675477e-02 -1.04550898e-03 9.99925426e-01 3.45229940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.740714057 meters Centerline goodness [0,1] 0.9661705657473972 Centerline is valid? [True, True] Translation: X:327.30, Y:-12.74, Z:3.45 [[ 9.99443496e-01 -3.09981246e-02 -1.23212847e-02 3.27300251e+02] [ 3.10084731e-02 9.99518911e-01 6.49690550e-04 -1.27364659e+01] [ 1.22952179e-02 -1.03139322e-03 9.99923879e-01 3.45107697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.770714057 meters Centerline goodness [0,1] 0.9674806547260324 Centerline is valid? [True, True] Translation: X:327.33, Y:-12.74, Z:3.45 [[ 9.99465131e-01 -3.00861496e-02 -1.28170350e-02 3.27332549e+02] [ 3.00972811e-02 9.99546745e-01 6.76448335e-04 -1.27371462e+01] [ 1.27908739e-02 -1.06184443e-03 9.99917630e-01 3.45101215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.800714057 meters Centerline goodness [0,1] 0.9690000964227172 Centerline is valid? [True, True] Translation: X:327.36, Y:-12.73, Z:3.45 [[ 9.99507979e-01 -2.84074246e-02 -1.32973330e-02 3.27364731e+02] [ 2.84192688e-02 9.99595844e-01 7.02572910e-04 -1.27318607e+01] [ 1.32720005e-02 -1.08012771e-03 9.99911340e-01 3.45074031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.830714057 meters Centerline goodness [0,1] 0.9665122563211735 Centerline is valid? [True, True] Translation: X:327.40, Y:-12.74, Z:3.45 [[ 9.99519763e-01 -2.77838417e-02 -1.37222663e-02 3.27395814e+02] [ 2.77964178e-02 9.99613341e-01 7.26565074e-04 -1.27373985e+01] [ 1.36967737e-02 -1.10764600e-03 9.99905581e-01 3.45000334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.860714057 meters Centerline goodness [0,1] 0.9674480425326245 Centerline is valid? [True, True] Translation: X:327.43, Y:-12.74, Z:3.45 [[ 9.99554187e-01 -2.65971257e-02 -1.35654200e-02 3.27427681e+02] [ 2.66093202e-02 9.99645651e-01 7.19211573e-04 -1.27358559e+01] [ 1.35414841e-02 -1.07985754e-03 9.99907727e-01 3.44951279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.890714057 meters Centerline goodness [0,1] 0.967860511233102 Centerline is valid? [True, True] Translation: X:327.46, Y:-12.73, Z:3.45 [[ 9.99583661e-01 -2.55981147e-02 -1.33132317e-02 3.27459677e+02] [ 2.56097813e-02 9.99671766e-01 7.06544193e-04 -1.27329099e+01] [ 1.32907757e-02 -1.04719898e-03 9.99911125e-01 3.44990047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.920714057 meters Centerline goodness [0,1] 0.9658034849951598 Centerline is valid? [True, True] Translation: X:327.49, Y:-12.74, Z:3.45 [[ 9.99610037e-01 -2.48731524e-02 -1.26925199e-02 3.27490586e+02] [ 2.48837164e-02 9.99690124e-01 6.75030346e-04 -1.27391345e+01] [ 1.26717966e-02 -9.90604173e-04 9.99919219e-01 3.44979969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.950714057 meters Centerline goodness [0,1] 0.9689251146204788 Centerline is valid? [True, True] Translation: X:327.52, Y:-12.73, Z:3.45 [[ 9.99622483e-01 -2.44706275e-02 -1.24931961e-02 3.27523312e+02] [ 2.44808445e-02 9.99700078e-01 6.65514025e-04 -1.27322354e+01] [ 1.24731635e-02 -9.71106773e-04 9.99921736e-01 3.45136104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.980714057 meters Centerline goodness [0,1] 0.9672553258678067 Centerline is valid? [True, True] Translation: X:327.55, Y:-12.74, Z:3.45 [[ 9.99620913e-01 -2.48132841e-02 -1.19302524e-02 3.27554601e+02] [ 2.48226334e-02 9.99691669e-01 6.36208195e-04 -1.27362034e+01] [ 1.19107875e-02 -9.32107299e-04 9.99928630e-01 3.45127738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01071405700003 meters Centerline goodness [0,1] 0.9652552625211711 Centerline is valid? [True, True] Translation: X:327.59, Y:-12.74, Z:3.45 [[ 9.99612090e-01 -2.51497679e-02 -1.19649169e-02 3.27585676e+02] [ 2.51592031e-02 9.99683253e-01 6.38683328e-04 -1.27408417e+01] [ 1.19450643e-02 -9.39463351e-04 9.99928214e-01 3.45081786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.040714057 meters Centerline goodness [0,1] 0.9651546792287893 Centerline is valid? [True, True] Translation: X:327.62, Y:-12.74, Z:3.45 [[ 9.99572180e-01 -2.65875614e-02 -1.21884729e-02 3.27616797e+02] [ 2.65974645e-02 9.99646013e-01 6.51093407e-04 -1.27429961e+01] [ 1.21668473e-02 -9.74997331e-04 9.99925506e-01 3.45105307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07071405700003 meters Centerline goodness [0,1] 0.9646567627925041 Centerline is valid? [True, True] Translation: X:327.65, Y:-12.75, Z:3.45 [[ 9.99557047e-01 -2.73117898e-02 -1.18227136e-02 3.27648409e+02] [ 2.73211689e-02 9.99626507e-01 6.32499979e-04 -1.27454720e+01] [ 1.18010231e-02 -9.55230165e-04 9.99929909e-01 3.45045233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.100714057 meters Centerline goodness [0,1] 0.9665022009384221 Centerline is valid? [True, True] Translation: X:327.68, Y:-12.75, Z:3.45 [[ 9.99580533e-01 -2.51592651e-02 -1.43446871e-02 3.27679369e+02] [ 2.51728635e-02 9.99682818e-01 7.68176003e-04 -1.27516297e+01] [ 1.43208105e-02 -1.12895063e-03 9.99896815e-01 3.44556515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13071405700003 meters Centerline goodness [0,1] 0.9692367131094101 Centerline is valid? [True, True] Translation: X:327.71, Y:-12.76, Z:3.44 [[ 9.99603630e-01 -2.40043113e-02 -1.47097220e-02 3.27711122e+02] [ 2.40184967e-02 9.99711203e-01 7.88424807e-04 -1.27561234e+01] [ 1.46865483e-02 -1.14141771e-03 9.99891495e-01 3.44426738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.160714057 meters Centerline goodness [0,1] 0.9653882358620357 Centerline is valid? [True, True] Translation: X:327.74, Y:-12.76, Z:3.45 [[ 9.99667926e-01 -2.22698275e-02 -1.29650517e-02 3.27741213e+02] [ 2.22807040e-02 9.99751513e-01 6.95055583e-04 -1.27591791e+01] [ 1.29463513e-02 -9.83695253e-04 9.99915709e-01 3.44879244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19071405700004 meters Centerline goodness [0,1] 0.9663088992636089 Centerline is valid? [True, True] Translation: X:327.77, Y:-12.76, Z:3.45 [[ 9.99719243e-01 -2.02119050e-02 -1.23658414e-02 3.27772154e+02] [ 2.02216446e-02 9.99795302e-01 6.63084072e-04 -1.27605001e+01] [ 1.23499080e-02 -9.12955557e-04 9.99923320e-01 3.44989893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.220714057 meters Centerline goodness [0,1] 0.9697320223636013 Centerline is valid? [True, True] Translation: X:327.80, Y:-12.76, Z:3.45 [[ 9.99768342e-01 -1.67793445e-02 -1.34802070e-02 3.27803081e+02] [ 1.67906107e-02 9.99858766e-01 7.23007876e-04 -1.27587777e+01] [ 1.34661716e-02 -9.49181294e-04 9.99908876e-01 3.45029724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.250714057 meters Centerline goodness [0,1] 0.9703776667307322 Centerline is valid? [True, True] Translation: X:327.83, Y:-12.76, Z:3.45 [[ 9.99791163e-01 -1.43752380e-02 -1.45252666e-02 3.27832266e+02] [ 1.43880642e-02 9.99896183e-01 7.78904860e-04 -1.27645118e+01] [ 1.45125617e-02 -9.87732664e-04 9.99894199e-01 3.44806899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.280714057 meters Centerline goodness [0,1] 0.9701368233194527 Centerline is valid? [True, True] Translation: X:327.86, Y:-12.77, Z:3.44 [[ 9.99816776e-01 -1.20226753e-02 -1.48952624e-02 3.27860566e+02] [ 1.20358939e-02 9.99927247e-01 7.98106894e-04 -1.27734257e+01] [ 1.48845834e-02 -9.77238460e-04 9.99888741e-01 3.44424014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.310714057 meters Centerline goodness [0,1] 0.9739693729310057 Centerline is valid? [True, True] Translation: X:327.89, Y:-12.77, Z:3.45 [[ 9.99836055e-01 -1.14444779e-02 -1.40316356e-02 3.27889572e+02] [ 1.14561111e-02 9.99934096e-01 7.48974993e-04 -1.27676638e+01] [ 1.40221392e-02 -9.09600180e-04 9.99901271e-01 3.44695708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.340714057 meters Centerline goodness [0,1] 0.9743968371162502 Centerline is valid? [True, True] Translation: X:327.92, Y:-12.77, Z:3.45 [[ 9.99865034e-01 -1.08807041e-02 -1.23095412e-02 3.27918439e+02] [ 1.08895777e-02 9.99940493e-01 6.54080768e-04 -1.27686833e+01] [ 1.23016918e-02 -7.88038195e-04 9.99924021e-01 3.44969655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.370714057 meters Centerline goodness [0,1] 0.9751474803951764 Centerline is valid? [True, True] Translation: X:327.95, Y:-12.77, Z:3.45 [[ 9.99890293e-01 -8.72857116e-03 -1.19671655e-02 3.27947195e+02] [ 8.73679138e-03 9.99961632e-01 6.34789570e-04 -1.27705757e+01] [ 1.19611656e-02 -7.39274558e-04 9.99928189e-01 3.45254195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.400714057 meters Centerline goodness [0,1] 0.9757222684579717 Centerline is valid? [True, True] Translation: X:327.98, Y:-12.77, Z:3.45 [[ 9.99886088e-01 -8.51035391e-03 -1.24653204e-02 3.27975374e+02] [ 8.51922571e-03 9.99963494e-01 6.58791617e-04 -1.27731374e+01] [ 1.24592588e-02 -7.64911451e-04 9.99922088e-01 3.45193539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.430714057 meters Centerline goodness [0,1] 0.9756396940798792 Centerline is valid? [True, True] Translation: X:328.00, Y:-12.78, Z:3.45 [[ 9.99888401e-01 -8.11666093e-03 -1.25421075e-02 3.28003843e+02] [ 8.12557264e-03 9.99966769e-01 6.59748605e-04 -1.27800817e+01] [ 1.25363358e-02 -7.61586784e-04 9.99921127e-01 3.45113632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.460714057 meters Centerline goodness [0,1] 0.9738441962392196 Centerline is valid? [True, True] Translation: X:328.03, Y:-12.79, Z:3.45 [[ 9.99878383e-01 -9.23183904e-03 -1.25695126e-02 3.28031427e+02] [ 9.24085736e-03 9.99957085e-01 6.59584286e-04 -1.27885683e+01] [ 1.25628840e-02 -7.75657142e-04 9.99920783e-01 3.45099707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.490714057 meters Centerline goodness [0,1] 0.9753243689549422 Centerline is valid? [True, True] Translation: X:328.06, Y:-12.79, Z:3.45 [[ 9.99867985e-01 -1.02748646e-02 -1.25872963e-02 3.28059733e+02] [ 1.02839770e-02 9.99946901e-01 6.59427663e-04 -1.27908869e+01] [ 1.25798524e-02 -7.88788074e-04 9.99920559e-01 3.45130775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.520714057 meters Centerline goodness [0,1] 0.9738999340431547 Centerline is valid? [True, True] Translation: X:328.09, Y:-12.79, Z:3.45 [[ 9.99856861e-01 -1.16122744e-02 -1.23049519e-02 3.28088470e+02] [ 1.16210531e-02 9.99932267e-01 6.42161161e-04 -1.27935203e+01] [ 1.22966615e-02 -7.85065742e-04 9.99924085e-01 3.45175029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.550714057 meters Centerline goodness [0,1] 0.9757452193475815 Centerline is valid? [True, True] Translation: X:328.12, Y:-12.80, Z:3.45 [[ 9.99836823e-01 -1.30042526e-02 -1.25386403e-02 3.28117538e+02] [ 1.30134578e-02 9.99915108e-01 6.52835048e-04 -1.27950285e+01] [ 1.25290862e-02 -8.15899586e-04 9.99921175e-01 3.45226855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.580714057 meters Centerline goodness [0,1] 0.975050809447053 Centerline is valid? [True, True] Translation: X:328.15, Y:-12.81, Z:3.45 [[ 9.99820696e-01 -1.39406367e-02 -1.28154019e-02 3.28145545e+02] [ 1.39503196e-02 9.99902467e-01 6.66476863e-04 -1.28095851e+01] [ 1.28048609e-02 -8.45136313e-04 9.99917657e-01 3.45034298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.610714057 meters Centerline goodness [0,1] 0.9762677816449044 Centerline is valid? [True, True] Translation: X:328.18, Y:-12.81, Z:3.45 [[ 9.99820110e-01 -1.42829760e-02 -1.24797323e-02 3.28175232e+02] [ 1.42921786e-02 9.99897651e-01 6.48530899e-04 -1.28072884e+01] [ 1.24691921e-02 -8.26776798e-04 9.99921915e-01 3.45116421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.640714057 meters Centerline goodness [0,1] 0.9774158928654753 Centerline is valid? [True, True] Translation: X:328.21, Y:-12.81, Z:3.45 [[ 9.99836860e-01 -1.29464852e-02 -1.25953274e-02 3.28205680e+02] [ 1.29557521e-02 9.99915857e-01 6.54426048e-04 -1.28054841e+01] [ 1.25857951e-02 -8.17501225e-04 9.99920462e-01 3.45409950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.670714057 meters Centerline goodness [0,1] 0.9753129508120434 Centerline is valid? [True, True] Translation: X:328.23, Y:-12.81, Z:3.45 [[ 9.99853340e-01 -1.15287834e-02 -1.26643544e-02 3.28233744e+02] [ 1.15380326e-02 9.99933219e-01 6.57504998e-04 -1.28113921e+01] [ 1.26559285e-02 -8.03530302e-04 9.99919588e-01 3.45405646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.700714057 meters Centerline goodness [0,1] 0.9773546302108763 Centerline is valid? [True, True] Translation: X:328.26, Y:-12.81, Z:3.46 [[ 9.99868988e-01 -9.92644736e-03 -1.27856430e-02 3.28263565e+02] [ 9.93573749e-03 9.99950419e-01 6.63290477e-04 -1.28073396e+01] [ 1.27784249e-02 -7.90238370e-04 9.99918040e-01 3.45523434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.730714057 meters Centerline goodness [0,1] 0.9755813411622163 Centerline is valid? [True, True] Translation: X:328.29, Y:-12.81, Z:3.45 [[ 9.99898230e-01 -6.14278929e-03 -1.28761688e-02 3.28292162e+02] [ 6.15189371e-03 9.99980854e-01 6.67585803e-04 -1.28137249e+01] [ 1.28718215e-02 -7.46730685e-04 9.99916876e-01 3.45430229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76071405700003 meters Centerline goodness [0,1] 0.9775529707932216 Centerline is valid? [True, True] Translation: X:328.32, Y:-12.81, Z:3.46 [[ 9.99908474e-01 -4.46307737e-03 -1.27720189e-02 3.28321550e+02] [ 4.47186990e-03 9.99989783e-01 6.59945683e-04 -1.28117756e+01] [ 1.27689430e-02 -7.17000087e-04 9.99918217e-01 3.45512128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.790714057 meters Centerline goodness [0,1] 0.9779198954345999 Centerline is valid? [True, True] Translation: X:328.35, Y:-12.81, Z:3.46 [[ 9.99924125e-01 -1.24099089e-03 -1.22557700e-02 3.28349949e+02] [ 1.24883160e-03 9.99999020e-01 6.32123927e-04 -1.28148879e+01] [ 1.22549735e-02 -6.47381358e-04 9.99924695e-01 3.45509787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82071405700003 meters Centerline goodness [0,1] 0.9799495232753785 Centerline is valid? [True, True] Translation: X:328.38, Y:-12.81, Z:3.46 [[ 9.99925751e-01 2.88905145e-03 -1.18383374e-02 3.28380232e+02] [-2.88202995e-03 9.99995661e-01 6.10131846e-04 -1.28097422e+01] [ 1.18400487e-02 -5.75968101e-04 9.99929738e-01 3.45762614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.850714057 meters Centerline goodness [0,1] 0.981246204867112 Centerline is valid? [True, True] Translation: X:328.41, Y:-12.81, Z:3.46 [[ 9.99919090e-01 4.59122922e-03 -1.18631023e-02 3.28408733e+02] [-4.58430644e-03 9.99989306e-01 6.10682204e-04 -1.28095618e+01] [ 1.18657792e-02 -5.56248698e-04 9.99929444e-01 3.45858927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88071405700003 meters Centerline goodness [0,1] 0.9800820015841215 Centerline is valid? [True, True] Translation: X:328.44, Y:-12.81, Z:3.46 [[ 9.99912920e-01 5.58041882e-03 -1.19586935e-02 3.28436532e+02] [-5.57346653e-03 9.99984279e-01 6.14606955e-04 -1.28118781e+01] [ 1.19619352e-02 -5.47902058e-04 9.99928303e-01 3.45852903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.910714057 meters Centerline goodness [0,1] 0.9817409171570001 Centerline is valid? [True, True] Translation: X:328.47, Y:-12.81, Z:3.46 [[ 9.99906400e-01 6.36037487e-03 -1.21134862e-02 3.28465016e+02] [-6.35330951e-03 9.99979624e-01 6.21656911e-04 -1.28144967e+01] [ 1.21171934e-02 -5.44637997e-04 9.99926436e-01 3.45799577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.940714057 meters Centerline goodness [0,1] 0.9805155596841616 Centerline is valid? [True, True] Translation: X:328.49, Y:-12.82, Z:3.46 [[ 9.99900438e-01 6.28617419e-03 -1.26331816e-02 3.28493420e+02] [-6.27849485e-03 9.99980080e-01 6.47439393e-04 -1.28171549e+01] [ 1.26369999e-02 -5.68057568e-04 9.99919989e-01 3.45779281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.970714057 meters Centerline goodness [0,1] 0.9821004055376871 Centerline is valid? [True, True] Translation: X:328.52, Y:-12.82, Z:3.46 [[ 9.99907458e-01 4.47767956e-03 -1.28462182e-02 3.28522812e+02] [-4.46959741e-03 9.99989795e-01 6.57787587e-04 -1.28194107e+01] [ 1.28490325e-02 -6.00309290e-04 9.99917268e-01 3.45879121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.000714057 meters Centerline goodness [0,1] 0.9789359039718218 Centerline is valid? [True, True] Translation: X:328.55, Y:-12.83, Z:3.46 [[ 9.99913293e-01 1.41939310e-03 -1.30916340e-02 3.28550846e+02] [-1.41074608e-03 9.99998781e-01 6.69710950e-04 -1.28311533e+01] [ 1.30925686e-02 -6.51183911e-04 9.99914077e-01 3.45763096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.030714057 meters Centerline goodness [0,1] 0.9802477168684498 Centerline is valid? [True, True] Translation: X:328.58, Y:-12.83, Z:3.46 [[ 9.99907151e-01 -5.20405265e-04 -1.36168178e-02 3.28580135e+02] [ 5.29929496e-04 9.99999617e-01 6.95847376e-04 -1.28286151e+01] [ 1.36164505e-02 -7.02998721e-04 9.99907045e-01 3.45852362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.060714057 meters Centerline goodness [0,1] 0.9806828183629036 Centerline is valid? [True, True] Translation: X:328.61, Y:-12.83, Z:3.46 [[ 9.99898688e-01 -2.20131841e-03 -1.40630308e-02 3.28608423e+02] [ 2.21162971e-03 9.99997297e-01 7.17710542e-04 -1.28329405e+01] [ 1.40614129e-02 -7.48740046e-04 9.99900853e-01 3.45819011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.090714057 meters Centerline goodness [0,1] 0.9796458328498154 Centerline is valid? [True, True] Translation: X:328.64, Y:-12.84, Z:3.46 [[ 9.99869084e-01 -5.98139848e-03 -1.50345441e-02 3.28637288e+02] [ 5.99360332e-03 9.99981744e-01 7.66859176e-04 -1.28391854e+01] [ 1.50296828e-02 -8.56869876e-04 9.99886681e-01 3.45690765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.120714057 meters Centerline goodness [0,1] 0.9796458328498154 Centerline is valid? [True, True] Translation: X:328.66, Y:-12.84, Z:3.46 [[ 9.99867391e-01 -6.25756626e-03 -1.50347134e-02 3.28664693e+02] [ 6.26975235e-03 9.99980053e-01 7.63532164e-04 -1.28404984e+01] [ 1.50296356e-02 -8.57694843e-04 9.99886681e-01 3.45699492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.150714057 meters Centerline goodness [0,1] 0.9797731437452158 Centerline is valid? [True, True] Translation: X:328.69, Y:-12.84, Z:3.46 [[ 9.99845217e-01 -7.88096197e-03 -1.57299558e-02 3.28694361e+02] [ 7.89448010e-03 9.99968520e-01 7.97477807e-04 -1.28410182e+01] [ 1.57231757e-02 -9.21534194e-04 9.99875959e-01 3.45755257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.180714057 meters Centerline goodness [0,1] 0.978735698601641 Centerline is valid? [True, True] Translation: X:328.72, Y:-12.85, Z:3.46 [[ 9.99820190e-01 -9.98329680e-03 -1.61220919e-02 3.28722773e+02] [ 9.99775695e-03 9.99949688e-01 8.16565103e-04 -1.28465599e+01] [ 1.61131288e-02 -9.77603033e-04 9.99869697e-01 3.45782250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.210714057 meters Centerline goodness [0,1] 0.9783322541855517 Centerline is valid? [True, True] Translation: X:328.75, Y:-12.85, Z:3.46 [[ 9.99806079e-01 -1.13062147e-02 -1.61237265e-02 3.28751085e+02] [ 1.13208286e-02 9.99935585e-01 8.15376752e-04 -1.28482060e+01] [ 1.61134690e-02 -9.97752578e-04 9.99869672e-01 3.45829374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.240714057 meters Centerline goodness [0,1] 0.9782663925907107 Centerline is valid? [True, True] Translation: X:328.78, Y:-12.85, Z:3.46 [[ 9.99780469e-01 -1.28498146e-02 -1.65498309e-02 3.28780612e+02] [ 1.28654098e-02 9.99916888e-01 8.36189812e-04 -1.28504336e+01] [ 1.65377105e-02 -1.04892660e-03 9.99862693e-01 3.45830107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.270714057 meters Centerline goodness [0,1] 0.9789573591369971 Centerline is valid? [True, True] Translation: X:328.81, Y:-12.85, Z:3.46 [[ 9.99767254e-01 -1.37511758e-02 -1.66235484e-02 3.28809334e+02] [ 1.37669790e-02 9.99904881e-01 8.36587359e-04 -1.28524430e+01] [ 1.66104631e-02 -1.06524869e-03 9.99861469e-01 3.45816828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.300714057 meters Centerline goodness [0,1] 0.9799986126205286 Centerline is valid? [True, True] Translation: X:328.84, Y:-12.85, Z:3.46 [[ 9.99740788e-01 -1.51600614e-02 -1.69861549e-02 3.28839462e+02] [ 1.51767426e-02 9.99884462e-01 8.53562247e-04 -1.28464796e+01] [ 1.69712523e-02 -1.11113549e-03 9.99855361e-01 3.45919656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.330714057 meters Centerline goodness [0,1] 0.9795785911314063 Centerline is valid? [True, True] Translation: X:328.87, Y:-12.85, Z:3.46 [[ 9.99719973e-01 -1.58803044e-02 -1.75439631e-02 3.28867515e+02] [ 1.58981919e-02 9.99873228e-01 8.80574830e-04 -1.28481801e+01] [ 1.75277553e-02 -1.15924554e-03 9.99845705e-01 3.45935696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.360714057 meters Centerline goodness [0,1] 0.979501654211878 Centerline is valid? [True, True] Translation: X:328.90, Y:-12.85, Z:3.46 [[ 9.99731285e-01 -1.59640802e-02 -1.68079381e-02 3.28895220e+02] [ 1.59804864e-02 9.99871949e-01 8.42236036e-04 -1.28496766e+01] [ 1.67923403e-02 -1.11060874e-03 9.99858382e-01 3.46019910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.390714057 meters Centerline goodness [0,1] 0.9782623809413455 Centerline is valid? [True, True] Translation: X:328.92, Y:-12.85, Z:3.46 [[ 9.99736718e-01 -1.71034067e-02 -1.52959983e-02 3.28924526e+02] [ 1.71170761e-02 9.99853201e-01 7.63173739e-04 -1.28474520e+01] [ 1.52807000e-02 -1.02479558e-03 9.99882718e-01 3.46276108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.420714057 meters Centerline goodness [0,1] 0.9790339395343449 Centerline is valid? [True, True] Translation: X:328.95, Y:-12.85, Z:3.46 [[ 9.99738390e-01 -1.76566399e-02 -1.45393895e-02 3.28953875e+02] [ 1.76690316e-02 9.99843628e-01 7.24262170e-04 -1.28494815e+01] [ 1.45243279e-02 -9.80969627e-04 9.99894035e-01 3.46361209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.450714057 meters Centerline goodness [0,1] 0.9779699928112608 Centerline is valid? [True, True] Translation: X:328.98, Y:-12.85, Z:3.46 [[ 9.99729486e-01 -1.85487937e-02 -1.40320114e-02 3.28983855e+02] [ 1.85604201e-02 9.99827496e-01 6.98781293e-04 -1.28508088e+01] [ 1.40166293e-02 -9.59032289e-04 9.99901302e-01 3.46436581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.480714057 meters Centerline goodness [0,1] 0.9799043950433936 Centerline is valid? [True, True] Translation: X:329.01, Y:-12.85, Z:3.47 [[ 9.99683727e-01 -2.09216607e-02 -1.39545825e-02 3.29014576e+02] [ 2.09333888e-02 9.99780631e-01 6.94896994e-04 -1.28501828e+01] [ 1.39369829e-02 -9.86793919e-04 9.99902389e-01 3.46560587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51071405700003 meters Centerline goodness [0,1] 0.9787451034930348 Centerline is valid? [True, True] Translation: X:329.04, Y:-12.85, Z:3.46 [[ 9.99655548e-01 -2.21779739e-02 -1.40329363e-02 3.29044729e+02] [ 2.21899600e-02 9.99753528e-01 6.98992726e-04 -1.28544468e+01] [ 1.40139753e-02 -1.01014225e-03 9.99901289e-01 3.46482881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.540714057 meters Centerline goodness [0,1] 0.9786810490497905 Centerline is valid? [True, True] Translation: X:329.08, Y:-12.86, Z:3.46 [[ 9.99601032e-01 -2.35845105e-02 -1.55418092e-02 3.29075958e+02] [ 2.35993899e-02 9.99721195e-01 7.74651169e-04 -1.28573151e+01] [ 1.55192063e-02 -1.14111932e-03 9.99878919e-01 3.46275850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57071405700003 meters Centerline goodness [0,1] 0.9779917786707312 Centerline is valid? [True, True] Translation: X:329.11, Y:-12.86, Z:3.46 [[ 9.99581565e-01 -2.37496407e-02 -1.65120853e-02 3.29107328e+02] [ 2.37664684e-02 9.99717198e-01 8.23600951e-04 -1.28593262e+01] [ 1.64878554e-02 -1.21569028e-03 9.99863327e-01 3.46176427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.600714057 meters Centerline goodness [0,1] 0.9783121933154337 Centerline is valid? [True, True] Translation: X:329.14, Y:-12.86, Z:3.46 [[ 9.99579373e-01 -2.32009014e-02 -1.74010178e-02 3.29137544e+02] [ 2.32195136e-02 9.99730014e-01 8.68305576e-04 -1.28614349e+01] [ 1.73761743e-02 -1.27198351e-03 9.99848214e-01 3.46126177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63071405700003 meters Centerline goodness [0,1] 0.9789685569514819 Centerline is valid? [True, True] Translation: X:329.17, Y:-12.86, Z:3.46 [[ 9.99585377e-01 -2.25597397e-02 -1.78922129e-02 3.29167981e+02] [ 2.25793166e-02 9.99744656e-01 8.92873033e-04 -1.28591343e+01] [ 1.78675012e-02 -1.29649677e-03 9.99839523e-01 3.46221519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.660714057 meters Centerline goodness [0,1] 0.978722909496791 Centerline is valid? [True, True] Translation: X:329.20, Y:-12.86, Z:3.46 [[ 9.99600318e-01 -2.18042894e-02 -1.79938288e-02 3.29198435e+02] [ 2.18239676e-02 9.99761426e-01 8.97943958e-04 -1.28591884e+01] [ 1.79699569e-02 -1.29028180e-03 9.99837695e-01 3.46261012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.690714057 meters Centerline goodness [0,1] 0.9804693872794649 Centerline is valid? [True, True] Translation: X:329.23, Y:-12.86, Z:3.46 [[ 9.99658298e-01 -1.93714375e-02 -1.75508959e-02 3.29229244e+02] [ 1.93897856e-02 9.99811617e-01 8.75840331e-04 -1.28557485e+01] [ 1.75306233e-02 -1.21584916e-03 9.99845588e-01 3.46366569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.720714057 meters Centerline goodness [0,1] 0.979620388938115 Centerline is valid? [True, True] Translation: X:329.26, Y:-12.86, Z:3.46 [[ 9.99736774e-01 -1.66722026e-02 -1.57613501e-02 3.29258264e+02] [ 1.66866586e-02 9.99860459e-01 7.86103610e-04 -1.28576621e+01] [ 1.57460446e-02 -1.04890095e-03 9.99875473e-01 3.46460498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.750714057 meters Centerline goodness [0,1] 0.9797658823804295 Centerline is valid? [True, True] Translation: X:329.29, Y:-12.86, Z:3.47 [[ 9.99761643e-01 -1.57961542e-02 -1.50711445e-02 3.29287986e+02] [ 1.58092650e-02 9.99874744e-01 7.51173118e-04 -1.28568039e+01] [ 1.50573911e-02 -9.89257786e-04 9.99886142e-01 3.46551718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.780714057 meters Centerline goodness [0,1] 0.9779119284945482 Centerline is valid? [True, True] Translation: X:329.32, Y:-12.86, Z:3.47 [[ 9.99783986e-01 -1.48228720e-02 -1.45692434e-02 3.29317770e+02] [ 1.48350139e-02 9.99889692e-01 7.25665868e-04 -1.28553318e+01] [ 1.45568798e-02 -9.41644042e-04 9.99893600e-01 3.46663062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.810714057 meters Centerline goodness [0,1] 0.9791301092627688 Centerline is valid? [True, True] Translation: X:329.35, Y:-12.85, Z:3.47 [[ 9.99814234e-01 -1.36780831e-02 -1.35796939e-02 3.29347304e+02] [ 1.36885201e-02 9.99906079e-01 6.75918365e-04 -1.28523573e+01] [ 1.35691732e-02 -8.61678715e-04 9.99907563e-01 3.46816092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.840714057 meters Centerline goodness [0,1] 0.9766725762806756 Centerline is valid? [True, True] Translation: X:329.38, Y:-12.86, Z:3.47 [[ 9.99810760e-01 -1.44794100e-02 -1.29919778e-02 3.29375971e+02] [ 1.44890247e-02 9.99894820e-01 6.46224557e-04 -1.28592911e+01] [ 1.29812544e-02 -8.34343353e-04 9.99915392e-01 3.46777150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.870714057 meters Centerline goodness [0,1] 0.9791617942841105 Centerline is valid? [True, True] Translation: X:329.41, Y:-12.85, Z:3.47 [[ 9.99785654e-01 -1.61905084e-02 -1.29039775e-02 3.29406577e+02] [ 1.62001338e-02 9.99868563e-01 6.41739482e-04 -1.28541007e+01] [ 1.28918914e-02 -8.50648090e-04 9.99916534e-01 3.46869622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.900714057 meters Centerline goodness [0,1] 0.9791115378310657 Centerline is valid? [True, True] Translation: X:329.44, Y:-12.86, Z:3.47 [[ 9.99767188e-01 -1.75892234e-02 -1.24975665e-02 3.29436874e+02] [ 1.75983658e-02 9.99844943e-01 6.21928210e-04 -1.28604971e+01] [ 1.24846894e-02 -8.41720165e-04 9.99921709e-01 3.46763292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.930714057 meters Centerline goodness [0,1] 0.9762764792244413 Centerline is valid? [True, True] Translation: X:329.47, Y:-12.87, Z:3.47 [[ 9.99683077e-01 -2.12923671e-02 -1.34305573e-02 3.29465539e+02] [ 2.13032582e-02 9.99772836e-01 6.68360591e-04 -1.28720149e+01] [ 1.34132754e-02 -9.54263404e-04 9.99909583e-01 3.46580692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.960714057 meters Centerline goodness [0,1] 0.9800420659032484 Centerline is valid? [True, True] Translation: X:329.50, Y:-12.86, Z:3.47 [[ 9.99634814e-01 -2.28811943e-02 -1.43767230e-02 3.29497619e+02] [ 2.28938427e-02 9.99737645e-01 7.15798071e-04 -1.28616115e+01] [ 1.43565729e-02 -1.04467511e-03 9.99896393e-01 3.46713682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.990714057 meters Centerline goodness [0,1] 0.9787801511358585 Centerline is valid? [True, True] Translation: X:329.53, Y:-12.86, Z:3.47 [[ 9.99542955e-01 -2.55446686e-02 -1.61663589e-02 3.29528592e+02] [ 2.55610146e-02 9.99672940e-01 8.05255574e-04 -1.28649908e+01] [ 1.61405015e-02 -1.21811607e-03 9.99868992e-01 3.46629445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.020714057 meters Centerline goodness [0,1] 0.9788966356277198 Centerline is valid? [True, True] Translation: X:329.56, Y:-12.87, Z:3.47 [[ 9.99520201e-01 -2.61476544e-02 -1.66032498e-02 3.29559745e+02] [ 2.61649874e-02 9.99657296e-01 8.27547170e-04 -1.28681063e+01] [ 1.65759214e-02 -1.26157393e-03 9.99861814e-01 3.46564951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.050714057 meters Centerline goodness [0,1] 0.9784191185075954 Centerline is valid? [True, True] Translation: X:329.59, Y:-12.87, Z:3.46 [[ 9.99506091e-01 -2.65365817e-02 -1.68340086e-02 3.29589947e+02] [ 2.65544607e-02 9.99647016e-01 8.39401066e-04 -1.28741533e+01] [ 1.68057916e-02 -1.28600450e-03 9.99857946e-01 3.46443823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.080714057 meters Centerline goodness [0,1] 0.9784048103694345 Centerline is valid? [True, True] Translation: X:329.62, Y:-12.88, Z:3.46 [[ 9.99498033e-01 -2.68068280e-02 -1.68842222e-02 3.29621276e+02] [ 2.68248610e-02 9.99639794e-01 8.42430228e-04 -1.28766725e+01] [ 1.68555575e-02 -1.29492427e-03 9.99857096e-01 3.46378350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.110714057 meters Centerline goodness [0,1] 0.9780714084903008 Centerline is valid? [True, True] Translation: X:329.65, Y:-12.88, Z:3.46 [[ 9.99510022e-01 -2.64970151e-02 -1.66620571e-02 3.29652770e+02] [ 2.65145433e-02 9.99648082e-01 8.31913219e-04 -1.28782702e+01] [ 1.66341502e-02 -1.27329243e-03 9.99860832e-01 3.46391509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.140714057 meters Centerline goodness [0,1] 0.9794831051081927 Centerline is valid? [True, True] Translation: X:329.68, Y:-12.88, Z:3.47 [[ 9.99559382e-01 -2.47868271e-02 -1.63295917e-02 3.29684387e+02] [ 2.48034448e-02 9.99692014e-01 8.15872682e-04 -1.28765135e+01] [ 1.63043395e-02 -1.22054332e-03 9.99866330e-01 3.46555688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.170714057 meters Centerline goodness [0,1] 0.978207381370826 Centerline is valid? [True, True] Translation: X:329.72, Y:-12.87, Z:3.47 [[ 9.99596219e-01 -2.35685445e-02 -1.58720903e-02 3.29715401e+02] [ 2.35840965e-02 9.99721542e-01 7.93342071e-04 -1.28734945e+01] [ 1.58489726e-02 -1.16735064e-03 9.99873716e-01 3.46642418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.200714057 meters Centerline goodness [0,1] 0.9790919532147294 Centerline is valid? [True, True] Translation: X:329.75, Y:-12.88, Z:3.47 [[ 9.99648238e-01 -2.17870975e-02 -1.51236074e-02 3.29745527e+02] [ 2.18010182e-02 9.99762044e-01 7.56192624e-04 -1.28750206e+01] [ 1.51035334e-02 -1.08563666e-03 9.99885346e-01 3.46678523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.230714057 meters Centerline goodness [0,1] 0.9785454118199977 Centerline is valid? [True, True] Translation: X:329.78, Y:-12.88, Z:3.47 [[ 9.99724609e-01 -1.88673129e-02 -1.39546147e-02 3.29775570e+02] [ 1.88788822e-02 9.99821535e-01 6.97793447e-04 -1.28777656e+01] [ 1.39389588e-02 -9.61048808e-04 9.99902386e-01 3.46660563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26071405700003 meters Centerline goodness [0,1] 0.9793146970830217 Centerline is valid? [True, True] Translation: X:329.81, Y:-12.87, Z:3.47 [[ 9.99743856e-01 -1.81187023e-02 -1.35622504e-02 3.29807332e+02] [ 1.81295665e-02 9.99835416e-01 6.78534627e-04 -1.28735475e+01] [ 1.35477241e-02 -9.24238545e-04 9.99907798e-01 3.46713857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.290714057 meters Centerline goodness [0,1] 0.9791896912549675 Centerline is valid? [True, True] Translation: X:329.84, Y:-12.87, Z:3.47 [[ 9.99782025e-01 -1.61449151e-02 -1.32380105e-02 3.29836861e+02] [ 1.61550929e-02 9.99869279e-01 6.62246540e-04 -1.28749138e+01] [ 1.32255881e-02 -8.75963476e-04 9.99912154e-01 3.46743017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32071405700003 meters Centerline goodness [0,1] 0.9774761972431434 Centerline is valid? [True, True] Translation: X:329.87, Y:-12.88, Z:3.47 [[ 9.99784292e-01 -1.58516411e-02 -1.34199379e-02 3.29866979e+02] [ 1.58620735e-02 9.99873964e-01 6.71292056e-04 -1.28755185e+01] [ 1.34076054e-02 -8.84015294e-04 9.99909723e-01 3.46676701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.350714057 meters Centerline goodness [0,1] 0.9796176850005863 Centerline is valid? [True, True] Translation: X:329.90, Y:-12.87, Z:3.47 [[ 9.99798556e-01 -1.45620561e-02 -1.38128455e-02 3.29897727e+02] [ 1.45729858e-02 9.99893570e-01 6.90946078e-04 -1.28736038e+01] [ 1.38013138e-02 -8.92101291e-04 9.99904359e-01 3.46829430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38071405700003 meters Centerline goodness [0,1] 0.9779125872487937 Centerline is valid? [True, True] Translation: X:329.93, Y:-12.88, Z:3.47 [[ 9.99782016e-01 -1.49248012e-02 -1.46003830e-02 3.29926739e+02] [ 1.49370485e-02 9.99888169e-01 7.30140316e-04 -1.28766136e+01] [ 1.45878530e-02 -9.48067786e-04 9.99893142e-01 3.46750095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.410714057 meters Centerline goodness [0,1] 0.9799661399548533 Centerline is valid? [True, True] Translation: X:329.96, Y:-12.88, Z:3.47 [[ 9.99791185e-01 -1.45746606e-02 -1.43235761e-02 3.29956136e+02] [ 1.45864057e-02 9.99893356e-01 7.15847884e-04 -1.28756077e+01] [ 1.43116153e-02 -9.24627896e-04 9.99897156e-01 3.46783015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.440714057 meters Centerline goodness [0,1] 0.9797742238946379 Centerline is valid? [True, True] Translation: X:329.99, Y:-12.88, Z:3.47 [[ 9.99788347e-01 -1.41070832e-02 -1.49750431e-02 3.29985181e+02] [ 1.41198640e-02 9.99900030e-01 7.48081303e-04 -1.28788460e+01] [ 1.49629928e-02 -9.59368541e-04 9.99887588e-01 3.46675665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.470714057 meters Centerline goodness [0,1] 0.9790088420855125 Centerline is valid? [True, True] Translation: X:330.02, Y:-12.88, Z:3.47 [[ 9.99793464e-01 -1.37055793e-02 -1.50061908e-02 3.30015153e+02] [ 1.37183613e-02 9.99905618e-01 7.49168438e-04 -1.28777060e+01] [ 1.49945067e-02 -9.54874055e-04 9.99887120e-01 3.46734309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.500714057 meters Centerline goodness [0,1] 0.9781205840791333 Centerline is valid? [True, True] Translation: X:330.04, Y:-12.88, Z:3.47 [[ 9.99806532e-01 -1.31309337e-02 -1.46450462e-02 3.30043778e+02] [ 1.31430352e-02 9.99913360e-01 7.30376289e-04 -1.28783798e+01] [ 1.46341869e-02 -9.22715342e-04 9.99892489e-01 3.46699939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.530714057 meters Centerline goodness [0,1] 0.9768339768339769 Centerline is valid? [True, True] Translation: X:330.07, Y:-12.88, Z:3.47 [[ 9.99810774e-01 -1.27000935e-02 -1.47350883e-02 3.30073192e+02] [ 1.27122892e-02 9.99918926e-01 7.34291225e-04 -1.28782441e+01] [ 1.47245681e-02 -9.21468981e-04 9.99891163e-01 3.46759818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.560714057 meters Centerline goodness [0,1] 0.9786522148916117 Centerline is valid? [True, True] Translation: X:330.10, Y:-12.88, Z:3.47 [[ 9.99826000e-01 -1.24192212e-02 -1.39187966e-02 3.30102598e+02] [ 1.24300408e-02 9.99922505e-01 6.91100143e-04 -1.28764028e+01] [ 1.39091350e-02 -8.63991102e-04 9.99902890e-01 3.46865080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.590714057 meters Centerline goodness [0,1] 0.977486061119345 Centerline is valid? [True, True] Translation: X:330.13, Y:-12.88, Z:3.47 [[ 9.99862078e-01 -1.13646921e-02 -1.21107084e-02 3.30131434e+02] [ 1.13727930e-02 9.99935148e-01 6.00245793e-04 -1.28765818e+01] [ 1.21031013e-02 -7.37895585e-04 9.99926483e-01 3.46996368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.620714057 meters Centerline goodness [0,1] 0.9771218754413219 Centerline is valid? [True, True] Translation: X:330.16, Y:-12.88, Z:3.47 [[ 9.99872367e-01 -1.12093694e-02 -1.13842198e-02 3.30160695e+02] [ 1.12165126e-02 9.99936934e-01 5.63807235e-04 -1.28771742e+01] [ 1.13771819e-02 -6.91426519e-04 9.99935039e-01 3.47038626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.650714057 meters Centerline goodness [0,1] 0.9748381781805343 Centerline is valid? [True, True] Translation: X:330.19, Y:-12.88, Z:3.47 [[ 9.99885263e-01 -1.13669052e-02 -1.00127161e-02 3.30190080e+02] [ 1.13724366e-02 9.99935209e-01 4.95673275e-04 -1.28783463e+01] [ 1.00064331e-02 -6.09485382e-04 9.99949749e-01 3.47153004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.680714057 meters Centerline goodness [0,1] 0.9753429824147848 Centerline is valid? [True, True] Translation: X:330.22, Y:-12.88, Z:3.47 [[ 9.99877843e-01 -1.18139206e-02 -1.02338338e-02 3.30220985e+02] [ 1.18197230e-02 9.99930016e-01 5.06682415e-04 -1.28790642e+01] [ 1.02271316e-02 -6.27581600e-04 9.99947505e-01 3.47125439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.710714057 meters Centerline goodness [0,1] 0.9763471919689365 Centerline is valid? [True, True] Translation: X:330.25, Y:-12.88, Z:3.47 [[ 9.99866626e-01 -1.25280207e-02 -1.04775573e-02 3.30251014e+02] [ 1.25341424e-02 9.99921310e-01 5.18803431e-04 -1.28815080e+01] [ 1.04702333e-02 -6.50061432e-04 9.99944974e-01 3.47080856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.740714057 meters Centerline goodness [0,1] 0.9761623790417748 Centerline is valid? [True, True] Translation: X:330.28, Y:-12.88, Z:3.47 [[ 9.99815695e-01 -1.45459817e-02 -1.25295979e-02 3.30280520e+02] [ 1.45548941e-02 9.99893879e-01 6.20411626e-04 -1.28846282e+01] [ 1.25192438e-02 -8.02664252e-04 9.99921309e-01 3.46849397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.770714057 meters Centerline goodness [0,1] 0.9757280405005796 Centerline is valid? [True, True] Translation: X:330.31, Y:-12.89, Z:3.47 [[ 9.99787269e-01 -1.55712554e-02 -1.35259746e-02 3.30310328e+02] [ 1.55817329e-02 9.99878373e-01 6.69577955e-04 -1.28870377e+01] [ 1.35139033e-02 -8.80193640e-04 9.99908296e-01 3.46731928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.800714057 meters Centerline goodness [0,1] 0.9760455017464363 Centerline is valid? [True, True] Translation: X:330.34, Y:-12.89, Z:3.47 [[ 9.99740824e-01 -1.72888600e-02 -1.48114950e-02 3.30340434e+02] [ 1.73016078e-02 9.99850047e-01 7.32956785e-04 -1.28898597e+01] [ 1.47966020e-02 -9.89029498e-04 9.99890035e-01 3.46601850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.830714057 meters Centerline goodness [0,1] 0.977341924520286 Centerline is valid? [True, True] Translation: X:330.37, Y:-12.88, Z:3.47 [[ 9.99731956e-01 -1.76832070e-02 -1.49439182e-02 3.30371177e+02] [ 1.76962268e-02 9.99843136e-01 7.39454390e-04 -1.28805765e+01] [ 1.49284981e-02 -1.00370715e-03 9.99888060e-01 3.46745342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.860714057 meters Centerline goodness [0,1] 0.9755769185346151 Centerline is valid? [True, True] Translation: X:330.40, Y:-12.89, Z:3.47 [[ 9.99720076e-01 -1.79662631e-02 -1.53942611e-02 3.30401330e+02] [ 1.79801163e-02 9.99838054e-01 7.61951365e-04 -1.28919785e+01] [ 1.53780786e-02 -1.03852868e-03 9.99881211e-01 3.46604955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.890714057 meters Centerline goodness [0,1] 0.9752091579171901 Centerline is valid? [True, True] Translation: X:330.43, Y:-12.89, Z:3.47 [[ 9.99711725e-01 -1.78941301e-02 -1.60083341e-02 3.30431887e+02] [ 1.79091134e-02 9.99839304e-01 7.93092687e-04 -1.28916994e+01] [ 1.59915699e-02 -1.07955913e-03 9.99871544e-01 3.46648919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.920714057 meters Centerline goodness [0,1] 0.9789308847604812 Centerline is valid? [True, True] Translation: X:330.46, Y:-12.88, Z:3.47 [[ 9.99724339e-01 -1.75316076e-02 -1.56169514e-02 3.30463302e+02] [ 1.75458257e-02 9.99845761e-01 7.73869130e-04 -1.28762277e+01] [ 1.56009755e-02 -1.04766811e-03 9.99877749e-01 3.46976677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.950714057 meters Centerline goodness [0,1] 0.9789832433967622 Centerline is valid? [True, True] Translation: X:330.49, Y:-12.88, Z:3.47 [[ 9.99720853e-01 -1.80445916e-02 -1.52514906e-02 3.30494219e+02] [ 1.80582114e-02 9.99836652e-01 7.55759398e-04 -1.28770903e+01] [ 1.52353620e-02 -1.03096307e-03 9.99883404e-01 3.47038802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.980714057 meters Centerline goodness [0,1] 0.9789832433967622 Centerline is valid? [True, True] Translation: X:330.53, Y:-12.88, Z:3.47 [[ 9.99721497e-01 -1.80089009e-02 -1.52514693e-02 3.30525102e+02] [ 1.80225231e-02 9.99837295e-01 7.56190457e-04 -1.28786507e+01] [ 1.52353696e-02 -1.03084981e-03 9.99883404e-01 3.47048635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01071405700003 meters Centerline goodness [0,1] 0.9782141761276465 Centerline is valid? [True, True] Translation: X:330.56, Y:-12.88, Z:3.47 [[ 9.99708832e-01 -1.90218882e-02 -1.48465034e-02 3.30555122e+02] [ 1.90349124e-02 9.99818548e-01 7.36429542e-04 -1.28835776e+01] [ 1.48298012e-02 -1.01881701e-03 9.99889513e-01 3.47073068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.040714057 meters Centerline goodness [0,1] 0.977665213806102 Centerline is valid? [True, True] Translation: X:330.59, Y:-12.89, Z:3.47 [[ 9.99669160e-01 -2.18033239e-02 -1.36449600e-02 3.30585933e+02] [ 2.18145861e-02 9.99761804e-01 6.77066271e-04 -1.28852377e+01] [ 1.36269476e-02 -9.74501426e-04 9.99906674e-01 3.47133456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07071405700003 meters Centerline goodness [0,1] 0.9178667966499756 Centerline is valid? [True, False] Translation: X:330.62, Y:-12.88, Z:3.48 [[ 9.99585247e-01 -2.39349645e-02 -1.60141063e-02 3.30617940e+02] [ 2.38203793e-02 9.99689542e-01 -7.30818128e-03 -1.28826558e+01] [ 1.61840557e-02 6.92368810e-03 9.99845057e-01 3.47684526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.100714057 meters Centerline goodness [0,1] 0.974521841794569 Centerline is valid? [False, True] Translation: X:330.53, Y:-12.88, Z:3.47 [[ 9.99604759e-01 -2.43690372e-02 -1.40169812e-02 3.30531961e+02] [ 2.43497800e-02 9.99702310e-01 -1.54290230e-03 -1.28822208e+01] [ 1.40504075e-02 1.20098207e-03 9.99900567e-01 3.47264519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13071405700003 meters Centerline goodness [0,1] 0.976785756285721 Centerline is valid? [True, True] Translation: X:330.56, Y:-12.88, Z:3.47 [[ 9.99572193e-01 -2.56635622e-02 -1.40290181e-02 3.30564530e+02] [ 2.56763010e-02 9.99670044e-01 7.28646662e-04 -1.28765866e+01] [ 1.40056895e-02 -1.08854823e-03 9.99901323e-01 3.47300898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.160714057 meters Centerline goodness [0,1] 0.9752437932821407 Centerline is valid? [True, True] Translation: X:330.60, Y:-12.88, Z:3.47 [[ 9.99548234e-01 -2.66200170e-02 -1.39535763e-02 3.30595271e+02] [ 2.66327231e-02 9.99645023e-01 7.25541702e-04 -1.28817608e+01] [ 1.39293092e-02 -1.09683566e-03 9.99902381e-01 3.47326387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.190714057 meters Centerline goodness [0,1] 0.9733276784241653 Centerline is valid? [True, True] Translation: X:330.63, Y:-12.89, Z:3.47 [[ 9.99525651e-01 -2.71050188e-02 -1.46216078e-02 3.30626217e+02] [ 2.71190338e-02 9.99631922e-01 7.61056341e-04 -1.28863067e+01] [ 1.45955974e-02 -1.15721921e-03 9.99892809e-01 3.47310739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.220714057 meters Centerline goodness [0,1] 0.9756914153679297 Centerline is valid? [True, True] Translation: X:330.66, Y:-12.88, Z:3.47 [[ 9.99531429e-01 -2.69596645e-02 -1.44947571e-02 3.30658468e+02] [ 2.69734361e-02 9.99635865e-01 7.55416477e-04 -1.28818955e+01] [ 1.44691133e-02 -1.14603592e-03 9.99894660e-01 3.47366746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.250714057 meters Centerline goodness [0,1] 0.973140155702425 Centerline is valid? [True, True] Translation: X:330.69, Y:-12.89, Z:3.47 [[ 9.99558798e-01 -2.55619859e-02 -1.51259157e-02 3.30688490e+02] [ 2.55768316e-02 9.99672548e-01 7.88807202e-04 -1.28909771e+01] [ 1.51007992e-02 -1.17533218e-03 9.99885286e-01 3.47226280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.280714057 meters Centerline goodness [0,1] 0.9744461763733409 Centerline is valid? [True, True] Translation: X:330.72, Y:-12.89, Z:3.47 [[ 9.99572143e-01 -2.46152655e-02 -1.57993468e-02 3.30720149e+02] [ 2.46313551e-02 9.99696262e-01 8.24561457e-04 -1.28870759e+01] [ 1.57742511e-02 -1.21336798e-03 9.99874843e-01 3.47238415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.310714057 meters Centerline goodness [0,1] 0.9752876815695152 Centerline is valid? [True, True] Translation: X:330.75, Y:-12.88, Z:3.47 [[ 9.99610786e-01 -2.26782409e-02 -1.62472500e-02 3.30752045e+02] [ 2.26950155e-02 9.99742075e-01 8.48799657e-04 -1.28834727e+01] [ 1.62238102e-02 -1.21720089e-03 9.99867644e-01 3.47336856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.340714057 meters Centerline goodness [0,1] 0.9755433495904162 Centerline is valid? [True, True] Translation: X:330.78, Y:-12.88, Z:3.47 [[ 9.99697091e-01 -1.80362299e-02 -1.67457810e-02 3.30782888e+02] [ 1.80534057e-02 9.99836641e-01 8.75061088e-04 -1.28798456e+01] [ 1.67272626e-02 -1.17711440e-03 9.99859397e-01 3.47313246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.370714057 meters Centerline goodness [0,1] 0.9763275751759437 Centerline is valid? [True, True] Translation: X:330.81, Y:-12.88, Z:3.47 [[ 9.99737958e-01 -1.55231948e-02 -1.68239625e-02 3.30813655e+02] [ 1.55401764e-02 9.99878858e-01 8.79097476e-04 -1.28772163e+01] [ 1.68082780e-02 -1.14031446e-03 9.99858081e-01 3.47388947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.400714057 meters Centerline goodness [0,1] 0.975676381861802 Centerline is valid? [True, True] Translation: X:330.84, Y:-12.88, Z:3.47 [[ 9.99808421e-01 -1.10607944e-02 -1.61487176e-02 3.30843532e+02] [ 1.10758561e-02 9.99938305e-01 8.43545806e-04 -1.28758308e+01] [ 1.61383910e-02 -1.02224507e-03 9.99869245e-01 3.47448470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.430714057 meters Centerline goodness [0,1] 0.9742836149889786 Centerline is valid? [True, True] Translation: X:330.87, Y:-12.88, Z:3.47 [[ 9.99840868e-01 -8.97311742e-03 -1.54182461e-02 3.30873886e+02] [ 8.98659558e-03 9.99959296e-01 8.05107291e-04 -1.28763167e+01] [ 1.54103942e-02 -9.43536715e-04 9.99880808e-01 3.47492315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.460714057 meters Centerline goodness [0,1] 0.9755228136882129 Centerline is valid? [True, True] Translation: X:330.90, Y:-12.88, Z:3.48 [[ 9.99864758e-01 -6.93732574e-03 -1.49110498e-02 3.30903797e+02] [ 6.94969929e-03 9.99975548e-01 7.78167354e-04 -1.28760934e+01] [ 1.49052868e-02 -8.81689425e-04 9.99888521e-01 3.47562225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.490714057 meters Centerline goodness [0,1] 0.9762817612459219 Centerline is valid? [True, True] Translation: X:330.93, Y:-12.87, Z:3.48 [[ 9.99881919e-01 -3.91159189e-03 -1.48609614e-02 3.30933956e+02] [ 3.92354443e-03 9.99992002e-01 7.75220747e-04 -1.28743122e+01] [ 1.48578102e-02 -8.33436850e-04 9.99889269e-01 3.47585561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.520714057 meters Centerline goodness [0,1] 0.9754106165198763 Centerline is valid? [True, True] Translation: X:330.96, Y:-12.88, Z:3.48 [[ 9.99884464e-01 -2.49377868e-03 -1.49946284e-02 3.30961656e+02] [ 2.50577276e-03 9.99996555e-01 7.81157211e-04 -1.28792768e+01] [ 1.49926287e-02 -8.18640091e-04 9.99887269e-01 3.47504508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.550714057 meters Centerline goodness [0,1] 0.9760001897218203 Centerline is valid? [True, True] Translation: X:330.99, Y:-12.88, Z:3.47 [[ 9.99880019e-01 -1.37297553e-03 -1.54292584e-02 3.30990925e+02] [ 1.38549646e-03 9.99998720e-01 8.00845322e-04 -1.28770301e+01] [ 1.54281391e-02 -8.22126419e-04 9.99880641e-01 3.47450211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.580714057 meters Centerline goodness [0,1] 0.9762612687614471 Centerline is valid? [True, True] Translation: X:331.02, Y:-12.88, Z:3.47 [[ 9.99879052e-01 -1.05894371e-03 -1.55164333e-02 3.31020107e+02] [ 1.07151392e-03 9.99999104e-01 8.01831374e-04 -1.28780561e+01] [ 1.55155704e-02 -8.18360469e-04 9.99879291e-01 3.47450009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.610714057 meters Centerline goodness [0,1] 0.9764915193927174 Centerline is valid? [True, True] Translation: X:331.05, Y:-12.88, Z:3.47 [[ 9.99878671e-01 -1.16192137e-03 -1.55336048e-02 3.31047745e+02] [ 1.17446668e-03 9.99998991e-01 7.98525692e-04 -1.28790322e+01] [ 1.55326613e-02 -8.16672509e-04 9.99879027e-01 3.47435338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.640714057 meters Centerline goodness [0,1] 0.9764957264957265 Centerline is valid? [True, True] Translation: X:331.08, Y:-12.88, Z:3.47 [[ 9.99873212e-01 -2.10654816e-03 -1.57836333e-02 3.31076559e+02] [ 2.11958660e-03 9.99997426e-01 8.09390671e-04 -1.28824812e+01] [ 1.57818877e-02 -8.42742827e-04 9.99875103e-01 3.47395958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.670714057 meters Centerline goodness [0,1] 0.9776872424084514 Centerline is valid? [True, True] Translation: X:331.11, Y:-12.89, Z:3.47 [[ 9.99853156e-01 -4.31790324e-03 -1.65837898e-02 3.31106157e+02] [ 4.33258820e-03 9.99990253e-01 8.49675291e-04 -1.28851077e+01] [ 1.65799593e-02 -9.21401254e-04 9.99862118e-01 3.47355691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.700714057 meters Centerline goodness [0,1] 0.977186943620178 Centerline is valid? [True, True] Translation: X:331.14, Y:-12.89, Z:3.47 [[ 9.99844959e-01 -6.04700826e-03 -1.65375737e-02 3.31135828e+02] [ 6.06183752e-03 9.99981268e-01 8.46719785e-04 -1.28888902e+01] [ 1.65321438e-02 -9.46836593e-04 9.99862886e-01 3.47332458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.730714057 meters Centerline goodness [0,1] 0.9755539839698255 Centerline is valid? [True, True] Translation: X:331.16, Y:-12.90, Z:3.47 [[ 9.99841985e-01 -7.69084905e-03 -1.60267147e-02 3.31163107e+02] [ 7.70495877e-03 9.99969981e-01 8.18826394e-04 -1.28954401e+01] [ 1.60199362e-02 -9.42182184e-04 9.99871229e-01 3.47261241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76071405700003 meters Centerline goodness [0,1] 0.9780639682988961 Centerline is valid? [True, True] Translation: X:331.19, Y:-12.90, Z:3.47 [[ 9.99779068e-01 -1.25759338e-02 -1.68422440e-02 3.31193380e+02] [ 1.25921972e-02 9.99920345e-01 8.59929486e-04 -1.28978876e+01] [ 1.68300880e-02 -1.07182036e-03 9.99857790e-01 3.47271279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.790714057 meters Centerline goodness [0,1] 0.9769843890015564 Centerline is valid? [True, True] Translation: X:331.22, Y:-12.91, Z:3.47 [[ 9.99739597e-01 -1.52275510e-02 -1.69958884e-02 3.31222717e+02] [ 1.52444901e-02 9.99883420e-01 8.67537297e-04 -1.29053541e+01] [ 1.69806965e-02 -1.12640504e-03 9.99855183e-01 3.47186471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82071405700003 meters Centerline goodness [0,1] 0.9764678252700798 Centerline is valid? [True, True] Translation: X:331.25, Y:-12.91, Z:3.47 [[ 9.99636847e-01 -1.99951607e-02 -1.80656531e-02 3.31252384e+02] [ 2.00150720e-02 9.99799253e-01 9.22011687e-04 -1.29124807e+01] [ 1.80435907e-02 -1.28326220e-03 9.99836378e-01 3.47167767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.850714057 meters Centerline goodness [0,1] 0.9776026642275851 Centerline is valid? [True, True] Translation: X:331.28, Y:-12.92, Z:3.47 [[ 9.99582717e-01 -2.22822522e-02 -1.83818864e-02 3.31282453e+02] [ 2.23032465e-02 9.99750812e-01 9.37881230e-04 -1.29168382e+01] [ 1.83564078e-02 -1.34746561e-03 9.99830599e-01 3.47180459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88071405700003 meters Centerline goodness [0,1] 0.9760153651566965 Centerline is valid? [True, True] Translation: X:331.31, Y:-12.92, Z:3.47 [[ 9.99530384e-01 -2.44571016e-02 -1.84624346e-02 3.31312869e+02] [ 2.44786479e-02 9.99699909e-01 9.41920465e-04 -1.29213689e+01] [ 1.84338575e-02 -1.39341356e-03 9.99829111e-01 3.47177868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.910714057 meters Centerline goodness [0,1] 0.9755658856782452 Centerline is valid? [True, True] Translation: X:331.34, Y:-12.93, Z:3.47 [[ 9.99450513e-01 -2.78110698e-02 -1.80337549e-02 3.31341907e+02] [ 2.78321660e-02 9.99612187e-01 9.19849721e-04 -1.29287717e+01] [ 1.80011791e-02 -1.42126273e-03 9.99836955e-01 3.47222235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.940714057 meters Centerline goodness [0,1] 0.9769634729840121 Centerline is valid? [True, True] Translation: X:331.37, Y:-12.93, Z:3.47 [[ 9.99423372e-01 -2.91311019e-02 -1.74442792e-02 3.31372998e+02] [ 2.91510485e-02 9.99574621e-01 8.90207289e-04 -1.29300435e+01] [ 1.74109261e-02 -1.39821300e-03 9.99847441e-01 3.47316363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.970714057 meters Centerline goodness [0,1] 0.9757315373896888 Centerline is valid? [True, True] Translation: X:331.40, Y:-12.94, Z:3.47 [[ 9.99406180e-01 -3.04118495e-02 -1.61989632e-02 3.31403488e+02] [ 3.04292433e-02 9.99536580e-01 8.28306104e-04 -1.29361566e+01] [ 1.61662659e-02 -1.32073643e-03 9.99868445e-01 3.47352943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.000714057 meters Centerline goodness [0,1] 0.9760421769659645 Centerline is valid? [True, True] Translation: X:331.44, Y:-12.94, Z:3.47 [[ 9.99395492e-01 -3.08597886e-02 -1.60101385e-02 3.31435865e+02] [ 3.08768577e-02 9.99522860e-01 8.19990651e-04 -1.29394602e+01] [ 1.59771947e-02 -1.31383773e-03 9.99871493e-01 3.47380057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.030714057 meters Centerline goodness [0,1] 0.9774544776293395 Centerline is valid? [True, True] Translation: X:331.47, Y:-12.94, Z:3.47 [[ 9.99400846e-01 -3.09550937e-02 -1.54832729e-02 3.31467711e+02] [ 3.09710861e-02 9.99519965e-01 7.94110459e-04 -1.29387947e+01] [ 1.54512586e-02 -1.27316844e-03 9.99879812e-01 3.47468809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.060714057 meters Centerline goodness [0,1] 0.9772812004846677 Centerline is valid? [True, True] Translation: X:331.50, Y:-12.94, Z:3.48 [[ 9.99450889e-01 -2.95536089e-02 -1.49834712e-02 3.31498256e+02] [ 2.95684389e-02 9.99562462e-01 7.69150224e-04 -1.29448547e+01] [ 1.49541842e-02 -1.21176573e-03 9.99887446e-01 3.47510011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.090714057 meters Centerline goodness [0,1] 0.9751601820039001 Centerline is valid? [True, True] Translation: X:331.53, Y:-12.95, Z:3.48 [[ 9.99462875e-01 -2.91862952e-02 -1.49037433e-02 3.31529475e+02] [ 2.92009378e-02 9.99573268e-01 7.65767578e-04 -1.29498675e+01] [ 1.48750335e-02 -1.20055955e-03 9.99888640e-01 3.47537269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.120714057 meters Centerline goodness [0,1] 0.9770681476339234 Centerline is valid? [True, True] Translation: X:331.56, Y:-12.95, Z:3.48 [[ 9.99481184e-01 -2.88403842e-02 -1.43385735e-02 3.31562176e+02] [ 2.88539153e-02 9.99583367e-01 7.37661301e-04 -1.29487654e+01] [ 1.43113251e-02 -1.15100257e-03 9.99896925e-01 3.47640435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.150714057 meters Centerline goodness [0,1] 0.978994034770095 Centerline is valid? [True, True] Translation: X:331.59, Y:-12.95, Z:3.48 [[ 9.99458279e-01 -2.92997906e-02 -1.49890300e-02 3.31594012e+02] [ 2.93146447e-02 9.99569935e-01 7.72201756e-04 -1.29502609e+01] [ 1.49599584e-02 -1.21118153e-03 9.99887360e-01 3.47595355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.180714057 meters Centerline goodness [0,1] 0.9770441778209307 Centerline is valid? [True, True] Translation: X:331.62, Y:-12.96, Z:3.47 [[ 9.99427098e-01 -2.97071013e-02 -1.62161762e-02 3.31624354e+02] [ 2.97245528e-02 9.99557778e-01 8.36161155e-04 -1.29564103e+01] [ 1.61841651e-02 -1.31770070e-03 9.99868160e-01 3.47395176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.210714057 meters Centerline goodness [0,1] 0.9783531800978492 Centerline is valid? [True, True] Translation: X:331.66, Y:-12.96, Z:3.47 [[ 9.99429374e-01 -2.93893470e-02 -1.66491034e-02 3.31656158e+02] [ 2.94077164e-02 9.99567130e-01 8.59525676e-04 -1.29590037e+01] [ 1.66166356e-02 -1.34864732e-03 9.99861025e-01 3.47322904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.240714057 meters Centerline goodness [0,1] 0.9807282497915315 Centerline is valid? [True, True] Translation: X:331.69, Y:-12.96, Z:3.47 [[ 9.99395796e-01 -2.94157793e-02 -1.85136137e-02 3.31688564e+02] [ 2.94385235e-02 9.99566135e-01 9.57126534e-04 -1.29622580e+01] [ 1.84774267e-02 -1.50156169e-03 9.99828150e-01 3.47211024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.270714057 meters Centerline goodness [0,1] 0.9791517392811742 Centerline is valid? [True, True] Translation: X:331.72, Y:-12.97, Z:3.47 [[ 9.99392099e-01 -2.91043520e-02 -1.91929636e-02 3.31719472e+02] [ 2.91287603e-02 9.99575174e-01 9.93346022e-04 -1.29696740e+01] [ 1.91558993e-02 -1.55180940e-03 9.99815305e-01 3.47072670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.300714057 meters Centerline goodness [0,1] 0.9792680395729078 Centerline is valid? [True, True] Translation: X:331.75, Y:-12.97, Z:3.47 [[ 9.99386973e-01 -2.88875836e-02 -1.97784320e-02 3.31750495e+02] [ 2.89134770e-02 9.99581393e-01 1.02441152e-03 -1.29693489e+01] [ 1.97405598e-02 -1.59564677e-03 9.99803863e-01 3.47097277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.330714057 meters Centerline goodness [0,1] 0.9793002847947394 Centerline is valid? [True, True] Translation: X:331.78, Y:-12.97, Z:3.47 [[ 9.99388387e-01 -2.82789701e-02 -2.05706338e-02 3.31782061e+02] [ 2.83068666e-02 9.99598712e-01 1.06616428e-03 -1.29712078e+01] [ 2.05322291e-02 -1.64780239e-03 9.99787834e-01 3.47064746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.360714057 meters Centerline goodness [0,1] 0.980042453047852 Centerline is valid? [True, True] Translation: X:331.81, Y:-12.97, Z:3.47 [[ 9.99415036e-01 -2.74223187e-02 -2.04353156e-02 3.31811963e+02] [ 2.74496742e-02 9.99622625e-01 1.05928837e-03 -1.29736236e+01] [ 2.03985557e-02 -1.61961148e-03 9.99790616e-01 3.47092959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.390714057 meters Centerline goodness [0,1] 0.9798766259270383 Centerline is valid? [True, True] Translation: X:331.84, Y:-12.97, Z:3.47 [[ 9.99488925e-01 -2.52038058e-02 -1.96635733e-02 3.31843128e+02] [ 2.52287106e-02 9.99681186e-01 1.01946904e-03 -1.29737713e+01] [ 1.96316098e-02 -1.51503462e-03 9.99806133e-01 3.47254000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.420714057 meters Centerline goodness [0,1] 0.9783557783372987 Centerline is valid? [True, True] Translation: X:331.87, Y:-12.98, Z:3.47 [[ 9.99552964e-01 -2.34424496e-02 -1.85559365e-02 3.31872835e+02] [ 2.34643263e-02 9.99724212e-01 9.62087189e-04 -1.29753234e+01] [ 1.85282654e-02 -1.39705965e-03 9.99827361e-01 3.47373677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.450714057 meters Centerline goodness [0,1] 0.9794848099803627 Centerline is valid? [True, True] Translation: X:331.90, Y:-12.98, Z:3.47 [[ 9.99625518e-01 -2.12598831e-02 -1.72290618e-02 3.31903949e+02] [ 2.12784240e-02 9.99773189e-01 8.93515977e-04 -1.29763084e+01] [ 1.72061580e-02 -1.25978865e-03 9.99851169e-01 3.47483226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.480714057 meters Centerline goodness [0,1] 0.9810927290421243 Centerline is valid? [True, True] Translation: X:331.94, Y:-12.97, Z:3.48 [[ 9.99745156e-01 -1.59718498e-02 -1.59537503e-02 3.31935347e+02] [ 1.59870810e-02 9.99871856e-01 8.27620696e-04 -1.29654841e+01] [ 1.59384873e-02 -1.08246368e-03 9.99872388e-01 3.47785417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51071405700003 meters Centerline goodness [0,1] 0.9790960976288803 Centerline is valid? [True, True] Translation: X:331.96, Y:-12.97, Z:3.48 [[ 9.99787992e-01 -1.30815081e-02 -1.59010969e-02 3.31964014e+02] [ 1.30962691e-02 9.99913900e-01 8.24522218e-04 -1.29745148e+01] [ 1.58889418e-02 -1.03259246e-03 9.99873230e-01 3.47657607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.540714057 meters Centerline goodness [0,1] 0.9803179760937681 Centerline is valid? [True, True] Translation: X:331.99, Y:-12.97, Z:3.48 [[ 9.99844125e-01 -6.44917232e-03 -1.64357539e-02 3.31993396e+02] [ 6.46404354e-03 9.99978745e-01 8.51844378e-04 -1.29712514e+01] [ 1.64299109e-02 -9.57953026e-04 9.99864561e-01 3.47681735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57071405700003 meters Centerline goodness [0,1] 0.978668585488139 Centerline is valid? [True, True] Translation: X:332.02, Y:-12.97, Z:3.48 [[ 9.99857844e-01 -3.73745314e-03 -1.64414867e-02 3.32022632e+02] [ 3.75196127e-03 9.99992599e-01 8.51652370e-04 -1.29714555e+01] [ 1.64381820e-02 -9.13219124e-04 9.99864467e-01 3.47633227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.600714057 meters Centerline goodness [0,1] 0.9812651786746849 Centerline is valid? [True, True] Translation: X:332.05, Y:-12.96, Z:3.48 [[ 9.99870706e-01 -5.18473583e-04 -1.60718131e-02 3.32053026e+02] [ 5.31916470e-04 9.99999512e-01 8.32162882e-04 -1.29628645e+01] [ 1.60713738e-02 -8.40604150e-04 9.99870494e-01 3.47847580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63071405700003 meters Centerline goodness [0,1] 0.9817843866171003 Centerline is valid? [True, True] Translation: X:332.08, Y:-12.96, Z:3.48 [[ 9.99870757e-01 4.84630088e-03 -1.53291441e-02 3.32082241e+02] [-4.83470536e-03 9.99987998e-01 7.93403720e-04 -1.29625378e+01] [ 1.53328051e-02 -7.19189283e-04 9.99882187e-01 3.47870825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.660714057 meters Centerline goodness [0,1] 0.9824598134319678 Centerline is valid? [True, True] Translation: X:332.11, Y:-12.96, Z:3.48 [[ 9.99864052e-01 6.99705943e-03 -1.49304657e-02 3.32111466e+02] [-6.98633679e-03 9.99975299e-01 7.70209276e-04 -1.29627311e+01] [ 1.49354861e-02 -6.65795305e-04 9.99888238e-01 3.47944490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.690714057 meters Centerline goodness [0,1] 0.9814926620843396 Centerline is valid? [True, True] Translation: X:332.14, Y:-12.96, Z:3.48 [[ 9.99834754e-01 1.11749179e-02 -1.43382429e-02 3.32140280e+02] [-1.11654754e-02 9.99937391e-01 7.38438161e-04 -1.29621029e+01] [ 1.43455972e-02 -5.78222838e-04 9.99896929e-01 3.47990908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.720714057 meters Centerline goodness [0,1] 0.9809417561474457 Centerline is valid? [True, True] Translation: X:332.17, Y:-12.96, Z:3.48 [[ 9.99820498e-01 1.27792653e-02 -1.39878995e-02 3.32169420e+02] [-1.27704445e-02 9.99918196e-01 7.19750846e-04 -1.29633235e+01] [ 1.39959531e-02 -5.40989956e-04 9.99901906e-01 3.48039795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.750714057 meters Centerline goodness [0,1] 0.9820879530420199 Centerline is valid? [True, True] Translation: X:332.20, Y:-12.96, Z:3.48 [[ 9.99812287e-01 1.37834335e-02 -1.36164174e-02 3.32198003e+02] [-1.37751796e-02 9.99904873e-01 6.99781791e-04 -1.29644754e+01] [ 1.36247675e-02 -5.12081838e-04 9.99907047e-01 3.48043946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.780714057 meters Centerline goodness [0,1] 0.9807169574611435 Centerline is valid? [True, True] Translation: X:332.23, Y:-12.97, Z:3.48 [[ 9.99802720e-01 1.46631716e-02 -1.33982518e-02 3.32225292e+02] [-1.46552732e-02 9.99892369e-01 6.87506776e-04 -1.29675918e+01] [ 1.34068908e-02 -4.91016104e-04 9.99910003e-01 3.47967818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.810714057 meters Centerline goodness [0,1] 0.9806527942097572 Centerline is valid? [True, True] Translation: X:332.25, Y:-12.97, Z:3.48 [[ 9.99802457e-01 1.44393626e-02 -1.36584290e-02 3.32252580e+02] [-1.44311494e-02 9.99895621e-01 6.99703703e-04 -1.29708499e+01] [ 1.36671066e-02 -5.02458651e-04 9.99906474e-01 3.47890212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.840714057 meters Centerline goodness [0,1] 0.9803300665680473 Centerline is valid? [True, True] Translation: X:332.28, Y:-12.98, Z:3.48 [[ 9.99808452e-01 1.28326122e-02 -1.47778180e-02 3.32281307e+02] [-1.28228381e-02 9.99917498e-01 7.55971767e-04 -1.29759417e+01] [ 1.47862999e-02 -5.66333393e-04 9.99890516e-01 3.47761667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.870714057 meters Centerline goodness [0,1] 0.9823474831825563 Centerline is valid? [True, True] Translation: X:332.31, Y:-12.98, Z:3.48 [[ 9.99824519e-01 1.10138678e-02 -1.51533843e-02 3.32309676e+02] [-1.10033973e-02 9.99939161e-01 7.74171172e-04 -1.29794269e+01] [ 1.51609890e-02 -6.07296612e-04 9.99884881e-01 3.47718455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.900714057 meters Centerline goodness [0,1] 0.9821026486222986 Centerline is valid? [True, True] Translation: X:332.34, Y:-12.98, Z:3.48 [[ 9.99835022e-01 9.06006963e-03 -1.57430438e-02 3.32338902e+02] [-9.04853702e-03 9.99958738e-01 8.03630144e-04 -1.29834150e+01] [ 1.57496752e-02 -6.61046048e-04 9.99875748e-01 3.47665528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.930714057 meters Centerline goodness [0,1] 0.9821026486222986 Centerline is valid? [True, True] Translation: X:332.37, Y:-12.98, Z:3.48 [[ 9.99835921e-01 8.96019987e-03 -1.57431105e-02 3.32366354e+02] [-8.94867545e-03 9.99959638e-01 8.02322914e-04 -1.29847174e+01] [ 1.57496640e-02 -6.61311284e-04 9.99875748e-01 3.47676476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.960714057 meters Centerline goodness [0,1] 0.9814969007308724 Centerline is valid? [True, True] Translation: X:332.40, Y:-12.99, Z:3.48 [[ 9.99839209e-01 6.61419542e-03 -1.66675627e-02 3.32395278e+02] [-6.60096986e-03 9.99977853e-01 8.48381693e-04 -1.29892432e+01] [ 1.66728050e-02 -7.38223202e-04 9.99860727e-01 3.47588311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.990714057 meters Centerline goodness [0,1] 0.9815285153544216 Centerline is valid? [True, True] Translation: X:332.42, Y:-13.00, Z:3.47 [[ 9.99839043e-01 2.37882812e-03 -1.77828174e-02 3.32423661e+02] [-2.36311280e-03 9.99996799e-01 9.04697252e-04 -1.29972952e+01] [ 1.77849125e-02 -8.62528832e-04 9.99841464e-01 3.47413897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.020714057 meters Centerline goodness [0,1] 0.9814164201183432 Centerline is valid? [True, True] Translation: X:332.45, Y:-13.00, Z:3.47 [[ 9.99849277e-01 6.66765055e-04 -1.73487618e-02 3.32451151e+02] [-6.51570564e-04 9.99999399e-01 8.81463314e-04 -1.30022502e+01] [ 1.73493391e-02 -8.70026514e-04 9.99849110e-01 3.47418539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.050714057 meters Centerline goodness [0,1] 0.9799543789313611 Centerline is valid? [True, True] Translation: X:332.48, Y:-13.01, Z:3.48 [[ 9.99865142e-01 -2.71273184e-03 -1.61968657e-02 3.32480211e+02] [ 2.72640896e-03 9.99995945e-01 8.22408304e-04 -1.30091290e+01] [ 1.61945690e-02 -8.66456676e-04 9.99868484e-01 3.47596275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.080714057 meters Centerline goodness [0,1] 0.9808845231507102 Centerline is valid? [True, True] Translation: X:332.51, Y:-13.01, Z:3.48 [[ 9.99872971e-01 -4.33910629e-03 -1.53366706e-02 3.32508711e+02] [ 4.35154369e-03 9.99990230e-01 7.77680192e-04 -1.30050733e+01] [ 1.53331463e-02 -8.44319596e-04 9.99882084e-01 3.47844561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.110714057 meters Centerline goodness [0,1] 0.9774916657087022 Centerline is valid? [True, True] Translation: X:332.54, Y:-13.02, Z:3.48 [[ 9.99874714e-01 -7.13085951e-03 -1.41317879e-02 3.32536159e+02] [ 7.14168286e-03 9.99974242e-01 7.15569295e-04 -1.30218393e+01] [ 1.41263212e-02 -8.16404391e-04 9.99899885e-01 3.47798062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.140714057 meters Centerline goodness [0,1] 0.9771474691571543 Centerline is valid? [True, True] Translation: X:332.57, Y:-13.03, Z:3.48 [[ 9.99859684e-01 -8.94287734e-03 -1.41646603e-02 3.32565038e+02] [ 8.95391857e-03 9.99959656e-01 7.16264251e-04 -1.30259070e+01] [ 1.41576834e-02 -8.42992963e-04 9.99899420e-01 3.47803881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.170714057 meters Centerline goodness [0,1] 0.9812316446402349 Centerline is valid? [True, True] Translation: X:332.59, Y:-13.02, Z:3.48 [[ 9.99849563e-01 -1.06924652e-02 -1.36573438e-02 3.32594245e+02] [ 1.07028566e-02 9.99942486e-01 6.87996235e-04 -1.30167780e+01] [ 1.36492019e-02 -8.34065327e-04 9.99906497e-01 3.48069461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.200714057 meters Centerline goodness [0,1] 0.981574731059739 Centerline is valid? [True, True] Translation: X:332.62, Y:-13.02, Z:3.48 [[ 9.99829553e-01 -1.30889014e-02 -1.30209336e-02 3.32623982e+02] [ 1.30985330e-02 9.99913996e-01 6.54694179e-04 -1.30190172e+01] [ 1.30112446e-02 -8.25137718e-04 9.99915010e-01 3.48180076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.230714057 meters Centerline goodness [0,1] 0.9774605214836577 Centerline is valid? [True, True] Translation: X:332.65, Y:-13.03, Z:3.48 [[ 9.99813260e-01 -1.43117239e-02 -1.29853279e-02 3.32652362e+02] [ 1.43213953e-02 9.99897231e-01 6.52108761e-04 -1.30305854e+01] [ 1.29746606e-02 -8.37955000e-04 9.99915474e-01 3.48087577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26071405700003 meters Centerline goodness [0,1] 0.976554838415399 Centerline is valid? [True, True] Translation: X:332.68, Y:-13.03, Z:3.48 [[ 9.99791612e-01 -1.54434222e-02 -1.33504095e-02 3.32681599e+02] [ 1.54537375e-02 9.99880360e-01 6.69835373e-04 -1.30331742e+01] [ 1.33384677e-02 -8.76009512e-04 9.99910655e-01 3.48060296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.290714057 meters Centerline goodness [0,1] 0.980471519059706 Centerline is valid? [True, True] Translation: X:332.71, Y:-13.03, Z:3.48 [[ 9.99763087e-01 -1.64232891e-02 -1.42844215e-02 3.32712139e+02] [ 1.64351933e-02 9.99864676e-01 7.16371833e-04 -1.30251709e+01] [ 1.42707233e-02 -9.50969344e-04 9.99897716e-01 3.48113378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32071405700003 meters Centerline goodness [0,1] 0.9796993859407936 Centerline is valid? [True, True] Translation: X:332.74, Y:-13.03, Z:3.48 [[ 9.99730948e-01 -1.70390972e-02 -1.57385210e-02 3.32741906e+02] [ 1.70536399e-02 9.99854264e-01 7.90265091e-04 -1.30292149e+01] [ 1.57227620e-02 -1.05845154e-03 9.99875830e-01 3.48046362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.350714057 meters Centerline goodness [0,1] 0.9734215466324802 Centerline is valid? [True, True] Translation: X:332.77, Y:-13.05, Z:3.48 [[ 9.99661717e-01 -1.86172621e-02 -1.81617440e-02 3.32769484e+02] [ 1.86368817e-02 9.99825903e-01 9.11600665e-04 -1.30475126e+01] [ 1.81416106e-02 -1.24977056e-03 9.99834646e-01 3.47540663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38071405700003 meters Centerline goodness [0,1] 0.979875166368351 Centerline is valid? [True, True] Translation: X:332.80, Y:-13.03, Z:3.48 [[ 9.99632063e-01 -1.90245950e-02 -1.93339745e-02 3.32800050e+02] [ 1.90468905e-02 9.99818121e-01 9.69674151e-04 -1.30336384e+01] [ 1.93120104e-02 -1.33756947e-03 9.99812611e-01 3.47840893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.410714057 meters Centerline goodness [0,1] 0.9789345523879535 Centerline is valid? [True, True] Translation: X:332.83, Y:-13.04, Z:3.48 [[ 9.99592030e-01 -2.00065108e-02 -2.03841385e-02 3.32828426e+02] [ 2.00314773e-02 9.99798828e-01 1.02133541e-03 -1.30365320e+01] [ 2.03596044e-02 -1.42924314e-03 9.99791700e-01 3.47712882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.440714057 meters Centerline goodness [0,1] 0.9792420840397745 Centerline is valid? [True, True] Translation: X:332.86, Y:-13.04, Z:3.48 [[ 9.99596523e-01 -2.01067976e-02 -2.00625965e-02 3.32856946e+02] [ 2.01309193e-02 9.99796851e-01 1.00106624e-03 -1.30368170e+01] [ 2.00383926e-02 -1.40454085e-03 9.99798225e-01 3.47787330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.470714057 meters Centerline goodness [0,1] 0.9779252500115213 Centerline is valid? [True, True] Translation: X:332.89, Y:-13.04, Z:3.48 [[ 9.99614106e-01 -2.03435924e-02 -1.89150000e-02 3.32885559e+02] [ 2.03650430e-02 9.99792167e-01 9.42103393e-04 -1.30384744e+01] [ 1.88919030e-02 -1.32694463e-03 9.99820652e-01 3.47900316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.500714057 meters Centerline goodness [0,1] 0.9793650427685426 Centerline is valid? [True, True] Translation: X:332.92, Y:-13.03, Z:3.48 [[ 9.99628585e-01 -2.01925815e-02 -1.83016910e-02 3.32915930e+02] [ 2.02126298e-02 9.99795289e-01 9.11098057e-04 -1.30348712e+01] [ 1.82795470e-02 -1.28068497e-03 9.99832095e-01 3.48040583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.530714057 meters Centerline goodness [0,1] 0.9797456103967925 Centerline is valid? [True, True] Translation: X:332.95, Y:-13.04, Z:3.48 [[ 9.99662445e-01 -1.96890594e-02 -1.69510383e-02 3.32945681e+02] [ 1.97061802e-02 9.99805459e-01 8.43561878e-04 -1.30371063e+01] [ 1.69311316e-02 -1.17731734e-03 9.99855965e-01 3.48078146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.560714057 meters Centerline goodness [0,1] 0.9789374338198057 Centerline is valid? [True, True] Translation: X:332.97, Y:-13.04, Z:3.48 [[ 9.99685854e-01 -1.92585322e-02 -1.60406394e-02 3.32974988e+02] [ 1.92738035e-02 9.99813925e-01 7.97975836e-04 -1.30393410e+01] [ 1.60222868e-02 -1.10688929e-03 9.99871022e-01 3.48110675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.590714057 meters Centerline goodness [0,1] 0.9787194756035636 Centerline is valid? [True, True] Translation: X:333.01, Y:-13.04, Z:3.48 [[ 9.99680365e-01 -1.94751542e-02 -1.61209911e-02 3.33005593e+02] [ 1.94906058e-02 9.99809719e-01 8.01902467e-04 -1.30396190e+01] [ 1.61023064e-02 -1.11585403e-03 9.99869727e-01 3.48167683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.620714057 meters Centerline goodness [0,1] 0.9768217250339166 Centerline is valid? [True, True] Translation: X:333.03, Y:-13.04, Z:3.48 [[ 9.99654538e-01 -2.06108384e-02 -1.63094232e-02 3.33034935e+02] [ 2.06268002e-02 9.99786916e-01 8.11060895e-04 -1.30448099e+01] [ 1.62892313e-02 -1.14719192e-03 9.99866664e-01 3.48111209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.650714057 meters Centerline goodness [0,1] 0.9769702820106185 Centerline is valid? [True, True] Translation: X:333.06, Y:-13.05, Z:3.48 [[ 9.99643813e-01 -2.12319471e-02 -1.61694401e-02 3.33064577e+02] [ 2.12477125e-02 9.99773919e-01 8.03824711e-04 -1.30485773e+01] [ 1.61487178e-02 -1.14710201e-03 9.99868943e-01 3.48070395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.680714057 meters Centerline goodness [0,1] 0.9781107581825714 Centerline is valid? [True, True] Translation: X:333.10, Y:-13.05, Z:3.48 [[ 9.99621596e-01 -2.19540832e-02 -1.65735495e-02 3.33095644e+02] [ 2.19707442e-02 9.99758275e-01 8.23845088e-04 -1.30454120e+01] [ 1.65514565e-02 -1.18766656e-03 9.99862310e-01 3.48100921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.710714057 meters Centerline goodness [0,1] 0.9773030400588695 Centerline is valid? [True, True] Translation: X:333.13, Y:-13.05, Z:3.48 [[ 9.99539628e-01 -2.41122187e-02 -1.84155530e-02 3.33126265e+02] [ 2.41331586e-02 9.99708334e-01 9.15661740e-04 -1.30480959e+01] [ 1.83881031e-02 -1.35966566e-03 9.99830000e-01 3.47960764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.740714057 meters Centerline goodness [0,1] 0.977674354307306 Centerline is valid? [True, True] Translation: X:333.16, Y:-13.05, Z:3.48 [[ 9.99503750e-01 -2.46258306e-02 -1.96423565e-02 3.33157186e+02] [ 2.46497541e-02 9.99695671e-01 9.76735586e-04 -1.30482768e+01] [ 1.96123259e-02 -1.46043014e-03 9.99806593e-01 3.47967917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.770714057 meters Centerline goodness [0,1] 0.9771259915144808 Centerline is valid? [True, True] Translation: X:333.19, Y:-13.05, Z:3.48 [[ 9.99483778e-01 -2.47460438e-02 -2.04892901e-02 3.33187516e+02] [ 2.47721004e-02 9.99692605e-01 1.01885020e-03 -1.30473960e+01] [ 2.04577793e-02 -1.52588700e-03 9.99789553e-01 3.47981303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.800714057 meters Centerline goodness [0,1] 0.9770218674071502 Centerline is valid? [True, True] Translation: X:333.22, Y:-13.05, Z:3.48 [[ 9.99500071e-01 -2.41828366e-02 -2.03665995e-02 3.33217572e+02] [ 2.42084599e-02 9.99706420e-01 1.01246044e-03 -1.30483677e+01] [ 2.03361361e-02 -1.50499829e-03 9.99792067e-01 3.48040726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.830714057 meters Centerline goodness [0,1] 0.9755034879139726 Centerline is valid? [True, True] Translation: X:333.25, Y:-13.05, Z:3.48 [[ 9.99568145e-01 -2.16488615e-02 -1.98708559e-02 3.33247052e+02] [ 2.16727460e-02 9.99764631e-01 9.87402013e-04 -1.30488447e+01] [ 1.98448028e-02 -1.41763161e-03 9.99802067e-01 3.48085090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.860714057 meters Centerline goodness [0,1] 0.9777628500613837 Centerline is valid? [True, True] Translation: X:333.28, Y:-13.04, Z:3.48 [[ 9.99623259e-01 -1.97689464e-02 -1.90401658e-02 3.33276903e+02] [ 1.97905242e-02 9.99803701e-01 9.45503552e-04 -1.30418583e+01] [ 1.90177366e-02 -1.32196221e-03 9.99818273e-01 3.48292588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.890714057 meters Centerline goodness [0,1] 0.9779145378541569 Centerline is valid? [True, True] Translation: X:333.31, Y:-13.04, Z:3.48 [[ 9.99663510e-01 -1.79337066e-02 -1.87416156e-02 3.33305687e+02] [ 1.79542795e-02 9.99838376e-01 9.30015938e-04 -1.30445475e+01] [ 1.87219079e-02 -1.26619520e-03 9.99823928e-01 3.48314978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.920714057 meters Centerline goodness [0,1] 0.9763911525029103 Centerline is valid? [True, True] Translation: X:333.34, Y:-13.04, Z:3.48 [[ 9.99728514e-01 -1.41881108e-02 -1.84823154e-02 3.33336197e+02] [ 1.42074762e-02 9.99898648e-01 9.16888680e-04 -1.30380266e+01] [ 1.84674333e-02 -1.17922681e-03 9.99828767e-01 3.48415112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.950714057 meters Centerline goodness [0,1] 0.9776886671484858 Centerline is valid? [True, True] Translation: X:333.36, Y:-13.04, Z:3.48 [[ 9.99761666e-01 -1.21734827e-02 -1.81222680e-02 3.33364596e+02] [ 1.21917570e-02 9.99925274e-01 8.98249475e-04 -1.30381546e+01] [ 1.81099789e-02 -1.11897768e-03 9.99835375e-01 3.48369567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.980714057 meters Centerline goodness [0,1] 0.9795513434020402 Centerline is valid? [True, True] Translation: X:333.40, Y:-13.03, Z:3.48 [[ 9.99793390e-01 -8.90517479e-03 -1.82722589e-02 3.33395135e+02] [ 8.92320056e-03 9.99959778e-01 9.05215317e-04 -1.30327971e+01] [ 1.82634628e-02 -1.06807532e-03 9.99832639e-01 3.48413303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01071405700003 meters Centerline goodness [0,1] 0.9775770210794533 Centerline is valid? [True, True] Translation: X:333.42, Y:-13.04, Z:3.48 [[ 9.99818231e-01 -6.65125068e-03 -1.78680054e-02 3.33424031e+02] [ 6.66811869e-03 9.99977377e-01 8.84621591e-04 -1.30415356e+01] [ 1.78617173e-02 -1.00360678e-03 9.99839963e-01 3.48191679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.040714057 meters Centerline goodness [0,1] 0.9784973851326111 Centerline is valid? [True, True] Translation: X:333.45, Y:-13.04, Z:3.48 [[ 9.99806704e-01 -6.14431987e-03 -1.86762362e-02 3.33453613e+02] [ 6.16259404e-03 9.99980587e-01 9.21076443e-04 -1.30354378e+01] [ 1.86702143e-02 -1.03599246e-03 9.99825160e-01 3.48348594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07071405700003 meters Centerline goodness [0,1] 0.9795513896661071 Centerline is valid? [True, True] Translation: X:333.48, Y:-13.03, Z:3.48 [[ 9.99802532e-01 -4.40952452e-03 -1.93765916e-02 3.33482397e+02] [ 4.42883045e-03 9.99989738e-01 9.53554331e-04 -1.30328871e+01] [ 1.93721880e-02 -1.03918167e-03 9.99811802e-01 3.48398978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.100714057 meters Centerline goodness [0,1] 0.9806682076066401 Centerline is valid? [True, True] Translation: X:333.51, Y:-13.03, Z:3.48 [[ 9.99805947e-01 -3.67230159e-03 -1.93541243e-02 3.33509858e+02] [ 3.69139329e-03 9.99992735e-01 9.50807720e-04 -1.30346158e+01] [ 1.93504920e-02 -1.02206690e-03 9.99812239e-01 3.48390501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13071405700003 meters Centerline goodness [0,1] 0.980896038909414 Centerline is valid? [True, True] Translation: X:333.54, Y:-13.03, Z:3.48 [[ 9.99805621e-01 -1.92668927e-03 -1.96216384e-02 3.33538833e+02] [ 1.94594867e-03 9.99997643e-01 9.62492765e-04 -1.30326923e+01] [ 1.96197377e-02 -1.00048838e-03 9.99807014e-01 3.48444923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.160714057 meters Centerline goodness [0,1] 0.9813696578195946 Centerline is valid? [True, True] Translation: X:333.57, Y:-13.03, Z:3.48 [[ 9.99811824e-01 -8.94217464e-04 -1.93782393e-02 3.33566344e+02] [ 9.12777051e-04 9.99999133e-01 9.48930368e-04 -1.30335805e+01] [ 1.93773739e-02 -9.66439815e-04 9.99811774e-01 3.48405096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.190714057 meters Centerline goodness [0,1] 0.9815231663852936 Centerline is valid? [True, True] Translation: X:333.60, Y:-13.03, Z:3.48 [[ 9.99811076e-01 1.56566862e-04 -1.94367811e-02 3.33595137e+02] [-1.38174489e-04 9.99999541e-01 9.47605784e-04 -1.30316734e+01] [ 1.94369205e-02 -9.44741091e-04 9.99810639e-01 3.48464967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.220714057 meters Centerline goodness [0,1] 0.9822183594851076 Centerline is valid? [True, True] Translation: X:333.62, Y:-13.03, Z:3.48 [[ 9.99804556e-01 3.57799560e-03 -1.94434388e-02 3.33624872e+02] [-3.56026614e-03 9.99993214e-01 9.46386610e-04 -1.30281387e+01] [ 1.94466930e-02 -8.76977828e-04 9.99810511e-01 3.48486965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.250714057 meters Centerline goodness [0,1] 0.9816038620172478 Centerline is valid? [True, True] Translation: X:333.65, Y:-13.03, Z:3.48 [[ 9.99797458e-01 5.46628270e-03 -1.93691006e-02 3.33652755e+02] [-5.44907153e-03 9.99984711e-01 9.41254873e-04 -1.30286942e+01] [ 1.93739496e-02 -8.35520615e-04 9.99811958e-01 3.48454126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.280714057 meters Centerline goodness [0,1] 0.9830404673293447 Centerline is valid? [True, True] Translation: X:333.68, Y:-13.03, Z:3.49 [[ 9.99784935e-01 8.21290191e-03 -1.90429165e-02 3.33682570e+02] [-8.19677970e-03 9.99965978e-01 9.24524193e-04 -1.30259439e+01] [ 1.90498617e-02 -7.68234768e-04 9.99818240e-01 3.48545458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.310714057 meters Centerline goodness [0,1] 0.9835872836719338 Centerline is valid? [True, True] Translation: X:333.71, Y:-13.03, Z:3.49 [[ 9.99786409e-01 9.29677367e-03 -1.84582100e-02 3.33711230e+02] [-9.28183212e-03 9.99956522e-01 8.94986983e-04 -1.30260029e+01] [ 1.84657280e-02 -7.23469816e-04 9.99829232e-01 3.48617543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.340714057 meters Centerline goodness [0,1] 0.9840320301460198 Centerline is valid? [True, True] Translation: X:333.74, Y:-13.02, Z:3.49 [[ 9.99787181e-01 9.93417531e-03 -1.80805370e-02 3.33740106e+02] [-9.91996620e-03 9.99950413e-01 8.75398214e-04 -1.30246577e+01] [ 1.80883368e-02 -6.95853596e-04 9.99836151e-01 3.48709859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.370714057 meters Centerline goodness [0,1] 0.9835070059781196 Centerline is valid? [True, True] Translation: X:333.77, Y:-13.03, Z:3.49 [[ 9.99798300e-01 9.84873945e-03 -1.75032041e-02 3.33768173e+02] [-9.83543603e-03 9.99951273e-01 8.45978122e-04 -1.30257169e+01] [ 1.75106830e-02 -6.73655844e-04 9.99846449e-01 3.48739008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.400714057 meters Centerline goodness [0,1] 0.9830492535558951 Centerline is valid? [True, True] Translation: X:333.80, Y:-13.03, Z:3.49 [[ 9.99803556e-01 9.26982572e-03 -1.75191128e-02 3.33796748e+02] [-9.25643219e-03 9.99956801e-01 8.45444871e-04 -1.30277023e+01] [ 1.75261931e-02 -6.83114309e-04 9.99846171e-01 3.48745258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.430714057 meters Centerline goodness [0,1] 0.9816366889537621 Centerline is valid? [True, True] Translation: X:333.82, Y:-13.03, Z:3.49 [[ 9.99814822e-01 6.66503813e-03 -1.80526662e-02 3.33824624e+02] [-6.65041525e-03 9.99977507e-01 8.69925084e-04 -1.30313830e+01] [ 1.80580583e-02 -7.49706266e-04 9.99836659e-01 3.48708126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.460714057 meters Centerline goodness [0,1] 0.9818061995433898 Centerline is valid? [True, True] Translation: X:333.85, Y:-13.03, Z:3.49 [[ 9.99832239e-01 4.59495196e-03 -1.77307841e-02 3.33853917e+02] [-4.58053445e-03 9.99989145e-01 8.53660572e-04 -1.30339331e+01] [ 1.77345141e-02 -7.72300894e-04 9.99842433e-01 3.48710027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.490714057 meters Centerline goodness [0,1] 0.9822917157255215 Centerline is valid? [True, True] Translation: X:333.88, Y:-13.04, Z:3.49 [[ 9.99831997e-01 2.31431898e-03 -1.81830059e-02 3.33883828e+02] [-2.29879205e-03 9.99996975e-01 8.74779969e-04 -1.30352104e+01] [ 1.81849754e-02 -8.32834054e-04 9.99834293e-01 3.48786104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.520714057 meters Centerline goodness [0,1] 0.9812157028281976 Centerline is valid? [True, True] Translation: X:333.91, Y:-13.04, Z:3.49 [[ 9.99826629e-01 -2.05827261e-03 -1.85060935e-02 3.33913091e+02] [ 2.07509605e-03 9.99997451e-01 8.89919387e-04 -1.30422279e+01] [ 1.85042146e-02 -9.28167023e-04 9.99828352e-01 3.48772243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.550714057 meters Centerline goodness [0,1] 0.9794187730691959 Centerline is valid? [True, True] Translation: X:333.94, Y:-13.05, Z:3.49 [[ 9.99785922e-01 -7.39758485e-03 -1.93232191e-02 3.33943662e+02] [ 7.41691966e-03 9.99972063e-01 9.29124863e-04 -1.30495805e+01] [ 1.93158060e-02 -1.07224472e-03 9.99812857e-01 3.48717610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.580714057 meters Centerline goodness [0,1] 0.9802311435523114 Centerline is valid? [True, True] Translation: X:333.97, Y:-13.05, Z:3.49 [[ 9.99743526e-01 -9.93728043e-03 -2.03502610e-02 3.33972472e+02] [ 9.95922450e-03 9.99949928e-01 9.77253545e-04 -1.30533233e+01] [ 2.03395308e-02 -1.17967572e-03 9.99792434e-01 3.48704116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.610714057 meters Centerline goodness [0,1] 0.9787268974575476 Centerline is valid? [True, True] Translation: X:334.00, Y:-13.06, Z:3.49 [[ 9.99692353e-01 -1.24236647e-02 -2.14674675e-02 3.34002104e+02] [ 1.24486426e-02 9.99921982e-01 1.03027434e-03 -1.30570082e+01] [ 2.14529929e-02 -1.29719821e-03 9.99769017e-01 3.48637417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.640714057 meters Centerline goodness [0,1] 0.9769092479745979 Centerline is valid? [True, True] Translation: X:334.03, Y:-13.06, Z:3.48 [[ 9.99608926e-01 -1.67203131e-02 -2.24148663e-02 3.34031457e+02] [ 1.67486110e-02 9.99859154e-01 1.07531183e-03 -1.30636233e+01] [ 2.23937297e-02 -1.45030918e-03 9.99748177e-01 3.48471958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.670714057 meters Centerline goodness [0,1] 0.9779899848608361 Centerline is valid? [True, True] Translation: X:334.06, Y:-13.07, Z:3.48 [[ 9.99549073e-01 -1.91383371e-02 -2.31381587e-02 3.34061543e+02] [ 1.91691266e-02 9.99815640e-01 1.10959398e-03 -1.30663060e+01] [ 2.31126572e-02 -1.55263192e-03 9.99731661e-01 3.48471405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.700714057 meters Centerline goodness [0,1] 0.976568157925476 Centerline is valid? [True, True] Translation: X:334.09, Y:-13.07, Z:3.48 [[ 9.99465947e-01 -2.26433743e-02 -2.35605342e-02 3.34090582e+02] [ 2.26762541e-02 9.99742223e-01 1.12927998e-03 -1.30726458e+01] [ 2.35288902e-02 -1.66294154e-03 9.99721774e-01 3.48460270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.730714057 meters Centerline goodness [0,1] 0.9750397307656352 Centerline is valid? [True, True] Translation: X:334.12, Y:-13.07, Z:3.48 [[ 9.99426418e-01 -2.41575034e-02 -2.37328918e-02 3.34120186e+02] [ 2.41912722e-02 9.99706702e-01 1.13675290e-03 -1.30748420e+01] [ 2.36984699e-02 -1.71022973e-03 9.99717689e-01 3.48435201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76071405700003 meters Centerline goodness [0,1] 0.9756456702115227 Centerline is valid? [True, True] Translation: X:334.15, Y:-13.08, Z:3.48 [[ 9.99420608e-01 -2.47531663e-02 -2.33608464e-02 3.34149638e+02] [ 2.47860274e-02 9.99692154e-01 1.11812907e-03 -1.30770833e+01] [ 2.33259776e-02 -1.69650382e-03 9.99726473e-01 3.48498513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.790714057 meters Centerline goodness [0,1] 0.9756456702115227 Centerline is valid? [True, True] Translation: X:334.18, Y:-13.08, Z:3.49 [[ 9.99419755e-01 -2.47875343e-02 -2.33608848e-02 3.34178840e+02] [ 2.48203861e-02 9.99691302e-01 1.11732601e-03 -1.30784487e+01] [ 2.33259776e-02 -1.69650387e-03 9.99726473e-01 3.48510159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82071405700003 meters Centerline goodness [0,1] 0.9754261263999626 Centerline is valid? [True, True] Translation: X:334.21, Y:-13.08, Z:3.49 [[ 9.99421703e-01 -2.53576854e-02 -2.26549697e-02 3.34207045e+02] [ 2.53887022e-02 9.99677069e-01 1.08247165e-03 -1.30808285e+01] [ 2.26202047e-02 -1.65702594e-03 9.99742757e-01 3.48642094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.850714057 meters Centerline goodness [0,1] 0.9755101087920811 Centerline is valid? [True, True] Translation: X:334.24, Y:-13.08, Z:3.49 [[ 9.99454910e-01 -2.52506928e-02 -2.12670167e-02 3.34236665e+02] [ 2.52779840e-02 9.99679945e-01 1.01537515e-03 -1.30814621e+01] [ 2.12345711e-02 -1.55240899e-03 9.99773316e-01 3.48786820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88071405700003 meters Centerline goodness [0,1] 0.9744123494328149 Centerline is valid? [True, True] Translation: X:334.27, Y:-13.08, Z:3.49 [[ 9.99470898e-01 -2.51011076e-02 -2.06847325e-02 3.34266856e+02] [ 2.51268957e-02 9.99683782e-01 9.87724621e-04 -1.30832482e+01] [ 2.06533986e-02 -1.50694513e-03 9.99785560e-01 3.48875460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.910714057 meters Centerline goodness [0,1] 0.975318173310874 Centerline is valid? [True, True] Translation: X:334.30, Y:-13.08, Z:3.49 [[ 9.99457386e-01 -2.56382350e-02 -2.06788392e-02 3.34298029e+02] [ 2.56641241e-02 9.99670134e-01 9.87510199e-04 -1.30772846e+01] [ 2.06466999e-02 -1.51767866e-03 9.99785682e-01 3.49040563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.940714057 meters Centerline goodness [0,1] 0.9763341284317852 Centerline is valid? [True, True] Translation: X:334.33, Y:-13.08, Z:3.49 [[ 9.99461928e-01 -2.56015934e-02 -2.05039544e-02 3.34329410e+02] [ 2.56270507e-02 9.99671093e-01 9.79741767e-04 -1.30790185e+01] [ 2.04721275e-02 -1.50467047e-03 9.99789292e-01 3.49068768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.970714057 meters Centerline goodness [0,1] 0.976070735187481 Centerline is valid? [True, True] Translation: X:334.36, Y:-13.08, Z:3.49 [[ 9.99387966e-01 -2.80489178e-02 -2.09033830e-02 3.34360025e+02] [ 2.80759121e-02 9.99605295e-01 9.98970729e-04 -1.30810586e+01] [ 2.08671123e-02 -1.58524087e-03 9.99781001e-01 3.49101242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.000714057 meters Centerline goodness [0,1] 0.9758315218661618 Centerline is valid? [True, True] Translation: X:334.39, Y:-13.08, Z:3.49 [[ 9.99376205e-01 -2.89000452e-02 -2.02975007e-02 3.34390723e+02] [ 2.89256773e-02 9.99581094e-01 9.70303369e-04 -1.30835500e+01] [ 2.02609561e-02 -1.55681705e-03 9.99793514e-01 3.49086941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.030714057 meters Centerline goodness [0,1] 0.9738569699227116 Centerline is valid? [True, True] Translation: X:334.42, Y:-13.09, Z:3.49 [[ 9.99294623e-01 -3.13535753e-02 -2.06690538e-02 3.34420256e+02] [ 3.13806948e-02 9.99507015e-01 9.88969972e-04 -1.30883008e+01] [ 2.06278566e-02 -1.63688165e-03 9.99785883e-01 3.49044516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.060714057 meters Centerline goodness [0,1] 0.9730441265551465 Centerline is valid? [True, True] Translation: X:334.45, Y:-13.09, Z:3.49 [[ 9.99258730e-01 -3.23507021e-02 -2.08667704e-02 3.34451027e+02] [ 3.23785693e-02 9.99475177e-01 9.98924920e-04 -1.30913264e+01] [ 2.08235031e-02 -1.67382062e-03 9.99781766e-01 3.49019087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.090714057 meters Centerline goodness [0,1] 0.9735816471796308 Centerline is valid? [True, True] Translation: X:334.48, Y:-13.09, Z:3.49 [[ 9.99207000e-01 -3.36736693e-02 -2.12474931e-02 3.34481674e+02] [ 3.37028678e-02 9.99431379e-01 1.01751994e-03 -1.30946603e+01] [ 2.12011477e-02 -1.73281450e-03 9.99773729e-01 3.48988334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.120714057 meters Centerline goodness [0,1] 0.972318339100346 Centerline is valid? [True, True] Translation: X:334.51, Y:-13.10, Z:3.49 [[ 9.99095312e-01 -3.60352813e-02 -2.25835488e-02 3.34512677e+02] [ 3.60688762e-02 9.99348721e-01 1.08188612e-03 -1.30972086e+01] [ 2.25298545e-02 -1.89547057e-03 9.99744374e-01 3.48928962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.150714057 meters Centerline goodness [0,1] 0.9692738081361464 Centerline is valid? [True, True] Translation: X:334.54, Y:-13.10, Z:3.49 [[ 9.99073189e-01 -3.63486834e-02 -2.30550908e-02 3.34543723e+02] [ 3.63838035e-02 9.99337279e-01 1.10553573e-03 -1.31024357e+01] [ 2.29996270e-02 -1.94334300e-03 9.99733585e-01 3.48817576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.180714057 meters Centerline goodness [0,1] 0.9736227824463118 Centerline is valid? [True, True] Translation: X:334.58, Y:-13.10, Z:3.49 [[ 9.99044597e-01 -3.63922395e-02 -2.41970588e-02 3.34576284e+02] [ 3.64309786e-02 9.99335496e-01 1.16194202e-03 -1.30968536e+01] [ 2.41386941e-02 -2.04235443e-03 9.99706533e-01 3.48850226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.210714057 meters Centerline goodness [0,1] 0.96911441015314 Centerline is valid? [True, True] Translation: X:334.61, Y:-13.10, Z:3.49 [[ 9.99055935e-01 -3.58843830e-02 -2.44856886e-02 3.34606420e+02] [ 3.59239163e-02 9.99353835e-01 1.17644440e-03 -1.31030449e+01] [ 2.44276509e-02 -2.05495558e-03 9.99699488e-01 3.48701439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.240714057 meters Centerline goodness [0,1] 0.9656400046843893 Centerline is valid? [True, True] Translation: X:334.64, Y:-13.10, Z:3.49 [[ 9.99095774e-01 -3.45508680e-02 -2.47764344e-02 3.34637075e+02] [ 3.45909581e-02 9.99400844e-01 1.19118753e-03 -1.31047359e+01] [ 2.47204328e-02 -2.04715103e-03 9.99692307e-01 3.48684821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.270714057 meters Centerline goodness [0,1] 0.9749103102211175 Centerline is valid? [True, True] Translation: X:334.67, Y:-13.09, Z:3.49 [[ 9.99260354e-01 -3.07002960e-02 -2.31567826e-02 3.34668123e+02] [ 3.07342928e-02 9.99526970e-01 1.11356087e-03 -1.30914145e+01] [ 2.31116421e-02 -1.82444457e-03 9.99731226e-01 3.49143994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.300714057 meters Centerline goodness [0,1] 0.9756705296067323 Centerline is valid? [True, True] Translation: X:334.70, Y:-13.09, Z:3.49 [[ 9.99334334e-01 -2.88502810e-02 -2.23282516e-02 3.34698634e+02] [ 2.88814295e-02 9.99582268e-01 1.07374181e-03 -1.30878948e+01] [ 2.22879466e-02 -1.71789888e-03 9.99750117e-01 3.49340612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.330714057 meters Centerline goodness [0,1] 0.9689303465008362 Centerline is valid? [True, True] Translation: X:334.73, Y:-13.10, Z:3.49 [[ 9.99469261e-01 -2.46879645e-02 -2.12532663e-02 3.34728063e+02] [ 2.47152496e-02 9.99694009e-01 1.02205590e-03 -1.30992021e+01] [ 2.12215305e-02 -1.54679324e-03 9.99773601e-01 3.49209796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.360714057 meters Centerline goodness [0,1] 0.9728360740705838 Centerline is valid? [True, True] Translation: X:334.76, Y:-13.09, Z:3.49 [[ 9.99536352e-01 -2.24601288e-02 -2.05577945e-02 3.34759537e+02] [ 2.24851940e-02 9.99746687e-01 9.88892103e-04 -1.30921194e+01] [ 2.05303763e-02 -1.45067960e-03 9.99788177e-01 3.49404855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.390714057 meters Centerline goodness [0,1] 0.973273837482386 Centerline is valid? [True, True] Translation: X:334.79, Y:-13.09, Z:3.49 [[ 9.99593067e-01 -2.05496024e-02 -1.97842030e-02 3.34789745e+02] [ 2.05724314e-02 9.99787913e-01 9.51048380e-04 -1.30919303e+01] [ 1.97604633e-02 -1.35767053e-03 9.99803821e-01 3.49427675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.420714057 meters Centerline goodness [0,1] 0.9759303920177803 Centerline is valid? [True, True] Translation: X:334.82, Y:-13.08, Z:3.50 [[ 9.99635580e-01 -1.85271598e-02 -1.96329130e-02 3.34820509e+02] [ 1.85492437e-02 9.99827503e-01 9.43317058e-04 -1.30794514e+01] [ 1.96120494e-02 -1.30714898e-03 9.99806811e-01 3.49676378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.450714057 meters Centerline goodness [0,1] 0.975962104965475 Centerline is valid? [True, True] Translation: X:334.85, Y:-13.08, Z:3.50 [[ 9.99661941e-01 -1.73634083e-02 -1.93524149e-02 3.34849871e+02] [ 1.73846533e-02 9.99848443e-01 9.30093484e-04 -1.30826432e+01] [ 1.93333323e-02 -1.26621408e-03 9.99812292e-01 3.49595057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.480714057 meters Centerline goodness [0,1] 0.9757357471209895 Centerline is valid? [True, True] Translation: X:334.88, Y:-13.08, Z:3.50 [[ 9.99660417e-01 -1.68825753e-02 -1.98501937e-02 3.34879986e+02] [ 1.69048234e-02 9.99856649e-01 9.53523613e-04 -1.30786590e+01] [ 1.98312502e-02 -1.28876383e-03 9.99802511e-01 3.49597116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51071405700003 meters Centerline goodness [0,1] 0.9752716107699575 Centerline is valid? [True, True] Translation: X:334.91, Y:-13.08, Z:3.49 [[ 9.99663151e-01 -1.68245854e-02 -1.97615352e-02 3.34908002e+02] [ 1.68466042e-02 9.99857636e-01 9.48264969e-04 -1.30835804e+01] [ 1.97427677e-02 -1.28086031e-03 9.99804272e-01 3.49495288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.540714057 meters Centerline goodness [0,1] 0.9747339479983883 Centerline is valid? [True, True] Translation: X:334.94, Y:-13.09, Z:3.49 [[ 9.99660510e-01 -1.71298346e-02 -1.96324383e-02 3.34936633e+02] [ 1.71515455e-02 9.99852461e-01 9.38012129e-04 -1.30851748e+01] [ 1.96134738e-02 -1.27442034e-03 9.99806825e-01 3.49488260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57071405700003 meters Centerline goodness [0,1] 0.9765906078394243 Centerline is valid? [True, True] Translation: X:334.97, Y:-13.08, Z:3.50 [[ 9.99640281e-01 -1.79266909e-02 -1.99485021e-02 3.34966242e+02] [ 1.79492333e-02 9.99838447e-01 9.51545310e-04 -1.30830475e+01] [ 1.99282212e-02 -1.30926334e-03 9.99800556e-01 3.49643005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.600714057 meters Centerline goodness [0,1] 0.9748296744890235 Centerline is valid? [True, True] Translation: X:334.99, Y:-13.09, Z:3.49 [[ 9.99630399e-01 -1.86932442e-02 -1.97390133e-02 3.34994916e+02] [ 1.87154737e-02 9.99824406e-01 9.42023974e-04 -1.30905461e+01] [ 1.97179378e-02 -1.31110079e-03 9.99804723e-01 3.49484595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63071405700003 meters Centerline goodness [0,1] 0.9756317475382608 Centerline is valid? [True, True] Translation: X:335.02, Y:-13.09, Z:3.49 [[ 9.99607369e-01 -2.01076876e-02 -1.95138052e-02 3.35024667e+02] [ 2.01296733e-02 9.99796944e-01 9.30884193e-04 -1.30903090e+01] [ 1.94911249e-02 -1.32332522e-03 9.99809154e-01 3.49443305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.660714057 meters Centerline goodness [0,1] 0.9747190343811628 Centerline is valid? [True, True] Translation: X:335.05, Y:-13.10, Z:3.49 [[ 9.99589414e-01 -2.07273576e-02 -1.97833383e-02 3.35053874e+02] [ 2.07500674e-02 9.99784249e-01 9.43324718e-04 -1.30964579e+01] [ 1.97595174e-02 -1.35344300e-03 9.99803846e-01 3.49266275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.690714057 meters Centerline goodness [0,1] 0.9724957877500653 Centerline is valid? [True, True] Translation: X:335.08, Y:-13.10, Z:3.49 [[ 9.99583657e-01 -2.10394822e-02 -1.97446910e-02 3.35083270e+02] [ 2.10621574e-02 9.99777725e-01 9.41145737e-04 -1.31012372e+01] [ 1.97205011e-02 -1.35661969e-03 9.99804612e-01 3.49162954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.720714057 meters Centerline goodness [0,1] 0.97683599695586 Centerline is valid? [True, True] Translation: X:335.11, Y:-13.09, Z:3.49 [[ 9.99561539e-01 -2.18067403e-02 -2.00298745e-02 3.35113817e+02] [ 2.18302215e-02 9.99761237e-01 9.54383512e-04 -1.30904987e+01] [ 2.00042801e-02 -1.39122165e-03 9.99798926e-01 3.49441326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.750714057 meters Centerline goodness [0,1] 0.977348434377082 Centerline is valid? [True, True] Translation: X:335.14, Y:-13.09, Z:3.50 [[ 9.99553688e-01 -2.18994101e-02 -2.03184807e-02 3.35144633e+02] [ 2.19235906e-02 9.99759181e-01 9.68062796e-04 -1.30903764e+01] [ 2.02923876e-02 -1.41308479e-03 9.99793090e-01 3.49540191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.780714057 meters Centerline goodness [0,1] 0.9755801499464477 Centerline is valid? [True, True] Translation: X:335.17, Y:-13.09, Z:3.50 [[ 9.99571787e-01 -2.13290705e-02 -2.00328117e-02 3.35174666e+02] [ 2.13524333e-02 9.99771557e-01 9.53032041e-04 -1.30914071e+01] [ 2.00079081e-02 -1.38037322e-03 9.99798869e-01 3.49635898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.810714057 meters Centerline goodness [0,1] 0.9758912602837725 Centerline is valid? [True, True] Translation: X:335.21, Y:-13.09, Z:3.50 [[ 9.99608368e-01 -2.01709481e-02 -1.93970212e-02 3.35205295e+02] [ 2.01926276e-02 9.99795683e-01 9.22444645e-04 -1.30906635e+01] [ 1.93744515e-02 -1.31376021e-03 9.99811435e-01 3.49735770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.840714057 meters Centerline goodness [0,1] 0.9746160257173473 Centerline is valid? [True, True] Translation: X:335.23, Y:-13.09, Z:3.50 [[ 9.99647358e-01 -1.89740583e-02 -1.85780622e-02 3.35234547e+02] [ 1.89937350e-02 9.99819213e-01 8.83243858e-04 -1.30913950e+01] [ 1.85579448e-02 -1.23579918e-03 9.99827023e-01 3.49760370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.870714057 meters Centerline goodness [0,1] 0.9762126087474675 Centerline is valid? [True, True] Translation: X:335.26, Y:-13.09, Z:3.50 [[ 9.99727606e-01 -1.51990686e-02 -1.77116454e-02 3.35264820e+02] [ 1.52163604e-02 9.99883870e-01 8.41932570e-04 -1.30876124e+01] [ 1.76967919e-02 -1.11121001e-03 9.99842782e-01 3.49940895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.900714057 meters Centerline goodness [0,1] 0.9750488071996571 Centerline is valid? [True, True] Translation: X:335.29, Y:-13.09, Z:3.50 [[ 9.99771687e-01 -1.28439906e-02 -1.70764895e-02 3.35293722e+02] [ 1.28597140e-02 9.99916981e-01 8.11267097e-04 -1.30914313e+01] [ 1.70646519e-02 -1.03068064e-03 9.99853857e-01 3.49875911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.930714057 meters Centerline goodness [0,1] 0.9748966966823512 Centerline is valid? [True, True] Translation: X:335.32, Y:-13.09, Z:3.50 [[ 9.99813357e-01 -8.31874482e-03 -1.74370284e-02 3.35324495e+02] [ 8.33445013e-03 9.99964925e-01 8.28210007e-04 -1.30889343e+01] [ 1.74295272e-02 -9.73383471e-04 9.99847620e-01 3.49831195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.960714057 meters Centerline goodness [0,1] 0.9781241063768945 Centerline is valid? [True, True] Translation: X:335.35, Y:-13.08, Z:3.50 [[ 9.99830879e-01 -6.29348422e-03 -1.72801878e-02 3.35354969e+02] [ 6.30859430e-03 9.99979764e-01 8.20044390e-04 -1.30845656e+01] [ 1.72746772e-02 -9.28919398e-04 9.99850350e-01 3.49939001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.990714057 meters Centerline goodness [0,1] 0.9785877971927814 Centerline is valid? [True, True] Translation: X:335.39, Y:-13.08, Z:3.50 [[ 9.99847763e-01 -3.64621081e-03 -1.70632858e-02 3.35385067e+02] [ 3.66055202e-03 9.99992973e-01 8.09314493e-04 -1.30838678e+01] [ 1.70602150e-02 -8.71652331e-04 9.99854084e-01 3.49975407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.020714057 meters Centerline goodness [0,1] 0.9763993515781444 Centerline is valid? [True, True] Translation: X:335.41, Y:-13.09, Z:3.50 [[ 9.99858725e-01 -2.95540605e-03 -1.65467814e-02 3.35412337e+02] [ 2.96877861e-03 9.99995286e-01 7.83661386e-04 -1.30905910e+01] [ 1.65443873e-02 -8.32674405e-04 9.99862786e-01 3.49868725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.050714057 meters Centerline goodness [0,1] 0.9765796768951343 Centerline is valid? [True, True] Translation: X:335.44, Y:-13.09, Z:3.50 [[ 9.99877857e-01 -2.74800328e-03 -1.53856755e-02 3.35439568e+02] [ 2.75952102e-03 9.99995928e-01 7.27421420e-04 -1.30943039e+01] [ 1.53836139e-02 -7.69789665e-04 9.99881369e-01 3.49879070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.080714057 meters Centerline goodness [0,1] 0.9795417153484823 Centerline is valid? [True, True] Translation: X:335.47, Y:-13.09, Z:3.50 [[ 9.99887354e-01 -3.32644113e-03 -1.46360287e-02 3.35467418e+02] [ 3.33687682e-03 9.99994195e-01 6.88650310e-04 -1.30873032e+01] [ 1.46336530e-02 -7.37411362e-04 9.99892650e-01 3.50123447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.110714057 meters Centerline goodness [0,1] 0.9758417348297508 Centerline is valid? [True, True] Translation: X:335.49, Y:-13.10, Z:3.50 [[ 9.99886139e-01 -3.96821149e-03 -1.45589307e-02 3.35494863e+02] [ 3.97857556e-03 9.99991852e-01 6.82975976e-04 -1.30983605e+01] [ 1.45561019e-02 -7.40822017e-04 9.99893780e-01 3.49960874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.140714057 meters Centerline goodness [0,1] 0.9784630795649685 Centerline is valid? [True, True] Translation: X:335.52, Y:-13.09, Z:3.50 [[ 9.99866470e-01 -5.44113920e-03 -1.54089535e-02 3.35524633e+02] [ 5.45291152e-03 9.99984872e-01 7.22080374e-04 -1.30926940e+01] [ 1.54047914e-02 -8.06007615e-04 9.99881014e-01 3.50106921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.170714057 meters Centerline goodness [0,1] 0.9796609361215098 Centerline is valid? [True, True] Translation: X:335.55, Y:-13.10, Z:3.50 [[ 9.99857685e-01 -6.45229364e-03 -1.55877654e-02 3.35553461e+02] [ 6.46441668e-03 9.99978841e-01 7.27466769e-04 -1.30961725e+01] [ 1.55827418e-02 -8.28129050e-04 9.99878239e-01 3.50036660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.200714057 meters Centerline goodness [0,1] 0.978220939385988 Centerline is valid? [True, True] Translation: X:335.58, Y:-13.10, Z:3.50 [[ 9.99825637e-01 -7.98360953e-03 -1.68806742e-02 3.35581233e+02] [ 7.99801133e-03 9.99967707e-01 7.85813480e-04 -1.31017986e+01] [ 1.68738554e-02 -9.20688287e-04 9.99857202e-01 3.49832055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.230714057 meters Centerline goodness [0,1] 0.9792436193789767 Centerline is valid? [True, True] Translation: X:335.61, Y:-13.10, Z:3.50 [[ 9.99816469e-01 -8.46653400e-03 -1.71856469e-02 3.35610394e+02] [ 8.48147095e-03 9.99963714e-01 7.96452510e-04 -1.31012151e+01] [ 1.71782801e-02 -9.42065901e-04 9.99851999e-01 3.49898928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26071405700003 meters Centerline goodness [0,1] 0.9769619288130748 Centerline is valid? [True, True] Translation: X:335.64, Y:-13.11, Z:3.50 [[ 9.99810492e-01 -8.91849021e-03 -1.73043470e-02 3.35637909e+02] [ 8.93366447e-03 9.99959774e-01 7.99800062e-04 -1.31070585e+01] [ 1.72965179e-02 -9.54239724e-04 9.99849949e-01 3.49816433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.290714057 meters Centerline goodness [0,1] 0.9790747330960854 Centerline is valid? [True, True] Translation: X:335.67, Y:-13.11, Z:3.50 [[ 9.99834174e-01 -9.23124129e-03 -1.56974218e-02 3.35666270e+02] [ 9.24371595e-03 9.99957015e-01 7.22322831e-04 -1.31058703e+01] [ 1.56900791e-02 -8.67305559e-04 9.99876527e-01 3.49946415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32071405700003 meters Centerline goodness [0,1] 0.9788916326336784 Centerline is valid? [True, True] Translation: X:335.69, Y:-13.11, Z:3.50 [[ 9.99863394e-01 -9.00737100e-03 -1.38585589e-02 3.35694939e+02] [ 9.01702605e-03 9.99959145e-01 6.34357001e-04 -1.31053900e+01] [ 1.38522789e-02 -7.59233332e-04 9.99903764e-01 3.50181326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.350714057 meters Centerline goodness [0,1] 0.9786094984296183 Centerline is valid? [True, True] Translation: X:335.72, Y:-13.11, Z:3.50 [[ 9.99881473e-01 -8.69741288e-03 -1.27040984e-02 3.35723696e+02] [ 8.70548373e-03 9.99961938e-01 5.80131988e-04 -1.31080872e+01] [ 1.26985693e-02 -6.90658549e-04 9.99919131e-01 3.50273975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38071405700003 meters Centerline goodness [0,1] 0.9777540360873694 Centerline is valid? [True, True] Translation: X:335.75, Y:-13.11, Z:3.50 [[ 9.99884182e-01 -9.10263867e-03 -1.21969301e-02 3.35752518e+02] [ 9.11008042e-03 9.99958348e-01 5.54711247e-04 -1.31085556e+01] [ 1.21913728e-02 -6.65762015e-04 9.99925461e-01 3.50365974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.410714057 meters Centerline goodness [0,1] 0.9759289940828403 Centerline is valid? [True, True] Translation: X:335.78, Y:-13.12, Z:3.50 [[ 9.99880738e-01 -9.56285404e-03 -1.21268672e-02 3.35780339e+02] [ 9.57022700e-03 9.99954053e-01 5.50099601e-04 -1.31174073e+01] [ 1.21210495e-02 -6.66090868e-04 9.99926316e-01 3.50282577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.440714057 meters Centerline goodness [0,1] 0.9766386235087219 Centerline is valid? [True, True] Translation: X:335.81, Y:-13.12, Z:3.50 [[ 9.99866519e-01 -1.02981136e-02 -1.26843277e-02 3.35809760e+02] [ 1.03062325e-02 9.99946724e-01 5.74870010e-04 -1.31188048e+01] [ 1.26777318e-02 -7.05520906e-04 9.99919385e-01 3.50272200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.470714057 meters Centerline goodness [0,1] 0.9787592157978332 Centerline is valid? [True, True] Translation: X:335.84, Y:-13.12, Z:3.50 [[ 9.99829905e-01 -1.22037583e-02 -1.38285437e-02 3.35839559e+02] [ 1.22135830e-02 9.99925215e-01 6.26231002e-04 -1.31164066e+01] [ 1.38198672e-02 -7.95020550e-04 9.99904185e-01 3.50224645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.500714057 meters Centerline goodness [0,1] 0.9776499434175783 Centerline is valid? [True, True] Translation: X:335.87, Y:-13.12, Z:3.50 [[ 9.99817638e-01 -1.26923333e-02 -1.42686532e-02 3.35869141e+02] [ 1.27028357e-02 9.99919107e-01 6.45653479e-04 -1.31193772e+01] [ 1.42593042e-02 -8.26788095e-04 9.99897989e-01 3.50167191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.530714057 meters Centerline goodness [0,1] 0.9772243507875692 Centerline is valid? [True, True] Translation: X:335.90, Y:-13.12, Z:3.50 [[ 9.99793978e-01 -1.39990636e-02 -1.46978772e-02 3.35898533e+02] [ 1.40103432e-02 9.99901629e-01 6.64744015e-04 -1.31240148e+01] [ 1.46871256e-02 -8.70529368e-04 9.99891759e-01 3.50033456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.560714057 meters Centerline goodness [0,1] 0.9763928681362916 Centerline is valid? [True, True] Translation: X:335.93, Y:-13.13, Z:3.50 [[ 9.99746717e-01 -1.55960464e-02 -1.62254791e-02 3.35927839e+02] [ 1.56099944e-02 9.99877888e-01 7.33335202e-04 -1.31273538e+01] [ 1.62120607e-02 -9.86429099e-04 9.99868089e-01 3.49905669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.590714057 meters Centerline goodness [0,1] 0.9766934585200465 Centerline is valid? [True, True] Translation: X:335.96, Y:-13.13, Z:3.50 [[ 9.99726492e-01 -1.63688673e-02 -1.67033102e-02 3.35957384e+02] [ 1.63837469e-02 9.99865493e-01 7.54354986e-04 -1.31299378e+01] [ 1.66887156e-02 -1.02781147e-03 9.99860205e-01 3.49849867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.620714057 meters Centerline goodness [0,1] 0.9766556291390729 Centerline is valid? [True, True] Translation: X:335.99, Y:-13.13, Z:3.50 [[ 9.99725990e-01 -1.63224356e-02 -1.67786763e-02 3.35987570e+02] [ 1.63374410e-02 9.99866248e-01 7.57621881e-04 -1.31265001e+01] [ 1.67640659e-02 -1.03153492e-03 9.99858941e-01 3.49926045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.650714057 meters Centerline goodness [0,1] 0.9760808694414124 Centerline is valid? [True, True] Translation: X:336.02, Y:-13.13, Z:3.50 [[ 9.99736837e-01 -1.57146793e-02 -1.67124237e-02 3.36016876e+02] [ 1.57294781e-02 9.99876000e-01 7.54408504e-04 -1.31308512e+01] [ 1.66984961e-02 -1.01708767e-03 9.99860053e-01 3.49922102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.680714057 meters Centerline goodness [0,1] 0.9775549301104515 Centerline is valid? [True, True] Translation: X:336.05, Y:-13.13, Z:3.50 [[ 9.99752371e-01 -1.52054610e-02 -1.62477599e-02 3.36046469e+02] [ 1.52193732e-02 9.99883910e-01 7.32939166e-04 -1.31276457e+01] [ 1.62347290e-02 -9.80038391e-04 9.99867728e-01 3.50076137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.710714057 meters Centerline goodness [0,1] 0.9761017632959157 Centerline is valid? [True, True] Translation: X:336.08, Y:-13.13, Z:3.50 [[ 9.99777805e-01 -1.41845543e-02 -1.55928981e-02 3.36075654e+02] [ 1.41972354e-02 9.99898967e-01 7.02865133e-04 -1.31287315e+01] [ 1.55813528e-02 -9.24085005e-04 9.99878176e-01 3.50194984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.740714057 meters Centerline goodness [0,1] 0.9761017632959157 Centerline is valid? [True, True] Translation: X:336.10, Y:-13.13, Z:3.50 [[ 9.99777322e-01 -1.42185448e-02 -1.55929220e-02 3.36104830e+02] [ 1.42312218e-02 9.99898484e-01 7.02333469e-04 -1.31300139e+01] [ 1.55813529e-02 -9.24083407e-04 9.99878176e-01 3.50206617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.770714057 meters Centerline goodness [0,1] 0.9757857142857143 Centerline is valid? [True, True] Translation: X:336.13, Y:-13.13, Z:3.50 [[ 9.99805752e-01 -1.34520137e-02 -1.44049089e-02 3.36134615e+02] [ 1.34627488e-02 9.99909163e-01 6.48521739e-04 -1.31310220e+01] [ 1.43948765e-02 -8.42325434e-04 9.99896034e-01 3.50273285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.800714057 meters Centerline goodness [0,1] 0.9760329990754569 Centerline is valid? [True, True] Translation: X:336.16, Y:-13.13, Z:3.50 [[ 9.99816875e-01 -1.27841501e-02 -1.42401434e-02 3.36164002e+02] [ 1.27945676e-02 9.99917941e-01 6.40695043e-04 -1.31320513e+01] [ 1.42307841e-02 -8.22774193e-04 9.99898399e-01 3.50297826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.830714057 meters Centerline goodness [0,1] 0.975446853013881 Centerline is valid? [True, True] Translation: X:336.19, Y:-13.13, Z:3.50 [[ 9.99823088e-01 -1.27315441e-02 -1.38455860e-02 3.36193218e+02] [ 1.27413809e-02 9.99918632e-01 6.22484790e-04 -1.31325759e+01] [ 1.38365343e-02 -7.98786551e-04 9.99903952e-01 3.50279089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.860714057 meters Centerline goodness [0,1] 0.9745589424128585 Centerline is valid? [True, True] Translation: X:336.22, Y:-13.13, Z:3.50 [[ 9.99834354e-01 -1.20836870e-02 -1.36106250e-02 3.36222262e+02] [ 1.20931269e-02 9.99926689e-01 6.11472486e-04 -1.31344742e+01] [ 1.36022384e-02 -7.75966214e-04 9.99907184e-01 3.50277305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.890714057 meters Centerline goodness [0,1] 0.9775291597238752 Centerline is valid? [True, True] Translation: X:336.25, Y:-13.13, Z:3.50 [[ 9.99833702e-01 -1.22760005e-02 -1.34858405e-02 3.36252664e+02] [ 1.22852792e-02 9.99924350e-01 6.05398437e-04 -1.31273017e+01] [ 1.34773884e-02 -7.70975076e-04 9.99908879e-01 3.50435365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.920714057 meters Centerline goodness [0,1] 0.9738625823483245 Centerline is valid? [True, True] Translation: X:336.28, Y:-13.14, Z:3.50 [[ 9.99833672e-01 -1.26963380e-02 -1.30932013e-02 3.36281481e+02] [ 1.27051162e-02 9.99919114e-01 5.87474732e-04 -1.31358357e+01] [ 1.30846834e-02 -7.53727661e-04 9.99914108e-01 3.50372237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.950714057 meters Centerline goodness [0,1] 0.9764669490315518 Centerline is valid? [True, True] Translation: X:336.31, Y:-13.13, Z:3.50 [[ 9.99822836e-01 -1.33782019e-02 -1.32408276e-02 3.36312484e+02] [ 1.33872378e-02 9.99910210e-01 5.94027759e-04 -1.31313766e+01] [ 1.32316917e-02 -7.71180628e-04 9.99912160e-01 3.50487903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.980714057 meters Centerline goodness [0,1] 0.976617765750368 Centerline is valid? [True, True] Translation: X:336.34, Y:-13.13, Z:3.51 [[ 9.99810145e-01 -1.40536883e-02 -1.34969458e-02 3.36343089e+02] [ 1.40631385e-02 9.99900926e-01 6.05518075e-04 -1.31316043e+01] [ 1.34870988e-02 -7.95212533e-04 9.99908729e-01 3.50504369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01071405700003 meters Centerline goodness [0,1] 0.9747753727981793 Centerline is valid? [True, True] Translation: X:336.37, Y:-13.14, Z:3.50 [[ 9.99759750e-01 -1.58592474e-02 -1.51303271e-02 3.36372292e+02] [ 1.58713266e-02 9.99873812e-01 6.78600415e-04 -1.31385260e+01] [ 1.51176557e-02 -9.18575744e-04 9.99885300e-01 3.50375463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.040714057 meters Centerline goodness [0,1] 0.977469010968095 Centerline is valid? [True, True] Translation: X:336.40, Y:-13.13, Z:3.50 [[ 9.99726489e-01 -1.73159093e-02 -1.57195977e-02 3.36402999e+02] [ 1.73291262e-02 9.99849591e-01 7.04956561e-04 -1.31345079e+01] [ 1.57050263e-02 -9.77170640e-04 9.99876191e-01 3.50420002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07071405700003 meters Centerline goodness [0,1] 0.973006979725559 Centerline is valid? [True, True] Translation: X:336.43, Y:-13.15, Z:3.50 [[ 9.99673229e-01 -2.02305612e-02 -1.56256180e-02 3.36432335e+02] [ 2.02439750e-02 9.99794824e-01 7.00741976e-04 -1.31475200e+01] [ 1.56082356e-02 -1.01683761e-03 9.99877667e-01 3.50204445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.100714057 meters Centerline goodness [0,1] 0.9760966578047854 Centerline is valid? [True, True] Translation: X:336.46, Y:-13.14, Z:3.50 [[ 9.99645930e-01 -2.15239617e-02 -1.56439772e-02 3.36463386e+02] [ 2.15375680e-02 9.99767793e-01 7.01771014e-04 -1.31432712e+01] [ 1.56252397e-02 -1.03845576e-03 9.99877379e-01 3.50333271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13071405700003 meters Centerline goodness [0,1] 0.9761707369069332 Centerline is valid? [True, True] Translation: X:336.49, Y:-13.15, Z:3.50 [[ 9.99623719e-01 -2.29088816e-02 -1.50865182e-02 3.36494664e+02] [ 2.29216993e-02 9.99737034e-01 6.77223480e-04 -1.31456408e+01] [ 1.50670365e-02 -1.02277729e-03 9.99885963e-01 3.50365062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.160714057 meters Centerline goodness [0,1] 0.9720526290879833 Centerline is valid? [True, True] Translation: X:336.53, Y:-13.16, Z:3.50 [[ 9.99618691e-01 -2.34607283e-02 -1.45625038e-02 3.36525321e+02] [ 2.34727393e-02 9.99724263e-01 6.54394367e-04 -1.31560323e+01] [ 1.45431358e-02 -9.95966695e-04 9.99893747e-01 3.50277235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.190714057 meters Centerline goodness [0,1] 0.9743389622061397 Centerline is valid? [True, True] Translation: X:336.56, Y:-13.15, Z:3.50 [[ 9.99620735e-01 -2.35006456e-02 -1.43563752e-02 3.36558106e+02] [ 2.35123363e-02 9.99723338e-01 6.46055835e-04 -1.31516838e+01] [ 1.43372206e-02 -9.83362730e-04 9.99896733e-01 3.50466735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.220714057 meters Centerline goodness [0,1] 0.9736692824052189 Centerline is valid? [True, True] Translation: X:336.59, Y:-13.16, Z:3.50 [[ 9.99620295e-01 -2.36294795e-02 -1.41744062e-02 3.36588811e+02] [ 2.36408999e-02 9.99720311e-01 6.38663684e-04 -1.31551086e+01] [ 1.41553505e-02 -9.73516897e-04 9.99899334e-01 3.50461748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.250714057 meters Centerline goodness [0,1] 0.9753797303381436 Centerline is valid? [True, True] Translation: X:336.62, Y:-13.16, Z:3.50 [[ 9.99622174e-01 -2.32579153e-02 -1.46484840e-02 3.36621347e+02] [ 2.32700864e-02 9.99728996e-01 6.60962038e-04 -1.31572849e+01] [ 1.46291416e-02 -1.00158380e-03 9.99892487e-01 3.50432728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.280714057 meters Centerline goodness [0,1] 0.974715460565073 Centerline is valid? [True, True] Translation: X:336.65, Y:-13.16, Z:3.50 [[ 9.99635981e-01 -2.25404457e-02 -1.48268083e-02 3.36652085e+02] [ 2.25528487e-02 9.99745428e-01 6.69831681e-04 -1.31613833e+01] [ 1.48079355e-02 -1.00397461e-03 9.99889852e-01 3.50278993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.310714057 meters Centerline goodness [0,1] 0.9762955967418251 Centerline is valid? [True, True] Translation: X:336.68, Y:-13.16, Z:3.50 [[ 9.99641941e-01 -2.20163561e-02 -1.52075777e-02 3.36684373e+02] [ 2.20293592e-02 9.99757087e-01 6.88037409e-04 -1.31562130e+01] [ 1.51887355e-02 -1.02280424e-03 9.99884121e-01 3.50385114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.340714057 meters Centerline goodness [0,1] 0.9756074456495998 Centerline is valid? [True, True] Translation: X:336.71, Y:-13.16, Z:3.50 [[ 9.99674393e-01 -2.06574637e-02 -1.49792463e-02 3.36714310e+02] [ 2.06699345e-02 9.99786124e-01 6.78179303e-04 -1.31628354e+01] [ 1.49620332e-02 -9.87578524e-04 9.99887575e-01 3.50347444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.370714057 meters Centerline goodness [0,1] 0.9774981110691349 Centerline is valid? [True, True] Translation: X:336.75, Y:-13.16, Z:3.50 [[ 9.99697456e-01 -1.96447719e-02 -1.48013065e-02 3.36745633e+02] [ 1.96568442e-02 9.99806561e-01 6.70567446e-04 -1.31590375e+01] [ 1.47852702e-02 -9.61311545e-04 9.99890230e-01 3.50470528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.400714057 meters Centerline goodness [0,1] 0.9770918451692133 Centerline is valid? [True, True] Translation: X:336.78, Y:-13.16, Z:3.51 [[ 9.99755322e-01 -1.71826930e-02 -1.39302112e-02 3.36776318e+02] [ 1.71931521e-02 9.99851987e-01 6.31402640e-04 -1.31603410e+01] [ 1.39173001e-02 -8.70752390e-04 9.99902771e-01 3.50508603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.430714057 meters Centerline goodness [0,1] 0.9766109559206477 Centerline is valid? [True, True] Translation: X:336.81, Y:-13.17, Z:3.50 [[ 9.99780294e-01 -1.59369188e-02 -1.36153389e-02 3.36806626e+02] [ 1.59467984e-02 9.99872651e-01 6.17360799e-04 -1.31654885e+01] [ 1.36037662e-02 -8.34346228e-04 9.99907116e-01 3.50441097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.460714057 meters Centerline goodness [0,1] 0.9771606540358162 Centerline is valid? [True, True] Translation: X:336.84, Y:-13.16, Z:3.51 [[ 9.99804245e-01 -1.47307840e-02 -1.32089200e-02 3.36838320e+02] [ 1.47399827e-02 9.99891181e-01 5.99312429e-04 -1.31632301e+01] [ 1.31986542e-02 -7.93894362e-04 9.99912579e-01 3.50504902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.490714057 meters Centerline goodness [0,1] 0.9783214471260567 Centerline is valid? [True, True] Translation: X:336.87, Y:-13.16, Z:3.51 [[ 9.99835929e-01 -1.29497064e-02 -1.26657216e-02 3.36868752e+02] [ 1.29580232e-02 9.99915876e-01 5.74796427e-04 -1.31585575e+01] [ 1.26572127e-02 -7.38824835e-04 9.99919621e-01 3.50626315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.520714057 meters Centerline goodness [0,1] 0.978386201333365 Centerline is valid? [True, True] Translation: X:336.90, Y:-13.16, Z:3.51 [[ 9.99846081e-01 -1.25290986e-02 -1.22814931e-02 3.36899031e+02] [ 1.25368868e-02 9.99921255e-01 5.57359349e-04 -1.31593939e+01] [ 1.22735428e-02 -7.11245251e-04 9.99924424e-01 3.50720476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.550714057 meters Centerline goodness [0,1] 0.9776140616856966 Centerline is valid? [True, True] Translation: X:336.93, Y:-13.16, Z:3.51 [[ 9.99866223e-01 -1.12898867e-02 -1.18353026e-02 3.36928863e+02] [ 1.12970328e-02 9.99936042e-01 5.37110308e-04 -1.31625828e+01] [ 1.18284817e-02 -6.70742256e-04 9.99929816e-01 3.50749162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.580714057 meters Centerline goodness [0,1] 0.9774105983712971 Centerline is valid? [True, True] Translation: X:336.96, Y:-13.16, Z:3.51 [[ 9.99866656e-01 -1.07950143e-02 -1.22530673e-02 3.36959469e+02] [ 1.08026368e-02 9.99941495e-01 5.56069327e-04 -1.31641229e+01] [ 1.22463476e-02 -6.88360614e-04 9.99924774e-01 3.50640940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.610714057 meters Centerline goodness [0,1] 0.9777074609821089 Centerline is valid? [True, True] Translation: X:336.99, Y:-13.17, Z:3.50 [[ 9.99857998e-01 -9.94023807e-03 -1.36078917e-02 3.36989118e+02] [ 9.94955836e-03 9.99950311e-01 6.17388574e-04 -1.31670431e+01] [ 1.36010785e-02 -7.52693416e-04 9.99907218e-01 3.50473343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.640714057 meters Centerline goodness [0,1] 0.9777260638297872 Centerline is valid? [True, True] Translation: X:337.02, Y:-13.17, Z:3.50 [[ 9.99861083e-01 -9.59510661e-03 -1.36289962e-02 3.37017412e+02] [ 9.60441625e-03 9.99953686e-01 6.17786798e-04 -1.31699610e+01] [ 1.36224372e-02 -7.48599528e-04 9.99906930e-01 3.50398037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.670714057 meters Centerline goodness [0,1] 0.9777439604337075 Centerline is valid? [True, True] Translation: X:337.05, Y:-13.17, Z:3.50 [[ 9.99878478e-01 -8.70127104e-03 -1.29351188e-02 3.37046364e+02] [ 8.70955219e-03 9.99961901e-01 5.84011642e-04 -1.31700938e+01] [ 1.29295443e-02 -6.96599764e-04 9.99916167e-01 3.50447755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.700714057 meters Centerline goodness [0,1] 0.9769073439878234 Centerline is valid? [True, True] Translation: X:337.07, Y:-13.17, Z:3.50 [[ 9.99883693e-01 -8.55304982e-03 -1.26271969e-02 3.37074670e+02] [ 8.56089212e-03 9.99963194e-01 5.67141724e-04 -1.31711118e+01] [ 1.26218814e-02 -6.75175832e-04 9.99920113e-01 3.50475737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.730714057 meters Centerline goodness [0,1] 0.9773501321837712 Centerline is valid? [True, True] Translation: X:337.10, Y:-13.17, Z:3.50 [[ 9.99895429e-01 -7.75358407e-03 -1.22070478e-02 3.37103717e+02] [ 7.76081898e-03 9.99969736e-01 5.45423578e-04 -1.31725634e+01] [ 1.22024494e-02 -6.40103231e-04 9.99925342e-01 3.50497326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76071405700003 meters Centerline goodness [0,1] 0.9780046757956009 Centerline is valid? [True, True] Translation: X:337.13, Y:-13.17, Z:3.51 [[ 9.99925723e-01 -6.23633652e-03 -1.04716889e-02 3.37132845e+02] [ 6.24155396e-03 9.99980413e-01 4.65634941e-04 -1.31726549e+01] [ 1.04685799e-02 -5.30959966e-04 9.99945062e-01 3.50596118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.790714057 meters Centerline goodness [0,1] 0.9796366064189995 Centerline is valid? [True, True] Translation: X:337.16, Y:-13.18, Z:3.51 [[ 9.99935782e-01 -5.61668252e-03 -9.84295490e-03 3.37161240e+02] [ 5.62125112e-03 9.99984105e-01 4.36545179e-04 -1.31755059e+01] [ 9.84034651e-03 -4.91846867e-04 9.99951462e-01 3.50641304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82071405700003 meters Centerline goodness [0,1] 0.9790401988432675 Centerline is valid? [True, True] Translation: X:337.19, Y:-13.18, Z:3.51 [[ 9.99958721e-01 -4.38132423e-03 -7.95993218e-03 3.37189984e+02] [ 4.38427003e-03 9.99990327e-01 3.52667136e-04 -1.31787684e+01] [ 7.95831003e-03 -3.87551070e-04 9.99968257e-01 3.50742133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.850714057 meters Centerline goodness [0,1] 0.9790422751360813 Centerline is valid? [True, True] Translation: X:337.22, Y:-13.18, Z:3.51 [[ 9.99966601e-01 -4.27516172e-03 -6.96563621e-03 3.37219651e+02] [ 4.27741305e-03 9.99990804e-01 3.08339516e-04 -1.31803546e+01] [ 6.96425396e-03 -3.38124121e-04 9.99975692e-01 3.50788233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88071405700003 meters Centerline goodness [0,1] 0.9784098779584915 Centerline is valid? [True, True] Translation: X:337.25, Y:-13.18, Z:3.51 [[ 9.99970461e-01 -4.66878096e-03 -6.10565491e-03 3.37247867e+02] [ 4.67051665e-03 9.99989057e-01 2.70048521e-04 -1.31848186e+01] [ 6.10432730e-03 -2.98557107e-04 9.99981324e-01 3.50760224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.910714057 meters Centerline goodness [0,1] 0.9786027141523659 Centerline is valid? [True, True] Translation: X:337.28, Y:-13.19, Z:3.51 [[ 9.99970363e-01 -5.13378277e-03 -5.73737185e-03 3.37277344e+02] [ 5.13532162e-03 9.99986782e-01 2.53515227e-04 -1.31877814e+01] [ 5.73599452e-03 -2.82970964e-04 9.99983509e-01 3.50728786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.940714057 meters Centerline goodness [0,1] 0.9791537025513379 Centerline is valid? [True, True] Translation: X:337.31, Y:-13.19, Z:3.51 [[ 9.99965444e-01 -5.96421561e-03 -5.79125472e-03 3.37307848e+02] [ 5.96579663e-03 9.99982172e-01 2.55764057e-04 -1.31902819e+01] [ 5.78962604e-03 -2.90304667e-04 9.99983198e-01 3.50684332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.970714057 meters Centerline goodness [0,1] 0.9770109448931797 Centerline is valid? [True, True] Translation: X:337.34, Y:-13.20, Z:3.51 [[ 9.99948881e-01 -8.00131438e-03 -6.18181598e-03 3.37336851e+02] [ 8.00315445e-03 9.99967937e-01 2.72976868e-04 -1.31971043e+01] [ 6.17943360e-03 -3.22436942e-04 9.99980855e-01 3.50598373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.000714057 meters Centerline goodness [0,1] 0.9813974591651543 Centerline is valid? [True, True] Translation: X:337.37, Y:-13.19, Z:3.50 [[ 9.99913510e-01 -1.12406318e-02 -6.82788808e-03 3.37368470e+02] [ 1.12429521e-02 9.99936751e-01 3.01538077e-04 -1.31916928e+01] [ 6.82406674e-03 -3.78277616e-04 9.99976644e-01 3.50495657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.030714057 meters Centerline goodness [0,1] 0.9768335162475545 Centerline is valid? [True, True] Translation: X:337.40, Y:-13.21, Z:3.50 [[ 9.99886465e-01 -1.32259840e-02 -7.22010024e-03 3.37397798e+02] [ 1.32286312e-02 9.99912447e-01 3.19011901e-04 -1.32075536e+01] [ 7.21524886e-03 -4.14487726e-04 9.99973884e-01 3.50298814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.060714057 meters Centerline goodness [0,1] 0.979625315011174 Centerline is valid? [True, True] Translation: X:337.43, Y:-13.21, Z:3.50 [[ 9.99858544e-01 -1.49522858e-02 -7.70198566e-03 3.37429519e+02] [ 1.49553502e-02 9.99888105e-01 3.40430366e-04 -1.32057820e+01] [ 7.69603363e-03 -4.55568103e-04 9.99970281e-01 3.50225174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.090714057 meters Centerline goodness [0,1] 0.9785865707548294 Centerline is valid? [True, True] Translation: X:337.46, Y:-13.21, Z:3.50 [[ 9.99827768e-01 -1.68008819e-02 -7.88446269e-03 3.37459347e+02] [ 1.68041516e-02 9.99858739e-01 3.48634671e-04 -1.32113590e+01] [ 7.87749156e-03 -4.81066332e-04 9.99968856e-01 3.50188869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.120714057 meters Centerline goodness [0,1] 0.9793060895154018 Centerline is valid? [True, True] Translation: X:337.49, Y:-13.21, Z:3.50 [[ 9.99778119e-01 -1.96336679e-02 -7.63101471e-03 3.37490458e+02] [ 1.96368141e-02 9.99807122e-01 3.37576045e-04 -1.32104966e+01] [ 7.62291500e-03 -4.87349960e-04 9.99970826e-01 3.50201729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.150714057 meters Centerline goodness [0,1] 0.9797343525137424 Centerline is valid? [True, True] Translation: X:337.52, Y:-13.21, Z:3.50 [[ 9.99760970e-01 -2.09733309e-02 -6.17431068e-03 3.37522257e+02] [ 2.09754178e-02 9.99779954e-01 2.73422048e-04 -1.32140450e+01] [ 6.16721748e-03 -4.02865438e-04 9.99980901e-01 3.50268999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.180714057 meters Centerline goodness [0,1] 0.9793155677568988 Centerline is valid? [True, True] Translation: X:337.55, Y:-13.22, Z:3.50 [[ 9.99748916e-01 -2.18284550e-02 -5.06189958e-03 3.37554015e+02] [ 2.18298701e-02 9.99761675e-01 2.24469028e-04 -1.32169592e+01] [ 5.05579339e-03 -3.34913278e-04 9.99987163e-01 3.50336703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.210714057 meters Centerline goodness [0,1] 0.9787415368590502 Centerline is valid? [True, True] Translation: X:337.59, Y:-13.22, Z:3.50 [[ 9.99734820e-01 -2.26201733e-02 -4.31478748e-03 3.37585284e+02] [ 2.26212100e-02 9.99744089e-01 1.91619033e-04 -1.32215037e+01] [ 4.30934883e-03 -2.89173934e-04 9.99990673e-01 3.50384996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.240714057 meters Centerline goodness [0,1] 0.9777138410018159 Centerline is valid? [True, True] Translation: X:337.62, Y:-13.23, Z:3.50 [[ 9.99718593e-01 -2.35744845e-02 -2.64159868e-03 3.37617426e+02] [ 2.35748769e-02 9.99722067e-01 1.17505732e-04 -1.32267119e+01] [ 2.63809436e-03 -1.79748029e-04 9.99996504e-01 3.50455336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.270714057 meters Centerline goodness [0,1] 0.9781655269983495 Centerline is valid? [True, True] Translation: X:337.65, Y:-13.23, Z:3.50 [[ 9.99720954e-01 -2.34846098e-02 -2.54699444e-03 3.37650632e+02] [ 2.34849746e-02 9.99724184e-01 1.13413826e-04 -1.32278777e+01] [ 2.54362846e-03 -1.73198278e-04 9.99996750e-01 3.50484374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.300714057 meters Centerline goodness [0,1] 0.9763534975647632 Centerline is valid? [True, True] Translation: X:337.68, Y:-13.23, Z:3.50 [[ 9.99723892e-01 -2.32173554e-02 -3.61856470e-03 3.37682023e+02] [ 2.32180921e-02 9.99730411e-01 1.61709620e-04 -1.32336500e+01] [ 3.61383470e-03 -2.45681139e-04 9.99993440e-01 3.50389071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.330714057 meters Centerline goodness [0,1] 0.9754484699261343 Centerline is valid? [True, True] Translation: X:337.71, Y:-13.24, Z:3.50 [[ 9.99740166e-01 -2.23776946e-02 -4.34044416e-03 3.37713749e+02] [ 2.23787479e-02 9.99749546e-01 1.94244583e-04 -1.32359050e+01] [ 4.33501033e-03 -2.91327817e-04 9.99990561e-01 3.50294158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.360714057 meters Centerline goodness [0,1] 0.9777620896576068 Centerline is valid? [True, True] Translation: X:337.74, Y:-13.24, Z:3.50 [[ 9.99763145e-01 -2.08340628e-02 -6.29248629e-03 3.37744170e+02] [ 2.08362500e-02 9.99782862e-01 2.82232004e-04 -1.32400742e+01] [ 6.28523991e-03 -4.13276973e-04 9.99980162e-01 3.50088322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.390714057 meters Centerline goodness [0,1] 0.9772199413489736 Centerline is valid? [True, True] Translation: X:337.78, Y:-13.24, Z:3.50 [[ 9.99789310e-01 -1.95042325e-02 -6.39684025e-03 3.37775758e+02] [ 1.95064690e-02 9.99809689e-01 2.87403185e-04 -1.32422238e+01] [ 6.39001728e-03 -4.12122398e-04 9.99979499e-01 3.50047421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.420714057 meters Centerline goodness [0,1] 0.9762061506630302 Centerline is valid? [True, True] Translation: X:337.81, Y:-13.24, Z:3.50 [[ 9.99809902e-01 -1.83331960e-02 -6.63723463e-03 3.37807915e+02] [ 1.83355801e-02 9.99831845e-01 2.98522603e-04 -1.32426295e+01] [ 6.63064567e-03 -4.20163402e-04 9.99977929e-01 3.50078214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.450714057 meters Centerline goodness [0,1] 0.9773994026481033 Centerline is valid? [True, True] Translation: X:337.84, Y:-13.24, Z:3.50 [[ 9.99878046e-01 -1.45591809e-02 -5.65012924e-03 3.37837444e+02] [ 1.45608498e-02 9.99893953e-01 2.54339741e-04 -1.32427393e+01] [ 5.64582708e-03 -3.36579406e-04 9.99984006e-01 3.50236629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.480714057 meters Centerline goodness [0,1] 0.9790708587517597 Centerline is valid? [True, True] Translation: X:337.87, Y:-13.24, Z:3.50 [[ 9.99910562e-01 -1.24534875e-02 -4.87636956e-03 3.37869581e+02] [ 1.24547057e-02 9.99922413e-01 2.19525877e-04 -1.32378796e+01] [ 4.87325735e-03 -2.80239991e-04 9.99988086e-01 3.50334211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51071405700003 meters Centerline goodness [0,1] 0.9786603298590688 Centerline is valid? [True, True] Translation: X:337.90, Y:-13.24, Z:3.50 [[ 9.99933962e-01 -1.07051826e-02 -4.17979361e-03 3.37900641e+02] [ 1.07060632e-02 9.99942671e-01 1.88350340e-04 -1.32387580e+01] [ 4.17753766e-03 -2.33087036e-04 9.99991247e-01 3.50388870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.540714057 meters Centerline goodness [0,1] 0.9801463150713933 Centerline is valid? [True, True] Translation: X:337.93, Y:-13.23, Z:3.50 [[ 9.99959732e-01 -8.11159833e-03 -3.83892231e-03 3.37932412e+02] [ 8.11232252e-03 9.99967080e-01 1.73110393e-04 -1.32342417e+01] [ 3.83739173e-03 -2.04245998e-04 9.99992616e-01 3.50374458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57071405700003 meters Centerline goodness [0,1] 0.9801442770872006 Centerline is valid? [True, True] Translation: X:337.96, Y:-13.24, Z:3.50 [[ 9.99965072e-01 -7.49828073e-03 -3.69208557e-03 3.37963835e+02] [ 7.49894688e-03 9.99971869e-01 1.66615508e-04 -1.32355180e+01] [ 3.69073237e-03 -1.94296442e-04 9.99993170e-01 3.50374327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.600714057 meters Centerline goodness [0,1] 0.9801442770872006 Centerline is valid? [True, True] Translation: X:337.99, Y:-13.24, Z:3.50 [[ 9.99965336e-01 -7.46292579e-03 -3.69207967e-03 3.37994694e+02] [ 7.46359218e-03 9.99972133e-01 1.66745986e-04 -1.32369420e+01] [ 3.69073237e-03 -1.94296383e-04 9.99993170e-01 3.50386621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63071405700003 meters Centerline goodness [0,1] 0.9783057851239669 Centerline is valid? [True, True] Translation: X:338.03, Y:-13.25, Z:3.50 [[ 9.99968852e-01 -7.00559779e-03 -3.63552915e-03 3.38025124e+02] [ 7.00624126e-03 9.99975442e-01 1.64288947e-04 -1.32451974e+01] [ 3.63428893e-03 -1.89755224e-04 9.99993378e-01 3.50367897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.660714057 meters Centerline goodness [0,1] 0.9795540774743547 Centerline is valid? [True, True] Translation: X:338.06, Y:-13.24, Z:3.50 [[ 9.99966155e-01 -7.47022595e-03 -3.44733066e-03 3.38057035e+02] [ 7.47080881e-03 9.99972081e-01 1.56226976e-04 -1.32430204e+01] [ 3.44606736e-03 -1.81976037e-04 9.99994046e-01 3.50396338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.690714057 meters Centerline goodness [0,1] 0.9804008286585508 Centerline is valid? [True, True] Translation: X:338.09, Y:-13.24, Z:3.50 [[ 9.99952731e-01 -9.14786184e-03 -3.29418604e-03 3.38088696e+02] [ 9.14840344e-03 9.99958141e-01 1.49381119e-04 -1.32445075e+01] [ 3.29268163e-03 -1.79510601e-04 9.99994563e-01 3.50394500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.720714057 meters Centerline goodness [0,1] 0.980457779442052 Centerline is valid? [True, True] Translation: X:338.12, Y:-13.25, Z:3.50 [[ 9.99937699e-01 -1.06274181e-02 -3.41401724e-03 3.38120932e+02] [ 1.06280091e-02 9.99943509e-01 1.54992100e-04 -1.32461645e+01] [ 3.41217722e-03 -1.91266650e-04 9.99994160e-01 3.50406976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.750714057 meters Centerline goodness [0,1] 0.9794230993810581 Centerline is valid? [True, True] Translation: X:338.15, Y:-13.25, Z:3.50 [[ 9.99916019e-01 -1.23521412e-02 -3.92171133e-03 3.38152836e+02] [ 1.23529354e-02 9.99923684e-01 1.78360264e-04 -1.32465253e+01] [ 3.91920891e-03 -2.26789932e-04 9.99992294e-01 3.50376886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.780714057 meters Centerline goodness [0,1] 0.9805965962221806 Centerline is valid? [True, True] Translation: X:338.18, Y:-13.25, Z:3.50 [[ 9.99867663e-01 -1.58669710e-02 -3.59118748e-03 3.38183933e+02] [ 1.58676603e-02 9.99874087e-01 1.63518051e-04 -1.32496098e+01] [ 3.58814077e-03 -2.20480155e-04 9.99993538e-01 3.50363130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.810714057 meters Centerline goodness [0,1] 0.9791530640798433 Centerline is valid? [True, True] Translation: X:338.21, Y:-13.26, Z:3.50 [[ 9.99840286e-01 -1.75015666e-02 -3.61919059e-03 3.38214847e+02] [ 1.75022775e-02 9.99846810e-01 1.64846264e-04 -1.32556291e+01] [ 3.61575110e-03 -2.28164014e-04 9.99993437e-01 3.50377927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.840714057 meters Centerline goodness [0,1] 0.9758775500709483 Centerline is valid? [True, True] Translation: X:338.24, Y:-13.27, Z:3.50 [[ 9.99745790e-01 -2.22020085e-02 -3.92755518e-03 3.38243644e+02] [ 2.22028828e-02 9.99753470e-01 1.79125572e-04 -1.32651136e+01] [ 3.92260997e-03 -2.66283084e-04 9.99992271e-01 3.50278152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.870714057 meters Centerline goodness [0,1] 0.9736219376391982 Centerline is valid? [True, True] Translation: X:338.27, Y:-13.28, Z:3.50 [[ 9.99703216e-01 -2.39184758e-02 -4.62451562e-03 3.38273275e+02] [ 2.39197065e-02 9.99713861e-01 2.10985566e-04 -1.32784500e+01] [ 4.61814591e-03 -3.21540005e-04 9.99989285e-01 3.50273727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.900714057 meters Centerline goodness [0,1] 0.9768653605669029 Centerline is valid? [True, True] Translation: X:338.30, Y:-13.28, Z:3.50 [[ 9.99594991e-01 -2.77516700e-02 -6.30071279e-03 3.38303854e+02] [ 2.77540320e-02 9.99614741e-01 2.87726218e-04 -1.32759084e+01] [ 6.29030050e-03 -4.62479871e-04 9.99980109e-01 3.50226493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.930714057 meters Centerline goodness [0,1] 0.9782018876237738 Centerline is valid? [True, True] Translation: X:338.34, Y:-13.27, Z:3.50 [[ 9.99533343e-01 -2.95023240e-02 -7.91893445e-03 3.38335308e+02] [ 2.95061110e-02 9.99564534e-01 3.61781721e-04 -1.32708761e+01] [ 7.90481263e-03 -5.95269852e-04 9.99968579e-01 3.50183469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.960714057 meters Centerline goodness [0,1] 0.9757001552039658 Centerline is valid? [True, True] Translation: X:338.37, Y:-13.28, Z:3.50 [[ 9.99531145e-01 -2.94240593e-02 -8.46851837e-03 3.38366657e+02] [ 2.94283920e-02 9.99566816e-01 3.87445209e-04 -1.32782139e+01] [ 8.45344973e-03 -6.36478431e-04 9.99964066e-01 3.50097442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.990714057 meters Centerline goodness [0,1] 0.9783813875808959 Centerline is valid? [True, True] Translation: X:338.40, Y:-13.27, Z:3.50 [[ 9.99556802e-01 -2.84631687e-02 -8.72049014e-03 3.38399349e+02] [ 2.84677328e-02 9.99594632e-01 3.99679019e-04 -1.32741375e+01] [ 8.70557900e-03 -6.47754466e-04 9.99961896e-01 3.50142874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.020714057 meters Centerline goodness [0,1] 0.9786331718847767 Centerline is valid? [True, True] Translation: X:338.43, Y:-13.27, Z:3.50 [[ 9.99596687e-01 -2.69986170e-02 -8.80560839e-03 3.38430914e+02] [ 2.70032182e-02 9.99635265e-01 4.04037934e-04 -1.32743792e+01] [ 8.79148821e-03 -6.41654745e-04 9.99961148e-01 3.50126591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.050714057 meters Centerline goodness [0,1] 0.9787293395634284 Centerline is valid? [True, True] Translation: X:338.46, Y:-13.27, Z:3.50 [[ 9.99725441e-01 -2.17948991e-02 -8.60380567e-03 3.38462198e+02] [ 2.17991019e-02 9.99762293e-01 3.94992025e-04 -1.32707925e+01] [ 8.59315168e-03 -5.82438813e-04 9.99962909e-01 3.50250543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.080714057 meters Centerline goodness [0,1] 0.9801773846189473 Centerline is valid? [True, True] Translation: X:338.49, Y:-13.27, Z:3.50 [[ 9.99795188e-01 -1.85633732e-02 -8.06125242e-03 3.38493305e+02] [ 1.85669591e-02 9.99827551e-01 3.70217813e-04 -1.32658295e+01] [ 8.05298977e-03 -5.19814931e-04 9.99967439e-01 3.50354869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.110714057 meters Centerline goodness [0,1] 0.977485141591889 Centerline is valid? [True, True] Translation: X:338.52, Y:-13.27, Z:3.50 [[ 9.99878268e-01 -1.33740874e-02 -8.03640846e-03 3.38522985e+02] [ 1.33774843e-02 9.99910449e-01 3.69074974e-04 -1.32683443e+01] [ 8.03075275e-03 -4.76536974e-04 9.99967639e-01 3.50370878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.140714057 meters Centerline goodness [0,1] 0.9797413994305186 Centerline is valid? [True, True] Translation: X:338.55, Y:-13.26, Z:3.50 [[ 9.99911231e-01 -1.08389550e-02 -7.74898877e-03 3.38554459e+02] [ 1.08420379e-02 9.99941160e-01 3.55941383e-04 -1.32607110e+01] [ 7.74467479e-03 -4.39924616e-04 9.99969913e-01 3.50463396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.170714057 meters Centerline goodness [0,1] 0.9762333621839108 Centerline is valid? [True, True] Translation: X:338.58, Y:-13.27, Z:3.50 [[ 9.99949593e-01 -6.68219551e-03 -7.49393068e-03 3.38583917e+02] [ 6.68496340e-03 9.99977596e-01 3.44363253e-04 -1.32659319e+01] [ 7.49146168e-03 -3.94442548e-04 9.99971861e-01 3.50434658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.200714057 meters Centerline goodness [0,1] 0.9774580111658764 Centerline is valid? [True, True] Translation: X:338.61, Y:-13.27, Z:3.50 [[ 9.99960900e-01 -5.10601549e-03 -7.21997015e-03 3.38613836e+02] [ 5.10854296e-03 9.99986896e-01 3.31667865e-04 -1.32659390e+01] [ 7.21818204e-03 -3.68538424e-04 9.99973881e-01 3.50475234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.230714057 meters Centerline goodness [0,1] 0.9790342627987149 Centerline is valid? [True, True] Translation: X:338.64, Y:-13.26, Z:3.50 [[ 9.99965747e-01 -2.83012704e-03 -7.77788604e-03 3.38644295e+02] [ 2.83298995e-03 9.99995923e-01 3.57089423e-04 -1.32567735e+01] [ 7.77684373e-03 -3.79111864e-04 9.99969688e-01 3.50490800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26071405700003 meters Centerline goodness [0,1] 0.9793319757507666 Centerline is valid? [True, True] Translation: X:338.67, Y:-13.26, Z:3.50 [[ 9.99969613e-01 -1.80578012e-03 -7.58364495e-03 3.38671624e+02] [ 1.80846950e-03 9.99998304e-01 3.47786392e-04 -1.32591230e+01] [ 7.58300407e-03 -3.61490614e-04 9.99971183e-01 3.50474988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.290714057 meters Centerline goodness [0,1] 0.9794406934093405 Centerline is valid? [True, True] Translation: X:338.70, Y:-13.26, Z:3.50 [[ 9.99967373e-01 -4.87875480e-04 -8.06315030e-03 3.38700970e+02] [ 4.90862268e-04 9.99999812e-01 3.68449575e-04 -1.32560286e+01] [ 8.06296903e-03 -3.72395450e-04 9.99967424e-01 3.50460781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32071405700003 meters Centerline goodness [0,1] 0.9793891699456624 Centerline is valid? [True, True] Translation: X:338.73, Y:-13.26, Z:3.50 [[ 9.99961512e-01 -3.97101182e-04 -8.76449910e-03 3.38729106e+02] [ 4.00607338e-04 9.99999840e-01 3.98288663e-04 -1.32588830e+01] [ 8.76433954e-03 -4.01784457e-04 9.99961512e-01 3.50414422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.350714057 meters Centerline goodness [0,1] 0.9786626068626303 Centerline is valid? [True, True] Translation: X:338.76, Y:-13.26, Z:3.50 [[ 9.99955611e-01 -4.63911383e-04 -9.41064936e-03 3.38757217e+02] [ 4.67940982e-04 9.99999800e-01 4.25998255e-04 -1.32582568e+01] [ 9.41044985e-03 -4.30382974e-04 9.99955628e-01 3.50374417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38071405700003 meters Centerline goodness [0,1] 0.9777725783809078 Centerline is valid? [True, True] Translation: X:338.78, Y:-13.26, Z:3.50 [[ 9.99940699e-01 -8.30653510e-04 -1.08585365e-02 3.38784714e+02] [ 8.36028070e-04 9.99999530e-01 4.90431939e-04 -1.32632118e+01] [ 1.08581240e-02 -4.99480898e-04 9.99940924e-01 3.50243051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.410714057 meters Centerline goodness [0,1] 0.979335088414137 Centerline is valid? [True, True] Translation: X:338.81, Y:-13.26, Z:3.50 [[ 9.99936184e-01 -1.23834092e-03 -1.12291799e-02 3.38813181e+02] [ 1.24410456e-03 9.99999098e-01 5.06302935e-04 -1.32637417e+01] [ 1.12285427e-02 -5.20240899e-04 9.99936823e-01 3.50176437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.440714057 meters Centerline goodness [0,1] 0.978991006183249 Centerline is valid? [True, True] Translation: X:338.84, Y:-13.26, Z:3.50 [[ 9.99913278e-01 -2.22758735e-03 -1.29797967e-02 3.38842176e+02] [ 2.23535912e-03 9.99997331e-01 5.84282369e-04 -1.32639233e+01] [ 1.29784605e-02 -6.13246205e-04 9.99915588e-01 3.50088513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.470714057 meters Centerline goodness [0,1] 0.9799071555847323 Centerline is valid? [True, True] Translation: X:338.87, Y:-13.27, Z:3.50 [[ 9.99882177e-01 -3.71821877e-03 -1.48931923e-02 3.38872030e+02] [ 3.72860540e-03 9.99992824e-01 6.69701726e-04 -1.32656137e+01] [ 1.48905953e-02 -7.25153657e-04 9.99888866e-01 3.50050754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.500714057 meters Centerline goodness [0,1] 0.979622942362707 Centerline is valid? [True, True] Translation: X:338.90, Y:-13.27, Z:3.50 [[ 9.99875894e-01 -4.19946163e-03 -1.51842475e-02 3.38900112e+02] [ 4.21029637e-03 9.99990904e-01 6.81654252e-04 -1.32690129e+01] [ 1.51812469e-02 -7.45499837e-04 9.99884480e-01 3.50041987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.530714057 meters Centerline goodness [0,1] 0.9806614941046857 Centerline is valid? [True, True] Translation: X:338.93, Y:-13.27, Z:3.50 [[ 9.99867627e-01 -5.14804048e-03 -1.54345663e-02 3.38928801e+02] [ 5.15929880e-03 9.99986453e-01 6.89692882e-04 -1.32704630e+01] [ 1.54308066e-02 -7.69233124e-04 9.99880642e-01 3.50075175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.560714057 meters Centerline goodness [0,1] 0.9808509140403163 Centerline is valid? [True, True] Translation: X:338.96, Y:-13.27, Z:3.50 [[ 9.99869978e-01 -5.40932162e-03 -1.51909912e-02 3.38956595e+02] [ 5.42019447e-03 9.99985083e-01 6.74662913e-04 -1.32721451e+01] [ 1.51871151e-02 -7.56913318e-04 9.99884383e-01 3.50129243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.590714057 meters Centerline goodness [0,1] 0.9792257731717039 Centerline is valid? [True, True] Translation: X:338.98, Y:-13.27, Z:3.50 [[ 9.99889212e-01 -4.75339849e-03 -1.41055997e-02 3.38984687e+02] [ 4.76268054e-03 9.99988463e-01 6.24521292e-04 -1.32744442e+01] [ 1.41024684e-02 -6.91632568e-04 9.99900316e-01 3.50313394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.620714057 meters Centerline goodness [0,1] 0.9802462201001731 Centerline is valid? [True, True] Translation: X:339.01, Y:-13.27, Z:3.50 [[ 9.99898769e-01 -4.79843077e-03 -1.33950209e-02 3.39012979e+02] [ 4.80677018e-03 9.99988273e-01 5.90449661e-04 -1.32744639e+01] [ 1.33920306e-02 -6.54776677e-04 9.99910108e-01 3.50445470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.650714057 meters Centerline goodness [0,1] 0.9812860560011256 Centerline is valid? [True, True] Translation: X:339.04, Y:-13.27, Z:3.51 [[ 9.99908042e-01 -4.96434074e-03 -1.26199665e-02 3.39041704e+02] [ 4.97171764e-03 9.99987488e-01 5.53236078e-04 -1.32740496e+01] [ 1.26170622e-02 -6.15928113e-04 9.99920212e-01 3.50559088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.680714057 meters Centerline goodness [0,1] 0.9773685690188361 Centerline is valid? [True, True] Translation: X:339.07, Y:-13.28, Z:3.50 [[ 9.99915470e-01 -5.55292633e-03 -1.17565872e-02 3.39069584e+02] [ 5.55935009e-03 9.99984415e-01 5.13786219e-04 -1.32827533e+01] [ 1.17535509e-02 -5.79101773e-04 9.99930757e-01 3.50489586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.710714057 meters Centerline goodness [0,1] 0.9788528118274539 Centerline is valid? [True, True] Translation: X:339.10, Y:-13.28, Z:3.51 [[ 9.99902618e-01 -6.95069730e-03 -1.21013342e-02 3.39097939e+02] [ 6.95759253e-03 9.99975656e-01 5.27784003e-04 -1.32810474e+01] [ 1.20973711e-02 -6.11928758e-04 9.99926637e-01 3.50565875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.740714057 meters Centerline goodness [0,1] 0.9783153408425638 Centerline is valid? [True, True] Translation: X:339.13, Y:-13.28, Z:3.51 [[ 9.99892823e-01 -7.77068007e-03 -1.24080576e-02 3.39126041e+02] [ 7.77798060e-03 9.99969605e-01 5.40221360e-04 -1.32841926e+01] [ 1.24034826e-02 -6.36673092e-04 9.99922871e-01 3.50567012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.770714057 meters Centerline goodness [0,1] 0.9773623655161148 Centerline is valid? [True, True] Translation: X:339.15, Y:-13.29, Z:3.51 [[ 9.99878560e-01 -8.92401328e-03 -1.27760038e-02 3.39154887e+02] [ 8.93181634e-03 9.99959957e-01 5.53828756e-04 -1.32865456e+01] [ 1.27705498e-02 -6.67874419e-04 9.99918230e-01 3.50532748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.800714057 meters Centerline goodness [0,1] 0.9777274002056652 Centerline is valid? [True, True] Translation: X:339.18, Y:-13.29, Z:3.50 [[ 9.99857572e-01 -1.03317726e-02 -1.33450356e-02 3.39183461e+02] [ 1.03403915e-02 9.99946370e-01 5.77009957e-04 -1.32902226e+01] [ 1.33383584e-02 -7.14920667e-04 9.99910785e-01 3.50459044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.830714057 meters Centerline goodness [0,1] 0.9755558142241881 Centerline is valid? [True, True] Translation: X:339.21, Y:-13.30, Z:3.50 [[ 9.99812725e-01 -1.29600683e-02 -1.43719059e-02 3.39212074e+02] [ 1.29703248e-02 9.99915689e-01 6.20664339e-04 -1.32978053e+01] [ 1.43626503e-02 -8.06956391e-04 9.99896526e-01 3.50239331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.860714057 meters Centerline goodness [0,1] 0.9755772646536413 Centerline is valid? [True, True] Translation: X:339.24, Y:-13.30, Z:3.50 [[ 9.99760958e-01 -1.51692163e-02 -1.57455081e-02 3.39241035e+02] [ 1.51817876e-02 9.99884519e-01 6.79174684e-04 -1.33009154e+01] [ 1.57333873e-02 -9.18057293e-04 9.99875801e-01 3.50133050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.890714057 meters Centerline goodness [0,1] 0.9753238598041724 Centerline is valid? [True, True] Translation: X:339.27, Y:-13.30, Z:3.50 [[ 9.99745252e-01 -1.59200349e-02 -1.59994974e-02 3.39270677e+02] [ 1.59331013e-02 9.99872822e-01 6.89528281e-04 -1.33028897e+01] [ 1.59864853e-02 -9.44274237e-04 9.99871762e-01 3.50126720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.920714057 meters Centerline goodness [0,1] 0.9755836417382399 Centerline is valid? [True, True] Translation: X:339.30, Y:-13.30, Z:3.50 [[ 9.99744194e-01 -1.60892122e-02 -1.58960598e-02 3.39300668e+02] [ 1.61021229e-02 9.99870118e-01 6.84534925e-04 -1.33015303e+01] [ 1.58829815e-02 -9.40320125e-04 9.99873415e-01 3.50263489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.950714057 meters Centerline goodness [0,1] 0.9780888618381011 Centerline is valid? [True, True] Translation: X:339.33, Y:-13.30, Z:3.50 [[ 9.99749590e-01 -1.58952821e-02 -1.57511308e-02 3.39330880e+02] [ 1.59079258e-02 9.99873231e-01 6.77742985e-04 -1.32959799e+01] [ 1.57383612e-02 -9.28141092e-04 9.99875714e-01 3.50473761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.980714057 meters Centerline goodness [0,1] 0.9772854347218339 Centerline is valid? [True, True] Translation: X:339.36, Y:-13.30, Z:3.51 [[ 9.99757228e-01 -1.54896010e-02 -1.56702523e-02 3.39360379e+02] [ 1.55020569e-02 9.99879609e-01 6.73710409e-04 -1.32965186e+01] [ 1.56579302e-02 -9.16467994e-04 9.99876987e-01 3.50522970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01071405700003 meters Centerline goodness [0,1] 0.9774868497954413 Centerline is valid? [True, True] Translation: X:339.39, Y:-13.30, Z:3.51 [[ 9.99796021e-01 -1.37664963e-02 -1.47783863e-02 3.39390516e+02] [ 1.37773822e-02 9.99904886e-01 6.35044143e-04 -1.32962124e+01] [ 1.47682384e-02 -8.38522083e-04 9.99890592e-01 3.50559462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.040714057 meters Centerline goodness [0,1] 0.977493390730646 Centerline is valid? [True, True] Translation: X:339.42, Y:-13.30, Z:3.51 [[ 9.99802278e-01 -1.27371461e-02 -1.52699036e-02 3.39420319e+02] [ 1.27486413e-02 9.99918518e-01 6.55692719e-04 -1.32955060e+01] [ 1.52603077e-02 -8.50233598e-04 9.99883193e-01 3.50656537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07071405700003 meters Centerline goodness [0,1] 0.9787596971679596 Centerline is valid? [True, True] Translation: X:339.45, Y:-13.29, Z:3.51 [[ 9.99839894e-01 -9.23484115e-03 -1.53265879e-02 3.39449474e+02] [ 9.24600331e-03 9.99957039e-01 6.57586708e-04 -1.32940258e+01] [ 1.53198568e-02 -7.99191107e-04 9.99882325e-01 3.50657810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.100714057 meters Centerline goodness [0,1] 0.9786955403288042 Centerline is valid? [True, True] Translation: X:339.48, Y:-13.29, Z:3.51 [[ 9.99849165e-01 -7.71930266e-03 -1.55582496e-02 3.39478137e+02] [ 7.73060696e-03 9.99969896e-01 6.66568041e-04 -1.32927067e+01] [ 1.55526358e-02 -7.86742213e-04 9.99878741e-01 3.50666340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13071405700003 meters Centerline goodness [0,1] 0.9807944231309067 Centerline is valid? [True, True] Translation: X:339.51, Y:-13.29, Z:3.51 [[ 9.99870183e-01 -3.78441333e-03 -1.56619323e-02 3.39508152e+02] [ 3.79537961e-03 9.99992573e-01 6.70522699e-04 -1.32904764e+01] [ 1.56592784e-02 -7.29878632e-04 9.99877120e-01 3.50679928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.160714057 meters Centerline goodness [0,1] 0.98024511986502 Centerline is valid? [True, True] Translation: X:339.54, Y:-13.29, Z:3.51 [[ 9.99864474e-01 -1.80580077e-03 -1.63637649e-02 3.39536205e+02] [ 1.81749231e-03 9.99998104e-01 6.99633674e-04 -1.32948106e+01] [ 1.63624704e-02 -7.29279872e-04 9.99865860e-01 3.50520186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.190714057 meters Centerline goodness [0,1] 0.9822284578510464 Centerline is valid? [True, True] Translation: X:339.57, Y:-13.29, Z:3.51 [[ 9.99861057e-01 1.42383530e-04 -1.66687037e-02 3.39565644e+02] [-1.30575769e-04 9.99999740e-01 7.09465295e-04 -1.32891642e+01] [ 1.66688004e-02 -7.07190191e-04 9.99860816e-01 3.50630270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.220714057 meters Centerline goodness [0,1] 0.9818804863164813 Centerline is valid? [True, True] Translation: X:339.60, Y:-13.29, Z:3.51 [[ 9.99831351e-01 4.59205855e-03 -1.77815168e-02 3.39595570e+02] [-4.57934551e-03 9.99989229e-01 7.55609115e-04 -1.32879644e+01] [ 1.77847951e-02 -6.74053973e-04 9.99841611e-01 3.50509705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.250714057 meters Centerline goodness [0,1] 0.982659366996405 Centerline is valid? [True, True] Translation: X:339.62, Y:-13.29, Z:3.50 [[ 9.99819709e-01 6.47186473e-03 -1.78511620e-02 3.39623241e+02] [-6.45937396e-03 9.99978851e-01 7.57287769e-04 -1.32893937e+01] [ 1.78556855e-02 -6.41843906e-04 9.99840369e-01 3.50435164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.280714057 meters Centerline goodness [0,1] 0.9842278719397364 Centerline is valid? [True, True] Translation: X:339.65, Y:-13.29, Z:3.51 [[ 9.99776308e-01 1.08982329e-02 -1.81262753e-02 3.39653188e+02] [-1.08860960e-02 9.99940450e-01 7.68111652e-04 -1.32855334e+01] [ 1.81335669e-02 -5.70615458e-04 9.99835411e-01 3.50511567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.310714057 meters Centerline goodness [0,1] 0.9846161095012604 Centerline is valid? [True, True] Translation: X:339.68, Y:-13.29, Z:3.51 [[ 9.99758042e-01 1.32800235e-02 -1.75356202e-02 3.39682124e+02] [-1.32690497e-02 9.99911687e-01 7.42003935e-04 -1.32853878e+01] [ 1.75439254e-02 -5.09143385e-04 9.99845964e-01 3.50527585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.340714057 meters Centerline goodness [0,1] 0.985627105864612 Centerline is valid? [True, True] Translation: X:339.71, Y:-13.28, Z:3.51 [[ 9.99713701e-01 1.68112006e-02 -1.70264655e-02 3.39710979e+02] [-1.68013867e-02 9.99858588e-01 7.19282180e-04 -1.32839643e+01] [ 1.70361498e-02 -4.33008019e-04 9.99854781e-01 3.50568732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.370714057 meters Centerline goodness [0,1] 0.9864746842912782 Centerline is valid? [True, True] Translation: X:339.74, Y:-13.28, Z:3.51 [[ 9.99714233e-01 1.75087342e-02 -1.62756619e-02 3.39740090e+02] [-1.74999125e-02 9.99846631e-01 6.84292553e-04 -1.32839384e+01] [ 1.62851468e-02 -3.99274346e-04 9.99867308e-01 3.50636354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.400714057 meters Centerline goodness [0,1] 0.9861856349430481 Centerline is valid? [True, True] Translation: X:339.77, Y:-13.28, Z:3.51 [[ 9.99709677e-01 1.81282278e-02 -1.58722652e-02 3.39768171e+02] [-1.81199475e-02 9.99835599e-01 6.65353543e-04 -1.32847200e+01] [ 1.58817175e-02 -3.77555764e-04 9.99873806e-01 3.50685191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.430714057 meters Centerline goodness [0,1] 0.9845398369399215 Centerline is valid? [True, True] Translation: X:339.80, Y:-13.29, Z:3.51 [[ 9.99754847e-01 1.67289398e-02 -1.45048034e-02 3.39796715e+02] [-1.67218930e-02 9.99859995e-01 6.06980041e-04 -1.32851032e+01] [ 1.45129268e-02 -3.64283467e-04 9.99894616e-01 3.50763366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.460714057 meters Centerline goodness [0,1] 0.9839834668044433 Centerline is valid? [True, True] Translation: X:339.82, Y:-13.29, Z:3.51 [[ 9.99814144e-01 1.37651614e-02 -1.34980796e-02 3.39824107e+02] [-1.37588036e-02 9.99905184e-01 5.63767618e-04 -1.32886370e+01] [ 1.35045601e-02 -3.77945412e-04 9.99908738e-01 3.50853115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.490714057 meters Centerline goodness [0,1] 0.9837923154844637 Centerline is valid? [True, True] Translation: X:339.85, Y:-13.29, Z:3.51 [[ 9.99846389e-01 1.12618943e-02 -1.34301413e-02 3.39852805e+02] [-1.12553883e-02 9.99936499e-01 5.59924232e-04 -1.32911282e+01] [ 1.34355943e-02 -4.08676765e-04 9.99909655e-01 3.50884826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.520714057 meters Centerline goodness [0,1] 0.9826914958487734 Centerline is valid? [True, True] Translation: X:339.88, Y:-13.30, Z:3.51 [[ 9.99877710e-01 8.11112878e-03 -1.33706773e-02 3.39880937e+02] [-8.10441129e-03 9.99967004e-01 5.56512080e-04 -1.32955316e+01] [ 1.33747500e-02 -4.48082557e-04 9.99910454e-01 3.50788295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.550714057 meters Centerline goodness [0,1] 0.9826914958487734 Centerline is valid? [True, True] Translation: X:339.91, Y:-13.30, Z:3.51 [[ 9.99878537e-01 8.00848578e-03 -1.33707289e-02 3.39908387e+02] [-8.00177570e-03 9.99967831e-01 5.55270873e-04 -1.32965800e+01] [ 1.33747456e-02 -4.48213855e-04 9.99910454e-01 3.50799244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.580714057 meters Centerline goodness [0,1] 0.9827392383718206 Centerline is valid? [True, True] Translation: X:339.94, Y:-13.30, Z:3.51 [[ 9.99900515e-01 6.71468028e-04 -1.40893372e-02 3.39937880e+02] [-6.63295738e-04 9.99999609e-01 5.84698616e-04 -1.33047977e+01] [ 1.40897243e-02 -5.75295050e-04 9.99900569e-01 3.50653779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.610714057 meters Centerline goodness [0,1] 0.9809577280276979 Centerline is valid? [True, True] Translation: X:339.97, Y:-13.31, Z:3.51 [[ 9.99895967e-01 -3.47672931e-03 -1.39988328e-02 3.39967822e+02] [ 3.48520041e-03 9.99993758e-01 5.80778947e-04 -1.33098002e+01] [ 1.39967262e-02 -6.29507264e-04 9.99901843e-01 3.50577582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.640714057 meters Centerline goodness [0,1] 0.9785766073391492 Centerline is valid? [True, True] Translation: X:340.00, Y:-13.32, Z:3.50 [[ 9.99825784e-01 -1.15090590e-02 -1.46950048e-02 3.39996769e+02] [ 1.15192529e-02 9.99933466e-01 6.09243381e-04 -1.33190571e+01] [ 1.46870153e-02 -7.78412718e-04 9.99891837e-01 3.50459674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.670714057 meters Centerline goodness [0,1] 0.9783146015016555 Centerline is valid? [True, True] Translation: X:340.03, Y:-13.32, Z:3.50 [[ 9.99776520e-01 -1.52457780e-02 -1.46450351e-02 3.40025355e+02] [ 1.52562953e-02 9.99883432e-01 6.06688717e-04 -1.33248278e+01] [ 1.46340785e-02 -8.29982113e-04 9.99892572e-01 3.50411749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.700714057 meters Centerline goodness [0,1] 0.9769997206443803 Centerline is valid? [True, True] Translation: X:340.05, Y:-13.33, Z:3.50 [[ 9.99682062e-01 -2.09550242e-02 -1.40236241e-02 3.40054170e+02] [ 2.09652315e-02 9.99780036e-01 5.81231362e-04 -1.33325977e+01] [ 1.40083597e-02 -8.75055091e-04 9.99901495e-01 3.50441945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.730714057 meters Centerline goodness [0,1] 0.9761268276807922 Centerline is valid? [True, True] Translation: X:340.09, Y:-13.33, Z:3.51 [[ 9.99642090e-01 -2.31740179e-02 -1.33662922e-02 3.40085503e+02] [ 2.31834944e-02 9.99731073e-01 5.54455369e-04 -1.33339973e+01] [ 1.33498487e-02 -8.64134285e-04 9.99910513e-01 3.50528261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76071405700003 meters Centerline goodness [0,1] 0.9761360988114659 Centerline is valid? [True, True] Translation: X:340.12, Y:-13.34, Z:3.51 [[ 9.99604444e-01 -2.49127396e-02 -1.30503065e-02 3.40116462e+02] [ 2.49219245e-02 9.99689254e-01 5.41627543e-04 -1.33376927e+01] [ 1.30327577e-02 -8.66652052e-04 9.99914694e-01 3.50575281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.790714057 meters Centerline goodness [0,1] 0.9740047603490922 Centerline is valid? [True, True] Translation: X:340.15, Y:-13.34, Z:3.51 [[ 9.99554520e-01 -2.74726720e-02 -1.16625217e-02 3.40146444e+02] [ 2.74801812e-02 9.99622231e-01 4.84089180e-04 -1.33425487e+01] [ 1.16448167e-02 -8.04361738e-04 9.99931873e-01 3.50681844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82071405700003 meters Centerline goodness [0,1] 0.9740223398549541 Centerline is valid? [True, True] Translation: X:340.18, Y:-13.35, Z:3.51 [[ 9.99517955e-01 -2.87852382e-02 -1.16304579e-02 3.40178095e+02] [ 2.87927990e-02 9.99585285e-01 4.83137121e-04 -1.33452693e+01] [ 1.16117273e-02 -8.17777664e-04 9.99932247e-01 3.50687131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.850714057 meters Centerline goodness [0,1] 0.9756904019000605 Centerline is valid? [True, True] Translation: X:340.21, Y:-13.34, Z:3.51 [[ 9.99447479e-01 -3.07928587e-02 -1.25114690e-02 3.40209643e+02] [ 3.08017714e-02 9.99525377e-01 5.20243705e-04 -1.33402039e+01] [ 1.24895109e-02 -9.05331666e-04 9.99921593e-01 3.50728810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88071405700003 meters Centerline goodness [0,1] 0.9708490874293983 Centerline is valid? [True, True] Translation: X:340.24, Y:-13.35, Z:3.50 [[ 9.99405796e-01 -3.19726668e-02 -1.28764948e-02 3.40240084e+02] [ 3.19822124e-02 9.99488294e-01 5.36028134e-04 -1.33537191e+01] [ 1.28527676e-02 -9.47528415e-04 9.99916951e-01 3.50488007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.910714057 meters Centerline goodness [0,1] 0.9747133951294683 Centerline is valid? [True, True] Translation: X:340.27, Y:-13.35, Z:3.51 [[ 9.99358059e-01 -3.30043033e-02 -1.39350432e-02 3.40272358e+02] [ 3.30155954e-02 9.99454668e-01 5.81003606e-04 -1.33475034e+01] [ 1.39082684e-02 -1.04070438e-03 9.99902734e-01 3.50513544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.940714057 meters Centerline goodness [0,1] 0.9742120343839542 Centerline is valid? [True, True] Translation: X:340.30, Y:-13.35, Z:3.50 [[ 9.99288536e-01 -3.44074911e-02 -1.54449312e-02 3.40303853e+02] [ 3.44215405e-02 9.99407195e-01 6.44653882e-04 -1.33488507e+01] [ 1.54135945e-02 -1.17583356e-03 9.99880512e-01 3.50308436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.970714057 meters Centerline goodness [0,1] 0.9749434771461203 Centerline is valid? [True, True] Translation: X:340.34, Y:-13.35, Z:3.50 [[ 9.99261649e-01 -3.49882191e-02 -1.58739367e-02 3.40335800e+02] [ 3.50031480e-02 9.99386982e-01 6.63519781e-04 -1.33504395e+01] [ 1.58409903e-02 -1.21866763e-03 9.99873781e-01 3.50280933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.000714057 meters Centerline goodness [0,1] 0.9737516303335196 Centerline is valid? [True, True] Translation: X:340.37, Y:-13.35, Z:3.50 [[ 9.99263007e-01 -3.49740949e-02 -1.58194790e-02 3.40366700e+02] [ 3.49889453e-02 9.99387480e-01 6.62861974e-04 -1.33535562e+01] [ 1.57866063e-02 -1.21588034e-03 9.99874644e-01 3.50200032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.030714057 meters Centerline goodness [0,1] 0.9728978294899652 Centerline is valid? [True, True] Translation: X:340.40, Y:-13.35, Z:3.50 [[ 9.99335129e-01 -3.32418647e-02 -1.49759190e-02 3.40398488e+02] [ 3.32549968e-02 9.99446702e-01 6.28643751e-04 -1.33520887e+01] [ 1.49467355e-02 -1.12624992e-03 9.99887657e-01 3.50311821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.060714057 meters Centerline goodness [0,1] 0.9630632734064908 Centerline is valid? [True, True] Translation: X:340.43, Y:-13.36, Z:3.50 [[ 9.99385273e-01 -3.16361738e-02 -1.51072100e-02 3.40428459e+02] [ 3.16493755e-02 9.99498831e-01 6.35531794e-04 -1.33608323e+01] [ 1.50795329e-02 -1.11327488e-03 9.99885678e-01 3.50260725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.090714057 meters Centerline goodness [0,1] 0.9730198135744063 Centerline is valid? [True, True] Translation: X:340.46, Y:-13.34, Z:3.51 [[ 9.99511190e-01 -2.78357213e-02 -1.42321358e-02 3.40460058e+02] [ 2.78470600e-02 9.99612016e-01 5.99107992e-04 -1.33444911e+01] [ 1.42099374e-02 -9.95138282e-04 9.99898539e-01 3.50581069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.120714057 meters Centerline goodness [0,1] 0.9731970871505755 Centerline is valid? [True, True] Translation: X:340.49, Y:-13.34, Z:3.51 [[ 9.99576005e-01 -2.56897765e-02 -1.37056638e-02 3.40492152e+02] [ 2.57000981e-02 9.99669531e-01 5.77460730e-04 -1.33413468e+01] [ 1.36862996e-02 -9.29452793e-04 9.99905906e-01 3.50698077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.150714057 meters Centerline goodness [0,1] 0.9709927247125087 Centerline is valid? [True, True] Translation: X:340.52, Y:-13.35, Z:3.51 [[ 9.99669269e-01 -2.20641297e-02 -1.32108280e-02 3.40522165e+02] [ 2.20734055e-02 9.99756198e-01 5.56723671e-04 -1.33451738e+01] [ 1.31953235e-02 -8.48147509e-04 9.99912578e-01 3.50612750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.180714057 meters Centerline goodness [0,1] 0.9718818945688401 Centerline is valid? [True, True] Translation: X:340.55, Y:-13.34, Z:3.51 [[ 9.99701764e-01 -2.05456948e-02 -1.32006589e-02 3.40553837e+02] [ 2.05548282e-02 9.99788572e-01 5.56572283e-04 -1.33403811e+01] [ 1.31864327e-02 -8.27743570e-04 9.99912713e-01 3.50697475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.210714057 meters Centerline goodness [0,1] 0.9681920691599324 Centerline is valid? [True, True] Translation: X:340.58, Y:-13.35, Z:3.50 [[ 9.99739179e-01 -1.89467105e-02 -1.27513170e-02 3.40583817e+02] [ 1.89551066e-02 9.99820191e-01 5.37908301e-04 -1.33529908e+01] [ 1.27388326e-02 -7.79470577e-04 9.99918554e-01 3.50499144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.240714057 meters Centerline goodness [0,1] 0.9747835727596537 Centerline is valid? [True, True] Translation: X:340.62, Y:-13.34, Z:3.51 [[ 9.99790589e-01 -1.60373076e-02 -1.27115303e-02 3.40615013e+02] [ 1.60454180e-02 9.99871120e-01 5.36297661e-04 -1.33388480e+01] [ 1.27012913e-02 -7.40147172e-04 9.99919061e-01 3.50728158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.270714057 meters Centerline goodness [0,1] 0.9750774396443688 Centerline is valid? [True, True] Translation: X:340.65, Y:-13.33, Z:3.51 [[ 9.99820300e-01 -1.37180581e-02 -1.30836659e-02 3.40645934e+02] [ 1.37264524e-02 9.99905635e-01 5.51998010e-04 -1.33342553e+01] [ 1.30748590e-02 -7.31491134e-04 9.99914253e-01 3.50788310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.300714057 meters Centerline goodness [0,1] 0.9743869209809264 Centerline is valid? [True, True] Translation: X:340.68, Y:-13.33, Z:3.51 [[ 9.99827964e-01 -1.26071308e-02 -1.36052280e-02 3.40675705e+02] [ 1.26161030e-02 9.99920249e-01 5.73839205e-04 -1.33347523e+01] [ 1.35969085e-02 -7.45385443e-04 9.99907280e-01 3.50752003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.330714057 meters Centerline goodness [0,1] 0.9759293041768343 Centerline is valid? [True, True] Translation: X:340.71, Y:-13.33, Z:3.51 [[ 9.99849310e-01 -1.02578421e-02 -1.40047739e-02 3.40706085e+02] [ 1.02671159e-02 9.99947117e-01 5.90451077e-04 -1.33327002e+01] [ 1.39979766e-02 -7.34150740e-04 9.99901754e-01 3.50682616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.360714057 meters Centerline goodness [0,1] 0.9759511418454885 Centerline is valid? [True, True] Translation: X:340.73, Y:-13.34, Z:3.51 [[ 9.99855743e-01 -9.39351431e-03 -1.41511196e-02 3.40734643e+02] [ 9.40288842e-03 9.99955614e-01 5.96039025e-04 -1.33357177e+01] [ 1.41448926e-02 -7.29014441e-04 9.99899690e-01 3.50604157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.390714057 meters Centerline goodness [0,1] 0.9754423465146658 Centerline is valid? [True, True] Translation: X:340.76, Y:-13.33, Z:3.51 [[ 9.99862625e-01 -7.93887477e-03 -1.45500666e-02 3.40763743e+02] [ 7.94861807e-03 9.99968222e-01 6.11931784e-04 -1.33337138e+01] [ 1.45447462e-02 -7.27500643e-04 9.99893955e-01 3.50596323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.420714057 meters Centerline goodness [0,1] 0.9765474634667934 Centerline is valid? [True, True] Translation: X:340.79, Y:-13.33, Z:3.51 [[ 9.99878890e-01 -4.44889341e-03 -1.49135126e-02 3.40794092e+02] [ 4.45873173e-03 9.99989864e-01 6.26506604e-04 -1.33289682e+01] [ 1.49105741e-02 -6.92926080e-04 9.99888591e-01 3.50608487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.450714057 meters Centerline goodness [0,1] 0.9804244551075462 Centerline is valid? [True, True] Translation: X:340.82, Y:-13.32, Z:3.51 [[ 9.99897067e-01 1.77670808e-04 -1.43465841e-02 3.40824575e+02] [-1.69049299e-04 9.99999804e-01 6.02155554e-04 -1.33205438e+01] [ 1.43466883e-02 -5.99668293e-04 9.99896901e-01 3.50782880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.480714057 meters Centerline goodness [0,1] 0.9802065404475043 Centerline is valid? [True, True] Translation: X:340.85, Y:-13.32, Z:3.51 [[ 9.99904015e-01 2.45593577e-03 -1.36356159e-02 3.40852428e+02] [-2.44837273e-03 9.99996840e-01 5.71319446e-04 -1.33207451e+01] [ 1.36369759e-02 -5.37879538e-04 9.99906867e-01 3.50803742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51071405700003 meters Centerline goodness [0,1] 0.9804302002491138 Centerline is valid? [True, True] Translation: X:340.88, Y:-13.32, Z:3.51 [[ 9.99905148e-01 5.02099716e-03 -1.28251834e-02 3.40880072e+02] [-5.01453132e-03 9.99987283e-01 5.36259702e-04 -1.33213795e+01] [ 1.28277128e-02 -4.71896553e-04 9.99917610e-01 3.50833519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.540714057 meters Centerline goodness [0,1] 0.981702941879933 Centerline is valid? [True, True] Translation: X:340.91, Y:-13.32, Z:3.51 [[ 9.99889944e-01 8.89959584e-03 -1.18699814e-02 3.40909994e+02] [-8.89433734e-03 9.99960322e-01 4.95725484e-04 -1.33172530e+01] [ 1.18739222e-02 -3.90095308e-04 9.99929426e-01 3.50936923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57071405700003 meters Centerline goodness [0,1] 0.9822480954434383 Centerline is valid? [True, True] Translation: X:340.94, Y:-13.32, Z:3.51 [[ 9.99878851e-01 1.02286667e-02 -1.17327392e-02 3.40939242e+02] [-1.02236285e-02 9.99947618e-01 4.89313068e-04 -1.33161389e+01] [ 1.17371297e-02 -3.69302622e-04 9.99931049e-01 3.50952583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.600714057 meters Centerline goodness [0,1] 0.9822601524667978 Centerline is valid? [True, True] Translation: X:340.97, Y:-13.32, Z:3.51 [[ 9.99860371e-01 1.12464335e-02 -1.23594451e-02 3.40968027e+02] [-1.12409312e-02 9.99936686e-01 5.14567107e-04 -1.33160556e+01] [ 1.23644496e-02 -3.75563586e-04 9.99923487e-01 3.50947385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63071405700003 meters Centerline goodness [0,1] 0.9839162012512285 Centerline is valid? [True, True] Translation: X:341.00, Y:-13.32, Z:3.51 [[ 9.99867388e-01 1.10455691e-02 -1.19666940e-02 3.40996396e+02] [-1.10404099e-02 9.99938929e-01 4.97105379e-04 -1.33175904e+01] [ 1.19714540e-02 -3.64922250e-04 9.99928273e-01 3.50945630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.660714057 meters Centerline goodness [0,1] 0.9822987680899414 Centerline is valid? [True, True] Translation: X:341.02, Y:-13.32, Z:3.51 [[ 9.99871133e-01 9.63965831e-03 -1.28372231e-02 3.41023665e+02] [-9.63362104e-03 9.99953454e-01 5.32049013e-04 -1.33218384e+01] [ 1.28417543e-02 -4.08311508e-04 9.99917458e-01 3.50848576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.690714057 meters Centerline goodness [0,1] 0.9816544442586532 Centerline is valid? [True, True] Translation: X:341.05, Y:-13.32, Z:3.51 [[ 9.99880413e-01 8.32160147e-03 -1.30349766e-02 3.41052442e+02] [-8.31527775e-03 9.99965282e-01 5.39257469e-04 -1.33229343e+01] [ 1.30390115e-02 -4.30803530e-04 9.99914896e-01 3.50835660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.720714057 meters Centerline goodness [0,1] 0.9809761904761904 Centerline is valid? [True, True] Translation: X:341.08, Y:-13.33, Z:3.51 [[ 9.99886825e-01 5.19401323e-03 -1.41194907e-02 3.41080452e+02] [-5.18629624e-03 9.99986381e-01 5.83110065e-04 -1.33284388e+01] [ 1.41223271e-02 -5.09816210e-04 9.99900145e-01 3.50661606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.750714057 meters Centerline goodness [0,1] 0.9816327989136908 Centerline is valid? [True, True] Translation: X:341.11, Y:-13.33, Z:3.51 [[ 9.99889378e-01 3.57785134e-03 -1.44371062e-02 3.41108618e+02] [-3.56963842e-03 9.99993452e-01 5.94605308e-04 -1.33321800e+01] [ 1.44391390e-02 -5.43004283e-04 9.99895603e-01 3.50581547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.780714057 meters Centerline goodness [0,1] 0.9810535824656492 Centerline is valid? [True, True] Translation: X:341.14, Y:-13.33, Z:3.51 [[ 9.99897567e-01 2.32738592e-03 -1.41222533e-02 3.41137539e+02] [-2.31941987e-03 9.99997142e-01 5.80430007e-04 -1.33347304e+01] [ 1.41235638e-02 -5.47615117e-04 9.99900108e-01 3.50566335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.810714057 meters Centerline goodness [0,1] 0.9816529004082407 Centerline is valid? [True, True] Translation: X:341.17, Y:-13.34, Z:3.51 [[ 9.99904889e-01 6.06804820e-05 -1.37916525e-02 3.41167130e+02] [-5.28763529e-05 9.99999838e-01 5.66222830e-04 -1.33372389e+01] [ 1.37916846e-02 -5.65439723e-04 9.99904730e-01 3.50682921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.840714057 meters Centerline goodness [0,1] 0.9810236313976962 Centerline is valid? [True, True] Translation: X:341.20, Y:-13.34, Z:3.51 [[ 9.99906469e-01 -6.80226010e-04 -1.36598212e-02 3.41196270e+02] [ 6.87939330e-04 9.99999607e-01 5.59981256e-04 -1.33388461e+01] [ 1.36594349e-02 -5.69326008e-04 9.99906543e-01 3.50742203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.870714057 meters Centerline goodness [0,1] 0.9805625266347838 Centerline is valid? [True, True] Translation: X:341.22, Y:-13.34, Z:3.51 [[ 9.99909361e-01 -1.42563057e-03 -1.33879821e-02 3.41224014e+02] [ 1.43309178e-03 9.99998823e-01 5.47729261e-04 -1.33449458e+01] [ 1.33871855e-02 -5.66865822e-04 9.99910227e-01 3.50700865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.900714057 meters Centerline goodness [0,1] 0.9826433347560108 Centerline is valid? [True, True] Translation: X:341.25, Y:-13.34, Z:3.51 [[ 9.99908577e-01 -2.21959516e-03 -1.33383530e-02 3.41252612e+02] [ 2.22705823e-03 9.99997372e-01 5.44692113e-04 -1.33442032e+01] [ 1.33371090e-02 -5.74347604e-04 9.99910892e-01 3.50768753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.930714057 meters Centerline goodness [0,1] 0.980977229601518 Centerline is valid? [True, True] Translation: X:341.28, Y:-13.35, Z:3.51 [[ 9.99901814e-01 -3.57055947e-03 -1.35504192e-02 3.41279795e+02] [ 3.57836817e-03 9.99993445e-01 5.52068928e-04 -1.33482966e+01] [ 1.35483591e-02 -6.00503111e-04 9.99908036e-01 3.50707138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.960714057 meters Centerline goodness [0,1] 0.9818173197733684 Centerline is valid? [True, True] Translation: X:341.31, Y:-13.35, Z:3.51 [[ 9.99895810e-01 -4.54962109e-03 -1.36992616e-02 3.41308937e+02] [ 4.55767888e-03 9.99989459e-01 5.57029104e-04 -1.33487343e+01] [ 1.36965829e-02 -6.19407903e-04 9.99906006e-01 3.50685014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.990714057 meters Centerline goodness [0,1] 0.9820925219698226 Centerline is valid? [True, True] Translation: X:341.34, Y:-13.35, Z:3.51 [[ 9.99886872e-01 -5.34074591e-03 -1.40612656e-02 3.41338013e+02] [ 5.34927432e-03 9.99985531e-01 5.68976698e-04 -1.33516248e+01] [ 1.40580234e-02 -6.44129898e-04 9.99900974e-01 3.50684266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.020714057 meters Centerline goodness [0,1] 0.982182470382782 Centerline is valid? [True, True] Translation: X:341.37, Y:-13.35, Z:3.51 [[ 9.99877538e-01 -5.82736915e-03 -1.45241439e-02 3.41365778e+02] [ 5.83649152e-03 9.99982796e-01 5.85774797e-04 -1.33539653e+01] [ 1.45204805e-02 -6.70473105e-04 9.99894347e-01 3.50625455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.050714057 meters Centerline goodness [0,1] 0.9812692398768648 Centerline is valid? [True, True] Translation: X:341.39, Y:-13.36, Z:3.51 [[ 9.99854932e-01 -7.09202715e-03 -1.54860662e-02 3.41394751e+02] [ 7.10250033e-03 9.99974584e-01 6.21402952e-04 -1.33561965e+01] [ 1.54812656e-02 -7.31302597e-04 9.99879891e-01 3.50546115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.080714057 meters Centerline goodness [0,1] 0.9806140080952493 Centerline is valid? [True, True] Translation: X:341.42, Y:-13.36, Z:3.50 [[ 9.99816912e-01 -9.02047164e-03 -1.68752177e-02 3.41423195e+02] [ 9.03315336e-03 9.99958972e-01 6.75425381e-04 -1.33598789e+01] [ 1.68684327e-02 -8.27738149e-04 9.99857375e-01 3.50383126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.110714057 meters Centerline goodness [0,1] 0.980816085156712 Centerline is valid? [True, True] Translation: X:341.45, Y:-13.36, Z:3.50 [[ 9.99799446e-01 -1.04005979e-02 -1.71141631e-02 3.41451025e+02] [ 1.04138202e-02 9.99945541e-01 6.83658777e-04 -1.33630470e+01] [ 1.71061206e-02 -8.61745485e-04 9.99853308e-01 3.50325290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.140714057 meters Centerline goodness [0,1] 0.9797948838854179 Centerline is valid? [True, True] Translation: X:341.48, Y:-13.37, Z:3.50 [[ 9.99756721e-01 -1.30798643e-02 -1.77599536e-02 3.41479571e+02] [ 1.30945064e-02 9.99914012e-01 7.08403564e-04 -1.33679887e+01] [ 1.77491606e-02 -9.40789050e-04 9.99842029e-01 3.50250157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.170714057 meters Centerline goodness [0,1] 0.9795282283771339 Centerline is valid? [True, True] Translation: X:341.51, Y:-13.37, Z:3.50 [[ 9.99742803e-01 -1.45070781e-02 -1.74319678e-02 3.41507815e+02] [ 1.45213774e-02 9.99894318e-01 6.93989679e-04 -1.33703934e+01] [ 1.74200578e-02 -9.46947369e-04 9.99847811e-01 3.50278544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.200714057 meters Centerline goodness [0,1] 0.9799382352247813 Centerline is valid? [True, True] Translation: X:341.54, Y:-13.37, Z:3.50 [[ 9.99734545e-01 -1.54197060e-02 -1.71193250e-02 3.41536077e+02] [ 1.54336135e-02 9.99880663e-01 6.80556482e-04 -1.33739567e+01] [ 1.71067880e-02 -9.44588870e-04 9.99853222e-01 3.50288579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.230714057 meters Centerline goodness [0,1] 0.9799418810688213 Centerline is valid? [True, True] Translation: X:341.57, Y:-13.38, Z:3.50 [[ 9.99726328e-01 -1.70040552e-02 -1.60664616e-02 3.41565935e+02] [ 1.70164989e-02 9.99855005e-01 6.38111315e-04 -1.33761942e+01] [ 1.60532815e-02 -9.11331607e-04 9.99870722e-01 3.50392912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26071405700003 meters Centerline goodness [0,1] 0.9786942230840171 Centerline is valid? [True, True] Translation: X:341.60, Y:-13.38, Z:3.50 [[ 9.99726747e-01 -1.74126608e-02 -1.55958247e-02 3.41595162e+02] [ 1.74244333e-02 9.99847991e-01 6.19276728e-04 -1.33785834e+01] [ 1.55826707e-02 -8.90855917e-04 9.99878186e-01 3.50486235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.290714057 meters Centerline goodness [0,1] 0.9776045357902197 Centerline is valid? [True, True] Translation: X:341.63, Y:-13.38, Z:3.51 [[ 9.99749732e-01 -1.74087511e-02 -1.40502118e-02 3.41626117e+02] [ 1.74183075e-02 9.99848134e-01 5.58063860e-04 -1.33800083e+01] [ 1.40383629e-02 -8.02655104e-04 9.99901135e-01 3.50647939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32071405700003 meters Centerline goodness [0,1] 0.9797595711012966 Centerline is valid? [True, True] Translation: X:341.66, Y:-13.37, Z:3.51 [[ 9.99750234e-01 -1.76310267e-02 -1.37337658e-02 3.41657775e+02] [ 1.76401839e-02 9.99844251e-01 5.45899628e-04 -1.33733399e+01] [ 1.37220020e-02 -7.88029434e-04 9.99905538e-01 3.50825435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.350714057 meters Centerline goodness [0,1] 0.9781255892890817 Centerline is valid? [True, True] Translation: X:341.69, Y:-13.38, Z:3.51 [[ 9.99750869e-01 -1.76002622e-02 -1.37270170e-02 3.41687535e+02] [ 1.76094117e-02 9.99844793e-01 5.45939594e-04 -1.33806371e+01] [ 1.37152778e-02 -7.87528277e-04 9.99905631e-01 3.50723850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38071405700003 meters Centerline goodness [0,1] 0.9799262306710171 Centerline is valid? [True, True] Translation: X:341.72, Y:-13.37, Z:3.51 [[ 9.99745353e-01 -1.75928495e-02 -1.41322560e-02 3.41718843e+02] [ 1.76025526e-02 9.99844905e-01 5.62485436e-04 -1.33744361e+01] [ 1.41201684e-02 -8.11105980e-04 9.99899976e-01 3.50800335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.410714057 meters Centerline goodness [0,1] 0.9799262306710171 Centerline is valid? [True, True] Translation: X:341.75, Y:-13.38, Z:3.51 [[ 9.99745971e-01 -1.75576890e-02 -1.41322362e-02 3.41749719e+02] [ 1.75673956e-02 9.99845523e-01 5.62982539e-04 -1.33756958e+01] [ 1.41201684e-02 -8.11106110e-04 9.99899976e-01 3.50812634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.440714057 meters Centerline goodness [0,1] 0.9775222534413147 Centerline is valid? [True, True] Translation: X:341.78, Y:-13.38, Z:3.51 [[ 9.99737925e-01 -1.75699086e-02 -1.46758079e-02 3.41779383e+02] [ 1.75803885e-02 9.99845282e-01 5.85378299e-04 -1.33839320e+01] [ 1.46632522e-02 -8.43231291e-04 9.99892133e-01 3.50634862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.470714057 meters Centerline goodness [0,1] 0.9797365994372591 Centerline is valid? [True, True] Translation: X:341.81, Y:-13.38, Z:3.51 [[ 9.99699780e-01 -1.80143655e-02 -1.66081903e-02 3.41810452e+02] [ 1.80278563e-02 9.99837265e-01 6.62928597e-04 -1.33773476e+01] [ 1.65935453e-02 -9.62139641e-04 9.99861855e-01 3.50742690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.500714057 meters Centerline goodness [0,1] 0.9794515694749522 Centerline is valid? [True, True] Translation: X:341.84, Y:-13.38, Z:3.51 [[ 9.99698674e-01 -1.82492114e-02 -1.64172672e-02 3.41841420e+02] [ 1.82624265e-02 9.99833013e-01 6.55376848e-04 -1.33778296e+01] [ 1.64025656e-02 -9.54998501e-04 9.99865013e-01 3.50734050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.530714057 meters Centerline goodness [0,1] 0.9773383166958414 Centerline is valid? [True, True] Translation: X:341.87, Y:-13.38, Z:3.51 [[ 9.99710423e-01 -1.82084210e-02 -1.57328963e-02 3.41871107e+02] [ 1.82205553e-02 9.99833795e-01 6.28261101e-04 -1.33837454e+01] [ 1.57188417e-02 -9.14741278e-04 9.99876033e-01 3.50716372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.560714057 meters Centerline goodness [0,1] 0.9780079455164585 Centerline is valid? [True, True] Translation: X:341.90, Y:-13.38, Z:3.51 [[ 9.99726997e-01 -1.78326539e-02 -1.50972936e-02 3.41901557e+02] [ 1.78437858e-02 9.99840605e-01 6.02945961e-04 -1.33847832e+01] [ 1.50841350e-02 -8.72174227e-04 9.99885848e-01 3.50754346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.590714057 meters Centerline goodness [0,1] 0.9770000944554642 Centerline is valid? [True, True] Translation: X:341.93, Y:-13.39, Z:3.51 [[ 9.99751436e-01 -1.74760149e-02 -1.38439278e-02 3.41931805e+02] [ 1.74853431e-02 9.99846967e-01 5.53052901e-04 -1.33868869e+01] [ 1.38321440e-02 -7.94981260e-04 9.99904015e-01 3.50884547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.620714057 meters Centerline goodness [0,1] 0.9787027385577561 Centerline is valid? [True, True] Translation: X:341.96, Y:-13.38, Z:3.51 [[ 9.99757716e-01 -1.73501265e-02 -1.35455512e-02 3.41963128e+02] [ 1.73590508e-02 9.99849174e-01 5.41529863e-04 -1.33816972e+01] [ 1.35341126e-02 -7.76536570e-04 9.99908108e-01 3.51008260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.650714057 meters Centerline goodness [0,1] 0.9784196547144755 Centerline is valid? [True, True] Translation: X:341.99, Y:-13.38, Z:3.51 [[ 9.99763192e-01 -1.71982412e-02 -1.33334219e-02 3.41994816e+02] [ 1.72068809e-02 9.99851808e-01 5.33514772e-04 -1.33811060e+01] [ 1.33222705e-02 -7.62815034e-04 9.99910964e-01 3.51026759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.680714057 meters Centerline goodness [0,1] 0.9783169605870518 Centerline is valid? [True, True] Translation: X:342.03, Y:-13.39, Z:3.51 [[ 9.99787244e-01 -1.66748649e-02 -1.21415042e-02 3.42025047e+02] [ 1.66819936e-02 9.99860728e-01 4.86092751e-04 -1.33867057e+01] [ 1.21317077e-02 -6.88533826e-04 9.99926171e-01 3.50981434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.710714057 meters Centerline goodness [0,1] 0.9801505330389154 Centerline is valid? [True, True] Translation: X:342.06, Y:-13.38, Z:3.51 [[ 9.99798037e-01 -1.63458663e-02 -1.16918266e-02 3.42056488e+02] [ 1.63524582e-02 9.99866180e-01 4.68428578e-04 -1.33840828e+01] [ 1.16826051e-02 -6.59524078e-04 9.99931539e-01 3.51050134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.740714057 meters Centerline goodness [0,1] 0.9779494911421033 Centerline is valid? [True, True] Translation: X:342.09, Y:-13.39, Z:3.51 [[ 9.99821316e-01 -1.55811353e-02 -1.07034780e-02 3.42086371e+02] [ 1.55866223e-02 9.99878429e-01 4.29410304e-04 -1.33880532e+01] [ 1.06954860e-02 -5.96164644e-04 9.99942624e-01 3.51062644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.770714057 meters Centerline goodness [0,1] 0.979808512655228 Centerline is valid? [True, True] Translation: X:342.12, Y:-13.39, Z:3.51 [[ 9.99821076e-01 -1.54816061e-02 -1.08690094e-02 3.42118399e+02] [ 1.54872666e-02 9.99879970e-01 4.36809331e-04 -1.33869401e+01] [ 1.08609422e-02 -6.05062421e-04 9.99940835e-01 3.51149298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.800714057 meters Centerline goodness [0,1] 0.9776517836050083 Centerline is valid? [True, True] Translation: X:342.15, Y:-13.39, Z:3.51 [[ 9.99817377e-01 -1.56314517e-02 -1.09940858e-02 3.42149171e+02] [ 1.56372594e-02 9.99877633e-01 4.42489547e-04 -1.33941457e+01] [ 1.09858237e-02 -6.14326109e-04 9.99939465e-01 3.51073317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.830714057 meters Centerline goodness [0,1] 0.9791597672328145 Centerline is valid? [True, True] Translation: X:342.18, Y:-13.39, Z:3.51 [[ 9.99788498e-01 -1.67287779e-02 -1.19627483e-02 3.42181051e+02] [ 1.67357404e-02 9.99859831e-01 4.82136428e-04 -1.33902469e+01] [ 1.19530060e-02 -6.82239905e-04 9.99928328e-01 3.51000675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.860714057 meters Centerline goodness [0,1] 0.9771881038789649 Centerline is valid? [True, True] Translation: X:342.21, Y:-13.40, Z:3.51 [[ 9.99754666e-01 -1.77443578e-02 -1.32569425e-02 3.42211001e+02] [ 1.77530027e-02 9.99842260e-01 5.34701294e-04 -1.33995472e+01] [ 1.32453634e-02 -7.69920650e-04 9.99911980e-01 3.50783824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.890714057 meters Centerline goodness [0,1] 0.9775612288235571 Centerline is valid? [True, True] Translation: X:342.24, Y:-13.40, Z:3.51 [[ 9.99706517e-01 -1.92771560e-02 -1.46721013e-02 3.42242471e+02] [ 1.92879163e-02 9.99813795e-01 5.92221970e-04 -1.34039982e+01] [ 1.46579530e-02 -8.75042426e-04 9.99892184e-01 3.50607365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.920714057 meters Centerline goodness [0,1] 0.9778645527040061 Centerline is valid? [True, True] Translation: X:342.27, Y:-13.41, Z:3.51 [[ 9.99696946e-01 -1.94532936e-02 -1.50859429e-02 3.42273694e+02] [ 1.94646973e-02 9.99810359e-01 6.09438414e-04 -1.34064573e+01] [ 1.50712264e-02 -9.02897034e-04 9.99886015e-01 3.50596958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.950714057 meters Centerline goodness [0,1] 0.9789036466888816 Centerline is valid? [True, True] Translation: X:342.31, Y:-13.40, Z:3.51 [[ 9.99702274e-01 -1.92199793e-02 -1.50318444e-02 3.42305197e+02] [ 1.92312828e-02 9.99814877e-01 6.07773293e-04 -1.34030313e+01] [ 1.50173802e-02 -8.96673994e-04 9.99886831e-01 3.50673566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.980714057 meters Centerline goodness [0,1] 0.9792477302204928 Centerline is valid? [True, True] Translation: X:342.34, Y:-13.41, Z:3.51 [[ 9.99710634e-01 -1.90385286e-02 -1.47031800e-02 3.42336726e+02] [ 1.90493312e-02 9.99818368e-01 5.94994535e-04 -1.34057731e+01] [ 1.46891816e-02 -8.74908110e-04 9.99891725e-01 3.50834706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01071405700003 meters Centerline goodness [0,1] 0.9787249031349067 Centerline is valid? [True, True] Translation: X:342.37, Y:-13.41, Z:3.51 [[ 9.99729098e-01 -1.87899371e-02 -1.37357002e-02 3.42368242e+02] [ 1.87993477e-02 9.99823122e-01 5.56315252e-04 -1.34072164e+01] [ 1.37228175e-02 -8.14386749e-04 9.99905506e-01 3.50953848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.040714057 meters Centerline goodness [0,1] 0.9773409645336836 Centerline is valid? [True, True] Translation: X:342.40, Y:-13.41, Z:3.51 [[ 9.99754355e-01 -1.85957779e-02 -1.20592883e-02 3.42398126e+02] [ 1.86030206e-02 9.99826829e-01 4.88681335e-04 -1.34123205e+01] [ 1.20481125e-02 -7.12900480e-04 9.99927165e-01 3.51085766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07071405700003 meters Centerline goodness [0,1] 0.9773732363057772 Centerline is valid? [True, True] Translation: X:342.43, Y:-13.41, Z:3.51 [[ 9.99768694e-01 -1.84441603e-02 -1.10621839e-02 3.42429771e+02] [ 1.84502516e-02 9.99829679e-01 4.48833886e-04 -1.34147945e+01] [ 1.10520215e-02 -6.52830145e-04 9.99938711e-01 3.51152857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.100714057 meters Centerline goodness [0,1] 0.9786806302304923 Centerline is valid? [True, True] Translation: X:342.46, Y:-13.42, Z:3.51 [[ 9.99774768e-01 -1.82592586e-02 -1.08172239e-02 3.42461471e+02] [ 1.82650805e-02 9.99833083e-01 4.39651242e-04 -1.34167510e+01] [ 1.08073906e-02 -6.37129685e-04 9.99941395e-01 3.51174777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13071405700003 meters Centerline goodness [0,1] 0.9776803507373456 Centerline is valid? [True, True] Translation: X:342.49, Y:-13.42, Z:3.51 [[ 9.99777065e-01 -1.78747392e-02 -1.12389421e-02 3.42492878e+02] [ 1.78810073e-02 9.99840017e-01 4.57468464e-04 -1.34200743e+01] [ 1.12289669e-02 -6.58330084e-04 9.99936736e-01 3.51196767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.160714057 meters Centerline goodness [0,1] 0.9778752756792267 Centerline is valid? [True, True] Translation: X:342.52, Y:-13.43, Z:3.51 [[ 9.99776926e-01 -1.76886393e-02 -1.15416942e-02 3.42523267e+02] [ 1.76952444e-02 9.99843316e-01 4.70404023e-04 -1.34303206e+01] [ 1.15315650e-02 -6.74532187e-04 9.99933282e-01 3.51033392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.190714057 meters Centerline goodness [0,1] 0.97959279194945 Centerline is valid? [True, True] Translation: X:342.56, Y:-13.43, Z:3.51 [[ 9.99769885e-01 -1.77754665e-02 -1.20087311e-02 3.42555822e+02] [ 1.77826327e-02 9.99841756e-01 4.90224500e-04 -1.34257872e+01] [ 1.19981168e-02 -7.03658547e-04 9.99927772e-01 3.51151025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.220714057 meters Centerline goodness [0,1] 0.9791739791739792 Centerline is valid? [True, True] Translation: X:342.59, Y:-13.43, Z:3.51 [[ 9.99761745e-01 -1.76255190e-02 -1.28760968e-02 3.42588426e+02] [ 1.76337575e-02 9.99844375e-01 5.26568316e-04 -1.34277636e+01] [ 1.28648119e-02 -7.53496827e-04 9.99916961e-01 3.51140165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.250714057 meters Centerline goodness [0,1] 0.9792314708702669 Centerline is valid? [True, True] Translation: X:342.62, Y:-13.44, Z:3.51 [[ 9.99720828e-01 -1.81925253e-02 -1.50763967e-02 3.42618062e+02] [ 1.82038896e-02 9.99834105e-01 6.16881460e-04 -1.34355679e+01] [ 1.50626730e-02 -8.91158306e-04 9.99886154e-01 3.50950374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.280714057 meters Centerline goodness [0,1] 0.9797932659775532 Centerline is valid? [True, True] Translation: X:342.65, Y:-13.44, Z:3.51 [[ 9.99707571e-01 -1.83196321e-02 -1.57849089e-02 3.42648357e+02] [ 1.83321056e-02 9.99831744e-01 6.45871679e-04 -1.34378999e+01] [ 1.57704209e-02 -9.35053425e-04 9.99875202e-01 3.50898270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.310714057 meters Centerline goodness [0,1] 0.9792877400158073 Centerline is valid? [True, True] Translation: X:342.68, Y:-13.44, Z:3.51 [[ 9.99680633e-01 -1.82030545e-02 -1.75294105e-02 3.42678039e+02] [ 1.82184160e-02 9.99833774e-01 7.17020980e-04 -1.34432198e+01] [ 1.75134447e-02 -1.03615008e-03 9.99846091e-01 3.50696524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.340714057 meters Centerline goodness [0,1] 0.9786946071453574 Centerline is valid? [True, True] Translation: X:342.71, Y:-13.45, Z:3.51 [[ 9.99680556e-01 -1.77463694e-02 -1.79959083e-02 3.42707348e+02] [ 1.77624760e-02 9.99841964e-01 7.35562664e-04 -1.34451708e+01] [ 1.79800107e-02 -1.05497958e-03 9.99837790e-01 3.50683749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.370714057 meters Centerline goodness [0,1] 0.9801582669996965 Centerline is valid? [True, True] Translation: X:342.74, Y:-13.45, Z:3.51 [[ 9.99706229e-01 -1.56957795e-02 -1.84688264e-02 3.42736366e+02] [ 1.57123838e-02 9.99876268e-01 7.54273699e-04 -1.34468448e+01] [ 1.84547024e-02 -1.04424141e-03 9.99829152e-01 3.50691455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.400714057 meters Centerline goodness [0,1] 0.9786271996270831 Centerline is valid? [True, True] Translation: X:342.76, Y:-13.45, Z:3.51 [[ 9.99721454e-01 -1.47530027e-02 -1.84218303e-02 3.42764751e+02] [ 1.47692992e-02 9.99890648e-01 7.48887000e-04 -1.34476050e+01] [ 1.84087675e-02 -1.02075592e-03 9.99830023e-01 3.50750951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.430714057 meters Centerline goodness [0,1] 0.9799696509863429 Centerline is valid? [True, True] Translation: X:342.80, Y:-13.44, Z:3.51 [[ 9.99774867e-01 -1.20865885e-02 -1.74392969e-02 3.42795192e+02] [ 1.21007691e-02 9.99926532e-01 7.07844901e-04 -1.34434411e+01] [ 1.74294603e-02 -9.18714448e-04 9.99847673e-01 3.51036722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.460714057 meters Centerline goodness [0,1] 0.9800287956899354 Centerline is valid? [True, True] Translation: X:342.82, Y:-13.44, Z:3.51 [[ 9.99801970e-01 -1.04438210e-02 -1.69395315e-02 3.42823450e+02] [ 1.04569491e-02 9.99945089e-01 6.86606872e-04 -1.34438130e+01] [ 1.69314305e-02 -8.63606723e-04 9.99856280e-01 3.51150140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.490714057 meters Centerline goodness [0,1] 0.9778098923127126 Centerline is valid? [True, True] Translation: X:342.85, Y:-13.45, Z:3.51 [[ 9.99841692e-01 -8.46425429e-03 -1.56507640e-02 3.42851841e+02] [ 8.47520549e-03 9.99963884e-01 6.33528212e-04 -1.34495093e+01] [ 1.56448364e-02 -7.66071360e-04 9.99877319e-01 3.51121007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.520714057 meters Centerline goodness [0,1] 0.9811967805902251 Centerline is valid? [True, True] Translation: X:342.88, Y:-13.44, Z:3.51 [[ 9.99841709e-01 -8.28378411e-03 -1.57460020e-02 3.42880642e+02] [ 8.29479747e-03 9.99965396e-01 6.34257159e-04 -1.34416953e+01] [ 1.57402031e-02 -7.64766659e-04 9.99875823e-01 3.51345984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.550714057 meters Centerline goodness [0,1] 0.9804926934998951 Centerline is valid? [True, True] Translation: X:342.91, Y:-13.44, Z:3.51 [[ 9.99829253e-01 -7.77690389e-03 -1.67626112e-02 3.42907990e+02] [ 7.78927796e-03 9.99969437e-01 6.73031167e-04 -1.34443013e+01] [ 1.67568647e-02 -8.03484886e-04 9.99859271e-01 3.51239508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.580714057 meters Centerline goodness [0,1] 0.9807277033459494 Centerline is valid? [True, True] Translation: X:342.93, Y:-13.45, Z:3.51 [[ 9.99818104e-01 -7.79602690e-03 -1.74063259e-02 3.42934666e+02] [ 7.80932108e-03 9.99969265e-01 6.95913964e-04 -1.34506884e+01] [ 1.74003656e-02 -8.31718969e-04 9.99848256e-01 3.51032964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.610714057 meters Centerline goodness [0,1] 0.9816681730746947 Centerline is valid? [True, True] Translation: X:342.96, Y:-13.45, Z:3.51 [[ 9.99796274e-01 -8.24720043e-03 -1.84226797e-02 3.42963763e+02] [ 8.26208843e-03 9.99965600e-01 7.32167562e-04 -1.34473408e+01] [ 1.84160076e-02 -8.84228208e-04 9.99830020e-01 3.51168398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.640714057 meters Centerline goodness [0,1] 0.9808125624288602 Centerline is valid? [True, True] Translation: X:342.99, Y:-13.45, Z:3.51 [[ 9.99758192e-01 -9.52952707e-03 -1.98178108e-02 3.42992100e+02] [ 9.54690935e-03 9.99954121e-01 7.82678104e-04 -1.34515385e+01] [ 1.98094430e-02 -9.71687689e-04 9.99803302e-01 3.51095035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.670714057 meters Centerline goodness [0,1] 0.9811513226531889 Centerline is valid? [True, True] Translation: X:343.02, Y:-13.45, Z:3.51 [[ 9.99748765e-01 -1.03680357e-02 -1.98723830e-02 3.43021126e+02] [ 1.03855824e-02 9.99945764e-01 7.79963661e-04 -1.34541607e+01] [ 1.98632186e-02 -9.86153977e-04 9.99802220e-01 3.51089485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.700714057 meters Centerline goodness [0,1] 0.9799037972341704 Centerline is valid? [True, True] Translation: X:343.05, Y:-13.46, Z:3.51 [[ 9.99741713e-01 -1.22318495e-02 -1.91543592e-02 3.43049049e+02] [ 1.22484489e-02 9.99924704e-01 7.49527918e-04 -1.34584801e+01] [ 1.91437488e-02 -9.83945514e-04 9.99816257e-01 3.51137395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.730714057 meters Centerline goodness [0,1] 0.9802037508682565 Centerline is valid? [True, True] Translation: X:343.08, Y:-13.46, Z:3.51 [[ 9.99733746e-01 -1.30402515e-02 -1.90365132e-02 3.43077320e+02] [ 1.30567166e-02 9.99914483e-01 7.40886782e-04 -1.34599618e+01] [ 1.90252239e-02 -9.89243877e-04 9.99818515e-01 3.51191220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76071405700003 meters Centerline goodness [0,1] 0.9806906109250491 Centerline is valid? [True, True] Translation: X:343.11, Y:-13.46, Z:3.51 [[ 9.99731570e-01 -1.38642711e-02 -1.85625882e-02 3.43105640e+02] [ 1.38799838e-02 9.99903411e-01 7.17896430e-04 -1.34617506e+01] [ 1.85508421e-02 -9.75352149e-04 9.99827443e-01 3.51208430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.790714057 meters Centerline goodness [0,1] 0.9789646634114734 Centerline is valid? [True, True] Translation: X:343.13, Y:-13.47, Z:3.51 [[ 9.99698182e-01 -1.60010559e-02 -1.86416394e-02 3.43133789e+02] [ 1.60172331e-02 9.99871458e-01 7.18805775e-04 -1.34674648e+01] [ 1.86277415e-02 -1.01717631e-03 9.99825971e-01 3.51191473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82071405700003 meters Centerline goodness [0,1] 0.9809413936317489 Centerline is valid? [True, True] Translation: X:343.16, Y:-13.47, Z:3.51 [[ 9.99690728e-01 -1.67951770e-02 -1.83403981e-02 3.43163008e+02] [ 1.68108977e-02 9.99858440e-01 7.03317361e-04 -1.34660934e+01] [ 1.83259894e-02 -1.01141840e-03 9.99831553e-01 3.51307194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.850714057 meters Centerline goodness [0,1] 0.978409640775133 Centerline is valid? [True, True] Translation: X:343.19, Y:-13.47, Z:3.51 [[ 9.99654739e-01 -1.88128044e-02 -1.83433967e-02 3.43190944e+02] [ 1.88288294e-02 9.99822476e-01 7.01278817e-04 -1.34715280e+01] [ 1.83269473e-02 -1.04642138e-03 9.99831500e-01 3.51286226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88071405700003 meters Centerline goodness [0,1] 0.9791647460127224 Centerline is valid? [True, True] Translation: X:343.22, Y:-13.47, Z:3.51 [[ 9.99629328e-01 -1.99923039e-02 -1.84800826e-02 3.43220941e+02] [ 2.00087540e-02 9.99799556e-01 7.05665471e-04 -1.34705013e+01] [ 1.84622705e-02 -1.07516733e-03 9.99828980e-01 3.51339120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.910714057 meters Centerline goodness [0,1] 0.978091596019167 Centerline is valid? [True, True] Translation: X:343.25, Y:-13.48, Z:3.51 [[ 9.99565548e-01 -2.27222534e-02 -1.87727075e-02 3.43249941e+02] [ 2.27396960e-02 9.99741163e-01 7.16175999e-04 -1.34776862e+01] [ 1.87515753e-02 -1.14275052e-03 9.99823521e-01 3.51230476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.940714057 meters Centerline goodness [0,1] 0.9776074611016206 Centerline is valid? [True, True] Translation: X:343.28, Y:-13.48, Z:3.51 [[ 9.99514138e-01 -2.44001003e-02 -1.93938780e-02 3.43279929e+02] [ 2.44190231e-02 9.99701538e-01 7.39464898e-04 -1.34809711e+01] [ 1.93700466e-02 -1.21268517e-03 9.99811648e-01 3.51191005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.970714057 meters Centerline goodness [0,1] 0.9778402933105818 Centerline is valid? [True, True] Translation: X:343.31, Y:-13.48, Z:3.51 [[ 9.99471673e-01 -2.60052572e-02 -1.94962144e-02 3.43310245e+02] [ 2.60246831e-02 9.99661024e-01 7.43298340e-04 -1.34831091e+01] [ 1.94702760e-02 -1.25028844e-03 9.99809654e-01 3.51164224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.000714057 meters Centerline goodness [0,1] 0.9760334009964938 Centerline is valid? [True, True] Translation: X:343.34, Y:-13.49, Z:3.51 [[ 9.99347816e-01 -2.98947567e-02 -2.02545571e-02 3.43339093e+02] [ 2.99165141e-02 9.99552103e-01 7.71975772e-04 -1.34900527e+01] [ 2.02224071e-02 -1.37741804e-03 9.99794557e-01 3.51048737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.030714057 meters Centerline goodness [0,1] 0.9764811780183258 Centerline is valid? [True, True] Translation: X:343.37, Y:-13.49, Z:3.51 [[ 9.99284023e-01 -3.18594905e-02 -2.04062497e-02 3.43370223e+02] [ 3.18819930e-02 9.99491337e-01 7.78264000e-04 -1.34928231e+01] [ 2.03710747e-02 -1.42829869e-03 9.99791468e-01 3.51069533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.060714057 meters Centerline goodness [0,1] 0.97823784082535 Centerline is valid? [True, True] Translation: X:343.40, Y:-13.49, Z:3.51 [[ 9.99180061e-01 -3.51660925e-02 -2.00637099e-02 3.43400495e+02] [ 3.51885138e-02 9.99380399e-01 7.65449957e-04 -1.34929874e+01] [ 2.00243606e-02 -1.47083447e-03 9.99798410e-01 3.51229490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.090714057 meters Centerline goodness [0,1] 0.9763407666789532 Centerline is valid? [True, True] Translation: X:343.43, Y:-13.50, Z:3.51 [[ 9.99132830e-01 -3.64694845e-02 -2.00889158e-02 3.43432113e+02] [ 3.64922418e-02 9.99333642e-01 7.67290779e-04 -1.34960097e+01] [ 2.00475467e-02 -1.49971498e-03 9.99797903e-01 3.51224643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.120714057 meters Centerline goodness [0,1] 0.9757528353539304 Centerline is valid? [True, True] Translation: X:343.46, Y:-13.50, Z:3.51 [[ 9.99083097e-01 -3.80159084e-02 -1.96915415e-02 3.43462811e+02] [ 3.80380822e-02 9.99276007e-01 7.52593240e-04 -1.34980999e+01] [ 1.96486745e-02 -1.50093166e-03 9.99805820e-01 3.51323401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.150714057 meters Centerline goodness [0,1] 0.9758400953559804 Centerline is valid? [True, True] Translation: X:343.49, Y:-13.50, Z:3.51 [[ 9.99073734e-01 -3.85434441e-02 -1.91331160e-02 3.43494822e+02] [ 3.85644956e-02 9.99255845e-01 7.32387348e-04 -1.34980645e+01] [ 1.90906493e-02 -1.46956793e-03 9.99816677e-01 3.51382447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.180714057 meters Centerline goodness [0,1] 0.975388067219195 Centerline is valid? [True, True] Translation: X:343.53, Y:-13.50, Z:3.51 [[ 9.99058757e-01 -3.96189110e-02 -1.76618880e-02 3.43526196e+02] [ 3.96370333e-02 9.99213915e-01 6.77051112e-04 -1.35019512e+01] [ 1.76211802e-02 -1.37647868e-03 9.99843787e-01 3.51443139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.210714057 meters Centerline goodness [0,1] 0.9757909215955983 Centerline is valid? [True, True] Translation: X:343.56, Y:-13.50, Z:3.52 [[ 9.99060579e-01 -3.96954920e-02 -1.73846675e-02 3.43558711e+02] [ 3.97130812e-02 9.99210901e-01 6.67574578e-04 -1.35005186e+01] [ 1.73444496e-02 -1.35734616e-03 9.99848652e-01 3.51548320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.240714057 meters Centerline goodness [0,1] 0.9740435902151922 Centerline is valid? [True, True] Translation: X:343.59, Y:-13.51, Z:3.52 [[ 9.99062762e-01 -3.98787403e-02 -1.68310386e-02 3.43590105e+02] [ 3.98952686e-02 9.99203657e-01 6.47260973e-04 -1.35056124e+01] [ 1.67918234e-02 -1.31813314e-03 9.99858139e-01 3.51539047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.270714057 meters Centerline goodness [0,1] 0.9756813801963843 Centerline is valid? [True, True] Translation: X:343.62, Y:-13.50, Z:3.52 [[ 9.99056087e-01 -4.01475376e-02 -1.65864183e-02 3.43621920e+02] [ 4.01636400e-02 9.99192911e-01 6.38722475e-04 -1.35022306e+01] [ 1.65473884e-02 -1.30429051e-03 9.99862232e-01 3.51611766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.300714057 meters Centerline goodness [0,1] 0.9769783841084021 Centerline is valid? [True, True] Translation: X:343.65, Y:-13.50, Z:3.52 [[ 9.99040476e-01 -4.04306482e-02 -1.68371762e-02 3.43653734e+02] [ 4.04473088e-02 9.99181461e-01 6.50014345e-04 -1.35012705e+01] [ 1.67971138e-02 -1.33040910e-03 9.99858033e-01 3.51621183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.330714057 meters Centerline goodness [0,1] 0.9748995292226432 Centerline is valid? [True, True] Translation: X:343.68, Y:-13.51, Z:3.51 [[ 9.99005821e-01 -4.10508823e-02 -1.73837469e-02 3.43684419e+02] [ 4.10687558e-02 9.99156097e-01 6.72278826e-04 -1.35071361e+01] [ 1.73414790e-02 -1.38553932e-03 9.99848665e-01 3.51499542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.360714057 meters Centerline goodness [0,1] 0.9748995292226432 Centerline is valid? [True, True] Translation: X:343.72, Y:-13.51, Z:3.52 [[ 9.99008652e-01 -4.09819568e-02 -1.73837029e-02 3.43716191e+02] [ 4.09998395e-02 9.99158926e-01 6.73413687e-04 -1.35084308e+01] [ 1.73414841e-02 -1.38547513e-03 9.99848665e-01 3.51512196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.390714057 meters Centerline goodness [0,1] 0.9747872095698182 Centerline is valid? [True, True] Translation: X:343.75, Y:-13.51, Z:3.51 [[ 9.98937354e-01 -4.22990098e-02 -1.83018436e-02 3.43747546e+02] [ 4.23190656e-02 9.99103895e-01 7.09762095e-04 -1.35090783e+01] [ 1.82554210e-02 -1.48352479e-03 9.99832255e-01 3.51422598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.420714057 meters Centerline goodness [0,1] 0.9763855643527896 Centerline is valid? [True, True] Translation: X:343.78, Y:-13.51, Z:3.51 [[ 9.98901074e-01 -4.29085845e-02 -1.88546678e-02 3.43779918e+02] [ 4.29300008e-02 9.99077814e-01 7.32394180e-04 -1.35053057e+01] [ 1.88058543e-02 -1.54102024e-03 9.99821967e-01 3.51494519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.450714057 meters Centerline goodness [0,1] 0.9755833506092645 Centerline is valid? [True, True] Translation: X:343.81, Y:-13.51, Z:3.51 [[ 9.98906907e-01 -4.25738517e-02 -1.92991606e-02 3.43810695e+02] [ 4.25962489e-02 9.99092086e-01 7.50756367e-04 -1.35076348e+01] [ 1.92496761e-02 -1.57200757e-03 9.99813472e-01 3.51448178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.480714057 meters Centerline goodness [0,1] 0.9775213477959843 Centerline is valid? [True, True] Translation: X:343.84, Y:-13.50, Z:3.52 [[ 9.98910709e-01 -4.23265035e-02 -1.96433748e-02 3.43843372e+02] [ 4.23496858e-02 9.99102556e-01 7.65489801e-04 -1.35027976e+01] [ 1.95933454e-02 -1.59654671e-03 9.99806757e-01 3.51559801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51071405700003 meters Centerline goodness [0,1] 0.9760662850812407 Centerline is valid? [True, True] Translation: X:343.87, Y:-13.50, Z:3.52 [[ 9.98974302e-01 -4.09113473e-02 -1.94063344e-02 3.43873566e+02] [ 4.09337455e-02 9.99161575e-01 7.58187162e-04 -1.35023300e+01] [ 1.93590452e-02 -1.55178344e-03 9.99811392e-01 3.51574098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.540714057 meters Centerline goodness [0,1] 0.9778194097511334 Centerline is valid? [True, True] Translation: X:343.90, Y:-13.50, Z:3.52 [[ 9.99066950e-01 -3.90157994e-02 -1.85201470e-02 3.43903015e+02] [ 3.90358774e-02 9.99237548e-01 7.23715361e-04 -1.35015775e+01] [ 1.84777899e-02 -1.44599029e-03 9.99828225e-01 3.51625588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57071405700003 meters Centerline goodness [0,1] 0.9778194097511334 Centerline is valid? [True, True] Translation: X:343.93, Y:-13.50, Z:3.52 [[ 9.99069689e-01 -3.89456318e-02 -1.85201098e-02 3.43934785e+02] [ 3.89657154e-02 9.99240285e-01 7.24666701e-04 -1.35028818e+01] [ 1.84778172e-02 -1.44564186e-03 9.99828225e-01 3.51638251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.600714057 meters Centerline goodness [0,1] 0.9766789531029046 Centerline is valid? [True, True] Translation: X:343.96, Y:-13.50, Z:3.52 [[ 9.99179004e-01 -3.65303766e-02 -1.75171027e-02 3.43964326e+02] [ 3.65479749e-02 9.99331665e-01 6.85449459e-04 -1.35019085e+01] [ 1.74803557e-02 -1.32510134e-03 9.99846329e-01 3.51720790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63071405700003 meters Centerline goodness [0,1] 0.9776081306849823 Centerline is valid? [True, True] Translation: X:344.00, Y:-13.50, Z:3.52 [[ 9.99224696e-01 -3.54621110e-02 -1.71010654e-02 3.43996267e+02] [ 3.54787381e-02 9.99370207e-01 6.69785969e-04 -1.35011059e+01] [ 1.70665432e-02 -1.27599090e-03 9.99853542e-01 3.51809848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.660714057 meters Centerline goodness [0,1] 0.9763704665615435 Centerline is valid? [True, True] Translation: X:344.03, Y:-13.50, Z:3.52 [[ 9.99294477e-01 -3.37465946e-02 -1.64838083e-02 3.44028154e+02] [ 3.37618248e-02 9.99429698e-01 6.46459421e-04 -1.34984652e+01] [ 1.64525917e-02 -1.20252678e-03 9.99863924e-01 3.51952829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.690714057 meters Centerline goodness [0,1] 0.9765903426428455 Centerline is valid? [True, True] Translation: X:344.06, Y:-13.50, Z:3.52 [[ 9.99319680e-01 -3.29953587e-02 -1.64767495e-02 3.44060734e+02] [ 3.30104919e-02 9.99454796e-01 6.47260278e-04 -1.34970854e+01] [ 1.64464097e-02 -1.19072554e-03 9.99864040e-01 3.52012314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.720714057 meters Centerline goodness [0,1] 0.9769418889018283 Centerline is valid? [True, True] Translation: X:344.09, Y:-13.50, Z:3.52 [[ 9.99373182e-01 -3.14539442e-02 -1.62447733e-02 3.44091523e+02] [ 3.14684630e-02 9.99504541e-01 6.38846209e-04 -1.34979438e+01] [ 1.62166304e-02 -1.14964381e-03 9.99867841e-01 3.51895961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.750714057 meters Centerline goodness [0,1] 0.9767691124729129 Centerline is valid? [True, True] Translation: X:344.12, Y:-13.50, Z:3.52 [[ 9.99377822e-01 -3.11290037e-02 -1.65817431e-02 3.44123945e+02] [ 3.11441033e-02 9.99514691e-01 6.53100906e-04 -1.34991601e+01] [ 1.65533655e-02 -1.16911808e-03 9.99862300e-01 3.51861624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.780714057 meters Centerline goodness [0,1] 0.976696399383552 Centerline is valid? [True, True] Translation: X:344.16, Y:-13.50, Z:3.52 [[ 9.99380376e-01 -3.08177756e-02 -1.70038079e-02 3.44156447e+02] [ 3.08336288e-02 9.99524305e-01 6.70890558e-04 -1.35000829e+01] [ 1.69750440e-02 -1.19476396e-03 9.99855200e-01 3.51844703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.810714057 meters Centerline goodness [0,1] 0.9782674736522329 Centerline is valid? [True, True] Translation: X:344.19, Y:-13.50, Z:3.52 [[ 9.99421744e-01 -2.92455827e-02 -1.73456977e-02 3.44187282e+02] [ 2.92618568e-02 9.99571545e-01 6.85108533e-04 -1.35000918e+01] [ 1.73182295e-02 -1.19227969e-03 9.99849317e-01 3.51887120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.840714057 meters Centerline goodness [0,1] 0.9768183203244029 Centerline is valid? [True, True] Translation: X:344.22, Y:-13.50, Z:3.52 [[ 9.99440233e-01 -2.86676383e-02 -1.72449133e-02 3.44219007e+02] [ 2.86836481e-02 9.99588307e-01 6.81703955e-04 -1.35009063e+01] [ 1.72182708e-02 -1.17596938e-03 9.99851063e-01 3.51849460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.870714057 meters Centerline goodness [0,1] 0.9770776319790424 Centerline is valid? [True, True] Translation: X:344.25, Y:-13.50, Z:3.52 [[ 9.99449292e-01 -2.81313206e-02 -1.75994944e-02 3.44251585e+02] [ 2.81479313e-02 9.99603526e-01 6.96763541e-04 -1.35023047e+01] [ 1.75729158e-02 -1.19176919e-03 9.99844874e-01 3.51850120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.900714057 meters Centerline goodness [0,1] 0.9781768796684385 Centerline is valid? [True, True] Translation: X:344.28, Y:-13.50, Z:3.52 [[ 9.99501229e-01 -2.61366986e-02 -1.77247583e-02 3.44282167e+02] [ 2.61532471e-02 9.99657699e-01 7.02446862e-04 -1.35033888e+01] [ 1.77003314e-02 -1.16565649e-03 9.99842657e-01 3.51825385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.930714057 meters Centerline goodness [0,1] 0.9778343532489373 Centerline is valid? [True, True] Translation: X:344.31, Y:-13.50, Z:3.52 [[ 9.99526841e-01 -2.50321621e-02 -1.78741376e-02 3.44313596e+02] [ 2.50488254e-02 9.99685978e-01 7.08954993e-04 -1.35041648e+01] [ 1.78507781e-02 -1.15634570e-03 9.99839993e-01 3.51785764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.960714057 meters Centerline goodness [0,1] 0.9775721895149986 Centerline is valid? [True, True] Translation: X:344.34, Y:-13.50, Z:3.52 [[ 9.99592358e-01 -2.25574302e-02 -1.75008850e-02 3.44344472e+02] [ 2.25730331e-02 9.99744955e-01 6.94498777e-04 -1.35028762e+01] [ 1.74807554e-02 -1.08926373e-03 9.99846607e-01 3.51893715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.990714057 meters Centerline goodness [0,1] 0.9810786127438353 Centerline is valid? [True, True] Translation: X:344.38, Y:-13.49, Z:3.52 [[ 9.99639067e-01 -2.08093234e-02 -1.69913911e-02 3.44375238e+02] [ 2.08237805e-02 9.99782934e-01 6.74343310e-04 -1.34923158e+01] [ 1.69736702e-02 -1.02792492e-03 9.99855408e-01 3.52202510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.020714057 meters Centerline goodness [0,1] 0.9808867964303282 Centerline is valid? [True, True] Translation: X:344.40, Y:-13.49, Z:3.52 [[ 9.99680040e-01 -1.92003670e-02 -1.64670246e-02 3.44404660e+02] [ 1.92137333e-02 9.99815185e-01 6.53864016e-04 -1.34940107e+01] [ 1.64514268e-02 -9.70047824e-04 9.99864196e-01 3.52242976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.050714057 meters Centerline goodness [0,1] 0.9807290566392038 Centerline is valid? [True, True] Translation: X:344.44, Y:-13.49, Z:3.52 [[ 9.99765553e-01 -1.53555490e-02 -1.52658247e-02 3.44435669e+02] [ 1.53665913e-02 9.99881743e-01 6.06289752e-04 -1.34918694e+01] [ 1.52547095e-02 -8.40731299e-04 9.99883287e-01 3.52381133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.080714057 meters Centerline goodness [0,1] 0.9804382030387714 Centerline is valid? [True, True] Translation: X:344.47, Y:-13.49, Z:3.52 [[ 9.99800718e-01 -1.33071957e-02 -1.48809454e-02 3.44465392e+02] [ 1.33174563e-02 9.99911144e-01 5.90630719e-04 -1.34926722e+01] [ 1.48717635e-02 -7.88689357e-04 9.99889098e-01 3.52394365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.110714057 meters Centerline goodness [0,1] 0.9809788366016149 Centerline is valid? [True, True] Translation: X:344.49, Y:-13.50, Z:3.52 [[ 9.99847004e-01 -1.02739256e-02 -1.41568147e-02 3.44494240e+02] [ 1.02829017e-02 9.99946972e-01 5.61403283e-04 -1.34952945e+01] [ 1.41502962e-02 -7.06890524e-04 9.99899630e-01 3.52373696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.140714057 meters Centerline goodness [0,1] 0.9819872851424535 Centerline is valid? [True, True] Translation: X:344.52, Y:-13.49, Z:3.52 [[ 9.99856042e-01 -9.56536810e-03 -1.40142076e-02 3.44523038e+02] [ 9.57405850e-03 9.99954015e-01 5.53153177e-04 -1.34929918e+01] [ 1.40082721e-02 -6.87246391e-04 9.99901643e-01 3.52428778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.170714057 meters Centerline goodness [0,1] 0.982407864719302 Centerline is valid? [True, True] Translation: X:344.55, Y:-13.49, Z:3.52 [[ 9.99845645e-01 -8.94979866e-03 -1.51190806e-02 3.44551340e+02] [ 8.95980465e-03 9.99959684e-01 5.94204745e-04 -1.34938195e+01] [ 1.51131530e-02 -7.29577035e-04 9.99885524e-01 3.52321686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.200714057 meters Centerline goodness [0,1] 0.9820332525927146 Centerline is valid? [True, True] Translation: X:344.58, Y:-13.50, Z:3.52 [[ 9.99828455e-01 -9.29104488e-03 -1.60230396e-02 3.44580362e+02] [ 9.30226908e-03 9.99956537e-01 6.26114513e-04 -1.34951117e+01] [ 1.60165260e-02 -7.75057732e-04 9.99871427e-01 3.52260608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.230714057 meters Centerline goodness [0,1] 0.9833251017192314 Centerline is valid? [True, True] Translation: X:344.61, Y:-13.50, Z:3.52 [[ 9.99806943e-01 -1.04725327e-02 -1.66253928e-02 3.44608449e+02] [ 1.04847435e-02 9.99944824e-01 6.47474905e-04 -1.34983134e+01] [ 1.66176948e-02 -8.21662884e-04 9.99861579e-01 3.52127048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26071405700003 meters Centerline goodness [0,1] 0.9815301572400845 Centerline is valid? [True, True] Translation: X:344.64, Y:-13.50, Z:3.52 [[ 9.99783168e-01 -1.14349993e-02 -1.74027891e-02 3.44636416e+02] [ 1.14484975e-02 9.99934235e-01 6.76205383e-04 -1.35029734e+01] [ 1.73939122e-02 -8.75294549e-04 9.99848331e-01 3.52047468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.290714057 meters Centerline goodness [0,1] 0.9825758641714741 Centerline is valid? [True, True] Translation: X:344.66, Y:-13.50, Z:3.52 [[ 9.99779061e-01 -1.23170084e-02 -1.70329318e-02 3.44664740e+02] [ 1.23300413e-02 9.99923764e-01 6.60348838e-04 -1.35037464e+01] [ 1.70234998e-02 -8.70219695e-04 9.99854711e-01 3.52100249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32071405700003 meters Centerline goodness [0,1] 0.9820857922605024 Centerline is valid? [True, True] Translation: X:344.69, Y:-13.51, Z:3.52 [[ 9.99777436e-01 -1.37185327e-02 -1.60274621e-02 3.44692341e+02] [ 1.37302209e-02 9.99905544e-01 6.19447710e-04 -1.35078395e+01] [ 1.60174503e-02 -8.39370439e-04 9.99871360e-01 3.52168059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.350714057 meters Centerline goodness [0,1] 0.9813182199832073 Centerline is valid? [True, True] Translation: X:344.72, Y:-13.51, Z:3.52 [[ 9.99783347e-01 -1.41108077e-02 -1.53017690e-02 3.44720982e+02] [ 1.41214578e-02 9.99900114e-01 5.88176343e-04 -1.35084140e+01] [ 1.52919409e-02 -8.04132198e-04 9.99882748e-01 3.52267052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38071405700003 meters Centerline goodness [0,1] 0.9810154732086426 Centerline is valid? [True, True] Translation: X:344.75, Y:-13.51, Z:3.52 [[ 9.99777402e-01 -1.50460025e-02 -1.47906582e-02 3.44749630e+02] [ 1.50560332e-02 9.99886491e-01 5.67053415e-04 -1.35118383e+01] [ 1.47804475e-02 -7.89615832e-04 9.99890451e-01 3.52417774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.410714057 meters Centerline goodness [0,1] 0.979311308885886 Centerline is valid? [True, True] Translation: X:344.78, Y:-13.51, Z:3.52 [[ 9.99782400e-01 -1.53966473e-02 -1.40746293e-02 3.44779606e+02] [ 1.54057574e-02 9.99881179e-01 5.39070388e-04 -1.35121739e+01] [ 1.40646570e-02 -7.55783411e-04 9.99900802e-01 3.52492068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.440714057 meters Centerline goodness [0,1] 0.980786270577811 Centerline is valid? [True, True] Translation: X:344.81, Y:-13.51, Z:3.53 [[ 9.99778944e-01 -1.59607056e-02 -1.36864426e-02 3.44810208e+02] [ 1.59693710e-02 9.99872344e-01 5.24072931e-04 -1.35078575e+01] [ 1.36763309e-02 -7.42520960e-04 9.99906199e-01 3.52656846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.470714057 meters Centerline goodness [0,1] 0.9813092846128686 Centerline is valid? [True, True] Translation: X:344.84, Y:-13.51, Z:3.53 [[ 9.99756063e-01 -1.76610265e-02 -1.32628489e-02 3.44840748e+02] [ 1.76693129e-02 9.99843757e-01 5.07852937e-04 -1.35106114e+01] [ 1.32518074e-02 -7.42074479e-04 9.99911916e-01 3.52662771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.500714057 meters Centerline goodness [0,1] 0.9807001166861143 Centerline is valid? [True, True] Translation: X:344.87, Y:-13.51, Z:3.53 [[ 9.99738596e-01 -1.85048334e-02 -1.34279888e-02 3.44872441e+02] [ 1.85134078e-02 9.99828480e-01 5.14512634e-04 -1.35113301e+01] [ 1.34161646e-02 -7.62975969e-04 9.99909708e-01 3.52676920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.530714057 meters Centerline goodness [0,1] 0.9805498410323545 Centerline is valid? [True, True] Translation: X:344.90, Y:-13.51, Z:3.53 [[ 9.99704162e-01 -2.03688021e-02 -1.32928469e-02 3.44903763e+02] [ 2.03773753e-02 9.99792230e-01 5.09808839e-04 -1.35119797e+01] [ 1.32797008e-02 -7.80531347e-04 9.99911516e-01 3.52733419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.560714057 meters Centerline goodness [0,1] 0.9794929419200786 Centerline is valid? [True, True] Translation: X:344.93, Y:-13.52, Z:3.53 [[ 9.99649126e-01 -2.27093227e-02 -1.36349400e-02 3.44933650e+02] [ 2.27185617e-02 9.99741763e-01 5.23075263e-04 -1.35153001e+01] [ 1.36195402e-02 -8.32657955e-04 9.99906903e-01 3.52775571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.590714057 meters Centerline goodness [0,1] 0.980000467825314 Centerline is valid? [True, True] Translation: X:344.97, Y:-13.52, Z:3.53 [[ 9.99625168e-01 -2.36769524e-02 -1.37450077e-02 3.44965279e+02] [ 2.36864395e-02 9.99719298e-01 5.27815932e-04 -1.35179236e+01] [ 1.37286524e-02 -8.53188384e-04 9.99905394e-01 3.52759734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.620714057 meters Centerline goodness [0,1] 0.9806269402236071 Centerline is valid? [True, True] Translation: X:345.00, Y:-13.52, Z:3.53 [[ 9.99596520e-01 -2.47159511e-02 -1.39970996e-02 3.44997481e+02] [ 2.47259037e-02 9.99694123e-01 5.38414325e-04 -1.35208148e+01] [ 1.39795108e-02 -8.84288023e-04 9.99901891e-01 3.52731783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.650714057 meters Centerline goodness [0,1] 0.9796119004704946 Centerline is valid? [True, True] Translation: X:345.03, Y:-13.52, Z:3.53 [[ 9.99527938e-01 -2.64209220e-02 -1.56791368e-02 3.45027884e+02] [ 2.64336277e-02 9.99650388e-01 6.03631344e-04 -1.35236491e+01] [ 1.56577067e-02 -1.01780286e-03 9.99876893e-01 3.52631440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.680714057 meters Centerline goodness [0,1] 0.97908820846296 Centerline is valid? [True, True] Translation: X:345.06, Y:-13.53, Z:3.53 [[ 9.99501130e-01 -2.68078700e-02 -1.66981926e-02 3.45059956e+02] [ 2.68223508e-02 9.99640009e-01 6.43818171e-04 -1.35251760e+01] [ 1.66749220e-02 -1.09138177e-03 9.99860368e-01 3.52547469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.710714057 meters Centerline goodness [0,1] 0.978429903039955 Centerline is valid? [True, True] Translation: X:345.09, Y:-13.53, Z:3.52 [[ 9.99453675e-01 -2.73900590e-02 -1.84969364e-02 3.45090822e+02] [ 2.74079517e-02 9.99624076e-01 7.14477392e-04 -1.35274963e+01] [ 1.84704134e-02 -1.22105020e-03 9.99828662e-01 3.52382008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.740714057 meters Centerline goodness [0,1] 0.9790899063622069 Centerline is valid? [True, True] Translation: X:345.12, Y:-13.53, Z:3.52 [[ 9.99433575e-01 -2.78191235e-02 -1.89373902e-02 3.45122653e+02] [ 2.78379704e-02 9.99612180e-01 7.32287400e-04 -1.35267969e+01] [ 1.89096743e-02 -1.25905112e-03 9.99820403e-01 3.52400176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.770714057 meters Centerline goodness [0,1] 0.979484889787094 Centerline is valid? [True, True] Translation: X:345.15, Y:-13.53, Z:3.52 [[ 9.99412275e-01 -2.82236399e-02 -1.94558585e-02 3.45154346e+02] [ 2.82436224e-02 9.99600786e-01 7.53000463e-04 -1.35281840e+01] [ 1.94268390e-02 -1.30206183e-03 9.99810433e-01 3.52348337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.800714057 meters Centerline goodness [0,1] 0.978792515005296 Centerline is valid? [True, True] Translation: X:345.19, Y:-13.52, Z:3.53 [[ 9.99384951e-01 -2.92522281e-02 -1.93397747e-02 3.45186280e+02] [ 2.92721829e-02 9.99571197e-01 7.49460114e-04 -1.35225101e+01] [ 1.93095584e-02 -1.31511658e-03 9.99812688e-01 3.52519526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.830714057 meters Centerline goodness [0,1] 0.975226231049477 Centerline is valid? [True, True] Translation: X:345.22, Y:-13.53, Z:3.52 [[ 9.99368619e-01 -2.99718322e-02 -1.90801560e-02 3.45216824e+02] [ 2.99914045e-02 9.99549882e-01 7.40408973e-04 -1.35319403e+01] [ 1.90493763e-02 -1.31218217e-03 9.99817683e-01 3.52416009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.860714057 meters Centerline goodness [0,1] 0.9749103096676737 Centerline is valid? [True, True] Translation: X:345.25, Y:-13.53, Z:3.53 [[ 9.99351619e-01 -3.14783361e-02 -1.74772800e-02 3.45248763e+02] [ 3.14950021e-02 9.99503679e-01 6.79086757e-04 -1.35309433e+01] [ 1.74472292e-02 -1.22909342e-03 9.99847030e-01 3.52611680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.890714057 meters Centerline goodness [0,1] 0.9761263177799839 Centerline is valid? [True, True] Translation: X:345.28, Y:-13.53, Z:3.53 [[ 9.99324720e-01 -3.25741287e-02 -1.70008902e-02 3.45281153e+02] [ 3.25900745e-02 9.99468583e-01 6.61659270e-04 -1.35306098e+01] [ 1.69703027e-02 -1.21527274e-03 9.99855255e-01 3.52731695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.920714057 meters Centerline goodness [0,1] 0.9740373051618837 Centerline is valid? [True, True] Translation: X:345.31, Y:-13.53, Z:3.53 [[ 9.99290025e-01 -3.38544589e-02 -1.65324447e-02 3.45313401e+02] [ 3.38697307e-02 9.99426048e-01 6.44547675e-04 -1.35318268e+01] [ 1.65011350e-02 -1.20403951e-03 9.99863122e-01 3.52729290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.950714057 meters Centerline goodness [0,1] 0.9749157177546738 Centerline is valid? [True, True] Translation: X:345.34, Y:-13.53, Z:3.53 [[ 9.99206466e-01 -3.62975199e-02 -1.63990108e-02 3.45344916e+02] [ 3.63128848e-02 9.99340265e-01 6.40052189e-04 -1.35299652e+01] [ 1.63649595e-02 -1.23503968e-03 9.99865322e-01 3.52806429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.980714057 meters Centerline goodness [0,1] 0.9752390349331642 Centerline is valid? [True, True] Translation: X:345.38, Y:-13.53, Z:3.53 [[ 9.99165184e-01 -3.72973502e-02 -1.66686274e-02 3.45375916e+02] [ 3.73133765e-02 9.99303401e-01 6.51389506e-04 -1.35346113e+01] [ 1.66327210e-02 -1.27280849e-03 9.99860857e-01 3.52718756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01071405700003 meters Centerline goodness [0,1] 0.9728843158540614 Centerline is valid? [True, True] Translation: X:345.41, Y:-13.54, Z:3.53 [[ 9.99106293e-01 -3.82892282e-02 -1.79038940e-02 3.45406426e+02] [ 3.83078893e-02 9.99265738e-01 7.00374566e-04 -1.35411378e+01] [ 1.78639311e-02 -1.38560903e-03 9.99839467e-01 3.52532821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.040714057 meters Centerline goodness [0,1] 0.975317964085986 Centerline is valid? [True, True] Translation: X:345.44, Y:-13.53, Z:3.53 [[ 9.99084532e-01 -3.84865490e-02 -1.86784027e-02 3.45438675e+02] [ 3.85069164e-02 9.99258066e-01 7.31867346e-04 -1.35340290e+01] [ 1.86363775e-02 -1.45044504e-03 9.99825276e-01 3.52682521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07071405700003 meters Centerline goodness [0,1] 0.9755584446282946 Centerline is valid? [True, True] Translation: X:345.47, Y:-13.54, Z:3.53 [[ 9.99054095e-01 -3.88804610e-02 -1.94736881e-02 3.45470654e+02] [ 3.89027016e-02 9.99242711e-01 7.64421111e-04 -1.35359886e+01] [ 1.94292199e-02 -1.52127712e-03 9.99810078e-01 3.52649612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.100714057 meters Centerline goodness [0,1] 0.9752594339622641 Centerline is valid? [True, True] Translation: X:345.50, Y:-13.54, Z:3.53 [[ 9.99049145e-01 -3.85992366e-02 -2.02707905e-02 3.45503202e+02] [ 3.86233074e-02 9.99253524e-01 7.97157152e-04 -1.35359681e+01] [ 2.02248892e-02 -1.57932414e-03 9.99794209e-01 3.52617430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13071405700003 meters Centerline goodness [0,1] 0.976980349653645 Centerline is valid? [True, True] Translation: X:345.54, Y:-13.53, Z:3.53 [[ 9.99054569e-01 -3.81832674e-02 -2.07847691e-02 3.45535636e+02] [ 3.82085161e-02 9.99269453e-01 8.18862034e-04 -1.35349406e+01] [ 2.07383180e-02 -1.61224304e-03 9.99783638e-01 3.52654354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.160714057 meters Centerline goodness [0,1] 0.9763881988312395 Centerline is valid? [True, True] Translation: X:345.57, Y:-13.53, Z:3.53 [[ 9.99102313e-01 -3.68371116e-02 -2.09187778e-02 3.45567349e+02] [ 3.68624186e-02 9.99320009e-01 8.25334309e-04 -1.35349962e+01] [ 2.08741502e-02 -1.59571016e-03 9.99780838e-01 3.52606646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.190714057 meters Centerline goodness [0,1] 0.9766033450829174 Centerline is valid? [True, True] Translation: X:345.60, Y:-13.54, Z:3.53 [[ 9.99150623e-01 -3.54765348e-02 -2.09630158e-02 3.45599166e+02] [ 3.55016746e-02 9.99369274e-01 8.28194619e-04 -1.35355526e+01] [ 2.09204124e-02 -1.57171334e-03 9.99779909e-01 3.52626028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.220714057 meters Centerline goodness [0,1] 0.9766033450829174 Centerline is valid? [True, True] Translation: X:345.63, Y:-13.54, Z:3.53 [[ 9.99153128e-01 -3.54059416e-02 -2.09629600e-02 3.45630932e+02] [ 3.54310954e-02 9.99371777e-01 8.29605268e-04 -1.35368704e+01] [ 2.09204177e-02 -1.57164333e-03 9.99779909e-01 3.52638678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.250714057 meters Centerline goodness [0,1] 0.9759010500425693 Centerline is valid? [True, True] Translation: X:345.66, Y:-13.54, Z:3.53 [[ 9.99212268e-01 -3.37230519e-02 -2.09188670e-02 3.45662776e+02] [ 3.37477577e-02 9.99430038e-01 8.29037287e-04 -1.35360780e+01] [ 2.08789864e-02 -1.53434908e-03 9.99780833e-01 3.52696130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.280714057 meters Centerline goodness [0,1] 0.9754356100905501 Centerline is valid? [True, True] Translation: X:345.69, Y:-13.54, Z:3.53 [[ 9.99374269e-01 -2.92379149e-02 -1.99051561e-02 3.45692489e+02] [ 2.92593968e-02 9.99571541e-01 7.88775768e-04 -1.35371036e+01] [ 1.98735654e-02 -1.37069507e-03 9.99801562e-01 3.52744311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.310714057 meters Centerline goodness [0,1] 0.9767358965828621 Centerline is valid? [True, True] Translation: X:345.72, Y:-13.53, Z:3.53 [[ 9.99441661e-01 -2.69847120e-02 -1.97025898e-02 3.45723100e+02] [ 2.70053217e-02 9.99634985e-01 7.80677709e-04 -1.35313602e+01] [ 1.96743317e-02 -1.31231660e-03 9.99805580e-01 3.52915837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.340714057 meters Centerline goodness [0,1] 0.9773837611115083 Centerline is valid? [True, True] Translation: X:345.75, Y:-13.52, Z:3.53 [[ 9.99568096e-01 -2.25806309e-02 -1.88078842e-02 3.45754293e+02] [ 2.25986358e-02 9.99744340e-01 7.45294929e-04 -1.35248881e+01] [ 1.87862466e-02 -1.17000556e-03 9.99822838e-01 3.53171395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.370714057 meters Centerline goodness [0,1] 0.975782423187853 Centerline is valid? [True, True] Translation: X:345.78, Y:-13.53, Z:3.53 [[ 9.99651970e-01 -1.90016288e-02 -1.82996272e-02 3.45783698e+02] [ 1.90180947e-02 9.99818876e-01 7.26171432e-04 -1.35273222e+01] [ 1.82825143e-02 -1.07394275e-03 9.99832284e-01 3.53141983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.400714057 meters Centerline goodness [0,1] 0.9763617677286742 Centerline is valid? [True, True] Translation: X:345.81, Y:-13.53, Z:3.53 [[ 9.99683682e-01 -1.74198171e-02 -1.81407216e-02 3.45814303e+02] [ 1.74357436e-02 9.99847727e-01 7.20140848e-04 -1.35277684e+01] [ 1.81254145e-02 -1.03621003e-03 9.99835184e-01 3.53099452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.430714057 meters Centerline goodness [0,1] 0.9777974495777209 Centerline is valid? [True, True] Translation: X:345.84, Y:-13.52, Z:3.53 [[ 9.99691423e-01 -1.65659380e-02 -1.85102231e-02 3.45844842e+02] [ 1.65823742e-02 9.99862233e-01 7.34809126e-04 -1.35217483e+01] [ 1.84955002e-02 -1.04152583e-03 9.99828401e-01 3.53199573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.460714057 meters Centerline goodness [0,1] 0.9768662799060267 Centerline is valid? [True, True] Translation: X:345.87, Y:-13.53, Z:3.53 [[ 9.99702333e-01 -1.56247045e-02 -1.87380158e-02 3.45872840e+02] [ 1.56413184e-02 9.99877393e-01 7.40400385e-04 -1.35270192e+01] [ 1.87241499e-02 -1.03326726e-03 9.99824154e-01 3.53065762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.490714057 meters Centerline goodness [0,1] 0.9787983326146328 Centerline is valid? [True, True] Translation: X:345.90, Y:-13.52, Z:3.53 [[ 9.99715540e-01 -1.38539323e-02 -1.94141264e-02 3.45902237e+02] [ 1.38713445e-02 9.99903498e-01 7.62501478e-04 -1.35200222e+01] [ 1.94016892e-02 -1.03158461e-03 9.99811237e-01 3.53196839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.520714057 meters Centerline goodness [0,1] 0.9791107704101188 Centerline is valid? [True, True] Translation: X:345.93, Y:-13.52, Z:3.53 [[ 9.99715056e-01 -1.28885302e-02 -2.00920895e-02 3.45930760e+02] [ 1.29068859e-02 9.99916395e-01 7.84164399e-04 -1.35196664e+01] [ 2.00803029e-02 -1.04326726e-03 9.99797826e-01 3.53190904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.550714057 meters Centerline goodness [0,1] 0.9790848107331097 Centerline is valid? [True, True] Translation: X:345.96, Y:-13.52, Z:3.53 [[ 9.99719680e-01 -1.24813968e-02 -2.01190432e-02 3.45959574e+02] [ 1.24996196e-02 9.99921572e-01 7.80246702e-04 -1.35206506e+01] [ 2.01077268e-02 -1.03150837e-03 9.99797287e-01 3.53211630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.580714057 meters Centerline goodness [0,1] 0.9790891412383261 Centerline is valid? [True, True] Translation: X:345.99, Y:-13.52, Z:3.53 [[ 9.99719465e-01 -1.27546875e-02 -1.99576856e-02 3.45987188e+02] [ 1.27725647e-02 9.99918132e-01 7.68537494e-04 -1.35219303e+01] [ 1.99462492e-02 -1.02323272e-03 9.99800530e-01 3.53211039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.610714057 meters Centerline goodness [0,1] 0.9798693187277794 Centerline is valid? [True, True] Translation: X:346.02, Y:-13.52, Z:3.53 [[ 9.99727142e-01 -1.27629617e-02 -1.95639379e-02 3.46015522e+02] [ 1.27800456e-02 9.99918052e-01 7.48451681e-04 -1.35225285e+01] [ 1.95527823e-02 -9.98275478e-04 9.99808328e-01 3.53255511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.640714057 meters Centerline goodness [0,1] 0.9790226517090439 Centerline is valid? [True, True] Translation: X:346.04, Y:-13.52, Z:3.53 [[ 9.99756199e-01 -1.26645285e-02 -1.80873645e-02 3.46043882e+02] [ 1.26790356e-02 9.99919381e-01 6.87603769e-04 -1.35245363e+01] [ 1.80771981e-02 -9.16766468e-04 9.99836174e-01 3.53257778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.670714057 meters Centerline goodness [0,1] 0.9786887601168527 Centerline is valid? [True, True] Translation: X:346.07, Y:-13.53, Z:3.53 [[ 9.99754982e-01 -1.31471096e-02 -1.78081020e-02 3.46071447e+02] [ 1.31611976e-02 9.99913160e-01 6.74134726e-04 -1.35276135e+01] [ 1.77976927e-02 -9.08345502e-04 9.99841196e-01 3.53237363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.700714057 meters Centerline goodness [0,1] 0.9780185684622544 Centerline is valid? [True, True] Translation: X:346.10, Y:-13.53, Z:3.53 [[ 9.99734345e-01 -1.41052451e-02 -1.82285712e-02 3.46100206e+02] [ 1.41200913e-02 9.99900071e-01 6.85992929e-04 -1.35282662e+01] [ 1.82170735e-02 -9.43199782e-04 9.99833610e-01 3.53258617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.730714057 meters Centerline goodness [0,1] 0.9792655866001766 Centerline is valid? [True, True] Translation: X:346.13, Y:-13.53, Z:3.53 [[ 9.99707973e-01 -1.49364351e-02 -1.89966037e-02 3.46128630e+02] [ 1.49526744e-02 9.99887948e-01 7.13094268e-04 -1.35317252e+01] [ 1.89838240e-02 -9.96936054e-04 9.99819294e-01 3.53195742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76071405700003 meters Centerline goodness [0,1] 0.9778923745404192 Centerline is valid? [True, True] Translation: X:346.16, Y:-13.54, Z:3.53 [[ 9.99661258e-01 -1.71375789e-02 -1.95875874e-02 3.46158078e+02] [ 1.71552510e-02 9.99852568e-01 7.34524406e-04 -1.35354533e+01] [ 1.95721116e-02 -1.07030557e-03 9.99807875e-01 3.53123445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.790714057 meters Centerline goodness [0,1] 0.9769419499297302 Centerline is valid? [True, True] Translation: X:346.19, Y:-13.54, Z:3.53 [[ 9.99628075e-01 -1.83846348e-02 -2.01424160e-02 3.46186839e+02] [ 1.84035607e-02 9.99830355e-01 7.54629865e-04 -1.35436001e+01] [ 2.01251253e-02 -1.12504137e-03 9.99796836e-01 3.52911278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82071405700003 meters Centerline goodness [0,1] 0.9789956944741788 Centerline is valid? [True, True] Translation: X:346.22, Y:-13.54, Z:3.53 [[ 9.99563193e-01 -2.10139217e-02 -2.07807386e-02 3.46216715e+02] [ 2.10346176e-02 9.99778445e-01 7.77812215e-04 -1.35400891e+01] [ 2.07597896e-02 -1.21458735e-03 9.99783755e-01 3.53029199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.850714057 meters Centerline goodness [0,1] 0.9792850857373891 Centerline is valid? [True, True] Translation: X:346.25, Y:-13.54, Z:3.53 [[ 9.99522966e-01 -2.24118314e-02 -2.12497083e-02 3.46246844e+02] [ 2.24337839e-02 9.99748015e-01 7.95222576e-04 -1.35436159e+01] [ 2.12265313e-02 -1.27155459e-03 9.99773883e-01 3.53016064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88071405700003 meters Centerline goodness [0,1] 0.9781343888597454 Centerline is valid? [True, True] Translation: X:346.28, Y:-13.55, Z:3.53 [[ 9.99493472e-01 -2.37023649e-02 -2.12366840e-02 3.46277246e+02] [ 2.37245807e-02 9.99718217e-01 7.94735169e-04 -1.35458836e+01] [ 2.12118627e-02 -1.29816404e-03 9.99774160e-01 3.52968329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.910714057 meters Centerline goodness [0,1] 0.978197224668555 Centerline is valid? [True, True] Translation: X:346.31, Y:-13.55, Z:3.53 [[ 9.99473857e-01 -2.54589635e-02 -2.00960085e-02 3.46308177e+02] [ 2.54792232e-02 9.99675069e-01 7.52707850e-04 -1.35490731e+01] [ 2.00703155e-02 -1.26434250e-03 9.99797771e-01 3.53060759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.940714057 meters Centerline goodness [0,1] 0.9777218316549496 Centerline is valid? [True, True] Translation: X:346.34, Y:-13.55, Z:3.53 [[ 9.99467478e-01 -2.59074600e-02 -1.98384316e-02 3.46338767e+02] [ 2.59273332e-02 9.99663552e-01 7.45161128e-04 -1.35540369e+01] [ 1.98124517e-02 -1.25912194e-03 9.99802921e-01 3.53081234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.970714057 meters Centerline goodness [0,1] 0.9771178997839968 Centerline is valid? [True, True] Translation: X:346.37, Y:-13.56, Z:3.53 [[ 9.99471591e-01 -2.69014870e-02 -1.82441216e-02 3.46368446e+02] [ 2.69184712e-02 9.99637397e-01 6.85966707e-04 -1.35594710e+01] [ 1.82190527e-02 -1.17670810e-03 9.99833327e-01 3.53144891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.000714057 meters Centerline goodness [0,1] 0.9751127998100214 Centerline is valid? [True, True] Translation: X:346.40, Y:-13.56, Z:3.53 [[ 9.99471103e-01 -2.73796959e-02 -1.75461151e-02 3.46400697e+02] [ 2.73954960e-02 9.99624455e-01 6.60716863e-04 -1.35614758e+01] [ 1.75214355e-02 -1.14105194e-03 9.99845837e-01 3.53196851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.030714057 meters Centerline goodness [0,1] 0.9754936780792727 Centerline is valid? [True, True] Translation: X:346.43, Y:-13.57, Z:3.53 [[ 9.99437247e-01 -2.84694976e-02 -1.77391467e-02 3.46432040e+02] [ 2.84858355e-02 9.99593972e-01 6.68962343e-04 -1.35654474e+01] [ 1.77128991e-02 -1.17390030e-03 9.99842425e-01 3.53256148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.060714057 meters Centerline goodness [0,1] 0.974916743428045 Centerline is valid? [True, True] Translation: X:346.46, Y:-13.57, Z:3.53 [[ 9.99406663e-01 -2.95851296e-02 -1.76363712e-02 3.46463234e+02] [ 2.96014672e-02 9.99561559e-01 6.65972672e-04 -1.35697306e+01] [ 1.76089358e-02 -1.18763999e-03 9.99844245e-01 3.53195506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.090714057 meters Centerline goodness [0,1] 0.9776043514248551 Centerline is valid? [True, True] Translation: X:346.50, Y:-13.56, Z:3.53 [[ 9.99384759e-01 -3.03091158e-02 -1.76482573e-02 3.46495766e+02] [ 3.03256085e-02 9.99539850e-01 6.67595018e-04 -1.35635504e+01] [ 1.76199023e-02 -1.20237843e-03 9.99844035e-01 3.53354777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.120714057 meters Centerline goodness [0,1] 0.97647197640118 Centerline is valid? [True, True] Translation: X:346.53, Y:-13.57, Z:3.53 [[ 9.99331150e-01 -3.19705480e-02 -1.77521045e-02 3.46526378e+02] [ 3.19875100e-02 9.99488043e-01 6.72297507e-04 -1.35683446e+01] [ 1.77215225e-02 -1.23969346e-03 9.99842193e-01 3.53378263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.150714057 meters Centerline goodness [0,1] 0.9769884352135946 Centerline is valid? [True, True] Translation: X:346.56, Y:-13.57, Z:3.53 [[ 9.99306549e-01 -3.26663296e-02 -1.78698718e-02 3.46558923e+02] [ 3.26836486e-02 9.99465517e-01 6.77907279e-04 -1.35693581e+01] [ 1.78381759e-02 -1.26148979e-03 9.99840091e-01 3.53402104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.180714057 meters Centerline goodness [0,1] 0.9774281805745554 Centerline is valid? [True, True] Translation: X:346.59, Y:-13.57, Z:3.53 [[ 9.99240444e-01 -3.40359177e-02 -1.89760846e-02 3.46590056e+02] [ 3.40557143e-02 9.99419676e-01 7.20973307e-04 -1.35731058e+01] [ 1.89405333e-02 -1.36666980e-03 9.99819678e-01 3.53312801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.210714057 meters Centerline goodness [0,1] 0.9775093024351185 Centerline is valid? [True, True] Translation: X:346.62, Y:-13.58, Z:3.53 [[ 9.99214508e-01 -3.44022919e-02 -1.96685039e-02 3.46622159e+02] [ 3.44236566e-02 9.99407050e-01 7.48608752e-04 -1.35762980e+01] [ 1.96310876e-02 -1.42508255e-03 9.99806276e-01 3.53297391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.240714057 meters Centerline goodness [0,1] 0.9764274119556778 Centerline is valid? [True, True] Translation: X:346.65, Y:-13.58, Z:3.53 [[ 9.99231750e-01 -3.41047130e-02 -1.93074748e-02 3.46653342e+02] [ 3.41252712e-02 9.99417292e-01 7.36223094e-04 -1.35827454e+01] [ 1.92711155e-02 -1.39453031e-03 9.99813322e-01 3.53223078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.270714057 meters Centerline goodness [0,1] 0.9765110148747882 Centerline is valid? [True, True] Translation: X:346.69, Y:-13.58, Z:3.53 [[ 9.99262067e-01 -3.38418692e-02 -1.81672788e-02 3.46685616e+02] [ 3.38600501e-02 9.99426343e-01 6.93998261e-04 -1.35832882e+01] [ 1.81333708e-02 -1.30863111e-03 9.99834721e-01 3.53365153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.300714057 meters Centerline goodness [0,1] 0.9772138788192646 Centerline is valid? [True, True] Translation: X:346.72, Y:-13.59, Z:3.53 [[ 9.99288232e-01 -3.32111724e-02 -1.78898420e-02 3.46717219e+02] [ 3.32287235e-02 9.99447539e-01 6.84625871e-04 -1.35864685e+01] [ 1.78572213e-02 -1.27859519e-03 9.99839730e-01 3.53394132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.330714057 meters Centerline goodness [0,1] 0.9759932216155149 Centerline is valid? [True, True] Translation: X:346.75, Y:-13.59, Z:3.53 [[ 9.99310530e-01 -3.27055498e-02 -1.75730146e-02 3.46749864e+02] [ 3.27224322e-02 9.99464251e-01 6.73945919e-04 -1.35864378e+01] [ 1.75415581e-02 -1.24851303e-03 9.99845356e-01 3.53464416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.360714057 meters Centerline goodness [0,1] 0.9774706907104854 Centerline is valid? [True, True] Translation: X:346.78, Y:-13.58, Z:3.54 [[ 9.99406699e-01 -3.04470875e-02 -1.61004459e-02 3.46780352e+02] [ 3.04609721e-02 9.99535766e-01 6.17786760e-04 -1.35837313e+01] [ 1.60741617e-02 -1.10785546e-03 9.99870189e-01 3.53690192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.390714057 meters Centerline goodness [0,1] 0.9766663524087866 Centerline is valid? [True, True] Translation: X:346.81, Y:-13.58, Z:3.54 [[ 9.99451324e-01 -2.89509541e-02 -1.60901688e-02 3.46811925e+02] [ 2.89646348e-02 9.99580246e-01 6.17819499e-04 -1.35846058e+01] [ 1.60655284e-02 -1.08352638e-03 9.99870354e-01 3.53745589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.420714057 meters Centerline goodness [0,1] 0.9765801886792452 Centerline is valid? [True, True] Translation: X:346.84, Y:-13.59, Z:3.54 [[ 9.99501550e-01 -2.71562729e-02 -1.60993517e-02 3.46842716e+02] [ 2.71697466e-02 9.99630643e-01 6.18736623e-04 -1.35859873e+01] [ 1.60766027e-02 -1.05584352e-03 9.99870206e-01 3.53733909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.450714057 meters Centerline goodness [0,1] 0.9767003112913876 Centerline is valid? [True, True] Translation: X:346.87, Y:-13.59, Z:3.54 [[ 9.99587011e-01 -2.37636887e-02 -1.61583990e-02 3.46872215e+02] [ 2.37768222e-02 9.99717098e-01 6.21145683e-04 -1.35874110e+01] [ 1.61390670e-02 -1.00508454e-03 9.99869252e-01 3.53683960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.480714057 meters Centerline goodness [0,1] 0.9780092592592593 Centerline is valid? [True, True] Translation: X:346.90, Y:-13.59, Z:3.54 [[ 9.99618215e-01 -2.24282073e-02 -1.61369099e-02 3.46903848e+02] [ 2.24411393e-02 9.99747973e-01 6.20737791e-04 -1.35884942e+01] [ 1.61189209e-02 -9.82631445e-04 9.99869599e-01 3.53662131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51071405700003 meters Centerline goodness [0,1] 0.9770459317275708 Centerline is valid? [True, True] Translation: X:346.93, Y:-13.59, Z:3.54 [[ 9.99651369e-01 -2.03184808e-02 -1.68612079e-02 3.46934752e+02] [ 2.03323107e-02 9.99793066e-01 6.49181229e-04 -1.35902955e+01] [ 1.68445283e-02 -9.91782221e-04 9.99857629e-01 3.53644975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.540714057 meters Centerline goodness [0,1] 0.9779422194902833 Centerline is valid? [True, True] Translation: X:346.97, Y:-13.59, Z:3.54 [[ 9.99664108e-01 -1.95123425e-02 -1.70569827e-02 3.46965670e+02] [ 1.95263846e-02 9.99809126e-01 6.57075931e-04 -1.35919681e+01] [ 1.70409059e-02 -9.89916429e-04 9.99854303e-01 3.53617832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57071405700003 meters Centerline goodness [0,1] 0.9776376688391424 Centerline is valid? [True, True] Translation: X:347.00, Y:-13.59, Z:3.54 [[ 9.99675196e-01 -1.87447167e-02 -1.72666605e-02 3.46995841e+02] [ 1.87589933e-02 9.99823813e-01 6.65220957e-04 -1.35943673e+01] [ 1.72511490e-02 -9.88910059e-04 9.99850699e-01 3.53578660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.600714057 meters Centerline goodness [0,1] 0.9775063661227954 Centerline is valid? [True, True] Translation: X:347.03, Y:-13.60, Z:3.53 [[ 9.99691035e-01 -1.81245970e-02 -1.70098218e-02 3.47025233e+02] [ 1.81383588e-02 9.99835272e-01 6.55109403e-04 -1.35992824e+01] [ 1.69951462e-02 -9.63437248e-04 9.99855108e-01 3.53430012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63071405700003 meters Centerline goodness [0,1] 0.9777422990232908 Centerline is valid? [True, True] Translation: X:347.06, Y:-13.60, Z:3.53 [[ 9.99688700e-01 -1.81864355e-02 -1.70808838e-02 3.47055896e+02] [ 1.82003203e-02 9.99834144e-01 6.57779884e-04 -1.36020110e+01] [ 1.70660881e-02 -9.68452674e-04 9.99853895e-01 3.53409359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.660714057 meters Centerline goodness [0,1] 0.9779866841710427 Centerline is valid? [True, True] Translation: X:347.09, Y:-13.61, Z:3.53 [[ 9.99697881e-01 -1.86525639e-02 -1.60071330e-02 3.47085935e+02] [ 1.86648173e-02 9.99825607e-01 6.16430055e-04 -1.36062924e+01] [ 1.59928435e-02 -9.15014034e-04 9.99871688e-01 3.53459964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.690714057 meters Centerline goodness [0,1] 0.9777574863618271 Centerline is valid? [True, True] Translation: X:347.12, Y:-13.61, Z:3.53 [[ 9.99686418e-01 -1.91117701e-02 -1.61804176e-02 3.47116767e+02] [ 1.91243502e-02 9.99816919e-01 6.23103194e-04 -1.36090648e+01] [ 1.61655467e-02 -9.32347773e-04 9.99868894e-01 3.53457980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.720714057 meters Centerline goodness [0,1] 0.9765876087925494 Centerline is valid? [True, True] Translation: X:347.15, Y:-13.61, Z:3.53 [[ 9.99672481e-01 -1.96684383e-02 -1.63732649e-02 3.47147165e+02] [ 1.96813945e-02 9.99806104e-01 6.30529685e-04 -1.36118152e+01] [ 1.63576886e-02 -9.52571860e-04 9.99865750e-01 3.53444164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.750714057 meters Centerline goodness [0,1] 0.9761277538174612 Centerline is valid? [True, True] Translation: X:347.18, Y:-13.62, Z:3.53 [[ 9.99631567e-01 -2.14756418e-02 -1.65990242e-02 3.47177293e+02] [ 2.14892095e-02 9.99768876e-01 6.39426547e-04 -1.36182579e+01] [ 1.65814557e-02 -9.95890869e-04 9.99862022e-01 3.53356119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.780714057 meters Centerline goodness [0,1] 0.9761949172301235 Centerline is valid? [True, True] Translation: X:347.21, Y:-13.62, Z:3.53 [[ 9.99618350e-01 -2.21125578e-02 -1.65586801e-02 3.47208160e+02] [ 2.21261543e-02 9.99754983e-01 6.38336326e-04 -1.36221912e+01] [ 1.65405076e-02 -1.00447262e-03 9.99862692e-01 3.53321207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.810714057 meters Centerline goodness [0,1] 0.9770835761743792 Centerline is valid? [True, True] Translation: X:347.24, Y:-13.62, Z:3.53 [[ 9.99548669e-01 -2.46207810e-02 -1.72126634e-02 3.47239117e+02] [ 2.46358493e-02 9.99696271e-01 6.63899532e-04 -1.36214746e+01] [ 1.71910897e-02 -1.08764848e-03 9.99851631e-01 3.53423239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.840714057 meters Centerline goodness [0,1] 0.9733420329030154 Centerline is valid? [True, True] Translation: X:347.27, Y:-13.63, Z:3.53 [[ 9.99520740e-01 -2.55602103e-02 -1.74633000e-02 3.47268731e+02] [ 2.55758686e-02 9.99672657e-01 6.73857114e-04 -1.36321678e+01] [ 1.74403596e-02 -1.12017323e-03 9.99847278e-01 3.53227228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.870714057 meters Centerline goodness [0,1] 0.9724742891712038 Centerline is valid? [True, True] Translation: X:347.30, Y:-13.64, Z:3.53 [[ 9.99500696e-01 -2.65267996e-02 -1.71664390e-02 3.47298667e+02] [ 2.65420766e-02 9.99647477e-01 6.62673003e-04 -1.36374883e+01] [ 1.71428089e-02 -1.11797507e-03 9.99852426e-01 3.53195793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.900714057 meters Centerline goodness [0,1] 0.9785749179984646 Centerline is valid? [True, True] Translation: X:347.33, Y:-13.62, Z:3.54 [[ 9.99468284e-01 -2.76887011e-02 -1.72187522e-02 3.47330933e+02] [ 2.77042564e-02 9.99615942e-01 6.65470522e-04 -1.36231328e+01] [ 1.71937132e-02 -1.14214941e-03 9.99851525e-01 3.53551020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.930714057 meters Centerline goodness [0,1] 0.9779411764705882 Centerline is valid? [True, True] Translation: X:347.36, Y:-13.63, Z:3.54 [[ 9.99464990e-01 -2.77938579e-02 -1.72405134e-02 3.47363248e+02] [ 2.78094881e-02 9.99613019e-01 6.67471745e-04 -1.36265850e+01] [ 1.72152900e-02 -1.14656449e-03 9.99851149e-01 3.53582047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.960714057 meters Centerline goodness [0,1] 0.9770392188695874 Centerline is valid? [True, True] Translation: X:347.39, Y:-13.63, Z:3.54 [[ 9.99465662e-01 -2.81271728e-02 -1.66509257e-02 3.47394837e+02] [ 2.81418139e-02 9.99603732e-01 6.45594871e-04 -1.36300659e+01] [ 1.66261687e-02 -1.11383716e-03 9.99861155e-01 3.53681307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.990714057 meters Centerline goodness [0,1] 0.9750110519090719 Centerline is valid? [True, True] Translation: X:347.43, Y:-13.64, Z:3.54 [[ 9.99488462e-01 -2.81800721e-02 -1.51227843e-02 3.47425340e+02] [ 2.81921666e-02 9.99602349e-01 5.87125746e-04 -1.36370186e+01] [ 1.51002255e-02 -1.01316947e-03 9.99885472e-01 3.53730446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.020714057 meters Centerline goodness [0,1] 0.9773653970901677 Centerline is valid? [True, True] Translation: X:347.46, Y:-13.63, Z:3.54 [[ 9.99502673e-01 -2.80838646e-02 -1.43423722e-02 3.47457458e+02] [ 2.80947465e-02 9.99605109e-01 5.57761298e-04 -1.36343098e+01] [ 1.43210445e-02 -9.60429219e-04 9.99896987e-01 3.53878326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.050714057 meters Centerline goodness [0,1] 0.9763000139411683 Centerline is valid? [True, True] Translation: X:347.49, Y:-13.64, Z:3.54 [[ 9.99499027e-01 -2.82714248e-02 -1.42275126e-02 3.47489481e+02] [ 2.82821662e-02 9.99599826e-01 5.54300443e-04 -1.36363987e+01] [ 1.42061482e-02 -9.56407628e-04 9.99898630e-01 3.53883276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.080714057 meters Centerline goodness [0,1] 0.9756052228056317 Centerline is valid? [True, True] Translation: X:347.52, Y:-13.64, Z:3.54 [[ 9.99504356e-01 -2.81365378e-02 -1.41201465e-02 3.47520154e+02] [ 2.81471243e-02 9.99603639e-01 5.51533363e-04 -1.36437768e+01] [ 1.40990316e-02 -9.48701517e-04 9.99900154e-01 3.53788349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.110714057 meters Centerline goodness [0,1] 0.9762473614622718 Centerline is valid? [True, True] Translation: X:347.55, Y:-13.64, Z:3.54 [[ 9.99490055e-01 -2.86028386e-02 -1.41953527e-02 3.47551892e+02] [ 2.86135990e-02 9.99590393e-01 5.55457016e-04 -1.36423723e+01] [ 1.41736505e-02 -9.61353892e-04 9.99899087e-01 3.53815567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.140714057 meters Centerline goodness [0,1] 0.9758628677322214 Centerline is valid? [True, True] Translation: X:347.58, Y:-13.65, Z:3.54 [[ 9.99426238e-01 -3.01204599e-02 -1.54904373e-02 3.47582214e+02] [ 3.01334615e-02 9.99545700e-01 6.06561465e-04 -1.36477669e+01] [ 1.54651300e-02 -1.07299394e-03 9.99879832e-01 3.53638042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.170714057 meters Centerline goodness [0,1] 0.9758628677322214 Centerline is valid? [True, True] Translation: X:347.61, Y:-13.65, Z:3.54 [[ 9.99428319e-01 -3.00513467e-02 -1.54904034e-02 3.47613962e+02] [ 3.00643534e-02 9.99547781e-01 6.07426421e-04 -1.36490743e+01] [ 1.54651443e-02 -1.07278813e-03 9.99879832e-01 3.53650691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.200714057 meters Centerline goodness [0,1] 0.976391270098698 Centerline is valid? [True, True] Translation: X:347.65, Y:-13.65, Z:3.54 [[ 9.99389091e-01 -3.09248506e-02 -1.62818674e-02 3.47646216e+02] [ 3.09393545e-02 9.99521059e-01 6.39601803e-04 -1.36532812e+01] [ 1.62542897e-02 -1.14296153e-03 9.99867237e-01 3.53526252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.230714057 meters Centerline goodness [0,1] 0.9772538525422165 Centerline is valid? [True, True] Translation: X:347.68, Y:-13.66, Z:3.53 [[ 9.99347350e-01 -3.18007700e-02 -1.71343354e-02 3.47678514e+02] [ 3.18169813e-02 9.99493484e-01 6.74291657e-04 -1.36554554e+01] [ 1.71042136e-02 -1.21901441e-03 9.99852969e-01 3.53461250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26071405700003 meters Centerline goodness [0,1] 0.9786287347842124 Centerline is valid? [True, True] Translation: X:347.71, Y:-13.66, Z:3.53 [[ 9.99243132e-01 -3.40367634e-02 -1.88324488e-02 3.47709947e+02] [ 3.40567583e-02 9.99419625e-01 7.41936988e-04 -1.36583850e+01] [ 1.87962658e-02 -1.38274760e-03 9.99822378e-01 3.53245788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.290714057 meters Centerline goodness [0,1] 0.978357778034415 Centerline is valid? [True, True] Translation: X:347.74, Y:-13.66, Z:3.53 [[ 9.99175978e-01 -3.52863709e-02 -2.00558523e-02 3.47740892e+02] [ 3.53093076e-02 9.99376119e-01 7.90568072e-04 -1.36583407e+01] [ 2.00154436e-02 -1.49807488e-03 9.99798549e-01 3.53268987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32071405700003 meters Centerline goodness [0,1] 0.9762886835495541 Centerline is valid? [True, True] Translation: X:347.77, Y:-13.67, Z:3.53 [[ 9.99169017e-01 -3.53495034e-02 -2.02900862e-02 3.47771978e+02] [ 3.53730315e-02 9.99373857e-01 8.01746202e-04 -1.36657507e+01] [ 2.02490403e-02 -1.51880182e-03 9.99793814e-01 3.53164220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.350714057 meters Centerline goodness [0,1] 0.9797264570888207 Centerline is valid? [True, True] Translation: X:347.80, Y:-13.66, Z:3.53 [[ 9.99167202e-01 -3.56424027e-02 -1.98625666e-02 3.47804362e+02] [ 3.56650385e-02 9.99363491e-01 7.86439424e-04 -1.36620377e+01] [ 1.98218933e-02 -1.49418368e-03 9.99802410e-01 3.53301050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38071405700003 meters Centerline goodness [0,1] 0.9789667896678966 Centerline is valid? [True, True] Translation: X:347.84, Y:-13.67, Z:3.53 [[ 9.99167822e-01 -3.56998643e-02 -1.97277462e-02 3.47835857e+02] [ 3.57222271e-02 9.99361451e-01 7.82229100e-04 -1.36655100e+01] [ 1.96872236e-02 -1.48629717e-03 9.99805083e-01 3.53270439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.410714057 meters Centerline goodness [0,1] 0.9770353941410221 Centerline is valid? [True, True] Translation: X:347.87, Y:-13.67, Z:3.53 [[ 9.99182686e-01 -3.54599777e-02 -1.94049124e-02 3.47866538e+02] [ 3.54815893e-02 9.99370033e-01 7.70453395e-04 -1.36713522e+01] [ 1.93653677e-02 -1.45834082e-03 9.99811410e-01 3.53214864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.440714057 meters Centerline goodness [0,1] 0.978623914495658 Centerline is valid? [True, True] Translation: X:347.90, Y:-13.67, Z:3.54 [[ 9.99226749e-01 -3.51872844e-02 -1.75430555e-02 3.47898974e+02] [ 3.52049256e-02 9.99379871e-01 6.97690393e-04 -1.36671088e+01] [ 1.75076267e-02 -1.31475287e-03 9.99845865e-01 3.53507970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.470714057 meters Centerline goodness [0,1] 0.9788766535078607 Centerline is valid? [True, True] Translation: X:347.93, Y:-13.67, Z:3.54 [[ 9.99252920e-01 -3.47969942e-02 -1.68158238e-02 3.47931239e+02] [ 3.48131681e-02 9.99393613e-01 6.69970075e-04 -1.36665189e+01] [ 1.67823139e-02 -1.25488165e-03 9.99858380e-01 3.53666628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.500714057 meters Centerline goodness [0,1] 0.9771252358816219 Centerline is valid? [True, True] Translation: X:347.96, Y:-13.67, Z:3.54 [[ 9.99294836e-01 -3.41869123e-02 -1.55269056e-02 3.47962849e+02] [ 3.42006451e-02 9.99414795e-01 6.19711454e-04 -1.36710406e+01] [ 1.54966331e-02 -1.15030464e-03 9.99879258e-01 3.53712430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.530714057 meters Centerline goodness [0,1] 0.9785959495887381 Centerline is valid? [True, True] Translation: X:348.00, Y:-13.67, Z:3.54 [[ 9.99286060e-01 -3.42338350e-02 -1.59817156e-02 3.47995060e+02] [ 3.42484086e-02 9.99413147e-01 6.39009423e-04 -1.36716841e+01] [ 1.59504609e-02 -1.18590153e-03 9.99872080e-01 3.53728976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.560714057 meters Centerline goodness [0,1] 0.9779421933342552 Centerline is valid? [True, True] Translation: X:348.03, Y:-13.68, Z:3.54 [[ 9.99261041e-01 -3.45929870e-02 -1.67540205e-02 3.48025630e+02] [ 3.46090660e-02 9.99400702e-01 6.70636772e-04 -1.36751728e+01] [ 1.67207806e-02 -1.24998220e-03 9.99859417e-01 3.53584338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.590714057 meters Centerline goodness [0,1] 0.976950885353105 Centerline is valid? [True, True] Translation: X:348.06, Y:-13.68, Z:3.54 [[ 9.99263869e-01 -3.43703444e-02 -1.70411150e-02 3.48057482e+02] [ 3.43869653e-02 9.99408360e-01 6.83196754e-04 -1.36755982e+01] [ 1.70075511e-02 -1.26868606e-03 9.99854556e-01 3.53592632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.620714057 meters Centerline goodness [0,1] 0.9781536617965617 Centerline is valid? [True, True] Translation: X:348.09, Y:-13.68, Z:3.54 [[ 9.99271361e-01 -3.40577753e-02 -1.72283207e-02 3.48088179e+02] [ 3.40747341e-02 9.99419048e-01 6.91684616e-04 -1.36787836e+01] [ 1.71947546e-02 -1.27823107e-03 9.99851342e-01 3.53593272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.650714057 meters Centerline goodness [0,1] 0.9785119774975215 Centerline is valid? [True, True] Translation: X:348.12, Y:-13.68, Z:3.54 [[ 9.99256712e-01 -3.42039709e-02 -1.77795500e-02 3.48120698e+02] [ 3.42220766e-02 9.99413997e-01 7.15003175e-04 -1.36793202e+01] [ 1.77446752e-02 -1.32292484e-03 9.99841676e-01 3.53632925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.680714057 meters Centerline goodness [0,1] 0.9777393708952644 Centerline is valid? [True, True] Translation: X:348.15, Y:-13.68, Z:3.54 [[ 9.99290739e-01 -3.30364260e-02 -1.80724340e-02 3.48151676e+02] [ 3.30549574e-02 9.99453271e-01 7.27560277e-04 -1.36807075e+01] [ 1.80385173e-02 -1.32442778e-03 9.99836416e-01 3.53622566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.710714057 meters Centerline goodness [0,1] 0.9779427017309332 Centerline is valid? [True, True] Translation: X:348.18, Y:-13.68, Z:3.54 [[ 9.99356965e-01 -3.14870434e-02 -1.71529247e-02 3.48181793e+02] [ 3.15035159e-02 9.99503402e-01 6.90905951e-04 -1.36835638e+01] [ 1.71226520e-02 -1.23083911e-03 9.99852639e-01 3.53678101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.740714057 meters Centerline goodness [0,1] 0.9782297864489645 Centerline is valid? [True, True] Translation: X:348.21, Y:-13.68, Z:3.54 [[ 9.99383505e-01 -3.09576940e-02 -1.65599043e-02 3.48213159e+02] [ 3.09729829e-02 9.99519999e-01 6.67516038e-04 -1.36845809e+01] [ 1.65312907e-02 -1.18001415e-03 9.99862653e-01 3.53766687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.770714057 meters Centerline goodness [0,1] 0.9773317700071269 Centerline is valid? [True, True] Translation: X:348.24, Y:-13.69, Z:3.54 [[ 9.99429258e-01 -2.99631357e-02 -1.56002931e-02 3.48243333e+02] [ 2.99765884e-02 9.99550403e-01 6.29159539e-04 -1.36866537e+01] [ 1.55744277e-02 -1.09644402e-03 9.99878110e-01 3.53801057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.800714057 meters Centerline goodness [0,1] 0.9365448646802698 Centerline is valid? [True, False] Translation: X:348.30, Y:-13.69, Z:3.54 [[ 9.99425422e-01 -3.09812249e-02 -1.37473278e-02 3.48300436e+02] [ 3.09142143e-02 9.99509231e-01 -5.06051469e-03 -1.36855325e+01] [ 1.38973620e-02 4.63261920e-03 9.99892695e-01 3.53884355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.830714057 meters Centerline goodness [0,1] 0.9771982460189246 Centerline is valid? [False, True] Translation: X:348.20, Y:-13.69, Z:3.53 [[ 9.99639320e-01 -2.49344761e-02 -9.97507175e-03 3.48204950e+02] [ 2.49183477e-02 9.99687979e-01 -1.73791701e-03 -1.36856443e+01] [ 1.00152934e-02 1.48872788e-03 9.99948737e-01 3.53413223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.860714057 meters Centerline goodness [0,1] 0.9760131005373988 Centerline is valid? [True, True] Translation: X:348.24, Y:-13.69, Z:3.53 [[ 9.99678902e-01 -2.34550340e-02 -9.58924437e-03 3.48235656e+02] [ 2.34600654e-02 9.99724690e-01 4.12528458e-04 -1.36867464e+01] [ 9.57692848e-03 -6.37360296e-04 9.99953937e-01 3.53386061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.890714057 meters Centerline goodness [0,1] 0.9770858357202254 Centerline is valid? [True, True] Translation: X:348.27, Y:-13.69, Z:3.53 [[ 9.99688940e-01 -2.29410596e-02 -9.78421716e-03 3.48268220e+02] [ 2.29462800e-02 9.99736611e-01 4.21612665e-04 -1.36853657e+01] [ 9.77196786e-03 -6.45992904e-04 9.99952045e-01 3.53405729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.920714057 meters Centerline goodness [0,1] 0.9787790428584653 Centerline is valid? [True, True] Translation: X:348.30, Y:-13.68, Z:3.53 [[ 9.99688668e-01 -2.28519691e-02 -1.00176815e-02 3.48300083e+02] [ 2.28574441e-02 9.99738641e-01 4.32368664e-04 -1.36829505e+01] [ 1.00051829e-02 -6.61212649e-04 9.99949728e-01 3.53400767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.950714057 meters Centerline goodness [0,1] 0.9780689591421705 Centerline is valid? [True, True] Translation: X:348.33, Y:-13.69, Z:3.53 [[ 9.99679654e-01 -2.26929451e-02 -1.12080462e-02 3.48332045e+02] [ 2.26997972e-02 9.99742209e-01 4.84510895e-04 -1.36855196e+01] [ 1.11941619e-02 -7.38776061e-04 9.99937070e-01 3.53210884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.980714057 meters Centerline goodness [0,1] 0.9791652230152681 Centerline is valid? [True, True] Translation: X:348.36, Y:-13.69, Z:3.53 [[ 9.99668611e-01 -2.26271487e-02 -1.22751852e-02 3.48364357e+02] [ 2.26353734e-02 9.99743646e-01 5.31494180e-04 -1.36856830e+01] [ 1.22600122e-02 -8.09171449e-04 9.99924516e-01 3.53144718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01071405700003 meters Centerline goodness [0,1] 0.9785269685540412 Centerline is valid? [True, True] Translation: X:348.40, Y:-13.69, Z:3.53 [[ 9.99659121e-01 -2.29397024e-02 -1.24664537e-02 3.48395638e+02] [ 2.29482264e-02 9.99736508e-01 5.41122983e-04 -1.36906353e+01] [ 1.24507556e-02 -8.27021526e-04 9.99922144e-01 3.53027811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.040714057 meters Centerline goodness [0,1] 0.9792969741731484 Centerline is valid? [True, True] Translation: X:348.43, Y:-13.69, Z:3.53 [[ 9.99668607e-01 -2.26927265e-02 -1.21538794e-02 3.48427870e+02] [ 2.27008201e-02 9.99742164e-01 5.28368478e-04 -1.36880566e+01] [ 1.21387556e-02 -8.04096411e-04 9.99925999e-01 3.53129232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07071405700003 meters Centerline goodness [0,1] 0.9792663843888071 Centerline is valid? [True, True] Translation: X:348.46, Y:-13.69, Z:3.53 [[ 9.99694066e-01 -2.20794673e-02 -1.11477491e-02 3.48459343e+02] [ 2.20862539e-02 9.99755951e-01 4.86028460e-04 -1.36899119e+01] [ 1.11342973e-02 -7.32091785e-04 9.99937744e-01 3.53241507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.100714057 meters Centerline goodness [0,1] 0.9798271559293835 Centerline is valid? [True, True] Translation: X:348.49, Y:-13.69, Z:3.53 [[ 9.99720423e-01 -2.10832125e-02 -1.07039657e-02 3.48490969e+02] [ 2.10894156e-02 9.99777484e-01 4.66960760e-04 -1.36899815e+01] [ 1.06917388e-02 -6.92570589e-04 9.99942602e-01 3.53285484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13071405700003 meters Centerline goodness [0,1] 0.9803002309468822 Centerline is valid? [True, True] Translation: X:348.52, Y:-13.69, Z:3.53 [[ 9.99730959e-01 -2.07918558e-02 -1.02815017e-02 3.48522922e+02] [ 2.07975713e-02 9.99783606e-01 4.49291392e-04 -1.36881947e+01] [ 1.02699353e-02 -6.63000780e-04 9.99947043e-01 3.53349002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.160714057 meters Centerline goodness [0,1] 0.979528105482304 Centerline is valid? [True, True] Translation: X:348.55, Y:-13.69, Z:3.53 [[ 9.99769749e-01 -1.93321092e-02 -9.31228130e-03 3.48554653e+02] [ 1.93367377e-02 9.99812945e-01 4.07242309e-04 -1.36853562e+01] [ 9.30266653e-03 -5.87217682e-04 9.99956557e-01 3.53481649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.190714057 meters Centerline goodness [0,1] 0.9803671596124426 Centerline is valid? [True, True] Translation: X:348.59, Y:-13.68, Z:3.54 [[ 9.99777171e-01 -1.90485317e-02 -9.09733397e-03 3.48587229e+02] [ 1.90529437e-02 9.99818397e-01 3.98539170e-04 -1.36842486e+01] [ 9.08809028e-03 -5.71781356e-04 9.99958539e-01 3.53509489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.220714057 meters Centerline goodness [0,1] 0.9786019641825534 Centerline is valid? [True, True] Translation: X:348.62, Y:-13.69, Z:3.53 [[ 9.99785903e-01 -1.82829858e-02 -9.68918154e-03 3.48618407e+02] [ 1.82879594e-02 9.99832671e-01 4.24961197e-04 -1.36863701e+01] [ 9.67979070e-03 -6.02065573e-04 9.99952968e-01 3.53412802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.250714057 meters Centerline goodness [0,1] 0.9801333703806613 Centerline is valid? [True, True] Translation: X:348.65, Y:-13.69, Z:3.53 [[ 9.99771480e-01 -1.85153547e-02 -1.06850275e-02 3.48650115e+02] [ 1.85214225e-02 9.99828354e-01 4.69202697e-04 -1.36865137e+01] [ 1.06745060e-02 -6.66997384e-04 9.99942803e-01 3.53354276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.280714057 meters Centerline goodness [0,1] 0.9776008885597927 Centerline is valid? [True, True] Translation: X:348.68, Y:-13.69, Z:3.53 [[ 9.99749255e-01 -1.88726181e-02 -1.20520096e-02 3.48680857e+02] [ 1.88803714e-02 9.99821610e-01 5.29858505e-04 -1.36882670e+01] [ 1.20398598e-02 -7.57272063e-04 9.99927232e-01 3.53203499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.310714057 meters Centerline goodness [0,1] 0.9790663208595776 Centerline is valid? [True, True] Translation: X:348.71, Y:-13.69, Z:3.53 [[ 9.99741535e-01 -1.91606909e-02 -1.22364526e-02 3.48712640e+02] [ 1.91687128e-02 9.99816118e-01 5.38622383e-04 -1.36861377e+01] [ 1.22238821e-02 -7.73040214e-04 9.99924987e-01 3.53276827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.340714057 meters Centerline goodness [0,1] 0.9779239732215247 Centerline is valid? [True, True] Translation: X:348.74, Y:-13.69, Z:3.53 [[ 9.99707858e-01 -2.07184105e-02 -1.24477541e-02 3.48743955e+02] [ 2.07268374e-02 9.99785026e-01 5.48346169e-04 -1.36871686e+01] [ 1.24337173e-02 -8.06188549e-04 9.99922373e-01 3.53324585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.370714057 meters Centerline goodness [0,1] 0.9784488771097782 Centerline is valid? [True, True] Translation: X:348.77, Y:-13.69, Z:3.53 [[ 9.99694252e-01 -2.13934816e-02 -1.23984578e-02 3.48774915e+02] [ 2.14018991e-02 9.99770804e-01 5.46615303e-04 -1.36887070e+01] [ 1.23839221e-02 -8.11798719e-04 9.99922987e-01 3.53316787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.400714057 meters Centerline goodness [0,1] 0.9784468728202743 Centerline is valid? [True, True] Translation: X:348.81, Y:-13.69, Z:3.53 [[ 9.99692189e-01 -2.16288005e-02 -1.21541220e-02 3.48806888e+02] [ 2.16369177e-02 9.99765750e-01 5.36744830e-04 -1.36891904e+01] [ 1.21396657e-02 -7.99557350e-04 9.99925992e-01 3.53308524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.430714057 meters Centerline goodness [0,1] 0.9779799944429008 Centerline is valid? [True, True] Translation: X:348.84, Y:-13.69, Z:3.53 [[ 9.99689494e-01 -2.15702919e-02 -1.24754711e-02 3.48838707e+02] [ 2.15788505e-02 9.99766997e-01 5.51820207e-04 -1.36894995e+01] [ 1.24606614e-02 -8.20855190e-04 9.99922026e-01 3.53311525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.460714057 meters Centerline goodness [0,1] 0.9785972692262808 Centerline is valid? [True, True] Translation: X:348.87, Y:-13.69, Z:3.53 [[ 9.99705913e-01 -2.09601011e-02 -1.21968081e-02 3.48870235e+02] [ 2.09682552e-02 9.99779996e-01 5.41032937e-04 -1.36899098e+01] [ 1.21827847e-02 -7.96619612e-04 9.99925470e-01 3.53372369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.490714057 meters Centerline goodness [0,1] 0.9765277972600178 Centerline is valid? [True, True] Translation: X:348.90, Y:-13.69, Z:3.53 [[ 9.99720402e-01 -2.03902926e-02 -1.19730553e-02 3.48900980e+02] [ 2.03981188e-02 9.99791795e-01 5.31889433e-04 -1.36945706e+01] [ 1.19597170e-02 -7.75968522e-04 9.99928179e-01 3.53328743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.520714057 meters Centerline goodness [0,1] 0.97894884898495 Centerline is valid? [True, True] Translation: X:348.93, Y:-13.69, Z:3.54 [[ 9.99739086e-01 -1.93358459e-02 -1.21607881e-02 3.48933234e+02] [ 1.93438487e-02 9.99812744e-01 5.40790998e-04 -1.36853063e+01] [ 1.21480542e-02 -7.75886343e-04 9.99925909e-01 3.53513290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.550714057 meters Centerline goodness [0,1] 0.9793896526688057 Centerline is valid? [True, True] Translation: X:348.96, Y:-13.69, Z:3.53 [[ 9.99750523e-01 -1.87529589e-02 -1.21333278e-02 3.48964115e+02] [ 1.87608907e-02 9.99823853e-01 5.40222466e-04 -1.36869402e+01] [ 1.21210598e-02 -7.67719731e-04 9.99926243e-01 3.53496869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.580714057 meters Centerline goodness [0,1] 0.9769825782333718 Centerline is valid? [True, True] Translation: X:348.99, Y:-13.69, Z:3.53 [[ 9.99764337e-01 -1.78905234e-02 -1.22963107e-02 3.48994758e+02] [ 1.78986098e-02 9.99839657e-01 5.47888243e-04 -1.36926171e+01] [ 1.22845371e-02 -7.67845995e-04 9.99924247e-01 3.53317006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.610714057 meters Centerline goodness [0,1] 0.977393710573834 Centerline is valid? [True, True] Translation: X:349.03, Y:-13.69, Z:3.53 [[ 9.99777549e-01 -1.71622924e-02 -1.22600174e-02 3.49026621e+02] [ 1.71702819e-02 9.99852430e-01 5.46704214e-04 -1.36855429e+01] [ 1.22488255e-02 -7.57090554e-04 9.99924694e-01 3.53473183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.640714057 meters Centerline goodness [0,1] 0.9792641354178911 Centerline is valid? [True, True] Translation: X:349.06, Y:-13.69, Z:3.53 [[ 9.99788411e-01 -1.67668411e-02 -1.19166218e-02 3.49058031e+02] [ 1.67743663e-02 9.99859159e-01 5.31813488e-04 -1.36857199e+01] [ 1.19060266e-02 -7.31594741e-04 9.99928853e-01 3.53455307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.670714057 meters Centerline goodness [0,1] 0.9794604537093807 Centerline is valid? [True, True] Translation: X:349.09, Y:-13.68, Z:3.53 [[ 9.99807148e-01 -1.50429226e-02 -1.26244979e-02 3.49090142e+02] [ 1.50512404e-02 9.99886565e-01 5.64104821e-04 -1.36813466e+01] [ 1.26145800e-02 -7.54010385e-04 9.99920149e-01 3.53458162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.700714057 meters Centerline goodness [0,1] 0.9791627291627292 Centerline is valid? [True, True] Translation: X:349.12, Y:-13.68, Z:3.53 [[ 9.99819382e-01 -1.40060813e-02 -1.28464922e-02 3.49120320e+02] [ 1.40146114e-02 9.99901626e-01 5.74210708e-04 -1.36828211e+01] [ 1.28371860e-02 -7.54145590e-04 9.99917316e-01 3.53441421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.730714057 meters Centerline goodness [0,1] 0.979492280003789 Centerline is valid? [True, True] Translation: X:349.15, Y:-13.68, Z:3.53 [[ 9.99849894e-01 -1.18187734e-02 -1.26691049e-02 3.49151219e+02] [ 1.18268942e-02 9.99929900e-01 5.66263239e-04 -1.36790398e+01] [ 1.26615243e-02 -7.16014404e-04 9.99919583e-01 3.53467051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76071405700003 meters Centerline goodness [0,1] 0.9785770021990494 Centerline is valid? [True, True] Translation: X:349.18, Y:-13.68, Z:3.53 [[ 9.99862086e-01 -1.09831197e-02 -1.24571618e-02 3.49180700e+02] [ 1.09909034e-02 9.99939443e-01 5.56551565e-04 -1.36819153e+01] [ 1.24502947e-02 -6.93390271e-04 9.99922252e-01 3.53422421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.790714057 meters Centerline goodness [0,1] 0.9804582690252879 Centerline is valid? [True, True] Translation: X:349.21, Y:-13.68, Z:3.54 [[ 9.99872625e-01 -1.04874198e-02 -1.20311340e-02 3.49210446e+02] [ 1.04946390e-02 9.99944786e-01 5.37061665e-04 -1.36763439e+01] [ 1.20248373e-02 -6.63255665e-04 9.99927479e-01 3.53619901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82071405700003 meters Centerline goodness [0,1] 0.9786153371466546 Centerline is valid? [True, True] Translation: X:349.24, Y:-13.68, Z:3.54 [[ 9.99891168e-01 -9.71121656e-03 -1.11060972e-02 3.49239939e+02] [ 9.71731844e-03 9.99952663e-01 4.95585691e-04 -1.36782135e+01] [ 1.11007587e-02 -6.03453238e-04 9.99938203e-01 3.53611135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.850714057 meters Centerline goodness [0,1] 0.9763533505337657 Centerline is valid? [True, True] Translation: X:349.27, Y:-13.68, Z:3.54 [[ 9.99896466e-01 -9.61727583e-03 -1.07035565e-02 3.49269056e+02] [ 9.62293600e-03 9.99953585e-01 4.77435658e-04 -1.36840931e+01] [ 1.06984680e-02 -5.80385865e-04 9.99942601e-01 3.53521420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88071405700003 meters Centerline goodness [0,1] 0.9778576835730507 Centerline is valid? [True, True] Translation: X:349.30, Y:-13.68, Z:3.54 [[ 9.99895811e-01 -1.02895288e-02 -1.01238726e-02 3.49299194e+02] [ 1.02946250e-02 9.99946907e-01 4.51400638e-04 -1.36809089e+01] [ 1.01186904e-02 -5.55575079e-04 9.99948650e-01 3.53689022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.910714057 meters Centerline goodness [0,1] 0.9793523610847715 Centerline is valid? [True, True] Translation: X:349.33, Y:-13.68, Z:3.54 [[ 9.99887614e-01 -1.12425639e-02 -9.91786114e-03 3.49329340e+02] [ 1.12475018e-02 9.99936647e-01 4.42233415e-04 -1.36816790e+01] [ 9.91226098e-03 -5.53734875e-04 9.99950719e-01 3.53720967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.940714057 meters Centerline goodness [0,1] 0.9783304488015363 Centerline is valid? [True, True] Translation: X:349.36, Y:-13.68, Z:3.54 [[ 9.99864143e-01 -1.28144214e-02 -1.03675888e-02 3.49360104e+02] [ 1.28199035e-02 9.99917715e-01 4.62486938e-04 -1.36845725e+01] [ 1.03608092e-02 -5.95335594e-04 9.99946148e-01 3.53673552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.970714057 meters Centerline goodness [0,1] 0.976302194416797 Centerline is valid? [True, True] Translation: X:349.39, Y:-13.69, Z:3.54 [[ 9.99797475e-01 -1.65933746e-02 -1.13872012e-02 3.49390373e+02] [ 1.66002328e-02 9.99862078e-01 5.08009875e-04 -1.36888993e+01] [ 1.13772010e-02 -6.96937181e-04 9.99935035e-01 3.53524282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.000714057 meters Centerline goodness [0,1] 0.9769894307787099 Centerline is valid? [True, True] Translation: X:349.42, Y:-13.69, Z:3.53 [[ 9.99755054e-01 -1.85287015e-02 -1.21044717e-02 3.49420480e+02] [ 1.85365949e-02 9.99828037e-01 5.40234189e-04 -1.36945562e+01] [ 1.20923803e-02 -7.64477549e-04 9.99926592e-01 3.53399846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.030714057 meters Centerline goodness [0,1] 0.9751765511703158 Centerline is valid? [True, True] Translation: X:349.45, Y:-13.70, Z:3.53 [[ 9.99646124e-01 -2.29759144e-02 -1.34065239e-02 3.49449452e+02] [ 2.29859926e-02 9.99735608e-01 5.98115059e-04 -1.37002723e+01] [ 1.33892371e-02 -9.06065660e-04 9.99909950e-01 3.53241611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.060714057 meters Centerline goodness [0,1] 0.9751765511703158 Centerline is valid? [True, True] Translation: X:349.48, Y:-13.70, Z:3.53 [[ 9.99647697e-01 -2.29074007e-02 -1.34064789e-02 3.49481191e+02] [ 2.29174862e-02 9.99737180e-01 5.99122818e-04 -1.37017527e+01] [ 1.33892311e-02 -9.06154540e-04 9.99909950e-01 3.53238201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.090714057 meters Centerline goodness [0,1] 0.9747732426303855 Centerline is valid? [True, True] Translation: X:349.51, Y:-13.71, Z:3.53 [[ 9.99604060e-01 -2.45236799e-02 -1.37953788e-02 3.49510753e+02] [ 2.45345286e-02 9.99698792e-01 6.17688967e-04 -1.37071002e+01] [ 1.37760755e-02 -9.55907514e-04 9.99904648e-01 3.53129554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.120714057 meters Centerline goodness [0,1] 0.9763226919350646 Centerline is valid? [True, True] Translation: X:349.54, Y:-13.71, Z:3.53 [[ 9.99496977e-01 -2.81654293e-02 -1.45774156e-02 3.49540941e+02] [ 2.81779276e-02 9.99602710e-01 6.52654552e-04 -1.37074546e+01] [ 1.45532419e-02 -1.06308761e-03 9.99893531e-01 3.53127268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.150714057 meters Centerline goodness [0,1] 0.9766669023545217 Centerline is valid? [True, True] Translation: X:349.57, Y:-13.71, Z:3.53 [[ 9.99446313e-01 -2.97854591e-02 -1.48288488e-02 3.49571976e+02] [ 2.97985778e-02 9.99555703e-01 6.64461326e-04 -1.37106266e+01] [ 1.48024691e-02 -1.10597203e-03 9.99889826e-01 3.53147667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.180714057 meters Centerline goodness [0,1] 0.9720629527382554 Centerline is valid? [True, True] Translation: X:349.60, Y:-13.72, Z:3.53 [[ 9.99407107e-01 -3.11038515e-02 -1.47642978e-02 3.49603001e+02] [ 3.11170109e-02 9.99515529e-01 6.62356141e-04 -1.37204788e+01] [ 1.47365431e-02 -1.12138425e-03 9.99890782e-01 3.53002227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.210714057 meters Centerline goodness [0,1] 0.9712194662775921 Centerline is valid? [True, True] Translation: X:349.63, Y:-13.72, Z:3.53 [[ 9.99366666e-01 -3.25411585e-02 -1.43992937e-02 3.49634998e+02] [ 3.25538375e-02 9.99469774e-01 6.46960053e-04 -1.37227235e+01] [ 1.43706060e-02 -1.11530258e-03 9.99896115e-01 3.53124193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.240714057 meters Centerline goodness [0,1] 0.9733946035112525 Centerline is valid? [True, True] Translation: X:349.67, Y:-13.72, Z:3.53 [[ 9.99364980e-01 -3.29627889e-02 -1.35311013e-02 3.49667616e+02] [ 3.29740363e-02 9.99456023e-01 6.08910641e-04 -1.37188353e+01] [ 1.35036693e-02 -1.05469900e-03 9.99908265e-01 3.53328873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.270714057 meters Centerline goodness [0,1] 0.9727065245523635 Centerline is valid? [True, True] Translation: X:349.70, Y:-13.72, Z:3.53 [[ 9.99380614e-01 -3.32611441e-02 -1.14928204e-02 3.49699287e+02] [ 3.32692894e-02 9.99446290e-01 5.18218189e-04 -1.37225818e+01] [ 1.14692202e-02 -9.00255178e-04 9.99933821e-01 3.53489263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.300714057 meters Centerline goodness [0,1] 0.9729368448207124 Centerline is valid? [True, True] Translation: X:349.73, Y:-13.72, Z:3.54 [[ 9.99388248e-01 -3.33260324e-02 -1.06068809e-02 3.49732004e+02] [ 3.33329862e-02 9.99444187e-01 4.79431799e-04 -1.37204316e+01] [ 1.05850079e-02 -8.32697521e-04 9.99943631e-01 3.53624541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.330714057 meters Centerline goodness [0,1] 0.9706034038164002 Centerline is valid? [True, True] Translation: X:349.76, Y:-13.73, Z:3.54 [[ 9.99404405e-01 -3.31102336e-02 -9.72357226e-03 3.49762934e+02] [ 3.31160717e-02 9.99451416e-01 4.39969465e-04 -1.37288669e+01] [ 9.70367057e-03 -7.61713937e-04 9.99952628e-01 3.53604420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.360714057 meters Centerline goodness [0,1] 0.9717671908002816 Centerline is valid? [True, True] Translation: X:349.80, Y:-13.73, Z:3.54 [[ 9.99403004e-01 -3.31036553e-02 -9.88852992e-03 3.49795423e+02] [ 3.31096996e-02 9.99451623e-01 4.48122857e-04 -1.37302197e+01] [ 9.86827278e-03 -7.75261585e-04 9.99951007e-01 3.53631413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.390714057 meters Centerline goodness [0,1] 0.9746213096715286 Centerline is valid? [True, True] Translation: X:349.83, Y:-13.73, Z:3.54 [[ 9.99395971e-01 -3.32842038e-02 -9.99276859e-03 3.49827777e+02] [ 3.32903922e-02 9.99445618e-01 4.53547940e-04 -1.37276686e+01] [ 9.97213280e-03 -7.85937169e-04 9.99949968e-01 3.53631096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.420714057 meters Centerline goodness [0,1] 0.9733170479635458 Centerline is valid? [True, True] Translation: X:349.86, Y:-13.73, Z:3.54 [[ 9.99382457e-01 -3.34052598e-02 -1.08992584e-02 3.49859961e+02] [ 3.34126373e-02 9.99441519e-01 4.95442545e-04 -1.37305271e+01] [ 1.08766210e-02 -8.59309557e-04 9.99940479e-01 3.53552079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.450714057 meters Centerline goodness [0,1] 0.9736003001031605 Centerline is valid? [True, True] Translation: X:349.89, Y:-13.73, Z:3.53 [[ 9.99388391e-01 -3.30447231e-02 -1.14407671e-02 3.49892231e+02] [ 3.30528375e-02 9.99453470e-01 5.20847737e-04 -1.37319461e+01] [ 1.14173031e-02 -8.98678998e-04 9.99934417e-01 3.53476553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.480714057 meters Centerline goodness [0,1] 0.9726932084309133 Centerline is valid? [True, True] Translation: X:349.92, Y:-13.74, Z:3.53 [[ 9.99398598e-01 -3.21001145e-02 -1.31158532e-02 3.49923530e+02] [ 3.21107068e-02 9.99484140e-01 5.97752543e-04 -1.37352144e+01] [ 1.30898993e-02 -1.01855237e-03 9.99913805e-01 3.53334591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51071405700003 meters Centerline goodness [0,1] 0.9734594264795607 Centerline is valid? [True, True] Translation: X:349.95, Y:-13.73, Z:3.53 [[ 9.99463089e-01 -2.96276751e-02 -1.39905395e-02 3.49953118e+02] [ 2.96394823e-02 9.99560451e-01 6.37300982e-04 -1.37348209e+01] [ 1.39655082e-02 -1.05163115e-03 9.99901925e-01 3.53278858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.540714057 meters Centerline goodness [0,1] 0.9748025573523881 Centerline is valid? [True, True] Translation: X:349.98, Y:-13.73, Z:3.53 [[ 9.99496339e-01 -2.80644093e-02 -1.48140942e-02 3.49984259e+02] [ 2.80774851e-02 9.99605522e-01 6.75374007e-04 -1.37349658e+01] [ 1.47892964e-02 -1.09097636e-03 9.99890037e-01 3.53277078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57071405700003 meters Centerline goodness [0,1] 0.9740232262917862 Centerline is valid? [True, True] Translation: X:350.02, Y:-13.74, Z:3.53 [[ 9.99535633e-01 -2.64858856e-02 -1.50670494e-02 3.50015127e+02] [ 2.64992410e-02 9.99648597e-01 6.87413496e-04 -1.37350814e+01] [ 1.50435480e-02 -1.08635966e-03 9.99886249e-01 3.53278326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.600714057 meters Centerline goodness [0,1] 0.9745868302889249 Centerline is valid? [True, True] Translation: X:350.05, Y:-13.73, Z:3.53 [[ 9.99582490e-01 -2.46746187e-02 -1.50335829e-02 3.50047224e+02] [ 2.46877226e-02 9.99694976e-01 6.86659082e-04 -1.37342102e+01] [ 1.50120542e-02 -1.05751732e-03 9.99886754e-01 3.53319128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63071405700003 meters Centerline goodness [0,1] 0.9749558667765094 Centerline is valid? [True, True] Translation: X:350.08, Y:-13.73, Z:3.53 [[ 9.99677579e-01 -2.14381607e-02 -1.36067460e-02 3.50076960e+02] [ 2.14485936e-02 9.99769759e-01 6.21258297e-04 -1.37333700e+01] [ 1.35902946e-02 -9.12903555e-04 9.99907231e-01 3.53410370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.660714057 meters Centerline goodness [0,1] 0.9749014237480226 Centerline is valid? [True, True] Translation: X:350.11, Y:-13.73, Z:3.53 [[ 9.99721355e-01 -1.98153320e-02 -1.28282952e-02 3.50108109e+02] [ 1.98244782e-02 9.99803304e-01 5.86187320e-04 -1.37335450e+01] [ 1.28141565e-02 -8.40338241e-04 9.99917542e-01 3.53493315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.690714057 meters Centerline goodness [0,1] 0.9735642231094521 Centerline is valid? [True, True] Translation: X:350.14, Y:-13.73, Z:3.54 [[ 9.99791384e-01 -1.72320823e-02 -1.09655556e-02 3.50138177e+02] [ 1.72386099e-02 9.99851279e-01 5.01039405e-04 -1.37344582e+01] [ 1.09552908e-02 -6.89965816e-04 9.99939751e-01 3.53645071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.720714057 meters Centerline goodness [0,1] 0.9738692040048286 Centerline is valid? [True, True] Translation: X:350.17, Y:-13.74, Z:3.54 [[ 9.99821187e-01 -1.61905795e-02 -9.77027590e-03 3.50169796e+02] [ 1.61957155e-02 9.99868741e-01 4.46775006e-04 -1.37357032e+01] [ 9.76175992e-03 -6.04931726e-04 9.99952170e-01 3.53737175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.750714057 meters Centerline goodness [0,1] 0.9745510396975425 Centerline is valid? [True, True] Translation: X:350.20, Y:-13.74, Z:3.54 [[ 9.99844239e-01 -1.48950263e-02 -9.46767579e-03 3.50201617e+02] [ 1.48997957e-02 9.99888898e-01 4.33411460e-04 -1.37373027e+01] [ 9.46016823e-03 -5.74410386e-04 9.99955087e-01 3.53742534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.780714057 meters Centerline goodness [0,1] 0.9780484947873961 Centerline is valid? [True, True] Translation: X:350.23, Y:-13.73, Z:3.53 [[ 9.99860958e-01 -1.27019179e-02 -1.08039326e-02 3.50233200e+02] [ 1.27080050e-02 9.99919128e-01 4.94943141e-04 -1.37325581e+01] [ 1.07967722e-02 -6.32170753e-04 9.99941513e-01 3.53492123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.810714057 meters Centerline goodness [0,1] 0.9772995144029042 Centerline is valid? [True, True] Translation: X:350.26, Y:-13.73, Z:3.54 [[ 9.99899232e-01 -1.05119170e-02 -9.54069565e-03 3.50263554e+02] [ 1.05165641e-02 9.99944604e-01 4.37039079e-04 -1.37349909e+01] [ 9.53557301e-03 -5.37330377e-04 9.99954391e-01 3.53761913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.840714057 meters Centerline goodness [0,1] 0.9771639997172012 Centerline is valid? [True, True] Translation: X:350.29, Y:-13.74, Z:3.54 [[ 9.99921919e-01 -9.08271186e-03 -8.58250691e-03 3.50293475e+02] [ 9.08641986e-03 9.99958640e-01 3.93146481e-04 -1.37373007e+01] [ 8.57858111e-03 -4.71100045e-04 9.99963092e-01 3.53896279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.870714057 meters Centerline goodness [0,1] 0.9782618913329573 Centerline is valid? [True, True] Translation: X:350.32, Y:-13.74, Z:3.54 [[ 9.99934558e-01 -7.39474028e-03 -8.72914967e-03 3.50323840e+02] [ 7.39851195e-03 9.99972551e-01 3.99863876e-04 -1.37388291e+01] [ 8.72595318e-03 -4.64420426e-04 9.99961820e-01 3.53958890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.900714057 meters Centerline goodness [0,1] 0.978019148388305 Centerline is valid? [True, True] Translation: X:350.35, Y:-13.74, Z:3.54 [[ 9.99942630e-01 -2.66059594e-03 -1.03758580e-02 3.50354052e+02] [ 2.66566992e-03 9.99996334e-01 4.75219040e-04 -1.37421870e+01] [ 1.03745556e-02 -5.02850389e-04 9.99946056e-01 3.53746607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.930714057 meters Centerline goodness [0,1] 0.9802280474903021 Centerline is valid? [True, True] Translation: X:350.38, Y:-13.74, Z:3.54 [[ 9.99930067e-01 -1.34331194e-04 -1.18255286e-02 3.50382591e+02] [ 1.40735574e-04 9.99999844e-01 5.40741909e-04 -1.37442203e+01] [ 1.18254541e-02 -5.42368366e-04 9.99929930e-01 3.53532677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.960714057 meters Centerline goodness [0,1] 0.9819077789510736 Centerline is valid? [True, True] Translation: X:350.41, Y:-13.75, Z:3.53 [[ 9.99893286e-01 6.08842033e-03 -1.32796038e-02 3.50411476e+02] [-6.08089465e-03 9.99981327e-01 6.07014137e-04 -1.37481704e+01] [ 1.32830516e-02 -5.26197488e-04 9.99911638e-01 3.53183640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.990714057 meters Centerline goodness [0,1] 0.9837878361915472 Centerline is valid? [True, True] Translation: X:350.44, Y:-13.74, Z:3.53 [[ 9.99874920e-01 8.84517257e-03 -1.31113248e-02 3.50440870e+02] [-8.83811660e-03 9.99960765e-01 5.96003640e-04 -1.37424838e+01] [ 1.31160821e-02 -4.80049675e-04 9.99913865e-01 3.53453763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.020714057 meters Centerline goodness [0,1] 0.9843768299252805 Centerline is valid? [True, True] Translation: X:350.47, Y:-13.74, Z:3.54 [[ 9.99850538e-01 1.16037885e-02 -1.28161136e-02 3.50469905e+02] [-1.15972827e-02 9.99932580e-01 5.81827825e-04 -1.37418891e+01] [ 1.28220009e-02 -4.33108772e-04 9.99917701e-01 3.53609008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.050714057 meters Centerline goodness [0,1] 0.9854307432432432 Centerline is valid? [True, True] Translation: X:350.50, Y:-13.74, Z:3.54 [[ 9.99771462e-01 1.82218680e-02 -1.11797517e-02 3.50498638e+02] [-1.82173351e-02 9.99833922e-01 5.07172196e-04 -1.37422654e+01] [ 1.11871366e-02 -3.03391005e-04 9.99937376e-01 3.53794243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.080714057 meters Centerline goodness [0,1] 0.9878088807614761 Centerline is valid? [True, True] Translation: X:350.53, Y:-13.75, Z:3.54 [[ 9.99673083e-01 2.38719651e-02 -9.15733014e-03 3.50528170e+02] [-2.38691638e-02 9.99715005e-01 4.15094635e-04 -1.37451352e+01] [ 9.16462946e-03 -1.96381120e-04 9.99957985e-01 3.53802698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.110714057 meters Centerline goodness [0,1] 0.9873429545560694 Centerline is valid? [True, True] Translation: X:350.56, Y:-13.75, Z:3.54 [[ 9.99630425e-01 2.60307003e-02 -7.83685232e-03 3.50557397e+02] [-2.60287236e-02 9.99661133e-01 3.54145551e-04 -1.37481105e+01] [ 7.84341532e-03 -1.50031405e-04 9.99969229e-01 3.53844758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.140714057 meters Centerline goodness [0,1] 0.9871327822147494 Centerline is valid? [True, True] Translation: X:350.59, Y:-13.75, Z:3.54 [[ 9.99604273e-01 2.72212457e-02 -7.09232793e-03 3.50586022e+02] [-2.72196598e-02 9.99629425e-01 3.20055167e-04 -1.37509349e+01] [ 7.09841200e-03 -1.26877759e-04 9.99974798e-01 3.53905007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.170714057 meters Centerline goodness [0,1] 0.9878182539497328 Centerline is valid? [True, True] Translation: X:350.61, Y:-13.75, Z:3.54 [[ 9.99599566e-01 2.75684702e-02 -6.37860157e-03 3.50614822e+02] [-2.75671975e-02 9.99619911e-01 2.87387958e-04 -1.37533738e+01] [ 6.38409998e-03 -1.11432709e-04 9.99979615e-01 3.54011120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.200714057 meters Centerline goodness [0,1] 0.9880102040816326 Centerline is valid? [True, True] Translation: X:350.64, Y:-13.76, Z:3.54 [[ 9.99653266e-01 2.56838162e-02 -5.80420207e-03 3.50643502e+02] [-2.56827330e-02 9.99670110e-01 2.61092865e-04 -1.37601330e+01] [ 5.80899318e-03 -1.11934563e-04 9.99983121e-01 3.54089635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.230714057 meters Centerline goodness [0,1] 0.9864477997875976 Centerline is valid? [True, True] Translation: X:350.67, Y:-13.77, Z:3.54 [[ 9.99775695e-01 2.03231698e-02 -5.96061798e-03 3.50671274e+02] [-2.03219350e-02 9.99793452e-01 2.67663008e-04 -1.37725498e+01] [ 5.96482659e-03 -1.46471679e-04 9.99982200e-01 3.53897130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26071405700003 meters Centerline goodness [0,1] 0.9877978720959625 Centerline is valid? [True, True] Translation: X:350.70, Y:-13.78, Z:3.54 [[ 9.99832361e-01 1.71875812e-02 -6.31168639e-03 3.50699351e+02] [-1.71861379e-02 9.99852267e-01 2.82850034e-04 -1.37785650e+01] [ 6.31561545e-03 -1.74329105e-04 9.99980041e-01 3.53822544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.290714057 meters Centerline goodness [0,1] 0.9876009425113811 Centerline is valid? [True, True] Translation: X:350.73, Y:-13.79, Z:3.54 [[ 9.99880399e-01 1.38766649e-02 -6.82826790e-03 3.50727688e+02] [-1.38749016e-02 9.99903692e-01 3.05542041e-04 -1.37871957e+01] [ 6.83185019e-03 -2.10763953e-04 9.99976640e-01 3.53680342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32071405700003 meters Centerline goodness [0,1] 0.984757906265687 Centerline is valid? [True, True] Translation: X:350.76, Y:-13.80, Z:3.53 [[ 9.99947849e-01 6.61285789e-03 -7.78268042e-03 3.50756157e+02] [-6.61034669e-03 9.99978091e-01 3.48344999e-04 -1.38044221e+01] [ 7.78481346e-03 -2.96880617e-04 9.99969654e-01 3.53451176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.350714057 meters Centerline goodness [0,1] 0.9846016769093692 Centerline is valid? [True, True] Translation: X:350.79, Y:-13.81, Z:3.53 [[ 9.99961987e-01 3.70862361e-03 -7.89121483e-03 3.50785835e+02] [-3.70595397e-03 9.99993071e-01 3.52901673e-04 -1.38107916e+01] [ 7.89246893e-03 -3.23643779e-04 9.99968802e-01 3.53445712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38071405700003 meters Centerline goodness [0,1] 0.984340859431901 Centerline is valid? [True, True] Translation: X:350.82, Y:-13.82, Z:3.53 [[ 9.99965844e-01 -7.96056220e-04 -8.22656675e-03 3.50815146e+02] [ 7.99108778e-04 9.99999613e-01 3.67780695e-04 -1.38216997e+01] [ 8.22627080e-03 -3.74342055e-04 9.99966094e-01 3.53393909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.410714057 meters Centerline goodness [0,1] 0.9827922372358756 Centerline is valid? [True, True] Translation: X:350.84, Y:-13.83, Z:3.53 [[ 9.99961976e-01 -2.90715900e-03 -8.22159076e-03 3.50844734e+02] [ 2.91027667e-03 9.99995698e-01 3.67267503e-04 -1.38283321e+01] [ 8.22048768e-03 -3.91180642e-04 9.99966135e-01 3.53325349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.440714057 meters Centerline goodness [0,1] 0.9825260298777727 Centerline is valid? [True, True] Translation: X:350.87, Y:-13.83, Z:3.53 [[ 9.99958807e-01 -4.52097079e-03 -7.87057492e-03 3.50873555e+02] [ 4.52387339e-03 9.99989706e-01 3.51028048e-04 -1.38343594e+01] [ 7.86890691e-03 -3.86619073e-04 9.99968965e-01 3.53287393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.470714057 meters Centerline goodness [0,1] 0.9839981918860888 Centerline is valid? [True, True] Translation: X:350.90, Y:-13.84, Z:3.53 [[ 9.99941022e-01 -7.51852778e-03 -7.83738863e-03 3.50902852e+02] [ 7.52149460e-03 9.99971652e-01 3.49140140e-04 -1.38356819e+01] [ 7.83454144e-03 -4.08068425e-04 9.99969226e-01 3.53344201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.500714057 meters Centerline goodness [0,1] 0.9839643251278124 Centerline is valid? [True, True] Translation: X:350.93, Y:-13.84, Z:3.53 [[ 9.99934081e-01 -8.57003987e-03 -7.64125710e-03 3.50931779e+02] [ 8.57288991e-03 9.99963194e-01 3.40303899e-04 -1.38405634e+01] [ 7.63805944e-03 -4.05789122e-04 9.99970747e-01 3.53324612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.530714057 meters Centerline goodness [0,1] 0.982657916694856 Centerline is valid? [True, True] Translation: X:350.96, Y:-13.85, Z:3.53 [[ 9.99927966e-01 -9.95034320e-03 -6.71213116e-03 3.50961185e+02] [ 9.95257248e-03 9.99950427e-01 2.98805145e-04 -1.38498056e+01] [ 6.70882521e-03 -3.65586593e-04 9.99977429e-01 3.53364991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.560714057 meters Centerline goodness [0,1] 0.9844017286395966 Centerline is valid? [True, True] Translation: X:350.99, Y:-13.85, Z:3.53 [[ 9.99926334e-01 -1.06967787e-02 -5.73634011e-03 3.50991892e+02] [ 1.06984192e-02 9.99942738e-01 2.55381783e-04 -1.38475644e+01] [ 5.73327987e-03 -3.16732742e-04 9.99983514e-01 3.53454359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.590714057 meters Centerline goodness [0,1] 0.9822780261000427 Centerline is valid? [True, True] Translation: X:351.02, Y:-13.85, Z:3.53 [[ 9.99920123e-01 -1.12023379e-02 -5.85286175e-03 3.51021849e+02] [ 1.12040551e-02 9.99937199e-01 2.60694275e-04 -1.38540393e+01] [ 5.84957380e-03 -3.26249237e-04 9.99982838e-01 3.53482927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.620714057 meters Centerline goodness [0,1] 0.9830820732885484 Centerline is valid? [True, True] Translation: X:351.05, Y:-13.86, Z:3.53 [[ 9.99915199e-01 -1.17625341e-02 -5.58901958e-03 3.51052223e+02] [ 1.17641105e-02 9.99930769e-01 2.49260519e-04 -1.38587232e+01] [ 5.58570071e-03 -3.14989226e-04 9.99984350e-01 3.53433932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.650714057 meters Centerline goodness [0,1] 0.9828685616776685 Centerline is valid? [True, True] Translation: X:351.08, Y:-13.86, Z:3.53 [[ 9.99907929e-01 -1.19523132e-02 -6.42460071e-03 3.51082652e+02] [ 1.19544015e-02 9.99928502e-01 2.86729322e-04 -1.38647883e+01] [ 6.42071429e-03 -3.63505178e-04 9.99979321e-01 3.53323373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.680714057 meters Centerline goodness [0,1] 0.9826010821004423 Centerline is valid? [True, True] Translation: X:351.11, Y:-13.87, Z:3.53 [[ 9.99899383e-01 -1.24232231e-02 -6.84745641e-03 3.51114095e+02] [ 1.24256079e-02 9.99922752e-01 3.05839178e-04 -1.38675877e+01] [ 6.84312795e-03 -3.90892213e-04 9.99976509e-01 3.53261019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.710714057 meters Centerline goodness [0,1] 0.9829476793626639 Centerline is valid? [True, True] Translation: X:351.15, Y:-13.87, Z:3.53 [[ 9.99890823e-01 -1.28459106e-02 -7.30244170e-03 3.51145559e+02] [ 1.28486359e-02 9.99917400e-01 3.26414257e-04 -1.38707820e+01] [ 7.29764543e-03 -4.20205035e-04 9.99973284e-01 3.53213737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.740714057 meters Centerline goodness [0,1] 0.983707085627322 Centerline is valid? [True, True] Translation: X:351.18, Y:-13.87, Z:3.53 [[ 9.99871565e-01 -1.35660812e-02 -8.53317653e-03 3.51177159e+02] [ 1.35698313e-02 9.99907853e-01 3.81721231e-04 -1.38746855e+01] [ 8.52721176e-03 -4.97465971e-04 9.99963519e-01 3.53106701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.770714057 meters Centerline goodness [0,1] 0.9841964285714285 Centerline is valid? [True, True] Translation: X:351.21, Y:-13.87, Z:3.53 [[ 9.99855612e-01 -1.43069014e-02 -9.16883888e-03 3.51207821e+02] [ 1.43112617e-02 9.99897505e-01 4.10116298e-04 -1.38735450e+01] [ 9.16203163e-03 -5.41274735e-04 9.99957881e-01 3.53132428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.800714057 meters Centerline goodness [0,1] 0.9828164854342865 Centerline is valid? [True, True] Translation: X:351.24, Y:-13.88, Z:3.53 [[ 9.99834519e-01 -1.52405748e-02 -9.93277316e-03 3.51237755e+02] [ 1.52457425e-02 9.99883678e-01 4.44754722e-04 -1.38793387e+01] [ 9.92483944e-03 -5.96113626e-04 9.99950570e-01 3.53073244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.830714057 meters Centerline goodness [0,1] 0.982857653711195 Centerline is valid? [True, True] Translation: X:351.27, Y:-13.88, Z:3.53 [[ 9.99820423e-01 -1.61496841e-02 -9.91513475e-03 3.51268526e+02] [ 1.61548776e-02 9.99869403e-01 4.43919419e-04 -1.38800624e+01] [ 9.90667070e-03 -6.04017489e-04 9.99950745e-01 3.53103945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.860714057 meters Centerline goodness [0,1] 0.9830239320062626 Centerline is valid? [True, True] Translation: X:351.30, Y:-13.88, Z:3.53 [[ 9.99818124e-01 -1.65811981e-02 -9.42241835e-03 3.51299553e+02] [ 1.65859109e-02 9.99862355e-01 4.22237153e-04 -1.38813626e+01] [ 9.41412021e-03 -5.78439749e-04 9.99955519e-01 3.53158155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.890714057 meters Centerline goodness [0,1] 0.9827798003260894 Centerline is valid? [True, True] Translation: X:351.33, Y:-13.88, Z:3.53 [[ 9.99813764e-01 -1.71522149e-02 -8.84530864e-03 3.51330715e+02] [ 1.71563931e-02 9.99852740e-01 3.96694695e-04 -1.38832625e+01] [ 8.83720188e-03 -5.48374408e-04 9.99960801e-01 3.53271867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.920714057 meters Centerline goodness [0,1] 0.9834723682150605 Centerline is valid? [True, True] Translation: X:351.36, Y:-13.88, Z:3.53 [[ 9.99821166e-01 -1.68924250e-02 -8.50184320e-03 3.51362510e+02] [ 1.68962782e-02 9.99857175e-01 3.81598184e-04 -1.38836141e+01] [ 8.49418280e-03 -5.25179450e-04 9.99963786e-01 3.53336548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.950714057 meters Centerline goodness [0,1] 0.9816665919584024 Centerline is valid? [True, True] Translation: X:351.39, Y:-13.89, Z:3.53 [[ 9.99828784e-01 -1.67440969e-02 -7.87646157e-03 3.51393536e+02] [ 1.67474030e-02 9.99859690e-01 3.53973395e-04 -1.38857624e+01] [ 7.86942946e-03 -4.85823066e-04 9.99968918e-01 3.53406038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.980714057 meters Centerline goodness [0,1] 0.9816665919584024 Centerline is valid? [True, True] Translation: X:351.43, Y:-13.89, Z:3.53 [[ 9.99829961e-01 -1.66736669e-02 -7.87643581e-03 3.51425254e+02] [ 1.66769754e-02 9.99860867e-01 3.54546257e-04 -1.38872493e+01] [ 7.86942835e-03 -4.85841096e-04 9.99968918e-01 3.53402632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01071405700003 meters Centerline goodness [0,1] 0.9829893349364327 Centerline is valid? [True, True] Translation: X:351.46, Y:-13.89, Z:3.53 [[ 9.99836560e-01 -1.67087518e-02 -6.90442751e-03 3.51456002e+02] [ 1.67112974e-02 9.99860308e-01 3.11146025e-04 -1.38894992e+01] [ 6.89826415e-03 -4.26477112e-04 9.99976116e-01 3.53440058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.040714057 meters Centerline goodness [0,1] 0.9807675085079707 Centerline is valid? [True, True] Translation: X:351.49, Y:-13.89, Z:3.54 [[ 9.99819668e-01 -1.78756733e-02 -6.41024121e-03 3.51487635e+02] [ 1.78778935e-02 9.99840136e-01 2.89215042e-04 -1.38906321e+01] [ 6.40404653e-03 -4.03764497e-04 9.99979412e-01 3.53512512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07071405700003 meters Centerline goodness [0,1] 0.9792947700288442 Centerline is valid? [True, True] Translation: X:351.52, Y:-13.90, Z:3.53 [[ 9.99808427e-01 -1.85558405e-02 -6.22814588e-03 3.51518063e+02] [ 1.85579547e-02 9.99827747e-01 2.81827786e-04 -1.38994242e+01] [ 6.22184351e-03 -3.97355445e-04 9.99980565e-01 3.53416774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.100714057 meters Centerline goodness [0,1] 0.9808461658806964 Centerline is valid? [True, True] Translation: X:351.55, Y:-13.90, Z:3.53 [[ 9.99779524e-01 -1.98149900e-02 -6.94755936e-03 3.51550564e+02] [ 1.98176538e-02 9.99803561e-01 3.14778173e-04 -1.38971555e+01] [ 6.93995727e-03 -4.52393098e-04 9.99975816e-01 3.53402445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13071405700003 meters Centerline goodness [0,1] 0.9802452011275672 Centerline is valid? [True, True] Translation: X:351.58, Y:-13.90, Z:3.53 [[ 9.99720073e-01 -2.24587125e-02 -7.44194612e-03 3.51581839e+02] [ 2.24618424e-02 9.99747644e-01 3.37245985e-04 -1.38965194e+01] [ 7.43249399e-03 -5.04311402e-04 9.99972251e-01 3.53369320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.160714057 meters Centerline goodness [0,1] 0.9805152581896455 Centerline is valid? [True, True] Translation: X:351.61, Y:-13.89, Z:3.53 [[ 9.99686336e-01 -2.37843131e-02 -7.84455538e-03 3.51613589e+02] [ 2.37878350e-02 9.99716966e-01 3.55944785e-04 -1.38942501e+01] [ 7.83386920e-03 -5.42438127e-04 9.99969168e-01 3.53365755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.190714057 meters Centerline goodness [0,1] 0.9806584638830991 Centerline is valid? [True, True] Translation: X:351.64, Y:-13.90, Z:3.53 [[ 9.99634585e-01 -2.59113292e-02 -7.70057756e-03 3.51643235e+02] [ 2.59147853e-02 9.99664095e-01 3.49355993e-04 -1.38966575e+01] [ 7.68893861e-03 -5.48787148e-04 9.99970289e-01 3.53322960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.220714057 meters Centerline goodness [0,1] 0.9798011465424579 Centerline is valid? [True, True] Translation: X:351.68, Y:-13.90, Z:3.53 [[ 9.99618965e-01 -2.64695787e-02 -7.82860608e-03 3.51675024e+02] [ 2.64731726e-02 9.99649461e-01 3.55782588e-04 -1.38985453e+01] [ 7.81644443e-03 -5.62895061e-04 9.99969293e-01 3.53330475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.250714057 meters Centerline goodness [0,1] 0.9806963657153106 Centerline is valid? [True, True] Translation: X:351.71, Y:-13.90, Z:3.53 [[ 9.99579935e-01 -2.79176945e-02 -7.78171022e-03 3.51706937e+02] [ 2.79212922e-02 9.99610062e-01 3.54050319e-04 -1.38955271e+01] [ 7.76879157e-03 -5.71177000e-04 9.99969659e-01 3.53398165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.280714057 meters Centerline goodness [0,1] 0.9795698683590859 Centerline is valid? [True, True] Translation: X:351.74, Y:-13.90, Z:3.53 [[ 9.99566476e-01 -2.83437525e-02 -7.96811040e-03 3.51739339e+02] [ 2.83475427e-02 9.99598062e-01 3.63114621e-04 -1.38963901e+01] [ 7.95461568e-03 -5.88833553e-04 9.99968188e-01 3.53417813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.310714057 meters Centerline goodness [0,1] 0.9774385452912785 Centerline is valid? [True, True] Translation: X:351.77, Y:-13.90, Z:3.53 [[ 9.99565316e-01 -2.84964160e-02 -7.55872234e-03 3.51769951e+02] [ 2.84998377e-02 9.99593737e-01 3.45335260e-04 -1.39044816e+01] [ 7.54581069e-03 -5.60607507e-04 9.99971373e-01 3.53346153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.340714057 meters Centerline goodness [0,1] 0.977859778597786 Centerline is valid? [True, True] Translation: X:351.80, Y:-13.90, Z:3.53 [[ 9.99549809e-01 -2.91135641e-02 -7.25116984e-03 3.51801785e+02] [ 2.91167344e-02 9.99575963e-01 3.31999329e-04 -1.39036216e+01] [ 7.23842939e-03 -5.42980251e-04 9.99973655e-01 3.53425331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.370714057 meters Centerline goodness [0,1] 0.9777982104012021 Centerline is valid? [True, True] Translation: X:351.83, Y:-13.90, Z:3.53 [[ 9.99559659e-01 -2.88854895e-02 -6.79093055e-03 3.51834142e+02] [ 2.88882677e-02 9.99582598e-01 3.11357197e-04 -1.39044565e+01] [ 6.77910230e-03 -5.07398313e-04 9.99976893e-01 3.53466132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.400714057 meters Centerline goodness [0,1] 0.9797620120796899 Centerline is valid? [True, True] Translation: X:351.87, Y:-13.90, Z:3.54 [[ 9.99579141e-01 -2.84428369e-02 -5.70491231e-03 3.51866859e+02] [ 2.84447928e-02 9.99595331e-01 2.61988144e-04 -1.38954046e+01] [ 5.69515202e-03 -4.24152933e-04 9.99983693e-01 3.53632219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.430714057 meters Centerline goodness [0,1] 0.9815219103778893 Centerline is valid? [True, True] Translation: X:351.90, Y:-13.89, Z:3.54 [[ 9.99590523e-01 -2.81140419e-02 -5.32800663e-03 3.51899083e+02] [ 2.81157453e-02 9.99604644e-01 2.45073430e-04 -1.38936748e+01] [ 5.31901016e-03 -3.94773956e-04 9.99985776e-01 3.53656856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.460714057 meters Centerline goodness [0,1] 0.9788123216572674 Centerline is valid? [True, True] Translation: X:351.93, Y:-13.90, Z:3.54 [[ 9.99628988e-01 -2.67859319e-02 -4.93970608e-03 3.51929125e+02] [ 2.67873802e-02 9.99641128e-01 2.27248834e-04 -1.38978853e+01] [ 4.93184629e-03 -3.59486307e-04 9.99987774e-01 3.53695675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.490714057 meters Centerline goodness [0,1] 0.9804900079033533 Centerline is valid? [True, True] Translation: X:351.96, Y:-13.89, Z:3.54 [[ 9.99648151e-01 -2.60752302e-02 -4.86384661e-03 3.51961496e+02] [ 2.60766279e-02 9.99659922e-01 2.24168132e-04 -1.38935243e+01] [ 4.85634729e-03 -3.50921977e-04 9.99988146e-01 3.53754886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.520714057 meters Centerline goodness [0,1] 0.981275942970583 Centerline is valid? [True, True] Translation: X:351.99, Y:-13.89, Z:3.54 [[ 9.99690521e-01 -2.43665149e-02 -5.01340590e-03 3.51993566e+02] [ 2.43679798e-02 9.99703030e-01 2.31313810e-04 -1.38909081e+01] [ 5.00628076e-03 -3.53408797e-04 9.99987406e-01 3.53759276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.550714057 meters Centerline goodness [0,1] 0.980549482746963 Centerline is valid? [True, True] Translation: X:352.03, Y:-13.89, Z:3.54 [[ 9.99718256e-01 -2.31694140e-02 -5.15626495e-03 3.52025383e+02] [ 2.31709498e-02 9.99731489e-01 2.38295148e-04 -1.38918766e+01] [ 5.14935928e-03 -3.57703566e-04 9.99986678e-01 3.53709757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.580714057 meters Centerline goodness [0,1] 0.9808126410835214 Centerline is valid? [True, True] Translation: X:352.06, Y:-13.89, Z:3.54 [[ 9.99742373e-01 -2.21185353e-02 -5.09499628e-03 3.52056607e+02] [ 2.21200225e-02 9.99755295e-01 2.35719407e-04 -1.38942404e+01] [ 5.08853574e-03 -3.48360112e-04 9.99986993e-01 3.53690576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.610714057 meters Centerline goodness [0,1] 0.9806288284622862 Centerline is valid? [True, True] Translation: X:352.09, Y:-13.89, Z:3.54 [[ 9.99775164e-01 -2.05009208e-02 -5.41597064e-03 3.52087830e+02] [ 2.05025785e-02 9.99789769e-01 2.50739016e-04 -1.38932011e+01] [ 5.40969165e-03 -3.61724005e-04 9.99985302e-01 3.53679497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.640714057 meters Centerline goodness [0,1] 0.980883813306852 Centerline is valid? [True, True] Translation: X:352.12, Y:-13.89, Z:3.54 [[ 9.99784682e-01 -1.98684341e-02 -5.98628195e-03 3.52120167e+02] [ 1.98704509e-02 9.99802525e-01 2.77597843e-04 -1.38942320e+01] [ 5.97958438e-03 -3.96488193e-04 9.99982044e-01 3.53683619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.670714057 meters Centerline goodness [0,1] 0.9818292765611227 Centerline is valid? [True, True] Translation: X:352.15, Y:-13.89, Z:3.54 [[ 9.99806913e-01 -1.87335965e-02 -5.93199626e-03 3.52151023e+02] [ 1.87355586e-02 9.99824436e-01 2.75373296e-04 -1.38946728e+01] [ 5.92579608e-03 -3.86459389e-04 9.99982368e-01 3.53664799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.700714057 meters Centerline goodness [0,1] 0.980806272519205 Centerline is valid? [True, True] Translation: X:352.18, Y:-13.90, Z:3.54 [[ 9.99804307e-01 -1.89221814e-02 -5.77054285e-03 3.52183254e+02] [ 1.89240437e-02 9.99820888e-01 2.68299393e-04 -1.38958615e+01] [ 5.76443247e-03 -3.77448893e-04 9.99983314e-01 3.53678912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.730714057 meters Centerline goodness [0,1] 0.9804717623043774 Centerline is valid? [True, True] Translation: X:352.22, Y:-13.90, Z:3.54 [[ 9.99791976e-01 -1.95585264e-02 -5.78522371e-03 3.52215140e+02] [ 1.95604112e-02 9.99808641e-01 2.69385079e-04 -1.38967628e+01] [ 5.77884788e-03 -3.82490395e-04 9.99983229e-01 3.53676085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76071405700003 meters Centerline goodness [0,1] 0.9800871895009309 Centerline is valid? [True, True] Translation: X:352.25, Y:-13.90, Z:3.54 [[ 9.99765664e-01 -2.09660495e-02 -5.38903756e-03 3.52247188e+02] [ 2.09677074e-02 9.99780122e-01 2.51320452e-04 -1.38973805e+01] [ 5.38258343e-03 -3.64257321e-04 9.99985447e-01 3.53713652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.790714057 meters Centerline goodness [0,1] 0.9773105602809385 Centerline is valid? [True, True] Translation: X:352.28, Y:-13.90, Z:3.54 [[ 9.99692351e-01 -2.41525343e-02 -5.64441470e-03 3.52276580e+02] [ 2.41544049e-02 9.99708205e-01 2.63467474e-04 -1.39031764e+01] [ 5.63640428e-03 -3.99723896e-04 9.99984035e-01 3.53697083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82071405700003 meters Centerline goodness [0,1] 0.9797881269423587 Centerline is valid? [True, True] Translation: X:352.31, Y:-13.90, Z:3.54 [[ 9.99650093e-01 -2.58412157e-02 -5.64998680e-03 3.52308160e+02] [ 2.58431179e-02 9.99665976e-01 2.63915786e-04 -1.38983338e+01] [ 5.64127966e-03 -4.09836715e-04 9.99984004e-01 3.53796861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.850714057 meters Centerline goodness [0,1] 0.9754176719624892 Centerline is valid? [True, True] Translation: X:352.34, Y:-13.91, Z:3.54 [[ 9.99592223e-01 -2.80036625e-02 -5.58414510e-03 3.52337435e+02] [ 2.80055539e-02 9.99607734e-01 2.60802641e-04 -1.39087274e+01] [ 5.57465120e-03 -4.17083369e-04 9.99984375e-01 3.53719694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88071405700003 meters Centerline goodness [0,1] 0.9780026898265289 Centerline is valid? [True, True] Translation: X:352.37, Y:-13.90, Z:3.54 [[ 9.99469155e-01 -3.21875087e-02 -5.03713388e-03 3.52368359e+02] [ 3.21891007e-02 9.99481769e-01 2.35274850e-04 -1.39000741e+01] [ 5.02695057e-03 -3.97290765e-04 9.99987286e-01 3.53865768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.910714057 meters Centerline goodness [0,1] 0.9748136024731769 Centerline is valid? [True, True] Translation: X:352.40, Y:-13.91, Z:3.54 [[ 9.99402012e-01 -3.42618605e-02 -4.66288605e-03 3.52398058e+02] [ 3.42632472e-02 9.99412819e-01 2.17791221e-04 -1.39060498e+01] [ 4.65268615e-03 -3.77426602e-04 9.99989105e-01 3.53829599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.940714057 meters Centerline goodness [0,1] 0.9746973945154893 Centerline is valid? [True, True] Translation: X:352.43, Y:-13.91, Z:3.54 [[ 9.99267441e-01 -3.80131757e-02 -4.42480591e-03 3.52428938e+02] [ 3.80144609e-02 9.99277168e-01 2.06689188e-04 -1.39063745e+01] [ 4.41375060e-03 -3.74744387e-04 9.99990189e-01 3.53816947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.970714057 meters Centerline goodness [0,1] 0.9765132622987984 Centerline is valid? [True, True] Translation: X:352.46, Y:-13.91, Z:3.54 [[ 9.99237133e-01 -3.87922459e-02 -4.50697871e-03 3.52460934e+02] [ 3.87935890e-02 9.99247223e-01 2.10924305e-04 -1.39082267e+01] [ 4.49540374e-03 -3.85605277e-04 9.99989821e-01 3.53824611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.000714057 meters Centerline goodness [0,1] 0.9751350365795292 Centerline is valid? [True, True] Translation: X:352.49, Y:-13.91, Z:3.54 [[ 9.99187262e-01 -3.99559492e-02 -5.32331800e-03 3.52492656e+02] [ 3.99578406e-02 9.99201335e-01 2.49379749e-04 -1.39101404e+01] [ 5.30910225e-03 -4.61885361e-04 9.99985800e-01 3.53796895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.030714057 meters Centerline goodness [0,1] 0.9755858484544543 Centerline is valid? [True, True] Translation: X:352.52, Y:-13.91, Z:3.54 [[ 9.99164435e-01 -4.04013298e-02 -6.17772815e-03 3.52524993e+02] [ 4.04038883e-02 9.99183387e-01 2.89857768e-04 -1.39084747e+01] [ 6.16097270e-03 -5.39219811e-04 9.99980876e-01 3.53785654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.060714057 meters Centerline goodness [0,1] 0.9767776407727086 Centerline is valid? [True, True] Translation: X:352.56, Y:-13.91, Z:3.54 [[ 9.99157084e-01 -4.04436240e-02 -7.03103306e-03 3.52557180e+02] [ 4.04469426e-02 9.99181633e-01 3.30388069e-04 -1.39082042e+01] [ 7.01191700e-03 -6.14493371e-04 9.99975227e-01 3.53732061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.090714057 meters Centerline goodness [0,1] 0.9751244912344528 Centerline is valid? [True, True] Translation: X:352.59, Y:-13.91, Z:3.54 [[ 9.99181551e-01 -3.96507125e-02 -8.00304943e-03 3.52588384e+02] [ 3.96549901e-02 9.99213361e-01 3.76460761e-04 -1.39119165e+01] [ 7.98182698e-03 -6.93513493e-04 9.99967904e-01 3.53630497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.120714057 meters Centerline goodness [0,1] 0.9752453728065158 Centerline is valid? [True, True] Translation: X:352.62, Y:-13.91, Z:3.54 [[ 9.99187252e-01 -3.95167986e-02 -7.95352078e-03 3.52621932e+02] [ 3.95210262e-02 9.99218669e-01 3.75014717e-04 -1.39122273e+01] [ 7.93248706e-03 -6.89041228e-04 9.99968300e-01 3.53634023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.150714057 meters Centerline goodness [0,1] 0.9777838853007191 Centerline is valid? [True, True] Translation: X:352.65, Y:-13.91, Z:3.54 [[ 9.99228546e-01 -3.84979064e-02 -7.76037419e-03 3.52654180e+02] [ 3.85019035e-02 9.99258460e-01 3.66271301e-04 -1.39070596e+01] [ 7.74051888e-03 -6.64777918e-04 9.99969821e-01 3.53740860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.180714057 meters Centerline goodness [0,1] 0.9775288620120945 Centerline is valid? [True, True] Translation: X:352.68, Y:-13.91, Z:3.54 [[ 9.99283391e-01 -3.69804563e-02 -8.07162927e-03 3.52684946e+02] [ 3.69847334e-02 9.99315758e-01 3.81225774e-04 -1.39051407e+01] [ 8.05200842e-03 -6.79479641e-04 9.99967351e-01 3.53784648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.210714057 meters Centerline goodness [0,1] 0.978555227163379 Centerline is valid? [True, True] Translation: X:352.72, Y:-13.90, Z:3.54 [[ 9.99346847e-01 -3.51890280e-02 -8.22259333e-03 3.52716652e+02] [ 3.51934118e-02 9.99380444e-01 3.89016706e-04 -1.39030252e+01] [ 8.20380985e-03 -6.78143732e-04 9.99966118e-01 3.53808120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.240714057 meters Centerline goodness [0,1] 0.9763779527559056 Centerline is valid? [True, True] Translation: X:352.75, Y:-13.90, Z:3.54 [[ 9.99354704e-01 -3.49123030e-02 -8.44434593e-03 3.52748549e+02] [ 3.49169216e-02 9.99390138e-01 4.00089260e-04 -1.39042218e+01] [ 8.42522801e-03 -6.94681649e-04 9.99964266e-01 3.53781742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.270714057 meters Centerline goodness [0,1] 0.9749965496618669 Centerline is valid? [True, True] Translation: X:352.78, Y:-13.91, Z:3.54 [[ 9.99374228e-01 -3.42694533e-02 -8.76113387e-03 3.52780113e+02] [ 3.42744057e-02 9.99412373e-01 4.15703802e-04 -1.39062833e+01] [ 8.74173965e-03 -7.15726323e-04 9.99961534e-01 3.53758896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.300714057 meters Centerline goodness [0,1] 0.9749850278711937 Centerline is valid? [True, True] Translation: X:352.81, Y:-13.91, Z:3.54 [[ 9.99400070e-01 -3.34681273e-02 -8.90980917e-03 3.52811644e+02] [ 3.34732214e-02 9.99439525e-01 4.23192772e-04 -1.39058883e+01] [ 8.89065197e-03 -7.21178900e-04 9.99960217e-01 3.53728868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.330714057 meters Centerline goodness [0,1] 0.9750791047878606 Centerline is valid? [True, True] Translation: X:352.84, Y:-13.91, Z:3.54 [[ 9.99405155e-01 -3.32188816e-02 -9.26505235e-03 3.52843575e+02] [ 3.32243853e-02 9.99447821e-01 4.40710737e-04 -1.39058195e+01] [ 9.24529646e-03 -7.48274252e-04 9.99956981e-01 3.53733052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.360714057 meters Centerline goodness [0,1] 0.9747852590745358 Centerline is valid? [True, True] Translation: X:352.88, Y:-13.91, Z:3.54 [[ 9.99374437e-01 -3.39140129e-02 -1.00286652e-02 3.52876025e+02] [ 3.39205028e-02 9.99424420e-01 4.77703480e-04 -1.39067191e+01] [ 1.00066921e-02 -8.17582013e-04 9.99949598e-01 3.53593098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.390714057 meters Centerline goodness [0,1] 0.9738949798038085 Centerline is valid? [True, True] Translation: X:352.91, Y:-13.91, Z:3.54 [[ 9.99358021e-01 -3.42833765e-02 -1.04017673e-02 3.52908623e+02] [ 3.42903855e-02 9.99411789e-01 4.96173074e-04 -1.39080063e+01] [ 1.03786383e-02 -8.52535149e-04 9.99945777e-01 3.53513421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.420714057 meters Centerline goodness [0,1] 0.9755173688100517 Centerline is valid? [True, True] Translation: X:352.94, Y:-13.91, Z:3.54 [[ 9.99359493e-01 -3.42088384e-02 -1.05052301e-02 3.52941626e+02] [ 3.42159950e-02 9.99414335e-01 5.02217179e-04 -1.39080134e+01] [ 1.04818973e-02 -8.61342404e-04 9.99944692e-01 3.53532884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.450714057 meters Centerline goodness [0,1] 0.9777664669273304 Centerline is valid? [True, True] Translation: X:352.97, Y:-13.90, Z:3.54 [[ 9.99337865e-01 -3.48163683e-02 -1.05665175e-02 3.52974430e+02] [ 3.48236499e-02 9.99393345e-01 5.05867779e-04 -1.38996707e+01] [ 1.05424948e-02 -8.73497533e-04 9.99944045e-01 3.53673026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.480714057 meters Centerline goodness [0,1] 0.9724656109120333 Centerline is valid? [True, True] Translation: X:353.01, Y:-13.91, Z:3.54 [[ 9.99339579e-01 -3.47774694e-02 -1.05324767e-02 3.53005954e+02] [ 3.47847122e-02 9.99394701e-01 5.05193351e-04 -1.39107011e+01] [ 1.05085321e-02 -8.71228882e-04 9.99944404e-01 3.53523920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51071405700003 meters Centerline goodness [0,1] 0.9701334316594843 Centerline is valid? [True, True] Translation: X:353.04, Y:-13.91, Z:3.53 [[ 9.99345537e-01 -3.46292465e-02 -1.04553234e-02 3.53037521e+02] [ 3.46363805e-02 9.99399854e-01 5.01971489e-04 -1.39119864e+01] [ 1.04316658e-02 -8.63777527e-04 9.99945216e-01 3.53442758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.540714057 meters Centerline goodness [0,1] 0.965056192793419 Centerline is valid? [True, True] Translation: X:353.07, Y:-13.91, Z:3.53 [[ 9.99316877e-01 -3.51821901e-02 -1.13134108e-02 3.53069732e+02] [ 3.51905869e-02 9.99380471e-01 5.43923031e-04 -1.39142173e+01] [ 1.12872654e-02 -9.41677032e-04 9.99935853e-01 3.53364310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57071405700003 meters Centerline goodness [0,1] 0.9750405938297378 Centerline is valid? [True, True] Translation: X:353.10, Y:-13.91, Z:3.53 [[ 9.99282495e-01 -3.60613816e-02 -1.15789249e-02 3.53102426e+02] [ 3.60702450e-02 9.99349101e-01 5.57490913e-04 -1.39064141e+01] [ 1.15512843e-02 -9.74745569e-04 9.99932807e-01 3.53462728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.600714057 meters Centerline goodness [0,1] 0.972863366703745 Centerline is valid? [True, True] Translation: X:353.13, Y:-13.91, Z:3.53 [[ 9.99257627e-01 -3.67718975e-02 -1.14900739e-02 3.53134496e+02] [ 3.67806812e-02 9.99323208e-01 5.54010348e-04 -1.39080862e+01] [ 1.14619255e-02 -9.76211809e-04 9.99933833e-01 3.53449844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63071405700003 meters Centerline goodness [0,1] 0.9707645656350548 Centerline is valid? [True, True] Translation: X:353.16, Y:-13.91, Z:3.53 [[ 9.99194987e-01 -3.85033126e-02 -1.12637920e-02 3.53164159e+02] [ 3.85118733e-02 9.99257995e-01 5.44018898e-04 -1.39106993e+01] [ 1.12344877e-02 -9.77370687e-04 9.99936413e-01 3.53400533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.660714057 meters Centerline goodness [0,1] 0.9723194621537035 Centerline is valid? [True, True] Translation: X:353.20, Y:-13.91, Z:3.53 [[ 9.99158810e-01 -3.95583612e-02 -1.08078241e-02 3.53195889e+02] [ 3.95663097e-02 9.99216810e-01 5.22532718e-04 -1.39108295e+01] [ 1.07786890e-02 -9.49718884e-04 9.99941457e-01 3.53434239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.690714057 meters Centerline goodness [0,1] 0.967571714166163 Centerline is valid? [True, True] Translation: X:353.23, Y:-13.92, Z:3.53 [[ 9.99123543e-01 -4.04778687e-02 -1.06624737e-02 3.53226537e+02] [ 4.04856712e-02 9.99179985e-01 5.16861053e-04 -1.39163789e+01] [ 1.06328089e-02 -9.48085450e-04 9.99943021e-01 3.53378063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.720714057 meters Centerline goodness [0,1] 0.9549216534151671 Centerline is valid? [True, True] Translation: X:353.26, Y:-13.92, Z:3.53 [[ 9.99034184e-01 -4.27130673e-02 -1.03098282e-02 3.53256558e+02] [ 4.27204790e-02 9.99086939e-01 4.99642053e-04 -1.39214670e+01] [ 1.02790734e-02 -9.39600289e-04 9.99946727e-01 3.53367915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.750714057 meters Centerline goodness [0,1] 0.952649799028833 Centerline is valid? [True, True] Translation: X:353.29, Y:-13.92, Z:3.53 [[ 9.98992428e-01 -4.36734140e-02 -1.03325406e-02 3.53289020e+02] [ 4.36809172e-02 9.99045407e-01 5.01513426e-04 -1.39229059e+01] [ 1.03007744e-02 -9.52342964e-04 9.99946492e-01 3.53367217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.780714057 meters Centerline goodness [0,1] 0.7793237516928051 Centerline is valid? [True, False] Translation: X:353.35, Y:-13.92, Z:3.53 [[ 9.98839074e-01 -4.74375831e-02 -8.37733679e-03 3.53347114e+02] [ 4.73847627e-02 9.98856240e-01 -6.39504016e-03 -1.39224256e+01] [ 8.67112038e-03 5.99065788e-03 9.99944460e-01 3.53354121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.810714057 meters Centerline goodness [0,1] 0.9296411350148368 Centerline is valid? [False, False] Translation: X:353.25, Y:-13.92, Z:3.53 [[ 9.98913276e-01 -4.61084284e-02 -6.80294480e-03 3.53254704e+02] [ 4.60726804e-02 9.98923918e-01 -5.32119833e-03 -1.39212976e+01] [ 7.04097636e-03 5.00198576e-03 9.99962702e-01 3.53039543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.840714057 meters Centerline goodness [0,1] 0.9640115942028985 Centerline is valid? [False, True] Translation: X:353.26, Y:-13.92, Z:3.53 [[ 9.98919863e-01 -4.59578089e-02 -6.85471707e-03 3.53255212e+02] [ 4.59261522e-02 9.98933751e-01 -4.70636707e-03 -1.39225880e+01] [ 7.06370255e-03 4.38647277e-03 9.99965431e-01 3.52968088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.870714057 meters Centerline goodness [0,1] 0.9640115942028985 Centerline is valid? [True, True] Translation: X:353.29, Y:-13.93, Z:3.53 [[ 9.98925285e-01 -4.58779468e-02 -6.59457581e-03 3.53287747e+02] [ 4.58811886e-02 9.98946846e-01 3.41061148e-04 -1.39264696e+01] [ 6.57198352e-03 -6.43261581e-04 9.99978197e-01 3.52770538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.900714057 meters Centerline goodness [0,1] 0.9569880020382637 Centerline is valid? [True, True] Translation: X:353.32, Y:-13.93, Z:3.53 [[ 9.98823375e-01 -4.79935127e-02 -6.96340266e-03 3.53317813e+02] [ 4.79971740e-02 9.98847407e-01 3.59537743e-04 -1.39316684e+01] [ 6.93812121e-03 -6.93338351e-04 9.99975691e-01 3.52662595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.930714057 meters Centerline goodness [0,1] 0.9520331029381169 Centerline is valid? [True, True] Translation: X:353.35, Y:-13.94, Z:3.53 [[ 9.98798605e-01 -4.84913101e-02 -7.06680476e-03 3.53349886e+02] [ 4.84950993e-02 9.98823354e-01 3.65737280e-04 -1.39353009e+01] [ 7.04075455e-03 -7.08003284e-04 9.99974963e-01 3.52575035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.960714057 meters Centerline goodness [0,1] 0.9541982966117386 Centerline is valid? [True, True] Translation: X:353.38, Y:-13.94, Z:3.53 [[ 9.98798380e-01 -4.84440273e-02 -7.41431216e-03 3.53381874e+02] [ 4.84482008e-02 9.98825623e-01 3.84222166e-04 -1.39376034e+01] [ 7.38699169e-03 -7.42970560e-04 9.99972440e-01 3.52519036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.990714057 meters Centerline goodness [0,1] 0.954811405841678 Centerline is valid? [True, True] Translation: X:353.41, Y:-13.94, Z:3.53 [[ 9.98818925e-01 -4.79931156e-02 -7.57730556e-03 3.53413797e+02] [ 4.79974657e-02 9.98847380e-01 3.93191030e-04 -1.39396834e+01] [ 7.54970134e-03 -7.56418105e-04 9.99971215e-01 3.52521749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.020714057 meters Centerline goodness [0,1] 0.9427382053654024 Centerline is valid? [True, False] Translation: X:353.41, Y:-13.94, Z:3.52 [[ 9.98834424e-01 -4.76372332e-02 -7.77742140e-03 3.53414454e+02] [ 4.76447339e-02 9.98864039e-01 7.81897430e-04 -1.39402163e+01] [ 7.73133912e-03 -1.15153924e-03 9.99969450e-01 3.52490346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.050714057 meters Centerline goodness [0,1] 0.9699965353966971 Centerline is valid? [False, True] Translation: X:353.41, Y:-13.94, Z:3.52 [[ 9.98993089e-01 -4.42428694e-02 -7.44155856e-03 3.53413187e+02] [ 4.42804099e-02 9.99006839e-01 4.95787761e-03 -1.39424538e+01] [ 7.21481716e-03 -5.28240073e-03 9.99960021e-01 3.52496649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.080714057 meters Centerline goodness [0,1] 0.9400818326822165 Centerline is valid? [True, False] Translation: X:353.41, Y:-13.94, Z:3.52 [[ 9.99008727e-01 -4.38513027e-02 -7.65678831e-03 3.53413676e+02] [ 4.38920153e-02 9.99022578e-01 5.23259130e-03 -1.39426311e+01] [ 7.41984845e-03 -5.56347625e-03 9.99956996e-01 3.52497440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.110714057 meters Centerline goodness [0,1] 0.9644754469441493 Centerline is valid? [False, True] Translation: X:353.42, Y:-13.94, Z:3.52 [[ 9.99048763e-01 -4.28580656e-02 -8.04712382e-03 3.53415123e+02] [ 4.29059574e-02 9.99061835e-01 5.87613351e-03 -1.39428536e+01] [ 7.78773457e-03 -6.21581346e-03 9.99950356e-01 3.52430324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.140714057 meters Centerline goodness [0,1] 0.9602264848624913 Centerline is valid? [True, True] Translation: X:353.45, Y:-13.94, Z:3.53 [[ 9.99106622e-01 -4.13561081e-02 -8.69661255e-03 3.53445518e+02] [ 4.13614688e-02 9.99144153e-01 4.37385126e-04 -1.39440632e+01] [ 8.67108103e-03 -7.96699044e-04 9.99962088e-01 3.52500626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.170714057 meters Centerline goodness [0,1] 0.9730136320503622 Centerline is valid? [True, True] Translation: X:353.48, Y:-13.94, Z:3.53 [[ 9.99172302e-01 -3.96686314e-02 -9.00610560e-03 3.53477977e+02] [ 3.96743202e-02 9.99212561e-01 4.53814331e-04 -1.39375050e+01] [ 8.98101165e-03 -8.10749827e-04 9.99959341e-01 3.52540060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.200714057 meters Centerline goodness [0,1] 0.960195562935289 Centerline is valid? [True, True] Translation: X:353.51, Y:-13.95, Z:3.52 [[ 9.99237850e-01 -3.75093654e-02 -1.08058363e-02 3.53507365e+02] [ 3.75174266e-02 9.99295825e-01 5.44192509e-04 -1.39458161e+01] [ 1.07778148e-02 -9.49184923e-04 9.99941467e-01 3.52238293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.230714057 meters Centerline goodness [0,1] 0.9729823506280215 Centerline is valid? [True, True] Translation: X:353.54, Y:-13.94, Z:3.52 [[ 9.99282782e-01 -3.61965448e-02 -1.11234644e-02 3.53538855e+02] [ 3.62050118e-02 9.99344226e-01 5.60701370e-04 -1.39400639e+01] [ 1.10958745e-02 -9.63024387e-04 9.99937975e-01 3.52282950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26071405700003 meters Centerline goodness [0,1] 0.9707510610813803 Centerline is valid? [True, True] Translation: X:353.57, Y:-13.94, Z:3.52 [[ 9.99327874e-01 -3.47587034e-02 -1.16461103e-02 3.53569437e+02] [ 3.47678926e-02 9.99395241e-01 5.87446176e-04 -1.39432660e+01] [ 1.16186484e-02 -9.91962052e-04 9.99932009e-01 3.52182697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.290714057 meters Centerline goodness [0,1] 0.9728657900229597 Centerline is valid? [True, True] Translation: X:353.60, Y:-13.94, Z:3.52 [[ 9.99335072e-01 -3.44685701e-02 -1.18883296e-02 3.53601891e+02] [ 3.44781364e-02 9.99405272e-01 6.00607119e-04 -1.39427070e+01] [ 1.18605573e-02 -1.01009521e-03 9.99929151e-01 3.52202087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32071405700003 meters Centerline goodness [0,1] 0.9748959778085992 Centerline is valid? [True, True] Translation: X:353.63, Y:-13.94, Z:3.52 [[ 9.99359239e-01 -3.37285529e-02 -1.19789530e-02 3.53633960e+02] [ 3.37382229e-02 9.99430520e-01 6.06026982e-04 -1.39421835e+01] [ 1.19516908e-02 -1.00978725e-03 9.99928066e-01 3.52220135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.350714057 meters Centerline goodness [0,1] 0.9755137937418996 Centerline is valid? [True, True] Translation: X:353.67, Y:-13.94, Z:3.52 [[ 9.99405958e-01 -3.25312983e-02 -1.13774524e-02 3.53665776e+02] [ 3.25399508e-02 9.99470270e-01 5.76157734e-04 -1.39408069e+01] [ 1.13526822e-02 -9.46037214e-04 9.99935109e-01 3.52342776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38071405700003 meters Centerline goodness [0,1] 0.9729316692523213 Centerline is valid? [True, True] Translation: X:353.70, Y:-13.95, Z:3.52 [[ 9.99442511e-01 -3.16382213e-02 -1.06625266e-02 3.53696550e+02] [ 3.16457888e-02 9.99499000e-01 5.41711532e-04 -1.39494206e+01] [ 1.06400459e-02 -8.78833598e-04 9.99943007e-01 3.52229940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.410714057 meters Centerline goodness [0,1] 0.975845298749421 Centerline is valid? [True, True] Translation: X:353.73, Y:-13.95, Z:3.52 [[ 9.99483606e-01 -3.05190160e-02 -1.00554431e-02 3.53728170e+02] [ 3.05256902e-02 9.99533852e-01 5.10899009e-04 -1.39454611e+01] [ 1.00351637e-02 -8.17584525e-04 9.99949312e-01 3.52351255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.440714057 meters Centerline goodness [0,1] 0.9743821160788669 Centerline is valid? [True, True] Translation: X:353.76, Y:-13.95, Z:3.52 [[ 9.99505122e-01 -2.99040516e-02 -9.76009602e-03 3.53760699e+02] [ 2.99103204e-02 9.99552463e-01 4.96921022e-04 -1.39481527e+01] [ 9.74086806e-03 -7.88602705e-04 9.99952246e-01 3.52362408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.470714057 meters Centerline goodness [0,1] 0.9766979058197385 Centerline is valid? [True, True] Translation: X:353.79, Y:-13.94, Z:3.53 [[ 9.99537812e-01 -2.91137722e-02 -8.74931614e-03 3.53793002e+02] [ 2.91187850e-02 9.99575859e-01 4.46071765e-04 -1.39437524e+01] [ 8.73261836e-03 -7.00635052e-04 9.99961625e-01 3.52541770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.500714057 meters Centerline goodness [0,1] 0.9659690712102973 Centerline is valid? [True, True] Translation: X:353.82, Y:-13.96, Z:3.52 [[ 9.99536993e-01 -2.92789702e-02 -8.27897221e-03 3.53823129e+02] [ 2.92834675e-02 9.99571058e-01 4.22486050e-04 -1.39613354e+01] [ 8.26305106e-03 -6.64727450e-04 9.99965639e-01 3.52367850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.530714057 meters Centerline goodness [0,1] 0.9724012101896118 Centerline is valid? [True, True] Translation: X:353.86, Y:-13.96, Z:3.53 [[ 9.99524718e-01 -2.98485957e-02 -7.70716509e-03 3.53855287e+02] [ 2.98525145e-02 9.99554237e-01 3.93899551e-04 -1.39556534e+01] [ 7.69197217e-03 -6.23790595e-04 9.99970222e-01 3.52507167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.560714057 meters Centerline goodness [0,1] 0.9728520355207012 Centerline is valid? [True, True] Translation: X:353.89, Y:-13.96, Z:3.53 [[ 9.99465221e-01 -3.20143662e-02 -6.65973255e-03 3.53886609e+02] [ 3.20173409e-02 9.99487256e-01 3.40509768e-04 -1.39592417e+01] [ 6.64541661e-03 -5.53554598e-04 9.99977766e-01 3.52605250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.590714057 meters Centerline goodness [0,1] 0.9688364373962751 Centerline is valid? [True, True] Translation: X:353.92, Y:-13.97, Z:3.53 [[ 9.99421193e-01 -3.34878549e-02 -5.98681283e-03 3.53916238e+02] [ 3.34902892e-02 9.99438996e-01 3.06803144e-04 -1.39675377e+01] [ 5.97318003e-03 -5.07125658e-04 9.99982032e-01 3.52578338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.620714057 meters Centerline goodness [0,1] 0.9598200899550224 Centerline is valid? [True, True] Translation: X:353.94, Y:-13.98, Z:3.53 [[ 9.99309510e-01 -3.67546434e-02 -5.44061784e-03 3.53944927e+02] [ 3.67567010e-02 9.99324205e-01 2.78639240e-04 -1.39770782e+01] [ 5.42669981e-03 -4.78426005e-04 9.99985161e-01 3.52559632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.650714057 meters Centerline goodness [0,1] 0.9519678714859438 Centerline is valid? [True, True] Translation: X:353.98, Y:-13.98, Z:3.52 [[ 9.99235612e-01 -3.87029336e-02 -5.50219312e-03 3.53976215e+02] [ 3.87050686e-02 9.99250638e-01 2.82049723e-04 -1.39825230e+01] [ 5.48715383e-03 -4.94796890e-04 9.99984823e-01 3.52496506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.680714057 meters Centerline goodness [0,1] 0.9419525673497582 Centerline is valid? [True, False] Translation: X:353.98, Y:-13.98, Z:3.52 [[ 9.99232013e-01 -3.88038588e-02 -5.44467530e-03 3.53976273e+02] [ 3.88099160e-02 9.99246100e-01 1.01126421e-03 -1.39847501e+01] [ 5.40132960e-03 -1.22179496e-03 9.99984666e-01 3.52441450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.710714057 meters Centerline goodness [0,1] 0.9545235527613978 Centerline is valid? [False, True] Translation: X:353.98, Y:-13.99, Z:3.52 [[ 9.99221907e-01 -3.90533711e-02 -5.51504501e-03 3.53976829e+02] [ 3.90668813e-02 9.99233803e-01 2.36354727e-03 -1.39890897e+01] [ 5.41851491e-03 -2.57716382e-03 9.99981999e-01 3.52310354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.740714057 meters Centerline goodness [0,1] 0.9394578727698023 Centerline is valid? [True, False] Translation: X:353.98, Y:-13.99, Z:3.52 [[ 9.99224198e-01 -3.89986426e-02 -5.48700241e-03 3.53977167e+02] [ 3.90170012e-02 9.99233165e-01 3.27951408e-03 -1.39915238e+01] [ 5.35489819e-03 -3.49105621e-03 9.99979569e-01 3.52224017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.770714057 meters Centerline goodness [0,1] 0.9158634584125095 Centerline is valid? [False, False] Translation: X:353.98, Y:-14.00, Z:3.52 [[ 9.99206586e-01 -3.94824606e-02 -5.22817050e-03 3.53976653e+02] [ 3.95044218e-02 9.99210711e-01 4.16606709e-03 -1.39953279e+01] [ 5.05955738e-03 -4.36929753e-03 9.99977655e-01 3.52179204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.800714057 meters Centerline goodness [0,1] 0.9594947137168749 Centerline is valid? [False, True] Translation: X:353.98, Y:-14.00, Z:3.52 [[ 9.99207587e-01 -3.94704913e-02 -5.12615143e-03 3.53976671e+02] [ 3.94950226e-02 9.99208354e-01 4.77581425e-03 -1.39972548e+01] [ 4.93358960e-03 -4.97448730e-03 9.99975457e-01 3.52139071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.830714057 meters Centerline goodness [0,1] 0.9529161325764512 Centerline is valid? [True, True] Translation: X:354.01, Y:-14.00, Z:3.52 [[ 9.99169626e-01 -4.04153095e-02 -5.16343264e-03 3.54008893e+02] [ 4.04175563e-02 9.99182822e-01 3.31496236e-04 -1.40011979e+01] [ 5.14581567e-03 -5.39914299e-04 9.99986614e-01 3.52242027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.860714057 meters Centerline goodness [0,1] 0.9419563126803132 Centerline is valid? [True, False] Translation: X:354.01, Y:-14.00, Z:3.52 [[ 9.99184721e-01 -4.00275899e-02 -5.26162920e-03 3.54009491e+02] [ 4.00356087e-02 9.99197234e-01 1.42758324e-03 -1.40039178e+01] [ 5.20026263e-03 -1.63707189e-03 9.99985139e-01 3.52171968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.890714057 meters Centerline goodness [0,1] 0.9431131580747395 Centerline is valid? [False, False] Translation: X:354.01, Y:-14.01, Z:3.52 [[ 9.99203925e-01 -3.95128515e-02 -5.50006880e-03 3.54010454e+02] [ 3.95256561e-02 9.99216047e-01 2.23915007e-03 -1.40051640e+01] [ 5.40728180e-03 -2.45476136e-03 9.99982368e-01 3.52095095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.920714057 meters Centerline goodness [0,1] 0.9623375434742816 Centerline is valid? [False, True] Translation: X:354.01, Y:-14.01, Z:3.52 [[ 9.99216783e-01 -3.91839980e-02 -5.51669962e-03 3.54010766e+02] [ 3.91998044e-02 9.99227506e-01 2.78677530e-03 -1.40062004e+01] [ 5.40324101e-03 -3.00084619e-03 9.99980900e-01 3.52056920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.950714057 meters Centerline goodness [0,1] 0.9601023134720351 Centerline is valid? [True, True] Translation: X:354.04, Y:-14.01, Z:3.52 [[ 9.99289156e-01 -3.73760512e-02 -4.92071117e-03 3.54040471e+02] [ 3.73780763e-02 9.99301144e-01 3.20205979e-04 -1.40100033e+01] [ 4.90530427e-03 -5.03905081e-04 9.99987842e-01 3.52206555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.980714057 meters Centerline goodness [0,1] 0.9663798415995253 Centerline is valid? [True, True] Translation: X:354.07, Y:-14.01, Z:3.52 [[ 9.99316023e-01 -3.66832890e-02 -4.67148333e-03 3.54072852e+02] [ 3.66851100e-02 9.99326828e-01 3.04684723e-04 -1.40095677e+01] [ 4.65716178e-03 -4.75850205e-04 9.99989042e-01 3.52265058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01071405700003 meters Centerline goodness [0,1] 0.9708901381523545 Centerline is valid? [True, True] Translation: X:354.10, Y:-14.01, Z:3.52 [[ 9.99372207e-01 -3.52025836e-02 -3.99621412e-03 3.54104185e+02] [ 3.52039045e-02 9.99380116e-01 2.60656172e-04 -1.40114533e+01] [ 3.98456116e-03 -4.01174874e-04 9.99991981e-01 3.52299230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.040714057 meters Centerline goodness [0,1] 0.9704970360237118 Centerline is valid? [True, True] Translation: X:354.14, Y:-14.01, Z:3.52 [[ 9.99381621e-01 -3.49105196e-02 -4.19888370e-03 3.54136191e+02] [ 3.49119773e-02 9.99390353e-01 2.74344845e-04 -1.40148513e+01] [ 4.18674634e-03 -4.20766528e-04 9.99991147e-01 3.52235613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07071405700003 meters Centerline goodness [0,1] 0.9678521792622633 Centerline is valid? [True, True] Translation: X:354.17, Y:-14.02, Z:3.52 [[ 9.99381215e-01 -3.48681870e-02 -4.62564555e-03 3.54168600e+02] [ 3.48699570e-02 9.99391812e-01 3.02516651e-04 -1.40190285e+01] [ 4.61228408e-03 -4.63625520e-04 9.99989256e-01 3.52166029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.100714057 meters Centerline goodness [0,1] 0.9635544635544635 Centerline is valid? [True, True] Translation: X:354.20, Y:-14.03, Z:3.52 [[ 9.99395612e-01 -3.44340911e-02 -4.76485044e-03 3.54199345e+02] [ 3.44359649e-02 9.99406858e-01 3.11768775e-04 -1.40256683e+01] [ 4.75128873e-03 -4.75662569e-04 9.99988599e-01 3.52018024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13071405700003 meters Centerline goodness [0,1] 0.9607383466860888 Centerline is valid? [True, True] Translation: X:354.23, Y:-14.03, Z:3.52 [[ 9.99400382e-01 -3.42649994e-02 -4.97865050e-03 3.54231161e+02] [ 3.42670452e-02 9.99412659e-01 3.26175624e-04 -1.40290217e+01] [ 4.96454993e-03 -4.96583685e-04 9.99987553e-01 3.51976657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.160714057 meters Centerline goodness [0,1] 0.9639104925637877 Centerline is valid? [True, True] Translation: X:354.26, Y:-14.03, Z:3.52 [[ 9.99453136e-01 -3.26550570e-02 -5.20348505e-03 3.54263132e+02] [ 3.26572710e-02 9.99466551e-01 3.41068972e-04 -1.40310799e+01] [ 5.18957163e-03 -5.10814075e-04 9.99986404e-01 3.51995214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.190714057 meters Centerline goodness [0,1] 0.9557203968326203 Centerline is valid? [True, True] Translation: X:354.29, Y:-14.04, Z:3.52 [[ 9.99482013e-01 -3.17775808e-02 -5.08839284e-03 3.54293865e+02] [ 3.17796872e-02 9.99494842e-01 3.33616883e-04 -1.40354329e+01] [ 5.07522086e-03 -4.95151606e-04 9.99986998e-01 3.51980801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.220714057 meters Centerline goodness [0,1] 0.9711187240510925 Centerline is valid? [True, True] Translation: X:354.33, Y:-14.03, Z:3.52 [[ 9.99551087e-01 -2.95046013e-02 -5.20605249e-03 3.54325486e+02] [ 2.95067756e-02 9.99564522e-01 3.41330559e-04 -1.40313654e+01] [ 5.19371455e-03 -4.94791154e-04 9.99986390e-01 3.52053370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.250714057 meters Centerline goodness [0,1] 0.97365070704315 Centerline is valid? [True, True] Translation: X:354.36, Y:-14.03, Z:3.52 [[ 9.99577492e-01 -2.86211195e-02 -5.06642176e-03 3.54357612e+02] [ 2.86231708e-02 9.99590218e-01 3.32811118e-04 -1.40322033e+01] [ 5.05482021e-03 -4.77687558e-04 9.99987110e-01 3.52087700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.280714057 meters Centerline goodness [0,1] 0.9744462599854756 Centerline is valid? [True, True] Translation: X:354.39, Y:-14.03, Z:3.52 [[ 9.99606395e-01 -2.76609039e-02 -4.68293351e-03 3.54388663e+02] [ 2.76626460e-02 9.99617268e-01 3.07634101e-04 -1.40327695e+01] [ 4.67263177e-03 -4.37055347e-04 9.99988988e-01 3.52087318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.310714057 meters Centerline goodness [0,1] 0.9740873755512115 Centerline is valid? [True, True] Translation: X:354.42, Y:-14.03, Z:3.52 [[ 9.99662324e-01 -2.56484438e-02 -4.17065571e-03 3.54419692e+02] [ 2.56498082e-02 9.99670952e-01 2.73981145e-04 -1.40347593e+01] [ 4.16225617e-03 -3.80865148e-04 9.99991265e-01 3.52122091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.340714057 meters Centerline goodness [0,1] 0.9758910091659654 Centerline is valid? [True, True] Translation: X:354.45, Y:-14.03, Z:3.52 [[ 9.99691709e-01 -2.45129125e-02 -3.95021464e-03 3.54451176e+02] [ 2.45141286e-02 9.99699450e-01 2.59739043e-04 -1.40343678e+01] [ 3.94266044e-03 -3.56495037e-04 9.99992164e-01 3.52116286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.370714057 meters Centerline goodness [0,1] 0.9703339703339703 Centerline is valid? [True, True] Translation: X:354.48, Y:-14.04, Z:3.52 [[ 9.99745658e-01 -2.21380565e-02 -4.30417782e-03 3.54481037e+02] [ 2.21394776e-02 9.99754852e-01 2.82812890e-04 -1.40417486e+01] [ 4.29686173e-03 -3.78033207e-04 9.99990697e-01 3.52019796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.400714057 meters Centerline goodness [0,1] 0.9763317645453925 Centerline is valid? [True, True] Translation: X:354.51, Y:-14.03, Z:3.52 [[ 9.99775589e-01 -2.06807612e-02 -4.59097479e-03 3.54513425e+02] [ 2.06823659e-02 9.99786051e-01 3.02329962e-04 -1.40328791e+01] [ 4.58374014e-03 -3.97214336e-04 9.99989416e-01 3.52124846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.430714057 meters Centerline goodness [0,1] 0.9785639436876395 Centerline is valid? [True, True] Translation: X:354.54, Y:-14.03, Z:3.52 [[ 9.99812243e-01 -1.88349619e-02 -4.55219439e-03 3.54544850e+02] [ 1.88365206e-02 9.99822532e-01 2.99779033e-04 -1.40302123e+01] [ 4.54574020e-03 -3.85470251e-04 9.99989594e-01 3.52167160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.460714057 meters Centerline goodness [0,1] 0.9671596891451492 Centerline is valid? [True, True] Translation: X:354.57, Y:-14.05, Z:3.52 [[ 9.99845066e-01 -1.68601564e-02 -5.05761328e-03 3.54573913e+02] [ 1.68620553e-02 9.99857770e-01 3.33037892e-04 -1.40464538e+01] [ 5.05127886e-03 -4.18268048e-04 9.99987155e-01 3.51941367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.490714057 meters Centerline goodness [0,1] 0.9776956759715381 Centerline is valid? [True, True] Translation: X:354.61, Y:-14.03, Z:3.52 [[ 9.99907036e-01 -1.22362600e-02 -6.01611888e-03 3.54605236e+02] [ 1.22388629e-02 9.99925024e-01 3.96031366e-04 -1.40296785e+01] [ 6.01082187e-03 -4.69625004e-04 9.99981825e-01 3.52049922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.520714057 meters Centerline goodness [0,1] 0.9795251479627979 Centerline is valid? [True, True] Translation: X:354.64, Y:-14.03, Z:3.52 [[ 9.99932829e-01 -9.73475662e-03 -6.29060459e-03 3.54636235e+02] [ 9.73755411e-03 9.99952503e-01 4.14234928e-04 -1.40268843e+01] [ 6.28627333e-03 -4.75462206e-04 9.99980128e-01 3.52041193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.550714057 meters Centerline goodness [0,1] 0.9794634893772727 Centerline is valid? [True, True] Translation: X:354.67, Y:-14.02, Z:3.52 [[ 9.99969067e-01 -4.09938687e-03 -6.71260985e-03 3.54666773e+02] [ 4.10244546e-03 9.99991487e-01 4.41943438e-04 -1.40235529e+01] [ 6.71074101e-03 -4.69467883e-04 9.99977373e-01 3.51938911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.580714057 meters Centerline goodness [0,1] 0.9795993131081855 Centerline is valid? [True, True] Translation: X:354.70, Y:-14.02, Z:3.52 [[ 9.99978867e-01 -4.04855756e-04 -6.48854293e-03 3.54696506e+02] [ 4.07634562e-04 9.99999826e-01 4.26946713e-04 -1.40245774e+01] [ 6.48836895e-03 -4.29582645e-04 9.99978858e-01 3.51889370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.610714057 meters Centerline goodness [0,1] 0.9796474358974359 Centerline is valid? [True, True] Translation: X:354.73, Y:-14.02, Z:3.52 [[ 9.99974209e-01 3.44460585e-03 -6.30203727e-03 3.54726618e+02] [-3.44206153e-03 9.99993990e-01 4.14531473e-04 -1.40219320e+01] [ 6.30342729e-03 -3.92828782e-04 9.99980056e-01 3.51909559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.640714057 meters Centerline goodness [0,1] 0.9781702400586403 Centerline is valid? [True, True] Translation: X:354.76, Y:-14.02, Z:3.52 [[ 9.99933883e-01 1.03283036e-02 -5.05520156e-03 3.54755304e+02] [-1.03267561e-02 9.99946622e-01 3.32122600e-04 -1.40222769e+01] [ 5.05836199e-03 -2.79896807e-04 9.99987167e-01 3.51917999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.670714057 meters Centerline goodness [0,1] 0.9812636667050294 Centerline is valid? [True, True] Translation: X:354.79, Y:-14.01, Z:3.52 [[ 9.99897005e-01 1.37238941e-02 -4.19940038e-03 3.54786238e+02] [-1.37228560e-02 9.99905799e-01 2.75932635e-04 -1.40141119e+01] [ 4.20279167e-03 -2.18276448e-04 9.99991144e-01 3.52120360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.700714057 meters Centerline goodness [0,1] 0.9800675132615335 Centerline is valid? [True, True] Translation: X:354.82, Y:-14.01, Z:3.52 [[ 9.99810342e-01 1.92726529e-02 -2.80098311e-03 3.54816107e+02] [-1.92722131e-02 9.99814257e-01 1.83937061e-04 -1.40124921e+01] [ 2.80400781e-03 -1.29921033e-04 9.99996060e-01 3.52294102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.730714057 meters Centerline goodness [0,1] 0.981180496150556 Centerline is valid? [True, True] Translation: X:354.85, Y:-14.01, Z:3.52 [[ 9.99767746e-01 2.14538709e-02 -2.04596344e-03 3.54845759e+02] [-2.14536423e-02 9.99769835e-01 1.33588053e-04 -1.40102657e+01] [ 2.04835851e-03 -8.96636592e-05 9.99997898e-01 3.52385935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76071405700003 meters Centerline goodness [0,1] 0.9809878026242839 Centerline is valid? [True, True] Translation: X:354.87, Y:-14.01, Z:3.52 [[ 9.99739364e-01 2.27875741e-02 -1.38949151e-03 3.54874767e+02] [-2.27874701e-02 9.99740328e-01 9.06668230e-05 -1.40111316e+01] [ 1.39119677e-03 -5.89801957e-05 9.99999031e-01 3.52422313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.790714057 meters Centerline goodness [0,1] 0.9809878026242839 Centerline is valid? [True, True] Translation: X:354.90, Y:-14.01, Z:3.52 [[ 9.99741814e-01 2.26798306e-02 -1.38951349e-03 3.54902193e+02] [-2.26797269e-02 9.99742778e-01 9.03308131e-05 -1.40128398e+01] [ 1.39120476e-03 -5.87937044e-05 9.99999031e-01 3.52408114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82071405700003 meters Centerline goodness [0,1] 0.980575805112116 Centerline is valid? [True, True] Translation: X:354.93, Y:-14.02, Z:3.52 [[ 9.99715670e-01 2.38433062e-02 -2.74448668e-04 3.54929954e+02] [-2.38433023e-02 9.99715708e-01 1.74661742e-05 -1.40160873e+01] [ 2.74787096e-04 -1.09174455e-05 9.99999962e-01 3.52324776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.850714057 meters Centerline goodness [0,1] 0.9802123885651102 Centerline is valid? [True, True] Translation: X:354.96, Y:-14.02, Z:3.52 [[ 9.99724001e-01 2.34716511e-02 -1.00164878e-03 3.54959142e+02] [-2.34715977e-02 9.99724502e-01 6.49967093e-05 -1.40177253e+01] [ 1.00289841e-03 -4.14684730e-05 9.99999496e-01 3.52282560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88071405700003 meters Centerline goodness [0,1] 0.9807466433292646 Centerline is valid? [True, True] Translation: X:354.99, Y:-14.02, Z:3.52 [[ 9.99772302e-01 2.12948494e-02 -1.36848556e-03 3.54988123e+02] [-2.12947476e-02 9.99773237e-01 8.89502268e-05 -1.40221752e+01] [ 1.37006942e-03 -5.97884184e-05 9.99999060e-01 3.52123522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.910714057 meters Centerline goodness [0,1] 0.9802598240199014 Centerline is valid? [True, True] Translation: X:355.02, Y:-14.03, Z:3.52 [[ 9.99798941e-01 1.99804972e-02 -1.69039916e-03 3.55015284e+02] [-1.99803404e-02 9.99800367e-01 1.09612797e-04 -1.40292742e+01] [ 1.69225182e-03 -7.58160074e-05 9.99998565e-01 3.51971803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.940714057 meters Centerline goodness [0,1] 0.9794167701577664 Centerline is valid? [True, True] Translation: X:355.05, Y:-14.03, Z:3.52 [[ 9.99831894e-01 1.82025616e-02 -2.20256976e-03 3.55045081e+02] [-1.82022903e-02 9.99834314e-01 1.43162824e-04 -1.40333387e+01] [ 2.20481076e-03 -1.03046943e-04 9.99997564e-01 3.51906442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.970714057 meters Centerline goodness [0,1] 0.9792932081722805 Centerline is valid? [True, True] Translation: X:355.07, Y:-14.04, Z:3.52 [[ 9.99884010e-01 1.49252288e-02 -3.03388691e-03 3.55073807e+02] [-1.49246991e-02 9.99888601e-01 1.97161920e-04 -1.40399633e+01] [ 3.03649163e-03 -1.51859202e-04 9.99995378e-01 3.51844897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.000714057 meters Centerline goodness [0,1] 0.9787336766599227 Centerline is valid? [True, True] Translation: X:355.10, Y:-14.04, Z:3.52 [[ 9.99908960e-01 1.31441502e-02 -3.04999774e-03 3.55103065e+02] [-1.31436069e-02 9.99913599e-01 1.98112109e-04 -1.40445655e+01] [ 3.05233824e-03 -1.58006101e-04 9.99995329e-01 3.51831389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.030714057 meters Centerline goodness [0,1] 0.9779856906989544 Centerline is valid? [True, True] Translation: X:355.13, Y:-14.05, Z:3.52 [[ 9.99955872e-01 8.77400181e-03 -3.35715004e-03 3.55133592e+02] [-8.77331867e-03 9.99961490e-01 2.18163253e-04 -1.40493299e+01] [ 3.35893492e-03 -1.88700279e-04 9.99994341e-01 3.51779831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.060714057 meters Centerline goodness [0,1] 0.9808737530099759 Centerline is valid? [True, True] Translation: X:355.16, Y:-14.05, Z:3.52 [[ 9.99975836e-01 6.29490573e-03 -2.94972063e-03 3.55163347e+02] [-6.29436830e-03 9.99980172e-01 1.91443554e-04 -1.40468310e+01] [ 2.95086726e-03 -1.72872300e-04 9.99995631e-01 3.51860237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.090714057 meters Centerline goodness [0,1] 0.9777721762643506 Centerline is valid? [True, True] Translation: X:355.19, Y:-14.06, Z:3.52 [[ 9.99995427e-01 1.90780260e-03 -2.34667401e-03 3.55192384e+02] [-1.90745048e-03 9.99998169e-01 1.52275811e-04 -1.40570837e+01] [ 2.34696022e-03 -1.47798950e-04 9.99997235e-01 3.51797140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.120714057 meters Centerline goodness [0,1] 0.9767857962104877 Centerline is valid? [True, True] Translation: X:355.22, Y:-14.06, Z:3.52 [[ 9.99996362e-01 -3.59597474e-04 -2.67313991e-03 3.55221998e+02] [ 3.60062075e-04 9.99999920e-01 1.73324427e-04 -1.40609611e+01] [ 2.67307737e-03 -1.74286293e-04 9.99996412e-01 3.51774382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.150714057 meters Centerline goodness [0,1] 0.9764254385964912 Centerline is valid? [True, True] Translation: X:355.25, Y:-14.06, Z:3.52 [[ 9.99993410e-01 -2.33079550e-03 -2.78329872e-03 3.55251379e+02] [ 2.33130654e-03 9.99997266e-01 1.80378077e-04 -1.40640231e+01] [ 2.78287068e-03 -1.86865611e-04 9.99996110e-01 3.51718881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.180714057 meters Centerline goodness [0,1] 0.9762640481585754 Centerline is valid? [True, True] Translation: X:355.28, Y:-14.07, Z:3.52 [[ 9.99978223e-01 -5.62384729e-03 -3.45336165e-03 3.55281052e+02] [ 5.62465400e-03 9.99984156e-01 2.23934615e-04 -1.40685967e+01] [ 3.45204756e-03 -2.43353703e-04 9.99994012e-01 3.51626231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.210714057 meters Centerline goodness [0,1] 0.9766123316796598 Centerline is valid? [True, True] Translation: X:355.31, Y:-14.07, Z:3.52 [[ 9.99968380e-01 -7.06630048e-03 -3.64783069e-03 3.55311731e+02] [ 7.06721092e-03 9.99974999e-01 2.36754015e-04 -1.40722240e+01] [ 3.64606651e-03 -2.62526518e-04 9.99993319e-01 3.51572956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.240714057 meters Centerline goodness [0,1] 0.9779642516032201 Centerline is valid? [True, True] Translation: X:355.34, Y:-14.07, Z:3.52 [[ 9.99952335e-01 -8.96930251e-03 -3.85747438e-03 3.55343442e+02] [ 8.97033557e-03 9.99959734e-01 2.50587605e-04 -1.40712630e+01] [ 3.85507146e-03 -2.85178500e-04 9.99992529e-01 3.51551562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.270714057 meters Centerline goodness [0,1] 0.9747463205046165 Centerline is valid? [True, True] Translation: X:355.37, Y:-14.08, Z:3.51 [[ 9.99944979e-01 -9.54798067e-03 -4.34453715e-03 3.55374184e+02] [ 9.54929780e-03 9.99954365e-01 2.82527327e-04 -1.40821314e+01] [ 4.34164132e-03 -3.23999061e-04 9.99990523e-01 3.51395313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.300714057 meters Centerline goodness [0,1] 0.9785436226242271 Centerline is valid? [True, True] Translation: X:355.41, Y:-14.08, Z:3.51 [[ 9.99939506e-01 -9.79030866e-03 -5.01331768e-03 3.55406423e+02] [ 9.79206577e-03 9.99952003e-01 3.26062221e-04 -1.40762210e+01] [ 5.00988480e-03 -3.75133233e-04 9.99987380e-01 3.51470082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.330714057 meters Centerline goodness [0,1] 0.9766374349136749 Centerline is valid? [True, True] Translation: X:355.44, Y:-14.08, Z:3.51 [[ 9.99943627e-01 -9.10371384e-03 -5.46483616e-03 3.55437182e+02] [ 9.10579801e-03 9.99958478e-01 3.56618524e-04 -1.40820647e+01] [ 5.46136270e-03 -4.06360115e-04 9.99985004e-01 3.51322101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.360714057 meters Centerline goodness [0,1] 0.9779534777128452 Centerline is valid? [True, True] Translation: X:355.47, Y:-14.08, Z:3.51 [[ 9.99951361e-01 -8.09336846e-03 -5.63683523e-03 3.55468539e+02] [ 8.09556708e-03 9.99967163e-01 3.67336565e-04 -1.40790619e+01] [ 5.63367714e-03 -4.12952076e-04 9.99984045e-01 3.51337923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.390714057 meters Centerline goodness [0,1] 0.97536102936144 Centerline is valid? [True, True] Translation: X:355.50, Y:-14.08, Z:3.51 [[ 9.99968292e-01 -5.91515953e-03 -5.33159950e-03 3.55497975e+02] [ 5.91709522e-03 9.99982434e-01 3.47359809e-04 -1.40846073e+01] [ 5.32945116e-03 -3.78896377e-04 9.99985727e-01 3.51256580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.420714057 meters Centerline goodness [0,1] 0.9769925294468124 Centerline is valid? [True, True] Translation: X:355.53, Y:-14.08, Z:3.51 [[ 9.99973838e-01 -4.42660296e-03 -5.72085127e-03 3.55528328e+02] [ 4.42880738e-03 9.99990123e-01 3.72720008e-04 -1.40849567e+01] [ 5.71914489e-03 -3.98046805e-04 9.99983566e-01 3.51211688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.450714057 meters Centerline goodness [0,1] 0.9784428391239537 Centerline is valid? [True, True] Translation: X:355.56, Y:-14.08, Z:3.51 [[ 9.99980115e-01 -2.88599754e-03 -5.60721765e-03 3.55558910e+02] [ 2.88809011e-03 9.99995763e-01 3.65130968e-04 -1.40794865e+01] [ 5.60614012e-03 -3.81317857e-04 9.99984213e-01 3.51316002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.480714057 meters Centerline goodness [0,1] 0.9785743716522456 Centerline is valid? [True, True] Translation: X:355.59, Y:-14.08, Z:3.51 [[ 9.99988057e-01 1.27500810e-03 -4.71812382e-03 3.55588328e+02] [-1.27357323e-03 9.99999142e-01 3.07110614e-04 -1.40775248e+01] [ 4.71851134e-03 -3.01098070e-04 9.99988822e-01 3.51456206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51071405700003 meters Centerline goodness [0,1] 0.9780161598489906 Centerline is valid? [True, True] Translation: X:355.62, Y:-14.08, Z:3.52 [[ 9.99985744e-01 3.46370100e-03 -4.06379405e-03 3.55618100e+02] [-3.46265543e-03 9.99993970e-01 2.64296283e-04 -1.40766803e+01] [ 4.06468499e-03 -2.50220997e-04 9.99991708e-01 3.51516351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.540714057 meters Centerline goodness [0,1] 0.9805566408494404 Centerline is valid? [True, True] Translation: X:355.65, Y:-14.07, Z:3.52 [[ 9.99968844e-01 7.58289006e-03 -2.19350726e-03 3.55649073e+02] [-7.58259521e-03 9.99971242e-01 1.42706018e-04 -1.40698839e+01] [ 2.19452630e-03 -1.26069094e-04 9.99997584e-01 3.51688152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57071405700003 meters Centerline goodness [0,1] 0.9785538227638156 Centerline is valid? [True, True] Translation: X:355.68, Y:-14.07, Z:3.52 [[ 9.99954981e-01 9.31229755e-03 -1.82113841e-03 3.55678496e+02] [-9.31209848e-03 9.99956635e-01 1.17761531e-04 -1.40702122e+01] [ 1.82215606e-03 -1.00797609e-04 9.99998335e-01 3.51657916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.600714057 meters Centerline goodness [0,1] 0.9805314633696254 Centerline is valid? [True, True] Translation: X:355.71, Y:-14.07, Z:3.52 [[ 9.99919201e-01 1.25209945e-02 -2.19452334e-03 3.55707559e+02] [-1.25207122e-02 9.99921603e-01 1.42315082e-04 -1.40712659e+01] [ 2.19613322e-03 -1.14826587e-04 9.99997582e-01 3.51577653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63071405700003 meters Centerline goodness [0,1] 0.9798470036284638 Centerline is valid? [True, True] Translation: X:355.74, Y:-14.07, Z:3.52 [[ 9.99899343e-01 1.38402744e-02 -3.12272155e-03 3.55735533e+02] [-1.38397107e-02 9.99904206e-01 2.02060921e-04 -1.40727379e+01] [ 3.12521899e-03 -1.58823019e-04 9.99995104e-01 3.51528670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.660714057 meters Centerline goodness [0,1] 0.980151119532315 Centerline is valid? [True, True] Translation: X:355.76, Y:-14.07, Z:3.51 [[ 9.99884540e-01 1.48099632e-02 -3.40163288e-03 3.55764667e+02] [-1.48093002e-02 9.99890312e-01 2.20010819e-04 -1.40735429e+01] [ 3.40451812e-03 -1.69609614e-04 9.99994190e-01 3.51429189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.690714057 meters Centerline goodness [0,1] 0.9806256213441842 Centerline is valid? [True, True] Translation: X:355.79, Y:-14.07, Z:3.51 [[ 9.99853537e-01 1.66666083e-02 -3.88966155e-03 3.55793043e+02] [-1.66657562e-02 9.99861085e-01 2.51369240e-04 -1.40742699e+01] [ 3.89331069e-03 -1.86508273e-04 9.99992404e-01 3.51333003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.720714057 meters Centerline goodness [0,1] 0.9808382124921895 Centerline is valid? [True, True] Translation: X:355.82, Y:-14.07, Z:3.51 [[ 9.99836886e-01 1.76012091e-02 -4.04965858e-03 3.55822050e+02] [-1.76002942e-02 9.99845069e-01 2.61450744e-04 -1.40746343e+01] [ 4.05363301e-03 -1.90132916e-04 9.99991766e-01 3.51321995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.750714057 meters Centerline goodness [0,1] 0.9826223962557057 Centerline is valid? [True, True] Translation: X:355.85, Y:-14.07, Z:3.51 [[ 9.99826507e-01 1.82708482e-02 -3.62390478e-03 3.55851210e+02] [-1.82701211e-02 9.99833060e-01 2.33645829e-04 -1.40704837e+01] [ 3.62756871e-03 -1.67396114e-04 9.99993406e-01 3.51403662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.780714057 meters Centerline goodness [0,1] 0.9823847612002404 Centerline is valid? [True, True] Translation: X:355.88, Y:-14.08, Z:3.51 [[ 9.99786185e-01 2.04992549e-02 -2.71394140e-03 3.55878655e+02] [-2.04988564e-02 9.99789861e-01 1.74559008e-04 -1.40785673e+01] [ 2.71694942e-03 -1.18888990e-04 9.99996302e-01 3.51329949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.810714057 meters Centerline goodness [0,1] 0.9839501598036037 Centerline is valid? [True, True] Translation: X:355.91, Y:-14.08, Z:3.51 [[ 9.99770024e-01 2.12967451e-02 -2.51956093e-03 3.55908078e+02] [-2.12964045e-02 9.99773193e-01 1.61951785e-04 -1.40756901e+01] [ 2.52243852e-03 -1.08256951e-04 9.99996813e-01 3.51414584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.840714057 meters Centerline goodness [0,1] 0.9832144258964235 Centerline is valid? [True, True] Translation: X:355.94, Y:-14.07, Z:3.51 [[ 9.99716612e-01 2.37466896e-02 -1.67063626e-03 3.55937551e+02] [-2.37465441e-02 9.99718005e-01 1.06846244e-04 -1.40740832e+01] [ 1.67270240e-03 -6.71441274e-05 9.99998599e-01 3.51489720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.870714057 meters Centerline goodness [0,1] 0.9849098525701854 Centerline is valid? [True, True] Translation: X:355.97, Y:-14.07, Z:3.51 [[ 9.99687607e-01 2.49552131e-02 -1.38766637e-03 3.55966478e+02] [-2.49551139e-02 9.99688569e-01 8.87695011e-05 -1.40741125e+01] [ 1.38944947e-03 -5.41123980e-05 9.99999033e-01 3.51480130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.900714057 meters Centerline goodness [0,1] 0.9858939968550551 Centerline is valid? [True, True] Translation: X:356.00, Y:-14.08, Z:3.51 [[ 9.99658136e-01 2.61361488e-02 -7.16088691e-04 3.55995232e+02] [-2.61361228e-02 9.99658392e-01 4.55808991e-05 -1.40754637e+01] [ 7.17035379e-04 -2.68495346e-05 9.99999743e-01 3.51499325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.930714057 meters Centerline goodness [0,1] 0.9850611659690586 Centerline is valid? [True, True] Translation: X:356.02, Y:-14.08, Z:3.51 [[ 9.99607458e-01 2.80020613e-02 -9.02638553e-04 3.56023693e+02] [-2.80020207e-02 9.99607865e-01 5.74868054e-05 -1.40773279e+01] [ 9.03894346e-04 -3.21885359e-05 9.99999591e-01 3.51444609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.960714057 meters Centerline goodness [0,1] 0.9844585987261146 Centerline is valid? [True, True] Translation: X:356.05, Y:-14.08, Z:3.51 [[ 9.99604413e-01 2.81149088e-02 -7.54289154e-04 3.56050921e+02] [-2.81148807e-02 9.99604697e-01 4.78251204e-05 -1.40805936e+01] [ 7.55335580e-04 -2.65994519e-05 9.99999714e-01 3.51402155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.990714057 meters Centerline goodness [0,1] 0.9841207379458808 Centerline is valid? [True, True] Translation: X:356.08, Y:-14.08, Z:3.51 [[ 9.99627995e-01 2.72721925e-02 -3.16098700e-04 3.56079760e+02] [-2.72721876e-02 9.99628045e-01 1.98475886e-05 -1.40837446e+01] [ 3.16522412e-04 -1.12195022e-05 9.99999950e-01 3.51420131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.020714057 meters Centerline goodness [0,1] 0.9845419360819486 Centerline is valid? [True, True] Translation: X:356.11, Y:-14.09, Z:3.51 [[ 9.99657727e-01 2.61615147e-02 5.83348919e-05 3.56108578e+02] [-2.61615145e-02 9.99657729e-01 -4.09121937e-06 -1.40860360e+01] [-5.84219581e-05 2.56368993e-06 9.99999998e-01 3.51380623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.050714057 meters Centerline goodness [0,1] 0.9829559849828409 Centerline is valid? [True, True] Translation: X:356.14, Y:-14.09, Z:3.51 [[ 9.99686743e-01 2.50240049e-02 4.62730093e-04 3.56137220e+02] [-2.50239938e-02 9.99686850e-01 -2.98837662e-05 -1.40892543e+01] [-4.63333001e-04 1.82950500e-05 9.99999892e-01 3.51333221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.080714057 meters Centerline goodness [0,1] 0.9827941715542522 Centerline is valid? [True, True] Translation: X:356.17, Y:-14.10, Z:3.51 [[ 9.99744189e-01 2.26166907e-02 -2.02501948e-04 3.56165112e+02] [-2.26166886e-02 9.99744210e-01 1.25869457e-05 -1.40955087e+01] [ 2.02734825e-04 -8.00380232e-06 9.99999979e-01 3.51249139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.110714057 meters Centerline goodness [0,1] 0.982873016966274 Centerline is valid? [True, True] Translation: X:356.19, Y:-14.10, Z:3.51 [[ 9.99772174e-01 2.13447616e-02 -3.66909654e-05 3.56193617e+02] [-2.13447615e-02 9.99772175e-01 1.97081360e-06 -1.40981610e+01] [ 3.67246728e-05 -1.18720469e-06 9.99999999e-01 3.51220751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.140714057 meters Centerline goodness [0,1] 0.9827044385824062 Centerline is valid? [True, True] Translation: X:356.22, Y:-14.10, Z:3.51 [[ 9.99819537e-01 1.89901744e-02 5.16017074e-04 3.56223125e+02] [-1.89901599e-02 9.99819670e-01 -3.30125236e-05 -1.41031556e+01] [-5.16550934e-04 2.32073194e-05 9.99999866e-01 3.51314828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.170714057 meters Centerline goodness [0,1] 0.9799646164097144 Centerline is valid? [True, True] Translation: X:356.25, Y:-14.11, Z:3.51 [[ 9.99838520e-01 1.79343757e-02 1.13672928e-03 3.56250395e+02] [-1.79343046e-02 9.99839165e-01 -7.26742144e-05 -1.41110615e+01] [-1.13784982e-03 5.22760297e-05 9.99999351e-01 3.51285876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.200714057 meters Centerline goodness [0,1] 0.9808010288443872 Centerline is valid? [True, True] Translation: X:356.28, Y:-14.11, Z:3.51 [[ 9.99849237e-01 1.73286017e-02 1.10572123e-03 3.56279055e+02] [-1.73285343e-02 9.99849847e-01 -7.05321362e-05 -1.41111662e+01] [-1.10677743e-03 5.13609743e-05 9.99999386e-01 3.51327530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.230714057 meters Centerline goodness [0,1] 0.9815712456557527 Centerline is valid? [True, True] Translation: X:356.31, Y:-14.11, Z:3.51 [[ 9.99861316e-01 1.65955437e-02 1.39181155e-03 3.56307565e+02] [-1.65954364e-02 9.99862282e-01 -8.86022657e-05 -1.41123109e+01] [-1.39309028e-03 6.54922578e-05 9.99999028e-01 3.51295465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26071405700003 meters Centerline goodness [0,1] 0.9813383341718885 Centerline is valid? [True, True] Translation: X:356.34, Y:-14.12, Z:3.51 [[ 9.99864272e-01 1.64371561e-02 1.12130006e-03 3.56335794e+02] [-1.64370864e-02 9.99864899e-01 -7.13729539e-05 -1.41153073e+01] [-1.12232174e-03 5.29323605e-05 9.99999369e-01 3.51206142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.290714057 meters Centerline goodness [0,1] 0.981811534594644 Centerline is valid? [True, True] Translation: X:356.36, Y:-14.12, Z:3.51 [[ 9.99868749e-01 1.61614982e-02 1.13605800e-03 3.56363965e+02] [-1.61614265e-02 9.99869393e-01 -7.22260434e-05 -1.41202409e+01] [-1.13707690e-03 5.38562458e-05 9.99999352e-01 3.51033436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32071405700003 meters Centerline goodness [0,1] 0.9817944788783936 Centerline is valid? [True, True] Translation: X:356.39, Y:-14.12, Z:3.51 [[ 9.99874173e-01 1.58560770e-02 4.71275793e-04 3.56393022e+02] [-1.58560645e-02 9.99874284e-01 -3.01451094e-05 -1.41222983e+01] [-4.71694529e-04 2.26687370e-05 9.99999888e-01 3.50975260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.350714057 meters Centerline goodness [0,1] 0.9820885279652293 Centerline is valid? [True, True] Translation: X:356.42, Y:-14.13, Z:3.51 [[ 9.99870798e-01 1.60743565e-02 -4.56689087e-05 3.56420942e+02] [-1.60743564e-02 9.99870799e-01 2.42409855e-06 -1.41253644e+01] [ 4.57019740e-05 -1.68968703e-06 9.99999999e-01 3.50904021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38071405700003 meters Centerline goodness [0,1] 0.9825556139829443 Centerline is valid? [True, True] Translation: X:356.45, Y:-14.13, Z:3.51 [[ 9.99843382e-01 1.76422877e-02 -1.40033417e-03 3.56449713e+02] [-1.76421818e-02 9.99844361e-01 8.78913787e-05 -1.41273150e+01] [ 1.40166683e-03 -6.31726633e-05 9.99999016e-01 3.50807582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.410714057 meters Centerline goodness [0,1] 0.9833001168304584 Centerline is valid? [True, True] Translation: X:356.48, Y:-14.13, Z:3.51 [[ 9.99828755e-01 1.83699870e-02 -2.23689745e-03 3.56478472e+02] [-1.83697187e-02 9.99831253e-01 1.40452411e-04 -1.41279879e+01] [ 2.23910009e-03 -9.93371825e-05 9.99997488e-01 3.50771666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.440714057 meters Centerline goodness [0,1] 0.9839037885543133 Centerline is valid? [True, True] Translation: X:356.51, Y:-14.13, Z:3.51 [[ 9.99779028e-01 2.08944169e-02 -2.30621547e-03 3.56507856e+02] [-2.08941385e-02 9.99781683e-01 1.44774905e-04 -1.41266926e+01] [ 2.30873697e-03 -9.65565284e-05 9.99997330e-01 3.50807206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.470714057 meters Centerline goodness [0,1] 0.9839137796897167 Centerline is valid? [True, True] Translation: X:356.54, Y:-14.13, Z:3.51 [[ 9.99754976e-01 2.20394082e-02 -2.06226511e-03 3.56535926e+02] [-2.20391885e-02 9.99757099e-01 1.29190182e-04 -1.41306906e+01] [ 2.06461146e-03 -8.37078776e-05 9.99997865e-01 3.50779647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.500714057 meters Centerline goodness [0,1] 0.9831649063576431 Centerline is valid? [True, True] Translation: X:356.56, Y:-14.13, Z:3.51 [[ 9.99721818e-01 2.35389074e-02 -1.48523629e-03 3.56563465e+02] [-2.35387955e-02 9.99722920e-01 9.27306171e-05 -1.41328370e+01] [ 1.48700754e-03 -5.77441478e-05 9.99998893e-01 3.50753793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.530714057 meters Centerline goodness [0,1] 0.9853112507138778 Centerline is valid? [True, True] Translation: X:356.59, Y:-14.13, Z:3.51 [[ 9.99726891e-01 2.33249660e-02 -1.44520297e-03 3.56592151e+02] [-2.33248600e-02 9.99727934e-01 9.02057405e-05 -1.41340601e+01] [ 1.44691383e-03 -5.64719476e-05 9.99998952e-01 3.50741019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.560714057 meters Centerline goodness [0,1] 0.9841124699965711 Centerline is valid? [True, True] Translation: X:356.62, Y:-14.14, Z:3.51 [[ 9.99759997e-01 2.18339593e-02 -1.79601346e-03 3.56620676e+02] [-2.18337932e-02 9.99761608e-01 1.12061869e-04 -1.41364977e+01] [ 1.79803206e-03 -7.28211874e-05 9.99998381e-01 3.50715582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.590714057 meters Centerline goodness [0,1] 0.9840345347403042 Centerline is valid? [True, True] Translation: X:356.65, Y:-14.14, Z:3.51 [[ 9.99805011e-01 1.96292238e-02 -2.15247326e-03 3.56650176e+02] [-1.96289797e-02 9.99807324e-01 1.34481868e-04 -1.41398874e+01] [ 2.15469830e-03 -9.22047920e-05 9.99997674e-01 3.50696927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.620714057 meters Centerline goodness [0,1] 0.9838812785388128 Centerline is valid? [True, True] Translation: X:356.68, Y:-14.14, Z:3.51 [[ 9.99852681e-01 1.70612278e-02 -1.87884173e-03 3.56679711e+02] [-1.70610374e-02 9.99854443e-01 1.17297211e-04 -1.41437853e+01] [ 1.88056949e-03 -8.52249416e-05 9.99998228e-01 3.50648989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.650714057 meters Centerline goodness [0,1] 0.9821404133023128 Centerline is valid? [True, True] Translation: X:356.71, Y:-14.15, Z:3.50 [[ 9.99940595e-01 1.06341379e-02 -2.39195386e-03 3.56708226e+02] [-1.06338105e-02 9.99943448e-01 1.49551023e-04 -1.41549110e+01] [ 2.39340894e-03 -1.24106555e-04 9.99997128e-01 3.50499733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.680714057 meters Centerline goodness [0,1] 0.9821404133023128 Centerline is valid? [True, True] Translation: X:356.74, Y:-14.16, Z:3.50 [[ 9.99941306e-01 1.05671162e-02 -2.39198500e-03 3.56736519e+02] [-1.05667898e-02 9.99944159e-01 1.49052673e-04 -1.41566148e+01] [ 2.39342649e-03 -1.23768322e-04 9.99997128e-01 3.50485101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.710714057 meters Centerline goodness [0,1] 0.9816929986549028 Centerline is valid? [True, True] Translation: X:356.77, Y:-14.16, Z:3.50 [[ 9.99967001e-01 7.63909504e-03 -2.76434699e-03 3.56766110e+02] [-7.63864759e-03 9.99970810e-01 1.72389516e-04 -1.41585454e+01] [ 2.76558320e-03 -1.51267955e-04 9.99996164e-01 3.50494185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.740714057 meters Centerline goodness [0,1] 0.980457361516035 Centerline is valid? [True, True] Translation: X:356.79, Y:-14.17, Z:3.50 [[ 9.99993531e-01 1.40053690e-03 -3.31293915e-03 3.56794889e+02] [-1.39985964e-03 9.99998999e-01 2.06737277e-04 -1.41703863e+01] [ 3.31322538e-03 -2.02098290e-04 9.99994491e-01 3.50436241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.770714057 meters Centerline goodness [0,1] 0.9801143481925241 Centerline is valid? [True, True] Translation: X:356.82, Y:-14.17, Z:3.50 [[ 9.99994404e-01 -1.11706631e-03 -3.15331140e-03 3.56824590e+02] [ 1.11769204e-03 9.99999356e-01 1.96680243e-04 -1.41736000e+01] [ 3.15308966e-03 -2.00203574e-04 9.99995009e-01 3.50437915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.800714057 meters Centerline goodness [0,1] 0.9791704607539611 Centerline is valid? [True, True] Translation: X:356.85, Y:-14.18, Z:3.50 [[ 9.99988712e-01 -3.11517009e-03 -3.58761820e-03 3.56854229e+02] [ 3.11599269e-03 9.99995120e-01 2.23721819e-04 -1.41778241e+01] [ 3.58690376e-03 -2.34898286e-04 9.99993539e-01 3.50457571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.830714057 meters Centerline goodness [0,1] 0.9807866389064904 Centerline is valid? [True, True] Translation: X:356.88, Y:-14.18, Z:3.50 [[ 9.99972454e-01 -6.56670405e-03 -3.45985103e-03 3.56884751e+02] [ 6.56748962e-03 9.99978411e-01 2.15742048e-04 -1.41804438e+01] [ 3.45835962e-03 -2.38458640e-04 9.99993991e-01 3.50460832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.860714057 meters Centerline goodness [0,1] 0.9813560092765222 Centerline is valid? [True, True] Translation: X:356.92, Y:-14.18, Z:3.51 [[ 9.99959872e-01 -7.94491046e-03 -4.13905740e-03 3.56916122e+02] [ 7.94604813e-03 9.99968396e-01 2.58489882e-04 -1.41773335e+01] [ 4.13687291e-03 -2.91368659e-04 9.99991401e-01 3.50509036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.890714057 meters Centerline goodness [0,1] 0.9820264036901543 Centerline is valid? [True, True] Translation: X:356.95, Y:-14.18, Z:3.50 [[ 9.99941120e-01 -9.87929762e-03 -4.48963262e-03 3.56947064e+02] [ 9.88065617e-03 9.99951146e-01 2.80517267e-04 -1.41804171e+01] [ 4.48664197e-03 -3.24861266e-04 9.99989882e-01 3.50429344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.920714057 meters Centerline goodness [0,1] 0.9789047759769044 Centerline is valid? [True, True] Translation: X:356.98, Y:-14.19, Z:3.50 [[ 9.99937367e-01 -1.01811696e-02 -4.64826018e-03 3.56977813e+02] [ 1.01826332e-02 9.99948113e-01 2.91315208e-04 -1.41917398e+01] [ 4.64505307e-03 -3.38628491e-04 9.99989154e-01 3.50307728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.950714057 meters Centerline goodness [0,1] 0.9807412128938262 Centerline is valid? [True, True] Translation: X:357.01, Y:-14.19, Z:3.50 [[ 9.99938705e-01 -9.98780570e-03 -4.77804263e-03 3.57009883e+02] [ 9.98934888e-03 9.99950060e-01 2.99216858e-04 -1.41862604e+01] [ 4.77481550e-03 -3.46928053e-04 9.99988540e-01 3.50378220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.980714057 meters Centerline goodness [0,1] 0.9830335008756169 Centerline is valid? [True, True] Translation: X:357.04, Y:-14.18, Z:3.50 [[ 9.99959356e-01 -7.90249412e-03 -4.34015109e-03 3.57041445e+02] [ 7.90374790e-03 9.99968728e-01 2.71801281e-04 -1.41820284e+01] [ 4.33786746e-03 -3.06093694e-04 9.99990545e-01 3.50499061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01071405700003 meters Centerline goodness [0,1] 0.9813723929310619 Centerline is valid? [True, True] Translation: X:357.07, Y:-14.18, Z:3.50 [[ 9.99970288e-01 -6.47706453e-03 -4.17970130e-03 3.57072133e+02] [ 6.47821594e-03 9.99978982e-01 2.61996983e-04 -1.41834778e+01] [ 4.17791648e-03 -2.89066206e-04 9.99991231e-01 3.50490845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.040714057 meters Centerline goodness [0,1] 0.9803952821166719 Centerline is valid? [True, True] Translation: X:357.10, Y:-14.19, Z:3.50 [[ 9.99978554e-01 -4.92515681e-03 -4.31664931e-03 3.57102619e+02] [ 4.92637308e-03 9.99987829e-01 2.71176680e-04 -1.41868287e+01] [ 4.31526118e-03 -2.92436290e-04 9.99990646e-01 3.50461610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07071405700003 meters Centerline goodness [0,1] 0.9812406203101551 Centerline is valid? [True, True] Translation: X:357.13, Y:-14.18, Z:3.51 [[ 9.99994370e-01 -1.66473465e-03 -2.91359758e-03 3.57133633e+02] [ 1.66527395e-03 9.99998597e-01 1.82679309e-04 -1.41786506e+01] [ 2.91328938e-03 -1.87530219e-04 9.99995739e-01 3.50620515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.100714057 meters Centerline goodness [0,1] 0.9818979828531144 Centerline is valid? [True, True] Translation: X:357.16, Y:-14.18, Z:3.51 [[ 9.99996423e-01 -5.18907310e-04 -2.62379495e-03 3.57163019e+02] [ 5.19340103e-04 9.99999852e-01 1.64270672e-04 -1.41788110e+01] [ 2.62370932e-03 -1.65632726e-04 9.99996544e-01 3.50690543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13071405700003 meters Centerline goodness [0,1] 0.9806990326701953 Centerline is valid? [True, True] Translation: X:357.19, Y:-14.18, Z:3.51 [[ 9.99998272e-01 8.06013497e-04 -1.67492345e-03 3.57192651e+02] [-8.05838990e-04 9.99999670e-01 1.04860157e-04 -1.41819620e+01] [ 1.67500741e-03 -1.03510257e-04 9.99998592e-01 3.50651356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.160714057 meters Centerline goodness [0,1] 0.9802532339900352 Centerline is valid? [True, True] Translation: X:357.22, Y:-14.18, Z:3.51 [[ 9.99998689e-01 9.78300778e-04 -1.29002915e-03 3.57221961e+02] [-9.78197600e-04 9.99999518e-01 8.06099196e-05 -1.41830524e+01] [ 1.29010739e-03 -7.93479105e-05 9.99999165e-01 3.50675062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.190714057 meters Centerline goodness [0,1] 0.9833184595318185 Centerline is valid? [True, True] Translation: X:357.25, Y:-14.18, Z:3.51 [[ 9.99997112e-01 -3.39737321e-04 -2.37935229e-03 3.57251768e+02] [ 3.40092175e-04 9.99999931e-01 1.48735985e-04 -1.41789679e+01] [ 2.37930159e-03 -1.49544755e-04 9.99997158e-01 3.50690506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.220714057 meters Centerline goodness [0,1] 0.9039415076897218 Centerline is valid? [True, False] Translation: X:357.30, Y:-14.18, Z:3.51 [[ 9.99986404e-01 -3.46339935e-03 -3.89819696e-03 3.57299102e+02] [ 3.45172632e-03 9.99989551e-01 -2.99722435e-03 -1.41782749e+01] [ 3.90853682e-03 2.98372809e-03 9.99987910e-01 3.50980324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.250714057 meters Centerline goodness [0,1] 0.9838013205693528 Centerline is valid? [False, True] Translation: X:357.24, Y:-14.18, Z:3.51 [[ 9.99968857e-01 -4.88712414e-03 -6.19683517e-03 3.57239169e+02] [ 4.90258136e-03 9.99984903e-01 2.48164049e-03 -1.41764703e+01] [ 6.18461353e-03 -2.51194370e-03 9.99977720e-01 3.50863952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.280714057 meters Centerline goodness [0,1] 0.9829215945933605 Centerline is valid? [True, True] Translation: X:357.27, Y:-14.18, Z:3.51 [[ 9.99957566e-01 -5.87109158e-03 -7.09901730e-03 3.57268671e+02] [ 5.87431361e-03 9.99982652e-01 4.33103462e-04 -1.41772699e+01] [ 7.09635136e-03 -4.74786938e-04 9.99974708e-01 3.50909090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.310714057 meters Centerline goodness [0,1] 0.9815387434435053 Centerline is valid? [True, True] Translation: X:357.30, Y:-14.18, Z:3.51 [[ 9.99950882e-01 -6.56602032e-03 -7.42428747e-03 3.57298281e+02] [ 6.56956286e-03 9.99978318e-01 4.52868690e-04 -1.41817921e+01] [ 7.42115295e-03 -5.01620769e-04 9.99972337e-01 3.50784946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.340714057 meters Centerline goodness [0,1] 0.9824721562899398 Centerline is valid? [True, True] Translation: X:357.33, Y:-14.18, Z:3.51 [[ 9.99941957e-01 -7.37191674e-03 -7.85732685e-03 3.57327988e+02] [ 7.37590681e-03 9.99972683e-01 4.78957325e-04 -1.41799692e+01] [ 7.85358138e-03 -5.36884435e-04 9.99969016e-01 3.50843014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.370714057 meters Centerline goodness [0,1] 0.9830465760956723 Centerline is valid? [True, True] Translation: X:357.36, Y:-14.18, Z:3.51 [[ 9.99925994e-01 -8.86500941e-03 -8.33175776e-03 3.57357479e+02] [ 8.86954668e-03 9.99960536e-01 5.07782909e-04 -1.41837261e+01] [ 8.32692746e-03 -5.81644244e-04 9.99965161e-01 3.50786113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.400714057 meters Centerline goodness [0,1] 0.9831129849002131 Centerline is valid? [True, True] Translation: X:357.39, Y:-14.18, Z:3.51 [[ 9.99902185e-01 -1.09461797e-02 -8.70639350e-03 3.57387557e+02] [ 1.09512114e-02 9.99939893e-01 5.30463846e-04 -1.41846626e+01] [ 8.70006363e-03 -6.25757515e-04 9.99961958e-01 3.50831985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.430714057 meters Centerline goodness [0,1] 0.9833199495239188 Centerline is valid? [True, True] Translation: X:357.42, Y:-14.19, Z:3.51 [[ 9.99892681e-01 -1.19942628e-02 -8.41219004e-03 3.57418260e+02] [ 1.19989974e-02 9.99927878e-01 5.12583870e-04 -1.41858500e+01] [ 8.40543527e-03 -6.13466707e-04 9.99964486e-01 3.50891223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.460714057 meters Centerline goodness [0,1] 0.9821469443808651 Centerline is valid? [True, True] Translation: X:357.45, Y:-14.19, Z:3.51 [[ 9.99877056e-01 -1.32689863e-02 -8.35510388e-03 3.57448025e+02] [ 1.32737086e-02 9.99911770e-01 5.09995687e-04 -1.41897116e+01] [ 8.34759959e-03 -6.20836200e-04 9.99964965e-01 3.50881699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.490714057 meters Centerline goodness [0,1] 0.9822402493239837 Centerline is valid? [True, True] Translation: X:357.48, Y:-14.20, Z:3.51 [[ 9.99846059e-01 -1.55638281e-02 -8.10098790e-03 3.57477844e+02] [ 1.55683407e-02 9.99878684e-01 4.94276346e-04 -1.41953681e+01] [ 8.09231228e-03 -6.20319196e-04 9.99967064e-01 3.50859744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.520714057 meters Centerline goodness [0,1] 0.9816199163294699 Centerline is valid? [True, True] Translation: X:357.51, Y:-14.20, Z:3.51 [[ 9.99838486e-01 -1.61403316e-02 -7.90510322e-03 3.57510343e+02] [ 1.61446523e-02 9.99869550e-01 4.83064549e-04 -1.41965267e+01] [ 7.89627518e-03 -6.10611671e-04 9.99968638e-01 3.50895536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.550714057 meters Centerline goodness [0,1] 0.9807714292246839 Centerline is valid? [True, True] Translation: X:357.54, Y:-14.20, Z:3.51 [[ 9.99824840e-01 -1.69563385e-02 -7.92281051e-03 3.57541336e+02] [ 1.69607070e-02 9.99856039e-01 4.84512409e-04 -1.41997839e+01] [ 7.91345438e-03 -6.18804009e-04 9.99968497e-01 3.50923495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.580714057 meters Centerline goodness [0,1] 0.981330945163957 Centerline is valid? [True, True] Translation: X:357.57, Y:-14.20, Z:3.51 [[ 9.99824949e-01 -1.69383482e-02 -7.94755046e-03 3.57573802e+02] [ 1.69427482e-02 9.99856343e-01 4.86619245e-04 -1.42014316e+01] [ 7.93816621e-03 -6.21187407e-04 9.99968299e-01 3.50962566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.610714057 meters Centerline goodness [0,1] 0.9800771208226221 Centerline is valid? [True, True] Translation: X:357.61, Y:-14.20, Z:3.51 [[ 9.99835069e-01 -1.64974249e-02 -7.59412313e-03 3.57605855e+02] [ 1.65014336e-02 9.99863734e-01 4.65509022e-04 -1.42034627e+01] [ 7.58540860e-03 -5.90746164e-04 9.99971056e-01 3.51002737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.640714057 meters Centerline goodness [0,1] 0.980201881165405 Centerline is valid? [True, True] Translation: X:357.64, Y:-14.20, Z:3.51 [[ 9.99857454e-01 -1.52686736e-02 -7.20695374e-03 3.57637298e+02] [ 1.52722534e-02 9.99883275e-01 4.41941705e-04 -1.42045743e+01] [ 7.19936465e-03 -5.51945131e-04 9.99973932e-01 3.51047280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.670714057 meters Centerline goodness [0,1] 0.9801207446686409 Centerline is valid? [True, True] Translation: X:357.67, Y:-14.20, Z:3.51 [[ 9.99867751e-01 -1.45677938e-02 -7.22911453e-03 3.57669347e+02] [ 1.45713805e-02 9.99893733e-01 4.43729763e-04 -1.42015259e+01] [ 7.22188215e-03 -5.49009259e-04 9.99973771e-01 3.51112297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.700714057 meters Centerline goodness [0,1] 0.9814521497601175 Centerline is valid? [True, True] Translation: X:357.70, Y:-14.20, Z:3.51 [[ 9.99892862e-01 -1.28510259e-02 -7.00823350e-03 3.57701178e+02] [ 1.28543576e-02 9.99917287e-01 4.30553023e-04 -1.42004616e+01] [ 7.00212077e-03 -5.20593233e-04 9.99975349e-01 3.51127810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.730714057 meters Centerline goodness [0,1] 0.9831724137931035 Centerline is valid? [True, True] Translation: X:357.73, Y:-14.20, Z:3.51 [[ 9.99894766e-01 -1.23862737e-02 -7.55223069e-03 3.57733142e+02] [ 1.23901339e-02 9.99923131e-01 4.64559569e-04 -1.41998021e+01] [ 7.54589600e-03 -5.58083832e-04 9.99971374e-01 3.51108830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76071405700003 meters Centerline goodness [0,1] 0.9825133849582941 Centerline is valid? [True, True] Translation: X:357.76, Y:-14.20, Z:3.51 [[ 9.99905286e-01 -1.12628554e-02 -7.90989551e-03 3.57763332e+02] [ 1.12670549e-02 9.99936406e-01 4.86548396e-04 -1.42030393e+01] [ 7.90391257e-03 -5.75623540e-04 9.99968598e-01 3.50979739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.790714057 meters Centerline goodness [0,1] 0.9828812038379237 Centerline is valid? [True, True] Translation: X:357.79, Y:-14.20, Z:3.51 [[ 9.99908692e-01 -1.06438896e-02 -8.32558690e-03 3.57794942e+02] [ 1.06485235e-02 9.99943172e-01 5.12457642e-04 -1.42047072e+01] [ 8.31965923e-03 -6.01066058e-04 9.99965210e-01 3.50949726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82071405700003 meters Centerline goodness [0,1] 0.981478918719439 Centerline is valid? [True, True] Translation: X:357.83, Y:-14.21, Z:3.51 [[ 9.99913450e-01 -9.63898292e-03 -8.95445895e-03 3.57825857e+02] [ 9.64430420e-03 9.99953341e-01 5.51269577e-04 -1.42053238e+01] [ 8.94872746e-03 -6.37581391e-04 9.99959756e-01 3.50844893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.850714057 meters Centerline goodness [0,1] 0.9806872392892535 Centerline is valid? [True, True] Translation: X:357.86, Y:-14.21, Z:3.51 [[ 9.99915545e-01 -9.09112740e-03 -9.28729927e-03 3.57856258e+02] [ 9.09682768e-03 9.99958460e-01 5.71711900e-04 -1.42067592e+01] [ 9.28171596e-03 -6.56148577e-04 9.99956709e-01 3.50825464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88071405700003 meters Centerline goodness [0,1] 0.9812842852533075 Centerline is valid? [True, True] Translation: X:357.89, Y:-14.21, Z:3.51 [[ 9.99911247e-01 -8.65653575e-03 -1.01273377e-02 3.57885650e+02] [ 8.66328720e-03 9.99962279e-01 6.22976214e-04 -1.42066235e+01] [ 1.01215628e-02 -7.10656958e-04 9.99948523e-01 3.50807735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.910714057 meters Centerline goodness [0,1] 0.9809662236987818 Centerline is valid? [True, True] Translation: X:357.91, Y:-14.21, Z:3.51 [[ 9.99906940e-01 -8.99419788e-03 -1.02574921e-02 3.57914583e+02] [ 9.00113384e-03 9.99959290e-01 6.30218391e-04 -1.42092317e+01] [ 1.02514062e-02 -7.22488801e-04 9.99947192e-01 3.50780334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.940714057 meters Centerline goodness [0,1] 0.982206734208765 Centerline is valid? [True, True] Translation: X:357.94, Y:-14.21, Z:3.51 [[ 9.99895314e-01 -9.36992716e-03 -1.10256981e-02 3.57943899e+02] [ 9.37796062e-03 9.99955797e-01 6.77136616e-04 -1.42113671e+01] [ 1.10188660e-02 -7.80464292e-04 9.99938986e-01 3.50743623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.970714057 meters Centerline goodness [0,1] 0.9798403838169488 Centerline is valid? [True, True] Translation: X:357.97, Y:-14.21, Z:3.51 [[ 9.99869497e-01 -1.08860599e-02 -1.19366057e-02 3.57973462e+02] [ 1.08955784e-02 9.99940373e-01 7.32678536e-04 -1.42138159e+01] [ 1.19279180e-02 -8.62639143e-04 9.99928488e-01 3.50614646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.000714057 meters Centerline goodness [0,1] 0.9797172426538533 Centerline is valid? [True, True] Translation: X:358.00, Y:-14.22, Z:3.51 [[ 9.99857984e-01 -1.18687554e-02 -1.19642718e-02 3.58002267e+02] [ 1.18783923e-02 9.99929179e-01 7.34730399e-04 -1.42178032e+01] [ 1.19547041e-02 -8.76742370e-04 9.99928156e-01 3.50568528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.030714057 meters Centerline goodness [0,1] 0.9797375352340465 Centerline is valid? [True, True] Translation: X:358.03, Y:-14.22, Z:3.51 [[ 9.99845179e-01 -1.28882342e-02 -1.19796626e-02 3.58032122e+02] [ 1.28979621e-02 9.99916548e-01 7.35129340e-04 -1.42197152e+01] [ 1.19691884e-02 -8.89528761e-04 9.99927971e-01 3.50582199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.060714057 meters Centerline goodness [0,1] 0.9800425020789061 Centerline is valid? [True, True] Translation: X:358.06, Y:-14.22, Z:3.51 [[ 9.99817424e-01 -1.53153694e-02 -1.14262272e-02 3.58062010e+02] [ 1.53243750e-02 9.99882329e-01 7.01008358e-04 -1.42190321e+01] [ 1.14141464e-02 -8.75980161e-04 9.99934473e-01 3.50732997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.090714057 meters Centerline goodness [0,1] 0.979861910241657 Centerline is valid? [True, True] Translation: X:358.09, Y:-14.22, Z:3.51 [[ 9.99806561e-01 -1.64118277e-02 -1.08393946e-02 3.58093060e+02] [ 1.64200016e-02 9.99864961e-01 6.65522172e-04 -1.42212589e+01] [ 1.08270084e-02 -8.43376310e-04 9.99941031e-01 3.50775516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.120714057 meters Centerline goodness [0,1] 0.9782879556991232 Centerline is valid? [True, True] Translation: X:358.12, Y:-14.23, Z:3.51 [[ 9.99779354e-01 -1.87489954e-02 -9.47202758e-03 3.58123908e+02] [ 1.87553425e-02 9.99823934e-01 5.81697697e-04 -1.42260982e+01] [ 9.45945363e-03 -7.59220469e-04 9.99954970e-01 3.50834073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.150714057 meters Centerline goodness [0,1] 0.9805425890835143 Centerline is valid? [True, True] Translation: X:358.16, Y:-14.22, Z:3.51 [[ 9.99769722e-01 -1.93795799e-02 -9.21596251e-03 3.58155804e+02] [ 1.93856206e-02 9.99811921e-01 5.66566484e-04 -1.42246956e+01] [ 9.20324935e-03 -7.45093168e-04 9.99957372e-01 3.50912622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.180714057 meters Centerline goodness [0,1] 0.9762425974145679 Centerline is valid? [True, True] Translation: X:358.19, Y:-14.23, Z:3.51 [[ 9.99770252e-01 -1.95181266e-02 -8.85923983e-03 3.58186575e+02] [ 1.95237246e-02 9.99809245e-01 5.45825588e-04 -1.42332425e+01] [ 8.84689639e-03 -7.18665544e-04 9.99960607e-01 3.50888725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.210714057 meters Centerline goodness [0,1] 0.9785587209167995 Centerline is valid? [True, True] Translation: X:358.22, Y:-14.23, Z:3.51 [[ 9.99773866e-01 -1.93584784e-02 -8.80153510e-03 3.58219096e+02] [ 1.93640020e-02 9.99812353e-01 5.42777953e-04 -1.42299291e+01] [ 8.78937616e-03 -7.13088155e-04 9.99961118e-01 3.50937324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.240714057 meters Centerline goodness [0,1] 0.9760228924837884 Centerline is valid? [True, True] Translation: X:358.25, Y:-14.24, Z:3.51 [[ 9.99779796e-01 -1.89713399e-02 -8.96924072e-03 3.58249766e+02] [ 1.89770643e-02 9.99819766e-01 5.53540611e-04 -1.42352004e+01] [ 8.95712275e-03 -7.23628577e-04 9.99959622e-01 3.50843260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.270714057 meters Centerline goodness [0,1] 0.9765007033646196 Centerline is valid? [True, True] Translation: X:358.28, Y:-14.23, Z:3.51 [[ 9.99785736e-01 -1.81997361e-02 -9.86163183e-03 3.58282016e+02] [ 1.82066262e-02 9.99834060e-01 6.09335629e-04 -1.42342957e+01] [ 9.84890565e-03 -7.88752114e-04 9.99951187e-01 3.50834999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.300714057 meters Centerline goodness [0,1] 0.9775475755543737 Centerline is valid? [True, True] Translation: X:358.31, Y:-14.23, Z:3.51 [[ 9.99784240e-01 -1.80828176e-02 -1.02217666e-02 3.58314219e+02] [ 1.80902215e-02 9.99836159e-01 6.32328270e-04 -1.42311908e+01] [ 1.02086576e-02 -8.17105861e-04 9.99947556e-01 3.50838130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.330714057 meters Centerline goodness [0,1] 0.9768559153693352 Centerline is valid? [True, True] Translation: X:358.34, Y:-14.23, Z:3.51 [[ 9.99786679e-01 -1.76589210e-02 -1.07125208e-02 3.58344920e+02] [ 1.76670318e-02 9.99843706e-01 6.62964499e-04 -1.42348140e+01] [ 1.06991392e-02 -8.52081520e-04 9.99942400e-01 3.50669592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.360714057 meters Centerline goodness [0,1] 0.9753269297535008 Centerline is valid? [True, True] Translation: X:358.38, Y:-14.24, Z:3.51 [[ 9.99776167e-01 -1.77005979e-02 -1.15890047e-02 3.58377423e+02] [ 1.77101036e-02 9.99842906e-01 7.18116152e-04 -1.42367627e+01] [ 1.15744730e-02 -9.23197887e-04 9.99932587e-01 3.50560765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.390714057 meters Centerline goodness [0,1] 0.9778348488003517 Centerline is valid? [True, True] Translation: X:358.41, Y:-14.24, Z:3.50 [[ 9.99774334e-01 -1.74120660e-02 -1.21697018e-02 3.58408685e+02] [ 1.74225310e-02 9.99847932e-01 7.54424602e-04 -1.42391222e+01] [ 1.21547151e-02 -9.66281360e-04 9.99925662e-01 3.50490393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.420714057 meters Centerline goodness [0,1] 0.9768898338379053 Centerline is valid? [True, True] Translation: X:358.44, Y:-14.24, Z:3.50 [[ 9.99760563e-01 -1.79297320e-02 -1.25435509e-02 3.58439949e+02] [ 1.79408958e-02 9.99838746e-01 7.78038303e-04 -1.42412492e+01] [ 1.25275782e-02 -1.00289455e-03 9.99921024e-01 3.50404836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.450714057 meters Centerline goodness [0,1] 0.9734213880199282 Centerline is valid? [True, True] Translation: X:358.47, Y:-14.25, Z:3.50 [[ 9.99751381e-01 -1.81699844e-02 -1.29239064e-02 3.58469574e+02] [ 1.81818578e-02 9.99834375e-01 8.01806404e-04 -1.42512529e+01] [ 1.29071971e-02 -1.03658769e-03 9.99916161e-01 3.50275916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.480714057 meters Centerline goodness [0,1] 0.9741112292543109 Centerline is valid? [True, True] Translation: X:358.50, Y:-14.25, Z:3.50 [[ 9.99747208e-01 -1.85370219e-02 -1.27239250e-02 3.58500996e+02] [ 1.85485664e-02 9.99827649e-01 7.89880935e-04 -1.42492299e+01] [ 1.27070900e-02 -1.02569183e-03 9.99918736e-01 3.50429409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51071405700003 meters Centerline goodness [0,1] 0.9745312644315138 Centerline is valid? [True, True] Translation: X:358.53, Y:-14.25, Z:3.50 [[ 9.99749401e-01 -1.85978156e-02 -1.24601554e-02 3.58532290e+02] [ 1.86088963e-02 9.99826540e-01 7.73935061e-04 -1.42508728e+01] [ 1.24436006e-02 -1.00561085e-03 9.99922070e-01 3.50460924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.540714057 meters Centerline goodness [0,1] 0.9720021252512185 Centerline is valid? [True, True] Translation: X:358.56, Y:-14.26, Z:3.50 [[ 9.99766850e-01 -1.84038611e-02 -1.12935242e-02 3.58562795e+02] [ 1.84129609e-02 9.99830220e-01 7.02303268e-04 -1.42554375e+01] [ 1.12786817e-02 -9.10086747e-04 9.99935979e-01 3.50484605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57071405700003 meters Centerline goodness [0,1] 0.9736543843823006 Centerline is valid? [True, True] Translation: X:358.60, Y:-14.26, Z:3.51 [[ 9.99771477e-01 -1.84036595e-02 -1.08765370e-02 3.58595196e+02] [ 1.84121078e-02 9.99830253e-01 6.77123444e-04 -1.42566949e+01] [ 1.08622292e-02 -8.77228678e-04 9.99940619e-01 3.50573748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.600714057 meters Centerline goodness [0,1] 0.9736543843823006 Centerline is valid? [True, True] Translation: X:358.63, Y:-14.26, Z:3.51 [[ 9.99772719e-01 -1.83361046e-02 -1.08764912e-02 3.58626932e+02] [ 1.83445570e-02 9.99831495e-01 6.77858188e-04 -1.42587362e+01] [ 1.08622292e-02 -8.77228536e-04 9.99940619e-01 3.50565298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63071405700003 meters Centerline goodness [0,1] 0.9714331938891072 Centerline is valid? [True, True] Translation: X:358.66, Y:-14.26, Z:3.51 [[ 9.99792337e-01 -1.78757569e-02 -9.78468779e-03 3.58657320e+02] [ 1.78825760e-02 9.99839908e-01 6.09860306e-04 -1.42633736e+01] [ 9.77221962e-03 -7.84709084e-04 9.99951943e-01 3.50573159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.660714057 meters Centerline goodness [0,1] 0.9743180767452612 Centerline is valid? [True, True] Translation: X:358.69, Y:-14.26, Z:3.51 [[ 9.99794373e-01 -1.77255450e-02 -9.84967365e-03 3.58689726e+02] [ 1.77324558e-02 9.99842579e-01 6.14736473e-04 -1.42599857e+01] [ 9.83722656e-03 -7.89268970e-04 9.99951302e-01 3.50620761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.690714057 meters Centerline goodness [0,1] 0.975473182470267 Centerline is valid? [True, True] Translation: X:358.72, Y:-14.26, Z:3.51 [[ 9.99797645e-01 -1.76704221e-02 -9.61380790e-03 3.58721885e+02] [ 1.76770100e-02 9.99843569e-01 6.00708314e-04 -1.42592715e+01] [ 9.60168923e-03 -7.70530136e-04 9.99953606e-01 3.50649765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.720714057 meters Centerline goodness [0,1] 0.9759183862311465 Centerline is valid? [True, True] Translation: X:358.75, Y:-14.26, Z:3.51 [[ 9.99781328e-01 -1.78046314e-02 -1.09677786e-02 3.58752339e+02] [ 1.78132298e-02 9.99841096e-01 6.86778208e-04 -1.42640764e+01] [ 1.09538080e-02 -8.81999590e-04 9.99939616e-01 3.50505301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.750714057 meters Centerline goodness [0,1] 0.9754656449788816 Centerline is valid? [True, True] Translation: X:358.78, Y:-14.27, Z:3.50 [[ 9.99774724e-01 -1.80535519e-02 -1.11611150e-02 3.58784251e+02] [ 1.80624788e-02 9.99836615e-01 6.99525875e-04 -1.42653262e+01] [ 1.11466625e-02 -9.00965691e-04 9.99937468e-01 3.50441272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.780714057 meters Centerline goodness [0,1] 0.9763997508478095 Centerline is valid? [True, True] Translation: X:358.81, Y:-14.27, Z:3.50 [[ 9.99749951e-01 -1.90082566e-02 -1.17779759e-02 3.58814913e+02] [ 1.90182641e-02 9.99818864e-01 7.38244821e-04 -1.42678841e+01] [ 1.17618097e-02 -9.62056880e-04 9.99930365e-01 3.50390542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.810714057 meters Centerline goodness [0,1] 0.9754215424306644 Centerline is valid? [True, True] Translation: X:358.85, Y:-14.27, Z:3.50 [[ 9.99736452e-01 -1.97200903e-02 -1.17535225e-02 3.58845380e+02] [ 1.97301105e-02 9.99805071e-01 7.37172207e-04 -1.42727836e+01] [ 1.17366943e-02 -9.68876224e-04 9.99930653e-01 3.50358945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.840714057 meters Centerline goodness [0,1] 0.975630581773706 Centerline is valid? [True, True] Translation: X:358.88, Y:-14.28, Z:3.50 [[ 9.99713975e-01 -2.15378163e-02 -1.03966414e-02 3.58875975e+02] [ 2.15457555e-02 9.99767651e-01 6.52215637e-04 -1.42770617e+01] [ 1.03801785e-02 -8.76032582e-04 9.99945741e-01 3.50382293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.870714057 meters Centerline goodness [0,1] 0.9752486645791122 Centerline is valid? [True, True] Translation: X:358.91, Y:-14.28, Z:3.50 [[ 9.99704805e-01 -2.21367430e-02 -1.00133286e-02 3.58907782e+02] [ 2.21441458e-02 9.99754590e-01 6.29010728e-04 -1.42805593e+01] [ 9.99694703e-03 -8.50561657e-04 9.99949668e-01 3.50400988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.900714057 meters Centerline goodness [0,1] 0.9739391143911439 Centerline is valid? [True, True] Translation: X:358.94, Y:-14.28, Z:3.50 [[ 9.99693708e-01 -2.26410194e-02 -9.99372559e-03 3.58939591e+02] [ 2.26484252e-02 9.99743294e-01 6.28474279e-04 -1.42841670e+01] [ 9.97693085e-03 -8.54623929e-04 9.99949864e-01 3.50427203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.930714057 meters Centerline goodness [0,1] 0.9736987436145244 Centerline is valid? [True, True] Translation: X:358.97, Y:-14.29, Z:3.50 [[ 9.99686218e-01 -2.29914145e-02 -9.94290417e-03 3.58971688e+02] [ 2.29987692e-02 9.99735297e-01 6.25969663e-04 -1.42870598e+01] [ 9.92588033e-03 -8.54447802e-04 9.99950372e-01 3.50439408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.960714057 meters Centerline goodness [0,1] 0.9743998153277932 Centerline is valid? [True, True] Translation: X:359.00, Y:-14.29, Z:3.50 [[ 9.99680258e-01 -2.31274116e-02 -1.02227593e-02 3.59003511e+02] [ 2.31352004e-02 9.99732138e-01 6.44290665e-04 -1.42895332e+01] [ 1.02051203e-02 -8.80590243e-04 9.99947539e-01 3.50401386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.990714057 meters Centerline goodness [0,1] 0.9733744846488702 Centerline is valid? [True, True] Translation: X:359.04, Y:-14.29, Z:3.50 [[ 9.99693547e-01 -2.26754608e-02 -9.93154749e-03 3.59035032e+02] [ 2.26827968e-02 9.99742516e-01 6.26625140e-04 -1.42941378e+01] [ 9.91478126e-03 -8.51708382e-04 9.99950485e-01 3.50356081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.020714057 meters Centerline goodness [0,1] 0.9744528067389353 Centerline is valid? [True, True] Translation: X:359.07, Y:-14.30, Z:3.50 [[ 9.99700430e-01 -2.22811642e-02 -1.01291365e-02 3.59066881e+02] [ 2.22887820e-02 9.99751370e-01 6.39788238e-04 -1.42954968e+01] [ 1.01123628e-02 -8.65362692e-04 9.99948494e-01 3.50424051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.050714057 meters Centerline goodness [0,1] 0.97578508398037 Centerline is valid? [True, True] Translation: X:359.10, Y:-14.30, Z:3.50 [[ 9.99700166e-01 -2.22350125e-02 -1.02558312e-02 3.59098770e+02] [ 2.22428270e-02 9.99752387e-01 6.48512475e-04 -1.42950042e+01] [ 1.02388720e-02 -8.76436708e-04 9.99947197e-01 3.50483749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.080714057 meters Centerline goodness [0,1] 0.9766410951352841 Centerline is valid? [True, True] Translation: X:359.13, Y:-14.29, Z:3.51 [[ 9.99726865e-01 -2.13689999e-02 -9.46369885e-03 3.59130132e+02] [ 2.13756178e-02 9.99771336e-01 5.98685417e-04 -1.42949935e+01] [ 9.44874153e-03 -8.00814304e-04 9.99955039e-01 3.50554019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.110714057 meters Centerline goodness [0,1] 0.9757934497213138 Centerline is valid? [True, True] Translation: X:359.16, Y:-14.30, Z:3.51 [[ 9.99732951e-01 -2.11487048e-02 -9.31441335e-03 3.59162135e+02] [ 2.11551131e-02 9.99776031e-01 5.89998881e-04 -1.42982288e+01] [ 9.29984950e-03 -7.86888791e-04 9.99956446e-01 3.50543270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.140714057 meters Centerline goodness [0,1] 0.9759699566860197 Centerline is valid? [True, True] Translation: X:359.19, Y:-14.30, Z:3.50 [[ 9.99753029e-01 -2.00861296e-02 -9.50943227e-03 3.59193231e+02] [ 2.00927758e-02 9.99797937e-01 6.03880688e-04 -1.43031991e+01] [ 9.49538114e-03 -7.94802437e-04 9.99954602e-01 3.50461766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.170714057 meters Centerline goodness [0,1] 0.9756955621982065 Centerline is valid? [True, True] Translation: X:359.22, Y:-14.31, Z:3.50 [[ 9.99763148e-01 -1.92701452e-02 -1.01148225e-02 3.59223586e+02] [ 1.92776214e-02 9.99813963e-01 6.42147125e-04 -1.43065149e+01] [ 1.01005665e-02 -8.36984749e-04 9.99948638e-01 3.50402736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.200714057 meters Centerline goodness [0,1] 0.9747201985613495 Centerline is valid? [True, True] Translation: X:359.25, Y:-14.31, Z:3.50 [[ 9.99772716e-01 -1.83963362e-02 -1.07745919e-02 3.59254522e+02] [ 1.84047737e-02 9.99830384e-01 6.84447173e-04 -1.43095866e+01] [ 1.07601730e-02 -8.82595534e-04 9.99941718e-01 3.50360651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.230714057 meters Centerline goodness [0,1] 0.9750005728558008 Centerline is valid? [True, True] Translation: X:359.28, Y:-14.31, Z:3.50 [[ 9.99795898e-01 -1.68158644e-02 -1.11977068e-02 3.59284567e+02] [ 1.68248807e-02 9.99858199e-01 7.11470996e-04 -1.43128968e+01] [ 1.11841550e-02 -8.99725865e-04 9.99937051e-01 3.50252237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26071405700003 meters Centerline goodness [0,1] 0.9772288158984267 Centerline is valid? [True, True] Translation: X:359.32, Y:-14.31, Z:3.50 [[ 9.99807660e-01 -1.58069131e-02 -1.16097025e-02 3.59316486e+02] [ 1.58165428e-02 9.99874638e-01 7.38097841e-04 -1.43102124e+01] [ 1.15965801e-02 -9.21581232e-04 9.99932333e-01 3.50295846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.290714057 meters Centerline goodness [0,1] 0.9763596642520409 Centerline is valid? [True, True] Translation: X:359.35, Y:-14.32, Z:3.50 [[ 9.99822998e-01 -1.43815075e-02 -1.21302902e-02 3.59346790e+02] [ 1.43919179e-02 9.99896133e-01 7.71357045e-04 -1.43150790e+01] [ 1.21179369e-02 -9.45798654e-04 9.99926128e-01 3.50181926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32071405700003 meters Centerline goodness [0,1] 0.9756850103615012 Centerline is valid? [True, True] Translation: X:359.38, Y:-14.32, Z:3.50 [[ 9.99820437e-01 -1.41910774e-02 -1.25581522e-02 3.59375665e+02] [ 1.42022165e-02 9.99898825e-01 7.98259544e-04 -1.43180387e+01] [ 1.25455535e-02 -9.76469803e-04 9.99920825e-01 3.50095468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.350714057 meters Centerline goodness [0,1] 0.9753631182202611 Centerline is valid? [True, True] Translation: X:359.41, Y:-14.32, Z:3.50 [[ 9.99818844e-01 -1.40708282e-02 -1.28175784e-02 3.59405889e+02] [ 1.40824230e-02 9.99900506e-01 8.14795707e-04 -1.43201553e+01] [ 1.28048383e-02 -9.95150663e-04 9.99917519e-01 3.50074377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38071405700003 meters Centerline goodness [0,1] 0.9738485288357411 Centerline is valid? [True, True] Translation: X:359.44, Y:-14.32, Z:3.50 [[ 9.99805576e-01 -1.46171188e-02 -1.32344409e-02 3.59435136e+02] [ 1.46295260e-02 9.99892629e-01 8.41166154e-04 -1.43244092e+01] [ 1.32207245e-02 -1.03461621e-03 9.99912067e-01 3.50005903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.410714057 meters Centerline goodness [0,1] 0.9714502797412106 Centerline is valid? [True, True] Translation: X:359.46, Y:-14.33, Z:3.50 [[ 9.99785074e-01 -1.58832029e-02 -1.33239964e-02 3.59464009e+02] [ 1.58958837e-02 9.99873294e-01 8.46352369e-04 -1.43294667e+01] [ 1.33088654e-02 -1.05796716e-03 9.99910873e-01 3.49949618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.440714057 meters Centerline goodness [0,1] 0.977166114790287 Centerline is valid? [True, True] Translation: X:359.49, Y:-14.32, Z:3.50 [[ 9.99771740e-01 -1.67041798e-02 -1.33206038e-02 3.59494692e+02] [ 1.67169239e-02 9.99859905e-01 8.45943312e-04 -1.43214090e+01] [ 1.33046068e-02 -1.06842974e-03 9.99910919e-01 3.50140916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.470714057 meters Centerline goodness [0,1] 0.9775043128234617 Centerline is valid? [True, True] Translation: X:359.53, Y:-14.33, Z:3.50 [[ 9.99770313e-01 -1.72741498e-02 -1.26856297e-02 3.59525427e+02] [ 1.72857573e-02 9.99850265e-01 8.05930292e-04 -1.43253493e+01] [ 1.26698085e-02 -1.02502590e-03 9.99919209e-01 3.50168740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.500714057 meters Centerline goodness [0,1] 0.9766597748679072 Centerline is valid? [True, True] Translation: X:359.56, Y:-14.33, Z:3.50 [[ 9.99765654e-01 -1.80406650e-02 -1.19654561e-02 3.59555529e+02] [ 1.80510459e-02 9.99836778e-01 7.60133338e-04 -1.43289783e+01] [ 1.19497898e-02 -9.75944200e-04 9.99928122e-01 3.50195909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.530714057 meters Centerline goodness [0,1] 0.9754931261207411 Centerline is valid? [True, True] Translation: X:359.59, Y:-14.33, Z:3.50 [[ 9.99747844e-01 -1.97856798e-02 -1.06195666e-02 3.59586790e+02] [ 1.97939592e-02 9.99803852e-01 6.75090165e-04 -1.43340769e+01] [ 1.06041265e-02 -8.85123205e-04 9.99943383e-01 3.50334952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.560714057 meters Centerline goodness [0,1] 0.9749207661568141 Centerline is valid? [True, True] Translation: X:359.62, Y:-14.34, Z:3.50 [[ 9.99732269e-01 -2.09264888e-02 -9.87283334e-03 3.59618625e+02] [ 2.09337056e-02 9.99780669e-01 6.28195377e-04 -1.43357062e+01] [ 9.85752199e-03 -8.34702176e-04 9.99951065e-01 3.50403136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.590714057 meters Centerline goodness [0,1] 0.9764246323529412 Centerline is valid? [True, True] Translation: X:359.65, Y:-14.34, Z:3.50 [[ 9.99685077e-01 -2.33028231e-02 -9.31266217e-03 3.59649431e+02] [ 2.33093473e-02 9.99728125e-01 5.92628695e-04 -1.43420811e+01] [ 9.29632037e-03 -8.09514139e-04 9.99956461e-01 3.50328417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.620714057 meters Centerline goodness [0,1] 0.9708072820890034 Centerline is valid? [True, True] Translation: X:359.68, Y:-14.35, Z:3.50 [[ 9.99641169e-01 -2.49133278e-02 -9.84173120e-03 3.59679459e+02] [ 2.49206934e-02 9.99689235e-01 6.26463092e-04 -1.43511411e+01] [ 9.82306545e-03 -8.71501062e-04 9.99951373e-01 3.50194929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.650714057 meters Centerline goodness [0,1] 0.961008072815423 Centerline is valid? [True, True] Translation: X:359.71, Y:-14.36, Z:3.50 [[ 9.99552703e-01 -2.80785832e-02 -1.02949864e-02 3.59709583e+02] [ 2.80868093e-02 9.99605273e-01 6.55307526e-04 -1.43581918e+01] [ 1.02725225e-02 -9.44167728e-04 9.99946790e-01 3.50116908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.680714057 meters Centerline goodness [0,1] 0.9723858193734675 Centerline is valid? [True, True] Translation: X:359.74, Y:-14.36, Z:3.50 [[ 9.99496379e-01 -2.98736380e-02 -1.07030316e-02 3.59740299e+02] [ 2.98826336e-02 9.99553182e-01 6.81502484e-04 -1.43573038e+01] [ 1.06778903e-02 -1.00099404e-03 9.99942489e-01 3.50132359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.710714057 meters Centerline goodness [0,1] 0.9765414015654323 Centerline is valid? [True, True] Translation: X:359.77, Y:-14.36, Z:3.50 [[ 9.99452422e-01 -3.12328377e-02 -1.09254473e-02 3.59771705e+02] [ 3.12422963e-02 9.99511598e-01 6.96099712e-04 -1.43563034e+01] [ 1.08983701e-02 -1.03705460e-03 9.99940073e-01 3.50148366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.740714057 meters Centerline goodness [0,1] 0.9775718045542968 Centerline is valid? [True, True] Translation: X:359.80, Y:-14.36, Z:3.50 [[ 9.99364445e-01 -3.37883288e-02 -1.13602287e-02 3.59802000e+02] [ 3.37987183e-02 9.99428398e-01 7.23757137e-04 -1.43592092e+01] [ 1.13292807e-02 -1.10725832e-03 9.99935209e-01 3.50104166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.770714057 meters Centerline goodness [0,1] 0.9765458909589667 Centerline is valid? [True, True] Translation: X:359.83, Y:-14.36, Z:3.50 [[ 9.99325762e-01 -3.48208549e-02 -1.16416801e-02 3.59834244e+02] [ 3.48318469e-02 9.99392911e-01 7.42709156e-04 -1.43645453e+01] [ 1.16087508e-02 -1.14770961e-03 9.99931958e-01 3.50039135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.800714057 meters Centerline goodness [0,1] 0.9784175944515423 Centerline is valid? [True, True] Translation: X:359.87, Y:-14.37, Z:3.50 [[ 9.99287510e-01 -3.57980642e-02 -1.19570065e-02 3.59865894e+02] [ 3.58097363e-02 9.99358334e-01 7.63435310e-04 -1.43665691e+01] [ 1.19220046e-02 -1.19106862e-03 9.99928221e-01 3.50028839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.830714057 meters Centerline goodness [0,1] 0.9715994703438199 Centerline is valid? [True, True] Translation: X:359.90, Y:-14.38, Z:3.50 [[ 9.99281761e-01 -3.59793809e-02 -1.18931481e-02 3.59896821e+02] [ 3.59909602e-02 9.99351826e-01 7.60946310e-04 -1.43756468e+01] [ 1.18580609e-02 -1.18844559e-03 9.99928984e-01 3.49921158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.860714057 meters Centerline goodness [0,1] 0.9748336248211324 Centerline is valid? [True, True] Translation: X:359.93, Y:-14.38, Z:3.50 [[ 9.99324085e-01 -3.48068278e-02 -1.18261769e-02 3.59928100e+02] [ 3.48181981e-02 9.99393376e-01 7.56865009e-04 -1.43780410e+01] [ 1.17926588e-02 -1.16811960e-03 9.99929782e-01 3.49927740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.890714057 meters Centerline goodness [0,1] 0.9738728692050342 Centerline is valid? [True, True] Translation: X:359.96, Y:-14.38, Z:3.50 [[ 9.99364998e-01 -3.37434056e-02 -1.14447954e-02 3.59958234e+02] [ 3.37539871e-02 9.99429903e-01 7.32617504e-04 -1.43810139e+01] [ 1.14135497e-02 -1.11845977e-03 9.99934238e-01 3.49968249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.920714057 meters Centerline goodness [0,1] 0.9769246570652546 Centerline is valid? [True, True] Translation: X:359.99, Y:-14.38, Z:3.50 [[ 9.99406519e-01 -3.26243609e-02 -1.10571185e-02 3.59990073e+02] [ 3.26341775e-02 9.99467112e-01 7.08498660e-04 -1.43793232e+01] [ 1.10281120e-02 -1.06891815e-03 9.99938617e-01 3.50073589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.950714057 meters Centerline goodness [0,1] 0.9767500056873764 Centerline is valid? [True, True] Translation: X:360.02, Y:-14.38, Z:3.50 [[ 9.99494778e-01 -3.01501320e-02 -1.00577292e-02 3.60019371e+02] [ 3.01581276e-02 9.99544933e-01 6.44213477e-04 -1.43834298e+01] [ 1.00337292e-02 -9.47210288e-04 9.99949212e-01 3.50149284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.980714057 meters Centerline goodness [0,1] 0.977909495041605 Centerline is valid? [True, True] Translation: X:360.05, Y:-14.38, Z:3.50 [[ 9.99534984e-01 -2.90443979e-02 -9.28647454e-03 3.60050856e+02] [ 2.90511711e-02 9.99577748e-01 5.95268765e-04 -1.43837394e+01] [ 9.26526409e-03 -8.64774917e-04 9.99956703e-01 3.50183119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01071405700003 meters Centerline goodness [0,1] 0.9776461205423266 Centerline is valid? [True, True] Translation: X:360.08, Y:-14.39, Z:3.50 [[ 9.99567758e-01 -2.79659928e-02 -9.06643043e-03 3.60080949e+02] [ 2.79724151e-02 9.99608526e-01 5.82303879e-04 -1.43887074e+01] [ 9.04659646e-03 -8.35662139e-04 9.99958730e-01 3.50158621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.040714057 meters Centerline goodness [0,1] 0.975553736298722 Centerline is valid? [True, True] Translation: X:360.11, Y:-14.40, Z:3.50 [[ 9.99566589e-01 -2.79389814e-02 -9.27614210e-03 3.60111733e+02] [ 2.79457063e-02 9.99609265e-01 5.96117978e-04 -1.43952351e+01] [ 9.25586265e-03 -8.55087957e-04 9.99956798e-01 3.50065263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07071405700003 meters Centerline goodness [0,1] 0.9704605876070804 Centerline is valid? [True, True] Translation: X:360.14, Y:-14.40, Z:3.50 [[ 9.99537648e-01 -2.89167703e-02 -9.39738017e-03 3.60142668e+02] [ 2.89237195e-02 9.99581439e-01 6.04393101e-04 -1.44031150e+01] [ 9.37596970e-03 -8.75920847e-04 9.99955661e-01 3.49926419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.100714057 meters Centerline goodness [0,1] 0.9738775510204082 Centerline is valid? [True, True] Translation: X:360.17, Y:-14.40, Z:3.50 [[ 9.99526981e-01 -2.93433662e-02 -9.20768713e-03 3.60174956e+02] [ 2.93500621e-02 9.99569018e-01 5.92892801e-04 -1.44040061e+01] [ 9.18632131e-03 -8.62858540e-04 9.99957433e-01 3.49955425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13071405700003 meters Centerline goodness [0,1] 0.9735201783520633 Centerline is valid? [True, True] Translation: X:360.21, Y:-14.41, Z:3.50 [[ 9.99498955e-01 -3.02289267e-02 -9.38357550e-03 3.60206732e+02] [ 3.02359257e-02 9.99542607e-01 6.04872686e-04 -1.44073413e+01] [ 9.36099887e-03 -8.88290709e-04 9.99955790e-01 3.49937420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.160714057 meters Centerline goodness [0,1] 0.9663186563776668 Centerline is valid? [True, True] Translation: X:360.24, Y:-14.42, Z:3.50 [[ 9.99466919e-01 -3.11382834e-02 -9.81249517e-03 3.60237417e+02] [ 3.11459848e-02 9.99514646e-01 6.32979338e-04 -1.44151041e+01] [ 9.78802274e-03 -9.38261734e-04 9.99951656e-01 3.49877891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.190714057 meters Centerline goodness [0,1] 0.9710003406381288 Centerline is valid? [True, True] Translation: X:360.27, Y:-14.42, Z:3.50 [[ 9.99455670e-01 -3.14267003e-02 -1.00362548e-02 3.60269595e+02] [ 3.14347787e-02 9.99505595e-01 6.48155059e-04 -1.44166697e+01] [ 1.00109234e-02 -9.63289698e-04 9.99949425e-01 3.49823705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.220714057 meters Centerline goodness [0,1] 0.9756312589009201 Centerline is valid? [True, True] Translation: X:360.30, Y:-14.41, Z:3.50 [[ 9.99470516e-01 -3.08539794e-02 -1.03304911e-02 3.60301961e+02] [ 3.08625158e-02 9.99523416e-01 6.67901897e-04 -1.44138126e+01] [ 1.03049603e-02 -9.86373197e-04 9.99946416e-01 3.49888743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.250714057 meters Centerline goodness [0,1] 0.970726074848876 Centerline is valid? [True, True] Translation: X:360.33, Y:-14.42, Z:3.50 [[ 9.99502290e-01 -3.00143114e-02 -9.71147906e-03 3.60332545e+02] [ 3.00218313e-02 9.99549045e-01 6.29441287e-04 -1.44228862e+01] [ 9.68820738e-03 -9.20684394e-04 9.99952644e-01 3.49823437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.280714057 meters Centerline goodness [0,1] 0.9737698251321676 Centerline is valid? [True, True] Translation: X:360.36, Y:-14.42, Z:3.50 [[ 9.99539150e-01 -2.88548003e-02 -9.42803442e-03 3.60364036e+02] [ 2.88618370e-02 9.99583224e-01 6.11131269e-04 -1.44225586e+01] [ 9.40647097e-03 -8.82960022e-04 9.99955368e-01 3.49897988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.310714057 meters Centerline goodness [0,1] 0.9777203599193128 Centerline is valid? [True, True] Translation: X:360.40, Y:-14.42, Z:3.50 [[ 9.99651965e-01 -2.50347485e-02 -8.31927742e-03 3.60395463e+02] [ 2.50400971e-02 9.99686302e-01 5.39363720e-04 -1.44187558e+01] [ 8.30316485e-03 -7.47491517e-04 9.99965249e-01 3.50043310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.340714057 meters Centerline goodness [0,1] 0.9744718309859155 Centerline is valid? [True, True] Translation: X:360.42, Y:-14.43, Z:3.50 [[ 9.99720443e-01 -2.22270114e-02 -8.06193785e-03 3.60424830e+02] [ 2.22319423e-02 9.99752703e-01 5.22513294e-04 -1.44252288e+01] [ 8.04833025e-03 -7.01599759e-04 9.99967366e-01 3.49989498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.370714057 meters Centerline goodness [0,1] 0.9780016261631583 Centerline is valid? [True, True] Translation: X:360.46, Y:-14.42, Z:3.50 [[ 9.99836785e-01 -1.61325541e-02 -8.13287196e-03 3.60455944e+02] [ 1.61373728e-02 9.99869645e-01 5.27216307e-04 -1.44199457e+01] [ 8.12330645e-03 -6.58373445e-04 9.99966789e-01 3.50044254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.400714057 meters Centerline goodness [0,1] 0.9807370940788582 Centerline is valid? [True, True] Translation: X:360.49, Y:-14.42, Z:3.50 [[ 9.99889229e-01 -1.25616636e-02 -7.98342250e-03 3.60486447e+02] [ 1.25661937e-02 9.99920908e-01 5.17529697e-04 -1.44152193e+01] [ 7.97629004e-03 -6.17793603e-04 9.99967998e-01 3.50114487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.430714057 meters Centerline goodness [0,1] 0.9818953451623098 Centerline is valid? [True, True] Translation: X:360.52, Y:-14.41, Z:3.50 [[ 9.99925858e-01 -9.04545329e-03 -8.15213998e-03 3.60517541e+02] [ 9.05006097e-03 9.99958908e-01 5.28498376e-04 -1.44114559e+01] [ 8.14702448e-03 -6.02236556e-04 9.99966631e-01 3.50198514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.460714057 meters Centerline goodness [0,1] 0.982187081089678 Centerline is valid? [True, True] Translation: X:360.55, Y:-14.41, Z:3.50 [[ 9.99970542e-01 -1.56745461e-03 -7.51392408e-03 3.60547070e+02] [ 1.57115731e-03 9.99998647e-01 4.86900220e-04 -1.44085182e+01] [ 7.51315072e-03 -4.98691433e-04 9.99971652e-01 3.50258482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.490714057 meters Centerline goodness [0,1] 0.982187081089678 Centerline is valid? [True, True] Translation: X:360.57, Y:-14.41, Z:3.50 [[ 9.99970055e-01 -1.85142291e-03 -7.51410717e-03 3.60574468e+02] [ 1.85511241e-03 9.99998162e-01 4.84068773e-04 -1.44102155e+01] [ 7.51319714e-03 -4.97993791e-04 9.99971652e-01 3.50251180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.520714057 meters Centerline goodness [0,1] 0.9829162601810468 Centerline is valid? [True, True] Translation: X:360.60, Y:-14.41, Z:3.50 [[ 9.99957849e-01 4.81185748e-03 -7.81963783e-03 3.60604850e+02] [-4.80805964e-03 9.99988314e-01 5.04405625e-04 -1.44062613e+01] [ 7.82197357e-03 -4.66787079e-04 9.99969299e-01 3.50245477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.550714057 meters Centerline goodness [0,1] 0.9833529624932053 Centerline is valid? [True, True] Translation: X:360.63, Y:-14.41, Z:3.50 [[ 9.99945698e-01 7.32044164e-03 -7.41708299e-03 3.60634625e+02] [-7.31709596e-03 9.99973115e-01 4.78114306e-04 -1.44065567e+01] [ 7.42038359e-03 -4.23816836e-04 9.99972379e-01 3.50226108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.580714057 meters Centerline goodness [0,1] 0.9832234598772448 Centerline is valid? [True, True] Translation: X:360.66, Y:-14.41, Z:3.50 [[ 9.99934297e-01 8.81712211e-03 -7.32530049e-03 3.60664057e+02] [-8.81390194e-03 9.99961046e-01 4.71763836e-04 -1.44076992e+01] [ 7.32917474e-03 -4.07168360e-04 9.99973058e-01 3.50213586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.610714057 meters Centerline goodness [0,1] 0.9844527787248551 Centerline is valid? [True, True] Translation: X:360.69, Y:-14.41, Z:3.50 [[ 9.99922813e-01 1.04011571e-02 -6.79590159e-03 3.60691884e+02] [-1.03984267e-02 9.99945839e-01 4.36974450e-04 -1.44093808e+01] [ 6.80007856e-03 -3.66274036e-04 9.99976812e-01 3.50174721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.640714057 meters Centerline goodness [0,1] 0.9837272727272728 Centerline is valid? [True, True] Translation: X:360.72, Y:-14.41, Z:3.50 [[ 9.99903740e-01 1.21962895e-02 -6.61526827e-03 3.60720943e+02] [-1.21937443e-02 9.99925563e-01 4.24937688e-04 -1.44091501e+01] [ 6.61995852e-03 -3.44231894e-04 9.99978029e-01 3.50205737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.670714057 meters Centerline goodness [0,1] 0.9832540784054971 Centerline is valid? [True, True] Translation: X:360.75, Y:-14.41, Z:3.50 [[ 9.99903022e-01 1.26696130e-02 -5.78161988e-03 3.60748457e+02] [-1.26676800e-02 9.99919693e-01 3.70818945e-04 -1.44123327e+01] [ 5.78585371e-03 -2.97543273e-04 9.99983218e-01 3.50200708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.700714057 meters Centerline goodness [0,1] 0.9828087387019122 Centerline is valid? [True, True] Translation: X:360.78, Y:-14.42, Z:3.50 [[ 9.99909405e-01 1.23895137e-02 -5.26139800e-03 3.60775660e+02] [-1.23879115e-02 9.99923210e-01 3.36989207e-04 -1.44153320e+01] [ 5.26516911e-03 -2.71780944e-04 9.99986102e-01 3.50199362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.730714057 meters Centerline goodness [0,1] 0.9816321414735307 Centerline is valid? [True, True] Translation: X:360.80, Y:-14.42, Z:3.50 [[ 9.99922689e-01 1.12347749e-02 -5.32882809e-03 3.60803438e+02] [-1.12331175e-02 9.99936848e-01 3.40864718e-04 -1.44193027e+01] [ 5.33232110e-03 -2.80979014e-04 9.99985744e-01 3.50178591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76071405700003 meters Centerline goodness [0,1] 0.9814856934904245 Centerline is valid? [True, True] Translation: X:360.83, Y:-14.42, Z:3.50 [[ 9.99945884e-01 9.06951489e-03 -5.09629057e-03 3.60831967e+02] [-9.06797177e-03 9.99958832e-01 3.25818036e-04 -1.44245685e+01] [ 5.09903577e-03 -2.79587385e-04 9.99986961e-01 3.50152612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.790714057 meters Centerline goodness [0,1] 0.9805315765561109 Centerline is valid? [True, True] Translation: X:360.86, Y:-14.43, Z:3.50 [[ 9.99954242e-01 7.96470191e-03 -5.29880281e-03 3.60860441e+02] [-7.96302030e-03 9.99968237e-01 3.38378160e-04 -1.44281830e+01] [ 5.30132959e-03 -2.96168203e-04 9.99985904e-01 3.50119288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82071405700003 meters Centerline goodness [0,1] 0.9798834282085592 Centerline is valid? [True, True] Translation: X:360.89, Y:-14.43, Z:3.50 [[ 9.99976510e-01 5.31772083e-03 -4.32454690e-03 3.60888126e+02] [-5.31657744e-03 9.99985829e-01 2.75848215e-04 -1.44339812e+01] [ 4.32595250e-03 -2.52849947e-04 9.99990611e-01 3.50150393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.850714057 meters Centerline goodness [0,1] 0.9820990458882326 Centerline is valid? [True, True] Translation: X:360.92, Y:-14.43, Z:3.50 [[ 9.99981711e-01 4.08345705e-03 -4.46118493e-03 3.60917089e+02] [-4.08222948e-03 9.99991627e-01 2.84238389e-04 -1.44277213e+01] [ 4.46230826e-03 -2.66021610e-04 9.99990008e-01 3.50230594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88071405700003 meters Centerline goodness [0,1] 0.982465281710881 Centerline is valid? [True, True] Translation: X:360.95, Y:-14.43, Z:3.50 [[ 9.99983335e-01 3.05395878e-03 -4.89933876e-03 3.60945983e+02] [-3.05246753e-03 9.99995293e-01 3.11826519e-04 -1.44309611e+01] [ 4.90026800e-03 -2.96866250e-04 9.99987950e-01 3.50215317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.910714057 meters Centerline goodness [0,1] 0.9829926559196016 Centerline is valid? [True, True] Translation: X:360.98, Y:-14.43, Z:3.50 [[ 9.99983536e-01 1.76936901e-03 -5.45872987e-03 3.60975514e+02] [-1.76749917e-03 9.99998378e-01 3.47346362e-04 -1.44323463e+01] [ 5.45933560e-03 -3.37692343e-04 9.99985041e-01 3.50198172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.940714057 meters Centerline goodness [0,1] 0.984094570371883 Centerline is valid? [True, True] Translation: X:361.00, Y:-14.43, Z:3.50 [[ 9.99982434e-01 1.65835186e-03 -5.69040824e-03 3.61004156e+02] [-1.65632103e-03 9.99998563e-01 3.61580538e-04 -1.44336625e+01] [ 5.69099969e-03 -3.52149044e-04 9.99983744e-01 3.50202171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.970714057 meters Centerline goodness [0,1] 0.9835939095509315 Centerline is valid? [True, True] Translation: X:361.03, Y:-14.44, Z:3.50 [[ 9.99982151e-01 2.07905129e-03 -5.60138919e-03 3.61031468e+02] [-2.07709348e-03 9.99997780e-01 3.55317297e-04 -1.44368684e+01] [ 5.60211548e-03 -3.43676346e-04 9.99984249e-01 3.50260045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.000714057 meters Centerline goodness [0,1] 0.9826037521318931 Centerline is valid? [True, True] Translation: X:361.06, Y:-14.44, Z:3.50 [[ 9.99984972e-01 2.33987569e-03 -4.95788442e-03 3.61060527e+02] [-2.33834669e-03 9.99997217e-01 3.14171585e-04 -1.44381252e+01] [ 4.95860574e-03 -3.02573611e-04 9.99987660e-01 3.50293863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.030714057 meters Centerline goodness [0,1] 0.9834284161912524 Centerline is valid? [True, True] Translation: X:361.09, Y:-14.44, Z:3.50 [[ 9.99986644e-01 3.90780718e-03 -3.38244601e-03 3.61087955e+02] [-3.90710585e-03 9.99992344e-01 2.13927932e-04 -1.44411147e+01] [ 3.38325611e-03 -2.00709500e-04 9.99994257e-01 3.50393613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.060714057 meters Centerline goodness [0,1] 0.9828937828529998 Centerline is valid? [True, True] Translation: X:361.12, Y:-14.44, Z:3.50 [[ 9.99986480e-01 4.35636196e-03 -2.83929786e-03 3.61116608e+02] [-4.35587013e-03 9.99990497e-01 1.79382948e-04 -1.44430158e+01] [ 2.84005234e-03 -1.67012910e-04 9.99995953e-01 3.50442413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.090714057 meters Centerline goodness [0,1] 0.9820454185251432 Centerline is valid? [True, True] Translation: X:361.15, Y:-14.44, Z:3.50 [[ 9.99986382e-01 4.45022129e-03 -2.72614948e-03 3.61145840e+02] [-4.44976945e-03 9.99990085e-01 1.71785244e-04 -1.44449356e+01] [ 2.72688693e-03 -1.59652168e-04 9.99996269e-01 3.50479708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.120714057 meters Centerline goodness [0,1] 0.9806845137241613 Centerline is valid? [True, True] Translation: X:361.17, Y:-14.45, Z:3.51 [[ 9.99987634e-01 4.26478752e-03 -2.55798071e-03 3.61173256e+02] [-4.26438954e-03 9.99990894e-01 1.61018827e-04 -1.44505773e+01] [ 2.55864413e-03 -1.50108610e-04 9.99996715e-01 3.50508400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.150714057 meters Centerline goodness [0,1] 0.9828601186433003 Centerline is valid? [True, True] Translation: X:361.20, Y:-14.45, Z:3.51 [[ 9.99989104e-01 3.59012626e-03 -2.98373482e-03 3.61201744e+02] [-3.58958249e-03 9.99993540e-01 1.87583106e-04 -1.44486548e+01] [ 2.98438899e-03 -1.76870699e-04 9.99995531e-01 3.50507000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.180714057 meters Centerline goodness [0,1] 0.9818288791835441 Centerline is valid? [True, True] Translation: X:361.23, Y:-14.45, Z:3.50 [[ 9.99994043e-01 1.18882090e-03 -3.24034121e-03 3.61229819e+02] [-1.18816753e-03 9.99999273e-01 2.03552598e-04 -1.44549643e+01] [ 3.24058084e-03 -1.99701317e-04 9.99994729e-01 3.50450781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.210714057 meters Centerline goodness [0,1] 0.9799833006115587 Centerline is valid? [True, True] Translation: X:361.26, Y:-14.46, Z:3.50 [[ 9.99994005e-01 -1.42305250e-04 -3.45973444e-03 3.61258282e+02] [ 1.43057611e-04 9.99999966e-01 2.17215631e-04 -1.44598880e+01] [ 3.45970341e-03 -2.17709270e-04 9.99993992e-01 3.50396410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.240714057 meters Centerline goodness [0,1] 0.9798956380311279 Centerline is valid? [True, True] Translation: X:361.29, Y:-14.46, Z:3.50 [[ 9.99993648e-01 -1.43456988e-03 -3.26286445e-03 3.61288108e+02] [ 1.43524567e-03 9.99998949e-01 2.04782581e-04 -1.44639394e+01] [ 3.26256725e-03 -2.09464292e-04 9.99994656e-01 3.50393087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.270714057 meters Centerline goodness [0,1] 0.9804205290526792 Centerline is valid? [True, True] Translation: X:361.32, Y:-14.47, Z:3.50 [[ 9.99982537e-01 -4.46638660e-03 -3.86991724e-03 3.61317959e+02] [ 4.46735982e-03 9.99989992e-01 2.42875160e-04 -1.44655406e+01] [ 3.86879374e-03 -2.60159232e-04 9.99992482e-01 3.50351448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.300714057 meters Centerline goodness [0,1] 0.9793484387329501 Centerline is valid? [True, True] Translation: X:361.35, Y:-14.47, Z:3.50 [[ 9.99974896e-01 -5.82461156e-03 -4.03509581e-03 3.61348120e+02] [ 5.82568084e-03 9.99982998e-01 2.53290934e-04 -1.44689967e+01] [ 4.03355188e-03 -2.76791755e-04 9.99991827e-01 3.50316846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.330714057 meters Centerline goodness [0,1] 0.9803828722180884 Centerline is valid? [True, True] Translation: X:361.38, Y:-14.47, Z:3.50 [[ 9.99949177e-01 -8.55966906e-03 -5.32686989e-03 3.61378679e+02] [ 8.56157162e-03 9.99963293e-01 3.34462079e-04 -1.44722381e+01] [ 5.32381147e-03 -3.80051458e-04 9.99985756e-01 3.50213438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.360714057 meters Centerline goodness [0,1] 0.9797306427638395 Centerline is valid? [True, True] Translation: X:361.41, Y:-14.48, Z:3.50 [[ 9.99929462e-01 -1.02549214e-02 -5.99226354e-03 3.61409267e+02] [ 1.02573591e-02 9.99947321e-01 3.76209240e-04 -1.44755360e+01] [ 5.98808988e-03 -4.37647502e-04 9.99981975e-01 3.50150686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.390714057 meters Centerline goodness [0,1] 0.9776889551295079 Centerline is valid? [True, True] Translation: X:361.44, Y:-14.48, Z:3.50 [[ 9.99905788e-01 -1.16848582e-02 -7.20275244e-03 3.61438877e+02] [ 1.16884224e-02 9.99931585e-01 4.52940591e-04 -1.44823270e+01] [ 7.19696712e-03 -5.37086731e-04 9.99973957e-01 3.50071515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.420714057 meters Centerline goodness [0,1] 0.9777256211775857 Centerline is valid? [True, True] Translation: X:361.47, Y:-14.48, Z:3.50 [[ 9.99869432e-01 -1.45198129e-02 -7.09181449e-03 3.61469938e+02] [ 1.45233389e-02 9.99894431e-01 4.45942349e-04 -1.44837605e+01] [ 7.08459082e-03 -5.48880949e-04 9.99974753e-01 3.50141633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.450714057 meters Centerline goodness [0,1] 0.9769883925748611 Centerline is valid? [True, True] Translation: X:361.50, Y:-14.49, Z:3.50 [[ 9.99839921e-01 -1.66196249e-02 -6.62728107e-03 3.61500589e+02] [ 1.66227507e-02 9.99861746e-01 4.16852165e-04 -1.44876138e+01] [ 6.61943689e-03 -5.26949077e-04 9.99977952e-01 3.50186221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.480714057 meters Centerline goodness [0,1] 0.9774488758332391 Centerline is valid? [True, True] Translation: X:361.53, Y:-14.49, Z:3.50 [[ 9.99835004e-01 -1.69509350e-02 -6.52924318e-03 3.61532689e+02] [ 1.69539800e-02 9.99856186e-01 4.11295249e-04 -1.44892694e+01] [ 6.52133235e-03 -5.21924046e-04 9.99978600e-01 3.50197163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51071405700003 meters Centerline goodness [0,1] 0.9761324120489545 Centerline is valid? [True, True] Translation: X:361.56, Y:-14.49, Z:3.50 [[ 9.99827390e-01 -1.74112362e-02 -6.48367657e-03 3.61563418e+02] [ 1.74142537e-02 9.99848277e-01 4.09232352e-04 -1.44933002e+01] [ 6.47556760e-03 -5.22070104e-04 9.99978897e-01 3.50197240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.540714057 meters Centerline goodness [0,1] 0.9750616177459108 Centerline is valid? [True, True] Translation: X:361.59, Y:-14.50, Z:3.50 [[ 9.99821285e-01 -1.79479781e-02 -5.93870908e-03 3.61594051e+02] [ 1.79505202e-02 9.99838806e-01 3.75021934e-04 -1.44967123e+01] [ 5.93102091e-03 -4.81557829e-04 9.99982295e-01 3.50250103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57071405700003 meters Centerline goodness [0,1] 0.9747690361636285 Centerline is valid? [True, True] Translation: X:361.63, Y:-14.50, Z:3.50 [[ 9.99818588e-01 -1.82018880e-02 -5.61097140e-03 3.61626194e+02] [ 1.82041637e-02 9.99834228e-01 3.54775675e-04 -1.44977592e+01] [ 5.60358367e-03 -4.56854356e-04 9.99984195e-01 3.50302705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.600714057 meters Centerline goodness [0,1] 0.9762760116586457 Centerline is valid? [True, True] Translation: X:361.66, Y:-14.50, Z:3.50 [[ 9.99838502e-01 -1.71561157e-02 -5.35139298e-03 3.61657199e+02] [ 1.71581714e-02 9.99852730e-01 3.38467785e-04 -1.44985464e+01] [ 5.34479809e-03 -4.30233241e-04 9.99985624e-01 3.50329651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63071405700003 meters Centerline goodness [0,1] 0.9760309628355439 Centerline is valid? [True, True] Translation: X:361.69, Y:-14.50, Z:3.50 [[ 9.99853073e-01 -1.61917489e-02 -5.62672256e-03 3.61687849e+02] [ 1.61940075e-02 9.99868805e-01 3.56071689e-04 -1.45009678e+01] [ 5.62021894e-03 -4.47138559e-04 9.99984106e-01 3.50272816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.660714057 meters Centerline goodness [0,1] 0.976137700171899 Centerline is valid? [True, True] Translation: X:361.72, Y:-14.50, Z:3.50 [[ 9.99869467e-01 -1.48636506e-02 -6.33410362e-03 3.61718474e+02] [ 1.48664876e-02 9.99889407e-01 4.01044134e-04 -1.45022905e+01] [ 6.32744214e-03 -4.95157658e-04 9.99979859e-01 3.50207592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.690714057 meters Centerline goodness [0,1] 0.9774507584333257 Centerline is valid? [True, True] Translation: X:361.75, Y:-14.50, Z:3.50 [[ 9.99907320e-01 -1.16708424e-02 -7.01016506e-03 3.61749684e+02] [ 1.16742397e-02 9.99931755e-01 4.43899178e-04 -1.45023394e+01] [ 7.00450598e-03 -5.25696385e-04 9.99975330e-01 3.50143795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.720714057 meters Centerline goodness [0,1] 0.9760828284655032 Centerline is valid? [True, True] Translation: X:361.78, Y:-14.50, Z:3.50 [[ 9.99941345e-01 -8.26885600e-03 -6.99514833e-03 3.61778768e+02] [ 8.27215484e-03 9.99965687e-01 4.42787957e-04 -1.45042092e+01] [ 6.99124695e-03 -5.00626935e-04 9.99975436e-01 3.50049576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.750714057 meters Centerline goodness [0,1] 0.9765365401568752 Centerline is valid? [True, True] Translation: X:361.81, Y:-14.50, Z:3.50 [[ 9.99956735e-01 -5.91385708e-03 -7.18013746e-03 3.61809220e+02] [ 5.91727254e-03 9.99982389e-01 4.54531136e-04 -1.45045080e+01] [ 7.17732298e-03 -4.96998301e-04 9.99974119e-01 3.50011819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.780714057 meters Centerline goodness [0,1] 0.9771868250539957 Centerline is valid? [True, True] Translation: X:361.84, Y:-14.50, Z:3.50 [[ 9.99965147e-01 -3.61961399e-03 -7.52349442e-03 3.61839029e+02] [ 3.62329677e-03 9.99993323e-01 4.75931120e-04 -1.45044134e+01] [ 7.52172150e-03 -5.03174385e-04 9.99971585e-01 3.49979751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.810714057 meters Centerline goodness [0,1] 0.9807299931988211 Centerline is valid? [True, True] Translation: X:361.87, Y:-14.49, Z:3.50 [[ 9.99968832e-01 5.21813874e-04 -7.87797159e-03 3.61870336e+02] [-5.17903713e-04 9.99999742e-01 4.98372947e-04 -1.44934484e+01] [ 7.87822962e-03 -4.94277383e-04 9.99968844e-01 3.50105075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.840714057 meters Centerline goodness [0,1] 0.9794835755253791 Centerline is valid? [True, True] Translation: X:361.90, Y:-14.50, Z:3.50 [[ 9.99968641e-01 2.49885482e-03 -7.51479901e-03 3.61898735e+02] [-2.49535636e-03 9.99996774e-01 4.74883242e-04 -1.44989005e+01] [ 7.51596143e-03 -4.56116248e-04 9.99971651e-01 3.49998637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.870714057 meters Centerline goodness [0,1] 0.9824155378576452 Centerline is valid? [True, True] Translation: X:361.93, Y:-14.49, Z:3.50 [[ 9.99951465e-01 6.18514784e-03 -7.66884144e-03 3.61929231e+02] [-6.18161283e-03 9.99980776e-01 4.84575601e-04 -1.44896432e+01] [ 7.67169119e-03 -4.37146273e-04 9.99970477e-01 3.50047989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.900714057 meters Centerline goodness [0,1] 0.9806176009452612 Centerline is valid? [True, True] Translation: X:361.96, Y:-14.50, Z:3.50 [[ 9.99941628e-01 7.35497549e-03 -7.91491722e-03 3.61956498e+02] [-7.35125351e-03 9.99972855e-01 4.99239571e-04 -1.44971081e+01] [ 7.91837426e-03 -4.41025866e-04 9.99968552e-01 3.49884073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.930714057 meters Centerline goodness [0,1] 0.9809424416362275 Centerline is valid? [True, True] Translation: X:361.99, Y:-14.49, Z:3.50 [[ 9.99934121e-01 8.92744050e-03 -7.21491748e-03 3.61985364e+02] [-8.92439187e-03 9.99960073e-01 4.54629302e-04 -1.44932933e+01] [ 7.21868809e-03 -3.90210600e-04 9.99973869e-01 3.50001465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.960714057 meters Centerline goodness [0,1] 0.9827162739925407 Centerline is valid? [True, True] Translation: X:362.01, Y:-14.49, Z:3.50 [[ 9.99939127e-01 9.19003814e-03 -6.10619958e-03 3.62014832e+02] [-9.18786225e-03 9.99957717e-01 3.84297724e-04 -1.44902242e+01] [ 6.10947310e-03 -3.28171410e-04 9.99981283e-01 3.50133725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.990714057 meters Centerline goodness [0,1] 0.9814253481322789 Centerline is valid? [True, True] Translation: X:362.04, Y:-14.50, Z:3.50 [[ 9.99939293e-01 9.24157202e-03 -6.00036413e-03 3.62042484e+02] [-9.23947529e-03 9.99957244e-01 3.77061356e-04 -1.44965767e+01] [ 6.00359222e-03 -3.21598250e-04 9.99981927e-01 3.50075151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.020714057 meters Centerline goodness [0,1] 0.9811470755252697 Centerline is valid? [True, True] Translation: X:362.07, Y:-14.50, Z:3.50 [[ 9.99954238e-01 7.74131010e-03 -5.62077821e-03 3.62069741e+02] [-7.73944956e-03 9.99969988e-01 3.52687297e-04 -1.45001755e+01] [ 5.62333978e-03 -3.09169428e-04 9.99984141e-01 3.50062867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.050714057 meters Centerline goodness [0,1] 0.9806426723551037 Centerline is valid? [True, True] Translation: X:362.10, Y:-14.50, Z:3.50 [[ 9.99959453e-01 6.47256095e-03 -6.26091251e-03 3.62098748e+02] [-6.47022978e-03 9.99978991e-01 3.92519654e-04 -1.45017693e+01] [ 6.26332158e-03 -3.51994196e-04 9.99980323e-01 3.49976440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.080714057 meters Centerline goodness [0,1] 0.9808492733186254 Centerline is valid? [True, True] Translation: X:362.13, Y:-14.51, Z:3.50 [[ 9.99962678e-01 4.48061018e-03 -7.38692897e-03 3.62126482e+02] [-4.47731431e-03 9.99989870e-01 4.62653909e-04 -1.45064030e+01] [ 7.38892711e-03 -4.29563039e-04 9.99972609e-01 3.49733888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.110714057 meters Centerline goodness [0,1] 0.9830466161318142 Centerline is valid? [True, True] Translation: X:362.16, Y:-14.50, Z:3.50 [[ 9.99961563e-01 3.51634128e-03 -8.03169515e-03 3.62155247e+02] [-3.51241998e-03 9.99993705e-01 5.02281727e-04 -1.44996518e+01] [ 8.03341078e-03 -4.74051734e-04 9.99967619e-01 3.49792599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.140714057 meters Centerline goodness [0,1] 0.980283552151714 Centerline is valid? [True, True] Translation: X:362.18, Y:-14.51, Z:3.50 [[ 9.99957097e-01 2.96473623e-03 -8.77582388e-03 3.62182148e+02] [-2.96004179e-03 9.99995469e-01 5.47870062e-04 -1.45072522e+01] [ 8.77740841e-03 -5.21869751e-04 9.99961342e-01 3.49596166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.170714057 meters Centerline goodness [0,1] 0.9826021524990879 Centerline is valid? [True, True] Translation: X:362.21, Y:-14.50, Z:3.50 [[ 9.99948895e-01 3.08230782e-03 -9.62845383e-03 3.62210256e+02] [-3.07667173e-03 9.99995087e-01 6.00115232e-04 -1.45024668e+01] [ 9.63025627e-03 -5.70460972e-04 9.99953465e-01 3.49595509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.200714057 meters Centerline goodness [0,1] 0.9829028654797456 Centerline is valid? [True, True] Translation: X:362.24, Y:-14.50, Z:3.50 [[ 9.99947208e-01 4.10535924e-03 -9.41946542e-03 3.62239709e+02] [-4.10002229e-03 9.99991423e-01 5.85828720e-04 -1.45000020e+01] [ 9.42178967e-03 -5.47177775e-04 9.99955464e-01 3.49677540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.230714057 meters Centerline goodness [0,1] 0.9816643804298125 Centerline is valid? [True, True] Translation: X:362.27, Y:-14.50, Z:3.50 [[ 9.99944319e-01 6.74038492e-03 -8.11944631e-03 3.62268749e+02] [-6.73650684e-03 9.99977182e-01 5.04883302e-04 -1.45026199e+01] [ 8.12266415e-03 -4.50158484e-04 9.99966909e-01 3.49715087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26071405700003 meters Centerline goodness [0,1] 0.9824094301838704 Centerline is valid? [True, True] Translation: X:362.30, Y:-14.50, Z:3.50 [[ 9.99939606e-01 8.65020228e-03 -6.77928573e-03 3.62298777e+02] [-8.64754429e-03 9.99962521e-01 4.21290327e-04 -1.44970850e+01] [ 6.78267589e-03 -3.62640710e-04 9.99976932e-01 3.49853149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.290714057 meters Centerline goodness [0,1] 0.9823948486093985 Centerline is valid? [True, True] Translation: X:362.33, Y:-14.50, Z:3.50 [[ 9.99931496e-01 1.03803234e-02 -5.40854207e-03 3.62326429e+02] [-1.03786603e-02 9.99946084e-01 3.35467294e-04 -1.44976475e+01] [ 5.41173272e-03 -2.79310892e-04 9.99985317e-01 3.49925141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32071405700003 meters Centerline goodness [0,1] 0.9828209351267271 Centerline is valid? [True, True] Translation: X:362.36, Y:-14.50, Z:3.50 [[ 9.99902922e-01 1.34645380e-02 -3.58494552e-03 3.62356426e+02] [-1.34638270e-02 9.99909334e-01 2.22403652e-04 -1.44958573e+01] [ 3.58761505e-03 -1.74114975e-04 9.99993549e-01 3.50019866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.350714057 meters Centerline goodness [0,1] 0.9819384671733358 Centerline is valid? [True, True] Translation: X:362.39, Y:-14.49, Z:3.50 [[ 9.99894694e-01 1.41771788e-02 -3.09964031e-03 3.62385067e+02] [-1.41766518e-02 9.99899488e-01 1.91922219e-04 -1.44943675e+01] [ 3.10204967e-03 -1.47959487e-04 9.99995178e-01 3.50061339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38071405700003 meters Centerline goodness [0,1] 0.9816824655401383 Centerline is valid? [True, True] Translation: X:362.41, Y:-14.50, Z:3.50 [[ 9.99900328e-01 1.37491624e-02 -3.20847357e-03 3.62413118e+02] [-1.37485966e-02 9.99905464e-01 1.98335609e-04 -1.44970950e+01] [ 3.21089720e-03 -1.54203832e-04 9.99994833e-01 3.50010403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.410714057 meters Centerline goodness [0,1] 0.9816824655401383 Centerline is valid? [True, True] Translation: X:362.44, Y:-14.50, Z:3.50 [[ 9.99901778e-01 1.36433341e-02 -3.20849733e-03 3.62440560e+02] [-1.36427690e-02 9.99906914e-01 1.97951106e-04 -1.44987030e+01] [ 3.21089937e-03 -1.54158875e-04 9.99994833e-01 3.50003085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.440714057 meters Centerline goodness [0,1] 0.9813565137824546 Centerline is valid? [True, True] Translation: X:362.47, Y:-14.50, Z:3.50 [[ 9.99918081e-01 1.23630419e-02 -3.31462341e-03 3.62469712e+02] [-1.23624322e-02 9.99923561e-01 2.04363992e-04 -1.45000708e+01] [ 3.31689661e-03 -1.63370444e-04 9.99994486e-01 3.49956154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.470714057 meters Centerline goodness [0,1] 0.9801744465557107 Centerline is valid? [True, True] Translation: X:362.50, Y:-14.51, Z:3.50 [[ 9.99959339e-01 8.18440213e-03 -3.78623644e-03 3.62498708e+02] [-8.18357634e-03 9.99966487e-01 2.33543747e-04 -1.45086961e+01] [ 3.78802096e-03 -2.02549296e-04 9.99992805e-01 3.49787652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.500714057 meters Centerline goodness [0,1] 0.9801678980716884 Centerline is valid? [True, True] Translation: X:362.53, Y:-14.51, Z:3.50 [[ 9.99972960e-01 5.79824074e-03 -4.52312905e-03 3.62527778e+02] [-5.79703933e-03 9.99983158e-01 2.78680091e-04 -1.45124122e+01] [ 4.52466872e-03 -2.52451799e-04 9.99989732e-01 3.49678088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.530714057 meters Centerline goodness [0,1] 0.9787214590999475 Centerline is valid? [True, True] Translation: X:362.56, Y:-14.52, Z:3.50 [[ 9.99982985e-01 9.78068485e-04 -5.75091135e-03 3.62556929e+02] [-9.76046743e-04 9.99999461e-01 3.54347626e-04 -1.45195924e+01] [ 5.75125483e-03 -3.48728439e-04 9.99983401e-01 3.49517532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.560714057 meters Centerline goodness [0,1] 0.9805215564486665 Centerline is valid? [True, True] Translation: X:362.59, Y:-14.52, Z:3.50 [[ 9.99979231e-01 -1.34945927e-03 -6.30214511e-03 3.62586875e+02] [ 1.35193153e-03 9.99999011e-01 3.88044604e-04 -1.45160921e+01] [ 6.30161522e-03 -3.96556614e-04 9.99980066e-01 3.49582935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.590714057 meters Centerline goodness [0,1] 0.9767733978897365 Centerline is valid? [True, True] Translation: X:362.62, Y:-14.53, Z:3.49 [[ 9.99970541e-01 -4.06262114e-03 -6.51245442e-03 3.62615397e+02] [ 4.06531697e-03 9.99991656e-01 4.00765907e-04 -1.45292146e+01] [ 6.51077192e-03 -4.27229293e-04 9.99978713e-01 3.49456386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.620714057 meters Centerline goodness [0,1] 0.9765790855342753 Centerline is valid? [True, True] Translation: X:362.65, Y:-14.53, Z:3.49 [[ 9.99967811e-01 -4.84725492e-03 -6.39378776e-03 3.62645023e+02] [ 4.84986805e-03 9.99988162e-01 3.93256007e-04 -1.45310433e+01] [ 6.39180586e-03 -4.24252376e-04 9.99979482e-01 3.49441494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.650714057 meters Centerline goodness [0,1] 0.9783129779705513 Centerline is valid? [True, True] Translation: X:362.68, Y:-14.53, Z:3.50 [[ 9.99968990e-01 -4.90388285e-03 -6.16201296e-03 3.62675179e+02] [ 4.90630967e-03 9.99987892e-01 3.78780302e-04 -1.45271515e+01] [ 6.16008086e-03 -4.09001300e-04 9.99980943e-01 3.49562633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.680714057 meters Centerline goodness [0,1] 0.9320616505059914 Centerline is valid? [True, False] Translation: X:362.73, Y:-14.53, Z:3.50 [[ 9.99969595e-01 -5.30312869e-03 -5.71724422e-03 3.62730568e+02] [ 5.28199725e-03 9.99979187e-01 -3.70487465e-03 -1.45265685e+01] [ 5.73677265e-03 3.67456353e-03 9.99976793e-01 3.49633178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.710714057 meters Centerline goodness [0,1] 0.9790044875904387 Centerline is valid? [False, True] Translation: X:362.67, Y:-14.53, Z:3.49 [[ 9.99980323e-01 -3.08672601e-03 -5.46128067e-03 3.62673054e+02] [ 3.10194237e-03 9.99991325e-01 2.77995209e-03 -1.45254167e+01] [ 5.45265234e-03 -2.79683797e-03 9.99981223e-01 3.49424723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.740714057 meters Centerline goodness [0,1] 0.9803558360775705 Centerline is valid? [True, True] Translation: X:362.70, Y:-14.52, Z:3.50 [[ 9.99984200e-01 2.17669825e-03 -5.18290533e-03 3.62703790e+02] [-2.17509739e-03 9.99997585e-01 3.14490060e-04 -1.45207372e+01] [ 5.18357736e-03 -3.03211767e-04 9.99986519e-01 3.49567127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.770714057 meters Centerline goodness [0,1] 0.981200852839359 Centerline is valid? [True, True] Translation: X:362.73, Y:-14.52, Z:3.50 [[ 9.99969298e-01 5.69462047e-03 -5.38287578e-03 3.62733698e+02] [-5.69294606e-03 9.99983742e-01 3.26334456e-04 -1.45175503e+01] [ 5.38464662e-03 -2.95680015e-04 9.99985459e-01 3.49653591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.800714057 meters Centerline goodness [0,1] 0.9796570430305259 Centerline is valid? [True, True] Translation: X:362.76, Y:-14.52, Z:3.50 [[ 9.99935746e-01 9.86510850e-03 -5.58426081e-03 3.62762086e+02] [-9.86337323e-03 9.99951299e-01 3.38197932e-04 -1.45205348e+01] [ 5.58732520e-03 -2.83096553e-04 9.99984351e-01 3.49573961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.830714057 meters Centerline goodness [0,1] 0.9829260976904086 Centerline is valid? [True, True] Translation: X:362.79, Y:-14.51, Z:3.50 [[ 9.99783890e-01 2.01763800e-02 -5.00868742e-03 3.62793379e+02] [-2.01751127e-02 9.99796416e-01 3.03434219e-04 -1.45091287e+01] [ 5.01378993e-03 -2.02317811e-04 9.99987410e-01 3.49747961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.860714057 meters Centerline goodness [0,1] 0.9848470806302132 Centerline is valid? [True, True] Translation: X:362.82, Y:-14.50, Z:3.50 [[ 9.99547657e-01 2.98575787e-02 -3.60630476e-03 3.62823009e+02] [-2.98569852e-02 9.99554157e-01 2.18313595e-04 -1.45046263e+01] [ 3.61121523e-03 -1.10541455e-04 9.99993473e-01 3.49820779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.890714057 meters Centerline goodness [0,1] 0.9860128543024923 Centerline is valid? [True, True] Translation: X:362.85, Y:-14.50, Z:3.50 [[ 9.99408432e-01 3.42600993e-02 -3.00522583e-03 3.62853383e+02] [-3.42597071e-02 9.99412947e-01 1.81886531e-04 -1.45010786e+01] [ 3.00969306e-03 -7.88207761e-05 9.99995468e-01 3.49881386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.920714057 meters Centerline goodness [0,1] 0.9863280796638889 Centerline is valid? [True, True] Translation: X:362.88, Y:-14.50, Z:3.50 [[ 9.99288480e-01 3.76322238e-02 -2.51983749e-03 3.62882016e+02] [-3.76319597e-02 9.99291655e-01 1.52170907e-04 -1.45010190e+01] [ 2.52377910e-03 -5.72362114e-05 9.99996814e-01 3.49829630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.950714057 meters Centerline goodness [0,1] 0.9878995804260646 Centerline is valid? [True, True] Translation: X:362.91, Y:-14.50, Z:3.50 [[ 9.99113702e-01 4.20278026e-02 -2.33951836e-03 3.62911100e+02] [-4.20275893e-02 9.99116441e-01 1.40255885e-04 -1.45012707e+01] [ 2.34334591e-03 -4.18072590e-05 9.99997253e-01 3.49744593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.980714057 meters Centerline goodness [0,1] 0.9873746750835499 Centerline is valid? [True, True] Translation: X:362.94, Y:-14.50, Z:3.50 [[ 9.99121619e-01 4.18228083e-02 -2.61604126e-03 3.62938507e+02] [-4.18225403e-02 9.99125042e-01 1.57101690e-04 -1.45044599e+01] [ 2.62032277e-03 -4.75542039e-05 9.99996566e-01 3.49663484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01071405700003 meters Centerline goodness [0,1] 0.9875567707850589 Centerline is valid? [True, True] Translation: X:362.97, Y:-14.51, Z:3.50 [[ 9.99192988e-01 4.00131470e-02 -3.51011102e-03 3.62966213e+02] [-4.00126540e-02 9.99199151e-01 2.10580988e-04 -1.45101701e+01] [ 3.51572596e-03 -6.99621885e-05 9.99993817e-01 3.49502605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.040714057 meters Centerline goodness [0,1] 0.9871320125902611 Centerline is valid? [True, True] Translation: X:362.99, Y:-14.51, Z:3.49 [[ 9.99298639e-01 3.72106509e-02 -4.19504811e-03 3.62994225e+02] [-3.72099235e-02 9.99307439e-01 2.51357259e-04 -1.45141355e+01] [ 4.20149596e-03 -9.50835474e-05 9.99991169e-01 3.49433220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07071405700003 meters Centerline goodness [0,1] 0.9862142344967965 Centerline is valid? [True, True] Translation: X:363.02, Y:-14.52, Z:3.49 [[ 9.99408709e-01 3.40518617e-02 -4.76476245e-03 3.63021598e+02] [-3.40508891e-02 9.99420060e-01 2.85122323e-04 -1.45200418e+01] [ 4.77170812e-03 -1.22709334e-04 9.99988608e-01 3.49352358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.100714057 meters Centerline goodness [0,1] 0.9841591453306318 Centerline is valid? [True, True] Translation: X:363.05, Y:-14.53, Z:3.49 [[ 9.99638833e-01 2.61635543e-02 -6.13781183e-03 3.63049775e+02] [-2.61617898e-02 9.99657654e-01 3.67604021e-04 -1.45347410e+01] [ 6.14532840e-03 -2.06895111e-04 9.99981096e-01 3.49175119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13071405700003 meters Centerline goodness [0,1] 0.9838060384263495 Centerline is valid? [True, True] Translation: X:363.08, Y:-14.54, Z:3.49 [[ 9.99828348e-01 1.74679158e-02 -6.17627384e-03 3.63079492e+02] [-1.74659644e-02 9.99847390e-01 3.69752515e-04 -1.45397024e+01] [ 6.18179009e-03 -2.61814467e-04 9.99980858e-01 3.49349768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.160714057 meters Centerline goodness [0,1] 0.9828004208407667 Centerline is valid? [True, True] Translation: X:363.11, Y:-14.55, Z:3.49 [[ 9.99901212e-01 1.27109239e-02 -5.99995672e-03 3.63108353e+02] [-1.27089985e-02 9.99919173e-01 3.58934895e-04 -1.45469599e+01] [ 6.00403416e-03 -2.82645996e-04 9.99981936e-01 3.49372015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.190714057 meters Centerline goodness [0,1] 0.9828396695723609 Centerline is valid? [True, True] Translation: X:363.14, Y:-14.55, Z:3.49 [[ 9.99944534e-01 8.86217379e-03 -5.69131513e-03 3.63138407e+02] [-8.86037944e-03 9.99960688e-01 3.40415721e-04 -1.45517201e+01] [ 5.69410822e-03 -2.89969628e-04 9.99983746e-01 3.49409967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.220714057 meters Centerline goodness [0,1] 0.9803478499041358 Centerline is valid? [True, True] Translation: X:363.17, Y:-14.57, Z:3.49 [[ 9.99984649e-01 2.06649857e-03 -5.14105138e-03 3.63167376e+02] [-2.06494495e-03 9.99997821e-01 3.07488438e-04 -1.45653244e+01] [ 5.14167560e-03 -2.96867730e-04 9.99986737e-01 3.49308104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.250714057 meters Centerline goodness [0,1] 0.9817242478037235 Centerline is valid? [True, True] Translation: X:363.20, Y:-14.57, Z:3.49 [[ 9.99987610e-01 -6.88688273e-04 -4.93001449e-03 3.63197670e+02] [ 6.90150428e-04 9.99999718e-01 2.94887248e-04 -1.45685223e+01] [ 4.92981001e-03 -2.98286046e-04 9.99987804e-01 3.49309456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.280714057 meters Centerline goodness [0,1] 0.9795741576619705 Centerline is valid? [True, True] Translation: X:363.23, Y:-14.58, Z:3.49 [[ 9.99974945e-01 -5.16175405e-03 -4.84407873e-03 3.63226136e+02] [ 5.16321986e-03 9.99986628e-01 2.90141231e-04 -1.45788918e+01] [ 4.84251632e-03 -3.15145005e-04 9.99988225e-01 3.49206830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.310714057 meters Centerline goodness [0,1] 0.9814764183185236 Centerline is valid? [True, True] Translation: X:363.26, Y:-14.57, Z:3.49 [[ 9.99962958e-01 -6.81145718e-03 -5.26177996e-03 3.63257172e+02] [ 6.81320858e-03 9.99976740e-01 3.14999129e-04 -1.45746531e+01] [ 5.25951197e-03 -3.50837066e-04 9.99986107e-01 3.49227371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.340714057 meters Centerline goodness [0,1] 0.9813971492326609 Centerline is valid? [True, True] Translation: X:363.29, Y:-14.58, Z:3.49 [[ 9.99952329e-01 -8.05150437e-03 -5.52380482e-03 3.63287438e+02] [ 8.05345421e-03 9.99967516e-01 3.30835157e-04 -1.45795706e+01] [ 5.52096166e-03 -3.75305095e-04 9.99984689e-01 3.49177196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.370714057 meters Centerline goodness [0,1] 0.9815282422257103 Centerline is valid? [True, True] Translation: X:363.32, Y:-14.58, Z:3.49 [[ 9.99937773e-01 -9.26969343e-03 -6.20666355e-03 3.63317167e+02] [ 9.27217815e-03 9.99956943e-01 3.71675265e-04 -1.45833069e+01] [ 6.20295099e-03 -4.29201427e-04 9.99980669e-01 3.49124724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.400714057 meters Centerline goodness [0,1] 0.9822087566631738 Centerline is valid? [True, True] Translation: X:363.35, Y:-14.58, Z:3.49 [[ 9.99939906e-01 -9.03387932e-03 -6.21072167e-03 3.63347733e+02] [ 9.03636277e-03 9.99959102e-01 3.71918279e-04 -1.45825097e+01] [ 6.20710780e-03 -4.28018263e-04 9.99980644e-01 3.49133592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.430714057 meters Centerline goodness [0,1] 0.981713141973343 Centerline is valid? [True, True] Translation: X:363.38, Y:-14.59, Z:3.49 [[ 9.99964832e-01 -5.61641804e-03 -6.22820107e-03 3.63377252e+02] [ 5.61884939e-03 9.99984145e-01 3.72949408e-04 -1.45850499e+01] [ 6.22600768e-03 -4.07931616e-04 9.99980535e-01 3.49112370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.460714057 meters Centerline goodness [0,1] 0.9819460886986613 Centerline is valid? [True, True] Translation: X:363.41, Y:-14.58, Z:3.49 [[ 9.99972505e-01 -3.40961022e-03 -6.58506134e-03 3.63407126e+02] [ 3.41227835e-03 9.99994101e-01 3.93985403e-04 -1.45792621e+01] [ 6.58367916e-03 -4.16444632e-04 9.99978241e-01 3.49203515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.490714057 meters Centerline goodness [0,1] 0.9821298322392414 Centerline is valid? [True, True] Translation: X:363.44, Y:-14.57, Z:3.49 [[ 9.99976521e-01 1.54386948e-03 -6.67631476e-03 3.63437513e+02] [-1.54123638e-03 9.99998732e-01 3.99521998e-04 -1.45746007e+01] [ 6.67692311e-03 -3.89222838e-04 9.99977633e-01 3.49334128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.520714057 meters Centerline goodness [0,1] 0.9820344245080582 Centerline is valid? [True, True] Translation: X:363.47, Y:-14.58, Z:3.49 [[ 9.99972045e-01 4.08452721e-03 -6.26306787e-03 3.63466305e+02] [-4.08226173e-03 9.99991597e-01 3.74461404e-04 -1.45753790e+01] [ 6.26454475e-03 -3.48883453e-04 9.99980317e-01 3.49328786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.550714057 meters Centerline goodness [0,1] 0.9822655376258188 Centerline is valid? [True, True] Translation: X:363.50, Y:-14.57, Z:3.49 [[ 9.99962596e-01 6.53355111e-03 -5.66744611e-03 3.63496034e+02] [-6.53173641e-03 9.99978611e-01 3.38647899e-04 -1.45749965e+01] [ 5.66953746e-03 -3.01616968e-04 9.99983883e-01 3.49357099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.580714057 meters Centerline goodness [0,1] 0.9833287783547418 Centerline is valid? [True, True] Translation: X:363.53, Y:-14.57, Z:3.49 [[ 9.99936647e-01 1.00656693e-02 -5.03832976e-03 3.63525898e+02] [-1.00642808e-02 9.99949309e-01 3.00860488e-04 -1.45701253e+01] [ 5.04110272e-03 -2.50134262e-04 9.99987262e-01 3.49418895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.610714057 meters Centerline goodness [0,1] 0.9836039368820078 Centerline is valid? [True, True] Translation: X:363.55, Y:-14.57, Z:3.49 [[ 9.99901937e-01 1.31665435e-02 -4.77065572e-03 3.63554865e+02] [-1.31653347e-02 9.99913293e-01 2.84702007e-04 -1.45687182e+01] [ 4.77399061e-03 -2.21866809e-04 9.99988580e-01 3.49397940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.640714057 meters Centerline goodness [0,1] 0.9837926554058675 Centerline is valid? [True, True] Translation: X:363.58, Y:-14.57, Z:3.49 [[ 9.99884096e-01 1.44991890e-02 -4.64419344e-03 3.63582799e+02] [-1.44980604e-02 9.99894859e-01 2.76588983e-04 -1.45700959e+01] [ 4.64771546e-03 -2.09225128e-04 9.99989177e-01 3.49342649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.670714057 meters Centerline goodness [0,1] 0.9835729420610148 Centerline is valid? [True, True] Translation: X:363.61, Y:-14.57, Z:3.49 [[ 9.99858742e-01 1.59222271e-02 -5.38326917e-03 3.63611551e+02] [-1.59207328e-02 9.99873206e-01 3.20317716e-04 -1.45683844e+01] [ 5.38768677e-03 -2.34566878e-04 9.99985459e-01 3.49416029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.700714057 meters Centerline goodness [0,1] 0.9834493779248944 Centerline is valid? [True, True] Translation: X:363.64, Y:-14.57, Z:3.49 [[ 9.99834937e-01 1.72097728e-02 -5.82437630e-03 3.63641055e+02] [-1.72080468e-02 9.99851871e-01 3.46325858e-04 -1.45673567e+01] [ 5.82947373e-03 -2.46042552e-04 9.99982978e-01 3.49483296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.730714057 meters Centerline goodness [0,1] 0.9816010916534 Centerline is valid? [True, True] Translation: X:363.67, Y:-14.57, Z:3.50 [[ 9.99862011e-01 1.58143605e-02 -5.08582704e-03 3.63668315e+02] [-1.58130294e-02 9.99874921e-01 3.01846385e-04 -1.45745255e+01] [ 5.08996442e-03 -2.21382401e-04 9.99987022e-01 3.49519093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76071405700003 meters Centerline goodness [0,1] 0.9833306729300162 Centerline is valid? [True, True] Translation: X:363.70, Y:-14.57, Z:3.50 [[ 9.99893194e-01 1.37658173e-02 -4.90946014e-03 3.63698101e+02] [-1.37645524e-02 9.99905222e-01 2.91348392e-04 -1.45723138e+01] [ 4.91300548e-03 -2.23740753e-04 9.99987906e-01 3.49631650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.790714057 meters Centerline goodness [0,1] 0.9831445339156544 Centerline is valid? [True, True] Translation: X:363.73, Y:-14.58, Z:3.50 [[ 9.99921531e-01 1.16834346e-02 -4.51993234e-03 3.63726638e+02] [-1.16823426e-02 9.99931723e-01 2.67936329e-04 -1.45779271e+01] [ 4.52275415e-03 -2.15111907e-04 9.99989749e-01 3.49598218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82071405700003 meters Centerline goodness [0,1] 0.9820184822688578 Centerline is valid? [True, True] Translation: X:363.76, Y:-14.59, Z:3.49 [[ 9.99972291e-01 5.48119208e-03 -5.03733034e-03 3.63756916e+02] [-5.47975632e-03 9.99984941e-01 2.98781235e-04 -1.45858146e+01] [ 5.03889216e-03 -2.71169613e-04 9.99987268e-01 3.49450036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.850714057 meters Centerline goodness [0,1] 0.9811487882986214 Centerline is valid? [True, True] Translation: X:363.79, Y:-14.59, Z:3.49 [[ 9.99980479e-01 2.90877208e-03 -5.53002445e-03 3.63785494e+02] [-2.90700560e-03 9.99995721e-01 3.27445282e-04 -1.45910924e+01] [ 5.53095325e-03 -3.11363078e-04 9.99984656e-01 3.49339816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88071405700003 meters Centerline goodness [0,1] 0.9813701375603535 Centerline is valid? [True, True] Translation: X:363.81, Y:-14.60, Z:3.49 [[ 9.99974320e-01 -1.60060807e-03 -6.98545561e-03 3.63814511e+02] [ 1.60353827e-03 9.99998629e-01 4.13890713e-04 -1.45973750e+01] [ 6.98478355e-03 -4.25081530e-04 9.99975516e-01 3.49152256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.910714057 meters Centerline goodness [0,1] 0.9827051907214146 Centerline is valid? [True, True] Translation: X:363.84, Y:-14.59, Z:3.49 [[ 9.99968501e-01 -2.75725168e-03 -7.44273226e-03 3.63843890e+02] [ 2.76060443e-03 9.99996093e-01 4.40237571e-04 -1.45935716e+01] [ 7.44148933e-03 -4.60770144e-04 9.99972206e-01 3.49228319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.940714057 meters Centerline goodness [0,1] 0.9823244993842084 Centerline is valid? [True, True] Translation: X:363.87, Y:-14.60, Z:3.49 [[ 9.99964343e-01 -4.30620411e-03 -7.26419868e-03 3.63872628e+02] [ 4.30943620e-03 9.99990622e-01 4.29340005e-04 -1.45958970e+01] [ 7.26228173e-03 -4.60629297e-04 9.99973523e-01 3.49303466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.970714057 meters Centerline goodness [0,1] 0.9816855679531736 Centerline is valid? [True, True] Translation: X:363.90, Y:-14.59, Z:3.49 [[ 9.99965478e-01 -4.69403910e-03 -6.85623485e-03 3.63902281e+02] [ 4.69692600e-03 9.99988887e-01 4.05020566e-04 -1.45941484e+01] [ 6.85425747e-03 -4.37209812e-04 9.99976414e-01 3.49474393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.000714057 meters Centerline goodness [0,1] 0.9816218437514269 Centerline is valid? [True, True] Translation: X:363.93, Y:-14.60, Z:3.50 [[ 9.99968634e-01 -5.37475805e-03 -5.81743993e-03 3.63930533e+02] [ 5.37684567e-03 9.99985486e-01 3.43274758e-04 -1.45970967e+01] [ 5.81551048e-03 -3.74543467e-04 9.99983020e-01 3.49545225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.030714057 meters Centerline goodness [0,1] 0.9802757739019268 Centerline is valid? [True, True] Translation: X:363.96, Y:-14.60, Z:3.50 [[ 9.99963262e-01 -7.16410023e-03 -4.70640519e-03 3.63960098e+02] [ 7.16548690e-03 9.99974289e-01 2.77837112e-04 -1.46013476e+01] [ 4.70429373e-03 -3.11550590e-04 9.99988886e-01 3.49568230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.060714057 meters Centerline goodness [0,1] 0.9797497831149262 Centerline is valid? [True, True] Translation: X:363.99, Y:-14.61, Z:3.50 [[ 9.99955061e-01 -8.20333207e-03 -4.75201826e-03 3.63990094e+02] [ 8.20475896e-03 9.99966301e-01 2.80851467e-04 -1.46052237e+01] [ 4.74955420e-03 -3.19828010e-04 9.99988670e-01 3.49542641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.090714057 meters Centerline goodness [0,1] 0.9795246800731261 Centerline is valid? [True, True] Translation: X:364.02, Y:-14.61, Z:3.49 [[ 9.99933253e-01 -1.03999743e-02 -5.03289797e-03 3.64020803e+02] [ 1.04016032e-02 9.99945858e-01 2.97591010e-04 -1.46093958e+01] [ 5.02953053e-03 -3.49921354e-04 9.99987291e-01 3.49386160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.120714057 meters Centerline goodness [0,1] 0.9800173563533389 Centerline is valid? [True, True] Translation: X:364.05, Y:-14.61, Z:3.49 [[ 9.99918888e-01 -1.14796449e-02 -5.51681143e-03 3.64052142e+02] [ 1.14816224e-02 9.99934031e-01 3.26923967e-04 -1.46137503e+01] [ 5.51269452e-03 -3.90239396e-04 9.99984729e-01 3.49278498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.150714057 meters Centerline goodness [0,1] 0.9800350981151856 Centerline is valid? [True, True] Translation: X:364.08, Y:-14.62, Z:3.49 [[ 9.99884557e-01 -1.33694840e-02 -7.22013213e-03 3.64082827e+02] [ 1.33729189e-02 9.99910487e-01 4.27664283e-04 -1.46152055e+01] [ 7.21376818e-03 -5.24169154e-04 9.99973843e-01 3.49150537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.180714057 meters Centerline goodness [0,1] 0.9806190932748938 Centerline is valid? [True, True] Translation: X:364.12, Y:-14.61, Z:3.49 [[ 9.99877960e-01 -1.37069680e-02 -7.49562693e-03 3.64115162e+02] [ 1.37106846e-02 9.99905905e-01 4.44671611e-04 -1.46144465e+01] [ 7.48882653e-03 -5.47387520e-04 9.99971809e-01 3.49157464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.210714057 meters Centerline goodness [0,1] 0.9790729021498252 Centerline is valid? [True, True] Translation: X:364.15, Y:-14.62, Z:3.49 [[ 9.99871050e-01 -1.38654461e-02 -8.10143011e-03 3.64145464e+02] [ 1.38697958e-02 9.99903694e-01 4.80969740e-04 -1.46241138e+01] [ 8.09398103e-03 -5.93272900e-04 9.99967067e-01 3.48998065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.240714057 meters Centerline goodness [0,1] 0.9809560823940925 Centerline is valid? [True, True] Translation: X:364.18, Y:-14.62, Z:3.49 [[ 9.99875978e-01 -1.35935153e-02 -7.95265579e-03 3.64176906e+02] [ 1.35977000e-02 9.99907435e-01 4.72365111e-04 -1.46181117e+01] [ 7.94549856e-03 -5.80444355e-04 9.99968266e-01 3.49105130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.270714057 meters Centerline goodness [0,1] 0.9780650484769304 Centerline is valid? [True, True] Translation: X:364.21, Y:-14.63, Z:3.49 [[ 9.99890673e-01 -1.30026552e-02 -7.04087423e-03 3.64207095e+02] [ 1.30059248e-02 9.99915332e-01 4.18790939e-04 -1.46257810e+01] [ 7.03483269e-03 -5.10318234e-04 9.99975125e-01 3.49088337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.300714057 meters Centerline goodness [0,1] 0.9780650484769304 Centerline is valid? [True, True] Translation: X:364.24, Y:-14.63, Z:3.49 [[ 9.99891104e-01 -1.29694674e-02 -7.04086625e-03 3.64237968e+02] [ 1.29727372e-02 9.99915763e-01 4.18925045e-04 -1.46276507e+01] [ 7.03483991e-03 -5.10218733e-04 9.99975125e-01 3.49079321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.330714057 meters Centerline goodness [0,1] 0.9802467440316784 Centerline is valid? [True, True] Translation: X:364.27, Y:-14.62, Z:3.49 [[ 9.99891202e-01 -1.32722819e-02 -6.43673646e-03 3.64270898e+02] [ 1.32750245e-02 9.99911809e-01 3.83546167e-04 -1.46216516e+01] [ 6.43107827e-03 -4.68952272e-04 9.99979210e-01 3.49259364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.360714057 meters Centerline goodness [0,1] 0.9775676169590644 Centerline is valid? [True, True] Translation: X:364.30, Y:-14.63, Z:3.49 [[ 9.99886096e-01 -1.37819343e-02 -6.15253576e-03 3.64301815e+02] [ 1.37844539e-02 9.99904922e-01 3.67307471e-04 -1.46298095e+01] [ 6.14688858e-03 -4.52074978e-04 9.99981006e-01 3.49195829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.390714057 meters Centerline goodness [0,1] 0.9799377773710939 Centerline is valid? [True, True] Translation: X:364.33, Y:-14.62, Z:3.49 [[ 9.99854753e-01 -1.60636226e-02 -5.69497543e-03 3.64333332e+02] [ 1.60658176e-02 9.99870879e-01 3.39874114e-04 -1.46249265e+01] [ 5.68878048e-03 -4.31319184e-04 9.99983726e-01 3.49263709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.420714057 meters Centerline goodness [0,1] 0.9787346181168222 Centerline is valid? [True, True] Translation: X:364.36, Y:-14.63, Z:3.49 [[ 9.99799303e-01 -1.92530956e-02 -5.53826053e-03 3.64362383e+02] [ 1.92552207e-02 9.99814546e-01 3.30645060e-04 -1.46301539e+01] [ 5.53086750e-03 -4.37219129e-04 9.99984609e-01 3.49145126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.450714057 meters Centerline goodness [0,1] 0.9808066250314552 Centerline is valid? [True, True] Translation: X:364.39, Y:-14.62, Z:3.49 [[ 9.99759876e-01 -2.11022539e-02 -5.90636497e-03 3.64394360e+02] [ 2.11047045e-02 9.99777209e-01 3.52875624e-04 -1.46246819e+01] [ 5.89760261e-03 -4.77442978e-04 9.99982495e-01 3.49190550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.480714057 meters Centerline goodness [0,1] 0.9814691649657133 Centerline is valid? [True, True] Translation: X:364.43, Y:-14.63, Z:3.49 [[ 9.99691636e-01 -2.39930052e-02 -6.40067341e-03 3.64425353e+02] [ 2.39959426e-02 9.99711983e-01 3.82508888e-04 -1.46280013e+01] [ 6.38965237e-03 -5.35981127e-04 9.99979442e-01 3.49164436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51071405700003 meters Centerline goodness [0,1] 0.9793320181676377 Centerline is valid? [True, True] Translation: X:364.46, Y:-14.63, Z:3.49 [[ 9.99657191e-01 -2.52873742e-02 -6.78596679e-03 3.64456219e+02] [ 2.52907085e-02 9.99680056e-01 4.05975120e-04 -1.46339791e+01] [ 6.77352962e-03 -5.77457856e-04 9.99976893e-01 3.49103748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.540714057 meters Centerline goodness [0,1] 0.980201881165405 Centerline is valid? [True, True] Translation: X:364.49, Y:-14.63, Z:3.49 [[ 9.99627320e-01 -2.62306037e-02 -7.56146236e-03 3.64488709e+02] [ 2.62347748e-02 9.99655706e-01 4.52945519e-04 -1.46338059e+01] [ 7.54697796e-03 -6.51149977e-04 9.99971309e-01 3.49078492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57071405700003 meters Centerline goodness [0,1] 0.9796612506607221 Centerline is valid? [True, True] Translation: X:364.52, Y:-14.64, Z:3.49 [[ 9.99585820e-01 -2.74200949e-02 -8.73650154e-03 3.64519506e+02] [ 2.74257079e-02 9.99623708e-01 5.23298415e-04 -1.46366901e+01] [ 8.71886517e-03 -7.62686414e-04 9.99961699e-01 3.48947800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.600714057 meters Centerline goodness [0,1] 0.9624658100995243 Centerline is valid? [True, True] Translation: X:364.55, Y:-14.65, Z:3.49 [[ 9.99583730e-01 -2.74337065e-02 -8.93079441e-03 3.64549555e+02] [ 2.74395776e-02 9.99623320e-01 5.35509539e-04 -1.46495895e+01] [ 8.91273936e-03 -7.80343849e-04 9.99959976e-01 3.48756458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63071405700003 meters Centerline goodness [0,1] 0.9798366747717576 Centerline is valid? [True, True] Translation: X:364.58, Y:-14.64, Z:3.49 [[ 9.99606230e-01 -2.63881953e-02 -9.54191860e-03 3.64582061e+02] [ 2.63948569e-02 9.99651431e-01 5.72862748e-04 -1.46405344e+01] [ 9.52347577e-03 -8.24494748e-04 9.99954311e-01 3.48817676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.660714057 meters Centerline goodness [0,1] 0.980874756055562 Centerline is valid? [True, True] Translation: X:364.61, Y:-14.64, Z:3.49 [[ 9.99611091e-01 -2.61402100e-02 -9.71370125e-03 3.64614140e+02] [ 2.61471085e-02 9.99657935e-01 5.83850775e-04 -1.46412184e+01] [ 9.69511656e-03 -8.37608911e-04 9.99952650e-01 3.48804860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.690714057 meters Centerline goodness [0,1] 0.9794667342658954 Centerline is valid? [True, True] Translation: X:364.64, Y:-14.64, Z:3.49 [[ 9.99650128e-01 -2.47951485e-02 -9.20991050e-03 3.64644632e+02] [ 2.48012935e-02 9.99692247e-01 5.53589568e-04 -1.46430708e+01] [ 9.19334979e-03 -7.81813576e-04 9.99957435e-01 3.48805164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.720714057 meters Centerline goodness [0,1] 0.9776540185792855 Centerline is valid? [True, True] Translation: X:364.68, Y:-14.64, Z:3.49 [[ 9.99665581e-01 -2.41097090e-02 -9.35137567e-03 3.64676586e+02] [ 2.41160218e-02 9.99709008e-01 5.62880391e-04 -1.46446897e+01] [ 9.33508362e-03 -7.88210133e-04 9.99956117e-01 3.48772021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.750714057 meters Centerline goodness [0,1] 0.9780229906240642 Centerline is valid? [True, True] Translation: X:364.71, Y:-14.64, Z:3.49 [[ 9.99714453e-01 -2.20870524e-02 -9.11996202e-03 3.64706225e+02] [ 2.20929694e-02 9.99755770e-01 5.48552148e-04 -1.46440419e+01] [ 9.10561875e-03 -7.49882552e-04 9.99958262e-01 3.48747601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.780714057 meters Centerline goodness [0,1] 0.9775120059106022 Centerline is valid? [True, True] Translation: X:364.74, Y:-14.64, Z:3.49 [[ 9.99732952e-01 -2.12575238e-02 -9.06320920e-03 3.64738733e+02] [ 2.12633413e-02 9.99773761e-01 5.45995602e-04 -1.46449500e+01] [ 9.04955223e-03 -7.38563906e-04 9.99958779e-01 3.48717063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.810714057 meters Centerline goodness [0,1] 0.9758124076809453 Centerline is valid? [True, True] Translation: X:364.77, Y:-14.65, Z:3.49 [[ 9.99784762e-01 -1.88151695e-02 -8.74175218e-03 3.64768800e+02] [ 1.88204873e-02 9.99822740e-01 5.26440579e-04 -1.46454650e+01] [ 8.73029755e-03 -6.90851305e-04 9.99961652e-01 3.48728115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.840714057 meters Centerline goodness [0,1] 0.9777109826589595 Centerline is valid? [True, True] Translation: X:364.80, Y:-14.64, Z:3.49 [[ 9.99804144e-01 -1.78368748e-02 -8.57434897e-03 3.64800801e+02] [ 1.78419600e-02 9.99840686e-01 5.16939302e-04 -1.46441202e+01] [ 8.56376237e-03 -6.69821248e-04 9.99963106e-01 3.48813682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.870714057 meters Centerline goodness [0,1] 0.9756696635462044 Centerline is valid? [True, True] Translation: X:364.83, Y:-14.64, Z:3.49 [[ 9.99829671e-01 -1.64840068e-02 -8.30095866e-03 3.64831597e+02] [ 1.64887284e-02 9.99863926e-01 5.00687487e-04 -1.46442318e+01] [ 8.29157578e-03 -6.37474459e-04 9.99965421e-01 3.48921547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.900714057 meters Centerline goodness [0,1] 0.9763624577487614 Centerline is valid? [True, True] Translation: X:364.86, Y:-14.65, Z:3.49 [[ 9.99841477e-01 -1.59871651e-02 -7.83787317e-03 3.64862619e+02] [ 1.59913615e-02 9.99872018e-01 4.73016498e-04 -1.46453058e+01] [ 7.82930788e-03 -5.98279778e-04 9.99969172e-01 3.48978657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.930714057 meters Centerline goodness [0,1] 0.981021897810219 Centerline is valid? [True, True] Translation: X:364.90, Y:-14.63, Z:3.49 [[ 9.99842390e-01 -1.59101947e-02 -7.87791864e-03 3.64895722e+02] [ 1.59144370e-02 9.99873244e-01 4.76110849e-04 -1.46341154e+01] [ 7.86934505e-03 -6.01408449e-04 9.99968855e-01 3.49178798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.960714057 meters Centerline goodness [0,1] 0.9806952491309386 Centerline is valid? [True, True] Translation: X:364.93, Y:-14.63, Z:3.49 [[ 9.99837126e-01 -1.62932617e-02 -7.76212073e-03 3.64928390e+02] [ 1.62973961e-02 9.99867078e-01 4.69673470e-04 -1.46348332e+01] [ 7.75343646e-03 -5.96099329e-04 9.99969764e-01 3.49145950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.990714057 meters Centerline goodness [0,1] 0.9809947619709822 Centerline is valid? [True, True] Translation: X:364.96, Y:-14.64, Z:3.49 [[ 9.99828419e-01 -1.70987067e-02 -7.12506814e-03 3.64960865e+02] [ 1.71022143e-02 9.99853653e-01 4.31653722e-04 -1.46378889e+01] [ 7.11664469e-03 -5.53434101e-04 9.99974523e-01 3.49094965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.020714057 meters Centerline goodness [0,1] 0.9803694347231557 Centerline is valid? [True, True] Translation: X:364.99, Y:-14.64, Z:3.49 [[ 9.99822220e-01 -1.75411516e-02 -6.91644859e-03 3.64992941e+02] [ 1.75444708e-02 9.99845996e-01 4.19513942e-04 -1.46409412e+01] [ 6.90802467e-03 -5.40784791e-04 9.99975993e-01 3.49075742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.050714057 meters Centerline goodness [0,1] 0.9799301717958797 Centerline is valid? [True, True] Translation: X:365.02, Y:-14.65, Z:3.49 [[ 9.99802927e-01 -1.85302381e-02 -7.12299792e-03 3.65023346e+02] [ 1.85337845e-02 9.99828141e-01 4.32184699e-04 -1.46463003e+01] [ 7.11376529e-03 -5.64115636e-04 9.99974538e-01 3.49011268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.080714057 meters Centerline goodness [0,1] 0.9797237799508736 Centerline is valid? [True, True] Translation: X:365.06, Y:-14.65, Z:3.49 [[ 9.99784086e-01 -1.93115895e-02 -7.67092451e-03 3.65055297e+02] [ 1.93157303e-02 9.99813325e-01 4.66073758e-04 -1.46467669e+01] [ 7.66049192e-03 -6.14142635e-04 9.99970469e-01 3.49020328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.110714057 meters Centerline goodness [0,1] 0.979145449495417 Centerline is valid? [True, True] Translation: X:365.09, Y:-14.65, Z:3.49 [[ 9.99762308e-01 -2.01006533e-02 -8.44338075e-03 3.65086189e+02] [ 2.01057049e-02 9.99797728e-01 5.13829091e-04 -1.46535964e+01] [ 8.43134459e-03 -6.83467079e-04 9.99964222e-01 3.48928815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.140714057 meters Centerline goodness [0,1] 0.9798887859128823 Centerline is valid? [True, True] Translation: X:365.12, Y:-14.65, Z:3.49 [[ 9.99762868e-01 -1.97983338e-02 -9.06828628e-03 3.65118318e+02] [ 1.98041537e-02 9.99803726e-01 5.52426591e-04 -1.46520884e+01] [ 9.05556928e-03 -7.31885328e-04 9.99958730e-01 3.48927226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.170714057 meters Centerline goodness [0,1] 0.9819384380564742 Centerline is valid? [True, True] Translation: X:365.15, Y:-14.65, Z:3.49 [[ 9.99773705e-01 -1.86966768e-02 -1.01475765e-02 3.65149906e+02] [ 1.87039105e-02 9.99824875e-01 6.18406375e-04 -1.46546939e+01] [ 1.01342372e-02 -8.08065795e-04 9.99948321e-01 3.48836671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.200714057 meters Centerline goodness [0,1] 0.9815661815661816 Centerline is valid? [True, True] Translation: X:365.18, Y:-14.66, Z:3.49 [[ 9.99782371e-01 -1.79178361e-02 -1.06846661e-02 3.65181734e+02] [ 1.79258208e-02 9.99839107e-01 6.51995294e-04 -1.46568379e+01] [ 1.06712646e-02 -8.43384810e-04 9.99942705e-01 3.48801140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.230714057 meters Centerline goodness [0,1] 0.9811102097577935 Centerline is valid? [True, True] Translation: X:365.21, Y:-14.66, Z:3.49 [[ 9.99832762e-01 -1.46240947e-02 -1.09810317e-02 3.65212663e+02] [ 1.46323299e-02 9.99892717e-01 6.69978695e-04 -1.46588371e+01] [ 1.09700558e-02 -8.30544728e-04 9.99939482e-01 3.48755541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26071405700003 meters Centerline goodness [0,1] 0.9813125129934629 Centerline is valid? [True, True] Translation: X:365.24, Y:-14.66, Z:3.49 [[ 9.99866022e-01 -1.20197439e-02 -1.11114090e-02 3.65243220e+02] [ 1.20280157e-02 9.99927431e-01 6.77909674e-04 -1.46590281e+01] [ 1.11024544e-02 -8.11467051e-04 9.99938037e-01 3.48760783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.290714057 meters Centerline goodness [0,1] 0.9824728166369138 Centerline is valid? [True, True] Translation: X:365.27, Y:-14.66, Z:3.49 [[ 9.99895037e-01 -8.75308360e-03 -1.15455160e-02 3.65273273e+02] [ 8.76179649e-03 9.99961367e-01 7.04289082e-04 -1.46593453e+01] [ 1.15389053e-02 -8.05374619e-04 9.99933100e-01 3.48759874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32071405700003 meters Centerline goodness [0,1] 0.9834752941722561 Centerline is valid? [True, True] Translation: X:365.30, Y:-14.65, Z:3.49 [[ 9.99935458e-01 -1.27496309e-04 -1.13606029e-02 3.65304406e+02] [ 1.35377575e-04 9.99999751e-01 6.92970242e-04 -1.46520821e+01] [ 1.13605118e-02 -6.94463487e-04 9.99935226e-01 3.48893035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.350714057 meters Centerline goodness [0,1] 0.9834160597485736 Centerline is valid? [True, True] Translation: X:365.33, Y:-14.65, Z:3.49 [[ 9.99891021e-01 1.10073962e-02 -9.83789143e-03 3.65333737e+02] [-1.10020261e-02 9.99939296e-01 5.99813672e-04 -1.46488488e+01] [ 9.84389662e-03 -4.91511567e-04 9.99951427e-01 3.49019028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38071405700003 meters Centerline goodness [0,1] 0.9845596600803362 Centerline is valid? [True, True] Translation: X:365.36, Y:-14.64, Z:3.49 [[ 9.99819304e-01 1.67189357e-02 -9.04637534e-03 3.65364743e+02] [-1.67146281e-02 9.99860149e-01 5.51575105e-04 -1.46448839e+01] [ 9.05433195e-03 -4.00268638e-04 9.99958929e-01 3.49173896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.410714057 meters Centerline goodness [0,1] 0.986326175275682 Centerline is valid? [True, True] Translation: X:365.40, Y:-14.64, Z:3.49 [[ 9.99581504e-01 2.78309857e-02 -7.89000832e-03 3.65395551e+02] [-2.78280556e-02 9.99612609e-01 4.80927953e-04 -1.46394738e+01] [ 7.90033650e-03 -2.61163096e-04 9.99968758e-01 3.49344238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.440714057 meters Centerline goodness [0,1] 0.9870550161812298 Centerline is valid? [True, True] Translation: X:365.43, Y:-14.64, Z:3.49 [[ 9.99436024e-01 3.28246583e-02 -7.08352173e-03 3.65425702e+02] [-3.28224229e-02 9.99461106e-01 4.31629289e-04 -1.46386779e+01] [ 7.09387255e-03 -1.98887514e-04 9.99974818e-01 3.49376324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.470714057 meters Centerline goodness [0,1] 0.9878897971541023 Centerline is valid? [True, True] Translation: X:365.45, Y:-14.64, Z:3.49 [[ 9.99292724e-01 3.69058232e-02 -7.21199653e-03 3.65454267e+02] [-3.69036170e-02 9.99318733e-01 4.38793823e-04 -1.46388602e+01] [ 7.22327728e-03 -1.72334717e-04 9.99973897e-01 3.49380274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.500714057 meters Centerline goodness [0,1] 0.9895706952869808 Centerline is valid? [True, True] Translation: X:365.48, Y:-14.64, Z:3.49 [[ 9.99080579e-01 4.22139919e-02 -7.48165256e-03 3.65483578e+02] [-4.22117736e-02 9.99108583e-01 4.54230115e-04 -1.46405558e+01] [ 7.49415815e-03 -1.37998663e-04 9.99971909e-01 3.49344054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.530714057 meters Centerline goodness [0,1] 0.9899086195270538 Centerline is valid? [True, True] Translation: X:365.51, Y:-14.65, Z:3.49 [[ 9.99052098e-01 4.27994236e-02 -7.94443604e-03 3.65510785e+02] [-4.27969456e-02 9.99083675e-01 4.81733384e-04 -1.46460864e+01] [ 7.95777427e-03 -1.41279152e-04 9.99968326e-01 3.49245011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.560714057 meters Centerline goodness [0,1] 0.9886983360794598 Centerline is valid? [True, True] Translation: X:365.54, Y:-14.65, Z:3.49 [[ 9.99108994e-01 4.12536428e-02 -8.90810177e-03 3.65538854e+02] [-4.12504886e-02 9.99148692e-01 5.37605282e-04 -1.46509835e+01] [ 8.92269640e-03 -1.69662723e-04 9.99960178e-01 3.49211519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.590714057 meters Centerline goodness [0,1] 0.9882651882651883 Centerline is valid? [True, True] Translation: X:365.57, Y:-14.66, Z:3.49 [[ 9.99300878e-01 3.61778874e-02 -9.42948690e-03 3.65568190e+02] [-3.61741243e-02 9.99345340e-01 5.69380882e-04 -1.46602504e+01] [ 9.44391279e-03 -2.27879384e-04 9.99955379e-01 3.49148783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.620714057 meters Centerline goodness [0,1] 0.9889101956888385 Centerline is valid? [True, True] Translation: X:365.60, Y:-14.67, Z:3.49 [[ 9.99420064e-01 3.26422287e-02 -9.69638092e-03 3.65597766e+02] [-3.26380866e-02 9.99467064e-01 5.85155464e-04 -1.46667438e+01] [ 9.71031415e-03 -2.68344792e-04 9.99952818e-01 3.49141378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.650714057 meters Centerline goodness [0,1] 0.9885751140185194 Centerline is valid? [True, True] Translation: X:365.63, Y:-14.67, Z:3.49 [[ 9.99538703e-01 2.85735872e-02 -1.02922980e-02 3.65626536e+02] [-2.85687109e-02 9.99591638e-01 6.20520207e-04 -1.46731715e+01] [ 1.03058255e-02 -3.26196277e-04 9.99946840e-01 3.49080275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.680714057 meters Centerline goodness [0,1] 0.9869783891785132 Centerline is valid? [True, True] Translation: X:365.65, Y:-14.69, Z:3.49 [[ 9.99740698e-01 2.02592102e-02 -1.03971888e-02 3.65654806e+02] [-2.02537884e-02 9.99794675e-01 6.26513068e-04 -1.46857917e+01] [ 1.04077466e-02 -4.15768150e-04 9.99945752e-01 3.49049995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.710714057 meters Centerline goodness [0,1] 0.9864790791156587 Centerline is valid? [True, True] Translation: X:365.68, Y:-14.69, Z:3.49 [[ 9.99819149e-01 1.61731173e-02 -1.00050059e-02 3.65684523e+02] [-1.61678938e-02 9.99869109e-01 6.02757138e-04 -1.46925674e+01] [ 1.00134448e-02 -4.40888256e-04 9.99949767e-01 3.49108179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.740714057 meters Centerline goodness [0,1] 0.9859293493182026 Centerline is valid? [True, True] Translation: X:365.71, Y:-14.70, Z:3.49 [[ 9.99936236e-01 8.10206172e-03 -7.86635875e-03 3.65714104e+02] [-8.09858463e-03 9.99967094e-01 4.73773673e-04 -1.47038334e+01] [ 7.86993844e-03 -4.10037092e-04 9.99968947e-01 3.49285953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.770714057 meters Centerline goodness [0,1] 0.9861433976024432 Centerline is valid? [True, True] Translation: X:365.74, Y:-14.72, Z:3.49 [[ 9.99981054e-01 6.80763573e-04 -6.11788838e-03 3.65742728e+02] [-6.78522645e-04 9.99999702e-01 3.68359150e-04 -1.47184018e+01] [ 6.11813733e-03 -3.64201045e-04 9.99981218e-01 3.49347182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.800714057 meters Centerline goodness [0,1] 0.9848910190574004 Centerline is valid? [True, True] Translation: X:365.77, Y:-14.72, Z:3.49 [[ 9.99979347e-01 -2.87140854e-03 -5.74976431e-03 3.65772606e+02] [ 2.87344578e-03 9.99995812e-01 3.46086597e-04 -1.47235294e+01] [ 5.74874647e-03 -3.62601085e-04 9.99983410e-01 3.49379112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.830714057 meters Centerline goodness [0,1] 0.9837287519316426 Centerline is valid? [True, True] Translation: X:365.80, Y:-14.73, Z:3.49 [[ 9.99968293e-01 -6.03590914e-03 -5.19432216e-03 3.65802514e+02] [ 6.03761385e-03 9.99981725e-01 3.12567881e-04 -1.47301637e+01] [ 5.19234060e-03 -3.43919282e-04 9.99986461e-01 3.49345881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.860714057 meters Centerline goodness [0,1] 0.9842896329713677 Centerline is valid? [True, True] Translation: X:365.83, Y:-14.74, Z:3.49 [[ 9.99923735e-01 -1.12589616e-02 -5.07545941e-03 3.65832744e+02] [ 1.12606564e-02 9.99936550e-01 3.05476498e-04 -1.47382502e+01] [ 5.07169803e-03 -3.62606205e-04 9.99987073e-01 3.49263057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.890714057 meters Centerline goodness [0,1] 0.9818597699066944 Centerline is valid? [True, True] Translation: X:365.86, Y:-14.75, Z:3.49 [[ 9.99866693e-01 -1.53703588e-02 -5.50896292e-03 3.65862864e+02] [ 1.53724177e-02 9.99881782e-01 3.31574489e-04 -1.47454803e+01] [ 5.50321524e-03 -4.16216367e-04 9.99984771e-01 3.49146012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.920714057 meters Centerline goodness [0,1] 0.9824656789452222 Centerline is valid? [True, True] Translation: X:365.89, Y:-14.75, Z:3.49 [[ 9.99835635e-01 -1.69833088e-02 -6.34584082e-03 3.65894146e+02] [ 1.69860751e-02 9.99855653e-01 3.82272063e-04 -1.47475586e+01] [ 6.33843257e-03 -4.90000160e-04 9.99979792e-01 3.49111196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.950714057 meters Centerline goodness [0,1] 0.8770918950980807 Centerline is valid? [True, False] Translation: X:365.94, Y:-14.75, Z:3.49 [[ 9.99733325e-01 -2.15881407e-02 -8.19943672e-03 3.65941359e+02] [ 2.15737603e-02 9.99765569e-01 -1.83826005e-03 -1.47498328e+01] [ 8.23719913e-03 1.66087715e-03 9.99964694e-01 3.49295651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.980714057 meters Centerline goodness [0,1] 0.9823560055264886 Centerline is valid? [False, True] Translation: X:365.87, Y:-14.75, Z:3.49 [[ 9.99794237e-01 -1.90401050e-02 -6.99699603e-03 3.65872625e+02] [ 1.90315204e-02 9.99818050e-01 -1.29144859e-03 -1.47489100e+01] [ 7.02031224e-03 1.15801939e-03 9.99974687e-01 3.49057327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01071405700003 meters Centerline goodness [0,1] 0.9809689755832636 Centerline is valid? [True, True] Translation: X:365.90, Y:-14.76, Z:3.49 [[ 9.99775024e-01 -2.00821432e-02 -6.82708065e-03 3.65902490e+02] [ 2.00855501e-02 9.99798172e-01 4.30825010e-04 -1.47619776e+01] [ 6.81705086e-03 -5.67853755e-04 9.99976602e-01 3.48899035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.040714057 meters Centerline goodness [0,1] 0.9778459594820196 Centerline is valid? [True, True] Translation: X:365.93, Y:-14.77, Z:3.49 [[ 9.99741479e-01 -2.18714003e-02 -6.21424351e-03 3.65932267e+02] [ 2.18742566e-02 9.99760653e-01 3.92038457e-04 -1.47670827e+01] [ 6.20418172e-03 -5.27869064e-04 9.99980615e-01 3.48872875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07071405700003 meters Centerline goodness [0,1] 0.9814218479068615 Centerline is valid? [True, True] Translation: X:365.96, Y:-14.76, Z:3.49 [[ 9.99738700e-01 -2.20268378e-02 -6.11151808e-03 3.65964413e+02] [ 2.20296065e-02 9.99757244e-01 3.86070926e-04 -1.47609886e+01] [ 6.10153055e-03 -5.20604384e-04 9.99981250e-01 3.48994072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.100714057 meters Centerline goodness [0,1] 0.9811632219257383 Centerline is valid? [True, True] Translation: X:366.00, Y:-14.76, Z:3.49 [[ 9.99751791e-01 -2.16079932e-02 -5.42696673e-03 3.65996067e+02] [ 2.16101728e-02 9.99766414e-01 3.43291548e-04 -1.47630455e+01] [ 5.41828123e-03 -4.60484028e-04 9.99985215e-01 3.49052161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13071405700003 meters Centerline goodness [0,1] 0.9804439626944877 Centerline is valid? [True, True] Translation: X:366.03, Y:-14.76, Z:3.49 [[ 9.99785114e-01 -1.98752080e-02 -5.89088365e-03 3.66026291e+02] [ 1.98777457e-02 9.99802349e-01 3.72537361e-04 -1.47636299e+01] [ 5.88231505e-03 -4.89554795e-04 9.99982579e-01 3.49042920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.160714057 meters Centerline goodness [0,1] 0.9807513967112257 Centerline is valid? [True, True] Translation: X:366.06, Y:-14.76, Z:3.49 [[ 9.99800284e-01 -1.89913108e-02 -6.22264813e-03 3.66058229e+02] [ 1.89941281e-02 9.99819518e-01 3.93962999e-04 -1.47634107e+01] [ 6.21404318e-03 -5.12078095e-04 9.99980562e-01 3.49023658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.190714057 meters Centerline goodness [0,1] 0.9807513967112257 Centerline is valid? [True, True] Translation: X:366.09, Y:-14.77, Z:3.49 [[ 9.99801606e-01 -1.89216049e-02 -6.22261689e-03 3.66089963e+02] [ 1.89244240e-02 9.99820839e-01 3.94456342e-04 -1.47654827e+01] [ 6.21403829e-03 -5.12137525e-04 9.99980562e-01 3.49012674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.220714057 meters Centerline goodness [0,1] 0.9801375441136548 Centerline is valid? [True, True] Translation: X:366.12, Y:-14.77, Z:3.49 [[ 9.99810472e-01 -1.85453997e-02 -5.92359486e-03 3.66121928e+02] [ 1.85479502e-02 9.99827901e-01 3.75925418e-04 -1.47671549e+01] [ 5.91560373e-03 -4.85724712e-04 9.99982385e-01 3.48985241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.250714057 meters Centerline goodness [0,1] 0.9823528079197155 Centerline is valid? [True, True] Translation: X:366.15, Y:-14.76, Z:3.49 [[ 9.99829955e-01 -1.75815054e-02 -5.56348720e-03 3.66154362e+02] [ 1.75837428e-02 9.99845332e-01 3.53495136e-04 -1.47631691e+01] [ 5.55641172e-03 -4.51261953e-04 9.99984461e-01 3.49084190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.280714057 meters Centerline goodness [0,1] 0.9801357242371129 Centerline is valid? [True, True] Translation: X:366.19, Y:-14.77, Z:3.49 [[ 9.99835115e-01 -1.73895215e-02 -5.22945352e-03 3.66185520e+02] [ 1.73914969e-02 9.99848701e-01 3.32502867e-04 -1.47687980e+01] [ 5.22288024e-03 -4.23396067e-04 9.99986271e-01 3.49026970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.310714057 meters Centerline goodness [0,1] 0.9815647277845888 Centerline is valid? [True, True] Translation: X:366.22, Y:-14.76, Z:3.49 [[ 9.99833205e-01 -1.73342970e-02 -5.75196827e-03 3.66217764e+02] [ 1.73366886e-02 9.99849641e-01 3.66191439e-04 -1.47641785e+01] [ 5.74475574e-03 -4.65850443e-04 9.99983390e-01 3.49039069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.340714057 meters Centerline goodness [0,1] 0.9812168231931401 Centerline is valid? [True, True] Translation: X:366.25, Y:-14.77, Z:3.49 [[ 9.99839236e-01 -1.67650459e-02 -6.35893784e-03 3.66249367e+02] [ 1.67679603e-02 9.99859326e-01 4.05262502e-04 -1.47663534e+01] [ 6.35124906e-03 -5.11823768e-04 9.99979700e-01 3.49003104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.370714057 meters Centerline goodness [0,1] 0.9769820971867008 Centerline is valid? [True, True] Translation: X:366.28, Y:-14.78, Z:3.49 [[ 9.99848043e-01 -1.63051380e-02 -6.16708754e-03 3.66279457e+02] [ 1.63078721e-02 9.99866940e-01 3.93307152e-04 -1.47776379e+01] [ 6.15985402e-03 -4.93819461e-04 9.99980906e-01 3.48937204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.400714057 meters Centerline goodness [0,1] 0.9800621498400889 Centerline is valid? [True, True] Translation: X:366.31, Y:-14.77, Z:3.49 [[ 9.99859472e-01 -1.58231231e-02 -5.53752242e-03 3.66311981e+02] [ 1.58253218e-02 9.99874709e-01 3.53470393e-04 -1.47674827e+01] [ 5.53123561e-03 -4.41053795e-04 9.99984605e-01 3.49092613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.430714057 meters Centerline goodness [0,1] 0.9800072618345209 Centerline is valid? [True, True] Translation: X:366.34, Y:-14.77, Z:3.49 [[ 9.99865118e-01 -1.56075820e-02 -5.11356687e-03 3.66344204e+02] [ 1.56094565e-02 9.99878112e-01 3.26855236e-04 -1.47675664e+01] [ 5.10784217e-03 -4.06631149e-04 9.99986872e-01 3.49107367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.460714057 meters Centerline goodness [0,1] 0.9795964736889939 Centerline is valid? [True, True] Translation: X:366.38, Y:-14.77, Z:3.49 [[ 9.99856638e-01 -1.63077858e-02 -4.55618766e-03 3.66376683e+02] [ 1.63092827e-02 9.99866952e-01 2.91579332e-04 -1.47700755e+01] [ 4.55082646e-03 -3.65845684e-04 9.99989578e-01 3.49054900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.490714057 meters Centerline goodness [0,1] 0.9802925501757569 Centerline is valid? [True, True] Translation: X:366.41, Y:-14.77, Z:3.49 [[ 9.99861349e-01 -1.59853022e-02 -4.66395361e-03 3.66408427e+02] [ 1.59868688e-02 9.99872157e-01 2.98804581e-04 -1.47711870e+01] [ 4.65858087e-03 -3.73325166e-04 9.99989079e-01 3.49011190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.520714057 meters Centerline goodness [0,1] 0.979874756092027 Centerline is valid? [True, True] Translation: X:366.44, Y:-14.77, Z:3.49 [[ 9.99862149e-01 -1.58378191e-02 -4.98459783e-03 3.66439030e+02] [ 1.58396076e-02 9.99874494e-01 3.19532834e-04 -1.47744937e+01] [ 4.97891153e-03 -3.98442859e-04 9.99987526e-01 3.48965699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.550714057 meters Centerline goodness [0,1] 0.9795221843003413 Centerline is valid? [True, True] Translation: X:366.47, Y:-14.78, Z:3.49 [[ 9.99853487e-01 -1.61517207e-02 -5.66797778e-03 3.66471475e+02] [ 1.61540407e-02 9.99869449e-01 3.63771082e-04 -1.47753674e+01] [ 5.66136229e-03 -4.55278529e-04 9.99983871e-01 3.48935136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.580714057 meters Centerline goodness [0,1] 0.9759798011964607 Centerline is valid? [True, True] Translation: X:366.50, Y:-14.78, Z:3.49 [[ 9.99858865e-01 -1.60281846e-02 -5.03465776e-03 3.66501897e+02] [ 1.60300147e-02 9.99871459e-01 3.23353452e-04 -1.47825436e+01] [ 5.02882783e-03 -4.04013453e-04 9.99987274e-01 3.48872670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.610714057 meters Centerline goodness [0,1] 0.9790660592255125 Centerline is valid? [True, True] Translation: X:366.53, Y:-14.78, Z:3.49 [[ 9.99855544e-01 -1.63013021e-02 -4.81233540e-03 3.66534200e+02] [ 1.63029792e-02 9.99867050e-01 3.09476226e-04 -1.47777201e+01] [ 4.80665074e-03 -3.87886924e-04 9.99988373e-01 3.48944979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.640714057 meters Centerline goodness [0,1] 0.9786608303125641 Centerline is valid? [True, True] Translation: X:366.57, Y:-14.78, Z:3.49 [[ 9.99845638e-01 -1.67221777e-02 -5.39159301e-03 3.66565217e+02] [ 1.67242900e-02 9.99860079e-01 3.46916499e-04 -1.47806631e+01] [ 5.38503741e-03 -4.37033513e-04 9.99985405e-01 3.48900025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.670714057 meters Centerline goodness [0,1] 0.9775745997088792 Centerline is valid? [True, True] Translation: X:366.59, Y:-14.78, Z:3.49 [[ 9.99813904e-01 -1.83075885e-02 -6.08189600e-03 3.66594999e+02] [ 1.83103042e-02 9.99832276e-01 3.91132108e-04 -1.47832648e+01] [ 6.07371524e-03 -5.02420686e-04 9.99981429e-01 3.48744929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.700714057 meters Centerline goodness [0,1] 0.9761915600673738 Centerline is valid? [True, True] Translation: X:366.63, Y:-14.79, Z:3.49 [[ 9.99780795e-01 -1.98863294e-02 -6.54955469e-03 3.66625711e+02] [ 1.98895135e-02 9.99802095e-01 4.21377158e-04 -1.47851543e+01] [ 6.53987886e-03 -5.51552246e-04 9.99978463e-01 3.48643143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.730714057 meters Centerline goodness [0,1] 0.9749532369177426 Centerline is valid? [True, True] Translation: X:366.66, Y:-14.79, Z:3.49 [[ 9.99772109e-01 -2.02945034e-02 -6.62288216e-03 3.66657316e+02] [ 2.02977711e-02 9.99793888e-01 4.26547082e-04 -1.47881051e+01] [ 6.61286054e-03 -5.60879623e-04 9.99977978e-01 3.48571648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76071405700003 meters Centerline goodness [0,1] 0.9682898431614273 Centerline is valid? [True, True] Translation: X:366.69, Y:-14.79, Z:3.49 [[ 9.99750600e-01 -2.09969456e-02 -7.60691182e-03 3.66688170e+02] [ 2.10012794e-02 9.99779329e-01 4.90280655e-04 -1.47900740e+01] [ 7.59493880e-03 -6.49913260e-04 9.99970947e-01 3.48504040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.790714057 meters Centerline goodness [0,1] 0.9642244827980341 Centerline is valid? [True, True] Translation: X:366.72, Y:-14.79, Z:3.48 [[ 9.99761404e-01 -2.04289395e-02 -7.73256988e-03 3.66719039e+02] [ 2.04334037e-02 9.99791092e-01 4.98760482e-04 -1.47927774e+01] [ 7.72076534e-03 -6.56644202e-04 9.99969979e-01 3.48461916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82071405700003 meters Centerline goodness [0,1] 0.964557944223835 Centerline is valid? [True, True] Translation: X:366.75, Y:-14.79, Z:3.48 [[ 9.99775582e-01 -1.97845579e-02 -7.57346307e-03 3.66750942e+02] [ 1.97888248e-02 9.99804063e-01 4.88877769e-04 -1.47923767e+01] [ 7.56230691e-03 -6.38637990e-04 9.99971201e-01 3.48473525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.850714057 meters Centerline goodness [0,1] 0.9662370957035273 Centerline is valid? [True, True] Translation: X:366.78, Y:-14.79, Z:3.49 [[ 9.99811551e-01 -1.80167730e-02 -7.22893344e-03 3.66782319e+02] [ 1.80206160e-02 9.99837507e-01 4.66820398e-04 -1.47909467e+01] [ 7.21934819e-03 -5.97002260e-04 9.99973762e-01 3.48514369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88071405700003 meters Centerline goodness [0,1] 0.980478905359179 Centerline is valid? [True, True] Translation: X:366.82, Y:-14.77, Z:3.49 [[ 9.99835624e-01 -1.66958926e-02 -7.06910467e-03 3.66815042e+02] [ 1.66995366e-02 9.99860449e-01 4.56772499e-04 -1.47744525e+01] [ 7.06049194e-03 -5.74748188e-04 9.99974909e-01 3.48727550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.910714057 meters Centerline goodness [0,1] 0.9778536876131961 Centerline is valid? [True, True] Translation: X:366.85, Y:-14.78, Z:3.49 [[ 9.99836832e-01 -1.67965205e-02 -6.64724631e-03 3.66845467e+02] [ 1.67997464e-02 9.99858782e-01 4.29760737e-04 -1.47794653e+01] [ 6.63908911e-03 -5.41362666e-04 9.99977814e-01 3.48639380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.940714057 meters Centerline goodness [0,1] 0.9782468874902375 Centerline is valid? [True, True] Translation: X:366.88, Y:-14.78, Z:3.49 [[ 9.99824651e-01 -1.75786340e-02 -6.45440281e-03 3.66877671e+02] [ 1.75816954e-02 9.99845343e-01 4.17876224e-04 -1.47784401e+01] [ 6.44605890e-03 -5.31282294e-04 9.99979083e-01 3.48638268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.970714057 meters Centerline goodness [0,1] 0.9788782514865578 Centerline is valid? [True, True] Translation: X:366.91, Y:-14.78, Z:3.49 [[ 9.99816623e-01 -1.80543129e-02 -6.38452169e-03 3.66909699e+02] [ 1.80573210e-02 9.99836868e-01 4.13813691e-04 -1.47790121e+01] [ 6.37600905e-03 -5.29025165e-04 9.99979533e-01 3.48594436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.000714057 meters Centerline goodness [0,1] 0.9773427087641895 Centerline is valid? [True, True] Translation: X:366.94, Y:-14.78, Z:3.49 [[ 9.99796724e-01 -1.88957632e-02 -7.03278903e-03 3.66941648e+02] [ 1.88994371e-02 9.99821286e-01 4.56303843e-04 -1.47821838e+01] [ 7.02290996e-03 -5.89126842e-04 9.99975166e-01 3.48523666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.030714057 meters Centerline goodness [0,1] 0.6594196714316194 Centerline is valid? [True, False] Translation: X:366.99, Y:-14.78, Z:3.49 [[ 9.99710080e-01 -2.25306405e-02 -8.49268405e-03 3.66989146e+02] [ 2.25182849e-02 9.99745233e-01 -1.54768910e-03 -1.47816344e+01] [ 8.52539082e-03 1.35599971e-03 9.99962739e-01 3.48660722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.060714057 meters Centerline goodness [0,1] 0.9781881902653847 Centerline is valid? [False, True] Translation: X:366.92, Y:-14.78, Z:3.48 [[ 9.99758634e-01 -2.01513652e-02 -8.75192261e-03 3.66916688e+02] [ 2.01468100e-02 9.99796847e-01 -6.08344125e-04 -1.47778869e+01] [ 8.76240360e-03 4.31873969e-04 9.99961516e-01 3.48468813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.090714057 meters Centerline goodness [0,1] 0.9776054133677039 Centerline is valid? [True, True] Translation: X:366.95, Y:-14.78, Z:3.48 [[ 9.99746769e-01 -2.05551975e-02 -9.15867614e-03 3.66949124e+02] [ 2.05616759e-02 9.99788398e-01 6.13733102e-04 -1.47793383e+01] [ 9.14412274e-03 -8.01895416e-04 9.99957870e-01 3.48412955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.120714057 meters Centerline goodness [0,1] 0.9742973372781065 Centerline is valid? [True, True] Translation: X:366.98, Y:-14.78, Z:3.48 [[ 9.99740141e-01 -2.08263050e-02 -9.26910549e-03 3.66979740e+02] [ 2.08329559e-02 9.99782777e-01 6.21551592e-04 -1.47848795e+01] [ 9.25414740e-03 -8.14492942e-04 9.99956848e-01 3.48365937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.150714057 meters Centerline goodness [0,1] 0.9743008489278527 Centerline is valid? [True, True] Translation: X:367.01, Y:-14.79, Z:3.48 [[ 9.99749765e-01 -2.03994845e-02 -9.17980494e-03 3.67011923e+02] [ 2.04059964e-02 9.99791586e-01 6.16267312e-04 -1.47859775e+01] [ 9.16532021e-03 -8.03436167e-04 9.99957675e-01 3.48389497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.180714057 meters Centerline goodness [0,1] 0.9760639526824084 Centerline is valid? [True, True] Translation: X:367.04, Y:-14.78, Z:3.48 [[ 9.99766562e-01 -1.96377254e-02 -9.01008346e-03 3.67044611e+02] [ 1.96439740e-02 9.99806855e-01 6.05523201e-04 -1.47830075e+01] [ 8.99645211e-03 -7.82375694e-04 9.99959225e-01 3.48439270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.210714057 meters Centerline goodness [0,1] 0.9761722820423758 Centerline is valid? [True, True] Translation: X:367.08, Y:-14.78, Z:3.49 [[ 9.99809159e-01 -1.77595327e-02 -8.13911550e-03 3.67075224e+02] [ 1.77645678e-02 9.99842048e-01 5.46735936e-04 -1.47801707e+01] [ 8.12812013e-03 -6.91219464e-04 9.99966727e-01 3.48542937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.240714057 meters Centerline goodness [0,1] 0.9699659335820723 Centerline is valid? [True, True] Translation: X:367.10, Y:-14.79, Z:3.48 [[ 9.99850550e-01 -1.55852833e-02 -7.48174631e-03 3.67103996e+02] [ 1.55894758e-02 9.99878351e-01 5.02375313e-04 -1.47888447e+01] [ 7.47300650e-03 -6.18936736e-04 9.99971885e-01 3.48499832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.270714057 meters Centerline goodness [0,1] 0.9760916448299052 Centerline is valid? [True, True] Translation: X:367.14, Y:-14.78, Z:3.49 [[ 9.99875737e-01 -1.41714452e-02 -6.90506250e-03 3.67135933e+02] [ 1.41749860e-02 9.99899422e-01 4.64105373e-04 -1.47808129e+01] [ 6.89779096e-03 -5.61926866e-04 9.99976052e-01 3.48648132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.300714057 meters Centerline goodness [0,1] 0.9761567571332389 Centerline is valid? [True, True] Translation: X:367.17, Y:-14.78, Z:3.49 [[ 9.99907019e-01 -1.21849765e-02 -6.12203908e-03 3.67166868e+02] [ 1.21877231e-02 9.99925642e-01 4.11533058e-04 -1.47816376e+01] [ 6.11656934e-03 -4.86108511e-04 9.99981175e-01 3.48665933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.330714057 meters Centerline goodness [0,1] 0.9758510193656249 Centerline is valid? [True, True] Translation: X:367.20, Y:-14.78, Z:3.49 [[ 9.99917582e-01 -1.12063720e-02 -6.26464540e-03 3.67198310e+02] [ 1.12092308e-02 9.99937086e-01 4.21409399e-04 -1.47811873e+01] [ 6.25952879e-03 -4.91596523e-04 9.99980288e-01 3.48673761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.360714057 meters Centerline goodness [0,1] 0.9754601226993865 Centerline is valid? [True, True] Translation: X:367.23, Y:-14.79, Z:3.49 [[ 9.99932888e-01 -9.64831116e-03 -6.41317677e-03 3.67228593e+02] [ 9.65127552e-03 9.99953332e-01 4.31441671e-04 -1.47858825e+01] [ 6.40871479e-03 -4.93308053e-04 9.99979342e-01 3.48594191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.390714057 meters Centerline goodness [0,1] 0.9760042824558953 Centerline is valid? [True, True] Translation: X:367.26, Y:-14.78, Z:3.49 [[ 9.99934856e-01 -9.09806572e-03 -6.89262189e-03 3.67259731e+02] [ 9.10147568e-03 9.99958473e-01 4.63519345e-04 -1.47848710e+01] [ 6.88811854e-03 -5.26222180e-04 9.99976138e-01 3.48573946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.420714057 meters Centerline goodness [0,1] 0.9773092229281575 Centerline is valid? [True, True] Translation: X:367.29, Y:-14.78, Z:3.49 [[ 9.99935248e-01 -8.34192875e-03 -7.74034436e-03 3.67291061e+02] [ 8.34621009e-03 9.99965034e-01 5.20982399e-04 -1.47843493e+01] [ 7.73572771e-03 -5.85551205e-04 9.99969907e-01 3.48557023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.450714057 meters Centerline goodness [0,1] 0.9757256674276662 Centerline is valid? [True, True] Translation: X:367.32, Y:-14.79, Z:3.48 [[ 9.99928022e-01 -7.32456374e-03 -9.50275624e-03 3.67320282e+02] [ 7.33097125e-03 9.99972924e-01 6.39620349e-04 -1.47858340e+01] [ 9.49781400e-03 -7.09238743e-04 9.99954643e-01 3.48374724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.480714057 meters Centerline goodness [0,1] 0.9777545084351367 Centerline is valid? [True, True] Translation: X:367.35, Y:-14.79, Z:3.48 [[ 9.99920084e-01 -6.90325180e-03 -1.05910795e-02 3.67349937e+02] [ 6.91118157e-03 9.99975864e-01 7.12304478e-04 -1.47879775e+01] [ 1.05859067e-02 -7.85444427e-04 9.99943659e-01 3.48225792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51071405700003 meters Centerline goodness [0,1] 0.9770242727441171 Centerline is valid? [True, True] Translation: X:367.38, Y:-14.79, Z:3.48 [[ 9.99919742e-01 -6.86736824e-03 -1.06465653e-02 3.67378074e+02] [ 6.87537265e-03 9.99976108e-01 7.15411234e-04 -1.47913733e+01] [ 1.06413979e-02 -7.88552920e-04 9.99943068e-01 3.48142428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.540714057 meters Centerline goodness [0,1] 0.9780288909599254 Centerline is valid? [True, True] Translation: X:367.41, Y:-14.79, Z:3.48 [[ 9.99900204e-01 -8.08620089e-03 -1.15842615e-02 3.67407799e+02] [ 8.09575501e-03 9.99966926e-01 7.78093495e-04 -1.47894177e+01] [ 1.15775866e-02 -8.71799188e-04 9.99932597e-01 3.48168860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57071405700003 meters Centerline goodness [0,1] 0.9764360039195558 Centerline is valid? [True, True] Translation: X:367.44, Y:-14.80, Z:3.48 [[ 9.99890150e-01 -8.15075162e-03 -1.23795477e-02 3.67435745e+02] [ 8.16165872e-03 9.99966348e-01 8.30792268e-04 -1.47971691e+01] [ 1.23723595e-02 -9.31738649e-04 9.99923025e-01 3.48010735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.600714057 meters Centerline goodness [0,1] 0.9776926490855155 Centerline is valid? [True, True] Translation: X:367.46, Y:-14.79, Z:3.48 [[ 9.99889665e-01 -8.32002965e-03 -1.23058738e-02 3.67464854e+02] [ 8.33077373e-03 9.99964961e-01 8.22081202e-04 -1.47928414e+01] [ 1.22986028e-02 -9.24507948e-04 9.99923942e-01 3.48127762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63071405700003 meters Centerline goodness [0,1] 0.9769698386719663 Centerline is valid? [True, True] Translation: X:367.49, Y:-14.80, Z:3.48 [[ 9.99894160e-01 -8.32904103e-03 -1.19288204e-02 3.67491758e+02] [ 8.33912393e-03 9.99964912e-01 7.95763997e-04 -1.48003702e+01] [ 1.19217739e-02 -8.95155685e-04 9.99928532e-01 3.48037264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.660714057 meters Centerline goodness [0,1] 0.976001494070408 Centerline is valid? [True, True] Translation: X:367.52, Y:-14.80, Z:3.48 [[ 9.99919076e-01 -7.91761664e-03 -9.95754876e-03 3.67521137e+02] [ 7.92459579e-03 9.99968381e-01 6.61628710e-04 -1.47982283e+01] [ 9.95199539e-03 -7.40484717e-04 9.99950203e-01 3.48289376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.690714057 meters Centerline goodness [0,1] 0.974952100565447 Centerline is valid? [True, True] Translation: X:367.55, Y:-14.80, Z:3.48 [[ 9.99934825e-01 -7.64793125e-03 -8.47674838e-03 3.67550597e+02] [ 7.65298200e-03 9.99970557e-01 5.63558568e-04 -1.47988429e+01] [ 8.47218874e-03 -6.28394240e-04 9.99963913e-01 3.48419801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.720714057 meters Centerline goodness [0,1] 0.9757244088963727 Centerline is valid? [True, True] Translation: X:367.58, Y:-14.79, Z:3.49 [[ 9.99942382e-01 -7.77138430e-03 -7.40522470e-03 3.67580218e+02] [ 7.77524011e-03 9.99969651e-01 4.92040278e-04 -1.47942876e+01] [ 7.40117613e-03 -5.49589328e-04 9.99972460e-01 3.48670807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.750714057 meters Centerline goodness [0,1] 0.9749859996266567 Centerline is valid? [True, True] Translation: X:367.61, Y:-14.80, Z:3.49 [[ 9.99939742e-01 -8.51042161e-03 -6.93433546e-03 3.67610030e+02] [ 8.51381988e-03 9.99963651e-01 4.60692498e-04 -1.47968692e+01] [ 6.93016271e-03 -5.19702420e-04 9.99975851e-01 3.48631166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.780714057 meters Centerline goodness [0,1] 0.9736681958618107 Centerline is valid? [True, True] Translation: X:367.64, Y:-14.80, Z:3.48 [[ 9.99915766e-01 -1.05060414e-02 -7.62128742e-03 3.67639332e+02] [ 1.05102046e-02 9.99944638e-01 5.06406760e-04 -1.48019304e+01] [ 7.61554516e-03 -5.86465393e-04 9.99970829e-01 3.48489342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.810714057 meters Centerline goodness [0,1] 0.9731873376851267 Centerline is valid? [True, True] Translation: X:367.67, Y:-14.81, Z:3.48 [[ 9.99894774e-01 -1.20462910e-02 -8.08252719e-03 3.67670068e+02] [ 1.20510251e-02 9.99927239e-01 5.37261122e-04 -1.48063399e+01] [ 8.07546710e-03 -6.34607326e-04 9.99967192e-01 3.48375111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.840714057 meters Centerline goodness [0,1] 0.971642139686989 Centerline is valid? [True, True] Translation: X:367.70, Y:-14.81, Z:3.48 [[ 9.99839439e-01 -1.53795482e-02 -9.19597963e-03 3.67700426e+02] [ 1.53858162e-02 9.99881444e-01 6.11239164e-04 -1.48111124e+01] [ 9.18548881e-03 -7.52628675e-04 9.99957529e-01 3.48262353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.870714057 meters Centerline goodness [0,1] 0.9724168535127056 Centerline is valid? [True, True] Translation: X:367.73, Y:-14.81, Z:3.48 [[ 9.99809029e-01 -1.69428656e-02 -9.73882432e-03 3.67731064e+02] [ 1.69499713e-02 9.99856129e-01 6.47543103e-04 -1.48127461e+01] [ 9.72645195e-03 -8.12492234e-04 9.99952367e-01 3.48235299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.900714057 meters Centerline goodness [0,1] 0.9650787714459352 Centerline is valid? [True, True] Translation: X:367.76, Y:-14.82, Z:3.48 [[ 9.99787293e-01 -1.76224179e-02 -1.07154110e-02 3.67761441e+02] [ 1.76310769e-02 9.99844305e-01 7.14156421e-04 -1.48205694e+01] [ 1.07011575e-02 -9.02928750e-04 9.99942333e-01 3.48111685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.930714057 meters Centerline goodness [0,1] 0.9667133847231955 Centerline is valid? [True, True] Translation: X:367.79, Y:-14.82, Z:3.48 [[ 9.99819295e-01 -1.55781918e-02 -1.08948565e-02 3.67792314e+02] [ 1.55870203e-02 9.99878252e-01 7.25882662e-04 -1.48226219e+01] [ 1.08822221e-02 -8.95569840e-04 9.99940386e-01 3.47977795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.960714057 meters Centerline goodness [0,1] 0.9758790913131975 Centerline is valid? [True, True] Translation: X:367.82, Y:-14.81, Z:3.48 [[ 9.99844662e-01 -1.38010069e-02 -1.09628850e-02 3.67824040e+02] [ 1.38098420e-02 9.99904373e-01 7.30613480e-04 -1.48142346e+01] [ 1.09517534e-02 -8.81895697e-04 9.99939639e-01 3.48145382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.990714057 meters Centerline goodness [0,1] 0.9723549807890545 Centerline is valid? [True, True] Translation: X:367.85, Y:-14.82, Z:3.48 [[ 9.99886274e-01 -1.14805157e-02 -9.77942262e-03 3.67853662e+02] [ 1.14874352e-02 9.99933805e-01 6.51679765e-04 -1.48202956e+01] [ 9.77129365e-03 -7.63946135e-04 9.99951968e-01 3.48074461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.020714057 meters Centerline goodness [0,1] 0.9779753248580945 Centerline is valid? [True, True] Translation: X:367.89, Y:-14.81, Z:3.48 [[ 9.99917543e-01 -9.28611744e-03 -8.86989613e-03 3.67885454e+02] [ 9.29172591e-03 9.99956656e-01 5.91303210e-04 -1.48088759e+01] [ 8.86402076e-03 -6.73671096e-04 9.99960487e-01 3.48301498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.050714057 meters Centerline goodness [0,1] 0.9784385569334837 Centerline is valid? [True, True] Translation: X:367.92, Y:-14.81, Z:3.48 [[ 9.99924993e-01 -8.31536597e-03 -8.99233900e-03 3.67915614e+02] [ 8.32108857e-03 9.99965200e-01 5.99159483e-04 -1.48110341e+01] [ 8.98704383e-03 -6.73940592e-04 9.99959389e-01 3.48265463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.080714057 meters Centerline goodness [0,1] 0.9776887201481169 Centerline is valid? [True, True] Translation: X:367.94, Y:-14.81, Z:3.48 [[ 9.99933003e-01 -6.73671168e-03 -9.41307200e-03 3.67944396e+02] [ 6.74290897e-03 9.99977070e-01 6.26788804e-04 -1.48140313e+01] [ 9.40863366e-03 -6.90218299e-04 9.99955500e-01 3.48162584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.110714057 meters Centerline goodness [0,1] 0.9776887201481169 Centerline is valid? [True, True] Translation: X:367.97, Y:-14.82, Z:3.48 [[ 9.99932765e-01 -6.77196932e-03 -9.41309400e-03 3.67973565e+02] [ 6.77816507e-03 9.99976832e-01 6.26458450e-04 -1.48159431e+01] [ 9.40863355e-03 -6.90219834e-04 9.99955500e-01 3.48150970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.140714057 meters Centerline goodness [0,1] 0.9776744841185999 Centerline is valid? [True, True] Translation: X:368.00, Y:-14.82, Z:3.48 [[ 9.99935812e-01 -6.46614581e-03 -9.30379968e-03 3.68002936e+02] [ 6.47218227e-03 9.99978864e-01 6.18853400e-04 -1.48175501e+01] [ 9.29960143e-03 -6.79029564e-04 9.99956527e-01 3.48130018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.170714057 meters Centerline goodness [0,1] 0.9777616347190327 Centerline is valid? [True, True] Translation: X:368.03, Y:-14.82, Z:3.48 [[ 9.99934348e-01 -6.90474286e-03 -9.14458115e-03 3.68032574e+02] [ 6.91058975e-03 9.99975937e-01 6.07939464e-04 -1.48204631e+01] [ 9.14016344e-03 -6.71094000e-04 9.99958003e-01 3.48123299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.200714057 meters Centerline goodness [0,1] 0.9752907316844889 Centerline is valid? [True, True] Translation: X:368.06, Y:-14.83, Z:3.48 [[ 9.99923168e-01 -8.43045981e-03 -9.08768692e-03 3.68060634e+02] [ 8.43629187e-03 9.99964232e-01 6.03610692e-04 -1.48287373e+01] [ 9.08227315e-03 -6.80230695e-04 9.99958524e-01 3.48066870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.230714057 meters Centerline goodness [0,1] 0.9743313756229964 Centerline is valid? [True, True] Translation: X:368.09, Y:-14.83, Z:3.48 [[ 9.99897277e-01 -1.03368767e-02 -9.92893057e-03 3.68089836e+02] [ 1.03439313e-02 9.99946283e-01 6.59412563e-04 -1.48349589e+01] [ 9.92158095e-03 -7.62049001e-04 9.99950490e-01 3.47928893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26071405700003 meters Centerline goodness [0,1] 0.977448363074329 Centerline is valid? [True, True] Translation: X:368.12, Y:-14.83, Z:3.48 [[ 9.99879308e-01 -1.14783041e-02 -1.04698467e-02 3.68120629e+02] [ 1.14862114e-02 9.99933789e-01 6.95427195e-04 -1.48327680e+01] [ 1.04611712e-02 -8.15602135e-04 9.99944948e-01 3.47899610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.290714057 meters Centerline goodness [0,1] 0.97588533277307 Centerline is valid? [True, True] Translation: X:368.15, Y:-14.84, Z:3.48 [[ 9.99856617e-01 -1.29943478e-02 -1.08578066e-02 3.68150096e+02] [ 1.30029409e-02 9.99915198e-01 7.21196231e-04 -1.48380161e+01] [ 1.08475143e-02 -8.62276241e-04 9.99940792e-01 3.47793852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32071405700003 meters Centerline goodness [0,1] 0.9775689602909973 Centerline is valid? [True, True] Translation: X:368.18, Y:-14.84, Z:3.48 [[ 9.99849092e-01 -1.35419178e-02 -1.08815782e-02 3.68180696e+02] [ 1.35505808e-02 9.99907925e-01 7.22775185e-04 -1.48376865e+01] [ 1.08707885e-02 -8.70117817e-04 9.99940533e-01 3.47899732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.350714057 meters Centerline goodness [0,1] 0.9760276370766322 Centerline is valid? [True, True] Translation: X:368.21, Y:-14.84, Z:3.48 [[ 9.99852585e-01 -1.40656624e-02 -9.84706044e-03 3.68211084e+02] [ 1.40727840e-02 9.99900759e-01 6.54303304e-04 -1.48447042e+01] [ 9.83688000e-03 -7.92782404e-04 9.99951302e-01 3.47917561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38071405700003 meters Centerline goodness [0,1] 0.9768639328984157 Centerline is valid? [True, True] Translation: X:368.24, Y:-14.84, Z:3.48 [[ 9.99856912e-01 -1.43603128e-02 -8.94070198e-03 3.68242338e+02] [ 1.43661989e-02 9.99896624e-01 5.94468361e-04 -1.48448707e+01] [ 8.93124098e-03 -7.22827203e-04 9.99959854e-01 3.48024876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.410714057 meters Centerline goodness [0,1] 0.9756392375639238 Centerline is valid? [True, True] Translation: X:368.27, Y:-14.85, Z:3.48 [[ 9.99867351e-01 -1.45341780e-02 -7.35106559e-03 3.68273695e+02] [ 1.45381653e-02 9.99894196e-01 4.89253225e-04 -1.48508151e+01] [ 7.34317692e-03 -5.96059332e-04 9.99972861e-01 3.48045696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.440714057 meters Centerline goodness [0,1] 0.9740826753367394 Centerline is valid? [True, True] Translation: X:368.30, Y:-14.86, Z:3.48 [[ 9.99864596e-01 -1.47932844e-02 -7.20749193e-03 3.68304289e+02] [ 1.47971268e-02 9.99890401e-01 4.80072584e-04 -1.48557204e+01] [ 7.19960015e-03 -5.86657752e-04 9.99973910e-01 3.48035334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.470714057 meters Centerline goodness [0,1] 0.9774804026160768 Centerline is valid? [True, True] Translation: X:368.34, Y:-14.85, Z:3.48 [[ 9.99859532e-01 -1.53343738e-02 -6.76558611e-03 3.68337188e+02] [ 1.53377758e-02 9.99882268e-01 4.51226738e-04 -1.48516785e+01] [ 6.75787030e-03 -5.54932398e-04 9.99977011e-01 3.48101365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.500714057 meters Centerline goodness [0,1] 0.9738621314560535 Centerline is valid? [True, True] Translation: X:368.37, Y:-14.86, Z:3.48 [[ 9.99846171e-01 -1.58537043e-02 -7.50291474e-03 3.68367809e+02] [ 1.58579049e-02 9.99874130e-01 5.00702070e-04 -1.48638256e+01] [ 7.49403236e-03 -6.19605556e-04 9.99971727e-01 3.47940900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.530714057 meters Centerline goodness [0,1] 0.9769055797976047 Centerline is valid? [True, True] Translation: X:368.40, Y:-14.86, Z:3.48 [[ 9.99837882e-01 -1.59372566e-02 -8.37937383e-03 3.68399877e+02] [ 1.59425042e-02 9.99872753e-01 5.59822193e-04 -1.48635984e+01] [ 8.36938555e-03 -6.93319638e-04 9.99964736e-01 3.47939384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.560714057 meters Centerline goodness [0,1] 0.9776875797286327 Centerline is valid? [True, True] Translation: X:368.43, Y:-14.86, Z:3.48 [[ 9.99839192e-01 -1.55655254e-02 -8.90531107e-03 3.68432764e+02] [ 1.55714456e-02 9.99878580e-01 5.95832190e-04 -1.48618751e+01] [ 8.89495534e-03 -7.34404942e-04 9.99960169e-01 3.47984328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.590714057 meters Centerline goodness [0,1] 0.9768526035022614 Centerline is valid? [True, True] Translation: X:368.46, Y:-14.87, Z:3.48 [[ 9.99858130e-01 -1.38739353e-02 -9.55165409e-03 3.68463327e+02] [ 1.38806703e-02 9.99903455e-01 6.39182013e-04 -1.48700216e+01] [ 9.54186396e-03 -7.71674693e-04 9.99954178e-01 3.47817677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.620714057 meters Centerline goodness [0,1] 0.9792284866468842 Centerline is valid? [True, True] Translation: X:368.49, Y:-14.87, Z:3.48 [[ 9.99878220e-01 -1.23593905e-02 -9.52844473e-03 3.68494612e+02] [ 1.23660254e-02 9.99923334e-01 6.37726778e-04 -1.48668053e+01] [ 9.51983231e-03 -7.55478105e-04 9.99954400e-01 3.47881549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.650714057 meters Centerline goodness [0,1] 0.9774835358501067 Centerline is valid? [True, True] Translation: X:368.52, Y:-14.87, Z:3.48 [[ 9.99941615e-01 -6.53822833e-03 -8.60342293e-03 3.68524319e+02] [ 6.54342250e-03 9.99978426e-01 5.75722589e-04 -1.48718353e+01] [ 8.59947312e-03 -6.31984807e-04 9.99962824e-01 3.47864446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.680714057 meters Centerline goodness [0,1] 0.9791183832390841 Centerline is valid? [True, True] Translation: X:368.56, Y:-14.87, Z:3.48 [[ 9.99961743e-01 -3.08536631e-03 -8.18493738e-03 3.68555562e+02] [ 3.08995208e-03 9.99995076e-01 5.47682990e-04 -1.48658163e+01] [ 8.18320728e-03 -5.72953102e-04 9.99966353e-01 3.48017023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.710714057 meters Centerline goodness [0,1] 0.9799018353532299 Centerline is valid? [True, True] Translation: X:368.59, Y:-14.86, Z:3.48 [[ 9.99966947e-01 4.85302575e-03 -6.52319794e-03 3.68586858e+02] [-4.85028157e-03 9.99988142e-01 4.36434531e-04 -1.48608772e+01] [ 6.52523862e-03 -4.04780759e-04 9.99978628e-01 3.48232084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.740714057 meters Centerline goodness [0,1] 0.9803948929044861 Centerline is valid? [True, True] Translation: X:368.62, Y:-14.86, Z:3.48 [[ 9.99948082e-01 8.51232362e-03 -5.60129224e-03 3.68617235e+02] [-8.51035830e-03 9.99963716e-01 3.74611238e-04 -1.48585032e+01] [ 5.60427782e-03 -3.26922785e-04 9.99984242e-01 3.48359504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.770714057 meters Centerline goodness [0,1] 0.9825002327096715 Centerline is valid? [True, True] Translation: X:368.65, Y:-14.86, Z:3.48 [[ 9.99915963e-01 1.19925296e-02 -4.92409822e-03 3.68647219e+02] [-1.19910533e-02 9.99928051e-01 3.29221059e-04 -1.48579107e+01] [ 4.92769213e-03 -2.70148268e-04 9.99987822e-01 3.48467579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.800714057 meters Centerline goodness [0,1] 0.9821370347943547 Centerline is valid? [True, True] Translation: X:368.68, Y:-14.86, Z:3.49 [[ 9.99845666e-01 1.71625325e-02 -3.75380343e-03 3.68677181e+02] [-1.71617113e-02 9.99852696e-01 2.50864944e-04 -1.48574889e+01] [ 3.75755595e-03 -1.86404536e-04 9.99992923e-01 3.48540614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.830714057 meters Centerline goodness [0,1] 0.9819784113957989 Centerline is valid? [True, True] Translation: X:368.71, Y:-14.86, Z:3.48 [[ 9.99802498e-01 1.94966233e-02 -3.85324987e-03 3.68706337e+02] [-1.94957784e-02 9.99809906e-01 2.56708823e-04 -1.48577051e+01] [ 3.85752234e-03 -1.81536016e-04 9.99992543e-01 3.48415557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.860714057 meters Centerline goodness [0,1] 0.9837250512964 Centerline is valid? [True, True] Translation: X:368.74, Y:-14.86, Z:3.48 [[ 9.99794738e-01 1.99363090e-02 -3.60903514e-03 3.68735181e+02] [-1.99355711e-02 9.99801238e-01 2.40317289e-04 -1.48595172e+01] [ 3.61310884e-03 -1.68319784e-04 9.99993459e-01 3.48375646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.890714057 meters Centerline goodness [0,1] 0.9832780606287076 Centerline is valid? [True, True] Translation: X:368.76, Y:-14.86, Z:3.48 [[ 9.99812554e-01 1.89059943e-02 -4.17371102e-03 3.68762708e+02] [-1.89050002e-02 9.99821246e-01 2.77518962e-04 -1.48638208e+01] [ 4.17821173e-03 -1.98562934e-04 9.99991252e-01 3.48239624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.920714057 meters Centerline goodness [0,1] 0.9822222222222222 Centerline is valid? [True, True] Translation: X:368.79, Y:-14.87, Z:3.48 [[ 9.99832564e-01 1.76306267e-02 -4.89955062e-03 3.68789900e+02] [-1.76292439e-02 9.99844540e-01 3.25263262e-04 -1.48678330e+01] [ 4.90452353e-03 -2.38833428e-04 9.99987944e-01 3.48126575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.950714057 meters Centerline goodness [0,1] 0.9828767123287672 Centerline is valid? [True, True] Translation: X:368.82, Y:-14.87, Z:3.48 [[ 9.99870919e-01 1.47728933e-02 -6.31721924e-03 3.68818968e+02] [-1.47705378e-02 9.99890822e-01 4.19360512e-04 -1.48703020e+01] [ 6.32272470e-03 -3.25997655e-04 9.99979958e-01 3.48066277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.980714057 meters Centerline goodness [0,1] 0.982140362315466 Centerline is valid? [True, True] Translation: X:368.85, Y:-14.88, Z:3.48 [[ 9.99887592e-01 1.32382517e-02 -7.03936953e-03 3.68845932e+02] [-1.32352942e-02 9.99912301e-01 4.66562767e-04 -1.48751919e+01] [ 7.04492866e-03 -3.73342195e-04 9.99975114e-01 3.48007911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01071405700003 meters Centerline goodness [0,1] 0.9820142213133801 Centerline is valid? [True, True] Translation: X:368.87, Y:-14.88, Z:3.48 [[ 9.99917710e-01 1.06042242e-02 -7.21964089e-03 3.68873501e+02] [-1.06010480e-02 9.99943693e-01 4.78070857e-04 -1.48842180e+01] [ 7.22430394e-03 -4.01495757e-04 9.99973824e-01 3.47932377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.040714057 meters Centerline goodness [0,1] 0.9804945118967164 Centerline is valid? [True, True] Translation: X:368.90, Y:-14.89, Z:3.48 [[ 9.99928982e-01 9.67816300e-03 -6.95447643e-03 3.68902206e+02] [-9.67519671e-03 9.99953088e-01 4.60047604e-04 -1.48882480e+01] [ 6.95860260e-03 -3.92729005e-04 9.99975712e-01 3.47948615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07071405700003 meters Centerline goodness [0,1] 0.9803438661710037 Centerline is valid? [True, True] Translation: X:368.93, Y:-14.89, Z:3.48 [[ 9.99952850e-01 8.40787140e-03 -4.85853086e-03 3.68930687e+02] [-8.40641069e-03 9.99964614e-01 3.20991813e-04 -1.48928718e+01] [ 4.86105780e-03 -2.80133872e-04 9.99988146e-01 3.48035499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.100714057 meters Centerline goodness [0,1] 0.9801535597952536 Centerline is valid? [True, True] Translation: X:368.96, Y:-14.90, Z:3.48 [[ 9.99963585e-01 7.51120549e-03 -4.05101448e-03 3.68959724e+02] [-7.51018394e-03 9.99971762e-01 2.67323864e-04 -1.48956195e+01] [ 4.05290801e-03 -2.36890266e-04 9.99991759e-01 3.48082285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13071405700003 meters Centerline goodness [0,1] 0.9791932453434158 Centerline is valid? [True, True] Translation: X:368.99, Y:-14.90, Z:3.48 [[ 9.99970563e-01 6.79656968e-03 -3.56079438e-03 3.68987315e+02] [-6.79577730e-03 9.99976881e-01 2.34580182e-04 -1.49000530e+01] [ 3.56230640e-03 -2.10374911e-04 9.99993633e-01 3.48111503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.160714057 meters Centerline goodness [0,1] 0.9787253765932793 Centerline is valid? [True, True] Translation: X:369.02, Y:-14.90, Z:3.48 [[ 9.99974240e-01 6.21226455e-03 -3.59543655e-03 3.69016106e+02] [-6.21145353e-03 9.99980681e-01 2.36692916e-04 -1.49027625e+01] [ 3.59683749e-03 -2.14353932e-04 9.99993508e-01 3.48097625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.190714057 meters Centerline goodness [0,1] 0.9806766622907023 Centerline is valid? [True, True] Translation: X:369.05, Y:-14.90, Z:3.48 [[ 9.99976102e-01 5.91234222e-03 -3.58333681e-03 3.69045390e+02] [-5.91153569e-03 9.99982499e-01 2.35625659e-04 -1.48997767e+01] [ 3.58466720e-03 -2.14437005e-04 9.99993552e-01 3.48122243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.220714057 meters Centerline goodness [0,1] 0.9786796161405943 Centerline is valid? [True, True] Translation: X:369.07, Y:-14.91, Z:3.48 [[ 9.99976846e-01 5.23253658e-03 -4.35052736e-03 3.69071913e+02] [-5.23134367e-03 9.99986276e-01 2.85535275e-04 -1.49125862e+01] [ 4.35196172e-03 -2.62769560e-04 9.99990496e-01 3.47932009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.250714057 meters Centerline goodness [0,1] 0.9812088293077545 Centerline is valid? [True, True] Translation: X:369.10, Y:-14.90, Z:3.48 [[ 9.99969782e-01 4.60542182e-03 -6.26307968e-03 3.69100988e+02] [-4.60293810e-03 9.99989322e-01 4.10920864e-04 -1.49047141e+01] [ 6.26490527e-03 -3.82079878e-04 9.99980302e-01 3.47930312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.280714057 meters Centerline goodness [0,1] 0.9819168591224019 Centerline is valid? [True, True] Translation: X:369.13, Y:-14.91, Z:3.48 [[ 9.99967255e-01 4.25825124e-03 -6.88160951e-03 3.69129114e+02] [-4.25524997e-03 9.99990845e-01 4.50712854e-04 -1.49086191e+01] [ 6.88346576e-03 -4.21415127e-04 9.99976220e-01 3.47862450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.310714057 meters Centerline goodness [0,1] 0.9777321869021 Centerline is valid? [True, True] Translation: X:369.16, Y:-14.93, Z:3.47 [[ 9.99957695e-01 4.23411223e-03 -8.16581745e-03 3.69156051e+02] [-4.22989037e-03 9.99990911e-01 5.34217312e-04 -1.49267205e+01] [ 8.16800517e-03 -4.99654199e-04 9.99966516e-01 3.47432830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.340714057 meters Centerline goodness [0,1] 0.9814478075727932 Centerline is valid? [True, True] Translation: X:369.19, Y:-14.92, Z:3.48 [[ 9.99954884e-01 4.38057886e-03 -8.42856833e-03 3.69185248e+02] [-4.37609050e-03 9.99990273e-01 5.50886983e-04 -1.49160387e+01] [ 8.43089955e-03 -5.13977951e-04 9.99964327e-01 3.47658585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.370714057 meters Centerline goodness [0,1] 0.981529859296943 Centerline is valid? [True, True] Translation: X:369.21, Y:-14.92, Z:3.48 [[ 9.99945187e-01 6.79377414e-03 -7.96666444e-03 3.69213590e+02] [-6.78984349e-03 9.99976813e-01 5.20330326e-04 -1.49187908e+01] [ 7.97001472e-03 -4.66209401e-04 9.99968130e-01 3.47688064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.400714057 meters Centerline goodness [0,1] 0.9834354697507257 Centerline is valid? [True, True] Translation: X:369.24, Y:-14.92, Z:3.48 [[ 9.99936294e-01 8.70811649e-03 -7.18174940e-03 3.69243809e+02] [-8.70497152e-03 9.99962001e-01 4.69054953e-04 -1.49188413e+01] [ 7.18556109e-03 -4.06508147e-04 9.99974101e-01 3.47761220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.430714057 meters Centerline goodness [0,1] 0.9827550480049732 Centerline is valid? [True, True] Translation: X:369.27, Y:-14.92, Z:3.48 [[ 9.99885975e-01 1.36128580e-02 -6.53655194e-03 3.69273042e+02] [-1.36103582e-02 9.99907284e-01 4.26757206e-04 -1.49192124e+01] [ 6.54175528e-03 -3.37743731e-04 9.99978545e-01 3.47853117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.460714057 meters Centerline goodness [0,1] 0.983234691292633 Centerline is valid? [True, True] Translation: X:369.30, Y:-14.92, Z:3.48 [[ 9.99846986e-01 1.63321447e-02 -6.26618299e-03 3.69303237e+02] [-1.63299035e-02 9.99866575e-01 4.08670878e-04 -1.49164883e+01] [ 6.27202139e-03 -3.06282182e-04 9.99980284e-01 3.47916880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.490714057 meters Centerline goodness [0,1] 0.9831583804360364 Centerline is valid? [True, True] Translation: X:369.33, Y:-14.92, Z:3.48 [[ 9.99756730e-01 2.14258671e-02 -5.23581845e-03 3.69332345e+02] [-2.14243723e-02 9.99770413e-01 3.41425673e-04 -1.49196845e+01] [ 5.24193172e-03 -2.29168491e-04 9.99986235e-01 3.47881059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.520714057 meters Centerline goodness [0,1] 0.9841775071501061 Centerline is valid? [True, True] Translation: X:369.36, Y:-14.92, Z:3.48 [[ 9.99722779e-01 2.29574692e-02 -5.22687646e-03 3.69360546e+02] [-2.29560032e-02 9.99736418e-01 3.40301114e-04 -1.49212169e+01] [ 5.23331120e-03 -2.20218583e-04 9.99986282e-01 3.47870203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.550714057 meters Centerline goodness [0,1] 0.9843437017935671 Centerline is valid? [True, True] Translation: X:369.39, Y:-14.92, Z:3.48 [[ 9.99694470e-01 2.42429146e-02 -4.82154433e-03 3.69389791e+02] [-2.42416839e-02 9.99706078e-01 3.13534212e-04 -1.49200183e+01] [ 4.82772815e-03 -1.96556065e-04 9.99988327e-01 3.47888227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.580714057 meters Centerline goodness [0,1] 0.9844467928689579 Centerline is valid? [True, True] Translation: X:369.42, Y:-14.93, Z:3.48 [[ 9.99737931e-01 2.22515899e-02 -5.37931341e-03 3.69418118e+02] [-2.22500302e-02 9.99752376e-01 3.49622922e-04 -1.49268472e+01] [ 5.38576103e-03 -2.29841411e-04 9.99985470e-01 3.47734624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.610714057 meters Centerline goodness [0,1] 0.9827732538135108 Centerline is valid? [True, True] Translation: X:369.45, Y:-14.93, Z:3.48 [[ 9.99772871e-01 2.05624040e-02 -5.60306144e-03 3.69446596e+02] [-2.05606879e-02 9.99788541e-01 3.63707359e-04 -1.49306590e+01] [ 5.60935532e-03 -2.48421953e-04 9.99984237e-01 3.47675236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.640714057 meters Centerline goodness [0,1] 0.9833666001330672 Centerline is valid? [True, True] Translation: X:369.48, Y:-14.94, Z:3.48 [[ 9.99813592e-01 1.83365913e-02 -6.04569575e-03 3.69475967e+02] [-1.83345531e-02 9.99831831e-01 3.92390500e-04 -1.49351475e+01] [ 6.05187415e-03 -2.81472226e-04 9.99981648e-01 3.47634749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.670714057 meters Centerline goodness [0,1] 0.9833661282203816 Centerline is valid? [True, True] Translation: X:369.51, Y:-14.94, Z:3.48 [[ 9.99891824e-01 1.33843501e-02 -6.09921519e-03 3.69506033e+02] [-1.33821840e-02 9.99910376e-01 3.95817995e-04 -1.49418822e+01] [ 6.10396632e-03 -3.14154357e-04 9.99981321e-01 3.47631805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.700714057 meters Centerline goodness [0,1] 0.9834676680710753 Centerline is valid? [True, True] Translation: X:369.53, Y:-14.95, Z:3.48 [[ 9.99944919e-01 8.33265595e-03 -6.38166360e-03 3.69534950e+02] [-8.33018285e-03 9.99965218e-01 4.14014752e-04 -1.49502116e+01] [ 6.38489147e-03 -3.60831523e-04 9.99979551e-01 3.47539812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.730714057 meters Centerline goodness [0,1] 0.9827057693187538 Centerline is valid? [True, True] Translation: X:369.56, Y:-14.96, Z:3.47 [[ 9.99958050e-01 5.78469438e-03 -7.10176747e-03 3.69564240e+02] [-5.78156970e-03 9.99983181e-01 4.60436778e-04 -1.49551129e+01] [ 7.10431151e-03 -4.19358099e-04 9.99974676e-01 3.47414915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76071405700003 meters Centerline goodness [0,1] 0.9816075671723634 Centerline is valid? [True, True] Translation: X:369.59, Y:-14.96, Z:3.47 [[ 9.99965511e-01 3.39986361e-03 -7.57739393e-03 3.69592690e+02] [-3.39624157e-03 9.99994112e-01 4.90821664e-04 -1.49621068e+01] [ 7.57901804e-03 -4.65070076e-04 9.99971171e-01 3.47296356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.790714057 meters Centerline goodness [0,1] 0.9811402706656913 Centerline is valid? [True, True] Translation: X:369.62, Y:-14.97, Z:3.47 [[ 9.99968440e-01 -7.36657552e-04 -7.91051210e-03 3.69623247e+02] [ 7.40735205e-04 9.99999594e-01 5.12555176e-04 -1.49668231e+01] [ 7.91013131e-03 -5.18398594e-04 9.99968580e-01 3.47280854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82071405700003 meters Centerline goodness [0,1] 0.8836128812258903 Centerline is valid? [True, False] Translation: X:369.69, Y:-14.97, Z:3.47 [[ 9.99941072e-01 -7.17715892e-03 -8.14493323e-03 3.69685862e+02] [ 7.15534999e-03 9.99970745e-01 -2.70359661e-03 -1.49677746e+01] [ 8.16409909e-03 2.64515745e-03 9.99963175e-01 3.47466572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.850714057 meters Centerline goodness [0,1] 0.9798614762155119 Centerline is valid? [False, True] Translation: X:369.60, Y:-14.97, Z:3.47 [[ 9.99942883e-01 -7.61772422e-03 -7.49676951e-03 3.69601518e+02] [ 7.62622933e-03 9.99970308e-01 1.10657087e-03 -1.49657297e+01] [ 7.48811736e-03 -1.16367975e-03 9.99971287e-01 3.47330407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88071405700003 meters Centerline goodness [0,1] 0.979742047215386 Centerline is valid? [True, True] Translation: X:369.63, Y:-14.97, Z:3.47 [[ 9.99930070e-01 -9.47396015e-03 -7.07813720e-03 3.69632112e+02] [ 9.47740784e-03 9.99954985e-01 4.53707590e-04 -1.49662985e+01] [ 7.07352017e-03 -5.20758255e-04 9.99974847e-01 3.47384010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.910714057 meters Centerline goodness [0,1] 0.9773546180159635 Centerline is valid? [True, True] Translation: X:369.66, Y:-14.97, Z:3.47 [[ 9.99902657e-01 -1.22447435e-02 -6.68898543e-03 3.69661463e+02] [ 1.22478869e-02 9.99924900e-01 4.29179699e-04 -1.49746925e+01] [ 6.68322789e-03 -5.11063859e-04 9.99977536e-01 3.47290559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.940714057 meters Centerline goodness [0,1] 0.9744402389529846 Centerline is valid? [True, True] Translation: X:369.69, Y:-14.98, Z:3.47 [[ 9.99872762e-01 -1.43346673e-02 -6.99831635e-03 3.69691176e+02] [ 1.43381580e-02 9.99897103e-01 4.48862430e-04 -1.49786917e+01] [ 6.99116195e-03 -5.49148283e-04 9.99975411e-01 3.47247568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.970714057 meters Centerline goodness [0,1] 0.9733688718789867 Centerline is valid? [True, True] Translation: X:369.72, Y:-14.98, Z:3.47 [[ 9.99855444e-01 -1.52557378e-02 -7.50693864e-03 3.69722071e+02] [ 1.52597816e-02 9.99883447e-01 4.81677035e-04 -1.49805546e+01] [ 7.49871534e-03 -5.96161650e-04 9.99971707e-01 3.47250949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.000714057 meters Centerline goodness [0,1] 0.9733688718789867 Centerline is valid? [True, True] Translation: X:369.75, Y:-14.98, Z:3.47 [[ 9.99856454e-01 -1.51893789e-02 -7.50689368e-03 3.69753797e+02] [ 1.51934259e-02 9.99884457e-01 4.82377365e-04 -1.49826578e+01] [ 7.49869930e-03 -5.96363555e-04 9.99971707e-01 3.47238023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.030714057 meters Centerline goodness [0,1] 0.9684196135617936 Centerline is valid? [True, True] Translation: X:369.78, Y:-14.99, Z:3.47 [[ 9.99842406e-01 -1.63405055e-02 -6.93915794e-03 3.69783735e+02] [ 1.63439907e-02 9.99866329e-01 4.45827272e-04 -1.49864718e+01] [ 6.93094533e-03 -5.59170545e-04 9.99975824e-01 3.47233637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.060714057 meters Centerline goodness [0,1] 0.978316268486917 Centerline is valid? [True, True] Translation: X:369.82, Y:-14.98, Z:3.47 [[ 9.99839276e-01 -1.65126635e-02 -6.98241095e-03 3.69816094e+02] [ 1.65162013e-02 9.99863497e-01 4.49313876e-04 -1.49790657e+01] [ 6.97403846e-03 -5.64564566e-04 9.99975522e-01 3.47340292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.090714057 meters Centerline goodness [0,1] 0.9782281254279064 Centerline is valid? [True, True] Translation: X:369.85, Y:-14.98, Z:3.47 [[ 9.99817384e-01 -1.75972158e-02 -7.45224328e-03 3.69847085e+02] [ 1.76012764e-02 9.99844970e-01 4.79643666e-04 -1.49817463e+01] [ 7.44264757e-03 -6.10725070e-04 9.99972117e-01 3.47251543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.120714057 meters Centerline goodness [0,1] 0.9779460396378316 Centerline is valid? [True, True] Translation: X:369.88, Y:-14.98, Z:3.47 [[ 9.99810571e-01 -1.80304619e-02 -7.32967836e-03 3.69879088e+02] [ 1.80344064e-02 9.99837255e-01 4.72409012e-04 -1.49843082e+01] [ 7.31996774e-03 -6.04505922e-04 9.99973026e-01 3.47199870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.150714057 meters Centerline goodness [0,1] 0.9787946428571429 Centerline is valid? [True, True] Translation: X:369.91, Y:-14.98, Z:3.47 [[ 9.99819221e-01 -1.78257568e-02 -6.61570410e-03 3.69911799e+02] [ 1.78289691e-02 9.99840960e-01 4.26894391e-04 -1.49824334e+01] [ 6.60704222e-03 -5.44768401e-04 9.99978025e-01 3.47294691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.180714057 meters Centerline goodness [0,1] 0.9798049025655085 Centerline is valid? [True, True] Translation: X:369.94, Y:-14.98, Z:3.47 [[ 9.99817463e-01 -1.79477874e-02 -6.55108144e-03 3.69943924e+02] [ 1.79509429e-02 9.99838779e-01 4.23202160e-04 -1.49815152e+01] [ 6.54242973e-03 -5.40722999e-04 9.99978452e-01 3.47301944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.210714057 meters Centerline goodness [0,1] 0.9803553868319345 Centerline is valid? [True, True] Translation: X:369.98, Y:-14.98, Z:3.47 [[ 9.99841500e-01 -1.68136573e-02 -5.85458962e-03 3.69975009e+02] [ 1.68161588e-02 9.99858527e-01 3.78303524e-04 -1.49826645e+01] [ 5.84740069e-03 -4.76695272e-04 9.99982790e-01 3.47302520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.240714057 meters Centerline goodness [0,1] 0.9778928317793407 Centerline is valid? [True, True] Translation: X:370.01, Y:-14.99, Z:3.47 [[ 9.99851247e-01 -1.61101735e-02 -6.15997966e-03 3.70006633e+02] [ 1.61129330e-02 9.99870099e-01 3.98608650e-04 -1.49850173e+01] [ 6.15275781e-03 -4.97804696e-04 9.99980948e-01 3.47242386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.270714057 meters Centerline goodness [0,1] 0.9781313038694297 Centerline is valid? [True, True] Translation: X:370.04, Y:-14.98, Z:3.47 [[ 9.99881233e-01 -1.38411126e-02 -6.77813378e-03 3.70037802e+02] [ 1.38444012e-02 9.99904066e-01 4.38506611e-04 -1.49839617e+01] [ 6.77141410e-03 -5.32293735e-04 9.99976932e-01 3.47182947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.300714057 meters Centerline goodness [0,1] 0.9782394350049299 Centerline is valid? [True, True] Translation: X:370.07, Y:-14.98, Z:3.47 [[ 9.99901577e-01 -1.21557461e-02 -7.00523631e-03 3.70069605e+02] [ 1.21592215e-02 9.99925971e-01 4.53745471e-04 -1.49845624e+01] [ 6.99920211e-03 -5.38879032e-04 9.99975360e-01 3.47133225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.330714057 meters Centerline goodness [0,1] 0.9802979447330912 Centerline is valid? [True, True] Translation: X:370.10, Y:-14.98, Z:3.47 [[ 9.99931056e-01 -9.10633354e-03 -7.41329518e-03 3.70101096e+02] [ 9.11014206e-03 9.99958387e-01 4.80135022e-04 -1.49797795e+01] [ 7.40861442e-03 -5.47638092e-04 9.99972406e-01 3.47173076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.360714057 meters Centerline goodness [0,1] 0.9797238002863609 Centerline is valid? [True, True] Translation: X:370.13, Y:-14.98, Z:3.47 [[ 9.99948784e-01 -7.38943249e-03 -6.91554695e-03 3.70130865e+02] [ 7.39270544e-03 9.99972573e-01 4.47830502e-04 -1.49815848e+01] [ 6.91204806e-03 -4.98932167e-04 9.99975987e-01 3.47174134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.390714057 meters Centerline goodness [0,1] 0.9802686236499585 Centerline is valid? [True, True] Translation: X:370.16, Y:-14.98, Z:3.47 [[ 9.99974883e-01 -3.70174913e-03 -6.04400265e-03 3.70161795e+02] [ 3.70418165e-03 9.99993063e-01 3.91323917e-04 -1.49785670e+01] [ 6.04251214e-03 -4.13702172e-04 9.99981658e-01 3.47226953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.420714057 meters Centerline goodness [0,1] 0.9791118496976411 Centerline is valid? [True, True] Translation: X:370.19, Y:-14.98, Z:3.47 [[ 9.99978851e-01 -2.62050452e-03 -5.95230464e-03 3.70190566e+02] [ 2.62284178e-03 9.99996486e-01 3.84891692e-04 -1.49806257e+01] [ 5.95127512e-03 -4.00495506e-04 9.99982211e-01 3.47165531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.450714057 meters Centerline goodness [0,1] 0.980281624794117 Centerline is valid? [True, True] Translation: X:370.22, Y:-14.98, Z:3.47 [[ 9.99981947e-01 -3.08612718e-04 -6.00090141e-03 3.70220979e+02] [ 3.10947071e-04 9.99999876e-01 3.88071216e-04 -1.49773486e+01] [ 6.00078091e-03 -3.89930172e-04 9.99981919e-01 3.47186712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.480714057 meters Centerline goodness [0,1] 0.9801920489864081 Centerline is valid? [True, True] Translation: X:370.25, Y:-14.98, Z:3.47 [[ 9.99980855e-01 2.45867474e-04 -6.18291275e-03 3.70248693e+02] [-2.43407286e-04 9.99999891e-01 3.98650455e-04 -1.49780271e+01] [ 6.18301010e-03 -3.97137857e-04 9.99980806e-01 3.47147854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51071405700003 meters Centerline goodness [0,1] 0.9791792395896198 Centerline is valid? [True, True] Translation: X:370.28, Y:-14.98, Z:3.47 [[ 9.99981866e-01 5.23126579e-04 -5.99954127e-03 3.70277273e+02] [-5.20826746e-04 9.99999790e-01 3.84890844e-04 -1.49799385e+01] [ 5.99974136e-03 -3.81759142e-04 9.99981929e-01 3.47102569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.540714057 meters Centerline goodness [0,1] 0.9809945930893649 Centerline is valid? [True, True] Translation: X:370.31, Y:-14.98, Z:3.47 [[ 9.99983182e-01 2.72195596e-04 -5.79317680e-03 3.70306678e+02] [-2.70045615e-04 9.99999894e-01 3.71901809e-04 -1.49781608e+01] [ 5.79327742e-03 -3.70331133e-04 9.99983150e-01 3.47059615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57071405700003 meters Centerline goodness [0,1] 0.9792527268507775 Centerline is valid? [True, True] Translation: X:370.34, Y:-14.98, Z:3.47 [[ 9.99975462e-01 -2.05247988e-03 -6.69790938e-03 3.70335758e+02] [ 2.05540418e-03 9.99997795e-01 4.29745531e-04 -1.49792960e+01] [ 6.69701257e-03 -4.43501897e-04 9.99977476e-01 3.46969825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.600714057 meters Centerline goodness [0,1] 0.9782790697674418 Centerline is valid? [True, True] Translation: X:370.36, Y:-14.99, Z:3.47 [[ 9.99970803e-01 -3.55839449e-03 -6.76245434e-03 3.70363615e+02] [ 3.56140604e-03 9.99993564e-01 4.33343156e-04 -1.49871733e+01] [ 6.76086881e-03 -4.57414349e-04 9.99977040e-01 3.46905460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63071405700003 meters Centerline goodness [0,1] 0.9762691359173608 Centerline is valid? [True, True] Translation: X:370.39, Y:-14.99, Z:3.47 [[ 9.99958808e-01 -6.76843240e-03 -6.04729373e-03 3.70392851e+02] [ 6.77089855e-03 9.99977002e-01 3.87431431e-04 -1.49916804e+01] [ 6.04453235e-03 -4.28361085e-04 9.99981640e-01 3.47039250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.660714057 meters Centerline goodness [0,1] 0.9780536569489003 Centerline is valid? [True, True] Translation: X:370.42, Y:-14.99, Z:3.47 [[ 9.99945106e-01 -8.72827283e-03 -5.79675864e-03 3.70423634e+02] [ 8.73057239e-03 9.99961819e-01 3.71510715e-04 -1.49888724e+01] [ 5.79329467e-03 -4.22099342e-04 9.99983130e-01 3.47142198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.690714057 meters Centerline goodness [0,1] 0.9758704453441296 Centerline is valid? [True, True] Translation: X:370.45, Y:-15.00, Z:3.47 [[ 9.99911376e-01 -1.23316854e-02 -5.01702368e-03 3.70452573e+02] [ 1.23334538e-02 9.99923888e-01 3.21701667e-04 -1.49973996e+01] [ 5.01267471e-03 -3.83550386e-04 9.99987363e-01 3.47086857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.720714057 meters Centerline goodness [0,1] 0.9775736914121385 Centerline is valid? [True, True] Translation: X:370.48, Y:-14.99, Z:3.47 [[ 9.99886881e-01 -1.41872227e-02 -4.99481159e-03 3.70484217e+02] [ 1.41889998e-02 9.99899280e-01 3.20526361e-04 -1.49941553e+01] [ 4.98976114e-03 -3.91361484e-04 9.99987474e-01 3.47145645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.750714057 meters Centerline goodness [0,1] 0.978148268047912 Centerline is valid? [True, True] Translation: X:370.52, Y:-15.00, Z:3.47 [[ 9.99836461e-01 -1.74080468e-02 -4.90009307e-03 3.70515096e+02] [ 1.74097950e-02 9.99848389e-01 3.14341219e-04 -1.49972525e+01] [ 4.89387809e-03 -3.99599428e-04 9.99987945e-01 3.47148965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.780714057 meters Centerline goodness [0,1] 0.9769499849422012 Centerline is valid? [True, True] Translation: X:370.55, Y:-15.00, Z:3.47 [[ 9.99816073e-01 -1.86542132e-02 -4.45425207e-03 3.70546512e+02] [ 1.86556720e-02 9.99825927e-01 2.86183582e-04 -1.50011201e+01] [ 4.44813817e-03 -3.69228011e-04 9.99990039e-01 3.47124680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.810714057 meters Centerline goodness [0,1] 0.9790948824087136 Centerline is valid? [True, True] Translation: X:370.58, Y:-15.00, Z:3.47 [[ 9.99782541e-01 -2.04541143e-02 -4.06195450e-03 3.70577840e+02] [ 2.04553426e-02 9.99790734e-01 2.61078582e-04 -1.50003812e+01] [ 4.05576434e-03 -3.44110479e-04 9.99991716e-01 3.47140561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.840714057 meters Centerline goodness [0,1] 0.9756001574183393 Centerline is valid? [True, True] Translation: X:370.61, Y:-15.01, Z:3.47 [[ 9.99759394e-01 -2.15912481e-02 -3.86938272e-03 3.70608221e+02] [ 2.15923745e-02 9.99766826e-01 2.49570466e-04 -1.50074959e+01] [ 3.86309195e-03 -3.33059579e-04 9.99992483e-01 3.47079663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.870714057 meters Centerline goodness [0,1] 0.9766027789979885 Centerline is valid? [True, True] Translation: X:370.64, Y:-15.01, Z:3.47 [[ 9.99738643e-01 -2.26239404e-02 -3.28676729e-03 3.70640087e+02] [ 2.26247589e-02 9.99744005e-01 2.12082874e-04 -1.50104075e+01] [ 3.28112774e-03 -2.86389762e-04 9.99994576e-01 3.47132245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.900714057 meters Centerline goodness [0,1] 0.9749329386735732 Centerline is valid? [True, True] Translation: X:370.67, Y:-15.01, Z:3.47 [[ 9.99724841e-01 -2.32654692e-02 -2.99335178e-03 3.70672590e+02] [ 2.32661517e-02 9.99729288e-01 1.93393290e-04 -1.50130522e+01] [ 2.98804206e-03 -2.62983853e-04 9.99995501e-01 3.47140429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.930714057 meters Centerline goodness [0,1] 0.9744723199407517 Centerline is valid? [True, True] Translation: X:370.70, Y:-15.02, Z:3.47 [[ 9.99714100e-01 -2.37302478e-02 -2.93160744e-03 3.70704918e+02] [ 2.37309051e-02 9.99718364e-01 1.89617706e-04 -1.50177631e+01] [ 2.92628212e-03 -2.59133192e-04 9.99995685e-01 3.47084221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.960714057 meters Centerline goodness [0,1] 0.9737121491875923 Centerline is valid? [True, True] Translation: X:370.74, Y:-15.02, Z:3.47 [[ 9.99705427e-01 -2.40941324e-02 -2.92105439e-03 3.70737251e+02] [ 2.40947871e-02 9.99709661e-01 1.89147460e-04 -1.50204511e+01] [ 2.91564895e-03 -2.59473926e-04 9.99995716e-01 3.47052171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.990714057 meters Centerline goodness [0,1] 0.9743323407889574 Centerline is valid? [True, True] Translation: X:370.77, Y:-15.02, Z:3.47 [[ 9.99713732e-01 -2.37011369e-02 -3.27249193e-03 3.70769014e+02] [ 2.37019572e-02 9.99719047e-01 2.12102856e-04 -1.50235329e+01] [ 3.26654543e-03 -2.89606601e-04 9.99994623e-01 3.46974758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.020714057 meters Centerline goodness [0,1] 0.9718550697846381 Centerline is valid? [True, True] Translation: X:370.80, Y:-15.03, Z:3.47 [[ 9.99722693e-01 -2.32291736e-02 -3.86554366e-03 3.70799536e+02] [ 2.32303175e-02 9.99730108e-01 2.51281582e-04 -1.50315015e+01] [ 3.85866332e-03 -3.41009706e-04 9.99992497e-01 3.46901387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.050714057 meters Centerline goodness [0,1] 0.9753676385714616 Centerline is valid? [True, True] Translation: X:370.83, Y:-15.03, Z:3.47 [[ 9.99752875e-01 -2.17264590e-02 -4.70638727e-03 3.70831716e+02] [ 2.17281372e-02 9.99763869e-01 3.05741783e-04 -1.50261823e+01] [ 4.69863326e-03 -4.07927255e-04 9.99988878e-01 3.46911559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.080714057 meters Centerline goodness [0,1] 0.9762443438914027 Centerline is valid? [True, True] Translation: X:370.86, Y:-15.03, Z:3.47 [[ 9.99769440e-01 -2.08727533e-02 -5.03928159e-03 3.70864345e+02] [ 2.08746694e-02 9.99782047e-01 3.27947604e-04 -1.50277355e+01] [ 5.03133809e-03 -4.33065329e-04 9.99987249e-01 3.46931033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.110714057 meters Centerline goodness [0,1] 0.9741031725917564 Centerline is valid? [True, True] Translation: X:370.89, Y:-15.04, Z:3.47 [[ 9.99810897e-01 -1.88455135e-02 -4.79751204e-03 3.70893567e+02] [ 1.88472254e-02 9.99822327e-01 3.11866975e-04 -1.50357548e+01] [ 4.79078236e-03 -4.02227792e-04 9.99988443e-01 3.46849295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.140714057 meters Centerline goodness [0,1] 0.9766610548649708 Centerline is valid? [True, True] Translation: X:370.92, Y:-15.03, Z:3.47 [[ 9.99857692e-01 -1.59382112e-02 -5.52889235e-03 3.70924585e+02] [ 1.59404421e-02 9.99872878e-01 3.59649570e-04 -1.50292324e+01] [ 5.52245734e-03 -4.47731377e-04 9.99984651e-01 3.46920371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.170714057 meters Centerline goodness [0,1] 0.9750357620783535 Centerline is valid? [True, True] Translation: X:370.95, Y:-15.04, Z:3.47 [[ 9.99886791e-01 -1.39433201e-02 -5.65593022e-03 3.70954966e+02] [ 1.39456243e-02 9.99902687e-01 3.68156170e-04 -1.50369271e+01] [ 5.65024651e-03 -4.46989970e-04 9.99983937e-01 3.46813354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.200714057 meters Centerline goodness [0,1] 0.9770960673509399 Centerline is valid? [True, True] Translation: X:370.99, Y:-15.03, Z:3.47 [[ 9.99924053e-01 -1.05156863e-02 -6.42719634e-03 3.70985889e+02] [ 1.05185907e-02 9.99944591e-01 4.18246832e-04 -1.50323521e+01] [ 6.42244206e-03 -4.85820115e-04 9.99979258e-01 3.46807652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.230714057 meters Centerline goodness [0,1] 0.9776510516473115 Centerline is valid? [True, True] Translation: X:371.02, Y:-15.03, Z:3.47 [[ 9.99939715e-01 -8.69727165e-03 -6.70246720e-03 3.71016376e+02] [ 8.70038934e-03 9.99962056e-01 4.36139101e-04 -1.50299956e+01] [ 6.69841966e-03 -4.94426883e-04 9.99977443e-01 3.46824488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26071405700003 meters Centerline goodness [0,1] 0.9771459003866905 Centerline is valid? [True, True] Translation: X:371.05, Y:-15.03, Z:3.47 [[ 9.99949825e-01 -6.94844967e-03 -7.21572884e-03 3.71046506e+02] [ 6.95201932e-03 9.99975724e-01 4.69739925e-04 -1.50325223e+01] [ 7.21228970e-03 -5.19880242e-04 9.99973856e-01 3.46764764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.290714057 meters Centerline goodness [0,1] 0.9788888888888889 Centerline is valid? [True, True] Translation: X:371.08, Y:-15.03, Z:3.47 [[ 9.99970549e-01 -3.33987398e-03 -6.90990300e-03 3.71075976e+02] [ 3.34305963e-03 9.99994311e-01 4.49528895e-04 -1.50324593e+01] [ 6.90836232e-03 -4.72615874e-04 9.99976025e-01 3.46775744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32071405700003 meters Centerline goodness [0,1] 0.9792863762743281 Centerline is valid? [True, True] Translation: X:371.11, Y:-15.03, Z:3.47 [[ 9.99977310e-01 2.79003505e-04 -6.73068481e-03 3.71106142e+02] [-2.76062293e-04 9.99999866e-01 4.37910560e-04 -1.50315291e+01] [ 6.73080609e-03 -4.36042536e-04 9.99977253e-01 3.46830975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.350714057 meters Centerline goodness [0,1] 0.9793233082706767 Centerline is valid? [True, True] Translation: X:371.14, Y:-15.03, Z:3.47 [[ 9.99979453e-01 2.15792021e-03 -6.03625929e-03 3.71135151e+02] [-2.15559070e-03 9.99997600e-01 3.92398367e-04 -1.50328893e+01] [ 6.03709157e-03 -3.79378600e-04 9.99981705e-01 3.46863772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38071405700003 meters Centerline goodness [0,1] 0.9796501498362256 Centerline is valid? [True, True] Translation: X:371.16, Y:-15.03, Z:3.47 [[ 9.99963808e-01 6.29181073e-03 -5.72684463e-03 3.71164778e+02] [-6.28978186e-03 9.99980150e-01 3.72214354e-04 -1.50326837e+01] [ 5.72907286e-03 -3.36180279e-04 9.99983532e-01 3.46892948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.410714057 meters Centerline goodness [0,1] 0.9801524588639955 Centerline is valid? [True, True] Translation: X:371.19, Y:-15.03, Z:3.47 [[ 9.99949410e-01 8.25339278e-03 -5.74963105e-03 3.71194218e+02] [-8.25138147e-03 9.99965887e-01 3.73450341e-04 -1.50334501e+01] [ 5.75251715e-03 -3.25989050e-04 9.99983401e-01 3.46898997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.440714057 meters Centerline goodness [0,1] 0.9823234666419226 Centerline is valid? [True, True] Translation: X:371.22, Y:-15.03, Z:3.47 [[ 9.99935464e-01 9.96494711e-03 -5.45601371e-03 3.71223283e+02] [-9.96316431e-03 9.99950304e-01 3.53841944e-04 -1.50288152e+01] [ 5.45926858e-03 -2.99459948e-04 9.99985053e-01 3.47000384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.470714057 meters Centerline goodness [0,1] 0.9809944237918216 Centerline is valid? [True, True] Translation: X:371.25, Y:-15.03, Z:3.47 [[ 9.99894794e-01 1.34476125e-02 -5.43718922e-03 3.71251473e+02] [-1.34458928e-02 9.99909538e-01 3.52707329e-04 -1.50339668e+01] [ 5.44144043e-03 -2.79562359e-04 9.99985156e-01 3.46908540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.500714057 meters Centerline goodness [0,1] 0.9819771633217832 Centerline is valid? [True, True] Translation: X:371.28, Y:-15.03, Z:3.47 [[ 9.99874219e-01 1.48498079e-02 -5.57036478e-03 3.71280978e+02] [-1.48480280e-02 9.99889697e-01 3.60748053e-04 -1.50271295e+01] [ 5.57510739e-03 -2.77993746e-04 9.99984420e-01 3.47049924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.530714057 meters Centerline goodness [0,1] 0.981415579280348 Centerline is valid? [True, True] Translation: X:371.31, Y:-15.03, Z:3.47 [[ 9.99836645e-01 1.72983525e-02 -5.23924284e-03 3.71309129e+02] [-1.72968126e-02 9.99850341e-01 3.39083684e-04 -1.50313156e+01] [ 5.24432433e-03 -2.48406092e-04 9.99986218e-01 3.47040688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.560714057 meters Centerline goodness [0,1] 0.9844791932898069 Centerline is valid? [True, True] Translation: X:371.34, Y:-15.03, Z:3.47 [[ 9.99804598e-01 1.90412529e-02 -5.31003255e-03 3.71337886e+02] [-1.90396981e-02 9.99818670e-01 3.43210154e-04 -1.50274539e+01] [ 5.31560483e-03 -2.42041673e-04 9.99985843e-01 3.47103190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.590714057 meters Centerline goodness [0,1] 0.9845982298418008 Centerline is valid? [True, True] Translation: X:371.37, Y:-15.03, Z:3.47 [[ 9.99783599e-01 2.00147768e-02 -5.67139107e-03 3.71365342e+02] [-2.00130219e-02 9.99799652e-01 3.66014193e-04 -1.50306059e+01] [ 5.67758051e-03 -2.52433313e-04 9.99983851e-01 3.47087515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.620714057 meters Centerline goodness [0,1] 0.9826775320139697 Centerline is valid? [True, True] Translation: X:371.39, Y:-15.04, Z:3.47 [[ 9.99745267e-01 2.17151461e-02 -6.15252472e-03 3.71393219e+02] [-2.17131150e-02 9.99764164e-01 3.96744779e-04 -1.50362763e+01] [ 6.15968910e-03 -2.63053239e-04 9.99980994e-01 3.46925909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.650714057 meters Centerline goodness [0,1] 0.983642413383903 Centerline is valid? [True, True] Translation: X:371.42, Y:-15.04, Z:3.47 [[ 9.99730391e-01 2.24715063e-02 -5.84609935e-03 3.71422403e+02] [-2.24696867e-02 9.99747454e-01 3.76761487e-04 -1.50385115e+01] [ 5.85308934e-03 -2.45299888e-04 9.99982840e-01 3.46898052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.680714057 meters Centerline goodness [0,1] 0.9839557271078454 Centerline is valid? [True, True] Translation: X:371.45, Y:-15.03, Z:3.47 [[ 9.99707917e-01 2.32778016e-02 -6.49806388e-03 3.71451908e+02] [-2.32755738e-02 9.99729000e-01 4.18253950e-04 -1.50347854e+01] [ 6.50603893e-03 -2.66885620e-04 9.99978800e-01 3.46952464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.710714057 meters Centerline goodness [0,1] 0.9856501616391842 Centerline is valid? [True, True] Translation: X:371.48, Y:-15.04, Z:3.47 [[ 9.99655693e-01 2.50453660e-02 -7.82463183e-03 3.71480094e+02] [-2.50421937e-02 9.99686268e-01 5.03150416e-04 -1.50376990e+01] [ 7.83477858e-03 -3.07031232e-04 9.99969261e-01 3.46863528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.740714057 meters Centerline goodness [0,1] 0.9859377910225368 Centerline is valid? [True, True] Translation: X:371.51, Y:-15.04, Z:3.47 [[ 9.99632742e-01 2.59879969e-02 -7.68151837e-03 3.71508897e+02] [-2.59849717e-02 9.99662212e-01 4.93388389e-04 -1.50393995e+01] [ 7.69174582e-03 -2.93603151e-04 9.99970375e-01 3.46893975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.770714057 meters Centerline goodness [0,1] 0.9857464018355854 Centerline is valid? [True, True] Translation: X:371.54, Y:-15.04, Z:3.47 [[ 9.99633218e-01 2.60958651e-02 -7.24121951e-03 3.71536572e+02] [-2.60931848e-02 9.99659407e-01 4.64382453e-04 -1.50427387e+01] [ 7.25087166e-03 -2.75265647e-04 9.99973674e-01 3.46854216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.800714057 meters Centerline goodness [0,1] 0.9855206550400148 Centerline is valid? [True, True] Translation: X:371.57, Y:-15.05, Z:3.47 [[ 9.99649118e-01 2.52834650e-02 -7.89859029e-03 3.71565547e+02] [-2.52802543e-02 9.99680275e-01 5.06090142e-04 -1.50472637e+01] [ 7.90886063e-03 -3.06234194e-04 9.99968678e-01 3.46859505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.830714057 meters Centerline goodness [0,1] 0.9859197262554332 Centerline is valid? [True, True] Translation: X:371.59, Y:-15.05, Z:3.47 [[ 9.99671229e-01 2.43276038e-02 -8.09952228e-03 3.71594064e+02] [-2.43242008e-02 9.99703988e-01 5.18402950e-04 -1.50505536e+01] [ 8.10973623e-03 -3.21218107e-04 9.99967064e-01 3.46796841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.860714057 meters Centerline goodness [0,1] 0.9855270154671353 Centerline is valid? [True, True] Translation: X:371.62, Y:-15.05, Z:3.47 [[ 9.99722224e-01 2.19641870e-02 -8.54687041e-03 3.71623605e+02] [-2.19603128e-02 9.99758694e-01 5.46881105e-04 -1.50539860e+01] [ 8.55681980e-03 -3.59037247e-04 9.99963325e-01 3.46807692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.890714057 meters Centerline goodness [0,1] 0.9813337380219399 Centerline is valid? [True, True] Translation: X:371.65, Y:-15.08, Z:3.46 [[ 9.99716440e-01 2.29512199e-02 -6.34676920e-03 3.71649888e+02] [-2.29491087e-02 9.99736552e-01 4.05282488e-04 -1.50791841e+01] [ 6.35439889e-03 -2.59514870e-04 9.99979777e-01 3.46326154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.920714057 meters Centerline goodness [0,1] 0.9813337380219399 Centerline is valid? [True, True] Translation: X:371.68, Y:-15.08, Z:3.46 [[ 9.99718343e-01 2.28681717e-02 -6.34680129e-03 3.71677328e+02] [-2.28660620e-02 9.99738455e-01 4.04779951e-04 -1.50808178e+01] [ 6.35439789e-03 -2.59539590e-04 9.99979777e-01 3.46314963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.950714057 meters Centerline goodness [0,1] 0.9851708575112831 Centerline is valid? [True, True] Translation: X:371.71, Y:-15.07, Z:3.47 [[ 9.99816181e-01 1.69168554e-02 -9.02357313e-03 3.71708569e+02] [-1.69123446e-02 9.99856810e-01 5.75964140e-04 -1.50672568e+01] [ 9.03202455e-03 -4.23248488e-04 9.99959121e-01 3.46766528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.980714057 meters Centerline goodness [0,1] 0.9845562511508009 Centerline is valid? [True, True] Translation: X:371.74, Y:-15.07, Z:3.47 [[ 9.99874805e-01 1.26954236e-02 -9.44460714e-03 3.71738772e+02] [-1.26902942e-02 9.99919293e-01 6.02842630e-04 -1.50730825e+01] [ 9.45149824e-03 -4.82912315e-04 9.99955217e-01 3.46806794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01071405700003 meters Centerline goodness [0,1] 0.9849889827396254 Centerline is valid? [True, True] Translation: X:371.77, Y:-15.08, Z:3.47 [[ 9.99902613e-01 1.02572277e-02 -9.46332433e-03 3.71767521e+02] [-1.02519786e-02 9.99947265e-01 6.03027803e-04 -1.50775516e+01] [ 9.46901068e-03 -5.05951278e-04 9.99955040e-01 3.46841318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.040714057 meters Centerline goodness [0,1] 0.9828021675238795 Centerline is valid? [True, True] Translation: X:371.80, Y:-15.09, Z:3.47 [[ 9.99932257e-01 7.49496329e-03 -8.90539292e-03 3.71795122e+02] [-7.49021124e-03 9.99971787e-01 5.66848250e-04 -1.50893689e+01] [ 8.90939018e-03 -5.00106576e-04 9.99960186e-01 3.46695433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07071405700003 meters Centerline goodness [0,1] 0.983899042645779 Centerline is valid? [True, True] Translation: X:371.83, Y:-15.09, Z:3.47 [[ 9.99959191e-01 2.67950632e-03 -8.62771311e-03 3.71826029e+02] [-2.67486553e-03 9.99996272e-01 5.49387832e-04 -1.50884073e+01] [ 8.62915303e-03 -5.26287440e-04 9.99962630e-01 3.46952575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.100714057 meters Centerline goodness [0,1] 0.9831605921248313 Centerline is valid? [True, True] Translation: X:371.86, Y:-15.09, Z:3.47 [[ 9.99964786e-01 3.22691272e-04 -8.38589401e-03 3.71855718e+02] [-3.18227971e-04 9.99999807e-01 5.33568014e-04 -1.50922901e+01] [ 8.38606457e-03 -5.30880599e-04 9.99964695e-01 3.46964956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13071405700003 meters Centerline goodness [0,1] 0.9825941767114201 Centerline is valid? [True, True] Translation: X:371.88, Y:-15.10, Z:3.47 [[ 9.99962567e-01 -2.73697350e-03 -8.20818976e-03 3.71884015e+02] [ 2.74135218e-03 9.99996106e-01 5.22248973e-04 -1.51008179e+01] [ 8.20672841e-03 -5.44730963e-04 9.99966176e-01 3.46892666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.160714057 meters Centerline goodness [0,1] 0.98176 Centerline is valid? [True, True] Translation: X:371.91, Y:-15.10, Z:3.47 [[ 9.99954916e-01 -3.88255034e-03 -8.66550209e-03 3.71912515e+02] [ 3.88746631e-03 9.99992292e-01 5.50531630e-04 -1.51038723e+01] [ 8.66329783e-03 -5.84193658e-04 9.99962302e-01 3.46846567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.190714057 meters Centerline goodness [0,1] 0.98187042484778 Centerline is valid? [True, True] Translation: X:371.94, Y:-15.10, Z:3.47 [[ 9.99943126e-01 -5.59618278e-03 -9.07894709e-03 3.71941899e+02] [ 5.60164550e-03 9.99984145e-01 5.76372872e-04 -1.51001056e+01] [ 9.07557765e-03 -6.27197134e-04 9.99958619e-01 3.46925160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.220714057 meters Centerline goodness [0,1] 0.9816474021384767 Centerline is valid? [True, True] Translation: X:371.97, Y:-15.10, Z:3.47 [[ 9.99927963e-01 -7.13430387e-03 -9.65244590e-03 3.71971244e+02] [ 7.14054736e-03 9.99974318e-01 6.12520959e-04 -1.51037154e+01] [ 9.64782810e-03 -6.81400582e-04 9.99953226e-01 3.46864560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.250714057 meters Centerline goodness [0,1] 0.9818177665090568 Centerline is valid? [True, True] Translation: X:372.00, Y:-15.11, Z:3.47 [[ 9.99912520e-01 -8.10955796e-03 -1.04492313e-02 3.71999758e+02] [ 8.11692133e-03 9.99966838e-01 6.62463555e-04 -1.51079938e+01] [ 1.04435125e-02 -7.47221191e-04 9.99945186e-01 3.46816397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.280714057 meters Centerline goodness [0,1] 0.9777376929399946 Centerline is valid? [True, True] Translation: X:372.03, Y:-15.12, Z:3.47 [[ 9.99894934e-01 -9.67920024e-03 -1.07904868e-02 3.72027580e+02] [ 9.68713730e-03 9.99952845e-01 6.83536612e-04 -1.51200452e+01] [ 1.07833618e-02 -7.87993722e-04 9.99941547e-01 3.46511224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.310714057 meters Centerline goodness [0,1] 0.9818731117824774 Centerline is valid? [True, True] Translation: X:372.06, Y:-15.11, Z:3.47 [[ 9.99892753e-01 -9.66482394e-03 -1.10033409e-02 3.72058177e+02] [ 9.67307288e-03 9.99952972e-01 6.96702300e-04 -1.51111854e+01] [ 1.09960899e-02 -8.03063699e-04 9.99939219e-01 3.46710347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.340714057 meters Centerline goodness [0,1] 0.9809999084332937 Centerline is valid? [True, True] Translation: X:372.09, Y:-15.11, Z:3.47 [[ 9.99899257e-01 -9.34410789e-03 -1.06847227e-02 3.72087450e+02] [ 9.35183300e-03 9.99956044e-01 6.73270323e-04 -1.51119564e+01] [ 1.06779619e-02 -7.73124238e-04 9.99942690e-01 3.46737311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.370714057 meters Centerline goodness [0,1] 0.9811822411698641 Centerline is valid? [True, True] Translation: X:372.12, Y:-15.11, Z:3.47 [[ 9.99902169e-01 -9.13393046e-03 -1.05935580e-02 3.72116222e+02] [ 9.14151420e-03 9.99957993e-01 6.67681038e-04 -1.51137276e+01] [ 1.05870145e-02 -7.64456880e-04 9.99943664e-01 3.46731563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.400714057 meters Centerline goodness [0,1] 0.9785084496693608 Centerline is valid? [True, True] Translation: X:372.15, Y:-15.12, Z:3.47 [[ 9.99925278e-01 -7.61147583e-03 -9.56577309e-03 3.72145359e+02] [ 7.61758735e-03 9.99970804e-01 6.02621280e-04 -1.51157668e+01] [ 9.56090697e-03 -6.75444363e-04 9.99954065e-01 3.46716989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.430714057 meters Centerline goodness [0,1] 0.979301007412167 Centerline is valid? [True, True] Translation: X:372.17, Y:-15.12, Z:3.47 [[ 9.99939568e-01 -6.66712213e-03 -8.74132768e-03 3.72174899e+02] [ 6.67218689e-03 9.99977589e-01 5.50369216e-04 -1.51159408e+01] [ 8.73746240e-03 -6.08659728e-04 9.99961642e-01 3.46769556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.460714057 meters Centerline goodness [0,1] 0.978494623655914 Centerline is valid? [True, True] Translation: X:372.20, Y:-15.12, Z:3.47 [[ 9.99955037e-01 -5.13856859e-03 -7.96993839e-03 3.72204070e+02] [ 5.14272828e-03 9.99986650e-01 5.01515944e-04 -1.51169181e+01] [ 7.96725492e-03 -5.42480622e-04 9.99968114e-01 3.46832632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.490714057 meters Centerline goodness [0,1] 0.9786881472957423 Centerline is valid? [True, True] Translation: X:372.23, Y:-15.12, Z:3.47 [[ 9.99960255e-01 -4.13160547e-03 -7.90047071e-03 3.72233459e+02] [ 4.13564175e-03 9.99991326e-01 4.94622702e-04 -1.51170373e+01] [ 7.89835860e-03 -5.27276560e-04 9.99968668e-01 3.46856352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.520714057 meters Centerline goodness [0,1] 0.9792363594416887 Centerline is valid? [True, True] Translation: X:372.26, Y:-15.12, Z:3.47 [[ 9.99966596e-01 -1.68819000e-03 -7.99731495e-03 3.72262332e+02] [ 1.69225210e-03 9.99998443e-01 5.01192901e-04 -1.51174043e+01] [ 7.99645639e-03 -5.14709633e-04 9.99967895e-01 3.46795685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.550714057 meters Centerline goodness [0,1] 0.9801580900145185 Centerline is valid? [True, True] Translation: X:372.29, Y:-15.11, Z:3.47 [[ 9.99968394e-01 1.75115329e-04 -7.94864767e-03 3.72292543e+02] [-1.71163446e-04 9.99999861e-01 4.97854369e-04 -1.51114598e+01] [ 7.94873375e-03 -4.96478116e-04 9.99968285e-01 3.46868820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.580714057 meters Centerline goodness [0,1] 0.9803035195350339 Centerline is valid? [True, True] Translation: X:372.32, Y:-15.11, Z:3.47 [[ 9.99953843e-01 4.12972750e-03 -8.67511361e-03 3.72321623e+02] [-4.12516983e-03 9.99991344e-01 5.43201000e-04 -1.51129497e+01] [ 8.67728179e-03 -5.07389610e-04 9.99962223e-01 3.46728578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.610714057 meters Centerline goodness [0,1] 0.9818631301695855 Centerline is valid? [True, True] Translation: X:372.35, Y:-15.11, Z:3.47 [[ 9.99914978e-01 8.82107589e-03 -9.60339684e-03 3.72352670e+02] [-8.81570578e-03 9.99960960e-01 6.01377110e-04 -1.51050927e+01] [ 9.60832672e-03 -5.16665259e-04 9.99953705e-01 3.46725696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.640714057 meters Centerline goodness [0,1] 0.9821601661666282 Centerline is valid? [True, True] Translation: X:372.38, Y:-15.10, Z:3.47 [[ 9.99886119e-01 1.13649001e-02 -9.92919823e-03 3.72382581e+02] [-1.13592893e-02 9.99935288e-01 6.21296620e-04 -1.51046382e+01] [ 9.93561667e-03 -5.08437230e-04 9.99950511e-01 3.46705638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.670714057 meters Centerline goodness [0,1] 0.9832204682552522 Centerline is valid? [True, True] Translation: X:372.41, Y:-15.10, Z:3.47 [[ 9.99818211e-01 1.63072876e-02 -9.88017798e-03 3.72413059e+02] [-1.63019729e-02 9.99866923e-01 6.18212666e-04 -1.51018613e+01] [ 9.88894452e-03 -4.57033888e-04 9.99950999e-01 3.46732105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.700714057 meters Centerline goodness [0,1] 0.9833951762523191 Centerline is valid? [True, True] Translation: X:372.44, Y:-15.10, Z:3.47 [[ 9.99787242e-01 1.81441002e-02 -9.81137853e-03 3.72442214e+02] [-1.81389568e-02 9.99835288e-01 6.12968444e-04 -1.51020578e+01] [ 9.82088424e-03 -4.34869858e-04 9.99951679e-01 3.46710522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.730714057 meters Centerline goodness [0,1] 0.9835616438356164 Centerline is valid? [True, True] Translation: X:372.47, Y:-15.11, Z:3.47 [[ 9.99727002e-01 2.12206446e-02 -9.77785468e-03 3.72471019e+02] [-2.12156851e-02 9.99774736e-01 6.10671589e-04 -1.51052134e+01] [ 9.78861092e-03 -4.03060991e-04 9.99952009e-01 3.46553276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76071405700003 meters Centerline goodness [0,1] 0.9847046535917373 Centerline is valid? [True, True] Translation: X:372.50, Y:-15.10, Z:3.47 [[ 9.99702646e-01 2.23443321e-02 -9.76470932e-03 3.72500131e+02] [-2.23394476e-02 9.99750258e-01 6.09022477e-04 -1.51015520e+01] [ 9.77587887e-03 -3.90703170e-04 9.99952139e-01 3.46664797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.790714057 meters Centerline goodness [0,1] 0.9844138347541288 Centerline is valid? [True, True] Translation: X:372.53, Y:-15.10, Z:3.47 [[ 9.99696589e-01 2.28197984e-02 -9.27287342e-03 3.72529317e+02] [-2.28154202e-02 9.99739528e-01 5.77671278e-04 -1.51005826e+01] [ 9.28364043e-03 -3.65931503e-04 9.99956839e-01 3.46757611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82071405700003 meters Centerline goodness [0,1] 0.9838259899609593 Centerline is valid? [True, True] Translation: X:372.56, Y:-15.10, Z:3.47 [[ 9.99714658e-01 2.22412463e-02 -8.71376040e-03 3.72558481e+02] [-2.22373638e-02 9.99752572e-01 5.42206735e-04 -1.51022151e+01] [ 8.72366372e-03 -3.48280961e-04 9.99961887e-01 3.46766766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.850714057 meters Centerline goodness [0,1] 0.984857985554704 Centerline is valid? [True, True] Translation: X:372.59, Y:-15.10, Z:3.47 [[ 9.99763964e-01 2.02943613e-02 -7.75602578e-03 3.72587426e+02] [-2.02912315e-02 9.99793996e-01 4.82024946e-04 -1.51041257e+01] [ 7.76421040e-03 -3.24531857e-04 9.99969805e-01 3.46862777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88071405700003 meters Centerline goodness [0,1] 0.9829875133454022 Centerline is valid? [True, True] Translation: X:372.62, Y:-15.11, Z:3.47 [[ 9.99836334e-01 1.64305436e-02 -7.57244188e-03 3.72615870e+02] [-1.64274482e-02 9.99864950e-01 4.70798717e-04 -1.51136638e+01] [ 7.57915470e-03 -3.46325767e-04 9.99971218e-01 3.46722745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.910714057 meters Centerline goodness [0,1] 0.9819961950721544 Centerline is valid? [True, True] Translation: X:372.65, Y:-15.12, Z:3.47 [[ 9.99871051e-01 1.43068613e-02 -7.29352920e-03 3.72645741e+02] [-1.43039359e-02 9.99897591e-01 4.53107740e-04 -1.51166735e+01] [ 7.29926482e-03 -3.48723138e-04 9.99973299e-01 3.46749214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.940714057 meters Centerline goodness [0,1] 0.9820641259435378 Centerline is valid? [True, True] Translation: X:372.68, Y:-15.12, Z:3.47 [[ 9.99903721e-01 1.20377268e-02 -6.90235322e-03 3.72675349e+02] [-1.20350545e-02 9.99927484e-01 4.28568253e-04 -1.51214674e+01] [ 6.90701168e-03 -3.45456794e-04 9.99976087e-01 3.46694890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.970714057 meters Centerline goodness [0,1] 0.9825574652656971 Centerline is valid? [True, True] Translation: X:372.71, Y:-15.12, Z:3.47 [[ 9.99950178e-01 7.02470692e-03 -7.09193019e-03 3.72705354e+02] [-7.02175938e-03 9.99975250e-01 4.40431795e-04 -1.51222579e+01] [ 7.09484857e-03 -3.90612024e-04 9.99974755e-01 3.46713664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.000714057 meters Centerline goodness [0,1] 0.9827854209683781 Centerline is valid? [True, True] Translation: X:372.73, Y:-15.13, Z:3.47 [[ 9.99957431e-01 5.06619932e-03 -7.71165390e-03 3.72734561e+02] [-5.06265914e-03 9.99987070e-01 4.78520687e-04 -1.51263293e+01] [ 7.71397847e-03 -4.39458842e-04 9.99970150e-01 3.46635530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.030714057 meters Centerline goodness [0,1] 0.9830406236224857 Centerline is valid? [True, True] Translation: X:372.76, Y:-15.13, Z:3.46 [[ 9.99964653e-01 1.99283276e-03 -8.16828513e-03 3.72764946e+02] [-1.98875748e-03 9.99997894e-01 5.07007557e-04 -1.51320422e+01] [ 8.16927831e-03 -4.90744897e-04 9.99966510e-01 3.46468414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.060714057 meters Centerline goodness [0,1] 0.9820412145993541 Centerline is valid? [True, True] Translation: X:372.79, Y:-15.14, Z:3.46 [[ 9.99966647e-01 1.84946241e-04 -8.16515259e-03 3.72792702e+02] [-1.80821029e-04 9.99999856e-01 5.05956968e-04 -1.51371787e+01] [ 8.16524499e-03 -5.04463661e-04 9.99966537e-01 3.46392000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.090714057 meters Centerline goodness [0,1] 0.980959423236898 Centerline is valid? [True, True] Translation: X:372.82, Y:-15.14, Z:3.46 [[ 9.99966491e-01 -3.26392923e-04 -8.17992302e-03 3.72820889e+02] [ 3.30543761e-04 9.99999817e-01 5.06095419e-04 -1.51398578e+01] [ 8.17975634e-03 -5.08782282e-04 9.99966416e-01 3.46359513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.120714057 meters Centerline goodness [0,1] 0.9819563152896487 Centerline is valid? [True, True] Translation: X:372.85, Y:-15.14, Z:3.46 [[ 9.99958537e-01 -9.29970736e-04 -9.05862865e-03 3.72849324e+02] [ 9.35079061e-04 9.99999406e-01 5.59699112e-04 -1.51393517e+01] [ 9.05810277e-03 -5.68146440e-04 9.99958813e-01 3.46414031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.150714057 meters Centerline goodness [0,1] 0.9824285945184603 Centerline is valid? [True, True] Translation: X:372.88, Y:-15.14, Z:3.46 [[ 9.99960912e-01 -1.01623171e-03 -8.78307326e-03 3.72877670e+02] [ 1.02101213e-03 9.99999333e-01 5.39809209e-04 -1.51390438e+01] [ 8.78251884e-03 -5.48755733e-04 9.99961282e-01 3.46421102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.180714057 meters Centerline goodness [0,1] 0.9805596056377144 Centerline is valid? [True, True] Translation: X:372.90, Y:-15.14, Z:3.46 [[ 9.99960820e-01 -1.10281735e-03 -8.78311106e-03 3.72904257e+02] [ 1.10759603e-03 9.99999241e-01 5.39230741e-04 -1.51430816e+01] [ 8.78250972e-03 -5.48937753e-04 9.99961282e-01 3.46330867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.210714057 meters Centerline goodness [0,1] 0.9809673395851619 Centerline is valid? [True, True] Translation: X:372.93, Y:-15.15, Z:3.46 [[ 9.99962461e-01 -1.22010602e-03 -8.57830773e-03 3.72931024e+02] [ 1.22465252e-03 9.99999112e-01 5.24766859e-04 -1.51468123e+01] [ 8.57765985e-03 -5.35252606e-04 9.99963068e-01 3.46260975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.240714057 meters Centerline goodness [0,1] 0.9804752640355753 Centerline is valid? [True, True] Translation: X:372.96, Y:-15.15, Z:3.46 [[ 9.99960389e-01 -1.45269304e-03 -8.78125599e-03 3.72958450e+02] [ 1.45744218e-03 9.99998795e-01 5.34451469e-04 -1.51474835e+01] [ 8.78046902e-03 -5.47228472e-04 9.99961301e-01 3.46249910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.270714057 meters Centerline goodness [0,1] 0.9790248645645229 Centerline is valid? [True, True] Translation: X:372.99, Y:-15.15, Z:3.46 [[ 9.99952103e-01 -2.22514012e-03 -9.53103335e-03 3.72985832e+02] [ 2.23076794e-03 9.99997344e-01 5.79882552e-04 -1.51503010e+01] [ 9.52971771e-03 -6.01116301e-04 9.99954411e-01 3.46231559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.300714057 meters Centerline goodness [0,1] 0.9802576698489202 Centerline is valid? [True, True] Translation: X:373.01, Y:-15.14, Z:3.46 [[ 9.99950592e-01 -2.74606584e-03 -9.55365408e-03 3.73014713e+02] [ 2.75171541e-03 9.99996047e-01 5.78257924e-04 -1.51437005e+01] [ 9.55202838e-03 -6.04518290e-04 9.99954196e-01 3.46391653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.330714057 meters Centerline goodness [0,1] 0.979540825773005 Centerline is valid? [True, True] Translation: X:373.04, Y:-15.15, Z:3.46 [[ 9.99952365e-01 -3.24821835e-03 -9.20420783e-03 3.73042206e+02] [ 3.25348150e-03 9.99994552e-01 5.56904624e-04 -1.51466211e+01] [ 9.20234874e-03 -5.86823816e-04 9.99957485e-01 3.46349350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.360714057 meters Centerline goodness [0,1] 0.9785307332437816 Centerline is valid? [True, True] Translation: X:373.07, Y:-15.15, Z:3.46 [[ 9.99951822e-01 -4.49468658e-03 -8.72651587e-03 3.73070158e+02] [ 4.49945808e-03 9.99989738e-01 5.27225358e-04 -1.51501559e+01] [ 8.72405661e-03 -5.66464550e-04 9.99961784e-01 3.46371536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.390714057 meters Centerline goodness [0,1] 0.9786844605083292 Centerline is valid? [True, True] Translation: X:373.10, Y:-15.15, Z:3.46 [[ 9.99955620e-01 -5.01883883e-03 -7.97303440e-03 3.73098794e+02] [ 5.02281772e-03 9.99987271e-01 4.79098783e-04 -1.51519357e+01] [ 7.97052839e-03 -5.19124619e-04 9.99968100e-01 3.46423217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.420714057 meters Centerline goodness [0,1] 0.9787726567744623 Centerline is valid? [True, True] Translation: X:373.13, Y:-15.15, Z:3.46 [[ 9.99952139e-01 -6.04385225e-03 -7.69355720e-03 3.73128477e+02] [ 6.04759144e-03 9.99981606e-01 4.62844542e-04 -1.51521431e+01] [ 7.69061832e-03 -5.09349881e-04 9.99970297e-01 3.46470143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.450714057 meters Centerline goodness [0,1] 0.9783536726834021 Centerline is valid? [True, True] Translation: X:373.16, Y:-15.15, Z:3.46 [[ 9.99952691e-01 -6.68047170e-03 -7.07010699e-03 3.73157736e+02] [ 6.68364480e-03 9.99977574e-01 4.25273312e-04 -1.51544652e+01] [ 7.06710740e-03 -4.72507277e-04 9.99974916e-01 3.46419405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.480714057 meters Centerline goodness [0,1] 0.9770942863098409 Centerline is valid? [True, True] Translation: X:373.19, Y:-15.16, Z:3.46 [[ 9.99952546e-01 -6.55801990e-03 -7.20409102e-03 3.73187746e+02] [ 6.56131178e-03 9.99978380e-01 4.33405329e-04 -1.51558907e+01] [ 7.20109299e-03 -4.80653049e-04 9.99973956e-01 3.46421303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51071405700003 meters Centerline goodness [0,1] 0.9765319124290514 Centerline is valid? [True, True] Translation: X:373.22, Y:-15.16, Z:3.46 [[ 9.99955075e-01 -6.35589357e-03 -7.03212556e-03 3.73216812e+02] [ 6.35902252e-03 9.99979692e-01 4.22680532e-04 -1.51578331e+01] [ 7.02929624e-03 -4.67378988e-04 9.99975185e-01 3.46444399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.540714057 meters Centerline goodness [0,1] 0.9754346007251092 Centerline is valid? [True, True] Translation: X:373.25, Y:-15.16, Z:3.46 [[ 9.99961806e-01 -5.47469890e-03 -6.81283550e-03 3.73246042e+02] [ 5.47761504e-03 9.99984914e-01 4.09449665e-04 -1.51628462e+01] [ 6.81049111e-03 -4.46752116e-04 9.99976709e-01 3.46429290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57071405700003 meters Centerline goodness [0,1] 0.9748094441345975 Centerline is valid? [True, True] Translation: X:373.28, Y:-15.16, Z:3.47 [[ 9.99965362e-01 -4.83074707e-03 -6.77784282e-03 3.73275955e+02] [ 4.83361658e-03 9.99988235e-01 4.07049706e-04 -1.51587447e+01] [ 6.77579673e-03 -4.39797100e-04 9.99976947e-01 3.46500371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.600714057 meters Centerline goodness [0,1] 0.9756755499744197 Centerline is valid? [True, True] Translation: X:373.31, Y:-15.16, Z:3.46 [[ 9.99972422e-01 -3.16682154e-03 -6.71763017e-03 3.73305126e+02] [ 3.16960139e-03 9.99994896e-01 4.03208309e-04 -1.51588721e+01] [ 6.71631899e-03 -4.24489399e-04 9.99977355e-01 3.46468990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63071405700003 meters Centerline goodness [0,1] 0.9740111679851093 Centerline is valid? [True, True] Translation: X:373.33, Y:-15.16, Z:3.46 [[ 9.99976269e-01 -2.60728617e-03 -6.37681238e-03 3.73334320e+02] [ 2.60977241e-03 9.99996522e-01 3.81597833e-04 -1.51599214e+01] [ 6.37579526e-03 -3.98230806e-04 9.99979595e-01 3.46451972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.660714057 meters Centerline goodness [0,1] 0.9753992937820078 Centerline is valid? [True, True] Translation: X:373.36, Y:-15.16, Z:3.46 [[ 9.99976830e-01 -1.25729437e-03 -6.69025187e-03 3.73363313e+02] [ 1.25999971e-03 9.99999126e-01 4.00171130e-04 -1.51600525e+01] [ 6.68974289e-03 -4.08591573e-04 9.99977540e-01 3.46412650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.690714057 meters Centerline goodness [0,1] 0.9751200858088886 Centerline is valid? [True, True] Translation: X:373.39, Y:-15.16, Z:3.46 [[ 9.99974207e-01 -7.37906234e-04 -7.14430972e-03 3.73391743e+02] [ 7.40961724e-04 9.99999635e-01 4.25044258e-04 -1.51609617e+01] [ 7.14399347e-03 -4.30326955e-04 9.99974389e-01 3.46345952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.720714057 meters Centerline goodness [0,1] 0.9776082734738764 Centerline is valid? [True, True] Translation: X:373.42, Y:-15.15, Z:3.46 [[ 9.99966761e-01 -5.75203569e-04 -8.13298012e-03 3.73420921e+02] [ 5.79142383e-04 9.99999716e-01 4.81954546e-04 -1.51529580e+01] [ 8.13270059e-03 -4.86648680e-04 9.99966811e-01 3.46410933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.750714057 meters Centerline goodness [0,1] 0.9749935671009848 Centerline is valid? [True, True] Translation: X:373.45, Y:-15.16, Z:3.46 [[ 9.99967515e-01 -1.37511837e-04 -8.05913914e-03 3.73448696e+02] [ 1.41349599e-04 9.99999877e-01 4.75632407e-04 -1.51616340e+01] [ 8.05907274e-03 -4.76756112e-04 9.99967411e-01 3.46215453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.780714057 meters Centerline goodness [0,1] 0.9761575754736866 Centerline is valid? [True, True] Translation: X:373.48, Y:-15.16, Z:3.46 [[ 9.99972066e-01 4.59317102e-04 -7.46036805e-03 3.73477795e+02] [-4.56058707e-04 9.99999800e-01 4.38456081e-04 -1.51561428e+01] [ 7.46056795e-03 -4.35041467e-04 9.99972075e-01 3.46387158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.810714057 meters Centerline goodness [0,1] 0.9761575754736866 Centerline is valid? [True, True] Translation: X:373.51, Y:-15.16, Z:3.46 [[ 9.99972107e-01 3.57639224e-04 -7.46038019e-03 3.73505256e+02] [-3.54379548e-04 9.99999841e-01 4.38248897e-04 -1.51576637e+01] [ 7.46053574e-03 -4.35592867e-04 9.99972075e-01 3.46375936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.840714057 meters Centerline goodness [0,1] 0.9742736644798501 Centerline is valid? [True, True] Translation: X:373.53, Y:-15.17, Z:3.46 [[ 9.99975079e-01 4.91350044e-04 -7.04276506e-03 3.73532485e+02] [-4.88452252e-04 9.99999795e-01 4.13170642e-04 -1.51664395e+01] [ 7.04296663e-03 -4.09720291e-04 9.99975114e-01 3.46221464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.870714057 meters Centerline goodness [0,1] 0.975801913337085 Centerline is valid? [True, True] Translation: X:373.56, Y:-15.16, Z:3.46 [[ 9.99976469e-01 5.85994303e-04 -6.83507010e-03 3.73562145e+02] [-5.83269858e-04 9.99999750e-01 4.00584494e-04 -1.51601492e+01] [ 6.83530313e-03 -3.96588378e-04 9.99976560e-01 3.46288262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.900714057 meters Centerline goodness [0,1] 0.973111725819307 Centerline is valid? [True, True] Translation: X:373.59, Y:-15.17, Z:3.46 [[ 9.99975903e-01 5.41325437e-04 -6.92107712e-03 3.73588353e+02] [-5.38537893e-04 9.99999773e-01 4.04618785e-04 -1.51694747e+01] [ 6.92129459e-03 -4.00881772e-04 9.99975967e-01 3.46105723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.930714057 meters Centerline goodness [0,1] 0.9761955166654905 Centerline is valid? [True, True] Translation: X:373.62, Y:-15.16, Z:3.46 [[ 9.99970676e-01 -8.65259215e-05 -7.65768995e-03 3.73617595e+02] [ 8.99547432e-05 9.99999896e-01 4.47418598e-04 -1.51618410e+01] [ 7.65765044e-03 -4.48094323e-04 9.99970579e-01 3.46182962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.960714057 meters Centerline goodness [0,1] 0.9756619983523597 Centerline is valid? [True, True] Translation: X:373.65, Y:-15.17, Z:3.46 [[ 9.99966279e-01 -9.21399005e-04 -8.16032592e-03 3.73645242e+02] [ 9.25313103e-04 9.99999459e-01 4.75887109e-04 -1.51655272e+01] [ 8.15988302e-03 -4.83421919e-04 9.99966591e-01 3.46080540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.990714057 meters Centerline goodness [0,1] 0.9751103597257443 Centerline is valid? [True, True] Translation: X:373.67, Y:-15.17, Z:3.46 [[ 9.99964211e-01 -2.61304257e-03 -8.04670425e-03 3.73672958e+02] [ 2.61689968e-03 9.99996466e-01 4.68848628e-04 -1.51708281e+01] [ 8.04545069e-03 -4.89889266e-04 9.99967515e-01 3.46034825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.020714057 meters Centerline goodness [0,1] 0.9744106481698458 Centerline is valid? [True, True] Translation: X:373.70, Y:-15.17, Z:3.46 [[ 9.99965835e-01 -3.35567298e-03 -7.55430143e-03 3.73701750e+02] [ 3.35908972e-03 9.99994262e-01 4.39647711e-04 -1.51717087e+01] [ 7.55278277e-03 -4.65008267e-04 9.99971369e-01 3.46119430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.050714057 meters Centerline goodness [0,1] 0.9731007842678217 Centerline is valid? [True, True] Translation: X:373.73, Y:-15.18, Z:3.46 [[ 9.99962608e-01 -5.35384423e-03 -6.79108145e-03 3.73730965e+02] [ 5.35664936e-03 9.99985575e-01 3.94938975e-04 -1.51750027e+01] [ 6.78886905e-03 -4.31301650e-04 9.99976862e-01 3.46190040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.080714057 meters Centerline goodness [0,1] 0.9755513843266073 Centerline is valid? [True, True] Translation: X:373.76, Y:-15.17, Z:3.46 [[ 9.99962712e-01 -5.67583699e-03 -6.50834597e-03 3.73760839e+02] [ 5.67841900e-03 9.99983806e-01 3.78313001e-04 -1.51674905e+01] [ 6.50609333e-03 -4.15256010e-04 9.99978749e-01 3.46399637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.110714057 meters Centerline goodness [0,1] 0.9761021644208648 Centerline is valid? [True, True] Translation: X:373.79, Y:-15.17, Z:3.46 [[ 9.99966271e-01 -5.59996027e-03 -6.00812002e-03 3.73790171e+02] [ 5.60215900e-03 9.99984247e-01 3.49191872e-04 -1.51715408e+01] [ 6.00606991e-03 -3.82838537e-04 9.99981890e-01 3.46371629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.140714057 meters Centerline goodness [0,1] 0.974194002864724 Centerline is valid? [True, True] Translation: X:373.82, Y:-15.17, Z:3.46 [[ 9.99969763e-01 -4.99092445e-03 -5.96350377e-03 3.73819725e+02] [ 4.99307925e-03 9.99987474e-01 3.46498501e-04 -1.51739956e+01] [ 5.96169972e-03 -3.76264271e-04 9.99982158e-01 3.46331696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.170714057 meters Centerline goodness [0,1] 0.9749524189948072 Centerline is valid? [True, True] Translation: X:373.85, Y:-15.17, Z:3.46 [[ 9.99973002e-01 -3.79538676e-03 -6.29208910e-03 3.73849611e+02] [ 3.79776246e-03 9.99992722e-01 3.65663430e-04 -1.51748020e+01] [ 6.29065547e-03 -3.89549418e-04 9.99980138e-01 3.46251652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.200714057 meters Centerline goodness [0,1] 0.9766647828953565 Centerline is valid? [True, True] Translation: X:373.88, Y:-15.17, Z:3.46 [[ 9.99975458e-01 -3.10807078e-03 -6.27882471e-03 3.73879839e+02] [ 3.11042067e-03 9.99995096e-01 3.64525202e-04 -1.51692274e+01] [ 6.27766095e-03 -3.84046041e-04 9.99980222e-01 3.46364395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.230714057 meters Centerline goodness [0,1] 0.9745324687529368 Centerline is valid? [True, True] Translation: X:373.91, Y:-15.18, Z:3.46 [[ 9.99975977e-01 -2.70492433e-03 -6.38187084e-03 3.73907891e+02] [ 2.70734121e-03 9.99996267e-01 3.70102125e-04 -1.51777897e+01] [ 6.38084592e-03 -3.87371136e-04 9.99979567e-01 3.46137536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26071405700003 meters Centerline goodness [0,1] 0.9754792688363798 Centerline is valid? [True, True] Translation: X:373.94, Y:-15.17, Z:3.46 [[ 9.99976159e-01 -2.83672094e-03 -6.29552580e-03 3.73937452e+02] [ 2.83906068e-03 9.99995904e-01 3.62745970e-04 -1.51724516e+01] [ 6.29447100e-03 -3.80610702e-04 9.99980117e-01 3.46230676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.290714057 meters Centerline goodness [0,1] 0.9765182375801845 Centerline is valid? [True, True] Translation: X:373.97, Y:-15.17, Z:3.46 [[ 9.99972892e-01 -3.05718075e-03 -6.69835769e-03 3.73966890e+02] [ 3.05983903e-03 9.99995244e-01 3.86643731e-04 -1.51735925e+01] [ 6.69714379e-03 -4.07129146e-04 9.99977491e-01 3.46213388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32071405700003 meters Centerline goodness [0,1] 0.9763649645356647 Centerline is valid? [True, True] Translation: X:374.00, Y:-15.18, Z:3.46 [[ 9.99966072e-01 -3.73137495e-03 -7.34383687e-03 3.73995059e+02] [ 3.73456892e-03 9.99992938e-01 4.21252203e-04 -1.51767789e+01] [ 7.34221315e-03 -4.48663976e-04 9.99972945e-01 3.46125904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.350714057 meters Centerline goodness [0,1] 0.9763404335621447 Centerline is valid? [True, True] Translation: X:374.02, Y:-15.18, Z:3.46 [[ 9.99961802e-01 -3.76339983e-03 -7.88867755e-03 3.74024061e+02] [ 3.76707109e-03 9.99992803e-01 4.50575847e-04 -1.51760845e+01] [ 7.88692508e-03 -4.80275845e-04 9.99968782e-01 3.46086707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38071405700003 meters Centerline goodness [0,1] 0.9772646704322548 Centerline is valid? [True, True] Translation: X:374.05, Y:-15.18, Z:3.46 [[ 9.99950473e-01 -3.28838766e-03 -9.39354820e-03 3.74052645e+02] [ 3.29357707e-03 9.99994432e-01 5.37028208e-04 -1.51781097e+01] [ 9.39172994e-03 -5.67939986e-04 9.99955735e-01 3.45955255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.410714057 meters Centerline goodness [0,1] 0.9783157547013992 Centerline is valid? [True, True] Translation: X:374.08, Y:-15.18, Z:3.46 [[ 9.99947063e-01 -2.70906879e-03 -9.92632534e-03 3.74081180e+02] [ 2.71480283e-03 9.99996156e-01 5.64231448e-04 -1.51780699e+01] [ 9.92475864e-03 -5.91149596e-04 9.99950574e-01 3.46014382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.440714057 meters Centerline goodness [0,1] 0.9767518782781269 Centerline is valid? [True, True] Translation: X:374.11, Y:-15.18, Z:3.46 [[ 9.99948460e-01 -3.06092057e-03 -9.68030027e-03 3.74109084e+02] [ 3.06636196e-03 9.99995149e-01 5.47317778e-04 -1.51792481e+01] [ 9.67857801e-03 -5.76972873e-04 9.99952995e-01 3.46017630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.470714057 meters Centerline goodness [0,1] 0.9767436364066082 Centerline is valid? [True, True] Translation: X:374.14, Y:-15.18, Z:3.46 [[ 9.99961507e-01 -3.21300089e-03 -8.16462975e-03 3.74137173e+02] [ 3.21687592e-03 9.99994719e-01 4.61523104e-04 -1.51823710e+01] [ 8.16310376e-03 -4.87769939e-04 9.99966562e-01 3.46090254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.500714057 meters Centerline goodness [0,1] 0.9769841456806992 Centerline is valid? [True, True] Translation: X:374.17, Y:-15.18, Z:3.46 [[ 9.99963491e-01 -3.92020558e-03 -7.59269257e-03 3.74165717e+02] [ 3.92355756e-03 9.99992212e-01 4.26629393e-04 -1.51831162e+01] [ 7.59096096e-03 -4.56404184e-04 9.99971084e-01 3.46135341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.530714057 meters Centerline goodness [0,1] 0.9760710332320591 Centerline is valid? [True, True] Translation: X:374.20, Y:-15.19, Z:3.46 [[ 9.99964538e-01 -5.36639465e-03 -6.49033625e-03 3.74195039e+02] [ 5.36887748e-03 9.99985521e-01 3.65179476e-04 -1.51874319e+01] [ 6.48828257e-03 -4.00012346e-04 9.99978871e-01 3.46142267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.560714057 meters Centerline goodness [0,1] 0.9759337470212114 Centerline is valid? [True, True] Translation: X:374.23, Y:-15.19, Z:3.46 [[ 9.99953486e-01 -6.76385776e-03 -6.87569803e-03 3.74225393e+02] [ 6.76667813e-03 9.99977031e-01 3.87013340e-04 -1.51896864e+01] [ 6.87292239e-03 -4.33520974e-04 9.99976287e-01 3.46076542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.590714057 meters Centerline goodness [0,1] 0.977462929347698 Centerline is valid? [True, True] Translation: X:374.26, Y:-15.19, Z:3.46 [[ 9.99928445e-01 -9.75370677e-03 -6.92598515e-03 3.74255078e+02] [ 9.75663860e-03 9.99952327e-01 3.89646181e-04 -1.51915997e+01] [ 6.92185448e-03 -4.57192634e-04 9.99975939e-01 3.46036888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.620714057 meters Centerline goodness [0,1] 0.9766160367361356 Centerline is valid? [True, True] Translation: X:374.29, Y:-15.20, Z:3.46 [[ 9.99903173e-01 -1.15123314e-02 -7.81735252e-03 3.74286075e+02] [ 1.15161239e-02 9.99933590e-01 4.40300842e-04 -1.51961751e+01] [ 7.81176449e-03 -5.30283809e-04 9.99969347e-01 3.45939779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.650714057 meters Centerline goodness [0,1] 0.976713005433632 Centerline is valid? [True, True] Translation: X:374.32, Y:-15.20, Z:3.46 [[ 9.99870648e-01 -1.37747751e-02 -8.30322004e-03 3.74317506e+02] [ 1.37791338e-02 9.99904954e-01 4.67956756e-04 -1.51999495e+01] [ 8.29598485e-03 -5.82307404e-04 9.99965418e-01 3.45876350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.680714057 meters Centerline goodness [0,1] 0.9762953246509884 Centerline is valid? [True, True] Translation: X:374.35, Y:-15.21, Z:3.46 [[ 9.99769051e-01 -1.94913219e-02 -9.05173162e-03 3.74346633e+02] [ 1.94967418e-02 9.99809790e-01 5.10908847e-04 -1.52095590e+01] [ 9.04005160e-03 -6.87270127e-04 9.99958902e-01 3.45641374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.710714057 meters Centerline goodness [0,1] 0.9765228574769087 Centerline is valid? [True, True] Translation: X:374.38, Y:-15.21, Z:3.46 [[ 9.99708695e-01 -2.21589865e-02 -9.56579507e-03 3.74377720e+02] [ 2.21651629e-02 9.99754177e-01 5.40131169e-04 -1.52122184e+01] [ 9.55147482e-03 -7.52001233e-04 9.99954101e-01 3.45619912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.740714057 meters Centerline goodness [0,1] 0.9751761467033736 Centerline is valid? [True, True] Translation: X:374.41, Y:-15.22, Z:3.46 [[ 9.99598107e-01 -2.66580243e-02 -9.64226289e-03 3.74408871e+02] [ 2.66645099e-02 9.99644290e-01 5.44672628e-04 -1.52184974e+01] [ 9.62431315e-03 -8.01559943e-04 9.99953364e-01 3.45653559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.770714057 meters Centerline goodness [0,1] 0.9729452613427166 Centerline is valid? [True, True] Translation: X:374.44, Y:-15.23, Z:3.46 [[ 9.99512788e-01 -2.99941088e-02 -8.63360364e-03 3.74438459e+02] [ 2.99994315e-02 9.99549797e-01 4.87637574e-04 -1.52278035e+01] [ 8.61509051e-03 -7.46403193e-04 9.99962611e-01 3.45650480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.800714057 meters Centerline goodness [0,1] 0.971837852897474 Centerline is valid? [True, True] Translation: X:374.47, Y:-15.23, Z:3.46 [[ 9.99493035e-01 -3.08283304e-02 -7.95528144e-03 3.74470522e+02] [ 3.08328826e-02 9.99524452e-01 4.50177577e-04 -1.52324351e+01] [ 7.93762010e-03 -6.95233611e-04 9.99968255e-01 3.45678348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.830714057 meters Centerline goodness [0,1] 0.9732632753650144 Centerline is valid? [True, True] Translation: X:374.50, Y:-15.24, Z:3.46 [[ 9.99480809e-01 -3.13973460e-02 -7.23322763e-03 3.74502790e+02] [ 3.14011280e-02 9.99506779e-01 4.09868245e-04 -1.52352800e+01] [ 7.21679127e-03 -6.36786952e-04 9.99973756e-01 3.45769599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.860714057 meters Centerline goodness [0,1] 0.9713589416270164 Centerline is valid? [True, True] Translation: X:374.54, Y:-15.24, Z:3.46 [[ 9.99456860e-01 -3.22892178e-02 -6.58716037e-03 3.74535127e+02] [ 3.22923769e-02 9.99478395e-01 3.73754854e-04 -1.52401134e+01] [ 6.57165622e-03 -5.86266918e-04 9.99978235e-01 3.45794358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.890714057 meters Centerline goodness [0,1] 0.9693728731161886 Centerline is valid? [True, True] Translation: X:374.57, Y:-15.24, Z:3.46 [[ 9.99453599e-01 -3.24253806e-02 -6.41080564e-03 3.74567556e+02] [ 3.24283785e-02 9.99473995e-01 3.64216773e-04 -1.52441296e+01] [ 6.39562366e-03 -5.71909796e-04 9.99979384e-01 3.45777074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.920714057 meters Centerline goodness [0,1] 0.970429297029014 Centerline is valid? [True, True] Translation: X:374.60, Y:-15.25, Z:3.46 [[ 9.99456963e-01 -3.22398895e-02 -6.80952392e-03 3.74599690e+02] [ 3.22432709e-02 9.99479976e-01 3.87341850e-04 -1.52478170e+01] [ 6.79349494e-03 -6.06692833e-04 9.99976740e-01 3.45679117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.950714057 meters Centerline goodness [0,1] 0.9707679184821449 Centerline is valid? [True, True] Translation: X:374.63, Y:-15.25, Z:3.46 [[ 9.99491642e-01 -3.10404556e-02 -7.27647366e-03 3.74630379e+02] [ 3.10442858e-02 9.99517924e-01 4.13994740e-04 -1.52522247e+01] [ 7.26011526e-03 -6.39677210e-04 9.99973440e-01 3.45577387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.980714057 meters Centerline goodness [0,1] 0.9701945345067161 Centerline is valid? [True, True] Translation: X:374.66, Y:-15.26, Z:3.46 [[ 9.99510554e-01 -3.03797667e-02 -7.46477476e-03 3.74662741e+02] [ 3.03837843e-02 9.99538216e-01 4.25364746e-04 -1.52556199e+01] [ 7.44840517e-03 -6.51964659e-04 9.99972048e-01 3.45551228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01071405700003 meters Centerline goodness [0,1] 0.9712180360814026 Centerline is valid? [True, True] Translation: X:374.69, Y:-15.26, Z:3.46 [[ 9.99588076e-01 -2.77682161e-02 -7.25294822e-03 3.74693181e+02] [ 2.77719387e-02 9.99614200e-01 4.13017286e-04 -1.52567693e+01] [ 7.23868128e-03 -6.14275588e-04 9.99973612e-01 3.45538428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.040714057 meters Centerline goodness [0,1] 0.9715309898242368 Centerline is valid? [True, True] Translation: X:374.72, Y:-15.26, Z:3.46 [[ 9.99630118e-01 -2.61822850e-02 -7.35624500e-03 3.74724065e+02] [ 2.61860746e-02 9.99656998e-01 4.19293182e-04 -1.52591054e+01] [ 7.34274374e-03 -6.11769273e-04 9.99972855e-01 3.45530600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07071405700003 meters Centerline goodness [0,1] 0.9715779006035938 Centerline is valid? [True, True] Translation: X:374.76, Y:-15.26, Z:3.46 [[ 9.99676791e-01 -2.43718575e-02 -7.23364231e-03 3.74755839e+02] [ 2.43754779e-02 9.99702789e-01 4.12747303e-04 -1.52606836e+01] [ 7.22143297e-03 -5.88937388e-04 9.99973752e-01 3.45545821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.100714057 meters Centerline goodness [0,1] 0.971558168059059 Centerline is valid? [True, True] Translation: X:374.78, Y:-15.26, Z:3.45 [[ 9.99755248e-01 -2.07901433e-02 -7.56396532e-03 3.74784953e+02] [ 2.07939970e-02 9.99783688e-01 4.31187726e-04 -1.52625076e+01] [ 7.55336469e-03 -5.88367264e-04 9.99971300e-01 3.45495704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13071405700003 meters Centerline goodness [0,1] 0.9748522424382895 Centerline is valid? [True, True] Translation: X:374.82, Y:-15.26, Z:3.45 [[ 9.99808436e-01 -1.77494830e-02 -8.24901071e-03 3.74815674e+02] [ 1.77539658e-02 9.99842275e-01 4.70520409e-04 -1.52609275e+01] [ 8.23935814e-03 -6.16882928e-04 9.99965866e-01 3.45462410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.160714057 meters Centerline goodness [0,1] 0.9741111574653502 Centerline is valid? [True, True] Translation: X:374.85, Y:-15.26, Z:3.45 [[ 9.99832228e-01 -1.63046121e-02 -8.34719392e-03 3.74846535e+02] [ 1.63091552e-02 9.99866883e-01 4.76472774e-04 -1.52634192e+01] [ 8.33831407e-03 -6.12528516e-04 9.99965048e-01 3.45407378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.190714057 meters Centerline goodness [0,1] 0.9745131597206161 Centerline is valid? [True, True] Translation: X:374.88, Y:-15.26, Z:3.45 [[ 9.99857605e-01 -1.46195425e-02 -8.42843425e-03 3.74877824e+02] [ 1.46241172e-02 9.99892946e-01 4.81394948e-04 -1.52636335e+01] [ 8.42049418e-03 -6.04584810e-04 9.99964364e-01 3.45382499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.220714057 meters Centerline goodness [0,1] 0.9750785291943829 Centerline is valid? [True, True] Translation: X:374.91, Y:-15.26, Z:3.45 [[ 9.99909555e-01 -1.11899990e-02 -7.46094991e-03 3.74908106e+02] [ 1.11934882e-02 9.99937260e-01 4.26071306e-04 -1.52625295e+01] [ 7.45571407e-03 -5.09546824e-04 9.99972076e-01 3.45485656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.250714057 meters Centerline goodness [0,1] 0.9754472033878694 Centerline is valid? [True, True] Translation: X:374.94, Y:-15.26, Z:3.46 [[ 9.99930197e-01 -9.70378111e-03 -6.74076562e-03 3.74939281e+02] [ 9.70659801e-03 9.99952816e-01 3.85299725e-04 -1.52621873e+01] [ 6.73670870e-03 -4.50702732e-04 9.99977207e-01 3.45571614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.280714057 meters Centerline goodness [0,1] 0.97742188944352 Centerline is valid? [True, True] Translation: X:374.97, Y:-15.26, Z:3.46 [[ 9.99962834e-01 -6.24022710e-03 -5.94890794e-03 3.74970001e+02] [ 6.24235926e-03 9.99980459e-01 3.39910611e-04 -1.52585812e+01] [ 5.94667057e-03 -3.77033198e-04 9.99982247e-01 3.45776500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.310714057 meters Centerline goodness [0,1] 0.97631822386679 Centerline is valid? [True, True] Translation: X:375.00, Y:-15.26, Z:3.46 [[ 9.99968968e-01 -4.80253251e-03 -6.24481622e-03 3.75000373e+02] [ 4.80485414e-03 9.99988393e-01 3.56819490e-04 -1.52584778e+01] [ 6.24303010e-03 -3.86813848e-04 9.99980437e-01 3.45830843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.340714057 meters Centerline goodness [0,1] 0.9769070735090153 Centerline is valid? [True, True] Translation: X:375.03, Y:-15.26, Z:3.46 [[ 9.99974477e-01 -2.39998199e-03 -6.72948823e-03 3.75030258e+02] [ 2.40262250e-03 9.99997040e-01 3.84322057e-04 -1.52607771e+01] [ 6.72854594e-03 -4.00480668e-04 9.99977283e-01 3.45775749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.370714057 meters Centerline goodness [0,1] 0.9780141024159057 Centerline is valid? [True, True] Translation: X:375.06, Y:-15.26, Z:3.46 [[ 9.99972342e-01 -1.58499086e-03 -7.26652439e-03 3.75059430e+02] [ 1.58802970e-03 9.99998654e-01 4.12446202e-04 -1.52621331e+01] [ 7.26586089e-03 -4.23974251e-04 9.99973513e-01 3.45701890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.400714057 meters Centerline goodness [0,1] 0.9766992524439333 Centerline is valid? [True, True] Translation: X:375.09, Y:-15.27, Z:3.45 [[ 9.99961163e-01 5.30779137e-04 -8.79724384e-03 3.75087238e+02] [-5.26404673e-04 9.99999737e-01 4.99561996e-04 -1.52684870e+01] [ 8.79750668e-03 -4.94911684e-04 9.99961179e-01 3.45448935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.430714057 meters Centerline goodness [0,1] 0.9779068153426179 Centerline is valid? [True, True] Translation: X:375.12, Y:-15.27, Z:3.45 [[ 9.99955669e-01 1.07810034e-03 -9.35406240e-03 3.75116350e+02] [-1.07320635e-03 9.99999285e-01 5.28198049e-04 -1.52669199e+01] [ 9.35462516e-03 -5.18135794e-04 9.99956110e-01 3.45458406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.460714057 meters Centerline goodness [0,1] 0.9789911116241486 Centerline is valid? [True, True] Translation: X:375.15, Y:-15.27, Z:3.45 [[ 9.99946964e-01 2.75627967e-03 -9.92329793e-03 3.75145398e+02] [-2.75085366e-03 9.99996059e-01 5.60402575e-04 -1.52671516e+01] [ 9.92480345e-03 -5.33075313e-04 9.99950606e-01 3.45431522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.490714057 meters Centerline goodness [0,1] 0.9789597671947896 Centerline is valid? [True, True] Translation: X:375.17, Y:-15.27, Z:3.45 [[ 9.99942740e-01 3.64371367e-03 -1.00617715e-02 3.75174180e+02] [-3.63818716e-03 9.99993221e-01 5.67507636e-04 -1.52681290e+01] [ 1.00637711e-02 -5.30868533e-04 9.99949218e-01 3.45479699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.520714057 meters Centerline goodness [0,1] 0.9793272114807807 Centerline is valid? [True, True] Translation: X:375.20, Y:-15.27, Z:3.45 [[ 9.99938361e-01 4.08937393e-03 -1.03223485e-02 3.75202638e+02] [-4.08358864e-03 9.99991493e-01 5.81477640e-04 -1.52691440e+01] [ 1.03246385e-02 -5.39289574e-04 9.99946554e-01 3.45481338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.550714057 meters Centerline goodness [0,1] 0.9795242396868413 Centerline is valid? [True, True] Translation: X:375.23, Y:-15.27, Z:3.46 [[ 9.99931990e-01 5.49430319e-03 -1.02872341e-02 3.75230209e+02] [-5.48864141e-03 9.99984770e-01 5.78521195e-04 -1.52716720e+01] [ 1.02902560e-02 -5.22018910e-04 9.99946918e-01 3.45532198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.580714057 meters Centerline goodness [0,1] 0.9802911275415896 Centerline is valid? [True, True] Translation: X:375.26, Y:-15.27, Z:3.46 [[ 9.99931158e-01 5.93845744e-03 -1.01199831e-02 3.75258581e+02] [-5.93300750e-03 9.99982238e-01 5.68468917e-04 -1.52727853e+01] [ 1.01231792e-02 -5.08387847e-04 9.99948630e-01 3.45584033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.610714057 meters Centerline goodness [0,1] 0.9796296296296296 Centerline is valid? [True, True] Translation: X:375.29, Y:-15.28, Z:3.46 [[ 9.99931082e-01 6.54303892e-03 -9.74780032e-03 3.75286581e+02] [-6.53802024e-03 9.99978478e-01 5.46630944e-04 -1.52757613e+01] [ 9.75116715e-03 -4.82861956e-04 9.99952340e-01 3.45615805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.640714057 meters Centerline goodness [0,1] 0.9794889582610706 Centerline is valid? [True, True] Translation: X:375.32, Y:-15.28, Z:3.46 [[ 9.99931051e-01 7.00529651e-03 -9.42433901e-03 3.75315376e+02] [-7.00063142e-03 9.99975356e-01 5.27902548e-04 -1.52783216e+01] [ 9.42780487e-03 -4.61889826e-04 9.99955451e-01 3.45662660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.670714057 meters Centerline goodness [0,1] 0.9810003698224852 Centerline is valid? [True, True] Translation: X:375.34, Y:-15.28, Z:3.46 [[ 9.99936804e-01 6.88441937e-03 -8.88781534e-03 3.75343709e+02] [-6.88027135e-03 9.99976207e-01 4.97200238e-04 -1.52794006e+01] [ 8.89102680e-03 -4.36018236e-04 9.99960379e-01 3.45743918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.700714057 meters Centerline goodness [0,1] 0.9806979154670045 Centerline is valid? [True, True] Translation: X:375.37, Y:-15.29, Z:3.46 [[ 9.99936902e-01 6.42998717e-03 -9.21127760e-03 3.75371230e+02] [-6.42552045e-03 9.99979224e-01 5.14430710e-04 -1.52852902e+01] [ 9.21439401e-03 -4.55210998e-04 9.99957443e-01 3.45642249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.730714057 meters Centerline goodness [0,1] 0.9806979154670045 Centerline is valid? [True, True] Translation: X:375.40, Y:-15.29, Z:3.46 [[ 9.99937552e-01 6.32799926e-03 -9.21133338e-03 3.75398685e+02] [-6.32353741e-03 9.99979874e-01 5.13431419e-04 -1.52867289e+01] [ 9.21439699e-03 -4.55151145e-04 9.99957443e-01 3.45631057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76071405700003 meters Centerline goodness [0,1] 0.9795683585661037 Centerline is valid? [True, True] Translation: X:375.43, Y:-15.29, Z:3.46 [[ 9.99946607e-01 4.16122913e-03 -9.45875597e-03 3.75426889e+02] [-4.15643012e-03 9.99991223e-01 5.26962577e-04 -1.52929199e+01] [ 9.46086576e-03 -4.87619782e-04 9.99955126e-01 3.45578212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.790714057 meters Centerline goodness [0,1] 0.9797986778154009 Centerline is valid? [True, True] Translation: X:375.46, Y:-15.29, Z:3.46 [[ 9.99947703e-01 2.77328942e-03 -9.84376857e-03 3.75455372e+02] [-2.76803211e-03 9.99996019e-01 5.47658524e-04 -1.52936967e+01] [ 9.84524819e-03 -5.20382016e-04 9.99951399e-01 3.45655749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82071405700003 meters Centerline goodness [0,1] 0.9817249781619236 Centerline is valid? [True, True] Translation: X:375.49, Y:-15.29, Z:3.46 [[ 9.99946758e-01 1.25812589e-03 -1.02419422e-02 3.75485155e+02] [-1.25235775e-03 9.99999054e-01 5.69582606e-04 -1.52927485e+01] [ 1.02426492e-02 -5.56725705e-04 9.99947388e-01 3.45771580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.850714057 meters Centerline goodness [0,1] 0.9784326335614865 Centerline is valid? [True, True] Translation: X:375.51, Y:-15.31, Z:3.46 [[ 9.99951936e-01 -8.88512700e-04 -9.76401895e-03 3.75512890e+02] [ 8.93851140e-04 9.99999453e-01 5.42395788e-04 -1.53067973e+01] [ 9.76353169e-03 -5.51097298e-04 9.99952184e-01 3.45585204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88071405700003 meters Centerline goodness [0,1] 0.9792689079484475 Centerline is valid? [True, True] Translation: X:375.54, Y:-15.31, Z:3.46 [[ 9.99949848e-01 -2.04543439e-03 -9.80398648e-03 3.75541470e+02] [ 2.05086457e-03 9.99997749e-01 5.43853201e-04 -1.53057070e+01] [ 9.80285200e-03 -5.63932574e-04 9.99951792e-01 3.45763665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.910714057 meters Centerline goodness [0,1] 0.976896330862842 Centerline is valid? [True, True] Translation: X:375.57, Y:-15.31, Z:3.46 [[ 9.99943045e-01 -2.68518178e-03 -1.03294295e-02 3.75568610e+02] [ 2.69122876e-03 9.99996215e-01 5.71557149e-04 -1.53149505e+01] [ 1.03278557e-02 -5.99323453e-04 9.99946487e-01 3.45593482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.940714057 meters Centerline goodness [0,1] 0.9783468617811821 Centerline is valid? [True, True] Translation: X:375.60, Y:-15.31, Z:3.46 [[ 9.99937312e-01 -3.09271599e-03 -1.07614163e-02 3.75597115e+02] [ 3.09929427e-03 9.99995020e-01 5.94660795e-04 -1.53113974e+01] [ 1.07595236e-02 -6.27976313e-04 9.99941917e-01 3.45735441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.970714057 meters Centerline goodness [0,1] 0.9793342039544528 Centerline is valid? [True, True] Translation: X:375.63, Y:-15.31, Z:3.46 [[ 9.99927137e-01 -3.65124026e-03 -1.15060522e-02 3.75626034e+02] [ 3.65875740e-03 9.99993107e-01 6.32338932e-04 -1.53139866e+01] [ 1.15036640e-02 -6.74390711e-04 9.99933603e-01 3.45681726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.000714057 meters Centerline goodness [0,1] 0.9793021880544057 Centerline is valid? [True, True] Translation: X:375.65, Y:-15.32, Z:3.46 [[ 9.99922045e-01 -4.03381860e-03 -1.18166119e-02 3.75653883e+02] [ 4.04176940e-03 9.99991621e-01 6.49045495e-04 -1.53188114e+01] [ 1.18138948e-02 -6.96754919e-04 9.99929971e-01 3.45567892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.030714057 meters Centerline goodness [0,1] 0.9785348922177567 Centerline is valid? [True, True] Translation: X:375.68, Y:-15.32, Z:3.45 [[ 9.99913572e-01 -4.54468451e-03 -1.23367186e-02 3.75682135e+02] [ 4.55337637e-03 9.99989404e-01 6.76555703e-04 -1.53215829e+01] [ 1.23335132e-02 -7.32670953e-04 9.99923671e-01 3.45464869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.060714057 meters Centerline goodness [0,1] 0.9778138280857287 Centerline is valid? [True, True] Translation: X:375.71, Y:-15.32, Z:3.46 [[ 9.99903193e-01 -5.39939296e-03 -1.28238662e-02 3.75710703e+02] [ 5.40880638e-03 9.99985128e-01 6.99485214e-04 -1.53240349e+01] [ 1.28198987e-02 -7.68779308e-04 9.99917526e-01 3.45502283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.090714057 meters Centerline goodness [0,1] 0.9797875749668086 Centerline is valid? [True, True] Translation: X:375.74, Y:-15.32, Z:3.46 [[ 9.99901532e-01 -6.29014623e-03 -1.25442992e-02 3.75739069e+02] [ 6.29921694e-03 9.99979926e-01 6.83713297e-04 -1.53231116e+01] [ 1.25397468e-02 -7.62665236e-04 9.99921083e-01 3.45586082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.120714057 meters Centerline goodness [0,1] 0.9807309881368717 Centerline is valid? [True, True] Translation: X:375.77, Y:-15.33, Z:3.46 [[ 9.99896348e-01 -6.86512051e-03 -1.26555597e-02 3.75767450e+02] [ 6.87434977e-03 9.99976136e-01 6.85908270e-04 -1.53251605e+01] [ 1.26505489e-02 -7.72835918e-04 9.99919680e-01 3.45669186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.150714057 meters Centerline goodness [0,1] 0.978199333424645 Centerline is valid? [True, True] Translation: X:375.80, Y:-15.33, Z:3.46 [[ 9.99878814e-01 -8.82500986e-03 -1.28248762e-02 3.75795923e+02] [ 8.83465007e-03 9.99960732e-01 6.95219860e-04 -1.53296417e+01] [ 1.28182372e-02 -8.08438902e-04 9.99917516e-01 3.45643569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.180714057 meters Centerline goodness [0,1] 0.9797859962127261 Centerline is valid? [True, True] Translation: X:375.83, Y:-15.33, Z:3.46 [[ 9.99858895e-01 -1.09435332e-02 -1.27447694e-02 3.75825298e+02] [ 1.09532199e-02 9.99939773e-01 6.90496969e-04 -1.53342369e+01] [ 1.27364454e-02 -8.29995798e-04 9.99918544e-01 3.45581296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.210714057 meters Centerline goodness [0,1] 0.9798044266143922 Centerline is valid? [True, True] Translation: X:375.85, Y:-15.34, Z:3.46 [[ 9.99840131e-01 -1.27449496e-02 -1.25411081e-02 3.75854505e+02] [ 1.27544609e-02 9.99918428e-01 6.78717428e-04 -1.53373327e+01] [ 1.25314349e-02 -8.38563995e-04 9.99921127e-01 3.45542417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.240714057 meters Centerline goodness [0,1] 0.9787485510375707 Centerline is valid? [True, True] Translation: X:375.88, Y:-15.35, Z:3.45 [[ 9.99821208e-01 -1.42633542e-02 -1.24140703e-02 3.75883538e+02] [ 1.42727893e-02 9.99897913e-01 6.71765863e-04 -1.53476683e+01] [ 1.24032213e-02 -8.48829165e-04 9.99922717e-01 3.45365550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.270714057 meters Centerline goodness [0,1] 0.9804707973474922 Centerline is valid? [True, True] Translation: X:375.91, Y:-15.35, Z:3.46 [[ 9.99773968e-01 -1.68936166e-02 -1.29081202e-02 3.75913848e+02] [ 1.69040329e-02 9.99856873e-01 6.98274536e-04 -1.53453340e+01] [ 1.28944763e-02 -9.16315992e-04 9.99916443e-01 3.45538119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.300714057 meters Centerline goodness [0,1] 0.9791028520863113 Centerline is valid? [True, True] Translation: X:375.94, Y:-15.35, Z:3.45 [[ 9.99761184e-01 -1.78115612e-02 -1.26619105e-02 3.75944037e+02] [ 1.78216618e-02 9.99840947e-01 6.85319990e-04 -1.53521997e+01] [ 1.26476900e-02 -9.10812612e-04 9.99919600e-01 3.45481081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.330714057 meters Centerline goodness [0,1] 0.979663410079479 Centerline is valid? [True, True] Translation: X:375.97, Y:-15.35, Z:3.46 [[ 9.99741617e-01 -1.90353588e-02 -1.24239059e-02 3.75974993e+02] [ 1.90451799e-02 9.99818398e-01 6.72656569e-04 -1.53524053e+01] [ 1.24088454e-02 -9.09098288e-04 9.99922594e-01 3.45553876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.360714057 meters Centerline goodness [0,1] 0.9786186459995441 Centerline is valid? [True, True] Translation: X:376.01, Y:-15.36, Z:3.45 [[ 9.99728716e-01 -1.95772388e-02 -1.26184573e-02 3.76005352e+02] [ 1.95874221e-02 9.99807914e-01 6.83925367e-04 -1.53582463e+01] [ 1.26026441e-02 -9.30902878e-04 9.99920150e-01 3.45445453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.390714057 meters Centerline goodness [0,1] 0.9794490897906176 Centerline is valid? [True, True] Translation: X:376.04, Y:-15.36, Z:3.45 [[ 9.99712557e-01 -2.01789340e-02 -1.29465482e-02 3.76036494e+02] [ 2.01897090e-02 9.99795921e-01 7.02091514e-04 -1.53589636e+01] [ 1.29297387e-02 -9.63276745e-04 9.99915943e-01 3.45493661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.420714057 meters Centerline goodness [0,1] 0.9805391609507098 Centerline is valid? [True, True] Translation: X:376.07, Y:-15.36, Z:3.45 [[ 9.99707279e-01 -2.02676391e-02 -1.32128521e-02 3.76067512e+02] [ 2.02788756e-02 9.99794105e-01 7.16983924e-04 -1.53608774e+01] [ 1.31956001e-02 -9.84715831e-04 9.99912449e-01 3.45481895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.450714057 meters Centerline goodness [0,1] 0.9800871330489724 Centerline is valid? [True, True] Translation: X:376.10, Y:-15.36, Z:3.46 [[ 9.99699066e-01 -2.03598415e-02 -1.36840591e-02 3.76099182e+02] [ 2.03719089e-02 9.99792195e-01 7.43036962e-04 -1.53580342e+01] [ 1.36660874e-02 -1.02158376e-03 9.99906093e-01 3.45576702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.480714057 meters Centerline goodness [0,1] 0.977814727922921 Centerline is valid? [True, True] Translation: X:376.13, Y:-15.37, Z:3.45 [[ 9.99691200e-01 -2.07697816e-02 -1.36425987e-02 3.76129222e+02] [ 2.07818163e-02 9.99783760e-01 7.40953223e-04 -1.53662751e+01] [ 1.36242592e-02 -1.02424240e-03 9.99906661e-01 3.45336350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51071405700003 meters Centerline goodness [0,1] 0.9799037386801707 Centerline is valid? [True, True] Translation: X:376.16, Y:-15.36, Z:3.45 [[ 9.99701938e-01 -2.02877291e-02 -1.35810097e-02 3.76161089e+02] [ 2.02996186e-02 9.99793669e-01 7.38160874e-04 -1.53608232e+01] [ 1.35632319e-02 -1.01363017e-03 9.99907501e-01 3.45412428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.540714057 meters Centerline goodness [0,1] 0.9805572670637366 Centerline is valid? [True, True] Translation: X:376.19, Y:-15.36, Z:3.45 [[ 9.99704040e-01 -1.98593933e-02 -1.40512556e-02 3.76192041e+02] [ 1.98720854e-02 9.99802239e-01 7.64209380e-04 -1.53623001e+01] [ 1.40333001e-02 -1.04321096e-03 9.99900984e-01 3.45372697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57071405700003 meters Centerline goodness [0,1] 0.9804390399417042 Centerline is valid? [True, True] Translation: X:376.22, Y:-15.36, Z:3.45 [[ 9.99706348e-01 -1.96071775e-02 -1.42399786e-02 3.76222723e+02] [ 1.96202018e-02 9.99807205e-01 7.75490340e-04 -1.53644289e+01] [ 1.42220281e-02 -1.05465387e-03 9.99898306e-01 3.45303833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.600714057 meters Centerline goodness [0,1] 0.9801226039617549 Centerline is valid? [True, True] Translation: X:376.25, Y:-15.36, Z:3.45 [[ 9.99709465e-01 -1.90986629e-02 -1.47046490e-02 3.76253914e+02] [ 1.91124975e-02 9.99817019e-01 8.00861168e-04 -1.53625357e+01] [ 1.46866629e-02 -1.08167106e-03 9.99891560e-01 3.45400481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63071405700003 meters Centerline goodness [0,1] 0.9789514580857482 Centerline is valid? [True, True] Translation: X:376.28, Y:-15.36, Z:3.45 [[ 9.99721199e-01 -1.90030902e-02 -1.40145254e-02 3.76284254e+02] [ 1.90156610e-02 9.99818894e-01 7.64262469e-04 -1.53647875e+01] [ 1.39974639e-02 -1.03054486e-03 9.99901500e-01 3.45421307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.660714057 meters Centerline goodness [0,1] 0.9798386175052004 Centerline is valid? [True, True] Translation: X:376.32, Y:-15.37, Z:3.45 [[ 9.99727336e-01 -1.91139084e-02 -1.34131396e-02 3.76315893e+02] [ 1.91254384e-02 9.99816824e-01 7.31847842e-04 -1.53662261e+01] [ 1.33966941e-02 -9.88180468e-04 9.99909772e-01 3.45471179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.690714057 meters Centerline goodness [0,1] 0.9793307086614174 Centerline is valid? [True, True] Translation: X:376.35, Y:-15.37, Z:3.46 [[ 9.99734721e-01 -1.92682103e-02 -1.26183568e-02 3.76347383e+02] [ 1.92784322e-02 9.99813916e-01 6.88937253e-04 -1.53655056e+01] [ 1.26027341e-02 -9.32016630e-04 9.99920148e-01 3.45573868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.720714057 meters Centerline goodness [0,1] 0.9778418715377925 Centerline is valid? [True, True] Translation: X:376.38, Y:-15.37, Z:3.46 [[ 9.99728564e-01 -2.02308847e-02 -1.15546342e-02 3.76378763e+02] [ 2.02395245e-02 9.99794961e-01 6.31280452e-04 -1.53661257e+01] [ 1.15394937e-02 -8.64969401e-04 9.99933044e-01 3.45659406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.750714057 meters Centerline goodness [0,1] 0.9774110861903236 Centerline is valid? [True, True] Translation: X:376.41, Y:-15.37, Z:3.46 [[ 9.99714687e-01 -2.07928112e-02 -1.17559703e-02 3.76410375e+02] [ 2.08018015e-02 9.99783412e-01 6.42969672e-04 -1.53690920e+01] [ 1.17400549e-02 -8.87331584e-04 9.99930689e-01 3.45634606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.780714057 meters Centerline goodness [0,1] 0.9767212513187469 Centerline is valid? [True, True] Translation: X:376.44, Y:-15.37, Z:3.46 [[ 9.99653038e-01 -2.31662416e-02 -1.25350904e-02 3.76441192e+02] [ 2.31766494e-02 9.99731150e-01 6.85648644e-04 -1.53690293e+01] [ 1.25158365e-02 -9.75932146e-04 9.99921198e-01 3.45503536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.810714057 meters Centerline goodness [0,1] 0.9770167567072613 Centerline is valid? [True, True] Translation: X:376.47, Y:-15.37, Z:3.45 [[ 9.99625378e-01 -2.41606252e-02 -1.28595354e-02 3.76473112e+02] [ 2.41716751e-02 9.99707574e-01 7.04526403e-04 -1.53711048e+01] [ 1.28387531e-02 -1.01509898e-03 9.99917065e-01 3.45458058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.840714057 meters Centerline goodness [0,1] 0.9768071390883439 Centerline is valid? [True, True] Translation: X:376.50, Y:-15.37, Z:3.45 [[ 9.99565832e-01 -2.62193154e-02 -1.34422788e-02 3.76504197e+02] [ 2.62315746e-02 9.99655622e-01 7.36460878e-04 -1.53734820e+01] [ 1.34183401e-02 -1.08875327e-03 9.99909377e-01 3.45345236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.870714057 meters Centerline goodness [0,1] 0.9763565271076762 Centerline is valid? [True, True] Translation: X:376.54, Y:-15.38, Z:3.45 [[ 9.99538303e-01 -2.72934837e-02 -1.33508717e-02 3.76535465e+02] [ 2.73056833e-02 9.99626862e-01 7.32303320e-04 -1.53771866e+01] [ 1.33259028e-02 -1.09651989e-03 9.99910605e-01 3.45260869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.900714057 meters Centerline goodness [0,1] 0.9726828376958567 Centerline is valid? [True, True] Translation: X:376.57, Y:-15.38, Z:3.45 [[ 9.99491406e-01 -2.91487742e-02 -1.29336207e-02 3.76565008e+02] [ 2.91603918e-02 9.99574493e-01 7.10534604e-04 -1.53826032e+01] [ 1.29074061e-02 -1.08732268e-03 9.99916105e-01 3.45204285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.930714057 meters Centerline goodness [0,1] 0.9738716251803339 Centerline is valid? [True, True] Translation: X:376.60, Y:-15.38, Z:3.45 [[ 9.99467174e-01 -3.00627002e-02 -1.27122457e-02 3.76596719e+02] [ 3.00740041e-02 9.99547430e-01 6.98942434e-04 -1.53817330e+01] [ 1.26854804e-02 -1.08087815e-03 9.99918952e-01 3.45268044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.960714057 meters Centerline goodness [0,1] 0.9722642460917801 Centerline is valid? [True, True] Translation: X:376.63, Y:-15.38, Z:3.45 [[ 9.99443650e-01 -3.08118471e-02 -1.27679161e-02 3.76628615e+02] [ 3.08233231e-02 9.99524601e-01 7.02961208e-04 -1.53824037e+01] [ 1.27401867e-02 -1.09611972e-03 9.99918240e-01 3.45252607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.990714057 meters Centerline goodness [0,1] 0.9708107860221957 Centerline is valid? [True, True] Translation: X:376.66, Y:-15.39, Z:3.45 [[ 9.99442746e-01 -3.10176935e-02 -1.23329163e-02 3.76660125e+02] [ 3.10284235e-02 9.99518272e-01 6.79588772e-04 -1.53860616e+01] [ 1.23058959e-02 -1.06188102e-03 9.99923716e-01 3.45200408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.020714057 meters Centerline goodness [0,1] 0.9698634545538136 Centerline is valid? [True, True] Translation: X:376.69, Y:-15.39, Z:3.45 [[ 9.99456948e-01 -3.09664272e-02 -1.12644907e-02 3.76692874e+02] [ 3.09753849e-02 9.99519954e-01 6.21577990e-04 -1.53854285e+01] [ 1.12398352e-02 -9.70162376e-04 9.99936360e-01 3.45277080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.050714057 meters Centerline goodness [0,1] 0.9741100323624595 Centerline is valid? [True, True] Translation: X:376.73, Y:-15.38, Z:3.45 [[ 9.99460497e-01 -3.10303660e-02 -1.07624563e-02 3.76725592e+02] [ 3.10385552e-02 9.99518011e-01 5.94663703e-04 -1.53811065e+01] [ 1.07388163e-02 -9.28393974e-04 9.99941906e-01 3.45412717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.080714057 meters Centerline goodness [0,1] 0.9637045731777486 Centerline is valid? [True, True] Translation: X:376.76, Y:-15.39, Z:3.45 [[ 9.99461336e-01 -3.13626091e-02 -9.66568490e-03 3.76756396e+02] [ 3.13692340e-02 9.99507722e-01 5.34531979e-04 -1.53901815e+01] [ 9.64416237e-03 -8.37449178e-04 9.99953143e-01 3.45317693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.110714057 meters Centerline goodness [0,1] 0.9731059212945936 Centerline is valid? [True, True] Translation: X:376.79, Y:-15.38, Z:3.45 [[ 9.99468652e-01 -3.13507043e-02 -8.91892107e-03 3.76790381e+02] [ 3.13563552e-02 9.99508146e-01 4.94431334e-04 -1.53824588e+01] [ 8.89903350e-03 -7.73833476e-04 9.99960103e-01 3.45434227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.140714057 meters Centerline goodness [0,1] 0.9738264449504358 Centerline is valid? [True, True] Translation: X:376.82, Y:-15.38, Z:3.45 [[ 9.99463750e-01 -3.14641260e-02 -9.06763081e-03 3.76822466e+02] [ 3.14699762e-02 9.99504571e-01 5.03186397e-04 -1.53808494e+01] [ 9.04730612e-03 -7.88274689e-04 9.99958762e-01 3.45447041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.170714057 meters Centerline goodness [0,1] 0.9696593287787822 Centerline is valid? [True, True] Translation: X:376.85, Y:-15.39, Z:3.45 [[ 9.99445936e-01 -3.19215662e-02 -9.42519783e-03 3.76853125e+02] [ 3.19279111e-02 9.99490037e-01 5.23453421e-04 -1.53898913e+01] [ 9.40368188e-03 -8.24090273e-04 9.99955445e-01 3.45259505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.200714057 meters Centerline goodness [0,1] 0.9723297391945442 Centerline is valid? [True, True] Translation: X:376.89, Y:-15.39, Z:3.45 [[ 9.99420049e-01 -3.26509154e-02 -9.66871984e-03 3.76885445e+02] [ 3.26576336e-02 9.99466453e-01 5.37731331e-04 -1.53861825e+01] [ 9.64600370e-03 -8.53176983e-04 9.99953112e-01 3.45300446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.230714057 meters Centerline goodness [0,1] 0.971672889872309 Centerline is valid? [True, True] Translation: X:376.92, Y:-15.39, Z:3.45 [[ 9.99404483e-01 -3.30156712e-02 -1.00322340e-02 3.76917140e+02] [ 3.30229269e-02 9.99454438e-01 5.58401137e-04 -1.53874437e+01] [ 1.00083248e-02 -8.89362328e-04 9.99949520e-01 3.45296753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26071405700003 meters Centerline goodness [0,1] 0.9722805640824428 Centerline is valid? [True, True] Translation: X:376.95, Y:-15.39, Z:3.45 [[ 9.99396003e-01 -3.33753585e-02 -9.68067706e-03 3.76949518e+02] [ 3.33821387e-02 9.99442515e-01 5.39603029e-04 -1.53890124e+01] [ 9.65727078e-03 -8.62438814e-04 9.99952996e-01 3.45300814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.290714057 meters Centerline goodness [0,1] 0.9713204951856946 Centerline is valid? [True, True] Translation: X:376.98, Y:-15.39, Z:3.45 [[ 9.99383975e-01 -3.36723660e-02 -9.89148891e-03 3.76981268e+02] [ 3.36794660e-02 9.99432533e-01 5.52045634e-04 -1.53917818e+01] [ 9.86728714e-03 -8.84845625e-04 9.99950926e-01 3.45229181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32071405700003 meters Centerline goodness [0,1] 0.9706492190019813 Centerline is valid? [True, True] Translation: X:377.01, Y:-15.39, Z:3.45 [[ 9.99391836e-01 -3.34646947e-02 -9.80170120e-03 3.77012300e+02] [ 3.34716699e-02 9.99439516e-01 5.48415075e-04 -1.53946488e+01] [ 9.77785496e-03 -8.76160856e-04 9.99951812e-01 3.45177617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.350714057 meters Centerline goodness [0,1] 0.9706310511357072 Centerline is valid? [True, True] Translation: X:377.05, Y:-15.39, Z:3.45 [[ 9.99391764e-01 -3.33361909e-02 -1.02371844e-02 3.77045274e+02] [ 3.33438035e-02 9.99443776e-01 5.73799990e-04 -1.53933317e+01] [ 1.02123620e-02 -9.14797651e-04 9.99947434e-01 3.45161001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38071405700003 meters Centerline goodness [0,1] 0.9721778949559425 Centerline is valid? [True, True] Translation: X:377.08, Y:-15.39, Z:3.45 [[ 9.99440503e-01 -3.20727090e-02 -9.48803192e-03 3.77076783e+02] [ 3.20791924e-02 9.99485189e-01 5.31887938e-04 -1.53947274e+01] [ 9.46608829e-03 -8.35958750e-04 9.99954846e-01 3.45125648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.410714057 meters Centerline goodness [0,1] 0.9713843237870697 Centerline is valid? [True, True] Translation: X:377.11, Y:-15.40, Z:3.45 [[ 9.99463368e-01 -3.13717253e-02 -9.42289946e-03 3.77109229e+02] [ 3.13780967e-02 9.99507446e-01 5.29046741e-04 -1.53957480e+01] [ 9.40166107e-03 -8.24435489e-04 9.99955464e-01 3.45100423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.440714057 meters Centerline goodness [0,1] 0.966534525675302 Centerline is valid? [True, True] Translation: X:377.14, Y:-15.40, Z:3.45 [[ 9.99473838e-01 -3.10663787e-02 -9.32349565e-03 3.77140078e+02] [ 3.10726161e-02 9.99516992e-01 5.24859354e-04 -1.54021777e+01] [ 9.30268685e-03 -8.14288594e-04 9.99956398e-01 3.45013486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.470714057 meters Centerline goodness [0,1] 0.9706610518521946 Centerline is valid? [True, True] Translation: X:377.17, Y:-15.40, Z:3.45 [[ 9.99503064e-01 -3.02348271e-02 -8.91512881e-03 3.77172988e+02] [ 3.02405031e-02 9.99542525e-01 5.02522892e-04 -1.53978055e+01] [ 8.89585667e-03 -7.71871151e-04 9.99960133e-01 3.45157173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.500714057 meters Centerline goodness [0,1] 0.9689741874466563 Centerline is valid? [True, True] Translation: X:377.20, Y:-15.40, Z:3.45 [[ 9.99524964e-01 -2.95774253e-02 -8.66158489e-03 3.77204521e+02] [ 2.95827632e-02 9.99562215e-01 4.88771721e-04 -1.53998161e+01] [ 8.64333637e-03 -7.44773151e-04 9.99962368e-01 3.45148954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.530714057 meters Centerline goodness [0,1] 0.9708592144457017 Centerline is valid? [True, True] Translation: X:377.24, Y:-15.40, Z:3.45 [[ 9.99531839e-01 -2.94433340e-02 -8.31820996e-03 3.77237163e+02] [ 2.94482574e-02 9.99566196e-01 4.69993490e-04 -1.53994612e+01] [ 8.30076331e-03 -7.14730245e-04 9.99965293e-01 3.45134842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.560714057 meters Centerline goodness [0,1] 0.9690840931179711 Centerline is valid? [True, True] Translation: X:377.27, Y:-15.40, Z:3.45 [[ 9.99511602e-01 -2.99931330e-02 -8.77327329e-03 3.77269163e+02] [ 2.99986361e-02 9.99549816e-01 4.96305168e-04 -1.54012621e+01] [ 8.75443796e-03 -7.59249006e-04 9.99961391e-01 3.45135751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.590714057 meters Centerline goodness [0,1] 0.9714768596763365 Centerline is valid? [True, True] Translation: X:377.30, Y:-15.40, Z:3.45 [[ 9.99512784e-01 -3.00219774e-02 -8.53672662e-03 3.77301700e+02] [ 3.00271942e-02 9.99548965e-01 4.83558255e-04 -1.53983866e+01] [ 8.51835888e-03 -7.39656605e-04 9.99963445e-01 3.45180510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.620714057 meters Centerline goodness [0,1] 0.9714768596763365 Centerline is valid? [True, True] Translation: X:377.33, Y:-15.40, Z:3.45 [[ 9.99516041e-01 -2.99133667e-02 -8.53666564e-03 3.77334314e+02] [ 2.99185887e-02 9.99552221e-01 4.84634034e-04 -1.54003240e+01] [ 8.51834607e-03 -7.39804479e-04 9.99963445e-01 3.45167236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.650714057 meters Centerline goodness [0,1] 0.9676276484890587 Centerline is valid? [True, True] Translation: X:377.36, Y:-15.41, Z:3.45 [[ 9.99507218e-01 -3.01443949e-02 -8.75421150e-03 3.77364965e+02] [ 3.01498973e-02 9.99545265e-01 4.97222142e-04 -1.54081115e+01] [ 8.73524220e-03 -7.60915697e-04 9.99961558e-01 3.45022019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.680714057 meters Centerline goodness [0,1] 0.9696211331247827 Centerline is valid? [True, True] Translation: X:377.40, Y:-15.40, Z:3.45 [[ 9.99482183e-01 -3.07095155e-02 -9.60681470e-03 3.77397508e+02] [ 3.07161749e-02 9.99527998e-01 5.46384560e-04 -1.54047540e+01] [ 9.58550105e-03 -8.41186233e-04 9.99953704e-01 3.45053157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.710714057 meters Centerline goodness [0,1] 0.9595828505214369 Centerline is valid? [True, True] Translation: X:377.43, Y:-15.42, Z:3.45 [[ 9.99486510e-01 -3.05703926e-02 -9.60035286e-03 3.77427753e+02] [ 3.05770409e-02 9.99532264e-01 5.46455764e-04 -1.54171046e+01] [ 9.57915706e-03 -8.39725547e-04 9.99953766e-01 3.44884014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.740714057 meters Centerline goodness [0,1] 0.9698810545108859 Centerline is valid? [True, True] Translation: X:377.46, Y:-15.41, Z:3.45 [[ 9.99472375e-01 -3.11377277e-02 -9.24196153e-03 3.77460270e+02] [ 3.11439198e-02 9.99514772e-01 5.26799449e-04 -1.54081427e+01] [ 9.22107373e-03 -8.14352405e-04 9.99957153e-01 3.45110610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.770714057 meters Centerline goodness [0,1] 0.9695916996688205 Centerline is valid? [True, True] Translation: X:377.49, Y:-15.41, Z:3.45 [[ 9.99464618e-01 -3.14404832e-02 -9.05395919e-03 3.77491989e+02] [ 3.14464440e-02 9.99505305e-01 5.16729027e-04 -1.54107557e+01] [ 9.03323403e-03 -8.01167200e-04 9.99958879e-01 3.45134133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.800714057 meters Centerline goodness [0,1] 0.9699918708628499 Centerline is valid? [True, True] Translation: X:377.52, Y:-15.41, Z:3.45 [[ 9.99437757e-01 -3.24258876e-02 -8.52828006e-03 3.77523997e+02] [ 3.24312173e-02 9.99473851e-01 4.87364343e-04 -1.54099803e+01] [ 8.50798969e-03 -7.63672830e-04 9.99963515e-01 3.45260628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.830714057 meters Centerline goodness [0,1] 0.9679745837391587 Centerline is valid? [True, True] Translation: X:377.55, Y:-15.41, Z:3.45 [[ 9.99409315e-01 -3.32410428e-02 -8.72092772e-03 3.77554343e+02] [ 3.32466483e-02 9.99447053e-01 4.98533192e-04 -1.54149595e+01] [ 8.69953374e-03 -7.88180332e-04 9.99961848e-01 3.45224050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.860714057 meters Centerline goodness [0,1] 0.9666256928821578 Centerline is valid? [True, True] Translation: X:377.59, Y:-15.42, Z:3.45 [[ 9.99326871e-01 -3.55538990e-02 -9.04022566e-03 3.77585510e+02] [ 3.55600191e-02 9.99367409e-01 5.17094208e-04 -1.54200314e+01] [ 9.01612218e-03 -8.38216733e-04 9.99959003e-01 3.45117199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.890714057 meters Centerline goodness [0,1] 0.96761161802605 Centerline is valid? [True, True] Translation: X:377.62, Y:-15.42, Z:3.45 [[ 9.99294910e-01 -3.65331493e-02 -8.66097595e-03 3.77617075e+02] [ 3.65388078e-02 9.99332112e-01 4.95951914e-04 -1.54220603e+01] [ 8.63707270e-03 -8.12063959e-04 9.99962370e-01 3.45082035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.920714057 meters Centerline goodness [0,1] 0.6715565895480591 Centerline is valid? [True, False] Translation: X:377.65, Y:-15.42, Z:3.46 [[ 9.99242987e-01 -3.74790551e-02 -1.04294271e-02 3.77653108e+02] [ 3.73905676e-02 9.99264117e-01 -8.55392201e-03 -1.54210173e+01] [ 1.07423452e-02 8.15748439e-03 9.99909025e-01 3.45569050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.950714057 meters Centerline goodness [0,1] 0.9637746700990283 Centerline is valid? [False, True] Translation: X:377.57, Y:-15.42, Z:3.45 [[ 9.99250542e-01 -3.75702038e-02 -9.31846695e-03 3.77570741e+02] [ 3.75555021e-02 9.99293015e-01 -1.74776278e-03 -1.54225819e+01] [ 9.37754273e-03 1.39649320e-03 9.99955055e-01 3.45071319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.980714057 meters Centerline goodness [0,1] 0.9659327925840093 Centerline is valid? [True, True] Translation: X:377.60, Y:-15.43, Z:3.45 [[ 9.99119191e-01 -4.10183547e-02 -8.85079517e-03 3.77600682e+02] [ 4.10246460e-02 9.99157994e-01 5.30366597e-04 -1.54257635e+01] [ 8.82158798e-03 -8.93000184e-04 9.99960690e-01 3.44999599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01071405700003 meters Centerline goodness [0,1] 0.9650189055649633 Centerline is valid? [True, True] Translation: X:377.63, Y:-15.43, Z:3.45 [[ 9.99085856e-01 -4.18818708e-02 -8.56509884e-03 3.77632875e+02] [ 4.18878018e-02 9.99122189e-01 5.14163468e-04 -1.54311420e+01] [ 8.53604617e-03 -8.72466611e-04 9.99963187e-01 3.45008489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.040714057 meters Centerline goodness [0,1] 0.961456647398844 Centerline is valid? [True, True] Translation: X:377.66, Y:-15.44, Z:3.45 [[ 9.98985841e-01 -4.42958026e-02 -8.07289142e-03 3.77662202e+02] [ 4.43011455e-02 9.99018105e-01 4.84138955e-04 -1.54393589e+01] [ 8.04351937e-03 -8.41286299e-04 9.99967296e-01 3.44965949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07071405700003 meters Centerline goodness [0,1] 0.9598338908755335 Centerline is valid? [True, True] Translation: X:377.69, Y:-15.44, Z:3.45 [[ 9.98979318e-01 -4.44958172e-02 -7.77457784e-03 3.77693810e+02] [ 4.45007857e-02 9.99009240e-01 4.67173676e-04 -1.54434628e+01] [ 7.74608782e-03 -8.12671663e-04 9.99969668e-01 3.44963319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.100714057 meters Centerline goodness [0,1] 0.9566783668945132 Centerline is valid? [True, True] Translation: X:377.73, Y:-15.45, Z:3.45 [[ 9.99008809e-01 -4.38890216e-02 -7.42651154e-03 3.77725860e+02] [ 4.38935425e-02 9.99036114e-01 4.46788484e-04 -1.54491736e+01] [ 7.39974412e-03 -7.72321531e-04 9.99972323e-01 3.44940406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13071405700003 meters Centerline goodness [0,1] 0.9631889081455806 Centerline is valid? [True, True] Translation: X:377.76, Y:-15.45, Z:3.45 [[ 9.99112428e-01 -4.15193517e-02 -7.10633089e-03 3.77756526e+02] [ 4.15234305e-02 9.99137439e-01 4.27318886e-04 -1.54503924e+01] [ 7.08245925e-03 -7.22018846e-04 9.99974658e-01 3.45042577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.160714057 meters Centerline goodness [0,1] 0.9658602026183096 Centerline is valid? [True, True] Translation: X:377.79, Y:-15.45, Z:3.45 [[ 9.99179302e-01 -3.99385643e-02 -6.75529402e-03 3.77786859e+02] [ 3.99422141e-02 9.99201909e-01 4.06176363e-04 -1.54517541e+01] [ 6.73368058e-03 -6.75664414e-04 9.99977100e-01 3.45054657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.190714057 meters Centerline goodness [0,1] 0.9716104333387146 Centerline is valid? [True, True] Translation: X:377.82, Y:-15.45, Z:3.45 [[ 9.99299367e-01 -3.69302864e-02 -6.07690072e-03 3.77817399e+02] [ 3.69331848e-02 9.99317670e-01 3.65392382e-04 -1.54480764e+01] [ 6.05926022e-03 -5.89575673e-04 9.99981469e-01 3.45117076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.220714057 meters Centerline goodness [0,1] 0.9606477209817309 Centerline is valid? [True, True] Translation: X:377.85, Y:-15.46, Z:3.45 [[ 9.99375628e-01 -3.48312715e-02 -5.92764193e-03 3.77846381e+02] [ 3.48339926e-02 9.99393049e-01 3.56415315e-04 -1.54606265e+01] [ 5.91162974e-03 -5.62676214e-04 9.99982368e-01 3.44977706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.250714057 meters Centerline goodness [0,1] 0.960706951846981 Centerline is valid? [True, True] Translation: X:377.88, Y:-15.46, Z:3.45 [[ 9.99424129e-01 -3.33986474e-02 -5.99503444e-03 3.77877845e+02] [ 3.34014074e-02 9.99441952e-01 3.60823164e-04 -1.54623011e+01] [ 5.97963792e-03 -5.60857964e-04 9.99981965e-01 3.44985849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.280714057 meters Centerline goodness [0,1] 0.973630596842154 Centerline is valid? [True, True] Translation: X:377.91, Y:-15.45, Z:3.45 [[ 9.99538209e-01 -2.96922326e-02 -6.46071919e-03 3.77908631e+02] [ 2.96953602e-02 9.99558920e-01 3.88680062e-04 -1.54529952e+01] [ 6.44632872e-03 -5.80353956e-04 9.99979054e-01 3.45141391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.310714057 meters Centerline goodness [0,1] 0.974226923701487 Centerline is valid? [True, True] Translation: X:377.94, Y:-15.46, Z:3.45 [[ 9.99590775e-01 -2.78078643e-02 -6.70864753e-03 3.77938449e+02] [ 2.78111944e-02 9.99613112e-01 4.03598688e-04 -1.54552591e+01] [ 6.69482882e-03 -5.90009027e-04 9.99977415e-01 3.45060962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.340714057 meters Centerline goodness [0,1] 0.9756776183078671 Centerline is valid? [True, True] Translation: X:377.97, Y:-15.46, Z:3.45 [[ 9.99676557e-01 -2.43005444e-02 -7.50102081e-03 3.77969165e+02] [ 2.43046097e-02 9.99704497e-01 4.51278313e-04 -1.54573138e+01] [ 7.48783794e-03 -6.33441734e-04 9.99971765e-01 3.44965609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.370714057 meters Centerline goodness [0,1] 0.9762126431430965 Centerline is valid? [True, True] Translation: X:378.00, Y:-15.45, Z:3.45 [[ 9.99739815e-01 -2.13533138e-02 -8.02106867e-03 3.78000627e+02] [ 2.13578699e-02 9.99771778e-01 4.82777178e-04 -1.54549467e+01] [ 8.00892920e-03 -6.53964508e-04 9.99967714e-01 3.44990110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.400714057 meters Centerline goodness [0,1] 0.9778983650845405 Centerline is valid? [True, True] Translation: X:378.03, Y:-15.46, Z:3.45 [[ 9.99771747e-01 -1.98045655e-02 -8.01455585e-03 3.78032274e+02] [ 1.98090695e-02 9.99803664e-01 4.82974158e-04 -1.54557783e+01] [ 8.00341721e-03 -6.41624812e-04 9.99967766e-01 3.44967692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.430714057 meters Centerline goodness [0,1] 0.9749130708734919 Centerline is valid? [True, True] Translation: X:378.06, Y:-15.46, Z:3.45 [[ 9.99795545e-01 -1.85238396e-02 -8.10770897e-03 3.78062518e+02] [ 1.85284104e-02 9.99828215e-01 4.89004738e-04 -1.54645642e+01] [ 8.09725794e-03 -6.39127717e-04 9.99967012e-01 3.44802680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.460714057 meters Centerline goodness [0,1] 0.9770120323985205 Centerline is valid? [True, True] Translation: X:378.09, Y:-15.46, Z:3.45 [[ 9.99836867e-01 -1.62670189e-02 -7.85006613e-03 3.78093752e+02] [ 1.62712346e-02 9.99867503e-01 4.73456470e-04 -1.54591712e+01] [ 7.84132429e-03 -6.01109501e-04 9.99969076e-01 3.44955119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.490714057 meters Centerline goodness [0,1] 0.9758548956361172 Centerline is valid? [True, True] Translation: X:378.12, Y:-15.46, Z:3.45 [[ 9.99856381e-01 -1.50683682e-02 -7.75638731e-03 3.78124123e+02] [ 1.50724490e-02 9.99886295e-01 4.67940806e-04 -1.54616574e+01] [ 7.74845426e-03 -5.84781353e-04 9.99969809e-01 3.44973195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.520714057 meters Centerline goodness [0,1] 0.9775845864661654 Centerline is valid? [True, True] Translation: X:378.15, Y:-15.46, Z:3.45 [[ 9.99897162e-01 -1.22013056e-02 -7.53613933e-03 3.78154823e+02] [ 1.22050780e-02 9.99925412e-01 4.54786177e-04 -1.54615224e+01] [ 7.53002824e-03 -5.46718576e-04 9.99971499e-01 3.45063789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.550714057 meters Centerline goodness [0,1] 0.9763777678634326 Centerline is valid? [True, True] Translation: X:378.18, Y:-15.46, Z:3.45 [[ 9.99925942e-01 -9.53774809e-03 -7.55927184e-03 3.78184910e+02] [ 9.54146737e-03 9.99954375e-01 4.56104230e-04 -1.54611819e+01] [ 7.55457675e-03 -5.28196997e-04 9.99971324e-01 3.45185490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.580714057 meters Centerline goodness [0,1] 0.9768111155669835 Centerline is valid? [True, True] Translation: X:378.22, Y:-15.46, Z:3.45 [[ 9.99932495e-01 -9.01340185e-03 -7.33235060e-03 3.78215861e+02] [ 9.01688715e-03 9.99959249e-01 4.42412469e-04 -1.54612687e+01] [ 7.32806416e-03 -5.08497582e-04 9.99973020e-01 3.45282778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.610714057 meters Centerline goodness [0,1] 0.9788015828151498 Centerline is valid? [True, True] Translation: X:378.25, Y:-15.46, Z:3.45 [[ 9.99955309e-01 -7.19545858e-03 -6.13235813e-03 3.78246567e+02] [ 7.19786239e-03 9.99974027e-01 3.70008453e-04 -1.54594287e+01] [ 6.12953647e-03 -4.14131787e-04 9.99981128e-01 3.45378789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.640714057 meters Centerline goodness [0,1] 0.9783665188260828 Centerline is valid? [True, True] Translation: X:378.28, Y:-15.46, Z:3.45 [[ 9.99959196e-01 -6.44633342e-03 -6.32860514e-03 3.78277055e+02] [ 6.44887861e-03 9.99979133e-01 3.81849420e-04 -1.54603476e+01] [ 6.32601155e-03 -4.22646246e-04 9.99979901e-01 3.45369191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.670714057 meters Centerline goodness [0,1] 0.9783722789035686 Centerline is valid? [True, True] Translation: X:378.31, Y:-15.47, Z:3.45 [[ 9.99964951e-01 -5.50294266e-03 -6.30980245e-03 3.78306430e+02] [ 5.50545286e-03 9.99984772e-01 3.80525214e-04 -1.54651099e+01] [ 6.30761236e-03 -4.15250197e-04 9.99980021e-01 3.45230390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.700714057 meters Centerline goodness [0,1] 0.9787424164040822 Centerline is valid? [True, True] Translation: X:378.34, Y:-15.46, Z:3.45 [[ 9.99971065e-01 -4.03968490e-03 -6.44597093e-03 3.78336803e+02] [ 4.04227362e-03 9.99991754e-01 3.88624504e-04 -1.54642360e+01] [ 6.44434786e-03 -4.14669637e-04 9.99979149e-01 3.45178040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.730714057 meters Centerline goodness [0,1] 0.9774735707086097 Centerline is valid? [True, True] Translation: X:378.37, Y:-15.47, Z:3.45 [[ 9.99979970e-01 -2.04542204e-03 -5.98963082e-03 3.78365551e+02] [ 2.04761870e-03 9.99997839e-01 3.60634309e-04 -1.54654841e+01] [ 5.98888022e-03 -3.72891566e-04 9.99981997e-01 3.45196381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76071405700003 meters Centerline goodness [0,1] 0.9783165362839759 Centerline is valid? [True, True] Translation: X:378.39, Y:-15.47, Z:3.45 [[ 9.99980446e-01 -1.33386647e-04 -6.25218837e-03 3.78394400e+02] [ 1.35742091e-04 9.99999920e-01 3.76316304e-04 -1.54700458e+01] [ 6.25213768e-03 -3.77157630e-04 9.99980384e-01 3.45193398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.790714057 meters Centerline goodness [0,1] 0.9802108334509859 Centerline is valid? [True, True] Translation: X:378.42, Y:-15.47, Z:3.45 [[ 9.99976579e-01 3.97968984e-04 -6.83255466e-03 3.78423144e+02] [-3.95186399e-04 9.99999838e-01 4.08599186e-04 -1.54658320e+01] [ 6.83271617e-03 -4.05889483e-04 9.99976574e-01 3.45283660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82071405700003 meters Centerline goodness [0,1] 0.9789723468740456 Centerline is valid? [True, True] Translation: X:378.45, Y:-15.47, Z:3.45 [[ 9.99970413e-01 2.79325370e-03 -7.16728891e-03 3.78452849e+02] [-2.79024767e-03 9.99996015e-01 4.29374862e-04 -1.54675130e+01] [ 7.16845970e-03 -4.09363647e-04 9.99974222e-01 3.45226584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.850714057 meters Centerline goodness [0,1] 0.9807483858805788 Centerline is valid? [True, True] Translation: X:378.48, Y:-15.47, Z:3.45 [[ 9.99967801e-01 3.70970730e-03 -7.11577686e-03 3.78482051e+02] [-3.70677226e-03 9.99993039e-01 4.25612492e-04 -1.54680384e+01] [ 7.11730623e-03 -3.99222223e-04 9.99974592e-01 3.45248605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88071405700003 meters Centerline goodness [0,1] 0.9783254716981132 Centerline is valid? [True, True] Translation: X:378.51, Y:-15.47, Z:3.45 [[ 9.99965802e-01 4.01887947e-03 -7.22797326e-03 3.78509432e+02] [-4.01586439e-03 9.99991843e-01 4.31605814e-04 -1.54742330e+01] [ 7.22964887e-03 -4.02564494e-04 9.99973785e-01 3.45190582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.910714057 meters Centerline goodness [0,1] 0.979730366738946 Centerline is valid? [True, True] Translation: X:378.54, Y:-15.48, Z:3.45 [[ 9.99971699e-01 4.30159315e-03 -6.17228120e-03 3.78537871e+02] [-4.29940232e-03 9.99990690e-01 3.68171980e-04 -1.54779005e+01] [ 6.17380746e-03 -3.41624440e-04 9.99980884e-01 3.45257827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.940714057 meters Centerline goodness [0,1] 0.9800908384910456 Centerline is valid? [True, True] Translation: X:378.57, Y:-15.48, Z:3.45 [[ 9.99977311e-01 3.73294679e-03 -5.60739463e-03 3.78566584e+02] [-3.73113217e-03 9.99992984e-01 3.34039257e-04 -1.54772425e+01] [ 5.60860223e-03 -3.13109747e-04 9.99984223e-01 3.45320974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.970714057 meters Centerline goodness [0,1] 0.9793787768346305 Centerline is valid? [True, True] Translation: X:378.59, Y:-15.49, Z:3.45 [[ 9.99980023e-01 3.14124991e-03 -5.48501340e-03 3.78593541e+02] [-3.13950788e-03 9.99995019e-01 3.26180393e-04 -1.54850209e+01] [ 5.48601069e-03 -3.08953634e-04 9.99984904e-01 3.45211263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.000714057 meters Centerline goodness [0,1] 0.979592793046086 Centerline is valid? [True, True] Translation: X:378.62, Y:-15.49, Z:3.45 [[ 9.99979153e-01 1.82182219e-03 -6.19465792e-03 3.78622193e+02] [-1.81957639e-03 9.99998277e-01 3.68154645e-04 -1.54901040e+01] [ 6.19531796e-03 -3.56875317e-04 9.99980745e-01 3.45151078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.030714057 meters Centerline goodness [0,1] 0.9799341260015417 Centerline is valid? [True, True] Translation: X:378.65, Y:-15.49, Z:3.45 [[ 9.99982015e-01 3.10968109e-04 -5.98940012e-03 3.78651955e+02] [-3.08842137e-04 9.99999889e-01 3.55877361e-04 -1.54915101e+01] [ 5.98951012e-03 -3.54021182e-04 9.99982000e-01 3.45085401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.060714057 meters Centerline goodness [0,1] 0.9790545420656555 Centerline is valid? [True, True] Translation: X:378.68, Y:-15.50, Z:3.45 [[ 9.99977978e-01 -1.74550857e-03 -6.40285176e-03 3.78679690e+02] [ 1.74797657e-03 9.99998400e-01 3.79877703e-04 -1.54986352e+01] [ 6.40217844e-03 -3.91061372e-04 9.99979429e-01 3.44892662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.090714057 meters Centerline goodness [0,1] 0.9785679380075861 Centerline is valid? [True, True] Translation: X:378.71, Y:-15.50, Z:3.45 [[ 9.99971693e-01 -3.48054625e-03 -6.67073246e-03 3.78709214e+02] [ 3.48326319e-03 9.99993855e-01 3.95717201e-04 -1.55020631e+01] [ 6.66931416e-03 -4.18941916e-04 9.99977672e-01 3.44848629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.120714057 meters Centerline goodness [0,1] 0.9794858719083934 Centerline is valid? [True, True] Translation: X:378.74, Y:-15.50, Z:3.45 [[ 9.99961385e-01 -6.64448177e-03 -5.75147875e-03 3.78740096e+02] [ 6.64655432e-03 9.99977853e-01 3.41312337e-04 -1.54976024e+01] [ 5.74908353e-03 -3.79526673e-04 9.99983402e-01 3.44979188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.150714057 meters Centerline goodness [0,1] 0.978912037037037 Centerline is valid? [True, True] Translation: X:378.77, Y:-15.50, Z:3.45 [[ 9.99952050e-01 -8.27239700e-03 -5.24065732e-03 3.78770602e+02] [ 8.27414001e-03 9.99965720e-01 3.10998454e-04 -1.54987322e+01] [ 5.23790497e-03 -3.54345474e-04 9.99986219e-01 3.45034615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.180714057 meters Centerline goodness [0,1] 0.97799054100819 Centerline is valid? [True, True] Translation: X:378.80, Y:-15.50, Z:3.45 [[ 9.99928027e-01 -1.07239896e-02 -5.37938394e-03 3.78800105e+02] [ 1.07258653e-02 9.99942425e-01 3.19954275e-04 -1.55045886e+01] [ 5.37564303e-03 -3.77629794e-04 9.99985480e-01 3.44957159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.210714057 meters Centerline goodness [0,1] 0.9785806511113161 Centerline is valid? [True, True] Translation: X:378.83, Y:-15.51, Z:3.45 [[ 9.99918523e-01 -1.15036666e-02 -5.53284181e-03 3.78831257e+02] [ 1.15056628e-02 9.99933754e-01 3.29100821e-04 -1.55054002e+01] [ 5.52868942e-03 -3.92733019e-04 9.99984640e-01 3.44927097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.240714057 meters Centerline goodness [0,1] 0.9784778109910324 Centerline is valid? [True, True] Translation: X:378.86, Y:-15.51, Z:3.45 [[ 9.99902020e-01 -1.28151253e-02 -5.63230994e-03 3.78862680e+02] [ 1.28172157e-02 9.99917800e-01 3.35212959e-04 -1.55092067e+01] [ 5.62755117e-03 -4.07370646e-04 9.99984082e-01 3.44844132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.270714057 meters Centerline goodness [0,1] 0.9803067993366501 Centerline is valid? [True, True] Translation: X:378.90, Y:-15.51, Z:3.45 [[ 9.99905926e-01 -1.26914382e-02 -5.20259290e-03 3.78895207e+02] [ 1.26932230e-02 9.99919390e-01 3.10182430e-04 -1.55110325e+01] [ 5.19823686e-03 -3.76190922e-04 9.99986418e-01 3.44827975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.300714057 meters Centerline goodness [0,1] 0.9803416641758443 Centerline is valid? [True, True] Translation: X:378.93, Y:-15.51, Z:3.45 [[ 9.99907099e-01 -1.28464836e-02 -4.55639083e-03 3.78926928e+02] [ 1.28478558e-02 9.99917426e-01 2.72020191e-04 -1.55132664e+01] [ 4.55252008e-03 -3.30534772e-04 9.99989583e-01 3.44803175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.330714057 meters Centerline goodness [0,1] 0.9791374675458953 Centerline is valid? [True, True] Translation: X:378.96, Y:-15.52, Z:3.45 [[ 9.99907589e-01 -1.28116825e-02 -4.54698510e-03 3.78959303e+02] [ 1.28130502e-02 9.99917873e-01 2.71784383e-04 -1.55153762e+01] [ 4.54312965e-03 -3.30020015e-04 9.99989625e-01 3.44771457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.360714057 meters Centerline goodness [0,1] 0.979560938682816 Centerline is valid? [True, True] Translation: X:378.99, Y:-15.52, Z:3.45 [[ 9.99917912e-01 -1.20571253e-02 -4.33522159e-03 3.78991783e+02] [ 1.20583629e-02 9.99927262e-01 2.59452188e-04 -1.55163394e+01] [ 4.33177800e-03 -3.11706565e-04 9.99990569e-01 3.44744773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.390714057 meters Centerline goodness [0,1] 0.9806795469686875 Centerline is valid? [True, True] Translation: X:379.02, Y:-15.51, Z:3.45 [[ 9.99923629e-01 -1.14712659e-02 -4.59845476e-03 3.79023732e+02] [ 1.14726537e-02 9.99934149e-01 2.75528406e-04 -1.55141993e+01] [ 4.59499128e-03 -3.28263843e-04 9.99989389e-01 3.44743888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.420714057 meters Centerline goodness [0,1] 0.9796044925239441 Centerline is valid? [True, True] Translation: X:379.06, Y:-15.52, Z:3.45 [[ 9.99927278e-01 -1.06874337e-02 -5.58734807e-03 3.79055200e+02] [ 1.06894722e-02 9.99942810e-01 3.35107819e-04 -1.55189593e+01] [ 5.58344708e-03 -3.94809251e-04 9.99984334e-01 3.44584490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.450714057 meters Centerline goodness [0,1] 0.9799640735111234 Centerline is valid? [True, True] Translation: X:379.09, Y:-15.52, Z:3.45 [[ 9.99936619e-01 -9.59038518e-03 -5.89760312e-03 3.79086883e+02] [ 9.59263754e-03 9.99953927e-01 3.53741822e-04 -1.55182688e+01] [ 5.89393888e-03 -4.10292971e-04 9.99982546e-01 3.44506484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.480714057 meters Centerline goodness [0,1] 0.9775182750218381 Centerline is valid? [True, True] Translation: X:379.12, Y:-15.52, Z:3.44 [[ 9.99943003e-01 -9.01451594e-03 -5.72103126e-03 3.79117451e+02] [ 9.01662908e-03 9.99959290e-01 3.43678412e-04 -1.55224204e+01] [ 5.71770027e-03 -3.95243240e-04 9.99983576e-01 3.44447557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51071405700003 meters Centerline goodness [0,1] 0.9786142985259962 Centerline is valid? [True, True] Translation: X:379.15, Y:-15.52, Z:3.45 [[ 9.99961991e-01 -7.40468088e-03 -4.60301551e-03 3.79148654e+02] [ 7.40603145e-03 9.99972537e-01 2.76433829e-04 -1.55199973e+01] [ 4.60084220e-03 -3.10513400e-04 9.99989368e-01 3.44553724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.540714057 meters Centerline goodness [0,1] 0.9786142985259962 Centerline is valid? [True, True] Translation: X:379.18, Y:-15.52, Z:3.45 [[ 9.99962247e-01 -7.37001065e-03 -4.60300127e-03 3.79179516e+02] [ 7.37136194e-03 9.99972793e-01 2.76670924e-04 -1.55218818e+01] [ 4.60083697e-03 -3.10590867e-04 9.99989368e-01 3.44539856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57071405700003 meters Centerline goodness [0,1] 0.9785998940360738 Centerline is valid? [True, True] Translation: X:379.21, Y:-15.52, Z:3.45 [[ 9.99972060e-01 -6.26229630e-03 -4.08192118e-03 3.79210710e+02] [ 6.26335043e-03 9.99980355e-01 2.45511636e-04 -1.55224587e+01] [ 4.08030352e-03 -2.71071279e-04 9.99991639e-01 3.44564206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.600714057 meters Centerline goodness [0,1] 0.9785669982311456 Centerline is valid? [True, True] Translation: X:379.24, Y:-15.52, Z:3.45 [[ 9.99986467e-01 -3.74531945e-03 -3.61085840e-03 3.79241247e+02] [ 3.74612748e-03 9.99992960e-01 2.17040559e-04 -1.55205860e+01] [ 3.61002009e-03 -2.30564357e-04 9.99993457e-01 3.44533911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63071405700003 meters Centerline goodness [0,1] 0.9804598494786991 Centerline is valid? [True, True] Translation: X:379.27, Y:-15.52, Z:3.45 [[ 9.99990874e-01 -2.22262154e-03 -3.64847348e-03 3.79271763e+02] [ 2.22343587e-03 9.99997504e-01 2.19157445e-04 -1.55174527e+01] [ 3.64797727e-03 -2.27267592e-04 9.99993320e-01 3.44608015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.660714057 meters Centerline goodness [0,1] 0.9803713772289545 Centerline is valid? [True, True] Translation: X:379.30, Y:-15.52, Z:3.45 [[ 9.99994540e-01 -5.66069955e-04 -3.25569283e-03 3.79301130e+02] [ 5.66708989e-04 9.99999820e-01 1.95362917e-04 -1.55179750e+01] [ 3.25558165e-03 -1.97206881e-04 9.99994681e-01 3.44627851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.690714057 meters Centerline goodness [0,1] 0.978586082105894 Centerline is valid? [True, True] Translation: X:379.33, Y:-15.52, Z:3.45 [[ 9.99993273e-01 2.92036456e-03 -2.21927402e-03 3.79329827e+02] [-2.92007659e-03 9.99995728e-01 1.32988226e-04 -1.55196875e+01] [ 2.21965291e-03 -1.26506881e-04 9.99997529e-01 3.44628575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.720714057 meters Centerline goodness [0,1] 0.9782498735457764 Centerline is valid? [True, True] Translation: X:379.36, Y:-15.52, Z:3.45 [[ 9.99972524e-01 7.25587106e-03 -1.51746428e-03 3.79359889e+02] [-7.25574139e-03 9.99973673e-01 9.09416215e-05 -1.55167423e+01] [ 1.51808419e-03 -7.99287945e-05 9.99998845e-01 3.44648763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.750714057 meters Centerline goodness [0,1] 0.9788137549042234 Centerline is valid? [True, True] Translation: X:379.39, Y:-15.52, Z:3.45 [[ 9.99951496e-01 9.71461258e-03 -1.62229483e-03 3.79389601e+02] [-9.71446777e-03 9.99952809e-01 9.71209853e-05 -1.55161097e+01] [ 1.62316176e-03 -8.13565437e-05 9.99998679e-01 3.44603352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.780714057 meters Centerline goodness [0,1] 0.9784071530626354 Centerline is valid? [True, True] Translation: X:379.42, Y:-15.52, Z:3.45 [[ 9.99925359e-01 1.21157648e-02 -1.57642132e-03 3.79419236e+02] [-1.21156311e-02 9.99926599e-01 9.43187395e-05 -1.55150113e+01] [ 1.57744835e-03 -7.52123603e-05 9.99998753e-01 3.44566373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.810714057 meters Centerline goodness [0,1] 0.9809076392585221 Centerline is valid? [True, True] Translation: X:379.45, Y:-15.51, Z:3.45 [[ 9.99863392e-01 1.63875622e-02 -2.15538370e-03 3.79449796e+02] [-1.63873220e-02 9.99865710e-01 1.29043401e-04 -1.55057541e+01] [ 2.15720897e-03 -9.37048052e-05 9.99997669e-01 3.44535654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.840714057 meters Centerline goodness [0,1] 0.9795143630934469 Centerline is valid? [True, True] Translation: X:379.48, Y:-15.51, Z:3.44 [[ 9.99832632e-01 1.81608432e-02 -2.21169048e-03 3.79477702e+02] [-1.81605955e-02 9.99835074e-01 1.32024729e-04 -1.55117850e+01] [ 2.21372339e-03 -9.18370161e-05 9.99997545e-01 3.44366559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.870714057 meters Centerline goodness [0,1] 0.9816417702080134 Centerline is valid? [True, True] Translation: X:379.51, Y:-15.50, Z:3.45 [[ 9.99762726e-01 2.17535886e-02 -1.12834130e-03 3.79507755e+02] [-2.17535265e-02 9.99763362e-01 6.73177452e-05 -1.55039803e+01] [ 1.12953870e-03 -4.27563701e-05 9.99999361e-01 3.44536520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.900714057 meters Centerline goodness [0,1] 0.9832810867293625 Centerline is valid? [True, True] Translation: X:379.54, Y:-15.50, Z:3.45 [[ 9.99722428e-01 2.35567967e-02 -3.79088598e-04 3.79536892e+02] [-2.35567899e-02 9.99722500e-01 2.23211907e-05 -1.55032638e+01] [ 3.79509216e-04 -1.33848845e-05 9.99999928e-01 3.44569686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.930714057 meters Centerline goodness [0,1] 0.9813057970676674 Centerline is valid? [True, True] Translation: X:379.56, Y:-15.51, Z:3.45 [[ 9.99653748e-01 2.62998067e-02 8.39426671e-04 3.79564664e+02] [-2.62997735e-02 9.99654100e-01 -5.05773945e-05 -1.55056885e+01] [-8.40466488e-04 2.84831507e-05 9.99999646e-01 3.44564279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.960714057 meters Centerline goodness [0,1] 0.9820185885759656 Centerline is valid? [True, True] Translation: X:379.59, Y:-15.51, Z:3.45 [[ 9.99626064e-01 2.72902283e-02 1.72478059e-03 3.79593976e+02] [-2.72900913e-02 9.99627551e-01 -1.02953584e-04 -1.55065973e+01] [-1.72694783e-03 5.58456667e-05 9.99998507e-01 3.44550272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.990714057 meters Centerline goodness [0,1] 0.981129002233805 Centerline is valid? [True, True] Translation: X:379.62, Y:-15.51, Z:3.44 [[ 9.99596321e-01 2.83336808e-02 2.09713904e-03 3.79621775e+02] [-2.83334807e-02 9.99598519e-01 -1.25102743e-04 -1.55091368e+01] [-2.09984170e-03 6.56329930e-05 9.99997793e-01 3.44456903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.020714057 meters Centerline goodness [0,1] 0.98251225776325 Centerline is valid? [True, True] Translation: X:379.65, Y:-15.51, Z:3.44 [[ 9.99604026e-01 2.80616182e-02 2.08269966e-03 3.79650488e+02] [-2.80614206e-02 9.99606193e-01 -1.24032521e-04 -1.55087981e+01] [-2.08536003e-03 6.55398960e-05 9.99997823e-01 3.44395324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.050714057 meters Centerline goodness [0,1] 0.9833170459304761 Centerline is valid? [True, True] Translation: X:379.68, Y:-15.51, Z:3.44 [[ 9.99647004e-01 2.65043205e-02 1.84085890e-03 3.79679177e+02] [-2.65041637e-02 9.99648697e-01 -1.09536703e-04 -1.55133215e+01] [-1.84311540e-03 6.07076117e-05 9.99998300e-01 3.44268958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.080714057 meters Centerline goodness [0,1] 0.9803944315545243 Centerline is valid? [True, True] Translation: X:379.71, Y:-15.52, Z:3.44 [[ 9.99679529e-01 2.52705766e-02 1.49558955e-03 3.79706520e+02] [-2.52704716e-02 9.99680647e-01 -8.90990760e-05 -1.55213031e+01] [-1.49736351e-03 5.12762692e-05 9.99998878e-01 3.44127171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.110714057 meters Centerline goodness [0,1] 0.9827921176797113 Centerline is valid? [True, True] Translation: X:379.74, Y:-15.52, Z:3.44 [[ 9.99749903e-01 2.23162542e-02 1.45471471e-03 3.79735681e+02] [-2.23161522e-02 9.99750960e-01 -8.62913184e-05 -1.55231646e+01] [-1.45627812e-03 5.38061024e-05 9.99998938e-01 3.44099746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.140714057 meters Centerline goodness [0,1] 0.9813105729419657 Centerline is valid? [True, True] Translation: X:379.77, Y:-15.53, Z:3.44 [[ 9.99821843e-01 1.88538221e-02 9.03229498e-04 3.79765236e+02] [-1.88537814e-02 9.99822250e-01 -5.35568642e-05 -1.55299609e+01] [-9.04078701e-04 3.65180311e-05 9.99999591e-01 3.44039700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.170714057 meters Centerline goodness [0,1] 0.9815186081345777 Centerline is valid? [True, True] Translation: X:379.79, Y:-15.53, Z:3.44 [[ 9.99845133e-01 1.75453984e-02 1.36739547e-03 3.79793457e+02] [-1.75453039e-02 9.99846066e-01 -8.10590221e-05 -1.55343423e+01] [-1.36860720e-03 5.70550995e-05 9.99999062e-01 3.43994993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.200714057 meters Centerline goodness [0,1] 0.98054627175291 Centerline is valid? [True, True] Translation: X:379.82, Y:-15.54, Z:3.44 [[ 9.99879033e-01 1.55076909e-02 1.19586272e-03 3.79821570e+02] [-1.55076173e-02 9.99879747e-01 -7.07879738e-05 -1.55390793e+01] [-1.19681667e-03 5.22344295e-05 9.99999282e-01 3.43968043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.230714057 meters Centerline goodness [0,1] 0.9795458724030153 Centerline is valid? [True, True] Translation: X:379.85, Y:-15.55, Z:3.44 [[ 9.99919877e-01 1.25303064e-02 1.79742408e-03 3.79849815e+02] [-1.25301357e-02 9.99921489e-01 -1.06185319e-04 -1.55464932e+01] [-1.79861350e-03 8.36548433e-05 9.99998379e-01 3.43902369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26071405700003 meters Centerline goodness [0,1] 0.9804838709677419 Centerline is valid? [True, True] Translation: X:379.88, Y:-15.55, Z:3.44 [[ 9.99941782e-01 1.06604931e-02 1.66943304e-03 3.79878457e+02] [-1.06603434e-02 9.99943172e-01 -9.85530559e-05 -1.55521922e+01] [-1.67038879e-03 8.07505888e-05 9.99998602e-01 3.43860852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.290714057 meters Centerline goodness [0,1] 0.97820884532192 Centerline is valid? [True, True] Translation: X:379.91, Y:-15.56, Z:3.44 [[ 9.99951224e-01 9.78454934e-03 1.34587870e-03 3.79905630e+02] [-9.78445116e-03 9.99952128e-01 -7.95142799e-05 -1.55558466e+01] [-1.34659228e-03 6.63417172e-05 9.99999091e-01 3.43793533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32071405700003 meters Centerline goodness [0,1] 0.9785950261539873 Centerline is valid? [True, True] Translation: X:379.93, Y:-15.56, Z:3.44 [[ 9.99949789e-01 9.90219479e-03 1.53812445e-03 3.79934743e+02] [-9.90206701e-03 9.99950969e-01 -9.06673118e-05 -1.55580268e+01] [-1.53894684e-03 7.54321480e-05 9.99998813e-01 3.43775508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.350714057 meters Centerline goodness [0,1] 0.9775543927292757 Centerline is valid? [True, True] Translation: X:379.96, Y:-15.56, Z:3.44 [[ 9.99955855e-01 9.07285766e-03 2.44355021e-03 3.79961919e+02] [-9.07253348e-03 9.99958833e-01 -1.43718764e-04 -1.55617015e+01] [-2.44475356e-03 1.21543228e-04 9.99997004e-01 3.43856313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38071405700003 meters Centerline goodness [0,1] 0.9769613804814246 Centerline is valid? [True, True] Translation: X:379.99, Y:-15.56, Z:3.44 [[ 9.99960257e-01 8.52582694e-03 2.60652219e-03 3.79990893e+02] [-8.52545686e-03 9.99963646e-01 -1.53063501e-04 -1.55644886e+01] [-2.60773243e-03 1.30835626e-04 9.99996591e-01 3.43857577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.410714057 meters Centerline goodness [0,1] 0.9765139041346506 Centerline is valid? [True, True] Translation: X:380.02, Y:-15.57, Z:3.44 [[ 9.99965392e-01 7.76479514e-03 2.98705749e-03 3.80019572e+02] [-7.76430651e-03 9.99969842e-01 -1.75145086e-04 -1.55687477e+01] [-2.98832738e-03 1.51946595e-04 9.99995523e-01 3.43894644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.440714057 meters Centerline goodness [0,1] 0.9790659491015233 Centerline is valid? [True, True] Translation: X:380.05, Y:-15.56, Z:3.44 [[ 9.99971251e-01 7.20016727e-03 2.37814911e-03 3.80048457e+02] [-7.19985602e-03 9.99974071e-01 -1.39414512e-04 -1.55631976e+01] [-2.37909125e-03 1.22288172e-04 9.99997162e-01 3.43894059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.470714057 meters Centerline goodness [0,1] 0.9736349525200877 Centerline is valid? [True, True] Translation: X:380.08, Y:-15.57, Z:3.44 [[ 9.99980486e-01 5.98357262e-03 1.79544362e-03 3.80076411e+02] [-5.98339346e-03 9.99982094e-01 -1.05142672e-04 -1.55743593e+01] [-1.79604060e-03 9.43977743e-05 9.99998383e-01 3.43781581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.500714057 meters Centerline goodness [0,1] 0.9785303485094975 Centerline is valid? [True, True] Translation: X:380.11, Y:-15.57, Z:3.44 [[ 9.99990158e-01 4.36707698e-03 7.82776539e-04 3.80106356e+02] [-4.36704240e-03 9.99990463e-01 -4.58791047e-05 -1.55678234e+01] [-7.82969431e-04 4.24602348e-05 9.99999693e-01 3.43673699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.530714057 meters Centerline goodness [0,1] 0.9779603606902549 Centerline is valid? [True, True] Translation: X:380.14, Y:-15.57, Z:3.44 [[ 9.99994720e-01 3.20280175e-03 5.50038994e-04 3.80136141e+02] [-3.20278449e-03 9.99994871e-01 -3.22661367e-05 -1.55698056e+01] [-5.50139515e-04 3.05043099e-05 9.99999848e-01 3.43573298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.560714057 meters Centerline goodness [0,1] 0.9766039115335405 Centerline is valid? [True, True] Translation: X:380.17, Y:-15.57, Z:3.44 [[ 9.99996743e-01 2.49866354e-03 5.21181526e-04 3.80166092e+02] [-2.49864799e-03 9.99996878e-01 -3.04928742e-05 -1.55726475e+01] [-5.21256090e-04 2.91905257e-05 9.99999864e-01 3.43543794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.590714057 meters Centerline goodness [0,1] 0.9780767998535402 Centerline is valid? [True, True] Translation: X:380.20, Y:-15.57, Z:3.44 [[ 9.99999185e-01 7.27452278e-04 1.04935743e-03 3.80195533e+02] [-7.27388288e-04 9.99999734e-01 -6.13601997e-05 -1.55727994e+01] [-1.04940179e-03 6.05968594e-05 9.99999448e-01 3.43541073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.620714057 meters Centerline goodness [0,1] 0.9762427904421862 Centerline is valid? [True, True] Translation: X:380.23, Y:-15.58, Z:3.44 [[ 9.99998341e-01 -1.57691924e-03 9.12105159e-04 3.80225368e+02] [ 1.57696812e-03 9.99998755e-01 -5.28733412e-05 -1.55762987e+01] [-9.12020646e-04 5.43116143e-05 9.99999583e-01 3.43536054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.650714057 meters Centerline goodness [0,1] 0.9768861454046639 Centerline is valid? [True, True] Translation: X:380.26, Y:-15.58, Z:3.44 [[ 9.99996061e-01 -2.63512792e-03 9.66123926e-04 3.80256471e+02] [ 2.63518354e-03 9.99996526e-01 -5.63050357e-05 -1.55783699e+01] [-9.65972199e-04 5.88507277e-05 9.99999532e-01 3.43545039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.680714057 meters Centerline goodness [0,1] 0.9762653898768809 Centerline is valid? [True, True] Translation: X:380.29, Y:-15.58, Z:3.43 [[ 9.99982414e-01 -5.83961489e-03 1.03446901e-03 3.80285848e+02] [ 5.83968031e-03 9.99982947e-01 -6.02258386e-05 -1.55832014e+01] [-1.03409967e-03 6.62657478e-05 9.99999463e-01 3.43499039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.710714057 meters Centerline goodness [0,1] 0.9745915686050497 Centerline is valid? [True, True] Translation: X:380.32, Y:-15.59, Z:3.43 [[ 9.99968089e-01 -7.91536821e-03 1.08032700e-03 3.80316970e+02] [ 7.91544098e-03 9.99968670e-01 -6.30935454e-05 -1.55869038e+01] [-1.07979375e-03 7.16427967e-05 9.99999414e-01 3.43478282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.740714057 meters Centerline goodness [0,1] 0.9726694721434452 Centerline is valid? [True, True] Translation: X:380.35, Y:-15.60, Z:3.43 [[ 9.99939486e-01 -1.09872329e-02 5.52062068e-04 3.80346801e+02] [ 1.09872523e-02 9.99939638e-01 -3.20829088e-05 -1.55955142e+01] [-5.51676241e-04 3.81466126e-05 9.99999847e-01 3.43402033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.770714057 meters Centerline goodness [0,1] 0.9763793931356184 Centerline is valid? [True, True] Translation: X:380.38, Y:-15.59, Z:3.43 [[ 9.99926831e-01 -1.20965619e-02 -7.50667083e-05 3.80379244e+02] [ 1.20965623e-02 9.99926834e-01 4.72512039e-06 -1.55914056e+01] [ 7.50040582e-05 -5.63282377e-06 9.99999997e-01 3.43370243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.800714057 meters Centerline goodness [0,1] 0.9741815765961833 Centerline is valid? [True, True] Translation: X:380.41, Y:-15.60, Z:3.43 [[ 9.99911751e-01 -1.31697023e-02 -1.74621442e-03 3.80409830e+02] [ 1.31699026e-02 9.99913268e-01 1.03240228e-04 -1.55963761e+01] [ 1.74470332e-03 -1.26228591e-04 9.99998470e-01 3.43270048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.830714057 meters Centerline goodness [0,1] 0.9748787407339617 Centerline is valid? [True, True] Translation: X:380.44, Y:-15.60, Z:3.43 [[ 9.99919512e-01 -1.25079577e-02 -2.12600447e-03 3.80441939e+02] [ 1.25082526e-02 9.99921761e-01 1.25473577e-04 -1.55983062e+01] [ 2.12426872e-03 -1.52056079e-04 9.99997732e-01 3.43227929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.860714057 meters Centerline goodness [0,1] 0.9755339095440618 Centerline is valid? [True, True] Translation: X:380.47, Y:-15.60, Z:3.43 [[ 9.99930135e-01 -1.15575741e-02 -2.47929828e-03 3.80473872e+02] [ 1.15579723e-02 9.99933194e-01 1.46329458e-04 -1.55972388e+01] [ 2.47744144e-03 -1.74974896e-04 9.99996916e-01 3.43170192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.890714057 meters Centerline goodness [0,1] 0.9764654658783629 Centerline is valid? [True, True] Translation: X:380.50, Y:-15.60, Z:3.43 [[ 9.99963979e-01 -7.98292587e-03 -2.88345305e-03 3.80504973e+02] [ 7.98344916e-03 9.99968117e-01 1.70015287e-04 -1.55955685e+01] [ 2.88200390e-03 -1.93029064e-04 9.99995828e-01 3.43148223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.920714057 meters Centerline goodness [0,1] 0.9770669471373696 Centerline is valid? [True, True] Translation: X:380.53, Y:-15.60, Z:3.43 [[ 9.99985014e-01 -4.79616684e-03 -2.63986291e-03 3.80534512e+02] [ 4.79659424e-03 9.99988484e-01 1.55593869e-04 -1.55963553e+01] [ 2.63908625e-03 -1.68253888e-04 9.99996503e-01 3.43195611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.950714057 meters Centerline goodness [0,1] 0.9775900073475385 Centerline is valid? [True, True] Translation: X:380.57, Y:-15.59, Z:3.43 [[ 9.99995695e-01 1.19707445e-03 -2.67900532e-03 3.80565861e+02] [-1.19665543e-03 9.99999272e-01 1.58003965e-04 -1.55904867e+01] [ 2.67919251e-03 -1.54797438e-04 9.99996399e-01 3.43337935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.980714057 meters Centerline goodness [0,1] 0.9768537672964649 Centerline is valid? [True, True] Translation: X:380.59, Y:-15.59, Z:3.43 [[ 9.99988021e-01 4.36637069e-03 -2.21213434e-03 3.80594841e+02] [-4.36609335e-03 9.99990460e-01 1.30189946e-04 -1.55905030e+01] [ 2.21268170e-03 -1.20530001e-04 9.99997545e-01 3.43420315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01071405700003 meters Centerline goodness [0,1] 0.9812449660568404 Centerline is valid? [True, True] Translation: X:380.63, Y:-15.58, Z:3.44 [[ 9.99956303e-01 9.20167789e-03 -1.64952120e-03 3.80625727e+02] [-9.20153013e-03 9.99957660e-01 9.71399276e-05 -1.55802582e+01] [ 1.65034521e-03 -8.19575639e-05 9.99998635e-01 3.43534802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.040714057 meters Centerline goodness [0,1] 0.9810986686288486 Centerline is valid? [True, True] Translation: X:380.66, Y:-15.58, Z:3.44 [[ 9.99924978e-01 1.21593014e-02 -1.47988736e-03 3.80655424e+02] [-1.21591860e-02 9.99926071e-01 8.69732177e-05 -1.55795636e+01] [ 1.48083549e-03 -6.89724671e-05 9.99998901e-01 3.43515523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07071405700003 meters Centerline goodness [0,1] 0.9800474621569938 Centerline is valid? [True, True] Translation: X:380.68, Y:-15.58, Z:3.43 [[ 9.99918920e-01 1.26830087e-02 -1.13825212e-03 3.80684652e+02] [-1.26829411e-02 9.99919566e-01 6.66162800e-05 -1.55796539e+01] [ 1.13900546e-03 -5.21744942e-05 9.99999350e-01 3.43496248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.100714057 meters Centerline goodness [0,1] 0.9806456072440727 Centerline is valid? [True, True] Translation: X:380.71, Y:-15.58, Z:3.43 [[ 9.99916537e-01 1.28440152e-02 -1.39637363e-03 3.80712025e+02] [-1.28439137e-02 9.99917510e-01 8.15944504e-05 -1.55820237e+01] [ 1.39730644e-03 -6.36527379e-05 9.99999022e-01 3.43475905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13071405700003 meters Centerline goodness [0,1] 0.9795875810936052 Centerline is valid? [True, True] Translation: X:380.74, Y:-15.58, Z:3.43 [[ 9.99918768e-01 1.23296255e-02 -3.23078586e-03 3.80739282e+02] [-1.23290785e-02 9.99923976e-01 1.89172968e-04 -1.55846498e+01] [ 3.23287268e-03 -1.49324989e-04 9.99994763e-01 3.43324696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.160714057 meters Centerline goodness [0,1] 0.9805654527786776 Centerline is valid? [True, True] Translation: X:380.77, Y:-15.58, Z:3.43 [[ 9.99925835e-01 1.14017431e-02 -4.28079930e-03 3.80768197e+02] [-1.14007752e-02 9.99934978e-01 2.50445646e-04 -1.55832074e+01] [ 4.28337647e-03 -2.01622642e-04 9.99990806e-01 3.43302063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.190714057 meters Centerline goodness [0,1] 0.9805465493283928 Centerline is valid? [True, True] Translation: X:380.80, Y:-15.59, Z:3.43 [[ 9.99941024e-01 9.18211593e-03 -5.79980091e-03 3.80796745e+02] [-9.18030258e-03 9.99957803e-01 3.39202699e-04 -1.55866655e+01] [ 5.80267078e-03 -2.85938767e-04 9.99983123e-01 3.43094509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.220714057 meters Centerline goodness [0,1] 0.9801677401417914 Centerline is valid? [True, True] Translation: X:380.83, Y:-15.59, Z:3.43 [[ 9.99949881e-01 7.66350178e-03 -6.44245774e-03 3.80826430e+02] [-7.66123362e-03 9.99970581e-01 3.76668832e-04 -1.55892649e+01] [ 6.44515481e-03 -3.27292780e-04 9.99979176e-01 3.43032510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.250714057 meters Centerline goodness [0,1] 0.9784089329564936 Centerline is valid? [True, True] Translation: X:380.86, Y:-15.60, Z:3.43 [[ 9.99973746e-01 3.50973954e-03 -6.33944240e-03 3.80855537e+02] [-3.50746032e-03 9.99993780e-01 3.70612205e-04 -1.55963574e+01] [ 6.34070372e-03 -3.48367133e-04 9.99979837e-01 3.42919449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.280714057 meters Centerline goodness [0,1] 0.9787928599541592 Centerline is valid? [True, True] Translation: X:380.89, Y:-15.60, Z:3.43 [[ 9.99980675e-01 1.23408085e-03 -6.09319422e-03 3.80885089e+02] [-1.23193493e-03 9.99999178e-01 3.55922960e-04 -1.55974014e+01] [ 6.09362844e-03 -3.48409663e-04 9.99981373e-01 3.42970965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.310714057 meters Centerline goodness [0,1] 0.9778178706081003 Centerline is valid? [True, True] Translation: X:380.91, Y:-15.60, Z:3.43 [[ 9.99983618e-01 -2.32310581e-03 -5.23137055e-03 3.80914855e+02] [ 2.32473569e-03 9.99997251e-01 3.05499729e-04 -1.56016446e+01] [ 5.23064646e-03 -3.17656278e-04 9.99986270e-01 3.43056598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.340714057 meters Centerline goodness [0,1] 0.9774308777138616 Centerline is valid? [True, True] Translation: X:380.94, Y:-15.60, Z:3.43 [[ 9.99976796e-01 -4.45729688e-03 -5.15169675e-03 3.80943798e+02] [ 4.45890363e-03 9.99990014e-01 3.00444808e-04 -1.56035217e+01] [ 5.15030614e-03 -3.23408756e-04 9.99986685e-01 3.43146275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.370714057 meters Centerline goodness [0,1] 0.9768829058837182 Centerline is valid? [True, True] Translation: X:380.97, Y:-15.61, Z:3.43 [[ 9.99976364e-01 -4.82170505e-03 -4.90137877e-03 3.80973345e+02] [ 4.82316411e-03 9.99988328e-01 2.85906496e-04 -1.56063843e+01] [ 4.89994300e-03 -3.09539892e-04 9.99987947e-01 3.43146621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.400714057 meters Centerline goodness [0,1] 0.9768698960653304 Centerline is valid? [True, True] Translation: X:381.00, Y:-15.61, Z:3.43 [[ 9.99978282e-01 -5.08835566e-03 -4.18856095e-03 3.81004298e+02] [ 5.08942379e-03 9.99987019e-01 2.44392217e-04 -1.56071303e+01] [ 4.18726303e-03 -2.65704271e-04 9.99991198e-01 3.43194886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.430714057 meters Centerline goodness [0,1] 0.9768698960653304 Centerline is valid? [True, True] Translation: X:381.03, Y:-15.61, Z:3.43 [[ 9.99978282e-01 -5.08835566e-03 -4.18856095e-03 3.81034308e+02] [ 5.08942379e-03 9.99987019e-01 2.44392217e-04 -1.56088813e+01] [ 4.18726303e-03 -2.65704271e-04 9.99991198e-01 3.43181400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.460714057 meters Centerline goodness [0,1] 0.9767769990516504 Centerline is valid? [True, True] Translation: X:381.06, Y:-15.61, Z:3.43 [[ 9.99979741e-01 -5.35076235e-03 -3.44772465e-03 3.81064210e+02] [ 5.35148807e-03 9.99985660e-01 2.01301291e-04 -1.56103693e+01] [ 3.44659810e-03 -2.19747670e-04 9.99994036e-01 3.43232311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.490714057 meters Centerline goodness [0,1] 0.9759206470601868 Centerline is valid? [True, True] Translation: X:381.09, Y:-15.61, Z:3.43 [[ 9.99982016e-01 -4.89629891e-03 -3.46326826e-03 3.81094394e+02] [ 4.89702868e-03 9.99987989e-01 2.02266211e-04 -1.56127407e+01] [ 3.46223631e-03 -2.19222298e-04 9.99993982e-01 3.43194036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.520714057 meters Centerline goodness [0,1] 0.9765203645155291 Centerline is valid? [True, True] Translation: X:381.12, Y:-15.61, Z:3.43 [[ 9.99978332e-01 -3.70695000e-03 -5.44000783e-03 3.81124709e+02] [ 3.70873240e-03 9.99993072e-01 3.17595557e-04 -1.56114649e+01] [ 5.43879283e-03 -3.37764208e-04 9.99985153e-01 3.43071679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.550714057 meters Centerline goodness [0,1] 0.9774241647639905 Centerline is valid? [True, True] Translation: X:381.15, Y:-15.61, Z:3.43 [[ 9.99975529e-01 -3.67570420e-03 -5.95230640e-03 3.81154283e+02] [ 3.67783551e-03 9.99993176e-01 3.47157812e-04 -1.56125331e+01] [ 5.95098973e-03 -3.69040920e-04 9.99982225e-01 3.42940778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.580714057 meters Centerline goodness [0,1] 0.976850342354092 Centerline is valid? [True, True] Translation: X:381.18, Y:-15.61, Z:3.43 [[ 9.99973246e-01 -2.75232639e-03 -6.77731863e-03 3.81182696e+02] [ 2.75506572e-03 9.99996127e-01 3.94887936e-04 -1.56134141e+01] [ 6.77620552e-03 -4.13549329e-04 9.99976956e-01 3.42797862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.610714057 meters Centerline goodness [0,1] 0.976681698170518 Centerline is valid? [True, True] Translation: X:381.21, Y:-15.61, Z:3.43 [[ 9.99967810e-01 -2.77183183e-03 -7.52973212e-03 3.81210918e+02] [ 2.77519478e-03 9.99996054e-01 4.36210988e-04 -1.56144262e+01] [ 7.52849331e-03 -4.57093420e-04 9.99971556e-01 3.42684085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.640714057 meters Centerline goodness [0,1] 0.9762648636045699 Centerline is valid? [True, True] Translation: X:381.24, Y:-15.61, Z:3.43 [[ 9.99968044e-01 -1.46712157e-03 -7.85864516e-03 3.81239849e+02] [ 1.47074831e-03 9.99998815e-01 4.55736782e-04 -1.56138966e+01] [ 7.85796722e-03 -4.67280307e-04 9.99969017e-01 3.42687820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.670714057 meters Centerline goodness [0,1] 0.9769000794132761 Centerline is valid? [True, True] Translation: X:381.27, Y:-15.61, Z:3.43 [[ 9.99969408e-01 -7.88202750e-04 -7.78208312e-03 3.81268508e+02] [ 7.91718728e-04 9.99999586e-01 4.48733998e-04 -1.56140671e+01] [ 7.78172620e-03 -4.54881491e-04 9.99969618e-01 3.42704714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.700714057 meters Centerline goodness [0,1] 0.9795750867648438 Centerline is valid? [True, True] Translation: X:381.30, Y:-15.60, Z:3.43 [[ 9.99975544e-01 4.43635034e-04 -6.97962310e-03 3.81298488e+02] [-4.40840449e-04 9.99999822e-01 4.01925344e-04 -1.56019092e+01] [ 6.97980017e-03 -3.98838614e-04 9.99975561e-01 3.43064414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.730714057 meters Centerline goodness [0,1] 0.9754655908429891 Centerline is valid? [True, True] Translation: X:381.33, Y:-15.61, Z:3.43 [[ 9.99978852e-01 3.36282600e-04 -6.49474889e-03 3.81325468e+02] [-3.33863409e-04 9.99999874e-01 3.73564718e-04 -1.56141608e+01] [ 6.49487370e-03 -3.71388459e-04 9.99978839e-01 3.42842738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76071405700003 meters Centerline goodness [0,1] 0.9788616741741741 Centerline is valid? [True, True] Translation: X:381.36, Y:-15.60, Z:3.43 [[ 9.99986773e-01 -3.89541186e-04 -5.12863176e-03 3.81355365e+02] [ 3.91057283e-04 9.99999880e-01 2.94614860e-04 -1.56034741e+01] [ 5.12851638e-03 -2.96616552e-04 9.99986805e-01 3.43177322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.790714057 meters Centerline goodness [0,1] 0.9781499165039866 Centerline is valid? [True, True] Translation: X:381.38, Y:-15.60, Z:3.43 [[ 9.99986903e-01 -1.73113638e-03 -4.81637093e-03 3.81384407e+02] [ 1.73248819e-03 9.99998461e-01 2.76510782e-04 -1.56043422e+01] [ 4.81588484e-03 -2.84851466e-04 9.99988363e-01 3.43171928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82071405700003 meters Centerline goodness [0,1] 0.9776133383289621 Centerline is valid? [True, True] Translation: X:381.41, Y:-15.61, Z:3.43 [[ 9.99979867e-01 -4.71614451e-03 -4.24539936e-03 3.81413484e+02] [ 4.71722287e-03 9.99988844e-01 2.44029982e-04 -1.56086761e+01] [ 4.24420112e-03 -2.64051564e-04 9.99990958e-01 3.43194515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.850714057 meters Centerline goodness [0,1] 0.9770548667588534 Centerline is valid? [True, True] Translation: X:381.44, Y:-15.61, Z:3.43 [[ 9.99969408e-01 -6.34363159e-03 -4.57619498e-03 3.81444330e+02] [ 6.34490200e-03 9.99979836e-01 2.63148945e-04 -1.56107513e+01] [ 4.57443338e-03 -2.92176403e-04 9.99989495e-01 3.43165127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88071405700003 meters Centerline goodness [0,1] 0.9767993424914876 Centerline is valid? [True, True] Translation: X:381.48, Y:-15.61, Z:3.43 [[ 9.99935447e-01 -9.52881540e-03 -6.18903699e-03 3.81475410e+02] [ 9.53120033e-03 9.99954514e-01 3.55965639e-04 -1.56140849e+01] [ 6.18536355e-03 -4.14931611e-04 9.99980784e-01 3.43025164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.910714057 meters Centerline goodness [0,1] 0.975925925925926 Centerline is valid? [True, True] Translation: X:381.51, Y:-15.62, Z:3.43 [[ 9.99916888e-01 -1.06434338e-02 -7.27566697e-03 3.81505486e+02] [ 1.06467621e-02 9.99943234e-01 4.18883166e-04 -1.56206815e+01] [ 7.27079560e-03 -4.96310647e-04 9.99973444e-01 3.42829402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.940714057 meters Centerline goodness [0,1] 0.9787604374926496 Centerline is valid? [True, True] Translation: X:381.54, Y:-15.62, Z:3.43 [[ 9.99877665e-01 -1.24486119e-02 -9.47030579e-03 3.81537020e+02] [ 1.24543341e-02 9.99922293e-01 5.45485385e-04 -1.56156018e+01] [ 9.46277934e-03 -6.63365005e-04 9.99955007e-01 3.42736887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.970714057 meters Centerline goodness [0,1] 0.9779932685291972 Centerline is valid? [True, True] Translation: X:381.57, Y:-15.62, Z:3.43 [[ 9.99852583e-01 -1.33467002e-02 -1.08017065e-02 3.81566961e+02] [ 1.33541947e-02 9.99910635e-01 6.21989697e-04 -1.56175437e+01] [ 1.07924397e-02 -7.66146097e-04 9.99941466e-01 3.42645306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.000714057 meters Centerline goodness [0,1] 0.9785623319654734 Centerline is valid? [True, True] Translation: X:381.60, Y:-15.62, Z:3.43 [[ 9.99857184e-01 -1.31939406e-02 -1.05608186e-02 3.81598483e+02] [ 1.32011016e-02 9.99912676e-01 6.08649382e-04 -1.56187104e+01] [ 1.05518659e-02 -7.47976898e-04 9.99944048e-01 3.42678142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.030714057 meters Centerline goodness [0,1] 0.9776145835793053 Centerline is valid? [True, True] Translation: X:381.63, Y:-15.62, Z:3.43 [[ 9.99889573e-01 -1.13310236e-02 -9.61512610e-03 3.81628522e+02] [ 1.13368724e-02 9.99935582e-01 5.54002632e-04 -1.56188920e+01] [ 9.60822930e-03 -6.62946912e-04 9.99953620e-01 3.42731155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.060714057 meters Centerline goodness [0,1] 0.9777556912300629 Centerline is valid? [True, True] Translation: X:381.66, Y:-15.62, Z:3.43 [[ 9.99907597e-01 -9.76222968e-03 -9.46030081e-03 3.81659167e+02] [ 9.76782173e-03 9.99952145e-01 5.45081936e-04 -1.56180082e+01] [ 9.45452687e-03 -6.37438100e-04 9.99955102e-01 3.42713268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.090714057 meters Centerline goodness [0,1] 0.9792052414186013 Centerline is valid? [True, True] Translation: X:381.69, Y:-15.61, Z:3.43 [[ 9.99924170e-01 -7.98751151e-03 -9.37305902e-03 3.81690347e+02] [ 7.99292557e-03 9.99967910e-01 5.40301371e-04 -1.56126572e+01] [ 9.36844258e-03 -6.15178563e-04 9.99955926e-01 3.42798508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.120714057 meters Centerline goodness [0,1] 0.9797221892437373 Centerline is valid? [True, True] Translation: X:381.72, Y:-15.61, Z:3.43 [[ 9.99955936e-01 -3.92931575e-03 -8.52568084e-03 3.81721517e+02] [ 3.93364723e-03 9.99992142e-01 4.91342501e-04 -1.56078249e+01] [ 8.52368321e-03 -5.24857871e-04 9.99963535e-01 3.42932065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.150714057 meters Centerline goodness [0,1] 0.9801155351857157 Centerline is valid? [True, True] Translation: X:381.75, Y:-15.60, Z:3.43 [[ 9.99972551e-01 -7.02769342e-04 -7.37587919e-03 3.81752056e+02] [ 7.05922350e-04 9.99999661e-01 4.24880739e-04 -1.56031352e+01] [ 7.37557810e-03 -4.30075874e-04 9.99972708e-01 3.43075891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.180714057 meters Centerline goodness [0,1] 0.9807742829165771 Centerline is valid? [True, True] Translation: X:381.78, Y:-15.60, Z:3.43 [[ 9.99973006e-01 -1.94292856e-04 -7.34502915e-03 3.81780717e+02] [ 1.97384535e-04 9.99999892e-01 4.20198737e-04 -1.56003872e+01] [ 7.34494671e-03 -4.21637189e-04 9.99972937e-01 3.43181000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.210714057 meters Centerline goodness [0,1] 0.9792989433835685 Centerline is valid? [True, True] Translation: X:381.81, Y:-15.60, Z:3.43 [[ 9.99976212e-01 1.24935889e-04 -6.89635189e-03 3.81808700e+02] [-1.22217644e-04 9.99999915e-01 3.94577005e-04 -1.56043267e+01] [ 6.89640059e-03 -3.93724763e-04 9.99976142e-01 3.43134649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.240714057 meters Centerline goodness [0,1] 0.9794340164719403 Centerline is valid? [True, True] Translation: X:381.84, Y:-15.60, Z:3.43 [[ 9.99979627e-01 -2.59995182e-04 -6.37789961e-03 3.81837874e+02] [ 2.62325466e-04 9.99999899e-01 3.64534800e-04 -1.56048388e+01] [ 6.37780419e-03 -3.66200459e-04 9.99979595e-01 3.43125392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.270714057 meters Centerline goodness [0,1] 0.9794920939147101 Centerline is valid? [True, True] Translation: X:381.87, Y:-15.61, Z:3.43 [[ 9.99977586e-01 -1.19261627e-03 -6.58832002e-03 3.81865133e+02] [ 1.19512014e-03 9.99999215e-01 3.76123563e-04 -1.56085115e+01] [ 6.58786628e-03 -3.83988967e-04 9.99978226e-01 3.43062259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.300714057 meters Centerline goodness [0,1] 0.979249838636418 Centerline is valid? [True, True] Translation: X:381.89, Y:-15.61, Z:3.43 [[ 9.99963677e-01 -3.90285161e-03 -7.57705328e-03 3.81894793e+02] [ 3.90624206e-03 9.99992277e-01 4.32715145e-04 -1.56107058e+01] [ 7.57530594e-03 -4.62297231e-04 9.99971200e-01 3.42958843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.330714057 meters Centerline goodness [0,1] 0.9798025779864872 Centerline is valid? [True, True] Translation: X:381.92, Y:-15.61, Z:3.43 [[ 9.99950985e-01 -5.12789697e-03 -8.46953269e-03 3.81924577e+02] [ 5.13217396e-03 9.99986714e-01 4.83328368e-04 -1.56136135e+01] [ 8.46694170e-03 -5.26771793e-04 9.99964016e-01 3.42829245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.360714057 meters Centerline goodness [0,1] 0.9806197831718315 Centerline is valid? [True, True] Translation: X:381.95, Y:-15.62, Z:3.43 [[ 9.99920519e-01 -5.86713608e-03 -1.11594357e-02 3.81954259e+02] [ 5.87460361e-03 9.99982542e-01 6.36504942e-04 -1.56162807e+01] [ 1.11555064e-02 -7.02011613e-04 9.99937529e-01 3.42554936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.390714057 meters Centerline goodness [0,1] 0.9814974594957339 Centerline is valid? [True, True] Translation: X:381.98, Y:-15.61, Z:3.43 [[ 9.99910560e-01 -5.74242058e-03 -1.20788044e-02 3.81983496e+02] [ 5.75111155e-03 9.99983228e-01 6.84910763e-04 -1.56087659e+01] [ 1.20746688e-02 -7.54316056e-04 9.99926814e-01 3.42675896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.420714057 meters Centerline goodness [0,1] 0.9832844997358182 Centerline is valid? [True, True] Translation: X:382.01, Y:-15.61, Z:3.42 [[ 9.99908192e-01 -1.05890216e-03 -1.35087208e-02 3.82013312e+02] [ 1.06935888e-03 9.99999134e-01 7.66871618e-04 -1.56096252e+01] [ 1.35078971e-02 -7.81246884e-04 9.99908459e-01 3.42463929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.450714057 meters Centerline goodness [0,1] 0.9828942619992782 Centerline is valid? [True, True] Translation: X:382.04, Y:-15.61, Z:3.42 [[ 9.99912454e-01 1.45450687e-03 -1.31517397e-02 3.82042227e+02] [-1.44481914e-03 9.99998678e-01 7.46083753e-04 -1.56128229e+01] [ 1.31528075e-02 -7.27016551e-04 9.99913234e-01 3.42399591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.480714057 meters Centerline goodness [0,1] 0.9830025592737457 Centerline is valid? [True, True] Translation: X:382.07, Y:-15.61, Z:3.43 [[ 9.99914418e-01 5.65155497e-03 -1.17989930e-02 3.82073546e+02] [-5.64404829e-03 9.99983848e-01 6.69415369e-04 -1.56052782e+01] [ 1.18025857e-02 -6.02763993e-04 9.99930165e-01 3.42746495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51071405700003 meters Centerline goodness [0,1] 0.982857833655706 Centerline is valid? [True, True] Translation: X:382.10, Y:-15.60, Z:3.43 [[ 9.99913316e-01 7.59067070e-03 -1.07583519e-02 3.82102696e+02] [-7.58455311e-03 9.99971051e-01 6.09322478e-04 -1.56035315e+01] [ 1.07626656e-02 -5.27672368e-04 9.99941942e-01 3.42851100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.540714057 meters Centerline goodness [0,1] 0.9825019334880124 Centerline is valid? [True, True] Translation: X:382.13, Y:-15.60, Z:3.43 [[ 9.99895422e-01 1.05568367e-02 -9.88425253e-03 3.82132066e+02] [-1.05518197e-02 9.99944171e-01 5.59597647e-04 -1.56038738e+01] [ 9.88960829e-03 -4.55242275e-04 9.99950993e-01 3.42869065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57071405700003 meters Centerline goodness [0,1] 0.9835589239448898 Centerline is valid? [True, True] Translation: X:382.16, Y:-15.60, Z:3.43 [[ 9.99886634e-01 1.18480899e-02 -9.29200864e-03 3.82160869e+02] [-1.18437193e-02 9.99929723e-01 5.25248584e-04 -1.56049013e+01] [ 9.29757881e-03 -4.15137096e-04 9.99956690e-01 3.42864317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.600714057 meters Centerline goodness [0,1] 0.9824184316661434 Centerline is valid? [True, True] Translation: X:382.19, Y:-15.61, Z:3.43 [[ 9.99889273e-01 1.22734985e-02 -8.41449839e-03 3.82188380e+02] [-1.22699365e-02 9.99924609e-01 4.74806493e-04 -1.56065815e+01] [ 8.41969155e-03 -3.71508558e-04 9.99964485e-01 3.42987212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63071405700003 meters Centerline goodness [0,1] 0.9816901068680192 Centerline is valid? [True, True] Translation: X:382.22, Y:-15.61, Z:3.43 [[ 9.99903065e-01 1.15278579e-02 -7.80824967e-03 3.82216000e+02] [-1.15247735e-02 9.99933491e-01 4.39895812e-04 -1.56091204e+01] [ 7.81280140e-03 -3.49864861e-04 9.99969418e-01 3.43086416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.660714057 meters Centerline goodness [0,1] 0.9814116509547982 Centerline is valid? [True, True] Translation: X:382.25, Y:-15.61, Z:3.43 [[ 9.99942286e-01 8.03146946e-03 -7.13586038e-03 3.82245059e+02] [-8.02880635e-03 9.99967688e-01 4.01770617e-04 -1.56140325e+01] [ 7.13885662e-03 -3.44454988e-04 9.99974459e-01 3.43137508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.690714057 meters Centerline goodness [0,1] 0.9797909239811157 Centerline is valid? [True, True] Translation: X:382.27, Y:-15.62, Z:3.43 [[ 9.99957447e-01 6.21647935e-03 -6.81606686e-03 3.82273187e+02] [-6.21400998e-03 9.99980619e-01 3.83405391e-04 -1.56195241e+01] [ 6.81831819e-03 -3.41033969e-04 9.99976697e-01 3.43027642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.720714057 meters Centerline goodness [0,1] 0.9781721256363461 Centerline is valid? [True, True] Translation: X:382.30, Y:-15.63, Z:3.43 [[ 9.99974433e-01 2.33514715e-03 -6.75870954e-03 3.82302710e+02] [-2.33263050e-03 9.99997207e-01 3.80215421e-04 -1.56283276e+01] [ 6.75957852e-03 -3.64440128e-04 9.99977087e-01 3.42942934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.750714057 meters Centerline goodness [0,1] 0.9798242681820353 Centerline is valid? [True, True] Translation: X:382.33, Y:-15.63, Z:3.43 [[ 9.99977566e-01 6.62148173e-04 -6.66557003e-03 3.82332425e+02] [-6.59665382e-04 9.99999712e-01 3.74671670e-04 -1.56330323e+01] [ 6.66581620e-03 -3.70266218e-04 9.99977715e-01 3.42908714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.780714057 meters Centerline goodness [0,1] 0.9785770581070431 Centerline is valid? [True, True] Translation: X:382.36, Y:-15.64, Z:3.43 [[ 9.99962631e-01 -3.91785445e-03 -7.70626293e-03 3.82362929e+02] [ 3.92130981e-03 9.99992218e-01 4.33324409e-04 -1.56393375e+01] [ 7.70450525e-03 -4.63526860e-04 9.99970212e-01 3.42850411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.810714057 meters Centerline goodness [0,1] 0.9781587543813635 Centerline is valid? [True, True] Translation: X:382.39, Y:-15.64, Z:3.43 [[ 9.99945542e-01 -6.29469212e-03 -8.32409478e-03 3.82392691e+02] [ 6.29880403e-03 9.99980053e-01 4.67853195e-04 -1.56442096e+01] [ 8.32098375e-03 -5.20259558e-04 9.99965245e-01 3.42779227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.840714057 meters Centerline goodness [0,1] 0.9789521142802905 Centerline is valid? [True, True] Translation: X:382.42, Y:-15.65, Z:3.43 [[ 9.99893412e-01 -1.06822941e-02 -9.95253457e-03 3.82422017e+02] [ 1.06883871e-02 9.99942721e-01 5.59221321e-04 -1.56535558e+01] [ 9.94599073e-03 -6.65538257e-04 9.99950316e-01 3.42614633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.870714057 meters Centerline goodness [0,1] 0.9779455263967439 Centerline is valid? [True, True] Translation: X:382.45, Y:-15.66, Z:3.43 [[ 9.99852481e-01 -1.36076093e-02 -1.04808625e-02 3.82451791e+02] [ 1.36145325e-02 9.99907144e-01 5.89490132e-04 -1.56620208e+01] [ 1.04718678e-02 -7.32095215e-04 9.99944900e-01 3.42510646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.900714057 meters Centerline goodness [0,1] 0.9765676723730257 Centerline is valid? [True, True] Translation: X:382.48, Y:-15.67, Z:3.43 [[ 9.99846272e-01 -1.42827063e-02 -1.01703419e-02 3.82482234e+02] [ 1.42892636e-02 9.99897739e-01 5.72373366e-04 -1.56669201e+01] [ 1.01611268e-02 -7.17612073e-04 9.99948117e-01 3.42517491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.930714057 meters Centerline goodness [0,1] 0.9762585339349413 Centerline is valid? [True, True] Translation: X:382.51, Y:-15.67, Z:3.43 [[ 9.99862439e-01 -1.41701889e-02 -8.62021199e-03 3.82513171e+02] [ 1.41748981e-02 9.99899413e-01 4.85443559e-04 -1.56702562e+01] [ 8.61246608e-03 -6.07567408e-04 9.99962727e-01 3.42675427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.960714057 meters Centerline goodness [0,1] 0.9761364710329836 Centerline is valid? [True, True] Translation: X:382.54, Y:-15.67, Z:3.43 [[ 9.99876016e-01 -1.34896511e-02 -8.12289089e-03 3.82544571e+02] [ 1.34938142e-02 9.99908849e-01 4.57926291e-04 -1.56731175e+01] [ 8.11597321e-03 -5.67478296e-04 9.99966904e-01 3.42757972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.990714057 meters Centerline goodness [0,1] 0.9783722522607607 Centerline is valid? [True, True] Translation: X:382.58, Y:-15.67, Z:3.43 [[ 9.99890505e-01 -1.27778528e-02 -7.46353547e-03 3.82576125e+02] [ 1.27813493e-02 9.99918227e-01 4.20969673e-04 -1.56669363e+01] [ 7.45754607e-03 -5.16317633e-04 9.99972059e-01 3.42910034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.020714057 meters Centerline goodness [0,1] 0.9789039481437831 Centerline is valid? [True, True] Translation: X:382.61, Y:-15.67, Z:3.43 [[ 9.99902098e-01 -1.16637166e-02 -7.72991287e-03 3.82607408e+02] [ 1.16674362e-02 9.99931838e-01 4.36263756e-04 -1.56689347e+01] [ 7.72429753e-03 -5.26409310e-04 9.99970029e-01 3.42887935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.050714057 meters Centerline goodness [0,1] 0.9792829060432705 Centerline is valid? [True, True] Translation: X:382.64, Y:-15.67, Z:3.43 [[ 9.99906297e-01 -1.12995971e-02 -7.72768434e-03 3.82638170e+02] [ 1.13033141e-02 9.99936020e-01 4.37490890e-04 -1.56740375e+01] [ 7.72224645e-03 -5.24798338e-04 9.99970045e-01 3.42800834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.080714057 meters Centerline goodness [0,1] 0.9764805693681804 Centerline is valid? [True, True] Translation: X:382.67, Y:-15.69, Z:3.43 [[ 9.99902662e-01 -1.12079167e-02 -8.30961427e-03 3.82669262e+02] [ 1.12122178e-02 9.99937030e-01 4.71197084e-04 -1.56854125e+01] [ 8.30380987e-03 -5.64320423e-04 9.99965364e-01 3.42564242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.110714057 meters Centerline goodness [0,1] 0.979334665569531 Centerline is valid? [True, True] Translation: X:382.70, Y:-15.68, Z:3.43 [[ 9.99906874e-01 -1.08390718e-02 -8.29205219e-03 3.82701223e+02] [ 1.08433420e-02 9.99941099e-01 4.70184719e-04 -1.56764131e+01] [ 8.28646742e-03 -5.60054490e-04 9.99965510e-01 3.42796231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.140714057 meters Centerline goodness [0,1] 0.9782195413899124 Centerline is valid? [True, True] Translation: X:382.73, Y:-15.68, Z:3.43 [[ 9.99908733e-01 -1.03245006e-02 -8.71385273e-03 3.82731039e+02] [ 1.03291973e-02 9.99946530e-01 4.94167269e-04 -1.56844218e+01] [ 8.70828477e-03 -5.84129272e-04 9.99961912e-01 3.42765519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.170714057 meters Centerline goodness [0,1] 0.9788987800857237 Centerline is valid? [True, True] Translation: X:382.76, Y:-15.68, Z:3.43 [[ 9.99917883e-01 -9.72228525e-03 -8.34895019e-03 3.82762104e+02] [ 9.72657535e-03 9.99952584e-01 4.73397360e-04 -1.56818968e+01] [ 8.34395181e-03 -5.54565179e-04 9.99965035e-01 3.42894888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.200714057 meters Centerline goodness [0,1] 0.979793244098549 Centerline is valid? [True, True] Translation: X:382.79, Y:-15.68, Z:3.43 [[ 9.99937061e-01 -8.20984909e-03 -7.64674583e-03 3.82793122e+02] [ 8.21340546e-03 9.99966175e-01 4.33794976e-04 -1.56839743e+01] [ 7.64292579e-03 -4.96573498e-04 9.99970669e-01 3.42921864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.230714057 meters Centerline goodness [0,1] 0.9785203423613553 Centerline is valid? [True, True] Translation: X:382.82, Y:-15.69, Z:3.43 [[ 9.99967693e-01 -4.63349550e-03 -6.56831352e-03 3.82822392e+02] [ 4.63604051e-03 9.99989184e-01 3.72293758e-04 -1.56855707e+01] [ 6.56651746e-03 -4.02732698e-04 9.99978359e-01 3.42990461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26071405700003 meters Centerline goodness [0,1] 0.9788662940872587 Centerline is valid? [True, True] Translation: X:382.85, Y:-15.69, Z:3.43 [[ 9.99982836e-01 4.26542210e-04 -5.84337891e-03 3.82852012e+02] [-4.24614761e-04 9.99999855e-01 3.31088358e-04 -1.56868741e+01] [ 5.84351929e-03 -3.28601490e-04 9.99982873e-01 3.43040076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.290714057 meters Centerline goodness [0,1] 0.9794710386620943 Centerline is valid? [True, True] Translation: X:382.88, Y:-15.69, Z:3.43 [[ 9.99976847e-01 3.22959204e-03 -5.98957470e-03 3.82881710e+02] [-3.22761866e-03 9.99994734e-01 3.39106058e-04 -1.56862077e+01] [ 5.99063833e-03 -3.19766144e-04 9.99982005e-01 3.43037068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32071405700003 meters Centerline goodness [0,1] 0.9803211623915548 Centerline is valid? [True, True] Translation: X:382.91, Y:-15.69, Z:3.43 [[ 9.99942915e-01 8.46800321e-03 -6.51617524e-03 3.82910790e+02] [-8.46577886e-03 9.99964097e-01 3.68865440e-04 -1.56865038e+01] [ 6.51906484e-03 -3.13679885e-04 9.99978701e-01 3.42952433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.350714057 meters Centerline goodness [0,1] 0.9803211623915548 Centerline is valid? [True, True] Translation: X:382.94, Y:-15.69, Z:3.43 [[ 9.99943758e-01 8.36771125e-03 -6.51623253e-03 3.82938239e+02] [-8.36549136e-03 9.99964941e-01 3.67852572e-04 -1.56879605e+01] [ 6.51908216e-03 -3.13320396e-04 9.99978701e-01 3.42940098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38071405700003 meters Centerline goodness [0,1] 0.9815728858177032 Centerline is valid? [True, True] Translation: X:382.97, Y:-15.68, Z:3.43 [[ 9.99918348e-01 1.05076198e-02 -7.27235579e-03 3.82967718e+02] [-1.05049122e-02 9.99944738e-01 4.10415651e-04 -1.56840219e+01] [ 7.27626640e-03 -3.33986681e-04 9.99973472e-01 3.43020062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.410714057 meters Centerline goodness [0,1] 0.9815406294034759 Centerline is valid? [True, True] Translation: X:383.00, Y:-15.69, Z:3.43 [[ 9.99863643e-01 1.44772284e-02 -7.94391288e-03 3.82995994e+02] [-1.44741258e-02 9.99895144e-01 4.47918149e-04 -1.56906724e+01] [ 7.94956453e-03 -3.32875877e-04 9.99968346e-01 3.42790759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.440714057 meters Centerline goodness [0,1] 0.9834103761409766 Centerline is valid? [True, True] Translation: X:383.03, Y:-15.69, Z:3.43 [[ 9.99834442e-01 1.64974469e-02 -7.67618172e-03 3.83025375e+02] [-1.64946123e-02 9.99863861e-01 4.32431118e-04 -1.56895057e+01] [ 7.68227070e-03 -3.05743884e-04 9.99970444e-01 3.42908936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.470714057 meters Centerline goodness [0,1] 0.9847762245976741 Centerline is valid? [True, True] Translation: X:383.06, Y:-15.69, Z:3.43 [[ 9.99770473e-01 2.02711349e-02 -6.93414351e-03 3.83055632e+02] [-2.02689126e-02 9.99794488e-01 3.90631069e-04 -1.56867432e+01] [ 6.94063700e-03 -2.49993861e-04 9.99975882e-01 3.43127688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.500714057 meters Centerline goodness [0,1] 0.9851001522783179 Centerline is valid? [True, True] Translation: X:383.08, Y:-15.69, Z:3.43 [[ 9.99724425e-01 2.27075813e-02 -5.95317182e-03 3.83084513e+02] [-2.27059904e-02 9.99742130e-01 3.34693000e-04 -1.56882752e+01] [ 5.95923674e-03 -1.99428105e-04 9.99982224e-01 3.43120807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.530714057 meters Centerline goodness [0,1] 0.9858232349225658 Centerline is valid? [True, True] Translation: X:383.11, Y:-15.69, Z:3.43 [[ 9.99584593e-01 2.81746478e-02 -6.06880302e-03 3.83113735e+02] [-2.81730955e-02 9.99603001e-01 3.41146128e-04 -1.56914399e+01] [ 6.07600539e-03 -1.70027447e-04 9.99981526e-01 3.42997502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.560714057 meters Centerline goodness [0,1] 0.9867405640521959 Centerline is valid? [True, True] Translation: X:383.14, Y:-15.69, Z:3.43 [[ 9.99498881e-01 3.09607605e-02 -6.58923764e-03 3.83142484e+02] [-3.09589949e-02 9.99520587e-01 3.69808448e-04 -1.56931159e+01] [ 6.59752822e-03 -1.65626955e-04 9.99978222e-01 3.42905783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.590714057 meters Centerline goodness [0,1] 0.9864694039983145 Centerline is valid? [True, True] Translation: X:383.17, Y:-15.70, Z:3.43 [[ 9.99405388e-01 3.37062467e-02 -7.26352036e-03 3.83171290e+02] [-3.37041771e-02 9.99431770e-01 4.07184035e-04 -1.56952056e+01] [ 7.27311765e-03 -1.62130942e-04 9.99973537e-01 3.42856644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.620714057 meters Centerline goodness [0,1] 0.9865174315356575 Centerline is valid? [True, True] Translation: X:383.20, Y:-15.70, Z:3.43 [[ 9.99227416e-01 3.84376400e-02 -8.19257783e-03 3.83200476e+02] [-3.84351863e-02 9.99260991e-01 4.56796096e-04 -1.56983098e+01] [ 8.20408161e-03 -1.41559928e-04 9.99966336e-01 3.42741458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.650714057 meters Centerline goodness [0,1] 0.9873464830666171 Centerline is valid? [True, True] Translation: X:383.23, Y:-15.70, Z:3.43 [[ 9.99098180e-01 4.17246955e-02 -7.86620966e-03 3.83229029e+02] [-4.17225518e-02 9.99129140e-01 4.36495411e-04 -1.57024018e+01] [ 7.87757193e-03 -1.07903430e-04 9.99968966e-01 3.42738714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.680714057 meters Centerline goodness [0,1] 0.987745610975468 Centerline is valid? [True, True] Translation: X:383.26, Y:-15.71, Z:3.43 [[ 9.99052935e-01 4.29053977e-02 -7.23606534e-03 3.83257400e+02] [-4.29036283e-02 9.99079135e-01 3.99643285e-04 -1.57065499e+01] [ 7.24654876e-03 -8.88113392e-05 9.99973739e-01 3.42727556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.710714057 meters Centerline goodness [0,1] 0.9887325898847809 Centerline is valid? [True, True] Translation: X:383.29, Y:-15.71, Z:3.43 [[ 9.98954807e-01 4.52874839e-02 -6.19177426e-03 3.83285561e+02] [-4.52862446e-02 9.98973994e-01 3.40284263e-04 -1.57133156e+01] [ 6.20083208e-03 -5.95263963e-05 9.99980773e-01 3.42760703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.740714057 meters Centerline goodness [0,1] 0.9889863254587102 Centerline is valid? [True, True] Translation: X:383.31, Y:-15.72, Z:3.43 [[ 9.98913151e-01 4.62704153e-02 -5.61839851e-03 3.83314185e+02] [-4.62694191e-02 9.98928950e-01 3.07238714e-04 -1.57177303e+01] [ 5.62659698e-03 -4.69447569e-05 9.99984169e-01 3.42796938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.770714057 meters Centerline goodness [0,1] 0.9900401161986443 Centerline is valid? [True, True] Translation: X:383.34, Y:-15.72, Z:3.43 [[ 9.98864589e-01 4.74082204e-02 -4.68969488e-03 3.83342400e+02] [-4.74075451e-02 9.98875598e-01 2.55102074e-04 -1.57229750e+01] [ 4.69651571e-03 -3.24855073e-05 9.99988971e-01 3.42818407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.800714057 meters Centerline goodness [0,1] 0.9902315982572805 Centerline is valid? [True, True] Translation: X:383.37, Y:-15.73, Z:3.43 [[ 9.98874645e-01 4.73009424e-02 -3.47351480e-03 3.83370917e+02] [-4.73005753e-02 9.98880684e-01 1.87793809e-04 -1.57337164e+01] [ 3.47850966e-03 -2.32832263e-05 9.99993950e-01 3.42762667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.830714057 meters Centerline goodness [0,1] 0.9904724913178578 Centerline is valid? [True, True] Translation: X:383.40, Y:-15.74, Z:3.43 [[ 9.98904084e-01 4.66891651e-02 -3.27914103e-03 3.83397412e+02] [-4.66888344e-02 9.98909466e-01 1.77379115e-04 -1.57407275e+01] [ 3.28384670e-03 -2.40854500e-05 9.99994608e-01 3.42732564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.860714057 meters Centerline goodness [0,1] 0.9903902948793676 Centerline is valid? [True, True] Translation: X:383.42, Y:-15.75, Z:3.43 [[ 9.99041028e-01 4.37321392e-02 -2.12683813e-03 3.83424563e+02] [-4.37319938e-02 9.99043292e-01 1.14830905e-04 -1.57547841e+01] [ 2.12982517e-03 -2.17099136e-05 9.99997732e-01 3.42639791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.890714057 meters Centerline goodness [0,1] 0.9895937019274273 Centerline is valid? [True, True] Translation: X:383.45, Y:-15.76, Z:3.43 [[ 9.99140400e-01 4.14156740e-02 -1.78957270e-03 3.83453409e+02] [-4.14155675e-02 9.99142003e-01 9.65089875e-05 -1.57626539e+01] [ 1.79203423e-03 -2.23098595e-05 9.99998394e-01 3.42623945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.920714057 meters Centerline goodness [0,1] 0.9890161725067386 Centerline is valid? [True, True] Translation: X:383.48, Y:-15.78, Z:3.43 [[ 9.99348034e-01 3.60557441e-02 -1.86816658e-03 3.83481477e+02] [-3.60556190e-02 9.99349780e-01 1.00637654e-04 -1.57779841e+01] [ 1.87058042e-03 -3.32141392e-05 9.99998250e-01 3.42533721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.950714057 meters Centerline goodness [0,1] 0.9884396956160633 Centerline is valid? [True, True] Translation: X:383.51, Y:-15.79, Z:3.42 [[ 9.99445268e-01 3.32404250e-02 -2.05689685e-03 3.83509593e+02] [-3.32402676e-02 9.99447383e-01 1.10684928e-04 -1.57864541e+01] [ 2.05943939e-03 -4.22517254e-05 9.99997878e-01 3.42451831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.980714057 meters Centerline goodness [0,1] 0.9875611335670739 Centerline is valid? [True, True] Translation: X:383.54, Y:-15.80, Z:3.42 [[ 9.99617242e-01 2.75347559e-02 -2.68453469e-03 3.83538298e+02] [-2.75344667e-02 9.99620844e-01 1.44620038e-04 -1.58018759e+01] [ 2.68749891e-03 -7.06474519e-05 9.99996386e-01 3.42295833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01071405700003 meters Centerline goodness [0,1] 0.9876425008906305 Centerline is valid? [True, True] Translation: X:383.57, Y:-15.81, Z:3.42 [[ 9.99685385e-01 2.49419892e-02 -2.65092021e-03 3.83566710e+02] [-2.49416991e-02 9.99688897e-01 1.42455241e-04 -1.58090217e+01] [ 2.65364861e-03 -7.62919680e-05 9.99996476e-01 3.42268662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.040714057 meters Centerline goodness [0,1] 0.9866663713482026 Centerline is valid? [True, True] Translation: X:383.59, Y:-15.82, Z:3.42 [[ 9.99791742e-01 2.02816990e-02 -2.26408860e-03 3.83594575e+02] [-2.02814757e-02 9.99794302e-01 1.21581879e-04 -1.58244199e+01] [ 2.26608877e-03 -7.56375007e-05 9.99997430e-01 3.42197296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07071405700003 meters Centerline goodness [0,1] 0.984208658623137 Centerline is valid? [True, True] Translation: X:383.62, Y:-15.83, Z:3.42 [[ 9.99839882e-01 1.77647193e-02 -2.15062567e-03 3.83622817e+02] [-1.77645124e-02 9.99842192e-01 1.15262845e-04 -1.58328047e+01] [ 2.15233390e-03 -7.70395725e-05 9.99997681e-01 3.42186970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.100714057 meters Centerline goodness [0,1] 0.984614028126791 Centerline is valid? [True, True] Translation: X:383.65, Y:-15.84, Z:3.42 [[ 9.99900469e-01 1.40966082e-02 -5.81886324e-04 3.83652072e+02] [-1.40965925e-02 9.99900638e-01 3.10931015e-05 -1.58442965e+01] [ 5.82266814e-04 -2.28873924e-05 9.99999830e-01 3.42252749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13071405700003 meters Centerline goodness [0,1] 0.9846598047210774 Centerline is valid? [True, True] Translation: X:383.68, Y:-15.85, Z:3.42 [[ 9.99922464e-01 1.24522468e-02 8.84478871e-05 3.83680646e+02] [-1.24522464e-02 9.99922468e-01 -5.05431241e-06 -1.58510325e+01] [-8.85039671e-05 3.95254564e-06 9.99999996e-01 3.42260445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.160714057 meters Centerline goodness [0,1] 0.9822137421321578 Centerline is valid? [True, True] Translation: X:383.71, Y:-15.86, Z:3.42 [[ 9.99947628e-01 1.01684888e-02 1.15882364e-03 3.83709942e+02] [-1.01684234e-02 9.99948298e-01 -6.22661178e-05 -1.58618132e+01] [-1.15939688e-03 5.04794474e-05 9.99999327e-01 3.42246575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.190714057 meters Centerline goodness [0,1] 0.9828849782770878 Centerline is valid? [True, True] Translation: X:383.74, Y:-15.87, Z:3.42 [[ 9.99957446e-01 9.02518303e-03 1.91121712e-03 3.83738478e+02] [-9.02500344e-03 9.99959269e-01 -1.02570727e-04 -1.58725429e+01] [-1.91206499e-03 8.53176209e-05 9.99998168e-01 3.42275805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.220714057 meters Centerline goodness [0,1] 0.9829474650750968 Centerline is valid? [True, True] Translation: X:383.77, Y:-15.88, Z:3.42 [[ 9.99956142e-01 9.08991243e-03 2.25565273e-03 3.83766786e+02] [-9.08966270e-03 9.99958681e-01 -1.20938684e-04 -1.58755636e+01] [-2.25665885e-03 1.00430258e-04 9.99997449e-01 3.42258934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.250714057 meters Centerline goodness [0,1] 0.9834039393807049 Centerline is valid? [True, True] Translation: X:383.80, Y:-15.88, Z:3.42 [[ 9.99956506e-01 9.12670833e-03 1.92078581e-03 3.83796365e+02] [-9.12652765e-03 9.99958347e-01 -1.02809081e-04 -1.58791013e+01] [-1.92164411e-03 8.52745043e-05 9.99998150e-01 3.42243256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.280714057 meters Centerline goodness [0,1] 0.9831525653056326 Centerline is valid? [True, True] Translation: X:383.82, Y:-15.88, Z:3.42 [[ 9.99958028e-01 9.03620142e-03 1.51280077e-03 3.83824876e+02] [-9.03608910e-03 9.99959170e-01 -8.10632310e-05 -1.58836069e+01] [-1.51347151e-03 6.73900260e-05 9.99998852e-01 3.42175093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.310714057 meters Centerline goodness [0,1] 0.9833921030865004 Centerline is valid? [True, True] Translation: X:383.85, Y:-15.89, Z:3.42 [[ 9.99954827e-01 9.41397150e-03 1.31179915e-03 3.83853766e+02] [-9.41388744e-03 9.99955686e-01 -7.02383316e-05 -1.58881579e+01] [-1.31240224e-03 5.78860292e-05 9.99999137e-01 3.42075593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.340714057 meters Centerline goodness [0,1] 0.9834726897600173 Centerline is valid? [True, True] Translation: X:383.88, Y:-15.89, Z:3.42 [[ 9.99950561e-01 9.92346544e-03 6.33294459e-04 3.83882413e+02] [-9.92344587e-03 9.99950761e-01 -3.40287265e-05 -1.58944742e+01] [-6.33600959e-04 2.77425809e-05 9.99999799e-01 3.41954953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.370714057 meters Centerline goodness [0,1] 0.9846671004120581 Centerline is valid? [True, True] Translation: X:383.91, Y:-15.90, Z:3.42 [[ 9.99945235e-01 1.04585950e-02 3.80588309e-04 3.83911089e+02] [-1.04585879e-02 9.99945307e-01 -2.05511432e-05 -1.58976543e+01] [-3.80782429e-04 1.65696014e-05 9.99999927e-01 3.41914799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.400714057 meters Centerline goodness [0,1] 0.982670257123002 Centerline is valid? [True, True] Translation: X:383.94, Y:-15.90, Z:3.42 [[ 9.99940023e-01 1.09509414e-02 1.63063117e-04 3.83938860e+02] [-1.09509401e-02 9.99940037e-01 -9.05171804e-06 -1.59033253e+01] [-1.63152464e-04 7.26548072e-06 9.99999987e-01 3.41803648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.430714057 meters Centerline goodness [0,1] 0.9842066388599235 Centerline is valid? [True, True] Translation: X:383.97, Y:-15.90, Z:3.42 [[ 9.99934695e-01 1.14283085e-02 -1.00797017e-05 3.83967495e+02] [-1.14283085e-02 9.99934695e-01 2.05823356e-07 -1.59035479e+01] [ 1.00813956e-05 -9.06159747e-08 1.00000000e+00 3.41841005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.460714057 meters Centerline goodness [0,1] 0.9844068974503757 Centerline is valid? [True, True] Translation: X:384.00, Y:-15.91, Z:3.42 [[ 9.99920487e-01 1.25993118e-02 5.27016648e-04 3.83996074e+02] [-1.25992987e-02 9.99920625e-01 -2.82164243e-05 -1.59068716e+01] [-5.27330324e-04 2.15741406e-05 9.99999861e-01 3.41853432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.490714057 meters Centerline goodness [0,1] 0.9833315270402081 Centerline is valid? [True, True] Translation: X:384.02, Y:-15.91, Z:3.42 [[ 9.99908382e-01 1.35340592e-02 2.40080619e-04 3.84023593e+02] [-1.35340564e-02 9.99908410e-01 -1.31146687e-05 -1.59110762e+01] [-2.40236125e-04 9.86420246e-06 9.99999971e-01 3.41794055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.520714057 meters Centerline goodness [0,1] 0.9839342627322594 Centerline is valid? [True, True] Translation: X:384.05, Y:-15.91, Z:3.42 [[ 9.99885591e-01 1.50985797e-02 9.14812166e-04 3.84052120e+02] [-1.50985415e-02 9.99886009e-01 -4.85831954e-05 -1.59114465e+01] [-9.15441423e-04 3.47653076e-05 9.99999580e-01 3.41816549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.550714057 meters Centerline goodness [0,1] 0.9842178286507111 Centerline is valid? [True, True] Translation: X:384.08, Y:-15.91, Z:3.42 [[ 9.99869763e-01 1.60983273e-02 1.14064638e-03 3.84080260e+02] [-1.60982689e-02 9.99870413e-01 -6.04092773e-05 -1.59145146e+01] [-1.14147105e-03 4.20389777e-05 9.99999348e-01 3.41857569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.580714057 meters Centerline goodness [0,1] 0.9852801108321066 Centerline is valid? [True, True] Translation: X:384.11, Y:-15.92, Z:3.42 [[ 9.99829963e-01 1.83554788e-02 1.76682572e-03 3.84109275e+02] [-1.83553426e-02 9.99831522e-01 -9.32623045e-05 -1.59167018e+01] [-1.76823993e-03 6.08157551e-05 9.99998435e-01 3.41865137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.610714057 meters Centerline goodness [0,1] 0.9829681058798004 Centerline is valid? [True, True] Translation: X:384.14, Y:-15.92, Z:3.42 [[ 9.99822784e-01 1.87780294e-02 1.33651883e-03 3.84137138e+02] [-1.87779518e-02 9.99823676e-01 -7.06003922e-05 -1.59211281e+01] [-1.33760891e-03 4.54907945e-05 9.99999104e-01 3.41786628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.640714057 meters Centerline goodness [0,1] 0.9833163387065281 Centerline is valid? [True, True] Translation: X:384.17, Y:-15.93, Z:3.42 [[ 9.99811540e-01 1.93507393e-02 1.55996741e-03 3.84165011e+02] [-1.93506346e-02 9.99812756e-01 -8.21614244e-05 -1.59254880e+01] [-1.56126520e-03 5.19595810e-05 9.99998780e-01 3.41691675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.670714057 meters Centerline goodness [0,1] 0.9842908146705615 Centerline is valid? [True, True] Translation: X:384.19, Y:-15.93, Z:3.42 [[ 9.99811067e-01 1.94023319e-02 1.17453910e-03 3.84192424e+02] [-1.94022727e-02 9.99811756e-01 -6.18525493e-05 -1.59290642e+01] [-1.17551809e-03 3.90521353e-05 9.99999308e-01 3.41653068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.700714057 meters Centerline goodness [0,1] 0.9839110247273513 Centerline is valid? [True, True] Translation: X:384.22, Y:-15.93, Z:3.42 [[ 9.99820849e-01 1.88875280e-02 1.23721426e-03 3.84221574e+02] [-1.88874620e-02 9.99821614e-01 -6.49808958e-05 -1.59305155e+01] [-1.23822089e-03 4.16014170e-05 9.99999233e-01 3.41630535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.730714057 meters Centerline goodness [0,1] 0.9827906374157885 Centerline is valid? [True, True] Translation: X:384.25, Y:-15.94, Z:3.42 [[ 9.99818666e-01 1.90028857e-02 1.23491499e-03 3.84249553e+02] [-1.90028200e-02 9.99819428e-01 -6.48647778e-05 -1.59356087e+01] [-1.23592462e-03 4.13861484e-05 9.99999235e-01 3.41620620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76071405700003 meters Centerline goodness [0,1] 0.9846688691671525 Centerline is valid? [True, True] Translation: X:384.28, Y:-15.94, Z:3.42 [[ 9.99808749e-01 1.94860515e-02 1.66114053e-03 3.84278213e+02] [-1.94859341e-02 9.99810127e-01 -8.68549634e-05 -1.59366285e+01] [-1.66251759e-03 5.44694773e-05 9.99998617e-01 3.41619052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.790714057 meters Centerline goodness [0,1] 0.9847991547898833 Centerline is valid? [True, True] Translation: X:384.31, Y:-15.94, Z:3.42 [[ 9.99790713e-01 2.03931524e-02 1.62759569e-03 3.84307316e+02] [-2.03930410e-02 9.99792037e-01 -8.49982220e-05 -1.59370187e+01] [-1.62899059e-03 5.17888074e-05 9.99998672e-01 3.41614298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82071405700003 meters Centerline goodness [0,1] 0.9847655320161867 Centerline is valid? [True, True] Translation: X:384.34, Y:-15.94, Z:3.42 [[ 9.99723036e-01 2.34470978e-02 2.02119262e-03 3.84336181e+02] [-2.34469328e-02 9.99725077e-01 -1.05328855e-04 -1.59387884e+01] [-2.02310661e-03 5.79089146e-05 9.99997952e-01 3.41558542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.850714057 meters Centerline goodness [0,1] 0.984992033073511 Centerline is valid? [True, True] Translation: X:384.36, Y:-15.94, Z:3.42 [[ 9.99676467e-01 2.53500214e-02 2.08275486e-03 3.84363685e+02] [-2.53498504e-02 9.99678635e-01 -1.08419281e-04 -1.59407066e+01] [-2.08483397e-03 5.55866793e-05 9.99997825e-01 3.41546965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88071405700003 meters Centerline goodness [0,1] 0.9844363823712513 Centerline is valid? [True, True] Translation: X:384.39, Y:-15.94, Z:3.42 [[ 9.99573033e-01 2.91209728e-02 2.39181104e-03 3.84392292e+02] [-2.91207590e-02 9.99575893e-01 -1.24198074e-04 -1.59410534e+01] [-2.39441343e-03 5.44936922e-05 9.99997132e-01 3.41502183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.910714057 meters Centerline goodness [0,1] 0.9858172869354977 Centerline is valid? [True, True] Translation: X:384.42, Y:-15.94, Z:3.41 [[ 9.99491600e-01 3.17538153e-02 2.87004974e-03 3.84420513e+02] [-3.17535190e-02 9.99495719e-01 -1.48766493e-04 -1.59439647e+01] [-2.87332633e-03 5.75566817e-05 9.99995870e-01 3.41481041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.940714057 meters Centerline goodness [0,1] 0.9857241587836378 Centerline is valid? [True, True] Translation: X:384.45, Y:-15.94, Z:3.41 [[ 9.99455482e-01 3.28167173e-02 3.43562250e-03 3.84448869e+02] [-3.28162999e-02 9.99461384e-01 -1.77785154e-04 -1.59448366e+01] [-3.43960634e-03 6.49439279e-05 9.99994082e-01 3.41459668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.970714057 meters Centerline goodness [0,1] 0.9861881433843365 Centerline is valid? [True, True] Translation: X:384.48, Y:-15.95, Z:3.41 [[ 9.99441301e-01 3.32077076e-02 3.78614329e-03 3.84476264e+02] [-3.32072047e-02 9.99448470e-01 -1.95630728e-04 -1.59479433e+01] [-3.79055156e-03 6.97941938e-05 9.99992813e-01 3.41475224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.000714057 meters Centerline goodness [0,1] 0.9856778709064201 Centerline is valid? [True, True] Translation: X:384.51, Y:-15.95, Z:3.42 [[ 9.99409131e-01 3.39824459e-02 5.15584712e-03 3.84505368e+02] [-3.39815267e-02 9.99422426e-01 -2.65811457e-04 -1.59519067e+01] [-5.16190216e-03 9.04508411e-05 9.99986673e-01 3.41520186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.030714057 meters Centerline goodness [0,1] 0.9846989240800178 Centerline is valid? [True, True] Translation: X:384.53, Y:-15.96, Z:3.42 [[ 9.99328572e-01 3.64549255e-02 3.66654940e-03 3.84533187e+02] [-3.64544778e-02 9.99335297e-01 -1.88874082e-04 -1.59593901e+01] [-3.67099762e-03 5.50851233e-05 9.99993260e-01 3.41503431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.060714057 meters Centerline goodness [0,1] 0.9852501022803126 Centerline is valid? [True, True] Translation: X:384.56, Y:-15.96, Z:3.41 [[ 9.99474260e-01 3.17834657e-02 6.40426281e-03 3.84562102e+02] [-3.17820094e-02 9.99494770e-01 -3.29070021e-04 -1.59621979e+01] [-6.41148617e-03 1.25356675e-04 9.99979438e-01 3.41443254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.090714057 meters Centerline goodness [0,1] 0.9846530960247256 Centerline is valid? [True, True] Translation: X:384.59, Y:-15.97, Z:3.41 [[ 9.99507748e-01 3.08218531e-02 5.85444368e-03 3.84589633e+02] [-3.08206221e-02 9.99524887e-01 -3.00397126e-04 -1.59676846e+01] [-5.86092095e-03 1.19811659e-04 9.99982817e-01 3.41412566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.120714057 meters Centerline goodness [0,1] 0.981089532237136 Centerline is valid? [True, True] Translation: X:384.62, Y:-15.98, Z:3.41 [[ 9.99629746e-01 2.66911464e-02 5.28702681e-03 3.84617599e+02] [-2.66900870e-02 9.99643719e-01 -2.70848707e-04 -1.59796403e+01] [-5.29237241e-03 1.29637218e-04 9.99985987e-01 3.41295702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.150714057 meters Centerline goodness [0,1] 0.9808092829515025 Centerline is valid? [True, True] Translation: X:384.65, Y:-15.99, Z:3.41 [[ 9.99780504e-01 2.02851018e-02 5.24008171e-03 3.84647747e+02] [-2.02839744e-02 9.99794223e-01 -2.68216422e-04 -1.59875541e+01] [-5.24444422e-03 1.61867867e-04 9.99986235e-01 3.41227254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.180714057 meters Centerline goodness [0,1] 0.980097377637311 Centerline is valid? [True, True] Translation: X:384.68, Y:-15.99, Z:3.41 [[ 9.99847159e-01 1.65991887e-02 5.48867341e-03 3.84676992e+02] [-1.65978965e-02 9.99862206e-01 -2.80905488e-04 -1.59924173e+01] [-5.49257991e-03 1.89762121e-04 9.99984898e-01 3.41230760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.210714057 meters Centerline goodness [0,1] 0.976980408858603 Centerline is valid? [True, True] Translation: X:384.71, Y:-16.00, Z:3.41 [[ 9.99936203e-01 9.82059662e-03 5.58081805e-03 3.84706182e+02] [-9.81915596e-03 9.99951750e-01 -2.85486315e-04 -1.60047343e+01] [-5.58335242e-03 2.30669179e-04 9.99984386e-01 3.41216938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.240714057 meters Centerline goodness [0,1] 0.976980408858603 Centerline is valid? [True, True] Translation: X:384.74, Y:-16.01, Z:3.41 [[ 9.99935871e-01 9.85434146e-03 5.58081113e-03 3.84737008e+02] [-9.85290057e-03 9.99951418e-01 -2.85621486e-04 -1.60063438e+01] [-5.58335462e-03 2.30615992e-04 9.99984386e-01 3.41203092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.270714057 meters Centerline goodness [0,1] 0.9784573956530102 Centerline is valid? [True, True] Translation: X:384.77, Y:-16.01, Z:3.41 [[ 9.99961734e-01 6.68523310e-03 5.64261113e-03 3.84768065e+02] [-6.68370878e-03 9.99977622e-01 -2.88958147e-04 -1.60086121e+01] [-5.64441661e-03 2.51233520e-04 9.99984039e-01 3.41196070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.300714057 meters Centerline goodness [0,1] 0.97644730963171 Centerline is valid? [True, True] Translation: X:384.80, Y:-16.02, Z:3.41 [[ 9.99979000e-01 4.09755241e-03 5.02091797e-03 3.84797623e+02] [-4.09631235e-03 9.99991577e-01 -2.57239002e-04 -1.60181072e+01] [-5.02192973e-03 2.36666352e-04 9.99987362e-01 3.41180676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.330714057 meters Centerline goodness [0,1] 0.9754249697587063 Centerline is valid? [True, True] Translation: X:384.83, Y:-16.02, Z:3.41 [[ 9.99987517e-01 -1.67048702e-04 4.99380275e-03 3.84828462e+02] [ 1.68330455e-04 9.99999953e-01 -2.56249528e-04 -1.60213997e+01] [-4.99375971e-03 2.57086939e-04 9.99987498e-01 3.41136419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.360714057 meters Centerline goodness [0,1] 0.9750946787341934 Centerline is valid? [True, True] Translation: X:384.86, Y:-16.03, Z:3.41 [[ 9.99977364e-01 -3.45425258e-03 5.77399474e-03 3.84858309e+02] [ 3.45602184e-03 9.99993984e-01 -2.96468109e-04 -1.60279893e+01] [-5.77293593e-03 3.16416450e-04 9.99983286e-01 3.41189655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.390714057 meters Centerline goodness [0,1] 0.9733973333333333 Centerline is valid? [True, True] Translation: X:384.89, Y:-16.04, Z:3.41 [[ 9.99975131e-01 -4.20345204e-03 5.66290770e-03 3.84888833e+02] [ 4.20516799e-03 9.99991116e-01 -2.91143084e-04 -1.60366210e+01] [-5.66163358e-03 3.14949322e-04 9.99983923e-01 3.41257460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.420714057 meters Centerline goodness [0,1] 0.9748654651063466 Centerline is valid? [True, True] Translation: X:384.92, Y:-16.03, Z:3.41 [[ 9.99964348e-01 -5.44448126e-03 6.45446974e-03 3.84921379e+02] [ 5.44673887e-03 9.99985111e-01 -3.32247511e-04 -1.60314131e+01] [-6.45256472e-03 3.67391476e-04 9.99979114e-01 3.41258649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.450714057 meters Centerline goodness [0,1] 0.975958992607655 Centerline is valid? [True, True] Translation: X:384.95, Y:-16.04, Z:3.41 [[ 9.99964524e-01 -5.84496577e-03 6.06517473e-03 3.84952725e+02] [ 5.84696897e-03 9.99982857e-01 -3.12600161e-04 -1.60352075e+01] [-6.06324362e-03 3.48051960e-04 9.99981558e-01 3.41314154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.480714057 meters Centerline goodness [0,1] 0.9763413333333333 Centerline is valid? [True, True] Translation: X:384.98, Y:-16.04, Z:3.41 [[ 9.99950948e-01 -6.79730068e-03 7.20410661e-03 3.84984454e+02] [ 6.80015468e-03 9.99976810e-01 -3.71740568e-04 -1.60351452e+01] [-7.20141271e-03 4.20711372e-04 9.99973981e-01 3.41278430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51071405700003 meters Centerline goodness [0,1] 0.9751427110846043 Centerline is valid? [True, True] Translation: X:385.02, Y:-16.04, Z:3.41 [[ 9.99939252e-01 -8.59408601e-03 6.90174465e-03 3.85016258e+02] [ 8.59675098e-03 9.99962984e-01 -3.56555336e-04 -1.60395627e+01] [-6.89842490e-03 4.15866256e-04 9.99976119e-01 3.41157959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.540714057 meters Centerline goodness [0,1] 0.9751126871889086 Centerline is valid? [True, True] Translation: X:385.05, Y:-16.04, Z:3.41 [[ 9.99935081e-01 -9.75321632e-03 5.89141939e-03 3.85048374e+02] [ 9.75518046e-03 9.99952371e-01 -3.04745510e-04 -1.60426546e+01] [-5.88816654e-03 3.62197586e-04 9.99982599e-01 3.41118675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57071405700003 meters Centerline goodness [0,1] 0.9729454668815198 Centerline is valid? [True, True] Translation: X:385.08, Y:-16.05, Z:3.41 [[ 9.99912671e-01 -1.25186733e-02 4.23472319e-03 3.85077925e+02] [ 1.25197138e-02 9.99921601e-01 -2.19265847e-04 -1.60507099e+01] [-4.23164627e-03 2.72264221e-04 9.99991009e-01 3.40954192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.600714057 meters Centerline goodness [0,1] 0.9732599876813287 Centerline is valid? [True, True] Translation: X:385.11, Y:-16.05, Z:3.41 [[ 9.99890725e-01 -1.43232359e-02 3.65816264e-03 3.85109425e+02] [ 1.43240253e-02 9.99897388e-01 -1.89696369e-04 -1.60525591e+01] [-3.65507020e-03 2.42075254e-04 9.99993291e-01 3.40879950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63071405700003 meters Centerline goodness [0,1] 0.9744461924401547 Centerline is valid? [True, True] Translation: X:385.14, Y:-16.05, Z:3.41 [[ 9.99839490e-01 -1.77400465e-02 2.50699201e-03 3.85140676e+02] [ 1.77404281e-02 9.99842618e-01 -1.30053842e-04 -1.60532399e+01] [-2.50429029e-03 1.74508079e-04 9.99996849e-01 3.40753587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.660714057 meters Centerline goodness [0,1] 0.9713915279814661 Centerline is valid? [True, True] Translation: X:385.17, Y:-16.06, Z:3.41 [[ 9.99806235e-01 -1.95638982e-02 2.17839442e-03 3.85170039e+02] [ 1.95641904e-02 9.99808597e-01 -1.12915769e-04 -1.60605962e+01] [-2.17576839e-03 1.55512413e-04 9.99997621e-01 3.40737218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.690714057 meters Centerline goodness [0,1] 0.9712289791065059 Centerline is valid? [True, True] Translation: X:385.20, Y:-16.06, Z:3.41 [[ 9.99767853e-01 -2.13883861e-02 2.60326185e-03 3.85201531e+02] [ 2.13888106e-02 9.99771224e-01 -1.35344973e-04 -1.60566454e+01] [-2.59977147e-03 1.90994228e-04 9.99996602e-01 3.40830296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.720714057 meters Centerline goodness [0,1] 0.9709381663113006 Centerline is valid? [True, True] Translation: X:385.23, Y:-16.06, Z:3.41 [[ 9.99719738e-01 -2.34165787e-02 3.47985848e-03 3.85231349e+02] [ 2.34173499e-02 9.99725760e-01 -1.81052120e-04 -1.60583294e+01] [-3.47466454e-03 2.62490442e-04 9.99993929e-01 3.40987475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.750714057 meters Centerline goodness [0,1] 0.9709569265594635 Centerline is valid? [True, True] Translation: X:385.26, Y:-16.06, Z:3.41 [[ 9.99704449e-01 -2.40344031e-02 3.65532102e-03 3.85263450e+02] [ 2.40352594e-02 9.99711093e-01 -1.90511453e-04 -1.60584920e+01] [-3.64968615e-03 2.78311736e-04 9.99993301e-01 3.41033434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.780714057 meters Centerline goodness [0,1] 0.9711343722685314 Centerline is valid? [True, True] Translation: X:385.30, Y:-16.05, Z:3.41 [[ 9.99674355e-01 -2.51477653e-02 4.33276654e-03 3.85295991e+02] [ 2.51489804e-02 9.99683689e-01 -2.26184654e-04 -1.60544606e+01] [-4.32570800e-03 3.35075659e-04 9.99990588e-01 3.41150608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.810714057 meters Centerline goodness [0,1] 0.968762625725647 Centerline is valid? [True, True] Translation: X:385.33, Y:-16.06, Z:3.41 [[ 9.99659284e-01 -2.56121841e-02 5.03299874e-03 3.85327203e+02] [ 2.56138317e-02 9.99671877e-01 -2.63172832e-04 -1.60580445e+01] [-5.02460687e-03 3.91997547e-04 9.99987300e-01 3.41141590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.840714057 meters Centerline goodness [0,1] 0.971854446057914 Centerline is valid? [True, True] Translation: X:385.36, Y:-16.05, Z:3.41 [[ 9.99620856e-01 -2.72038738e-02 4.25365302e-03 3.85358949e+02] [ 2.72050667e-02 9.99629849e-01 -2.22809767e-04 -1.60526930e+01] [-4.24601724e-03 3.38446204e-04 9.99990928e-01 3.41160768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.870714057 meters Centerline goodness [0,1] 0.9711202928646357 Centerline is valid? [True, True] Translation: X:385.39, Y:-16.05, Z:3.41 [[ 9.99603324e-01 -2.79104849e-02 3.76813716e-03 3.85391476e+02] [ 2.79114263e-02 9.99610381e-01 -1.97469375e-04 -1.60512800e+01] [-3.76115755e-03 3.02565127e-04 9.99992881e-01 3.41155313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.900714057 meters Centerline goodness [0,1] 0.9714048106448311 Centerline is valid? [True, True] Translation: X:385.42, Y:-16.05, Z:3.41 [[ 9.99579489e-01 -2.88461927e-02 2.95690812e-03 3.85422703e+02] [ 2.88467769e-02 9.99583833e-01 -1.55131279e-04 -1.60533970e+01] [-2.95120260e-03 2.40363314e-04 9.99995616e-01 3.41134455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.930714057 meters Centerline goodness [0,1] 0.972178825946455 Centerline is valid? [True, True] Translation: X:385.45, Y:-16.05, Z:3.41 [[ 9.99514621e-01 -3.11148925e-02 1.54463396e-03 3.85453940e+02] [ 3.11150547e-02 9.99515806e-01 -8.11120402e-05 -1.60497668e+01] [-1.54136227e-03 1.29134040e-04 9.99998804e-01 3.41112525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.960714057 meters Centerline goodness [0,1] 0.9709462784279327 Centerline is valid? [True, True] Translation: X:385.49, Y:-16.05, Z:3.41 [[ 9.99456646e-01 -3.29291514e-02 1.44376264e-03 3.85485128e+02] [ 3.29292950e-02 9.99457681e-01 -7.58360678e-05 -1.60490256e+01] [-1.44048245e-03 1.23336948e-04 9.99998955e-01 3.41171093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.990714057 meters Centerline goodness [0,1] 0.9725059420569153 Centerline is valid? [True, True] Translation: X:385.52, Y:-16.05, Z:3.41 [[ 9.99445372e-01 -3.32787781e-02 1.21314710e-03 3.85517598e+02] [ 3.32788796e-02 9.99446103e-01 -6.35500872e-05 -1.60460978e+01] [-1.21036028e-03 1.03887017e-04 9.99999262e-01 3.41226103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.020714057 meters Centerline goodness [0,1] 0.9730356376127093 Centerline is valid? [True, True] Translation: X:385.55, Y:-16.05, Z:3.41 [[ 9.99470923e-01 -3.25094898e-02 1.00328774e-03 3.85548923e+02] [ 3.25095589e-02 9.99471423e-01 -5.26385959e-05 -1.60455503e+01] [-1.00104617e-03 8.52271878e-05 9.99999495e-01 3.41286363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.050714057 meters Centerline goodness [0,1] 0.9758309458673502 Centerline is valid? [True, True] Translation: X:385.58, Y:-16.04, Z:3.41 [[ 9.99504002e-01 -3.14890894e-02 4.32432923e-04 3.85581878e+02] [ 3.14891020e-02 9.99504095e-01 -2.24905308e-05 -1.60367796e+01] [-4.31510271e-04 3.60963000e-05 9.99999906e-01 3.41277534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.080714057 meters Centerline goodness [0,1] 0.9740192926045016 Centerline is valid? [True, True] Translation: X:385.61, Y:-16.04, Z:3.41 [[ 9.99555717e-01 -2.98051939e-02 -1.39768095e-04 3.85612153e+02] [ 2.98051953e-02 9.99555726e-01 7.89176134e-06 -1.60414299e+01] [ 1.39470784e-04 -1.20540705e-05 9.99999990e-01 3.41158065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.110714057 meters Centerline goodness [0,1] 0.9785715830216014 Centerline is valid? [True, True] Translation: X:385.64, Y:-16.03, Z:3.41 [[ 9.99681480e-01 -2.51248200e-02 -2.38355189e-03 3.85643632e+02] [ 2.51251916e-02 9.99684305e-01 1.26077143e-04 -1.60281183e+01] [ 2.37963175e-03 -1.85924183e-04 9.99997151e-01 3.41054261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.140714057 meters Centerline goodness [0,1] 0.9799273230662744 Centerline is valid? [True, True] Translation: X:385.67, Y:-16.02, Z:3.41 [[ 9.99803276e-01 -1.97083403e-02 -2.23400796e-03 3.85673401e+02] [ 1.97086530e-02 9.99805759e-01 1.18037394e-04 -1.60208525e+01] [ 2.23124770e-03 -1.62043461e-04 9.99997498e-01 3.41034637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.170714057 meters Centerline goodness [0,1] 0.980467902252702 Centerline is valid? [True, True] Translation: X:385.70, Y:-16.02, Z:3.41 [[ 9.99847224e-01 -1.73306626e-02 -2.27541692e-03 3.85702739e+02] [ 1.73309808e-02 9.99849800e-01 1.20193914e-04 -1.60219423e+01] [ 2.27299211e-03 -1.59610758e-04 9.99997404e-01 3.41029720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.200714057 meters Centerline goodness [0,1] 0.9808946270213876 Centerline is valid? [True, True] Translation: X:385.73, Y:-16.01, Z:3.41 [[ 9.99927021e-01 -1.19909373e-02 -1.47332368e-03 3.85734497e+02] [ 1.19910650e-02 9.99928102e-01 7.79131188e-05 -1.60102045e+01] [ 1.47228350e-03 -9.55741529e-05 9.99998912e-01 3.41154642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.230714057 meters Centerline goodness [0,1] 0.9831133077540049 Centerline is valid? [True, True] Translation: X:385.77, Y:-16.01, Z:3.41 [[ 9.99951096e-01 -9.81455145e-03 -1.21675157e-03 3.85766108e+02] [ 9.81463720e-03 9.99951833e-01 6.45269513e-05 -1.60075468e+01] [ 1.21605966e-03 -7.64657709e-05 9.99999258e-01 3.41215272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26071405700003 meters Centerline goodness [0,1] 0.9834378866482885 Centerline is valid? [True, True] Translation: X:385.80, Y:-16.00, Z:3.41 [[ 9.99983152e-01 -5.79856668e-03 -2.67296100e-04 3.85797258e+02] [ 5.79857068e-03 9.99983188e-01 1.41874300e-05 -1.60012217e+01] [ 2.67209340e-04 -1.57371264e-05 9.99999964e-01 3.41254561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.290714057 meters Centerline goodness [0,1] 0.9837837837837837 Centerline is valid? [True, True] Translation: X:385.83, Y:-16.00, Z:3.41 [[ 9.99991765e-01 -4.03039533e-03 -4.75537241e-04 3.85829099e+02] [ 4.03040787e-03 9.99991878e-01 2.54268368e-05 -1.59989781e+01] [ 4.75430899e-04 -2.73432364e-05 9.99999887e-01 3.41221524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32071405700003 meters Centerline goodness [0,1] 0.984310559277282 Centerline is valid? [True, True] Translation: X:385.86, Y:-15.99, Z:3.41 [[ 9.99999390e-01 -5.83633077e-05 -1.10306338e-03 3.85860529e+02] [ 5.84278973e-05 9.99999997e-01 5.85226250e-05 -1.59939386e+01] [ 1.10305996e-03 -5.85870390e-05 9.99999390e-01 3.41091145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.350714057 meters Centerline goodness [0,1] 0.9840463788331191 Centerline is valid? [True, True] Translation: X:385.89, Y:-15.99, Z:3.41 [[ 9.99990191e-01 3.28795921e-03 -2.96777992e-03 3.85890779e+02] [-3.28750700e-03 9.99994584e-01 1.57238380e-04 -1.59933046e+01] [ 2.96828084e-03 -1.47480241e-04 9.99995584e-01 3.40933980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38071405700003 meters Centerline goodness [0,1] 0.9847872177657319 Centerline is valid? [True, True] Translation: X:385.92, Y:-15.99, Z:3.41 [[ 9.99986183e-01 4.42549254e-03 -2.83690228e-03 3.85920209e+02] [-4.42508867e-03 9.99990198e-01 1.48623097e-04 -1.59914417e+01] [ 2.83753221e-03 -1.36067499e-04 9.99995965e-01 3.40917661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.410714057 meters Centerline goodness [0,1] 0.9842138543052134 Centerline is valid? [True, True] Translation: X:385.95, Y:-15.99, Z:3.41 [[ 9.99980881e-01 5.65214274e-03 -2.50800763e-03 3.85948736e+02] [-5.65182990e-03 9.99984020e-01 1.31807264e-04 -1.59904024e+01] [ 2.50871254e-03 -1.17629912e-04 9.99996846e-01 3.40909502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.440714057 meters Centerline goodness [0,1] 0.9842478455328897 Centerline is valid? [True, True] Translation: X:385.98, Y:-15.99, Z:3.41 [[ 9.99972545e-01 6.98191957e-03 -2.48242627e-03 3.85976885e+02] [-6.98161790e-03 9.99975620e-01 1.30166277e-04 -1.59903026e+01] [ 2.48327456e-03 -1.12831351e-04 9.99996910e-01 3.40911144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.470714057 meters Centerline goodness [0,1] 0.9848319748943033 Centerline is valid? [True, True] Translation: X:386.01, Y:-15.99, Z:3.41 [[ 9.99967674e-01 7.66529662e-03 -2.42768622e-03 3.86005683e+02] [-7.66501035e-03 9.99970615e-01 1.27202781e-04 -1.59904294e+01] [ 2.42858993e-03 -1.08590429e-04 9.99997045e-01 3.40949383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.500714057 meters Centerline goodness [0,1] 0.9855992296244419 Centerline is valid? [True, True] Translation: X:386.03, Y:-15.98, Z:3.41 [[ 9.99963123e-01 8.32149461e-03 -2.12266204e-03 3.86034794e+02] [-8.32127768e-03 9.99965371e-01 1.11008789e-04 -1.59847679e+01] [ 2.12351229e-03 -9.33414350e-05 9.99997741e-01 3.41109140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.530714057 meters Centerline goodness [0,1] 0.9852564242995159 Centerline is valid? [True, True] Translation: X:386.06, Y:-15.99, Z:3.41 [[ 9.99956524e-01 9.17485205e-03 -1.66514065e-03 3.86062858e+02] [-9.17472024e-03 9.99957908e-01 8.67816350e-05 -1.59878655e+01] [ 1.66586677e-03 -7.15006625e-05 9.99998610e-01 3.41115948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.560714057 meters Centerline goodness [0,1] 0.9859543791222035 Centerline is valid? [True, True] Translation: X:386.09, Y:-15.99, Z:3.41 [[ 9.99957830e-01 9.08574872e-03 -1.33688719e-03 3.86092050e+02] [-9.08566380e-03 9.99958722e-01 6.95768728e-05 -1.59851467e+01] [ 1.33746416e-03 -5.74274312e-05 9.99999104e-01 3.41167050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.590714057 meters Centerline goodness [0,1] 0.9860096923448018 Centerline is valid? [True, True] Translation: X:386.12, Y:-15.99, Z:3.41 [[ 9.99954847e-01 9.43598316e-03 -1.12514369e-03 3.86120610e+02] [-9.43592338e-03 9.99955479e-01 5.84259880e-05 -1.59860258e+01] [ 1.12564490e-03 -4.78065802e-05 9.99999365e-01 3.41206096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.620714057 meters Centerline goodness [0,1] 0.9851347505309017 Centerline is valid? [True, True] Translation: X:386.15, Y:-15.99, Z:3.41 [[ 9.99955293e-01 9.45184499e-03 -2.74219338e-04 3.86148527e+02] [-9.45184154e-03 9.99955330e-01 1.38923157e-05 -1.59882216e+01] [ 2.74338396e-04 -1.12998169e-05 9.99999962e-01 3.41188981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.650714057 meters Centerline goodness [0,1] 0.9847400316177762 Centerline is valid? [True, True] Translation: X:386.18, Y:-15.99, Z:3.41 [[ 9.99954314e-01 9.55587411e-03 2.35393689e-04 3.86177262e+02] [-9.55587141e-03 9.99954342e-01 -1.25714638e-05 -1.59901764e+01] [-2.35503073e-04 1.03214976e-05 9.99999972e-01 3.41216467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.680714057 meters Centerline goodness [0,1] 0.9843282114052152 Centerline is valid? [True, True] Translation: X:386.21, Y:-15.99, Z:3.41 [[ 9.99950713e-01 9.90054891e-03 7.42706266e-04 3.86205094e+02] [-9.90052268e-03 9.99950988e-01 -3.89906752e-05 -1.59941246e+01] [-7.43055893e-04 3.16355732e-05 9.99999723e-01 3.41254827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.710714057 meters Centerline goodness [0,1] 0.985390428211587 Centerline is valid? [True, True] Translation: X:386.23, Y:-15.99, Z:3.41 [[ 9.99957457e-01 9.19157740e-03 7.73784374e-04 3.86234327e+02] [-9.19154882e-03 9.99957756e-01 -4.04766176e-05 -1.59923967e+01] [-7.74123730e-04 3.33626187e-05 9.99999700e-01 3.41267095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.740714057 meters Centerline goodness [0,1] 0.9858138975715316 Centerline is valid? [True, True] Translation: X:386.26, Y:-16.00, Z:3.41 [[ 9.99968913e-01 7.76463592e-03 1.37242066e-03 3.86263485e+02] [-7.76454524e-03 9.99969853e-01 -7.13879441e-05 -1.59951830e+01] [-1.37293359e-03 6.07295025e-05 9.99999056e-01 3.41293984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.770714057 meters Centerline goodness [0,1] 0.9851979797538098 Centerline is valid? [True, True] Translation: X:386.29, Y:-16.00, Z:3.41 [[ 9.99988889e-01 4.53341311e-03 1.29250775e-03 3.86293941e+02] [-4.53333028e-03 9.99989722e-01 -6.70058067e-05 -1.60002757e+01] [-1.29279823e-03 6.11456977e-05 9.99999162e-01 3.41240643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.800714057 meters Centerline goodness [0,1] 0.9841311418156419 Centerline is valid? [True, True] Translation: X:386.32, Y:-16.00, Z:3.41 [[ 9.99997490e-01 2.16784710e-03 5.66389803e-04 3.86323868e+02] [-2.16783078e-03 9.99997650e-01 -2.94321191e-05 -1.60039606e+01] [-5.66452277e-04 2.82042080e-05 9.99999839e-01 3.41141068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.830714057 meters Centerline goodness [0,1] 0.983375623414122 Centerline is valid? [True, True] Translation: X:386.35, Y:-16.01, Z:3.41 [[ 9.99995902e-01 -2.72813902e-03 -8.67663405e-04 3.86353177e+02] [ 2.72817916e-03 9.99996277e-01 4.50809641e-05 -1.60114407e+01] [ 8.67537188e-04 -4.74479206e-05 9.99999623e-01 3.40975935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.860714057 meters Centerline goodness [0,1] 0.9834829914137773 Centerline is valid? [True, True] Translation: X:386.38, Y:-16.02, Z:3.41 [[ 9.99987992e-01 -4.85051664e-03 -6.99067115e-04 3.86382930e+02] [ 4.85054347e-03 9.99988235e-01 3.66945684e-05 -1.60163055e+01] [ 6.98880903e-04 -4.00849832e-05 9.99999755e-01 3.41035414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.890714057 meters Centerline goodness [0,1] 0.9835968639131006 Centerline is valid? [True, True] Translation: X:386.41, Y:-16.02, Z:3.41 [[ 9.99959289e-01 -9.01706064e-03 3.35155232e-04 3.86413161e+02] [ 9.01706697e-03 9.99959345e-01 -1.73867047e-05 -1.60190387e+01] [-3.34984829e-04 2.04081140e-05 9.99999944e-01 3.41153312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.920714057 meters Centerline goodness [0,1] 0.9831276260504201 Centerline is valid? [True, True] Translation: X:386.45, Y:-16.02, Z:3.41 [[ 9.99948062e-01 -1.01804381e-02 4.81568448e-04 3.86445563e+02] [ 1.01804512e-02 9.99948178e-01 -2.47287370e-05 -1.60219174e+01] [-4.81291743e-04 2.96300367e-05 9.99999884e-01 3.41200237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.950714057 meters Centerline goodness [0,1] 0.9829709195703432 Centerline is valid? [True, True] Translation: X:386.48, Y:-16.02, Z:3.41 [[ 9.99923660e-01 -1.23559907e-02 -6.24525700e-05 3.86476823e+02] [ 1.23559909e-02 9.99923662e-01 3.40971692e-06 -1.60238187e+01] [ 6.24056720e-05 -4.18112001e-06 9.99999998e-01 3.41080951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.980714057 meters Centerline goodness [0,1] 0.9832180990722913 Centerline is valid? [True, True] Translation: X:386.51, Y:-16.03, Z:3.41 [[ 9.99918958e-01 -1.27102307e-02 -7.26747603e-04 3.86508691e+02] [ 1.27102618e-02 9.99919221e-01 3.81967122e-05 -1.60253910e+01] [ 7.26203407e-04 -4.74307689e-05 9.99999735e-01 3.41007677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01071405700003 meters Centerline goodness [0,1] 0.9840860966185684 Centerline is valid? [True, True] Translation: X:386.54, Y:-16.02, Z:3.41 [[ 9.99915992e-01 -1.29106619e-02 -1.15082946e-03 3.86541421e+02] [ 1.29107399e-02 9.99916651e-01 6.03879192e-05 -1.60247264e+01] [ 1.14995389e-03 -7.52409060e-05 9.99999336e-01 3.40984254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.040714057 meters Centerline goodness [0,1] 0.9829141786165715 Centerline is valid? [True, True] Translation: X:386.57, Y:-16.03, Z:3.41 [[ 9.99911427e-01 -1.32221396e-02 -1.52096057e-03 3.86572571e+02] [ 1.32222761e-02 9.99912579e-01 7.97036098e-05 -1.60283212e+01] [ 1.51977375e-03 -9.98071108e-05 9.99998840e-01 3.40972456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07071405700003 meters Centerline goodness [0,1] 0.9826784037045936 Centerline is valid? [True, True] Translation: X:386.60, Y:-16.03, Z:3.41 [[ 9.99908068e-01 -1.35412932e-02 -6.99341492e-04 3.86604494e+02] [ 1.35413223e-02 9.99908311e-01 3.69066842e-05 -1.60299036e+01] [ 6.98777606e-04 -4.63732998e-05 9.99999755e-01 3.41058518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.100714057 meters Centerline goodness [0,1] 0.9833748416131428 Centerline is valid? [True, True] Translation: X:386.64, Y:-16.03, Z:3.41 [[ 9.99908337e-01 -1.35354244e-02 -3.32827167e-04 3.86637185e+02] [ 1.35354311e-02 9.99908392e-01 1.77609178e-05 -1.60298914e+01] [ 3.32556276e-04 -2.22642490e-05 9.99999944e-01 3.41112591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13071405700003 meters Centerline goodness [0,1] 0.9835580401183821 Centerline is valid? [True, True] Translation: X:386.67, Y:-16.03, Z:3.41 [[ 9.99908012e-01 -1.35611580e-02 2.48557512e-04 3.86669733e+02] [ 1.35611616e-02 9.99908043e-01 -1.27103283e-05 -1.60291231e+01] [-2.48362288e-04 1.60798877e-05 9.99999969e-01 3.41118749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.160714057 meters Centerline goodness [0,1] 0.9835580401183821 Centerline is valid? [True, True] Translation: X:386.70, Y:-16.03, Z:3.41 [[ 9.99909003e-01 -1.34879354e-02 2.48556559e-04 3.86701445e+02] [ 1.34879390e-02 9.99909034e-01 -1.27287067e-05 -1.60308452e+01] [-2.48362265e-04 1.60800641e-05 9.99999969e-01 3.41104510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.190714057 meters Centerline goodness [0,1] 0.9832805849612573 Centerline is valid? [True, True] Translation: X:386.73, Y:-16.03, Z:3.41 [[ 9.99906105e-01 -1.36911860e-02 -5.77117254e-04 3.86732475e+02] [ 1.36912061e-02 9.99906271e-01 3.08848884e-05 -1.60325561e+01] [ 5.76640311e-04 -3.87834197e-05 9.99999833e-01 3.40985983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.220714057 meters Centerline goodness [0,1] 0.9833241908941306 Centerline is valid? [True, True] Translation: X:386.76, Y:-16.03, Z:3.41 [[ 9.99898592e-01 -1.42138854e-02 -8.78073980e-04 3.86764362e+02] [ 1.42139318e-02 9.99898976e-01 4.66177508e-05 -1.60324640e+01] [ 8.77322654e-04 -5.90939070e-05 9.99999613e-01 3.40937344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.250714057 meters Centerline goodness [0,1] 0.9829838621143924 Centerline is valid? [True, True] Translation: X:386.79, Y:-16.04, Z:3.41 [[ 9.99869082e-01 -1.61267380e-02 -1.32181531e-03 3.86794584e+02] [ 1.61268445e-02 9.99869952e-01 6.99720747e-05 -1.60377311e+01] [ 1.32051499e-03 -9.12796240e-05 9.99999124e-01 3.40824176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.280714057 meters Centerline goodness [0,1] 0.982661873657446 Centerline is valid? [True, True] Translation: X:386.83, Y:-16.04, Z:3.41 [[ 9.99844167e-01 -1.76117848e-02 -1.21142671e-03 3.86826701e+02] [ 1.76118756e-02 9.99844897e-01 6.43355171e-05 -1.60364914e+01] [ 1.21010575e-03 -8.56609881e-05 9.99999264e-01 3.40821283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.310714057 meters Centerline goodness [0,1] 0.9813970813795522 Centerline is valid? [True, True] Translation: X:386.86, Y:-16.04, Z:3.41 [[ 9.99763881e-01 -2.16874569e-02 -1.35537699e-03 3.86856505e+02] [ 2.16875739e-02 9.99764794e-01 7.16854031e-05 -1.60396539e+01] [ 1.35350352e-03 -1.01063315e-04 9.99999079e-01 3.40800637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.340714057 meters Centerline goodness [0,1] 0.9813018478690252 Centerline is valid? [True, True] Translation: X:386.89, Y:-16.04, Z:3.41 [[ 9.99706572e-01 -2.41945552e-02 -1.18011361e-03 3.86887006e+02] [ 2.41946457e-02 9.99707265e-01 6.24716356e-05 -1.60419588e+01] [ 1.17825668e-03 -9.10057354e-05 9.99999302e-01 3.40808003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.370714057 meters Centerline goodness [0,1] 0.980292323223456 Centerline is valid? [True, True] Translation: X:386.92, Y:-16.05, Z:3.41 [[ 9.99566279e-01 -2.94370921e-02 -8.42951029e-04 3.86916432e+02] [ 2.94371404e-02 9.99566632e-01 4.49387049e-05 -1.60460990e+01] [ 8.41262856e-04 -6.97332818e-05 9.99999644e-01 3.40873489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.400714057 meters Centerline goodness [0,1] 0.9786865475276834 Centerline is valid? [True, True] Translation: X:386.95, Y:-16.05, Z:3.41 [[ 9.99464262e-01 -3.27281310e-02 -2.42052194e-04 3.86945460e+02] [ 3.27281350e-02 9.99464291e-01 1.27449307e-05 -1.60497024e+01] [ 2.41505407e-04 -2.06600196e-05 9.99999971e-01 3.40881198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.430714057 meters Centerline goodness [0,1] 0.9772151898734177 Centerline is valid? [True, True] Translation: X:386.98, Y:-16.05, Z:3.41 [[ 9.99266231e-01 -3.83010069e-02 1.82080775e-04 3.86976430e+02] [ 3.83010093e-02 9.99266247e-01 -9.60414812e-06 -1.60496953e+01] [-1.81579324e-04 1.65709784e-05 9.99999983e-01 3.40985562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.460714057 meters Centerline goodness [0,1] 0.976737532461816 Centerline is valid? [True, True] Translation: X:387.01, Y:-16.05, Z:3.41 [[ 9.99180418e-01 -4.04770147e-02 3.21746297e-04 3.87007117e+02] [ 4.04770222e-02 9.99180469e-01 -1.69576929e-05 -1.60518719e+01] [-3.20796219e-04 2.99671267e-05 9.99999948e-01 3.40989042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.490714057 meters Centerline goodness [0,1] 0.9736465196218849 Centerline is valid? [True, True] Translation: X:387.04, Y:-16.05, Z:3.41 [[ 9.99075881e-01 -4.29811848e-02 3.03195978e-05 3.87036395e+02] [ 4.29811849e-02 9.99075882e-01 -1.49033708e-06 -1.60544233e+01] [-3.02275224e-05 2.79213207e-06 1.00000000e+00 3.40919907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.520714057 meters Centerline goodness [0,1] 0.9732797456055119 Centerline is valid? [True, True] Translation: X:387.07, Y:-16.05, Z:3.41 [[ 9.99060050e-01 -4.33436460e-02 -5.87396255e-04 3.87068422e+02] [ 4.33436719e-02 9.99060221e-01 3.14701834e-05 -1.60538762e+01] [ 5.85480200e-04 -5.69005136e-05 9.99999827e-01 3.40889071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.550714057 meters Centerline goodness [0,1] 0.9777110163688175 Centerline is valid? [True, True] Translation: X:387.10, Y:-16.04, Z:3.41 [[ 9.99120586e-01 -4.19204152e-02 -8.55947074e-04 3.87100558e+02] [ 4.19204695e-02 9.99120950e-01 4.55970075e-05 -1.60434899e+01] [ 8.53283208e-04 -8.14386122e-05 9.99999633e-01 3.40862472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.580714057 meters Centerline goodness [0,1] 0.9730270618843254 Centerline is valid? [True, True] Translation: X:387.13, Y:-16.05, Z:3.41 [[ 9.99231052e-01 -3.91749957e-02 -1.61980636e-03 3.87130434e+02] [ 3.91751860e-02 9.99232354e-01 8.59156160e-05 -1.60474799e+01] [ 1.61519717e-03 -1.49305767e-04 9.99998684e-01 3.40751743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.610714057 meters Centerline goodness [0,1] 0.9783244680851064 Centerline is valid? [True, True] Translation: X:387.16, Y:-16.04, Z:3.41 [[ 9.99305682e-01 -3.71960076e-02 -2.14722255e-03 3.87162025e+02] [ 3.71963379e-02 9.99307970e-01 1.14091656e-04 -1.60368478e+01] [ 2.14149285e-03 -1.93881256e-04 9.99997688e-01 3.40803088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.640714057 meters Centerline goodness [0,1] 0.9740839440373085 Centerline is valid? [True, True] Translation: X:387.19, Y:-16.04, Z:3.41 [[ 9.99358527e-01 -3.57405093e-02 -2.26961021e-03 3.87192503e+02] [ 3.57408750e-02 9.99361084e-01 1.20736514e-04 -1.60444428e+01] [ 2.26384493e-03 -2.01776919e-04 9.99997417e-01 3.40731903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.670714057 meters Centerline goodness [0,1] 0.9754763545812304 Centerline is valid? [True, True] Translation: X:387.22, Y:-16.04, Z:3.41 [[ 9.99506825e-01 -3.13615102e-02 -1.60099154e-03 3.87222522e+02] [ 3.13616864e-02 9.99508098e-01 8.50463244e-05 -1.60405086e+01] [ 1.59753683e-03 -1.35214176e-04 9.99998715e-01 3.40727297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.700714057 meters Centerline goodness [0,1] 0.980437053998177 Centerline is valid? [True, True] Translation: X:387.25, Y:-16.02, Z:3.41 [[ 9.99591456e-01 -2.85472558e-02 -1.40557950e-03 3.87254155e+02] [ 2.85473890e-02 9.99592437e-01 7.47780916e-05 -1.60246290e+01] [ 1.40287193e-03 -1.14873166e-04 9.99999009e-01 3.40818724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.730714057 meters Centerline goodness [0,1] 0.9790172524812931 Centerline is valid? [True, True] Translation: X:387.28, Y:-16.03, Z:3.41 [[ 9.99751969e-01 -2.22469599e-02 -1.03618554e-03 3.87284369e+02] [ 2.22470289e-02 9.99752503e-01 5.50425437e-05 -1.60257696e+01] [ 1.03470455e-03 -7.80809410e-05 9.99999462e-01 3.40768008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76071405700003 meters Centerline goodness [0,1] 0.9804223247931857 Centerline is valid? [True, True] Translation: X:387.31, Y:-16.02, Z:3.41 [[ 9.99830232e-01 -1.84248980e-02 -1.76534398e-04 3.87314941e+02] [ 1.84248999e-02 9.99830247e-01 9.38702165e-06 -1.60179307e+01] [ 1.76331476e-04 -1.26380566e-05 9.99999984e-01 3.40844603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.790714057 meters Centerline goodness [0,1] 0.9820059458613676 Centerline is valid? [True, True] Translation: X:387.35, Y:-16.01, Z:3.41 [[ 9.99956521e-01 -9.30643521e-03 5.88349664e-04 3.87345662e+02] [ 9.30645521e-03 9.99956694e-01 -3.12702001e-05 -1.60078966e+01] [-5.88033171e-04 3.67442903e-05 9.99999826e-01 3.40932518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82071405700003 meters Centerline goodness [0,1] 0.9821812320916905 Centerline is valid? [True, True] Translation: X:387.38, Y:-16.00, Z:3.41 [[ 9.99985510e-01 -5.24834595e-03 1.19775852e-03 3.87376794e+02] [ 5.24842591e-03 9.99986225e-01 -6.36193490e-05 -1.60043791e+01] [-1.19740812e-03 6.99047740e-05 9.99999281e-01 3.40949197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.850714057 meters Centerline goodness [0,1] 0.9835125448028674 Centerline is valid? [True, True] Translation: X:387.41, Y:-16.00, Z:3.41 [[ 9.99996337e-01 2.03663270e-03 1.78269914e-03 3.87406363e+02] [-2.03646694e-03 9.99997922e-01 -9.47970546e-05 -1.59998627e+01] [-1.78288850e-03 9.11662996e-05 9.99998406e-01 3.40892015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88071405700003 meters Centerline goodness [0,1] 0.9822382898459604 Centerline is valid? [True, True] Translation: X:387.44, Y:-16.00, Z:3.41 [[ 9.99987802e-01 4.61721617e-03 1.75406121e-03 3.87437647e+02] [-4.61705987e-03 9.99989337e-01 -9.31449879e-05 -1.59986167e+01] [-1.75447258e-03 8.50452461e-05 9.99998457e-01 3.40854834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.910714057 meters Centerline goodness [0,1] 0.9835619518776704 Centerline is valid? [True, True] Translation: X:387.47, Y:-16.00, Z:3.41 [[ 9.99966500e-01 8.15230108e-03 7.33757024e-04 3.87467261e+02] [-8.15227457e-03 9.99966769e-01 -3.91234339e-05 -1.59966548e+01] [-7.34051586e-04 3.31403345e-05 9.99999730e-01 3.40749630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.940714057 meters Centerline goodness [0,1] 0.9840643736194383 Centerline is valid? [True, True] Translation: X:387.50, Y:-15.99, Z:3.41 [[ 9.99961096e-01 8.82076044e-03 -2.30825137e-05 3.87496286e+02] [-8.82076042e-03 9.99961096e-01 9.08670007e-07 -1.59941535e+01] [ 2.30896308e-05 -7.05029333e-07 1.00000000e+00 3.40674501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.970714057 meters Centerline goodness [0,1] 0.9840290135832226 Centerline is valid? [True, True] Translation: X:387.52, Y:-16.00, Z:3.41 [[ 9.99963362e-01 8.53255515e-03 -6.86152194e-04 3.87523692e+02] [-8.53253249e-03 9.99963597e-01 3.59438396e-05 -1.60002398e+01] [ 6.86433908e-04 -3.00879068e-05 9.99999764e-01 3.40538408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.000714057 meters Centerline goodness [0,1] 0.9839793281653747 Centerline is valid? [True, True] Translation: X:387.55, Y:-16.00, Z:3.41 [[ 9.99977109e-01 6.70691342e-03 -8.94022627e-04 3.87553678e+02] [-6.70687393e-03 9.99977508e-01 4.71572140e-05 -1.60004268e+01] [ 8.94318797e-04 -4.11600375e-05 9.99999599e-01 3.40536356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.030714057 meters Centerline goodness [0,1] 0.9827970547837247 Centerline is valid? [True, True] Translation: X:387.58, Y:-16.01, Z:3.40 [[ 9.99984433e-01 5.49397786e-03 -9.74394030e-04 3.87581846e+02] [-5.49393049e-03 9.99984907e-01 5.12849266e-05 -1.60077234e+01] [ 9.74661082e-04 -4.59308752e-05 9.99999524e-01 3.40496522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.060714057 meters Centerline goodness [0,1] 0.9837652833757402 Centerline is valid? [True, True] Translation: X:387.61, Y:-16.01, Z:3.40 [[ 9.99997621e-01 1.97696301e-03 -9.21364815e-04 3.87611672e+02] [-1.97691906e-03 9.99998045e-01 4.86070396e-05 -1.60091292e+01] [ 9.21459108e-04 -4.67854603e-05 9.99999574e-01 3.40497236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.090714057 meters Centerline goodness [0,1] 0.9810981906344004 Centerline is valid? [True, True] Translation: X:387.64, Y:-16.02, Z:3.40 [[ 9.99999900e-01 9.09860624e-05 -4.37011862e-04 3.87641079e+02] [-9.09760146e-05 9.99999996e-01 2.30119416e-05 -1.60178472e+01] [ 4.37013954e-04 -2.29721818e-05 9.99999904e-01 3.40433257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.120714057 meters Centerline goodness [0,1] 0.9808432568714405 Centerline is valid? [True, True] Translation: X:387.67, Y:-16.02, Z:3.40 [[ 9.99987221e-01 -5.04966122e-03 -2.44100204e-04 3.87671676e+02] [ 5.04966453e-03 9.99987250e-01 1.29168717e-05 -1.60223274e+01] [ 2.44031866e-04 -1.41493308e-05 9.99999970e-01 3.40413946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.150714057 meters Centerline goodness [0,1] 0.9798490362582558 Centerline is valid? [True, True] Translation: X:387.70, Y:-16.03, Z:3.40 [[ 9.99967893e-01 -8.00280781e-03 -4.10057826e-04 3.87701360e+02] [ 8.00281736e-03 9.99967977e-01 2.16660728e-05 -1.60281129e+01] [ 4.09871305e-04 -2.49469950e-05 9.99999916e-01 3.40368505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.180714057 meters Centerline goodness [0,1] 0.9817806960536046 Centerline is valid? [True, True] Translation: X:387.73, Y:-16.03, Z:3.40 [[ 9.99904384e-01 -1.38190039e-02 -5.08655047e-04 3.87732984e+02] [ 1.38190194e-02 9.99904512e-01 2.70141361e-05 -1.60265521e+01] [ 5.08233168e-04 -3.40406670e-05 9.99999870e-01 3.40391851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.210714057 meters Centerline goodness [0,1] 0.9800349165137204 Centerline is valid? [True, True] Translation: X:387.76, Y:-16.03, Z:3.40 [[ 9.99797892e-01 -2.00950106e-02 -6.04573340e-04 3.87763040e+02] [ 2.00950336e-02 9.99798074e-01 3.19268179e-05 -1.60333864e+01] [ 6.03809692e-04 -4.40692868e-05 9.99999817e-01 3.40361207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.240714057 meters Centerline goodness [0,1] 0.9806818436191883 Centerline is valid? [True, True] Translation: X:387.79, Y:-16.04, Z:3.40 [[ 9.99746465e-01 -2.25135916e-02 -3.80185435e-04 3.87794416e+02] [ 2.25136009e-02 9.99746537e-01 2.02701406e-05 -1.60367949e+01] [ 3.79632719e-04 -2.88243446e-05 9.99999928e-01 3.40357711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.270714057 meters Centerline goodness [0,1] 0.9789888672356248 Centerline is valid? [True, True] Translation: X:387.82, Y:-16.04, Z:3.40 [[ 9.99685172e-01 -2.50898462e-02 -2.38617735e-04 3.87823920e+02] [ 2.50898499e-02 9.99685200e-01 1.26213675e-05 -1.60427277e+01] [ 2.38225950e-04 -1.86042771e-05 9.99999971e-01 3.40345458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.300714057 meters Centerline goodness [0,1] 0.9776791717090224 Centerline is valid? [True, True] Translation: X:387.85, Y:-16.05, Z:3.40 [[ 9.99573186e-01 -2.92138067e-02 1.66996587e-05 3.87854012e+02] [ 2.92138067e-02 9.99573186e-01 -8.69537911e-07 -1.60469765e+01] [-1.66671286e-05 1.35702738e-06 1.00000000e+00 3.40363064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.330714057 meters Centerline goodness [0,1] 0.9779266762280387 Centerline is valid? [True, True] Translation: X:387.89, Y:-16.05, Z:3.40 [[ 9.99534690e-01 -3.05010699e-02 -2.97488647e-04 3.87886092e+02] [ 3.05010760e-02 9.99534734e-01 1.60713818e-05 -1.60507477e+01] [ 2.96860042e-04 -2.51376274e-05 9.99999956e-01 3.40323935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.360714057 meters Centerline goodness [0,1] 0.9771479780441358 Centerline is valid? [True, True] Translation: X:387.92, Y:-16.05, Z:3.40 [[ 9.99475113e-01 -3.23894428e-02 -6.50454629e-04 3.87917176e+02] [ 3.23894721e-02 9.99475323e-01 3.46776515e-05 -1.60537014e+01] [ 6.48990161e-04 -5.57273317e-05 9.99999788e-01 3.40251568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.390714057 meters Centerline goodness [0,1] 0.9766733143612611 Centerline is valid? [True, True] Translation: X:387.95, Y:-16.05, Z:3.40 [[ 9.99476880e-01 -3.23329536e-02 -7.39035864e-04 3.87950613e+02] [ 3.23329917e-02 9.99477151e-01 3.97325614e-05 -1.60545978e+01] [ 7.37364789e-04 -6.36070170e-05 9.99999726e-01 3.40219993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.420714057 meters Centerline goodness [0,1] 0.975660047514456 Centerline is valid? [True, True] Translation: X:387.98, Y:-16.06, Z:3.40 [[ 9.99490199e-01 -3.19032410e-02 -1.23493357e-03 3.87981148e+02] [ 3.19033466e-02 9.99490957e-01 6.58977391e-05 -1.60594307e+01] [ 1.23220258e-03 -1.05262658e-04 9.99999235e-01 3.40167019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.450714057 meters Centerline goodness [0,1] 0.9761573658711645 Centerline is valid? [True, True] Translation: X:388.01, Y:-16.06, Z:3.40 [[ 9.99505050e-01 -3.14137175e-02 -1.68317113e-03 3.88013470e+02] [ 3.14139131e-02 9.99506457e-01 8.99150376e-05 -1.60606959e+01] [ 1.67951585e-03 -1.42745526e-04 9.99998579e-01 3.40181140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.480714057 meters Centerline goodness [0,1] 0.9776986632632498 Centerline is valid? [True, True] Translation: X:388.05, Y:-16.05, Z:3.40 [[ 9.99499935e-01 -3.15654411e-02 -1.87144457e-03 3.88046251e+02] [ 3.15656834e-02 9.99501675e-01 1.00086477e-04 -1.60535278e+01] [ 1.86735270e-03 -1.59109854e-04 9.99998244e-01 3.40248516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51071405700003 meters Centerline goodness [0,1] 0.9752194114610222 Centerline is valid? [True, True] Translation: X:388.08, Y:-16.06, Z:3.40 [[ 9.99494213e-01 -3.17436459e-02 -1.91284992e-03 3.88076823e+02] [ 3.17438995e-02 9.99496030e-01 1.02314732e-04 -1.60608462e+01] [ 1.90863806e-03 -1.62984298e-04 9.99998165e-01 3.40212465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.540714057 meters Centerline goodness [0,1] 0.9732908380841226 Centerline is valid? [True, True] Translation: X:388.11, Y:-16.07, Z:3.40 [[ 9.99484242e-01 -3.20577633e-02 -1.88386526e-03 3.88107633e+02] [ 3.20580099e-02 9.99486005e-01 1.00853597e-04 -1.60656885e+01] [ 1.87966382e-03 -1.61194552e-04 9.99998220e-01 3.40161402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57071405700003 meters Centerline goodness [0,1] 0.9769149817514162 Centerline is valid? [True, True] Translation: X:388.14, Y:-16.06, Z:3.40 [[ 9.99456615e-01 -3.28537258e-02 -2.66598792e-03 3.88140116e+02] [ 3.28542230e-02 9.99460144e-01 1.42907206e-04 -1.60576626e+01] [ 2.65985363e-03 -2.30418514e-04 9.99996436e-01 3.40196841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.600714057 meters Centerline goodness [0,1] 0.9774456338786777 Centerline is valid? [True, True] Translation: X:388.17, Y:-16.06, Z:3.40 [[ 9.99446335e-01 -3.31441143e-02 -2.91396461e-03 3.88171925e+02] [ 3.31447100e-02 9.99450551e-01 1.56377378e-04 -1.60582037e+01] [ 2.90718055e-03 -2.52873309e-04 9.99995742e-01 3.40177097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63071405700003 meters Centerline goodness [0,1] 0.9772027248814047 Centerline is valid? [True, True] Translation: X:388.20, Y:-16.06, Z:3.40 [[ 9.99380118e-01 -3.49539380e-02 -4.19551929e-03 3.88203186e+02] [ 3.49551882e-02 9.99388855e-01 2.25000589e-04 -1.60595048e+01] [ 4.18509056e-03 -3.71516281e-04 9.99991173e-01 3.40073347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.660714057 meters Centerline goodness [0,1] 0.9757684945389032 Centerline is valid? [True, True] Translation: X:388.23, Y:-16.06, Z:3.40 [[ 9.99356924e-01 -3.55158234e-02 -4.93615005e-03 3.88234154e+02] [ 3.55175622e-02 9.99369017e-01 2.65030902e-04 -1.60640846e+01] [ 4.92362263e-03 -4.40180483e-04 9.99987782e-01 3.39948843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.690714057 meters Centerline goodness [0,1] 0.9771535327616089 Centerline is valid? [True, True] Translation: X:388.27, Y:-16.06, Z:3.40 [[ 9.99326165e-01 -3.61258318e-02 -6.49159376e-03 3.88266384e+02] [ 3.61288550e-02 9.99347079e-01 3.49003369e-04 -1.60641170e+01] [ 6.47474723e-03 -5.83302048e-04 9.99978868e-01 3.39795011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.720714057 meters Centerline goodness [0,1] 0.9779388732268314 Centerline is valid? [True, True] Translation: X:388.30, Y:-16.06, Z:3.40 [[ 9.99367371e-01 -3.47361843e-02 -7.63247714e-03 3.88298559e+02] [ 3.47403254e-02 9.99396288e-01 4.10620574e-04 -1.60592579e+01] [ 7.61360594e-03 -6.75515543e-04 9.99970788e-01 3.39755520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.750714057 meters Centerline goodness [0,1] 0.9790600698749014 Centerline is valid? [True, True] Translation: X:388.33, Y:-16.06, Z:3.40 [[ 9.99418590e-01 -3.31494876e-02 -7.97450433e-03 3.88330302e+02] [ 3.31539614e-02 9.99450164e-01 4.29437736e-04 -1.60588334e+01] [ 7.95588402e-03 -6.93574466e-04 9.99968111e-01 3.39763047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.780714057 meters Centerline goodness [0,1] 0.9802981176258669 Centerline is valid? [True, True] Translation: X:388.36, Y:-16.05, Z:3.40 [[ 9.99550685e-01 -2.88489346e-02 -8.13433018e-03 3.88360871e+02] [ 2.88534469e-02 9.99583557e-01 4.37898470e-04 -1.60548950e+01] [ 8.11830979e-03 -6.72405180e-04 9.99966820e-01 3.39886952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.810714057 meters Centerline goodness [0,1] 0.9805768364127986 Centerline is valid? [True, True] Translation: X:388.39, Y:-16.05, Z:3.40 [[ 9.99625008e-01 -2.62309743e-02 -7.85998112e-03 3.88390876e+02] [ 2.62351067e-02 9.99655711e-01 4.23095436e-04 -1.60548740e+01] [ 7.84617681e-03 -6.29144222e-04 9.99969020e-01 3.39925014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.840714057 meters Centerline goodness [0,1] 0.9788414689163584 Centerline is valid? [True, True] Translation: X:388.42, Y:-16.05, Z:3.40 [[ 9.99774142e-01 -2.03790384e-02 -6.02995884e-03 3.88422111e+02] [ 2.03813659e-02 9.99792226e-01 3.24783619e-04 -1.60506285e+01] [ 6.02208719e-03 -4.47609061e-04 9.99981767e-01 3.40107270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.870714057 meters Centerline goodness [0,1] 0.9815208540667693 Centerline is valid? [True, True] Translation: X:388.45, Y:-16.04, Z:3.40 [[ 9.99884180e-01 -1.44859490e-02 -4.66722322e-03 3.88452949e+02] [ 1.44872791e-02 9.99895022e-01 2.51302723e-04 -1.60407025e+01] [ 4.66309291e-03 -3.18888983e-04 9.99989077e-01 3.40395865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.900714057 meters Centerline goodness [0,1] 0.9800493112262209 Centerline is valid? [True, True] Translation: X:388.48, Y:-16.04, Z:3.40 [[ 9.99926829e-01 -1.14711587e-02 -3.84033746e-03 3.88483009e+02] [ 1.14720372e-02 9.99934173e-01 2.06786537e-04 -1.60423850e+01] [ 3.83771258e-03 -2.50827900e-04 9.99992604e-01 3.40413858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.930714057 meters Centerline goodness [0,1] 0.9820959115220742 Centerline is valid? [True, True] Translation: X:388.51, Y:-16.04, Z:3.40 [[ 9.99955986e-01 -8.77608265e-03 -3.31772404e-03 3.88514156e+02] [ 8.77672396e-03 9.99961468e-01 1.78787937e-04 -1.60395544e+01] [ 3.31602714e-03 -2.07898816e-04 9.99994480e-01 3.40493721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.960714057 meters Centerline goodness [0,1] 0.9819701167173804 Centerline is valid? [True, True] Translation: X:388.55, Y:-16.04, Z:3.40 [[ 9.99985261e-01 -4.43032351e-03 -3.13856822e-03 3.88545206e+02] [ 4.43087597e-03 9.99990169e-01 1.69091244e-04 -1.60363335e+01] [ 3.13778824e-03 -1.82995358e-04 9.99995060e-01 3.40463684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.990714057 meters Centerline goodness [0,1] 0.9803472143424486 Centerline is valid? [True, True] Translation: X:388.58, Y:-16.04, Z:3.40 [[ 9.99986240e-01 -2.32648900e-03 -4.70188514e-03 3.88575167e+02] [ 2.32770925e-03 9.99997259e-01 2.54067638e-04 -1.60398570e+01] [ 4.70128116e-03 -2.65008763e-04 9.99988914e-01 3.40224576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.020714057 meters Centerline goodness [0,1] 0.9823163534005267 Centerline is valid? [True, True] Translation: X:388.61, Y:-16.04, Z:3.40 [[ 9.99977093e-01 -1.79188377e-03 -6.52712005e-03 3.88605060e+02] [ 1.79421801e-03 9.99998329e-01 3.51783198e-04 -1.60379041e+01] [ 6.52647878e-03 -3.63486215e-04 9.99978636e-01 3.40061086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.050714057 meters Centerline goodness [0,1] 0.9823163534005267 Centerline is valid? [True, True] Translation: X:388.63, Y:-16.04, Z:3.40 [[ 9.99976629e-01 -2.03404553e-03 -6.52725510e-03 3.88633301e+02] [ 2.03636857e-03 9.99997866e-01 3.49272430e-04 -1.60393735e+01] [ 6.52653073e-03 -3.62556164e-04 9.99978636e-01 3.40048394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.080714057 meters Centerline goodness [0,1] 0.9825738176709193 Centerline is valid? [True, True] Translation: X:388.66, Y:-16.04, Z:3.40 [[ 9.99972252e-01 -2.40889249e-03 -7.04929913e-03 3.88662377e+02] [ 2.41159982e-03 9.99997022e-01 3.75581344e-04 -1.60404657e+01] [ 7.04837340e-03 -3.92571011e-04 9.99975083e-01 3.39930441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.110714057 meters Centerline goodness [0,1] 0.9820014072039764 Centerline is valid? [True, True] Translation: X:388.69, Y:-16.04, Z:3.40 [[ 9.99964234e-01 -3.05158713e-03 -7.88791494e-03 3.88691465e+02] [ 3.05499976e-03 9.99995245e-01 4.20628048e-04 -1.60422420e+01] [ 7.88659385e-03 -4.44710582e-04 9.99968801e-01 3.39857296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.140714057 meters Centerline goodness [0,1] 0.9831846960310436 Centerline is valid? [True, True] Translation: X:388.72, Y:-16.04, Z:3.40 [[ 9.99965152e-01 -3.29321145e-03 -7.67133063e-03 3.88720452e+02] [ 3.29642594e-03 9.99994484e-01 4.06419227e-04 -1.60427000e+01] [ 7.66994989e-03 -4.31693037e-04 9.99970492e-01 3.39898290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.170714057 meters Centerline goodness [0,1] 0.9835066087312601 Centerline is valid? [True, True] Translation: X:388.75, Y:-16.05, Z:3.40 [[ 9.99970883e-01 -2.89559267e-03 -7.06034196e-03 3.88748574e+02] [ 2.89830849e-03 9.99995730e-01 3.74457432e-04 -1.60452410e+01] [ 7.05922753e-03 -3.94909578e-04 9.99975005e-01 3.39891172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.200714057 meters Centerline goodness [0,1] 0.9829925777514685 Centerline is valid? [True, True] Translation: X:388.78, Y:-16.05, Z:3.40 [[ 9.99975575e-01 -2.50482130e-03 -6.52500359e-03 3.88776950e+02] [ 2.50711695e-03 9.99996798e-01 3.43667877e-04 -1.60462725e+01] [ 6.52412188e-03 -3.60018430e-04 9.99978653e-01 3.39905142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.230714057 meters Centerline goodness [0,1] 0.9831806714094142 Centerline is valid? [True, True] Translation: X:388.81, Y:-16.05, Z:3.40 [[ 9.99985863e-01 -4.83317079e-04 -5.29522930e-03 3.88805911e+02] [ 4.84803507e-04 9.99999843e-01 2.79430830e-04 -1.60474778e+01] [ 5.29509342e-03 -2.81994025e-04 9.99985941e-01 3.39934240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26071405700003 meters Centerline goodness [0,1] 0.9828392779717487 Centerline is valid? [True, True] Translation: X:388.84, Y:-16.05, Z:3.40 [[ 9.99986045e-01 -3.96287444e-04 -5.26804795e-03 3.88835077e+02] [ 3.97746146e-04 9.99999883e-01 2.75851192e-04 -1.60474368e+01] [ 5.26793802e-03 -2.77942688e-04 9.99986086e-01 3.39948390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.290714057 meters Centerline goodness [0,1] 0.9823180028673509 Centerline is valid? [True, True] Translation: X:388.86, Y:-16.05, Z:3.40 [[ 9.99988026e-01 8.65803765e-04 -4.81653754e-03 3.88863375e+02] [-8.64596580e-04 9.99999594e-01 2.52709851e-04 -1.60490313e+01] [ 4.81675439e-03 -2.48542463e-04 9.99988368e-01 3.39851523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32071405700003 meters Centerline goodness [0,1] 0.9829199972671996 Centerline is valid? [True, True] Translation: X:388.89, Y:-16.05, Z:3.40 [[ 9.99987115e-01 9.68995489e-04 -4.98315512e-03 3.88892187e+02] [-9.67706588e-04 9.99999498e-01 2.61056230e-04 -1.60503124e+01] [ 4.98340558e-03 -2.56230634e-04 9.99987550e-01 3.39764637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.350714057 meters Centerline goodness [0,1] 0.9826118704789722 Centerline is valid? [True, True] Translation: X:388.92, Y:-16.05, Z:3.40 [[ 9.99982589e-01 -4.49025006e-04 -5.88390453e-03 3.88920027e+02] [ 4.50844515e-04 9.99999851e-01 3.07912268e-04 -1.60547965e+01] [ 5.88376539e-03 -3.10559633e-04 9.99982642e-01 3.39624206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38071405700003 meters Centerline goodness [0,1] 0.9817156683710738 Centerline is valid? [True, True] Translation: X:388.95, Y:-16.06, Z:3.40 [[ 9.99978358e-01 -1.97021216e-03 -6.27705450e-03 3.88949288e+02] [ 1.97231149e-03 9.99998001e-01 3.28272464e-04 -1.60568694e+01] [ 6.27639519e-03 -3.40645667e-04 9.99980245e-01 3.39606495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.410714057 meters Centerline goodness [0,1] 0.9817647192906476 Centerline is valid? [True, True] Translation: X:388.98, Y:-16.06, Z:3.40 [[ 9.99967794e-01 -5.31223782e-03 -6.01583045e-03 3.88977672e+02] [ 5.31422556e-03 9.99985830e-01 3.14480760e-04 -1.60641209e+01] [ 6.01407461e-03 -3.46440112e-04 9.99981855e-01 3.39544742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.440714057 meters Centerline goodness [0,1] 0.9833951277210381 Centerline is valid? [True, True] Translation: X:389.01, Y:-16.06, Z:3.40 [[ 9.99938453e-01 -9.14360275e-03 -6.28373175e-03 3.89007867e+02] [ 9.14584679e-03 9.99958122e-01 3.28476075e-04 -1.60600337e+01] [ 6.28046514e-03 -3.85925906e-04 9.99980203e-01 3.39630841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.470714057 meters Centerline goodness [0,1] 0.9838750028429121 Centerline is valid? [True, True] Translation: X:389.04, Y:-16.06, Z:3.40 [[ 9.99920663e-01 -1.07730392e-02 -6.52765806e-03 3.89038707e+02] [ 1.07754972e-02 9.99941884e-01 3.41491248e-04 -1.60633742e+01] [ 6.52359981e-03 -4.11802916e-04 9.99978636e-01 3.39572980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.500714057 meters Centerline goodness [0,1] 0.9825755513204465 Centerline is valid? [True, True] Translation: X:389.07, Y:-16.07, Z:3.40 [[ 9.99887592e-01 -1.30929348e-02 -7.30607350e-03 3.89069377e+02] [ 1.30960765e-02 9.99914170e-01 3.82333683e-04 -1.60669776e+01] [ 7.30044054e-03 -4.77971603e-04 9.99973237e-01 3.39535800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.530714057 meters Centerline goodness [0,1] 0.9835864326634537 Centerline is valid? [True, True] Translation: X:389.10, Y:-16.07, Z:3.40 [[ 9.99881371e-01 -1.39080631e-02 -6.61895201e-03 3.89100457e+02] [ 1.39106615e-02 9.99903182e-01 3.46694849e-04 -1.60703324e+01] [ 6.61348932e-03 -4.38727721e-04 9.99978034e-01 3.39565905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.560714057 meters Centerline goodness [0,1] 0.9820306496089688 Centerline is valid? [True, True] Translation: X:389.13, Y:-16.07, Z:3.40 [[ 9.99870057e-01 -1.51604951e-02 -5.47977864e-03 3.89131669e+02] [ 1.51622969e-02 9.99885004e-01 2.87419531e-04 -1.60744461e+01] [ 5.47479107e-03 -3.70468214e-04 9.99984945e-01 3.39676332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.590714057 meters Centerline goodness [0,1] 0.981289592760181 Centerline is valid? [True, True] Translation: X:389.16, Y:-16.08, Z:3.40 [[ 9.99858954e-01 -1.61878145e-02 -4.47502660e-03 3.89163774e+02] [ 1.61890283e-02 9.99868921e-01 2.35154020e-04 -1.60773801e+01] [ 4.47063339e-03 -3.07567185e-04 9.99989959e-01 3.39751450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.620714057 meters Centerline goodness [0,1] 0.9821113573657786 Centerline is valid? [True, True] Translation: X:389.20, Y:-16.08, Z:3.40 [[ 9.99849232e-01 -1.68181568e-02 -4.31995755e-03 3.89195756e+02] [ 1.68192952e-02 9.99858520e-01 2.27328914e-04 -1.60780556e+01] [ 4.31552311e-03 -2.99953282e-04 9.99990643e-01 3.39747968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.650714057 meters Centerline goodness [0,1] 0.9820569026688662 Centerline is valid? [True, True] Translation: X:389.23, Y:-16.08, Z:3.40 [[ 9.99810663e-01 -1.89714547e-02 -4.32698588e-03 3.89226189e+02] [ 1.89726162e-02 9.99819978e-01 2.27535397e-04 -1.60826210e+01] [ 4.32189025e-03 -3.09586558e-04 9.99990613e-01 3.39710657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.680714057 meters Centerline goodness [0,1] 0.9812574890913612 Centerline is valid? [True, True] Translation: X:389.26, Y:-16.09, Z:3.40 [[ 9.99784657e-01 -2.01762925e-02 -4.85348147e-03 3.89258114e+02] [ 2.01777707e-02 9.99796375e-01 2.55796044e-04 -1.60857326e+01] [ 4.84733216e-03 -3.53673396e-04 9.99988189e-01 3.39655742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.710714057 meters Centerline goodness [0,1] 0.9808501969305989 Centerline is valid? [True, True] Translation: X:389.29, Y:-16.09, Z:3.40 [[ 9.99707065e-01 -2.36283737e-02 -5.24257520e-03 3.89288812e+02] [ 2.36301443e-02 9.99720731e-01 2.76028445e-04 -1.60887824e+01] [ 5.23458901e-03 -3.99830395e-04 9.99986220e-01 3.39566492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.740714057 meters Centerline goodness [0,1] 0.9804702527778406 Centerline is valid? [True, True] Translation: X:389.32, Y:-16.10, Z:3.39 [[ 9.99671278e-01 -2.51171396e-02 -5.14435059e-03 3.89318295e+02] [ 2.51188682e-02 9.99684435e-01 2.71675899e-04 -1.60953142e+01] [ 5.13590349e-03 -4.00806858e-04 9.99986731e-01 3.39435788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.770714057 meters Centerline goodness [0,1] 0.9788111587010221 Centerline is valid? [True, True] Translation: X:389.35, Y:-16.10, Z:3.39 [[ 9.99605947e-01 -2.75881941e-02 -5.18089653e-03 3.89347877e+02] [ 2.75899783e-02 9.99619287e-01 2.73207108e-04 -1.61017154e+01] [ 5.17138680e-03 -4.16040273e-04 9.99986542e-01 3.39340058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.800714057 meters Centerline goodness [0,1] 0.9789409396276776 Centerline is valid? [True, True] Translation: X:389.38, Y:-16.10, Z:3.39 [[ 9.99576916e-01 -2.86829285e-02 -4.82475123e-03 3.89379858e+02] [ 2.86844916e-02 9.99588483e-01 2.55074554e-04 -1.61039209e+01] [ 4.81544948e-03 -3.93362172e-04 9.99988328e-01 3.39373162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.830714057 meters Centerline goodness [0,1] 0.9779555031945263 Centerline is valid? [True, True] Translation: X:389.41, Y:-16.11, Z:3.39 [[ 9.99511575e-01 -3.10062280e-02 -3.90183671e-03 3.89411158e+02] [ 3.10072680e-02 9.99519138e-01 2.06322035e-04 -1.61069084e+01] [ 3.89356320e-03 -3.27206558e-04 9.99992367e-01 3.39382259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.860714057 meters Centerline goodness [0,1] 0.9775390403662655 Centerline is valid? [True, True] Translation: X:389.44, Y:-16.11, Z:3.39 [[ 9.99445867e-01 -3.29673630e-02 -4.59473039e-03 3.89442189e+02] [ 3.29688256e-02 9.99456351e-01 2.42935475e-04 -1.61098237e+01] [ 4.58422353e-03 -3.94283722e-04 9.99989415e-01 3.39360453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.890714057 meters Centerline goodness [0,1] 0.9768657898906671 Centerline is valid? [True, True] Translation: X:389.47, Y:-16.11, Z:3.39 [[ 9.99408488e-01 -3.41097484e-02 -4.38158757e-03 3.89474338e+02] [ 3.41110918e-02 9.99418020e-01 2.32210947e-04 -1.61133045e+01] [ 4.37111692e-03 -3.81534328e-04 9.99990374e-01 3.39308074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.920714057 meters Centerline goodness [0,1] 0.9776283314086452 Centerline is valid? [True, True] Translation: X:389.51, Y:-16.11, Z:3.39 [[ 9.99321189e-01 -3.65444012e-02 -4.65484212e-03 3.89505256e+02] [ 3.65459428e-02 9.99331943e-01 2.46521850e-04 -1.61143425e+01] [ 4.64272343e-03 -4.16470102e-04 9.99989136e-01 3.39289945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.950714057 meters Centerline goodness [0,1] 0.9731876187890307 Centerline is valid? [True, True] Translation: X:389.54, Y:-16.12, Z:3.39 [[ 9.99287716e-01 -3.74616669e-02 -4.54798391e-03 3.89535683e+02] [ 3.74631498e-02 9.99297981e-01 2.41266098e-04 -1.61240124e+01] [ 4.53575291e-03 -4.11476050e-04 9.99989629e-01 3.39172000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.980714057 meters Centerline goodness [0,1] 0.9767710646784209 Centerline is valid? [True, True] Translation: X:389.57, Y:-16.12, Z:3.39 [[ 9.99266622e-01 -3.80133476e-02 -4.60470996e-03 3.89567914e+02] [ 3.80148753e-02 9.99277143e-01 2.44679710e-04 -1.61215975e+01] [ 4.59208032e-03 -4.19547742e-04 9.99989368e-01 3.39215546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01071405700003 meters Centerline goodness [0,1] 0.9761851015801355 Centerline is valid? [True, True] Translation: X:389.60, Y:-16.12, Z:3.39 [[ 9.99212357e-01 -3.93800268e-02 -4.88654892e-03 3.89598923e+02] [ 3.93817642e-02 9.99224204e-01 2.59795957e-04 -1.61242349e+01] [ 4.87252719e-03 -4.52032249e-04 9.99988027e-01 3.39217413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.040714057 meters Centerline goodness [0,1] 0.9768575184731856 Centerline is valid? [True, True] Translation: X:389.63, Y:-16.13, Z:3.39 [[ 9.99198196e-01 -3.96644690e-02 -5.44931717e-03 3.89631184e+02] [ 3.96666363e-02 9.99212927e-01 2.90173984e-04 -1.61258627e+01] [ 5.43351856e-03 -5.06097404e-04 9.99985110e-01 3.39129817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07071405700003 meters Centerline goodness [0,1] 0.9771500824132403 Centerline is valid? [True, True] Translation: X:389.66, Y:-16.13, Z:3.39 [[ 9.99208323e-01 -3.93472163e-02 -5.87577539e-03 3.89663661e+02] [ 3.93497330e-02 9.99225450e-01 3.13287544e-04 -1.61272845e+01] [ 5.85889732e-03 -5.44249714e-04 9.99982688e-01 3.39016191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.100714057 meters Centerline goodness [0,1] 0.9760415490572428 Centerline is valid? [True, True] Translation: X:389.69, Y:-16.13, Z:3.39 [[ 9.99233662e-01 -3.86864083e-02 -5.95402193e-03 3.89694741e+02] [ 3.86889822e-02 9.99251251e-01 3.17694715e-04 -1.61341548e+01] [ 5.93727340e-03 -5.47806303e-04 9.99982224e-01 3.38920894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.130714057 meters Centerline goodness [0,1] 0.9765340921923347 Centerline is valid? [True, True] Translation: X:389.73, Y:-16.13, Z:3.39 [[ 9.99289635e-01 -3.72590911e-02 -5.65555998e-03 3.89726752e+02] [ 3.72613926e-02 9.99305508e-01 3.02083494e-04 -1.61338157e+01] [ 5.64037688e-03 -5.12602945e-04 9.99983962e-01 3.38951164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.160714057 meters Centerline goodness [0,1] 0.9773055731189595 Centerline is valid? [True, True] Translation: X:389.76, Y:-16.14, Z:3.39 [[ 9.99384487e-01 -3.46522310e-02 -5.46540966e-03 3.89757953e+02] [ 3.46543414e-02 9.99399315e-01 2.91870686e-04 -1.61353197e+01] [ 5.45201270e-03 -4.81091208e-04 9.99985022e-01 3.38944401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.190714057 meters Centerline goodness [0,1] 0.9777044884682283 Centerline is valid? [True, True] Translation: X:389.79, Y:-16.14, Z:3.39 [[ 9.99439557e-01 -3.30634840e-02 -5.23248234e-03 3.89789846e+02] [ 3.30653990e-02 9.99453151e-01 2.79876560e-04 -1.61359853e+01] [ 5.22036727e-03 -4.52733822e-04 9.99986271e-01 3.38939415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.220714057 meters Centerline goodness [0,1] 0.9779112837654711 Centerline is valid? [True, True] Translation: X:389.82, Y:-16.14, Z:3.39 [[ 9.99534345e-01 -3.01094060e-02 -4.95147915e-03 3.89820523e+02] [ 3.01110841e-02 9.99546523e-01 2.64683199e-04 -1.61360361e+01] [ 4.94126432e-03 -4.13654353e-04 9.99987706e-01 3.38948916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.250714057 meters Centerline goodness [0,1] 0.9785833446052572 Centerline is valid? [True, True] Translation: X:389.85, Y:-16.14, Z:3.39 [[ 9.99569489e-01 -2.89138190e-02 -4.98270145e-03 3.89850837e+02] [ 2.89155041e-02 9.99581824e-01 2.66487274e-04 -1.61370584e+01] [ 4.97291264e-03 -4.10449873e-04 9.99987551e-01 3.38960818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.280714057 meters Centerline goodness [0,1] 0.978461259710552 Centerline is valid? [True, True] Translation: X:389.88, Y:-16.14, Z:3.39 [[ 9.99645260e-01 -2.62825621e-02 -4.31064045e-03 3.89881801e+02] [ 2.62837997e-02 9.99654495e-01 2.30685499e-04 -1.61370437e+01] [ 4.30308809e-03 -3.43903675e-04 9.99990683e-01 3.39019582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.310714057 meters Centerline goodness [0,1] 0.9796731404771606 Centerline is valid? [True, True] Translation: X:389.91, Y:-16.13, Z:3.39 [[ 9.99675000e-01 -2.52133097e-02 -3.76599325e-03 3.89913407e+02] [ 2.52142475e-02 9.99682050e-01 2.01744499e-04 -1.61325595e+01] [ 3.75970921e-03 -2.96635618e-04 9.99992888e-01 3.39033659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.340714057 meters Centerline goodness [0,1] 0.9785243413451736 Centerline is valid? [True, True] Translation: X:389.95, Y:-16.14, Z:3.39 [[ 9.99677296e-01 -2.51731253e-02 -3.40857748e-03 3.89945106e+02] [ 2.51738953e-02 9.99683071e-01 1.83160495e-04 -1.61361195e+01] [ 3.40288647e-03 -2.68908561e-04 9.99994174e-01 3.38981895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.370714057 meters Centerline goodness [0,1] 0.978958549925417 Centerline is valid? [True, True] Translation: X:389.98, Y:-16.14, Z:3.39 [[ 9.99663367e-01 -2.57592097e-02 -3.10085853e-03 3.89976332e+02] [ 2.57598498e-02 9.99668146e-01 1.66662592e-04 -1.61402506e+01] [ 3.09553640e-03 -2.46484138e-04 9.99995178e-01 3.38969564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.400714057 meters Centerline goodness [0,1] 0.9783847336528896 Centerline is valid? [True, True] Translation: X:390.01, Y:-16.14, Z:3.39 [[ 9.99647468e-01 -2.64059596e-02 -2.76859549e-03 3.90008679e+02] [ 2.64064732e-02 9.99651277e-01 1.49105911e-04 -1.61423482e+01] [ 2.76369273e-03 -2.22162189e-04 9.99996156e-01 3.38967936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.430714057 meters Centerline goodness [0,1] 0.9778127812781278 Centerline is valid? [True, True] Translation: X:390.04, Y:-16.15, Z:3.39 [[ 9.99607226e-01 -2.78589213e-02 -3.04532824e-03 3.90039044e+02] [ 2.78595487e-02 9.99611834e-01 1.63792017e-04 -1.61477908e+01] [ 3.03958308e-03 -2.48569154e-04 9.99995350e-01 3.38868992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.460714057 meters Centerline goodness [0,1] 0.9784804965342273 Centerline is valid? [True, True] Translation: X:390.07, Y:-16.15, Z:3.39 [[ 9.99529378e-01 -3.03905900e-02 -4.17539159e-03 3.90069884e+02] [ 3.03917916e-02 9.99538038e-01 2.24618030e-04 -1.61481331e+01] [ 4.16663644e-03 -3.51409951e-04 9.99991258e-01 3.38835251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.490714057 meters Centerline goodness [0,1] 0.9790303222446161 Centerline is valid? [True, True] Translation: X:390.10, Y:-16.15, Z:3.39 [[ 9.99480247e-01 -3.19317460e-02 -4.42716835e-03 3.90100683e+02] [ 3.19331122e-02 9.99489980e-01 2.38241170e-04 -1.61481555e+01] [ 4.41730295e-03 -3.79490607e-04 9.99990172e-01 3.38789811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.520714057 meters Centerline goodness [0,1] 0.976855924747919 Centerline is valid? [True, True] Translation: X:390.13, Y:-16.16, Z:3.39 [[ 9.99431933e-01 -3.33723228e-02 -4.70103356e-03 3.90129939e+02] [ 3.33738787e-02 9.99442905e-01 2.52891694e-04 -1.61569104e+01] [ 4.68997505e-03 -4.09639758e-04 9.99988918e-01 3.38705559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.550714057 meters Centerline goodness [0,1] 0.9792502140314514 Centerline is valid? [True, True] Translation: X:390.16, Y:-16.16, Z:3.39 [[ 9.99336796e-01 -3.59956592e-02 -5.50273878e-03 3.90161265e+02] [ 3.59978320e-02 9.99351824e-01 2.96285574e-04 -1.61561271e+01] [ 5.48850704e-03 -4.94175742e-04 9.99984816e-01 3.38699600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.580714057 meters Centerline goodness [0,1] 0.9779125064797494 Centerline is valid? [True, True] Translation: X:390.19, Y:-16.16, Z:3.39 [[ 9.99245625e-01 -3.83977216e-02 -5.81338055e-03 3.90190623e+02] [ 3.84001899e-02 9.99262392e-01 3.13528204e-04 -1.61642858e+01] [ 5.79705378e-03 -5.36526603e-04 9.99983053e-01 3.38560403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.610714057 meters Centerline goodness [0,1] 0.9775883838383839 Centerline is valid? [True, True] Translation: X:390.22, Y:-16.17, Z:3.38 [[ 9.99231143e-01 -3.87627857e-02 -5.87961622e-03 3.90222169e+02] [ 3.87653185e-02 9.99248292e-01 3.17379226e-04 -1.61675525e+01] [ 5.86289396e-03 -5.45060402e-04 9.99982665e-01 3.38489453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.640714057 meters Centerline goodness [0,1] 0.9773537240041503 Centerline is valid? [True, True] Translation: X:390.25, Y:-16.17, Z:3.38 [[ 9.99242352e-01 -3.83144949e-02 -6.83523859e-03 3.90254135e+02] [ 3.83179112e-02 9.99265531e-01 3.69498625e-04 -1.61691831e+01] [ 6.81606116e-03 -6.31130740e-04 9.99976571e-01 3.38446469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.670714057 meters Centerline goodness [0,1] 0.9777707709285827 Centerline is valid? [True, True] Translation: X:390.29, Y:-16.17, Z:3.38 [[ 9.99289374e-01 -3.69950194e-02 -7.21909911e-03 3.90285868e+02] [ 3.69987998e-02 9.99315234e-01 3.90779818e-04 -1.61698316e+01] [ 7.19969881e-03 -6.57600122e-04 9.99973866e-01 3.38422528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.700714057 meters Centerline goodness [0,1] 0.9788740333235633 Centerline is valid? [True, True] Translation: X:390.32, Y:-16.17, Z:3.38 [[ 9.99389787e-01 -3.39491794e-02 -8.21631404e-03 3.90315436e+02] [ 3.39539699e-02 9.99423299e-01 4.44212629e-04 -1.61704260e+01] [ 8.19649503e-03 -7.22918043e-04 9.99966147e-01 3.38428329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.730714057 meters Centerline goodness [0,1] 0.9792758994756825 Centerline is valid? [True, True] Translation: X:390.35, Y:-16.17, Z:3.38 [[ 9.99451072e-01 -3.20659717e-02 -8.32632627e-03 3.90347340e+02] [ 3.20708326e-02 9.99485497e-01 4.50898690e-04 -1.61708414e+01] [ 8.30758385e-03 -7.17683395e-04 9.99965234e-01 3.38481153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76071405700003 meters Centerline goodness [0,1] 0.9803899393829729 Centerline is valid? [True, True] Translation: X:390.38, Y:-16.17, Z:3.39 [[ 9.99625989e-01 -2.63014134e-02 -7.49121756e-03 3.90377229e+02] [ 2.63051868e-02 9.99653876e-01 4.05599567e-04 -1.61692320e+01] [ 7.47795683e-03 -6.02505746e-04 9.99971858e-01 3.38597322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.790714057 meters Centerline goodness [0,1] 0.9802295630168557 Centerline is valid? [True, True] Translation: X:390.41, Y:-16.17, Z:3.39 [[ 9.99698380e-01 -2.36407739e-02 -6.65305572e-03 3.90406991e+02] [ 2.36436912e-02 9.99720384e-01 3.60172716e-04 -1.61695291e+01] [ 6.64268066e-03 -5.17366876e-04 9.99977803e-01 3.38607543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82071405700003 meters Centerline goodness [0,1] 0.9801787532526304 Centerline is valid? [True, True] Translation: X:390.44, Y:-16.17, Z:3.39 [[ 9.99823747e-01 -1.77196216e-02 -6.20409159e-03 3.90438459e+02] [ 1.77220462e-02 9.99842896e-01 3.36034483e-04 -1.61658082e+01] [ 6.19716250e-03 -4.45924454e-04 9.99980698e-01 3.38734008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.850714057 meters Centerline goodness [0,1] 0.9791181721620827 Centerline is valid? [True, True] Translation: X:390.47, Y:-16.16, Z:3.39 [[ 9.99913457e-01 -1.20891080e-02 -5.18955716e-03 3.90468653e+02] [ 1.20907291e-02 9.99926865e-01 2.81117898e-04 -1.61634776e+01] [ 5.18577916e-03 -3.43839099e-04 9.99986495e-01 3.38828074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.880714057 meters Centerline goodness [0,1] 0.9807344428364689 Centerline is valid? [True, True] Translation: X:390.50, Y:-16.16, Z:3.39 [[ 9.99942881e-01 -9.72661992e-03 -4.43035448e-03 3.90499579e+02] [ 9.72777881e-03 9.99952655e-01 2.40106296e-04 -1.61622699e+01] [ 4.42780930e-03 -2.83190090e-04 9.99990157e-01 3.38857540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.910714057 meters Centerline goodness [0,1] 0.9803499388060378 Centerline is valid? [True, True] Translation: X:390.53, Y:-16.16, Z:3.39 [[ 9.99969229e-01 -6.63788730e-03 -4.18076576e-03 3.90529544e+02] [ 6.63889211e-03 9.99977937e-01 2.26508025e-04 -1.61617756e+01] [ 4.17916999e-03 -2.54256708e-04 9.99991235e-01 3.38896106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.940714057 meters Centerline goodness [0,1] 0.9803499388060378 Centerline is valid? [True, True] Translation: X:390.56, Y:-16.16, Z:3.39 [[ 9.99969229e-01 -6.63788730e-03 -4.18076576e-03 3.90559556e+02] [ 6.63889211e-03 9.99977937e-01 2.26508025e-04 -1.61634016e+01] [ 4.17916999e-03 -2.54256708e-04 9.99991235e-01 3.38882621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.970714057 meters Centerline goodness [0,1] 0.9794517454726098 Centerline is valid? [True, True] Translation: X:390.59, Y:-16.17, Z:3.39 [[ 9.99969288e-01 -6.47253950e-03 -4.41909638e-03 3.90589405e+02] [ 6.47366266e-03 9.99979017e-01 2.39903609e-04 -1.61662168e+01] [ 4.41745086e-03 -2.68503980e-04 9.99990207e-01 3.38833952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.000714057 meters Centerline goodness [0,1] 0.9795409181636726 Centerline is valid? [True, True] Translation: X:390.62, Y:-16.17, Z:3.39 [[ 9.99958118e-01 -7.83523042e-03 -4.72988877e-03 3.90620292e+02] [ 7.83653277e-03 9.99969261e-01 2.56874898e-04 -1.61695127e+01] [ 4.72773070e-03 -2.93930068e-04 9.99988781e-01 3.38742086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.030714057 meters Centerline goodness [0,1] 0.9807321772639692 Centerline is valid? [True, True] Translation: X:390.65, Y:-16.17, Z:3.39 [[ 9.99919950e-01 -1.12404204e-02 -5.80920693e-03 3.90650645e+02] [ 1.12424413e-02 9.99936752e-01 3.15341963e-04 -1.61678279e+01] [ 5.80529494e-03 -3.80626388e-04 9.99983077e-01 3.38716744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.060714057 meters Centerline goodness [0,1] 0.9802971283630764 Centerline is valid? [True, True] Translation: X:390.68, Y:-16.17, Z:3.39 [[ 9.99893769e-01 -1.31067447e-02 -6.37685848e-03 3.90680501e+02] [ 1.31092174e-02 9.99914011e-01 3.46124714e-04 -1.61729584e+01] [ 6.37177357e-03 -4.29683570e-04 9.99979608e-01 3.38610137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.090714057 meters Centerline goodness [0,1] 0.9804230777895424 Centerline is valid? [True, True] Translation: X:390.71, Y:-16.18, Z:3.38 [[ 9.99804992e-01 -1.84010296e-02 -7.16794432e-03 3.90709878e+02] [ 1.84042888e-02 9.99830551e-01 3.88991471e-04 -1.61802490e+01] [ 7.15957188e-03 -5.20836533e-04 9.99974234e-01 3.38457620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.120714057 meters Centerline goodness [0,1] 0.9811222526539759 Centerline is valid? [True, True] Translation: X:390.74, Y:-16.18, Z:3.39 [[ 9.99736214e-01 -2.15528879e-02 -7.93571390e-03 3.90740759e+02] [ 2.15569822e-02 9.99767528e-01 4.30743733e-04 -1.61775884e+01] [ 7.92458530e-03 -6.01700152e-04 9.99968419e-01 3.38519872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.150714057 meters Centerline goodness [0,1] 0.9805787926746552 Centerline is valid? [True, True] Translation: X:390.77, Y:-16.18, Z:3.38 [[ 9.99599443e-01 -2.69652895e-02 -8.59227817e-03 3.90771097e+02] [ 2.69702880e-02 9.99636127e-01 4.66378508e-04 -1.61829116e+01] [ 8.57657564e-03 -6.97927913e-04 9.99962977e-01 3.38473233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.180714057 meters Centerline goodness [0,1] 0.9809058413646441 Centerline is valid? [True, True] Translation: X:390.80, Y:-16.19, Z:3.38 [[ 9.99532506e-01 -2.93002925e-02 -8.73283210e-03 3.90802165e+02] [ 2.93055464e-02 9.99570388e-01 4.74236934e-04 -1.61862002e+01] [ 8.71518508e-03 -7.29935647e-04 9.99961756e-01 3.38468005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.210714057 meters Centerline goodness [0,1] 0.9679916696848968 Centerline is valid? [True, True] Translation: X:390.83, Y:-16.20, Z:3.38 [[ 9.99411749e-01 -3.31545669e-02 -8.77099413e-03 3.90831272e+02] [ 3.31600116e-02 9.99449942e-01 4.76029745e-04 -1.62016411e+01] [ 8.75038702e-03 -7.66595988e-04 9.99961421e-01 3.38310233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.240714057 meters Centerline goodness [0,1] 0.9632276683050007 Centerline is valid? [True, True] Translation: X:390.86, Y:-16.20, Z:3.38 [[ 9.99393635e-01 -3.38102451e-02 -8.32047910e-03 3.90863527e+02] [ 3.38151751e-02 9.99428001e-01 4.52497250e-04 -1.62042887e+01] [ 8.30042075e-03 -7.33581329e-04 9.99965282e-01 3.38324414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.270714057 meters Centerline goodness [0,1] 0.980536106768178 Centerline is valid? [True, True] Translation: X:390.90, Y:-16.19, Z:3.39 [[ 9.99378093e-01 -3.42998849e-02 -8.18197104e-03 3.90896325e+02] [ 3.43046733e-02 9.99411322e-01 4.45570822e-04 -1.61941642e+01] [ 8.16187146e-03 -7.25973562e-04 9.99966428e-01 3.38620025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.300714057 meters Centerline goodness [0,1] 0.9778134975436372 Centerline is valid? [True, True] Translation: X:390.93, Y:-16.19, Z:3.39 [[ 9.99415523e-01 -3.32526527e-02 -7.92927388e-03 3.90927633e+02] [ 3.32571182e-02 9.99446736e-01 4.31941603e-04 -1.61944833e+01] [ 7.91052369e-03 -6.95393941e-04 9.99968470e-01 3.38683498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.330714057 meters Centerline goodness [0,1] 0.9788703686928164 Centerline is valid? [True, True] Translation: X:390.96, Y:-16.19, Z:3.39 [[ 9.99464396e-01 -3.18744976e-02 -7.41192247e-03 3.90959619e+02] [ 3.18783653e-02 9.99491674e-01 4.04242150e-04 -1.61944838e+01] [ 7.39526978e-03 -6.40305609e-04 9.99972450e-01 3.38702858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.360714057 meters Centerline goodness [0,1] 0.9797908615594453 Centerline is valid? [True, True] Translation: X:390.99, Y:-16.19, Z:3.39 [[ 9.99567327e-01 -2.84346993e-02 -7.52512932e-03 3.90988935e+02] [ 2.84385860e-02 9.99595458e-01 4.09973497e-04 -1.61936445e+01] [ 7.51042761e-03 -6.23800150e-04 9.99971602e-01 3.38752048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.390714057 meters Centerline goodness [0,1] 0.9814970563498738 Centerline is valid? [True, True] Translation: X:391.02, Y:-16.19, Z:3.39 [[ 9.99706856e-01 -2.29332344e-02 -7.76333657e-03 3.91020099e+02] [ 2.29372082e-02 9.99736818e-01 4.23209011e-04 -1.61866986e+01] [ 7.75158784e-03 -6.01154217e-04 9.99969775e-01 3.38781873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.420714057 meters Centerline goodness [0,1] 0.9813445569332272 Centerline is valid? [True, True] Translation: X:391.05, Y:-16.19, Z:3.39 [[ 9.99772703e-01 -1.98081451e-02 -7.88537370e-03 3.91050062e+02] [ 1.98121476e-02 9.99803628e-01 4.29786732e-04 -1.61892968e+01] [ 7.87531195e-03 -5.85915231e-04 9.99968818e-01 3.38729643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.450714057 meters Centerline goodness [0,1] 0.9829405877536166 Centerline is valid? [True, True] Translation: X:391.08, Y:-16.18, Z:3.39 [[ 9.99880545e-01 -1.30864295e-02 -8.22441236e-03 3.91081528e+02] [ 1.30905590e-02 9.99914214e-01 4.48471442e-04 -1.61792898e+01] [ 8.21783793e-03 -5.56080025e-04 9.99966078e-01 3.38816787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.480714057 meters Centerline goodness [0,1] 0.9839503921211016 Centerline is valid? [True, True] Translation: X:391.11, Y:-16.18, Z:3.39 [[ 9.99923649e-01 -9.22483249e-03 -8.22189329e-03 3.91111937e+02] [ 9.22882785e-03 9.99957313e-01 4.48133364e-04 -1.61757065e+01] [ 8.21740837e-03 -5.23977586e-04 9.99966099e-01 3.38853549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51071405700003 meters Centerline goodness [0,1] 0.9843492962895266 Centerline is valid? [True, True] Translation: X:391.14, Y:-16.17, Z:3.39 [[ 9.99964573e-01 -1.26117499e-03 -8.32238643e-03 3.91141703e+02] [ 1.26499348e-03 9.99999097e-01 4.53573899e-04 -1.61728730e+01] [ 8.32180687e-03 -4.64085595e-04 9.99965265e-01 3.38850352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.540714057 meters Centerline goodness [0,1] 0.9847503989058582 Centerline is valid? [True, True] Translation: X:391.17, Y:-16.17, Z:3.39 [[ 9.99966341e-01 2.32478013e-03 -7.86843622e-03 3.91171964e+02] [-2.32147905e-03 9.99997213e-01 4.28641997e-04 -1.61679699e+01] [ 7.86941079e-03 -4.10361159e-04 9.99968952e-01 3.38919174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57071405700003 meters Centerline goodness [0,1] 0.9848401826484018 Centerline is valid? [True, True] Translation: X:391.20, Y:-16.16, Z:3.39 [[ 9.99935280e-01 8.02288550e-03 -8.06655540e-03 3.91201622e+02] [-8.01960252e-03 9.99967746e-01 4.39249576e-04 -1.61640756e+01] [ 8.06981927e-03 -3.74530579e-04 9.99967368e-01 3.38894195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.600714057 meters Centerline goodness [0,1] 0.9855026067867922 Centerline is valid? [True, True] Translation: X:391.23, Y:-16.16, Z:3.39 [[ 9.99891524e-01 1.21559040e-02 -8.31715519e-03 3.91232254e+02] [-1.21525576e-02 9.99926052e-01 4.52767160e-04 -1.61604983e+01] [ 8.32204395e-03 -3.51643337e-04 9.99965309e-01 3.38846460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.630714057 meters Centerline goodness [0,1] 0.9857342401135765 Centerline is valid? [True, True] Translation: X:391.26, Y:-16.16, Z:3.39 [[ 9.99885584e-01 1.25514303e-02 -8.44276959e-03 3.91261159e+02] [-1.25480032e-02 9.99921165e-01 4.58776282e-04 -1.61619992e+01] [ 8.44786231e-03 -3.52783891e-04 9.99964254e-01 3.38777341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.660714057 meters Centerline goodness [0,1] 0.9857630067064936 Centerline is valid? [True, True] Translation: X:391.29, Y:-16.16, Z:3.39 [[ 9.99894388e-01 1.11833253e-02 -9.28146526e-03 3.91289530e+02] [-1.11791303e-02 9.99937385e-01 5.03732645e-04 -1.61649342e+01] [ 9.28651750e-03 -3.99920735e-04 9.99956799e-01 3.38624448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.690714057 meters Centerline goodness [0,1] 0.9850800915331808 Centerline is valid? [True, True] Translation: X:391.32, Y:-16.17, Z:3.39 [[ 9.99905922e-01 9.17833366e-03 -1.01934381e-02 3.91318691e+02] [-9.17317415e-03 9.99957773e-01 5.52800432e-04 -1.61675534e+01] [ 1.01980814e-02 -4.59242243e-04 9.99947893e-01 3.38549187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.720714057 meters Centerline goodness [0,1] 0.9836291099188335 Centerline is valid? [True, True] Translation: X:391.35, Y:-16.17, Z:3.39 [[ 9.99936361e-01 3.46075324e-03 -1.07376930e-02 3.91349492e+02] [-3.45469729e-03 9.99993863e-01 5.82486518e-04 -1.61705339e+01] [ 1.07396430e-02 -5.45353969e-04 9.99942180e-01 3.38577655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.750714057 meters Centerline goodness [0,1] 0.9836073080269243 Centerline is valid? [True, True] Translation: X:391.38, Y:-16.18, Z:3.39 [[ 9.99944734e-01 4.24414577e-04 -1.05046697e-02 3.91377937e+02] [-4.18459804e-04 9.99999751e-01 5.69060563e-04 -1.61776649e+01] [ 1.05049086e-02 -5.64633331e-04 9.99944663e-01 3.38520849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.780714057 meters Centerline goodness [0,1] 0.9829217684748158 Centerline is valid? [True, True] Translation: X:391.41, Y:-16.18, Z:3.39 [[ 9.99930637e-01 -6.58060003e-03 -9.76812323e-03 3.91407628e+02] [ 6.58608200e-03 9.99978172e-01 5.29148147e-04 -1.61840196e+01] [ 9.76442789e-03 -5.93445104e-04 9.99952151e-01 3.38586116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.810714057 meters Centerline goodness [0,1] 0.9818852963292091 Centerline is valid? [True, True] Translation: X:391.44, Y:-16.19, Z:3.39 [[ 9.99904841e-01 -9.94058443e-03 -9.56525333e-03 3.91436138e+02] [ 9.94599435e-03 9.99950403e-01 5.18176446e-04 -1.61904115e+01] [ 9.55962795e-03 -6.13263092e-04 9.99954118e-01 3.38601811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.840714057 meters Centerline goodness [0,1] 0.9809801155753742 Centerline is valid? [True, True] Translation: X:391.47, Y:-16.19, Z:3.39 [[ 9.99832545e-01 -1.59384197e-02 -8.99157602e-03 3.91466845e+02] [ 1.59434419e-02 9.99872777e-01 4.87136491e-04 -1.61936106e+01] [ 8.98266789e-03 -6.30411588e-04 9.99959456e-01 3.38682366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.870714057 meters Centerline goodness [0,1] 0.9806307538054871 Centerline is valid? [True, True] Translation: X:391.50, Y:-16.20, Z:3.39 [[ 9.99754127e-01 -2.04048380e-02 -8.67918632e-03 3.91497337e+02] [ 2.04096850e-02 9.99791590e-01 4.70245647e-04 -1.61987814e+01] [ 8.66778221e-03 -6.47269485e-04 9.99962225e-01 3.38722930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.900714057 meters Centerline goodness [0,1] 0.9789826795372082 Centerline is valid? [True, True] Translation: X:391.53, Y:-16.20, Z:3.39 [[ 9.99712400e-01 -2.22055858e-02 -9.05700210e-03 3.91527756e+02] [ 2.22109395e-02 9.99753186e-01 4.90940274e-04 -1.62023783e+01] [ 9.04386509e-03 -6.91963606e-04 9.99958864e-01 3.38651568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.930714057 meters Centerline goodness [0,1] 0.9783407508844003 Centerline is valid? [True, True] Translation: X:391.56, Y:-16.21, Z:3.39 [[ 9.99688336e-01 -2.31309725e-02 -9.39088261e-03 3.91560127e+02] [ 2.31367772e-02 9.99732179e-01 5.09929056e-04 -1.62056058e+01] [ 9.37657238e-03 -7.27044888e-04 9.99955775e-01 3.38549590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.960714057 meters Centerline goodness [0,1] 0.9801781228591002 Centerline is valid? [True, True] Translation: X:391.59, Y:-16.20, Z:3.39 [[ 9.99689779e-01 -2.29321082e-02 -9.71931443e-03 3.91592226e+02] [ 2.29383234e-02 9.99736742e-01 5.28457582e-04 -1.62029647e+01] [ 9.70463710e-03 -7.51238421e-04 9.99952627e-01 3.38538138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.990714057 meters Centerline goodness [0,1] 0.978862790750759 Centerline is valid? [True, True] Translation: X:391.62, Y:-16.21, Z:3.38 [[ 9.99713405e-01 -2.12020623e-02 -1.11166672e-02 3.91622301e+02] [ 2.12100859e-02 9.99774858e-01 6.04346922e-04 -1.62071931e+01] [ 1.11013509e-02 -8.39959184e-04 9.99938025e-01 3.38401188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.020714057 meters Centerline goodness [0,1] 0.9800471363521955 Centerline is valid? [True, True] Translation: X:391.65, Y:-16.20, Z:3.38 [[ 9.99735129e-01 -1.99225011e-02 -1.15224264e-02 3.91654062e+02] [ 1.99310421e-02 9.99801161e-01 6.26891979e-04 -1.62023097e+01] [ 1.15076460e-02 -8.56379900e-04 9.99933418e-01 3.38480383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.050714057 meters Centerline goodness [0,1] 0.9804644558446317 Centerline is valid? [True, True] Translation: X:391.68, Y:-16.20, Z:3.38 [[ 9.99782875e-01 -1.76798522e-02 -1.10283607e-02 3.91684603e+02] [ 1.76875391e-02 9.99843383e-01 5.99859049e-04 -1.62017307e+01] [ 1.10160280e-02 -7.94793365e-04 9.99939006e-01 3.38456906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.080714057 meters Centerline goodness [0,1] 0.9805090575556065 Centerline is valid? [True, True] Translation: X:391.72, Y:-16.20, Z:3.38 [[ 9.99813866e-01 -1.60770963e-02 -1.06658262e-02 3.91715872e+02] [ 1.60842011e-02 9.99870472e-01 5.80675697e-04 -1.62016237e+01] [ 1.06551091e-02 -7.52118906e-04 9.99942950e-01 3.38480927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.110714057 meters Centerline goodness [0,1] 0.9800684286665595 Centerline is valid? [True, True] Translation: X:391.75, Y:-16.20, Z:3.39 [[ 9.99863883e-01 -1.32317109e-02 -9.85580717e-03 3.91745302e+02] [ 1.32376360e-02 9.99912235e-01 5.36180686e-04 -1.62006726e+01] [ 9.84784759e-03 -6.66575290e-04 9.99951287e-01 3.38506614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.140714057 meters Centerline goodness [0,1] 0.981239785466013 Centerline is valid? [True, True] Translation: X:391.78, Y:-16.20, Z:3.39 [[ 9.99886676e-01 -1.16980051e-02 -9.47586052e-03 3.91775521e+02] [ 1.17034143e-02 9.99931380e-01 5.15585443e-04 -1.62007658e+01] [ 9.46917896e-03 -6.26426936e-04 9.99954970e-01 3.38538034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.170714057 meters Centerline goodness [0,1] 0.9797731090503257 Centerline is valid? [True, True] Translation: X:391.81, Y:-16.20, Z:3.39 [[ 9.99919748e-01 -9.34605256e-03 -8.55274901e-03 3.91805305e+02] [ 9.35037346e-03 9.99956176e-01 4.65358568e-04 -1.61990300e+01] [ 8.54802492e-03 -5.45292620e-04 9.99963316e-01 3.38602100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.200714057 meters Centerline goodness [0,1] 0.9804466706493268 Centerline is valid? [True, True] Translation: X:391.84, Y:-16.20, Z:3.39 [[ 9.99931492e-01 -8.26280228e-03 -8.29080362e-03 3.91835968e+02] [ 8.26682547e-03 9.99965727e-01 4.51106013e-04 -1.61995431e+01] [ 8.28679208e-03 -5.19613735e-04 9.99965529e-01 3.38626474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.230714057 meters Centerline goodness [0,1] 0.9795287933975748 Centerline is valid? [True, True] Translation: X:391.87, Y:-16.20, Z:3.39 [[ 9.99939783e-01 -7.48258912e-03 -8.02750618e-03 3.91865335e+02] [ 7.48633408e-03 9.99971882e-01 4.36568587e-04 -1.62016439e+01] [ 8.02401379e-03 -4.96638892e-04 9.99967684e-01 3.38547861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26071405700003 meters Centerline goodness [0,1] 0.978453330880493 Centerline is valid? [True, True] Translation: X:391.89, Y:-16.20, Z:3.39 [[ 9.99936497e-01 -8.08926421e-03 -7.84636961e-03 3.91894741e+02] [ 8.09285803e-03 9.99967161e-01 4.26380489e-04 -1.62041735e+01] [ 7.84266284e-03 -4.89852968e-04 9.99969126e-01 3.38553071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.290714057 meters Centerline goodness [0,1] 0.9782673688567947 Centerline is valid? [True, True] Translation: X:391.92, Y:-16.21, Z:3.39 [[ 9.99928176e-01 -8.73825441e-03 -8.20280229e-03 3.91924689e+02] [ 8.74220346e-03 9.99961687e-01 4.45694646e-04 -1.62063877e+01] [ 8.19859342e-03 -5.17373201e-04 9.99966257e-01 3.38521113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32071405700003 meters Centerline goodness [0,1] 0.9794791570810711 Centerline is valid? [True, True] Translation: X:391.96, Y:-16.20, Z:3.39 [[ 9.99916887e-01 -9.57518062e-03 -8.63336679e-03 3.91955023e+02] [ 9.57958490e-03 9.99954005e-01 4.68936717e-04 -1.62023530e+01] [ 8.62847954e-03 -5.51601813e-04 9.99962622e-01 3.38578412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.350714057 meters Centerline goodness [0,1] 0.9791647502529666 Centerline is valid? [True, True] Translation: X:391.98, Y:-16.21, Z:3.38 [[ 9.99915057e-01 -9.67343254e-03 -8.73520839e-03 3.91983911e+02] [ 9.67794376e-03 9.99953055e-01 4.74317222e-04 -1.62125801e+01] [ 8.73021004e-03 -5.58815788e-04 9.99961735e-01 3.38384567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.380714057 meters Centerline goodness [0,1] 0.979680297227255 Centerline is valid? [True, True] Translation: X:392.01, Y:-16.21, Z:3.38 [[ 9.99906545e-01 -9.90565152e-03 -9.42227969e-03 3.92014558e+02] [ 9.91091141e-03 9.99950755e-01 5.11709288e-04 -1.62122760e+01] [ 9.41674688e-03 -6.05044845e-04 9.99955478e-01 3.38342888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.410714057 meters Centerline goodness [0,1] 0.9794537824760944 Centerline is valid? [True, True] Translation: X:392.04, Y:-16.22, Z:3.38 [[ 9.99910330e-01 -9.55739997e-03 -9.38015249e-03 3.92043314e+02] [ 9.56259865e-03 9.99954147e-01 5.09527023e-04 -1.62182543e+01] [ 9.37485263e-03 -5.99179967e-04 9.99955876e-01 3.38236530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.440714057 meters Centerline goodness [0,1] 0.9812871673593093 Centerline is valid? [True, True] Translation: X:392.07, Y:-16.21, Z:3.38 [[ 9.99920432e-01 -8.46365664e-03 -9.35394039e-03 3.92074397e+02] [ 8.46877833e-03 9.99964010e-01 5.08069157e-04 -1.62104209e+01] [ 9.34930362e-03 -5.87245178e-04 9.99956122e-01 3.38473784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.470714057 meters Centerline goodness [0,1] 0.9824251056791031 Centerline is valid? [True, True] Translation: X:392.10, Y:-16.21, Z:3.39 [[ 9.99928570e-01 -7.51034437e-03 -9.29778609e-03 3.92103900e+02] [ 7.51535914e-03 9.99971632e-01 5.04529045e-04 -1.62092775e+01] [ 9.29373314e-03 -5.74369208e-04 9.99956647e-01 3.38533725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.500714057 meters Centerline goodness [0,1] 0.9824879920943166 Centerline is valid? [True, True] Translation: X:392.13, Y:-16.21, Z:3.39 [[ 9.99942623e-01 -4.32200009e-03 -9.80153807e-03 3.92132435e+02] [ 4.32741846e-03 9.99990495e-01 5.31667108e-04 -1.62113714e+01] [ 9.79914704e-03 -5.74051960e-04 9.99951822e-01 3.38501160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.530714057 meters Centerline goodness [0,1] 0.9830193014705882 Centerline is valid? [True, True] Translation: X:392.16, Y:-16.21, Z:3.39 [[ 9.99951281e-01 -2.43936724e-03 -9.56480548e-03 3.92161244e+02] [ 2.44443289e-03 9.99996878e-01 5.17958594e-04 -1.62092015e+01] [ 9.56351213e-03 -5.41313885e-04 9.99954122e-01 3.38546133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.560714057 meters Centerline goodness [0,1] 0.9828764758682593 Centerline is valid? [True, True] Translation: X:392.19, Y:-16.21, Z:3.39 [[ 9.99960395e-01 6.93634992e-04 -8.87283860e-03 3.92189740e+02] [-6.89402419e-04 9.99999647e-01 4.80075418e-04 -1.62123644e+01] [ 8.87316846e-03 -4.73939449e-04 9.99960520e-01 3.38533224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.590714057 meters Centerline goodness [0,1] 0.9828305408955774 Centerline is valid? [True, True] Translation: X:392.22, Y:-16.21, Z:3.39 [[ 9.99962231e-01 2.29349843e-03 -8.38308345e-03 3.92219101e+02] [-2.28979951e-03 9.99997277e-01 4.50807504e-04 -1.62077896e+01] [ 8.38409454e-03 -4.31594897e-04 9.99964760e-01 3.38689579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.620714057 meters Centerline goodness [0,1] 0.9826226870474658 Centerline is valid? [True, True] Translation: X:392.25, Y:-16.21, Z:3.39 [[ 9.99956841e-01 5.65544463e-03 -7.37103497e-03 3.92247431e+02] [-5.65267392e-03 9.99983945e-01 3.96671667e-04 -1.62139147e+01] [ 7.37315999e-03 -3.54988490e-04 9.99972755e-01 3.38681799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.650714057 meters Centerline goodness [0,1] 0.983441275090717 Centerline is valid? [True, True] Translation: X:392.28, Y:-16.21, Z:3.39 [[ 9.99951250e-01 6.98106016e-03 -6.98300803e-03 3.92276286e+02] [-6.97860985e-03 9.99975579e-01 3.75200962e-04 -1.62098417e+01] [ 6.98545680e-03 -3.26450982e-04 9.99975548e-01 3.38853121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.680714057 meters Centerline goodness [0,1] 0.9829864211948433 Centerline is valid? [True, True] Translation: X:392.31, Y:-16.21, Z:3.39 [[ 9.99940202e-01 9.28681707e-03 -5.77464207e-03 3.92305330e+02] [-9.28518035e-03 9.99956844e-01 3.10177622e-04 -1.62138653e+01] [ 5.77727342e-03 -2.56540481e-04 9.99983279e-01 3.38870262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.710714057 meters Centerline goodness [0,1] 0.9844867094408799 Centerline is valid? [True, True] Translation: X:392.33, Y:-16.22, Z:3.39 [[ 9.99925772e-01 1.11627255e-02 -4.88303649e-03 3.92334672e+02] [-1.11615793e-02 9.99937673e-01 2.61926589e-04 -1.62165011e+01] [ 4.88565596e-03 -2.07404748e-04 9.99988044e-01 3.38895867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.740714057 meters Centerline goodness [0,1] 0.9849877380761385 Centerline is valid? [True, True] Translation: X:392.36, Y:-16.22, Z:3.39 [[ 9.99922852e-01 1.16228132e-02 -4.38173486e-03 3.92363471e+02] [-1.16218965e-02 9.99932436e-01 2.34613227e-04 -1.62175416e+01] [ 4.38416568e-03 -1.83671058e-04 9.99990373e-01 3.38916631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.770714057 meters Centerline goodness [0,1] 0.983922976650582 Centerline is valid? [True, True] Translation: X:392.39, Y:-16.23, Z:3.39 [[ 9.99919986e-01 1.18696405e-02 -4.37409918e-03 3.92390850e+02] [-1.18687323e-02 9.99929537e-01 2.33532754e-04 -1.62264161e+01] [ 4.37656291e-03 -1.81599056e-04 9.99990406e-01 3.38811730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.800714057 meters Centerline goodness [0,1] 0.9849888214627914 Centerline is valid? [True, True] Translation: X:392.42, Y:-16.23, Z:3.39 [[ 9.99926202e-01 1.13064886e-02 -4.44458117e-03 3.92419489e+02] [-1.13055458e-02 9.99936062e-01 2.37181154e-04 -1.62302698e+01] [ 4.44697868e-03 -1.86915234e-04 9.99990095e-01 3.38776233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.830714057 meters Centerline goodness [0,1] 0.9843618401584303 Centerline is valid? [True, True] Translation: X:392.45, Y:-16.24, Z:3.39 [[ 9.99934025e-01 1.04328062e-02 -4.80644485e-03 3.92447075e+02] [-1.04316958e-02 9.99945556e-01 2.56023204e-04 -1.62379961e+01] [ 4.80885421e-03 -2.05866942e-04 9.99988416e-01 3.38628884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.860714057 meters Centerline goodness [0,1] 0.9843618401584303 Centerline is valid? [True, True] Translation: X:392.47, Y:-16.24, Z:3.39 [[ 9.99935068e-01 1.03323864e-02 -4.80647383e-03 3.92474526e+02] [-1.03312776e-02 9.99946598e-01 2.55479113e-04 -1.62393628e+01] [ 4.80885687e-03 -2.05805509e-04 9.99988416e-01 3.38616539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.890714057 meters Centerline goodness [0,1] 0.9861446057241662 Centerline is valid? [True, True] Translation: X:392.50, Y:-16.24, Z:3.39 [[ 9.99955052e-01 7.99060361e-03 -5.10341712e-03 3.92504466e+02] [-7.98932237e-03 9.99968048e-01 2.71393710e-04 -1.62403718e+01] [ 5.10542266e-03 -2.30608667e-04 9.99986941e-01 3.38610473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.920714057 meters Centerline goodness [0,1] 0.9854927917308913 Centerline is valid? [True, True] Translation: X:392.53, Y:-16.25, Z:3.38 [[ 9.99965612e-01 6.47877444e-03 -5.17692069e-03 3.92531740e+02] [-6.47743944e-03 9.99978983e-01 2.74599782e-04 -1.62497450e+01] [ 5.17859096e-03 -2.41057149e-04 9.99986562e-01 3.38498315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.950714057 meters Centerline goodness [0,1] 0.9843987047981342 Centerline is valid? [True, True] Translation: X:392.56, Y:-16.26, Z:3.39 [[ 9.99985510e-01 1.74640713e-03 -5.09213243e-03 3.92561369e+02] [-1.74505348e-03 9.99998441e-01 2.70264075e-04 -1.62553924e+01] [ 5.09259649e-03 -2.61374116e-04 9.99986998e-01 3.38589113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.980714057 meters Centerline goodness [0,1] 0.9841870369950839 Centerline is valid? [True, True] Translation: X:392.59, Y:-16.26, Z:3.39 [[ 9.99989376e-01 -6.43813432e-04 -4.56444670e-03 3.92589901e+02] [ 6.44924168e-04 9.99999763e-01 2.41877274e-04 -1.62638114e+01] [ 4.56428989e-03 -2.44818426e-04 9.99989554e-01 3.38524302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01071405700003 meters Centerline goodness [0,1] 0.9834240419141392 Centerline is valid? [True, True] Translation: X:392.62, Y:-16.27, Z:3.38 [[ 9.99975947e-01 -5.35566121e-03 -4.40716432e-03 3.92618876e+02] [ 5.35674254e-03 9.99985625e-01 2.33591112e-04 -1.62735758e+01] [ 4.40584994e-03 -2.57193538e-04 9.99990261e-01 3.38476698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.040714057 meters Centerline goodness [0,1] 0.9836457019282754 Centerline is valid? [True, True] Translation: X:392.65, Y:-16.28, Z:3.38 [[ 9.99964309e-01 -7.03998287e-03 -4.67110258e-03 3.92648624e+02] [ 7.04121563e-03 9.99975180e-01 2.47519539e-04 -1.62784620e+01] [ 4.66924410e-03 -2.80400945e-04 9.99989060e-01 3.38469270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07071405700003 meters Centerline goodness [0,1] 0.9827838086890073 Centerline is valid? [True, True] Translation: X:392.68, Y:-16.29, Z:3.38 [[ 9.99931022e-01 -1.03209462e-02 -5.60621682e-03 3.92677719e+02] [ 1.03227773e-02 9.99946674e-01 2.97786223e-04 -1.62896817e+01] [ 5.60284443e-03 -3.55637410e-04 9.99984241e-01 3.38327195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.100714057 meters Centerline goodness [0,1] 0.9826862185892974 Centerline is valid? [True, True] Translation: X:392.71, Y:-16.29, Z:3.38 [[ 9.99917162e-01 -1.17545838e-02 -5.24393445e-03 3.92708542e+02] [ 1.17562051e-02 9.99930855e-01 2.78448855e-04 -1.62922266e+01] [ 5.24029881e-03 -3.40074558e-04 9.99986212e-01 3.38303071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.130714057 meters Centerline goodness [0,1] 0.9841863590547654 Centerline is valid? [True, True] Translation: X:392.74, Y:-16.29, Z:3.38 [[ 9.99912058e-01 -1.27502361e-02 -3.64804420e-03 3.92739541e+02] [ 1.27510282e-02 9.99918684e-01 1.93944047e-04 -1.62933961e+01] [ 3.64527473e-03 -2.40443306e-04 9.99993327e-01 3.38485133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.160714057 meters Centerline goodness [0,1] 0.9828374260620183 Centerline is valid? [True, True] Translation: X:392.77, Y:-16.30, Z:3.39 [[ 9.99908511e-01 -1.31285484e-02 -3.25749306e-03 3.92771841e+02] [ 1.31291832e-02 9.99913793e-01 1.73588629e-04 -1.62976129e+01] [ 3.25493327e-03 -2.16340970e-04 9.99994679e-01 3.38542473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.190714057 meters Centerline goodness [0,1] 0.9826077224398433 Centerline is valid? [True, True] Translation: X:392.80, Y:-16.30, Z:3.39 [[ 9.99907813e-01 -1.33996686e-02 -2.19425604e-03 3.92803037e+02] [ 1.33999576e-02 9.99910210e-01 1.17068334e-04 -1.63042948e+01] [ 2.19249034e-03 -1.46460480e-04 9.99997586e-01 3.38626575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.220714057 meters Centerline goodness [0,1] 0.9824298981961065 Centerline is valid? [True, True] Translation: X:392.83, Y:-16.31, Z:3.39 [[ 9.99913086e-01 -1.29405321e-02 -2.52268039e-03 3.92833635e+02] [ 1.29409129e-02 9.99916254e-01 1.34685490e-04 -1.63094772e+01] [ 2.52072622e-03 -1.67319571e-04 9.99996809e-01 3.38557620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.250714057 meters Centerline goodness [0,1] 0.9828009279914339 Centerline is valid? [True, True] Translation: X:392.87, Y:-16.31, Z:3.39 [[ 9.99918504e-01 -1.24512821e-02 -2.81970806e-03 3.92865815e+02] [ 1.24517566e-02 9.99922463e-01 1.50803919e-04 -1.63096072e+01] [ 2.81761173e-03 -1.85901947e-04 9.99996013e-01 3.38544121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.280714057 meters Centerline goodness [0,1] 0.9843074316793723 Centerline is valid? [True, True] Translation: X:392.90, Y:-16.31, Z:3.38 [[ 9.99929722e-01 -1.13017967e-02 -3.58062548e-03 3.92897137e+02] [ 1.13025542e-02 9.99936106e-01 1.91381862e-04 -1.63130531e+01] [ 3.57823374e-03 -2.31838626e-04 9.99993571e-01 3.38429799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.310714057 meters Centerline goodness [0,1] 0.9848444265880988 Centerline is valid? [True, True] Translation: X:392.93, Y:-16.32, Z:3.38 [[ 9.99937286e-01 -1.04520402e-02 -4.02218155e-03 3.92928034e+02] [ 1.04529897e-02 9.99945343e-01 2.15106453e-04 -1.63155430e+01] [ 4.01971341e-03 -2.57136785e-04 9.99991888e-01 3.38360468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.340714057 meters Centerline goodness [0,1] 0.9841559076464967 Centerline is valid? [True, True] Translation: X:392.96, Y:-16.32, Z:3.38 [[ 9.99948293e-01 -9.24934353e-03 -4.22616788e-03 3.92958535e+02] [ 9.25038098e-03 9.99957189e-01 2.26001736e-04 -1.63194029e+01] [ 4.22389659e-03 -2.65083713e-04 9.99991044e-01 3.38311039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.370714057 meters Centerline goodness [0,1] 0.9832107023411372 Centerline is valid? [True, True] Translation: X:392.99, Y:-16.32, Z:3.38 [[ 9.99959997e-01 -7.32246658e-03 -5.13678814e-03 3.92990083e+02] [ 7.32397522e-03 9.99973142e-01 2.74943143e-04 -1.63210333e+01] [ 5.13463691e-03 -3.12553853e-04 9.99986769e-01 3.38242673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.400714057 meters Centerline goodness [0,1] 0.9847194110189283 Centerline is valid? [True, True] Translation: X:393.02, Y:-16.32, Z:3.38 [[ 9.99975704e-01 -4.56302021e-03 -5.26979973e-03 3.93019786e+02] [ 4.56456895e-03 9.99989543e-01 2.81899433e-04 -1.63236036e+01] [ 5.26845831e-03 -3.05946948e-04 9.99986075e-01 3.38203606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.430714057 meters Centerline goodness [0,1] 0.9845327652397754 Centerline is valid? [True, True] Translation: X:393.05, Y:-16.33, Z:3.38 [[ 9.99982103e-01 -3.25049884e-03 -5.02279659e-03 3.93049879e+02] [ 3.25188846e-03 9.99994677e-01 2.68520454e-04 -1.63251653e+01] [ 5.02189702e-03 -2.84849222e-04 9.99987350e-01 3.38253861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.460714057 meters Centerline goodness [0,1] 0.9852577663957243 Centerline is valid? [True, True] Translation: X:393.08, Y:-16.33, Z:3.38 [[ 9.99991297e-01 -7.09405110e-04 -4.11134984e-03 3.93079327e+02] [ 7.10313774e-04 9.99999724e-01 2.19557693e-04 -1.63261501e+01] [ 4.11119295e-03 -2.22476131e-04 9.99991524e-01 3.38401708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.490714057 meters Centerline goodness [0,1] 0.9855588438174495 Centerline is valid? [True, True] Translation: X:393.11, Y:-16.33, Z:3.38 [[ 9.99991958e-01 2.17153868e-03 -3.37158610e-03 3.93108984e+02] [-2.17094441e-03 9.99997627e-01 1.79907757e-04 -1.63266457e+01] [ 3.37196878e-03 -1.72586784e-04 9.99994300e-01 3.38469008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.520714057 meters Centerline goodness [0,1] 0.9855407750144592 Centerline is valid? [True, True] Translation: X:393.14, Y:-16.33, Z:3.38 [[ 9.99988345e-01 3.75675123e-03 -3.03246481e-03 3.93137819e+02] [-3.75627892e-03 9.99992932e-01 1.61433435e-04 -1.63281407e+01] [ 3.03304984e-03 -1.50040770e-04 9.99995389e-01 3.38452841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.550714057 meters Centerline goodness [0,1] 0.9860052591701208 Centerline is valid? [True, True] Translation: X:393.17, Y:-16.33, Z:3.38 [[ 9.99979666e-01 5.52730668e-03 -3.18052684e-03 3.93165352e+02] [-5.52679711e-03 9.99984713e-01 1.68983729e-04 -1.63300854e+01] [ 3.18141225e-03 -1.51402167e-04 9.99994928e-01 3.38385015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.580714057 meters Centerline goodness [0,1] 0.9860149203874847 Centerline is valid? [True, True] Translation: X:393.19, Y:-16.33, Z:3.38 [[ 9.99977464e-01 5.90459085e-03 -3.19481233e-03 3.93193727e+02] [-5.90407908e-03 9.99982556e-01 1.69593462e-04 -1.63303541e+01] [ 3.19575798e-03 -1.50727215e-04 9.99994882e-01 3.38397340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.610714057 meters Centerline goodness [0,1] 0.9858401580220609 Centerline is valid? [True, True] Translation: X:393.22, Y:-16.33, Z:3.38 [[ 9.99981862e-01 5.17128395e-03 -3.08753932e-03 3.93222525e+02] [-5.17080323e-03 9.99986618e-01 1.63659186e-04 -1.63310153e+01] [ 3.08834433e-03 -1.47691159e-04 9.99995220e-01 3.38444512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.640714057 meters Centerline goodness [0,1] 0.9866509706365777 Centerline is valid? [True, True] Translation: X:393.25, Y:-16.33, Z:3.38 [[ 9.99987638e-01 4.20600158e-03 -2.65195423e-03 3.93251175e+02] [-4.20564417e-03 9.99991146e-01 1.40335208e-04 -1.63332875e+01] [ 2.65252100e-03 -1.29180297e-04 9.99996474e-01 3.38418314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.670714057 meters Centerline goodness [0,1] 0.9853595871447872 Centerline is valid? [True, True] Translation: X:393.28, Y:-16.34, Z:3.38 [[ 9.99995332e-01 1.30951590e-03 -2.76054698e-03 3.93278776e+02] [-1.30911752e-03 9.99999132e-01 1.46115008e-04 -1.63443381e+01] [ 2.76073593e-03 -1.42500445e-04 9.99996179e-01 3.38299955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.700714057 meters Centerline goodness [0,1] 0.9838588588588588 Centerline is valid? [True, True] Translation: X:393.31, Y:-16.35, Z:3.38 [[ 9.99990399e-01 -2.96208625e-03 -3.22919206e-03 3.93307374e+02] [ 2.96265427e-03 9.99995597e-01 1.71131493e-04 -1.63516907e+01] [ 3.22867093e-03 -1.80696830e-04 9.99994772e-01 3.38235642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.730714057 meters Centerline goodness [0,1] 0.9850560950733892 Centerline is valid? [True, True] Translation: X:393.34, Y:-16.35, Z:3.38 [[ 9.99982704e-01 -4.93361344e-03 -3.20162175e-03 3.93338287e+02] [ 4.93418189e-03 9.99987812e-01 1.69674010e-04 -1.63483919e+01] [ 3.20074562e-03 -1.85468459e-04 9.99994860e-01 3.38287643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76071405700003 meters Centerline goodness [0,1] 0.9848582259959652 Centerline is valid? [True, True] Translation: X:393.37, Y:-16.35, Z:3.38 [[ 9.99950461e-01 -9.13631508e-03 -3.95022666e-03 3.93368237e+02] [ 9.13721337e-03 9.99958233e-01 2.09413190e-04 -1.63548426e+01] [ 3.94814840e-03 -2.45496880e-04 9.99992176e-01 3.38202465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.790714057 meters Centerline goodness [0,1] 0.9845365399121445 Centerline is valid? [True, True] Translation: X:393.40, Y:-16.36, Z:3.38 [[ 9.99937163e-01 -1.06769132e-02 -3.41654746e-03 3.93399107e+02] [ 1.06775950e-02 9.99942976e-01 1.81382398e-04 -1.63588453e+01] [ 3.41441603e-03 -2.17851510e-04 9.99994147e-01 3.38187044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82071405700003 meters Centerline goodness [0,1] 0.982670316570268 Centerline is valid? [True, True] Translation: X:393.43, Y:-16.36, Z:3.38 [[ 9.99903771e-01 -1.36711598e-02 -2.35554763e-03 3.93430146e+02] [ 1.36714921e-02 9.99906533e-01 1.25060190e-04 -1.63619314e+01] [ 2.35361774e-03 -1.57252007e-04 9.99997218e-01 3.38288992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.850714057 meters Centerline goodness [0,1] 0.9826425788168615 Centerline is valid? [True, True] Translation: X:393.46, Y:-16.37, Z:3.38 [[ 9.99882328e-01 -1.52503780e-02 -1.66035693e-03 3.93460530e+02] [ 1.52505455e-02 9.99883700e-01 8.83106679e-05 -1.63675022e+01] [ 1.65881706e-03 -1.13621625e-04 9.99998618e-01 3.38280639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.880714057 meters Centerline goodness [0,1] 0.9830482218337132 Centerline is valid? [True, True] Translation: X:393.49, Y:-16.37, Z:3.38 [[ 9.99846884e-01 -1.74734167e-02 -9.42160739e-04 3.93491818e+02] [ 1.74734718e-02 9.99847326e-01 5.02689377e-05 -1.63654535e+01] [ 9.41138525e-04 -6.67240598e-05 9.99999555e-01 3.38387313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.910714057 meters Centerline goodness [0,1] 0.9827929843210205 Centerline is valid? [True, True] Translation: X:393.52, Y:-16.37, Z:3.38 [[ 9.99828300e-01 -1.85160603e-02 -7.25432575e-04 3.93523481e+02] [ 1.85160935e-02 9.99828562e-01 3.90746420e-05 -1.63677675e+01] [ 7.24584700e-04 -5.25001103e-05 9.99999736e-01 3.38395424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.940714057 meters Centerline goodness [0,1] 0.9820734722712823 Centerline is valid? [True, True] Translation: X:393.55, Y:-16.37, Z:3.38 [[ 9.99767601e-01 -2.15135884e-02 -1.38210223e-03 3.93553666e+02] [ 2.15137107e-02 9.99768551e-01 7.36848815e-05 -1.63724878e+01] [ 1.38019711e-03 -1.03401905e-04 9.99999042e-01 3.38309684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.970714057 meters Centerline goodness [0,1] 0.9824759126668434 Centerline is valid? [True, True] Translation: X:393.58, Y:-16.38, Z:3.38 [[ 9.99682639e-01 -2.50372658e-02 -2.78488929e-03 3.93583828e+02] [ 2.50377756e-02 9.99686495e-01 1.48339195e-04 -1.63773513e+01] [ 2.78030221e-03 -2.18019551e-04 9.99996111e-01 3.38228398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.000714057 meters Centerline goodness [0,1] 0.9832607301594322 Centerline is valid? [True, True] Translation: X:393.62, Y:-16.38, Z:3.38 [[ 9.99646865e-01 -2.64103560e-02 -2.93896489e-03 3.93615780e+02] [ 2.64109308e-02 9.99651158e-01 1.56935146e-04 -1.63766612e+01] [ 2.93379494e-03 -2.34500526e-04 9.99995669e-01 3.38200673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.030714057 meters Centerline goodness [0,1] 0.9806551571491811 Centerline is valid? [True, True] Translation: X:393.64, Y:-16.39, Z:3.38 [[ 9.99574047e-01 -2.89690814e-02 -3.53796863e-03 3.93644897e+02] [ 2.89699293e-02 9.99580266e-01 1.88626925e-04 -1.63852431e+01] [ 3.53101928e-03 -2.91041279e-04 9.99993724e-01 3.38067053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.060714057 meters Centerline goodness [0,1] 0.9807836561796761 Centerline is valid? [True, True] Translation: X:393.68, Y:-16.39, Z:3.38 [[ 9.99565232e-01 -2.92692246e-02 -3.55809513e-03 3.93676916e+02] [ 2.92700860e-02 9.99571521e-01 1.90261723e-04 -1.63883570e+01] [ 3.55100175e-03 -2.94324754e-04 9.99993652e-01 3.38012691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.090714057 meters Centerline goodness [0,1] 0.9814192921214263 Centerline is valid? [True, True] Translation: X:393.71, Y:-16.39, Z:3.38 [[ 9.99613414e-01 -2.76073558e-02 -3.29506473e-03 3.93708265e+02] [ 2.76080855e-02 9.99618809e-01 1.76179844e-04 -1.63881891e+01] [ 3.28894482e-03 -2.67082164e-04 9.99994556e-01 3.38020437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.120714057 meters Centerline goodness [0,1] 0.9821408787751214 Centerline is valid? [True, True] Translation: X:393.74, Y:-16.38, Z:3.38 [[ 9.99728320e-01 -2.30597395e-02 -3.39634394e-03 3.93739667e+02] [ 2.30604886e-02 9.99734055e-01 1.81567155e-04 -1.63804019e+01] [ 3.39125381e-03 -2.59839177e-04 9.99994216e-01 3.38083081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.150714057 meters Centerline goodness [0,1] 0.9827952703600372 Centerline is valid? [True, True] Translation: X:393.77, Y:-16.38, Z:3.38 [[ 9.99782799e-01 -2.05842226e-02 -3.26266447e-03 3.93770762e+02] [ 2.05849010e-02 9.99788093e-01 1.74485014e-04 -1.63800926e+01] [ 3.25838145e-03 -2.41608741e-04 9.99994662e-01 3.38064585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.180714057 meters Centerline goodness [0,1] 0.9835872868010734 Centerline is valid? [True, True] Translation: X:393.80, Y:-16.38, Z:3.38 [[ 9.99839470e-01 -1.75766449e-02 -3.47789013e-03 3.93801339e+02] [ 1.75773974e-02 9.99845488e-01 1.85910208e-04 -1.63775798e+01] [ 3.47408508e-03 -2.47012621e-04 9.99993935e-01 3.38075022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.210714057 meters Centerline goodness [0,1] 0.9840083396176197 Centerline is valid? [True, True] Translation: X:393.83, Y:-16.38, Z:3.38 [[ 9.99925852e-01 -1.17529041e-02 -3.18741575e-03 3.93831442e+02] [ 1.17535066e-02 9.99930911e-01 1.70370522e-04 -1.63751381e+01] [ 3.18519318e-03 -2.07821201e-04 9.99994906e-01 3.38057959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.240714057 meters Centerline goodness [0,1] 0.9836465165750753 Centerline is valid? [True, True] Translation: X:393.86, Y:-16.37, Z:3.38 [[ 9.99967913e-01 -7.74532268e-03 -2.04545148e-03 3.93861361e+02] [ 7.74556229e-03 9.99969997e-01 1.09244083e-04 -1.63726159e+01] [ 2.04454398e-03 -1.25083750e-04 9.99997902e-01 3.38184005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.270714057 meters Centerline goodness [0,1] 0.9843586605851596 Centerline is valid? [True, True] Translation: X:393.89, Y:-16.37, Z:3.38 [[ 9.99978676e-01 -6.37587098e-03 -1.41292865e-03 3.93893024e+02] [ 6.37598431e-03 9.99979670e-01 7.57171074e-05 -1.63694741e+01] [ 1.41241717e-03 -8.47243037e-05 9.99998999e-01 3.38259449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.300714057 meters Centerline goodness [0,1] 0.9843729130492854 Centerline is valid? [True, True] Translation: X:393.92, Y:-16.37, Z:3.38 [[ 9.99983223e-01 -5.73712747e-03 -7.99096066e-04 3.93924798e+02] [ 5.73716359e-03 9.99983541e-01 4.29194713e-05 -1.63690828e+01] [ 7.98836679e-04 -4.75032961e-05 9.99999680e-01 3.38318507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.330714057 meters Centerline goodness [0,1] 0.9853433557285084 Centerline is valid? [True, True] Translation: X:393.96, Y:-16.37, Z:3.38 [[ 9.99984112e-01 -5.52174335e-03 -1.13424865e-03 3.93956403e+02] [ 5.52181596e-03 9.99984753e-01 6.08926945e-05 -1.63705556e+01] [ 1.13389513e-03 -6.71548393e-05 9.99999355e-01 3.38296128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.360714057 meters Centerline goodness [0,1] 0.9840347361389445 Centerline is valid? [True, True] Translation: X:393.99, Y:-16.37, Z:3.38 [[ 9.99980682e-01 -5.76681037e-03 -2.31959094e-03 3.93988165e+02] [ 5.76711451e-03 9.99983362e-01 1.24446448e-04 -1.63701630e+01] [ 2.31883469e-03 -1.37821390e-04 9.99997302e-01 3.38150943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.390714057 meters Centerline goodness [0,1] 0.984985051983401 Centerline is valid? [True, True] Translation: X:394.02, Y:-16.37, Z:3.38 [[ 9.99980402e-01 -4.84171100e-03 -3.96916507e-03 3.94019547e+02] [ 4.84259436e-03 9.99988252e-01 2.12974925e-04 -1.63690679e+01] [ 3.96808728e-03 -2.32191807e-04 9.99992100e-01 3.37988805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.420714057 meters Centerline goodness [0,1] 0.9851411258883023 Centerline is valid? [True, True] Translation: X:394.05, Y:-16.37, Z:3.38 [[ 9.99981402e-01 -3.91997771e-03 -4.67227918e-03 3.94050208e+02] [ 3.92119085e-03 9.99992281e-01 2.50514243e-04 -1.63682106e+01] [ 4.67126111e-03 -2.68830482e-04 9.99989053e-01 3.37957192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.450714057 meters Centerline goodness [0,1] 0.9855419529553949 Centerline is valid? [True, True] Translation: X:394.08, Y:-16.37, Z:3.38 [[ 9.99990766e-01 -1.49811295e-03 -4.02778417e-03 3.94079580e+02] [ 1.49899429e-03 9.99998853e-01 2.15806551e-04 -1.63685603e+01] [ 4.02745625e-03 -2.21842184e-04 9.99991865e-01 3.37946954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.480714057 meters Centerline goodness [0,1] 0.9854865995904194 Centerline is valid? [True, True] Translation: X:394.11, Y:-16.37, Z:3.38 [[ 9.99993252e-01 -4.64066724e-04 -3.64421288e-03 3.94109249e+02] [ 4.64780570e-04 9.99999873e-01 1.95040291e-04 -1.63681459e+01] [ 3.64412191e-03 -1.96732734e-04 9.99993341e-01 3.37998034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51071405700003 meters Centerline goodness [0,1] 0.9860082120860484 Centerline is valid? [True, True] Translation: X:394.14, Y:-16.37, Z:3.38 [[ 9.99995182e-01 1.15539978e-03 -2.88121040e-03 3.94138936e+02] [-1.15496065e-03 9.99999321e-01 1.54069622e-04 -1.63666406e+01] [ 2.88138645e-03 -1.50741195e-04 9.99995837e-01 3.38125878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.540714057 meters Centerline goodness [0,1] 0.9842767998926438 Centerline is valid? [True, True] Translation: X:394.17, Y:-16.37, Z:3.38 [[ 9.99998002e-01 1.74163155e-03 -9.80815461e-04 3.94167851e+02] [-1.74158123e-03 9.99998482e-01 5.21624337e-05 -1.63679409e+01] [ 9.80904820e-04 -5.04541597e-05 9.99999518e-01 3.38206812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57071405700003 meters Centerline goodness [0,1] 0.9851773781226174 Centerline is valid? [True, True] Translation: X:394.20, Y:-16.36, Z:3.38 [[ 9.99997276e-01 2.33283676e-03 -8.13172097e-05 3.94197892e+02] [-2.33283643e-03 9.99997279e-01 4.18290707e-06 -1.63648179e+01] [ 8.13267464e-05 -3.99319593e-06 9.99999997e-01 3.38316898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.600714057 meters Centerline goodness [0,1] 0.9857414661443761 Centerline is valid? [True, True] Translation: X:394.23, Y:-16.37, Z:3.38 [[ 9.99995731e-01 2.70795666e-03 1.09756250e-03 3.94226891e+02] [-2.70789400e-03 9.99996332e-01 -5.85695059e-05 -1.63676129e+01] [-1.09771708e-03 5.55971729e-05 9.99999396e-01 3.38368552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.630714057 meters Centerline goodness [0,1] 0.9844947344835313 Centerline is valid? [True, True] Translation: X:394.26, Y:-16.37, Z:3.38 [[ 9.99992949e-01 3.13978860e-03 2.06025996e-03 3.94257831e+02] [-3.13956836e-03 9.99995065e-01 -1.10125510e-04 -1.63672386e+01] [-2.06059557e-03 1.03656406e-04 9.99997872e-01 3.38367100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.660714057 meters Centerline goodness [0,1] 0.9836884676570097 Centerline is valid? [True, True] Translation: X:394.29, Y:-16.37, Z:3.38 [[ 9.99994277e-01 3.08414304e-03 1.39038841e-03 3.94286752e+02] [-3.08404276e-03 9.99995242e-01 -7.42614485e-05 -1.63711346e+01] [-1.39061083e-03 6.99730062e-05 9.99999031e-01 3.38298091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.690714057 meters Centerline goodness [0,1] 0.9845782486254526 Centerline is valid? [True, True] Translation: X:394.32, Y:-16.37, Z:3.38 [[ 9.99996162e-01 2.53397475e-03 1.12045381e-03 3.94317373e+02] [-2.53390920e-03 9.99996788e-01 -5.99117740e-05 -1.63729829e+01] [-1.12060202e-03 5.70724158e-05 9.99999370e-01 3.38224316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.720714057 meters Centerline goodness [0,1] 0.984308195106664 Centerline is valid? [True, True] Translation: X:394.35, Y:-16.38, Z:3.38 [[ 9.99999956e-01 -2.28643755e-04 1.90444533e-04 3.94347872e+02] [ 2.28645698e-04 9.99999974e-01 -1.01832577e-05 -1.63772754e+01] [-1.90442200e-04 1.02268016e-05 9.99999982e-01 3.38056448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.750714057 meters Centerline goodness [0,1] 0.984308195106664 Centerline is valid? [True, True] Translation: X:394.38, Y:-16.38, Z:3.38 [[ 9.99999956e-01 -2.28643755e-04 1.90444533e-04 3.94377872e+02] [ 2.28645698e-04 9.99999974e-01 -1.01832577e-05 -1.63788796e+01] [-1.90442200e-04 1.02268015e-05 9.99999982e-01 3.38042970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.780714057 meters Centerline goodness [0,1] 0.9838529069246619 Centerline is valid? [True, True] Translation: X:394.41, Y:-16.38, Z:3.38 [[ 9.99997716e-01 -2.13011080e-03 1.72898209e-04 3.94408677e+02] [ 2.13011241e-03 9.99997731e-01 -9.16855214e-06 -1.63795948e+01] [-1.72878287e-04 9.53682383e-06 9.99999985e-01 3.37977400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.810714057 meters Centerline goodness [0,1] 0.9839164911966309 Centerline is valid? [True, True] Translation: X:394.44, Y:-16.39, Z:3.38 [[ 9.99983456e-01 -5.75221354e-03 1.85189251e-05 3.94438642e+02] [ 5.75221356e-03 9.99983456e-01 -6.92494006e-07 -1.63864230e+01] [-1.85146354e-05 7.99007361e-07 1.00000000e+00 3.37836044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.840714057 meters Centerline goodness [0,1] 0.9827102179047279 Centerline is valid? [True, True] Translation: X:394.47, Y:-16.39, Z:3.38 [[ 9.99971218e-01 -7.58528884e-03 -1.65173542e-04 3.94469822e+02] [ 7.58529058e-03 9.99971231e-01 9.89667866e-06 -1.63941658e+01] [ 1.65093721e-04 -1.11492831e-05 9.99999986e-01 3.37729822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.870714057 meters Centerline goodness [0,1] 0.9838983808927453 Centerline is valid? [True, True] Translation: X:394.50, Y:-16.39, Z:3.38 [[ 9.99941355e-01 -1.08299157e-02 1.92226581e-05 3.94500940e+02] [ 1.08299157e-02 9.99941355e-01 -9.52338908e-07 -1.63891582e+01] [-1.92112170e-05 1.16046282e-06 1.00000000e+00 3.37824428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.900714057 meters Centerline goodness [0,1] 0.9828137937207689 Centerline is valid? [True, True] Translation: X:394.53, Y:-16.39, Z:3.38 [[ 9.99920454e-01 -1.25975940e-02 6.20786057e-04 3.94531440e+02] [ 1.25976171e-02 9.99920646e-01 -3.32592224e-05 -1.63941885e+01] [-6.20317809e-04 4.10770018e-05 9.99999807e-01 3.37831400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.930714057 meters Centerline goodness [0,1] 0.9826459369632621 Centerline is valid? [True, True] Translation: X:394.56, Y:-16.40, Z:3.38 [[ 9.99917676e-01 -1.27847657e-02 1.09173056e-03 3.94563753e+02] [ 1.27848372e-02 9.99918269e-01 -5.85314517e-05 -1.63968531e+01] [-1.09089302e-03 7.24842306e-05 9.99999402e-01 3.37814267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.960714057 meters Centerline goodness [0,1] 0.9821963096993254 Centerline is valid? [True, True] Translation: X:394.59, Y:-16.40, Z:3.38 [[ 9.99920049e-01 -1.24979266e-02 1.92293524e-03 3.94594627e+02] [ 1.24981487e-02 9.99921890e-01 -1.03524415e-04 -1.64020244e+01] [-1.92149120e-03 1.27549268e-04 9.99998146e-01 3.37843795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.990714057 meters Centerline goodness [0,1] 0.9812522265764161 Centerline is valid? [True, True] Translation: X:394.63, Y:-16.40, Z:3.38 [[ 9.99930996e-01 -1.14386881e-02 2.67583086e-03 3.94626807e+02] [ 1.14391149e-02 9.99934561e-01 -1.44265812e-04 -1.64044976e+01] [-2.67400554e-03 1.74864993e-04 9.99996410e-01 3.37890925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.020714057 meters Centerline goodness [0,1] 0.9819594534250246 Centerline is valid? [True, True] Translation: X:394.66, Y:-16.40, Z:3.38 [[ 9.99940953e-01 -1.04722314e-02 2.90212871e-03 3.94659449e+02] [ 1.04727301e-02 9.99945147e-01 -1.56692400e-04 -1.64026164e+01] [-2.90032860e-03 1.87076358e-04 9.99995777e-01 3.37916706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.050714057 meters Centerline goodness [0,1] 0.9820484802533282 Centerline is valid? [True, True] Translation: X:394.69, Y:-16.40, Z:3.38 [[ 9.99949150e-01 -9.67755175e-03 2.83583438e-03 3.94691716e+02] [ 9.67802529e-03 9.99953155e-01 -1.53308022e-04 -1.64042367e+01] [-2.83421789e-03 1.80745503e-04 9.99995967e-01 3.37900919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.080714057 meters Centerline goodness [0,1] 0.9830049866946935 Centerline is valid? [True, True] Translation: X:394.72, Y:-16.40, Z:3.38 [[ 9.99962922e-01 -8.36947025e-03 2.02645093e-03 3.94723927e+02] [ 8.36970949e-03 9.99964967e-01 -1.09603314e-04 -1.64049170e+01] [-2.02546262e-03 1.26560055e-04 9.99997941e-01 3.37747088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.110714057 meters Centerline goodness [0,1] 0.9821292945539025 Centerline is valid? [True, True] Translation: X:394.75, Y:-16.41, Z:3.38 [[ 9.99968166e-01 -7.89078026e-03 1.18391595e-03 3.94754458e+02] [ 7.89086160e-03 9.99968865e-01 -6.40452993e-05 -1.64105812e+01] [-1.18337372e-03 7.33853774e-05 9.99999297e-01 3.37622889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.140714057 meters Centerline goodness [0,1] 0.9825313854264397 Centerline is valid? [True, True] Translation: X:394.79, Y:-16.41, Z:3.38 [[ 9.99977078e-01 -6.75149381e-03 5.10672370e-04 3.94787175e+02] [ 6.75150870e-03 9.99977208e-01 -2.74409024e-05 -1.64083995e+01] [-5.10475464e-04 3.08880824e-05 9.99999869e-01 3.37516387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.170714057 meters Centerline goodness [0,1] 0.9826897767070423 Centerline is valid? [True, True] Translation: X:394.82, Y:-16.41, Z:3.37 [[ 9.99986914e-01 -5.10811363e-03 2.81499716e-04 3.94817937e+02] [ 5.10811810e-03 9.99986953e-01 -1.51535450e-05 -1.64119386e+01] [-2.81418637e-04 1.65912805e-05 9.99999960e-01 3.37460911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.200714057 meters Centerline goodness [0,1] 0.9822143672117944 Centerline is valid? [True, True] Translation: X:394.85, Y:-16.41, Z:3.37 [[ 9.99989865e-01 -4.50142495e-03 8.60567229e-05 3.94850087e+02] [ 4.50142534e-03 9.99989869e-01 -4.36785784e-06 -1.64124053e+01] [-8.60361894e-05 4.75519148e-06 9.99999996e-01 3.37481545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.230714057 meters Centerline goodness [0,1] 0.9820227741414866 Centerline is valid? [True, True] Translation: X:394.88, Y:-16.41, Z:3.38 [[ 9.99997867e-01 -1.95695459e-03 6.60577561e-04 3.94880855e+02] [ 1.95697870e-03 9.99998084e-01 -3.58557070e-05 -1.64144741e+01] [-6.60506127e-04 3.71483667e-05 9.99999781e-01 3.37543175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26071405700003 meters Centerline goodness [0,1] 0.98180636777128 Centerline is valid? [True, True] Translation: X:394.91, Y:-16.41, Z:3.38 [[ 9.99999426e-01 -5.76549761e-04 9.03463687e-04 3.94912007e+02] [ 5.76594435e-04 9.99999833e-01 -4.91877847e-05 -1.64148868e+01] [-9.03435176e-04 4.97086886e-05 9.99999591e-01 3.37545672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.290714057 meters Centerline goodness [0,1] 0.9814901645566794 Centerline is valid? [True, True] Translation: X:394.94, Y:-16.42, Z:3.38 [[ 9.99996313e-01 1.85006316e-03 1.98770180e-03 3.94941730e+02] [-1.84985136e-03 9.99998283e-01 -1.08390610e-04 -1.64169130e+01] [-1.98789892e-03 1.04713257e-04 9.99998019e-01 3.37609863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32071405700003 meters Centerline goodness [0,1] 0.9829928167028442 Centerline is valid? [True, True] Translation: X:394.97, Y:-16.42, Z:3.38 [[ 9.99991881e-01 2.86485372e-03 2.83380161e-03 3.94971924e+02] [-2.86442728e-03 9.99995886e-01 -1.54528956e-04 -1.64164485e+01] [-2.83423265e-03 1.46410483e-04 9.99995973e-01 3.37652303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.350714057 meters Centerline goodness [0,1] 0.9814785853124511 Centerline is valid? [True, True] Translation: X:395.00, Y:-16.42, Z:3.38 [[ 9.99988052e-01 3.68458895e-03 3.21228074e-03 3.95002222e+02] [-3.68404529e-03 9.99993199e-01 -1.75145273e-04 -1.64231821e+01] [-3.21290423e-03 1.63308992e-04 9.99994825e-01 3.37641645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.380714057 meters Centerline goodness [0,1] 0.9823869962146515 Centerline is valid? [True, True] Translation: X:395.03, Y:-16.43, Z:3.38 [[ 9.99989715e-01 3.52917399e-03 2.84854170e-03 3.95032310e+02] [-3.52874565e-03 9.99993762e-01 -1.55383058e-04 -1.64258601e+01] [-2.84907230e-03 1.45329681e-04 9.99995931e-01 3.37593807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.410714057 meters Centerline goodness [0,1] 0.9806096037129597 Centerline is valid? [True, True] Translation: X:395.06, Y:-16.43, Z:3.37 [[ 9.99996888e-01 6.66508372e-04 2.40420346e-03 3.95061897e+02] [-6.66194992e-04 9.99999769e-01 -1.31145170e-04 -1.64346056e+01] [-2.40429031e-03 1.29543094e-04 9.99997101e-01 3.37374429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.440714057 meters Centerline goodness [0,1] 0.9812532043423018 Centerline is valid? [True, True] Translation: X:395.09, Y:-16.44, Z:3.37 [[ 9.99996840e-01 -5.25110436e-04 2.45839744e-03 3.95093172e+02] [ 5.25441527e-04 9.99999853e-01 -1.34033560e-04 -1.64388078e+01] [-2.45832670e-03 1.35324881e-04 9.99996969e-01 3.37320444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.470714057 meters Centerline goodness [0,1] 0.9826967244185787 Centerline is valid? [True, True] Translation: X:395.13, Y:-16.44, Z:3.37 [[ 9.99996249e-01 -1.31997167e-03 2.39985810e-03 3.95125180e+02] [ 1.32028867e-03 9.99999120e-01 -1.30509350e-04 -1.64371231e+01] [-2.39968372e-03 1.33677366e-04 9.99997112e-01 3.37275799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.500714057 meters Centerline goodness [0,1] 0.9814048667645358 Centerline is valid? [True, True] Translation: X:395.16, Y:-16.44, Z:3.37 [[ 9.99995573e-01 -1.76875435e-03 2.39259748e-03 3.95156051e+02] [ 1.76907203e-03 9.99998427e-01 -1.30665908e-04 -1.64417265e+01] [-2.39236260e-03 1.34898007e-04 9.99997129e-01 3.37231014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.530714057 meters Centerline goodness [0,1] 0.9823491584806084 Centerline is valid? [True, True] Translation: X:395.19, Y:-16.44, Z:3.37 [[ 9.99991044e-01 -3.72418533e-03 2.01038708e-03 3.95187102e+02] [ 3.72441511e-03 9.99993058e-01 -1.10565987e-04 -1.64445901e+01] [-2.00996136e-03 1.18052513e-04 9.99997973e-01 3.37186896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.560714057 meters Centerline goodness [0,1] 0.9817071817071817 Centerline is valid? [True, True] Translation: X:395.22, Y:-16.45, Z:3.37 [[ 9.99981497e-01 -6.01177787e-03 9.29917874e-04 3.95216540e+02] [ 6.01182781e-03 9.99981928e-01 -5.09138569e-05 -1.64511317e+01] [-9.29594986e-04 5.65034209e-05 9.99999566e-01 3.37110500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.590714057 meters Centerline goodness [0,1] 0.9815406460773873 Centerline is valid? [True, True] Translation: X:395.25, Y:-16.45, Z:3.37 [[ 9.99974735e-01 -7.05847657e-03 8.40810297e-04 3.95249040e+02] [ 7.05851783e-03 9.99975087e-01 -4.61196971e-05 -1.64527485e+01] [-8.40463815e-04 5.20534063e-05 9.99999645e-01 3.37081378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.620714057 meters Centerline goodness [0,1] 0.9817234113341466 Centerline is valid? [True, True] Translation: X:395.28, Y:-16.46, Z:3.37 [[ 9.99955149e-01 -9.46300125e-03 3.88452779e-04 3.95278327e+02] [ 9.46301029e-03 9.99955224e-01 -2.14559101e-05 -1.64597766e+01] [-3.88232349e-04 2.51308804e-05 9.99999924e-01 3.36979614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.650714057 meters Centerline goodness [0,1] 0.9810672401179418 Centerline is valid? [True, True] Translation: X:395.31, Y:-16.46, Z:3.37 [[ 9.99943140e-01 -1.06637406e-02 3.59176375e-05 3.95310638e+02] [ 1.06637407e-02 9.99943141e-01 -1.67157797e-06 -1.64639267e+01] [-3.58977699e-05 2.05449929e-06 9.99999999e-01 3.36949032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.680714057 meters Centerline goodness [0,1] 0.9799360085321958 Centerline is valid? [True, True] Translation: X:395.34, Y:-16.47, Z:3.37 [[ 9.99900710e-01 -1.40824112e-02 -5.05743154e-04 3.95339771e+02] [ 1.40824272e-02 9.99900837e-01 2.79058256e-05 -1.64714558e+01] [ 5.05300022e-04 -3.50251460e-05 9.99999872e-01 3.36895217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.710714057 meters Centerline goodness [0,1] 0.9797783566603382 Centerline is valid? [True, True] Translation: X:395.37, Y:-16.48, Z:3.37 [[ 9.99878642e-01 -1.55592329e-02 -7.81838361e-04 3.95371395e+02] [ 1.55592716e-02 9.99878946e-01 4.34991434e-05 -1.64751854e+01] [ 7.81066904e-04 -5.56586998e-05 9.99999693e-01 3.36880806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.740714057 meters Centerline goodness [0,1] 0.9797577126658251 Centerline is valid? [True, True] Translation: X:395.40, Y:-16.48, Z:3.37 [[ 9.99847311e-01 -1.74544704e-02 -8.34835826e-04 3.95402894e+02] [ 1.74545152e-02 9.99847657e-01 4.63885572e-05 -1.64753172e+01] [ 8.33898957e-04 -6.09531287e-05 9.99999650e-01 3.36905254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.770714057 meters Centerline goodness [0,1] 0.9790032661585976 Centerline is valid? [True, True] Translation: X:395.43, Y:-16.48, Z:3.37 [[ 9.99777587e-01 -2.10840621e-02 -4.88652885e-04 3.95431945e+02] [ 2.10840778e-02 9.99777706e-01 2.69883650e-05 -1.64815491e+01] [ 4.87975236e-04 -3.72851579e-05 9.99999880e-01 3.36936063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.800714057 meters Centerline goodness [0,1] 0.9791458679977815 Centerline is valid? [True, True] Translation: X:395.46, Y:-16.48, Z:3.37 [[ 9.99699733e-01 -2.45000082e-02 -4.39798853e-04 3.95462051e+02] [ 2.45000212e-02 9.99699829e-01 2.43661846e-05 -1.64841508e+01] [ 4.39069867e-04 -3.51339495e-05 9.99999903e-01 3.36982418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.830714057 meters Centerline goodness [0,1] 0.9773488630061009 Centerline is valid? [True, True] Translation: X:395.49, Y:-16.49, Z:3.37 [[ 9.99667086e-01 -2.57963140e-02 -5.16588309e-04 3.95493232e+02] [ 2.57963324e-02 9.99667219e-01 2.88626371e-05 -1.64900913e+01] [ 5.15671849e-04 -4.21791121e-05 9.99999866e-01 3.36960114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.860714057 meters Centerline goodness [0,1] 0.9791024930747922 Centerline is valid? [True, True] Translation: X:395.52, Y:-16.49, Z:3.37 [[ 9.99618219e-01 -2.75906607e-02 -1.47380901e-03 3.95524683e+02] [ 2.75908112e-02 9.99619298e-01 8.18876232e-05 -1.64874234e+01] [ 1.47098859e-03 -1.22519946e-04 9.99998911e-01 3.36916736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.890714057 meters Centerline goodness [0,1] 0.9808890366921628 Centerline is valid? [True, True] Translation: X:395.56, Y:-16.48, Z:3.37 [[ 9.99610304e-01 -2.78555522e-02 -1.81902086e-03 3.95557099e+02] [ 2.78557824e-02 9.99611947e-01 1.01335019e-04 -1.64837843e+01] [ 1.81549225e-03 -1.51965778e-04 9.99998340e-01 3.36935177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.920714057 meters Centerline goodness [0,1] 0.9789721180932945 Centerline is valid? [True, True] Translation: X:395.59, Y:-16.49, Z:3.37 [[ 9.99607564e-01 -2.79012824e-02 -2.49733696e-03 3.95588452e+02] [ 2.79017163e-02 9.99610662e-01 1.39053641e-04 -1.64868454e+01] [ 2.49248488e-03 -2.08679059e-04 9.99996872e-01 3.36914675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.950714057 meters Centerline goodness [0,1] 0.9780684282742442 Centerline is valid? [True, True] Translation: X:395.62, Y:-16.49, Z:3.37 [[ 9.99625193e-01 -2.72784639e-02 -2.31508940e-03 3.95620699e+02] [ 2.72788357e-02 9.99627855e-01 1.29164245e-04 -1.64890244e+01] [ 2.31070445e-03 -1.92268777e-04 9.99997312e-01 3.36915748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.980714057 meters Centerline goodness [0,1] 0.9799270884275108 Centerline is valid? [True, True] Translation: X:395.65, Y:-16.49, Z:3.37 [[ 9.99668643e-01 -2.56513116e-02 -2.14832940e-03 3.95652210e+02] [ 2.56516279e-02 9.99670936e-01 1.19802270e-04 -1.64871253e+01] [ 2.14454938e-03 -1.74870719e-04 9.99997685e-01 3.36977848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01071405700003 meters Centerline goodness [0,1] 0.9798324542351846 Centerline is valid? [True, True] Translation: X:395.68, Y:-16.49, Z:3.37 [[ 9.99734745e-01 -2.28883298e-02 -2.56187891e-03 3.95681878e+02] [ 2.28887714e-02 9.99738008e-01 1.43171407e-04 -1.64859514e+01] [ 2.55793076e-03 -2.01771691e-04 9.99996708e-01 3.36994294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.040714057 meters Centerline goodness [0,1] 0.9796566504541719 Centerline is valid? [True, True] Translation: X:395.71, Y:-16.48, Z:3.37 [[ 9.99767687e-01 -2.13323466e-02 -3.08259720e-03 3.95713854e+02] [ 2.13329787e-02 9.99772411e-01 1.72294749e-04 -1.64840440e+01] [ 3.07822019e-03 -2.38015704e-04 9.99995234e-01 3.36999132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07071405700003 meters Centerline goodness [0,1] 0.9804966902128037 Centerline is valid? [True, True] Translation: X:395.74, Y:-16.48, Z:3.37 [[ 9.99802380e-01 -1.95539326e-02 -3.58391587e-03 3.95744552e+02] [ 1.95547756e-02 9.99808767e-01 2.00322606e-04 -1.64845337e+01] [ 3.57931342e-03 -2.70365689e-04 9.99993558e-01 3.36951710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.100714057 meters Centerline goodness [0,1] 0.9812483317021087 Centerline is valid? [True, True] Translation: X:395.78, Y:-16.48, Z:3.37 [[ 9.99863815e-01 -1.58100731e-02 -4.73214917e-03 3.95775220e+02] [ 1.58115003e-02 9.99874955e-01 2.64329228e-04 -1.64812071e+01] [ 4.72737838e-03 -3.39115609e-04 9.99988768e-01 3.36917623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.130714057 meters Centerline goodness [0,1] 0.9806108365611504 Centerline is valid? [True, True] Translation: X:395.81, Y:-16.48, Z:3.37 [[ 9.99893084e-01 -1.36324261e-02 -5.28935177e-03 3.95805505e+02] [ 1.36341797e-02 9.99907007e-01 2.95605625e-04 -1.64819930e+01] [ 5.28483007e-03 -3.67689992e-04 9.99985968e-01 3.36889573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.160714057 meters Centerline goodness [0,1] 0.980477803530041 Centerline is valid? [True, True] Translation: X:395.84, Y:-16.48, Z:3.37 [[ 9.99940209e-01 -9.47341996e-03 -5.46195568e-03 3.95836473e+02] [ 9.47522788e-03 9.99955062e-01 3.05220682e-04 -1.64784897e+01] [ 5.45881875e-03 -3.56955707e-04 9.99985037e-01 3.36881045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.190714057 meters Centerline goodness [0,1] 0.9834060158783406 Centerline is valid? [True, True] Translation: X:395.87, Y:-16.47, Z:3.37 [[ 9.99969740e-01 -4.96774288e-03 -5.98673179e-03 3.95868047e+02] [ 4.96983449e-03 9.99987594e-01 3.34547792e-04 -1.64691619e+01] [ 5.98499557e-03 -3.64290734e-04 9.99982023e-01 3.36985970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.220714057 meters Centerline goodness [0,1] 0.9827663484379903 Centerline is valid? [True, True] Translation: X:395.90, Y:-16.47, Z:3.37 [[ 9.99974919e-01 -2.96976054e-03 -6.42973103e-03 3.95897257e+02] [ 2.97212941e-03 9.99995519e-01 3.58901255e-04 -1.64693020e+01] [ 6.42863637e-03 -3.78002246e-04 9.99979265e-01 3.36994912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.250714057 meters Centerline goodness [0,1] 0.9845940567493237 Centerline is valid? [True, True] Translation: X:395.93, Y:-16.47, Z:3.37 [[ 9.99980272e-01 -4.53050707e-04 -6.26505159e-03 3.95927648e+02] [ 4.55250323e-04 9.99999835e-01 3.49671483e-04 -1.64670388e+01] [ 6.26489214e-03 -3.52516751e-04 9.99980313e-01 3.37015524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.280714057 meters Centerline goodness [0,1] 0.9846295588863172 Centerline is valid? [True, True] Translation: X:395.96, Y:-16.47, Z:3.37 [[ 9.99972452e-01 3.47482270e-03 -6.55897032e-03 3.95956641e+02] [-3.47249812e-03 9.99993904e-01 3.65766124e-04 -1.64654857e+01] [ 6.56020131e-03 -3.42980036e-04 9.99978423e-01 3.37006896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.310714057 meters Centerline goodness [0,1] 0.9843988164619385 Centerline is valid? [True, True] Translation: X:395.99, Y:-16.47, Z:3.37 [[ 9.99964682e-01 5.50307974e-03 -6.35229306e-03 3.95985762e+02] [-5.50094726e-03 9.99984807e-01 3.53125846e-04 -1.64657579e+01] [ 6.35413983e-03 -3.18169745e-04 9.99979762e-01 3.37039020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.340714057 meters Centerline goodness [0,1] 0.985182362303571 Centerline is valid? [True, True] Translation: X:396.02, Y:-16.46, Z:3.37 [[ 9.99947712e-01 8.41856523e-03 -5.80525927e-03 3.96015971e+02] [-8.41683152e-03 9.99964526e-01 3.23010935e-04 -1.64626084e+01] [ 5.80777262e-03 -2.74132157e-04 9.99983097e-01 3.37111322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.370714057 meters Centerline goodness [0,1] 0.9838529069246619 Centerline is valid? [True, True] Translation: X:396.04, Y:-16.47, Z:3.37 [[ 9.99941232e-01 9.37013537e-03 -5.45279608e-03 3.96043409e+02] [-9.36862434e-03 9.99956068e-01 3.02589747e-04 -1.64654272e+01] [ 5.45539183e-03 -2.51486766e-04 9.99985088e-01 3.37110451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.400714057 meters Centerline goodness [0,1] 0.9850030262951422 Centerline is valid? [True, True] Translation: X:396.07, Y:-16.47, Z:3.37 [[ 9.99934552e-01 1.04390571e-02 -4.68170231e-03 3.96070879e+02] [-1.04379570e-02 9.99945489e-01 2.59348166e-04 -1.64677312e+01] [ 4.68415446e-03 -2.10463785e-04 9.99989007e-01 3.37154283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.430714057 meters Centerline goodness [0,1] 0.9855708908406524 Centerline is valid? [True, True] Translation: X:396.10, Y:-16.47, Z:3.37 [[ 9.99941700e-01 1.00365791e-02 -3.98298732e-03 3.96099879e+02] [-1.00357807e-02 9.99949616e-01 2.20370637e-04 -1.64679326e+01] [ 3.98499841e-03 -1.80385402e-04 9.99992044e-01 3.37229055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.460714057 meters Centerline goodness [0,1] 0.9842157258969868 Centerline is valid? [True, True] Translation: X:396.13, Y:-16.48, Z:3.37 [[ 9.99955464e-01 8.69387344e-03 -3.67238610e-03 3.96126716e+02] [-8.69318783e-03 9.99962193e-01 2.02614421e-04 -1.64753293e+01] [ 3.67400877e-03 -1.70680655e-04 9.99993236e-01 3.37124278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.490714057 meters Centerline goodness [0,1] 0.9839294507363803 Centerline is valid? [True, True] Translation: X:396.16, Y:-16.48, Z:3.37 [[ 9.99964646e-01 7.49993665e-03 -3.80235569e-03 3.96155228e+02] [-7.49919329e-03 9.99971859e-01 2.09721886e-04 -1.64793322e+01] [ 3.80382159e-03 -1.81199871e-04 9.99992749e-01 3.37061478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.520714057 meters Centerline goodness [0,1] 0.9843658744777394 Centerline is valid? [True, True] Translation: X:396.19, Y:-16.48, Z:3.37 [[ 9.99984824e-01 2.95955701e-03 -4.64675605e-03 3.96185872e+02] [-2.95839621e-03 9.99995591e-01 2.56664235e-04 -1.64796173e+01] [ 4.64749517e-03 -2.42913394e-04 9.99989171e-01 3.37064850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.550714057 meters Centerline goodness [0,1] 0.9834953854445019 Centerline is valid? [True, True] Translation: X:396.21, Y:-16.48, Z:3.37 [[ 9.99987689e-01 6.82265261e-04 -4.91499743e-03 3.96214838e+02] [-6.80941607e-04 9.99999731e-01 2.70977472e-04 -1.64833150e+01] [ 4.91518099e-03 -2.67627310e-04 9.99987885e-01 3.37015189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.580714057 meters Centerline goodness [0,1] 0.9826918340386467 Centerline is valid? [True, True] Translation: X:396.24, Y:-16.49, Z:3.37 [[ 9.99982883e-01 -2.92915104e-03 -5.06497178e-03 3.96243444e+02] [ 2.93060400e-03 9.99995667e-01 2.79466019e-04 -1.64906311e+01] [ 5.06413123e-03 -2.94304662e-04 9.99987134e-01 3.36930005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.610714057 meters Centerline goodness [0,1] 0.983020514082459 Centerline is valid? [True, True] Translation: X:396.27, Y:-16.50, Z:3.37 [[ 9.99966139e-01 -6.38683121e-03 -5.18942654e-03 3.96272043e+02] [ 6.38840116e-03 9.99979553e-01 2.86008086e-04 -1.64986836e+01] [ 5.18749374e-03 -3.19150539e-04 9.99986494e-01 3.36802266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.640714057 meters Centerline goodness [0,1] 0.9821217064831161 Centerline is valid? [True, True] Translation: X:396.30, Y:-16.50, Z:3.37 [[ 9.99956955e-01 -7.97549313e-03 -4.74126710e-03 3.96302333e+02] [ 7.97682208e-03 9.99968150e-01 2.61451346e-04 -1.65031730e+01] [ 4.73903089e-03 -2.99260336e-04 9.99988726e-01 3.36743374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.670714057 meters Centerline goodness [0,1] 0.9821217064831161 Centerline is valid? [True, True] Translation: X:396.33, Y:-16.50, Z:3.37 [[ 9.99956955e-01 -7.97549313e-03 -4.74126710e-03 3.96332348e+02] [ 7.97682208e-03 9.99968150e-01 2.61451346e-04 -1.65048282e+01] [ 4.73903089e-03 -2.99260336e-04 9.99988726e-01 3.36729888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.700714057 meters Centerline goodness [0,1] 0.9813240885707896 Centerline is valid? [True, True] Translation: X:396.36, Y:-16.51, Z:3.37 [[ 9.99931876e-01 -1.09163058e-02 -4.13239542e-03 3.96362385e+02] [ 1.09173410e-02 9.99940378e-01 2.28023054e-04 -1.65121656e+01] [ 4.12965987e-03 -2.73122290e-04 9.99991436e-01 3.36707809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.730714057 meters Centerline goodness [0,1] 0.9812501396741681 Centerline is valid? [True, True] Translation: X:396.39, Y:-16.51, Z:3.37 [[ 9.99917084e-01 -1.22961843e-02 -3.82467225e-03 3.96393704e+02] [ 1.22970819e-02 9.99924366e-01 2.11259107e-04 -1.65125357e+01] [ 3.82178530e-03 -2.58273898e-04 9.99992664e-01 3.36726098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76071405700003 meters Centerline goodness [0,1] 0.9816097604576332 Centerline is valid? [True, True] Translation: X:396.42, Y:-16.51, Z:3.37 [[ 9.99886059e-01 -1.46821404e-02 -3.50760440e-03 3.96424805e+02] [ 1.46829100e-02 9.99892181e-01 1.93743451e-04 -1.65144845e+01] [ 3.50438165e-03 -2.45223216e-04 9.99993830e-01 3.36758269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.790714057 meters Centerline goodness [0,1] 0.9818198041446385 Centerline is valid? [True, True] Translation: X:396.46, Y:-16.51, Z:3.37 [[ 9.99872664e-01 -1.54984743e-02 -3.80176113e-03 3.96456733e+02] [ 1.54993871e-02 9.99879855e-01 2.10768584e-04 -1.65124263e+01] [ 3.79803777e-03 -2.69666713e-04 9.99992751e-01 3.36798608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82071405700003 meters Centerline goodness [0,1] 0.9816192852686926 Centerline is valid? [True, True] Translation: X:396.49, Y:-16.52, Z:3.37 [[ 9.99840131e-01 -1.74015610e-02 -4.11068578e-03 3.96487139e+02] [ 1.74026428e-02 9.99848537e-01 2.27545413e-04 -1.65160904e+01] [ 4.10610352e-03 -2.99045832e-04 9.99991525e-01 3.36750350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.850714057 meters Centerline goodness [0,1] 0.9821894877803816 Centerline is valid? [True, True] Translation: X:396.52, Y:-16.52, Z:3.37 [[ 9.99823743e-01 -1.82813238e-02 -4.27505080e-03 3.96518823e+02] [ 1.82825035e-02 9.99832833e-01 2.37030288e-04 -1.65182949e+01] [ 4.27000293e-03 -3.15147141e-04 9.99990834e-01 3.36713238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.880714057 meters Centerline goodness [0,1] 0.9812322867153155 Centerline is valid? [True, True] Translation: X:396.55, Y:-16.52, Z:3.37 [[ 9.99770510e-01 -2.09459811e-02 -4.49358455e-03 3.96549165e+02] [ 2.09473108e-02 9.99780550e-01 2.49052634e-04 -1.65221826e+01] [ 4.48738178e-03 -3.43123991e-04 9.99989873e-01 3.36626536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.910714057 meters Centerline goodness [0,1] 0.980735317097127 Centerline is valid? [True, True] Translation: X:396.58, Y:-16.53, Z:3.37 [[ 9.99734167e-01 -2.25509275e-02 -4.80121406e-03 3.96578957e+02] [ 2.25524636e-02 9.99745625e-01 2.66018084e-04 -1.65254267e+01] [ 4.79399380e-03 -3.74226572e-04 9.99988439e-01 3.36581698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.940714057 meters Centerline goodness [0,1] 0.9808597497044192 Centerline is valid? [True, True] Translation: X:396.61, Y:-16.52, Z:3.37 [[ 9.99698433e-01 -2.40409439e-02 -5.00764169e-03 3.96609967e+02] [ 2.40426342e-02 9.99710896e-01 2.77623697e-04 -1.65242688e+01] [ 4.99951962e-03 -3.97936872e-04 9.99987423e-01 3.36580977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.970714057 meters Centerline goodness [0,1] 0.9798375366437666 Centerline is valid? [True, True] Translation: X:396.64, Y:-16.53, Z:3.37 [[ 9.99631075e-01 -2.65241285e-02 -5.84670413e-03 3.96639437e+02] [ 2.65264781e-02 9.99648058e-01 3.24687421e-04 -1.65276773e+01] [ 5.83603438e-03 -4.79660106e-04 9.99982855e-01 3.36568065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.000714057 meters Centerline goodness [0,1] 0.9804286002194504 Centerline is valid? [True, True] Translation: X:396.67, Y:-16.53, Z:3.37 [[ 9.99595755e-01 -2.77386129e-02 -6.23659112e-03 3.96671633e+02] [ 2.77413128e-02 9.99615076e-01 3.46801259e-04 -1.65251237e+01] [ 6.22457072e-03 -5.19672291e-04 9.99980492e-01 3.36595914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.030714057 meters Centerline goodness [0,1] 0.9801977977618802 Centerline is valid? [True, True] Translation: X:396.70, Y:-16.53, Z:3.37 [[ 9.99577653e-01 -2.84646813e-02 -5.85478519e-03 3.96703535e+02] [ 2.84670756e-02 9.99594678e-01 3.25998264e-04 -1.65266753e+01] [ 5.84313268e-03 -4.92529192e-04 9.99982807e-01 3.36636838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.060714057 meters Centerline goodness [0,1] 0.9791596638655462 Centerline is valid? [True, True] Translation: X:396.74, Y:-16.53, Z:3.37 [[ 9.99563298e-01 -2.89955071e-02 -5.69850470e-03 3.96735844e+02] [ 2.89977862e-02 9.99579425e-01 3.17710840e-04 -1.65258342e+01] [ 5.68689587e-03 -4.82816116e-04 9.99983713e-01 3.36697314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.090714057 meters Centerline goodness [0,1] 0.9779495798319328 Centerline is valid? [True, True] Translation: X:396.77, Y:-16.53, Z:3.37 [[ 9.99561673e-01 -2.92874209e-02 -4.32546214e-03 3.96767348e+02] [ 2.92887377e-02 9.99570964e-01 2.41383353e-04 -1.65285032e+01] [ 4.31653687e-03 -3.67964875e-04 9.99990616e-01 3.36818899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.120714057 meters Centerline goodness [0,1] 0.9784783882453689 Centerline is valid? [True, True] Translation: X:396.80, Y:-16.53, Z:3.37 [[ 9.99563730e-01 -2.92596512e-02 -4.02769823e-03 3.96800901e+02] [ 2.92607953e-02 9.99571786e-01 2.25429568e-04 -1.65275032e+01] [ 4.01937752e-03 -3.43184874e-04 9.99991863e-01 3.36926111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.150714057 meters Centerline goodness [0,1] 0.9781598617314987 Centerline is valid? [True, True] Translation: X:396.83, Y:-16.52, Z:3.37 [[ 9.99596346e-01 -2.82070268e-02 -3.39253912e-03 3.96832279e+02] [ 2.82078322e-02 9.99602062e-01 1.89760356e-04 -1.65248991e+01] [ 3.38583652e-03 -2.85379932e-04 9.99994227e-01 3.36977916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.180714057 meters Centerline goodness [0,1] 0.9775445723313022 Centerline is valid? [True, True] Translation: X:396.86, Y:-16.53, Z:3.37 [[ 9.99598694e-01 -2.81079551e-02 -3.52062241e-03 3.96864101e+02] [ 2.81088236e-02 9.99604849e-01 1.97449842e-04 -1.65275973e+01] [ 3.51368133e-03 -2.96331158e-04 9.99993783e-01 3.36957317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.210714057 meters Centerline goodness [0,1] 0.9788454157541824 Centerline is valid? [True, True] Translation: X:396.90, Y:-16.53, Z:3.37 [[ 9.99604955e-01 -2.78489252e-02 -3.79099678e-03 3.96896880e+02] [ 2.78499315e-02 9.99612093e-01 2.12898738e-04 -1.65274626e+01] [ 3.78359722e-03 -3.18393634e-04 9.99992791e-01 3.36946914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.240714057 meters Centerline goodness [0,1] 0.9752389128617581 Centerline is valid? [True, True] Translation: X:396.93, Y:-16.53, Z:3.37 [[ 9.99615440e-01 -2.73540996e-02 -4.55246280e-03 3.96928418e+02] [ 2.73555457e-02 9.99625734e-01 2.55662627e-04 -1.65278918e+01] [ 4.54376555e-03 -3.80099414e-04 9.99989605e-01 3.36838570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.270714057 meters Centerline goodness [0,1] 0.777382238891361 Centerline is valid? [True, False] Translation: X:397.00, Y:-16.53, Z:3.37 [[ 9.99530626e-01 -3.01703232e-02 -5.31781162e-03 3.97001593e+02] [ 3.01595708e-02 9.99542910e-01 -2.09071286e-03 -1.65270905e+01] [ 5.37845839e-03 1.92934861e-03 9.99983675e-01 3.36854382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.300714057 meters Centerline goodness [0,1] 0.9779656037424574 Centerline is valid? [False, True] Translation: X:396.92, Y:-16.52, Z:3.37 [[ 9.99657714e-01 -2.56912012e-02 -4.94136763e-03 3.96915291e+02] [ 2.56702344e-02 9.99661385e-01 -4.26076717e-03 -1.65209417e+01] [ 5.04915863e-03 4.13246270e-03 9.99978714e-01 3.36652503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.330714057 meters Centerline goodness [0,1] 0.9683343888537048 Centerline is valid? [True, True] Translation: X:396.95, Y:-16.53, Z:3.36 [[ 9.99659563e-01 -2.55202995e-02 -5.42877904e-03 3.96946406e+02] [ 2.55223471e-02 9.99674204e-01 3.08219879e-04 -1.65266400e+01] [ 5.41914450e-03 -4.46670132e-04 9.99985217e-01 3.36366053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.360714057 meters Centerline goodness [0,1] 0.9662629757785467 Centerline is valid? [True, True] Translation: X:396.98, Y:-16.52, Z:3.36 [[ 9.99690299e-01 -2.41956147e-02 -5.82049044e-03 3.96977431e+02] [ 2.41979464e-02 9.99707132e-01 3.30503279e-04 -1.65247317e+01] [ 5.81078908e-03 -4.71244838e-04 9.99983006e-01 3.36352649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.390714057 meters Centerline goodness [0,1] 0.9761715286146291 Centerline is valid? [True, True] Translation: X:397.01, Y:-16.52, Z:3.36 [[ 9.99701341e-01 -2.37279183e-02 -5.84928845e-03 3.97009599e+02] [ 2.37302689e-02 9.99718342e-01 3.32761885e-04 -1.65202835e+01] [ 5.83974520e-03 -4.71467690e-04 9.99982837e-01 3.36443474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.420714057 meters Centerline goodness [0,1] 0.9806510357386752 Centerline is valid? [True, True] Translation: X:397.04, Y:-16.51, Z:3.37 [[ 9.99714052e-01 -2.32201126e-02 -5.71323128e-03 3.97042522e+02] [ 2.32223493e-02 9.99730272e-01 3.25452229e-04 -1.65108611e+01] [ 5.70413322e-03 -4.58033819e-04 9.99983626e-01 3.36581073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.450714057 meters Centerline goodness [0,1] 0.9803617453185229 Centerline is valid? [True, True] Translation: X:397.07, Y:-16.51, Z:3.37 [[ 9.99710354e-01 -2.33688736e-02 -5.75360678e-03 3.97074548e+02] [ 2.33711456e-02 9.99726804e-01 3.27951588e-04 -1.65063500e+01] [ 5.74437106e-03 -4.62324980e-04 9.99983394e-01 3.36626818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.480714057 meters Centerline goodness [0,1] 0.9808025931336742 Centerline is valid? [True, True] Translation: X:397.11, Y:-16.51, Z:3.37 [[ 9.99711849e-01 -2.34237141e-02 -5.24858020e-03 3.97105495e+02] [ 2.34256072e-02 9.99725538e-01 2.99478150e-04 -1.65076972e+01] [ 5.24012477e-03 -4.22343033e-04 9.99986181e-01 3.36596720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51071405700003 meters Centerline goodness [0,1] 0.9800155307875023 Centerline is valid? [True, True] Translation: X:397.14, Y:-16.50, Z:3.37 [[ 9.99707207e-01 -2.39296411e-02 -3.58790131e-03 3.97138100e+02] [ 2.39305307e-02 9.99713603e-01 2.05219081e-04 -1.65044470e+01] [ 3.58196293e-03 -2.91019377e-04 9.99993542e-01 3.36700194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.540714057 meters Centerline goodness [0,1] 0.9795376090116279 Centerline is valid? [True, True] Translation: X:397.17, Y:-16.51, Z:3.37 [[ 9.99705775e-01 -2.40488472e-02 -3.16499985e-03 3.97168806e+02] [ 2.40495404e-02 9.99710752e-01 1.81131173e-04 -1.65066694e+01] [ 3.15972839e-03 -2.57194671e-04 9.99994975e-01 3.36754995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57071405700003 meters Centerline goodness [0,1] 0.9796798312004037 Centerline is valid? [True, True] Translation: X:397.20, Y:-16.50, Z:3.37 [[ 9.99669859e-01 -2.55818619e-02 -2.39622716e-03 3.97200456e+02] [ 2.55822638e-02 9.99672711e-01 1.37192890e-04 -1.65016824e+01] [ 2.39193326e-03 -1.98448512e-04 9.99997120e-01 3.36907346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.600714057 meters Centerline goodness [0,1] 0.9786234706502314 Centerline is valid? [True, True] Translation: X:397.23, Y:-16.50, Z:3.37 [[ 9.99642283e-01 -2.66569355e-02 -2.17120490e-03 3.97231205e+02] [ 2.66572682e-02 9.99644624e-01 1.24411455e-04 -1.65041051e+01] [ 2.16711688e-03 -1.82245342e-04 9.99997635e-01 3.36841969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.630714057 meters Centerline goodness [0,1] 0.9778633301251203 Centerline is valid? [True, True] Translation: X:397.26, Y:-16.51, Z:3.37 [[ 9.99564894e-01 -2.93354740e-02 -3.07448876e-03 3.97262122e+02] [ 2.93361527e-02 9.99569587e-01 1.75873306e-04 -1.65055518e+01] [ 3.06800613e-03 -2.65990454e-04 9.99995258e-01 3.36676006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.660714057 meters Centerline goodness [0,1] 0.9772753304469338 Centerline is valid? [True, True] Translation: X:397.29, Y:-16.51, Z:3.37 [[ 9.99513211e-01 -3.09365675e-02 -4.03354619e-03 3.97291821e+02] [ 3.09377484e-02 9.99521287e-01 2.30682845e-04 -1.65094374e+01] [ 4.02447874e-03 -3.55359388e-04 9.99991839e-01 3.36557926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.690714057 meters Centerline goodness [0,1] 0.9775896185173255 Centerline is valid? [True, True] Translation: X:397.32, Y:-16.51, Z:3.36 [[ 9.99450536e-01 -3.27933353e-02 -4.81903483e-03 3.97322405e+02] [ 3.27950433e-02 9.99462060e-01 2.75813861e-04 -1.65107957e+01] [ 4.80739762e-03 -4.33702767e-04 9.99988350e-01 3.36434082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.720714057 meters Centerline goodness [0,1] 0.9745502111253901 Centerline is valid? [True, True] Translation: X:397.35, Y:-16.51, Z:3.36 [[ 9.99336156e-01 -3.58512000e-02 -6.47597961e-03 3.97351689e+02] [ 3.58543458e-02 9.99356958e-01 3.70285380e-04 -1.65148613e+01] [ 6.45854010e-03 -6.02231580e-04 9.99978962e-01 3.36215005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.750714057 meters Centerline goodness [0,1] 0.9757754392428674 Centerline is valid? [True, True] Translation: X:397.38, Y:-16.51, Z:3.36 [[ 9.99290128e-01 -3.70461435e-02 -6.84275696e-03 3.97382761e+02] [ 3.70496859e-02 9.99313348e-01 3.91609666e-04 -1.65146940e+01] [ 6.82355074e-03 -6.44853669e-04 9.99976511e-01 3.36194211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.780714057 meters Centerline goodness [0,1] 0.9729848097180923 Centerline is valid? [True, True] Translation: X:397.41, Y:-16.52, Z:3.36 [[ 9.99237546e-01 -3.84799980e-02 -6.60434843e-03 3.97413295e+02] [ 3.84833296e-02 9.99259171e-01 3.78085696e-04 -1.65170383e+01] [ 6.58490700e-03 -6.31954741e-04 9.99978120e-01 3.36262263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.810714057 meters Centerline goodness [0,1] 0.9644080656657393 Centerline is valid? [True, True] Translation: X:397.44, Y:-16.52, Z:3.36 [[ 9.99253762e-01 -3.81649729e-02 -5.94595915e-03 3.97444559e+02] [ 3.81676779e-02 9.99271290e-01 3.42090202e-04 -1.65203024e+01] [ 5.92857041e-03 -5.68778375e-04 9.99982264e-01 3.36220587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.840714057 meters Centerline goodness [0,1] 0.9688574130891139 Centerline is valid? [True, True] Translation: X:397.48, Y:-16.52, Z:3.36 [[ 9.99320035e-01 -3.65571205e-02 -4.80049774e-03 3.97475052e+02] [ 3.65588615e-02 9.99331463e-01 2.75403916e-04 -1.65185868e+01] [ 4.78722045e-03 -4.50717383e-04 9.99988440e-01 3.36330850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.870714057 meters Centerline goodness [0,1] 0.9730896166539731 Centerline is valid? [True, True] Translation: X:397.51, Y:-16.52, Z:3.36 [[ 9.99361037e-01 -3.54931593e-02 -4.21343677e-03 3.97506265e+02] [ 3.54944928e-02 9.99369843e-01 2.42119139e-04 -1.65162929e+01] [ 4.20218807e-03 -3.91518235e-04 9.99991094e-01 3.36387810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.900714057 meters Centerline goodness [0,1] 0.976011093136122 Centerline is valid? [True, True] Translation: X:397.54, Y:-16.51, Z:3.36 [[ 9.99446048e-01 -3.31660432e-02 -2.75866942e-03 3.97537880e+02] [ 3.31666061e-02 9.99449824e-01 1.58535869e-04 -1.65115872e+01] [ 2.75189366e-03 -2.49943750e-04 9.99996182e-01 3.36452579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.930714057 meters Centerline goodness [0,1] 0.9711994082703465 Centerline is valid? [True, True] Translation: X:397.57, Y:-16.52, Z:3.36 [[ 9.99483778e-01 -3.19795672e-02 -3.07974805e-03 3.97567834e+02] [ 3.19802660e-02 9.99488485e-01 1.77905390e-04 -1.65187904e+01] [ 3.07248338e-03 -2.76304713e-04 9.99995242e-01 3.36347539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.960714057 meters Centerline goodness [0,1] 0.9787140204271123 Centerline is valid? [True, True] Translation: X:397.60, Y:-16.51, Z:3.36 [[ 9.99535131e-01 -3.02811489e-02 -3.54594612e-03 3.97600264e+02] [ 3.02820648e-02 9.99541372e-01 2.04863048e-04 -1.65075978e+01] [ 3.53811636e-03 -3.12146384e-04 9.99993692e-01 3.36363269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.990714057 meters Centerline goodness [0,1] 0.9759460524181401 Centerline is valid? [True, True] Translation: X:397.63, Y:-16.51, Z:3.36 [[ 9.99557469e-01 -2.94706138e-02 -4.04337482e-03 3.97631355e+02] [ 2.94718019e-02 9.99565585e-01 2.34566842e-04 -1.65137309e+01] [ 4.03470548e-03 -3.53628581e-04 9.99991798e-01 3.36244745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.020714057 meters Centerline goodness [0,1] 0.9747698443985808 Centerline is valid? [True, True] Translation: X:397.66, Y:-16.52, Z:3.36 [[ 9.99568383e-01 -2.89590060e-02 -4.94194729e-03 3.97662410e+02] [ 2.89607717e-02 9.99580508e-01 2.86073341e-04 -1.65184566e+01] [ 4.93158978e-03 -4.29072474e-04 9.99987748e-01 3.36109595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.050714057 meters Centerline goodness [0,1] 0.9772505913454849 Centerline is valid? [True, True] Translation: X:397.69, Y:-16.52, Z:3.36 [[ 9.99562337e-01 -2.88120842e-02 -6.70805494e-03 3.97694859e+02] [ 2.88153371e-02 9.99584676e-01 3.88772618e-04 -1.65166324e+01] [ 6.69406758e-03 -5.81897331e-04 9.99977425e-01 3.35951862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.080714057 meters Centerline goodness [0,1] 0.976432306798373 Centerline is valid? [True, True] Translation: X:397.73, Y:-16.52, Z:3.36 [[ 9.99548126e-01 -2.88953887e-02 -8.28253489e-03 3.97726173e+02] [ 2.89003524e-02 9.99582182e-01 4.80217766e-04 -1.65204333e+01] [ 8.26519822e-03 -7.19368945e-04 9.99965584e-01 3.35697019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.110714057 meters Centerline goodness [0,1] 0.9746194073213248 Centerline is valid? [True, True] Translation: X:397.76, Y:-16.52, Z:3.36 [[ 9.99552784e-01 -2.85631347e-02 -8.85323241e-03 3.97757434e+02] [ 2.85687969e-02 9.99591697e-01 5.13740971e-04 -1.65242570e+01] [ 8.83494355e-03 -7.66437417e-04 9.99960677e-01 3.35569848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.140714057 meters Centerline goodness [0,1] 0.977540355359424 Centerline is valid? [True, True] Translation: X:397.79, Y:-16.52, Z:3.36 [[ 9.99574539e-01 -2.78999143e-02 -8.50501757e-03 3.97789371e+02] [ 2.79051246e-02 9.99610454e-01 4.94542012e-04 -1.65244470e+01] [ 8.48790680e-03 -7.31665178e-04 9.99963709e-01 3.35619834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.170714057 meters Centerline goodness [0,1] 0.9750869867780098 Centerline is valid? [True, True] Translation: X:397.82, Y:-16.53, Z:3.36 [[ 9.99600000e-01 -2.71050676e-02 -8.07191140e-03 3.97820452e+02] [ 2.71097368e-02 9.99632353e-01 4.69573503e-04 -1.65263411e+01] [ 8.05621597e-03 -6.88213066e-04 9.99967311e-01 3.35625136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.200714057 meters Centerline goodness [0,1] 0.9752150662636596 Centerline is valid? [True, True] Translation: X:397.85, Y:-16.53, Z:3.36 [[ 9.99655906e-01 -2.51201799e-02 -7.55283631e-03 3.97849782e+02] [ 2.51242163e-02 9.99684240e-01 4.40005450e-04 -1.65272364e+01] [ 7.53939842e-03 -6.29613141e-04 9.99971380e-01 3.35721623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.230714057 meters Centerline goodness [0,1] 0.9763387876534028 Centerline is valid? [True, True] Translation: X:397.88, Y:-16.53, Z:3.36 [[ 9.99712552e-01 -2.32764233e-02 -5.74642103e-03 3.97879775e+02] [ 2.32787275e-02 9.99728958e-01 3.34416143e-04 -1.65270519e+01] [ 5.73707950e-03 -4.68089386e-04 9.99983433e-01 3.35840128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26071405700003 meters Centerline goodness [0,1] 0.9754334588388416 Centerline is valid? [True, True] Translation: X:397.91, Y:-16.53, Z:3.36 [[ 9.99730351e-01 -2.26709973e-02 -5.02508933e-03 3.97912174e+02] [ 2.26727558e-02 9.99742897e-01 2.93248582e-04 -1.65291933e+01] [ 5.01714913e-03 -4.07102132e-04 9.99987331e-01 3.35863495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.290714057 meters Centerline goodness [0,1] 0.9739231125521075 Centerline is valid? [True, True] Translation: X:397.94, Y:-16.53, Z:3.36 [[ 9.99739222e-01 -2.24423452e-02 -4.22234771e-03 3.97944771e+02] [ 2.24435872e-02 9.99748080e-01 2.46998462e-04 -1.65320128e+01] [ 4.21574079e-03 -3.41698680e-04 9.99991055e-01 3.35877653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32071405700003 meters Centerline goodness [0,1] 0.9761926904119781 Centerline is valid? [True, True] Translation: X:397.98, Y:-16.53, Z:3.36 [[ 9.99741974e-01 -2.24575840e-02 -3.41203952e-03 3.97977666e+02] [ 2.24583972e-02 9.99747758e-01 2.00201309e-04 -1.65274120e+01] [ 3.40668282e-03 -2.76778591e-04 9.99994159e-01 3.35973673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.350714057 meters Centerline goodness [0,1] 0.9755230951440979 Centerline is valid? [True, True] Translation: X:398.01, Y:-16.53, Z:3.36 [[ 9.99734914e-01 -2.27328417e-02 -3.64961437e-03 3.98009912e+02] [ 2.27337738e-02 9.99741531e-01 2.14101403e-04 -1.65303500e+01] [ 3.64380393e-03 -2.97014155e-04 9.99993317e-01 3.35941539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.380714057 meters Centerline goodness [0,1] 0.9752089072012222 Centerline is valid? [True, True] Translation: X:398.04, Y:-16.53, Z:3.36 [[ 9.99708415e-01 -2.36519111e-02 -4.86536008e-03 3.98040562e+02] [ 2.36535823e-02 9.99720174e-01 2.86224424e-04 -1.65334957e+01] [ 4.85722887e-03 -4.01224161e-04 9.99988123e-01 3.35733428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.410714057 meters Centerline goodness [0,1] 0.9762308998302207 Centerline is valid? [True, True] Translation: X:398.07, Y:-16.54, Z:3.36 [[ 9.99684380e-01 -2.44313900e-02 -5.85216655e-03 3.98072514e+02] [ 2.44338204e-02 9.99701390e-01 3.44144496e-04 -1.65352606e+01] [ 5.84201111e-03 -4.87026663e-04 9.99982817e-01 3.35651672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.440714057 meters Centerline goodness [0,1] 0.9314442201025783 Centerline is valid? [True, False] Translation: X:398.07, Y:-16.54, Z:3.35 [[ 9.99691714e-01 -2.41101264e-02 -5.93112513e-03 3.98073691e+02] [ 2.41183215e-02 9.99708247e-01 1.31407928e-03 -1.65368630e+01] [ 5.89771209e-03 -1.45672295e-03 9.99981547e-01 3.35478596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.470714057 meters Centerline goodness [0,1] 0.9716066320954352 Centerline is valid? [False, True] Translation: X:398.07, Y:-16.54, Z:3.35 [[ 9.99695681e-01 -2.38947420e-02 -6.13072822e-03 3.98074434e+02] [ 2.39058205e-02 9.99712701e-01 1.74017021e-03 -1.65376024e+01] [ 6.08738595e-03 -1.88620074e-03 9.99979693e-01 3.35421380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.500714057 meters Centerline goodness [0,1] 0.9710687147073176 Centerline is valid? [True, True] Translation: X:398.11, Y:-16.54, Z:3.35 [[ 9.99681723e-01 -2.42535044e-02 -6.94408055e-03 3.98105098e+02] [ 2.42570249e-02 9.99705666e-01 4.23187378e-04 -1.65387196e+01] [ 6.93177289e-03 -5.91495422e-04 9.99975800e-01 3.35463919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.530714057 meters Centerline goodness [0,1] 0.9722629094882704 Centerline is valid? [True, True] Translation: X:398.14, Y:-16.54, Z:3.35 [[ 9.99692625e-01 -2.38890455e-02 -6.63087505e-03 3.98137415e+02] [ 2.38922527e-02 9.99714457e-01 4.04862225e-04 -1.65378643e+01] [ 6.61930988e-03 -5.63164323e-04 9.99977934e-01 3.35477911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.560714057 meters Centerline goodness [0,1] 0.9722629094882704 Centerline is valid? [True, True] Translation: X:398.17, Y:-16.54, Z:3.35 [[ 9.99694273e-01 -2.38199812e-02 -6.63084710e-03 3.98169166e+02] [ 2.38231899e-02 9.99716105e-01 4.05320078e-04 -1.65398656e+01] [ 6.61930992e-03 -5.63164090e-04 9.99977934e-01 3.35451243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.590714057 meters Centerline goodness [0,1] 0.9724858126337333 Centerline is valid? [True, True] Translation: X:398.20, Y:-16.54, Z:3.35 [[ 9.99723205e-01 -2.27420869e-02 -6.02584123e-03 3.98199611e+02] [ 2.27447155e-02 9.99741238e-01 3.68057643e-04 -1.65414635e+01] [ 6.01591157e-03 -5.05011811e-04 9.99981777e-01 3.35437874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.620714057 meters Centerline goodness [0,1] 0.9702149460888195 Centerline is valid? [True, True] Translation: X:398.23, Y:-16.54, Z:3.35 [[ 9.99739972e-01 -2.22271692e-02 -5.09333194e-03 3.98230620e+02] [ 2.22290434e-02 9.99752856e-01 3.11665114e-04 -1.65447241e+01] [ 5.08514572e-03 -4.24803969e-04 9.99986980e-01 3.35401562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.650714057 meters Centerline goodness [0,1] 0.974341661039838 Centerline is valid? [True, True] Translation: X:398.26, Y:-16.54, Z:3.36 [[ 9.99755765e-01 -2.17790990e-02 -3.75237143e-03 3.98262735e+02] [ 2.17801152e-02 9.99762759e-01 2.30146672e-04 -1.65404727e+01] [ 3.74646882e-03 -3.11817544e-04 9.99992933e-01 3.35542636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.680714057 meters Centerline goodness [0,1] 0.9738260200153964 Centerline is valid? [True, True] Translation: X:398.30, Y:-16.54, Z:3.36 [[ 9.99758985e-01 -2.16818533e-02 -3.44525527e-03 3.98295121e+02] [ 2.16827104e-02 9.99764880e-01 2.11616767e-04 -1.65398439e+01] [ 3.43985697e-03 -2.86268237e-04 9.99994043e-01 3.35577823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.710714057 meters Centerline goodness [0,1] 0.9747740172377549 Centerline is valid? [True, True] Translation: X:398.33, Y:-16.54, Z:3.36 [[ 9.99750046e-01 -2.21300049e-02 -3.17922909e-03 3.98327218e+02] [ 2.21307379e-02 9.99755066e-01 1.95558604e-04 -1.65394687e+01] [ 3.17412267e-03 -2.65868409e-04 9.99994927e-01 3.35582760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.740714057 meters Centerline goodness [0,1] 0.9763056431826148 Centerline is valid? [True, True] Translation: X:398.36, Y:-16.54, Z:3.36 [[ 9.99743047e-01 -2.24295819e-02 -3.27935861e-03 3.98359107e+02] [ 2.24303641e-02 9.99748387e-01 2.01932100e-04 -1.65414722e+01] [ 3.27400423e-03 -2.75437420e-04 9.99994603e-01 3.35529446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.770714057 meters Centerline goodness [0,1] 0.9747609853683501 Centerline is valid? [True, True] Translation: X:398.39, Y:-16.54, Z:3.35 [[ 9.99729933e-01 -2.29451122e-02 -3.68536209e-03 3.98391036e+02] [ 2.29461060e-02 9.99736678e-01 2.27610065e-04 -1.65448827e+01] [ 3.67916911e-03 -3.12113304e-04 9.99993183e-01 3.35450901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.800714057 meters Centerline goodness [0,1] 0.9709992521966723 Centerline is valid? [True, True] Translation: X:398.42, Y:-16.55, Z:3.35 [[ 9.99667971e-01 -2.53459437e-02 -4.64011475e-03 3.98420257e+02] [ 2.53475431e-02 9.99678658e-01 2.86189875e-04 -1.65536899e+01] [ 4.63136993e-03 -4.03710360e-04 9.99989194e-01 3.35209020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.830714057 meters Centerline goodness [0,1] 0.9740338587273789 Centerline is valid? [True, True] Translation: X:398.45, Y:-16.55, Z:3.35 [[ 9.99599606e-01 -2.77467725e-02 -5.54480085e-03 3.98451320e+02] [ 2.77490909e-02 9.99614861e-01 3.41612464e-04 -1.65549417e+01] [ 5.53318669e-03 -4.95338867e-04 9.99984569e-01 3.35113178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.860714057 meters Centerline goodness [0,1] 0.9753692278930641 Centerline is valid? [True, True] Translation: X:398.48, Y:-16.56, Z:3.35 [[ 9.99554639e-01 -2.92551056e-02 -5.88747004e-03 3.98482933e+02] [ 2.92577475e-02 9.99571835e-01 3.63086842e-04 -1.65554962e+01] [ 5.87432709e-03 -5.35179250e-04 9.99982603e-01 3.35082209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.890714057 meters Centerline goodness [0,1] 0.9728484565014032 Centerline is valid? [True, True] Translation: X:398.51, Y:-16.56, Z:3.35 [[ 9.99519796e-01 -3.03836206e-02 -6.08377476e-03 3.98513395e+02] [ 3.03864715e-02 9.99538154e-01 3.76697178e-04 -1.65606253e+01] [ 6.06951957e-03 -5.61380735e-04 9.99981423e-01 3.34981616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.920714057 meters Centerline goodness [0,1] 0.9700191168928055 Centerline is valid? [True, True] Translation: X:398.54, Y:-16.56, Z:3.35 [[ 9.99445102e-01 -3.27495514e-02 -6.07907281e-03 3.98544033e+02] [ 3.27524364e-02 9.99463424e-01 3.75604241e-04 -1.65649981e+01] [ 6.06351005e-03 -5.74500264e-04 9.99981452e-01 3.34903682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.950714057 meters Centerline goodness [0,1] 0.9585611577747272 Centerline is valid? [True, True] Translation: X:398.57, Y:-16.57, Z:3.35 [[ 9.99416992e-01 -3.36560648e-02 -5.73972702e-03 3.98574554e+02] [ 3.36586603e-02 9.99433323e-01 3.56177050e-04 -1.65724619e+01] [ 5.72448693e-03 -5.49160918e-04 9.99983464e-01 3.34867119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.980714057 meters Centerline goodness [0,1] 0.9727569331158238 Centerline is valid? [True, True] Translation: X:398.61, Y:-16.57, Z:3.35 [[ 9.99388636e-01 -3.46014735e-02 -5.00912835e-03 3.98606687e+02] [ 3.46034659e-02 9.99401072e-01 3.11615443e-04 -1.65687468e+01] [ 4.99534589e-03 -4.84758135e-04 9.99987406e-01 3.35004678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01071405700003 meters Centerline goodness [0,1] 0.9639330485328104 Centerline is valid? [True, True] Translation: X:398.64, Y:-16.58, Z:3.35 [[ 9.99392517e-01 -3.45497539e-02 -4.57281788e-03 3.98638504e+02] [ 3.45514149e-02 9.99402881e-01 2.84708510e-04 -1.65763468e+01] [ 4.56025076e-03 -4.42532883e-04 9.99989504e-01 3.34948199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.040714057 meters Centerline goodness [0,1] 0.9698868135451115 Centerline is valid? [True, True] Translation: X:398.67, Y:-16.58, Z:3.35 [[ 9.99400219e-01 -3.44585783e-02 -3.43637258e-03 3.98670563e+02] [ 3.44595167e-02 9.99406072e-01 2.14231737e-04 -1.65764091e+01] [ 3.42694950e-03 -3.32518984e-04 9.99994073e-01 3.35005824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07071405700003 meters Centerline goodness [0,1] 0.9697618161518422 Centerline is valid? [True, True] Translation: X:398.70, Y:-16.58, Z:3.35 [[ 9.99407043e-01 -3.42568560e-02 -3.46835729e-03 3.98703100e+02] [ 3.42578116e-02 9.99413005e-01 2.16467538e-04 -1.65787783e+01] [ 3.45890589e-03 -3.35157513e-04 9.99993962e-01 3.34981912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.100714057 meters Centerline goodness [0,1] 0.9627233804914371 Centerline is valid? [True, True] Translation: X:398.73, Y:-16.58, Z:3.35 [[ 9.99430067e-01 -3.35983956e-02 -3.26945885e-03 3.98734440e+02] [ 3.35992421e-02 9.99435365e-01 2.04315198e-04 -1.65841278e+01] [ 3.26074813e-03 -3.14050091e-04 9.99994634e-01 3.34927907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.130714057 meters Centerline goodness [0,1] 0.9725855830782076 Centerline is valid? [True, True] Translation: X:398.77, Y:-16.58, Z:3.35 [[ 9.99484812e-01 -3.19270906e-02 -3.28190537e-03 3.98766194e+02] [ 3.19279340e-02 9.99490153e-01 2.04919928e-04 -1.65796380e+01] [ 3.27368960e-03 -3.09598814e-04 9.99994594e-01 3.34952559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.160714057 meters Centerline goodness [0,1] 0.9725265778025914 Centerline is valid? [True, True] Translation: X:398.80, Y:-16.58, Z:3.35 [[ 9.99559846e-01 -2.94407076e-02 -3.65492304e-03 3.98797094e+02] [ 2.94417367e-02 9.99566472e-01 2.28087798e-04 -1.65826626e+01] [ 3.64662347e-03 -3.35594686e-04 9.99993295e-01 3.34813936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.190714057 meters Centerline goodness [0,1] 0.974603469928834 Centerline is valid? [True, True] Translation: X:398.83, Y:-16.58, Z:3.35 [[ 9.99607090e-01 -2.77631003e-02 -3.85686837e-03 3.98828419e+02] [ 2.77642351e-02 9.99614470e-01 2.40979046e-04 -1.65811840e+01] [ 3.84869110e-03 -3.47967363e-04 9.99992533e-01 3.34783042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.220714057 meters Centerline goodness [0,1] 0.9722570751428969 Centerline is valid? [True, True] Translation: X:398.86, Y:-16.58, Z:3.35 [[ 9.99699839e-01 -2.40625697e-02 -4.60695927e-03 3.98857884e+02] [ 2.40641471e-02 9.99710375e-01 2.87247196e-04 -1.65826467e+01] [ 4.59871308e-03 -3.98023521e-04 9.99989347e-01 3.34645071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.250714057 meters Centerline goodness [0,1] 0.9718365635482669 Centerline is valid? [True, True] Translation: X:398.89, Y:-16.59, Z:3.35 [[ 9.99746767e-01 -2.21231188e-02 -4.11946760e-03 3.98887945e+02] [ 2.21243642e-02 9.99755193e-01 2.56985352e-04 -1.65864003e+01] [ 4.11277381e-03 -3.48060876e-04 9.99991482e-01 3.34594072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.280714057 meters Centerline goodness [0,1] 0.9755018396907457 Centerline is valid? [True, True] Translation: X:398.92, Y:-16.58, Z:3.35 [[ 9.99845954e-01 -1.71971481e-02 -3.51082167e-03 3.98918825e+02] [ 1.71980224e-02 9.99852079e-01 2.18998802e-04 -1.65805777e+01] [ 3.50653619e-03 -2.79344255e-04 9.99993813e-01 3.34654814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.310714057 meters Centerline goodness [0,1] 0.9758534941551047 Centerline is valid? [True, True] Translation: X:398.95, Y:-16.58, Z:3.35 [[ 9.99894846e-01 -1.42112159e-02 -2.88773446e-03 3.98949712e+02] [ 1.42117956e-02 9.99898991e-01 1.80309745e-04 -1.65804650e+01] [ 2.88488035e-03 -2.21330677e-04 9.99995814e-01 3.34674139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.340714057 meters Centerline goodness [0,1] 0.9756444984121053 Centerline is valid? [True, True] Translation: X:398.98, Y:-16.58, Z:3.35 [[ 9.99955676e-01 -9.20017103e-03 -2.00059709e-03 3.98979929e+02] [ 9.20043907e-03 9.99957667e-01 1.24818852e-04 -1.65804302e+01] [ 1.99936404e-03 -1.43219691e-04 9.99997991e-01 3.34733048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.370714057 meters Centerline goodness [0,1] 0.975611465414535 Centerline is valid? [True, True] Translation: X:399.01, Y:-16.58, Z:3.35 [[ 9.99976167e-01 -6.73421532e-03 -1.52182831e-03 3.99010581e+02] [ 6.73436759e-03 9.99977319e-01 9.49552217e-05 -1.65804510e+01] [ 1.52115434e-03 -1.05201510e-04 9.99998838e-01 3.34740719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.400714057 meters Centerline goodness [0,1] 0.9759402008876431 Centerline is valid? [True, True] Translation: X:399.04, Y:-16.58, Z:3.35 [[ 9.99989235e-01 -4.58475804e-03 -7.14539803e-04 3.99040861e+02] [ 4.58479118e-03 9.99989489e-01 4.47367892e-05 -1.65814472e+01] [ 7.14327185e-04 -4.80123234e-05 9.99999744e-01 3.34746137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.430714057 meters Centerline goodness [0,1] 0.9770071969342929 Centerline is valid? [True, True] Translation: X:399.07, Y:-16.58, Z:3.35 [[ 9.99999680e-01 -7.89870068e-04 1.24126351e-04 3.99070124e+02] [ 7.89871050e-04 9.99999688e-01 -7.85869843e-06 -1.65811310e+01] [-1.24120104e-04 7.95673972e-06 9.99999992e-01 3.34793614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.460714057 meters Centerline goodness [0,1] 0.9766659659449233 Centerline is valid? [True, True] Translation: X:399.10, Y:-16.58, Z:3.35 [[ 9.99999679e-01 7.99439238e-04 -4.35625490e-05 3.99101287e+02] [-7.99439120e-04 9.99999680e-01 2.72675388e-06 -1.65818550e+01] [ 4.35647150e-05 -2.69192740e-06 9.99999999e-01 3.34732230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.490714057 meters Centerline goodness [0,1] 0.9778136250993594 Centerline is valid? [True, True] Translation: X:399.13, Y:-16.58, Z:3.35 [[ 9.99994733e-01 3.24219269e-03 -1.47929248e-04 3.99131472e+02] [-3.24219138e-03 9.99994744e-01 9.08866282e-06 -1.65828554e+01] [ 1.47957938e-04 -8.60900002e-06 9.99999989e-01 3.34636645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.520714057 meters Centerline goodness [0,1] 0.976720836835715 Centerline is valid? [True, True] Translation: X:399.16, Y:-16.59, Z:3.35 [[ 9.99992733e-01 3.78884418e-03 -4.22348001e-04 3.99160266e+02] [-3.78883358e-03 9.99992822e-01 2.59103962e-05 -1.65856774e+01] [ 4.22443139e-04 -2.43100016e-05 9.99999910e-01 3.34513183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.550714057 meters Centerline goodness [0,1] 0.9769114042255165 Centerline is valid? [True, True] Translation: X:399.19, Y:-16.59, Z:3.34 [[ 9.99992583e-01 3.78522682e-03 -7.11787275e-04 3.99188703e+02] [-3.78519662e-03 9.99992835e-01 4.37708024e-05 -1.65879836e+01] [ 7.11947858e-04 -4.10762229e-05 9.99999746e-01 3.34459582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.580714057 meters Centerline goodness [0,1] 0.9782446659834156 Centerline is valid? [True, True] Translation: X:399.22, Y:-16.58, Z:3.35 [[ 9.99993532e-01 3.45512245e-03 -9.98821427e-04 3.99217854e+02] [-3.45506270e-03 9.99994029e-01 6.15369584e-05 -1.65830054e+01] [ 9.99028081e-04 -5.80855697e-05 9.99999499e-01 3.34519789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.610714057 meters Centerline goodness [0,1] 0.9759544744268489 Centerline is valid? [True, True] Translation: X:399.25, Y:-16.60, Z:3.34 [[ 9.99995832e-01 2.55579565e-03 -1.34309417e-03 3.99245525e+02] [-2.55568643e-03 9.99996731e-01 8.30289773e-05 -1.65953788e+01] [ 1.34330199e-03 -7.95961036e-05 9.99999095e-01 3.34271763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.640714057 meters Centerline goodness [0,1] 0.974724788791398 Centerline is valid? [True, True] Translation: X:399.27, Y:-16.60, Z:3.34 [[ 9.99997498e-01 1.88296938e-03 -1.20782418e-03 3.99273647e+02] [-1.88288064e-03 9.99998225e-01 7.45999837e-05 -1.66006231e+01] [ 1.20796250e-03 -7.23256083e-05 9.99999268e-01 3.34188065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.670714057 meters Centerline goodness [0,1] 0.9775787882311897 Centerline is valid? [True, True] Translation: X:399.30, Y:-16.59, Z:3.34 [[ 9.99998834e-01 1.30586415e-03 -7.92080469e-04 3.99304227e+02] [-1.30582586e-03 9.99999146e-01 4.88628536e-05 -1.65913275e+01] [ 7.92143601e-04 -4.78284775e-05 9.99999685e-01 3.34334536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.700714057 meters Centerline goodness [0,1] 0.976496622408572 Centerline is valid? [True, True] Translation: X:399.33, Y:-16.60, Z:3.34 [[ 9.99999711e-01 -2.01161385e-04 7.33808397e-04 3.99332952e+02] [ 2.01195054e-04 9.99999979e-01 -4.58090528e-05 -1.65983183e+01] [-7.33799167e-04 4.59566782e-05 9.99999730e-01 3.34295768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.730714057 meters Centerline goodness [0,1] 0.9775584318837881 Centerline is valid? [True, True] Translation: X:399.36, Y:-16.60, Z:3.34 [[ 9.99998783e-01 -7.28769779e-04 1.37972118e-03 3.99363957e+02] [ 7.28888546e-04 9.99999731e-01 -8.55797826e-05 -1.65970553e+01] [-1.37965844e-03 8.65853414e-05 9.99999045e-01 3.34383347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76071405700003 meters Centerline goodness [0,1] 0.9774847964347059 Centerline is valid? [True, True] Translation: X:399.39, Y:-16.60, Z:3.34 [[ 9.99996078e-01 -1.59047327e-03 2.30544853e-03 3.99394741e+02] [ 1.59080666e-03 9.99998724e-01 -1.42784961e-04 -1.66017333e+01] [-2.30521849e-03 1.46451924e-04 9.99997332e-01 3.34405651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.790714057 meters Centerline goodness [0,1] 0.9778376620359616 Centerline is valid? [True, True] Translation: X:399.43, Y:-16.60, Z:3.34 [[ 9.99993556e-01 -2.39266797e-03 2.67623542e-03 3.99425902e+02] [ 2.39312046e-03 9.99997123e-01 -1.65889658e-04 -1.66038474e+01] [-2.67583080e-03 1.72293143e-04 9.99996405e-01 3.34409161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82071405700003 meters Centerline goodness [0,1] 0.9764366881230684 Centerline is valid? [True, True] Translation: X:399.46, Y:-16.61, Z:3.34 [[ 9.99990421e-01 -2.96957002e-03 3.21555737e-03 3.99456850e+02] [ 2.97022651e-03 9.99995569e-01 -1.99404170e-04 -1.66116585e+01] [-3.21495098e-03 2.08953193e-04 9.99994810e-01 3.34335869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.850714057 meters Centerline goodness [0,1] 0.976996878973529 Centerline is valid? [True, True] Translation: X:399.49, Y:-16.62, Z:3.34 [[ 9.99983882e-01 -4.87486554e-03 2.91061280e-03 3.99488248e+02] [ 4.87541208e-03 9.99988099e-01 -1.80707215e-04 -1.66152432e+01] [-2.90969724e-03 1.94894739e-04 9.99995748e-01 3.34296374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.880714057 meters Centerline goodness [0,1] 0.9765724471606825 Centerline is valid? [True, True] Translation: X:399.52, Y:-16.63, Z:3.34 [[ 9.99971603e-01 -7.26715524e-03 1.99550864e-03 3.99517395e+02] [ 7.26741635e-03 9.99973584e-01 -1.23626044e-04 -1.66260213e+01] [-1.99455752e-03 1.38124725e-04 9.99998001e-01 3.34063719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.910714057 meters Centerline goodness [0,1] 0.9761227839031043 Centerline is valid? [True, True] Translation: X:399.55, Y:-16.63, Z:3.34 [[ 9.99960881e-01 -8.69242694e-03 1.63670093e-03 3.99549255e+02] [ 8.69260473e-03 9.99962213e-01 -1.01549914e-04 -1.66279735e+01] [-1.63575637e-03 1.15773136e-04 9.99998655e-01 3.33966741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.940714057 meters Centerline goodness [0,1] 0.9759275516333226 Centerline is valid? [True, True] Translation: X:399.58, Y:-16.64, Z:3.34 [[ 9.99932093e-01 -1.16408873e-02 5.46520819e-04 3.99578337e+02] [ 1.16409076e-02 9.99932242e-01 -3.39805510e-05 -1.66372946e+01] [-5.46088224e-04 4.03402418e-05 9.99999850e-01 3.33738213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.970714057 meters Centerline goodness [0,1] 0.9773172135866436 Centerline is valid? [True, True] Translation: X:399.61, Y:-16.64, Z:3.34 [[ 9.99921055e-01 -1.25646783e-02 1.12190826e-04 3.99610105e+02] [ 1.25646791e-02 9.99921061e-01 -6.55761974e-06 -1.66389733e+01] [-1.12099575e-04 7.96674377e-06 9.99999994e-01 3.33662311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.000714057 meters Centerline goodness [0,1] 0.9774510480660822 Centerline is valid? [True, True] Translation: X:399.64, Y:-16.64, Z:3.34 [[ 9.99900612e-01 -1.40926245e-02 -4.05359703e-04 3.99641590e+02] [ 1.40926360e-02 9.99900694e-01 2.55893003e-05 -1.66425348e+01] [ 4.04958828e-04 -3.12993438e-05 9.99999918e-01 3.33622542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.030714057 meters Centerline goodness [0,1] 0.9740107271932046 Centerline is valid? [True, True] Translation: X:399.67, Y:-16.65, Z:3.34 [[ 9.99893174e-01 -1.46038193e-02 -6.07452177e-04 3.99672595e+02] [ 1.46038453e-02 9.99893357e-01 3.83758036e-05 -1.66524206e+01] [ 6.06826964e-04 -4.72428416e-05 9.99999815e-01 3.33519687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.060714057 meters Centerline goodness [0,1] 0.9785706065139832 Centerline is valid? [True, True] Translation: X:399.71, Y:-16.65, Z:3.34 [[ 9.99884626e-01 -1.51899496e-02 1.87178465e-05 3.99705107e+02] [ 1.51899496e-02 9.99884626e-01 -5.71635222e-07 -1.66457254e+01] [-1.87070038e-05 8.55892415e-07 1.00000000e+00 3.33675864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.090714057 meters Centerline goodness [0,1] 0.9770691838379187 Centerline is valid? [True, True] Translation: X:399.74, Y:-16.65, Z:3.34 [[ 9.99880802e-01 -1.54349896e-02 3.78906893e-04 3.99737465e+02] [ 1.54349994e-02 9.99880873e-01 -2.31260416e-05 -1.66498842e+01] [-3.78504804e-04 2.89717126e-05 9.99999928e-01 3.33610967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.120714057 meters Centerline goodness [0,1] 0.9746183599203534 Centerline is valid? [True, True] Translation: X:399.77, Y:-16.66, Z:3.34 [[ 9.99879499e-01 -1.54405110e-02 1.60541506e-03 3.99768285e+02] [ 1.54406916e-02 9.99880780e-01 -1.00145442e-04 -1.66615622e+01] [-1.60367736e-03 1.24922093e-04 9.99998706e-01 3.33548940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.150714057 meters Centerline goodness [0,1] 0.9773262864072116 Centerline is valid? [True, True] Translation: X:399.80, Y:-16.66, Z:3.34 [[ 9.99870709e-01 -1.60135382e-02 1.45984780e-03 3.99801224e+02] [ 1.60136880e-02 9.99871769e-01 -9.09787295e-05 -1.66575213e+01] [-1.45820371e-03 1.14344514e-04 9.99998930e-01 3.33599201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.180714057 meters Centerline goodness [0,1] 0.9787126784445819 Centerline is valid? [True, True] Translation: X:399.83, Y:-16.66, Z:3.34 [[ 9.99860816e-01 -1.66148461e-02 1.51498375e-03 3.99833022e+02] [ 1.66150083e-02 9.99861957e-01 -9.45425945e-05 -1.66608407e+01] [-1.51320380e-03 1.19700903e-04 9.99998848e-01 3.33561362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.210714057 meters Centerline goodness [0,1] 0.9724139507245052 Centerline is valid? [True, True] Translation: X:399.86, Y:-16.68, Z:3.33 [[ 9.99852528e-01 -1.71226020e-02 1.31864890e-03 3.99862834e+02] [ 1.71227255e-02 9.99853392e-01 -8.24348710e-05 -1.66784021e+01] [-1.31704407e-03 1.05001577e-04 9.99999127e-01 3.33406998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.240714057 meters Centerline goodness [0,1] 0.9774463607667322 Centerline is valid? [True, True] Translation: X:399.89, Y:-16.67, Z:3.33 [[ 9.99827185e-01 -1.85727072e-02 8.09356346e-04 3.99894612e+02] [ 1.85727542e-02 9.99827510e-01 -5.06059320e-05 -1.66717953e+01] [-8.08276851e-04 6.56291630e-05 9.99999671e-01 3.33395102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.270714057 meters Centerline goodness [0,1] 0.9797266305843501 Centerline is valid? [True, True] Translation: X:399.93, Y:-16.67, Z:3.33 [[ 9.99815831e-01 -1.91858008e-02 -4.57384493e-04 3.99926999e+02] [ 1.91858163e-02 9.99815935e-01 2.93911754e-05 -1.66731361e+01] [ 4.56736411e-04 -3.81610573e-05 9.99999895e-01 3.33276788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.300714057 meters Centerline goodness [0,1] 0.9785010177709672 Centerline is valid? [True, True] Translation: X:399.96, Y:-16.68, Z:3.33 [[ 9.99810738e-01 -1.94505215e-02 -4.06078827e-04 3.99958687e+02] [ 1.94505338e-02 9.99810820e-01 2.61857513e-05 -1.66774809e+01] [ 4.05492678e-04 -3.40792453e-05 9.99999917e-01 3.33205708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.330714057 meters Centerline goodness [0,1] 0.9778787325358415 Centerline is valid? [True, True] Translation: X:399.99, Y:-16.68, Z:3.33 [[ 9.99815337e-01 -1.92122245e-02 -4.28144937e-04 3.99990540e+02] [ 1.92122381e-02 9.99815428e-01 2.76118364e-05 -1.66791399e+01] [ 4.27535429e-04 -3.58323600e-05 9.99999908e-01 3.33210843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.360714057 meters Centerline goodness [0,1] 0.9760442120167165 Centerline is valid? [True, True] Translation: X:400.02, Y:-16.69, Z:3.33 [[ 9.99816862e-01 -1.91347761e-02 -3.22106747e-04 4.00022575e+02] [ 1.91347839e-02 9.99816913e-01 2.10959373e-05 -1.66870952e+01] [ 3.21644108e-04 -2.72555168e-05 9.99999948e-01 3.33139573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.390714057 meters Centerline goodness [0,1] 0.9779947205534316 Centerline is valid? [True, True] Translation: X:400.05, Y:-16.68, Z:3.33 [[ 9.99828619e-01 -1.85101339e-02 -3.29388232e-04 4.00054666e+02] [ 1.85101419e-02 9.99828672e-01 2.14286623e-05 -1.66836962e+01] [ 3.28935152e-04 -2.75220128e-05 9.99999946e-01 3.33172639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.420714057 meters Centerline goodness [0,1] 0.9793513019643673 Centerline is valid? [True, True] Translation: X:400.09, Y:-16.69, Z:3.33 [[ 9.99845807e-01 -1.75585925e-02 -2.39700113e-04 4.00087093e+02] [ 1.75585967e-02 9.99845836e-01 1.57734845e-05 -1.66850688e+01] [ 2.39386199e-04 -1.99798499e-05 9.99999971e-01 3.33183590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.450714057 meters Centerline goodness [0,1] 0.9795974194724965 Centerline is valid? [True, True] Translation: X:400.12, Y:-16.69, Z:3.33 [[ 9.99850513e-01 -1.72889754e-02 -2.05721315e-04 4.00119044e+02] [ 1.72889785e-02 9.99850534e-01 1.36348333e-05 -1.66873919e+01] [ 2.05454835e-04 -1.71895064e-05 9.99999979e-01 3.33147440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.480714057 meters Centerline goodness [0,1] 0.9795974194724965 Centerline is valid? [True, True] Translation: X:400.15, Y:-16.69, Z:3.33 [[ 9.99852339e-01 -1.71830822e-02 -2.05701059e-04 4.00151623e+02] [ 1.71830854e-02 9.99852360e-01 1.39535665e-05 -1.66895508e+01] [ 2.05430924e-04 -1.74860850e-05 9.99999979e-01 3.33120070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51071405700003 meters Centerline goodness [0,1] 0.9788722732885169 Centerline is valid? [True, True] Translation: X:400.18, Y:-16.69, Z:3.33 [[ 9.99854172e-01 -1.70642090e-02 -6.69187002e-04 4.00182770e+02] [ 1.70642419e-02 9.99854394e-01 4.35236770e-05 -1.66936153e+01] [ 6.68346867e-04 -5.49364989e-05 9.99999775e-01 3.33086032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.540714057 meters Centerline goodness [0,1] 0.9776922901823314 Centerline is valid? [True, True] Translation: X:400.22, Y:-16.70, Z:3.33 [[ 9.99855935e-01 -1.69671338e-02 -4.75502745e-04 4.00215925e+02] [ 1.69671505e-02 9.99856047e-01 3.11810418e-05 -1.66966294e+01] [ 4.74905242e-04 -3.92444764e-05 9.99999886e-01 3.33036146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57071405700003 meters Centerline goodness [0,1] 0.977843696520251 Centerline is valid? [True, True] Translation: X:400.25, Y:-16.70, Z:3.33 [[ 9.99859107e-01 -1.67704337e-02 -7.20483791e-04 4.00247038e+02] [ 1.67704718e-02 9.99859365e-01 4.69446279e-05 -1.67000414e+01] [ 7.19595184e-04 -5.90208668e-05 9.99999739e-01 3.32990031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.600714057 meters Centerline goodness [0,1] 0.9769946717281438 Centerline is valid? [True, True] Translation: X:400.28, Y:-16.70, Z:3.33 [[ 9.99861473e-01 -1.66133121e-02 -1.01579619e-03 4.00279156e+02] [ 1.66133872e-02 9.99861986e-01 6.54922448e-05 -1.67027448e+01] [ 1.01456795e-03 -8.23589878e-05 9.99999482e-01 3.32940498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.630714057 meters Centerline goodness [0,1] 0.9770022883295194 Centerline is valid? [True, True] Translation: X:400.31, Y:-16.70, Z:3.33 [[ 9.99858085e-01 -1.67746230e-02 -1.55639770e-03 4.00311446e+02] [ 1.67747991e-02 9.99859288e-01 1.00147007e-04 -1.67043115e+01] [ 1.55449877e-03 -1.26241054e-04 9.99998784e-01 3.32902261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.660714057 meters Centerline goodness [0,1] 0.9785083908729252 Centerline is valid? [True, True] Translation: X:400.34, Y:-16.70, Z:3.33 [[ 9.99859073e-01 -1.66899868e-02 -1.81040929e-03 4.00343852e+02] [ 1.66902250e-02 9.99860702e-01 1.16534012e-04 -1.67029902e+01] [ 1.80821215e-03 -1.46733727e-04 9.99998354e-01 3.32917838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.690714057 meters Centerline goodness [0,1] 0.9758906739185081 Centerline is valid? [True, True] Translation: X:400.37, Y:-16.71, Z:3.33 [[ 9.99856891e-01 -1.67301022e-02 -2.51041095e-03 4.00374145e+02] [ 1.67305592e-02 9.99860021e-01 1.61159444e-04 -1.67101906e+01] [ 2.50736333e-03 -2.03136960e-04 9.99996836e-01 3.32784078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.720714057 meters Centerline goodness [0,1] 0.9790059787321437 Centerline is valid? [True, True] Translation: X:400.41, Y:-16.71, Z:3.33 [[ 9.99851629e-01 -1.70676789e-02 -2.32691792e-03 4.00407147e+02] [ 1.70680736e-02 9.99854319e-01 1.49870537e-04 -1.67050752e+01] [ 2.32402098e-03 -1.89564307e-04 9.99997281e-01 3.32883964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.750714057 meters Centerline goodness [0,1] 0.9782747896084888 Centerline is valid? [True, True] Translation: X:400.44, Y:-16.71, Z:3.33 [[ 9.99853415e-01 -1.70173848e-02 -1.88590552e-03 4.00439423e+02] [ 1.70176445e-02 9.99855182e-01 1.21710394e-04 -1.67082735e+01] [ 1.88356121e-03 -1.53786223e-04 9.99998214e-01 3.32884137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.780714057 meters Centerline goodness [0,1] 0.9787272934993716 Centerline is valid? [True, True] Translation: X:400.47, Y:-16.71, Z:3.33 [[ 9.99857010e-01 -1.68627545e-02 -1.26787175e-03 4.00471581e+02] [ 1.68628721e-02 9.99857808e-01 8.21160309e-05 -1.67089224e+01] [ 1.26630677e-03 -1.03484248e-04 9.99999193e-01 3.32942809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.810714057 meters Centerline goodness [0,1] 0.9773283612820571 Centerline is valid? [True, True] Translation: X:400.50, Y:-16.71, Z:3.33 [[ 9.99871210e-01 -1.60227833e-02 -9.13242726e-04 4.00502540e+02] [ 1.60228447e-02 9.99871624e-01 6.00140769e-05 -1.67125589e+01] [ 9.12163895e-04 -7.46390941e-05 9.99999581e-01 3.32958346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.840714057 meters Centerline goodness [0,1] 0.9746142929084832 Centerline is valid? [True, True] Translation: X:400.53, Y:-16.72, Z:3.33 [[ 9.99873757e-01 -1.58027168e-02 -1.65645310e-03 4.00533640e+02] [ 1.58029161e-02 9.99875120e-01 1.07257965e-04 -1.67211117e+01] [ 1.65455128e-03 -1.33421214e-04 9.99998622e-01 3.32847123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.870714057 meters Centerline goodness [0,1] 0.9780475560220894 Centerline is valid? [True, True] Translation: X:400.57, Y:-16.71, Z:3.33 [[ 9.99902830e-01 -1.39085234e-02 -9.39479726e-04 4.00566277e+02] [ 1.39085869e-02 9.99903269e-01 6.10761285e-05 -1.67134490e+01] [ 9.38539371e-04 -7.41370292e-05 9.99999557e-01 3.32933298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.900714057 meters Centerline goodness [0,1] 0.9781379484009798 Centerline is valid? [True, True] Translation: X:400.60, Y:-16.72, Z:3.33 [[ 9.99907990e-01 -1.34917675e-02 -1.40837709e-03 4.00598719e+02] [ 1.34919098e-02 9.99908976e-01 9.15818552e-05 -1.67156603e+01] [ 1.40701329e-03 -1.10575125e-04 9.99999004e-01 3.32860463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.930714057 meters Centerline goodness [0,1] 0.977868122330585 Centerline is valid? [True, True] Translation: X:400.63, Y:-16.72, Z:3.33 [[ 9.99928411e-01 -1.19305636e-02 -9.13245067e-04 4.00629632e+02] [ 1.19306228e-02 9.99928826e-01 5.93288263e-05 -1.67177854e+01] [ 9.12472241e-04 -7.02201614e-05 9.99999581e-01 3.32852486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.960714057 meters Centerline goodness [0,1] 0.9775676974843776 Centerline is valid? [True, True] Translation: X:400.66, Y:-16.72, Z:3.33 [[ 9.99935750e-01 -1.12767692e-02 -1.15380438e-03 4.00661718e+02] [ 1.12768634e-02 9.99936411e-01 7.52433190e-05 -1.67196970e+01] [ 1.15288250e-03 -8.82497789e-05 9.99999332e-01 3.32814487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.990714057 meters Centerline goodness [0,1] 0.9791857483055505 Centerline is valid? [True, True] Translation: X:400.69, Y:-16.71, Z:3.33 [[ 9.99954838e-01 -9.45248294e-03 -9.85981958e-04 4.00693630e+02] [ 9.45255076e-03 9.99955322e-01 6.41415795e-05 -1.67144574e+01] [ 9.85331609e-04 -7.34587273e-05 9.99999512e-01 3.32881532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.020714057 meters Centerline goodness [0,1] 0.9801912255821401 Centerline is valid? [True, True] Translation: X:400.73, Y:-16.71, Z:3.33 [[ 9.99964901e-01 -8.37252570e-03 -3.12359222e-04 4.00725233e+02] [ 8.37253252e-03 9.99964950e-01 2.05373193e-05 -1.67145133e+01] [ 3.12176325e-04 -2.31518362e-05 9.99999951e-01 3.32873642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.050714057 meters Centerline goodness [0,1] 0.9770093885962904 Centerline is valid? [True, True] Translation: X:400.76, Y:-16.72, Z:3.33 [[ 9.99978820e-01 -6.50239652e-03 -2.79139795e-04 4.00755088e+02] [ 6.50240205e-03 9.99978859e-01 1.88988672e-05 -1.67243434e+01] [ 2.79011006e-04 -2.07135461e-05 9.99999961e-01 3.32716872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.080714057 meters Centerline goodness [0,1] 0.9781771501925546 Centerline is valid? [True, True] Translation: X:400.79, Y:-16.72, Z:3.33 [[ 9.99985010e-01 -5.45723694e-03 -4.45427661e-04 4.00786751e+02] [ 5.45725048e-03 9.99985109e-01 2.91979617e-05 -1.67234274e+01] [ 4.45261687e-04 -3.16283343e-05 9.99999900e-01 3.32721564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.110714057 meters Centerline goodness [0,1] 0.9792981974563089 Centerline is valid? [True, True] Translation: X:400.82, Y:-16.72, Z:3.33 [[ 9.99997069e-01 -2.38013607e-03 -4.44898567e-04 4.00817926e+02] [ 2.38014923e-03 9.99997167e-01 2.90421594e-05 -1.67167917e+01] [ 4.44828183e-04 -3.01009993e-05 9.99999901e-01 3.32736521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.140714057 meters Centerline goodness [0,1] 0.9803678445959909 Centerline is valid? [True, True] Translation: X:400.85, Y:-16.71, Z:3.33 [[ 9.99998596e-01 8.66285341e-04 -1.43417098e-03 4.00849074e+02] [-8.66152545e-04 9.99999621e-01 9.32125279e-05 -1.67146244e+01] [ 1.43425119e-03 -9.19701862e-05 9.99998967e-01 3.32702561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.170714057 meters Centerline goodness [0,1] 0.9800861634355378 Centerline is valid? [True, True] Translation: X:400.88, Y:-16.72, Z:3.33 [[ 9.99995238e-01 2.72637836e-03 -1.44630707e-03 4.00879128e+02] [-2.72624560e-03 9.99996279e-01 9.37506240e-05 -1.67158439e+01] [ 1.44655729e-03 -8.98071892e-05 9.99998950e-01 3.32670693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.200714057 meters Centerline goodness [0,1] 0.9813277056475662 Centerline is valid? [True, True] Translation: X:400.91, Y:-16.71, Z:3.33 [[ 9.99986161e-01 4.99364660e-03 -1.65597091e-03 4.00909324e+02] [-4.99347568e-03 9.99987527e-01 1.07331012e-04 -1.67143615e+01] [ 1.65648623e-03 -9.90604762e-05 9.99998623e-01 3.32635849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.230714057 meters Centerline goodness [0,1] 0.9812424040908987 Centerline is valid? [True, True] Translation: X:400.94, Y:-16.72, Z:3.33 [[ 9.99980166e-01 6.08350889e-03 -1.63031096e-03 4.00936778e+02] [-6.08334589e-03 9.99981491e-01 1.04926538e-04 -1.67176479e+01] [ 1.63091911e-03 -9.50067113e-05 9.99998666e-01 3.32576297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26071405700003 meters Centerline goodness [0,1] 0.9819811537577569 Centerline is valid? [True, True] Translation: X:400.97, Y:-16.72, Z:3.33 [[ 9.99967554e-01 7.69188332e-03 -2.39268240e-03 4.00965728e+02] [-7.69153602e-03 9.99970408e-01 1.54319326e-04 -1.67183617e+01] [ 2.39379860e-03 -1.35910917e-04 9.99997126e-01 3.32560499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.290714057 meters Centerline goodness [0,1] 0.9819095938841571 Centerline is valid? [True, True] Translation: X:400.99, Y:-16.72, Z:3.32 [[ 9.99963456e-01 8.10303480e-03 -2.72550182e-03 4.00994918e+02] [-8.10258597e-03 9.99967158e-01 1.75678949e-04 -1.67200882e+01] [ 2.72683584e-03 -1.53588916e-04 9.99996270e-01 3.32499999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32071405700003 meters Centerline goodness [0,1] 0.9816190759241901 Centerline is valid? [True, True] Translation: X:401.02, Y:-16.72, Z:3.32 [[ 9.99953327e-01 9.29103497e-03 -2.64968894e-03 4.01022926e+02] [-9.29061544e-03 9.99956827e-01 1.70595441e-04 -1.67249564e+01] [ 2.65115956e-03 -1.45970238e-04 9.99996475e-01 3.32421172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.350714057 meters Centerline goodness [0,1] 0.9824002566629236 Centerline is valid? [True, True] Translation: X:401.05, Y:-16.72, Z:3.32 [[ 9.99951525e-01 9.39711055e-03 -2.93965552e-03 4.01051655e+02] [-9.39659510e-03 9.99955833e-01 1.89105878e-04 -1.67227758e+01] [ 2.94130273e-03 -1.61473958e-04 9.99995661e-01 3.32473732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.380714057 meters Centerline goodness [0,1] 0.9819981171500081 Centerline is valid? [True, True] Translation: X:401.08, Y:-16.73, Z:3.32 [[ 9.99955085e-01 9.13404591e-03 -2.52921289e-03 4.01079514e+02] [-9.13366466e-03 9.99958274e-01 1.62250848e-04 -1.67282745e+01] [ 2.53058937e-03 -1.39142578e-04 9.99996788e-01 3.32402137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.410714057 meters Centerline goodness [0,1] 0.9837389050709846 Centerline is valid? [True, True] Translation: X:401.11, Y:-16.73, Z:3.32 [[ 9.99960738e-01 8.56359390e-03 -2.27751711e-03 4.01107804e+02] [-8.56328342e-03 9.99963324e-01 1.46037534e-04 -1.67313003e+01] [ 2.27868418e-03 -1.26528776e-04 9.99997396e-01 3.32441643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.440714057 meters Centerline goodness [0,1] 0.9802777081100801 Centerline is valid? [True, True] Translation: X:401.13, Y:-16.74, Z:3.32 [[ 9.99963315e-01 8.37762518e-03 -1.78432694e-03 4.01134736e+02] [-8.37743506e-03 9.99964902e-01 1.13997364e-04 -1.67382574e+01] [ 1.78521935e-03 -9.90450984e-05 9.99998402e-01 3.32355630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.470714057 meters Centerline goodness [0,1] 0.9838176559702521 Centerline is valid? [True, True] Translation: X:401.16, Y:-16.73, Z:3.33 [[ 9.99965200e-01 8.19077267e-03 -1.58400935e-03 4.01163953e+02] [-8.19062272e-03 9.99966451e-01 1.01130322e-04 -1.67329127e+01] [ 1.58478455e-03 -8.81527797e-05 9.99998740e-01 3.32506701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.500714057 meters Centerline goodness [0,1] 0.9829320259341565 Centerline is valid? [True, True] Translation: X:401.19, Y:-16.73, Z:3.33 [[ 9.99964492e-01 8.33093119e-03 -1.26909988e-03 4.01192512e+02] [-8.33083531e-03 9.99965295e-01 8.08173378e-05 -1.67348471e+01] [ 1.26972912e-03 -7.02418061e-05 9.99999191e-01 3.32540098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.530714057 meters Centerline goodness [0,1] 0.9836046778261867 Centerline is valid? [True, True] Translation: X:401.22, Y:-16.74, Z:3.33 [[ 9.99968078e-01 7.98642979e-03 -2.44015919e-04 4.01221325e+02] [-7.98642636e-03 9.99968108e-01 1.50443755e-05 -1.67374786e+01] [ 2.44128287e-04 -1.30950801e-05 9.99999970e-01 3.32597055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.560714057 meters Centerline goodness [0,1] 0.9836001829826166 Centerline is valid? [True, True] Translation: X:401.25, Y:-16.74, Z:3.33 [[ 9.99972011e-01 7.46843549e-03 4.47774358e-04 4.01250370e+02] [-7.46842314e-03 9.99972111e-01 -2.92580834e-05 -1.67387180e+01] [-4.47980382e-04 2.59130961e-05 9.99999899e-01 3.32660633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.590714057 meters Centerline goodness [0,1] 0.983247894544123 Centerline is valid? [True, True] Translation: X:401.28, Y:-16.74, Z:3.33 [[ 9.99976415e-01 6.74393977e-03 1.29938404e-03 4.01278974e+02] [-6.74383671e-03 9.99977257e-01 -8.36731222e-05 -1.67415065e+01] [-1.29991877e-03 7.49083150e-05 9.99999152e-01 3.32684658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.620714057 meters Centerline goodness [0,1] 0.982941553096131 Centerline is valid? [True, True] Translation: X:401.31, Y:-16.74, Z:3.33 [[ 9.99981263e-01 6.06624195e-03 8.21116791e-04 4.01307341e+02] [-6.06620044e-03 9.99981599e-01 -5.30428658e-05 -1.67426803e+01] [-8.21423452e-04 4.80608129e-05 9.99999661e-01 3.32650956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.650714057 meters Centerline goodness [0,1] 0.982635155231188 Centerline is valid? [True, True] Translation: X:401.34, Y:-16.75, Z:3.32 [[ 9.99985242e-01 5.38602268e-03 -7.11328943e-04 4.01335514e+02] [-5.38599208e-03 9.99985494e-01 4.49386011e-05 -1.67461496e+01] [ 7.11560665e-04 -4.11067259e-05 9.99999746e-01 3.32480772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.680714057 meters Centerline goodness [0,1] 0.9828157491830626 Centerline is valid? [True, True] Translation: X:401.36, Y:-16.75, Z:3.32 [[ 9.99988791e-01 4.51437641e-03 -1.42750306e-03 4.01363127e+02] [-4.51425221e-03 9.99989807e-01 9.02198464e-05 -1.67492854e+01] [ 1.42789580e-03 -8.37747263e-05 9.99998977e-01 3.32397867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.710714057 meters Centerline goodness [0,1] 0.9836591570600234 Centerline is valid? [True, True] Translation: X:401.39, Y:-16.75, Z:3.32 [[ 9.99988665e-01 4.27041069e-03 -2.10535047e-03 4.01391838e+02] [-4.27013924e-03 9.99990874e-01 1.33411119e-04 -1.67508545e+01] [ 2.10590097e-03 -1.24419467e-04 9.99997775e-01 3.32322463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.740714057 meters Centerline goodness [0,1] 0.9820744985673352 Centerline is valid? [True, True] Translation: X:401.42, Y:-16.75, Z:3.32 [[ 9.99987196e-01 4.57673651e-03 -2.15921522e-03 4.01419624e+02] [-4.57645239e-03 9.99989519e-01 1.36506495e-04 -1.67531688e+01] [ 2.15981734e-03 -1.26623202e-04 9.99997660e-01 3.32215142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.770714057 meters Centerline goodness [0,1] 0.982221311662 Centerline is valid? [True, True] Translation: X:401.45, Y:-16.76, Z:3.32 [[ 9.99984408e-01 4.99655946e-03 -2.49366153e-03 4.01448541e+02] [-4.99618159e-03 9.99987507e-01 1.57742303e-04 -1.67550561e+01] [ 2.49441854e-03 -1.45281058e-04 9.99996878e-01 3.32154378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.800714057 meters Centerline goodness [0,1] 0.982678612451183 Centerline is valid? [True, True] Translation: X:401.48, Y:-16.76, Z:3.32 [[ 9.99980310e-01 5.46455577e-03 -3.08511933e-03 4.01475972e+02] [-5.46398043e-03 9.99985053e-01 1.94888007e-04 -1.67560887e+01] [ 3.08613820e-03 -1.78027138e-04 9.99995222e-01 3.32042136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.830714057 meters Centerline goodness [0,1] 0.9823720887584816 Centerline is valid? [True, True] Translation: X:401.50, Y:-16.76, Z:3.32 [[ 9.99979320e-01 5.53421599e-03 -3.27599240e-03 4.01504637e+02] [-5.53356772e-03 9.99984668e-01 2.06916276e-04 -1.67576093e+01] [ 3.27708729e-03 -1.88784072e-04 9.99994613e-01 3.32042752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.860714057 meters Centerline goodness [0,1] 0.9818060692380143 Centerline is valid? [True, True] Translation: X:401.53, Y:-16.76, Z:3.32 [[ 9.99981439e-01 5.20910556e-03 -3.16028478e-03 4.01533865e+02] [-5.20850139e-03 9.99986416e-01 1.99374279e-04 -1.67592523e+01] [ 3.16128041e-03 -1.82910231e-04 9.99994986e-01 3.32022036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.890714057 meters Centerline goodness [0,1] 0.9812953272743964 Centerline is valid? [True, True] Translation: X:401.56, Y:-16.76, Z:3.32 [[ 9.99990871e-01 3.56083311e-03 -2.36184956e-03 4.01563731e+02] [-3.56049093e-03 9.99993650e-01 1.49064237e-04 -1.67614535e+01] [ 2.36236535e-03 -1.40653532e-04 9.99997200e-01 3.32057632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.920714057 meters Centerline goodness [0,1] 0.9823827046918123 Centerline is valid? [True, True] Translation: X:401.59, Y:-16.76, Z:3.32 [[ 9.99998695e-01 9.58667359e-04 -1.30011685e-03 4.01593409e+02] [-9.58561725e-04 9.99999537e-01 8.18697056e-05 -1.67609436e+01] [ 1.30019474e-03 -8.06233565e-05 9.99999151e-01 3.32187188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.950714057 meters Centerline goodness [0,1] 0.97987086100324 Centerline is valid? [True, True] Translation: X:401.62, Y:-16.77, Z:3.32 [[ 9.99999296e-01 -8.88066226e-04 -7.87558713e-04 4.01622412e+02] [ 8.88105572e-04 9.99999604e-01 4.96120768e-05 -1.67698603e+01] [ 7.87514343e-04 -5.03114771e-05 9.99999689e-01 3.32076120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.980714057 meters Centerline goodness [0,1] 0.980128794848206 Centerline is valid? [True, True] Translation: X:401.65, Y:-16.77, Z:3.32 [[ 9.99987686e-01 -4.87736377e-03 -9.15603384e-04 4.01653115e+02] [ 4.87741879e-03 9.99988104e-01 5.78731197e-05 -1.67699831e+01] [ 9.15310224e-04 -6.23381882e-05 9.99999579e-01 3.32110055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01071405700003 meters Centerline goodness [0,1] 0.9790323690670093 Centerline is valid? [True, True] Translation: X:401.68, Y:-16.78, Z:3.32 [[ 9.99974687e-01 -7.08150001e-03 -6.91030573e-04 4.01682452e+02] [ 7.08153187e-03 9.99974925e-01 4.36619777e-05 -1.67754099e+01] [ 6.90704053e-04 -4.85544275e-05 9.99999760e-01 3.32074363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.040714057 meters Centerline goodness [0,1] 0.9783058326055982 Centerline is valid? [True, True] Translation: X:401.71, Y:-16.78, Z:3.32 [[ 9.99928636e-01 -1.19331680e-02 -5.67448251e-04 4.01713270e+02] [ 1.19331904e-02 9.99928796e-01 3.60888911e-05 -1.67789676e+01] [ 5.66977192e-04 -4.28577837e-05 9.99999838e-01 3.32050387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07071405700003 meters Centerline goodness [0,1] 0.9785920131741458 Centerline is valid? [True, True] Translation: X:401.74, Y:-16.78, Z:3.32 [[ 9.99901435e-01 -1.40021693e-02 -1.02909399e-03 4.01744702e+02] [ 1.40022440e-02 9.99901962e-01 6.53801193e-05 -1.67822446e+01] [ 1.02807764e-03 -7.97833003e-05 9.99999468e-01 3.31981005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.100714057 meters Centerline goodness [0,1] 0.9766598581690497 Centerline is valid? [True, True] Translation: X:401.77, Y:-16.79, Z:3.32 [[ 9.99864960e-01 -1.62820264e-02 -2.22656872e-03 4.01774888e+02] [ 1.62823805e-02 9.99867423e-01 1.41005119e-04 -1.67873423e+01] [ 2.22397768e-03 -1.77239917e-04 9.99997511e-01 3.31856212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.130714057 meters Centerline goodness [0,1] 0.9764186719988968 Centerline is valid? [True, True] Translation: X:401.81, Y:-16.79, Z:3.32 [[ 9.99793634e-01 -1.99374054e-02 -3.89741216e-03 4.01805047e+02] [ 1.99385171e-02 9.99801178e-01 2.46598515e-04 -1.67921326e+01] [ 3.89172073e-03 -3.24256244e-04 9.99992375e-01 3.31617281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.160714057 meters Centerline goodness [0,1] 0.9768688164162697 Centerline is valid? [True, True] Translation: X:401.84, Y:-16.80, Z:3.31 [[ 9.99725822e-01 -2.27368100e-02 -5.59628540e-03 4.01835001e+02] [ 2.27391458e-02 9.99741369e-01 3.54103246e-04 -1.67970562e+01] [ 5.58678685e-03 -4.81260908e-04 9.99984278e-01 3.31433818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.190714057 meters Centerline goodness [0,1] 0.9755671501137748 Centerline is valid? [True, True] Translation: X:401.87, Y:-16.80, Z:3.31 [[ 9.99711661e-01 -2.33287916e-02 -5.68871948e-03 4.01867272e+02] [ 2.33312201e-02 9.99727725e-01 3.60896992e-04 -1.68000409e+01] [ 5.67875130e-03 -4.93517698e-04 9.99983754e-01 3.31370899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.220714057 meters Centerline goodness [0,1] 0.9744190857064056 Centerline is valid? [True, True] Translation: X:401.90, Y:-16.80, Z:3.31 [[ 9.99737737e-01 -2.23308554e-02 -5.07833341e-03 4.01897910e+02] [ 2.23327776e-02 9.99750541e-01 3.22119686e-04 -1.68021390e+01] [ 5.06987336e-03 -4.35448496e-04 9.99987053e-01 3.31342353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.250714057 meters Centerline goodness [0,1] 0.9751649918366408 Centerline is valid? [True, True] Translation: X:401.93, Y:-16.80, Z:3.31 [[ 9.99764405e-01 -2.13034576e-02 -4.15905987e-03 4.01929692e+02] [ 2.13047397e-02 9.99772993e-01 2.64216209e-04 -1.68032811e+01] [ 4.15248702e-03 -3.52761649e-04 9.99991316e-01 3.31400434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.280714057 meters Centerline goodness [0,1] 0.9740280616345558 Centerline is valid? [True, True] Translation: X:401.96, Y:-16.80, Z:3.32 [[ 9.99845412e-01 -1.74324576e-02 -2.29371916e-03 4.01958993e+02] [ 1.74328364e-02 9.99848026e-01 1.45285331e-04 -1.68020900e+01] [ 2.29083789e-03 -1.85248902e-04 9.99997359e-01 3.31562920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.310714057 meters Centerline goodness [0,1] 0.9734271199687378 Centerline is valid? [True, True] Translation: X:401.99, Y:-16.80, Z:3.32 [[ 9.99889126e-01 -1.48030325e-02 -1.61457920e-03 4.01990297e+02] [ 1.48032172e-02 9.99890421e-01 1.02542501e-04 -1.68014932e+01] [ 1.61288433e-03 -1.26432098e-04 9.99998691e-01 3.31602426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.340714057 meters Centerline goodness [0,1] 0.9749884739511295 Centerline is valid? [True, True] Translation: X:402.02, Y:-16.80, Z:3.32 [[ 9.99956058e-01 -9.35334225e-03 -6.30198131e-04 4.02019877e+02] [ 9.35336918e-03 9.99956255e-01 3.98034562e-05 -1.67985570e+01] [ 6.29798268e-04 -4.56961829e-05 9.99999801e-01 3.31619784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.370714057 meters Centerline goodness [0,1] 0.9749884739511295 Centerline is valid? [True, True] Translation: X:402.05, Y:-16.80, Z:3.32 [[ 9.99956677e-01 -9.28698178e-03 -6.30150493e-04 4.02051588e+02] [ 9.28700917e-03 9.99956874e-01 4.05544787e-05 -1.68006349e+01] [ 6.29746688e-04 -4.64049351e-05 9.99999801e-01 3.31593118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.400714057 meters Centerline goodness [0,1] 0.9780504147316375 Centerline is valid? [True, True] Translation: X:402.08, Y:-16.79, Z:3.32 [[ 9.99978069e-01 -6.59959332e-03 -5.53522983e-04 4.02083194e+02] [ 6.59961386e-03 9.99978222e-01 3.52895939e-05 -1.67922010e+01] [ 5.53278031e-04 -3.89418579e-05 9.99999846e-01 3.31649593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.430714057 meters Centerline goodness [0,1] 0.9760588045532053 Centerline is valid? [True, True] Translation: X:402.11, Y:-16.80, Z:3.31 [[ 9.99998555e-01 -1.60026318e-03 -5.73740985e-04 4.02112805e+02] [ 1.60028437e-03 9.99998719e-01 3.64840569e-05 -1.67974030e+01] [ 5.73681866e-04 -3.74021529e-05 9.99999835e-01 3.31483611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.460714057 meters Centerline goodness [0,1] 0.9762767405903122 Centerline is valid? [True, True] Translation: X:402.14, Y:-16.80, Z:3.31 [[ 9.99996848e-01 2.40590357e-03 -7.17945092e-04 4.02142017e+02] [-2.40587155e-03 9.99997105e-01 4.54610627e-05 -1.67961625e+01] [ 7.18052388e-04 -4.37336357e-05 9.99999741e-01 3.31455908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.490714057 meters Centerline goodness [0,1] 0.9775901942645698 Centerline is valid? [True, True] Translation: X:402.17, Y:-16.80, Z:3.31 [[ 9.99992570e-01 3.78477079e-03 -7.31540661e-04 4.02171438e+02] [-3.78473804e-03 9.99992837e-01 4.61441084e-05 -1.67962417e+01] [ 7.31710066e-04 -4.33750757e-05 9.99999731e-01 3.31413124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.520714057 meters Centerline goodness [0,1] 0.9808142906855353 Centerline is valid? [True, True] Translation: X:402.20, Y:-16.78, Z:3.32 [[ 9.99977621e-01 6.48919816e-03 -1.62706471e-03 4.02201746e+02] [-6.48903933e-03 9.99978941e-01 1.02874507e-04 -1.67827869e+01] [ 1.62769802e-03 -9.23141179e-05 9.99998671e-01 3.31516424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.550714057 meters Centerline goodness [0,1] 0.9800496439093419 Centerline is valid? [True, True] Translation: X:402.23, Y:-16.79, Z:3.31 [[ 9.99969552e-01 7.49751403e-03 -2.16398870e-03 4.02229380e+02] [-7.49723660e-03 9.99971886e-01 1.36285952e-04 -1.67874096e+01] [ 2.16494967e-03 -1.20057868e-04 9.99997649e-01 3.31387233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.580714057 meters Centerline goodness [0,1] 0.9813664596273292 Centerline is valid? [True, True] Translation: X:402.26, Y:-16.79, Z:3.31 [[ 9.99951308e-01 9.62075279e-03 -2.19610062e-03 4.02259212e+02] [-9.62047133e-03 9.99953713e-01 1.38693873e-04 -1.67860639e+01] [ 2.19733331e-03 -1.17559597e-04 9.99997579e-01 3.31358787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.610714057 meters Centerline goodness [0,1] 0.9814957235078888 Centerline is valid? [True, True] Translation: X:402.29, Y:-16.78, Z:3.31 [[ 9.99942115e-01 1.04926441e-02 -2.38155365e-03 4.02288628e+02] [-1.04923177e-02 9.99944943e-01 1.49525256e-04 -1.67847724e+01] [ 2.38299144e-03 -1.24528583e-04 9.99997153e-01 3.31354780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.640714057 meters Centerline goodness [0,1] 0.9813149433856764 Centerline is valid? [True, True] Translation: X:402.32, Y:-16.79, Z:3.31 [[ 9.99918502e-01 1.25952011e-02 -2.08585143e-03 4.02316604e+02] [-1.25949554e-02 9.99920672e-01 1.30853941e-04 -1.67858522e+01] [ 2.08733409e-03 -1.04572071e-04 9.99997816e-01 3.31352481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.670714057 meters Centerline goodness [0,1] 0.9799907578558226 Centerline is valid? [True, True] Translation: X:402.34, Y:-16.79, Z:3.31 [[ 9.99909097e-01 1.33970631e-02 -1.52172350e-03 4.02343928e+02] [-1.33969338e-02 9.99910253e-01 9.51404233e-05 -1.67895510e+01] [ 1.52286153e-03 -7.47453458e-05 9.99998838e-01 3.31317358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.700714057 meters Centerline goodness [0,1] 0.9816059344696881 Centerline is valid? [True, True] Translation: X:402.37, Y:-16.78, Z:3.31 [[ 9.99905190e-01 1.37674935e-02 -2.58032032e-04 4.02372928e+02] [-1.37674899e-02 9.99905223e-01 1.56387300e-05 -1.67849663e+01] [ 2.58222882e-04 -1.20847939e-05 9.99999967e-01 3.31464544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.730714057 meters Centerline goodness [0,1] 0.9802949934859483 Centerline is valid? [True, True] Translation: X:402.40, Y:-16.79, Z:3.31 [[ 9.99909370e-01 1.34628647e-02 5.38035212e-05 4.02400165e+02] [-1.34628645e-02 9.99909372e-01 -4.19470085e-06 -1.67882446e+01] [-5.38551177e-05 3.46997117e-06 9.99999999e-01 3.31426347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76071405700003 meters Centerline goodness [0,1] 0.9812955673056766 Centerline is valid? [True, True] Translation: X:402.43, Y:-16.79, Z:3.31 [[ 9.99919630e-01 1.26731430e-02 3.53039042e-04 4.02429457e+02] [-1.26731358e-02 9.99919692e-01 -2.27653197e-05 -1.67875671e+01] [-3.53299199e-04 1.82893783e-05 9.99999937e-01 3.31429320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.790714057 meters Centerline goodness [0,1] 0.9818880223489699 Centerline is valid? [True, True] Translation: X:402.46, Y:-16.79, Z:3.31 [[ 9.99949463e-01 1.00517507e-02 1.83608291e-04 4.02459016e+02] [-1.00517487e-02 9.99949480e-01 -1.18200432e-05 -1.67903562e+01] [-1.83717827e-04 9.97386148e-06 9.99999983e-01 3.31348929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82071405700003 meters Centerline goodness [0,1] 0.9795267896610288 Centerline is valid? [True, True] Translation: X:402.49, Y:-16.80, Z:3.31 [[ 9.99982146e-01 5.93564374e-03 -6.89081425e-04 4.02487944e+02] [-5.93561558e-03 9.99982383e-01 4.28957437e-05 -1.67965429e+01] [ 6.89323899e-04 -3.88048554e-05 9.99999762e-01 3.31313131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.850714057 meters Centerline goodness [0,1] 0.9789954125235778 Centerline is valid? [True, True] Translation: X:402.52, Y:-16.80, Z:3.31 [[ 9.99992101e-01 3.91439528e-03 -6.88980152e-04 4.02517669e+02] [-3.91436667e-03 9.99992338e-01 4.28663750e-05 -1.67980820e+01] [ 6.89142669e-04 -4.01691155e-05 9.99999762e-01 3.31296681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.880714057 meters Centerline goodness [0,1] 0.976911105433091 Centerline is valid? [True, True] Translation: X:402.55, Y:-16.81, Z:3.31 [[ 9.99999599e-01 1.43969388e-04 -8.83825602e-04 4.02545929e+02] [-1.43920794e-04 9.99999988e-01 5.50443144e-05 -1.68069156e+01] [ 8.83833516e-04 -5.49170915e-05 9.99999608e-01 3.31191558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.910714057 meters Centerline goodness [0,1] 0.9758747997306523 Centerline is valid? [True, True] Translation: X:402.57, Y:-16.81, Z:3.31 [[ 9.99999259e-01 -8.98820662e-04 -8.20645421e-04 4.02574920e+02] [ 8.98863004e-04 9.99999595e-01 5.12285517e-05 -1.68139815e+01] [ 8.20599043e-04 -5.19661615e-05 9.99999662e-01 3.31092490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.940714057 meters Centerline goodness [0,1] 0.9788971614704514 Centerline is valid? [True, True] Translation: X:402.61, Y:-16.81, Z:3.31 [[ 9.99995488e-01 -2.67093149e-03 -1.37512414e-03 4.02605843e+02] [ 2.67105238e-03 9.99996429e-01 8.60818582e-05 -1.68093175e+01] [ 1.37488931e-03 -8.97544983e-05 9.99999051e-01 3.31108971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.970714057 meters Centerline goodness [0,1] 0.9759657849472363 Centerline is valid? [True, True] Translation: X:402.64, Y:-16.81, Z:3.31 [[ 9.99994330e-01 -3.17630056e-03 -1.11852962e-03 4.02636349e+02] [ 3.17638104e-03 9.99994953e-01 7.01861178e-05 -1.68130303e+01] [ 1.11830105e-03 -7.37385962e-05 9.99999372e-01 3.31083676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.000714057 meters Centerline goodness [0,1] 0.9782325278204591 Centerline is valid? [True, True] Translation: X:402.67, Y:-16.81, Z:3.31 [[ 9.99994914e-01 -3.09368160e-03 -7.75562638e-04 4.02667957e+02] [ 3.09372045e-03 9.99995213e-01 4.88910474e-05 -1.68110255e+01] [ 7.75407673e-04 -5.12901727e-05 9.99999698e-01 3.31186114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.030714057 meters Centerline goodness [0,1] 0.9783455839458639 Centerline is valid? [True, True] Translation: X:402.70, Y:-16.81, Z:3.31 [[ 9.99995443e-01 -3.01049067e-03 -2.24723640e-04 4.02699522e+02] [ 3.01049398e-03 9.99995468e-01 1.43875245e-05 -1.68124585e+01] [ 2.24679309e-04 -1.50639881e-05 9.99999975e-01 3.31257789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.060714057 meters Centerline goodness [0,1] 0.9759897531439218 Centerline is valid? [True, True] Translation: X:402.73, Y:-16.82, Z:3.31 [[ 9.99997331e-01 -2.18094533e-03 7.62945386e-04 4.02730195e+02] [ 2.18098225e-03 9.99997621e-01 -4.75575719e-05 -1.68156102e+01] [-7.62839850e-04 4.92214153e-05 9.99999708e-01 3.31311621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.090714057 meters Centerline goodness [0,1] 0.9764420298231419 Centerline is valid? [True, True] Translation: X:402.76, Y:-16.82, Z:3.31 [[ 9.99998115e-01 -1.78857979e-03 7.56040654e-04 4.02761672e+02] [ 1.78861595e-03 9.99998399e-01 -4.71527980e-05 -1.68167374e+01] [-7.55955107e-04 4.85049755e-05 9.99999713e-01 3.31279963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.120714057 meters Centerline goodness [0,1] 0.97620548744892 Centerline is valid? [True, True] Translation: X:402.79, Y:-16.82, Z:3.31 [[ 9.99996502e-01 -2.64139376e-03 1.35751062e-04 4.02792664e+02] [ 2.64139490e-03 9.99996511e-01 -8.22435133e-06 -1.68183905e+01] [-1.35728864e-04 8.58289472e-06 9.99999991e-01 3.31199441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.150714057 meters Centerline goodness [0,1] 0.9746386059354479 Centerline is valid? [True, True] Translation: X:402.82, Y:-16.82, Z:3.31 [[ 9.99995784e-01 -2.89773093e-03 -1.87328568e-04 4.02823458e+02] [ 2.89773324e-03 9.99995801e-01 1.20703753e-05 -1.68214045e+01] [ 1.87292805e-04 -1.26131526e-05 9.99999982e-01 3.31103156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.180714057 meters Centerline goodness [0,1] 0.9772716644063041 Centerline is valid? [True, True] Translation: X:402.85, Y:-16.82, Z:3.31 [[ 9.99988763e-01 -4.46522303e-03 -1.59261337e-03 4.02854363e+02] [ 4.46538897e-03 9.99990025e-01 1.00652676e-04 -1.68235120e+01] [ 1.59214804e-03 -1.07763183e-04 9.99998727e-01 3.30912043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.210714057 meters Centerline goodness [0,1] 0.9771791994014216 Centerline is valid? [True, True] Translation: X:402.88, Y:-16.83, Z:3.31 [[ 9.99978644e-01 -5.36444032e-03 -3.73288078e-03 4.02884841e+02] [ 5.36535943e-03 9.99985578e-01 2.36248031e-04 -1.68279616e+01] [ 3.73155961e-03 -2.56271233e-04 9.99993005e-01 3.30658865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.240714057 meters Centerline goodness [0,1] 0.9761120840630473 Centerline is valid? [True, True] Translation: X:402.92, Y:-16.83, Z:3.31 [[ 9.99972572e-01 -5.62437630e-03 -4.81888736e-03 4.02915356e+02] [ 5.62590461e-03 9.99984128e-01 3.03652080e-04 -1.68301132e+01] [ 4.81710302e-03 -3.30754352e-04 9.99988343e-01 3.30500928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.270714057 meters Centerline goodness [0,1] 0.9759454949944383 Centerline is valid? [True, True] Translation: X:402.95, Y:-16.83, Z:3.30 [[ 9.99968579e-01 -5.88181268e-03 -5.31468426e-03 4.02945498e+02] [ 5.88367527e-03 9.99982635e-01 3.34893682e-04 -1.68305605e+01] [ 5.31262219e-03 -3.66153036e-04 9.99985821e-01 3.30433006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.300714057 meters Centerline goodness [0,1] 0.9756222855274833 Centerline is valid? [True, True] Translation: X:402.98, Y:-16.83, Z:3.30 [[ 9.99965241e-01 -6.32159922e-03 -5.43636501e-03 4.02975289e+02] [ 6.32355455e-03 9.99979947e-01 3.42561139e-04 -1.68331855e+01] [ 5.43409046e-03 -3.76926383e-04 9.99985164e-01 3.30385120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.330714057 meters Centerline goodness [0,1] 0.9745274884056958 Centerline is valid? [True, True] Translation: X:403.01, Y:-16.84, Z:3.30 [[ 9.99967439e-01 -6.34853631e-03 -4.98157522e-03 4.03005943e+02] [ 6.35017962e-03 9.99979788e-01 3.14130281e-04 -1.68356034e+01] [ 4.97948026e-03 -3.45753950e-04 9.99987543e-01 3.30437696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.360714057 meters Centerline goodness [0,1] 0.9751835022719328 Centerline is valid? [True, True] Translation: X:403.04, Y:-16.84, Z:3.31 [[ 9.99971110e-01 -6.18812083e-03 -4.41438549e-03 4.03036424e+02] [ 6.18940912e-03 9.99980807e-01 2.78238209e-04 -1.68369799e+01] [ 4.41257899e-03 -3.05552608e-04 9.99990218e-01 3.30545696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.390714057 meters Centerline goodness [0,1] 0.974464331313694 Centerline is valid? [True, True] Translation: X:403.07, Y:-16.84, Z:3.31 [[ 9.99981679e-01 -5.70034378e-03 -2.03653327e-03 4.03067001e+02] [ 5.70061732e-03 9.99983743e-01 1.28537098e-04 -1.68397010e+01] [ 2.03576745e-03 -1.40144240e-04 9.99997918e-01 3.30652215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.420714057 meters Centerline goodness [0,1] 0.9733061473200685 Centerline is valid? [True, True] Translation: X:403.10, Y:-16.84, Z:3.31 [[ 9.99982665e-01 -5.69246236e-03 -1.50518301e-03 4.03097777e+02] [ 5.69261236e-03 9.99983792e-01 9.53904124e-05 -1.68428005e+01] [ 1.50461561e-03 -1.03957182e-04 9.99998863e-01 3.30672917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.450714057 meters Centerline goodness [0,1] 0.9716888347695766 Centerline is valid? [True, True] Translation: X:403.13, Y:-16.85, Z:3.31 [[ 9.99986706e-01 -5.15026717e-03 -2.48273149e-04 4.03128805e+02] [ 5.15027132e-03 9.99986737e-01 1.60929480e-05 -1.68457206e+01] [ 2.48186973e-04 -1.73714081e-05 9.99999969e-01 3.30667779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.480714057 meters Centerline goodness [0,1] 0.9759267498770579 Centerline is valid? [True, True] Translation: X:403.16, Y:-16.84, Z:3.31 [[ 9.99987740e-01 -4.90833748e-03 -6.54946984e-04 4.03160860e+02] [ 4.90836602e-03 9.99987953e-01 4.19816610e-05 -1.68414829e+01] [ 6.54733034e-04 -4.51958658e-05 9.99999785e-01 3.30707092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51071405700003 meters Centerline goodness [0,1] 0.9747108134688334 Centerline is valid? [True, True] Translation: X:403.19, Y:-16.85, Z:3.30 [[ 9.99987613e-01 -4.50861009e-03 -2.10881413e-03 4.03191343e+02] [ 4.50890233e-03 9.99989826e-01 1.33849535e-04 -1.68479015e+01] [ 2.10818920e-03 -1.43356314e-04 9.99997767e-01 3.30420977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.540714057 meters Centerline goodness [0,1] 0.9772019755167006 Centerline is valid? [True, True] Translation: X:403.22, Y:-16.84, Z:3.30 [[ 9.99984606e-01 -4.77421061e-03 -2.82744303e-03 4.03222822e+02] [ 4.77473652e-03 9.99988585e-01 1.79281039e-04 -1.68430964e+01] [ 2.82655483e-03 -1.92778575e-04 9.99995987e-01 3.30387095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57071405700003 meters Centerline goodness [0,1] 0.9767202932729353 Centerline is valid? [True, True] Translation: X:403.25, Y:-16.85, Z:3.30 [[ 9.99974111e-01 -5.25658786e-03 -4.91379572e-03 4.03252690e+02] [ 5.25818068e-03 9.99986127e-01 3.11288828e-04 -1.68485502e+01] [ 4.91209123e-03 -3.37118395e-04 9.99987879e-01 3.30095862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.600714057 meters Centerline goodness [0,1] 0.9762825470482083 Centerline is valid? [True, True] Translation: X:403.28, Y:-16.85, Z:3.30 [[ 9.99969108e-01 -5.56600547e-03 -5.54994703e-03 4.03282693e+02] [ 5.56804123e-03 9.99984437e-01 3.51422683e-04 -1.68509068e+01] [ 5.54790463e-03 -3.82314160e-04 9.99984537e-01 3.29968384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.630714057 meters Centerline goodness [0,1] 0.9760275577635094 Centerline is valid? [True, True] Translation: X:403.31, Y:-16.85, Z:3.30 [[ 9.99959435e-01 -5.67942115e-03 -6.99085781e-03 4.03312458e+02] [ 5.68265214e-03 9.99983756e-01 4.42396944e-04 -1.68544739e+01] [ 6.98823169e-03 -4.82105611e-04 9.99975466e-01 3.29821204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.660714057 meters Centerline goodness [0,1] 0.977525985579174 Centerline is valid? [True, True] Translation: X:403.34, Y:-16.86, Z:3.30 [[ 9.99968459e-01 -4.61287157e-03 -6.46552530e-03 4.03342632e+02] [ 4.61560823e-03 9.99989265e-01 4.08412335e-04 -1.68556960e+01] [ 6.46357194e-03 -4.38241785e-04 9.99979015e-01 3.29811117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.690714057 meters Centerline goodness [0,1] 0.9754263493253373 Centerline is valid? [True, True] Translation: X:403.37, Y:-16.86, Z:3.30 [[ 9.99971704e-01 -3.43582414e-03 -6.69218924e-03 4.03372797e+02] [ 3.43872725e-03 9.99993998e-01 4.22347410e-04 -1.68564769e+01] [ 6.69069797e-03 -4.45348073e-04 9.99977518e-01 3.29835934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.720714057 meters Centerline goodness [0,1] 0.9774487098509836 Centerline is valid? [True, True] Translation: X:403.40, Y:-16.85, Z:3.30 [[ 9.99989227e-01 -5.26377731e-05 -4.64150054e-03 4.03403399e+02] [ 5.39993168e-05 9.99999956e-01 2.93216453e-04 -1.68497536e+01] [ 4.64148490e-03 -2.93463932e-04 9.99989185e-01 3.30137080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.750714057 meters Centerline goodness [0,1] 0.9777981392726247 Centerline is valid? [True, True] Translation: X:403.43, Y:-16.85, Z:3.30 [[ 9.99993069e-01 1.06601659e-03 -3.56734632e-03 4.03432387e+02] [-1.06522233e-03 9.99999407e-01 2.24538459e-04 -1.68497232e+01] [ 3.56758357e-03 -2.20736886e-04 9.99993612e-01 3.30189742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.780714057 meters Centerline goodness [0,1] 0.978023522796495 Centerline is valid? [True, True] Translation: X:403.46, Y:-16.85, Z:3.30 [[ 9.99989775e-01 4.35941130e-03 -1.20211283e-03 4.03462164e+02] [-4.35932363e-03 9.99990495e-01 7.55354350e-05 -1.68492381e+01] [ 1.20243069e-03 -7.02942638e-05 9.99999275e-01 3.30304478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.810714057 meters Centerline goodness [0,1] 0.9772380258861666 Centerline is valid? [True, True] Translation: X:403.49, Y:-16.85, Z:3.30 [[ 9.99985169e-01 5.40233171e-03 -6.90107364e-04 4.03489988e+02] [-5.40230351e-03 9.99985407e-01 4.27264455e-05 -1.68530418e+01] [ 6.90328116e-04 -3.89976424e-05 9.99999761e-01 3.30272203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.840714057 meters Centerline goodness [0,1] 0.9776514087803052 Centerline is valid? [True, True] Translation: X:403.52, Y:-16.85, Z:3.30 [[ 9.99966838e-01 8.10977650e-03 7.44119141e-04 4.03520596e+02] [-8.10974376e-03 9.99967114e-01 -4.70043820e-05 -1.68486644e+01] [-7.44475865e-04 4.09682077e-05 9.99999722e-01 3.30396747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.870714057 meters Centerline goodness [0,1] 0.9774582473259523 Centerline is valid? [True, True] Translation: X:403.55, Y:-16.85, Z:3.30 [[ 9.99962900e-01 8.53522997e-03 1.16085540e-03 4.03548581e+02] [-8.53515011e-03 9.99963572e-01 -7.37288841e-05 -1.68524821e+01] [-1.16144241e-03 6.38180737e-05 9.99999323e-01 3.30335398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.900714057 meters Centerline goodness [0,1] 0.9782710718978788 Centerline is valid? [True, True] Translation: X:403.58, Y:-16.85, Z:3.30 [[ 9.99963118e-01 8.56509582e-03 -6.33623214e-04 4.03577092e+02] [-8.56507269e-03 9.99963318e-01 3.92042405e-05 -1.68511017e+01] [ 6.33935759e-04 -3.37757657e-05 9.99999798e-01 3.30178650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.930714057 meters Centerline goodness [0,1] 0.9764976309987334 Centerline is valid? [True, True] Translation: X:403.60, Y:-16.86, Z:3.30 [[ 9.99960989e-01 8.72676903e-03 -1.36521335e-03 4.03604084e+02] [-8.72666125e-03 9.99961918e-01 8.48842428e-05 -1.68568974e+01] [ 1.36590213e-03 -7.29671769e-05 9.99999064e-01 3.29975875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.960714057 meters Centerline goodness [0,1] 0.9782995458588886 Centerline is valid? [True, True] Translation: X:403.63, Y:-16.86, Z:3.30 [[ 9.99960748e-01 8.47337887e-03 -2.58936355e-03 4.03632762e+02] [-8.47298862e-03 9.99964091e-01 1.61642917e-04 -1.68564388e+01] [ 2.59064023e-03 -1.39696925e-04 9.99996635e-01 3.29767067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.990714057 meters Centerline goodness [0,1] 0.9779953971161524 Centerline is valid? [True, True] Translation: X:403.66, Y:-16.86, Z:3.30 [[ 9.99956021e-01 8.84989763e-03 -3.10424175e-03 4.03659968e+02] [-8.84933949e-03 9.99960825e-01 1.93488475e-04 -1.68611027e+01] [ 3.10583249e-03 -1.66009477e-04 9.99995163e-01 3.29639650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.020714057 meters Centerline goodness [0,1] 0.9787684775444874 Centerline is valid? [True, True] Translation: X:403.69, Y:-16.86, Z:3.30 [[ 9.99944937e-01 9.60705040e-03 -4.22233589e-03 4.03689426e+02] [-9.60602308e-03 9.99953826e-01 2.63518685e-04 -1.68602350e+01] [ 4.22467256e-03 -2.22944319e-04 9.99991051e-01 3.29560210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.050714057 meters Centerline goodness [0,1] 0.9778170257859413 Centerline is valid? [True, True] Translation: X:403.72, Y:-16.86, Z:3.30 [[ 9.99936938e-01 1.02431941e-02 -4.60406007e-03 4.03718502e+02] [-1.02419813e-02 9.99947508e-01 2.86925967e-04 -1.68615565e+01] [ 4.60675743e-03 -2.39753176e-04 9.99989360e-01 3.29500811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.080714057 meters Centerline goodness [0,1] 0.9784607425870624 Centerline is valid? [True, True] Translation: X:403.75, Y:-16.86, Z:3.30 [[ 9.99909053e-01 1.29639968e-02 -3.71767807e-03 4.03747417e+02] [-1.29632246e-02 9.99915947e-01 2.31738225e-04 -1.68611870e+01] [ 3.72036985e-03 -1.83524054e-04 9.99993063e-01 3.29509182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.110714057 meters Centerline goodness [0,1] 0.9803146828476681 Centerline is valid? [True, True] Translation: X:403.78, Y:-16.86, Z:3.30 [[ 9.99889433e-01 1.44477197e-02 -3.51932688e-03 4.03776766e+02] [-1.44470380e-02 9.99895612e-01 2.19040830e-04 -1.68610695e+01] [ 3.52212415e-03 -1.68172762e-04 9.99993783e-01 3.29543126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.140714057 meters Centerline goodness [0,1] 0.9790432586788756 Centerline is valid? [True, True] Translation: X:403.81, Y:-16.86, Z:3.30 [[ 9.99841928e-01 1.76555012e-02 -2.09797026e-03 4.03805580e+02] [-1.76552661e-02 9.99844125e-01 1.30525448e-04 -1.68610616e+01] [ 2.09994773e-03 -9.34645927e-05 9.99997791e-01 3.29577009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.170714057 meters Centerline goodness [0,1] 0.9805463087565219 Centerline is valid? [True, True] Translation: X:403.84, Y:-16.86, Z:3.30 [[ 9.99824617e-01 1.86163153e-02 -2.04144033e-03 4.03835225e+02] [-1.86160953e-02 9.99826697e-01 1.26700562e-04 -1.68574073e+01] [ 2.04344524e-03 -8.86746926e-05 9.99997908e-01 3.29721361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.200714057 meters Centerline goodness [0,1] 0.981614254276993 Centerline is valid? [True, True] Translation: X:403.86, Y:-16.86, Z:3.30 [[ 9.99785516e-01 2.06972252e-02 -7.39089347e-04 4.03863767e+02] [-2.06971973e-02 9.99785789e-01 4.53994056e-05 -1.68580640e+01] [ 7.39870667e-04 -3.00925901e-05 9.99999726e-01 3.29797414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.230714057 meters Centerline goodness [0,1] 0.9810129575333396 Centerline is valid? [True, True] Translation: X:403.89, Y:-16.86, Z:3.30 [[ 9.99779166e-01 2.10102842e-02 -4.32085100e-04 4.03892619e+02] [-2.10102748e-02 9.99779259e-01 2.62736370e-05 -1.68600796e+01] [ 4.32541738e-04 -1.71896082e-05 9.99999906e-01 3.29790583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26071405700003 meters Centerline goodness [0,1] 0.9808198392565021 Centerline is valid? [True, True] Translation: X:403.92, Y:-16.86, Z:3.30 [[ 9.99793899e-01 2.02776323e-02 -9.88428415e-04 4.03921577e+02] [-2.02775821e-02 9.99794387e-01 6.07837632e-05 -1.68629746e+01] [ 9.89457732e-04 -4.07282973e-05 9.99999510e-01 3.29722068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.290714057 meters Centerline goodness [0,1] 0.9808198392565021 Centerline is valid? [True, True] Translation: X:403.95, Y:-16.86, Z:3.30 [[ 9.99795957e-01 2.01759268e-02 -9.88452201e-04 4.03949006e+02] [-2.01758769e-02 9.99796444e-01 6.03997888e-05 -1.68645821e+01] [ 9.89469618e-04 -4.04445747e-05 9.99999510e-01 3.29698993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32071405700003 meters Centerline goodness [0,1] 0.9804725225543542 Centerline is valid? [True, True] Translation: X:403.98, Y:-16.87, Z:3.30 [[ 9.99809607e-01 1.94714358e-02 -1.27031164e-03 4.03976464e+02] [-1.94713525e-02 9.99810412e-01 7.79071182e-05 -1.68687245e+01] [ 1.27158777e-03 -5.31575993e-05 9.99999190e-01 3.29625872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.350714057 meters Centerline goodness [0,1] 0.9806495872069643 Centerline is valid? [True, True] Translation: X:404.01, Y:-16.87, Z:3.30 [[ 9.99857066e-01 1.68473607e-02 -1.41912965e-03 4.04005395e+02] [-1.68472537e-02 9.99858071e-01 8.73207480e-05 -1.68721010e+01] [ 1.42039936e-03 -6.33998296e-05 9.99998989e-01 3.29519976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.380714057 meters Centerline goodness [0,1] 0.9789333839438223 Centerline is valid? [True, True] Translation: X:404.03, Y:-16.88, Z:3.29 [[ 9.99885253e-01 1.50274054e-02 -1.91238789e-03 4.04033401e+02] [-1.50272080e-02 9.99887078e-01 1.17550823e-04 -1.68772549e+01] [ 1.91393843e-03 -8.87994841e-05 9.99998164e-01 3.29441978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.410714057 meters Centerline goodness [0,1] 0.9785832741056621 Centerline is valid? [True, True] Translation: X:404.06, Y:-16.88, Z:3.30 [[ 9.99933185e-01 1.13203586e-02 -2.33969616e-03 4.04063774e+02] [-1.13200518e-02 9.99935916e-01 1.44326837e-04 -1.68786153e+01] [ 2.34118006e-03 -1.17831712e-04 9.99997252e-01 3.29578861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.440714057 meters Centerline goodness [0,1] 0.976795553866616 Centerline is valid? [True, True] Translation: X:404.09, Y:-16.89, Z:3.29 [[ 9.99969986e-01 7.46883922e-03 -2.05989000e-03 4.04092576e+02] [-7.46859337e-03 9.99972102e-01 1.27014327e-04 -1.68898775e+01] [ 2.06078118e-03 -1.11626034e-04 9.99997870e-01 3.29450402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.470714057 meters Centerline goodness [0,1] 0.9784303965488634 Centerline is valid? [True, True] Translation: X:404.12, Y:-16.89, Z:3.30 [[ 9.99980658e-01 5.95757895e-03 -1.78645704e-03 4.04121725e+02] [-5.95739265e-03 9.99982249e-01 1.09591604e-04 -1.68900762e+01] [ 1.78707823e-03 -9.89468580e-05 9.99998398e-01 3.29553760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.500714057 meters Centerline goodness [0,1] 0.9747107438016529 Centerline is valid? [True, True] Translation: X:404.15, Y:-16.90, Z:3.29 [[ 9.99993583e-01 1.88966586e-03 -3.04351946e-03 4.04150196e+02] [-1.88910337e-03 9.99998198e-01 1.87680710e-04 -1.68999759e+01] [ 3.04386863e-03 -1.81929983e-04 9.99995351e-01 3.29329054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.530714057 meters Centerline goodness [0,1] 0.9780800492902676 Centerline is valid? [True, True] Translation: X:404.18, Y:-16.90, Z:3.29 [[ 9.99993107e-01 2.12740782e-04 -3.70671622e-03 4.04179807e+02] [-2.11897307e-04 9.99999952e-01 2.27944335e-04 -1.68959200e+01] [ 3.70676453e-03 -2.27157320e-04 9.99993104e-01 3.29446337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.560714057 meters Centerline goodness [0,1] 0.9744579111826531 Centerline is valid? [True, True] Translation: X:404.21, Y:-16.91, Z:3.29 [[ 9.99989825e-01 -1.66003170e-03 -4.19458834e-03 4.04207508e+02] [ 1.66112758e-03 9.99998587e-01 2.57789678e-04 -1.69083218e+01] [ 4.19415447e-03 -2.64754801e-04 9.99991169e-01 3.29177194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.590714057 meters Centerline goodness [0,1] 0.9776688453159041 Centerline is valid? [True, True] Translation: X:404.24, Y:-16.90, Z:3.29 [[ 9.99974787e-01 -5.11558708e-03 -4.92507704e-03 4.04238020e+02] [ 5.11714112e-03 9.99986861e-01 3.02986132e-04 -1.69041854e+01] [ 4.92346238e-03 -3.28180807e-04 9.99987826e-01 3.29267127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.620714057 meters Centerline goodness [0,1] 0.9723151377126183 Centerline is valid? [True, True] Translation: X:404.27, Y:-16.92, Z:3.29 [[ 9.99962237e-01 -6.91617138e-03 -5.26230990e-03 4.04266842e+02] [ 6.91796985e-03 9.99976018e-01 3.23637758e-04 -1.69187077e+01] [ 5.25994537e-03 -3.60030038e-04 9.99986102e-01 3.29006858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.650714057 meters Centerline goodness [0,1] 0.9754022166607079 Centerline is valid? [True, True] Translation: X:404.30, Y:-16.91, Z:3.29 [[ 9.99943295e-01 -9.32904597e-03 -5.13571982e-03 4.04298109e+02] [ 9.33079253e-03 9.99956417e-01 3.16226484e-04 -1.69105693e+01] [ 5.13254590e-03 -3.64128889e-04 9.99986762e-01 3.29265146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.680714057 meters Centerline goodness [0,1] 0.9765372936040995 Centerline is valid? [True, True] Translation: X:404.33, Y:-16.92, Z:3.29 [[ 9.99931347e-01 -1.07362072e-02 -4.69417113e-03 4.04328675e+02] [ 1.07376833e-02 9.99942308e-01 2.89363597e-04 -1.69154214e+01] [ 4.69079364e-03 -3.39748255e-04 9.99988940e-01 3.29249725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.710714057 meters Centerline goodness [0,1] 0.9737130078979922 Centerline is valid? [True, True] Translation: X:404.36, Y:-16.92, Z:3.29 [[ 9.99924231e-01 -1.13141180e-02 -4.85010097e-03 4.04359113e+02] [ 1.13157012e-02 9.99935931e-01 2.99114985e-04 -1.69193806e+01] [ 4.84640600e-03 -3.53974615e-04 9.99988193e-01 3.29244183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.740714057 meters Centerline goodness [0,1] 0.9739752302919794 Centerline is valid? [True, True] Translation: X:404.39, Y:-16.92, Z:3.29 [[ 9.99927064e-01 -1.13699501e-02 -4.07314747e-03 4.04390558e+02] [ 1.13710687e-02 9.99935316e-01 2.51585795e-04 -1.69223030e+01] [ 4.07002348e-03 -2.97883486e-04 9.99991673e-01 3.29287261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.770714057 meters Centerline goodness [0,1] 0.9757840507110468 Centerline is valid? [True, True] Translation: X:404.42, Y:-16.92, Z:3.29 [[ 9.99927667e-01 -1.11766408e-02 -4.44345590e-03 4.04422554e+02] [ 1.11779721e-02 9.99937487e-01 2.74882104e-04 -1.69193154e+01] [ 4.44010587e-03 -3.24531047e-04 9.99990090e-01 3.29308426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.800714057 meters Centerline goodness [0,1] 0.9750315679127057 Centerline is valid? [True, True] Translation: X:404.45, Y:-16.92, Z:3.29 [[ 9.99927215e-01 -1.09397566e-02 -5.08791780e-03 4.04453404e+02] [ 1.09414992e-02 9.99940090e-01 3.14783955e-04 -1.69217275e+01] [ 5.08416932e-03 -3.70430492e-04 9.99987007e-01 3.29264894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.830714057 meters Centerline goodness [0,1] 0.9721694979595711 Centerline is valid? [True, True] Translation: X:404.48, Y:-16.93, Z:3.29 [[ 9.99938875e-01 -9.93555493e-03 -4.85087996e-03 4.04483231e+02] [ 9.93712990e-03 9.99950580e-01 3.00684288e-04 -1.69278563e+01] [ 4.84765276e-03 -3.48869733e-04 9.99988189e-01 3.29179982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.860714057 meters Centerline goodness [0,1] 0.9730018775102788 Centerline is valid? [True, True] Translation: X:404.52, Y:-16.92, Z:3.29 [[ 9.99939092e-01 -9.47673484e-03 -5.65721866e-03 4.04515940e+02] [ 9.47887086e-03 9.99955013e-01 3.50880616e-04 -1.69248795e+01] [ 5.65363895e-03 -4.04483289e-04 9.99983936e-01 3.29208004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.890714057 meters Centerline goodness [0,1] 0.9736471150400191 Centerline is valid? [True, True] Translation: X:404.55, Y:-16.93, Z:3.29 [[ 9.99940271e-01 -9.15614315e-03 -5.96828635e-03 4.04547685e+02] [ 9.15851419e-03 9.99957991e-01 3.70064366e-04 -1.69264387e+01] [ 5.96464727e-03 -4.24702898e-04 9.99982121e-01 3.29175172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.920714057 meters Centerline goodness [0,1] 0.9740818668706962 Centerline is valid? [True, True] Translation: X:404.58, Y:-16.93, Z:3.29 [[ 9.99940397e-01 -8.85630253e-03 -6.38502712e-03 4.04578738e+02] [ 8.85901299e-03 9.99960680e-01 3.96343356e-04 -1.69287077e+01] [ 6.38126592e-03 -4.52884771e-04 9.99979537e-01 3.29108139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.950714057 meters Centerline goodness [0,1] 0.9761047385114349 Centerline is valid? [True, True] Translation: X:404.61, Y:-16.92, Z:3.29 [[ 9.99942054e-01 -8.46086077e-03 -6.65595400e-03 4.04610443e+02] [ 8.46379795e-03 9.99964096e-01 4.13241741e-04 -1.69243997e+01] [ 6.65221865e-03 -4.69552446e-04 9.99977764e-01 3.29189720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.980714057 meters Centerline goodness [0,1] 0.9745665293610499 Centerline is valid? [True, True] Translation: X:404.64, Y:-16.93, Z:3.29 [[ 9.99938793e-01 -7.97391343e-03 -7.66981603e-03 4.04640150e+02] [ 7.97779888e-03 9.99968064e-01 4.76127726e-04 -1.69307941e+01] [ 7.66577448e-03 -5.37286833e-04 9.99970473e-01 3.28969216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01071405700003 meters Centerline goodness [0,1] 0.9743828709345951 Centerline is valid? [True, True] Translation: X:404.67, Y:-16.93, Z:3.29 [[ 9.99935509e-01 -7.29678683e-03 -8.70259173e-03 4.04670472e+02] [ 7.30176224e-03 9.99973196e-01 5.40079678e-04 -1.69305543e+01] [ 8.69841762e-03 -6.03589104e-04 9.99961986e-01 3.28959870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.040714057 meters Centerline goodness [0,1] 0.9759445241511239 Centerline is valid? [True, True] Translation: X:404.70, Y:-16.93, Z:3.29 [[ 9.99938122e-01 -6.67980529e-03 -8.89561065e-03 4.04700920e+02] [ 6.68497701e-03 9.99977503e-01 5.51771262e-04 -1.69267921e+01] [ 8.89172480e-03 -6.11204072e-04 9.99960281e-01 3.29054920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07071405700003 meters Centerline goodness [0,1] 0.9737423195084486 Centerline is valid? [True, True] Translation: X:404.73, Y:-16.93, Z:3.29 [[ 9.99942066e-01 -5.17432495e-03 -9.43885030e-03 4.04729480e+02] [ 5.18007483e-03 9.99986412e-01 5.84825312e-04 -1.69329122e+01] [ 9.43569597e-03 -6.33685382e-04 9.99955282e-01 3.28981479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.100714057 meters Centerline goodness [0,1] 0.9773000529024191 Centerline is valid? [True, True] Translation: X:404.76, Y:-16.92, Z:3.29 [[ 9.99950422e-01 -4.86805514e-03 -8.68657157e-03 4.04759206e+02] [ 4.87288053e-03 9.99987985e-01 5.34421921e-04 -1.69220157e+01] [ 8.68386560e-03 -5.76724050e-04 9.99962128e-01 3.29308434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.130714057 meters Centerline goodness [0,1] 0.9756660020658675 Centerline is valid? [True, True] Translation: X:404.79, Y:-16.93, Z:3.29 [[ 9.99963174e-01 -3.51193378e-03 -7.83048191e-03 4.04788102e+02] [ 3.51582347e-03 9.99993703e-01 4.83026863e-04 -1.69252234e+01] [ 7.82873624e-03 -5.10539667e-04 9.99969225e-01 3.29356681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.160714057 meters Centerline goodness [0,1] 0.9748877631863251 Centerline is valid? [True, True] Translation: X:404.82, Y:-16.92, Z:3.30 [[ 9.99969348e-01 -3.27854249e-03 -7.11017414e-03 4.04817054e+02] [ 3.28172037e-03 9.99994520e-01 4.35327039e-04 -1.69205457e+01] [ 7.10870794e-03 -4.58647298e-04 9.99974628e-01 3.29554463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.190714057 meters Centerline goodness [0,1] 0.9756607903027971 Centerline is valid? [True, True] Translation: X:404.85, Y:-16.92, Z:3.30 [[ 9.99973344e-01 -2.73535148e-03 -6.76969406e-03 4.04845933e+02] [ 2.73820669e-03 9.99996166e-01 4.12530894e-04 -1.69205263e+01] [ 6.76853969e-03 -4.31056719e-04 9.99977000e-01 3.29540711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.220714057 meters Centerline goodness [0,1] 0.9735532421320895 Centerline is valid? [True, True] Translation: X:404.87, Y:-16.93, Z:3.29 [[ 9.99973416e-01 -1.95059299e-03 -7.02588051e-03 4.04874635e+02] [ 1.95365859e-03 9.99997999e-01 4.29493265e-04 -1.69255726e+01] [ 7.02502869e-03 -4.43208019e-04 9.99975226e-01 3.29417562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.250714057 meters Centerline goodness [0,1] 0.9766641807202829 Centerline is valid? [True, True] Translation: X:404.90, Y:-16.92, Z:3.29 [[ 9.99963116e-01 -2.05655090e-03 -8.33885146e-03 4.04903200e+02] [ 2.06086504e-03 9.99997747e-01 5.08794962e-04 -1.69224750e+01] [ 8.33778631e-03 -5.25961443e-04 9.99965102e-01 3.29416057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.280714057 meters Centerline goodness [0,1] 0.9770579323281149 Centerline is valid? [True, True] Translation: X:404.93, Y:-16.92, Z:3.29 [[ 9.99955015e-01 -2.54452098e-03 -9.13746197e-03 4.04932077e+02] [ 2.54971747e-03 9.99996594e-01 5.57096574e-04 -1.69243067e+01] [ 9.13601330e-03 -5.80369460e-04 9.99958097e-01 3.29291786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.310714057 meters Centerline goodness [0,1] 0.9745807632999229 Centerline is valid? [True, True] Translation: X:404.96, Y:-16.94, Z:3.29 [[ 9.99940429e-01 -2.86645790e-03 -1.05319405e-02 4.04958556e+02] [ 2.87336914e-03 9.99995666e-01 6.41144152e-04 -1.69408479e+01] [ 1.05300570e-02 -6.71368112e-04 9.99944332e-01 3.28719316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.340714057 meters Centerline goodness [0,1] 0.9790056578788973 Centerline is valid? [True, True] Translation: X:404.99, Y:-16.93, Z:3.29 [[ 9.99935950e-01 -3.16177916e-03 -1.08673712e-02 4.04987289e+02] [ 3.16910437e-03 9.99994763e-01 6.56901152e-04 -1.69288803e+01] [ 1.08652373e-02 -6.91298910e-04 9.99940733e-01 3.29078749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.370714057 meters Centerline goodness [0,1] 0.9774693366105207 Centerline is valid? [True, True] Translation: X:405.01, Y:-16.93, Z:3.29 [[ 9.99919582e-01 -3.36198913e-03 -1.22281063e-02 4.05014947e+02] [ 3.37128899e-03 9.99994043e-01 7.39998093e-04 -1.69322308e+01] [ 1.22255456e-02 -7.81163064e-04 9.99924960e-01 3.28974206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.400714057 meters Centerline goodness [0,1] 0.9774837623286023 Centerline is valid? [True, True] Translation: X:405.04, Y:-16.93, Z:3.29 [[ 9.99920303e-01 -1.76844077e-03 -1.25004282e-02 4.05043634e+02] [ 1.77802695e-03 9.99998134e-01 7.55795937e-04 -1.69319685e+01] [ 1.24990682e-02 -7.77961800e-04 9.99921581e-01 3.28951195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.430714057 meters Centerline goodness [0,1] 0.9772596568580466 Centerline is valid? [True, True] Translation: X:405.07, Y:-16.93, Z:3.29 [[ 9.99926507e-01 -5.07866706e-04 -1.21129038e-02 4.05071321e+02] [ 5.16761155e-04 9.99999599e-01 7.31176806e-04 -1.69349961e+01] [ 1.21125276e-02 -7.37382548e-04 9.99926369e-01 3.28931766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.460714057 meters Centerline goodness [0,1] 0.9785414960743702 Centerline is valid? [True, True] Translation: X:405.10, Y:-16.93, Z:3.29 [[ 9.99930659e-01 5.15404136e-04 -1.17648094e-02 4.05100731e+02] [-5.07128065e-04 9.99999622e-01 7.06432243e-04 -1.69348458e+01] [ 1.17651691e-02 -7.00416994e-04 9.99930543e-01 3.29011444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.490714057 meters Centerline goodness [0,1] 0.9786008627129672 Centerline is valid? [True, True] Translation: X:405.13, Y:-16.94, Z:3.29 [[ 9.99939324e-01 4.04018304e-03 -1.02481639e-02 4.05130411e+02] [-4.03407541e-03 9.99991673e-01 6.16574009e-04 -1.69352942e+01] [ 1.02505697e-02 -5.75194732e-04 9.99947296e-01 3.29107606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.520714057 meters Centerline goodness [0,1] 0.979424960200685 Centerline is valid? [True, True] Translation: X:405.16, Y:-16.93, Z:3.29 [[ 9.99933958e-01 6.11964232e-03 -9.72782248e-03 4.05160010e+02] [-6.11424157e-03 9.99981137e-01 5.84829683e-04 -1.69346639e+01] [ 9.73121793e-03 -5.25312802e-04 9.99952513e-01 3.29232816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.550714057 meters Centerline goodness [0,1] 0.9789030550878037 Centerline is valid? [True, True] Translation: X:405.19, Y:-16.93, Z:3.29 [[ 9.99904972e-01 1.05100934e-02 -8.92098541e-03 4.05189684e+02] [-1.05057265e-02 9.99944670e-01 5.36230292e-04 -1.69330339e+01] [ 8.92612764e-03 -4.42457903e-04 9.99960063e-01 3.29272033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.580714057 meters Centerline goodness [0,1] 0.9795535456557298 Centerline is valid? [True, True] Translation: X:405.22, Y:-16.93, Z:3.29 [[ 9.99886565e-01 1.20901017e-02 -8.98257576e-03 4.05218671e+02] [-1.20857466e-02 9.99926819e-01 5.38962651e-04 -1.69335464e+01] [ 8.98843453e-03 -4.30340379e-04 9.99959511e-01 3.29223293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.610714057 meters Centerline goodness [0,1] 0.9812152021302348 Centerline is valid? [True, True] Translation: X:405.25, Y:-16.93, Z:3.29 [[ 9.99844168e-01 1.47764313e-02 -9.65897648e-03 4.05248720e+02] [-1.47715178e-02 9.99890727e-01 5.79844812e-04 -1.69349690e+01] [ 9.66648905e-03 -4.37076710e-04 9.99953183e-01 3.29124499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.640714057 meters Centerline goodness [0,1] 0.9822372390491131 Centerline is valid? [True, True] Translation: X:405.28, Y:-16.94, Z:3.29 [[ 9.99831359e-01 1.57913821e-02 -9.37471413e-03 4.05277541e+02] [-1.57868077e-02 9.99875223e-01 5.61761445e-04 -1.69373722e+01] [ 9.38241537e-03 -4.13669900e-04 9.99955899e-01 3.29033994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.670714057 meters Centerline goodness [0,1] 0.9840100178201608 Centerline is valid? [True, True] Translation: X:405.31, Y:-16.94, Z:3.29 [[ 9.99808969e-01 1.65828796e-02 -1.03456980e-02 4.05306594e+02] [-1.65773577e-02 9.99862394e-01 6.19275530e-04 -1.69363799e+01] [ 1.03545437e-02 -4.47652893e-04 9.99946290e-01 3.29129905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.700714057 meters Centerline goodness [0,1] 0.9825948604213876 Centerline is valid? [True, True] Translation: X:405.33, Y:-16.95, Z:3.29 [[ 9.99807837e-01 1.59225176e-02 -1.14351361e-02 4.05333845e+02] [-1.59157402e-02 9.99873103e-01 6.83448584e-04 -1.69455823e+01] [ 1.14445672e-02 -5.01318595e-04 9.99934383e-01 3.28739774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.730714057 meters Centerline goodness [0,1] 0.9837015312868098 Centerline is valid? [True, True] Translation: X:405.36, Y:-16.95, Z:3.29 [[ 9.99815179e-01 1.57018695e-02 -1.10932067e-02 4.05360403e+02] [-1.56955059e-02 9.99876600e-01 6.60479179e-04 -1.69499585e+01] [ 1.11022085e-02 -4.86243618e-04 9.99938250e-01 3.28721435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76071405700003 meters Centerline goodness [0,1] 0.984517369876187 Centerline is valid? [True, True] Translation: X:405.39, Y:-16.95, Z:3.29 [[ 9.99829410e-01 1.47300573e-02 -1.11434835e-02 4.05388614e+02] [-1.47235738e-02 9.99891382e-01 6.63639189e-04 -1.69542930e+01] [ 1.11520486e-02 -4.99454076e-04 9.99937689e-01 3.28706782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.790714057 meters Centerline goodness [0,1] 0.9834502305918524 Centerline is valid? [True, True] Translation: X:405.42, Y:-16.96, Z:3.29 [[ 9.99861759e-01 1.24536960e-02 -1.10167155e-02 4.05416804e+02] [-1.24472256e-02 9.99922315e-01 6.55702051e-04 -1.69623157e+01] [ 1.10240256e-02 -5.18483862e-04 9.99939099e-01 3.28741164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82071405700003 meters Centerline goodness [0,1] 0.9856690191559845 Centerline is valid? [True, True] Translation: X:405.45, Y:-16.96, Z:3.29 [[ 9.99893602e-01 1.00111901e-02 -1.06094652e-02 4.05446923e+02] [-1.00050551e-02 9.99949749e-01 6.31172998e-04 -1.69568169e+01] [ 1.06152508e-02 -5.24957559e-04 9.99943519e-01 3.29282047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.850714057 meters Centerline goodness [0,1] 0.9856767724994032 Centerline is valid? [True, True] Translation: X:405.48, Y:-16.96, Z:3.29 [[ 9.99906388e-01 8.91182422e-03 -1.03823967e-02 4.05475720e+02] [-8.90590092e-03 9.99960152e-01 6.16608603e-04 -1.69586961e+01] [ 1.03874781e-02 -5.24086285e-04 9.99945911e-01 3.29337813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.880714057 meters Centerline goodness [0,1] 0.9826654284829869 Centerline is valid? [True, True] Translation: X:405.50, Y:-16.97, Z:3.29 [[ 9.99922539e-01 7.25864971e-03 -1.01107939e-02 4.05502972e+02] [-7.25295868e-03 9.99973517e-01 5.99421783e-04 -1.69712913e+01] [ 1.01148771e-02 -5.26042181e-04 9.99948705e-01 3.29141965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.910714057 meters Centerline goodness [0,1] 0.9811791544877736 Centerline is valid? [True, True] Translation: X:405.53, Y:-16.99, Z:3.29 [[ 9.99929522e-01 6.58464131e-03 -9.87890278e-03 4.05529878e+02] [-6.57918331e-03 9.99978186e-01 5.84887886e-04 -1.69866526e+01] [ 9.88253856e-03 -5.19851553e-04 9.99951031e-01 3.28750378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.940714057 meters Centerline goodness [0,1] 0.9811636964475392 Centerline is valid? [True, True] Translation: X:405.56, Y:-16.98, Z:3.29 [[ 9.99937876e-01 5.32227963e-03 -9.79378123e-03 4.05559084e+02] [-5.31686050e-03 9.99985698e-01 5.79277307e-04 -1.69762549e+01] [ 9.79672423e-03 -5.27169151e-04 9.99951872e-01 3.29280521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.970714057 meters Centerline goodness [0,1] 0.9821504262233316 Centerline is valid? [True, True] Translation: X:405.59, Y:-16.99, Z:3.29 [[ 9.99940400e-01 5.18222491e-03 -9.60946146e-03 4.05585629e+02] [-5.17701673e-03 9.99986439e-01 5.66779306e-04 -1.69863129e+01] [ 9.61226832e-03 -5.16997183e-04 9.99953667e-01 3.29083785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.000714057 meters Centerline goodness [0,1] 0.9818417639429312 Centerline is valid? [True, True] Translation: X:405.61, Y:-16.98, Z:3.29 [[ 9.99937112e-01 4.96589221e-03 -1.00553979e-02 4.05614800e+02] [-4.96018098e-03 9.99987522e-01 5.92836079e-04 -1.69817824e+01] [ 1.00582164e-02 -5.42922204e-04 9.99949267e-01 3.29291916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.030714057 meters Centerline goodness [0,1] 0.9805904610641379 Centerline is valid? [True, True] Translation: X:405.64, Y:-16.99, Z:3.29 [[ 9.99934262e-01 5.39606743e-03 -1.01170286e-02 4.05641760e+02] [-5.39032444e-03 9.99985295e-01 5.94837243e-04 -1.69910072e+01] [ 1.01200896e-02 -5.40264073e-04 9.99948645e-01 3.29091714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.060714057 meters Centerline goodness [0,1] 0.9822841537707443 Centerline is valid? [True, True] Translation: X:405.67, Y:-16.99, Z:3.29 [[ 9.99926101e-01 6.83047866e-03 -1.00566565e-02 4.05670577e+02] [-6.82487950e-03 9.99976536e-01 5.90975125e-04 -1.69897263e+01] [ 1.00604571e-02 -5.22295984e-04 9.99949256e-01 3.29330857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.090714057 meters Centerline goodness [0,1] 0.9814237161879045 Centerline is valid? [True, True] Translation: X:405.70, Y:-16.99, Z:3.29 [[ 9.99921946e-01 8.00585861e-03 -9.59211264e-03 4.05698473e+02] [-8.00082852e-03 9.99967835e-01 5.62658217e-04 -1.69942239e+01] [ 9.59630867e-03 -4.85869451e-04 9.99953836e-01 3.29270261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.120714057 meters Centerline goodness [0,1] 0.9828543662362904 Centerline is valid? [True, True] Translation: X:405.73, Y:-17.00, Z:3.29 [[ 9.99896684e-01 1.03259031e-02 -9.99985481e-03 4.05727236e+02] [-1.03205571e-02 9.99946570e-01 5.86061339e-04 -1.69985543e+01] [ 1.00053721e-02 -4.82796717e-04 9.99949828e-01 3.29244439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.150714057 meters Centerline goodness [0,1] 0.9830896111996673 Centerline is valid? [True, True] Translation: X:405.76, Y:-17.00, Z:3.29 [[ 9.99882508e-01 1.16587564e-02 -9.95205037e-03 4.05755733e+02] [-1.16535343e-02 9.99931926e-01 5.82558784e-04 -1.70013665e+01] [ 9.95816480e-03 -4.66513778e-04 9.99950307e-01 3.29213019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.180714057 meters Centerline goodness [0,1] 0.9830896111996673 Centerline is valid? [True, True] Translation: X:405.78, Y:-17.00, Z:3.29 [[ 9.99883722e-01 1.15540963e-02 -9.95212840e-03 4.05783179e+02] [-1.15488822e-02 9.99933141e-01 5.81225420e-04 -1.70028828e+01] [ 9.95817854e-03 -4.66221877e-04 9.99950307e-01 3.29189936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.210714057 meters Centerline goodness [0,1] 0.9842883761588185 Centerline is valid? [True, True] Translation: X:405.81, Y:-17.01, Z:3.29 [[ 9.99846382e-01 1.40661428e-02 -1.04573688e-02 4.05811874e+02] [-1.40605270e-02 9.99900960e-01 6.10346369e-04 -1.70069880e+01] [ 1.04649183e-02 -4.63216491e-04 9.99945134e-01 3.29153240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.240714057 meters Centerline goodness [0,1] 0.9834220884463997 Centerline is valid? [True, True] Translation: X:405.84, Y:-17.01, Z:3.29 [[ 9.99836262e-01 1.49673567e-02 -1.01699437e-02 4.05839208e+02] [-1.49621024e-02 9.99887886e-01 5.92537953e-04 -1.70109915e+01] [ 1.01776722e-02 -4.40277193e-04 9.99948109e-01 3.29138589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.270714057 meters Centerline goodness [0,1] 0.9862732904949446 Centerline is valid? [True, True] Translation: X:405.87, Y:-17.01, Z:3.29 [[ 9.99810733e-01 1.68844939e-02 -9.66497620e-03 4.05867846e+02] [-1.68798437e-02 9.99857367e-01 5.62522657e-04 -1.70131416e+01] [ 9.67309557e-03 -3.99272903e-04 9.99953135e-01 3.29307421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.300714057 meters Centerline goodness [0,1] 0.9858869575227351 Centerline is valid? [True, True] Translation: X:405.90, Y:-17.02, Z:3.29 [[ 9.99801573e-01 1.72214991e-02 -1.00116859e-02 4.05895533e+02] [-1.72165439e-02 9.99851616e-01 5.80922372e-04 -1.70177207e+01] [ 1.00202047e-02 -4.08440471e-04 9.99949713e-01 3.29222072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.330714057 meters Centerline goodness [0,1] 0.9867325822028052 Centerline is valid? [True, True] Translation: X:405.92, Y:-17.02, Z:3.29 [[ 9.99790301e-01 1.78400125e-02 -1.00542659e-02 4.05924246e+02] [-1.78350484e-02 9.99840773e-01 5.83178127e-04 -1.70223147e+01] [ 1.00630688e-02 -4.03737516e-04 9.99949285e-01 3.29194983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.360714057 meters Centerline goodness [0,1] 0.9865596927929782 Centerline is valid? [True, True] Translation: X:405.95, Y:-17.03, Z:3.29 [[ 9.99783507e-01 1.81137234e-02 -1.02387224e-02 4.05951773e+02] [-1.81086005e-02 9.99835850e-01 5.92840101e-04 -1.70273641e+01] [ 1.02477802e-02 -4.07302822e-04 9.99947407e-01 3.29121239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.390714057 meters Centerline goodness [0,1] 0.9857654492780071 Centerline is valid? [True, True] Translation: X:405.98, Y:-17.03, Z:3.29 [[ 9.99768850e-01 1.90110488e-02 -1.00412872e-02 4.05979055e+02] [-1.90061754e-02 9.99819198e-01 5.80545787e-04 -1.70329631e+01] [ 1.00505085e-02 -3.89565128e-04 9.99949416e-01 3.29064238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.420714057 meters Centerline goodness [0,1] 0.9857712917569262 Centerline is valid? [True, True] Translation: X:406.01, Y:-17.03, Z:3.29 [[ 9.99766892e-01 1.93215273e-02 -9.63541555e-03 4.06008218e+02] [-1.93170598e-02 9.99813253e-01 5.56513027e-04 -1.70349187e+01] [ 9.64436885e-03 -3.70255401e-04 9.99953423e-01 3.29141462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.450714057 meters Centerline goodness [0,1] 0.9853225622937763 Centerline is valid? [True, True] Translation: X:406.04, Y:-17.04, Z:3.29 [[ 9.99760762e-01 1.97680696e-02 -9.36171041e-03 4.06035662e+02] [-1.97638810e-02 9.99804530e-01 5.39734605e-04 -1.70433790e+01] [ 9.37054999e-03 -3.54581750e-04 9.99956033e-01 3.29033123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.480714057 meters Centerline goodness [0,1] 0.9858002953538566 Centerline is valid? [True, True] Translation: X:406.06, Y:-17.05, Z:3.29 [[ 9.99775932e-01 1.97107410e-02 -7.71831513e-03 4.06062767e+02] [-1.97079025e-02 9.99805682e-01 4.43654843e-04 -1.70506315e+01] [ 7.72556008e-03 -2.91443633e-04 9.99970115e-01 3.29080901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51071405700003 meters Centerline goodness [0,1] 0.986474506148985 Centerline is valid? [True, True] Translation: X:406.09, Y:-17.05, Z:3.29 [[ 9.99793781e-01 1.91458166e-02 -6.76994712e-03 4.06092075e+02] [-1.91436211e-02 9.99816668e-01 3.88957281e-04 -1.70500787e+01] [ 6.77615288e-03 -2.59275768e-04 9.99977008e-01 3.29307167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.540714057 meters Centerline goodness [0,1] 0.9871751297215235 Centerline is valid? [True, True] Translation: X:406.12, Y:-17.05, Z:3.29 [[ 9.99812797e-01 1.84068871e-02 -5.96293078e-03 4.06121086e+02] [-1.84051738e-02 9.99830552e-01 3.42090307e-04 -1.70537974e+01] [ 5.96821719e-03 -2.32277489e-04 9.99982163e-01 3.29327579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57071405700003 meters Centerline goodness [0,1] 0.9863026104281283 Centerline is valid? [True, True] Translation: X:406.15, Y:-17.06, Z:3.29 [[ 9.99856982e-01 1.60333421e-02 -5.38022572e-03 4.06149605e+02] [-1.60319139e-02 9.99871433e-01 3.08469908e-04 -1.70630071e+01] [ 5.38447980e-03 -2.22170475e-04 9.99985479e-01 3.29291275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.600714057 meters Centerline goodness [0,1] 0.9850294668864452 Centerline is valid? [True, True] Translation: X:406.18, Y:-17.07, Z:3.29 [[ 9.99881409e-01 1.45135475e-02 -5.15016666e-03 4.06178343e+02] [-1.45122214e-02 9.99894649e-01 2.94763524e-04 -1.70684285e+01] [ 5.15390215e-03 -2.19988209e-04 9.99986694e-01 3.29216203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.630714057 meters Centerline goodness [0,1] 0.9856379500822943 Centerline is valid? [True, True] Translation: X:406.21, Y:-17.08, Z:3.29 [[ 9.99925642e-01 1.09515004e-02 -5.36423241e-03 4.06208386e+02] [-1.09500073e-02 9.99940000e-01 3.07622098e-04 -1.70766551e+01] [ 5.36727947e-03 -2.48860840e-04 9.99985565e-01 3.29120472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.660714057 meters Centerline goodness [0,1] 0.9851248250643312 Centerline is valid? [True, True] Translation: X:406.24, Y:-17.08, Z:3.29 [[ 9.99944336e-01 8.80796295e-03 -5.80896599e-03 4.06236730e+02] [-8.80618028e-03 9.99961170e-01 3.32389023e-04 -1.70831827e+01] [ 5.81166810e-03 -2.81215719e-04 9.99983073e-01 3.29069547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.690714057 meters Centerline goodness [0,1] 0.9841045329022698 Centerline is valid? [True, True] Translation: X:406.27, Y:-17.09, Z:3.29 [[ 9.99970904e-01 5.22300467e-03 -5.55980954e-03 4.06266278e+02] [-5.22131539e-03 9.99986318e-01 3.18309483e-04 -1.70911916e+01] [ 5.56139600e-03 -2.89270703e-04 9.99984493e-01 3.29044735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.720714057 meters Centerline goodness [0,1] 0.9839028332809483 Centerline is valid? [True, True] Translation: X:406.30, Y:-17.09, Z:3.29 [[ 9.99977365e-01 3.42439288e-03 -5.79165389e-03 4.06295664e+02] [-3.42253175e-03 9.99994088e-01 3.31226932e-04 -1.70917137e+01] [ 5.79275390e-03 -3.11397316e-04 9.99983173e-01 3.29107778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.750714057 meters Centerline goodness [0,1] 0.9843571412563591 Centerline is valid? [True, True] Translation: X:406.32, Y:-17.10, Z:3.29 [[ 9.99980342e-01 1.06403770e-03 -6.17928290e-03 4.06323441e+02] [-1.06187595e-03 9.99999374e-01 3.53108505e-04 -1.70993473e+01] [ 6.17965476e-03 -3.46539931e-04 9.99980846e-01 3.29025252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.780714057 meters Centerline goodness [0,1] 0.9830315224681422 Centerline is valid? [True, True] Translation: X:406.35, Y:-17.11, Z:3.29 [[ 9.99980194e-01 2.04013472e-04 -6.29049978e-03 4.06350286e+02] [-2.01763642e-04 9.99999915e-01 3.58287799e-04 -1.71079978e+01] [ 6.29057234e-03 -3.57011508e-04 9.99980150e-01 3.28863486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.810714057 meters Centerline goodness [0,1] 0.9841561938958707 Centerline is valid? [True, True] Translation: X:406.38, Y:-17.11, Z:3.29 [[ 9.99980359e-01 -1.37543939e-03 -6.11475615e-03 4.06379409e+02] [ 1.37759528e-03 9.99998990e-01 3.48374264e-04 -1.71095773e+01] [ 6.11427081e-03 -3.56791081e-04 9.99981244e-01 3.28894147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.840714057 meters Centerline goodness [0,1] 0.9832893382846405 Centerline is valid? [True, True] Translation: X:406.41, Y:-17.11, Z:3.29 [[ 9.99980630e-01 -1.90669319e-03 -5.92491631e-03 4.06407815e+02] [ 1.90872325e-03 9.99998122e-01 3.36995087e-04 -1.71127373e+01] [ 5.92426263e-03 -3.48297584e-04 9.99982391e-01 3.28881710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.870714057 meters Centerline goodness [0,1] 0.9832413469488079 Centerline is valid? [True, True] Translation: X:406.44, Y:-17.12, Z:3.29 [[ 9.99983921e-01 -2.32215709e-03 -5.17345644e-03 4.06436178e+02] [ 2.32370816e-03 9.99997257e-01 2.93822370e-04 -1.71157340e+01] [ 5.17275995e-03 -3.05839249e-04 9.99986574e-01 3.28955199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.900714057 meters Centerline goodness [0,1] 0.9835831548893648 Centerline is valid? [True, True] Translation: X:406.47, Y:-17.12, Z:3.29 [[ 9.99987244e-01 -2.12265886e-03 -4.58320463e-03 4.06466199e+02] [ 2.12387436e-03 9.99997711e-01 2.60357861e-04 -1.71168944e+01] [ 4.58264149e-03 -2.70088691e-04 9.99989463e-01 3.29052524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.930714057 meters Centerline goodness [0,1] 0.9825271207540459 Centerline is valid? [True, True] Translation: X:406.49, Y:-17.12, Z:3.29 [[ 9.99987004e-01 -2.20476617e-03 -4.59691299e-03 4.06494909e+02] [ 2.20598807e-03 9.99997533e-01 2.60755505e-04 -1.71236915e+01] [ 4.59632674e-03 -2.70892851e-04 9.99989400e-01 3.28985589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.960714057 meters Centerline goodness [0,1] 0.9833636081697754 Centerline is valid? [True, True] Translation: X:406.52, Y:-17.13, Z:3.29 [[ 9.99989148e-01 -2.32032457e-03 -4.03986400e-03 4.06524682e+02] [ 2.32126906e-03 9.99997280e-01 2.29119387e-04 -1.71251990e+01] [ 4.03932138e-03 -2.38494512e-04 9.99991813e-01 3.28947577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.990714057 meters Centerline goodness [0,1] 0.9829506301820526 Centerline is valid? [True, True] Translation: X:406.55, Y:-17.13, Z:3.29 [[ 9.99988445e-01 -3.07914311e-03 -3.69164908e-03 4.06553864e+02] [ 3.07993638e-03 9.99995235e-01 2.09216155e-04 -1.71277781e+01] [ 3.69098729e-03 -2.20583782e-04 9.99993164e-01 3.28932845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.020714057 meters Centerline goodness [0,1] 0.9831413193363284 Centerline is valid? [True, True] Translation: X:406.58, Y:-17.13, Z:3.29 [[ 9.99979798e-01 -3.90426376e-03 -5.01597295e-03 4.06583937e+02] [ 3.90573940e-03 9.99992332e-01 2.84426229e-04 -1.71292696e+01] [ 5.01482401e-03 -3.04011566e-04 9.99987379e-01 3.28846155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.050714057 meters Centerline goodness [0,1] 0.9837951095557587 Centerline is valid? [True, True] Translation: X:406.61, Y:-17.14, Z:3.29 [[ 9.99972225e-01 -4.52120570e-03 -5.92517732e-03 4.06613385e+02] [ 4.52327513e-03 9.99989714e-01 3.35907188e-04 -1.71368053e+01] [ 5.92359767e-03 -3.62699065e-04 9.99982390e-01 3.28667978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.080714057 meters Centerline goodness [0,1] 0.9833949984397985 Centerline is valid? [True, True] Translation: X:406.64, Y:-17.14, Z:3.29 [[ 9.99970064e-01 -5.02783751e-03 -5.88142024e-03 4.06642598e+02] [ 5.02988328e-03 9.99987295e-01 3.33096149e-04 -1.71394579e+01] [ 5.87967076e-03 -3.62669035e-04 9.99982649e-01 3.28625947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.110714057 meters Centerline goodness [0,1] 0.9833032390378742 Centerline is valid? [True, True] Translation: X:406.67, Y:-17.14, Z:3.29 [[ 9.99969804e-01 -5.25680031e-03 -5.72339247e-03 4.06672262e+02] [ 5.25874012e-03 9.99986120e-01 3.23929235e-04 -1.71364568e+01] [ 5.72161020e-03 -3.54017287e-04 9.99983569e-01 3.28743622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.140714057 meters Centerline goodness [0,1] 0.9835048324814178 Centerline is valid? [True, True] Translation: X:406.70, Y:-17.14, Z:3.29 [[ 9.99980003e-01 -4.46892796e-03 -4.47464269e-03 4.06701309e+02] [ 4.47010580e-03 9.99989977e-01 2.53258997e-04 -1.71398290e+01] [ 4.47346604e-03 -2.73256058e-04 9.99989957e-01 3.28844641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.170714057 meters Centerline goodness [0,1] 0.9831904708894579 Centerline is valid? [True, True] Translation: X:406.73, Y:-17.14, Z:3.29 [[ 9.99985656e-01 -3.56910006e-03 -3.99378331e-03 4.06731598e+02] [ 3.57003172e-03 9.99993602e-01 2.26171450e-04 -1.71410934e+01] [ 3.99295053e-03 -2.40426139e-04 9.99991999e-01 3.28894379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.200714057 meters Centerline goodness [0,1] 0.9831938370001998 Centerline is valid? [True, True] Translation: X:406.76, Y:-17.14, Z:3.29 [[ 9.99989404e-01 -2.61496077e-03 -3.78859655e-03 4.06760651e+02] [ 2.61579077e-03 9.99996556e-01 2.14140130e-04 -1.71433486e+01] [ 3.78802353e-03 -2.24048037e-04 9.99992800e-01 3.28877239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.230714057 meters Centerline goodness [0,1] 0.983253801899835 Centerline is valid? [True, True] Translation: X:406.79, Y:-17.14, Z:3.29 [[ 9.99994039e-01 -5.70882266e-04 -3.40532965e-03 4.06790191e+02] [ 5.71541215e-04 9.99999818e-01 1.92534992e-04 -1.71439985e+01] [ 3.40521911e-03 -1.94480130e-04 9.99994183e-01 3.28873146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26071405700003 meters Centerline goodness [0,1] 0.9823630022879228 Centerline is valid? [True, True] Translation: X:406.82, Y:-17.14, Z:3.29 [[ 9.99992264e-01 2.14392717e-03 -3.29788568e-03 4.06818734e+02] [-2.14332533e-03 9.99997686e-01 1.86017887e-04 -1.71445633e+01] [ 3.29827686e-03 -1.78948006e-04 9.99994545e-01 3.28846694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.290714057 meters Centerline goodness [0,1] 0.9832345169098217 Centerline is valid? [True, True] Translation: X:406.85, Y:-17.15, Z:3.29 [[ 9.99989367e-01 3.58878114e-03 -2.89579142e-03 4.06847562e+02] [-3.58832423e-03 9.99993549e-01 1.62962938e-04 -1.71456995e+01] [ 2.89635757e-03 -1.52570166e-04 9.99995794e-01 3.28856034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32071405700003 meters Centerline goodness [0,1] 0.983659475945591 Centerline is valid? [True, True] Translation: X:406.88, Y:-17.14, Z:3.29 [[ 9.99982132e-01 5.36182849e-03 -2.64320285e-03 4.06876306e+02] [-5.36145464e-03 9.99985616e-01 1.48504621e-04 -1.71425565e+01] [ 2.64396108e-03 -1.34330556e-04 9.99996496e-01 3.28977268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.350714057 meters Centerline goodness [0,1] 0.9843193157519601 Centerline is valid? [True, True] Translation: X:406.90, Y:-17.15, Z:3.29 [[ 9.99977903e-01 6.11825852e-03 -2.60022339e-03 4.06903778e+02] [-6.11790023e-03 9.99981275e-01 1.45724532e-04 -1.71480143e+01] [ 2.60106628e-03 -1.29813405e-04 9.99996609e-01 3.28856953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.380714057 meters Centerline goodness [0,1] 0.9851263153221151 Centerline is valid? [True, True] Translation: X:406.93, Y:-17.14, Z:3.29 [[ 9.99972537e-01 6.56133470e-03 -3.44582226e-03 4.06933397e+02] [-6.56070772e-03 9.99978460e-01 1.93224773e-04 -1.71423831e+01] [ 3.44701584e-03 -1.70612434e-04 9.99994044e-01 3.28980290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.410714057 meters Centerline goodness [0,1] 0.9847703321623905 Centerline is valid? [True, True] Translation: X:406.96, Y:-17.15, Z:3.29 [[ 9.99979236e-01 5.28102959e-03 -3.69310968e-03 4.06961045e+02] [-5.28030222e-03 9.99986038e-01 2.06674671e-04 -1.71468764e+01] [ 3.69414957e-03 -1.87169644e-04 9.99993159e-01 3.28833538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.440714057 meters Centerline goodness [0,1] 0.9842668205219244 Centerline is valid? [True, True] Translation: X:406.99, Y:-17.15, Z:3.29 [[ 9.99985244e-01 3.46222325e-03 -4.18633967e-03 4.06989047e+02] [-3.46127198e-03 9.99993982e-01 2.34454522e-04 -1.71542376e+01] [ 4.18712621e-03 -2.19961002e-04 9.99991210e-01 3.28759210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.470714057 meters Centerline goodness [0,1] 0.9835795656817373 Centerline is valid? [True, True] Translation: X:407.02, Y:-17.16, Z:3.29 [[ 9.99990071e-01 1.72452045e-03 -4.10904502e-03 4.07017338e+02] [-1.72359018e-03 9.99998488e-01 2.29927412e-04 -1.71636326e+01] [ 4.10943532e-03 -2.22842819e-04 9.99991531e-01 3.28592973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.500714057 meters Centerline goodness [0,1] 0.9839309162938729 Centerline is valid? [True, True] Translation: X:407.05, Y:-17.17, Z:3.29 [[ 9.99991552e-01 2.84898419e-04 -4.10064914e-03 4.07045958e+02] [-2.83960577e-04 9.99999933e-01 2.29286123e-04 -1.71686461e+01] [ 4.10071419e-03 -2.28119763e-04 9.99991566e-01 3.28587487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.530714057 meters Centerline goodness [0,1] 0.9816802980533939 Centerline is valid? [True, True] Translation: X:407.08, Y:-17.18, Z:3.29 [[ 9.99990846e-01 -2.34086218e-03 -3.58175140e-03 4.07075025e+02] [ 2.34159504e-03 9.99997238e-01 2.00430434e-04 -1.71755817e+01] [ 3.58127233e-03 -2.08815610e-04 9.99993565e-01 3.28581632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.560714057 meters Centerline goodness [0,1] 0.9845979715484143 Centerline is valid? [True, True] Translation: X:407.11, Y:-17.16, Z:3.29 [[ 9.99987729e-01 -3.89739781e-03 -3.05825018e-03 4.07105432e+02] [ 3.89793844e-03 9.99992388e-01 1.70835657e-04 -1.71615754e+01] [ 3.05756109e-03 -1.82754432e-04 9.99995309e-01 3.28929109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.590714057 meters Centerline goodness [0,1] 0.9841420798867607 Centerline is valid? [True, True] Translation: X:407.13, Y:-17.17, Z:3.29 [[ 9.99979647e-01 -5.75103472e-03 -2.76229565e-03 4.07134870e+02] [ 5.75148303e-03 9.99983448e-01 1.54376886e-04 -1.71668569e+01] [ 2.76136210e-03 -1.70261041e-04 9.99996173e-01 3.28945580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.620714057 meters Centerline goodness [0,1] 0.9829437075810673 Centerline is valid? [True, True] Translation: X:407.16, Y:-17.18, Z:3.29 [[ 9.99975121e-01 -6.47548945e-03 -2.79734275e-03 4.07164304e+02] [ 6.47595300e-03 9.99979019e-01 1.56684247e-04 -1.71785104e+01] [ 2.79626945e-03 -1.74795809e-04 9.99996075e-01 3.28778146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.650714057 meters Centerline goodness [0,1] 0.9835815618508861 Centerline is valid? [True, True] Translation: X:407.20, Y:-17.17, Z:3.29 [[ 9.99967511e-01 -7.24706140e-03 -3.52941768e-03 4.07196209e+02] [ 7.24780492e-03 9.99973715e-01 1.97919817e-04 -1.71727529e+01] [ 3.52789057e-03 -2.23493918e-04 9.99993752e-01 3.28949616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.680714057 meters Centerline goodness [0,1] 0.9840257006757506 Centerline is valid? [True, True] Translation: X:407.23, Y:-17.17, Z:3.29 [[ 9.99964607e-01 -7.55163380e-03 -3.70913815e-03 4.07227369e+02] [ 7.55245749e-03 9.99971458e-01 2.08115419e-04 -1.71738417e+01] [ 3.70746067e-03 -2.36121161e-04 9.99993099e-01 3.28924487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.710714057 meters Centerline goodness [0,1] 0.9815440316135726 Centerline is valid? [True, True] Translation: X:407.26, Y:-17.19, Z:3.29 [[ 9.99954499e-01 -8.48221712e-03 -4.36475074e-03 4.07257351e+02] [ 8.48336603e-03 9.99963986e-01 2.44776518e-04 -1.71869404e+01] [ 4.36251730e-03 -2.81793159e-04 9.99990444e-01 3.28770550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.740714057 meters Centerline goodness [0,1] 0.9839879688605804 Centerline is valid? [True, True] Translation: X:407.29, Y:-17.18, Z:3.29 [[ 9.99952751e-01 -8.85601698e-03 -4.00828484e-03 4.07289039e+02] [ 8.85699009e-03 9.99960751e-01 2.25089088e-04 -1.71772323e+01] [ 4.00613412e-03 -2.60579792e-04 9.99991941e-01 3.29007212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.770714057 meters Centerline goodness [0,1] 0.9832516249251314 Centerline is valid? [True, True] Translation: X:407.32, Y:-17.18, Z:3.29 [[ 9.99944529e-01 -9.90917020e-03 -3.57038673e-03 4.07320914e+02] [ 9.90994960e-03 9.99950875e-01 2.00669402e-04 -1.71755947e+01] [ 3.56822287e-03 -2.36040624e-04 9.99993606e-01 3.29158491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.800714057 meters Centerline goodness [0,1] 0.9828098001860794 Centerline is valid? [True, True] Translation: X:407.35, Y:-17.18, Z:3.29 [[ 9.99948955e-01 -9.48620407e-03 -3.47844626e-03 4.07352055e+02] [ 9.48694251e-03 9.99954979e-01 1.95850435e-04 -1.71826165e+01] [ 3.47643178e-03 -2.28840257e-04 9.99993931e-01 3.29063480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.830714057 meters Centerline goodness [0,1] 0.9825185712379343 Centerline is valid? [True, True] Translation: X:407.38, Y:-17.18, Z:3.29 [[ 9.99948912e-01 -9.29868436e-03 -3.96338139e-03 4.07382882e+02] [ 9.29964121e-03 9.99956733e-01 2.23061561e-04 -1.71840253e+01] [ 3.96113572e-03 -2.59908190e-04 9.99992121e-01 3.28952079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.860714057 meters Centerline goodness [0,1] 0.9825939857991853 Centerline is valid? [True, True] Translation: X:407.41, Y:-17.18, Z:3.29 [[ 9.99947671e-01 -9.25009210e-03 -4.36930672e-03 4.07414232e+02] [ 9.25125506e-03 9.99957176e-01 2.46028426e-04 -1.71849808e+01] [ 4.36684382e-03 -2.86437122e-04 9.99990424e-01 3.28869161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.890714057 meters Centerline goodness [0,1] 0.9829357594585598 Centerline is valid? [True, True] Translation: X:407.45, Y:-17.18, Z:3.29 [[ 9.99951195e-01 -8.57630308e-03 -4.90447679e-03 4.07445744e+02] [ 8.57776103e-03 9.99963172e-01 2.76311585e-04 -1.71817711e+01] [ 4.90192644e-03 -3.18367529e-04 9.99987935e-01 3.28875465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.920714057 meters Centerline goodness [0,1] 0.9830052872439685 Centerline is valid? [True, True] Translation: X:407.48, Y:-17.18, Z:3.29 [[ 9.99952047e-01 -7.94322588e-03 -5.72795993e-03 4.07476045e+02] [ 7.94520362e-03 9.99968384e-01 3.22605954e-04 -1.71826562e+01] [ 5.72521630e-03 -3.68100292e-04 9.99983543e-01 3.28788005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.950714057 meters Centerline goodness [0,1] 0.984484718785528 Centerline is valid? [True, True] Translation: X:407.51, Y:-17.18, Z:3.29 [[ 9.99952073e-01 -7.79034247e-03 -5.92969723e-03 4.07507222e+02] [ 7.79245839e-03 9.99969583e-01 3.33814799e-04 -1.71802519e+01] [ 5.92691633e-03 -3.80005720e-04 9.99982363e-01 3.28872180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.980714057 meters Centerline goodness [0,1] 0.9838258164852255 Centerline is valid? [True, True] Translation: X:407.54, Y:-17.18, Z:3.29 [[ 9.99953643e-01 -7.47825993e-03 -6.06528837e-03 4.07536259e+02] [ 7.48046646e-03 9.99971963e-01 3.41191385e-04 -1.71828387e+01] [ 6.06256680e-03 -3.86546755e-04 9.99981548e-01 3.28841238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01071405700003 meters Centerline goodness [0,1] 0.9832059712102363 Centerline is valid? [True, True] Translation: X:407.57, Y:-17.18, Z:3.29 [[ 9.99956126e-01 -7.19264917e-03 -6.00094841e-03 4.07566539e+02] [ 7.19480489e-03 9.99974060e-01 3.37719289e-04 -1.71821901e+01] [ 5.99836365e-03 -3.80880125e-04 9.99981937e-01 3.28893584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.040714057 meters Centerline goodness [0,1] 0.9843044841155154 Centerline is valid? [True, True] Translation: X:407.60, Y:-17.18, Z:3.29 [[ 9.99959798e-01 -6.74313680e-03 -5.91036171e-03 4.07595676e+02] [ 6.74521862e-03 9.99977196e-01 3.32370515e-04 -1.71818555e+01] [ 5.90798571e-03 -3.72223835e-04 9.99982478e-01 3.28968004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07071405700003 meters Centerline goodness [0,1] 0.9835747715622911 Centerline is valid? [True, True] Translation: X:407.63, Y:-17.18, Z:3.29 [[ 9.99958067e-01 -6.63996885e-03 -6.30679554e-03 4.07626679e+02] [ 6.64233827e-03 9.99977876e-01 3.54820936e-04 -1.71823510e+01] [ 6.30430001e-03 -3.96697927e-04 9.99980049e-01 3.28954604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.100714057 meters Centerline goodness [0,1] 0.9835747715622911 Centerline is valid? [True, True] Translation: X:407.66, Y:-17.18, Z:3.29 [[ 9.99958067e-01 -6.63996885e-03 -6.30679554e-03 4.07656693e+02] [ 6.64233827e-03 9.99977876e-01 3.54820936e-04 -1.71840396e+01] [ 6.30430001e-03 -3.96697927e-04 9.99980049e-01 3.28929384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.130714057 meters Centerline goodness [0,1] 0.9825166269991326 Centerline is valid? [True, True] Translation: X:407.69, Y:-17.18, Z:3.29 [[ 9.99957591e-01 -6.10755230e-03 -6.89303328e-03 4.07686128e+02] [ 6.11036827e-03 9.99981256e-01 3.87538250e-04 -1.71843875e+01] [ 6.89053717e-03 -4.29640787e-04 9.99976168e-01 3.28842510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.160714057 meters Centerline goodness [0,1] 0.984450162210538 Centerline is valid? [True, True] Translation: X:407.72, Y:-17.18, Z:3.29 [[ 9.99955193e-01 -5.87713847e-03 -7.42104733e-03 4.07716358e+02] [ 5.88039291e-03 9.99982623e-01 4.16797245e-04 -1.71761878e+01] [ 7.41846881e-03 -4.60417244e-04 9.99972377e-01 3.29013615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.190714057 meters Centerline goodness [0,1] 0.9833939691538514 Centerline is valid? [True, True] Translation: X:407.75, Y:-17.18, Z:3.29 [[ 9.99964423e-01 -3.73080520e-03 -7.56524905e-03 4.07745069e+02] [ 3.73412412e-03 9.99992938e-01 4.24628403e-04 -1.71818593e+01] [ 7.56361142e-03 -4.52862875e-04 9.99971293e-01 3.28829893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.220714057 meters Centerline goodness [0,1] 0.9835152545405744 Centerline is valid? [True, True] Translation: X:407.77, Y:-17.18, Z:3.29 [[ 9.99965481e-01 -2.00368778e-03 -8.06359772e-03 4.07773655e+02] [ 2.00739835e-03 9.99997883e-01 4.52095022e-04 -1.71829240e+01] [ 8.06267479e-03 -4.68266269e-04 9.99967386e-01 3.28798058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.250714057 meters Centerline goodness [0,1] 0.9852795978816983 Centerline is valid? [True, True] Translation: X:407.80, Y:-17.17, Z:3.29 [[ 9.99962100e-01 1.05848240e-03 -8.64162676e-03 4.07804505e+02] [-1.05433347e-03 9.99999327e-01 4.84651239e-04 -1.71718582e+01] [ 8.64213394e-03 -4.75521715e-04 9.99962543e-01 3.28993469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.280714057 meters Centerline goodness [0,1] 0.9846587351283657 Centerline is valid? [True, True] Translation: X:407.83, Y:-17.18, Z:3.29 [[ 9.99954072e-01 2.86236813e-03 -9.14658770e-03 4.07831714e+02] [-2.85780822e-03 9.99995786e-01 5.11566767e-04 -1.71794054e+01] [ 9.14801345e-03 -4.85404078e-04 9.99958038e-01 3.28726440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.310714057 meters Centerline goodness [0,1] 0.9851735370099967 Centerline is valid? [True, True] Translation: X:407.86, Y:-17.17, Z:3.29 [[ 9.99951689e-01 3.82779690e-03 -9.05361635e-03 4.07860948e+02] [-3.82340157e-03 9.99992564e-01 5.02736126e-04 -1.71707812e+01] [ 9.05547341e-03 -4.68096228e-04 9.99958889e-01 3.29058817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.340714057 meters Centerline goodness [0,1] 0.9866729382251489 Centerline is valid? [True, True] Translation: X:407.89, Y:-17.17, Z:3.29 [[ 9.99945592e-01 6.29860105e-03 -8.31510101e-03 4.07890827e+02] [-6.29496764e-03 9.99980079e-01 4.63064994e-04 -1.71696814e+01] [ 8.31785203e-03 -4.10696508e-04 9.99965322e-01 3.29225183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.370714057 meters Centerline goodness [0,1] 0.9861783310447291 Centerline is valid? [True, True] Translation: X:407.92, Y:-17.17, Z:3.29 [[ 9.99943903e-01 7.02522319e-03 -7.92702524e-03 4.07919316e+02] [-7.02195082e-03 9.99975249e-01 4.40568110e-04 -1.71689820e+01] [ 7.92992412e-03 -3.84880214e-04 9.99968484e-01 3.29333633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.400714057 meters Centerline goodness [0,1] 0.9865056338978476 Centerline is valid? [True, True] Translation: X:407.95, Y:-17.17, Z:3.29 [[ 9.99933294e-01 8.50805255e-03 -7.81152991e-03 4.07948405e+02] [-8.50492442e-03 9.99963738e-01 4.33582232e-04 -1.71689716e+01] [ 7.81493559e-03 -3.67116838e-04 9.99969396e-01 3.29389690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.430714057 meters Centerline goodness [0,1] 0.986906931227644 Centerline is valid? [True, True] Translation: X:407.98, Y:-17.17, Z:3.29 [[ 9.99931674e-01 8.71734558e-03 -7.78812540e-03 4.07976990e+02] [-8.71424682e-03 9.99961937e-01 4.31729332e-04 -1.71707440e+01] [ 7.79159249e-03 -3.63832187e-04 9.99969579e-01 3.29351327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.460714057 meters Centerline goodness [0,1] 0.9855339827667664 Centerline is valid? [True, True] Translation: X:408.00, Y:-17.17, Z:3.29 [[ 9.99929883e-01 8.73609813e-03 -7.99430601e-03 4.08003745e+02] [-8.73284504e-03 9.99961770e-01 4.41743650e-04 -1.71729034e+01] [ 7.99785950e-03 -3.71899641e-04 9.99967947e-01 3.29236903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.490714057 meters Centerline goodness [0,1] 0.9855698881159812 Centerline is valid? [True, True] Translation: X:408.03, Y:-17.18, Z:3.29 [[ 9.99923225e-01 8.71568372e-03 -8.80798697e-03 4.08031378e+02] [-8.71174125e-03 9.99961934e-01 4.85870474e-04 -1.71786890e+01] [ 8.81188638e-03 -4.09100268e-04 9.99961091e-01 3.29030042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.520714057 meters Centerline goodness [0,1] 0.9852330617832536 Centerline is valid? [True, True] Translation: X:408.06, Y:-17.18, Z:3.29 [[ 9.99923066e-01 8.28757783e-03 -9.22916141e-03 4.08060291e+02] [-8.28323269e-03 9.99965564e-01 5.08931900e-04 -1.71813193e+01] [ 9.23306141e-03 -4.32445455e-04 9.99957281e-01 3.28965484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.550714057 meters Centerline goodness [0,1] 0.9857631235661913 Centerline is valid? [True, True] Translation: X:408.09, Y:-17.18, Z:3.29 [[ 9.99927282e-01 7.59506830e-03 -9.36729438e-03 4.08089574e+02] [-7.59056817e-03 9.99971058e-01 5.15867914e-04 -1.71800490e+01] [ 9.37094133e-03 -4.44727315e-04 9.99955993e-01 3.29082256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.580714057 meters Centerline goodness [0,1] 0.9856100526955817 Centerline is valid? [True, True] Translation: X:408.12, Y:-17.18, Z:3.29 [[ 9.99933124e-01 6.65387021e-03 -9.45907037e-03 4.08118287e+02] [-6.64924567e-03 9.99977758e-01 5.20264568e-04 -1.71828795e+01] [ 9.46232175e-03 -4.57334092e-04 9.99955127e-01 3.29000212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.610714057 meters Centerline goodness [0,1] 0.9857728152717122 Centerline is valid? [True, True] Translation: X:408.15, Y:-17.18, Z:3.29 [[ 9.99935167e-01 5.93074832e-03 -9.72046076e-03 4.08147303e+02] [-5.92583723e-03 9.99982300e-01 5.33956329e-04 -1.71846187e+01] [ 9.72345546e-03 -4.76319843e-04 9.99952613e-01 3.29041805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.640714057 meters Centerline goodness [0,1] 0.9850843351875113 Centerline is valid? [True, True] Translation: X:408.18, Y:-17.19, Z:3.29 [[ 9.99946670e-01 4.32970475e-03 -9.37611004e-03 4.08175904e+02] [-4.32507173e-03 9.99990515e-01 5.14350960e-04 -1.71881298e+01] [ 9.37824809e-03 -4.73771181e-04 9.99955911e-01 3.29030776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.670714057 meters Centerline goodness [0,1] 0.9861992885767031 Centerline is valid? [True, True] Translation: X:408.20, Y:-17.19, Z:3.29 [[ 9.99953373e-01 4.32920053e-03 -8.63190433e-03 4.08204389e+02] [-4.32527946e-03 9.99990534e-01 4.72869213e-04 -1.71912301e+01] [ 8.63386977e-03 -4.35511766e-04 9.99962633e-01 3.29020071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.700714057 meters Centerline goodness [0,1] 0.9855323553235532 Centerline is valid? [True, True] Translation: X:408.23, Y:-17.19, Z:3.29 [[ 9.99960200e-01 5.29209416e-03 -7.18272345e-03 4.08233138e+02] [-5.28940839e-03 9.99985934e-01 3.92866119e-04 -1.71938423e+01] [ 7.18470150e-03 -3.54858126e-04 9.99974127e-01 3.29049963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.730714057 meters Centerline goodness [0,1] 0.9852561657054375 Centerline is valid? [True, True] Translation: X:408.26, Y:-17.20, Z:3.29 [[ 9.99960374e-01 6.34317482e-03 -6.24613124e-03 4.08260505e+02] [-6.34116909e-03 9.99979836e-01 3.40867358e-04 -1.71998927e+01] [ 6.24816748e-03 -3.01246077e-04 9.99980435e-01 3.28898118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76071405700003 meters Centerline goodness [0,1] 0.9858440830061693 Centerline is valid? [True, True] Translation: X:408.29, Y:-17.20, Z:3.29 [[ 9.99947416e-01 8.49157135e-03 -5.74958271e-03 4.08289626e+02] [-8.48990909e-03 9.99963911e-01 3.13454970e-04 -1.71981221e+01] [ 5.75203694e-03 -2.64625053e-04 9.99983422e-01 3.28949613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.790714057 meters Centerline goodness [0,1] 0.9872027611555615 Centerline is valid? [True, True] Translation: X:408.32, Y:-17.20, Z:3.29 [[ 9.99940649e-01 9.08116825e-03 -6.01923583e-03 4.08318873e+02] [-9.07935801e-03 9.99958728e-01 3.28000455e-04 -1.71991667e+01] [ 6.02196603e-03 -2.73330191e-04 9.99981830e-01 3.28917660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82071405700003 meters Centerline goodness [0,1] 0.9862909877176166 Centerline is valid? [True, True] Translation: X:408.35, Y:-17.20, Z:3.29 [[ 9.99935826e-01 9.49028075e-03 -6.18703660e-03 4.08347538e+02] [-9.48837953e-03 9.99954928e-01 3.36571324e-04 -1.72020667e+01] [ 6.18995189e-03 -2.77844773e-04 9.99980803e-01 3.28819488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.850714057 meters Centerline goodness [0,1] 0.9864443996325424 Centerline is valid? [True, True] Translation: X:408.38, Y:-17.21, Z:3.29 [[ 9.99940235e-01 9.08137807e-03 -6.08732771e-03 4.08376058e+02] [-9.07953273e-03 9.99958726e-01 3.30711295e-04 -1.72067989e+01] [ 6.09007977e-03 -2.75421439e-04 9.99981417e-01 3.28739220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.880714057 meters Centerline goodness [0,1] 0.9849709691826708 Centerline is valid? [True, True] Translation: X:408.40, Y:-17.21, Z:3.29 [[ 9.99949371e-01 8.16198636e-03 -5.88539875e-03 4.08403417e+02] [-8.16024954e-03 9.99966654e-01 3.19061493e-04 -1.72105771e+01] [ 5.88780667e-03 -2.71019016e-04 9.99982630e-01 3.28721251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.910714057 meters Centerline goodness [0,1] 0.9852862254025044 Centerline is valid? [True, True] Translation: X:408.43, Y:-17.22, Z:3.29 [[ 9.99965881e-01 6.04100604e-03 -5.63415054e-03 4.08433028e+02] [-6.03937953e-03 9.99981716e-01 3.05656562e-04 -1.72167262e+01] [ 5.63589400e-03 -2.71619359e-04 9.99984081e-01 3.28582757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.940714057 meters Centerline goodness [0,1] 0.9859009936442574 Centerline is valid? [True, True] Translation: X:408.46, Y:-17.22, Z:3.28 [[ 9.99973331e-01 4.25919603e-03 -5.93262930e-03 4.08462732e+02] [-4.25736245e-03 9.99990886e-01 3.21662261e-04 -1.72211493e+01] [ 5.93394525e-03 -2.96396329e-04 9.99982350e-01 3.28466391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.970714057 meters Centerline goodness [0,1] 0.9837768988402493 Centerline is valid? [True, True] Translation: X:408.49, Y:-17.23, Z:3.28 [[ 9.99974227e-01 2.50031011e-03 -6.73005930e-03 4.08492292e+02] [-2.49791202e-03 9.99996814e-01 3.64706849e-04 -1.72256675e+01] [ 6.73094974e-03 -3.47886354e-04 9.99977286e-01 3.28404952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.000714057 meters Centerline goodness [0,1] 0.9830737832201961 Centerline is valid? [True, True] Translation: X:408.52, Y:-17.23, Z:3.28 [[ 9.99982069e-01 -6.52602356e-04 -5.95276359e-03 4.08522591e+02] [ 6.54535705e-04 9.99999734e-01 3.22839402e-04 -1.72322061e+01] [ 5.95255132e-03 -3.26729910e-04 9.99982230e-01 3.28332789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.030714057 meters Centerline goodness [0,1] 0.983171362339515 Centerline is valid? [True, True] Translation: X:408.55, Y:-17.23, Z:3.28 [[ 9.99984671e-01 -1.89349392e-03 -5.20321492e-03 4.08551644e+02] [ 1.89498289e-03 9.99998165e-01 2.81249409e-04 -1.72346464e+01] [ 5.20267283e-03 -2.91105101e-04 9.99986424e-01 3.28392814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.060714057 meters Centerline goodness [0,1] 0.9833121671902502 Centerline is valid? [True, True] Translation: X:408.58, Y:-17.24, Z:3.28 [[ 9.99988154e-01 -2.77663567e-03 -3.99771821e-03 4.08581179e+02] [ 2.77752170e-03 9.99996119e-01 2.16096863e-04 -1.72366668e+01] [ 3.99710268e-03 -2.27198052e-04 9.99991986e-01 3.28499171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.090714057 meters Centerline goodness [0,1] 0.9828167265309742 Centerline is valid? [True, True] Translation: X:408.61, Y:-17.24, Z:3.29 [[ 9.99988704e-01 -2.88393908e-03 -3.77818700e-03 4.08611048e+02] [ 2.88473065e-03 9.99995818e-01 2.04079799e-04 -1.72382137e+01] [ 3.77758264e-03 -2.14976546e-04 9.99992842e-01 3.28538085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.120714057 meters Centerline goodness [0,1] 0.9832063442699425 Centerline is valid? [True, True] Translation: X:408.64, Y:-17.24, Z:3.29 [[ 9.99994793e-01 -2.05522823e-03 -2.48799966e-03 4.08641099e+02] [ 2.05556845e-03 9.99997878e-01 1.34195456e-04 -1.72380475e+01] [ 2.48771858e-03 -1.39309010e-04 9.99996896e-01 3.28652762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.150714057 meters Centerline goodness [0,1] 0.9829122502944249 Centerline is valid? [True, True] Translation: X:408.67, Y:-17.24, Z:3.29 [[ 9.99997002e-01 -1.68871527e-03 -1.77295246e-03 4.08670343e+02] [ 1.68888752e-03 9.99998569e-01 9.56615763e-05 -1.72421209e+01] [ 1.77278838e-03 -9.86556068e-05 9.99998424e-01 3.28646668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.180714057 meters Centerline goodness [0,1] 0.982800436107959 Centerline is valid? [True, True] Translation: X:408.70, Y:-17.24, Z:3.29 [[ 9.99998671e-01 -1.39565498e-03 -8.43192516e-04 4.08701065e+02] [ 1.39569390e-03 9.99999025e-01 4.55661629e-05 -1.72432994e+01] [ 8.43128099e-04 -4.67429409e-05 9.99999643e-01 3.28703632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.210714057 meters Centerline goodness [0,1] 0.9831037403593241 Centerline is valid? [True, True] Translation: X:408.73, Y:-17.25, Z:3.29 [[ 9.99998765e-01 -1.48163610e-03 -5.23230300e-04 4.08731800e+02] [ 1.48165110e-03 9.99998902e-01 2.82753898e-05 -1.72452004e+01] [ 5.23187832e-04 -2.90505996e-05 9.99999863e-01 3.28735497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.240714057 meters Centerline goodness [0,1] 0.9829301404313089 Centerline is valid? [True, True] Translation: X:408.76, Y:-17.25, Z:3.29 [[ 9.99998091e-01 -1.95385393e-03 -3.15582295e-05 4.08761821e+02] [ 1.95385399e-03 9.99998091e-01 1.85312626e-06 -1.72488304e+01] [ 3.15545486e-05 -1.91478289e-06 1.00000000e+00 3.28662725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.270714057 meters Centerline goodness [0,1] 0.982527806762427 Centerline is valid? [True, True] Translation: X:408.79, Y:-17.25, Z:3.29 [[ 9.99993810e-01 -3.50997188e-03 2.46301679e-04 4.08792892e+02] [ 3.50997519e-03 9.99993840e-01 -1.30326253e-05 -1.72526684e+01] [-2.46254417e-04 1.38970574e-05 9.99999970e-01 3.28611468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.300714057 meters Centerline goodness [0,1] 0.9826057906458797 Centerline is valid? [True, True] Translation: X:408.82, Y:-17.25, Z:3.29 [[ 9.99988712e-01 -4.73787560e-03 3.58491744e-04 4.08824574e+02] [ 4.73788249e-03 9.99988776e-01 -1.83635964e-05 -1.72524214e+01] [-3.58400716e-04 2.00618809e-05 9.99999936e-01 3.28603373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.330714057 meters Centerline goodness [0,1] 0.9831940245420594 Centerline is valid? [True, True] Translation: X:408.85, Y:-17.26, Z:3.28 [[ 9.99973553e-01 -7.22879225e-03 7.98833075e-04 4.08854499e+02] [ 7.22882915e-03 9.99973871e-01 -4.33131283e-05 -1.72570807e+01] [-7.98499101e-04 4.90866106e-05 9.99999680e-01 3.28454535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.360714057 meters Centerline goodness [0,1] 0.9816501532856444 Centerline is valid? [True, True] Translation: X:408.89, Y:-17.26, Z:3.28 [[ 9.99967426e-01 -8.06968137e-03 1.65627793e-04 4.08886257e+02] [ 8.06968287e-03 9.99967440e-01 -8.40134999e-06 -1.72593837e+01] [-1.65554604e-04 9.73764009e-06 9.99999986e-01 3.28414437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.390714057 meters Centerline goodness [0,1] 0.9821746483888196 Centerline is valid? [True, True] Translation: X:408.92, Y:-17.26, Z:3.28 [[ 9.99962799e-01 -8.57229019e-03 9.57510011e-04 4.08918660e+02] [ 8.57234337e-03 9.99963255e-01 -5.14534046e-05 -1.72594618e+01] [-9.57033754e-04 5.96595951e-05 9.99999540e-01 3.28390133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.420714057 meters Centerline goodness [0,1] 0.9825914891724843 Centerline is valid? [True, True] Translation: X:408.95, Y:-17.26, Z:3.28 [[ 9.99962222e-01 -8.67444236e-03 5.55219524e-04 4.08950465e+02] [ 8.67446014e-03 9.99962376e-01 -2.96258609e-05 -1.72606011e+01] [-5.54941647e-04 3.44409713e-05 9.99999845e-01 3.28282349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.450714057 meters Centerline goodness [0,1] 0.9821075326176346 Centerline is valid? [True, True] Translation: X:408.98, Y:-17.26, Z:3.28 [[ 9.99966847e-01 -8.08661779e-03 9.54954233e-04 4.08981260e+02] [ 8.08667073e-03 9.99967301e-01 -5.15878003e-05 -1.72648916e+01] [-9.54505836e-04 5.93084904e-05 9.99999543e-01 3.28203469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.480714057 meters Centerline goodness [0,1] 0.9829212280662638 Centerline is valid? [True, True] Translation: X:409.01, Y:-17.26, Z:3.28 [[ 9.99978034e-01 -6.56271354e-03 9.28649757e-04 4.09013528e+02] [ 6.56276297e-03 9.99978464e-01 -5.02003926e-05 -1.72607301e+01] [-9.28300307e-04 5.62937982e-05 9.99999568e-01 3.28212885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51071405700003 meters Centerline goodness [0,1] 0.9834071042505393 Centerline is valid? [True, True] Translation: X:409.05, Y:-17.26, Z:3.28 [[ 9.99982377e-01 -5.87327866e-03 8.65823350e-04 4.09045709e+02] [ 5.87332127e-03 9.99982751e-01 -4.66798211e-05 -1.72596733e+01] [-8.65534252e-04 5.17642572e-05 9.99999624e-01 3.28219661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.540714057 meters Centerline goodness [0,1] 0.9827813386336736 Centerline is valid? [True, True] Translation: X:409.08, Y:-17.26, Z:3.28 [[ 9.99992310e-01 -3.40540055e-03 1.94507981e-03 4.09076667e+02] [ 3.40561314e-03 9.99994195e-01 -1.05994858e-04 -1.72618580e+01] [-1.94470756e-03 1.12618232e-04 9.99998103e-01 3.28179145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57071405700003 meters Centerline goodness [0,1] 0.9842463619776601 Centerline is valid? [True, True] Translation: X:409.11, Y:-17.26, Z:3.28 [[ 9.99995440e-01 -1.78612244e-03 2.43523048e-03 4.09108671e+02] [ 1.78645102e-03 9.99998395e-01 -1.32762052e-04 -1.72581305e+01] [-2.43498944e-03 1.37111867e-04 9.99997026e-01 3.28210446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.600714057 meters Centerline goodness [0,1] 0.9852229983879635 Centerline is valid? [True, True] Translation: X:409.14, Y:-17.25, Z:3.28 [[ 9.99995015e-01 1.68307373e-03 2.67145763e-03 4.09140039e+02] [-1.68268960e-03 9.99998574e-01 -1.46032907e-04 -1.72537921e+01] [-2.67169961e-03 1.41536945e-04 9.99996421e-01 3.28188747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.630714057 meters Centerline goodness [0,1] 0.9850957012864763 Centerline is valid? [True, True] Translation: X:409.17, Y:-17.25, Z:3.28 [[ 9.99989907e-01 3.58407154e-03 2.70938308e-03 4.09170679e+02] [-3.58368296e-03 9.99993568e-01 -1.48258894e-04 -1.72530323e+01] [-2.70989702e-03 1.38547828e-04 9.99996319e-01 3.28147724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.660714057 meters Centerline goodness [0,1] 0.9842007226374021 Centerline is valid? [True, True] Translation: X:409.20, Y:-17.25, Z:3.28 [[ 9.99981649e-01 5.60418474e-03 2.30117894e-03 4.09201415e+02] [-5.60390977e-03 9.99984290e-01 -1.25921745e-04 -1.72529855e+01] [-2.30184848e-03 1.13023835e-04 9.99997344e-01 3.28089086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.690714057 meters Centerline goodness [0,1] 0.9846078124300863 Centerline is valid? [True, True] Translation: X:409.23, Y:-17.25, Z:3.28 [[ 9.99960343e-01 8.74165378e-03 1.70162331e-03 4.09231019e+02] [-8.74150756e-03 9.99961788e-01 -9.33511900e-05 -1.72505126e+01] [-1.70237433e-03 7.84727350e-05 9.99998548e-01 3.28044078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.720714057 meters Centerline goodness [0,1] 0.9846732084983796 Centerline is valid? [True, True] Translation: X:409.26, Y:-17.25, Z:3.28 [[ 9.99945548e-01 1.02969579e-02 1.69510429e-03 4.09259970e+02] [-1.02968147e-02 9.99946982e-01 -9.31744373e-05 -1.72495739e+01] [-1.69597383e-03 7.57151891e-05 9.99998559e-01 3.28067984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.750714057 meters Centerline goodness [0,1] 0.9849449782838625 Centerline is valid? [True, True] Translation: X:409.29, Y:-17.25, Z:3.28 [[ 9.99910395e-01 1.31836223e-02 2.32249666e-03 4.09290032e+02] [-1.31833629e-02 9.99913088e-01 -1.26947622e-04 -1.72478118e+01] [-2.32396844e-03 9.63179299e-05 9.99997295e-01 3.28071298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.780714057 meters Centerline goodness [0,1] 0.9846627836373041 Centerline is valid? [True, True] Translation: X:409.32, Y:-17.25, Z:3.28 [[ 9.99904227e-01 1.36660733e-02 2.18510066e-03 4.09317352e+02] [-1.36658440e-02 9.99906611e-01 -1.19844573e-04 -1.72490135e+01] [-2.18653440e-03 8.99718502e-05 9.99997605e-01 3.28000238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.810714057 meters Centerline goodness [0,1] 0.9852060346768746 Centerline is valid? [True, True] Translation: X:409.35, Y:-17.25, Z:3.28 [[ 9.99905705e-01 1.36347144e-02 1.63552392e-03 4.09346239e+02] [-1.36345860e-02 9.99907041e-01 -8.96232591e-05 -1.72493834e+01] [-1.63659387e-03 6.73151164e-05 9.99998659e-01 3.27932288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.840714057 meters Centerline goodness [0,1] 0.9853766251323764 Centerline is valid? [True, True] Translation: X:409.37, Y:-17.25, Z:3.28 [[ 9.99911887e-01 1.32672690e-02 4.45664450e-04 4.09374866e+02] [-1.32672592e-02 9.99911986e-01 -2.48226843e-05 -1.72497824e+01] [-4.45954554e-04 1.89077513e-05 9.99999900e-01 3.27806775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.870714057 meters Centerline goodness [0,1] 0.9850870484502227 Centerline is valid? [True, True] Translation: X:409.40, Y:-17.25, Z:3.28 [[ 9.99919790e-01 1.26635231e-02 -2.19349703e-04 4.09403465e+02] [-1.26635210e-02 9.99919814e-01 1.13176375e-05 -1.72516625e+01] [ 2.19475435e-04 -8.53899011e-06 9.99999976e-01 3.27733562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.900714057 meters Centerline goodness [0,1] 0.9842372308039238 Centerline is valid? [True, True] Translation: X:409.43, Y:-17.25, Z:3.28 [[ 9.99938754e-01 1.10138891e-02 -1.08755029e-03 4.09431676e+02] [-1.10138323e-02 9.99939344e-01 5.82158749e-05 -1.72535085e+01] [ 1.08812550e-03 -4.62342129e-05 9.99999407e-01 3.27672106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.930714057 meters Centerline goodness [0,1] 0.9845831361146798 Centerline is valid? [True, True] Translation: X:409.46, Y:-17.26, Z:3.28 [[ 9.99943930e-01 1.05240260e-02 -1.17570989e-03 4.09459092e+02] [-1.05239593e-02 9.99944620e-01 6.28969806e-05 -1.72573976e+01] [ 1.17630671e-03 -5.05203309e-05 9.99999307e-01 3.27638170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.960714057 meters Centerline goodness [0,1] 0.9835312140942167 Centerline is valid? [True, True] Translation: X:409.49, Y:-17.26, Z:3.28 [[ 9.99957267e-01 9.07460447e-03 -1.76530445e-03 4.09487861e+02] [-9.07445118e-03 9.99958822e-01 9.48251854e-05 -1.72563420e+01] [ 1.76609226e-03 -7.88019641e-05 9.99998437e-01 3.27686288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.990714057 meters Centerline goodness [0,1] 0.9835312140942167 Centerline is valid? [True, True] Translation: X:409.52, Y:-17.26, Z:3.28 [[ 9.99957899e-01 9.00462205e-03 -1.76531108e-03 4.09516158e+02] [-9.00446887e-03 9.99959454e-01 9.47021832e-05 -1.72578106e+01] [ 1.76609226e-03 -7.88025076e-05 9.99998437e-01 3.27662497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.020714057 meters Centerline goodness [0,1] 0.9853814321698453 Centerline is valid? [True, True] Translation: X:409.54, Y:-17.26, Z:3.28 [[ 9.99972868e-01 7.32811566e-03 -7.49017958e-04 4.09544923e+02] [-7.32808791e-03 9.99973148e-01 3.97853854e-05 -1.72589596e+01] [ 7.49289397e-04 -3.42954366e-05 9.99999719e-01 3.27789776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.050714057 meters Centerline goodness [0,1] 0.9844310566574156 Centerline is valid? [True, True] Translation: X:409.57, Y:-17.26, Z:3.28 [[ 9.99982158e-01 5.92498360e-03 -7.60978678e-04 4.09573769e+02] [-5.92495458e-03 9.99982446e-01 4.03745510e-05 -1.72609154e+01] [ 7.61204539e-04 -3.58650666e-05 9.99999710e-01 3.27785945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.080714057 meters Centerline goodness [0,1] 0.9842034203420342 Centerline is valid? [True, True] Translation: X:409.60, Y:-17.26, Z:3.28 [[ 9.99988571e-01 4.74038285e-03 6.21252450e-04 4.09601956e+02] [-4.74036256e-03 9.99988764e-01 -3.41360421e-05 -1.72629524e+01] [-6.21407287e-04 3.11906901e-05 9.99999806e-01 3.27881325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.110714057 meters Centerline goodness [0,1] 0.9835947683041935 Centerline is valid? [True, True] Translation: X:409.63, Y:-17.26, Z:3.28 [[ 9.99990205e-01 4.29763192e-03 1.05808896e-03 4.09631774e+02] [-4.29757387e-03 9.99990764e-01 -5.71297838e-05 -1.72646513e+01] [-1.05832471e-03 5.25820088e-05 9.99999439e-01 3.27864962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.140714057 meters Centerline goodness [0,1] 0.9837002824985427 Centerline is valid? [True, True] Translation: X:409.66, Y:-17.27, Z:3.28 [[ 9.99992357e-01 3.65174840e-03 1.39641429e-03 4.09660916e+02] [-3.65164682e-03 9.99993330e-01 -7.52856588e-05 -1.72662872e+01] [-1.39667990e-03 7.01858716e-05 9.99999022e-01 3.27844292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.170714057 meters Centerline goodness [0,1] 0.9840858956466934 Centerline is valid? [True, True] Translation: X:409.69, Y:-17.27, Z:3.28 [[ 9.99995783e-01 2.76081041e-03 9.01410154e-04 4.09690879e+02] [-2.76076768e-03 9.99996188e-01 -4.86463844e-05 -1.72674130e+01] [-9.01541021e-04 4.61575952e-05 9.99999593e-01 3.27794052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.200714057 meters Centerline goodness [0,1] 0.983823662124357 Centerline is valid? [True, True] Translation: X:409.72, Y:-17.27, Z:3.28 [[ 9.99996521e-01 2.47665424e-03 9.07514960e-04 4.09720118e+02] [-2.47661084e-03 9.99996932e-01 -4.89397838e-05 -1.72705966e+01] [-9.07633382e-04 4.66920522e-05 9.99999587e-01 3.27736258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.230714057 meters Centerline goodness [0,1] 0.9827178829406602 Centerline is valid? [True, True] Translation: X:409.75, Y:-17.27, Z:3.28 [[ 9.99999873e-01 4.50707633e-04 -2.25153575e-04 4.09749714e+02] [-4.50704758e-04 9.99999898e-01 1.28212270e-05 -1.72746591e+01] [ 2.25159330e-04 -1.27197475e-05 9.99999975e-01 3.27536272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26071405700003 meters Centerline goodness [0,1] 0.9827121082685131 Centerline is valid? [True, True] Translation: X:409.78, Y:-17.28, Z:3.27 [[ 9.99999636e-01 -5.86070821e-04 -6.20863887e-04 4.09780067e+02] [ 5.86091629e-04 9.99999828e-01 3.33341266e-05 -1.72780071e+01] [ 6.20844244e-04 -3.36979976e-05 9.99999807e-01 3.27458972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.290714057 meters Centerline goodness [0,1] 0.9816748635720541 Centerline is valid? [True, True] Translation: X:409.81, Y:-17.28, Z:3.27 [[ 9.99992349e-01 -3.60010609e-03 -1.53040304e-03 4.09809419e+02] [ 3.60023581e-03 9.99993516e-01 8.20159535e-05 -1.72830010e+01] [ 1.53009785e-03 -8.75251377e-05 9.99998826e-01 3.27349118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32071405700003 meters Centerline goodness [0,1] 0.981151104935228 Centerline is valid? [True, True] Translation: X:409.84, Y:-17.29, Z:3.27 [[ 9.99985635e-01 -5.00252116e-03 -1.92486120e-03 4.09840057e+02] [ 5.00273043e-03 9.99987481e-01 1.03918490e-04 -1.72859293e+01] [ 1.92431725e-03 -1.13546559e-04 9.99998142e-01 3.27283292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.350714057 meters Centerline goodness [0,1] 0.9813499312180051 Centerline is valid? [True, True] Translation: X:409.87, Y:-17.29, Z:3.27 [[ 9.99975812e-01 -6.62243807e-03 -2.12590651e-03 4.09870616e+02] [ 6.62269688e-03 9.99978063e-01 1.14725339e-04 -1.72891804e+01] [ 2.12510012e-03 -1.28801799e-04 9.99997734e-01 3.27201334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.380714057 meters Centerline goodness [0,1] 0.9799806336838787 Centerline is valid? [True, True] Translation: X:409.90, Y:-17.29, Z:3.27 [[ 9.99951461e-01 -9.30466826e-03 -3.24010021e-03 4.09900568e+02] [ 9.30528154e-03 9.99956690e-01 1.74252987e-04 -1.72938288e+01] [ 3.23833852e-03 -2.04394574e-04 9.99994736e-01 3.27055038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.410714057 meters Centerline goodness [0,1] 0.9808762248000901 Centerline is valid? [True, True] Translation: X:409.93, Y:-17.30, Z:3.27 [[ 9.99928615e-01 -1.12476818e-02 -4.03171549e-03 4.09931403e+02] [ 1.12486479e-02 9.99936708e-01 2.17032558e-04 -1.72970665e+01] [ 4.02901920e-03 -2.62368413e-04 9.99991849e-01 3.26936321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.440714057 meters Centerline goodness [0,1] 0.9802231921882734 Centerline is valid? [True, True] Translation: X:409.96, Y:-17.30, Z:3.27 [[ 9.99924348e-01 -1.17449137e-02 -3.65451803e-03 4.09962992e+02] [ 1.17457125e-02 9.99930997e-01 1.97203615e-04 -1.72990840e+01] [ 3.65194972e-03 -2.40113614e-04 9.99993303e-01 3.26942208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.470714057 meters Centerline goodness [0,1] 0.9807246278907429 Centerline is valid? [True, True] Translation: X:410.00, Y:-17.29, Z:3.27 [[ 9.99910189e-01 -1.29004593e-02 -3.63201911e-03 4.09995066e+02] [ 1.29012568e-02 9.99916756e-01 1.96218303e-04 -1.72920394e+01] [ 3.62918546e-03 -2.43058292e-04 9.99993385e-01 3.27119050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.500714057 meters Centerline goodness [0,1] 0.981184370634098 Centerline is valid? [True, True] Translation: X:410.03, Y:-17.29, Z:3.27 [[ 9.99894230e-01 -1.44628695e-02 -1.53461590e-03 4.10027500e+02] [ 1.44630145e-02 9.99895402e-01 8.34274097e-05 -1.72935702e+01] [ 1.53324878e-03 -1.05613758e-04 9.99998819e-01 3.27299326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.530714057 meters Centerline goodness [0,1] 0.9798861565459986 Centerline is valid? [True, True] Translation: X:410.06, Y:-17.30, Z:3.27 [[ 9.99884270e-01 -1.52126006e-02 -1.50410949e-04 4.10058769e+02] [ 1.52126021e-02 9.99884282e-01 9.04860081e-06 -1.72996103e+01] [ 1.50255890e-04 -1.13356955e-05 9.99999989e-01 3.27321022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.560714057 meters Centerline goodness [0,1] 0.979997757596143 Centerline is valid? [True, True] Translation: X:410.09, Y:-17.30, Z:3.27 [[ 9.99855327e-01 -1.70082803e-02 2.09567180e-04 4.10090318e+02] [ 1.70082829e-02 9.99855349e-01 -1.10444818e-05 -1.72976767e+01] [-2.09349018e-04 1.46072618e-05 9.99999978e-01 3.27426830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.590714057 meters Centerline goodness [0,1] 0.9796281289393121 Centerline is valid? [True, True] Translation: X:410.12, Y:-17.30, Z:3.27 [[ 9.99837177e-01 -1.80437254e-02 2.10685135e-04 4.10122097e+02] [ 1.80437282e-02 9.99837199e-01 -1.09675602e-05 -1.72999062e+01] [-2.10452939e-04 1.47673197e-05 9.99999978e-01 3.27358868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.620714057 meters Centerline goodness [0,1] 0.979880724653989 Centerline is valid? [True, True] Translation: X:410.15, Y:-17.30, Z:3.27 [[ 9.99823682e-01 -1.87696699e-02 5.51268633e-04 4.10154412e+02] [ 1.87696889e-02 9.99823833e-01 -2.93101201e-05 -1.73020685e+01] [-5.50621377e-04 3.96520930e-05 9.99999848e-01 3.27349770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.650714057 meters Centerline goodness [0,1] 0.9814773085763216 Centerline is valid? [True, True] Translation: X:410.19, Y:-17.30, Z:3.27 [[ 9.99805740e-01 -1.97066888e-02 3.58323741e-04 4.10186917e+02] [ 1.97066968e-02 9.99805804e-01 -1.88417233e-05 -1.72960285e+01] [-3.57882848e-04 2.58994404e-05 9.99999936e-01 3.27401211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.680714057 meters Centerline goodness [0,1] 0.9810287722776739 Centerline is valid? [True, True] Translation: X:410.22, Y:-17.30, Z:3.27 [[ 9.99787527e-01 -2.06093110e-02 3.97227624e-04 4.10218135e+02] [ 2.06093208e-02 9.99787605e-01 -2.05997130e-05 -1.72997761e+01] [-3.96718709e-04 2.87819277e-05 9.99999921e-01 3.27363078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.710714057 meters Centerline goodness [0,1] 0.9799352168436206 Centerline is valid? [True, True] Translation: X:410.25, Y:-17.30, Z:3.27 [[ 9.99771947e-01 -2.13298759e-02 1.04428769e-03 4.10249845e+02] [ 2.13299465e-02 9.99772489e-01 -5.64495925e-05 -1.72998635e+01] [-1.04284604e-03 7.87113195e-05 9.99999453e-01 3.27435860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.740714057 meters Centerline goodness [0,1] 0.9781197890846816 Centerline is valid? [True, True] Translation: X:410.28, Y:-17.30, Z:3.27 [[ 9.99765208e-01 -2.16611888e-02 5.66489875e-04 4.10280489e+02] [ 2.16612091e-02 9.99765368e-01 -2.98896149e-05 -1.73020668e+01] [-5.65709514e-04 4.21534528e-05 9.99999839e-01 3.27414841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.770714057 meters Centerline goodness [0,1] 0.9800762652586926 Centerline is valid? [True, True] Translation: X:410.31, Y:-17.30, Z:3.27 [[ 9.99766734e-01 -2.15923470e-02 -4.97427392e-04 4.10312793e+02] [ 2.15923635e-02 9.99766857e-01 2.78041409e-05 -1.73018673e+01] [ 4.96711064e-04 -3.85382882e-05 9.99999876e-01 3.27262614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.800714057 meters Centerline goodness [0,1] 0.9810221932408427 Centerline is valid? [True, True] Translation: X:410.35, Y:-17.30, Z:3.27 [[ 9.99779492e-01 -2.09842259e-02 -7.93116133e-04 4.10345533e+02] [ 2.09842675e-02 9.99779805e-01 4.41991361e-05 -1.73021608e+01] [ 7.92014009e-04 -6.08323509e-05 9.99999685e-01 3.27162538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.830714057 meters Centerline goodness [0,1] 0.9802058234062198 Centerline is valid? [True, True] Translation: X:410.38, Y:-17.30, Z:3.27 [[ 9.99778204e-01 -2.09973859e-02 -1.62871669e-03 4.10378197e+02] [ 2.09975601e-02 9.99779523e-01 8.99397719e-05 -1.73025389e+01] [ 1.62646910e-03 -1.24118900e-04 9.99998670e-01 3.27073845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.860714057 meters Centerline goodness [0,1] 0.9796047573825352 Centerline is valid? [True, True] Translation: X:410.41, Y:-17.30, Z:3.27 [[ 9.99783480e-01 -2.06596200e-02 -2.48469233e-03 4.10409467e+02] [ 2.06600236e-02 9.99786550e-01 1.36868423e-04 -1.73033081e+01] [ 2.48133432e-03 -1.88172590e-04 9.99996904e-01 3.26976927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.890714057 meters Centerline goodness [0,1] 0.9797881709988483 Centerline is valid? [True, True] Translation: X:410.44, Y:-17.31, Z:3.27 [[ 9.99794785e-01 -2.00922203e-02 -2.58679053e-03 4.10440290e+02] [ 2.00926561e-02 9.99798112e-01 1.42607850e-04 -1.73052733e+01] [ 2.58340298e-03 -1.94554077e-04 9.99996644e-01 3.26908115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.920714057 meters Centerline goodness [0,1] 0.9800656926039188 Centerline is valid? [True, True] Translation: X:410.47, Y:-17.30, Z:3.27 [[ 9.99821549e-01 -1.87222635e-02 -2.51922834e-03 4.10472501e+02] [ 1.87226729e-02 9.99824706e-01 1.39031995e-04 -1.73020413e+01] [ 2.51618374e-03 -1.86173873e-04 9.99996817e-01 3.26955203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.950714057 meters Centerline goodness [0,1] 0.9795544083684282 Centerline is valid? [True, True] Translation: X:410.50, Y:-17.30, Z:3.27 [[ 9.99838417e-01 -1.77995412e-02 -2.51317975e-03 4.10504600e+02] [ 1.77999466e-02 9.99841559e-01 1.39020238e-04 -1.73030614e+01] [ 2.51030706e-03 -1.83732240e-04 9.99996832e-01 3.26914039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.980714057 meters Centerline goodness [0,1] 0.9789721743859331 Centerline is valid? [True, True] Translation: X:410.54, Y:-17.30, Z:3.27 [[ 9.99877142e-01 -1.54869803e-02 -2.41962584e-03 4.10535404e+02] [ 1.54873479e-02 9.99880055e-01 1.33275864e-04 -1.73005445e+01] [ 2.41727158e-03 -1.70733078e-04 9.99997064e-01 3.26938819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01071405700003 meters Centerline goodness [0,1] 0.9792016711321012 Centerline is valid? [True, True] Translation: X:410.57, Y:-17.30, Z:3.27 [[ 9.99907051e-01 -1.33880851e-02 -2.57860297e-03 4.10566538e+02] [ 1.33884966e-02 9.99910360e-01 1.42417285e-04 -1.72991255e+01] [ 2.57646513e-03 -1.76927665e-04 9.99996665e-01 3.26991718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.040714057 meters Centerline goodness [0,1] 0.9792016711321012 Centerline is valid? [True, True] Translation: X:410.60, Y:-17.30, Z:3.27 [[ 9.99907978e-01 -1.33186148e-02 -2.57857716e-03 4.10598258e+02] [ 1.33190274e-02 9.99911288e-01 1.42885076e-04 -1.73009369e+01] [ 2.57644538e-03 -1.77216067e-04 9.99996665e-01 3.26965075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07071405700003 meters Centerline goodness [0,1] 0.9801211403588669 Centerline is valid? [True, True] Translation: X:410.63, Y:-17.30, Z:3.27 [[ 9.99931214e-01 -1.14036849e-02 -2.74302832e-03 4.10630106e+02] [ 1.14041445e-02 9.99934959e-01 1.51960300e-04 -1.72973957e+01] [ 2.74111701e-03 -1.83231739e-04 9.99996226e-01 3.27056265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.100714057 meters Centerline goodness [0,1] 0.9789955169196459 Centerline is valid? [True, True] Translation: X:410.66, Y:-17.30, Z:3.27 [[ 9.99940099e-01 -1.06064654e-02 -2.70222669e-03 4.10661596e+02] [ 1.06069094e-02 9.99943734e-01 1.50043697e-04 -1.73024423e+01] [ 2.70048321e-03 -1.78696983e-04 9.99996338e-01 3.26973067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.130714057 meters Centerline goodness [0,1] 0.9780970217431025 Centerline is valid? [True, True] Translation: X:410.69, Y:-17.30, Z:3.27 [[ 9.99934169e-01 -1.09006549e-02 -3.58246401e-03 4.10693407e+02] [ 1.09014373e-02 9.99940558e-01 1.98959674e-04 -1.73030747e+01] [ 3.58008227e-03 -2.38000583e-04 9.99993563e-01 3.26930541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.160714057 meters Centerline goodness [0,1] 0.9789413513204527 Centerline is valid? [True, True] Translation: X:410.72, Y:-17.30, Z:3.27 [[ 9.99934039e-01 -1.08258858e-02 -3.83630513e-03 4.10724790e+02] [ 1.08267826e-02 9.99941366e-01 2.13067810e-04 -1.73048288e+01] [ 3.83377355e-03 -2.54588598e-04 9.99992619e-01 3.26893025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.190714057 meters Centerline goodness [0,1] 0.9779856906989544 Centerline is valid? [True, True] Translation: X:410.76, Y:-17.31, Z:3.27 [[ 9.99929765e-01 -1.11614841e-02 -3.98586131e-03 4.10755528e+02] [ 1.11624555e-02 9.99937673e-01 2.21549444e-04 -1.73076377e+01] [ 3.98314007e-03 -2.66025883e-04 9.99992032e-01 3.26869638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.220714057 meters Centerline goodness [0,1] 0.981325479989955 Centerline is valid? [True, True] Translation: X:410.79, Y:-17.30, Z:3.27 [[ 9.99925527e-01 -1.14717483e-02 -4.16406472e-03 4.10788207e+02] [ 1.14728131e-02 9.99934158e-01 2.31918716e-04 -1.72993319e+01] [ 4.16113004e-03 -2.79674981e-04 9.99991303e-01 3.27013773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.250714057 meters Centerline goodness [0,1] 0.9809752747252747 Centerline is valid? [True, True] Translation: X:410.82, Y:-17.30, Z:3.27 [[ 9.99920950e-01 -1.18065606e-02 -4.32416819e-03 4.10820632e+02] [ 1.18077132e-02 9.99930257e-01 2.41116413e-04 -1.73021645e+01] [ 4.32101986e-03 -2.92155890e-04 9.99990622e-01 3.26987393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.280714057 meters Centerline goodness [0,1] 0.981031416716064 Centerline is valid? [True, True] Translation: X:410.85, Y:-17.30, Z:3.27 [[ 9.99905484e-01 -1.32162952e-02 -3.78840045e-03 4.10852487e+02] [ 1.32171905e-02 9.99912627e-01 2.11374207e-04 -1.73032994e+01] [ 3.78527586e-03 -2.61426239e-04 9.99992802e-01 3.27018579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.310714057 meters Centerline goodness [0,1] 0.9811903617766183 Centerline is valid? [True, True] Translation: X:410.88, Y:-17.30, Z:3.27 [[ 9.99896453e-01 -1.40275275e-02 -3.21126521e-03 4.10884258e+02] [ 1.40281757e-02 9.99901584e-01 1.79416234e-04 -1.73046492e+01] [ 3.20843241e-03 -2.24445848e-04 9.99994828e-01 3.27054170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.340714057 meters Centerline goodness [0,1] 0.9817570042116829 Centerline is valid? [True, True] Translation: X:410.92, Y:-17.31, Z:3.27 [[ 9.99881642e-01 -1.49286544e-02 -3.71978521e-03 4.10916385e+02] [ 1.49295317e-02 9.99888527e-01 2.08179107e-04 -1.73056402e+01] [ 3.71626272e-03 -2.63689118e-04 9.99993060e-01 3.27070664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.370714057 meters Centerline goodness [0,1] 0.980652797377885 Centerline is valid? [True, True] Translation: X:410.95, Y:-17.31, Z:3.27 [[ 9.99875588e-01 -1.52405661e-02 -4.06626425e-03 4.10947521e+02] [ 1.52416170e-02 9.99883814e-01 2.27579282e-04 -1.73106557e+01] [ 4.06232337e-03 -2.89527411e-04 9.99991707e-01 3.26920865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.400714057 meters Centerline goodness [0,1] 0.9817383950814801 Centerline is valid? [True, True] Translation: X:410.98, Y:-17.31, Z:3.27 [[ 9.99864374e-01 -1.57841286e-02 -4.70055829e-03 4.10980103e+02] [ 1.57855409e-02 9.99875366e-01 2.63508626e-04 -1.73084644e+01] [ 4.69581318e-03 -3.37673743e-04 9.99988918e-01 3.26897870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.430714057 meters Centerline goodness [0,1] 0.9803080433542498 Centerline is valid? [True, True] Translation: X:411.01, Y:-17.31, Z:3.27 [[ 9.99853797e-01 -1.63238615e-02 -5.09083870e-03 4.11011125e+02] [ 1.63255254e-02 9.99866689e-01 2.85457310e-04 -1.73123334e+01] [ 5.08550027e-03 -3.68526192e-04 9.99987001e-01 3.26720677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.460714057 meters Centerline goodness [0,1] 0.9810792835355365 Centerline is valid? [True, True] Translation: X:411.04, Y:-17.31, Z:3.27 [[ 9.99849100e-01 -1.66191452e-02 -5.05776684e-03 4.11042927e+02] [ 1.66207939e-02 9.99861825e-01 2.84111755e-04 -1.73141812e+01] [ 5.05234629e-03 -3.68132983e-04 9.99987169e-01 3.26633276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.490714057 meters Centerline goodness [0,1] 0.9806029072818968 Centerline is valid? [True, True] Translation: X:411.07, Y:-17.32, Z:3.27 [[ 9.99853060e-01 -1.62956568e-02 -5.32076389e-03 4.11073848e+02] [ 1.62974774e-02 9.99867143e-01 2.98988030e-04 -1.73158965e+01] [ 5.31518478e-03 -3.85659126e-04 9.99985800e-01 3.26642337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.520714057 meters Centerline goodness [0,1] 0.9811411329035797 Centerline is valid? [True, True] Translation: X:411.11, Y:-17.32, Z:3.27 [[ 9.99854464e-01 -1.62133398e-02 -5.30825043e-03 4.11106319e+02] [ 1.62151535e-02 9.99868481e-01 2.98818430e-04 -1.73155700e+01] [ 5.30270745e-03 -3.84849037e-04 9.99985866e-01 3.26652104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.550714057 meters Centerline goodness [0,1] 0.9810826943385831 Centerline is valid? [True, True] Translation: X:411.14, Y:-17.32, Z:3.27 [[ 9.99856421e-01 -1.61940717e-02 -4.98898552e-03 4.11138740e+02] [ 1.61956755e-02 9.99868802e-01 2.81236625e-04 -1.73161676e+01] [ 4.98377661e-03 -3.61996236e-04 9.99987515e-01 3.26717260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.580714057 meters Centerline goodness [0,1] 0.9804769751899661 Centerline is valid? [True, True] Translation: X:411.17, Y:-17.32, Z:3.27 [[ 9.99860148e-01 -1.61794917e-02 -4.23179447e-03 4.11170647e+02] [ 1.61806472e-02 9.99869056e-01 2.38947753e-04 -1.73173439e+01] [ 4.22737429e-03 -3.07387509e-04 9.99991017e-01 3.26744011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.610714057 meters Centerline goodness [0,1] 0.9790294826201675 Centerline is valid? [True, True] Translation: X:411.20, Y:-17.32, Z:3.27 [[ 9.99847904e-01 -1.70209690e-02 -3.80207491e-03 4.11201079e+02] [ 1.70219073e-02 9.99855094e-01 2.14579433e-04 -1.73211074e+01] [ 3.79787162e-03 -2.79265363e-04 9.99992749e-01 3.26756881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.640714057 meters Centerline goodness [0,1] 0.9756002565982405 Centerline is valid? [True, True] Translation: X:411.23, Y:-17.33, Z:3.27 [[ 9.99846339e-01 -1.71574195e-02 -3.59450153e-03 4.11232147e+02] [ 1.71582603e-02 9.99852766e-01 2.03214137e-04 -1.73309088e+01] [ 3.59048566e-03 -2.64858304e-04 9.99993519e-01 3.26583285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.670714057 meters Centerline goodness [0,1] 0.9788498153373248 Centerline is valid? [True, True] Translation: X:411.26, Y:-17.33, Z:3.27 [[ 9.99824202e-01 -1.82781770e-02 -4.18000963e-03 4.11264003e+02] [ 1.82793245e-02 9.99832891e-01 2.36464725e-04 -1.73264624e+01] [ 4.17498897e-03 -3.12830907e-04 9.99991236e-01 3.26610850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.700714057 meters Centerline goodness [0,1] 0.9793359966937595 Centerline is valid? [True, True] Translation: X:411.30, Y:-17.33, Z:3.27 [[ 9.99815425e-01 -1.86648199e-02 -4.55419972e-03 4.11296365e+02] [ 1.86661880e-02 9.99825738e-01 2.58081857e-04 -1.73250235e+01] [ 4.54858905e-03 -3.43043770e-04 9.99989596e-01 3.26598671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.730714057 meters Centerline goodness [0,1] 0.9790145776597936 Centerline is valid? [True, True] Translation: X:411.33, Y:-17.33, Z:3.27 [[ 9.99812770e-01 -1.87556086e-02 -4.75938566e-03 4.11327480e+02] [ 1.87571080e-02 9.99824033e-01 2.70602732e-04 -1.73280964e+01] [ 4.75347285e-03 -3.59824378e-04 9.99988637e-01 3.26506438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76071405700003 meters Centerline goodness [0,1] 0.9791834018039521 Centerline is valid? [True, True] Translation: X:411.36, Y:-17.33, Z:3.26 [[ 9.99787519e-01 -1.95613916e-02 -6.50142910e-03 4.11359214e+02] [ 1.95642075e-02 9.99808534e-01 3.69788462e-04 -1.73296303e+01] [ 6.49295072e-03 -4.96905196e-04 9.99978797e-01 3.26399065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.790714057 meters Centerline goodness [0,1] 0.9793591688502735 Centerline is valid? [True, True] Translation: X:411.39, Y:-17.33, Z:3.26 [[ 9.99778264e-01 -1.95026717e-02 -7.94151927e-03 4.11390145e+02] [ 1.95068766e-02 9.99809620e-01 4.52360421e-04 -1.73316156e+01] [ 7.93118513e-03 -6.07174353e-04 9.99968363e-01 3.26218804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82071405700003 meters Centerline goodness [0,1] 0.9781518789384113 Centerline is valid? [True, True] Translation: X:411.42, Y:-17.33, Z:3.26 [[ 9.99768057e-01 -1.97605085e-02 -8.56470307e-03 4.11421374e+02] [ 1.97654083e-02 9.99804526e-01 4.87824166e-04 -1.73347081e+01] [ 8.55338924e-03 -6.56995872e-04 9.99963203e-01 3.26116129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.850714057 meters Centerline goodness [0,1] 0.9797552222324468 Centerline is valid? [True, True] Translation: X:411.45, Y:-17.33, Z:3.26 [[ 9.99770902e-01 -1.97800550e-02 -8.17884528e-03 4.11453865e+02] [ 1.97845299e-02 9.99804158e-01 4.66583836e-04 -1.73345296e+01] [ 8.16801446e-03 -6.28291552e-04 9.99966444e-01 3.26161781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.880714057 meters Centerline goodness [0,1] 0.97850798472088 Centerline is valid? [True, True] Translation: X:411.49, Y:-17.34, Z:3.26 [[ 9.99784058e-01 -1.92936289e-02 -7.71967521e-03 4.11485259e+02] [ 1.92976033e-02 9.99813687e-01 4.40671178e-04 -1.73374483e+01] [ 7.70973479e-03 -5.89547249e-04 9.99970106e-01 3.26219332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.910714057 meters Centerline goodness [0,1] 0.97850798472088 Centerline is valid? [True, True] Translation: X:411.52, Y:-17.34, Z:3.26 [[ 9.99785377e-01 -1.92251911e-02 -7.71963704e-03 4.11516996e+02] [ 1.92291685e-02 9.99815005e-01 4.41339878e-04 -1.73393240e+01] [ 7.70972410e-03 -5.89687358e-04 9.99970106e-01 3.26192677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.940714057 meters Centerline goodness [0,1] 0.9816410209158758 Centerline is valid? [True, True] Translation: X:411.55, Y:-17.33, Z:3.26 [[ 9.99798432e-01 -1.87937739e-02 -7.06322433e-03 4.11549553e+02] [ 1.87970973e-02 9.99823237e-01 4.04415452e-04 -1.73304698e+01] [ 7.05437532e-03 -5.37102049e-04 9.99974973e-01 3.26412975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.970714057 meters Centerline goodness [0,1] 0.9807479479848751 Centerline is valid? [True, True] Translation: X:411.58, Y:-17.33, Z:3.26 [[ 9.99825108e-01 -1.73481962e-02 -6.98525467e-03 4.11579780e+02] [ 1.73514092e-02 9.99849373e-01 3.99625603e-04 -1.73326371e+01] [ 6.97726972e-03 -5.20759723e-04 9.99975523e-01 3.26410435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.000714057 meters Centerline goodness [0,1] 0.9793054179245501 Centerline is valid? [True, True] Translation: X:411.61, Y:-17.33, Z:3.26 [[ 9.99842535e-01 -1.64552148e-02 -6.64305113e-03 4.11611941e+02] [ 1.64581073e-02 9.99864484e-01 3.80981067e-04 -1.73326969e+01] [ 6.63588176e-03 -4.90253124e-04 9.99977862e-01 3.26408419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.030714057 meters Centerline goodness [0,1] 0.9806505305499688 Centerline is valid? [True, True] Translation: X:411.64, Y:-17.33, Z:3.26 [[ 9.99860018e-01 -1.53801065e-02 -6.58767547e-03 4.11642930e+02] [ 1.53829273e-02 9.99881604e-01 3.77743936e-04 -1.73327059e+01] [ 6.58108578e-03 -4.79028792e-04 9.99978230e-01 3.26384567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.060714057 meters Centerline goodness [0,1] 0.9797677205272375 Centerline is valid? [True, True] Translation: X:411.68, Y:-17.33, Z:3.26 [[ 9.99870644e-01 -1.47259118e-02 -6.46866639e-03 4.11675037e+02] [ 1.47286230e-02 9.99891459e-01 3.71679519e-04 -1.73333085e+01] [ 6.46249096e-03 -4.66905989e-04 9.99979009e-01 3.26389076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.090714057 meters Centerline goodness [0,1] 0.9792060927763674 Centerline is valid? [True, True] Translation: X:411.71, Y:-17.34, Z:3.26 [[ 9.99871810e-01 -1.47835433e-02 -6.14904674e-03 4.11705806e+02] [ 1.47859954e-02 9.99890619e-01 3.53515707e-04 -1.73363659e+01] [ 6.14314794e-03 -4.44390167e-04 9.99981032e-01 3.26324465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.120714057 meters Centerline goodness [0,1] 0.9803708499028947 Centerline is valid? [True, True] Translation: X:411.74, Y:-17.33, Z:3.26 [[ 9.99872750e-01 -1.48138423e-02 -5.91898280e-03 4.11738236e+02] [ 1.48161184e-02 9.99890177e-01 3.40884032e-04 -1.73345812e+01] [ 5.91328296e-03 -4.28537005e-04 9.99982425e-01 3.26406517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.150714057 meters Centerline goodness [0,1] 0.9797355195812779 Centerline is valid? [True, True] Translation: X:411.77, Y:-17.34, Z:3.26 [[ 9.99859256e-01 -1.54667299e-02 -6.49981587e-03 4.11768785e+02] [ 1.54694939e-02 9.99880270e-01 3.75170663e-04 -1.73408789e+01] [ 6.49323499e-03 -4.75666722e-04 9.99978806e-01 3.26230153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.180714057 meters Centerline goodness [0,1] 0.9788446833653869 Centerline is valid? [True, True] Translation: X:411.80, Y:-17.34, Z:3.26 [[ 9.99815816e-01 -1.73255874e-02 -8.25576327e-03 4.11800150e+02] [ 1.73301054e-02 9.99849709e-01 4.76036475e-04 -1.73405508e+01] [ 8.24627489e-03 -6.19022045e-04 9.99965807e-01 3.26121078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.210714057 meters Centerline goodness [0,1] 0.9794758008597976 Centerline is valid? [True, True] Translation: X:411.83, Y:-17.34, Z:3.26 [[ 9.99787420e-01 -1.85674683e-02 -8.96463832e-03 4.11831134e+02] [ 1.85728505e-02 9.99827376e-01 5.17493579e-04 -1.73437956e+01] [ 8.95348226e-03 -6.83882457e-04 9.99959683e-01 3.25993393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.240714057 meters Centerline goodness [0,1] 0.9775035947864001 Centerline is valid? [True, True] Translation: X:411.86, Y:-17.35, Z:3.26 [[ 9.99763711e-01 -1.96050567e-02 -9.38959008e-03 4.11862349e+02] [ 1.96110110e-02 9.99807538e-01 5.42484476e-04 -1.73495200e+01] [ 9.37714751e-03 -7.26495648e-04 9.99955770e-01 3.25853299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.270714057 meters Centerline goodness [0,1] 0.9789454157584752 Centerline is valid? [True, True] Translation: X:411.89, Y:-17.35, Z:3.26 [[ 9.99715175e-01 -2.16866820e-02 -9.96274165e-03 4.11893167e+02] [ 2.16934906e-02 9.99764503e-01 5.75831586e-04 -1.73494102e+01] [ 9.94790758e-03 -7.91794218e-04 9.99950205e-01 3.25840085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.300714057 meters Centerline goodness [0,1] 0.9749772626571209 Centerline is valid? [True, True] Translation: X:411.92, Y:-17.35, Z:3.26 [[ 9.99679263e-01 -2.32529980e-02 -1.00333882e-02 4.11923244e+02] [ 2.32599818e-02 9.99729282e-01 5.79908430e-04 -1.73522098e+01] [ 1.00171874e-02 -8.13098859e-04 9.99949496e-01 3.25863353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.330714057 meters Centerline goodness [0,1] 0.975281107703745 Centerline is valid? [True, True] Translation: X:411.96, Y:-17.35, Z:3.26 [[ 9.99675758e-01 -2.36285880e-02 -9.49050371e-03 4.11955412e+02] [ 2.36348634e-02 9.99720507e-01 5.49612095e-04 -1.73522772e+01] [ 9.47486461e-03 -7.73740647e-04 9.99954813e-01 3.25924505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.360714057 meters Centerline goodness [0,1] 0.9749388610690579 Centerline is valid? [True, True] Translation: X:411.99, Y:-17.35, Z:3.26 [[ 9.99686144e-01 -2.33394270e-02 -9.10406597e-03 4.11986338e+02] [ 2.33452037e-02 9.99727324e-01 5.28742813e-04 -1.73542982e+01] [ 9.08924295e-03 -7.41113139e-04 9.99958417e-01 3.25928995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.390714057 meters Centerline goodness [0,1] 0.9638615817239536 Centerline is valid? [True, True] Translation: X:412.02, Y:-17.36, Z:3.26 [[ 9.99690165e-01 -2.35014154e-02 -8.20103205e-03 4.12017286e+02] [ 2.35061078e-02 9.99723580e-01 4.76241205e-04 -1.73575399e+01] [ 8.18757277e-03 -6.68867992e-04 9.99966258e-01 3.25979068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.420714057 meters Centerline goodness [0,1] 0.9518505545826036 Centerline is valid? [True, True] Translation: X:412.05, Y:-17.36, Z:3.26 [[ 9.99698638e-01 -2.32185344e-02 -7.97081075e-03 4.12048478e+02] [ 2.32229694e-02 9.99730203e-01 4.64287890e-04 -1.73601060e+01] [ 7.95788017e-03 -6.49253865e-04 9.99968125e-01 3.25956638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.450714057 meters Centerline goodness [0,1] 0.9737248479176416 Centerline is valid? [True, True] Translation: X:412.08, Y:-17.36, Z:3.26 [[ 9.99702862e-01 -2.30250651e-02 -8.00218343e-03 4.12081253e+02] [ 2.30295303e-02 9.99734676e-01 4.66295843e-04 -1.73553734e+01] [ 7.98932377e-03 -6.50443815e-04 9.99967873e-01 3.26023241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.480714057 meters Centerline goodness [0,1] 0.9750972215714754 Centerline is valid? [True, True] Translation: X:412.11, Y:-17.36, Z:3.26 [[ 9.99704578e-01 -2.29035456e-02 -8.13539999e-03 4.12113729e+02] [ 2.29081613e-02 9.99737461e-01 4.74614185e-04 -1.73555193e+01] [ 8.12239378e-03 -6.60841029e-04 9.99966794e-01 3.26005305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51071405700003 meters Centerline goodness [0,1] 0.9695026331187829 Centerline is valid? [True, True] Translation: X:412.14, Y:-17.36, Z:3.26 [[ 9.99684779e-01 -2.35230859e-02 -8.77534374e-03 4.12144286e+02] [ 2.35284926e-02 9.99723035e-01 5.13381785e-04 -1.73593939e+01] [ 8.76083695e-03 -7.19690567e-04 9.99961364e-01 3.25857812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.540714057 meters Centerline goodness [0,1] 0.9789709799523342 Centerline is valid? [True, True] Translation: X:412.18, Y:-17.35, Z:3.26 [[ 9.99672613e-01 -2.38556499e-02 -9.25071020e-03 4.12176584e+02] [ 2.38616713e-02 9.99715123e-01 5.41072403e-04 -1.73512943e+01] [ 9.23516726e-03 -7.61632669e-04 9.99957065e-01 3.25998101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57071405700003 meters Centerline goodness [0,1] 0.978027378027378 Centerline is valid? [True, True] Translation: X:412.21, Y:-17.35, Z:3.26 [[ 9.99663166e-01 -2.37982560e-02 -1.03536192e-02 4.12208245e+02] [ 2.38058077e-02 9.99716417e-01 6.06733877e-04 -1.73546406e+01] [ 1.03362439e-02 -8.53005775e-04 9.99946216e-01 3.25796018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.600714057 meters Centerline goodness [0,1] 0.9795133842764052 Centerline is valid? [True, True] Translation: X:412.24, Y:-17.35, Z:3.26 [[ 9.99692324e-01 -2.21315863e-02 -1.12004430e-02 4.12239776e+02] [ 2.21403191e-02 9.99754658e-01 6.56271400e-04 -1.73520978e+01] [ 1.11831707e-02 -9.04050863e-04 9.99937058e-01 3.25760304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.630714057 meters Centerline goodness [0,1] 0.9789359851423467 Centerline is valid? [True, True] Translation: X:412.27, Y:-17.35, Z:3.26 [[ 9.99775976e-01 -1.74548720e-02 -1.19718790e-02 4.12269281e+02] [ 1.74645074e-02 9.99847238e-01 7.00761867e-04 -1.73537941e+01] [ 1.19578184e-02 -9.09687849e-04 9.99928089e-01 3.25630653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.660714057 meters Centerline goodness [0,1] 0.9801429144164328 Centerline is valid? [True, True] Translation: X:412.30, Y:-17.35, Z:3.26 [[ 9.99822615e-01 -1.41175587e-02 -1.24672923e-02 4.12300218e+02] [ 1.41277522e-02 9.99899932e-01 7.29923584e-04 -1.73453354e+01] [ 1.24557400e-02 -9.05928922e-04 9.99922014e-01 3.25816668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.690714057 meters Centerline goodness [0,1] 0.9799414763073437 Centerline is valid? [True, True] Translation: X:412.33, Y:-17.34, Z:3.26 [[ 9.99895230e-01 -7.62466036e-03 -1.23041775e-02 4.12329646e+02] [ 7.63409463e-03 9.99970601e-01 7.19968361e-04 -1.73430162e+01] [ 1.22983263e-02 -8.13824186e-04 9.99924042e-01 3.25855247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.720714057 meters Centerline goodness [0,1] 0.9797858004113766 Centerline is valid? [True, True] Translation: X:412.36, Y:-17.34, Z:3.26 [[ 9.99911365e-01 -4.97052948e-03 -1.23513207e-02 4.12359720e+02] [ 4.97983204e-03 9.99987340e-01 7.22521774e-04 -1.73419116e+01] [ 1.23475730e-02 -7.83965236e-04 9.99923458e-01 3.25881117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.750714057 meters Centerline goodness [0,1] 0.9792933715124121 Centerline is valid? [True, True] Translation: X:412.39, Y:-17.34, Z:3.26 [[ 9.99916674e-01 -5.75207566e-04 -1.28963065e-02 4.12390327e+02] [ 5.84986015e-04 9.99999544e-01 7.54476980e-04 -1.73411842e+01] [ 1.28958666e-02 -7.61958272e-04 9.99916555e-01 3.25769686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.780714057 meters Centerline goodness [0,1] 0.9802701615764945 Centerline is valid? [True, True] Translation: X:412.42, Y:-17.34, Z:3.26 [[ 9.99918179e-01 1.11521939e-03 -1.27433337e-02 4.12418222e+02] [-1.10584043e-03 9.99999113e-01 7.43012034e-04 -1.73438805e+01] [ 1.27441510e-02 -7.28859146e-04 9.99918524e-01 3.25640518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.810714057 meters Centerline goodness [0,1] 0.9799023557851827 Centerline is valid? [True, True] Translation: X:412.45, Y:-17.34, Z:3.26 [[ 9.99919515e-01 1.83976126e-03 -1.25530344e-02 4.12447518e+02] [-1.83073853e-03 9.99998058e-01 7.30222203e-04 -1.73434216e+01] [ 1.25543534e-02 -7.07182107e-04 9.99920941e-01 3.25704934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.840714057 meters Centerline goodness [0,1] 0.9788230840214845 Centerline is valid? [True, True] Translation: X:412.48, Y:-17.34, Z:3.26 [[ 9.99930347e-01 2.50487918e-03 -1.15336849e-02 4.12475201e+02] [-2.49732457e-03 9.99996658e-01 6.69360104e-04 -1.73442486e+01] [ 1.15353230e-02 -6.40510127e-04 9.99933261e-01 3.25843293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.870714057 meters Centerline goodness [0,1] 0.9781846605713203 Centerline is valid? [True, True] Translation: X:412.50, Y:-17.35, Z:3.26 [[ 9.99939538e-01 2.32935669e-03 -1.07468366e-02 4.12502543e+02] [-2.32279464e-03 9.99997108e-01 6.23044948e-04 -1.73487524e+01] [ 1.07482569e-02 -5.98044583e-04 9.99942057e-01 3.25818386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.900714057 meters Centerline goodness [0,1] 0.9797633136094674 Centerline is valid? [True, True] Translation: X:412.53, Y:-17.35, Z:3.26 [[ 9.99949485e-01 2.33330043e-03 -9.77669585e-03 4.12531520e+02] [-2.32787596e-03 9.99997130e-01 5.66179909e-04 -1.73457463e+01] [ 9.77798887e-03 -5.43392373e-04 9.99952047e-01 3.26118267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.930714057 meters Centerline goodness [0,1] 0.9787788356780825 Centerline is valid? [True, True] Translation: X:412.56, Y:-17.35, Z:3.26 [[ 9.99952180e-01 2.20455756e-03 -9.52770363e-03 4.12559115e+02] [-2.19941278e-03 9.99997430e-01 5.50425060e-04 -1.73470094e+01] [ 9.52889258e-03 -5.29443386e-04 9.99954459e-01 3.26143020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.960714057 meters Centerline goodness [0,1] 0.9796622995790569 Centerline is valid? [True, True] Translation: X:412.59, Y:-17.35, Z:3.26 [[ 9.99954263e-01 7.76735786e-04 -9.53250032e-03 4.12586593e+02] [-7.71527718e-04 9.99999551e-01 5.50013766e-04 -1.73527690e+01] [ 9.53292325e-03 -5.42634022e-04 9.99954413e-01 3.25955171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.990714057 meters Centerline goodness [0,1] 0.9789493646880334 Centerline is valid? [True, True] Translation: X:412.62, Y:-17.36, Z:3.26 [[ 9.99947562e-01 -4.05686915e-04 -1.02326789e-02 4.12615374e+02] [ 4.11744728e-04 9.99999741e-01 5.89906768e-04 -1.73562987e+01] [ 1.02324369e-02 -5.94089086e-04 9.99947471e-01 3.25905556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.020714057 meters Centerline goodness [0,1] 0.9795098433105665 Centerline is valid? [True, True] Translation: X:412.64, Y:-17.36, Z:3.26 [[ 9.99945110e-01 -1.60259841e-03 -1.03541613e-02 4.12643752e+02] [ 1.60885742e-03 9.99998528e-01 5.96191022e-04 -1.73590801e+01] [ 1.03531906e-02 -6.12816666e-04 9.99946217e-01 3.25895274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.050714057 meters Centerline goodness [0,1] 0.9772437561965913 Centerline is valid? [True, True] Translation: X:412.67, Y:-17.37, Z:3.26 [[ 9.99930420e-01 -3.96504355e-03 -1.11100748e-02 4.12671271e+02] [ 3.97239125e-03 9.99991906e-01 6.39365392e-04 -1.73689588e+01] [ 1.11074498e-02 -6.83454469e-04 9.99938077e-01 3.25659932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.080714057 meters Centerline goodness [0,1] 0.979259363891047 Centerline is valid? [True, True] Translation: X:412.70, Y:-17.37, Z:3.26 [[ 9.99914714e-01 -6.22930139e-03 -1.14786720e-02 4.12700451e+02] [ 6.23728606e-03 9.99980330e-01 6.59940919e-04 -1.73666934e+01] [ 1.14743353e-02 -7.31480396e-04 9.99933900e-01 3.25885355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.110714057 meters Centerline goodness [0,1] 0.9776431355972007 Centerline is valid? [True, True] Translation: X:412.73, Y:-17.38, Z:3.26 [[ 9.99903917e-01 -7.67279929e-03 -1.15449422e-02 4.12728522e+02] [ 7.68096517e-03 9.99970281e-01 6.63138030e-04 -1.73756800e+01] [ 1.15395110e-02 -7.51750612e-04 9.99933135e-01 3.25744684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.140714057 meters Centerline goodness [0,1] 0.9779972320611762 Centerline is valid? [True, True] Translation: X:412.76, Y:-17.38, Z:3.26 [[ 9.99902163e-01 -8.53002483e-03 -1.10861702e-02 4.12758313e+02] [ 8.53760420e-03 9.99963351e-01 6.36530392e-04 -1.73768729e+01] [ 1.10803343e-02 -7.31117449e-04 9.99938344e-01 3.25833997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.170714057 meters Centerline goodness [0,1] 0.9769300890540635 Centerline is valid? [True, True] Translation: X:412.79, Y:-17.39, Z:3.26 [[ 9.99885311e-01 -1.04107327e-02 -1.09991782e-02 4.12787108e+02] [ 1.04183064e-02 9.99945529e-01 6.31489228e-04 -1.73890252e+01] [ 1.09920048e-02 -7.46009611e-04 9.99939308e-01 3.25729150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.200714057 meters Centerline goodness [0,1] 0.9776269599812778 Centerline is valid? [True, True] Translation: X:412.82, Y:-17.38, Z:3.26 [[ 9.99869684e-01 -1.10425643e-02 -1.17761413e-02 4.12818009e+02] [ 1.10512913e-02 9.99938704e-01 6.76253717e-04 -1.73843278e+01] [ 1.17679519e-02 -8.06307158e-04 9.99930430e-01 3.25970949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.230714057 meters Centerline goodness [0,1] 0.9788547076220862 Centerline is valid? [True, True] Translation: X:412.85, Y:-17.39, Z:3.26 [[ 9.99861714e-01 -1.09109768e-02 -1.25500479e-02 4.12847237e+02] [ 1.09208736e-02 9.99940106e-01 7.20325606e-04 -1.73905339e+01] [ 1.25414368e-02 -8.57283482e-04 9.99920986e-01 3.25872872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26071405700003 meters Centerline goodness [0,1] 0.9753554722952689 Centerline is valid? [True, True] Translation: X:412.88, Y:-17.40, Z:3.25 [[ 9.99856034e-01 -1.03063777e-02 -1.34792066e-02 4.12875639e+02] [ 1.03177366e-02 9.99946472e-01 7.73431365e-04 -1.74039398e+01] [ 1.34705138e-02 -9.12394922e-04 9.99908852e-01 3.25390057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.290714057 meters Centerline goodness [0,1] 0.9793884062696508 Centerline is valid? [True, True] Translation: X:412.91, Y:-17.40, Z:3.26 [[ 9.99880228e-01 -5.91389404e-03 -1.43022679e-02 4.12906312e+02] [ 5.92623652e-03 9.99982103e-01 8.20745335e-04 -1.73964659e+01] [ 1.42971581e-02 -9.05405655e-04 9.99897380e-01 3.25588551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32071405700003 meters Centerline goodness [0,1] 0.9785926338250301 Centerline is valid? [True, True] Translation: X:412.94, Y:-17.40, Z:3.26 [[ 9.99900964e-01 -3.57671919e-03 -1.36113553e-02 4.12936406e+02] [ 3.58767728e-03 9.99993259e-01 7.80736457e-04 -1.73970518e+01] [ 1.36084711e-02 -8.29492286e-04 9.99907056e-01 3.25718344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.350714057 meters Centerline goodness [0,1] 0.9792204770215241 Centerline is valid? [True, True] Translation: X:412.97, Y:-17.40, Z:3.26 [[ 9.99916186e-01 7.53690109e-04 -1.29249331e-02 4.12965460e+02] [-7.44173922e-04 9.99999449e-01 7.41059459e-04 -1.73983929e+01] [ 1.29254845e-02 -7.31378949e-04 9.99916195e-01 3.25770076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.380714057 meters Centerline goodness [0,1] 0.9784690667598742 Centerline is valid? [True, True] Translation: X:413.00, Y:-17.40, Z:3.26 [[ 9.99914697e-01 2.98793092e-03 -1.27149945e-02 4.12995555e+02] [-2.97890389e-03 9.99995297e-01 7.28831974e-04 -1.74001529e+01] [ 1.27171124e-02 -6.90893056e-04 9.99918896e-01 3.25761400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.410714057 meters Centerline goodness [0,1] 0.980264848074363 Centerline is valid? [True, True] Translation: X:413.02, Y:-17.40, Z:3.26 [[ 9.99909470e-01 4.71399471e-03 -1.26027639e-02 4.13024839e+02] [-4.70532243e-03 9.99988672e-01 7.17687589e-04 -1.73988943e+01] [ 1.26060043e-02 -6.58322549e-04 9.99920324e-01 3.25883453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.440714057 meters Centerline goodness [0,1] 0.9807042483279346 Centerline is valid? [True, True] Translation: X:413.05, Y:-17.40, Z:3.26 [[ 9.99896980e-01 6.82364212e-03 -1.26280163e-02 4.13052222e+02] [-6.81510166e-03 9.99976518e-01 7.19219484e-04 -1.74026763e+01] [ 1.26326274e-02 -6.33084176e-04 9.99920005e-01 3.25669781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.470714057 meters Centerline goodness [0,1] 0.9806099965209324 Centerline is valid? [True, True] Translation: X:413.08, Y:-17.41, Z:3.26 [[ 9.99901139e-01 7.29382444e-03 -1.20213203e-02 4.13080022e+02] [-7.28613185e-03 9.99973222e-01 6.83584586e-04 -1.74062613e+01] [ 1.20259844e-02 -5.95928081e-04 9.99927508e-01 3.25642978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.500714057 meters Centerline goodness [0,1] 0.9799203335740408 Centerline is valid? [True, True] Translation: X:413.11, Y:-17.41, Z:3.26 [[ 9.99909674e-01 6.16793005e-03 -1.19415255e-02 4.13107838e+02] [-6.16027139e-03 9.99980795e-01 6.78023650e-04 -1.74110647e+01] [ 1.19454782e-02 -6.04399369e-04 9.99928468e-01 3.25634332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.530714057 meters Centerline goodness [0,1] 0.9805001626923255 Centerline is valid? [True, True] Translation: X:413.14, Y:-17.41, Z:3.26 [[ 9.99919228e-01 4.60730767e-03 -1.18452391e-02 4.13135899e+02] [-4.59967474e-03 9.99989196e-01 6.71550593e-04 -1.74148740e+01] [ 1.18482052e-02 -6.17012104e-04 9.99929617e-01 3.25621519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.560714057 meters Centerline goodness [0,1] 0.9803203977351195 Centerline is valid? [True, True] Translation: X:413.17, Y:-17.42, Z:3.25 [[ 9.99937883e-01 6.97535646e-04 -1.11240358e-02 4.13165403e+02] [-6.90560033e-04 9.99999563e-01 6.30904447e-04 -1.74242124e+01] [ 1.11244710e-02 -6.23183443e-04 9.99937927e-01 3.25425260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.590714057 meters Centerline goodness [0,1] 0.9796785516349529 Centerline is valid? [True, True] Translation: X:413.19, Y:-17.43, Z:3.25 [[ 9.99925810e-01 -2.39102727e-03 -1.19439178e-02 4.13194606e+02] [ 2.39928698e-03 9.99996892e-01 6.77260199e-04 -1.74315308e+01] [ 1.19422614e-02 -7.05866840e-04 9.99928440e-01 3.25236212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.620714057 meters Centerline goodness [0,1] 0.9792397121240081 Centerline is valid? [True, True] Translation: X:413.22, Y:-17.44, Z:3.25 [[ 9.99909126e-01 -5.40032750e-03 -1.23521806e-02 4.13223388e+02] [ 5.40938872e-03 9.99985124e-01 7.00280140e-04 -1.74380850e+01] [ 1.23482151e-02 -7.67034249e-04 9.99923464e-01 3.25057536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.650714057 meters Centerline goodness [0,1] 0.9777691197029771 Centerline is valid? [True, True] Translation: X:413.25, Y:-17.45, Z:3.25 [[ 9.99858741e-01 -1.06121026e-02 -1.30338596e-02 4.13253047e+02] [ 1.06226297e-02 9.99943305e-01 7.38707601e-04 -1.74462097e+01] [ 1.30252814e-02 -8.77057116e-04 9.99914783e-01 3.24910853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.680714057 meters Centerline goodness [0,1] 0.9768999610029133 Centerline is valid? [True, True] Translation: X:413.28, Y:-17.45, Z:3.25 [[ 9.99830347e-01 -1.29735710e-02 -1.30753100e-02 4.13282215e+02] [ 1.29843632e-02 9.99915425e-01 7.40835157e-04 -1.74520159e+01] [ 1.30645929e-02 -9.10484047e-04 9.99914240e-01 3.24812323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.710714057 meters Centerline goodness [0,1] 0.9792937399678973 Centerline is valid? [True, True] Translation: X:413.31, Y:-17.45, Z:3.25 [[ 9.99782255e-01 -1.69995702e-02 -1.21019840e-02 4.13312941e+02] [ 1.70091089e-02 9.99855100e-01 6.85699136e-04 -1.74488329e+01] [ 1.20885739e-02 -8.91393793e-04 9.99926533e-01 3.25117173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.740714057 meters Centerline goodness [0,1] 0.9807775921645804 Centerline is valid? [True, True] Translation: X:413.34, Y:-17.45, Z:3.25 [[ 9.99771023e-01 -1.81326944e-02 -1.13625187e-02 4.13344047e+02] [ 1.81411843e-02 9.99835227e-01 6.44555193e-04 -1.74501792e+01] [ 1.13489590e-02 -8.50537151e-04 9.99935237e-01 3.25175634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.770714057 meters Centerline goodness [0,1] 0.9806873827284792 Centerline is valid? [True, True] Translation: X:413.37, Y:-17.46, Z:3.25 [[ 9.99758362e-01 -1.93346489e-02 -1.04588875e-02 4.13374778e+02] [ 1.93419230e-02 9.99812751e-01 5.94782844e-04 -1.74571857e+01] [ 1.04454292e-02 -7.96934119e-04 9.99945127e-01 3.25115416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.800714057 meters Centerline goodness [0,1] 0.9806873827284792 Centerline is valid? [True, True] Translation: X:413.41, Y:-17.46, Z:3.25 [[ 9.99759713e-01 -1.92646814e-02 -1.04588570e-02 4.13406516e+02] [ 1.92719572e-02 9.99814101e-01 5.95318655e-04 -1.74590509e+01] [ 1.04454441e-02 -7.96738253e-04 9.99945127e-01 3.25088772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.830714057 meters Centerline goodness [0,1] 0.978013957943712 Centerline is valid? [True, True] Translation: X:413.44, Y:-17.46, Z:3.25 [[ 9.99738437e-01 -2.09839324e-02 -9.09571873e-03 4.13437148e+02] [ 2.09895068e-02 9.99779562e-01 5.17822157e-04 -1.74634652e+01] [ 9.08284775e-03 -7.08601364e-04 9.99958499e-01 3.25172072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.860714057 meters Centerline goodness [0,1] 0.9786810622869822 Centerline is valid? [True, True] Translation: X:413.47, Y:-17.46, Z:3.25 [[ 9.99726349e-01 -2.15998504e-02 -8.98186362e-03 4.13469593e+02] [ 2.16053193e-02 9.99766447e-01 5.12289510e-04 -1.74615399e+01] [ 8.96870050e-03 -7.06205353e-04 9.99959531e-01 3.25269383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.890714057 meters Centerline goodness [0,1] 0.978269323146602 Centerline is valid? [True, True] Translation: X:413.50, Y:-17.46, Z:3.25 [[ 9.99730931e-01 -2.18589944e-02 -7.76205372e-03 4.13501411e+02] [ 2.18630914e-02 9.99760876e-01 4.43362618e-04 -1.74616198e+01] [ 7.75050616e-03 -6.12945814e-04 9.99969777e-01 3.25245393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.920714057 meters Centerline goodness [0,1] 0.9781147091108672 Centerline is valid? [True, True] Translation: X:413.53, Y:-17.47, Z:3.25 [[ 9.99724950e-01 -2.21002373e-02 -7.84886451e-03 4.13532425e+02] [ 2.21044360e-02 9.99755566e-01 4.48586291e-04 -1.74666583e+01] [ 7.83703212e-03 -6.21957630e-04 9.99969097e-01 3.25128511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.950714057 meters Centerline goodness [0,1] 0.9780046594490887 Centerline is valid? [True, True] Translation: X:413.56, Y:-17.47, Z:3.25 [[ 9.99704985e-01 -2.30183528e-02 -7.75233328e-03 4.13564142e+02] [ 2.30224845e-02 9.99734849e-01 4.44129146e-04 -1.74667228e+01] [ 7.74005462e-03 -6.22476094e-04 9.99969852e-01 3.25081221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.980714057 meters Centerline goodness [0,1] 0.9775435380384968 Centerline is valid? [True, True] Translation: X:413.60, Y:-17.47, Z:3.25 [[ 9.99682138e-01 -2.39497296e-02 -7.87614557e-03 4.13596066e+02] [ 2.39540297e-02 9.99712959e-01 4.52068161e-04 -1.74655262e+01] [ 7.86305788e-03 -6.40589890e-04 9.99968880e-01 3.25110063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01071405700003 meters Centerline goodness [0,1] 0.9755231945780098 Centerline is valid? [True, True] Translation: X:413.63, Y:-17.47, Z:3.25 [[ 9.99619138e-01 -2.64711418e-02 -7.80107718e-03 4.13625592e+02] [ 2.64754381e-02 9.99649364e-01 4.47951127e-04 -1.74725975e+01] [ 7.78648406e-03 -6.54317455e-04 9.99969471e-01 3.24949099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.040714057 meters Centerline goodness [0,1] 0.9748312129701925 Centerline is valid? [True, True] Translation: X:413.66, Y:-17.48, Z:3.25 [[ 9.99586395e-01 -2.76764959e-02 -7.81344433e-03 4.13657782e+02] [ 2.76808469e-02 9.99616711e-01 4.49251844e-04 -1.74752049e+01] [ 7.79801581e-03 -6.65348787e-04 9.99969374e-01 3.24894882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07071405700003 meters Centerline goodness [0,1] 0.9740916054972445 Centerline is valid? [True, True] Translation: X:413.69, Y:-17.48, Z:3.25 [[ 9.99494713e-01 -3.07648563e-02 -7.99011413e-03 4.13688368e+02] [ 3.07695000e-02 9.99526402e-01 4.58872186e-04 -1.74763108e+01] [ 7.97221289e-03 -7.04492140e-04 9.99967973e-01 3.24808418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.100714057 meters Centerline goodness [0,1] 0.9724821007845919 Centerline is valid? [True, True] Translation: X:413.72, Y:-17.48, Z:3.25 [[ 9.99449832e-01 -3.21648068e-02 -8.09065038e-03 4.13719869e+02] [ 3.21696181e-02 9.99482316e-01 4.65199010e-04 -1.74785518e+01] [ 8.07149894e-03 -7.25216205e-04 9.99967162e-01 3.24734486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.130714057 meters Centerline goodness [0,1] 0.964708842230456 Centerline is valid? [True, True] Translation: X:413.75, Y:-17.48, Z:3.25 [[ 9.99368769e-01 -3.46642845e-02 -7.77503177e-03 4.13749300e+02] [ 3.46688004e-02 9.99398757e-01 4.46757474e-04 -1.74837421e+01] [ 7.75487055e-03 -7.16026491e-04 9.99969674e-01 3.24615514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.160714057 meters Centerline goodness [0,1] 0.9604231260258982 Centerline is valid? [True, True] Translation: X:413.78, Y:-17.49, Z:3.25 [[ 9.99342696e-01 -3.53893835e-02 -7.85922789e-03 4.13781136e+02] [ 3.53940289e-02 9.99373333e-01 4.52728310e-04 -1.74867920e+01] [ 7.83828099e-03 -7.30600469e-04 9.99969013e-01 3.24588296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.190714057 meters Centerline goodness [0,1] 0.9717569636450883 Centerline is valid? [True, True] Translation: X:413.81, Y:-17.48, Z:3.25 [[ 9.99295795e-01 -3.67021009e-02 -7.80192659e-03 4.13812119e+02] [ 3.67067162e-02 9.99325980e-01 4.49139585e-04 -1.74830445e+01] [ 7.78018357e-03 -7.35206404e-04 9.99969464e-01 3.24631800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.220714057 meters Centerline goodness [0,1] 0.9697357886309047 Centerline is valid? [True, True] Translation: X:413.84, Y:-17.48, Z:3.25 [[ 9.99257372e-01 -3.78552662e-02 -7.18907418e-03 4.13843875e+02] [ 3.78592195e-02 9.99282997e-01 4.14559366e-04 -1.74849607e+01] [ 7.16822634e-03 -6.86424240e-04 9.99974072e-01 3.24584237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.250714057 meters Centerline goodness [0,1] 0.9722019520204324 Centerline is valid? [True, True] Translation: X:413.88, Y:-17.49, Z:3.25 [[ 9.99252980e-01 -3.80406778e-02 -6.81098989e-03 4.13876528e+02] [ 3.80442350e-02 9.99275979e-01 3.93426548e-04 -1.74850783e+01] [ 6.79109238e-03 -6.52251551e-04 9.99976728e-01 3.24612097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.280714057 meters Centerline goodness [0,1] 0.9658399945343992 Centerline is valid? [True, True] Translation: X:413.91, Y:-17.49, Z:3.25 [[ 9.99249343e-01 -3.83774801e-02 -5.28384090e-03 4.13907250e+02] [ 3.83796269e-02 9.99263184e-01 3.05475705e-04 -1.74897051e+01] [ 5.26822429e-03 -5.08038240e-04 9.99985994e-01 3.24563597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.310714057 meters Centerline goodness [0,1] 0.9721904587659516 Centerline is valid? [True, True] Translation: X:413.94, Y:-17.49, Z:3.25 [[ 9.99263354e-01 -3.80967065e-02 -4.62488529e-03 4.13939297e+02] [ 3.80983508e-02 9.99273958e-01 2.67920510e-04 -1.74876457e+01] [ 4.61132055e-03 -4.43923650e-04 9.99989269e-01 3.24598211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.340714057 meters Centerline goodness [0,1] 0.9704064817357869 Centerline is valid? [True, True] Translation: X:413.97, Y:-17.49, Z:3.25 [[ 9.99304544e-01 -3.70277624e-02 -4.40149588e-03 4.13969606e+02] [ 3.70292399e-02 9.99314150e-01 2.54633595e-04 -1.74886271e+01] [ 4.38904860e-03 -4.17440556e-04 9.99990281e-01 3.24561052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.370714057 meters Centerline goodness [0,1] 0.9718303407841701 Centerline is valid? [True, True] Translation: X:414.00, Y:-17.49, Z:3.25 [[ 9.99339102e-01 -3.60674757e-02 -4.52738687e-03 4.14001348e+02] [ 3.60690305e-02 9.99349266e-01 2.62228255e-04 -1.74868461e+01] [ 4.51498283e-03 -4.25353404e-04 9.99989717e-01 3.24542303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.400714057 meters Centerline goodness [0,1] 0.9698889194895804 Centerline is valid? [True, True] Translation: X:414.03, Y:-17.49, Z:3.24 [[ 9.99419207e-01 -3.38474731e-02 -3.94945512e-03 4.14031707e+02] [ 3.38486381e-02 9.99426945e-01 2.28491183e-04 -1.74865705e+01] [ 3.93945802e-03 -3.62042154e-04 9.99992175e-01 3.24476783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.430714057 meters Centerline goodness [0,1] 0.9593749283963064 Centerline is valid? [True, True] Translation: X:414.06, Y:-17.49, Z:3.24 [[ 9.99472743e-01 -3.22689888e-02 -3.59831207e-03 4.14061466e+02] [ 3.22699465e-02 9.99479168e-01 2.08388322e-04 -1.74927214e+01] [ 3.58971347e-03 -3.24395786e-04 9.99993504e-01 3.24352232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.460714057 meters Centerline goodness [0,1] 0.9713531504648227 Centerline is valid? [True, True] Translation: X:414.09, Y:-17.49, Z:3.24 [[ 9.99524714e-01 -3.06791690e-02 -3.02230029e-03 4.14093177e+02] [ 3.06798382e-02 9.99529248e-01 1.75310947e-04 -1.74854039e+01] [ 3.01549914e-03 -2.67951309e-04 9.99995417e-01 3.24433378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.490714057 meters Centerline goodness [0,1] 0.971055239324315 Centerline is valid? [True, True] Translation: X:414.12, Y:-17.48, Z:3.24 [[ 9.99607103e-01 -2.79536704e-02 -2.05720745e-03 4.14122819e+02] [ 2.79539741e-02 9.99609204e-01 1.19018699e-04 -1.74842794e+01] [ 2.05307650e-03 -1.76479060e-04 9.99997877e-01 3.24370127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.520714057 meters Centerline goodness [0,1] 0.9698482012892493 Centerline is valid? [True, True] Translation: X:414.15, Y:-17.48, Z:3.24 [[ 9.99650344e-01 -2.63900257e-02 -1.66028782e-03 4.14154858e+02] [ 2.63902224e-02 9.99651713e-01 9.66517136e-05 -1.74843191e+01] [ 1.65715892e-03 -1.40433283e-04 9.99998617e-01 3.24351477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.550714057 meters Centerline goodness [0,1] 0.9702093397745571 Centerline is valid? [True, True] Translation: X:414.19, Y:-17.48, Z:3.24 [[ 9.99734693e-01 -2.30332628e-02 -1.12189609e-04 4.14185944e+02] [ 2.30332637e-02 9.99734699e-01 6.54124833e-06 -1.74801796e+01] [ 1.12009179e-04 -9.12360575e-06 9.99999994e-01 3.24360379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.580714057 meters Centerline goodness [0,1] 0.9702778226830789 Centerline is valid? [True, True] Translation: X:414.22, Y:-17.48, Z:3.24 [[ 9.99765516e-01 -2.16456323e-02 6.15440328e-04 4.14217605e+02] [ 2.16456582e-02 9.99765705e-01 -3.53907509e-05 -1.74766407e+01] [-6.14530078e-04 4.87040633e-05 9.99999810e-01 3.24423727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.610714057 meters Centerline goodness [0,1] 0.9666256928821578 Centerline is valid? [True, True] Translation: X:414.25, Y:-17.48, Z:3.24 [[ 9.99818106e-01 -1.89870047e-02 1.80236742e-03 4.14247375e+02] [ 1.89872238e-02 9.99819721e-01 -1.04518509e-04 -1.74800741e+01] [-1.80005800e-03 1.38721451e-04 9.99998370e-01 3.24329457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.640714057 meters Centerline goodness [0,1] 0.9657573998839234 Centerline is valid? [True, True] Translation: X:414.28, Y:-17.48, Z:3.24 [[ 9.99835202e-01 -1.79841152e-02 2.47782379e-03 4.14277588e+02] [ 1.79845259e-02 9.99838255e-01 -1.43589378e-04 -1.74819391e+01] [-2.47484069e-03 1.88128201e-04 9.99996920e-01 3.24282426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.670714057 meters Centerline goodness [0,1] 0.9704422014499172 Centerline is valid? [True, True] Translation: X:414.31, Y:-17.47, Z:3.24 [[ 9.99843378e-01 -1.75045274e-02 2.60971594e-03 4.14310665e+02] [ 1.75049807e-02 9.99846765e-01 -1.50963875e-04 -1.74701497e+01] [-2.60667349e-03 1.96623258e-04 9.99996583e-01 3.24322510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.700714057 meters Centerline goodness [0,1] 0.9686287343961849 Centerline is valid? [True, True] Translation: X:414.34, Y:-17.47, Z:3.24 [[ 9.99850304e-01 -1.69614073e-02 3.41761839e-03 4.14342000e+02] [ 1.69621834e-02 9.99856112e-01 -1.98223474e-04 -1.74711120e+01] [-3.41376449e-03 2.56164071e-04 9.99994140e-01 3.24243253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.730714057 meters Centerline goodness [0,1] 0.969002947644224 Centerline is valid? [True, True] Translation: X:414.37, Y:-17.47, Z:3.24 [[ 9.99835549e-01 -1.76050383e-02 4.35175501e-03 4.14373796e+02] [ 1.76063043e-02 9.99844965e-01 -2.52760044e-04 -1.74718699e+01] [-4.34663049e-03 3.29336800e-04 9.99990499e-01 3.24147813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76071405700003 meters Centerline goodness [0,1] 0.9649471518099336 Centerline is valid? [True, True] Translation: X:414.40, Y:-17.48, Z:3.24 [[ 9.99827921e-01 -1.80859111e-02 4.12659774e-03 4.14404228e+02] [ 1.80870529e-02 9.99836387e-01 -2.39552264e-04 -1.74831263e+01] [-4.12159005e-03 3.14149033e-04 9.99991457e-01 3.24049259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.790714057 meters Centerline goodness [0,1] 0.9682254336609624 Centerline is valid? [True, True] Translation: X:414.44, Y:-17.48, Z:3.24 [[ 9.99822726e-01 -1.83159395e-02 4.36382164e-03 4.14437031e+02] [ 1.83172224e-02 9.99832193e-01 -2.54203998e-04 -1.74791183e+01] [-4.35843338e-03 3.34092026e-04 9.99990446e-01 3.23983607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82071405700003 meters Centerline goodness [0,1] 0.9637427718709196 Centerline is valid? [True, True] Translation: X:414.47, Y:-17.49, Z:3.24 [[ 9.99825894e-01 -1.81786424e-02 4.20929115e-03 4.14468803e+02] [ 1.81798358e-02 9.99834703e-01 -2.45406173e-04 -1.74895780e+01] [-4.20413422e-03 3.21887668e-04 9.99991111e-01 3.23834636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.850714057 meters Centerline goodness [0,1] 0.9708104075352046 Centerline is valid? [True, True] Translation: X:414.50, Y:-17.48, Z:3.24 [[ 9.99847061e-01 -1.69065098e-02 4.47477979e-03 4.14500523e+02] [ 1.69078486e-02 9.99857018e-01 -2.61529833e-04 -1.74793907e+01] [-4.46971842e-03 3.37148734e-04 9.99989954e-01 3.23877809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.880714057 meters Centerline goodness [0,1] 0.9712552496500233 Centerline is valid? [True, True] Translation: X:414.53, Y:-17.48, Z:3.24 [[ 9.99863471e-01 -1.59282987e-02 4.39646595e-03 4.14533236e+02] [ 1.59295807e-02 9.99873083e-01 -2.56734212e-04 -1.74808961e+01] [-4.39181863e-03 3.26733019e-04 9.99990303e-01 3.23837114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.910714057 meters Centerline goodness [0,1] 0.9709618028851756 Centerline is valid? [True, True] Translation: X:414.57, Y:-17.48, Z:3.24 [[ 9.99878172e-01 -1.49140374e-02 4.60575115e-03 4.14565794e+02] [ 1.49154373e-02 9.99888722e-01 -2.69756336e-04 -1.74833061e+01] [-4.60121547e-03 3.38420264e-04 9.99989357e-01 3.23817374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.940714057 meters Centerline goodness [0,1] 0.9705511737527419 Centerline is valid? [True, True] Translation: X:414.60, Y:-17.49, Z:3.24 [[ 9.99898534e-01 -1.29413506e-02 5.95339648e-03 4.14596577e+02] [ 1.29436601e-02 9.99916166e-01 -3.49565367e-04 -1.74860429e+01] [-5.94837353e-03 4.26588638e-04 9.99982217e-01 3.23872796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.970714057 meters Centerline goodness [0,1] 0.9719654457820104 Centerline is valid? [True, True] Translation: X:414.63, Y:-17.48, Z:3.24 [[ 9.99910806e-01 -1.17289367e-02 6.38841716e-03 4.14628639e+02] [ 1.17315726e-02 9.99931112e-01 -3.75284209e-04 -1.74846898e+01] [-6.38357539e-03 4.50196915e-04 9.99979523e-01 3.23882497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.000714057 meters Centerline goodness [0,1] 0.969493109086662 Centerline is valid? [True, True] Translation: X:414.66, Y:-17.49, Z:3.24 [[ 9.99930828e-01 -9.33712438e-03 7.15248996e-03 4.14658067e+02] [ 9.34037245e-03 9.99956289e-01 -4.20847075e-04 -1.74921015e+01] [-7.14824781e-03 4.87624884e-04 9.99974332e-01 3.23862434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.030714057 meters Centerline goodness [0,1] 0.9721019048949746 Centerline is valid? [True, True] Translation: X:414.69, Y:-17.49, Z:3.24 [[ 9.99948903e-01 -7.47307878e-03 6.80761332e-03 4.14690136e+02] [ 7.47597758e-03 9.99971974e-01 -4.00469959e-04 -1.74884768e+01] [-6.80442979e-03 4.51343061e-04 9.99976748e-01 3.23845816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.060714057 meters Centerline goodness [0,1] 0.9712558139534884 Centerline is valid? [True, True] Translation: X:414.72, Y:-17.49, Z:3.24 [[ 9.99963546e-01 -5.54786084e-03 6.49056328e-03 4.14720844e+02] [ 5.55045791e-03 9.99984523e-01 -3.82184131e-04 -1.74916154e+01] [-6.48834252e-03 4.18195798e-04 9.99978863e-01 3.23796192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.090714057 meters Centerline goodness [0,1] 0.9734317515018861 Centerline is valid? [True, True] Translation: X:414.75, Y:-17.49, Z:3.24 [[ 9.99976634e-01 -2.26787509e-03 6.44887890e-03 4.14751600e+02] [ 2.27037265e-03 9.99997351e-01 -3.79991373e-04 -1.74907066e+01] [-6.44800004e-03 3.94623852e-04 9.99979134e-01 3.23771517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.120714057 meters Centerline goodness [0,1] 0.9717900416288751 Centerline is valid? [True, True] Translation: X:414.78, Y:-17.49, Z:3.24 [[ 9.99980265e-01 -5.53329460e-04 6.25804303e-03 4.14781680e+02] [ 5.55647440e-04 9.99999778e-01 -3.68667470e-04 -1.74935936e+01] [-6.25783764e-03 3.72137460e-04 9.99980350e-01 3.23706950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.150714057 meters Centerline goodness [0,1] 0.9734503005407412 Centerline is valid? [True, True] Translation: X:414.81, Y:-17.49, Z:3.24 [[ 9.99984076e-01 2.28324777e-03 5.16095439e-03 4.14813099e+02] [-2.28170573e-03 9.99997350e-01 -3.04656870e-04 -1.74945675e+01] [-5.16163633e-03 2.92876239e-04 9.99986636e-01 3.23615912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.180714057 meters Centerline goodness [0,1] 0.9757330166049512 Centerline is valid? [True, True] Translation: X:414.84, Y:-17.50, Z:3.24 [[ 9.99981254e-01 3.83090704e-03 4.77657095e-03 4.14844457e+02] [-3.82960306e-03 9.99992627e-01 -2.82112234e-04 -1.74953780e+01] [-4.77761648e-03 2.63814575e-04 9.99988552e-01 3.23568140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.210714057 meters Centerline goodness [0,1] 0.9753143705628509 Centerline is valid? [True, True] Translation: X:414.87, Y:-17.50, Z:3.24 [[ 9.99968245e-01 6.89313561e-03 3.99919854e-03 4.14874331e+02] [-6.89224492e-03 9.99976220e-01 -2.36455409e-04 -1.74994603e+01] [-4.00073335e-03 2.08884444e-04 9.99991975e-01 3.23519338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.240714057 meters Centerline goodness [0,1] 0.9755870511298843 Centerline is valid? [True, True] Translation: X:414.90, Y:-17.50, Z:3.24 [[ 9.99961258e-01 7.84850844e-03 3.98529536e-03 4.14903569e+02] [-7.84763088e-03 9.99969179e-01 -2.35790426e-04 -1.75010333e+01] [-3.98702314e-03 2.04506164e-04 9.99992031e-01 3.23523637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.270714057 meters Centerline goodness [0,1] 0.9753940435014741 Centerline is valid? [True, True] Translation: X:414.93, Y:-17.50, Z:3.24 [[ 9.99955244e-01 8.69633265e-03 3.72613109e-03 4.14931982e+02] [-8.69557119e-03 9.99962168e-01 -2.20508984e-04 -1.75034561e+01] [-3.72790774e-03 1.88098277e-04 9.99993034e-01 3.23515213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.300714057 meters Centerline goodness [0,1] 0.9759587466028664 Centerline is valid? [True, True] Translation: X:414.96, Y:-17.51, Z:3.23 [[ 9.99940012e-01 1.04431540e-02 3.30352309e-03 4.14960476e+02] [-1.04425659e-02 9.99945456e-01 -1.95237467e-04 -1.75078735e+01] [-3.30538179e-03 1.60728498e-04 9.99994524e-01 3.23453020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.330714057 meters Centerline goodness [0,1] 0.9752974950224568 Centerline is valid? [True, True] Translation: X:414.99, Y:-17.51, Z:3.23 [[ 9.99934177e-01 1.09905814e-02 3.29382571e-03 4.14988393e+02] [-1.09899997e-02 9.99939589e-01 -1.94665606e-04 -1.75128964e+01] [-3.29576621e-03 1.58453649e-04 9.99994556e-01 3.23388182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.360714057 meters Centerline goodness [0,1] 0.9768422027696726 Centerline is valid? [True, True] Translation: X:415.02, Y:-17.51, Z:3.23 [[ 9.99931459e-01 1.14339789e-02 2.51823143e-03 4.15017834e+02] [-1.14336409e-02 9.99934623e-01 -1.48587567e-04 -1.75117917e+01] [-2.51976574e-03 1.19784829e-04 9.99996818e-01 3.23406474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.390714057 meters Centerline goodness [0,1] 0.9767657132278071 Centerline is valid? [True, True] Translation: X:415.04, Y:-17.52, Z:3.23 [[ 9.99934490e-01 1.11133303e-02 2.74035023e-03 4.15044947e+02] [-1.11129287e-02 9.99938236e-01 -1.61752134e-04 -1.75169880e+01] [-2.74197858e-03 1.31288221e-04 9.99996232e-01 3.23358511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.420714057 meters Centerline goodness [0,1] 0.9776203769928247 Centerline is valid? [True, True] Translation: X:415.07, Y:-17.52, Z:3.23 [[ 9.99934348e-01 1.10667157e-02 2.97100936e-03 4.15074190e+02] [-1.10662449e-02 9.99938752e-01 -1.74868064e-04 -1.75177893e+01] [-2.97276261e-03 1.41978667e-04 9.99995571e-01 3.23424504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.450714057 meters Centerline goodness [0,1] 0.9748388581952118 Centerline is valid? [True, True] Translation: X:415.10, Y:-17.53, Z:3.23 [[ 9.99952520e-01 9.32148461e-03 2.84030220e-03 4.15101726e+02] [-9.32104852e-03 9.99956544e-01 -1.66732811e-04 -1.75313234e+01] [-2.84173297e-03 1.40250300e-04 9.99995952e-01 3.23335562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.480714057 meters Centerline goodness [0,1] 0.9782023867006967 Centerline is valid? [True, True] Translation: X:415.13, Y:-17.53, Z:3.23 [[ 9.99979499e-01 5.89786491e-03 2.49348607e-03 4.15132246e+02] [-5.89751868e-03 9.99982599e-01 -1.46184093e-04 -1.75300084e+01] [-2.49430485e-03 1.31475715e-04 9.99996881e-01 3.23343420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51071405700003 meters Centerline goodness [0,1] 0.9744800862128264 Centerline is valid? [True, True] Translation: X:415.16, Y:-17.54, Z:3.23 [[ 9.99991241e-01 3.43895721e-03 2.38562510e-03 4.15160563e+02] [-3.43863279e-03 9.99994078e-01 -1.40077373e-04 -1.75443234e+01] [-2.38609269e-03 1.31872858e-04 9.99997145e-01 3.23160743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.540714057 meters Centerline goodness [0,1] 0.9743624897175761 Centerline is valid? [True, True] Translation: X:415.19, Y:-17.55, Z:3.23 [[ 9.99997556e-01 5.30856196e-04 2.14597949e-03 4.15190945e+02] [-5.30587592e-04 9.99999851e-01 -1.25733357e-04 -1.75509805e+01] [-2.14604592e-03 1.24594420e-04 9.99997689e-01 3.23095530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57071405700003 meters Centerline goodness [0,1] 0.9764571428571429 Centerline is valid? [True, True] Translation: X:415.22, Y:-17.56, Z:3.23 [[ 9.99982826e-01 -5.66653198e-03 1.49579470e-03 4.15221864e+02] [ 5.66666909e-03 9.99983940e-01 -8.74431598e-05 -1.75550777e+01] [-1.49527517e-03 9.59178316e-05 9.99998877e-01 3.23072432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.600714057 meters Centerline goodness [0,1] 0.9765018994108414 Centerline is valid? [True, True] Translation: X:415.25, Y:-17.56, Z:3.23 [[ 9.99935782e-01 -1.12765940e-02 1.12708730e-03 4.15252314e+02] [ 1.12766755e-02 9.99936414e-01 -6.59934614e-05 -1.75617650e+01] [-1.12627145e-03 7.86990212e-05 9.99999363e-01 3.23127460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.630714057 meters Centerline goodness [0,1] 0.9760608123439982 Centerline is valid? [True, True] Translation: X:415.28, Y:-17.57, Z:3.23 [[ 9.99907507e-01 -1.35602867e-02 1.04726318e-03 4.15282419e+02] [ 1.35603580e-02 9.99908052e-01 -6.10762391e-05 -1.75695097e+01] [-1.04633868e-03 7.52718537e-05 9.99999450e-01 3.23092193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.660714057 meters Centerline goodness [0,1] 0.9751395000680488 Centerline is valid? [True, True] Translation: X:415.31, Y:-17.57, Z:3.23 [[ 9.99878035e-01 -1.56117081e-02 4.36133332e-04 4.15313041e+02] [ 1.56117207e-02 9.99878129e-01 -2.54503317e-05 -1.75735339e+01] [-4.35682857e-04 3.22560194e-05 9.99999905e-01 3.23095207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.690714057 meters Centerline goodness [0,1] 0.9746958527429787 Centerline is valid? [True, True] Translation: X:415.34, Y:-17.58, Z:3.23 [[ 9.99838270e-01 -1.79799957e-02 3.91410614e-04 4.15342340e+02] [ 1.79800060e-02 9.99838346e-01 -2.29721535e-05 -1.75826633e+01] [-3.90934302e-04 3.00060034e-05 9.99999923e-01 3.23029271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.720714057 meters Centerline goodness [0,1] 0.9746958527429787 Centerline is valid? [True, True] Translation: X:415.37, Y:-17.58, Z:3.23 [[ 9.99840131e-01 -1.78761965e-02 3.91459301e-04 4.15374917e+02] [ 1.78762066e-02 9.99840208e-01 -2.21433442e-05 -1.75846716e+01] [-3.91000910e-04 2.91376115e-05 9.99999923e-01 3.23001889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.750714057 meters Centerline goodness [0,1] 0.9749209218255761 Centerline is valid? [True, True] Translation: X:415.41, Y:-17.59, Z:3.23 [[ 9.99836392e-01 -1.80857395e-02 3.09995669e-04 4.15406881e+02] [ 1.80857459e-02 9.99836439e-01 -1.76680729e-05 -1.75888033e+01] [-3.09625425e-04 2.32716851e-05 9.99999952e-01 3.22937891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.780714057 meters Centerline goodness [0,1] 0.9768983618427007 Centerline is valid? [True, True] Translation: X:415.44, Y:-17.59, Z:3.23 [[ 9.99852203e-01 -1.71918189e-02 -1.14954220e-04 4.15438954e+02] [ 1.71918199e-02 9.99852210e-01 7.37301860e-06 -1.75883838e+01] [ 1.14810475e-04 -9.34820114e-06 9.99999993e-01 3.22935287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.810714057 meters Centerline goodness [0,1] 0.9774512459371615 Centerline is valid? [True, True] Translation: X:415.47, Y:-17.59, Z:3.23 [[ 9.99872807e-01 -1.59477232e-02 -1.99977713e-04 4.15470805e+02] [ 1.59477259e-02 9.99872827e-01 1.22420609e-05 -1.75914729e+01] [ 1.99757048e-04 -1.54296935e-05 9.99999980e-01 3.22909900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.840714057 meters Centerline goodness [0,1] 0.9776676056338028 Centerline is valid? [True, True] Translation: X:415.50, Y:-17.59, Z:3.23 [[ 9.99907997e-01 -1.35606013e-02 -3.27901197e-04 4.15500774e+02] [ 1.35606084e-02 9.99908051e-01 1.93424661e-05 -1.75940344e+01] [ 3.27608751e-04 -2.37872263e-05 9.99999946e-01 3.22961267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.870714057 meters Centerline goodness [0,1] 0.9782996097538968 Centerline is valid? [True, True] Translation: X:415.53, Y:-17.60, Z:3.23 [[ 9.99923091e-01 -1.24012532e-02 1.46021039e-04 4.15531757e+02] [ 1.24012546e-02 9.99923101e-01 -8.32468675e-06 -1.75955637e+01] [-1.45906573e-04 1.01348906e-05 9.99999989e-01 3.23001090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.900714057 meters Centerline goodness [0,1] 0.9790731762318187 Centerline is valid? [True, True] Translation: X:415.56, Y:-17.60, Z:3.23 [[ 9.99947075e-01 -1.02238110e-02 1.14942630e-03 4.15563125e+02] [ 1.02238954e-02 9.99947732e-01 -6.75879518e-05 -1.75954261e+01] [-1.14867522e-03 7.93359889e-05 9.99999337e-01 3.23133187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.930714057 meters Centerline goodness [0,1] 0.9777732738819078 Centerline is valid? [True, True] Translation: X:415.59, Y:-17.60, Z:3.23 [[ 9.99955495e-01 -9.06448170e-03 2.61590130e-03 4.15593677e+02] [ 9.06491619e-03 9.99958901e-01 -1.54288910e-04 -1.76029006e+01] [-2.61439524e-03 1.77994970e-04 9.99996567e-01 3.23134766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.960714057 meters Centerline goodness [0,1] 0.9792718096611391 Centerline is valid? [True, True] Translation: X:415.63, Y:-17.60, Z:3.23 [[ 9.99963012e-01 -8.14313027e-03 2.76856923e-03 4.15626099e+02] [ 8.14361321e-03 9.99966827e-01 -1.63206632e-04 -1.76000563e+01] [-2.76714837e-03 1.85746752e-04 9.99996154e-01 3.23209873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.990714057 meters Centerline goodness [0,1] 0.9801826175177545 Centerline is valid? [True, True] Translation: X:415.66, Y:-17.60, Z:3.23 [[ 9.99970159e-01 -7.21210244e-03 2.76896729e-03 4.15658547e+02] [ 7.21258251e-03 9.99973976e-01 -1.63425869e-04 -1.76020123e+01] [-2.76771659e-03 1.83392398e-04 9.99996153e-01 3.23220109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.020714057 meters Centerline goodness [0,1] 0.9806960243270638 Centerline is valid? [True, True] Translation: X:415.69, Y:-17.60, Z:3.23 [[ 9.99975794e-01 -6.61797011e-03 2.14786604e-03 4.15690475e+02] [ 6.61825764e-03 9.99978091e-01 -1.26787306e-04 -1.76043418e+01] [-2.14697991e-03 1.40999368e-04 9.99997685e-01 3.23153550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.050714057 meters Centerline goodness [0,1] 0.9813877073346386 Centerline is valid? [True, True] Translation: X:415.72, Y:-17.61, Z:3.23 [[ 9.99980278e-01 -6.26413645e-03 4.51540407e-04 4.15722067e+02] [ 6.26414892e-03 9.99980380e-01 -2.62092620e-05 -1.76075482e+01] [-4.51367369e-04 2.90372615e-05 9.99999898e-01 3.23076074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.080714057 meters Centerline goodness [0,1] 0.9810270112490738 Centerline is valid? [True, True] Translation: X:415.75, Y:-17.61, Z:3.23 [[ 9.99982741e-01 -5.86969917e-03 2.54961565e-04 4.15753796e+02] [ 5.86970307e-03 9.99982773e-01 -1.45575645e-05 -1.76111612e+01] [-2.54871724e-04 1.60538619e-05 9.99999967e-01 3.22977693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.110714057 meters Centerline goodness [0,1] 0.9817007292698299 Centerline is valid? [True, True] Translation: X:415.79, Y:-17.61, Z:3.23 [[ 9.99983095e-01 -5.81314275e-03 -1.29775721e-04 4.15786310e+02] [ 5.81314388e-03 9.99983104e-01 8.33437151e-06 -1.76125507e+01] [ 1.29725080e-04 -9.08863556e-06 9.99999992e-01 3.22952375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.140714057 meters Centerline goodness [0,1] 0.981736392262708 Centerline is valid? [True, True] Translation: X:415.82, Y:-17.62, Z:3.23 [[ 9.99985812e-01 -5.31842217e-03 3.00575635e-04 4.15817073e+02] [ 5.31842766e-03 9.99985857e-01 -1.74545717e-05 -1.76183020e+01] [-3.00478553e-04 1.90529138e-05 9.99999955e-01 3.22971766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.170714057 meters Centerline goodness [0,1] 0.9817287263781729 Centerline is valid? [True, True] Translation: X:415.85, Y:-17.62, Z:3.23 [[ 9.99986620e-01 -5.09375790e-03 9.01432388e-04 4.15848851e+02] [ 5.09380811e-03 9.99987025e-01 -5.34177742e-05 -1.76207788e+01] [-9.01148595e-04 5.80087831e-05 9.99999592e-01 3.22989131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.200714057 meters Centerline goodness [0,1] 0.9819097727527146 Centerline is valid? [True, True] Translation: X:415.88, Y:-17.62, Z:3.23 [[ 9.99987276e-01 -4.99499310e-03 7.05096441e-04 4.15880751e+02] [ 4.99502358e-03 9.99987524e-01 -4.14777627e-05 -1.76218171e+01] [-7.04880463e-04 4.49992083e-05 9.99999751e-01 3.22973736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.230714057 meters Centerline goodness [0,1] 0.9812925170068028 Centerline is valid? [True, True] Translation: X:415.91, Y:-17.63, Z:3.23 [[ 9.99989675e-01 -4.52309697e-03 4.38395690e-04 4.15912450e+02] [ 4.52310868e-03 9.99989770e-01 -2.57388952e-05 -1.76257188e+01] [-4.38274786e-04 2.77215408e-05 9.99999904e-01 3.22883756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26071405700003 meters Centerline goodness [0,1] 0.9818471123462047 Centerline is valid? [True, True] Translation: X:415.94, Y:-17.63, Z:3.23 [[ 9.99990655e-01 -4.32200126e-03 1.03997183e-04 4.15943782e+02] [ 4.32200188e-03 9.99990660e-01 -5.76740981e-06 -1.76306594e+01] [-1.03971285e-04 6.21683193e-06 9.99999995e-01 3.22806758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.290714057 meters Centerline goodness [0,1] 0.9813088291188767 Centerline is valid? [True, True] Translation: X:415.97, Y:-17.63, Z:3.23 [[ 9.99990023e-01 -4.44607064e-03 -4.30967324e-04 4.15974892e+02] [ 4.44608229e-03 9.99990116e-01 2.60817829e-05 -1.76341802e+01] [ 4.30847103e-04 -2.79976389e-05 9.99999907e-01 3.22752212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32071405700003 meters Centerline goodness [0,1] 0.9816534287951673 Centerline is valid? [True, True] Translation: X:416.01, Y:-17.64, Z:3.23 [[ 9.99988586e-01 -4.67215421e-03 -9.99273593e-04 4.16005951e+02] [ 4.67221661e-03 9.99989083e-01 6.01201599e-05 -1.76370447e+01] [ 9.98981794e-04 -6.47882963e-05 9.99999499e-01 3.22700682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.350714057 meters Centerline goodness [0,1] 0.981948814066091 Centerline is valid? [True, True] Translation: X:416.04, Y:-17.64, Z:3.23 [[ 9.99987026e-01 -4.89540533e-03 -1.40797195e-03 4.16036962e+02] [ 4.89553034e-03 9.99988013e-01 8.53560894e-05 -1.76411245e+01] [ 1.40753722e-03 -9.22477514e-05 9.99999005e-01 3.22617265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.380714057 meters Centerline goodness [0,1] 0.9814711338593236 Centerline is valid? [True, True] Translation: X:416.07, Y:-17.64, Z:3.23 [[ 9.99984072e-01 -5.28395052e-03 -1.98364416e-03 4.16068322e+02] [ 5.28419795e-03 9.99986031e-01 1.19511468e-04 -1.76449223e+01] [ 1.98298496e-03 -1.29991533e-04 9.99998025e-01 3.22515975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.410714057 meters Centerline goodness [0,1] 0.9809545098915837 Centerline is valid? [True, True] Translation: X:416.10, Y:-17.65, Z:3.22 [[ 9.99985287e-01 -5.12784360e-03 -1.76971508e-03 4.16098857e+02] [ 5.12804066e-03 9.99986846e-01 1.06828070e-04 -1.76474025e+01] [ 1.76914400e-03 -1.15901669e-04 9.99998428e-01 3.22427286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.440714057 meters Centerline goodness [0,1] 0.9824695293034948 Centerline is valid? [True, True] Translation: X:416.13, Y:-17.64, Z:3.22 [[ 9.99987480e-01 -4.21338086e-03 -2.69938659e-03 4.16130610e+02] [ 4.21383504e-03 9.99991109e-01 1.62588966e-04 -1.76440982e+01] [ 2.69867754e-03 -1.73961700e-04 9.99996343e-01 3.22452165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.470714057 meters Centerline goodness [0,1] 0.9828243418987399 Centerline is valid? [True, True] Translation: X:416.16, Y:-17.64, Z:3.22 [[ 9.99990375e-01 -3.82167199e-03 -2.15500506e-03 4.16161720e+02] [ 3.82196045e-03 9.99992688e-01 1.29752162e-04 -1.76436828e+01] [ 2.15449343e-03 -1.37987257e-04 9.99997670e-01 3.22426256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.500714057 meters Centerline goodness [0,1] 0.9831849875568908 Centerline is valid? [True, True] Translation: X:416.19, Y:-17.64, Z:3.22 [[ 9.99991405e-01 -3.51876359e-03 -2.19262814e-03 4.16192178e+02] [ 3.51906115e-03 9.99993799e-01 1.31867892e-04 -1.76447182e+01] [ 2.19215054e-03 -1.39582751e-04 9.99997587e-01 3.22386157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.530714057 meters Centerline goodness [0,1] 0.9835984983911333 Centerline is valid? [True, True] Translation: X:416.22, Y:-17.64, Z:3.22 [[ 9.99994001e-01 -3.02287153e-03 -1.69118084e-03 4.16222947e+02] [ 3.02304785e-03 9.99995425e-01 1.01710111e-04 -1.76443392e+01] [ 1.69086564e-03 -1.06822021e-04 9.99998565e-01 3.22358037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.560714057 meters Centerline goodness [0,1] 0.983023860782203 Centerline is valid? [True, True] Translation: X:416.25, Y:-17.65, Z:3.22 [[ 9.99994082e-01 -3.20202120e-03 -1.25784796e-03 4.16253388e+02] [ 3.20211909e-03 9.99994870e-01 7.58162971e-05 -1.76471938e+01] [ 1.25759874e-03 -7.98436274e-05 9.99999206e-01 3.22277715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.590714057 meters Centerline goodness [0,1] 0.9820659005207398 Centerline is valid? [True, True] Translation: X:416.28, Y:-17.65, Z:3.22 [[ 9.99989374e-01 -4.50940609e-03 -9.57621171e-04 4.16283153e+02] [ 4.50946408e-03 9.99989831e-01 5.84102409e-05 -1.76494495e+01] [ 9.57348037e-04 -6.27279785e-05 9.99999540e-01 3.22248333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.620714057 meters Centerline goodness [0,1] 0.9820852740953063 Centerline is valid? [True, True] Translation: X:416.31, Y:-17.65, Z:3.22 [[ 9.99983540e-01 -5.72786440e-03 -3.34024996e-04 4.16313704e+02] [ 5.72787154e-03 9.99983595e-01 2.04216602e-05 -1.76535122e+01] [ 3.33902544e-04 -2.23345763e-05 9.99999944e-01 3.22190948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.650714057 meters Centerline goodness [0,1] 0.9810539579676882 Centerline is valid? [True, True] Translation: X:416.34, Y:-17.66, Z:3.22 [[ 9.99951347e-01 -9.85996553e-03 -2.90799132e-04 4.16343355e+02] [ 9.85997107e-03 9.99951389e-01 1.76200002e-05 -1.76579799e+01] [ 2.90611264e-04 -2.04864140e-05 9.99999958e-01 3.22112540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.680714057 meters Centerline goodness [0,1] 0.9810857670396974 Centerline is valid? [True, True] Translation: X:416.37, Y:-17.66, Z:3.22 [[ 9.99930525e-01 -1.17838316e-02 -2.93408264e-04 4.16374528e+02] [ 1.17838374e-02 9.99930568e-01 1.78364260e-05 -1.76581094e+01] [ 2.93177710e-04 -2.12926621e-05 9.99999957e-01 3.22121842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.710714057 meters Centerline goodness [0,1] 0.979905490549055 Centerline is valid? [True, True] Translation: X:416.40, Y:-17.66, Z:3.22 [[ 9.99901042e-01 -1.40585930e-02 -5.12612669e-04 4.16403982e+02] [ 1.40586107e-02 9.99901172e-01 3.09138330e-05 -1.76628245e+01] [ 5.12127404e-04 -3.81173957e-05 9.99999868e-01 3.22022635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.740714057 meters Centerline goodness [0,1] 0.9787690570299266 Centerline is valid? [True, True] Translation: X:416.43, Y:-17.67, Z:3.22 [[ 9.99848391e-01 -1.73839919e-02 -9.95456777e-04 4.16434402e+02] [ 1.73840603e-02 9.99848884e-01 6.00624024e-05 -1.76664664e+01] [ 9.94262223e-04 -7.73583770e-05 9.99999503e-01 3.21954627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.770714057 meters Centerline goodness [0,1] 0.9771828961552281 Centerline is valid? [True, True] Translation: X:416.46, Y:-17.67, Z:3.22 [[ 9.99819658e-01 -1.89373551e-02 -1.42427128e-03 4.16464180e+02] [ 1.89374965e-02 9.99820666e-01 8.58972531e-05 -1.76691221e+01] [ 1.42238920e-03 -1.12853895e-04 9.99998982e-01 3.21874835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.800714057 meters Centerline goodness [0,1] 0.9811687577709958 Centerline is valid? [True, True] Translation: X:416.50, Y:-17.66, Z:3.22 [[ 9.99782167e-01 -2.07515930e-02 -2.23377326e-03 4.16496004e+02] [ 2.07519463e-02 9.99784646e-01 1.35091379e-04 -1.76600426e+01] [ 2.23048885e-03 -1.81417095e-04 9.99997496e-01 3.21913809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.830714057 meters Centerline goodness [0,1] 0.968866128886069 Centerline is valid? [True, True] Translation: X:416.53, Y:-17.67, Z:3.22 [[ 9.99767493e-01 -2.13549331e-02 -2.98780514e-03 4.16526621e+02] [ 2.13555684e-02 9.99771927e-01 1.80896732e-04 -1.76727058e+01] [ 2.98326066e-03 -2.44660950e-04 9.99995520e-01 3.21682822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.860714057 meters Centerline goodness [0,1] 0.9785844986107032 Centerline is valid? [True, True] Translation: X:416.56, Y:-17.66, Z:3.22 [[ 9.99778219e-01 -2.09593434e-02 -2.05401278e-03 4.16559548e+02] [ 2.09596437e-02 9.99780315e-01 1.24788550e-04 -1.76619190e+01] [ 2.05094605e-03 -1.67812250e-04 9.99997883e-01 3.21752525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.890714057 meters Centerline goodness [0,1] 0.9793313346052512 Centerline is valid? [True, True] Translation: X:416.59, Y:-17.66, Z:3.22 [[ 9.99784118e-01 -2.06793908e-02 -2.01979431e-03 4.16591647e+02] [ 2.06796809e-02 9.99786145e-01 1.22864950e-04 -1.76613383e+01] [ 2.01682159e-03 -1.64607128e-04 9.99997953e-01 3.21728846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.920714057 meters Centerline goodness [0,1] 0.9789244680127813 Centerline is valid? [True, True] Translation: X:416.62, Y:-17.66, Z:3.22 [[ 9.99835065e-01 -1.80503031e-02 -2.00750862e-03 4.16621394e+02] [ 1.80505833e-02 9.99837068e-01 1.21530795e-04 -1.76605520e+01] [ 2.00498786e-03 -1.57747452e-04 9.99997978e-01 3.21706721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.950714057 meters Centerline goodness [0,1] 0.978118809626813 Centerline is valid? [True, True] Translation: X:416.65, Y:-17.65, Z:3.22 [[ 9.99891343e-01 -1.46962317e-02 -1.15013508e-03 4.16652394e+02] [ 1.46963216e-02 9.99892001e-01 6.96764214e-05 -1.76543217e+01] [ 1.14898689e-03 -8.65716056e-05 9.99999336e-01 3.21785400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.980714057 meters Centerline goodness [0,1] 0.9780821917808219 Centerline is valid? [True, True] Translation: X:416.68, Y:-17.65, Z:3.22 [[ 9.99915241e-01 -1.30091824e-02 -5.21673132e-04 4.16684570e+02] [ 1.30092009e-02 9.99915376e-01 3.21402896e-05 -1.76534595e+01] [ 5.21210867e-04 -3.89241160e-05 9.99999863e-01 3.21803312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01071405700003 meters Centerline goodness [0,1] 0.9777787896726015 Centerline is valid? [True, True] Translation: X:416.71, Y:-17.66, Z:3.22 [[ 9.99930660e-01 -1.17721515e-02 3.04103073e-04 4.16714722e+02] [ 1.17721576e-02 9.99930706e-01 -1.82928494e-05 -1.76565807e+01] [-3.03866654e-04 2.18715303e-05 9.99999954e-01 3.21792483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.040714057 meters Centerline goodness [0,1] 0.977572408099617 Centerline is valid? [True, True] Translation: X:416.75, Y:-17.65, Z:3.22 [[ 9.99944159e-01 -1.04596567e-02 1.50812321e-03 4.16746839e+02] [ 1.04598059e-02 9.99945291e-01 -9.10779056e-05 -1.76532386e+01] [-1.50708806e-03 1.06847496e-04 9.99998859e-01 3.21900601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07071405700003 meters Centerline goodness [0,1] 0.9779137168648475 Centerline is valid? [True, True] Translation: X:416.78, Y:-17.65, Z:3.22 [[ 9.99947127e-01 -1.01249382e-02 1.79669052e-03 4.16779339e+02] [ 1.01251495e-02 9.99948733e-01 -1.08557344e-04 -1.76507900e+01] [-1.79549928e-03 1.26743365e-04 9.99998380e-01 3.21925588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.100714057 meters Centerline goodness [0,1] 0.9795659786214522 Centerline is valid? [True, True] Translation: X:416.81, Y:-17.65, Z:3.22 [[ 9.99941232e-01 -1.05858703e-02 2.33913770e-03 4.16811361e+02] [ 1.05862307e-02 9.99943954e-01 -1.41762264e-04 -1.76463395e+01] [-2.33750592e-03 1.66516584e-04 9.99997254e-01 3.21903885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.130714057 meters Centerline goodness [0,1] 0.9761462418862819 Centerline is valid? [True, True] Translation: X:416.84, Y:-17.66, Z:3.22 [[ 9.99934671e-01 -1.11730687e-02 2.41158366e-03 4.16842037e+02] [ 1.11734539e-02 9.99937564e-01 -1.46298696e-04 -1.76565075e+01] [-2.40979849e-03 1.73234857e-04 9.99997081e-01 3.21752999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.160714057 meters Centerline goodness [0,1] 0.9766582781151155 Centerline is valid? [True, True] Translation: X:416.87, Y:-17.65, Z:3.22 [[ 9.99915689e-01 -1.29633384e-02 7.52987134e-04 4.16872911e+02] [ 1.29633765e-02 9.99915971e-01 -4.56869308e-05 -1.76533971e+01] [-7.52331606e-04 5.54443346e-05 9.99999715e-01 3.21575106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.190714057 meters Centerline goodness [0,1] 0.9775852933723421 Centerline is valid? [True, True] Translation: X:416.91, Y:-17.65, Z:3.22 [[ 9.99908671e-01 -1.35148111e-02 -1.00221299e-05 4.16905123e+02] [ 1.35148111e-02 9.99908671e-01 1.21278664e-06 -1.76500717e+01] [ 1.00048240e-05 -1.34812307e-06 1.00000000e+00 3.21537056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.220714057 meters Centerline goodness [0,1] 0.9788251050662726 Centerline is valid? [True, True] Translation: X:416.94, Y:-17.65, Z:3.21 [[ 9.99898456e-01 -1.42398264e-02 -5.52764135e-04 4.16937120e+02] [ 1.42398476e-02 9.99898608e-01 3.43220227e-05 -1.76511819e+01] [ 5.52219350e-04 -4.21898146e-05 9.99999847e-01 3.21467682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.250714057 meters Centerline goodness [0,1] 0.9767839800212736 Centerline is valid? [True, True] Translation: X:416.97, Y:-17.65, Z:3.21 [[ 9.99877772e-01 -1.56296626e-02 -3.92943653e-04 4.16968750e+02] [ 1.56296734e-02 9.99877849e-01 2.44383087e-05 -1.76521060e+01] [ 3.92513692e-04 -3.05769026e-05 9.99999922e-01 3.21460837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.280714057 meters Centerline goodness [0,1] 0.976250057926688 Centerline is valid? [True, True] Translation: X:417.00, Y:-17.65, Z:3.21 [[ 9.99870824e-01 -1.60714625e-02 -2.08979348e-04 4.17000455e+02] [ 1.60714656e-02 9.99870846e-01 1.32156798e-05 -1.76532516e+01] [ 2.08739962e-04 -1.65725771e-05 9.99999978e-01 3.21479757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.310714057 meters Centerline goodness [0,1] 0.9754987342948048 Centerline is valid? [True, True] Translation: X:417.03, Y:-17.65, Z:3.22 [[ 9.99867686e-01 -1.62509199e-02 7.19327892e-04 4.17032878e+02] [ 1.62509553e-02 9.99867944e-01 -4.34241732e-05 -1.76529636e+01] [-7.18527217e-04 5.51081930e-05 9.99999740e-01 3.21536855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.340714057 meters Centerline goodness [0,1] 0.9751778802697754 Centerline is valid? [True, True] Translation: X:417.06, Y:-17.65, Z:3.22 [[ 9.99874517e-01 -1.57981329e-02 1.17014114e-03 4.17064769e+02] [ 1.57982269e-02 9.99875198e-01 -7.10888944e-05 -1.76531456e+01] [-1.16887203e-03 8.95661291e-05 9.99999313e-01 3.21551767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.370714057 meters Centerline goodness [0,1] 0.976555790255565 Centerline is valid? [True, True] Translation: X:417.10, Y:-17.65, Z:3.22 [[ 9.99880428e-01 -1.54064580e-02 1.33056175e-03 4.17097390e+02] [ 1.54065793e-02 9.99881308e-01 -8.09987166e-05 -1.76503391e+01] [-1.32915592e-03 1.01488436e-04 9.99999112e-01 3.21551449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.400714057 meters Centerline goodness [0,1] 0.9743834119807527 Centerline is valid? [True, True] Translation: X:417.13, Y:-17.65, Z:3.22 [[ 9.99905420e-01 -1.36129775e-02 1.95892941e-03 4.17128010e+02] [ 1.36132384e-02 9.99907328e-01 -1.19910128e-04 -1.76542659e+01] [-1.95711554e-03 1.46566160e-04 9.99998074e-01 3.21522717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.430714057 meters Centerline goodness [0,1] 0.9757920389926888 Centerline is valid? [True, True] Translation: X:417.16, Y:-17.65, Z:3.22 [[ 9.99920466e-01 -1.24345230e-02 2.10839026e-03 4.17161048e+02] [ 1.24348221e-02 9.99922676e-01 -1.28829224e-04 -1.76506752e+01] [-2.10662530e-03 1.55036435e-04 9.99997769e-01 3.21539691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.460714057 meters Centerline goodness [0,1] 0.975284772531389 Centerline is valid? [True, True] Translation: X:417.19, Y:-17.65, Z:3.21 [[ 9.99942485e-01 -1.03759112e-02 2.71409695e-03 4.17191340e+02] [ 1.03764017e-02 9.99946150e-01 -1.66689315e-04 -1.76509230e+01] [-2.71222124e-03 1.94842288e-04 9.99996303e-01 3.21498074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.490714057 meters Centerline goodness [0,1] 0.9753484137544646 Centerline is valid? [True, True] Translation: X:417.22, Y:-17.65, Z:3.21 [[ 9.99953426e-01 -9.21863705e-03 2.85689271e-03 4.17223825e+02] [ 9.21917513e-03 9.99957487e-01 -1.75231545e-04 -1.76517325e+01] [-2.85515586e-03 2.01561578e-04 9.99995904e-01 3.21473660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.520714057 meters Centerline goodness [0,1] 0.9763151741875146 Centerline is valid? [True, True] Translation: X:417.26, Y:-17.65, Z:3.21 [[ 9.99963122e-01 -8.17587738e-03 2.62877935e-03 4.17255991e+02] [ 8.17632969e-03 9.99966560e-01 -1.61360376e-04 -1.76470264e+01] [-2.62737218e-03 1.82848192e-04 9.99996532e-01 3.21492356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.550714057 meters Centerline goodness [0,1] 0.9758247410628696 Centerline is valid? [True, True] Translation: X:417.29, Y:-17.65, Z:3.21 [[ 9.99977817e-01 -6.24040684e-03 2.32863680e-03 4.17286484e+02] [ 6.24075728e-03 9.99980516e-01 -1.43258608e-04 -1.76498144e+01] [-2.32769743e-03 1.57787887e-04 9.99997278e-01 3.21352062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.580714057 meters Centerline goodness [0,1] 0.9753872916617692 Centerline is valid? [True, True] Translation: X:417.32, Y:-17.65, Z:3.21 [[ 9.99984589e-01 -5.45633678e-03 1.02518007e-03 4.17317973e+02] [ 5.45640404e-03 9.99985112e-01 -6.28188635e-05 -1.76513440e+01] [-1.02482204e-03 6.84116921e-05 9.99999473e-01 3.21155092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.610714057 meters Centerline goodness [0,1] 0.9753872916617692 Centerline is valid? [True, True] Translation: X:417.35, Y:-17.65, Z:3.21 [[ 9.99984960e-01 -5.38789426e-03 1.02518430e-03 4.17349678e+02] [ 5.38796141e-03 9.99985483e-01 -6.27505560e-05 -1.76533647e+01] [-1.02483132e-03 6.82732657e-05 9.99999473e-01 3.21128457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.640714057 meters Centerline goodness [0,1] 0.976826717431667 Centerline is valid? [True, True] Translation: X:417.38, Y:-17.65, Z:3.21 [[ 9.99988722e-01 -4.64691568e-03 9.80358857e-04 4.17382635e+02] [ 4.64697663e-03 9.99989201e-01 -5.99032047e-05 -1.76514542e+01] [-9.80069905e-04 6.44582338e-05 9.99999518e-01 3.21094794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.670714057 meters Centerline goodness [0,1] 0.9757255316649043 Centerline is valid? [True, True] Translation: X:417.41, Y:-17.65, Z:3.21 [[ 9.99989072e-01 -4.57848539e-03 9.45266028e-04 4.17414390e+02] [ 4.57854220e-03 9.99989517e-01 -5.79447316e-05 -1.76523962e+01] [-9.44990819e-04 6.22720388e-05 9.99999552e-01 3.21021505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.700714057 meters Centerline goodness [0,1] 0.9757199322416714 Centerline is valid? [True, True] Translation: X:417.45, Y:-17.65, Z:3.21 [[ 9.99985921e-01 -5.17497088e-03 1.17401868e-03 4.17446079e+02] [ 5.17505895e-03 9.99986607e-01 -7.19870849e-05 -1.76535932e+01] [-1.17363042e-03 7.80616873e-05 9.99999308e-01 3.20954594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.730714057 meters Centerline goodness [0,1] 0.9743136144919332 Centerline is valid? [True, True] Translation: X:417.48, Y:-17.66, Z:3.21 [[ 9.99983956e-01 -5.60589270e-03 8.13338660e-04 4.17477364e+02] [ 5.60593492e-03 9.99984285e-01 -4.96352103e-05 -1.76578663e+01] [-8.13047629e-04 5.41939375e-05 9.99999668e-01 3.20845838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76071405700003 meters Centerline goodness [0,1] 0.9734762979683973 Centerline is valid? [True, True] Translation: X:417.51, Y:-17.66, Z:3.21 [[ 9.99973274e-01 -7.13488845e-03 1.59544433e-03 4.17509481e+02] [ 7.13505491e-03 9.99974540e-01 -9.86646394e-05 -1.76599994e+01] [-1.59469975e-03 1.10045585e-04 9.99998722e-01 3.20823560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.790714057 meters Centerline goodness [0,1] 0.9742078460958129 Centerline is valid? [True, True] Translation: X:417.54, Y:-17.66, Z:3.21 [[ 9.99966317e-01 -7.94503609e-03 2.05950837e-03 4.17540220e+02] [ 7.94531540e-03 9.99968427e-01 -1.27472944e-04 -1.76633922e+01] [-2.05843057e-03 1.43832094e-04 9.99997871e-01 3.20807162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82071405700003 meters Centerline goodness [0,1] 0.9735113371477008 Centerline is valid? [True, True] Translation: X:417.57, Y:-17.67, Z:3.21 [[ 9.99959510e-01 -8.65473544e-03 2.46445246e-03 4.17572162e+02] [ 8.65513904e-03 9.99962532e-01 -1.53152893e-04 -1.76661432e+01] [-2.46303462e-03 1.74476870e-04 9.99996952e-01 3.20792393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.850714057 meters Centerline goodness [0,1] 0.9725697559133185 Centerline is valid? [True, True] Translation: X:417.60, Y:-17.67, Z:3.21 [[ 9.99951341e-01 -9.71778485e-03 1.69742311e-03 4.17603055e+02] [ 9.71797793e-03 9.99952774e-01 -1.05538496e-04 -1.76695892e+01] [-1.69631735e-03 1.22028880e-04 9.99998554e-01 3.20736081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.880714057 meters Centerline goodness [0,1] 0.9722864831688778 Centerline is valid? [True, True] Translation: X:417.64, Y:-17.67, Z:3.21 [[ 9.99947747e-01 -1.01582327e-02 1.14600770e-03 4.17635004e+02] [ 1.01583207e-02 9.99948400e-01 -7.09322385e-05 -1.76732750e+01] [-1.14522802e-03 8.25700458e-05 9.99999341e-01 3.20616119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.910714057 meters Centerline goodness [0,1] 0.9720702019248915 Centerline is valid? [True, True] Translation: X:417.67, Y:-17.68, Z:3.20 [[ 9.99947838e-01 -1.01952047e-02 6.15547611e-04 4.17667486e+02] [ 1.01952300e-02 9.99948027e-01 -3.79539472e-05 -1.76762048e+01] [-6.15128670e-04 4.42276169e-05 9.99999810e-01 3.20456695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.940714057 meters Centerline goodness [0,1] 0.972906113794322 Centerline is valid? [True, True] Translation: X:417.70, Y:-17.68, Z:3.20 [[ 9.99949240e-01 -1.00629139e-02 -5.05114005e-04 4.17698337e+02] [ 1.00629314e-02 9.99949367e-01 3.20581876e-05 -1.76793726e+01] [ 5.04765831e-04 -3.71394879e-05 9.99999872e-01 3.20320602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.970714057 meters Centerline goodness [0,1] 0.9722137404580152 Centerline is valid? [True, True] Translation: X:417.73, Y:-17.68, Z:3.20 [[ 9.99952057e-01 -9.74777982e-03 -9.29781774e-04 4.17728958e+02] [ 9.74783859e-03 9.99952487e-01 5.86987538e-05 -1.76820996e+01] [ 9.29165415e-04 -6.77593023e-05 9.99999566e-01 3.20277632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.000714057 meters Centerline goodness [0,1] 0.9715600660844937 Centerline is valid? [True, True] Translation: X:417.76, Y:-17.68, Z:3.20 [[ 9.99963623e-01 -8.49380588e-03 -7.80217077e-04 4.17760004e+02] [ 8.49384684e-03 9.99963925e-01 4.92077654e-05 -1.76847832e+01] [ 7.79770970e-04 -5.58330197e-05 9.99999694e-01 3.20257786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.030714057 meters Centerline goodness [0,1] 0.9718717634874305 Centerline is valid? [True, True] Translation: X:417.79, Y:-17.69, Z:3.20 [[ 9.99971972e-01 -7.47897146e-03 -3.45507303e-04 4.17791434e+02] [ 7.47897950e-03 9.99972032e-01 2.19567865e-05 -1.76855696e+01] [ 3.45333425e-04 -2.45402131e-05 9.99999940e-01 3.20273635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.060714057 meters Centerline goodness [0,1] 0.9772404991491775 Centerline is valid? [True, True] Translation: X:417.82, Y:-17.67, Z:3.20 [[ 9.99991196e-01 -4.18532870e-03 -3.01835158e-04 4.17822747e+02] [ 4.18533460e-03 9.99991241e-01 1.89396162e-05 -1.76717238e+01] [ 3.01753246e-04 -2.02027305e-05 9.99999954e-01 3.20366802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.090714057 meters Centerline goodness [0,1] 0.9759476077174963 Centerline is valid? [True, True] Translation: X:417.85, Y:-17.68, Z:3.20 [[ 9.99997619e-01 -2.18219833e-03 1.52530772e-05 4.17852945e+02] [ 2.18219834e-03 9.99997619e-01 -6.57534911e-07 -1.76814303e+01] [-1.52516061e-05 6.90818586e-07 1.00000000e+00 3.20212086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.120714057 meters Centerline goodness [0,1] 0.9776901647858728 Centerline is valid? [True, True] Translation: X:417.88, Y:-17.68, Z:3.20 [[ 9.99999796e-01 -6.25711342e-04 -1.27945875e-04 4.17884242e+02] [ 6.25712394e-04 9.99999804e-01 8.18233568e-06 -1.76762849e+01] [ 1.27940730e-04 -8.26239133e-06 9.99999992e-01 3.20206437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.150714057 meters Centerline goodness [0,1] 0.9789555913265789 Centerline is valid? [True, True] Translation: X:417.92, Y:-17.67, Z:3.20 [[ 9.99995343e-01 2.90364856e-03 9.39324860e-04 4.17915692e+02] [-2.90359455e-03 9.99995783e-01 -5.88567243e-05 -1.76720780e+01] [-9.39491798e-04 5.61290317e-05 9.99999557e-01 3.20145054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.180714057 meters Centerline goodness [0,1] 0.9798333648930126 Centerline is valid? [True, True] Translation: X:417.95, Y:-17.67, Z:3.20 [[ 9.99987954e-01 4.54132734e-03 1.86256564e-03 4.17945770e+02] [-4.54111704e-03 9.99989682e-01 -1.17123625e-04 -1.76715259e+01] [-1.86307832e-03 1.08664086e-04 9.99998259e-01 3.20134150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.210714057 meters Centerline goodness [0,1] 0.9793126301836773 Centerline is valid? [True, True] Translation: X:417.98, Y:-17.67, Z:3.20 [[ 9.99963890e-01 7.77491214e-03 3.43056611e-03 4.17975406e+02] [-7.77421802e-03 9.99969757e-01 -2.15622504e-04 -1.76724073e+01] [-3.43213881e-03 1.88944749e-04 9.99994092e-01 3.20195747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.240714057 meters Centerline goodness [0,1] 0.9788859366103625 Centerline is valid? [True, True] Translation: X:418.00, Y:-17.67, Z:3.20 [[ 9.99942893e-01 9.64306499e-03 4.60684023e-03 4.18004693e+02] [-9.64183394e-03 9.99953475e-01 -2.89356182e-04 -1.76716746e+01] [-4.60941617e-03 2.44921269e-04 9.99989347e-01 3.20279604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.270714057 meters Centerline goodness [0,1] 0.9794538423212887 Centerline is valid? [True, True] Translation: X:418.03, Y:-17.67, Z:3.20 [[ 9.99940726e-01 9.62242230e-03 5.09453509e-03 4.18033524e+02] [-9.62091792e-03 9.99953667e-01 -3.19719466e-04 -1.76738841e+01] [-5.09737552e-03 2.70686411e-04 9.99986972e-01 3.20237232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.300714057 meters Centerline goodness [0,1] 0.9787430465143804 Centerline is valid? [True, True] Translation: X:418.06, Y:-17.68, Z:3.20 [[ 9.99935799e-01 1.00385055e-02 5.25604045e-03 4.18060978e+02] [-1.00369117e-02 9.99949575e-01 -3.29514826e-04 -1.76778153e+01] [-5.25908325e-03 2.76739256e-04 9.99986133e-01 3.20137248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.330714057 meters Centerline goodness [0,1] 0.9780968375239492 Centerline is valid? [True, True] Translation: X:418.09, Y:-17.68, Z:3.20 [[ 9.99941512e-01 1.01512471e-02 3.73150382e-03 4.18089981e+02] [-1.01504453e-02 9.99948456e-01 -2.33734470e-04 -1.76805571e+01] [-3.73368418e-03 1.95844373e-04 9.99993011e-01 3.19872762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.360714057 meters Centerline goodness [0,1] 0.9778572443518212 Centerline is valid? [True, True] Translation: X:418.12, Y:-17.68, Z:3.20 [[ 9.99941290e-01 1.04195058e-02 2.97491413e-03 4.18117449e+02] [-1.04189974e-02 9.99945703e-01 -1.86344582e-04 -1.76842423e+01] [-2.97669422e-03 1.55338019e-04 9.99995558e-01 3.19687851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.390714057 meters Centerline goodness [0,1] 0.9791838952815254 Centerline is valid? [True, True] Translation: X:418.14, Y:-17.69, Z:3.19 [[ 9.99948546e-01 1.00482704e-02 1.39230692e-03 4.18144564e+02] [-1.00481585e-02 9.99949512e-01 -8.73055806e-05 -1.76878635e+01] [-1.39311390e-03 7.33109677e-05 9.99999027e-01 3.19476882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.420714057 meters Centerline goodness [0,1] 0.9786162034299232 Centerline is valid? [True, True] Translation: X:418.17, Y:-17.69, Z:3.19 [[ 9.99949793e-01 9.99032099e-03 7.77425693e-04 4.18172435e+02] [-9.99028583e-03 9.99950095e-01 -4.90990272e-05 -1.76912126e+01] [-7.77877410e-04 4.13298572e-05 9.99999697e-01 3.19358934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.450714057 meters Centerline goodness [0,1] 0.9783842332053969 Centerline is valid? [True, True] Translation: X:418.20, Y:-17.69, Z:3.19 [[ 9.99952429e-01 9.72593388e-03 7.38951093e-04 4.18200814e+02] [-9.72590215e-03 9.99952701e-01 -4.65092861e-05 -1.76944156e+01] [-7.39368487e-04 3.93201076e-05 9.99999726e-01 3.19319461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.480714057 meters Centerline goodness [0,1] 0.9768843274798739 Centerline is valid? [True, True] Translation: X:418.23, Y:-17.70, Z:3.19 [[ 9.99957733e-01 9.14972828e-03 9.02920253e-04 4.18228391e+02] [-9.14968074e-03 9.99958139e-01 -5.67665865e-05 -1.76993418e+01] [-9.03401854e-04 4.85027551e-05 9.99999591e-01 3.19243079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51071405700003 meters Centerline goodness [0,1] 0.9762505006714888 Centerline is valid? [True, True] Translation: X:418.26, Y:-17.70, Z:3.19 [[ 9.99961697e-01 8.71013117e-03 8.59456045e-04 4.18256650e+02] [-8.71008808e-03 9.99962065e-01 -5.38629390e-05 -1.77026176e+01] [-8.59892595e-04 4.63749380e-05 9.99999629e-01 3.19159405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.540714057 meters Centerline goodness [0,1] 0.9766938689118319 Centerline is valid? [True, True] Translation: X:418.29, Y:-17.71, Z:3.19 [[ 9.99963435e-01 8.48906020e-03 1.03163837e-03 4.18285776e+02] [-8.48899818e-03 9.99963966e-01 -6.44764668e-05 -1.77056940e+01] [-1.03214854e-03 5.57165330e-05 9.99999466e-01 3.19127778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57071405700003 meters Centerline goodness [0,1] 0.976265599246527 Centerline is valid? [True, True] Translation: X:418.31, Y:-17.71, Z:3.19 [[ 9.99969781e-01 7.72112346e-03 9.06071769e-04 4.18314658e+02] [-7.72107531e-03 9.99970190e-01 -5.66328087e-05 -1.77093874e+01] [-9.06482028e-04 4.96352489e-05 9.99999588e-01 3.19057903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.600714057 meters Centerline goodness [0,1] 0.9768165845145161 Centerline is valid? [True, True] Translation: X:418.34, Y:-17.71, Z:3.19 [[ 9.99975137e-01 6.98281478e-03 9.82735440e-04 4.18342573e+02] [-6.98275777e-03 9.99975618e-01 -6.14327796e-05 -1.77130622e+01] [-9.83140453e-04 5.45690487e-05 9.99999515e-01 3.19034515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.630714057 meters Centerline goodness [0,1] 0.9784147287733076 Centerline is valid? [True, True] Translation: X:418.37, Y:-17.71, Z:3.19 [[ 9.99980959e-01 6.13796685e-03 6.38314162e-04 4.18371590e+02] [-6.13794256e-03 9.99981162e-01 -4.00158121e-05 -1.77055692e+01] [-6.38547753e-04 3.60971145e-05 9.99999795e-01 3.19166436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.660714057 meters Centerline goodness [0,1] 0.9784181109388944 Centerline is valid? [True, True] Translation: X:418.40, Y:-17.71, Z:3.19 [[ 9.99984594e-01 5.39524344e-03 1.30491973e-03 4.18399500e+02] [-5.39514221e-03 9.99985443e-01 -8.10824547e-05 -1.77099954e+01] [-1.30533819e-03 7.40409780e-05 9.99999145e-01 3.19221591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.690714057 meters Centerline goodness [0,1] 0.976878612716763 Centerline is valid? [True, True] Translation: X:418.43, Y:-17.71, Z:3.19 [[ 9.99988097e-01 4.66330390e-03 1.43522039e-03 4.18428283e+02] [-4.66318092e-03 9.99989123e-01 -8.90190999e-05 -1.77116968e+01] [-1.43561990e-03 8.23253479e-05 9.99998966e-01 3.19211472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.720714057 meters Centerline goodness [0,1] 0.9782465547246132 Centerline is valid? [True, True] Translation: X:418.46, Y:-17.71, Z:3.19 [[ 9.99990356e-01 4.01608734e-03 1.77735609e-03 4.18458137e+02] [-4.01589861e-03 9.99991930e-01 -1.09738607e-04 -1.77126631e+01] [-1.77778247e-03 1.02599867e-04 9.99998414e-01 3.19207130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.750714057 meters Centerline goodness [0,1] 0.9776699939078682 Centerline is valid? [True, True] Translation: X:418.49, Y:-17.72, Z:3.19 [[ 9.99995052e-01 2.83935624e-03 1.35451268e-03 4.18487116e+02] [-2.83924569e-03 9.99995966e-01 -8.35255866e-05 -1.77185389e+01] [-1.35474438e-03 7.96793790e-05 9.99999079e-01 3.19100522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.780714057 meters Centerline goodness [0,1] 0.9776150823353293 Centerline is valid? [True, True] Translation: X:418.52, Y:-17.72, Z:3.19 [[ 9.99996676e-01 2.39211527e-03 9.61966884e-04 4.18516622e+02] [-2.39205916e-03 9.99997137e-01 -5.94776094e-05 -1.77216890e+01] [-9.62106407e-04 5.71763300e-05 9.99999536e-01 3.18996660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.810714057 meters Centerline goodness [0,1] 0.9773211318370117 Centerline is valid? [True, True] Translation: X:418.55, Y:-17.73, Z:3.19 [[ 9.99998853e-01 1.45684087e-03 -4.14897522e-04 4.18546479e+02] [-1.45683039e-03 9.99998938e-01 2.55605651e-05 -1.77269369e+01] [ 4.14934319e-04 -2.49561005e-05 9.99999914e-01 3.18788537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.840714057 meters Centerline goodness [0,1] 0.978181052828512 Centerline is valid? [True, True] Translation: X:418.58, Y:-17.73, Z:3.19 [[ 9.99998744e-01 1.09741918e-03 -1.14351463e-03 4.18575702e+02] [-1.09733983e-03 9.99999395e-01 7.00130145e-05 -1.77300205e+01] [ 1.14359078e-03 -6.87581024e-05 9.99999344e-01 3.18737018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.870714057 meters Centerline goodness [0,1] 0.9775367389783065 Centerline is valid? [True, True] Translation: X:418.61, Y:-17.73, Z:3.19 [[ 9.99997712e-01 4.93504171e-04 -2.08161567e-03 4.18605322e+02] [-4.93239584e-04 9.99999870e-01 1.27617779e-04 -1.77329052e+01] [ 2.08167838e-03 -1.26590752e-04 9.99997825e-01 3.18727055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.900714057 meters Centerline goodness [0,1] 0.9778540091477644 Centerline is valid? [True, True] Translation: X:418.63, Y:-17.74, Z:3.19 [[ 9.99998248e-01 1.76377407e-04 -1.86350100e-03 4.18634459e+02] [-1.76164997e-04 9.99999978e-01 1.14147954e-04 -1.77353110e+01] [ 1.86352109e-03 -1.13819470e-04 9.99998257e-01 3.18725572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.930714057 meters Centerline goodness [0,1] 0.9780450286673192 Centerline is valid? [True, True] Translation: X:418.66, Y:-17.74, Z:3.19 [[ 9.99998014e-01 1.39775455e-04 -1.98791849e-03 4.18663551e+02] [-1.39533394e-04 9.99999983e-01 1.21903988e-04 -1.77410916e+01] [ 1.98793549e-03 -1.21626365e-04 9.99998017e-01 3.18641943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.960714057 meters Centerline goodness [0,1] 0.9775963149078727 Centerline is valid? [True, True] Translation: X:418.69, Y:-17.74, Z:3.19 [[ 9.99998671e-01 3.17414514e-04 -1.59924206e-03 4.18693485e+02] [-3.17258173e-04 9.99999945e-01 9.80123776e-05 -1.77431602e+01] [ 1.59927308e-03 -9.75048747e-05 9.99998716e-01 3.18659830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.990714057 meters Centerline goodness [0,1] 0.9773234719508792 Centerline is valid? [True, True] Translation: X:418.72, Y:-17.75, Z:3.19 [[ 9.99998952e-01 4.85431975e-04 -1.36425150e-03 4.18723055e+02] [-4.85318422e-04 9.99999879e-01 8.35645510e-05 -1.77480977e+01] [ 1.36429190e-03 -8.29023670e-05 9.99999066e-01 3.18605075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.020714057 meters Centerline goodness [0,1] 0.9771781821562202 Centerline is valid? [True, True] Translation: X:418.75, Y:-17.75, Z:3.19 [[ 9.99998887e-01 1.08510278e-03 -1.02441918e-03 4.18753264e+02] [-1.08503912e-03 9.99999409e-01 6.26960143e-05 -1.77476705e+01] [ 1.02448660e-03 -6.15844096e-05 9.99999473e-01 3.18620841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.050714057 meters Centerline goodness [0,1] 0.9781099839829152 Centerline is valid? [True, True] Translation: X:418.78, Y:-17.75, Z:3.19 [[ 9.99998278e-01 1.51664839e-03 -1.06961930e-03 4.18783014e+02] [-1.51657942e-03 9.99998848e-01 6.52896477e-05 -1.77506764e+01] [ 1.06971709e-03 -6.36673726e-05 9.99999426e-01 3.18618861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.080714057 meters Centerline goodness [0,1] 0.9768804949527841 Centerline is valid? [True, True] Translation: X:418.81, Y:-17.75, Z:3.19 [[ 9.99997348e-01 1.70697351e-03 -1.54591563e-03 4.18812156e+02] [-1.70682955e-03 9.99998539e-01 9.44390332e-05 -1.77533157e+01] [ 1.54607457e-03 -9.18001683e-05 9.99998801e-01 3.18604084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.110714057 meters Centerline goodness [0,1] 0.9764825938724865 Centerline is valid? [True, True] Translation: X:418.84, Y:-17.76, Z:3.18 [[ 9.99995703e-01 1.01706203e-03 -2.74940717e-03 4.18840792e+02] [-1.01660423e-03 9.99999469e-01 1.67901486e-04 -1.77581842e+01] [ 2.74957648e-03 -1.65105705e-04 9.99996206e-01 3.18449193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.140714057 meters Centerline goodness [0,1] 0.9769925857275255 Centerline is valid? [True, True] Translation: X:418.87, Y:-17.76, Z:3.18 [[ 9.99993857e-01 3.41141795e-04 -3.48848206e-03 4.18870586e+02] [-3.40400186e-04 9.99999919e-01 2.13179452e-04 -1.77618515e+01] [ 3.48855451e-03 -2.11990663e-04 9.99993893e-01 3.18324966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.170714057 meters Centerline goodness [0,1] 0.9755338904363974 Centerline is valid? [True, True] Translation: X:418.90, Y:-17.77, Z:3.18 [[ 9.99983168e-01 -2.15982731e-03 -5.38497041e-03 4.18900601e+02] [ 2.16163169e-03 9.99997609e-01 3.29278129e-04 -1.77677100e+01] [ 5.38424635e-03 -3.40912909e-04 9.99985447e-01 3.18193515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.200714057 meters Centerline goodness [0,1] 0.9757954413976628 Centerline is valid? [True, True] Translation: X:418.93, Y:-17.77, Z:3.18 [[ 9.99977097e-01 -3.79546863e-03 -5.60350921e-03 4.18929422e+02] [ 3.79744622e-03 9.99992731e-01 3.42321971e-04 -1.77724595e+01] [ 5.60216921e-03 -3.63593156e-04 9.99984242e-01 3.18126134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.230714057 meters Centerline goodness [0,1] 0.9738092478850389 Centerline is valid? [True, True] Translation: X:418.96, Y:-17.78, Z:3.18 [[ 9.99950992e-01 -7.44081936e-03 -6.53056402e-03 4.18958144e+02] [ 7.44358309e-03 9.99972217e-01 3.98995515e-04 -1.77802249e+01] [ 6.52741372e-03 -4.47586757e-04 9.99978596e-01 3.18025765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26071405700003 meters Centerline goodness [0,1] 0.9730343325765649 Centerline is valid? [True, True] Translation: X:418.99, Y:-17.79, Z:3.18 [[ 9.99935808e-01 -9.00231466e-03 -6.88032270e-03 4.18987776e+02] [ 9.00542031e-03 9.99959362e-01 4.20533731e-04 -1.77856544e+01] [ 6.87625732e-03 -4.82466934e-04 9.99976242e-01 3.17982553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.290714057 meters Centerline goodness [0,1] 0.9735382187043012 Centerline is valid? [True, True] Translation: X:419.02, Y:-17.79, Z:3.18 [[ 9.99923101e-01 -1.02371929e-02 -6.99946898e-03 4.19018179e+02] [ 1.02404371e-02 9.99947474e-01 4.27816098e-04 -1.77897545e+01] [ 6.99472169e-03 -4.99460821e-04 9.99975412e-01 3.18003659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32071405700003 meters Centerline goodness [0,1] 0.9764019988895059 Centerline is valid? [True, True] Translation: X:419.05, Y:-17.78, Z:3.18 [[ 9.99910281e-01 -1.15301114e-02 -6.81811536e-03 4.19050139e+02] [ 1.15332233e-02 9.99933403e-01 4.17269465e-04 -1.77822886e+01] [ 6.81285013e-03 -4.95866875e-04 9.99976669e-01 3.18272730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.350714057 meters Centerline goodness [0,1] 0.9770550955266688 Centerline is valid? [True, True] Translation: X:419.08, Y:-17.79, Z:3.18 [[ 9.99906507e-01 -1.17363684e-02 -7.01669674e-03 4.19080905e+02] [ 1.17396709e-02 9.99930995e-01 4.29661269e-04 -1.77855451e+01] [ 7.01116989e-03 -5.11994809e-04 9.99975290e-01 3.18270171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.380714057 meters Centerline goodness [0,1] 0.9764123673195662 Centerline is valid? [True, True] Translation: X:419.11, Y:-17.79, Z:3.18 [[ 9.99910073e-01 -1.13544680e-02 -7.13592802e-03 4.19112224e+02] [ 1.13578855e-02 9.99935401e-01 4.38571360e-04 -1.77904274e+01] [ 7.13048730e-03 -5.19580974e-04 9.99974443e-01 3.18275542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.410714057 meters Centerline goodness [0,1] 0.9758768889505061 Centerline is valid? [True, True] Translation: X:419.14, Y:-17.79, Z:3.18 [[ 9.99915536e-01 -1.11258736e-02 -6.71834594e-03 4.19143032e+02] [ 1.11288964e-02 9.99937987e-01 4.12724510e-04 -1.77943705e+01] [ 6.71333739e-03 -4.87457426e-04 9.99977346e-01 3.18278512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.440714057 meters Centerline goodness [0,1] 0.9750783121429888 Centerline is valid? [True, True] Translation: X:419.17, Y:-17.80, Z:3.18 [[ 9.99919836e-01 -1.11601607e-02 -5.98101194e-03 4.19174297e+02] [ 1.11625577e-02 9.99937629e-01 3.67531074e-04 -1.77986485e+01] [ 5.97653719e-03 -4.34265002e-04 9.99982046e-01 3.18374846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.470714057 meters Centerline goodness [0,1] 0.9752503741222517 Centerline is valid? [True, True] Translation: X:419.21, Y:-17.80, Z:3.18 [[ 9.99922281e-01 -1.10765882e-02 -5.72193852e-03 4.19206668e+02] [ 1.10787846e-02 9.99938566e-01 3.52303226e-04 -1.78015335e+01] [ 5.71768468e-03 -4.15667970e-04 9.99983568e-01 3.18386944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.500714057 meters Centerline goodness [0,1] 0.9761065413239326 Centerline is valid? [True, True] Translation: X:419.24, Y:-17.80, Z:3.19 [[ 9.99916339e-01 -1.14171783e-02 -6.07979766e-03 4.19239190e+02] [ 1.14196668e-02 9.99934723e-01 3.74742631e-04 -1.78006274e+01] [ 6.07512229e-03 -4.44140543e-04 9.99981448e-01 3.18509303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.530714057 meters Centerline goodness [0,1] 0.9769310463911592 Centerline is valid? [True, True] Translation: X:419.27, Y:-17.80, Z:3.18 [[ 9.99913186e-01 -1.15926556e-02 -6.26337716e-03 4.19271732e+02] [ 1.15953027e-02 9.99932698e-01 3.86479588e-04 -1.78035880e+01] [ 6.25847529e-03 -4.59071791e-04 9.99980310e-01 3.18461777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.560714057 meters Centerline goodness [0,1] 0.9769310463911592 Centerline is valid? [True, True] Translation: X:419.30, Y:-17.81, Z:3.18 [[ 9.99913996e-01 -1.15226600e-02 -6.26335009e-03 4.19303452e+02] [ 1.15253085e-02 9.99933507e-01 3.86918267e-04 -1.78056049e+01] [ 6.25847529e-03 -4.59072033e-04 9.99980310e-01 3.18435135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.590714057 meters Centerline goodness [0,1] 0.976448899642816 Centerline is valid? [True, True] Translation: X:419.33, Y:-17.81, Z:3.18 [[ 9.99902276e-01 -1.19368365e-02 -7.27672319e-03 4.19334964e+02] [ 1.19404233e-02 9.99928610e-01 4.49659632e-04 -1.78086605e+01] [ 7.27083619e-03 -5.36502844e-04 9.99973423e-01 3.18370063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.620714057 meters Centerline goodness [0,1] 0.9762167379015579 Centerline is valid? [True, True] Translation: X:419.37, Y:-17.81, Z:3.18 [[ 9.99885496e-01 -1.26774130e-02 -8.26310863e-03 4.19365572e+02] [ 1.26820758e-02 9.99919448e-01 5.12135885e-04 -1.78140643e+01] [ 8.25595046e-03 -6.16870612e-04 9.99965729e-01 3.18259942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.650714057 meters Centerline goodness [0,1] 0.97632401618242 Centerline is valid? [True, True] Translation: X:419.40, Y:-17.82, Z:3.18 [[ 9.99878000e-01 -1.30209499e-02 -8.62786383e-03 4.19396456e+02] [ 1.30260420e-02 9.99915015e-01 5.34259369e-04 -1.78173888e+01] [ 8.62017402e-03 -6.46581105e-04 9.99962637e-01 3.18183636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.680714057 meters Centerline goodness [0,1] 0.9732346110510703 Centerline is valid? [True, True] Translation: X:419.43, Y:-17.82, Z:3.18 [[ 9.99855280e-01 -1.39231291e-02 -9.77576403e-03 4.19426096e+02] [ 1.39297203e-02 9.99902793e-01 6.06477329e-04 -1.78228762e+01] [ 9.76636969e-03 -7.42563219e-04 9.99952032e-01 3.18028225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.710714057 meters Centerline goodness [0,1] 0.9775071369371029 Centerline is valid? [True, True] Translation: X:419.46, Y:-17.82, Z:3.18 [[ 9.99849530e-01 -1.38905751e-02 -1.03908654e-02 4.19457770e+02] [ 1.38980197e-02 9.99903210e-01 6.44589396e-04 -1.78150086e+01] [ 1.03809060e-02 -7.88904857e-04 9.99945806e-01 3.18244116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.740714057 meters Centerline goodness [0,1] 0.9762019839351884 Centerline is valid? [True, True] Translation: X:419.49, Y:-17.81, Z:3.18 [[ 9.99852944e-01 -1.32714333e-02 -1.08608902e-02 4.19488917e+02] [ 1.32795345e-02 9.99911596e-01 6.74120908e-04 -1.78149022e+01] [ 1.08509835e-02 -8.18249340e-04 9.99940792e-01 3.18316213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.770714057 meters Centerline goodness [0,1] 0.9742933554664085 Centerline is valid? [True, True] Translation: X:419.52, Y:-17.83, Z:3.18 [[ 9.99851644e-01 -1.32918913e-02 -1.09551597e-02 4.19518376e+02] [ 1.33001437e-02 9.99911317e-01 6.80779451e-04 -1.78255732e+01] [ 1.09451393e-02 -8.26383652e-04 9.99939759e-01 3.18047180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.800714057 meters Centerline goodness [0,1] 0.9764244521337947 Centerline is valid? [True, True] Translation: X:419.55, Y:-17.82, Z:3.18 [[ 9.99852940e-01 -1.29752726e-02 -1.12134374e-02 4.19549743e+02] [ 1.29838934e-02 9.99915463e-01 6.96338047e-04 -1.78175294e+01] [ 1.12034543e-02 -8.41829720e-04 9.99936885e-01 3.18287334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.830714057 meters Centerline goodness [0,1] 0.9767345338836496 Centerline is valid? [True, True] Translation: X:419.58, Y:-17.82, Z:3.18 [[ 9.99861140e-01 -1.30198111e-02 -1.04012557e-02 4.19580010e+02] [ 1.30272307e-02 9.99914933e-01 6.45902751e-04 -1.78166929e+01] [ 1.03919613e-02 -7.81312617e-04 9.99945697e-01 3.18403192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.860714057 meters Centerline goodness [0,1] 0.9765900958097656 Centerline is valid? [True, True] Translation: X:419.61, Y:-17.82, Z:3.18 [[ 9.99856095e-01 -1.32652083e-02 -1.05746717e-02 4.19611651e+02] [ 1.32728981e-02 9.99911695e-01 6.57345068e-04 -1.78183410e+01] [ 1.05650181e-02 -7.97607013e-04 9.99943871e-01 3.18389853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.890714057 meters Centerline goodness [0,1] 0.9764049366707575 Centerline is valid? [True, True] Translation: X:419.64, Y:-17.82, Z:3.18 [[ 9.99845570e-01 -1.39243346e-02 -1.07214211e-02 4.19643134e+02] [ 1.39322811e-02 9.99902719e-01 6.66844015e-04 -1.78185273e+01] [ 1.07110927e-02 -8.16114887e-04 9.99942302e-01 3.18388985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.920714057 meters Centerline goodness [0,1] 0.9763569840681734 Centerline is valid? [True, True] Translation: X:419.67, Y:-17.82, Z:3.18 [[ 9.99837115e-01 -1.42353577e-02 -1.10949757e-02 4.19674787e+02] [ 1.42438909e-02 9.99898312e-01 6.90459107e-04 -1.78202459e+01] [ 1.10840186e-02 -8.48382265e-04 9.99938210e-01 3.18368431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.950714057 meters Centerline goodness [0,1] 0.9775979221261103 Centerline is valid? [True, True] Translation: X:419.71, Y:-17.82, Z:3.18 [[ 9.99818235e-01 -1.55265091e-02 -1.10645281e-02 4.19706180e+02] [ 1.55350785e-02 9.99879086e-01 6.88958469e-04 -1.78205654e+01] [ 1.10524931e-02 -8.60721553e-04 9.99938549e-01 3.18347998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.980714057 meters Centerline goodness [0,1] 0.9782215418870025 Centerline is valid? [True, True] Translation: X:419.74, Y:-17.82, Z:3.18 [[ 9.99811800e-01 -1.60193380e-02 -1.09428352e-02 4.19737878e+02] [ 1.60277537e-02 9.99871315e-01 6.81786949e-04 -1.78190131e+01] [ 1.09305052e-02 -8.57047703e-04 9.99939893e-01 3.18408518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01071405700003 meters Centerline goodness [0,1] 0.9751895084406828 Centerline is valid? [True, True] Translation: X:419.77, Y:-17.83, Z:3.18 [[ 9.99805662e-01 -1.68884034e-02 -1.01695655e-02 4.19768023e+02] [ 1.68957203e-02 9.99857056e-01 6.33998787e-04 -1.78271632e+01] [ 1.01574046e-02 -8.05697711e-04 9.99948088e-01 3.18274261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.040714057 meters Centerline goodness [0,1] 0.9755781982856219 Centerline is valid? [True, True] Translation: X:419.80, Y:-17.82, Z:3.18 [[ 9.99807077e-01 -1.70301825e-02 -9.78680278e-03 4.19800872e+02] [ 1.70369754e-02 9.99854673e-01 6.11134214e-04 -1.78237643e+01] [ 9.77497277e-03 -7.77753831e-04 9.99951921e-01 3.18409063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07071405700003 meters Centerline goodness [0,1] 0.9765264775744027 Centerline is valid? [True, True] Translation: X:419.83, Y:-17.82, Z:3.18 [[ 9.99788000e-01 -1.77187801e-02 -1.04881218e-02 4.19832622e+02] [ 1.77266231e-02 9.99842656e-01 6.55305141e-04 -1.78224428e+01] [ 1.04748603e-02 -8.41085198e-04 9.99944783e-01 3.18405680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.100714057 meters Centerline goodness [0,1] 0.9749036102348405 Centerline is valid? [True, True] Translation: X:419.86, Y:-17.83, Z:3.18 [[ 9.99756848e-01 -1.89406295e-02 -1.12915129e-02 4.19862126e+02] [ 1.89498117e-02 9.99820186e-01 7.06756814e-04 -1.78276421e+01] [ 1.12760961e-02 -9.20557007e-04 9.99935999e-01 3.18228064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.130714057 meters Centerline goodness [0,1] 0.9763060833839114 Centerline is valid? [True, True] Translation: X:419.89, Y:-17.82, Z:3.18 [[ 9.99741610e-01 -1.96240024e-02 -1.14721799e-02 4.19893982e+02] [ 1.96335292e-02 9.99806986e-01 7.18385179e-04 -1.78248243e+01] [ 1.14558680e-02 -9.43438935e-04 9.99933934e-01 3.18236228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.160714057 meters Centerline goodness [0,1] 0.9763090811291191 Centerline is valid? [True, True] Translation: X:419.93, Y:-17.83, Z:3.18 [[ 9.99733892e-01 -1.94532098e-02 -1.23982727e-02 4.19925574e+02] [ 1.94643363e-02 9.99810250e-01 7.77376602e-04 -1.78274669e+01] [ 1.23807976e-02 -1.01849389e-03 9.99922836e-01 3.18135331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.190714057 meters Centerline goodness [0,1] 0.9758261359369133 Centerline is valid? [True, True] Translation: X:419.96, Y:-17.83, Z:3.18 [[ 9.99739045e-01 -1.86392941e-02 -1.32067518e-02 4.19956780e+02] [ 1.86518555e-02 9.99825696e-01 8.28591598e-04 -1.78296203e+01] [ 1.31890054e-02 -1.07470580e-03 9.99912444e-01 3.18011982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.220714057 meters Centerline goodness [0,1] 0.9768875917906232 Centerline is valid? [True, True] Translation: X:419.99, Y:-17.83, Z:3.18 [[ 9.99774186e-01 -1.67412904e-02 -1.30883991e-02 4.19986492e+02] [ 1.67534553e-02 9.99859314e-01 8.20342537e-04 -1.78287550e+01] [ 1.30728241e-02 -1.03943320e-03 9.99914007e-01 3.18000674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.250714057 meters Centerline goodness [0,1] 0.9767091704700512 Centerline is valid? [True, True] Translation: X:420.02, Y:-17.83, Z:3.18 [[ 9.99808494e-01 -1.51380163e-02 -1.24022398e-02 4.20017655e+02] [ 1.51488226e-02 9.99884947e-01 7.77835613e-04 -1.78289768e+01] [ 1.23890380e-02 -9.65565983e-04 9.99922787e-01 3.18032168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.280714057 meters Centerline goodness [0,1] 0.9768182246957834 Centerline is valid? [True, True] Translation: X:420.05, Y:-17.83, Z:3.18 [[ 9.99842915e-01 -1.32451747e-02 -1.17775671e-02 4.20048134e+02] [ 1.32547876e-02 9.99911879e-01 7.38519936e-04 -1.78277178e+01] [ 1.17667474e-02 -8.94513076e-04 9.99930369e-01 3.18101734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.310714057 meters Centerline goodness [0,1] 0.9769141886952626 Centerline is valid? [True, True] Translation: X:420.08, Y:-17.83, Z:3.18 [[ 9.99904145e-01 -9.41901611e-03 -1.01480694e-02 4.20078110e+02] [ 9.42595600e-03 9.99955372e-01 6.36250719e-04 -1.78274898e+01] [ 1.01416236e-02 -7.31844987e-04 9.99948305e-01 3.18124254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.340714057 meters Centerline goodness [0,1] 0.977735804509503 Centerline is valid? [True, True] Translation: X:420.11, Y:-17.83, Z:3.18 [[ 9.99922693e-01 -7.80617309e-03 -9.67846293e-03 4.20108195e+02] [ 7.81240775e-03 9.99969299e-01 6.06538227e-04 -1.78252625e+01] [ 9.67343105e-03 -6.82103436e-04 9.99952979e-01 3.18194721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.370714057 meters Centerline goodness [0,1] 0.9785325443786982 Centerline is valid? [True, True] Translation: X:420.14, Y:-17.82, Z:3.18 [[ 9.99946052e-01 -5.45753264e-03 -8.83785654e-03 4.20138578e+02] [ 5.46263472e-03 9.99984927e-01 5.53261805e-04 -1.78228951e+01] [ 8.83470388e-03 -6.01509940e-04 9.99960792e-01 3.18252517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.400714057 meters Centerline goodness [0,1] 0.9796643913538111 Centerline is valid? [True, True] Translation: X:420.17, Y:-17.82, Z:3.18 [[ 9.99944078e-01 -3.70584369e-03 -9.90489685e-03 4.20167769e+02] [ 3.71212990e-03 9.99992920e-01 6.16347387e-04 -1.78220371e+01] [ 9.90254264e-03 -6.53081183e-04 9.99950755e-01 3.18122691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.430714057 meters Centerline goodness [0,1] 0.9800365127913317 Centerline is valid? [True, True] Translation: X:420.20, Y:-17.83, Z:3.18 [[ 9.99935786e-01 -2.19802174e-03 -1.11172481e-02 4.20195802e+02] [ 2.20585700e-03 9.99997327e-01 6.92571288e-04 -1.78263946e+01] [ 1.11156961e-02 -7.17049874e-04 9.99937962e-01 3.17846668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.460714057 meters Centerline goodness [0,1] 0.9790382244143033 Centerline is valid? [True, True] Translation: X:420.22, Y:-17.83, Z:3.18 [[ 9.99932226e-01 -1.11898750e-03 -1.15884267e-02 4.20223580e+02] [ 1.12741663e-03 9.99999105e-01 7.20867923e-04 -1.78293971e+01] [ 1.15876097e-02 -7.33884052e-04 9.99932592e-01 3.17658119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.490714057 meters Centerline goodness [0,1] 0.9804856072461706 Centerline is valid? [True, True] Translation: X:420.25, Y:-17.83, Z:3.18 [[ 9.99925103e-01 -8.85821798e-04 -1.22066913e-02 4.20251978e+02] [ 8.95108257e-04 9.99999314e-01 7.55325524e-04 -1.78299818e+01] [ 1.22060139e-02 -7.66195262e-04 9.99925210e-01 3.17619251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.520714057 meters Centerline goodness [0,1] 0.9799177698029803 Centerline is valid? [True, True] Translation: X:420.28, Y:-17.83, Z:3.18 [[ 9.99916621e-01 -1.00786246e-03 -1.28738274e-02 4.20281155e+02] [ 1.01820934e-03 9.99999164e-01 7.97185248e-04 -1.78250305e+01] [ 1.28730131e-02 -8.10227031e-04 9.99916811e-01 3.17774393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.550714057 meters Centerline goodness [0,1] 0.9826705018185276 Centerline is valid? [True, True] Translation: X:420.31, Y:-17.82, Z:3.18 [[ 9.99909798e-01 -1.25670709e-03 -1.33722528e-02 4.20310626e+02] [ 1.26787978e-03 9.99998854e-01 8.27067746e-04 -1.78186278e+01] [ 1.33711981e-02 -8.43947552e-04 9.99910245e-01 3.17973982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.580714057 meters Centerline goodness [0,1] 0.9818281283447898 Centerline is valid? [True, True] Translation: X:420.34, Y:-17.82, Z:3.18 [[ 9.99910767e-01 -1.00558726e-03 -1.33209247e-02 4.20337894e+02] [ 1.01663433e-03 9.99999145e-01 8.22556782e-04 -1.78218655e+01] [ 1.33200862e-02 -8.36025892e-04 9.99910934e-01 3.17847793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.610714057 meters Centerline goodness [0,1] 0.9819450046264443 Centerline is valid? [True, True] Translation: X:420.37, Y:-17.82, Z:3.18 [[ 9.99914414e-01 -5.36016424e-04 -1.30720202e-02 4.20365452e+02] [ 5.46587523e-04 9.99999527e-01 8.05122126e-04 -1.78244903e+01] [ 1.30715825e-02 -8.12198222e-04 9.99914233e-01 3.17745581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.640714057 meters Centerline goodness [0,1] 0.9819096908978681 Centerline is valid? [True, True] Translation: X:420.39, Y:-17.82, Z:3.18 [[ 9.99936317e-01 8.83154572e-05 -1.12851716e-02 4.20394062e+02] [-8.04817267e-05 9.99999756e-01 6.94613645e-04 -1.78236213e+01] [ 1.12852302e-02 -6.93661160e-04 9.99936079e-01 3.17882004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.670714057 meters Centerline goodness [0,1] 0.9814775186057018 Centerline is valid? [True, True] Translation: X:420.42, Y:-17.83, Z:3.18 [[ 9.99945863e-01 -2.50066468e-04 -1.04023716e-02 4.20422287e+02] [ 2.56725634e-04 9.99999763e-01 6.38828080e-04 -1.78251549e+01] [ 1.04022094e-02 -6.41464051e-04 9.99945690e-01 3.17976450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.700714057 meters Centerline goodness [0,1] 0.9811688620476485 Centerline is valid? [True, True] Translation: X:420.45, Y:-17.83, Z:3.18 [[ 9.99957109e-01 -1.90558062e-03 -9.06359956e-03 4.20450485e+02] [ 1.91069666e-03 9.99998020e-01 5.55834280e-04 -1.78272251e+01] [ 9.06252243e-03 -5.73128229e-04 9.99958770e-01 3.18106664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.730714057 meters Centerline goodness [0,1] 0.979460664563717 Centerline is valid? [True, True] Translation: X:420.48, Y:-17.83, Z:3.18 [[ 9.99956366e-01 -2.74669459e-03 -8.92867510e-03 4.20478436e+02] [ 2.75168352e-03 9.99996065e-01 5.46516368e-04 -1.78315091e+01] [ 8.92713885e-03 -5.71061410e-04 9.99959989e-01 3.18055043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76071405700003 meters Centerline goodness [0,1] 0.9792461323414438 Centerline is valid? [True, True] Translation: X:420.51, Y:-17.84, Z:3.18 [[ 9.99948326e-01 -6.17327479e-03 -8.07684550e-03 4.20507934e+02] [ 6.17747171e-03 9.99980797e-01 4.94779820e-04 -1.78365037e+01] [ 8.07363599e-03 -5.44648737e-04 9.99967259e-01 3.18011073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.790714057 meters Centerline goodness [0,1] 0.9794439724346267 Centerline is valid? [True, True] Translation: X:420.54, Y:-17.84, Z:3.18 [[ 9.99939922e-01 -7.86980789e-03 -7.63007023e-03 4.20537172e+02] [ 7.87359953e-03 9.99968894e-01 4.67021567e-04 -1.78406445e+01] [ 7.62615752e-03 -5.27069627e-04 9.99970782e-01 3.17981703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82071405700003 meters Centerline goodness [0,1] 0.9776957827763192 Centerline is valid? [True, True] Translation: X:420.57, Y:-17.85, Z:3.18 [[ 9.99920824e-01 -9.58030660e-03 -8.15861741e-03 4.20566493e+02] [ 9.58470101e-03 9.99953941e-01 4.99691581e-04 -1.78466743e+01] [ 8.15345444e-03 -5.77849926e-04 9.99966593e-01 3.17831843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.850714057 meters Centerline goodness [0,1] 0.9775344534642251 Centerline is valid? [True, True] Translation: X:420.60, Y:-17.85, Z:3.18 [[ 9.99883976e-01 -1.23500068e-02 -8.91692417e-03 4.20596158e+02] [ 1.23553657e-02 9.99923520e-01 5.46133913e-04 -1.78549746e+01] [ 8.90949745e-03 -6.56242408e-04 9.99960094e-01 3.17664740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.880714057 meters Centerline goodness [0,1] 0.9779153815365056 Centerline is valid? [True, True] Translation: X:420.63, Y:-17.85, Z:3.18 [[ 9.99876190e-01 -1.30043336e-02 -8.85955960e-03 4.20627291e+02] [ 1.30096546e-02 9.99915223e-01 5.43233213e-04 -1.78543141e+01] [ 8.85174413e-03 -6.58425766e-04 9.99960606e-01 3.17766184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.910714057 meters Centerline goodness [0,1] 0.9779371986357757 Centerline is valid? [True, True] Translation: X:420.66, Y:-17.86, Z:3.18 [[ 9.99848514e-01 -1.49950241e-02 -8.83737141e-03 4.20658095e+02] [ 1.50003981e-02 9.99887341e-01 5.42131012e-04 -1.78596238e+01] [ 8.82824653e-03 -6.74612976e-04 9.99960803e-01 3.17713750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.940714057 meters Centerline goodness [0,1] 0.9769373779210694 Centerline is valid? [True, True] Translation: X:420.69, Y:-17.86, Z:3.18 [[ 9.99829425e-01 -1.59964434e-02 -9.23222297e-03 4.20690236e+02] [ 1.60023600e-02 9.99871793e-01 5.67340637e-04 -1.78636130e+01] [ 9.22196390e-03 -7.14981218e-04 9.99957221e-01 3.17634329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.970714057 meters Centerline goodness [0,1] 0.9754687720287607 Centerline is valid? [True, True] Translation: X:420.72, Y:-17.87, Z:3.17 [[ 9.99807961e-01 -1.72698923e-02 -9.26242017e-03 4.20720982e+02] [ 1.72759051e-02 9.99850598e-01 5.69544291e-04 -1.78730811e+01] [ 9.25120038e-03 -7.29451608e-04 9.99956941e-01 3.17402620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.000714057 meters Centerline goodness [0,1] 0.9770536511966897 Centerline is valid? [True, True] Translation: X:420.75, Y:-17.87, Z:3.17 [[ 9.99803700e-01 -1.74653589e-02 -9.35532582e-03 4.20753592e+02] [ 1.74715093e-02 9.99847196e-01 5.76086128e-04 -1.78708416e+01] [ 9.34383473e-03 -7.39424704e-04 9.99956072e-01 3.17462284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.030714057 meters Centerline goodness [0,1] 0.9771264017980474 Centerline is valid? [True, True] Translation: X:420.79, Y:-17.88, Z:3.17 [[ 9.99802546e-01 -1.79105246e-02 -8.60706728e-03 4.20785218e+02] [ 1.79157524e-02 9.99839359e-01 5.30664923e-04 -1.78769953e+01] [ 8.59618014e-03 -6.84762227e-04 9.99962818e-01 3.17402683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.060714057 meters Centerline goodness [0,1] 0.9778292289342595 Centerline is valid? [True, True] Translation: X:420.82, Y:-17.88, Z:3.17 [[ 9.99808354e-01 -1.79541270e-02 -7.80414705e-03 4.20817245e+02] [ 1.79584314e-02 9.99838618e-01 4.81811950e-04 -1.78758071e+01] [ 7.79423709e-03 -6.21869852e-04 9.99969431e-01 3.17473907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.090714057 meters Centerline goodness [0,1] 0.9761034579701996 Centerline is valid? [True, True] Translation: X:420.85, Y:-17.88, Z:3.17 [[ 9.99811801e-01 -1.80593604e-02 -7.08670667e-03 4.20847724e+02] [ 1.80629215e-02 9.99836756e-01 4.38817167e-04 -1.78831872e+01] [ 7.07762505e-03 -5.66741209e-04 9.99974793e-01 3.17377639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.120714057 meters Centerline goodness [0,1] 0.9753566192725664 Centerline is valid? [True, True] Translation: X:420.88, Y:-17.89, Z:3.17 [[ 9.99819908e-01 -1.80653918e-02 -5.81325572e-03 4.20878954e+02] [ 1.80677878e-02 9.99836699e-01 3.59896311e-04 -1.78887448e+01] [ 5.80580475e-03 -4.64864168e-04 9.99983038e-01 3.17371935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.150714057 meters Centerline goodness [0,1] 0.9758901559227368 Centerline is valid? [True, True] Translation: X:420.91, Y:-17.89, Z:3.17 [[ 9.99824275e-01 -1.80894792e-02 -4.91840000e-03 4.20911246e+02] [ 1.80911974e-02 9.99836294e-01 3.05069083e-04 -1.78897063e+01] [ 4.91207629e-03 -3.93995220e-04 9.99987858e-01 3.17377618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.180714057 meters Centerline goodness [0,1] 0.97580081130228 Centerline is valid? [True, True] Translation: X:420.94, Y:-17.90, Z:3.17 [[ 9.99807824e-01 -1.91760663e-02 -4.07353933e-03 4.20942090e+02] [ 1.91772545e-02 9.99816068e-01 2.52830702e-04 -1.78966530e+01] [ 4.06794178e-03 -3.30901415e-04 9.99991671e-01 3.17348191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.210714057 meters Centerline goodness [0,1] 0.9750318176559065 Centerline is valid? [True, True] Translation: X:420.97, Y:-17.90, Z:3.17 [[ 9.99798635e-01 -1.97349940e-02 -3.63573743e-03 4.20973343e+02] [ 1.97359450e-02 9.99805202e-01 2.25894666e-04 -1.79035365e+01] [ 3.63057116e-03 -2.97603893e-04 9.99993365e-01 3.17269727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.240714057 meters Centerline goodness [0,1] 0.9749403064654473 Centerline is valid? [True, True] Translation: X:421.00, Y:-17.91, Z:3.17 [[ 9.99740303e-01 -2.23985870e-02 -4.19883678e-03 4.21003619e+02] [ 2.23998775e-02 9.99749057e-01 2.60576722e-04 -1.79093107e+01] [ 4.19194657e-03 -3.54562480e-04 9.99991151e-01 3.17130156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.270714057 meters Centerline goodness [0,1] 0.9738778343359555 Centerline is valid? [True, True] Translation: X:421.03, Y:-17.92, Z:3.17 [[ 9.99711005e-01 -2.34648684e-02 -5.22553401e-03 4.21034561e+02] [ 2.34668845e-02 9.99724562e-01 3.24829959e-04 -1.79150273e+01] [ 5.21647261e-03 -4.47363087e-04 9.99986294e-01 3.16964244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.300714057 meters Centerline goodness [0,1] 0.9726074895977809 Centerline is valid? [True, True] Translation: X:421.07, Y:-17.92, Z:3.17 [[ 9.99668669e-01 -2.50063572e-02 -6.10196147e-03 4.21065796e+02] [ 2.50091347e-02 9.99687151e-01 3.79300273e-04 -1.79219460e+01] [ 6.09056755e-03 -5.31779375e-04 9.99981311e-01 3.16816658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.330714057 meters Centerline goodness [0,1] 0.9763477618145702 Centerline is valid? [True, True] Translation: X:421.10, Y:-17.92, Z:3.17 [[ 9.99662457e-01 -2.51612135e-02 -6.47185236e-03 4.21097878e+02] [ 2.51643461e-02 9.99683246e-01 4.03042113e-04 -1.79210206e+01] [ 6.45966135e-03 -5.65766002e-04 9.99978976e-01 3.16830050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.360714057 meters Centerline goodness [0,1] 0.970231227211889 Centerline is valid? [True, True] Translation: X:421.13, Y:-17.93, Z:3.17 [[ 9.99656746e-01 -2.53803960e-02 -6.49819615e-03 4.21128587e+02] [ 2.53835599e-02 9.99677704e-01 4.04871330e-04 -1.79305236e+01] [ 6.48582601e-03 -5.69679707e-04 9.99978805e-01 3.16692398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.390714057 meters Centerline goodness [0,1] 0.9679128371685901 Centerline is valid? [True, True] Translation: X:421.16, Y:-17.94, Z:3.17 [[ 9.99677121e-01 -2.47714359e-02 -5.65955596e-03 4.21159347e+02] [ 2.47738281e-02 9.99693019e-01 3.52948309e-04 -1.79358434e+01] [ 5.64907555e-03 -4.93043216e-04 9.99983922e-01 3.16737175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.420714057 meters Centerline goodness [0,1] 0.9679128371685901 Centerline is valid? [True, True] Translation: X:421.19, Y:-17.94, Z:3.17 [[ 9.99678787e-01 -2.47040899e-02 -5.65952349e-03 4.21191099e+02] [ 2.47064839e-02 9.99694686e-01 3.53469124e-04 -1.79378879e+01] [ 5.64906342e-03 -4.93182511e-04 9.99983922e-01 3.16710497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.450714057 meters Centerline goodness [0,1] 0.9706944540289375 Centerline is valid? [True, True] Translation: X:421.22, Y:-17.94, Z:3.17 [[ 9.99692108e-01 -2.41720083e-02 -5.60385437e-03 4.21223658e+02] [ 2.41743506e-02 9.99707696e-01 3.50617091e-04 -1.79400247e+01] [ 5.59374122e-03 -4.85978679e-04 9.99984237e-01 3.16699188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.480714057 meters Centerline goodness [0,1] 0.9614563485686738 Centerline is valid? [True, True] Translation: X:421.25, Y:-17.95, Z:3.17 [[ 9.99723043e-01 -2.30228137e-02 -4.87718913e-03 4.21253910e+02] [ 2.30245735e-02 9.99734853e-01 3.04981730e-04 -1.79471716e+01] [ 4.86887442e-03 -4.17192463e-04 9.99988060e-01 3.16718759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51071405700003 meters Centerline goodness [0,1] 0.9760047715177097 Centerline is valid? [True, True] Translation: X:421.29, Y:-17.94, Z:3.17 [[ 9.99731911e-01 -2.26152640e-02 -4.96540539e-03 4.21286863e+02] [ 2.26170863e-02 9.99744153e-01 3.11152663e-04 -1.79403300e+01] [ 4.95709821e-03 -4.23372249e-04 9.99987624e-01 3.16874368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.540714057 meters Centerline goodness [0,1] 0.9768776873113164 Centerline is valid? [True, True] Translation: X:421.32, Y:-17.94, Z:3.17 [[ 9.99767018e-01 -2.11791683e-02 -4.16563918e-03 4.21318768e+02] [ 2.11804401e-02 9.99775635e-01 2.61402442e-04 -1.79431519e+01] [ 4.15916827e-03 -3.49571610e-04 9.99991290e-01 3.16902503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57071405700003 meters Centerline goodness [0,1] 0.9764391325213099 Centerline is valid? [True, True] Translation: X:421.35, Y:-17.95, Z:3.17 [[ 9.99788153e-01 -2.01589161e-02 -4.15546351e-03 4.21350104e+02] [ 2.01601723e-02 9.99796729e-01 2.60630756e-04 -1.79465630e+01] [ 4.14936479e-03 -3.44350402e-04 9.99991332e-01 3.16876505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.600714057 meters Centerline goodness [0,1] 0.9766119270036315 Centerline is valid? [True, True] Translation: X:421.38, Y:-17.95, Z:3.17 [[ 9.99808400e-01 -1.91413621e-02 -4.09520390e-03 4.21382495e+02] [ 1.91425769e-02 9.99816731e-01 2.57645948e-04 -1.79504001e+01] [ 4.08952168e-03 -3.35989338e-04 9.99991581e-01 3.16832649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.630714057 meters Centerline goodness [0,1] 0.9771751050996161 Centerline is valid? [True, True] Translation: X:421.41, Y:-17.96, Z:3.17 [[ 9.99848196e-01 -1.69610925e-02 -3.98816060e-03 4.21411805e+02] [ 1.69622238e-02 9.99856100e-01 2.49988553e-04 -1.79551297e+01] [ 3.98334662e-03 -3.17598676e-04 9.99992016e-01 3.16784222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.660714057 meters Centerline goodness [0,1] 0.9778310502283105 Centerline is valid? [True, True] Translation: X:421.44, Y:-17.96, Z:3.17 [[ 9.99877796e-01 -1.51797550e-02 -3.73729179e-03 4.21443854e+02] [ 1.51807389e-02 9.99884738e-01 2.35037252e-04 -1.79557852e+01] [ 3.73329322e-03 -2.91743381e-04 9.99992989e-01 3.16726606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.690714057 meters Centerline goodness [0,1] 0.9776542675565477 Centerline is valid? [True, True] Translation: X:421.47, Y:-17.96, Z:3.17 [[ 9.99892298e-01 -1.41921405e-02 -3.73846095e-03 4.21474716e+02] [ 1.41931189e-02 9.99899245e-01 2.35301849e-04 -1.79623432e+01] [ 3.73474484e-03 -2.88336927e-04 9.99992984e-01 3.16606682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.720714057 meters Centerline goodness [0,1] 0.9779587380297068 Centerline is valid? [True, True] Translation: X:421.51, Y:-17.97, Z:3.17 [[ 9.99918014e-01 -1.23142017e-02 -3.51087108e-03 4.21505245e+02] [ 1.23150531e-02 9.99924142e-01 2.20973810e-04 -1.79672480e+01] [ 3.50788364e-03 -2.64192257e-04 9.99993812e-01 3.16536078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.750714057 meters Centerline goodness [0,1] 0.9812344665617804 Centerline is valid? [True, True] Translation: X:421.54, Y:-17.96, Z:3.17 [[ 9.99923605e-01 -1.17315143e-02 -3.89304617e-03 4.21538320e+02] [ 1.17325589e-02 9.99931141e-01 2.45599787e-04 -1.79596824e+01] [ 3.88989685e-03 -2.91256418e-04 9.99992392e-01 3.16647597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.780714057 meters Centerline goodness [0,1] 0.9797418796804225 Centerline is valid? [True, True] Translation: X:421.57, Y:-17.97, Z:3.17 [[ 9.99937119e-01 -1.07717315e-02 -3.11892472e-03 4.21567919e+02] [ 1.07723965e-02 9.99941957e-01 1.96481891e-04 -1.79695423e+01] [ 3.11662724e-03 -2.30067830e-04 9.99995117e-01 3.16534961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.810714057 meters Centerline goodness [0,1] 0.9787867764085307 Centerline is valid? [True, True] Translation: X:421.60, Y:-17.97, Z:3.17 [[ 9.99941683e-01 -1.05132896e-02 -2.46996687e-03 4.21598915e+02] [ 1.05137088e-02 9.99944717e-01 1.56785375e-04 -1.79741358e+01] [ 2.46818200e-03 -1.82744745e-04 9.99996937e-01 3.16577985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.840714057 meters Centerline goodness [0,1] 0.9806041842147198 Centerline is valid? [True, True] Translation: X:421.63, Y:-17.97, Z:3.17 [[ 9.99941099e-01 -1.06777248e-02 -1.94546334e-03 4.21631517e+02] [ 1.06779851e-02 9.99942981e-01 1.23438985e-04 -1.79693486e+01] [ 1.94403436e-03 -1.44205343e-04 9.99998100e-01 3.16711964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.870714057 meters Centerline goodness [0,1] 0.980611687602403 Centerline is valid? [True, True] Translation: X:421.66, Y:-17.98, Z:3.17 [[ 9.99936090e-01 -1.12784436e-02 -7.83187117e-04 4.21662327e+02] [ 1.12784862e-02 9.99936395e-01 4.99410531e-05 -1.79763694e+01] [ 7.82574045e-04 -5.87710264e-05 9.99999692e-01 3.16717455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.900714057 meters Centerline goodness [0,1] 0.9795890720252879 Centerline is valid? [True, True] Translation: X:421.69, Y:-17.98, Z:3.17 [[ 9.99934086e-01 -1.14797857e-02 1.93188723e-04 4.21694723e+02] [ 1.14797882e-02 9.99934105e-01 -1.16330108e-05 -1.79811853e+01] [-1.93042448e-04 1.38500096e-05 9.99999981e-01 3.16731901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.930714057 meters Centerline goodness [0,1] 0.9788244875797475 Centerline is valid? [True, True] Translation: X:421.73, Y:-17.99, Z:3.17 [[ 9.99918349e-01 -1.26728398e-02 1.64147615e-03 4.21725778e+02] [ 1.26730267e-02 9.99919689e-01 -1.03494372e-04 -1.79888919e+01] [-1.64003276e-03 1.24288393e-04 9.99998647e-01 3.16819191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.960714057 meters Centerline goodness [0,1] 0.9791313007854054 Centerline is valid? [True, True] Translation: X:421.76, Y:-17.99, Z:3.17 [[ 9.99917147e-01 -1.27099600e-02 2.03866286e-03 4.21757191e+02] [ 1.27102487e-02 9.99919213e-01 -1.28753192e-04 -1.79937906e+01] [-2.03686172e-03 1.54654436e-04 9.99997914e-01 3.16834702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.990714057 meters Centerline goodness [0,1] 0.979027149321267 Centerline is valid? [True, True] Translation: X:421.79, Y:-18.00, Z:3.17 [[ 9.99914990e-01 -1.26394190e-02 3.20276291e-03 4.21788173e+02] [ 1.26401327e-02 9.99920090e-01 -2.02689664e-04 -1.80002496e+01] [-3.19994509e-03 2.43155781e-04 9.99994851e-01 3.16868861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.020714057 meters Centerline goodness [0,1] 0.9796189532474552 Centerline is valid? [True, True] Translation: X:421.82, Y:-18.00, Z:3.17 [[ 9.99917344e-01 -1.24489532e-02 3.21379465e-03 4.21819956e+02] [ 1.24496711e-02 9.99922479e-01 -2.03468509e-04 -1.80043372e+01] [-3.21101254e-03 2.43462377e-04 9.99994815e-01 3.16781651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.050714057 meters Centerline goodness [0,1] 0.9789238275955543 Centerline is valid? [True, True] Translation: X:421.85, Y:-18.01, Z:3.17 [[ 9.99918426e-01 -1.24686858e-02 2.77022082e-03 4.21850509e+02] [ 1.24692188e-02 9.99922241e-01 -1.75233465e-04 -1.80098873e+01] [-2.76782048e-03 2.09761660e-04 9.99996148e-01 3.16705279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.080714057 meters Centerline goodness [0,1] 0.9794857952628383 Centerline is valid? [True, True] Translation: X:421.88, Y:-18.02, Z:3.17 [[ 9.99920105e-01 -1.23378937e-02 2.74937303e-03 4.21881650e+02] [ 1.23384201e-02 9.99923864e-01 -1.74586883e-04 -1.80168543e+01] [-2.74700967e-03 2.08495854e-04 9.99996205e-01 3.16561397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.110714057 meters Centerline goodness [0,1] 0.9786450497383963 Centerline is valid? [True, True] Translation: X:421.91, Y:-18.02, Z:3.16 [[ 9.99921863e-01 -1.22935609e-02 2.26624289e-03 4.21912667e+02] [ 1.22939177e-02 9.99924417e-01 -1.43579684e-04 -1.80235148e+01] [-2.26430650e-03 1.71429469e-04 9.99997422e-01 3.16453365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.140714057 meters Centerline goodness [0,1] 0.9777359673878959 Centerline is valid? [True, True] Translation: X:421.95, Y:-18.03, Z:3.16 [[ 9.99925772e-01 -1.19907409e-02 2.16150606e-03 4.21945061e+02] [ 1.19910658e-02 9.99928095e-01 -1.37419816e-04 -1.80280624e+01] [-2.15970287e-03 1.63328377e-04 9.99997655e-01 3.16426435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.170714057 meters Centerline goodness [0,1] 0.9773478055686644 Centerline is valid? [True, True] Translation: X:421.98, Y:-18.03, Z:3.16 [[ 9.99929281e-01 -1.17093848e-02 2.07903854e-03 4.21976767e+02] [ 1.17096850e-02 9.99931431e-01 -1.32294152e-04 -1.80319023e+01] [-2.07734690e-03 1.56629683e-04 9.99997830e-01 3.16384562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.200714057 meters Centerline goodness [0,1] 0.9776675494905059 Centerline is valid? [True, True] Translation: X:422.01, Y:-18.04, Z:3.16 [[ 9.99945449e-01 -1.01421843e-02 2.49704578e-03 4.22006577e+02] [ 1.01426139e-02 9.99948550e-01 -1.59454167e-04 -1.80371456e+01] [-2.49530010e-03 1.84772040e-04 9.99996870e-01 3.16351864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.230714057 meters Centerline goodness [0,1] 0.9822965220509143 Centerline is valid? [True, True] Translation: X:422.04, Y:-18.02, Z:3.16 [[ 9.99958844e-01 -8.73385648e-03 2.45565932e-03 4.22039514e+02] [ 8.73426731e-03 9.99961843e-01 -1.56625584e-04 -1.80237657e+01] [-2.45419767e-03 1.78067523e-04 9.99996973e-01 3.16449217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26071405700003 meters Centerline goodness [0,1] 0.9815870329963932 Centerline is valid? [True, True] Translation: X:422.07, Y:-18.03, Z:3.16 [[ 9.99981910e-01 -5.31220377e-03 2.82132592e-03 4.22068941e+02] [ 5.31273407e-03 9.99985871e-01 -1.80499392e-04 -1.80325775e+01] [-2.82032721e-03 1.95485081e-04 9.99996004e-01 3.16471945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.290714057 meters Centerline goodness [0,1] 0.9827593917710197 Centerline is valid? [True, True] Translation: X:422.10, Y:-18.02, Z:3.17 [[ 9.99989396e-01 -3.43955312e-03 3.06222256e-03 4.22101155e+02] [ 3.44016808e-03 9.99994063e-01 -1.95575182e-04 -1.80242139e+01] [-3.06153169e-03 2.06107669e-04 9.99995292e-01 3.16594762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32071405700003 meters Centerline goodness [0,1] 0.9836616687958045 Centerline is valid? [True, True] Translation: X:422.13, Y:-18.02, Z:3.17 [[ 9.99990454e-01 9.96018731e-04 4.25430765e-03 4.22131513e+02] [-9.94869108e-04 9.99999468e-01 -2.72333314e-04 -1.80230221e+01] [-4.25457664e-03 2.68098235e-04 9.99990913e-01 3.16695446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.350714057 meters Centerline goodness [0,1] 0.9832026875699889 Centerline is valid? [True, True] Translation: X:422.16, Y:-18.02, Z:3.17 [[ 9.99984526e-01 2.93684188e-03 4.72461718e-03 4.22162942e+02] [-2.93544616e-03 9.99995646e-01 -3.02321837e-04 -1.80238796e+01] [-4.72548448e-03 2.88448299e-04 9.99988793e-01 3.16703545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.380714057 meters Centerline goodness [0,1] 0.9825612472160357 Centerline is valid? [True, True] Translation: X:422.19, Y:-18.03, Z:3.17 [[ 9.99967590e-01 6.19620579e-03 5.14069672e-03 4.22194030e+02] [-6.19459484e-03 9.99980759e-01 -3.29237080e-04 -1.80250154e+01] [-5.14263783e-03 2.97381876e-04 9.99986732e-01 3.16652346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.410714057 meters Centerline goodness [0,1] 0.9842184312582662 Centerline is valid? [True, True] Translation: X:422.22, Y:-18.03, Z:3.17 [[ 9.99963961e-01 7.08485946e-03 4.67783751e-03 4.22224907e+02] [-7.08353480e-03 9.99974867e-01 -2.99685825e-04 -1.80254466e+01] [-4.67984317e-03 2.66539400e-04 9.99989014e-01 3.16601534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.440714057 meters Centerline goodness [0,1] 0.9839678909368134 Centerline is valid? [True, True] Translation: X:422.25, Y:-18.03, Z:3.17 [[ 9.99957683e-01 8.07807479e-03 4.40187118e-03 4.22254404e+02] [-8.07691077e-03 9.99967341e-01 -2.82148697e-04 -1.80271068e+01] [-4.40400664e-03 2.46583237e-04 9.99990272e-01 3.16511243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.470714057 meters Centerline goodness [0,1] 0.9841159602114885 Centerline is valid? [True, True] Translation: X:422.28, Y:-18.03, Z:3.16 [[ 9.99942994e-01 1.00896219e-02 3.49407680e-03 4.22283776e+02] [-1.00889009e-02 9.99949081e-01 -2.23896522e-04 -1.80290356e+01] [-3.49615791e-03 1.88632363e-04 9.99993871e-01 3.16396789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.500714057 meters Centerline goodness [0,1] 0.9836509820608721 Centerline is valid? [True, True] Translation: X:422.31, Y:-18.03, Z:3.16 [[ 9.99925628e-01 1.17918053e-02 3.11305421e-03 4.22312045e+02] [-1.17912409e-02 9.99930461e-01 -1.99587574e-04 -1.80318861e+01] [-3.11519123e-03 1.62865958e-04 9.99995135e-01 3.16334303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.530714057 meters Centerline goodness [0,1] 0.9841536668459745 Centerline is valid? [True, True] Translation: X:422.34, Y:-18.03, Z:3.16 [[ 9.99907567e-01 1.31831415e-02 3.32608906e-03 4.22340653e+02] [-1.31825058e-02 9.99913084e-01 -2.12977920e-04 -1.80299317e+01] [-3.32860768e-03 1.69112045e-04 9.99994446e-01 3.16385646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.560714057 meters Centerline goodness [0,1] 0.9847778325785769 Centerline is valid? [True, True] Translation: X:422.37, Y:-18.03, Z:3.16 [[ 9.99887918e-01 1.45785575e-02 3.40825483e-03 4.22368174e+02] [-1.45778987e-02 9.99893713e-01 -2.18063916e-04 -1.80333035e+01] [-3.41107164e-03 1.68354282e-04 9.99994168e-01 3.16368463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.590714057 meters Centerline goodness [0,1] 0.9847465231045311 Centerline is valid? [True, True] Translation: X:422.40, Y:-18.03, Z:3.16 [[ 9.99862937e-01 1.61308609e-02 3.72865328e-03 4.22396801e+02] [-1.61300850e-02 9.99869873e-01 -2.38066385e-04 -1.80340624e+01] [-3.73200830e-03 1.77890261e-04 9.99993020e-01 3.16386082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.620714057 meters Centerline goodness [0,1] 0.9851248884924175 Centerline is valid? [True, True] Translation: X:422.43, Y:-18.04, Z:3.16 [[ 9.99799627e-01 1.96428650e-02 3.85532996e-03 4.22425306e+02] [-1.96420630e-02 9.99807046e-01 -2.45781691e-04 -1.80371758e+01] [-3.85941392e-03 1.70005809e-04 9.99992538e-01 3.16432423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.650714057 meters Centerline goodness [0,1] 0.9865461847389558 Centerline is valid? [True, True] Translation: X:422.46, Y:-18.03, Z:3.16 [[ 9.99729089e-01 2.30817653e-02 2.99673619e-03 4.22455231e+02] [-2.30812966e-02 9.99733573e-01 -1.90896147e-04 -1.80312530e+01] [-3.00034400e-03 1.21675874e-04 9.99995492e-01 3.16475292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.680714057 meters Centerline goodness [0,1] 0.9860229286787966 Centerline is valid? [True, True] Translation: X:422.48, Y:-18.03, Z:3.16 [[ 9.99692596e-01 2.46792397e-02 2.37649319e-03 4.22483711e+02] [-2.46789490e-02 9.99695417e-01 -1.51574051e-04 -1.80325473e+01] [-2.37951009e-03 9.28781028e-05 9.99997165e-01 3.16437847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.710714057 meters Centerline goodness [0,1] 0.987045934174487 Centerline is valid? [True, True] Translation: X:422.51, Y:-18.03, Z:3.16 [[ 9.99643233e-01 2.66023164e-02 2.39237055e-03 4.22512912e+02] [-2.66020279e-02 9.99646092e-01 -1.52311611e-04 -1.80328952e+01] [-2.39557571e-03 8.86153629e-05 9.99997127e-01 3.16425843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.740714057 meters Centerline goodness [0,1] 0.9874415168677666 Centerline is valid? [True, True] Translation: X:422.54, Y:-18.03, Z:3.16 [[ 9.99538409e-01 3.03040166e-02 2.15294089e-03 4.22543265e+02] [-3.03037922e-02 9.99540725e-01 -1.36773606e-04 -1.80336230e+01] [-2.15609689e-03 7.14681988e-05 9.99997673e-01 3.16437257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.770714057 meters Centerline goodness [0,1] 0.9875975598815825 Centerline is valid? [True, True] Translation: X:422.57, Y:-18.04, Z:3.16 [[ 9.99431155e-01 3.36518175e-02 2.21833715e-03 4.22571347e+02] [-3.36515869e-02 9.99433615e-01 -1.41209291e-04 -1.80355120e+01] [-2.22183266e-03 6.64783999e-05 9.99997530e-01 3.16436293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.800714057 meters Centerline goodness [0,1] 0.9880147304988283 Centerline is valid? [True, True] Translation: X:422.60, Y:-18.04, Z:3.16 [[ 9.99380873e-01 3.51326536e-02 1.88864874e-03 4.22599808e+02] [-3.51324891e-02 9.99382656e-01 -1.20178097e-04 -1.80365879e+01] [-1.89170497e-03 5.37507607e-05 9.99998209e-01 3.16439105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.830714057 meters Centerline goodness [0,1] 0.9882368757141897 Centerline is valid? [True, True] Translation: X:422.63, Y:-18.04, Z:3.16 [[ 9.99352863e-01 3.59584858e-02 9.18292701e-04 4.22628763e+02] [-3.59584471e-02 9.99353284e-01 -5.86856051e-05 -1.80373809e+01] [-9.19809072e-04 2.56272479e-05 9.99999577e-01 3.16405146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.860714057 meters Centerline goodness [0,1] 0.9888667368562533 Centerline is valid? [True, True] Translation: X:422.66, Y:-18.04, Z:3.16 [[ 9.99317455e-01 3.69382116e-02 4.39994617e-04 4.22656721e+02] [-3.69382027e-02 9.99317551e-01 -2.85416423e-05 -1.80411673e+01] [-4.40748621e-04 1.22695509e-05 9.99999903e-01 3.16305311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.890714057 meters Centerline goodness [0,1] 0.9873769024171889 Centerline is valid? [True, True] Translation: X:422.69, Y:-18.05, Z:3.16 [[ 9.99298637e-01 3.74463720e-02 6.42453414e-05 4.22685118e+02] [-3.74463718e-02 9.99298639e-01 -4.64437901e-06 -1.80465319e+01] [-6.43741973e-05 2.23536668e-06 9.99999998e-01 3.16221142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.920714057 meters Centerline goodness [0,1] 0.9878323267889376 Centerline is valid? [True, True] Translation: X:422.71, Y:-18.05, Z:3.16 [[ 9.99331956e-01 3.65412799e-02 -6.13382365e-04 4.22712774e+02] [-3.65412635e-02 9.99332144e-01 3.79078889e-05 -1.80536262e+01] [ 6.14357916e-04 -1.54687982e-05 9.99999811e-01 3.16162667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.950714057 meters Centerline goodness [0,1] 0.9873488580385132 Centerline is valid? [True, True] Translation: X:422.74, Y:-18.06, Z:3.16 [[ 9.99374200e-01 3.53605071e-02 -9.18157409e-04 4.22741765e+02] [-3.53604695e-02 9.99374621e-01 5.71605863e-05 -1.80553584e+01] [ 9.19604440e-04 -2.46583381e-05 9.99999577e-01 3.16232375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.980714057 meters Centerline goodness [0,1] 0.9870983610222928 Centerline is valid? [True, True] Translation: X:422.77, Y:-18.06, Z:3.16 [[ 9.99412633e-01 3.42560512e-02 -9.55474979e-04 4.22768901e+02] [-3.42560102e-02 9.99413089e-01 5.92734466e-05 -1.80647922e+01] [ 9.56944674e-04 -2.65078707e-05 9.99999542e-01 3.16083347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01071405700003 meters Centerline goodness [0,1] 0.986699584083984 Centerline is valid? [True, True] Translation: X:422.80, Y:-18.07, Z:3.16 [[ 9.99509898e-01 3.12829155e-02 -1.15880659e-03 4.22798252e+02] [-3.12828525e-02 9.99510569e-01 7.24787421e-05 -1.80699773e+01] [ 1.16050678e-03 -3.61924445e-05 9.99999326e-01 3.16183794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.040714057 meters Centerline goodness [0,1] 0.9879329957843552 Centerline is valid? [True, True] Translation: X:422.83, Y:-18.07, Z:3.16 [[ 9.99570587e-01 2.92825268e-02 -1.08386907e-03 4.22826629e+02] [-2.92824710e-02 9.99571174e-01 6.73790237e-05 -1.80726510e+01] [ 1.08537731e-03 -3.56117255e-05 9.99999410e-01 3.16233752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07071405700003 meters Centerline goodness [0,1] 0.9869739478957916 Centerline is valid? [True, True] Translation: X:422.85, Y:-18.08, Z:3.16 [[ 9.99683614e-01 2.51404925e-02 -7.92602649e-04 4.22854540e+02] [-2.51404614e-02 9.99683927e-01 4.90562043e-05 -1.80814526e+01] [ 7.93585426e-04 -2.91142872e-05 9.99999685e-01 3.16128030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.100714057 meters Centerline goodness [0,1] 0.9866876705642209 Centerline is valid? [True, True] Translation: X:422.88, Y:-18.09, Z:3.16 [[ 9.99738437e-01 2.28497433e-02 -9.73235561e-04 4.22882582e+02] [-2.28496954e-02 9.99738910e-01 6.03627199e-05 -1.80867236e+01] [ 9.74360732e-04 -3.81087951e-05 9.99999525e-01 3.16082107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.130714057 meters Centerline goodness [0,1] 0.9855629988282373 Centerline is valid? [True, True] Translation: X:422.91, Y:-18.10, Z:3.16 [[ 9.99832310e-01 1.82466745e-02 -1.55259814e-03 4.22911412e+02] [-1.82465458e-02 9.99833513e-01 9.69980781e-05 -1.80971520e+01] [ 1.55410954e-03 -6.86522594e-05 9.99998790e-01 3.15908210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.160714057 meters Centerline goodness [0,1] 0.9862252242276602 Centerline is valid? [True, True] Translation: X:422.94, Y:-18.10, Z:3.16 [[ 9.99873544e-01 1.57918999e-02 -1.87416966e-03 4.22940781e+02] [-1.57917084e-02 9.99875296e-01 1.16902612e-04 -1.80992535e+01] [ 1.87578206e-03 -8.72914884e-05 9.99998237e-01 3.15916243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.190714057 meters Centerline goodness [0,1] 0.9852870236372407 Centerline is valid? [True, True] Translation: X:422.97, Y:-18.11, Z:3.16 [[ 9.99930097e-01 1.15799517e-02 -2.38886372e-03 4.22969305e+02] [-1.15796282e-02 9.99932943e-01 1.49201467e-04 -1.81101930e+01] [ 2.39043128e-03 -1.21528884e-04 9.99997136e-01 3.15758293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.220714057 meters Centerline goodness [0,1] 0.9847916298781565 Centerline is valid? [True, True] Translation: X:423.00, Y:-18.11, Z:3.16 [[ 9.99953406e-01 9.19046244e-03 -2.95319483e-03 4.22998864e+02] [-9.18995833e-03 9.99957754e-01 1.84223374e-04 -1.81106593e+01] [ 2.95476317e-03 -1.57075052e-04 9.99995622e-01 3.15827642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.250714057 meters Centerline goodness [0,1] 0.985491884730043 Centerline is valid? [True, True] Translation: X:423.03, Y:-18.11, Z:3.16 [[ 9.99968186e-01 7.30201486e-03 -3.21057325e-03 4.23028095e+02] [-7.30141032e-03 9.99973324e-01 1.99978692e-04 -1.81136200e+01] [ 3.21194785e-03 -1.76530617e-04 9.99994826e-01 3.15799548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.280714057 meters Centerline goodness [0,1] 0.9845003968603934 Centerline is valid? [True, True] Translation: X:423.06, Y:-18.12, Z:3.16 [[ 9.99984735e-01 3.24973340e-03 -4.46868089e-03 4.23057310e+02] [-3.24852089e-03 9.99994685e-01 2.78568277e-04 -1.81187721e+01] [ 4.46956241e-03 -2.64047421e-04 9.99989977e-01 3.15803642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.310714057 meters Centerline goodness [0,1] 0.985450169565693 Centerline is valid? [True, True] Translation: X:423.09, Y:-18.12, Z:3.16 [[ 9.99990831e-01 1.57749245e-03 -3.98118710e-03 4.23085137e+02] [-1.57651938e-03 9.99998727e-01 2.47542671e-04 -1.81238005e+01] [ 3.98157253e-03 -2.41263982e-04 9.99992044e-01 3.15776301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.340714057 meters Centerline goodness [0,1] 0.984430770578317 Centerline is valid? [True, True] Translation: X:423.11, Y:-18.13, Z:3.16 [[ 9.99986844e-01 -1.97718703e-03 -4.73304263e-03 4.23114912e+02] [ 1.97860422e-03 9.99997999e-01 2.94761097e-04 -1.81254532e+01] [ 4.73245036e-03 -3.04122037e-04 9.99988756e-01 3.15829436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.370714057 meters Centerline goodness [0,1] 0.984430770578317 Centerline is valid? [True, True] Translation: X:423.14, Y:-18.13, Z:3.16 [[ 9.99986774e-01 -2.01236498e-03 -4.73306217e-03 4.23144073e+02] [ 2.01378109e-03 9.99997929e-01 2.94447358e-04 -1.81272393e+01] [ 4.73245983e-03 -3.03974815e-04 9.99988756e-01 3.15804922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.400714057 meters Centerline goodness [0,1] 0.9836454761276708 Centerline is valid? [True, True] Translation: X:423.17, Y:-18.13, Z:3.16 [[ 9.99980667e-01 -3.72303531e-03 -4.98041006e-03 4.23172914e+02] [ 3.72462811e-03 9.99993015e-01 3.10576738e-04 -1.81307114e+01] [ 4.97921899e-03 -3.29120909e-04 9.99987549e-01 3.15785006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.430714057 meters Centerline goodness [0,1] 0.9835978719177024 Centerline is valid? [True, True] Translation: X:423.20, Y:-18.13, Z:3.16 [[ 9.99968206e-01 -6.31454086e-03 -4.86973720e-03 4.23203498e+02] [ 6.31609296e-03 9.99980007e-01 3.03411248e-04 -1.81289090e+01] [ 4.86772394e-03 -3.34159314e-04 9.99988097e-01 3.15929029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.460714057 meters Centerline goodness [0,1] 0.9825024760647079 Centerline is valid? [True, True] Translation: X:423.23, Y:-18.13, Z:3.16 [[ 9.99965692e-01 -7.08899817e-03 -4.28496291e-03 4.23232904e+02] [ 7.09020600e-03 9.99974829e-01 2.66752378e-04 -1.81313597e+01] [ 4.28296405e-03 -2.97124496e-04 9.99990784e-01 3.15926819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.490714057 meters Centerline goodness [0,1] 0.9819545554820207 Centerline is valid? [True, True] Translation: X:423.26, Y:-18.13, Z:3.16 [[ 9.99963241e-01 -8.08156438e-03 -2.86450685e-03 4.23263828e+02] [ 8.08210849e-03 9.99967323e-01 1.78423687e-04 -1.81307675e+01] [ 2.86297130e-03 -2.01568384e-04 9.99995881e-01 3.16032076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.520714057 meters Centerline goodness [0,1] 0.9821772107113637 Centerline is valid? [True, True] Translation: X:423.29, Y:-18.13, Z:3.16 [[ 9.99963331e-01 -8.33947840e-03 -1.94695271e-03 4.23294987e+02] [ 8.33973131e-03 9.99965216e-01 1.21816668e-04 -1.81329684e+01] [ 1.94586910e-03 -1.38049264e-04 9.99998097e-01 3.16047707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.550714057 meters Centerline goodness [0,1] 0.9811964297579234 Centerline is valid? [True, True] Translation: X:423.33, Y:-18.14, Z:3.16 [[ 9.99957347e-01 -9.23446929e-03 -1.67291901e-04 4.23326201e+02] [ 9.23447124e-03 9.99957361e-01 1.08760197e-05 -1.81379966e+01] [ 1.67184333e-04 -1.24204080e-05 9.99999986e-01 3.16119380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.580714057 meters Centerline goodness [0,1] 0.9818917484743964 Centerline is valid? [True, True] Translation: X:423.36, Y:-18.13, Z:3.16 [[ 9.99948315e-01 -1.01669746e-02 2.70485801e-05 4.23358405e+02] [ 1.01669746e-02 9.99948315e-01 -1.10762591e-06 -1.81348448e+01] [-2.70359209e-05 1.38257089e-06 1.00000000e+00 3.16167235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.610714057 meters Centerline goodness [0,1] 0.9795674142363265 Centerline is valid? [True, True] Translation: X:423.39, Y:-18.14, Z:3.16 [[ 9.99910366e-01 -1.33846632e-02 3.33493958e-04 4.23387584e+02] [ 1.33846709e-02 9.99910421e-01 -2.09364816e-05 -1.81407423e+01] [-3.33183856e-04 2.53983119e-05 9.99999944e-01 3.16140062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.640714057 meters Centerline goodness [0,1] 0.9806320081549439 Centerline is valid? [True, True] Translation: X:423.42, Y:-18.14, Z:3.16 [[ 9.99877567e-01 -1.56448095e-02 3.01982522e-04 4.23418444e+02] [ 1.56448158e-02 9.99877612e-01 -1.85556699e-05 -1.81402562e+01] [-3.01655263e-04 2.32778590e-05 9.99999954e-01 3.16095051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.670714057 meters Centerline goodness [0,1] 0.9804008612079107 Centerline is valid? [True, True] Translation: X:423.45, Y:-18.14, Z:3.16 [[ 9.99842123e-01 -1.77687796e-02 5.52324726e-06 4.23449207e+02] [ 1.77687796e-02 9.99842123e-01 -1.40334610e-08 -1.81398992e+01] [-5.52212593e-06 1.12172610e-07 1.00000000e+00 3.16029622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.700714057 meters Centerline goodness [0,1] 0.9771207942636514 Centerline is valid? [True, True] Translation: X:423.48, Y:-18.15, Z:3.16 [[ 9.99806143e-01 -1.96886012e-02 -1.89727268e-04 4.23478990e+02] [ 1.96886038e-02 9.99806161e-01 1.18629639e-05 -1.81454938e+01] [ 1.89456927e-04 -1.55961292e-05 9.99999982e-01 3.15835134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.730714057 meters Centerline goodness [0,1] 0.9772874178089825 Centerline is valid? [True, True] Translation: X:423.51, Y:-18.14, Z:3.16 [[ 9.99721860e-01 -2.34741122e-02 -2.27343312e-03 4.23510094e+02] [ 2.34744964e-02 9.99724426e-01 1.42419543e-04 -1.81449921e+01] [ 2.26946345e-03 -1.95747628e-04 9.99997406e-01 3.15542865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76071405700003 meters Centerline goodness [0,1] 0.9658449525934188 Centerline is valid? [True, True] Translation: X:423.54, Y:-18.15, Z:3.15 [[ 9.99656711e-01 -2.59796152e-02 -3.39409646e-03 4.23541129e+02] [ 2.59804850e-02 9.99662428e-01 2.12420104e-04 -1.81458645e+01] [ 3.38743212e-03 -3.00527455e-04 9.99994217e-01 3.15406795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.790714057 meters Centerline goodness [0,1] 0.9380808395215439 Centerline is valid? [True, False] Translation: X:423.54, Y:-18.14, Z:3.15 [[ 9.99652168e-01 -2.61026883e-02 -3.76722764e-03 4.23541986e+02] [ 2.61012685e-02 9.99659213e-01 -4.25578646e-04 -1.81434649e+01] [ 3.77705257e-03 3.27101197e-04 9.99992813e-01 3.15399009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82071405700003 meters Centerline goodness [0,1] 0.9820939729838891 Centerline is valid? [False, True] Translation: X:423.54, Y:-18.14, Z:3.15 [[ 9.99726704e-01 -2.31332063e-02 -3.37231165e-03 4.23540978e+02] [ 2.31419030e-02 9.99728905e-01 2.56303993e-03 -1.81411102e+01] [ 3.31210610e-03 -2.64038117e-03 9.99991029e-01 3.15387738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.850714057 meters Centerline goodness [0,1] 0.9823566336367305 Centerline is valid? [True, True] Translation: X:423.57, Y:-18.14, Z:3.15 [[ 9.99736483e-01 -2.27511633e-02 -3.05775995e-03 4.23573652e+02] [ 2.27518914e-02 9.99741121e-01 2.03531101e-04 -1.81414587e+01] [ 3.05233779e-03 -2.73047289e-04 9.99995304e-01 3.15427447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.880714057 meters Centerline goodness [0,1] 0.9805312914018818 Centerline is valid? [True, True] Translation: X:423.60, Y:-18.15, Z:3.15 [[ 9.99746948e-01 -2.23262511e-02 -2.75292446e-03 4.23604289e+02] [ 2.23268419e-02 9.99750708e-01 1.84065246e-04 -1.81456486e+01] [ 2.74812869e-03 -2.45482777e-04 9.99996194e-01 3.15322329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.910714057 meters Centerline goodness [0,1] 0.9798040929773832 Centerline is valid? [True, True] Translation: X:423.63, Y:-18.15, Z:3.15 [[ 9.99767510e-01 -2.13848309e-02 -2.75961936e-03 4.23634502e+02] [ 2.13854186e-02 9.99771289e-01 1.83638538e-04 -1.81462027e+01] [ 2.75506113e-03 -2.42611459e-04 9.99996175e-01 3.15244440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.940714057 meters Centerline goodness [0,1] 0.9804103212978444 Centerline is valid? [True, True] Translation: X:423.67, Y:-18.14, Z:3.15 [[ 9.99794590e-01 -2.01548994e-02 -2.13471261e-03 4.23666627e+02] [ 2.01552493e-02 9.99796852e-01 1.42517292e-04 -1.81409599e+01] [ 2.13140653e-03 -1.85513682e-04 9.99997711e-01 3.15353570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.970714057 meters Centerline goodness [0,1] 0.9802200769594275 Centerline is valid? [True, True] Translation: X:423.70, Y:-18.14, Z:3.15 [[ 9.99810411e-01 -1.94488995e-02 -9.39567302e-04 4.23699352e+02] [ 1.94489676e-02 9.99810849e-01 6.33919477e-05 -1.81397529e+01] [ 9.38156678e-04 -8.16535433e-05 9.99999557e-01 3.15405649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.000714057 meters Centerline goodness [0,1] 0.9798725713127856 Centerline is valid? [True, True] Translation: X:423.73, Y:-18.14, Z:3.15 [[ 9.99821236e-01 -1.88954711e-02 -6.76644869e-04 4.23731958e+02] [ 1.88955063e-02 9.99821463e-01 4.57715247e-05 -1.81384906e+01] [ 6.75659189e-04 -5.85488898e-05 9.99999770e-01 3.15461279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.030714057 meters Centerline goodness [0,1] 0.9807047168749297 Centerline is valid? [True, True] Translation: X:423.76, Y:-18.14, Z:3.15 [[ 9.99834655e-01 -1.81695632e-02 7.28112301e-04 4.23764229e+02] [ 1.81696029e-02 9.99834918e-01 -4.79762429e-05 -1.81374625e+01] [-7.27120395e-04 6.11978216e-05 9.99999734e-01 3.15492544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.060714057 meters Centerline goodness [0,1] 0.7925185232363119 Centerline is valid? [True, False] Translation: X:423.81, Y:-18.14, Z:3.16 [[ 9.99800039e-01 -1.99779269e-02 -8.74795235e-04 4.23811083e+02] [ 1.99777124e-02 9.99800393e-01 -2.53320768e-04 -1.81380913e+01] [ 8.79681444e-04 2.35793706e-04 9.99999585e-01 3.15670320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.090714057 meters Centerline goodness [0,1] 0.9808670873193568 Centerline is valid? [False, True] Translation: X:423.75, Y:-18.13, Z:3.15 [[ 9.99887642e-01 -1.49343732e-02 1.29156223e-03 4.23747187e+02] [ 1.49359154e-02 9.99887742e-01 -1.19282208e-03 -1.81344160e+01] [-1.27360319e-03 1.21197872e-03 9.99998455e-01 3.15305201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.120714057 meters Centerline goodness [0,1] 0.978605763805827 Centerline is valid? [True, True] Translation: X:423.78, Y:-18.14, Z:3.15 [[ 9.99903701e-01 -1.38369782e-02 1.06160124e-03 4.23777413e+02] [ 1.38370632e-02 9.99904261e-01 -7.27827407e-05 -1.81400420e+01] [-1.06049251e-03 8.74651753e-05 9.99999434e-01 3.15134182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.150714057 meters Centerline goodness [0,1] 0.9801144718684253 Centerline is valid? [True, True] Translation: X:423.81, Y:-18.13, Z:3.15 [[ 9.99933559e-01 -1.15099690e-02 6.30712595e-04 4.23808182e+02] [ 1.15099986e-02 9.99933757e-01 -4.33414420e-05 -1.81340842e+01] [-6.30171956e-04 5.05980634e-05 9.99999800e-01 3.15049183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.180714057 meters Centerline goodness [0,1] 0.9805897807573836 Centerline is valid? [True, True] Translation: X:423.84, Y:-18.14, Z:3.15 [[ 9.99946402e-01 -1.03301918e-02 6.93482365e-04 4.23838227e+02] [ 1.03302272e-02 9.99946641e-01 -4.75003822e-05 -1.81356357e+01] [-6.92954673e-04 5.46616667e-05 9.99999758e-01 3.14987784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.210714057 meters Centerline goodness [0,1] 0.9797393767705382 Centerline is valid? [True, True] Translation: X:423.87, Y:-18.14, Z:3.15 [[ 9.99956877e-01 -9.24859668e-03 8.40792959e-04 4.23870345e+02] [ 9.24864802e-03 9.99957229e-01 -5.71899168e-05 -1.81359770e+01] [-8.40228070e-04 6.49636487e-05 9.99999645e-01 3.14926944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.240714057 meters Centerline goodness [0,1] 0.9798715592166474 Centerline is valid? [True, True] Translation: X:423.90, Y:-18.13, Z:3.15 [[ 9.99971093e-01 -7.42985293e-03 1.61548734e-03 4.23901984e+02] [ 7.43004169e-03 9.99972391e-01 -1.10872807e-04 -1.81320470e+01] [-1.61461897e-03 1.22872741e-04 9.99998689e-01 3.14936393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.270714057 meters Centerline goodness [0,1] 0.9794564130533587 Centerline is valid? [True, True] Translation: X:423.93, Y:-18.13, Z:3.15 [[ 9.99975486e-01 -6.70177857e-03 2.02829857e-03 4.23933324e+02] [ 6.70207351e-03 9.99977531e-01 -1.38648392e-04 -1.81342169e+01] [-2.02732380e-03 1.52238799e-04 9.99997933e-01 3.14893703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.300714057 meters Centerline goodness [0,1] 0.9786529680365297 Centerline is valid? [True, True] Translation: X:423.96, Y:-18.13, Z:3.15 [[ 9.99977029e-01 -5.37232163e-03 4.13279317e-03 4.23964818e+02] [ 5.37354461e-03 9.99985522e-01 -2.84873261e-04 -1.81337967e+01] [-4.13120291e-03 3.07074465e-04 9.99991419e-01 3.14896180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.330714057 meters Centerline goodness [0,1] 0.9769868267847766 Centerline is valid? [True, True] Translation: X:424.00, Y:-18.14, Z:3.15 [[ 9.99977682e-01 -4.75219496e-03 4.69606936e-03 4.23995690e+02] [ 4.75376615e-03 9.99988648e-01 -3.23471397e-04 -1.81373433e+01] [-4.69447885e-03 3.45788193e-04 9.99988921e-01 3.14852179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.360714057 meters Centerline goodness [0,1] 0.9781405771253487 Centerline is valid? [True, True] Translation: X:424.03, Y:-18.13, Z:3.15 [[ 9.99975908e-01 -4.33437454e-03 5.42182236e-03 4.24027846e+02] [ 4.33646891e-03 9.99990527e-01 -3.74590160e-04 -1.81343322e+01] [-5.42014739e-03 3.98092699e-04 9.99985232e-01 3.14810381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.390714057 meters Centerline goodness [0,1] 0.9778235025148605 Centerline is valid? [True, True] Translation: X:424.06, Y:-18.14, Z:3.15 [[ 9.99976009e-01 -4.24276646e-03 5.47538926e-03 4.24059899e+02] [ 4.24490327e-03 9.99990919e-01 -3.78695186e-04 -1.81359260e+01] [-5.47373282e-03 4.01928598e-04 9.99984938e-01 3.14692132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.420714057 meters Centerline goodness [0,1] 0.9754023617380203 Centerline is valid? [True, True] Translation: X:424.09, Y:-18.14, Z:3.14 [[ 9.99977912e-01 -4.93339271e-03 4.45384181e-03 4.24090324e+02] [ 4.93481330e-03 9.99987776e-01 -3.08025786e-04 -1.81439316e+01] [-4.45226776e-03 3.29997860e-04 9.99990034e-01 3.14439780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.450714057 meters Centerline goodness [0,1] 0.9761915684205698 Centerline is valid? [True, True] Translation: X:424.12, Y:-18.14, Z:3.14 [[ 9.99974715e-01 -5.87693976e-03 4.00382700e-03 4.24122928e+02] [ 5.87809767e-03 9.99982685e-01 -2.77495830e-04 -1.81424430e+01] [-4.00212685e-03 3.01023700e-04 9.99991946e-01 3.14320234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.480714057 meters Centerline goodness [0,1] 0.9760921439060206 Centerline is valid? [True, True] Translation: X:424.15, Y:-18.14, Z:3.14 [[ 9.99963686e-01 -7.88171008e-03 3.24121754e-03 4.24154037e+02] [ 7.88248020e-03 9.99968907e-01 -2.24897873e-04 -1.81420738e+01] [-3.23934418e-03 2.50438539e-04 9.99994722e-01 3.14143996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51071405700003 meters Centerline goodness [0,1] 0.974634703196347 Centerline is valid? [True, True] Translation: X:424.18, Y:-18.15, Z:3.14 [[ 9.99957662e-01 -8.65249522e-03 3.13188821e-03 4.24184192e+02] [ 8.65321687e-03 9.99962537e-01 -2.16945298e-04 -1.81513075e+01] [-3.12989376e-03 2.44037021e-04 9.99995072e-01 3.14008191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.540714057 meters Centerline goodness [0,1] 0.975715465052284 Centerline is valid? [True, True] Translation: X:424.22, Y:-18.15, Z:3.14 [[ 9.99937225e-01 -1.05220170e-02 3.85128217e-03 4.24215974e+02] [ 1.05231269e-02 9.99944594e-01 -2.68023591e-04 -1.81473764e+01] [-3.84824864e-03 3.08534297e-04 9.99992548e-01 3.13994618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57071405700003 meters Centerline goodness [0,1] 0.9746311334782112 Centerline is valid? [True, True] Translation: X:424.25, Y:-18.15, Z:3.14 [[ 9.99933780e-01 -1.08436701e-02 3.85352267e-03 4.24248184e+02] [ 1.08447834e-02 9.99941158e-01 -2.68119141e-04 -1.81492673e+01] [-3.85038852e-03 3.09892004e-04 9.99992539e-01 3.13969418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.600714057 meters Centerline goodness [0,1] 0.9740019629773344 Centerline is valid? [True, True] Translation: X:424.28, Y:-18.15, Z:3.14 [[ 9.99929205e-01 -1.13514969e-02 3.56762746e-03 4.24279992e+02] [ 1.13524551e-02 9.99935528e-01 -2.48433718e-04 -1.81515310e+01] [-3.56457736e-03 2.88917461e-04 9.99993605e-01 3.13907785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.630714057 meters Centerline goodness [0,1] 0.974252377233681 Centerline is valid? [True, True] Translation: X:424.31, Y:-18.15, Z:3.14 [[ 9.99921145e-01 -1.20226881e-02 3.62751630e-03 4.24311271e+02] [ 1.20236844e-02 9.99927681e-01 -2.52974534e-04 -1.81533286e+01] [-3.62421253e-03 2.96570697e-04 9.99993389e-01 3.13747796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.660714057 meters Centerline goodness [0,1] 0.9744647687159034 Centerline is valid? [True, True] Translation: X:424.34, Y:-18.15, Z:3.14 [[ 9.99920641e-01 -1.21282895e-02 3.40828962e-03 4.24343107e+02] [ 1.21291698e-02 9.99926411e-01 -2.37731169e-04 -1.81536361e+01] [-3.40515553e-03 2.79052026e-04 9.99994164e-01 3.13717937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.690714057 meters Centerline goodness [0,1] 0.9725402566288097 Centerline is valid? [True, True] Translation: X:424.37, Y:-18.15, Z:3.14 [[ 9.99917328e-01 -1.22054434e-02 4.04533496e-03 4.24373965e+02] [ 1.22066862e-02 9.99925456e-01 -2.82667347e-04 -1.81538670e+01] [-4.04158332e-03 3.32024113e-04 9.99991778e-01 3.13737163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.720714057 meters Centerline goodness [0,1] 0.9713017683445627 Centerline is valid? [True, True] Translation: X:424.40, Y:-18.16, Z:3.14 [[ 9.99917550e-01 -1.19786376e-02 4.62670701e-03 4.24404830e+02] [ 1.19802623e-02 9.99928182e-01 -3.23606638e-04 -1.81570496e+01] [-4.62249836e-03 3.79009120e-04 9.99989244e-01 3.13725751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.750714057 meters Centerline goodness [0,1] 0.9726189098483972 Centerline is valid? [True, True] Translation: X:424.44, Y:-18.15, Z:3.14 [[ 9.99920194e-01 -1.18525335e-02 4.37307572e-03 4.24438632e+02] [ 1.18539834e-02 9.99929692e-01 -3.05786424e-04 -1.81487875e+01] [-4.36914392e-03 3.57600388e-04 9.99990391e-01 3.13738156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.780714057 meters Centerline goodness [0,1] 0.9684576192681797 Centerline is valid? [True, True] Translation: X:424.47, Y:-18.16, Z:3.14 [[ 9.99917584e-01 -1.21922885e-02 4.02167627e-03 4.24468828e+02] [ 1.21935185e-02 9.99925617e-01 -2.81476706e-04 -1.81578668e+01] [-4.01794528e-03 3.30491892e-04 9.99991873e-01 3.13663978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.810714057 meters Centerline goodness [0,1] 0.9714385312572624 Centerline is valid? [True, True] Translation: X:424.50, Y:-18.15, Z:3.14 [[ 9.99914510e-01 -1.23766725e-02 4.21792527e-03 4.24501420e+02] [ 1.23780307e-02 9.99923345e-01 -2.96066781e-04 -1.81525075e+01] [-4.21393762e-03 3.48251079e-04 9.99991061e-01 3.13673913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.840714057 meters Centerline goodness [0,1] 0.9657366277993708 Centerline is valid? [True, True] Translation: X:424.53, Y:-18.16, Z:3.14 [[ 9.99906084e-01 -1.31479656e-02 3.86716866e-03 4.24531805e+02] [ 1.31491143e-02 9.99913510e-01 -2.71764042e-04 -1.81620828e+01] [-3.86326105e-03 3.22588361e-04 9.99992486e-01 3.13524174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.870714057 meters Centerline goodness [0,1] 0.9708572891692465 Centerline is valid? [True, True] Translation: X:424.56, Y:-18.15, Z:3.13 [[ 9.99895608e-01 -1.41966724e-02 2.68824644e-03 4.24564071e+02] [ 1.41972313e-02 9.99899196e-01 -1.88902465e-04 -1.81547231e+01] [-2.68529367e-03 2.27048402e-04 9.99996369e-01 3.13465101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.900714057 meters Centerline goodness [0,1] 0.9686364060024233 Centerline is valid? [True, True] Translation: X:424.59, Y:-18.16, Z:3.13 [[ 9.99890234e-01 -1.46233726e-02 2.38259811e-03 4.24594768e+02] [ 1.46238130e-02 9.99893052e-01 -1.67498162e-04 -1.81592554e+01] [-2.37989391e-03 2.02322446e-04 9.99997148e-01 3.13381757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.930714057 meters Centerline goodness [0,1] 0.9680712524998837 Centerline is valid? [True, True] Translation: X:424.63, Y:-18.16, Z:3.13 [[ 9.99893421e-01 -1.44474036e-02 2.10197269e-03 4.24626712e+02] [ 1.44477458e-02 9.99895615e-01 -1.47704576e-04 -1.81618285e+01] [-2.09961933e-03 1.78057601e-04 9.99997780e-01 3.13354306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.960714057 meters Centerline goodness [0,1] 0.965583263285701 Centerline is valid? [True, True] Translation: X:424.66, Y:-18.16, Z:3.13 [[ 9.99914334e-01 -1.30290875e-02 1.25203938e-03 4.24657694e+02] [ 1.30292080e-02 9.99915112e-01 -8.80854448e-05 -1.81633574e+01] [-1.25078543e-03 1.04390980e-04 9.99999212e-01 3.13351306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.990714057 meters Centerline goodness [0,1] 0.9664961099039742 Centerline is valid? [True, True] Translation: X:424.69, Y:-18.16, Z:3.13 [[ 9.99926752e-01 -1.20480811e-02 1.15532819e-03 4.24690397e+02] [ 1.20481826e-02 9.99927415e-01 -8.08766775e-05 -1.81630146e+01] [-1.15426992e-03 9.47903583e-05 9.99999329e-01 3.13370802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.020714057 meters Centerline goodness [0,1] 0.9668451448479038 Centerline is valid? [True, True] Translation: X:424.72, Y:-18.16, Z:3.13 [[ 9.99955560e-01 -9.30801160e-03 1.49659700e-03 4.24720434e+02] [ 9.30818032e-03 9.99956672e-01 -1.05809218e-04 -1.81621992e+01] [-1.49554729e-03 1.19735111e-04 9.99998875e-01 3.13350418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.050714057 meters Centerline goodness [0,1] 0.9671761109804844 Centerline is valid? [True, True] Translation: X:424.75, Y:-18.16, Z:3.13 [[ 9.99967579e-01 -7.80151458e-03 1.99414417e-03 4.24752432e+02] [ 7.80181039e-03 9.99969556e-01 -1.40604463e-04 -1.81614114e+01] [-1.99298654e-03 1.56157840e-04 9.99998002e-01 3.13334412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.080714057 meters Centerline goodness [0,1] 0.9729379316847787 Centerline is valid? [True, True] Translation: X:424.78, Y:-18.15, Z:3.13 [[ 9.99984953e-01 -4.67991498e-03 2.86224152e-03 4.24783923e+02] [ 4.68051335e-03 9.99989026e-01 -2.02393242e-04 -1.81496721e+01] [-2.86126293e-03 2.15786956e-04 9.99995883e-01 3.13417949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.110714057 meters Centerline goodness [0,1] 0.9683911420050255 Centerline is valid? [True, True] Translation: X:424.81, Y:-18.16, Z:3.13 [[ 9.99989894e-01 -3.00957770e-03 3.33976976e-03 4.24814254e+02] [ 3.01038296e-03 9.99995441e-01 -2.36110504e-04 -1.81600136e+01] [-3.33904394e-03 2.46162104e-04 9.99994395e-01 3.13386178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.140714057 meters Centerline goodness [0,1] 0.9744001891029429 Centerline is valid? [True, True] Translation: X:424.85, Y:-18.15, Z:3.13 [[ 9.99993412e-01 -1.47431257e-03 3.31696379e-03 4.24846512e+02] [ 1.47509884e-03 9.99998885e-01 -2.34610369e-04 -1.81478977e+01] [-3.31661420e-03 2.39501672e-04 9.99994471e-01 3.13448932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.170714057 meters Centerline goodness [0,1] 0.973477058364655 Centerline is valid? [True, True] Translation: X:424.88, Y:-18.15, Z:3.13 [[ 9.99995376e-01 -7.13439685e-04 2.95607556e-03 4.24878050e+02] [ 7.14060390e-04 9.99999723e-01 -2.08925826e-04 -1.81519741e+01] [-2.95592568e-03 2.11035677e-04 9.99995609e-01 3.13342820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.200714057 meters Centerline goodness [0,1] 0.9735860636389387 Centerline is valid? [True, True] Translation: X:424.91, Y:-18.15, Z:3.13 [[ 9.99997032e-01 -2.87918917e-04 2.41912815e-03 4.24909336e+02] [ 2.88334110e-04 9.99999944e-01 -1.71281929e-04 -1.81542905e+01] [-2.41907870e-03 1.71978938e-04 9.99997059e-01 3.13244805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.230714057 meters Centerline goodness [0,1] 0.9735860636389387 Centerline is valid? [True, True] Translation: X:424.94, Y:-18.16, Z:3.13 [[ 9.99997042e-01 -2.52892863e-04 2.41912232e-03 4.24940183e+02] [ 2.53308151e-04 9.99999953e-01 -1.71364203e-04 -1.81565108e+01] [-2.41907887e-03 1.71976480e-04 9.99997059e-01 3.13215652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26071405700003 meters Centerline goodness [0,1] 0.9749231133191388 Centerline is valid? [True, True] Translation: X:424.97, Y:-18.16, Z:3.13 [[ 9.99999288e-01 2.96345044e-04 1.15555051e-03 4.24971469e+02] [-2.96250802e-04 9.99999953e-01 -8.17261396e-05 -1.81580425e+01] [-1.15557467e-03 8.13837487e-05 9.99999329e-01 3.13089933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.290714057 meters Centerline goodness [0,1] 0.9754996928601805 Centerline is valid? [True, True] Translation: X:425.00, Y:-18.16, Z:3.13 [[ 9.99998382e-01 1.60834503e-03 8.05137106e-04 4.25001749e+02] [-1.60830008e-03 9.99998705e-01 -5.64652499e-05 -1.81591852e+01] [-8.05226879e-04 5.51702565e-05 9.99999674e-01 3.13013566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32071405700003 meters Centerline goodness [0,1] 0.9749148855683752 Centerline is valid? [True, True] Translation: X:425.03, Y:-18.16, Z:3.13 [[ 9.99996266e-01 2.70242881e-03 4.06166655e-04 4.25031307e+02] [-2.70241725e-03 9.99996348e-01 -2.90280194e-05 -1.81618566e+01] [-4.06243618e-04 2.79302793e-05 9.99999917e-01 3.12934563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.350714057 meters Centerline goodness [0,1] 0.976737581939087 Centerline is valid? [True, True] Translation: X:425.06, Y:-18.16, Z:3.13 [[ 9.99991162e-01 4.20373365e-03 6.53967029e-05 4.25061807e+02] [-4.20373335e-03 9.99991164e-01 -4.81194434e-06 -1.81575235e+01] [-6.54163532e-05 4.53699151e-06 9.99999998e-01 3.12930721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.380714057 meters Centerline goodness [0,1] 0.9754175933374344 Centerline is valid? [True, True] Translation: X:425.09, Y:-18.16, Z:3.13 [[ 9.99983546e-01 5.73389610e-03 -1.74065868e-04 4.25091058e+02] [-5.73389441e-03 9.99983561e-01 1.02031837e-05 -1.81582969e+01] [ 1.74121510e-04 -9.20494051e-06 9.99999985e-01 3.12837648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.410714057 meters Centerline goodness [0,1] 0.9783525176448297 Centerline is valid? [True, True] Translation: X:425.12, Y:-18.16, Z:3.13 [[ 9.99954049e-01 9.47954081e-03 -1.42776233e-03 4.25119966e+02] [-9.47940673e-03 9.99955064e-01 1.00649586e-04 -1.81570483e+01] [ 1.42865229e-03 -8.71106214e-05 9.99998976e-01 3.12662589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.440714057 meters Centerline goodness [0,1] 0.9816345925397957 Centerline is valid? [True, True] Translation: X:425.15, Y:-18.15, Z:3.12 [[ 9.99888223e-01 1.45698416e-02 -3.35578072e-03 4.25151357e+02] [-1.45691263e-02 9.99893836e-01 2.37501380e-04 -1.81511707e+01] [ 3.35888482e-03 -1.88584039e-04 9.99994341e-01 3.12499915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.470714057 meters Centerline goodness [0,1] 0.9801296203974076 Centerline is valid? [True, True] Translation: X:425.18, Y:-18.15, Z:3.13 [[ 9.99868777e-01 1.60332609e-02 -2.31570611e-03 4.25179590e+02] [-1.60329260e-02 9.99871451e-01 1.63082134e-04 -1.81526846e+01] [ 2.31802317e-03 -1.25933189e-04 9.99997305e-01 3.12545055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.500714057 meters Centerline goodness [0,1] 0.977887036245309 Centerline is valid? [True, True] Translation: X:425.21, Y:-18.16, Z:3.13 [[ 9.99862054e-01 1.65687449e-02 -1.16213411e-03 4.25206716e+02] [-1.65686616e-02 9.99862727e-01 8.12535876e-05 -1.81614470e+01] [ 1.16332085e-03 -6.19873721e-05 9.99999321e-01 3.12528959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.530714057 meters Centerline goodness [0,1] 0.9801327643432907 Centerline is valid? [True, True] Translation: X:425.24, Y:-18.15, Z:3.13 [[ 9.99850250e-01 1.72872108e-02 7.94175659e-04 4.25236162e+02] [-1.72871712e-02 9.99850564e-01 -5.66973533e-05 -1.81536777e+01] [-7.95037120e-04 4.29598123e-05 9.99999683e-01 3.12886687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.560714057 meters Centerline goodness [0,1] 0.9820310826570198 Centerline is valid? [True, True] Translation: X:425.26, Y:-18.16, Z:3.13 [[ 9.99806589e-01 1.96495986e-02 -8.23927432e-04 4.25264662e+02] [-1.96495580e-02 9.99806927e-01 5.74115192e-05 -1.81565263e+01] [ 8.24896467e-04 -4.12106053e-05 9.99999659e-01 3.12540959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.590714057 meters Centerline goodness [0,1] 0.9818574719194509 Centerline is valid? [True, True] Translation: X:425.29, Y:-18.16, Z:3.12 [[ 9.99780762e-01 2.08994608e-02 -1.28048128e-03 4.25292312e+02] [-2.08993639e-02 9.99781580e-01 8.89900298e-05 -1.81621663e+01] [ 1.28206144e-03 -6.22092756e-05 9.99999176e-01 3.12293582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.620714057 meters Centerline goodness [0,1] 0.9824902262765075 Centerline is valid? [True, True] Translation: X:425.32, Y:-18.16, Z:3.12 [[ 9.99765390e-01 2.16244907e-02 -1.24327838e-03 4.25321276e+02] [-2.16243995e-02 9.99766162e-01 8.67402875e-05 -1.81637206e+01] [ 1.24486337e-03 -5.98347889e-05 9.99999223e-01 3.12330394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.650714057 meters Centerline goodness [0,1] 0.9820366376756642 Centerline is valid? [True, True] Translation: X:425.35, Y:-18.17, Z:3.12 [[ 9.99745233e-01 2.25317654e-02 -1.33773220e-03 4.25348727e+02] [-2.25316610e-02 9.99746126e-01 9.31071785e-05 -1.81662398e+01] [ 1.33949045e-03 -6.29421294e-05 9.99999101e-01 3.12479848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.680714057 meters Centerline goodness [0,1] 0.9818867208800588 Centerline is valid? [True, True] Translation: X:425.38, Y:-18.17, Z:3.13 [[ 9.99741503e-01 2.26866585e-02 -1.49739927e-03 4.25377682e+02] [-2.26865276e-02 9.99742622e-01 1.04381033e-04 -1.81675536e+01] [ 1.49938193e-03 -7.03832611e-05 9.99998873e-01 3.12508976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.710714057 meters Centerline goodness [0,1] 0.9818754738438211 Centerline is valid? [True, True] Translation: X:425.41, Y:-18.17, Z:3.12 [[ 9.99761983e-01 2.16595490e-02 -2.61545749e-03 4.25405824e+02] [-2.16591458e-02 9.99765397e-01 1.82390394e-04 -1.81703902e+01] [ 2.61879439e-03 -1.25698407e-04 9.99996563e-01 3.12491633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.740714057 meters Centerline goodness [0,1] 0.980501261405701 Centerline is valid? [True, True] Translation: X:425.43, Y:-18.18, Z:3.12 [[ 9.99775299e-01 2.10216113e-02 -2.72808529e-03 4.25433368e+02] [-2.10211708e-02 9.99779013e-01 1.90047496e-04 -1.81798875e+01] [ 2.73147752e-03 -1.32657245e-04 9.99996261e-01 3.12180076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.770714057 meters Centerline goodness [0,1] 0.9809232218558643 Centerline is valid? [True, True] Translation: X:425.46, Y:-18.18, Z:3.12 [[ 9.99820865e-01 1.86561033e-02 -3.19178764e-03 4.25462409e+02] [-1.86554874e-02 9.99825946e-01 2.22650563e-04 -1.81839411e+01] [ 3.19538589e-03 -1.63066324e-04 9.99994881e-01 3.12165012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.800714057 meters Centerline goodness [0,1] 0.9796511627906976 Centerline is valid? [True, True] Translation: X:425.49, Y:-18.19, Z:3.12 [[ 9.99845840e-01 1.73445719e-02 -2.73150823e-03 4.25491080e+02] [-1.73441170e-02 9.99849561e-01 1.90118741e-04 -1.81875940e+01] [ 2.73439484e-03 -1.42713834e-04 9.99996251e-01 3.12230819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.830714057 meters Centerline goodness [0,1] 0.9791559323621716 Centerline is valid? [True, True] Translation: X:425.52, Y:-18.19, Z:3.12 [[ 9.99875519e-01 1.55428931e-02 -2.71393472e-03 4.25520565e+02] [-1.55424368e-02 9.99879191e-01 1.89122493e-04 -1.81904492e+01] [ 2.71654637e-03 -1.46917792e-04 9.99996299e-01 3.12290625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.860714057 meters Centerline goodness [0,1] 0.9796161668108184 Centerline is valid? [True, True] Translation: X:425.55, Y:-18.19, Z:3.12 [[ 9.99915324e-01 1.26515853e-02 -3.04679178e-03 4.25549629e+02] [-1.26509977e-02 9.99919950e-01 2.12035438e-04 -1.81949751e+01] [ 3.04923047e-03 -1.73472528e-04 9.99995336e-01 3.12322294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.890714057 meters Centerline goodness [0,1] 0.9768969952063603 Centerline is valid? [True, True] Translation: X:425.58, Y:-18.21, Z:3.12 [[ 9.99946976e-01 9.85843694e-03 -2.97610954e-03 4.25576791e+02] [-9.85786517e-03 9.99951389e-01 2.06729716e-04 -1.82102652e+01] [ 2.97800290e-03 -1.77380668e-04 9.99995550e-01 3.12072766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.920714057 meters Centerline goodness [0,1] 0.9790990401905607 Centerline is valid? [True, True] Translation: X:425.61, Y:-18.21, Z:3.12 [[ 9.99962918e-01 8.18374579e-03 -2.68138949e-03 4.25606683e+02] [-8.18327523e-03 9.99966499e-01 1.86413330e-04 -1.82056645e+01] [ 2.68282522e-03 -1.64463870e-04 9.99996388e-01 3.12193451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.950714057 meters Centerline goodness [0,1] 0.9786042604820457 Centerline is valid? [True, True] Translation: X:425.64, Y:-18.21, Z:3.12 [[ 9.99984199e-01 4.85990301e-03 -2.82539625e-03 4.25635387e+02] [-4.85936758e-03 9.99988174e-01 1.96341445e-04 -1.82137350e+01] [ 2.82631703e-03 -1.82608704e-04 9.99995989e-01 3.12132836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.980714057 meters Centerline goodness [0,1] 0.9766264666775526 Centerline is valid? [True, True] Translation: X:425.66, Y:-18.22, Z:3.12 [[ 9.99989187e-01 3.31521272e-03 -3.26131071e-03 4.25663259e+02] [-3.31449219e-03 9.99994481e-01 2.26311051e-04 -1.82249657e+01] [ 3.26204299e-03 -2.15499015e-04 9.99994656e-01 3.11979011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01071405700003 meters Centerline goodness [0,1] 0.977865372953305 Centerline is valid? [True, True] Translation: X:425.69, Y:-18.22, Z:3.12 [[ 9.99990061e-01 1.80826667e-03 -4.07534644e-03 4.25693269e+02] [-1.80712837e-03 9.99998327e-01 2.82980185e-04 -1.82214483e+01] [ 4.07585133e-03 -2.75612698e-04 9.99991656e-01 3.12050397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.040714057 meters Centerline goodness [0,1] 0.9779841280923457 Centerline is valid? [True, True] Translation: X:425.72, Y:-18.23, Z:3.12 [[ 9.99982675e-01 -2.29958439e-04 -5.88187065e-03 4.25721875e+02] [ 2.32364376e-04 9.99999890e-01 4.08362746e-04 -1.82293451e+01] [ 5.88177609e-03 -4.09722409e-04 9.99982618e-01 3.11821701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07071405700003 meters Centerline goodness [0,1] 0.9782749826107118 Centerline is valid? [True, True] Translation: X:425.75, Y:-18.23, Z:3.12 [[ 9.99978129e-01 -6.29857517e-04 -6.58367830e-03 4.25749045e+02] [ 6.32873761e-04 9.99999696e-01 4.56066343e-04 -1.82348264e+01] [ 6.58338904e-03 -4.60223005e-04 9.99978223e-01 3.11628032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.100714057 meters Centerline goodness [0,1] 0.978304754391257 Centerline is valid? [True, True] Translation: X:425.78, Y:-18.24, Z:3.12 [[ 9.99977055e-01 -6.77683035e-04 -6.74015875e-03 4.25777271e+02] [ 6.80843523e-04 9.99999659e-01 4.66620625e-04 -1.82378299e+01] [ 6.73984023e-03 -4.71198912e-04 9.99977176e-01 3.11563770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.130714057 meters Centerline goodness [0,1] 0.9772832316509521 Centerline is valid? [True, True] Translation: X:425.81, Y:-18.24, Z:3.12 [[ 9.99982117e-01 -2.85428010e-04 -5.97364541e-03 4.25805260e+02] [ 2.87899066e-04 9.99999873e-01 4.12803919e-04 -1.82414857e+01] [ 5.97352683e-03 -4.14516343e-04 9.99982072e-01 3.11527986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.160714057 meters Centerline goodness [0,1] 0.978340853870184 Centerline is valid? [True, True] Translation: X:425.83, Y:-18.24, Z:3.12 [[ 9.99985305e-01 1.37903357e-04 -5.41944068e-03 4.25832673e+02] [-1.35878612e-04 9.99999921e-01 3.73974208e-04 -1.82447540e+01] [ 5.41949182e-03 -3.73232326e-04 9.99985245e-01 3.11500063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.190714057 meters Centerline goodness [0,1] 0.9768293248065248 Centerline is valid? [True, True] Translation: X:425.86, Y:-18.25, Z:3.12 [[ 9.99990500e-01 9.25594650e-04 -4.25951781e-03 4.25860163e+02] [-9.24353224e-04 9.99999530e-01 2.93406887e-04 -1.82469697e+01] [ 4.25978739e-03 -2.89466801e-04 9.99990885e-01 3.11660002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.220714057 meters Centerline goodness [0,1] 0.9766564871367759 Centerline is valid? [True, True] Translation: X:425.89, Y:-18.25, Z:3.12 [[ 9.99994917e-01 1.89831900e-03 -2.56164287e-03 4.25889334e+02] [-1.89787867e-03 9.99998184e-01 1.74311883e-04 -1.82488075e+01] [ 2.56196911e-03 -1.69449310e-04 9.99996704e-01 3.11758375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.250714057 meters Centerline goodness [0,1] 0.9760296159185562 Centerline is valid? [True, True] Translation: X:425.92, Y:-18.25, Z:3.12 [[ 9.99995694e-01 2.24162051e-03 -1.89420569e-03 4.25917630e+02] [-2.24137892e-03 9.99997480e-01 1.29657906e-04 -1.82511388e+01] [ 1.89449156e-03 -1.25411715e-04 9.99998198e-01 3.11755354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.280714057 meters Centerline goodness [0,1] 0.9763332792997245 Centerline is valid? [True, True] Translation: X:425.95, Y:-18.26, Z:3.12 [[ 9.99997106e-01 2.26420712e-03 -8.13681199e-04 4.25946405e+02] [-2.26416275e-03 9.99997435e-01 5.54559254e-05 -1.82552663e+01] [ 8.13804676e-04 -5.36134582e-05 9.99999667e-01 3.11751619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.310714057 meters Centerline goodness [0,1] 0.9751482566859727 Centerline is valid? [True, True] Translation: X:425.97, Y:-18.26, Z:3.12 [[ 9.99997983e-01 1.45733790e-03 -1.38240854e-03 4.25974600e+02] [-1.45720867e-03 9.99998934e-01 9.44839613e-05 -1.82612956e+01] [ 1.38254476e-03 -9.24693130e-05 9.99999040e-01 3.11659527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.340714057 meters Centerline goodness [0,1] 0.9755945509120295 Centerline is valid? [True, True] Translation: X:426.00, Y:-18.26, Z:3.12 [[ 9.99997543e-01 6.64776412e-04 -2.11464671e-03 4.26003885e+02] [-6.64471553e-04 9.99999769e-01 1.44864658e-04 -1.82643522e+01] [ 2.11474252e-03 -1.43459179e-04 9.99997754e-01 3.11582516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.370714057 meters Centerline goodness [0,1] 0.9766115626154415 Centerline is valid? [True, True] Translation: X:426.03, Y:-18.27, Z:3.11 [[ 9.99993845e-01 -1.00985927e-03 -3.36001153e-03 4.26033160e+02] [ 1.01063931e-03 9.99999463e-01 2.30462105e-04 -1.82708149e+01] [ 3.35977699e-03 -2.33856446e-04 9.99994329e-01 3.11388199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.400714057 meters Centerline goodness [0,1] 0.9752694114396242 Centerline is valid? [True, True] Translation: X:426.06, Y:-18.28, Z:3.11 [[ 9.99989342e-01 -1.41472427e-03 -4.39491645e-03 4.26062942e+02] [ 1.41606163e-03 9.99998952e-01 3.01200666e-04 -1.82752205e+01] [ 4.39448573e-03 -3.07420928e-04 9.99990297e-01 3.11295617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.430714057 meters Centerline goodness [0,1] 0.9800626208674832 Centerline is valid? [True, True] Translation: X:426.09, Y:-18.27, Z:3.11 [[ 9.99984631e-01 -9.76866622e-04 -5.45747985e-03 4.26093074e+02] [ 9.78921577e-04 9.99999451e-01 3.73880636e-04 -1.82683737e+01] [ 5.45711163e-03 -3.79217334e-04 9.99985038e-01 3.11304212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.460714057 meters Centerline goodness [0,1] 0.9747935779816513 Centerline is valid? [True, True] Translation: X:426.12, Y:-18.28, Z:3.11 [[ 9.99981614e-01 -1.02274322e-04 -6.06315713e-03 4.26120786e+02] [ 1.04792066e-04 9.99999908e-01 4.14936701e-04 -1.82834550e+01] [ 6.06311413e-03 -4.15564443e-04 9.99981533e-01 3.10947407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.490714057 meters Centerline goodness [0,1] 0.9752876208007363 Centerline is valid? [True, True] Translation: X:426.15, Y:-18.29, Z:3.11 [[ 9.99979123e-01 9.60106649e-04 -6.39003710e-03 4.26149771e+02] [-9.57334809e-04 9.99999446e-01 4.36819917e-04 -1.82852841e+01] [ 6.39045295e-03 -4.30693393e-04 9.99979488e-01 3.10891040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.520714057 meters Centerline goodness [0,1] 0.9813900057438254 Centerline is valid? [True, True] Translation: X:426.18, Y:-18.27, Z:3.11 [[ 9.99969408e-01 4.63686925e-03 -6.29947651e-03 4.26180885e+02] [-4.63424474e-03 9.99989169e-01 4.31156812e-04 -1.82741160e+01] [ 6.30140749e-03 -4.01950306e-04 9.99980065e-01 3.11201300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.550714057 meters Centerline goodness [0,1] 0.9801706885049803 Centerline is valid? [True, True] Translation: X:426.21, Y:-18.27, Z:3.11 [[ 9.99947783e-01 8.64421225e-03 -5.45065929e-03 4.26210493e+02] [-8.64230815e-03 9.99962585e-01 3.72790502e-04 -1.82746995e+01] [ 5.45367783e-03 -3.25664759e-04 9.99985076e-01 3.11281241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.580714057 meters Centerline goodness [0,1] 0.9821867180864495 Centerline is valid? [True, True] Translation: X:426.24, Y:-18.27, Z:3.11 [[ 9.99932917e-01 1.05763849e-02 -4.72243801e-03 4.26240713e+02] [-1.05749775e-02 9.99944031e-01 3.22900709e-04 -1.82713335e+01] [ 4.72558882e-03 -2.72939372e-04 9.99988797e-01 3.11409257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.610714057 meters Centerline goodness [0,1] 0.982084052964882 Centerline is valid? [True, True] Translation: X:426.27, Y:-18.27, Z:3.11 [[ 9.99912871e-01 1.24780721e-02 -4.30681027e-03 4.26269315e+02] [-1.24769215e-02 9.99922117e-01 2.93913852e-04 -1.82742439e+01] [ 4.31014232e-03 -2.40152509e-04 9.99990682e-01 3.11412556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.640714057 meters Centerline goodness [0,1] 0.9830453886677862 Centerline is valid? [True, True] Translation: X:426.30, Y:-18.27, Z:3.12 [[ 9.99856371e-01 1.64869147e-02 -3.92660170e-03 4.26299136e+02] [-1.64859893e-02 9.99864061e-01 2.67941514e-04 -1.82713101e+01] [ 3.93048545e-03 -2.03169116e-04 9.99992255e-01 3.11570397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.670714057 meters Centerline goodness [0,1] 0.9824182886522218 Centerline is valid? [True, True] Translation: X:426.33, Y:-18.28, Z:3.12 [[ 9.99822888e-01 1.84835656e-02 -3.54252843e-03 4.26326727e+02] [-1.84828278e-02 9.99829149e-01 2.40885307e-04 -1.82757992e+01] [ 3.54637561e-03 -1.75366700e-04 9.99993696e-01 3.11508892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.700714057 meters Centerline goodness [0,1] 0.9819528526875803 Centerline is valid? [True, True] Translation: X:426.36, Y:-18.27, Z:3.12 [[ 9.99754982e-01 2.20064159e-02 -2.38595521e-03 4.26357021e+02] [-2.20060911e-02 9.99757823e-01 1.62335828e-04 -1.82739886e+01] [ 2.38894982e-03 -1.09790505e-04 9.99997140e-01 3.11670710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.730714057 meters Centerline goodness [0,1] 0.9825533284295697 Centerline is valid? [True, True] Translation: X:426.39, Y:-18.28, Z:3.12 [[ 9.99709821e-01 2.40449192e-02 -1.45448681e-03 4.26385060e+02] [-2.40448014e-02 9.99710877e-01 9.84244613e-05 -1.82801284e+01] [ 1.45643290e-03 -6.34230540e-05 9.99998937e-01 3.11606835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76071405700003 meters Centerline goodness [0,1] 0.9833981006691347 Centerline is valid? [True, True] Translation: X:426.41, Y:-18.28, Z:3.12 [[ 9.99619687e-01 2.75629338e-02 -8.75311623e-04 4.26414777e+02] [-2.75628924e-02 9.99620070e-01 5.92721806e-05 -1.82788211e+01] [ 8.76612781e-04 -3.51235185e-05 9.99999615e-01 3.11664144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.790714057 meters Centerline goodness [0,1] 0.9845490807390767 Centerline is valid? [True, True] Translation: X:426.44, Y:-18.28, Z:3.12 [[ 9.99575018e-01 2.91441144e-02 -6.36053250e-04 4.26443519e+02] [-2.91440932e-02 9.99575220e-01 4.25978050e-05 -1.82793481e+01] [ 6.37024542e-04 -2.40425065e-05 9.99999797e-01 3.11597599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82071405700003 meters Centerline goodness [0,1] 0.9852370565951096 Centerline is valid? [True, True] Translation: X:426.47, Y:-18.28, Z:3.12 [[ 9.99514662e-01 3.10800519e-02 -2.11447146e-03 4.26472744e+02] [-3.10798184e-02 9.99516895e-01 1.43209250e-04 -1.82813561e+01] [ 2.11790090e-03 -7.74223564e-05 9.99997754e-01 3.11520082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.850714057 meters Centerline goodness [0,1] 0.9849171473038543 Centerline is valid? [True, True] Translation: X:426.50, Y:-18.28, Z:3.11 [[ 9.99497582e-01 3.16114550e-02 -2.30220418e-03 4.26501391e+02] [-3.16111803e-02 9.99500230e-01 1.55637353e-04 -1.82840348e+01] [ 2.30597353e-03 -8.27837663e-05 9.99997338e-01 3.11463710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.880714057 meters Centerline goodness [0,1] 0.9862954050647416 Centerline is valid? [True, True] Translation: X:426.53, Y:-18.29, Z:3.11 [[ 9.99498813e-01 3.15470954e-02 -2.62761750e-03 4.26528876e+02] [-3.15467387e-02 9.99502262e-01 1.77103314e-04 -1.82884951e+01] [ 2.63189673e-03 -9.41217898e-05 9.99996532e-01 3.11438026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.910714057 meters Centerline goodness [0,1] 0.9859286840121525 Centerline is valid? [True, True] Translation: X:426.56, Y:-18.29, Z:3.11 [[ 9.99517114e-01 3.09807839e-02 -2.39380312e-03 4.26556093e+02] [-3.09804866e-02 9.99519977e-01 1.61217002e-04 -1.82931948e+01] [ 2.39764867e-03 -8.69779669e-05 9.99997122e-01 3.11378488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.940714057 meters Centerline goodness [0,1] 0.9855240696483442 Centerline is valid? [True, True] Translation: X:426.58, Y:-18.30, Z:3.11 [[ 9.99535305e-01 3.04318561e-02 -1.75416348e-03 4.26583878e+02] [-3.04316962e-02 9.99536842e-01 1.17767814e-04 -1.82995754e+01] [ 1.75693492e-03 -6.43309173e-05 9.99998455e-01 3.11298265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.970714057 meters Centerline goodness [0,1] 0.9854634102297865 Centerline is valid? [True, True] Translation: X:426.61, Y:-18.31, Z:3.11 [[ 9.99555792e-01 2.98027741e-02 -1.13233354e-04 4.26612631e+02] [-2.98027735e-02 9.99555799e-01 7.00357118e-06 -1.83058707e+01] [ 1.13391781e-04 -3.62579214e-06 9.99999994e-01 3.11394659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.000714057 meters Centerline goodness [0,1] 0.985116553020864 Centerline is valid? [True, True] Translation: X:426.64, Y:-18.31, Z:3.11 [[ 9.99569691e-01 2.93191696e-02 9.05597333e-04 4.26641152e+02] [-2.93191257e-02 9.99570100e-01 -6.17544039e-05 -1.83085736e+01] [-9.07018604e-04 3.51765083e-05 9.99999588e-01 3.11491843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.030714057 meters Centerline goodness [0,1] 0.9852482012760758 Centerline is valid? [True, True] Translation: X:426.67, Y:-18.31, Z:3.12 [[ 9.99585852e-01 2.86723637e-02 2.45353773e-03 4.26669767e+02] [-2.86720424e-02 9.99588859e-01 -1.66038433e-04 -1.83122575e+01] [-2.45728970e-03 9.56217306e-05 9.99996976e-01 3.11616287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.060714057 meters Centerline goodness [0,1] 0.9847618186339897 Centerline is valid? [True, True] Translation: X:426.70, Y:-18.32, Z:3.12 [[ 9.99602717e-01 2.80333940e-02 2.92167922e-03 4.26696608e+02] [-2.80329363e-02 9.99606981e-01 -1.97493695e-04 -1.83215880e+01] [-2.92606736e-03 1.15511986e-04 9.99995712e-01 3.11546603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.090714057 meters Centerline goodness [0,1] 0.9851140727354868 Centerline is valid? [True, True] Translation: X:426.73, Y:-18.32, Z:3.12 [[ 9.99622529e-01 2.72109281e-02 3.79002640e-03 4.26725627e+02] [-2.72101547e-02 9.99629703e-01 -2.55494978e-04 -1.83242081e+01] [-3.79557522e-03 1.52271331e-04 9.99992785e-01 3.11611963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.120714057 meters Centerline goodness [0,1] 0.9856066417001309 Centerline is valid? [True, True] Translation: X:426.75, Y:-18.33, Z:3.12 [[ 9.99662859e-01 2.53363650e-02 5.67778510e-03 4.26753761e+02] [-2.53346025e-02 9.99678954e-01 -3.82130352e-04 -1.83280063e+01] [-5.68564406e-03 2.38157091e-04 9.99983808e-01 3.11701251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.150714057 meters Centerline goodness [0,1] 0.9851801801801802 Centerline is valid? [True, True] Translation: X:426.78, Y:-18.33, Z:3.12 [[ 9.99738911e-01 2.20277026e-02 6.07364934e-03 4.26782369e+02] [-2.20256292e-02 9.99757323e-01 -4.08061600e-04 -1.83344301e+01] [-6.08116406e-03 2.74179111e-04 9.99981472e-01 3.11670502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.180714057 meters Centerline goodness [0,1] 0.9851801801801802 Centerline is valid? [True, True] Translation: X:426.81, Y:-18.34, Z:3.12 [[ 9.99740490e-01 2.19559423e-02 6.07366726e-03 4.26810641e+02] [-2.19538692e-02 9.99758902e-01 -4.07794671e-04 -1.83362688e+01] [-6.08115642e-03 2.74348347e-04 9.99981472e-01 3.11643765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.210714057 meters Centerline goodness [0,1] 0.9855039942554529 Centerline is valid? [True, True] Translation: X:426.84, Y:-18.34, Z:3.12 [[ 9.99781636e-01 2.01053296e-02 5.69696774e-03 4.26837838e+02] [-2.01034775e-02 9.99797832e-01 -3.82195979e-04 -1.83431494e+01] [-5.70350017e-03 2.67583659e-04 9.99983699e-01 3.11524045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.240714057 meters Centerline goodness [0,1] 0.9847391911996753 Centerline is valid? [True, True] Translation: X:426.87, Y:-18.35, Z:3.11 [[ 9.99831596e-01 1.76955729e-02 4.86284580e-03 4.26866990e+02] [-1.76941972e-02 9.99843392e-01 -3.25768053e-04 -1.83473505e+01] [-4.86784890e-03 2.39669039e-04 9.99988123e-01 3.11389594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.270714057 meters Centerline goodness [0,1] 0.9847540469037263 Centerline is valid? [True, True] Translation: X:426.90, Y:-18.36, Z:3.11 [[ 9.99912041e-01 1.27242572e-02 3.74220830e-03 4.26895979e+02] [-1.27234093e-02 9.99919023e-01 -2.50299843e-04 -1.83589784e+01] [-3.74509014e-03 2.02664179e-04 9.99992967e-01 3.11072911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.300714057 meters Centerline goodness [0,1] 0.9848746661879222 Centerline is valid? [True, True] Translation: X:426.92, Y:-18.37, Z:3.11 [[ 9.99934574e-01 1.07059839e-02 4.02852029e-03 4.26924710e+02] [-1.07049838e-02 9.99942664e-01 -2.69744288e-04 -1.83654169e+01] [-4.03117719e-03 2.26601395e-04 9.99991849e-01 3.10950100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.330714057 meters Centerline goodness [0,1] 0.983940234409949 Centerline is valid? [True, True] Translation: X:426.95, Y:-18.37, Z:3.11 [[ 9.99965326e-01 7.54929942e-03 3.51486168e-03 4.26954059e+02] [-7.54851983e-03 9.99971482e-01 -2.35011955e-04 -1.83720933e+01] [-3.51653562e-03 2.08471803e-04 9.99993795e-01 3.10888566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.360714057 meters Centerline goodness [0,1] 0.9832636918195429 Centerline is valid? [True, True] Translation: X:426.98, Y:-18.38, Z:3.11 [[ 9.99973968e-01 6.56717698e-03 2.98921985e-03 4.26983670e+02] [-6.56660846e-03 9.99978420e-01 -1.99963905e-04 -1.83765832e+01] [-2.99046854e-03 1.80329663e-04 9.99995512e-01 3.10788484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.390714057 meters Centerline goodness [0,1] 0.9838835340471473 Centerline is valid? [True, True] Translation: X:427.01, Y:-18.38, Z:3.11 [[ 9.99985127e-01 4.98560288e-03 2.21127169e-03 4.27012778e+02] [-4.98528790e-03 9.99987562e-01 -1.47932063e-04 -1.83816548e+01] [-2.21198172e-03 1.36906037e-04 9.99997544e-01 3.10730779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.420714057 meters Centerline goodness [0,1] 0.9833559858291927 Centerline is valid? [True, True] Translation: X:427.04, Y:-18.39, Z:3.11 [[ 9.99987631e-01 4.39333357e-03 2.33143871e-03 4.27041553e+02] [-4.39298284e-03 9.99990339e-01 -1.55534321e-04 -1.83875552e+01] [-2.33209950e-03 1.45290427e-04 9.99997270e-01 3.10648658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.450714057 meters Centerline goodness [0,1] 0.9822497008376546 Centerline is valid? [True, True] Translation: X:427.07, Y:-18.39, Z:3.11 [[ 9.99987991e-01 3.64054111e-03 3.28086134e-03 4.27071800e+02] [-3.63984202e-03 9.99993352e-01 -2.19028818e-04 -1.83937334e+01] [-3.28163691e-03 2.07084370e-04 9.99994594e-01 3.10613238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.480714057 meters Centerline goodness [0,1] 0.9824794854734975 Centerline is valid? [True, True] Translation: X:427.10, Y:-18.40, Z:3.11 [[ 9.99988525e-01 2.96426215e-03 3.76336152e-03 4.27102493e+02] [-2.96333791e-03 9.99995578e-01 -2.51141752e-04 -1.83975990e+01] [-3.76408933e-03 2.39986758e-04 9.99992887e-01 3.10611073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51071405700003 meters Centerline goodness [0,1] 0.9815325738697045 Centerline is valid? [True, True] Translation: X:427.13, Y:-18.40, Z:3.11 [[ 9.99990195e-01 1.82376567e-03 4.03526988e-03 4.27132426e+02] [-1.82269346e-03 9.99998303e-01 -2.69370050e-04 -1.84035624e+01] [-4.03575430e-03 2.62012349e-04 9.99991822e-01 3.10609811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.540714057 meters Centerline goodness [0,1] 0.98272561328525 Centerline is valid? [True, True] Translation: X:427.16, Y:-18.41, Z:3.11 [[ 9.99992173e-01 1.41593689e-03 3.69457311e-03 4.27163944e+02] [-1.41503550e-03 9.99998968e-01 -2.46579754e-04 -1.84067631e+01] [-3.69491844e-03 2.41349872e-04 9.99993145e-01 3.10607180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57071405700003 meters Centerline goodness [0,1] 0.9823778769114677 Centerline is valid? [True, True] Translation: X:427.20, Y:-18.41, Z:3.10 [[ 9.99995176e-01 1.83655042e-03 2.50489745e-03 4.27195176e+02] [-1.83614064e-03 9.99998301e-01 -1.65879536e-04 -1.84105680e+01] [-2.50519784e-03 1.61279392e-04 9.99996849e-01 3.10447660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.600714057 meters Centerline goodness [0,1] 0.9823590606255118 Centerline is valid? [True, True] Translation: X:427.23, Y:-18.41, Z:3.10 [[ 9.99997017e-01 1.81217532e-03 1.63759273e-03 4.27225359e+02] [-1.81199793e-03 9.99998352e-01 -1.09798806e-04 -1.84125932e+01] [-1.63778900e-03 1.06831164e-04 9.99998653e-01 3.10351260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.630714057 meters Centerline goodness [0,1] 0.9817738359201774 Centerline is valid? [True, True] Translation: X:427.26, Y:-18.42, Z:3.10 [[ 9.99996904e-01 2.09130499e-03 1.34870121e-03 4.27255814e+02] [-2.09118492e-03 9.99997809e-01 -9.04289457e-05 -1.84155380e+01] [-1.34888737e-03 8.76082821e-05 9.99999086e-01 3.10249117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.660714057 meters Centerline goodness [0,1] 0.983938251500212 Centerline is valid? [True, True] Translation: X:427.29, Y:-18.41, Z:3.10 [[ 9.99997620e-01 1.99254291e-03 8.89137970e-04 4.27286935e+02] [-1.99249069e-03 9.99998013e-01 -5.96157313e-05 -1.84123975e+01] [-8.89254991e-04 5.78439903e-05 9.99999603e-01 3.10228627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.690714057 meters Centerline goodness [0,1] 0.981862690553021 Centerline is valid? [True, True] Translation: X:427.32, Y:-18.42, Z:3.10 [[ 9.99997592e-01 2.02355654e-03 8.49460794e-04 4.27315999e+02] [-2.02350900e-03 9.99997951e-01 -5.68213600e-05 -1.84205469e+01] [-8.49574034e-04 5.51023316e-05 9.99999638e-01 3.10114822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.720714057 meters Centerline goodness [0,1] 0.9817582466534512 Centerline is valid? [True, True] Translation: X:427.35, Y:-18.42, Z:3.10 [[ 9.99998191e-01 1.09449159e-03 1.55566698e-03 4.27345965e+02] [-1.09433040e-03 9.99999396e-01 -1.04459307e-04 -1.84234352e+01] [-1.55578037e-03 1.02756705e-04 9.99998784e-01 3.10094700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.750714057 meters Centerline goodness [0,1] 0.9804764024933215 Centerline is valid? [True, True] Translation: X:427.38, Y:-18.43, Z:3.10 [[ 9.99997552e-01 -8.47791218e-05 2.21117472e-03 4.27375707e+02] [ 8.51058462e-05 9.99999985e-01 -1.47666892e-04 -1.84259036e+01] [-2.21116217e-03 1.47854714e-04 9.99997544e-01 3.10079379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.780714057 meters Centerline goodness [0,1] 0.9813386248104878 Centerline is valid? [True, True] Translation: X:427.41, Y:-18.43, Z:3.10 [[ 9.99997451e-01 -5.61710236e-04 2.18679462e-03 4.27406430e+02] [ 5.62032336e-04 9.99999831e-01 -1.46681353e-04 -1.84279085e+01] [-2.18671186e-03 1.47910028e-04 9.99997598e-01 3.10040062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.810714057 meters Centerline goodness [0,1] 0.9819146801061481 Centerline is valid? [True, True] Translation: X:427.44, Y:-18.42, Z:3.10 [[ 9.99993840e-01 -2.45255336e-03 2.51084621e-03 4.27438420e+02] [ 2.45298377e-03 9.99996977e-01 -1.68353444e-04 -1.84220925e+01] [-2.51042573e-03 1.74511472e-04 9.99996834e-01 3.10032582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.840714057 meters Centerline goodness [0,1] 0.9821749650380697 Centerline is valid? [True, True] Translation: X:427.47, Y:-18.42, Z:3.10 [[ 9.99989064e-01 -3.51527654e-03 3.08474131e-03 4.27470647e+02] [ 3.51593110e-03 9.99993798e-01 -2.06794202e-04 -1.84245209e+01] [-3.08399524e-03 2.17637678e-04 9.99995221e-01 3.10024515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.870714057 meters Centerline goodness [0,1] 0.9823135009912458 Centerline is valid? [True, True] Translation: X:427.50, Y:-18.42, Z:3.10 [[ 9.99976075e-01 -5.36055837e-03 4.37197250e-03 4.27502210e+02] [ 5.36189402e-03 9.99985582e-01 -2.93838329e-04 -1.84219576e+01] [-4.37033433e-03 3.17273352e-04 9.99990400e-01 3.10147405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.900714057 meters Centerline goodness [0,1] 0.9815087109566457 Centerline is valid? [True, True] Translation: X:427.53, Y:-18.43, Z:3.10 [[ 9.99970328e-01 -5.42830772e-03 5.46594862e-03 4.27532876e+02] [ 5.43039759e-03 9.99985188e-01 -3.67574276e-04 -1.84272086e+01] [-5.46387235e-03 3.97245644e-04 9.99984994e-01 3.10121414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.930714057 meters Centerline goodness [0,1] 0.9832214765100671 Centerline is valid? [True, True] Translation: X:427.57, Y:-18.42, Z:3.10 [[ 9.99967837e-01 -5.88887239e-03 5.44481639e-03 4.27565742e+02] [ 5.89095409e-03 9.99982581e-01 -3.66367300e-04 -1.84242040e+01] [-5.44256405e-03 3.98430680e-04 9.99985110e-01 3.10122850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.960714057 meters Centerline goodness [0,1] 0.9825161619976451 Centerline is valid? [True, True] Translation: X:427.60, Y:-18.43, Z:3.10 [[ 9.99973997e-01 -4.85019107e-03 5.33669293e-03 4.27597013e+02] [ 4.85217860e-03 9.99988163e-01 -3.59541598e-04 -1.84282615e+01] [-5.33488592e-03 3.85426836e-04 9.99985695e-01 3.09972398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.990714057 meters Centerline goodness [0,1] 0.9833672397218931 Centerline is valid? [True, True] Translation: X:427.63, Y:-18.43, Z:3.10 [[ 9.99977685e-01 -4.30810437e-03 5.10580490e-03 4.27629777e+02] [ 4.30991753e-03 9.99990653e-01 -3.44166859e-04 -1.84266384e+01] [-5.10427447e-03 3.66164777e-04 9.99986906e-01 3.09891521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.020714057 meters Centerline goodness [0,1] 0.9846894430701344 Centerline is valid? [True, True] Translation: X:427.66, Y:-18.42, Z:3.10 [[ 9.99986332e-01 -3.15460360e-03 4.16946092e-03 4.27661908e+02] [ 3.15580344e-03 9.99994981e-01 -2.81220478e-04 -1.84248754e+01] [-4.16855286e-03 2.94374633e-04 9.99991268e-01 3.09823399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.050714057 meters Centerline goodness [0,1] 0.9839765138272601 Centerline is valid? [True, True] Translation: X:427.69, Y:-18.42, Z:3.10 [[ 9.99991790e-01 -1.17791180e-03 3.87710097e-03 4.27693214e+02] [ 1.17893617e-03 9.99999271e-01 -2.61935070e-04 -1.84226708e+01] [-3.87678961e-03 2.66503774e-04 9.99992450e-01 3.09730877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.080714057 meters Centerline goodness [0,1] 0.9841475975101877 Centerline is valid? [True, True] Translation: X:427.72, Y:-18.42, Z:3.10 [[ 9.99990303e-01 1.30807043e-03 4.20506884e-03 4.27722893e+02] [-1.30688723e-03 9.99999106e-01 -2.84109468e-04 -1.84228747e+01] [-4.20543672e-03 2.78611162e-04 9.99991118e-01 3.09681338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.110714057 meters Centerline goodness [0,1] 0.9854168536300817 Centerline is valid? [True, True] Translation: X:427.75, Y:-18.42, Z:3.10 [[ 9.99983340e-01 3.21141575e-03 4.79645786e-03 4.27754087e+02] [-3.20989543e-03 9.99994796e-01 -3.24632420e-04 -1.84239292e+01] [-4.79747543e-03 3.09230883e-04 9.99988444e-01 3.09695594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.140714057 meters Centerline goodness [0,1] 0.9847038886906886 Centerline is valid? [True, True] Translation: X:427.79, Y:-18.42, Z:3.10 [[ 9.99974418e-01 4.84915633e-03 5.25819984e-03 4.27785734e+02] [-4.84735060e-03 9.99988188e-01 -3.56101743e-04 -1.84236990e+01] [-5.25986453e-03 3.30604295e-04 9.99986112e-01 3.09643085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.170714057 meters Centerline goodness [0,1] 0.9854066878553203 Centerline is valid? [True, True] Translation: X:427.82, Y:-18.42, Z:3.10 [[ 9.99951238e-01 7.81939573e-03 6.03154850e-03 4.27816477e+02] [-7.81707165e-03 9.99969363e-01 -4.08800609e-04 -1.84232632e+01] [-6.03456029e-03 3.61631628e-04 9.99981726e-01 3.09631380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.200714057 meters Centerline goodness [0,1] 0.9843806104129263 Centerline is valid? [True, True] Translation: X:427.85, Y:-18.43, Z:3.10 [[ 9.99934021e-01 9.62818177e-03 6.26510679e-03 4.27845731e+02] [-9.62570948e-03 9.99953582e-01 -4.24647305e-04 -1.84259237e+01] [-6.26890456e-03 3.64313189e-04 9.99980284e-01 3.09591789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.230714057 meters Centerline goodness [0,1] 0.9846489747225786 Centerline is valid? [True, True] Translation: X:427.88, Y:-18.42, Z:3.10 [[ 9.99885071e-01 1.36843470e-02 6.52555733e-03 4.27876147e+02] [-1.36817477e-02 9.99906302e-01 -4.42802716e-04 -1.84247203e+01] [-6.53100537e-03 3.53470796e-04 9.99978610e-01 3.09541599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26071405700003 meters Centerline goodness [0,1] 0.9861999099504728 Centerline is valid? [True, True] Translation: X:427.91, Y:-18.42, Z:3.10 [[ 9.99851899e-01 1.61495632e-02 5.94746270e-03 4.27906068e+02] [-1.61474471e-02 9.99869540e-01 -4.03648589e-04 -1.84206492e+01] [-5.95320554e-03 3.07552469e-04 9.99982232e-01 3.09508748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.290714057 meters Centerline goodness [0,1] 0.9864009906563098 Centerline is valid? [True, True] Translation: X:427.94, Y:-18.42, Z:3.09 [[ 9.99808771e-01 1.86750751e-02 5.80191978e-03 4.27936247e+02] [-1.86731053e-02 9.99825565e-01 -3.93503845e-04 -1.84213042e+01] [-5.80825643e-03 2.85088737e-04 9.99983091e-01 3.09496444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32071405700003 meters Centerline goodness [0,1] 0.9850796727444837 Centerline is valid? [True, True] Translation: X:427.97, Y:-18.43, Z:3.09 [[ 9.99722191e-01 2.28482344e-02 5.78787179e-03 4.27965127e+02] [-2.28463441e-02 9.99738911e-01 -3.92511718e-04 -1.84257121e+01] [-5.79532885e-03 2.60170963e-04 9.99983173e-01 3.09430893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.350714057 meters Centerline goodness [0,1] 0.9858101716293527 Centerline is valid? [True, True] Translation: X:427.99, Y:-18.42, Z:3.09 [[ 9.99662417e-01 2.52100350e-02 6.28532779e-03 4.27994506e+02] [-2.52078526e-02 9.99682141e-01 -4.26219429e-04 -1.84220423e+01] [-6.29407494e-03 2.67635929e-04 9.99980156e-01 3.09432976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.380714057 meters Centerline goodness [0,1] 0.9855193038472781 Centerline is valid? [True, True] Translation: X:428.02, Y:-18.43, Z:3.09 [[ 9.99642221e-01 2.58852530e-02 6.73671669e-03 4.28021686e+02] [-2.58827669e-02 9.99664881e-01 -4.55981137e-04 -1.84300101e+01] [-6.74626228e-03 2.81453129e-04 9.99977204e-01 3.09336241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.410714057 meters Centerline goodness [0,1] 0.9864044943820225 Centerline is valid? [True, True] Translation: X:428.05, Y:-18.43, Z:3.09 [[ 9.99642208e-01 2.59488366e-02 6.48949072e-03 4.28050540e+02] [-2.59465348e-02 9.99663236e-01 -4.38652261e-04 -1.84271085e+01] [-6.49868781e-03 2.70115518e-04 9.99978847e-01 3.09308099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.440714057 meters Centerline goodness [0,1] 0.986781570502031 Centerline is valid? [True, True] Translation: X:428.08, Y:-18.43, Z:3.09 [[ 9.99665742e-01 2.50270212e-02 6.48478970e-03 4.28078554e+02] [-2.50247059e-02 9.99686737e-01 -4.37944034e-04 -1.84319889e+01] [-6.49371869e-03 2.75517693e-04 9.99978878e-01 3.09201808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.470714057 meters Centerline goodness [0,1] 0.9861629003998382 Centerline is valid? [True, True] Translation: X:428.11, Y:-18.44, Z:3.09 [[ 9.99690131e-01 2.39676046e-02 6.72279030e-03 4.28106648e+02] [-2.39650969e-02 9.99712693e-01 -4.53333886e-04 -1.84352729e+01] [-6.73172412e-03 2.92081091e-04 9.99977299e-01 3.09164082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.500714057 meters Centerline goodness [0,1] 0.9864045973927238 Centerline is valid? [True, True] Translation: X:428.14, Y:-18.44, Z:3.09 [[ 9.99748438e-01 2.14959744e-02 6.40188715e-03 4.28135966e+02] [-2.14936543e-02 9.99768892e-01 -4.31000631e-04 -1.84419189e+01] [-6.40967241e-03 2.93292258e-04 9.99979415e-01 3.09041244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.530714057 meters Centerline goodness [0,1] 0.9846880780974882 Centerline is valid? [True, True] Translation: X:428.16, Y:-18.45, Z:3.09 [[ 9.99811315e-01 1.82143415e-02 6.75074843e-03 4.28163935e+02] [-1.82116884e-02 9.99834050e-01 -4.54274456e-04 -1.84528973e+01] [-6.75790246e-03 3.31246214e-04 9.99977110e-01 3.08943775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.560714057 meters Centerline goodness [0,1] 0.9849285443560074 Centerline is valid? [True, True] Translation: X:428.19, Y:-18.46, Z:3.09 [[ 9.99846739e-01 1.62050107e-02 6.62535914e-03 4.28193274e+02] [-1.62024139e-02 9.99868633e-01 -4.45442925e-04 -1.84556271e+01] [-6.63170719e-03 3.38027845e-04 9.99977953e-01 3.08937656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.590714057 meters Centerline goodness [0,1] 0.9847420196747642 Centerline is valid? [True, True] Translation: X:428.22, Y:-18.46, Z:3.09 [[ 9.99878621e-01 1.41542299e-02 6.51168359e-03 4.28221082e+02] [-1.41516789e-02 9.99899764e-01 -4.37677972e-04 -1.84632022e+01] [-6.51722588e-03 3.45473592e-04 9.99978703e-01 3.08888875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.620714057 meters Centerline goodness [0,1] 0.9843444227005871 Centerline is valid? [True, True] Translation: X:428.25, Y:-18.47, Z:3.09 [[ 9.99917169e-01 1.05309399e-02 7.39963304e-03 4.28250845e+02] [-1.05275520e-02 9.99944460e-01 -4.96653368e-04 -1.84685401e+01] [-7.40445229e-03 4.18712208e-04 9.99972499e-01 3.08890003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.650714057 meters Centerline goodness [0,1] 0.9842665535941441 Centerline is valid? [True, True] Translation: X:428.28, Y:-18.47, Z:3.09 [[ 9.99921794e-01 9.15918512e-03 8.51563097e-03 4.28281195e+02] [-9.15465019e-03 9.99957932e-01 -5.71370557e-04 -1.84727402e+01] [-8.52050602e-03 4.93368250e-04 9.99963578e-01 3.08909231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.680714057 meters Centerline goodness [0,1] 0.9842577542250228 Centerline is valid? [True, True] Translation: X:428.31, Y:-18.47, Z:3.09 [[ 9.99926175e-01 7.37288704e-03 9.65846470e-03 4.28312340e+02] [-7.36697003e-03 9.99972654e-01 -6.48060009e-04 -1.84728931e+01] [-9.66297865e-03 5.76858546e-04 9.99953146e-01 3.08910295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.710714057 meters Centerline goodness [0,1] 0.9850607116695154 Centerline is valid? [True, True] Translation: X:428.34, Y:-18.48, Z:3.09 [[ 9.99929880e-01 6.85496813e-03 9.65631734e-03 4.28343575e+02] [-6.84902603e-03 9.99976335e-01 -6.48292945e-04 -1.84788213e+01] [-9.66053285e-03 5.82111118e-04 9.99953167e-01 3.08842018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.740714057 meters Centerline goodness [0,1] 0.9825320726239624 Centerline is valid? [True, True] Translation: X:428.37, Y:-18.48, Z:3.09 [[ 9.99937014e-01 5.93518355e-03 9.52581550e-03 4.28374063e+02] [-5.92934733e-03 9.99982216e-01 -6.40798464e-04 -1.84839743e+01] [-9.52944935e-03 5.84276235e-04 9.99954423e-01 3.08719821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.770714057 meters Centerline goodness [0,1] 0.9828184040897977 Centerline is valid? [True, True] Translation: X:428.41, Y:-18.48, Z:3.09 [[ 9.99939697e-01 5.42742099e-03 9.54697655e-03 4.28405881e+02] [-5.42153236e-03 9.99985097e-01 -6.42578160e-04 -1.84837262e+01] [-9.55032181e-03 5.90780168e-04 9.99954220e-01 3.08646135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.800714057 meters Centerline goodness [0,1] 0.982329103833123 Centerline is valid? [True, True] Translation: X:428.44, Y:-18.49, Z:3.09 [[ 9.99937406e-01 5.65128940e-03 9.65647914e-03 4.28437287e+02] [-5.64526202e-03 9.99983853e-01 -6.51322533e-04 -1.84907912e+01] [-9.66000403e-03 5.96768409e-04 9.99953163e-01 3.08598938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.830714057 meters Centerline goodness [0,1] 0.9827070832318491 Centerline is valid? [True, True] Translation: X:428.47, Y:-18.50, Z:3.09 [[ 9.99933271e-01 5.77809641e-03 1.00033860e-02 4.28469344e+02] [-5.77160633e-03 9.99983115e-01 -6.77536140e-04 -1.84951106e+01] [-1.00071319e-02 6.19755323e-04 9.99949735e-01 3.08519254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.860714057 meters Centerline goodness [0,1] 0.9832119381772961 Centerline is valid? [True, True] Translation: X:428.50, Y:-18.50, Z:3.08 [[ 9.99933339e-01 5.95773867e-03 9.89057912e-03 4.28501357e+02] [-5.95137728e-03 9.99982064e-01 -6.72484357e-04 -1.84965567e+01] [-9.89440821e-03 6.13576961e-04 9.99950861e-01 3.08441658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.890714057 meters Centerline goodness [0,1] 0.98250088715401 Centerline is valid? [True, True] Translation: X:428.53, Y:-18.50, Z:3.08 [[ 9.99947188e-01 5.33537743e-03 8.78375634e-03 4.28533500e+02] [-5.33031934e-03 9.99985614e-01 -5.99156368e-04 -1.85003227e+01] [-8.78682670e-03 5.52304499e-04 9.99961243e-01 3.08248291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.920714057 meters Centerline goodness [0,1] 0.9819498582565557 Centerline is valid? [True, True] Translation: X:428.56, Y:-18.51, Z:3.08 [[ 9.99958681e-01 5.38452593e-03 7.32411050e-03 4.28564233e+02] [-5.38099976e-03 9.99985397e-01 -5.01067065e-04 -1.85056678e+01] [-7.32670155e-03 4.61635325e-04 9.99973053e-01 3.08059286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.950714057 meters Centerline goodness [0,1] 0.9811036195883606 Centerline is valid? [True, True] Translation: X:428.60, Y:-18.51, Z:3.08 [[ 9.99963734e-01 5.62409445e-03 6.39530443e-03 4.28595580e+02] [-5.62140308e-03 9.99984104e-01 -4.38732293e-04 -1.85094545e+01] [-6.39767024e-03 4.02765798e-04 9.99979454e-01 3.07971483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.980714057 meters Centerline goodness [0,1] 0.9803038704668958 Centerline is valid? [True, True] Translation: X:428.63, Y:-18.51, Z:3.08 [[ 9.99967832e-01 5.71560255e-03 5.62729224e-03 4.28626256e+02] [-5.71351449e-03 9.99983603e-01 -3.87065875e-04 -1.85133094e+01] [-5.62941228e-03 3.54901808e-04 9.99984092e-01 3.07896338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01071405700003 meters Centerline goodness [0,1] 0.9803326615135878 Centerline is valid? [True, True] Translation: X:428.66, Y:-18.52, Z:3.08 [[ 9.99971233e-01 5.85917022e-03 4.81706345e-03 4.28657136e+02] [-5.85763318e-03 9.99982788e-01 -3.33129323e-04 -1.85161077e+01] [-4.81893241e-03 3.04903149e-04 9.99988342e-01 3.07817937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.040714057 meters Centerline goodness [0,1] 0.9803326615135878 Centerline is valid? [True, True] Translation: X:428.69, Y:-18.52, Z:3.08 [[ 9.99971233e-01 5.85917035e-03 4.81706252e-03 4.28687123e+02] [-5.85763324e-03 9.99982788e-01 -3.33142832e-04 -1.85181816e+01] [-4.81893155e-03 3.04916663e-04 9.99988342e-01 3.07789590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07071405700003 meters Centerline goodness [0,1] 0.9802839467711069 Centerline is valid? [True, True] Translation: X:428.72, Y:-18.52, Z:3.08 [[ 9.99971632e-01 6.14357680e-03 4.35796398e-03 4.28717726e+02] [-6.14232142e-03 9.99981090e-01 -3.01392074e-04 -1.85217896e+01] [-4.35973320e-03 2.74615509e-04 9.99990459e-01 3.07717621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.100714057 meters Centerline goodness [0,1] 0.9807072525616234 Centerline is valid? [True, True] Translation: X:428.75, Y:-18.52, Z:3.08 [[ 9.99965765e-01 7.49542781e-03 3.50543208e-03 4.28747124e+02] [-7.49462349e-03 9.99971886e-01 -2.42531527e-04 -1.85245436e+01] [-3.50715141e-03 2.16251330e-04 9.99993827e-01 3.07652962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.130714057 meters Centerline goodness [0,1] 0.9809004394002959 Centerline is valid? [True, True] Translation: X:428.78, Y:-18.52, Z:3.08 [[ 9.99957535e-01 8.41027991e-03 3.76778031e-03 4.28776837e+02] [-8.40935707e-03 9.99964607e-01 -2.60704130e-04 -1.85248555e+01] [-3.76983955e-03 2.29008449e-04 9.99992868e-01 3.07612739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.160714057 meters Centerline goodness [0,1] 0.9801414038431703 Centerline is valid? [True, True] Translation: X:428.81, Y:-18.53, Z:3.08 [[ 9.99945196e-01 9.72252158e-03 3.88298177e-03 4.28806909e+02] [-9.72155222e-03 9.99952709e-01 -2.68438425e-04 -1.85275563e+01] [-3.88540803e-03 2.30675104e-04 9.99992425e-01 3.07656293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.190714057 meters Centerline goodness [0,1] 0.9785393482156685 Centerline is valid? [True, True] Translation: X:428.84, Y:-18.53, Z:3.08 [[ 9.99937218e-01 1.04187837e-02 4.12416704e-03 4.28835766e+02] [-1.04176961e-02 9.99945694e-01 -2.85120245e-04 -1.85320413e+01] [-4.12691368e-03 2.42138025e-04 9.99991455e-01 3.07622641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.220714057 meters Centerline goodness [0,1] 0.9806551915602443 Centerline is valid? [True, True] Translation: X:428.87, Y:-18.53, Z:3.08 [[ 9.99937197e-01 1.07921716e-02 3.02185306e-03 4.28865178e+02] [-1.07915894e-02 9.99941747e-01 -2.08901325e-04 -1.85299968e+01] [-3.02393152e-03 1.76277608e-04 9.99995412e-01 3.07644245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.250714057 meters Centerline goodness [0,1] 0.9791754452107959 Centerline is valid? [True, True] Translation: X:428.89, Y:-18.54, Z:3.08 [[ 9.99942916e-01 1.03563059e-02 2.62892383e-03 4.28892912e+02] [-1.03558636e-02 9.99946360e-01 -1.81803857e-04 -1.85384240e+01] [-2.63066563e-03 1.54568702e-04 9.99996528e-01 3.07533521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.280714057 meters Centerline goodness [0,1] 0.9755985459407512 Centerline is valid? [True, True] Translation: X:428.92, Y:-18.55, Z:3.07 [[ 9.99905464e-01 1.32683900e-02 3.60728389e-03 4.28920671e+02] [-1.32675775e-02 9.99911951e-01 -2.49083043e-04 -1.85522330e+01] [-3.61027120e-03 2.01199578e-04 9.99993463e-01 3.07467856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.310714057 meters Centerline goodness [0,1] 0.9795330704824348 Centerline is valid? [True, True] Translation: X:428.95, Y:-18.54, Z:3.08 [[ 9.99940363e-01 1.04071027e-02 3.31112558e-03 4.28952037e+02] [-1.04064038e-02 9.99945826e-01 -2.28213720e-04 -1.85398191e+01] [-3.31332124e-03 1.93743200e-04 9.99994492e-01 3.07605641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.340714057 meters Centerline goodness [0,1] 0.9798328247313255 Centerline is valid? [True, True] Translation: X:428.98, Y:-18.54, Z:3.08 [[ 9.99936027e-01 1.06201979e-02 3.89281742e-03 4.28980391e+02] [-1.06192321e-02 9.99943578e-01 -2.68676203e-04 -1.85418145e+01] [-3.89545117e-03 2.27320283e-04 9.99992387e-01 3.07693272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.370714057 meters Centerline goodness [0,1] 0.9800824175824175 Centerline is valid? [True, True] Translation: X:429.01, Y:-18.54, Z:3.08 [[ 9.99929830e-01 1.08625019e-02 4.72670158e-03 4.29009005e+02] [-1.08610837e-02 9.99940964e-01 -3.25613538e-04 -1.85439189e+01] [-4.72995951e-03 2.74253588e-04 9.99988776e-01 3.07754961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.400714057 meters Centerline goodness [0,1] 0.9822080594835026 Centerline is valid? [True, True] Translation: X:429.04, Y:-18.54, Z:3.08 [[ 9.99932987e-01 1.06863738e-02 4.45237494e-03 4.29039145e+02] [-1.06851141e-02 9.99942866e-01 -3.06607262e-04 -1.85372883e+01] [-4.45539708e-03 2.59012581e-04 9.99990041e-01 3.07770645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.430714057 meters Centerline goodness [0,1] 0.9795900394108192 Centerline is valid? [True, True] Translation: X:429.07, Y:-18.55, Z:3.08 [[ 9.99946579e-01 9.93238213e-03 2.86138922e-03 4.29067027e+02] [-9.93185842e-03 9.99950658e-01 -1.97177944e-04 -1.85485883e+01] [-2.86320648e-03 1.68748498e-04 9.99995887e-01 3.07506831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.460714057 meters Centerline goodness [0,1] 0.9820135897322023 Centerline is valid? [True, True] Translation: X:429.10, Y:-18.54, Z:3.08 [[ 9.99960079e-01 8.76181924e-03 1.75214938e-03 4.29097634e+02] [-8.76162114e-03 9.99961609e-01 -1.20706957e-04 -1.85409063e+01] [-1.75313973e-03 1.05350470e-04 9.99998458e-01 3.07515393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.490714057 meters Centerline goodness [0,1] 0.9820723319281118 Centerline is valid? [True, True] Translation: X:429.13, Y:-18.54, Z:3.07 [[ 9.99976101e-01 6.88523973e-03 6.24848911e-04 4.29126779e+02] [-6.88521395e-03 9.99976296e-01 -4.33978029e-05 -1.85428513e+01] [-6.25132903e-04 3.90945473e-05 9.99999804e-01 3.07420698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.520714057 meters Centerline goodness [0,1] 0.9833122236295359 Centerline is valid? [True, True] Translation: X:429.16, Y:-18.54, Z:3.07 [[ 9.99981173e-01 6.04460271e-03 1.05701406e-03 4.29155893e+02] [-6.04452873e-03 9.99981729e-01 -7.31645052e-05 -1.85434776e+01] [-1.05743699e-03 6.67739759e-05 9.99999439e-01 3.07411645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.550714057 meters Centerline goodness [0,1] 0.982406646378035 Centerline is valid? [True, True] Translation: X:429.18, Y:-18.55, Z:3.07 [[ 9.99989716e-01 4.41063783e-03 1.05549029e-03 4.29184645e+02] [-4.41056420e-03 9.99990271e-01 -7.20734121e-05 -1.85474292e+01] [-1.05579791e-03 6.74173632e-05 9.99999440e-01 3.07456858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.580714057 meters Centerline goodness [0,1] 0.9814201577953106 Centerline is valid? [True, True] Translation: X:429.21, Y:-18.55, Z:3.07 [[ 9.99992990e-01 3.68892545e-03 6.41405793e-04 4.29214354e+02] [-3.68889778e-03 9.99993195e-01 -4.43166345e-05 -1.85496421e+01] [-6.41564909e-04 4.19502434e-05 9.99999793e-01 3.07427647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.610714057 meters Centerline goodness [0,1] 0.9818383658969805 Centerline is valid? [True, True] Translation: X:429.24, Y:-18.55, Z:3.07 [[ 9.99997205e-01 2.34534144e-03 -3.00029712e-04 4.29243952e+02] [-2.34533547e-03 9.99997249e-01 2.02330823e-05 -1.85507580e+01] [ 3.00076340e-04 -1.95293554e-05 9.99999955e-01 3.07352010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.640714057 meters Centerline goodness [0,1] 0.981804868307187 Centerline is valid? [True, True] Translation: X:429.27, Y:-18.55, Z:3.07 [[ 9.99998071e-01 1.94821508e-03 -2.48806164e-04 4.29273432e+02] [-1.94821098e-03 9.99998102e-01 1.67152305e-05 -1.85528362e+01] [ 2.48838257e-04 -1.62304713e-05 9.99999969e-01 3.07278189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.670714057 meters Centerline goodness [0,1] 0.981220031965903 Centerline is valid? [True, True] Translation: X:429.30, Y:-18.56, Z:3.07 [[ 9.99999224e-01 1.24150459e-03 -9.99213775e-05 4.29302649e+02] [-1.24150393e-03 9.99999229e-01 6.67999251e-06 -1.85552728e+01] [ 9.99295937e-05 -6.55593455e-06 9.99999995e-01 3.07241760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.700714057 meters Centerline goodness [0,1] 0.980747879380024 Centerline is valid? [True, True] Translation: X:429.33, Y:-18.56, Z:3.07 [[ 9.99999929e-01 3.15949738e-04 -2.06040368e-04 4.29333431e+02] [-3.15946837e-04 9.99999950e-01 1.41110049e-05 -1.85556506e+01] [ 2.06044816e-04 -1.40459061e-05 9.99999979e-01 3.07313517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.730714057 meters Centerline goodness [0,1] 0.9817926859127029 Centerline is valid? [True, True] Translation: X:429.36, Y:-18.55, Z:3.08 [[ 9.99999831e-01 1.45106983e-04 5.63360026e-04 4.29364624e+02] [-1.45085270e-04 9.99999989e-01 -3.85826143e-05 -1.85508202e+01] [-5.63365618e-04 3.85008726e-05 9.99999841e-01 3.07528395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76071405700003 meters Centerline goodness [0,1] 0.9810354005855736 Centerline is valid? [True, True] Translation: X:429.39, Y:-18.56, Z:3.08 [[ 9.99999408e-01 4.62690956e-04 9.84801989e-04 4.29394822e+02] [-4.62624907e-04 9.99999891e-01 -6.72954095e-05 -1.85550847e+01] [-9.84833018e-04 6.68397758e-05 9.99999513e-01 3.07518478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.790714057 meters Centerline goodness [0,1] 0.9814851859260741 Centerline is valid? [True, True] Translation: X:429.43, Y:-18.56, Z:3.08 [[ 9.99999586e-01 6.97546298e-04 5.84606648e-04 4.29425032e+02] [-6.97523004e-04 9.99999756e-01 -4.00481572e-05 -1.85551076e+01] [-5.84634441e-04 3.96403641e-05 9.99999828e-01 3.07521020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82071405700003 meters Centerline goodness [0,1] 0.9819426176516486 Centerline is valid? [True, True] Translation: X:429.46, Y:-18.55, Z:3.08 [[ 9.99999908e-01 4.12190979e-04 -1.21620436e-04 4.29455980e+02] [-4.12189969e-04 9.99999915e-01 8.33154110e-06 -1.85523679e+01] [ 1.21623860e-04 -8.28140961e-06 9.99999993e-01 3.07528978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.850714057 meters Centerline goodness [0,1] 0.9817751901670794 Centerline is valid? [True, True] Translation: X:429.49, Y:-18.56, Z:3.07 [[ 9.99999369e-01 2.61920777e-04 -1.09261658e-03 4.29485339e+02] [-2.61839356e-04 9.99999963e-01 7.46618338e-05 -1.85557630e+01] [ 1.09263609e-03 -7.43756967e-05 9.99999400e-01 3.07452658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.880714057 meters Centerline goodness [0,1] 0.7934420840695238 Centerline is valid? [True, False] Translation: X:429.54, Y:-18.56, Z:3.07 [[ 9.99999617e-01 -1.91949176e-04 -8.53875214e-04 4.29542464e+02] [ 1.87667442e-04 9.99987424e-01 -5.01172942e-03 -1.85553395e+01] [ 8.54826472e-04 5.01156725e-03 9.99987077e-01 3.07364962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.910714057 meters Centerline goodness [0,1] 0.982607140461872 Centerline is valid? [False, True] Translation: X:429.49, Y:-18.55, Z:3.07 [[ 9.99998202e-01 1.58772737e-03 -1.03698137e-03 4.29493148e+02] [-1.58812215e-03 9.99998667e-01 -3.79988206e-04 -1.85522731e+01] [ 1.03637667e-03 3.81634375e-04 9.99999390e-01 3.07035385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.940714057 meters Centerline goodness [0,1] 0.9822114954858318 Centerline is valid? [True, True] Translation: X:429.52, Y:-18.56, Z:3.07 [[ 9.99996454e-01 2.34178263e-03 -1.26827113e-03 4.29522501e+02] [-2.34167278e-03 9.99997254e-01 8.80918455e-05 -1.85593188e+01] [ 1.26847394e-03 -8.51216571e-05 9.99999192e-01 3.06879869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.970714057 meters Centerline goodness [0,1] 0.9830181050361652 Centerline is valid? [True, True] Translation: X:429.55, Y:-18.55, Z:3.07 [[ 9.99993723e-01 2.92238228e-03 -2.00335646e-03 4.29552867e+02] [-2.92211086e-03 9.99995721e-01 1.38396686e-04 -1.85540809e+01] [ 2.00375233e-03 -1.32541788e-04 9.99997984e-01 3.06995495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.000714057 meters Centerline goodness [0,1] 0.9834166237142281 Centerline is valid? [True, True] Translation: X:429.58, Y:-18.55, Z:3.07 [[ 9.99992091e-01 3.75362060e-03 -1.31454167e-03 4.29581725e+02] [-3.75350536e-03 9.99992952e-01 9.01254828e-05 -1.85536285e+01] [ 1.31487070e-03 -8.51906307e-05 9.99999132e-01 3.07048671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.030714057 meters Centerline goodness [0,1] 0.9825532968640958 Centerline is valid? [True, True] Translation: X:429.61, Y:-18.56, Z:3.07 [[ 9.99987728e-01 4.95392799e-03 -5.30366414e-05 4.29609459e+02] [-4.95392785e-03 9.99987729e-01 2.79634142e-06 -1.85601392e+01] [ 5.30498435e-05 -2.53356741e-06 9.99999999e-01 3.07018527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.060714057 meters Centerline goodness [0,1] 0.9827133920764108 Centerline is valid? [True, True] Translation: X:429.64, Y:-18.56, Z:3.07 [[ 9.99980489e-01 6.19711942e-03 7.85299201e-04 4.29639143e+02] [-6.19707819e-03 9.99980796e-01 -5.49142078e-05 -1.85553377e+01] [-7.85624430e-04 5.00465759e-05 9.99999690e-01 3.07174319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.090714057 meters Centerline goodness [0,1] 0.9826693271753021 Centerline is valid? [True, True] Translation: X:429.67, Y:-18.56, Z:3.07 [[ 9.99977202e-01 6.65335269e-03 1.15236458e-03 4.29667946e+02] [-6.65326443e-03 9.99977864e-01 -8.04123202e-05 -1.85563597e+01] [-1.15287408e-03 7.27435008e-05 9.99999333e-01 3.07200449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.120714057 meters Centerline goodness [0,1] 0.9832093326440243 Centerline is valid? [True, True] Translation: X:429.70, Y:-18.56, Z:3.07 [[ 9.99974981e-01 6.98477938e-03 1.11821664e-03 4.29696613e+02] [-6.98469676e-03 9.99975604e-01 -7.77744579e-05 -1.85586337e+01] [-1.11873260e-03 6.99621079e-05 9.99999372e-01 3.07204648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.150714057 meters Centerline goodness [0,1] 0.9825963935236127 Centerline is valid? [True, True] Translation: X:429.73, Y:-18.56, Z:3.07 [[ 9.99975457e-01 6.66218792e-03 2.16790727e-03 4.29725248e+02] [-6.66187779e-03 9.99977798e-01 -1.50242380e-04 -1.85596443e+01] [-2.16886008e-03 1.35796359e-04 9.99997639e-01 3.07263104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.180714057 meters Centerline goodness [0,1] 0.9827791641374969 Centerline is valid? [True, True] Translation: X:429.75, Y:-18.56, Z:3.07 [[ 9.99982913e-01 5.40242275e-03 2.23333548e-03 4.29754485e+02] [-5.40209125e-03 9.99985397e-01 -1.54436058e-04 -1.85590926e+01] [-2.23413720e-03 1.42368737e-04 9.99997494e-01 3.07299401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.210714057 meters Centerline goodness [0,1] 0.9825406786498723 Centerline is valid? [True, True] Translation: X:429.78, Y:-18.57, Z:3.07 [[ 9.99994289e-01 2.92857255e-03 1.68676017e-03 4.29782937e+02] [-2.92838016e-03 9.99995705e-01 -1.16519203e-04 -1.85651552e+01] [-1.68709416e-03 1.11579062e-04 9.99998571e-01 3.07191851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.240714057 meters Centerline goodness [0,1] 0.9839119200089878 Centerline is valid? [True, True] Translation: X:429.81, Y:-18.57, Z:3.07 [[ 9.99998601e-01 1.17540426e-03 1.18983890e-03 4.29813712e+02] [-1.17530765e-03 9.99999306e-01 -8.18878949e-05 -1.85654268e+01] [-1.18993432e-03 8.04893536e-05 9.99999289e-01 3.07167625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.270714057 meters Centerline goodness [0,1] 0.9815580641555829 Centerline is valid? [True, True] Translation: X:429.84, Y:-18.57, Z:3.07 [[ 9.99999406e-01 1.55987150e-04 1.07919103e-03 4.29843173e+02] [-1.55908163e-04 9.99999985e-01 -7.32748890e-05 -1.85734516e+01] [-1.07920245e-03 7.31065907e-05 9.99999415e-01 3.07052024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.300714057 meters Centerline goodness [0,1] 0.9823877386394192 Centerline is valid? [True, True] Translation: X:429.87, Y:-18.57, Z:3.07 [[ 9.99998453e-01 -1.75678167e-03 8.29657386e-05 4.29873908e+02] [ 1.75678215e-03 9.99998457e-01 -5.71738415e-06 -1.85732735e+01] [-8.29555664e-05 5.86312803e-06 9.99999997e-01 3.07051588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.330714057 meters Centerline goodness [0,1] 0.9837746858168761 Centerline is valid? [True, True] Translation: X:429.91, Y:-18.58, Z:3.07 [[ 9.99998556e-01 -1.45329739e-03 -8.80353771e-04 4.29905547e+02] [ 1.45335176e-03 9.99998942e-01 6.11322063e-05 -1.85759489e+01] [ 8.80263996e-04 -6.24115818e-05 9.99999611e-01 3.06962653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.360714057 meters Centerline goodness [0,1] 0.9849391514825523 Centerline is valid? [True, True] Translation: X:429.94, Y:-18.58, Z:3.07 [[ 9.99998188e-01 4.46191460e-04 -1.85040778e-03 4.29936456e+02] [-4.45956106e-04 9.99999892e-01 1.27601054e-04 -1.85756667e+01] [ 1.85046451e-03 -1.26775622e-04 9.99998280e-01 3.06906407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.390714057 meters Centerline goodness [0,1] 0.9851785313271951 Centerline is valid? [True, True] Translation: X:429.97, Y:-18.58, Z:3.07 [[ 9.99995673e-01 2.20245666e-03 -1.95008147e-03 4.29966034e+02] [-2.20219962e-03 9.99997566e-01 1.33949604e-04 -1.85760529e+01] [ 1.95037174e-03 -1.29654555e-04 9.99998090e-01 3.06881011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.420714057 meters Centerline goodness [0,1] 0.9850031477650868 Centerline is valid? [True, True] Translation: X:430.00, Y:-18.57, Z:3.07 [[ 9.99974830e-01 6.88382736e-03 -1.71794620e-03 4.29996863e+02] [-6.88363416e-03 9.99976301e-01 1.18345721e-04 -1.85744573e+01] [ 1.71872016e-03 -1.06517030e-04 9.99998517e-01 3.06980431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.450714057 meters Centerline goodness [0,1] 0.9849595323741007 Centerline is valid? [True, True] Translation: X:430.03, Y:-18.58, Z:3.07 [[ 9.99953411e-01 9.56090985e-03 -1.32841711e-03 4.30026254e+02] [-9.56079729e-03 9.99954290e-01 9.10596154e-05 -1.85751788e+01] [ 1.32922700e-03 -7.83546464e-05 9.99999114e-01 3.06965691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.480714057 meters Centerline goodness [0,1] 0.9859569345994382 Centerline is valid? [True, True] Translation: X:430.06, Y:-18.57, Z:3.07 [[ 9.99891404e-01 1.47365456e-02 1.20578350e-04 4.30056857e+02] [-1.47365447e-02 9.99891411e-01 -8.33932142e-06 -1.85731054e+01] [-1.20688150e-04 6.56150756e-06 9.99999993e-01 3.07182529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51071405700003 meters Centerline goodness [0,1] 0.9861844322138605 Centerline is valid? [True, True] Translation: X:430.09, Y:-18.57, Z:3.07 [[ 9.99866631e-01 1.63312624e-02 1.02675265e-04 4.30086252e+02] [-1.63312617e-02 9.99866636e-01 -7.72002710e-06 -1.85723955e+01] [-1.02787650e-04 6.04218085e-06 9.99999995e-01 3.07216621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.540714057 meters Centerline goodness [0,1] 0.9878303902823079 Centerline is valid? [True, True] Translation: X:430.12, Y:-18.57, Z:3.07 [[ 9.99824434e-01 1.87371441e-02 1.46431609e-04 4.30116567e+02] [-1.87371428e-02 9.99824444e-01 -1.02958217e-05 -1.85723321e+01] [-1.46598817e-04 7.55030415e-06 9.99999989e-01 3.07137249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57071405700003 meters Centerline goodness [0,1] 0.9864334566655455 Centerline is valid? [True, True] Translation: X:430.14, Y:-18.58, Z:3.07 [[ 9.99826436e-01 1.86300452e-02 -1.39430015e-04 4.30144055e+02] [-1.86300442e-02 9.99826446e-01 8.48128802e-06 -1.85773450e+01] [ 1.39563824e-04 -5.88222863e-06 9.99999990e-01 3.06979658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.600714057 meters Centerline goodness [0,1] 0.9861291043109225 Centerline is valid? [True, True] Translation: X:430.17, Y:-18.58, Z:3.07 [[ 9.99823519e-01 1.87669274e-02 -8.56703833e-04 4.30171311e+02] [-1.87668848e-02 9.99823885e-01 5.77236647e-05 -1.85811125e+01] [ 8.57636250e-04 -4.16358154e-05 9.99999631e-01 3.06905703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.630714057 meters Centerline goodness [0,1] 0.9868759938187275 Centerline is valid? [True, True] Translation: X:430.20, Y:-18.58, Z:3.07 [[ 9.99845547e-01 1.75231881e-02 -1.34894764e-03 4.30200186e+02] [-1.75230804e-02 9.99846455e-01 9.16072096e-05 -1.85809195e+01] [ 1.35034577e-03 -6.79553426e-05 9.99999086e-01 3.07018393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.660714057 meters Centerline goodness [0,1] 0.9869747804801365 Centerline is valid? [True, True] Translation: X:430.23, Y:-18.58, Z:3.07 [[ 9.99859393e-01 1.67373242e-02 -1.02753297e-03 4.30229181e+02] [-1.67372616e-02 9.99859920e-01 6.94872330e-05 -1.85821825e+01] [ 1.02855206e-03 -5.22793745e-05 9.99999470e-01 3.07042006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.690714057 meters Centerline goodness [0,1] 0.9849195484841005 Centerline is valid? [True, True] Translation: X:430.26, Y:-18.59, Z:3.07 [[ 9.99904737e-01 1.36549738e-02 -2.01474508e-03 4.30258468e+02] [-1.36547240e-02 9.99906760e-01 1.37675052e-04 -1.85875900e+01] [ 2.01643718e-03 -1.10151148e-04 9.99997961e-01 3.06933071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.720714057 meters Centerline goodness [0,1] 0.9863907448096498 Centerline is valid? [True, True] Translation: X:430.29, Y:-18.59, Z:3.07 [[ 9.99923089e-01 1.21273696e-02 -2.59678949e-03 4.30287390e+02] [-1.21269508e-02 9.99926450e-01 1.76982656e-04 -1.85916836e+01] [ 2.59874483e-03 -1.45477906e-04 9.99996613e-01 3.06819574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.750714057 meters Centerline goodness [0,1] 0.9855027000380918 Centerline is valid? [True, True] Translation: X:430.32, Y:-18.60, Z:3.07 [[ 9.99946366e-01 9.78953093e-03 -3.38072031e-03 4.30316419e+02] [-9.78880762e-03 9.99952062e-01 2.30430509e-04 -1.85960678e+01] [ 3.38281405e-03 -1.97324929e-04 9.99994259e-01 3.06702017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.780714057 meters Centerline goodness [0,1] 0.9848274316450022 Centerline is valid? [True, True] Translation: X:430.35, Y:-18.60, Z:3.07 [[ 9.99976810e-01 5.04206914e-03 -4.57796172e-03 4.30346381e+02] [-5.04068961e-03 9.99987247e-01 3.12829808e-04 -1.86024682e+01] [ 4.57948065e-03 -2.89746469e-04 9.99989472e-01 3.06574441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.810714057 meters Centerline goodness [0,1] 0.9844926396224295 Centerline is valid? [True, True] Translation: X:430.38, Y:-18.61, Z:3.07 [[ 9.99983664e-01 2.76005312e-03 -5.00547606e-03 4.30375517e+02] [-2.75837965e-03 9.99996137e-01 3.41200286e-04 -1.86062221e+01] [ 5.00639846e-03 -3.27387709e-04 9.99987414e-01 3.06507103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.840714057 meters Centerline goodness [0,1] 0.9836425562427176 Centerline is valid? [True, True] Translation: X:430.40, Y:-18.61, Z:3.07 [[ 9.99990272e-01 -2.12357128e-04 -4.40574619e-03 4.30404031e+02] [ 2.13682266e-04 9.99999932e-01 3.00306345e-04 -1.86110784e+01] [ 4.40568212e-03 -3.01244854e-04 9.99990250e-01 3.06577803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.870714057 meters Centerline goodness [0,1] 0.9843355455744006 Centerline is valid? [True, True] Translation: X:430.43, Y:-18.61, Z:3.07 [[ 9.99994950e-01 -7.28938776e-04 -3.09342520e-03 4.30432343e+02] [ 7.29592122e-04 9.99999712e-01 2.10081519e-04 -1.86126790e+01] [ 3.09327117e-03 -2.12337397e-04 9.99995193e-01 3.06681483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.900714057 meters Centerline goodness [0,1] 0.98389451694782 Centerline is valid? [True, True] Translation: X:430.46, Y:-18.61, Z:3.07 [[ 9.99996255e-01 -1.27481629e-03 -2.42157319e-03 4.30462162e+02] [ 1.27521862e-03 9.99999173e-01 1.64611167e-04 -1.86145549e+01] [ 2.42136134e-03 -1.67698586e-04 9.99997054e-01 3.06750293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.930714057 meters Centerline goodness [0,1] 0.9831694233348234 Centerline is valid? [True, True] Translation: X:430.49, Y:-18.62, Z:3.07 [[ 9.99998717e-01 -1.16498043e-03 -1.09984863e-03 4.30491657e+02] [ 1.16506306e-03 9.99999319e-01 7.44929728e-05 -1.86154473e+01] [ 1.09976109e-03 -7.57742702e-05 9.99999392e-01 3.06848183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.960714057 meters Centerline goodness [0,1] 0.9839776767631306 Centerline is valid? [True, True] Translation: X:430.52, Y:-18.61, Z:3.07 [[ 9.99998959e-01 -1.24012199e-03 -7.37228025e-04 4.30522462e+02] [ 1.24015935e-03 9.99999230e-01 5.02189427e-05 -1.86138333e+01] [ 7.37165180e-04 -5.11331707e-05 9.99999727e-01 3.06922221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.990714057 meters Centerline goodness [0,1] 0.9839776767631306 Centerline is valid? [True, True] Translation: X:430.55, Y:-18.62, Z:3.07 [[ 9.99998959e-01 -1.24012199e-03 -7.37228025e-04 4.30552465e+02] [ 1.24015935e-03 9.99999230e-01 5.02189427e-05 -1.86158771e+01] [ 7.37165180e-04 -5.11331707e-05 9.99999727e-01 3.06885509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.020714057 meters Centerline goodness [0,1] 0.9816771582733813 Centerline is valid? [True, True] Translation: X:430.58, Y:-18.63, Z:3.07 [[ 9.99997675e-01 -2.15119585e-03 -1.47320575e-04 4.30581655e+02] [ 2.15119735e-03 9.99997686e-01 1.00352717e-05 -1.86252526e+01] [ 1.47298646e-04 -1.03521640e-05 9.99999989e-01 3.06824186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.050714057 meters Centerline goodness [0,1] 0.9825076809221592 Centerline is valid? [True, True] Translation: X:430.61, Y:-18.62, Z:3.07 [[ 9.99995959e-01 -2.83838856e-03 -1.60905549e-04 4.30613212e+02] [ 2.83839043e-03 9.99995972e-01 1.13977786e-05 -1.86219670e+01] [ 1.60872550e-04 -1.18544453e-05 9.99999987e-01 3.06879111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.080714057 meters Centerline goodness [0,1] 0.9811121354529715 Centerline is valid? [True, True] Translation: X:430.64, Y:-18.63, Z:3.07 [[ 9.99991029e-01 -4.21820788e-03 -3.86011539e-04 4.30643090e+02] [ 4.21821844e-03 9.99991103e-01 2.65287883e-05 -1.86333691e+01] [ 3.85896201e-04 -2.81568313e-05 9.99999925e-01 3.06639466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.110714057 meters Centerline goodness [0,1] 0.981758138072024 Centerline is valid? [True, True] Translation: X:430.67, Y:-18.63, Z:3.07 [[ 9.99966842e-01 -7.98652388e-03 -1.59096163e-03 4.30673665e+02] [ 7.98670655e-03 9.99968100e-01 1.08497319e-04 -1.86309851e+01] [ 1.59004436e-03 -1.21200265e-04 9.99998729e-01 3.06591531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.140714057 meters Centerline goodness [0,1] 0.9805763987471552 Centerline is valid? [True, True] Translation: X:430.70, Y:-18.64, Z:3.06 [[ 9.99944028e-01 -1.01707438e-02 -2.91500324e-03 4.30704013e+02] [ 1.01713669e-02 9.99948251e-01 1.98992618e-04 -1.86352686e+01] [ 2.91282849e-03 -2.28631047e-04 9.99995732e-01 3.06426768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.170714057 meters Centerline goodness [0,1] 0.9677085442966763 Centerline is valid? [True, True] Translation: X:430.73, Y:-18.65, Z:3.06 [[ 9.99892126e-01 -1.37690165e-02 -5.11374271e-03 4.30732860e+02] [ 1.37709775e-02 9.99905115e-01 3.48464385e-04 -1.86495249e+01] [ 5.10845948e-03 -4.18848031e-04 9.99986864e-01 3.06024930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.200714057 meters Centerline goodness [0,1] 0.9808419630796938 Centerline is valid? [True, True] Translation: X:430.76, Y:-18.64, Z:3.06 [[ 9.99868902e-01 -1.50228184e-02 -6.04097728e-03 4.30764664e+02] [ 1.50255828e-02 9.99887024e-01 4.12486917e-04 -1.86438770e+01] [ 6.03409808e-03 -5.03202045e-04 9.99981668e-01 3.06063821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.230714057 meters Centerline goodness [0,1] 0.9809506653756952 Centerline is valid? [True, True] Translation: X:430.80, Y:-18.64, Z:3.06 [[ 9.99846842e-01 -1.59556764e-02 -7.19084867e-03 4.30796307e+02] [ 1.59596187e-02 9.99872517e-01 4.91193805e-04 -1.86418316e+01] [ 7.18209463e-03 -6.05881778e-04 9.99974025e-01 3.06015959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26071405700003 meters Centerline goodness [0,1] 0.9819222793255793 Centerline is valid? [True, True] Translation: X:430.83, Y:-18.64, Z:3.06 [[ 9.99844841e-01 -1.58352151e-02 -7.71622801e-03 4.30829139e+02] [ 1.58397587e-02 9.99874404e-01 5.28071219e-04 -1.86398349e+01] [ 7.70689676e-03 -6.50212474e-04 9.99970090e-01 3.06082984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.290714057 meters Centerline goodness [0,1] 0.9824644336394741 Centerline is valid? [True, True] Translation: X:430.86, Y:-18.64, Z:3.06 [[ 9.99857368e-01 -1.52413301e-02 -7.27635017e-03 4.30859270e+02] [ 1.52453512e-02 9.99883659e-01 4.97476972e-04 -1.86408070e+01] [ 7.26792142e-03 -6.08336529e-04 9.99973403e-01 3.06111024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32071405700003 meters Centerline goodness [0,1] 0.9813431994044262 Centerline is valid? [True, True] Translation: X:430.89, Y:-18.64, Z:3.06 [[ 9.99866405e-01 -1.48094280e-02 -6.91760414e-03 4.30889838e+02] [ 1.48130530e-02 9.99890169e-01 4.73080783e-04 -1.86429163e+01] [ 6.90983832e-03 -5.75488419e-04 9.99975961e-01 3.06124020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.350714057 meters Centerline goodness [0,1] 0.9816716700900616 Centerline is valid? [True, True] Translation: X:430.92, Y:-18.64, Z:3.06 [[ 9.99876292e-01 -1.44609947e-02 -6.18709480e-03 4.30921569e+02] [ 1.44638907e-02 9.99895303e-01 4.23581836e-04 -1.86437634e+01] [ 6.18032162e-03 -5.13018898e-04 9.99980770e-01 3.06174456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.380714057 meters Centerline goodness [0,1] 0.9817853515404582 Centerline is valid? [True, True] Translation: X:430.95, Y:-18.64, Z:3.06 [[ 9.99886977e-01 -1.41991431e-02 -4.94147781e-03 4.30953288e+02] [ 1.42009886e-02 9.99899104e-01 3.38573632e-04 -1.86422662e+01] [ 4.93617178e-03 -4.08709235e-04 9.99987734e-01 3.06332103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.410714057 meters Centerline goodness [0,1] 0.9824810606060606 Centerline is valid? [True, True] Translation: X:430.98, Y:-18.65, Z:3.06 [[ 9.99889401e-01 -1.42232677e-02 -4.34571206e-03 4.30984715e+02] [ 1.42246974e-02 9.99898779e-01 2.98255617e-04 -1.86456875e+01] [ 4.34103001e-03 -3.60039069e-04 9.99990513e-01 3.06310319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.440714057 meters Centerline goodness [0,1] 0.9803638333408567 Centerline is valid? [True, True] Translation: X:431.02, Y:-18.65, Z:3.06 [[ 9.99861251e-01 -1.61264717e-02 -4.17321410e-03 4.31016042e+02] [ 1.61278064e-02 9.99869897e-01 2.86367445e-04 -1.86500198e+01] [ 4.16805306e-03 -3.53632501e-04 9.99991251e-01 3.06181069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.470714057 meters Centerline goodness [0,1] 0.9809573056948223 Centerline is valid? [True, True] Translation: X:431.05, Y:-18.65, Z:3.06 [[ 9.99842126e-01 -1.71580485e-02 -4.61786417e-03 4.31048261e+02] [ 1.71596970e-02 9.99852711e-01 3.17597050e-04 -1.86527870e+01] [ 4.61173467e-03 -3.96788060e-04 9.99989287e-01 3.06094756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.500714057 meters Centerline goodness [0,1] 0.9811405883414546 Centerline is valid? [True, True] Translation: X:431.08, Y:-18.66, Z:3.06 [[ 9.99828371e-01 -1.78683952e-02 -4.89375073e-03 4.31080554e+02] [ 1.78702564e-02 9.99840257e-01 3.36859930e-04 -1.86564872e+01] [ 4.88694984e-03 -4.24254695e-04 9.99987969e-01 3.05996392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.530714057 meters Centerline goodness [0,1] 0.9799833006115587 Centerline is valid? [True, True] Translation: X:431.11, Y:-18.66, Z:3.06 [[ 9.99791182e-01 -1.93341132e-02 -6.61701493e-03 4.31111470e+02] [ 1.93375454e-02 9.99812909e-01 4.55096376e-04 -1.86602927e+01] [ 6.60697806e-03 -5.82958171e-04 9.99978004e-01 3.05871428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.560714057 meters Centerline goodness [0,1] 0.9796460575494214 Centerline is valid? [True, True] Translation: X:431.14, Y:-18.66, Z:3.06 [[ 9.99773006e-01 -2.01481180e-02 -6.92745351e-03 4.31143455e+02] [ 2.01519047e-02 9.99796816e-01 4.77253555e-04 -1.86641368e+01] [ 6.91643020e-03 -6.16746604e-04 9.99975891e-01 3.05784749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.590714057 meters Centerline goodness [0,1] 0.9765024853140534 Centerline is valid? [True, True] Translation: X:431.17, Y:-18.67, Z:3.06 [[ 9.99736152e-01 -2.15820776e-02 -7.86385653e-03 4.31174551e+02] [ 2.15869992e-02 9.99766827e-01 5.41492991e-04 -1.86684855e+01] [ 7.85033635e-03 -7.11107184e-04 9.99968933e-01 3.05618761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.620714057 meters Centerline goodness [0,1] 0.9735063530683968 Centerline is valid? [True, True] Translation: X:431.21, Y:-18.67, Z:3.06 [[ 9.99732368e-01 -2.17553229e-02 -7.86754051e-03 4.31206332e+02] [ 2.17602620e-02 9.99763070e-01 5.42709616e-04 -1.86716432e+01] [ 7.85386963e-03 -7.13764112e-04 9.99968903e-01 3.05550405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.650714057 meters Centerline goodness [0,1] 0.9795500101349068 Centerline is valid? [True, True] Translation: X:431.24, Y:-18.67, Z:3.06 [[ 9.99723117e-01 -2.19839428e-02 -8.39015866e-03 4.31239167e+02] [ 2.19895725e-02 9.99758032e-01 5.79320913e-04 -1.86690777e+01] [ 8.37539276e-03 -7.63656511e-04 9.99964634e-01 3.05565330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.680714057 meters Centerline goodness [0,1] 0.9642977812816759 Centerline is valid? [True, True] Translation: X:431.27, Y:-18.68, Z:3.05 [[ 9.99726792e-01 -2.17354031e-02 -8.59731150e-03 4.31269452e+02] [ 2.17413070e-02 9.99763453e-01 5.93837437e-04 -1.86778003e+01] [ 8.58237054e-03 -7.80591985e-04 9.99962866e-01 3.05384006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.710714057 meters Centerline goodness [0,1] 0.9796079137500281 Centerline is valid? [True, True] Translation: X:431.30, Y:-18.67, Z:3.05 [[ 9.99743401e-01 -2.10098859e-02 -8.46856442e-03 4.31301307e+02] [ 2.10155892e-02 9.99778977e-01 5.85035388e-04 -1.86731980e+01] [ 8.45440114e-03 -7.62857139e-04 9.99963970e-01 3.05457639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.740714057 meters Centerline goodness [0,1] 0.979912525926594 Centerline is valid? [True, True] Translation: X:431.33, Y:-18.67, Z:3.06 [[ 9.99772762e-01 -1.98264545e-02 -7.83169799e-03 4.31332707e+02] [ 1.98312987e-02 9.99803194e-01 5.41358416e-04 -1.86709364e+01] [ 7.81942345e-03 -6.96548141e-04 9.99969185e-01 3.05621045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.770714057 meters Centerline goodness [0,1] 0.9788772167626794 Centerline is valid? [True, True] Translation: X:431.36, Y:-18.67, Z:3.06 [[ 9.99791303e-01 -1.90228050e-02 -7.44870057e-03 4.31363531e+02] [ 1.90271695e-02 9.99818834e-01 5.15512172e-04 -1.86738982e+01] [ 7.43754463e-03 -6.57132275e-04 9.99972125e-01 3.05629637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.800714057 meters Centerline goodness [0,1] 0.9800923319446009 Centerline is valid? [True, True] Translation: X:431.40, Y:-18.67, Z:3.06 [[ 9.99809574e-01 -1.82464455e-02 -6.91974323e-03 4.31395257e+02] [ 1.82501944e-02 9.99833337e-01 4.78993805e-04 -1.86713832e+01] [ 6.90985003e-03 -6.05189251e-04 9.99975944e-01 3.05734051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.830714057 meters Centerline goodness [0,1] 0.9785410636758322 Centerline is valid? [True, True] Translation: X:431.43, Y:-18.68, Z:3.06 [[ 9.99822510e-01 -1.75049333e-02 -6.96604240e-03 4.31425821e+02] [ 1.75087187e-02 9.99846594e-01 4.82782411e-04 -1.86766441e+01] [ 6.95652269e-03 -6.04663199e-04 9.99975620e-01 3.05628995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.860714057 meters Centerline goodness [0,1] 0.9774551357200829 Centerline is valid? [True, True] Translation: X:431.46, Y:-18.68, Z:3.06 [[ 9.99845505e-01 -1.65264865e-02 -5.98674662e-03 4.31455735e+02] [ 1.65292635e-02 9.99863296e-01 4.14665531e-04 -1.86790974e+01] [ 5.97907525e-03 -5.13557980e-04 9.99981993e-01 3.05682555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.890714057 meters Centerline goodness [0,1] 0.979674980761396 Centerline is valid? [True, True] Translation: X:431.49, Y:-18.67, Z:3.06 [[ 9.99845596e-01 -1.68646307e-02 -4.93637516e-03 4.31488469e+02] [ 1.68665281e-02 9.99857691e-01 3.42977837e-04 -1.86744028e+01] [ 4.92988848e-03 -4.26184390e-04 9.99987757e-01 3.05871171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.920714057 meters Centerline goodness [0,1] 0.978972121102494 Centerline is valid? [True, True] Translation: X:431.52, Y:-18.68, Z:3.06 [[ 9.99842018e-01 -1.71108767e-02 -4.81223339e-03 4.31520883e+02] [ 1.71126844e-02 9.99853511e-01 3.34724176e-04 -1.86766834e+01] [ 4.80580102e-03 -4.17021527e-04 9.99988365e-01 3.05831155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.950714057 meters Centerline goodness [0,1] 0.9792345276872965 Centerline is valid? [True, True] Translation: X:431.55, Y:-18.68, Z:3.06 [[ 9.99832854e-01 -1.75982272e-02 -4.95651721e-03 4.31552832e+02] [ 1.76001525e-02 9.99845046e-01 3.45092344e-04 -1.86793918e+01] [ 4.94967616e-03 -4.32270122e-04 9.99987657e-01 3.05791606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.980714057 meters Centerline goodness [0,1] 0.9789028581765558 Centerline is valid? [True, True] Translation: X:431.58, Y:-18.68, Z:3.06 [[ 9.99820056e-01 -1.82246245e-02 -5.26480938e-03 4.31584368e+02] [ 1.82268055e-02 9.99833811e-01 3.66570627e-04 -1.86817635e+01] [ 5.25725382e-03 -4.62465321e-04 9.99986074e-01 3.05766180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01071405700003 meters Centerline goodness [0,1] 0.9794178182887386 Centerline is valid? [True, True] Translation: X:431.62, Y:-18.68, Z:3.06 [[ 9.99791288e-01 -1.95631344e-02 -5.88768112e-03 4.31615374e+02] [ 1.95658846e-02 9.99808486e-01 4.09854053e-04 -1.86847896e+01] [ 5.87853551e-03 -5.24966200e-04 9.99982583e-01 3.05609426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.040714057 meters Centerline goodness [0,1] 0.9551871898962562 Centerline is valid? [True, True] Translation: X:431.65, Y:-18.70, Z:3.05 [[ 9.99774930e-01 -2.03326986e-02 -6.05564827e-03 4.31645394e+02] [ 2.03356296e-02 9.99793120e-01 4.22825554e-04 -1.87026741e+01] [ 6.04579829e-03 -5.45875809e-04 9.99981575e-01 3.05202605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07071405700003 meters Centerline goodness [0,1] 0.9784159708311764 Centerline is valid? [True, True] Translation: X:431.68, Y:-18.70, Z:3.05 [[ 9.99734169e-01 -2.20185893e-02 -6.83903642e-03 4.31677136e+02] [ 2.20223602e-02 9.99757365e-01 4.76558554e-04 -1.86957859e+01] [ 6.82688388e-03 -6.27043594e-04 9.99976500e-01 3.05256996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.100714057 meters Centerline goodness [0,1] 0.975730124391563 Centerline is valid? [True, True] Translation: X:431.71, Y:-18.70, Z:3.05 [[ 9.99709297e-01 -2.28442705e-02 -7.71104612e-03 4.31708309e+02] [ 2.28490950e-02 9.99738781e-01 5.38138301e-04 -1.87013639e+01] [ 7.69673847e-03 -7.14172289e-04 9.99970125e-01 3.05124485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.130714057 meters Centerline goodness [0,1] 0.9771341120338487 Centerline is valid? [True, True] Translation: X:431.74, Y:-18.70, Z:3.05 [[ 9.99682894e-01 -2.39066867e-02 -7.91092415e-03 4.31739877e+02] [ 2.39118007e-02 9.99713919e-01 5.52493599e-04 -1.87047920e+01] [ 7.89545269e-03 -7.41482841e-04 9.99968556e-01 3.05094407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.160714057 meters Centerline goodness [0,1] 0.9788807235726399 Centerline is valid? [True, True] Translation: X:431.77, Y:-18.70, Z:3.05 [[ 9.99670052e-01 -2.42677876e-02 -8.41795913e-03 4.31771866e+02] [ 2.42735946e-02 9.99705180e-01 5.88341075e-04 -1.87032819e+01] [ 8.40119961e-03 -7.92481080e-04 9.99964395e-01 3.05137722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.190714057 meters Centerline goodness [0,1] 0.9787334806729512 Centerline is valid? [True, True] Translation: X:431.80, Y:-18.71, Z:3.05 [[ 9.99699465e-01 -2.28755538e-02 -8.81417470e-03 4.31802938e+02] [ 2.28818673e-02 9.99737986e-01 6.16102335e-04 -1.87053767e+01] [ 8.79777158e-03 -8.17601951e-04 9.99960965e-01 3.05092780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.220714057 meters Centerline goodness [0,1] 0.9775630897024965 Centerline is valid? [True, True] Translation: X:431.83, Y:-18.71, Z:3.05 [[ 9.99721350e-01 -2.20449586e-02 -8.44053137e-03 4.31833266e+02] [ 2.20507184e-02 9.99756679e-01 5.89929903e-04 -1.87100202e+01] [ 8.42547264e-03 -7.75885300e-04 9.99964204e-01 3.04964416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.250714057 meters Centerline goodness [0,1] 0.9784180790960452 Centerline is valid? [True, True] Translation: X:431.86, Y:-18.71, Z:3.05 [[ 9.99742287e-01 -2.10756069e-02 -8.43677912e-03 4.31864737e+02] [ 2.10813317e-02 9.99777590e-01 5.90187407e-04 -1.87122519e+01] [ 8.42246414e-03 -7.67893847e-04 9.99964236e-01 3.04932791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.280714057 meters Centerline goodness [0,1] 0.9789967097850092 Centerline is valid? [True, True] Translation: X:431.90, Y:-18.71, Z:3.05 [[ 9.99782019e-01 -1.92677501e-02 -8.04164165e-03 4.31895886e+02] [ 1.92728929e-02 9.99814102e-01 5.62511514e-04 -1.87126265e+01] [ 8.02930840e-03 -7.17374595e-04 9.99967507e-01 3.04991336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.310714057 meters Centerline goodness [0,1] 0.9791652543330396 Centerline is valid? [True, True] Translation: X:431.93, Y:-18.71, Z:3.05 [[ 9.99831582e-01 -1.66629082e-02 -7.69126629e-03 4.31926905e+02] [ 1.66675371e-02 9.99860942e-01 5.38135423e-04 -1.87140209e+01] [ 7.68122986e-03 -6.66239257e-04 9.99970277e-01 3.04963735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.340714057 meters Centerline goodness [0,1] 0.9796241077075991 Centerline is valid? [True, True] Translation: X:431.96, Y:-18.72, Z:3.05 [[ 9.99844658e-01 -1.56213736e-02 -8.16292333e-03 4.31958122e+02] [ 1.56265573e-02 9.99877734e-01 5.71636061e-04 -1.87162979e+01] [ 8.15299554e-03 -6.99105651e-04 9.99966519e-01 3.04938844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.370714057 meters Centerline goodness [0,1] 0.9796751635461313 Centerline is valid? [True, True] Translation: X:431.99, Y:-18.72, Z:3.05 [[ 9.99866183e-01 -1.44011645e-02 -7.76037383e-03 4.31988224e+02] [ 1.44058126e-02 9.99896083e-01 5.43388992e-04 -1.87192975e+01] [ 7.75174196e-03 -6.55110768e-04 9.99969740e-01 3.04888468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.400714057 meters Centerline goodness [0,1] 0.9806994205316678 Centerline is valid? [True, True] Translation: X:432.02, Y:-18.72, Z:3.05 [[ 9.99890863e-01 -1.26167314e-02 -7.68634997e-03 4.32019389e+02] [ 1.26212399e-02 9.99920204e-01 5.38341921e-04 -1.87191842e+01] [ 7.67894451e-03 -6.35294436e-04 9.99970315e-01 3.04933277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.430714057 meters Centerline goodness [0,1] 0.9811061568256542 Centerline is valid? [True, True] Translation: X:432.05, Y:-18.72, Z:3.05 [[ 9.99901691e-01 -1.17099339e-02 -7.71270437e-03 4.32050728e+02] [ 1.17144504e-02 9.99931237e-01 5.40676867e-04 -1.87212098e+01] [ 7.70584273e-03 -6.30973806e-04 9.99970110e-01 3.04935747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.460714057 meters Centerline goodness [0,1] 0.9801015228426396 Centerline is valid? [True, True] Translation: X:432.08, Y:-18.72, Z:3.05 [[ 9.99913243e-01 -1.06633097e-02 -7.73308594e-03 4.32082147e+02] [ 1.06678211e-02 9.99942950e-01 5.42379792e-04 -1.87235946e+01] [ 7.72686121e-03 -6.24827914e-04 9.99969952e-01 3.04916527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.490714057 meters Centerline goodness [0,1] 0.9812163167745281 Centerline is valid? [True, True] Translation: X:432.11, Y:-18.73, Z:3.05 [[ 9.99919024e-01 -1.01091583e-02 -7.72987844e-03 4.32113035e+02] [ 1.01136489e-02 9.99948709e-01 5.42072033e-04 -1.87260774e+01] [ 7.72400207e-03 -6.20205415e-04 9.99969977e-01 3.04884303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.520714057 meters Centerline goodness [0,1] 0.9785230352303523 Centerline is valid? [True, True] Translation: X:432.14, Y:-18.73, Z:3.05 [[ 9.99913649e-01 -1.00514817e-02 -8.46532569e-03 4.32142761e+02] [ 1.00568733e-02 9.99949252e-01 5.94579714e-04 -1.87323341e+01] [ 8.45891968e-03 -6.79663079e-04 9.99963992e-01 3.04621933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.550714057 meters Centerline goodness [0,1] 0.9798348897009067 Centerline is valid? [True, True] Translation: X:432.17, Y:-18.73, Z:3.05 [[ 9.99913061e-01 -9.71424095e-03 -8.91654014e-03 4.32173189e+02] [ 9.72020290e-03 9.99952562e-01 6.25546445e-04 -1.87333191e+01] [ 8.91004045e-03 -7.12162640e-04 9.99960051e-01 3.04576323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.580714057 meters Centerline goodness [0,1] 0.9753812194517648 Centerline is valid? [True, True] Translation: X:432.20, Y:-18.74, Z:3.04 [[ 9.99917021e-01 -9.37956055e-03 -8.83030182e-03 4.32202822e+02] [ 9.38539160e-03 9.99955765e-01 6.19138006e-04 -1.87374895e+01] [ 8.82410396e-03 -7.01962472e-04 9.99960820e-01 3.04498794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.610714057 meters Centerline goodness [0,1] 0.9803168183350185 Centerline is valid? [True, True] Translation: X:432.23, Y:-18.74, Z:3.05 [[ 9.99925920e-01 -8.94764833e-03 -8.25186282e-03 4.32233022e+02] [ 8.95272159e-03 9.99959756e-01 5.78066514e-04 -1.87352419e+01] [ 8.24635840e-03 -6.51900322e-04 9.99965786e-01 3.04583299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.640714057 meters Centerline goodness [0,1] 0.9819188939677107 Centerline is valid? [True, True] Translation: X:432.26, Y:-18.73, Z:3.05 [[ 9.99928446e-01 -8.33231083e-03 -8.58338716e-03 4.32263953e+02] [ 8.33778117e-03 9.99965059e-01 6.01729816e-04 -1.87340024e+01] [ 8.57807344e-03 -6.73253164e-04 9.99962981e-01 3.04641769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.670714057 meters Centerline goodness [0,1] 0.9815241450964449 Centerline is valid? [True, True] Translation: X:432.29, Y:-18.74, Z:3.05 [[ 9.99940906e-01 -6.77653240e-03 -8.50076537e-03 4.32292786e+02] [ 6.78183588e-03 9.99976826e-01 5.95211866e-04 -1.87384081e+01] [ 8.49653491e-03 -6.52827489e-04 9.99963691e-01 3.04518980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.700714057 meters Centerline goodness [0,1] 0.9812298609702788 Centerline is valid? [True, True] Translation: X:432.32, Y:-18.74, Z:3.05 [[ 9.99944065e-01 -6.25508001e-03 -8.52881644e-03 4.32321978e+02] [ 6.26038085e-03 9.99980227e-01 5.94965951e-04 -1.87394592e+01] [ 8.52492624e-03 -6.48326311e-04 9.99963452e-01 3.04500671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.730714057 meters Centerline goodness [0,1] 0.9821158063713853 Centerline is valid? [True, True] Translation: X:432.35, Y:-18.74, Z:3.05 [[ 9.99950894e-01 -6.12478383e-03 -7.79076559e-03 4.32351654e+02] [ 6.12920850e-03 9.99981068e-01 5.44188596e-04 -1.87359396e+01] [ 7.78728506e-03 -5.91913100e-04 9.99969503e-01 3.04676254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76071405700003 meters Centerline goodness [0,1] 0.9821738836112552 Centerline is valid? [True, True] Translation: X:432.38, Y:-18.74, Z:3.05 [[ 9.99948248e-01 -6.40715070e-03 -7.90250407e-03 4.32381298e+02] [ 6.41170985e-03 9.99979293e-01 5.51724973e-04 -1.87394266e+01] [ 7.89880544e-03 -6.02364984e-04 9.99968623e-01 3.04647393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.790714057 meters Centerline goodness [0,1] 0.980498619971947 Centerline is valid? [True, True] Translation: X:432.41, Y:-18.74, Z:3.05 [[ 9.99943590e-01 -7.26631648e-03 -7.74708863e-03 4.32410477e+02] [ 7.27072150e-03 9.99973422e-01 5.40590643e-04 -1.87419582e+01] [ 7.74295462e-03 -5.96887072e-04 9.99969845e-01 3.04596017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82071405700003 meters Centerline goodness [0,1] 0.9806915841472492 Centerline is valid? [True, True] Translation: X:432.44, Y:-18.75, Z:3.04 [[ 9.99930463e-01 -9.25473497e-03 -7.30885327e-03 4.32440519e+02] [ 9.25870895e-03 9.99957007e-01 5.10072437e-04 -1.87461779e+01] [ 7.30381846e-03 -5.77707513e-04 9.99973160e-01 3.04487310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.850714057 meters Centerline goodness [0,1] 0.9806915841472492 Centerline is valid? [True, True] Translation: X:432.47, Y:-18.75, Z:3.04 [[ 9.99930463e-01 -9.25473760e-03 -7.30883833e-03 4.32470543e+02] [ 9.25871314e-03 9.99957007e-01 5.10286439e-04 -1.87482742e+01] [ 7.30380154e-03 -5.77921393e-04 9.99973160e-01 3.04450561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.880714057 meters Centerline goodness [0,1] 0.9806445784493077 Centerline is valid? [True, True] Translation: X:432.50, Y:-18.75, Z:3.04 [[ 9.99915927e-01 -1.03348102e-02 -7.83133852e-03 4.32500749e+02] [ 1.03394074e-02 9.99946397e-01 5.46766211e-04 -1.87508206e+01] [ 7.82526801e-03 -6.27691643e-04 9.99969185e-01 3.04419507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.910714057 meters Centerline goodness [0,1] 0.9800457520780956 Centerline is valid? [True, True] Translation: X:432.53, Y:-18.75, Z:3.04 [[ 9.99885154e-01 -1.24271796e-02 -8.67438458e-03 4.32530861e+02] [ 1.24328990e-02 9.99922525e-01 6.05729763e-04 -1.87536612e+01] [ 8.66618502e-03 -7.13507944e-04 9.99962193e-01 3.04265870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.940714057 meters Centerline goodness [0,1] 0.9798534798534798 Centerline is valid? [True, True] Translation: X:432.56, Y:-18.76, Z:3.04 [[ 9.99875064e-01 -1.31015291e-02 -8.84344700e-03 4.32561050e+02] [ 1.31074992e-02 9.99913902e-01 6.17473431e-04 -1.87554751e+01] [ 8.83459576e-03 -7.33311762e-04 9.99960705e-01 3.04226767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.970714057 meters Centerline goodness [0,1] 0.9805266852342459 Centerline is valid? [True, True] Translation: X:432.59, Y:-18.76, Z:3.04 [[ 9.99872857e-01 -1.32568254e-02 -8.86148444e-03 4.32591902e+02] [ 1.32628293e-02 9.99911853e-01 6.19107365e-04 -1.87566095e+01] [ 8.85249593e-03 -7.36557005e-04 9.99960545e-01 3.04185609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.000714057 meters Centerline goodness [0,1] 0.9818762601662853 Centerline is valid? [True, True] Translation: X:432.62, Y:-18.75, Z:3.04 [[ 9.99879951e-01 -1.28559551e-02 -8.64911555e-03 4.32623603e+02] [ 1.28616645e-02 9.99917102e-01 6.04816013e-04 -1.87544050e+01] [ 8.64062307e-03 -7.15985428e-04 9.99962413e-01 3.04209663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.030714057 meters Centerline goodness [0,1] 0.9813913476558078 Centerline is valid? [True, True] Translation: X:432.65, Y:-18.76, Z:3.04 [[ 9.99884686e-01 -1.24664697e-02 -8.67187782e-03 4.32653987e+02] [ 1.24721940e-02 9.99922035e-01 6.06338829e-04 -1.87567405e+01] [ 8.66364282e-03 -7.14426252e-04 9.99962215e-01 3.04142190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.060714057 meters Centerline goodness [0,1] 0.9814466619849127 Centerline is valid? [True, True] Translation: X:432.68, Y:-18.76, Z:3.04 [[ 9.99904408e-01 -1.14127143e-02 -7.80547525e-03 4.32684702e+02] [ 1.14173185e-02 9.99934671e-01 5.45562703e-04 -1.87575125e+01] [ 7.79873898e-03 -6.34628148e-04 9.99969388e-01 3.04154557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.090714057 meters Centerline goodness [0,1] 0.9819296182377419 Centerline is valid? [True, True] Translation: X:432.72, Y:-18.76, Z:3.04 [[ 9.99918859e-01 -1.04548306e-02 -7.27823734e-03 4.32715215e+02] [ 1.04588195e-02 9.99945175e-01 5.10212080e-04 -1.87596058e+01] [ 7.27250413e-03 -5.86292452e-04 9.99973383e-01 3.04150188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.120714057 meters Centerline goodness [0,1] 0.9802922188243289 Centerline is valid? [True, True] Translation: X:432.75, Y:-18.76, Z:3.04 [[ 9.99928912e-01 -9.83147720e-03 -6.74636175e-03 4.32745979e+02] [ 9.83488442e-03 9.99951525e-01 4.72056511e-04 -1.87615108e+01] [ 6.74139371e-03 -5.38372641e-04 9.99977132e-01 3.04148078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.150714057 meters Centerline goodness [0,1] 0.9810079359696127 Centerline is valid? [True, True] Translation: X:432.78, Y:-18.76, Z:3.04 [[ 9.99953942e-01 -8.42450904e-03 -4.59793610e-03 4.32777144e+02] [ 8.42607751e-03 9.99964448e-01 3.21857681e-04 -1.87591438e+01] [ 4.59506114e-03 -3.60585423e-04 9.99989378e-01 3.04277026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.180714057 meters Centerline goodness [0,1] 0.9814360929557008 Centerline is valid? [True, True] Translation: X:432.81, Y:-18.76, Z:3.04 [[ 9.99963584e-01 -7.71880183e-03 -3.64019593e-03 4.32808139e+02] [ 7.71978205e-03 9.99970169e-01 2.55303711e-04 -1.87611384e+01] [ 3.63811670e-03 -2.83395933e-04 9.99993342e-01 3.04267510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.210714057 meters Centerline goodness [0,1] 0.9789084139308905 Centerline is valid? [True, True] Translation: X:432.84, Y:-18.76, Z:3.04 [[ 9.99970160e-01 -7.09523899e-03 -3.05554134e-03 4.32838861e+02] [ 7.09592727e-03 9.99974801e-01 2.14474080e-04 -1.87645381e+01] [ 3.05394260e-03 -2.36149580e-04 9.99995309e-01 3.04274395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.240714057 meters Centerline goodness [0,1] 0.9792428405968251 Centerline is valid? [True, True] Translation: X:432.87, Y:-18.77, Z:3.04 [[ 9.99971811e-01 -6.96958794e-03 -2.79330812e-03 4.32869698e+02] [ 6.97016303e-03 9.99975689e-01 1.96197476e-04 -1.87664005e+01] [ 2.79187280e-03 -2.15661758e-04 9.99996079e-01 3.04185952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.270714057 meters Centerline goodness [0,1] 0.9779642994502387 Centerline is valid? [True, True] Translation: X:432.90, Y:-18.77, Z:3.04 [[ 9.99971351e-01 -6.60584078e-03 -3.69600071e-03 4.32900759e+02] [ 6.60684613e-03 9.99978141e-01 2.59867718e-04 -1.87705551e+01] [ 3.69420327e-03 -2.84279181e-04 9.99993136e-01 3.03967927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.300714057 meters Centerline goodness [0,1] 0.9801222199504759 Centerline is valid? [True, True] Translation: X:432.93, Y:-18.77, Z:3.04 [[ 9.99970603e-01 -6.61350696e-03 -3.88005383e-03 4.32932818e+02] [ 6.61461461e-03 9.99978086e-01 2.72709526e-04 -1.87681942e+01] [ 3.87816523e-03 -2.98366570e-04 9.99992435e-01 3.03967832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.330714057 meters Centerline goodness [0,1] 0.980834298430865 Centerline is valid? [True, True] Translation: X:432.96, Y:-18.77, Z:3.04 [[ 9.99962266e-01 -7.32049718e-03 -4.67729307e-03 4.32964337e+02] [ 7.32211486e-03 9.99973139e-01 3.28828018e-04 -1.87690007e+01] [ 4.67476024e-03 -3.63063287e-04 9.99989007e-01 3.03956833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.360714057 meters Centerline goodness [0,1] 0.9800435907914453 Centerline is valid? [True, True] Translation: X:433.00, Y:-18.77, Z:3.04 [[ 9.99959155e-01 -7.69391752e-03 -4.74256814e-03 4.32995713e+02] [ 7.69558561e-03 9.99970333e-01 3.33579400e-04 -1.87717709e+01] [ 4.73986091e-03 -3.70062614e-04 9.99988698e-01 3.03920379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.390714057 meters Centerline goodness [0,1] 0.9793029807342785 Centerline is valid? [True, True] Translation: X:433.03, Y:-18.77, Z:3.04 [[ 9.99954855e-01 -8.00309708e-03 -5.12231776e-03 4.33026505e+02] [ 8.00504778e-03 9.99967894e-01 3.60435435e-04 -1.87748821e+01] [ 5.11926871e-03 -4.01423562e-04 9.99986816e-01 3.03875983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.420714057 meters Centerline goodness [0,1] 0.9794428652643548 Centerline is valid? [True, True] Translation: X:433.06, Y:-18.78, Z:3.04 [[ 9.99944119e-01 -9.06766440e-03 -5.43478440e-03 4.33057499e+02] [ 9.06987692e-03 9.99958795e-01 3.82594433e-04 -1.87769459e+01] [ 5.43109122e-03 -4.31865879e-04 9.99985158e-01 3.03826626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.450714057 meters Centerline goodness [0,1] 0.9783379551757058 Centerline is valid? [True, True] Translation: X:433.09, Y:-18.78, Z:3.04 [[ 9.99938946e-01 -9.51003616e-03 -5.62708337e-03 4.33088059e+02] [ 9.51241604e-03 9.99954677e-01 3.96321561e-04 -1.87806726e+01] [ 5.62305931e-03 -4.49824522e-04 9.99984089e-01 3.03758447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.480714057 meters Centerline goodness [0,1] 0.9765779710012974 Centerline is valid? [True, True] Translation: X:433.12, Y:-18.78, Z:3.04 [[ 9.99933886e-01 -9.79248745e-03 -6.02742641e-03 4.33118322e+02] [ 9.79522224e-03 9.99951936e-01 4.24371428e-04 -1.87837336e+01] [ 6.02298105e-03 -4.83383353e-04 9.99981745e-01 3.03694742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51071405700003 meters Centerline goodness [0,1] 0.9792744937800781 Centerline is valid? [True, True] Translation: X:433.15, Y:-18.78, Z:3.04 [[ 9.99940985e-01 -9.38833677e-03 -5.46679263e-03 4.33150174e+02] [ 9.39058285e-03 9.99955833e-01 3.85334585e-04 -1.87820011e+01] [ 5.46293353e-03 -4.36648213e-04 9.99984983e-01 3.03821283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.540714057 meters Centerline goodness [0,1] 0.974496857486443 Centerline is valid? [True, True] Translation: X:433.18, Y:-18.79, Z:3.04 [[ 9.99954425e-01 -8.29186556e-03 -4.73209049e-03 4.33180398e+02] [ 8.29354091e-03 9.99965552e-01 3.34526718e-04 -1.87885443e+01] [ 4.72915363e-03 -3.73757258e-04 9.99988748e-01 3.03808250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57071405700003 meters Centerline goodness [0,1] 0.9746494189075916 Centerline is valid? [True, True] Translation: X:433.21, Y:-18.79, Z:3.04 [[ 9.99980363e-01 -5.79166815e-03 -2.39361067e-03 4.33210236e+02] [ 5.79208848e-03 9.99983211e-01 1.68709262e-04 -1.87889780e+01] [ 2.39259338e-03 -1.82569953e-04 9.99997121e-01 3.04041522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.600714057 meters Centerline goodness [0,1] 0.9756742703411481 Centerline is valid? [True, True] Translation: X:433.24, Y:-18.79, Z:3.04 [[ 9.99989471e-01 -4.22828176e-03 -1.78293732e-03 4.33241496e+02] [ 4.22851338e-03 9.99991052e-01 1.26156860e-04 -1.87879503e+01] [ 1.78238794e-03 -1.33694706e-04 9.99998403e-01 3.04177212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.630714057 meters Centerline goodness [0,1] 0.9763297448619614 Centerline is valid? [True, True] Translation: X:433.27, Y:-18.79, Z:3.04 [[ 9.99997166e-01 -2.33997224e-03 4.37774541e-04 4.33272793e+02] [ 2.33998589e-03 9.99997262e-01 -3.06656688e-05 -1.87852363e+01] [-4.37701586e-04 3.16899681e-05 9.99999904e-01 3.04370334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.660714057 meters Centerline goodness [0,1] 0.9754658314609291 Centerline is valid? [True, True] Translation: X:433.30, Y:-18.79, Z:3.04 [[ 9.99998547e-01 -1.55540217e-03 6.97959804e-04 4.33304075e+02] [ 1.55543663e-03 9.99998789e-01 -4.88300606e-05 -1.87871385e+01] [-6.97883008e-04 4.99156219e-05 9.99999755e-01 3.04348781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.690714057 meters Centerline goodness [0,1] 0.9759019679300291 Centerline is valid? [True, True] Translation: X:433.34, Y:-18.79, Z:3.04 [[ 9.99999238e-01 -1.23408761e-03 2.41756208e-05 4.33335367e+02] [ 1.23408764e-03 9.99999239e-01 -1.28198825e-06 -1.87901033e+01] [-2.41740203e-05 1.31182211e-06 1.00000000e+00 3.04241370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.720714057 meters Centerline goodness [0,1] 0.9754051651432609 Centerline is valid? [True, True] Translation: X:433.37, Y:-18.79, Z:3.04 [[ 9.99995867e-01 -1.53067456e-03 -2.43372616e-03 4.33365925e+02] [ 1.53109729e-03 9.99998813e-01 1.71841875e-04 -1.87939949e+01] [ 2.43346024e-03 -1.75567437e-04 9.99997024e-01 3.03965998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.750714057 meters Centerline goodness [0,1] 0.9757497096796229 Centerline is valid? [True, True] Translation: X:433.40, Y:-18.80, Z:3.04 [[ 9.99989937e-01 -2.25527689e-03 -3.87800788e-03 4.33396317e+02] [ 2.25635565e-03 9.99997417e-01 2.73820513e-04 -1.87975075e+01] [ 3.87738032e-03 -2.82567923e-04 9.99992443e-01 3.03835715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.780714057 meters Centerline goodness [0,1] 0.9745832381822334 Centerline is valid? [True, True] Translation: X:433.43, Y:-18.80, Z:3.04 [[ 9.99975999e-01 -3.84320820e-03 -5.76457772e-03 4.33425846e+02] [ 3.84561466e-03 9.99992523e-01 4.06431006e-04 -1.87999621e+01] [ 5.76297262e-03 -4.28589596e-04 9.99983302e-01 3.03697647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.810714057 meters Centerline goodness [0,1] 0.9771864856215425 Centerline is valid? [True, True] Translation: X:433.46, Y:-18.80, Z:3.04 [[ 9.99972764e-01 -4.00949374e-03 -6.19639273e-03 4.33455523e+02] [ 4.01227604e-03 9.99991855e-01 4.36652670e-04 -1.87963820e+01] [ 6.19459151e-03 -4.61502416e-04 9.99980707e-01 3.03812530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.840714057 meters Centerline goodness [0,1] 0.9730277234032867 Centerline is valid? [True, True] Translation: X:433.48, Y:-18.81, Z:3.04 [[ 9.99966934e-01 -4.42255698e-03 -6.82429760e-03 4.33483631e+02] [ 4.42593997e-03 9.99990090e-01 4.80704914e-04 -1.88090046e+01] [ 6.82210403e-03 -5.10892950e-04 9.99976599e-01 3.03512453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.870714057 meters Centerline goodness [0,1] 0.9718789263278127 Centerline is valid? [True, True] Translation: X:433.51, Y:-18.81, Z:3.03 [[ 9.99961995e-01 -4.76378640e-03 -7.30171348e-03 4.33512348e+02] [ 4.76766464e-03 9.99988503e-01 5.13827669e-04 -1.88121568e+01] [ 7.29918177e-03 -5.48620263e-04 9.99973210e-01 3.03426801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.900714057 meters Centerline goodness [0,1] 0.9783884617134537 Centerline is valid? [True, True] Translation: X:433.54, Y:-18.80, Z:3.04 [[ 9.99965324e-01 -4.58511534e-03 -6.95174557e-03 4.33542415e+02] [ 4.58859920e-03 9.99989355e-01 4.85282595e-04 -1.88020024e+01] [ 6.94944649e-03 -5.17164542e-04 9.99975719e-01 3.03726663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.930714057 meters Centerline goodness [0,1] 0.9773755656108597 Centerline is valid? [True, True] Translation: X:433.57, Y:-18.81, Z:3.04 [[ 9.99966810e-01 -3.57451203e-03 -7.32132974e-03 4.33570611e+02] [ 3.57836310e-03 9.99993466e-01 5.12974297e-04 -1.88063457e+01] [ 7.31944827e-03 -5.39155648e-04 9.99973067e-01 3.03622913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.960714057 meters Centerline goodness [0,1] 0.9790962258978342 Centerline is valid? [True, True] Translation: X:433.60, Y:-18.80, Z:3.04 [[ 9.99967846e-01 -2.70328849e-03 -7.54983910e-03 4.33599300e+02] [ 2.70732809e-03 9.99996197e-01 5.24888492e-04 -1.88043814e+01] [ 7.54839147e-03 -5.45311506e-04 9.99971362e-01 3.03646910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.990714057 meters Centerline goodness [0,1] 0.9794902247396309 Centerline is valid? [True, True] Translation: X:433.63, Y:-18.80, Z:3.04 [[ 9.99974678e-01 1.11647439e-03 -7.02823799e-03 4.33630273e+02] [-1.11304888e-03 9.99999260e-01 4.91283718e-04 -1.88020072e+01] [ 7.02878129e-03 -4.83448506e-04 9.99975181e-01 3.03694659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.020714057 meters Centerline goodness [0,1] 0.9779302458547742 Centerline is valid? [True, True] Translation: X:433.66, Y:-18.81, Z:3.04 [[ 9.99971913e-01 3.14722750e-03 -6.80208543e-03 4.33659351e+02] [-3.14406982e-03 9.99994945e-01 4.74864745e-04 -1.88069105e+01] [ 6.80354555e-03 -4.53465176e-04 9.99976753e-01 3.03565951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.050714057 meters Centerline goodness [0,1] 0.9800538591446437 Centerline is valid? [True, True] Translation: X:433.69, Y:-18.80, Z:3.04 [[ 9.99963909e-01 5.72098009e-03 -6.28096235e-03 4.33690041e+02] [-5.71833780e-03 9.99983554e-01 4.38560170e-04 -1.88041921e+01] [ 6.28336805e-03 -4.02627677e-04 9.99980178e-01 3.03655792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.080714057 meters Centerline goodness [0,1] 0.9796614827878427 Centerline is valid? [True, True] Translation: X:433.72, Y:-18.80, Z:3.04 [[ 9.99933489e-01 9.93026859e-03 -5.86583908e-03 4.33720421e+02] [-9.92803536e-03 9.99950632e-01 4.09712975e-04 -1.88022232e+01] [ 5.86961805e-03 -3.51449466e-04 9.99982712e-01 3.03733693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.110714057 meters Centerline goodness [0,1] 0.9806361428113113 Centerline is valid? [True, True] Translation: X:433.75, Y:-18.80, Z:3.04 [[ 9.99913531e-01 1.16074388e-02 -6.18049081e-03 4.33749822e+02] [-1.16050048e-02 9.99932567e-01 4.29544439e-04 -1.88008593e+01] [ 6.18505995e-03 -3.57782671e-04 9.99980808e-01 3.03764684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.140714057 meters Centerline goodness [0,1] 0.980236339486099 Centerline is valid? [True, True] Translation: X:433.78, Y:-18.80, Z:3.04 [[ 9.99875217e-01 1.42384501e-02 -6.84235655e-03 4.33779073e+02] [-1.42355219e-02 9.99898556e-01 4.76475873e-04 -1.88019095e+01] [ 6.84844671e-03 -3.79011901e-04 9.99976477e-01 3.03677298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.170714057 meters Centerline goodness [0,1] 0.9809598091392916 Centerline is valid? [True, True] Translation: X:433.81, Y:-18.80, Z:3.04 [[ 9.99861499e-01 1.48080434e-02 -7.59636800e-03 4.33807675e+02] [-1.48044575e-02 9.99890269e-01 5.28073422e-04 -1.88036489e+01] [ 7.60335418e-03 -4.15540175e-04 9.99971008e-01 3.03600936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.200714057 meters Centerline goodness [0,1] 0.9808266360505167 Centerline is valid? [True, True] Translation: X:433.83, Y:-18.81, Z:3.03 [[ 9.99839460e-01 1.57632093e-02 -8.51913011e-03 4.33834950e+02] [-1.57587474e-02 9.99875649e-01 5.90623561e-04 -1.88060019e+01] [ 8.52738087e-03 -4.56277922e-04 9.99963537e-01 3.03461611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.230714057 meters Centerline goodness [0,1] 0.9810700912035655 Centerline is valid? [True, True] Translation: X:433.86, Y:-18.81, Z:3.03 [[ 9.99822584e-01 1.64083684e-02 -9.25015449e-03 4.33863849e+02] [-1.64031341e-02 9.99865254e-01 6.41453263e-04 -1.88071710e+01] [ 9.25943327e-03 -4.89607934e-04 9.99957011e-01 3.03426963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26071405700003 meters Centerline goodness [0,1] 0.9798231382674862 Centerline is valid? [True, True] Translation: X:433.89, Y:-18.81, Z:3.03 [[ 9.99806588e-01 1.74734899e-02 -9.02576278e-03 4.33891773e+02] [-1.74685587e-02 9.99847218e-01 6.24893798e-04 -1.88096462e+01] [ 9.03530288e-03 -4.67105869e-04 9.99959072e-01 3.03370395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.290714057 meters Centerline goodness [0,1] 0.9807104967047099 Centerline is valid? [True, True] Translation: X:433.92, Y:-18.81, Z:3.03 [[ 9.99816747e-01 1.68669272e-02 -9.05423360e-03 4.33921075e+02] [-1.68619440e-02 9.99857631e-01 6.26434968e-04 -1.88092254e+01] [ 9.06351059e-03 -4.73648193e-04 9.99958813e-01 3.03484398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32071405700003 meters Centerline goodness [0,1] 0.9807507438773174 Centerline is valid? [True, True] Translation: X:433.95, Y:-18.81, Z:3.04 [[ 9.99829476e-01 1.63845556e-02 -8.51851629e-03 4.33949863e+02] [-1.63801332e-02 9.99865663e-01 5.88675611e-04 -1.88085788e+01] [ 8.52701713e-03 -4.49040797e-04 9.99963544e-01 3.03650936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.350714057 meters Centerline goodness [0,1] 0.9802769905841484 Centerline is valid? [True, True] Translation: X:433.98, Y:-18.82, Z:3.03 [[ 9.99843542e-01 1.58909081e-02 -7.76981356e-03 4.33976800e+02] [-1.58872216e-02 9.99873646e-01 5.35950672e-04 -1.88172967e+01] [ 7.77734856e-03 -4.12426068e-04 9.99969671e-01 3.03463813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.380714057 meters Centerline goodness [0,1] 0.9824216067750057 Centerline is valid? [True, True] Translation: X:434.01, Y:-18.82, Z:3.04 [[ 9.99856305e-01 1.47251455e-02 -8.39877616e-03 4.34005629e+02] [-1.47207996e-02 9.99891476e-01 5.79027329e-04 -1.88164909e+01] [ 8.40639095e-03 -4.55307425e-04 9.99964562e-01 3.03555318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.410714057 meters Centerline goodness [0,1] 0.9827436460047541 Centerline is valid? [True, True] Translation: X:434.03, Y:-18.82, Z:3.03 [[ 9.99837792e-01 1.54434124e-02 -9.26770169e-03 4.34032907e+02] [-1.54381680e-02 9.99880621e-01 6.37155340e-04 -1.88220089e+01] [ 9.27643518e-03 -4.93975653e-04 9.99956851e-01 3.03317920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.440714057 meters Centerline goodness [0,1] 0.9816532626576494 Centerline is valid? [True, True] Translation: X:434.06, Y:-18.82, Z:3.03 [[ 9.99827652e-01 1.57957093e-02 -9.75505755e-03 4.34062058e+02] [-1.57899145e-02 9.99875107e-01 6.70759595e-04 -1.88231394e+01] [ 9.76443433e-03 -5.16612467e-04 9.99952193e-01 3.03283165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.470714057 meters Centerline goodness [0,1] 0.9820233445259142 Centerline is valid? [True, True] Translation: X:434.09, Y:-18.83, Z:3.03 [[ 9.99809921e-01 1.65716363e-02 -1.02714105e-02 4.34089456e+02] [-1.65652635e-02 9.99862538e-01 7.05209135e-04 -1.88273548e+01] [ 1.02816850e-02 -5.34926469e-04 9.99946999e-01 3.03126704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.500714057 meters Centerline goodness [0,1] 0.9837808244177293 Centerline is valid? [True, True] Translation: X:434.12, Y:-18.83, Z:3.03 [[ 9.99800069e-01 1.78275077e-02 -9.05550192e-03 4.34119123e+02] [-1.78226077e-02 9.99840972e-01 6.21527216e-04 -1.88256105e+01] [ 9.06514212e-03 -4.60010296e-04 9.99958805e-01 3.03304368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.530714057 meters Centerline goodness [0,1] 0.9850456621004566 Centerline is valid? [True, True] Translation: X:434.15, Y:-18.83, Z:3.03 [[ 9.99793482e-01 1.83701857e-02 -8.69080183e-03 4.34147563e+02] [-1.83657005e-02 9.99831159e-01 5.95619425e-04 -1.88273297e+01] [ 8.70027611e-03 -4.35883756e-04 9.99962057e-01 3.03362302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.560714057 meters Centerline goodness [0,1] 0.984791048184517 Centerline is valid? [True, True] Translation: X:434.18, Y:-18.83, Z:3.03 [[ 9.99781039e-01 1.88113901e-02 -9.16544325e-03 4.34176337e+02] [-1.88064258e-02 9.99822947e-01 6.27531260e-04 -1.88298729e+01] [ 9.17562521e-03 -4.55024627e-04 9.99957800e-01 3.03326023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.590714057 meters Centerline goodness [0,1] 0.9845120145769275 Centerline is valid? [True, True] Translation: X:434.20, Y:-18.83, Z:3.03 [[ 9.99788296e-01 1.84611560e-02 -9.08565562e-03 4.34204988e+02] [-1.84562692e-02 9.99829475e-01 6.21417551e-04 -1.88332149e+01] [ 9.09557838e-03 -4.53598688e-04 9.99958531e-01 3.03206522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.620714057 meters Centerline goodness [0,1] 0.9848218565266017 Centerline is valid? [True, True] Translation: X:434.23, Y:-18.84, Z:3.03 [[ 9.99801891e-01 1.77740120e-02 -8.95899405e-03 4.34232722e+02] [-1.77692422e-02 9.99841927e-01 6.11731296e-04 -1.88375717e+01] [ 8.96845079e-03 -4.52415572e-04 9.99959680e-01 3.03120117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.650714057 meters Centerline goodness [0,1] 0.9824872634643377 Centerline is valid? [True, True] Translation: X:434.26, Y:-18.85, Z:3.03 [[ 9.99868318e-01 1.38475255e-02 -8.46118970e-03 4.34261187e+02] [-1.38431246e-02 9.99904012e-01 5.78464878e-04 -1.88506598e+01] [ 8.46838783e-03 -4.61259402e-04 9.99964036e-01 3.02799922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.680714057 meters Centerline goodness [0,1] 0.98375606878715 Centerline is valid? [True, True] Translation: X:434.29, Y:-18.85, Z:3.03 [[ 9.99936561e-01 7.79950371e-03 -8.12659835e-03 4.34291371e+02] [-7.79524409e-03 9.99969462e-01 5.55701287e-04 -1.88508378e+01] [ 8.13068438e-03 -4.92317216e-04 9.99966824e-01 3.03043825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.710714057 meters Centerline goodness [0,1] 0.983197671774817 Centerline is valid? [True, True] Translation: X:434.32, Y:-18.86, Z:3.03 [[ 9.99960798e-01 4.65043880e-03 -7.53496494e-03 4.34321537e+02] [-4.64668754e-03 9.99989071e-01 5.15277767e-04 -1.88562276e+01] [ 7.53727886e-03 -4.80244939e-04 9.99971479e-01 3.03011612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.740714057 meters Centerline goodness [0,1] 0.980989110707804 Centerline is valid? [True, True] Translation: X:434.35, Y:-18.86, Z:3.03 [[ 9.99970589e-01 1.23945736e-03 -7.56862407e-03 4.34349758e+02] [-1.23558056e-03 9.99999103e-01 5.16874980e-04 -1.88648065e+01] [ 7.56925792e-03 -5.07508133e-04 9.99971224e-01 3.02914857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.770714057 meters Centerline goodness [0,1] 0.9795734115788286 Centerline is valid? [True, True] Translation: X:434.38, Y:-18.87, Z:3.03 [[ 9.99965430e-01 -4.32690129e-03 -7.10042281e-03 4.34378653e+02] [ 4.33045360e-03 9.99990506e-01 4.84997173e-04 -1.88735620e+01] [ 7.09825686e-03 -5.15728458e-04 9.99974674e-01 3.02899013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.800714057 meters Centerline goodness [0,1] 0.9795734115788286 Centerline is valid? [True, True] Translation: X:434.41, Y:-18.88, Z:3.03 [[ 9.99965281e-01 -4.36123744e-03 -7.10045466e-03 4.34407820e+02] [ 4.36478731e-03 9.99990357e-01 4.84530828e-04 -1.88755229e+01] [ 7.09827304e-03 -5.15505980e-04 9.99974674e-01 3.02863319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.830714057 meters Centerline goodness [0,1] 0.980854863136005 Centerline is valid? [True, True] Translation: X:434.44, Y:-18.87, Z:3.03 [[ 9.99958144e-01 -6.02658521e-03 -6.88404046e-03 4.34437882e+02] [ 6.02995935e-03 9.99981709e-01 4.69490042e-04 -1.88747852e+01] [ 6.88108513e-03 -5.10980876e-04 9.99976194e-01 3.02968702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.860714057 meters Centerline goodness [0,1] 0.9781674131760787 Centerline is valid? [True, True] Translation: X:434.47, Y:-18.89, Z:3.03 [[ 9.99956793e-01 -7.10048288e-03 -5.99964402e-03 4.34466942e+02] [ 7.10306530e-03 9.99974689e-01 4.09231198e-04 -1.88857734e+01] [ 5.99658642e-03 -4.51829380e-04 9.99981918e-01 3.02779737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.890714057 meters Centerline goodness [0,1] 0.9814044918432826 Centerline is valid? [True, True] Translation: X:434.50, Y:-18.88, Z:3.03 [[ 9.99956803e-01 -6.96706080e-03 -6.15236545e-03 4.34498177e+02] [ 6.96977522e-03 9.99975623e-01 4.19869307e-04 -1.88786586e+01] [ 6.14929022e-03 -4.62731774e-04 9.99980986e-01 3.02983528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.920714057 meters Centerline goodness [0,1] 0.9800022596316801 Centerline is valid? [True, True] Translation: X:434.53, Y:-18.88, Z:3.03 [[ 9.99965136e-01 -6.07493460e-03 -5.72904422e-03 4.34527084e+02] [ 6.07727192e-03 9.99981457e-01 3.90656974e-04 -1.88838484e+01] [ 5.72656477e-03 -4.25460314e-04 9.99983513e-01 3.02870052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.950714057 meters Centerline goodness [0,1] 0.9833908785232325 Centerline is valid? [True, True] Translation: X:434.56, Y:-18.88, Z:3.03 [[ 9.99980119e-01 -4.06111393e-03 -4.82384716e-03 4.34557762e+02] [ 4.06274706e-03 9.99991693e-01 3.28803207e-04 -1.88789067e+01] [ 4.82247178e-03 -3.48394741e-04 9.99988311e-01 3.03057208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.980714057 meters Centerline goodness [0,1] 0.9830895485271177 Centerline is valid? [True, True] Translation: X:434.59, Y:-18.88, Z:3.03 [[ 9.99985502e-01 -2.94855200e-03 -4.50581510e-03 4.34587639e+02] [ 2.94996384e-03 9.99995602e-01 3.06723274e-04 -1.88810088e+01] [ 4.50489089e-03 -3.20010818e-04 9.99989802e-01 3.03059229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01071405700003 meters Centerline goodness [0,1] 0.981632147123121 Centerline is valid? [True, True] Translation: X:434.62, Y:-18.89, Z:3.03 [[ 9.99991561e-01 -3.35034551e-04 -4.09469526e-03 4.34616374e+02] [ 3.36177943e-04 9.99999905e-01 2.78552138e-04 -1.88859240e+01] [ 4.09460154e-03 -2.79926333e-04 9.99991578e-01 3.02945330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.040714057 meters Centerline goodness [0,1] 0.9819544822013736 Centerline is valid? [True, True] Translation: X:434.64, Y:-18.89, Z:3.03 [[ 9.99990894e-01 1.42878305e-03 -4.02122375e-03 4.34644900e+02] [-1.42769620e-03 9.99998944e-01 2.73136565e-04 -1.88887053e+01] [ 4.02160976e-03 -2.67392992e-04 9.99991878e-01 3.02872025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07071405700003 meters Centerline goodness [0,1] 0.9834736865870454 Centerline is valid? [True, True] Translation: X:434.67, Y:-18.88, Z:3.03 [[ 9.99986178e-01 2.95532343e-03 -4.34845473e-03 4.34674600e+02] [-2.95408090e-03 9.99995594e-01 2.92137346e-04 -1.88846129e+01] [ 4.34929893e-03 -2.79287621e-04 9.99990503e-01 3.02934831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.100714057 meters Centerline goodness [0,1] 0.9844194553583525 Centerline is valid? [True, True] Translation: X:434.70, Y:-18.89, Z:3.03 [[ 9.99965466e-01 7.64642107e-03 -3.25576187e-03 4.34704443e+02] [-7.64574335e-03 9.99970747e-01 2.20557953e-04 -1.88850515e+01] [ 3.25735311e-03 -1.95657616e-04 9.99994676e-01 3.02946821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.130714057 meters Centerline goodness [0,1] 0.9838760741745817 Centerline is valid? [True, True] Translation: X:434.73, Y:-18.89, Z:3.03 [[ 9.99945657e-01 9.96128561e-03 -3.07514703e-03 4.34734043e+02] [-9.96069281e-03 9.99950369e-01 2.08027178e-04 -1.88858219e+01] [ 3.07706662e-03 -1.77385278e-04 9.99995250e-01 3.02995569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.160714057 meters Centerline goodness [0,1] 0.9842690045299858 Centerline is valid? [True, True] Translation: X:434.76, Y:-18.88, Z:3.03 [[ 9.99874962e-01 1.57191640e-02 -1.72285300e-03 4.34763802e+02] [-1.57189865e-02 9.99876442e-01 1.16502484e-04 -1.88840020e+01] [ 1.72447145e-03 -8.94064140e-05 9.99998509e-01 3.03156318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.190714057 meters Centerline goodness [0,1] 0.9844833798756869 Centerline is valid? [True, True] Translation: X:434.79, Y:-18.88, Z:3.03 [[ 9.99828061e-01 1.84801090e-02 -1.52784798e-03 4.34793347e+02] [-1.84799730e-02 9.99829225e-01 1.03060760e-04 -1.88843809e+01] [ 1.52949163e-03 -7.48084506e-05 9.99998828e-01 3.03183817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.220714057 meters Centerline goodness [0,1] 0.9848027057497182 Centerline is valid? [True, True] Translation: X:434.82, Y:-18.88, Z:3.03 [[ 9.99736743e-01 2.29100473e-02 -1.25487989e-03 4.34821869e+02] [-2.29099595e-02 9.99737529e-01 8.43012285e-05 -1.88849728e+01] [ 1.25648187e-03 -5.55297882e-05 9.99999209e-01 3.03107989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.250714057 meters Centerline goodness [0,1] 0.9858788974243109 Centerline is valid? [True, True] Translation: X:434.85, Y:-18.88, Z:3.03 [[ 9.99694664e-01 2.46996704e-02 -7.10961061e-04 4.34851321e+02] [-2.46996435e-02 9.99694916e-01 4.66015586e-05 -1.88843598e+01] [ 7.11895202e-04 -2.90268447e-05 9.99999746e-01 3.03122255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.280714057 meters Centerline goodness [0,1] 0.9871754203108715 Centerline is valid? [True, True] Translation: X:434.88, Y:-18.89, Z:3.03 [[ 9.99649774e-01 2.64636909e-02 4.02381179e-05 4.34880006e+02] [-2.64636908e-02 9.99649775e-01 -3.56609147e-06 -1.88858433e+01] [-4.03183974e-05 2.49999342e-06 9.99999999e-01 3.03073358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.310714057 meters Centerline goodness [0,1] 0.9879184894711789 Centerline is valid? [True, True] Translation: X:434.91, Y:-18.88, Z:3.03 [[ 9.99571541e-01 2.92652951e-02 -5.25483838e-04 4.34908861e+02] [-2.92652809e-02 9.99571679e-01 3.45550260e-05 -1.88845753e+01] [ 5.26270026e-04 -1.91617884e-05 9.99999861e-01 3.03078599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.340714057 meters Centerline goodness [0,1] 0.9881976665615568 Centerline is valid? [True, True] Translation: X:434.94, Y:-18.89, Z:3.03 [[ 9.99525994e-01 3.07828723e-02 -4.48946609e-04 4.34936165e+02] [-3.07828623e-02 9.99526095e-01 2.91454917e-05 -1.88870313e+01] [ 4.49631033e-04 -1.53118149e-05 9.99999899e-01 3.02959258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.370714057 meters Centerline goodness [0,1] 0.9878429068558774 Centerline is valid? [True, True] Translation: X:434.96, Y:-18.89, Z:3.03 [[ 9.99445811e-01 3.32876933e-02 3.46059161e-05 4.34964572e+02] [-3.32876932e-02 9.99445811e-01 -3.18892377e-06 -1.88888699e+01] [-3.46928898e-05 2.03520538e-06 9.99999999e-01 3.02968136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.400714057 meters Centerline goodness [0,1] 0.9882568973725374 Centerline is valid? [True, True] Translation: X:434.99, Y:-18.89, Z:3.03 [[ 9.99393856e-01 3.48013935e-02 8.85048597e-04 4.34993049e+02] [-3.48013537e-02 9.99394248e-01 -6.03359687e-05 -1.88902225e+01] [-8.86612252e-04 2.94985072e-05 9.99999607e-01 3.02995714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.430714057 meters Centerline goodness [0,1] 0.987585308908046 Centerline is valid? [True, True] Translation: X:435.02, Y:-18.90, Z:3.03 [[ 9.99270544e-01 3.80713837e-02 2.99161525e-03 4.35021711e+02] [-3.80709514e-02 9.99275018e-01 -2.01334054e-04 -1.88978205e+01] [-2.99711145e-03 8.72935507e-05 9.99995505e-01 3.02944379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.460714057 meters Centerline goodness [0,1] 0.9879801706770491 Centerline is valid? [True, True] Translation: X:435.05, Y:-18.89, Z:3.03 [[ 9.99220523e-01 3.92958463e-02 3.76610790e-03 4.35051069e+02] [-3.92951697e-02 9.99227614e-01 -2.53514303e-04 -1.88944259e+01] [-3.77316107e-03 1.05326845e-04 9.99992876e-01 3.03181013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.490714057 meters Centerline goodness [0,1] 0.9889258781167198 Centerline is valid? [True, True] Translation: X:435.08, Y:-18.90, Z:3.03 [[ 9.99084778e-01 4.26700535e-02 2.97860334e-03 4.35079097e+02] [-4.26696453e-02 9.99089216e-01 -2.00467090e-04 -1.88974373e+01] [-2.98444442e-03 7.31876704e-05 9.99995544e-01 3.03044911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.520714057 meters Centerline goodness [0,1] 0.9901852145005541 Centerline is valid? [True, True] Translation: X:435.11, Y:-18.90, Z:3.03 [[ 9.99002823e-01 4.45881958e-02 2.29195521e-03 4.35107743e+02] [-4.45879591e-02 9.99005450e-01 -1.54318258e-04 -1.88979465e+01] [-2.29655652e-03 5.19707697e-05 9.99997362e-01 3.03002715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.550714057 meters Centerline goodness [0,1] 0.9897147990119021 Centerline is valid? [True, True] Translation: X:435.14, Y:-18.90, Z:3.03 [[ 9.98919955e-01 4.64452047e-02 1.32911378e-03 4.35135727e+02] [-4.64451261e-02 9.98920839e-01 -8.99584300e-05 -1.89015652e+01] [-1.33185759e-03 2.81304138e-05 9.99999113e-01 3.02813366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.580714057 meters Centerline goodness [0,1] 0.9911004698229129 Centerline is valid? [True, True] Translation: X:435.16, Y:-18.91, Z:3.03 [[ 9.98816311e-01 4.86411236e-02 1.32232091e-04 4.35164641e+02] [-4.86411224e-02 9.98816320e-01 -1.16845592e-05 -1.89069134e+01] [-1.32643920e-04 5.23881104e-06 9.99999991e-01 3.02606987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.610714057 meters Centerline goodness [0,1] 0.9911721652967008 Centerline is valid? [True, True] Translation: X:435.19, Y:-18.91, Z:3.03 [[ 9.98768231e-01 4.96183001e-02 2.12137600e-04 4.35193275e+02] [-4.96182980e-02 9.98768254e-01 -1.49957220e-05 -1.89108889e+01] [-2.12620363e-04 4.45134409e-06 9.99999977e-01 3.02568301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.640714057 meters Centerline goodness [0,1] 0.991116608568537 Centerline is valid? [True, True] Translation: X:435.22, Y:-18.92, Z:3.03 [[ 9.98749053e-01 4.99718879e-02 1.77213707e-03 4.35221174e+02] [-4.99717560e-02 9.98750624e-01 -1.18666197e-04 -1.89183332e+01] [-1.77585298e-03 2.99609507e-05 9.99998423e-01 3.02607948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.670714057 meters Centerline goodness [0,1] 0.9904257943003206 Centerline is valid? [True, True] Translation: X:435.25, Y:-18.92, Z:3.03 [[ 9.98768641e-01 4.95591093e-02 2.25738458e-03 4.35248651e+02] [-4.95588943e-02 9.98771192e-01 -1.51104728e-04 -1.89234800e+01] [-2.26209930e-03 3.90451798e-05 9.99997441e-01 3.02575461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.700714057 meters Centerline goodness [0,1] 0.9906531582014614 Centerline is valid? [True, True] Translation: X:435.28, Y:-18.93, Z:3.03 [[ 9.98818185e-01 4.85254168e-02 2.74174104e-03 4.35277386e+02] [-4.85250983e-02 9.98821947e-01 -1.82623911e-04 -1.89292205e+01] [-2.74737302e-03 4.93648297e-05 9.99996225e-01 3.02536973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.730714057 meters Centerline goodness [0,1] 0.9896647171748739 Centerline is valid? [True, True] Translation: X:435.31, Y:-18.94, Z:3.02 [[ 9.98912465e-01 4.64896701e-02 3.54942234e-03 4.35306028e+02] [-4.64891251e-02 9.98918768e-01 -2.35921684e-04 -1.89394215e+01] [-3.55655251e-03 7.06555718e-05 9.99993673e-01 3.02480708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76071405700003 meters Centerline goodness [0,1] 0.9890224430054112 Centerline is valid? [True, True] Translation: X:435.33, Y:-18.95, Z:3.02 [[ 9.99019183e-01 4.39543987e-02 5.35554218e-03 4.35332733e+02] [-4.39531256e-02 9.99033531e-01 -3.55254482e-04 -1.89518275e+01] [-5.36598122e-03 1.19513224e-04 9.99985596e-01 3.02479468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.790714057 meters Centerline goodness [0,1] 0.988748397365047 Centerline is valid? [True, True] Translation: X:435.36, Y:-18.96, Z:3.02 [[ 9.99098364e-01 4.19760715e-02 6.36142824e-03 4.35361478e+02] [-4.19742406e-02 9.99118604e-01 -4.21096510e-04 -1.89590921e+01] [-6.37349728e-03 1.53700715e-04 9.99979677e-01 3.02429194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82071405700003 meters Centerline goodness [0,1] 0.988770254437739 Centerline is valid? [True, True] Translation: X:435.39, Y:-18.97, Z:3.02 [[ 9.99199273e-01 3.93975924e-02 6.97435519e-03 4.35389833e+02] [-3.93953330e-02 9.99223596e-01 -4.61093143e-04 -1.89663828e+01] [-6.98710623e-03 1.85966888e-04 9.99975573e-01 3.02396061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.850714057 meters Centerline goodness [0,1] 0.9877744676155799 Centerline is valid? [True, True] Translation: X:435.42, Y:-18.98, Z:3.02 [[ 9.99286123e-01 3.70062833e-02 7.60124988e-03 4.35416827e+02] [-3.70035345e-02 9.99315009e-01 -5.01995855e-04 -1.89770542e+01] [-7.61462009e-03 2.20364379e-04 9.99970984e-01 3.02308364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.880714057 meters Centerline goodness [0,1] 0.9881638647173575 Centerline is valid? [True, True] Translation: X:435.45, Y:-18.99, Z:3.02 [[ 9.99492307e-01 3.09169074e-02 7.69887683e-03 4.35445848e+02] [-3.09139149e-02 9.99521922e-01 -5.07428117e-04 -1.89883414e+01] [-7.71088427e-03 2.69168077e-04 9.99970234e-01 3.02121268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.910714057 meters Centerline goodness [0,1] 0.9871901368425655 Centerline is valid? [True, True] Translation: X:435.48, Y:-19.00, Z:3.02 [[ 9.99650059e-01 2.53252089e-02 7.64149827e-03 4.35475691e+02] [-2.53220993e-02 9.99679217e-01 -5.03431286e-04 -1.90012873e+01] [-7.65179651e-03 3.09756337e-04 9.99970677e-01 3.01909660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.940714057 meters Centerline goodness [0,1] 0.9855018910576882 Centerline is valid? [True, True] Translation: X:435.50, Y:-19.01, Z:3.02 [[ 9.99700698e-01 2.32757677e-02 7.53351559e-03 4.35503667e+02] [-2.32726853e-02 9.99729031e-01 -4.96564553e-04 -1.90143625e+01] [-7.54303216e-03 3.21090793e-04 9.99971499e-01 3.01705704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.970714057 meters Centerline goodness [0,1] 0.9860007813517385 Centerline is valid? [True, True] Translation: X:435.53, Y:-19.02, Z:3.02 [[ 9.99749820e-01 2.11966228e-02 7.14148604e-03 4.35533382e+02] [-2.11938032e-02 9.99775276e-01 -4.70286672e-04 -1.90156798e+01] [-7.14984966e-03 3.18813767e-04 9.99974389e-01 3.01658130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.000714057 meters Centerline goodness [0,1] 0.985969249452432 Centerline is valid? [True, True] Translation: X:435.56, Y:-19.02, Z:3.02 [[ 9.99824814e-01 1.75478554e-02 6.51265648e-03 4.35563253e+02] [-1.75454351e-02 9.99845975e-01 -4.28586974e-04 -1.90240505e+01] [-6.51917415e-03 3.14244500e-04 9.99978701e-01 3.01570595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.030714057 meters Centerline goodness [0,1] 0.9844507752865189 Centerline is valid? [True, True] Translation: X:435.59, Y:-19.03, Z:3.02 [[ 9.99858544e-01 1.57569402e-02 5.88314851e-03 4.35591040e+02] [-1.57549328e-02 9.99875808e-01 -3.87407753e-04 -1.90304097e+01] [-5.88852223e-03 2.94664342e-04 9.99982619e-01 3.01516951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.060714057 meters Centerline goodness [0,1] 0.9854217285664699 Centerline is valid? [True, True] Translation: X:435.62, Y:-19.04, Z:3.01 [[ 9.99906579e-01 1.27518303e-02 4.92172464e-03 4.35621198e+02] [-1.27503926e-02 9.99918658e-01 -3.23381585e-04 -1.90381823e+01] [-4.92544801e-03 2.60597453e-04 9.99987836e-01 3.01331297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.090714057 meters Centerline goodness [0,1] 0.9850229417366462 Centerline is valid? [True, True] Translation: X:435.65, Y:-19.04, Z:3.01 [[ 9.99922253e-01 1.14299933e-02 4.98437703e-03 4.35650448e+02] [-1.14285011e-02 9.99934639e-01 -3.27747939e-04 -1.90428930e+01] [-4.98779741e-03 2.70758499e-04 9.99987524e-01 3.01317414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.120714057 meters Centerline goodness [0,1] 0.9847624414773712 Centerline is valid? [True, True] Translation: X:435.68, Y:-19.04, Z:3.01 [[ 9.99927879e-01 1.06350811e-02 5.57951319e-03 4.35680214e+02] [-1.06332004e-02 9.99943399e-01 -3.66643843e-04 -1.90438196e+01] [-5.58309667e-03 3.07289319e-04 9.99984367e-01 3.01369065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.150714057 meters Centerline goodness [0,1] 0.9849071291110775 Centerline is valid? [True, True] Translation: X:435.71, Y:-19.05, Z:3.01 [[ 9.99932626e-01 9.42314715e-03 6.77854317e-03 4.35710799e+02] [-9.42034697e-03 9.99955529e-01 -4.44906095e-04 -1.90475201e+01] [-6.78243413e-03 3.81019891e-04 9.99976926e-01 3.01496672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.180714057 meters Centerline goodness [0,1] 0.9842681554574569 Centerline is valid? [True, True] Translation: X:435.74, Y:-19.05, Z:3.01 [[ 9.99931426e-01 9.16951286e-03 7.28444025e-03 4.35740376e+02] [-9.16627240e-03 9.99957875e-01 -4.78110382e-04 -1.90522455e+01] [-7.28851743e-03 4.11306433e-04 9.99973354e-01 3.01492577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.210714057 meters Centerline goodness [0,1] 0.9836753227096802 Centerline is valid? [True, True] Translation: X:435.77, Y:-19.06, Z:3.01 [[ 9.99924862e-01 9.44285050e-03 7.81685399e-03 4.35770834e+02] [-9.43913031e-03 9.99955319e-01 -5.12676698e-04 -1.90567438e+01] [-7.82134586e-03 4.38853873e-04 9.99969317e-01 3.01486523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.240714057 meters Centerline goodness [0,1] 0.9849066367674328 Centerline is valid? [True, True] Translation: X:435.80, Y:-19.06, Z:3.01 [[ 9.99922728e-01 9.47651819e-03 8.04570110e-03 4.35802021e+02] [-9.47257049e-03 9.99954994e-01 -5.28625939e-04 -1.90571257e+01] [-8.05034854e-03 4.52371620e-04 9.99967493e-01 3.01485466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.270714057 meters Centerline goodness [0,1] 0.9836474739650573 Centerline is valid? [True, True] Translation: X:435.83, Y:-19.06, Z:3.01 [[ 9.99919012e-01 9.56207645e-03 8.39853834e-03 4.35832873e+02] [-9.55777523e-03 9.99954171e-01 -5.52127000e-04 -1.90605233e+01] [-8.40343293e-03 4.71810943e-04 9.99964579e-01 3.01491557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.300714057 meters Centerline goodness [0,1] 0.9841273236785248 Centerline is valid? [True, True] Translation: X:435.86, Y:-19.06, Z:3.01 [[ 9.99916432e-01 9.79677146e-03 8.43523506e-03 4.35863257e+02] [-9.79243780e-03 9.99951899e-01 -5.54905800e-04 -1.90644428e+01] [-8.44026560e-03 4.72257913e-04 9.99964269e-01 3.01484739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.330714057 meters Centerline goodness [0,1] 0.9843248021733975 Centerline is valid? [True, True] Translation: X:435.89, Y:-19.07, Z:3.01 [[ 9.99927574e-01 8.31090187e-03 8.70493288e-03 4.35894386e+02] [-8.30622966e-03 9.99965339e-01 -5.72747096e-04 -1.90685064e+01] [-8.70939120e-03 5.00400442e-04 9.99961947e-01 3.01424989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.360714057 meters Centerline goodness [0,1] 0.9836618145905792 Centerline is valid? [True, True] Translation: X:435.93, Y:-19.07, Z:3.01 [[ 9.99934430e-01 6.91167277e-03 9.13042737e-03 4.35925603e+02] [-6.90647141e-03 9.99975969e-01 -6.01081827e-04 -1.90727391e+01] [-9.13436244e-03 5.37983378e-04 9.99958136e-01 3.01377152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.390714057 meters Centerline goodness [0,1] 0.9827641856561875 Centerline is valid? [True, True] Translation: X:435.96, Y:-19.08, Z:3.01 [[ 9.99956109e-01 2.78659674e-03 8.94508858e-03 4.35955186e+02] [-2.78143589e-03 9.99995958e-01 -5.89336832e-04 -1.90794117e+01] [-8.94669467e-03 5.64430775e-04 9.99959818e-01 3.01359644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.420714057 meters Centerline goodness [0,1] 0.9842255700500742 Centerline is valid? [True, True] Translation: X:435.99, Y:-19.08, Z:3.01 [[ 9.99958499e-01 5.20668722e-04 9.09552669e-03 4.35986937e+02] [-5.15242015e-04 9.99999688e-01 -5.98967784e-04 -1.90776336e+01] [-9.09583572e-03 5.94256529e-04 9.99958455e-01 3.01319953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.450714057 meters Centerline goodness [0,1] 0.9824227113128372 Centerline is valid? [True, True] Translation: X:436.02, Y:-19.08, Z:3.01 [[ 9.99960939e-01 -2.18905279e-03 8.56317027e-03 4.36016716e+02] [ 2.19396303e-03 9.99997434e-01 -5.64062184e-04 -1.90828608e+01] [-8.56191354e-03 5.82827430e-04 9.99963176e-01 3.01244538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.480714057 meters Centerline goodness [0,1] 0.9826057225890549 Centerline is valid? [True, True] Translation: X:436.05, Y:-19.08, Z:3.01 [[ 9.99940907e-01 -7.41480617e-03 7.95001636e-03 4.36047275e+02] [ 7.41920779e-03 9.99972340e-01 -5.24312196e-04 -1.90836699e+01] [-7.94590878e-03 5.83264036e-04 9.99968261e-01 3.01143982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51071405700003 meters Centerline goodness [0,1] 0.9824829785400327 Centerline is valid? [True, True] Translation: X:436.08, Y:-19.09, Z:3.01 [[ 9.99919963e-01 -9.99749595e-03 7.75359745e-03 4.36078325e+02] [ 1.00017630e-02 9.99949850e-01 -5.11753911e-04 -1.90853879e+01] [-7.74809235e-03 5.89262596e-04 9.99969809e-01 3.01107654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.540714057 meters Centerline goodness [0,1] 0.9822356365204269 Centerline is valid? [True, True] Translation: X:436.11, Y:-19.09, Z:3.01 [[ 9.99872016e-01 -1.41724766e-02 7.42239257e-03 4.36107583e+02] [ 1.41765034e-02 9.99899388e-01 -4.90180932e-04 -1.90912200e+01] [-7.41469871e-03 5.95341770e-04 9.99972334e-01 3.01101221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57071405700003 meters Centerline goodness [0,1] 0.9818150441141575 Centerline is valid? [True, True] Translation: X:436.14, Y:-19.09, Z:3.01 [[ 9.99849732e-01 -1.56889752e-02 7.37360105e-03 4.36138524e+02] [ 1.56929881e-02 9.99876739e-01 -4.86686836e-04 -1.90905703e+01] [-7.36505655e-03 6.02327536e-04 9.99972696e-01 3.01125342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.600714057 meters Centerline goodness [0,1] 0.981774601049472 Centerline is valid? [True, True] Translation: X:436.17, Y:-19.09, Z:3.01 [[ 9.99815501e-01 -1.75210267e-02 7.87257905e-03 4.36168837e+02] [ 1.75256588e-02 9.99846279e-01 -5.19782569e-04 -1.90946502e+01] [-7.86226174e-03 6.57658804e-04 9.99968876e-01 3.01182254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.630714057 meters Centerline goodness [0,1] 0.9807443783923494 Centerline is valid? [True, True] Translation: X:436.20, Y:-19.10, Z:3.01 [[ 9.99807890e-01 -1.79742124e-02 7.81728887e-03 4.36200869e+02] [ 1.79787927e-02 9.99838235e-01 -5.16036432e-04 -1.90959359e+01] [-7.80674896e-03 6.56482712e-04 9.99969311e-01 3.01141753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.660714057 meters Centerline goodness [0,1] 0.9807443783923494 Centerline is valid? [True, True] Translation: X:436.23, Y:-19.10, Z:3.01 [[ 9.99809844e-01 -1.78652203e-02 7.81726202e-03 4.36233437e+02] [ 1.78698005e-02 9.99840189e-01 -5.16442941e-04 -1.90981805e+01] [-7.80678636e-03 6.56037648e-04 9.99969311e-01 3.01101920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.690714057 meters Centerline goodness [0,1] 0.9819514093031299 Centerline is valid? [True, True] Translation: X:436.27, Y:-19.10, Z:3.01 [[ 9.99817105e-01 -1.76176431e-02 7.44150319e-03 4.36265712e+02] [ 1.76217936e-02 9.99844603e-01 -4.92540605e-04 -1.90984380e+01] [-7.43166939e-03 6.23583155e-04 9.99972190e-01 3.01073659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.720714057 meters Centerline goodness [0,1] 0.98251581592859 Centerline is valid? [True, True] Translation: X:436.30, Y:-19.10, Z:3.01 [[ 9.99844820e-01 -1.63482302e-02 6.56291184e-03 4.36297449e+02] [ 1.63514351e-02 9.99866212e-01 -4.34967308e-04 -1.90962277e+01] [-6.55492285e-03 5.42212836e-04 9.99978369e-01 3.01013099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.750714057 meters Centerline goodness [0,1] 0.98159801059574 Centerline is valid? [True, True] Translation: X:436.33, Y:-19.10, Z:3.01 [[ 9.99886199e-01 -1.37169334e-02 6.27977896e-03 4.36327104e+02] [ 1.37198189e-02 9.99905792e-01 -4.16635338e-04 -1.91001840e+01] [-6.27347240e-03 5.02745354e-04 9.99980195e-01 3.00937070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.780714057 meters Centerline goodness [0,1] 0.9822055572413195 Centerline is valid? [True, True] Translation: X:436.36, Y:-19.10, Z:3.01 [[ 9.99909867e-01 -1.19476903e-02 6.12451603e-03 4.36359160e+02] [ 1.19503991e-02 9.99928509e-01 -4.05892570e-04 -1.90981215e+01] [-6.11922870e-03 4.79046397e-04 9.99981163e-01 3.00889322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.810714057 meters Centerline goodness [0,1] 0.983878666898108 Centerline is valid? [True, True] Translation: X:436.39, Y:-19.10, Z:3.01 [[ 9.99938170e-01 -9.20279654e-03 6.24210827e-03 4.36389777e+02] [ 9.20556291e-03 9.99957542e-01 -4.14591443e-04 -1.90960810e+01] [-6.23802784e-03 4.72027930e-04 9.99980432e-01 3.00883296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.840714057 meters Centerline goodness [0,1] 0.9828612390303241 Centerline is valid? [True, True] Translation: X:436.42, Y:-19.09, Z:3.01 [[ 9.99974773e-01 -3.29562635e-03 6.29229783e-03 4.36419737e+02] [ 3.29832112e-03 9.99994473e-01 -4.17935824e-04 -1.90935590e+01] [-6.29088569e-03 4.38679300e-04 9.99980116e-01 3.00878643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.870714057 meters Centerline goodness [0,1] 0.9834531750844667 Centerline is valid? [True, True] Translation: X:436.45, Y:-19.09, Z:3.01 [[ 9.99975945e-01 1.05701249e-03 6.85510548e-03 4.36450705e+02] [-1.05391609e-03 9.99999341e-01 -4.55288557e-04 -1.90920892e+01] [-6.85558220e-03 4.48052899e-04 9.99976400e-01 3.00890701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.900714057 meters Centerline goodness [0,1] 0.9855182595857397 Centerline is valid? [True, True] Translation: X:436.48, Y:-19.09, Z:3.01 [[ 9.99924375e-01 9.93981435e-03 7.24188629e-03 4.36480522e+02] [-9.93659011e-03 9.99950515e-01 -4.81065862e-04 -1.90860951e+01] [-7.24630963e-03 4.09069826e-04 9.99973661e-01 3.00922383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.930714057 meters Centerline goodness [0,1] 0.9847712432479337 Centerline is valid? [True, True] Translation: X:436.51, Y:-19.08, Z:3.01 [[ 9.99861443e-01 1.46690857e-02 7.86847646e-03 4.36511006e+02] [-1.46654267e-02 9.99892320e-01 -5.22515472e-04 -1.90839597e+01] [-7.87529401e-03 4.07048509e-04 9.99968907e-01 3.00933648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.960714057 meters Centerline goodness [0,1] 0.986275024040563 Centerline is valid? [True, True] Translation: X:436.54, Y:-19.08, Z:3.01 [[ 9.99693371e-01 2.31909929e-02 8.67999922e-03 4.36541960e+02] [-2.31868613e-02 9.99730982e-01 -5.76338457e-04 -1.90753797e+01] [-8.69103001e-03 3.74899797e-04 9.99962162e-01 3.01056860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.990714057 meters Centerline goodness [0,1] 0.9876028548355414 Centerline is valid? [True, True] Translation: X:436.57, Y:-19.07, Z:3.01 [[ 9.99593325e-01 2.69273959e-02 9.38617605e-03 4.36572675e+02] [-2.69227300e-02 9.99637323e-01 -6.23121809e-04 -1.90714266e+01] [-9.39955095e-03 3.70166917e-04 9.99955755e-01 3.01059964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.020714057 meters Centerline goodness [0,1] 0.9864076396931886 Centerline is valid? [True, True] Translation: X:436.60, Y:-19.07, Z:3.01 [[ 9.99432056e-01 3.21850213e-02 9.98451768e-03 4.36601976e+02] [-3.21800051e-02 9.99481870e-01 -6.62690630e-04 -1.90730287e+01] [-1.00006731e-02 3.41012429e-04 9.99949934e-01 3.01030560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.050714057 meters Centerline goodness [0,1] 0.9875543134129566 Centerline is valid? [True, True] Translation: X:436.63, Y:-19.07, Z:3.01 [[ 9.99401502e-01 3.32260120e-02 9.62654052e-03 4.36631344e+02] [-3.32213995e-02 9.99447813e-01 -6.38697151e-04 -1.90693414e+01] [-9.64244623e-03 3.18507744e-04 9.99953460e-01 3.00984155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.080714057 meters Centerline goodness [0,1] 0.987565129821796 Centerline is valid? [True, True] Translation: X:436.66, Y:-19.07, Z:3.01 [[ 9.99380362e-01 3.40833201e-02 8.78748272e-03 4.36659719e+02] [-3.40795145e-02 9.99418955e-01 -5.82481690e-04 -1.90699936e+01] [-8.80222971e-03 2.82647617e-04 9.99961220e-01 3.00945858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.110714057 meters Centerline goodness [0,1] 0.9881344471830218 Centerline is valid? [True, True] Translation: X:436.69, Y:-19.07, Z:3.01 [[ 9.99425612e-01 3.28496052e-02 8.32761410e-03 4.36687190e+02] [-3.28461488e-02 9.99460268e-01 -5.51512869e-04 -1.90737465e+01] [-8.34123640e-03 2.77666035e-04 9.99965173e-01 3.00810309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.140714057 meters Centerline goodness [0,1] 0.9876826311996331 Centerline is valid? [True, True] Translation: X:436.71, Y:-19.08, Z:3.01 [[ 9.99473440e-01 3.14832518e-02 7.85155544e-03 4.36714956e+02] [-3.14801418e-02 9.99504243e-01 -5.19400232e-04 -1.90778967e+01] [-7.86401538e-03 2.71958658e-04 9.99969041e-01 3.00797484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.170714057 meters Centerline goodness [0,1] 0.9865970409051349 Centerline is valid? [True, True] Translation: X:436.74, Y:-19.09, Z:3.01 [[ 9.99607011e-01 2.69878075e-02 7.58162163e-03 4.36744241e+02] [-2.69847870e-02 9.99635719e-01 -5.00425496e-04 -1.90852638e+01] [-7.59236518e-03 2.95640389e-04 9.99971134e-01 3.00749361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.200714057 meters Centerline goodness [0,1] 0.9870557932419454 Centerline is valid? [True, True] Translation: X:436.77, Y:-19.09, Z:3.01 [[ 9.99675322e-01 2.43694453e-02 7.44176413e-03 4.36773375e+02] [-2.43664625e-02 9.99702973e-01 -4.91235510e-04 -1.90881324e+01] [-7.45152486e-03 3.09746550e-04 9.99972189e-01 3.00776182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.230714057 meters Centerline goodness [0,1] 0.9852195207276544 Centerline is valid? [True, True] Translation: X:436.80, Y:-19.10, Z:3.01 [[ 9.99810160e-01 1.85185290e-02 6.05867490e-03 4.36801696e+02] [-1.85164480e-02 9.99828476e-01 -3.99403756e-04 -1.90982201e+01] [-6.06503207e-03 2.87142795e-04 9.99981566e-01 3.00651536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26071405700003 meters Centerline goodness [0,1] 0.9857046055651489 Centerline is valid? [True, True] Translation: X:436.83, Y:-19.10, Z:3.01 [[ 9.99869503e-01 1.55065284e-02 4.53050477e-03 4.36831218e+02] [-1.55053332e-02 9.99879740e-01 -2.98808914e-04 -1.91025763e+01] [-4.53459342e-03 2.28522934e-04 9.99989693e-01 3.00580745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.290714057 meters Centerline goodness [0,1] 0.9834172277788673 Centerline is valid? [True, True] Translation: X:436.86, Y:-19.11, Z:3.00 [[ 9.99920149e-01 1.19771430e-02 4.03026965e-03 4.36860131e+02] [-1.19761682e-02 9.99928248e-01 -2.65907799e-04 -1.91095864e+01] [-4.03316528e-03 2.17619379e-04 9.99991843e-01 3.00452543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32071405700003 meters Centerline goodness [0,1] 0.9838646373904322 Centerline is valid? [True, True] Translation: X:436.89, Y:-19.11, Z:3.00 [[ 9.99979298e-01 5.25553504e-03 3.71247655e-03 4.36890071e+02] [-5.25466268e-03 9.99986164e-01 -2.44694648e-04 -1.91128451e+01] [-3.71371118e-03 2.25181770e-04 9.99993079e-01 3.00492386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.350714057 meters Centerline goodness [0,1] 0.983842870830067 Centerline is valid? [True, True] Translation: X:436.92, Y:-19.12, Z:3.01 [[ 9.99988670e-01 2.49524775e-03 4.05384519e-03 4.36920264e+02] [-2.49418587e-03 9.99996854e-01 -2.66979770e-04 -1.91169104e+01] [-4.05449862e-03 2.56865701e-04 9.99991747e-01 3.00523927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.380714057 meters Centerline goodness [0,1] 0.9841342486651411 Centerline is valid? [True, True] Translation: X:436.95, Y:-19.12, Z:3.01 [[ 9.99987456e-01 -1.88172936e-03 4.64191973e-03 4.36950889e+02] [ 1.88316848e-03 9.99998180e-01 -3.05675440e-04 -1.91202432e+01] [-4.64133608e-03 3.14413122e-04 9.99989180e-01 3.00620179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.410714057 meters Centerline goodness [0,1] 0.9837949836423119 Centerline is valid? [True, True] Translation: X:436.98, Y:-19.12, Z:3.01 [[ 9.99984155e-01 -3.56180130e-03 4.35936583e-03 4.36982370e+02] [ 3.56308543e-03 9.99993611e-01 -2.86838070e-04 -1.91219137e+01] [-4.35831632e-03 3.02366318e-04 9.99990457e-01 3.00570692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.440714057 meters Centerline goodness [0,1] 0.9828998544206158 Centerline is valid? [True, True] Translation: X:437.01, Y:-19.13, Z:3.00 [[ 9.99980151e-01 -4.97032101e-03 3.87219956e-03 4.37012811e+02] [ 4.97134503e-03 9.99987610e-01 -2.54874126e-04 -1.91266374e+01] [-3.87088478e-03 2.74119107e-04 9.99992471e-01 3.00495916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.470714057 meters Centerline goodness [0,1] 0.9830648852466163 Centerline is valid? [True, True] Translation: X:437.04, Y:-19.13, Z:3.00 [[ 9.99962211e-01 -8.12398209e-03 3.09463055e-03 4.37043604e+02] [ 8.12465204e-03 9.99966974e-01 -2.03979048e-04 -1.91273622e+01] [-3.09287122e-03 2.29114136e-04 9.99995191e-01 3.00377498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.500714057 meters Centerline goodness [0,1] 0.9809833930315858 Centerline is valid? [True, True] Translation: X:437.07, Y:-19.13, Z:3.00 [[ 9.99933249e-01 -1.13958830e-02 1.90557644e-03 4.37073362e+02] [ 1.13961426e-02 9.99935054e-01 -1.25450827e-04 -1.91328311e+01] [-1.90402306e-03 1.47158674e-04 9.99998177e-01 3.00198558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.530714057 meters Centerline goodness [0,1] 0.9811575576709435 Centerline is valid? [True, True] Translation: X:437.11, Y:-19.14, Z:3.00 [[ 9.99916467e-01 -1.27768915e-02 1.95176763e-03 4.37105602e+02] [ 1.27771657e-02 9.99918360e-01 -1.28037127e-04 -1.91360001e+01] [-1.94997237e-03 1.52964490e-04 9.99998087e-01 3.00103545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.560714057 meters Centerline goodness [0,1] 0.9820649327980451 Centerline is valid? [True, True] Translation: X:437.14, Y:-19.13, Z:3.00 [[ 9.99904045e-01 -1.36747509e-02 2.21408621e-03 4.37137351e+02] [ 1.36751058e-02 9.99906481e-01 -1.45224524e-04 -1.91347481e+01] [-2.21189325e-03 1.75488452e-04 9.99997538e-01 3.00095994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.590714057 meters Centerline goodness [0,1] 0.9804246775636689 Centerline is valid? [True, True] Translation: X:437.17, Y:-19.13, Z:3.00 [[ 9.99871020e-01 -1.58084024e-02 2.83511054e-03 4.37168499e+02] [ 1.58089966e-02 9.99875012e-01 -1.87317175e-04 -1.91326790e+01] [-2.83179500e-03 2.32113268e-04 9.99995964e-01 3.00087942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.620714057 meters Centerline goodness [0,1] 0.9805062681864922 Centerline is valid? [True, True] Translation: X:437.20, Y:-19.13, Z:3.00 [[ 9.99849342e-01 -1.71403058e-02 2.73917677e-03 4.37201092e+02] [ 1.71408643e-02 9.99853068e-01 -1.80518140e-04 -1.91315327e+01] [-2.73568016e-03 2.27442801e-04 9.99996232e-01 3.00058610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.650714057 meters Centerline goodness [0,1] 0.9813676907829534 Centerline is valid? [True, True] Translation: X:437.23, Y:-19.13, Z:3.00 [[ 9.99832804e-01 -1.81224609e-02 2.43710936e-03 4.37233570e+02] [ 1.81229060e-02 9.99835754e-01 -1.60668129e-04 -1.91290025e+01] [-2.43379738e-03 2.04808770e-04 9.99997017e-01 2.99986450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.680714057 meters Centerline goodness [0,1] 0.979839507529955 Centerline is valid? [True, True] Translation: X:437.26, Y:-19.14, Z:3.00 [[ 9.99825659e-01 -1.85358092e-02 2.25279413e-03 4.37264014e+02] [ 1.85361912e-02 9.99828179e-01 -1.48799124e-04 -1.91352903e+01] [-2.24964894e-03 1.90531405e-04 9.99997451e-01 2.99872674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.710714057 meters Centerline goodness [0,1] 0.9794627707630947 Centerline is valid? [True, True] Translation: X:437.30, Y:-19.13, Z:3.00 [[ 9.99800781e-01 -1.98902741e-02 1.66609471e-03 4.37295283e+02] [ 1.98904854e-02 9.99802159e-01 -1.10354241e-04 -1.91334898e+01] [-1.66357011e-03 1.43471689e-04 9.99998606e-01 2.99772879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.740714057 meters Centerline goodness [0,1] 0.9803162667256441 Centerline is valid? [True, True] Translation: X:437.33, Y:-19.13, Z:3.00 [[ 9.99786892e-01 -2.06267907e-02 8.39751530e-04 4.37327672e+02] [ 2.06268441e-02 9.99787243e-01 -5.49215711e-05 -1.91320952e+01] [-8.38440011e-04 7.22312908e-05 9.99999646e-01 2.99679628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.770714057 meters Centerline goodness [0,1] 0.9760981627527867 Centerline is valid? [True, True] Translation: X:437.36, Y:-19.13, Z:2.99 [[ 9.99773242e-01 -2.12840189e-02 -6.74639499e-04 4.37358951e+02] [ 2.12840548e-02 9.99773468e-01 4.60974144e-05 -1.91335046e+01] [ 6.73505533e-04 -6.04460255e-05 9.99999771e-01 2.99482240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.800714057 meters Centerline goodness [0,1] 0.979310497433174 Centerline is valid? [True, True] Translation: X:437.39, Y:-19.13, Z:3.00 [[ 9.99764766e-01 -2.16577915e-02 -1.16342916e-03 4.37391415e+02] [ 2.16578972e-02 9.99765437e-01 7.83584824e-05 -1.91280765e+01] [ 1.16145919e-03 -1.03537479e-04 9.99999320e-01 2.99535157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.830714057 meters Centerline goodness [0,1] 0.978359201773836 Centerline is valid? [True, True] Translation: X:437.42, Y:-19.12, Z:3.00 [[ 9.99786349e-01 -2.06532082e-02 -8.37535643e-04 4.37423607e+02] [ 2.06532628e-02 9.99786697e-01 5.66745654e-05 -1.91245351e+01] [ 8.36186483e-04 -7.39603006e-05 9.99999648e-01 2.99553486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.860714057 meters Centerline goodness [0,1] 0.9786535303776683 Centerline is valid? [True, True] Translation: X:437.46, Y:-19.12, Z:3.00 [[ 9.99799323e-01 -2.00328005e-02 -7.88547599e-06 4.37456112e+02] [ 2.00328005e-02 9.99799323e-01 1.40020466e-06 -1.91232742e+01] [ 7.85584353e-06 -1.55789184e-06 1.00000000e+00 2.99579116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.890714057 meters Centerline goodness [0,1] 0.9777486329080158 Centerline is valid? [True, True] Translation: X:437.49, Y:-19.12, Z:3.00 [[ 9.99821967e-01 -1.88638253e-02 4.36814436e-04 4.37486974e+02] [ 1.88638397e-02 9.99822062e-01 -2.87361967e-05 -1.91246154e+01] [-4.36194635e-04 3.69710782e-05 9.99999904e-01 2.99578510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.920714057 meters Centerline goodness [0,1] 0.9778820375335121 Centerline is valid? [True, True] Translation: X:437.52, Y:-19.12, Z:3.00 [[ 9.99873830e-01 -1.58760743e-02 5.24287678e-04 4.37518137e+02] [ 1.58760948e-02 9.99873966e-01 -3.49335657e-05 -1.91184897e+01] [-5.23666992e-04 4.32527990e-05 9.99999862e-01 2.99668556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.950714057 meters Centerline goodness [0,1] 0.9801975772205087 Centerline is valid? [True, True] Translation: X:437.55, Y:-19.11, Z:3.00 [[ 9.99902222e-01 -1.39642856e-02 7.38489862e-04 4.37550338e+02] [ 1.39643253e-02 9.99902493e-01 -4.86971846e-05 -1.91114725e+01] [-7.37737833e-04 5.90049358e-05 9.99999726e-01 2.99766219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.980714057 meters Centerline goodness [0,1] 0.9799171610881003 Centerline is valid? [True, True] Translation: X:437.58, Y:-19.11, Z:3.00 [[ 9.99941392e-01 -1.07132946e-02 1.56138486e-03 4.37581257e+02] [ 1.07134705e-02 9.99942604e-01 -1.04311615e-04 -1.91066074e+01] [-1.56017772e-03 1.21033352e-04 9.99998776e-01 2.99723336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01071405700003 meters Centerline goodness [0,1] 0.9785861481946062 Centerline is valid? [True, True] Translation: X:437.61, Y:-19.11, Z:3.00 [[ 9.99956615e-01 -9.05167762e-03 2.19906642e-03 4.37611861e+02] [ 9.05202188e-03 9.99959019e-01 -1.46644141e-04 -1.91131867e+01] [-2.19764893e-03 1.66543776e-04 9.99997571e-01 2.99635745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.040714057 meters Centerline goodness [0,1] 0.9812252964426877 Centerline is valid? [True, True] Translation: X:437.64, Y:-19.11, Z:3.00 [[ 9.99964919e-01 -7.84878746e-03 2.92526588e-03 4.37643620e+02] [ 7.84939224e-03 9.99969174e-01 -1.95322668e-04 -1.91072015e+01] [-2.92364266e-03 2.18277375e-04 9.99995702e-01 2.99740686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07071405700003 meters Centerline goodness [0,1] 0.9786623916184971 Centerline is valid? [True, True] Translation: X:437.68, Y:-19.11, Z:3.00 [[ 9.99965682e-01 -7.43436798e-03 3.65568148e-03 4.37675044e+02] [ 7.43530780e-03 9.99972328e-01 -2.43562227e-04 -1.91067340e+01] [-3.65376959e-03 2.70734985e-04 9.99993288e-01 2.99731411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.100714057 meters Centerline goodness [0,1] 0.9780666125101544 Centerline is valid? [True, True] Translation: X:437.71, Y:-19.11, Z:3.00 [[ 9.99962444e-01 -7.66187188e-03 4.05047635e-03 4.37706012e+02] [ 7.66303270e-03 9.99970602e-01 -2.71145436e-04 -1.91087069e+01] [-4.04827979e-03 3.02174185e-04 9.99991760e-01 2.99683446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.130714057 meters Centerline goodness [0,1] 0.9769384419829308 Centerline is valid? [True, True] Translation: X:437.74, Y:-19.11, Z:3.00 [[ 9.99939716e-01 -9.66817046e-03 5.20497846e-03 4.37737172e+02] [ 9.67011799e-03 9.99953182e-01 -3.49130419e-04 -1.91090968e+01] [-5.20135932e-03 3.99442128e-04 9.99986393e-01 2.99581466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.160714057 meters Centerline goodness [0,1] 0.9768957480029871 Centerline is valid? [True, True] Translation: X:437.77, Y:-19.11, Z:2.99 [[ 9.99921555e-01 -1.13236113e-02 5.35343351e-03 4.37768523e+02] [ 1.13256950e-02 9.99935798e-01 -3.59069633e-04 -1.91118476e+01] [-5.34902384e-03 4.19672821e-04 9.99985606e-01 2.99486156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.190714057 meters Centerline goodness [0,1] 0.9743025629394421 Centerline is valid? [True, True] Translation: X:437.80, Y:-19.12, Z:2.99 [[ 9.99864403e-01 -1.58347542e-02 4.52073881e-03 4.37798509e+02] [ 1.58362872e-02 9.99874552e-01 -3.03494765e-04 -1.91153575e+01] [-4.51536593e-03 3.75045330e-04 9.99989735e-01 2.99232846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.220714057 meters Centerline goodness [0,1] 0.9730962048862373 Centerline is valid? [True, True] Translation: X:437.83, Y:-19.12, Z:2.99 [[ 9.99837152e-01 -1.75782709e-02 4.08324648e-03 4.37828302e+02] [ 1.75795338e-02 9.99845431e-01 -2.73601178e-04 -1.91192943e+01] [-4.07780590e-03 3.45338193e-04 9.99991626e-01 2.99109879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.250714057 meters Centerline goodness [0,1] 0.973300034056079 Centerline is valid? [True, True] Translation: X:437.86, Y:-19.12, Z:2.99 [[ 9.99805999e-01 -1.91543938e-02 4.59052019e-03 4.37859661e+02] [ 1.91560103e-02 9.99816459e-01 -3.08410009e-04 -1.91213597e+01] [-4.58377024e-03 3.96286229e-04 9.99989416e-01 2.99046571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.280714057 meters Centerline goodness [0,1] 0.9504790881431361 Centerline is valid? [True, True] Translation: X:437.89, Y:-19.13, Z:2.99 [[ 9.99750786e-01 -2.17561214e-02 5.00369373e-03 4.37888863e+02] [ 2.17580769e-02 9.99763208e-01 -3.36704363e-04 -1.91317935e+01] [-4.99518352e-03 4.45491205e-04 9.99987425e-01 2.98936933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.310714057 meters Centerline goodness [0,1] 0.9733094064466302 Centerline is valid? [True, True] Translation: X:437.92, Y:-19.12, Z:2.99 [[ 9.99743173e-01 -2.21184582e-02 4.93570747e-03 4.37921699e+02] [ 2.21203621e-02 9.99755260e-01 -3.31495854e-04 -1.91221635e+01] [-4.92716732e-03 4.40590354e-04 9.99987764e-01 2.98963656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.340714057 meters Centerline goodness [0,1] 0.9753785715917137 Centerline is valid? [True, True] Translation: X:437.95, Y:-19.12, Z:2.99 [[ 9.99753628e-01 -2.16055762e-02 5.08742042e-03 4.37954472e+02] [ 2.16075943e-02 9.99766470e-01 -3.42045091e-04 -1.91159026e+01] [-5.07884227e-03 4.51887737e-04 9.99987000e-01 2.98906889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.370714057 meters Centerline goodness [0,1] 0.975352273245474 Centerline is valid? [True, True] Translation: X:437.99, Y:-19.12, Z:2.99 [[ 9.99773579e-01 -2.06277746e-02 5.22362741e-03 4.37985683e+02] [ 2.06298885e-02 9.99787120e-01 -3.51107570e-04 -1.91210963e+01] [-5.21527283e-03 4.58790922e-04 9.99986295e-01 2.98814676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.400714057 meters Centerline goodness [0,1] 0.9763244578643975 Centerline is valid? [True, True] Translation: X:438.02, Y:-19.11, Z:2.99 [[ 9.99817192e-01 -1.80628684e-02 6.27012880e-03 4.38017529e+02] [ 1.80658765e-02 9.99836709e-01 -4.23440661e-04 -1.91144713e+01] [-6.26145639e-03 5.36638625e-04 9.99980253e-01 2.98899062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.430714057 meters Centerline goodness [0,1] 0.9757528710701158 Centerline is valid? [True, True] Translation: X:438.05, Y:-19.11, Z:2.99 [[ 9.99842356e-01 -1.62199256e-02 7.22336656e-03 4.38049087e+02] [ 1.62238707e-02 9.99868265e-01 -4.87890150e-04 -1.91146185e+01] [-7.21450145e-03 6.05004202e-04 9.99973792e-01 2.98933683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.460714057 meters Centerline goodness [0,1] 0.9762504004026907 Centerline is valid? [True, True] Translation: X:438.08, Y:-19.11, Z:2.99 [[ 9.99863734e-01 -1.42189663e-02 8.38652078e-03 4.38080061e+02] [ 1.42242179e-02 9.99898670e-01 -5.66882692e-04 -1.91128967e+01] [-8.37761049e-03 6.86097145e-04 9.99964672e-01 2.98964448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.490714057 meters Centerline goodness [0,1] 0.9765641060782567 Centerline is valid? [True, True] Translation: X:438.11, Y:-19.11, Z:2.99 [[ 9.99911297e-01 -9.74724009e-03 9.07689760e-03 4.38110265e+02] [ 9.75321141e-03 9.99952248e-01 -6.13824914e-04 -1.91121952e+01] [-9.07048106e-03 7.02299366e-04 9.99958616e-01 2.98923964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.520714057 meters Centerline goodness [0,1] 0.9764970506552825 Centerline is valid? [True, True] Translation: X:438.14, Y:-19.11, Z:2.99 [[ 9.99922235e-01 -7.71319412e-03 9.79955860e-03 4.38141691e+02] [ 7.72005608e-03 9.99969980e-01 -6.62596461e-04 -1.91124041e+01] [-9.79415369e-03 7.38198076e-04 9.99951764e-01 2.98864404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.550714057 meters Centerline goodness [0,1] 0.9758657113989161 Centerline is valid? [True, True] Translation: X:438.17, Y:-19.11, Z:2.99 [[ 9.99934126e-01 -4.24484515e-03 1.06641501e-02 4.38172995e+02] [ 4.25278022e-03 9.99990697e-01 -7.21521676e-04 -1.91108134e+01] [-1.06609881e-02 7.66826433e-04 9.99942876e-01 2.98847731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.580714057 meters Centerline goodness [0,1] 0.9753875879836224 Centerline is valid? [True, True] Translation: X:438.20, Y:-19.11, Z:2.99 [[ 9.99936477e-01 -2.78539059e-03 1.09217291e-02 4.38203106e+02] [ 2.79362765e-03 9.99995825e-01 -7.39006750e-04 -1.91126128e+01] [-1.09196250e-02 7.69471050e-04 9.99940083e-01 2.98844419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.610714057 meters Centerline goodness [0,1] 0.9753875879836224 Centerline is valid? [True, True] Translation: X:438.24, Y:-19.11, Z:2.99 [[ 9.99936764e-01 -2.68032668e-03 1.09217236e-02 4.38235648e+02] [ 2.68855839e-03 9.99996113e-01 -7.39088013e-04 -1.91149095e+01] [-1.09197001e-02 7.68404968e-04 9.99940083e-01 2.98804602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.640714057 meters Centerline goodness [0,1] 0.9766804156969375 Centerline is valid? [True, True] Translation: X:438.27, Y:-19.11, Z:2.99 [[ 9.99931997e-01 -1.37378100e-03 1.15807953e-02 4.38267597e+02] [ 1.38296446e-03 9.99998736e-01 -7.85019005e-04 -1.91122053e+01] [-1.15797022e-02 8.00981449e-04 9.99932632e-01 2.98820555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.670714057 meters Centerline goodness [0,1] 0.974267580370694 Centerline is valid? [True, True] Translation: X:438.30, Y:-19.11, Z:2.99 [[ 9.99940453e-01 -3.51829443e-04 1.09071831e-02 4.38298911e+02] [ 3.59921105e-04 9.99999661e-01 -7.39911342e-04 -1.91142945e+01] [-1.09069190e-02 7.43793008e-04 9.99940241e-01 2.98727377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.700714057 meters Centerline goodness [0,1] 0.9750644685945846 Centerline is valid? [True, True] Translation: X:438.33, Y:-19.12, Z:2.99 [[ 9.99944301e-01 -2.38948083e-04 1.05516941e-02 4.38330598e+02] [ 2.46519835e-04 9.99999713e-01 -7.16291547e-04 -1.91182224e+01] [-1.05515199e-02 7.18852852e-04 9.99944073e-01 2.98603700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.730714057 meters Centerline goodness [0,1] 0.9767244152382702 Centerline is valid? [True, True] Translation: X:438.36, Y:-19.12, Z:2.98 [[ 9.99956381e-01 -1.75211694e-03 9.17422394e-03 4.38362502e+02] [ 1.75790625e-03 9.99998261e-01 -6.23014970e-04 -1.91179300e+01] [-9.17311639e-03 6.39115220e-04 9.99957722e-01 2.98325276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76071405700003 meters Centerline goodness [0,1] 0.9770824252712715 Centerline is valid? [True, True] Translation: X:438.39, Y:-19.12, Z:2.98 [[ 9.99958223e-01 -3.22186304e-03 8.55410281e-03 4.38394922e+02] [ 3.22697004e-03 9.99994623e-01 -5.83288061e-04 -1.91197407e+01] [-8.55217754e-03 6.10867526e-04 9.99963243e-01 2.98153129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.790714057 meters Centerline goodness [0,1] 0.975255600229753 Centerline is valid? [True, True] Translation: X:438.42, Y:-19.13, Z:2.98 [[ 9.99957092e-01 -6.55357435e-03 6.54717273e-03 4.38424000e+02] [ 6.55664064e-03 9.99978405e-01 -4.46982417e-04 -1.91296292e+01] [-6.54410201e-03 4.89890696e-04 9.99978467e-01 2.97896822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82071405700003 meters Centerline goodness [0,1] 0.9769156337833479 Centerline is valid? [True, True] Translation: X:438.46, Y:-19.13, Z:2.98 [[ 9.99949635e-01 -7.94755625e-03 6.12889610e-03 4.38455629e+02] [ 7.95026900e-03 9.99968309e-01 -4.18378863e-04 -1.91302549e+01] [-6.12537678e-03 4.67084164e-04 9.99981131e-01 2.97866243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.850714057 meters Centerline goodness [0,1] 0.975276617235205 Centerline is valid? [True, True] Translation: X:438.49, Y:-19.14, Z:2.98 [[ 9.99943407e-01 -8.85568262e-03 5.89578965e-03 4.38486359e+02] [ 8.85821038e-03 9.99960684e-01 -4.02763857e-04 -1.91350700e+01] [-5.89199110e-03 4.54967208e-04 9.99982539e-01 2.97818588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.880714057 meters Centerline goodness [0,1] 0.9744650532073824 Centerline is valid? [True, True] Translation: X:438.52, Y:-19.14, Z:2.98 [[ 9.99934956e-01 -8.84956182e-03 7.19504323e-03 4.38518922e+02] [ 8.85332951e-03 9.99960687e-01 -4.91969686e-04 -1.91382014e+01] [-7.19040666e-03 5.55637775e-04 9.99973994e-01 2.97978872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.910714057 meters Centerline goodness [0,1] 0.9726412269995164 Centerline is valid? [True, True] Translation: X:438.55, Y:-19.14, Z:2.98 [[ 9.99923886e-01 -8.37537343e-03 9.05951114e-03 4.38550026e+02] [ 8.38133595e-03 9.99964684e-01 -6.20383070e-04 -1.91419345e+01] [-9.05399525e-03 6.96266657e-04 9.99958769e-01 2.98085655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.940714057 meters Centerline goodness [0,1] 0.9724493791896063 Centerline is valid? [True, True] Translation: X:438.58, Y:-19.14, Z:2.98 [[ 9.99927324e-01 -7.56902681e-03 9.38383912e-03 4.38582338e+02] [ 7.57539304e-03 9.99971100e-01 -6.43065917e-04 -1.91443904e+01] [-9.37870054e-03 7.14105451e-04 9.99955764e-01 2.98116337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.970714057 meters Centerline goodness [0,1] 0.9733844696532126 Centerline is valid? [True, True] Translation: X:438.61, Y:-19.14, Z:2.98 [[ 9.99932570e-01 -7.15605398e-03 9.14585912e-03 4.38614999e+02] [ 7.16208985e-03 9.99974155e-01 -6.27374236e-04 -1.91411657e+01] [-9.14113322e-03 6.92835397e-04 9.99957979e-01 2.98112900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.000714057 meters Centerline goodness [0,1] 0.9724584572126576 Centerline is valid? [True, True] Translation: X:438.65, Y:-19.15, Z:2.98 [[ 9.99943820e-01 -7.27664106e-03 7.70766606e-03 4.38645176e+02] [ 7.28093535e-03 9.99973354e-01 -5.29230797e-04 -1.91517533e+01] [-7.70360965e-03 5.85320083e-04 9.99970155e-01 2.97889169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.030714057 meters Centerline goodness [0,1] 0.9741190063547083 Centerline is valid? [True, True] Translation: X:438.68, Y:-19.15, Z:2.98 [[ 9.99945625e-01 -7.99575973e-03 6.69439543e-03 4.38677134e+02] [ 7.99901704e-03 9.99967902e-01 -4.59938731e-04 -1.91500165e+01] [-6.69050299e-03 5.13462305e-04 9.99977487e-01 2.97697408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.060714057 meters Centerline goodness [0,1] 0.9743418013856813 Centerline is valid? [True, True] Translation: X:438.71, Y:-19.16, Z:2.97 [[ 9.99929692e-01 -1.10292026e-02 4.35514812e-03 4.38707608e+02] [ 1.10306115e-02 9.99939116e-01 -2.99621077e-04 -1.91578327e+01] [-4.35157838e-03 3.47639958e-04 9.99990471e-01 2.97376879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.090714057 meters Centerline goodness [0,1] 0.9732367394965739 Centerline is valid? [True, True] Translation: X:438.74, Y:-19.16, Z:2.97 [[ 9.99913666e-01 -1.26516343e-02 3.54910045e-03 4.38738872e+02] [ 1.26525791e-02 9.99919923e-01 -2.43894491e-04 -1.91607183e+01] [-3.54573058e-03 2.88778709e-04 9.99993672e-01 2.97277299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.120714057 meters Centerline goodness [0,1] 0.9691780821917808 Centerline is valid? [True, True] Translation: X:438.77, Y:-19.17, Z:2.97 [[ 9.99891121e-01 -1.44723666e-02 2.88055237e-03 4.38768129e+02] [ 1.44729954e-02 9.99895241e-01 -1.97549550e-04 -1.91742801e+01] [-2.87739160e-03 2.39218262e-04 9.99995832e-01 2.97092321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.150714057 meters Centerline goodness [0,1] 0.971755320375366 Centerline is valid? [True, True] Translation: X:438.80, Y:-19.17, Z:2.97 [[ 9.99833932e-01 -1.80528858e-02 2.49039145e-03 4.38798396e+02] [ 1.80533692e-02 9.99837010e-01 -1.71792035e-04 -1.91734519e+01] [-2.48688420e-03 2.16723462e-04 9.99996884e-01 2.97107003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.180714057 meters Centerline goodness [0,1] 0.973614715135371 Centerline is valid? [True, True] Translation: X:438.83, Y:-19.18, Z:2.97 [[ 9.99805934e-01 -1.95344132e-02 2.54970877e-03 4.38829489e+02] [ 1.95349235e-02 9.99809160e-01 -1.75360135e-04 -1.91760475e+01] [-2.54579663e-03 2.25134470e-04 9.99996734e-01 2.97144605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.210714057 meters Centerline goodness [0,1] 0.9740659138896539 Centerline is valid? [True, True] Translation: X:438.86, Y:-19.18, Z:2.97 [[ 9.99799252e-01 -1.99098596e-02 2.24781933e-03 4.38861394e+02] [ 1.99102564e-02 9.99801759e-01 -1.54269338e-04 -1.91778758e+01] [-2.24430224e-03 1.98993028e-04 9.99997462e-01 2.97137070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.240714057 meters Centerline goodness [0,1] 0.9744162483304932 Centerline is valid? [True, True] Translation: X:438.89, Y:-19.18, Z:2.97 [[ 9.99799938e-01 -1.98495827e-02 2.46536248e-03 4.38894675e+02] [ 1.98500596e-02 9.99802954e-01 -1.69118498e-04 -1.91820835e+01] [-2.46151976e-03 2.18022256e-04 9.99996947e-01 2.97138579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.270714057 meters Centerline goodness [0,1] 0.9746855778940604 Centerline is valid? [True, True] Translation: X:438.93, Y:-19.19, Z:2.97 [[ 9.99795437e-01 -1.97767380e-02 4.23857421e-03 4.38926978e+02] [ 1.97781541e-02 9.99804350e-01 -2.92423168e-04 -1.91851280e+01] [-4.23196176e-03 3.76194523e-04 9.99990974e-01 2.97193484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.300714057 meters Centerline goodness [0,1] 0.9730002292000917 Centerline is valid? [True, True] Translation: X:438.96, Y:-19.19, Z:2.97 [[ 9.99786804e-01 -2.00732442e-02 4.83844220e-03 4.38958047e+02] [ 2.00750958e-02 9.99798419e-01 -3.34406479e-04 -1.91908690e+01] [-4.83075424e-03 4.31467375e-04 9.99988239e-01 2.97188482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.330714057 meters Centerline goodness [0,1] 0.972361866199586 Centerline is valid? [True, True] Translation: X:438.99, Y:-19.20, Z:2.97 [[ 9.99756317e-01 -2.12736556e-02 5.89387394e-03 4.38989515e+02] [ 2.12764264e-02 9.99773548e-01 -4.07805664e-04 -1.91952386e+01] [-5.88386374e-03 5.33106864e-04 9.99982548e-01 2.97107993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.360714057 meters Centerline goodness [0,1] 0.9746783465644676 Centerline is valid? [True, True] Translation: X:439.02, Y:-19.19, Z:2.97 [[ 9.99739915e-01 -2.19582871e-02 6.15923636e-03 4.39021503e+02] [ 2.19613280e-02 9.99758730e-01 -4.26508347e-04 -1.91934854e+01] [-6.14838493e-03 5.61662429e-04 9.99980941e-01 2.97042937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.390714057 meters Centerline goodness [0,1] 0.9753238179790116 Centerline is valid? [True, True] Translation: X:439.05, Y:-19.20, Z:2.97 [[ 9.99712407e-01 -2.34320792e-02 5.10306659e-03 4.39051201e+02] [ 2.34341854e-02 9.99725319e-01 -3.53320736e-04 -1.92010782e+01] [-5.09338583e-03 4.72805332e-04 9.99986917e-01 2.96850948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.420714057 meters Centerline goodness [0,1] 0.9737793646101016 Centerline is valid? [True, True] Translation: X:439.08, Y:-19.20, Z:2.97 [[ 9.99691351e-01 -2.44620709e-02 4.33708543e-03 4.39083210e+02] [ 2.44636032e-02 9.99700676e-01 -3.00598686e-04 -1.92045122e+01] [-4.32843397e-03 4.06606643e-04 9.99990550e-01 2.96771402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.450714057 meters Centerline goodness [0,1] 0.9512090005897564 Centerline is valid? [True, True] Translation: X:439.11, Y:-19.22, Z:2.97 [[ 9.99676658e-01 -2.50743468e-02 4.22574013e-03 4.39112996e+02] [ 2.50758093e-02 9.99685509e-01 -2.93451099e-04 -1.92199034e+01] [-4.21705308e-03 3.99320067e-04 9.99991028e-01 2.96606462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.480714057 meters Centerline goodness [0,1] 0.9715937429154387 Centerline is valid? [True, True] Translation: X:439.14, Y:-19.22, Z:2.97 [[ 9.99644903e-01 -2.63890054e-02 3.69981148e-03 4.39144329e+02] [ 2.63901363e-02 9.99651687e-01 -2.57162793e-04 -1.92167968e+01] [-3.69173652e-03 3.54710004e-04 9.99993123e-01 2.96583821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51071405700003 meters Centerline goodness [0,1] 0.9344002176081241 Centerline is valid? [True, False] Translation: X:439.14, Y:-19.22, Z:2.97 [[ 9.99654885e-01 -2.60149866e-02 3.65126221e-03 4.39144838e+02] [ 2.60126121e-02 9.99661372e-01 6.96344867e-04 -1.92189132e+01] [-3.66814120e-03 -6.01125680e-04 9.99993092e-01 2.96512546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.540714057 meters Centerline goodness [0,1] 0.9757361761843326 Centerline is valid? [False, True] Translation: X:439.15, Y:-19.22, Z:2.96 [[ 9.99671399e-01 -2.53901625e-02 3.52605136e-03 4.39145796e+02] [ 2.53834187e-02 9.99675898e-01 1.94432303e-03 -1.92215985e+01] [-3.57427524e-03 -1.85418088e-03 9.99991893e-01 2.96401502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57071405700003 meters Centerline goodness [0,1] 0.9762513866564035 Centerline is valid? [True, True] Translation: X:439.18, Y:-19.22, Z:2.96 [[ 9.99699422e-01 -2.43312581e-02 3.00938723e-03 4.39177590e+02] [ 2.43320072e-02 9.99703910e-01 -2.12548523e-04 -1.92218318e+01] [-3.00332461e-03 2.85709067e-04 9.99995449e-01 2.96425304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.600714057 meters Centerline goodness [0,1] 0.9724826604613334 Centerline is valid? [True, True] Translation: X:439.21, Y:-19.23, Z:2.96 [[ 9.99743362e-01 -2.25082845e-02 2.56674892e-03 4.39207096e+02] [ 2.25088250e-02 9.99746628e-01 -1.81874076e-04 -1.92283166e+01] [-2.56200490e-03 2.39601902e-04 9.99996689e-01 2.96292771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.630714057 meters Centerline goodness [0,1] 0.9774585985818174 Centerline is valid? [True, True] Translation: X:439.24, Y:-19.22, Z:2.96 [[ 9.99862725e-01 -1.65206523e-02 1.26424957e-03 4.39238077e+02] [ 1.65207786e-02 9.99863519e-01 -8.95060487e-05 -1.92225406e+01] [-1.26259833e-03 1.10380149e-04 9.99999197e-01 2.96241078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.660714057 meters Centerline goodness [0,1] 0.9803770681031165 Centerline is valid? [True, True] Translation: X:439.27, Y:-19.22, Z:2.96 [[ 9.99964188e-01 -8.34476928e-03 1.40988412e-03 4.39268338e+02] [ 8.34491825e-03 9.99965176e-01 -9.98142800e-05 -1.92213233e+01] [-1.40900209e-03 1.11576073e-04 9.99999001e-01 2.96287378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.690714057 meters Centerline goodness [0,1] 0.9791315677157041 Centerline is valid? [True, True] Translation: X:439.30, Y:-19.22, Z:2.96 [[ 9.99989455e-01 -3.87060460e-03 2.47169515e-03 4.39298457e+02] [ 3.87104937e-03 9.99992492e-01 -1.75186351e-04 -1.92211726e+01] [-2.47099851e-03 1.84752557e-04 9.99996930e-01 2.96357205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.720714057 meters Centerline goodness [0,1] 0.9788618252217369 Centerline is valid? [True, True] Translation: X:439.33, Y:-19.22, Z:2.96 [[ 9.99993528e-01 5.83189294e-04 3.55017191e-03 4.39329509e+02] [-5.82299800e-04 9.99999799e-01 -2.51578079e-04 -1.92197462e+01] [-3.55031792e-03 2.49509186e-04 9.99993666e-01 2.96493649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.750714057 meters Centerline goodness [0,1] 0.979436250113112 Centerline is valid? [True, True] Translation: X:439.36, Y:-19.21, Z:2.97 [[ 9.99945257e-01 8.24628859e-03 6.44065188e-03 4.39360557e+02] [-8.24351897e-03 9.99965917e-01 -4.56451208e-04 -1.92115165e+01] [-6.44419639e-03 4.03332584e-04 9.99979155e-01 2.96858615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.780714057 meters Centerline goodness [0,1] 0.9798411591333498 Centerline is valid? [True, True] Translation: X:439.39, Y:-19.22, Z:2.97 [[ 9.99900314e-01 1.17144147e-02 7.88254224e-03 4.39390608e+02] [-1.17103728e-02 9.99931275e-01 -5.58720735e-04 -1.92163198e+01] [-7.88854560e-03 4.66357530e-04 9.99968776e-01 2.96897013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.810714057 meters Centerline goodness [0,1] 0.9796901970454392 Centerline is valid? [True, True] Translation: X:439.42, Y:-19.21, Z:2.97 [[ 9.99833365e-01 1.62959373e-02 8.22707962e-03 4.39421856e+02] [-1.62916887e-02 9.99867112e-01 -5.83173671e-04 -1.92122812e+01] [-8.23548970e-03 4.49043473e-04 9.99965987e-01 2.96962875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.840714057 meters Centerline goodness [0,1] 0.9791615151174553 Centerline is valid? [True, True] Translation: X:439.45, Y:-19.22, Z:2.97 [[ 9.99810898e-01 1.77947211e-02 7.84321067e-03 4.39450165e+02] [-1.77909055e-02 9.99841575e-01 -5.55995788e-04 -1.92193879e+01] [-7.85186190e-03 4.16352829e-04 9.99969087e-01 2.96857656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.870714057 meters Centerline goodness [0,1] 0.9815451704992469 Centerline is valid? [True, True] Translation: X:439.48, Y:-19.22, Z:2.97 [[ 9.99813477e-01 1.81218851e-02 6.67894392e-03 4.39478884e+02] [-1.81191245e-02 9.99835723e-01 -4.73609190e-04 -1.92169237e+01] [-6.68642941e-03 3.52504235e-04 9.99977583e-01 2.96772264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.900714057 meters Centerline goodness [0,1] 0.9793319883434207 Centerline is valid? [True, True] Translation: X:439.51, Y:-19.23, Z:2.96 [[ 9.99812115e-01 1.88331223e-02 4.58783524e-03 4.39505586e+02] [-1.88318268e-02 9.99822612e-01 -3.25417929e-04 -1.92285179e+01] [-4.59315005e-03 2.38959469e-04 9.99989423e-01 2.96467176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.930714057 meters Centerline goodness [0,1] 0.9808764583379985 Centerline is valid? [True, True] Translation: X:439.53, Y:-19.23, Z:2.96 [[ 9.99819800e-01 1.86651192e-02 3.46125299e-03 4.39534949e+02] [-1.86643815e-02 9.99825775e-01 -2.45314654e-04 -1.92251155e+01] [-3.46522878e-03 1.80668302e-04 9.99993980e-01 2.96454084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.960714057 meters Centerline goodness [0,1] 0.9811747831738419 Centerline is valid? [True, True] Translation: X:439.56, Y:-19.23, Z:2.96 [[ 9.99836307e-01 1.80449685e-02 1.31869914e-03 4.39563700e+02] [-1.80448603e-02 9.99837174e-01 -9.39136774e-05 -1.92291297e+01] [-1.32017909e-03 7.01025626e-05 9.99999126e-01 2.96331237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.990714057 meters Centerline goodness [0,1] 0.9817653631284916 Centerline is valid? [True, True] Translation: X:439.59, Y:-19.23, Z:2.96 [[ 9.99832441e-01 1.82705582e-02 1.12989427e-03 4.39592173e+02] [-1.82704789e-02 9.99833078e-01 -8.05120636e-05 -1.92325881e+01] [-1.13117666e-03 5.98548638e-05 9.99999358e-01 2.96275614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.020714057 meters Centerline goodness [0,1] 0.9821736115770874 Centerline is valid? [True, True] Translation: X:439.62, Y:-19.24, Z:2.96 [[ 9.99836834e-01 1.80442300e-02 8.43168299e-04 4.39620652e+02] [-1.80441856e-02 9.99837189e-01 -6.02387922e-05 -1.92362030e+01] [-8.44117984e-04 4.50146780e-05 9.99999643e-01 2.96180873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.050714057 meters Centerline goodness [0,1] 0.9821284781247204 Centerline is valid? [True, True] Translation: X:439.65, Y:-19.24, Z:2.96 [[ 9.99807980e-01 1.95723263e-02 9.63041749e-04 4.39647977e+02] [-1.95722691e-02 9.99808442e-01 -6.88062214e-05 -1.92398627e+01] [-9.64203969e-04 4.99440970e-05 9.99999534e-01 2.96164192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.080714057 meters Centerline goodness [0,1] 0.9836778379824738 Centerline is valid? [True, True] Translation: X:439.68, Y:-19.24, Z:2.96 [[ 9.99794057e-01 2.02784494e-02 7.92477543e-04 4.39677445e+02] [-2.02784110e-02 9.99794370e-01 -5.63593883e-05 -1.92385426e+01] [-7.93457467e-04 4.02775961e-05 9.99999684e-01 2.96207182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.110714057 meters Centerline goodness [0,1] 0.9828042622294396 Centerline is valid? [True, True] Translation: X:439.71, Y:-19.24, Z:2.96 [[ 9.99740355e-01 2.27782319e-02 6.12054946e-04 4.39706133e+02] [-2.27782096e-02 9.99740542e-01 -4.34325300e-05 -1.92428253e+01] [-6.12885460e-04 2.94797371e-05 9.99999812e-01 2.96120886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.140714057 meters Centerline goodness [0,1] 0.9832413424730704 Centerline is valid? [True, True] Translation: X:439.73, Y:-19.24, Z:2.96 [[ 9.99705677e-01 2.42473587e-02 7.91069807e-04 4.39734861e+02] [-2.42473216e-02 9.99705989e-01 -5.64002469e-05 -1.92421442e+01] [-7.92204781e-04 3.72023229e-05 9.99999686e-01 2.96142058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.170714057 meters Centerline goodness [0,1] 0.9843537263129701 Centerline is valid? [True, True] Translation: X:439.76, Y:-19.24, Z:2.96 [[ 9.99662738e-01 2.59608117e-02 6.68802336e-04 4.39763787e+02] [-2.59607855e-02 9.99662961e-01 -4.77659080e-05 -1.92445974e+01] [-6.69816966e-04 3.03871644e-05 9.99999775e-01 2.96170150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.200714057 meters Centerline goodness [0,1] 0.985105198708672 Centerline is valid? [True, True] Translation: X:439.79, Y:-19.25, Z:2.96 [[ 9.99565390e-01 2.93874703e-02 2.32560988e-03 4.39793403e+02] [-2.93871696e-02 9.99568091e-01 -1.63383358e-04 -1.92455088e+01] [-2.32940686e-03 9.49692577e-05 9.99997282e-01 2.96243092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.230714057 meters Centerline goodness [0,1] 0.9853052164261931 Centerline is valid? [True, True] Translation: X:439.82, Y:-19.25, Z:2.96 [[ 9.99544193e-01 3.00175266e-02 3.21787075e-03 4.39822513e+02] [-3.00169521e-02 9.99549364e-01 -2.26692794e-04 -1.92487264e+01] [-3.22322541e-03 1.29998794e-04 9.99994797e-01 2.96297147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26071405700003 meters Centerline goodness [0,1] 0.9855887912821083 Centerline is valid? [True, True] Translation: X:439.85, Y:-19.25, Z:2.96 [[ 9.99517327e-01 3.06787081e-02 4.89173030e-03 4.39851389e+02] [-3.06773982e-02 9.99529279e-01 -3.42611091e-04 -1.92535422e+01] [-4.89993853e-03 1.92380164e-04 9.99987977e-01 2.96412163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.290714057 meters Centerline goodness [0,1] 0.9848957405097131 Centerline is valid? [True, True] Translation: X:439.88, Y:-19.26, Z:2.96 [[ 9.99533600e-01 3.01542432e-02 4.82735768e-03 4.39879804e+02] [-3.01529630e-02 9.99545239e-01 -3.37768030e-04 -1.92576951e+01] [-4.83534752e-03 1.92051357e-04 9.99988291e-01 2.96415668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32071405700003 meters Centerline goodness [0,1] 0.984370490420265 Centerline is valid? [True, True] Translation: X:439.91, Y:-19.26, Z:2.96 [[ 9.99563810e-01 2.91419020e-02 4.78941127e-03 4.39908091e+02] [-2.91406319e-02 9.99575266e-01 -3.34779991e-04 -1.92619440e+01] [-4.79713317e-03 1.95067492e-04 9.99988475e-01 2.96398887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.350714057 meters Centerline goodness [0,1] 0.9846484903609379 Centerline is valid? [True, True] Translation: X:439.94, Y:-19.27, Z:2.96 [[ 9.99622843e-01 2.72110938e-02 3.70525815e-03 4.39936641e+02] [-2.72103212e-02 9.99629697e-01 -2.58776069e-04 -1.92704402e+01] [-3.71092766e-03 1.57857206e-04 9.99993102e-01 2.96226775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.380714057 meters Centerline goodness [0,1] 0.9835247682824072 Centerline is valid? [True, True] Translation: X:439.97, Y:-19.28, Z:2.96 [[ 9.99650876e-01 2.62755386e-02 2.77877794e-03 4.39965219e+02] [-2.62750999e-02 9.99654731e-01 -1.94260970e-04 -1.92753017e+01] [-2.78292283e-03 1.21180481e-04 9.99996120e-01 2.96074512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.410714057 meters Centerline goodness [0,1] 0.9851699142116114 Centerline is valid? [True, True] Translation: X:439.99, Y:-19.28, Z:2.96 [[ 9.99664433e-01 2.58598554e-02 1.51296843e-03 4.39994237e+02] [-2.58597244e-02 9.99665576e-01 -1.06094339e-04 -1.92795961e+01] [-1.51520604e-03 6.69337909e-05 9.99998850e-01 2.95985882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.440714057 meters Centerline goodness [0,1] 0.9847039291643608 Centerline is valid? [True, True] Translation: X:440.02, Y:-19.28, Z:2.96 [[ 9.99669303e-01 2.56791155e-02 1.36626400e-03 4.40022048e+02] [-2.56790079e-02 9.99670235e-01 -9.62908007e-05 -1.92844733e+01] [-1.36828612e-03 6.11746537e-05 9.99999062e-01 2.95936817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.470714057 meters Centerline goodness [0,1] 0.9847039291643608 Centerline is valid? [True, True] Translation: X:440.05, Y:-19.29, Z:2.96 [[ 9.99672071e-01 2.55711653e-02 1.36628170e-03 4.40049474e+02] [-2.55710579e-02 9.99673002e-01 -9.60367215e-05 -1.92862896e+01] [-1.36829070e-03 6.10679598e-05 9.99999062e-01 2.95902067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.500714057 meters Centerline goodness [0,1] 0.983233691455801 Centerline is valid? [True, True] Translation: X:440.08, Y:-19.29, Z:2.96 [[ 9.99678002e-01 2.53106208e-02 1.80712565e-03 4.40076033e+02] [-2.53104333e-02 9.99679632e-01 -1.26571465e-04 -1.92941283e+01] [-1.80975030e-03 8.07915758e-05 9.99998359e-01 2.95947928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.530714057 meters Centerline goodness [0,1] 0.9847129829507908 Centerline is valid? [True, True] Translation: X:440.10, Y:-19.30, Z:2.96 [[ 9.99673824e-01 2.54017738e-02 2.64508364e-03 4.40104999e+02] [-2.54013766e-02 9.99677316e-01 -1.83654638e-04 -1.92969826e+01] [-2.64889527e-03 1.16405969e-04 9.99996485e-01 2.95995381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.560714057 meters Centerline goodness [0,1] 0.984362628661916 Centerline is valid? [True, True] Translation: X:440.13, Y:-19.30, Z:2.96 [[ 9.99665478e-01 2.56431116e-02 3.37091018e-03 4.40131967e+02] [-2.56424690e-02 9.99671151e-01 -2.33722572e-04 -1.93039647e+01] [-3.37579504e-03 1.47205927e-04 9.99994291e-01 2.95892008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.590714057 meters Centerline goodness [0,1] 0.9846659364731654 Centerline is valid? [True, True] Translation: X:440.16, Y:-19.31, Z:2.96 [[ 9.99653605e-01 2.61400844e-02 3.06028743e-03 4.40159842e+02] [-2.61395576e-02 9.99658281e-01 -2.12035243e-04 -1.93091473e+01] [-3.06478429e-03 1.31967236e-04 9.99995295e-01 2.95751757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.620714057 meters Centerline goodness [0,1] 0.9859182690201919 Centerline is valid? [True, True] Translation: X:440.19, Y:-19.31, Z:2.96 [[ 9.99632981e-01 2.70010753e-02 2.20127951e-03 4.40188706e+02] [-2.70008050e-02 9.99635400e-01 -1.52423105e-04 -1.93128186e+01] [-2.20459251e-03 9.29308444e-05 9.99997566e-01 2.95644253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.650714057 meters Centerline goodness [0,1] 0.9862791513238647 Centerline is valid? [True, True] Translation: X:440.22, Y:-19.32, Z:2.96 [[ 9.99574517e-01 2.91088984e-02 1.85924897e-03 4.40217821e+02] [-2.91087096e-02 9.99576243e-01 -1.28570328e-04 -1.93161312e+01] [-1.86220364e-03 7.43952850e-05 9.99998263e-01 2.95545986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.680714057 meters Centerline goodness [0,1] 0.9860630231844677 Centerline is valid? [True, True] Translation: X:440.25, Y:-19.32, Z:2.96 [[ 9.99554495e-01 2.97688501e-02 2.15115147e-03 4.40246341e+02] [-2.97685989e-02 9.99556806e-01 -1.48719045e-04 -1.93199947e+01] [-2.15462529e-03 8.46160243e-05 9.99997675e-01 2.95570140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.710714057 meters Centerline goodness [0,1] 0.9851774119498918 Centerline is valid? [True, True] Translation: X:440.28, Y:-19.33, Z:2.96 [[ 9.99530358e-01 3.03664505e-02 4.11601194e-03 4.40275420e+02] [-3.03655410e-02 9.99538820e-01 -2.83309921e-04 -1.93251438e+01] [-4.12271684e-03 1.58191938e-04 9.99991489e-01 2.95684766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.740714057 meters Centerline goodness [0,1] 0.9847945295261399 Centerline is valid? [True, True] Translation: X:440.30, Y:-19.33, Z:2.96 [[ 9.99549851e-01 2.95924158e-02 4.93809295e-03 4.40302884e+02] [-2.95910978e-02 9.99562030e-01 -3.39765556e-04 -1.93299114e+01] [-4.94598470e-03 1.93489020e-04 9.99987750e-01 2.95725671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.770714057 meters Centerline goodness [0,1] 0.9851564880511905 Centerline is valid? [True, True] Translation: X:440.33, Y:-19.34, Z:2.96 [[ 9.99616150e-01 2.70632144e-02 5.92749167e-03 4.40331993e+02] [-2.70612774e-02 9.99633694e-01 -4.06752867e-04 -1.93382214e+01] [-5.93632844e-03 2.46191238e-04 9.99982350e-01 2.95720889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.800714057 meters Centerline goodness [0,1] 0.9849824470159927 Centerline is valid? [True, True] Translation: X:440.36, Y:-19.34, Z:2.96 [[ 9.99668743e-01 2.50045357e-02 6.09735588e-03 4.40361352e+02] [-2.50024492e-02 9.99687302e-01 -4.18192113e-04 -1.93421212e+01] [-6.10590595e-03 2.65604753e-04 9.99981324e-01 2.95666884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.830714057 meters Centerline goodness [0,1] 0.9856124461008429 Centerline is valid? [True, True] Translation: X:440.39, Y:-19.35, Z:2.96 [[ 9.99729309e-01 2.25010216e-02 5.91717126e-03 4.40390271e+02] [-2.24990131e-02 9.99746783e-01 -4.05787839e-04 -1.93484673e+01] [-5.92480357e-03 2.72547482e-04 9.99982411e-01 2.95579974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.860714057 meters Centerline goodness [0,1] 0.9852490712780517 Centerline is valid? [True, True] Translation: X:440.42, Y:-19.36, Z:2.95 [[ 9.99858645e-01 1.60312936e-02 5.06837289e-03 4.40419822e+02] [-1.60297403e-02 9.99871455e-01 -3.46960689e-04 -1.93568197e+01] [-5.07328360e-03 2.65666944e-04 9.99987096e-01 2.95464544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.890714057 meters Centerline goodness [0,1] 0.9849162253667854 Centerline is valid? [True, True] Translation: X:440.45, Y:-19.37, Z:2.95 [[ 9.99957672e-01 8.43873558e-03 3.66628274e-03 4.40449501e+02] [-8.43787140e-03 9.99964369e-01 -2.51116234e-04 -1.93676199e+01] [-3.66827121e-03 2.20169982e-04 9.99993248e-01 2.95317493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.920714057 meters Centerline goodness [0,1] 0.9850044423256117 Centerline is valid? [True, True] Translation: X:440.48, Y:-19.37, Z:2.95 [[ 9.99985434e-01 4.43089541e-03 3.08208191e-03 4.40478658e+02] [-4.43026576e-03 9.99990164e-01 -2.11091366e-04 -1.93747006e+01] [-3.08298691e-03 1.97433849e-04 9.99995228e-01 2.95186165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.950714057 meters Centerline goodness [0,1] 0.9845810684973039 Centerline is valid? [True, True] Translation: X:440.51, Y:-19.38, Z:2.95 [[ 9.99996736e-01 6.37563986e-04 2.47416949e-03 4.40509145e+02] [-6.37147371e-04 9.99999783e-01 -1.69170398e-04 -1.93782809e+01] [-2.47427681e-03 1.67593435e-04 9.99996925e-01 2.95164218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.980714057 meters Centerline goodness [0,1] 0.9828119257129267 Centerline is valid? [True, True] Translation: X:440.54, Y:-19.39, Z:2.95 [[ 9.99979023e-01 -6.04151006e-03 2.33518377e-03 4.40538634e+02] [ 6.04189974e-03 9.99981735e-01 -1.59852574e-04 -1.93869315e+01] [-2.33417536e-03 1.73958167e-04 9.99997261e-01 2.95117403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.01071405700003 meters Centerline goodness [0,1] 0.9833520469856625 Centerline is valid? [True, True] Translation: X:440.57, Y:-19.39, Z:2.95 [[ 9.99964066e-01 -8.16213107e-03 2.29062901e-03 4.40568903e+02] [ 8.16251033e-03 9.99966674e-01 -1.56271231e-04 -1.93923945e+01] [-2.28927716e-03 1.74962899e-04 9.99997364e-01 2.95105964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.040714057 meters Centerline goodness [0,1] 0.9820182850210147 Centerline is valid? [True, True] Translation: X:440.60, Y:-19.40, Z:2.95 [[ 9.99920035e-01 -1.24449009e-02 2.24676018e-03 4.40599394e+02] [ 1.24452777e-02 9.99922543e-01 -1.53810636e-04 -1.93980110e+01] [-2.24467200e-03 1.81759891e-04 9.99997464e-01 2.95145032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.07071405700003 meters Centerline goodness [0,1] 0.981107138988192 Centerline is valid? [True, True] Translation: X:440.63, Y:-19.40, Z:2.95 [[ 9.99900553e-01 -1.37953736e-02 2.92764210e-03 4.40631221e+02] [ 1.37960173e-02 9.99904810e-01 -1.99785185e-04 -1.94022277e+01] [-2.92460731e-03 2.40155118e-04 9.99995694e-01 2.95174744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.100714057 meters Centerline goodness [0,1] 0.981551653205725 Centerline is valid? [True, True] Translation: X:440.66, Y:-19.40, Z:2.95 [[ 9.99886858e-01 -1.47230757e-02 3.08260772e-03 4.40663288e+02] [ 1.47237945e-02 9.99891577e-01 -2.10619985e-04 -1.94033196e+01] [-3.07917252e-03 2.55983838e-04 9.99995227e-01 2.95217266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.130714057 meters Centerline goodness [0,1] 0.979951226881326 Centerline is valid? [True, True] Translation: X:440.69, Y:-19.41, Z:2.95 [[ 9.99881146e-01 -1.51147678e-02 3.03923831e-03 4.40693934e+02] [ 1.51154695e-02 9.99885733e-01 -2.08037772e-04 -1.94081144e+01] [-3.03574658e-03 2.53952560e-04 9.99995360e-01 2.95112849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.160714057 meters Centerline goodness [0,1] 0.9810827736627292 Centerline is valid? [True, True] Translation: X:440.73, Y:-19.40, Z:2.95 [[ 9.99888960e-01 -1.46445429e-02 2.75789425e-03 4.40727222e+02] [ 1.46451181e-02 9.99892737e-01 -1.88481703e-04 -1.94010948e+01] [-2.75483820e-03 2.28850461e-04 9.99996179e-01 2.95133163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.190714057 meters Centerline goodness [0,1] 0.9809035261660488 Centerline is valid? [True, True] Translation: X:440.76, Y:-19.40, Z:2.95 [[ 9.99909600e-01 -1.29884709e-02 3.47738953e-03 4.40758865e+02] [ 1.29893788e-02 9.99915606e-01 -2.38618346e-04 -1.94011417e+01] [-3.47399677e-03 2.83765904e-04 9.99993925e-01 2.95146882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.220714057 meters Centerline goodness [0,1] 0.9804725428848851 Centerline is valid? [True, True] Translation: X:440.79, Y:-19.40, Z:2.95 [[ 9.99922909e-01 -1.16467028e-02 4.30471499e-03 4.40788981e+02] [ 1.16480847e-02 9.99932115e-01 -2.96095046e-04 -1.94031821e+01] [-4.30097424e-03 3.46213905e-04 9.99990691e-01 2.95106788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.250714057 meters Centerline goodness [0,1] 0.9807124539361679 Centerline is valid? [True, True] Translation: X:440.82, Y:-19.41, Z:2.95 [[ 9.99935086e-01 -1.03412614e-02 4.78346731e-03 4.40819742e+02] [ 1.03429528e-02 9.99946456e-01 -3.29001952e-04 -1.94055220e+01] [-4.77980889e-03 3.78455772e-04 9.99988505e-01 2.95117296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.280714057 meters Centerline goodness [0,1] 0.9815932342698938 Centerline is valid? [True, True] Translation: X:440.85, Y:-19.40, Z:2.95 [[ 9.99954112e-01 -7.62092396e-03 5.80474461e-03 4.40851186e+02] [ 7.62337171e-03 9.99970862e-01 -3.99672267e-04 -1.94013779e+01] [-5.80152960e-03 4.43905652e-04 9.99983072e-01 2.95192647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.310714057 meters Centerline goodness [0,1] 0.9805145544790516 Centerline is valid? [True, True] Translation: X:440.88, Y:-19.41, Z:2.95 [[ 9.99960485e-01 -6.54974098e-03 6.01070898e-03 4.40881955e+02] [ 6.55234558e-03 9.99978448e-01 -4.13735784e-04 -1.94053927e+01] [-6.00786957e-03 4.53103678e-04 9.99981850e-01 2.95129172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.340714057 meters Centerline goodness [0,1] 0.9790133023375952 Centerline is valid? [True, True] Translation: X:440.91, Y:-19.40, Z:2.95 [[ 9.99961725e-01 -6.17469089e-03 6.19845453e-03 4.40914526e+02] [ 6.17745509e-03 9.99980828e-01 -4.26903123e-04 -1.94039206e+01] [-6.19569970e-03 4.65177458e-04 9.99980698e-01 2.94990728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.370714057 meters Centerline goodness [0,1] 0.9815592954649366 Centerline is valid? [True, True] Translation: X:440.95, Y:-19.40, Z:2.95 [[ 9.99963686e-01 -6.53774715e-03 5.46658661e-03 4.40946475e+02] [ 6.53990399e-03 9.99978544e-01 -3.76766334e-04 -1.94025825e+01] [-5.46400612e-03 4.12503604e-04 9.99984987e-01 2.94961937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.400714057 meters Centerline goodness [0,1] 0.9815165155369996 Centerline is valid? [True, True] Translation: X:440.98, Y:-19.40, Z:2.95 [[ 9.99960663e-01 -7.81352743e-03 4.19776360e-03 4.40978571e+02] [ 7.81480942e-03 9.99969422e-01 -2.89082706e-04 -1.94002902e+01] [-4.19537648e-03 3.21876057e-04 9.99991148e-01 2.94761688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.430714057 meters Centerline goodness [0,1] 0.9817426478626872 Centerline is valid? [True, True] Translation: X:441.01, Y:-19.40, Z:2.95 [[ 9.99955369e-01 -8.70725457e-03 3.66660337e-03 4.41010854e+02] [ 8.70824065e-03 9.99962051e-01 -2.53057364e-04 -1.93993511e+01] [-3.66426079e-03 2.84975734e-04 9.99993246e-01 2.94726194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.460714057 meters Centerline goodness [0,1] 0.9812783991611325 Centerline is valid? [True, True] Translation: X:441.04, Y:-19.40, Z:2.95 [[ 9.99944877e-01 -9.89067524e-03 3.52395002e-03 4.41041623e+02] [ 9.89159534e-03 9.99951047e-01 -2.43766553e-04 -1.94019841e+01] [-3.52136649e-03 2.78610603e-04 9.99993761e-01 2.94649546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.490714057 meters Centerline goodness [0,1] 0.9788585825391609 Centerline is valid? [True, True] Translation: X:441.07, Y:-19.40, Z:2.95 [[ 9.99928297e-01 -1.16202339e-02 2.89329143e-03 4.41073194e+02] [ 1.16208614e-02 9.99932455e-01 -2.00168908e-04 -1.94015664e+01] [-2.89077000e-03 2.33777094e-04 9.99995794e-01 2.94617117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.520714057 meters Centerline goodness [0,1] 0.9791502925508689 Centerline is valid? [True, True] Translation: X:441.10, Y:-19.40, Z:2.95 [[ 9.99941555e-01 -1.06486028e-02 1.86916821e-03 4.41104946e+02] [ 1.06488621e-02 9.99943291e-01 -1.28840328e-04 -1.94005013e+01] [-1.86769024e-03 1.48737312e-04 9.99998245e-01 2.94543250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.550714057 meters Centerline goodness [0,1] 0.9795617871349142 Centerline is valid? [True, True] Translation: X:441.14, Y:-19.40, Z:2.94 [[ 9.99943174e-01 -1.05574493e-02 1.47963399e-03 4.41136942e+02] [ 1.05576116e-02 9.99944262e-01 -1.01911233e-04 -1.93993565e+01] [-1.47847560e-03 1.17526843e-04 9.99998900e-01 2.94480374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.580714057 meters Centerline goodness [0,1] 0.9790172876435138 Centerline is valid? [True, True] Translation: X:441.17, Y:-19.40, Z:2.94 [[ 9.99951168e-01 -9.80199049e-03 1.25819815e-03 4.41169700e+02] [ 9.80210694e-03 9.99951954e-01 -8.64185698e-05 -1.93987524e+01] [-1.25729063e-03 9.87473426e-05 9.99999205e-01 2.94444971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.610714057 meters Centerline goodness [0,1] 0.9777973957183844 Centerline is valid? [True, True] Translation: X:441.20, Y:-19.40, Z:2.94 [[ 9.99960789e-01 -8.83376916e-03 6.19924641e-04 4.41202166e+02] [ 8.83379706e-03 9.99960980e-01 -4.22841144e-05 -1.93958083e+01] [-6.19526924e-04 4.77587449e-05 9.99999807e-01 2.94270062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.640714057 meters Centerline goodness [0,1] 0.9773906515643285 Centerline is valid? [True, True] Translation: X:441.23, Y:-19.40, Z:2.94 [[ 9.99961108e-01 -8.80229722e-03 5.49742488e-04 4.41232904e+02] [ 8.80231884e-03 9.99961258e-01 -3.69174729e-05 -1.93975429e+01] [-5.49396232e-04 4.17550458e-05 9.99999848e-01 2.94196071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.670714057 meters Centerline goodness [0,1] 0.9764420959929546 Centerline is valid? [True, True] Translation: X:441.26, Y:-19.40, Z:2.94 [[ 9.99950216e-01 -9.91276804e-03 1.14126725e-03 4.41263685e+02] [ 9.91286373e-03 9.99950863e-01 -7.82212423e-05 -1.93990988e+01] [-1.14043579e-03 8.95305749e-05 9.99999346e-01 2.94150295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.700714057 meters Centerline goodness [0,1] 0.9769394355589031 Centerline is valid? [True, True] Translation: X:441.29, Y:-19.40, Z:2.94 [[ 9.99935508e-01 -1.12642921e-02 1.44741992e-03 4.41294892e+02] [ 1.12644497e-02 9.99936549e-01 -1.00757507e-04 -1.93999301e+01] [-1.44619312e-03 1.17055398e-04 9.99998947e-01 2.94161709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.730714057 meters Centerline goodness [0,1] 0.9708985327363802 Centerline is valid? [True, True] Translation: X:441.32, Y:-19.40, Z:2.94 [[ 9.99897130e-01 -1.40856681e-02 2.70602893e-03 4.41324756e+02] [ 1.40862314e-02 9.99900766e-01 -1.89212921e-04 -1.94024695e+01] [-2.70309521e-03 2.27311207e-04 9.99996321e-01 2.94218699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76071405700003 meters Centerline goodness [0,1] 0.9707055486615849 Centerline is valid? [True, True] Translation: X:441.36, Y:-19.40, Z:2.94 [[ 9.99882231e-01 -1.49411090e-02 3.50532862e-03 4.41356623e+02] [ 1.49420571e-02 9.99888331e-01 -2.44435035e-04 -1.94046457e+01] [-3.50128505e-03 2.96783069e-04 9.99993826e-01 2.94238273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.790714057 meters Centerline goodness [0,1] 0.9647734326505276 Centerline is valid? [True, True] Translation: X:441.39, Y:-19.41, Z:2.94 [[ 9.99851525e-01 -1.68351917e-02 3.67477711e-03 4.41386228e+02] [ 1.68362497e-02 9.99858227e-01 -2.57150969e-04 -1.94059098e+01] [-3.66992694e-03 3.18982253e-04 9.99993215e-01 2.94213469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82071405700003 meters Centerline goodness [0,1] 0.9631635007988638 Centerline is valid? [True, True] Translation: X:441.42, Y:-19.41, Z:2.94 [[ 9.99844156e-01 -1.72688013e-02 3.66760087e-03 4.41418589e+02] [ 1.72698559e-02 9.99850832e-01 -2.56049168e-04 -1.94073518e+01] [-3.66263212e-03 3.19348203e-04 9.99993242e-01 2.94194163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.850714057 meters Centerline goodness [0,1] 0.9594397238449283 Centerline is valid? [True, True] Translation: X:441.45, Y:-19.41, Z:2.94 [[ 9.99840269e-01 -1.75181077e-02 3.54305420e-03 4.41450473e+02] [ 1.75190941e-02 9.99846498e-01 -2.47565628e-04 -1.94073511e+01] [-3.53817346e-03 3.09597184e-04 9.99993693e-01 2.94088162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.880714057 meters Centerline goodness [0,1] 0.9739481626131724 Centerline is valid? [True, True] Translation: X:441.48, Y:-19.40, Z:2.94 [[ 9.99841095e-01 -1.75105778e-02 3.34134797e-03 4.41483051e+02] [ 1.75114555e-02 9.99846635e-01 -2.33607081e-04 -1.93977885e+01] [-3.33674493e-03 2.92081826e-04 9.99994390e-01 2.94101655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.910714057 meters Centerline goodness [0,1] 0.9743254038700515 Centerline is valid? [True, True] Translation: X:441.52, Y:-19.40, Z:2.94 [[ 9.99856576e-01 -1.66384522e-02 3.16073827e-03 4.41515289e+02] [ 1.66392338e-02 9.99861534e-01 -2.21156703e-04 -1.93983322e+01] [-3.15662091e-03 2.73717247e-04 9.99994980e-01 2.94021117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.940714057 meters Centerline goodness [0,1] 0.9752694849842524 Centerline is valid? [True, True] Translation: X:441.55, Y:-19.40, Z:2.94 [[ 9.99895487e-01 -1.42528857e-02 2.42299749e-03 4.41545337e+02] [ 1.42533398e-02 9.99898402e-01 -1.70225164e-04 -1.93976804e+01] [-2.42032511e-03 2.04743179e-04 9.99997050e-01 2.93865812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.970714057 meters Centerline goodness [0,1] 0.9764653443280589 Centerline is valid? [True, True] Translation: X:441.58, Y:-19.39, Z:2.94 [[ 9.99929630e-01 -1.18089301e-02 1.13297111e-03 4.41576614e+02] [ 1.18090276e-02 9.99930268e-01 -7.93934583e-05 -1.93942223e+01] [-1.13195455e-03 9.27671585e-05 9.99999355e-01 2.93766056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.000714057 meters Centerline goodness [0,1] 0.9769657044933567 Centerline is valid? [True, True] Translation: X:441.61, Y:-19.39, Z:2.94 [[ 9.99950249e-01 -9.92803714e-03 9.66530543e-04 4.41608347e+02] [ 9.92810680e-03 9.99950713e-01 -6.72979973e-05 -1.93932230e+01] [-9.65814768e-04 7.68904676e-05 9.99999531e-01 2.93734720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.030714057 meters Centerline goodness [0,1] 0.9766509961943138 Centerline is valid? [True, True] Translation: X:441.64, Y:-19.39, Z:2.94 [[ 9.99965382e-01 -8.31662974e-03 2.63473140e-04 4.41638741e+02] [ 8.31663460e-03 9.99965416e-01 -1.73487596e-05 -1.93946857e+01] [-2.63319744e-04 1.95393689e-05 9.99999965e-01 2.93699708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.060714057 meters Centerline goodness [0,1] 0.9778432291318027 Centerline is valid? [True, True] Translation: X:441.67, Y:-19.39, Z:2.94 [[ 9.99992527e-01 -3.86247248e-03 1.65840798e-04 4.41668746e+02] [ 3.86247447e-03 9.99992541e-01 -1.16891369e-05 -1.93929944e+01] [-1.65794412e-04 1.23296054e-05 9.99999986e-01 2.93661656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.090714057 meters Centerline goodness [0,1] 0.9774410849763893 Centerline is valid? [True, True] Translation: X:441.70, Y:-19.39, Z:2.94 [[ 9.99998944e-01 -1.42983381e-03 2.61098791e-04 4.41698209e+02] [ 1.42983844e-03 9.99998978e-01 -1.75495430e-05 -1.93937462e+01] [-2.61073432e-04 1.79228536e-05 9.99999966e-01 2.93611353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.120714057 meters Centerline goodness [0,1] 0.9805223947581007 Centerline is valid? [True, True] Translation: X:441.73, Y:-19.38, Z:2.94 [[ 9.99997237e-01 2.23960304e-03 7.14945474e-04 4.41729989e+02] [-2.23956762e-03 9.99997491e-01 -5.03344202e-05 -1.93829312e+01] [-7.15056409e-04 4.87331124e-05 9.99999743e-01 2.93787314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.150714057 meters Centerline goodness [0,1] 0.9799928225372331 Centerline is valid? [True, True] Translation: X:441.76, Y:-19.39, Z:2.94 [[ 9.99994998e-01 3.11243653e-03 5.63582864e-04 4.41759300e+02] [-3.11241451e-03 9.99995156e-01 -3.99476502e-05 -1.93865475e+01] [-5.63704468e-04 3.81933468e-05 9.99999840e-01 2.93722919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.180714057 meters Centerline goodness [0,1] 0.9776573984580458 Centerline is valid? [True, True] Translation: X:441.79, Y:-19.39, Z:2.94 [[ 9.99994552e-01 3.26345741e-03 4.95204413e-04 4.41788726e+02] [-3.26344064e-03 9.99994674e-01 -3.46662527e-05 -1.93903003e+01] [-4.95314907e-04 3.30499937e-05 9.99999877e-01 2.93673220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.210714057 meters Centerline goodness [0,1] 0.9788658057271196 Centerline is valid? [True, True] Translation: X:441.82, Y:-19.39, Z:2.94 [[ 9.99997910e-01 1.80745406e-03 9.55879627e-04 4.41818797e+02] [-1.80739007e-03 9.99998364e-01 -6.78000438e-05 -1.93905704e+01] [-9.56000609e-04 6.60722548e-05 9.99999541e-01 2.93701879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.240714057 meters Centerline goodness [0,1] 0.9793302462921951 Centerline is valid? [True, True] Translation: X:441.85, Y:-19.39, Z:2.94 [[ 9.99999631e-01 1.59923777e-04 8.44075847e-04 4.41849514e+02] [-1.59873634e-04 9.99999985e-01 -5.94720559e-05 -1.93911531e+01] [-8.44085345e-04 5.93370885e-05 9.99999642e-01 2.93666027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.270714057 meters Centerline goodness [0,1] 0.9784423899173961 Centerline is valid? [True, True] Translation: X:441.88, Y:-19.40, Z:2.94 [[ 9.99992341e-01 -3.91355434e-03 4.20777866e-05 4.41878624e+02] [ 3.91355448e-03 9.99992342e-01 -3.15118370e-06 -1.93977788e+01] [-4.20651321e-05 3.31583328e-06 9.99999999e-01 2.93548734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.300714057 meters Centerline goodness [0,1] 0.9776826727016066 Centerline is valid? [True, True] Translation: X:441.91, Y:-19.40, Z:2.93 [[ 9.99979044e-01 -6.46000746e-03 -4.24510880e-04 4.41909652e+02] [ 6.46002083e-03 9.99979133e-01 3.01360495e-05 -1.94015733e+01] [ 4.24307342e-04 -3.28777670e-05 9.99999909e-01 2.93432590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.330714057 meters Centerline goodness [0,1] 0.9776199650521977 Centerline is valid? [True, True] Translation: X:441.94, Y:-19.41, Z:2.93 [[ 9.99936699e-01 -1.11939064e-02 -1.13763432e-03 4.41939425e+02] [ 1.11940054e-02 9.99937342e-01 8.06827745e-05 -1.94066820e+01] [ 1.13665988e-03 -9.34123519e-05 9.99999350e-01 2.93291271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.360714057 meters Centerline goodness [0,1] 0.9769160154938092 Centerline is valid? [True, True] Translation: X:441.97, Y:-19.41, Z:2.93 [[ 9.99908925e-01 -1.34126062e-02 -1.49791384e-03 4.41970070e+02] [ 1.34127797e-02 9.99910039e-01 1.05851627e-04 -1.94089127e+01] [ 1.49635934e-03 -1.25933175e-04 9.99998873e-01 2.93221045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.390714057 meters Centerline goodness [0,1] 0.976626289816061 Centerline is valid? [True, True] Translation: X:442.00, Y:-19.41, Z:2.93 [[ 9.99884795e-01 -1.51044551e-02 -1.50052973e-03 4.42001266e+02] [ 1.51046315e-02 9.99885913e-01 1.06310795e-04 -1.94120551e+01] [ 1.49875277e-03 -1.28963496e-04 9.99998869e-01 2.93157963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.420714057 meters Centerline goodness [0,1] 0.976626289816061 Centerline is valid? [True, True] Translation: X:442.03, Y:-19.41, Z:2.93 [[ 9.99885860e-01 -1.50338040e-02 -1.50049066e-03 4.42032993e+02] [ 1.50339812e-02 9.99886978e-01 1.06864003e-04 -1.94143568e+01] [ 1.49871450e-03 -1.29410154e-04 9.99998869e-01 2.93117813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.450714057 meters Centerline goodness [0,1] 0.9768079464245584 Centerline is valid? [True, True] Translation: X:442.06, Y:-19.41, Z:2.93 [[ 9.99844786e-01 -1.76096442e-02 -5.50907571e-04 4.42063826e+02] [ 1.76096685e-02 9.99844937e-01 3.91411755e-05 -1.94134363e+01] [ 5.50132884e-04 -4.88363999e-05 9.99999847e-01 2.93213686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.480714057 meters Centerline goodness [0,1] 0.975528639805847 Centerline is valid? [True, True] Translation: X:442.09, Y:-19.42, Z:2.93 [[ 9.99831711e-01 -1.83057752e-02 1.20353670e-03 4.42094758e+02] [ 1.83058899e-02 9.99832430e-01 -8.44133446e-05 -1.94155185e+01] [-1.20178977e-03 1.06430949e-04 9.99999272e-01 2.93237214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.51071405700003 meters Centerline goodness [0,1] 0.9731632998532896 Centerline is valid? [True, True] Translation: X:442.13, Y:-19.42, Z:2.93 [[ 9.99834031e-01 -1.81628140e-02 1.42225235e-03 4.42127186e+02] [ 1.81629741e-02 9.99835035e-01 -9.97668963e-05 -1.94174191e+01] [-1.42020568e-03 1.25582671e-04 9.99998984e-01 2.93206917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.540714057 meters Centerline goodness [0,1] 0.972126765941199 Centerline is valid? [True, True] Translation: X:442.16, Y:-19.42, Z:2.93 [[ 9.99838327e-01 -1.79094659e-02 1.60347140e-03 4.42158016e+02] [ 1.79096699e-02 9.99839603e-01 -1.12896383e-04 -1.94175796e+01] [-1.60119229e-03 1.41595774e-04 9.99998708e-01 2.93145696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.57071405700003 meters Centerline goodness [0,1] 0.9697332189771137 Centerline is valid? [True, True] Translation: X:442.19, Y:-19.42, Z:2.93 [[ 9.99835073e-01 -1.81122065e-02 1.33258053e-03 4.42190117e+02] [ 1.81123472e-02 9.99835954e-01 -9.35955809e-05 -1.94190434e+01] [-1.33066670e-03 1.17716306e-04 9.99999108e-01 2.93065201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.600714057 meters Centerline goodness [0,1] 0.9678698479595768 Centerline is valid? [True, True] Translation: X:442.22, Y:-19.42, Z:2.93 [[ 9.99820695e-01 -1.89254623e-02 6.35972824e-04 4.42221770e+02] [ 1.89254944e-02 9.99820896e-01 -4.44670309e-05 -1.94201304e+01] [-6.35017360e-04 5.64951579e-05 9.99999797e-01 2.92945420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.630714057 meters Centerline goodness [0,1] 0.9614889726630398 Centerline is valid? [True, True] Translation: X:442.25, Y:-19.42, Z:2.93 [[ 9.99814304e-01 -1.92697117e-02 1.89858076e-04 4.42252492e+02] [ 1.92697145e-02 9.99814322e-01 -1.28368371e-05 -1.94232067e+01] [-1.89575462e-04 1.64929643e-05 9.99999982e-01 2.92811942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.660714057 meters Centerline goodness [0,1] 0.9763396911898274 Centerline is valid? [True, True] Translation: X:442.28, Y:-19.41, Z:2.93 [[ 9.99792943e-01 -2.02067217e-02 -2.39974611e-03 4.42284375e+02] [ 2.02071896e-02 9.99795799e-01 1.70889903e-04 -1.94134159e+01] [ 2.39580295e-03 -2.19346644e-04 9.99997106e-01 2.92718311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.690714057 meters Centerline goodness [0,1] 0.9434142350695391 Centerline is valid? [True, False] Translation: X:442.29, Y:-19.41, Z:2.93 [[ 9.99794529e-01 -2.00926898e-02 -2.68038917e-03 4.42285360e+02] [ 2.00933526e-02 9.99798084e-01 2.20590783e-04 -1.94127258e+01] [ 2.67541570e-03 -2.74403463e-04 9.99996383e-01 2.92646200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.720714057 meters Centerline goodness [0,1] 0.9445111317464272 Centerline is valid? [False, False] Translation: X:442.29, Y:-19.41, Z:2.93 [[ 9.99799218e-01 -1.97857985e-02 -3.16943238e-03 4.42286686e+02] [ 1.97870080e-02 9.99804156e-01 3.50721046e-04 -1.94121361e+01] [ 3.16187237e-03 -4.13364212e-04 9.99994916e-01 2.92593201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.750714057 meters Centerline goodness [0,1] 0.9738948991857749 Centerline is valid? [False, True] Translation: X:442.29, Y:-19.41, Z:2.92 [[ 9.99864986e-01 -1.61433946e-02 -3.06596019e-03 4.42286903e+02] [ 1.61566449e-02 9.99860022e-01 4.34731623e-03 -1.94117738e+01] [ 2.99535058e-03 -4.39626491e-03 9.99985850e-01 2.92479179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.780714057 meters Centerline goodness [0,1] 0.9755603134110787 Centerline is valid? [True, True] Translation: X:442.32, Y:-19.41, Z:2.93 [[ 9.99886431e-01 -1.44587451e-02 -4.25094062e-03 4.42318383e+02] [ 1.44602116e-02 9.99895396e-01 3.14449003e-04 -1.94083366e+01] [ 4.24594942e-03 -3.75882792e-04 9.99990915e-01 2.92583200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.810714057 meters Centerline goodness [0,1] 0.9761502647434727 Centerline is valid? [True, True] Translation: X:442.35, Y:-19.40, Z:2.93 [[ 9.99944879e-01 -9.68988664e-03 -4.04288481e-03 4.42349164e+02] [ 9.69117234e-03 9.99952995e-01 2.98546682e-04 -1.94042334e+01] [ 4.03980189e-03 -3.37710520e-04 9.99991783e-01 2.92602216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.840714057 meters Centerline goodness [0,1] 0.9473684210526316 Centerline is valid? [True, False] Translation: X:442.35, Y:-19.40, Z:2.93 [[ 9.99974877e-01 -5.78041316e-03 -4.10270431e-03 4.42349270e+02] [ 5.79725512e-03 9.99974770e-01 4.10513542e-03 -1.94036128e+01] [ 4.07887141e-03 -4.12881672e-03 9.99983158e-01 2.92588855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.870714057 meters Centerline goodness [0,1] 0.9772268135904499 Centerline is valid? [False, True] Translation: X:442.35, Y:-19.40, Z:2.93 [[ 9.99991056e-01 -1.56961101e-03 -3.92740442e-03 4.42348436e+02] [ 1.59459249e-03 9.99978467e-01 6.36578618e-03 -1.93985020e+01] [ 3.91732805e-03 -6.37199186e-03 9.99972026e-01 2.92766838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.900714057 meters Centerline goodness [0,1] 0.9774436090225564 Centerline is valid? [True, True] Translation: X:442.38, Y:-19.39, Z:2.93 [[ 9.99991599e-01 2.36455090e-03 -3.34831399e-03 4.42379368e+02] [-2.36377290e-03 9.99997178e-01 2.36292694e-04 -1.93928906e+01] [ 3.34886327e-03 -2.28376055e-04 9.99994366e-01 2.93108797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.930714057 meters Centerline goodness [0,1] 0.9775811617243843 Centerline is valid? [True, True] Translation: X:442.41, Y:-19.39, Z:2.93 [[ 9.99973921e-01 6.87835830e-03 -2.20126495e-03 4.42410303e+02] [-6.87803298e-03 9.99976334e-01 1.55322233e-04 -1.93868479e+01] [ 2.20228121e-03 -1.40177809e-04 9.99997565e-01 2.93290853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.960714057 meters Centerline goodness [0,1] 0.9790787258090559 Centerline is valid? [True, True] Translation: X:442.44, Y:-19.38, Z:2.93 [[ 9.99883200e-01 1.52835055e-02 -3.78646094e-05 4.42441795e+02] [-1.52835054e-02 9.99883200e-01 2.63411027e-06 -1.93797429e+01] [ 3.79004452e-05 -2.05509865e-06 9.99999999e-01 2.93491979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.990714057 meters Centerline goodness [0,1] 0.9802541725502905 Centerline is valid? [True, True] Translation: X:442.47, Y:-19.38, Z:2.93 [[ 9.99818000e-01 1.90637704e-02 7.34722293e-04 4.42472090e+02] [-1.90637373e-02 9.99818269e-01 -5.20503245e-05 -1.93792216e+01] [-7.35581046e-04 3.80342985e-05 9.99999729e-01 2.93487452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.020714057 meters Centerline goodness [0,1] 0.9798884491656831 Centerline is valid? [True, True] Translation: X:442.50, Y:-19.38, Z:2.93 [[ 9.99673223e-01 2.55191706e-02 1.48937812e-03 4.42503258e+02] [-2.55190425e-02 9.99674331e-01 -1.04928489e-04 -1.93760628e+01] [-1.49157076e-03 6.68866970e-05 9.99998885e-01 2.93447101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.050714057 meters Centerline goodness [0,1] 0.9809550288454855 Centerline is valid? [True, True] Translation: X:442.53, Y:-19.38, Z:2.93 [[ 9.99562992e-01 2.95332256e-02 1.26999807e-03 4.42533180e+02] [-2.95331353e-02 9.99563798e-01 -8.98115197e-05 -1.93763754e+01] [-1.27209652e-03 5.22652466e-05 9.99999190e-01 2.93296911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.080714057 meters Centerline goodness [0,1] 0.9811618411284335 Centerline is valid? [True, True] Translation: X:442.56, Y:-19.38, Z:2.93 [[ 9.99525304e-01 3.07877075e-02 1.13288155e-03 4.42561588e+02] [-3.07876358e-02 9.99525945e-01 -8.06810397e-05 -1.93782337e+01] [-1.13482849e-03 4.57639960e-05 9.99999355e-01 2.93240093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.110714057 meters Centerline goodness [0,1] 0.9828426820208024 Centerline is valid? [True, True] Translation: X:442.59, Y:-19.38, Z:2.93 [[ 9.99490581e-01 3.19043590e-02 8.30985501e-04 4.42590989e+02] [-3.19043201e-02 9.99490926e-01 -6.00396314e-05 -1.93776061e+01] [-8.32477993e-04 3.34970186e-05 9.99999653e-01 2.93250818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.140714057 meters Centerline goodness [0,1] 0.9829301667555721 Centerline is valid? [True, True] Translation: X:442.62, Y:-19.38, Z:2.93 [[ 9.99435011e-01 3.35974726e-02 -9.31632998e-04 4.42618955e+02] [-3.35974272e-02 9.99435445e-01 6.43962338e-05 -1.93802748e+01] [ 9.33270591e-04 -3.30593789e-05 9.99999564e-01 2.93098330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.170714057 meters Centerline goodness [0,1] 0.9825606911047975 Centerline is valid? [True, True] Translation: X:442.65, Y:-19.38, Z:2.93 [[ 9.99407865e-01 3.43807836e-02 -1.37125908e-03 4.42646836e+02] [-3.43806853e-02 9.99408805e-01 9.51840697e-05 -1.93848130e+01] [ 1.37372090e-03 -4.79828811e-05 9.99999055e-01 2.92877656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.200714057 meters Centerline goodness [0,1] 0.9827470725454419 Centerline is valid? [True, True] Translation: X:442.68, Y:-19.39, Z:2.93 [[ 9.99404039e-01 3.45090750e-02 -8.31430917e-04 4.42675146e+02] [-3.45090391e-02 9.99404384e-01 5.74542633e-05 -1.93880979e+01] [ 8.32918397e-04 -2.87281407e-05 9.99999653e-01 2.92823948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.230714057 meters Centerline goodness [0,1] 0.9825036450739429 Centerline is valid? [True, True] Translation: X:442.70, Y:-19.39, Z:2.93 [[ 9.99412420e-01 3.42686375e-02 -6.89493936e-04 4.42703300e+02] [-3.42686129e-02 9.99412657e-01 4.74600918e-05 -1.93916780e+01] [ 6.90715360e-04 -2.38042044e-05 9.99999761e-01 2.92764252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26071405700003 meters Centerline goodness [0,1] 0.9830309178521199 Centerline is valid? [True, True] Translation: X:442.73, Y:-19.40, Z:2.93 [[ 9.99392938e-01 3.48387647e-02 1.30166574e-04 4.42732285e+02] [-3.48387635e-02 9.99392946e-01 -1.17783393e-05 -1.93953814e+01] [-1.30497899e-04 7.23634656e-06 9.99999991e-01 2.92767131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.290714057 meters Centerline goodness [0,1] 0.9834767800432641 Centerline is valid? [True, True] Translation: X:442.76, Y:-19.40, Z:2.93 [[ 9.99380181e-01 3.52015315e-02 3.25232303e-04 4.42761207e+02] [-3.52015257e-02 9.99380234e-01 -2.35255928e-05 -1.93965260e+01] [-3.25858872e-04 1.20623379e-05 9.99999947e-01 2.92777067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32071405700003 meters Centerline goodness [0,1] 0.9842297553530962 Centerline is valid? [True, True] Translation: X:442.79, Y:-19.40, Z:2.93 [[ 9.99271941e-01 3.81495353e-02 4.47958897e-04 4.42790471e+02] [-3.81495246e-02 9.99272041e-01 -3.25774557e-05 -1.93996104e+01] [-4.48875616e-04 1.54643185e-05 9.99999899e-01 2.92710325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.350714057 meters Centerline goodness [0,1] 0.9843472648055511 Centerline is valid? [True, True] Translation: X:442.82, Y:-19.40, Z:2.93 [[ 9.99185368e-01 4.03546923e-02 3.15091883e-04 4.42817947e+02] [-4.03546871e-02 9.99185418e-01 -2.29499181e-05 -1.94036260e+01] [-3.15761351e-04 1.02157880e-05 9.99999950e-01 2.92550482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.380714057 meters Centerline goodness [0,1] 0.9862502591031576 Centerline is valid? [True, True] Translation: X:442.85, Y:-19.40, Z:2.93 [[ 9.98963877e-01 4.55100264e-02 -1.02484023e-04 4.42847700e+02] [-4.55100260e-02 9.98963882e-01 6.69930491e-06 -1.94035513e+01] [ 1.02682723e-04 -2.02831304e-06 9.99999995e-01 2.92514466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.410714057 meters Centerline goodness [0,1] 0.9863452150686193 Centerline is valid? [True, True] Translation: X:442.88, Y:-19.41, Z:2.92 [[ 9.98852066e-01 4.79014290e-02 -5.29363769e-05 4.42875335e+02] [-4.79014289e-02 9.98852068e-01 2.62367363e-06 -1.94072461e+01] [ 5.30012872e-05 -8.49337315e-08 9.99999999e-01 2.92442054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.440714057 meters Centerline goodness [0,1] 0.9864557746608205 Centerline is valid? [True, True] Translation: X:442.90, Y:-19.41, Z:2.92 [[ 9.98780253e-01 4.93643765e-02 1.07904391e-03 4.42903632e+02] [-4.93643235e-02 9.98780836e-01 -7.56606138e-05 -1.94097872e+01] [-1.08146332e-03 2.23020543e-05 9.99999415e-01 2.92436648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.470714057 meters Centerline goodness [0,1] 0.9875678634974223 Centerline is valid? [True, True] Translation: X:442.93, Y:-19.42, Z:2.93 [[ 9.98675200e-01 5.13793103e-02 2.83033986e-03 4.42931890e+02] [-5.13789538e-02 9.98679210e-01 -1.98580192e-04 -1.94155128e+01] [-2.83680449e-03 5.28972122e-05 9.99995975e-01 2.92574100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.500714057 meters Centerline goodness [0,1] 0.9858222201993537 Centerline is valid? [True, True] Translation: X:442.96, Y:-19.43, Z:2.92 [[ 9.98726834e-01 5.02725198e-02 4.16953076e-03 4.42959097e+02] [-5.02717508e-02 9.98735534e-01 -2.89100884e-04 -1.94288110e+01] [-4.17879236e-03 7.91231991e-05 9.99991266e-01 2.92447409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.530714057 meters Centerline goodness [0,1] 0.9864889413688178 Centerline is valid? [True, True] Translation: X:442.99, Y:-19.43, Z:2.93 [[ 9.98790199e-01 4.89483412e-02 4.71158649e-03 4.42987482e+02] [-4.89473509e-02 9.98801307e-01 -3.25342571e-04 -1.94317840e+01] [-4.72186372e-03 9.43292940e-05 9.99988847e-01 2.92512663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.560714057 meters Centerline goodness [0,1] 0.9864396803477237 Centerline is valid? [True, True] Translation: X:443.02, Y:-19.44, Z:2.92 [[ 9.98857515e-01 4.75575178e-02 4.68487481e-03 4.43015089e+02] [-4.75565243e-02 9.98868496e-01 -3.23293672e-04 -1.94389081e+01] [-4.69494890e-03 1.00127951e-04 9.99988974e-01 2.92423396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.590714057 meters Centerline goodness [0,1] 0.9860228143739573 Centerline is valid? [True, True] Translation: X:443.04, Y:-19.45, Z:2.92 [[ 9.99020593e-01 4.41146460e-02 3.42815842e-03 4.43044182e+02] [-4.41140954e-02 9.99026472e-01 -2.36103936e-04 -1.94510687e+01] [-3.43523665e-03 8.46425866e-05 9.99994096e-01 2.92228862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.620714057 meters Centerline goodness [0,1] 0.9857091497393493 Centerline is valid? [True, True] Translation: X:443.07, Y:-19.46, Z:2.92 [[ 9.99084385e-01 4.27061609e-02 2.56435818e-03 4.43072303e+02] [-4.27058473e-02 9.99087673e-01 -1.76958171e-04 -1.94580565e+01] [-2.56957585e-03 6.72830565e-05 9.99996696e-01 2.92110106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.650714057 meters Centerline goodness [0,1] 0.9861901986279873 Centerline is valid? [True, True] Translation: X:443.10, Y:-19.47, Z:2.92 [[ 9.99207004e-01 3.98162401e-02 1.72485897e-04 4.43101111e+02] [-3.98162386e-02 9.99207019e-01 -1.22679909e-05 -1.94682407e+01] [-1.72837584e-04 5.39052288e-06 9.99999985e-01 2.92003330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.680714057 meters Centerline goodness [0,1] 0.9864807395304072 Centerline is valid? [True, True] Translation: X:443.13, Y:-19.47, Z:2.92 [[ 9.99260661e-01 3.84447282e-02 -3.65174626e-04 4.43129518e+02] [-3.84447219e-02 9.99260728e-01 2.41815885e-05 -1.94746158e+01] [ 3.65834317e-04 -1.01246731e-05 9.99999933e-01 2.91929889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.710714057 meters Centerline goodness [0,1] 0.9861067679249498 Centerline is valid? [True, True] Translation: X:443.16, Y:-19.49, Z:2.92 [[ 9.99340850e-01 3.62911324e-02 -9.05108225e-04 4.43156538e+02] [-3.62910921e-02 9.99341259e-01 6.09174753e-05 -1.94868001e+01] [ 9.06722758e-04 -2.80299556e-05 9.99999589e-01 2.91836959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.740714057 meters Centerline goodness [0,1] 0.985160556088635 Centerline is valid? [True, True] Translation: X:443.18, Y:-19.49, Z:2.92 [[ 9.99369331e-01 3.54703642e-02 -1.67125255e-03 4.43184786e+02] [-3.54702239e-02 9.99370727e-01 1.13480303e-04 -1.94921871e+01] [ 1.67422607e-03 -5.41290325e-05 9.99998597e-01 2.91771009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.770714057 meters Centerline goodness [0,1] 0.9858891192402862 Centerline is valid? [True, True] Translation: X:443.21, Y:-19.50, Z:2.92 [[ 9.99376661e-01 3.52410963e-02 -2.08695499e-03 4.43213028e+02] [-3.52408770e-02 9.99378837e-01 1.41773921e-04 -1.94984063e+01] [ 2.09065492e-03 -6.81394244e-05 9.99997812e-01 2.91714986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.800714057 meters Centerline goodness [0,1] 0.984924734520141 Centerline is valid? [True, True] Translation: X:443.24, Y:-19.51, Z:2.92 [[ 9.99420109e-01 3.40216129e-02 -1.40561790e-03 4.43240049e+02] [-3.40215130e-02 9.99421096e-01 9.48860350e-05 -1.95076835e+01] [ 1.40803236e-03 -4.70097639e-05 9.99999008e-01 2.91650792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.830714057 meters Centerline goodness [0,1] 0.9859788242590706 Centerline is valid? [True, True] Translation: X:443.27, Y:-19.51, Z:2.92 [[ 9.99450786e-01 3.31346190e-02 -4.71912911e-04 4.43268828e+02] [-3.31346079e-02 9.99450898e-01 3.13238333e-05 -1.95146425e+01] [ 4.72691686e-04 -1.56699805e-05 9.99999888e-01 2.91769350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.860714057 meters Centerline goodness [0,1] 0.9851422759733799 Centerline is valid? [True, True] Translation: X:443.30, Y:-19.52, Z:2.92 [[ 9.99466990e-01 3.26437060e-02 3.52026482e-04 4.43295905e+02] [-3.26436991e-02 9.99467052e-01 -2.54338604e-05 -1.95202959e+01] [-3.52669125e-04 1.39288574e-05 9.99999938e-01 2.91758065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.890714057 meters Centerline goodness [0,1] 0.9861416630004399 Centerline is valid? [True, True] Translation: X:443.32, Y:-19.52, Z:2.92 [[ 9.99488199e-01 3.19435163e-02 1.71788014e-03 4.43324696e+02] [-3.19433613e-02 9.99489674e-01 -1.17634342e-04 -1.95246838e+01] [-1.72076112e-03 6.26992708e-05 9.99998518e-01 2.91826772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.920714057 meters Centerline goodness [0,1] 0.9847851897453938 Centerline is valid? [True, True] Translation: X:443.35, Y:-19.53, Z:2.92 [[ 9.99569189e-01 2.92188991e-02 2.77353225e-03 4.43352356e+02] [-2.92184867e-02 9.99573031e-01 -1.89136509e-04 -1.95338422e+01] [-2.77787439e-03 1.08016612e-04 9.99996136e-01 2.91859565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.950714057 meters Centerline goodness [0,1] 0.9847130400404138 Centerline is valid? [True, True] Translation: X:443.38, Y:-19.54, Z:2.92 [[ 9.99710387e-01 2.38279213e-02 3.37226286e-03 4.43381586e+02] [-2.38272835e-02 9.99716064e-01 -2.29197099e-04 -1.95419883e+01] [-3.37676664e-03 1.48778858e-04 9.99994288e-01 2.91907126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.980714057 meters Centerline goodness [0,1] 0.9831246716862195 Centerline is valid? [True, True] Translation: X:443.41, Y:-19.55, Z:2.92 [[ 9.99788756e-01 2.01597610e-02 4.00343504e-03 4.43409997e+02] [-2.01588315e-02 9.99796753e-01 -2.72392198e-04 -1.95495556e+01] [-4.00811271e-03 1.91630085e-04 9.99991949e-01 2.91873232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.01071405700003 meters Centerline goodness [0,1] 0.983306019884191 Centerline is valid? [True, True] Translation: X:443.44, Y:-19.56, Z:2.92 [[ 9.99866564e-01 1.57891887e-02 4.19000522e-03 4.43439541e+02] [-1.57881353e-02 9.99875319e-01 -2.84354514e-04 -1.95557339e+01] [-4.19397254e-03 2.18164201e-04 9.99991181e-01 2.91835316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.040714057 meters Centerline goodness [0,1] 0.9836741820721566 Centerline is valid? [True, True] Translation: X:443.47, Y:-19.57, Z:2.92 [[ 9.99971712e-01 6.75243762e-03 3.31350292e-03 4.43469622e+02] [-6.75172981e-03 9.99977182e-01 -2.24751853e-04 -1.95668284e+01] [-3.31494494e-03 2.02373619e-04 9.99994485e-01 2.91691157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.07071405700003 meters Centerline goodness [0,1] 0.982266954229571 Centerline is valid? [True, True] Translation: X:443.50, Y:-19.57, Z:2.92 [[ 9.99993775e-01 2.63971084e-03 2.34126358e-03 4.43499020e+02] [-2.63934602e-03 9.99996504e-01 -1.58895963e-04 -1.95739253e+01] [-2.34167483e-03 1.52715570e-04 9.99997247e-01 2.91540111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.100714057 meters Centerline goodness [0,1] 0.9624374319912948 Centerline is valid? [True, True] Translation: X:443.53, Y:-19.60, Z:2.91 [[ 9.99993214e-01 -3.68393166e-03 -6.93843324e-07 4.43526274e+02] [ 3.68393166e-03 9.99993214e-01 2.21734858e-07 -1.96021381e+01] [ 6.93021756e-07 -2.24289424e-07 1.00000000e+00 2.90973995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.130714057 meters Centerline goodness [0,1] 0.9832775919732442 Centerline is valid? [True, True] Translation: X:443.56, Y:-19.58, Z:2.91 [[ 9.99977314e-01 -6.66738046e-03 -9.57475894e-04 4.43558817e+02] [ 6.66744589e-03 9.99977770e-01 6.51559159e-05 -1.95828372e+01] [ 9.57020190e-04 -7.15383565e-05 9.99999539e-01 2.91324226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.160714057 meters Centerline goodness [0,1] 0.9147988913380328 Centerline is valid? [True, False] Translation: X:443.56, Y:-19.59, Z:2.91 [[ 9.99976058e-01 -6.83184582e-03 -1.09935864e-03 4.43559317e+02] [ 6.83288371e-03 9.99976211e-01 9.43115989e-04 -1.95854670e+01] [ 1.09288926e-03 -9.50605199e-04 9.99998951e-01 2.91254049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.190714057 meters Centerline goodness [0,1] 0.9811037007976985 Centerline is valid? [False, True] Translation: X:443.56, Y:-19.59, Z:2.91 [[ 9.99977708e-01 -6.54553006e-03 -1.31893242e-03 4.43560034e+02] [ 6.54746101e-03 9.99977492e-01 1.46506734e-03 -1.95864269e+01] [ 1.30931309e-03 -1.47367034e-03 9.99998057e-01 2.91208116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.220714057 meters Centerline goodness [0,1] 0.981062999847458 Centerline is valid? [True, True] Translation: X:443.59, Y:-19.59, Z:2.91 [[ 9.99978666e-01 -6.18116587e-03 -2.11209778e-03 4.43591428e+02] [ 6.18149876e-03 9.99980883e-01 1.51119909e-04 -1.95901654e+01] [ 2.11112331e-03 -1.64172614e-04 9.99997758e-01 2.91185382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.250714057 meters Centerline goodness [0,1] 0.9818767970724057 Centerline is valid? [True, True] Translation: X:443.62, Y:-19.58, Z:2.91 [[ 9.99983083e-01 -5.33447751e-03 -2.31903276e-03 4.43623202e+02] [ 5.33487618e-03 9.99985756e-01 1.65758368e-04 -1.95835431e+01] [ 2.31811550e-03 -1.78127316e-04 9.99997297e-01 2.91330181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.280714057 meters Centerline goodness [0,1] 0.983187421054924 Centerline is valid? [True, True] Translation: X:443.65, Y:-19.58, Z:2.91 [[ 9.99992836e-01 -3.05779388e-03 -2.23130971e-03 4.43654270e+02] [ 3.05815695e-03 9.99995311e-01 1.59324857e-04 -1.95838100e+01] [ 2.23081207e-03 -1.66147411e-04 9.99997498e-01 2.91357620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.310714057 meters Centerline goodness [0,1] 0.983187421054924 Centerline is valid? [True, True] Translation: X:443.68, Y:-19.59, Z:2.91 [[ 9.99992836e-01 -3.05779124e-03 -2.23132520e-03 4.43684277e+02] [ 3.05815383e-03 9.99995311e-01 1.59107635e-04 -1.95859496e+01] [ 2.23082822e-03 -1.65930231e-04 9.99997498e-01 2.91321147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.340714057 meters Centerline goodness [0,1] 0.9821183841284343 Centerline is valid? [True, True] Translation: X:443.71, Y:-19.59, Z:2.91 [[ 9.99995303e-01 -2.22315520e-03 -2.11007925e-03 4.43713601e+02] [ 2.22347707e-03 9.99997517e-01 1.50207699e-04 -1.95875284e+01] [ 2.10974008e-03 -1.54898707e-04 9.99997762e-01 2.91263795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.370714057 meters Centerline goodness [0,1] 0.9824244272149142 Centerline is valid? [True, True] Translation: X:443.74, Y:-19.59, Z:2.91 [[ 9.99998628e-01 -2.72415311e-04 -1.63415260e-03 4.43743228e+02] [ 2.72605647e-04 9.99999956e-01 1.16252158e-04 -1.95882226e+01] [ 1.63412086e-03 -1.16697477e-04 9.99998658e-01 2.91343903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.400714057 meters Centerline goodness [0,1] 0.9825853839279877 Centerline is valid? [True, True] Translation: X:443.77, Y:-19.59, Z:2.91 [[ 9.99999389e-01 1.38807969e-04 -1.09662714e-03 4.43772695e+02] [-1.38722855e-04 9.99999987e-01 7.76899008e-05 -1.95895553e+01] [ 1.09663791e-03 -7.75377261e-05 9.99999396e-01 2.91380099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.430714057 meters Centerline goodness [0,1] 0.982381333737365 Centerline is valid? [True, True] Translation: X:443.80, Y:-19.59, Z:2.91 [[ 9.99999984e-01 -1.69324630e-04 6.26869885e-05 4.43802775e+02] [ 1.69324910e-04 9.99999986e-01 -4.46552122e-06 -1.95913582e+01] [-6.26862315e-05 4.47613561e-06 9.99999998e-01 2.91402668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.460714057 meters Centerline goodness [0,1] 0.9824056511217215 Centerline is valid? [True, True] Translation: X:443.83, Y:-19.59, Z:2.91 [[ 9.99999220e-01 -1.22031878e-03 2.67798299e-04 4.43833300e+02] [ 1.22032393e-03 9.99999255e-01 -1.90766699e-05 -1.95942225e+01] [-2.67774820e-04 1.94034557e-05 9.99999964e-01 2.91392609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.490714057 meters Centerline goodness [0,1] 0.9812165746336797 Centerline is valid? [True, True] Translation: X:443.86, Y:-19.60, Z:2.91 [[ 9.99997386e-01 -2.26419411e-03 3.19960373e-04 4.43863782e+02] [ 2.26420146e-03 9.99997436e-01 -2.25881418e-05 -1.95974490e+01] [-3.19908409e-04 2.33125375e-05 9.99999949e-01 2.91366077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.520714057 meters Centerline goodness [0,1] 0.9831208046401495 Centerline is valid? [True, True] Translation: X:443.90, Y:-19.60, Z:2.91 [[ 9.99987426e-01 -4.98380093e-03 5.56773141e-04 4.43895328e+02] [ 4.98382356e-03 9.99987580e-01 -3.92600413e-05 -1.95968675e+01] [-5.56570561e-04 4.20344067e-05 9.99999844e-01 2.91386936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.550714057 meters Centerline goodness [0,1] 0.9818316810062454 Centerline is valid? [True, True] Translation: X:443.93, Y:-19.60, Z:2.91 [[ 9.99964489e-01 -8.40000347e-03 -6.78368637e-04 4.43925423e+02] [ 8.40003824e-03 9.99964718e-01 4.84222348e-05 -1.95999119e+01] [ 6.77937956e-04 -5.41188378e-05 9.99999769e-01 2.91313126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.580714057 meters Centerline goodness [0,1] 0.9827152940148155 Centerline is valid? [True, True] Translation: X:443.96, Y:-19.60, Z:2.91 [[ 9.99954517e-01 -9.43445256e-03 -1.39806430e-03 4.43957651e+02] [ 9.43460240e-03 9.99955488e-01 1.00621371e-04 -1.95995483e+01] [ 1.39705276e-03 -1.13806975e-04 9.99999018e-01 2.91313862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.610714057 meters Centerline goodness [0,1] 0.981865850994101 Centerline is valid? [True, True] Translation: X:443.99, Y:-19.60, Z:2.91 [[ 9.99939094e-01 -1.09039313e-02 -1.70683149e-03 4.43989000e+02] [ 1.09041558e-02 9.99940540e-01 1.22300367e-04 -1.96007010e+01] [ 1.70539644e-03 -1.40904475e-04 9.99998536e-01 2.91296633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.640714057 meters Centerline goodness [0,1] 0.9817281570414512 Centerline is valid? [True, True] Translation: X:444.02, Y:-19.60, Z:2.91 [[ 9.99936286e-01 -1.10712356e-02 -2.20281430e-03 4.44020355e+02] [ 1.10716105e-02 9.99938695e-01 1.58048394e-04 -1.96027559e+01] [ 2.20092947e-03 -1.82427026e-04 9.99997561e-01 2.91235719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.670714057 meters Centerline goodness [0,1] 0.9809934828570805 Centerline is valid? [True, True] Translation: X:444.05, Y:-19.60, Z:2.91 [[ 9.99939612e-01 -1.08198883e-02 -1.92438589e-03 4.44052749e+02] [ 1.08201748e-02 9.99941451e-01 1.38501240e-04 -1.96041776e+01] [ 1.92277465e-03 -1.59315068e-04 9.99998139e-01 2.91207755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.700714057 meters Centerline goodness [0,1] 0.980367293397464 Centerline is valid? [True, True] Translation: X:444.08, Y:-19.61, Z:2.91 [[ 9.99942697e-01 -1.04740111e-02 -2.21329206e-03 4.44084378e+02] [ 1.04743887e-02 9.99945129e-01 1.59062312e-04 -1.96050776e+01] [ 2.21150459e-03 -1.82236078e-04 9.99997538e-01 2.91131523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.730714057 meters Centerline goodness [0,1] 0.9807270654271181 Centerline is valid? [True, True] Translation: X:444.12, Y:-19.61, Z:2.91 [[ 9.99949397e-01 -9.80617331e-03 -2.24563881e-03 4.44116294e+02] [ 9.80656053e-03 9.99951901e-01 1.61487450e-04 -1.96055850e+01] [ 2.24394723e-03 -1.83501271e-04 9.99997466e-01 2.91121623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76071405700003 meters Centerline goodness [0,1] 0.979125882585839 Centerline is valid? [True, True] Translation: X:444.15, Y:-19.61, Z:2.91 [[ 9.99948504e-01 -9.73168093e-03 -2.87800883e-03 4.44147649e+02] [ 9.73231655e-03 9.99952618e-01 2.06930849e-04 -1.96050702e+01] [ 2.87585868e-03 -2.34929886e-04 9.99995837e-01 2.91097410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.790714057 meters Centerline goodness [0,1] 0.980447172292854 Centerline is valid? [True, True] Translation: X:444.18, Y:-19.61, Z:2.91 [[ 9.99954421e-01 -8.98548067e-03 -3.22754707e-03 4.44179090e+02] [ 8.98627562e-03 9.99959596e-01 2.31883446e-04 -1.96064105e+01] [ 3.22533308e-03 -2.60876504e-04 9.99994765e-01 2.91016999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82071405700003 meters Centerline goodness [0,1] 0.9771755893368583 Centerline is valid? [True, True] Translation: X:444.21, Y:-19.61, Z:2.91 [[ 9.99948002e-01 -9.19017748e-03 -4.41968414e-03 4.44210571e+02] [ 9.19167137e-03 9.99957705e-01 3.17813467e-04 -1.96083676e+01] [ 4.41657644e-03 -3.58421226e-04 9.99990183e-01 2.90766525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.850714057 meters Centerline goodness [0,1] 0.9805100422832981 Centerline is valid? [True, True] Translation: X:444.24, Y:-19.60, Z:2.91 [[ 9.99942478e-01 -9.49754430e-03 -4.98363838e-03 4.44242641e+02] [ 9.49944704e-03 9.99954815e-01 3.58264625e-04 -1.96046022e+01] [ 4.98001056e-03 -4.05585826e-04 9.99987517e-01 2.90814881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.880714057 meters Centerline goodness [0,1] 0.973852181185896 Centerline is valid? [True, True] Translation: X:444.27, Y:-19.61, Z:2.91 [[ 9.99932561e-01 -1.03534716e-02 -5.26117968e-03 4.44272072e+02] [ 1.03556015e-02 9.99946308e-01 3.77767728e-04 -1.96108275e+01] [ 5.25698599e-03 -4.32224932e-04 9.99986089e-01 2.90677275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.910714057 meters Centerline goodness [0,1] 0.979986334281117 Centerline is valid? [True, True] Translation: X:444.30, Y:-19.61, Z:2.91 [[ 9.99926773e-01 -1.10713966e-02 -4.88601022e-03 4.44303391e+02] [ 1.10732451e-02 9.99938628e-01 3.51422296e-04 -1.96079550e+01] [ 4.88181962e-03 -4.05500551e-04 9.99988002e-01 2.90755226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.940714057 meters Centerline goodness [0,1] 0.975919526314631 Centerline is valid? [True, True] Translation: X:444.33, Y:-19.61, Z:2.91 [[ 9.99898527e-01 -1.32455794e-02 -5.24318715e-03 4.44333032e+02] [ 1.32477352e-02 9.99912174e-01 3.76658887e-04 -1.96122306e+01] [ 5.23773760e-03 -4.46081021e-04 9.99986183e-01 2.90621229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.970714057 meters Centerline goodness [0,1] 0.9374135014608642 Centerline is valid? [True, False] Translation: X:444.33, Y:-19.61, Z:2.91 [[ 9.99897733e-01 -1.32259487e-02 -5.44040444e-03 4.44333805e+02] [ 1.32285158e-02 9.99912404e-01 4.36127280e-04 -1.96118407e+01] [ 5.43415969e-03 -5.08051154e-04 9.99985106e-01 2.90560524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.000714057 meters Centerline goodness [0,1] 0.9272222956016378 Centerline is valid? [False, False] Translation: X:444.33, Y:-19.61, Z:2.91 [[ 9.99897181e-01 -1.31986695e-02 -5.60563562e-03 4.44334335e+02] [ 1.32008765e-02 9.99912801e-01 3.56899629e-04 -1.96112268e+01] [ 5.60043621e-03 -4.30862236e-04 9.99984225e-01 2.90535340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.030714057 meters Centerline goodness [0,1] 0.9822916896955762 Centerline is valid? [False, True] Translation: X:444.33, Y:-19.61, Z:2.91 [[ 9.99932846e-01 -1.03550939e-02 -5.20344613e-03 4.44333271e+02] [ 1.03747576e-02 9.99939088e-01 3.76629308e-03 -1.96108047e+01] [ 5.16412886e-03 -3.82002465e-03 9.99979369e-01 2.90527214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.060714057 meters Centerline goodness [0,1] 0.910105160834217 Centerline is valid? [True, False] Translation: X:444.33, Y:-19.61, Z:2.91 [[ 9.99931096e-01 -1.04101281e-02 -5.42516870e-03 4.44333757e+02] [ 1.04270578e-02 9.99940826e-01 3.10169267e-03 -1.96083723e+01] [ 5.39255865e-03 -3.15804750e-03 9.99980473e-01 2.90551376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.090714057 meters Centerline goodness [0,1] 0.9781630345622631 Centerline is valid? [False, True] Translation: X:444.33, Y:-19.61, Z:2.91 [[ 9.99929413e-01 -1.04498522e-02 -5.65420866e-03 4.44333884e+02] [ 1.04642094e-02 9.99942084e-01 2.51559453e-03 -1.96066953e+01] [ 5.62759360e-03 -2.57458378e-03 9.99980851e-01 2.90618946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.120714057 meters Centerline goodness [0,1] 0.9016436845008273 Centerline is valid? [True, False] Translation: X:444.33, Y:-19.61, Z:2.91 [[ 9.99929749e-01 -1.02481564e-02 -5.95579727e-03 4.44334526e+02] [ 1.02617619e-02 9.99944796e-01 2.25836195e-03 -1.96052575e+01] [ 5.93232445e-03 -2.31932027e-03 9.99979714e-01 2.90631847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.150714057 meters Centerline goodness [0,1] 0.9824662514131182 Centerline is valid? [False, True] Translation: X:444.33, Y:-19.60, Z:2.91 [[ 9.99959434e-01 -6.92816551e-03 -5.75599250e-03 4.44333759e+02] [ 6.95828376e-03 9.99962119e-01 5.22905858e-03 -1.96029417e+01] [ 5.71954668e-03 -5.26889829e-03 9.99969762e-01 2.90677134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.180714057 meters Centerline goodness [0,1] 0.9819023569023569 Centerline is valid? [True, True] Translation: X:444.36, Y:-19.60, Z:2.91 [[ 9.99965408e-01 -5.47971853e-03 -6.25739904e-03 4.44364694e+02] [ 5.48283960e-03 9.99984853e-01 4.81734054e-04 -1.96012889e+01] [ 6.25466449e-03 -5.16025705e-04 9.99980306e-01 2.90778412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.210714057 meters Centerline goodness [0,1] 0.9832341446082785 Centerline is valid? [True, True] Translation: X:444.39, Y:-19.60, Z:2.91 [[ 9.99976633e-01 -2.69742407e-03 -6.28157907e-03 4.44394997e+02] [ 2.70051283e-03 9.99996237e-01 4.83287307e-04 -1.96000062e+01] [ 6.28025180e-03 -5.00239499e-04 9.99980154e-01 2.90831906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.240714057 meters Centerline goodness [0,1] 0.9829539157227407 Centerline is valid? [True, True] Translation: X:444.42, Y:-19.60, Z:2.91 [[ 9.99977762e-01 -1.34881013e-03 -6.53112503e-03 4.44424187e+02] [ 1.35211341e-03 9.99998960e-01 5.01387193e-04 -1.95994787e+01] [ 6.53044197e-03 -5.10206865e-04 9.99978546e-01 2.90864700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.270714057 meters Centerline goodness [0,1] 0.9837121212121213 Centerline is valid? [True, True] Translation: X:444.46, Y:-19.59, Z:2.91 [[ 9.99969096e-01 2.28208909e-03 -7.52321972e-03 4.44455131e+02] [-2.27780145e-03 9.99997239e-01 5.78440072e-04 -1.95944410e+01] [ 7.52451900e-03 -5.61285795e-04 9.99971533e-01 2.90938339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.300714057 meters Centerline goodness [0,1] 0.9829162229321974 Centerline is valid? [True, True] Translation: X:444.48, Y:-19.60, Z:2.91 [[ 9.99954384e-01 4.89542868e-03 -8.20151619e-03 4.44483189e+02] [-4.89042493e-03 9.99987843e-01 6.30044561e-04 -1.96001888e+01] [ 8.20450082e-03 -5.89906922e-04 9.99966169e-01 2.90769138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.330714057 meters Centerline goodness [0,1] 0.9844419642857143 Centerline is valid? [True, True] Translation: X:444.51, Y:-19.59, Z:2.91 [[ 9.99903830e-01 9.65447587e-03 -9.95597152e-03 4.44514041e+02] [-9.64733334e-03 9.99953171e-01 7.65188324e-04 -1.95947436e+01] [ 9.96289278e-03 -6.69066160e-04 9.99950145e-01 2.90735229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.360714057 meters Centerline goodness [0,1] 0.9850973372119042 Centerline is valid? [True, True] Translation: X:444.54, Y:-19.59, Z:2.91 [[ 9.99870005e-01 1.23468199e-02 -1.03695975e-02 4.44543996e+02] [-1.23392235e-02 9.99923552e-01 7.96233104e-04 -1.95920016e+01] [ 1.03786357e-02 -6.68176818e-04 9.99945917e-01 2.90769861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.390714057 meters Centerline goodness [0,1] 0.9849911646945668 Centerline is valid? [True, True] Translation: X:444.57, Y:-19.59, Z:2.91 [[ 9.99781089e-01 1.79286765e-02 -1.07859485e-02 4.44574656e+02] [-1.79207774e-02 9.99839067e-01 8.28561671e-04 -1.95886733e+01] [ 1.07990677e-02 -6.35087708e-04 9.99941487e-01 2.90702548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.420714057 meters Centerline goodness [0,1] 0.9855235102682078 Centerline is valid? [True, True] Translation: X:444.60, Y:-19.59, Z:2.91 [[ 9.99731963e-01 2.05762789e-02 -1.06121847e-02 4.44604878e+02] [-2.05687848e-02 9.99788108e-01 8.14854437e-04 -1.95873144e+01] [ 1.06267027e-02 -5.96356282e-04 9.99943357e-01 2.90696581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.450714057 meters Centerline goodness [0,1] 0.9863155292901602 Centerline is valid? [True, True] Translation: X:444.64, Y:-19.58, Z:2.91 [[ 9.99629458e-01 2.54439384e-02 -9.67230035e-03 4.44635362e+02] [-2.54379390e-02 9.99676127e-01 7.42806461e-04 -1.95829829e+01] [ 9.68806768e-03 -4.96487834e-04 9.99952946e-01 2.90875001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.480714057 meters Centerline goodness [0,1] 0.9851094890510949 Centerline is valid? [True, True] Translation: X:444.66, Y:-19.58, Z:2.91 [[ 9.99590388e-01 2.71017485e-02 -9.19515961e-03 4.44663549e+02] [-2.70964097e-02 9.99632576e-01 7.04717521e-04 -1.95839048e+01] [ 9.21088017e-03 -4.55273048e-04 9.99957475e-01 2.90875609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.51071405700003 meters Centerline goodness [0,1] 0.9846665767345654 Centerline is valid? [True, True] Translation: X:444.69, Y:-19.58, Z:2.91 [[ 9.99579359e-01 2.79666442e-02 -7.67933695e-03 4.44692953e+02] [-2.79629749e-02 9.99608789e-01 5.84783915e-04 -1.95833826e+01] [ 7.69268715e-03 -3.69800824e-04 9.99970342e-01 2.90944208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.540714057 meters Centerline goodness [0,1] 0.9851740870770813 Centerline is valid? [True, True] Translation: X:444.72, Y:-19.59, Z:2.91 [[ 9.99589594e-01 2.76551014e-02 -7.47261120e-03 4.44721547e+02] [-2.76516089e-02 9.99617458e-01 5.70304917e-04 -1.95859332e+01] [ 7.48552446e-03 -3.63441138e-04 9.99971917e-01 2.90953219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.57071405700003 meters Centerline goodness [0,1] 0.9852197937959074 Centerline is valid? [True, True] Translation: X:444.75, Y:-19.59, Z:2.91 [[ 9.99658934e-01 2.52035736e-02 -6.84072850e-03 4.44751246e+02] [-2.52005889e-02 9.99682278e-01 5.22169029e-04 -1.95889340e+01] [ 6.85171558e-03 -3.49600548e-04 9.99976466e-01 2.90942925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.600714057 meters Centerline goodness [0,1] 0.9833497009195608 Centerline is valid? [True, True] Translation: X:444.78, Y:-19.60, Z:2.91 [[ 9.99697435e-01 2.37318775e-02 -6.46805834e-03 4.44778164e+02] [-2.37291912e-02 9.99718302e-01 4.91745380e-04 -1.96004524e+01] [ 6.47790635e-03 -3.38114802e-04 9.99978961e-01 2.90648564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.630714057 meters Centerline goodness [0,1] 0.9848767024928758 Centerline is valid? [True, True] Translation: X:444.81, Y:-19.60, Z:2.91 [[ 9.99797768e-01 1.94536847e-02 -5.09681063e-03 4.44808540e+02] [-1.94519567e-02 9.99810717e-01 3.88399511e-04 -1.96006257e+01] [ 5.10340169e-03 -2.89178024e-04 9.99986936e-01 2.90889633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.660714057 meters Centerline goodness [0,1] 0.983698580923298 Centerline is valid? [True, True] Translation: X:444.84, Y:-19.61, Z:2.91 [[ 9.99845862e-01 1.69695316e-02 -4.50422925e-03 4.44837778e+02] [-1.69681587e-02 9.99855972e-01 3.42853786e-04 -1.96056083e+01] [ 4.50939858e-03 -2.66372462e-04 9.99989797e-01 2.90870987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.690714057 meters Centerline goodness [0,1] 0.9839868840677357 Centerline is valid? [True, True] Translation: X:444.87, Y:-19.61, Z:2.91 [[ 9.99914324e-01 1.24550308e-02 -4.02710563e-03 4.44868346e+02] [-1.24538958e-02 9.99922400e-01 3.06798567e-04 -1.96099739e+01] [ 4.03061432e-03 -2.56619128e-04 9.99991844e-01 2.90903577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.720714057 meters Centerline goodness [0,1] 0.9834738541573236 Centerline is valid? [True, True] Translation: X:444.90, Y:-19.61, Z:2.91 [[ 9.99934916e-01 1.05365537e-02 -4.37545091e-03 4.44897597e+02] [-1.05351977e-02 9.99944448e-01 3.32846006e-04 -1.96147894e+01] [ 4.37871489e-03 -2.86728103e-04 9.99990372e-01 2.90794546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.750714057 meters Centerline goodness [0,1] 0.9832004110537721 Centerline is valid? [True, True] Translation: X:444.93, Y:-19.62, Z:2.91 [[ 9.99964962e-01 6.62087097e-03 -5.12245172e-03 4.44927188e+02] [-6.61895898e-03 9.99978018e-01 3.90120758e-04 -1.96214495e+01] [ 5.12492206e-03 -3.56201791e-04 9.99986804e-01 2.90622333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.780714057 meters Centerline goodness [0,1] 0.9825349970928933 Centerline is valid? [True, True] Translation: X:444.96, Y:-19.63, Z:2.91 [[ 9.99974407e-01 4.58434399e-03 -5.49261994e-03 4.44955673e+02] [-4.58211995e-03 9.99989415e-01 4.17429936e-04 -1.96264060e+01] [ 5.49447545e-03 -3.92251409e-04 9.99984828e-01 2.90532585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.810714057 meters Centerline goodness [0,1] 0.982031511900771 Centerline is valid? [True, True] Translation: X:444.99, Y:-19.63, Z:2.91 [[ 9.99985137e-01 1.34872150e-03 -5.28274689e-03 4.44985553e+02] [-1.34661768e-03 9.99999013e-01 4.01780054e-04 -1.96304245e+01] [ 5.28328356e-03 -3.94660242e-04 9.99985965e-01 2.90552267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.840714057 meters Centerline goodness [0,1] 0.9821117513064451 Centerline is valid? [True, True] Translation: X:445.01, Y:-19.64, Z:2.91 [[ 9.99987824e-01 2.97636586e-04 -4.92582349e-03 4.45013719e+02] [-2.95798137e-04 9.99999886e-01 3.73950901e-04 -1.96351447e+01] [ 4.92593423e-03 -3.72489298e-04 9.99987798e-01 2.90508924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.870714057 meters Centerline goodness [0,1] 0.9818490321716417 Centerline is valid? [True, True] Translation: X:445.04, Y:-19.64, Z:2.91 [[ 9.99989055e-01 -8.70344224e-04 -4.59690259e-03 4.45043547e+02] [ 8.71957621e-04 9.99999559e-01 3.48982365e-04 -1.96350475e+01] [ 4.59659682e-03 -3.52986850e-04 9.99989373e-01 2.90545655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.900714057 meters Centerline goodness [0,1] 0.9820845448445538 Centerline is valid? [True, True] Translation: X:445.07, Y:-19.64, Z:2.90 [[ 9.99984908e-01 -1.39625124e-03 -5.31355243e-03 4.45073589e+02] [ 1.39841361e-03 9.99998941e-01 4.03260665e-04 -1.96357838e+01] [ 5.31298375e-03 -4.10685123e-04 9.99985802e-01 2.90453033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.930714057 meters Centerline goodness [0,1] 0.9823929482303458 Centerline is valid? [True, True] Translation: X:445.10, Y:-19.64, Z:2.90 [[ 9.99979132e-01 -1.97043754e-03 -6.15241909e-03 4.45102712e+02] [ 1.97334253e-03 9.99997944e-01 4.66134974e-04 -1.96362955e+01] [ 6.15148795e-03 -4.78266077e-04 9.99980965e-01 2.90287626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.960714057 meters Centerline goodness [0,1] 0.9821488641205625 Centerline is valid? [True, True] Translation: X:445.13, Y:-19.64, Z:2.90 [[ 9.99981965e-01 -2.03270098e-03 -5.65139068e-03 4.45130742e+02] [ 2.03515219e-03 9.99997837e-01 4.28019321e-04 -1.96411087e+01] [ 5.65050842e-03 -4.39513042e-04 9.99983939e-01 2.90218255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.990714057 meters Centerline goodness [0,1] 0.9801678108314263 Centerline is valid? [True, True] Translation: X:445.16, Y:-19.64, Z:2.90 [[ 9.99989807e-01 -1.63672100e-03 -4.20798464e-03 4.45159679e+02] [ 1.63807457e-03 9.99998608e-01 3.18240519e-04 -1.96415256e+01] [ 4.20745791e-03 -3.25130268e-04 9.99991096e-01 2.90357196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.020714057 meters Centerline goodness [0,1] 0.981052301910429 Centerline is valid? [True, True] Translation: X:445.19, Y:-19.64, Z:2.91 [[ 9.99993822e-01 -1.46145983e-03 -3.19697705e-03 4.45189293e+02] [ 1.46223560e-03 9.99998902e-01 2.40335387e-04 -1.96377726e+01] [ 3.19662230e-03 -2.45008636e-04 9.99994861e-01 2.90533996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.050714057 meters Centerline goodness [0,1] 0.9810447727831548 Centerline is valid? [True, True] Translation: X:445.22, Y:-19.63, Z:2.91 [[ 9.99998702e-01 -8.45785697e-04 -1.37164461e-03 4.45219308e+02] [ 8.45928187e-04 9.99999637e-01 1.03305489e-04 -1.96335974e+01] [ 1.37155674e-03 -1.04465668e-04 9.99999054e-01 2.90687439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.080714057 meters Centerline goodness [0,1] 0.9801769037356322 Centerline is valid? [True, True] Translation: X:445.25, Y:-19.63, Z:2.91 [[ 9.99998652e-01 -1.15328208e-03 -1.16915860e-03 4.45249770e+02] [ 1.15338624e-03 9.99999331e-01 8.84128417e-05 -1.96336702e+01] [ 1.16905586e-03 -8.97612139e-05 9.99999313e-01 2.90680929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.110714057 meters Centerline goodness [0,1] 0.9811452356845539 Centerline is valid? [True, True] Translation: X:445.28, Y:-19.64, Z:2.91 [[ 9.99997563e-01 -1.63187172e-03 -1.48685392e-03 4.45279589e+02] [ 1.63204070e-03 9.99998662e-01 1.12437251e-04 -1.96350612e+01] [ 1.48666844e-03 -1.14863583e-04 9.99998888e-01 2.90579939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.140714057 meters Centerline goodness [0,1] 0.9810921532435961 Centerline is valid? [True, True] Translation: X:445.31, Y:-19.63, Z:2.90 [[ 9.99994825e-01 -2.40174909e-03 -2.14056762e-03 4.45310130e+02] [ 2.40210106e-03 9.99997102e-01 1.61871679e-04 -1.96349754e+01] [ 2.14017264e-03 -1.67012701e-04 9.99997696e-01 2.90474179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.170714057 meters Centerline goodness [0,1] 0.9795785259654094 Centerline is valid? [True, True] Translation: X:445.34, Y:-19.64, Z:2.90 [[ 9.99982365e-01 -4.29588565e-03 -4.10050156e-03 4.45339945e+02] [ 4.29719306e-03 9.99990719e-01 3.10083674e-04 -1.96384976e+01] [ 4.09913142e-03 -3.27698852e-04 9.99991545e-01 2.90221387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.200714057 meters Centerline goodness [0,1] 0.9791821060432527 Centerline is valid? [True, True] Translation: X:445.37, Y:-19.64, Z:2.90 [[ 9.99977582e-01 -5.10945801e-03 -4.32767741e-03 4.45369782e+02] [ 5.11092128e-03 9.99986886e-01 3.27126162e-04 -1.96405009e+01] [ 4.32594922e-03 -3.49237247e-04 9.99990582e-01 2.90183249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.230714057 meters Centerline goodness [0,1] 0.9791821060432527 Centerline is valid? [True, True] Translation: X:445.40, Y:-19.64, Z:2.90 [[ 9.99977582e-01 -5.10945918e-03 -4.32766991e-03 4.45399796e+02] [ 5.11092287e-03 9.99986886e-01 3.27225369e-04 -1.96427704e+01] [ 4.32594121e-03 -3.49336421e-04 9.99990582e-01 2.90147996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26071405700003 meters Centerline goodness [0,1] 0.9779381908414166 Centerline is valid? [True, True] Translation: X:445.43, Y:-19.65, Z:2.90 [[ 9.99953113e-01 -8.12103125e-03 -5.27445857e-03 4.45429641e+02] [ 8.12324574e-03 9.99966926e-01 3.98564864e-04 -1.96456472e+01] [ 5.27104736e-03 -4.41391900e-04 9.99986011e-01 2.90017355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.290714057 meters Centerline goodness [0,1] 0.9786260230424098 Centerline is valid? [True, True] Translation: X:445.46, Y:-19.65, Z:2.90 [[ 9.99943163e-01 -9.10071425e-03 -5.55403850e-03 4.45460559e+02] [ 9.10318743e-03 9.99958477e-01 4.20176378e-04 -1.96471737e+01] [ 5.54998398e-03 -4.70711950e-04 9.99984488e-01 2.89977541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32071405700003 meters Centerline goodness [0,1] 0.9766068691967907 Centerline is valid? [True, True] Translation: X:445.49, Y:-19.65, Z:2.90 [[ 9.99916441e-01 -1.09113398e-02 -6.93203377e-03 4.45491717e+02] [ 1.09152362e-02 9.99940289e-01 5.24493771e-04 -1.96485274e+01] [ 6.92589693e-03 -6.00114731e-04 9.99975836e-01 2.89901653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.350714057 meters Centerline goodness [0,1] 0.9778392728581713 Centerline is valid? [True, True] Translation: X:445.52, Y:-19.65, Z:2.90 [[ 9.99920980e-01 -1.06868755e-02 -6.61998768e-03 4.45523057e+02] [ 1.06904270e-02 9.99942730e-01 5.01333477e-04 -1.96487953e+01] [ 6.61425087e-03 -5.72064357e-04 9.99977962e-01 2.89898978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.380714057 meters Centerline goodness [0,1] 0.9788601692997149 Centerline is valid? [True, True] Translation: X:445.55, Y:-19.65, Z:2.90 [[ 9.99932958e-01 -1.00691522e-02 -5.71760345e-03 4.45554947e+02] [ 1.00717930e-02 9.99949184e-01 4.33262855e-04 -1.96455072e+01] [ 5.71295032e-03 -4.90820327e-04 9.99983561e-01 2.90030604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.410714057 meters Centerline goodness [0,1] 0.9760027192386131 Centerline is valid? [True, True] Translation: X:445.58, Y:-19.65, Z:2.90 [[ 9.99958372e-01 -7.96134389e-03 -4.45760965e-03 4.45584429e+02] [ 7.96292676e-03 9.99968238e-01 3.37458387e-04 -1.96479282e+01] [ 4.45478145e-03 -3.72939958e-04 9.99990008e-01 2.90091848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.440714057 meters Centerline goodness [0,1] 0.9772154771360491 Centerline is valid? [True, True] Translation: X:445.62, Y:-19.64, Z:2.90 [[ 9.99970507e-01 -6.78932710e-03 -3.59026158e-03 4.45616354e+02] [ 6.79034836e-03 9.99976908e-01 2.72341044e-04 -1.96445292e+01] [ 3.58832966e-03 -2.96712139e-04 9.99993518e-01 2.90246646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.470714057 meters Centerline goodness [0,1] 0.9770002502445572 Centerline is valid? [True, True] Translation: X:445.65, Y:-19.65, Z:2.90 [[ 9.99982042e-01 -5.35528497e-03 -2.69005198e-03 4.45647669e+02] [ 5.35585367e-03 9.99985636e-01 2.04250009e-04 -1.96456998e+01] [ 2.68891952e-03 -2.18653866e-04 9.99996361e-01 2.90311213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.500714057 meters Centerline goodness [0,1] 0.9756191862448543 Centerline is valid? [True, True] Translation: X:445.68, Y:-19.65, Z:2.90 [[ 9.99996672e-01 -2.29150097e-03 -1.18560990e-03 4.45677322e+02] [ 2.29160886e-03 9.99997370e-01 8.96495422e-05 -1.96457809e+01] [ 1.18540135e-03 -9.23661979e-05 9.99999293e-01 2.90366847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.530714057 meters Centerline goodness [0,1] 0.9747407121621315 Centerline is valid? [True, True] Translation: X:445.71, Y:-19.65, Z:2.90 [[ 9.99999184e-01 -1.04852925e-03 -7.29861177e-04 4.45708195e+02] [ 1.04857004e-03 9.99999449e-01 5.55085410e-05 -1.96470980e+01] [ 7.29802572e-04 -5.62738063e-05 9.99999732e-01 2.90322457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.560714057 meters Centerline goodness [0,1] 0.9736434461706683 Centerline is valid? [True, True] Translation: X:445.74, Y:-19.65, Z:2.90 [[ 9.99998970e-01 9.47128460e-04 -1.07882238e-03 4.45737547e+02] [-9.47041051e-04 9.99999548e-01 8.15311755e-05 -1.96484525e+01] [ 1.07889911e-03 -8.05094025e-05 9.99999415e-01 2.90095088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.590714057 meters Centerline goodness [0,1] 0.9773420776973175 Centerline is valid? [True, True] Translation: X:445.77, Y:-19.64, Z:2.90 [[ 9.99997203e-01 1.46262063e-03 -1.85893173e-03 4.45767646e+02] [-1.46236226e-03 9.99998921e-01 1.40340355e-04 -1.96399802e+01] [ 1.85913499e-03 -1.37621531e-04 9.99998262e-01 2.90185159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.620714057 meters Centerline goodness [0,1] 0.976521421059851 Centerline is valid? [True, True] Translation: X:445.80, Y:-19.64, Z:2.90 [[ 9.99993375e-01 1.77901099e-03 -3.17554598e-03 4.45796873e+02] [-1.77825801e-03 9.99998390e-01 2.39927981e-04 -1.96402093e+01] [ 3.17596770e-03 -2.34279452e-04 9.99994929e-01 2.90149424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.650714057 meters Centerline goodness [0,1] 0.9764410455427462 Centerline is valid? [True, True] Translation: X:445.83, Y:-19.64, Z:2.90 [[ 9.99991906e-01 1.45499745e-03 -3.75112046e-03 4.45825475e+02] [-1.45394574e-03 9.99998903e-01 2.83083853e-04 -1.96426653e+01] [ 3.75152823e-03 -2.77627637e-04 9.99992924e-01 2.90042274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.680714057 meters Centerline goodness [0,1] 0.9723793600989397 Centerline is valid? [True, True] Translation: X:445.85, Y:-19.66, Z:2.90 [[ 9.99985372e-01 1.85759883e-04 -5.40572004e-03 4.45852601e+02] [-1.83555668e-04 9.99999900e-01 4.08249299e-04 -1.96564555e+01] [ 5.40579534e-03 -4.07251076e-04 9.99985306e-01 2.89612603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.710714057 meters Centerline goodness [0,1] 0.9756555164050702 Centerline is valid? [True, True] Translation: X:445.88, Y:-19.65, Z:2.90 [[ 9.99982022e-01 -6.18480068e-04 -5.96426560e-03 4.45881648e+02] [ 6.21170934e-04 9.99999706e-01 4.49322674e-04 -1.96489258e+01] [ 5.96398595e-03 -4.53019425e-04 9.99982113e-01 2.89729970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.740714057 meters Centerline goodness [0,1] 0.9756197969078767 Centerline is valid? [True, True] Translation: X:445.91, Y:-19.65, Z:2.90 [[ 9.99976021e-01 -1.56257652e-03 -6.74654907e-03 4.45909621e+02] [ 1.56604563e-03 9.99998644e-01 5.08952450e-04 -1.96524630e+01] [ 6.74574465e-03 -5.19505649e-04 9.99977112e-01 2.89626972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.770714057 meters Centerline goodness [0,1] 0.9757979816429974 Centerline is valid? [True, True] Translation: X:445.94, Y:-19.65, Z:2.90 [[ 9.99975644e-01 -1.96089453e-03 -6.69818796e-03 4.45938605e+02] [ 1.96431637e-03 9.99997944e-01 5.04320509e-04 -1.96543782e+01] [ 6.69718526e-03 -5.17465586e-04 9.99977440e-01 2.89599207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.800714057 meters Centerline goodness [0,1] 0.9754627833192577 Centerline is valid? [True, True] Translation: X:445.97, Y:-19.66, Z:2.90 [[ 9.99979978e-01 -2.42876360e-03 -5.84335090e-03 4.45966928e+02] [ 2.43135502e-03 9.99996949e-01 4.36418787e-04 -1.96563988e+01] [ 5.84227311e-03 -4.50617310e-04 9.99982832e-01 2.89692247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.830714057 meters Centerline goodness [0,1] 0.9766697163769442 Centerline is valid? [True, True] Translation: X:446.00, Y:-19.65, Z:2.90 [[ 9.99985856e-01 -2.18999252e-03 -4.84679750e-03 4.45996552e+02] [ 2.19176525e-03 9.99997533e-01 3.60470599e-04 -1.96529115e+01] [ 4.84599612e-03 -3.71088543e-04 9.99988189e-01 2.89829174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.860714057 meters Centerline goodness [0,1] 0.9738161432933777 Centerline is valid? [True, True] Translation: X:446.03, Y:-19.66, Z:2.90 [[ 9.99984477e-01 -1.35974877e-03 -5.40349054e-03 4.46025016e+02] [ 1.36195154e-03 9.99998991e-01 4.03999395e-04 -1.96599510e+01] [ 5.40293575e-03 -4.11352416e-04 9.99985319e-01 2.89716017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.890714057 meters Centerline goodness [0,1] 0.9767340576720305 Centerline is valid? [True, True] Translation: X:446.05, Y:-19.65, Z:2.90 [[ 9.99983753e-01 -1.21632735e-03 -5.56906576e-03 4.46054544e+02] [ 1.21864444e-03 9.99999172e-01 4.12690344e-04 -1.96529983e+01] [ 5.56855918e-03 -4.19470350e-04 9.99984407e-01 2.89892212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.920714057 meters Centerline goodness [0,1] 0.9756966798491676 Centerline is valid? [True, True] Translation: X:446.08, Y:-19.65, Z:2.90 [[ 9.99983039e-01 -9.32455200e-04 -5.74913342e-03 4.46083015e+02] [ 9.34912227e-04 9.99999473e-01 4.24700758e-04 -1.96525997e+01] [ 5.74873438e-03 -4.30068490e-04 9.99983383e-01 2.89965896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.950714057 meters Centerline goodness [0,1] 0.9760386695822304 Centerline is valid? [True, True] Translation: X:446.11, Y:-19.65, Z:2.90 [[ 9.99984467e-01 -1.00212849e-03 -5.48287167e-03 4.46111402e+02] [ 1.00435585e-03 9.99999414e-01 4.03501840e-04 -1.96529039e+01] [ 5.48246409e-03 -4.09002327e-04 9.99984888e-01 2.89979135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.980714057 meters Centerline goodness [0,1] 0.9764056571231459 Centerline is valid? [True, True] Translation: X:446.14, Y:-19.66, Z:2.90 [[ 9.99985610e-01 -5.56000449e-04 -5.33576898e-03 4.46140031e+02] [ 5.58113994e-04 9.99999766e-01 3.94627921e-04 -1.96553763e+01] [ 5.33554832e-03 -3.97600210e-04 9.99985687e-01 2.89875299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.01071405700003 meters Centerline goodness [0,1] 0.9763824884792627 Centerline is valid? [True, True] Translation: X:446.17, Y:-19.66, Z:2.90 [[ 9.99983349e-01 -9.74776403e-04 -5.68777327e-03 4.46168606e+02] [ 9.77181455e-04 9.99999434e-01 4.20082271e-04 -1.96562179e+01] [ 5.68736056e-03 -4.25633263e-04 9.99983736e-01 2.89755722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.040714057 meters Centerline goodness [0,1] 0.9754714371340311 Centerline is valid? [True, True] Translation: X:446.20, Y:-19.66, Z:2.90 [[ 9.99977553e-01 -1.32554550e-03 -6.56789567e-03 4.46197300e+02] [ 1.32875994e-03 9.99999000e-01 4.85077804e-04 -1.96600910e+01] [ 6.56724611e-03 -4.93794072e-04 9.99978313e-01 2.89560542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.07071405700003 meters Centerline goodness [0,1] 0.9753544668587897 Centerline is valid? [True, True] Translation: X:446.23, Y:-19.66, Z:2.89 [[ 9.99974388e-01 -1.75491610e-03 -6.93851618e-03 4.46226020e+02] [ 1.75850918e-03 9.99998323e-01 5.11779140e-04 -1.96614862e+01] [ 6.93760641e-03 -5.23967477e-04 9.99975797e-01 2.89478185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.100714057 meters Centerline goodness [0,1] 0.9765184793358018 Centerline is valid? [True, True] Translation: X:446.25, Y:-19.66, Z:2.89 [[ 9.99974800e-01 -1.17992380e-03 -7.00053347e-03 4.46254912e+02] [ 1.18356630e-03 9.99999166e-01 5.16197606e-04 -1.96633455e+01] [ 6.99991856e-03 -5.24470193e-04 9.99975363e-01 2.89402462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.130714057 meters Centerline goodness [0,1] 0.9752486645791122 Centerline is valid? [True, True] Translation: X:446.28, Y:-19.67, Z:2.89 [[ 9.99973724e-01 -9.12818250e-04 -7.19157834e-03 4.46282953e+02] [ 9.16648203e-04 9.99999440e-01 5.29282828e-04 -1.96666482e+01] [ 7.19109117e-03 -5.35861068e-04 9.99974000e-01 2.89304950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.160714057 meters Centerline goodness [0,1] 0.9751777962501155 Centerline is valid? [True, True] Translation: X:446.31, Y:-19.67, Z:2.89 [[ 9.99973000e-01 1.40589308e-03 -7.21263853e-03 4.46313021e+02] [-1.40209565e-03 9.99998876e-01 5.31525896e-04 -1.96660945e+01] [ 7.21337769e-03 -5.21398736e-04 9.99973847e-01 2.89341157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.190714057 meters Centerline goodness [0,1] 0.975990950435164 Centerline is valid? [True, True] Translation: X:446.34, Y:-19.67, Z:2.89 [[ 9.99972810e-01 2.91587263e-03 -6.77324777e-03 4.46342671e+02] [-2.91256130e-03 9.99995634e-01 4.98696363e-04 -1.96656521e+01] [ 6.77467234e-03 -4.78955305e-04 9.99976937e-01 2.89381415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.220714057 meters Centerline goodness [0,1] 0.976736642105751 Centerline is valid? [True, True] Translation: X:446.37, Y:-19.66, Z:2.89 [[ 9.99959140e-01 6.52309345e-03 -6.25838700e-03 4.46372032e+02] [-6.52033669e-03 9.99978636e-01 4.60793380e-04 -1.96648364e+01] [ 6.26125910e-03 -4.19967762e-04 9.99980310e-01 2.89385365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.250714057 meters Centerline goodness [0,1] 0.9782119405062998 Centerline is valid? [True, True] Translation: X:446.40, Y:-19.66, Z:2.90 [[ 9.99943691e-01 8.69039937e-03 -6.09029064e-03 4.46402100e+02] [-8.68783124e-03 9.99962160e-01 4.48006532e-04 -1.96571715e+01] [ 6.09395353e-03 -3.95069888e-04 9.99981354e-01 2.89579617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.280714057 meters Centerline goodness [0,1] 0.9777608424553138 Centerline is valid? [True, True] Translation: X:446.43, Y:-19.66, Z:2.89 [[ 9.99922884e-01 1.07681527e-02 -6.18650720e-03 4.46430713e+02] [-1.07655437e-02 9.99941946e-01 4.54872068e-04 -1.96617265e+01] [ 6.19104618e-03 -3.88235876e-04 9.99980760e-01 2.89396399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.310714057 meters Centerline goodness [0,1] 0.9796383245781228 Centerline is valid? [True, True] Translation: X:446.46, Y:-19.66, Z:2.89 [[ 9.99863973e-01 1.52965888e-02 -6.16842166e-03 4.46461316e+02] [-1.52940786e-02 9.99882936e-01 4.53899700e-04 -1.96564657e+01] [ 6.17464267e-03 -3.59497632e-04 9.99980872e-01 2.89452557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.340714057 meters Centerline goodness [0,1] 0.9804595831687539 Centerline is valid? [True, True] Translation: X:446.49, Y:-19.65, Z:2.89 [[ 9.99775429e-01 2.03370071e-02 -5.95792648e-03 4.46492057e+02] [-2.03347547e-02 9.99793131e-01 4.38387572e-04 -1.96531061e+01] [ 5.96560946e-03 -3.17136149e-04 9.99982155e-01 2.89469572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.370714057 meters Centerline goodness [0,1] 0.9799000813291507 Centerline is valid? [True, True] Translation: X:446.52, Y:-19.66, Z:2.89 [[ 9.99719067e-01 2.30148694e-02 -5.66588900e-03 4.46521069e+02] [-2.30128786e-02 9.99735082e-01 4.16322956e-04 -1.96582998e+01] [ 5.67396962e-03 -2.85817581e-04 9.99983862e-01 2.89272949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.400714057 meters Centerline goodness [0,1] 0.9807113702623906 Centerline is valid? [True, True] Translation: X:446.55, Y:-19.66, Z:2.89 [[ 9.99603194e-01 2.74956923e-02 -6.11892442e-03 4.46549891e+02] [-2.74934550e-02 9.99621882e-01 4.49465884e-04 -1.96574624e+01] [ 6.12896912e-03 -2.81057160e-04 9.99981178e-01 2.89215169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.430714057 meters Centerline goodness [0,1] 0.9826744186046512 Centerline is valid? [True, True] Translation: X:446.58, Y:-19.65, Z:2.89 [[ 9.99554837e-01 2.93036239e-02 -5.60576364e-03 4.46579556e+02] [-2.93017949e-02 9.99570527e-01 4.08151847e-04 -1.96537454e+01] [ 5.61531645e-03 -2.43711216e-04 9.99984204e-01 2.89417703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.460714057 meters Centerline goodness [0,1] 0.9834782202280801 Centerline is valid? [True, True] Translation: X:446.61, Y:-19.65, Z:2.90 [[ 9.99493793e-01 3.13081209e-02 -5.65320175e-03 4.46608814e+02] [-3.13062845e-02 9.99509753e-01 4.13058620e-04 -1.96525333e+01] [ 5.66336237e-03 -2.35868785e-04 9.99983935e-01 2.89590106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.490714057 meters Centerline goodness [0,1] 0.983365263305453 Centerline is valid? [True, True] Translation: X:446.64, Y:-19.66, Z:2.90 [[ 9.99471544e-01 3.19969018e-02 -5.72982532e-03 4.46636922e+02] [-3.19950289e-02 9.99487940e-01 4.18263538e-04 -1.96566225e+01] [ 5.74027445e-03 -2.34716577e-04 9.99983497e-01 2.89550690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.520714057 meters Centerline goodness [0,1] 0.9836502078759284 Centerline is valid? [True, True] Translation: X:446.66, Y:-19.66, Z:2.89 [[ 9.99497917e-01 3.10862773e-02 -6.12847569e-03 4.46663997e+02] [-3.10841236e-02 9.99516672e-01 4.46385186e-04 -1.96601254e+01] [ 6.13939008e-03 -2.55662767e-04 9.99981121e-01 2.89474264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.550714057 meters Centerline goodness [0,1] 0.9827787371073878 Centerline is valid? [True, True] Translation: X:446.69, Y:-19.66, Z:2.89 [[ 9.99544893e-01 2.94871243e-02 -6.36519620e-03 4.46692519e+02] [-2.94847895e-02 9.99565123e-01 4.60350607e-04 -1.96612608e+01] [ 6.37600254e-03 -2.72464628e-04 9.99979636e-01 2.89486912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.580714057 meters Centerline goodness [0,1] 0.982915929615492 Centerline is valid? [True, True] Translation: X:446.72, Y:-19.67, Z:2.89 [[ 9.99643569e-01 2.56557906e-02 -7.38346947e-03 4.46722107e+02] [-2.56525220e-02 9.99670776e-01 5.37072345e-04 -1.96682507e+01] [ 7.39481767e-03 -3.47476302e-04 9.99972598e-01 2.89354771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.610714057 meters Centerline goodness [0,1] 0.9821732342180691 Centerline is valid? [True, True] Translation: X:446.75, Y:-19.67, Z:2.89 [[ 9.99710474e-01 2.27339591e-02 -7.88254042e-03 4.46749669e+02] [-2.27301524e-02 9.99741473e-01 5.72202640e-04 -1.96748888e+01] [ 7.89351100e-03 -3.92865628e-04 9.99968769e-01 2.89236749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.640714057 meters Centerline goodness [0,1] 0.9813051555968416 Centerline is valid? [True, True] Translation: X:446.78, Y:-19.68, Z:2.89 [[ 9.99832387e-01 1.65120349e-02 -7.90891900e-03 4.46779317e+02] [-1.65080021e-02 9.99863568e-01 5.74919477e-04 -1.96818830e+01] [ 7.91733306e-03 -4.44262661e-04 9.99968559e-01 2.89278585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.670714057 meters Centerline goodness [0,1] 0.9807763572355012 Centerline is valid? [True, True] Translation: X:446.81, Y:-19.69, Z:2.89 [[ 9.99882215e-01 1.30440345e-02 -8.08766170e-03 4.46809701e+02] [-1.30397041e-02 9.99914807e-01 5.87933689e-04 -1.96865740e+01] [ 8.09464172e-03 -4.82403723e-04 9.99967121e-01 2.89264204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.700714057 meters Centerline goodness [0,1] 0.9811207394569613 Centerline is valid? [True, True] Translation: X:446.84, Y:-19.69, Z:2.89 [[ 9.99932169e-01 7.10618073e-03 -9.22823051e-03 4.46839803e+02] [-7.10029058e-03 9.99974568e-01 6.70880771e-04 -1.96943103e+01] [ 9.23276322e-03 -6.05312146e-04 9.99957194e-01 2.89237889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.730714057 meters Centerline goodness [0,1] 0.98027876972699 Centerline is valid? [True, True] Translation: X:446.87, Y:-19.70, Z:2.89 [[ 9.99945995e-01 3.47944515e-03 -9.79289311e-03 4.46870270e+02] [-3.47263676e-03 9.99993717e-01 7.12156082e-04 -1.97004930e+01] [ 9.79530948e-03 -6.78110461e-04 9.99951795e-01 2.89203338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76071405700003 meters Centerline goodness [0,1] 0.9792788006190949 Centerline is valid? [True, True] Translation: X:446.90, Y:-19.71, Z:2.89 [[ 9.99946936e-01 1.98312710e-03 -1.01090272e-02 4.46899130e+02] [-1.97581331e-03 9.99997779e-01 7.33426255e-04 -1.97053769e+01] [ 1.01104592e-02 -7.13413786e-04 9.99948634e-01 2.89119378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.790714057 meters Centerline goodness [0,1] 0.979283327572301 Centerline is valid? [True, True] Translation: X:446.93, Y:-19.71, Z:2.89 [[ 9.99948848e-01 1.28424240e-03 -1.00325930e-02 4.46926466e+02] [-1.27701466e-03 9.99998920e-01 7.26799239e-04 -1.97087212e+01] [ 1.00335156e-02 -7.13950293e-04 9.99949408e-01 2.89067884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82071405700003 meters Centerline goodness [0,1] 0.977715493475464 Centerline is valid? [True, True] Translation: X:446.95, Y:-19.71, Z:2.89 [[ 9.99951410e-01 4.88858817e-04 -9.84578988e-03 4.46954144e+02] [-4.81867898e-04 9.99999630e-01 7.12401127e-04 -1.97128177e+01] [ 9.84613450e-03 -7.07622141e-04 9.99951275e-01 2.89073881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.850714057 meters Centerline goodness [0,1] 0.9789548901643501 Centerline is valid? [True, True] Translation: X:446.98, Y:-19.71, Z:2.89 [[ 9.99949975e-01 5.35700675e-04 -9.98804156e-03 4.46983020e+02] [-5.28513428e-04 9.99999600e-01 7.22210748e-04 -1.97137701e+01] [ 9.98842445e-03 -7.16895805e-04 9.99949857e-01 2.89114929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.880714057 meters Centerline goodness [0,1] 0.9786621195013481 Centerline is valid? [True, True] Translation: X:447.01, Y:-19.72, Z:2.89 [[ 9.99954796e-01 4.97148697e-04 -9.49516213e-03 4.47010801e+02] [-4.90667322e-04 9.99999645e-01 6.84914967e-04 -1.97173783e+01] [ 9.49549926e-03 -6.80225041e-04 9.99954685e-01 2.89074190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.910714057 meters Centerline goodness [0,1] 0.9764767980906045 Centerline is valid? [True, True] Translation: X:447.04, Y:-19.72, Z:2.89 [[ 9.99966331e-01 3.19497721e-04 -8.19963220e-03 4.47037948e+02] [-3.14664720e-04 9.99999776e-01 5.90700170e-04 -1.97208262e+01] [ 8.19981909e-03 -5.88100147e-04 9.99966208e-01 2.89081054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.940714057 meters Centerline goodness [0,1] 0.9759810243183493 Centerline is valid? [True, True] Translation: X:447.07, Y:-19.72, Z:2.89 [[ 9.99971812e-01 -2.13796833e-04 -7.50530065e-03 4.47065382e+02] [ 2.17856482e-04 9.99999830e-01 5.40090913e-04 -1.97239663e+01] [ 7.50518391e-03 -5.41710768e-04 9.99971689e-01 2.89058844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.970714057 meters Centerline goodness [0,1] 0.9753781783070486 Centerline is valid? [True, True] Translation: X:447.09, Y:-19.73, Z:2.89 [[ 9.99968503e-01 -1.94092425e-03 -7.69584555e-03 4.47093945e+02] [ 1.94524312e-03 9.99997955e-01 5.53749065e-04 -1.97282764e+01] [ 7.69475503e-03 -5.68701914e-04 9.99970233e-01 2.89042842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.000714057 meters Centerline goodness [0,1] 0.976214027742633 Centerline is valid? [True, True] Translation: X:447.12, Y:-19.73, Z:2.89 [[ 9.99960066e-01 -3.45757527e-03 -8.24088763e-03 4.47123289e+02] [ 3.46257609e-03 9.99993830e-01 5.92640954e-04 -1.97286291e+01] [ 8.23878768e-03 -6.21151988e-04 9.99965868e-01 2.89049402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.030714057 meters Centerline goodness [0,1] 0.9739831777854592 Centerline is valid? [True, True] Translation: X:447.15, Y:-19.73, Z:2.89 [[ 9.99930610e-01 -6.31518747e-03 -9.94454538e-03 4.47152956e+02] [ 6.32261673e-03 9.99979756e-01 7.15807425e-04 -1.97337107e+01] [ 9.93982360e-03 -7.78633304e-04 9.99950296e-01 2.88930530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.060714057 meters Centerline goodness [0,1] 0.9727216367017979 Centerline is valid? [True, True] Translation: X:447.18, Y:-19.74, Z:2.89 [[ 9.99917044e-01 -7.69105115e-03 -1.03321232e-02 4.47181894e+02] [ 7.69913269e-03 9.99970085e-01 7.42627899e-04 -1.97368646e+01] [ 1.03261025e-02 -8.22114681e-04 9.99946346e-01 2.88847875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.090714057 meters Centerline goodness [0,1] 0.9748317507144832 Centerline is valid? [True, True] Translation: X:447.21, Y:-19.74, Z:2.89 [[ 9.99880824e-01 -1.03347000e-02 -1.14687406e-02 4.47212180e+02] [ 1.03448331e-02 9.99946151e-01 8.24566017e-04 -1.97363166e+01] [ 1.14596014e-02 -9.43109955e-04 9.99933892e-01 2.88878509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.120714057 meters Centerline goodness [0,1] 0.9748317507144832 Centerline is valid? [True, True] Translation: X:447.24, Y:-19.74, Z:2.89 [[ 9.99880465e-01 -1.03693179e-02 -1.14687833e-02 4.47241363e+02] [ 1.03794465e-02 9.99945793e-01 8.23972719e-04 -1.97383832e+01] [ 1.14596175e-02 -9.42913848e-04 9.99933892e-01 2.88844239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.150714057 meters Centerline goodness [0,1] 0.9614170870476585 Centerline is valid? [True, True] Translation: X:447.27, Y:-19.75, Z:2.89 [[ 9.99863903e-01 -1.14807758e-02 -1.18476606e-02 4.47269584e+02] [ 1.14916691e-02 9.99933606e-01 8.51771812e-04 -1.97480415e+01] [ 1.18370950e-02 -9.87805283e-04 9.99929451e-01 2.88612769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.180714057 meters Centerline goodness [0,1] 0.9716490096729617 Centerline is valid? [True, True] Translation: X:447.30, Y:-19.75, Z:2.89 [[ 9.99850337e-01 -1.19807665e-02 -1.24805834e-02 4.47300598e+02] [ 1.19928924e-02 9.99927680e-01 8.97191856e-04 -1.97452629e+01] [ 1.24689318e-02 -1.04673587e-03 9.99921712e-01 2.88714031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.210714057 meters Centerline goodness [0,1] 0.9697937978437278 Centerline is valid? [True, True] Translation: X:447.33, Y:-19.75, Z:2.89 [[ 9.99847685e-01 -1.18731037e-02 -1.27920666e-02 4.47330644e+02] [ 1.18858338e-02 9.99928938e-01 9.19583452e-04 -1.97467415e+01] [ 1.27802393e-02 -1.07148776e-03 9.99917755e-01 2.88708450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.240714057 meters Centerline goodness [0,1] 0.9721454243848493 Centerline is valid? [True, True] Translation: X:447.36, Y:-19.75, Z:2.89 [[ 9.99867266e-01 -9.85424176e-03 -1.29747661e-02 4.47360712e+02] [ 9.86716384e-03 9.99950884e-01 9.32300091e-04 -1.97468267e+01] [ 1.29649417e-02 -1.06020049e-03 9.99915390e-01 2.88729602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.270714057 meters Centerline goodness [0,1] 0.9685958754845961 Centerline is valid? [True, True] Translation: X:447.39, Y:-19.75, Z:2.89 [[ 9.99879345e-01 -8.51397124e-03 -1.29926396e-02 4.47389082e+02] [ 8.52680297e-03 9.99963211e-01 9.32538757e-04 -1.97485606e+01] [ 1.29842221e-02 -1.04321192e-03 9.99915157e-01 2.88701088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.300714057 meters Centerline goodness [0,1] 0.9726412269995164 Centerline is valid? [True, True] Translation: X:447.42, Y:-19.75, Z:2.89 [[ 9.99892003e-01 -4.64857547e-03 -1.39418081e-02 4.47420271e+02] [ 4.66298235e-03 9.99988627e-01 1.00102906e-03 -1.97456729e+01] [ 1.39369962e-02 -1.06593135e-03 9.99902307e-01 2.88723308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.330714057 meters Centerline goodness [0,1] 0.973172944926592 Centerline is valid? [True, True] Translation: X:447.45, Y:-19.75, Z:2.89 [[ 9.99887481e-01 -2.75867087e-03 -1.47449739e-02 4.47449319e+02] [ 2.77457031e-03 9.99995591e-01 1.05794750e-03 -1.97460513e+01] [ 1.47419904e-02 -1.09873943e-03 9.99890727e-01 2.88698458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.360714057 meters Centerline goodness [0,1] 0.975089547378704 Centerline is valid? [True, True] Translation: X:447.48, Y:-19.74, Z:2.89 [[ 9.99890380e-01 1.88188984e-03 -1.46862475e-02 4.47478178e+02] [-1.86662539e-03 9.99997703e-01 1.05300864e-03 -1.97440775e+01] [ 1.46881955e-02 -1.02547948e-03 9.99891597e-01 2.88737793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.390714057 meters Centerline goodness [0,1] 0.9793166308310741 Centerline is valid? [True, True] Translation: X:447.51, Y:-19.73, Z:2.89 [[ 9.99863788e-01 6.73386162e-03 -1.50685404e-02 4.47509932e+02] [-6.71833413e-03 9.99976848e-01 1.08084141e-03 -1.97306567e+01] [ 1.50754697e-02 -9.79458701e-04 9.99885879e-01 2.89141497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.420714057 meters Centerline goodness [0,1] 0.9785266017234919 Centerline is valid? [True, True] Translation: X:447.54, Y:-19.73, Z:2.89 [[ 9.99842113e-01 8.88642519e-03 -1.53876779e-02 4.47538635e+02] [-8.87050792e-03 9.99960049e-01 1.10236164e-03 -1.97324196e+01] [ 1.53968592e-02 -9.65691071e-04 9.99880995e-01 2.89032202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.450714057 meters Centerline goodness [0,1] 0.9801353978776735 Centerline is valid? [True, True] Translation: X:447.57, Y:-19.73, Z:2.89 [[ 9.99831605e-01 1.03129369e-02 -1.51791198e-02 4.47568190e+02] [-1.02976964e-02 9.99946392e-01 1.08186349e-03 -1.97284892e+01] [ 1.51894633e-02 -9.25371341e-04 9.99884205e-01 2.89185806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.480714057 meters Centerline goodness [0,1] 0.9806372779396559 Centerline is valid? [True, True] Translation: X:447.60, Y:-19.73, Z:2.89 [[ 9.99792781e-01 1.44720551e-02 -1.43162668e-02 4.47597808e+02] [-1.44588946e-02 9.99894942e-01 1.02234997e-03 -1.97290253e+01] [ 1.43295583e-02 -8.15140722e-04 9.99896994e-01 2.89118083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.51071405700003 meters Centerline goodness [0,1] 0.9813556532574707 Centerline is valid? [True, True] Translation: X:447.63, Y:-19.72, Z:2.89 [[ 9.99772836e-01 1.62268490e-02 -1.38190074e-02 4.47627308e+02] [-1.62147760e-02 9.99868046e-01 9.85252510e-04 -1.97235141e+01] [ 1.38331715e-02 -7.60956587e-04 9.99904028e-01 2.89385330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.540714057 meters Centerline goodness [0,1] 0.981086358182973 Centerline is valid? [True, True] Translation: X:447.66, Y:-19.73, Z:2.89 [[ 9.99728550e-01 1.89834083e-02 -1.35076472e-02 4.47655538e+02] [-1.89721314e-02 9.99819550e-01 9.62522675e-04 -1.97266866e+01] [ 1.35234817e-02 -7.05992541e-04 9.99908304e-01 2.89251930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.57071405700003 meters Centerline goodness [0,1] 0.9808996702779086 Centerline is valid? [True, True] Translation: X:447.68, Y:-19.73, Z:2.89 [[ 9.99694481e-01 2.11144961e-02 -1.28500318e-02 4.47684342e+02] [-2.11044746e-02 9.99776857e-01 9.15003525e-04 -1.97267611e+01] [ 1.28664842e-02 -6.43530805e-04 9.99917016e-01 2.89315774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.600714057 meters Centerline goodness [0,1] 0.982390884693253 Centerline is valid? [True, True] Translation: X:447.71, Y:-19.73, Z:2.89 [[ 9.99658078e-01 2.27787120e-02 -1.28397013e-02 4.47713032e+02] [-2.27688571e-02 9.99740339e-01 9.13210719e-04 -1.97266581e+01] [ 1.28571691e-02 -6.20553148e-04 9.99917151e-01 2.89292681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.630714057 meters Centerline goodness [0,1] 0.9824897659780886 Centerline is valid? [True, True] Translation: X:447.74, Y:-19.72, Z:2.89 [[ 9.99611329e-01 2.40933068e-02 -1.40250885e-02 4.47742524e+02] [-2.40816907e-02 9.99709497e-01 9.96555851e-04 -1.97219184e+01] [ 1.40450245e-02 -6.58420676e-04 9.99901147e-01 2.89486065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.660714057 meters Centerline goodness [0,1] 0.9837348254931715 Centerline is valid? [True, True] Translation: X:447.77, Y:-19.72, Z:2.89 [[ 9.99507036e-01 2.75301119e-02 -1.50922972e-02 4.47771586e+02] [-2.75170523e-02 9.99620759e-01 1.07233488e-03 -1.97222979e+01] [ 1.51160951e-02 -6.56510723e-04 9.99885530e-01 2.89238248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.690714057 meters Centerline goodness [0,1] 0.9836641656377624 Centerline is valid? [True, True] Translation: X:447.80, Y:-19.72, Z:2.89 [[ 9.99471851e-01 2.82703859e-02 -1.60251456e-02 4.47800305e+02] [-2.82558603e-02 9.99600082e-01 1.13216742e-03 -1.97230897e+01] [ 1.60507437e-02 -6.78765189e-04 9.99870948e-01 2.89138608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.720714057 meters Centerline goodness [0,1] 0.985086658605401 Centerline is valid? [True, True] Translation: X:447.83, Y:-19.72, Z:2.89 [[ 9.99425095e-01 2.98738912e-02 -1.60321565e-02 4.47828665e+02] [-2.98596214e-02 9.99553465e-01 1.12876044e-03 -1.97239586e+01] [ 1.60587181e-02 -6.49397384e-04 9.99870840e-01 2.89091075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.750714057 meters Centerline goodness [0,1] 0.9855886605513285 Centerline is valid? [True, True] Translation: X:447.86, Y:-19.73, Z:2.89 [[ 9.99391864e-01 3.07356229e-02 -1.64688659e-02 4.47856463e+02] [-3.07207485e-02 9.99527339e-01 1.15546636e-03 -1.97295732e+01] [ 1.64965957e-02 -6.48827798e-04 9.99863711e-01 2.88737945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.780714057 meters Centerline goodness [0,1] 0.9860073294940745 Centerline is valid? [True, True] Translation: X:447.89, Y:-19.73, Z:2.89 [[ 9.99339202e-01 3.17934525e-02 -1.76163748e-02 4.47885329e+02] [-3.17766697e-02 9.99494235e-01 1.23185404e-03 -1.97283276e+01] [ 1.76466300e-02 -6.71250304e-04 9.99844061e-01 2.88781336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.810714057 meters Centerline goodness [0,1] 0.9846765980626673 Centerline is valid? [True, True] Translation: X:447.91, Y:-19.73, Z:2.89 [[ 9.99300305e-01 3.30695438e-02 -1.74730138e-02 4.47914552e+02] [-3.30532943e-02 9.99452848e-01 1.21802809e-03 -1.97301345e+01] [ 1.75037330e-02 -6.39635176e-04 9.99846593e-01 2.88800635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.840714057 meters Centerline goodness [0,1] 0.9867266110040677 Centerline is valid? [True, True] Translation: X:447.94, Y:-19.73, Z:2.89 [[ 9.99296330e-01 3.38026365e-02 -1.62550439e-02 4.47943704e+02] [-3.37887345e-02 9.99428360e-01 1.12919955e-03 -1.97319198e+01] [ 1.62839218e-02 -5.79167600e-04 9.99867240e-01 2.88816421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.870714057 meters Centerline goodness [0,1] 0.9860111721264911 Centerline is valid? [True, True] Translation: X:447.97, Y:-19.74, Z:2.89 [[ 9.99293363e-01 3.43394276e-02 -1.52832500e-02 4.47972772e+02] [-3.43272571e-02 9.99410086e-01 1.05802641e-03 -1.97350503e+01] [ 1.53105662e-02 -5.32646716e-04 9.99882645e-01 2.88834434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.900714057 meters Centerline goodness [0,1] 0.9839527827818337 Centerline is valid? [True, True] Translation: X:448.00, Y:-19.75, Z:2.88 [[ 9.99321885e-01 3.35938490e-02 -1.50739226e-02 4.47999461e+02] [-3.35819204e-02 9.99435423e-01 1.04383590e-03 -1.97455528e+01] [ 1.51004787e-02 -5.36916793e-04 9.99885837e-01 2.88204831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.930714057 meters Centerline goodness [0,1] 0.9831785857726747 Centerline is valid? [True, True] Translation: X:448.03, Y:-19.75, Z:2.88 [[ 9.99422244e-01 3.10363758e-02 -1.38535425e-02 4.48026231e+02] [-3.10260759e-02 9.99518116e-01 9.57838774e-04 -1.97530265e+01] [ 1.38765945e-02 -5.27464316e-04 9.99903576e-01 2.88100527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.960714057 meters Centerline goodness [0,1] 0.9847720522370468 Centerline is valid? [True, True] Translation: X:448.06, Y:-19.75, Z:2.89 [[ 9.99472588e-01 2.94224104e-02 -1.37429275e-02 4.48055074e+02] [-2.94121381e-02 9.99566919e-01 9.49025087e-04 -1.97482661e+01] [ 1.37648983e-02 -5.44315679e-04 9.99905111e-01 2.88722081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.990714057 meters Centerline goodness [0,1] 0.9834428507501354 Centerline is valid? [True, True] Translation: X:448.08, Y:-19.76, Z:2.89 [[ 9.99594767e-01 2.53026324e-02 -1.30414296e-02 4.48084198e+02] [-2.52930307e-02 9.99679674e-01 9.00686545e-04 -1.97553026e+01] [ 1.30600418e-02 -5.70464279e-04 9.99914551e-01 2.88680410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.020714057 meters Centerline goodness [0,1] 0.9816990085984119 Centerline is valid? [True, True] Translation: X:448.11, Y:-19.76, Z:2.89 [[ 9.99638290e-01 2.31469129e-02 -1.36933868e-02 4.48113393e+02] [-2.31361317e-02 9.99731877e-01 9.45245194e-04 -1.97602879e+01] [ 1.37115948e-02 -6.28091290e-04 9.99905794e-01 2.88595737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.050714057 meters Centerline goodness [0,1] 0.9805246609413862 Centerline is valid? [True, True] Translation: X:448.14, Y:-19.77, Z:2.89 [[ 9.99723573e-01 1.92961526e-02 -1.34326775e-02 4.48142978e+02] [-1.92854318e-02 9.99813589e-01 9.27203490e-04 -1.97665981e+01] [ 1.34480649e-02 -6.67892200e-04 9.99909348e-01 2.88600970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.080714057 meters Centerline goodness [0,1] 0.9801477809474817 Centerline is valid? [True, True] Translation: X:448.17, Y:-19.77, Z:2.88 [[ 9.99765178e-01 1.73249054e-02 -1.30167456e-02 4.48170845e+02] [-1.73146921e-02 9.99849687e-01 8.96926660e-04 -1.97733029e+01] [ 1.30303281e-02 -6.71335101e-04 9.99914876e-01 2.88492151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.110714057 meters Centerline goodness [0,1] 0.9786057580140918 Centerline is valid? [True, True] Translation: X:448.20, Y:-19.78, Z:2.89 [[ 9.99848926e-01 1.33167739e-02 -1.11709009e-02 4.48200763e+02] [-1.33089990e-02 9.99911135e-01 7.70043807e-04 -1.97790088e+01] [ 1.11801627e-02 -6.21253964e-04 9.99937307e-01 2.88620089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.140714057 meters Centerline goodness [0,1] 0.9768171882993071 Centerline is valid? [True, True] Translation: X:448.23, Y:-19.79, Z:2.88 [[ 9.99888162e-01 1.11078389e-02 -1.00140038e-02 4.48228479e+02] [-1.11014944e-02 9.99938139e-01 6.88928363e-04 -1.97873346e+01] [ 1.00210369e-02 -5.77680907e-04 9.99949621e-01 2.88468805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.170714057 meters Centerline goodness [0,1] 0.9772795981488802 Centerline is valid? [True, True] Translation: X:448.26, Y:-19.79, Z:2.88 [[ 9.99898169e-01 1.03708460e-02 -9.80290028e-03 4.48256600e+02] [-1.03647416e-02 9.99946058e-01 6.73319858e-04 -1.97909933e+01] [ 9.80935439e-03 -5.71646765e-04 9.99951724e-01 2.88410355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.200714057 meters Centerline goodness [0,1] 0.9786632688520792 Centerline is valid? [True, True] Translation: X:448.28, Y:-19.79, Z:2.88 [[ 9.99915538e-01 9.83897816e-03 -8.49187577e-03 4.48284389e+02] [-9.83438936e-03 9.99951472e-01 5.81963924e-04 -1.97927940e+01] [ 8.49718961e-03 -4.98402357e-04 9.99963774e-01 2.88369823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.230714057 meters Centerline goodness [0,1] 0.9758427226781657 Centerline is valid? [True, True] Translation: X:448.31, Y:-19.80, Z:2.88 [[ 9.99922789e-01 9.14381558e-03 -8.41463335e-03 4.48311952e+02] [-9.13928999e-03 9.99958070e-01 5.76120171e-04 -1.97972497e+01] [ 8.41954846e-03 -4.99171914e-04 9.99964430e-01 2.88296397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26071405700003 meters Centerline goodness [0,1] 0.9766990291262136 Centerline is valid? [True, True] Translation: X:448.34, Y:-19.80, Z:2.88 [[ 9.99929538e-01 8.99870572e-03 -7.74219390e-03 4.48339355e+02] [-8.99487612e-03 9.99959405e-01 5.29318403e-04 -1.98031928e+01] [ 7.74664278e-03 -4.59641031e-04 9.99969889e-01 2.88152623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.290714057 meters Centerline goodness [0,1] 0.9770516050010399 Centerline is valid? [True, True] Translation: X:448.37, Y:-19.80, Z:2.88 [[ 9.99931273e-01 9.20640658e-03 -7.25882375e-03 4.48368706e+02] [-9.20305735e-03 9.99957529e-01 4.94670034e-04 -1.98035778e+01] [ 7.26306959e-03 -4.27832666e-04 9.99973532e-01 2.88187481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32071405700003 meters Centerline goodness [0,1] 0.976123595505618 Centerline is valid? [True, True] Translation: X:448.40, Y:-19.81, Z:2.88 [[ 9.99930353e-01 9.36701849e-03 -7.17972407e-03 4.48395728e+02] [-9.36374676e-03 9.99956040e-01 4.89169899e-04 -1.98096225e+01] [ 7.18399051e-03 -4.21906712e-04 9.99974106e-01 2.87985416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.350714057 meters Centerline goodness [0,1] 0.9760434902791855 Centerline is valid? [True, True] Translation: X:448.43, Y:-19.81, Z:2.88 [[ 9.99937484e-01 8.09313768e-03 -7.71547008e-03 4.48425267e+02] [-8.08931832e-03 9.99967143e-01 5.26104700e-04 -1.98119888e+01] [ 7.71947441e-03 -4.63658917e-04 9.99970097e-01 2.87793592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.380714057 meters Centerline goodness [0,1] 0.9745868340873419 Centerline is valid? [True, True] Translation: X:448.45, Y:-19.82, Z:2.87 [[ 9.99954809e-01 6.17504818e-03 -7.22834044e-03 4.48453204e+02] [-6.17165038e-03 9.99980834e-01 4.92277773e-04 -1.98202226e+01] [ 7.23124174e-03 -4.47644737e-04 9.99973754e-01 2.87478352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.410714057 meters Centerline goodness [0,1] 0.9749154258624261 Centerline is valid? [True, True] Translation: X:448.48, Y:-19.82, Z:2.88 [[ 9.99963821e-01 4.63623709e-03 -7.13181075e-03 4.48482316e+02] [-4.63289324e-03 9.99989150e-01 4.85313446e-04 -1.98204867e+01] [ 7.13398340e-03 -4.52254970e-04 9.99974451e-01 2.87502939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.440714057 meters Centerline goodness [0,1] 0.9745557629814008 Centerline is valid? [True, True] Translation: X:448.51, Y:-19.82, Z:2.87 [[ 9.99971665e-01 2.04680625e-03 -7.24431542e-03 4.48512902e+02] [-2.04328383e-03 9.99997791e-01 4.93598977e-04 -1.98235368e+01] [ 7.24530972e-03 -4.78782798e-04 9.99973638e-01 2.87403203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.470714057 meters Centerline goodness [0,1] 0.9734444393571723 Centerline is valid? [True, True] Translation: X:448.54, Y:-19.83, Z:2.87 [[ 9.99973263e-01 1.22193746e-03 -7.20974655e-03 4.48540275e+02] [-1.21843924e-03 9.99999138e-01 4.89578535e-04 -1.98271928e+01] [ 7.21033857e-03 -4.80780806e-04 9.99973890e-01 2.87317385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.500714057 meters Centerline goodness [0,1] 0.9742639442001796 Centerline is valid? [True, True] Translation: X:448.57, Y:-19.83, Z:2.87 [[ 9.99977592e-01 5.80333738e-04 -6.66922627e-03 4.48568648e+02] [-5.77330768e-04 9.99999731e-01 4.52188997e-04 -1.98268558e+01] [ 6.66948690e-03 -4.48328515e-04 9.99977658e-01 2.87355556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.530714057 meters Centerline goodness [0,1] 0.9750397200027632 Centerline is valid? [True, True] Translation: X:448.60, Y:-19.83, Z:2.87 [[ 9.99989756e-01 9.49252627e-04 -4.42565331e-03 4.48597603e+02] [-9.47935860e-04 9.99999506e-01 2.99618668e-04 -1.98292035e+01] [ 4.42593554e-03 -2.95420363e-04 9.99990162e-01 2.87378843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.560714057 meters Centerline goodness [0,1] 0.9721496355384404 Centerline is valid? [True, True] Translation: X:448.63, Y:-19.83, Z:2.87 [[ 9.99992101e-01 3.15376705e-03 -2.41899180e-03 4.48626651e+02] [-3.15338019e-03 9.99995015e-01 1.63724292e-04 -1.98341884e+01] [ 2.41949609e-03 -1.56094998e-04 9.99997061e-01 2.87307588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.590714057 meters Centerline goodness [0,1] 0.9738370752846803 Centerline is valid? [True, True] Translation: X:448.66, Y:-19.83, Z:2.87 [[ 9.99988916e-01 4.05106527e-03 -2.39948715e-03 4.48655715e+02] [-4.05068855e-03 9.99991783e-01 1.61837301e-04 -1.98318072e+01] [ 2.40012305e-03 -1.52115932e-04 9.99997108e-01 2.87346468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.620714057 meters Centerline goodness [0,1] 0.9744959027713839 Centerline is valid? [True, True] Translation: X:448.69, Y:-19.83, Z:2.87 [[ 9.99976634e-01 6.39596659e-03 -2.41306874e-03 4.48686078e+02] [-6.39559195e-03 9.99979535e-01 1.62938084e-04 -1.98307799e+01] [ 2.41406150e-03 -1.47501274e-04 9.99997075e-01 2.87289863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.650714057 meters Centerline goodness [0,1] 0.9765487951251038 Centerline is valid? [True, True] Translation: X:448.72, Y:-19.83, Z:2.87 [[ 9.99972057e-01 7.13952619e-03 -2.21631180e-03 4.48715639e+02] [-7.13921418e-03 9.99974504e-01 1.48657563e-04 -1.98261864e+01] [ 2.21731663e-03 -1.32830685e-04 9.99997533e-01 2.87376329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.680714057 meters Centerline goodness [0,1] 0.9771896543746819 Centerline is valid? [True, True] Translation: X:448.74, Y:-19.83, Z:2.87 [[ 9.99954007e-01 9.52119943e-03 -1.15351432e-03 4.48744956e+02] [-9.52111628e-03 9.99954670e-01 7.75560525e-05 -1.98275574e+01] [ 1.15420045e-03 -6.65697415e-05 9.99999332e-01 2.87333025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.710714057 meters Centerline goodness [0,1] 0.9774816388747748 Centerline is valid? [True, True] Translation: X:448.77, Y:-19.83, Z:2.87 [[ 9.99938813e-01 1.10028998e-02 -1.14261832e-03 4.48772502e+02] [-1.10028200e-02 9.99939464e-01 7.61028662e-05 -1.98293363e+01] [ 1.14338651e-03 -6.35261859e-05 9.99999344e-01 2.87219876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.740714057 meters Centerline goodness [0,1] 0.9790609871910685 Centerline is valid? [True, True] Translation: X:448.80, Y:-19.83, Z:2.87 [[ 9.99894157e-01 1.43864342e-02 -2.16907626e-03 4.48802796e+02] [-1.43861508e-02 9.99896503e-01 1.46183714e-04 -1.98254006e+01] [ 2.17095483e-03 -1.14963583e-04 9.99997637e-01 2.87115343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.770714057 meters Centerline goodness [0,1] 0.9780742459396752 Centerline is valid? [True, True] Translation: X:448.83, Y:-19.83, Z:2.87 [[ 9.99858420e-01 1.66057403e-02 -2.71833094e-03 4.48830950e+02] [-1.66053055e-02 9.99862106e-01 1.82442329e-04 -1.98301802e+01] [ 2.72098569e-03 -1.37277783e-04 9.99996289e-01 2.86875305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.800714057 meters Centerline goodness [0,1] 0.9792601548513102 Centerline is valid? [True, True] Translation: X:448.86, Y:-19.83, Z:2.87 [[ 9.99774392e-01 2.09086667e-02 -3.74081744e-03 4.48860391e+02] [-2.09078710e-02 9.99781375e-01 2.51686999e-04 -1.98278802e+01] [ 3.74526204e-03 -1.73417688e-04 9.99992971e-01 2.86732757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.830714057 meters Centerline goodness [0,1] 0.9795671398650221 Centerline is valid? [True, True] Translation: X:448.89, Y:-19.83, Z:2.87 [[ 9.99733042e-01 2.27652150e-02 -3.94830392e-03 4.48889152e+02] [-2.27643455e-02 9.99740824e-01 2.65021043e-04 -1.98280433e+01] [ 3.95331387e-03 -1.75069739e-04 9.99992170e-01 2.86651090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.860714057 meters Centerline goodness [0,1] 0.9795547690014903 Centerline is valid? [True, True] Translation: X:448.92, Y:-19.83, Z:2.87 [[ 9.99697407e-01 2.43266986e-02 -3.64768446e-03 4.48918290e+02] [-2.43259680e-02 9.99704050e-01 2.44543090e-04 -1.98285646e+01] [ 3.65255385e-03 -1.55735638e-04 9.99993317e-01 2.86616911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.890714057 meters Centerline goodness [0,1] 0.9817197020988491 Centerline is valid? [True, True] Translation: X:448.95, Y:-19.82, Z:2.87 [[ 9.99626873e-01 2.71844563e-02 -2.66825118e-03 4.48948226e+02] [-2.71840753e-02 9.99630429e-01 1.78939001e-04 -1.98219162e+01] [ 2.67212943e-03 -1.06338293e-04 9.99996424e-01 2.86895142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.920714057 meters Centerline goodness [0,1] 0.9815336608993317 Centerline is valid? [True, True] Translation: X:448.98, Y:-19.82, Z:2.87 [[ 9.99537013e-01 3.04199598e-02 -6.21156202e-04 4.48977265e+02] [-3.04199400e-02 9.99537206e-01 4.13198548e-05 -1.98228872e+01] [ 6.22125683e-04 -2.24051899e-05 9.99999806e-01 2.86939323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.950714057 meters Centerline goodness [0,1] 0.9817131632486028 Centerline is valid? [True, True] Translation: X:449.01, Y:-19.82, Z:2.87 [[ 9.99505341e-01 3.14492310e-02 1.41520493e-04 4.49006011e+02] [-3.14492298e-02 9.99505351e-01 -1.03070447e-05 -1.98235292e+01] [-1.41774639e-04 5.85123572e-06 9.99999990e-01 2.86988448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.980714057 meters Centerline goodness [0,1] 0.9810421000958414 Centerline is valid? [True, True] Translation: X:449.03, Y:-19.83, Z:2.87 [[ 9.99474390e-01 3.23939282e-02 1.25553523e-03 4.49033497e+02] [-3.23938468e-02 9.99475178e-01 -8.51580909e-05 -1.98260902e+01] [-1.25763490e-03 4.44417151e-05 9.99999208e-01 2.87020737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.01071405700003 meters Centerline goodness [0,1] 0.981255988968612 Centerline is valid? [True, True] Translation: X:449.06, Y:-19.83, Z:2.87 [[ 9.99473289e-01 3.23916201e-02 1.98184151e-03 4.49062702e+02] [-3.23914190e-02 9.99475251e-01 -1.33501371e-04 -1.98281691e+01] [-1.98512586e-03 6.92363957e-05 9.99998027e-01 2.87106036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.040714057 meters Centerline goodness [0,1] 0.981255988968612 Centerline is valid? [True, True] Translation: X:449.09, Y:-19.83, Z:2.87 [[ 9.99476579e-01 3.22899458e-02 1.98182873e-03 4.49090115e+02] [-3.22897441e-02 9.99478541e-01 -1.33692966e-04 -1.98299102e+01] [-1.98511223e-03 6.96302460e-05 9.99998027e-01 2.87073835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.07071405700003 meters Centerline goodness [0,1] 0.980300734351323 Centerline is valid? [True, True] Translation: X:449.12, Y:-19.83, Z:2.87 [[ 9.99526663e-01 3.05215654e-02 3.85796938e-03 4.49118947e+02] [-3.05207947e-02 9.99534099e-01 -2.58474806e-04 -1.98341544e+01] [-3.86406101e-03 1.40604168e-04 9.99992525e-01 2.87260754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.100714057 meters Centerline goodness [0,1] 0.9797655595869383 Centerline is valid? [True, True] Translation: X:449.15, Y:-19.84, Z:2.87 [[ 9.99569140e-01 2.89459782e-02 4.86455555e-03 4.49147204e+02] [-2.89447371e-02 9.99580960e-01 -3.25366032e-04 -1.98383476e+01] [-4.87193514e-03 1.84422564e-04 9.99988115e-01 2.87313931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.130714057 meters Centerline goodness [0,1] 0.9785589975635225 Centerline is valid? [True, True] Translation: X:449.18, Y:-19.85, Z:2.87 [[ 9.99693181e-01 2.44662183e-02 3.86619075e-03 4.49175360e+02] [-2.44654023e-02 9.99700644e-01 -2.58213222e-04 -1.98479619e+01] [-3.87135088e-03 1.63546085e-04 9.99992493e-01 2.87164987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.160714057 meters Centerline goodness [0,1] 0.9789383838150822 Centerline is valid? [True, True] Translation: X:449.21, Y:-19.85, Z:2.87 [[ 9.99817149e-01 1.91158674e-02 5.01296578e-04 4.49205035e+02] [-1.91158531e-02 9.99817275e-01 -3.34595080e-05 -1.98545433e+01] [-5.01844586e-04 2.38706782e-05 9.99999874e-01 2.86893990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.190714057 meters Centerline goodness [0,1] 0.9792436276320651 Centerline is valid? [True, True] Translation: X:449.23, Y:-19.86, Z:2.87 [[ 9.99862988e-01 1.65161487e-02 -1.10544370e-03 4.49234103e+02] [-1.65160780e-02 9.99863598e-01 7.30283270e-05 -1.98584041e+01] [ 1.10649906e-03 -5.47607268e-05 9.99999386e-01 2.86738485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.220714057 meters Centerline goodness [0,1] 0.9791057154046396 Centerline is valid? [True, True] Translation: X:449.26, Y:-19.87, Z:2.86 [[ 9.99893482e-01 1.44546079e-02 -2.02204722e-03 4.49262313e+02] [-1.44543664e-02 9.99895521e-01 1.33997490e-04 -1.98664258e+01] [ 2.02377284e-03 -1.04755805e-04 9.99997947e-01 2.86468966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.250714057 meters Centerline goodness [0,1] 0.9791939373062349 Centerline is valid? [True, True] Translation: X:449.29, Y:-19.87, Z:2.86 [[ 9.99931299e-01 1.11291085e-02 -3.67971959e-03 4.49292189e+02] [-1.11282831e-02 9.99938049e-01 2.44703098e-04 -1.98713964e+01] [ 3.68221496e-03 -2.03737325e-04 9.99993200e-01 2.86288560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.280714057 meters Centerline goodness [0,1] 0.9786398007904415 Centerline is valid? [True, True] Translation: X:449.32, Y:-19.88, Z:2.86 [[ 9.99937307e-01 1.05324492e-02 -3.80137608e-03 4.49320995e+02] [-1.05315674e-02 9.99944510e-01 2.51914545e-04 -1.98753655e+01] [ 3.80381842e-03 -2.11864303e-04 9.99992743e-01 2.86206813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.310714057 meters Centerline goodness [0,1] 0.9798786768913815 Centerline is valid? [True, True] Translation: X:449.35, Y:-19.88, Z:2.86 [[ 9.99933696e-01 1.11754965e-02 -2.77707104e-03 4.49348531e+02] [-1.11750302e-02 9.99937541e-01 1.83369618e-04 -1.98785193e+01] [ 2.77894683e-03 -1.52323607e-04 9.99996127e-01 2.86202120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.340714057 meters Centerline goodness [0,1] 0.9799239125452629 Centerline is valid? [True, True] Translation: X:449.38, Y:-19.88, Z:2.86 [[ 9.99915390e-01 1.28845376e-02 -1.78918018e-03 4.49377410e+02] [-1.28843472e-02 9.99916986e-01 1.17866307e-04 -1.98799211e+01] [ 1.79055030e-03 -9.48039158e-05 9.99998392e-01 2.86312842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.370714057 meters Centerline goodness [0,1] 0.978163237248522 Centerline is valid? [True, True] Translation: X:449.40, Y:-19.89, Z:2.86 [[ 9.99908650e-01 1.34456297e-02 -1.38114317e-03 4.49404875e+02] [-1.34455175e-02 9.99909601e-01 9.04838061e-05 -1.98864472e+01] [ 1.38223493e-03 -7.19053557e-05 9.99999042e-01 2.86179040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.400714057 meters Centerline goodness [0,1] 0.9793273963508161 Centerline is valid? [True, True] Translation: X:449.43, Y:-19.89, Z:2.86 [[ 9.99895516e-01 1.44391847e-02 -6.83655427e-04 4.49434154e+02] [-1.44391580e-02 9.99895749e-01 4.39730809e-05 -1.98854585e+01] [ 6.84219090e-04 -3.40970778e-05 9.99999765e-01 2.86266397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.430714057 meters Centerline goodness [0,1] 0.9795502427406797 Centerline is valid? [True, True] Translation: X:449.46, Y:-19.89, Z:2.86 [[ 9.99895069e-01 1.44861714e-02 2.98416244e-05 4.49462407e+02] [-1.44861713e-02 9.99895070e-01 -2.75791708e-06 -1.98878692e+01] [-2.98784448e-05 2.32533680e-06 1.00000000e+00 2.86294186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.460714057 meters Centerline goodness [0,1] 0.9782146044531912 Centerline is valid? [True, True] Translation: X:449.49, Y:-19.89, Z:2.86 [[ 9.99898643e-01 1.42027095e-02 9.93454931e-04 4.49490128e+02] [-1.42026503e-02 9.99899135e-01 -6.65999436e-05 -1.98907393e+01] [-9.94300626e-04 5.24835003e-05 9.99999504e-01 2.86336651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.490714057 meters Centerline goodness [0,1] 0.9776317596959567 Centerline is valid? [True, True] Translation: X:449.52, Y:-19.90, Z:2.86 [[ 9.99909566e-01 1.31631973e-02 2.75495298e-03 4.49517018e+02] [-1.31627444e-02 9.99913351e-01 -1.82444222e-04 -1.98976398e+01] [-2.75711582e-03 1.46164981e-04 9.99996188e-01 2.86398353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.520714057 meters Centerline goodness [0,1] 0.9786879254420028 Centerline is valid? [True, True] Translation: X:449.55, Y:-19.90, Z:2.86 [[ 9.99919090e-01 1.22890333e-02 3.28536056e-03 4.49545537e+02] [-1.22883863e-02 9.99924471e-01 -2.17074223e-04 -1.98973340e+01] [-3.28778005e-03 1.76684879e-04 9.99994580e-01 2.86485104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.550714057 meters Centerline goodness [0,1] 0.9776336746302616 Centerline is valid? [True, True] Translation: X:449.57, Y:-19.90, Z:2.87 [[ 9.99943569e-01 9.47368274e-03 4.80704719e-03 4.49573843e+02] [-9.47226879e-03 9.99955087e-01 -3.16824001e-04 -1.99039318e+01] [-4.80983278e-03 2.71272479e-04 9.99988396e-01 2.86558222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.580714057 meters Centerline goodness [0,1] 0.9801885503484082 Centerline is valid? [True, True] Translation: X:449.60, Y:-19.90, Z:2.87 [[ 9.99971451e-01 5.73134472e-03 4.92431037e-03 4.49604084e+02] [-5.72981802e-03 9.99983532e-01 -3.24083917e-04 -1.99011669e+01] [-4.92608671e-03 2.95859263e-04 9.99987823e-01 2.86615176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.610714057 meters Centerline goodness [0,1] 0.9788245462402766 Centerline is valid? [True, True] Translation: X:449.63, Y:-19.91, Z:2.86 [[ 9.99982648e-01 3.54303182e-03 4.70649941e-03 4.49632851e+02] [-3.54161340e-03 9.99993681e-01 -3.09673602e-04 -1.99102516e+01] [-4.70756685e-03 2.92999627e-04 9.99988876e-01 2.86450758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.640714057 meters Centerline goodness [0,1] 0.9802613605318277 Centerline is valid? [True, True] Translation: X:449.66, Y:-19.91, Z:2.86 [[ 9.99995542e-01 2.79878477e-04 2.97271996e-03 4.49663609e+02] [-2.79299105e-04 9.99999942e-01 -1.95309443e-04 -1.99087207e+01] [-2.97277445e-03 1.94478294e-04 9.99995562e-01 2.86398610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.670714057 meters Centerline goodness [0,1] 0.9798691152827155 Centerline is valid? [True, True] Translation: X:449.69, Y:-19.91, Z:2.86 [[ 9.99996671e-01 -2.70713665e-04 2.56607035e-03 4.49693950e+02] [ 2.71147219e-04 9.99999949e-01 -1.68609890e-04 -1.99132197e+01] [-2.56602457e-03 1.69305112e-04 9.99996693e-01 2.86326365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.700714057 meters Centerline goodness [0,1] 0.9789232479524469 Centerline is valid? [True, True] Translation: X:449.73, Y:-19.92, Z:2.86 [[ 9.99996909e-01 -1.13767739e-03 2.21066785e-03 4.49725251e+02] [ 1.13800092e-03 9.99999342e-01 -1.45099910e-04 -1.99159194e+01] [-2.21050132e-03 1.47615204e-04 9.99997546e-01 2.86257972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.730714057 meters Centerline goodness [0,1] 0.9793783961985313 Centerline is valid? [True, True] Translation: X:449.76, Y:-19.92, Z:2.86 [[ 9.99997990e-01 -1.03824295e-03 1.71505565e-03 4.49756576e+02] [ 1.03843748e-03 9.99999454e-01 -1.12538176e-04 -1.99182363e+01] [-1.71493787e-03 1.14318928e-04 9.99998523e-01 2.86215068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76071405700003 meters Centerline goodness [0,1] 0.9793527038665518 Centerline is valid? [True, True] Translation: X:449.79, Y:-19.92, Z:2.86 [[ 9.99998600e-01 -2.30593056e-04 1.65733900e-03 4.49788307e+02] [ 2.30773387e-04 9.99999967e-01 -1.08616955e-04 -1.99202612e+01] [-1.65731390e-03 1.08999272e-04 9.99998621e-01 2.86200309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.790714057 meters Centerline goodness [0,1] 0.9799863698318946 Centerline is valid? [True, True] Translation: X:449.82, Y:-19.92, Z:2.86 [[ 9.99998549e-01 1.33197195e-04 1.69813456e-03 4.49819237e+02] [-1.33007612e-04 9.99999985e-01 -1.11754538e-04 -1.99220066e+01] [-1.69814942e-03 1.11528511e-04 9.99998552e-01 2.86129788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.820714057 meters Centerline goodness [0,1] 0.9801869839175633 Centerline is valid? [True, True] Translation: X:449.85, Y:-19.92, Z:2.86 [[ 9.99998615e-01 1.40422531e-03 8.93567271e-04 4.49850918e+02] [-1.40417356e-03 9.99999012e-01 -5.85347167e-05 -1.99223006e+01] [-8.93648585e-04 5.72799121e-05 9.99999599e-01 2.86075435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.850714057 meters Centerline goodness [0,1] 0.980244228460092 Centerline is valid? [True, True] Translation: X:449.88, Y:-19.92, Z:2.86 [[ 9.99997176e-01 2.20656083e-03 8.82413827e-04 4.49880778e+02] [-2.20651032e-03 9.99997564e-01 -5.82100412e-05 -1.99245504e+01] [-8.82540122e-04 5.62628216e-05 9.99999609e-01 2.86045570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.880714057 meters Centerline goodness [0,1] 0.9787832716875808 Centerline is valid? [True, True] Translation: X:449.91, Y:-19.93, Z:2.86 [[ 9.99996664e-01 1.66353538e-03 1.97608108e-03 4.49910495e+02] [-1.66328069e-03 9.99998608e-01 -1.30523513e-04 -1.99279333e+01] [-1.97629546e-03 1.27236300e-04 9.99998039e-01 2.86087390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.910714057 meters Centerline goodness [0,1] 0.9789746151400935 Centerline is valid? [True, True] Translation: X:449.94, Y:-19.93, Z:2.86 [[ 9.99994595e-01 7.76625830e-04 3.19486930e-03 4.49941297e+02] [-7.75956613e-04 9.99999677e-01 -2.10700201e-04 -1.99296243e+01] [-3.19503190e-03 2.08219982e-04 9.99994874e-01 2.86175711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.940714057 meters Centerline goodness [0,1] 0.9782756742032144 Centerline is valid? [True, True] Translation: X:449.97, Y:-19.93, Z:2.86 [[ 9.99984797e-01 -1.87921486e-03 5.18411110e-03 4.49972378e+02] [ 1.88101125e-03 9.99998173e-01 -3.41664122e-04 -1.99340150e+01] [-5.18345957e-03 3.51410299e-04 9.99986504e-01 2.86327995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.970714057 meters Centerline goodness [0,1] 0.9765393907918802 Centerline is valid? [True, True] Translation: X:450.00, Y:-19.94, Z:2.86 [[ 9.99977584e-01 -4.15980005e-03 5.24673050e-03 4.50002216e+02] [ 4.16167091e-03 9.99991280e-01 -3.45709134e-04 -1.99397787e+01] [-5.24524667e-03 3.67536550e-04 9.99986176e-01 2.86262481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.000714057 meters Centerline goodness [0,1] 0.9780127330604821 Centerline is valid? [True, True] Translation: X:450.03, Y:-19.94, Z:2.86 [[ 9.99950526e-01 -9.10395889e-03 4.00802740e-03 4.50033179e+02] [ 9.10509202e-03 9.99958513e-01 -2.64559337e-04 -1.99398518e+01] [-4.00545258e-03 3.01039706e-04 9.99991933e-01 2.86190838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.030714057 meters Centerline goodness [0,1] 0.9721383319330593 Centerline is valid? [True, True] Translation: X:450.06, Y:-19.95, Z:2.86 [[ 9.99931156e-01 -1.10414874e-02 3.97103178e-03 4.50062856e+02] [ 1.10426156e-02 9.99938994e-01 -2.62302646e-04 -1.99522103e+01] [-3.96789332e-03 3.06135166e-04 9.99992081e-01 2.86017599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.060714057 meters Centerline goodness [0,1] 0.976968022465803 Centerline is valid? [True, True] Translation: X:450.09, Y:-19.95, Z:2.86 [[ 9.99886390e-01 -1.47448385e-02 3.13001121e-03 4.50094133e+02] [ 1.47455579e-02 9.99891257e-01 -2.06887986e-04 -1.99487532e+01] [-3.12662032e-03 2.53018243e-04 9.99995080e-01 2.85993868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.090714057 meters Centerline goodness [0,1] 0.9764681855314514 Centerline is valid? [True, True] Translation: X:450.13, Y:-19.95, Z:2.86 [[ 9.99872186e-01 -1.58365645e-02 2.19421452e-03 4.50125829e+02] [ 1.58369196e-02 9.99874578e-01 -1.44547785e-04 -1.99526670e+01] [-2.19165018e-03 1.79278908e-04 9.99997582e-01 2.85885300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.120714057 meters Centerline goodness [0,1] 0.9761565111065824 Centerline is valid? [True, True] Translation: X:450.16, Y:-19.96, Z:2.86 [[ 9.99884898e-01 -1.51681068e-02 -3.45048269e-04 4.50156671e+02] [ 1.51681158e-02 9.99884957e-01 2.34722381e-05 -1.99562854e+01] [ 3.44652544e-04 -2.87032685e-05 9.99999940e-01 2.85610892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.150714057 meters Centerline goodness [0,1] 0.9767690314368195 Centerline is valid? [True, True] Translation: X:450.19, Y:-19.96, Z:2.85 [[ 9.99922120e-01 -1.21824711e-02 -2.70953838e-03 4.50188086e+02] [ 1.21830026e-02 9.99925768e-01 1.79745188e-04 -1.99557498e+01] [ 2.70714750e-03 -2.12741503e-04 9.99996313e-01 2.85472784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.180714057 meters Centerline goodness [0,1] 0.9764793939531402 Centerline is valid? [True, True] Translation: X:450.22, Y:-19.95, Z:2.86 [[ 9.99949571e-01 -9.75227986e-03 -2.39769264e-03 4.50219305e+02] [ 9.75268929e-03 9.99952429e-01 1.59128997e-04 -1.99548093e+01] [ 2.39602671e-03 -1.82504924e-04 9.99997113e-01 2.85516728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.210714057 meters Centerline goodness [0,1] 0.9771551036228084 Centerline is valid? [True, True] Translation: X:450.25, Y:-19.95, Z:2.86 [[ 9.99991951e-01 -3.85673540e-03 -1.10623673e-03 4.50249670e+02] [ 3.85681882e-03 9.99992560e-01 7.32791286e-05 -1.99529276e+01] [ 1.10594588e-03 -7.75450934e-05 9.99999385e-01 2.85646477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.240714057 meters Centerline goodness [0,1] 0.976813114156084 Centerline is valid? [True, True] Translation: X:450.28, Y:-19.95, Z:2.86 [[ 9.99999901e-01 -3.21086951e-04 -3.08825891e-04 4.50280797e+02] [ 3.21093306e-04 9.99999948e-01 2.05272054e-05 -1.99520022e+01] [ 3.08819284e-04 -2.06263653e-05 9.99999952e-01 2.85665370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.270714057 meters Centerline goodness [0,1] 0.9763699096563309 Centerline is valid? [True, True] Translation: X:450.31, Y:-19.95, Z:2.86 [[ 9.99982125e-01 5.94467363e-03 6.40143896e-04 4.50310600e+02] [-5.94464756e-03 9.99982330e-01 -4.26302816e-05 -1.99484539e+01] [-6.40386008e-04 3.88240897e-05 9.99999794e-01 2.85719354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.300714057 meters Centerline goodness [0,1] 0.9770409329979419 Centerline is valid? [True, True] Translation: X:450.34, Y:-19.95, Z:2.86 [[ 9.99965365e-01 8.30305288e-03 5.73216870e-04 4.50339120e+02] [-8.30303215e-03 9.99965528e-01 -3.85346197e-05 -1.99490607e+01] [-5.73517066e-04 3.37738470e-05 9.99999835e-01 2.85638227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.330714057 meters Centerline goodness [0,1] 0.9776440437508581 Centerline is valid? [True, True] Translation: X:450.37, Y:-19.95, Z:2.86 [[ 9.99926922e-01 1.20044140e-02 1.42988384e-03 4.50367891e+02] [-1.20042903e-02 9.99927941e-01 -9.51039788e-05 -1.99483390e+01] [-1.43092247e-03 7.79322882e-05 9.99998973e-01 2.85557305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.360714057 meters Centerline goodness [0,1] 0.9782549296416048 Centerline is valid? [True, True] Translation: X:450.40, Y:-19.95, Z:2.85 [[ 9.99914234e-01 1.29101286e-02 2.20280857e-03 4.50396294e+02] [-1.29098375e-02 9.99916654e-01 -1.46343532e-04 -1.99503084e+01] [-2.20451428e-03 1.17893080e-04 9.99997563e-01 2.85486042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.390714057 meters Centerline goodness [0,1] 0.9765179777080997 Centerline is valid? [True, True] Translation: X:450.42, Y:-19.95, Z:2.85 [[ 9.99922933e-01 1.23574842e-02 1.19228861e-03 4.50423532e+02] [-1.23573980e-02 9.99923641e-01 -7.96518094e-05 -1.99530960e+01] [-1.19318186e-03 6.49120860e-05 9.99999286e-01 2.85303679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.420714057 meters Centerline goodness [0,1] 0.9783141920546501 Centerline is valid? [True, True] Translation: X:450.45, Y:-19.95, Z:2.85 [[ 9.99953653e-01 9.62137659e-03 3.48726830e-04 4.50453526e+02] [-9.62136901e-03 9.99953713e-01 -2.34103993e-05 -1.99490295e+01] [-3.48935929e-04 2.00540847e-05 9.99999939e-01 2.85341218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.450714057 meters Centerline goodness [0,1] 0.97886082037423 Centerline is valid? [True, True] Translation: X:450.48, Y:-19.95, Z:2.85 [[ 9.99967646e-01 8.04298421e-03 1.30423563e-04 4.50483268e+02] [-8.04298310e-03 9.99967655e-01 -9.01489019e-06 -1.99508982e+01] [-1.30491851e-04 7.96560401e-06 9.99999991e-01 2.85314508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.480714057 meters Centerline goodness [0,1] 0.9776736745886655 Centerline is valid? [True, True] Translation: X:450.51, Y:-19.95, Z:2.85 [[ 9.99982250e-01 5.95210436e-03 -2.66727600e-04 4.50512916e+02] [-5.95210000e-03 9.99982286e-01 1.71631925e-05 -1.99548797e+01] [ 2.66825033e-04 -1.55752985e-05 9.99999964e-01 2.85241095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.51071405700003 meters Centerline goodness [0,1] 0.9784509324993722 Centerline is valid? [True, True] Translation: X:450.54, Y:-19.96, Z:2.85 [[ 9.99987275e-01 5.03081260e-03 -3.74646706e-04 4.50541605e+02] [-5.03080402e-03 9.99987345e-01 2.38362658e-05 -1.99572686e+01] [ 3.74761881e-04 -2.19511883e-05 9.99999930e-01 2.85204293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.540714057 meters Centerline goodness [0,1] 0.9795642821181747 Centerline is valid? [True, True] Translation: X:450.57, Y:-19.96, Z:2.85 [[ 9.99991284e-01 4.17235372e-03 1.50839448e-04 4.50570063e+02] [-4.17235211e-03 9.99991296e-01 -1.09678691e-05 -1.99569385e+01] [-1.50883897e-04 1.03384182e-05 9.99999989e-01 2.85273520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.570714057 meters Centerline goodness [0,1] 0.9771619487860134 Centerline is valid? [True, True] Translation: X:450.60, Y:-19.97, Z:2.85 [[ 9.99996385e-01 2.66532088e-03 -3.55864363e-04 4.50598548e+02] [-2.66531296e-03 9.99996448e-01 2.27478321e-05 -1.99651347e+01] [ 3.55923730e-04 -2.17992599e-05 9.99999936e-01 2.85195522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.600714057 meters Centerline goodness [0,1] 0.9792689079484475 Centerline is valid? [True, True] Translation: X:450.63, Y:-19.96, Z:2.85 [[ 9.99997933e-01 1.88923064e-03 -7.50870950e-04 4.50628779e+02] [-1.88919448e-03 9.99998214e-01 4.88691740e-05 -1.99598502e+01] [ 7.50961934e-04 -4.74505318e-05 9.99999717e-01 2.85273019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.630714057 meters Centerline goodness [0,1] 0.9766898164065186 Centerline is valid? [True, True] Translation: X:450.66, Y:-19.97, Z:2.85 [[ 9.99998137e-01 1.51236957e-03 -1.19949639e-03 4.50657347e+02] [-1.51227648e-03 9.99998853e-01 7.85120762e-05 -1.99690516e+01] [ 1.19961375e-03 -7.66979598e-05 9.99999278e-01 2.85092223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.660714057 meters Centerline goodness [0,1] 0.9792028521802725 Centerline is valid? [True, True] Translation: X:450.69, Y:-19.97, Z:2.85 [[ 9.99996321e-01 2.39663484e-03 -1.27042140e-03 4.50687629e+02] [-2.39653143e-03 9.99997125e-01 8.29137756e-05 -1.99661727e+01] [ 1.27061646e-03 -7.98688658e-05 9.99999190e-01 2.85112261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.690714057 meters Centerline goodness [0,1] 0.9805601242690059 Centerline is valid? [True, True] Translation: X:450.72, Y:-19.97, Z:2.85 [[ 9.99992335e-01 3.76457523e-03 -1.07602261e-03 4.50717295e+02] [-3.76450196e-03 9.99992912e-01 7.01179420e-05 -1.99659504e+01] [ 1.07627895e-03 -6.60667153e-05 9.99999419e-01 2.85140890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.720714057 meters Centerline goodness [0,1] 0.9791252257813751 Centerline is valid? [True, True] Translation: X:450.75, Y:-19.97, Z:2.85 [[ 9.99976726e-01 6.70262512e-03 -1.27370486e-03 4.50746344e+02] [-6.70252477e-03 9.99977534e-01 8.30354243e-05 -1.99679415e+01] [ 1.27423280e-03 -7.44964534e-05 9.99999185e-01 2.85188780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.750714057 meters Centerline goodness [0,1] 0.9796928833823898 Centerline is valid? [True, True] Translation: X:450.77, Y:-19.97, Z:2.85 [[ 9.99964943e-01 8.29529233e-03 -1.14027884e-03 4.50774991e+02] [-8.29521354e-03 9.99965591e-01 7.38088311e-05 -1.99688593e+01] [ 1.14085187e-03 -6.43473871e-05 9.99999347e-01 2.85194079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.780714057 meters Centerline goodness [0,1] 0.9805428832116788 Centerline is valid? [True, True] Translation: X:450.80, Y:-19.97, Z:2.85 [[ 9.99925424e-01 1.21624626e-02 -1.10469189e-03 4.50804925e+02] [-1.21623907e-02 9.99926033e-01 7.18547628e-05 -1.99691551e+01] [ 1.10548411e-03 -5.84137099e-05 9.99999387e-01 2.85182687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.810714057 meters Centerline goodness [0,1] 0.9807995972263542 Centerline is valid? [True, True] Translation: X:450.83, Y:-19.97, Z:2.85 [[ 9.99899860e-01 1.40424245e-02 -1.75501683e-03 4.50833695e+02] [-1.40422462e-02 9.99901396e-01 1.13846448e-04 -1.99689376e+01] [ 1.75644246e-03 -8.91906684e-05 9.99998453e-01 2.85151269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.840714057 meters Centerline goodness [0,1] 0.9812195846375289 Centerline is valid? [True, True] Translation: X:450.86, Y:-19.97, Z:2.85 [[ 9.99835849e-01 1.79539443e-02 -2.43519847e-03 4.50862221e+02] [-1.79536106e-02 9.99838808e-01 1.58815884e-04 -1.99716220e+01] [ 2.43765731e-03 -1.15069209e-04 9.99997022e-01 2.85011275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.870714057 meters Centerline goodness [0,1] 0.9811586307091619 Centerline is valid? [True, True] Translation: X:450.89, Y:-19.97, Z:2.85 [[ 9.99806277e-01 1.94957785e-02 -2.70621725e-03 4.50890362e+02] [-1.94953740e-02 9.99809932e-01 1.75768945e-04 -1.99735533e+01] [ 2.70912963e-03 -1.22976177e-04 9.99996323e-01 2.84986002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.900714057 meters Centerline goodness [0,1] 0.9828235992782257 Centerline is valid? [True, True] Translation: X:450.92, Y:-19.97, Z:2.85 [[ 9.99764897e-01 2.14166314e-02 -3.38811938e-03 4.50919457e+02] [-2.14160085e-02 9.99770627e-01 2.20001962e-04 -1.99739484e+01] [ 3.39205394e-03 -1.47390245e-04 9.99994236e-01 2.85019951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.930714057 meters Centerline goodness [0,1] 0.9828235992782257 Centerline is valid? [True, True] Translation: X:450.95, Y:-19.98, Z:2.85 [[ 9.99767183e-01 2.13096169e-02 -3.38817006e-03 4.50946885e+02] [-2.13089961e-02 9.99772914e-01 2.19223132e-04 -1.99756479e+01] [ 3.39207221e-03 -1.46973590e-04 9.99994236e-01 2.84987736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.960714057 meters Centerline goodness [0,1] 0.98245694080073 Centerline is valid? [True, True] Translation: X:450.98, Y:-19.98, Z:2.85 [[ 9.99766512e-01 2.13751246e-02 -3.16627496e-03 4.50975467e+02] [-2.13745824e-02 9.99771517e-01 2.04978850e-04 -1.99791006e+01] [ 3.16993297e-03 -1.37253185e-04 9.99994966e-01 2.84988422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.990714057 meters Centerline goodness [0,1] 0.9813022537259178 Centerline is valid? [True, True] Translation: X:451.00, Y:-19.99, Z:2.85 [[ 9.99773991e-01 2.11604364e-02 -2.05015935e-03 4.51002592e+02] [-2.11602100e-02 9.99776089e-01 1.32046402e-04 -1.99918563e+01] [ 2.05249445e-03 -8.86347559e-05 9.99997890e-01 2.84803322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.020714057 meters Centerline goodness [0,1] 0.9826779876498365 Centerline is valid? [True, True] Translation: X:451.03, Y:-19.99, Z:2.85 [[ 9.99787565e-01 2.05546810e-02 -1.52637765e-03 4.51031471e+02] [-2.05545550e-02 9.99788728e-01 9.81445957e-05 -1.99905323e+01] [ 1.52807250e-03 -6.67497330e-05 9.99998830e-01 2.85026839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.050714057 meters Centerline goodness [0,1] 0.9844228283790218 Centerline is valid? [True, True] Translation: X:451.06, Y:-20.00, Z:2.85 [[ 9.99825534e-01 1.86622219e-02 -7.88799969e-04 4.51059688e+02] [-1.86621881e-02 9.99825845e-01 5.02519759e-05 -1.99967263e+01] [ 7.89600409e-04 -3.55224753e-05 9.99999688e-01 2.85099687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.080714057 meters Centerline goodness [0,1] 0.9839724081963888 Centerline is valid? [True, True] Translation: X:451.09, Y:-20.01, Z:2.85 [[ 9.99875585e-01 1.57226844e-02 -1.26928732e-03 4.51088490e+02] [-1.57225936e-02 9.99876389e-01 8.15194832e-05 -2.00055553e+01] [ 1.27041213e-03 -6.15528522e-05 9.99999191e-01 2.85063883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.110714057 meters Centerline goodness [0,1] 0.9842126568614222 Centerline is valid? [True, True] Translation: X:451.12, Y:-20.01, Z:2.85 [[ 9.99901970e-01 1.39403611e-02 -1.31028786e-03 4.51117696e+02] [-1.39402625e-02 9.99902826e-01 8.43330735e-05 -2.00106898e+01] [ 1.31133617e-03 -6.60590496e-05 9.99999138e-01 2.85030726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.140714057 meters Centerline goodness [0,1] 0.9847293959128677 Centerline is valid? [True, True] Translation: X:451.15, Y:-20.02, Z:2.85 [[ 9.99939981e-01 1.08155193e-02 -1.74898929e-03 4.51146231e+02] [-1.08153381e-02 9.99941506e-01 1.13038536e-04 -2.00222329e+01] [ 1.75010956e-03 -9.41158410e-05 9.99998464e-01 2.84871222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.170714057 meters Centerline goodness [0,1] 0.9837201479986546 Centerline is valid? [True, True] Translation: X:451.18, Y:-20.03, Z:2.85 [[ 9.99957038e-01 8.89750577e-03 -2.59942629e-03 4.51175677e+02] [-8.89710005e-03 9.99960406e-01 1.67604856e-04 -2.00253658e+01] [ 2.60081463e-03 -1.44470299e-04 9.99996607e-01 2.84830577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.200714057 meters Centerline goodness [0,1] 0.984108483693825 Centerline is valid? [True, True] Translation: X:451.21, Y:-20.03, Z:2.85 [[ 9.99975441e-01 6.16359457e-03 -3.33565395e-03 4.51205899e+02] [-6.16290952e-03 9.99980986e-01 2.15612496e-04 -2.00336714e+01] [ 3.33691947e-03 -1.95049867e-04 9.99994413e-01 2.84756732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.230714057 meters Centerline goodness [0,1] 0.9830189524620279 Centerline is valid? [True, True] Translation: X:451.23, Y:-20.04, Z:2.85 [[ 9.99981282e-01 4.87960744e-03 -3.69129473e-03 4.51234835e+02] [-4.87876283e-03 9.99988070e-01 2.37781340e-04 -2.00383193e+01] [ 3.69241097e-03 -2.19767937e-04 9.99993159e-01 2.84708138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26071405700003 meters Centerline goodness [0,1] 0.9833154170025978 Centerline is valid? [True, True] Translation: X:451.26, Y:-20.04, Z:2.85 [[ 9.99983941e-01 3.79505461e-03 -4.20888961e-03 4.51263291e+02] [-3.79394871e-03 9.99992766e-01 2.70707545e-04 -2.00427466e+01] [ 4.20988652e-03 -2.54734887e-04 9.99991106e-01 2.84683573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.290714057 meters Centerline goodness [0,1] 0.9829599804239983 Centerline is valid? [True, True] Translation: X:451.29, Y:-20.05, Z:2.85 [[ 9.99987088e-01 2.19250289e-03 -4.58432259e-03 4.51291261e+02] [-2.19117391e-03 9.99997556e-01 2.94899098e-04 -2.00507427e+01] [ 4.58495795e-03 -2.84850243e-04 9.99989448e-01 2.84556093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.320714057 meters Centerline goodness [0,1] 0.9830044103889161 Centerline is valid? [True, True] Translation: X:451.32, Y:-20.06, Z:2.84 [[ 9.99986702e-01 7.14003151e-04 -5.10746506e-03 4.51319842e+02] [-7.12335276e-04 9.99999692e-01 3.28368000e-04 -2.00571638e+01] [ 5.10769795e-03 -3.24725405e-04 9.99986903e-01 2.84453689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.350714057 meters Centerline goodness [0,1] 0.9834227097750384 Centerline is valid? [True, True] Translation: X:451.35, Y:-20.06, Z:2.85 [[ 9.99984954e-01 -2.15388557e-04 -5.48144557e-03 4.51348168e+02] [ 2.17318899e-04 9.99999915e-01 3.51566194e-04 -2.00586343e+01] [ 5.48136938e-03 -3.52752126e-04 9.99984915e-01 2.84519989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.380714057 meters Centerline goodness [0,1] 0.9824651536812009 Centerline is valid? [True, True] Translation: X:451.38, Y:-20.07, Z:2.84 [[ 9.99979016e-01 -2.51192768e-03 -5.97137362e-03 4.51377131e+02] [ 2.51426408e-03 9.99996766e-01 3.83792337e-04 -2.00660537e+01] [ 5.97039024e-03 -3.98797894e-04 9.99982098e-01 2.84470054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.410714057 meters Centerline goodness [0,1] 0.9821081985499164 Centerline is valid? [True, True] Translation: X:451.41, Y:-20.07, Z:2.85 [[ 9.99974942e-01 -3.80142834e-03 -5.97192225e-03 4.51406649e+02] [ 3.80378562e-03 9.99992692e-01 3.83418050e-04 -2.00668534e+01] [ 5.97042107e-03 -4.06124354e-04 9.99982094e-01 2.84510065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.440714057 meters Centerline goodness [0,1] 0.9830194573366655 Centerline is valid? [True, True] Translation: X:451.44, Y:-20.07, Z:2.85 [[ 9.99972962e-01 -5.94884625e-03 -4.32286109e-03 4.51436235e+02] [ 5.95010021e-03 9.99982260e-01 2.77273772e-04 -2.00701142e+01] [ 4.32113495e-03 -3.02987732e-04 9.99990618e-01 2.84593464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.470714057 meters Centerline goodness [0,1] 0.9805069093660295 Centerline is valid? [True, True] Translation: X:451.47, Y:-20.08, Z:2.84 [[ 9.99962719e-01 -8.01206068e-03 -3.21971639e-03 4.51465716e+02] [ 8.01276877e-03 9.99967876e-01 2.07081964e-04 -2.00821783e+01] [ 3.21795381e-03 -2.32873087e-04 9.99994795e-01 2.84494376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.500714057 meters Centerline goodness [0,1] 0.9819409582620672 Centerline is valid? [True, True] Translation: X:451.50, Y:-20.08, Z:2.85 [[ 9.99961191e-01 -8.41009265e-03 -2.62410631e-03 4.51497979e+02] [ 8.41056525e-03 9.99964616e-01 1.69115346e-04 -2.00762574e+01] [ 2.62259118e-03 -1.91179000e-04 9.99996543e-01 2.84651420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.530714057 meters Centerline goodness [0,1] 0.9816219824229614 Centerline is valid? [True, True] Translation: X:451.53, Y:-20.08, Z:2.85 [[ 9.99953555e-01 -9.14125357e-03 -3.05376332e-03 4.51528485e+02] [ 9.14189712e-03 9.99958193e-01 1.96846043e-04 -2.00802179e+01] [ 3.05183623e-03 -2.24754090e-04 9.99995318e-01 2.84606087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.560714057 meters Centerline goodness [0,1] 0.9820255636428191 Centerline is valid? [True, True] Translation: X:451.56, Y:-20.08, Z:2.85 [[ 9.99952014e-01 -9.31206779e-03 -3.04237500e-03 4.51559950e+02] [ 9.31270842e-03 9.99956616e-01 1.96472182e-04 -2.00838341e+01] [ 3.04041345e-03 -2.24795505e-04 9.99995353e-01 2.84547787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.590714057 meters Centerline goodness [0,1] 0.9825824224651204 Centerline is valid? [True, True] Translation: X:451.59, Y:-20.08, Z:2.85 [[ 9.99950233e-01 -9.48607207e-03 -3.08976938e-03 4.51592315e+02] [ 9.48673499e-03 9.99954980e-01 1.99968296e-04 -2.00831799e+01] [ 3.08773336e-03 -2.29270167e-04 9.99995207e-01 2.84529972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.620714057 meters Centerline goodness [0,1] 0.9821885784259157 Centerline is valid? [True, True] Translation: X:451.62, Y:-20.08, Z:2.84 [[ 9.99935914e-01 -1.02903111e-02 -4.71980248e-03 4.51624748e+02] [ 1.02918664e-02 9.99946991e-01 3.05372157e-04 -2.00846260e+01] [ 4.71640991e-03 -3.53928164e-04 9.99988815e-01 2.84429402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.650714057 meters Centerline goodness [0,1] 0.981876403744802 Centerline is valid? [True, True] Translation: X:451.66, Y:-20.09, Z:2.84 [[ 9.99925320e-01 -1.08718891e-02 -5.58178766e-03 4.51655744e+02] [ 1.08740713e-02 9.99940810e-01 3.60761622e-04 -2.00873716e+01] [ 5.57753512e-03 -4.21431438e-04 9.99984357e-01 2.84307246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.680714057 meters Centerline goodness [0,1] 0.9808166803743303 Centerline is valid? [True, True] Translation: X:451.69, Y:-20.10, Z:2.84 [[ 9.99902251e-01 -1.22417489e-02 -6.75484501e-03 4.51685245e+02] [ 1.22449814e-02 9.99924932e-01 4.37400463e-04 -2.00965796e+01] [ 6.74898339e-03 -5.20070659e-04 9.99977090e-01 2.83943126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.710714057 meters Centerline goodness [0,1] 0.7187513015952351 Centerline is valid? [True, False] Translation: X:451.74, Y:-20.10, Z:2.84 [[ 9.99861783e-01 -1.51645176e-02 -6.81563790e-03 4.51736072e+02] [ 1.51495797e-02 9.99882734e-01 -2.23802270e-03 -2.00974709e+01] [ 6.84877719e-03 2.13445931e-03 9.99974269e-01 2.83948698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.740714057 meters Centerline goodness [0,1] 0.9813094497288648 Centerline is valid? [False, True] Translation: X:451.67, Y:-20.10, Z:2.84 [[ 9.99906547e-01 -1.26633469e-02 -5.15147733e-03 4.51669014e+02] [ 1.26513320e-02 9.99917188e-01 -2.35826392e-03 -2.00954119e+01] [ 5.18091424e-03 2.29287048e-03 9.99983950e-01 2.83801176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.770714057 meters Centerline goodness [0,1] 0.9771497294046904 Centerline is valid? [True, True] Translation: X:451.70, Y:-20.11, Z:2.83 [[ 9.99890062e-01 -1.40967440e-02 -4.59851647e-03 4.51698394e+02] [ 1.40983223e-02 9.99900565e-01 3.10980446e-04 -2.01059390e+01] [ 4.59367540e-03 -3.75777624e-04 9.99989378e-01 2.83432163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.800714057 meters Centerline goodness [0,1] 0.9766243000622167 Centerline is valid? [True, True] Translation: X:451.73, Y:-20.11, Z:2.83 [[ 9.99894426e-01 -1.38043091e-02 -4.53638541e-03 4.51730622e+02] [ 1.38058422e-02 9.99904648e-01 3.06823933e-04 -2.01082605e+01] [ 4.53171737e-03 -3.69420162e-04 9.99989663e-01 2.83360821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.830714057 meters Centerline goodness [0,1] 0.9761471150002221 Centerline is valid? [True, True] Translation: X:451.76, Y:-20.11, Z:2.83 [[ 9.99907125e-01 -1.30897178e-02 -3.79468896e-03 4.51762240e+02] [ 1.30907847e-02 9.99914279e-01 2.56463070e-04 -2.01085248e+01] [ 3.79100665e-03 -3.06114707e-04 9.99992767e-01 2.83386233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.860714057 meters Centerline goodness [0,1] 0.98134386646136 Centerline is valid? [True, True] Translation: X:451.80, Y:-20.10, Z:2.84 [[ 9.99916409e-01 -1.25468631e-02 -3.12256069e-03 4.51795278e+02] [ 1.25475855e-02 9.99921254e-01 2.11869010e-04 -2.01021847e+01] [ 3.11965651e-03 -2.51031897e-04 9.99995102e-01 2.83517125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.890714057 meters Centerline goodness [0,1] 0.9795391294667706 Centerline is valid? [True, True] Translation: X:451.83, Y:-20.11, Z:2.84 [[ 9.99936457e-01 -1.11653252e-02 -1.55481046e-03 4.51825595e+02] [ 1.11655023e-02 9.99937658e-01 1.05276185e-04 -2.01051224e+01] [ 1.55353809e-03 -1.22629736e-04 9.99998786e-01 2.83550830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.920714057 meters Centerline goodness [0,1] 0.9800921576522167 Centerline is valid? [True, True] Translation: X:451.86, Y:-20.10, Z:2.84 [[ 9.99943230e-01 -1.06096825e-02 -9.85628740e-04 4.51858128e+02] [ 1.06097542e-02 9.99943713e-01 6.76298856e-05 -2.01047519e+01] [ 9.84855730e-04 -7.80833250e-05 9.99999512e-01 2.83596570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.950714057 meters Centerline goodness [0,1] 0.980295456574132 Centerline is valid? [True, True] Translation: X:451.89, Y:-20.10, Z:2.84 [[ 9.99953437e-01 -9.48963504e-03 1.75209018e-03 4.51890306e+02] [ 9.48985596e-03 9.99954963e-01 -1.17819811e-04 -2.01023527e+01] [-1.75089320e-03 1.34441408e-04 9.99998458e-01 2.83687524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.980714057 meters Centerline goodness [0,1] 0.9799768105601142 Centerline is valid? [True, True] Translation: X:451.92, Y:-20.10, Z:2.84 [[ 9.99957851e-01 -8.72663038e-03 2.85347738e-03 4.51922699e+02] [ 8.72721448e-03 9.99961899e-01 -1.92310664e-04 -2.01035136e+01] [-2.85169044e-03 2.17205467e-04 9.99995910e-01 2.83678709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.01071405700003 meters Centerline goodness [0,1] 0.9791596638655462 Centerline is valid? [True, True] Translation: X:451.95, Y:-20.10, Z:2.84 [[ 9.99968448e-01 -7.06163339e-03 3.63806486e-03 4.51954413e+02] [ 7.06257450e-03 9.99975029e-01 -2.45903603e-04 -2.01028743e+01] [-3.63623754e-03 2.71589948e-04 9.99993352e-01 2.83560027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.040714057 meters Centerline goodness [0,1] 0.980915003363983 Centerline is valid? [True, True] Translation: X:451.99, Y:-20.10, Z:2.83 [[ 9.99974284e-01 -6.18340656e-03 3.63281746e-03 4.51986452e+02] [ 6.18433918e-03 9.99980847e-01 -2.45543626e-04 -2.01011093e+01] [-3.63122959e-03 2.68003887e-04 9.99993371e-01 2.83493230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.070714057 meters Centerline goodness [0,1] 0.9783188717741754 Centerline is valid? [True, True] Translation: X:452.02, Y:-20.11, Z:2.83 [[ 9.99983380e-01 -4.56362073e-03 3.52328376e-03 4.52016556e+02] [ 4.56449076e-03 9.99989554e-01 -2.38936026e-04 -2.01068700e+01] [-3.52215654e-03 2.55014051e-04 9.99993765e-01 2.83211848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.100714057 meters Centerline goodness [0,1] 0.9810921532435961 Centerline is valid? [True, True] Translation: X:452.05, Y:-20.10, Z:2.83 [[ 9.99987121e-01 -3.44521367e-03 3.72672989e-03 4.52049355e+02] [ 3.44617753e-03 9.99994030e-01 -2.52242461e-04 -2.00977202e+01] [-3.72583862e-03 2.65082186e-04 9.99993024e-01 2.83250125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.130714057 meters Centerline goodness [0,1] 0.9813932584269663 Centerline is valid? [True, True] Translation: X:452.08, Y:-20.10, Z:2.83 [[ 9.99986213e-01 -2.72651244e-03 4.48764979e-03 4.52081721e+02] [ 2.72790536e-03 9.99996233e-01 -3.04296756e-04 -2.00997230e+01] [-4.48680322e-03 3.16534445e-04 9.99989884e-01 2.83160784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.160714057 meters Centerline goodness [0,1] 0.9793800508745469 Centerline is valid? [True, True] Translation: X:452.11, Y:-20.10, Z:2.83 [[ 9.99990584e-01 -1.47144904e-03 4.08246984e-03 4.52113010e+02] [ 1.47259297e-03 9.99998877e-01 -2.77214045e-04 -2.01029013e+01] [-4.08205735e-03 2.83223251e-04 9.99991628e-01 2.82977514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.190714057 meters Centerline goodness [0,1] 0.9799410162317927 Centerline is valid? [True, True] Translation: X:452.15, Y:-20.10, Z:2.83 [[ 9.99992194e-01 -4.52948781e-04 3.92523139e-03 4.52145474e+02] [ 4.53998526e-04 9.99999861e-01 -2.66548462e-04 -2.01023585e+01] [-3.92511011e-03 2.68328431e-04 9.99992261e-01 2.82916680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.220714057 meters Centerline goodness [0,1] 0.9804918659856445 Centerline is valid? [True, True] Translation: X:452.18, Y:-20.10, Z:2.83 [[ 9.99993669e-01 1.90545680e-03 3.00525067e-03 4.52177286e+02] [-1.90485142e-03 9.99998165e-01 -2.04288594e-04 -2.01002391e+01] [-3.00563441e-03 1.98562745e-04 9.99995463e-01 2.82755041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.250714057 meters Centerline goodness [0,1] 0.9818587964529886 Centerline is valid? [True, True] Translation: X:452.21, Y:-20.10, Z:2.83 [[ 9.99990907e-01 3.48421407e-03 2.45879199e-03 4.52208411e+02] [-3.48381267e-03 9.99993917e-01 -1.67514145e-04 -2.00993156e+01] [-2.45936068e-03 1.58946651e-04 9.99996963e-01 2.82676629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.280714057 meters Centerline goodness [0,1] 0.9802647901301396 Centerline is valid? [True, True] Translation: X:452.24, Y:-20.10, Z:2.82 [[ 9.99969286e-01 7.60103951e-03 1.91102660e-03 4.52237949e+02] [-7.60080379e-03 9.99971105e-01 -1.30581336e-04 -2.01006389e+01] [-1.91196394e-03 1.16051987e-04 9.99998165e-01 2.82499332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.310714057 meters Centerline goodness [0,1] 0.9810223931237276 Centerline is valid? [True, True] Translation: X:452.27, Y:-20.10, Z:2.83 [[ 9.99954629e-01 9.26695500e-03 2.20536742e-03 4.52267077e+02] [-9.26664387e-03 9.99957052e-01 -1.51255238e-04 -2.00986674e+01] [-2.20667438e-03 1.30812021e-04 9.99997557e-01 2.82528074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.340714057 meters Centerline goodness [0,1] 0.9802354539280055 Centerline is valid? [True, True] Translation: X:452.30, Y:-20.10, Z:2.83 [[ 9.99914492e-01 1.23652711e-02 4.25534862e-03 4.52297476e+02] [-1.23641479e-02 9.99923519e-01 -2.90159307e-04 -2.00965293e+01] [-4.25861106e-03 2.37520736e-04 9.99990904e-01 2.82700616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.370714057 meters Centerline goodness [0,1] 0.9811247986569568 Centerline is valid? [True, True] Translation: X:452.33, Y:-20.10, Z:2.83 [[ 9.99889870e-01 1.37115819e-02 5.67813504e-03 4.52326661e+02] [-1.37096022e-02 9.99905944e-01 -3.87433520e-04 -2.00951482e+01] [-5.68291330e-03 3.09545879e-04 9.99983804e-01 2.82801927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.400714057 meters Centerline goodness [0,1] 0.9811585987983222 Centerline is valid? [True, True] Translation: X:452.35, Y:-20.10, Z:2.83 [[ 9.99886421e-01 1.38866704e-02 5.85701031e-03 4.52354998e+02] [-1.38845697e-02 9.99903525e-01 -3.99188170e-04 -2.00971095e+01] [-5.86198865e-03 3.17820763e-04 9.99982768e-01 2.82745311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.430714057 meters Centerline goodness [0,1] 0.9789634077005299 Centerline is valid? [True, True] Translation: X:452.38, Y:-20.11, Z:2.83 [[ 9.99902857e-01 1.26949863e-02 5.75453554e-03 4.52382540e+02] [-1.26929410e-02 9.99919365e-01 -3.91814072e-04 -2.01066440e+01] [-5.75904560e-03 3.18734030e-04 9.99983366e-01 2.82536225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.460714057 meters Centerline goodness [0,1] 0.9825248020387731 Centerline is valid? [True, True] Translation: X:452.41, Y:-20.10, Z:2.83 [[ 9.99915552e-01 1.17424947e-02 5.56803672e-03 4.52411782e+02] [-1.17405669e-02 9.99931005e-01 -3.78778081e-04 -2.00995842e+01] [-5.57210036e-03 3.13374186e-04 9.99984427e-01 2.82618642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.490714057 meters Centerline goodness [0,1] 0.980818877666561 Centerline is valid? [True, True] Translation: X:452.44, Y:-20.10, Z:2.82 [[ 9.99956667e-01 8.39195124e-03 4.02974581e-03 4.52440352e+02] [-8.39091591e-03 9.99964758e-01 -2.73759561e-04 -2.01039202e+01] [-4.03190117e-03 2.39934440e-04 9.99991843e-01 2.82495057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.520714057 meters Centerline goodness [0,1] 0.979965018285896 Centerline is valid? [True, True] Translation: X:452.47, Y:-20.11, Z:2.82 [[ 9.99972432e-01 6.38636738e-03 3.78817203e-03 4.52468981e+02] [-6.38544107e-03 9.99979580e-01 -2.56569969e-04 -2.01083492e+01] [-3.78973322e-03 2.32373747e-04 9.99992792e-01 2.82375864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.550714057 meters Centerline goodness [0,1] 0.9802861685214627 Centerline is valid? [True, True] Translation: X:452.50, Y:-20.11, Z:2.82 [[ 9.99986113e-01 4.39255272e-03 2.91207607e-03 4.52498566e+02] [-4.39199481e-03 9.99990336e-01 -1.97949966e-04 -2.01111023e+01] [-2.91291743e-03 1.85157394e-04 9.99995740e-01 2.82294151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.580714057 meters Centerline goodness [0,1] 0.9796057258229169 Centerline is valid? [True, True] Translation: X:452.53, Y:-20.12, Z:2.82 [[ 9.99997957e-01 1.08516544e-03 1.70535615e-03 4.52527558e+02] [-1.08496956e-03 9.99999405e-01 -1.15782775e-04 -2.01164920e+01] [-1.70548078e-03 1.13932279e-04 9.99998539e-01 2.82182728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.610714057 meters Centerline goodness [0,1] 0.977403693452516 Centerline is valid? [True, True] Translation: X:452.56, Y:-20.12, Z:2.82 [[ 9.99997528e-01 -1.66280904e-03 1.47589290e-03 4.52557816e+02] [ 1.66295851e-03 9.99998612e-01 -1.00057054e-04 -2.01207280e+01] [-1.47572447e-03 1.02511156e-04 9.99998906e-01 2.82096438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.640714057 meters Centerline goodness [0,1] 0.9783921194788687 Centerline is valid? [True, True] Translation: X:452.59, Y:-20.12, Z:2.82 [[ 9.99996447e-01 -2.21734165e-03 1.47992161e-03 4.52589485e+02] [ 2.21749191e-03 9.99997536e-01 -9.98998389e-05 -2.01234760e+01] [-1.47969645e-03 1.03181198e-04 9.99998900e-01 2.82068496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.670714057 meters Centerline goodness [0,1] 0.977830328111144 Centerline is valid? [True, True] Translation: X:452.62, Y:-20.13, Z:2.82 [[ 9.99994850e-01 -3.10497999e-03 8.11491329e-04 4.52620969e+02] [ 3.10502330e-03 9.99995178e-01 -5.21166543e-05 -2.01258694e+01] [-8.11325595e-04 5.46360854e-05 9.99999669e-01 2.81976731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.700714057 meters Centerline goodness [0,1] 0.9769187038089824 Centerline is valid? [True, True] Translation: X:452.65, Y:-20.13, Z:2.82 [[ 9.99993710e-01 -3.53037230e-03 3.40877477e-04 4.52652417e+02] [ 3.53038025e-03 9.99993768e-01 -2.27337186e-05 -2.01279109e+01] [-3.40795094e-04 2.39370027e-05 9.99999942e-01 2.81942608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.730714057 meters Centerline goodness [0,1] 0.9775145232942248 Centerline is valid? [True, True] Translation: X:452.68, Y:-20.13, Z:2.82 [[ 9.99988666e-01 -4.75566495e-03 -2.27007845e-04 4.52683597e+02] [ 4.75566874e-03 9.99988692e-01 1.61771144e-05 -2.01314608e+01] [ 2.26928345e-04 -1.72565052e-05 9.99999974e-01 2.81802153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76071405700003 meters Centerline goodness [0,1] 0.974784551548037 Centerline is valid? [True, True] Translation: X:452.71, Y:-20.14, Z:2.82 [[ 9.99974248e-01 -6.95485867e-03 -1.76992996e-03 4.52713408e+02] [ 6.95508296e-03 9.99975806e-01 1.20595419e-04 -2.01364020e+01] [ 1.76904841e-03 -1.32902323e-04 9.99998426e-01 2.81623006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.790714057 meters Centerline goodness [0,1] 0.9741289000227739 Centerline is valid? [True, True] Translation: X:452.75, Y:-20.14, Z:2.82 [[ 9.99965768e-01 -8.04649022e-03 -1.92783881e-03 4.52745149e+02] [ 8.04675986e-03 9.99967616e-01 1.32154399e-04 -2.01393146e+01] [ 1.92671300e-03 -1.47662731e-04 9.99998133e-01 2.81591375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.820714057 meters Centerline goodness [0,1] 0.9741289000227739 Centerline is valid? [True, True] Translation: X:452.78, Y:-20.14, Z:2.82 [[ 9.99966302e-01 -7.97987544e-03 -1.92781424e-03 4.52776858e+02] [ 7.98014565e-03 9.99968149e-01 1.32514307e-04 -2.01415447e+01] [ 1.92669539e-03 -1.47894080e-04 9.99998133e-01 2.81546863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.850714057 meters Centerline goodness [0,1] 0.9715408158603992 Centerline is valid? [True, True] Translation: X:452.81, Y:-20.14, Z:2.82 [[ 9.99953009e-01 -9.45292486e-03 -2.14991792e-03 4.52808106e+02] [ 9.45326322e-03 9.99955306e-01 1.47272525e-04 -2.01443593e+01] [ 2.14842967e-03 -1.67589344e-04 9.99997678e-01 2.81550466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.880714057 meters Centerline goodness [0,1] 0.9616630176975005 Centerline is valid? [True, True] Translation: X:452.84, Y:-20.15, Z:2.82 [[ 9.99924776e-01 -1.21425646e-02 -1.73217953e-03 4.52838979e+02] [ 1.21427880e-02 9.99926267e-01 1.18534091e-04 -2.01476953e+01] [ 1.73061250e-03 -1.39558663e-04 9.99998493e-01 2.81613138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.910714057 meters Centerline goodness [0,1] 0.9601646466956323 Centerline is valid? [True, True] Translation: X:452.87, Y:-20.15, Z:2.82 [[ 9.99905610e-01 -1.36301259e-02 -1.72935859e-03 4.52870183e+02] [ 1.36303514e-02 9.99907095e-01 1.18635160e-04 -2.01504307e+01] [ 1.72758091e-03 -1.42195728e-04 9.99998498e-01 2.81600688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.940714057 meters Centerline goodness [0,1] 0.946400875832497 Centerline is valid? [True, False] Translation: X:452.87, Y:-20.15, Z:2.82 [[ 9.99904390e-01 -1.37239635e-02 -1.69199961e-03 4.52870490e+02] [ 1.37249281e-02 9.99905652e-01 5.59780826e-04 -2.01513345e+01] [ 1.68415756e-03 -5.82949879e-04 9.99998412e-01 2.81526835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.970714057 meters Centerline goodness [0,1] 0.9761012611953939 Centerline is valid? [False, True] Translation: X:452.87, Y:-20.15, Z:2.81 [[ 9.99905303e-01 -1.36523330e-02 -1.73193687e-03 4.52870961e+02] [ 1.36537819e-02 9.99906440e-01 8.27500819e-04 -2.01517230e+01] [ 1.72047751e-03 -8.51069945e-04 9.99998158e-01 2.81465305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.000714057 meters Centerline goodness [0,1] 0.9739188077169242 Centerline is valid? [True, True] Translation: X:452.90, Y:-20.15, Z:2.81 [[ 9.99879068e-01 -1.52155672e-02 -3.21487019e-03 4.52902047e+02] [ 1.52163901e-02 9.99884197e-01 2.31655805e-04 -2.01548153e+01] [ 3.21097312e-03 -2.80546509e-04 9.99994805e-01 2.81382359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.030714057 meters Centerline goodness [0,1] 0.9689129838045567 Centerline is valid? [True, True] Translation: X:452.93, Y:-20.16, Z:2.81 [[ 9.99853743e-01 -1.64559397e-02 -4.65782972e-03 4.52931976e+02] [ 1.64576770e-02 9.99864507e-01 3.34885197e-04 -2.01577406e+01] [ 4.65168776e-03 -4.11493275e-04 9.99989096e-01 2.81291274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.060714057 meters Centerline goodness [0,1] 0.9658182150527806 Centerline is valid? [True, True] Translation: X:452.96, Y:-20.16, Z:2.81 [[ 9.99852443e-01 -1.64608656e-02 -4.91249772e-03 4.52964478e+02] [ 1.64628047e-02 9.99864416e-01 3.54558676e-04 -2.01600407e+01] [ 4.90599533e-03 -4.35379849e-04 9.99987871e-01 2.81242436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.090714057 meters Centerline goodness [0,1] 0.9669190821532337 Centerline is valid? [True, True] Translation: X:453.00, Y:-20.16, Z:2.81 [[ 9.99862086e-01 -1.58440253e-02 -4.97761243e-03 4.52997092e+02] [ 1.58460120e-02 9.99874379e-01 3.59927840e-04 -2.01619211e+01] [ 4.97128444e-03 -4.38753507e-04 9.99987547e-01 2.81217737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.120714057 meters Centerline goodness [0,1] 0.9758101323596531 Centerline is valid? [True, True] Translation: X:453.03, Y:-20.16, Z:2.81 [[ 9.99884410e-01 -1.44167306e-02 -4.82950211e-03 4.53028741e+02] [ 1.44185816e-02 9.99895986e-01 3.48679287e-04 -2.01570304e+01] [ 4.82397296e-03 -4.18273554e-04 9.99988277e-01 2.81343786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.150714057 meters Centerline goodness [0,1] 0.976545842217484 Centerline is valid? [True, True] Translation: X:453.06, Y:-20.15, Z:2.81 [[ 9.99907191e-01 -1.23323310e-02 -5.78997709e-03 4.53060173e+02] [ 1.23349575e-02 9.99923834e-01 4.18126302e-04 -2.01540204e+01] [ 5.78437962e-03 -4.89506617e-04 9.99983151e-01 2.81393936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.180714057 meters Centerline goodness [0,1] 0.9736270768105675 Centerline is valid? [True, True] Translation: X:453.09, Y:-20.16, Z:2.81 [[ 9.99928172e-01 -1.05479533e-02 -5.69139868e-03 4.53091071e+02] [ 1.05504636e-02 9.99944258e-01 4.11215965e-04 -2.01569163e+01] [ 5.68674395e-03 -4.71233323e-04 9.99983719e-01 2.81357199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.210714057 meters Centerline goodness [0,1] 0.977008062108092 Centerline is valid? [True, True] Translation: X:453.12, Y:-20.15, Z:2.81 [[ 9.99937994e-01 -9.17412509e-03 -6.31224840e-03 4.53122577e+02] [ 9.17718677e-03 9.99957785e-01 4.56244552e-04 -2.01539800e+01] [ 6.30779628e-03 -5.14144944e-04 9.99979973e-01 2.81421134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.240714057 meters Centerline goodness [0,1] 0.9786021282952952 Centerline is valid? [True, True] Translation: X:453.15, Y:-20.15, Z:2.81 [[ 9.99968874e-01 -5.26621379e-03 -5.87512703e-03 4.53152957e+02] [ 5.26879620e-03 9.99986030e-01 4.24158600e-04 -2.01514856e+01] [ 5.87281125e-03 -4.55100245e-04 9.99982651e-01 2.81422308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.270714057 meters Centerline goodness [0,1] 0.9787699463492137 Centerline is valid? [True, True] Translation: X:453.18, Y:-20.15, Z:2.81 [[ 9.99977021e-01 -3.38896763e-03 -5.87130647e-03 4.53183552e+02] [ 3.39151453e-03 9.99994159e-01 4.23885238e-04 -2.01509858e+01] [ 5.86983564e-03 -4.43788119e-04 9.99982674e-01 2.81368552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.300714057 meters Centerline goodness [0,1] 0.9800933268969956 Centerline is valid? [True, True] Translation: X:453.21, Y:-20.15, Z:2.81 [[ 9.99981331e-01 1.05106452e-03 -6.01931041e-03 4.53213340e+02] [-1.04847018e-03 9.99999356e-01 4.34143328e-04 -2.01509146e+01] [ 6.01976285e-03 -4.27824155e-04 9.99981790e-01 2.81334674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.330714057 meters Centerline goodness [0,1] 0.9806685275323537 Centerline is valid? [True, True] Translation: X:453.24, Y:-20.15, Z:2.81 [[ 9.99975334e-01 2.57346544e-03 -6.53515312e-03 4.53242842e+02] [-2.57046988e-03 9.99996587e-01 4.66734568e-04 -2.01479200e+01] [ 6.53633195e-03 -4.49924642e-04 9.99978537e-01 2.81406153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.360714057 meters Centerline goodness [0,1] 0.9803685804795709 Centerline is valid? [True, True] Translation: X:453.27, Y:-20.15, Z:2.81 [[ 9.99948332e-01 7.29887759e-03 -7.07524177e-03 4.53273205e+02] [-7.29545832e-03 9.99973258e-01 5.08962135e-04 -2.01464986e+01] [ 7.07876742e-03 -4.57318706e-04 9.99974841e-01 2.81394901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.390714057 meters Centerline goodness [0,1] 0.9814124673039976 Centerline is valid? [True, True] Translation: X:453.30, Y:-20.15, Z:2.81 [[ 9.99927375e-01 9.54182106e-03 -7.36201056e-03 4.53303356e+02] [-9.53818219e-03 9.99954370e-01 5.29229112e-04 -2.01473739e+01] [ 7.36672444e-03 -4.58970479e-04 9.99972760e-01 2.81328090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.420714057 meters Centerline goodness [0,1] 0.9818552591940305 Centerline is valid? [True, True] Translation: X:453.33, Y:-20.15, Z:2.81 [[ 9.99870273e-01 1.35656336e-02 -8.68390922e-03 4.53332295e+02] [-1.35607263e-02 9.99907855e-01 6.23734983e-04 -2.01485873e+01] [ 8.69157039e-03 -5.05893952e-04 9.99962100e-01 2.81207830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.450714057 meters Centerline goodness [0,1] 0.9822578403668875 Centerline is valid? [True, True] Translation: X:453.36, Y:-20.15, Z:2.81 [[ 9.99847101e-01 1.52147725e-02 -8.61892584e-03 4.53361047e+02] [-1.52100093e-02 9.99884130e-01 6.17916294e-04 -2.01484891e+01] [ 8.62732862e-03 -4.86727872e-04 9.99962665e-01 2.81238195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.480714057 meters Centerline goodness [0,1] 0.9816443859527603 Centerline is valid? [True, True] Translation: X:453.39, Y:-20.16, Z:2.81 [[ 9.99795756e-01 1.81843009e-02 -8.81913493e-03 4.53389394e+02] [-1.81794270e-02 9.99834540e-01 6.32509853e-04 -2.01552535e+01] [ 8.82917747e-03 -4.72053847e-04 9.99960911e-01 2.80952992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.51071405700003 meters Centerline goodness [0,1] 0.9808092004988223 Centerline is valid? [True, True] Translation: X:453.42, Y:-20.15, Z:2.81 [[ 9.99769378e-01 1.91794905e-02 -9.66111479e-03 4.53418259e+02] [-1.91736985e-02 9.99815928e-01 6.91791258e-04 -2.01544532e+01] [ 9.67260466e-03 -5.06392414e-04 9.99953091e-01 2.81028066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.540714057 meters Centerline goodness [0,1] 0.9823509055254355 Centerline is valid? [True, True] Translation: X:453.45, Y:-20.15, Z:2.81 [[ 9.99742925e-01 2.03103543e-02 -1.00783233e-02 4.53447603e+02] [-2.03041566e-02 9.99793592e-01 7.16903321e-04 -2.01523635e+01] [ 1.00908036e-02 -5.12087169e-04 9.99948955e-01 2.81155718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.570714057 meters Centerline goodness [0,1] 0.9808170024841292 Centerline is valid? [True, True] Translation: X:453.48, Y:-20.16, Z:2.81 [[ 9.99731833e-01 2.09114351e-02 -9.94861121e-03 4.53475244e+02] [-2.09054136e-02 9.99781207e-01 7.08878459e-04 -2.01575326e+01] [ 9.96125818e-03 -5.00708528e-04 9.99950260e-01 2.81016302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.600714057 meters Centerline goodness [0,1] 0.9811090938340266 Centerline is valid? [True, True] Translation: X:453.50, Y:-20.16, Z:2.81 [[ 9.99737816e-01 2.08667147e-02 -9.42755697e-03 4.53504052e+02] [-2.08613097e-02 9.99782154e-01 6.71301173e-04 -2.01603944e+01] [ 9.43951106e-03 -4.74453983e-04 9.99955334e-01 2.81014809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.630714057 meters Centerline goodness [0,1] 0.9816790726614891 Centerline is valid? [True, True] Translation: X:453.53, Y:-20.16, Z:2.81 [[ 9.99750318e-01 2.00684249e-02 -9.82647364e-03 4.53532958e+02] [-2.00625211e-02 9.99798483e-01 6.99017102e-04 -2.01604676e+01] [ 9.83852161e-03 -5.01698735e-04 9.99951475e-01 2.81120781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.660714057 meters Centerline goodness [0,1] 0.9800216106857944 Centerline is valid? [True, True] Translation: X:453.56, Y:-20.17, Z:2.81 [[ 9.99777599e-01 1.88706144e-02 -9.41549712e-03 4.53560918e+02] [-1.88651520e-02 9.99821814e-01 6.68635356e-04 -2.01650666e+01] [ 9.42643697e-03 -4.90861866e-04 9.99955450e-01 2.81060860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.690714057 meters Centerline goodness [0,1] 0.9796935658006569 Centerline is valid? [True, True] Translation: X:453.59, Y:-20.17, Z:2.81 [[ 9.99813752e-01 1.69761487e-02 -9.17999137e-03 4.53589190e+02] [-1.69708764e-02 9.99855772e-01 6.51919549e-04 -2.01713499e+01] [ 9.18973444e-03 -4.96005631e-04 9.99957650e-01 2.80876062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.720714057 meters Centerline goodness [0,1] 0.9795501960154979 Centerline is valid? [True, True] Translation: X:453.62, Y:-20.18, Z:2.81 [[ 9.99835705e-01 1.58382649e-02 -8.81540607e-03 4.53616530e+02] [-1.58333707e-02 9.99874449e-01 6.24713311e-04 -2.01759761e+01] [ 8.82419366e-03 -4.85033082e-04 9.99960948e-01 2.80796029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.750714057 meters Centerline goodness [0,1] 0.9789519391183125 Centerline is valid? [True, True] Translation: X:453.65, Y:-20.18, Z:2.81 [[ 9.99880647e-01 1.35160069e-02 -7.48390926e-03 4.53645316e+02] [-1.35124153e-02 9.99908563e-01 5.30278626e-04 -2.01810649e+01] [ 7.49039220e-03 -4.29089646e-04 9.99971855e-01 2.80884925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.780714057 meters Centerline goodness [0,1] 0.9786013122699527 Centerline is valid? [True, True] Translation: X:453.67, Y:-20.18, Z:2.81 [[ 9.99903440e-01 1.22919727e-02 -6.48218656e-03 4.53673513e+02] [-1.22892603e-02 9.99924379e-01 4.58102957e-04 -2.01844184e+01] [ 6.48732736e-03 -3.78397444e-04 9.99978885e-01 2.80887706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.810714057 meters Centerline goodness [0,1] 0.9788775719461343 Centerline is valid? [True, True] Translation: X:453.70, Y:-20.19, Z:2.81 [[ 9.99931351e-01 1.01342551e-02 -5.88138621e-03 4.53702754e+02] [-1.01319823e-02 9.99948584e-01 4.16097467e-04 -2.01901595e+01] [ 5.88530065e-03 -3.56478801e-04 9.99982618e-01 2.80862646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.840714057 meters Centerline goodness [0,1] 0.9786198426056498 Centerline is valid? [True, True] Translation: X:453.73, Y:-20.19, Z:2.81 [[ 9.99942062e-01 9.12415227e-03 -5.71154670e-03 4.53731479e+02] [-9.12199784e-03 9.99958312e-01 4.03143268e-04 -2.01939407e+01] [ 5.71498694e-03 -3.51019194e-04 9.99983608e-01 2.80767033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.870714057 meters Centerline goodness [0,1] 0.9785348922177567 Centerline is valid? [True, True] Translation: X:453.76, Y:-20.20, Z:2.81 [[ 9.99964713e-01 6.04118815e-03 -5.83753049e-03 4.53761427e+02] [-6.03888127e-03 9.99981681e-01 4.12725627e-04 -2.01979878e+01] [ 5.83991691e-03 -3.77458910e-04 9.99982876e-01 2.80709549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.900714057 meters Centerline goodness [0,1] 0.9776421838714084 Centerline is valid? [True, True] Translation: X:453.79, Y:-20.20, Z:2.81 [[ 9.99971373e-01 4.40521557e-03 -6.15198770e-03 4.53789270e+02] [-4.40262793e-03 9.99990214e-01 4.34098867e-04 -2.02049454e+01] [ 6.15383980e-03 -4.07001527e-04 9.99980982e-01 2.80510664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.930714057 meters Centerline goodness [0,1] 0.9775449442032773 Centerline is valid? [True, True] Translation: X:453.82, Y:-20.21, Z:2.80 [[ 9.99978108e-01 9.51654080e-04 -6.54810964e-03 4.53819110e+02] [-9.48645591e-04 9.99999443e-01 4.62534456e-04 -2.02076816e+01] [ 6.54854617e-03 -4.56312495e-04 9.99978454e-01 2.80435774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.960714057 meters Centerline goodness [0,1] 0.9769369123238394 Centerline is valid? [True, True] Translation: X:453.85, Y:-20.22, Z:2.80 [[ 9.99967654e-01 -2.19965856e-03 -7.73643555e-03 4.53847481e+02] [ 2.20395354e-03 9.99997422e-01 5.46680623e-04 -2.02156443e+01] [ 7.73521310e-03 -5.63713685e-04 9.99969924e-01 2.80232593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.990714057 meters Centerline goodness [0,1] 0.9775671621437338 Centerline is valid? [True, True] Translation: X:453.88, Y:-20.22, Z:2.80 [[ 9.99963674e-01 -3.13908605e-03 -7.92445893e-03 4.53875889e+02] [ 3.14360957e-03 9.99994903e-01 5.58439778e-04 -2.02197973e+01] [ 7.92266555e-03 -5.83330897e-04 9.99968445e-01 2.80123284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.020714057 meters Centerline goodness [0,1] 0.9778590244345535 Centerline is valid? [True, True] Translation: X:453.91, Y:-20.22, Z:2.80 [[ 9.99956049e-01 -4.61671784e-03 -8.16007655e-03 4.53905314e+02] [ 4.62156545e-03 9.99989155e-01 5.75307179e-04 -2.02236452e+01] [ 8.15733202e-03 -6.12994221e-04 9.99966541e-01 2.80021274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.050714057 meters Centerline goodness [0,1] 0.9776479148665241 Centerline is valid? [True, True] Translation: X:453.94, Y:-20.22, Z:2.80 [[ 9.99941282e-01 -7.06194755e-03 -8.21959563e-03 4.53935863e+02] [ 7.06695252e-03 9.99974861e-01 5.80021598e-04 -2.02239661e+01] [ 8.21529291e-03 -6.38075032e-04 9.99966050e-01 2.80107424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.080714057 meters Centerline goodness [0,1] 0.9775617053103964 Centerline is valid? [True, True] Translation: X:453.96, Y:-20.23, Z:2.80 [[ 9.99935680e-01 -7.99566644e-03 -8.04397509e-03 4.53964525e+02] [ 8.00048332e-03 9.99967835e-01 5.66818055e-04 -2.02286924e+01] [ 8.03918427e-03 -6.31137286e-04 9.99967486e-01 2.80022068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.110714057 meters Centerline goodness [0,1] 0.9758935240725232 Centerline is valid? [True, True] Translation: X:453.99, Y:-20.23, Z:2.80 [[ 9.99922085e-01 -9.87308178e-03 -7.63850510e-03 4.53994644e+02] [ 9.87748351e-03 9.99951071e-01 5.38743985e-04 -2.02331243e+01] [ 7.63281229e-03 -6.14151217e-04 9.99970681e-01 2.79975432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.140714057 meters Centerline goodness [0,1] 0.9756274678890755 Centerline is valid? [True, True] Translation: X:454.03, Y:-20.24, Z:2.80 [[ 9.99916615e-01 -1.08112166e-02 -7.06255867e-03 4.54025161e+02] [ 1.08150028e-02 9.99941392e-01 4.98122467e-04 -2.02358278e+01] [ 7.05675944e-03 -5.74462523e-04 9.99974936e-01 2.79914216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.170714057 meters Centerline goodness [0,1] 0.9763013792006544 Centerline is valid? [True, True] Translation: X:454.06, Y:-20.24, Z:2.80 [[ 9.99904750e-01 -1.23985251e-02 -6.06361950e-03 4.54056739e+02] [ 1.24013494e-02 9.99923009e-01 4.28403750e-04 -2.02369516e+01] [ 6.05784108e-03 -5.03560009e-04 9.99981524e-01 2.79950803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.200714057 meters Centerline goodness [0,1] 0.9744353042766896 Centerline is valid? [True, True] Translation: X:454.09, Y:-20.24, Z:2.80 [[ 9.99901004e-01 -1.33589227e-02 -4.41840522e-03 4.54088893e+02] [ 1.33604359e-02 9.99910696e-01 3.13147833e-04 -2.02386531e+01] [ 4.41382732e-03 -3.72148652e-04 9.99990190e-01 2.80057113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.230714057 meters Centerline goodness [0,1] 0.9742894880670432 Centerline is valid? [True, True] Translation: X:454.12, Y:-20.24, Z:2.80 [[ 9.99906415e-01 -1.32851303e-02 -3.26586619e-03 4.54121137e+02] [ 1.32859583e-02 9.99911711e-01 2.31969965e-04 -2.02396899e+01] [ 3.26249610e-03 -2.75338418e-04 9.99994640e-01 2.80086046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26071405700003 meters Centerline goodness [0,1] 0.9726161480503517 Centerline is valid? [True, True] Translation: X:454.15, Y:-20.24, Z:2.80 [[ 9.99924150e-01 -1.22510411e-02 -1.26714756e-03 4.54151891e+02] [ 1.22511651e-02 9.99924948e-01 9.01624239e-05 -2.02419249e+01] [ 1.26594787e-03 -1.05679619e-04 9.99999193e-01 2.80109160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.290714057 meters Centerline goodness [0,1] 0.9720294044015567 Centerline is valid? [True, True] Translation: X:454.18, Y:-20.24, Z:2.80 [[ 9.99934379e-01 -1.14362599e-02 -6.70770945e-04 4.54183038e+02] [ 1.14362957e-02 9.99934602e-01 4.95125224e-05 -2.02442637e+01] [ 6.70160840e-04 -5.71804082e-05 9.99999774e-01 2.80070583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.320714057 meters Centerline goodness [0,1] 0.9724257177958775 Centerline is valid? [True, True] Translation: X:454.22, Y:-20.24, Z:2.80 [[ 9.99941682e-01 -1.07979372e-02 -1.92900174e-04 4.54215841e+02] [ 1.07979403e-02 9.99941700e-01 1.49608688e-05 -2.02439737e+01] [ 1.92727382e-04 -1.70429209e-05 9.99999981e-01 2.80036041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.350714057 meters Centerline goodness [0,1] 0.9719078046554085 Centerline is valid? [True, True] Translation: X:454.25, Y:-20.25, Z:2.80 [[ 9.99940839e-01 -1.08751812e-02 -2.20794341e-04 4.54247818e+02] [ 1.08751851e-02 9.99940863e-01 1.66945673e-05 -2.02469874e+01] [ 2.20599727e-04 -1.90947590e-05 9.99999975e-01 2.79910970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.380714057 meters Centerline goodness [0,1] 0.9684239366195575 Centerline is valid? [True, True] Translation: X:454.28, Y:-20.25, Z:2.80 [[ 9.99931465e-01 -1.17034839e-02 -3.06990376e-04 4.54278338e+02] [ 1.17034913e-02 9.99931512e-01 2.23211190e-05 -2.02512138e+01] [ 3.06708115e-04 -2.59124485e-05 9.99999953e-01 2.79653233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.410714057 meters Centerline goodness [0,1] 0.9682565111914679 Centerline is valid? [True, True] Translation: X:454.31, Y:-20.25, Z:2.80 [[ 9.99913581e-01 -1.30890402e-02 -1.22780144e-03 4.54309113e+02] [ 1.30891574e-02 9.99914329e-01 8.75267791e-05 -2.02536703e+01] [ 1.22655061e-03 -1.03590101e-04 9.99999242e-01 2.79514893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.440714057 meters Centerline goodness [0,1] 0.965877102643323 Centerline is valid? [True, True] Translation: X:454.34, Y:-20.26, Z:2.79 [[ 9.99901441e-01 -1.39714053e-02 -1.38135226e-03 4.54340890e+02] [ 1.39715557e-02 9.99902388e-01 9.92787790e-05 -2.02572037e+01] [ 1.37983036e-03 -1.18568634e-04 9.99999041e-01 2.79344493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.470714057 meters Centerline goodness [0,1] 0.9595424746710677 Centerline is valid? [True, True] Translation: X:454.37, Y:-20.26, Z:2.79 [[ 9.99879650e-01 -1.54587869e-02 -1.30824867e-03 4.54370757e+02] [ 1.54589235e-02 9.99880499e-01 9.43848095e-05 -2.02622160e+01] [ 1.30663326e-03 -1.14597566e-04 9.99999140e-01 2.79212038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.500714057 meters Centerline goodness [0,1] 0.9642497942763097 Centerline is valid? [True, True] Translation: X:454.40, Y:-20.26, Z:2.79 [[ 9.99870021e-01 -1.60728794e-02 -1.26625384e-03 4.54403408e+02] [ 1.60730077e-02 9.99870817e-01 9.12816374e-05 -2.02615975e+01] [ 1.26462310e-03 -1.11622281e-04 9.99999194e-01 2.79198978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.530714057 meters Centerline goodness [0,1] 0.9551648452146875 Centerline is valid? [True, True] Translation: X:454.43, Y:-20.27, Z:2.79 [[ 9.99846135e-01 -1.74871625e-02 -1.38006603e-03 4.54433584e+02] [ 1.74873159e-02 9.99847080e-01 9.91415236e-05 -2.02674908e+01] [ 1.37812128e-03 -1.23259920e-04 9.99999043e-01 2.78988491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.560714057 meters Centerline goodness [0,1] 0.9505828571428572 Centerline is valid? [True, True] Translation: X:454.47, Y:-20.27, Z:2.79 [[ 9.99833680e-01 -1.81886259e-02 -1.33663176e-03 4.54465905e+02] [ 1.81887710e-02 9.99834566e-01 9.64278166e-05 -2.02710988e+01] [ 1.33465675e-03 -1.20723468e-04 9.99999102e-01 2.78851944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.590714057 meters Centerline goodness [0,1] 0.9406756448299475 Centerline is valid? [True, False] Translation: X:454.47, Y:-20.27, Z:2.79 [[ 9.99835046e-01 -1.81130688e-02 -1.34066544e-03 4.54466302e+02] [ 1.81136053e-02 9.99835859e-01 3.89129182e-04 -2.02714411e+01] [ 1.33339706e-03 -4.13349278e-04 9.99999026e-01 2.78790360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.620714057 meters Centerline goodness [0,1] 0.9689260361804443 Centerline is valid? [False, True] Translation: X:454.47, Y:-20.27, Z:2.79 [[ 9.99835368e-01 -1.80870678e-02 -1.44766637e-03 4.54466593e+02] [ 1.80876655e-02 9.99836324e-01 4.00830332e-04 -2.02712474e+01] [ 1.44017958e-03 -4.26949248e-04 9.99998872e-01 2.78779191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.650714057 meters Centerline goodness [0,1] 0.9293785958236872 Centerline is valid? [True, False] Translation: X:454.47, Y:-20.27, Z:2.79 [[ 9.99832903e-01 -1.82133548e-02 -1.56199624e-03 4.54466689e+02] [ 1.82136237e-02 9.99834106e-01 1.58086886e-04 -2.02704925e+01] [ 1.55885782e-03 -1.86510082e-04 9.99998768e-01 2.78804950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.680714057 meters Centerline goodness [0,1] 0.9684845980810723 Centerline is valid? [False, True] Translation: X:454.47, Y:-20.27, Z:2.79 [[ 9.99834128e-01 -1.81395426e-02 -1.63527318e-03 4.54466925e+02] [ 1.81399520e-02 9.99835430e-01 2.35898998e-04 -2.02704585e+01] [ 1.63072496e-03 -2.65523646e-04 9.99998635e-01 2.78795788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.710714057 meters Centerline goodness [0,1] 0.967155546374716 Centerline is valid? [True, True] Translation: X:454.50, Y:-20.27, Z:2.79 [[ 9.99836068e-01 -1.80921424e-02 -7.14664127e-04 4.54498902e+02] [ 1.80921854e-02 9.99836322e-01 5.38026640e-05 -2.02732063e+01] [ 7.13573747e-04 -6.67236800e-05 9.99999743e-01 2.78688497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.740714057 meters Centerline goodness [0,1] 0.967155546374716 Centerline is valid? [True, True] Translation: X:454.53, Y:-20.28, Z:2.79 [[ 9.99838014e-01 -1.79843012e-02 -7.14620161e-04 4.54531491e+02] [ 1.79843447e-02 9.99838267e-01 5.43968815e-05 -2.02757052e+01] [ 7.13526293e-04 -6.72400453e-05 9.99999743e-01 2.78641701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.770714057 meters Centerline goodness [0,1] 0.967130330992058 Centerline is valid? [True, True] Translation: X:454.56, Y:-20.28, Z:2.79 [[ 9.99840325e-01 -1.78686589e-02 1.86270306e-04 4.54563159e+02] [ 1.78686616e-02 9.99840343e-01 -1.27624601e-05 -2.02789995e+01] [-1.86012519e-04 1.60888233e-05 9.99999983e-01 2.78605641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.800714057 meters Centerline goodness [0,1] 0.9645926670933529 Centerline is valid? [True, True] Translation: X:454.59, Y:-20.28, Z:2.79 [[ 9.99837082e-01 -1.78743015e-02 2.51378475e-03 4.54593990e+02] [ 1.78748238e-02 9.99840215e-01 -1.85448158e-04 -2.02841082e+01] [-2.51006833e-03 2.30351405e-04 9.99996823e-01 2.78660307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.830714057 meters Centerline goodness [0,1] 0.9657368517165814 Centerline is valid? [True, True] Translation: X:454.63, Y:-20.28, Z:2.79 [[ 9.99833993e-01 -1.78615666e-02 3.59866444e-03 4.54625987e+02] [ 1.78626380e-02 9.99840415e-01 -2.65802510e-04 -2.02834885e+01] [-3.59334250e-03 3.30040025e-04 9.99993489e-01 2.78727964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.860714057 meters Centerline goodness [0,1] 0.9636105968136415 Centerline is valid? [True, True] Translation: X:454.66, Y:-20.29, Z:2.79 [[ 9.99810497e-01 -1.87115322e-02 5.37106812e-03 4.54656428e+02] [ 1.87139376e-02 9.99824800e-01 -3.97941848e-04 -2.02897803e+01] [-5.36268101e-03 4.98380270e-04 9.99985497e-01 2.78728340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.890714057 meters Centerline goodness [0,1] 0.9641009276776149 Centerline is valid? [True, True] Translation: X:454.69, Y:-20.29, Z:2.79 [[ 9.99796506e-01 -1.94203591e-02 5.45861387e-03 4.54688615e+02] [ 1.94228534e-02 9.99811277e-01 -4.04313249e-04 -2.02918851e+01] [-5.44973180e-03 5.10252830e-04 9.99985020e-01 2.78687997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.920714057 meters Centerline goodness [0,1] 0.9644086732483641 Centerline is valid? [True, True] Translation: X:454.72, Y:-20.30, Z:2.78 [[ 9.99788248e-01 -2.00301772e-02 4.71720299e-03 4.54720555e+02] [ 2.00320476e-02 9.99799277e-01 -3.49595506e-04 -2.02960017e+01] [-4.70925368e-03 4.44016713e-04 9.99988813e-01 2.78490325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.950714057 meters Centerline goodness [0,1] 0.9648409090909091 Centerline is valid? [True, True] Translation: X:454.75, Y:-20.30, Z:2.78 [[ 9.99782438e-01 -2.03960965e-02 4.36767492e-03 4.54752469e+02] [ 2.03977045e-02 9.99791893e-01 -3.23938598e-04 -2.03002668e+01] [-4.36015889e-03 4.12958664e-04 9.99990409e-01 2.78306539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.980714057 meters Centerline goodness [0,1] 0.9533632897603486 Centerline is valid? [True, True] Translation: X:454.78, Y:-20.32, Z:2.78 [[ 9.99772675e-01 -2.09436183e-02 3.99538835e-03 4.54782523e+02] [ 2.09449698e-02 9.99780586e-01 -2.96715283e-04 -2.03160845e+01] [-3.98829741e-03 3.80331121e-04 9.99991974e-01 2.77925893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.01071405700003 meters Centerline goodness [0,1] 0.9634757263867383 Centerline is valid? [True, True] Translation: X:454.82, Y:-20.31, Z:2.78 [[ 9.99776653e-01 -2.08276687e-02 3.58514025e-03 4.54816070e+02] [ 2.08287545e-02 9.99783023e-01 -2.65792040e-04 -2.03100637e+01] [-3.57882652e-03 3.40406682e-04 9.99993538e-01 2.77959599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.040714057 meters Centerline goodness [0,1] 0.9611763364869486 Centerline is valid? [True, True] Translation: X:454.85, Y:-20.31, Z:2.78 [[ 9.99790966e-01 -2.01961990e-02 3.18393194e-03 4.54847608e+02] [ 2.01970540e-02 9.99795991e-01 -2.36622180e-04 -2.03135822e+01] [-3.17850352e-03 3.00878763e-04 9.99994903e-01 2.77869212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.070714057 meters Centerline goodness [0,1] 0.9614877760610743 Centerline is valid? [True, True] Translation: X:454.88, Y:-20.32, Z:2.78 [[ 9.99808472e-01 -1.92039857e-02 3.77175495e-03 4.54879172e+02] [ 1.92051810e-02 9.99815524e-01 -2.80944274e-04 -2.03162933e+01] [-3.76566390e-03 3.53327702e-04 9.99992847e-01 2.77833100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.100714057 meters Centerline goodness [0,1] 0.9673104483723469 Centerline is valid? [True, True] Translation: X:454.91, Y:-20.31, Z:2.78 [[ 9.99838245e-01 -1.74475265e-02 4.36670931e-03 4.54910592e+02] [ 1.74491150e-02 9.99847699e-01 -3.25947944e-04 -2.03098244e+01] [-4.36035727e-03 4.02090434e-04 9.99990413e-01 2.77870744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.130714057 meters Centerline goodness [0,1] 0.9592855683907133 Centerline is valid? [True, True] Translation: X:454.94, Y:-20.32, Z:2.78 [[ 9.99854159e-01 -1.62995612e-02 5.09754920e-03 4.54940411e+02] [ 1.63017111e-02 9.99867046e-01 -3.80470541e-04 -2.03238317e+01] [-5.09066996e-03 4.63513827e-04 9.99986935e-01 2.77747293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.160714057 meters Centerline goodness [0,1] 0.9584999091404688 Centerline is valid? [True, True] Translation: X:454.97, Y:-20.33, Z:2.78 [[ 9.99878325e-01 -1.43615457e-02 6.08944776e-03 4.54969810e+02] [ 1.43645826e-02 9.99896720e-01 -4.55263785e-04 -2.03266926e+01] [-6.08228055e-03 5.42680766e-04 9.99981356e-01 2.77746595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.190714057 meters Centerline goodness [0,1] 0.9663138288206433 Centerline is valid? [True, True] Translation: X:455.00, Y:-20.32, Z:2.78 [[ 9.99893180e-01 -1.31643269e-02 6.35047361e-03 4.55002217e+02] [ 1.31676023e-02 9.99913191e-01 -4.74240412e-04 -2.03174902e+01] [-6.34367927e-03 5.57810264e-04 9.99979723e-01 2.77855207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.220714057 meters Centerline goodness [0,1] 0.9584720995038402 Centerline is valid? [True, True] Translation: X:455.03, Y:-20.33, Z:2.78 [[ 9.99903789e-01 -1.17891858e-02 7.30948349e-03 4.55031751e+02] [ 1.17934922e-02 9.99930305e-01 -5.46325843e-04 -2.03304118e+01] [-7.30253332e-03 6.32477617e-04 9.99973136e-01 2.77753918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.250714057 meters Centerline goodness [0,1] 0.9656940599900168 Centerline is valid? [True, True] Translation: X:455.06, Y:-20.32, Z:2.78 [[ 9.99908449e-01 -1.11462828e-02 7.67159668e-03 4.55064539e+02] [ 1.11510062e-02 9.99937661e-01 -5.73192292e-04 -2.03234851e+01] [-7.66472948e-03 6.58685838e-04 9.99970409e-01 2.77775226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.280714057 meters Centerline goodness [0,1] 0.9684315187670892 Centerline is valid? [True, True] Translation: X:455.10, Y:-20.32, Z:2.78 [[ 9.99923672e-01 -9.47823866e-03 7.92541325e-03 4.55096430e+02] [ 9.48323327e-03 9.99954857e-01 -5.92858869e-04 -2.03229678e+01] [-7.91943622e-03 6.67972160e-04 9.99968418e-01 2.77715649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.310714057 meters Centerline goodness [0,1] 0.9655125346922062 Centerline is valid? [True, True] Translation: X:455.13, Y:-20.33, Z:2.78 [[ 9.99931413e-01 -9.01178614e-03 7.48048294e-03 4.55127048e+02] [ 9.01622544e-03 9.99959196e-01 -5.59939373e-04 -2.03277838e+01] [-7.47513165e-03 6.27346689e-04 9.99971864e-01 2.77576282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.340714057 meters Centerline goodness [0,1] 0.966250767028022 Centerline is valid? [True, True] Translation: X:455.16, Y:-20.33, Z:2.77 [[ 9.99948181e-01 -7.91994671e-03 6.39610264e-03 4.55159630e+02] [ 7.92317062e-03 9.99968497e-01 -4.78861672e-04 -2.03281298e+01] [-6.39210858e-03 5.29514270e-04 9.99979430e-01 2.77473691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.370714057 meters Centerline goodness [0,1] 0.9666016687828768 Centerline is valid? [True, True] Translation: X:455.19, Y:-20.33, Z:2.77 [[ 9.99953181e-01 -7.80559957e-03 5.71919478e-03 4.55192143e+02] [ 7.80817709e-03 9.99969424e-01 -4.28488666e-04 -2.03306145e+01] [-5.71567530e-03 4.73125090e-04 9.99983553e-01 2.77375937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.400714057 meters Centerline goodness [0,1] 0.9660893345487693 Centerline is valid? [True, True] Translation: X:455.22, Y:-20.33, Z:2.77 [[ 9.99953662e-01 -8.04522586e-03 5.28661146e-03 4.55222794e+02] [ 8.04743396e-03 9.99967540e-01 -3.96539705e-04 -2.03347842e+01] [-5.28324961e-03 4.39064987e-04 9.99985947e-01 2.77168965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.430714057 meters Centerline goodness [0,1] 0.9673123762263549 Centerline is valid? [True, True] Translation: X:455.25, Y:-20.34, Z:2.77 [[ 9.99957991e-01 -7.97868655e-03 4.51182073e-03 4.55254562e+02] [ 7.98029396e-03 9.99968100e-01 -3.38375302e-04 -2.03358762e+01] [-4.50897701e-03 3.74366743e-04 9.99989764e-01 2.77042855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.460714057 meters Centerline goodness [0,1] 0.9675255026358429 Centerline is valid? [True, True] Translation: X:455.29, Y:-20.34, Z:2.77 [[ 9.99963639e-01 -7.59378996e-03 3.87998244e-03 4.55286496e+02] [ 7.59497634e-03 9.99971115e-01 -2.91127766e-04 -2.03385249e+01] [-3.87765961e-03 3.20585555e-04 9.99992430e-01 2.76934707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.490714057 meters Centerline goodness [0,1] 0.9636944856718803 Centerline is valid? [True, True] Translation: X:455.32, Y:-20.34, Z:2.77 [[ 9.99970573e-01 -6.67583899e-03 3.77960025e-03 4.55317376e+02] [ 6.67695988e-03 9.99977669e-01 -2.84024152e-04 -2.03446278e+01] [-3.77761975e-03 3.09252033e-04 9.99992817e-01 2.76823104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.520714057 meters Centerline goodness [0,1] 0.967463874154015 Centerline is valid? [True, True] Translation: X:455.35, Y:-20.34, Z:2.77 [[ 9.99981105e-01 -4.37276824e-03 4.32076776e-03 4.55348482e+02] [ 4.37421469e-03 9.99990380e-01 -3.25373434e-04 -2.03401739e+01] [-4.31930341e-03 3.44267251e-04 9.99990613e-01 2.76863526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.550714057 meters Centerline goodness [0,1] 0.9656607224508459 Centerline is valid? [True, True] Translation: X:455.38, Y:-20.34, Z:2.77 [[ 9.99981640e-01 -2.95521219e-03 5.29015963e-03 4.55379240e+02] [ 2.95736074e-03 9.99995548e-01 -3.98365329e-04 -2.03434511e+01] [-5.28895882e-03 4.14002926e-04 9.99985928e-01 2.76809475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.580714057 meters Centerline goodness [0,1] 0.9650011407711613 Centerline is valid? [True, True] Translation: X:455.41, Y:-20.34, Z:2.77 [[ 9.99970404e-01 1.12169803e-03 7.61140519e-03 4.55409099e+02] [-1.11736135e-03 9.99999211e-01 -5.73990369e-04 -2.03432463e+01] [-7.61204303e-03 5.65468691e-04 9.99970868e-01 2.76903238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.610714057 meters Centerline goodness [0,1] 0.9702118877270226 Centerline is valid? [True, True] Translation: X:455.44, Y:-20.33, Z:2.77 [[ 9.99943722e-01 5.09721936e-03 9.30439985e-03 4.55440772e+02] [-5.09091292e-03 9.99986795e-01 -7.01349824e-04 -2.03313337e+01] [-9.30785192e-03 6.53942464e-04 9.99956467e-01 2.77114019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.640714057 meters Centerline goodness [0,1] 0.9725059096229316 Centerline is valid? [True, True] Translation: X:455.47, Y:-20.33, Z:2.77 [[ 9.99917871e-01 7.34300819e-03 1.05038506e-02 4.55472521e+02] [-7.33509549e-03 9.99972784e-01 -7.91641179e-04 -2.03293384e+01] [-1.05093778e-02 7.14529415e-04 9.99944520e-01 2.77158549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.670714057 meters Centerline goodness [0,1] 0.973040622775392 Centerline is valid? [True, True] Translation: X:455.50, Y:-20.33, Z:2.77 [[ 9.99864957e-01 1.11135954e-02 1.21060235e-02 4.55502516e+02] [-1.11033522e-02 9.99937939e-01 -9.13017119e-04 -2.03293454e+01] [-1.21154191e-02 7.78476381e-04 9.99926303e-01 2.77087957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.700714057 meters Centerline goodness [0,1] 0.9729872516366143 Centerline is valid? [True, True] Translation: X:455.53, Y:-20.33, Z:2.77 [[ 9.99853204e-01 1.19391126e-02 1.22893506e-02 4.55532682e+02] [-1.19286206e-02 9.99928422e-01 -9.26698650e-04 -2.03317588e+01] [-1.22995349e-02 7.79967614e-04 9.99924054e-01 2.76974985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.730714057 meters Centerline goodness [0,1] 0.9742139372981886 Centerline is valid? [True, True] Translation: X:455.56, Y:-20.33, Z:2.77 [[ 9.99851799e-01 1.27911115e-02 1.15225024e-02 4.55563371e+02] [-1.27819444e-02 9.99917930e-01 -8.68873204e-04 -2.03338985e+01] [-1.15326706e-02 7.21464451e-04 9.99933236e-01 2.76751746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76071405700003 meters Centerline goodness [0,1] 0.9731264367816091 Centerline is valid? [True, True] Translation: X:455.59, Y:-20.34, Z:2.77 [[ 9.99860645e-01 1.23737070e-02 1.12063648e-02 4.55594150e+02] [-1.23650100e-02 9.99923193e-01 -8.45034330e-04 -2.03367415e+01] [-1.12159603e-02 7.06349757e-04 9.99936850e-01 2.76595702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.790714057 meters Centerline goodness [0,1] 0.9737278379000691 Centerline is valid? [True, True] Translation: X:455.62, Y:-20.34, Z:2.76 [[ 9.99875165e-01 1.18459471e-02 1.04559576e-02 4.55624343e+02] [-1.18383472e-02 9.99929613e-01 -7.88448643e-04 -2.03384824e+01] [-1.04645616e-02 6.64568962e-04 9.99945024e-01 2.76445028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.820714057 meters Centerline goodness [0,1] 0.9732797242963814 Centerline is valid? [True, True] Translation: X:455.65, Y:-20.35, Z:2.76 [[ 9.99909229e-01 1.00720391e-02 8.94917394e-03 4.55653800e+02] [-1.00664011e-02 9.99949105e-01 -6.74827148e-04 -2.03454390e+01] [-8.95551535e-03 5.84679919e-04 9.99959728e-01 2.76064332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.850714057 meters Centerline goodness [0,1] 0.9720504009163803 Centerline is valid? [True, True] Translation: X:455.68, Y:-20.35, Z:2.76 [[ 9.99918400e-01 9.66662799e-03 8.35162033e-03 4.55684631e+02] [-9.66170370e-03 9.99953126e-01 -6.29767637e-04 -2.03464995e+01] [-8.35731659e-03 5.49025367e-04 9.99964926e-01 2.75986028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.880714057 meters Centerline goodness [0,1] 0.9726439580127249 Centerline is valid? [True, True] Translation: X:455.72, Y:-20.35, Z:2.76 [[ 9.99922960e-01 9.15146117e-03 8.38594654e-03 4.55715319e+02] [-9.14647828e-03 9.99957970e-01 -6.32356061e-04 -2.03495354e+01] [-8.39138106e-03 5.55605467e-04 9.99964637e-01 2.75925981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.910714057 meters Centerline goodness [0,1] 0.9713012109096758 Centerline is valid? [True, True] Translation: X:455.75, Y:-20.35, Z:2.76 [[ 9.99927311e-01 9.01908694e-03 8.00180506e-03 4.55745470e+02] [-9.01454589e-03 9.99959186e-01 -6.03389243e-04 -2.03510803e+01] [-8.00692050e-03 5.31212744e-04 9.99967803e-01 2.75902343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.940714057 meters Centerline goodness [0,1] 0.9725063058931438 Centerline is valid? [True, True] Translation: X:455.78, Y:-20.35, Z:2.76 [[ 9.99923636e-01 9.58087482e-03 7.80568917e-03 4.55775609e+02] [-9.57657068e-03 9.99953970e-01 -5.88600803e-04 -2.03528068e+01] [-7.81096919e-03 5.13804121e-04 9.99969362e-01 2.75852731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.970714057 meters Centerline goodness [0,1] 0.9732789228570111 Centerline is valid? [True, True] Translation: X:455.81, Y:-20.35, Z:2.76 [[ 9.99900322e-01 1.12881099e-02 8.48078383e-03 4.55805708e+02] [-1.12830885e-02 9.99936139e-01 -6.39715194e-04 -2.03504830e+01] [-8.48746342e-03 5.43961995e-04 9.99963833e-01 2.75811554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.000714057 meters Centerline goodness [0,1] 0.9729219433571265 Centerline is valid? [True, True] Translation: X:455.83, Y:-20.35, Z:2.76 [[ 9.99859927e-01 1.35039302e-02 9.88792548e-03 4.55834200e+02] [-1.34972156e-02 9.99908631e-01 -7.45495555e-04 -2.03528731e+01] [-9.89708914e-03 6.11931669e-04 9.99950835e-01 2.75743060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.030714057 meters Centerline goodness [0,1] 0.9742271606076673 Centerline is valid? [True, True] Translation: X:455.86, Y:-20.35, Z:2.76 [[ 9.99850510e-01 1.40826166e-02 1.00318337e-02 4.55864316e+02] [-1.40757403e-02 9.99900646e-01 -7.55724930e-04 -2.03518765e+01] [-1.00414796e-02 6.14406471e-04 9.99949394e-01 2.75736478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.060714057 meters Centerline goodness [0,1] 0.9752094730281836 Centerline is valid? [True, True] Translation: X:455.89, Y:-20.35, Z:2.76 [[ 9.99851672e-01 1.41201909e-02 9.86179152e-03 4.55893308e+02] [-1.41135493e-02 9.99900123e-01 -7.42734640e-04 -2.03499653e+01] [-9.87129410e-03 6.03439590e-04 9.99951096e-01 2.75721504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.090714057 meters Centerline goodness [0,1] 0.9746384357283351 Centerline is valid? [True, True] Translation: X:455.92, Y:-20.35, Z:2.76 [[ 9.99852163e-01 1.38324982e-02 1.02134415e-02 4.55921794e+02] [-1.38253675e-02 9.99904130e-01 -7.68449802e-04 -2.03519620e+01] [-1.02230919e-02 6.27131615e-04 9.99947546e-01 2.75642095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.120714057 meters Centerline goodness [0,1] 0.9723377703826955 Centerline is valid? [True, True] Translation: X:455.95, Y:-20.36, Z:2.76 [[ 9.99866354e-01 1.26355930e-02 1.03737946e-02 4.55950382e+02] [-1.26281818e-02 9.99919957e-01 -7.79610159e-04 -2.03587306e+01] [-1.03828151e-02 6.48503803e-04 9.99945887e-01 2.75510884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.150714057 meters Centerline goodness [0,1] 0.9713120420295867 Centerline is valid? [True, True] Translation: X:455.98, Y:-20.36, Z:2.75 [[ 9.99875720e-01 1.16937118e-02 1.05736720e-02 4.55979610e+02] [-1.16859647e-02 9.99931401e-01 -7.94173387e-04 -2.03643654e+01] [-1.05822335e-02 6.70511129e-04 9.99943782e-01 2.75446468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.180714057 meters Centerline goodness [0,1] 0.9739804391954235 Centerline is valid? [True, True] Translation: X:456.01, Y:-20.36, Z:2.75 [[ 9.99889856e-01 9.69255916e-03 1.12396304e-02 4.56010591e+02] [-9.68368238e-03 9.99952756e-01 -8.43929407e-04 -2.03620126e+01] [-1.12472793e-02 7.34995442e-04 9.99936477e-01 2.75449152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.210714057 meters Centerline goodness [0,1] 0.9725837718083633 Centerline is valid? [True, True] Translation: X:456.04, Y:-20.36, Z:2.75 [[ 9.99901736e-01 9.02219382e-03 1.07292799e-02 4.56041717e+02] [-9.01406786e-03 9.99959048e-01 -8.05481968e-04 -2.03646496e+01] [-1.07361077e-02 7.08688361e-04 9.99942115e-01 2.75375575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.240714057 meters Centerline goodness [0,1] 0.9724020364440554 Centerline is valid? [True, True] Translation: X:456.07, Y:-20.37, Z:2.75 [[ 9.99919208e-01 8.22886582e-03 9.68833306e-03 4.56073062e+02] [-8.22220025e-03 9.99965932e-01 -7.27630536e-04 -2.03655146e+01] [-9.69399058e-03 6.47912335e-04 9.99952802e-01 2.75147443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.270714057 meters Centerline goodness [0,1] 0.9718430231215208 Centerline is valid? [True, True] Translation: X:456.10, Y:-20.37, Z:2.75 [[ 9.99929587e-01 7.69571948e-03 9.03309995e-03 4.56103888e+02] [-7.68990074e-03 9.99970202e-01 -6.78714019e-04 -2.03685838e+01] [-9.03805397e-03 6.09202586e-04 9.99958970e-01 2.74981279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.300714057 meters Centerline goodness [0,1] 0.971829358476613 Centerline is valid? [True, True] Translation: X:456.13, Y:-20.37, Z:2.75 [[ 9.99930479e-01 7.76424932e-03 8.87427287e-03 4.56133864e+02] [-7.75863245e-03 9.99969679e-01 -6.67191310e-04 -2.03743368e+01] [-8.87918403e-03 5.98292705e-04 9.99960400e-01 2.74803458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.330714057 meters Centerline goodness [0,1] 0.9734703301777881 Centerline is valid? [True, True] Translation: X:456.16, Y:-20.37, Z:2.75 [[ 9.99926512e-01 8.33302715e-03 8.80513477e-03 4.56164549e+02] [-8.32751717e-03 9.99965106e-01 -6.62247494e-04 -2.03723256e+01] [-8.81034606e-03 5.88873916e-04 9.99961015e-01 2.74825658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.360714057 meters Centerline goodness [0,1] 0.9689394991436374 Centerline is valid? [True, True] Translation: X:456.19, Y:-20.38, Z:2.75 [[ 9.99911350e-01 9.10330127e-03 9.71706581e-03 4.56194502e+02] [-9.09663143e-03 9.99958358e-01 -7.30382780e-04 -2.03821452e+01] [-9.72331007e-03 6.41925466e-04 9.99952521e-01 2.74778541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.390714057 meters Centerline goodness [0,1] 0.9716996450857129 Centerline is valid? [True, True] Translation: X:456.23, Y:-20.38, Z:2.75 [[ 9.99909113e-01 9.17467598e-03 9.87879297e-03 4.56225190e+02] [-9.16777151e-03 9.99957698e-01 -7.43976908e-04 -2.03768216e+01] [-9.88520083e-03 6.53342773e-04 9.99950927e-01 2.74826947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.420714057 meters Centerline goodness [0,1] 0.9725504792034987 Centerline is valid? [True, True] Translation: X:456.26, Y:-20.38, Z:2.75 [[ 9.99907603e-01 8.84460371e-03 1.03227154e-02 4.56256216e+02] [-8.83704723e-03 9.99960650e-01 -7.77408932e-04 -2.03757035e+01] [-1.03291851e-02 6.86114778e-04 9.99946417e-01 2.74859332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.450714057 meters Centerline goodness [0,1] 0.9721183981427742 Centerline is valid? [True, True] Translation: X:456.29, Y:-20.38, Z:2.75 [[ 9.99914082e-01 8.23479046e-03 1.01988896e-02 4.56287806e+02] [-8.22738411e-03 9.99965860e-01 -7.67936243e-04 -2.03765981e+01] [-1.02048652e-02 6.83960081e-04 9.99947695e-01 2.74836180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.480714057 meters Centerline goodness [0,1] 0.971028901734104 Centerline is valid? [True, True] Translation: X:456.32, Y:-20.38, Z:2.75 [[ 9.99925926e-01 6.72544322e-03 1.01444694e-02 4.56318046e+02] [-6.71803394e-03 9.99977142e-01 -7.64276611e-04 -2.03819375e+01] [-1.01493776e-02 6.96069108e-04 9.99948251e-01 2.74690395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.51071405700003 meters Centerline goodness [0,1] 0.9711782070055551 Centerline is valid? [True, True] Translation: X:456.35, Y:-20.38, Z:2.75 [[ 9.99948140e-01 4.15768972e-03 9.29679393e-03 4.56348527e+02] [-4.15135521e-03 9.99991138e-01 -7.00558819e-04 -2.03843019e+01] [-9.29962424e-03 6.61928194e-04 9.99956538e-01 2.74567438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.540714057 meters Centerline goodness [0,1] 0.9729773688368418 Centerline is valid? [True, True] Translation: X:456.38, Y:-20.38, Z:2.75 [[ 9.99957644e-01 3.46950374e-03 8.52477551e-03 4.56380649e+02] [-3.46416318e-03 9.99993794e-01 -6.41161089e-04 -2.03845491e+01] [-8.52694712e-03 6.11602719e-04 9.99963458e-01 2.74514975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.570714057 meters Centerline goodness [0,1] 0.9711904540811589 Centerline is valid? [True, True] Translation: X:456.41, Y:-20.39, Z:2.74 [[ 9.99963934e-01 2.81740882e-03 8.01207166e-03 4.56411925e+02] [-2.81265505e-03 9.99995862e-01 -6.04532048e-04 -2.03903045e+01] [-8.01374171e-03 5.81975051e-04 9.99967720e-01 2.74401988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.600714057 meters Centerline goodness [0,1] 0.9692745244311824 Centerline is valid? [True, True] Translation: X:456.44, Y:-20.40, Z:2.74 [[ 9.99966122e-01 5.64391629e-04 8.21195094e-03 4.56442000e+02] [-5.59295063e-04 9.99999650e-01 -6.22911110e-04 -2.03957249e+01] [-8.21229963e-03 6.18297103e-04 9.99966087e-01 2.74304032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.630714057 meters Centerline goodness [0,1] 0.9692745244311824 Centerline is valid? [True, True] Translation: X:456.47, Y:-20.40, Z:2.74 [[ 9.99966058e-01 6.68192497e-04 8.21198008e-03 4.56474536e+02] [-6.63102544e-04 9.99999586e-01 -6.22527570e-04 -2.03982901e+01] [-8.21239265e-03 6.17061055e-04 9.99966087e-01 2.74257276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.660714057 meters Centerline goodness [0,1] 0.971413915314307 Centerline is valid? [True, True] Translation: X:456.51, Y:-20.39, Z:2.74 [[ 9.99967472e-01 -5.97107799e-04 8.04352207e-03 4.56507248e+02] [ 6.02039878e-04 9.99999632e-01 -6.10766752e-04 -2.03948286e+01] [-8.04315442e-03 6.15589406e-04 9.99967464e-01 2.74293477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.690714057 meters Centerline goodness [0,1] 0.970736370843632 Centerline is valid? [True, True] Translation: X:456.54, Y:-20.40, Z:2.74 [[ 9.99967496e-01 -9.82469314e-04 8.00266595e-03 4.56538352e+02] [ 9.87365173e-04 9.99999328e-01 -6.07850635e-04 -2.03986058e+01] [-8.00206337e-03 6.15732431e-04 9.99967793e-01 2.74260483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.720714057 meters Centerline goodness [0,1] 0.9698039124033001 Centerline is valid? [True, True] Translation: X:456.57, Y:-20.40, Z:2.74 [[ 9.99970684e-01 -1.23534543e-03 7.55677156e-03 4.56568913e+02] [ 1.23972992e-03 9.99999066e-01 -5.75550233e-04 -2.04010088e+01] [-7.55605350e-03 5.84901716e-04 9.99971282e-01 2.74199624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.750714057 meters Centerline goodness [0,1] 0.9718523709413689 Centerline is valid? [True, True] Translation: X:456.60, Y:-20.40, Z:2.74 [[ 9.99968860e-01 -1.02789106e-03 7.82452803e-03 4.56601626e+02] [ 1.03258593e-03 9.99999289e-01 -5.96003990e-04 -2.03983383e+01] [-7.82390984e-03 6.04064927e-04 9.99969210e-01 2.74200308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.780714057 meters Centerline goodness [0,1] 0.9685904342530567 Centerline is valid? [True, True] Translation: X:456.63, Y:-20.40, Z:2.74 [[ 9.99961692e-01 -4.71465865e-04 8.74028599e-03 4.56632719e+02] [ 4.77306841e-04 9.99999664e-01 -6.66208064e-04 -2.04041401e+01] [-8.73996896e-03 6.70354341e-04 9.99961581e-01 2.74230539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.810714057 meters Centerline goodness [0,1] 0.9688770503294546 Centerline is valid? [True, True] Translation: X:456.67, Y:-20.41, Z:2.74 [[ 9.99954297e-01 1.50109512e-04 9.55937883e-03 4.56665227e+02] [-1.43134821e-04 9.99999723e-01 -7.30297583e-04 -2.04066455e+01] [-9.55948581e-03 7.28895926e-04 9.99954041e-01 2.74255864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.840714057 meters Centerline goodness [0,1] 0.969018045465198 Centerline is valid? [True, True] Translation: X:456.70, Y:-20.41, Z:2.74 [[ 9.99940009e-01 4.63540482e-04 1.09436460e-02 4.56697177e+02] [-4.54408269e-04 9.99999547e-01 -8.36948035e-04 -2.04083736e+01] [-1.09440289e-02 8.31924942e-04 9.99939766e-01 2.74298196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.870714057 meters Centerline goodness [0,1] 0.9670778033109788 Centerline is valid? [True, True] Translation: X:456.73, Y:-20.41, Z:2.74 [[ 9.99935627e-01 5.68078583e-04 1.13321791e-02 4.56728949e+02] [-5.58284423e-04 9.99999468e-01 -8.67423247e-04 -2.04114896e+01] [-1.13326659e-02 8.61040829e-04 9.99935413e-01 2.74213906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.900714057 meters Centerline goodness [0,1] 0.970994410258819 Centerline is valid? [True, True] Translation: X:456.76, Y:-20.41, Z:2.74 [[ 9.99943718e-01 4.39118056e-04 1.06004131e-02 4.56761915e+02] [-4.30538453e-04 9.99999578e-01 -8.11633427e-04 -2.04058132e+01] [-1.06007650e-02 8.07023861e-04 9.99943485e-01 2.74149905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.930714057 meters Centerline goodness [0,1] 0.9709793583919787 Centerline is valid? [True, True] Translation: X:456.79, Y:-20.41, Z:2.74 [[ 9.99957403e-01 -4.34598884e-04 9.21974861e-03 4.56793240e+02] [ 4.41151171e-04 9.99999652e-01 -7.08657768e-04 -2.04099733e+01] [-9.21943742e-03 7.12694884e-04 9.99957246e-01 2.74028372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.960714057 meters Centerline goodness [0,1] 0.9672015434567786 Centerline is valid? [True, True] Translation: X:456.83, Y:-20.42, Z:2.74 [[ 9.99960005e-01 -2.97062267e-04 8.93868138e-03 4.56825092e+02] [ 3.03220211e-04 9.99999718e-01 -6.87562276e-04 -2.04196097e+01] [-8.93847461e-03 6.90245165e-04 9.99959813e-01 2.73927575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.990714057 meters Centerline goodness [0,1] 0.9724003476381744 Centerline is valid? [True, True] Translation: X:456.86, Y:-20.41, Z:2.74 [[ 9.99959924e-01 -3.16317466e-04 8.94704420e-03 4.56858314e+02] [ 3.22495613e-04 9.99999711e-01 -6.89089529e-04 -2.04097593e+01] [-8.94682364e-03 6.91947295e-04 9.99959737e-01 2.73933752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.020714057 meters Centerline goodness [0,1] 0.9632071708473144 Centerline is valid? [True, True] Translation: X:456.89, Y:-20.43, Z:2.74 [[ 9.99961165e-01 -6.69525177e-05 8.81268636e-03 4.56888084e+02] [ 7.29432445e-05 9.99999767e-01 -6.79464754e-04 -2.04292111e+01] [-8.81263881e-03 6.80081193e-04 9.99960937e-01 2.73689985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.050714057 meters Centerline goodness [0,1] 0.9723980516271736 Centerline is valid? [True, True] Translation: X:456.92, Y:-20.42, Z:2.74 [[ 9.99966868e-01 -2.05610858e-04 8.13758250e-03 4.56920940e+02] [ 2.10717457e-04 9.99999781e-01 -6.26680205e-04 -2.04168522e+01] [-8.13745187e-03 6.28374173e-04 9.99966693e-01 2.73708713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.080714057 meters Centerline goodness [0,1] 0.9720089233298109 Centerline is valid? [True, True] Translation: X:456.95, Y:-20.42, Z:2.74 [[ 9.99973526e-01 -4.87094169e-04 7.26016838e-03 4.56953468e+02] [ 4.91175158e-04 9.99999722e-01 -5.60334200e-04 -2.04203108e+01] [-7.25989343e-03 5.63885380e-04 9.99973488e-01 2.73678876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.110714057 meters Centerline goodness [0,1] 0.9722137260899231 Centerline is valid? [True, True] Translation: X:456.99, Y:-20.42, Z:2.74 [[ 9.99975063e-01 -6.73683806e-04 7.02988490e-03 4.56985315e+02] [ 6.77526304e-04 9.99999622e-01 -5.44227651e-04 -2.04245789e+01] [-7.02951560e-03 5.48977012e-04 9.99975142e-01 2.73645989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.140714057 meters Centerline goodness [0,1] 0.9729780490667919 Centerline is valid? [True, True] Translation: X:457.02, Y:-20.43, Z:2.74 [[ 9.99974639e-01 -9.34823583e-04 7.06024412e-03 4.57017166e+02] [ 9.38718320e-04 9.99999409e-01 -5.48349697e-04 -2.04267984e+01] [-7.05972734e-03 5.54963371e-04 9.99974926e-01 2.73600555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.170714057 meters Centerline goodness [0,1] 0.9689744729638036 Centerline is valid? [True, True] Translation: X:457.05, Y:-20.44, Z:2.74 [[ 9.99972324e-01 -1.78570373e-03 7.22242907e-03 4.57047452e+02] [ 1.78981647e-03 9.99998240e-01 -5.63016889e-04 -2.04387262e+01] [-7.22141097e-03 5.75928129e-04 9.99973759e-01 2.73564662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.200714057 meters Centerline goodness [0,1] 0.9706176806127913 Centerline is valid? [True, True] Translation: X:457.08, Y:-20.44, Z:2.74 [[ 9.99969202e-01 -3.23941023e-03 7.14849767e-03 4.57078470e+02] [ 3.24349709e-03 9.99994583e-01 -5.60189732e-04 -2.04388224e+01] [-7.14664426e-03 5.83358611e-04 9.99974292e-01 2.73601167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.230714057 meters Centerline goodness [0,1] 0.97020514490394 Centerline is valid? [True, True] Translation: X:457.11, Y:-20.44, Z:2.74 [[ 9.99966934e-01 -3.86343644e-03 7.15569125e-03 4.57110574e+02] [ 3.86754921e-03 9.99992364e-01 -5.61006483e-04 -2.04441832e+01] [-7.15346919e-03 5.88662921e-04 9.99974240e-01 2.73577334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26071405700003 meters Centerline goodness [0,1] 0.9703508406762413 Centerline is valid? [True, True] Translation: X:457.14, Y:-20.45, Z:2.74 [[ 9.99962200e-01 -5.00221284e-03 7.11164185e-03 4.57142076e+02] [ 5.00630821e-03 9.99987313e-01 -5.58183571e-04 -2.04487115e+01] [-7.10875947e-03 5.93765543e-04 9.99974556e-01 2.73550089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.290714057 meters Centerline goodness [0,1] 0.9723097599406804 Centerline is valid? [True, True] Translation: X:457.17, Y:-20.45, Z:2.74 [[ 9.99964333e-01 -5.01030461e-03 6.79920916e-03 4.57174529e+02] [ 5.01404953e-03 9.99987287e-01 -5.33853784e-04 -2.04499117e+01] [-6.79644795e-03 5.67926314e-04 9.99976743e-01 2.73509917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.320714057 meters Centerline goodness [0,1] 0.9716168859801806 Centerline is valid? [True, True] Translation: X:457.21, Y:-20.46, Z:2.73 [[ 9.99976076e-01 -4.26288075e-03 5.44745841e-03 4.57205260e+02] [ 4.26527201e-03 9.99990812e-01 -4.27426681e-04 -2.04575015e+01] [-5.44558629e-03 4.50651348e-04 9.99985071e-01 2.73422082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.350714057 meters Centerline goodness [0,1] 0.9712120511991128 Centerline is valid? [True, True] Translation: X:457.24, Y:-20.46, Z:2.73 [[ 9.99981890e-01 -3.36977770e-03 4.98644519e-03 4.57237653e+02] [ 3.37177451e-03 9.99994239e-01 -3.92095960e-04 -2.04612089e+01] [-4.98509518e-03 4.08902028e-04 9.99987491e-01 2.73316296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.380714057 meters Centerline goodness [0,1] 0.9726465611163913 Centerline is valid? [True, True] Translation: X:457.27, Y:-20.46, Z:2.73 [[ 9.99990226e-01 -1.69807184e-03 4.08231181e-03 4.57268585e+02] [ 1.69939908e-03 9.99998504e-01 -3.21672781e-04 -2.04639997e+01] [-4.08175948e-03 3.28607114e-04 9.99991616e-01 2.73227391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.410714057 meters Centerline goodness [0,1] 0.9729441741950429 Centerline is valid? [True, True] Translation: X:457.30, Y:-20.47, Z:2.73 [[ 9.99993660e-01 3.78524315e-04 3.54069166e-03 4.57299740e+02] [-3.77538588e-04 9.99999890e-01 -2.79063565e-04 -2.04673473e+01] [-3.54079691e-03 2.77725048e-04 9.99993693e-01 2.73182976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.440714057 meters Centerline goodness [0,1] 0.9733342568222746 Centerline is valid? [True, True] Translation: X:457.33, Y:-20.47, Z:2.73 [[ 9.99993887e-01 1.89523323e-03 2.93830662e-03 4.57329749e+02] [-1.89456028e-03 9.99998178e-01 -2.31794067e-04 -2.04706771e+01] [-2.93874057e-03 2.26225851e-04 9.99995656e-01 2.73126174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.470714057 meters Centerline goodness [0,1] 0.9763362835948513 Centerline is valid? [True, True] Translation: X:457.36, Y:-20.47, Z:2.73 [[ 9.99984895e-01 4.98149193e-03 2.32261310e-03 4.57361115e+02] [-4.98107972e-03 9.99987578e-01 -1.83231459e-04 -2.04682458e+01] [-2.32349701e-03 1.71659570e-04 9.99997286e-01 2.73207330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.500714057 meters Centerline goodness [0,1] 0.9745476421861261 Centerline is valid? [True, True] Translation: X:457.39, Y:-20.48, Z:2.73 [[ 9.99968943e-01 7.66651045e-03 1.82691452e-03 4.57389447e+02] [-7.66625874e-03 9.99970603e-01 -1.44740894e-04 -2.04763365e+01] [-1.82797047e-03 1.30730799e-04 9.99998321e-01 2.73064350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.530714057 meters Centerline goodness [0,1] 0.9773739985685591 Centerline is valid? [True, True] Translation: X:457.42, Y:-20.47, Z:2.73 [[ 9.99954230e-01 9.29211109e-03 2.27925865e-03 4.57419634e+02] [-9.29172394e-03 9.99956815e-01 -1.80385352e-04 -2.04704261e+01] [-2.28083638e-03 1.59198853e-04 9.99997386e-01 2.73171194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.560714057 meters Centerline goodness [0,1] 0.9772274936357325 Centerline is valid? [True, True] Translation: X:457.45, Y:-20.47, Z:2.73 [[ 9.99920756e-01 1.22709601e-02 2.81148201e-03 4.57449698e+02] [-1.22703833e-02 9.99924691e-01 -2.22294577e-04 -2.04727561e+01] [-2.81399805e-03 1.87779000e-04 9.99996023e-01 2.73162396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.590714057 meters Centerline goodness [0,1] 0.9769467094777206 Centerline is valid? [True, True] Translation: X:457.48, Y:-20.48, Z:2.73 [[ 9.99901433e-01 1.37210900e-02 2.97599964e-03 4.57477529e+02] [-1.37204488e-02 9.99905842e-01 -2.35748037e-04 -2.04761799e+01] [-2.97895415e-03 1.94892749e-04 9.99995544e-01 2.73126069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.620714057 meters Centerline goodness [0,1] 0.9786144369852585 Centerline is valid? [True, True] Translation: X:457.51, Y:-20.47, Z:2.73 [[ 9.99859421e-01 1.64806653e-02 3.08632646e-03 4.57508298e+02] [-1.64799923e-02 9.99864166e-01 -2.43380564e-04 -2.04732669e+01] [-3.08991830e-03 1.92483713e-04 9.99995208e-01 2.73250804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.650714057 meters Centerline goodness [0,1] 0.9782363112391931 Centerline is valid? [True, True] Translation: X:457.54, Y:-20.48, Z:2.73 [[ 9.99842015e-01 1.74344506e-02 3.46205671e-03 4.57536226e+02] [-1.74336077e-02 9.99847986e-01 -2.73498708e-04 -2.04778303e+01] [-3.46629872e-03 2.13099360e-04 9.99993970e-01 2.73178555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.680714057 meters Centerline goodness [0,1] 0.9780643077916686 Centerline is valid? [True, True] Translation: X:457.56, Y:-20.48, Z:2.73 [[ 9.99859072e-01 1.66846437e-02 1.85959347e-03 4.57563651e+02] [-1.66843982e-02 9.99860795e-01 -1.47451341e-04 -2.04822947e+01] [-1.86179478e-03 1.16404363e-04 9.99998260e-01 2.73084824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.710714057 meters Centerline goodness [0,1] 0.9780724940814122 Centerline is valid? [True, True] Translation: X:457.59, Y:-20.49, Z:2.73 [[ 9.99874256e-01 1.58126397e-02 1.19704861e-03 4.57592376e+02] [-1.58125372e-02 9.99874970e-01 -9.50256282e-05 -2.04863766e+01] [-1.19840155e-03 7.60853035e-05 9.99999279e-01 2.72973685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.740714057 meters Centerline goodness [0,1] 0.9788001387122875 Centerline is valid? [True, True] Translation: X:457.62, Y:-20.49, Z:2.73 [[ 9.99896049e-01 1.44093889e-02 5.09793273e-04 4.57621183e+02] [-1.44093700e-02 9.99896179e-01 -4.07706873e-05 -2.04902060e+01] [-5.10327827e-04 3.34206493e-05 9.99999869e-01 2.72885510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.770714057 meters Centerline goodness [0,1] 0.9783263925637898 Centerline is valid? [True, True] Translation: X:457.65, Y:-20.50, Z:2.73 [[ 9.99925809e-01 1.21803961e-02 -1.22114780e-04 4.57649819e+02] [-1.21803951e-02 9.99925816e-01 8.82552501e-06 -2.04965404e+01] [ 1.22213220e-04 -7.33746396e-06 9.99999993e-01 2.72755336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.800714057 meters Centerline goodness [0,1] 0.9782183233174461 Centerline is valid? [True, True] Translation: X:457.68, Y:-20.50, Z:2.73 [[ 9.99934222e-01 1.14694249e-02 -6.35908537e-05 4.57677223e+02] [-1.14694246e-02 9.99934224e-01 3.73716464e-06 -2.05009208e+01] [ 6.36295341e-05 -3.00756831e-06 9.99999998e-01 2.72681337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.830714057 meters Centerline goodness [0,1] 0.9763640531866117 Centerline is valid? [True, True] Translation: X:457.70, Y:-20.50, Z:2.73 [[ 9.99936472e-01 1.12629231e-02 -4.45425699e-04 4.57704559e+02] [-1.12629093e-02 9.99936571e-01 3.36238174e-05 -2.05041748e+01] [ 4.45776149e-04 -2.86048921e-05 9.99999900e-01 2.72712639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.860714057 meters Centerline goodness [0,1] 0.9756822107081174 Centerline is valid? [True, True] Translation: X:457.73, Y:-20.51, Z:2.73 [[ 9.99939674e-01 1.09537869e-02 -8.14091904e-04 4.57733061e+02] [-1.09537395e-02 9.99940004e-01 6.26740580e-05 -2.05069043e+01] [ 8.14729581e-04 -5.37529264e-05 9.99999667e-01 2.72697801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.890714057 meters Centerline goodness [0,1] 0.975135707056767 Centerline is valid? [True, True] Translation: X:457.76, Y:-20.51, Z:2.73 [[ 9.99930443e-01 1.17906614e-02 3.00315183e-04 4.57761296e+02] [-1.17906546e-02 9.99930488e-01 -2.44369220e-05 -2.05103373e+01] [-3.00582435e-04 2.08943096e-05 9.99999955e-01 2.72716098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.920714057 meters Centerline goodness [0,1] 0.9748803827751196 Centerline is valid? [True, True] Translation: X:457.79, Y:-20.51, Z:2.73 [[ 9.99913517e-01 1.30211128e-02 1.84627501e-03 4.57789468e+02] [-1.30208670e-02 9.99915214e-01 -1.45082974e-04 -2.05138495e+01] [-1.84800761e-03 1.21030325e-04 9.99998285e-01 2.72673631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.950714057 meters Centerline goodness [0,1] 0.9740982701509018 Centerline is valid? [True, True] Translation: X:457.82, Y:-20.52, Z:2.73 [[ 9.99904437e-01 1.35320423e-02 2.82865581e-03 4.57817334e+02] [-1.35314689e-02 9.99908421e-01 -2.21750116e-04 -2.05170305e+01] [-2.83139750e-03 1.83453057e-04 9.99995975e-01 2.72657912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.980714057 meters Centerline goodness [0,1] 0.9759878907414627 Centerline is valid? [True, True] Translation: X:457.85, Y:-20.51, Z:2.73 [[ 9.99910999e-01 1.30212686e-02 2.90534036e-03 4.57846567e+02] [-1.30206627e-02 9.99915202e-01 -2.27344267e-04 -2.05125018e+01] [-2.90805431e-03 1.89494576e-04 9.99995754e-01 2.72808314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.01071405700003 meters Centerline goodness [0,1] 0.9763614602034709 Centerline is valid? [True, True] Translation: X:457.87, Y:-20.52, Z:2.73 [[ 9.99920698e-01 1.23446675e-02 2.49133372e-03 4.57874712e+02] [-1.23442195e-02 9.99923788e-01 -1.95115038e-04 -2.05157405e+01] [-2.49355249e-03 1.64345995e-04 9.99996878e-01 2.72692982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.040714057 meters Centerline goodness [0,1] 0.975297283621225 Centerline is valid? [True, True] Translation: X:457.90, Y:-20.52, Z:2.73 [[ 9.99949342e-01 9.79288156e-03 2.32676853e-03 4.57903206e+02] [-9.79248644e-03 9.99952036e-01 -1.81147934e-04 -2.05218754e+01] [-2.32843089e-03 1.58353908e-04 9.99997277e-01 2.72541844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.070714057 meters Centerline goodness [0,1] 0.9742882112138356 Centerline is valid? [True, True] Translation: X:457.93, Y:-20.53, Z:2.72 [[ 9.99969383e-01 7.44283841e-03 2.41598377e-03 4.57933286e+02] [-7.44240396e-03 9.99972287e-01 -1.88762206e-04 -2.05281424e+01] [-2.41732174e-03 1.70775699e-04 9.99997064e-01 2.72365975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.100714057 meters Centerline goodness [0,1] 0.9747033032619424 Centerline is valid? [True, True] Translation: X:457.96, Y:-20.54, Z:2.72 [[ 9.99992162e-01 3.47988629e-03 1.88842615e-03 4.57962646e+02] [-3.47961525e-03 9.99993935e-01 -1.46796096e-04 -2.05352214e+01] [-1.88892553e-03 1.40223949e-04 9.99998206e-01 2.72171460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.130714057 meters Centerline goodness [0,1] 0.9753859564608997 Centerline is valid? [True, True] Translation: X:457.99, Y:-20.54, Z:2.72 [[ 9.99997378e-01 1.73845022e-03 1.49026118e-03 4.57992555e+02] [-1.73827915e-03 9.99998482e-01 -1.16081122e-04 -2.05387961e+01] [-1.49046072e-03 1.13490328e-04 9.99998883e-01 2.72103349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.160714057 meters Centerline goodness [0,1] 0.9772935569608652 Centerline is valid? [True, True] Translation: X:458.02, Y:-20.53, Z:2.72 [[ 9.99999961e-01 2.36912735e-04 1.46422794e-04 4.58023004e+02] [-2.36911033e-04 9.99999972e-01 -1.16378524e-05 -2.05320548e+01] [-1.46425547e-04 1.16031628e-05 9.99999989e-01 2.72180245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.190714057 meters Centerline goodness [0,1] 0.9739504299443601 Centerline is valid? [True, True] Translation: X:458.05, Y:-20.55, Z:2.72 [[ 9.99999420e-01 7.74983781e-04 -7.47938481e-04 4.58051670e+02] [-7.74940727e-04 9.99999698e-01 5.78527974e-05 -2.05450740e+01] [ 7.47983090e-04 -5.72731559e-05 9.99999719e-01 2.71827030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.220714057 meters Centerline goodness [0,1] 0.9735781253599318 Centerline is valid? [True, True] Translation: X:458.08, Y:-20.55, Z:2.72 [[ 9.99997053e-01 2.32638206e-03 -6.93860739e-04 4.58081262e+02] [-2.32634556e-03 9.99997293e-01 5.34114578e-05 -2.05476389e+01] [ 6.93983115e-04 -5.17971406e-05 9.99999758e-01 2.71727081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.250714057 meters Centerline goodness [0,1] 0.9779720520410271 Centerline is valid? [True, True] Translation: X:458.11, Y:-20.54, Z:2.72 [[ 9.99988387e-01 4.75116571e-03 -8.08115638e-04 4.58111780e+02] [-4.75111705e-03 9.99988711e-01 6.21172621e-05 -2.05399654e+01] [ 8.08401645e-04 -5.82770887e-05 9.99999672e-01 2.71807371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.280714057 meters Centerline goodness [0,1] 0.9788002115380193 Centerline is valid? [True, True] Translation: X:458.14, Y:-20.54, Z:2.72 [[ 9.99981728e-01 5.97273734e-03 -9.32531322e-04 4.58140511e+02] [-5.97267343e-03 9.99982161e-01 7.13093198e-05 -2.05406175e+01] [ 9.32940598e-04 -6.57383118e-05 9.99999563e-01 2.71795800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.310714057 meters Centerline goodness [0,1] 0.9779877098046409 Centerline is valid? [True, True] Translation: X:458.17, Y:-20.54, Z:2.72 [[ 9.99967567e-01 8.05244434e-03 1.49783105e-04 4.58168805e+02] [-8.05244262e-03 9.99967578e-01 -1.20742740e-05 -2.05435699e+01] [-1.49875476e-04 1.08677626e-05 9.99999989e-01 2.71847974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.340714057 meters Centerline goodness [0,1] 0.9783413422849654 Centerline is valid? [True, True] Translation: X:458.20, Y:-20.54, Z:2.72 [[ 9.99954428e-01 9.52647209e-03 6.23484756e-04 4.58198196e+02] [-9.52644337e-03 9.99954621e-01 -4.90307959e-05 -2.05427361e+01] [-6.23923554e-04 4.30889692e-05 9.99999804e-01 2.71872617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.370714057 meters Centerline goodness [0,1] 0.9796867127742408 Centerline is valid? [True, True] Translation: X:458.23, Y:-20.54, Z:2.72 [[ 9.99927390e-01 1.20347597e-02 6.15985575e-04 4.58228543e+02] [-1.20347325e-02 9.99927579e-01 -4.79615400e-05 -2.05403598e+01] [-6.16518171e-04 4.05448359e-05 9.99999809e-01 2.71852490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.400714057 meters Centerline goodness [0,1] 0.9782888388549372 Centerline is valid? [True, True] Translation: X:458.26, Y:-20.55, Z:2.72 [[ 9.99921890e-01 1.24985439e-02 3.56561014e-05 4.58255869e+02] [-1.24985438e-02 9.99921890e-01 -4.03486139e-06 -2.05480628e+01] [-3.57037462e-05 3.58889688e-06 9.99999999e-01 2.71653571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.430714057 meters Centerline goodness [0,1] 0.9781829873231673 Centerline is valid? [True, True] Translation: X:458.28, Y:-20.55, Z:2.72 [[ 9.99911987e-01 1.32610355e-02 -4.03985179e-04 4.58283064e+02] [-1.32610245e-02 9.99912068e-01 3.00068452e-05 -2.05522856e+01] [ 4.04347578e-04 -2.46469469e-05 9.99999918e-01 2.71549786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.460714057 meters Centerline goodness [0,1] 0.980166846689495 Centerline is valid? [True, True] Translation: X:458.31, Y:-20.56, Z:2.72 [[ 9.99920512e-01 1.26027403e-02 -3.75816700e-04 4.58311519e+02] [-1.26027306e-02 9.99920582e-01 2.80615033e-05 -2.05565467e+01] [ 3.76140505e-04 -2.33229561e-05 9.99999929e-01 2.71522131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.490714057 meters Centerline goodness [0,1] 0.9804209271401715 Centerline is valid? [True, True] Translation: X:458.34, Y:-20.55, Z:2.72 [[ 9.99925508e-01 1.21905027e-02 -6.07819355e-04 4.58341258e+02] [-1.21904770e-02 9.99925692e-01 4.58596887e-05 -2.05510109e+01] [ 6.08333242e-04 -3.84466646e-05 9.99999814e-01 2.71624218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.520714057 meters Centerline goodness [0,1] 0.9810667705778532 Centerline is valid? [True, True] Translation: X:458.37, Y:-20.56, Z:2.72 [[ 9.99944109e-01 1.04958998e-02 -1.27052304e-03 4.58370978e+02] [-1.04957844e-02 9.99944913e-01 9.74409532e-05 -2.05551843e+01] [ 1.27147579e-03 -8.41003712e-05 9.99999188e-01 2.71508584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.550714057 meters Centerline goodness [0,1] 0.9810667705778532 Centerline is valid? [True, True] Translation: X:458.40, Y:-20.56, Z:2.71 [[ 9.99944856e-01 1.04245491e-02 -1.27056926e-03 4.58399264e+02] [-1.04244344e-02 9.99945659e-01 9.68410413e-05 -2.05573048e+01] [ 1.27150974e-03 -8.35907352e-05 9.99999188e-01 2.71467919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.580714057 meters Centerline goodness [0,1] 0.9812727231152677 Centerline is valid? [True, True] Translation: X:458.43, Y:-20.56, Z:2.71 [[ 9.99951789e-01 9.72380133e-03 -1.36633978e-03 4.58427107e+02] [-9.72366847e-03 9.99952719e-01 1.03849597e-04 -2.05624893e+01] [ 1.36728499e-03 -9.05587557e-05 9.99999061e-01 2.71344028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.610714057 meters Centerline goodness [0,1] 0.9804880288318069 Centerline is valid? [True, True] Translation: X:458.46, Y:-20.56, Z:2.71 [[ 9.99968870e-01 7.74914811e-03 -1.48625869e-03 4.58456241e+02] [-7.74898827e-03 9.99969970e-01 1.13270576e-04 -2.05646552e+01] [ 1.48709181e-03 -1.01750049e-04 9.99998889e-01 2.71358457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.640714057 meters Centerline goodness [0,1] 0.980849598163031 Centerline is valid? [True, True] Translation: X:458.48, Y:-20.57, Z:2.71 [[ 9.99974485e-01 6.84314206e-03 -2.04954985e-03 4.58484810e+02] [-6.84283588e-03 9.99976575e-01 1.56364265e-04 -2.05668468e+01] [ 2.05057186e-03 -1.42335543e-04 9.99997887e-01 2.71357266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.670714057 meters Centerline goodness [0,1] 0.9797843357219717 Centerline is valid? [True, True] Translation: X:458.51, Y:-20.57, Z:2.71 [[ 9.99987842e-01 4.42444519e-03 -2.17707013e-03 4.58513030e+02] [-4.42409291e-03 9.99990200e-01 1.66600748e-04 -2.05742835e+01] [ 2.17778591e-03 -1.56967162e-04 9.99997616e-01 2.71225076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.700714057 meters Centerline goodness [0,1] 0.979686247566701 Centerline is valid? [True, True] Translation: X:458.54, Y:-20.58, Z:2.71 [[ 9.99995316e-01 1.88374970e-03 -2.41250717e-03 4.58543273e+02] [-1.88330839e-03 9.99998209e-01 1.85184435e-04 -2.05808425e+01] [ 2.41285169e-03 -1.80640073e-04 9.99997073e-01 2.71087789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.730714057 meters Centerline goodness [0,1] 0.980107674057852 Centerline is valid? [True, True] Translation: X:458.57, Y:-20.58, Z:2.71 [[ 9.99996529e-01 4.12164037e-04 -2.60245900e-03 4.58572393e+02] [-4.11647907e-04 9.99999896e-01 1.98856513e-04 -2.05815899e+01] [ 2.60254069e-03 -1.97784526e-04 9.99996594e-01 2.71084273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76071405700003 meters Centerline goodness [0,1] 0.9801871216290589 Centerline is valid? [True, True] Translation: X:458.60, Y:-20.59, Z:2.71 [[ 9.99995714e-01 -1.16613264e-03 -2.68549205e-03 4.58601945e+02] [ 1.16668839e-03 9.99999298e-01 2.05386107e-04 -2.05858426e+01] [ 2.68525066e-03 -2.08518359e-04 9.99996373e-01 2.71049102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.790714057 meters Centerline goodness [0,1] 0.9771006336787683 Centerline is valid? [True, True] Translation: X:458.63, Y:-20.60, Z:2.71 [[ 9.99989423e-01 -3.91041139e-03 -2.42109403e-03 4.58630256e+02] [ 3.91087076e-03 9.99992335e-01 1.85032355e-04 -2.05973553e+01] [ 2.42035192e-03 -1.94498984e-04 9.99997052e-01 2.70858341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.820714057 meters Centerline goodness [0,1] 0.9785867727044197 Centerline is valid? [True, True] Translation: X:458.66, Y:-20.60, Z:2.71 [[ 9.99982398e-01 -5.37422615e-03 -2.51415493e-03 4.58661431e+02] [ 5.37472975e-03 9.99985537e-01 1.93593182e-04 -2.05967588e+01] [ 2.51307816e-03 -2.07102677e-04 9.99996821e-01 2.70864830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.850714057 meters Centerline goodness [0,1] 0.9794160650644248 Centerline is valid? [True, True] Translation: X:458.69, Y:-20.60, Z:2.71 [[ 9.99968075e-01 -7.52800790e-03 -2.67918970e-03 4.58691944e+02] [ 7.52858604e-03 9.99971639e-01 2.05770116e-04 -2.06004339e+01] [ 2.67756468e-03 -2.25934057e-04 9.99996390e-01 2.70758941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.880714057 meters Centerline goodness [0,1] 0.9779338241978002 Centerline is valid? [True, True] Translation: X:458.72, Y:-20.61, Z:2.71 [[ 9.99961833e-01 -8.46015617e-03 -2.18141644e-03 4.58723063e+02] [ 8.46054473e-03 9.99964195e-01 1.68955786e-04 -2.06056359e+01] [ 2.17990895e-03 -1.87405309e-04 9.99997606e-01 2.70737929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.910714057 meters Centerline goodness [0,1] 0.9775110062179458 Centerline is valid? [True, True] Translation: X:458.75, Y:-20.61, Z:2.71 [[ 9.99959464e-01 -8.79127879e-03 -1.94540478e-03 4.58754954e+02] [ 8.79158823e-03 9.99961342e-01 1.50569450e-04 -2.06093851e+01] [ 1.94400588e-03 -1.67666544e-04 9.99998096e-01 2.70735354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.940714057 meters Centerline goodness [0,1] 0.9761828935395814 Centerline is valid? [True, True] Translation: X:458.79, Y:-20.61, Z:2.71 [[ 9.99959420e-01 -8.78073906e-03 -2.01395019e-03 4.58787191e+02] [ 8.78107089e-03 9.99961433e-01 1.55981749e-04 -2.06129898e+01] [ 2.01250288e-03 -1.73660059e-04 9.99997960e-01 2.70687361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.970714057 meters Centerline goodness [0,1] 0.9761568269888307 Centerline is valid? [True, True] Translation: X:458.82, Y:-20.62, Z:2.71 [[ 9.99961326e-01 -8.50070139e-03 -2.25485079e-03 4.58819723e+02] [ 8.50111738e-03 9.99963850e-01 1.74966200e-04 -2.06161894e+01] [ 2.25328194e-03 -1.94128185e-04 9.99997443e-01 2.70612038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.000714057 meters Centerline goodness [0,1] 0.9770697452446424 Centerline is valid? [True, True] Translation: X:458.85, Y:-20.62, Z:2.71 [[ 9.99956153e-01 -8.80146770e-03 -3.19772987e-03 4.58852060e+02] [ 8.80230417e-03 9.99961228e-01 2.47604073e-04 -2.06162490e+01] [ 3.19542661e-03 -2.75740607e-04 9.99994857e-01 2.70517629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.030714057 meters Centerline goodness [0,1] 0.9782088395523238 Centerline is valid? [True, True] Translation: X:458.88, Y:-20.62, Z:2.70 [[ 9.99955468e-01 -8.82791841e-03 -3.33611628e-03 4.58884044e+02] [ 8.82882968e-03 9.99960992e-01 2.58525710e-04 -2.06178126e+01] [ 3.33370390e-03 -2.87968200e-04 9.99994402e-01 2.70488332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.060714057 meters Centerline goodness [0,1] 0.9665195833143793 Centerline is valid? [True, True] Translation: X:458.91, Y:-20.63, Z:2.70 [[ 9.99949415e-01 -9.13374077e-03 -4.21206489e-03 4.58914635e+02] [ 9.13519480e-03 9.99958220e-01 3.26095776e-04 -2.06301989e+01] [ 4.20891044e-03 -3.64557314e-04 9.99991076e-01 2.70230113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.090714057 meters Centerline goodness [0,1] 0.9627374352449332 Centerline is valid? [True, True] Translation: X:458.95, Y:-20.63, Z:2.70 [[ 9.99946478e-01 -9.37919456e-03 -4.36714990e-03 4.58946142e+02] [ 9.38076063e-03 9.99955942e-01 3.38255069e-04 -2.06334036e+01] [ 4.36378493e-03 -3.79204153e-04 9.99990407e-01 2.70142840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.120714057 meters Centerline goodness [0,1] 0.9759014190374234 Centerline is valid? [True, True] Translation: X:458.98, Y:-20.63, Z:2.70 [[ 9.99947992e-01 -9.46731889e-03 -3.79240621e-03 4.58978614e+02] [ 9.46850298e-03 9.99955129e-01 2.94393343e-04 -2.06298540e+01] [ 3.78944893e-03 -3.30286442e-04 9.99992765e-01 2.70254372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.150714057 meters Centerline goodness [0,1] 0.9757097001843968 Centerline is valid? [True, True] Translation: X:459.01, Y:-20.63, Z:2.70 [[ 9.99953515e-01 -8.88787130e-03 -3.73808455e-03 4.59011054e+02] [ 8.88901875e-03 9.99960450e-01 2.90460930e-04 -2.06329074e+01] [ 3.73535513e-03 -3.23675331e-04 9.99992971e-01 2.70228702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.180714057 meters Centerline goodness [0,1] 0.9768373151308305 Centerline is valid? [True, True] Translation: X:459.04, Y:-20.63, Z:2.70 [[ 9.99958717e-01 -8.49156157e-03 -3.23390169e-03 4.59042960e+02] [ 8.49241850e-03 9.99963907e-01 2.51342355e-04 -2.06328035e+01] [ 3.23165068e-03 -2.78795626e-04 9.99994739e-01 2.70225941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.210714057 meters Centerline goodness [0,1] 0.9529280357427796 Centerline is valid? [True, True] Translation: X:459.07, Y:-20.65, Z:2.70 [[ 9.99961773e-01 -8.01441345e-03 -3.49586327e-03 4.59072915e+02] [ 8.01541235e-03 9.99967839e-01 2.71819968e-04 -2.06460731e+01] [ 3.49357236e-03 -2.99830363e-04 9.99993853e-01 2.69969928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.240714057 meters Centerline goodness [0,1] 0.9757070258198309 Centerline is valid? [True, True] Translation: X:459.10, Y:-20.64, Z:2.70 [[ 9.99965897e-01 -6.96943322e-03 -4.43070725e-03 4.59104722e+02] [ 6.97102626e-03 9.99975643e-01 3.44202405e-04 -2.06381668e+01] [ 4.42820043e-03 -3.75077244e-04 9.99990125e-01 2.70064680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.270714057 meters Centerline goodness [0,1] 0.9759523157029323 Centerline is valid? [True, True] Translation: X:459.14, Y:-20.64, Z:2.70 [[ 9.99970382e-01 -6.23245297e-03 -4.51562531e-03 4.59135403e+02] [ 6.23410085e-03 9.99980506e-01 3.50943752e-04 -2.06419483e+01] [ 4.51335004e-03 -3.79084221e-04 9.99989743e-01 2.69994480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.300714057 meters Centerline goodness [0,1] 0.9733493888308266 Centerline is valid? [True, True] Translation: X:459.17, Y:-20.65, Z:2.70 [[ 9.99974708e-01 -5.79576236e-03 -4.12230583e-03 4.59166229e+02] [ 5.79712964e-03 9.99983145e-01 3.19806015e-04 -2.06456591e+01] [ 4.12038283e-03 -3.43695467e-04 9.99991452e-01 2.69954553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.330714057 meters Centerline goodness [0,1] 0.9712712963173578 Centerline is valid? [True, True] Translation: X:459.20, Y:-20.65, Z:2.70 [[ 9.99975678e-01 -5.62826379e-03 -4.11888274e-03 4.59196277e+02] [ 5.62962775e-03 9.99984102e-01 3.19628872e-04 -2.06486736e+01] [ 4.11701830e-03 -3.42808875e-04 9.99991466e-01 2.69957513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.360714057 meters Centerline goodness [0,1] 0.9714285714285714 Centerline is valid? [True, True] Translation: X:459.23, Y:-20.65, Z:2.70 [[ 9.99982745e-01 -4.91726400e-03 -3.21417744e-03 4.59226151e+02] [ 4.91809492e-03 9.99987875e-01 2.50662677e-04 -2.06512959e+01] [ 3.21290589e-03 -2.66465981e-04 9.99994803e-01 2.70012164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.390714057 meters Centerline goodness [0,1] 0.9713380153228749 Centerline is valid? [True, True] Translation: X:459.26, Y:-20.65, Z:2.70 [[ 9.99982531e-01 -4.94105272e-03 -3.24402573e-03 4.59256416e+02] [ 4.94189595e-03 9.99987757e-01 2.51969063e-04 -2.06537350e+01] [ 3.24274102e-03 -2.67996299e-04 9.99994706e-01 2.69999451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.420714057 meters Centerline goodness [0,1] 0.9700052462306973 Centerline is valid? [True, True] Translation: X:459.29, Y:-20.66, Z:2.70 [[ 9.99987369e-01 -3.73432021e-03 -3.36393578e-03 4.59286697e+02] [ 3.73522495e-03 9.99992990e-01 2.62709681e-04 -2.06562121e+01] [ 3.36293115e-03 -2.75271419e-04 9.99994307e-01 2.69986267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.450714057 meters Centerline goodness [0,1] 0.9682413022661985 Centerline is valid? [True, True] Translation: X:459.32, Y:-20.66, Z:2.70 [[ 9.99990121e-01 -2.59255847e-03 -3.61057539e-03 4.59316642e+02] [ 2.59358887e-03 9.99996597e-01 2.80731580e-04 -2.06578264e+01] [ 3.60983529e-03 -2.90093155e-04 9.99993442e-01 2.69941294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.480714057 meters Centerline goodness [0,1] 0.9674432361104791 Centerline is valid? [True, True] Translation: X:459.35, Y:-20.66, Z:2.70 [[ 9.99993100e-01 -9.69011047e-06 -3.71476381e-03 4.59346283e+02] [ 1.07616812e-05 9.99999958e-01 2.88442810e-04 -2.06587951e+01] [ 3.71476086e-03 -2.88480797e-04 9.99993059e-01 2.69863946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.51071405700003 meters Centerline goodness [0,1] 0.9671375430749218 Centerline is valid? [True, True] Translation: X:459.38, Y:-20.66, Z:2.70 [[ 9.99991772e-01 2.08667092e-03 -3.47873741e-03 4.59375855e+02] [-2.08574482e-03 9.99997788e-01 2.69823222e-04 -2.06589802e+01] [ 3.47929275e-03 -2.62565244e-04 9.99993913e-01 2.69905216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.540714057 meters Centerline goodness [0,1] 0.9675038277839987 Centerline is valid? [True, True] Translation: X:459.40, Y:-20.66, Z:2.70 [[ 9.99988611e-01 3.13163592e-03 -3.60142425e-03 4.59404955e+02] [-3.13065255e-03 9.99995061e-01 2.78655367e-04 -2.06595123e+01] [ 3.60227911e-03 -2.67377386e-04 9.99993476e-01 2.69915539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.570714057 meters Centerline goodness [0,1] 0.9779876365793015 Centerline is valid? [True, True] Translation: X:459.44, Y:-20.64, Z:2.70 [[ 9.99983594e-01 5.42646218e-03 -1.83442793e-03 4.59435945e+02] [-5.42621108e-03 9.99985268e-01 1.41832962e-04 -2.06446627e+01] [ 1.83517056e-03 -1.31876642e-04 9.99998307e-01 2.70325427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.600714057 meters Centerline goodness [0,1] 0.9774591102762633 Centerline is valid? [True, True] Translation: X:459.46, Y:-20.65, Z:2.70 [[ 9.99979332e-01 6.37748749e-03 -8.14918802e-04 4.59463799e+02] [-6.37743916e-03 9.99979662e-01 6.18917305e-05 -2.06477276e+01] [ 8.15296942e-04 -5.66933563e-05 9.99999666e-01 2.70290233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.630714057 meters Centerline goodness [0,1] 0.9790808385974549 Centerline is valid? [True, True] Translation: X:459.49, Y:-20.64, Z:2.70 [[ 9.99962658e-01 8.63321046e-03 3.87754234e-04 4.59493653e+02] [-8.63319926e-03 9.99962733e-01 -3.05606484e-05 -2.06443000e+01] [-3.88003620e-04 2.72119476e-05 9.99999924e-01 2.70406557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.660714057 meters Centerline goodness [0,1] 0.9789586958512684 Centerline is valid? [True, True] Translation: X:459.52, Y:-20.65, Z:2.70 [[ 9.99956465e-01 9.30413867e-03 7.07619412e-04 4.59521165e+02] [-9.30410133e-03 9.99956714e-01 -5.60475446e-05 -2.06470885e+01] [-7.08110256e-04 4.94613418e-05 9.99999748e-01 2.70340196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.690714057 meters Centerline goodness [0,1] 0.9789601688693098 Centerline is valid? [True, True] Translation: X:459.55, Y:-20.65, Z:2.70 [[ 9.99947936e-01 1.01960083e-02 4.09277742e-04 4.59550185e+02] [-1.01959958e-02 9.99948019e-01 -3.26618947e-05 -2.06484163e+01] [-4.09589488e-04 2.84872000e-05 9.99999916e-01 2.70307412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.720714057 meters Centerline goodness [0,1] 0.9777299672701472 Centerline is valid? [True, True] Translation: X:459.58, Y:-20.65, Z:2.70 [[ 9.99946043e-01 1.03854956e-02 2.31375604e-04 4.59577428e+02] [-1.03854914e-02 9.99946069e-01 -1.92193112e-05 -2.06515283e+01] [-2.31562728e-04 1.68153248e-05 9.99999973e-01 2.70210309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.750714057 meters Centerline goodness [0,1] 0.9786714165011076 Centerline is valid? [True, True] Translation: X:459.60, Y:-20.66, Z:2.70 [[ 9.99938397e-01 1.10756774e-02 7.29604812e-04 4.59604792e+02] [-1.10756383e-02 9.99938662e-01 -5.75246331e-05 -2.06560201e+01] [-7.30197183e-04 4.94402504e-05 9.99999732e-01 2.70165151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.780714057 meters Centerline goodness [0,1] 0.9781747394938738 Centerline is valid? [True, True] Translation: X:459.63, Y:-20.66, Z:2.70 [[ 9.99936217e-01 1.12606569e-02 8.71804099e-04 4.59633030e+02] [-1.12606017e-02 9.99936595e-01 -6.81774958e-05 -2.06584195e+01] [-8.72516546e-04 5.83561085e-05 9.99999618e-01 2.70134223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.810714057 meters Centerline goodness [0,1] 0.9781026908292147 Centerline is valid? [True, True] Translation: X:459.66, Y:-20.66, Z:2.70 [[ 9.99916153e-01 1.28807655e-02 1.33145173e-03 4.59661551e+02] [-1.28806393e-02 9.99917036e-01 -1.03274790e-04 -2.06615312e+01] [-1.33267153e-03 8.61161808e-05 9.99999108e-01 2.70074008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.840714057 meters Centerline goodness [0,1] 0.9797706422018349 Centerline is valid? [True, True] Translation: X:459.69, Y:-20.66, Z:2.70 [[ 9.99907023e-01 1.35553935e-02 1.48185602e-03 4.59690306e+02] [-1.35552378e-02 9.99908117e-01 -1.15040711e-04 -2.06578789e+01] [-1.48327928e-03 9.49431039e-05 9.99998895e-01 2.70146996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.870714057 meters Centerline goodness [0,1] 0.979955150794014 Centerline is valid? [True, True] Translation: X:459.72, Y:-20.66, Z:2.70 [[ 9.99889388e-01 1.48013161e-02 1.46028342e-03 4.59717950e+02] [-1.48011661e-02 9.99890450e-01 -1.13500542e-04 -2.06618941e+01] [-1.46180341e-03 9.18740899e-05 9.99998927e-01 2.70040422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.900714057 meters Centerline goodness [0,1] 0.9790041854401573 Centerline is valid? [True, True] Translation: X:459.75, Y:-20.67, Z:2.70 [[ 9.99835309e-01 1.80763407e-02 1.61250926e-03 4.59746433e+02] [-1.80761636e-02 9.99836605e-01 -1.24354355e-04 -2.06696784e+01] [-1.61449366e-03 9.51858935e-05 9.99998692e-01 2.69796298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.930714057 meters Centerline goodness [0,1] 0.9804478227025047 Centerline is valid? [True, True] Translation: X:459.77, Y:-20.67, Z:2.70 [[ 9.99787031e-01 2.06307032e-02 5.16821070e-04 4.59774911e+02] [-2.06306850e-02 9.99787164e-01 -4.03820566e-05 -2.06713370e+01] [-5.17544182e-04 2.97110837e-05 9.99999866e-01 2.69660603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.960714057 meters Centerline goodness [0,1] 0.9805269186712485 Centerline is valid? [True, True] Translation: X:459.80, Y:-20.67, Z:2.70 [[ 9.99760561e-01 2.18775287e-02 4.41860879e-04 4.59803922e+02] [-2.18775154e-02 9.99760658e-01 -3.48332750e-05 -2.06721647e+01] [-4.42517189e-04 2.51581163e-05 9.99999902e-01 2.69648568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.990714057 meters Centerline goodness [0,1] 0.9814848762603117 Centerline is valid? [True, True] Translation: X:459.83, Y:-20.67, Z:2.70 [[ 9.99734365e-01 2.30439308e-02 -4.19298681e-04 4.59831781e+02] [-2.30439198e-02 9.99734453e-01 3.09468507e-05 -2.06749934e+01] [ 4.19900475e-04 -2.12763450e-05 9.99999912e-01 2.69616182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.020714057 meters Centerline goodness [0,1] 0.9824120028360359 Centerline is valid? [True, True] Translation: X:459.86, Y:-20.67, Z:2.70 [[ 9.99740131e-01 2.27770314e-02 -9.36802625e-04 4.59861017e+02] [-2.27769752e-02 9.99740569e-01 7.06885554e-05 -2.06691170e+01] [ 9.38169664e-04 -4.93326555e-05 9.99999559e-01 2.69838623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.050714057 meters Centerline goodness [0,1] 0.9827448108565805 Centerline is valid? [True, True] Translation: X:459.89, Y:-20.67, Z:2.70 [[ 9.99773132e-01 2.12680843e-02 -1.16366689e-03 4.59890793e+02] [-2.12679956e-02 9.99773807e-01 8.85101476e-05 -2.06726584e+01] [ 1.16528611e-03 -6.37412052e-05 9.99999319e-01 2.69854273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.080714057 meters Centerline goodness [0,1] 0.9815111070481762 Centerline is valid? [True, True] Translation: X:459.92, Y:-20.68, Z:2.70 [[ 9.99797006e-01 2.01213461e-02 -1.03790076e-03 4.59918148e+02] [-2.01212759e-02 9.99797544e-01 7.80332041e-05 -2.06807904e+01] [ 1.03926076e-03 -5.71334763e-05 9.99999458e-01 2.69696701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.110714057 meters Centerline goodness [0,1] 0.9812793936349938 Centerline is valid? [True, True] Translation: X:459.95, Y:-20.68, Z:2.70 [[ 9.99834796e-01 1.81562066e-02 -8.55958847e-04 4.59947776e+02] [-1.81561577e-02 9.99835161e-01 6.48620365e-05 -2.06814828e+01] [ 8.56995400e-04 -4.93103973e-05 9.99999632e-01 2.69892917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.140714057 meters Centerline goodness [0,1] 0.9807385092884203 Centerline is valid? [True, True] Translation: X:459.98, Y:-20.69, Z:2.70 [[ 9.99847521e-01 1.74354494e-02 -9.68955054e-04 4.59975259e+02] [-1.74353876e-02 9.99847989e-01 7.21919286e-05 -2.06915408e+01] [ 9.70066462e-04 -5.52868140e-05 9.99999528e-01 2.69781186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.170714057 meters Centerline goodness [0,1] 0.9809001599268906 Centerline is valid? [True, True] Translation: X:460.00, Y:-20.69, Z:2.70 [[ 9.99855418e-01 1.69775980e-02 -9.50634093e-04 4.60004328e+02] [-1.69775377e-02 9.99855869e-01 7.14054979e-05 -2.06880987e+01] [ 9.51709370e-04 -5.52557478e-05 9.99999546e-01 2.70008558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.200714057 meters Centerline goodness [0,1] 0.9794785457523775 Centerline is valid? [True, True] Translation: X:460.03, Y:-20.70, Z:2.70 [[ 9.99860825e-01 1.66831684e-02 5.49236690e-05 4.60031029e+02] [-1.66831681e-02 9.99860826e-01 -5.44523264e-06 -2.06970930e+01] [-5.50068688e-05 4.52817399e-06 9.99999998e-01 2.69944117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.230714057 meters Centerline goodness [0,1] 0.9820071880260225 Centerline is valid? [True, True] Translation: X:460.06, Y:-20.70, Z:2.70 [[ 9.99871834e-01 1.59660004e-02 1.18401593e-03 4.60059762e+02] [-1.59659037e-02 9.99872533e-01 -9.10373171e-05 -2.06960319e+01] [-1.18531851e-03 7.21217648e-05 9.99999295e-01 2.70186263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26071405700003 meters Centerline goodness [0,1] 0.980643550875919 Centerline is valid? [True, True] Translation: X:460.09, Y:-20.71, Z:2.70 [[ 9.99884412e-01 1.51566913e-02 1.19875332e-03 4.60086530e+02] [-1.51565915e-02 9.99885128e-01 -9.22965519e-05 -2.07059140e+01] [-1.20001453e-03 7.41168692e-05 9.99999277e-01 2.70058938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.290714057 meters Centerline goodness [0,1] 0.9817001447701773 Centerline is valid? [True, True] Translation: X:460.12, Y:-20.70, Z:2.70 [[ 9.99911878e-01 1.32752148e-02 6.94896853e-05 4.60116345e+02] [-1.32752144e-02 9.99911880e-01 -5.78604414e-06 -2.07038164e+01] [-6.95603729e-05 4.86304379e-06 9.99999998e-01 2.70096653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.320714057 meters Centerline goodness [0,1] 0.9803126415949253 Centerline is valid? [True, True] Translation: X:460.14, Y:-20.71, Z:2.70 [[ 9.99933346e-01 1.14036764e-02 -1.80543070e-03 4.60144840e+02] [-1.14034491e-02 9.99934969e-01 1.36176476e-04 -2.07094850e+01] [ 1.80686620e-03 -1.15579262e-04 9.99998361e-01 2.69885643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.350714057 meters Centerline goodness [0,1] 0.9810515380098469 Centerline is valid? [True, True] Translation: X:460.17, Y:-20.71, Z:2.70 [[ 9.99940403e-01 1.05503312e-02 -2.80731020e-03 4.60173453e+02] [-1.05497781e-02 9.99944327e-01 2.11725410e-04 -2.07139893e+01] [ 2.80938768e-03 -1.82096292e-04 9.99996037e-01 2.69736585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.380714057 meters Centerline goodness [0,1] 0.9809911744738629 Centerline is valid? [True, True] Translation: X:460.20, Y:-20.72, Z:2.70 [[ 9.99953262e-01 8.33089000e-03 -4.90617386e-03 4.60202622e+02] [-8.32916737e-03 9.99965243e-01 3.71443263e-04 -2.07196249e+01] [ 4.90909779e-03 -3.30561559e-04 9.99987896e-01 2.69518137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.410714057 meters Centerline goodness [0,1] 0.9809543220780397 Centerline is valid? [True, True] Translation: X:460.23, Y:-20.72, Z:2.69 [[ 9.99961849e-01 6.99591154e-03 -5.23046705e-03 4.60231986e+02] [-6.99393764e-03 9.99975464e-01 3.95580666e-04 -2.07229197e+01] [ 5.23310617e-03 -3.58984014e-04 9.99986243e-01 2.69484265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.440714057 meters Centerline goodness [0,1] 0.9809543220780397 Centerline is valid? [True, True] Translation: X:460.26, Y:-20.72, Z:2.69 [[ 9.99962570e-01 6.89199715e-03 -5.23058298e-03 4.60259440e+02] [-6.89002981e-03 9.99976186e-01 3.94048367e-04 -2.07249036e+01] [ 5.23317420e-03 -3.57994745e-04 9.99986243e-01 2.69444806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.470714057 meters Centerline goodness [0,1] 0.9812282052443277 Centerline is valid? [True, True] Translation: X:460.29, Y:-20.73, Z:2.69 [[ 9.99974924e-01 3.73076302e-03 -6.01939551e-03 4.60288198e+02] [-3.72809407e-03 9.99992947e-01 4.54551200e-04 -2.07301972e+01] [ 6.02104888e-03 -4.32098928e-04 9.99981780e-01 2.69440817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.500714057 meters Centerline goodness [0,1] 0.9813090433567064 Centerline is valid? [True, True] Translation: X:460.32, Y:-20.73, Z:2.69 [[ 9.99977201e-01 1.97363525e-03 -6.45771149e-03 4.60317068e+02] [-1.97053080e-03 9.99997940e-01 4.87061924e-04 -2.07336848e+01] [ 6.45865947e-03 -4.74325700e-04 9.99979030e-01 2.69393630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.530714057 meters Centerline goodness [0,1] 0.9794332827470611 Centerline is valid? [True, True] Translation: X:460.35, Y:-20.74, Z:2.69 [[ 9.99965783e-01 -2.27104899e-03 -7.95458049e-03 4.60346365e+02] [ 2.27589736e-03 9.99997230e-01 6.00507575e-04 -2.07405353e+01] [ 7.95319467e-03 -6.18590836e-04 9.99968182e-01 2.69162541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.560714057 meters Centerline goodness [0,1] 0.9766403842668117 Centerline is valid? [True, True] Translation: X:460.38, Y:-20.75, Z:2.69 [[ 9.99956703e-01 -4.44048075e-03 -8.17763440e-03 4.60375972e+02] [ 4.44567578e-03 9.99989927e-01 6.17204513e-04 -2.07455645e+01] [ 8.17481134e-03 -6.53532901e-04 9.99966372e-01 2.69024877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.590714057 meters Centerline goodness [0,1] 0.9694580836974639 Centerline is valid? [True, True] Translation: X:460.40, Y:-20.75, Z:2.69 [[ 9.99940590e-01 -7.46936228e-03 -7.93877773e-03 4.60404743e+02] [ 7.47435062e-03 9.99971887e-01 5.98868020e-04 -2.07510838e+01] [ 7.93408139e-03 -6.58169650e-04 9.99968308e-01 2.68986919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.620714057 meters Centerline goodness [0,1] 0.968110164884943 Centerline is valid? [True, True] Translation: X:460.43, Y:-20.75, Z:2.69 [[ 9.99930019e-01 -8.80785822e-03 -7.89806182e-03 4.60434537e+02] [ 8.81283680e-03 9.99960989e-01 5.95773585e-04 -2.07535431e+01] [ 7.89250622e-03 -6.65336222e-04 9.99968632e-01 2.69006806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.650714057 meters Centerline goodness [0,1] 0.9581003689702786 Centerline is valid? [True, True] Translation: X:460.46, Y:-20.76, Z:2.69 [[ 9.99922758e-01 -9.74470709e-03 -7.71485691e-03 4.60464298e+02] [ 9.74948686e-03 9.99952303e-01 5.82187296e-04 -2.07561991e+01] [ 7.70881569e-03 -6.57358223e-04 9.99970071e-01 2.69011767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.680714057 meters Centerline goodness [0,1] 0.9600717708782848 Centerline is valid? [True, True] Translation: X:460.49, Y:-20.76, Z:2.69 [[ 9.99924019e-01 -9.69500127e-03 -7.61333681e-03 4.60494596e+02] [ 9.69965464e-03 9.99952792e-01 5.74526271e-04 -2.07569348e+01] [ 7.60740736e-03 -6.48329356e-04 9.99970853e-01 2.69026484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.710714057 meters Centerline goodness [0,1] 0.9532908221361877 Centerline is valid? [True, True] Translation: X:460.52, Y:-20.76, Z:2.69 [[ 9.99923095e-01 -9.79369143e-03 -7.60843414e-03 4.60524834e+02] [ 9.79834439e-03 9.99951830e-01 5.74516910e-04 -2.07575488e+01] [ 7.60244100e-03 -6.49022784e-04 9.99970890e-01 2.68993683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.740714057 meters Centerline goodness [0,1] 0.951400592120246 Centerline is valid? [True, True] Translation: X:460.55, Y:-20.76, Z:2.69 [[ 9.99921730e-01 -1.00831524e-02 -7.40697947e-03 4.60554907e+02] [ 1.00875684e-02 9.99948963e-01 5.59075908e-04 -2.07593363e+01] [ 7.40096420e-03 -6.33750561e-04 9.99972412e-01 2.68939510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.770714057 meters Centerline goodness [0,1] 0.9791007398975526 Centerline is valid? [True, True] Translation: X:460.59, Y:-20.74, Z:2.69 [[ 9.99902110e-01 -1.15341388e-02 -7.92050812e-03 4.60587086e+02] [ 1.15392393e-02 9.99933242e-01 5.98561606e-04 -2.07443323e+01] [ 7.91307547e-03 -6.89899651e-04 9.99968453e-01 2.69266240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.800714057 meters Centerline goodness [0,1] 0.977717019822283 Centerline is valid? [True, True] Translation: X:460.62, Y:-20.75, Z:2.69 [[ 9.99883302e-01 -1.28009923e-02 -8.33767915e-03 4.60617248e+02] [ 1.28066872e-02 9.99917793e-01 6.30003659e-04 -2.07498473e+01] [ 8.32892906e-03 -7.36708188e-04 9.99965042e-01 2.69125611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.830714057 meters Centerline goodness [0,1] 0.9761471230881282 Centerline is valid? [True, True] Translation: X:460.65, Y:-20.75, Z:2.69 [[ 9.99838512e-01 -1.55851376e-02 -8.94727354e-03 4.60647219e+02] [ 1.55918046e-02 9.99878212e-01 6.75870314e-04 -2.07537940e+01] [ 8.93565033e-03 -8.15265309e-04 9.99959744e-01 2.69008118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.860714057 meters Centerline goodness [0,1] 0.9766713887492574 Centerline is valid? [True, True] Translation: X:460.68, Y:-20.75, Z:2.69 [[ 9.99798225e-01 -1.76945684e-02 -9.50850798e-03 4.60678648e+02] [ 1.77022003e-02 9.99843045e-01 7.19066947e-04 -2.07541665e+01] [ 9.49429199e-03 -8.87243370e-04 9.99954535e-01 2.68970802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.890714057 meters Centerline goodness [0,1] 0.9745882567635384 Centerline is valid? [True, True] Translation: X:460.71, Y:-20.76, Z:2.69 [[ 9.99728776e-01 -2.12520172e-02 -9.52501968e-03 4.60709114e+02] [ 2.12598313e-02 9.99773725e-01 7.19869657e-04 -2.07555756e+01] [ 9.50756572e-03 -9.22174722e-04 9.99954377e-01 2.68940597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.920714057 meters Centerline goodness [0,1] 0.7818904794364917 Centerline is valid? [True, False] Translation: X:460.71, Y:-20.76, Z:2.69 [[ 9.99726521e-01 -2.13323797e-02 -9.58189662e-03 4.60709314e+02] [ 2.13405051e-02 9.99771987e-01 7.46545006e-04 -2.07555481e+01] [ 9.56378624e-03 -9.50823355e-04 9.99953814e-01 2.68929140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.950714057 meters Centerline goodness [0,1] 0.9706672128163116 Centerline is valid? [False, True] Translation: X:460.71, Y:-20.75, Z:2.69 [[ 9.99721243e-01 -2.15950094e-02 -9.54417232e-03 4.60709258e+02] [ 2.15984951e-02 9.99766691e-01 2.62292464e-04 -2.07541453e+01] [ 9.53628137e-03 -4.68359108e-04 9.99954419e-01 2.68945979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.980714057 meters Centerline goodness [0,1] 0.975303847208261 Centerline is valid? [True, True] Translation: X:460.74, Y:-20.75, Z:2.69 [[ 9.99733978e-01 -2.09962621e-02 -9.54622089e-03 4.60741894e+02] [ 2.10042823e-02 9.99779111e-01 7.40659778e-04 -2.07520223e+01] [ 9.52856116e-03 -9.40974265e-04 9.99954159e-01 2.68978423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.01071405700003 meters Centerline goodness [0,1] 0.972525585548458 Centerline is valid? [True, True] Translation: X:460.77, Y:-20.75, Z:2.69 [[ 9.99787146e-01 -1.82669409e-02 -9.59072755e-03 4.60771422e+02] [ 1.82748998e-02 9.99832724e-01 7.42859318e-04 -2.07520789e+01] [ 9.57555349e-03 -9.17970782e-04 9.99953732e-01 2.68900316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.040714057 meters Centerline goodness [0,1] 0.9743983849877268 Centerline is valid? [True, True] Translation: X:460.80, Y:-20.75, Z:2.69 [[ 9.99833016e-01 -1.58730641e-02 -9.05457487e-03 4.60802118e+02] [ 1.58800621e-02 9.99873658e-01 7.01487258e-04 -2.07498235e+01] [ 9.04229614e-03 -8.45157332e-04 9.99958760e-01 2.68894213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.070714057 meters Centerline goodness [0,1] 0.9784731316194546 Centerline is valid? [True, True] Translation: X:460.83, Y:-20.74, Z:2.69 [[ 9.99923320e-01 -9.62625806e-03 -7.79030190e-03 4.60833710e+02] [ 9.63125030e-03 9.99953436e-01 6.03565293e-04 -2.07436971e+01] [ 7.78412908e-03 -6.78549360e-04 9.99969473e-01 2.68985122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.100714057 meters Centerline goodness [0,1] 0.979926419866636 Centerline is valid? [True, True] Translation: X:460.86, Y:-20.74, Z:2.69 [[ 9.99959064e-01 -5.96376754e-03 -6.80463951e-03 4.60864281e+02] [ 5.96749213e-03 9.99982055e-01 5.27187250e-04 -2.07407788e+01] [ 6.80137338e-03 -5.67772302e-04 9.99976709e-01 2.69076674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.130714057 meters Centerline goodness [0,1] 0.9784633160023108 Centerline is valid? [True, True] Translation: X:460.89, Y:-20.74, Z:2.69 [[ 9.99987350e-01 5.71212020e-04 -4.99730068e-03 4.60894415e+02] [-5.69286269e-04 9.99999763e-01 3.86772321e-04 -2.07371534e+01] [ 4.99752043e-03 -3.83922534e-04 9.99987439e-01 2.69179998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.160714057 meters Centerline goodness [0,1] 0.980469744301747 Centerline is valid? [True, True] Translation: X:460.92, Y:-20.74, Z:2.69 [[ 9.99986359e-01 4.12191306e-03 -3.20815268e-03 4.60924657e+02] [-4.12113714e-03 9.99991477e-01 2.48431544e-04 -2.07354083e+01] [ 3.20914935e-03 -2.35206918e-04 9.99994823e-01 2.69276710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.190714057 meters Centerline goodness [0,1] 0.9802724392330997 Centerline is valid? [True, True] Translation: X:460.95, Y:-20.73, Z:2.69 [[ 9.99951822e-01 9.69776998e-03 -1.51892857e-03 4.60953990e+02] [-9.69760308e-03 9.99952970e-01 1.17203309e-04 -2.07345946e+01] [ 1.51999375e-03 -1.02467696e-04 9.99998840e-01 2.69276411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.220714057 meters Centerline goodness [0,1] 0.980205786001015 Centerline is valid? [True, True] Translation: X:460.98, Y:-20.74, Z:2.69 [[ 9.99923158e-01 1.23774774e-02 -6.89667413e-04 4.60982718e+02] [-1.23774437e-02 9.99923395e-01 5.31610398e-05 -2.07355403e+01] [ 6.90272581e-04 -4.46206352e-05 9.99999761e-01 2.69221305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.250714057 meters Centerline goodness [0,1] 0.9800129545664846 Centerline is valid? [True, True] Translation: X:461.01, Y:-20.74, Z:2.69 [[ 9.99864864e-01 1.64171155e-02 -8.55551062e-04 4.61012087e+02] [-1.64170651e-02 9.99865229e-01 6.59322711e-05 -2.07384424e+01] [ 8.56518176e-04 -5.18777238e-05 9.99999632e-01 2.69005323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.280714057 meters Centerline goodness [0,1] 0.9808392679022941 Centerline is valid? [True, True] Translation: X:461.04, Y:-20.73, Z:2.69 [[ 9.99851866e-01 1.71834976e-02 -9.87022690e-04 4.61041683e+02] [-1.71834316e-02 9.99852351e-01 7.53811573e-05 -2.07319384e+01] [ 9.88172269e-04 -5.84095539e-05 9.99999510e-01 2.69077694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.310714057 meters Centerline goodness [0,1] 0.9819393179655036 Centerline is valid? [True, True] Translation: X:461.07, Y:-20.73, Z:2.69 [[ 9.99821010e-01 1.89173411e-02 -2.85763508e-04 4.61070764e+02] [-1.89173358e-02 9.99821051e-01 2.11585312e-05 -2.07325825e+01] [ 2.86112634e-04 -1.57488598e-05 9.99999959e-01 2.68987762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.340714057 meters Centerline goodness [0,1] 0.9813101449275362 Centerline is valid? [True, True] Translation: X:461.10, Y:-20.73, Z:2.69 [[ 9.99817923e-01 1.90819558e-02 -2.21310252e-05 4.61099276e+02] [-1.90819558e-02 9.99817923e-01 7.83314763e-07 -2.07342194e+01] [ 2.21419428e-05 -3.60868897e-07 1.00000000e+00 2.68912961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.370714057 meters Centerline goodness [0,1] 0.980761197493618 Centerline is valid? [True, True] Translation: X:461.13, Y:-20.74, Z:2.69 [[ 9.99845680e-01 1.75672473e-02 -9.48522938e-05 4.61127882e+02] [-1.75672468e-02 9.99845684e-01 6.62551075e-06 -2.07394197e+01] [ 9.49540486e-05 -4.95819465e-06 9.99999995e-01 2.68634714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.400714057 meters Centerline goodness [0,1] 0.9809059233449477 Centerline is valid? [True, True] Translation: X:461.16, Y:-20.74, Z:2.69 [[ 9.99866034e-01 1.63562138e-02 -6.22548457e-04 4.61155965e+02] [-1.63561881e-02 9.99866228e-01 4.63718309e-05 -2.07423003e+01] [ 6.23223645e-04 -3.61830990e-05 9.99999805e-01 2.68515778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.430714057 meters Centerline goodness [0,1] 0.9773174401110982 Centerline is valid? [True, True] Translation: X:461.18, Y:-20.75, Z:2.68 [[ 9.99921956e-01 1.23421450e-02 -1.93722026e-03 4.61184826e+02] [-1.23418790e-02 9.99923825e-01 1.49195661e-04 -2.07536870e+01] [ 1.93891408e-03 -1.25275079e-04 9.99998112e-01 2.68111514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.460714057 meters Centerline goodness [0,1] 0.9762948114307025 Centerline is valid? [True, True] Translation: X:461.21, Y:-20.76, Z:2.68 [[ 9.99963333e-01 8.06163810e-03 -2.88828948e-03 4.61214915e+02] [-8.06102946e-03 9.99967485e-01 2.22306588e-04 -2.07560984e+01] [ 2.88998772e-03 -1.99015851e-04 9.99995804e-01 2.68022447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.490714057 meters Centerline goodness [0,1] 0.9785111639397753 Centerline is valid? [True, True] Translation: X:461.24, Y:-20.75, Z:2.68 [[ 9.99975552e-01 6.35340311e-03 -2.92068429e-03 4.61244317e+02] [-6.35277581e-03 9.99979796e-01 2.24008423e-04 -2.07546203e+01] [ 2.92204849e-03 -2.05448494e-04 9.99995710e-01 2.68095818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.520714057 meters Centerline goodness [0,1] 0.9768776686343592 Centerline is valid? [True, True] Translation: X:461.27, Y:-20.76, Z:2.68 [[ 9.99988160e-01 4.37540822e-03 -2.12985465e-03 4.61273204e+02] [-4.37507081e-03 9.99990416e-01 1.63053726e-04 -2.07599844e+01] [ 2.13054766e-03 -1.53733530e-04 9.99997719e-01 2.68133191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.550714057 meters Centerline goodness [0,1] 0.975298933783565 Centerline is valid? [True, True] Translation: X:461.30, Y:-20.77, Z:2.68 [[ 9.99990908e-01 4.09175201e-03 -1.20023499e-03 4.61300198e+02] [-4.09164570e-03 9.99991625e-01 9.10167006e-05 -2.07672255e+01] [ 1.20059735e-03 -8.61049368e-05 9.99999276e-01 2.68093767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.580714057 meters Centerline goodness [0,1] 0.9766829109054026 Centerline is valid? [True, True] Translation: X:461.33, Y:-20.76, Z:2.68 [[ 9.99988204e-01 4.85552942e-03 1.25013472e-04 4.61329340e+02] [-4.85552814e-03 9.99988212e-01 -1.05218802e-05 -2.07636888e+01] [-1.25063088e-04 9.91474964e-06 9.99999992e-01 2.68225547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.610714057 meters Centerline goodness [0,1] 0.9725268301807384 Centerline is valid? [True, True] Translation: X:461.36, Y:-20.77, Z:2.68 [[ 9.99960428e-01 8.78271973e-03 1.41670760e-03 4.61358162e+02] [-8.78257416e-03 9.99961427e-01 -1.08934977e-04 -2.07703556e+01] [-1.41760970e-03 9.64883265e-05 9.99998991e-01 2.68231394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.640714057 meters Centerline goodness [0,1] 0.9751401869158879 Centerline is valid? [True, True] Translation: X:461.39, Y:-20.77, Z:2.68 [[ 9.99935315e-01 1.13228045e-02 1.07666527e-03 4.61388741e+02] [-1.13227219e-02 9.99935893e-01 -8.27890199e-05 -2.07663316e+01] [-1.07753365e-03 7.05928832e-05 9.99999417e-01 2.68316088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.670714057 meters Centerline goodness [0,1] 0.9780206946488216 Centerline is valid? [True, True] Translation: X:461.42, Y:-20.76, Z:2.68 [[ 9.99862075e-01 1.65746343e-02 1.05456478e-03 4.61419412e+02] [-1.65745582e-02 9.99862629e-01 -8.09037748e-05 -2.07623153e+01] [-1.05576087e-03 6.34136709e-05 9.99999441e-01 2.68342983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.700714057 meters Centerline goodness [0,1] 0.9775249332771456 Centerline is valid? [True, True] Translation: X:461.45, Y:-20.76, Z:2.68 [[ 9.99823933e-01 1.87142482e-02 1.37143001e-03 4.61448556e+02] [-1.87141209e-02 9.99824870e-01 -1.05570511e-04 -2.07649387e+01] [-1.37316551e-03 7.98868168e-05 9.99999054e-01 2.68304212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.730714057 meters Centerline goodness [0,1] 0.9795493366403819 Centerline is valid? [True, True] Translation: X:461.48, Y:-20.77, Z:2.68 [[ 9.99750752e-01 2.22925511e-02 1.21495113e-03 4.61478159e+02] [-2.22924538e-02 9.99751488e-01 -9.35349534e-05 -2.07651034e+01] [-1.21673433e-03 6.64273981e-05 9.99999258e-01 2.68243924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76071405700003 meters Centerline goodness [0,1] 0.977437966133496 Centerline is valid? [True, True] Translation: X:461.51, Y:-20.77, Z:2.68 [[ 9.99668596e-01 2.56596181e-02 2.06934805e-03 4.61507268e+02] [-2.56593440e-02 9.99670732e-01 -1.58911941e-04 -2.07679321e+01] [-2.07274430e-03 1.05761164e-04 9.99997846e-01 2.68232637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.790714057 meters Centerline goodness [0,1] 0.9784260103312064 Centerline is valid? [True, True] Translation: X:461.54, Y:-20.77, Z:2.68 [[ 9.99628231e-01 2.71747412e-02 2.22087059e-03 4.61536574e+02] [-2.71744275e-02 9.99630692e-01 -1.71312942e-04 -2.07693079e+01] [-2.22470579e-03 1.10898366e-04 9.99997519e-01 2.68305780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.820714057 meters Centerline goodness [0,1] 0.9791300269668191 Centerline is valid? [True, True] Translation: X:461.56, Y:-20.77, Z:2.68 [[ 9.99576034e-01 2.90470655e-02 2.00513091e-03 4.61564146e+02] [-2.90468136e-02 9.99578040e-01 -1.54602108e-04 -2.07715970e+01] [-2.00877556e-03 9.62938983e-05 9.99997978e-01 2.68340633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.850714057 meters Centerline goodness [0,1] 0.9687404496834753 Centerline is valid? [True, True] Translation: X:461.59, Y:-20.80, Z:2.68 [[ 9.99405125e-01 3.44108398e-02 2.29986310e-03 4.61590941e+02] [-3.44105263e-02 9.99407767e-01 -1.75788510e-04 -2.08017236e+01] [-2.30455008e-03 9.65444387e-05 9.99997340e-01 2.67682091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.880714057 meters Centerline goodness [0,1] 0.9799597792535778 Centerline is valid? [True, True] Translation: X:461.62, Y:-20.77, Z:2.68 [[ 9.99309597e-01 3.70902036e-02 2.15555229e-03 4.61621842e+02] [-3.70899333e-02 9.99311918e-01 -1.65245374e-04 -2.07730594e+01] [-2.16019807e-03 8.51819973e-05 9.99997663e-01 2.68448092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.910714057 meters Centerline goodness [0,1] 0.9786079932372141 Centerline is valid? [True, True] Translation: X:461.65, Y:-20.78, Z:2.68 [[ 9.99275555e-01 3.80228185e-02 1.62159100e-03 4.61649756e+02] [-3.80226655e-02 9.99276869e-01 -1.25069387e-04 -2.07761080e+01] [-1.62517387e-03 6.33215693e-05 9.99998677e-01 2.68380568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.940714057 meters Centerline goodness [0,1] 0.9786080003740678 Centerline is valid? [True, True] Translation: X:461.68, Y:-20.78, Z:2.68 [[ 9.99208514e-01 3.97684720e-02 9.02735481e-04 4.61676803e+02] [-3.97684252e-02 9.99208921e-01 -6.97423442e-05 -2.07819725e+01] [-9.04794892e-04 3.37867756e-05 9.99999590e-01 2.68273376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.970714057 meters Centerline goodness [0,1] 0.9792676927401786 Centerline is valid? [True, True] Translation: X:461.71, Y:-20.78, Z:2.68 [[ 9.99189437e-01 4.02533340e-02 3.72783622e-04 4.61705920e+02] [-4.02533259e-02 9.99189506e-01 -2.91987519e-05 -2.07835464e+01] [-3.73656830e-04 1.41693038e-05 9.99999930e-01 2.68295969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.000714057 meters Centerline goodness [0,1] 0.9784318760066292 Centerline is valid? [True, True] Translation: X:461.73, Y:-20.79, Z:2.68 [[ 9.99189912e-01 4.02255022e-02 -1.19551536e-03 4.61733087e+02] [-4.02254237e-02 9.99190626e-01 8.96257754e-05 -2.07892905e+01] [ 1.19815298e-03 -4.14630589e-05 9.99999281e-01 2.68169620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.030714057 meters Centerline goodness [0,1] 0.979488495823027 Centerline is valid? [True, True] Translation: X:461.76, Y:-20.79, Z:2.68 [[ 9.99175754e-01 4.05498739e-02 -1.87629920e-03 4.61760564e+02] [-4.05496802e-02 9.99177514e-01 1.41145213e-04 -2.07938565e+01] [ 1.88047939e-03 -6.49455419e-05 9.99998230e-01 2.68088493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.060714057 meters Centerline goodness [0,1] 0.9807463139939715 Centerline is valid? [True, True] Translation: X:461.79, Y:-20.79, Z:2.68 [[ 9.99199363e-01 3.97722204e-02 -4.33630343e-03 4.61789215e+02] [-3.97711734e-02 9.99208760e-01 3.27446462e-04 -2.07942081e+01] [ 4.34589564e-03 -1.54724421e-04 9.99990545e-01 2.68182318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.090714057 meters Centerline goodness [0,1] 0.9824774259782076 Centerline is valid? [True, True] Translation: X:461.82, Y:-20.80, Z:2.68 [[ 9.99205600e-01 3.95535647e-02 -4.86674006e-03 4.61816922e+02] [-3.95522459e-02 9.99217436e-01 3.66960558e-04 -2.07998949e+01] [ 4.87744612e-03 -1.74178545e-04 9.99988090e-01 2.68056728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.120714057 meters Centerline goodness [0,1] 0.9784016775396086 Centerline is valid? [True, True] Translation: X:461.85, Y:-20.80, Z:2.68 [[ 9.99248193e-01 3.82348574e-02 -6.41437636e-03 4.61845400e+02] [-3.82325384e-02 9.99268752e-01 4.83802986e-04 -2.08045005e+01] [ 6.42818400e-03 -2.38201369e-04 9.99979311e-01 2.68060340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.150714057 meters Centerline goodness [0,1] 0.9795074349442379 Centerline is valid? [True, True] Translation: X:461.87, Y:-20.81, Z:2.68 [[ 9.99287649e-01 3.72034594e-02 -6.33224047e-03 4.61873911e+02] [-3.72011817e-02 9.99307683e-01 4.77149478e-04 -2.08092821e+01] [ 6.34560816e-03 -2.41242752e-04 9.99979837e-01 2.68073743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.180714057 meters Centerline goodness [0,1] 0.9806839551459151 Centerline is valid? [True, True] Translation: X:461.90, Y:-20.82, Z:2.68 [[ 9.99401990e-01 3.40049877e-02 -6.27086562e-03 4.61902901e+02] [-3.40026897e-02 9.99421630e-01 4.72743422e-04 -2.08173005e+01] [ 6.28331437e-03 -2.59234419e-04 9.99980226e-01 2.68152336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.210714057 meters Centerline goodness [0,1] 0.9816927258787724 Centerline is valid? [True, True] Translation: X:461.93, Y:-20.82, Z:2.68 [[ 9.99479275e-01 3.16717972e-02 -6.17060518e-03 4.61931767e+02] [-3.16695312e-02 9.99498287e-01 4.64618046e-04 -2.08231853e+01] [ 6.18222460e-03 -2.68955934e-04 9.99980854e-01 2.68178960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.240714057 meters Centerline goodness [0,1] 0.9802209509692661 Centerline is valid? [True, True] Translation: X:461.96, Y:-20.83, Z:2.68 [[ 9.99547189e-01 2.93435699e-02 -6.66122545e-03 4.61960021e+02] [-2.93408825e-02 9.99569338e-01 5.00831439e-04 -2.08297028e+01] [ 6.67305290e-03 -3.05158424e-04 9.99977688e-01 2.68163355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.270714057 meters Centerline goodness [0,1] 0.9811111367997596 Centerline is valid? [True, True] Translation: X:461.99, Y:-20.84, Z:2.68 [[ 9.99675391e-01 2.42514239e-02 -7.80897428e-03 4.61990090e+02] [-2.42475672e-02 9.99705811e-01 5.88186402e-04 -2.08369733e+01] [ 7.82094133e-03 -3.98646843e-04 9.99969337e-01 2.68180200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.300714057 meters Centerline goodness [0,1] 0.9812354661202312 Centerline is valid? [True, True] Translation: X:462.02, Y:-20.84, Z:2.68 [[ 9.99742533e-01 2.05813623e-02 -9.55382711e-03 4.62019965e+02] [-2.05754257e-02 9.99788045e-01 7.19263957e-04 -2.08421086e+01] [ 9.56660556e-03 -5.22504711e-04 9.99954102e-01 2.68222050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.330714057 meters Centerline goodness [0,1] 0.9809141019751952 Centerline is valid? [True, True] Translation: X:462.05, Y:-20.85, Z:2.68 [[ 9.99759713e-01 1.96753339e-02 -9.66419559e-03 4.62047030e+02] [-1.96692386e-02 9.99806279e-01 7.25360131e-04 -2.08471259e+01] [ 9.67659514e-03 -5.35098468e-04 9.99953037e-01 2.68175104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.360714057 meters Centerline goodness [0,1] 0.9809141019751952 Centerline is valid? [True, True] Translation: X:462.07, Y:-20.85, Z:2.68 [[ 9.99761825e-01 1.95677224e-02 -9.66427339e-03 4.62074461e+02] [-1.95616320e-02 9.99808391e-01 7.24323889e-04 -2.08490980e+01] [ 9.67659499e-03 -5.35102413e-04 9.99953037e-01 2.68139445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.390714057 meters Centerline goodness [0,1] 0.9790597507331378 Centerline is valid? [True, True] Translation: X:462.10, Y:-20.86, Z:2.68 [[ 9.99784574e-01 1.82970488e-02 -9.79917275e-03 4.62101502e+02] [-1.82907365e-02 9.99832441e-01 7.33411071e-04 -2.08553376e+01] [ 9.81095008e-03 -5.54018989e-04 9.99951718e-01 2.68317238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.420714057 meters Centerline goodness [0,1] 0.9795890348267814 Centerline is valid? [True, True] Translation: X:462.13, Y:-20.86, Z:2.68 [[ 9.99792446e-01 1.81857005e-02 -9.18399582e-03 4.62130548e+02] [-1.81801535e-02 9.99834491e-01 6.87121146e-04 -2.08575234e+01] [ 9.19497156e-03 -5.20012078e-04 9.99957590e-01 2.68408852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.450714057 meters Centerline goodness [0,1] 0.9818718670603584 Centerline is valid? [True, True] Translation: X:462.16, Y:-20.86, Z:2.69 [[ 9.99793602e-01 1.79533161e-02 -9.50957964e-03 4.62159513e+02] [-1.79473648e-02 9.99838680e-01 7.10799762e-04 -2.08565518e+01] [ 9.52080677e-03 -5.39981159e-04 9.99954530e-01 2.68616480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.480714057 meters Centerline goodness [0,1] 0.9797063115651222 Centerline is valid? [True, True] Translation: X:462.19, Y:-20.86, Z:2.69 [[ 9.99791382e-01 1.79447973e-02 -9.75590290e-03 4.62185745e+02] [-1.79385658e-02 9.99838827e-01 7.25875870e-04 -2.08646149e+01] [ 9.76735621e-03 -5.50717533e-04 9.99952147e-01 2.68518126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.51071405700003 meters Centerline goodness [0,1] 0.9795293580077679 Centerline is valid? [True, True] Translation: X:462.21, Y:-20.86, Z:2.69 [[ 9.99784002e-01 1.74324427e-02 -1.13163311e-02 4.62214761e+02] [-1.74240127e-02 9.99847835e-01 8.43112404e-04 -2.08629689e+01] [ 1.13293066e-02 -6.45754397e-04 9.99935613e-01 2.68538117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.540714057 meters Centerline goodness [0,1] 0.9802802165309558 Centerline is valid? [True, True] Translation: X:462.24, Y:-20.86, Z:2.69 [[ 9.99773476e-01 1.74472127e-02 -1.21898065e-02 4.62243944e+02] [-1.74374419e-02 9.99847545e-01 9.07386294e-04 -2.08642662e+01] [ 1.22037795e-02 -6.94621706e-04 9.99925290e-01 2.68511118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.570714057 meters Centerline goodness [0,1] 0.9809940520954399 Centerline is valid? [True, True] Translation: X:462.27, Y:-20.87, Z:2.68 [[ 9.99770857e-01 1.57075558e-02 -1.45432765e-02 4.62273764e+02] [-1.56934623e-02 9.99876264e-01 1.08269691e-03 -2.08658488e+01] [ 1.45584835e-02 -8.54214459e-04 9.99893655e-01 2.68461663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.600714057 meters Centerline goodness [0,1] 0.9793252300352153 Centerline is valid? [True, True] Translation: X:462.30, Y:-20.87, Z:2.68 [[ 9.99776700e-01 1.46261827e-02 -1.52520201e-02 4.62300682e+02] [-1.46105951e-02 9.99892618e-01 1.13293321e-03 -2.08731778e+01] [ 1.52669528e-02 -9.09839140e-04 9.99883039e-01 2.68202404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.630714057 meters Centerline goodness [0,1] 0.979238989857736 Centerline is valid? [True, True] Translation: X:462.33, Y:-20.88, Z:2.68 [[ 9.99789832e-01 1.31031260e-02 -1.57670522e-02 4.62329736e+02] [-1.30862894e-02 9.99913686e-01 1.17053809e-03 -2.08772037e+01] [ 1.57810290e-02 -9.63959876e-04 9.99875007e-01 2.68135827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.660714057 meters Centerline goodness [0,1] 0.9792371161909915 Centerline is valid? [True, True] Translation: X:462.36, Y:-20.88, Z:2.68 [[ 9.99817915e-01 9.24848830e-03 -1.66913933e-02 4.62360217e+02] [-9.22906892e-03 9.99956642e-01 1.24009221e-03 -2.08820936e+01] [ 1.67021386e-02 -1.08582039e-03 9.99859920e-01 2.68200952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.690714057 meters Centerline goodness [0,1] 0.9789953722424406 Centerline is valid? [True, True] Translation: X:462.39, Y:-20.89, Z:2.68 [[ 9.99856526e-01 4.31309538e-03 -1.63806169e-02 4.62389798e+02] [-4.29374089e-03 9.99990042e-01 1.21653381e-03 -2.08899318e+01] [ 1.63857008e-02 -1.14602515e-03 9.99865089e-01 2.68211435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.720714057 meters Centerline goodness [0,1] 0.9783464566929134 Centerline is valid? [True, True] Translation: X:462.42, Y:-20.89, Z:2.68 [[ 9.99841301e-01 -2.65414407e-03 -1.76161523e-02 4.62420307e+02] [ 2.67760536e-03 9.99995559e-01 1.30835301e-03 -2.08924307e+01] [ 1.76126015e-02 -1.35531448e-03 9.99843968e-01 2.68400910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.750714057 meters Centerline goodness [0,1] 0.9776503521762687 Centerline is valid? [True, True] Translation: X:462.45, Y:-20.90, Z:2.68 [[ 9.99836345e-01 -4.48176766e-03 -1.75270334e-02 4.62448260e+02] [ 4.50524403e-03 9.99989006e-01 1.30018216e-03 -2.09003941e+01] [ 1.75210136e-02 -1.37893294e-03 9.99845544e-01 2.68280666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.780714057 meters Centerline goodness [0,1] 0.9750520220754546 Centerline is valid? [True, True] Translation: X:462.48, Y:-20.91, Z:2.68 [[ 9.99804248e-01 -9.19607199e-03 -1.75185165e-02 4.62478513e+02] [ 9.22025716e-03 9.99956647e-01 1.30027911e-03 -2.09054301e+01] [ 1.75057996e-02 -1.46154980e-03 9.99845694e-01 2.68318403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.810714057 meters Centerline goodness [0,1] 0.9672433161087396 Centerline is valid? [True, True] Translation: X:462.51, Y:-20.91, Z:2.68 [[ 9.99801159e-01 -1.01610163e-02 -1.71579985e-02 4.62505985e+02] [ 1.01843120e-02 9.99947331e-01 1.27088326e-03 -2.09108752e+01] [ 1.71441813e-02 -1.44537297e-03 9.99851983e-01 2.68184629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.840714057 meters Centerline goodness [0,1] 0.9686492094638789 Centerline is valid? [True, True] Translation: X:462.54, Y:-20.91, Z:2.68 [[ 9.99776856e-01 -1.17346817e-02 -1.75651882e-02 4.62535300e+02] [ 1.17593297e-02 9.99930011e-01 1.30059756e-03 -2.09118920e+01] [ 1.75486967e-02 -1.50686217e-03 9.99844874e-01 2.68214718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.870714057 meters Centerline goodness [0,1] 0.967169059189752 Centerline is valid? [True, True] Translation: X:462.56, Y:-20.92, Z:2.68 [[ 9.99799150e-01 -1.23083176e-02 -1.58166188e-02 4.62562920e+02] [ 1.23283434e-02 9.99923319e-01 1.16924202e-03 -2.09158232e+01] [ 1.58010146e-02 -1.36399988e-03 9.99874226e-01 2.68152459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.900714057 meters Centerline goodness [0,1] 0.8932425775827325 Centerline is valid? [True, False] Translation: X:462.56, Y:-20.92, Z:2.68 [[ 9.99796993e-01 -1.24909602e-02 -1.58097422e-02 4.62562816e+02] [ 1.25076659e-02 9.99921317e-01 9.58232070e-04 -2.09154593e+01] [ 1.57965290e-02 -1.15578052e-03 9.99874559e-01 2.68180219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.930714057 meters Centerline goodness [0,1] 0.9575950223184093 Centerline is valid? [False, True] Translation: X:462.56, Y:-20.92, Z:2.68 [[ 9.99830103e-01 -1.05120788e-02 -1.51413549e-02 4.62560746e+02] [ 1.05627592e-02 9.99938862e-01 3.27106964e-03 -2.09152538e+01] [ 1.51060434e-02 -3.43044838e-03 9.99880013e-01 2.68263594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.960714057 meters Centerline goodness [0,1] 0.9537979109797641 Centerline is valid? [True, True] Translation: X:462.59, Y:-20.92, Z:2.68 [[ 9.99840170e-01 -1.00697536e-02 -1.47727399e-02 4.62589174e+02] [ 1.00874667e-02 9.99948487e-01 1.12501500e-03 -2.09166865e+01] [ 1.47606503e-02 -1.27385471e-03 9.99890244e-01 2.68259068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.990714057 meters Centerline goodness [0,1] 0.9763020302845115 Centerline is valid? [True, True] Translation: X:462.62, Y:-20.91, Z:2.68 [[ 9.99846044e-01 -9.12534371e-03 -1.49872181e-02 4.62619341e+02] [ 9.14346070e-03 9.99957547e-01 1.14075206e-03 -2.09073046e+01] [ 1.49761721e-02 -1.27761147e-03 9.99887035e-01 2.68431628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.020714057 meters Centerline goodness [0,1] 0.9773995977128392 Centerline is valid? [True, True] Translation: X:462.65, Y:-20.91, Z:2.68 [[ 9.99863917e-01 -8.12034483e-03 -1.43599461e-02 4.62648215e+02] [ 8.13686810e-03 9.99966298e-01 1.09259785e-03 -2.09092240e+01] [ 1.43505898e-02 -1.20929415e-03 9.99896294e-01 2.68384579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.050714057 meters Centerline goodness [0,1] 0.9764721882224943 Centerline is valid? [True, True] Translation: X:462.68, Y:-20.91, Z:2.68 [[ 9.99883580e-01 -8.07925021e-03 -1.29442224e-02 4.62676784e+02] [ 8.09260204e-03 9.99966775e-01 9.79442018e-04 -2.09112288e+01] [ 1.29358792e-02 -1.08408043e-03 9.99915740e-01 2.68344101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.080714057 meters Centerline goodness [0,1] 0.9762619988706945 Centerline is valid? [True, True] Translation: X:462.71, Y:-20.91, Z:2.68 [[ 9.99908174e-01 -7.98530359e-03 -1.09488923e-02 4.62705695e+02] [ 7.99481761e-03 9.99967700e-01 8.25454183e-04 -2.09115594e+01] [ 1.09419471e-02 -9.12912782e-04 9.99939718e-01 2.68398515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.110714057 meters Centerline goodness [0,1] 0.9757710753005887 Centerline is valid? [True, True] Translation: X:462.74, Y:-20.91, Z:2.68 [[ 9.99909488e-01 -8.01882236e-03 -1.08034598e-02 4.62735139e+02] [ 8.02810938e-03 9.99967441e-01 8.16540965e-04 -2.09136794e+01] [ 1.07965603e-02 -9.03198415e-04 9.99941308e-01 2.68325622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.140714057 meters Centerline goodness [0,1] 0.9749135534612516 Centerline is valid? [True, True] Translation: X:462.76, Y:-20.92, Z:2.68 [[ 9.99912776e-01 -8.03583003e-03 -1.04817304e-02 4.62764859e+02] [ 8.04456901e-03 9.99967328e-01 7.91838870e-04 -2.09156553e+01] [ 1.04750248e-02 -8.76090806e-04 9.99944752e-01 2.68266105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.170714057 meters Centerline goodness [0,1] 0.9757903343023255 Centerline is valid? [True, True] Translation: X:462.80, Y:-20.92, Z:2.68 [[ 9.99917217e-01 -7.82244410e-03 -1.02161146e-02 4.62795055e+02] [ 7.83073082e-03 9.99969042e-01 7.71392644e-04 -2.09152808e+01] [ 1.02097642e-02 -8.51328429e-04 9.99947517e-01 2.68202441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.200714057 meters Centerline goodness [0,1] 0.9694505147903666 Centerline is valid? [True, True] Translation: X:462.82, Y:-20.92, Z:2.68 [[ 9.99922704e-01 -7.41258182e-03 -9.98195093e-03 4.62823680e+02] [ 7.42046914e-03 9.99972184e-01 7.53353852e-04 -2.09238249e+01] [ 9.97608897e-03 -8.27366380e-04 9.99949895e-01 2.67979301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.230714057 meters Centerline goodness [0,1] 0.9739602169981917 Centerline is valid? [True, True] Translation: X:462.85, Y:-20.92, Z:2.68 [[ 9.99922147e-01 -7.08174093e-03 -1.02737392e-02 4.62853910e+02] [ 7.09007530e-03 9.99974565e-01 7.75035430e-04 -2.09207291e+01] [ 1.02679893e-02 -8.47816675e-04 9.99946923e-01 2.68024927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26071405700003 meters Centerline goodness [0,1] 0.9751177019127982 Centerline is valid? [True, True] Translation: X:462.88, Y:-20.92, Z:2.68 [[ 9.99924002e-01 -6.49261654e-03 -1.04802646e-02 4.62883642e+02] [ 6.50125338e-03 9.99978554e-01 7.90247296e-04 -2.09182926e+01] [ 1.04749091e-02 -8.58322095e-04 9.99944768e-01 2.67997781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.290714057 meters Centerline goodness [0,1] 0.9722228500395524 Centerline is valid? [True, True] Translation: X:462.91, Y:-20.92, Z:2.68 [[ 9.99923522e-01 -5.69824327e-03 -1.09763263e-02 4.62911573e+02] [ 5.70766119e-03 9.99983369e-01 8.26887051e-04 -2.09238811e+01] [ 1.09714319e-02 -8.89472964e-04 9.99939416e-01 2.67799392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.320714057 meters Centerline goodness [0,1] 0.9753611648276647 Centerline is valid? [True, True] Translation: X:462.94, Y:-20.92, Z:2.68 [[ 9.99930526e-01 -4.74821471e-03 -1.07887762e-02 4.62941221e+02] [ 4.75720929e-03 9.99988358e-01 8.08188383e-04 -2.09201374e+01] [ 1.07848131e-02 -8.59456702e-04 9.99941473e-01 2.67815586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.350714057 meters Centerline goodness [0,1] 0.9767176182968903 Centerline is valid? [True, True] Translation: X:462.97, Y:-20.92, Z:2.68 [[ 9.99937134e-01 -4.10987315e-03 -1.04324704e-02 4.62970531e+02] [ 4.11822320e-03 9.99991217e-01 7.79034556e-04 -2.09208686e+01] [ 1.04291770e-02 -8.21948823e-04 9.99945277e-01 2.67842502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.380714057 meters Centerline goodness [0,1] 0.9747670543426512 Centerline is valid? [True, True] Translation: X:463.00, Y:-20.92, Z:2.68 [[ 9.99949916e-01 -2.55828835e-03 -9.67574969e-03 4.62999015e+02] [ 2.56541235e-03 9.99996447e-01 7.23934699e-04 -2.09209770e+01] [ 9.67386328e-03 -7.48720729e-04 9.99952927e-01 2.67799173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.410714057 meters Centerline goodness [0,1] 0.9770588639329625 Centerline is valid? [True, True] Translation: X:463.03, Y:-20.92, Z:2.68 [[ 9.99958078e-01 -1.82855545e-03 -8.97209855e-03 4.63027749e+02] [ 1.83464371e-03 9.99998092e-01 6.70394107e-04 -2.09189339e+01] [ 8.97085558e-03 -6.86826607e-04 9.99959525e-01 2.67890320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.440714057 meters Centerline goodness [0,1] 0.9759151995237986 Centerline is valid? [True, True] Translation: X:463.06, Y:-20.92, Z:2.68 [[ 9.99971479e-01 8.93382251e-04 -7.49954668e-03 4.63058134e+02] [-8.89200105e-04 9.99999447e-01 5.60968995e-04 -2.09176537e+01] [ 7.50004369e-03 -5.54284398e-04 9.99971721e-01 2.67940712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.470714057 meters Centerline goodness [0,1] 0.9736347379522216 Centerline is valid? [True, True] Translation: X:463.09, Y:-20.92, Z:2.68 [[ 9.99973632e-01 2.37337838e-03 -6.86304690e-03 4.63087130e+02] [-2.36991478e-03 9.99997060e-01 5.12762644e-04 -2.09218477e+01] [ 6.86424370e-03 -4.96484288e-04 9.99976318e-01 2.67817667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.500714057 meters Centerline goodness [0,1] 0.9742221813415504 Centerline is valid? [True, True] Translation: X:463.12, Y:-20.92, Z:2.68 [[ 9.99973255e-01 5.36368611e-03 -4.97185022e-03 4.63118412e+02] [-5.36190395e-03 9.99985556e-01 3.71710119e-04 -2.09171340e+01] [ 4.97377214e-03 -3.45041594e-04 9.99987571e-01 2.67960961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.530714057 meters Centerline goodness [0,1] 0.9740755211325871 Centerline is valid? [True, True] Translation: X:463.15, Y:-20.92, Z:2.68 [[ 9.99969077e-01 6.70011426e-03 -4.11744854e-03 4.63147353e+02] [-6.69890762e-03 9.99977515e-01 3.06776514e-04 -2.09180750e+01] [ 4.11941140e-03 -2.79184620e-04 9.99991476e-01 2.67944590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.560714057 meters Centerline goodness [0,1] 0.9740066755063783 Centerline is valid? [True, True] Translation: X:463.18, Y:-20.92, Z:2.68 [[ 9.99955843e-01 8.97009285e-03 -2.80169364e-03 4.63177664e+02] [-8.96954220e-03 9.99959751e-01 2.09045118e-04 -2.09180365e+01] [ 2.80345602e-03 -1.83905978e-04 9.99996053e-01 2.67894832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.590714057 meters Centerline goodness [0,1] 0.9732437611099568 Centerline is valid? [True, True] Translation: X:463.21, Y:-20.92, Z:2.68 [[ 9.99951631e-01 9.57314101e-03 -2.25630089e-03 4.63206684e+02] [-9.57278729e-03 9.99954166e-01 1.67519708e-04 -2.09154812e+01] [ 2.25780116e-03 -1.45912517e-04 9.99997441e-01 2.67945553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.620714057 meters Centerline goodness [0,1] 0.9740298714190079 Centerline is valid? [True, True] Translation: X:463.24, Y:-20.92, Z:2.68 [[ 9.99931912e-01 1.16056696e-02 -1.21681276e-03 4.63236777e+02] [-1.16055679e-02 9.99932649e-01 9.05650288e-05 -2.09150782e+01] [ 1.21778187e-03 -7.64370592e-05 9.99999256e-01 2.67897057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.650714057 meters Centerline goodness [0,1] 0.9746324123444822 Centerline is valid? [True, True] Translation: X:463.27, Y:-20.92, Z:2.68 [[ 9.99912898e-01 1.31616526e-02 -9.83358823e-04 4.63265970e+02] [-1.31615882e-02 9.99913380e-01 7.19530955e-05 -2.09168319e+01] [ 9.84220666e-04 -5.90042643e-05 9.99999514e-01 2.67825694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.680714057 meters Centerline goodness [0,1] 0.9727790380074997 Centerline is valid? [True, True] Translation: X:463.29, Y:-20.92, Z:2.68 [[ 9.99877391e-01 1.56581398e-02 -1.61085715e-04 4.63294642e+02] [-1.56581382e-02 9.99877404e-01 1.13712879e-05 -2.09187177e+01] [ 1.61244020e-04 -8.84759130e-06 9.99999987e-01 2.67743430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.710714057 meters Centerline goodness [0,1] 0.9736281053021876 Centerline is valid? [True, True] Translation: X:463.32, Y:-20.92, Z:2.68 [[ 9.99855702e-01 1.69752676e-02 6.44678668e-04 4.63324012e+02] [-1.69752397e-02 9.99855909e-01 -4.87840468e-05 -2.09161708e+01] [-6.45413898e-04 3.78334324e-05 9.99999791e-01 2.67761901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.740714057 meters Centerline goodness [0,1] 0.9738117663274448 Centerline is valid? [True, True] Translation: X:463.35, Y:-20.92, Z:2.68 [[ 9.99796438e-01 2.01016521e-02 1.73369005e-03 4.63353117e+02] [-2.01014580e-02 9.99797937e-01 -1.29290580e-04 -2.09200561e+01] [-1.73593869e-03 9.44145633e-05 9.99998489e-01 2.67715750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.770714057 meters Centerline goodness [0,1] 0.9742056161093663 Centerline is valid? [True, True] Translation: X:463.38, Y:-20.92, Z:2.68 [[ 9.99760124e-01 2.17535728e-02 2.54497269e-03 4.63382283e+02] [-2.17531599e-02 9.99763354e-01 -1.89840448e-04 -2.09171546e+01] [-2.54850014e-03 1.34433712e-04 9.99996744e-01 2.67798147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.800714057 meters Centerline goodness [0,1] 0.9760671050491437 Centerline is valid? [True, True] Translation: X:463.41, Y:-20.91, Z:2.68 [[ 9.99692382e-01 2.44845391e-02 3.95582242e-03 4.63412309e+02] [-2.44835667e-02 9.99700189e-01 -2.94070000e-04 -2.09141348e+01] [-3.96183659e-03 1.97126897e-04 9.99992132e-01 2.67770386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.830714057 meters Centerline goodness [0,1] 0.9747075854082223 Centerline is valid? [True, True] Translation: X:463.44, Y:-20.92, Z:2.67 [[ 9.99626776e-01 2.70259469e-02 3.98823245e-03 4.63440993e+02] [-2.70249792e-02 9.99634715e-01 -2.96331102e-04 -2.09208060e+01] [-3.99478423e-03 1.88438605e-04 9.99992003e-01 2.67495061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.860714057 meters Centerline goodness [0,1] 0.9755512608564044 Centerline is valid? [True, True] Translation: X:463.47, Y:-20.92, Z:2.67 [[ 9.99609036e-01 2.76757239e-02 3.97853669e-03 4.63469501e+02] [-2.76747656e-02 9.99616937e-01 -2.95724188e-04 -2.09229988e+01] [-3.98519704e-03 1.85503500e-04 9.99992042e-01 2.67426037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.890714057 meters Centerline goodness [0,1] 0.9755036894820847 Centerline is valid? [True, True] Translation: X:463.50, Y:-20.93, Z:2.67 [[ 9.99591193e-01 2.82877701e-02 4.15310747e-03 4.63497922e+02] [-2.82867325e-02 9.99599803e-01 -3.08385403e-04 -2.09255076e+01] [-4.16016894e-03 1.90781493e-04 9.99991328e-01 2.67311784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.920714057 meters Centerline goodness [0,1] 0.9781390394145709 Centerline is valid? [True, True] Translation: X:463.53, Y:-20.92, Z:2.67 [[ 9.99575417e-01 2.87362209e-02 4.81823179e-03 4.63527075e+02] [-2.87348315e-02 9.99587006e-01 -3.57360582e-04 -2.09223326e+01] [-4.82651108e-03 2.18757774e-04 9.99988328e-01 2.67361238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.950714057 meters Centerline goodness [0,1] 0.977009899158109 Centerline is valid? [True, True] Translation: X:463.56, Y:-20.93, Z:2.67 [[ 9.99569086e-01 2.89440678e-02 4.88703909e-03 4.63555925e+02] [-2.89426427e-02 9.99581008e-01 -3.62098699e-04 -2.09251517e+01] [-4.89547207e-03 2.20498840e-04 9.99987993e-01 2.67314995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.980714057 meters Centerline goodness [0,1] 0.9782583608373532 Centerline is valid? [True, True] Translation: X:463.58, Y:-20.93, Z:2.67 [[ 9.99563422e-01 2.91988655e-02 4.51564513e-03 4.63584194e+02] [-2.91976525e-02 9.99573602e-01 -3.34322276e-04 -2.09289973e+01] [-4.52348150e-03 2.02330081e-04 9.99989749e-01 2.67196164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.01071405700003 meters Centerline goodness [0,1] 0.9776655572133593 Centerline is valid? [True, True] Translation: X:463.61, Y:-20.93, Z:2.67 [[ 9.99568132e-01 2.90987595e-02 4.10028704e-03 4.63611203e+02] [-2.90977559e-02 9.99576524e-01 -3.04216847e-04 -2.09326352e+01] [-4.10740300e-03 1.84776314e-04 9.99991548e-01 2.67075663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.040714057 meters Centerline goodness [0,1] 0.9780576533431571 Centerline is valid? [True, True] Translation: X:463.64, Y:-20.94, Z:2.67 [[ 9.99588027e-01 2.83811144e-02 4.27654956e-03 4.63639644e+02] [-2.83800234e-02 9.99597156e-01 -3.15585882e-04 -2.09378047e+01] [-4.28378345e-03 1.94087293e-04 9.99990806e-01 2.67023840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.070714057 meters Centerline goodness [0,1] 0.9774856695596124 Centerline is valid? [True, True] Translation: X:463.67, Y:-20.94, Z:2.67 [[ 9.99609918e-01 2.75529074e-02 4.56610149e-03 4.63667540e+02] [-2.75516562e-02 9.99620324e-01 -3.36701397e-04 -2.09427702e+01] [-4.57364496e-03 2.10766398e-04 9.99989519e-01 2.66962298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.100714057 meters Centerline goodness [0,1] 0.9790924755887421 Centerline is valid? [True, True] Translation: X:463.70, Y:-20.95, Z:2.67 [[ 9.99649672e-01 2.59712213e-02 5.10176052e-03 4.63695645e+02] [-2.59696416e-02 9.99662661e-01 -3.75652526e-04 -2.09464377e+01] [-5.10979566e-03 2.43030033e-04 9.99986915e-01 2.67029141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.130714057 meters Centerline goodness [0,1] 0.9781320767664753 Centerline is valid? [True, True] Translation: X:463.72, Y:-20.95, Z:2.67 [[ 9.99681136e-01 2.47819139e-02 4.84589154e-03 4.63723754e+02] [-2.47804765e-02 9.99692853e-01 -3.56438655e-04 -2.09504882e+01] [-4.85323638e-03 2.36241498e-04 9.99988195e-01 2.67000338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.160714057 meters Centerline goodness [0,1] 0.977432296890672 Centerline is valid? [True, True] Translation: X:463.75, Y:-20.96, Z:2.67 [[ 9.99738264e-01 2.25564671e-02 3.82208614e-03 4.63751736e+02] [-2.25555583e-02 9.99745552e-01 -2.80726780e-04 -2.09592948e+01] [-3.82744582e-03 1.94444017e-04 9.99992656e-01 2.66889974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.190714057 meters Centerline goodness [0,1] 0.9779209875422633 Centerline is valid? [True, True] Translation: X:463.78, Y:-20.96, Z:2.67 [[ 9.99775742e-01 2.08543767e-02 3.68241981e-03 4.63781310e+02] [-2.08535227e-02 9.99782505e-01 -2.70151090e-04 -2.09631250e+01] [-3.68725273e-03 1.93299081e-04 9.99993183e-01 2.66844343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.220714057 meters Centerline goodness [0,1] 0.977351403941444 Centerline is valid? [True, True] Translation: X:463.81, Y:-20.97, Z:2.67 [[ 9.99829631e-01 1.81021310e-02 3.60856212e-03 4.63810012e+02] [-1.81012929e-02 9.99836123e-01 -2.64762668e-04 -2.09704788e+01] [-3.61276353e-03 1.99397921e-04 9.99993454e-01 2.66853424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.250714057 meters Centerline goodness [0,1] 0.977351403941444 Centerline is valid? [True, True] Translation: X:463.84, Y:-20.97, Z:2.67 [[ 9.99830889e-01 1.80325292e-02 3.60856522e-03 4.63838287e+02] [-1.80316908e-02 9.99837381e-01 -2.64720661e-04 -2.09724865e+01] [-3.61275198e-03 1.99607361e-04 9.99993454e-01 2.66819228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.280714057 meters Centerline goodness [0,1] 0.9767621470594916 Centerline is valid? [True, True] Translation: X:463.87, Y:-20.97, Z:2.67 [[ 9.99868173e-01 1.60140923e-02 2.68063749e-03 4.63867302e+02] [-1.60136228e-02 9.99871754e-01 -1.96527331e-04 -2.09741451e+01] [-2.68344092e-03 1.53574706e-04 9.99996388e-01 2.66859394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.310714057 meters Centerline goodness [0,1] 0.9763068567549219 Centerline is valid? [True, True] Translation: X:463.89, Y:-20.99, Z:2.67 [[ 9.99903775e-01 1.36690771e-02 2.36586494e-03 4.63894888e+02] [-1.36687045e-02 9.99906564e-01 -1.73566659e-04 -2.09863767e+01] [-2.36801637e-03 1.41211648e-04 9.99997186e-01 2.66710551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.340714057 meters Centerline goodness [0,1] 0.9763344312593061 Centerline is valid? [True, True] Translation: X:463.92, Y:-20.99, Z:2.67 [[ 9.99918774e-01 1.25530754e-02 2.20596241e-03 4.63923063e+02] [-1.25527487e-02 9.99921198e-01 -1.61890533e-04 -2.09889142e+01] [-2.20782080e-03 1.34186492e-04 9.99997554e-01 2.66729665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.370714057 meters Centerline goodness [0,1] 0.9763314942011034 Centerline is valid? [True, True] Translation: X:463.95, Y:-21.00, Z:2.67 [[ 9.99948112e-01 1.00403584e-02 1.72195538e-03 4.63951130e+02] [-1.00401564e-02 9.99949588e-01 -1.25909725e-04 -2.09990676e+01] [-1.72313275e-03 1.08614490e-04 9.99998510e-01 2.66581246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.400714057 meters Centerline goodness [0,1] 0.9756658622944905 Centerline is valid? [True, True] Translation: X:463.98, Y:-21.00, Z:2.67 [[ 9.99960226e-01 8.86571606e-03 9.72402259e-04 4.63980493e+02] [-8.86565096e-03 9.99960697e-01 -7.12390173e-05 -2.10036920e+01] [-9.72995625e-04 6.26152048e-05 9.99999525e-01 2.66516325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.430714057 meters Centerline goodness [0,1] 0.976877310015325 Centerline is valid? [True, True] Translation: X:464.01, Y:-21.01, Z:2.66 [[ 9.99983461e-01 5.70490088e-03 -7.29412990e-04 4.64009329e+02] [-5.70486374e-03 9.99983726e-01 5.29943417e-05 -2.10106786e+01] [ 7.29703447e-04 -4.88322635e-05 9.99999733e-01 2.66328929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.460714057 meters Centerline goodness [0,1] 0.9788847750476831 Centerline is valid? [True, True] Translation: X:464.04, Y:-21.01, Z:2.66 [[ 9.99993238e-01 3.54747651e-03 -9.68723611e-04 4.64039490e+02] [-3.54741027e-03 9.99993705e-01 7.00886483e-05 -2.10050993e+01] [ 9.68966151e-04 -6.66517143e-05 9.99999528e-01 2.66431113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.490714057 meters Centerline goodness [0,1] 0.9773212559843564 Centerline is valid? [True, True] Translation: X:464.07, Y:-21.02, Z:2.66 [[ 9.99997992e-01 -8.26534554e-04 -1.82571952e-03 4.64068384e+02] [ 8.26778570e-04 9.99999649e-01 1.32904250e-04 -2.10189132e+01] [ 1.82560903e-03 -1.34413449e-04 9.99998325e-01 2.66176238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.520714057 meters Centerline goodness [0,1] 0.9795201872440024 Centerline is valid? [True, True] Translation: X:464.10, Y:-21.02, Z:2.66 [[ 9.99987784e-01 -4.39558014e-03 -2.26081997e-03 4.64099103e+02] [ 4.39596331e-03 9.99990324e-01 1.64542602e-04 -2.10183047e+01] [ 2.26007483e-03 -1.74479074e-04 9.99997431e-01 2.66283809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.550714057 meters Centerline goodness [0,1] 0.9780620345729812 Centerline is valid? [True, True] Translation: X:464.13, Y:-21.03, Z:2.66 [[ 9.99982296e-01 -5.76521808e-03 -1.47317277e-03 4.64129373e+02] [ 5.76538264e-03 9.99983374e-01 1.07479234e-04 -2.10250036e+01] [ 1.47252863e-03 -1.15970736e-04 9.99998909e-01 2.66224005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.580714057 meters Centerline goodness [0,1] 0.9786894817210096 Centerline is valid? [True, True] Translation: X:464.16, Y:-21.03, Z:2.66 [[ 9.99974870e-01 -6.90681505e-03 -1.59871235e-03 4.64160899e+02] [ 6.90701070e-03 9.99976139e-01 1.16889448e-04 -2.10273117e+01] [ 1.59786687e-03 -1.27928834e-04 9.99998715e-01 2.66186266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.610714057 meters Centerline goodness [0,1] 0.9783515038013065 Centerline is valid? [True, True] Translation: X:464.19, Y:-21.03, Z:2.66 [[ 9.99977136e-01 -6.67845968e-03 -1.06125017e-03 4.64191500e+02] [ 6.67854620e-03 9.99977695e-01 7.80028871e-05 -2.10315145e+01] [ 1.06070556e-03 -8.50887119e-05 9.99999434e-01 2.66156986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.640714057 meters Centerline goodness [0,1] 0.9776552589703937 Centerline is valid? [True, True] Translation: X:464.22, Y:-21.03, Z:2.66 [[ 9.99975050e-01 -6.90209972e-03 -1.50371068e-03 4.64223937e+02] [ 6.90227374e-03 9.99976173e-01 1.10565538e-04 -2.10344451e+01] [ 1.50291171e-03 -1.20941802e-04 9.99998863e-01 2.66191543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.670714057 meters Centerline goodness [0,1] 0.9780190202763324 Centerline is valid? [True, True] Translation: X:464.26, Y:-21.04, Z:2.66 [[ 9.99977736e-01 -6.53122732e-03 -1.36798888e-03 4.64255602e+02] [ 6.53137122e-03 9.99978665e-01 1.00752715e-04 -2.10374479e+01] [ 1.36730165e-03 -1.09685315e-04 9.99999059e-01 2.66133875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.700714057 meters Centerline goodness [0,1] 0.9796346746460631 Centerline is valid? [True, True] Translation: X:464.29, Y:-21.04, Z:2.66 [[ 9.99982471e-01 -5.57340133e-03 -1.99858604e-03 4.64287090e+02] [ 5.57370514e-03 9.99984456e-01 1.46473811e-04 -2.10365150e+01] [ 1.99773862e-03 -1.57610773e-04 9.99997992e-01 2.66011319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.730714057 meters Centerline goodness [0,1] 0.9799028713380928 Centerline is valid? [True, True] Translation: X:464.32, Y:-21.04, Z:2.66 [[ 9.99982428e-01 -5.26161670e-03 -2.73120440e-03 4.64318673e+02] [ 5.26218276e-03 9.99986135e-01 2.00108577e-04 -2.10385481e+01] [ 2.73011364e-03 -2.14477157e-04 9.99996250e-01 2.65916082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76071405700003 meters Centerline goodness [0,1] 0.9756511259401432 Centerline is valid? [True, True] Translation: X:464.35, Y:-21.05, Z:2.66 [[ 9.99987700e-01 -4.10094675e-03 -2.78976820e-03 4.64348438e+02] [ 4.10153236e-03 9.99991568e-01 2.04224515e-04 -2.10478236e+01] [ 2.78890716e-03 -2.15664327e-04 9.99996088e-01 2.65767850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.790714057 meters Centerline goodness [0,1] 0.9793145134209407 Centerline is valid? [True, True] Translation: X:464.38, Y:-21.04, Z:2.66 [[ 9.99987832e-01 -3.70175158e-03 -3.26093289e-03 4.64379880e+02] [ 3.70254878e-03 9.99993117e-01 2.38468548e-04 -2.10413963e+01] [ 3.26002769e-03 -2.50539409e-04 9.99994655e-01 2.65859371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.820714057 meters Centerline goodness [0,1] 0.9798741856768676 Centerline is valid? [True, True] Translation: X:464.41, Y:-21.04, Z:2.66 [[ 9.99986892e-01 -3.22940315e-03 -3.97335661e-03 4.64410118e+02] [ 3.23058304e-03 9.99994739e-01 2.90567336e-04 -2.10438881e+01] [ 3.97239735e-03 -3.03399785e-04 9.99992064e-01 2.65766568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.850714057 meters Centerline goodness [0,1] 0.9723745774474468 Centerline is valid? [True, True] Translation: X:464.44, Y:-21.05, Z:2.65 [[ 9.99977695e-01 -2.11456322e-03 -6.33542748e-03 4.64439031e+02] [ 2.11754208e-03 9.99997651e-01 4.63520115e-04 -2.10546753e+01] [ 6.33443245e-03 -4.76925310e-04 9.99979824e-01 2.65347464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.880714057 meters Centerline goodness [0,1] 0.9801738974943561 Centerline is valid? [True, True] Translation: X:464.47, Y:-21.05, Z:2.65 [[ 9.99968104e-01 -7.19474817e-04 -7.95441604e-03 4.64468151e+02] [ 7.24114343e-04 9.99999569e-01 5.80399600e-04 -2.10471509e+01] [ 7.95399503e-03 -5.86140994e-04 9.99968195e-01 2.65452590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.910714057 meters Centerline goodness [0,1] 0.9803838048693001 Centerline is valid? [True, True] Translation: X:464.50, Y:-21.05, Z:2.65 [[ 9.99963367e-01 -1.54976069e-05 -8.55945728e-03 4.64496130e+02] [ 2.08292099e-05 9.99999806e-01 6.22801508e-04 -2.10485596e+01] [ 8.55944597e-03 -6.22956980e-04 9.99963173e-01 2.65493709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.940714057 meters Centerline goodness [0,1] 0.9807420692747449 Centerline is valid? [True, True] Translation: X:464.53, Y:-21.04, Z:2.66 [[ 9.99966587e-01 1.95918302e-03 -7.93644775e-03 4.64526571e+02] [-1.95465728e-03 9.99997923e-01 5.77964104e-04 -2.10420677e+01] [ 7.93756360e-03 -5.62431757e-04 9.99968339e-01 2.65766061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.970714057 meters Centerline goodness [0,1] 0.9820379423240795 Centerline is valid? [True, True] Translation: X:464.56, Y:-21.04, Z:2.66 [[ 9.99962159e-01 2.60850550e-03 -8.29912835e-03 4.64555228e+02] [-2.60358614e-03 9.99996429e-01 6.03504123e-04 -2.10440570e+01] [ 8.30067295e-03 -5.81873790e-04 9.99965380e-01 2.65740245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.000714057 meters Centerline goodness [0,1] 0.9806061151483789 Centerline is valid? [True, True] Translation: X:464.58, Y:-21.05, Z:2.66 [[ 9.99962079e-01 3.32281069e-03 -8.04977378e-03 4.64583314e+02] [-3.31821033e-03 9.99994324e-01 5.84777228e-04 -2.10470643e+01] [ 8.05167119e-03 -5.58044210e-04 9.99967429e-01 2.65655092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.030714057 meters Centerline goodness [0,1] 0.9802668586729069 Centerline is valid? [True, True] Translation: X:464.61, Y:-21.05, Z:2.66 [[ 9.99960883e-01 5.03510100e-03 -7.27182846e-03 4.64613088e+02] [-5.03139129e-03 9.99987203e-01 5.28353068e-04 -2.10476428e+01] [ 7.27439571e-03 -4.91744986e-04 9.99973420e-01 2.65695051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.060714057 meters Centerline goodness [0,1] 0.9809427382157723 Centerline is valid? [True, True] Translation: X:464.64, Y:-21.05, Z:2.66 [[ 9.99962551e-01 6.05965353e-03 -6.17883017e-03 4.64642009e+02] [-6.05700053e-03 9.99981556e-01 4.47991982e-04 -2.10456362e+01] [ 6.18143088e-03 -4.10550028e-04 9.99980810e-01 2.65885124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.090714057 meters Centerline goodness [0,1] 0.9795071803773925 Centerline is valid? [True, True] Translation: X:464.67, Y:-21.05, Z:2.66 [[ 9.99962811e-01 6.52484688e-03 -5.63949046e-03 4.64669899e+02] [-6.52264861e-03 9.99978644e-01 4.08102725e-04 -2.10492908e+01] [ 5.64203283e-03 -3.71303133e-04 9.99984015e-01 2.65821253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.120714057 meters Centerline goodness [0,1] 0.9806313416009019 Centerline is valid? [True, True] Translation: X:464.70, Y:-21.05, Z:2.66 [[ 9.99966715e-01 5.85256264e-03 -5.68470903e-03 4.64699165e+02] [-5.85031924e-03 9.99982802e-01 4.11185583e-04 -2.10497094e+01] [ 5.68701775e-03 -3.77914534e-04 9.99983757e-01 2.65791097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.150714057 meters Centerline goodness [0,1] 0.980044595599 Centerline is valid? [True, True] Translation: X:464.73, Y:-21.06, Z:2.66 [[ 9.99967042e-01 5.09053554e-03 -6.32470006e-03 4.64726838e+02] [-5.08774767e-03 9.99986953e-01 4.56801643e-04 -2.10557595e+01] [ 6.32694291e-03 -4.24608110e-04 9.99979895e-01 2.65594435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.180714057 meters Centerline goodness [0,1] 0.980315403477987 Centerline is valid? [True, True] Translation: X:464.76, Y:-21.06, Z:2.66 [[ 9.99978071e-01 2.26799002e-03 -6.22207019e-03 4.64757384e+02] [-2.26523096e-03 9.99997333e-01 4.50442965e-04 -2.10574800e+01] [ 6.22307519e-03 -4.36338661e-04 9.99980541e-01 2.65598782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.210714057 meters Centerline goodness [0,1] 0.980317088550581 Centerline is valid? [True, True] Translation: X:464.79, Y:-21.06, Z:2.66 [[ 9.99977333e-01 4.45678083e-04 -6.71821807e-03 4.64786590e+02] [-4.42427250e-04 9.99999784e-01 4.85361656e-04 -2.10595184e+01] [ 6.71843294e-03 -4.82378332e-04 9.99977315e-01 2.65629125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.240714057 meters Centerline goodness [0,1] 0.9796321663560217 Centerline is valid? [True, True] Translation: X:464.81, Y:-21.07, Z:2.66 [[ 9.99975250e-01 -1.40160696e-03 -6.89461501e-03 4.64814578e+02] [ 1.40506976e-03 9.99998889e-01 4.97428490e-04 -2.10659399e+01] [ 6.89391016e-03 -5.07103593e-04 9.99976108e-01 2.65514328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.270714057 meters Centerline goodness [0,1] 0.9764046965675469 Centerline is valid? [True, True] Translation: X:464.84, Y:-21.07, Z:2.65 [[ 9.99953597e-01 -4.99824755e-03 -8.23531750e-03 4.64843146e+02] [ 5.00331467e-03 9.99987306e-01 5.94803867e-04 -2.10738939e+01] [ 8.23223999e-03 -6.35980151e-04 9.99965912e-01 2.65300068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.300714057 meters Centerline goodness [0,1] 0.978570138198898 Centerline is valid? [True, True] Translation: X:464.87, Y:-21.07, Z:2.65 [[ 9.99920506e-01 -7.30412245e-03 -1.02777615e-02 4.64873796e+02] [ 7.31213863e-03 9.99972990e-01 7.42592688e-04 -2.10737541e+01] [ 1.02720599e-02 -8.17686073e-04 9.99946907e-01 2.65186282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.330714057 meters Centerline goodness [0,1] 0.9766816548794541 Centerline is valid? [True, True] Translation: X:464.90, Y:-21.08, Z:2.65 [[ 9.99904768e-01 -7.83844958e-03 -1.13584278e-02 4.64903619e+02] [ 7.84826525e-03 9.99968866e-01 8.19859006e-04 -2.10761142e+01] [ 1.13516477e-02 -9.08924883e-04 9.99935155e-01 2.65063236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.360714057 meters Centerline goodness [0,1] 0.9733478132989434 Centerline is valid? [True, True] Translation: X:464.93, Y:-21.08, Z:2.65 [[ 9.99918201e-01 -6.73350139e-03 -1.08743232e-02 4.64932173e+02] [ 6.74242623e-03 9.99976962e-01 7.84273784e-04 -2.10787571e+01] [ 1.08687918e-02 -8.57528953e-04 9.99940565e-01 2.64959771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.390714057 meters Centerline goodness [0,1] 0.9733426630250773 Centerline is valid? [True, True] Translation: X:464.96, Y:-21.08, Z:2.65 [[ 9.99929721e-01 -5.84403866e-03 -1.03150044e-02 4.64961417e+02] [ 5.85197619e-03 9.99982604e-01 7.39498637e-04 -2.10792009e+01] [ 1.03105033e-02 -7.99809826e-04 9.99946525e-01 2.64991347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.420714057 meters Centerline goodness [0,1] 0.9736166927775128 Centerline is valid? [True, True] Translation: X:464.99, Y:-21.08, Z:2.65 [[ 9.99953311e-01 -3.00104390e-03 -9.18525735e-03 4.64991072e+02] [ 3.00723642e-03 9.99995260e-01 6.60443613e-04 -2.10791341e+01] [ 9.18323179e-03 -6.88035018e-04 9.99957597e-01 2.65111358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.450714057 meters Centerline goodness [0,1] 0.980056915710543 Centerline is valid? [True, True] Translation: X:465.02, Y:-21.07, Z:2.65 [[ 9.99970850e-01 1.64676466e-05 -7.63535641e-03 4.65022061e+02] [-1.22751558e-05 9.99999849e-01 5.49135619e-04 -2.10731334e+01] [ 7.63536430e-03 -5.49025886e-04 9.99970699e-01 2.65325874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.480714057 meters Centerline goodness [0,1] 0.9770622466770826 Centerline is valid? [True, True] Translation: X:465.05, Y:-21.08, Z:2.65 [[ 9.99976453e-01 1.10344870e-03 -6.77324490e-03 4.65049946e+02] [-1.10018288e-03 9.99999277e-01 4.85871839e-04 -2.10792033e+01] [ 6.77377614e-03 -4.78408590e-04 9.99976943e-01 2.65171222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.51071405700003 meters Centerline goodness [0,1] 0.9776853682368714 Centerline is valid? [True, True] Translation: X:465.08, Y:-21.08, Z:2.65 [[ 9.99973100e-01 1.96292885e-03 -7.06723102e-03 4.65079116e+02] [-1.95941793e-03 9.99997953e-01 5.03678976e-04 -2.10802430e+01] [ 7.06820524e-03 -4.89817768e-04 9.99974900e-01 2.65113412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.540714057 meters Centerline goodness [0,1] 0.9751765801367218 Centerline is valid? [True, True] Translation: X:465.11, Y:-21.08, Z:2.65 [[ 9.99969756e-01 2.08612412e-03 -7.49232208e-03 4.65108022e+02] [-2.08217051e-03 9.99997689e-01 5.35449668e-04 -2.10822856e+01] [ 7.49342178e-03 -5.19833181e-04 9.99971789e-01 2.65022167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.570714057 meters Centerline goodness [0,1] 0.9728626810854928 Centerline is valid? [True, True] Translation: X:465.14, Y:-21.08, Z:2.65 [[ 9.99962474e-01 1.72572241e-03 -8.48951279e-03 4.65135644e+02] [-1.72064005e-03 9.99998336e-01 6.05931712e-04 -2.10848327e+01] [ 8.49054434e-03 -5.91301578e-04 9.99963780e-01 2.64831370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.600714057 meters Centerline goodness [0,1] 0.9809236492310484 Centerline is valid? [True, True] Translation: X:465.17, Y:-21.08, Z:2.65 [[ 9.99955244e-01 1.29896503e-03 -9.37134828e-03 4.65165574e+02] [-1.29275735e-03 9.99998941e-01 6.68437980e-04 -2.10759196e+01] [ 9.37220664e-03 -6.56293184e-04 9.99955865e-01 2.65054407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.630714057 meters Centerline goodness [0,1] 0.9799445177134022 Centerline is valid? [True, True] Translation: X:465.19, Y:-21.08, Z:2.65 [[ 9.99949090e-01 6.42985698e-04 -1.00699920e-02 4.65193130e+02] [-6.35795206e-04 9.99999541e-01 7.17236493e-04 -2.10793655e+01] [ 1.00704486e-02 -7.10797526e-04 9.99949039e-01 2.64902486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.660714057 meters Centerline goodness [0,1] 0.9731258518855066 Centerline is valid? [True, True] Translation: X:465.22, Y:-21.09, Z:2.65 [[ 9.99955346e-01 1.76291701e-04 -9.44849952e-03 4.65219837e+02] [-1.69949019e-04 9.99999760e-01 6.72088524e-04 -2.10891016e+01] [ 9.44861573e-03 -6.70452749e-04 9.99955136e-01 2.64626514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.690714057 meters Centerline goodness [0,1] 0.9786606129398411 Centerline is valid? [True, True] Translation: X:465.25, Y:-21.08, Z:2.65 [[ 9.99958496e-01 -1.87299278e-05 -9.11071115e-03 4.65248023e+02] [ 2.46241843e-05 9.99999790e-01 6.46847246e-04 -2.10822966e+01] [ 9.11069713e-03 -6.47044743e-04 9.99958287e-01 2.64880161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.720714057 meters Centerline goodness [0,1] 0.9783285250221485 Centerline is valid? [True, True] Translation: X:465.28, Y:-21.08, Z:2.65 [[ 9.99954742e-01 1.04215683e-04 -9.51328344e-03 4.65277481e+02] [-9.77929061e-05 9.99999767e-01 6.75600407e-04 -2.10812073e+01] [ 9.51335163e-03 -6.74639500e-04 9.99954519e-01 2.64888960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.750714057 meters Centerline goodness [0,1] 0.9787292064357785 Centerline is valid? [True, True] Translation: X:465.31, Y:-21.08, Z:2.65 [[ 9.99950337e-01 3.22541012e-04 -9.96094880e-03 4.65306518e+02] [-3.15558860e-04 9.99999703e-01 7.02516207e-04 -2.10811082e+01] [ 9.96117244e-03 -6.99338052e-04 9.99950142e-01 2.64790029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.780714057 meters Centerline goodness [0,1] 0.9778883737842015 Centerline is valid? [True, True] Translation: X:465.33, Y:-21.08, Z:2.65 [[ 9.99953186e-01 -4.87980316e-06 -9.67604414e-03 4.65334030e+02] [ 1.14907882e-05 9.99999767e-01 6.83176738e-04 -2.10840441e+01] [ 9.67603855e-03 -6.83255941e-04 9.99952953e-01 2.64709328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.810714057 meters Centerline goodness [0,1] 0.9772830842143638 Centerline is valid? [True, True] Translation: X:465.36, Y:-21.09, Z:2.65 [[ 9.99970520e-01 2.34492027e-04 -7.67488015e-03 4.65361364e+02] [-2.30345866e-04 9.99999827e-01 5.41104395e-04 -2.10865707e+01] [ 7.67500571e-03 -5.39320567e-04 9.99970401e-01 2.64712839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.840714057 meters Centerline goodness [0,1] 0.9772985244040863 Centerline is valid? [True, True] Translation: X:465.39, Y:-21.09, Z:2.65 [[ 9.99978906e-01 4.45444036e-04 -6.47994784e-03 4.65389816e+02] [-4.42495482e-04 9.99999798e-01 4.56453964e-04 -2.10866406e+01] [ 6.48014986e-03 -4.53576987e-04 9.99978901e-01 2.64785452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.870714057 meters Centerline goodness [0,1] 0.9745559180714156 Centerline is valid? [True, True] Translation: X:465.42, Y:-21.09, Z:2.65 [[ 9.99988709e-01 2.96291483e-04 -4.74288534e-03 4.65417046e+02] [-2.94714222e-04 9.99999901e-01 3.33248602e-04 -2.10904553e+01] [ 4.74298361e-03 -3.31847043e-04 9.99988697e-01 2.64722348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.900714057 meters Centerline goodness [0,1] 0.9736002915584712 Centerline is valid? [True, True] Translation: X:465.44, Y:-21.10, Z:2.65 [[ 9.99991046e-01 -2.54759017e-04 -4.22412211e-03 4.65444914e+02] [ 2.56014251e-04 9.99999923e-01 2.96620533e-04 -2.10951484e+01] [ 4.22404622e-03 -2.97699312e-04 9.99991034e-01 2.64576741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.930714057 meters Centerline goodness [0,1] 0.9748335916841433 Centerline is valid? [True, True] Translation: X:465.48, Y:-21.09, Z:2.65 [[ 9.99989023e-01 -1.68304037e-03 -4.37286769e-03 4.65475228e+02] [ 1.68440031e-03 9.99998534e-01 3.07330240e-04 -2.10898671e+01] [ 4.37234403e-03 -3.14692526e-04 9.99990392e-01 2.64576223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.960714057 meters Centerline goodness [0,1] 0.9751018457406859 Centerline is valid? [True, True] Translation: X:465.50, Y:-21.09, Z:2.64 [[ 9.99984669e-01 -2.36169454e-03 -5.00838702e-03 4.65504495e+02] [ 2.36348639e-03 9.99997145e-01 3.51880805e-04 -2.10920297e+01] [ 5.00754168e-03 -3.63712665e-04 9.99987396e-01 2.64444821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.990714057 meters Centerline goodness [0,1] 0.9742952851901647 Centerline is valid? [True, True] Translation: X:465.53, Y:-21.09, Z:2.64 [[ 9.99982012e-01 -2.94596451e-03 -5.22463223e-03 4.65534547e+02] [ 2.94792141e-03 9.99995588e-01 3.66891361e-04 -2.10901178e+01] [ 5.22352832e-03 -3.82286566e-04 9.99986284e-01 2.64394991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.020714057 meters Centerline goodness [0,1] 0.9737364517969196 Centerline is valid? [True, True] Translation: X:465.56, Y:-21.10, Z:2.64 [[ 9.99984693e-01 -2.63206789e-03 -4.86691846e-03 4.65563711e+02] [ 2.63376280e-03 9.99996473e-01 3.41874043e-04 -2.10961565e+01] [ 4.86600146e-03 -3.54687119e-04 9.99988098e-01 2.64234826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.050714057 meters Centerline goodness [0,1] 0.974312598731656 Centerline is valid? [True, True] Translation: X:465.59, Y:-21.09, Z:2.64 [[ 9.99989313e-01 -1.49247352e-03 -4.37564302e-03 4.65593685e+02] [ 1.49383097e-03 9.99998837e-01 3.06977635e-04 -2.10927172e+01] [ 4.37517978e-03 -3.13510825e-04 9.99990380e-01 2.64232254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.080714057 meters Centerline goodness [0,1] 0.9744517192436244 Centerline is valid? [True, True] Translation: X:465.62, Y:-21.09, Z:2.64 [[ 9.99993397e-01 -6.91586109e-05 -3.63343398e-03 4.65623316e+02] [ 7.00845118e-05 9.99999965e-01 2.54701328e-04 -2.10919544e+01] [ 3.63341624e-03 -2.54954293e-04 9.99993367e-01 2.64245751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.110714057 meters Centerline goodness [0,1] 0.9743930675592032 Centerline is valid? [True, True] Translation: X:465.65, Y:-21.09, Z:2.64 [[ 9.99991374e-01 2.89188918e-03 -2.98151888e-03 4.65654005e+02] [-2.89127857e-03 9.99995798e-01 2.09088890e-04 -2.10894759e+01] [ 2.98211102e-03 -2.00466684e-04 9.99995533e-01 2.64211894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.140714057 meters Centerline goodness [0,1] 0.9721125596768271 Centerline is valid? [True, True] Translation: X:465.68, Y:-21.09, Z:2.64 [[ 9.99985603e-01 4.72580836e-03 -2.54166880e-03 4.65682508e+02] [-4.72537201e-03 9.99988820e-01 1.77654989e-04 -2.10938371e+01] [ 2.54247995e-03 -1.65642100e-04 9.99996754e-01 2.64099608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.170714057 meters Centerline goodness [0,1] 0.9721125596768271 Centerline is valid? [True, True] Translation: X:465.71, Y:-21.10, Z:2.64 [[ 9.99985921e-01 4.65802593e-03 -2.54169363e-03 4.65710809e+02] [-4.65759027e-03 9.99989138e-01 1.77300583e-04 -2.10957575e+01] [ 2.54249189e-03 -1.65459919e-04 9.99996754e-01 2.64065388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.200714057 meters Centerline goodness [0,1] 0.9735503326350683 Centerline is valid? [True, True] Translation: X:465.74, Y:-21.09, Z:2.64 [[ 9.99975797e-01 6.87446851e-03 -1.07120834e-03 4.65740735e+02] [-6.87439251e-03 9.99976368e-01 7.46106785e-05 -2.10898176e+01] [ 1.07169594e-03 -6.72449661e-05 9.99999423e-01 2.64179099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.230714057 meters Centerline goodness [0,1] 0.9737847541889155 Centerline is valid? [True, True] Translation: X:465.77, Y:-21.09, Z:2.64 [[ 9.99972838e-01 7.29718956e-03 -1.03650531e-03 4.65769474e+02] [-7.29711916e-03 9.99973373e-01 7.16816444e-05 -2.10892542e+01] [ 1.03700079e-03 -6.41161946e-05 9.99999460e-01 2.64152113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.26071405700003 meters Centerline goodness [0,1] 0.97469957180349 Centerline is valid? [True, True] Translation: X:465.80, Y:-21.09, Z:2.64 [[ 9.99971905e-01 7.44908311e-03 -8.37428610e-04 4.65798670e+02] [-7.44903741e-03 9.99972254e-01 5.76806691e-05 -2.10874176e+01] [ 8.37835043e-04 -5.14410115e-05 9.99999648e-01 2.64168791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.290714057 meters Centerline goodness [0,1] 0.9732727608154229 Centerline is valid? [True, True] Translation: X:465.83, Y:-21.09, Z:2.64 [[ 9.99974589e-01 7.12115750e-03 -3.33176812e-04 4.65826642e+02] [-7.12115056e-03 9.99974644e-01 2.20318131e-05 -2.10894867e+01] [ 3.33325256e-04 -1.96586510e-05 9.99999944e-01 2.64136393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.320714057 meters Centerline goodness [0,1] 0.9729847996315062 Centerline is valid? [True, True] Translation: X:465.85, Y:-21.09, Z:2.64 [[ 9.99974773e-01 6.89479466e-03 1.70764119e-03 4.65854852e+02] [-6.89459959e-03 9.99976225e-01 -1.20094177e-04 -2.10911300e+01] [-1.70842862e-03 1.08317645e-04 9.99998535e-01 2.64220067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.350714057 meters Centerline goodness [0,1] 0.9712578717907314 Centerline is valid? [True, True] Translation: X:465.88, Y:-21.09, Z:2.64 [[ 9.99979158e-01 6.10336741e-03 2.10545976e-03 4.65882847e+02] [-6.10307167e-03 9.99981365e-01 -1.46856617e-04 -2.10946137e+01] [-2.10631685e-03 1.34003784e-04 9.99997773e-01 2.64028860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.380714057 meters Centerline goodness [0,1] 0.9726112739103348 Centerline is valid? [True, True] Translation: X:465.91, Y:-21.10, Z:2.64 [[ 9.99982578e-01 5.78627355e-03 1.16768311e-03 4.65911967e+02] [-5.78618188e-03 9.99983257e-01 -8.18626137e-05 -2.10958279e+01] [-1.16813724e-03 7.51047606e-05 9.99999315e-01 2.63885052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.410714057 meters Centerline goodness [0,1] 0.9721631369647646 Centerline is valid? [True, True] Translation: X:465.94, Y:-21.10, Z:2.64 [[ 9.99985555e-01 5.27557948e-03 -1.02816846e-03 4.65940177e+02] [-5.27550930e-03 9.99986082e-01 7.09580391e-05 -2.10973382e+01] [ 1.02852850e-03 -6.55329018e-05 9.99999469e-01 2.63593053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.440714057 meters Centerline goodness [0,1] 0.9727749659109293 Centerline is valid? [True, True] Translation: X:465.97, Y:-21.10, Z:2.63 [[ 9.99985931e-01 4.90128100e-03 -2.02856589e-03 4.65969230e+02] [-4.90100653e-03 9.99987980e-01 1.40253352e-04 -2.10982787e+01] [ 2.02922893e-03 -1.30309364e-04 9.99997933e-01 2.63436075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.470714057 meters Centerline goodness [0,1] 0.9716578532331385 Centerline is valid? [True, True] Translation: X:466.00, Y:-21.10, Z:2.63 [[ 9.99986189e-01 4.22361707e-03 -3.12784370e-03 4.65996743e+02] [-4.22296128e-03 9.99991060e-01 2.16236979e-04 -2.11024664e+01] [ 3.12872904e-03 -2.03025230e-04 9.99995085e-01 2.63238631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.500714057 meters Centerline goodness [0,1] 0.9729396722073695 Centerline is valid? [True, True] Translation: X:466.03, Y:-21.10, Z:2.63 [[ 9.99988726e-01 2.86158139e-03 -3.78945822e-03 4.66026499e+02] [-2.86060760e-03 9.99995874e-01 2.62370039e-04 -2.10964642e+01] [ 3.79019338e-03 -2.51526928e-04 9.99992786e-01 2.63316214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.530714057 meters Centerline goodness [0,1] 0.9715741236130173 Centerline is valid? [True, True] Translation: X:466.06, Y:-21.10, Z:2.63 [[ 9.99997671e-01 8.07340033e-04 -2.00162191e-03 4.66056373e+02] [-8.07064569e-04 9.99999665e-01 1.38424051e-04 -2.10989773e+01] [ 2.00173300e-03 -1.36808290e-04 9.99997987e-01 2.63294296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.560714057 meters Centerline goodness [0,1] 0.9717890228574089 Centerline is valid? [True, True] Translation: X:466.09, Y:-21.10, Z:2.63 [[ 9.99998871e-01 1.07642138e-04 -1.49855289e-03 4.66086303e+02] [-1.07487195e-04 9.99999989e-01 1.03474647e-04 -2.11017598e+01] [ 1.49856402e-03 -1.03313455e-04 9.99998872e-01 2.63237575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.590714057 meters Centerline goodness [0,1] 0.9699050367749744 Centerline is valid? [True, True] Translation: X:466.12, Y:-21.11, Z:2.63 [[ 9.99998372e-01 -1.77902040e-03 3.01465656e-04 4.66115014e+02] [ 1.77902691e-03 9.99998417e-01 -2.13143586e-05 -2.11062700e+01] [-3.01427260e-04 2.18506394e-05 9.99999954e-01 2.63225857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.620714057 meters Centerline goodness [0,1] 0.969619249691063 Centerline is valid? [True, True] Translation: X:466.15, Y:-21.11, Z:2.63 [[ 9.99995605e-01 -2.69993237e-03 1.22504166e-03 4.66146682e+02] [ 2.70003792e-03 9.99996351e-01 -8.45166915e-05 -2.11086312e+01] [-1.22480900e-03 8.78239790e-05 9.99999246e-01 2.63246669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.650714057 meters Centerline goodness [0,1] 0.967400635745609 Centerline is valid? [True, True] Translation: X:466.18, Y:-21.11, Z:2.63 [[ 9.99984842e-01 -4.53960904e-03 3.11560726e-03 4.66176342e+02] [ 4.54030399e-03 9.99989669e-01 -2.16017700e-04 -2.11133161e+01] [-3.11459444e-03 2.30160229e-04 9.99995123e-01 2.63317272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.680714057 meters Centerline goodness [0,1] 0.9663451481696688 Centerline is valid? [True, True] Translation: X:466.21, Y:-21.12, Z:2.63 [[ 9.99975384e-01 -5.52841213e-03 4.32068921e-03 4.66208525e+02] [ 5.52975552e-03 9.99984666e-01 -2.99034700e-04 -2.11166965e+01] [-4.31896977e-03 3.22919694e-04 9.99990621e-01 2.63356381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.710714057 meters Centerline goodness [0,1] 0.9654892501797435 Centerline is valid? [True, True] Translation: X:466.24, Y:-21.12, Z:2.63 [[ 9.99960767e-01 -7.24523081e-03 5.09613323e-03 4.66239785e+02] [ 7.24712565e-03 9.99973677e-01 -3.53450652e-04 -2.11203691e+01] [-5.09343825e-03 3.90369103e-04 9.99986952e-01 2.63365988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.740714057 meters Centerline goodness [0,1] 0.9653556096995011 Centerline is valid? [True, True] Translation: X:466.27, Y:-21.12, Z:2.63 [[ 9.99927265e-01 -1.07726649e-02 5.42353950e-03 4.66270373e+02] [ 1.07748648e-02 9.99941879e-01 -3.76579686e-04 -2.11238614e+01] [-5.41916751e-03 4.34990200e-04 9.99985222e-01 2.63297378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.770714057 meters Centerline goodness [0,1] 0.9645827557527031 Centerline is valid? [True, True] Translation: X:466.30, Y:-21.13, Z:2.63 [[ 9.99915628e-01 -1.20722517e-02 4.79548194e-03 4.66300625e+02] [ 1.20739854e-02 9.99927051e-01 -3.32754218e-04 -2.11288395e+01] [-4.79111502e-03 3.90626722e-04 9.99988446e-01 2.63163474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.800714057 meters Centerline goodness [0,1] 0.9610854503464203 Centerline is valid? [True, True] Translation: X:466.33, Y:-21.14, Z:2.63 [[ 9.99883745e-01 -1.49133038e-02 3.17629651e-03 4.66330017e+02] [ 1.49140799e-02 9.99888755e-01 -2.20801860e-04 -2.11382003e+01] [-3.17265028e-03 2.68147730e-04 9.99994931e-01 2.62819780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.830714057 meters Centerline goodness [0,1] 0.9599601455152119 Centerline is valid? [True, True] Translation: X:466.36, Y:-21.14, Z:2.63 [[ 9.99869738e-01 -1.59148287e-02 2.68806157e-03 4.66362085e+02] [ 1.59153861e-02 9.99873325e-01 -1.86078021e-04 -2.11418762e+01] [-2.68475966e-03 2.28835320e-04 9.99996370e-01 2.62671773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.860714057 meters Centerline goodness [0,1] 0.9558597248696691 Centerline is valid? [True, True] Translation: X:466.39, Y:-21.15, Z:2.62 [[ 9.99867355e-01 -1.62608802e-02 9.25351588e-04 4.66392624e+02] [ 1.62609461e-02 9.99867780e-01 -6.37762670e-05 -2.11467520e+01] [-9.24192180e-04 7.88148997e-05 9.99999570e-01 2.62404389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.890714057 meters Centerline goodness [0,1] 0.9589898053753475 Centerline is valid? [True, True] Translation: X:466.43, Y:-21.15, Z:2.62 [[ 9.99867802e-01 -1.62589117e-02 1.61948597e-04 4.66425173e+02] [ 1.62589136e-02 9.99867815e-01 -1.04611481e-05 -2.11479029e+01] [-1.61757102e-04 1.30928734e-05 9.99999987e-01 2.62300355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.920714057 meters Centerline goodness [0,1] 0.9589758980515283 Centerline is valid? [True, True] Translation: X:466.46, Y:-21.15, Z:2.62 [[ 9.99877353e-01 -1.56434631e-02 -7.48865282e-04 4.66457445e+02] [ 1.56435072e-02 9.99877631e-01 5.30227715e-05 -2.11494492e+01] [ 7.47944185e-04 -6.47311478e-05 9.99999718e-01 2.62193816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.950714057 meters Centerline goodness [0,1] 0.9671796300164798 Centerline is valid? [True, True] Translation: X:466.49, Y:-21.14, Z:2.62 [[ 9.99895126e-01 -1.44442364e-02 -1.04943009e-03 4.66490126e+02] [ 1.44443218e-02 9.99895673e-01 7.38676966e-05 -2.11398272e+01] [ 1.04825364e-03 -8.90182557e-05 9.99999447e-01 2.62272042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.980714057 meters Centerline goodness [0,1] 0.9674307234517389 Centerline is valid? [True, True] Translation: X:466.52, Y:-21.14, Z:2.62 [[ 9.99907354e-01 -1.36029619e-02 -4.93163900e-04 4.66521244e+02] [ 1.36029808e-02 9.99907475e-01 3.50779977e-05 -2.11419022e+01] [ 4.92641105e-04 -4.17832470e-05 9.99999878e-01 2.62295493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.01071405700003 meters Centerline goodness [0,1] 0.9663836221937885 Centerline is valid? [True, True] Translation: X:466.55, Y:-21.14, Z:2.62 [[ 9.99930026e-01 -1.17137307e-02 1.65278650e-03 4.66552613e+02] [ 1.17139370e-02 9.99931383e-01 -1.15221434e-04 -2.11408228e+01] [-1.65132342e-03 1.34574008e-04 9.99998628e-01 2.62426705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.040714057 meters Centerline goodness [0,1] 0.962083983510725 Centerline is valid? [True, True] Translation: X:466.58, Y:-21.15, Z:2.62 [[ 9.99941640e-01 -9.85915656e-03 4.41733951e-03 4.66581796e+02] [ 9.86061505e-03 9.99951335e-01 -3.08517117e-04 -2.11484522e+01] [-4.41408283e-03 3.52056796e-04 9.99990196e-01 2.62453849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.070714057 meters Centerline goodness [0,1] 0.9658370618941089 Centerline is valid? [True, True] Translation: X:466.61, Y:-21.14, Z:2.63 [[ 9.99941738e-01 -9.36516775e-03 5.36787781e-03 4.66614388e+02] [ 9.36731188e-03 9.99956056e-01 -3.74434257e-04 -2.11431022e+01] [-5.36413528e-03 4.24695028e-04 9.99985523e-01 2.62536676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.100714057 meters Centerline goodness [0,1] 0.9635140169507311 Centerline is valid? [True, True] Translation: X:466.65, Y:-21.15, Z:2.62 [[ 9.99934635e-01 -9.83863268e-03 5.82460756e-03 4.66645076e+02] [ 9.84116866e-03 9.99951492e-01 -4.06889384e-04 -2.11495947e+01] [-5.82032179e-03 4.64183734e-04 9.99982954e-01 2.62480418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.130714057 meters Centerline goodness [0,1] 0.9668697905722491 Centerline is valid? [True, True] Translation: X:466.68, Y:-21.15, Z:2.62 [[ 9.99937570e-01 -1.01482816e-02 4.67637193e-03 4.66677819e+02] [ 1.01499195e-02 9.99948435e-01 -3.26657702e-04 -2.11451007e+01] [-4.67281577e-03 3.74102107e-04 9.99989012e-01 2.62439815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.160714057 meters Centerline goodness [0,1] 0.9675511396843951 Centerline is valid? [True, True] Translation: X:466.71, Y:-21.15, Z:2.62 [[ 9.99937513e-01 -1.08918222e-02 2.51751904e-03 4.66708653e+02] [ 1.08922992e-02 9.99940662e-01 -1.75814792e-04 -2.11482735e+01] [-2.51545471e-03 2.03225377e-04 9.99996816e-01 2.62195248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.190714057 meters Centerline goodness [0,1] 0.9670913198406969 Centerline is valid? [True, True] Translation: X:466.74, Y:-21.15, Z:2.62 [[ 9.99935954e-01 -1.11837810e-02 1.73537316e-03 4.66741104e+02] [ 1.11840076e-02 9.99937450e-01 -1.20909507e-04 -2.11520513e+01] [-1.73391238e-03 1.40310189e-04 9.99998487e-01 2.62074325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.220714057 meters Centerline goodness [0,1] 0.9675238383885483 Centerline is valid? [True, True] Translation: X:466.77, Y:-21.16, Z:2.62 [[ 9.99935800e-01 -1.11888749e-02 1.79043688e-03 4.66772349e+02] [ 1.11891154e-02 9.99937392e-01 -1.24343398e-04 -2.11558710e+01] [-1.78893352e-03 1.44368820e-04 9.99998389e-01 2.61964570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.250714057 meters Centerline goodness [0,1] 0.9685186047594654 Centerline is valid? [True, True] Translation: X:466.80, Y:-21.16, Z:2.62 [[ 9.99941943e-01 -1.07028036e-02 1.24950657e-03 4.66804898e+02] [ 1.07029207e-02 9.99942718e-01 -8.70552585e-05 -2.11555293e+01] [-1.24850326e-03 1.00423574e-04 9.99999216e-01 2.61942462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.280714057 meters Centerline goodness [0,1] 0.9694889931601186 Centerline is valid? [True, True] Translation: X:466.84, Y:-21.16, Z:2.62 [[ 9.99963655e-01 -8.52521669e-03 1.01777392e-04 4.66835606e+02] [ 8.52521742e-03 9.99963660e-01 -6.74315054e-06 -2.11571970e+01] [-1.01716206e-04 7.61057985e-06 9.99999995e-01 2.61806437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.310714057 meters Centerline goodness [0,1] 0.9705326079342471 Centerline is valid? [True, True] Translation: X:466.87, Y:-21.16, Z:2.62 [[ 9.99974245e-01 -7.17617129e-03 1.10145361e-04 4.66867361e+02] [ 7.17617212e-03 9.99974251e-01 -7.12681641e-06 -2.11584864e+01] [-1.10091381e-04 7.91705492e-06 9.99999994e-01 2.61746853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.340714057 meters Centerline goodness [0,1] 0.9744765469645572 Centerline is valid? [True, True] Translation: X:466.90, Y:-21.15, Z:2.62 [[ 9.99995066e-01 -3.08356977e-03 5.98868913e-04 4.66898298e+02] [ 3.08359558e-03 9.99995245e-01 -4.21830385e-05 -2.11527717e+01] [-5.98735991e-04 4.40294999e-05 9.99999820e-01 2.61787493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.370714057 meters Centerline goodness [0,1] 0.9747598681904228 Centerline is valid? [True, True] Translation: X:466.93, Y:-21.15, Z:2.62 [[ 9.99999586e-01 -3.74442745e-04 8.29930077e-04 4.66928708e+02] [ 3.74491394e-04 9.99999928e-01 -5.84641639e-05 -2.11526557e+01] [-8.29908126e-04 5.87749414e-05 9.99999654e-01 2.61793384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.400714057 meters Centerline goodness [0,1] 0.9760206475832942 Centerline is valid? [True, True] Translation: X:466.96, Y:-21.15, Z:2.62 [[ 9.99981082e-01 5.94772330e-03 1.56866195e-03 4.66958765e+02] [-5.94755720e-03 9.99982307e-01 -1.10527786e-04 -2.11511583e+01] [-1.56929159e-03 1.01195989e-04 9.99998764e-01 2.61810329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.430714057 meters Centerline goodness [0,1] 0.9772455370756996 Centerline is valid? [True, True] Translation: X:466.99, Y:-21.15, Z:2.62 [[ 9.99918944e-01 1.25523550e-02 2.13143312e-03 4.66988777e+02] [-1.25520627e-02 9.99921208e-01 -1.50440323e-04 -2.11472960e+01] [-2.13315356e-03 1.23674247e-04 9.99997717e-01 2.61874722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.460714057 meters Centerline goodness [0,1] 0.9769344366048616 Centerline is valid? [True, True] Translation: X:467.02, Y:-21.15, Z:2.62 [[ 9.99871667e-01 1.58859139e-02 2.07037312e-03 4.67018081e+02] [-1.58856452e-02 9.99873804e-01 -1.46129965e-04 -2.11491112e+01] [-2.07243326e-03 1.13221999e-04 9.99997846e-01 2.61815756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.490714057 meters Centerline goodness [0,1] 0.9778295011049983 Centerline is valid? [True, True] Translation: X:467.05, Y:-21.15, Z:2.62 [[ 9.99765865e-01 2.14633547e-02 2.74585819e-03 4.67049020e+02] [-2.14629047e-02 9.99769627e-01 -1.93272910e-04 -2.11455278e+01] [-2.74937390e-03 1.34293566e-04 9.99996211e-01 2.61919532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.520714057 meters Centerline goodness [0,1] 0.9774785397604 Centerline is valid? [True, True] Translation: X:467.08, Y:-21.15, Z:2.62 [[ 9.99720431e-01 2.34289184e-02 3.18519454e-03 4.67077014e+02] [-2.34283204e-02 9.99725494e-01 -2.24932668e-04 -2.11470123e+01] [-3.18959012e-03 1.50246025e-04 9.99994902e-01 2.61926627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.550714057 meters Centerline goodness [0,1] 0.9776277406605816 Centerline is valid? [True, True] Translation: X:467.11, Y:-21.15, Z:2.62 [[ 9.99645055e-01 2.63754099e-02 3.75530765e-03 4.67106036e+02] [-2.63746030e-02 9.99652095e-01 -2.64234300e-04 -2.11487739e+01] [-3.76097045e-03 1.65095763e-04 9.99992914e-01 2.61965045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.580714057 meters Centerline goodness [0,1] 0.9789716328738769 Centerline is valid? [True, True] Translation: X:467.14, Y:-21.15, Z:2.62 [[ 9.99624729e-01 2.71406261e-02 3.71307962e-03 4.67135327e+02] [-2.71398425e-02 9.99631612e-01 -2.61283051e-04 -2.11495655e+01] [-3.71880315e-03 1.60412603e-04 9.99993072e-01 2.61854821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.610714057 meters Centerline goodness [0,1] 0.9801826762779121 Centerline is valid? [True, True] Translation: X:467.16, Y:-21.15, Z:2.62 [[ 9.99612759e-01 2.76971954e-02 2.68268040e-03 4.67164144e+02] [-2.76967878e-02 9.99616353e-01 -1.88995311e-04 -2.11502519e+01] [-2.68688584e-03 1.14620494e-04 9.99996384e-01 2.61747761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.640714057 meters Centerline goodness [0,1] 0.9791661773341163 Centerline is valid? [True, True] Translation: X:467.19, Y:-21.16, Z:2.62 [[ 9.99626237e-01 2.72428634e-02 2.28300039e-03 4.67191567e+02] [-2.72425667e-02 9.99628839e-01 -1.60970607e-04 -2.11564225e+01] [-2.28653833e-03 9.87156514e-05 9.99997381e-01 2.61646234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.670714057 meters Centerline goodness [0,1] 0.979771224977732 Centerline is valid? [True, True] Translation: X:467.22, Y:-21.16, Z:2.62 [[ 9.99658827e-01 2.59102173e-02 3.30007628e-03 4.67220062e+02] [-2.59095931e-02 9.99664263e-01 -2.31764146e-04 -2.11564513e+01] [-3.30497338e-03 1.46181441e-04 9.99994528e-01 2.61818013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.700714057 meters Centerline goodness [0,1] 0.979791349197046 Centerline is valid? [True, True] Translation: X:467.25, Y:-21.16, Z:2.62 [[ 9.99684061e-01 2.48321046e-02 3.89173807e-03 4.67248938e+02] [-2.48312300e-02 9.99691620e-01 -2.72882129e-04 -2.11597208e+01] [-3.89731417e-03 1.76159271e-04 9.99992390e-01 2.61840095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.730714057 meters Centerline goodness [0,1] 0.9805097451274363 Centerline is valid? [True, True] Translation: X:467.28, Y:-21.16, Z:2.62 [[ 9.99718212e-01 2.34564906e-02 3.64554347e-03 4.67277524e+02] [-2.34557149e-02 9.99724844e-01 -2.55415830e-04 -2.11621813e+01] [-3.65053154e-03 1.69835028e-04 9.99993322e-01 2.61852174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.76071405700003 meters Centerline goodness [0,1] 0.9759861575513831 Centerline is valid? [True, True] Translation: X:467.31, Y:-21.17, Z:2.62 [[ 9.99806307e-01 1.93982591e-02 3.32517574e-03 4.67305804e+02] [-1.93975929e-02 9.99811822e-01 -2.32479889e-04 -2.11747102e+01] [-3.32905972e-03 1.67934454e-04 9.99994445e-01 2.61725253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.790714057 meters Centerline goodness [0,1] 0.9787708977608296 Centerline is valid? [True, True] Translation: X:467.34, Y:-21.18, Z:2.62 [[ 9.99887511e-01 1.48165265e-02 2.33163050e-03 4.67335884e+02] [-1.48161870e-02 9.99890221e-01 -1.62816643e-04 -2.11763147e+01] [-2.33378691e-03 1.28252454e-04 9.99997268e-01 2.61690815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.820714057 meters Centerline goodness [0,1] 0.9773034756239795 Centerline is valid? [True, True] Translation: X:467.36, Y:-21.18, Z:2.62 [[ 9.99922124e-01 1.22968109e-02 2.12953251e-03 4.67363999e+02] [-1.22965213e-02 9.99924384e-01 -1.49064989e-04 -2.11814989e+01] [-2.13120451e-03 1.22867538e-04 9.99997721e-01 2.61570336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.850714057 meters Centerline goodness [0,1] 0.977203328593739 Centerline is valid? [True, True] Translation: X:467.39, Y:-21.19, Z:2.61 [[ 9.99944703e-01 1.03292538e-02 1.97428472e-03 4.67393532e+02] [-1.03290013e-02 9.99946645e-01 -1.38011524e-04 -2.11850893e+01] [-1.97560494e-03 1.17611503e-04 9.99998042e-01 2.61481806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.880714057 meters Centerline goodness [0,1] 0.9777421155456322 Centerline is valid? [True, True] Translation: X:467.42, Y:-21.19, Z:2.61 [[ 9.99974143e-01 7.05124736e-03 1.41161601e-03 4.67423180e+02] [-7.05111522e-03 9.99975136e-01 -9.85608501e-05 -2.11902965e+01] [-1.41227589e-03 8.86048345e-05 9.99998999e-01 2.61350058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.910714057 meters Centerline goodness [0,1] 0.9781152196592094 Centerline is valid? [True, True] Translation: X:467.45, Y:-21.19, Z:2.61 [[ 9.99980694e-01 6.10486294e-03 1.15859173e-03 4.67452367e+02] [-6.10477304e-03 9.99981362e-01 -8.11077428e-05 -2.11927107e+01] [-1.15906529e-03 7.40332374e-05 9.99999326e-01 2.61345052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.940714057 meters Centerline goodness [0,1] 0.9780781199201152 Centerline is valid? [True, True] Translation: X:467.48, Y:-21.19, Z:2.61 [[ 9.99981895e-01 6.01022152e-03 2.93579508e-04 4.67481275e+02] [-6.01021552e-03 9.99981938e-01 -2.12846231e-05 -2.11943457e+01] [-2.93702131e-04 1.95197616e-05 9.99999957e-01 2.61364744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.970714057 meters Centerline goodness [0,1] 0.9780886214187792 Centerline is valid? [True, True] Translation: X:467.51, Y:-21.20, Z:2.61 [[ 9.99966605e-01 8.04222263e-03 1.45295765e-03 4.67511541e+02] [-8.04208396e-03 9.99967657e-01 -1.01258325e-04 -2.11952434e+01] [-1.45372499e-03 8.95701365e-05 9.99998939e-01 2.61442789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.000714057 meters Centerline goodness [0,1] 0.9785769114465819 Centerline is valid? [True, True] Translation: X:467.54, Y:-21.20, Z:2.61 [[ 9.99956830e-01 9.20595531e-03 1.25999317e-03 4.67539937e+02] [-9.20585122e-03 9.99957621e-01 -8.83875790e-05 -2.11966963e+01] [-1.26075346e-03 7.67844537e-05 9.99999202e-01 2.61434467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.030714057 meters Centerline goodness [0,1] 0.9796597547068817 Centerline is valid? [True, True] Translation: X:467.57, Y:-21.20, Z:2.61 [[ 9.99945130e-01 1.03911624e-02 1.32675960e-03 4.67568484e+02] [-1.03910482e-02 9.99946007e-01 -9.29329285e-05 -2.11973102e+01] [-1.32765364e-03 7.91414064e-05 9.99999116e-01 2.61432603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.060714057 meters Centerline goodness [0,1] 0.9796597547068817 Centerline is valid? [True, True] Translation: X:467.60, Y:-21.20, Z:2.61 [[ 9.99945863e-01 1.03204218e-02 1.32676612e-03 4.67596770e+02] [-1.03203076e-02 9.99946740e-01 -9.28393351e-05 -2.11992127e+01] [-1.32765360e-03 7.91416745e-05 9.99999116e-01 2.61398391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.090714057 meters Centerline goodness [0,1] 0.9786684656183121 Centerline is valid? [True, True] Translation: X:467.63, Y:-21.20, Z:2.61 [[ 9.99921559e-01 1.24800141e-02 1.06098455e-03 4.67627053e+02] [-1.24799428e-02 9.99922120e-01 -7.37539544e-05 -2.11989869e+01] [-1.06182237e-03 6.05071425e-05 9.99999434e-01 2.61312175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.120714057 meters Centerline goodness [0,1] 0.9786515807608139 Centerline is valid? [True, True] Translation: X:467.65, Y:-21.20, Z:2.61 [[ 9.99918184e-01 1.27312072e-02 1.24127981e-03 4.67654583e+02] [-1.27311090e-02 9.99918952e-01 -8.69908794e-05 -2.12021603e+01] [-1.24228671e-03 7.11808936e-05 9.99999226e-01 2.61192274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.150714057 meters Centerline goodness [0,1] 0.9787367249455086 Centerline is valid? [True, True] Translation: X:467.68, Y:-21.20, Z:2.61 [[ 9.99920406e-01 1.25688245e-02 1.09859761e-03 4.67683392e+02] [-1.25687476e-02 9.99921007e-01 -7.68250516e-05 -2.12039730e+01] [-1.09947643e-03 6.30109407e-05 9.99999394e-01 2.61146943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.180714057 meters Centerline goodness [0,1] 0.9794890919261607 Centerline is valid? [True, True] Translation: X:467.71, Y:-21.21, Z:2.61 [[ 9.99931611e-01 1.16940059e-02 1.50322220e-04 4.67711862e+02] [-1.16940044e-02 9.99931623e-01 -1.12385271e-05 -2.12060718e+01] [-1.50443364e-04 9.47988983e-06 9.99999989e-01 2.61099535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.210714057 meters Centerline goodness [0,1] 0.9796165583432339 Centerline is valid? [True, True] Translation: X:467.74, Y:-21.21, Z:2.61 [[ 9.99937745e-01 1.10722796e-02 -1.38202601e-03 4.67740503e+02] [-1.10721595e-02 9.99938697e-01 9.45243274e-05 -2.12091506e+01] [ 1.38298788e-03 -7.92164304e-05 9.99999041e-01 2.61022675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.240714057 meters Centerline goodness [0,1] 0.9785818934443385 Centerline is valid? [True, True] Translation: X:467.77, Y:-21.21, Z:2.61 [[ 9.99941479e-01 1.05310339e-02 -2.47691813e-03 4.67769719e+02] [-1.05306453e-02 9.99944537e-01 1.69903748e-04 -2.12101221e+01] [ 2.47857001e-03 -1.43810259e-04 9.99996918e-01 2.60917743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.270714057 meters Centerline goodness [0,1] 0.9794412474475589 Centerline is valid? [True, True] Translation: X:467.80, Y:-21.21, Z:2.61 [[ 9.99944575e-01 1.00392768e-02 -3.17178636e-03 4.67798167e+02] [-1.00386370e-02 9.99949588e-01 2.17571120e-04 -2.12105462e+01] [ 3.17381072e-03 -1.85718649e-04 9.99994946e-01 2.60919197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.300714057 meters Centerline goodness [0,1] 0.9798409598214286 Centerline is valid? [True, True] Translation: X:467.83, Y:-21.21, Z:2.61 [[ 9.99945556e-01 9.87119172e-03 -3.38305544e-03 4.67825960e+02] [-9.87046474e-03 9.99951259e-01 2.31516675e-04 -2.12137219e+01] [ 3.38517589e-03 -1.98111741e-04 9.99994251e-01 2.60861644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.330714057 meters Centerline goodness [0,1] 0.9798252766453116 Centerline is valid? [True, True] Translation: X:467.86, Y:-21.21, Z:2.61 [[ 9.99946659e-01 9.45306692e-03 -4.16164956e-03 4.67855092e+02] [-9.45196221e-03 9.99955289e-01 2.85039111e-04 -2.12134910e+01] [ 4.16415798e-03 -2.45688153e-04 9.99991300e-01 2.60845026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.360714057 meters Centerline goodness [0,1] 0.9796974429500478 Centerline is valid? [True, True] Translation: X:467.88, Y:-21.22, Z:2.61 [[ 9.99947869e-01 9.14805993e-03 -4.53577054e-03 4.67882276e+02] [-9.14674756e-03 9.99958120e-01 3.09995630e-04 -2.12165343e+01] [ 4.53841644e-03 -2.68491921e-04 9.99989665e-01 2.60776345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.390714057 meters Centerline goodness [0,1] 0.9793262403091751 Centerline is valid? [True, True] Translation: X:467.91, Y:-21.22, Z:2.61 [[ 9.99945456e-01 9.49286891e-03 -4.35562123e-03 4.67910865e+02] [-9.49166222e-03 9.99954909e-01 2.97629427e-04 -2.12156971e+01] [ 4.35825018e-03 -2.56271108e-04 9.99990470e-01 2.60905006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.420714057 meters Centerline goodness [0,1] 0.979792309851249 Centerline is valid? [True, True] Translation: X:467.94, Y:-21.22, Z:2.61 [[ 9.99948668e-01 9.40432297e-03 -3.77098226e-03 4.67939442e+02] [-9.40341932e-03 9.99955754e-01 2.57291098e-04 -2.12172795e+01] [ 3.77323506e-03 -2.21817763e-04 9.99992857e-01 2.60955231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.450714057 meters Centerline goodness [0,1] 0.9793600930773706 Centerline is valid? [True, True] Translation: X:467.97, Y:-21.22, Z:2.61 [[ 9.99954878e-01 9.38349084e-03 -1.48062893e-03 4.67967638e+02] [-9.38335244e-03 9.99955970e-01 1.00397036e-04 -2.12203835e+01] [ 1.48150581e-03 -8.64992429e-05 9.99998899e-01 2.61046572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.480714057 meters Centerline goodness [0,1] 0.9797869116172802 Centerline is valid? [True, True] Translation: X:468.00, Y:-21.22, Z:2.61 [[ 9.99959832e-01 8.92695084e-03 -8.01865020e-04 4.67996197e+02] [-8.92691046e-03 9.99960153e-01 5.39207681e-05 -2.12213929e+01] [ 8.02314416e-04 -4.67604250e-05 9.99999677e-01 2.61162672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.51071405700003 meters Centerline goodness [0,1] 0.9788079160728055 Centerline is valid? [True, True] Translation: X:468.02, Y:-21.22, Z:2.61 [[ 9.99962114e-01 8.70192565e-03 -2.17604883e-04 4.68023607e+02] [-8.70192286e-03 9.99962137e-01 1.37804477e-05 -2.12248855e+01] [ 2.17716560e-04 -1.18863447e-05 9.99999976e-01 2.61175113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.540714057 meters Centerline goodness [0,1] 0.9777218493661447 Centerline is valid? [True, True] Translation: X:468.05, Y:-21.23, Z:2.61 [[ 9.99966103e-01 8.14040285e-03 1.23593914e-03 4.68051416e+02] [-8.14030366e-03 9.99966864e-01 -8.52691266e-05 -2.12271230e+01] [-1.23659231e-03 7.52053163e-05 9.99999233e-01 2.61260628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.570714057 meters Centerline goodness [0,1] 0.9784723515174083 Centerline is valid? [True, True] Translation: X:468.08, Y:-21.23, Z:2.61 [[ 9.99977156e-01 6.54399340e-03 1.69250225e-03 4.68080949e+02] [-6.54380692e-03 9.99978582e-01 -1.15696903e-04 -2.12276643e+01] [-1.69322312e-03 1.04618852e-04 9.99998561e-01 2.61214916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.600714057 meters Centerline goodness [0,1] 0.9766476508510737 Centerline is valid? [True, True] Translation: X:468.11, Y:-21.24, Z:2.61 [[ 9.99983949e-01 5.35937009e-03 1.83796500e-03 4.68108606e+02] [-5.35914771e-03 9.99985632e-01 -1.25897008e-04 -2.12368230e+01] [-1.83861332e-03 1.16045061e-04 9.99998303e-01 2.61041047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.630714057 meters Centerline goodness [0,1] 0.9776976744186047 Centerline is valid? [True, True] Translation: X:468.14, Y:-21.24, Z:2.61 [[ 9.99996779e-01 2.36182901e-03 9.29671743e-04 4.68139030e+02] [-2.36177104e-03 9.99997209e-01 -6.34471055e-05 -2.12365595e+01] [-9.29818999e-04 6.12512294e-05 9.99999566e-01 2.61002771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.660714057 meters Centerline goodness [0,1] 0.9788065604280562 Centerline is valid? [True, True] Translation: X:468.17, Y:-21.24, Z:2.61 [[ 9.99999759e-01 6.43976859e-04 2.61116005e-04 4.68169469e+02] [-6.43972243e-04 9.99999792e-01 -1.77598175e-05 -2.12387175e+01] [-2.61127388e-04 1.75916618e-05 9.99999966e-01 2.60929912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.690714057 meters Centerline goodness [0,1] 0.9772827679215011 Centerline is valid? [True, True] Translation: X:468.20, Y:-21.24, Z:2.61 [[ 9.99993457e-01 -2.97877053e-03 -2.05255058e-03 4.68199157e+02] [ 2.97906289e-03 9.99995553e-01 1.39395350e-04 -2.12437014e+01] [ 2.05212623e-03 -1.45509115e-04 9.99997884e-01 2.60768650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.720714057 meters Centerline goodness [0,1] 0.9764266839738538 Centerline is valid? [True, True] Translation: X:468.23, Y:-21.25, Z:2.61 [[ 9.99988338e-01 -4.08772324e-03 -2.57192063e-03 4.68229101e+02] [ 4.08818716e-03 9.99991628e-01 1.75149415e-04 -2.12488625e+01] [ 2.57118313e-03 -1.85661866e-04 9.99996677e-01 2.60628194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.750714057 meters Centerline goodness [0,1] 0.9768871974566635 Centerline is valid? [True, True] Translation: X:468.26, Y:-21.25, Z:2.61 [[ 9.99981290e-01 -5.48352413e-03 -2.71127795e-03 4.68260750e+02] [ 5.48404562e-03 9.99984945e-01 1.84942966e-04 -2.12500042e+01] [ 2.71022300e-03 -1.99808277e-04 9.99996307e-01 2.60531690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.780714057 meters Centerline goodness [0,1] 0.9772642477380842 Centerline is valid? [True, True] Translation: X:468.29, Y:-21.25, Z:2.61 [[ 9.99979143e-01 -5.99951611e-03 -2.39154145e-03 4.68292349e+02] [ 5.99992364e-03 9.99981987e-01 1.63267446e-04 -2.12530288e+01] [ 2.39051885e-03 -1.77613106e-04 9.99997127e-01 2.60501937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.810714057 meters Centerline goodness [0,1] 0.9762337480777297 Centerline is valid? [True, True] Translation: X:468.32, Y:-21.26, Z:2.61 [[ 9.99986183e-01 -5.08759747e-03 -1.32319253e-03 4.68323119e+02] [ 5.08772175e-03 9.99987053e-01 9.05707611e-05 -2.12561013e+01] [ 1.32271461e-03 -9.73015451e-05 9.99999120e-01 2.60589063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.840714057 meters Centerline goodness [0,1] 0.9771929824561404 Centerline is valid? [True, True] Translation: X:468.35, Y:-21.25, Z:2.61 [[ 9.99989879e-01 -4.45260987e-03 -6.44809841e-04 4.68354789e+02] [ 4.45263941e-03 9.99990086e-01 4.43839588e-05 -2.12522952e+01] [ 6.44605824e-04 -4.72546153e-05 9.99999791e-01 2.60738282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.870714057 meters Centerline goodness [0,1] 0.9760948734709123 Centerline is valid? [True, True] Translation: X:468.38, Y:-21.26, Z:2.61 [[ 9.99995282e-01 -3.06532606e-03 1.97590677e-04 4.68384962e+02] [ 3.06532874e-03 9.99995302e-01 -1.32542755e-05 -2.12567359e+01] [-1.97549120e-04 1.38598933e-05 9.99999980e-01 2.60765547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.900714057 meters Centerline goodness [0,1] 0.9748730846257743 Centerline is valid? [True, True] Translation: X:468.42, Y:-21.26, Z:2.61 [[ 9.99996340e-01 -2.69190554e-03 2.69565991e-04 4.68415809e+02] [ 2.69191043e-03 9.99996377e-01 -1.77678355e-05 -2.12612750e+01] [-2.69517184e-04 1.84934180e-05 9.99999964e-01 2.60649916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.930714057 meters Centerline goodness [0,1] 0.9754008448666185 Centerline is valid? [True, True] Translation: X:468.45, Y:-21.26, Z:2.61 [[ 9.99994497e-01 -3.12884842e-03 1.10299384e-03 4.68447322e+02] [ 3.12893291e-03 9.99995102e-01 -7.48820278e-05 -2.12627567e+01] [-1.10275414e-03 7.83328095e-05 9.99999389e-01 2.60588997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.960714057 meters Centerline goodness [0,1] 0.9762920483949926 Centerline is valid? [True, True] Translation: X:468.48, Y:-21.26, Z:2.61 [[ 9.99985653e-01 -5.29484074e-03 8.11839581e-04 4.68478776e+02] [ 5.29488714e-03 9.99985980e-01 -5.50234911e-05 -2.12621869e+01] [-8.11536859e-04 5.93213006e-05 9.99999669e-01 2.60535472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.990714057 meters Centerline goodness [0,1] 0.9768768628912071 Centerline is valid? [True, True] Translation: X:468.51, Y:-21.26, Z:2.60 [[ 9.99978439e-01 -6.55041591e-03 4.62871060e-04 4.68510302e+02] [ 6.55043095e-03 9.99978545e-01 -3.09880461e-05 -2.12636750e+01] [-4.62658145e-04 3.40193828e-05 9.99999892e-01 2.60472129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.020714057 meters Centerline goodness [0,1] 0.9703443134696921 Centerline is valid? [True, True] Translation: X:468.54, Y:-21.28, Z:2.60 [[ 9.99960549e-01 -8.81345867e-03 -1.10645904e-03 4.68539301e+02] [ 8.81354772e-03 9.99961157e-01 7.56320810e-05 -2.12792410e+01] [ 1.10574948e-03 -8.53809267e-05 9.99999385e-01 2.60091860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.050714057 meters Centerline goodness [0,1] 0.9771294292827063 Centerline is valid? [True, True] Translation: X:468.57, Y:-21.27, Z:2.60 [[ 9.99952303e-01 -9.58786001e-03 -1.86149122e-03 4.68571722e+02] [ 9.58811480e-03 9.99954025e-01 1.27999606e-04 -2.12706305e+01] [ 1.86017839e-03 -1.45841693e-04 9.99998259e-01 2.60218667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.080714057 meters Centerline goodness [0,1] 0.9679521493238997 Centerline is valid? [True, True] Translation: X:468.60, Y:-21.29, Z:2.60 [[ 9.99948632e-01 -9.89962909e-03 -2.17508434e-03 4.68601628e+02] [ 9.89997919e-03 9.99950983e-01 1.50249225e-04 -2.12854010e+01] [ 2.17349031e-03 -1.71774797e-04 9.99997623e-01 2.59906592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.110714057 meters Centerline goodness [0,1] 0.9777907112094052 Centerline is valid? [True, True] Translation: X:468.63, Y:-21.28, Z:2.60 [[ 9.99944875e-01 -9.97849103e-03 -3.26748494e-03 4.68634749e+02] [ 9.97927911e-03 9.99950180e-01 2.24973837e-04 -2.12754999e+01] [ 3.26507725e-03 -2.57568580e-04 9.99994636e-01 2.60009769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.140714057 meters Centerline goodness [0,1] 0.9770195148047357 Centerline is valid? [True, True] Translation: X:468.67, Y:-21.28, Z:2.60 [[ 9.99950448e-01 -9.16814334e-03 -3.87901299e-03 4.68667210e+02] [ 9.16924835e-03 9.99957926e-01 2.67180181e-04 -2.12780164e+01] [ 3.87640024e-03 -3.02734575e-04 9.99992441e-01 2.59902533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.170714057 meters Centerline goodness [0,1] 0.977873429502094 Centerline is valid? [True, True] Translation: X:468.70, Y:-21.28, Z:2.60 [[ 9.99950988e-01 -8.88070150e-03 -4.37663292e-03 4.68699544e+02] [ 8.88210635e-03 9.99960508e-01 3.01656779e-04 -2.12796932e+01] [ 4.37378115e-03 -3.40515713e-04 9.99990377e-01 2.59826552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.200714057 meters Centerline goodness [0,1] 0.9805240134028295 Centerline is valid? [True, True] Translation: X:468.73, Y:-21.28, Z:2.60 [[ 9.99960056e-01 -7.58514945e-03 -4.72777826e-03 4.68731304e+02] [ 7.58677289e-03 9.99971167e-01 3.25543115e-04 -2.12777160e+01] [ 4.72517265e-03 -3.61398691e-04 9.99988771e-01 2.59862134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.230714057 meters Centerline goodness [0,1] 0.9773160858033596 Centerline is valid? [True, True] Translation: X:468.76, Y:-21.29, Z:2.60 [[ 9.99962728e-01 -7.38974524e-03 -4.46482788e-03 4.68761742e+02] [ 7.39119332e-03 9.99972637e-01 3.07916818e-04 -2.12850218e+01] [ 4.46243028e-03 -3.40905748e-04 9.99989985e-01 2.59745867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.26071405700003 meters Centerline goodness [0,1] 0.9776484284051222 Centerline is valid? [True, True] Translation: X:468.79, Y:-21.29, Z:2.60 [[ 9.99970248e-01 -6.81574157e-03 -3.61229237e-03 4.68792931e+02] [ 6.81668578e-03 9.99976735e-01 2.49139090e-04 -2.12872203e+01] [ 3.61051027e-03 -2.73755539e-04 9.99993445e-01 2.59793703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.290714057 meters Centerline goodness [0,1] 0.9777819137798665 Centerline is valid? [True, True] Translation: X:468.82, Y:-21.29, Z:2.60 [[ 9.99974601e-01 -6.39017954e-03 -3.15656369e-03 4.68824123e+02] [ 6.39089894e-03 9.99979554e-01 2.17870246e-04 -2.12889846e+01] [ 3.15510692e-03 -2.38037992e-04 9.99994994e-01 2.59818882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.320714057 meters Centerline goodness [0,1] 0.9775354061533452 Centerline is valid? [True, True] Translation: X:468.86, Y:-21.29, Z:2.60 [[ 9.99979791e-01 -5.79565987e-03 -2.61317106e-03 4.68855589e+02] [ 5.79615133e-03 9.99983186e-01 1.80536604e-04 -2.12877507e+01] [ 2.61208079e-03 -1.95679290e-04 9.99996569e-01 2.59908715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.350714057 meters Centerline goodness [0,1] 0.9775534940096032 Centerline is valid? [True, True] Translation: X:468.89, Y:-21.29, Z:2.60 [[ 9.99985137e-01 -5.06376451e-03 -2.02091298e-03 4.68887500e+02] [ 5.06405780e-03 9.99987168e-01 1.40041532e-04 -2.12886333e+01] [ 2.02017791e-03 -1.50273471e-04 9.99997948e-01 2.59926499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.380714057 meters Centerline goodness [0,1] 0.9782497082847141 Centerline is valid? [True, True] Translation: X:468.92, Y:-21.29, Z:2.60 [[ 9.99987336e-01 -4.65810838e-03 -1.90532937e-03 4.68919028e+02] [ 4.65836816e-03 9.99989141e-01 1.31926353e-04 -2.12880939e+01] [ 1.90469415e-03 -1.40800408e-04 9.99998176e-01 2.59971928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.410714057 meters Centerline goodness [0,1] 0.9778672500465463 Centerline is valid? [True, True] Translation: X:468.95, Y:-21.29, Z:2.60 [[ 9.99988214e-01 -4.60333939e-03 -1.54304280e-03 4.68950490e+02] [ 4.60351029e-03 9.99989398e-01 1.07218664e-04 -2.12921083e+01] [ 1.54253287e-03 -1.14320814e-04 9.99998804e-01 2.59887417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.440714057 meters Centerline goodness [0,1] 0.9770517036311481 Centerline is valid? [True, True] Translation: X:468.98, Y:-21.29, Z:2.60 [[ 9.99980836e-01 -5.93900774e-03 -1.74802101e-03 4.68982240e+02] [ 5.93923025e-03 9.99982355e-01 1.22128764e-04 -2.12945289e+01] [ 1.74726484e-03 -1.32508323e-04 9.99998465e-01 2.59749057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.470714057 meters Centerline goodness [0,1] 0.9765324889996042 Centerline is valid? [True, True] Translation: X:469.01, Y:-21.30, Z:2.60 [[ 9.99972257e-01 -7.16797132e-03 -2.02613418e-03 4.69012827e+02] [ 7.16827143e-03 9.99974298e-01 1.40896007e-04 -2.13006355e+01] [ 2.02507217e-03 -1.55415977e-04 9.99997937e-01 2.59571580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.500714057 meters Centerline goodness [0,1] 0.9757509277195603 Centerline is valid? [True, True] Translation: X:469.04, Y:-21.31, Z:2.59 [[ 9.99941127e-01 -1.04022202e-02 -3.08813934e-03 4.69043645e+02] [ 1.04029298e-02 9.99945865e-01 2.13821526e-04 -2.13053059e+01] [ 3.08574795e-03 -2.45934635e-04 9.99995209e-01 2.59411130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.530714057 meters Centerline goodness [0,1] 0.9740302050124496 Centerline is valid? [True, True] Translation: X:469.07, Y:-21.31, Z:2.59 [[ 9.99902441e-01 -1.36703672e-02 -2.86871513e-03 4.69073770e+02] [ 1.36709930e-02 9.99906528e-01 1.98643124e-04 -2.13103738e+01] [ 2.86573147e-03 -2.37841929e-04 9.99995865e-01 2.59355760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.560714057 meters Centerline goodness [0,1] 0.9748748399115147 Centerline is valid? [True, True] Translation: X:469.11, Y:-21.31, Z:2.59 [[ 9.99892826e-01 -1.44420270e-02 -2.40097095e-03 4.69106186e+02] [ 1.44424699e-02 9.99895688e-01 1.67257321e-04 -2.13125589e+01] [ 2.39830496e-03 -2.01915347e-04 9.99997104e-01 2.59359725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.590714057 meters Centerline goodness [0,1] 0.9741537745725253 Centerline is valid? [True, True] Translation: X:469.14, Y:-21.32, Z:2.59 [[ 9.99885879e-01 -1.49682813e-02 -2.04422687e-03 4.69136962e+02] [ 1.49686036e-02 9.99887954e-01 1.42424921e-04 -2.13178972e+01] [ 2.04186596e-03 -1.73007889e-04 9.99997900e-01 2.59332997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.620714057 meters Centerline goodness [0,1] 0.9743047650024395 Centerline is valid? [True, True] Translation: X:469.17, Y:-21.32, Z:2.59 [[ 9.99903220e-01 -1.38647617e-02 -1.14828616e-03 4.69168376e+02] [ 1.38648628e-02 9.99903875e-01 8.01115794e-05 -2.13194939e+01] [ 1.14706505e-03 -9.60246562e-05 9.99999338e-01 2.59391276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.650714057 meters Centerline goodness [0,1] 0.9737587664297989 Centerline is valid? [True, True] Translation: X:469.20, Y:-21.32, Z:2.59 [[ 9.99917347e-01 -1.27905017e-02 -1.30484755e-03 4.69200159e+02] [ 1.27906319e-02 9.99918192e-01 9.14819440e-05 -2.13201666e+01] [ 1.30357070e-03 -1.08164207e-04 9.99999145e-01 2.59338936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.680714057 meters Centerline goodness [0,1] 0.9760061024941633 Centerline is valid? [True, True] Translation: X:469.23, Y:-21.32, Z:2.59 [[ 9.99965009e-01 -8.17245860e-03 -1.78629797e-03 4.69230192e+02] [ 8.17269318e-03 9.99966595e-01 1.24062985e-04 -2.13213586e+01] [ 1.78522440e-03 -1.38657509e-04 9.99998397e-01 2.59199571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.710714057 meters Centerline goodness [0,1] 0.9772542080879101 Centerline is valid? [True, True] Translation: X:469.26, Y:-21.32, Z:2.59 [[ 9.99982030e-01 -5.65903892e-03 -1.97878162e-03 4.69261786e+02] [ 5.65932242e-03 9.99983976e-01 1.37696933e-04 -2.13175908e+01] [ 1.97797068e-03 -1.48893022e-04 9.99998033e-01 2.59181699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.740714057 meters Centerline goodness [0,1] 0.9780750910619221 Centerline is valid? [True, True] Translation: X:469.29, Y:-21.31, Z:2.59 [[ 9.99992801e-01 1.13577257e-03 -3.62039333e-03 4.69293133e+02] [-1.13486893e-03 9.99999324e-01 2.51641669e-04 -2.13146721e+01] [ 3.62067669e-03 -2.47531186e-04 9.99993415e-01 2.59088890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.770714057 meters Centerline goodness [0,1] 0.977474641483036 Centerline is valid? [True, True] Translation: X:469.32, Y:-21.32, Z:2.59 [[ 9.99980267e-01 4.97288860e-03 -3.83870510e-03 4.69322486e+02] [-4.97190247e-03 9.99987605e-01 2.66389154e-04 -2.13201767e+01] [ 3.83998224e-03 -2.47298230e-04 9.99992597e-01 2.58850024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.800714057 meters Centerline goodness [0,1] 0.9789789086823193 Centerline is valid? [True, True] Translation: X:469.35, Y:-21.32, Z:2.59 [[ 9.99912067e-01 1.28860363e-02 -3.13174909e-03 4.69353439e+02] [-1.28854181e-02 9.99916956e-01 2.17506196e-04 -2.13161328e+01] [ 3.13429181e-03 -1.77133174e-04 9.99995072e-01 2.58846872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.830714057 meters Centerline goodness [0,1] 0.9796559321239394 Centerline is valid? [True, True] Translation: X:469.38, Y:-21.32, Z:2.59 [[ 9.99860087e-01 1.65007641e-02 -2.74418576e-03 4.69382334e+02] [-1.65003042e-02 9.99863843e-01 1.90123510e-04 -2.13151949e+01] [ 2.74694931e-03 -1.44817010e-04 9.99996217e-01 2.58837971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.860714057 meters Centerline goodness [0,1] 0.9798772890759068 Centerline is valid? [True, True] Translation: X:469.41, Y:-21.31, Z:2.59 [[ 9.99759871e-01 2.18402824e-02 -1.78966717e-03 4.69413830e+02] [-2.18400950e-02 9.99761469e-01 1.24210121e-04 -2.13076537e+01] [ 1.79195307e-03 -8.50937932e-05 9.99998391e-01 2.59043532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.890714057 meters Centerline goodness [0,1] 0.9805754379355811 Centerline is valid? [True, True] Translation: X:469.44, Y:-21.31, Z:2.59 [[ 9.99725703e-01 2.34085395e-02 -7.47788582e-04 4.69441505e+02] [-2.34085084e-02 9.99725982e-01 5.03879631e-05 -2.13100569e+01] [ 7.48763183e-04 -3.28695265e-05 9.99999719e-01 2.59040135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.920714057 meters Centerline goodness [0,1] 0.9809134287661895 Centerline is valid? [True, True] Translation: X:469.47, Y:-21.31, Z:2.59 [[ 9.99720870e-01 2.36241021e-02 2.90774410e-04 4.69470108e+02] [-2.36240970e-02 9.99720912e-01 -2.09708531e-05 -2.13121483e+01] [-2.91188676e-04 1.40957166e-05 9.99999958e-01 2.59084725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.950714057 meters Centerline goodness [0,1] 0.9799102422519326 Centerline is valid? [True, True] Translation: X:469.50, Y:-21.32, Z:2.59 [[ 9.99762979e-01 2.17623814e-02 6.20311806e-04 4.69497824e+02] [-2.17623584e-02 9.99763171e-01 -4.39265994e-05 -2.13177169e+01] [-6.21120846e-04 3.04167400e-05 9.99999807e-01 2.58994376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.980714057 meters Centerline goodness [0,1] 0.9799102422519326 Centerline is valid? [True, True] Translation: X:469.53, Y:-21.32, Z:2.59 [[ 9.99765188e-01 2.16606752e-02 6.20302684e-04 4.69525248e+02] [-2.16606520e-02 9.99765380e-01 -4.40593756e-05 -2.13195178e+01] [-6.21111504e-04 3.06128693e-05 9.99999807e-01 2.58961202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.01071405700003 meters Centerline goodness [0,1] 0.9785075047565358 Centerline is valid? [True, True] Translation: X:469.55, Y:-21.33, Z:2.59 [[ 9.99874933e-01 1.58113645e-02 3.44572149e-04 4.69554384e+02] [-1.58113572e-02 9.99874992e-01 -2.39932084e-05 -2.13299359e+01] [-3.44908441e-04 1.85420543e-05 9.99999940e-01 2.58811607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.040714057 meters Centerline goodness [0,1] 0.9784530000233193 Centerline is valid? [True, True] Translation: X:469.58, Y:-21.34, Z:2.59 [[ 9.99962331e-01 8.66050437e-03 -5.77244381e-04 4.69584058e+02] [-8.66048292e-03 9.99962497e-01 3.96482748e-05 -2.13374000e+01] [ 5.77566107e-04 -3.46475662e-05 9.99999833e-01 2.58702008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.070714057 meters Centerline goodness [0,1] 0.9780106911926049 Centerline is valid? [True, True] Translation: X:469.61, Y:-21.34, Z:2.59 [[ 9.99987875e-01 4.68921983e-03 -1.50369585e-03 4.69613947e+02] [-4.68906918e-03 9.99989001e-01 1.03697268e-04 -2.13433307e+01] [ 1.50416557e-03 -9.66450766e-05 9.99998864e-01 2.58635376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.100714057 meters Centerline goodness [0,1] 0.9757352769950866 Centerline is valid? [True, True] Translation: X:469.64, Y:-21.35, Z:2.58 [[ 9.99995606e-01 -2.18665460e-03 -2.00166143e-03 4.69642083e+02] [ 2.18693456e-03 9.99997599e-01 1.37683140e-04 -2.13538279e+01] [ 2.00135556e-03 -1.42060038e-04 9.99997987e-01 2.58469168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.130714057 meters Centerline goodness [0,1] 0.9784164277556348 Centerline is valid? [True, True] Translation: X:469.67, Y:-21.35, Z:2.59 [[ 9.99985983e-01 -4.76194746e-03 -2.31452336e-03 4.69672796e+02] [ 4.76233073e-03 9.99988647e-01 1.60110788e-04 -2.13514225e+01] [ 2.31373464e-03 -1.71131069e-04 9.99997309e-01 2.58554918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.160714057 meters Centerline goodness [0,1] 0.9741073292963041 Centerline is valid? [True, True] Translation: X:469.70, Y:-21.37, Z:2.58 [[ 9.99958421e-01 -8.52984793e-03 -3.22455562e-03 4.69701257e+02] [ 8.53060885e-03 9.99963589e-01 2.22296355e-04 -2.13675334e+01] [ 3.22254205e-03 -2.49794535e-04 9.99994776e-01 2.58205874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.190714057 meters Centerline goodness [0,1] 0.9742735517305201 Centerline is valid? [True, True] Translation: X:469.73, Y:-21.37, Z:2.58 [[ 9.99945957e-01 -9.75751354e-03 -3.58799370e-03 4.69732377e+02] [ 9.75846614e-03 9.99952354e-01 2.48084746e-04 -2.13682026e+01] [ 3.58540205e-03 -2.83084653e-04 9.99993532e-01 2.58216172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.220714057 meters Centerline goodness [0,1] 0.9759529705834703 Centerline is valid? [True, True] Translation: X:469.76, Y:-21.37, Z:2.58 [[ 9.99929281e-01 -1.13964174e-02 -3.39917663e-03 4.69763847e+02] [ 1.13972824e-02 9.99935021e-01 2.35189361e-04 -2.13668750e+01] [ 3.39627544e-03 -2.73914105e-04 9.99994195e-01 2.58255300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.250714057 meters Centerline goodness [0,1] 0.9756001665201905 Centerline is valid? [True, True] Translation: X:469.79, Y:-21.37, Z:2.58 [[ 9.99927042e-01 -1.15210388e-02 -3.62988012e-03 4.69794366e+02] [ 1.15220273e-02 9.99933588e-01 2.51532907e-04 -2.13710462e+01] [ 3.62674113e-03 -2.93338134e-04 9.99993380e-01 2.58240535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.280714057 meters Centerline goodness [0,1] 0.975464236986333 Centerline is valid? [True, True] Translation: X:469.83, Y:-21.37, Z:2.58 [[ 9.99930188e-01 -1.11011172e-02 -4.04771768e-03 4.69826880e+02] [ 1.11023447e-02 9.99938328e-01 2.80898127e-04 -2.13734107e+01] [ 4.04434976e-03 -3.25817674e-04 9.99991769e-01 2.58166562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.310714057 meters Centerline goodness [0,1] 0.9740981640372728 Centerline is valid? [True, True] Translation: X:469.86, Y:-21.38, Z:2.58 [[ 9.99941887e-01 -1.02310740e-02 -3.39813461e-03 4.69857726e+02] [ 1.02319388e-02 9.99947624e-01 2.37201292e-04 -2.13790107e+01] [ 3.39552981e-03 -2.71957013e-04 9.99994198e-01 2.58093881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.340714057 meters Centerline goodness [0,1] 0.9749689126329848 Centerline is valid? [True, True] Translation: X:469.89, Y:-21.38, Z:2.58 [[ 9.99956653e-01 -8.87646877e-03 -2.81073869e-03 4.69889255e+02] [ 8.87705276e-03 9.99960579e-01 1.95362655e-04 -2.13805843e+01] [ 2.80889376e-03 -2.20305262e-04 9.99996031e-01 2.58155841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.370714057 meters Centerline goodness [0,1] 0.973807707423076 Centerline is valid? [True, True] Translation: X:469.92, Y:-21.38, Z:2.58 [[ 9.99962129e-01 -8.27250445e-03 -2.70318977e-03 4.69920489e+02] [ 8.27304269e-03 9.99965760e-01 1.87989840e-04 -2.13836937e+01] [ 2.70154207e-03 -2.10346325e-04 9.99996329e-01 2.58099547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.400714057 meters Centerline goodness [0,1] 0.9736738794078932 Centerline is valid? [True, True] Translation: X:469.95, Y:-21.39, Z:2.58 [[ 9.99973548e-01 -7.01852210e-03 -1.90868370e-03 4.69951812e+02] [ 7.01878853e-03 9.99975359e-01 1.32927088e-04 -2.13854484e+01] [ 1.90770372e-03 -1.46320219e-04 9.99998170e-01 2.58096242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.430714057 meters Centerline goodness [0,1] 0.9738999884513223 Centerline is valid? [True, True] Translation: X:469.98, Y:-21.39, Z:2.58 [[ 9.99975820e-01 -6.62362199e-03 -2.11815974e-03 4.69982556e+02] [ 6.62394979e-03 9.99978050e-01 1.47779996e-04 -2.13889954e+01] [ 2.11713441e-03 -1.61807007e-04 9.99997746e-01 2.58045801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.460714057 meters Centerline goodness [0,1] 0.9738651042627791 Centerline is valid? [True, True] Translation: X:470.01, Y:-21.39, Z:2.58 [[ 9.99976222e-01 -6.22302617e-03 -2.97148019e-03 4.70014618e+02] [ 6.22366997e-03 9.99980611e-01 2.07464813e-04 -2.13922527e+01] [ 2.97013152e-03 -2.25953392e-04 9.99995564e-01 2.57896998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.490714057 meters Centerline goodness [0,1] 0.9751706012541498 Centerline is valid? [True, True] Translation: X:470.05, Y:-21.39, Z:2.58 [[ 9.99973084e-01 -6.54613875e-03 -3.31346757e-03 4.70046086e+02] [ 6.54693980e-03 9.99978542e-01 2.30967637e-04 -2.13908753e+01] [ 3.31188452e-03 -2.52654493e-04 9.99994484e-01 2.57878644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.520714057 meters Centerline goodness [0,1] 0.977290578940073 Centerline is valid? [True, True] Translation: X:470.08, Y:-21.39, Z:2.58 [[ 9.99966822e-01 -7.15710031e-03 -3.88979958e-03 4.70077750e+02] [ 7.15820916e-03 9.99974343e-01 2.71218799e-04 -2.13905370e+01] [ 3.88775863e-03 -2.99053799e-04 9.99992398e-01 2.57837349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.550714057 meters Centerline goodness [0,1] 0.9773051604290384 Centerline is valid? [True, True] Translation: X:470.11, Y:-21.39, Z:2.58 [[ 9.99964530e-01 -7.58464433e-03 -3.66217551e-03 4.70108729e+02] [ 7.58563063e-03 9.99971196e-01 2.55506731e-04 -2.13920245e+01] [ 3.66013209e-03 -2.83277579e-04 9.99993262e-01 2.57786284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.580714057 meters Centerline goodness [0,1] 0.9774763363349531 Centerline is valid? [True, True] Translation: X:470.14, Y:-21.39, Z:2.58 [[ 9.99955610e-01 -8.78355085e-03 -3.40995767e-03 4.70140451e+02] [ 8.78441345e-03 9.99961388e-01 2.38069574e-04 -2.13931989e+01] [ 3.40773491e-03 -2.68013484e-04 9.99994158e-01 2.57865753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.610714057 meters Centerline goodness [0,1] 0.9733865602129075 Centerline is valid? [True, True] Translation: X:470.17, Y:-21.41, Z:2.58 [[ 9.99948604e-01 -9.58323602e-03 -3.30908436e-03 4.70170455e+02] [ 9.58405404e-03 9.99954045e-01 2.31436154e-04 -2.14084187e+01] [ 3.30671438e-03 -2.63138702e-04 9.99994498e-01 2.57565398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.640714057 meters Centerline goodness [0,1] 0.9766182907164248 Centerline is valid? [True, True] Translation: X:470.20, Y:-21.40, Z:2.58 [[ 9.99929251e-01 -1.14453355e-02 -3.23999770e-03 4.70202387e+02] [ 1.14461292e-02 9.99934465e-01 2.26507906e-04 -2.14032995e+01] [ 3.23719291e-03 -2.63577313e-04 9.99994726e-01 2.57749977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.670714057 meters Centerline goodness [0,1] 0.9775079754882835 Centerline is valid? [True, True] Translation: X:470.24, Y:-21.40, Z:2.58 [[ 9.99921552e-01 -1.21952238e-02 -2.85783429e-03 4.70235021e+02] [ 1.21958463e-02 9.99925608e-01 2.00499357e-04 -2.14034532e+01] [ 2.85517655e-03 -2.35337336e-04 9.99995896e-01 2.57794488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.700714057 meters Centerline goodness [0,1] 0.9760976281139606 Centerline is valid? [True, True] Translation: X:470.27, Y:-21.41, Z:2.58 [[ 9.99907814e-01 -1.34870792e-02 -1.56889916e-03 4.70265634e+02] [ 1.34872688e-02 9.99909037e-01 1.10327666e-04 -2.14127413e+01] [ 1.56726845e-03 -1.31477660e-04 9.99998763e-01 2.57746474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.730714057 meters Centerline goodness [0,1] 0.975443508594772 Centerline is valid? [True, True] Translation: X:470.30, Y:-21.42, Z:2.58 [[ 9.99909678e-01 -1.34339985e-02 -4.03379827e-04 4.70297719e+02] [ 1.34340113e-02 9.99909759e-01 2.90734421e-05 -2.14170565e+01] [ 4.02952854e-04 -3.44898253e-05 9.99999918e-01 2.57761106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.76071405700003 meters Centerline goodness [0,1] 0.9739840746842394 Centerline is valid? [True, True] Translation: X:470.33, Y:-21.42, Z:2.58 [[ 9.99912287e-01 -1.32417629e-02 2.72453557e-04 4.70329685e+02] [ 1.32417684e-02 9.99912324e-01 -1.82419108e-05 -2.14211616e+01] [-2.72188114e-04 2.18480776e-05 9.99999963e-01 2.57732163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.790714057 meters Centerline goodness [0,1] 0.9754113387414639 Centerline is valid? [True, True] Translation: X:470.36, Y:-21.42, Z:2.58 [[ 9.99921232e-01 -1.25404338e-02 5.17317644e-04 4.70361649e+02] [ 1.25404538e-02 9.99921365e-01 -3.54182231e-05 -2.14224541e+01] [-5.16832805e-04 4.19028313e-05 9.99999866e-01 2.57681288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.820714057 meters Centerline goodness [0,1] 0.9756432875833467 Centerline is valid? [True, True] Translation: X:470.39, Y:-21.43, Z:2.58 [[ 9.99939875e-01 -1.09568540e-02 -4.40700775e-04 4.70391541e+02] [ 1.09568692e-02 9.99939971e-01 3.22176725e-05 -2.14284657e+01] [ 4.40321316e-04 -3.70444362e-05 9.99999902e-01 2.57513427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.850714057 meters Centerline goodness [0,1] 0.9760045662100456 Centerline is valid? [True, True] Translation: X:470.42, Y:-21.43, Z:2.57 [[ 9.99950194e-01 -9.91402835e-03 -1.14921258e-03 4.70422592e+02] [ 9.91412838e-03 9.99950851e-01 8.13808322e-05 -2.14324135e+01] [ 1.14834929e-03 -9.27702201e-05 9.99999336e-01 2.57351309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.880714057 meters Centerline goodness [0,1] 0.9758413214065109 Centerline is valid? [True, True] Translation: X:470.45, Y:-21.44, Z:2.57 [[ 9.99961584e-01 -8.45173020e-03 -2.32370561e-03 4.70453360e+02] [ 8.45213348e-03 9.99964267e-01 1.63787029e-04 -2.14364103e+01] [ 2.32223829e-03 -1.83421007e-04 9.99997287e-01 2.57124316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.910714057 meters Centerline goodness [0,1] 0.9765466212975862 Centerline is valid? [True, True] Translation: X:470.49, Y:-21.43, Z:2.57 [[ 9.99967332e-01 -7.76450162e-03 -2.24649165e-03 4.70486119e+02] [ 7.76487821e-03 9.99969840e-01 1.58961116e-04 -2.14338414e+01] [ 2.24518964e-03 -1.76399657e-04 9.99997464e-01 2.57137956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.940714057 meters Centerline goodness [0,1] 0.9758301281321833 Centerline is valid? [True, True] Translation: X:470.52, Y:-21.44, Z:2.57 [[ 9.99970507e-01 -6.99290940e-03 -3.17553035e-03 4.70516880e+02] [ 6.99365675e-03 9.99975519e-01 2.24301063e-04 -2.14449884e+01] [ 3.17388409e-03 -2.46503017e-04 9.99994933e-01 2.56813836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.970714057 meters Centerline goodness [0,1] 0.9787083684774431 Centerline is valid? [True, True] Translation: X:470.55, Y:-21.44, Z:2.57 [[ 9.99973067e-01 -6.36589017e-03 -3.65255435e-03 4.70548821e+02] [ 6.36687412e-03 9.99979698e-01 2.57822971e-04 -2.14379926e+01] [ 3.65083892e-03 -2.81071381e-04 9.99993296e-01 2.56895712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.000714057 meters Centerline goodness [0,1] 0.9784221787226294 Centerline is valid? [True, True] Translation: X:470.58, Y:-21.44, Z:2.57 [[ 9.99974454e-01 -5.39397892e-03 -4.68992898e-03 4.70579667e+02] [ 5.39559074e-03 9.99985389e-01 3.31091863e-04 -2.14406962e+01] [ 4.68807456e-03 -3.56388343e-04 9.99988947e-01 2.56788126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.030714057 meters Centerline goodness [0,1] 0.9761996772067014 Centerline is valid? [True, True] Translation: X:470.61, Y:-21.46, Z:2.56 [[ 9.99975060e-01 -4.84308390e-03 -5.14036843e-03 4.70609295e+02] [ 4.84501210e-03 9.99988197e-01 3.62723122e-04 -2.14550005e+01] [ 5.13855106e-03 -3.87619223e-04 9.99986722e-01 2.56470855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.060714057 meters Centerline goodness [0,1] 0.9784586688503708 Centerline is valid? [True, True] Translation: X:470.64, Y:-21.45, Z:2.57 [[ 9.99978520e-01 -4.60924761e-03 -4.65980305e-03 4.70640490e+02] [ 4.61082871e-03 9.99989316e-01 3.28619243e-04 -2.14477091e+01] [ 4.65823858e-03 -3.50097738e-04 9.99989089e-01 2.56670765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.090714057 meters Centerline goodness [0,1] 0.9778182646322022 Centerline is valid? [True, True] Translation: X:470.67, Y:-21.45, Z:2.57 [[ 9.99983410e-01 -4.19365981e-03 -3.94882011e-03 4.70670655e+02] [ 4.19479201e-03 9.99991163e-01 2.78479211e-04 -2.14497667e+01] [ 3.94761737e-03 -2.95039070e-04 9.99992165e-01 2.56677131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.120714057 meters Centerline goodness [0,1] 0.9790864563162092 Centerline is valid? [True, True] Translation: X:470.70, Y:-21.45, Z:2.57 [[ 9.99992860e-01 -2.57365905e-03 -2.76681384e-03 4.70700561e+02] [ 2.57420872e-03 9.99996668e-01 1.95121609e-04 -2.14529193e+01] [ 2.76630245e-03 -2.02242573e-04 9.99996153e-01 2.56773405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.150714057 meters Centerline goodness [0,1] 0.9787156548066198 Centerline is valid? [True, True] Translation: X:470.73, Y:-21.46, Z:2.57 [[ 9.99995800e-01 -1.89869920e-03 -2.18995168e-03 4.70729905e+02] [ 1.89904240e-03 9.99998185e-01 1.54647307e-04 -2.14556989e+01] [ 2.18965407e-03 -1.58805468e-04 9.99997590e-01 2.56764283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.180714057 meters Centerline goodness [0,1] 0.9771770541788973 Centerline is valid? [True, True] Translation: X:470.76, Y:-21.46, Z:2.57 [[ 9.99997151e-01 -1.85702841e-03 -1.49979867e-03 4.70760065e+02] [ 1.85718915e-03 9.99998270e-01 1.05790867e-04 -2.14575278e+01] [ 1.49959962e-03 -1.08575975e-04 9.99998870e-01 2.56740755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.210714057 meters Centerline goodness [0,1] 0.9774473810229631 Centerline is valid? [True, True] Translation: X:470.79, Y:-21.46, Z:2.57 [[ 9.99995903e-01 -2.57850257e-03 -1.24342070e-03 4.70790044e+02] [ 2.57861389e-03 9.99996672e-01 8.79345905e-05 -2.14626443e+01] [ 1.24318982e-03 -9.11405321e-05 9.99999223e-01 2.56700994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.240714057 meters Centerline goodness [0,1] 0.977075080817739 Centerline is valid? [True, True] Translation: X:470.82, Y:-21.47, Z:2.57 [[ 9.99994069e-01 -3.26066310e-03 -1.10944900e-03 4.70820643e+02] [ 3.26075219e-03 9.99994681e-01 7.85002658e-05 -2.14660812e+01] [ 1.10918713e-03 -8.21174384e-05 9.99999381e-01 2.56637780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.270714057 meters Centerline goodness [0,1] 0.9780965391621129 Centerline is valid? [True, True] Translation: X:470.85, Y:-21.47, Z:2.57 [[ 9.99985817e-01 -4.88018486e-03 -2.13306758e-03 4.70852036e+02] [ 4.88051806e-03 9.99988079e-01 1.51031021e-04 -2.14664288e+01] [ 2.13230510e-03 -1.61439353e-04 9.99997714e-01 2.56533637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.300714057 meters Centerline goodness [0,1] 0.9783805925993355 Centerline is valid? [True, True] Translation: X:470.88, Y:-21.47, Z:2.56 [[ 9.99980728e-01 -5.73753682e-03 -2.37158150e-03 4.70883381e+02] [ 5.73795119e-03 9.99983524e-01 1.67953505e-04 -2.14704163e+01] [ 2.37057879e-03 -1.81558287e-04 9.99997174e-01 2.56420090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.330714057 meters Centerline goodness [0,1] 0.9780404637417595 Centerline is valid? [True, True] Translation: X:470.91, Y:-21.47, Z:2.56 [[ 9.99970629e-01 -6.97726331e-03 -3.17154879e-03 4.70914560e+02] [ 6.97801047e-03 9.99975628e-01 2.24576226e-04 -2.14740407e+01] [ 3.16990457e-03 -2.46700731e-04 9.99994945e-01 2.56320185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.360714057 meters Centerline goodness [0,1] 0.9772278351685776 Centerline is valid? [True, True] Translation: X:470.95, Y:-21.48, Z:2.56 [[ 9.99968255e-01 -7.12582211e-03 -3.56523971e-03 4.70945767e+02] [ 7.12676844e-03 9.99974572e-01 2.52798813e-04 -2.14777893e+01] [ 3.56334766e-03 -2.78199426e-04 9.99993613e-01 2.56283250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.390714057 meters Centerline goodness [0,1] 0.9776672119229372 Centerline is valid? [True, True] Translation: X:470.98, Y:-21.48, Z:2.56 [[ 9.99968238e-01 -7.09501346e-03 -3.63087455e-03 4.70977386e+02] [ 7.09599439e-03 9.99974790e-01 2.57352116e-04 -2.14798251e+01] [ 3.62895710e-03 -2.83108608e-04 9.99993375e-01 2.56266195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.420714057 meters Centerline goodness [0,1] 0.9774126843456723 Centerline is valid? [True, True] Translation: X:471.01, Y:-21.48, Z:2.56 [[ 9.99973626e-01 -6.49802724e-03 -3.24389976e-03 4.71008025e+02] [ 6.49881199e-03 9.99978856e-01 2.31430982e-04 -2.14835246e+01] [ 3.24232732e-03 -2.52506372e-04 9.99994712e-01 2.56186770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.450714057 meters Centerline goodness [0,1] 0.977115559599636 Centerline is valid? [True, True] Translation: X:471.04, Y:-21.48, Z:2.56 [[ 9.99981624e-01 -5.55745208e-03 -2.42204039e-03 4.71039474e+02] [ 5.55788538e-03 9.99984540e-01 1.72201780e-04 -2.14816064e+01] [ 2.42104594e-03 -1.85660039e-04 9.99997052e-01 2.56252023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.480714057 meters Centerline goodness [0,1] 0.9778765094554568 Centerline is valid? [True, True] Translation: X:471.07, Y:-21.48, Z:2.56 [[ 9.99992785e-01 -3.29988603e-03 -1.88145640e-03 4.71069088e+02] [ 3.30014244e-03 9.99994546e-01 1.33194935e-04 -2.14818598e+01] [ 1.88100661e-03 -1.39403048e-04 9.99998221e-01 2.56250991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.51071405700003 meters Centerline goodness [0,1] 0.9791133455210238 Centerline is valid? [True, True] Translation: X:471.10, Y:-21.48, Z:2.56 [[ 9.99995912e-01 -1.69477698e-03 -2.30316481e-03 4.71100554e+02] [ 1.69515817e-03 9.99998550e-01 1.63565303e-04 -2.14752701e+01] [ 2.30288427e-03 -1.67468863e-04 9.99997334e-01 2.56365711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.540714057 meters Centerline goodness [0,1] 0.9780295385744427 Centerline is valid? [True, True] Translation: X:471.13, Y:-21.47, Z:2.56 [[ 9.99996742e-01 1.26528537e-03 -2.21693581e-03 4.71130790e+02] [-1.26494046e-03 9.99999188e-01 1.56971651e-04 -2.14711552e+01] [ 2.21713263e-03 -1.54166848e-04 9.99997530e-01 2.56365549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.570714057 meters Centerline goodness [0,1] 0.9789365115746046 Centerline is valid? [True, True] Translation: X:471.16, Y:-21.47, Z:2.56 [[ 9.99994754e-01 2.65862307e-03 -1.85056415e-03 4.71159993e+02] [-2.65839088e-03 9.99996458e-01 1.27921192e-04 -2.14714602e+01] [ 1.85089769e-03 -1.23000998e-04 9.99998280e-01 2.56295654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.600714057 meters Centerline goodness [0,1] 0.9786453196320848 Centerline is valid? [True, True] Translation: X:471.19, Y:-21.47, Z:2.56 [[ 9.99982247e-01 5.53628881e-03 -2.20362626e-03 4.71189403e+02] [-5.53596016e-03 9.99984664e-01 1.55209967e-04 -2.14706153e+01] [ 2.20445175e-03 -1.43008024e-04 9.99997560e-01 2.56217703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.630714057 meters Centerline goodness [0,1] 0.9793909283282731 Centerline is valid? [True, True] Translation: X:471.22, Y:-21.47, Z:2.56 [[ 9.99974543e-01 6.50884650e-03 -2.92389501e-03 4.71217857e+02] [-6.50827348e-03 9.99978800e-01 2.05448754e-04 -2.14716448e+01] [ 2.92517026e-03 -1.86414016e-04 9.99995704e-01 2.56097411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.660714057 meters Centerline goodness [0,1] 0.9791008561095088 Centerline is valid? [True, True] Translation: X:471.25, Y:-21.47, Z:2.56 [[ 9.99965826e-01 7.60825492e-03 -3.23426361e-03 4.71247086e+02] [-7.60755908e-03 9.99971036e-01 2.27394406e-04 -2.14728580e+01] [ 3.23590001e-03 -2.02781784e-04 9.99994744e-01 2.55980028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.690714057 meters Centerline goodness [0,1] 0.9794132547321881 Centerline is valid? [True, True] Translation: X:471.27, Y:-21.47, Z:2.56 [[ 9.99951438e-01 8.64982827e-03 -4.72245246e-03 4.71274933e+02] [-8.64835887e-03 9.99962547e-01 3.31484315e-04 -2.14724838e+01] [ 4.72514288e-03 -2.90626754e-04 9.99988794e-01 2.55850681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.720714057 meters Centerline goodness [0,1] 0.9797777162885076 Centerline is valid? [True, True] Translation: X:471.30, Y:-21.47, Z:2.56 [[ 9.99941139e-01 9.57969622e-03 -5.09382920e-03 4.71303604e+02] [-9.57799894e-03 9.99954066e-01 3.57495631e-04 -2.14731591e+01] [ 5.09701992e-03 -3.08685898e-04 9.99986962e-01 2.55819445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.750714057 meters Centerline goodness [0,1] 0.9786070340625865 Centerline is valid? [True, True] Translation: X:471.33, Y:-21.47, Z:2.56 [[ 9.99914858e-01 1.17477939e-02 -5.68033792e-03 4.71332505e+02] [-1.17457163e-02 9.99930937e-01 3.98984201e-04 -2.14741054e+01] [ 5.68463280e-03 -3.32230593e-04 9.99983787e-01 2.55806033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.780714057 meters Centerline goodness [0,1] 0.9798660817363195 Centerline is valid? [True, True] Translation: X:471.36, Y:-21.48, Z:2.56 [[ 9.99898293e-01 1.32791962e-02 -5.20258418e-03 4.71361366e+02] [-1.32774781e-02 9.99911784e-01 3.64623495e-04 -2.14757672e+01] [ 5.20696713e-03 -2.95509213e-04 9.99986400e-01 2.55781858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.810714057 meters Centerline goodness [0,1] 0.980681686886193 Centerline is valid? [True, True] Translation: X:471.39, Y:-21.47, Z:2.56 [[ 9.99831729e-01 1.77812574e-02 -4.50995219e-03 4.71390861e+02] [-1.77800103e-02 9.99841873e-01 3.16457622e-04 -2.14742960e+01] [ 4.51486606e-03 -2.36217375e-04 9.99989780e-01 2.55916414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.840714057 meters Centerline goodness [0,1] 0.9798012479778138 Centerline is valid? [True, True] Translation: X:471.42, Y:-21.47, Z:2.56 [[ 9.99779879e-01 2.05154174e-02 -4.39450911e-03 4.71420799e+02] [-2.05142599e-02 9.99789513e-01 3.08321809e-04 -2.14742543e+01] [ 4.39990947e-03 -2.18103839e-04 9.99990297e-01 2.55981509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.870714057 meters Centerline goodness [0,1] 0.9798012479778138 Centerline is valid? [True, True] Translation: X:471.45, Y:-21.48, Z:2.56 [[ 9.99781936e-01 2.04148904e-02 -4.39461079e-03 4.71448228e+02] [-2.04137383e-02 9.99791571e-01 3.06872329e-04 -2.14760823e+01] [ 4.39995959e-03 -2.17094977e-04 9.99990297e-01 2.55948360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.900714057 meters Centerline goodness [0,1] 0.9810785895367596 Centerline is valid? [True, True] Translation: X:471.48, Y:-21.48, Z:2.56 [[ 9.99725968e-01 2.31249928e-02 -3.63643730e-03 4.71478383e+02] [-2.31242191e-02 9.99732567e-01 2.54672642e-04 -2.14763649e+01] [ 3.64135410e-03 -1.70513080e-04 9.99993356e-01 2.56024547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.930714057 meters Centerline goodness [0,1] 0.9811944091486658 Centerline is valid? [True, True] Translation: X:471.51, Y:-21.48, Z:2.56 [[ 9.99573358e-01 2.90463769e-02 -3.06741739e-03 4.71508054e+02] [-2.90458546e-02 9.99578057e-01 2.14693249e-04 -2.14754208e+01] [ 3.07235918e-03 -1.25505893e-04 9.99995272e-01 2.56089477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.960714057 meters Centerline goodness [0,1] 0.9826244092299138 Centerline is valid? [True, True] Translation: X:471.54, Y:-21.47, Z:2.56 [[ 9.99390636e-01 3.46898128e-02 -3.86968057e-03 4.71537214e+02] [-3.46890246e-02 9.99398118e-01 2.70620093e-04 -2.14739143e+01] [ 3.87673924e-03 -1.36219742e-04 9.99992476e-01 2.56044990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.990714057 meters Centerline goodness [0,1] 0.9833623794585802 Centerline is valid? [True, True] Translation: X:471.57, Y:-21.47, Z:2.56 [[ 9.99311158e-01 3.68656231e-02 -4.25844574e-03 4.71565571e+02] [-3.68646911e-02 9.99320222e-01 2.97187511e-04 -2.14749487e+01] [ 4.26650695e-03 -1.39996509e-04 9.99990889e-01 2.56008734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.020714057 meters Centerline goodness [0,1] 0.9835185271281789 Centerline is valid? [True, True] Translation: X:471.59, Y:-21.48, Z:2.56 [[ 9.99191195e-01 3.99866610e-02 -4.24522304e-03 4.71594019e+02] [-3.99857640e-02 9.99200206e-01 2.95995545e-04 -2.14757647e+01] [ 4.25366361e-03 -1.26007656e-04 9.99990945e-01 2.56002119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.050714057 meters Centerline goodness [0,1] 0.9839054298852711 Centerline is valid? [True, True] Translation: X:471.62, Y:-21.48, Z:2.56 [[ 9.99162698e-01 4.07391757e-02 -3.77126623e-03 4.71621706e+02] [-4.07384753e-02 9.99169809e-01 2.62379956e-04 -2.14788091e+01] [ 3.77882451e-03 -1.08524628e-04 9.99992854e-01 2.55994475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.080714057 meters Centerline goodness [0,1] 0.9835697591002708 Centerline is valid? [True, True] Translation: X:471.65, Y:-21.48, Z:2.56 [[ 9.99144064e-01 4.12243994e-02 -3.41888856e-03 4.71650006e+02] [-4.12238271e-02 9.99149908e-01 2.37750567e-04 -2.14817786e+01] [ 3.42578331e-03 -9.66073968e-05 9.99994127e-01 2.55966667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.110714057 meters Centerline goodness [0,1] 0.9869727906869312 Centerline is valid? [True, True] Translation: X:471.68, Y:-21.48, Z:2.56 [[ 9.99129248e-01 4.16357711e-02 -2.68480253e-03 4.71678992e+02] [-4.16354280e-02 9.99132853e-01 1.83573535e-04 -2.14798527e+01] [ 2.69011764e-03 -7.16307859e-05 9.99996379e-01 2.56476925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.140714057 meters Centerline goodness [0,1] 0.9855149348402722 Centerline is valid? [True, True] Translation: X:471.71, Y:-21.48, Z:2.56 [[ 9.99115426e-01 4.20072713e-02 -1.93766319e-03 4.71706415e+02] [-4.20070914e-02 9.99117304e-01 1.33436502e-04 -2.14840081e+01] [ 1.94155812e-03 -5.19228729e-05 9.99998114e-01 2.56453704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.170714057 meters Centerline goodness [0,1] 0.9870114942528736 Centerline is valid? [True, True] Translation: X:471.73, Y:-21.49, Z:2.57 [[ 9.99058648e-01 4.33788093e-02 -3.11515405e-04 4.71733915e+02] [-4.33788051e-02 9.99058696e-01 2.00194449e-05 -2.14902798e+01] [ 3.12090594e-04 -6.48743349e-06 9.99999951e-01 2.56580009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.200714057 meters Centerline goodness [0,1] 0.9866045828841434 Centerline is valid? [True, True] Translation: X:471.76, Y:-21.49, Z:2.57 [[ 9.99019383e-01 4.42749540e-02 4.15611535e-05 4.71762149e+02] [-4.42749539e-02 9.99019383e-01 -3.72862089e-06 -2.14938469e+01] [-4.16854825e-05 1.88484639e-06 9.99999999e-01 2.56676131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.230714057 meters Centerline goodness [0,1] 0.9875074224638012 Centerline is valid? [True, True] Translation: X:471.79, Y:-21.50, Z:2.57 [[ 9.98966594e-01 4.54504536e-02 3.26144155e-05 4.71790609e+02] [-4.54504535e-02 9.98966594e-01 -3.09977933e-06 -2.15013359e+01] [-3.27215979e-05 1.61423603e-06 9.99999999e-01 2.56614438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.26071405700003 meters Centerline goodness [0,1] 0.9884256094782411 Centerline is valid? [True, True] Translation: X:471.82, Y:-21.51, Z:2.57 [[ 9.98944524e-01 4.59324749e-02 -2.13446382e-04 4.71819592e+02] [-4.59324734e-02 9.98944547e-01 1.19284648e-05 -2.15059951e+01] [ 2.13769004e-04 -2.11175432e-06 9.99999977e-01 2.56573556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.290714057 meters Centerline goodness [0,1] 0.9885519591141397 Centerline is valid? [True, True] Translation: X:471.85, Y:-21.52, Z:2.56 [[ 9.98919961e-01 4.64252830e-02 -1.89855484e-03 4.71847361e+02] [-4.64251200e-02 9.98921764e-01 1.29860600e-04 -2.15150252e+01] [ 1.90253657e-03 -4.15797089e-05 9.99998189e-01 2.56412545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.320714057 meters Centerline goodness [0,1] 0.9892791712844639 Centerline is valid? [True, True] Translation: X:471.87, Y:-21.52, Z:2.56 [[ 9.98914166e-01 4.65279460e-02 -2.37463157e-03 4.71874626e+02] [-4.65276924e-02 9.98916987e-01 1.61953680e-04 -2.15204205e+01] [ 2.37959519e-03 -5.12916982e-05 9.99997167e-01 2.56373706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.350714057 meters Centerline goodness [0,1] 0.9890398550724637 Centerline is valid? [True, True] Translation: X:471.90, Y:-21.53, Z:2.56 [[ 9.98925532e-01 4.62409045e-02 -3.09188490e-03 4.71902711e+02] [-4.62404714e-02 9.98930315e-01 2.11456488e-04 -2.15257466e+01] [ 3.09835550e-03 -6.82590697e-05 9.99995198e-01 2.56346959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.380714057 meters Centerline goodness [0,1] 0.988901671516546 Centerline is valid? [True, True] Translation: X:471.93, Y:-21.54, Z:2.56 [[ 9.99010653e-01 4.42324835e-02 -4.60455386e-03 4.71930492e+02] [-4.42315151e-02 9.99021259e-01 3.11989622e-04 -2.15358971e+01] [ 4.61384727e-03 -1.08014563e-04 9.99989350e-01 2.56327942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.410714057 meters Centerline goodness [0,1] 0.9879861672505165 Centerline is valid? [True, True] Translation: X:471.96, Y:-21.55, Z:2.56 [[ 9.99165822e-01 4.02284273e-02 -7.02379228e-03 4.71958486e+02] [-4.02260496e-02 9.99190490e-01 4.79523442e-04 -2.15486866e+01] [ 7.03739692e-03 -1.96584017e-04 9.99975218e-01 2.56119236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.440714057 meters Centerline goodness [0,1] 0.987942896842294 Centerline is valid? [True, True] Translation: X:471.99, Y:-21.56, Z:2.56 [[ 9.99269601e-01 3.73823429e-02 -7.92616585e-03 4.71987370e+02] [-3.73792282e-02 9.99301006e-01 5.40791576e-04 -2.15556785e+01] [ 7.94084157e-03 -2.44122620e-04 9.99968441e-01 2.56063480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.470714057 meters Centerline goodness [0,1] 0.9883138937301694 Centerline is valid? [True, True] Translation: X:472.02, Y:-21.56, Z:2.56 [[ 9.99356559e-01 3.49090215e-02 -8.23577269e-03 4.72016335e+02] [-3.49055752e-02 9.99390457e-01 5.61867736e-04 -2.15632433e+01] [ 8.25036689e-03 -2.74031824e-04 9.99965928e-01 2.56014218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.500714057 meters Centerline goodness [0,1] 0.9867616198598026 Centerline is valid? [True, True] Translation: X:472.05, Y:-21.57, Z:2.56 [[ 9.99514402e-01 2.98776148e-02 -8.84804163e-03 4.72046064e+02] [-2.98734361e-02 9.99553507e-01 6.04094289e-04 -2.15745847e+01] [ 8.86213994e-03 -3.39479536e-04 9.99960673e-01 2.56039952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.530714057 meters Centerline goodness [0,1] 0.9872054922764862 Centerline is valid? [True, True] Translation: X:472.08, Y:-21.58, Z:2.56 [[ 9.99586901e-01 2.72772497e-02 -9.05427657e-03 4.72075606e+02] [-2.72727741e-02 9.99627838e-01 6.17431457e-04 -2.15806221e+01] [ 9.06774875e-03 -3.70241157e-04 9.99958819e-01 2.56057247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.560714057 meters Centerline goodness [0,1] 0.9854419564590222 Centerline is valid? [True, True] Translation: X:472.10, Y:-21.59, Z:2.56 [[ 9.99700796e-01 2.27879380e-02 -8.88980038e-03 4.72104080e+02] [-2.27834492e-02 9.99740240e-01 6.05899756e-04 -2.15919080e+01] [ 8.90129837e-03 -4.03178152e-04 9.99960301e-01 2.56026229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.590714057 meters Centerline goodness [0,1] 0.9858244273113071 Centerline is valid? [True, True] Translation: X:472.13, Y:-21.60, Z:2.56 [[ 9.99748860e-01 2.02535764e-02 -9.59215707e-03 4.72133265e+02] [-2.02482367e-02 9.99794770e-01 6.53478502e-04 -2.15981581e+01] [ 9.60342375e-03 -4.59090121e-04 9.99953781e-01 2.55943366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.620714057 meters Centerline goodness [0,1] 0.9846201372492773 Centerline is valid? [True, True] Translation: X:472.16, Y:-21.61, Z:2.56 [[ 9.99824437e-01 1.58910508e-02 -9.92820927e-03 4.72162749e+02] [-1.58851152e-02 9.99873595e-01 6.76428166e-04 -2.16077862e+01] [ 9.93770345e-03 -5.18598662e-04 9.99950485e-01 2.55921167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.650714057 meters Centerline goodness [0,1] 0.984575215025452 Centerline is valid? [True, True] Translation: X:472.19, Y:-21.61, Z:2.56 [[ 9.99858518e-01 1.41697761e-02 -9.06425504e-03 4.72189735e+02] [-1.41647774e-02 9.99899485e-01 6.15438096e-04 -2.16138037e+01] [ 9.07206456e-03 -4.86957868e-04 9.99958729e-01 2.55922269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.680714057 meters Centerline goodness [0,1] 0.9848330978452844 Centerline is valid? [True, True] Translation: X:472.22, Y:-21.62, Z:2.56 [[ 9.99879100e-01 1.23760483e-02 -9.41375376e-03 4.72219221e+02] [-1.23705713e-02 9.99923277e-01 6.39813109e-04 -2.16192280e+01] [ 9.42094987e-03 -5.23282243e-04 9.99955485e-01 2.55933143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.710714057 meters Centerline goodness [0,1] 0.9852045639413459 Centerline is valid? [True, True] Translation: X:472.25, Y:-21.62, Z:2.56 [[ 9.99900100e-01 1.09785764e-02 -8.90283820e-03 4.72248070e+02] [-1.09736322e-02 9.99939605e-01 6.04010071e-04 -2.16207975e+01] [ 8.90893169e-03 -5.06253259e-04 9.99960187e-01 2.56175198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.740714057 meters Centerline goodness [0,1] 0.9844556158221986 Centerline is valid? [True, True] Translation: X:472.28, Y:-21.62, Z:2.56 [[ 9.99901451e-01 1.08347596e-02 -8.92726730e-03 4.72276461e+02] [-1.08297884e-02 9.99941173e-01 6.05008368e-04 -2.16210399e+01] [ 8.93329725e-03 -5.08268329e-04 9.99959968e-01 2.56259689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.770714057 meters Centerline goodness [0,1] 0.9841053487809703 Centerline is valid? [True, True] Translation: X:472.30, Y:-21.63, Z:2.56 [[ 9.99885654e-01 1.22844257e-02 -8.81878798e-03 4.72304073e+02] [-1.22796364e-02 9.99924424e-01 5.97021290e-04 -2.16318629e+01] [ 8.82545556e-03 -4.88661513e-04 9.99960936e-01 2.55957211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.800714057 meters Centerline goodness [0,1] 0.9854272903112361 Centerline is valid? [True, True] Translation: X:472.33, Y:-21.63, Z:2.56 [[ 9.99875098e-01 1.30492100e-02 -8.91665022e-03 4.72333098e+02] [-1.30443495e-02 9.99914737e-01 6.03037907e-04 -2.16279472e+01] [ 8.92375912e-03 -4.86650684e-04 9.99960064e-01 2.56173343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.830714057 meters Centerline goodness [0,1] 0.9856205408262133 Centerline is valid? [True, True] Translation: X:472.36, Y:-21.63, Z:2.56 [[ 9.99842256e-01 1.52290147e-02 -9.14003635e-03 4.72362670e+02] [-1.52240010e-02 9.99883917e-01 6.17872344e-04 -2.16276446e+01] [ 9.14838494e-03 -4.78626956e-04 9.99958038e-01 2.56240887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.860714057 meters Centerline goodness [0,1] 0.9857582417582418 Centerline is valid? [True, True] Translation: X:472.39, Y:-21.63, Z:2.56 [[ 9.99814499e-01 1.67874779e-02 -9.44185596e-03 4.72392038e+02] [-1.67822017e-02 9.99858966e-01 6.37773601e-04 -2.16282938e+01] [ 9.45123094e-03 -4.79200162e-04 9.99955221e-01 2.56226212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.890714057 meters Centerline goodness [0,1] 0.9867227408842698 Centerline is valid? [True, True] Translation: X:472.42, Y:-21.63, Z:2.56 [[ 9.99774632e-01 1.86520000e-02 -1.01383992e-02 4.72419758e+02] [-1.86460253e-02 9.99825914e-01 6.83529501e-04 -2.16304080e+01] [ 1.01493834e-02 -4.94334608e-04 9.99948371e-01 2.56155673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.920714057 meters Centerline goodness [0,1] 0.9859446598519563 Centerline is valid? [True, True] Translation: X:472.45, Y:-21.63, Z:2.56 [[ 9.99699901e-01 2.17549984e-02 -1.12617753e-02 4.72448507e+02] [-2.17478200e-02 9.99763200e-01 7.59503754e-04 -2.16318235e+01] [ 1.12756316e-02 -5.14356765e-04 9.99936296e-01 2.56032411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.950714057 meters Centerline goodness [0,1] 0.9871540631059404 Centerline is valid? [True, True] Translation: X:472.48, Y:-21.64, Z:2.56 [[ 9.99629931e-01 2.47534143e-02 -1.12813905e-02 4.72476679e+02] [-2.47464096e-02 9.99693472e-01 7.60095231e-04 -2.16357221e+01] [ 1.12967474e-02 -4.80640031e-04 9.99936074e-01 2.55934246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.980714057 meters Centerline goodness [0,1] 0.9870871069390273 Centerline is valid? [True, True] Translation: X:472.51, Y:-21.64, Z:2.56 [[ 9.99599078e-01 2.59705733e-02 -1.12788952e-02 4.72505290e+02] [-2.59636600e-02 9.99662599e-01 7.58955775e-04 -2.16376510e+01] [ 1.12948002e-02 -4.65810092e-04 9.99936103e-01 2.55907841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.01071405700003 meters Centerline goodness [0,1] 0.9888657534246575 Centerline is valid? [True, True] Translation: X:472.53, Y:-21.64, Z:2.56 [[ 9.99558363e-01 2.77110777e-02 -1.07319596e-02 4.72534337e+02] [-2.77049277e-02 9.99615885e-01 7.21327168e-04 -2.16371111e+01] [ 1.07478261e-02 -4.23680438e-04 9.99942151e-01 2.56036209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.040714057 meters Centerline goodness [0,1] 0.988909426987061 Centerline is valid? [True, True] Translation: X:472.56, Y:-21.64, Z:2.56 [[ 9.99460611e-01 3.11480757e-02 -1.04059756e-02 4.72564060e+02] [-3.11424793e-02 9.99514711e-01 6.99447180e-04 -2.16377047e+01] [ 1.04227121e-02 -3.75002025e-04 9.99945612e-01 2.56045936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.070714057 meters Centerline goodness [0,1] 0.9889105186027691 Centerline is valid? [True, True] Translation: X:472.59, Y:-21.64, Z:2.56 [[ 9.99396807e-01 3.34921312e-02 -9.18150646e-03 4.72592344e+02] [-3.34878834e-02 9.99438934e-01 6.16031376e-04 -2.16406250e+01] [ 9.19698723e-03 -3.08190572e-04 9.99957659e-01 2.56021576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.100714057 meters Centerline goodness [0,1] 0.988686939554055 Centerline is valid? [True, True] Translation: X:472.62, Y:-21.64, Z:2.56 [[ 9.99282467e-01 3.71027272e-02 -7.61169469e-03 4.72622273e+02] [-3.70999125e-02 9.99311431e-01 5.10704503e-04 -2.16405647e+01] [ 7.62540204e-03 -2.27944848e-04 9.99970900e-01 2.56237862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.130714057 meters Centerline goodness [0,1] 0.9896782428804085 Centerline is valid? [True, True] Translation: X:472.65, Y:-21.64, Z:2.56 [[ 9.99225343e-01 3.87024400e-02 -7.12993043e-03 4.72651523e+02] [-3.87000398e-02 9.99250760e-01 4.74344536e-04 -2.16426714e+01] [ 7.14294669e-03 -1.98048491e-04 9.99974469e-01 2.56224176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.160714057 meters Centerline goodness [0,1] 0.9902946730490536 Centerline is valid? [True, True] Translation: X:472.68, Y:-21.64, Z:2.56 [[ 9.99130913e-01 4.12728548e-02 -5.82834284e-03 4.72680714e+02] [-4.12713057e-02 9.99147902e-01 3.85865428e-04 -2.16446691e+01] [ 5.83930229e-03 -1.44986759e-04 9.99982941e-01 2.56338715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.190714057 meters Centerline goodness [0,1] 0.9898622758424384 Centerline is valid? [True, True] Translation: X:472.71, Y:-21.65, Z:2.56 [[ 9.99122752e-01 4.16031595e-02 -4.78571338e-03 4.72707956e+02] [-4.16021150e-02 9.99134207e-01 3.17649433e-04 -2.16475478e+01] [ 4.79478516e-03 -1.18274977e-04 9.99988498e-01 2.56269208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.220714057 meters Centerline goodness [0,1] 0.9896386648304807 Centerline is valid? [True, True] Translation: X:472.74, Y:-21.65, Z:2.56 [[ 9.99113892e-01 4.18647755e-02 -4.33266328e-03 4.72736896e+02] [-4.18639227e-02 9.99123280e-01 2.87380874e-04 -2.16525521e+01] [ 4.34089588e-03 -1.05743943e-04 9.99990573e-01 2.56183054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.250714057 meters Centerline goodness [0,1] 0.9894426229508196 Centerline is valid? [True, True] Translation: X:472.77, Y:-21.66, Z:2.56 [[ 9.99134515e-01 4.13217719e-02 -4.76779531e-03 4.72765637e+02] [-4.13207342e-02 9.99145884e-01 3.15991019e-04 -2.16568116e+01] [ 4.77678037e-03 -1.18708731e-04 9.99988584e-01 2.56067721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.280714057 meters Centerline goodness [0,1] 0.9892358543904667 Centerline is valid? [True, True] Translation: X:472.79, Y:-21.66, Z:2.56 [[ 9.99234433e-01 3.88414600e-02 -4.67846007e-03 4.72793413e+02] [-3.88404401e-02 9.99245378e-01 3.08690554e-04 -2.16642383e+01] [ 4.68691959e-03 -1.26740783e-04 9.99989008e-01 2.55849568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.310714057 meters Centerline goodness [0,1] 0.9892698246532321 Centerline is valid? [True, True] Translation: X:472.82, Y:-21.67, Z:2.56 [[ 9.99302598e-01 3.70719981e-02 -4.47031415e-03 4.72821981e+02] [-3.70710477e-02 9.99312589e-01 2.95308677e-04 -2.16693579e+01] [ 4.47818889e-03 -1.29383499e-04 9.99989964e-01 2.55761219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.340714057 meters Centerline goodness [0,1] 0.9892449660769214 Centerline is valid? [True, True] Translation: X:472.85, Y:-21.67, Z:2.56 [[ 9.99356406e-01 3.56567426e-02 -3.92045135e-03 4.72850538e+02] [-3.56560023e-02 9.99364089e-01 2.58579233e-04 -2.16734903e+01] [ 3.92717839e-03 -1.18625190e-04 9.99992282e-01 2.55760463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.370714057 meters Centerline goodness [0,1] 0.9877995925974082 Centerline is valid? [True, True] Translation: X:472.88, Y:-21.68, Z:2.56 [[ 9.99477366e-01 3.20565855e-02 -4.16782767e-03 4.72878708e+02] [-3.20557188e-02 9.99486046e-01 2.74586708e-04 -2.16821392e+01] [ 4.17448791e-03 -1.40840487e-04 9.99991277e-01 2.55660802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.400714057 meters Centerline goodness [0,1] 0.9885324587885238 Centerline is valid? [True, True] Translation: X:472.91, Y:-21.69, Z:2.56 [[ 9.99536418e-01 3.02636870e-02 -3.32540968e-03 4.72907238e+02] [-3.02631266e-02 9.99541943e-01 2.18725784e-04 -2.16878390e+01] [ 3.33050590e-03 -1.17987093e-04 9.99994447e-01 2.55563373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.430714057 meters Centerline goodness [0,1] 0.9878682465485379 Centerline is valid? [True, True] Translation: X:472.94, Y:-21.70, Z:2.55 [[ 9.99621742e-01 2.72246154e-02 -3.89796051e-03 4.72936726e+02] [-2.72238206e-02 9.99629330e-01 2.56818843e-04 -2.16952509e+01] [ 3.90350745e-03 -1.50604321e-04 9.99992370e-01 2.55447618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.460714057 meters Centerline goodness [0,1] 0.9884768670940911 Centerline is valid? [True, True] Translation: X:472.97, Y:-21.70, Z:2.55 [[ 9.99651387e-01 2.60549815e-02 -4.27108137e-03 4.72965141e+02] [-2.60540197e-02 9.99660497e-01 2.80684495e-04 -2.16978449e+01] [ 4.27694456e-03 -1.69307807e-04 9.99990839e-01 2.55389887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.490714057 meters Centerline goodness [0,1] 0.9874534107653636 Centerline is valid? [True, True] Translation: X:472.99, Y:-21.71, Z:2.55 [[ 9.99689634e-01 2.45725151e-02 -4.10213657e-03 4.72992760e+02] [-2.45716197e-02 9.99698036e-01 2.68532767e-04 -2.17050006e+01] [ 4.10749640e-03 -1.67653284e-04 9.99991550e-01 2.55228934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.520714057 meters Centerline goodness [0,1] 0.9876535201522229 Centerline is valid? [True, True] Translation: X:473.02, Y:-21.71, Z:2.55 [[ 9.99706849e-01 2.39321460e-02 -3.66984693e-03 4.73021070e+02] [-2.39314246e-02 9.99713574e-01 2.40376677e-04 -2.17083303e+01] [ 3.67454851e-03 -1.52481546e-04 9.99993237e-01 2.55207833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.550714057 meters Centerline goodness [0,1] 0.9872485982117729 Centerline is valid? [True, True] Translation: X:473.05, Y:-21.71, Z:2.55 [[ 9.99721184e-01 2.33783060e-02 -3.31804325e-03 4.73049884e+02] [-2.33777142e-02 9.99726680e-01 2.17018040e-04 -2.17121435e+01] [ 3.32220987e-03 -1.39389265e-04 9.99994472e-01 2.55214522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.580714057 meters Centerline goodness [0,1] 0.9878970604070205 Centerline is valid? [True, True] Translation: X:473.08, Y:-21.72, Z:2.55 [[ 9.99767466e-01 2.15337021e-02 -1.14649605e-03 4.73078842e+02] [-2.15336310e-02 9.99768122e-01 7.43314450e-05 -2.17166058e+01] [ 1.14783083e-03 -4.96259376e-05 9.99999340e-01 2.55321657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.610714057 meters Centerline goodness [0,1] 0.986502359951306 Centerline is valid? [True, True] Translation: X:473.11, Y:-21.72, Z:2.55 [[ 9.99825915e-01 1.86578383e-02 1.54620432e-04 4.73106886e+02] [-1.86578369e-02 9.99825927e-01 -1.07949952e-05 -2.17225313e+01] [-1.54794928e-04 7.90823317e-06 9.99999988e-01 2.55279709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.640714057 meters Centerline goodness [0,1] 0.9861729350794572 Centerline is valid? [True, True] Translation: X:473.14, Y:-21.73, Z:2.55 [[ 9.99858186e-01 1.68375891e-02 3.21358966e-04 4.73136514e+02] [-1.68375831e-02 9.99858238e-01 -2.14775287e-05 -2.17266074e+01] [-3.21675039e-04 1.60635746e-05 9.99999948e-01 2.55206960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.670714057 meters Centerline goodness [0,1] 0.985702614379085 Centerline is valid? [True, True] Translation: X:473.16, Y:-21.74, Z:2.55 [[ 9.99915510e-01 1.29277818e-02 1.35849474e-03 4.73164877e+02] [-1.29276726e-02 9.99916430e-01 -8.90894003e-05 -2.17353196e+01] [-1.35953294e-03 7.15196979e-05 9.99999073e-01 2.55078635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.700714057 meters Centerline goodness [0,1] 0.9851968030250945 Centerline is valid? [True, True] Translation: X:473.19, Y:-21.74, Z:2.55 [[ 9.99940340e-01 1.07415088e-02 1.98404879e-03 4.73193983e+02] [-1.07412710e-02 9.99942302e-01 -1.30462486e-04 -2.17371793e+01] [-1.98533568e-03 1.09143497e-04 9.99998023e-01 2.55057829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.730714057 meters Centerline goodness [0,1] 0.9852887564066822 Centerline is valid? [True, True] Translation: X:473.22, Y:-21.74, Z:2.55 [[ 9.99967118e-01 7.55519713e-03 2.94647973e-03 4.73222551e+02] [-7.55466075e-03 9.99971444e-01 -1.93126133e-04 -2.17424495e+01] [-2.94785470e-03 1.70860128e-04 9.99995640e-01 2.55064009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.76071405700003 meters Centerline goodness [0,1] 0.9841812281041116 Centerline is valid? [True, True] Translation: X:473.25, Y:-21.74, Z:2.55 [[ 9.99976709e-01 6.04902155e-03 3.16078997e-03 4.73252567e+02] [-6.04839773e-03 9.99981687e-01 -2.06884099e-04 -2.17411778e+01] [-3.16198354e-03 1.87761566e-04 9.99994983e-01 2.55072248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.790714057 meters Centerline goodness [0,1] 0.9841812281041116 Centerline is valid? [True, True] Translation: X:473.28, Y:-21.74, Z:2.55 [[ 9.99976709e-01 6.04901896e-03 3.16080400e-03 4.73282554e+02] [-6.04839582e-03 9.99981687e-01 -2.06669611e-04 -2.17431386e+01] [-3.16199626e-03 1.87547004e-04 9.99994983e-01 2.55036013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.820714057 meters Centerline goodness [0,1] 0.9846735882719632 Centerline is valid? [True, True] Translation: X:473.31, Y:-21.75, Z:2.55 [[ 9.99979481e-01 5.40328103e-03 3.44128620e-03 4.73312801e+02] [-5.40253857e-03 9.99985381e-01 -2.25008979e-04 -2.17451611e+01] [-3.44245168e-03 2.06412681e-04 9.99994053e-01 2.55038691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.850714057 meters Centerline goodness [0,1] 0.9831434201507883 Centerline is valid? [True, True] Translation: X:473.34, Y:-21.75, Z:2.55 [[ 9.99984064e-01 3.62901558e-03 4.32462835e-03 4.73342377e+02] [-3.62782651e-03 9.99993379e-01 -2.82766429e-04 -2.17489326e+01] [-4.32562588e-03 2.67072921e-04 9.99990609e-01 2.55001586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.880714057 meters Centerline goodness [0,1] 0.984094616639478 Centerline is valid? [True, True] Translation: X:473.37, Y:-21.75, Z:2.55 [[ 9.99979819e-01 2.87172751e-03 5.66701115e-03 4.73373699e+02] [-2.86967485e-03 9.99995814e-01 -3.70311492e-04 -2.17492945e+01] [-5.66805086e-03 3.54041539e-04 9.99983874e-01 2.55005017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.910714057 meters Centerline goodness [0,1] 0.9827047076836816 Centerline is valid? [True, True] Translation: X:473.40, Y:-21.75, Z:2.55 [[ 9.99982677e-01 7.12549330e-04 5.84276592e-03 4.73403490e+02] [-7.10331150e-04 9.99999675e-01 -3.81711961e-04 -2.17516351e+01] [-5.84303601e-03 3.77555050e-04 9.99982858e-01 2.54952040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.940714057 meters Centerline goodness [0,1] 0.9834375673927108 Centerline is valid? [True, True] Translation: X:473.44, Y:-21.75, Z:2.55 [[ 9.99981530e-01 6.88948185e-06 6.07784673e-03 4.73435958e+02] [-4.47891297e-06 9.99999921e-01 -3.96629132e-04 -2.17512874e+01] [-6.07784898e-03 3.96594584e-04 9.99981451e-01 2.54895486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.970714057 meters Centerline goodness [0,1] 0.9843238587424634 Centerline is valid? [True, True] Translation: X:473.47, Y:-21.75, Z:2.55 [[ 9.99982086e-01 -1.35876679e-03 5.82938149e-03 4.73468348e+02] [ 1.36102179e-03 9.99999001e-01 -3.82882951e-04 -2.17531396e+01] [-5.82885542e-03 3.90810007e-04 9.99982936e-01 2.54812942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.000714057 meters Centerline goodness [0,1] 0.9821263415998107 Centerline is valid? [True, True] Translation: X:473.50, Y:-21.76, Z:2.55 [[ 9.99974322e-01 -4.79785731e-03 5.32309833e-03 4.73497883e+02] [ 4.79979084e-03 9.99988420e-01 -3.50518924e-04 -2.17563831e+01] [-5.32135494e-03 3.76059682e-04 9.99985771e-01 2.54675799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.030714057 meters Centerline goodness [0,1] 0.9825348225451723 Centerline is valid? [True, True] Translation: X:473.53, Y:-21.76, Z:2.55 [[ 9.99962573e-01 -6.77559264e-03 5.37995460e-03 4.73528510e+02] [ 6.77759465e-03 9.99976969e-01 -3.53979764e-04 -2.17595875e+01] [-5.37743227e-03 3.90429668e-04 9.99985465e-01 2.54517975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.060714057 meters Centerline goodness [0,1] 0.9809122351923908 Centerline is valid? [True, True] Translation: X:473.56, Y:-21.76, Z:2.54 [[ 9.99920585e-01 -1.15020190e-02 5.15038082e-03 4.73558493e+02] [ 1.15039169e-02 9.99933770e-01 -3.39019997e-04 -2.17644426e+01] [-5.14614030e-03 3.98242627e-04 9.99986679e-01 2.54404970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.090714057 meters Centerline goodness [0,1] 0.9787224906065486 Centerline is valid? [True, True] Translation: X:473.59, Y:-21.77, Z:2.54 [[ 9.99863998e-01 -1.55431301e-02 5.51325880e-03 4.73587645e+02] [ 1.55453662e-02 9.99879098e-01 -3.62974143e-04 -2.17681653e+01] [-5.50695048e-03 4.48630405e-04 9.99984736e-01 2.54415139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.120714057 meters Centerline goodness [0,1] 0.9799805215885726 Centerline is valid? [True, True] Translation: X:473.62, Y:-21.77, Z:2.54 [[ 9.99821541e-01 -1.78276518e-02 6.24986686e-03 4.73619279e+02] [ 1.78305690e-02 9.99840938e-01 -4.11357225e-04 -2.17674877e+01] [-6.24153921e-03 5.22722497e-04 9.99980385e-01 2.54458708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.150714057 meters Centerline goodness [0,1] 0.9786193464618048 Centerline is valid? [True, True] Translation: X:473.65, Y:-21.77, Z:2.54 [[ 9.99793981e-01 -1.91829083e-02 6.63405375e-03 4.73650967e+02] [ 1.91862260e-02 9.99815832e-01 -4.36814922e-04 -2.17700784e+01] [-6.62445259e-03 5.64007385e-04 9.99977899e-01 2.54491096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.180714057 meters Centerline goodness [0,1] 0.976640880625799 Centerline is valid? [True, True] Translation: X:473.68, Y:-21.77, Z:2.54 [[ 9.99757764e-01 -2.10546164e-02 6.41221549e-03 4.73680462e+02] [ 2.10577580e-02 9.99778171e-01 -4.22817646e-04 -2.17738889e+01] [-6.40189081e-03 5.57742106e-04 9.99979352e-01 2.54431642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.210714057 meters Centerline goodness [0,1] 0.978636649532609 Centerline is valid? [True, True] Translation: X:473.71, Y:-21.77, Z:2.54 [[ 9.99748942e-01 -2.14357907e-02 6.52372168e-03 4.73712724e+02] [ 2.14390480e-02 9.99770065e-01 -4.29774061e-04 -2.17684653e+01] [-6.51300910e-03 5.69528546e-04 9.99978628e-01 2.54420639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.240714057 meters Centerline goodness [0,1] 0.9802358664726452 Centerline is valid? [True, True] Translation: X:473.75, Y:-21.77, Z:2.54 [[ 9.99748921e-01 -2.12762734e-02 7.02963043e-03 4.73745542e+02] [ 2.12800556e-02 9.99773446e-01 -4.63670138e-04 -2.17655731e+01] [-7.01817267e-03 6.13144646e-04 9.99975184e-01 2.54408020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.270714057 meters Centerline goodness [0,1] 0.9796792141180561 Centerline is valid? [True, True] Translation: X:473.78, Y:-21.77, Z:2.54 [[ 9.99749751e-01 -2.10256462e-02 7.63925731e-03 4.73777735e+02] [ 2.10301105e-02 9.99778715e-01 -5.04516846e-04 -2.17664824e+01] [-7.62695907e-03 6.65045017e-04 9.99970693e-01 2.54375894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.300714057 meters Centerline goodness [0,1] 0.9799665020773063 Centerline is valid? [True, True] Translation: X:473.81, Y:-21.76, Z:2.54 [[ 9.99800025e-01 -1.83944001e-02 7.84573369e-03 4.73808937e+02] [ 1.83990349e-02 9.99830589e-01 -5.18977335e-04 -2.17641989e+01] [-7.83485826e-03 6.63227481e-04 9.99969087e-01 2.54392749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.330714057 meters Centerline goodness [0,1] 0.9806971677559913 Centerline is valid? [True, True] Translation: X:473.84, Y:-21.76, Z:2.54 [[ 9.99828629e-01 -1.69147508e-02 7.52357483e-03 4.73840659e+02] [ 1.69189715e-02 9.99856740e-01 -4.97708109e-04 -2.17593687e+01] [-7.51407839e-03 6.24913964e-04 9.99971574e-01 2.54441330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.360714057 meters Centerline goodness [0,1] 0.9794007899273354 Centerline is valid? [True, True] Translation: X:473.87, Y:-21.76, Z:2.54 [[ 9.99878654e-01 -1.36003463e-02 7.59654015e-03 4.73869952e+02] [ 1.36045582e-02 9.99907327e-01 -5.03046022e-04 -2.17599417e+01] [-7.58899456e-03 6.06332552e-04 9.99971019e-01 2.54441704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.390714057 meters Centerline goodness [0,1] 0.9791223957762832 Centerline is valid? [True, True] Translation: X:473.90, Y:-21.76, Z:2.54 [[ 9.99899848e-01 -1.17731209e-02 7.85415267e-03 4.73901243e+02] [ 1.17775648e-02 9.99930507e-01 -5.19785979e-04 -2.17597694e+01] [-7.84748736e-03 6.12236713e-04 9.99969021e-01 2.54382673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.420714057 meters Centerline goodness [0,1] 0.981460784958254 Centerline is valid? [True, True] Translation: X:473.93, Y:-21.75, Z:2.54 [[ 9.99934615e-01 -8.40706940e-03 7.75162374e-03 4.73932536e+02] [ 8.41130042e-03 9.99964493e-01 -5.13383616e-04 -2.17507885e+01] [-7.74703245e-03 5.78551284e-04 9.99969824e-01 2.54249704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.450714057 meters Centerline goodness [0,1] 0.9814196608978301 Centerline is valid? [True, True] Translation: X:473.96, Y:-21.75, Z:2.54 [[ 9.99949475e-01 -6.75284693e-03 7.44624063e-03 4.73964320e+02] [ 6.75670378e-03 9.99977052e-01 -4.92924688e-04 -2.17510826e+01] [-7.44274111e-03 5.43211825e-04 9.99972155e-01 2.54163085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.480714057 meters Centerline goodness [0,1] 0.9803156510302499 Centerline is valid? [True, True] Translation: X:474.00, Y:-21.75, Z:2.54 [[ 9.99963948e-01 -5.04540963e-03 6.82984002e-03 4.73995152e+02] [ 5.04861893e-03 9.99987153e-01 -4.52735287e-04 -2.17541219e+01] [-6.82746804e-03 4.87200224e-04 9.99976574e-01 2.54081499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.51071405700003 meters Centerline goodness [0,1] 0.9816171602595224 Centerline is valid? [True, True] Translation: X:474.03, Y:-21.75, Z:2.54 [[ 9.99975015e-01 -2.44577006e-03 6.63224105e-03 4.74026936e+02] [ 2.44874149e-03 9.99996905e-01 -4.39945230e-04 -2.17454578e+01] [-6.63114451e-03 4.56174882e-04 9.99977910e-01 2.54139484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.540714057 meters Centerline goodness [0,1] 0.9826687861526913 Centerline is valid? [True, True] Translation: X:474.06, Y:-21.74, Z:2.54 [[ 9.99976391e-01 -5.07086400e-04 6.85276672e-03 4.74057811e+02] [ 5.10213912e-04 9.99999766e-01 -4.54646339e-04 -2.17449885e+01] [-6.85253457e-03 4.58131982e-04 9.99976416e-01 2.54156831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.570714057 meters Centerline goodness [0,1] 0.9832869080779945 Centerline is valid? [True, True] Translation: X:474.09, Y:-21.74, Z:2.54 [[ 9.99970521e-01 2.76530742e-03 7.16307807e-03 4.74089044e+02] [-2.76197123e-03 9.99996073e-01 -4.75597734e-04 -2.17388905e+01] [-7.16436511e-03 4.55799498e-04 9.99974232e-01 2.54194667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.600714057 meters Centerline goodness [0,1] 0.9833950780629797 Centerline is valid? [True, True] Translation: X:474.12, Y:-21.74, Z:2.54 [[ 9.99963266e-01 4.58007155e-03 7.24500815e-03 4.74121087e+02] [-4.57670634e-03 9.99989411e-01 -4.80997919e-04 -2.17365061e+01] [-7.24713444e-03 4.47821975e-04 9.99973639e-01 2.54154974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.630714057 meters Centerline goodness [0,1] 0.9833643452064504 Centerline is valid? [True, True] Translation: X:474.15, Y:-21.74, Z:2.54 [[ 9.99960746e-01 5.39630851e-03 7.02749327e-03 4.74152887e+02] [-5.39315988e-03 9.99985348e-01 -4.66918206e-04 -2.17372364e+01] [-7.02990994e-03 4.28999483e-04 9.99975198e-01 2.54086247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.660714057 meters Centerline goodness [0,1] 0.9829209401236072 Centerline is valid? [True, True] Translation: X:474.18, Y:-21.74, Z:2.54 [[ 9.99959980e-01 6.10879369e-03 6.53615721e-03 4.74183296e+02] [-6.10608464e-03 9.99981263e-01 -4.34347314e-04 -2.17376986e+01] [-6.53868808e-03 3.94419602e-04 9.99978545e-01 2.53979095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.690714057 meters Centerline goodness [0,1] 0.9826601116130746 Centerline is valid? [True, True] Translation: X:474.21, Y:-21.74, Z:2.54 [[ 9.99961315e-01 6.05528720e-03 6.37974159e-03 4.74214943e+02] [-6.05269924e-03 9.99981592e-01 -4.24883457e-04 -2.17386834e+01] [-6.38219695e-03 3.86252363e-04 9.99979559e-01 2.53899161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.720714057 meters Centerline goodness [0,1] 0.9826040884807277 Centerline is valid? [True, True] Translation: X:474.25, Y:-21.74, Z:2.54 [[ 9.99964506e-01 5.64048136e-03 6.25877905e-03 4.74245033e+02] [-5.63797990e-03 9.99984019e-01 -4.17243796e-04 -2.17410486e+01] [-6.26103248e-03 3.81942116e-04 9.99980327e-01 2.53857406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.750714057 meters Centerline goodness [0,1] 0.9804532202491386 Centerline is valid? [True, True] Translation: X:474.27, Y:-21.75, Z:2.54 [[ 9.99972897e-01 3.49672331e-03 6.47903015e-03 4.74274752e+02] [-3.49400091e-03 9.99993803e-01 -4.31457953e-04 -2.17484068e+01] [-6.48049868e-03 4.08808522e-04 9.99978918e-01 2.53734673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.780714057 meters Centerline goodness [0,1] 0.9813630226432635 Centerline is valid? [True, True] Translation: X:474.31, Y:-21.75, Z:2.54 [[ 9.99976923e-01 1.94876101e-03 6.50811836e-03 4.74306378e+02] [-1.94597606e-03 9.99998012e-01 -4.34225228e-04 -2.17479065e+01] [-6.50895162e-03 4.21550565e-04 9.99978728e-01 2.53757887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.810714057 meters Centerline goodness [0,1] 0.9817263605555187 Centerline is valid? [True, True] Translation: X:474.34, Y:-21.75, Z:2.54 [[ 9.99980729e-01 -1.37487424e-03 6.05400907e-03 4.74337600e+02] [ 1.37734645e-03 9.99998970e-01 -4.04208448e-04 -2.17478014e+01] [-6.05344710e-03 4.12539126e-04 9.99981593e-01 2.53734564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.840714057 meters Centerline goodness [0,1] 0.9815963104353774 Centerline is valid? [True, True] Translation: X:474.37, Y:-21.75, Z:2.54 [[ 9.99977584e-01 -3.33718573e-03 5.80476114e-03 4.74369113e+02] [ 3.33949134e-03 9.99994349e-01 -3.87545747e-04 -2.17488146e+01] [-5.80343502e-03 4.06922009e-04 9.99983077e-01 2.53684425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.870714057 meters Centerline goodness [0,1] 0.9810032584842506 Centerline is valid? [True, True] Translation: X:474.40, Y:-21.75, Z:2.54 [[ 9.99967503e-01 -6.62450268e-03 4.59435804e-03 4.74398781e+02] [ 6.62598356e-03 9.99978001e-01 -3.07180233e-04 -2.17534768e+01] [-4.59222205e-03 3.37612392e-04 9.99989399e-01 2.53568699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.900714057 meters Centerline goodness [0,1] 0.9804664981597269 Centerline is valid? [True, True] Translation: X:474.43, Y:-21.76, Z:2.53 [[ 9.99961103e-01 -8.15958889e-03 3.34858883e-03 4.74429438e+02] [ 8.16038219e-03 9.99966679e-01 -2.23309024e-04 -2.17556702e+01] [-3.34665514e-03 2.50626103e-04 9.99994369e-01 2.53475299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.930714057 meters Centerline goodness [0,1] 0.982040309527505 Centerline is valid? [True, True] Translation: X:474.46, Y:-21.76, Z:2.53 [[ 9.99935732e-01 -1.10898789e-02 2.35526837e-03 4.74459970e+02] [ 1.10902803e-02 9.99938489e-01 -1.57425700e-04 -2.17567633e+01] [-2.35337767e-03 1.83536169e-04 9.99997214e-01 2.53378816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.960714057 meters Centerline goodness [0,1] 0.9810348656451254 Centerline is valid? [True, True] Translation: X:474.49, Y:-21.76, Z:2.53 [[ 9.99920145e-01 -1.24635540e-02 2.08903004e-03 4.74492175e+02] [ 1.24638715e-02 9.99922313e-01 -1.39017259e-04 -2.17592479e+01] [-2.08713510e-03 1.65043559e-04 9.99997808e-01 2.53324790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.990714057 meters Centerline goodness [0,1] 0.9797993281274333 Centerline is valid? [True, True] Translation: X:474.52, Y:-21.76, Z:2.53 [[ 9.99896099e-01 -1.43603379e-02 1.25407351e-03 4.74523594e+02] [ 1.43604540e-02 9.99896880e-01 -8.35840874e-05 -2.17608092e+01] [-1.25274389e-03 1.01584468e-04 9.99999210e-01 2.53284946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.020714057 meters Centerline goodness [0,1] 0.979815007874365 Centerline is valid? [True, True] Translation: X:474.56, Y:-21.76, Z:2.53 [[ 9.99882936e-01 -1.52662461e-02 1.02758254e-03 4.74555626e+02] [ 1.52663240e-02 9.99883461e-01 -6.80491302e-05 -2.17621794e+01] [-1.02642393e-03 8.37285721e-05 9.99999470e-01 2.53237879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.050714057 meters Centerline goodness [0,1] 0.9795564256000712 Centerline is valid? [True, True] Translation: X:474.59, Y:-21.76, Z:2.53 [[ 9.99855508e-01 -1.69109183e-02 1.72766456e-03 4.74587183e+02] [ 1.69111429e-02 9.99856990e-01 -1.15493882e-04 -2.17620496e+01] [-1.72546438e-03 1.44693976e-04 9.99998501e-01 2.53247153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.080714057 meters Centerline goodness [0,1] 0.9787474014772878 Centerline is valid? [True, True] Translation: X:474.62, Y:-21.76, Z:2.53 [[ 9.99845485e-01 -1.74446675e-02 2.16573879e-03 4.74619092e+02] [ 1.74450214e-02 9.99847814e-01 -1.44608217e-04 -2.17638956e+01] [-2.16288655e-03 1.82367233e-04 9.99997644e-01 2.53265597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.110714057 meters Centerline goodness [0,1] 0.9782932965247011 Centerline is valid? [True, True] Translation: X:474.65, Y:-21.77, Z:2.53 [[ 9.99826182e-01 -1.85583970e-02 1.78653040e-03 4.74650361e+02] [ 1.85586399e-02 9.99827766e-01 -1.19454907e-04 -2.17656078e+01] [-1.78400580e-03 1.52589718e-04 9.99998397e-01 2.53264489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.140714057 meters Centerline goodness [0,1] 0.9744069495489476 Centerline is valid? [True, True] Translation: X:474.68, Y:-21.77, Z:2.53 [[ 9.99826589e-01 -1.85912143e-02 1.07658496e-03 4.74681004e+02] [ 1.85913023e-02 9.99827164e-01 -7.17902613e-05 -2.17738349e+01] [-1.07506422e-03 9.17929285e-05 9.99999418e-01 2.53125740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.170714057 meters Centerline goodness [0,1] 0.9772656354477778 Centerline is valid? [True, True] Translation: X:474.71, Y:-21.77, Z:2.53 [[ 9.99832352e-01 -1.83103196e-02 -2.08727998e-05 4.74713715e+02] [ 1.83103197e-02 9.99832352e-01 2.26152765e-06 -2.17686479e+01] [ 2.08278912e-05 -2.64333614e-06 1.00000000e+00 2.53102567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.200714057 meters Centerline goodness [0,1] 0.9773522658879651 Centerline is valid? [True, True] Translation: X:474.75, Y:-21.77, Z:2.53 [[ 9.99840078e-01 -1.78749920e-02 -5.50528549e-04 4.74745731e+02] [ 1.78750156e-02 9.99840228e-01 3.79695015e-05 -2.17705602e+01] [ 5.49761886e-04 -4.78041358e-05 9.99999848e-01 2.53030787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.230714057 meters Centerline goodness [0,1] 0.9776836473079924 Centerline is valid? [True, True] Translation: X:474.78, Y:-21.77, Z:2.53 [[ 9.99844182e-01 -1.76190092e-02 -1.08761163e-03 4.74778065e+02] [ 1.76191003e-02 9.99844769e-01 7.42548886e-05 -2.17721622e+01] [ 1.08613450e-03 -9.34060567e-05 9.99999406e-01 2.52975648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.26071405700003 meters Centerline goodness [0,1] 0.967350850215061 Centerline is valid? [True, True] Translation: X:474.81, Y:-21.78, Z:2.53 [[ 9.99873345e-01 -1.57954820e-02 -1.94854737e-03 4.74808041e+02] [ 1.57957685e-02 9.99875230e-01 1.31763813e-04 -2.17795637e+01] [ 1.94622298e-03 -1.62525928e-04 9.99998093e-01 2.52799486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.290714057 meters Centerline goodness [0,1] 0.9791713225763197 Centerline is valid? [True, True] Translation: X:474.84, Y:-21.76, Z:2.53 [[ 9.99903679e-01 -1.34519120e-02 -3.41737617e-03 4.74840095e+02] [ 1.34527795e-02 9.99909481e-01 2.30994007e-04 -2.17636212e+01] [ 3.41395952e-03 -2.76944965e-04 9.99994134e-01 2.52988527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.320714057 meters Centerline goodness [0,1] 0.9803917179630666 Centerline is valid? [True, True] Translation: X:474.87, Y:-21.76, Z:2.53 [[ 9.99921840e-01 -1.20185064e-02 -3.44508146e-03 4.74871554e+02] [ 1.20193807e-02 9.99927737e-01 2.33212399e-04 -2.17626057e+01] [ 3.44202965e-03 -2.74601917e-04 9.99994038e-01 2.52918035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.350714057 meters Centerline goodness [0,1] 0.9762771684499744 Centerline is valid? [True, True] Translation: X:474.90, Y:-21.77, Z:2.53 [[ 9.99939893e-01 -1.05416817e-02 -3.01389242e-03 4.74901838e+02] [ 1.05423448e-02 9.99944407e-01 2.04183047e-04 -2.17725754e+01] [ 3.01157244e-03 -2.35944267e-04 9.99995437e-01 2.52678732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.380714057 meters Centerline goodness [0,1] 0.980516558675306 Centerline is valid? [True, True] Translation: X:474.93, Y:-21.76, Z:2.53 [[ 9.99972845e-01 -6.61564807e-03 -3.24701806e-03 4.74933643e+02] [ 6.61639558e-03 9.99978087e-01 2.19527457e-04 -2.17590550e+01] [ 3.24549459e-03 -2.41005052e-04 9.99994704e-01 2.52909537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.410714057 meters Centerline goodness [0,1] 0.9801754228944778 Centerline is valid? [True, True] Translation: X:474.96, Y:-21.76, Z:2.53 [[ 9.99986363e-01 -4.05894565e-03 -3.28621834e-03 4.74963254e+02] [ 4.05970044e-03 9.99991735e-01 2.23047603e-04 -2.17598259e+01] [ 3.28528584e-03 -2.36385624e-04 9.99994575e-01 2.52843177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.440714057 meters Centerline goodness [0,1] 0.9811884748505416 Centerline is valid? [True, True] Translation: X:474.99, Y:-21.75, Z:2.53 [[ 9.99992523e-01 3.84822973e-04 -3.84777883e-03 4.74993849e+02] [-3.83824154e-04 9.99999892e-01 2.60318255e-04 -2.17546173e+01] [ 3.84787860e-03 -2.58839439e-04 9.99992563e-01 2.52852807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.470714057 meters Centerline goodness [0,1] 0.981476902326627 Centerline is valid? [True, True] Translation: X:475.02, Y:-21.75, Z:2.53 [[ 9.99989837e-01 2.49191630e-03 -3.75709814e-03 4.75023548e+02] [-2.49098085e-03 9.99996865e-01 2.53639714e-04 -2.17524767e+01] [ 3.75771841e-03 -2.44278276e-04 9.99992910e-01 2.52887514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.500714057 meters Centerline goodness [0,1] 0.9802673168969566 Centerline is valid? [True, True] Translation: X:475.05, Y:-21.75, Z:2.53 [[ 9.99975622e-01 6.05208466e-03 -3.48243799e-03 4.75053774e+02] [-6.05130172e-03 9.99981663e-01 2.35319503e-04 -2.17485217e+01] [ 3.48379831e-03 -2.14240483e-04 9.99993909e-01 2.52972410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.530714057 meters Centerline goodness [0,1] 0.9809596859701762 Centerline is valid? [True, True] Translation: X:475.08, Y:-21.75, Z:2.53 [[ 9.99966585e-01 7.55411560e-03 -3.12493302e-03 4.75082810e+02] [-7.55349547e-03 9.99971450e-01 2.10201058e-04 -2.17470453e+01] [ 3.12643168e-03 -1.86589867e-04 9.99995095e-01 2.52999177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.560714057 meters Centerline goodness [0,1] 0.9800249122409693 Centerline is valid? [True, True] Translation: X:475.11, Y:-21.75, Z:2.53 [[ 9.99949556e-01 9.50126711e-03 -3.25747140e-03 4.75110825e+02] [-9.50060558e-03 9.99954844e-01 2.18495870e-04 -2.17461662e+01] [ 3.25940030e-03 -1.87536897e-04 9.99994671e-01 2.52938520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.590714057 meters Centerline goodness [0,1] 0.9802186833628238 Centerline is valid? [True, True] Translation: X:475.14, Y:-21.75, Z:2.53 [[ 9.99942504e-01 1.02068185e-02 -3.28764777e-03 4.75139652e+02] [-1.02061481e-02 9.99947892e-01 2.20629161e-04 -2.17453372e+01] [ 3.28972838e-03 -1.87062255e-04 9.99994571e-01 2.52921862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.620714057 meters Centerline goodness [0,1] 0.9803153173560458 Centerline is valid? [True, True] Translation: X:475.17, Y:-21.74, Z:2.53 [[ 9.99937495e-01 1.08828735e-02 -2.56294394e-03 4.75168736e+02] [-1.08824692e-02 9.99940769e-01 1.71630576e-04 -2.17449707e+01] [ 2.56465997e-03 -1.43728690e-04 9.99996701e-01 2.52902115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.650714057 meters Centerline goodness [0,1] 0.9805104934770278 Centerline is valid? [True, True] Translation: X:475.20, Y:-21.75, Z:2.53 [[ 9.99931312e-01 1.15161251e-02 -2.17932861e-03 4.75197168e+02] [-1.15158349e-02 9.99933680e-01 1.45659602e-04 -2.17454532e+01] [ 2.18086151e-03 -1.20552808e-04 9.99997615e-01 2.52893618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.680714057 meters Centerline goodness [0,1] 0.9805104934770278 Centerline is valid? [True, True] Translation: X:475.23, Y:-21.75, Z:2.53 [[ 9.99932122e-01 1.14455983e-02 -2.17933883e-03 4.75225455e+02] [-1.14453083e-02 9.99934490e-01 1.45507036e-04 -2.17472944e+01] [ 2.18086147e-03 -1.20553955e-04 9.99997615e-01 2.52859411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.710714057 meters Centerline goodness [0,1] 0.9800145348837209 Centerline is valid? [True, True] Translation: X:475.25, Y:-21.75, Z:2.53 [[ 9.99930670e-01 1.14211057e-02 -2.86589371e-03 4.75254543e+02] [-1.14206039e-02 9.99934764e-01 1.91397964e-04 -2.17456237e+01] [ 2.86789273e-03 -1.58654458e-04 9.99995875e-01 2.52815309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.740714057 meters Centerline goodness [0,1] 0.9792045868219876 Centerline is valid? [True, True] Translation: X:475.28, Y:-21.75, Z:2.53 [[ 9.99934425e-01 1.09138147e-02 -3.46915545e-03 4.75282232e+02] [-1.09130776e-02 9.99940424e-01 2.31351465e-04 -2.17481398e+01] [ 3.47147370e-03 -1.93477132e-04 9.99993956e-01 2.52664124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.770714057 meters Centerline goodness [0,1] 0.9795263768511567 Centerline is valid? [True, True] Translation: X:475.31, Y:-21.75, Z:2.53 [[ 9.99951900e-01 8.83288279e-03 -4.26362172e-03 4.75311980e+02] [-8.83174731e-03 9.99960959e-01 2.85072222e-04 -2.17494666e+01] [ 4.26597327e-03 -2.47403280e-04 9.99990870e-01 2.52574506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.800714057 meters Centerline goodness [0,1] 0.9813126709206927 Centerline is valid? [True, True] Translation: X:475.34, Y:-21.75, Z:2.53 [[ 9.99966828e-01 6.96985072e-03 -4.21465614e-03 4.75341906e+02] [-6.96872539e-03 9.99975678e-01 2.81629421e-04 -2.17489326e+01] [ 4.21651654e-03 -2.52249298e-04 9.99991079e-01 2.52623404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.830714057 meters Centerline goodness [0,1] 0.981233305175681 Centerline is valid? [True, True] Translation: X:475.37, Y:-21.75, Z:2.53 [[ 9.99986673e-01 3.26853903e-03 -3.99632152e-03 4.75370834e+02] [-3.26749849e-03 9.99994626e-01 2.66876180e-04 -2.17529641e+01] [ 3.99717234e-03 -2.53814649e-04 9.99991979e-01 2.52579181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.860714057 meters Centerline goodness [0,1] 0.9795204000454597 Centerline is valid? [True, True] Translation: X:475.40, Y:-21.76, Z:2.53 [[ 9.99988999e-01 1.94659890e-03 -4.26765167e-03 4.75400684e+02] [-1.94540080e-03 9.99998067e-01 2.84874457e-04 -2.17556603e+01] [ 4.26819796e-03 -2.76569030e-04 9.99990853e-01 2.52514374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.890714057 meters Centerline goodness [0,1] 0.9801173328463487 Centerline is valid? [True, True] Translation: X:475.43, Y:-21.76, Z:2.53 [[ 9.99991757e-01 -2.33845322e-04 -4.05352937e-03 4.75429855e+02] [ 2.34942184e-04 9.99999936e-01 2.70120341e-04 -2.17563412e+01] [ 4.05346594e-03 -2.71070459e-04 9.99991748e-01 2.52540439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.920714057 meters Centerline goodness [0,1] 0.9797525566106647 Centerline is valid? [True, True] Translation: X:475.46, Y:-21.76, Z:2.53 [[ 9.99991741e-01 -9.88476144e-04 -3.94215377e-03 4.75458277e+02] [ 9.89518515e-04 9.99999476e-01 2.62474960e-04 -2.17587425e+01] [ 3.94189226e-03 -2.66373626e-04 9.99992195e-01 2.52551117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.950714057 meters Centerline goodness [0,1] 0.9803124429015165 Centerline is valid? [True, True] Translation: X:475.49, Y:-21.76, Z:2.53 [[ 9.99993803e-01 -1.34073543e-03 -3.25512156e-03 4.75486896e+02] [ 1.34144708e-03 9.99999077e-01 2.16450664e-04 -2.17611828e+01] [ 3.25482835e-03 -2.20815896e-04 9.99994679e-01 2.52533756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.980714057 meters Centerline goodness [0,1] 0.9787541254125413 Centerline is valid? [True, True] Translation: X:475.52, Y:-21.76, Z:2.53 [[ 9.99995776e-01 -1.72566457e-03 -2.33863363e-03 4.75516176e+02] [ 1.72603284e-03 9.99998498e-01 1.55461402e-04 -2.17614241e+01] [ 2.33836184e-03 -1.59497303e-04 9.99997253e-01 2.52613948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.01071405700003 meters Centerline goodness [0,1] 0.9798692989671877 Centerline is valid? [True, True] Translation: X:475.55, Y:-21.76, Z:2.53 [[ 9.99997370e-01 -1.37299643e-03 -1.83717877e-03 4.75546365e+02] [ 1.37322372e-03 9.99999050e-01 1.22460449e-04 -2.17639172e+01] [ 1.83700889e-03 -1.24982984e-04 9.99998305e-01 2.52589891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.040714057 meters Centerline goodness [0,1] 0.9796610169491525 Centerline is valid? [True, True] Translation: X:475.58, Y:-21.76, Z:2.53 [[ 9.99997565e-01 -1.31081421e-03 -1.77550541e-03 4.75576499e+02] [ 1.31102640e-03 9.99999134e-01 1.18349500e-04 -2.17629695e+01] [ 1.77534874e-03 -1.20676946e-04 9.99998417e-01 2.52539885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.070714057 meters Centerline goodness [0,1] 0.9787458685273596 Centerline is valid? [True, True] Translation: X:475.61, Y:-21.77, Z:2.52 [[ 9.99998386e-01 -6.44777824e-04 -1.67685981e-03 4.75605458e+02] [ 6.44966413e-04 9.99999786e-01 1.11927293e-04 -2.17694629e+01] [ 1.67678729e-03 -1.13008630e-04 9.99998588e-01 2.52390662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.100714057 meters Centerline goodness [0,1] 0.9792120781038478 Centerline is valid? [True, True] Translation: X:475.64, Y:-21.77, Z:2.52 [[ 9.99997855e-01 -8.16274291e-04 -1.90334551e-03 4.75635664e+02] [ 8.16517283e-04 9.99999659e-01 1.26892188e-04 -2.17682392e+01] [ 1.90324128e-03 -1.28446031e-04 9.99998181e-01 2.52400899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.130714057 meters Centerline goodness [0,1] 0.9784582844793894 Centerline is valid? [True, True] Translation: X:475.67, Y:-21.77, Z:2.52 [[ 9.99997969e-01 -7.46990820e-04 -1.87208443e-03 4.75665636e+02] [ 7.47225775e-04 9.99999713e-01 1.24808076e-04 -2.17706964e+01] [ 1.87199067e-03 -1.26206692e-04 9.99998240e-01 2.52393264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.160714057 meters Centerline goodness [0,1] 0.9783482194108328 Centerline is valid? [True, True] Translation: X:475.69, Y:-21.77, Z:2.52 [[ 9.99999172e-01 -4.13009996e-04 -1.21867577e-03 4.75694991e+02] [ 4.13109478e-04 9.99999911e-01 8.13806421e-05 -2.17749703e+01] [ 1.21864205e-03 -8.18840212e-05 9.99999254e-01 2.52378867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.190714057 meters Centerline goodness [0,1] 0.977801244232226 Centerline is valid? [True, True] Translation: X:475.73, Y:-21.78, Z:2.52 [[ 9.99999226e-01 -1.11335774e-04 -1.23949897e-03 4.75725095e+02] [ 1.11438301e-04 9.99999990e-01 8.26474237e-05 -2.17765321e+01] [ 1.23948975e-03 -8.27854874e-05 9.99999228e-01 2.52372484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.220714057 meters Centerline goodness [0,1] 0.9778185151237397 Centerline is valid? [True, True] Translation: X:475.75, Y:-21.78, Z:2.52 [[ 9.99999076e-01 -6.97008346e-05 -1.35744832e-03 4.75754190e+02] [ 6.98234524e-05 9.99999993e-01 9.02824424e-05 -2.17808731e+01] [ 1.35744202e-03 -9.03771408e-05 9.99999075e-01 2.52307990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.250714057 meters Centerline goodness [0,1] 0.9765792964640226 Centerline is valid? [True, True] Translation: X:475.78, Y:-21.78, Z:2.52 [[ 9.99999337e-01 7.08118372e-05 -1.14923663e-03 4.75783236e+02] [-7.07240977e-05 9.99999995e-01 7.63863387e-05 -2.17841081e+01] [ 1.14924203e-03 -7.63050093e-05 9.99999337e-01 2.52231150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.280714057 meters Centerline goodness [0,1] 0.9774393167857877 Centerline is valid? [True, True] Translation: X:475.81, Y:-21.79, Z:2.52 [[ 9.99997236e-01 -9.22914345e-05 -2.34951408e-03 4.75813702e+02] [ 9.26595786e-05 9.99999983e-01 1.56581067e-04 -2.17863461e+01] [ 2.34949959e-03 -1.56798339e-04 9.99997228e-01 2.52087540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.310714057 meters Centerline goodness [0,1] 0.9776281246433055 Centerline is valid? [True, True] Translation: X:475.84, Y:-21.79, Z:2.52 [[ 9.99995477e-01 -1.30789409e-04 -3.00477035e-03 4.75843458e+02] [ 1.31390182e-04 9.99999971e-01 1.99743326e-04 -2.17891913e+01] [ 3.00474414e-03 -2.00137220e-04 9.99995466e-01 2.51965504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.340714057 meters Centerline goodness [0,1] 0.9773583183073516 Centerline is valid? [True, True] Translation: X:475.87, Y:-21.79, Z:2.52 [[ 9.99990931e-01 1.02084239e-05 -4.25881312e-03 4.75872140e+02] [-9.00383861e-06 9.99999960e-01 2.82864376e-04 -2.17943809e+01] [ 4.25881584e-03 -2.82823465e-04 9.99990891e-01 2.51827322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.370714057 meters Centerline goodness [0,1] 0.9765201548622182 Centerline is valid? [True, True] Translation: X:475.90, Y:-21.80, Z:2.52 [[ 9.99991739e-01 6.78728035e-04 -4.00753720e-03 4.75900249e+02] [-6.77679353e-04 9.99999736e-01 2.63029344e-04 -2.17977884e+01] [ 4.00771467e-03 -2.60311346e-04 9.99991935e-01 2.51887504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.400714057 meters Centerline goodness [0,1] 0.9785227272727273 Centerline is valid? [True, True] Translation: X:475.93, Y:-21.79, Z:2.52 [[ 9.99993915e-01 9.79947780e-04 -3.34798765e-03 4.75929670e+02] [-9.79222555e-04 9.99999497e-01 2.18247587e-04 -2.17899794e+01] [ 3.34819984e-03 -2.14967834e-04 9.99994372e-01 2.52209826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.430714057 meters Centerline goodness [0,1] 0.9776161799795478 Centerline is valid? [True, True] Translation: X:475.96, Y:-21.79, Z:2.52 [[ 9.99994562e-01 1.47803541e-03 -2.94826716e-03 4.75958705e+02] [-1.47747054e-03 9.99998890e-01 1.93760691e-04 -2.17917820e+01] [ 2.94855027e-03 -1.89403659e-04 9.99995635e-01 2.52253836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.460714057 meters Centerline goodness [0,1] 0.9776088836299094 Centerline is valid? [True, True] Translation: X:475.99, Y:-21.79, Z:2.52 [[ 9.99995027e-01 2.23971096e-03 -2.22012015e-03 4.75987545e+02] [-2.23939873e-03 9.99997482e-01 1.43112914e-04 -2.17948776e+01] [ 2.22043509e-03 -1.38140468e-04 9.99997525e-01 2.52309801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.490714057 meters Centerline goodness [0,1] 0.9778328483084758 Centerline is valid? [True, True] Translation: X:476.02, Y:-21.80, Z:2.52 [[ 9.99994747e-01 3.21599933e-03 -4.03237407e-04 4.76015579e+02] [-3.21598924e-03 9.99994828e-01 2.56525520e-05 -2.18000097e+01] [ 4.03317820e-04 -2.43556101e-05 9.99999918e-01 2.52300266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.520714057 meters Centerline goodness [0,1] 0.978342215670711 Centerline is valid? [True, True] Translation: X:476.05, Y:-21.80, Z:2.52 [[ 9.99984568e-01 5.48600978e-03 8.75930944e-04 4.76045530e+02] [-5.48596100e-03 9.99984950e-01 -5.80881473e-05 -2.18012158e+01] [-8.76236434e-04 5.32819279e-05 9.99999615e-01 2.52340194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.550714057 meters Centerline goodness [0,1] 0.9797462618939737 Centerline is valid? [True, True] Translation: X:476.07, Y:-21.80, Z:2.52 [[ 9.99975743e-01 6.86577209e-03 1.17222855e-03 4.76074107e+02] [-6.86568567e-03 9.99976428e-01 -7.77235509e-05 -2.18025700e+01] [-1.17273455e-03 6.96735128e-05 9.99999310e-01 2.52341100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.580714057 meters Centerline goodness [0,1] 0.9788424234222042 Centerline is valid? [True, True] Translation: X:476.10, Y:-21.81, Z:2.52 [[ 9.99957209e-01 9.24167564e-03 4.14517057e-04 4.76102403e+02] [-9.24166496e-03 9.99957295e-01 -2.76735741e-05 -2.18065457e+01] [-4.14755105e-04 2.38415621e-05 9.99999914e-01 2.52296767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.610714057 meters Centerline goodness [0,1] 0.9797278911564626 Centerline is valid? [True, True] Translation: X:476.13, Y:-21.81, Z:2.52 [[ 9.99950550e-01 9.93922691e-03 3.31396326e-04 4.76131800e+02] [-9.93922005e-03 9.99950604e-01 -2.23416631e-05 -2.18061516e+01] [-3.31602015e-04 1.90467373e-05 9.99999945e-01 2.52279215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.640714057 meters Centerline goodness [0,1] 0.979645436638214 Centerline is valid? [True, True] Translation: X:476.16, Y:-21.81, Z:2.52 [[ 9.99948793e-01 1.01170723e-02 -2.35368410e-04 4.76160606e+02] [-1.01170691e-02 9.99948821e-01 1.45398931e-05 -2.18090882e+01] [ 2.35503465e-04 -1.21579101e-05 9.99999972e-01 2.52186456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.670714057 meters Centerline goodness [0,1] 0.9815133276010318 Centerline is valid? [True, True] Translation: X:476.19, Y:-21.82, Z:2.52 [[ 9.99952814e-01 9.63974049e-03 -1.20191807e-03 4.76188658e+02] [-9.63965406e-03 9.99953534e-01 7.76843358e-05 -2.18157145e+01] [ 1.20261108e-03 -6.60945958e-05 9.99999275e-01 2.51959179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.700714057 meters Centerline goodness [0,1] 0.981493198354951 Centerline is valid? [True, True] Translation: X:476.22, Y:-21.82, Z:2.52 [[ 9.99956218e-01 9.18741168e-03 -1.77607686e-03 4.76217415e+02] [-9.18722180e-03 9.99957790e-01 1.15041233e-04 -2.18158685e+01] [ 1.77705882e-03 -9.87189844e-05 9.99998416e-01 2.51917502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.730714057 meters Centerline goodness [0,1] 0.9813563535287338 Centerline is valid? [True, True] Translation: X:476.25, Y:-21.82, Z:2.52 [[ 9.99956042e-01 8.85987758e-03 -3.06868906e-03 4.76245111e+02] [-8.85930872e-03 9.99960736e-01 1.98919796e-04 -2.18220180e+01] [ 3.07033097e-03 -1.71724588e-04 9.99995272e-01 2.51754512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.76071405700003 meters Centerline goodness [0,1] 0.9788205139735144 Centerline is valid? [True, True] Translation: X:476.27, Y:-21.84, Z:2.51 [[ 9.99948670e-01 9.62417490e-03 -3.16739251e-03 4.76271784e+02] [-9.62357338e-03 9.99953671e-01 2.05095583e-04 -2.18359977e+01] [ 3.16921965e-03 -1.74603421e-04 9.99994963e-01 2.51415769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.790714057 meters Centerline goodness [0,1] 0.982130382855984 Centerline is valid? [True, True] Translation: X:476.30, Y:-21.83, Z:2.52 [[ 9.99945545e-01 1.00185647e-02 -2.92142888e-03 4.76301504e+02] [-1.00180548e-02 9.99949800e-01 1.89094590e-04 -2.18287941e+01] [ 2.92317668e-03 -1.59817258e-04 9.99995715e-01 2.51662684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.820714057 meters Centerline goodness [0,1] 0.982256760398886 Centerline is valid? [True, True] Translation: X:476.33, Y:-21.83, Z:2.52 [[ 9.99931360e-01 1.15881160e-02 -1.72925366e-03 4.76330694e+02] [-1.15879401e-02 9.99932851e-01 1.11698888e-04 -2.18323552e+01] [ 1.73043192e-03 -9.16527332e-05 9.99998499e-01 2.51688745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.850714057 meters Centerline goodness [0,1] 0.981040306237334 Centerline is valid? [True, True] Translation: X:476.36, Y:-21.84, Z:2.52 [[ 9.99933691e-01 1.14170416e-02 -1.50523585e-03 4.76357892e+02] [-1.14169092e-02 9.99934820e-01 9.64946636e-05 -2.18360338e+01] [ 1.50623943e-03 -7.93031240e-05 9.99998862e-01 2.51680603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.880714057 meters Centerline goodness [0,1] 0.9815743886251659 Centerline is valid? [True, True] Translation: X:476.39, Y:-21.84, Z:2.52 [[ 9.99936477e-01 1.12255904e-02 -1.01378299e-03 4.76386673e+02] [-1.12255304e-02 9.99936990e-01 6.48468850e-05 -2.18394486e+01] [ 1.01444706e-03 -5.34625139e-05 9.99999484e-01 2.51713523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.910714057 meters Centerline goodness [0,1] 0.9809708039048091 Centerline is valid? [True, True] Translation: X:476.41, Y:-21.85, Z:2.52 [[ 9.99947749e-01 1.02146800e-02 -3.99944064e-04 4.76414886e+02] [-1.02146708e-02 9.99947829e-01 2.50494861e-05 -2.18462012e+01] [ 4.00179071e-04 -2.09628803e-05 9.99999920e-01 2.51631549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.940714057 meters Centerline goodness [0,1] 0.9810045580079485 Centerline is valid? [True, True] Translation: X:476.44, Y:-21.85, Z:2.52 [[ 9.99958259e-01 9.12070071e-03 -5.41122512e-04 4.76443274e+02] [-9.12068356e-03 9.99958405e-01 3.41539058e-05 -2.18511154e+01] [ 5.41411511e-04 -2.92170730e-05 9.99999853e-01 2.51547040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.970714057 meters Centerline goodness [0,1] 0.9819585315501301 Centerline is valid? [True, True] Translation: X:476.47, Y:-21.86, Z:2.51 [[ 9.99973675e-01 7.19465249e-03 -9.41612664e-04 4.76471258e+02] [-7.19459897e-03 9.99974117e-01 6.02140825e-05 -2.18589325e+01] [ 9.42021511e-04 -5.34379718e-05 9.99999555e-01 2.51434003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.000714057 meters Centerline goodness [0,1] 0.9819112168409713 Centerline is valid? [True, True] Translation: X:476.50, Y:-21.86, Z:2.51 [[ 9.99979395e-01 6.36400781e-03 -8.41940901e-04 4.76499552e+02] [-6.36396500e-03 9.99979748e-01 5.35160817e-05 -2.18627559e+01] [ 8.42264428e-04 -4.81568966e-05 9.99999644e-01 2.51404861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.030714057 meters Centerline goodness [0,1] 0.9821181716833891 Centerline is valid? [True, True] Translation: X:476.53, Y:-21.87, Z:2.51 [[ 9.99983236e-01 5.63167158e-03 -1.34576176e-03 4.76526799e+02] [-5.63156156e-03 9.99984139e-01 8.55316594e-05 -2.18686427e+01] [ 1.34622210e-03 -7.79514854e-05 9.99999091e-01 2.51322634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.060714057 meters Centerline goodness [0,1] 0.9824640086110239 Centerline is valid? [True, True] Translation: X:476.55, Y:-21.87, Z:2.51 [[ 9.99979918e-01 5.83348167e-03 -2.47687695e-03 4.76554122e+02] [-5.83310717e-03 9.99982975e-01 1.58398429e-04 -2.18736568e+01] [ 2.47775880e-03 -1.43947359e-04 9.99996920e-01 2.51244818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.090714057 meters Centerline goodness [0,1] 0.9818538062476343 Centerline is valid? [True, True] Translation: X:476.58, Y:-21.88, Z:2.51 [[ 9.99977951e-01 6.12247646e-03 -2.57142250e-03 4.76582714e+02] [-6.12207358e-03 9.99981246e-01 1.64519396e-04 -2.18761042e+01] [ 2.57238154e-03 -1.48773331e-04 9.99996680e-01 2.51173708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.120714057 meters Centerline goodness [0,1] 0.9817563181339959 Centerline is valid? [True, True] Translation: X:476.61, Y:-21.88, Z:2.51 [[ 9.99975758e-01 6.32987065e-03 -2.90117267e-03 4.76611204e+02] [-6.32935893e-03 9.99979952e-01 1.85531874e-04 -2.18792153e+01] [ 2.90228890e-03 -1.67164813e-04 9.99995774e-01 2.51071673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.150714057 meters Centerline goodness [0,1] 0.9836824105326687 Centerline is valid? [True, True] Translation: X:476.64, Y:-21.88, Z:2.51 [[ 9.99959687e-01 8.45395574e-03 -3.02571936e-03 4.76639620e+02] [-8.45340857e-03 9.99964251e-01 1.93585179e-04 -2.18820244e+01] [ 3.02724775e-03 -1.67999733e-04 9.99995404e-01 2.50955197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.180714057 meters Centerline goodness [0,1] 0.9831530967914917 Centerline is valid? [True, True] Translation: X:476.67, Y:-21.88, Z:2.51 [[ 9.99946597e-01 9.93060157e-03 -2.86109716e-03 4.76668859e+02] [-9.93011882e-03 9.99950678e-01 1.82884909e-04 -2.18835394e+01] [ 2.86277220e-03 -1.54464108e-04 9.99995890e-01 2.50925184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.210714057 meters Centerline goodness [0,1] 0.9827027510224149 Centerline is valid? [True, True] Translation: X:476.70, Y:-21.88, Z:2.51 [[ 9.99906220e-01 1.36296800e-02 -1.33506949e-03 4.76697757e+02] [-1.36295785e-02 9.99907109e-01 8.50947306e-05 -2.18836794e+01] [ 1.33610529e-03 -6.68903160e-05 9.99999105e-01 2.51023257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.240714057 meters Centerline goodness [0,1] 0.983457749900614 Centerline is valid? [True, True] Translation: X:476.73, Y:-21.88, Z:2.51 [[ 9.99875220e-01 1.57879972e-02 -5.33109626e-04 4.76727278e+02] [-1.57879814e-02 9.99875361e-01 3.37636471e-05 -2.18847639e+01] [ 5.33576241e-04 -2.53427091e-05 9.99999857e-01 2.51091647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.270714057 meters Centerline goodness [0,1] 0.9827844478726496 Centerline is valid? [True, True] Translation: X:476.76, Y:-21.89, Z:2.51 [[ 9.99862924e-01 1.65304382e-02 -9.37232193e-04 4.76755565e+02] [-1.65303899e-02 9.99863362e-01 5.92089880e-05 -2.18875334e+01] [ 9.38082882e-04 -4.37080582e-05 9.99999559e-01 2.51063905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.300714057 meters Centerline goodness [0,1] 0.9825013896609227 Centerline is valid? [True, True] Translation: X:476.78, Y:-21.89, Z:2.51 [[ 9.99860864e-01 1.66682862e-02 -6.49182092e-04 4.76784194e+02] [-1.66682633e-02 9.99861074e-01 4.07343229e-05 -2.18899594e+01] [ 6.49770875e-04 -2.99079172e-05 9.99999788e-01 2.51037912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.330714057 meters Centerline goodness [0,1] 0.9842399820908887 Centerline is valid? [True, True] Translation: X:476.81, Y:-21.88, Z:2.51 [[ 9.99878985e-01 1.55153685e-02 -1.13551251e-03 4.76813376e+02] [-1.55152971e-02 9.99879628e-01 7.16603709e-05 -2.18849785e+01] [ 1.13648766e-03 -5.40338850e-05 9.99999353e-01 2.51281626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.360714057 meters Centerline goodness [0,1] 0.9833448529575706 Centerline is valid? [True, True] Translation: X:476.84, Y:-21.89, Z:2.51 [[ 9.99889503e-01 1.48387739e-02 -8.89813846e-04 4.76841331e+02] [-1.48387302e-02 9.99889898e-01 5.56878834e-05 -2.18898305e+01] [ 8.90542216e-04 -4.24780225e-05 9.99999603e-01 2.51175769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.390714057 meters Centerline goodness [0,1] 0.9834407646143587 Centerline is valid? [True, True] Translation: X:476.87, Y:-21.90, Z:2.51 [[ 9.99916462e-01 1.28917164e-02 -9.34061310e-04 4.76869550e+02] [-1.28916670e-02 9.99916897e-01 5.88903940e-05 -2.18981191e+01] [ 9.34742885e-04 -4.68438671e-05 9.99999562e-01 2.51019084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.420714057 meters Centerline goodness [0,1] 0.9833667334669338 Centerline is valid? [True, True] Translation: X:476.90, Y:-21.90, Z:2.51 [[ 9.99923637e-01 1.23075967e-02 -1.11542694e-03 4.76898615e+02] [-1.23075261e-02 9.99924257e-01 7.01658589e-05 -2.19010484e+01] [ 1.11620603e-03 -5.64323546e-05 9.99999375e-01 2.51002889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.450714057 meters Centerline goodness [0,1] 0.983386709367494 Centerline is valid? [True, True] Translation: X:476.93, Y:-21.91, Z:2.51 [[ 9.99945783e-01 1.03601814e-02 -1.04739922e-03 4.76927021e+02] [-1.03601180e-02 9.99946330e-01 6.59950300e-05 -2.19080827e+01] [ 1.04802672e-03 -5.51402725e-05 9.99999449e-01 2.50960408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.480714057 meters Centerline goodness [0,1] 0.9836559998225889 Centerline is valid? [True, True] Translation: X:476.96, Y:-21.91, Z:2.51 [[ 9.99953433e-01 9.62969159e-03 -6.33667250e-04 4.76955767e+02] [-9.62966855e-03 9.99953633e-01 3.93964770e-05 -2.19075469e+01] [ 6.34017245e-04 -3.32926368e-05 9.99999798e-01 2.51060022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.51071405700003 meters Centerline goodness [0,1] 0.9832414602289079 Centerline is valid? [True, True] Translation: X:476.98, Y:-21.91, Z:2.51 [[ 9.99960797e-01 8.84487233e-03 -4.15740599e-04 4.76984794e+02] [-8.84486248e-03 9.99960883e-01 2.55167921e-05 -2.19107522e+01] [ 4.15950029e-04 -2.18386233e-05 9.99999913e-01 2.51024729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.540714057 meters Centerline goodness [0,1] 0.9835138013668234 Centerline is valid? [True, True] Translation: X:477.01, Y:-21.92, Z:2.51 [[ 9.99967228e-01 8.08471667e-03 -4.25260198e-04 4.77012764e+02] [-8.08470640e-03 9.99967318e-01 2.58756324e-05 -2.19163701e+01] [ 4.25455497e-04 -2.24366805e-05 9.99999909e-01 2.50962591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.570714057 meters Centerline goodness [0,1] 0.9835138013668234 Centerline is valid? [True, True] Translation: X:477.04, Y:-21.92, Z:2.51 [[ 9.99967799e-01 8.01380286e-03 -4.25248530e-04 4.77041061e+02] [-8.01379250e-03 9.99967889e-01 2.60592732e-05 -2.19181030e+01] [ 4.25443709e-04 -2.26505806e-05 9.99999909e-01 2.50928379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.600714057 meters Centerline goodness [0,1] 0.9820408344036494 Centerline is valid? [True, True] Translation: X:477.07, Y:-21.93, Z:2.51 [[ 9.99971206e-01 7.58163007e-03 3.24819997e-04 4.77067983e+02] [-7.58162346e-03 9.99971259e-01 -2.15930390e-05 -2.19292150e+01] [-3.24974371e-04 1.91297543e-05 9.99999947e-01 2.50738261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.630714057 meters Centerline goodness [0,1] 0.9826482405404212 Centerline is valid? [True, True] Translation: X:477.10, Y:-21.92, Z:2.51 [[ 9.99970840e-01 7.48242862e-03 1.52752133e-03 4.77097647e+02] [-7.48228867e-03 9.99972003e-01 -9.73097125e-05 -2.19242904e+01] [-1.52820668e-03 8.58775194e-05 9.99998829e-01 2.50917497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.660714057 meters Centerline goodness [0,1] 0.9833683048039757 Centerline is valid? [True, True] Translation: X:477.13, Y:-21.93, Z:2.51 [[ 9.99973774e-01 6.82371117e-03 2.42673311e-03 4.77125830e+02] [-6.82335771e-03 9.99976709e-01 -1.53900973e-04 -2.19290945e+01] [-2.42772676e-03 1.37338469e-04 9.99997044e-01 2.50879898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.690714057 meters Centerline goodness [0,1] 0.9832043906632282 Centerline is valid? [True, True] Translation: X:477.16, Y:-21.93, Z:2.51 [[ 9.99977405e-01 6.08424237e-03 2.85861419e-03 4.77155285e+02] [-6.08375088e-03 9.99981478e-01 -1.80599630e-04 -2.19328253e+01] [-2.85966006e-03 1.63204453e-04 9.99995898e-01 2.50823510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.720714057 meters Centerline goodness [0,1] 0.9819473151853644 Centerline is valid? [True, True] Translation: X:477.19, Y:-21.94, Z:2.51 [[ 9.99983090e-01 4.86293758e-03 3.18931824e-03 4.77185060e+02] [-4.86232064e-03 9.99988159e-01 -2.01165530e-04 -2.19378838e+01] [-3.19025873e-03 1.85654640e-04 9.99994894e-01 2.50725450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.750714057 meters Centerline goodness [0,1] 0.981670375184508 Centerline is valid? [True, True] Translation: X:477.22, Y:-21.94, Z:2.51 [[ 9.99994930e-01 2.03918515e-03 2.44577552e-03 4.77215119e+02] [-2.03881390e-03 9.99997910e-01 -1.54274366e-04 -2.19435231e+01] [-2.44608500e-03 1.49287102e-04 9.99996997e-01 2.50650385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.780714057 meters Centerline goodness [0,1] 0.9816150598170302 Centerline is valid? [True, True] Translation: X:477.24, Y:-21.95, Z:2.51 [[ 9.99997508e-01 7.49215083e-04 2.10297690e-03 4.77244679e+02] [-7.48938163e-04 9.99999711e-01 -1.32464365e-04 -2.19494486e+01] [-2.10307554e-03 1.30889036e-04 9.99997780e-01 2.50544628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.810714057 meters Centerline goodness [0,1] 0.9814085498668896 Centerline is valid? [True, True] Translation: X:477.28, Y:-21.95, Z:2.50 [[ 9.99996286e-01 -2.24535703e-03 1.54462901e-03 4.77275445e+02] [ 2.24550925e-03 9.99997474e-01 -9.68214444e-05 -2.19525528e+01] [-1.54440771e-03 1.00289564e-04 9.99998802e-01 2.50478494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.840714057 meters Centerline goodness [0,1] 0.981424829984374 Centerline is valid? [True, True] Translation: X:477.30, Y:-21.96, Z:2.50 [[ 9.99991115e-01 -4.12935890e-03 8.47923206e-04 4.77304734e+02] [ 4.12940570e-03 9.99991473e-01 -5.34480780e-05 -2.19589205e+01] [-8.47695269e-04 5.69490220e-05 9.99999639e-01 2.50344856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.870714057 meters Centerline goodness [0,1] 0.9804718217562254 Centerline is valid? [True, True] Translation: X:477.33, Y:-21.97, Z:2.50 [[ 9.99970915e-01 -7.59245046e-03 -7.23930640e-04 4.77333803e+02] [ 7.59248534e-03 9.99971176e-01 4.54456110e-05 -2.19663560e+01] [ 7.23564730e-04 -5.09407219e-05 9.99999737e-01 2.50134797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.900714057 meters Centerline goodness [0,1] 0.8093416858995495 Centerline is valid? [True, False] Translation: X:477.33, Y:-21.97, Z:2.50 [[ 9.99970719e-01 -7.62900338e-03 -5.98855405e-04 4.77333650e+02] [ 7.62933402e-03 9.99970744e-01 5.51797482e-04 -2.19679340e+01] [ 5.94628220e-04 -5.56350192e-04 9.99999668e-01 2.50109045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.930714057 meters Centerline goodness [0,1] 0.9803345537456427 Centerline is valid? [False, True] Translation: X:477.33, Y:-21.97, Z:2.50 [[ 9.99971739e-01 -7.48624521e-03 -6.90480673e-04 4.77334107e+02] [ 7.48700200e-03 9.99971367e-01 1.10003140e-03 -2.19691324e+01] [ 6.82225798e-04 -1.10516994e-03 9.99999157e-01 2.50061713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.960714057 meters Centerline goodness [0,1] 0.9799921021455837 Centerline is valid? [True, True] Translation: X:477.37, Y:-21.97, Z:2.50 [[ 9.99954453e-01 -9.53977889e-03 -2.92355584e-04 4.77365061e+02] [ 9.53978503e-03 9.99954495e-01 1.96351720e-05 -2.19727078e+01] [ 2.92154965e-04 -2.24232871e-05 9.99999957e-01 2.50164758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.990714057 meters Centerline goodness [0,1] 0.9797186426586737 Centerline is valid? [True, True] Translation: X:477.40, Y:-21.97, Z:2.50 [[ 9.99939574e-01 -1.09841789e-02 4.41963703e-04 4.77397524e+02] [ 1.09841926e-02 9.99939672e-01 -2.84846996e-05 -2.19744938e+01] [-4.41624159e-04 3.33375929e-05 9.99999902e-01 2.50239769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.020714057 meters Centerline goodness [0,1] 0.9811196342615996 Centerline is valid? [True, True] Translation: X:477.43, Y:-21.97, Z:2.50 [[ 9.99933066e-01 -1.15107753e-02 1.16882025e-03 4.77430137e+02] [ 1.15108730e-02 9.99933745e-01 -7.68397611e-05 -2.19696545e+01] [-1.16785832e-03 9.02887593e-05 9.99999314e-01 2.50373014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.050714057 meters Centerline goodness [0,1] 0.979636076988767 Centerline is valid? [True, True] Translation: X:477.46, Y:-21.97, Z:2.50 [[ 9.99917433e-01 -1.25899562e-02 2.57288348e-03 4.77460710e+02] [ 1.25904372e-02 9.99920723e-01 -1.70847793e-04 -2.19739798e+01] [-2.57052854e-03 2.03227415e-04 9.99996676e-01 2.50343272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.080714057 meters Centerline goodness [0,1] 0.9778239021192922 Centerline is valid? [True, True] Translation: X:477.49, Y:-21.98, Z:2.50 [[ 9.99912229e-01 -1.29265536e-02 2.90504108e-03 4.77491008e+02] [ 1.29271687e-02 9.99916422e-01 -1.93076973e-04 -2.19804463e+01] [-2.90230247e-03 2.30613983e-04 9.99995762e-01 2.50315518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.110714057 meters Centerline goodness [0,1] 0.9786435469710272 Centerline is valid? [True, True] Translation: X:477.52, Y:-21.98, Z:2.50 [[ 9.99903725e-01 -1.36226191e-02 2.63909049e-03 4.77522545e+02] [ 1.36231289e-02 9.99907186e-01 -1.75287116e-04 -2.19823839e+01] [-2.63645767e-03 2.11222910e-04 9.99996502e-01 2.50292870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.140714057 meters Centerline goodness [0,1] 0.9794740077274324 Centerline is valid? [True, True] Translation: X:477.55, Y:-21.98, Z:2.50 [[ 9.99891895e-01 -1.45475688e-02 2.13699217e-03 4.77554420e+02] [ 1.45479041e-02 9.99894164e-01 -1.41456823e-04 -2.19823730e+01] [-2.13470815e-03 1.72530288e-04 9.99997707e-01 2.50254801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.170714057 meters Centerline goodness [0,1] 0.9795976507713885 Centerline is valid? [True, True] Translation: X:477.59, Y:-21.98, Z:2.50 [[ 9.99869820e-01 -1.61163863e-02 7.77341267e-04 4.77585741e+02] [ 1.61164311e-02 9.99870121e-01 -5.14705266e-05 -2.19827849e+01] [-7.76410788e-04 6.39917932e-05 9.99999697e-01 2.50085427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.200714057 meters Centerline goodness [0,1] 0.9789543057996485 Centerline is valid? [True, True] Translation: X:477.62, Y:-21.99, Z:2.50 [[ 9.99853362e-01 -1.71241348e-02 1.37729857e-04 4.77616569e+02] [ 1.71241361e-02 9.99853371e-01 -8.03618151e-06 -2.19882871e+01] [-1.37572049e-04 1.03935079e-05 9.99999990e-01 2.49926915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.230714057 meters Centerline goodness [0,1] 0.9793245433439923 Centerline is valid? [True, True] Translation: X:477.65, Y:-21.99, Z:2.50 [[ 9.99836491e-01 -1.80805427e-02 -2.92271714e-04 4.77648685e+02] [ 1.80805495e-02 9.99836533e-01 2.05048456e-05 -2.19889167e+01] [ 2.91853198e-04 -2.57859261e-05 9.99999957e-01 2.49849048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.26071405700003 meters Centerline goodness [0,1] 0.9783811070629033 Centerline is valid? [True, True] Translation: X:477.68, Y:-21.99, Z:2.50 [[ 9.99795800e-01 -2.01520713e-02 -1.50066105e-03 4.77679212e+02] [ 2.01522450e-02 9.99796918e-01 1.00773079e-04 -2.19904115e+01] [ 1.49832551e-03 -1.30994191e-04 9.99998869e-01 2.49748295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.290714057 meters Centerline goodness [0,1] 0.9782150386507379 Centerline is valid? [True, True] Translation: X:477.71, Y:-22.00, Z:2.50 [[ 9.99787565e-01 -2.04889918e-02 -2.24170253e-03 4.77710119e+02] [ 2.04893815e-02 9.99790059e-01 1.51012921e-04 -2.19950493e+01] [ 2.23813780e-03 -1.96911939e-04 9.99997476e-01 2.49644734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.320714057 meters Centerline goodness [0,1] 0.9784936797752809 Centerline is valid? [True, True] Translation: X:477.74, Y:-22.00, Z:2.50 [[ 9.99806325e-01 -1.95575379e-02 -2.19419441e-03 4.77742350e+02] [ 1.95579099e-02 9.99808715e-01 1.48202275e-04 -2.19960505e+01] [ 2.19087623e-03 -1.91087429e-04 9.99997582e-01 2.49621599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.350714057 meters Centerline goodness [0,1] 0.9788152302501862 Centerline is valid? [True, True] Translation: X:477.77, Y:-21.99, Z:2.50 [[ 9.99838062e-01 -1.78913452e-02 -1.93660645e-03 4.77773628e+02] [ 1.78916314e-02 9.99839923e-01 1.30521532e-04 -2.19948698e+01] [ 1.93396124e-03 -1.65149444e-04 9.99998116e-01 2.49684550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.380714057 meters Centerline goodness [0,1] 0.9794225170202053 Centerline is valid? [True, True] Translation: X:477.81, Y:-21.99, Z:2.50 [[ 9.99858113e-01 -1.66785706e-02 -2.36186023e-03 4.77805606e+02] [ 1.66789934e-02 9.99860883e-01 1.59445927e-04 -2.19923508e+01] [ 2.35887233e-03 -1.98816756e-04 9.99997198e-01 2.49715979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.410714057 meters Centerline goodness [0,1] 0.978477908657004 Centerline is valid? [True, True] Translation: X:477.84, Y:-22.00, Z:2.50 [[ 9.99878609e-01 -1.53175415e-02 -2.85325786e-03 4.77836426e+02] [ 1.53181523e-02 9.99882652e-01 1.92345277e-04 -2.19952161e+01] [ 2.84997678e-03 -2.36028566e-04 9.99995911e-01 2.49613294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.440714057 meters Centerline goodness [0,1] 0.9795014216755935 Centerline is valid? [True, True] Translation: X:477.87, Y:-21.99, Z:2.50 [[ 9.99908923e-01 -1.31419273e-02 -3.07165520e-03 4.77867392e+02] [ 1.31426235e-02 9.99913611e-01 2.06574560e-04 -2.19883547e+01] [ 3.06867505e-03 -2.46925353e-04 9.99995261e-01 2.49641481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.470714057 meters Centerline goodness [0,1] 0.9799001605348229 Centerline is valid? [True, True] Translation: X:477.90, Y:-21.99, Z:2.50 [[ 9.99933312e-01 -1.11753770e-02 -2.91235625e-03 4.77898214e+02] [ 1.11759963e-02 9.99937527e-01 1.96431223e-04 -2.19916209e+01] [ 2.90997912e-03 -2.28966606e-04 9.99995740e-01 2.49612862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.500714057 meters Centerline goodness [0,1] 0.979545404342736 Centerline is valid? [True, True] Translation: X:477.93, Y:-21.99, Z:2.50 [[ 9.99964297e-01 -8.25756320e-03 -1.79394427e-03 4.77929060e+02] [ 8.25779342e-03 9.99965897e-01 1.20962376e-04 -2.19889670e+01] [ 1.79288424e-03 -1.35772079e-04 9.99998384e-01 2.49766194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.530714057 meters Centerline goodness [0,1] 0.9800632141988816 Centerline is valid? [True, True] Translation: X:477.96, Y:-21.99, Z:2.50 [[ 9.99975410e-01 -6.95599662e-03 -8.90458246e-04 4.77960129e+02] [ 6.95605316e-03 9.99975805e-01 6.04192616e-05 -2.19897069e+01] [ 8.90016424e-04 -6.66118508e-05 9.99999602e-01 2.49841555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.560714057 meters Centerline goodness [0,1] 0.9798204794565865 Centerline is valid? [True, True] Translation: X:477.99, Y:-21.99, Z:2.50 [[ 9.99986395e-01 -5.21400360e-03 -1.53894761e-04 4.77991700e+02] [ 5.21400533e-03 9.99986407e-01 1.08226872e-05 -2.19899391e+01] [ 1.53836240e-04 -1.16249481e-05 9.99999988e-01 2.49854966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.590714057 meters Centerline goodness [0,1] 0.9794174929178471 Centerline is valid? [True, True] Translation: X:478.02, Y:-21.99, Z:2.50 [[ 9.99998079e-01 -1.93075227e-03 3.39351303e-04 4.78021379e+02] [ 1.93076015e-03 9.99998136e-01 -2.28920220e-05 -2.19892592e+01] [-3.39306472e-04 2.35471840e-05 9.99999942e-01 2.49876047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.620714057 meters Centerline goodness [0,1] 0.9811011046537421 Centerline is valid? [True, True] Translation: X:478.05, Y:-21.99, Z:2.50 [[ 9.99998160e-01 1.89752321e-03 2.81832937e-04 4.78052499e+02] [-1.89751796e-03 9.99998200e-01 -1.88975639e-05 -2.19850916e+01] [-2.81868288e-04 1.83627461e-05 9.99999960e-01 2.49898420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.650714057 meters Centerline goodness [0,1] 0.9808920031142253 Centerline is valid? [True, True] Translation: X:478.08, Y:-21.99, Z:2.50 [[ 9.99994213e-01 3.35788749e-03 5.46698509e-04 4.78083170e+02] [-3.35786785e-03 9.99994362e-01 -3.68381268e-05 -2.19855768e+01] [-5.46819125e-04 3.50021723e-05 9.99999850e-01 2.49877501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.680714057 meters Centerline goodness [0,1] 0.9800552791597568 Centerline is valid? [True, True] Translation: X:478.11, Y:-21.98, Z:2.50 [[ 9.99989175e-01 4.61815317e-03 5.67982780e-04 4.78112780e+02] [-4.61813193e-03 9.99989336e-01 -3.86985702e-05 -2.19847586e+01] [-5.68155439e-04 3.60751319e-05 9.99999838e-01 2.49868805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.710714057 meters Centerline goodness [0,1] 0.9803357738503395 Centerline is valid? [True, True] Translation: X:478.14, Y:-21.98, Z:2.50 [[ 9.99980217e-01 6.25527334e-03 6.60983745e-04 4.78141327e+02] [-6.25524487e-03 9.99980435e-01 -4.51448105e-05 -2.19842267e+01] [-6.61253206e-04 4.10093022e-05 9.99999781e-01 2.49797248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.740714057 meters Centerline goodness [0,1] 0.9793353501201174 Centerline is valid? [True, True] Translation: X:478.17, Y:-21.99, Z:2.50 [[ 9.99982458e-01 5.89634817e-03 5.62207427e-04 4.78170080e+02] [-5.89632736e-03 9.99982616e-01 -3.86699264e-05 -2.19861073e+01] [-5.62425665e-04 3.53542890e-05 9.99999841e-01 2.49756812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.770714057 meters Centerline goodness [0,1] 0.9800822496387684 Centerline is valid? [True, True] Translation: X:478.20, Y:-21.98, Z:2.50 [[ 9.99989891e-01 4.32258874e-03 1.23792583e-03 4.78199562e+02] [-4.32248825e-03 9.99990654e-01 -8.38388587e-05 -2.19821916e+01] [-1.23827666e-03 7.84870913e-05 9.99999230e-01 2.49810203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.800714057 meters Centerline goodness [0,1] 0.9788434100231853 Centerline is valid? [True, True] Translation: X:478.23, Y:-21.99, Z:2.50 [[ 9.99994386e-01 3.10251519e-03 1.26588183e-03 4.78227830e+02] [-3.10240951e-03 9.99995184e-01 -8.54393807e-05 -2.19921184e+01] [-1.26614081e-03 8.15116172e-05 9.99999195e-01 2.49618210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.830714057 meters Centerline goodness [0,1] 0.9808841898643825 Centerline is valid? [True, True] Translation: X:478.26, Y:-21.99, Z:2.50 [[ 9.99999741e-01 1.45977113e-04 7.04227433e-04 4.78258908e+02] [-1.45943854e-04 9.99999988e-01 -4.72787230e-05 -2.19872990e+01] [-7.04234326e-04 4.71759331e-05 9.99999751e-01 2.49617836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.860714057 meters Centerline goodness [0,1] 0.9802763539112993 Centerline is valid? [True, True] Translation: X:478.29, Y:-21.99, Z:2.50 [[ 9.99999187e-01 -1.27508181e-03 -2.98995674e-05 4.78289635e+02] [ 1.27508187e-03 9.99999187e-01 2.23885524e-06 -2.19886880e+01] [ 2.98966884e-05 -2.27697782e-06 1.00000000e+00 2.49513133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.890714057 meters Centerline goodness [0,1] 0.9781613791877721 Centerline is valid? [True, True] Translation: X:478.32, Y:-22.00, Z:2.49 [[ 9.99993967e-01 -3.46637011e-03 -2.24621232e-04 4.78318601e+02] [ 3.46637359e-03 9.99993992e-01 1.50841851e-05 -2.20002816e+01] [ 2.24567595e-04 -1.58627152e-05 9.99999975e-01 2.49351672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.920714057 meters Centerline goodness [0,1] 0.9803772911742408 Centerline is valid? [True, True] Translation: X:478.35, Y:-21.99, Z:2.49 [[ 9.99989579e-01 -4.55744836e-03 -2.68077356e-04 4.78350318e+02] [ 4.55745347e-03 9.99989615e-01 1.84659436e-05 -2.19937699e+01] [ 2.67990415e-04 -1.96875013e-05 9.99999964e-01 2.49495687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.950714057 meters Centerline goodness [0,1] 0.9803615612670248 Centerline is valid? [True, True] Translation: X:478.38, Y:-22.00, Z:2.49 [[ 9.99986067e-01 -5.24819674e-03 -5.68318885e-04 4.78381544e+02] [ 5.24821955e-03 9.99986227e-01 3.86567039e-05 -2.19967731e+01] [ 5.68108180e-04 -4.16388276e-05 9.99999838e-01 2.49441553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.980714057 meters Centerline goodness [0,1] 0.9796119109362426 Centerline is valid? [True, True] Translation: X:478.41, Y:-22.00, Z:2.49 [[ 9.99974675e-01 -7.11491198e-03 1.62611220e-04 4.78411535e+02] [ 7.11491382e-03 9.99974689e-01 -1.07105606e-05 -2.20008125e+01] [-1.62530899e-04 1.18672542e-05 9.99999987e-01 2.49389429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.01071405700003 meters Centerline goodness [0,1] 0.9784383457469413 Centerline is valid? [True, True] Translation: X:478.44, Y:-22.00, Z:2.49 [[ 9.99966841e-01 -8.14274658e-03 -1.10039546e-04 4.78443533e+02] [ 8.14274755e-03 9.99966847e-01 8.30537654e-06 -2.20033448e+01] [ 1.09968269e-04 -9.20112539e-06 9.99999994e-01 2.49362060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.040714057 meters Centerline goodness [0,1] 0.9788190272771771 Centerline is valid? [True, True] Translation: X:478.47, Y:-22.01, Z:2.49 [[ 9.99947040e-01 -1.02881944e-02 2.64320476e-04 4.78473108e+02] [ 1.02881992e-02 9.99947075e-01 -1.68061534e-05 -2.20082853e+01] [-2.64133581e-04 1.95246450e-05 9.99999965e-01 2.49270640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.070714057 meters Centerline goodness [0,1] 0.9783676385230164 Centerline is valid? [True, True] Translation: X:478.50, Y:-22.01, Z:2.49 [[ 9.99932986e-01 -1.15761134e-02 -1.27637310e-04 4.78504039e+02] [ 1.15761147e-02 9.99932994e-01 9.75556361e-06 -2.20121348e+01] [ 1.27515826e-04 -1.12324540e-05 9.99999992e-01 2.49181362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.100714057 meters Centerline goodness [0,1] 0.9774921044437525 Centerline is valid? [True, True] Translation: X:478.54, Y:-22.02, Z:2.49 [[ 9.99907203e-01 -1.36076051e-02 -6.47547448e-04 4.78535047e+02] [ 1.36076364e-02 9.99907411e-01 4.39286294e-05 -2.20155391e+01] [ 6.46889729e-04 -5.27361432e-05 9.99999789e-01 2.49077342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.130714057 meters Centerline goodness [0,1] 0.9792853790976738 Centerline is valid? [True, True] Translation: X:478.57, Y:-22.01, Z:2.49 [[ 9.99896817e-01 -1.43550022e-02 -5.38490107e-04 4.78567805e+02] [ 1.43550244e-02 9.99896961e-01 3.72986666e-05 -2.20123972e+01] [ 5.37899199e-04 -4.50248566e-05 9.99999854e-01 2.49090154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.160714057 meters Centerline goodness [0,1] 0.9798317827900854 Centerline is valid? [True, True] Translation: X:478.60, Y:-22.01, Z:2.49 [[ 9.99895138e-01 -1.44814366e-02 2.11226585e-05 4.78599783e+02] [ 1.44814366e-02 9.99895138e-01 -4.91873491e-07 -2.20102604e+01] [-2.11133206e-05 7.97708353e-07 1.00000000e+00 2.49100967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.190714057 meters Centerline goodness [0,1] 0.976875516171514 Centerline is valid? [True, True] Translation: X:478.63, Y:-22.02, Z:2.49 [[ 9.99904309e-01 -1.38336204e-02 6.67436940e-05 4.78629870e+02] [ 1.38336207e-02 9.99904311e-01 -3.81868398e-06 -2.20221308e+01] [-6.66844811e-05 4.74162551e-06 9.99999998e-01 2.48942271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.220714057 meters Centerline goodness [0,1] 0.976989175315255 Centerline is valid? [True, True] Translation: X:478.66, Y:-22.02, Z:2.49 [[ 9.99930536e-01 -1.17663662e-02 -6.90363669e-04 4.78659425e+02] [ 1.17664011e-02 9.99930772e-01 4.65133034e-05 -2.20210909e+01] [ 6.89768585e-04 -5.46331682e-05 9.99999761e-01 2.48963383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.250714057 meters Centerline goodness [0,1] 0.9797780959198282 Centerline is valid? [True, True] Translation: X:478.69, Y:-22.01, Z:2.49 [[ 9.99947412e-01 -1.02287050e-02 -7.38932033e-04 4.78691354e+02] [ 1.02287451e-02 9.99947684e-01 5.05078172e-05 -2.20104416e+01] [ 7.38376746e-04 -5.80635085e-05 9.99999726e-01 2.49133499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.280714057 meters Centerline goodness [0,1] 0.9799798905150262 Centerline is valid? [True, True] Translation: X:478.72, Y:-22.01, Z:2.49 [[ 9.99973122e-01 -7.31278891e-03 -5.28125513e-04 4.78721484e+02] [ 7.31280881e-03 9.99973260e-01 3.57663425e-05 -2.20117396e+01] [ 5.27849839e-04 -3.96274621e-05 9.99999860e-01 2.49032693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.310714057 meters Centerline goodness [0,1] 0.9800854758228726 Centerline is valid? [True, True] Translation: X:478.75, Y:-22.01, Z:2.49 [[ 9.99981149e-01 -6.12083051e-03 -4.86570552e-04 4.78751621e+02] [ 6.12084737e-03 9.99981267e-01 3.31837454e-05 -2.20136626e+01] [ 4.86358325e-04 -3.61613440e-05 9.99999881e-01 2.48972255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.340714057 meters Centerline goodness [0,1] 0.9800961645980096 Centerline is valid? [True, True] Translation: X:478.78, Y:-22.01, Z:2.49 [[ 9.99986572e-01 -5.18069350e-03 -1.27403785e-04 4.78783540e+02] [ 5.18069473e-03 9.99986580e-01 9.31343914e-06 -2.20130606e+01] [ 1.27353825e-04 -9.97335419e-06 9.99999992e-01 2.48969944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.370714057 meters Centerline goodness [0,1] 0.9791396503152529 Centerline is valid? [True, True] Translation: X:478.82, Y:-22.01, Z:2.49 [[ 9.99991614e-01 -4.08466123e-03 -2.95813742e-04 4.78815293e+02] [ 4.08466753e-03 9.99991657e-01 2.07059345e-05 -2.20142191e+01] [ 2.95726698e-04 -2.19140617e-05 9.99999956e-01 2.48941261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.400714057 meters Centerline goodness [0,1] 0.9799695967092908 Centerline is valid? [True, True] Translation: X:478.85, Y:-22.01, Z:2.49 [[ 9.99998904e-01 -1.44095962e-03 3.40773828e-04 4.78845869e+02] [ 1.44096758e-03 9.99998962e-01 -2.31197140e-05 -2.20126173e+01] [-3.40740160e-04 2.36107327e-05 9.99999942e-01 2.48983929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.430714057 meters Centerline goodness [0,1] 0.9816022671044937 Centerline is valid? [True, True] Translation: X:478.88, Y:-22.01, Z:2.49 [[ 9.99999471e-01 -9.10683775e-04 4.79148493e-04 4.78877271e+02] [ 9.10699242e-04 9.99999585e-01 -3.20635028e-05 -2.20079348e+01] [-4.79119094e-04 3.24998460e-05 9.99999885e-01 2.49004200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.460714057 meters Centerline goodness [0,1] 0.9812918294928805 Centerline is valid? [True, True] Translation: X:478.91, Y:-22.01, Z:2.49 [[ 9.99999190e-01 -1.08498550e-03 6.64781438e-04 4.78907213e+02] [ 1.08501559e-03 9.99999410e-01 -4.49093763e-05 -2.20133196e+01] [-6.64732320e-04 4.56306381e-05 9.99999778e-01 2.48896230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.490714057 meters Centerline goodness [0,1] 0.9812918294928805 Centerline is valid? [True, True] Translation: X:478.94, Y:-22.02, Z:2.49 [[ 9.99999228e-01 -1.04969218e-03 6.64794660e-04 4.78938060e+02] [ 1.04972214e-03 9.99999448e-01 -4.47147600e-05 -2.20154448e+01] [-6.64747356e-04 4.54125752e-05 9.99999778e-01 2.48857078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.520714057 meters Centerline goodness [0,1] 0.9802548914019027 Centerline is valid? [True, True] Translation: X:478.97, Y:-22.02, Z:2.49 [[ 9.99995529e-01 -2.93041247e-03 5.95620177e-04 4.78968810e+02] [ 2.93043696e-03 9.99995705e-01 -4.02512354e-05 -2.20188699e+01] [-5.95499666e-04 4.19964828e-05 9.99999822e-01 2.48731193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.550714057 meters Centerline goodness [0,1] 0.9796884819104049 Centerline is valid? [True, True] Translation: X:479.00, Y:-22.02, Z:2.49 [[ 9.99988538e-01 -4.77271240e-03 -3.80872396e-04 4.78999763e+02] [ 4.77272286e-03 9.99988610e-01 2.65631374e-05 -2.20225094e+01] [ 3.80741280e-04 -2.83806313e-05 9.99999927e-01 2.48581704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.580714057 meters Centerline goodness [0,1] 0.9814482077082023 Centerline is valid? [True, True] Translation: X:479.03, Y:-22.03, Z:2.48 [[ 9.99959698e-01 -8.88852375e-03 -1.26337072e-03 4.79029894e+02] [ 8.88863940e-03 9.99960492e-01 8.59555166e-05 -2.20252545e+01] [ 1.26255679e-03 -9.71816992e-05 9.99999198e-01 2.48461881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.610714057 meters Centerline goodness [0,1] 0.9793219957202388 Centerline is valid? [True, True] Translation: X:479.06, Y:-22.03, Z:2.48 [[ 9.99935957e-01 -1.10653167e-02 -2.37517199e-03 4.79060408e+02] [ 1.10657321e-02 9.99938760e-01 1.61794436e-04 -2.20290551e+01] [ 2.37323623e-03 -1.88067091e-04 9.99997166e-01 2.48349194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.640714057 meters Centerline goodness [0,1] 0.9797715856103439 Centerline is valid? [True, True] Translation: X:479.09, Y:-22.04, Z:2.48 [[ 9.99883077e-01 -1.49515162e-02 -3.20694145e-03 4.79089592e+02] [ 1.49522962e-02 9.99888184e-01 2.19379589e-04 -2.20356022e+01] [ 3.20330281e-03 -2.67305077e-04 9.99994834e-01 2.48180486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.670714057 meters Centerline goodness [0,1] 0.9786487276981574 Centerline is valid? [True, True] Translation: X:479.12, Y:-22.04, Z:2.48 [[ 9.99852356e-01 -1.66467015e-02 -4.26063585e-03 4.79120174e+02] [ 1.66480893e-02 9.99861369e-01 2.90456938e-04 -2.20379232e+01] [ 4.25521004e-03 -3.61345500e-04 9.99990881e-01 2.48115111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.700714057 meters Centerline goodness [0,1] 0.9750728171780804 Centerline is valid? [True, True] Translation: X:479.15, Y:-22.04, Z:2.48 [[ 9.99818614e-01 -1.85246341e-02 -4.42450362e-03 4.79149872e+02] [ 1.85261479e-02 9.99828331e-01 3.01398515e-04 -2.20411001e+01] [ 4.41816077e-03 -3.83312854e-04 9.99990166e-01 2.48155264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.730714057 meters Centerline goodness [0,1] 0.9782716606498195 Centerline is valid? [True, True] Translation: X:479.18, Y:-22.04, Z:2.48 [[ 9.99812368e-01 -1.89857065e-02 -3.84344895e-03 4.79182144e+02] [ 1.89868567e-02 9.99819699e-01 2.62994171e-04 -2.20375416e+01] [ 3.83776284e-03 -3.35919840e-04 9.99992579e-01 2.48303665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.76071405700003 meters Centerline goodness [0,1] 0.9776465816395511 Centerline is valid? [True, True] Translation: X:479.21, Y:-22.04, Z:2.48 [[ 9.99817297e-01 -1.88766747e-02 -3.00725834e-03 4.79214582e+02] [ 1.88773796e-02 9.99821785e-01 2.06180686e-04 -2.20407778e+01] [ 3.00283040e-03 -2.62912173e-04 9.99995457e-01 2.48331188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.790714057 meters Centerline goodness [0,1] 0.9768665988930306 Centerline is valid? [True, True] Translation: X:479.25, Y:-22.04, Z:2.48 [[ 9.99828241e-01 -1.84633061e-02 -1.61113028e-03 4.79246364e+02] [ 1.84635087e-02 9.99829529e-01 1.10989249e-04 -2.20427647e+01] [ 1.60880640e-03 -1.40717303e-04 9.99998696e-01 2.48397363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.820714057 meters Centerline goodness [0,1] 0.9673832134076196 Centerline is valid? [True, True] Translation: X:479.28, Y:-22.05, Z:2.48 [[ 9.99839443e-01 -1.78750019e-02 -1.25392967e-03 4.79277426e+02] [ 1.78751246e-02 9.99840223e-01 8.66600991e-05 -2.20519571e+01] [ 1.25218027e-03 -1.09060334e-04 9.99999210e-01 2.48264434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.850714057 meters Centerline goodness [0,1] 0.9770598615447265 Centerline is valid? [True, True] Translation: X:479.31, Y:-22.04, Z:2.48 [[ 9.99870098e-01 -1.60669352e-02 -1.28082249e-03 4.79309603e+02] [ 1.60670612e-02 9.99870913e-01 8.81106783e-05 -2.20426454e+01] [ 1.27924148e-03 -1.08678286e-04 9.99999176e-01 2.48406419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.880714057 meters Centerline goodness [0,1] 0.9760294882521878 Centerline is valid? [True, True] Translation: X:479.34, Y:-22.05, Z:2.48 [[ 9.99890682e-01 -1.47409700e-02 -1.15265282e-03 4.79340012e+02] [ 1.47410713e-02 9.99891341e-01 7.93769027e-05 -2.20468458e+01] [ 1.15135748e-03 -9.63595627e-05 9.99999333e-01 2.48320323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.910714057 meters Centerline goodness [0,1] 0.9757413007176061 Centerline is valid? [True, True] Translation: X:479.37, Y:-22.05, Z:2.48 [[ 9.99906239e-01 -1.36007939e-02 -1.59118657e-03 4.79371381e+02] [ 1.36009851e-02 9.99907496e-01 1.09447432e-04 -2.20481037e+01] [ 1.58955081e-03 -1.31078875e-04 9.99998728e-01 2.48243749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.940714057 meters Centerline goodness [0,1] 0.9769317924314526 Centerline is valid? [True, True] Translation: X:479.40, Y:-22.05, Z:2.48 [[ 9.99931222e-01 -1.15047759e-02 -2.27826711e-03 4.79400700e+02] [ 1.15051606e-02 9.99933801e-01 1.55829787e-04 -2.20488682e+01] [ 2.27632350e-03 -1.82030898e-04 9.99997393e-01 2.48116619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.970714057 meters Centerline goodness [0,1] 0.9763235926571447 Centerline is valid? [True, True] Translation: X:479.43, Y:-22.05, Z:2.48 [[ 9.99947297e-01 -9.95155079e-03 -2.52383517e-03 4.79432477e+02] [ 9.95202054e-03 9.99950462e-01 1.73634137e-04 -2.20510990e+01] [ 2.52198221e-03 -1.98742246e-04 9.99996800e-01 2.48026329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.000714057 meters Centerline goodness [0,1] 0.977784830212631 Centerline is valid? [True, True] Translation: X:479.46, Y:-22.05, Z:2.48 [[ 9.99956221e-01 -8.18279399e-03 -4.53857051e-03 4.79464098e+02] [ 8.18429242e-03 9.99966460e-01 3.11679066e-04 -2.20493473e+01] [ 4.53586788e-03 -3.48810409e-04 9.99989652e-01 2.47839224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.030714057 meters Centerline goodness [0,1] 0.9787928961872576 Centerline is valid? [True, True] Translation: X:479.50, Y:-22.05, Z:2.48 [[ 9.99964985e-01 -6.78167536e-03 -4.90272522e-03 4.79495414e+02] [ 6.78340779e-03 9.99976936e-01 3.36818265e-04 -2.20507975e+01] [ 4.90032795e-03 -3.70063656e-04 9.99987925e-01 2.47715192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.060714057 meters Centerline goodness [0,1] 0.9780448609130622 Centerline is valid? [True, True] Translation: X:479.53, Y:-22.05, Z:2.48 [[ 9.99966826e-01 -5.54015168e-03 -5.97104447e-03 4.79525847e+02] [ 5.54269623e-03 9.99984555e-01 4.09685296e-04 -2.20519093e+01] [ 5.96868253e-03 -4.42767391e-04 9.99982089e-01 2.47610038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.090714057 meters Centerline goodness [0,1] 0.9803863569136955 Centerline is valid? [True, True] Translation: X:479.56, Y:-22.04, Z:2.48 [[ 9.99976409e-01 -2.32860806e-03 -6.46217247e-03 4.79556317e+02] [ 2.33151994e-03 9.99997184e-01 4.43105808e-04 -2.20433641e+01] [ 6.46112245e-03 -4.58162039e-04 9.99979022e-01 2.47758394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.120714057 meters Centerline goodness [0,1] 0.9813815312046444 Centerline is valid? [True, True] Translation: X:479.59, Y:-22.04, Z:2.48 [[ 9.99981309e-01 2.95761961e-03 -5.35113270e-03 4.79586363e+02] [-2.95570077e-03 9.99995565e-01 3.66458515e-04 -2.20381315e+01] [ 5.35219281e-03 -3.50635319e-04 9.99985615e-01 2.47935908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.150714057 meters Centerline goodness [0,1] 0.9820764827947916 Centerline is valid? [True, True] Translation: X:479.61, Y:-22.04, Z:2.48 [[ 9.99969341e-01 6.10183587e-03 -4.90760493e-03 4.79614574e+02] [-6.10026234e-03 9.99981337e-01 3.35534735e-04 -2.20442483e+01] [ 4.90956071e-03 -3.05586771e-04 9.99987901e-01 2.47817177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.180714057 meters Centerline goodness [0,1] 0.9812337928210727 Centerline is valid? [True, True] Translation: X:479.64, Y:-22.04, Z:2.48 [[ 9.99946901e-01 9.26272970e-03 -4.51635013e-03 4.79644359e+02] [-9.26142899e-03 9.99957064e-01 3.08830267e-04 -2.20433213e+01] [ 4.51901683e-03 -2.66986013e-04 9.99989754e-01 2.47859232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.210714057 meters Centerline goodness [0,1] 0.9826237657628897 Centerline is valid? [True, True] Translation: X:479.68, Y:-22.03, Z:2.48 [[ 9.99856326e-01 1.66366465e-02 -3.24790715e-03 4.79675333e+02] [-1.66360134e-02 9.99861587e-01 2.21846090e-04 -2.20329915e+01] [ 3.25114838e-03 -1.67781990e-04 9.99994701e-01 2.48169227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.240714057 meters Centerline goodness [0,1] 0.9831867681232059 Centerline is valid? [True, True] Translation: X:479.70, Y:-22.03, Z:2.48 [[ 9.99794936e-01 2.00282746e-02 -2.99230687e-03 4.79704321e+02] [-2.00277528e-02 9.99799404e-01 2.04236829e-04 -2.20340544e+01] [ 2.99579713e-03 -1.44265765e-04 9.99995502e-01 2.48160749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.270714057 meters Centerline goodness [0,1] 0.9850957155879672 Centerline is valid? [True, True] Translation: X:479.73, Y:-22.03, Z:2.48 [[ 9.99614056e-01 2.76958002e-02 -2.16375499e-03 4.79734335e+02] [-2.76955454e-02 9.99616394e-01 1.47619739e-04 -2.20306429e+01] [ 2.16701341e-03 -8.76363911e-05 9.99997648e-01 2.48272874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.300714057 meters Centerline goodness [0,1] 0.9849819100279883 Centerline is valid? [True, True] Translation: X:479.76, Y:-22.03, Z:2.48 [[ 9.99514213e-01 3.10994722e-02 -2.03989932e-03 4.79764164e+02] [-3.10992533e-02 9.99516292e-01 1.38958783e-04 -2.20309636e+01] [ 2.04323414e-03 -7.54519329e-05 9.99997910e-01 2.48286044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.330714057 meters Centerline goodness [0,1] 0.9852485885995265 Centerline is valid? [True, True] Translation: X:479.79, Y:-22.03, Z:2.48 [[ 9.99398075e-01 3.46302027e-02 -2.05840871e-03 4.79792535e+02] [-3.46299879e-02 9.99400192e-01 1.39892357e-04 -2.20323264e+01] [ 2.06201856e-03 -6.85254832e-05 9.99997872e-01 2.48241487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.360714057 meters Centerline goodness [0,1] 0.9866706161137441 Centerline is valid? [True, True] Translation: X:479.82, Y:-22.03, Z:2.48 [[ 9.99173403e-01 4.06029545e-02 -1.97736899e-03 4.79822314e+02] [-4.06027678e-02 9.99175359e-01 1.34512156e-04 -2.20319587e+01] [ 1.98119996e-03 -5.41143143e-05 9.99998036e-01 2.48271404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.390714057 meters Centerline goodness [0,1] 0.986463389621932 Centerline is valid? [True, True] Translation: X:479.85, Y:-22.03, Z:2.48 [[ 9.99083123e-01 4.27513447e-02 -2.28811331e-03 4.79849865e+02] [-4.27511021e-02 9.99085742e-01 1.54855225e-04 -2.20342073e+01] [ 2.29264166e-03 -5.68938756e-05 9.99997370e-01 2.48197700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.420714057 meters Centerline goodness [0,1] 0.9874588955663908 Centerline is valid? [True, True] Translation: X:479.88, Y:-22.04, Z:2.48 [[ 9.98945459e-01 4.57835504e-02 -3.44045998e-03 4.79879017e+02] [-4.57830212e-02 9.98951381e-01 2.32471570e-04 -2.20375157e+01] [ 3.44749562e-03 -7.47117670e-05 9.99994055e-01 2.48101152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.450714057 meters Centerline goodness [0,1] 0.9876815382167776 Centerline is valid? [True, True] Translation: X:479.91, Y:-22.04, Z:2.48 [[ 9.98965977e-01 4.51826733e-02 -5.04999624e-03 4.79907428e+02] [-4.51815357e-02 9.98978735e-01 3.39166479e-04 -2.20435747e+01] [ 5.06016331e-03 -1.10649187e-04 9.99987191e-01 2.47985420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.480714057 meters Centerline goodness [0,1] 0.9884170757640884 Centerline is valid? [True, True] Translation: X:479.94, Y:-22.05, Z:2.48 [[ 9.98995427e-01 4.45469920e-02 -4.86843838e-03 4.79935672e+02] [-4.45459185e-02 9.99007284e-01 3.28775699e-04 -2.20490967e+01] [ 4.87825137e-03 -1.11576361e-04 9.99988095e-01 2.47856379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.51071405700003 meters Centerline goodness [0,1] 0.9873509379313465 Centerline is valid? [True, True] Translation: X:479.96, Y:-22.06, Z:2.48 [[ 9.99064484e-01 4.29544008e-02 -5.00767566e-03 4.79963178e+02] [-4.29532482e-02 9.99077026e-01 3.37548272e-04 -2.20555702e+01] [ 5.01755289e-03 -1.22136555e-04 9.99987405e-01 2.47822375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.540714057 meters Centerline goodness [0,1] 0.9875442034371692 Centerline is valid? [True, True] Translation: X:479.99, Y:-22.06, Z:2.48 [[ 9.99257331e-01 3.82894316e-02 -4.32504416e-03 4.79992209e+02] [-3.82885266e-02 9.99266683e-01 2.91890195e-04 -2.20647791e+01] [ 4.33304884e-03 -1.26073849e-04 9.99990604e-01 2.47998947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.570714057 meters Centerline goodness [0,1] 0.9862590949023494 Centerline is valid? [True, True] Translation: X:480.02, Y:-22.07, Z:2.48 [[ 9.99353105e-01 3.56953817e-02 -4.38316959e-03 4.80019613e+02] [-3.56944319e-02 9.99362707e-01 2.94764438e-04 -2.20720378e+01] [ 4.39089796e-03 -1.38119008e-04 9.99990350e-01 2.47960642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.600714057 meters Centerline goodness [0,1] 0.9859300316405987 Centerline is valid? [True, True] Translation: X:480.05, Y:-22.08, Z:2.48 [[ 9.99543517e-01 2.99585030e-02 -3.90454063e-03 4.80049343e+02] [-2.99577017e-02 9.99551133e-01 2.63572891e-04 -2.20835673e+01] [ 3.91068426e-03 -1.46481511e-04 9.99992343e-01 2.48070356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.630714057 meters Centerline goodness [0,1] 0.9861337501395556 Centerline is valid? [True, True] Translation: X:480.08, Y:-22.09, Z:2.48 [[ 9.99621972e-01 2.72831239e-02 -3.39768956e-03 4.80078381e+02] [-2.72825036e-02 9.99627737e-01 2.28790415e-04 -2.20901143e+01] [ 3.40266685e-03 -1.36006448e-04 9.99994202e-01 2.48108062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.660714057 meters Centerline goodness [0,1] 0.9847542627883651 Centerline is valid? [True, True] Translation: X:480.11, Y:-22.10, Z:2.48 [[ 9.99684902e-01 2.49134994e-02 -3.06820637e-03 4.80106378e+02] [-2.49129837e-02 9.99689602e-01 2.06179717e-04 -2.20987992e+01] [ 3.07239066e-03 -1.29676575e-04 9.99995272e-01 2.48048381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.690714057 meters Centerline goodness [0,1] 0.9841072262108516 Centerline is valid? [True, True] Translation: X:480.13, Y:-22.11, Z:2.48 [[ 9.99770424e-01 2.12507691e-02 -2.73937476e-03 4.80133576e+02] [-2.12503455e-02 9.99774169e-01 1.83631048e-04 -2.21116447e+01] [ 2.74265843e-03 -1.25376231e-04 9.99996231e-01 2.47956494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.720714057 meters Centerline goodness [0,1] 0.9842002485354163 Centerline is valid? [True, True] Translation: X:480.16, Y:-22.12, Z:2.48 [[ 9.99814906e-01 1.90668124e-02 -2.57102393e-03 4.80162953e+02] [-1.90664314e-02 9.99818204e-01 1.72628491e-04 -2.21172951e+01] [ 2.57384801e-03 -1.23576287e-04 9.99996680e-01 2.47976967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.750714057 meters Centerline goodness [0,1] 0.9848236440978376 Centerline is valid? [True, True] Translation: X:480.19, Y:-22.12, Z:2.48 [[ 9.99833023e-01 1.80639401e-02 -2.76030357e-03 4.80191786e+02] [-1.80634988e-02 9.99836825e-01 1.84714351e-04 -2.21195681e+01] [ 2.76318983e-03 -1.34822768e-04 9.99996173e-01 2.47985039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.780714057 meters Centerline goodness [0,1] 0.9853198802527996 Centerline is valid? [True, True] Translation: X:480.22, Y:-22.12, Z:2.48 [[ 9.99847943e-01 1.71963794e-02 -2.89405260e-03 4.80220176e+02] [-1.71958911e-02 9.99852121e-01 1.93500337e-04 -2.21237355e+01] [ 2.89695213e-03 -1.43705101e-04 9.99995793e-01 2.47905365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.810714057 meters Centerline goodness [0,1] 0.9857772657790381 Centerline is valid? [True, True] Translation: X:480.25, Y:-22.13, Z:2.48 [[ 9.99855148e-01 1.66835439e-02 -3.36797939e-03 4.80247869e+02] [-1.66828810e-02 9.99860806e-01 2.24821414e-04 -2.21320330e+01] [ 3.37126140e-03 -1.68601249e-04 9.99994303e-01 2.47774794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.840714057 meters Centerline goodness [0,1] 0.9849052446011459 Centerline is valid? [True, True] Translation: X:480.28, Y:-22.13, Z:2.48 [[ 9.99854793e-01 1.66775159e-02 -3.50035253e-03 4.80275986e+02] [-1.66768017e-02 9.99860905e-01 2.33118911e-04 -2.21338127e+01] [ 3.50375349e-03 -1.74710375e-04 9.99993847e-01 2.47758709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.870714057 meters Centerline goodness [0,1] 0.9844355392211127 Centerline is valid? [True, True] Translation: X:480.30, Y:-22.14, Z:2.48 [[ 9.99864851e-01 1.60732863e-02 -3.45399457e-03 4.80302918e+02] [-1.60725886e-02 9.99870801e-01 2.29687731e-04 -2.21412325e+01] [ 3.45724015e-03 -1.74142056e-04 9.99994009e-01 2.47605108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.900714057 meters Centerline goodness [0,1] 0.98445446906373 Centerline is valid? [True, True] Translation: X:480.33, Y:-22.15, Z:2.48 [[ 9.99865398e-01 1.60112488e-02 -3.58140188e-03 4.80330086e+02] [-1.60104982e-02 9.99871795e-01 2.38135488e-04 -2.21452916e+01] [ 3.58475558e-03 -1.80763406e-04 9.99993558e-01 2.47512936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.930714057 meters Centerline goodness [0,1] 0.9849063265441225 Centerline is valid? [True, True] Translation: X:480.36, Y:-22.15, Z:2.47 [[ 9.99869892e-01 1.56613091e-02 -3.86304306e-03 4.80358683e+02] [-1.56604332e-02 9.99877335e-01 2.56884914e-04 -2.21476517e+01] [ 3.86659235e-03 -1.96354563e-04 9.99992505e-01 2.47477350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.960714057 meters Centerline goodness [0,1] 0.9850996666740248 Centerline is valid? [True, True] Translation: X:480.39, Y:-22.15, Z:2.47 [[ 9.99870961e-01 1.57120183e-02 -3.34585101e-03 4.80387056e+02] [-1.57113627e-02 9.99876544e-01 2.22154079e-04 -2.21505563e+01] [ 3.34892843e-03 -1.69557533e-04 9.99994378e-01 2.47477985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.990714057 meters Centerline goodness [0,1] 0.985740499193067 Centerline is valid? [True, True] Translation: X:480.42, Y:-22.15, Z:2.48 [[ 9.99888475e-01 1.48197184e-02 -1.84773210e-03 4.80415492e+02] [-1.48195179e-02 9.99890177e-01 1.22158513e-04 -2.21526107e+01] [ 1.84933953e-03 -9.47623905e-05 9.99998285e-01 2.47567952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.020714057 meters Centerline goodness [0,1] 0.9851065707603371 Centerline is valid? [True, True] Translation: X:480.44, Y:-22.16, Z:2.47 [[ 9.99899283e-01 1.41750431e-02 -7.01068978e-04 4.80442420e+02] [-1.41750144e-02 9.99899528e-01 4.58851769e-05 -2.21593249e+01] [ 7.01648965e-04 -3.59428926e-05 9.99999753e-01 2.47467446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.050714057 meters Centerline goodness [0,1] 0.9856360396823651 Centerline is valid? [True, True] Translation: X:480.47, Y:-22.16, Z:2.48 [[ 9.99907480e-01 1.36002494e-02 2.55214846e-04 4.80470862e+02] [-1.36002453e-02 9.99907512e-01 -1.78178703e-05 -2.21611351e+01] [-2.55433569e-04 1.43452373e-05 9.99999967e-01 2.47505681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.080714057 meters Centerline goodness [0,1] 0.9850647195486226 Centerline is valid? [True, True] Translation: X:480.50, Y:-22.16, Z:2.48 [[ 9.99931513e-01 1.14891823e-02 2.22872727e-03 4.80500552e+02] [-1.14888799e-02 9.99933990e-01 -1.48475736e-04 -2.21644576e+01] [-2.23028602e-03 1.22859988e-04 9.99997505e-01 2.47542243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.110714057 meters Centerline goodness [0,1] 0.9836520055446765 Centerline is valid? [True, True] Translation: X:480.53, Y:-22.17, Z:2.47 [[ 9.99943216e-01 1.01061669e-02 3.38070697e-03 4.80528969e+02] [-1.01054636e-02 9.99948913e-01 -2.25033836e-04 -2.21725822e+01] [-3.38280849e-03 1.90857447e-04 9.99994260e-01 2.47471578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.140714057 meters Centerline goodness [0,1] 0.9839688613273518 Centerline is valid? [True, True] Translation: X:480.56, Y:-22.17, Z:2.48 [[ 9.99948452e-01 8.84576353e-03 4.98448670e-03 4.80558545e+02] [-8.84422263e-03 9.99960834e-01 -3.31097036e-04 -2.21712480e+01] [-4.98722028e-03 2.86996059e-04 9.99987523e-01 2.47532819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.170714057 meters Centerline goodness [0,1] 0.9839688613273518 Centerline is valid? [True, True] Translation: X:480.59, Y:-22.17, Z:2.47 [[ 9.99948762e-01 8.81069285e-03 4.98449834e-03 4.80587683e+02] [-8.80915238e-03 9.99961144e-01 -3.30921625e-04 -2.21731502e+01] [-4.98722031e-03 2.86995464e-04 9.99987523e-01 2.47495823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.200714057 meters Centerline goodness [0,1] 0.9844017751219298 Centerline is valid? [True, True] Translation: X:480.62, Y:-22.18, Z:2.47 [[ 9.99944223e-01 8.75704831e-03 5.90460924e-03 4.80617679e+02] [-8.75488739e-03 9.99961599e-01 -3.91719471e-04 -2.21760770e+01] [-5.90781280e-03 3.40003433e-04 9.99982491e-01 2.47436765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.230714057 meters Centerline goodness [0,1] 0.9846874793742987 Centerline is valid? [True, True] Translation: X:480.65, Y:-22.18, Z:2.47 [[ 9.99930944e-01 9.66940297e-03 6.67902969e-03 4.80647689e+02] [-9.66665968e-03 9.99953179e-01 -4.42893357e-04 -2.21771965e+01] [-6.68299948e-03 3.78298866e-04 9.99977597e-01 2.47262129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.26071405700003 meters Centerline goodness [0,1] 0.9849934181658622 Centerline is valid? [True, True] Translation: X:480.68, Y:-22.18, Z:2.47 [[ 9.99901075e-01 1.25004344e-02 6.44818372e-03 4.80678015e+02] [-1.24979402e-02 9.99921807e-01 -4.26961276e-04 -2.21792040e+01] [-6.45301671e-03 3.46330024e-04 9.99979119e-01 2.47079519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.290714057 meters Centerline goodness [0,1] 0.9859080732253391 Centerline is valid? [True, True] Translation: X:480.71, Y:-22.18, Z:2.47 [[ 9.99885046e-01 1.38609179e-02 6.14574437e-03 4.80707298e+02] [-1.38586763e-02 9.99903881e-01 -4.07173483e-04 -2.21798829e+01] [-6.15079744e-03 3.21954794e-04 9.99981032e-01 2.46959915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.320714057 meters Centerline goodness [0,1] 0.9854465753424657 Centerline is valid? [True, True] Translation: X:480.74, Y:-22.18, Z:2.47 [[ 9.99842766e-01 1.65611475e-02 6.33814820e-03 4.80735983e+02] [-1.65588191e-02 9.99862805e-01 -4.19671962e-04 -2.21836963e+01] [-6.34422889e-03 3.14653726e-04 9.99979826e-01 2.46792157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.350714057 meters Centerline goodness [0,1] 0.9864736853699909 Centerline is valid? [True, True] Translation: X:480.77, Y:-22.19, Z:2.47 [[ 9.99818548e-01 1.77335750e-02 6.95635919e-03 4.80765019e+02] [-1.77307992e-02 9.99842691e-01 -4.60506853e-04 -2.21861292e+01] [-6.96343133e-03 3.37081485e-04 9.99975698e-01 2.46716826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.380714057 meters Centerline goodness [0,1] 0.9864736853699909 Centerline is valid? [True, True] Translation: X:480.79, Y:-22.19, Z:2.47 [[ 9.99819805e-01 1.76625759e-02 6.95639186e-03 4.80793300e+02] [-1.76598018e-02 9.99843948e-01 -4.60012591e-04 -2.21879379e+01] [-6.96343131e-03 3.37081198e-04 9.99975698e-01 2.46680908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.410714057 meters Centerline goodness [0,1] 0.9858812713422642 Centerline is valid? [True, True] Translation: X:480.82, Y:-22.19, Z:2.47 [[ 9.99788432e-01 1.90222368e-02 7.82595529e-03 4.80820904e+02] [-1.90187719e-02 9.99818993e-01 -5.16926839e-04 -2.21915571e+01] [-7.83437184e-03 3.67977415e-04 9.99969243e-01 2.46562472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.440714057 meters Centerline goodness [0,1] 0.9860855061013081 Centerline is valid? [True, True] Translation: X:480.85, Y:-22.19, Z:2.47 [[ 9.99788499e-01 1.87727922e-02 8.39874295e-03 4.80849190e+02] [-1.87688004e-02 9.99823697e-01 -5.53864907e-04 -2.21931104e+01] [-8.40765982e-03 3.96113435e-04 9.99964577e-01 2.46551307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.470714057 meters Centerline goodness [0,1] 0.9848574496526636 Centerline is valid? [True, True] Translation: X:480.88, Y:-22.20, Z:2.47 [[ 9.99783576e-01 1.76775233e-02 1.09684058e-02 4.80877911e+02] [-1.76706612e-02 9.99843601e-01 -7.22231150e-04 -2.21977508e+01] [-1.09794576e-02 5.28255859e-04 9.99939584e-01 2.46597601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.500714057 meters Centerline goodness [0,1] 0.9855174075940492 Centerline is valid? [True, True] Translation: X:480.91, Y:-22.20, Z:2.47 [[ 9.99782976e-01 1.70792478e-02 1.19289397e-02 4.80907667e+02] [-1.70710971e-02 9.99853970e-01 -7.84770146e-04 -2.22009867e+01] [-1.19406010e-02 5.80959744e-04 9.99928540e-01 2.46603179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.530714057 meters Centerline goodness [0,1] 0.9847159178124246 Centerline is valid? [True, True] Translation: X:480.94, Y:-22.20, Z:2.47 [[ 9.99790726e-01 1.60337482e-02 1.27052132e-02 4.80937549e+02] [-1.60244239e-02 9.99871252e-01 -8.35361990e-04 -2.22045831e+01] [-1.27169714e-02 6.31593448e-04 9.99918937e-01 2.46563489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.560714057 meters Centerline goodness [0,1] 0.9850909648181798 Centerline is valid? [True, True] Translation: X:480.97, Y:-22.21, Z:2.46 [[ 9.99802732e-01 1.45372690e-02 1.35338077e-02 4.80967017e+02] [-1.45265584e-02 9.99894088e-01 -8.89368008e-04 -2.22111548e+01] [-1.35453033e-02 6.92592918e-04 9.99908018e-01 2.46449768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.590714057 meters Centerline goodness [0,1] 0.9837875580964018 Centerline is valid? [True, True] Translation: X:481.00, Y:-22.22, Z:2.46 [[ 9.99811781e-01 1.33558058e-02 1.40721619e-02 4.80998344e+02] [-1.33441087e-02 9.99910536e-01 -9.24795227e-04 -2.22154689e+01] [-1.40832543e-02 7.36840705e-04 9.99900555e-01 2.46348156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.620714057 meters Centerline goodness [0,1] 0.9833795013850416 Centerline is valid? [True, True] Translation: X:481.03, Y:-22.22, Z:2.46 [[ 9.99841262e-01 1.12554506e-02 1.38118279e-02 4.81029709e+02] [-1.12439760e-02 9.99936372e-01 -9.08154765e-04 -2.22208256e+01] [-1.38211707e-02 7.52710744e-04 9.99904200e-01 2.46225205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.650714057 meters Centerline goodness [0,1] 0.9836176727909012 Centerline is valid? [True, True] Translation: X:481.06, Y:-22.22, Z:2.46 [[ 9.99852011e-01 9.68247203e-03 1.42198773e-02 4.81061343e+02] [-9.67013929e-03 9.99952805e-01 -9.35792192e-04 -2.22231553e+01] [-1.42282669e-02 7.98145511e-04 9.99898455e-01 2.46126140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.680714057 meters Centerline goodness [0,1] 0.9823407277893127 Centerline is valid? [True, True] Translation: X:481.09, Y:-22.23, Z:2.46 [[ 9.99868286e-01 8.80699940e-03 1.36325655e-02 4.81091893e+02] [-8.79554269e-03 9.99960913e-01 -9.00121085e-04 -2.22302384e+01] [-1.36399601e-02 7.80096715e-04 9.99906667e-01 2.46091836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.710714057 meters Centerline goodness [0,1] 0.9825575057233185 Centerline is valid? [True, True] Translation: X:481.12, Y:-22.23, Z:2.46 [[ 9.99865156e-01 8.25336047e-03 1.41969053e-02 4.81124249e+02] [-8.24083237e-03 9.99965601e-01 -9.40727578e-04 -2.22310450e+01] [-1.42041811e-02 8.23606409e-04 9.99898776e-01 2.46015464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.740714057 meters Centerline goodness [0,1] 0.9825949023271985 Centerline is valid? [True, True] Translation: X:481.15, Y:-22.24, Z:2.46 [[ 9.99866720e-01 7.40385298e-03 1.45507513e-02 4.81154750e+02] [-7.39055647e-03 9.99972222e-01 -9.67362884e-04 -2.22356706e+01] [-1.45575093e-02 8.59695805e-04 9.99893664e-01 2.45966234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.770714057 meters Centerline goodness [0,1] 0.9810263980548801 Centerline is valid? [True, True] Translation: X:481.19, Y:-22.24, Z:2.46 [[ 9.99863895e-01 6.34456293e-03 1.52295044e-02 4.81185886e+02] [-6.32985877e-03 9.99979453e-01 -1.01351407e-03 -2.22433425e+01] [-1.52356217e-02 9.16975512e-04 9.99883511e-01 2.45967625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.800714057 meters Centerline goodness [0,1] 0.9841891215937018 Centerline is valid? [True, True] Translation: X:481.22, Y:-22.24, Z:2.46 [[ 9.99869292e-01 6.50855664e-03 1.47999220e-02 4.81219393e+02] [-6.49463908e-03 9.99978421e-01 -9.88249397e-04 -2.22370054e+01] [-1.48060348e-02 8.92000073e-04 9.99889987e-01 2.45864468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.830714057 meters Centerline goodness [0,1] 0.9839541921578019 Centerline is valid? [True, True] Translation: X:481.25, Y:-22.24, Z:2.46 [[ 9.99864298e-01 7.32856067e-03 1.47539293e-02 4.81251669e+02] [-7.31475728e-03 9.99972757e-01 -9.89320622e-04 -2.22395727e+01] [-1.47607777e-02 8.81264957e-04 9.99890665e-01 2.45720050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.860714057 meters Centerline goodness [0,1] 0.9858766867705124 Centerline is valid? [True, True] Translation: X:481.28, Y:-22.24, Z:2.46 [[ 9.99854851e-01 8.91368438e-03 1.45197267e-02 4.81283808e+02] [-8.90043027e-03 9.99959913e-01 -9.77199431e-04 -2.22386496e+01] [-1.45278551e-02 8.47825777e-04 9.99894106e-01 2.45617551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.890714057 meters Centerline goodness [0,1] 0.9843801201529219 Centerline is valid? [True, True] Translation: X:481.31, Y:-22.24, Z:2.46 [[ 9.99823773e-01 1.12211710e-02 1.50501694e-02 4.81314014e+02] [-1.12071401e-02 9.99936682e-01 -1.01629232e-03 -2.22419117e+01] [-1.50606205e-02 8.47443864e-04 9.99886223e-01 2.45513844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.920714057 meters Centerline goodness [0,1] 0.9846522259714814 Centerline is valid? [True, True] Translation: X:481.35, Y:-22.24, Z:2.45 [[ 9.99796916e-01 1.29622238e-02 1.54307122e-02 4.81346138e+02] [-1.29476750e-02 9.99915632e-01 -1.04238299e-03 -2.22400787e+01] [-1.54429219e-02 8.42379455e-04 9.99880396e-01 2.45463972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.950714057 meters Centerline goodness [0,1] 0.9841505155987704 Centerline is valid? [True, True] Translation: X:481.38, Y:-22.24, Z:2.45 [[ 9.99762232e-01 1.55360538e-02 1.53006591e-02 4.81376014e+02] [-1.55220383e-02 9.99878991e-01 -1.03434546e-03 -2.22440526e+01] [-1.53148772e-02 7.96602112e-04 9.99882403e-01 2.45390196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.980714057 meters Centerline goodness [0,1] 0.9845438470102823 Centerline is valid? [True, True] Translation: X:481.41, Y:-22.24, Z:2.45 [[ 9.99740083e-01 1.67343316e-02 1.54831847e-02 4.81407405e+02] [-1.67201177e-02 9.99859661e-01 -1.04702512e-03 -2.22445379e+01] [-1.54985331e-02 7.87872311e-04 9.99879580e-01 2.45311866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.01071405700003 meters Centerline goodness [0,1] 0.984279819217921 Centerline is valid? [True, True] Translation: X:481.44, Y:-22.25, Z:2.45 [[ 9.99729025e-01 1.81150260e-02 1.46192775e-02 4.81438488e+02] [-1.81024941e-02 9.99835647e-01 -9.89107057e-04 -2.22464407e+01] [-1.46347925e-02 7.24193649e-04 9.99892643e-01 2.45255068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.040714057 meters Centerline goodness [0,1] 0.9851547832161726 Centerline is valid? [True, True] Translation: X:481.47, Y:-22.25, Z:2.45 [[ 9.99732333e-01 1.82746137e-02 1.41880287e-02 4.81468924e+02] [-1.82628200e-02 9.99832760e-01 -9.60371679e-04 -2.22484397e+01] [-1.42032063e-02 7.01001206e-04 9.99898884e-01 2.45155972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.070714057 meters Centerline goodness [0,1] 0.9859892627995286 Centerline is valid? [True, True] Translation: X:481.50, Y:-22.25, Z:2.45 [[ 9.99745459e-01 1.79806174e-02 1.36277191e-02 4.81498946e+02] [-1.79697097e-02 9.99838106e-01 -9.22444957e-04 -2.22529549e+01] [-1.36420990e-02 6.77324001e-04 9.99906713e-01 2.45035011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.100714057 meters Centerline goodness [0,1] 0.9843309171405009 Centerline is valid? [True, True] Translation: X:481.53, Y:-22.26, Z:2.45 [[ 9.99767604e-01 1.67932434e-02 1.35176161e-02 4.81528287e+02] [-1.67824032e-02 9.99858747e-01 -9.14976396e-04 -2.22581468e+01] [-1.35310722e-02 6.87905675e-04 9.99908214e-01 2.44978853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.130714057 meters Centerline goodness [0,1] 0.9849651951906082 Centerline is valid? [True, True] Translation: X:481.56, Y:-22.26, Z:2.45 [[ 9.99773977e-01 1.59964536e-02 1.40039007e-02 4.81558848e+02] [-1.59847443e-02 9.99871787e-01 -9.47681696e-04 -2.22625966e+01] [-1.40172648e-02 7.23618725e-04 9.99901491e-01 2.44951556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.160714057 meters Centerline goodness [0,1] 0.9839185728547246 Centerline is valid? [True, True] Translation: X:481.59, Y:-22.27, Z:2.45 [[ 9.99772257e-01 1.57181987e-02 1.44350765e-02 4.81589670e+02] [-1.57057240e-02 9.99876180e-01 -9.77155048e-04 -2.22660970e+01] [-1.44486483e-02 7.50219180e-04 9.99895331e-01 2.44910788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.190714057 meters Centerline goodness [0,1] 0.9853412036331163 Centerline is valid? [True, True] Translation: X:481.62, Y:-22.27, Z:2.45 [[ 9.99774060e-01 1.56524842e-02 1.43815673e-02 4.81621205e+02] [-1.56400878e-02 9.99877212e-01 -9.74039915e-04 -2.22666537e+01] [-1.43950475e-02 7.48890866e-04 9.99896105e-01 2.44888068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.220714057 meters Centerline goodness [0,1] 0.9827998088867654 Centerline is valid? [True, True] Translation: X:481.65, Y:-22.27, Z:2.45 [[ 9.99760928e-01 1.62197924e-02 1.46630653e-02 4.81651284e+02] [-1.62069593e-02 9.99868165e-01 -9.93608666e-04 -2.22745286e+01] [-1.46772483e-02 7.55727420e-04 9.99891998e-01 2.44854074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.250714057 meters Centerline goodness [0,1] 0.9852593187590908 Centerline is valid? [True, True] Translation: X:481.68, Y:-22.27, Z:2.45 [[ 9.99752993e-01 1.68556514e-02 1.44858325e-02 4.81683170e+02] [-1.68431891e-02 9.99857661e-01 -9.81890923e-04 -2.22724263e+01] [-1.45003211e-02 7.37660773e-04 9.99894593e-01 2.44818726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.280714057 meters Centerline goodness [0,1] 0.9837202225699878 Centerline is valid? [True, True] Translation: X:481.71, Y:-22.28, Z:2.45 [[ 9.99740913e-01 1.72973092e-02 1.47955992e-02 4.81713174e+02] [-1.72843488e-02 9.99850111e-01 -1.00339851e-03 -2.22762913e+01] [-1.48107376e-02 7.47406246e-04 9.99890036e-01 2.44768060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.310714057 meters Centerline goodness [0,1] 0.9779425205646389 Centerline is valid? [True, True] Translation: X:481.74, Y:-22.30, Z:2.45 [[ 9.99699864e-01 2.03527666e-02 1.36362415e-02 4.81741866e+02] [-2.03420383e-02 9.99792651e-01 -9.25002969e-04 -2.22981370e+01] [-1.36522404e-02 6.47336396e-04 9.99906594e-01 2.44786372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.340714057 meters Centerline goodness [0,1] 0.9830014884483466 Centerline is valid? [True, True] Translation: X:481.77, Y:-22.28, Z:2.45 [[ 9.99776830e-01 1.55810098e-02 1.42661330e-02 4.81773555e+02] [-1.55687795e-02 9.99878331e-01 -9.67962099e-04 -2.22846628e+01] [-1.42794790e-02 7.45639801e-04 9.99897765e-01 2.44594891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.370714057 meters Centerline goodness [0,1] 0.9829562659514643 Centerline is valid? [True, True] Translation: X:481.80, Y:-22.29, Z:2.45 [[ 9.99801739e-01 1.40046672e-02 1.41545638e-02 4.81804532e+02] [-1.39924699e-02 9.99901639e-01 -9.60388879e-04 -2.22895324e+01] [-1.41666215e-02 7.62141164e-04 9.99899358e-01 2.44526553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.400714057 meters Centerline goodness [0,1] 0.9822865299766416 Centerline is valid? [True, True] Translation: X:481.84, Y:-22.29, Z:2.44 [[ 9.99855668e-01 9.80375956e-03 1.38755007e-02 4.81835566e+02] [-9.79162886e-03 9.99951617e-01 -9.41919938e-04 -2.22937558e+01] [-1.38840637e-02 8.05920236e-04 9.99903287e-01 2.44382565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.430714057 meters Centerline goodness [0,1] 0.9818927376713068 Centerline is valid? [True, True] Translation: X:481.87, Y:-22.30, Z:2.44 [[ 9.99879785e-01 8.15664746e-03 1.31864954e-02 4.81867827e+02] [-8.14554560e-03 9.99966424e-01 -8.95401288e-04 -2.22977332e+01] [-1.31933562e-02 7.87882448e-04 9.99912653e-01 2.44288627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.460714057 meters Centerline goodness [0,1] 0.9818459486782388 Centerline is valid? [True, True] Translation: X:481.90, Y:-22.30, Z:2.44 [[ 9.99894792e-01 6.95551598e-03 1.27289277e-02 4.81898474e+02] [-6.94506250e-03 9.99975508e-01 -8.65257718e-04 -2.23044024e+01] [-1.27346342e-02 7.76763488e-04 9.99918610e-01 2.44212387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.490714057 meters Centerline goodness [0,1] 0.9817670303238554 Centerline is valid? [True, True] Translation: X:481.93, Y:-22.31, Z:2.44 [[ 9.99915833e-01 4.72629160e-03 1.20825887e-02 4.81929207e+02] [-4.71667650e-03 9.99988537e-01 -8.24153493e-04 -2.23096848e+01] [-1.20863454e-02 7.67094464e-04 9.99926663e-01 2.44088630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.520714057 meters Centerline goodness [0,1] 0.9817479063774962 Centerline is valid? [True, True] Translation: X:481.96, Y:-22.31, Z:2.44 [[ 9.99927704e-01 4.12805926e-03 1.12936340e-02 4.81961052e+02] [-4.11961813e-03 9.99991217e-01 -7.70585606e-04 -2.23120540e+01] [-1.12967158e-02 7.24004437e-04 9.99935928e-01 2.43960597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.550714057 meters Centerline goodness [0,1] 0.9816316896270546 Centerline is valid? [True, True] Translation: X:481.99, Y:-22.32, Z:2.44 [[ 9.99948641e-01 2.72895699e-03 9.76056400e-03 4.81991484e+02] [-2.72256209e-03 9.99996070e-01 -6.68404443e-04 -2.23174174e+01] [-9.76234969e-03 6.41796372e-04 9.99952141e-01 2.43820408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.580714057 meters Centerline goodness [0,1] 0.9829166487370369 Centerline is valid? [True, True] Translation: X:482.02, Y:-22.32, Z:2.44 [[ 9.99945626e-01 2.73473306e-03 1.00630781e-02 4.82023523e+02] [-2.72792578e-03 9.99996041e-01 -6.90125107e-04 -2.23207610e+01] [-1.00649256e-02 6.62636252e-04 9.99949128e-01 2.43797053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.610714057 meters Centerline goodness [0,1] 0.981035880370323 Centerline is valid? [True, True] Translation: X:482.06, Y:-22.33, Z:2.44 [[ 9.99934749e-01 3.01511613e-03 1.10184729e-02 4.82055361e+02] [-3.00693804e-03 9.99995191e-01 -7.58708012e-04 -2.23251880e+01] [-1.10207075e-02 7.25526641e-04 9.99939007e-01 2.43821575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.640714057 meters Centerline goodness [0,1] 0.981056466302368 Centerline is valid? [True, True] Translation: X:482.09, Y:-22.33, Z:2.44 [[ 9.99932766e-01 2.32211318e-03 1.13609870e-02 4.82087148e+02] [-2.31333794e-03 9.99997016e-01 -7.85481086e-04 -2.23279146e+01] [-1.13627771e-02 7.59146473e-04 9.99935153e-01 2.43856403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.670714057 meters Centerline goodness [0,1] 0.9805956388430284 Centerline is valid? [True, True] Translation: X:482.12, Y:-22.33, Z:2.44 [[ 9.99938539e-01 2.38675654e-03 1.08269032e-02 4.82119158e+02] [-2.37876317e-03 9.99996889e-01 -7.51105666e-04 -2.23310567e+01] [-1.08286622e-02 7.25304864e-04 9.99941105e-01 2.43824251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.700714057 meters Centerline goodness [0,1] 0.9811669207808105 Centerline is valid? [True, True] Translation: X:482.15, Y:-22.33, Z:2.44 [[ 9.99948839e-01 1.80687710e-03 9.95263062e-03 4.82151102e+02] [-1.80007200e-03 9.99998140e-01 -6.92664898e-04 -2.23332263e+01] [-9.95386367e-03 6.74714009e-04 9.99950231e-01 2.43715391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.730714057 meters Centerline goodness [0,1] 0.9801039727873693 Centerline is valid? [True, True] Translation: X:482.18, Y:-22.34, Z:2.44 [[ 9.99948094e-01 1.70767609e-03 1.00445308e-02 4.82182434e+02] [-1.70071344e-03 9.99998308e-01 -7.01678530e-04 -2.23389909e+01] [-1.00457121e-02 6.84559240e-04 9.99949306e-01 2.43625319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.76071405700003 meters Centerline goodness [0,1] 0.9798958355659386 Centerline is valid? [True, True] Translation: X:482.21, Y:-22.34, Z:2.44 [[ 9.99950355e-01 1.94599520e-03 9.77244151e-03 4.82213937e+02] [-1.93939536e-03 9.99997885e-01 -6.84783678e-04 -2.23425754e+01] [-9.77375342e-03 6.65797055e-04 9.99952014e-01 2.43582738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.790714057 meters Centerline goodness [0,1] 0.9797764314361294 Centerline is valid? [True, True] Translation: X:482.25, Y:-22.34, Z:2.44 [[ 9.99947290e-01 3.29029580e-03 9.72582477e-03 4.82245136e+02] [-3.28379383e-03 9.99994374e-01 -6.84419777e-04 -2.23441714e+01] [-9.72802200e-03 6.52446098e-04 9.99952469e-01 2.43546408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.820714057 meters Centerline goodness [0,1] 0.9803921568627451 Centerline is valid? [True, True] Translation: X:482.28, Y:-22.35, Z:2.43 [[ 9.99950920e-01 4.54458449e-03 8.80363725e-03 4.82277000e+02] [-4.53929388e-03 9.99989505e-01 -6.20845559e-04 -2.23457633e+01] [-8.80636634e-03 5.80852791e-04 9.99961055e-01 2.43486468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.850714057 meters Centerline goodness [0,1] 0.9808936233802276 Centerline is valid? [True, True] Translation: X:482.31, Y:-22.34, Z:2.43 [[ 9.99943173e-01 6.83131074e-03 8.18438144e-03 4.82308480e+02] [-6.82680918e-03 9.99976530e-01 -5.77829815e-04 -2.23419372e+01] [-8.18813669e-03 5.21923768e-04 9.99966340e-01 2.43359004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.880714057 meters Centerline goodness [0,1] 0.9813000128375198 Centerline is valid? [True, True] Translation: X:482.34, Y:-22.35, Z:2.43 [[ 9.99935535e-01 8.16601042e-03 7.88942107e-03 4.82339669e+02] [-8.16187409e-03 9.99966537e-01 -5.56343251e-04 -2.23453668e+01] [-7.89370016e-03 4.91914924e-04 9.99968723e-01 2.43274734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.910714057 meters Centerline goodness [0,1] 0.9807478632478632 Centerline is valid? [True, True] Translation: X:482.37, Y:-22.35, Z:2.43 [[ 9.99932044e-01 8.87496960e-03 7.55925597e-03 4.82371312e+02] [-8.87117243e-03 9.99960507e-01 -5.35702540e-04 -2.23477828e+01] [-7.56371178e-03 4.68606673e-04 9.99971285e-01 2.43210285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.940714057 meters Centerline goodness [0,1] 0.9826284635841126 Centerline is valid? [True, True] Translation: X:482.40, Y:-22.35, Z:2.43 [[ 9.99918248e-01 1.02291422e-02 7.67213951e-03 4.82402836e+02] [-1.02252684e-02 9.99947573e-01 -5.43976955e-04 -2.23482246e+01] [-7.67730170e-03 4.65482799e-04 9.99970421e-01 2.43196236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.970714057 meters Centerline goodness [0,1] 0.982336231017322 Centerline is valid? [True, True] Translation: X:482.43, Y:-22.35, Z:2.43 [[ 9.99908389e-01 1.10217333e-02 7.85711520e-03 4.82433009e+02] [-1.10176948e-02 9.99939148e-01 -5.57094239e-04 -2.23521180e+01] [-7.86277723e-03 4.70475907e-04 9.99968977e-01 2.43128776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.000714057 meters Centerline goodness [0,1] 0.9817980306065902 Centerline is valid? [True, True] Translation: X:482.46, Y:-22.36, Z:2.43 [[ 9.99910831e-01 1.13885586e-02 6.97356706e-03 4.82462951e+02] [-1.13853792e-02 9.99935062e-01 -4.95448955e-04 -2.23561771e+01] [-6.97875665e-03 4.16008071e-04 9.99975562e-01 2.43029672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.030714057 meters Centerline goodness [0,1] 0.9822405539408446 Centerline is valid? [True, True] Translation: X:482.49, Y:-22.36, Z:2.43 [[ 9.99913977e-01 1.12826917e-02 6.68879649e-03 4.82493651e+02] [-1.12797629e-02 9.99936268e-01 -4.75430948e-04 -2.23596624e+01] [-6.69373434e-03 3.99942011e-04 9.99977517e-01 2.43003068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.060714057 meters Centerline goodness [0,1] 0.9832408175418448 Centerline is valid? [True, True] Translation: X:482.52, Y:-22.36, Z:2.43 [[ 9.99913612e-01 1.10922813e-02 7.05200728e-03 4.82524290e+02] [-1.10890210e-02 9.99938389e-01 -5.01247498e-04 -2.23613355e+01] [-7.05713278e-03 4.23004339e-04 9.99975009e-01 2.42978513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.090714057 meters Centerline goodness [0,1] 0.9827189431067548 Centerline is valid? [True, True] Translation: X:482.55, Y:-22.36, Z:2.43 [[ 9.99920381e-01 1.02057759e-02 7.42119057e-03 4.82554511e+02] [-1.02021411e-02 9.99947818e-01 -5.27488566e-04 -2.23648022e+01] [-7.42618674e-03 4.51734534e-04 9.99972323e-01 2.42976138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.120714057 meters Centerline goodness [0,1] 0.9831172425539162 Centerline is valid? [True, True] Translation: X:482.59, Y:-22.37, Z:2.43 [[ 9.99917948e-01 1.02109370e-02 7.73525620e-03 4.82585506e+02] [-1.02069881e-02 9.99947756e-01 -5.49811942e-04 -2.23654803e+01] [-7.74046618e-03 4.70813161e-04 9.99969931e-01 2.42997620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.150714057 meters Centerline goodness [0,1] 0.9827274082593231 Centerline is valid? [True, True] Translation: X:482.62, Y:-22.37, Z:2.43 [[ 9.99914812e-01 1.04064812e-02 7.87866577e-03 4.82615180e+02] [-1.04023913e-02 9.99945737e-01 -5.59917878e-04 -2.23726938e+01] [-7.88406503e-03 4.77913215e-04 9.99968806e-01 2.42933476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.180714057 meters Centerline goodness [0,1] 0.9828855551524722 Centerline is valid? [True, True] Translation: X:482.65, Y:-22.38, Z:2.43 [[ 9.99912914e-01 1.05964207e-02 7.86644683e-03 4.82645897e+02] [-1.05923475e-02 9.99943743e-01 -5.59281501e-04 -2.23752419e+01] [-7.87193067e-03 4.75908656e-04 9.99968903e-01 2.42930892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.210714057 meters Centerline goodness [0,1] 0.9829134580515796 Centerline is valid? [True, True] Translation: X:482.68, Y:-22.38, Z:2.43 [[ 9.99912703e-01 1.04202423e-02 8.12428081e-03 4.82676172e+02] [-1.04158919e-02 9.99945586e-01 -5.77612747e-04 -2.23796523e+01] [-8.12985760e-03 4.92940693e-04 9.99966831e-01 2.42919408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.240714057 meters Centerline goodness [0,1] 0.9831897100649488 Centerline is valid? [True, True] Translation: X:482.71, Y:-22.38, Z:2.43 [[ 9.99916649e-01 1.00722164e-02 8.07743608e-03 4.82705996e+02] [-1.00679054e-02 9.99949152e-01 -5.74200394e-04 -2.23840686e+01] [-8.08280884e-03 4.92829672e-04 9.99967212e-01 2.42883054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.270714057 meters Centerline goodness [0,1] 0.9828015051340377 Centerline is valid? [True, True] Translation: X:482.74, Y:-22.39, Z:2.43 [[ 9.99927588e-01 9.49714446e-03 7.39070067e-03 4.82736692e+02] [-9.49351882e-03 9.99954797e-01 -5.25496547e-04 -2.23875623e+01] [-7.39535731e-03 4.55294739e-04 9.99972550e-01 2.42802870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.300714057 meters Centerline goodness [0,1] 0.9828015051340377 Centerline is valid? [True, True] Translation: X:482.77, Y:-22.39, Z:2.43 [[ 9.99927250e-01 9.53264591e-03 7.39069795e-03 4.82767512e+02] [-9.52902095e-03 9.99954460e-01 -5.25534865e-04 -2.23897850e+01] [-7.39537111e-03 4.55070517e-04 9.99972550e-01 2.42763741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.330714057 meters Centerline goodness [0,1] 0.9816554809843401 Centerline is valid? [True, True] Translation: X:482.80, Y:-22.40, Z:2.43 [[ 9.99955257e-01 7.14360026e-03 6.20103110e-03 4.82797533e+02] [-7.14100101e-03 9.99974405e-01 -4.41204819e-04 -2.23968850e+01] [-6.20402418e-03 3.96903509e-04 9.99980676e-01 2.42609751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.360714057 meters Centerline goodness [0,1] 0.9816830425207521 Centerline is valid? [True, True] Translation: X:482.83, Y:-22.40, Z:2.43 [[ 9.99968432e-01 4.87763805e-03 6.27242022e-03 4.82827246e+02] [-4.87493280e-03 9.99988018e-01 -4.46510462e-04 -2.24039503e+01] [-6.27452298e-03 4.15918739e-04 9.99980228e-01 2.42533245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.390714057 meters Centerline goodness [0,1] 0.981683115780537 Centerline is valid? [True, True] Translation: X:482.86, Y:-22.41, Z:2.43 [[ 9.99972162e-01 4.16815373e-03 6.18882367e-03 4.82858557e+02] [-4.16550796e-03 9.99991227e-01 -4.40336190e-04 -2.24074964e+01] [-6.19060476e-03 4.14544337e-04 9.99980752e-01 2.42542615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.420714057 meters Centerline goodness [0,1] 0.9812927692209911 Centerline is valid? [True, True] Translation: X:482.89, Y:-22.41, Z:2.43 [[ 9.99967290e-01 4.27046136e-03 6.86899283e-03 4.82890014e+02] [-4.26720250e-03 9.99990776e-01 -4.89016966e-04 -2.24099513e+01] [-6.87101780e-03 4.59689586e-04 9.99976289e-01 2.42555799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.450714057 meters Centerline goodness [0,1] 0.982314193124775 Centerline is valid? [True, True] Translation: X:482.92, Y:-22.41, Z:2.43 [[ 9.99961021e-01 5.25262225e-03 7.09695772e-03 4.82922477e+02] [-5.24917457e-03 9.99986096e-01 -5.04335796e-04 -2.24103872e+01] [-7.09950813e-03 4.67062967e-04 9.99974689e-01 2.42528354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.480714057 meters Centerline goodness [0,1] 0.9828469781034264 Centerline is valid? [True, True] Translation: X:482.95, Y:-22.41, Z:2.42 [[ 9.99962071e-01 6.24187313e-03 6.07416737e-03 4.82953598e+02] [-6.23935100e-03 9.99980441e-01 -4.34082140e-04 -2.24112980e+01] [-6.07675805e-03 3.96166814e-04 9.99981458e-01 2.42435920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.51071405700003 meters Centerline goodness [0,1] 0.9823795053600067 Centerline is valid? [True, True] Translation: X:482.98, Y:-22.41, Z:2.42 [[ 9.99960404e-01 6.90918388e-03 5.60835213e-03 4.82983725e+02] [-6.90704260e-03 9.99976066e-01 -4.01081469e-04 -2.24138028e+01] [-5.61098905e-03 3.62328461e-04 9.99984193e-01 2.42364701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.540714057 meters Centerline goodness [0,1] 0.9822251481237656 Centerline is valid? [True, True] Translation: X:483.01, Y:-22.42, Z:2.42 [[ 9.99961889e-01 6.84113800e-03 5.42392595e-03 4.83014614e+02] [-6.83913444e-03 9.99976538e-01 -3.87855576e-04 -2.24161676e+01] [-5.42645207e-03 3.50745836e-04 9.99985215e-01 2.42323218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.570714057 meters Centerline goodness [0,1] 0.983058753684032 Centerline is valid? [True, True] Translation: X:483.05, Y:-22.41, Z:2.42 [[ 9.99964094e-01 6.53558839e-03 5.39407323e-03 4.83045480e+02] [-6.53360004e-03 9.99978581e-01 -3.86157138e-04 -2.24148500e+01] [-5.39648146e-03 3.50900555e-04 9.99985377e-01 2.42319926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.600714057 meters Centerline goodness [0,1] 0.9819553666312434 Centerline is valid? [True, True] Translation: X:483.08, Y:-22.42, Z:2.42 [[ 9.99970474e-01 5.58825605e-03 5.27476700e-03 4.83076689e+02] [-5.58634293e-03 9.99984325e-01 -3.77356178e-04 -2.24183574e+01] [-5.27679308e-03 3.47878378e-04 9.99986017e-01 2.42235813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.630714057 meters Centerline goodness [0,1] 0.9826759572971936 Centerline is valid? [True, True] Translation: X:483.11, Y:-22.42, Z:2.42 [[ 9.99989941e-01 2.66176994e-03 3.61000709e-03 4.83107287e+02] [-2.66085436e-03 9.99996427e-01 -2.58404267e-04 -2.24208055e+01] [-3.61068201e-03 2.48795965e-04 9.99993451e-01 2.42123282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.660714057 meters Centerline goodness [0,1] 0.9822185310590089 Centerline is valid? [True, True] Translation: X:483.14, Y:-22.43, Z:2.42 [[ 9.99995295e-01 8.54663260e-04 2.94622926e-03 4.83136747e+02] [-8.54045074e-04 9.99999613e-01 -2.11074628e-04 -2.24254952e+01] [-2.94640851e-03 2.08557422e-04 9.99995638e-01 2.42007871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.690714057 meters Centerline goodness [0,1] 0.9789915072050404 Centerline is valid? [True, True] Translation: X:483.17, Y:-22.44, Z:2.42 [[ 9.99988848e-01 -3.84515876e-03 2.74213658e-03 4.83165996e+02] [ 3.84571070e-03 9.99992586e-01 -1.96034652e-04 -2.24386472e+01] [-2.74136247e-03 2.06577930e-04 9.99996221e-01 2.41772385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.720714057 meters Centerline goodness [0,1] 0.980624533731216 Centerline is valid? [True, True] Translation: X:483.20, Y:-22.44, Z:2.42 [[ 9.99977706e-01 -5.96205411e-03 3.00694064e-03 4.83197379e+02] [ 5.96272807e-03 9.99982200e-01 -2.15219002e-04 -2.24376547e+01] [-3.00560397e-03 2.33143773e-04 9.99995456e-01 2.41876134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.750714057 meters Centerline goodness [0,1] 0.9758064516129032 Centerline is valid? [True, True] Translation: X:483.23, Y:-22.45, Z:2.42 [[ 9.99964758e-01 -7.71345846e-03 3.31454119e-03 4.83226712e+02] [ 7.71428851e-03 9.99970216e-01 -2.37716010e-04 -2.24475264e+01] [-3.31260885e-03 2.63276960e-04 9.99994479e-01 2.41855867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.780714057 meters Centerline goodness [0,1] 0.9798442998826917 Centerline is valid? [True, True] Translation: X:483.26, Y:-22.44, Z:2.42 [[ 9.99947163e-01 -9.54232753e-03 3.82288232e-03 4.83258967e+02] [ 9.54344380e-03 9.99954423e-01 -2.73862020e-04 -2.24391835e+01] [-3.82009480e-03 3.10331013e-04 9.99992655e-01 2.42051720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.810714057 meters Centerline goodness [0,1] 0.9789172694876556 Centerline is valid? [True, True] Translation: X:483.29, Y:-22.44, Z:2.42 [[ 9.99944349e-01 -9.83964239e-03 3.80540847e-03 4.83291463e+02] [ 9.84074994e-03 9.99951542e-01 -2.72432888e-04 -2.24423497e+01] [-3.80254342e-03 3.09865800e-04 9.99992722e-01 2.41987842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.840714057 meters Centerline goodness [0,1] 0.9786599650721983 Centerline is valid? [True, True] Translation: X:483.32, Y:-22.44, Z:2.42 [[ 9.99942252e-01 -1.01879548e-02 3.42020976e-03 4.83323153e+02] [ 1.01888526e-02 9.99948062e-01 -2.45171684e-04 -2.24433775e+01] [-3.41753432e-03 2.80005539e-04 9.99994121e-01 2.41910796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.870714057 meters Centerline goodness [0,1] 0.9779595497939046 Centerline is valid? [True, True] Translation: X:483.36, Y:-22.45, Z:2.42 [[ 9.99947355e-01 -9.78600992e-03 3.08553977e-03 4.83355287e+02] [ 9.78673851e-03 9.99952084e-01 -2.21117016e-04 -2.24459581e+01] [-3.08322808e-03 2.51302746e-04 9.99995215e-01 2.41858406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.900714057 meters Centerline goodness [0,1] 0.9773554214288772 Centerline is valid? [True, True] Translation: X:483.39, Y:-22.45, Z:2.42 [[ 9.99950266e-01 -9.39845771e-03 3.33699111e-03 4.83387686e+02] [ 9.39930876e-03 9.99955797e-01 -2.39443080e-04 -2.24476249e+01] [-3.33459321e-03 2.70796581e-04 9.99994404e-01 2.41807665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.930714057 meters Centerline goodness [0,1] 0.9765165088303046 Centerline is valid? [True, True] Translation: X:483.42, Y:-22.45, Z:2.42 [[ 9.99965086e-01 -7.50322760e-03 3.67816107e-03 4.83418724e+02] [ 7.50425126e-03 9.99971808e-01 -2.64583915e-04 -2.24477443e+01] [-3.67607214e-03 2.92176522e-04 9.99993201e-01 2.41813944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.960714057 meters Centerline goodness [0,1] 0.9770565552699229 Centerline is valid? [True, True] Translation: X:483.45, Y:-22.45, Z:2.42 [[ 9.99981308e-01 -3.67908392e-03 4.88345600e-03 4.83449161e+02] [ 3.68084566e-03 9.99993164e-01 -3.51816856e-04 -2.24454605e+01] [-4.88212825e-03 3.69785528e-04 9.99988014e-01 2.41935048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.990714057 meters Centerline goodness [0,1] 0.9792910168367456 Centerline is valid? [True, True] Translation: X:483.48, Y:-22.44, Z:2.42 [[ 9.99982054e-01 -1.33132900e-03 5.84125314e-03 4.83480730e+02] [ 1.33380941e-03 9.99999022e-01 -4.20762154e-04 -2.24377641e+01] [-5.84068726e-03 4.28545721e-04 9.99982851e-01 2.42041394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.020714057 meters Centerline goodness [0,1] 0.9796413094778392 Centerline is valid? [True, True] Translation: X:483.51, Y:-22.44, Z:2.42 [[ 9.99977987e-01 1.36501306e-03 6.49317340e-03 4.83510929e+02] [-1.36200282e-03 9.99998963e-01 -4.68000357e-04 -2.24383597e+01] [-6.49380549e-03 4.59146334e-04 9.99978810e-01 2.42095919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.050714057 meters Centerline goodness [0,1] 0.9795659647614955 Centerline is valid? [True, True] Translation: X:483.54, Y:-22.44, Z:2.42 [[ 9.99945634e-01 6.99962868e-03 7.72876782e-03 4.83540937e+02] [-6.99553161e-03 9.99975376e-01 -5.57013486e-04 -2.24388113e+01] [-7.73247639e-03 5.02916364e-04 9.99969977e-01 2.42125452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.080714057 meters Centerline goodness [0,1] 0.9794601570061297 Centerline is valid? [True, True] Translation: X:483.57, Y:-22.44, Z:2.42 [[ 9.99923530e-01 9.52144560e-03 7.89148430e-03 4.83571074e+02] [-9.51725150e-03 9.99954548e-01 -5.68854321e-04 -2.24391107e+01] [-7.89654194e-03 4.93705580e-04 9.99968700e-01 2.42101379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.110714057 meters Centerline goodness [0,1] 0.982127897235409 Centerline is valid? [True, True] Translation: X:483.60, Y:-22.43, Z:2.42 [[ 9.99866498e-01 1.43924907e-02 7.73582381e-03 4.83602258e+02] [-1.43886057e-02 9.99896323e-01 -5.57626976e-04 -2.24296761e+01] [-7.74304743e-03 4.46244812e-04 9.99969923e-01 2.42105251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.140714057 meters Centerline goodness [0,1] 0.9811385533120185 Centerline is valid? [True, True] Translation: X:483.63, Y:-22.43, Z:2.42 [[ 9.99833601e-01 1.65980848e-02 7.56801031e-03 4.83631461e+02] [-1.65944287e-02 9.99862154e-01 -5.45637577e-04 -2.24332340e+01] [-7.57602363e-03 4.19959975e-04 9.99971213e-01 2.42025900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.170714057 meters Centerline goodness [0,1] 0.981507334779527 Centerline is valid? [True, True] Translation: X:483.66, Y:-22.44, Z:2.42 [[ 9.99812372e-01 1.81029849e-02 6.89221514e-03 4.83659809e+02] [-1.80999877e-02 9.99836058e-01 -4.97006991e-04 -2.24385246e+01] [-6.90008253e-03 3.72164729e-04 9.99976125e-01 2.41920369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.200714057 meters Centerline goodness [0,1] 0.9843964629120879 Centerline is valid? [True, True] Translation: X:483.69, Y:-22.43, Z:2.42 [[ 9.99779153e-01 2.03117035e-02 5.39262492e-03 4.83689740e+02] [-2.03099021e-02 9.99793657e-01 -3.88610505e-04 -2.24319917e+01] [-5.39940553e-03 2.79000997e-04 9.99985384e-01 2.41889564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.230714057 meters Centerline goodness [0,1] 0.983737560849524 Centerline is valid? [True, True] Translation: X:483.72, Y:-22.43, Z:2.42 [[ 9.99784605e-01 2.02422363e-02 4.58217257e-03 4.83718486e+02] [-2.02409340e-02 9.99795077e-01 -3.30402449e-04 -2.24322535e+01] [-4.58792166e-03 2.37583829e-04 9.99989447e-01 2.41831435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.26071405700003 meters Centerline goodness [0,1] 0.9844906364630929 Centerline is valid? [True, True] Translation: X:483.75, Y:-22.43, Z:2.42 [[ 9.99770580e-01 2.08693626e-02 4.82259743e-03 4.83747363e+02] [-2.08679292e-02 9.99782181e-01 -3.47351743e-04 -2.24332373e+01] [-4.82879599e-03 2.46634432e-04 9.99988311e-01 2.41786897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.290714057 meters Centerline goodness [0,1] 0.9848021039924119 Centerline is valid? [True, True] Translation: X:483.78, Y:-22.44, Z:2.42 [[ 9.99776057e-01 2.04780366e-02 5.33722855e-03 4.83776567e+02] [-2.04762780e-02 9.99790265e-01 -3.83938399e-04 -2.24351950e+01] [-5.34397145e-03 2.74565843e-04 9.99985683e-01 2.41767835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.320714057 meters Centerline goodness [0,1] 0.9842391187648966 Centerline is valid? [True, True] Translation: X:483.80, Y:-22.44, Z:2.42 [[ 9.99774150e-01 2.03957502e-02 5.97183708e-03 4.83804671e+02] [-2.03935496e-02 9.99791938e-01 -4.29167349e-04 -2.24383998e+01] [-5.97934776e-03 3.07283466e-04 9.99982076e-01 2.41730239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.350714057 meters Centerline goodness [0,1] 0.9836821797331379 Centerline is valid? [True, True] Translation: X:483.83, Y:-22.44, Z:2.42 [[ 9.99793682e-01 1.93120578e-02 6.29592231e-03 4.83831946e+02] [-1.93095938e-02 9.99813450e-01 -4.51922629e-04 -2.24415745e+01] [-6.30347536e-03 3.30257687e-04 9.99980078e-01 2.41787281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.380714057 meters Centerline goodness [0,1] 0.9843166864415921 Centerline is valid? [True, True] Translation: X:483.86, Y:-22.44, Z:2.42 [[ 9.99803041e-01 1.87208087e-02 6.58860260e-03 4.83860751e+02] [-1.87181037e-02 9.99824690e-01 -4.71997092e-04 -2.24437107e+01] [-6.59628372e-03 3.48577981e-04 9.99978184e-01 2.41753963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.410714057 meters Centerline goodness [0,1] 0.9833491502027435 Centerline is valid? [True, True] Translation: X:483.89, Y:-22.45, Z:2.42 [[ 9.99837455e-01 1.68263982e-02 6.47574048e-03 4.83890075e+02] [-1.68237497e-02 9.99858363e-01 -4.63254456e-04 -2.24461597e+01] [-6.48261818e-03 3.54232920e-04 9.99978925e-01 2.41723993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.440714057 meters Centerline goodness [0,1] 0.9832561529885945 Centerline is valid? [True, True] Translation: X:483.92, Y:-22.45, Z:2.42 [[ 9.99851271e-01 1.59392646e-02 6.58609968e-03 4.83917977e+02] [-1.59365060e-02 9.99872895e-01 -4.71118932e-04 -2.24513570e+01] [-6.59277184e-03 3.66089446e-04 9.99978200e-01 2.41656429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.470714057 meters Centerline goodness [0,1] 0.9840921321709181 Centerline is valid? [True, True] Translation: X:483.95, Y:-22.45, Z:2.42 [[ 9.99881784e-01 1.39977975e-02 6.36244213e-03 4.83947445e+02] [-1.39951880e-02 9.99901959e-01 -4.54478480e-04 -2.24525488e+01] [-6.36818005e-03 3.65381179e-04 9.99979656e-01 2.41617076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.500714057 meters Centerline goodness [0,1] 0.9831743166580712 Centerline is valid? [True, True] Translation: X:483.98, Y:-22.46, Z:2.42 [[ 9.99890220e-01 1.32522188e-02 6.62767413e-03 4.83976621e+02] [-1.32493725e-02 9.99912111e-01 -4.73168161e-04 -2.24557978e+01] [-6.63336216e-03 3.85303693e-04 9.99977925e-01 2.41556392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.530714057 meters Centerline goodness [0,1] 0.9823373060104604 Centerline is valid? [True, True] Translation: X:484.01, Y:-22.46, Z:2.42 [[ 9.99894051e-01 1.28112903e-02 6.91072825e-03 4.84006259e+02] [-1.28081871e-02 9.99917850e-01 -4.93110538e-04 -2.24585819e+01] [-6.91647792e-03 4.04544392e-04 9.99975999e-01 2.41522920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.560714057 meters Centerline goodness [0,1] 0.9834112501885085 Centerline is valid? [True, True] Translation: X:484.04, Y:-22.46, Z:2.42 [[ 9.99901136e-01 1.23110699e-02 6.79383269e-03 4.84036186e+02] [-1.23080608e-02 9.99924136e-01 -4.84541864e-04 -2.24574815e+01] [-6.79928250e-03 4.00875055e-04 9.99976804e-01 2.41597829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.590714057 meters Centerline goodness [0,1] 0.9833588082064971 Centerline is valid? [True, True] Translation: X:484.07, Y:-22.46, Z:2.42 [[ 9.99892177e-01 1.28783608e-02 7.05563160e-03 4.84065754e+02] [-1.28751321e-02 9.99916986e-01 -5.02838963e-04 -2.24597831e+01] [-7.06152162e-03 4.11942557e-04 9.99974982e-01 2.41516976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.620714057 meters Centerline goodness [0,1] 0.9837016276813625 Centerline is valid? [True, True] Translation: X:484.10, Y:-22.46, Z:2.42 [[ 9.99886520e-01 1.32066658e-02 7.24777083e-03 4.84095326e+02] [-1.32032677e-02 9.99912700e-01 -5.16499078e-04 -2.24566261e+01] [-7.25395932e-03 4.20746208e-04 9.99973601e-01 2.41517073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.650714057 meters Centerline goodness [0,1] 0.9840361185518016 Centerline is valid? [True, True] Translation: X:484.12, Y:-22.46, Z:2.41 [[ 9.99873686e-01 1.40443790e-02 7.44088585e-03 4.84124636e+02] [-1.40408227e-02 9.99901282e-01 -5.29972427e-04 -2.24580826e+01] [-7.44759444e-03 4.25429326e-04 9.99972176e-01 2.41460193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.680714057 meters Centerline goodness [0,1] 0.9842504374878476 Centerline is valid? [True, True] Translation: X:484.15, Y:-22.46, Z:2.41 [[ 9.99852802e-01 1.55431914e-02 7.26517814e-03 4.84153871e+02] [-1.55398431e-02 9.99879116e-01 -5.17099249e-04 -2.24597267e+01] [-7.27233727e-03 4.04123405e-04 9.99973475e-01 2.41370033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.710714057 meters Centerline goodness [0,1] 0.9855338840115901 Centerline is valid? [True, True] Translation: X:484.18, Y:-22.46, Z:2.41 [[ 9.99827644e-01 1.75632540e-02 6.01787365e-03 4.84183052e+02] [-1.75609930e-02 9.99845702e-01 -4.28367920e-04 -2.24612535e+01] [-6.02446864e-03 3.22614252e-04 9.99981801e-01 2.41254105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.740714057 meters Centerline goodness [0,1] 0.9858282049059548 Centerline is valid? [True, True] Translation: X:484.21, Y:-22.46, Z:2.41 [[ 9.99807492e-01 1.85756300e-02 6.31868260e-03 4.84211688e+02] [-1.85731576e-02 9.99827403e-01 -4.49749503e-04 -2.24612722e+01] [-6.32594640e-03 3.32305035e-04 9.99979936e-01 2.41245438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.770714057 meters Centerline goodness [0,1] 0.985715833965536 Centerline is valid? [True, True] Translation: X:484.24, Y:-22.46, Z:2.41 [[ 9.99783987e-01 1.97641374e-02 6.43107876e-03 4.84240668e+02] [-1.97616037e-02 9.99804616e-01 -4.57282326e-04 -2.24612426e+01] [-6.43886002e-03 3.30095117e-04 9.99979216e-01 2.41218136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.800714057 meters Centerline goodness [0,1] 0.9852638867851038 Centerline is valid? [True, True] Translation: X:484.27, Y:-22.46, Z:2.41 [[ 9.99736086e-01 2.20995735e-02 6.27437330e-03 4.84270554e+02] [-2.20972117e-02 9.99755728e-01 -4.45495538e-04 -2.24577204e+01] [-6.28268591e-03 3.06731810e-04 9.99980217e-01 2.41202545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.830714057 meters Centerline goodness [0,1] 0.9858154492496264 Centerline is valid? [True, True] Translation: X:484.30, Y:-22.46, Z:2.41 [[ 9.99717495e-01 2.31846568e-02 5.23463524e-03 4.84298690e+02] [-2.31830263e-02 9.99731168e-01 -3.71955045e-04 -2.24591777e+01] [-5.24185166e-03 2.50495279e-04 9.99986230e-01 2.41103608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.860714057 meters Centerline goodness [0,1] 0.9877503149298467 Centerline is valid? [True, True] Translation: X:484.33, Y:-22.46, Z:2.41 [[ 9.99684460e-01 2.48778484e-02 3.47462264e-03 4.84327346e+02] [-2.48771406e-02 9.99690486e-01 -2.46799276e-04 -2.24590970e+01] [-3.47968703e-03 1.60282725e-04 9.99993933e-01 2.40970658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.890714057 meters Centerline goodness [0,1] 0.9853542455381287 Centerline is valid? [True, True] Translation: X:484.36, Y:-22.46, Z:2.41 [[ 9.99664009e-01 2.56832408e-02 3.49860137e-03 4.84355378e+02] [-2.56825284e-02 9.99670119e-01 -2.48403342e-04 -2.24611089e+01] [-3.50382705e-03 1.58466952e-04 9.99993849e-01 2.40885001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.920714057 meters Centerline goodness [0,1] 0.985976852052538 Centerline is valid? [True, True] Translation: X:484.38, Y:-22.46, Z:2.41 [[ 9.99657559e-01 2.58847411e-02 3.83981073e-03 4.84384905e+02] [-2.58838874e-02 9.99664919e-01 -2.71871796e-04 -2.24589283e+01] [-3.84556141e-03 1.72389467e-04 9.99992591e-01 2.40964395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.950714057 meters Centerline goodness [0,1] 0.9858959336891898 Centerline is valid? [True, True] Translation: X:484.41, Y:-22.46, Z:2.41 [[ 9.99650197e-01 2.60191362e-02 4.74218282e-03 4.84414124e+02] [-2.60178376e-02 9.99661423e-01 -3.35338169e-04 -2.24610815e+01] [-4.74930243e-03 2.11839524e-04 9.99988700e-01 2.40964528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.980714057 meters Centerline goodness [0,1] 0.9865914515079193 Centerline is valid? [True, True] Translation: X:484.44, Y:-22.46, Z:2.41 [[ 9.99648114e-01 2.60360930e-02 5.07634153e-03 4.84442708e+02] [-2.60346061e-02 9.99660978e-01 -3.58779266e-04 -2.24635575e+01] [-5.08396174e-03 2.26492465e-04 9.99987051e-01 2.40929774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.01071405700003 meters Centerline goodness [0,1] 0.9862380342529684 Centerline is valid? [True, True] Translation: X:484.47, Y:-22.47, Z:2.41 [[ 9.99696385e-01 2.41810694e-02 4.73428943e-03 4.84471175e+02] [-2.41797567e-02 9.99707571e-01 -3.34322991e-04 -2.24657230e+01] [-4.74098927e-03 2.19747519e-04 9.99988737e-01 2.40877335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.040714057 meters Centerline goodness [0,1] 0.9853040283484423 Centerline is valid? [True, True] Translation: X:484.50, Y:-22.47, Z:2.41 [[ 9.99729301e-01 2.28942878e-02 4.14445200e-03 4.84498483e+02] [-2.28932709e-02 9.99737872e-01 -2.92634138e-04 -2.24724296e+01] [-4.15006527e-03 1.97674860e-04 9.99991369e-01 2.40717276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.070714057 meters Centerline goodness [0,1] 0.9851297901311951 Centerline is valid? [True, True] Translation: X:484.53, Y:-22.47, Z:2.41 [[ 9.99800218e-01 1.95945477e-02 3.94684889e-03 4.84528059e+02] [-1.95936030e-02 9.99807988e-01 -2.77886531e-04 -2.24737893e+01] [-3.95153611e-03 2.00498024e-04 9.99992173e-01 2.40755845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.100714057 meters Centerline goodness [0,1] 0.9842516278365457 Centerline is valid? [True, True] Translation: X:484.56, Y:-22.48, Z:2.41 [[ 9.99830000e-01 1.78589729e-02 4.58564404e-03 4.84557126e+02] [-1.78576798e-02 9.99840487e-01 -3.22783419e-04 -2.24755693e+01] [-4.59067715e-03 2.40839582e-04 9.99989434e-01 2.40777485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.130714057 meters Centerline goodness [0,1] 0.9841228526808954 Centerline is valid? [True, True] Translation: X:484.59, Y:-22.48, Z:2.41 [[ 9.99852368e-01 1.62857535e-02 5.47868720e-03 4.84586917e+02] [-1.62838872e-02 9.99867335e-01 -3.85084861e-04 -2.24787210e+01] [-5.48423177e-03 2.95813686e-04 9.99984918e-01 2.40801440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.160714057 meters Centerline goodness [0,1] 0.9838674704020123 Centerline is valid? [True, True] Translation: X:484.62, Y:-22.48, Z:2.41 [[ 9.99882541e-01 1.34235230e-02 7.39678124e-03 4.84616390e+02] [-1.34200462e-02 9.99909812e-01 -5.19477736e-04 -2.24834014e+01] [-7.40308736e-03 4.20151573e-04 9.99972509e-01 2.40899973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.190714057 meters Centerline goodness [0,1] 0.9838674704020123 Centerline is valid? [True, True] Translation: X:484.65, Y:-22.49, Z:2.41 [[ 9.99883016e-01 1.33881074e-02 7.39679961e-03 4.84645521e+02] [-1.33846315e-02 9.99910287e-01 -5.19215937e-04 -2.24854152e+01] [-7.40308734e-03 4.20151759e-04 9.99972509e-01 2.40862980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.220714057 meters Centerline goodness [0,1] 0.9831018869559566 Centerline is valid? [True, True] Translation: X:484.67, Y:-22.49, Z:2.41 [[ 9.99893020e-01 1.20797722e-02 8.24793994e-03 4.84674788e+02] [-1.20754089e-02 9.99926922e-01 -5.78617145e-04 -2.24874307e+01] [-8.25432676e-03 4.78957997e-04 9.99965818e-01 2.40873021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.250714057 meters Centerline goodness [0,1] 0.9831803619360984 Centerline is valid? [True, True] Translation: X:484.70, Y:-22.49, Z:2.41 [[ 9.99916913e-01 9.75466858e-03 8.42690198e-03 4.84704856e+02] [-9.75003482e-03 9.99952293e-01 -5.90785144e-04 -2.24897700e+01] [-8.43226287e-03 5.08573470e-04 9.99964319e-01 2.40814468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.280714057 meters Centerline goodness [0,1] 0.9830776907556462 Centerline is valid? [True, True] Translation: X:484.74, Y:-22.49, Z:2.41 [[ 9.99929910e-01 8.75302075e-03 7.97237237e-03 4.84735099e+02] [-8.74884339e-03 9.99961572e-01 -5.58704565e-04 -2.24923257e+01] [-7.97695636e-03 4.88916369e-04 9.99968064e-01 2.40729224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.310714057 meters Centerline goodness [0,1] 0.982555992440206 Centerline is valid? [True, True] Translation: X:484.77, Y:-22.49, Z:2.41 [[ 9.99938130e-01 8.42543624e-03 7.26282703e-03 4.84766854e+02] [-8.42196218e-03 9.99964405e-01 -5.08786500e-04 -2.24933147e+01] [-7.26685525e-03 4.47587767e-04 9.99973496e-01 2.40613901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.340714057 meters Centerline goodness [0,1] 0.9834612216586466 Centerline is valid? [True, True] Translation: X:484.80, Y:-22.49, Z:2.40 [[ 9.99947688e-01 8.06936474e-03 6.28537337e-03 4.84797828e+02] [-8.06675412e-03 9.99967366e-01 -4.40589686e-04 -2.24920773e+01] [-6.28872354e-03 3.89864076e-04 9.99980150e-01 2.40494798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.370714057 meters Centerline goodness [0,1] 0.9836463274633396 Centerline is valid? [True, True] Translation: X:484.83, Y:-22.50, Z:2.40 [[ 9.99950738e-01 7.97338279e-03 5.91149957e-03 4.84827875e+02] [-7.97107128e-03 9.99968145e-01 -4.14477150e-04 -2.24957989e+01] [-5.91461604e-03 3.67335748e-04 9.99982441e-01 2.40399974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.400714057 meters Centerline goodness [0,1] 0.9826476472123162 Centerline is valid? [True, True] Translation: X:484.86, Y:-22.50, Z:2.40 [[ 9.99950181e-01 8.15710665e-03 5.75297623e-03 4.84857481e+02] [-8.15491850e-03 9.99966667e-01 -4.03706644e-04 -2.24971695e+01] [-5.75607754e-03 3.56771480e-04 9.99983370e-01 2.40265130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.430714057 meters Centerline goodness [0,1] 0.9829667819617568 Centerline is valid? [True, True] Translation: X:484.89, Y:-22.50, Z:2.40 [[ 9.99948394e-01 8.38891112e-03 5.73018616e-03 4.84888401e+02] [-8.38674534e-03 9.99964750e-01 -4.01885040e-04 -2.24968120e+01] [-5.73335555e-03 3.53806688e-04 9.99983502e-01 2.40232869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.460714057 meters Centerline goodness [0,1] 0.9822154032327772 Centerline is valid? [True, True] Translation: X:484.92, Y:-22.50, Z:2.40 [[ 9.99949359e-01 8.51461775e-03 5.36476115e-03 4.84917416e+02] [-8.51272200e-03 9.99963695e-01 -3.76106718e-04 -2.24997627e+01] [-5.36776879e-03 3.30418952e-04 9.99985539e-01 2.40171166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.490714057 meters Centerline goodness [0,1] 0.9831190413714685 Centerline is valid? [True, True] Translation: X:484.95, Y:-22.50, Z:2.40 [[ 9.99963965e-01 7.32915892e-03 4.28385822e-03 4.84947527e+02] [-7.32793778e-03 9.99973105e-01 -3.00682915e-04 -2.24975397e+01] [-4.28594676e-03 2.69280234e-04 9.99990779e-01 2.40104128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.520714057 meters Centerline goodness [0,1] 0.9829980164352508 Centerline is valid? [True, True] Translation: X:484.98, Y:-22.49, Z:2.40 [[ 9.99964326e-01 7.20587865e-03 4.40704142e-03 4.84977089e+02] [-7.20458479e-03 9.99973999e-01 -3.09394161e-04 -2.24949338e+01] [-4.40915629e-03 2.77632220e-04 9.99990241e-01 2.40048888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.550714057 meters Centerline goodness [0,1] 0.9814911821197835 Centerline is valid? [True, True] Translation: X:485.01, Y:-22.50, Z:2.40 [[ 9.99961382e-01 7.68113993e-03 4.27027133e-03 4.85006819e+02] [-7.67993069e-03 9.99970464e-01 -2.99502125e-04 -2.24986214e+01] [-4.27244572e-03 2.66695171e-04 9.99990837e-01 2.39975290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.580714057 meters Centerline goodness [0,1] 0.982207650273224 Centerline is valid? [True, True] Translation: X:485.04, Y:-22.50, Z:2.40 [[ 9.99953523e-01 8.42169940e-03 4.69337538e-03 4.85036690e+02] [-8.42024663e-03 9.99964495e-01 -3.29211859e-04 -2.24962919e+01] [-4.69598127e-03 2.89677180e-04 9.99988932e-01 2.39982268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.610714057 meters Centerline goodness [0,1] 0.9829424773916661 Centerline is valid? [True, True] Translation: X:485.07, Y:-22.49, Z:2.40 [[ 9.99929720e-01 1.06822033e-02 5.14257353e-03 4.85066143e+02] [-1.06804901e-02 9.99942897e-01 -3.60492877e-04 -2.24933887e+01] [-5.14613073e-03 3.05542336e-04 9.99986712e-01 2.39995451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.640714057 meters Centerline goodness [0,1] 0.9836368434943257 Centerline is valid? [True, True] Translation: X:485.10, Y:-22.49, Z:2.40 [[ 9.99911398e-01 1.24305788e-02 4.76194104e-03 4.85095833e+02] [-1.24291302e-02 9.99922700e-01 -3.33674566e-04 -2.24902134e+01] [-4.76572070e-03 2.74458217e-04 9.99988606e-01 2.40017391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.670714057 meters Centerline goodness [0,1] 0.9829944710002864 Centerline is valid? [True, True] Translation: X:485.13, Y:-22.49, Z:2.40 [[ 9.99901349e-01 1.32213279e-02 4.74218324e-03 4.85125151e+02] [-1.32198985e-02 9.99912558e-01 -3.32650967e-04 -2.24909779e+01] [-4.74616666e-03 2.69926970e-04 9.99988700e-01 2.39981527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.700714057 meters Centerline goodness [0,1] 0.9828491424571228 Centerline is valid? [True, True] Translation: X:485.15, Y:-22.49, Z:2.40 [[ 9.99895606e-01 1.36022086e-02 4.87415208e-03 4.85154404e+02] [-1.36007069e-02 9.99907448e-01 -3.41126659e-04 -2.24915607e+01] [-4.87834105e-03 2.74799134e-04 9.99988063e-01 2.39921270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.730714057 meters Centerline goodness [0,1] 0.9841122936911924 Centerline is valid? [True, True] Translation: X:485.18, Y:-22.49, Z:2.40 [[ 9.99888541e-01 1.38810309e-02 5.49745117e-03 4.85183793e+02] [-1.38791273e-02 9.99903606e-01 -3.84270130e-04 -2.24879983e+01] [-5.50225531e-03 3.07927476e-04 9.99984815e-01 2.40004134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.76071405700003 meters Centerline goodness [0,1] 0.9821652961795375 Centerline is valid? [True, True] Translation: X:485.21, Y:-22.49, Z:2.40 [[ 9.99892560e-01 1.35335362e-02 5.63129514e-03 4.85211507e+02] [-1.35315349e-02 9.99908367e-01 -3.93324024e-04 -2.24926487e+01] [-5.63610220e-03 3.17081698e-04 9.99984067e-01 2.39965108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.790714057 meters Centerline goodness [0,1] 0.9839368965288672 Centerline is valid? [True, True] Translation: X:485.24, Y:-22.49, Z:2.40 [[ 9.99887143e-01 1.37567163e-02 6.03770375e-03 4.85240871e+02] [-1.37544242e-02 9.99905315e-01 -4.20997001e-04 -2.24853868e+01] [-6.04292360e-03 3.37904350e-04 9.99981684e-01 2.40117366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.820714057 meters Centerline goodness [0,1] 0.9834498219701965 Centerline is valid? [True, True] Translation: X:485.27, Y:-22.49, Z:2.40 [[ 9.99878353e-01 1.40311842e-02 6.81214091e-03 4.85268642e+02] [-1.40282762e-02 9.99901486e-01 -4.74487161e-04 -2.24870020e+01] [-6.81812743e-03 3.78866848e-04 9.99976685e-01 2.40107890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.850714057 meters Centerline goodness [0,1] 0.983047858386791 Centerline is valid? [True, True] Translation: X:485.30, Y:-22.49, Z:2.40 [[ 9.99877552e-01 1.40205527e-02 6.95021420e-03 4.85297288e+02] [-1.40175313e-02 9.99901633e-01 -4.83252402e-04 -2.24894783e+01] [-6.95630599e-03 3.85768384e-04 9.99975730e-01 2.40081111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.880714057 meters Centerline goodness [0,1] 0.982681021930018 Centerline is valid? [True, True] Translation: X:485.33, Y:-22.49, Z:2.40 [[ 9.99890818e-01 1.29546673e-02 7.10835874e-03 4.85327077e+02] [-1.29514834e-02 9.99916004e-01 -4.93757753e-04 -2.24904150e+01] [-7.11415813e-03 4.01640053e-04 9.99974613e-01 2.39989818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.910714057 meters Centerline goodness [0,1] 0.9824228238307645 Centerline is valid? [True, True] Translation: X:485.36, Y:-22.49, Z:2.40 [[ 9.99910643e-01 1.16294034e-02 6.59257160e-03 4.85355726e+02] [-1.16266367e-02 9.99932304e-01 -4.57832554e-04 -2.24939607e+01] [-6.59744963e-03 3.81142208e-04 9.99978164e-01 2.39911492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.940714057 meters Centerline goodness [0,1] 0.9832254919340543 Centerline is valid? [True, True] Translation: X:485.38, Y:-22.49, Z:2.40 [[ 9.99928851e-01 1.01865536e-02 6.20697468e-03 4.85384983e+02] [-1.01840754e-02 9.99948048e-01 -4.30736330e-04 -2.24936902e+01] [-6.21103994e-03 3.67493386e-04 9.99980644e-01 2.39838197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.970714057 meters Centerline goodness [0,1] 0.9818049490538574 Centerline is valid? [True, True] Translation: X:485.41, Y:-22.50, Z:2.40 [[ 9.99955667e-01 7.48015245e-03 5.71935252e-03 4.85413884e+02] [-7.47800610e-03 9.99971961e-01 -3.96572259e-04 -2.24977359e+01] [-5.72215858e-03 3.53785324e-04 9.99983566e-01 2.39738361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.000714057 meters Centerline goodness [0,1] 0.9815505484077417 Centerline is valid? [True, True] Translation: X:485.44, Y:-22.50, Z:2.40 [[ 9.99964474e-01 6.32286015e-03 5.57422135e-03 4.85443248e+02] [-6.32080521e-03 9.99979949e-01 -3.86192092e-04 -2.25024538e+01] [-5.57655142e-03 3.50944805e-04 9.99984389e-01 2.39638262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.030714057 meters Centerline goodness [0,1] 0.9817603674424767 Centerline is valid? [True, True] Translation: X:485.47, Y:-22.50, Z:2.40 [[ 9.99972994e-01 4.28180849e-03 5.97298529e-03 4.85474121e+02] [-4.27941491e-03 9.99990758e-01 -4.13457809e-04 -2.25017441e+01] [-5.97470043e-03 3.87885761e-04 9.99982076e-01 2.39647169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.060714057 meters Centerline goodness [0,1] 0.9790285512242553 Centerline is valid? [True, True] Translation: X:485.50, Y:-22.51, Z:2.40 [[ 9.99978906e-01 3.30630814e-03 5.59066641e-03 4.85504612e+02] [-3.30419622e-03 9.99994466e-01 -3.86952939e-04 -2.25066566e+01] [-5.59191486e-03 3.68472118e-04 9.99984297e-01 2.39605648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.090714057 meters Centerline goodness [0,1] 0.9786439929328622 Centerline is valid? [True, True] Translation: X:485.54, Y:-22.51, Z:2.40 [[ 9.99979741e-01 2.14387026e-03 5.99350319e-03 4.85536074e+02] [-2.14142069e-03 9.99997621e-01 -4.15091151e-04 -2.25109428e+01] [-5.99437883e-03 4.02248130e-04 9.99981953e-01 2.39536319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.120714057 meters Centerline goodness [0,1] 0.9794319079813856 Centerline is valid? [True, True] Translation: X:485.57, Y:-22.51, Z:2.39 [[ 9.99982124e-01 1.62082381e-03 5.75534194e-03 4.85567973e+02] [-1.61856375e-03 9.99998611e-01 -3.97324683e-04 -2.25134126e+01] [-5.75597794e-03 3.88002193e-04 9.99983359e-01 2.39442630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.150714057 meters Centerline goodness [0,1] 0.9791662063937432 Centerline is valid? [True, True] Translation: X:485.60, Y:-22.51, Z:2.39 [[ 9.99988545e-01 9.49026242e-04 4.69150394e-03 4.85600503e+02] [-9.47514633e-04 9.99999498e-01 -3.24413473e-04 -2.25128111e+01] [-4.69180947e-03 3.19964488e-04 9.99988942e-01 2.39351617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.180714057 meters Centerline goodness [0,1] 0.9791739971850809 Centerline is valid? [True, True] Translation: X:485.63, Y:-22.52, Z:2.39 [[ 9.99989157e-01 1.00224296e-04 4.65578218e-03 4.85630972e+02] [-9.87163508e-05 9.99999943e-01 -3.24115178e-04 -2.25193313e+01] [-4.65581439e-03 3.23652062e-04 9.99989109e-01 2.39297253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.210714057 meters Centerline goodness [0,1] 0.9798730214717164 Centerline is valid? [True, True] Translation: X:485.66, Y:-22.52, Z:2.39 [[ 9.99985164e-01 3.89696190e-05 5.44711277e-03 4.85663416e+02] [-3.68972926e-05 9.99999927e-01 -3.80544888e-04 -2.25174860e+01] [-5.44712720e-03 3.80338258e-04 9.99985092e-01 2.39389194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.240714057 meters Centerline goodness [0,1] 0.980692938376091 Centerline is valid? [True, True] Translation: X:485.70, Y:-22.52, Z:2.39 [[ 9.99980459e-01 4.74796736e-04 6.23347951e-03 4.85696074e+02] [-4.72088398e-04 9.99999794e-01 -4.35946783e-04 -2.25186987e+01] [-6.23368521e-03 4.32995510e-04 9.99980477e-01 2.39490631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.270714057 meters Centerline goodness [0,1] 0.9808115967571378 Centerline is valid? [True, True] Translation: X:485.73, Y:-22.52, Z:2.39 [[ 9.99982466e-01 1.06439936e-03 5.82537203e-03 4.85728231e+02] [-1.06204063e-03 9.99999353e-01 -4.07985277e-04 -2.25209556e+01] [-5.82580252e-03 4.01791341e-04 9.99982949e-01 2.39418309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.300714057 meters Centerline goodness [0,1] 0.9797075236561749 Centerline is valid? [True, True] Translation: X:485.76, Y:-22.52, Z:2.39 [[ 9.99982903e-01 3.05665182e-03 4.98503897e-03 4.85759032e+02] [-3.05494662e-03 9.99995273e-01 -3.49641642e-04 -2.25238778e+01] [-4.98608413e-03 3.34406636e-04 9.99987513e-01 2.39250842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.330714057 meters Centerline goodness [0,1] 0.9805891857196609 Centerline is valid? [True, True] Translation: X:485.79, Y:-22.52, Z:2.39 [[ 9.99978928e-01 4.40829532e-03 4.76546949e-03 4.85790322e+02] [-4.40675004e-03 9.99990234e-01 -3.34715747e-04 -2.25226582e+01] [-4.76689848e-03 3.13708461e-04 9.99988589e-01 2.39229208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.360714057 meters Centerline goodness [0,1] 0.9807291897399548 Centerline is valid? [True, True] Translation: X:485.82, Y:-22.52, Z:2.39 [[ 9.99962953e-01 7.26986974e-03 4.60887346e-03 4.85820417e+02] [-7.26845489e-03 9.99973532e-01 -3.23659263e-04 -2.25244743e+01] [-4.61110443e-03 2.90147884e-04 9.99989327e-01 2.39218639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.390714057 meters Centerline goodness [0,1] 0.9812315805801148 Centerline is valid? [True, True] Translation: X:485.85, Y:-22.53, Z:2.39 [[ 9.99950447e-01 8.54010778e-03 5.11573308e-03 4.85850196e+02] [-8.53837981e-03 9.99963483e-01 -3.59520421e-04 -2.25255355e+01] [-5.11861661e-03 3.15822533e-04 9.99986850e-01 2.39228358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.420714057 meters Centerline goodness [0,1] 0.9809506972221609 Centerline is valid? [True, True] Translation: X:485.88, Y:-22.52, Z:2.39 [[ 9.99939799e-01 9.85607890e-03 4.82255726e-03 4.85880592e+02] [-9.85455992e-03 9.99951385e-01 -3.38635719e-04 -2.25236040e+01] [-4.82566044e-03 2.91091153e-04 9.99988314e-01 2.39301198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.450714057 meters Centerline goodness [0,1] 0.9815848956255817 Centerline is valid? [True, True] Translation: X:485.91, Y:-22.52, Z:2.39 [[ 9.99907054e-01 1.29269229e-02 4.33330684e-03 4.85909315e+02] [-1.29257249e-02 9.99916413e-01 -3.04365927e-04 -2.25238905e+01] [-4.33687914e-03 2.48326505e-04 9.99990565e-01 2.39308389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.480714057 meters Centerline goodness [0,1] 0.9821396876109336 Centerline is valid? [True, True] Translation: X:485.94, Y:-22.52, Z:2.39 [[ 9.99898463e-01 1.37184578e-02 3.85591474e-03 4.85938686e+02] [-1.37175147e-02 9.99905874e-01 -2.70912381e-04 -2.25248910e+01] [-3.85926830e-03 2.17991306e-04 9.99992529e-01 2.39267924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.51071405700003 meters Centerline goodness [0,1] 0.9820965058236273 Centerline is valid? [True, True] Translation: X:485.97, Y:-22.53, Z:2.39 [[ 9.99871763e-01 1.57559689e-02 2.86462125e-03 4.85966961e+02] [-1.57554567e-02 9.99875855e-01 -2.01282021e-04 -2.25269457e+01] [-2.86743701e-03 1.56122793e-04 9.99995877e-01 2.39115171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.540714057 meters Centerline goodness [0,1] 0.9830050298021316 Centerline is valid? [True, True] Translation: X:486.00, Y:-22.53, Z:2.39 [[ 9.99861995e-01 1.64519105e-02 2.30772305e-03 4.85995354e+02] [-1.64515795e-02 9.99864650e-01 -1.62338964e-04 -2.25286559e+01] [-2.31008149e-03 1.24350872e-04 9.99997324e-01 2.39024767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.570714057 meters Centerline goodness [0,1] 0.9821103160140451 Centerline is valid? [True, True] Translation: X:486.02, Y:-22.53, Z:2.39 [[ 9.99851594e-01 1.71998422e-02 9.77910490e-04 4.86022871e+02] [-1.71997825e-02 9.99852070e-01 -6.94343941e-05 -2.25307717e+01] [-9.78960089e-04 5.26042419e-05 9.99999519e-01 2.38902607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.600714057 meters Centerline goodness [0,1] 0.982051678786941 Centerline is valid? [True, True] Translation: X:486.05, Y:-22.53, Z:2.39 [[ 9.99841521e-01 1.77811040e-02 8.75055872e-04 4.86051516e+02] [-1.77810565e-02 9.99841903e-01 -6.19607182e-05 -2.25330615e+01] [-8.76019258e-04 4.63914808e-05 9.99999615e-01 2.38838500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.630714057 meters Centerline goodness [0,1] 0.9820130372334549 Centerline is valid? [True, True] Translation: X:486.08, Y:-22.54, Z:2.39 [[ 9.99835383e-01 1.81317414e-02 6.68931318e-04 4.86079489e+02] [-1.81317135e-02 9.99835606e-01 -4.77963370e-05 -2.25360674e+01] [-6.69687981e-04 3.56595979e-05 9.99999775e-01 2.38793495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.660714057 meters Centerline goodness [0,1] 0.9820606972217306 Centerline is valid? [True, True] Translation: X:486.11, Y:-22.54, Z:2.39 [[ 9.99839561e-01 1.79123313e-02 2.60027833e-05 4.86106673e+02] [-1.79123312e-02 9.99839561e-01 -2.96328775e-06 -2.25402708e+01] [-2.60516909e-05 2.49704185e-06 1.00000000e+00 2.38697579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.690714057 meters Centerline goodness [0,1] 0.9821250138780948 Centerline is valid? [True, True] Translation: X:486.14, Y:-22.54, Z:2.39 [[ 9.99844017e-01 1.76616410e-02 8.67692416e-05 4.86135514e+02] [-1.76616405e-02 9.99844021e-01 -6.89155625e-06 -2.25436106e+01] [-8.68774236e-05 5.35799413e-06 9.99999996e-01 2.38623261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.720714057 meters Centerline goodness [0,1] 0.9819981798406251 Centerline is valid? [True, True] Translation: X:486.16, Y:-22.55, Z:2.39 [[ 9.99853185e-01 1.71296949e-02 -4.26928318e-04 4.86163332e+02] [-1.71296843e-02 9.99853276e-01 2.85923061e-05 -2.25479955e+01] [ 4.27355454e-04 -2.12749610e-05 9.99999908e-01 2.38539469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.750714057 meters Centerline goodness [0,1] 0.9826848464693493 Centerline is valid? [True, True] Translation: X:486.19, Y:-22.55, Z:2.38 [[ 9.99854006e-01 1.70800162e-02 -4.89799824e-04 4.86190958e+02] [-1.70800022e-02 9.99854126e-01 3.27074493e-05 -2.25511055e+01] [ 4.90287018e-04 -2.43368922e-05 9.99999880e-01 2.38453850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.780714057 meters Centerline goodness [0,1] 0.9826334140220747 Centerline is valid? [True, True] Translation: X:486.22, Y:-22.56, Z:2.39 [[ 9.99868826e-01 1.61963493e-02 9.95341032e-05 4.86218610e+02] [-1.61963486e-02 9.99868831e-01 -7.94399609e-06 -2.25556116e+01] [-9.96497111e-05 6.33086500e-06 9.99999995e-01 2.38504474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.810714057 meters Centerline goodness [0,1] 0.9822334463126647 Centerline is valid? [True, True] Translation: X:486.25, Y:-22.56, Z:2.39 [[ 9.99883956e-01 1.52175670e-02 7.07019006e-04 4.86246587e+02] [-1.52175354e-02 9.99884205e-01 -5.01437748e-05 -2.25596614e+01] [-7.07700203e-04 3.93788692e-05 9.99999749e-01 2.38511445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.840714057 meters Centerline goodness [0,1] 0.9840303003455303 Centerline is valid? [True, True] Translation: X:486.28, Y:-22.55, Z:2.39 [[ 9.99905775e-01 1.36708076e-02 1.24504542e-03 4.86275891e+02] [-1.36707099e-02 9.99906548e-01 -8.69718316e-05 -2.25521589e+01] [-1.24611805e-03 6.99429819e-05 9.99999221e-01 2.38742020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.870714057 meters Centerline goodness [0,1] 0.9835996728775722 Centerline is valid? [True, True] Translation: X:486.30, Y:-22.56, Z:2.39 [[ 9.99951756e-01 9.57834063e-03 2.17732281e-03 4.86304251e+02] [-9.57803477e-03 9.99954118e-01 -1.50859101e-04 -2.25604409e+01] [-2.17866790e-03 1.29997349e-04 9.99997618e-01 2.38719744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.900714057 meters Centerline goodness [0,1] 0.9828337573277293 Centerline is valid? [True, True] Translation: X:486.33, Y:-22.57, Z:2.39 [[ 9.99972403e-01 7.19911714e-03 1.83465599e-03 4.86333577e+02] [-7.19889598e-03 9.99974080e-01 -1.27118001e-04 -2.25650982e+01] [-1.83552357e-03 1.13906996e-04 9.99998309e-01 2.38664077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.930714057 meters Centerline goodness [0,1] 0.9815039350984326 Centerline is valid? [True, True] Translation: X:486.36, Y:-22.57, Z:2.39 [[ 9.99992881e-01 3.14126849e-03 2.09062509e-03 4.86362186e+02] [-3.14097360e-03 9.99995057e-01 -1.44322714e-04 -2.25722889e+01] [-2.09106811e-03 1.37755088e-04 9.99997804e-01 2.38568120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.960714057 meters Centerline goodness [0,1] 0.981610667137622 Centerline is valid? [True, True] Translation: X:486.39, Y:-22.58, Z:2.39 [[ 9.99995266e-01 1.64052611e-03 2.60333157e-03 4.86391589e+02] [-1.64006327e-03 9.99998639e-01 -1.79913559e-04 -2.25769616e+01] [-2.60362318e-03 1.75643078e-04 9.99996595e-01 2.38551603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.990714057 meters Centerline goodness [0,1] 0.9817098731384446 Centerline is valid? [True, True] Translation: X:486.42, Y:-22.58, Z:2.39 [[ 9.99995650e-01 6.46241908e-04 2.87778232e-03 4.86422546e+02] [-6.45674843e-04 9.99999772e-01 -1.97974180e-04 -2.25784941e+01] [-2.87790961e-03 1.96115208e-04 9.99995840e-01 2.38580227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.020714057 meters Centerline goodness [0,1] 0.9807828082252228 Centerline is valid? [True, True] Translation: X:486.45, Y:-22.58, Z:2.39 [[ 9.99996190e-01 -6.04303173e-04 2.69330483e-03 4.86453902e+02] [ 6.04805576e-04 9.99999800e-01 -1.85727430e-04 -2.25807855e+01] [-2.69319205e-03 1.87355648e-04 9.99996356e-01 2.38560551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.050714057 meters Centerline goodness [0,1] 0.9818141836173722 Centerline is valid? [True, True] Translation: X:486.48, Y:-22.58, Z:2.38 [[ 9.99997969e-01 -7.76296977e-04 1.85982466e-03 4.86484921e+02] [ 7.76536706e-04 9.99999690e-01 -1.28179935e-04 -2.25832028e+01] [-1.85972457e-03 1.29623897e-04 9.99998262e-01 2.38494650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.080714057 meters Centerline goodness [0,1] 0.9817881887165952 Centerline is valid? [True, True] Translation: X:486.52, Y:-22.59, Z:2.38 [[ 9.99998924e-01 -1.40573193e-03 -4.19806193e-04 4.86515450e+02] [ 1.40574434e-03 9.99999012e-01 2.92652595e-05 -2.25859483e+01] [ 4.19764639e-04 -2.98553682e-05 9.99999911e-01 2.38204026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.110714057 meters Centerline goodness [0,1] 0.9817881887165952 Centerline is valid? [True, True] Translation: X:486.55, Y:-22.59, Z:2.38 [[ 9.99998924e-01 -1.40572912e-03 -4.19821552e-04 4.86545453e+02] [ 1.40574143e-03 9.99999012e-01 2.90432532e-05 -2.25880238e+01] [ 4.19780310e-04 -2.96333825e-05 9.99999911e-01 2.38165944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.140714057 meters Centerline goodness [0,1] 0.9816374217441143 Centerline is valid? [True, True] Translation: X:486.58, Y:-22.59, Z:2.38 [[ 9.99996736e-01 -2.16831916e-03 -1.35118806e-03 4.86576295e+02] [ 2.16844744e-03 9.99997645e-01 9.34751846e-05 -2.25862317e+01] [ 1.35098220e-03 -9.64048599e-05 9.99999083e-01 2.38138576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.170714057 meters Centerline goodness [0,1] 0.9822797675600433 Centerline is valid? [True, True] Translation: X:486.61, Y:-22.59, Z:2.38 [[ 9.99994233e-01 -3.35496716e-03 -5.28235825e-04 4.86606718e+02] [ 3.35498706e-03 9.99994371e-01 3.67807258e-05 -2.25896193e+01] [ 5.28109454e-04 -3.85527380e-05 9.99999860e-01 2.38154635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.200714057 meters Centerline goodness [0,1] 0.982043316368123 Centerline is valid? [True, True] Translation: X:486.64, Y:-22.59, Z:2.38 [[ 9.99991584e-01 -4.09709875e-03 2.15820082e-04 4.86638394e+02] [ 4.09710198e-03 9.99991607e-01 -1.44869118e-05 -2.25914735e+01] [-2.15758917e-04 1.53710268e-05 9.99999977e-01 2.38156585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.230714057 meters Centerline goodness [0,1] 0.9824770480225988 Centerline is valid? [True, True] Translation: X:486.67, Y:-22.59, Z:2.38 [[ 9.99986426e-01 -5.13185921e-03 9.01393684e-04 4.86669454e+02] [ 5.13191696e-03 9.99986830e-01 -6.17758308e-05 -2.25941234e+01] [-9.01064787e-04 6.64008698e-05 9.99999592e-01 2.38143489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.26071405700003 meters Centerline goodness [0,1] 0.9826424071545002 Centerline is valid? [True, True] Translation: X:486.70, Y:-22.59, Z:2.38 [[ 9.99981965e-01 -5.95562424e-03 7.75241723e-04 4.86701285e+02] [ 5.95566716e-03 9.99982263e-01 -5.30579333e-05 -2.25922015e+01] [-7.74911980e-04 5.76740580e-05 9.99999698e-01 2.38138785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.290714057 meters Centerline goodness [0,1] 0.983150763274823 Centerline is valid? [True, True] Translation: X:486.73, Y:-22.60, Z:2.38 [[ 9.99978342e-01 -6.52299784e-03 8.75261527e-04 4.86731934e+02] [ 6.52305288e-03 9.99978723e-01 -6.00472894e-05 -2.25964756e+01] [-8.74851216e-04 6.57553661e-05 9.99999615e-01 2.38087507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.320714057 meters Centerline goodness [0,1] 0.9813337447108603 Centerline is valid? [True, True] Translation: X:486.76, Y:-22.60, Z:2.38 [[ 9.99964220e-01 -8.45870429e-03 9.92563970e-05 4.86763490e+02] [ 8.45870497e-03 9.99964224e-01 -6.43683775e-06 -2.25973364e+01] [-9.91983988e-05 7.27618802e-06 9.99999995e-01 2.37996842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.350714057 meters Centerline goodness [0,1] 0.9813141638637912 Centerline is valid? [True, True] Translation: X:486.79, Y:-22.60, Z:2.38 [[ 9.99957878e-01 -9.17410501e-03 2.77947967e-04 4.86794053e+02] [ 9.17411060e-03 9.99957917e-01 -1.88545247e-05 -2.26006616e+01] [-2.77763297e-04 2.14036559e-05 9.99999961e-01 2.37924965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.380714057 meters Centerline goodness [0,1] 0.9806920872823451 Centerline is valid? [True, True] Translation: X:486.83, Y:-22.60, Z:2.38 [[ 9.99946370e-01 -1.03543773e-02 -2.08381754e-04 4.86826110e+02] [ 1.03543807e-02 9.99946392e-01 1.51724133e-05 -2.25997383e+01] [ 2.08213482e-04 -1.73292636e-05 9.99999978e-01 2.37987064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.410714057 meters Centerline goodness [0,1] 0.9813714007911077 Centerline is valid? [True, True] Translation: X:486.86, Y:-22.60, Z:2.38 [[ 9.99942757e-01 -1.06984552e-02 1.61541910e-04 4.86857750e+02] [ 1.06984570e-02 9.99942770e-01 -1.05584186e-05 -2.26015423e+01] [-1.61419707e-04 1.22860634e-05 9.99999987e-01 2.37974581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.440714057 meters Centerline goodness [0,1] 0.9819154580827733 Centerline is valid? [True, True] Translation: X:486.89, Y:-22.60, Z:2.38 [[ 9.99928716e-01 -1.18927251e-02 1.06103266e-03 4.86890006e+02] [ 1.18928092e-02 9.99929275e-01 -7.29768950e-05 -2.25983197e+01] [-1.06008972e-03 8.55903519e-05 9.99999434e-01 2.38080629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.470714057 meters Centerline goodness [0,1] 0.9802212909377148 Centerline is valid? [True, True] Translation: X:486.92, Y:-22.60, Z:2.38 [[ 9.99916070e-01 -1.28807547e-02 1.39274935e-03 4.86920568e+02] [ 1.28809016e-02 9.99917033e-01 -9.65981686e-05 -2.26021452e+01] [-1.39138954e-03 1.14529928e-04 9.99999025e-01 2.38039933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.500714057 meters Centerline goodness [0,1] 0.9813826843468444 Centerline is valid? [True, True] Translation: X:486.95, Y:-22.60, Z:2.38 [[ 9.99891352e-01 -1.46952128e-02 1.15520067e-03 4.86951731e+02] [ 1.46953150e-02 9.99892015e-01 -8.00924058e-05 -2.26035620e+01] [-1.15389895e-03 9.70597418e-05 9.99999330e-01 2.37964305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.530714057 meters Centerline goodness [0,1] 0.9804937451566479 Centerline is valid? [True, True] Translation: X:486.98, Y:-22.60, Z:2.38 [[ 9.99874986e-01 -1.57999919e-02 6.09908390e-04 4.86984191e+02] [ 1.58000202e-02 9.99875171e-01 -4.16565581e-05 -2.26048528e+01] [-6.09174083e-04 5.12879153e-05 9.99999813e-01 2.37872710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.560714057 meters Centerline goodness [0,1] 0.9783004619758351 Centerline is valid? [True, True] Translation: X:487.01, Y:-22.61, Z:2.38 [[ 9.99847603e-01 -1.74569947e-02 -1.53241825e-04 4.87014418e+02] [ 1.74569966e-02 9.99847615e-01 1.12787295e-05 -2.26108407e+01] [ 1.53021580e-04 -1.39521527e-05 9.99999988e-01 2.37740282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.590714057 meters Centerline goodness [0,1] 0.9803530246585063 Centerline is valid? [True, True] Translation: X:487.05, Y:-22.61, Z:2.38 [[ 9.99841311e-01 -1.78143260e-02 -5.55198775e-05 4.87046839e+02] [ 1.78143263e-02 9.99841312e-01 4.78390501e-06 -2.26086856e+01] [ 5.54258451e-05 -5.77219507e-06 9.99999998e-01 2.37773468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.620714057 meters Centerline goodness [0,1] 0.9778153203218779 Centerline is valid? [True, True] Translation: X:487.08, Y:-22.61, Z:2.38 [[ 9.99854212e-01 -1.70746541e-02 -1.05539558e-04 4.87078083e+02] [ 1.70746550e-02 9.99854217e-01 8.05646312e-06 -2.26117607e+01] [ 1.05386611e-04 -9.85734013e-06 9.99999994e-01 2.37775114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.650714057 meters Centerline goodness [0,1] 0.979512021687925 Centerline is valid? [True, True] Translation: X:487.11, Y:-22.61, Z:2.38 [[ 9.99871641e-01 -1.60218571e-02 4.63233984e-05 4.87110086e+02] [ 1.60218573e-02 9.99871642e-01 -2.79137879e-06 -2.26080695e+01] [-4.62727294e-05 3.53320737e-06 9.99999999e-01 2.37837841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.680714057 meters Centerline goodness [0,1] 0.9812289355623507 Centerline is valid? [True, True] Translation: X:487.14, Y:-22.60, Z:2.38 [[ 9.99940472e-01 -1.09055417e-02 3.49415494e-04 4.87141613e+02] [ 1.09055509e-02 9.99940532e-01 -2.42623092e-05 -2.26013288e+01] [-3.49130121e-04 2.80714333e-05 9.99999939e-01 2.37947860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.710714057 meters Centerline goodness [0,1] 0.9816999597801314 Centerline is valid? [True, True] Translation: X:487.17, Y:-22.60, Z:2.38 [[ 9.99973289e-01 -7.28278238e-03 6.18666612e-04 4.87172059e+02] [ 7.28281053e-03 9.99973479e-01 -4.32516195e-05 -2.25971883e+01] [-6.18335212e-04 4.77560959e-05 9.99999808e-01 2.37951576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.740714057 meters Centerline goodness [0,1] 0.9822038468452274 Centerline is valid? [True, True] Translation: X:487.20, Y:-22.59, Z:2.38 [[ 9.99998669e-01 1.42985001e-03 7.85603046e-04 4.87202571e+02] [-1.42980730e-03 9.99998976e-01 -5.49267024e-05 -2.25919312e+01] [-7.85680779e-04 5.38033683e-05 9.99999690e-01 2.37931361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.770714057 meters Centerline goodness [0,1] 0.9829517340650443 Centerline is valid? [True, True] Translation: X:487.23, Y:-22.59, Z:2.38 [[ 9.99981401e-01 5.99718872e-03 1.11004920e-03 4.87233217e+02] [-5.99710603e-03 9.99982014e-01 -7.78062493e-05 -2.25871685e+01] [-1.11049585e-03 7.11477194e-05 9.99999381e-01 2.37965572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.800714057 meters Centerline goodness [0,1] 0.9823184037072863 Centerline is valid? [True, True] Translation: X:487.26, Y:-22.58, Z:2.38 [[ 9.99946478e-01 1.02439678e-02 1.44968162e-03 4.87263818e+02] [-1.02438313e-02 9.99947525e-01 -1.01552885e-04 -2.25846736e+01] [-1.45064585e-03 8.66971561e-05 9.99998944e-01 2.37978047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.830714057 meters Centerline goodness [0,1] 0.9835366816264857 Centerline is valid? [True, True] Translation: X:487.29, Y:-22.58, Z:2.38 [[ 9.99851303e-01 1.69737245e-02 3.04390859e-03 4.87292704e+02] [-1.69731527e-02 9.99855923e-01 -2.13591023e-04 -2.25806283e+01] [-3.04709546e-03 1.61894538e-04 9.99995344e-01 2.38020869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.860714057 meters Centerline goodness [0,1] 0.9838927686415859 Centerline is valid? [True, True] Translation: X:487.32, Y:-22.58, Z:2.38 [[ 9.99810766e-01 1.89235338e-02 4.50918953e-03 4.87321852e+02] [-1.89223002e-02 9.99820907e-01 -3.16101261e-04 -2.25793858e+01] [-4.51436372e-03 2.30717206e-04 9.99989784e-01 2.38073639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.890714057 meters Centerline goodness [0,1] 0.9822445107075088 Centerline is valid? [True, True] Translation: X:487.35, Y:-22.58, Z:2.38 [[ 9.99783007e-01 1.98235019e-02 6.40063505e-03 4.87349321e+02] [-1.98210391e-02 9.99803444e-01 -4.47980326e-04 -2.25839855e+01] [-6.40825750e-03 3.21015880e-04 9.99979415e-01 2.38081235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.920714057 meters Centerline goodness [0,1] 0.9831976363923408 Centerline is valid? [True, True] Translation: X:487.38, Y:-22.58, Z:2.38 [[ 9.99801948e-01 1.87923332e-02 6.55076766e-03 4.87378747e+02] [-1.87897361e-02 9.99823353e-01 -4.57775018e-04 -2.25811567e+01] [-6.55821314e-03 3.34597159e-04 9.99978439e-01 2.38106112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.950714057 meters Centerline goodness [0,1] 0.982061163320037 Centerline is valid? [True, True] Translation: X:487.41, Y:-22.58, Z:2.38 [[ 9.99828919e-01 1.73200382e-02 6.49228586e-03 4.87405882e+02] [-1.73174579e-02 9.99849939e-01 -4.53447420e-04 -2.25847980e+01] [-6.49916535e-03 3.40939957e-04 9.99978822e-01 2.37990588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.980714057 meters Centerline goodness [0,1] 0.9829624949225978 Centerline is valid? [True, True] Translation: X:487.44, Y:-22.59, Z:2.38 [[ 9.99886708e-01 1.35917388e-02 6.46801470e-03 4.87436034e+02] [-1.35891080e-02 9.99907562e-01 -4.50528260e-04 -2.25873011e+01] [-6.47354028e-03 3.62582669e-04 9.99978981e-01 2.37892612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.01071405700003 meters Centerline goodness [0,1] 0.9809700311892601 Centerline is valid? [True, True] Translation: X:487.47, Y:-22.59, Z:2.38 [[ 9.99923984e-01 1.05856855e-02 6.32207062e-03 4.87465634e+02] [-1.05831128e-02 9.99943900e-01 -4.40253430e-04 -2.25919407e+01] [-6.32637634e-03 3.73312778e-04 9.99979919e-01 2.37740236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.040714057 meters Centerline goodness [0,1] 0.9817573524425255 Centerline is valid? [True, True] Translation: X:487.49, Y:-22.60, Z:2.38 [[ 9.99934775e-01 9.62221084e-03 6.15287554e-03 4.87493986e+02] [-9.61975507e-03 9.99953637e-01 -4.28597712e-04 -2.25959764e+01] [-6.15671434e-03 3.69380602e-04 9.99980979e-01 2.37673317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.070714057 meters Centerline goodness [0,1] 0.9816822514342504 Centerline is valid? [True, True] Translation: X:487.52, Y:-22.60, Z:2.38 [[ 9.99939141e-01 9.19446140e-03 6.09724340e-03 4.87523721e+02] [-9.19204458e-03 9.99957662e-01 -4.24284080e-04 -2.25976213e+01] [-6.10088632e-03 3.68212125e-04 9.99981322e-01 2.37645820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.100714057 meters Centerline goodness [0,1] 0.9811389109022982 Centerline is valid? [True, True] Translation: X:487.55, Y:-22.60, Z:2.38 [[ 9.99930461e-01 9.91538376e-03 6.38416934e-03 4.87553034e+02] [-9.91275034e-03 9.99950769e-01 -4.44002609e-04 -2.25987413e+01] [-6.38825750e-03 3.80687057e-04 9.99979522e-01 2.37629779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.130714057 meters Centerline goodness [0,1] 0.9809657292702776 Centerline is valid? [True, True] Translation: X:487.58, Y:-22.60, Z:2.38 [[ 9.99916560e-01 1.12981717e-02 6.26288884e-03 4.87581577e+02] [-1.12956650e-02 9.99936107e-01 -4.35464092e-04 -2.26016592e+01] [-6.26740863e-03 3.64684263e-04 9.99980293e-01 2.37544214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.160714057 meters Centerline goodness [0,1] 0.9826411678171325 Centerline is valid? [True, True] Translation: X:487.61, Y:-22.60, Z:2.37 [[ 9.99871151e-01 1.48183010e-02 6.17241589e-03 4.87611268e+02] [-1.48159358e-02 9.99890146e-01 -4.28740853e-04 -2.26004282e+01] [-6.17809104e-03 3.37235492e-04 9.99980859e-01 2.37377926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.190714057 meters Centerline goodness [0,1] 0.9818938982437081 Centerline is valid? [True, True] Translation: X:487.64, Y:-22.60, Z:2.37 [[ 9.99842636e-01 1.67370248e-02 5.88012321e-03 4.87640695e+02] [-1.67349118e-02 9.99859878e-01 -4.08368733e-04 -2.26016494e+01] [-5.88613415e-03 3.09901127e-04 9.99982629e-01 2.37305287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.220714057 meters Centerline goodness [0,1] 0.9810786954258425 Centerline is valid? [True, True] Translation: X:487.67, Y:-22.60, Z:2.37 [[ 9.99771873e-01 2.05075605e-02 5.97014106e-03 4.87669698e+02] [-2.05054520e-02 9.99789655e-01 -4.14176697e-04 -2.26018287e+01] [-5.97737903e-03 2.91661771e-04 9.99982093e-01 2.37264615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.250714057 meters Centerline goodness [0,1] 0.9825339366515837 Centerline is valid? [True, True] Translation: X:487.70, Y:-22.60, Z:2.37 [[ 9.99735089e-01 2.21723906e-02 6.17553396e-03 4.87699045e+02] [-2.21701650e-02 9.99754120e-01 -4.28608731e-04 -2.26028027e+01] [-6.18351880e-03 2.91582581e-04 9.99980839e-01 2.37237678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.280714057 meters Centerline goodness [0,1] 0.9815183009489381 Centerline is valid? [True, True] Translation: X:487.73, Y:-22.61, Z:2.37 [[ 9.99704962e-01 2.35342351e-02 6.01068395e-03 4.87727140e+02] [-2.35321560e-02 9.99722994e-01 -4.16404277e-04 -2.26057492e+01] [-6.01881871e-03 2.74837069e-04 9.99981849e-01 2.37203614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.310714057 meters Centerline goodness [0,1] 0.9824187774706602 Centerline is valid? [True, True] Translation: X:487.76, Y:-22.60, Z:2.37 [[ 9.99689542e-01 2.41606519e-02 6.08957539e-03 4.87756049e+02] [-2.41585319e-02 9.99708051e-01 -4.21454864e-04 -2.26030444e+01] [-6.09798017e-03 2.74208819e-04 9.99981370e-01 2.37215750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.340714057 meters Centerline goodness [0,1] 0.9808637362139638 Centerline is valid? [True, True] Translation: X:487.78, Y:-22.61, Z:2.37 [[ 9.99704621e-01 2.35518322e-02 5.99848139e-03 4.87783731e+02] [-2.35497660e-02 9.99722580e-01 -4.14853033e-04 -2.26119786e+01] [-6.00658784e-03 2.73467661e-04 9.99981923e-01 2.37095035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.370714057 meters Centerline goodness [0,1] 0.9801352971786692 Centerline is valid? [True, True] Translation: X:487.81, Y:-22.62, Z:2.37 [[ 9.99734449e-01 2.20316794e-02 6.75547202e-03 4.87811738e+02] [-2.20290294e-02 9.99757223e-01 -4.66440581e-04 -2.26158089e+01] [-6.76410841e-03 3.17500225e-04 9.99977073e-01 2.37042150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.400714057 meters Centerline goodness [0,1] 0.9794740653571106 Centerline is valid? [True, True] Translation: X:487.84, Y:-22.62, Z:2.37 [[ 9.99766332e-01 2.08114897e-02 5.84490782e-03 4.87839049e+02] [-2.08094872e-02 9.99783378e-01 -4.03226931e-04 -2.26191998e+01] [-5.85203344e-03 2.81503176e-04 9.99982837e-01 2.36942297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.430714057 meters Centerline goodness [0,1] 0.9797254440014498 Centerline is valid? [True, True] Translation: X:487.87, Y:-22.62, Z:2.37 [[ 9.99821612e-01 1.83109944e-02 4.63163865e-03 4.87866757e+02] [-1.83097123e-02 9.99832312e-01 -3.19070303e-04 -2.26244058e+01] [-4.63670448e-03 2.34209413e-04 9.99989223e-01 2.36794964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.460714057 meters Centerline goodness [0,1] 0.9805165382872678 Centerline is valid? [True, True] Translation: X:487.90, Y:-22.62, Z:2.37 [[ 9.99852639e-01 1.65738517e-02 4.47309815e-03 4.87896277e+02] [-1.65726392e-02 9.99862617e-01 -3.08018012e-04 -2.26223976e+01] [-4.47758867e-03 2.33841580e-04 9.99989948e-01 2.36815280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.490714057 meters Centerline goodness [0,1] 0.9801510150562915 Centerline is valid? [True, True] Translation: X:487.93, Y:-22.62, Z:2.37 [[ 9.99903196e-01 1.31687498e-02 4.49260875e-03 4.87926702e+02] [-1.31674946e-02 9.99913257e-01 -3.08866668e-04 -2.26205156e+01] [-4.49628643e-03 2.49680368e-04 9.99989860e-01 2.36946252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.520714057 meters Centerline goodness [0,1] 0.9739834996729475 Centerline is valid? [True, True] Translation: X:487.95, Y:-22.65, Z:2.37 [[ 9.99891290e-01 1.39327073e-02 4.82582468e-03 4.87952373e+02] [-1.39312657e-02 9.99902900e-01 -3.32225443e-04 -2.26486802e+01] [-4.82998489e-03 2.64959481e-04 9.99988300e-01 2.36549524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.550714057 meters Centerline goodness [0,1] 0.9786614279907871 Centerline is valid? [True, True] Translation: X:487.98, Y:-22.63, Z:2.37 [[ 9.99949588e-01 9.36661043e-03 3.61768570e-03 4.87984331e+02] [-9.36577340e-03 9.99956109e-01 -2.48246718e-04 -2.26259049e+01] [-3.61985214e-03 2.14351779e-04 9.99993425e-01 2.36836784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.580714057 meters Centerline goodness [0,1] 0.9792816429928526 Centerline is valid? [True, True] Translation: X:488.01, Y:-22.63, Z:2.37 [[ 9.99955967e-01 8.78840604e-03 3.29059224e-03 4.88011690e+02] [-8.78770745e-03 9.99961362e-01 -2.26696704e-04 -2.26286666e+01] [-3.29245740e-03 1.97769959e-04 9.99994560e-01 2.36791350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.610714057 meters Centerline goodness [0,1] 0.9799707108257294 Centerline is valid? [True, True] Translation: X:488.04, Y:-22.63, Z:2.37 [[ 9.99947993e-01 9.51271774e-03 3.67695408e-03 4.88041017e+02] [-9.51185320e-03 9.99954729e-01 -2.52541337e-04 -2.26277346e+01] [-3.67918998e-03 2.17553556e-04 9.99993208e-01 2.36815701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.640714057 meters Centerline goodness [0,1] 0.978677797833935 Centerline is valid? [True, True] Translation: X:488.07, Y:-22.63, Z:2.37 [[ 9.99945503e-01 9.78418770e-03 3.64139280e-03 4.88068736e+02] [-9.78334195e-03 9.99952111e-01 -2.50001535e-04 -2.26345111e+01] [-3.64366448e-03 2.14362920e-04 9.99993339e-01 2.36707492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.670714057 meters Centerline goodness [0,1] 0.978999773704458 Centerline is valid? [True, True] Translation: X:488.10, Y:-22.63, Z:2.37 [[ 9.99924413e-01 1.18953452e-02 3.10957807e-03 4.88099361e+02] [-1.18947411e-02 9.99929232e-01 -2.12692377e-04 -2.26297150e+01] [-3.11188806e-03 1.75688674e-04 9.99995143e-01 2.36728760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.700714057 meters Centerline goodness [0,1] 0.9811273845041135 Centerline is valid? [True, True] Translation: X:488.13, Y:-22.63, Z:2.37 [[ 9.99909160e-01 1.32125537e-02 2.66470454e-03 4.88128687e+02] [-1.32121134e-02 9.99912700e-01 -1.82791917e-04 -2.26271231e+01] [-2.66688706e-03 1.47568934e-04 9.99996433e-01 2.36702465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.730714057 meters Centerline goodness [0,1] 0.9798041477259878 Centerline is valid? [True, True] Translation: X:488.16, Y:-22.63, Z:2.37 [[ 9.99874652e-01 1.57856112e-02 1.22291818e-03 4.88157669e+02] [-1.57855204e-02 9.99875397e-01 -8.38789986e-05 -2.26279171e+01] [-1.22408988e-03 6.45640846e-05 9.99999249e-01 2.36511998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.76071405700003 meters Centerline goodness [0,1] 0.9800771499886544 Centerline is valid? [True, True] Translation: X:488.19, Y:-22.63, Z:2.36 [[ 9.99863887e-01 1.64876357e-02 6.05038597e-04 4.88185654e+02] [-1.64876130e-02 9.99864069e-01 -4.23697111e-05 -2.26293389e+01] [-6.05654930e-04 3.23883017e-05 9.99999816e-01 2.36385756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.790714057 meters Centerline goodness [0,1] 0.9797881047653693 Centerline is valid? [True, True] Translation: X:488.21, Y:-22.63, Z:2.36 [[ 9.99860419e-01 1.67067455e-02 -1.64295594e-04 4.88214772e+02] [-1.67067440e-02 9.99860433e-01 1.03087033e-05 -2.26300729e+01] [ 1.64444889e-04 -7.56242001e-06 9.99999986e-01 2.36277800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.820714057 meters Centerline goodness [0,1] 0.9806893734824934 Centerline is valid? [True, True] Translation: X:488.24, Y:-22.63, Z:2.36 [[ 9.99869305e-01 1.61583725e-02 -5.29958103e-04 4.88243684e+02] [-1.61583561e-02 9.99869445e-01 3.51460859e-05 -2.26296613e+01] [ 5.30456817e-04 -2.65782407e-05 9.99999859e-01 2.36253688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.850714057 meters Centerline goodness [0,1] 0.9796641748653746 Centerline is valid? [True, True] Translation: X:488.27, Y:-22.64, Z:2.36 [[ 9.99900781e-01 1.40776707e-02 -4.98154163e-04 4.88271881e+02] [-1.40776559e-02 9.99900904e-01 3.31840500e-05 -2.26354133e+01] [ 4.98571952e-04 -2.61679146e-05 9.99999875e-01 2.36152346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.880714057 meters Centerline goodness [0,1] 0.980994752452658 Centerline is valid? [True, True] Translation: X:488.30, Y:-22.63, Z:2.36 [[ 9.99924617e-01 1.22644956e-02 -5.85811956e-04 4.88301408e+02] [-1.22644748e-02 9.99924788e-01 3.90960745e-05 -2.26325580e+01] [ 5.86247389e-04 -3.19084513e-05 9.99999828e-01 2.36270714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.910714057 meters Centerline goodness [0,1] 0.9789399389827421 Centerline is valid? [True, True] Translation: X:488.33, Y:-22.64, Z:2.36 [[ 9.99960180e-01 8.89878072e-03 6.71646857e-04 4.88329859e+02] [-8.89875202e-03 9.99960404e-01 -4.56985009e-05 -2.26386955e+01] [-6.72026923e-04 3.97198623e-05 9.99999773e-01 2.36317018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.940714057 meters Centerline goodness [0,1] 0.9784632896983495 Centerline is valid? [True, True] Translation: X:488.36, Y:-22.64, Z:2.36 [[ 9.99974576e-01 6.91539955e-03 1.73934624e-03 4.88358994e+02] [-6.91520363e-03 9.99976083e-01 -1.18631141e-04 -2.26406371e+01] [-1.74012502e-03 1.06600192e-04 9.99998480e-01 2.36396312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.970714057 meters Centerline goodness [0,1] 0.9784058069947892 Centerline is valid? [True, True] Translation: X:488.39, Y:-22.65, Z:2.36 [[ 9.99985058e-01 4.83055016e-03 2.55916447e-03 4.88387087e+02] [-4.83012081e-03 9.99988320e-01 -1.73923824e-04 -2.26452681e+01] [-2.55997473e-03 1.61560152e-04 9.99996710e-01 2.36385330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.000714057 meters Centerline goodness [0,1] 0.9784058069947892 Centerline is valid? [True, True] Translation: X:488.42, Y:-22.65, Z:2.36 [[ 9.99985223e-01 4.79622828e-03 2.55917095e-03 4.88416231e+02] [-4.79579906e-03 9.99988485e-01 -1.73828359e-04 -2.26472119e+01] [-2.55997520e-03 1.61552521e-04 9.99996710e-01 2.36348321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.030714057 meters Centerline goodness [0,1] 0.9779133313680582 Centerline is valid? [True, True] Translation: X:488.45, Y:-22.65, Z:2.36 [[ 9.99992347e-01 2.30108562e-04 3.90561327e-03 4.88445417e+02] [-2.29076249e-04 9.99999939e-01 -2.64760470e-04 -2.26534040e+01] [-3.90567395e-03 2.63863760e-04 9.99992338e-01 2.36411294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.060714057 meters Centerline goodness [0,1] 0.9770718294816734 Centerline is valid? [True, True] Translation: X:488.47, Y:-22.66, Z:2.36 [[ 9.99986959e-01 -3.73015434e-03 3.48831134e-03 4.88474654e+02] [ 3.73100162e-03 9.99993012e-01 -2.36417139e-04 -2.26612186e+01] [-3.48740509e-03 2.49428951e-04 9.99993888e-01 2.36260084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.090714057 meters Centerline goodness [0,1] 0.9766166674219423 Centerline is valid? [True, True] Translation: X:488.51, Y:-22.67, Z:2.36 [[ 9.99982117e-01 -5.28866926e-03 2.79224246e-03 4.88505609e+02] [ 5.28921687e-03 9.99985994e-01 -1.88770615e-04 -2.26661208e+01] [-2.79120501e-03 2.03536015e-04 9.99996084e-01 2.36098071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.120714057 meters Centerline goodness [0,1] 0.9767284076260262 Centerline is valid? [True, True] Translation: X:488.54, Y:-22.67, Z:2.36 [[ 9.99976742e-01 -6.49699775e-03 2.07487690e-03 4.88536733e+02] [ 6.49730227e-03 9.99978883e-01 -1.40058203e-04 -2.26707885e+01] [-2.07392313e-03 1.53536048e-04 9.99997838e-01 2.35945148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.150714057 meters Centerline goodness [0,1] 0.9754556775727385 Centerline is valid? [True, True] Translation: X:488.57, Y:-22.68, Z:2.36 [[ 9.99973896e-01 -7.22160781e-03 2.37970752e-04 4.88568793e+02] [ 7.22161166e-03 9.99973924e-01 -1.53150116e-05 -2.26754387e+01] [-2.37853948e-04 1.70331442e-05 9.99999972e-01 2.35670755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.180714057 meters Centerline goodness [0,1] 0.9757070340826686 Centerline is valid? [True, True] Translation: X:488.60, Y:-22.68, Z:2.36 [[ 9.99978648e-01 -6.52137931e-03 -4.17596061e-04 4.88600552e+02] [ 6.52139207e-03 9.99978735e-01 2.92082151e-05 -2.26774837e+01] [ 4.17396703e-04 -3.19308991e-05 9.99999912e-01 2.35551915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.210714057 meters Centerline goodness [0,1] 0.978933254550826 Centerline is valid? [True, True] Translation: X:488.63, Y:-22.67, Z:2.36 [[ 9.99988252e-01 -4.33027248e-03 -2.17837035e-03 4.88632303e+02] [ 4.33060623e-03 9.99990612e-01 1.48519471e-04 -2.26686787e+01] [ 2.17770677e-03 -1.57951390e-04 9.99997616e-01 2.35650190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.240714057 meters Centerline goodness [0,1] 0.9765213442325159 Centerline is valid? [True, True] Translation: X:488.66, Y:-22.68, Z:2.35 [[ 9.99993515e-01 -2.52112168e-03 -2.57181971e-03 4.88662046e+02] [ 2.52158026e-03 9.99996805e-01 1.75086029e-04 -2.26789177e+01] [ 2.57137008e-03 -1.81569943e-04 9.99996678e-01 2.35353348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.270714057 meters Centerline goodness [0,1] 0.9805185958857454 Centerline is valid? [True, True] Translation: X:488.69, Y:-22.67, Z:2.35 [[ 9.99996228e-01 1.34992674e-05 -2.74675609e-03 4.88693116e+02] [-1.29863382e-05 9.99999982e-01 1.86757712e-04 -2.26702101e+01] [ 2.74675856e-03 -1.86721337e-04 9.99996210e-01 2.35493493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.300714057 meters Centerline goodness [0,1] 0.9818281185954365 Centerline is valid? [True, True] Translation: X:488.72, Y:-22.66, Z:2.36 [[ 9.99981211e-01 5.53790183e-03 -2.62863520e-03 4.88723257e+02] [-5.53745252e-03 9.99984652e-01 1.78175942e-04 -2.26635192e+01] [ 2.62958157e-03 -1.63616652e-04 9.99996529e-01 2.35514497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.330714057 meters Centerline goodness [0,1] 0.9797042093287827 Centerline is valid? [True, True] Translation: X:488.75, Y:-22.68, Z:2.35 [[ 9.99963691e-01 8.08366797e-03 -2.69648509e-03 4.88751491e+02] [-8.08320460e-03 9.99967314e-01 1.82696904e-04 -2.26764210e+01] [ 2.69787381e-03 -1.60894030e-04 9.99996348e-01 2.35106738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.360714057 meters Centerline goodness [0,1] 0.9830250420397219 Centerline is valid? [True, True] Translation: X:488.78, Y:-22.66, Z:2.35 [[ 9.99916441e-01 1.25853377e-02 -2.95313293e-03 4.88782684e+02] [-1.25848002e-02 9.99920788e-01 2.00519190e-04 -2.26617963e+01] [ 2.95542261e-03 -1.63337847e-04 9.99995619e-01 2.35359078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.390714057 meters Centerline goodness [0,1] 0.9821355142321926 Centerline is valid? [True, True] Translation: X:488.81, Y:-22.67, Z:2.35 [[ 9.99893566e-01 1.41443647e-02 -3.57689931e-03 4.88810697e+02] [-1.41435900e-02 9.99899945e-01 2.41780939e-04 -2.26681056e+01] [ 3.57996126e-03 -1.91165008e-04 9.99993574e-01 2.35177159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.420714057 meters Centerline goodness [0,1] 0.9814840213962419 Centerline is valid? [True, True] Translation: X:488.84, Y:-22.67, Z:2.35 [[ 9.99873280e-01 1.55588759e-02 -3.36821250e-03 4.88840007e+02] [-1.55581968e-02 9.99878938e-01 2.27714454e-04 -2.26689892e+01] [ 3.37134772e-03 -1.75282285e-04 9.99994302e-01 2.35177756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.450714057 meters Centerline goodness [0,1] 0.9827664605311022 Centerline is valid? [True, True] Translation: X:488.87, Y:-22.67, Z:2.35 [[ 9.99840232e-01 1.77474687e-02 -2.13004831e-03 4.88868591e+02] [-1.77472028e-02 9.99842496e-01 1.43669773e-04 -2.26696627e+01] [ 2.13226260e-03 -1.05844420e-04 9.99997721e-01 2.35270806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.480714057 meters Centerline goodness [0,1] 0.983278965257659 Centerline is valid? [True, True] Translation: X:488.90, Y:-22.67, Z:2.35 [[ 9.99836833e-01 1.80063243e-02 -1.44201238e-03 4.88897685e+02] [-1.80062036e-02 9.99837870e-01 9.66920670e-05 -2.26651934e+01] [ 1.44351965e-03 -7.07111216e-05 9.99998956e-01 2.35469697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.51071405700003 meters Centerline goodness [0,1] 0.9839040627422371 Centerline is valid? [True, True] Translation: X:488.93, Y:-22.67, Z:2.36 [[ 9.99840944e-01 1.78062821e-02 -1.01173775e-03 4.88925150e+02] [-1.78062234e-02 9.99841454e-01 6.70022018e-05 -2.26669963e+01] [ 1.01277041e-03 -4.89763163e-05 9.99999486e-01 2.35522633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.540714057 meters Centerline goodness [0,1] 0.9833052430191773 Centerline is valid? [True, True] Translation: X:488.95, Y:-22.67, Z:2.35 [[ 9.99854717e-01 1.70419149e-02 -3.42188951e-04 4.88954020e+02] [-1.70419083e-02 9.99854776e-01 2.21988317e-05 -2.26705694e+01] [ 3.42517567e-04 -1.63640538e-05 9.99999941e-01 2.35432909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.570714057 meters Centerline goodness [0,1] 0.9827044740794684 Centerline is valid? [True, True] Translation: X:488.98, Y:-22.68, Z:2.35 [[ 9.99890072e-01 1.48265028e-02 1.34553820e-04 4.88983094e+02] [-1.48265016e-02 9.99890081e-01 -9.75025404e-06 -2.26750555e+01] [-1.34683593e-04 7.75421977e-06 9.99999991e-01 2.35418759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.600714057 meters Centerline goodness [0,1] 0.9823267843368574 Centerline is valid? [True, True] Translation: X:489.01, Y:-22.68, Z:2.35 [[ 9.99906529e-01 1.36722541e-02 5.20950056e-05 4.89010354e+02] [-1.36722539e-02 9.99906530e-01 -4.62725447e-06 -2.26794184e+01] [-5.21534013e-05 3.91456582e-06 9.99999999e-01 2.35312570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.630714057 meters Centerline goodness [0,1] 0.9812848781815707 Centerline is valid? [True, True] Translation: X:489.04, Y:-22.69, Z:2.35 [[ 9.99934704e-01 1.13355088e-02 -1.44671725e-03 4.89037959e+02] [-1.13353806e-02 9.99935748e-01 9.67449297e-05 -2.26870355e+01] [ 1.44772095e-03 -8.03395220e-05 9.99998949e-01 2.35033361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.660714057 meters Centerline goodness [0,1] 0.9824058919803601 Centerline is valid? [True, True] Translation: X:489.07, Y:-22.69, Z:2.35 [[ 9.99946862e-01 1.00765513e-02 -2.17622376e-03 4.89067066e+02] [-1.00762586e-02 9.99949223e-01 1.45422894e-04 -2.26885446e+01] [ 2.17757862e-03 -1.23486973e-04 9.99997621e-01 2.34957108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.690714057 meters Centerline goodness [0,1] 0.9825970244324127 Centerline is valid? [True, True] Translation: X:489.10, Y:-22.69, Z:2.35 [[ 9.99966721e-01 7.25720512e-03 -3.72701452e-03 4.89097272e+02] [-7.25632139e-03 9.99973641e-01 2.50581506e-04 -2.26929504e+01] [ 3.72873480e-03 -2.23528751e-04 9.99993023e-01 2.34788719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.720714057 meters Centerline goodness [0,1] 0.9815117652403016 Centerline is valid? [True, True] Translation: X:489.13, Y:-22.70, Z:2.35 [[ 9.99973097e-01 5.91526322e-03 -4.33756429e-03 4.89126492e+02] [-5.91405760e-03 9.99982470e-01 2.90722398e-04 -2.26952974e+01] [ 4.33920795e-03 -2.65061972e-04 9.99990550e-01 2.34703802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.750714057 meters Centerline goodness [0,1] 0.9805191853064193 Centerline is valid? [True, True] Translation: X:489.15, Y:-22.70, Z:2.34 [[ 9.99977033e-01 4.82682464e-03 -4.75774714e-03 4.89153645e+02] [-4.82536564e-03 9.99988307e-01 3.18088141e-04 -2.27034182e+01] [ 4.75922686e-03 -2.95122966e-04 9.99988631e-01 2.34456325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.780714057 meters Centerline goodness [0,1] 0.9818658707547596 Centerline is valid? [True, True] Translation: X:489.18, Y:-22.71, Z:2.34 [[ 9.99976229e-01 4.47149416e-03 -5.24863106e-03 4.89182406e+02] [-4.46971363e-03 9.99989949e-01 3.50918963e-04 -2.27050566e+01] [ 5.25014744e-03 -3.27450743e-04 9.99986164e-01 2.34386235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.810714057 meters Centerline goodness [0,1] 0.9834319526627219 Centerline is valid? [True, True] Translation: X:489.21, Y:-22.70, Z:2.34 [[ 9.99973485e-01 3.99243351e-03 -6.09010750e-03 4.89212035e+02] [-3.99002953e-03 9.99991957e-01 4.06834706e-04 -2.27003072e+01] [ 6.09168277e-03 -3.82524210e-04 9.99981372e-01 2.34474114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.840714057 meters Centerline goodness [0,1] 0.982728803531607 Centerline is valid? [True, True] Translation: X:489.24, Y:-22.70, Z:2.34 [[ 9.99978263e-01 3.65381870e-03 -5.48846712e-03 4.89240330e+02] [-3.65186378e-03 9.99993265e-01 3.66167022e-04 -2.27020887e+01] [ 5.48976807e-03 -3.46115929e-04 9.99984871e-01 2.34449735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.870714057 meters Centerline goodness [0,1] 0.9804864766745326 Centerline is valid? [True, True] Translation: X:489.27, Y:-22.71, Z:2.34 [[ 9.99986429e-01 2.68651511e-03 -4.46375302e-03 4.89267848e+02] [-2.68521593e-03 9.99996351e-01 2.97020532e-04 -2.27131873e+01] [ 4.46453468e-03 -2.85030360e-04 9.99989993e-01 2.34240672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.900714057 meters Centerline goodness [0,1] 0.9815016816653032 Centerline is valid? [True, True] Translation: X:489.30, Y:-22.71, Z:2.35 [[ 9.99993729e-01 1.82385399e-03 -3.03581191e-03 4.89296950e+02] [-1.82325015e-03 9.99998318e-01 2.01660453e-04 -2.27063052e+01] [ 3.03617460e-03 -1.96124144e-04 9.99995372e-01 2.34527348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.930714057 meters Centerline goodness [0,1] 0.9818658161521814 Centerline is valid? [True, True] Translation: X:489.33, Y:-22.71, Z:2.35 [[ 9.99997484e-01 8.57320094e-04 -2.07299310e-03 4.89325996e+02] [-8.57036810e-04 9.99999623e-01 1.37538950e-04 -2.27087777e+01] [ 2.07311024e-03 -1.35761973e-04 9.99997842e-01 2.34574557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.960714057 meters Centerline goodness [0,1] 0.9814861202832874 Centerline is valid? [True, True] Translation: X:489.36, Y:-22.71, Z:2.35 [[ 9.99999614e-01 -7.01199105e-04 5.29163944e-04 4.89355211e+02] [ 7.01218215e-04 9.99999754e-01 -3.59290216e-05 -2.27077901e+01] [-5.29138620e-04 3.63000671e-05 9.99999859e-01 2.34826314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.990714057 meters Centerline goodness [0,1] 0.9794042514369127 Centerline is valid? [True, True] Translation: X:489.39, Y:-22.71, Z:2.35 [[ 9.99995542e-01 -2.58231177e-03 1.49905700e-03 4.89385073e+02] [ 2.58246406e-03 9.99996660e-01 -9.96611435e-05 -2.27145741e+01] [-1.49879464e-03 1.03531960e-04 9.99998871e-01 2.34749166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.020714057 meters Centerline goodness [0,1] 0.9794949079782619 Centerline is valid? [True, True] Translation: X:489.41, Y:-22.72, Z:2.35 [[ 9.99990531e-01 -4.23437769e-03 1.00402471e-03 4.89414907e+02] [ 4.23444698e-03 9.99991032e-01 -6.69005860e-05 -2.27191981e+01] [-1.00373243e-03 7.11514419e-05 9.99999494e-01 2.34588913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.050714057 meters Centerline goodness [0,1] 0.9785621332846282 Centerline is valid? [True, True] Translation: X:489.45, Y:-22.72, Z:2.34 [[ 9.99983877e-01 -5.67433059e-03 2.17081117e-04 4.89446054e+02] [ 5.67433377e-03 9.99983901e-01 -1.40418894e-05 -2.27232605e+01] [-2.16997944e-04 1.52734538e-05 9.99999976e-01 2.34401170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.080714057 meters Centerline goodness [0,1] 0.9760436649310313 Centerline is valid? [True, True] Translation: X:489.48, Y:-22.73, Z:2.34 [[ 9.99953229e-01 -9.49536170e-03 -1.83778369e-03 4.89475366e+02] [ 9.49560244e-03 9.99954908e-01 1.22316253e-04 -2.27295161e+01] [ 1.83653938e-03 -1.39761396e-04 9.99998304e-01 2.34050158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.110714057 meters Centerline goodness [0,1] 0.9751375539371248 Centerline is valid? [True, True] Translation: X:489.51, Y:-22.73, Z:2.34 [[ 9.99934261e-01 -1.11112463e-02 -2.83075330e-03 4.89506015e+02] [ 1.11118265e-02 9.99938244e-01 1.89319474e-04 -2.27322587e+01] [ 2.82847491e-03 -2.20761868e-04 9.99995975e-01 2.33918974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.140714057 meters Centerline goodness [0,1] 0.9788472070098576 Centerline is valid? [True, True] Translation: X:489.54, Y:-22.73, Z:2.34 [[ 9.99896459e-01 -1.37784517e-02 -4.15042818e-03 4.89536811e+02] [ 1.37797190e-02 9.99905017e-01 2.76902462e-04 -2.27271777e+01] [ 4.14621867e-03 -3.34065525e-04 9.99991349e-01 2.33834594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.170714057 meters Centerline goodness [0,1] 0.9793668222161223 Centerline is valid? [True, True] Translation: X:489.57, Y:-22.73, Z:2.34 [[ 9.99882354e-01 -1.45492907e-02 -4.85758086e-03 4.89569277e+02] [ 1.45510413e-02 9.99894075e-01 3.25238771e-04 -2.27274130e+01] [ 4.85233433e-03 -3.95883368e-04 9.99988149e-01 2.33756907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.200714057 meters Centerline goodness [0,1] 0.9785373243962905 Centerline is valid? [True, True] Translation: X:489.60, Y:-22.73, Z:2.34 [[ 9.99866266e-01 -1.53674990e-02 -5.59375656e-03 4.89601864e+02] [ 1.53698347e-02 9.99881807e-01 3.74795390e-04 -2.27264281e+01] [ 5.58733575e-03 -4.60720381e-04 9.99984285e-01 2.33668309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.230714057 meters Centerline goodness [0,1] 0.9780778432094221 Centerline is valid? [True, True] Translation: X:489.63, Y:-22.73, Z:2.34 [[ 9.99861631e-01 -1.56785443e-02 -5.55891371e-03 4.89634424e+02] [ 1.56808579e-02 9.99876978e-01 3.72854485e-04 -2.27285567e+01] [ 5.55238403e-03 -4.59971429e-04 9.99984480e-01 2.33572961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.26071405700003 meters Centerline goodness [0,1] 0.9790079410749223 Centerline is valid? [True, True] Translation: X:489.67, Y:-22.73, Z:2.34 [[ 9.99865060e-01 -1.56124282e-02 -5.11019666e-03 4.89666379e+02] [ 1.56143848e-02 9.99878029e-01 3.43194730e-04 -2.27288026e+01] [ 5.10421527e-03 -4.22940996e-04 9.99986884e-01 2.33578929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.290714057 meters Centerline goodness [0,1] 0.9775555914748193 Centerline is valid? [True, True] Translation: X:489.70, Y:-22.73, Z:2.34 [[ 9.99883609e-01 -1.48153580e-02 -3.64323018e-03 4.89697781e+02] [ 1.48163469e-02 9.99890202e-01 2.44611376e-04 -2.27290946e+01] [ 3.63920616e-03 -2.98562268e-04 9.99993333e-01 2.33652618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.320714057 meters Centerline goodness [0,1] 0.978008269999307 Centerline is valid? [True, True] Translation: X:489.73, Y:-22.73, Z:2.34 [[ 9.99895514e-01 -1.40578378e-02 -3.36714782e-03 4.89729724e+02] [ 1.40586807e-02 9.99901146e-01 2.26792910e-04 -2.27286448e+01] [ 3.36362675e-03 -2.74106870e-04 9.99994305e-01 2.33674973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.350714057 meters Centerline goodness [0,1] 0.976097459488199 Centerline is valid? [True, True] Translation: X:489.76, Y:-22.73, Z:2.34 [[ 9.99903821e-01 -1.36731586e-02 -2.32222832e-03 4.89762575e+02] [ 1.36735596e-02 9.99906500e-01 1.56861592e-04 -2.27253201e+01] [ 2.31986640e-03 -1.88599632e-04 9.99997291e-01 2.33669631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.380714057 meters Centerline goodness [0,1] 0.9768626815202538 Centerline is valid? [True, True] Translation: X:489.80, Y:-22.73, Z:2.34 [[ 9.99909509e-01 -1.32966734e-02 -2.04286075e-03 4.89795043e+02] [ 1.32969834e-02 9.99911582e-01 1.38242133e-04 -2.27265721e+01] [ 2.04084196e-03 -1.65393509e-04 9.99997904e-01 2.33638177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.410714057 meters Centerline goodness [0,1] 0.9770687936191426 Centerline is valid? [True, True] Translation: X:489.83, Y:-22.73, Z:2.34 [[ 9.99913674e-01 -1.30717252e-02 -1.33201283e-03 4.89827442e+02] [ 1.30718573e-02 9.99914556e-01 9.05487948e-05 -2.27254685e+01] [ 1.33071539e-03 -1.07952860e-04 9.99999109e-01 2.33597007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.440714057 meters Centerline goodness [0,1] 0.9771400778210116 Centerline is valid? [True, True] Translation: X:489.86, Y:-22.73, Z:2.34 [[ 9.99914264e-01 -1.30604338e-02 -9.43415525e-04 4.89859457e+02] [ 1.30605004e-02 9.99914706e-01 6.44542184e-05 -2.27274316e+01] [ 9.42493257e-04 -7.67701712e-05 9.99999553e-01 2.33549790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.470714057 meters Centerline goodness [0,1] 0.9772094318603788 Centerline is valid? [True, True] Translation: X:489.89, Y:-22.73, Z:2.33 [[ 9.99919470e-01 -1.26616658e-02 -8.58041462e-04 4.89891407e+02] [ 1.26617209e-02 9.99919835e-01 5.87714627e-05 -2.27282840e+01] [ 8.57228533e-04 -6.96310113e-05 9.99999630e-01 2.33479005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.500714057 meters Centerline goodness [0,1] 0.9789777219664202 Centerline is valid? [True, True] Translation: X:489.92, Y:-22.72, Z:2.33 [[ 9.99958602e-01 -8.95778719e-03 -1.59757735e-03 4.89922315e+02] [ 8.95797079e-03 9.99959871e-01 1.07803851e-04 -2.27213078e+01] [ 1.59654756e-03 -1.22110439e-04 9.99998718e-01 2.33431422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.530714057 meters Centerline goodness [0,1] 0.979333457456712 Centerline is valid? [True, True] Translation: X:489.95, Y:-22.72, Z:2.33 [[ 9.99976493e-01 -6.71760187e-03 -1.37357478e-03 4.89953070e+02] [ 6.71773578e-03 9.99977431e-01 9.29007875e-05 -2.27228011e+01] [ 1.37291971e-03 -1.02125916e-04 9.99999052e-01 2.33360831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.560714057 meters Centerline goodness [0,1] 0.9786551339285714 Centerline is valid? [True, True] Translation: X:489.98, Y:-22.72, Z:2.33 [[ 9.99993904e-01 -3.15880429e-03 -1.48824973e-03 4.89983144e+02] [ 3.15895699e-03 9.99995005e-01 1.00264433e-04 -2.27234799e+01] [ 1.48792558e-03 -1.04965139e-04 9.99998888e-01 2.33333952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.590714057 meters Centerline goodness [0,1] 0.979488135751247 Centerline is valid? [True, True] Translation: X:490.02, Y:-22.72, Z:2.33 [[ 9.99995886e-01 -2.43206399e-03 -1.52055608e-03 4.90015052e+02] [ 2.43222354e-03 9.99997037e-01 1.03090602e-04 -2.27197373e+01] [ 1.52030085e-03 -1.06788510e-04 9.99998839e-01 2.33403994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.620714057 meters Centerline goodness [0,1] 0.9800304342736743 Centerline is valid? [True, True] Translation: X:490.05, Y:-22.72, Z:2.33 [[ 9.99997029e-01 -9.72693574e-04 -2.23510057e-03 4.90045189e+02] [ 9.73033769e-04 9.99999515e-01 1.51123461e-04 -2.27208299e+01] [ 2.23495249e-03 -1.53297840e-04 9.99997491e-01 2.33256973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.650714057 meters Centerline goodness [0,1] 0.9789069990412272 Centerline is valid? [True, True] Translation: X:490.08, Y:-22.72, Z:2.33 [[ 9.99996238e-01 -6.48754381e-04 -2.66527337e-03 4.90075866e+02] [ 6.49236257e-04 9.99999773e-01 1.79936752e-04 -2.27222285e+01] [ 2.66515603e-03 -1.81666467e-04 9.99996432e-01 2.33123047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.680714057 meters Centerline goodness [0,1] 0.9784394250513347 Centerline is valid? [True, True] Translation: X:490.11, Y:-22.72, Z:2.33 [[ 9.99996531e-01 -4.13221548e-04 -2.60156113e-03 4.90105169e+02] [ 4.13678447e-04 9.99999899e-01 1.75089398e-04 -2.27239942e+01] [ 2.60148851e-03 -1.76165000e-04 9.99996601e-01 2.33051000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.710714057 meters Centerline goodness [0,1] 0.9780037011876596 Centerline is valid? [True, True] Translation: X:490.13, Y:-22.73, Z:2.33 [[ 9.99998423e-01 -7.26230438e-04 -1.62043457e-03 4.90134500e+02] [ 7.26408155e-04 9.99999730e-01 1.09086720e-04 -2.27267015e+01] [ 1.62035491e-03 -1.10263645e-04 9.99998681e-01 2.33017161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.740714057 meters Centerline goodness [0,1] 0.9782883939038687 Centerline is valid? [True, True] Translation: X:490.16, Y:-22.73, Z:2.33 [[ 9.99999072e-01 -9.85699395e-04 -9.40384796e-04 4.90164443e+02] [ 9.85759256e-04 9.99999512e-01 6.31950225e-05 -2.27285509e+01] [ 9.40322046e-04 -6.41219568e-05 9.99999556e-01 2.33055108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.770714057 meters Centerline goodness [0,1] 0.9788264047188212 Centerline is valid? [True, True] Translation: X:490.20, Y:-22.73, Z:2.33 [[ 9.99999004e-01 -1.40375905e-03 1.43631797e-04 4.90195250e+02] [ 1.40376045e-03 9.99999015e-01 -9.68655178e-06 -2.27265762e+01] [-1.43618058e-04 9.88816677e-06 9.99999990e-01 2.33188072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.800714057 meters Centerline goodness [0,1] 0.9784440387586013 Centerline is valid? [True, True] Translation: X:490.23, Y:-22.73, Z:2.33 [[ 9.99998464e-01 -1.68502800e-03 4.82847912e-04 4.90225682e+02] [ 1.68504381e-03 9.99998580e-01 -3.23477742e-05 -2.27297092e+01] [-4.82792719e-04 3.31613444e-05 9.99999883e-01 2.33168915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.830714057 meters Centerline goodness [0,1] 0.978163179328746 Centerline is valid? [True, True] Translation: X:490.26, Y:-22.73, Z:2.33 [[ 9.99995310e-01 -2.92619484e-03 9.03990852e-04 4.90256646e+02] [ 2.92625079e-03 9.99995717e-01 -6.05676045e-05 -2.27333930e+01] [-9.03809747e-04 6.32126244e-05 9.99999590e-01 2.33078737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.860714057 meters Centerline goodness [0,1] 0.9785094914459808 Centerline is valid? [True, True] Translation: X:490.29, Y:-22.73, Z:2.33 [[ 9.99993747e-01 -3.48851311e-03 5.79839908e-04 4.90288390e+02] [ 3.48853567e-03 9.99993914e-01 -3.79012285e-05 -2.27342289e+01] [-5.79704160e-04 3.99237837e-05 9.99999831e-01 2.33028870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.890714057 meters Centerline goodness [0,1] 0.9774134960182554 Centerline is valid? [True, True] Translation: X:490.32, Y:-22.74, Z:2.33 [[ 9.99990941e-01 -4.21239894e-03 -6.11525508e-04 4.90318641e+02] [ 4.21242529e-03 9.99991127e-01 4.18092992e-05 -2.27423824e+01] [ 6.11343965e-04 -4.43849260e-05 9.99999812e-01 2.32686385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.920714057 meters Centerline goodness [0,1] 0.9774134960182554 Centerline is valid? [True, True] Translation: X:490.35, Y:-22.74, Z:2.33 [[ 9.99991087e-01 -4.17764732e-03 -6.11524737e-04 4.90349498e+02] [ 4.17767367e-03 9.99991273e-01 4.18205845e-05 -2.27445011e+01] [ 6.11344688e-04 -4.43749625e-05 9.99999812e-01 2.32647232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.950714057 meters Centerline goodness [0,1] 0.9765154885387155 Centerline is valid? [True, True] Translation: X:490.38, Y:-22.75, Z:2.33 [[ 9.99985387e-01 -5.14236108e-03 -1.66812752e-03 4.90380814e+02] [ 5.14255733e-03 9.99986771e-01 1.13376396e-04 -2.27468704e+01] [ 1.66752243e-03 -1.21953181e-04 9.99998602e-01 2.32542032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.980714057 meters Centerline goodness [0,1] 0.9780507168542474 Centerline is valid? [True, True] Translation: X:490.41, Y:-22.75, Z:2.32 [[ 9.99985309e-01 -4.25525225e-03 -3.35764114e-03 4.90411841e+02] [ 4.25604129e-03 9.99990917e-01 2.27886525e-04 -2.27471430e+01] [ 3.35664093e-03 -2.42173436e-04 9.99994337e-01 2.32348203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.01071405700003 meters Centerline goodness [0,1] 0.9773979508100631 Centerline is valid? [True, True] Translation: X:490.44, Y:-22.75, Z:2.32 [[ 9.99983585e-01 -4.41873839e-03 -3.64758999e-03 4.90442018e+02] [ 4.41966888e-03 9.99990203e-01 2.47076177e-04 -2.27499389e+01] [ 3.64646249e-03 -2.63193261e-04 9.99993317e-01 2.32242482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.040714057 meters Centerline goodness [0,1] 0.9776525865494752 Centerline is valid? [True, True] Translation: X:490.47, Y:-22.75, Z:2.32 [[ 9.99984029e-01 -4.29726504e-03 -3.67088619e-03 4.90472544e+02] [ 4.29820664e-03 9.99990732e-01 2.48654187e-04 -2.27530584e+01] [ 3.66978363e-03 -2.64428443e-04 9.99993231e-01 2.32195173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.070714057 meters Centerline goodness [0,1] 0.9764301155249762 Centerline is valid? [True, True] Translation: X:490.50, Y:-22.76, Z:2.32 [[ 9.99984589e-01 -4.97612510e-03 -2.46155174e-03 4.90502501e+02] [ 4.97655119e-03 9.99987603e-01 1.67004676e-04 -2.27592558e+01] [ 2.46069019e-03 -1.79252140e-04 9.99996956e-01 2.32206415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.100714057 meters Centerline goodness [0,1] 0.975441056198154 Centerline is valid? [True, True] Translation: X:490.53, Y:-22.76, Z:2.32 [[ 9.99980211e-01 -5.99215101e-03 -1.91643037e-03 4.90533173e+02] [ 5.99241202e-03 9.99982037e-01 1.30482898e-04 -2.27628946e+01] [ 1.91561407e-03 -1.41964357e-04 9.99998155e-01 2.32289117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.130714057 meters Centerline goodness [0,1] 0.9756386712847811 Centerline is valid? [True, True] Translation: X:490.56, Y:-22.77, Z:2.33 [[ 9.99969034e-01 -7.85951968e-03 3.98168407e-04 4.90564933e+02] [ 7.85953079e-03 9.99969113e-01 -2.63310383e-05 -2.27658074e+01] [-3.97949160e-04 2.94596397e-05 9.99999920e-01 2.32520553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.160714057 meters Centerline goodness [0,1] 0.9721673675162047 Centerline is valid? [True, True] Translation: X:490.60, Y:-22.78, Z:2.32 [[ 9.99955710e-01 -9.33596059e-03 1.19046908e-03 4.90595615e+02] [ 9.33606259e-03 9.99956415e-01 -8.01577408e-05 -2.27760976e+01] [-1.18966884e-03 9.12684845e-05 9.99999288e-01 2.32434071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.190714057 meters Centerline goodness [0,1] 0.9710794675834514 Centerline is valid? [True, True] Translation: X:490.63, Y:-22.78, Z:2.32 [[ 9.99921756e-01 -1.24956396e-02 5.83871355e-04 4.90625289e+02] [ 1.24956649e-02 9.99921925e-01 -3.96078032e-05 -2.27845921e+01] [-5.83330845e-04 4.69005649e-05 9.99999829e-01 2.32383567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.220714057 meters Centerline goodness [0,1] 0.9737977090386309 Centerline is valid? [True, True] Translation: X:490.66, Y:-22.78, Z:2.32 [[ 9.99901121e-01 -1.40597648e-02 2.67617948e-04 4.90656819e+02] [ 1.40597701e-02 9.99901156e-01 -1.77330147e-05 -2.27834186e+01] [-2.67342173e-04 2.14939081e-05 9.99999964e-01 2.32404390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.250714057 meters Centerline goodness [0,1] 0.9729610750695088 Centerline is valid? [True, True] Translation: X:490.69, Y:-22.79, Z:2.32 [[ 9.99852228e-01 -1.71742052e-02 -7.54767789e-04 4.90687078e+02] [ 1.71742489e-02 9.99852510e-01 5.13675230e-05 -2.27888257e+01] [ 7.53774272e-04 -6.43225022e-05 9.99999714e-01 2.32322811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.280714057 meters Centerline goodness [0,1] 0.971752325125199 Centerline is valid? [True, True] Translation: X:490.72, Y:-22.80, Z:2.32 [[ 9.99833827e-01 -1.82133460e-02 -7.69376907e-04 4.90717218e+02] [ 1.82133920e-02 9.99834121e-01 5.27637683e-05 -2.27956988e+01] [ 7.68288279e-04 -6.67679636e-05 9.99999703e-01 2.32222570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.310714057 meters Centerline goodness [0,1] 0.9738675154534551 Centerline is valid? [True, True] Translation: X:490.75, Y:-22.80, Z:2.32 [[ 9.99793066e-01 -2.03229771e-02 -8.95249000e-04 4.90748610e+02] [ 2.03230402e-02 9.99793464e-01 6.13663056e-05 -2.27966732e+01] [ 8.93816952e-04 -7.95477883e-05 9.99999597e-01 2.32172547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.340714057 meters Centerline goodness [0,1] 0.9715162138475022 Centerline is valid? [True, True] Translation: X:490.78, Y:-22.81, Z:2.32 [[ 9.99773039e-01 -2.12628657e-02 -1.32688165e-03 4.90778733e+02] [ 2.12630048e-02 9.99773913e-01 9.07764871e-05 -2.28058464e+01] [ 1.32465149e-03 -1.18969375e-04 9.99999116e-01 2.32026333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.370714057 meters Centerline goodness [0,1] 0.9698985912907815 Centerline is valid? [True, True] Translation: X:490.81, Y:-22.81, Z:2.32 [[ 9.99764048e-01 -2.16998573e-02 -9.82527244e-04 4.90809258e+02] [ 2.16999341e-02 9.99764526e-01 6.75996818e-05 -2.28124087e+01] [ 9.80828981e-04 -8.89045079e-05 9.99999515e-01 2.31968112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.400714057 meters Centerline goodness [0,1] 0.9728430831493745 Centerline is valid? [True, True] Translation: X:490.84, Y:-22.81, Z:2.32 [[ 9.99740485e-01 -2.27331361e-02 -1.47217883e-03 4.90840913e+02] [ 2.27333093e-02 9.99741560e-01 1.01054147e-04 -2.28129625e+01] [ 1.46950108e-03 -1.34495419e-04 9.99998911e-01 2.31944563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.430714057 meters Centerline goodness [0,1] 0.9647110111740816 Centerline is valid? [True, True] Translation: X:490.87, Y:-22.83, Z:2.32 [[ 9.99744252e-01 -2.25636621e-02 -1.52018869e-03 4.90872698e+02] [ 2.25638495e-02 9.99745398e-01 1.06217928e-04 -2.28252628e+01] [ 1.51740498e-03 -1.40492072e-04 9.99998839e-01 2.31787547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.460714057 meters Centerline goodness [0,1] 0.9603081791291188 Centerline is valid? [True, True] Translation: X:490.90, Y:-22.83, Z:2.32 [[ 9.99731922e-01 -2.30902113e-02 -1.71038007e-03 4.90904446e+02] [ 2.30904465e-02 9.99733373e-01 1.17897787e-04 -2.28325173e+01] [ 1.70720175e-03 -1.57359621e-04 9.99998530e-01 2.31723986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.490714057 meters Centerline goodness [0,1] 0.9706332701053546 Centerline is valid? [True, True] Translation: X:490.94, Y:-22.83, Z:2.32 [[ 9.99729224e-01 -2.31755997e-02 -2.09032859e-03 4.90937186e+02] [ 2.31759512e-02 9.99731391e-01 1.44075229e-04 -2.28309496e+01] [ 2.08642808e-03 -1.92481570e-04 9.99997805e-01 2.31727626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.520714057 meters Centerline goodness [0,1] 0.9710587484617839 Centerline is valid? [True, True] Translation: X:490.97, Y:-22.84, Z:2.32 [[ 9.99726474e-01 -2.32468425e-02 -2.56159682e-03 4.90968932e+02] [ 2.32473705e-02 9.99729728e-01 1.76529151e-04 -2.28380094e+01] [ 2.55680074e-03 -2.36031256e-04 9.99996704e-01 2.31634707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.550714057 meters Centerline goodness [0,1] 0.9727908194631025 Centerline is valid? [True, True] Translation: X:491.00, Y:-22.84, Z:2.32 [[ 9.99729560e-01 -2.30485218e-02 -3.09389838e-03 4.91002248e+02] [ 2.30492930e-02 9.99734307e-01 2.13843559e-04 -2.28380440e+01] [ 3.08814757e-03 -2.85097897e-04 9.99995191e-01 2.31625533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.580714057 meters Centerline goodness [0,1] 0.9651231482323003 Centerline is valid? [True, True] Translation: X:491.03, Y:-22.85, Z:2.31 [[ 9.99742707e-01 -2.24572822e-02 -3.19230180e-03 4.91032895e+02] [ 2.24580985e-02 9.99747761e-01 2.20079473e-04 -2.28479180e+01] [ 3.18655419e-03 -2.91715877e-04 9.99994880e-01 2.31449150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.610714057 meters Centerline goodness [0,1] 0.9742466872390634 Centerline is valid? [True, True] Translation: X:491.06, Y:-22.84, Z:2.32 [[ 9.99771925e-01 -2.10194426e-02 -3.77910880e-03 4.91064591e+02] [ 2.10205755e-02 9.99779009e-01 2.60324262e-04 -2.28447393e+01] [ 3.77280178e-03 -3.39703930e-04 9.99992825e-01 2.31508684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.640714057 meters Centerline goodness [0,1] 0.974670053063631 Centerline is valid? [True, True] Translation: X:491.10, Y:-22.84, Z:2.32 [[ 9.99827269e-01 -1.82258543e-02 -3.64021355e-03 4.91095768e+02] [ 1.82268871e-02 9.99833845e-01 2.50745293e-04 -2.28447021e+01] [ 3.63503866e-03 -3.17051743e-04 9.99993343e-01 2.31564400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.670714057 meters Centerline goodness [0,1] 0.9733932665894799 Centerline is valid? [True, True] Translation: X:491.13, Y:-22.85, Z:2.31 [[ 9.99854467e-01 -1.66442801e-02 -3.74345849e-03 4.91125684e+02] [ 1.66453612e-02 9.99861423e-01 2.57814100e-04 -2.28519176e+01] [ 3.73864860e-03 -3.20087798e-04 9.99992960e-01 2.31483404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.700714057 meters Centerline goodness [0,1] 0.9756197128795954 Centerline is valid? [True, True] Translation: X:491.16, Y:-22.85, Z:2.32 [[ 9.99891968e-01 -1.42131397e-02 -3.74689823e-03 4.91156943e+02] [ 1.42142060e-02 9.99898940e-01 2.58115750e-04 -2.28496046e+01] [ 3.74285093e-03 -3.11347049e-04 9.99992947e-01 2.31599277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.730714057 meters Centerline goodness [0,1] 0.9767262673646521 Centerline is valid? [True, True] Translation: X:491.19, Y:-22.85, Z:2.32 [[ 9.99947526e-01 -9.48598959e-03 -3.86792337e-03 4.91186664e+02] [ 9.48708864e-03 9.99954961e-01 2.65895242e-04 -2.28506693e+01] [ 3.86522688e-03 -3.02576622e-04 9.99992484e-01 2.31589981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.76071405700003 meters Centerline goodness [0,1] 0.9773323681114832 Centerline is valid? [True, True] Translation: X:491.22, Y:-22.85, Z:2.32 [[ 9.99967518e-01 -7.05124155e-03 -3.90427382e-03 4.91217679e+02] [ 7.05234504e-03 9.99975096e-01 2.68941202e-04 -2.28510527e+01] [ 3.90228022e-03 -2.96466752e-04 9.99992342e-01 2.31592506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.790714057 meters Centerline goodness [0,1] 0.9776036595031591 Centerline is valid? [True, True] Translation: X:491.25, Y:-22.85, Z:2.32 [[ 9.99991356e-01 -2.17973853e-03 -3.54082500e-03 4.91248519e+02] [ 2.18061597e-03 9.99997593e-01 2.43962435e-04 -2.28526132e+01] [ 3.54028470e-03 -2.51681505e-04 9.99993702e-01 2.31548347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.820714057 meters Centerline goodness [0,1] 0.9776242781111992 Centerline is valid? [True, True] Translation: X:491.28, Y:-22.86, Z:2.31 [[ 9.99995152e-01 1.02948860e-04 -3.11217008e-03 4.91277577e+02] [-1.02284327e-04 9.99999972e-01 2.13685611e-04 -2.28572435e+01] [ 3.11219199e-03 -2.13366249e-04 9.99995134e-01 2.31472353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.850714057 meters Centerline goodness [0,1] 0.9777862974155428 Centerline is valid? [True, True] Translation: X:491.31, Y:-22.86, Z:2.31 [[ 9.99985160e-01 4.70120921e-03 -2.75273522e-03 4.91306727e+02] [-4.70070643e-03 9.99988934e-01 1.89091724e-04 -2.28588385e+01] [ 2.75359372e-03 -1.76149118e-04 9.99996193e-01 2.31472766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.880714057 meters Centerline goodness [0,1] 0.9794975193131102 Centerline is valid? [True, True] Translation: X:491.34, Y:-22.86, Z:2.32 [[ 9.99968781e-01 7.09989732e-03 -3.46832960e-03 4.91336747e+02] [-7.09911338e-03 9.99974773e-01 2.38287166e-04 -2.28581202e+01] [ 3.46993392e-03 -2.13657661e-04 9.99993957e-01 2.31507590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.910714057 meters Centerline goodness [0,1] 0.9787708741802448 Centerline is valid? [True, True] Translation: X:491.36, Y:-22.86, Z:2.31 [[ 9.99952415e-01 9.09578926e-03 -3.52619923e-03 4.91364923e+02] [-9.09499351e-03 9.99958610e-01 2.41638404e-04 -2.28614384e+01] [ 3.52825117e-03 -2.09556146e-04 9.99993754e-01 2.31377920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.940714057 meters Centerline goodness [0,1] 0.9810243682310469 Centerline is valid? [True, True] Translation: X:491.39, Y:-22.86, Z:2.31 [[ 9.99906624e-01 1.30523635e-02 -4.04699402e-03 4.91394712e+02] [-1.30513469e-02 9.99914789e-01 2.77497032e-04 -2.28595047e+01] [ 4.05027116e-03 -2.24652398e-04 9.99991772e-01 2.31434212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.970714057 meters Centerline goodness [0,1] 0.9820570113074684 Centerline is valid? [True, True] Translation: X:491.42, Y:-22.86, Z:2.31 [[ 9.99860538e-01 1.59944404e-02 -4.80442491e-03 4.91424531e+02] [-1.59930406e-02 9.99872049e-01 3.29655105e-04 -2.28617035e+01] [ 4.80908283e-03 -2.52771768e-04 9.99988404e-01 2.31346793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.000714057 meters Centerline goodness [0,1] 0.9822896900695762 Centerline is valid? [True, True] Translation: X:491.45, Y:-22.86, Z:2.31 [[ 9.99838910e-01 1.72471165e-02 -4.96897103e-03 4.91453273e+02] [-1.72456396e-02 9.99851225e-01 3.39909405e-04 -2.28633473e+01] [ 4.97409423e-03 -2.54161566e-04 9.99987597e-01 2.31357555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.030714057 meters Centerline goodness [0,1] 0.9806235529480523 Centerline is valid? [True, True] Translation: X:491.48, Y:-22.87, Z:2.31 [[ 9.99826983e-01 1.80207155e-02 -4.61071014e-03 4.91480106e+02] [-1.80194554e-02 9.99837587e-01 3.14709725e-04 -2.28737580e+01] [ 4.61563260e-03 -2.31572790e-04 9.99989321e-01 2.31072138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.060714057 meters Centerline goodness [0,1] 0.983679525222552 Centerline is valid? [True, True] Translation: X:491.51, Y:-22.87, Z:2.31 [[ 9.99796372e-01 1.94028269e-02 -5.54479668e-03 4.91509574e+02] [-1.94010254e-02 9.99811711e-01 3.78520951e-04 -2.28698977e+01] [ 5.55109703e-03 -2.70869132e-04 9.99984556e-01 2.31260605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.090714057 meters Centerline goodness [0,1] 0.9832196697774587 Centerline is valid? [True, True] Translation: X:491.54, Y:-22.87, Z:2.31 [[ 9.99778990e-01 2.02309242e-02 -5.71674223e-03 4.91538263e+02] [-2.02290248e-02 9.99795296e-01 3.89885585e-04 -2.28729703e+01] [ 5.72345973e-03 -2.74155296e-04 9.99983583e-01 2.31248150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.120714057 meters Centerline goodness [0,1] 0.984314606741573 Centerline is valid? [True, True] Translation: X:491.57, Y:-22.88, Z:2.31 [[ 9.99744713e-01 2.19060219e-02 -5.53496579e-03 4.91565602e+02] [-2.19042739e-02 9.99760002e-01 3.76239929e-04 -2.28773600e+01] [ 5.54187932e-03 -2.54904473e-04 9.99984611e-01 2.31219939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.150714057 meters Centerline goodness [0,1] 0.984805232754164 Centerline is valid? [True, True] Translation: X:491.59, Y:-22.88, Z:2.31 [[ 9.99716516e-01 2.31177956e-02 -5.69692756e-03 4.91594405e+02] [-2.31159622e-02 9.99732715e-01 3.87471870e-04 -2.28790471e+01] [ 5.70436235e-03 -2.55672066e-04 9.99983697e-01 2.31253453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.180714057 meters Centerline goodness [0,1] 0.9852152648464317 Centerline is valid? [True, True] Translation: X:491.62, Y:-22.88, Z:2.31 [[ 9.99687245e-01 2.45174038e-02 -4.93033021e-03 4.91623461e+02] [-2.45160499e-02 9.99699380e-01 3.34859565e-04 -2.28808325e+01] [ 4.93705794e-03 -2.13882615e-04 9.99987790e-01 2.31235247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.210714057 meters Centerline goodness [0,1] 0.9849399618449108 Centerline is valid? [True, True] Translation: X:491.65, Y:-22.88, Z:2.31 [[ 9.99606262e-01 2.75920537e-02 -5.09904538e-03 4.91653536e+02] [-2.75906423e-02 9.99619246e-01 3.46932451e-04 -2.28838621e+01] [ 5.10667647e-03 -2.06109913e-04 9.99986940e-01 2.31260363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.240714057 meters Centerline goodness [0,1] 0.9861817204541892 Centerline is valid? [True, True] Translation: X:491.68, Y:-22.89, Z:2.31 [[ 9.99581525e-01 2.85605895e-02 -4.58988659e-03 4.91682540e+02] [-2.85594609e-02 9.99592047e-01 3.11263965e-04 -2.28873642e+01] [ 4.59690401e-03 -1.80049023e-04 9.99989418e-01 2.31312885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.270714057 meters Centerline goodness [0,1] 0.9852498765210363 Centerline is valid? [True, True] Translation: X:491.71, Y:-22.90, Z:2.31 [[ 9.99598714e-01 2.80058265e-02 -4.25250954e-03 4.91710104e+02] [-2.80048587e-02 9.99607746e-01 2.86985227e-04 -2.28964396e+01] [ 4.25887873e-03 -1.67779136e-04 9.99990917e-01 2.31092642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.300714057 meters Centerline goodness [0,1] 0.9857226107226107 Centerline is valid? [True, True] Translation: X:491.74, Y:-22.90, Z:2.31 [[ 9.99625741e-01 2.71151106e-02 -3.62621774e-03 4.91738691e+02] [-2.71143998e-02 9.99632307e-01 2.45030973e-04 -2.28994081e+01] [ 3.63152844e-03 -1.46616550e-04 9.99993395e-01 2.31203221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.330714057 meters Centerline goodness [0,1] 0.9845817922552471 Centerline is valid? [True, True] Translation: X:491.77, Y:-22.91, Z:2.31 [[ 9.99707656e-01 2.39988244e-02 -2.94246625e-03 4.91767797e+02] [-2.39983425e-02 9.99711979e-01 1.98973435e-04 -2.29057594e+01] [ 2.94639388e-03 -1.28300954e-04 9.99995651e-01 2.31336238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.360714057 meters Centerline goodness [0,1] 0.9855670563040957 Centerline is valid? [True, True] Translation: X:491.80, Y:-22.91, Z:2.31 [[ 9.99752021e-01 2.20335192e-02 -3.22811549e-03 4.91796800e+02] [-2.20329302e-02 9.99757222e-01 2.17900406e-04 -2.29083196e+01] [ 3.23213289e-03 -1.46721527e-04 9.99994766e-01 2.31424959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.390714057 meters Centerline goodness [0,1] 0.9869720576159088 Centerline is valid? [True, True] Translation: X:491.83, Y:-22.92, Z:2.31 [[ 9.99832128e-01 1.81102324e-02 -2.78113220e-03 4.91826177e+02] [-1.81097792e-02 9.99835987e-01 1.88050847e-04 -2.29182758e+01] [ 2.78408170e-03 -1.37653588e-04 9.99996115e-01 2.31334651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.420714057 meters Centerline goodness [0,1] 0.9855930882451179 Centerline is valid? [True, True] Translation: X:491.85, Y:-22.93, Z:2.31 [[ 9.99858839e-01 1.65515089e-02 -2.88956253e-03 4.91853405e+02] [-1.65510166e-02 9.99863004e-01 1.94203341e-04 -2.29266637e+01] [ 2.89238103e-03 -1.46350730e-04 9.99995806e-01 2.31151188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.450714057 meters Centerline goodness [0,1] 0.9852300616888142 Centerline is valid? [True, True] Translation: X:491.88, Y:-22.93, Z:2.31 [[ 9.99882839e-01 1.51044878e-02 -2.48254505e-03 4.91880931e+02] [-1.51041215e-02 9.99885912e-01 1.66205189e-04 -2.29336338e+01] [ 2.48477227e-03 -1.28689054e-04 9.99996905e-01 2.31031480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.480714057 meters Centerline goodness [0,1] 0.9853673654616696 Centerline is valid? [True, True] Translation: X:491.91, Y:-22.94, Z:2.31 [[ 9.99917128e-01 1.26202941e-02 -2.54256181e-03 4.91909993e+02] [-1.26198998e-02 9.99920351e-01 1.71084050e-04 -2.29402164e+01] [ 2.54451842e-03 -1.38982997e-04 9.99996753e-01 2.31015329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.51071405700003 meters Centerline goodness [0,1] 0.9786575935663471 Centerline is valid? [True, True] Translation: X:491.94, Y:-22.97, Z:2.31 [[ 9.99918629e-01 1.27434249e-02 5.84289781e-04 4.91935774e+02] [-1.27434034e-02 9.99918799e-01 -4.04844133e-05 -2.29678822e+01] [-5.84758246e-04 3.30352786e-05 9.99999828e-01 2.30501571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.540714057 meters Centerline goodness [0,1] 0.9847575770944544 Centerline is valid? [True, True] Translation: X:491.97, Y:-22.95, Z:2.31 [[ 9.99944906e-01 9.73030332e-03 -3.93784948e-03 4.91966548e+02] [-9.72933479e-03 9.99952634e-01 2.65034903e-04 -2.29528909e+01] [ 3.94024183e-03 -2.26707645e-04 9.99992212e-01 2.30803658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.570714057 meters Centerline goodness [0,1] 0.9845841247404921 Centerline is valid? [True, True] Translation: X:492.00, Y:-22.96, Z:2.31 [[ 9.99956316e-01 8.41071199e-03 -4.07744867e-03 4.91995590e+02] [-8.40966659e-03 9.99964601e-01 2.73463874e-04 -2.29553878e+01] [ 4.07960435e-03 -2.39161944e-04 9.99991650e-01 2.30832082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.600714057 meters Centerline goodness [0,1] 0.9844794231445656 Centerline is valid? [True, True] Translation: X:492.02, Y:-22.96, Z:2.31 [[ 9.99977524e-01 5.66463862e-03 -3.58668465e-03 4.92023366e+02] [-5.66381340e-03 9.99983932e-01 2.40193436e-04 -2.29640508e+01] [ 3.58798762e-03 -2.19873725e-04 9.99993539e-01 2.30777853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.630714057 meters Centerline goodness [0,1] 0.9852134247118711 Centerline is valid? [True, True] Translation: X:492.05, Y:-22.96, Z:2.31 [[ 9.99985131e-01 4.32933586e-03 -3.31584017e-03 4.92052724e+02] [-4.32862439e-03 9.99990607e-01 2.21714441e-04 -2.29626415e+01] [ 3.31676890e-03 -2.07358117e-04 9.99994478e-01 2.30875137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.660714057 meters Centerline goodness [0,1] 0.9832392417019968 Centerline is valid? [True, True] Translation: X:492.08, Y:-22.97, Z:2.31 [[ 9.99990217e-01 3.04109567e-03 -3.21195600e-03 4.92081242e+02] [-3.04042136e-03 9.99995355e-01 2.14800529e-04 -2.29693037e+01] [ 3.21259431e-03 -2.05032728e-04 9.99994819e-01 2.30798775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.690714057 meters Centerline goodness [0,1] 0.9829364294038745 Centerline is valid? [True, True] Translation: X:492.11, Y:-22.97, Z:2.31 [[ 9.99995854e-01 9.08196487e-04 -2.73267052e-03 4.92110636e+02] [-9.07700382e-04 9.99999571e-01 1.82780814e-04 -2.29740906e+01] [ 2.73283535e-03 -1.80299610e-04 9.99996250e-01 2.30754671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.720714057 meters Centerline goodness [0,1] 0.9835090030742205 Centerline is valid? [True, True] Translation: X:492.14, Y:-22.98, Z:2.31 [[ 9.99997882e-01 1.87264307e-04 -2.04938053e-03 4.92139349e+02] [-1.86981463e-04 9.99999973e-01 1.38205146e-04 -2.29788484e+01] [ 2.04940636e-03 -1.37821657e-04 9.99997890e-01 2.30768440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.750714057 meters Centerline goodness [0,1] 0.9824140511511203 Centerline is valid? [True, True] Translation: X:492.17, Y:-22.98, Z:2.31 [[ 9.99998081e-01 -2.39063678e-05 -1.95894136e-03 4.92168774e+02] [ 2.41643024e-05 9.99999991e-01 1.31646865e-04 -2.29835732e+01] [ 1.95893820e-03 -1.31693949e-04 9.99998073e-01 2.30720984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.780714057 meters Centerline goodness [0,1] 0.9847577092511013 Centerline is valid? [True, True] Translation: X:492.20, Y:-22.98, Z:2.31 [[ 9.99999056e-01 2.38304376e-04 -1.35340001e-03 4.92198879e+02] [-2.38182323e-04 9.99999968e-01 9.03429361e-05 -2.29823488e+01] [ 1.35342150e-03 -9.00204948e-05 9.99999080e-01 2.30817962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.810714057 meters Centerline goodness [0,1] 0.9847577092511013 Centerline is valid? [True, True] Translation: X:492.23, Y:-22.98, Z:2.31 [[ 9.99999064e-01 2.02929860e-04 -1.35340319e-03 4.92228035e+02] [-2.02807839e-04 9.99999975e-01 9.02954338e-05 -2.29842742e+01] [ 1.35342148e-03 -9.00208685e-05 9.99999080e-01 2.30780943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.840714057 meters Centerline goodness [0,1] 0.982833841229474 Centerline is valid? [True, True] Translation: X:492.26, Y:-22.99, Z:2.31 [[ 9.99999178e-01 -1.37091322e-04 -1.27510866e-03 4.92257282e+02] [ 1.37200136e-04 9.99999987e-01 8.52495387e-05 -2.29898015e+01] [ 1.27509695e-03 -8.54244136e-05 9.99999183e-01 2.30748972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.870714057 meters Centerline goodness [0,1] 0.9821251460183817 Centerline is valid? [True, True] Translation: X:492.29, Y:-22.99, Z:2.31 [[ 9.99999644e-01 3.86896168e-04 -7.49234543e-04 4.92287888e+02] [-3.86858648e-04 9.99999924e-01 5.02222367e-05 -2.29885533e+01] [ 7.49253916e-04 -4.99323709e-05 9.99999718e-01 2.30837377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.900714057 meters Centerline goodness [0,1] 0.9840864007053118 Centerline is valid? [True, True] Translation: X:492.32, Y:-22.99, Z:2.31 [[ 9.99999305e-01 1.13640356e-03 -3.14651773e-04 4.92318141e+02] [-1.13639698e-03 9.99999354e-01 2.10915473e-05 -2.29899832e+01] [ 3.14675538e-04 -2.07339633e-05 9.99999950e-01 2.30858127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.930714057 meters Centerline goodness [0,1] 0.983497769671933 Centerline is valid? [True, True] Translation: X:492.35, Y:-22.99, Z:2.31 [[ 9.99998601e-01 1.66531505e-03 -1.55413029e-04 4.92347348e+02] [-1.66531343e-03 9.99998613e-01 1.05314844e-05 -2.29923265e+01] [ 1.55430352e-04 -1.02726583e-05 9.99999988e-01 2.30836481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.960714057 meters Centerline goodness [0,1] 0.984955284373761 Centerline is valid? [True, True] Translation: X:492.38, Y:-22.99, Z:2.31 [[ 9.99994179e-01 3.40480248e-03 -2.19892100e-04 4.92377424e+02] [-3.40479943e-03 9.99994204e-01 1.42811465e-05 -2.29903874e+01] [ 2.19939450e-04 -1.35323748e-05 9.99999976e-01 2.30875491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.990714057 meters Centerline goodness [0,1] 0.9850293477544022 Centerline is valid? [True, True] Translation: X:492.41, Y:-22.99, Z:2.31 [[ 9.99991244e-01 4.17605993e-03 -2.70935523e-04 4.92407326e+02] [-4.17605529e-03 9.99991280e-01 1.76930293e-05 -2.29917095e+01] [ 2.71007047e-04 -1.65614327e-05 9.99999963e-01 2.30780722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.020714057 meters Centerline goodness [0,1] 0.9853731606308926 Centerline is valid? [True, True] Translation: X:492.44, Y:-22.99, Z:2.31 [[ 9.99981816e-01 5.90547702e-03 -1.22210937e-03 4.92435739e+02] [-5.90538218e-03 9.99982560e-01 8.12009948e-05 -2.29928020e+01] [ 1.22256759e-03 -7.39824953e-05 9.99999250e-01 2.30713381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.050714057 meters Centerline goodness [0,1] 0.9845656618956533 Centerline is valid? [True, True] Translation: X:492.46, Y:-22.99, Z:2.31 [[ 9.99978813e-01 6.27646060e-03 -1.72601737e-03 4.92463516e+02] [-6.27627271e-03 9.99980297e-01 1.14250486e-04 -2.29945699e+01] [ 1.72670045e-03 -1.03415110e-04 9.99998504e-01 2.30617688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.080714057 meters Centerline goodness [0,1] 0.984779299847793 Centerline is valid? [True, True] Translation: X:492.49, Y:-23.00, Z:2.31 [[ 9.99975799e-01 6.71016114e-03 -1.83736487e-03 4.92492759e+02] [-6.70994818e-03 9.99977481e-01 1.22045232e-04 -2.29961315e+01] [ 1.83814244e-03 -1.09713656e-04 9.99998305e-01 2.30612229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.110714057 meters Centerline goodness [0,1] 0.9852410698574696 Centerline is valid? [True, True] Translation: X:492.52, Y:-23.00, Z:2.31 [[ 9.99974282e-01 7.05092045e-03 -1.31127030e-03 4.92521306e+02] [-7.05081292e-03 9.99975139e-01 8.66038940e-05 -2.29983521e+01] [ 1.31184834e-03 -7.73561452e-05 9.99999137e-01 2.30601742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.140714057 meters Centerline goodness [0,1] 0.9837493128092358 Centerline is valid? [True, True] Translation: X:492.55, Y:-23.00, Z:2.31 [[ 9.99974489e-01 7.01871725e-03 -1.32634977e-03 4.92549321e+02] [-7.01860763e-03 9.99975365e-01 8.72856001e-05 -2.30010591e+01] [ 1.32692973e-03 -7.79742447e-05 9.99999117e-01 2.30563766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.170714057 meters Centerline goodness [0,1] 0.9840441988950276 Centerline is valid? [True, True] Translation: X:492.58, Y:-23.00, Z:2.30 [[ 9.99974484e-01 6.90300355e-03 -1.83843389e-03 4.92578396e+02] [-6.90279179e-03 9.99976168e-01 1.21507624e-04 -2.30036235e+01] [ 1.83922884e-03 -1.08814197e-04 9.99998303e-01 2.30477334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.200714057 meters Centerline goodness [0,1] 0.9847632907763886 Centerline is valid? [True, True] Translation: X:492.61, Y:-23.01, Z:2.30 [[ 9.99974165e-01 6.90585081e-03 -1.99463384e-03 4.92607530e+02] [-6.90560166e-03 9.99976147e-01 1.31773046e-04 -2.30058114e+01] [ 1.99549627e-03 -1.17995495e-04 9.99998002e-01 2.30434216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.230714057 meters Centerline goodness [0,1] 0.9841503951394545 Centerline is valid? [True, True] Translation: X:492.64, Y:-23.00, Z:2.30 [[ 9.99977543e-01 6.37261951e-03 -2.07442304e-03 4.92636372e+02] [-6.37234916e-03 9.99979687e-01 1.36908823e-04 -2.30038036e+01] [ 2.07525337e-03 -1.23686801e-04 9.99997839e-01 2.30457865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.26071405700003 meters Centerline goodness [0,1] 0.9837426951975042 Centerline is valid? [True, True] Translation: X:492.66, Y:-23.01, Z:2.30 [[ 9.99983873e-01 5.49883198e-03 -1.42008647e-03 4.92663775e+02] [-5.49870527e-03 9.99984878e-01 9.31119676e-05 -2.30062384e+01] [ 1.42057701e-03 -8.53018290e-05 9.99998987e-01 2.30432986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.290714057 meters Centerline goodness [0,1] 0.984644871342968 Centerline is valid? [True, True] Translation: X:492.69, Y:-23.01, Z:2.30 [[ 9.99989700e-01 4.42583125e-03 -1.00614766e-03 4.92691149e+02] [-4.42576750e-03 9.99990204e-01 6.55747887e-05 -2.30097980e+01] [ 1.00642803e-03 -6.11211376e-05 9.99999492e-01 2.30393684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.320714057 meters Centerline goodness [0,1] 0.9845354011543376 Centerline is valid? [True, True] Translation: X:492.72, Y:-23.01, Z:2.30 [[ 9.99994198e-01 3.30934693e-03 -8.07714337e-04 4.92720913e+02] [-3.30930516e-03 9.99994523e-01 5.30487103e-05 -2.30116492e+01] [ 8.07885469e-04 -5.03754293e-05 9.99999672e-01 2.30429068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.350714057 meters Centerline goodness [0,1] 0.9843106145743814 Centerline is valid? [True, True] Translation: X:492.75, Y:-23.02, Z:2.30 [[ 9.99999958e-01 1.98520960e-04 2.12964842e-04 4.92749993e+02] [-1.98517988e-04 9.99999980e-01 -1.39770882e-05 -2.30166074e+01] [-2.12967612e-04 1.39348103e-05 9.99999977e-01 2.30404979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.380714057 meters Centerline goodness [0,1] 0.981237322515213 Centerline is valid? [True, True] Translation: X:492.78, Y:-23.02, Z:2.30 [[ 9.99992384e-01 -3.89522227e-03 -2.45018415e-04 4.92779526e+02] [ 3.89522632e-03 9.99992413e-01 1.60451076e-05 -2.30222293e+01] [ 2.44954057e-04 -1.69993876e-05 9.99999970e-01 2.30292383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.410714057 meters Centerline goodness [0,1] 0.9813891147195184 Centerline is valid? [True, True] Translation: X:492.81, Y:-23.03, Z:2.30 [[ 9.99986131e-01 -5.26208042e-03 -2.17912525e-04 4.92810211e+02] [ 5.26208373e-03 9.99986155e-01 1.46446923e-05 -2.30256100e+01] [ 2.17832446e-04 -1.57911632e-05 9.99999976e-01 2.30237118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.440714057 meters Centerline goodness [0,1] 0.979982343853454 Centerline is valid? [True, True] Translation: X:492.84, Y:-23.03, Z:2.30 [[ 9.99972870e-01 -7.33296561e-03 -6.97526773e-04 4.92840806e+02] [ 7.33299976e-03 9.99973112e-01 4.64194071e-05 -2.30290436e+01] [ 6.97167626e-04 -5.15331115e-05 9.99999756e-01 2.30136767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.470714057 meters Centerline goodness [0,1] 0.9749024105154048 Centerline is valid? [True, True] Translation: X:492.87, Y:-23.03, Z:2.30 [[ 9.99947792e-01 -1.01573050e-02 -1.11481310e-03 4.92869910e+02] [ 1.01573934e-02 9.99948410e-01 7.37067891e-05 -2.30345538e+01] [ 1.11400692e-03 -8.50265362e-05 9.99999376e-01 2.29990442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.500714057 meters Centerline goodness [0,1] 0.9811403701587023 Centerline is valid? [True, True] Translation: X:492.90, Y:-23.03, Z:2.30 [[ 9.99936264e-01 -1.12333953e-02 -1.13125389e-03 4.92902877e+02] [ 1.12334883e-02 9.99936899e-01 7.59068450e-05 -2.30265738e+01] [ 1.13032982e-03 -8.86099344e-05 9.99999357e-01 2.30105039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.530714057 meters Centerline goodness [0,1] 0.9807823391015633 Centerline is valid? [True, True] Translation: X:492.93, Y:-23.03, Z:2.30 [[ 9.99913382e-01 -1.29465046e-02 -2.36973596e-03 4.92933905e+02] [ 1.29469137e-02 9.99916173e-01 1.57393428e-04 -2.30283087e+01] [ 2.36749962e-03 -1.88060562e-04 9.99997180e-01 2.29968097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.560714057 meters Centerline goodness [0,1] 0.981169889441924 Centerline is valid? [True, True] Translation: X:492.97, Y:-23.03, Z:2.30 [[ 9.99907370e-01 -1.33245170e-02 -2.77654884e-03 4.92966208e+02] [ 1.33250825e-02 9.99911200e-01 1.85279416e-04 -2.30257919e+01] [ 2.77383353e-03 -2.22259996e-04 9.99996128e-01 2.29966591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.590714057 meters Centerline goodness [0,1] 0.9803511245236469 Centerline is valid? [True, True] Translation: X:493.00, Y:-23.03, Z:2.30 [[ 9.99920896e-01 -1.23484331e-02 -2.39120705e-03 4.92996160e+02] [ 1.23488485e-02 9.99923737e-01 1.59040913e-04 -2.30275712e+01] [ 2.38906078e-03 -1.88556986e-04 9.99997128e-01 2.29905618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.620714057 meters Centerline goodness [0,1] 0.9796950950066283 Centerline is valid? [True, True] Translation: X:493.03, Y:-23.03, Z:2.30 [[ 9.99928848e-01 -1.16754271e-02 -2.44613256e-03 4.93028631e+02] [ 1.16758619e-02 9.99931821e-01 1.63548041e-04 -2.30279023e+01] [ 2.44405629e-03 -1.92097110e-04 9.99996995e-01 2.29897804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.650714057 meters Centerline goodness [0,1] 0.9791915175612989 Centerline is valid? [True, True] Translation: X:493.06, Y:-23.03, Z:2.30 [[ 9.99941693e-01 -1.06287824e-02 -1.90760664e-03 4.93060504e+02] [ 1.06290451e-02 9.99943502e-01 1.27617761e-04 -2.30288738e+01] [ 1.90614244e-03 -1.47886357e-04 9.99998172e-01 2.29889328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.680714057 meters Centerline goodness [0,1] 0.980170222173096 Centerline is valid? [True, True] Translation: X:493.09, Y:-23.03, Z:2.30 [[ 9.99966313e-01 -7.91693544e-03 -2.16676810e-03 4.93091114e+02] [ 7.91726633e-03 9.99968648e-01 1.44179450e-04 -2.30265155e+01] [ 2.16555871e-03 -1.61329473e-04 9.99997642e-01 2.29832068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.710714057 meters Centerline goodness [0,1] 0.9798117522871217 Centerline is valid? [True, True] Translation: X:493.12, Y:-23.03, Z:2.30 [[ 9.99980269e-01 -5.95176956e-03 -2.00924576e-03 4.93121910e+02] [ 5.95205068e-03 9.99982277e-01 1.33959633e-04 -2.30267193e+01] [ 2.00841285e-03 -1.45916123e-04 9.99997972e-01 2.29777916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.740714057 meters Centerline goodness [0,1] 0.9786186399325733 Centerline is valid? [True, True] Translation: X:493.15, Y:-23.03, Z:2.30 [[ 9.99990329e-01 -3.72544827e-03 -2.33743709e-03 4.93152126e+02] [ 3.72582205e-03 9.99993047e-01 1.55577785e-04 -2.30254410e+01] [ 2.33684124e-03 -1.64285155e-04 9.99997256e-01 2.29740603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.770714057 meters Centerline goodness [0,1] 0.979050279329609 Centerline is valid? [True, True] Translation: X:493.18, Y:-23.03, Z:2.30 [[ 9.99995801e-01 -1.98023329e-03 -2.11591755e-03 4.93183317e+02] [ 1.98053573e-03 9.99998029e-01 1.40850587e-04 -2.30254927e+01] [ 2.11563446e-03 -1.45040645e-04 9.99997752e-01 2.29757592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.800714057 meters Centerline goodness [0,1] 0.9793798380638847 Centerline is valid? [True, True] Translation: X:493.21, Y:-23.03, Z:2.30 [[ 9.99998566e-01 -3.27071890e-04 -1.66179163e-03 4.93214014e+02] [ 3.27256150e-04 9.99999940e-01 1.10609318e-04 -2.30264328e+01] [ 1.66175535e-03 -1.11152991e-04 9.99998613e-01 2.29703776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.830714057 meters Centerline goodness [0,1] 0.9788295278208823 Centerline is valid? [True, True] Translation: X:493.24, Y:-23.02, Z:2.30 [[ 9.99992691e-01 3.26420766e-03 -1.99049724e-03 4.93243392e+02] [-3.26395107e-03 9.99994665e-01 1.32142792e-04 -2.30249978e+01] [ 1.99091796e-03 -1.25644941e-04 9.99998010e-01 2.29560239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.860714057 meters Centerline goodness [0,1] 0.9792314526876944 Centerline is valid? [True, True] Translation: X:493.27, Y:-23.02, Z:2.29 [[ 9.99986085e-01 4.79670953e-03 -2.19573011e-03 4.93272420e+02] [-4.79640249e-03 9.99988487e-01 1.45077116e-04 -2.30249023e+01] [ 2.19640072e-03 -1.34543492e-04 9.99997579e-01 2.29487121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.890714057 meters Centerline goodness [0,1] 0.9812331243166046 Centerline is valid? [True, True] Translation: X:493.30, Y:-23.02, Z:2.29 [[ 9.99974828e-01 6.69923804e-03 -2.33762893e-03 4.93302699e+02] [-6.69889429e-03 9.99977550e-01 1.54851132e-04 -2.30198244e+01] [ 2.33861383e-03 -1.39187704e-04 9.99997256e-01 2.29478467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.920714057 meters Centerline goodness [0,1] 0.9809525941179104 Centerline is valid? [True, True] Translation: X:493.33, Y:-23.02, Z:2.30 [[ 9.99970649e-01 7.35738628e-03 -2.13799070e-03 4.93332044e+02] [-7.35710162e-03 9.99972926e-01 1.40978717e-04 -2.30177573e+01] [ 2.13897005e-03 -1.25245164e-04 9.99997705e-01 2.29513858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.950714057 meters Centerline goodness [0,1] 0.9792314055129552 Centerline is valid? [True, True] Translation: X:493.36, Y:-23.02, Z:2.29 [[ 9.99966894e-01 8.05071006e-03 -1.18223728e-03 4.93359351e+02] [-8.05062436e-03 9.99967590e-01 7.72326049e-05 -2.30229287e+01] [ 1.18282074e-03 -6.77122998e-05 9.99999298e-01 2.29369308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.980714057 meters Centerline goodness [0,1] 0.9802321932852213 Centerline is valid? [True, True] Translation: X:493.39, Y:-23.02, Z:2.30 [[ 9.99965382e-01 8.29957974e-03 -5.93161237e-04 4.93388790e+02] [-8.29955843e-03 9.99965557e-01 3.83822168e-05 -2.30180440e+01] [ 5.93459363e-04 -3.34579118e-05 9.99999823e-01 2.29521930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.01071405700003 meters Centerline goodness [0,1] 0.9778991916522985 Centerline is valid? [True, True] Translation: X:493.42, Y:-23.02, Z:2.29 [[ 9.99963953e-01 8.47724572e-03 4.77738545e-04 4.93415798e+02] [-8.47723102e-03 9.99964067e-01 -3.27808929e-05 -2.30249593e+01] [-4.77999270e-04 2.87298113e-05 9.99999885e-01 2.29383079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.040714057 meters Centerline goodness [0,1] 0.9799484709308839 Centerline is valid? [True, True] Translation: X:493.45, Y:-23.02, Z:2.30 [[ 9.99970170e-01 7.69111634e-03 7.11555383e-04 4.93445331e+02] [-7.69108422e-03 9.99970422e-01 -4.78662219e-05 -2.30192584e+01] [-7.11902481e-04 4.23921617e-05 9.99999746e-01 2.29505930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.070714057 meters Centerline goodness [0,1] 0.9784259694871967 Centerline is valid? [True, True] Translation: X:493.47, Y:-23.02, Z:2.29 [[ 9.99985249e-01 5.23374903e-03 1.45268750e-03 4.93473285e+02] [-5.23361406e-03 9.99986300e-01 -9.67010959e-05 -2.30220295e+01] [-1.45317371e-03 8.90968638e-05 9.99998940e-01 2.29463195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.100714057 meters Centerline goodness [0,1] 0.9791591807402084 Centerline is valid? [True, True] Translation: X:493.50, Y:-23.02, Z:2.30 [[ 9.99993875e-01 2.98590869e-03 1.82597382e-03 4.93503277e+02] [-2.98569297e-03 9.99995536e-01 -1.20850631e-04 -2.30180858e+01] [-1.82632652e-03 1.15398094e-04 9.99998326e-01 2.29568196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.130714057 meters Centerline goodness [0,1] 0.9782554978996788 Centerline is valid? [True, True] Translation: X:493.53, Y:-23.03, Z:2.29 [[ 9.99996386e-01 -6.92574481e-04 2.59768674e-03 4.93532849e+02] [ 6.93021907e-04 9.99999745e-01 -1.71344160e-04 -2.30264191e+01] [-2.59756741e-03 1.73143795e-04 9.99996611e-01 2.29472323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.160714057 meters Centerline goodness [0,1] 0.9777538571941156 Centerline is valid? [True, True] Translation: X:493.56, Y:-23.03, Z:2.29 [[ 9.99994354e-01 -1.90571381e-03 2.76788560e-03 4.93564647e+02] [ 1.90621995e-03 9.99998167e-01 -1.80233523e-04 -2.30298345e+01] [-2.76753705e-03 1.85508704e-04 9.99996153e-01 2.29424746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.190714057 meters Centerline goodness [0,1] 0.9782608695652174 Centerline is valid? [True, True] Translation: X:493.60, Y:-23.03, Z:2.29 [[ 9.99989519e-01 -3.69096632e-03 2.70889391e-03 4.93595378e+02] [ 3.69146477e-03 9.99993170e-01 -1.79030902e-04 -2.30317225e+01] [-2.70821461e-03 1.89028812e-04 9.99996315e-01 2.29380338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.220714057 meters Centerline goodness [0,1] 0.9769996413199427 Centerline is valid? [True, True] Translation: X:493.63, Y:-23.04, Z:2.29 [[ 9.99979924e-01 -5.75241373e-03 2.65716484e-03 4.93625645e+02] [ 5.75289995e-03 9.99983437e-01 -1.75378097e-04 -2.30374148e+01] [-2.65611198e-03 1.90660980e-04 9.99996454e-01 2.29246369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.250714057 meters Centerline goodness [0,1] 0.9767525356790234 Centerline is valid? [True, True] Translation: X:493.66, Y:-23.04, Z:2.29 [[ 9.99975967e-01 -6.72629132e-03 1.68012246e-03 4.93657762e+02] [ 6.72648643e-03 9.99977371e-01 -1.10504869e-04 -2.30399785e+01] [-1.67934115e-03 1.21803534e-04 9.99998582e-01 2.29023823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.280714057 meters Centerline goodness [0,1] 0.9756163035210953 Centerline is valid? [True, True] Translation: X:493.69, Y:-23.04, Z:2.29 [[ 9.99977445e-01 -6.58293572e-03 1.33237261e-03 4.93688583e+02] [ 6.58305844e-03 9.99978328e-01 -8.77417990e-05 -2.30431641e+01] [-1.33176614e-03 9.65109067e-05 9.99999109e-01 2.28888670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.310714057 meters Centerline goodness [0,1] 0.9752317106091964 Centerline is valid? [True, True] Translation: X:493.72, Y:-23.04, Z:2.29 [[ 9.99977521e-01 -6.67197639e-03 6.64755143e-04 4.93720518e+02] [ 6.67200663e-03 9.99977741e-01 -4.32929717e-05 -2.30449051e+01] [-6.64451496e-04 4.77272493e-05 9.99999778e-01 2.28756783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.340714057 meters Centerline goodness [0,1] 0.9766783499595578 Centerline is valid? [True, True] Translation: X:493.75, Y:-23.04, Z:2.29 [[ 9.99979629e-01 -6.25453740e-03 1.27399985e-03 4.93752752e+02] [ 6.25464924e-03 9.99980436e-01 -8.38276700e-05 -2.30437635e+01] [-1.27345063e-03 9.17943845e-05 9.99999185e-01 2.28738540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.370714057 meters Centerline goodness [0,1] 0.9770596941292551 Centerline is valid? [True, True] Translation: X:493.79, Y:-23.04, Z:2.29 [[ 9.99979250e-01 -6.22194325e-03 1.66937457e-03 4.93785491e+02] [ 6.22213582e-03 9.99980636e-01 -1.10187525e-04 -2.30373160e+01] [-1.66865666e-03 1.20572314e-04 9.99998601e-01 2.28790562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.400714057 meters Centerline goodness [0,1] 0.9756705755492654 Centerline is valid? [True, True] Translation: X:493.82, Y:-23.04, Z:2.29 [[ 9.99980404e-01 -5.94453717e-03 1.96336175e-03 4.93815897e+02] [ 5.94480397e-03 9.99982321e-01 -1.30080922e-04 -2.30439481e+01] [-1.96255377e-03 1.41750173e-04 9.99998064e-01 2.28656631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.430714057 meters Centerline goodness [0,1] 0.9795605633802817 Centerline is valid? [True, True] Translation: X:493.85, Y:-23.04, Z:2.29 [[ 9.99977609e-01 -6.42318739e-03 1.87721590e-03 4.93848234e+02] [ 6.42343223e-03 9.99979362e-01 -1.24426705e-04 -2.30366244e+01] [-1.87637794e-03 1.36482088e-04 9.99998230e-01 2.28742269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.460714057 meters Centerline goodness [0,1] 0.9778645245724085 Centerline is valid? [True, True] Translation: X:493.88, Y:-23.04, Z:2.29 [[ 9.99967461e-01 -7.77632181e-03 2.14633329e-03 4.93878806e+02] [ 7.77664586e-03 9.99969751e-01 -1.42672309e-04 -2.30391632e+01] [-2.14515890e-03 1.59358940e-04 9.99997686e-01 2.28638902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.490714057 meters Centerline goodness [0,1] 0.977996708524021 Centerline is valid? [True, True] Translation: X:493.91, Y:-23.04, Z:2.29 [[ 9.99959309e-01 -8.63089664e-03 2.62445842e-03 4.93910546e+02] [ 8.63138411e-03 9.99962734e-01 -1.74473104e-04 -2.30398343e+01] [-2.62285476e-03 1.97118713e-04 9.99996541e-01 2.28655501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.520714057 meters Centerline goodness [0,1] 0.9776705160591844 Centerline is valid? [True, True] Translation: X:493.94, Y:-23.04, Z:2.29 [[ 9.99938810e-01 -1.05957632e-02 3.17893588e-03 4.93940222e+02] [ 1.05964884e-02 9.99943833e-01 -2.11363153e-04 -2.30424710e+01] [-3.17651777e-03 2.45035777e-04 9.99994925e-01 2.28632460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.550714057 meters Centerline goodness [0,1] 0.9775088067925211 Centerline is valid? [True, True] Translation: X:493.97, Y:-23.04, Z:2.29 [[ 9.99928338e-01 -1.14936057e-02 3.34903757e-03 4.93972513e+02] [ 1.14944171e-02 9.99933912e-01 -2.23123471e-04 -2.30421898e+01] [-3.34625175e-03 2.61602716e-04 9.99994367e-01 2.28597440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.580714057 meters Centerline goodness [0,1] 0.9760566876537359 Centerline is valid? [True, True] Translation: X:494.00, Y:-23.05, Z:2.28 [[ 9.99910801e-01 -1.30881476e-02 2.66275761e-03 4.94002619e+02] [ 1.30886676e-02 9.99914324e-01 -1.77952838e-04 -2.30471380e+01] [-2.66020040e-03 2.12788914e-04 9.99996439e-01 2.28425368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.610714057 meters Centerline goodness [0,1] 0.975782288404785 Centerline is valid? [True, True] Translation: X:494.03, Y:-23.05, Z:2.28 [[ 9.99899441e-01 -1.39431567e-02 2.58753433e-03 4.94034628e+02] [ 1.39436493e-02 9.99902768e-01 -1.72426958e-04 -2.30479130e+01] [-2.58487856e-03 2.08489290e-04 9.99996637e-01 2.28347787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.640714057 meters Centerline goodness [0,1] 0.9765994860002706 Centerline is valid? [True, True] Translation: X:494.07, Y:-23.05, Z:2.28 [[ 9.99887921e-01 -1.47488220e-02 2.57247739e-03 4.94066871e+02] [ 1.47493120e-02 9.99891208e-01 -1.71603724e-04 -2.30502829e+01] [-2.56966657e-03 2.09526762e-04 9.99996676e-01 2.28254379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.670714057 meters Centerline goodness [0,1] 0.9750152759861498 Centerline is valid? [True, True] Translation: X:494.10, Y:-23.05, Z:2.28 [[ 9.99877115e-01 -1.54564086e-02 2.61797774e-03 4.94098694e+02] [ 1.54569190e-02 9.99880519e-01 -1.74842689e-04 -2.30521559e+01] [-2.61496250e-03 2.15287073e-04 9.99996558e-01 2.28191767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.700714057 meters Centerline goodness [0,1] 0.9756379197138135 Centerline is valid? [True, True] Translation: X:494.13, Y:-23.05, Z:2.28 [[ 9.99881151e-01 -1.52868228e-02 1.99943879e-03 4.94131258e+02] [ 1.52871192e-02 9.99883136e-01 -1.33079691e-04 -2.30537236e+01] [-1.99717076e-03 1.63629533e-04 9.99997992e-01 2.28119647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.730714057 meters Centerline goodness [0,1] 0.9756379197138135 Centerline is valid? [True, True] Translation: X:494.16, Y:-23.06, Z:2.28 [[ 9.99882781e-01 -1.51798085e-02 1.99942455e-03 4.94163832e+02] [ 1.51801052e-02 9.99884767e-01 -1.33292399e-04 -2.30560068e+01] [-1.99717080e-03 1.63628250e-04 9.99997992e-01 2.28078339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.76071405700003 meters Centerline goodness [0,1] 0.9741038109238946 Centerline is valid? [True, True] Translation: X:494.20, Y:-23.06, Z:2.28 [[ 9.99895627e-01 -1.44405923e-02 4.53029134e-04 4.94195333e+02] [ 1.44406072e-02 9.99895729e-01 -2.96459724e-05 -2.30592318e+01] [-4.52553790e-04 3.61848939e-05 9.99999897e-01 2.27887760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.790714057 meters Centerline goodness [0,1] 0.9734037729004172 Centerline is valid? [True, True] Translation: X:494.23, Y:-23.06, Z:2.28 [[ 9.99903417e-01 -1.38961890e-02 2.27348931e-04 4.94227311e+02] [ 1.38961926e-02 9.99903443e-01 -1.44616988e-05 -2.30606966e+01] [-2.27126016e-04 1.76195866e-05 9.99999974e-01 2.27813326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.820714057 meters Centerline goodness [0,1] 0.9749036499659941 Centerline is valid? [True, True] Translation: X:494.26, Y:-23.06, Z:2.28 [[ 9.99919861e-01 -1.26006534e-02 1.22305505e-03 4.94259279e+02] [ 1.26007630e-02 9.99920604e-01 -8.19344418e-05 -2.30598023e+01] [-1.22192552e-03 9.73393024e-05 9.99999249e-01 2.27811813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.850714057 meters Centerline goodness [0,1] 0.977073270290496 Centerline is valid? [True, True] Translation: X:494.29, Y:-23.05, Z:2.28 [[ 9.99926115e-01 -1.20457186e-02 1.63257415e-03 4.94291541e+02] [ 1.20459132e-02 9.99927439e-01 -1.09453325e-04 -2.30547627e+01] [-1.63113725e-03 1.29111085e-04 9.99998661e-01 2.27907562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.880714057 meters Centerline goodness [0,1] 0.9742909008395734 Centerline is valid? [True, True] Translation: X:494.32, Y:-23.06, Z:2.28 [[ 9.99937090e-01 -1.08165485e-02 2.96947259e-03 4.94321701e+02] [ 1.08171910e-02 9.99941472e-01 -2.00418142e-04 -2.30626921e+01] [-2.96713096e-03 2.32526886e-04 9.99995571e-01 2.27869966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.910714057 meters Centerline goodness [0,1] 0.9740569249625494 Centerline is valid? [True, True] Translation: X:494.35, Y:-23.06, Z:2.28 [[ 9.99940873e-01 -1.04681700e-02 2.94424767e-03 4.94353483e+02] [ 1.04687995e-02 9.99945181e-01 -1.98494938e-04 -2.30637721e+01] [-2.94200839e-03 2.29305940e-04 9.99995646e-01 2.27848393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.940714057 meters Centerline goodness [0,1] 0.9747701227521856 Centerline is valid? [True, True] Translation: X:494.39, Y:-23.07, Z:2.28 [[ 9.99934815e-01 -1.08961797e-02 3.41161983e-03 4.94385192e+02] [ 1.08970288e-02 9.99940599e-01 -2.30384488e-04 -2.30662947e+01] [-3.40890687e-03 2.67545990e-04 9.99994154e-01 2.27835067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.970714057 meters Centerline goodness [0,1] 0.9687507096950014 Centerline is valid? [True, True] Translation: X:494.42, Y:-23.08, Z:2.28 [[ 9.99927914e-01 -1.13655696e-02 3.87169308e-03 4.94415843e+02] [ 1.13666665e-02 9.99935363e-01 -2.61420919e-04 -2.30757393e+01] [-3.86847163e-03 3.05410318e-04 9.99992471e-01 2.27705784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.000714057 meters Centerline goodness [0,1] 0.9757571641993753 Centerline is valid? [True, True] Translation: X:494.45, Y:-23.07, Z:2.28 [[ 9.99920477e-01 -1.18245039e-02 4.38420944e-03 4.94448519e+02] [ 1.18259196e-02 9.99930027e-01 -2.97119719e-04 -2.30669863e+01] [-4.38038937e-03 3.48943400e-04 9.99990345e-01 2.27773922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.030714057 meters Centerline goodness [0,1] 0.9715846003942806 Centerline is valid? [True, True] Translation: X:494.48, Y:-23.08, Z:2.28 [[ 9.99904087e-01 -1.28138128e-02 5.25566417e-03 4.94479181e+02] [ 1.28158621e-02 9.99917810e-01 -3.56423445e-04 -2.30772104e+01] [-5.25066507e-03 4.23745127e-04 9.99986125e-01 2.27628598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.060714057 meters Centerline goodness [0,1] 0.9709572754294012 Centerline is valid? [True, True] Translation: X:494.51, Y:-23.08, Z:2.28 [[ 9.99905395e-01 -1.26718765e-02 5.35015813e-03 4.94511783e+02] [ 1.26740033e-02 9.99919615e-01 -3.63804388e-04 -2.30792457e+01] [-5.34511797e-03 4.31577892e-04 9.99985622e-01 2.27609481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.090714057 meters Centerline goodness [0,1] 0.9708506975901432 Centerline is valid? [True, True] Translation: X:494.54, Y:-23.08, Z:2.28 [[ 9.99910913e-01 -1.20661805e-02 5.70729686e-03 4.94542581e+02] [ 1.20685942e-02 9.99927096e-01 -3.88663123e-04 -2.30821460e+01] [-5.70219110e-03 4.57507548e-04 9.99983638e-01 2.27554052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.120714057 meters Centerline goodness [0,1] 0.9694661679700782 Centerline is valid? [True, True] Translation: X:494.57, Y:-23.08, Z:2.27 [[ 9.99933093e-01 -1.01331719e-02 5.57932282e-03 4.94572869e+02] [ 1.01354516e-02 9.99948563e-01 -3.80468035e-04 -2.30847464e+01] [-5.57518049e-03 4.36991535e-04 9.99984363e-01 2.27386947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.150714057 meters Centerline goodness [0,1] 0.9733520336605891 Centerline is valid? [True, True] Translation: X:494.61, Y:-23.08, Z:2.27 [[ 9.99944619e-01 -9.06431271e-03 5.34770769e-03 4.94605656e+02] [ 9.06639015e-03 9.99958833e-01 -3.64357584e-04 -2.30779150e+01] [-5.34418489e-03 4.12821809e-04 9.99985635e-01 2.27365314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.180714057 meters Centerline goodness [0,1] 0.9688259201235156 Centerline is valid? [True, True] Translation: X:494.64, Y:-23.09, Z:2.27 [[ 9.99955349e-01 -7.85675700e-03 5.25092035e-03 4.94635640e+02] [ 7.85874730e-03 9.99969055e-01 -3.58512226e-04 -2.30881299e+01] [-5.24794112e-03 3.99761874e-04 9.99986150e-01 2.27173834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.210714057 meters Centerline goodness [0,1] 0.9697894760644913 Centerline is valid? [True, True] Translation: X:494.67, Y:-23.09, Z:2.27 [[ 9.99967408e-01 -5.86554467e-03 5.54782595e-03 4.94665298e+02] [ 5.86773724e-03 9.99982713e-01 -3.79016951e-04 -2.30901198e+01] [-5.54550690e-03 4.11557783e-04 9.99984539e-01 2.27069916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.240714057 meters Centerline goodness [0,1] 0.9741148737476767 Centerline is valid? [True, True] Translation: X:494.70, Y:-23.08, Z:2.27 [[ 9.99970513e-01 -5.32015343e-03 5.53799735e-03 4.94698145e+02] [ 5.32232710e-03 9.99985765e-01 -3.77837324e-04 -2.30808697e+01] [-5.53590836e-03 4.07301216e-04 9.99984594e-01 2.27120829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.270714057 meters Centerline goodness [0,1] 0.9751332955190017 Centerline is valid? [True, True] Translation: X:494.73, Y:-23.08, Z:2.27 [[ 9.99974151e-01 -3.99391371e-03 5.97873091e-03 4.94729657e+02] [ 3.99642795e-03 9.99991931e-01 -4.08643321e-04 -2.30815916e+01] [-5.97705058e-03 4.32526325e-04 9.99982044e-01 2.27092142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.300714057 meters Centerline goodness [0,1] 0.9750022683966972 Centerline is valid? [True, True] Translation: X:494.76, Y:-23.08, Z:2.27 [[ 9.99975967e-01 -3.10152986e-03 6.20047722e-03 4.94761190e+02] [ 3.10421709e-03 9.99995092e-01 -4.23814240e-04 -2.30848449e+01] [-6.19913232e-03 4.43051682e-04 9.99980687e-01 2.27051102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.330714057 meters Centerline goodness [0,1] 0.9731272941496352 Centerline is valid? [True, True] Translation: X:494.79, Y:-23.09, Z:2.27 [[ 9.99975841e-01 -1.10888695e-03 6.86205430e-03 4.94791244e+02] [ 1.11213768e-03 9.99999271e-01 -4.69928250e-04 -2.30924350e+01] [-6.86152820e-03 4.77548446e-04 9.99976345e-01 2.26987512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.360714057 meters Centerline goodness [0,1] 0.9771331058020478 Centerline is valid? [True, True] Translation: X:494.82, Y:-23.08, Z:2.27 [[ 9.99974412e-01 -7.83593681e-05 7.15330420e-03 4.94823687e+02] [ 8.18645028e-05 9.99999877e-01 -4.89710695e-04 -2.30846691e+01] [-7.15326494e-03 4.90283766e-04 9.99974295e-01 2.27029522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.390714057 meters Centerline goodness [0,1] 0.9776894240599796 Centerline is valid? [True, True] Translation: X:494.86, Y:-23.08, Z:2.27 [[ 9.99970171e-01 1.05287547e-03 7.65164396e-03 4.94855939e+02] [-1.04889320e-03 9.99999312e-01 -5.24440444e-04 -2.30849851e+01] [-7.65219087e-03 5.16399044e-04 9.99970588e-01 2.27034080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.420714057 meters Centerline goodness [0,1] 0.977556960298331 Centerline is valid? [True, True] Translation: X:494.89, Y:-23.09, Z:2.27 [[ 9.99960530e-01 3.46875170e-03 8.17963960e-03 4.94886740e+02] [-3.46427454e-03 9.99993842e-01 -5.61459709e-04 -2.30887024e+01] [-8.18153679e-03 5.33101031e-04 9.99966389e-01 2.27055203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.450714057 meters Centerline goodness [0,1] 0.9781674285324419 Centerline is valid? [True, True] Translation: X:494.92, Y:-23.09, Z:2.27 [[ 9.99952499e-01 6.19904090e-03 7.52140484e-03 4.94916728e+02] [-6.19532909e-03 9.99980675e-01 -5.16699422e-04 -2.30901020e+01] [-7.52446253e-03 4.70077300e-04 9.99971580e-01 2.26989036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.480714057 meters Centerline goodness [0,1] 0.9792979502695817 Centerline is valid? [True, True] Translation: X:494.95, Y:-23.09, Z:2.27 [[ 9.99941364e-01 7.98238241e-03 7.31778634e-03 4.94947053e+02] [-7.97891642e-03 9.99968042e-01 -5.02711402e-04 -2.30902785e+01] [-7.32156531e-03 4.44293920e-04 9.99973098e-01 2.26928607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.51071405700003 meters Centerline goodness [0,1] 0.97890572009948 Centerline is valid? [True, True] Translation: X:494.98, Y:-23.09, Z:2.27 [[ 9.99901141e-01 1.25069867e-02 6.42524315e-03 4.94977438e+02] [-1.25044076e-02 9.99921719e-01 -4.41417785e-04 -2.30906801e+01] [-6.43026098e-03 3.61030288e-04 9.99979260e-01 2.26800213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.540714057 meters Centerline goodness [0,1] 0.9797304974208648 Centerline is valid? [True, True] Translation: X:495.01, Y:-23.09, Z:2.27 [[ 9.99866002e-01 1.50280224e-02 6.49120913e-03 4.95006995e+02] [-1.50254419e-02 9.99887012e-01 -4.46121641e-04 -2.30919925e+01] [-6.49718003e-03 3.48528576e-04 9.99978832e-01 2.26708285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.570714057 meters Centerline goodness [0,1] 0.9828139582527144 Centerline is valid? [True, True] Translation: X:495.04, Y:-23.09, Z:2.27 [[ 9.99766900e-01 2.07209384e-02 6.06537711e-03 4.95037574e+02] [-2.07187923e-02 9.99785256e-01 -4.16460717e-04 -2.30877291e+01] [-6.07270407e-03 2.90696352e-04 9.99981519e-01 2.26729143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.600714057 meters Centerline goodness [0,1] 0.9817896246386378 Centerline is valid? [True, True] Translation: X:495.07, Y:-23.09, Z:2.27 [[ 9.99704112e-01 2.36746365e-02 5.58573502e-03 4.95066767e+02] [-2.36728612e-02 9.99719685e-01 -3.83741866e-04 -2.30885351e+01] [-5.59325420e-03 2.51397992e-04 9.99984326e-01 2.26715978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.630714057 meters Centerline goodness [0,1] 0.9832083617359691 Centerline is valid? [True, True] Translation: X:495.10, Y:-23.09, Z:2.27 [[ 9.99543419e-01 2.97586621e-02 5.23214306e-03 4.95097025e+02] [-2.97571897e-02 9.99557092e-01 -3.59058151e-04 -2.30869195e+01] [-5.24051080e-03 2.03200338e-04 9.99986248e-01 2.26633817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.660714057 meters Centerline goodness [0,1] 0.9837874659400545 Centerline is valid? [True, True] Translation: X:495.13, Y:-23.09, Z:2.27 [[ 9.99469640e-01 3.21882202e-02 4.93534658e-03 4.95125475e+02] [-3.21869372e-02 9.99481809e-01 -3.39191732e-04 -2.30882366e+01] [-4.94370710e-03 1.80158148e-04 9.99987764e-01 2.26575897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.690714057 meters Centerline goodness [0,1] 0.9841720410573167 Centerline is valid? [True, True] Translation: X:495.15, Y:-23.09, Z:2.26 [[ 9.99397237e-01 3.44072352e-02 4.61565903e-03 4.95153583e+02] [-3.44061379e-02 9.99407883e-01 -3.16944200e-04 -2.30912989e+01] [-4.62383119e-03 1.57946156e-04 9.99989298e-01 2.26449183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.720714057 meters Centerline goodness [0,1] 0.9842542942833773 Centerline is valid? [True, True] Translation: X:495.18, Y:-23.09, Z:2.26 [[ 9.99300789e-01 3.71290159e-02 4.40115271e-03 4.95182235e+02] [-3.71280459e-02 9.99310471e-01 -3.01938345e-04 -2.30934291e+01] [-4.40932866e-03 1.38321027e-04 9.99990269e-01 2.26364706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.750714057 meters Centerline goodness [0,1] 0.9858458467540716 Centerline is valid? [True, True] Translation: X:495.21, Y:-23.10, Z:2.26 [[ 9.99263989e-01 3.81282663e-02 4.20908818e-03 4.95210957e+02] [-3.81273890e-02 9.99272845e-01 -2.88509916e-04 -2.30966590e+01] [-4.21702790e-03 1.27816027e-04 9.99991100e-01 2.26376240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.780714057 meters Centerline goodness [0,1] 0.9836054406321669 Centerline is valid? [True, True] Translation: X:495.24, Y:-23.10, Z:2.26 [[ 9.99271645e-01 3.79258702e-02 4.22003881e-03 4.95238675e+02] [-3.79249872e-02 9.99280547e-01 -2.89101691e-04 -2.31043657e+01] [-4.22796712e-03 1.28846204e-04 9.99991054e-01 2.26191050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.810714057 meters Centerline goodness [0,1] 0.9844957736292547 Centerline is valid? [True, True] Translation: X:495.27, Y:-23.10, Z:2.26 [[ 9.99273349e-01 3.78804875e-02 4.22407450e-03 4.95266654e+02] [-3.78796033e-02 9.99282268e-01 -2.89151533e-04 -2.31033552e+01] [-4.23199595e-03 1.28935154e-04 9.99991037e-01 2.26308993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.840714057 meters Centerline goodness [0,1] 0.9847633236270061 Centerline is valid? [True, True] Translation: X:495.30, Y:-23.11, Z:2.26 [[ 9.99293869e-01 3.73001475e-02 4.52363898e-03 4.95295615e+02] [-3.72991313e-02 9.99304098e-01 -3.08809333e-04 -2.31080148e+01] [-4.53200960e-03 1.39863468e-04 9.99989721e-01 2.26332534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.870714057 meters Centerline goodness [0,1] 0.9852250135550334 Centerline is valid? [True, True] Translation: X:495.32, Y:-23.11, Z:2.26 [[ 9.99324769e-01 3.64666474e-02 4.49320743e-03 4.95324182e+02] [-3.64656378e-02 9.99334860e-01 -3.06425839e-04 -2.31118997e+01] [-4.50139314e-03 1.42371256e-04 9.99989859e-01 2.26312386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.900714057 meters Centerline goodness [0,1] 0.9846947975836263 Centerline is valid? [True, True] Translation: X:495.35, Y:-23.12, Z:2.26 [[ 9.99445976e-01 3.31338820e-02 3.14419896e-03 4.95352849e+02] [-3.31333716e-02 9.99450916e-01 -2.14304435e-04 -2.31190665e+01] [-3.14957327e-03 1.10007792e-04 9.99995034e-01 2.26192262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.930714057 meters Centerline goodness [0,1] 0.9837582837245872 Centerline is valid? [True, True] Translation: X:495.38, Y:-23.12, Z:2.26 [[ 9.99509500e-01 3.11954766e-02 2.75698510e-03 4.95381405e+02] [-3.11950765e-02 9.99513297e-01 -1.88022832e-04 -2.31242863e+01] [-2.76150873e-03 1.01926246e-04 9.99996182e-01 2.26122407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.960714057 meters Centerline goodness [0,1] 0.9847698631983287 Centerline is valid? [True, True] Translation: X:495.41, Y:-23.13, Z:2.26 [[ 9.99650245e-01 2.64088989e-02 1.39899728e-03 4.95411287e+02] [-2.64087915e-02 9.99651223e-01 -9.52108980e-05 -2.31316167e+01] [-1.40102376e-03 5.82317699e-05 9.99999017e-01 2.26072700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.990714057 meters Centerline goodness [0,1] 0.9840857712021845 Centerline is valid? [True, True] Translation: X:495.44, Y:-23.14, Z:2.26 [[ 9.99711673e-01 2.39798564e-02 1.23973636e-03 4.95439160e+02] [-2.39797698e-02 9.99712440e-01 -8.47296805e-05 -2.31397103e+01] [-1.24141167e-03 5.49766582e-05 9.99999228e-01 2.25950838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.020714057 meters Centerline goodness [0,1] 0.9837782203029557 Centerline is valid? [True, True] Translation: X:495.47, Y:-23.15, Z:2.26 [[ 9.99808014e-01 1.95884325e-02 4.77681638e-04 4.95468773e+02] [-1.95884192e-02 9.99808128e-01 -3.26053323e-05 -2.31453803e+01] [-4.78228672e-04 2.32420444e-05 9.99999885e-01 2.26051871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.050714057 meters Centerline goodness [0,1] 0.9849684426503713 Centerline is valid? [True, True] Translation: X:495.50, Y:-23.15, Z:2.26 [[ 9.99831204e-01 1.83450036e-02 1.01188688e-03 4.95495825e+02] [-1.83449426e-02 9.99831715e-01 -6.95640007e-05 -2.31509280e+01] [-1.01299274e-03 5.09892519e-05 9.99999486e-01 2.26090172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.080714057 meters Centerline goodness [0,1] 0.9849812826432942 Centerline is valid? [True, True] Translation: X:495.52, Y:-23.16, Z:2.26 [[ 9.99863422e-01 1.65232033e-02 3.48964001e-04 4.95524658e+02] [-1.65231958e-02 9.99863482e-01 -2.42825489e-05 -2.31560190e+01] [-3.49317587e-04 1.85132319e-05 9.99999939e-01 2.26169278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.110714057 meters Centerline goodness [0,1] 0.9843316942333482 Centerline is valid? [True, True] Translation: X:495.55, Y:-23.16, Z:2.26 [[ 9.99866989e-01 1.63094721e-02 7.66270434e-05 4.95552917e+02] [-1.63094717e-02 9.99866992e-01 -6.08353019e-06 -2.31587889e+01] [-7.67160705e-05 4.83297441e-06 9.99999997e-01 2.26181715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.140714057 meters Centerline goodness [0,1] 0.984393141019916 Centerline is valid? [True, True] Translation: X:495.58, Y:-23.16, Z:2.26 [[ 9.99864771e-01 1.64195056e-02 -9.16076596e-04 4.95581598e+02] [-1.64194567e-02 9.99865190e-01 6.09173840e-05 -2.31613262e+01] [ 9.16953332e-04 -4.58676663e-05 9.99999579e-01 2.26146484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.170714057 meters Centerline goodness [0,1] 0.9847644189896639 Centerline is valid? [True, True] Translation: X:495.61, Y:-23.16, Z:2.26 [[ 9.99868780e-01 1.61434009e-02 -1.34681302e-03 4.95610074e+02] [-1.61432944e-02 9.99869684e-01 8.98980924e-05 -2.31646298e+01] [ 1.34808877e-03 -6.81442968e-05 9.99999089e-01 2.26100038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.200714057 meters Centerline goodness [0,1] 0.9844788368047812 Centerline is valid? [True, True] Translation: X:495.64, Y:-23.17, Z:2.26 [[ 9.99885142e-01 1.51316113e-02 -8.58370861e-04 4.95637082e+02] [-1.51315681e-02 9.99885510e-01 5.67530233e-05 -2.31707953e+01] [ 8.59131351e-04 -4.37580076e-05 9.99999630e-01 2.26071191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.230714057 meters Centerline goodness [0,1] 0.985489424495819 Centerline is valid? [True, True] Translation: X:495.67, Y:-23.17, Z:2.26 [[ 9.99893873e-01 1.45257000e-02 -1.11653754e-03 4.95666244e+02] [-1.45256261e-02 9.99894495e-01 7.41937765e-05 -2.31713726e+01] [ 1.11749745e-03 -5.79674957e-05 9.99999374e-01 2.26142960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.26071405700003 meters Centerline goodness [0,1] 0.9859003865662637 Centerline is valid? [True, True] Translation: X:495.69, Y:-23.18, Z:2.26 [[ 9.99912879e-01 1.30625374e-02 -1.89831676e-03 4.95694316e+02] [-1.30623200e-02 9.99914676e-01 1.26913307e-04 -2.31765528e+01] [ 1.89981260e-03 -1.02105830e-04 9.99998190e-01 2.26097402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.290714057 meters Centerline goodness [0,1] 0.9854295502068782 Centerline is valid? [True, True] Translation: X:495.72, Y:-23.18, Z:2.26 [[ 9.99918604e-01 1.26444790e-02 -1.70391173e-03 4.95722889e+02] [-1.26443039e-02 9.99920051e-01 1.13496449e-04 -2.31786746e+01] [ 1.70521061e-03 -9.19424327e-05 9.99998542e-01 2.26113764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.320714057 meters Centerline goodness [0,1] 0.9860224177198231 Centerline is valid? [True, True] Translation: X:495.75, Y:-23.18, Z:2.26 [[ 9.99927203e-01 1.17445357e-02 -2.76656162e-03 4.95751930e+02] [-1.17440696e-02 9.99931019e-01 1.84644084e-04 -2.31814429e+01] [ 2.76853933e-03 -1.52139951e-04 9.99996156e-01 2.26109679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.350714057 meters Centerline goodness [0,1] 0.98577712282582 Centerline is valid? [True, True] Translation: X:495.78, Y:-23.18, Z:2.26 [[ 9.99928353e-01 1.14999617e-02 -3.32265369e-03 4.95780562e+02] [-1.14992883e-02 9.99933856e-01 2.21693663e-04 -2.31831845e+01] [ 3.32498338e-03 -1.83469627e-04 9.99994455e-01 2.26058899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.380714057 meters Centerline goodness [0,1] 0.9854811053955953 Centerline is valid? [True, True] Translation: X:495.81, Y:-23.19, Z:2.26 [[ 9.99920823e-01 1.17451931e-02 -4.51646512e-03 4.95808244e+02] [-1.17439528e-02 9.99930992e-01 3.01049646e-04 -2.31880814e+01] [ 4.51968934e-03 -2.47984657e-04 9.99989755e-01 2.25899873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.410714057 meters Centerline goodness [0,1] 0.9857958965923489 Centerline is valid? [True, True] Translation: X:495.84, Y:-23.19, Z:2.26 [[ 9.99909040e-01 1.27122273e-02 -4.50670223e-03 4.95835718e+02] [-1.27110043e-02 9.99919167e-01 2.99903493e-04 -2.31915792e+01] [ 4.51015038e-03 -2.42591502e-04 9.99989800e-01 2.25854612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.440714057 meters Centerline goodness [0,1] 0.9867558498700029 Centerline is valid? [True, True] Translation: X:495.86, Y:-23.19, Z:2.26 [[ 9.99894701e-01 1.37570503e-02 -4.61854460e-03 4.95864455e+02] [-1.37557771e-02 9.99905338e-01 3.07324145e-04 -2.31892266e+01] [ 4.62233527e-03 -2.43760113e-04 9.99989287e-01 2.25958001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.470714057 meters Centerline goodness [0,1] 0.986677638895067 Centerline is valid? [True, True] Translation: X:495.89, Y:-23.19, Z:2.26 [[ 9.99840424e-01 1.71234423e-02 -5.09050775e-03 4.95892938e+02] [-1.71219389e-02 9.99853351e-01 3.38782147e-04 -2.31896859e+01] [ 5.09556235e-03 -2.51568723e-04 9.99986986e-01 2.25995924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.500714057 meters Centerline goodness [0,1] 0.9870969184668367 Centerline is valid? [True, True] Translation: X:495.92, Y:-23.19, Z:2.26 [[ 9.99736658e-01 2.21015990e-02 -6.17532623e-03 4.95922803e+02] [-2.20994803e-02 9.99755692e-01 4.11118443e-04 -2.31863191e+01] [ 6.18290392e-03 -2.74538677e-04 9.99980848e-01 2.26085976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.530714057 meters Centerline goodness [0,1] 0.9887068696156764 Centerline is valid? [True, True] Translation: X:495.95, Y:-23.19, Z:2.26 [[ 9.99683706e-01 2.43247471e-02 -6.38708337e-03 4.95951593e+02] [-2.43225318e-02 9.99704073e-01 4.24305981e-04 -2.31868807e+01] [ 6.39551440e-03 -2.68821737e-04 9.99979512e-01 2.26042166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.560714057 meters Centerline goodness [0,1] 0.9885743672301225 Centerline is valid? [True, True] Translation: X:495.98, Y:-23.19, Z:2.26 [[ 9.99620310e-01 2.66938381e-02 -6.83192827e-03 4.95979075e+02] [-2.66913639e-02 9.99643619e-01 4.53082670e-04 -2.31880907e+01] [ 6.84158802e-03 -2.70557156e-04 9.99976559e-01 2.25980023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.590714057 meters Centerline goodness [0,1] 0.9890249332146037 Centerline is valid? [True, True] Translation: X:496.01, Y:-23.19, Z:2.26 [[ 9.99550369e-01 2.92567417e-02 -6.56528326e-03 4.96006672e+02] [-2.92545162e-02 9.99571900e-01 4.34780941e-04 -2.31889942e+01] [ 6.57519294e-03 -2.42521264e-04 9.99978354e-01 2.25921735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.620714057 meters Centerline goodness [0,1] 0.9890249332146037 Centerline is valid? [True, True] Translation: X:496.03, Y:-23.19, Z:2.26 [[ 9.99553474e-01 2.91504693e-02 -6.56534399e-03 4.96034097e+02] [-2.91482475e-02 9.99575005e-01 4.33864596e-04 -2.31907260e+01] [ 6.57520111e-03 -2.42302592e-04 9.99978354e-01 2.25886894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.650714057 meters Centerline goodness [0,1] 0.9878108565825832 Centerline is valid? [True, True] Translation: X:496.06, Y:-23.19, Z:2.26 [[ 9.99559828e-01 2.89325050e-02 -6.56203533e-03 4.96063242e+02] [-2.89302808e-02 9.99581338e-01 4.33630859e-04 -2.31925719e+01] [ 6.57183408e-03 -2.43598462e-04 9.99978376e-01 2.25909554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.680714057 meters Centerline goodness [0,1] 0.9880851443616404 Centerline is valid? [True, True] Translation: X:496.09, Y:-23.20, Z:2.26 [[ 9.99595630e-01 2.76667456e-02 -6.56709708e-03 4.96091989e+02] [-2.76644937e-02 9.99617171e-01 4.33510107e-04 -2.31959815e+01] [ 6.57657682e-03 -2.51659393e-04 9.99978342e-01 2.26048499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.710714057 meters Centerline goodness [0,1] 0.9877229916897506 Centerline is valid? [True, True] Translation: X:496.12, Y:-23.20, Z:2.26 [[ 9.99684208e-01 2.45448935e-02 -5.38809922e-03 4.96119708e+02] [-2.45433349e-02 9.99698704e-01 3.55192625e-04 -2.32021370e+01] [ 5.39519397e-03 -2.22838534e-04 9.99985421e-01 2.26058839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.740714057 meters Centerline goodness [0,1] 0.9877658154640092 Centerline is valid? [True, True] Translation: X:496.15, Y:-23.21, Z:2.26 [[ 9.99746460e-01 2.19706707e-02 -4.93001074e-03 4.96148645e+02] [-2.19693354e-02 9.99758592e-01 3.24859843e-04 -2.32063982e+01] [ 4.93595799e-03 -2.16468419e-04 9.99987795e-01 2.26081098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.770714057 meters Centerline goodness [0,1] 0.9874824910509816 Centerline is valid? [True, True] Translation: X:496.18, Y:-23.21, Z:2.26 [[ 9.99811121e-01 1.88385127e-02 -4.77830767e-03 4.96177569e+02] [-1.88372238e-02 9.99822514e-01 3.14597649e-04 -2.32115167e+01] [ 4.78338614e-03 -2.24528177e-04 9.99988534e-01 2.26005768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.800714057 meters Centerline goodness [0,1] 0.9870959129641578 Centerline is valid? [True, True] Translation: X:496.21, Y:-23.22, Z:2.26 [[ 9.99903395e-01 1.22765050e-02 -6.51829422e-03 4.96208048e+02] [-1.22739615e-02 9.99924580e-01 4.30069802e-04 -2.32153831e+01] [ 6.52308236e-03 -3.50022963e-04 9.99978663e-01 2.26026217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.830714057 meters Centerline goodness [0,1] 0.9871411151757011 Centerline is valid? [True, True] Translation: X:496.24, Y:-23.22, Z:2.26 [[ 9.99949024e-01 7.61305245e-03 -6.63250398e-03 4.96238339e+02] [-7.61031765e-03 9.99970945e-01 4.37473637e-04 -2.32205721e+01] [ 6.63564178e-03 -3.86975874e-04 9.99977909e-01 2.25975757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.860714057 meters Centerline goodness [0,1] 0.9863727010857523 Centerline is valid? [True, True] Translation: X:496.27, Y:-23.22, Z:2.26 [[ 9.99961218e-01 6.10069664e-03 -6.35171505e-03 4.96267153e+02] [-6.09816635e-03 9.99981319e-01 4.17654419e-04 -2.32236655e+01] [ 6.35414437e-03 -3.78904407e-04 9.99979740e-01 2.25940624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.890714057 meters Centerline goodness [0,1] 0.98705007305087 Centerline is valid? [True, True] Translation: X:496.30, Y:-23.23, Z:2.26 [[ 9.99966922e-01 5.57780253e-03 -5.91974302e-03 4.96295751e+02] [-5.57559843e-03 9.99984381e-01 3.88767793e-04 -2.32267134e+01] [ 5.92181903e-03 -3.55748823e-04 9.99982403e-01 2.25911744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.920714057 meters Centerline goodness [0,1] 0.9867125110913931 Centerline is valid? [True, True] Translation: X:496.32, Y:-23.23, Z:2.26 [[ 9.99965816e-01 5.79867613e-03 -5.89432882e-03 4.96324378e+02] [-5.79649725e-03 9.99983125e-01 3.86674548e-04 -2.32277736e+01] [ 5.89647155e-03 -3.52494869e-04 9.99982554e-01 2.25939209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.950714057 meters Centerline goodness [0,1] 0.9874434288756766 Centerline is valid? [True, True] Translation: X:496.35, Y:-23.23, Z:2.26 [[ 9.99959218e-01 6.52095166e-03 -6.24821802e-03 4.96353508e+02] [-6.51851984e-03 9.99978670e-01 4.09487594e-04 -2.32278613e+01] [ 6.25075500e-03 -3.68741761e-04 9.99980396e-01 2.25950430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.980714057 meters Centerline goodness [0,1] 0.9868523330446177 Centerline is valid? [True, True] Translation: X:496.38, Y:-23.23, Z:2.26 [[ 9.99942762e-01 7.99965982e-03 -7.10475318e-03 4.96381247e+02] [-7.99656052e-03 9.99967919e-01 4.64529237e-04 -2.32307424e+01] [ 7.10824133e-03 -4.07689060e-04 9.99974653e-01 2.25813589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.01071405700003 meters Centerline goodness [0,1] 0.987691624083537 Centerline is valid? [True, True] Translation: X:496.41, Y:-23.23, Z:2.26 [[ 9.99937330e-01 8.95936056e-03 -6.71313524e-03 4.96410024e+02] [-8.95661553e-03 9.99959792e-01 4.38857804e-04 -2.32319749e+01] [ 6.71679721e-03 -3.78703329e-04 9.99977370e-01 2.25788149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.040714057 meters Centerline goodness [0,1] 0.9869160947531548 Centerline is valid? [True, True] Translation: X:496.44, Y:-23.23, Z:2.26 [[ 9.99925940e-01 1.07406388e-02 -5.72303217e-03 4.96439103e+02] [-1.07386722e-02 9.99942269e-01 3.74248892e-04 -2.32336934e+01] [ 5.72672144e-03 -3.12763409e-04 9.99983553e-01 2.25753499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.070714057 meters Centerline goodness [0,1] 0.9871282538140551 Centerline is valid? [True, True] Translation: X:496.47, Y:-23.23, Z:2.26 [[ 9.99919755e-01 1.15723254e-02 -5.15412673e-03 4.96466671e+02] [-1.15707472e-02 9.99933000e-01 3.35919267e-04 -2.32349675e+01] [ 5.15766878e-03 -2.76255213e-04 9.99986661e-01 2.25783138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.100714057 meters Centerline goodness [0,1] 0.9869225807886485 Centerline is valid? [True, True] Translation: X:496.50, Y:-23.23, Z:2.26 [[ 9.99903690e-01 1.29766958e-02 -4.92108461e-03 4.96496342e+02] [-1.29752736e-02 9.99915766e-01 3.20817477e-04 -2.32291998e+01] [ 4.92483324e-03 -2.56934160e-04 9.99987840e-01 2.26025524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.130714057 meters Centerline goodness [0,1] 0.988232934411981 Centerline is valid? [True, True] Translation: X:496.53, Y:-23.23, Z:2.26 [[ 9.99891358e-01 1.38962076e-02 -4.91608532e-03 4.96525078e+02] [-1.38948024e-02 9.99903411e-01 3.19882870e-04 -2.32278728e+01] [ 4.92005564e-03 -2.51540084e-04 9.99987865e-01 2.26041794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.160714057 meters Centerline goodness [0,1] 0.9875504859970707 Centerline is valid? [True, True] Translation: X:496.55, Y:-23.23, Z:2.26 [[ 9.99881537e-01 1.45676721e-02 -4.96936389e-03 4.96553097e+02] [-1.45662496e-02 9.99893855e-01 3.22324005e-04 -2.32305094e+01] [ 4.97353193e-03 -2.49900826e-04 9.99987601e-01 2.25898773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.190714057 meters Centerline goodness [0,1] 0.9880610951777496 Centerline is valid? [True, True] Translation: X:496.58, Y:-23.23, Z:2.26 [[ 9.99875001e-01 1.48882046e-02 -5.32201765e-03 4.96580630e+02] [-1.48865781e-02 9.99889129e-01 3.45099031e-04 -2.32326302e+01] [ 5.32656550e-03 -2.65829262e-04 9.99985778e-01 2.25761540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.220714057 meters Centerline goodness [0,1] 0.9879646489319182 Centerline is valid? [True, True] Translation: X:496.61, Y:-23.24, Z:2.26 [[ 9.99884065e-01 1.41116294e-02 -5.72008377e-03 4.96608552e+02] [-1.41097432e-02 9.99900384e-01 3.69964468e-04 -2.32350995e+01] [ 5.72473476e-03 -2.89212663e-04 9.99983572e-01 2.25668102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.250714057 meters Centerline goodness [0,1] 0.9887952049739449 Centerline is valid? [True, True] Translation: X:496.64, Y:-23.24, Z:2.26 [[ 9.99896185e-01 1.31791941e-02 -5.82486380e-03 4.96637647e+02] [-1.31772213e-02 9.99913106e-01 3.76937397e-04 -2.32354091e+01] [ 5.82932538e-03 -3.00142746e-04 9.99982964e-01 2.25693481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.280714057 meters Centerline goodness [0,1] 0.9877834005840783 Centerline is valid? [True, True] Translation: X:496.67, Y:-23.24, Z:2.25 [[ 9.99916433e-01 1.13274443e-02 -6.23026176e-03 4.96665548e+02] [-1.13251540e-02 9.99935787e-01 4.02769080e-04 -2.32441902e+01] [ 6.23442404e-03 -3.32176748e-04 9.99980511e-01 2.25426719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.310714057 meters Centerline goodness [0,1] 0.9877175712559846 Centerline is valid? [True, True] Translation: X:496.70, Y:-23.24, Z:2.26 [[ 9.99927505e-01 1.04361659e-02 -6.00591327e-03 4.96695130e+02] [-1.04340242e-02 9.99945489e-01 3.87834375e-04 -2.32398363e+01] [ 6.00963339e-03 -3.25140415e-04 9.99981889e-01 2.25631392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.340714057 meters Centerline goodness [0,1] 0.9867531946209942 Centerline is valid? [True, True] Translation: X:496.72, Y:-23.24, Z:2.26 [[ 9.99948968e-01 8.94931759e-03 -4.68743700e-03 4.96722214e+02] [-8.94799944e-03 9.99959920e-01 3.02106415e-04 -2.32439380e+01] [ 4.68995277e-03 -2.60147815e-04 9.99988968e-01 2.25554017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.370714057 meters Centerline goodness [0,1] 0.9865328109696376 Centerline is valid? [True, True] Translation: X:496.75, Y:-23.25, Z:2.26 [[ 9.99958250e-01 8.10026278e-03 -4.22903115e-03 4.96751039e+02] [-8.09918361e-03 9.99967164e-01 2.72244930e-04 -2.32463438e+01] [ 4.23109754e-03 -2.37981864e-04 9.99991021e-01 2.25506703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.400714057 meters Centerline goodness [0,1] 0.9864334166369154 Centerline is valid? [True, True] Translation: X:496.78, Y:-23.25, Z:2.26 [[ 9.99966988e-01 7.39359290e-03 -3.37020625e-03 4.96779939e+02] [-7.39290493e-03 9.99972649e-01 2.16546296e-04 -2.32477179e+01] [ 3.37171513e-03 -1.91623533e-04 9.99994297e-01 2.25522665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.430714057 meters Centerline goodness [0,1] 0.9863912189898268 Centerline is valid? [True, True] Translation: X:496.81, Y:-23.24, Z:2.26 [[ 9.99969671e-01 7.20862412e-03 -2.94852324e-03 4.96809232e+02] [-7.20809784e-03 9.99974003e-01 1.89077033e-04 -2.32426219e+01] [ 2.94980957e-03 -1.67818055e-04 9.99995635e-01 2.25719317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.460714057 meters Centerline goodness [0,1] 0.9857436080496185 Centerline is valid? [True, True] Translation: X:496.84, Y:-23.25, Z:2.26 [[ 9.99968069e-01 7.95532521e-03 -7.57849834e-04 4.96837187e+02] [-7.95529140e-03 9.99968355e-01 4.76231253e-05 -2.32459295e+01] [ 7.58204709e-04 -4.15926884e-05 9.99999712e-01 2.25753093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.490714057 meters Centerline goodness [0,1] 0.9856232168330956 Centerline is valid? [True, True] Translation: X:496.86, Y:-23.25, Z:2.26 [[ 9.99963312e-01 8.56445255e-03 1.55080420e-04 4.96864229e+02] [-8.56445093e-03 9.99963324e-01 -1.10738145e-05 -2.32536953e+01] [-1.55169574e-04 9.74522959e-06 9.99999988e-01 2.25651223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.520714057 meters Centerline goodness [0,1] 0.9867531886328038 Centerline is valid? [True, True] Translation: X:496.89, Y:-23.24, Z:2.26 [[ 9.99952353e-01 9.60445710e-03 1.74550388e-03 4.96893569e+02] [-9.60427451e-03 9.99953872e-01 -1.12954865e-04 -2.32443604e+01] [-1.74650823e-03 9.61851847e-05 9.99998470e-01 2.25925580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.550714057 meters Centerline goodness [0,1] 0.9873757722266989 Centerline is valid? [True, True] Translation: X:496.92, Y:-23.25, Z:2.26 [[ 9.99946315e-01 1.01246647e-02 2.20434042e-03 4.96922642e+02] [-1.01243757e-02 9.99948737e-01 -1.42244053e-04 -2.32456975e+01] [-2.20566759e-03 1.19918846e-04 9.99997560e-01 2.25896223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.580714057 meters Centerline goodness [0,1] 0.9867419152557556 Centerline is valid? [True, True] Translation: X:496.95, Y:-23.24, Z:2.26 [[ 9.99938277e-01 1.09405141e-02 1.93605351e-03 4.96951403e+02] [-1.09402927e-02 9.99940145e-01 -1.24908071e-04 -2.32447581e+01] [-1.93730419e-03 1.03719369e-04 9.99998118e-01 2.25844328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.610714057 meters Centerline goodness [0,1] 0.9860631062548779 Centerline is valid? [True, True] Translation: X:496.98, Y:-23.25, Z:2.26 [[ 9.99932089e-01 1.15840858e-02 1.27501103e-03 4.96978607e+02] [-1.15839897e-02 9.99932900e-01 -8.26767728e-05 -2.32480445e+01] [-1.27588321e-03 6.79014435e-05 9.99999184e-01 2.25671921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.640714057 meters Centerline goodness [0,1] 0.9860149203874847 Centerline is valid? [True, True] Translation: X:497.01, Y:-23.25, Z:2.26 [[ 9.99928370e-01 1.19380567e-02 8.58531155e-04 4.97007722e+02] [-1.19380132e-02 9.99928738e-01 -5.57465048e-05 -2.32480158e+01] [-8.59135479e-04 4.54933554e-05 9.99999630e-01 2.25583071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.670714057 meters Centerline goodness [0,1] 0.9863715705142551 Centerline is valid? [True, True] Translation: X:497.04, Y:-23.25, Z:2.25 [[ 9.99914593e-01 1.30650715e-02 3.31683282e-04 4.97036371e+02] [-1.30650649e-02 9.99914648e-01 -2.20698469e-05 -2.32478609e+01] [-3.31943317e-04 1.77344984e-05 9.99999945e-01 2.25471998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.700714057 meters Centerline goodness [0,1] 0.9865768819122369 Centerline is valid? [True, True] Translation: X:497.07, Y:-23.25, Z:2.25 [[ 9.99901742e-01 1.40179424e-02 5.98302031e-05 4.97065122e+02] [-1.40179421e-02 9.99901744e-01 -4.71374552e-06 -2.32488736e+01] [-5.98904014e-05 3.87458603e-06 9.99999998e-01 2.25372246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.730714057 meters Centerline goodness [0,1] 0.987380995149991 Centerline is valid? [True, True] Translation: X:497.09, Y:-23.25, Z:2.25 [[ 9.99889602e-01 1.48571088e-02 2.23549298e-04 4.97094310e+02] [-1.48571058e-02 9.99889627e-01 -1.51344910e-05 -2.32495798e+01] [-2.23749479e-04 1.18115246e-05 9.99999975e-01 2.25337589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.76071405700003 meters Centerline goodness [0,1] 0.9879304939764432 Centerline is valid? [True, True] Translation: X:497.12, Y:-23.25, Z:2.25 [[ 9.99863876e-01 1.64815830e-02 7.65990629e-04 4.97123030e+02] [-1.64815498e-02 9.99864169e-01 -4.96129985e-05 -2.32501353e+01] [-7.66704284e-04 3.69815323e-05 9.99999705e-01 2.25248916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.790714057 meters Centerline goodness [0,1] 0.9880216729356976 Centerline is valid? [True, True] Translation: X:497.15, Y:-23.25, Z:2.25 [[ 9.99853712e-01 1.70534517e-02 1.31683226e-03 4.97152202e+02] [-1.70533554e-02 9.99854577e-01 -8.43471213e-05 -2.32520244e+01] [-1.31807918e-03 6.18783738e-05 9.99999129e-01 2.25227111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.820714057 meters Centerline goodness [0,1] 0.9869478585980702 Centerline is valid? [True, True] Translation: X:497.18, Y:-23.25, Z:2.25 [[ 9.99839849e-01 1.77968794e-02 1.88353281e-03 4.97180677e+02] [-1.77966840e-02 9.99841619e-01 -1.20456670e-04 -2.32518312e+01] [-1.88537825e-03 8.69167406e-05 9.99998219e-01 2.25235641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.850714057 meters Centerline goodness [0,1] 0.9872932634126664 Centerline is valid? [True, True] Translation: X:497.21, Y:-23.25, Z:2.25 [[ 9.99823461e-01 1.85940242e-02 2.70337361e-03 4.97208305e+02] [-1.85936257e-02 9.99827109e-01 -1.72471188e-04 -2.32546386e+01] [-2.70611315e-03 1.22175223e-04 9.99996331e-01 2.25235107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.880714057 meters Centerline goodness [0,1] 0.9860346448234188 Centerline is valid? [True, True] Translation: X:497.24, Y:-23.26, Z:2.25 [[ 9.99825546e-01 1.84488326e-02 2.91843472e-03 4.97236138e+02] [-1.84483681e-02 9.99829797e-01 -1.86011436e-04 -2.32561060e+01] [-2.92136969e-03 1.32138628e-04 9.99995724e-01 2.25209974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.910714057 meters Centerline goodness [0,1] 0.9864768205999375 Centerline is valid? [True, True] Translation: X:497.26, Y:-23.26, Z:2.25 [[ 9.99836227e-01 1.78052069e-02 3.23952332e-03 4.97264214e+02] [-1.78046333e-02 9.99841464e-01 -2.05815714e-04 -2.32598520e+01] [-3.24267433e-03 1.48103482e-04 9.99994732e-01 2.25157311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.940714057 meters Centerline goodness [0,1] 0.9864065929144086 Centerline is valid? [True, True] Translation: X:497.29, Y:-23.26, Z:2.25 [[ 9.99849657e-01 1.70371184e-02 3.22495617e-03 4.97291900e+02] [-1.70365469e-02 9.99854847e-01 -2.04605821e-04 -2.32632856e+01] [-3.22797395e-03 1.49632943e-04 9.99994779e-01 2.25088055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.970714057 meters Centerline goodness [0,1] 0.9860525607677819 Centerline is valid? [True, True] Translation: X:497.32, Y:-23.27, Z:2.25 [[ 9.99881417e-01 1.50133897e-02 3.42770079e-03 4.97321126e+02] [-1.50127351e-02 9.99887279e-01 -2.16624407e-04 -2.32683804e+01] [-3.43056668e-03 1.65139556e-04 9.99994102e-01 2.24967080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.000714057 meters Centerline goodness [0,1] 0.9851310258474197 Centerline is valid? [True, True] Translation: X:497.35, Y:-23.27, Z:2.25 [[ 9.99903811e-01 1.34383751e-02 3.43211983e-03 4.97348991e+02] [-1.34377084e-02 9.99909686e-01 -2.17257338e-04 -2.32729351e+01] [-3.43472945e-03 1.71116615e-04 9.99994087e-01 2.24862762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.030714057 meters Centerline goodness [0,1] 0.984610936909289 Centerline is valid? [True, True] Translation: X:497.38, Y:-23.28, Z:2.25 [[ 9.99942163e-01 1.04546731e-02 2.52411173e-03 4.97377270e+02] [-1.04543041e-02 9.99945340e-01 -1.59324942e-04 -2.32809028e+01] [-2.52563945e-03 1.32927895e-04 9.99996802e-01 2.24690177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.060714057 meters Centerline goodness [0,1] 0.9845786998863459 Centerline is valid? [True, True] Translation: X:497.41, Y:-23.28, Z:2.25 [[ 9.99954201e-01 9.19806470e-03 2.64411541e-03 4.97407110e+02] [-9.19765575e-03 9.99957687e-01 -1.66783066e-04 -2.32840585e+01] [-2.64553761e-03 1.42455764e-04 9.99996490e-01 2.24627657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.090714057 meters Centerline goodness [0,1] 0.9846765546819156 Centerline is valid? [True, True] Translation: X:497.44, Y:-23.28, Z:2.25 [[ 9.99968855e-01 7.49263544e-03 2.47962207e-03 4.97436412e+02] [-7.49227023e-03 9.99971920e-01 -1.56539748e-04 -2.32833998e+01] [-2.48072534e-03 1.37956874e-04 9.99996913e-01 2.24671883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.120714057 meters Centerline goodness [0,1] 0.9848856391279147 Centerline is valid? [True, True] Translation: X:497.46, Y:-23.29, Z:2.25 [[ 9.99974760e-01 6.76395035e-03 2.17436807e-03 4.97464826e+02] [-6.76366749e-03 9.99977117e-01 -1.37413779e-04 -2.32859076e+01] [-2.17524777e-03 1.22703608e-04 9.99997627e-01 2.24606592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.150714057 meters Centerline goodness [0,1] 0.9848883928571428 Centerline is valid? [True, True] Translation: X:497.49, Y:-23.29, Z:2.25 [[ 9.99983166e-01 5.47830285e-03 1.91213672e-03 4.97494009e+02] [-5.47808217e-03 9.99984988e-01 -1.20629610e-04 -2.32878490e+01] [-1.91276886e-03 1.10152738e-04 9.99998165e-01 2.24585847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.180714057 meters Centerline goodness [0,1] 0.9838208675054191 Centerline is valid? [True, True] Translation: X:497.52, Y:-23.29, Z:2.25 [[ 9.99984846e-01 5.03724843e-03 2.22141319e-03 4.97522155e+02] [-5.03695000e-03 9.99987305e-01 -1.39916026e-04 -2.32922706e+01] [-2.22208978e-03 1.28724758e-04 9.99997523e-01 2.24525252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.210714057 meters Centerline goodness [0,1] 0.9834207296664064 Centerline is valid? [True, True] Translation: X:497.55, Y:-23.30, Z:2.25 [[ 9.99990644e-01 3.26046653e-03 2.84291335e-03 4.97551446e+02] [-3.25997290e-03 9.99994670e-01 -1.78252735e-04 -2.32955618e+01] [-2.84347938e-03 1.68983246e-04 9.99995943e-01 2.24561124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.240714057 meters Centerline goodness [0,1] 0.9839749328558639 Centerline is valid? [True, True] Translation: X:497.58, Y:-23.29, Z:2.25 [[ 9.99991774e-01 2.39720300e-03 3.27188003e-03 4.97581884e+02] [-2.39654491e-03 9.99997107e-01 -2.05042096e-04 -2.32895802e+01] [-3.27236210e-03 1.97199201e-04 9.99994626e-01 2.24689455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.270714057 meters Centerline goodness [0,1] 0.9827266014812163 Centerline is valid? [True, True] Translation: X:497.61, Y:-23.29, Z:2.25 [[ 9.99989932e-01 1.11370725e-03 4.34701609e-03 4.97611535e+02] [-1.11253292e-03 9.99999344e-01 -2.72555052e-04 -2.32924658e+01] [-4.34731679e-03 2.67716110e-04 9.99990515e-01 2.24767487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.300714057 meters Centerline goodness [0,1] 0.984523304375014 Centerline is valid? [True, True] Translation: X:497.64, Y:-23.29, Z:2.25 [[ 9.99986304e-01 8.16115693e-04 5.16970471e-03 4.97643410e+02] [-8.14459857e-04 9.99999616e-01 -3.22393222e-04 -2.32921844e+01] [-5.16996584e-03 3.18178289e-04 9.99986585e-01 2.24826994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.330714057 meters Centerline goodness [0,1] 0.9820529948786462 Centerline is valid? [True, True] Translation: X:497.67, Y:-23.30, Z:2.25 [[ 9.99986113e-01 -8.68302541e-05 5.26931480e-03 4.97674418e+02] [ 8.85698532e-05 9.99999942e-01 -3.29905187e-04 -2.32999675e+01] [-5.26928585e-03 3.30367308e-04 9.99986063e-01 2.24738351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.360714057 meters Centerline goodness [0,1] 0.9845085827808656 Centerline is valid? [True, True] Translation: X:497.71, Y:-23.30, Z:2.25 [[ 9.99987691e-01 -3.46310942e-05 4.96151749e-03 4.97706838e+02] [ 3.61837333e-05 9.99999950e-01 -3.12846908e-04 -2.32957092e+01] [-4.96150641e-03 3.13022584e-04 9.99987643e-01 2.24727476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.390714057 meters Centerline goodness [0,1] 0.9843001119820829 Centerline is valid? [True, True] Translation: X:497.74, Y:-23.30, Z:2.25 [[ 9.99991513e-01 1.30286641e-03 3.90844246e-03 4.97738462e+02] [-1.30191155e-03 9.99999122e-01 -2.46842862e-04 -2.32952779e+01] [-3.90876063e-03 2.41752321e-04 9.99992332e-01 2.24575000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.420714057 meters Centerline goodness [0,1] 0.9839811278364412 Centerline is valid? [True, True] Translation: X:497.77, Y:-23.29, Z:2.25 [[ 9.99984782e-01 4.43125731e-03 3.28617441e-03 4.97768631e+02] [-4.43059789e-03 9.99990163e-01 -2.07919797e-04 -2.32946070e+01] [-3.28706343e-03 1.93356916e-04 9.99994579e-01 2.24505409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.450714057 meters Centerline goodness [0,1] 0.9848253911328283 Centerline is valid? [True, True] Translation: X:497.80, Y:-23.29, Z:2.25 [[ 9.99974716e-01 6.45120685e-03 2.99144151e-03 4.97799410e+02] [-6.45066941e-03 9.99979176e-01 -1.89271729e-04 -2.32906353e+01] [-2.99260025e-03 1.69970143e-04 9.99995508e-01 2.24537503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.480714057 meters Centerline goodness [0,1] 0.9852182495177426 Centerline is valid? [True, True] Translation: X:497.83, Y:-23.29, Z:2.24 [[ 9.99933629e-01 1.11712920e-02 2.81783814e-03 4.97829334e+02] [-1.11708332e-02 9.99937588e-01 -1.78504582e-04 -2.32895786e+01] [-2.81965640e-03 1.47015135e-04 9.99996014e-01 2.24424919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.51071405700003 meters Centerline goodness [0,1] 0.9851431900685699 Centerline is valid? [True, True] Translation: X:497.86, Y:-23.29, Z:2.24 [[ 9.99904239e-01 1.36138247e-02 2.48520809e-03 4.97858680e+02] [-1.36134751e-02 9.99907320e-01 -1.57542340e-04 -2.32899469e+01] [-2.48712251e-03 1.23694935e-04 9.99996899e-01 2.24329611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.540714057 meters Centerline goodness [0,1] 0.9851431900685699 Centerline is valid? [True, True] Translation: X:497.89, Y:-23.29, Z:2.24 [[ 9.99905181e-01 1.35444902e-02 2.48519147e-03 4.97886966e+02] [-1.35441398e-02 9.99908261e-01 -1.57805697e-04 -2.32916732e+01] [-2.48710088e-03 1.24130953e-04 9.99996899e-01 2.24293706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.570714057 meters Centerline goodness [0,1] 0.9871364527247741 Centerline is valid? [True, True] Translation: X:497.92, Y:-23.28, Z:2.24 [[ 9.99806407e-01 1.95395401e-02 2.31407970e-03 4.97917534e+02] [-1.95392541e-02 9.99809080e-01 -1.46159365e-04 -2.32848321e+01] [-2.31649378e-03 1.00915678e-04 9.99997312e-01 2.24244526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.600714057 meters Centerline goodness [0,1] 0.9872784995384234 Centerline is valid? [True, True] Translation: X:497.95, Y:-23.28, Z:2.24 [[ 9.99747996e-01 2.23661600e-02 1.92315031e-03 4.97945279e+02] [-2.23659659e-02 9.99749843e-01 -1.22389175e-04 -2.32848515e+01] [-1.92540660e-03 7.93452181e-05 9.99998143e-01 2.24173554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.630714057 meters Centerline goodness [0,1] 0.9861778037068617 Centerline is valid? [True, True] Translation: X:497.97, Y:-23.29, Z:2.24 [[ 9.99687075e-01 2.49338190e-02 2.01438362e-03 4.97973333e+02] [-2.49336121e-02 9.99689101e-01 -1.27769667e-04 -2.32892985e+01] [-2.01694314e-03 7.75038245e-05 9.99997963e-01 2.23934038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.660714057 meters Centerline goodness [0,1] 0.9885635658215285 Centerline is valid? [True, True] Translation: X:498.00, Y:-23.28, Z:2.24 [[ 9.99550213e-01 2.99290140e-02 1.90431391e-03 4.98003265e+02] [-2.99288390e-02 9.99552025e-01 -1.20318481e-04 -2.32832871e+01] [-1.90706184e-03 6.32704590e-05 9.99998180e-01 2.23995322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.690714057 meters Centerline goodness [0,1] 0.988272157564906 Centerline is valid? [True, True] Translation: X:498.03, Y:-23.28, Z:2.24 [[ 9.99414869e-01 3.40379898e-02 3.36662313e-03 4.98032245e+02] [-3.40374678e-02 9.99420535e-01 -2.12237519e-04 -2.32845538e+01] [-3.37189643e-03 9.75220060e-05 9.99994310e-01 2.24051760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.720714057 meters Centerline goodness [0,1] 0.9880711231150123 Centerline is valid? [True, True] Translation: X:498.06, Y:-23.29, Z:2.24 [[ 9.99389273e-01 3.47869332e-02 3.30923496e-03 4.98060609e+02] [-3.47864322e-02 9.99394747e-01 -2.08832568e-04 -2.32858582e+01] [-3.31449668e-03 9.35885509e-05 9.99994503e-01 2.24024693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.750714057 meters Centerline goodness [0,1] 0.9882509471405376 Centerline is valid? [True, True] Translation: X:498.09, Y:-23.29, Z:2.24 [[ 9.99366613e-01 3.54017387e-02 3.61785332e-03 4.98088983e+02] [-3.54011452e-02 9.99373157e-01 -2.27970779e-04 -2.32888582e+01] [-3.62365606e-03 9.97502345e-05 9.99993430e-01 2.23975636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.780714057 meters Centerline goodness [0,1] 0.9885439597466193 Centerline is valid? [True, True] Translation: X:498.12, Y:-23.29, Z:2.24 [[ 9.99383671e-01 3.48759300e-02 3.99352788e-03 4.98117413e+02] [-3.48752042e-02 9.99391643e-01 -2.51266726e-04 -2.32925887e+01] [-3.99986156e-03 1.11836763e-04 9.99991994e-01 2.23896406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.810714057 meters Centerline goodness [0,1] 0.988249013275924 Centerline is valid? [True, True] Translation: X:498.15, Y:-23.30, Z:2.24 [[ 9.99466232e-01 3.24465198e-02 3.80456033e-03 4.98146018e+02] [-3.24458443e-02 9.99473466e-01 -2.39162492e-04 -2.32988847e+01] [-3.81031709e-03 1.15592662e-04 9.99992734e-01 2.23702466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.840714057 meters Centerline goodness [0,1] 0.9859227544775953 Centerline is valid? [True, True] Translation: X:498.17, Y:-23.31, Z:2.24 [[ 9.99566737e-01 2.92352143e-02 3.41176659e-03 4.98173867e+02] [-2.92346535e-02 9.99572553e-01 -2.14154807e-04 -2.33088443e+01] [-3.41656910e-03 1.14320208e-04 9.99994157e-01 2.23503663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.870714057 meters Centerline goodness [0,1] 0.9871694745063037 Centerline is valid? [True, True] Translation: X:498.20, Y:-23.31, Z:2.24 [[ 9.99612813e-01 2.75848176e-02 3.64706180e-03 4.98202729e+02] [-2.75841660e-02 9.99619458e-01 -2.28843988e-04 -2.33119502e+01] [-3.65198656e-03 1.28154225e-04 9.99993323e-01 2.23500081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.900714057 meters Centerline goodness [0,1] 0.9848511812074565 Centerline is valid? [True, True] Translation: X:498.23, Y:-23.32, Z:2.23 [[ 9.99667993e-01 2.55436073e-02 3.38056124e-03 4.98229820e+02] [-2.55430359e-02 9.99673701e-01 -2.12105887e-04 -2.33191862e+01] [-3.38487611e-03 1.25685669e-04 9.99994263e-01 2.23401460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.930714057 meters Centerline goodness [0,1] 0.9842282552925692 Centerline is valid? [True, True] Translation: X:498.26, Y:-23.33, Z:2.23 [[ 9.99760603e-01 2.14815165e-02 4.15694879e-03 4.98257490e+02] [-2.14806207e-02 9.99769231e-01 -2.60031301e-04 -2.33279294e+01] [-4.16157537e-03 1.70675210e-04 9.99991326e-01 2.23417820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.960714057 meters Centerline goodness [0,1] 0.9848741367787927 Centerline is valid? [True, True] Translation: X:498.29, Y:-23.33, Z:2.24 [[ 9.99793677e-01 1.96978392e-02 4.95973775e-03 4.98285970e+02] [-1.96965444e-02 9.99805956e-01 -3.09765788e-04 -2.33289548e+01] [-4.96487706e-03 2.12012181e-04 9.99987652e-01 2.23531371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.990714057 meters Centerline goodness [0,1] 0.9842944730762395 Centerline is valid? [True, True] Translation: X:498.31, Y:-23.34, Z:2.24 [[ 9.99818764e-01 1.74350507e-02 7.64578465e-03 4.98314700e+02] [-1.74319155e-02 9.99847939e-01 -4.76511206e-04 -2.33360173e+01] [-7.65293003e-03 3.43144174e-04 9.99970657e-01 2.23698646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.020714057 meters Centerline goodness [0,1] 0.9849045665358545 Centerline is valid? [True, True] Translation: X:498.34, Y:-23.34, Z:2.24 [[ 9.99830448e-01 1.61316427e-02 8.87945173e-03 4.98342838e+02] [-1.61273683e-02 9.99869793e-01 -5.52772163e-04 -2.33390814e+01] [-8.88721269e-03 4.09476250e-04 9.99960424e-01 2.23681336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.050714057 meters Centerline goodness [0,1] 0.9841093207513576 Centerline is valid? [True, True] Translation: X:498.37, Y:-23.35, Z:2.24 [[ 9.99859016e-01 1.41697136e-02 9.00930477e-03 4.98370889e+02] [-1.41652443e-02 9.99899511e-01 -5.59693400e-04 -2.33464442e+01] [-9.01633013e-03 4.31995489e-04 9.99959259e-01 2.23554515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.080714057 meters Centerline goodness [0,1] 0.9848997019970644 Centerline is valid? [True, True] Translation: X:498.40, Y:-23.35, Z:2.23 [[ 9.99910451e-01 1.10426349e-02 7.55981629e-03 4.98400455e+02] [-1.10394029e-02 9.99938954e-01 -4.69116389e-04 -2.33523222e+01] [-7.56453507e-03 3.85618522e-04 9.99971314e-01 2.23283696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.110714057 meters Centerline goodness [0,1] 0.985490526689444 Centerline is valid? [True, True] Translation: X:498.43, Y:-23.36, Z:2.23 [[ 9.99930627e-01 9.53488992e-03 6.91577228e-03 4.98430278e+02] [-9.53214831e-03 9.99954476e-01 -4.29283099e-04 -2.33562082e+01] [-6.91955062e-03 3.63331151e-04 9.99975994e-01 2.23116782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.140714057 meters Centerline goodness [0,1] 0.9850032120151518 Centerline is valid? [True, True] Translation: X:498.46, Y:-23.36, Z:2.23 [[ 9.99945975e-01 8.19494629e-03 6.39447364e-03 4.98459711e+02] [-8.19257787e-03 9.99966362e-01 -3.96492407e-04 -2.33631798e+01] [-6.39750777e-03 3.44083763e-04 9.99979477e-01 2.22950818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.170714057 meters Centerline goodness [0,1] 0.9853536582667758 Centerline is valid? [True, True] Translation: X:498.49, Y:-23.37, Z:2.23 [[ 9.99970983e-01 5.35086468e-03 5.42233323e-03 4.98489952e+02] [-5.34911979e-03 9.99985637e-01 -3.36246893e-04 -2.33670157e+01] [-5.42405456e-03 3.07232426e-04 9.99985243e-01 2.22846735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.200714057 meters Centerline goodness [0,1] 0.9847218537189352 Centerline is valid? [True, True] Translation: X:498.52, Y:-23.37, Z:2.23 [[ 9.99981120e-01 4.06620957e-03 4.60710136e-03 4.98520299e+02] [-4.06493634e-03 9.99991697e-01 -2.85693161e-04 -2.33696315e+01] [-4.60822480e-03 2.66960193e-04 9.99989346e-01 2.22753735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.230714057 meters Centerline goodness [0,1] 0.9846000663790242 Centerline is valid? [True, True] Translation: X:498.55, Y:-23.37, Z:2.23 [[ 9.99994806e-01 1.80092416e-03 2.67286499e-03 4.98550891e+02] [-1.80048801e-03 9.99998365e-01 -1.65575574e-04 -2.33736353e+01] [-2.67315881e-03 1.60762253e-04 9.99996414e-01 2.22520533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.26071405700003 meters Centerline goodness [0,1] 0.9846464019851117 Centerline is valid? [True, True] Translation: X:498.58, Y:-23.38, Z:2.22 [[ 9.99999526e-01 7.93511637e-05 9.70551586e-04 4.98580834e+02] [-7.92937361e-05 9.99999995e-01 -5.92083771e-05 -2.33766136e+01] [-9.70556280e-04 5.91313904e-05 9.99999527e-01 2.22328015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.290714057 meters Centerline goodness [0,1] 0.9862505553087517 Centerline is valid? [True, True] Translation: X:498.61, Y:-23.37, Z:2.22 [[ 9.99999391e-01 -2.78878990e-04 1.06821457e-03 4.98611936e+02] [ 2.78950025e-04 9.99999959e-01 -6.63510593e-05 -2.33731543e+01] [-1.06819602e-03 6.66489973e-05 9.99999427e-01 2.22370675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.320714057 meters Centerline goodness [0,1] 0.9836881639183964 Centerline is valid? [True, True] Translation: X:498.64, Y:-23.38, Z:2.22 [[ 9.99996679e-01 -1.40012180e-04 2.57357980e-03 4.98641787e+02] [ 1.40422488e-04 9.99999977e-01 -1.59250947e-04 -2.33796502e+01] [-2.57355745e-03 1.59611807e-04 9.99996676e-01 2.22379310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.350714057 meters Centerline goodness [0,1] 0.9845969725848275 Centerline is valid? [True, True] Translation: X:498.67, Y:-23.37, Z:2.22 [[ 9.99992505e-01 -3.38117501e-05 3.87144844e-03 4.98673710e+02] [ 3.47426633e-05 9.99999971e-01 -2.40389061e-04 -2.33741302e+01] [-3.87144020e-03 2.40521764e-04 9.99992477e-01 2.22491510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.380714057 meters Centerline goodness [0,1] 0.9834531097506876 Centerline is valid? [True, True] Translation: X:498.71, Y:-23.37, Z:2.23 [[ 9.99983899e-01 -2.99624313e-04 5.66682498e-03 4.98705148e+02] [ 3.01625464e-04 9.99999892e-01 -3.52283147e-04 -2.33741801e+01] [-5.66671881e-03 3.53986734e-04 9.99983881e-01 2.22603267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.410714057 meters Centerline goodness [0,1] 0.9835685977646168 Centerline is valid? [True, True] Translation: X:498.74, Y:-23.38, Z:2.23 [[ 9.99980850e-01 -8.58628826e-04 6.12873518e-03 4.98736467e+02] [ 8.60973746e-04 9.99999557e-01 -3.79982732e-04 -2.33766749e+01] [-6.12840620e-03 3.85252136e-04 9.99981147e-01 2.22589855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.440714057 meters Centerline goodness [0,1] 0.9826705176627416 Centerline is valid? [True, True] Translation: X:498.77, Y:-23.38, Z:2.22 [[ 9.99974615e-01 -3.69038728e-03 6.09515842e-03 4.98767924e+02] [ 3.69277524e-03 9.99993109e-01 -3.80572518e-04 -2.33778858e+01] [-6.09371196e-03 4.03070907e-04 9.99981352e-01 2.22498865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.470714057 meters Centerline goodness [0,1] 0.9814777976703578 Centerline is valid? [True, True] Translation: X:498.80, Y:-23.38, Z:2.22 [[ 9.99968831e-01 -5.22186939e-03 5.92199512e-03 4.98800212e+02] [ 5.22415009e-03 9.99986286e-01 -3.69719840e-04 -2.33814787e+01] [-5.91998327e-03 4.00645707e-04 9.99982396e-01 2.22402933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.500714057 meters Centerline goodness [0,1] 0.9819797745801221 Centerline is valid? [True, True] Translation: X:498.83, Y:-23.38, Z:2.22 [[ 9.99938690e-01 -9.67917012e-03 5.37870506e-03 4.98830109e+02] [ 9.68112067e-03 9.99953080e-01 -3.36726553e-04 -2.33845158e+01] [-5.37519346e-03 3.88777801e-04 9.99985478e-01 2.22205861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.530714057 meters Centerline goodness [0,1] 0.9794729233848549 Centerline is valid? [True, True] Translation: X:498.86, Y:-23.39, Z:2.22 [[ 9.99924144e-01 -1.11213751e-02 5.29342762e-03 4.98860856e+02] [ 1.11232813e-02 9.99938080e-01 -3.30807182e-04 -2.33918751e+01] [-5.28942082e-03 3.89662373e-04 9.99985935e-01 2.22071283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.560714057 meters Centerline goodness [0,1] 0.9801086594966183 Centerline is valid? [True, True] Translation: X:498.89, Y:-23.39, Z:2.22 [[ 9.99908559e-01 -1.25673093e-02 4.99355812e-03 4.98892357e+02] [ 1.25690248e-02 9.99920958e-01 -3.12313708e-04 -2.33930777e+01] [-4.98923848e-03 3.75049306e-04 9.99987483e-01 2.22026158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.590714057 meters Centerline goodness [0,1] 0.9809731752963194 Centerline is valid? [True, True] Translation: X:498.92, Y:-23.39, Z:2.22 [[ 9.99912160e-01 -1.23429719e-02 4.82943773e-03 4.98924246e+02] [ 1.23445743e-02 9.99923757e-01 -3.02128805e-04 -2.33913723e+01] [-4.82534035e-03 3.61719619e-04 9.99988293e-01 2.22000414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.620714057 meters Centerline goodness [0,1] 0.9805048682129092 Centerline is valid? [True, True] Translation: X:498.96, Y:-23.39, Z:2.22 [[ 9.99936075e-01 -1.02279706e-02 4.82020336e-03 4.98955268e+02] [ 1.02295454e-02 9.99947631e-01 -3.02170223e-04 -2.33918522e+01] [-4.81686035e-03 3.51459396e-04 9.99988337e-01 2.21860203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.650714057 meters Centerline goodness [0,1] 0.9804825880622953 Centerline is valid? [True, True] Translation: X:498.99, Y:-23.39, Z:2.22 [[ 9.99949055e-01 -8.73609432e-03 5.05645686e-03 4.98987507e+02] [ 8.73780865e-03 9.99961774e-01 -3.17044592e-04 -2.33884057e+01] [-5.05349384e-03 3.61210792e-04 9.99987166e-01 2.21801332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.680714057 meters Centerline goodness [0,1] 0.9788007133303611 Centerline is valid? [True, True] Translation: X:499.02, Y:-23.39, Z:2.22 [[ 9.99963900e-01 -5.91044230e-03 6.10455002e-03 4.99017623e+02] [ 5.91289354e-03 9.99982445e-01 -3.83572305e-04 -2.33902618e+01] [-6.10217578e-03 4.19654012e-04 9.99981293e-01 2.21724329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.710714057 meters Centerline goodness [0,1] 0.9812925170068028 Centerline is valid? [True, True] Translation: X:499.05, Y:-23.38, Z:2.22 [[ 9.99951823e-01 -4.99173708e-03 8.45187595e-03 4.99050415e+02] [ 4.99640072e-03 9.99987377e-01 -5.30762297e-04 -2.33798100e+01] [-8.44911983e-03 5.72965685e-04 9.99964141e-01 2.21871718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.740714057 meters Centerline goodness [0,1] 0.9812209732785893 Centerline is valid? [True, True] Translation: X:499.08, Y:-23.38, Z:2.22 [[ 9.99943348e-01 -5.07111859e-03 9.35867551e-03 4.99082305e+02] [ 5.07684735e-03 9.99986940e-01 -5.88478240e-04 -2.33795682e+01] [-9.35556904e-03 6.35957469e-04 9.99956033e-01 2.21870581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.770714057 meters Centerline goodness [0,1] 0.9795593964089017 Centerline is valid? [True, True] Translation: X:499.11, Y:-23.38, Z:2.22 [[ 9.99922635e-01 -6.64552334e-03 1.05147734e-02 4.99113422e+02] [ 6.65284722e-03 9.99977651e-01 -6.61707900e-04 -2.33829181e+01] [-1.05101410e-02 7.31609888e-04 9.99944499e-01 2.21812401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.800714057 meters Centerline goodness [0,1] 0.980306051576188 Centerline is valid? [True, True] Translation: X:499.15, Y:-23.38, Z:2.22 [[ 9.99906933e-01 -8.23518373e-03 1.08768807e-02 4.99145811e+02] [ 8.24314599e-03 9.99965788e-01 -6.87405794e-04 -2.33828247e+01] [-1.08708476e-02 7.77001535e-04 9.99940609e-01 2.21717383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.830714057 meters Centerline goodness [0,1] 0.979015008537791 Centerline is valid? [True, True] Translation: X:499.18, Y:-23.39, Z:2.22 [[ 9.99864457e-01 -1.31963548e-02 9.84494932e-03 4.99176824e+02] [ 1.32031243e-02 9.99912641e-01 -6.22932184e-04 -2.33863187e+01] [-9.83586884e-03 7.52831840e-04 9.99951343e-01 2.21559103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.860714057 meters Centerline goodness [0,1] 0.9797468923505743 Centerline is valid? [True, True] Translation: X:499.21, Y:-23.39, Z:2.21 [[ 9.99834887e-01 -1.58540036e-02 8.87969034e-03 4.99208132e+02] [ 1.58596165e-02 9.99874070e-01 -5.62039431e-04 -2.33892341e+01] [-8.86966155e-03 7.02775115e-04 9.99960417e-01 2.21433098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.890714057 meters Centerline goodness [0,1] 0.9781871279344041 Centerline is valid? [True, True] Translation: X:499.24, Y:-23.40, Z:2.21 [[ 9.99766909e-01 -2.01355425e-02 7.79020765e-03 4.99237735e+02] [ 2.01399944e-02 9.99797048e-01 -4.93438984e-04 -2.33959653e+01] [-7.77869095e-03 6.50218707e-04 9.99969534e-01 2.21117215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.920714057 meters Centerline goodness [0,1] 0.9776441012749147 Centerline is valid? [True, True] Translation: X:499.27, Y:-23.40, Z:2.21 [[ 9.99739521e-01 -2.20527824e-02 5.87915358e-03 4.99268728e+02] [ 2.20553506e-02 9.99756682e-01 -3.72352918e-04 -2.33985881e+01] [-5.86951166e-03 5.01922721e-04 9.99982648e-01 2.20871513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.950714057 meters Centerline goodness [0,1] 0.9775674885926858 Centerline is valid? [True, True] Translation: X:499.30, Y:-23.40, Z:2.21 [[ 9.99744400e-01 -2.20305739e-02 5.07819541e-03 4.99300034e+02] [ 2.20324856e-02 9.99757204e-01 -3.20799446e-04 -2.34009253e+01] [-5.06989505e-03 4.32602717e-04 9.99987054e-01 2.20764838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.980714057 meters Centerline goodness [0,1] 0.9762264917707086 Centerline is valid? [True, True] Translation: X:499.33, Y:-23.40, Z:2.21 [[ 9.99776424e-01 -2.05815670e-02 4.84784426e-03 4.99331323e+02] [ 2.05832988e-02 9.99788094e-01 -3.07599701e-04 -2.33993859e+01] [-4.84048609e-03 4.07315556e-04 9.99988202e-01 2.20683170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.01071405700003 meters Centerline goodness [0,1] 0.9771300853388721 Centerline is valid? [True, True] Translation: X:499.36, Y:-23.40, Z:2.21 [[ 9.99804602e-01 -1.89913309e-02 5.48523852e-03 4.99362520e+02] [ 1.89935256e-02 9.99819546e-01 -3.48292108e-04 -2.33988768e+01] [-5.47763416e-03 4.52408071e-04 9.99984895e-01 2.20684361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.040714057 meters Centerline goodness [0,1] 0.977456189937818 Centerline is valid? [True, True] Translation: X:499.39, Y:-23.40, Z:2.21 [[ 9.99859728e-01 -1.52037769e-02 7.02635139e-03 4.99392492e+02] [ 1.52072899e-02 9.99884263e-01 -4.46811408e-04 -2.33965266e+01] [-7.01874496e-03 5.53600495e-04 9.99975215e-01 2.20675785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.070714057 meters Centerline goodness [0,1] 0.976738918710788 Centerline is valid? [True, True] Translation: X:499.42, Y:-23.40, Z:2.21 [[ 9.99881895e-01 -1.34241729e-02 7.48249146e-03 4.99424394e+02] [ 1.34281035e-02 9.99909726e-01 -4.75315266e-04 -2.33964518e+01] [-7.47543527e-03 5.75734798e-04 9.99971893e-01 2.20659160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.100714057 meters Centerline goodness [0,1] 0.9747241815879906 Centerline is valid? [True, True] Translation: X:499.46, Y:-23.40, Z:2.21 [[ 9.99899834e-01 -1.16729995e-02 8.00399733e-03 4.99455385e+02] [ 1.16774456e-02 9.99931687e-01 -5.08980289e-04 -2.33968644e+01] [-7.99750923e-03 6.02395550e-04 9.99967838e-01 2.20627106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.130714057 meters Centerline goodness [0,1] 0.9768624690629186 Centerline is valid? [True, True] Translation: X:499.49, Y:-23.39, Z:2.21 [[ 9.99919703e-01 -8.86049112e-03 9.05978856e-03 4.99486152e+02] [ 8.86607724e-03 9.99960529e-01 -5.76606892e-04 -2.33924247e+01] [-9.05432194e-03 6.56885377e-04 9.99958793e-01 2.20702281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.160714057 meters Centerline goodness [0,1] 0.9790173186773173 Centerline is valid? [True, True] Translation: X:499.52, Y:-23.38, Z:2.21 [[ 9.99910461e-01 -8.37193071e-03 1.04393647e-02 4.99519504e+02] [ 8.37931957e-03 9.99964672e-01 -6.64249755e-04 -2.33819699e+01] [-1.04334349e-02 7.51665052e-04 9.99945288e-01 2.20777285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.190714057 meters Centerline goodness [0,1] 0.9770248423161874 Centerline is valid? [True, True] Translation: X:499.55, Y:-23.39, Z:2.21 [[ 9.99902071e-01 -8.65819779e-03 1.09947263e-02 4.99550219e+02] [ 8.66642063e-03 9.99962201e-01 -7.00465348e-04 -2.33872654e+01] [-1.09882459e-02 7.95681675e-04 9.99939311e-01 2.20749863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.220714057 meters Centerline goodness [0,1] 0.975601970083911 Centerline is valid? [True, True] Translation: X:499.58, Y:-23.39, Z:2.21 [[ 9.99876379e-01 -1.07177253e-02 1.15046741e-02 4.99580066e+02] [ 1.07268714e-02 9.99942196e-01 -7.33576418e-04 -2.33938615e+01] [-1.14961468e-02 8.56894892e-04 9.99933550e-01 2.20722291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.250714057 meters Centerline goodness [0,1] 0.973959634027289 Centerline is valid? [True, True] Translation: X:499.61, Y:-23.40, Z:2.21 [[ 9.99861638e-01 -1.19807045e-02 1.15398539e-02 4.99612078e+02] [ 1.19900012e-02 9.99927846e-01 -7.36769938e-04 -2.33972580e+01] [-1.15301943e-02 8.75030860e-04 9.99933142e-01 2.20646699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.280714057 meters Centerline goodness [0,1] 0.9762812656044305 Centerline is valid? [True, True] Translation: X:499.64, Y:-23.39, Z:2.20 [[ 9.99843590e-01 -1.41583223e-02 1.05989227e-02 4.99643444e+02] [ 1.41662938e-02 9.99899424e-01 -6.77399973e-04 -2.33949723e+01] [-1.05882658e-02 8.27441473e-04 9.99943600e-01 2.20485428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.310714057 meters Centerline goodness [0,1] 0.9751739874500855 Centerline is valid? [True, True] Translation: X:499.67, Y:-23.40, Z:2.20 [[ 9.99831939e-01 -1.59544349e-02 9.03045240e-03 4.99672942e+02] [ 1.59602985e-02 9.99872459e-01 -5.77624838e-04 -2.33997683e+01] [-9.02008497e-03 7.21656478e-04 9.99959058e-01 2.20170009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.340714057 meters Centerline goodness [0,1] 0.9764284410368748 Centerline is valid? [True, True] Translation: X:499.71, Y:-23.40, Z:2.20 [[ 9.99840767e-01 -1.57125314e-02 8.45908469e-03 4.99705030e+02] [ 1.57176655e-02 9.99876324e-01 -5.40785114e-04 -2.34025328e+01] [-8.44954139e-03 6.73656067e-04 9.99964075e-01 2.20063995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.370714057 meters Centerline goodness [0,1] 0.9750878313637815 Centerline is valid? [True, True] Translation: X:499.74, Y:-23.40, Z:2.20 [[ 9.99844807e-01 -1.59161212e-02 7.55244094e-03 4.99736975e+02] [ 1.59202227e-02 9.99873148e-01 -4.83260037e-04 -2.34043416e+01] [-7.54379128e-03 6.03421580e-04 9.99971363e-01 2.19907084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.400714057 meters Centerline goodness [0,1] 0.9753811944091486 Centerline is valid? [True, True] Translation: X:499.77, Y:-23.41, Z:2.20 [[ 9.99847346e-01 -1.57640897e-02 7.53515689e-03 4.99768582e+02] [ 1.57681721e-02 9.99875558e-01 -4.82678821e-04 -2.34072646e+01] [-7.52661021e-03 6.01420790e-04 9.99971494e-01 2.19862629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.430714057 meters Centerline goodness [0,1] 0.9753811944091486 Centerline is valid? [True, True] Translation: X:499.80, Y:-23.41, Z:2.20 [[ 9.99848979e-01 -1.56601965e-02 7.53513502e-03 4.99801155e+02] [ 1.56642785e-02 9.99877191e-01 -4.83020117e-04 -2.34094515e+01] [-7.52664545e-03 6.00979624e-04 9.99971494e-01 2.19821315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.460714057 meters Centerline goodness [0,1] 0.9760569161307977 Centerline is valid? [True, True] Translation: X:499.83, Y:-23.41, Z:2.20 [[ 9.99848987e-01 -1.58824131e-02 7.05349222e-03 4.99833888e+02] [ 1.58860014e-02 9.99873707e-01 -4.52982156e-04 -2.34074339e+01] [-7.04540696e-03 5.64965537e-04 9.99975021e-01 2.19759563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.490714057 meters Centerline goodness [0,1] 0.9759225871237192 Centerline is valid? [True, True] Translation: X:499.87, Y:-23.41, Z:2.20 [[ 9.99854611e-01 -1.57269720e-02 6.58932956e-03 4.99865728e+02] [ 1.57301022e-02 9.99876185e-01 -4.23477377e-04 -2.34106891e+01] [-6.58185368e-03 5.27066635e-04 9.99978200e-01 2.19676191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.520714057 meters Centerline goodness [0,1] 0.9764140194157057 Centerline is valid? [True, True] Translation: X:499.90, Y:-23.41, Z:2.20 [[ 9.99860824e-01 -1.54591557e-02 6.27272115e-03 4.99898182e+02] [ 1.54619909e-02 9.99880375e-01 -4.03740805e-04 -2.34096165e+01] [-6.26572928e-03 5.00673371e-04 9.99980245e-01 2.19615759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.550714057 meters Centerline goodness [0,1] 0.9737273472361352 Centerline is valid? [True, True] Translation: X:499.93, Y:-23.42, Z:2.20 [[ 9.99873405e-01 -1.47327656e-02 6.01001352e-03 4.99929065e+02] [ 1.47353584e-02 9.99891354e-01 -3.87346870e-04 -2.34173232e+01] [-6.00365386e-03 4.75857536e-04 9.99981865e-01 2.19504522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.580714057 meters Centerline goodness [0,1] 0.9754772125308248 Centerline is valid? [True, True] Translation: X:499.96, Y:-23.42, Z:2.19 [[ 9.99903822e-01 -1.25027471e-02 6.00231467e-03 4.99960242e+02] [ 1.25052967e-02 9.99921731e-01 -3.87412343e-04 -2.34164875e+01] [-5.99700115e-03 4.62435808e-04 9.99981911e-01 2.19477713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.610714057 meters Centerline goodness [0,1] 0.9740233036326251 Centerline is valid? [True, True] Translation: X:499.99, Y:-23.42, Z:2.19 [[ 9.99920272e-01 -1.12291241e-02 5.77551240e-03 4.99990689e+02] [ 1.12314640e-02 9.99936856e-01 -3.72864767e-04 -2.34180643e+01] [-5.77096076e-03 4.37702499e-04 9.99983252e-01 2.19459538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.640714057 meters Centerline goodness [0,1] 0.9756600187759027 Centerline is valid? [True, True] Translation: X:500.02, Y:-23.42, Z:2.19 [[ 9.99946473e-01 -8.71635894e-03 5.57464632e-03 5.00021689e+02] [ 8.71850056e-03 9.99961928e-01 -3.59984071e-04 -2.34161958e+01] [-5.57129633e-03 4.08567359e-04 9.99984397e-01 2.19488365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.670714057 meters Centerline goodness [0,1] 0.9755098303998535 Centerline is valid? [True, True] Translation: X:500.05, Y:-23.42, Z:2.19 [[ 9.99952812e-01 -7.67499967e-03 5.95544442e-03 5.00052987e+02] [ 7.67742484e-03 9.99970454e-01 -3.84465245e-04 -2.34179545e+01] [-5.95231769e-03 4.30169580e-04 9.99982192e-01 2.19464044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.700714057 meters Centerline goodness [0,1] 0.9781885736565675 Centerline is valid? [True, True] Translation: X:500.09, Y:-23.41, Z:2.20 [[ 9.99962821e-01 -6.14830612e-03 6.04610636e-03 5.00085263e+02] [ 6.15077904e-03 9.99981008e-01 -3.90501319e-04 -2.34122003e+01] [-6.04359061e-03 4.27675065e-04 9.99981646e-01 2.19522867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.730714057 meters Centerline goodness [0,1] 0.9775918050029725 Centerline is valid? [True, True] Translation: X:500.12, Y:-23.42, Z:2.19 [[ 9.99965240e-01 -6.07554906e-03 5.71021202e-03 5.00117180e+02] [ 6.07775500e-03 9.99981462e-01 -3.69041435e-04 -2.34152561e+01] [-5.70786404e-03 4.03733877e-04 9.99983629e-01 2.19432307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.76071405700003 meters Centerline goodness [0,1] 0.9777269608964098 Centerline is valid? [True, True] Translation: X:500.15, Y:-23.42, Z:2.19 [[ 9.99965246e-01 -6.14790343e-03 5.63117858e-03 5.00149222e+02] [ 6.15005323e-03 9.99981022e-01 -3.64531327e-04 -2.34160379e+01] [-5.62883061e-03 3.99150706e-04 9.99984078e-01 2.19424988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.790714057 meters Centerline goodness [0,1] 0.9769132009720758 Centerline is valid? [True, True] Translation: X:500.18, Y:-23.42, Z:2.19 [[ 9.99965433e-01 -6.50028640e-03 5.18456490e-03 5.00179812e+02] [ 6.50211564e-03 9.99978805e-01 -3.36048084e-04 -2.34214076e+01] [-5.18227061e-03 3.69747108e-04 9.99986504e-01 2.19401028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.820714057 meters Centerline goodness [0,1] 0.9757997983316528 Centerline is valid? [True, True] Translation: X:500.21, Y:-23.43, Z:2.19 [[ 9.99963495e-01 -6.92015924e-03 5.01191044e-03 5.00210891e+02] [ 6.92187519e-03 9.99975991e-01 -3.25109048e-04 -2.34250502e+01] [-5.00954031e-03 3.59788999e-04 9.99987387e-01 2.19413411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.850714057 meters Centerline goodness [0,1] 0.9770340608163638 Centerline is valid? [True, True] Translation: X:500.24, Y:-23.42, Z:2.19 [[ 9.99966406e-01 -6.63582397e-03 4.81176881e-03 5.00243966e+02] [ 6.63740198e-03 9.99977924e-01 -3.12054095e-04 -2.34207883e+01] [-4.80959185e-03 3.43981256e-04 9.99988375e-01 2.19463798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.880714057 meters Centerline goodness [0,1] 0.9764654758365162 Centerline is valid? [True, True] Translation: X:500.28, Y:-23.42, Z:2.19 [[ 9.99970753e-01 -6.41540412e-03 4.16367258e-03 5.00276616e+02] [ 6.41658440e-03 9.99979377e-01 -2.70174041e-04 -2.34228223e+01] [-4.16185344e-03 2.96882696e-04 9.99991295e-01 2.19393580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.910714057 meters Centerline goodness [0,1] 0.975593577016332 Centerline is valid? [True, True] Translation: X:500.31, Y:-23.43, Z:2.19 [[ 9.99981632e-01 -5.24731961e-03 3.03344150e-03 5.00307446e+02] [ 5.24794190e-03 9.99986210e-01 -1.97217082e-04 -2.34328949e+01] [-3.03236481e-03 2.13132785e-04 9.99995380e-01 2.19138840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.940714057 meters Centerline goodness [0,1] 0.9783831803375778 Centerline is valid? [True, True] Translation: X:500.34, Y:-23.43, Z:2.19 [[ 9.99986240e-01 -4.64230992e-03 2.44310478e-03 5.00340460e+02] [ 4.64271132e-03 9.99989210e-01 -1.58650981e-04 -2.34254261e+01] [-2.44234191e-03 1.69991428e-04 9.99997003e-01 2.19161596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.970714057 meters Centerline goodness [0,1] 0.9784867319556891 Centerline is valid? [True, True] Translation: X:500.37, Y:-23.43, Z:2.19 [[ 9.99993053e-01 -3.45935417e-03 1.38781555e-03 5.00372819e+02] [ 3.45948216e-03 9.99994012e-01 -8.98343902e-05 -2.34263482e+01] [-1.38749647e-03 9.46348893e-05 9.99999033e-01 2.19060596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.000714057 meters Centerline goodness [0,1] 0.9795543303468872 Centerline is valid? [True, True] Translation: X:500.41, Y:-23.43, Z:2.19 [[ 9.99994502e-01 -3.28656043e-03 4.40138151e-04 5.00405309e+02] [ 3.28657302e-03 9.99994599e-01 -2.79014581e-05 -2.34267202e+01] [-4.40044074e-04 2.93478508e-05 9.99999903e-01 2.19062128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.030714057 meters Centerline goodness [0,1] 0.9790152053757769 Centerline is valid? [True, True] Translation: X:500.44, Y:-23.43, Z:2.19 [[ 9.99993578e-01 -3.58206944e-03 1.16105059e-04 5.00437004e+02] [ 3.58207029e-03 9.99993584e-01 -7.15338834e-06 -2.34291246e+01] [-1.16078691e-04 7.56923888e-06 9.99999993e-01 2.19032252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0607140569999 meters Centerline goodness [0,1] 0.9796649893155028 Centerline is valid? [True, True] Translation: X:500.47, Y:-23.43, Z:2.19 [[ 9.99989803e-01 -4.46549848e-03 -6.73418665e-04 5.00468211e+02] [ 4.46552951e-03 9.99990028e-01 4.45734275e-05 -2.34316180e+01] [ 6.73212907e-04 -4.75801439e-05 9.99999772e-01 2.18981155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0907140569999 meters Centerline goodness [0,1] 0.9794498530492285 Centerline is valid? [True, True] Translation: X:500.50, Y:-23.44, Z:2.19 [[ 9.99985864e-01 -5.21173943e-03 -1.05289516e-03 5.00499020e+02] [ 5.21181640e-03 9.99986416e-01 7.03727851e-05 -2.34371324e+01] [ 1.05251409e-03 -7.58592866e-05 9.99999443e-01 2.18867854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.120714057 meters Centerline goodness [0,1] 0.9797359251788007 Centerline is valid? [True, True] Translation: X:500.53, Y:-23.44, Z:2.19 [[ 9.99980605e-01 -6.17482660e-03 -8.12629032e-04 5.00530891e+02] [ 6.17487256e-03 9.99980934e-01 5.40601349e-05 -2.34357889e+01] [ 8.12279726e-04 -5.90769671e-05 9.99999668e-01 2.18941794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.150714057 meters Centerline goodness [0,1] 0.9788709825107591 Centerline is valid? [True, True] Translation: X:500.56, Y:-23.44, Z:2.19 [[ 9.99979840e-01 -6.34682806e-03 -1.92366347e-04 5.00561182e+02] [ 6.34683074e-03 9.99979859e-01 1.33287098e-05 -2.34432805e+01] [ 1.92277877e-04 -1.45493577e-05 9.99999981e-01 2.18858125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1807140569999 meters Centerline goodness [0,1] 0.979069820696604 Centerline is valid? [True, True] Translation: X:500.59, Y:-23.45, Z:2.19 [[ 9.99975658e-01 -6.95870778e-03 5.09889082e-04 5.00592134e+02] [ 6.95872545e-03 9.99975787e-01 -3.28840929e-05 -2.34472034e+01] [-5.09647906e-04 3.64314706e-05 9.99999869e-01 2.18930890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2107140569999 meters Centerline goodness [0,1] 0.9774786138568448 Centerline is valid? [True, True] Translation: X:500.62, Y:-23.45, Z:2.19 [[ 9.99972794e-01 -7.35846763e-03 5.14770201e-04 5.00623875e+02] [ 7.35848560e-03 9.99972925e-01 -3.30256861e-05 -2.34498678e+01] [-5.14513246e-04 3.68127167e-05 9.99999867e-01 2.18923404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.240714057 meters Centerline goodness [0,1] 0.9765090692833779 Centerline is valid? [True, True] Translation: X:500.65, Y:-23.45, Z:2.19 [[ 9.99956059e-01 -9.37289582e-03 1.68945107e-04 5.00654115e+02] [ 9.37289774e-03 9.99956073e-01 -1.05946071e-05 -2.34541658e+01] [-1.68838384e-04 1.21776468e-05 9.99999986e-01 2.18824946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.270714057 meters Centerline goodness [0,1] 0.9803741746148202 Centerline is valid? [True, True] Translation: X:500.69, Y:-23.45, Z:2.19 [[ 9.99944492e-01 -1.04976749e-02 -9.01402547e-04 5.00686738e+02] [ 1.04977335e-02 9.99944895e-01 6.03862005e-05 -2.34486245e+01] [ 9.00718961e-04 -6.98455323e-05 9.99999592e-01 2.18897543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3007140569999 meters Centerline goodness [0,1] 0.9789636645114288 Centerline is valid? [True, True] Translation: X:500.72, Y:-23.45, Z:2.19 [[ 9.99918611e-01 -1.27018635e-02 -1.19761406e-03 5.00716460e+02] [ 1.27019685e-02 9.99919324e-01 8.01074466e-05 -2.34542197e+01] [ 1.19649993e-03 -9.53129827e-05 9.99999280e-01 2.18794733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3307140569999 meters Centerline goodness [0,1] 0.9789138696826778 Centerline is valid? [True, True] Translation: X:500.75, Y:-23.46, Z:2.19 [[ 9.99898415e-01 -1.41022779e-02 -2.06989293e-03 5.00747625e+02] [ 1.41025920e-02 9.99900544e-01 1.37237432e-04 -2.34569129e+01] [ 2.06775171e-03 -1.66414346e-04 9.99997848e-01 2.18738919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.360714057 meters Centerline goodness [0,1] 0.9783939998623822 Centerline is valid? [True, True] Translation: X:500.78, Y:-23.46, Z:2.19 [[ 9.99872546e-01 -1.58007340e-02 -2.28670124e-03 5.00777102e+02] [ 1.58011206e-02 9.99875143e-01 1.51112397e-04 -2.34629832e+01] [ 2.28402805e-03 -1.87225579e-04 9.99997374e-01 2.18679311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.390714057 meters Centerline goodness [0,1] 0.9782013238986533 Centerline is valid? [True, True] Translation: X:500.81, Y:-23.47, Z:2.19 [[ 9.99871612e-01 -1.58843370e-02 -2.10896115e-03 5.00808766e+02] [ 1.58846682e-02 9.99873821e-01 1.40410484e-04 -2.34650705e+01] [ 2.10646471e-03 -1.73892605e-04 9.99997766e-01 2.18646331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4207140569999 meters Centerline goodness [0,1] 0.978495362418413 Centerline is valid? [True, True] Translation: X:500.84, Y:-23.47, Z:2.19 [[ 9.99882301e-01 -1.51569564e-02 -2.37712417e-03 5.00841080e+02] [ 1.51573753e-02 9.99885108e-01 1.58315835e-04 -2.34666705e+01] [ 2.37445147e-03 -1.94328164e-04 9.99997162e-01 2.18612701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4507140569999 meters Centerline goodness [0,1] 0.9793220183905943 Centerline is valid? [True, True] Translation: X:500.87, Y:-23.46, Z:2.19 [[ 9.99892772e-01 -1.44423956e-02 -2.42110810e-03 5.00873659e+02] [ 1.44428285e-02 9.99895684e-01 1.61417086e-04 -2.34647532e+01] [ 2.41852429e-03 -1.96367426e-04 9.99997056e-01 2.18673866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.480714057 meters Centerline goodness [0,1] 0.9793804985337243 Centerline is valid? [True, True] Translation: X:500.90, Y:-23.47, Z:2.19 [[ 9.99917535e-01 -1.27384824e-02 -1.62905837e-03 5.00904257e+02] [ 1.27386759e-02 9.99918854e-01 1.08509716e-04 -2.34692602e+01] [ 1.62754393e-03 -1.29252814e-04 9.99998667e-01 2.18662862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.510714057 meters Centerline goodness [0,1] 0.9807890694848811 Centerline is valid? [True, True] Translation: X:500.94, Y:-23.47, Z:2.19 [[ 9.99942018e-01 -1.05866989e-02 -1.97052802e-03 5.00935691e+02] [ 1.05869779e-02 9.99943948e-01 1.31215419e-04 -2.34676592e+01] [ 1.96902843e-03 -1.52069747e-04 9.99998050e-01 2.18673823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.540714057 meters Centerline goodness [0,1] 0.9798432250839866 Centerline is valid? [True, True] Translation: X:500.97, Y:-23.47, Z:2.19 [[ 9.99959131e-01 -8.83802773e-03 -1.90386230e-03 5.00965649e+02] [ 8.83828472e-03 9.99960934e-01 1.26612008e-04 -2.34702782e+01] [ 1.90266892e-03 -1.43433711e-04 9.99998180e-01 2.18606036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5707140569999 meters Centerline goodness [0,1] 0.9818048321593282 Centerline is valid? [True, True] Translation: X:501.00, Y:-23.47, Z:2.19 [[ 9.99983135e-01 -5.47475574e-03 -1.93844953e-03 5.00996878e+02] [ 5.47501568e-03 9.99985004e-01 1.28813716e-04 -2.34666566e+01] [ 1.93771524e-03 -1.39424585e-04 9.99998113e-01 2.18637599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6007140569999 meters Centerline goodness [0,1] 0.9826186918036556 Centerline is valid? [True, True] Translation: X:501.03, Y:-23.46, Z:2.19 [[ 9.99986807e-01 -4.23824571e-03 -2.90231345e-03 5.01028710e+02] [ 4.23882435e-03 9.99990997e-01 1.93249645e-04 -2.34640623e+01] [ 2.90146829e-03 -2.05549492e-04 9.99995770e-01 2.18649993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.630714057 meters Centerline goodness [0,1] 0.9814708119195225 Centerline is valid? [True, True] Translation: X:501.06, Y:-23.47, Z:2.18 [[ 9.99990121e-01 -1.50773275e-03 -4.18140994e-03 5.01058532e+02] [ 1.50890735e-03 9.99998823e-01 2.77767588e-04 -2.34689059e+01] [ 4.18098622e-03 -2.84074204e-04 9.99991219e-01 2.18386811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.660714057 meters Centerline goodness [0,1] 0.9836583958453549 Centerline is valid? [True, True] Translation: X:501.09, Y:-23.46, Z:2.18 [[ 9.99985146e-01 1.14609047e-04 -5.44932053e-03 5.01088350e+02] [-1.12641592e-04 9.99999928e-01 3.61351333e-04 -2.34641072e+01] [ 5.44936156e-03 -3.60732146e-04 9.99985087e-01 2.18413262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6907140569999 meters Centerline goodness [0,1] 0.9838772740863405 Centerline is valid? [True, True] Translation: X:501.12, Y:-23.46, Z:2.18 [[ 9.99972022e-01 3.69937679e-03 -6.50145529e-03 5.01118468e+02] [-3.69665296e-03 9.99993075e-01 4.30924112e-04 -2.34621807e+01] [ 6.50300441e-03 -4.06878432e-04 9.99978772e-01 2.18266380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7207140569999 meters Centerline goodness [0,1] 0.9844695301453373 Centerline is valid? [True, True] Translation: X:501.15, Y:-23.46, Z:2.18 [[ 9.99940043e-01 8.28030908e-03 -7.16573655e-03 5.01149480e+02] [-8.27711456e-03 9.99965631e-01 4.75347533e-04 -2.34585388e+01] [ 7.16942629e-03 -4.16007410e-04 9.99974213e-01 2.18376490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.750714057 meters Centerline goodness [0,1] 0.9845662586482171 Centerline is valid? [True, True] Translation: X:501.18, Y:-23.46, Z:2.18 [[ 9.99914462e-01 1.12085475e-02 -6.74070827e-03 5.01179927e+02] [-1.12057887e-02 9.99937113e-01 4.46897450e-04 -2.34578137e+01] [ 6.74529344e-03 -3.71324271e-04 9.99977181e-01 2.18423761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.780714057 meters Centerline goodness [0,1] 0.9850732366159793 Centerline is valid? [True, True] Translation: X:501.21, Y:-23.45, Z:2.19 [[ 9.99822948e-01 1.78007419e-02 -6.09969056e-03 5.01211580e+02] [-1.77986022e-02 9.99841510e-01 4.04887065e-04 -2.34486263e+01] [ 6.10593111e-03 -2.96249413e-04 9.99981315e-01 2.18788341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8107140569999 meters Centerline goodness [0,1] 0.9857904912762934 Centerline is valid? [True, True] Translation: X:501.24, Y:-23.45, Z:2.19 [[ 9.99755878e-01 2.15320110e-02 -4.95559312e-03 5.01240881e+02] [-2.15306484e-02 9.99768135e-01 3.28151724e-04 -2.34498271e+01] [ 4.96150986e-03 -2.21374481e-04 9.99987667e-01 2.18769202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8407140569999 meters Centerline goodness [0,1] 0.9852297083216849 Centerline is valid? [True, True] Translation: X:501.27, Y:-23.45, Z:2.19 [[ 9.99680417e-01 2.48880160e-02 -4.43284528e-03 5.01271406e+02] [-2.48869582e-02 9.99690229e-01 2.93638373e-04 -2.34489403e+01] [ 4.43878019e-03 -1.83224496e-04 9.99990132e-01 2.18810756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.870714057 meters Centerline goodness [0,1] 0.9860445545711681 Centerline is valid? [True, True] Translation: X:501.30, Y:-23.45, Z:2.19 [[ 9.99518975e-01 3.08056411e-02 -3.58194094e-03 5.01302172e+02] [-3.08049880e-02 9.99525386e-01 2.37357713e-04 -2.34471572e+01] [ 3.58755286e-03 -1.26901891e-04 9.99993557e-01 2.18819876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.900714057 meters Centerline goodness [0,1] 0.9855697500932488 Centerline is valid? [True, True] Translation: X:501.33, Y:-23.45, Z:2.19 [[ 9.99393016e-01 3.45926653e-02 -4.11657388e-03 5.01330980e+02] [-3.45918382e-02 9.99401486e-01 2.71982680e-04 -2.34479984e+01] [ 4.12351866e-03 -1.29417734e-04 9.99991490e-01 2.18724082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9307140569999 meters Centerline goodness [0,1] 0.9854067432520781 Centerline is valid? [True, True] Translation: X:501.36, Y:-23.45, Z:2.19 [[ 9.99355382e-01 3.55635956e-02 -4.90421522e-03 5.01358830e+02] [-3.55624369e-02 9.99367404e-01 3.23294590e-04 -2.34500110e+01] [ 4.91261035e-03 -1.48680344e-04 9.99987922e-01 2.18627744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9607140569999 meters Centerline goodness [0,1] 0.9848676209187015 Centerline is valid? [True, True] Translation: X:501.39, Y:-23.45, Z:2.18 [[ 9.99324675e-01 3.61506390e-02 -6.58220870e-03 5.01386198e+02] [-3.61485901e-02 9.99346334e-01 4.30026557e-04 -2.34527250e+01] [ 6.59345186e-03 -1.91798585e-04 9.99978245e-01 2.18476382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.990714057 meters Centerline goodness [0,1] 0.9854740775338626 Centerline is valid? [True, True] Translation: X:501.41, Y:-23.46, Z:2.18 [[ 9.99327542e-01 3.60046938e-02 -6.93733886e-03 5.01413698e+02] [-3.60024062e-02 9.99351600e-01 4.54397074e-04 -2.34566195e+01] [ 6.94920111e-03 -2.04330619e-04 9.99975833e-01 2.18318414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.020714057 meters Centerline goodness [0,1] 0.9847931732043621 Centerline is valid? [True, True] Translation: X:501.44, Y:-23.46, Z:2.18 [[ 9.99346549e-01 3.55325194e-02 -6.62678693e-03 5.01441170e+02] [-3.55304473e-02 9.99368502e-01 4.30185819e-04 -2.34608777e+01] [ 6.63788772e-03 -1.94452010e-04 9.99977950e-01 2.18404586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0507140569999 meters Centerline goodness [0,1] 0.9853841870824054 Centerline is valid? [True, True] Translation: X:501.47, Y:-23.47, Z:2.18 [[ 9.99383589e-01 3.44892616e-02 -6.55239351e-03 5.01469692e+02] [-3.44871991e-02 9.99405048e-01 4.27531778e-04 -2.34650159e+01] [ 6.56324041e-03 -2.01294543e-04 9.99978441e-01 2.18418113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0807140569999 meters Centerline goodness [0,1] 0.9849206716314353 Centerline is valid? [True, True] Translation: X:501.50, Y:-23.47, Z:2.18 [[ 9.99484284e-01 3.15734545e-02 -5.85514645e-03 5.01498032e+02] [-3.15717606e-02 9.99501415e-01 3.81523655e-04 -2.34723051e+01] [ 5.86427318e-03 -1.96469615e-04 9.99982786e-01 2.18465854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.110714057 meters Centerline goodness [0,1] 0.9843146327356853 Centerline is valid? [True, True] Translation: X:501.53, Y:-23.48, Z:2.18 [[ 9.99553311e-01 2.93196007e-02 -5.79127512e-03 5.01526276e+02] [-2.93179083e-02 9.99570067e-01 3.76929239e-04 -2.34769289e+01] [ 5.79983667e-03 -2.06972796e-04 9.99983159e-01 2.18438900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.140714057 meters Centerline goodness [0,1] 0.9841881722912146 Centerline is valid? [True, True] Translation: X:501.56, Y:-23.49, Z:2.18 [[ 9.99697942e-01 2.39278131e-02 -5.61108227e-03 5.01555174e+02] [-2.39261370e-02 9.99713662e-01 3.65657439e-04 -2.34877812e+01] [ 5.61822499e-03 -2.31295466e-04 9.99984191e-01 2.18309946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1707140569999 meters Centerline goodness [0,1] 0.9835413523522151 Centerline is valid? [True, True] Translation: X:501.58, Y:-23.50, Z:2.18 [[ 9.99824940e-01 1.80943897e-02 -4.76250169e-03 5.01584829e+02] [-1.80931162e-02 9.99836258e-01 3.10351352e-04 -2.34958654e+01] [ 4.76733748e-03 -2.24128525e-04 9.99988611e-01 2.18354697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2007140569999 meters Centerline goodness [0,1] 0.9832315329535836 Centerline is valid? [True, True] Translation: X:501.61, Y:-23.50, Z:2.18 [[ 9.99872805e-01 1.53732642e-02 -4.24683082e-03 5.01613688e+02] [-1.53722302e-02 9.99881802e-01 2.76018954e-04 -2.35016735e+01] [ 4.25057217e-03 -2.10700585e-04 9.99990944e-01 2.18375908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.230714057 meters Centerline goodness [0,1] 0.9821778567847212 Centerline is valid? [True, True] Translation: X:501.64, Y:-23.51, Z:2.18 [[ 9.99944895e-01 9.81779269e-03 -3.71726782e-03 5.01643998e+02] [-9.81696033e-03 9.99951783e-01 2.42096471e-04 -2.35090166e+01] [ 3.71946544e-03 -2.05590860e-04 9.99993062e-01 2.18455578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.260714057 meters Centerline goodness [0,1] 0.9817251960450051 Centerline is valid? [True, True] Translation: X:501.67, Y:-23.52, Z:2.18 [[ 9.99970362e-01 6.90574558e-03 -3.40377164e-03 5.01671757e+02] [-6.90503387e-03 9.99976136e-01 2.20802769e-04 -2.35166981e+01] [ 3.40521522e-03 -1.97293067e-04 9.99994183e-01 2.18314870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.290714057 meters Centerline goodness [0,1] 0.9811874431301183 Centerline is valid? [True, True] Translation: X:501.70, Y:-23.53, Z:2.18 [[ 9.99991315e-01 2.10877189e-03 -3.59489044e-03 5.01700418e+02] [-2.10794428e-03 9.99997751e-01 2.33991326e-04 -2.35250827e+01] [ 3.59537579e-03 -2.26411465e-04 9.99993511e-01 2.18195058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3207140569999 meters Centerline goodness [0,1] 0.9813700004560587 Centerline is valid? [True, True] Translation: X:501.73, Y:-23.53, Z:2.18 [[ 9.99990801e-01 -1.19982798e-04 -4.28760625e-03 5.01730363e+02] [ 1.21179220e-04 9.99999954e-01 2.78783292e-04 -2.35303490e+01] [ 4.28757261e-03 -2.79300296e-04 9.99990769e-01 2.18112606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3507140569999 meters Centerline goodness [0,1] 0.9813700004560587 Centerline is valid? [True, True] Translation: X:501.76, Y:-23.53, Z:2.18 [[ 9.99990790e-01 -1.87875530e-04 -4.28766704e-03 5.01758674e+02] [ 1.89068582e-04 9.99999944e-01 2.77848542e-04 -2.35321263e+01] [ 4.28761460e-03 -2.78656646e-04 9.99990769e-01 2.18076673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.380714057 meters Centerline goodness [0,1] 0.98119805622417 Centerline is valid? [True, True] Translation: X:501.79, Y:-23.54, Z:2.18 [[ 9.99981983e-01 -3.81265023e-03 -4.63652395e-03 5.01787408e+02] [ 3.81408849e-03 9.99992681e-01 3.01399383e-04 -2.35394849e+01] [ 4.63534088e-03 -3.19078066e-04 9.99989206e-01 2.17912418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.410714057 meters Centerline goodness [0,1] 0.9813878624379406 Centerline is valid? [True, True] Translation: X:501.82, Y:-23.54, Z:2.18 [[ 9.99969115e-01 -6.03937996e-03 -5.02936990e-03 5.01817666e+02] [ 6.04109870e-03 9.99981699e-01 3.26620451e-04 -2.35396212e+01] [ 5.02730528e-03 -3.56993283e-04 9.99987299e-01 2.17943650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4407140569999 meters Centerline goodness [0,1] 0.9814098480021844 Centerline is valid? [True, True] Translation: X:501.85, Y:-23.54, Z:2.18 [[ 9.99968841e-01 -6.52814625e-03 -4.43846852e-03 5.01848330e+02] [ 6.52949050e-03 9.99978641e-01 2.88438961e-04 -2.35421978e+01] [ 4.43649075e-03 -3.17410912e-04 9.99990108e-01 2.17929560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4707140569999 meters Centerline goodness [0,1] 0.9813560092765222 Centerline is valid? [True, True] Translation: X:501.88, Y:-23.54, Z:2.18 [[ 9.99975841e-01 -6.18883613e-03 -3.16474364e-03 5.01879834e+02] [ 6.18951965e-03 9.99980823e-01 2.06230878e-04 -2.35379146e+01] [ 3.16340662e-03 -2.25814138e-04 9.99994971e-01 2.18149631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.500714057 meters Centerline goodness [0,1] 0.9801527063461495 Centerline is valid? [True, True] Translation: X:501.91, Y:-23.54, Z:2.18 [[ 9.99985110e-01 -5.09030266e-03 -1.96672556e-03 5.01910453e+02] [ 5.09056498e-03 9.99987035e-01 1.28400976e-04 -2.35435883e+01] [ 1.96604647e-03 -1.38410809e-04 9.99998058e-01 2.18079454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.530714057 meters Centerline goodness [0,1] 0.9807477869057643 Centerline is valid? [True, True] Translation: X:501.94, Y:-23.54, Z:2.18 [[ 9.99993722e-01 -3.38356371e-03 -1.05258176e-03 5.01942201e+02] [ 3.38363770e-03 9.99994273e-01 6.85149408e-05 -2.35353897e+01] [ 1.05234391e-03 -7.20760660e-05 9.99999444e-01 2.18217870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5607140569999 meters Centerline goodness [0,1] 0.9829410691479658 Centerline is valid? [True, True] Translation: X:501.97, Y:-23.54, Z:2.18 [[ 9.99996240e-01 -2.58145633e-03 -9.24924163e-04 5.01973237e+02] [ 2.58151331e-03 9.99996666e-01 6.04192390e-05 -2.35363911e+01] [ 9.24765110e-04 -6.28067159e-05 9.99999570e-01 2.18147197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5907140569999 meters Centerline goodness [0,1] 0.9816505386160307 Centerline is valid? [True, True] Translation: X:502.00, Y:-23.54, Z:2.18 [[ 9.99997385e-01 -1.62652531e-03 -1.60753767e-03 5.02003684e+02] [ 1.62669717e-03 9.99998671e-01 1.05612680e-04 -2.35364530e+01] [ 1.60736376e-03 -1.08227381e-04 9.99998702e-01 2.18017719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.620714057 meters Centerline goodness [0,1] 0.9811588562532909 Centerline is valid? [True, True] Translation: X:502.03, Y:-23.54, Z:2.18 [[ 9.99996050e-01 -1.68377525e-03 -2.25039370e-03 5.02033686e+02] [ 1.68410883e-03 9.99998571e-01 1.46345512e-04 -2.35372871e+01] [ 2.25014408e-03 -1.50134842e-04 9.99997457e-01 2.17911494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.650714057 meters Centerline goodness [0,1] 0.981169770592693 Centerline is valid? [True, True] Translation: X:502.06, Y:-23.54, Z:2.18 [[ 9.99990967e-01 -1.88999913e-03 -3.80709261e-03 5.02062867e+02] [ 1.89095568e-03 9.99998181e-01 2.47669014e-04 -2.35385153e+01] [ 3.80661759e-03 -2.54865820e-04 9.99992722e-01 2.17697286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6807140569999 meters Centerline goodness [0,1] 0.9804981257042983 Centerline is valid? [True, True] Translation: X:502.09, Y:-23.54, Z:2.17 [[ 9.99981587e-01 -2.18976311e-03 -5.65955362e-03 5.02092370e+02] [ 2.19188187e-03 9.99997530e-01 3.68192890e-04 -2.35391046e+01] [ 5.65873338e-03 -3.80591184e-04 9.99983917e-01 2.17458109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7107140569999 meters Centerline goodness [0,1] 0.9800105812803349 Centerline is valid? [True, True] Translation: X:502.12, Y:-23.54, Z:2.17 [[ 9.99977463e-01 -1.82485989e-03 -6.46084352e-03 5.02122141e+02] [ 1.82761086e-03 9.99998242e-01 4.19912374e-04 -2.35389628e+01] [ 6.46006588e-03 -4.31710819e-04 9.99979040e-01 2.17379050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.740714057 meters Centerline goodness [0,1] 0.9800069021051421 Centerline is valid? [True, True] Translation: X:502.15, Y:-23.54, Z:2.17 [[ 9.99973669e-01 3.04229417e-04 -7.25047166e-03 5.02150966e+02] [-3.00824468e-04 9.99999844e-01 4.70703485e-04 -2.35377067e+01] [ 7.25061373e-03 -4.68509971e-04 9.99973604e-01 2.17257253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.770714057 meters Centerline goodness [0,1] 0.9807749867612184 Centerline is valid? [True, True] Translation: X:502.18, Y:-23.54, Z:2.17 [[ 9.99976025e-01 1.87937452e-03 -6.66467305e-03 5.02180520e+02] [-1.87653281e-03 9.99998146e-01 4.32611597e-04 -2.35367624e+01] [ 6.66547373e-03 -4.20094747e-04 9.99977697e-01 2.17277634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8007140569999 meters Centerline goodness [0,1] 0.9798609501738123 Centerline is valid? [True, True] Translation: X:502.21, Y:-23.53, Z:2.17 [[ 9.99976160e-01 4.63469663e-03 -5.11843647e-03 5.02209457e+02] [-4.63305942e-03 9.99989212e-01 3.31676090e-04 -2.35338805e+01] [ 5.11991847e-03 -3.07954163e-04 9.99986846e-01 2.17372971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8307140569999 meters Centerline goodness [0,1] 0.980299795804715 Centerline is valid? [True, True] Translation: X:502.24, Y:-23.53, Z:2.17 [[ 9.99974272e-01 5.67349254e-03 -4.38947213e-03 5.02238326e+02] [-5.67230103e-03 9.99983872e-01 2.83848217e-04 -2.35331359e+01] [ 4.39101175e-03 -2.58942507e-04 9.99990326e-01 2.17438610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.860714057 meters Centerline goodness [0,1] 0.9801213643021552 Centerline is valid? [True, True] Translation: X:502.27, Y:-23.53, Z:2.18 [[ 9.99978619e-01 6.23125697e-03 -1.98298888e-03 5.02266126e+02] [-6.23101654e-03 9.99980579e-01 1.27402107e-04 -2.35314393e+01] [ 1.98374424e-03 -1.15043347e-04 9.99998026e-01 2.17606328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.890714057 meters Centerline goodness [0,1] 0.9794372042058145 Centerline is valid? [True, True] Translation: X:502.29, Y:-23.53, Z:2.18 [[ 9.99982296e-01 5.79428463e-03 -1.35400618e-03 5.02294858e+02] [-5.79417241e-03 9.99983210e-01 8.67837537e-05 -2.35320207e+01] [ 1.35448630e-03 -7.89368720e-05 9.99999080e-01 2.17623667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9207140569999 meters Centerline goodness [0,1] 0.9795262385577528 Centerline is valid? [True, True] Translation: X:502.32, Y:-23.54, Z:2.18 [[ 9.99995161e-01 3.01991231e-03 -7.46464955e-04 5.02324029e+02] [-3.01987712e-03 9.99995439e-01 4.82575803e-05 -2.35352334e+01] [ 7.46607284e-04 -4.60031144e-05 9.99999720e-01 2.17519169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9507140569999 meters Centerline goodness [0,1] 0.9807916725015171 Centerline is valid? [True, True] Translation: X:502.36, Y:-23.53, Z:2.18 [[ 9.99999956e-01 8.38767132e-05 -2.84595531e-04 5.02355157e+02] [-8.38714758e-05 9.99999996e-01 1.84150475e-05 -2.35275843e+01] [ 2.84597075e-04 -1.83911772e-05 9.99999959e-01 2.17625092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.980714057 meters Centerline goodness [0,1] 0.980600882414735 Centerline is valid? [True, True] Translation: X:502.39, Y:-23.53, Z:2.17 [[ 9.99982591e-01 -5.79629598e-03 -1.10505580e-03 5.02385081e+02] [ 5.79637849e-03 9.99983198e-01 7.14810739e-05 -2.35310291e+01] [ 1.10462291e-03 -7.78851511e-05 9.99999387e-01 2.17453560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.010714057 meters Centerline goodness [0,1] 0.9768905106074428 Centerline is valid? [True, True] Translation: X:502.41, Y:-23.54, Z:2.17 [[ 9.99959605e-01 -8.82274560e-03 -1.71672067e-03 5.02414499e+02] [ 8.82294921e-03 9.99961071e-01 1.11069927e-04 -2.35396871e+01] [ 1.71567390e-03 -1.26211980e-04 9.99998520e-01 2.17212569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.040714057 meters Centerline goodness [0,1] 0.9776944704779756 Centerline is valid? [True, True] Translation: X:502.45, Y:-23.54, Z:2.17 [[ 9.99904512e-01 -1.34714151e-02 -3.08039177e-03 5.02445917e+02] [ 1.34720940e-02 9.99909227e-01 1.99755469e-04 -2.35367400e+01] [ 3.07742116e-03 -2.41235722e-04 9.99995236e-01 2.17129089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0707140569999 meters Centerline goodness [0,1] 0.9754500818330606 Centerline is valid? [True, True] Translation: X:502.48, Y:-23.54, Z:2.17 [[ 9.99861789e-01 -1.62291723e-02 -3.60790186e-03 5.02475417e+02] [ 1.62301199e-02 9.99868256e-01 2.33536676e-04 -2.35423060e+01] [ 3.60363643e-03 -2.92061079e-04 9.99993464e-01 2.16875737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1007140569999 meters Centerline goodness [0,1] 0.7313351735530005 Centerline is valid? [True, False] Translation: X:502.53, Y:-23.54, Z:2.17 [[ 9.99804370e-01 -1.92561008e-02 -4.51932847e-03 5.02525798e+02] [ 1.92398777e-02 9.99808393e-01 -3.60613895e-03 -2.35403901e+01] [ 4.58790272e-03 3.51848216e-03 9.99983286e-01 2.17115366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.130714057 meters Centerline goodness [0,1] 0.9739943302954338 Centerline is valid? [False, True] Translation: X:502.44, Y:-23.54, Z:2.17 [[ 9.99927716e-01 -1.17302550e-02 -2.63905781e-03 5.02441072e+02] [ 1.17190747e-02 9.99922455e-01 -4.21278853e-03 -2.35362712e+01] [ 2.68827025e-03 4.18155670e-03 9.99987644e-01 2.16737988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.160714057 meters Centerline goodness [0,1] 0.9749356871445092 Centerline is valid? [True, True] Translation: X:502.47, Y:-23.54, Z:2.16 [[ 9.99949414e-01 -9.70294483e-03 -2.64980131e-03 5.02472933e+02] [ 9.70344435e-03 9.99952905e-01 1.75721071e-04 -2.35370110e+01] [ 2.64797151e-03 -2.01424381e-04 9.99996474e-01 2.16466977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1907140569999 meters Centerline goodness [0,1] 0.976999575811849 Centerline is valid? [True, True] Translation: X:502.50, Y:-23.53, Z:2.17 [[ 9.99989161e-01 -4.51719309e-03 -1.12825229e-03 5.02504047e+02] [ 4.51727995e-03 9.99989794e-01 7.44481982e-05 -2.35284590e+01] [ 1.12790448e-03 -7.95440227e-05 9.99999361e-01 2.16648376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2207140569999 meters Centerline goodness [0,1] 0.9770722685887708 Centerline is valid? [True, True] Translation: X:502.54, Y:-23.53, Z:2.17 [[ 9.99997996e-01 -1.99778142e-03 1.27476559e-04 5.02535244e+02] [ 1.99778248e-03 9.99998004e-01 -8.13479220e-06 -2.35265017e+01] [-1.27460053e-04 8.38944634e-06 9.99999992e-01 2.16668038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.250714057 meters Centerline goodness [0,1] 0.9786615860919267 Centerline is valid? [True, True] Translation: X:502.56, Y:-23.52, Z:2.17 [[ 9.99991949e-01 3.36668538e-03 2.18357837e-03 5.02564888e+02] [-3.36637801e-03 9.99994323e-01 -1.44423262e-04 -2.35233589e+01] [-2.18405220e-03 1.37071349e-04 9.99997606e-01 2.16739274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.280714057 meters Centerline goodness [0,1] 0.9786738308646965 Centerline is valid? [True, True] Translation: X:502.59, Y:-23.52, Z:2.17 [[ 9.99978824e-01 5.91151835e-03 2.72132822e-03 5.02594292e+02] [-5.91105284e-03 9.99982514e-01 -1.79070282e-04 -2.35226449e+01] [-2.72233921e-03 1.62980575e-04 9.99996281e-01 2.16728852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3107140569999 meters Centerline goodness [0,1] 0.978885840391268 Centerline is valid? [True, True] Translation: X:502.62, Y:-23.52, Z:2.17 [[ 9.99946744e-01 9.71323021e-03 3.48739848e-03 5.02624572e+02] [-9.71248478e-03 9.99952806e-01 -2.30621767e-04 -2.35180014e+01] [-3.48947398e-03 1.96738181e-04 9.99993892e-01 2.16768049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3407140569999 meters Centerline goodness [0,1] 0.9807637025680337 Centerline is valid? [True, True] Translation: X:502.65, Y:-23.51, Z:2.17 [[ 9.99928528e-01 1.11293717e-02 4.36749791e-03 5.02653746e+02] [-1.11282145e-02 9.99938038e-01 -2.89174008e-04 -2.35141658e+01] [-4.37044561e-03 2.40550887e-04 9.99990421e-01 2.16770898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.370714057 meters Centerline goodness [0,1] 0.9787152628306309 Centerline is valid? [True, True] Translation: X:502.68, Y:-23.52, Z:2.17 [[ 9.99923866e-01 1.13917320e-02 4.74235296e-03 5.02681178e+02] [-1.13903717e-02 9.99935078e-01 -3.13744780e-04 -2.35222578e+01] [-4.74561918e-03 2.59703730e-04 9.99988706e-01 2.16560286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.400714057 meters Centerline goodness [0,1] 0.9780880310359692 Centerline is valid? [True, True] Translation: X:502.71, Y:-23.52, Z:2.16 [[ 9.99920328e-01 1.16377407e-02 4.88880238e-03 5.02709080e+02] [-1.16363007e-02 9.99932244e-01 -3.22893574e-04 -2.35247026e+01] [-4.89222889e-03 2.65980274e-04 9.99987998e-01 2.16464836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4307140569999 meters Centerline goodness [0,1] 0.9808449351896303 Centerline is valid? [True, True] Translation: X:502.74, Y:-23.52, Z:2.16 [[ 9.99922098e-01 1.18818757e-02 3.82359935e-03 5.02738196e+02] [-1.18809973e-02 9.99929387e-01 -2.52356129e-04 -2.35194228e+01] [-3.82632782e-03 2.06908296e-04 9.99992658e-01 2.16361659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4607140569999 meters Centerline goodness [0,1] 0.9796540956041316 Centerline is valid? [True, True] Translation: X:502.77, Y:-23.52, Z:2.16 [[ 9.99915817e-01 1.25296971e-02 3.37124532e-03 5.02766000e+02] [-1.25290176e-02 9.99921484e-01 -2.22608025e-04 -2.35211958e+01] [-3.37376983e-03 1.80350893e-04 9.99994293e-01 2.16230765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.490714057 meters Centerline goodness [0,1] 0.9809569608078865 Centerline is valid? [True, True] Translation: X:502.80, Y:-23.52, Z:2.16 [[ 9.99906174e-01 1.33307207e-02 3.15197533e-03 5.02795037e+02] [-1.33301319e-02 9.99911128e-01 -2.07725018e-04 -2.35200656e+01] [-3.15446433e-03 1.65689281e-04 9.99995011e-01 2.16251345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.520714057 meters Centerline goodness [0,1] 0.9804437576957435 Centerline is valid? [True, True] Translation: X:502.82, Y:-23.52, Z:2.16 [[ 9.99892300e-01 1.44064010e-02 2.80078389e-03 5.02824297e+02] [-1.44059412e-02 9.99896212e-01 -1.84275631e-04 -2.35208958e+01] [-2.80314795e-03 1.43907856e-04 9.99996061e-01 2.16222202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5507140569999 meters Centerline goodness [0,1] 0.981022144860265 Centerline is valid? [True, True] Translation: X:502.85, Y:-23.52, Z:2.16 [[ 9.99848461e-01 1.70934245e-02 3.29706872e-03 5.02853869e+02] [-1.70928037e-02 9.99853884e-01 -2.16384732e-04 -2.35210813e+01] [-3.30028572e-03 1.59995793e-04 9.99994541e-01 2.16186593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5807140569999 meters Centerline goodness [0,1] 0.9819885249473455 Centerline is valid? [True, True] Translation: X:502.88, Y:-23.52, Z:2.16 [[ 9.99794026e-01 1.99645337e-02 3.65001480e-03 5.02884212e+02] [-1.99637934e-02 9.99800675e-01 -2.39148894e-04 -2.35206732e+01] [-3.65406175e-03 1.66231494e-04 9.99993310e-01 2.16194098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.610714057 meters Centerline goodness [0,1] 0.9820750380996154 Centerline is valid? [True, True] Translation: X:502.91, Y:-23.52, Z:2.16 [[ 9.99752567e-01 2.17487162e-02 4.66875643e-03 5.02913291e+02] [-2.17475199e-02 9.99763448e-01 -3.06839605e-04 -2.35217404e+01] [-4.67432540e-03 2.05229809e-04 9.99989054e-01 2.16173889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.640714057 meters Centerline goodness [0,1] 0.9826108016468879 Centerline is valid? [True, True] Translation: X:502.94, Y:-23.52, Z:2.16 [[ 9.99667727e-01 2.52028572e-02 5.40846723e-03 5.02942593e+02] [-2.52013120e-02 9.99682334e-01 -3.53683310e-04 -2.35230853e+01] [-5.41566298e-03 2.17265320e-04 9.99985312e-01 2.16119605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6707140569999 meters Centerline goodness [0,1] 0.9824866536222432 Centerline is valid? [True, True] Translation: X:502.97, Y:-23.53, Z:2.16 [[ 9.99625945e-01 2.67403295e-02 5.73807716e-03 5.02970197e+02] [-2.67386138e-02 9.99642389e-01 -3.75524661e-04 -2.35257611e+01] [-5.74606681e-03 2.21955965e-04 9.99983467e-01 2.16032364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7007140569999 meters Centerline goodness [0,1] 0.9843224542133404 Centerline is valid? [True, True] Translation: X:503.00, Y:-23.53, Z:2.16 [[ 9.99542099e-01 2.97700797e-02 5.41619781e-03 5.02999183e+02] [-2.97685986e-02 9.99556754e-01 -3.53889911e-04 -2.35252192e+01] [-5.42433244e-03 1.92495246e-04 9.99985270e-01 2.16000876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.730714057 meters Centerline goodness [0,1] 0.9843983963676762 Centerline is valid? [True, True] Translation: X:503.03, Y:-23.53, Z:2.16 [[ 9.99510729e-01 3.10265367e-02 3.95684955e-03 5.03026667e+02] [-3.10257552e-02 9.99518552e-01 -2.58757886e-04 -2.35282513e+01] [-3.96297289e-03 1.35867038e-04 9.99992138e-01 2.15800726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.760714057 meters Centerline goodness [0,1] 0.9850843530519151 Centerline is valid? [True, True] Translation: X:503.06, Y:-23.53, Z:2.16 [[ 9.99510272e-01 3.11174148e-02 3.30483756e-03 5.03055255e+02] [-3.11168710e-02 9.99515730e-01 -2.15840124e-04 -2.35310737e+01] [-3.30995351e-03 1.12898217e-04 9.99994516e-01 2.15691782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.790714057 meters Centerline goodness [0,1] 0.9841002168152253 Centerline is valid? [True, True] Translation: X:503.08, Y:-23.54, Z:2.16 [[ 9.99532978e-01 3.04371659e-02 2.72117078e-03 5.03083160e+02] [-3.04367941e-02 9.99536678e-01 -1.77940832e-04 -2.35350940e+01] [-2.72532602e-03 9.50340148e-05 9.99996282e-01 2.15583018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8207140569999 meters Centerline goodness [0,1] 0.9850799885046461 Centerline is valid? [True, True] Translation: X:503.11, Y:-23.54, Z:2.16 [[ 9.99595367e-01 2.83715988e-02 2.03831215e-03 5.03111789e+02] [-2.83713859e-02 9.99597442e-01 -1.33270207e-04 -2.35369240e+01] [-2.04127270e-03 7.53865414e-05 9.99997914e-01 2.15667572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8507140569999 meters Centerline goodness [0,1] 0.9832663989290495 Centerline is valid? [True, True] Translation: X:503.14, Y:-23.55, Z:2.15 [[ 9.99637919e-01 2.68503722e-02 1.75757445e-03 5.03138887e+02] [-2.68502111e-02 9.99639461e-01 -1.15186463e-04 -2.35452389e+01] [-1.76003357e-03 6.79535108e-05 9.99998449e-01 2.15499691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.880714057 meters Centerline goodness [0,1] 0.9852336805887413 Centerline is valid? [True, True] Translation: X:503.17, Y:-23.55, Z:2.16 [[ 9.99717487e-01 2.36922865e-02 1.90321054e-03 5.03168581e+02] [-2.36920939e-02 9.99719295e-01 -1.23698113e-04 -2.35487718e+01] [-1.90560699e-03 7.85721243e-05 9.99998181e-01 2.15603700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.910714057 meters Centerline goodness [0,1] 0.9851798903979032 Centerline is valid? [True, True] Translation: X:503.20, Y:-23.55, Z:2.16 [[ 9.99761000e-01 2.17724066e-02 1.97635305e-03 5.03197139e+02] [-2.17721943e-02 9.99762949e-01 -1.28876304e-04 -2.35516170e+01] [-1.97869051e-03 8.58159594e-05 9.99998039e-01 2.15628051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9407140569999 meters Centerline goodness [0,1] 0.9839529031951764 Centerline is valid? [True, True] Translation: X:503.23, Y:-23.56, Z:2.16 [[ 9.99840499e-01 1.77218168e-02 2.21668807e-03 5.03227474e+02] [-1.77215427e-02 9.99842951e-01 -1.43255271e-04 -2.35586583e+01] [-2.21887868e-03 1.03949289e-04 9.99997533e-01 2.15640951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9707140569999 meters Centerline goodness [0,1] 0.980456720519259 Centerline is valid? [True, True] Translation: X:503.26, Y:-23.58, Z:2.15 [[ 9.99900128e-01 1.38915695e-02 2.59975835e-03 5.03255153e+02] [-1.38911783e-02 9.99903499e-01 -1.68490051e-04 -2.35760161e+01] [-2.60184806e-03 1.32359517e-04 9.99996606e-01 2.15409710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.000714057 meters Centerline goodness [0,1] 0.9808614701226284 Centerline is valid? [True, True] Translation: X:503.28, Y:-23.58, Z:2.16 [[ 9.99920266e-01 1.20233923e-02 3.85993762e-03 5.03284350e+02] [-1.20225160e-02 9.99927696e-01 -2.50131891e-04 -2.35753288e+01] [-3.86266597e-03 2.03705785e-04 9.99992519e-01 2.15583931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.030714057 meters Centerline goodness [0,1] 0.9804114762943674 Centerline is valid? [True, True] Translation: X:503.31, Y:-23.58, Z:2.16 [[ 9.99951948e-01 8.59291202e-03 4.71832678e-03 5.03314431e+02] [-8.59156997e-03 9.99963045e-01 -3.04627619e-04 -2.35791975e+01] [-4.72077006e-03 2.64075146e-04 9.99988822e-01 2.15706646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0607140569999 meters Centerline goodness [0,1] 0.9802528201880907 Centerline is valid? [True, True] Translation: X:503.34, Y:-23.59, Z:2.16 [[ 9.99966095e-01 6.86642186e-03 4.54535467e-03 5.03342109e+02] [-6.86515626e-03 9.99976391e-01 -2.93981719e-04 -2.35887915e+01] [-4.54726596e-03 2.62767182e-04 9.99989627e-01 2.15556384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0907140569999 meters Centerline goodness [0,1] 0.9807304608748653 Centerline is valid? [True, True] Translation: X:503.37, Y:-23.59, Z:2.16 [[ 9.99988741e-01 3.35563209e-03 3.35538159e-03 5.03372176e+02] [-3.35492472e-03 9.99994349e-01 -2.16421932e-04 -2.35885793e+01] [-3.35608886e-03 2.05162442e-04 9.99994347e-01 2.15646690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.120714057 meters Centerline goodness [0,1] 0.9803765827220483 Centerline is valid? [True, True] Translation: X:503.40, Y:-23.59, Z:2.16 [[ 9.99993655e-01 2.30521711e-03 2.71604423e-03 5.03402423e+02] [-2.30475039e-03 9.99997329e-01 -1.74954388e-04 -2.35927129e+01] [-2.71644028e-03 1.68693474e-04 9.99996296e-01 2.15582498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.150714057 meters Centerline goodness [0,1] 0.9801714898177921 Centerline is valid? [True, True] Translation: X:503.43, Y:-23.60, Z:2.15 [[ 9.99999559e-01 2.71075489e-04 8.98650859e-04 5.03431840e+02] [-2.71024773e-04 9.99999962e-01 -5.65569852e-05 -2.36008861e+01] [-8.98666155e-04 5.63134037e-05 9.99999595e-01 2.15381394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1807140569999 meters Centerline goodness [0,1] 0.9798773521113624 Centerline is valid? [True, True] Translation: X:503.46, Y:-23.60, Z:2.15 [[ 9.99998359e-01 -1.22104269e-03 -1.33863244e-03 5.03462356e+02] [ 1.22116063e-03 9.99999251e-01 8.72912011e-05 -2.36047391e+01] [ 1.33852485e-03 -8.89257431e-05 9.99999100e-01 2.15262462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2107140569999 meters Centerline goodness [0,1] 0.9803315994798439 Centerline is valid? [True, True] Translation: X:503.49, Y:-23.61, Z:2.15 [[ 9.99996334e-01 -1.38561925e-03 -2.32636375e-03 5.03492940e+02] [ 1.38597237e-03 9.99999028e-01 1.50188408e-04 -2.36073753e+01] [ 2.32615339e-03 -1.53412133e-04 9.99997283e-01 2.15189217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.240714057 meters Centerline goodness [0,1] 0.9803315994798439 Centerline is valid? [True, True] Translation: X:503.52, Y:-23.61, Z:2.15 [[ 9.99996334e-01 -1.38561925e-03 -2.32636375e-03 5.03522944e+02] [ 1.38597237e-03 9.99999028e-01 1.50188408e-04 -2.36093124e+01] [ 2.32615339e-03 -1.53412133e-04 9.99997283e-01 2.15141553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.270714057 meters Centerline goodness [0,1] 0.9807334326135517 Centerline is valid? [True, True] Translation: X:503.55, Y:-23.61, Z:2.15 [[ 9.99989674e-01 -1.25376665e-03 -4.36804052e-03 5.03552960e+02] [ 1.25501035e-03 9.99999173e-01 2.81997624e-04 -2.36136551e+01] [ 4.36768334e-03 -2.87476648e-04 9.99990420e-01 2.15004522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3007140569999 meters Centerline goodness [0,1] 0.981733674180804 Centerline is valid? [True, True] Translation: X:503.58, Y:-23.61, Z:2.15 [[ 9.99988738e-01 8.20161223e-05 -4.74528676e-03 5.03582700e+02] [-8.05668215e-05 9.99999950e-01 3.05609352e-04 -2.36136982e+01] [ 4.74531159e-03 -3.05223597e-04 9.99988694e-01 2.15041406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3307140569999 meters Centerline goodness [0,1] 0.9818072121409013 Centerline is valid? [True, True] Translation: X:503.61, Y:-23.62, Z:2.15 [[ 9.99984889e-01 1.62113243e-03 -5.25305800e-03 5.03610822e+02] [-1.61938207e-03 9.99998632e-01 3.37443149e-04 -2.36172166e+01] [ 5.25359785e-03 -3.28931342e-04 9.99986146e-01 2.14963166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.360714057 meters Centerline goodness [0,1] 0.9832536994943638 Centerline is valid? [True, True] Translation: X:503.64, Y:-23.62, Z:2.15 [[ 9.99962287e-01 7.35928824e-03 -4.61144970e-03 5.03640066e+02] [-7.35799813e-03 9.99972886e-01 2.96664996e-04 -2.36172817e+01] [ 4.61350791e-03 -2.62722770e-04 9.99989323e-01 2.15072431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.390714057 meters Centerline goodness [0,1] 0.9831328088847756 Centerline is valid? [True, True] Translation: X:503.67, Y:-23.61, Z:2.15 [[ 9.99892754e-01 1.39869920e-02 -4.34112541e-03 5.03669015e+02] [-1.39859132e-02 9.99902153e-01 2.78774677e-04 -2.36145062e+01] [ 4.34459986e-03 -2.18030177e-04 9.99990538e-01 2.15182729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4207140569999 meters Centerline goodness [0,1] 0.9845431196057107 Centerline is valid? [True, True] Translation: X:503.70, Y:-23.61, Z:2.15 [[ 9.99836197e-01 1.75622042e-02 -4.37589584e-03 5.03699639e+02] [-1.75611428e-02 9.99845752e-01 2.80850137e-04 -2.36110640e+01] [ 4.38015322e-03 -2.03958401e-04 9.99990386e-01 2.15339294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4507140569999 meters Centerline goodness [0,1] 0.9848192041723905 Centerline is valid? [True, True] Translation: X:503.73, Y:-23.61, Z:2.15 [[ 9.99713714e-01 2.34154164e-02 -4.92021339e-03 5.03730483e+02] [-2.34141426e-02 9.99725801e-01 3.16351814e-04 -2.36096483e+01] [ 4.92627179e-03 -2.01058669e-04 9.99987846e-01 2.15313915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.480714057 meters Centerline goodness [0,1] 0.985375963486482 Centerline is valid? [True, True] Translation: X:503.76, Y:-23.61, Z:2.15 [[ 9.99662935e-01 2.54480546e-02 -5.13926020e-03 5.03759025e+02] [-2.54466986e-02 9.99676126e-01 3.29089529e-04 -2.36091968e+01] [ 5.14597041e-03 -1.98201399e-04 9.99986740e-01 2.15363511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.510714057 meters Centerline goodness [0,1] 0.984832599426854 Centerline is valid? [True, True] Translation: X:503.79, Y:-23.61, Z:2.15 [[ 9.99591597e-01 2.80488096e-02 -5.46846316e-03 5.03787697e+02] [-2.80473149e-02 9.99606535e-01 3.49846335e-04 -2.36113431e+01] [ 5.47612428e-03 -1.96327749e-04 9.99984987e-01 2.15346245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.540714057 meters Centerline goodness [0,1] 0.9850655856107733 Centerline is valid? [True, True] Translation: X:503.81, Y:-23.61, Z:2.15 [[ 9.99580544e-01 2.84671334e-02 -5.32524152e-03 5.03814970e+02] [-2.84657260e-02 9.99594711e-01 3.39902602e-04 -2.36145464e+01] [ 5.33275931e-03 -1.88173162e-04 9.99985763e-01 2.15254469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5707140569999 meters Centerline goodness [0,1] 0.9841030401485263 Centerline is valid? [True, True] Translation: X:503.84, Y:-23.62, Z:2.15 [[ 9.99586068e-01 2.82808906e-02 -5.28049971e-03 5.03842522e+02] [-2.82795086e-02 9.99599998e-01 3.36205849e-04 -2.36183233e+01] [ 5.28789570e-03 -1.86736745e-04 9.99986002e-01 2.15253202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6007140569999 meters Centerline goodness [0,1] 0.9852641806236698 Centerline is valid? [True, True] Translation: X:503.87, Y:-23.62, Z:2.15 [[ 9.99623104e-01 2.69191574e-02 -5.38595602e-03 5.03870962e+02] [-2.69176989e-02 9.99637594e-01 3.43129771e-04 -2.36235979e+01] [ 5.39324089e-03 -1.98022904e-04 9.99985437e-01 2.15252917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.630714057 meters Centerline goodness [0,1] 0.9849401079678414 Centerline is valid? [True, True] Translation: X:503.90, Y:-23.63, Z:2.15 [[ 9.99655818e-01 2.55891329e-02 -5.78290671e-03 5.03898957e+02] [-2.55874333e-02 9.99672520e-01 3.67710114e-04 -2.36278906e+01] [ 5.79042231e-03 -2.19613815e-04 9.99983211e-01 2.15203628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.660714057 meters Centerline goodness [0,1] 0.984887230170249 Centerline is valid? [True, True] Translation: X:503.93, Y:-23.64, Z:2.15 [[ 9.99731343e-01 2.26196612e-02 -5.05887845e-03 5.03927999e+02] [-2.26183201e-02 9.99744121e-01 3.22157302e-04 -2.36355264e+01] [ 5.06487108e-03 -2.07647420e-04 9.99987152e-01 2.15176325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6907140569999 meters Centerline goodness [0,1] 0.9843383469021664 Centerline is valid? [True, True] Translation: X:503.96, Y:-23.64, Z:2.15 [[ 9.99770630e-01 2.09729372e-02 -4.33864926e-03 5.03955620e+02] [-2.09719410e-02 9.99780027e-01 2.74998394e-04 -2.36419907e+01] [ 4.34346240e-03 -1.83945421e-04 9.99990550e-01 2.15054100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7207140569999 meters Centerline goodness [0,1] 0.984875301689461 Centerline is valid? [True, True] Translation: X:503.98, Y:-23.65, Z:2.15 [[ 9.99811617e-01 1.90574367e-02 -3.68043681e-03 5.03983960e+02] [-1.90567076e-02 9.99818377e-01 2.33063472e-04 -2.36453438e+01] [ 3.68420995e-03 -1.62882559e-04 9.99993200e-01 2.15131764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.750714057 meters Centerline goodness [0,1] 0.9846368715083799 Centerline is valid? [True, True] Translation: X:504.01, Y:-23.65, Z:2.15 [[ 9.99874551e-01 1.55896548e-02 -2.80088731e-03 5.04013442e+02] [-1.55892185e-02 9.99878465e-01 1.77545702e-04 -2.36512003e+01] [ 2.80331478e-03 -1.33859785e-04 9.99996062e-01 2.15206792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.780714057 meters Centerline goodness [0,1] 0.9848969519718503 Centerline is valid? [True, True] Translation: X:504.04, Y:-23.66, Z:2.15 [[ 9.99920628e-01 1.24899355e-02 -1.65523130e-03 5.04041117e+02] [-1.24897804e-02 9.99921994e-01 1.03998863e-04 -2.36616996e+01] [ 1.65640112e-03 -8.33171327e-05 9.99998625e-01 2.15097397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8107140569999 meters Centerline goodness [0,1] 0.9846374436706268 Centerline is valid? [True, True] Translation: X:504.07, Y:-23.66, Z:2.15 [[ 9.99937893e-01 1.10284120e-02 -1.60766023e-03 5.04069761e+02] [-1.10282640e-02 9.99939182e-01 1.00859917e-04 -2.36642908e+01] [ 1.60867478e-03 -8.31239518e-05 9.99998703e-01 2.15128342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8407140569999 meters Centerline goodness [0,1] 0.9839705748796658 Centerline is valid? [True, True] Translation: X:504.10, Y:-23.67, Z:2.15 [[ 9.99951966e-01 9.69238626e-03 -1.45727423e-03 5.04097336e+02] [-9.69226403e-03 9.99953025e-01 9.09113678e-05 -2.36701214e+01] [ 1.45808693e-03 -7.67827143e-05 9.99998934e-01 2.15047047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.870714057 meters Centerline goodness [0,1] 0.9842322897259963 Centerline is valid? [True, True] Translation: X:504.13, Y:-23.68, Z:2.15 [[ 9.99975754e-01 6.89449112e-03 -9.78397429e-04 5.04126311e+02] [-6.89443464e-03 9.99976231e-01 6.10922076e-05 -2.36753924e+01] [ 9.78795374e-04 -5.43452292e-05 9.99999520e-01 2.15045221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.900714057 meters Centerline goodness [0,1] 0.9847064963354587 Centerline is valid? [True, True] Translation: X:504.16, Y:-23.68, Z:2.15 [[ 9.99988196e-01 4.81442083e-03 6.54459123e-04 5.04155606e+02] [-4.81439438e-03 9.99988410e-01 -4.19866863e-05 -2.36782572e+01] [-6.54653679e-04 3.88353663e-05 9.99999785e-01 2.15080473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9307140569999 meters Centerline goodness [0,1] 0.9845458653411658 Centerline is valid? [True, True] Translation: X:504.18, Y:-23.68, Z:2.15 [[ 9.99992261e-01 3.68438734e-03 1.37979570e-03 5.04183443e+02] [-3.68426894e-03 9.99993209e-01 -8.83483342e-05 -2.36830330e+01] [-1.38011184e-03 8.32641120e-05 9.99999044e-01 2.15017304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9607140569999 meters Centerline goodness [0,1] 0.98333295693218 Centerline is valid? [True, True] Translation: X:504.21, Y:-23.69, Z:2.15 [[ 9.99996209e-01 9.08902629e-04 2.59905686e-03 5.04212645e+02] [-9.08478157e-04 9.99999574e-01 -1.64493518e-04 -2.36895393e+01] [-2.59920526e-03 1.62131708e-04 9.99996609e-01 2.14942343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.990714057 meters Centerline goodness [0,1] 0.9835340821942528 Centerline is valid? [True, True] Translation: X:504.24, Y:-23.69, Z:2.15 [[ 9.99996798e-01 -4.48119637e-04 2.49042589e-03 5.04243229e+02] [ 4.48510738e-04 9.99999887e-01 -1.56485676e-04 -2.36929573e+01] [-2.49035549e-03 1.57602158e-04 9.99996887e-01 2.14899745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.020714057 meters Centerline goodness [0,1] 0.9835688687538034 Centerline is valid? [True, True] Translation: X:504.27, Y:-23.70, Z:2.15 [[ 9.99993142e-01 -2.79565588e-03 2.42884276e-03 5.04274492e+02] [ 2.79603602e-03 9.99996079e-01 -1.53130456e-04 -2.36972221e+01] [-2.42840514e-03 1.59920538e-04 9.99997039e-01 2.14760325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0507140569999 meters Centerline goodness [0,1] 0.9835137573297249 Centerline is valid? [True, True] Translation: X:504.30, Y:-23.70, Z:2.15 [[ 9.99983378e-01 -5.54664010e-03 1.57420955e-03 5.04304495e+02] [ 5.54680336e-03 9.99984611e-01 -9.93633362e-05 -2.37028299e+01] [-1.57363420e-03 1.08093515e-04 9.99998756e-01 2.14530107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0807140569999 meters Centerline goodness [0,1] 0.983002192536335 Centerline is valid? [True, True] Translation: X:504.34, Y:-23.71, Z:2.14 [[ 9.99978085e-01 -6.56181498e-03 8.79096615e-04 5.04336403e+02] [ 6.56186549e-03 9.99978469e-01 -5.45833356e-05 -2.37067261e+01] [-8.78719521e-04 6.03506532e-05 9.99999612e-01 2.14391699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.110714057 meters Centerline goodness [0,1] 0.9829943464648512 Centerline is valid? [True, True] Translation: X:504.37, Y:-23.71, Z:2.14 [[ 9.99964298e-01 -8.43500877e-03 5.03645106e-04 5.04367142e+02] [ 8.43502553e-03 9.99964424e-01 -3.11670708e-05 -2.37082719e+01] [-5.03364294e-04 3.54142174e-05 9.99999873e-01 2.14272591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.140714057 meters Centerline goodness [0,1] 0.9822834645669292 Centerline is valid? [True, True] Translation: X:504.40, Y:-23.71, Z:2.14 [[ 9.99959011e-01 -9.04674121e-03 -3.65479231e-04 5.04399692e+02] [ 9.04675072e-03 9.99959077e-01 2.43584339e-05 -2.37085949e+01] [ 3.65243910e-04 -2.76638350e-05 9.99999933e-01 2.14257811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1707140569999 meters Centerline goodness [0,1] 0.9826932623313327 Centerline is valid? [True, True] Translation: X:504.43, Y:-23.71, Z:2.14 [[ 9.99951767e-01 -9.81622203e-03 -3.25176796e-04 5.04430551e+02] [ 9.81622954e-03 9.99951819e-01 2.15229556e-05 -2.37133304e+01] [ 3.24949855e-04 -2.47139276e-05 9.99999947e-01 2.14153139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2007140569999 meters Centerline goodness [0,1] 0.9822645426237646 Centerline is valid? [True, True] Translation: X:504.46, Y:-23.71, Z:2.14 [[ 9.99949659e-01 -1.00252358e-02 -4.16903060e-04 5.04462795e+02] [ 1.00252482e-02 9.99949746e-01 2.76523522e-05 -2.37143813e+01] [ 4.16604888e-04 -3.18305168e-05 9.99999913e-01 2.14105993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.230714057 meters Centerline goodness [0,1] 0.9812791457343035 Centerline is valid? [True, True] Translation: X:504.49, Y:-23.72, Z:2.14 [[ 9.99948302e-01 -1.01655091e-02 2.35355218e-04 5.04494315e+02] [ 1.01655127e-02 9.99948330e-01 -1.41441617e-05 -2.37162868e+01] [-2.35199274e-04 1.65359369e-05 9.99999972e-01 2.14036346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.260714057 meters Centerline goodness [0,1] 0.980529894066361 Centerline is valid? [True, True] Translation: X:504.53, Y:-23.71, Z:2.14 [[ 9.99948729e-01 -1.01223125e-02 2.78808244e-04 5.04526497e+02] [ 1.01223175e-02 9.99948768e-01 -1.66285378e-05 -2.37141135e+01] [-2.78625641e-04 1.94498708e-05 9.99999961e-01 2.14081494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.290714057 meters Centerline goodness [0,1] 0.9801749139024832 Centerline is valid? [True, True] Translation: X:504.56, Y:-23.72, Z:2.14 [[ 9.99947134e-01 -1.02101222e-02 1.21752830e-03 5.04557384e+02] [ 1.02102233e-02 9.99947871e-01 -7.68216254e-05 -2.37172627e+01] [-1.21668048e-03 8.92487999e-05 9.99999256e-01 2.14004704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3207140569999 meters Centerline goodness [0,1] 0.9799413916085504 Centerline is valid? [True, True] Translation: X:504.59, Y:-23.72, Z:2.14 [[ 9.99950411e-01 -9.88358433e-03 1.22078450e-03 5.04589972e+02] [ 9.88368545e-03 9.99951152e-01 -7.68338853e-05 -2.37154699e+01] [-1.21996547e-03 8.88959252e-05 9.99999252e-01 2.13993403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3507140569999 meters Centerline goodness [0,1] 0.980058597742397 Centerline is valid? [True, True] Translation: X:504.62, Y:-23.72, Z:2.14 [[ 9.99954776e-01 -9.42258206e-03 1.28885168e-03 5.04622071e+02] [ 9.42269459e-03 9.99955602e-01 -8.12698554e-05 -2.37156489e+01] [-1.28802869e-03 9.34106358e-05 9.99999166e-01 2.13965664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.380714057 meters Centerline goodness [0,1] 0.979296066252588 Centerline is valid? [True, True] Translation: X:504.65, Y:-23.71, Z:2.14 [[ 9.99965627e-01 -8.19966216e-03 1.22899485e-03 5.04654899e+02] [ 8.19976328e-03 9.99966378e-01 -7.72612144e-05 -2.37135622e+01] [-1.22832001e-03 8.73360255e-05 9.99999242e-01 2.13929259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.410714057 meters Centerline goodness [0,1] 0.9806887453370939 Centerline is valid? [True, True] Translation: X:504.69, Y:-23.72, Z:2.14 [[ 9.99976776e-01 -6.68272706e-03 1.33746627e-03 5.04685096e+02] [ 6.68284720e-03 9.99977666e-01 -8.53759646e-05 -2.37154872e+01] [-1.33686586e-03 9.43120645e-05 9.99999102e-01 2.13873831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4407140569999 meters Centerline goodness [0,1] 0.980365775791298 Centerline is valid? [True, True] Translation: X:504.72, Y:-23.72, Z:2.14 [[ 9.99982556e-01 -5.76477362e-03 1.28620328e-03 5.04717477e+02] [ 5.76488298e-03 9.99983380e-01 -8.13357705e-05 -2.37151358e+01] [-1.28571302e-03 8.87491631e-05 9.99999170e-01 2.13840393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4707140569999 meters Centerline goodness [0,1] 0.9806168808931303 Centerline is valid? [True, True] Translation: X:504.75, Y:-23.71, Z:2.14 [[ 9.99993912e-01 -3.17535086e-03 1.44682118e-03 5.04748227e+02] [ 3.17548840e-03 9.99994954e-01 -9.27725330e-05 -2.37122620e+01] [-1.44651929e-03 9.73663321e-05 9.99998949e-01 2.13854000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.500714057 meters Centerline goodness [0,1] 0.9799585506388212 Centerline is valid? [True, True] Translation: X:504.78, Y:-23.71, Z:2.14 [[ 9.99998253e-01 9.24701137e-04 1.62427019e-03 5.04777380e+02] [-9.24532849e-04 9.99999567e-01 -1.04356161e-04 -2.37118221e+01] [-1.62436599e-03 1.02854288e-04 9.99998675e-01 2.13758118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.530714057 meters Centerline goodness [0,1] 0.9819299127335861 Centerline is valid? [True, True] Translation: X:504.81, Y:-23.71, Z:2.14 [[ 9.99994170e-01 3.14851436e-03 1.32148063e-03 5.04808068e+02] [-3.14840515e-03 9.99995040e-01 -8.47163766e-05 -2.37117789e+01] [-1.32174081e-03 8.05553263e-05 9.99999123e-01 2.13681247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5607140569999 meters Centerline goodness [0,1] 0.9813535279582685 Centerline is valid? [True, True] Translation: X:504.84, Y:-23.71, Z:2.14 [[ 9.99964046e-01 8.45890597e-03 5.95405616e-04 5.04837119e+02] [-8.45888455e-03 9.99964222e-01 -3.84848372e-05 -2.37118931e+01] [-5.95709853e-04 3.34469861e-05 9.99999822e-01 2.13512399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5907140569999 meters Centerline goodness [0,1] 0.9817356830212893 Centerline is valid? [True, True] Translation: X:504.87, Y:-23.71, Z:2.14 [[ 9.99936780e-01 1.12379155e-02 3.82338501e-04 5.04867617e+02] [-1.12379067e-02 9.99936852e-01 -2.52326814e-05 -2.37067126e+01] [-3.82597920e-04 2.09344018e-05 9.99999927e-01 2.13579358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.620714057 meters Centerline goodness [0,1] 0.9829477646194804 Centerline is valid? [True, True] Translation: X:504.90, Y:-23.70, Z:2.14 [[ 9.99833526e-01 1.82162456e-02 1.04318431e-03 5.04897607e+02] [-1.82161854e-02 9.99834069e-01 -6.71950793e-05 -2.37039679e+01] [-1.04423526e-03 4.81810543e-05 9.99999454e-01 2.13548963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.650714057 meters Centerline goodness [0,1] 0.9827153674422887 Centerline is valid? [True, True] Translation: X:504.93, Y:-23.71, Z:2.13 [[ 9.99757030e-01 2.19849169e-02 1.59499031e-03 5.04926729e+02] [-2.19847811e-02 9.99758300e-01 -1.02603258e-04 -2.37067299e+01] [-1.59686053e-03 6.75128160e-05 9.99998723e-01 2.13433829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6807140569999 meters Centerline goodness [0,1] 0.9839338888760647 Centerline is valid? [True, True] Translation: X:504.96, Y:-23.70, Z:2.14 [[ 9.99574337e-01 2.90204875e-02 2.99263959e-03 5.04957435e+02] [-2.90200441e-02 9.99578811e-01 -1.91499700e-04 -2.37028390e+01] [-2.99693654e-03 1.04571653e-04 9.99995504e-01 2.13525614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7107140569999 meters Centerline goodness [0,1] 0.9847645429362881 Centerline is valid? [True, True] Translation: X:504.99, Y:-23.70, Z:2.13 [[ 9.99483507e-01 3.19749448e-02 3.21287342e-03 5.04986175e+02] [-3.19744464e-02 9.99488665e-01 -2.06396364e-04 -2.37029314e+01] [-3.21783008e-03 1.03559913e-04 9.99994817e-01 2.13491968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.740714057 meters Centerline goodness [0,1] 0.9857836258655195 Centerline is valid? [True, True] Translation: X:505.02, Y:-23.70, Z:2.14 [[ 9.99369416e-01 3.53223890e-02 3.61932286e-03 5.05015332e+02] [-3.53217796e-02 9.99375964e-01 -2.32159741e-04 -2.37003349e+01] [-3.62526471e-03 1.04172420e-04 9.99993423e-01 2.13578803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.770714057 meters Centerline goodness [0,1] 0.9851115477979424 Centerline is valid? [True, True] Translation: X:505.04, Y:-23.70, Z:2.13 [[ 9.99363877e-01 3.55200883e-02 3.18835911e-03 5.05043288e+02] [-3.55196153e-02 9.99368958e-01 -2.04872110e-04 -2.37030362e+01] [-3.19362420e-03 9.14924973e-05 9.99994896e-01 2.13411390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8007140569999 meters Centerline goodness [0,1] 0.9861306625435581 Centerline is valid? [True, True] Translation: X:505.07, Y:-23.71, Z:2.13 [[ 9.99381453e-01 3.50478686e-02 2.89121553e-03 5.05071851e+02] [-3.50474795e-02 9.99385631e-01 -1.85165718e-04 -2.37069055e+01] [-2.89592892e-03 8.37213675e-05 9.99995803e-01 2.13313898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8307140569999 meters Centerline goodness [0,1] 0.9864091559370529 Centerline is valid? [True, True] Translation: X:505.10, Y:-23.71, Z:2.13 [[ 9.99514192e-01 3.09761637e-02 3.44336812e-03 5.05101049e+02] [-3.09755907e-02 9.99520117e-01 -2.19642772e-04 -2.37131051e+01] [-3.44851939e-03 1.12875707e-04 9.99994047e-01 2.13209776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.860714057 meters Centerline goodness [0,1] 0.9846143247525662 Centerline is valid? [True, True] Translation: X:505.13, Y:-23.72, Z:2.13 [[ 9.99576795e-01 2.88352124e-02 3.84218252e-03 5.05128178e+02] [-2.88344814e-02 9.99584170e-01 -2.45510721e-04 -2.37196452e+01] [-3.84766418e-03 1.34619479e-04 9.99992589e-01 2.13110538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.890714057 meters Centerline goodness [0,1] 0.9859158155086337 Centerline is valid? [True, True] Translation: X:505.16, Y:-23.72, Z:2.13 [[ 9.99708575e-01 2.36678197e-02 4.75391514e-03 5.05157931e+02] [-2.36666496e-02 9.99719860e-01 -3.02244752e-04 -2.37245354e+01] [-4.75973685e-03 1.89647426e-04 9.99988654e-01 2.13229413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9207140569999 meters Centerline goodness [0,1] 0.9844286695672086 Centerline is valid? [True, True] Translation: X:505.19, Y:-23.73, Z:2.13 [[ 9.99767642e-01 2.10371318e-02 4.70119526e-03 5.05186187e+02] [-2.10359570e-02 9.99778675e-01 -2.99211798e-04 -2.37306613e+01] [-4.70644933e-03 2.00248132e-04 9.99988905e-01 2.13139858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9507140569999 meters Centerline goodness [0,1] 0.9843301598870314 Centerline is valid? [True, True] Translation: X:505.22, Y:-23.74, Z:2.13 [[ 9.99849531e-01 1.64286729e-02 5.56907999e-03 5.05216306e+02] [-1.64269586e-02 9.99865006e-01 -3.53430567e-04 -2.37380226e+01] [-5.57413459e-03 2.61894340e-04 9.99984430e-01 2.13172769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.980714057 meters Centerline goodness [0,1] 0.9839709973094989 Centerline is valid? [True, True] Translation: X:505.24, Y:-23.75, Z:2.13 [[ 9.99881835e-01 1.41723057e-02 5.95503238e-03 5.05244356e+02] [-1.41703025e-02 9.99899525e-01 -3.78452603e-04 -2.37459868e+01] [-5.95979759e-03 2.94023273e-04 9.99982197e-01 2.13092333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.010714057 meters Centerline goodness [0,1] 0.9830727983277288 Centerline is valid? [True, True] Translation: X:505.27, Y:-23.75, Z:2.13 [[ 9.99937846e-01 9.36256325e-03 6.05368149e-03 5.05274359e+02] [-9.36040984e-03 9.99956117e-01 -3.83954467e-04 -2.37534986e+01] [-6.05701063e-03 3.27265663e-04 9.99981603e-01 2.13006985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.040714057 meters Centerline goodness [0,1] 0.9832045454545455 Centerline is valid? [True, True] Translation: X:505.30, Y:-23.76, Z:2.13 [[ 9.99978474e-01 4.50606038e-03 4.76935615e-03 5.05303901e+02] [-4.50467009e-03 9.99989808e-01 -3.02207524e-04 -2.37609847e+01] [-4.77066930e-03 2.80716642e-04 9.99988581e-01 2.12888975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0707140569999 meters Centerline goodness [0,1] 0.9837464629315223 Centerline is valid? [True, True] Translation: X:505.33, Y:-23.77, Z:2.13 [[ 9.99986230e-01 2.33875463e-03 4.69781424e-03 5.05334487e+02] [-2.33738078e-03 9.99997224e-01 -2.97912378e-04 -2.37651373e+01] [-4.69849794e-03 2.86927695e-04 9.99988921e-01 2.12823397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1007140569999 meters Centerline goodness [0,1] 0.9823787549764749 Centerline is valid? [True, True] Translation: X:505.36, Y:-23.77, Z:2.13 [[ 9.99986876e-01 -1.42093641e-03 4.92232834e-03 5.05363621e+02] [ 1.42248845e-03 9.99998940e-01 -3.11818725e-04 -2.37732915e+01] [-4.92188005e-03 3.18816587e-04 9.99987837e-01 2.12774054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.130714057 meters Centerline goodness [0,1] 0.9310228161806686 Centerline is valid? [True, False] Translation: X:505.42, Y:-23.77, Z:2.13 [[ 9.99973698e-01 -4.36982897e-03 5.78857664e-03 5.05415588e+02] [ 4.39794158e-03 9.99978554e-01 -4.85277383e-03 -2.37741370e+01] [-5.76724671e-03 4.87810401e-03 9.99971471e-01 2.12843969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.160714057 meters Centerline goodness [0,1] 0.9310228161806686 Centerline is valid? [False, False] Translation: X:505.42, Y:-23.77, Z:2.13 [[ 9.99973698e-01 -4.36982897e-03 5.78857664e-03 5.05415588e+02] [ 4.39794158e-03 9.99978554e-01 -4.85277383e-03 -2.37741370e+01] [-5.76724671e-03 4.87810401e-03 9.99971471e-01 2.12843969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1907140569999 meters Centerline goodness [0,1] 0.9827784156142365 Centerline is valid? [False, True] Translation: X:505.36, Y:-23.77, Z:2.13 [[ 9.99982157e-01 -4.39064918e-03 4.05056460e-03 5.05359011e+02] [ 4.39241262e-03 9.99990262e-01 -4.26561419e-04 -2.37733331e+01] [-4.04865228e-03 4.44345559e-04 9.99991705e-01 2.12885869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2207140569999 meters Centerline goodness [0,1] 0.9827270879902459 Centerline is valid? [True, True] Translation: X:505.39, Y:-23.78, Z:2.13 [[ 9.99981327e-01 -4.91208435e-03 3.63549760e-03 5.05391375e+02] [ 4.91294977e-03 9.99987905e-01 -2.29155537e-04 -2.37765326e+01] [-3.63432800e-03 2.47012275e-04 9.99993365e-01 2.12802866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.250714057 meters Centerline goodness [0,1] 0.9813060929959861 Centerline is valid? [True, True] Translation: X:505.42, Y:-23.78, Z:2.13 [[ 9.99981117e-01 -5.34807600e-03 3.02720782e-03 5.05422134e+02] [ 5.34867880e-03 9.99985677e-01 -1.91066294e-04 -2.37815040e+01] [-3.02614263e-03 2.07254248e-04 9.99995400e-01 2.12710537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.280714057 meters Centerline goodness [0,1] 0.9811210631467888 Centerline is valid? [True, True] Translation: X:505.45, Y:-23.78, Z:2.13 [[ 9.99983061e-01 -5.07014098e-03 2.85857903e-03 5.05454220e+02] [ 5.07067709e-03 9.99987128e-01 -1.80329491e-04 -2.37825503e+01] [-2.85762794e-03 1.94821367e-04 9.99995898e-01 2.12667360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3107140569999 meters Centerline goodness [0,1] 0.9825556530938393 Centerline is valid? [True, True] Translation: X:505.49, Y:-23.78, Z:2.13 [[ 9.99990461e-01 -4.33222437e-03 5.57291807e-04 5.05486239e+02] [ 4.33224419e-03 9.99990615e-01 -3.43651147e-05 -2.37822544e+01] [-5.57137700e-04 3.67791111e-05 9.99999844e-01 2.12521069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3407140569999 meters Centerline goodness [0,1] 0.984149173637573 Centerline is valid? [True, True] Translation: X:505.52, Y:-23.78, Z:2.12 [[ 9.99994054e-01 -3.43836082e-03 -2.65206698e-04 5.05518859e+02] [ 3.43836569e-03 9.99994089e-01 1.79085155e-05 -2.37812374e+01] [ 2.65143554e-04 -1.88202866e-05 9.99999965e-01 2.12454839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.370714057 meters Centerline goodness [0,1] 0.9829160263942872 Centerline is valid? [True, True] Translation: X:505.55, Y:-23.78, Z:2.12 [[ 9.99996232e-01 -1.34972849e-03 -2.39028273e-03 5.05550448e+02] [ 1.35009708e-03 9.99999077e-01 1.52597012e-04 -2.37801262e+01] [ 2.39007456e-03 -1.55823551e-04 9.99997132e-01 2.12327820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.400714057 meters Centerline goodness [0,1] 0.9837207199059419 Centerline is valid? [True, True] Translation: X:505.58, Y:-23.78, Z:2.12 [[ 9.99996649e-01 -5.80510623e-04 -2.52271121e-03 5.05580629e+02] [ 5.80914099e-04 9.99999819e-01 1.59207728e-04 -2.37796249e+01] [ 2.52261833e-03 -1.60672673e-04 9.99996805e-01 2.12278216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4307140569999 meters Centerline goodness [0,1] 0.9837247257230937 Centerline is valid? [True, True] Translation: X:505.61, Y:-23.78, Z:2.12 [[ 9.99994753e-01 2.22809894e-03 -2.35143420e-03 5.05610691e+02] [-2.22775443e-03 9.99997507e-01 1.49119508e-04 -2.37773831e+01] [ 2.35176059e-03 -1.43880307e-04 9.99997224e-01 2.12275737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4607140569999 meters Centerline goodness [0,1] 0.9832218569323206 Centerline is valid? [True, True] Translation: X:505.64, Y:-23.78, Z:2.12 [[ 9.99986816e-01 4.97650984e-03 -1.26547227e-03 5.05639789e+02] [-4.97641279e-03 9.99987614e-01 7.98298057e-05 -2.37763475e+01] [ 1.26585387e-03 -7.35312408e-05 9.99999196e-01 2.12310013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.490714057 meters Centerline goodness [0,1] 0.9835413275456683 Centerline is valid? [True, True] Translation: X:505.67, Y:-23.78, Z:2.12 [[ 9.99978543e-01 6.54919887e-03 -1.49224296e-04 5.05668169e+02] [-6.54919768e-03 9.99978554e-01 8.44045575e-06 -2.37766788e+01] [ 1.49276374e-04 -7.46297523e-06 9.99999989e-01 2.12343775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.520714057 meters Centerline goodness [0,1] 0.9827355733284999 Centerline is valid? [True, True] Translation: X:505.70, Y:-23.77, Z:2.12 [[ 9.99955488e-01 9.31650130e-03 1.49174402e-03 5.05698802e+02] [-9.31637016e-03 9.99956597e-01 -9.48381702e-05 -2.37747261e+01] [-1.49256284e-03 8.09363093e-05 9.99998883e-01 2.12457061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5507140569999 meters Centerline goodness [0,1] 0.9830746255147758 Centerline is valid? [True, True] Translation: X:505.73, Y:-23.77, Z:2.12 [[ 9.99948020e-01 1.00218850e-02 1.87577802e-03 5.05727679e+02] [-1.00216778e-02 9.99949775e-01 -1.19823828e-04 -2.37745344e+01] [-1.87688467e-03 1.01019156e-04 9.99998234e-01 2.12469984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5807140569999 meters Centerline goodness [0,1] 0.9831176524195753 Centerline is valid? [True, True] Translation: X:505.76, Y:-23.77, Z:2.12 [[ 9.99939002e-01 1.07489171e-02 2.54038463e-03 5.05756684e+02] [-1.07485408e-02 9.99942220e-01 -1.61744631e-04 -2.37731946e+01] [-2.54197643e-03 1.34429337e-04 9.99996760e-01 2.12489787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.610714057 meters Centerline goodness [0,1] 0.9837381685482951 Centerline is valid? [True, True] Translation: X:505.79, Y:-23.77, Z:2.12 [[ 9.99939886e-01 1.05998276e-02 2.80486159e-03 5.05785229e+02] [-1.05993691e-02 9.99943809e-01 -1.78281123e-04 -2.37747262e+01] [-2.80659373e-03 1.48540642e-04 9.99996050e-01 2.12399280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.640714057 meters Centerline goodness [0,1] 0.9830160720392113 Centerline is valid? [True, True] Translation: X:505.81, Y:-23.78, Z:2.12 [[ 9.99956478e-01 9.26660059e-03 1.08298148e-03 5.05813200e+02] [-9.26653113e-03 9.99957062e-01 -6.91343646e-05 -2.37809204e+01] [-1.08357562e-03 5.90958741e-05 9.99999411e-01 2.12078161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6707140569999 meters Centerline goodness [0,1] 0.9813364894391843 Centerline is valid? [True, True] Translation: X:505.84, Y:-23.78, Z:2.12 [[ 9.99968648e-01 7.91788815e-03 -9.56360773e-05 5.05841887e+02] [-7.91788768e-03 9.99968653e-01 5.31652466e-06 -2.37833233e+01] [ 9.56751751e-05 -4.55912226e-06 9.99999995e-01 2.11869531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7007140569999 meters Centerline goodness [0,1] 0.9816301786653856 Centerline is valid? [True, True] Translation: X:505.87, Y:-23.79, Z:2.12 [[ 9.99978555e-01 6.51325563e-03 -6.83203479e-04 5.05871267e+02] [-6.51322805e-03 9.99978788e-01 4.25950143e-05 -2.37859525e+01] [ 6.83466419e-04 -3.81442408e-05 9.99999766e-01 2.11738381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.730714057 meters Centerline goodness [0,1] 0.981300089047195 Centerline is valid? [True, True] Translation: X:505.90, Y:-23.79, Z:2.12 [[ 9.99990529e-01 4.35176473e-03 -5.78659411e-05 5.05900755e+02] [-4.35176456e-03 9.99990531e-01 3.16359269e-06 -2.37886391e+01] [ 5.78791603e-05 -2.91174377e-06 9.99999998e-01 2.11714428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.760714057 meters Centerline goodness [0,1] 0.9805845225027442 Centerline is valid? [True, True] Translation: X:505.93, Y:-23.79, Z:2.12 [[ 9.99994713e-01 3.24760346e-03 1.61536549e-04 5.05930206e+02] [-3.24760178e-03 9.99994726e-01 -1.06554142e-05 -2.37916852e+01] [-1.61570302e-04 1.01307515e-05 9.99999987e-01 2.11655796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.790714057 meters Centerline goodness [0,1] 0.9813242395807109 Centerline is valid? [True, True] Translation: X:505.96, Y:-23.79, Z:2.12 [[ 9.99999112e-01 1.16007256e-03 6.56033044e-04 5.05960451e+02] [-1.16004537e-03 9.99999326e-01 -4.18189989e-05 -2.37853521e+01] [-6.56081115e-04 4.10579336e-05 9.99999784e-01 2.11765831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8207140569999 meters Centerline goodness [0,1] 0.9788512047504854 Centerline is valid? [True, True] Translation: X:505.99, Y:-23.80, Z:2.11 [[ 9.99999546e-01 6.40161976e-04 7.05760933e-04 5.05989147e+02] [-6.40130894e-04 9.99999794e-01 -4.42652795e-05 -2.37977587e+01] [-7.05789125e-04 4.38134800e-05 9.99999750e-01 2.11494723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8507140569999 meters Centerline goodness [0,1] 0.9793305957651809 Centerline is valid? [True, True] Translation: X:506.02, Y:-23.80, Z:2.12 [[ 9.99998325e-01 -1.51894648e-03 1.02124221e-03 5.06020010e+02] [ 1.51901271e-03 9.99998844e-01 -6.40791702e-05 -2.37970736e+01] [-1.02114370e-03 6.56303428e-05 9.99999476e-01 2.11510312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.880714057 meters Centerline goodness [0,1] 0.9816850652312745 Centerline is valid? [True, True] Translation: X:506.05, Y:-23.79, Z:2.12 [[ 9.99990625e-01 -4.10421750e-03 1.38029798e-03 5.06051663e+02] [ 4.10434074e-03 9.99991573e-01 -8.64687759e-05 -2.37926260e+01] [-1.37993146e-03 9.21331785e-05 9.99999044e-01 2.11608153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.910714057 meters Centerline goodness [0,1] 0.9806733452266594 Centerline is valid? [True, True] Translation: X:506.08, Y:-23.80, Z:2.12 [[ 9.99981357e-01 -5.95708660e-03 1.34110909e-03 5.06081597e+02] [ 5.95720497e-03 9.99982252e-01 -8.42820544e-05 -2.37967851e+01] [-1.34058322e-03 9.22697449e-05 9.99999097e-01 2.11505018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9407140569999 meters Centerline goodness [0,1] 0.9811108560936425 Centerline is valid? [True, True] Translation: X:506.11, Y:-23.80, Z:2.11 [[ 9.99958897e-01 -9.05371106e-03 4.84316138e-04 5.06112207e+02] [ 9.05372677e-03 9.99959014e-01 -3.02457087e-05 -2.37977661e+01] [-4.84022451e-04 3.46293315e-05 9.99999882e-01 2.11418086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9707140569999 meters Centerline goodness [0,1] 0.9803516977325355 Centerline is valid? [True, True] Translation: X:506.14, Y:-23.80, Z:2.11 [[ 9.99950434e-01 -9.94184488e-03 5.37090914e-04 5.06142539e+02] [ 9.94186423e-03 9.99950578e-01 -3.33698056e-05 -2.38044541e+01] [-5.36732612e-04 3.87078365e-05 9.99999855e-01 2.11282015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.000714057 meters Centerline goodness [0,1] 0.9812802210453604 Centerline is valid? [True, True] Translation: X:506.17, Y:-23.80, Z:2.11 [[ 9.99932478e-01 -1.16108704e-02 4.77436356e-04 5.06174323e+02] [ 1.16108859e-02 9.99932591e-01 -2.96155563e-05 -2.37976355e+01] [-4.77060310e-04 3.51570157e-05 9.99999886e-01 2.11405492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.030714057 meters Centerline goodness [0,1] 0.9796806966618288 Centerline is valid? [True, True] Translation: X:506.21, Y:-23.80, Z:2.11 [[ 9.99929037e-01 -1.18883501e-02 7.66876630e-04 5.06205189e+02] [ 1.18883902e-02 9.99929329e-01 -4.76692739e-05 -2.38045116e+01] [-7.66255725e-04 5.67828198e-05 9.99999705e-01 2.11263678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0607140569999 meters Centerline goodness [0,1] 0.9807057628839807 Centerline is valid? [True, True] Translation: X:506.24, Y:-23.80, Z:2.11 [[ 9.99930039e-01 -1.18059837e-02 7.31340130e-04 5.06237249e+02] [ 1.18060200e-02 9.99930305e-01 -4.52294967e-05 -2.38012199e+01] [-7.30755181e-04 5.38605486e-05 9.99999732e-01 2.11239355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0907140569999 meters Centerline goodness [0,1] 0.9795441397662848 Centerline is valid? [True, True] Translation: X:506.27, Y:-23.80, Z:2.11 [[ 9.99934582e-01 -1.14353935e-02 2.50518764e-04 5.06268771e+02] [ 1.14353977e-02 9.99934614e-01 -1.50918633e-05 -2.38033142e+01] [-2.50329802e-04 1.79556578e-05 9.99999969e-01 2.11161728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.120714057 meters Centerline goodness [0,1] 0.9812790697674418 Centerline is valid? [True, True] Translation: X:506.30, Y:-23.80, Z:2.11 [[ 9.99952491e-01 -9.74312494e-03 2.94064193e-04 5.06300526e+02] [ 9.74313068e-03 9.99952534e-01 -1.81091422e-05 -2.37983788e+01] [-2.93873795e-04 2.09733877e-05 9.99999957e-01 2.11248203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.150714057 meters Centerline goodness [0,1] 0.9801594702974914 Centerline is valid? [True, True] Translation: X:506.33, Y:-23.79, Z:2.11 [[ 9.99976976e-01 -6.77173631e-03 4.37042390e-04 5.06331746e+02] [ 6.77174895e-03 9.99977071e-01 -2.74332806e-05 -2.37935939e+01] [-4.36846598e-04 3.03921903e-05 9.99999904e-01 2.11265096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1807140569999 meters Centerline goodness [0,1] 0.9819334909082399 Centerline is valid? [True, True] Translation: X:506.36, Y:-23.79, Z:2.11 [[ 9.99989784e-01 -4.50875169e-03 3.22382938e-04 5.06363811e+02] [ 4.50875824e-03 9.99989835e-01 -1.95792176e-05 -2.37904907e+01] [-3.22291383e-04 2.10325643e-05 9.99999948e-01 2.11307902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2107140569999 meters Centerline goodness [0,1] 0.9805023055497039 Centerline is valid? [True, True] Translation: X:506.39, Y:-23.79, Z:2.11 [[ 9.99999950e-01 -4.97727978e-05 3.13767056e-04 5.06393671e+02] [ 4.97790227e-05 9.99999999e-01 -1.98315450e-05 -2.37937170e+01] [-3.13766069e-04 1.98471630e-05 9.99999951e-01 2.11065577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.240714057 meters Centerline goodness [0,1] 0.982987610287216 Centerline is valid? [True, True] Translation: X:506.43, Y:-23.79, Z:2.11 [[ 9.99996292e-01 2.65762095e-03 5.93627448e-04 5.06425104e+02] [-2.65759921e-03 9.99996468e-01 -3.74046174e-05 -2.37863955e+01] [-5.93724758e-04 3.58268548e-05 9.99999823e-01 2.11169481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.270714057 meters Centerline goodness [0,1] 0.9817010066798382 Centerline is valid? [True, True] Translation: X:506.45, Y:-23.79, Z:2.11 [[ 9.99967603e-01 7.96640270e-03 1.15293223e-03 5.06454297e+02] [-7.96632333e-03 9.99968266e-01 -7.34169210e-05 -2.37895368e+01] [-1.15348051e-03 6.42299116e-05 9.99999333e-01 2.10966869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3007140569999 meters Centerline goodness [0,1] 0.9839922672513379 Centerline is valid? [True, True] Translation: X:506.49, Y:-23.78, Z:2.11 [[ 9.99940816e-01 1.07518796e-02 1.66173866e-03 5.06485058e+02] [-1.07517189e-02 9.99942193e-01 -1.05614748e-04 -2.37792988e+01] [-1.66277816e-03 8.77419504e-05 9.99998614e-01 2.11165922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3307140569999 meters Centerline goodness [0,1] 0.9838819897730754 Centerline is valid? [True, True] Translation: X:506.51, Y:-23.78, Z:2.11 [[ 9.99880344e-01 1.52937732e-02 2.32343589e-03 5.06514716e+02] [-1.52934715e-02 9.99883037e-01 -1.47587850e-04 -2.37784444e+01] [-2.32542131e-03 1.12036790e-04 9.99997290e-01 2.11049460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.360714057 meters Centerline goodness [0,1] 0.9839049944295636 Centerline is valid? [True, True] Translation: X:506.54, Y:-23.78, Z:2.11 [[ 9.99852183e-01 1.69873404e-02 2.65368515e-03 5.06543968e+02] [-1.69869514e-02 9.99855697e-01 -1.69027270e-04 -2.37759565e+01] [-2.65617354e-03 1.23924264e-04 9.99996465e-01 2.11057891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.390714057 meters Centerline goodness [0,1] 0.9846022444186102 Centerline is valid? [True, True] Translation: X:506.57, Y:-23.77, Z:2.11 [[ 9.99815811e-01 1.90826759e-02 2.04852148e-03 5.06573193e+02] [-1.90824483e-02 9.99817905e-01 -1.30583097e-04 -2.37739971e+01] [-2.05064033e-03 9.14682396e-05 9.99997893e-01 2.10920373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4207140569999 meters Centerline goodness [0,1] 0.9847744628373571 Centerline is valid? [True, True] Translation: X:506.60, Y:-23.78, Z:2.11 [[ 9.99801257e-01 1.98878862e-02 1.38505290e-03 5.06600713e+02] [-1.98877818e-02 9.99802215e-01 -8.90771421e-05 -2.37753952e+01] [-1.38655051e-03 6.15138088e-05 9.99999037e-01 2.10798954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4507140569999 meters Centerline goodness [0,1] 0.9849023511566174 Centerline is valid? [True, True] Translation: X:506.63, Y:-23.78, Z:2.11 [[ 9.99791921e-01 2.03621749e-02 1.22327189e-03 5.06629225e+02] [-2.03620945e-02 9.99792668e-01 -7.81607636e-05 -2.37768171e+01] [-1.22460979e-03 5.32361222e-05 9.99999249e-01 2.10725598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.480714057 meters Centerline goodness [0,1] 0.9856709772156695 Centerline is valid? [True, True] Translation: X:506.66, Y:-23.78, Z:2.11 [[ 9.99787211e-01 2.06216966e-02 5.27500089e-04 5.06658364e+02] [-2.06216814e-02 9.99787350e-01 -3.42691647e-05 -2.37771907e+01] [-5.28094604e-04 2.33839338e-05 9.99999860e-01 2.10633626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.510714057 meters Centerline goodness [0,1] 0.9855852438417222 Centerline is valid? [True, True] Translation: X:506.69, Y:-23.78, Z:2.11 [[ 9.99791057e-01 2.04409675e-02 -9.76716476e-05 5.06687216e+02] [-2.04409671e-02 9.99791062e-01 5.10508434e-06 -2.37799206e+01] [ 9.77555931e-05 -3.10751473e-06 9.99999995e-01 2.10535627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.540714057 meters Centerline goodness [0,1] 0.9838236685271025 Centerline is valid? [True, True] Translation: X:506.72, Y:-23.79, Z:2.10 [[ 9.99826280e-01 1.86355251e-02 -3.56432690e-04 5.06715057e+02] [-1.86355188e-02 9.99826343e-01 2.10994234e-05 -2.37851218e+01] [ 3.56763991e-04 -1.44534499e-05 9.99999936e-01 2.10307701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5707140569999 meters Centerline goodness [0,1] 0.9845362041693226 Centerline is valid? [True, True] Translation: X:506.74, Y:-23.79, Z:2.10 [[ 9.99845207e-01 1.75931083e-02 2.10976182e-04 5.06743374e+02] [-1.75931057e-02 9.99845229e-01 -1.42537880e-05 -2.37873033e+01] [-2.11194297e-04 1.05398553e-05 9.99999978e-01 2.10331520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6007140569999 meters Centerline goodness [0,1] 0.9836718345035578 Centerline is valid? [True, True] Translation: X:506.77, Y:-23.79, Z:2.10 [[ 9.99884141e-01 1.51462166e-02 1.51572649e-03 5.06772348e+02] [-1.51460888e-02 9.99885287e-01 -9.57891410e-05 -2.37924020e+01] [-1.51700346e-03 7.28207150e-05 9.99998847e-01 2.10388970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.630714057 meters Centerline goodness [0,1] 0.9842999717540721 Centerline is valid? [True, True] Translation: X:506.80, Y:-23.79, Z:2.11 [[ 9.99909748e-01 1.27876866e-02 4.11964061e-03 5.06801195e+02] [-1.27867276e-02 9.99918213e-01 -2.59042491e-04 -2.37928310e+01] [-4.12261623e-03 2.06342389e-04 9.99991481e-01 2.10693017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.660714057 meters Centerline goodness [0,1] 0.9834638816362054 Centerline is valid? [True, True] Translation: X:506.83, Y:-23.80, Z:2.11 [[ 9.99917020e-01 1.17164430e-02 5.35526714e-03 5.06828402e+02] [-1.17148094e-02 9.99931323e-01 -3.36307206e-04 -2.37965292e+01] [-5.35883967e-03 2.73543365e-04 9.99985604e-01 2.10794430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6907140569999 meters Centerline goodness [0,1] 0.9811871932694555 Centerline is valid? [True, True] Translation: X:506.86, Y:-23.81, Z:2.11 [[ 9.99941600e-01 8.54345779e-03 6.61863394e-03 5.06856482e+02] [-8.54090205e-03 9.99963440e-01 -4.14312533e-04 -2.38078334e+01] [-6.62193163e-03 3.57759233e-04 9.99978011e-01 2.10753236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7207140569999 meters Centerline goodness [0,1] 0.9826919017800605 Centerline is valid? [True, True] Translation: X:506.89, Y:-23.80, Z:2.11 [[ 9.99961406e-01 6.34010627e-03 6.08190403e-03 5.06886467e+02] [-6.33791069e-03 9.99979843e-01 -3.80208923e-04 -2.38032208e+01] [-6.08419201e-03 3.41647684e-04 9.99981433e-01 2.10756083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.750714057 meters Centerline goodness [0,1] 0.9799293550726332 Centerline is valid? [True, True] Translation: X:506.92, Y:-23.82, Z:2.10 [[ 9.99986406e-01 2.36627473e-03 4.64636235e-03 5.06915004e+02] [-2.36495366e-03 9.99997162e-01 -2.89796560e-04 -2.38183881e+01] [-4.64703489e-03 2.78804189e-04 9.99989164e-01 2.10322717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.780714057 meters Centerline goodness [0,1] 0.9794138903783834 Centerline is valid? [True, True] Translation: X:506.95, Y:-23.82, Z:2.10 [[ 9.99991937e-01 5.77338264e-04 3.97405914e-03 5.06946333e+02] [-5.76357825e-04 9.99999803e-01 -2.47850453e-04 -2.38235619e+01] [-3.97420145e-03 2.45557974e-04 9.99992073e-01 2.10125076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8107140569999 meters Centerline goodness [0,1] 0.979334394308182 Centerline is valid? [True, True] Translation: X:506.98, Y:-23.83, Z:2.10 [[ 9.99991197e-01 -3.40673256e-03 2.44965605e-03 5.06975474e+02] [ 3.40711738e-03 9.99994184e-01 -1.52935347e-04 -2.38314778e+01] [-2.44912080e-03 1.61280266e-04 9.99996988e-01 2.09932762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8407140569999 meters Centerline goodness [0,1] 0.980757990227023 Centerline is valid? [True, True] Translation: X:507.01, Y:-23.83, Z:2.10 [[ 9.99988235e-01 -4.52849055e-03 1.73884347e-03 5.07007613e+02] [ 4.52868514e-03 9.99989740e-01 -1.07989745e-04 -2.38252615e+01] [-1.73833660e-03 1.15863149e-04 9.99998482e-01 2.10014126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.870714057 meters Centerline goodness [0,1] 0.9788283130418527 Centerline is valid? [True, True] Translation: X:507.04, Y:-23.84, Z:2.10 [[ 9.99988358e-01 -4.79540867e-03 5.37385645e-04 5.07038445e+02] [ 4.79542667e-03 9.99988501e-01 -3.21977694e-05 -2.38382690e+01] [-5.37225065e-04 3.47743880e-05 9.99999855e-01 2.09690505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.900714057 meters Centerline goodness [0,1] 0.9817415730337079 Centerline is valid? [True, True] Translation: X:507.07, Y:-23.83, Z:2.10 [[ 9.99991436e-01 -4.13626858e-03 -1.39988244e-04 5.07071402e+02] [ 4.13627000e-03 9.99991446e-01 9.82742733e-06 -2.38284185e+01] [ 1.39946397e-04 -1.04063723e-05 9.99999990e-01 2.09837688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9307140569999 meters Centerline goodness [0,1] 0.9832545956312269 Centerline is valid? [True, True] Translation: X:507.10, Y:-23.83, Z:2.10 [[ 9.99999306e-01 -1.17097515e-03 -1.26608583e-04 5.07102135e+02] [ 1.17097619e-03 9.99999314e-01 8.09166624e-06 -2.38284537e+01] [ 1.26599021e-04 -8.23991626e-06 9.99999992e-01 2.09767885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9607140569999 meters Centerline goodness [0,1] 0.9826986387727942 Centerline is valid? [True, True] Translation: X:507.13, Y:-23.83, Z:2.10 [[ 9.99999250e-01 1.22327546e-03 5.50249286e-05 5.07132501e+02] [-1.22327527e-03 9.99999252e-01 -3.45217415e-06 -2.38285626e+01] [-5.50291104e-05 3.38486093e-06 9.99999998e-01 2.09739151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.990714057 meters Centerline goodness [0,1] 0.9835353250657648 Centerline is valid? [True, True] Translation: X:507.16, Y:-23.82, Z:2.10 [[ 9.99979443e-01 6.40933481e-03 -1.85506433e-04 5.07162982e+02] [-6.40933277e-03 9.99979460e-01 1.15976322e-05 -2.38247855e+01] [ 1.85576956e-04 -1.04084213e-05 9.99999983e-01 2.09795047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.020714057 meters Centerline goodness [0,1] 0.9842211385163651 Centerline is valid? [True, True] Translation: X:507.19, Y:-23.82, Z:2.10 [[ 9.99959248e-01 9.00786819e-03 6.00506812e-04 5.07192290e+02] [-9.00784689e-03 9.99959428e-01 -3.81603145e-05 -2.38247449e+01] [-6.00826191e-04 3.27494860e-05 9.99999819e-01 2.09825531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0507140569999 meters Centerline goodness [0,1] 0.9842211385163651 Centerline is valid? [True, True] Translation: X:507.22, Y:-23.83, Z:2.10 [[ 9.99959871e-01 8.93846655e-03 6.00477940e-04 5.07220579e+02] [-8.93844496e-03 9.99960051e-01 -3.86213260e-05 -2.38264568e+01] [-6.00799167e-04 3.32524372e-05 9.99999819e-01 2.09784229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0807140569999 meters Centerline goodness [0,1] 0.9841790694949022 Centerline is valid? [True, True] Translation: X:507.25, Y:-23.82, Z:2.10 [[ 9.99904536e-01 1.36662227e-02 2.03771871e-03 5.07251398e+02] [-1.36659908e-02 9.99906608e-01 -1.27664604e-04 -2.38246200e+01] [-2.03927309e-03 9.98049716e-05 9.99997916e-01 2.09871243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.110714057 meters Centerline goodness [0,1] 0.9844022430611187 Centerline is valid? [True, True] Translation: X:507.28, Y:-23.82, Z:2.10 [[ 9.99861128e-01 1.64685216e-02 2.55176884e-03 5.07281062e+02] [-1.64681662e-02 9.99864378e-01 -1.60228380e-04 -2.38237848e+01] [-2.55406148e-03 1.18183176e-04 9.99996731e-01 2.09918243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.140714057 meters Centerline goodness [0,1] 0.9844474247664761 Centerline is valid? [True, True] Translation: X:507.31, Y:-23.83, Z:2.10 [[ 9.99839858e-01 1.76767981e-02 2.79073564e-03 5.07308425e+02] [-1.76763764e-02 9.99843745e-01 -1.75692541e-04 -2.38258110e+01] [-2.79340526e-03 1.26334312e-04 9.99996090e-01 2.09851178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1707140569999 meters Centerline goodness [0,1] 0.9846110338651521 Centerline is valid? [True, True] Translation: X:507.34, Y:-23.83, Z:2.10 [[ 9.99824754e-01 1.86334647e-02 1.80403390e-03 5.07337600e+02] [-1.86332903e-02 9.99826379e-01 -1.13414881e-04 -2.38282763e+01] [-1.80583399e-03 7.97799182e-05 9.99998366e-01 2.09684970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2007140569999 meters Centerline goodness [0,1] 0.9850616149478099 Centerline is valid? [True, True] Translation: X:507.37, Y:-23.83, Z:2.10 [[ 9.99821830e-01 1.88560815e-02 8.69486920e-04 5.07365724e+02] [-1.88560401e-02 9.99822208e-01 -5.57795415e-05 -2.38257590e+01] [-8.70384116e-04 3.93745230e-05 9.99999620e-01 2.09746056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.230714057 meters Centerline goodness [0,1] 0.9840335342878673 Centerline is valid? [True, True] Translation: X:507.39, Y:-23.83, Z:2.09 [[ 9.99827149e-01 1.85736345e-02 -8.32392449e-04 5.07393153e+02] [-1.85735989e-02 9.99827495e-01 5.05278758e-05 -2.38348932e+01] [ 8.33187343e-04 -3.50586185e-05 9.99999652e-01 2.09441643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.260714057 meters Centerline goodness [0,1] 0.9838413773638159 Centerline is valid? [True, True] Translation: X:507.42, Y:-23.84, Z:2.09 [[ 9.99836996e-01 1.79425812e-02 -2.01105968e-03 5.07421815e+02] [-1.79423678e-02 9.99839015e-01 1.24107732e-04 -2.38380653e+01] [ 2.01296274e-03 -8.80043298e-05 9.99997970e-01 2.09321464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.290714057 meters Centerline goodness [0,1] 0.9847410930840417 Centerline is valid? [True, True] Translation: X:507.45, Y:-23.84, Z:2.09 [[ 9.99849762e-01 1.70854482e-02 -2.92238226e-03 5.07449460e+02] [-1.70849940e-02 9.99854025e-01 1.80310228e-04 -2.38426464e+01] [ 2.92503634e-03 -1.30354256e-04 9.99995714e-01 2.09135551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3207140569999 meters Centerline goodness [0,1] 0.984455715224946 Centerline is valid? [True, True] Translation: X:507.48, Y:-23.85, Z:2.09 [[ 9.99858212e-01 1.65336015e-02 -3.19305920e-03 5.07477286e+02] [-1.65330569e-02 9.99863300e-01 1.96875686e-04 -2.38473528e+01] [ 3.19587777e-03 -1.44056742e-04 9.99994883e-01 2.09041606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3507140569999 meters Centerline goodness [0,1] 0.9850363503752676 Centerline is valid? [True, True] Translation: X:507.51, Y:-23.85, Z:2.09 [[ 9.99865282e-01 1.61679807e-02 -2.83093073e-03 5.07505936e+02] [-1.61675514e-02 9.99869281e-01 1.74464474e-04 -2.38490782e+01] [ 2.83338141e-03 -1.28671752e-04 9.99995978e-01 2.09101569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.380714057 meters Centerline goodness [0,1] 0.9847890894579939 Centerline is valid? [True, True] Translation: X:507.54, Y:-23.85, Z:2.09 [[ 9.99870933e-01 1.59793523e-02 -1.66640448e-03 5.07535181e+02] [-1.59792042e-02 9.99872319e-01 1.02140899e-04 -2.38464579e+01] [ 1.66782386e-03 -7.54998985e-05 9.99998606e-01 2.09461339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.410714057 meters Centerline goodness [0,1] 0.985186402479106 Centerline is valid? [True, True] Translation: X:507.56, Y:-23.85, Z:2.10 [[ 9.99869134e-01 1.61705072e-02 -4.79754226e-04 5.07564236e+02] [-1.61704953e-02 9.99869249e-01 2.86652369e-05 -2.38489067e+01] [ 4.80155028e-04 -2.09036222e-05 9.99999885e-01 2.09509479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4407140569999 meters Centerline goodness [0,1] 0.9840623464157832 Centerline is valid? [True, True] Translation: X:507.59, Y:-23.85, Z:2.10 [[ 9.99869756e-01 1.60721122e-02 1.46940132e-03 5.07593565e+02] [-1.60719947e-02 9.99870833e-01 -9.17689075e-05 -2.38487618e+01] [-1.47068644e-03 6.81407450e-05 9.99998916e-01 2.09776511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4707140569999 meters Centerline goodness [0,1] 0.9844766445128109 Centerline is valid? [True, True] Translation: X:507.62, Y:-23.85, Z:2.10 [[ 9.99875677e-01 1.55672340e-02 2.50842294e-03 5.07622808e+02] [-1.55668921e-02 9.99878816e-01 -1.55765197e-04 -2.38501291e+01] [-2.51054379e-03 1.16697483e-04 9.99996842e-01 2.09832561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.500714057 meters Centerline goodness [0,1] 0.9847606581899776 Centerline is valid? [True, True] Translation: X:507.65, Y:-23.85, Z:2.10 [[ 9.99887465e-01 1.43892805e-02 4.24323343e-03 5.07651668e+02] [-1.43882959e-02 9.99896449e-01 -2.62475935e-04 -2.38536162e+01] [-4.24657087e-03 2.01393499e-04 9.99990963e-01 2.09945207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.530714057 meters Centerline goodness [0,1] 0.9834735857877512 Centerline is valid? [True, True] Translation: X:507.68, Y:-23.86, Z:2.10 [[ 9.99897765e-01 1.34386041e-02 4.88493934e-03 5.07679380e+02] [-1.34372895e-02 9.99909670e-01 -3.01829997e-04 -2.38582281e+01] [-4.88855426e-03 2.36158795e-04 9.99988023e-01 2.09878590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5607140569999 meters Centerline goodness [0,1] 0.9821640075245593 Centerline is valid? [True, True] Translation: X:507.71, Y:-23.87, Z:2.10 [[ 9.99924344e-01 1.12460391e-02 4.98326800e-03 5.07707261e+02] [-1.12446479e-02 9.99936730e-01 -3.07087394e-04 -2.38701849e+01] [-4.98640623e-03 2.51029067e-04 9.99987536e-01 2.09749394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5907140569999 meters Centerline goodness [0,1] 0.9835173776589562 Centerline is valid? [True, True] Translation: X:507.74, Y:-23.87, Z:2.10 [[ 9.99953538e-01 8.79502224e-03 3.94593625e-03 5.07736747e+02] [-8.79413083e-03 9.99961301e-01 -2.43200006e-04 -2.38679964e+01] [-3.94792250e-03 2.08487627e-04 9.99992185e-01 2.09738649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.620714057 meters Centerline goodness [0,1] 0.9819011865035224 Centerline is valid? [True, True] Translation: X:507.76, Y:-23.88, Z:2.09 [[ 9.99961776e-01 8.12771331e-03 3.22271275e-03 5.07764125e+02] [-8.12711386e-03 9.99966955e-01 -1.99058937e-04 -2.38756890e+01] [-3.22422415e-03 1.72859975e-04 9.99994787e-01 2.09466900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.650714057 meters Centerline goodness [0,1] 0.982893699874832 Centerline is valid? [True, True] Translation: X:507.79, Y:-23.88, Z:2.09 [[ 9.99971459e-01 7.30035996e-03 1.94569347e-03 5.07793721e+02] [-7.30014076e-03 9.99973346e-01 -1.19735263e-04 -2.38761270e+01] [-1.94651572e-03 1.05528010e-04 9.99998100e-01 2.09357809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6807140569999 meters Centerline goodness [0,1] 0.9820373106760252 Centerline is valid? [True, True] Translation: X:507.82, Y:-23.88, Z:2.09 [[ 9.99974632e-01 7.12277840e-03 2.51155348e-05 5.07821235e+02] [-7.12277833e-03 9.99974633e-01 -2.81338416e-06 -2.38810143e+01] [-2.51349368e-05 2.63442041e-06 1.00000000e+00 2.09066253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7107140569999 meters Centerline goodness [0,1] 0.9822658042979345 Centerline is valid? [True, True] Translation: X:507.85, Y:-23.88, Z:2.09 [[ 9.99976480e-01 6.75900618e-03 -1.16433230e-03 5.07849662e+02] [-6.75892910e-03 9.99977156e-01 7.01199673e-05 -2.38816687e+01] [ 1.16477964e-03 -6.22486785e-05 9.99999320e-01 2.08998198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.740714057 meters Centerline goodness [0,1] 0.9822972036052693 Centerline is valid? [True, True] Translation: X:507.88, Y:-23.88, Z:2.09 [[ 9.99972962e-01 6.51257928e-03 -3.41492563e-03 5.07878232e+02] [-6.51190881e-03 9.99978776e-01 2.07417794e-04 -2.38841197e+01] [ 3.41620397e-03 -1.85174501e-04 9.99994148e-01 2.08810204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.770714057 meters Centerline goodness [0,1] 0.9831438560744634 Centerline is valid? [True, True] Translation: X:507.91, Y:-23.89, Z:2.09 [[ 9.99977192e-01 4.60010933e-03 -4.94519295e-03 5.07907913e+02] [-4.59867603e-03 9.99989381e-01 3.01168890e-04 -2.38871417e+01] [ 4.94652584e-03 -2.78420680e-04 9.99987727e-01 2.08721261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8007140569999 meters Centerline goodness [0,1] 0.9820382843783997 Centerline is valid? [True, True] Translation: X:507.93, Y:-23.89, Z:2.09 [[ 9.99981366e-01 3.30049055e-03 -5.13559414e-03 5.07934842e+02] [-3.29893570e-03 9.99994510e-01 3.11200698e-04 -2.38919691e+01] [ 5.13659306e-03 -2.94252904e-04 9.99986764e-01 2.08601941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8307140569999 meters Centerline goodness [0,1] 0.9826080931263859 Centerline is valid? [True, True] Translation: X:507.96, Y:-23.90, Z:2.09 [[ 9.99990301e-01 -2.21056326e-04 -4.39874588e-03 5.07964942e+02] [ 2.22235334e-04 9.99999940e-01 2.67545817e-04 -2.38963590e+01] [ 4.39868647e-03 -2.68520779e-04 9.99990290e-01 2.08627915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.860714057 meters Centerline goodness [0,1] 0.9818693485883004 Centerline is valid? [True, True] Translation: X:507.99, Y:-23.90, Z:2.09 [[ 9.99989846e-01 -1.61400698e-03 -4.20739599e-03 5.07994611e+02] [ 1.61509614e-03 9.99998663e-01 2.55483942e-04 -2.38991253e+01] [ 4.20697801e-03 -2.62276697e-04 9.99991116e-01 2.08645702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.890714057 meters Centerline goodness [0,1] 0.9807745314222712 Centerline is valid? [True, True] Translation: X:508.02, Y:-23.90, Z:2.09 [[ 9.99990212e-01 -3.81434209e-03 -2.24210224e-03 5.08024192e+02] [ 3.81465617e-03 9.99992715e-01 1.35824837e-04 -2.39029744e+01] [ 2.24156782e-03 -1.44376357e-04 9.99997477e-01 2.08806450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9207140569999 meters Centerline goodness [0,1] 0.9801616458486407 Centerline is valid? [True, True] Translation: X:508.05, Y:-23.91, Z:2.09 [[ 9.99989424e-01 -4.35604069e-03 -1.47549991e-03 5.08053837e+02] [ 4.35617822e-03 9.99990508e-01 9.00091551e-05 -2.39110770e+01] [ 1.47509382e-03 -9.64357437e-05 9.99998907e-01 2.08704563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9507140569999 meters Centerline goodness [0,1] 0.9807856237760627 Centerline is valid? [True, True] Translation: X:508.09, Y:-23.91, Z:2.09 [[ 9.99985987e-01 -5.28683803e-03 -2.73650311e-04 5.08085178e+02] [ 5.28684293e-03 9.99986024e-01 1.71652147e-05 -2.39097431e+01] [ 2.73555737e-04 -1.86117203e-05 9.99999962e-01 2.08934535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.980714057 meters Centerline goodness [0,1] 0.980540092929107 Centerline is valid? [True, True] Translation: X:508.12, Y:-23.91, Z:2.09 [[ 9.99982674e-01 -5.87904260e-03 -2.96212360e-04 5.08117153e+02] [ 5.87904850e-03 9.99982718e-01 1.90731160e-05 -2.39121952e+01] [ 2.96095110e-04 -2.08142324e-05 9.99999956e-01 2.08887291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.010714057 meters Centerline goodness [0,1] 0.9809057696284552 Centerline is valid? [True, True] Translation: X:508.15, Y:-23.92, Z:2.09 [[ 9.99981841e-01 -6.02229328e-03 -2.23723457e-04 5.08148932e+02] [ 6.02229671e-03 9.99981866e-01 1.46675862e-05 -2.39151758e+01] [ 2.23631068e-04 -1.60146489e-05 9.99999975e-01 2.08796178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.040714057 meters Centerline goodness [0,1] 0.9811303387334315 Centerline is valid? [True, True] Translation: X:508.18, Y:-23.91, Z:2.09 [[ 9.99980205e-01 -6.26136395e-03 -6.20462110e-04 5.08181104e+02] [ 6.26138931e-03 9.99980397e-01 3.89478388e-05 -2.39138359e+01] [ 6.20206080e-04 -4.28320226e-05 9.99999807e-01 2.08801103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0707140569999 meters Centerline goodness [0,1] 0.980505614107598 Centerline is valid? [True, True] Translation: X:508.21, Y:-23.92, Z:2.09 [[ 9.99980394e-01 -6.11204475e-03 -1.36178876e-03 5.08211917e+02] [ 6.11216483e-03 9.99981317e-01 8.40299733e-05 -2.39189989e+01] [ 1.36124972e-03 -9.23518031e-05 9.99999069e-01 2.08694633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1007140569999 meters Centerline goodness [0,1] 0.9821883535703629 Centerline is valid? [True, True] Translation: X:508.24, Y:-23.92, Z:2.09 [[ 9.99982723e-01 -5.54447839e-03 -1.95259908e-03 5.08243858e+02] [ 5.54472429e-03 9.99984621e-01 1.20541812e-04 -2.39190652e+01] [ 1.95190071e-03 -1.31366352e-04 9.99998086e-01 2.08624662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.130714057 meters Centerline goodness [0,1] 0.9815993359158827 Centerline is valid? [True, True] Translation: X:508.27, Y:-23.92, Z:2.08 [[ 9.99981957e-01 -4.66866833e-03 -3.78007923e-03 5.08274994e+02] [ 4.66958460e-03 9.99989070e-01 2.33605614e-04 -2.39235036e+01] [ 3.77894729e-03 -2.51252799e-04 9.99992828e-01 2.08377754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.160714057 meters Centerline goodness [0,1] 0.982448866777225 Centerline is valid? [True, True] Translation: X:508.31, Y:-23.92, Z:2.08 [[ 9.99982032e-01 -3.48498595e-03 -4.87764140e-03 5.08306048e+02] [ 3.48648627e-03 9.99993877e-01 2.99121419e-04 -2.39205186e+01] [ 4.87656911e-03 -3.16121874e-04 9.99988059e-01 2.08455417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1907140569999 meters Centerline goodness [0,1] 0.9831292579635427 Centerline is valid? [True, True] Translation: X:508.34, Y:-23.92, Z:2.08 [[ 9.99982144e-01 -2.32874890e-03 -5.50341803e-03 5.08336311e+02] [ 2.33063945e-03 9.99997227e-01 3.37133857e-04 -2.39209962e+01] [ 5.50261767e-03 -3.49954320e-04 9.99984799e-01 2.08323109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2207140569999 meters Centerline goodness [0,1] 0.9828366610757531 Centerline is valid? [True, True] Translation: X:508.37, Y:-23.92, Z:2.08 [[ 9.99980812e-01 -7.59375157e-04 -6.14813717e-03 5.08365419e+02] [ 7.61702300e-04 9.99999639e-01 3.76179054e-04 -2.39227184e+01] [ 6.14784929e-03 -3.80854886e-04 9.99981029e-01 2.08243781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.250714057 meters Centerline goodness [0,1] 0.9825940612320178 Centerline is valid? [True, True] Translation: X:508.39, Y:-23.92, Z:2.08 [[ 9.99980872e-01 2.97898508e-05 -6.18504612e-03 5.08394265e+02] [-2.74784953e-05 9.99999930e-01 3.73785242e-04 -2.39239311e+01] [ 6.18505682e-03 -3.73608136e-04 9.99980803e-01 2.08174735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.280714057 meters Centerline goodness [0,1] 0.9831196384097408 Centerline is valid? [True, True] Translation: X:508.42, Y:-23.92, Z:2.08 [[ 9.99984111e-01 2.05555500e-03 -5.24911098e-03 5.08424014e+02] [-2.05390558e-03 9.99997840e-01 3.19600666e-04 -2.39241789e+01] [ 5.24975659e-03 -3.08814409e-04 9.99986172e-01 2.08178444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3107140569999 meters Centerline goodness [0,1] 0.9834232489509844 Centerline is valid? [True, True] Translation: X:508.45, Y:-23.93, Z:2.08 [[ 9.99985446e-01 2.40468198e-03 -4.82968786e-03 5.08453038e+02] [-2.40329400e-03 9.99997069e-01 2.93168649e-04 -2.39257345e+01] [ 4.83037868e-03 -2.81557223e-04 9.99988294e-01 2.08176525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3407140569999 meters Centerline goodness [0,1] 0.982158146853956 Centerline is valid? [True, True] Translation: X:508.48, Y:-23.93, Z:2.08 [[ 9.99990384e-01 2.25550540e-03 -3.76084941e-03 5.08482421e+02] [-2.25466341e-03 9.99997432e-01 2.28108400e-04 -2.39257662e+01] [ 3.76135425e-03 -2.19626757e-04 9.99992902e-01 2.08217876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.370714057 meters Centerline goodness [0,1] 0.9824322137722198 Centerline is valid? [True, True] Translation: X:508.51, Y:-23.93, Z:2.08 [[ 9.99995403e-01 1.42512181e-03 -2.67626149e-03 5.08509774e+02] [-1.42469510e-03 9.99998972e-01 1.61343246e-04 -2.39283911e+01] [ 2.67648867e-03 -1.57529648e-04 9.99996406e-01 2.08209712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.400714057 meters Centerline goodness [0,1] 0.9826331955382093 Centerline is valid? [True, True] Translation: X:508.54, Y:-23.93, Z:2.08 [[ 9.99995817e-01 6.26923321e-04 -2.82375326e-03 5.08538466e+02] [-6.26444694e-04 9.99999789e-01 1.70381744e-04 -2.39317590e+01] [ 2.82385948e-03 -1.68612106e-04 9.99995999e-01 2.08146823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4307140569999 meters Centerline goodness [0,1] 0.982309853964159 Centerline is valid? [True, True] Translation: X:508.57, Y:-23.94, Z:2.08 [[ 9.99996324e-01 -1.14512189e-03 -2.45762168e-03 5.08566815e+02] [ 1.14548977e-03 9.99999333e-01 1.48287943e-04 -2.39370506e+01] [ 2.45745023e-03 -1.51102579e-04 9.99996969e-01 2.08002309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4607140569999 meters Centerline goodness [0,1] 0.9826985628272855 Centerline is valid? [True, True] Translation: X:508.60, Y:-23.94, Z:2.08 [[ 9.99996092e-01 -1.92707790e-03 -2.02521534e-03 5.08596894e+02] [ 1.92733059e-03 9.99998135e-01 1.22826575e-04 -2.39384179e+01] [ 2.02497486e-03 -1.26729354e-04 9.99997942e-01 2.08034990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.490714057 meters Centerline goodness [0,1] 0.9813305709023941 Centerline is valid? [True, True] Translation: X:508.63, Y:-23.94, Z:2.08 [[ 9.99992469e-01 -3.77048359e-03 -9.19487745e-04 5.08626673e+02] [ 3.77053768e-03 9.99992890e-01 5.70992850e-05 -2.39431859e+01] [ 9.19265915e-04 -6.05658182e-05 9.99999576e-01 2.08049204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.520714057 meters Centerline goodness [0,1] 0.9809345966756576 Centerline is valid? [True, True] Translation: X:508.66, Y:-23.95, Z:2.08 [[ 9.99990129e-01 -4.44309235e-03 1.39532296e-05 5.08657507e+02] [ 4.44309235e-03 9.99990129e-01 -3.50146072e-07 -2.39466737e+01] [-1.39515362e-05 4.12138106e-07 1.00000000e+00 2.07968548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5507140569999 meters Centerline goodness [0,1] 0.9808674353582735 Centerline is valid? [True, True] Translation: X:508.69, Y:-23.95, Z:2.08 [[ 9.99983992e-01 -5.65304518e-03 2.43887165e-04 5.08689700e+02] [ 5.65304872e-03 9.99984021e-01 -1.38400949e-05 -2.39508232e+01] [-2.43805029e-04 1.52185794e-05 9.99999970e-01 2.07872906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5807140569999 meters Centerline goodness [0,1] 0.9804179352338777 Centerline is valid? [True, True] Translation: X:508.72, Y:-23.95, Z:2.08 [[ 9.99981299e-01 -6.11149114e-03 2.26221530e-04 5.08721144e+02] [ 6.11149424e-03 9.99981325e-01 -1.30321128e-05 -2.39546337e+01] [-2.26137659e-04 1.44144207e-05 9.99999974e-01 2.07731581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.610714057 meters Centerline goodness [0,1] 0.9801269666022633 Centerline is valid? [True, True] Translation: X:508.75, Y:-23.96, Z:2.08 [[ 9.99974586e-01 -7.11415863e-03 -4.65814936e-04 5.08753159e+02] [ 7.11417309e-03 9.99974694e-01 2.93785950e-05 -2.39581887e+01] [ 4.65594144e-04 -3.26917364e-05 9.99999891e-01 2.07529511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.640714057 meters Centerline goodness [0,1] 0.9793000230255584 Centerline is valid? [True, True] Translation: X:508.78, Y:-23.96, Z:2.07 [[ 9.99972064e-01 -7.42298722e-03 -8.78054135e-04 5.08783887e+02] [ 7.42303849e-03 9.99972447e-01 5.51441919e-05 -2.39617152e+01] [ 8.77620607e-04 -6.16604810e-05 9.99999613e-01 2.07389536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6707140569999 meters Centerline goodness [0,1] 0.9807236675637753 Centerline is valid? [True, True] Translation: X:508.82, Y:-23.96, Z:2.07 [[ 9.99971779e-01 -7.42941604e-03 -1.11535971e-03 5.08816090e+02] [ 7.42949781e-03 9.99972399e-01 6.91816346e-05 -2.39600084e+01] [ 1.11481494e-03 -7.74662447e-05 9.99999376e-01 2.07365164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7007140569999 meters Centerline goodness [0,1] 0.9816020053814134 Centerline is valid? [True, True] Translation: X:508.85, Y:-23.96, Z:2.07 [[ 9.99975846e-01 -6.80228873e-03 -1.42707316e-03 5.08848569e+02] [ 6.80242171e-03 9.99976859e-01 8.83533287e-05 -2.39596290e+01] [ 1.42643913e-03 -9.80587480e-05 9.99998978e-01 2.07286833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.730714057 meters Centerline goodness [0,1] 0.9808165612420932 Centerline is valid? [True, True] Translation: X:508.88, Y:-23.96, Z:2.07 [[ 9.99979260e-01 -6.30035560e-03 -1.33634736e-03 5.08879566e+02] [ 6.30047160e-03 9.99980148e-01 8.26126050e-05 -2.39648649e+01] [ 1.33580034e-03 -9.10305102e-05 9.99999104e-01 2.07142262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.760714057 meters Centerline goodness [0,1] 0.9818900915903414 Centerline is valid? [True, True] Translation: X:508.91, Y:-23.96, Z:2.07 [[ 9.99986824e-01 -5.13275267e-03 -7.60063018e-05 5.08911139e+02] [ 5.13275308e-03 9.99986827e-01 5.18000497e-06 -2.39578023e+01] [ 7.59787129e-05 -5.57005830e-06 9.99999997e-01 2.07343908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.790714057 meters Centerline goodness [0,1] 0.9817470364829094 Centerline is valid? [True, True] Translation: X:508.94, Y:-23.96, Z:2.07 [[ 9.99989669e-01 -4.49778946e-03 6.57782853e-04 5.08942086e+02] [ 4.49781646e-03 9.99989884e-01 -3.95754262e-05 -2.39603983e+01] [-6.57598196e-04 4.25336039e-05 9.99999783e-01 2.07321339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8207140569999 meters Centerline goodness [0,1] 0.9798784418454738 Centerline is valid? [True, True] Translation: X:508.97, Y:-23.96, Z:2.07 [[ 9.99983176e-01 -5.23543919e-03 2.49766827e-03 5.08972544e+02] [ 5.23583706e-03 9.99986281e-01 -1.52786479e-04 -2.39645439e+01] [-2.49683410e-03 1.65861293e-04 9.99996869e-01 2.07320650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8507140569999 meters Centerline goodness [0,1] 0.9797732218531668 Centerline is valid? [True, True] Translation: X:509.00, Y:-23.97, Z:2.07 [[ 9.99979073e-01 -5.57793399e-03 3.27717666e-03 5.09004238e+02] [ 5.57862044e-03 9.99984419e-01 -2.00360186e-04 -2.39681200e+01] [-3.27600800e-03 2.18638118e-04 9.99994610e-01 2.07256897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.880714057 meters Centerline goodness [0,1] 0.9795880838543582 Centerline is valid? [True, True] Translation: X:509.03, Y:-23.97, Z:2.07 [[ 9.99967645e-01 -7.07448518e-03 3.82897533e-03 5.09034861e+02] [ 7.07543275e-03 9.99974941e-01 -2.33982930e-04 -2.39739355e+01] [-3.82722407e-03 2.61067016e-04 9.99992642e-01 2.07232752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.910714057 meters Centerline goodness [0,1] 0.9802628555672993 Centerline is valid? [True, True] Translation: X:509.07, Y:-23.97, Z:2.07 [[ 9.99956040e-01 -8.52952130e-03 3.89419380e-03 5.09067541e+02] [ 8.53051632e-03 9.99963586e-01 -2.38975624e-04 -2.39711345e+01] [-3.89201365e-03 2.72184603e-04 9.99992389e-01 2.07353297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9407140569999 meters Centerline goodness [0,1] 0.9804285550590123 Centerline is valid? [True, True] Translation: X:509.10, Y:-23.97, Z:2.07 [[ 9.99953375e-01 -9.03365187e-03 3.41200765e-03 5.09098818e+02] [ 9.03441975e-03 9.99959167e-01 -2.09706115e-04 -2.39748434e+01] [-3.40997391e-03 2.40521847e-04 9.99994157e-01 2.07280659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9707140569999 meters Centerline goodness [0,1] 0.9804285550590123 Centerline is valid? [True, True] Translation: X:509.13, Y:-23.98, Z:2.07 [[ 9.99954021e-01 -8.96182073e-03 3.41200783e-03 5.09130531e+02] [ 8.96258818e-03 9.99959813e-01 -2.09703678e-04 -2.39768600e+01] [-3.40999138e-03 2.40274457e-04 9.99994157e-01 2.07234404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.000714057 meters Centerline goodness [0,1] 0.9808578436991358 Centerline is valid? [True, True] Translation: X:509.16, Y:-23.98, Z:2.07 [[ 9.99959804e-01 -8.74245128e-03 1.98971759e-03 5.09162772e+02] [ 8.74271123e-03 9.99961774e-01 -1.21987680e-04 -2.39784892e+01] [-1.98857506e-03 1.39378303e-04 9.99998013e-01 2.07121713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.030714057 meters Centerline goodness [0,1] 0.9818352790073622 Centerline is valid? [True, True] Translation: X:509.19, Y:-23.98, Z:2.07 [[ 9.99967747e-01 -7.95825401e-03 1.08215765e-03 5.09194758e+02] [ 7.95833002e-03 9.99968330e-01 -6.59497396e-05 -2.39811485e+01] [-1.08159853e-03 7.45597802e-05 9.99999412e-01 2.06986247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0607140569999 meters Centerline goodness [0,1] 0.9820536328214531 Centerline is valid? [True, True] Translation: X:509.22, Y:-23.98, Z:2.07 [[ 9.99990394e-01 -4.37982419e-03 -1.69619483e-04 5.09224832e+02] [ 4.37982603e-03 9.99990408e-01 1.05015909e-05 -2.39833904e+01] [ 1.69571861e-04 -1.12443939e-05 9.99999986e-01 2.06849760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0907140569999 meters Centerline goodness [0,1] 0.9818307109222465 Centerline is valid? [True, True] Translation: X:509.26, Y:-23.98, Z:2.07 [[ 9.99997983e-01 -1.95488538e-03 -4.60320759e-04 5.09256203e+02] [ 1.95489896e-03 9.99998089e-01 2.90368974e-05 -2.39834715e+01] [ 4.60263116e-04 -2.99367194e-05 9.99999894e-01 2.06776149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.120714057 meters Centerline goodness [0,1] 0.9821432670017674 Centerline is valid? [True, True] Translation: X:509.29, Y:-23.98, Z:2.07 [[ 9.99985870e-01 5.28485823e-03 5.74845082e-04 5.09286257e+02] [-5.28483868e-03 9.99986035e-01 -3.55212739e-05 -2.39820168e+01] [-5.75024778e-04 3.24828085e-05 9.99999834e-01 2.06735094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.150714057 meters Centerline goodness [0,1] 0.9831011173955029 Centerline is valid? [True, True] Translation: X:509.32, Y:-23.98, Z:2.07 [[ 9.99906589e-01 1.35951652e-02 1.40853050e-03 5.09316208e+02] [-1.35950555e-02 9.99907579e-01 -8.73922522e-05 -2.39794911e+01] [-1.40958843e-03 6.82350385e-05 9.99999004e-01 2.06763135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1807140569999 meters Centerline goodness [0,1] 0.9840086266232276 Centerline is valid? [True, True] Translation: X:509.34, Y:-23.98, Z:2.07 [[ 9.99838658e-01 1.78328631e-02 2.15582846e-03 5.09344827e+02] [-1.78326152e-02 9.99840977e-01 -1.34177545e-04 -2.39793893e+01] [-2.15787840e-03 9.57118370e-05 9.99997667e-01 2.06760169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2107140569999 meters Centerline goodness [0,1] 0.9846100439713029 Centerline is valid? [True, True] Translation: X:509.37, Y:-23.98, Z:2.07 [[ 9.99653865e-01 2.60257338e-02 3.84844070e-03 5.09374638e+02] [-2.60250082e-02 9.99661264e-01 -2.38520102e-04 -2.39765015e+01] [-3.85334476e-03 1.38281841e-04 9.99992566e-01 2.06859549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.240714057 meters Centerline goodness [0,1] 0.9856529962633206 Centerline is valid? [True, True] Translation: X:509.40, Y:-23.98, Z:2.07 [[ 9.99540037e-01 2.98758515e-02 5.21040513e-03 5.09404436e+02] [-2.98745750e-02 9.99553603e-01 -3.22649991e-04 -2.39764840e+01] [-5.21771867e-03 1.66842944e-04 9.99986374e-01 2.06936639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.270714057 meters Centerline goodness [0,1] 0.985383482183961 Centerline is valid? [True, True] Translation: X:509.43, Y:-23.98, Z:2.07 [[ 9.99325923e-01 3.58206611e-02 8.03616969e-03 5.09433362e+02] [-3.58178211e-02 9.99358212e-01 -4.97092048e-04 -2.39776538e+01] [-8.04881835e-03 2.08918881e-04 9.99967586e-01 2.07039674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3007140569999 meters Centerline goodness [0,1] 0.9860181809791888 Centerline is valid? [True, True] Translation: X:509.46, Y:-23.98, Z:2.07 [[ 9.99252779e-01 3.76230874e-02 8.85359876e-03 5.09462497e+02] [-3.76197132e-02 9.99291978e-01 -5.47401768e-04 -2.39797994e+01] [-8.86792516e-03 2.13922891e-04 9.99960656e-01 2.07022142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3307140569999 meters Centerline goodness [0,1] 0.9859074243813015 Centerline is valid? [True, True] Translation: X:509.49, Y:-23.98, Z:2.07 [[ 9.99168186e-01 3.97816072e-02 8.96435608e-03 5.09489968e+02] [-3.97782355e-02 9.99208379e-01 -5.54177643e-04 -2.39849828e+01] [-8.97930578e-03 1.97130402e-04 9.99959666e-01 2.06848779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.360714057 meters Centerline goodness [0,1] 0.9857591671061986 Centerline is valid? [True, True] Translation: X:509.52, Y:-23.99, Z:2.07 [[ 9.99179984e-01 3.94809076e-02 8.97873262e-03 5.09518962e+02] [-3.94775252e-02 9.99220305e-01 -5.53701852e-04 -2.39898792e+01] [-8.99359260e-03 1.98789664e-04 9.99959537e-01 2.06723834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.390714057 meters Centerline goodness [0,1] 0.9857113463341031 Centerline is valid? [True, True] Translation: X:509.55, Y:-24.00, Z:2.07 [[ 9.99280021e-01 3.69145753e-02 8.76097575e-03 5.09547055e+02] [-3.69112612e-02 9.99318401e-01 -5.39726985e-04 -2.39994959e+01] [-8.77492807e-03 2.15959728e-04 9.99961476e-01 2.06599714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4207140569999 meters Centerline goodness [0,1] 0.985156516789983 Centerline is valid? [True, True] Translation: X:509.58, Y:-24.01, Z:2.06 [[ 9.99430438e-01 3.27284464e-02 8.22487164e-03 5.09575572e+02] [-3.27253886e-02 9.99464253e-01 -5.06127001e-04 -2.40099677e+01] [-8.23702994e-03 2.36676609e-04 9.99966047e-01 2.06434988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4507140569999 meters Centerline goodness [0,1] 0.9851897212583067 Centerline is valid? [True, True] Translation: X:509.60, Y:-24.01, Z:2.06 [[ 9.99511134e-01 3.02085061e-02 8.05850646e-03 5.09603815e+02] [-3.02054898e-02 9.99543587e-01 -4.95768211e-04 -2.40116148e+01] [-8.06980487e-03 2.52114712e-04 9.99967407e-01 2.06421318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.480714057 meters Centerline goodness [0,1] 0.9854128502612117 Centerline is valid? [True, True] Translation: X:509.63, Y:-24.02, Z:2.06 [[ 9.99666491e-01 2.46632988e-02 7.65686457e-03 5.09633929e+02] [-2.46604226e-02 9.99695775e-01 -4.69834262e-04 -2.40206990e+01] [-7.66612283e-03 2.80856052e-04 9.99970575e-01 2.06307482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.510714057 meters Centerline goodness [0,1] 0.9860925804482034 Centerline is valid? [True, True] Translation: X:509.66, Y:-24.03, Z:2.06 [[ 9.99739182e-01 2.15272496e-02 7.62534396e-03 5.09663074e+02] [-2.15243040e-02 9.99768216e-01 -4.68150263e-04 -2.40271228e+01] [-7.63365452e-03 3.03897939e-04 9.99970817e-01 2.06232827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.540714057 meters Centerline goodness [0,1] 0.9841534612176814 Centerline is valid? [True, True] Translation: X:509.69, Y:-24.03, Z:2.06 [[ 9.99802293e-01 1.84568366e-02 7.39734955e-03 5.09692296e+02] [-1.84539825e-02 9.99829608e-01 -4.53899575e-04 -2.40333132e+01] [-7.40446665e-03 3.17299276e-04 9.99972536e-01 2.06127188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5707140569999 meters Centerline goodness [0,1] 0.983930170098478 Centerline is valid? [True, True] Translation: X:509.72, Y:-24.05, Z:2.06 [[ 9.99906052e-01 1.20541875e-02 6.52565697e-03 5.09721281e+02] [-1.20518324e-02 9.99927294e-01 -4.00101306e-04 -2.40464355e+01] [-6.53000541e-03 3.21417593e-04 9.99978628e-01 2.05974815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6007140569999 meters Centerline goodness [0,1] 0.9822584997301673 Centerline is valid? [True, True] Translation: X:509.75, Y:-24.06, Z:2.06 [[ 9.99969428e-01 4.84269545e-03 6.13935637e-03 5.09750199e+02] [-4.84047614e-03 9.99988214e-01 -3.76295716e-04 -2.40581670e+01] [-6.14110630e-03 3.46566804e-04 9.99981083e-01 2.05848783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.630714057 meters Centerline goodness [0,1] 0.982904259371289 Centerline is valid? [True, True] Translation: X:509.78, Y:-24.06, Z:2.06 [[ 9.99982980e-01 1.43199772e-03 5.65588671e-03 5.09780876e+02] [-1.43006195e-03 9.99998918e-01 -3.46286409e-04 -2.40600431e+01] [-5.65637647e-03 3.38192247e-04 9.99983945e-01 2.05823944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.660714057 meters Centerline goodness [0,1] 0.9802571063199695 Centerline is valid? [True, True] Translation: X:509.81, Y:-24.07, Z:2.06 [[ 9.99971496e-01 -5.47469284e-03 5.19952448e-03 5.09809597e+02] [ 5.47642185e-03 9.99984954e-01 -3.18352309e-04 -2.40737532e+01] [-5.19770336e-03 3.46818024e-04 9.99986432e-01 2.05722948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6907140569999 meters Centerline goodness [0,1] 0.9798137686175558 Centerline is valid? [True, True] Translation: X:509.84, Y:-24.08, Z:2.06 [[ 9.99951701e-01 -8.20297129e-03 5.41364490e-03 5.09840864e+02] [ 8.20488573e-03 9.99966284e-01 -3.31518159e-04 -2.40756772e+01] [-5.41074294e-03 3.75920485e-04 9.99985291e-01 2.05735985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7207140569999 meters Centerline goodness [0,1] 0.9792018487245578 Centerline is valid? [True, True] Translation: X:509.87, Y:-24.08, Z:2.06 [[ 9.99903618e-01 -1.27442817e-02 5.50803978e-03 5.09870617e+02] [ 1.27463347e-02 9.99918705e-01 -3.37770615e-04 -2.40828251e+01] [-5.50328736e-03 4.07945378e-04 9.99984774e-01 2.05737824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.750714057 meters Centerline goodness [0,1] 0.9788017404886756 Centerline is valid? [True, True] Translation: X:509.90, Y:-24.08, Z:2.06 [[ 9.99883277e-01 -1.41973857e-02 5.64513653e-03 5.09903204e+02] [ 1.41995619e-02 9.99899121e-01 -3.45616692e-04 -2.40826825e+01] [-5.63966021e-03 4.25734816e-04 9.99984006e-01 2.05779622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.780714057 meters Centerline goodness [0,1] 0.9777396114469252 Centerline is valid? [True, True] Translation: X:509.93, Y:-24.09, Z:2.06 [[ 9.99858632e-01 -1.56106370e-02 6.24697732e-03 5.09934695e+02] [ 1.56133339e-02 9.99878031e-01 -3.83173999e-04 -2.40853016e+01] [-6.24023379e-03 4.80655973e-04 9.99980414e-01 2.05810894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8107140569999 meters Centerline goodness [0,1] 0.9772392884212404 Centerline is valid? [True, True] Translation: X:509.97, Y:-24.09, Z:2.06 [[ 9.99856138e-01 -1.57412781e-02 6.31785055e-03 5.09965621e+02] [ 1.57440414e-02 9.99875980e-01 -3.87874115e-04 -2.40888096e+01] [-6.31096138e-03 4.87286816e-04 9.99979967e-01 2.05758690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8407140569999 meters Centerline goodness [0,1] 0.9777946904239603 Centerline is valid? [True, True] Translation: X:510.00, Y:-24.09, Z:2.06 [[ 9.99858038e-01 -1.58924138e-02 5.59781525e-03 5.09997907e+02] [ 1.58945857e-02 9.99873614e-01 -3.43710153e-04 -2.40867768e+01] [-5.59164538e-03 4.32636314e-04 9.99984273e-01 2.05720865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.870714057 meters Centerline goodness [0,1] 0.9770099549127271 Centerline is valid? [True, True] Translation: X:510.03, Y:-24.09, Z:2.06 [[ 9.99857857e-01 -1.62416251e-02 4.52493409e-03 5.10029776e+02] [ 1.62430483e-02 9.99868034e-01 -2.77960477e-04 -2.40873458e+01] [-4.51982243e-03 3.51419690e-04 9.99989724e-01 2.05564769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.900714057 meters Centerline goodness [0,1] 0.9770772358631784 Centerline is valid? [True, True] Translation: X:510.06, Y:-24.09, Z:2.05 [[ 9.99853759e-01 -1.65863631e-02 4.16568644e-03 5.10060594e+02] [ 1.65875705e-02 9.99862384e-01 -2.55473358e-04 -2.40907838e+01] [-4.16087580e-03 3.24534615e-04 9.99991291e-01 2.05456269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9307140569999 meters Centerline goodness [0,1] 0.9769505924435502 Centerline is valid? [True, True] Translation: X:510.09, Y:-24.09, Z:2.05 [[ 9.99826881e-01 -1.82973226e-02 3.37873295e-03 5.10091737e+02] [ 1.82981313e-02 9.99832553e-01 -2.08588756e-04 -2.40907988e+01] [-3.37435058e-03 2.70377145e-04 9.99994270e-01 2.05343914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9607140569999 meters Centerline goodness [0,1] 0.9767374236696714 Centerline is valid? [True, True] Translation: X:510.12, Y:-24.09, Z:2.05 [[ 9.99811703e-01 -1.91809337e-02 2.94120434e-03 5.10123633e+02] [ 1.91815485e-02 9.99816001e-01 -1.80971753e-04 -2.40920776e+01] [-2.93719195e-03 2.37354530e-04 9.99995658e-01 2.05272766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.990714057 meters Centerline goodness [0,1] 0.9764225086450802 Centerline is valid? [True, True] Translation: X:510.15, Y:-24.09, Z:2.05 [[ 9.99749424e-01 -2.23237911e-02 1.65466482e-03 5.10153781e+02] [ 2.23239908e-02 9.99750783e-01 -1.02353836e-04 -2.40948647e+01] [-1.65196753e-03 1.39266911e-04 9.99998626e-01 2.05088924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.020714057 meters Centerline goodness [0,1] 0.9761117318435755 Centerline is valid? [True, True] Translation: X:510.18, Y:-24.10, Z:2.05 [[ 9.99712320e-01 -2.39569127e-02 1.15885533e-03 5.10184624e+02] [ 2.39570115e-02 9.99712987e-01 -7.14815613e-05 -2.40976154e+01] [-1.15681025e-03 9.92237080e-05 9.99999326e-01 2.04995712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0507140569999 meters Centerline goodness [0,1] 0.9752538497747293 Centerline is valid? [True, True] Translation: X:510.21, Y:-24.10, Z:2.05 [[ 9.99631045e-01 -2.71617761e-02 -1.09888759e-04 5.10214630e+02] [ 2.71617770e-02 9.99631051e-01 6.84663467e-06 -2.41006095e+01] [ 1.09662249e-04 -9.82888253e-06 9.99999994e-01 2.04809814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0807140569999 meters Centerline goodness [0,1] 0.970147913720737 Centerline is valid? [True, True] Translation: X:510.24, Y:-24.10, Z:2.05 [[ 9.99552970e-01 -2.98511316e-02 -1.66435542e-03 5.10244011e+02] [ 2.98513438e-02 9.99554344e-01 1.02806624e-04 -2.41044212e+01] [ 1.66054480e-03 -1.52443912e-04 9.99998610e-01 2.04596894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.110714057 meters Centerline goodness [0,1] 0.968596003942299 Centerline is valid? [True, True] Translation: X:510.28, Y:-24.11, Z:2.05 [[ 9.99530525e-01 -3.05711060e-02 -2.03380386e-03 5.10276064e+02] [ 3.05714273e-02 9.99532577e-01 1.27038516e-04 -2.41064902e+01] [ 2.02896950e-03 -1.89155162e-04 9.99997924e-01 2.04500937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.140714057 meters Centerline goodness [0,1] 0.9741029570861882 Centerline is valid? [True, True] Translation: X:510.31, Y:-24.10, Z:2.05 [[ 9.99514155e-01 -3.10797986e-02 -2.34538046e-03 5.10308569e+02] [ 3.10802273e-02 9.99516882e-01 1.46559247e-04 -2.40989399e+01] [ 2.33969233e-03 -2.19382999e-04 9.99997239e-01 2.04631704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1707140569999 meters Centerline goodness [0,1] 0.9644285650083142 Centerline is valid? [True, True] Translation: X:510.34, Y:-24.11, Z:2.05 [[ 9.99540510e-01 -3.02755109e-02 -1.47070059e-03 5.10338924e+02] [ 3.02756784e-02 9.99541582e-01 9.18178368e-05 -2.41077301e+01] [ 1.46724657e-03 -1.36302106e-04 9.99998914e-01 2.04522991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2007140569999 meters Centerline goodness [0,1] 0.9754356734363039 Centerline is valid? [True, True] Translation: X:510.37, Y:-24.10, Z:2.05 [[ 9.99596980e-01 -2.83875805e-02 -1.47996191e-04 5.10370619e+02] [ 2.83875823e-02 9.99596991e-01 9.45205252e-06 -2.40967203e+01] [ 1.47668226e-04 -1.36494972e-05 9.99999989e-01 2.04853159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.230714057 meters Centerline goodness [0,1] 0.9730443020842732 Centerline is valid? [True, True] Translation: X:510.40, Y:-24.10, Z:2.05 [[ 9.99638370e-01 -2.68863516e-02 5.03041345e-04 5.10401578e+02] [ 2.68863705e-02 9.99638496e-01 -3.07260659e-05 -2.40988747e+01] [-5.02033382e-04 4.42399104e-05 9.99999873e-01 2.04876880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.260714057 meters Centerline goodness [0,1] 0.9740698985343855 Centerline is valid? [True, True] Translation: X:510.43, Y:-24.09, Z:2.05 [[ 9.99736043e-01 -2.28043333e-02 2.79392641e-03 5.10433028e+02] [ 2.28049065e-02 9.99739919e-01 -1.73474404e-04 -2.40928040e+01] [-2.78924380e-03 2.37143845e-04 9.99996082e-01 2.05090567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.290714057 meters Centerline goodness [0,1] 0.9745980852601156 Centerline is valid? [True, True] Translation: X:510.46, Y:-24.09, Z:2.05 [[ 9.99778893e-01 -2.06862877e-02 3.77388814e-03 5.10463403e+02] [ 2.06873192e-02 9.99785967e-01 -2.34494663e-04 -2.40931175e+01] [-3.76822958e-03 3.12514444e-04 9.99992851e-01 2.05124553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3207140569999 meters Centerline goodness [0,1] 0.9763496724644228 Centerline is valid? [True, True] Translation: X:510.49, Y:-24.09, Z:2.05 [[ 9.99865622e-01 -1.55152358e-02 5.29290195e-03 5.10494881e+02] [ 1.55171921e-02 9.99879547e-01 -3.28728887e-04 -2.40871369e+01] [-5.28716410e-03 4.10815689e-04 9.99985938e-01 2.05199808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3507140569999 meters Centerline goodness [0,1] 0.9752107427688532 Centerline is valid? [True, True] Translation: X:510.52, Y:-24.08, Z:2.05 [[ 9.99938327e-01 -9.78651225e-03 5.25033340e-03 5.10524541e+02] [ 9.78836080e-03 9.99952040e-01 -3.26501872e-04 -2.40842990e+01] [-5.24688628e-03 3.77873893e-04 9.99986164e-01 2.05141593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.380714057 meters Centerline goodness [0,1] 0.9774205980367708 Centerline is valid? [True, True] Translation: X:510.56, Y:-24.08, Z:2.05 [[ 9.99967437e-01 -6.71949021e-03 4.46923564e-03 5.10555494e+02] [ 6.72079706e-03 9.99977377e-01 -2.77455330e-04 -2.40833918e+01] [-4.46727017e-03 3.07483121e-04 9.99989974e-01 2.05072509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.410714057 meters Centerline goodness [0,1] 0.9774528840662479 Centerline is valid? [True, True] Translation: X:510.59, Y:-24.08, Z:2.05 [[ 9.99997333e-01 -4.81672473e-04 2.25861925e-03 5.10586833e+02] [ 4.81990321e-04 9.99999874e-01 -1.40184572e-04 -2.40785127e+01] [-2.25855144e-03 1.41272831e-04 9.99997439e-01 2.04848899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4407140569999 meters Centerline goodness [0,1] 0.9785242541562287 Centerline is valid? [True, True] Translation: X:510.62, Y:-24.08, Z:2.05 [[ 9.99993153e-01 3.23771743e-03 1.79185661e-03 5.10617972e+02] [-3.23752339e-03 9.99994753e-01 -1.11180456e-04 -2.40774647e+01] [-1.79220718e-03 1.05378517e-04 9.99998388e-01 2.04735727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4707140569999 meters Centerline goodness [0,1] 0.9799077583451299 Centerline is valid? [True, True] Translation: X:510.65, Y:-24.07, Z:2.05 [[ 9.99945444e-01 1.04124201e-02 8.30591422e-04 5.10648190e+02] [-1.04123805e-02 9.99945788e-01 -5.20421914e-05 -2.40714844e+01] [-8.31088279e-04 4.33909183e-05 9.99999654e-01 2.04611380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.500714057 meters Centerline goodness [0,1] 0.9813069107089613 Centerline is valid? [True, True] Translation: X:510.68, Y:-24.07, Z:2.05 [[ 9.99902643e-01 1.39518490e-02 2.22432117e-04 5.10678677e+02] [-1.39518462e-02 9.99902668e-01 -1.40800234e-05 -2.40705420e+01] [-2.22606909e-04 1.09753140e-05 9.99999975e-01 2.04544413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.530714057 meters Centerline goodness [0,1] 0.982582789045491 Centerline is valid? [True, True] Translation: X:510.71, Y:-24.07, Z:2.05 [[ 9.99789780e-01 2.05016027e-02 2.82481871e-04 5.10709129e+02] [-2.05015986e-02 9.99789820e-01 -1.75985769e-05 -2.40665512e+01] [-2.82783298e-04 1.18035474e-05 9.99999960e-01 2.04552145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5607140569999 meters Centerline goodness [0,1] 0.9823309392138415 Centerline is valid? [True, True] Translation: X:510.74, Y:-24.07, Z:2.05 [[ 9.99718732e-01 2.37028101e-02 7.95487090e-04 5.10739453e+02] [-2.37027781e-02 9.99719048e-01 -4.96749387e-05 -2.40662577e+01] [-7.96441032e-04 3.08057128e-05 9.99999682e-01 2.04586523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5907140569999 meters Centerline goodness [0,1] 0.9847108863087711 Centerline is valid? [True, True] Translation: X:510.77, Y:-24.06, Z:2.05 [[ 9.99565540e-01 2.94236322e-02 1.72687024e-03 5.10768794e+02] [-2.94234899e-02 9.99567030e-01 -1.07726415e-04 -2.40645766e+01] [-1.72929226e-03 5.68690633e-05 9.99998503e-01 2.04622915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.620714057 meters Centerline goodness [0,1] 0.9841985417577109 Centerline is valid? [True, True] Translation: X:510.80, Y:-24.07, Z:2.04 [[ 9.99519031e-01 3.09686834e-02 1.62704316e-03 5.10796982e+02] [-3.09685585e-02 9.99520354e-01 -1.01913558e-04 -2.40670672e+01] [-1.62941888e-03 5.14773593e-05 9.99998671e-01 2.04479483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.650714057 meters Centerline goodness [0,1] 0.9857591671061986 Centerline is valid? [True, True] Translation: X:510.83, Y:-24.07, Z:2.05 [[ 9.99454732e-01 3.29394205e-02 2.28774395e-03 5.10826344e+02] [-3.29391805e-02 9.99457348e-01 -1.42534659e-04 -2.40667877e+01] [-2.29119751e-03 6.71005284e-05 9.99997373e-01 2.04572247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6807140569999 meters Centerline goodness [0,1] 0.9867119546508158 Centerline is valid? [True, True] Translation: X:510.86, Y:-24.07, Z:2.05 [[ 9.99448316e-01 3.31150439e-02 2.54127180e-03 5.10855597e+02] [-3.31147488e-02 9.99451544e-01 -1.58114660e-04 -2.40684418e+01] [-2.54511400e-03 7.38738534e-05 9.99996758e-01 2.04575374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7107140569999 meters Centerline goodness [0,1] 0.9851665331349433 Centerline is valid? [True, True] Translation: X:510.88, Y:-24.07, Z:2.05 [[ 9.99483489e-01 3.19917535e-02 3.04684782e-03 5.10883753e+02] [-3.19913245e-02 9.99488129e-01 -1.89452644e-04 -2.40727765e+01] [-3.05134914e-03 9.18820922e-05 9.99995340e-01 2.04649672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.740714057 meters Centerline goodness [0,1] 0.9851894242875129 Centerline is valid? [True, True] Translation: X:510.91, Y:-24.08, Z:2.04 [[ 9.99530722e-01 3.03945052e-02 3.80929927e-03 5.10911081e+02] [-3.03938243e-02 9.99537973e-01 -2.36516422e-04 -2.40832445e+01] [-3.81472807e-03 1.20626257e-04 9.99992717e-01 2.04486798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.770714057 meters Centerline goodness [0,1] 0.9852353894251614 Centerline is valid? [True, True] Translation: X:510.94, Y:-24.09, Z:2.04 [[ 9.99546960e-01 2.98486399e-02 3.86435673e-03 5.10938625e+02] [-2.98479368e-02 9.99554422e-01 -2.39500995e-04 -2.40874301e+01] [-3.86978364e-03 1.24049416e-04 9.99992505e-01 2.04447936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8007140569999 meters Centerline goodness [0,1] 0.9849310384133135 Centerline is valid? [True, True] Translation: X:510.97, Y:-24.09, Z:2.05 [[ 9.99623197e-01 2.72945332e-02 2.91070140e-03 5.10967922e+02] [-2.72941242e-02 9.99627430e-01 -1.80130239e-04 -2.40874934e+01] [-2.91453353e-03 1.00617320e-04 9.99995748e-01 2.04511970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8307140569999 meters Centerline goodness [0,1] 0.9861382983566258 Centerline is valid? [True, True] Translation: X:511.00, Y:-24.09, Z:2.04 [[ 9.99661073e-01 2.58661826e-02 2.94624783e-03 5.10996187e+02] [-2.58657573e-02 9.99665409e-01 -1.82369361e-04 -2.40918013e+01] [-2.94997924e-03 1.06100620e-04 9.99995643e-01 2.04385000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.860714057 meters Centerline goodness [0,1] 0.9861382983566258 Centerline is valid? [True, True] Translation: X:511.02, Y:-24.09, Z:2.04 [[ 9.99663820e-01 2.57598028e-02 2.94623523e-03 5.11023609e+02] [-2.57593764e-02 9.99668156e-01 -1.82575250e-04 -2.40933994e+01] [-2.94996064e-03 1.06620690e-04 9.99995643e-01 2.04344948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.890714057 meters Centerline goodness [0,1] 0.9854575015807063 Centerline is valid? [True, True] Translation: X:511.05, Y:-24.10, Z:2.04 [[ 9.99756335e-01 2.19491628e-02 2.34638439e-03 5.11051159e+02] [-2.19488828e-02 9.99759084e-01 -1.45028280e-04 -2.41020378e+01] [-2.34900235e-03 9.34924255e-05 9.99997237e-01 2.04207067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9207140569999 meters Centerline goodness [0,1] 0.9857217324297985 Centerline is valid? [True, True] Translation: X:511.08, Y:-24.11, Z:2.04 [[ 9.99803624e-01 1.97324858e-02 1.82829873e-03 5.11080901e+02] [-1.97323128e-02 9.99805293e-01 -1.12654341e-04 -2.41053553e+01] [-1.83016570e-03 7.65556559e-05 9.99998322e-01 2.04189372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9507140569999 meters Centerline goodness [0,1] 0.9848967871758348 Centerline is valid? [True, True] Translation: X:511.11, Y:-24.11, Z:2.04 [[ 9.99855252e-01 1.68513278e-02 2.34707160e-03 5.11109974e+02] [-1.68510352e-02 9.99858001e-01 -1.44387904e-04 -2.41126150e+01] [-2.34917144e-03 1.04816418e-04 9.99997235e-01 2.04197391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.980714057 meters Centerline goodness [0,1] 0.9833050559891415 Centerline is valid? [True, True] Translation: X:511.14, Y:-24.12, Z:2.04 [[ 9.99876137e-01 1.55527752e-02 2.41266091e-03 5.11138131e+02] [-1.55524609e-02 9.99879042e-01 -1.48968928e-04 -2.41156483e+01] [-2.41468596e-03 1.11427662e-04 9.99997078e-01 2.04194255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.010714057 meters Centerline goodness [0,1] 0.9832002698751827 Centerline is valid? [True, True] Translation: X:511.17, Y:-24.12, Z:2.04 [[ 9.99897271e-01 1.42370959e-02 1.65899637e-03 5.11165983e+02] [-1.42369451e-02 9.99898644e-01 -1.02676617e-04 -2.41209955e+01] [-1.66029004e-03 7.90470294e-05 9.99998619e-01 2.04120962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.040714057 meters Centerline goodness [0,1] 0.9832247922748709 Centerline is valid? [True, True] Translation: X:511.19, Y:-24.13, Z:2.04 [[ 9.99909225e-01 1.33922058e-02 1.47993604e-03 5.11194812e+02] [-1.33920852e-02 9.99910318e-01 -9.13698261e-05 -2.41257187e+01] [-1.48102696e-03 7.15421023e-05 9.99998901e-01 2.03992800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0707140569999 meters Centerline goodness [0,1] 0.9830462681526512 Centerline is valid? [True, True] Translation: X:511.22, Y:-24.13, Z:2.04 [[ 9.99914728e-01 1.30045571e-02 1.19130451e-03 5.11223297e+02] [-1.30044785e-02 9.99915435e-01 -7.36628675e-05 -2.41286019e+01] [-1.19216172e-03 5.81642921e-05 9.99999288e-01 2.03934489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1007140569999 meters Centerline goodness [0,1] 0.982464412411873 Centerline is valid? [True, True] Translation: X:511.25, Y:-24.13, Z:2.04 [[ 9.99928952e-01 1.19181999e-02 2.16907557e-04 5.11250736e+02] [-1.19181970e-02 9.99928976e-01 -1.46612378e-05 -2.41323833e+01] [-2.17066887e-04 1.20750491e-05 9.99999976e-01 2.03828600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.130714057 meters Centerline goodness [0,1] 0.9837088778729157 Centerline is valid? [True, True] Translation: X:511.28, Y:-24.13, Z:2.04 [[ 9.99933416e-01 1.15290390e-02 -4.94944921e-04 5.11279891e+02] [-1.15290261e-02 9.99933538e-01 2.90614778e-05 -2.41313029e+01] [ 4.95247077e-04 -2.33533099e-05 9.99999877e-01 2.03818051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.160714057 meters Centerline goodness [0,1] 0.9827132741373497 Centerline is valid? [True, True] Translation: X:511.31, Y:-24.14, Z:2.03 [[ 9.99940547e-01 1.06084226e-02 -2.52261759e-03 5.11306899e+02] [-1.06080737e-02 9.99943721e-01 1.51630971e-04 -2.41389809e+01] [ 2.52408419e-03 -1.24861843e-04 9.99996807e-01 2.03428366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1907140569999 meters Centerline goodness [0,1] 0.9829721013103588 Centerline is valid? [True, True] Translation: X:511.33, Y:-24.14, Z:2.03 [[ 9.99940629e-01 1.02623048e-02 -3.66389145e-03 5.11334034e+02] [-1.02615652e-02 9.99947324e-01 2.20598881e-04 -2.41422201e+01] [ 3.66596231e-03 -1.82988522e-04 9.99993264e-01 2.03250267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2207140569999 meters Centerline goodness [0,1] 0.9820575241186548 Centerline is valid? [True, True] Translation: X:511.36, Y:-24.14, Z:2.03 [[ 9.99947033e-01 9.41899176e-03 -4.14892621e-03 5.11362471e+02] [-9.41803445e-03 9.99955618e-01 2.50214229e-04 -2.41443394e+01] [ 4.15109883e-03 -2.11126246e-04 9.99991362e-01 2.03193144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.250714057 meters Centerline goodness [0,1] 0.9826636568848759 Centerline is valid? [True, True] Translation: X:511.39, Y:-24.15, Z:2.03 [[ 9.99953063e-01 8.43483493e-03 -4.76702261e-03 5.11391338e+02] [-8.43356080e-03 9.99964396e-01 2.87320549e-04 -2.41463322e+01] [ 4.76927639e-03 -2.47104088e-04 9.99988596e-01 2.03144360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.280714057 meters Centerline goodness [0,1] 0.9810865644724978 Centerline is valid? [True, True] Translation: X:511.42, Y:-24.15, Z:2.03 [[ 9.99966285e-01 7.02728285e-03 -4.24810858e-03 5.11418905e+02] [-7.02626238e-03 9.99975283e-01 2.55094663e-04 -2.41495584e+01] [ 4.24979620e-03 -2.25237737e-04 9.99990944e-01 2.03141959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3107140569999 meters Centerline goodness [0,1] 0.983085250338295 Centerline is valid? [True, True] Translation: X:511.45, Y:-24.15, Z:2.03 [[ 9.99973521e-01 6.35600525e-03 -3.54368902e-03 5.11448045e+02] [-6.35529124e-03 9.99979782e-01 2.12710077e-04 -2.41462613e+01] [ 3.54496936e-03 -1.90183268e-04 9.99993698e-01 2.03390115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3407140569999 meters Centerline goodness [0,1] 0.9804774679320994 Centerline is valid? [True, True] Translation: X:511.48, Y:-24.15, Z:2.03 [[ 9.99983745e-01 5.24610369e-03 -2.23339776e-03 5.11475539e+02] [-5.24581912e-03 9.99986232e-01 1.33253281e-04 -2.41548811e+01] [ 2.23406607e-03 -1.21535114e-04 9.99997497e-01 2.03278747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.370714057 meters Centerline goodness [0,1] 0.9814429727408345 Centerline is valid? [True, True] Translation: X:511.50, Y:-24.15, Z:2.03 [[ 9.99986967e-01 4.91376751e-03 -1.38583135e-03 5.11504507e+02] [-4.91365806e-03 9.99987925e-01 8.23706712e-05 -2.41510619e+01] [ 1.38621937e-03 -7.55600962e-05 9.99999036e-01 2.03477295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.400714057 meters Centerline goodness [0,1] 0.980993920766571 Centerline is valid? [True, True] Translation: X:511.53, Y:-24.15, Z:2.04 [[ 9.99985911e-01 5.29346630e-03 3.95590096e-04 5.11533652e+02] [-5.29345692e-03 9.99985989e-01 -2.47593865e-05 -2.41520133e+01] [-3.95715616e-04 2.26649986e-05 9.99999921e-01 2.03598101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4307140569999 meters Centerline goodness [0,1] 0.979577115549344 Centerline is valid? [True, True] Translation: X:511.56, Y:-24.15, Z:2.04 [[ 9.99985027e-01 5.36202220e-03 1.09320694e-03 5.11561712e+02] [-5.36195283e-03 9.99985622e-01 -6.63702709e-05 -2.41548857e+01] [-1.09354710e-03 6.05075531e-05 9.99999400e-01 2.03563693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4607140569999 meters Centerline goodness [0,1] 0.9806020368990358 Centerline is valid? [True, True] Translation: X:511.59, Y:-24.15, Z:2.04 [[ 9.99988628e-01 4.19743121e-03 2.26398625e-03 5.11591721e+02] [-4.19713325e-03 9.99991183e-01 -1.36342953e-04 -2.41538317e+01] [-2.26453858e-03 1.26839150e-04 9.99997428e-01 2.03647227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.490714057 meters Centerline goodness [0,1] 0.9792955520433506 Centerline is valid? [True, True] Translation: X:511.62, Y:-24.15, Z:2.04 [[ 9.99993690e-01 2.94070655e-03 1.99317841e-03 5.11621712e+02] [-2.94047312e-03 9.99995670e-01 -1.20031988e-04 -2.41548399e+01] [-1.99352276e-03 1.14170343e-04 9.99998006e-01 2.03599294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.520714057 meters Centerline goodness [0,1] 0.9802813731007316 Centerline is valid? [True, True] Translation: X:511.65, Y:-24.16, Z:2.03 [[ 9.99997759e-01 7.92811535e-04 1.96321861e-03 5.11651952e+02] [-7.92581929e-04 9.99999679e-01 -1.17729061e-04 -2.41567757e+01] [-1.96331132e-03 1.16172786e-04 9.99998066e-01 2.03433928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5507140569999 meters Centerline goodness [0,1] 0.9800968019179446 Centerline is valid? [True, True] Translation: X:511.68, Y:-24.16, Z:2.03 [[ 9.99998495e-01 -7.62483279e-04 1.55858465e-03 5.11681466e+02] [ 7.62629874e-04 9.99999705e-01 -9.34642261e-05 -2.41616892e+01] [-1.55851292e-03 9.46527086e-05 9.99998781e-01 2.03229747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5807140569999 meters Centerline goodness [0,1] 0.9782506439690895 Centerline is valid? [True, True] Translation: X:511.71, Y:-24.17, Z:2.03 [[ 9.99995530e-01 -2.96398096e-03 3.94025300e-04 5.11711323e+02] [ 2.96399024e-03 9.99995607e-01 -2.29738098e-05 -2.41693507e+01] [-3.93955475e-04 2.41415943e-05 9.99999922e-01 2.03057203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.610714057 meters Centerline goodness [0,1] 0.9801189695338475 Centerline is valid? [True, True] Translation: X:511.74, Y:-24.16, Z:2.03 [[ 9.99987151e-01 -5.03929220e-03 -5.51496292e-04 5.11742913e+02] [ 5.03931164e-03 9.99987302e-01 3.38623301e-05 -2.41623866e+01] [ 5.51318647e-04 -3.66410567e-05 9.99999847e-01 2.03186376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.640714057 meters Centerline goodness [0,1] 0.9795707150249742 Centerline is valid? [True, True] Translation: X:511.77, Y:-24.17, Z:2.03 [[ 9.99986533e-01 -5.18946030e-03 5.94149482e-05 5.11773727e+02] [ 5.18946048e-03 9.99986535e-01 -2.77867342e-06 -2.41702818e+01] [-5.93997283e-05 3.08696753e-06 9.99999998e-01 2.03012015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6707140569999 meters Centerline goodness [0,1] 0.9803461954561846 Centerline is valid? [True, True] Translation: X:511.81, Y:-24.17, Z:2.03 [[ 9.99989729e-01 -4.52050020e-03 3.26605327e-04 5.11805762e+02] [ 4.52050652e-03 9.99989782e-01 -1.86166784e-05 -2.41679896e+01] [-3.26517833e-04 2.00929087e-05 9.99999946e-01 2.03108493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7007140569999 meters Centerline goodness [0,1] 0.9811051774076756 Centerline is valid? [True, True] Translation: X:511.84, Y:-24.17, Z:2.03 [[ 9.99990808e-01 -4.23802417e-03 6.50945463e-04 5.11837990e+02] [ 4.23804990e-03 9.99991019e-01 -3.81629221e-05 -2.41662617e+01] [-6.50777881e-04 4.09213106e-05 9.99999787e-01 2.03160825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.730714057 meters Centerline goodness [0,1] 0.9774924675091065 Centerline is valid? [True, True] Translation: X:511.87, Y:-24.18, Z:2.03 [[ 9.99992430e-01 -3.48765701e-03 1.72512052e-03 5.11868618e+02] [ 3.48783854e-03 9.99993912e-01 -1.02225073e-04 -2.41782236e+01] [-1.72475349e-03 1.08241241e-04 9.99998507e-01 2.02967440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.760714057 meters Centerline goodness [0,1] 0.9800793201133144 Centerline is valid? [True, True] Translation: X:511.90, Y:-24.17, Z:2.03 [[ 9.99989056e-01 -3.83703636e-03 2.67687868e-03 5.11901569e+02] [ 3.83748050e-03 9.99992624e-01 -1.60800540e-04 -2.41668421e+01] [-2.67624193e-03 1.71071250e-04 9.99996404e-01 2.03180818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.790714057 meters Centerline goodness [0,1] 0.9786738432312633 Centerline is valid? [True, True] Translation: X:511.93, Y:-24.17, Z:2.03 [[ 9.99983214e-01 -4.71789891e-03 3.36350345e-03 5.11932256e+02] [ 4.71860756e-03 9.99988847e-01 -2.02784923e-04 -2.41723907e+01] [-3.36250922e-03 2.18652572e-04 9.99994323e-01 2.03060714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8207140569999 meters Centerline goodness [0,1] 0.9785434895656696 Centerline is valid? [True, True] Translation: X:511.96, Y:-24.18, Z:2.03 [[ 9.99977851e-01 -5.66045163e-03 3.50094904e-03 5.11963474e+02] [ 5.66122357e-03 9.99983953e-01 -2.10622396e-04 -2.41758778e+01] [-3.49970065e-03 2.30437386e-04 9.99993849e-01 2.02967477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8507140569999 meters Centerline goodness [0,1] 0.9778610277357767 Centerline is valid? [True, True] Translation: X:511.99, Y:-24.18, Z:2.03 [[ 9.99953760e-01 -8.88940564e-03 3.66819778e-03 5.11994511e+02] [ 8.89028051e-03 9.99960456e-01 -2.22265106e-04 -2.41768672e+01] [-3.66607692e-03 2.54866136e-04 9.99993247e-01 2.02963418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.880714057 meters Centerline goodness [0,1] 0.9776053765138359 Centerline is valid? [True, True] Translation: X:512.03, Y:-24.18, Z:2.03 [[ 9.99935193e-01 -1.08638541e-02 3.40385766e-03 5.12025775e+02] [ 1.08646183e-02 9.99940957e-01 -2.06087968e-04 -2.41788244e+01] [-3.40141777e-03 2.43056226e-04 9.99994186e-01 2.02958915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.910714057 meters Centerline goodness [0,1] 0.9768125112999457 Centerline is valid? [True, True] Translation: X:512.06, Y:-24.18, Z:2.03 [[ 9.99873253e-01 -1.55915636e-02 3.22182767e-03 5.12056376e+02] [ 1.55922733e-02 9.99878414e-01 -1.95269291e-04 -2.41846587e+01] [-3.21839139e-03 2.45480159e-04 9.99994791e-01 2.02854640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9407140569999 meters Centerline goodness [0,1] 0.9754407349721226 Centerline is valid? [True, True] Translation: X:512.09, Y:-24.19, Z:2.03 [[ 9.99830500e-01 -1.81570877e-02 3.04826870e-03 5.12086994e+02] [ 1.81577353e-02 9.99835118e-01 -1.84900761e-04 -2.41861444e+01] [-3.04440883e-03 2.40219076e-04 9.99995337e-01 2.02813697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9707140569999 meters Centerline goodness [0,1] 0.9743399618020447 Centerline is valid? [True, True] Translation: X:512.12, Y:-24.19, Z:2.03 [[ 9.99779161e-01 -2.08062110e-02 2.95477183e-03 5.12116833e+02] [ 2.08068317e-02 9.99783498e-01 -1.79487118e-04 -2.41940254e+01] [-2.95039767e-03 2.40926920e-04 9.99995619e-01 2.02662844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.000714057 meters Centerline goodness [0,1] 0.9740218739429474 Centerline is valid? [True, True] Translation: X:512.15, Y:-24.20, Z:2.02 [[ 9.99674503e-01 -2.53923062e-02 2.47357795e-03 5.12147761e+02] [ 2.53927543e-02 9.99677541e-01 -1.49908716e-04 -2.42004281e+01] [-2.46897380e-03 2.12670879e-04 9.99996929e-01 2.02496562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.030714057 meters Centerline goodness [0,1] 0.9739537606087211 Centerline is valid? [True, True] Translation: X:512.18, Y:-24.20, Z:2.02 [[ 9.99596022e-01 -2.83041028e-02 2.58292202e-03 5.12178188e+02] [ 2.83046019e-02 9.99599332e-01 -1.56875625e-04 -2.42037476e+01] [-2.57744690e-03 2.29920830e-04 9.99996652e-01 2.02422718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0607140569999 meters Centerline goodness [0,1] 0.9745996810923709 Centerline is valid? [True, True] Translation: X:512.21, Y:-24.20, Z:2.02 [[ 9.99572078e-01 -2.91398293e-02 2.55549585e-03 5.12209957e+02] [ 2.91403192e-02 9.99575319e-01 -1.54678284e-04 -2.42029758e+01] [-2.54990328e-03 2.29080059e-04 9.99996723e-01 2.02416698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0907140569999 meters Centerline goodness [0,1] 0.9744748796833536 Centerline is valid? [True, True] Translation: X:512.24, Y:-24.20, Z:2.02 [[ 9.99587222e-01 -2.85678696e-02 3.04331760e-03 5.12241759e+02] [ 2.85685621e-02 9.99591818e-01 -1.84314215e-04 -2.42039766e+01] [-3.03680991e-03 2.71181342e-04 9.99995352e-01 2.02456784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.120714057 meters Centerline goodness [0,1] 0.9742390864541653 Centerline is valid? [True, True] Translation: X:512.27, Y:-24.20, Z:2.02 [[ 9.99617103e-01 -2.74224160e-02 3.69576982e-03 5.12273449e+02] [ 2.74234320e-02 9.99623882e-01 -2.24516473e-04 -2.42047628e+01] [-3.68822299e-03 3.25781199e-04 9.99993145e-01 2.02415710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.150714057 meters Centerline goodness [0,1] 0.9755839358515215 Centerline is valid? [True, True] Translation: X:512.30, Y:-24.20, Z:2.02 [[ 9.99676063e-01 -2.51724623e-02 3.75706308e-03 5.12304698e+02] [ 2.51734986e-02 9.99683071e-01 -2.28794394e-04 -2.42043400e+01] [-3.75011304e-03 3.23298702e-04 9.99992916e-01 2.02396859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1807140569999 meters Centerline goodness [0,1] 0.9739987843587492 Centerline is valid? [True, True] Translation: X:512.33, Y:-24.21, Z:2.02 [[ 9.99703208e-01 -2.41150001e-02 3.45880984e-03 5.12334456e+02] [ 2.41158725e-02 9.99709148e-01 -2.10739537e-04 -2.42102831e+01] [-3.45272185e-03 2.94089208e-04 9.99993996e-01 2.02210428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2107140569999 meters Centerline goodness [0,1] 0.9750753587978584 Centerline is valid? [True, True] Translation: X:512.37, Y:-24.21, Z:2.02 [[ 9.99727432e-01 -2.32930201e-02 1.58016385e-03 5.12366786e+02] [ 2.32931999e-02 9.99728672e-01 -9.54631019e-05 -2.42055813e+01] [-1.57751148e-03 1.32244154e-04 9.99998747e-01 2.02042808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.240714057 meters Centerline goodness [0,1] 0.9766298217911121 Centerline is valid? [True, True] Translation: X:512.40, Y:-24.21, Z:2.02 [[ 9.99750576e-01 -2.23292751e-02 4.34044705e-04 5.12399029e+02] [ 2.23292883e-02 9.99750670e-01 -2.54966659e-05 -2.42064503e+01] [-4.33367163e-04 3.51822158e-05 9.99999905e-01 2.01850802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.270714057 meters Centerline goodness [0,1] 0.9767499604975057 Centerline is valid? [True, True] Translation: X:512.43, Y:-24.21, Z:2.02 [[ 9.99761557e-01 -2.18353233e-02 2.16521311e-04 5.12431691e+02] [ 2.18353263e-02 9.99761581e-01 -1.15479470e-05 -2.42075585e+01] [-2.16217535e-04 1.62730070e-05 9.99999976e-01 2.01751202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3007140569999 meters Centerline goodness [0,1] 0.9751974723538704 Centerline is valid? [True, True] Translation: X:512.46, Y:-24.21, Z:2.02 [[ 9.99768548e-01 -2.15135254e-02 -1.35178844e-04 5.12462683e+02] [ 2.15135268e-02 9.99768557e-01 9.06507176e-06 -2.42107658e+01] [ 1.34952536e-04 -1.19711473e-05 9.99999991e-01 2.01670269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3307140569999 meters Centerline goodness [0,1] 0.9762012487557687 Centerline is valid? [True, True] Translation: X:512.49, Y:-24.21, Z:2.02 [[ 9.99768892e-01 -2.14934398e-02 -4.42089786e-04 5.12494671e+02] [ 2.14934543e-02 9.99768989e-01 2.81762975e-05 -2.42106133e+01] [ 4.41382053e-04 -3.76718223e-05 9.99999902e-01 2.01648616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.360714057 meters Centerline goodness [0,1] 0.9756885605187645 Centerline is valid? [True, True] Translation: X:512.53, Y:-24.21, Z:2.02 [[ 9.99772191e-01 -2.13437664e-02 -9.69096747e-05 5.12527347e+02] [ 2.13437673e-02 9.99772196e-01 7.67101577e-06 -2.42121626e+01] [ 9.67238699e-05 -9.73768578e-06 9.99999995e-01 2.01609322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.390714057 meters Centerline goodness [0,1] 0.9750062201714506 Centerline is valid? [True, True] Translation: X:512.56, Y:-24.22, Z:2.02 [[ 9.99754621e-01 -2.21381252e-02 7.75818885e-04 5.12558533e+02] [ 2.21381683e-02 9.99754920e-01 -4.69882325e-05 -2.42150232e+01] [-7.74588515e-04 6.41519116e-05 9.99999698e-01 2.01616226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4207140569999 meters Centerline goodness [0,1] 0.974907063197026 Centerline is valid? [True, True] Translation: X:512.59, Y:-24.21, Z:2.02 [[ 9.99739670e-01 -2.27624854e-02 1.56877313e-03 5.12590791e+02] [ 2.27626633e-02 9.99740892e-01 -9.56437020e-05 -2.42141795e+01] [-1.56618956e-03 1.31328258e-04 9.99998765e-01 2.01679152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4507140569999 meters Centerline goodness [0,1] 0.9731397951570236 Centerline is valid? [True, True] Translation: X:512.62, Y:-24.22, Z:2.02 [[ 9.99695174e-01 -2.45005491e-02 3.04674013e-03 5.12620701e+02] [ 2.45012343e-02 9.99699782e-01 -1.87776607e-04 -2.42183581e+01] [-3.04122481e-03 2.62368261e-04 9.99995341e-01 2.01720954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.480714057 meters Centerline goodness [0,1] 0.9730815497401212 Centerline is valid? [True, True] Translation: X:512.65, Y:-24.22, Z:2.02 [[ 9.99607377e-01 -2.77560565e-02 3.83324460e-03 5.12651132e+02] [ 2.77571648e-02 9.99614668e-01 -2.36218739e-04 -2.42228003e+01] [-3.82521103e-03 3.42525996e-04 9.99992625e-01 2.01729019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.510714057 meters Centerline goodness [0,1] 0.9711320583703436 Centerline is valid? [True, True] Translation: X:512.68, Y:-24.23, Z:2.02 [[ 9.99550545e-01 -2.96935697e-02 4.12320309e-03 5.12681569e+02] [ 2.96948678e-02 9.99558978e-01 -2.53950223e-04 -2.42271075e+01] [-4.11384398e-03 3.76274054e-04 9.99991467e-01 2.01681230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.540714057 meters Centerline goodness [0,1] 0.9690932195697558 Centerline is valid? [True, True] Translation: X:512.71, Y:-24.23, Z:2.02 [[ 9.99422674e-01 -3.37285237e-02 4.08717176e-03 5.12712365e+02] [ 3.37298324e-02 9.99430956e-01 -2.51657119e-04 -2.42329490e+01] [-4.07635796e-03 3.89371449e-04 9.99991616e-01 2.01602769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5707140569999 meters Centerline goodness [0,1] 0.9654969569447273 Centerline is valid? [True, True] Translation: X:512.74, Y:-24.24, Z:2.02 [[ 9.99389546e-01 -3.46984413e-02 4.06854864e-03 5.12743182e+02] [ 3.46997429e-02 9.99397751e-01 -2.49749138e-04 -2.42383612e+01] [-4.05743246e-03 3.90774270e-04 9.99991692e-01 2.01501861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6007140569999 meters Centerline goodness [0,1] 0.9569950883864105 Centerline is valid? [True, True] Translation: X:512.77, Y:-24.24, Z:2.01 [[ 9.99340213e-01 -3.61235271e-02 3.77226337e-03 5.12772852e+02] [ 3.61246587e-02 9.99347265e-01 -2.32250327e-04 -2.42433497e+01] [-3.76141138e-03 3.68368818e-04 9.99992858e-01 2.01338162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.630714057 meters Centerline goodness [0,1] 0.9578533676649953 Centerline is valid? [True, True] Translation: X:512.80, Y:-24.25, Z:2.01 [[ 9.99364059e-01 -3.54432657e-02 3.90539213e-03 5.12804678e+02] [ 3.54444754e-02 9.99371618e-01 -2.40938257e-04 -2.42451760e+01] [-3.89439841e-03 3.79209610e-04 9.99992345e-01 2.01187922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.660714057 meters Centerline goodness [0,1] 0.9414499194993083 Centerline is valid? [True, False] Translation: X:512.80, Y:-24.25, Z:2.01 [[ 9.99447973e-01 -3.29656564e-02 4.12491642e-03 5.12803681e+02] [ 3.29548490e-02 9.99453299e-01 2.66114565e-03 -2.42467564e+01] [-4.21038773e-03 -2.52374063e-03 9.99987952e-01 2.01216320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6907140569999 meters Centerline goodness [0,1] 0.967088149471827 Centerline is valid? [False, True] Translation: X:512.80, Y:-24.25, Z:2.01 [[ 9.99566098e-01 -2.91848607e-02 3.98245346e-03 5.12803856e+02] [ 2.91569017e-02 9.99550985e-01 6.90676524e-03 -2.42478299e+01] [-4.18223826e-03 -6.78765238e-03 9.99968218e-01 2.01164136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7207140569999 meters Centerline goodness [0,1] 0.9480680970360155 Centerline is valid? [True, False] Translation: X:512.80, Y:-24.25, Z:2.01 [[ 9.99577809e-01 -2.88103117e-02 3.76437856e-03 5.12804609e+02] [ 2.87834871e-02 9.99561189e-01 6.99568884e-03 -2.42471671e+01] [-3.96427469e-03 -6.88438338e-03 9.99968444e-01 2.01131464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.750714057 meters Centerline goodness [0,1] 0.954515580736544 Centerline is valid? [False, True] Translation: X:512.80, Y:-24.25, Z:2.01 [[ 9.99677916e-01 -2.50952889e-02 3.78021271e-03 5.12804302e+02] [ 2.50534695e-02 9.99628514e-01 1.07311863e-02 -2.42469186e+01] [-4.04811063e-03 -1.06330226e-02 9.99935274e-01 2.01126596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.780714057 meters Centerline goodness [0,1] 0.954515580736544 Centerline is valid? [True, True] Translation: X:512.84, Y:-24.24, Z:2.01 [[ 9.99686926e-01 -2.48297071e-02 3.08801013e-03 5.12837229e+02] [ 2.48304261e-02 9.99691658e-01 -1.94720471e-04 -2.42447576e+01] [-3.08222312e-03 2.71336117e-04 9.99995213e-01 2.01461098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8107140569999 meters Centerline goodness [0,1] 0.963568468509495 Centerline is valid? [True, True] Translation: X:512.87, Y:-24.24, Z:2.01 [[ 9.99730195e-01 -2.30648235e-02 2.74794777e-03 5.12869236e+02] [ 2.30653883e-02 9.99733943e-01 -1.73986742e-04 -2.42424921e+01] [-2.74320369e-03 2.37322282e-04 9.99996209e-01 2.01448203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8407140569999 meters Centerline goodness [0,1] 0.9766221374045801 Centerline is valid? [True, True] Translation: X:512.90, Y:-24.23, Z:2.02 [[ 9.99819127e-01 -1.87195841e-02 3.36002759e-03 5.12900436e+02] [ 1.87204071e-02 9.99824735e-01 -2.13661481e-04 -2.42310095e+01] [-3.35543904e-03 2.76523919e-04 9.99994332e-01 2.01566166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.870714057 meters Centerline goodness [0,1] 0.9771376522828191 Centerline is valid? [True, True] Translation: X:512.93, Y:-24.23, Z:2.02 [[ 9.99849322e-01 -1.69921694e-02 3.54956482e-03 5.12932239e+02] [ 1.69930748e-02 9.99855582e-01 -2.25091432e-04 -2.42289795e+01] [-3.54522741e-03 2.85375537e-04 9.99993675e-01 2.01552869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.900714057 meters Centerline goodness [0,1] 0.9771473059925351 Centerline is valid? [True, True] Translation: X:512.96, Y:-24.23, Z:2.02 [[ 9.99910144e-01 -1.28348232e-02 3.86927758e-03 5.12963303e+02] [ 1.28358709e-02 9.99917587e-01 -2.46044367e-04 -2.42270414e+01] [-3.86580077e-03 2.95687806e-04 9.99992484e-01 2.01531846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9307140569999 meters Centerline goodness [0,1] 0.9786438500711107 Centerline is valid? [True, True] Translation: X:512.99, Y:-24.22, Z:2.01 [[ 9.99956278e-01 -8.65492576e-03 3.54051068e-03 5.12994186e+02] [ 8.65577769e-03 9.99962513e-01 -2.25370098e-04 -2.42230976e+01] [-3.53842739e-03 2.56006118e-04 9.99993707e-01 2.01420497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9607140569999 meters Centerline goodness [0,1] 0.9738737498853106 Centerline is valid? [True, True] Translation: X:513.02, Y:-24.24, Z:2.01 [[ 9.99967877e-01 -7.13784269e-03 3.64649819e-03 5.13023856e+02] [ 7.13873563e-03 9.99974492e-01 -2.31919963e-04 -2.42359124e+01] [-3.64474977e-03 2.57943899e-04 9.99993325e-01 2.01120641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.990714057 meters Centerline goodness [0,1] 0.9792331901403597 Centerline is valid? [True, True] Translation: X:513.06, Y:-24.22, Z:2.01 [[ 9.99986227e-01 -3.73140903e-03 3.69098404e-03 5.13055875e+02] [ 3.73230107e-03 9.99993007e-01 -2.34822984e-04 -2.42215862e+01] [-3.69008201e-03 2.48595613e-04 9.99993161e-01 2.01272217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.020714057 meters Centerline goodness [0,1] 0.9756069655156633 Centerline is valid? [True, True] Translation: X:513.09, Y:-24.24, Z:2.01 [[ 9.99990042e-01 -2.21188073e-03 3.87613590e-03 5.13085385e+02] [ 2.21285346e-03 9.99997521e-01 -2.46682299e-04 -2.42350813e+01] [-3.87558066e-03 2.55257164e-04 9.99992457e-01 2.01055372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0507140569999 meters Centerline goodness [0,1] 0.9791072250345145 Centerline is valid? [True, True] Translation: X:513.12, Y:-24.22, Z:2.01 [[ 9.99993308e-01 2.53126533e-04 3.64974364e-03 5.13118224e+02] [-2.52281774e-04 9.99999941e-01 -2.31915436e-04 -2.42190593e+01] [-3.64980213e-03 2.30993121e-04 9.99993313e-01 2.01260742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0807140569999 meters Centerline goodness [0,1] 0.9800308634866527 Centerline is valid? [True, True] Translation: X:513.15, Y:-24.22, Z:2.01 [[ 9.99992142e-01 1.62809288e-03 3.61453343e-03 5.13149605e+02] [-1.62727188e-03 9.99998650e-01 -2.30068682e-04 -2.42200392e+01] [-3.61490313e-03 2.24185045e-04 9.99993441e-01 2.01142664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.110714057 meters Centerline goodness [0,1] 0.9795800646054453 Centerline is valid? [True, True] Translation: X:513.18, Y:-24.22, Z:2.01 [[ 9.99991758e-01 2.83556436e-03 2.90570321e-03 5.13181124e+02] [-2.83503886e-03 9.99995964e-01 -1.84956175e-04 -2.42211582e+01] [-2.90621593e-03 1.76716869e-04 9.99995761e-01 2.01000918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.140714057 meters Centerline goodness [0,1] 0.9806120334338806 Centerline is valid? [True, True] Translation: X:513.21, Y:-24.22, Z:2.01 [[ 9.99982450e-01 5.67102892e-03 1.71437432e-03 5.13211579e+02] [-5.67084961e-03 9.99983915e-01 -1.09435057e-04 -2.42197296e+01] [-1.71496736e-03 9.97111775e-05 9.99998524e-01 2.00816244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1707140569999 meters Centerline goodness [0,1] 0.9795264334954926 Centerline is valid? [True, True] Translation: X:513.24, Y:-24.22, Z:2.01 [[ 9.99965605e-01 8.10512649e-03 1.75972316e-03 5.13239835e+02] [-8.10494010e-03 9.99967148e-01 -1.13024090e-04 -2.42222643e+01] [-1.76058143e-03 9.87577514e-05 9.99998445e-01 2.00654457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2007140569999 meters Centerline goodness [0,1] 0.9791498302893163 Centerline is valid? [True, True] Translation: X:513.27, Y:-24.23, Z:2.01 [[ 9.99955664e-01 9.19856988e-03 2.01411449e-03 5.13267783e+02] [-9.19832753e-03 9.99957686e-01 -1.29558129e-04 -2.42257095e+01] [-2.01522101e-03 1.11025901e-04 9.99997963e-01 2.00576386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.230714057 meters Centerline goodness [0,1] 0.9820496234348288 Centerline is valid? [True, True] Translation: X:513.30, Y:-24.22, Z:2.01 [[ 9.99933889e-01 1.11458960e-02 2.82606786e-03 5.13297389e+02] [-1.11454292e-02 9.99937871e-01 -1.80857267e-04 -2.42185085e+01] [-2.82790809e-03 1.49347572e-04 9.99995990e-01 2.00741315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.260714057 meters Centerline goodness [0,1] 0.9815084820292069 Centerline is valid? [True, True] Translation: X:513.33, Y:-24.22, Z:2.01 [[ 9.99933285e-01 1.12040322e-02 2.80975859e-03 5.13326474e+02] [-1.12035716e-02 9.99937222e-01 -1.79628568e-04 -2.42195645e+01] [-2.81159477e-03 1.48137253e-04 9.99996036e-01 2.00664037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.290714057 meters Centerline goodness [0,1] 0.9818383474282545 Centerline is valid? [True, True] Translation: X:513.36, Y:-24.22, Z:2.01 [[ 9.99931073e-01 1.13419345e-02 3.03467670e-03 5.13355388e+02] [-1.13413987e-02 9.99935666e-01 -1.93713107e-04 -2.42191754e+01] [-3.03667854e-03 1.59282276e-04 9.99995377e-01 2.00652592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3207140569999 meters Centerline goodness [0,1] 0.98142028516627 Centerline is valid? [True, True] Translation: X:513.38, Y:-24.22, Z:2.01 [[ 9.99931912e-01 1.11920148e-02 3.30307494e-03 5.13384488e+02] [-1.11913803e-02 9.99937352e-01 -2.10507635e-04 -2.42212102e+01] [-3.30522402e-03 1.73527334e-04 9.99994523e-01 2.00596498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3507140569999 meters Centerline goodness [0,1] 0.9802284000461414 Centerline is valid? [True, True] Translation: X:513.41, Y:-24.23, Z:2.00 [[ 9.99950137e-01 9.53667362e-03 2.96230707e-03 5.13412189e+02] [-9.53615819e-03 9.99954512e-01 -1.88072732e-04 -2.42283306e+01] [-2.96396591e-03 1.59814325e-04 9.99995595e-01 2.00426558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.380714057 meters Centerline goodness [0,1] 0.9806638140395513 Centerline is valid? [True, True] Translation: X:513.44, Y:-24.23, Z:2.00 [[ 9.99966281e-01 7.58426917e-03 3.14884304e-03 5.13441346e+02] [-7.58367615e-03 9.99971223e-01 -2.00225032e-04 -2.42267754e+01] [-3.15027099e-03 1.76338475e-04 9.99995022e-01 2.00475168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.410714057 meters Centerline goodness [0,1] 0.9804093702351799 Centerline is valid? [True, True] Translation: X:513.47, Y:-24.23, Z:2.00 [[ 9.99974367e-01 6.40616484e-03 3.19774940e-03 5.13471187e+02] [-6.40554849e-03 9.99979464e-01 -2.02948414e-04 -2.42293063e+01] [-3.19898385e-03 1.82459873e-04 9.99994867e-01 2.00407398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4407140569999 meters Centerline goodness [0,1] 0.9799015870815718 Centerline is valid? [True, True] Translation: X:513.50, Y:-24.23, Z:2.00 [[ 9.99982171e-01 5.15949062e-03 3.00630685e-03 5.13500755e+02] [-5.15894048e-03 9.99986674e-01 -1.90722086e-04 -2.42324807e+01] [-3.00725082e-03 1.75209328e-04 9.99995463e-01 2.00280397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4707140569999 meters Centerline goodness [0,1] 0.9802319390754843 Centerline is valid? [True, True] Translation: X:513.53, Y:-24.24, Z:2.00 [[ 9.99992153e-01 3.58070431e-03 1.69510354e-03 5.13529491e+02] [-3.58052834e-03 9.99993584e-01 -1.06830231e-04 -2.42366022e+01] [-1.69547519e-03 1.00760026e-04 9.99998558e-01 2.00100190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.500714057 meters Centerline goodness [0,1] 0.9800971997222865 Centerline is valid? [True, True] Translation: X:513.56, Y:-24.24, Z:2.00 [[ 9.99994941e-01 3.00424415e-03 1.04504153e-03 5.13559431e+02] [-3.00417615e-03 9.99995485e-01 -6.66254528e-05 -2.42391825e+01] [-1.04523697e-03 6.34856269e-05 9.99999452e-01 1.99945682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.530714057 meters Centerline goodness [0,1] 0.980884192965383 Centerline is valid? [True, True] Translation: X:513.59, Y:-24.24, Z:2.00 [[ 9.99996889e-01 2.48210403e-03 -2.45533321e-04 5.13589268e+02] [-2.48210042e-03 9.99996919e-01 1.50197828e-05 -2.42418467e+01] [ 2.45569845e-04 -1.44102977e-05 9.99999970e-01 1.99777948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5607140569999 meters Centerline goodness [0,1] 0.980527157660477 Centerline is valid? [True, True] Translation: X:513.62, Y:-24.24, Z:2.00 [[ 9.99996629e-01 2.55307618e-03 -4.72289431e-04 5.13617934e+02] [-2.55306273e-03 9.99996741e-01 2.90849598e-05 -2.42433874e+01] [ 4.72362148e-04 -2.78790773e-05 9.99999888e-01 1.99804218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5907140569999 meters Centerline goodness [0,1] 0.981266974628009 Centerline is valid? [True, True] Translation: X:513.65, Y:-24.24, Z:2.00 [[ 9.99997331e-01 2.29717607e-03 -2.45002369e-04 5.13648285e+02] [-2.29717247e-03 9.99997361e-01 1.49436976e-05 -2.42390284e+01] [ 2.45036051e-04 -1.43808450e-05 9.99999970e-01 1.99987981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.620714057 meters Centerline goodness [0,1] 0.9813673232908459 Centerline is valid? [True, True] Translation: X:513.68, Y:-24.24, Z:2.00 [[ 9.99997036e-01 2.38903159e-03 4.69189786e-04 5.13676468e+02] [-2.38901760e-03 9.99997146e-01 -3.03870451e-05 -2.42434912e+01] [-4.69261043e-04 2.92660524e-05 9.99999889e-01 1.99952776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.650714057 meters Centerline goodness [0,1] 0.9802661983547463 Centerline is valid? [True, True] Translation: X:513.71, Y:-24.25, Z:2.00 [[ 9.99997745e-01 1.99320146e-03 7.32925508e-04 5.13705800e+02] [-1.99316792e-03 9.99998013e-01 -4.64859046e-05 -2.42502659e+01] [-7.33016707e-04 4.50249561e-05 9.99999730e-01 1.99768246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6807140569999 meters Centerline goodness [0,1] 0.9794996525364836 Centerline is valid? [True, True] Translation: X:513.74, Y:-24.25, Z:2.00 [[ 9.99999445e-01 5.75258809e-04 8.82148484e-04 5.13736257e+02] [-5.75209947e-04 9.99999833e-01 -5.56417898e-05 -2.42508838e+01] [-8.82180345e-04 5.51343384e-05 9.99999609e-01 1.99699214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7107140569999 meters Centerline goodness [0,1] 0.9803671891278679 Centerline is valid? [True, True] Translation: X:513.77, Y:-24.25, Z:2.00 [[ 9.99999452e-01 -3.44204665e-04 9.88296015e-04 5.13767097e+02] [ 3.44266440e-04 9.99999939e-01 -6.23370783e-05 -2.42509758e+01] [-9.88274498e-04 6.26772813e-05 9.99999510e-01 1.99725635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.740714057 meters Centerline goodness [0,1] 0.9794703819892969 Centerline is valid? [True, True] Translation: X:513.80, Y:-24.26, Z:2.00 [[ 9.99997734e-01 -1.78086808e-03 1.16674021e-03 5.13797078e+02] [ 1.78095488e-03 9.99998411e-01 -7.33543058e-05 -2.42567929e+01] [-1.16660773e-03 7.54320512e-05 9.99999317e-01 1.99599226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.770714057 meters Centerline goodness [0,1] 0.979568305506872 Centerline is valid? [True, True] Translation: X:513.83, Y:-24.26, Z:1.99 [[ 9.99986590e-01 -5.17659400e-03 -1.51737819e-04 5.13826317e+02] [ 5.17659548e-03 9.99986601e-01 9.36463027e-06 -2.42647134e+01] [ 1.51687309e-04 -1.01499900e-05 9.99999988e-01 1.99445103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8007140569999 meters Centerline goodness [0,1] 0.9799321846239014 Centerline is valid? [True, True] Translation: X:513.86, Y:-24.27, Z:1.99 [[ 9.99959653e-01 -8.94612271e-03 -8.12352976e-04 5.13857044e+02] [ 8.94616731e-03 9.99959981e-01 5.12911941e-05 -2.42669707e+01] [ 8.11861609e-04 -5.85565703e-05 9.99999669e-01 1.99408590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8307140569999 meters Centerline goodness [0,1] 0.9785622179239201 Centerline is valid? [True, True] Translation: X:513.89, Y:-24.27, Z:1.99 [[ 9.99946822e-01 -1.02609919e-02 -1.03209222e-03 5.13889178e+02] [ 1.02610657e-02 9.99947352e-01 6.62063819e-05 -2.42721275e+01] [ 1.03135854e-03 -7.67932272e-05 9.99999465e-01 1.99323633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.860714057 meters Centerline goodness [0,1] 0.9778171525876154 Centerline is valid? [True, True] Translation: X:513.92, Y:-24.28, Z:1.99 [[ 9.99924777e-01 -1.22603022e-02 -3.54797356e-04 5.13919972e+02] [ 1.22603112e-02 9.99924839e-01 2.30896064e-05 -2.42780417e+01] [ 3.54487603e-04 -2.74377955e-05 9.99999937e-01 1.99363053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.890714057 meters Centerline goodness [0,1] 0.9787033199797394 Centerline is valid? [True, True] Translation: X:513.95, Y:-24.28, Z:1.99 [[ 9.99926532e-01 -1.21209207e-02 1.21288917e-04 5.13951689e+02] [ 1.21209216e-02 9.99926539e-01 -6.65513861e-06 -2.42821759e+01] [-1.21199340e-04 8.12478311e-06 9.99999993e-01 1.99388074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9207140569999 meters Centerline goodness [0,1] 0.9760668841012449 Centerline is valid? [True, True] Translation: X:513.98, Y:-24.29, Z:1.99 [[ 9.99943820e-01 -1.04727515e-02 1.63625963e-03 5.13982087e+02] [ 1.04729341e-02 9.99945152e-01 -1.03065930e-04 -2.42870193e+01] [-1.63509050e-03 1.20196579e-04 9.99998656e-01 1.99418313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9507140569999 meters Centerline goodness [0,1] 0.9769046742730954 Centerline is valid? [True, True] Translation: X:514.01, Y:-24.29, Z:1.99 [[ 9.99972646e-01 -7.10874204e-03 2.04278918e-03 5.14012134e+02] [ 7.10902128e-03 9.99974722e-01 -1.29466699e-04 -2.42875520e+01] [-2.04181720e-03 1.43985389e-04 9.99997905e-01 1.99468541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.980714057 meters Centerline goodness [0,1] 0.9784337019098968 Centerline is valid? [True, True] Translation: X:514.04, Y:-24.29, Z:1.99 [[ 9.99987645e-01 -4.42366046e-03 2.26758983e-03 5.14043207e+02] [ 4.42399672e-03 9.99990204e-01 -1.43298308e-04 -2.42887797e+01] [-2.26693372e-03 1.53328348e-04 9.99997419e-01 1.99430574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.010714057 meters Centerline goodness [0,1] 0.9806180288901079 Centerline is valid? [True, True] Translation: X:514.07, Y:-24.29, Z:1.99 [[ 9.99994213e-01 2.39519748e-03 2.41618788e-03 5.14072964e+02] [-2.39483483e-03 9.99997121e-01 -1.52974005e-04 -2.42877556e+01] [-2.41654732e-03 1.47186749e-04 9.99997069e-01 1.99321946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.040714057 meters Centerline goodness [0,1] 0.9796007442971675 Centerline is valid? [True, True] Translation: X:514.10, Y:-24.29, Z:1.99 [[ 9.99977216e-01 6.12381410e-03 2.84025708e-03 5.14103455e+02] [-6.12332767e-03 9.99981236e-01 -1.79928666e-04 -2.42874708e+01] [-2.84130564e-03 1.62532741e-04 9.99995950e-01 1.99268098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0707140569999 meters Centerline goodness [0,1] 0.9808439691847763 Centerline is valid? [True, True] Translation: X:514.13, Y:-24.29, Z:1.99 [[ 9.99944616e-01 1.00408714e-02 3.15385279e-03 5.14134037e+02] [-1.00402915e-02 9.99949575e-01 -1.99660145e-04 -2.42868889e+01] [-3.15569851e-03 1.67983486e-04 9.99995007e-01 1.99275894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1007140569999 meters Centerline goodness [0,1] 0.9798226419440286 Centerline is valid? [True, True] Translation: X:514.16, Y:-24.28, Z:1.99 [[ 9.99839218e-01 1.73487817e-02 4.53413849e-03 5.14163022e+02] [-1.73476564e-02 9.99849477e-01 -2.87396018e-04 -2.42843148e+01] [-4.53844197e-03 2.08693133e-04 9.99989679e-01 1.99365306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.130714057 meters Centerline goodness [0,1] 0.9805840895481137 Centerline is valid? [True, True] Translation: X:514.19, Y:-24.28, Z:1.99 [[ 9.99783972e-01 2.01785076e-02 4.98378233e-03 5.14191516e+02] [-2.01771853e-02 9.99796370e-01 -3.15465109e-04 -2.42843785e+01] [-4.98913310e-03 2.14838260e-04 9.99987531e-01 1.99364289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.160714057 meters Centerline goodness [0,1] 0.9828645328160363 Centerline is valid? [True, True] Translation: X:514.22, Y:-24.27, Z:2.00 [[ 9.99701609e-01 2.38709727e-02 5.18355501e-03 5.14221763e+02] [-2.38695923e-02 9.99715027e-01 -3.28011662e-04 -2.42749092e+01] [-5.18990779e-03 2.04184441e-04 9.99986511e-01 1.99594694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1907140569999 meters Centerline goodness [0,1] 0.983107331647897 Centerline is valid? [True, True] Translation: X:514.25, Y:-24.28, Z:1.99 [[ 9.99659555e-01 2.56206920e-02 4.93492793e-03 5.14249213e+02] [-2.56194594e-02 9.99671719e-01 -3.12851490e-04 -2.42798241e+01] [-4.94132336e-03 1.86314796e-04 9.99987774e-01 1.99378170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2207140569999 meters Centerline goodness [0,1] 0.9834103076675628 Centerline is valid? [True, True] Translation: X:514.28, Y:-24.28, Z:1.99 [[ 9.99657248e-01 2.57693363e-02 4.61820060e-03 5.14277762e+02] [-2.57682620e-02 9.99667901e-01 -2.91988322e-04 -2.42822581e+01] [-4.62419124e-03 1.72885240e-04 9.99989293e-01 1.99289192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.250714057 meters Centerline goodness [0,1] 0.9835877160720853 Centerline is valid? [True, True] Translation: X:514.31, Y:-24.29, Z:1.99 [[ 9.99696101e-01 2.44407665e-02 3.21784044e-03 5.14305577e+02] [-2.44402371e-02 9.99701272e-01 -2.03745473e-04 -2.42889007e+01] [-3.22185888e-03 1.25038771e-04 9.99994802e-01 1.99056811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.280714057 meters Centerline goodness [0,1] 0.9834390819341686 Centerline is valid? [True, True] Translation: X:514.33, Y:-24.29, Z:1.99 [[ 9.99737845e-01 2.27156733e-02 2.87032201e-03 5.14334550e+02] [-2.27152459e-02 9.99741959e-01 -1.81420534e-04 -2.42931080e+01] [-2.87370244e-03 1.16172903e-04 9.99995864e-01 1.98964676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3107140569999 meters Centerline goodness [0,1] 0.9821228795177972 Centerline is valid? [True, True] Translation: X:514.36, Y:-24.30, Z:1.99 [[ 9.99812232e-01 1.91506754e-02 2.95843978e-03 5.14363151e+02] [-1.91502071e-02 9.99816601e-01 -1.86535089e-04 -2.43009471e+01] [-2.96146948e-03 1.29845329e-04 9.99995606e-01 1.98963796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3407140569999 meters Centerline goodness [0,1] 0.9813839447875046 Centerline is valid? [True, True] Translation: X:514.39, Y:-24.31, Z:1.99 [[ 9.99843270e-01 1.73716317e-02 3.41491794e-03 5.14391474e+02] [-1.73709978e-02 9.99849090e-01 -2.15210516e-04 -2.43062852e+01] [-3.41814115e-03 1.55856254e-04 9.99994146e-01 1.98958571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.370714057 meters Centerline goodness [0,1] 0.9815060933029982 Centerline is valid? [True, True] Translation: X:514.42, Y:-24.32, Z:1.99 [[ 9.99911278e-01 1.24433710e-02 4.75376153e-03 5.14420623e+02] [-1.24420931e-02 9.99922550e-01 -2.98294402e-04 -2.43169182e+01] [-4.75710513e-03 2.39121193e-04 9.99988656e-01 1.98999282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.400714057 meters Centerline goodness [0,1] 0.981752984431029 Centerline is valid? [True, True] Translation: X:514.45, Y:-24.32, Z:1.99 [[ 9.99948133e-01 9.11490801e-03 4.54427007e-03 5.14450807e+02] [-9.11370715e-03 9.99958429e-01 -2.84897146e-04 -2.43241331e+01] [-4.54667797e-03 2.43467223e-04 9.99989634e-01 1.98897346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4307140569999 meters Centerline goodness [0,1] 0.980348359731059 Centerline is valid? [True, True] Translation: X:514.48, Y:-24.34, Z:1.99 [[ 9.99992865e-01 2.49800061e-03 2.83357397e-03 5.14479616e+02] [-2.49750668e-03 9.99996865e-01 -1.77841522e-04 -2.43356337e+01] [-2.83400934e-03 1.70763383e-04 9.99995970e-01 1.98710786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4607140569999 meters Centerline goodness [0,1] 0.9794559205327915 Centerline is valid? [True, True] Translation: X:514.51, Y:-24.35, Z:1.98 [[ 9.99992717e-01 -3.77778433e-03 5.42746647e-04 5.14508631e+02] [ 3.77780343e-03 9.99992863e-01 -3.41675047e-05 -2.43471122e+01] [-5.42613697e-04 3.62176460e-05 9.99999852e-01 1.98477270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.490714057 meters Centerline goodness [0,1] 0.980063148398737 Centerline is valid? [True, True] Translation: X:514.54, Y:-24.35, Z:1.98 [[ 9.99979915e-01 -6.32673060e-03 -3.75922789e-04 5.14539592e+02] [ 6.32674010e-03 9.99979986e-01 2.40835760e-05 -2.43534467e+01] [ 3.75762895e-04 -2.64614581e-05 9.99999929e-01 1.98362972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.520714057 meters Centerline goodness [0,1] 0.9804731590590997 Centerline is valid? [True, True] Translation: X:514.57, Y:-24.35, Z:1.98 [[ 9.99958878e-01 -8.98793900e-03 -1.20781375e-03 5.14570708e+02] [ 8.98803735e-03 9.99959604e-01 7.60169195e-05 -2.43549778e+01] [ 1.20708173e-03 -8.68696686e-05 9.99999268e-01 1.98386088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5507140569999 meters Centerline goodness [0,1] 0.9788178333669558 Centerline is valid? [True, True] Translation: X:514.60, Y:-24.37, Z:1.98 [[ 9.99918267e-01 -1.26868445e-02 -1.58220020e-03 5.14599212e+02] [ 1.26870177e-02 9.99919512e-01 9.94821702e-05 -2.43675948e+01] [ 1.58081073e-03 -1.19547441e-04 9.99998743e-01 1.98203717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5807140569999 meters Centerline goodness [0,1] 0.9800503235082675 Centerline is valid? [True, True] Translation: X:514.63, Y:-24.37, Z:1.98 [[ 9.99874230e-01 -1.57320838e-02 -2.00632096e-03 5.14630257e+02] [ 1.57323680e-02 9.99876231e-01 1.25942496e-04 -2.43672933e+01] [ 2.00409130e-03 -1.57490835e-04 9.99997979e-01 1.98313869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.610714057 meters Centerline goodness [0,1] 0.9788468022929078 Centerline is valid? [True, True] Translation: X:514.66, Y:-24.37, Z:1.98 [[ 9.99867149e-01 -1.61570798e-02 -2.15256317e-03 5.14662302e+02] [ 1.61574103e-02 9.99869451e-01 1.36259456e-04 -2.43701257e+01] [ 2.15008060e-03 -1.71021200e-04 9.99997674e-01 1.98294069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.640714057 meters Centerline goodness [0,1] 0.9714272898537724 Centerline is valid? [True, True] Translation: X:514.69, Y:-24.38, Z:1.98 [[ 9.99869367e-01 -1.61382927e-02 -8.96758347e-04 5.14692370e+02] [ 1.61383514e-02 9.99869767e-01 5.82539988e-05 -2.43829004e+01] [ 8.95701439e-04 -7.27185903e-05 9.99999596e-01 1.98114828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6707140569999 meters Centerline goodness [0,1] 0.9714272898537724 Centerline is valid? [True, True] Translation: X:514.72, Y:-24.38, Z:1.98 [[ 9.99870436e-01 -1.60719405e-02 -8.96806548e-04 5.14724096e+02] [ 1.60719985e-02 9.99870835e-01 5.74875341e-05 -2.43849643e+01] [ 8.95766776e-04 -7.18935593e-05 9.99999596e-01 1.98067559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7007140569999 meters Centerline goodness [0,1] 0.9725956798422515 Centerline is valid? [True, True] Translation: X:514.76, Y:-24.39, Z:1.98 [[ 9.99883106e-01 -1.52816624e-02 -4.95271662e-04 5.14756106e+02] [ 1.52816802e-02 9.99883228e-01 3.22190100e-05 -2.43876312e+01] [ 4.94721468e-04 -3.97838269e-05 9.99999877e-01 1.98062640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.730714057 meters Centerline goodness [0,1] 0.971566956677729 Centerline is valid? [True, True] Translation: X:514.79, Y:-24.39, Z:1.98 [[ 9.99902303e-01 -1.39718588e-02 -4.13592826e-04 5.14788129e+02] [ 1.39718711e-02 9.99902388e-01 2.69484161e-05 -2.43886594e+01] [ 4.13175935e-04 -3.27244490e-05 9.99999914e-01 1.98104373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.760714057 meters Centerline goodness [0,1] 0.9704044943820225 Centerline is valid? [True, True] Translation: X:514.82, Y:-24.39, Z:1.98 [[ 9.99910673e-01 -1.33374779e-02 -8.70658884e-04 5.14820589e+02] [ 1.33375317e-02 9.99911050e-01 5.59852634e-05 -2.43908025e+01] [ 8.69834737e-04 -6.75927028e-05 9.99999619e-01 1.98100248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.790714057 meters Centerline goodness [0,1] 0.9770267533694845 Centerline is valid? [True, True] Translation: X:514.85, Y:-24.39, Z:1.98 [[ 9.99914592e-01 -1.30652457e-02 -3.29313680e-04 5.14853627e+02] [ 1.30652537e-02 9.99914646e-01 2.20970981e-05 -2.43874394e+01] [ 3.28996868e-04 -2.63977776e-05 9.99999946e-01 1.98259733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8207140569999 meters Centerline goodness [0,1] 0.9618120218088806 Centerline is valid? [True, True] Translation: X:514.88, Y:-24.40, Z:1.98 [[ 9.99910712e-01 -1.33621855e-02 -1.40075528e-04 5.14884142e+02] [ 1.33621870e-02 9.99910722e-01 9.62521916e-06 -2.43982339e+01] [ 1.39934408e-04 -1.14960751e-05 9.99999990e-01 1.98088896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8507140569999 meters Centerline goodness [0,1] 0.9781832873207191 Centerline is valid? [True, True] Translation: X:514.92, Y:-24.39, Z:1.98 [[ 9.99898872e-01 -1.42150955e-02 4.21424090e-04 5.14917068e+02] [ 1.42151076e-02 9.99898960e-01 -2.56590230e-05 -2.43858328e+01] [-4.21016764e-04 3.16470169e-05 9.99999911e-01 1.98373562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.880714057 meters Centerline goodness [0,1] 0.9783709572145574 Centerline is valid? [True, True] Translation: X:514.95, Y:-24.39, Z:1.98 [[ 9.99893888e-01 -1.45316490e-02 -1.02145826e-03 5.14949639e+02] [ 1.45317238e-02 9.99894407e-01 6.58907967e-05 -2.43866779e+01] [ 1.02039290e-03 -8.07273543e-05 9.99999476e-01 1.98237355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.910714057 meters Centerline goodness [0,1] 0.9793128260478503 Centerline is valid? [True, True] Translation: X:514.98, Y:-24.39, Z:1.98 [[ 9.99898206e-01 -1.40908783e-02 -2.24150178e-03 5.14981566e+02] [ 1.40912352e-02 9.99900703e-01 1.43499750e-04 -2.43863602e+01] [ 2.23925717e-03 -1.75070672e-04 9.99997478e-01 1.98154473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9407140569999 meters Centerline goodness [0,1] 0.9791005826640571 Centerline is valid? [True, True] Translation: X:515.01, Y:-24.39, Z:1.98 [[ 9.99910324e-01 -1.26644594e-02 -4.35385989e-03 5.15012486e+02] [ 1.26657878e-02 9.99919747e-01 2.77674696e-04 -2.43892734e+01] [ 4.34999388e-03 -3.32794860e-04 9.99990483e-01 1.97924689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9707140569999 meters Centerline goodness [0,1] 0.9796709488393058 Centerline is valid? [True, True] Translation: X:515.04, Y:-24.39, Z:1.98 [[ 9.99919711e-01 -1.15384168e-02 -5.23804982e-03 5.15043629e+02] [ 1.15403229e-02 9.99933353e-01 3.33812811e-04 -2.43891586e+01] [ 5.23384905e-03 -3.94234796e-04 9.99986226e-01 1.97876459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.000714057 meters Centerline goodness [0,1] 0.9813329739200755 Centerline is valid? [True, True] Translation: X:515.07, Y:-24.39, Z:1.98 [[ 9.99949304e-01 -8.37916068e-03 -5.58379984e-03 5.15073654e+02] [ 8.38127458e-03 9.99964813e-01 3.55285581e-04 -2.43886137e+01] [ 5.58062637e-03 -4.02066929e-04 9.99984347e-01 1.97869342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.030714057 meters Centerline goodness [0,1] 0.9801331978778643 Centerline is valid? [True, True] Translation: X:515.10, Y:-24.39, Z:1.98 [[ 9.99954134e-01 -7.15977689e-03 -6.36134596e-03 5.15104688e+02] [ 7.16249833e-03 9.99974267e-01 4.05129788e-04 -2.43894602e+01] [ 6.35828162e-03 -4.50674336e-04 9.99979684e-01 1.97809508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0607140569999 meters Centerline goodness [0,1] 0.9816075373033404 Centerline is valid? [True, True] Translation: X:515.13, Y:-24.39, Z:1.98 [[ 9.99978466e-01 -3.36301300e-03 -5.63545701e-03 5.15134403e+02] [ 3.36508558e-03 9.99994274e-01 3.58333465e-04 -2.43907510e+01] [ 5.63421967e-03 -3.77289544e-04 9.99984056e-01 1.97791086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0907140569999 meters Centerline goodness [0,1] 0.9817952699205653 Centerline is valid? [True, True] Translation: X:515.16, Y:-24.39, Z:1.98 [[ 9.99986005e-01 -1.14715850e-03 -5.16469988e-03 5.15164425e+02] [ 1.14886922e-03 9.99999286e-01 3.28278835e-04 -2.43899280e+01] [ 5.16431961e-03 -3.34207805e-04 9.99986609e-01 1.97829904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.120714057 meters Centerline goodness [0,1] 0.982595330123641 Centerline is valid? [True, True] Translation: X:515.19, Y:-24.39, Z:1.98 [[ 9.99986511e-01 3.49217981e-03 -3.84485207e-03 5.15194899e+02] [-3.49126536e-03 9.99993876e-01 2.44524830e-04 -2.43851363e+01] [ 3.84568245e-03 -2.31098133e-04 9.99992579e-01 1.98079742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.150714057 meters Centerline goodness [0,1] 0.9829935803581484 Centerline is valid? [True, True] Translation: X:515.23, Y:-24.38, Z:1.98 [[ 9.99956945e-01 8.99747724e-03 -2.27016564e-03 5.15225614e+02] [-8.99717265e-03 9.99959514e-01 1.44350713e-04 -2.43828474e+01] [ 2.27137253e-03 -1.23919426e-04 9.99997413e-01 1.98179141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1807140569999 meters Centerline goodness [0,1] 0.9836743872273442 Centerline is valid? [True, True] Translation: X:515.26, Y:-24.38, Z:1.98 [[ 9.99926411e-01 1.19010083e-02 -2.35336376e-03 5.15255375e+02] [-1.19006903e-02 9.99929173e-01 1.49079512e-04 -2.43837358e+01] [ 2.35497128e-03 -1.21061888e-04 9.99997220e-01 1.98169112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2107140569999 meters Centerline goodness [0,1] 0.983811493839374 Centerline is valid? [True, True] Translation: X:515.29, Y:-24.38, Z:1.98 [[ 9.99866496e-01 1.61947785e-02 -2.17259499e-03 5.15285907e+02] [-1.61945172e-02 9.99868851e-01 1.37810739e-04 -2.43831733e+01] [ 2.17454187e-03 -1.02608214e-04 9.99997630e-01 1.98111936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.240714057 meters Centerline goodness [0,1] 0.9838338744588745 Centerline is valid? [True, True] Translation: X:515.31, Y:-24.38, Z:1.98 [[ 9.99847314e-01 1.72958168e-02 -2.49054693e-03 5.15314818e+02] [-1.72954792e-02 9.99850410e-01 1.57044594e-04 -2.43842957e+01] [ 2.49289059e-03 -1.13945413e-04 9.99996886e-01 1.98056646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.270714057 meters Centerline goodness [0,1] 0.9840055789260568 Centerline is valid? [True, True] Translation: X:515.34, Y:-24.39, Z:1.98 [[ 9.99835448e-01 1.78968980e-02 -2.96275322e-03 5.15342704e+02] [-1.78964237e-02 9.99839829e-01 1.86502770e-04 -2.43888244e+01] [ 2.96561649e-03 -1.33449393e-04 9.99995594e-01 1.97922911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3007140569999 meters Centerline goodness [0,1] 0.9835804490702317 Centerline is valid? [True, True] Translation: X:515.37, Y:-24.39, Z:1.98 [[ 9.99836340e-01 1.77613114e-02 -3.43926799e-03 5.15371383e+02] [-1.77606707e-02 9.99842243e-01 2.16740863e-04 -2.43915629e+01] [ 3.44257503e-03 -1.55621685e-04 9.99994062e-01 1.97889226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3307140569999 meters Centerline goodness [0,1] 0.9839468647979286 Centerline is valid? [True, True] Translation: X:515.40, Y:-24.39, Z:1.98 [[ 9.99835704e-01 1.75864893e-02 -4.39086508e-03 5.15400233e+02] [-1.75854437e-02 9.99845326e-01 2.76638401e-04 -2.43920561e+01] [ 4.39505103e-03 -1.99377640e-04 9.99990322e-01 1.97917991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.360714057 meters Centerline goodness [0,1] 0.9848539406760589 Centerline is valid? [True, True] Translation: X:515.43, Y:-24.40, Z:1.98 [[ 9.99830186e-01 1.76527575e-02 -5.28948640e-03 5.15428004e+02] [-1.76512437e-02 9.99844149e-01 3.32737492e-04 -2.43960933e+01] [ 5.29453577e-03 -2.39314975e-04 9.99985955e-01 1.97806623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.390714057 meters Centerline goodness [0,1] 0.9844258432261395 Centerline is valid? [True, True] Translation: X:515.46, Y:-24.40, Z:1.98 [[ 9.99829360e-01 1.77350022e-02 -5.16923573e-03 5.15457010e+02] [-1.77335582e-02 9.99842695e-01 3.25061580e-04 -2.43992372e+01] [ 5.17418755e-03 -2.33337169e-04 9.99986587e-01 1.97775109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4207140569999 meters Centerline goodness [0,1] 0.985015524456644 Centerline is valid? [True, True] Translation: X:515.48, Y:-24.41, Z:1.98 [[ 9.99827857e-01 1.79313649e-02 -4.76686255e-03 5.15484568e+02] [-1.79301460e-02 9.99839198e-01 2.98312098e-04 -2.44052784e+01] [ 4.77144517e-03 -2.12790204e-04 9.99988594e-01 1.97647750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4507140569999 meters Centerline goodness [0,1] 0.9855039841534237 Centerline is valid? [True, True] Translation: X:515.51, Y:-24.40, Z:1.98 [[ 9.99819350e-01 1.84560067e-02 -4.54351589e-03 5.15513333e+02] [-1.84549032e-02 9.99829653e-01 2.84681263e-04 -2.44032421e+01] [ 4.54799600e-03 -2.00779689e-04 9.99989638e-01 1.97826945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.480714057 meters Centerline goodness [0,1] 0.9852786068535266 Centerline is valid? [True, True] Translation: X:515.54, Y:-24.41, Z:1.98 [[ 9.99787486e-01 2.03685553e-02 -3.17866719e-03 5.15540877e+02] [-2.03680276e-02 9.99792531e-01 1.98300307e-04 -2.44067447e+01] [ 3.18204680e-03 -1.33514984e-04 9.99994928e-01 1.97846705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.510714057 meters Centerline goodness [0,1] 0.9852503413236644 Centerline is valid? [True, True] Translation: X:515.57, Y:-24.41, Z:1.98 [[ 9.99776662e-01 2.10016196e-02 -2.35769811e-03 5.15569535e+02] [-2.10013316e-02 9.99779437e-01 1.46847049e-04 -2.44083744e+01] [ 2.36026211e-03 -9.72994525e-05 9.99997210e-01 1.97839891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.540714057 meters Centerline goodness [0,1] 0.9865267115776281 Centerline is valid? [True, True] Translation: X:515.60, Y:-24.41, Z:1.98 [[ 9.99746808e-01 2.24931490e-02 -6.15053225e-04 5.15596968e+02] [-2.24931304e-02 9.99746997e-01 3.72185431e-05 -2.44120453e+01] [ 6.15734777e-04 -2.33746472e-05 9.99999810e-01 1.97881596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5707140569999 meters Centerline goodness [0,1] 0.9862746417277803 Centerline is valid? [True, True] Translation: X:515.63, Y:-24.41, Z:1.98 [[ 9.99752568e-01 2.22435265e-02 1.67763228e-04 5.15626303e+02] [-2.22435249e-02 9.99752582e-01 -1.15889129e-05 -2.44117299e+01] [-1.67979498e-04 7.85439993e-06 9.99999986e-01 1.97973610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6007140569999 meters Centerline goodness [0,1] 0.98671875 Centerline is valid? [True, True] Translation: X:515.65, Y:-24.42, Z:1.98 [[ 9.99766840e-01 2.15920587e-02 2.18995085e-04 5.15653773e+02] [-2.15920558e-02 9.99766864e-01 -1.54593856e-05 -2.44178797e+01] [-2.19277829e-04 1.07272270e-05 9.99999976e-01 1.97797160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.630714057 meters Centerline goodness [0,1] 0.9859804751927963 Centerline is valid? [True, True] Translation: X:515.68, Y:-24.42, Z:1.98 [[ 9.99813438e-01 1.92628651e-02 -1.42536406e-03 5.15681932e+02] [-1.92627590e-02 9.99814452e-01 8.81379962e-05 -2.44246691e+01] [ 1.42679738e-03 -6.06651086e-05 9.99998980e-01 1.97591516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.660714057 meters Centerline goodness [0,1] 0.9860232126484335 Centerline is valid? [True, True] Translation: X:515.71, Y:-24.43, Z:1.97 [[ 9.99850727e-01 1.70875990e-02 -2.55672420e-03 5.15710179e+02] [-1.70872492e-02 9.99853990e-01 1.58599938e-04 -2.44297962e+01] [ 2.55906098e-03 -1.14888880e-04 9.99996719e-01 1.97432270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6907140569999 meters Centerline goodness [0,1] 0.9856852995607482 Centerline is valid? [True, True] Translation: X:515.74, Y:-24.44, Z:1.97 [[ 9.99907485e-01 1.31362698e-02 -3.52973989e-03 5.15739510e+02] [-1.31355758e-02 9.99913700e-01 2.19727268e-04 -2.44361947e+01] [ 3.53232167e-03 -1.73341774e-04 9.99993746e-01 1.97331224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7207140569999 meters Centerline goodness [0,1] 0.9856331440026729 Centerline is valid? [True, True] Translation: X:515.77, Y:-24.44, Z:1.97 [[ 9.99950776e-01 8.89572902e-03 -4.39453200e-03 5.15769296e+02] [-8.89461253e-03 9.99960405e-01 2.73543002e-04 -2.44421435e+01] [ 4.39679137e-03 -2.34441877e-04 9.99990307e-01 1.97321658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.750714057 meters Centerline goodness [0,1] 0.9847442150508897 Centerline is valid? [True, True] Translation: X:515.80, Y:-24.45, Z:1.97 [[ 9.99963698e-01 7.17061390e-03 -4.60266039e-03 5.15798588e+02] [-7.16937287e-03 9.99974259e-01 2.86077237e-04 -2.44461428e+01] [ 4.60459327e-03 -2.53068664e-04 9.99989367e-01 1.97264067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.780714057 meters Centerline goodness [0,1] 0.9853406851347462 Centerline is valid? [True, True] Translation: X:515.83, Y:-24.45, Z:1.97 [[ 9.99973571e-01 5.99348382e-03 -4.11520471e-03 5.15825885e+02] [-5.99248810e-03 9.99982013e-01 2.54249178e-04 -2.44504675e+01] [ 4.11665452e-03 -2.29582143e-04 9.99991500e-01 1.97203765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8107140569999 meters Centerline goodness [0,1] 0.9850855908999844 Centerline is valid? [True, True] Translation: X:515.86, Y:-24.45, Z:1.97 [[ 9.99985331e-01 4.12878572e-03 -3.50590231e-03 5.15855095e+02] [-4.12804923e-03 9.99991456e-01 2.17283544e-04 -2.44538426e+01] [ 3.50676947e-03 -2.02807819e-04 9.99993831e-01 1.97244133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8407140569999 meters Centerline goodness [0,1] 0.9841389560549259 Centerline is valid? [True, True] Translation: X:515.88, Y:-24.46, Z:1.97 [[ 9.99989733e-01 3.60557339e-03 -2.74472125e-03 5.15882765e+02] [-3.60512319e-03 9.99993487e-01 1.68952611e-04 -2.44580500e+01] [ 2.74531255e-03 -1.59055818e-04 9.99996219e-01 1.97312667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.870714057 meters Centerline goodness [0,1] 0.9835478778985749 Centerline is valid? [True, True] Translation: X:515.91, Y:-24.46, Z:1.97 [[ 9.99996159e-01 2.01703209e-03 -1.90088839e-03 5.15911706e+02] [-2.01681330e-03 9.99997959e-01 1.17013105e-04 -2.44608649e+01] [ 1.90112053e-03 -1.13178918e-04 9.99998186e-01 1.97302232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.900714057 meters Centerline goodness [0,1] 0.9833429574023898 Centerline is valid? [True, True] Translation: X:515.94, Y:-24.46, Z:1.97 [[ 9.99998736e-01 9.23149048e-04 -1.29442064e-03 5.15940832e+02] [-9.23047115e-04 9.99999571e-01 7.93434208e-05 -2.44630142e+01] [ 1.29449333e-03 -7.81485092e-05 9.99999159e-01 1.97305605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9307140569999 meters Centerline goodness [0,1] 0.9831517888770811 Centerline is valid? [True, True] Translation: X:515.97, Y:-24.47, Z:1.97 [[ 9.99999697e-01 -3.56449071e-04 -6.91473522e-04 5.15969700e+02] [ 3.56478571e-04 9.99999936e-01 4.25394415e-05 -2.44682605e+01] [ 6.91458314e-04 -4.27859241e-05 9.99999760e-01 1.97223803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9607140569999 meters Centerline goodness [0,1] 0.9823867403314918 Centerline is valid? [True, True] Translation: X:516.00, Y:-24.47, Z:1.97 [[ 9.99993709e-01 -3.45557068e-03 -8.00032818e-04 5.15999046e+02] [ 3.45561140e-03 9.99994028e-01 4.95312478e-05 -2.44749395e+01] [ 7.99856881e-04 -5.22955388e-05 9.99999679e-01 1.97185272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.990714057 meters Centerline goodness [0,1] 0.9826817748408985 Centerline is valid? [True, True] Translation: X:516.03, Y:-24.48, Z:1.97 [[ 9.99987324e-01 -4.96469182e-03 -8.38619692e-04 5.16030185e+02] [ 4.96473757e-03 9.99987674e-01 5.24790684e-05 -2.44784169e+01] [ 8.38348812e-04 -5.66419298e-05 9.99999647e-01 1.97122362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.020714057 meters Centerline goodness [0,1] 0.980820399113082 Centerline is valid? [True, True] Translation: X:516.06, Y:-24.49, Z:1.97 [[ 9.99969433e-01 -7.76997098e-03 -8.72139342e-04 5.16059529e+02] [ 7.77002104e-03 9.99969811e-01 5.40265290e-05 -2.44851834e+01] [ 8.71693229e-04 -6.08014187e-05 9.99999618e-01 1.96974868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0507140569999 meters Centerline goodness [0,1] 0.9821076203356761 Centerline is valid? [True, True] Translation: X:516.09, Y:-24.49, Z:1.97 [[ 9.99958215e-01 -9.12104756e-03 -6.11716474e-04 5.16091953e+02] [ 9.12107312e-03 9.99958401e-01 3.90068676e-05 -2.44858964e+01] [ 6.11335244e-04 -4.45847484e-05 9.99999812e-01 1.96991362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0807140569999 meters Centerline goodness [0,1] 0.9807457416331697 Centerline is valid? [True, True] Translation: X:516.12, Y:-24.49, Z:1.97 [[ 9.99937001e-01 -1.11799301e-02 -1.00120106e-03 5.16123112e+02] [ 1.11799984e-02 9.99937500e-01 6.26577338e-05 -2.44905796e+01] [ 1.00043797e-03 -7.38472126e-05 9.99999497e-01 1.96888979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.110714057 meters Centerline goodness [0,1] 0.9799301533972857 Centerline is valid? [True, True] Translation: X:516.15, Y:-24.49, Z:1.97 [[ 9.99922043e-01 -1.24274444e-02 -1.21090660e-03 5.16153579e+02] [ 1.24275451e-02 9.99922772e-01 7.57142837e-05 -2.44948008e+01] [ 1.20987215e-03 -9.07569776e-05 9.99999264e-01 1.96765533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.140714057 meters Centerline goodness [0,1] 0.9796026959914863 Centerline is valid? [True, True] Translation: X:516.19, Y:-24.50, Z:1.97 [[ 9.99918556e-01 -1.27079735e-02 -1.17832271e-03 5.16185804e+02] [ 1.27080698e-02 9.99919246e-01 7.42936346e-05 -2.44970393e+01] [ 1.17728343e-03 -8.92617911e-05 9.99999303e-01 1.96692549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1707140569999 meters Centerline goodness [0,1] 0.9796711841812931 Centerline is valid? [True, True] Translation: X:516.22, Y:-24.50, Z:1.97 [[ 9.99914055e-01 -1.30812212e-02 -8.74358019e-04 5.16217146e+02] [ 1.30812744e-02 9.99914435e-01 5.51787972e-05 -2.44991686e+01] [ 8.73561399e-04 -6.66117720e-05 9.99999616e-01 1.96737037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2007140569999 meters Centerline goodness [0,1] 0.9801772336522949 Centerline is valid? [True, True] Translation: X:516.25, Y:-24.50, Z:1.97 [[ 9.99916666e-01 -1.29083909e-02 1.88361649e-04 5.16249470e+02] [ 1.29083931e-02 9.99916683e-01 -1.06910717e-05 -2.44999251e+01] [-1.88207951e-04 1.31216270e-05 9.99999982e-01 1.96797308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.230714057 meters Centerline goodness [0,1] 0.9800220994475138 Centerline is valid? [True, True] Translation: X:516.28, Y:-24.50, Z:1.97 [[ 9.99918999e-01 -1.26859484e-02 1.03065535e-03 5.16282282e+02] [ 1.26860200e-02 9.99919527e-01 -6.29684791e-05 -2.44990711e+01] [-1.02977359e-03 7.60382930e-05 9.99999467e-01 1.96848144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.260714057 meters Centerline goodness [0,1] 0.9798558287634884 Centerline is valid? [True, True] Translation: X:516.31, Y:-24.50, Z:1.97 [[ 9.99919413e-01 -1.26047951e-02 1.51208750e-03 5.16314726e+02] [ 1.26049506e-02 9.99920550e-01 -9.33568269e-05 -2.44991245e+01] [-1.51079062e-03 1.12409092e-04 9.99998852e-01 1.96824261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.290714057 meters Centerline goodness [0,1] 0.9804780433574208 Centerline is valid? [True, True] Translation: X:516.35, Y:-24.50, Z:1.97 [[ 9.99934516e-01 -1.13734618e-02 1.26848695e-03 5.16345197e+02] [ 1.13735711e-02 9.99935316e-01 -7.89684195e-05 -2.44990629e+01] [-1.26750676e-03 9.33904748e-05 9.99999192e-01 1.96824601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3207140569999 meters Centerline goodness [0,1] 0.9814962726304579 Centerline is valid? [True, True] Translation: X:516.38, Y:-24.50, Z:1.97 [[ 9.99938790e-01 -1.10245571e-02 9.35952881e-04 5.16377199e+02] [ 1.10246156e-02 9.99939225e-01 -5.74552807e-05 -2.44970728e+01] [-9.35262580e-04 6.77702846e-05 9.99999560e-01 1.96812376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3507140569999 meters Centerline goodness [0,1] 0.981099008363467 Centerline is valid? [True, True] Translation: X:516.41, Y:-24.50, Z:1.97 [[ 9.99940126e-01 -1.09159021e-02 7.66196959e-04 5.16408794e+02] [ 1.09159408e-02 9.99940418e-01 -4.62928170e-05 -2.44992499e+01] [-7.65645980e-04 5.46538059e-05 9.99999705e-01 1.96719425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.380714057 meters Centerline goodness [0,1] 0.9809750033299294 Centerline is valid? [True, True] Translation: X:516.44, Y:-24.50, Z:1.97 [[ 9.99939031e-01 -1.10360283e-02 3.75388989e-04 5.16440914e+02] [ 1.10360375e-02 9.99939101e-01 -2.24661429e-05 -2.44973078e+01] [-3.75118191e-04 2.66075801e-05 9.99999929e-01 1.96729161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.410714057 meters Centerline goodness [0,1] 0.9808785644487874 Centerline is valid? [True, True] Translation: X:516.47, Y:-24.50, Z:1.97 [[ 9.99919707e-01 -1.26318297e-02 -1.00829554e-03 5.16471144e+02] [ 1.26319001e-02 9.99920212e-01 6.35260125e-05 -2.44999690e+01] [ 1.00741264e-03 -7.62576004e-05 9.99999490e-01 1.96590585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4407140569999 meters Centerline goodness [0,1] 0.9796592875205181 Centerline is valid? [True, True] Translation: X:516.50, Y:-24.50, Z:1.96 [[ 9.99909514e-01 -1.33270162e-02 -1.83168405e-03 5.16502737e+02] [ 1.33272520e-02 9.99911181e-01 1.16625156e-04 -2.45026223e+01] [ 1.82996709e-03 -1.41025918e-04 9.99998316e-01 1.96456731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4707140569999 meters Centerline goodness [0,1] 0.9798741577044937 Centerline is valid? [True, True] Translation: X:516.53, Y:-24.50, Z:1.96 [[ 9.99890647e-01 -1.46105475e-02 -2.28604530e-03 5.16534628e+02] [ 1.46109161e-02 9.99893244e-01 1.44580470e-04 -2.45030856e+01] [ 2.28368885e-03 -1.77965875e-04 9.99997377e-01 1.96376569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.500714057 meters Centerline goodness [0,1] 0.9799410950957205 Centerline is valid? [True, True] Translation: X:516.57, Y:-24.50, Z:1.96 [[ 9.99884996e-01 -1.50388341e-02 -1.95644923e-03 5.16566466e+02] [ 1.50391058e-02 9.99886899e-01 1.24245270e-04 -2.45044018e+01] [ 1.95435945e-03 -1.53654229e-04 9.99998078e-01 1.96365561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.530714057 meters Centerline goodness [0,1] 0.9795227166380712 Centerline is valid? [True, True] Translation: X:516.60, Y:-24.51, Z:1.96 [[ 9.99885269e-01 -1.50160344e-02 -1.99177252e-03 5.16598807e+02] [ 1.50163162e-02 9.99887241e-01 1.26601652e-04 -2.45065049e+01] [ 1.98964687e-03 -1.56496212e-04 9.99998008e-01 1.96315268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5607140569999 meters Centerline goodness [0,1] 0.9780872048913286 Centerline is valid? [True, True] Translation: X:516.63, Y:-24.51, Z:1.96 [[ 9.99892224e-01 -1.44563315e-02 -2.56018592e-03 5.16630973e+02] [ 1.44567950e-02 9.99895482e-01 1.62604464e-04 -2.45074929e+01] [ 2.55756767e-03 -1.99599023e-04 9.99996709e-01 1.96260623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5907140569999 meters Centerline goodness [0,1] 0.9780872048913286 Centerline is valid? [True, True] Translation: X:516.66, Y:-24.51, Z:1.96 [[ 9.99893233e-01 -1.43863907e-02 -2.56017435e-03 5.16662697e+02] [ 1.43868544e-02 9.99896491e-01 1.62787162e-04 -2.45095586e+01] [ 2.55756743e-03 -1.99602637e-04 9.99996709e-01 1.96213330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.620714057 meters Centerline goodness [0,1] 0.9779839070183282 Centerline is valid? [True, True] Translation: X:516.69, Y:-24.51, Z:1.96 [[ 9.99897567e-01 -1.41090446e-02 -2.40646633e-03 5.16694888e+02] [ 1.41094540e-02 9.99900445e-01 1.53239414e-04 -2.45107072e+01] [ 2.40406469e-03 -1.87177643e-04 9.99997093e-01 1.96185816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.650714057 meters Centerline goodness [0,1] 0.9786104640745387 Centerline is valid? [True, True] Translation: X:516.73, Y:-24.51, Z:1.96 [[ 9.99914532e-01 -1.29107130e-02 -2.05987409e-03 5.16727167e+02] [ 1.29110105e-02 9.99916641e-01 1.31200841e-04 -2.45051714e+01] [ 2.05800849e-03 -1.57784684e-04 9.99997870e-01 1.96311707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6807140569999 meters Centerline goodness [0,1] 0.9801340782122905 Centerline is valid? [True, True] Translation: X:516.76, Y:-24.51, Z:1.96 [[ 9.99926945e-01 -1.19915628e-02 -1.51918804e-03 5.16759029e+02] [ 1.19917240e-02 9.99928092e-01 9.70467477e-05 -2.45056514e+01] [ 1.51791505e-03 -1.15257341e-04 9.99998841e-01 1.96275517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7107140569999 meters Centerline goodness [0,1] 0.9785818304021507 Centerline is valid? [True, True] Translation: X:516.79, Y:-24.51, Z:1.96 [[ 9.99940911e-01 -1.06579929e-02 -2.14026466e-03 5.16790282e+02] [ 1.06583087e-02 9.99943189e-01 1.36204938e-04 -2.45055448e+01] [ 2.13869140e-03 -1.59008491e-04 9.99997700e-01 1.96270328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.740714057 meters Centerline goodness [0,1] 0.9797498377749435 Centerline is valid? [True, True] Translation: X:516.82, Y:-24.50, Z:1.96 [[ 9.99948550e-01 -9.85357820e-03 -2.40901439e-03 5.16822362e+02] [ 9.85397680e-03 9.99951437e-01 1.53650700e-04 -2.45037847e+01] [ 2.40738340e-03 -1.77381167e-04 9.99997087e-01 1.96236217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.770714057 meters Centerline goodness [0,1] 0.9801902454345582 Centerline is valid? [True, True] Translation: X:516.85, Y:-24.51, Z:1.96 [[ 9.99957589e-01 -8.40919094e-03 -3.75587830e-03 5.16853738e+02] [ 8.41015482e-03 9.99964605e-01 2.40912880e-04 -2.45072014e+01] [ 3.75371948e-03 -2.72490181e-04 9.99992918e-01 1.96018173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8007140569999 meters Centerline goodness [0,1] 0.9801804632788651 Centerline is valid? [True, True] Translation: X:516.89, Y:-24.51, Z:1.96 [[ 9.99956532e-01 -8.13350988e-03 -4.55856836e-03 5.16885247e+02] [ 8.13491854e-03 9.99966869e-01 2.90555371e-04 -2.45061851e+01] [ 4.55605410e-03 -3.27626323e-04 9.99989567e-01 1.95977017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8307140569999 meters Centerline goodness [0,1] 0.9798306939760113 Centerline is valid? [True, True] Translation: X:516.92, Y:-24.51, Z:1.96 [[ 9.99956714e-01 -7.73170510e-03 -5.17605522e-03 5.16915913e+02] [ 7.73351865e-03 9.99970041e-01 3.30449658e-04 -2.45091438e+01] [ 5.17334521e-03 -3.70464473e-04 9.99986550e-01 1.95842732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.860714057 meters Centerline goodness [0,1] 0.9786977222433333 Centerline is valid? [True, True] Translation: X:516.95, Y:-24.51, Z:1.96 [[ 9.99954250e-01 -7.82262499e-03 -5.50488033e-03 5.16947643e+02] [ 7.82467665e-03 9.99969325e-01 3.51258953e-04 -2.45115226e+01] [ 5.50196371e-03 -3.94316791e-04 9.99984786e-01 1.95765512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.890714057 meters Centerline goodness [0,1] 0.9781565373402108 Centerline is valid? [True, True] Translation: X:516.98, Y:-24.51, Z:1.96 [[ 9.99959137e-01 -7.39522190e-03 -5.19956450e-03 5.16978637e+02] [ 7.39704580e-03 9.99972586e-01 3.31636586e-04 -2.45130040e+01] [ 5.19696943e-03 -3.70084451e-04 9.99986427e-01 1.95760056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9207140569999 meters Centerline goodness [0,1] 0.9787434203158248 Centerline is valid? [True, True] Translation: X:517.01, Y:-24.51, Z:1.96 [[ 9.99962375e-01 -7.02113565e-03 -5.09441647e-03 5.17009424e+02] [ 7.02288040e-03 9.99975287e-01 3.24674515e-04 -2.45149680e+01] [ 5.09201098e-03 -3.60439776e-04 9.99986971e-01 1.95725214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9507140569999 meters Centerline goodness [0,1] 0.978453113076267 Centerline is valid? [True, True] Translation: X:517.04, Y:-24.51, Z:1.96 [[ 9.99969982e-01 -5.86679661e-03 -5.06118151e-03 5.17040490e+02] [ 5.86850576e-03 9.99982728e-01 3.22912940e-04 -2.45127061e+01] [ 5.05919963e-03 -3.52604820e-04 9.99987140e-01 1.95788271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.980714057 meters Centerline goodness [0,1] 0.9794637252264371 Centerline is valid? [True, True] Translation: X:517.07, Y:-24.51, Z:1.96 [[ 9.99981101e-01 -3.29600217e-03 -5.18977370e-03 5.17070300e+02] [ 3.29776340e-03 9.99994508e-01 3.30844688e-04 -2.45141200e+01] [ 5.18865473e-03 -3.47953081e-04 9.99986478e-01 1.95720131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.010714057 meters Centerline goodness [0,1] 0.9788790692471193 Centerline is valid? [True, True] Translation: X:517.10, Y:-24.51, Z:1.96 [[ 9.99980357e-01 -2.58650344e-03 -5.70917825e-03 5.17100537e+02] [ 2.58862124e-03 9.99996583e-01 3.63588033e-04 -2.45138791e+01] [ 5.70821832e-03 -3.78359792e-04 9.99983636e-01 1.95736015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.040714057 meters Centerline goodness [0,1] 0.9788494645292553 Centerline is valid? [True, True] Translation: X:517.13, Y:-24.52, Z:1.96 [[ 9.99982378e-01 -1.47312694e-03 -5.75094530e-03 5.17130334e+02] [ 1.47525484e-03 9.99998845e-01 3.65783877e-04 -2.45162743e+01] [ 5.75039981e-03 -3.74261541e-04 9.99983396e-01 1.95689911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0707140569999 meters Centerline goodness [0,1] 0.9793782081456078 Centerline is valid? [True, True] Translation: X:517.16, Y:-24.52, Z:1.96 [[ 9.99984907e-01 -1.43342699e-03 -5.30396489e-03 5.17159189e+02] [ 1.43521237e-03 9.99998915e-01 3.32821137e-04 -2.45183641e+01] [ 5.30348206e-03 -3.40428429e-04 9.99985878e-01 1.95652443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1007140569999 meters Centerline goodness [0,1] 0.9796211509112128 Centerline is valid? [True, True] Translation: X:517.19, Y:-24.52, Z:1.96 [[ 9.99983865e-01 -1.79505586e-03 -5.38955018e-03 5.17187934e+02] [ 1.79689788e-03 9.99998329e-01 3.36953131e-04 -2.45218347e+01] [ 5.38893632e-03 -3.46632166e-04 9.99985419e-01 1.95517128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.130714057 meters Centerline goodness [0,1] 0.9793221253259012 Centerline is valid? [True, True] Translation: X:517.22, Y:-24.52, Z:1.96 [[ 9.99978379e-01 -2.30499927e-03 -6.15868409e-03 5.17217800e+02] [ 2.30743531e-03 9.99997262e-01 3.88469329e-04 -2.45212422e+01] [ 6.15777181e-03 -4.02671695e-04 9.99980960e-01 1.95507549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.160714057 meters Centerline goodness [0,1] 0.9801737880863103 Centerline is valid? [True, True] Translation: X:517.25, Y:-24.52, Z:1.95 [[ 9.99974884e-01 -2.79024829e-03 -6.51498173e-03 5.17246248e+02] [ 2.79297829e-03 9.99996016e-01 4.09973512e-04 -2.45240189e+01] [ 6.51381185e-03 -4.28159418e-04 9.99978693e-01 1.95437447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1907140569999 meters Centerline goodness [0,1] 0.9783949238125028 Centerline is valid? [True, True] Translation: X:517.27, Y:-24.53, Z:1.95 [[ 9.99970567e-01 -4.06098299e-03 -6.50953333e-03 5.17274213e+02] [ 4.06373226e-03 9.99991659e-01 4.09174308e-04 -2.45288169e+01] [ 6.50781738e-03 -4.35615265e-04 9.99978729e-01 1.95288181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2207140569999 meters Centerline goodness [0,1] 0.9783691603464525 Centerline is valid? [True, True] Translation: X:517.30, Y:-24.53, Z:1.95 [[ 9.99957845e-01 -5.91746840e-03 -7.02075518e-03 5.17303463e+02] [ 5.92071463e-03 9.99982375e-01 4.41681053e-04 -2.45332832e+01] [ 7.01801780e-03 -4.83230322e-04 9.99975257e-01 1.95213111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.250714057 meters Centerline goodness [0,1] 0.9774181997224833 Centerline is valid? [True, True] Translation: X:517.33, Y:-24.53, Z:1.95 [[ 9.99953202e-01 -6.48525387e-03 -7.17877753e-03 5.17333177e+02] [ 6.48866063e-03 9.99978847e-01 4.51370764e-04 -2.45341493e+01] [ 7.17569842e-03 -4.97930292e-04 9.99974130e-01 1.95234211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.280714057 meters Centerline goodness [0,1] 0.9772661031769163 Centerline is valid? [True, True] Translation: X:517.36, Y:-24.54, Z:1.95 [[ 9.99952211e-01 -6.96320454e-03 -6.86222891e-03 5.17362475e+02] [ 6.96633148e-03 9.99975642e-01 4.31877113e-04 -2.45378805e+01] [ 6.85905451e-03 -4.79661035e-04 9.99976361e-01 1.95208444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3107140569999 meters Centerline goodness [0,1] 0.9758551307847082 Centerline is valid? [True, True] Translation: X:517.39, Y:-24.54, Z:1.95 [[ 9.99949041e-01 -7.77166644e-03 -6.44328264e-03 5.17393042e+02] [ 7.77444033e-03 9.99969696e-01 4.05573084e-04 -2.45406793e+01] [ 6.43993541e-03 -4.55645333e-04 9.99979160e-01 1.95144821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3407140569999 meters Centerline goodness [0,1] 0.9764489914705948 Centerline is valid? [True, True] Translation: X:517.42, Y:-24.54, Z:1.95 [[ 9.99942938e-01 -8.91658432e-03 -5.88350414e-03 5.17423531e+02] [ 8.91891687e-03 9.99960157e-01 3.70337769e-04 -2.45438423e+01] [ 5.87996758e-03 -4.22791121e-04 9.99982623e-01 1.95181279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.370714057 meters Centerline goodness [0,1] 0.9762949366521915 Centerline is valid? [True, True] Translation: X:517.45, Y:-24.55, Z:1.95 [[ 9.99942732e-01 -9.18894262e-03 -5.48592270e-03 5.17453474e+02] [ 9.19097660e-03 9.99957702e-01 3.45666368e-04 -2.45481511e+01] [ 5.48251435e-03 -3.96067559e-04 9.99984892e-01 1.95099773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.400714057 meters Centerline goodness [0,1] 0.9758904232023953 Centerline is valid? [True, True] Translation: X:517.48, Y:-24.55, Z:1.95 [[ 9.99940794e-01 -9.69789707e-03 -4.93560016e-03 5.17483567e+02] [ 9.69955013e-03 9.99952910e-01 3.11098610e-04 -2.45523067e+01] [ 4.93235074e-03 -3.58953292e-04 9.99987771e-01 1.94976486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4307140569999 meters Centerline goodness [0,1] 0.9780059637244132 Centerline is valid? [True, True] Translation: X:517.52, Y:-24.55, Z:1.95 [[ 9.99927130e-01 -1.10051260e-02 -4.96202987e-03 5.17515248e+02] [ 1.10068151e-02 9.99939374e-01 3.13227419e-04 -2.45462935e+01] [ 4.95828193e-03 -3.67820739e-04 9.99987640e-01 1.95157389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4607140569999 meters Centerline goodness [0,1] 0.9770522723190228 Centerline is valid? [True, True] Translation: X:517.55, Y:-24.55, Z:1.95 [[ 9.99913773e-01 -1.21584366e-02 -4.96169289e-03 5.17545756e+02] [ 1.21601405e-02 9.99926014e-01 3.13386813e-04 -2.45526371e+01] [ 4.95751550e-03 -3.73694673e-04 9.99987642e-01 1.94994574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.490714057 meters Centerline goodness [0,1] 0.9762846733275219 Centerline is valid? [True, True] Translation: X:517.58, Y:-24.56, Z:1.95 [[ 9.99900232e-01 -1.33204859e-02 -4.69999235e-03 5.17577006e+02] [ 1.33220284e-02 9.99911214e-01 2.97033968e-04 -2.45557517e+01] [ 4.69561842e-03 -3.59617765e-04 9.99988911e-01 1.94946260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.520714057 meters Centerline goodness [0,1] 0.9760041263932183 Centerline is valid? [True, True] Translation: X:517.61, Y:-24.55, Z:1.95 [[ 9.99871686e-01 -1.54640765e-02 -4.18023057e-03 5.17608647e+02] [ 1.54653162e-02 9.99880370e-01 2.64411433e-04 -2.45534033e+01] [ 4.17564161e-03 -3.29026093e-04 9.99991228e-01 1.95044666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5507140569999 meters Centerline goodness [0,1] 0.9758595135972693 Centerline is valid? [True, True] Translation: X:517.64, Y:-24.56, Z:1.95 [[ 9.99854945e-01 -1.66481127e-02 -3.59577645e-03 5.17640976e+02] [ 1.66490408e-02 9.99861369e-01 2.28326729e-04 -2.45553512e+01] [ 3.59147675e-03 -2.88159838e-04 9.99993509e-01 1.95032803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5807140569999 meters Centerline goodness [0,1] 0.9729366430683754 Centerline is valid? [True, True] Translation: X:517.67, Y:-24.56, Z:1.95 [[ 9.99802454e-01 -1.95055774e-02 -3.81904632e-03 5.17669964e+02] [ 1.95066399e-02 9.99809698e-01 2.41143253e-04 -2.45612035e+01] [ 3.81361591e-03 -3.15592377e-04 9.99992678e-01 1.94907030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.610714057 meters Centerline goodness [0,1] 0.9729445933869526 Centerline is valid? [True, True] Translation: X:517.70, Y:-24.56, Z:1.95 [[ 9.99726881e-01 -2.30355807e-02 -3.94019351e-03 5.17700366e+02] [ 2.30367397e-02 9.99734588e-01 2.49021727e-04 -2.45618767e+01] [ 3.93341138e-03 -3.39722927e-04 9.99992206e-01 1.94847973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.640714057 meters Centerline goodness [0,1] 0.973105024877852 Centerline is valid? [True, True] Translation: X:517.73, Y:-24.56, Z:1.95 [[ 9.99676882e-01 -2.51280564e-02 -3.83561861e-03 5.17731177e+02] [ 2.51291712e-02 9.99684183e-01 2.42706469e-04 -2.45647288e+01] [ 3.82830851e-03 -3.39013963e-04 9.99992615e-01 1.94776810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6707140569999 meters Centerline goodness [0,1] 0.9715126597919616 Centerline is valid? [True, True] Translation: X:517.76, Y:-24.57, Z:1.95 [[ 9.99583819e-01 -2.85713633e-02 -3.98321444e-03 5.17761147e+02] [ 2.85725903e-02 9.99591689e-01 2.51483701e-04 -2.45679373e+01] [ 3.97440282e-03 -3.65189793e-04 9.99992035e-01 1.94629818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7007140569999 meters Centerline goodness [0,1] 0.9709756642107613 Centerline is valid? [True, True] Translation: X:517.79, Y:-24.57, Z:1.95 [[ 9.99563643e-01 -2.92470136e-02 -4.13961632e-03 5.17793083e+02] [ 2.92483514e-02 9.99572141e-01 2.62970831e-04 -2.45698328e+01] [ 4.13015403e-03 -3.83933035e-04 9.99991397e-01 1.94575487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.730714057 meters Centerline goodness [0,1] 0.9693349173970546 Centerline is valid? [True, True] Translation: X:517.83, Y:-24.57, Z:1.95 [[ 9.99536091e-01 -3.00941907e-02 -4.68436581e-03 5.17825630e+02] [ 3.00959138e-02 9.99546971e-01 2.97770030e-04 -2.45699809e+01] [ 4.67328251e-03 -4.38612162e-04 9.99988984e-01 1.94595948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.760714057 meters Centerline goodness [0,1] 0.9657460545193687 Centerline is valid? [True, True] Translation: X:517.86, Y:-24.57, Z:1.94 [[ 9.99559728e-01 -2.93371029e-02 -4.43667392e-03 5.17857250e+02] [ 2.93386429e-02 9.99569489e-01 2.82391385e-04 -2.45732134e+01] [ 4.42647934e-03 -4.12433048e-04 9.99990118e-01 1.94492556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.790714057 meters Centerline goodness [0,1] 0.9673788501718676 Centerline is valid? [True, True] Translation: X:517.89, Y:-24.57, Z:1.94 [[ 9.99638052e-01 -2.65343263e-02 -4.43782232e-03 5.17888590e+02] [ 2.65358354e-02 9.99647823e-01 2.81519414e-04 -2.45709446e+01] [ 4.42878949e-03 -3.99178841e-04 9.99990113e-01 1.94468483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8207140569999 meters Centerline goodness [0,1] 0.9697474827112382 Centerline is valid? [True, True] Translation: X:517.92, Y:-24.57, Z:1.94 [[ 9.99753537e-01 -2.18783272e-02 -3.76873198e-03 5.17919889e+02] [ 2.18793836e-02 9.99760589e-01 2.39297336e-04 -2.45676494e+01] [ 3.76259428e-03 -3.21695891e-04 9.99992870e-01 1.94448381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8507140569999 meters Centerline goodness [0,1] 0.969860913865783 Centerline is valid? [True, True] Translation: X:517.95, Y:-24.57, Z:1.94 [[ 9.99802397e-01 -1.95960894e-02 -3.34079795e-03 5.17951173e+02] [ 1.95969072e-02 9.99807940e-01 2.12229448e-04 -2.45676663e+01] [ 3.33599745e-03 -2.77656819e-04 9.99994397e-01 1.94415924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.880714057 meters Centerline goodness [0,1] 0.9720651512762171 Centerline is valid? [True, True] Translation: X:517.98, Y:-24.56, Z:1.94 [[ 9.99884741e-01 -1.48064442e-02 -3.35754881e-03 5.17982689e+02] [ 1.48072435e-02 9.99890344e-01 2.13330045e-04 -2.45629443e+01] [ 3.35402198e-03 -2.63021500e-04 9.99994341e-01 1.94414778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.910714057 meters Centerline goodness [0,1] 0.9718338490727984 Centerline is valid? [True, True] Translation: X:518.01, Y:-24.56, Z:1.94 [[ 9.99914229e-01 -1.25939542e-02 -3.59530498e-03 5.18012920e+02] [ 1.25948555e-02 9.99920656e-01 2.28176870e-04 -2.45632735e+01] [ 3.59214606e-03 -2.73439646e-04 9.99993511e-01 1.94346840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9407140569999 meters Centerline goodness [0,1] 0.9730433797712085 Centerline is valid? [True, True] Translation: X:518.04, Y:-24.56, Z:1.94 [[ 9.99946610e-01 -9.66996094e-03 -3.64279023e-03 5.18043896e+02] [ 9.67086814e-03 9.99953209e-01 2.31507430e-04 -2.45608206e+01] [ 3.64038111e-03 -2.66724014e-04 9.99993338e-01 1.94304414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9707140569999 meters Centerline goodness [0,1] 0.97215001017248 Centerline is valid? [True, True] Translation: X:518.07, Y:-24.56, Z:1.94 [[ 9.99956010e-01 -8.78225479e-03 -3.29392422e-03 5.18073993e+02] [ 8.78299202e-03 9.99961407e-01 2.09414720e-04 -2.45625751e+01] [ 3.29195796e-03 -2.38336018e-04 9.99994553e-01 1.94211262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.000714057 meters Centerline goodness [0,1] 0.9706034735206001 Centerline is valid? [True, True] Translation: X:518.11, Y:-24.56, Z:1.94 [[ 9.99960267e-01 -8.35889178e-03 -3.09722662e-03 5.18105618e+02] [ 8.35954458e-03 9.99965039e-01 1.97883075e-04 -2.45640695e+01] [ 3.09546425e-03 -2.23766617e-04 9.99995184e-01 1.94112718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.030714057 meters Centerline goodness [0,1] 0.9752006000954697 Centerline is valid? [True, True] Translation: X:518.14, Y:-24.56, Z:1.94 [[ 9.99949769e-01 -9.13925370e-03 -4.11515685e-03 5.18138284e+02] [ 9.14041269e-03 9.99958191e-01 2.62919123e-04 -2.45597099e+01] [ 4.11258191e-03 -3.00520148e-04 9.99991498e-01 1.94188638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0607140569999 meters Centerline goodness [0,1] 0.973222214632147 Centerline is valid? [True, True] Translation: X:518.17, Y:-24.56, Z:1.94 [[ 9.99927001e-01 -1.09331603e-02 -5.14379654e-03 5.18168330e+02] [ 1.09349958e-02 9.99940157e-01 3.28857724e-04 -2.45623119e+01] [ 5.13989327e-03 -3.85081111e-04 9.99986717e-01 1.94043944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0907140569999 meters Centerline goodness [0,1] 0.9734794346514213 Centerline is valid? [True, True] Translation: X:518.20, Y:-24.57, Z:1.94 [[ 9.99913797e-01 -1.18507548e-02 -5.65321376e-03 5.18199276e+02] [ 1.18529834e-02 9.99929686e-01 3.60888265e-04 -2.45654051e+01] [ 5.64853946e-03 -4.27864604e-04 9.99983955e-01 1.93924392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.120714057 meters Centerline goodness [0,1] 0.9718515477086612 Centerline is valid? [True, True] Translation: X:518.23, Y:-24.57, Z:1.94 [[ 9.99860580e-01 -1.50655741e-02 -7.20060390e-03 5.18230238e+02] [ 1.50692686e-02 9.99886347e-01 4.59087793e-04 -2.45667623e+01] [ 7.19286911e-03 -5.67531621e-04 9.99973970e-01 1.93768252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.150714057 meters Centerline goodness [0,1] 0.9653326651937225 Centerline is valid? [True, True] Translation: X:518.26, Y:-24.57, Z:1.94 [[ 9.99842891e-01 -1.61286467e-02 -7.35251578e-03 5.18260625e+02] [ 1.61325326e-02 9.99869752e-01 4.69496602e-04 -2.45733592e+01] [ 7.34398578e-03 -5.88037541e-04 9.99972860e-01 1.93588364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1807140569999 meters Centerline goodness [0,1] 0.9723364146358082 Centerline is valid? [True, True] Translation: X:518.29, Y:-24.57, Z:1.94 [[ 9.99818608e-01 -1.77313419e-02 -6.95341110e-03 5.18291549e+02] [ 1.77348551e-02 9.99842627e-01 4.43904474e-04 -2.45706591e+01] [ 6.94444580e-03 -5.67141692e-04 9.99975726e-01 1.93725543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2107140569999 meters Centerline goodness [0,1] 0.9734763752567906 Centerline is valid? [True, True] Translation: X:518.32, Y:-24.57, Z:1.94 [[ 9.99815203e-01 -1.80508553e-02 -6.61256504e-03 5.18324039e+02] [ 1.80540478e-02 9.99836923e-01 4.23409297e-04 -2.45716452e+01] [ 6.60384378e-03 -5.42714618e-04 9.99978047e-01 1.93744838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.240714057 meters Centerline goodness [0,1] 0.9711696493791089 Centerline is valid? [True, True] Translation: X:518.36, Y:-24.57, Z:1.94 [[ 9.99827116e-01 -1.78513229e-02 -5.20270555e-03 5.18355402e+02] [ 1.78532977e-02 9.99840562e-01 3.33364593e-04 -2.45739504e+01] [ 5.19592504e-03 -4.26192410e-04 9.99986410e-01 1.93818739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.270714057 meters Centerline goodness [0,1] 0.971830664659459 Centerline is valid? [True, True] Translation: X:518.39, Y:-24.57, Z:1.94 [[ 9.99863090e-01 -1.60493038e-02 -4.02745397e-03 5.18385529e+02] [ 1.60504702e-02 9.99871150e-01 2.57456830e-04 -2.45746430e+01] [ 4.02280302e-03 -3.22064112e-04 9.99991857e-01 1.93877687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3007140569999 meters Centerline goodness [0,1] 0.966805451277501 Centerline is valid? [True, True] Translation: X:518.42, Y:-24.58, Z:1.94 [[ 9.99885048e-01 -1.47225666e-02 -3.62454589e-03 5.18415950e+02] [ 1.47235050e-02 9.99891576e-01 2.32334699e-04 -2.45797807e+01] [ 3.62073234e-03 -2.85674011e-04 9.99993404e-01 1.93732273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3307140569999 meters Centerline goodness [0,1] 0.977641625897307 Centerline is valid? [True, True] Translation: X:518.45, Y:-24.57, Z:1.94 [[ 9.99897165e-01 -1.37240994e-02 -4.16039607e-03 5.18449476e+02] [ 1.37253319e-02 9.99905767e-01 2.67833443e-04 -2.45675058e+01] [ 4.15632825e-03 -3.24908717e-04 9.99991310e-01 1.93960831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.360714057 meters Centerline goodness [0,1] 0.9779265133976666 Centerline is valid? [True, True] Translation: X:518.48, Y:-24.57, Z:1.94 [[ 9.99920574e-01 -1.15199518e-02 -5.11242651e-03 5.18480321e+02] [ 1.15217794e-02 9.99933568e-01 3.28183299e-04 -2.45685659e+01] [ 5.10830623e-03 -3.87061484e-04 9.99986878e-01 1.93792411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.390714057 meters Centerline goodness [0,1] 0.9638178986901164 Centerline is valid? [True, True] Translation: X:518.51, Y:-24.58, Z:1.93 [[ 9.99931244e-01 -1.03411076e-02 -5.52895850e-03 5.18509791e+02] [ 1.03432261e-02 9.99946444e-01 3.54698825e-04 -2.45826644e+01] [ 5.52499442e-03 -4.11861705e-04 9.99984652e-01 1.93282785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4207140569999 meters Centerline goodness [0,1] 0.978340918967134 Centerline is valid? [True, True] Translation: X:518.54, Y:-24.57, Z:1.93 [[ 9.99936648e-01 -9.60960516e-03 -5.86139968e-03 5.18542776e+02] [ 9.61198052e-03 9.99953733e-01 3.77218208e-04 -2.45720727e+01] [ 5.85750357e-03 -4.33533970e-04 9.99982751e-01 1.93486871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4507140569999 meters Centerline goodness [0,1] 0.9794353913243057 Centerline is valid? [True, True] Translation: X:518.57, Y:-24.57, Z:1.93 [[ 9.99952593e-01 -7.65566182e-03 -6.01682323e-03 5.18574052e+02] [ 7.65812540e-03 9.99970601e-01 3.86515832e-04 -2.45689378e+01] [ 6.01368731e-03 -4.32575096e-04 9.99981824e-01 1.93489877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.480714057 meters Centerline goodness [0,1] 0.9794353913243057 Centerline is valid? [True, True] Translation: X:518.60, Y:-24.57, Z:1.93 [[ 9.99952869e-01 -7.61959150e-03 -6.01679211e-03 5.18604919e+02] [ 7.62205733e-03 9.99970877e-01 3.87000405e-04 -2.45709490e+01] [ 6.01366810e-03 -4.32842500e-04 9.99981824e-01 1.93443839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.510714057 meters Centerline goodness [0,1] 0.9789003293944211 Centerline is valid? [True, True] Translation: X:518.64, Y:-24.57, Z:1.93 [[ 9.99963479e-01 -4.76650736e-03 -7.09368108e-03 5.18635768e+02] [ 4.76986176e-03 9.99988520e-01 4.56028786e-04 -2.45694277e+01] [ 7.09142598e-03 -4.89848010e-04 9.99974736e-01 1.93405326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.540714057 meters Centerline goodness [0,1] 0.9790836423947847 Centerline is valid? [True, True] Translation: X:518.66, Y:-24.57, Z:1.93 [[ 9.99969729e-01 -2.93237753e-03 -7.20704884e-03 5.18664637e+02] [ 2.93578490e-03 9.99995584e-01 4.62249934e-04 -2.45737518e+01] [ 7.20566152e-03 -4.83394287e-04 9.99973922e-01 1.93255408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5707140569999 meters Centerline goodness [0,1] 0.9694110590786408 Centerline is valid? [True, True] Translation: X:518.69, Y:-24.59, Z:1.93 [[ 9.99973566e-01 -1.23443530e-03 -7.16539151e-03 5.18692378e+02] [ 1.23775565e-03 9.99999129e-01 4.58971661e-04 -2.45858291e+01] [ 7.16481870e-03 -4.67828532e-04 9.99974223e-01 1.92792091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6007140569999 meters Centerline goodness [0,1] 0.9794798487503459 Centerline is valid? [True, True] Translation: X:518.72, Y:-24.57, Z:1.93 [[ 9.99982009e-01 1.68911865e-03 -5.75568156e-03 5.18723144e+02] [-1.68702514e-03 9.99998509e-01 3.68564562e-04 -2.45704544e+01] [ 5.75629553e-03 -3.58847952e-04 9.99983368e-01 1.93379235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.630714057 meters Centerline goodness [0,1] 0.9797672542919691 Centerline is valid? [True, True] Translation: X:518.75, Y:-24.57, Z:1.93 [[ 9.99983669e-01 2.71828073e-03 -5.02713246e-03 5.18752405e+02] [-2.71671717e-03 9.99996259e-01 3.17827573e-04 -2.45728504e+01] [ 5.02797760e-03 -3.04165086e-04 9.99987313e-01 1.93388637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.660714057 meters Centerline goodness [0,1] 0.9796267208722166 Centerline is valid? [True, True] Translation: X:518.78, Y:-24.57, Z:1.93 [[ 9.99983098e-01 4.76052733e-03 -3.33785768e-03 5.18782106e+02] [-4.75984400e-03 9.99988649e-01 2.12634828e-04 -2.45728622e+01] [ 3.33883205e-03 -1.96743552e-04 9.99994407e-01 1.93463888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6907140569999 meters Centerline goodness [0,1] 0.9801886356280919 Centerline is valid? [True, True] Translation: X:518.81, Y:-24.57, Z:1.94 [[ 9.99976192e-01 6.60247891e-03 -2.00585254e-03 5.18812549e+02] [-6.60223693e-03 9.99978197e-01 1.27233699e-04 -2.45725439e+01] [ 2.00664886e-03 -1.13987556e-04 9.99997980e-01 1.93575269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7207140569999 meters Centerline goodness [0,1] 0.9803903453054625 Centerline is valid? [True, True] Translation: X:518.84, Y:-24.57, Z:1.94 [[ 9.99970081e-01 7.62614441e-03 -1.29600048e-03 5.18841397e+02] [-7.62604512e-03 9.99970918e-01 8.15389439e-05 -2.45743174e+01] [ 1.29658462e-03 -7.16531461e-05 9.99999157e-01 1.93576546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.750714057 meters Centerline goodness [0,1] 0.9810602565285595 Centerline is valid? [True, True] Translation: X:518.87, Y:-24.58, Z:1.94 [[ 9.99953578e-01 9.63236484e-03 -2.43599367e-04 5.18870467e+02] [-9.63236147e-03 9.99953608e-01 1.49870830e-05 -2.45753772e+01] [ 2.43732427e-04 -1.26399501e-05 9.99999970e-01 1.93653169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.780714057 meters Centerline goodness [0,1] 0.9810633984518983 Centerline is valid? [True, True] Translation: X:518.90, Y:-24.58, Z:1.94 [[ 9.99939843e-01 1.09681014e-02 -1.09876267e-04 5.18899850e+02] [-1.09681008e-02 9.99939849e-01 6.19103856e-06 -2.45763056e+01] [ 1.09937561e-04 -4.98553216e-06 9.99999994e-01 1.93677093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8107140569999 meters Centerline goodness [0,1] 0.981661719702722 Centerline is valid? [True, True] Translation: X:518.93, Y:-24.58, Z:1.94 [[ 9.99935528e-01 1.13543035e-02 -1.42331078e-04 5.18928898e+02] [-1.13543025e-02 9.99935538e-01 7.41389999e-06 -2.45799007e+01] [ 1.42406082e-04 -5.79735188e-06 9.99999990e-01 1.93575086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8407140569999 meters Centerline goodness [0,1] 0.9807740898127943 Centerline is valid? [True, True] Translation: X:518.96, Y:-24.58, Z:1.93 [[ 9.99930834e-01 1.17571692e-02 -3.10681467e-04 5.18957942e+02] [-1.17571639e-02 9.99930882e-01 1.86535105e-05 -2.45831513e+01] [ 3.10879306e-04 -1.49994874e-05 9.99999952e-01 1.93486389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.870714057 meters Centerline goodness [0,1] 0.9816027010266657 Centerline is valid? [True, True] Translation: X:518.99, Y:-24.58, Z:1.93 [[ 9.99928537e-01 1.19541707e-02 -1.35229000e-04 5.18987008e+02] [-1.19541698e-02 9.99928546e-01 7.48876119e-06 -2.45838081e+01] [ 1.35308859e-04 -5.87167560e-06 9.99999991e-01 1.93451115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.900714057 meters Centerline goodness [0,1] 0.981727612882492 Centerline is valid? [True, True] Translation: X:519.02, Y:-24.59, Z:1.93 [[ 9.99921456e-01 1.24573238e-02 -1.37726598e-03 5.19016229e+02] [-1.24572165e-02 9.99922402e-01 8.64156087e-05 -2.45857710e+01] [ 1.37823561e-03 -6.92519208e-05 9.99999048e-01 1.93356673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9307140569999 meters Centerline goodness [0,1] 0.9824163227877121 Centerline is valid? [True, True] Translation: X:519.04, Y:-24.59, Z:1.93 [[ 9.99918282e-01 1.26234609e-02 -2.01935345e-03 5.19044105e+02] [-1.26232315e-02 9.99920316e-01 1.26308375e-04 -2.45890504e+01] [ 2.02078698e-03 -1.00807287e-04 9.99997953e-01 1.93238833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9607140569999 meters Centerline goodness [0,1] 0.9816348413295919 Centerline is valid? [True, True] Translation: X:519.07, Y:-24.59, Z:1.93 [[ 9.99903375e-01 1.36290761e-02 -2.73659740e-03 5.19072099e+02] [-1.36286577e-02 9.99907111e-01 1.71491676e-04 -2.45925508e+01] [ 2.73868047e-03 -1.34178956e-04 9.99996241e-01 1.93166064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.990714057 meters Centerline goodness [0,1] 0.9835885211332172 Centerline is valid? [True, True] Translation: X:519.10, Y:-24.59, Z:1.93 [[ 9.99892655e-01 1.43668190e-02 -2.87626571e-03 5.19100847e+02] [-1.43663595e-02 9.99896782e-01 1.80356871e-04 -2.45921336e+01] [ 2.87855998e-03 -1.39016043e-04 9.99995847e-01 1.93220221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.020714057 meters Centerline goodness [0,1] 0.9833272176864508 Centerline is valid? [True, True] Translation: X:519.13, Y:-24.60, Z:1.93 [[ 9.99869804e-01 1.59999001e-02 -2.09227649e-03 5.19128862e+02] [-1.59996615e-02 9.99871989e-01 1.30761662e-04 -2.45952950e+01] [ 2.09410083e-03 -9.72689220e-05 9.99997803e-01 1.93219947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0507140569999 meters Centerline goodness [0,1] 0.9833150484549278 Centerline is valid? [True, True] Translation: X:519.16, Y:-24.60, Z:1.93 [[ 9.99855523e-01 1.69560770e-02 -1.19376247e-03 5.19157990e+02] [-1.69560017e-02 9.99856234e-01 7.31897167e-05 -2.45979788e+01] [ 1.19483186e-03 -5.29377039e-05 9.99999285e-01 1.93167906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0807140569999 meters Centerline goodness [0,1] 0.9825570734390758 Centerline is valid? [True, True] Translation: X:519.19, Y:-24.60, Z:1.93 [[ 9.99825735e-01 1.86136900e-02 -1.42497780e-03 5.19185560e+02] [-1.86135832e-02 9.99826748e-01 8.81702355e-05 -2.46012140e+01] [ 1.42637210e-03 -6.16309276e-05 9.99998981e-01 1.93107652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.110714057 meters Centerline goodness [0,1] 0.9826663617653785 Centerline is valid? [True, True] Translation: X:519.21, Y:-24.60, Z:1.93 [[ 9.99813853e-01 1.92586416e-02 -1.16783016e-03 5.19214693e+02] [-1.92585704e-02 9.99814534e-01 7.22054319e-05 -2.46024773e+01] [ 1.16900415e-03 -4.97012517e-05 9.99999315e-01 1.93141285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.140714057 meters Centerline goodness [0,1] 0.983258239370583 Centerline is valid? [True, True] Translation: X:519.24, Y:-24.60, Z:1.93 [[ 9.99814940e-01 1.91920072e-02 -1.32394380e-03 5.19242837e+02] [-1.91919163e-02 9.99815815e-01 8.13115179e-05 -2.46039905e+01] [ 1.32526048e-03 -5.58874517e-05 9.99999120e-01 1.93170685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1707140569999 meters Centerline goodness [0,1] 0.9820378390699794 Centerline is valid? [True, True] Translation: X:519.27, Y:-24.61, Z:1.93 [[ 9.99845363e-01 1.74824669e-02 -1.90076749e-03 5.19270090e+02] [-1.74822749e-02 9.99847166e-01 1.17546668e-04 -2.46099112e+01] [ 1.90253199e-03 -8.42987516e-05 9.99998187e-01 1.93058630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2007140569999 meters Centerline goodness [0,1] 0.9830512340891464 Centerline is valid? [True, True] Translation: X:519.30, Y:-24.61, Z:1.93 [[ 9.99866695e-01 1.61558722e-02 -2.36234487e-03 5.19298975e+02] [-1.61555712e-02 9.99869480e-01 1.46467481e-04 -2.46110192e+01] [ 2.36440284e-03 -1.08282925e-04 9.99997199e-01 1.93129982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.230714057 meters Centerline goodness [0,1] 0.9824769013699877 Centerline is valid? [True, True] Translation: X:519.33, Y:-24.62, Z:1.93 [[ 9.99886920e-01 1.48633521e-02 -2.28625976e-03 5.19326800e+02] [-1.48630679e-02 9.99889529e-01 1.41250000e-04 -2.46159530e+01] [ 2.28810664e-03 -1.07253193e-04 9.99997377e-01 1.93027242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.260714057 meters Centerline goodness [0,1] 0.9828009269777798 Centerline is valid? [True, True] Translation: X:519.36, Y:-24.62, Z:1.93 [[ 9.99925700e-01 1.19019918e-02 -2.63371539e-03 5.19356208e+02] [-1.19016020e-02 9.99929160e-01 1.63635467e-04 -2.46230345e+01] [ 2.63547640e-03 -1.32277877e-04 9.99996518e-01 1.92952739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.290714057 meters Centerline goodness [0,1] 0.9811282283642955 Centerline is valid? [True, True] Translation: X:519.38, Y:-24.63, Z:1.93 [[ 9.99941041e-01 1.05664753e-02 -2.50291078e-03 5.19383087e+02] [-1.05661223e-02 9.99944165e-01 1.54208270e-04 -2.46334985e+01] [ 2.50440047e-03 -1.27753116e-04 9.99996856e-01 1.92681964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3207140569999 meters Centerline goodness [0,1] 0.9824398422984547 Centerline is valid? [True, True] Translation: X:519.41, Y:-24.63, Z:1.93 [[ 9.99964824e-01 7.59913943e-03 -3.55017279e-03 5.19413105e+02] [-7.59840412e-03 9.99971107e-01 2.20562384e-04 -2.46310282e+01] [ 3.55174630e-03 -1.93578978e-04 9.99993674e-01 1.92911898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3507140569999 meters Centerline goodness [0,1] 0.9810049019607843 Centerline is valid? [True, True] Translation: X:519.44, Y:-24.64, Z:1.93 [[ 9.99971349e-01 6.14794299e-03 -4.41622234e-03 5.19440748e+02] [-6.14679560e-03 9.99981071e-01 2.73338024e-04 -2.46414443e+01] [ 4.41781922e-03 -2.46184577e-04 9.99990211e-01 1.92610627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.380714057 meters Centerline goodness [0,1] 0.9815364400444032 Centerline is valid? [True, True] Translation: X:519.47, Y:-24.64, Z:1.93 [[ 9.99979738e-01 3.20346249e-03 -5.50102725e-03 5.19471328e+02] [-3.20163044e-03 9.99994816e-01 3.41813199e-04 -2.46411028e+01] [ 5.50209372e-03 -3.24194017e-04 9.99984811e-01 1.92775474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.410714057 meters Centerline goodness [0,1] 0.981482318893009 Centerline is valid? [True, True] Translation: X:519.50, Y:-24.65, Z:1.93 [[ 9.99986460e-01 8.68626557e-05 -5.20304751e-03 5.19501463e+02] [-8.51816700e-05 9.99999944e-01 3.23297856e-04 -2.46468510e+01] [ 5.20307530e-03 -3.22850274e-04 9.99986412e-01 1.92769329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4407140569999 meters Centerline goodness [0,1] 0.9812961666177235 Centerline is valid? [True, True] Translation: X:519.53, Y:-24.65, Z:1.93 [[ 9.99986592e-01 -1.62425870e-03 -4.91702542e-03 5.19531002e+02] [ 1.62577707e-03 9.99998632e-01 3.04816411e-04 -2.46516512e+01] [ 4.91652359e-03 -3.12806311e-04 9.99987865e-01 1.92747631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4707140569999 meters Centerline goodness [0,1] 0.9801195983301365 Centerline is valid? [True, True] Translation: X:519.56, Y:-24.66, Z:1.93 [[ 9.99979363e-01 -4.50224857e-03 -4.58304053e-03 5.19560883e+02] [ 4.50359844e-03 9.99989818e-01 2.84257765e-04 -2.46560302e+01] [ 4.58171407e-03 -3.04892073e-04 9.99989457e-01 1.92796960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.500714057 meters Centerline goodness [0,1] 0.9811137686718715 Centerline is valid? [True, True] Translation: X:519.59, Y:-24.66, Z:1.93 [[ 9.99978476e-01 -5.13814142e-03 -4.07995686e-03 5.19590879e+02] [ 5.13921744e-03 9.99986762e-01 2.53293246e-04 -2.46591134e+01] [ 4.07860139e-03 -2.74255579e-04 9.99991645e-01 1.92827069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.530714057 meters Centerline goodness [0,1] 0.9800670431280794 Centerline is valid? [True, True] Translation: X:519.62, Y:-24.66, Z:1.93 [[ 9.99979321e-01 -5.49233715e-03 -3.34538363e-03 5.19621094e+02] [ 5.49306256e-03 9.99984891e-01 2.07689225e-04 -2.46616941e+01] [ 3.34419238e-03 -2.26061331e-04 9.99994383e-01 1.92783913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5607140569999 meters Centerline goodness [0,1] 0.980325949936971 Centerline is valid? [True, True] Translation: X:519.65, Y:-24.66, Z:1.93 [[ 9.99984164e-01 -5.03083842e-03 -2.52223805e-03 5.19652631e+02] [ 5.03125088e-03 9.99987331e-01 1.57210882e-04 -2.46646468e+01] [ 2.52141519e-03 -1.69898404e-04 9.99996807e-01 1.92861196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5907140569999 meters Centerline goodness [0,1] 0.979529469923376 Centerline is valid? [True, True] Translation: X:519.68, Y:-24.67, Z:1.93 [[ 9.99991870e-01 -3.45058280e-03 -2.08661494e-03 5.19683949e+02] [ 3.45086203e-03 9.99994037e-01 1.30232847e-04 -2.46667775e+01] [ 2.08615311e-03 -1.37432408e-04 9.99997815e-01 1.92833323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.620714057 meters Centerline goodness [0,1] 0.9796363309433369 Centerline is valid? [True, True] Translation: X:519.71, Y:-24.67, Z:1.93 [[ 9.99994731e-01 -2.51176361e-03 -2.05661955e-03 5.19714189e+02] [ 2.51203242e-03 9.99996837e-01 1.28132082e-04 -2.46698272e+01] [ 2.05629120e-03 -1.33297702e-04 9.99997877e-01 1.92749328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.650714057 meters Centerline goodness [0,1] 0.9799896575758257 Centerline is valid? [True, True] Translation: X:519.74, Y:-24.67, Z:1.93 [[ 9.99996381e-01 -1.07395899e-03 -2.46670991e-03 5.19744402e+02] [ 1.07434054e-03 9.99999411e-01 1.53361730e-04 -2.46706632e+01] [ 2.46654376e-03 -1.56011261e-04 9.99996946e-01 1.92708640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6807140569999 meters Centerline goodness [0,1] 0.9788188835038593 Centerline is valid? [True, True] Translation: X:519.77, Y:-24.67, Z:1.93 [[ 9.99996437e-01 -5.84166397e-04 -2.60488116e-03 5.19773507e+02] [ 5.84590648e-04 9.99999816e-01 1.62109348e-04 -2.46739320e+01] [ 2.60478598e-03 -1.63631560e-04 9.99996594e-01 1.92582630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7107140569999 meters Centerline goodness [0,1] 0.977969520394442 Centerline is valid? [True, True] Translation: X:519.80, Y:-24.68, Z:1.92 [[ 9.99996784e-01 8.11431219e-04 -2.40290820e-03 5.19802905e+02] [-8.11073617e-04 9.99999660e-01 1.49791447e-04 -2.46806179e+01] [ 2.40302893e-03 -1.47842030e-04 9.99997102e-01 1.92354895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.740714057 meters Centerline goodness [0,1] 0.9796110625126169 Centerline is valid? [True, True] Translation: X:519.83, Y:-24.68, Z:1.92 [[ 9.99994364e-01 1.51999173e-03 -2.99353720e-03 5.19832420e+02] [-1.51944301e-03 9.99998828e-01 1.85566555e-04 -2.46782456e+01] [ 2.99381575e-03 -1.81017000e-04 9.99995502e-01 1.92421801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.770714057 meters Centerline goodness [0,1] 0.9799753611826633 Centerline is valid? [True, True] Translation: X:519.86, Y:-24.68, Z:1.92 [[ 9.99990541e-01 3.00646098e-03 -3.14295781e-03 5.19861240e+02] [-3.00586474e-03 9.99995463e-01 1.94413296e-04 -2.46809214e+01] [ 3.14352804e-03 -1.84964151e-04 9.99995042e-01 1.92348021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8007140569999 meters Centerline goodness [0,1] 0.9802017937219731 Centerline is valid? [True, True] Translation: X:519.89, Y:-24.68, Z:1.92 [[ 9.99988710e-01 3.67666270e-03 -3.01046977e-03 5.19890696e+02] [-3.67611928e-03 9.99993226e-01 1.86023406e-04 -2.46806684e+01] [ 3.01113332e-03 -1.74954459e-04 9.99995451e-01 1.92363519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8307140569999 meters Centerline goodness [0,1] 0.980761450982155 Centerline is valid? [True, True] Translation: X:519.92, Y:-24.68, Z:1.92 [[ 9.99980793e-01 5.50777534e-03 -2.84203916e-03 5.19918704e+02] [-5.50730073e-03 9.99984819e-01 1.74794854e-04 -2.46821101e+01] [ 2.84295875e-03 -1.59139533e-04 9.99995946e-01 1.92332589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.860714057 meters Centerline goodness [0,1] 0.9807136617162825 Centerline is valid? [True, True] Translation: X:519.95, Y:-24.68, Z:1.92 [[ 9.99977454e-01 6.24249558e-03 -2.47437271e-03 5.19947717e+02] [-6.24213827e-03 9.99980506e-01 1.52100041e-04 -2.46835350e+01] [ 2.47527396e-03 -1.36651235e-04 9.99996927e-01 1.92309723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.890714057 meters Centerline goodness [0,1] 0.9807937966428363 Centerline is valid? [True, True] Translation: X:519.98, Y:-24.69, Z:1.92 [[ 9.99971630e-01 7.27160775e-03 -1.96567494e-03 5.19976395e+02] [-7.27138495e-03 9.99973556e-01 1.20471691e-04 -2.46850384e+01] [ 1.96649898e-03 -1.06175094e-04 9.99998061e-01 1.92325255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9207140569999 meters Centerline goodness [0,1] 0.9804168163851958 Centerline is valid? [True, True] Translation: X:520.00, Y:-24.69, Z:1.92 [[ 9.99973333e-01 7.15050287e-03 -1.48439148e-03 5.20003953e+02] [-7.15037664e-03 9.99974432e-01 9.03314618e-05 -2.46891033e+01] [ 1.48499945e-03 -7.97150947e-05 9.99998894e-01 1.92263688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9507140569999 meters Centerline goodness [0,1] 0.9805165687637326 Centerline is valid? [True, True] Translation: X:520.03, Y:-24.69, Z:1.92 [[ 9.99984320e-01 5.59856324e-03 1.24656185e-04 5.20033104e+02] [-5.59856219e-03 9.99984328e-01 -8.75034401e-06 -2.46899055e+01] [-1.24703221e-04 8.05231140e-06 9.99999992e-01 1.92341887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.980714057 meters Centerline goodness [0,1] 0.9790317883465132 Centerline is valid? [True, True] Translation: X:520.06, Y:-24.70, Z:1.92 [[ 9.99995506e-01 2.26482059e-03 1.96432931e-03 5.20062222e+02] [-2.26458655e-03 9.99997428e-01 -1.21363145e-04 -2.46992638e+01] [-1.96459912e-03 1.16914205e-04 9.99998063e-01 1.92251439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.010714057 meters Centerline goodness [0,1] 0.9787890992079473 Centerline is valid? [True, True] Translation: X:520.09, Y:-24.70, Z:1.92 [[ 9.99996908e-01 2.08558903e-05 2.48652867e-03 5.20092093e+02] [-2.04742558e-05 9.99999988e-01 -1.53506175e-04 -2.47042767e+01] [-2.48653184e-03 1.53454791e-04 9.99996897e-01 1.92193583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.040714057 meters Centerline goodness [0,1] 0.9787717968157695 Centerline is valid? [True, True] Translation: X:520.12, Y:-24.71, Z:1.92 [[ 9.99986424e-01 -4.77602030e-03 2.08371762e-03 5.20122835e+02] [ 4.77629814e-03 9.99988585e-01 -1.28380734e-04 -2.47056564e+01] [-2.08308068e-03 1.38331448e-04 9.99997821e-01 1.92140364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0707140569999 meters Centerline goodness [0,1] 0.9773153104925053 Centerline is valid? [True, True] Translation: X:520.15, Y:-24.72, Z:1.92 [[ 9.99972494e-01 -7.28948865e-03 1.36888380e-03 5.20151864e+02] [ 7.28960958e-03 9.99973427e-01 -8.33755197e-05 -2.47161126e+01] [-1.36823966e-03 9.33518549e-05 9.99999060e-01 1.91893027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1007140569999 meters Centerline goodness [0,1] 0.9774776785714285 Centerline is valid? [True, True] Translation: X:520.18, Y:-24.72, Z:1.92 [[ 9.99955067e-01 -9.40037599e-03 1.22354900e-03 5.20182930e+02] [ 9.40047508e-03 9.99955812e-01 -7.52631615e-05 -2.47159701e+01] [-1.22278743e-03 8.67617216e-05 9.99999249e-01 1.91848951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.130714057 meters Centerline goodness [0,1] 0.9747901031111507 Centerline is valid? [True, True] Translation: X:520.21, Y:-24.73, Z:1.92 [[ 9.99904436e-01 -1.37130208e-02 1.75247243e-03 5.20211511e+02] [ 1.37132311e-02 9.99905963e-01 -1.08069284e-04 -2.47266966e+01] [-1.75082567e-03 1.32091016e-04 9.99998459e-01 1.91559922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.160714057 meters Centerline goodness [0,1] 0.9758726899383984 Centerline is valid? [True, True] Translation: X:520.24, Y:-24.73, Z:1.91 [[ 9.99852314e-01 -1.71200585e-02 1.50130569e-03 5.20242222e+02] [ 1.71202168e-02 9.99853434e-01 -9.26329768e-05 -2.47272221e+01] [-1.49949976e-03 1.18321975e-04 9.99998869e-01 1.91476117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1907140569999 meters Centerline goodness [0,1] 0.9758606867679152 Centerline is valid? [True, True] Translation: X:520.27, Y:-24.73, Z:1.91 [[ 9.99835153e-01 -1.80686556e-02 1.78594301e-03 5.20274729e+02] [ 1.80688795e-02 9.99836738e-01 -1.09313400e-04 -2.47280705e+01] [-1.78367629e-03 1.41565369e-04 9.99998399e-01 1.91374597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2207140569999 meters Centerline goodness [0,1] 0.9764595524188144 Centerline is valid? [True, True] Translation: X:520.31, Y:-24.73, Z:1.91 [[ 9.99801966e-01 -1.97478618e-02 2.45997421e-03 5.20305413e+02] [ 1.97482948e-02 9.99804972e-01 -1.51832115e-04 -2.47313762e+01] [-2.45649608e-03 2.00382343e-04 9.99996963e-01 1.91336540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.250714057 meters Centerline goodness [0,1] 0.9754590277312987 Centerline is valid? [True, True] Translation: X:520.34, Y:-24.73, Z:1.91 [[ 9.99780806e-01 -2.07162213e-02 3.02959017e-03 5.20336948e+02] [ 2.07168814e-02 9.99785365e-01 -1.86677734e-04 -2.47333220e+01] [-3.02507265e-03 2.49400475e-04 9.99995393e-01 1.91313732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.280714057 meters Centerline goodness [0,1] 0.9749258259531086 Centerline is valid? [True, True] Translation: X:520.37, Y:-24.73, Z:1.91 [[ 9.99753195e-01 -2.18740291e-02 3.88274546e-03 5.20368830e+02] [ 2.18751209e-02 9.99760682e-01 -2.38951923e-04 -2.47344807e+01] [-3.87658941e-03 3.23828475e-04 9.99992434e-01 1.91284177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3107140569999 meters Centerline goodness [0,1] 0.9745872378402499 Centerline is valid? [True, True] Translation: X:520.40, Y:-24.74, Z:1.91 [[ 9.99743676e-01 -2.22282714e-02 4.29948972e-03 5.20400496e+02] [ 2.22296187e-02 9.99752856e-01 -2.65829122e-04 -2.47380940e+01] [-4.29251820e-03 3.61337001e-04 9.99990722e-01 1.91214102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3407140569999 meters Centerline goodness [0,1] 0.9743984987601367 Centerline is valid? [True, True] Translation: X:520.43, Y:-24.74, Z:1.91 [[ 9.99705702e-01 -2.36705226e-02 5.31183837e-03 5.20432264e+02] [ 2.36726036e-02 9.99719710e-01 -3.29226622e-04 -2.47391163e+01] [-5.30255656e-03 4.54874775e-04 9.99985838e-01 1.91162064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.370714057 meters Centerline goodness [0,1] 0.9751611170784104 Centerline is valid? [True, True] Translation: X:520.46, Y:-24.74, Z:1.91 [[ 9.99690825e-01 -2.42452640e-02 5.51554760e-03 5.20464894e+02] [ 2.42475172e-02 9.99705927e-01 -3.42001376e-04 -2.47397076e+01] [-5.50563371e-03 4.75633973e-04 9.99984731e-01 1.91151794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.400714057 meters Centerline goodness [0,1] 0.9751611170784104 Centerline is valid? [True, True] Translation: X:520.50, Y:-24.74, Z:1.91 [[ 9.99693469e-01 -2.41359945e-02 5.51554398e-03 5.20497489e+02] [ 2.41382464e-02 9.99708572e-01 -3.42060360e-04 -2.47418248e+01] [-5.50568063e-03 4.75091068e-04 9.99984731e-01 1.91103205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4307140569999 meters Centerline goodness [0,1] 0.9726771052985778 Centerline is valid? [True, True] Translation: X:520.53, Y:-24.75, Z:1.91 [[ 9.99651494e-01 -2.57175445e-02 5.95811510e-03 5.20527514e+02] [ 2.57202079e-02 9.99669112e-01 -3.70820653e-04 -2.47464315e+01] [-5.94660704e-03 5.23935379e-04 9.99982182e-01 1.90983959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4607140569999 meters Centerline goodness [0,1] 0.9741311790901157 Centerline is valid? [True, True] Translation: X:520.56, Y:-24.75, Z:1.91 [[ 9.99638443e-01 -2.61919608e-02 6.07989847e-03 5.20559238e+02] [ 2.61947446e-02 9.99656787e-01 -3.78687891e-04 -2.47481693e+01] [-6.06789319e-03 5.37812361e-04 9.99981446e-01 1.90885053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.490714057 meters Centerline goodness [0,1] 0.9726348186805834 Centerline is valid? [True, True] Translation: X:520.59, Y:-24.75, Z:1.91 [[ 9.99622497e-01 -2.67704995e-02 6.18088363e-03 5.20590940e+02] [ 2.67733897e-02 9.99641454e-01 -3.85327866e-04 -2.47504772e+01] [-6.16835209e-03 5.50665610e-04 9.99980824e-01 1.90763720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.520714057 meters Centerline goodness [0,1] 0.9724008154304532 Centerline is valid? [True, True] Translation: X:520.62, Y:-24.75, Z:1.91 [[ 9.99623764e-01 -2.65873078e-02 6.74126208e-03 5.20623239e+02] [ 2.65907438e-02 9.99646315e-01 -4.20555485e-04 -2.47525903e+01] [-6.72769636e-03 5.99652430e-04 9.99977189e-01 1.90709208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5507140569999 meters Centerline goodness [0,1] 0.9725159986527451 Centerline is valid? [True, True] Translation: X:520.65, Y:-24.75, Z:1.91 [[ 9.99650445e-01 -2.54116268e-02 7.29632887e-03 5.20653694e+02] [ 2.54156282e-02 9.99676867e-01 -4.56199817e-04 -2.47544794e+01] [-7.28237840e-03 6.41481131e-04 9.99973277e-01 1.90670435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5807140569999 meters Centerline goodness [0,1] 0.9733747104724639 Centerline is valid? [True, True] Translation: X:520.68, Y:-24.75, Z:1.91 [[ 9.99707698e-01 -2.30831671e-02 7.18934612e-03 5.20684575e+02] [ 2.30869929e-02 9.99733359e-01 -4.49600398e-04 -2.47526684e+01] [-7.17705094e-03 6.15449362e-04 9.99974055e-01 1.90614851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.610714057 meters Centerline goodness [0,1] 0.9724710901538116 Centerline is valid? [True, True] Translation: X:520.72, Y:-24.75, Z:1.90 [[ 9.99746748e-01 -2.14901050e-02 6.67940756e-03 5.20715205e+02] [ 2.14933721e-02 9.99768904e-01 -4.17733513e-04 -2.47541462e+01] [-6.66888684e-03 5.61190714e-04 9.99977605e-01 1.90492381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.640714057 meters Centerline goodness [0,1] 0.9746023198941015 Centerline is valid? [True, True] Translation: X:520.75, Y:-24.75, Z:1.90 [[ 9.99805990e-01 -1.82749819e-02 7.34899512e-03 5.20745696e+02] [ 1.82788547e-02 9.99832822e-01 -4.60167237e-04 -2.47538253e+01] [-7.33935698e-03 5.94409174e-04 9.99972890e-01 1.90373832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6707140569999 meters Centerline goodness [0,1] 0.9746103852294961 Centerline is valid? [True, True] Translation: X:520.78, Y:-24.75, Z:1.90 [[ 9.99828181e-01 -1.67323824e-02 7.97726945e-03 5.20777405e+02] [ 1.67368933e-02 9.99859804e-01 -4.99039892e-04 -2.47543025e+01] [-7.96780094e-03 6.32468854e-04 9.99968057e-01 1.90340155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7007140569999 meters Centerline goodness [0,1] 0.9767059776737487 Centerline is valid? [True, True] Translation: X:520.81, Y:-24.75, Z:1.90 [[ 9.99852947e-01 -1.45065021e-02 9.14575273e-03 5.20808582e+02] [ 1.45123494e-02 9.99894526e-01 -5.73300901e-04 -2.47473471e+01] [-9.13647150e-03 7.05942955e-04 9.99958012e-01 1.90398184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.730714057 meters Centerline goodness [0,1] 0.9767295030215568 Centerline is valid? [True, True] Translation: X:520.84, Y:-24.75, Z:1.90 [[ 9.99862526e-01 -1.31898283e-02 1.00477428e-02 5.20840215e+02] [ 1.31968201e-02 9.99912720e-01 -6.29875405e-04 -2.47487826e+01] [-1.00385579e-02 7.62387069e-04 9.99949322e-01 1.90368448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.760714057 meters Centerline goodness [0,1] 0.9757307709577477 Centerline is valid? [True, True] Translation: X:520.87, Y:-24.75, Z:1.90 [[ 9.99870939e-01 -1.19063597e-02 1.07862940e-02 5.20871074e+02] [ 1.19143507e-02 9.99928792e-01 -6.76894564e-04 -2.47509298e+01] [-1.07774665e-02 8.05318892e-04 9.99941597e-01 1.90320991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.790714057 meters Centerline goodness [0,1] 0.9753655793025872 Centerline is valid? [True, True] Translation: X:520.90, Y:-24.75, Z:1.90 [[ 9.99874803e-01 -1.12049434e-02 1.11726529e-02 5.20903429e+02] [ 1.12134769e-02 9.99936881e-01 -7.01431225e-04 -2.47514207e+01] [-1.11640882e-02 8.26627693e-04 9.99937338e-01 1.90290964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8207140569999 meters Centerline goodness [0,1] 0.9757150566648678 Centerline is valid? [True, True] Translation: X:520.94, Y:-24.75, Z:1.90 [[ 9.99877973e-01 -1.04756066e-02 1.15887918e-02 5.20935323e+02] [ 1.04847490e-02 9.99944768e-01 -7.28428133e-04 -2.47515007e+01] [-1.15805210e-02 8.49844819e-04 9.99932582e-01 1.90211754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8507140569999 meters Centerline goodness [0,1] 0.9756437647587991 Centerline is valid? [True, True] Translation: X:520.97, Y:-24.75, Z:1.90 [[ 9.99882015e-01 -1.02029339e-02 1.14828371e-02 5.20967809e+02] [ 1.02119014e-02 9.99947596e-01 -7.22584810e-04 -2.47528702e+01] [-1.14748629e-02 8.39761156e-04 9.99933809e-01 1.90109621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.880714057 meters Centerline goodness [0,1] 0.9750539374325782 Centerline is valid? [True, True] Translation: X:521.00, Y:-24.76, Z:1.90 [[ 9.99885281e-01 -1.01502144e-02 1.12426718e-02 5.20999511e+02] [ 1.01588156e-02 9.99948147e-01 -7.08198490e-04 -2.47563603e+01] [-1.12349005e-02 8.22329475e-04 9.99936548e-01 1.89984749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.910714057 meters Centerline goodness [0,1] 0.9754666067011468 Centerline is valid? [True, True] Translation: X:521.03, Y:-24.76, Z:1.90 [[ 9.99885737e-01 -1.02070259e-02 1.11502793e-02 5.21030410e+02] [ 1.02155023e-02 9.99947573e-01 -7.03509184e-04 -2.47591888e+01] [-1.11425140e-02 8.17334504e-04 9.99937586e-01 1.89880613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9407140569999 meters Centerline goodness [0,1] 0.974381427095963 Centerline is valid? [True, True] Translation: X:521.06, Y:-24.76, Z:1.90 [[ 9.99885108e-01 -1.03844019e-02 1.10424180e-02 5.21062695e+02] [ 1.03927316e-02 9.99945751e-01 -6.97220532e-04 -2.47618817e+01] [-1.10345788e-02 8.11901314e-04 9.99938788e-01 1.89815098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9707140569999 meters Centerline goodness [0,1] 0.9750726204147808 Centerline is valid? [True, True] Translation: X:521.10, Y:-24.76, Z:1.90 [[ 9.99884980e-01 -1.03867148e-02 1.10518643e-02 5.21095162e+02] [ 1.03950674e-02 9.99945726e-01 -6.98589344e-04 -2.47614438e+01] [-1.10440084e-02 8.13393866e-04 9.99938682e-01 1.89789155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.000714057 meters Centerline goodness [0,1] 0.975029860500755 Centerline is valid? [True, True] Translation: X:521.13, Y:-24.77, Z:1.90 [[ 9.99876405e-01 -1.09757861e-02 1.12563761e-02 5.21126006e+02] [ 1.09844979e-02 9.99939415e-01 -7.12404706e-04 -2.47672007e+01] [-1.12478749e-02 8.35962296e-04 9.99936391e-01 1.89694339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.030714057 meters Centerline goodness [0,1] 0.9755236896520723 Centerline is valid? [True, True] Translation: X:521.16, Y:-24.77, Z:1.90 [[ 9.99873140e-01 -1.10711309e-02 1.14513417e-02 5.21158463e+02] [ 1.10801597e-02 9.99938350e-01 -7.25306981e-04 -2.47668741e+01] [-1.14426058e-02 8.52097664e-04 9.99934168e-01 1.89596636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0607140569999 meters Centerline goodness [0,1] 0.9748859986072737 Centerline is valid? [True, True] Translation: X:521.19, Y:-24.77, Z:1.89 [[ 9.99870434e-01 -1.13893761e-02 1.13753000e-02 5.21189609e+02] [ 1.13983156e-02 9.99934777e-01 -7.21348558e-04 -2.47701108e+01] [-1.13663423e-02 8.50914355e-04 9.99935039e-01 1.89471386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0907140569999 meters Centerline goodness [0,1] 0.9733258426966293 Centerline is valid? [True, True] Translation: X:521.22, Y:-24.77, Z:1.89 [[ 9.99849992e-01 -1.21603144e-02 1.23337259e-02 5.21220488e+02] [ 1.21708911e-02 9.99925626e-01 -7.82842661e-04 -2.47737901e+01] [-1.23232889e-02 9.32837662e-04 9.99923630e-01 1.89390458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.120714057 meters Centerline goodness [0,1] 0.9755302894121877 Centerline is valid? [True, True] Translation: X:521.25, Y:-24.77, Z:1.89 [[ 9.99836917e-01 -1.29930658e-02 1.25427188e-02 5.21253588e+02] [ 1.30040768e-02 9.99915126e-01 -7.96721129e-04 -2.47670156e+01] [-1.25313024e-02 9.59697675e-04 9.99921020e-01 1.89395048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.150714057 meters Centerline goodness [0,1] 0.9701870878011575 Centerline is valid? [True, True] Translation: X:521.28, Y:-24.78, Z:1.89 [[ 9.99802349e-01 -1.54804211e-02 1.24747785e-02 5.21282553e+02] [ 1.54915191e-02 9.99879684e-01 -7.93493009e-04 -2.47802208e+01] [-1.24609939e-02 9.86589442e-04 9.99921872e-01 1.89373232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1807140569999 meters Centerline goodness [0,1] 0.9732642019837692 Centerline is valid? [True, True] Translation: X:521.31, Y:-24.77, Z:1.89 [[ 9.99781012e-01 -1.68855095e-02 1.23615162e-02 5.21314986e+02] [ 1.68965115e-02 9.99856935e-01 -7.86110465e-04 -2.47744769e+01] [-1.23464738e-02 9.94804816e-04 9.99923285e-01 1.89355486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2107140569999 meters Centerline goodness [0,1] 0.9728647988603215 Centerline is valid? [True, True] Translation: X:521.35, Y:-24.78, Z:1.89 [[ 9.99739639e-01 -1.91927922e-02 1.23405858e-02 5.21345795e+02] [ 1.92039433e-02 9.99815279e-01 -7.85741109e-04 -2.47780114e+01] [-1.23232257e-02 1.02252444e-03 9.99923543e-01 1.89313155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.240714057 meters Centerline goodness [0,1] 0.9723279220048184 Centerline is valid? [True, True] Translation: X:521.38, Y:-24.78, Z:1.89 [[ 9.99723561e-01 -1.97961754e-02 1.26851748e-02 5.21378110e+02] [ 1.98080119e-02 9.99803475e-01 -8.08121636e-04 -2.47810572e+01] [-1.26666841e-02 1.05916633e-03 9.99919213e-01 1.89212708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.270714057 meters Centerline goodness [0,1] 0.9723685698134539 Centerline is valid? [True, True] Translation: X:521.41, Y:-24.78, Z:1.89 [[ 9.99742522e-01 -1.94764204e-02 1.16430114e-02 5.21410016e+02] [ 1.94863788e-02 9.99809847e-01 -7.42473439e-04 -2.47822151e+01] [-1.16263368e-02 9.69162400e-04 9.99931942e-01 1.89098377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3007140569999 meters Centerline goodness [0,1] 0.9724934454389296 Centerline is valid? [True, True] Translation: X:521.44, Y:-24.78, Z:1.89 [[ 9.99792434e-01 -1.72732649e-02 1.08038981e-02 5.21440305e+02] [ 1.72817224e-02 9.99850422e-01 -6.89941866e-04 -2.47823134e+01] [-1.07903645e-02 8.76508625e-04 9.99941398e-01 1.89016647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3307140569999 meters Centerline goodness [0,1] 0.972902176858459 Centerline is valid? [True, True] Translation: X:521.47, Y:-24.78, Z:1.89 [[ 9.99828175e-01 -1.54256029e-02 1.02796625e-02 5.21470445e+02] [ 1.54331616e-02 9.99880686e-01 -6.56383330e-04 -2.47826691e+01] [-1.02683109e-02 8.14918241e-04 9.99946947e-01 1.88948962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.360714057 meters Centerline goodness [0,1] 0.9740186067619696 Centerline is valid? [True, True] Translation: X:521.50, Y:-24.78, Z:1.89 [[ 9.99857883e-01 -1.37039411e-02 9.81918120e-03 5.21502484e+02] [ 1.37107539e-02 9.99905807e-01 -6.26847874e-04 -2.47786770e+01] [-9.80966601e-03 7.61387166e-04 9.99951594e-01 1.88923467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.390714057 meters Centerline goodness [0,1] 0.9763706177720219 Centerline is valid? [True, True] Translation: X:521.53, Y:-24.77, Z:1.89 [[ 9.99903097e-01 -9.58717377e-03 1.00936780e-02 5.21533014e+02] [ 9.59417579e-03 9.99953766e-01 -6.45509228e-04 -2.47731191e+01] [-1.00870228e-02 7.42287198e-04 9.99948849e-01 1.88933541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4207140569999 meters Centerline goodness [0,1] 0.9754922020642932 Centerline is valid? [True, True] Translation: X:521.56, Y:-24.77, Z:1.89 [[ 9.99912911e-01 -7.92236575e-03 1.05549008e-02 5.21563156e+02] [ 7.92993002e-03 9.99968330e-01 -6.74999982e-04 -2.47744533e+01] [-1.05492190e-02 7.58640822e-04 9.99944068e-01 1.88883470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4507140569999 meters Centerline goodness [0,1] 0.9756902556165069 Centerline is valid? [True, True] Translation: X:521.59, Y:-24.77, Z:1.89 [[ 9.99920420e-01 -5.58623516e-03 1.13113718e-02 5.21592561e+02] [ 5.59477786e-03 9.99984087e-01 -7.23728339e-04 -2.47741258e+01] [-1.13071489e-02 7.86955357e-04 9.99935762e-01 1.88883265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.480714057 meters Centerline goodness [0,1] 0.9754630470310514 Centerline is valid? [True, True] Translation: X:521.62, Y:-24.78, Z:1.89 [[ 9.99931906e-01 -4.24189593e-03 1.08714689e-02 5.21623421e+02] [ 4.24970371e-03 9.99990728e-01 -6.95189797e-04 -2.47760805e+01] [-1.08684191e-02 7.41342981e-04 9.99940662e-01 1.88838654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.510714057 meters Centerline goodness [0,1] 0.9749755442819119 Centerline is valid? [True, True] Translation: X:521.66, Y:-24.78, Z:1.89 [[ 9.99934553e-01 -4.42692600e-03 1.05494914e-02 5.21655708e+02] [ 4.43429057e-03 9.99989941e-01 -6.74808762e-04 -2.47787062e+01] [-1.05463979e-02 7.21544108e-04 9.99944125e-01 1.88721086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.540714057 meters Centerline goodness [0,1] 0.9740413247562112 Centerline is valid? [True, True] Translation: X:521.69, Y:-24.78, Z:1.89 [[ 9.99935527e-01 -5.26522482e-03 1.00607957e-02 5.21686902e+02] [ 5.27197246e-03 9.99985896e-01 -6.44283724e-04 -2.47824884e+01] [-1.00572615e-02 6.97282423e-04 9.99949181e-01 1.88581156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5707140569999 meters Centerline goodness [0,1] 0.9739678064750819 Centerline is valid? [True, True] Translation: X:521.72, Y:-24.79, Z:1.89 [[ 9.99937603e-01 -5.61301497e-03 9.65836860e-03 5.21718831e+02] [ 5.61925340e-03 9.99984020e-01 -6.18893740e-04 -2.47859531e+01] [-9.65474041e-03 6.73127944e-04 9.99953165e-01 1.88504491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6007140569999 meters Centerline goodness [0,1] 0.9736572715484884 Centerline is valid? [True, True] Translation: X:521.75, Y:-24.79, Z:1.88 [[ 9.99929074e-01 -6.85919516e-03 9.73642712e-03 5.21750138e+02] [ 6.86560106e-03 9.99976236e-01 -6.24659618e-04 -2.47895784e+01] [-9.73191108e-03 6.91461738e-04 9.99952405e-01 1.88480944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.630714057 meters Centerline goodness [0,1] 0.9737301785349697 Centerline is valid? [True, True] Translation: X:521.78, Y:-24.79, Z:1.88 [[ 9.99924193e-01 -7.82525328e-03 9.50648817e-03 5.21782585e+02] [ 7.83140726e-03 9.99969148e-01 -6.10291915e-04 -2.47926833e+01] [-9.50141918e-03 6.84694831e-04 9.99954626e-01 1.88468890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.660714057 meters Centerline goodness [0,1] 0.9765027816726221 Centerline is valid? [True, True] Translation: X:521.81, Y:-24.79, Z:1.88 [[ 9.99919919e-01 -1.02318253e-02 7.44756539e-03 5.21813959e+02] [ 1.02356724e-02 9.99947500e-01 -4.78612877e-04 -2.47867496e+01] [-7.44227730e-03 5.54805388e-04 9.99972152e-01 1.88449551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6907140569999 meters Centerline goodness [0,1] 0.9725803151217516 Centerline is valid? [True, True] Translation: X:521.84, Y:-24.80, Z:1.88 [[ 9.99914879e-01 -1.15724241e-02 6.02616416e-03 5.21844399e+02] [ 1.15749670e-02 9.99932933e-01 -3.87267597e-04 -2.48002828e+01] [-6.02127838e-03 4.56987283e-04 9.99981768e-01 1.88199240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7207140569999 meters Centerline goodness [0,1] 0.9685892475076251 Centerline is valid? [True, True] Translation: X:521.87, Y:-24.81, Z:1.88 [[ 9.99886880e-01 -1.43391897e-02 4.54042905e-03 5.21873757e+02] [ 1.43406632e-02 9.99897125e-01 -2.92141895e-04 -2.48053957e+01] [-4.53577287e-03 3.57221612e-04 9.99989650e-01 1.88029428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.750714057 meters Centerline goodness [0,1] 0.9754534297013501 Centerline is valid? [True, True] Translation: X:521.91, Y:-24.79, Z:1.88 [[ 9.99876919e-01 -1.51257473e-02 4.16631743e-03 5.21906465e+02] [ 1.51269928e-02 9.99885545e-01 -2.67608029e-04 -2.47938171e+01] [-4.16179280e-03 3.30598946e-04 9.99991285e-01 1.88189473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.780714057 meters Centerline goodness [0,1] 0.9747870528109029 Centerline is valid? [True, True] Translation: X:521.94, Y:-24.80, Z:1.88 [[ 9.99864807e-01 -1.58237179e-02 4.46967055e-03 5.21937212e+02] [ 1.58251610e-02 9.99874733e-01 -2.87685717e-04 -2.47976367e+01] [-4.46455839e-03 3.58380080e-04 9.99989970e-01 1.88191546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8107140569999 meters Centerline goodness [0,1] 0.9743723611930812 Centerline is valid? [True, True] Translation: X:521.97, Y:-24.80, Z:1.88 [[ 9.99864536e-01 -1.57285929e-02 4.84974937e-03 5.21969535e+02] [ 1.57302915e-02 9.99876223e-01 -3.12300499e-04 -2.47983438e+01] [-4.84423703e-03 3.88546165e-04 9.99988191e-01 1.88207790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8407140569999 meters Centerline goodness [0,1] 0.9691979192694727 Centerline is valid? [True, True] Translation: X:522.00, Y:-24.81, Z:1.88 [[ 9.99868276e-01 -1.50344625e-02 6.11518683e-03 5.22000191e+02] [ 1.50371557e-02 9.99886858e-01 -3.94672047e-04 -2.48103122e+01] [-6.10856127e-03 4.86575075e-04 9.99981224e-01 1.88160272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.870714057 meters Centerline goodness [0,1] 0.9729386412612 Centerline is valid? [True, True] Translation: X:522.03, Y:-24.80, Z:1.88 [[ 9.99874730e-01 -1.39676530e-02 7.44499787e-03 5.22032292e+02] [ 1.39716208e-02 9.99902276e-01 -4.81199078e-04 -2.48011361e+01] [-7.43754910e-03 5.85157486e-04 9.99972170e-01 1.88408612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.900714057 meters Centerline goodness [0,1] 0.9725034199726402 Centerline is valid? [True, True] Translation: X:522.06, Y:-24.80, Z:1.88 [[ 9.99880719e-01 -1.36423229e-02 7.24119055e-03 5.22064363e+02] [ 1.36460676e-02 9.99906779e-01 -4.67992919e-04 -2.48008141e+01] [-7.23413101e-03 5.66750872e-04 9.99973673e-01 1.88404732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9307140569999 meters Centerline goodness [0,1] 0.9728302917216584 Centerline is valid? [True, True] Translation: X:522.10, Y:-24.80, Z:1.88 [[ 9.99891551e-01 -1.30102669e-02 6.90073014e-03 5.22096377e+02] [ 1.30136560e-02 9.99915219e-01 -4.46443460e-04 -2.48028792e+01] [-6.89433674e-03 5.36198771e-04 9.99976090e-01 1.88326060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9607140569999 meters Centerline goodness [0,1] 0.9739769341006801 Centerline is valid? [True, True] Translation: X:522.13, Y:-24.80, Z:1.88 [[ 9.99898956e-01 -1.29698854e-02 5.81893496e-03 5.22129011e+02] [ 1.29722959e-02 9.99915785e-01 -3.76698842e-04 -2.48030416e+01] [-5.81355918e-03 4.52145725e-04 9.99982999e-01 1.88223663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.990714057 meters Centerline goodness [0,1] 0.9750324033017259 Centerline is valid? [True, True] Translation: X:522.16, Y:-24.81, Z:1.88 [[ 9.99901207e-01 -1.30526174e-02 5.21590327e-03 5.22160943e+02] [ 1.30545567e-02 9.99914729e-01 -3.37932108e-04 -2.48060256e+01] [-5.21104761e-03 4.05990027e-04 9.99986340e-01 1.88083230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.020714057 meters Centerline goodness [0,1] 0.9750820718584716 Centerline is valid? [True, True] Translation: X:522.19, Y:-24.81, Z:1.88 [[ 9.99890185e-01 -1.44542493e-02 3.26981942e-03 5.22190392e+02] [ 1.44550211e-02 9.99895498e-01 -2.12515748e-04 -2.48098915e+01] [-3.26640597e-03 2.59757720e-04 9.99994632e-01 1.87881497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0507140569999 meters Centerline goodness [0,1] 0.9738794961987972 Centerline is valid? [True, True] Translation: X:522.22, Y:-24.81, Z:1.88 [[ 9.99883739e-01 -1.50552435e-02 2.41818714e-03 5.22221992e+02] [ 1.50556658e-02 9.99886645e-01 -1.56504462e-04 -2.48129228e+01] [-2.41555681e-03 1.92893684e-04 9.99997064e-01 1.87770429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0807140569999 meters Centerline goodness [0,1] 0.9736842105263158 Centerline is valid? [True, True] Translation: X:522.25, Y:-24.82, Z:1.88 [[ 9.99854520e-01 -1.70466902e-02 5.90407068e-04 5.22251383e+02] [ 1.70467153e-02 9.99854693e-01 -3.74316581e-05 -2.48189115e+01] [-5.89683192e-04 4.74907137e-05 9.99999825e-01 1.87522272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.110714057 meters Centerline goodness [0,1] 0.972485638734385 Centerline is valid? [True, True] Translation: X:522.28, Y:-24.82, Z:1.87 [[ 9.99831282e-01 -1.83591866e-02 -5.89926915e-04 5.22280997e+02] [ 1.83592124e-02 9.99831455e-01 3.84127596e-05 -2.48226826e+01] [ 5.89122259e-04 -4.92368722e-05 9.99999825e-01 1.87395806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.140714057 meters Centerline goodness [0,1] 0.9720434021064125 Centerline is valid? [True, True] Translation: X:522.31, Y:-24.82, Z:1.87 [[ 9.99831921e-01 -1.83333838e-02 -1.25743657e-04 5.22314068e+02] [ 1.83333851e-02 9.99831929e-01 9.74396397e-06 -2.48246151e+01] [ 1.25543883e-04 -1.20476331e-05 9.99999992e-01 1.87396713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1707140569999 meters Centerline goodness [0,1] 0.9724207209881053 Centerline is valid? [True, True] Translation: X:522.34, Y:-24.83, Z:1.87 [[ 9.99864246e-01 -1.64765376e-02 -1.11912308e-04 5.22344967e+02] [ 1.64765386e-02 9.99864253e-01 7.80941340e-06 -2.48263026e+01] [ 1.11768444e-04 -9.65228070e-06 9.99999994e-01 1.87345257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2007140569999 meters Centerline goodness [0,1] 0.9724994303941672 Centerline is valid? [True, True] Translation: X:522.38, Y:-24.83, Z:1.87 [[ 9.99899545e-01 -1.41650738e-02 -5.00321365e-04 5.22375485e+02] [ 1.41650919e-02 9.99899670e-01 3.26472034e-05 -2.48263643e+01] [ 4.99808717e-04 -3.97310220e-05 9.99999874e-01 1.87253817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.230714057 meters Centerline goodness [0,1] 0.9722513327561854 Centerline is valid? [True, True] Translation: X:522.40, Y:-24.83, Z:1.87 [[ 9.99949216e-01 -1.00738016e-02 -2.89787970e-04 5.22404778e+02] [ 1.00738074e-02 9.99949258e-01 1.86449640e-05 -2.48265568e+01] [ 2.89585440e-04 -2.15632853e-05 9.99999958e-01 1.87199406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.260714057 meters Centerline goodness [0,1] 0.9750349602255795 Centerline is valid? [True, True] Translation: X:522.44, Y:-24.82, Z:1.87 [[ 9.99966950e-01 -8.12429427e-03 -3.07805450e-04 5.22436830e+02] [ 8.12430109e-03 9.99966997e-01 2.09007946e-05 -2.48248467e+01] [ 3.07625487e-04 -2.34008080e-05 9.99999952e-01 1.87230529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.290714057 meters Centerline goodness [0,1] 0.9750349602255795 Centerline is valid? [True, True] Translation: X:522.47, Y:-24.83, Z:1.87 [[ 9.99967493e-01 -8.05716590e-03 -3.07791267e-04 5.22468540e+02] [ 8.05717278e-03 9.99967540e-01 2.11175079e-05 -2.48269832e+01] [ 3.07611129e-04 -2.35967489e-05 9.99999952e-01 1.87183246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3207140569999 meters Centerline goodness [0,1] 0.9745311998532851 Centerline is valid? [True, True] Translation: X:522.50, Y:-24.83, Z:1.87 [[ 9.99987920e-01 -4.88186195e-03 5.71680437e-04 5.22498032e+02] [ 4.88188419e-03 9.99988083e-01 -3.75216959e-05 -2.48284766e+01] [-5.71490449e-04 4.03121204e-05 9.99999836e-01 1.87193505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3507140569999 meters Centerline goodness [0,1] 0.974997132698704 Centerline is valid? [True, True] Translation: X:522.53, Y:-24.83, Z:1.87 [[ 9.99992192e-01 -3.71718151e-03 1.34099604e-03 5.22529801e+02] [ 3.71730145e-03 9.99993087e-01 -8.69600870e-05 -2.48303912e+01] [-1.34066352e-03 9.19442946e-05 9.99999097e-01 1.87168516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.380714057 meters Centerline goodness [0,1] 0.9755373335465156 Centerline is valid? [True, True] Translation: X:522.56, Y:-24.83, Z:1.87 [[ 9.99994694e-01 -2.29290375e-03 2.31386516e-03 5.22561250e+02] [ 2.29325900e-03 9.99997359e-01 -1.50889777e-04 -2.48285925e+01] [-2.31351307e-03 1.56195269e-04 9.99997312e-01 1.87226911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.410714057 meters Centerline goodness [0,1] 0.9768823099415205 Centerline is valid? [True, True] Translation: X:522.59, Y:-24.82, Z:1.87 [[ 9.99993465e-01 -2.71477983e-03 2.38733610e-03 5.22593829e+02] [ 2.71515833e-03 9.99996302e-01 -1.55316699e-04 -2.48249256e+01] [-2.38690562e-03 1.61797679e-04 9.99997138e-01 1.87349355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4407140569999 meters Centerline goodness [0,1] 0.9781235697940504 Centerline is valid? [True, True] Translation: X:522.63, Y:-24.83, Z:1.87 [[ 9.99992068e-01 -3.35271371e-03 2.15033177e-03 5.22625950e+02] [ 3.35302237e-03 9.99994369e-01 -1.39949826e-04 -2.48290529e+01] [-2.14985044e-03 1.47158827e-04 9.99997678e-01 1.87272113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4707140569999 meters Centerline goodness [0,1] 0.9663781092254631 Centerline is valid? [True, True] Translation: X:522.65, Y:-24.85, Z:1.87 [[ 9.99983007e-01 -5.70495145e-03 1.19965694e-03 5.22654563e+02] [ 5.70504991e-03 9.99983723e-01 -7.86618771e-05 -2.48487916e+01] [-1.19918865e-03 8.55046431e-05 9.99999277e-01 1.86854415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.500714057 meters Centerline goodness [0,1] 0.9764488201567033 Centerline is valid? [True, True] Translation: X:522.69, Y:-24.84, Z:1.87 [[ 9.99976202e-01 -6.86988168e-03 6.33011310e-04 5.22687552e+02] [ 6.86990869e-03 9.99976401e-01 -4.05047917e-05 -2.48377470e+01] [-6.32718108e-04 4.48525576e-05 9.99999799e-01 1.87023395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.530714057 meters Centerline goodness [0,1] 0.9765796201607012 Centerline is valid? [True, True] Translation: X:522.72, Y:-24.85, Z:1.87 [[ 9.99961632e-01 -8.75977151e-03 1.11253161e-05 5.22717365e+02] [ 8.75977151e-03 9.99961632e-01 -4.71693652e-07 -2.48451990e+01] [-1.11207574e-05 5.69130782e-07 1.00000000e+00 1.86857761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5607140569999 meters Centerline goodness [0,1] 0.9763661882555349 Centerline is valid? [True, True] Translation: X:522.75, Y:-24.85, Z:1.87 [[ 9.99959568e-01 -8.98787817e-03 2.81823161e-04 5.22749015e+02] [ 8.98788353e-03 9.99959608e-01 -1.77393579e-05 -2.48473800e+01] [-2.81652338e-04 2.02716344e-05 9.99999960e-01 1.86808346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5907140569999 meters Centerline goodness [0,1] 0.9779035792549307 Centerline is valid? [True, True] Translation: X:522.78, Y:-24.85, Z:1.87 [[ 9.99953091e-01 -9.68554392e-03 -8.17182281e-05 5.22781309e+02] [ 9.68554448e-03 9.99953094e-01 6.42360338e-06 -2.48502822e+01] [ 8.16521789e-05 -7.21478759e-06 9.99999997e-01 1.86763204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.620714057 meters Centerline goodness [0,1] 0.9760047174090538 Centerline is valid? [True, True] Translation: X:522.81, Y:-24.86, Z:1.87 [[ 9.99956077e-01 -9.20776994e-03 1.74955017e-03 5.22812095e+02] [ 9.20798411e-03 9.99957599e-01 -1.14396566e-04 -2.48567262e+01] [-1.74842265e-03 1.30501371e-04 9.99998463e-01 1.86762665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.650714057 meters Centerline goodness [0,1] 0.9762083817597593 Centerline is valid? [True, True] Translation: X:522.84, Y:-24.86, Z:1.87 [[ 9.99962548e-01 -8.35563817e-03 2.25498564e-03 5.22844661e+02] [ 8.35599210e-03 9.99965077e-01 -1.47577587e-04 -2.48571207e+01] [-2.25367378e-03 1.66414702e-04 9.99997447e-01 1.86803372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6807140569999 meters Centerline goodness [0,1] 0.9748255234297108 Centerline is valid? [True, True] Translation: X:522.87, Y:-24.86, Z:1.87 [[ 9.99973333e-01 -6.54297075e-03 3.24398668e-03 5.22874625e+02] [ 6.54369789e-03 9.99978567e-01 -2.13589206e-04 -2.48609358e+01] [-3.24251965e-03 2.34811179e-04 9.99994715e-01 1.86793405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7107140569999 meters Centerline goodness [0,1] 0.9776500783610057 Centerline is valid? [True, True] Translation: X:522.91, Y:-24.86, Z:1.87 [[ 9.99978968e-01 -5.77022140e-03 2.96122592e-03 5.22907389e+02] [ 5.77082214e-03 9.99983330e-01 -1.94363169e-04 -2.48566704e+01] [-2.96005504e-03 2.11447789e-04 9.99995597e-01 1.86843508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.740714057 meters Centerline goodness [0,1] 0.9779770689067999 Centerline is valid? [True, True] Translation: X:522.94, Y:-24.86, Z:1.87 [[ 9.99984095e-01 -4.79202098e-03 2.97434690e-03 5.22939746e+02] [ 4.79262338e-03 9.99988496e-01 -1.95439823e-04 -2.48589074e+01] [-2.97337614e-03 2.09691639e-04 9.99995558e-01 1.86762605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.770714057 meters Centerline goodness [0,1] 0.9758714969241286 Centerline is valid? [True, True] Translation: X:522.97, Y:-24.87, Z:1.86 [[ 9.99989861e-01 -4.02340661e-03 2.02257718e-03 5.22970492e+02] [ 4.02368177e-03 9.99991896e-01 -1.31995311e-04 -2.48691609e+01] [-2.02202972e-03 1.40132180e-04 9.99997946e-01 1.86476938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8007140569999 meters Centerline goodness [0,1] 0.9779540843079588 Centerline is valid? [True, True] Translation: X:523.00, Y:-24.87, Z:1.86 [[ 9.99993140e-01 -3.59121918e-03 9.07337167e-04 5.23002496e+02] [ 3.59127427e-03 9.99993550e-01 -5.90862513e-05 -2.48675171e+01] [-9.07119122e-04 6.23443426e-05 9.99999587e-01 1.86322903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8307140569999 meters Centerline goodness [0,1] 0.9776076903801909 Centerline is valid? [True, True] Translation: X:523.03, Y:-24.87, Z:1.86 [[ 9.99994431e-01 -3.33102647e-03 2.03342519e-04 5.23034980e+02] [ 3.33102907e-03 9.99994452e-01 -1.24613106e-05 -2.48710149e+01] [-2.03299881e-04 1.31385811e-05 9.99999979e-01 1.86183081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.860714057 meters Centerline goodness [0,1] 0.9769476082004556 Centerline is valid? [True, True] Translation: X:523.07, Y:-24.88, Z:1.86 [[ 9.99994493e-01 -3.21643662e-03 -8.17329999e-04 5.23065587e+02] [ 3.21648266e-03 9.99994826e-01 5.50198673e-05 -2.48750005e+01] [ 8.17148801e-04 -5.76484921e-05 9.99999664e-01 1.85987023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.890714057 meters Centerline goodness [0,1] 0.9786856935102709 Centerline is valid? [True, True] Translation: X:523.10, Y:-24.87, Z:1.86 [[ 9.99994359e-01 -3.23950810e-03 -8.87394553e-04 5.23097631e+02] [ 3.23956214e-03 9.99994751e-01 5.94696973e-05 -2.48705366e+01] [ 8.87197243e-04 -6.23441316e-05 9.99999604e-01 1.86071674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9207140569999 meters Centerline goodness [0,1] 0.9784043735680421 Centerline is valid? [True, True] Translation: X:523.13, Y:-24.88, Z:1.86 [[ 9.99988402e-01 -4.52006180e-03 -1.66305349e-03 5.23127943e+02] [ 4.52025341e-03 9.99989777e-01 1.11475921e-04 -2.48760086e+01] [ 1.66253261e-03 -1.18992052e-04 9.99998611e-01 1.85877584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9507140569999 meters Centerline goodness [0,1] 0.9762654999659964 Centerline is valid? [True, True] Translation: X:523.16, Y:-24.88, Z:1.86 [[ 9.99985435e-01 -5.10798845e-03 -1.74288027e-03 5.23158198e+02] [ 5.10819861e-03 9.99986946e-01 1.16153756e-04 -2.48833074e+01] [ 1.74226420e-03 -1.25055043e-04 9.99998474e-01 1.85711544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.980714057 meters Centerline goodness [0,1] 0.9744642249688173 Centerline is valid? [True, True] Translation: X:523.19, Y:-24.89, Z:1.86 [[ 9.99977215e-01 -6.61464066e-03 -1.34769903e-03 5.23189489e+02] [ 6.61476815e-03 9.99978118e-01 9.01657343e-05 -2.48872133e+01] [ 1.34707312e-03 -9.90783964e-05 9.99999088e-01 1.85691386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.010714057 meters Centerline goodness [0,1] 0.9738931228452187 Centerline is valid? [True, True] Translation: X:523.22, Y:-24.89, Z:1.86 [[ 9.99974433e-01 -7.14089777e-03 -3.74449532e-04 5.23220536e+02] [ 7.14090788e-03 9.99974503e-01 2.56874376e-05 -2.48914758e+01] [ 3.74256553e-04 -2.83606904e-05 9.99999930e-01 1.85631030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.040714057 meters Centerline goodness [0,1] 0.9700418599389071 Centerline is valid? [True, True] Translation: X:523.25, Y:-24.90, Z:1.86 [[ 9.99969856e-01 -7.76315846e-03 1.40316322e-04 5.23251017e+02] [ 7.76315960e-03 9.99969866e-01 -7.61973437e-06 -2.48971339e+01] [-1.40252941e-04 8.70880269e-06 9.99999990e-01 1.85595379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0707140569999 meters Centerline goodness [0,1] 0.9746617019344292 Centerline is valid? [True, True] Translation: X:523.28, Y:-24.89, Z:1.86 [[ 9.99967904e-01 -8.00592341e-03 3.09956057e-04 5.23283380e+02] [ 8.00592989e-03 9.99967952e-01 -1.96613818e-05 -2.48934275e+01] [-3.09788716e-04 2.21422372e-05 9.99999952e-01 1.85677557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1007140569999 meters Centerline goodness [0,1] 0.9731705102596695 Centerline is valid? [True, True] Translation: X:523.31, Y:-24.90, Z:1.85 [[ 9.99970814e-01 -7.56686578e-03 1.05556059e-03 5.23314531e+02] [ 7.56694361e-03 9.99971368e-01 -6.97619442e-05 -2.48997941e+01] [-1.05500248e-03 7.77472755e-05 9.99999440e-01 1.85485845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.130714057 meters Centerline goodness [0,1] 0.9749716617547042 Centerline is valid? [True, True] Translation: X:523.35, Y:-24.89, Z:1.86 [[ 9.99972402e-01 -7.32871934e-03 1.21878913e-03 5.23347612e+02] [ 7.32882281e-03 9.99973141e-01 -8.04570132e-05 -2.48945752e+01] [-1.21816675e-03 8.93870824e-05 9.99999254e-01 1.85537966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.160714057 meters Centerline goodness [0,1] 0.9767907071901071 Centerline is valid? [True, True] Translation: X:523.38, Y:-24.89, Z:1.86 [[ 9.99971362e-01 -7.44768358e-03 1.34412736e-03 5.23379454e+02] [ 7.44780980e-03 9.99972261e-01 -8.89208521e-05 -2.48943643e+01] [-1.34342782e-03 9.89291104e-05 9.99999093e-01 1.85571755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1907140569999 meters Centerline goodness [0,1] 0.9760953461975028 Centerline is valid? [True, True] Translation: X:523.41, Y:-24.90, Z:1.85 [[ 9.99972111e-01 -7.13045264e-03 2.22104792e-03 5.23411286e+02] [ 7.13079844e-03 9.99974565e-01 -1.47812700e-04 -2.48990952e+01] [-2.21993746e-03 1.63646423e-04 9.99997523e-01 1.85456726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2207140569999 meters Centerline goodness [0,1] 0.9756296430512774 Centerline is valid? [True, True] Translation: X:523.44, Y:-24.90, Z:1.85 [[ 9.99971486e-01 -7.06203967e-03 2.67467454e-03 5.23443065e+02] [ 7.06254201e-03 9.99975044e-01 -1.78414731e-04 -2.49020035e+01] [-2.67334782e-03 1.97299646e-04 9.99996407e-01 1.85405815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.250714057 meters Centerline goodness [0,1] 0.9757358610367817 Centerline is valid? [True, True] Translation: X:523.48, Y:-24.90, Z:1.85 [[ 9.99972101e-01 -6.91568903e-03 2.82314182e-03 5.23475044e+02] [ 6.91624885e-03 9.99976065e-01 -1.88582180e-04 -2.49049933e+01] [-2.82177007e-03 2.08102470e-04 9.99995997e-01 1.85304748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.280714057 meters Centerline goodness [0,1] 0.9758734314345039 Centerline is valid? [True, True] Translation: X:523.51, Y:-24.91, Z:1.85 [[ 9.99970110e-01 -7.32597866e-03 2.47158413e-03 5.23505417e+02] [ 7.32641021e-03 9.99973148e-01 -1.65595821e-04 -2.49109447e+01] [-2.47030462e-03 1.83698711e-04 9.99996932e-01 1.85141817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3107140569999 meters Centerline goodness [0,1] 0.9751005467938 Centerline is valid? [True, True] Translation: X:523.54, Y:-24.91, Z:1.85 [[ 9.99965321e-01 -8.01202861e-03 2.27243342e-03 5.23537065e+02] [ 8.01239351e-03 9.99967889e-01 -1.51517858e-04 -2.49139009e+01] [-2.27114648e-03 1.69720234e-04 9.99997407e-01 1.85040487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3407140569999 meters Centerline goodness [0,1] 0.9734225275718676 Centerline is valid? [True, True] Translation: X:523.57, Y:-24.93, Z:1.85 [[ 9.99963481e-01 -8.31349260e-03 1.98029020e-03 5.23567601e+02] [ 8.31377142e-03 9.99965431e-01 -1.32609705e-04 -2.49253715e+01] [-1.97911929e-03 1.49068542e-04 9.99998030e-01 1.84798742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.370714057 meters Centerline goodness [0,1] 0.9760373654640222 Centerline is valid? [True, True] Translation: X:523.60, Y:-24.92, Z:1.85 [[ 9.99961562e-01 -8.50588255e-03 2.12692840e-03 5.23600094e+02] [ 8.50620451e-03 9.99963811e-01 -1.42373269e-04 -2.49219188e+01] [-2.12564041e-03 1.60459885e-04 9.99997728e-01 1.84895252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.400714057 meters Centerline goodness [0,1] 0.9719636674310895 Centerline is valid? [True, True] Translation: X:523.63, Y:-24.93, Z:1.85 [[ 9.99968473e-01 -7.74879394e-03 1.73461640e-03 5.23630378e+02] [ 7.74900724e-03 9.99969969e-01 -1.16278317e-04 -2.49341724e+01] [-1.73366329e-03 1.29716206e-04 9.99998489e-01 1.84668255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4307140569999 meters Centerline goodness [0,1] 0.9759756372659598 Centerline is valid? [True, True] Translation: X:523.66, Y:-24.93, Z:1.85 [[ 9.99979616e-01 -6.26029750e-03 1.25524666e-03 5.23662241e+02] [ 6.26040814e-03 9.99980400e-01 -8.42324107e-05 -2.49264216e+01] [-1.25469473e-03 9.20890501e-05 9.99999209e-01 1.84730333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4607140569999 meters Centerline goodness [0,1] 0.9768123787612216 Centerline is valid? [True, True] Translation: X:523.69, Y:-24.93, Z:1.85 [[ 9.99995212e-01 -3.01980970e-03 6.76320999e-04 5.23692015e+02] [ 3.01984128e-03 9.99995439e-01 -4.56728892e-05 -2.49290862e+01] [-6.76179991e-04 4.77150526e-05 9.99999770e-01 1.84590153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.490714057 meters Centerline goodness [0,1] 0.9774824575257779 Centerline is valid? [True, True] Translation: X:523.72, Y:-24.93, Z:1.85 [[ 9.99999470e-01 -9.99719007e-04 2.46719174e-04 5.23723971e+02] [ 9.99722956e-04 9.99999500e-01 -1.58846394e-05 -2.49304934e+01] [-2.46703171e-04 1.61312818e-05 9.99999969e-01 1.84506294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.520714057 meters Centerline goodness [0,1] 0.9769715304901452 Centerline is valid? [True, True] Translation: X:523.75, Y:-24.93, Z:1.84 [[ 9.99997266e-01 2.29627394e-03 4.40591555e-04 5.23754966e+02] [-2.29626115e-03 9.99997363e-01 -2.95256401e-05 -2.49308594e+01] [-4.40658192e-04 2.85138462e-05 9.99999903e-01 1.84475725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5507140569999 meters Centerline goodness [0,1] 0.9776665990579857 Centerline is valid? [True, True] Translation: X:523.78, Y:-24.93, Z:1.85 [[ 9.99992785e-01 3.72826391e-03 7.27464610e-04 5.23784280e+02] [-3.72822875e-03 9.99993049e-01 -4.96747875e-05 -2.49323013e+01] [-7.27644754e-04 4.69622747e-05 9.99999734e-01 1.84504174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5807140569999 meters Centerline goodness [0,1] 0.9771418245883495 Centerline is valid? [True, True] Translation: X:523.81, Y:-24.93, Z:1.85 [[ 9.99989141e-01 4.31669523e-03 1.75619082e-03 5.23813843e+02] [-4.31649266e-03 9.99990677e-01 -1.19120577e-04 -2.49343679e+01] [-1.75668865e-03 1.11538699e-04 9.99998451e-01 1.84575838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.610714057 meters Centerline goodness [0,1] 0.9772399169899847 Centerline is valid? [True, True] Translation: X:523.84, Y:-24.94, Z:1.84 [[ 9.99988943e-01 4.00235936e-03 2.46885253e-03 5.23842505e+02] [-4.00195882e-03 9.99991978e-01 -1.67158013e-04 -2.49402472e+01] [-2.46950175e-03 1.57275918e-04 9.99996938e-01 1.84494544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.640714057 meters Centerline goodness [0,1] 0.978131658629584 Centerline is valid? [True, True] Translation: X:523.87, Y:-24.94, Z:1.84 [[ 9.99988927e-01 3.00431978e-03 3.62217800e-03 5.23873181e+02] [-3.00345383e-03 9.99995460e-01 -2.44485371e-04 -2.49418791e+01] [-3.62289607e-03 2.33603619e-04 9.99993410e-01 1.84464961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6707140569999 meters Centerline goodness [0,1] 0.9757182326647049 Centerline is valid? [True, True] Translation: X:523.90, Y:-24.95, Z:1.84 [[ 9.99991122e-01 1.86292597e-03 3.77957033e-03 5.23902939e+02] [-1.86197783e-03 9.99998234e-01 -2.54362612e-04 -2.49500541e+01] [-3.78003752e-03 2.47322877e-04 9.99992825e-01 1.84305411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7007140569999 meters Centerline goodness [0,1] 0.9776423221394993 Centerline is valid? [True, True] Translation: X:523.93, Y:-24.95, Z:1.84 [[ 9.99989300e-01 -4.29650382e-04 4.60608004e-03 5.23934349e+02] [ 4.31086662e-04 9.99999859e-01 -3.10834286e-04 -2.49481523e+01] [-4.60594584e-03 3.12816579e-04 9.99989344e-01 1.84308890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.730714057 meters Centerline goodness [0,1] 0.976770830993193 Centerline is valid? [True, True] Translation: X:523.97, Y:-24.96, Z:1.84 [[ 9.99977638e-01 -2.07089805e-03 6.35878512e-03 5.23965217e+02] [ 2.07366047e-03 9.99997758e-01 -4.27863371e-04 -2.49559634e+01] [-6.35788480e-03 4.41039764e-04 9.99979691e-01 1.84210862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.760714057 meters Centerline goodness [0,1] 0.9763096204129474 Centerline is valid? [True, True] Translation: X:524.00, Y:-24.96, Z:1.84 [[ 9.99970457e-01 -2.74674628e-03 7.17910682e-03 5.23996991e+02] [ 2.75030909e-03 9.99996100e-01 -4.86448738e-04 -2.49583372e+01] [-7.17774267e-03 5.06179130e-04 9.99974112e-01 1.84176880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.790714057 meters Centerline goodness [0,1] 0.9752701672570737 Centerline is valid? [True, True] Translation: X:524.03, Y:-24.96, Z:1.84 [[ 9.99965512e-01 -3.39295520e-03 7.58045347e-03 5.24028043e+02] [ 3.39695153e-03 9.99994098e-01 -5.14375829e-04 -2.49629798e+01] [-7.57866348e-03 5.40108522e-04 9.99971136e-01 1.84032304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8207140569999 meters Centerline goodness [0,1] 0.9747244607061887 Centerline is valid? [True, True] Translation: X:524.06, Y:-24.97, Z:1.84 [[ 9.99963564e-01 -3.64019739e-03 7.72131628e-03 5.24059778e+02] [ 3.64435332e-03 9.99993222e-01 -5.24239301e-04 -2.49657954e+01] [-7.71935561e-03 5.52359405e-04 9.99970053e-01 1.83918384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8507140569999 meters Centerline goodness [0,1] 0.9751555595635314 Centerline is valid? [True, True] Translation: X:524.09, Y:-24.97, Z:1.84 [[ 9.99958177e-01 -4.70602663e-03 7.84197739e-03 5.24092077e+02] [ 4.71035053e-03 9.99988764e-01 -5.33000427e-04 -2.49696101e+01] [-7.83938097e-03 5.69916598e-04 9.99969109e-01 1.83801342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.880714057 meters Centerline goodness [0,1] 0.9744395323264738 Centerline is valid? [True, True] Translation: X:524.12, Y:-24.97, Z:1.84 [[ 9.99956996e-01 -5.14007858e-03 7.71922097e-03 5.24124164e+02] [ 5.14428506e-03 9.99986630e-01 -5.25178430e-04 -2.49721854e+01] [-7.71641831e-03 5.64865718e-04 9.99970068e-01 1.83693306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.910714057 meters Centerline goodness [0,1] 0.9747346120038766 Centerline is valid? [True, True] Translation: X:524.16, Y:-24.98, Z:1.84 [[ 9.99939381e-01 -6.45641114e-03 8.91907004e-03 5.24156442e+02] [ 6.46208606e-03 9.99978936e-01 -6.07595771e-04 -2.49766000e+01] [-8.91495928e-03 6.65194737e-04 9.99960040e-01 1.83583674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9407140569999 meters Centerline goodness [0,1] 0.9735051754720794 Centerline is valid? [True, True] Translation: X:524.19, Y:-24.98, Z:1.83 [[ 9.99936244e-01 -7.63247701e-03 8.32189249e-03 5.24187701e+02] [ 7.63746316e-03 9.99970673e-01 -5.67545620e-04 -2.49804429e+01] [-8.31731665e-03 6.31067582e-04 9.99965211e-01 1.83473766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9707140569999 meters Centerline goodness [0,1] 0.9737043713384408 Centerline is valid? [True, True] Translation: X:524.22, Y:-24.98, Z:1.83 [[ 9.99935066e-01 -8.04322407e-03 8.07278955e-03 5.24220093e+02] [ 8.04793179e-03 9.99967463e-01 -5.50843109e-04 -2.49828269e+01] [-8.06809633e-03 6.15776601e-04 9.99967263e-01 1.83421524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.000714057 meters Centerline goodness [0,1] 0.9748261537072157 Centerline is valid? [True, True] Translation: X:524.25, Y:-24.98, Z:1.83 [[ 9.99931342e-01 -8.26340009e-03 8.30822809e-03 5.24251788e+02] [ 8.26839991e-03 9.99965655e-01 -5.67623357e-04 -2.49836067e+01] [-8.30325225e-03 6.36280137e-04 9.99965325e-01 1.83287634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.030714057 meters Centerline goodness [0,1] 0.973713848094423 Centerline is valid? [True, True] Translation: X:524.28, Y:-24.99, Z:1.83 [[ 9.99931793e-01 -7.81859224e-03 8.67637654e-03 5.24282661e+02] [ 7.82403266e-03 9.99969216e-01 -5.93272471e-04 -2.49903983e+01] [-8.67147088e-03 6.61116259e-04 9.99962184e-01 1.83171928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0607140569999 meters Centerline goodness [0,1] 0.9732519097730806 Centerline is valid? [True, True] Translation: X:524.31, Y:-24.99, Z:1.83 [[ 9.99933282e-01 -7.67815201e-03 8.63007385e-03 5.24314401e+02] [ 7.68353237e-03 9.99970307e-01 -5.90459795e-04 -2.49932814e+01] [-8.62528395e-03 6.56729853e-04 9.99962586e-01 1.83114306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0907140569999 meters Centerline goodness [0,1] 0.9747123843898038 Centerline is valid? [True, True] Translation: X:524.35, Y:-24.99, Z:1.83 [[ 9.99952661e-01 -5.59800250e-03 7.95856299e-03 5.24346736e+02] [ 5.60251714e-03 9.99984157e-01 -5.45086719e-04 -2.49901887e+01] [-7.95538551e-03 5.89648901e-04 9.99968182e-01 1.83028133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.120714057 meters Centerline goodness [0,1] 0.9769762087490407 Centerline is valid? [True, True] Translation: X:524.38, Y:-24.98, Z:1.83 [[ 9.99963149e-01 -4.01862565e-03 7.58627006e-03 5.24378317e+02] [ 4.02268616e-03 9.99991774e-01 -5.20062142e-04 -2.49842981e+01] [-7.58411772e-03 5.50560161e-04 9.99971089e-01 1.82987686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.150714057 meters Centerline goodness [0,1] 0.9770417933986707 Centerline is valid? [True, True] Translation: X:524.41, Y:-24.99, Z:1.83 [[ 9.99973443e-01 -9.86444972e-04 7.22079335e-03 5.24408431e+02] [ 9.90048735e-04 9.99999387e-01 -4.95523844e-04 -2.49870854e+01] [-7.22030012e-03 5.02659622e-04 9.99973807e-01 1.82841099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1807140569999 meters Centerline goodness [0,1] 0.9782559456398641 Centerline is valid? [True, True] Translation: X:524.44, Y:-24.98, Z:1.83 [[ 9.99978038e-01 6.51478705e-04 6.59538859e-03 5.24440088e+02] [-6.48509618e-04 9.99999687e-01 -4.52304766e-04 -2.49828537e+01] [-6.59568119e-03 4.48017660e-04 9.99978148e-01 1.82744516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2107140569999 meters Centerline goodness [0,1] 0.9782559456398641 Centerline is valid? [True, True] Translation: X:524.47, Y:-24.99, Z:1.83 [[ 9.99977988e-01 7.23896990e-04 6.59539266e-03 5.24471777e+02] [-7.20929859e-04 9.99999638e-01 -4.52245784e-04 -2.49850891e+01] [-6.59571765e-03 4.47481014e-04 9.99978148e-01 1.82697243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.240714057 meters Centerline goodness [0,1] 0.9782731186188555 Centerline is valid? [True, True] Translation: X:524.50, Y:-24.99, Z:1.83 [[ 9.99975947e-01 1.20800941e-03 6.82979860e-03 5.24503238e+02] [-1.20483517e-03 9.99999164e-01 -4.68859187e-04 -2.49889810e+01] [-6.83035928e-03 4.60619128e-04 9.99976567e-01 1.82619922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.270714057 meters Centerline goodness [0,1] 0.9789328072204458 Centerline is valid? [True, True] Translation: X:524.54, Y:-24.99, Z:1.83 [[ 9.99975376e-01 1.38094083e-03 6.88044041e-03 5.24535878e+02] [-1.37772991e-03 9.99998940e-01 -4.71392519e-04 -2.49867635e+01] [-6.88108408e-03 4.61901523e-04 9.99976218e-01 1.82591645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3007140569999 meters Centerline goodness [0,1] 0.9772392707507643 Centerline is valid? [True, True] Translation: X:524.57, Y:-24.99, Z:1.83 [[ 9.99969500e-01 1.15363950e-03 7.72453537e-03 5.24566663e+02] [-1.14956046e-03 9.99999197e-01 -5.32482609e-04 -2.49925983e+01] [-7.72514346e-03 5.23586548e-04 9.99970024e-01 1.82523031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3307140569999 meters Centerline goodness [0,1] 0.9788583988579457 Centerline is valid? [True, True] Translation: X:524.60, Y:-24.99, Z:1.83 [[ 9.99964306e-01 5.99739887e-04 8.42770580e-03 5.24599330e+02] [-5.94859623e-04 9.99999654e-01 -5.81568507e-04 -2.49926190e+01] [-8.42805168e-03 5.76534447e-04 9.99964317e-01 1.82574492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.360714057 meters Centerline goodness [0,1] 0.9788189404934688 Centerline is valid? [True, True] Translation: X:524.63, Y:-24.99, Z:1.83 [[ 9.99961960e-01 7.15422918e-04 8.69290592e-03 5.24632210e+02] [-7.10207705e-04 9.99999566e-01 -6.03011104e-04 -2.49937217e+01] [-8.69333356e-03 5.96814397e-04 9.99962034e-01 1.82543069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.390714057 meters Centerline goodness [0,1] 0.9780025399129173 Centerline is valid? [True, True] Translation: X:524.66, Y:-24.99, Z:1.83 [[ 9.99957481e-01 1.63790100e-03 9.07489413e-03 5.24664277e+02] [-1.63224372e-03 9.99998469e-01 -6.30770064e-04 -2.49941661e+01] [-9.07591337e-03 6.15930806e-04 9.99958623e-01 1.82508577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4207140569999 meters Centerline goodness [0,1] 0.9785252497852525 Centerline is valid? [True, True] Translation: X:524.70, Y:-25.00, Z:1.82 [[ 9.99946898e-01 2.36539626e-03 1.00302321e-02 5.24696712e+02] [-2.35851309e-03 9.99996975e-01 -6.98014924e-04 -2.49956638e+01] [-1.00318529e-02 6.74321425e-04 9.99949452e-01 1.82499118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4507140569999 meters Centerline goodness [0,1] 0.9785243413451736 Centerline is valid? [True, True] Translation: X:524.73, Y:-25.00, Z:1.83 [[ 9.99930936e-01 3.96201849e-03 1.10646024e-02 5.24727229e+02] [-3.95372732e-03 9.99991887e-01 -7.71115847e-04 -2.49967993e+01] [-1.10675678e-02 7.27316169e-04 9.99938488e-01 1.82534193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.480714057 meters Centerline goodness [0,1] 0.9780384667848862 Centerline is valid? [True, True] Translation: X:524.76, Y:-25.00, Z:1.82 [[ 9.99920895e-01 5.37658539e-03 1.13708592e-02 5.24759049e+02] [-5.36791890e-03 9.99985279e-01 -7.92549651e-04 -2.49967342e+01] [-1.13749530e-02 7.31449107e-04 9.99935036e-01 1.82490306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.510714057 meters Centerline goodness [0,1] 0.9789014186977083 Centerline is valid? [True, True] Translation: X:524.79, Y:-25.00, Z:1.82 [[ 9.99917163e-01 6.04804734e-03 1.13617206e-02 5.24791680e+02] [-6.03943875e-03 9.99981449e-01 -7.91841616e-04 -2.49983285e+01] [-1.13662990e-02 7.23157606e-04 9.99935140e-01 1.82447740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.540714057 meters Centerline goodness [0,1] 0.9779346866725508 Centerline is valid? [True, True] Translation: X:524.82, Y:-25.00, Z:1.82 [[ 9.99912524e-01 7.01620129e-03 1.12123811e-02 5.24823802e+02] [-7.00784726e-03 9.99975137e-01 -7.84187493e-04 -2.50006532e+01] [-1.12176044e-02 7.05544241e-04 9.99936832e-01 1.82372987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5707140569999 meters Centerline goodness [0,1] 0.9783280327124034 Centerline is valid? [True, True] Translation: X:524.86, Y:-25.00, Z:1.82 [[ 9.99916607e-01 7.50181228e-03 1.05119915e-02 5.24856320e+02] [-7.49447137e-03 9.99971644e-01 -7.37554903e-04 -2.49995805e+01] [-1.05172265e-02 6.58711576e-04 9.99944475e-01 1.82296690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6007140569999 meters Centerline goodness [0,1] 0.979214097076769 Centerline is valid? [True, True] Translation: X:524.89, Y:-25.00, Z:1.82 [[ 9.99921445e-01 7.59217167e-03 9.97311408e-03 5.24888067e+02] [-7.58554463e-03 9.99970983e-01 -7.02149810e-04 -2.50011212e+01] [-9.97815553e-03 6.26443150e-04 9.99950021e-01 1.82194581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.630714057 meters Centerline goodness [0,1] 0.9780154756486117 Centerline is valid? [True, True] Translation: X:524.92, Y:-25.00, Z:1.82 [[ 9.99923068e-01 7.84356532e-03 9.60914518e-03 5.24919475e+02] [-7.83740436e-03 9.99969057e-01 -6.78644929e-04 -2.50043661e+01] [-9.61417084e-03 6.03281964e-04 9.99953601e-01 1.82107982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.660714057 meters Centerline goodness [0,1] 0.9782076284638759 Centerline is valid? [True, True] Translation: X:524.95, Y:-25.01, Z:1.82 [[ 9.99929025e-01 7.83549896e-03 8.97493837e-03 5.24950799e+02] [-7.83009720e-03 9.99969142e-01 -6.36852063e-04 -2.50065297e+01] [-8.97965147e-03 5.66532223e-04 9.99959522e-01 1.82020633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6907140569999 meters Centerline goodness [0,1] 0.9778320067507469 Centerline is valid? [True, True] Translation: X:524.98, Y:-25.01, Z:1.82 [[ 9.99948807e-01 7.05889854e-03 7.24950792e-03 5.24981269e+02] [-7.05535174e-03 9.99974978e-01 -5.14705187e-04 -2.50089601e+01] [-7.25295977e-03 4.63531009e-04 9.99973590e-01 1.81779381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7207140569999 meters Centerline goodness [0,1] 0.9774348688259293 Centerline is valid? [True, True] Translation: X:525.01, Y:-25.01, Z:1.82 [[ 9.99955341e-01 6.60651448e-03 6.75798739e-03 5.25011319e+02] [-6.60342042e-03 9.99978082e-01 -4.80048379e-04 -2.50120087e+01] [-6.76101071e-03 4.35401108e-04 9.99977049e-01 1.81642412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.750714057 meters Centerline goodness [0,1] 0.9772251547142337 Centerline is valid? [True, True] Translation: X:525.04, Y:-25.02, Z:1.82 [[ 9.99973861e-01 4.03661740e-03 5.99865946e-03 5.25040796e+02] [-4.03413355e-03 9.99991772e-01 -4.26110110e-04 -2.50163439e+01] [-6.00033014e-03 4.01899578e-04 9.99981917e-01 1.81551768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.780714057 meters Centerline goodness [0,1] 0.9768388960935545 Centerline is valid? [True, True] Translation: X:525.07, Y:-25.02, Z:1.82 [[ 9.99978697e-01 2.74737107e-03 5.92099584e-03 5.25071940e+02] [-2.74493040e-03 9.99996144e-01 -4.20291716e-04 -2.50192443e+01] [-5.92212771e-03 4.04030041e-04 9.99982382e-01 1.81561507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8107140569999 meters Centerline goodness [0,1] 0.9764858233369684 Centerline is valid? [True, True] Translation: X:525.10, Y:-25.02, Z:1.82 [[ 9.99974561e-01 1.02609836e-03 7.05864950e-03 5.25103404e+02] [-1.02258466e-03 9.99999351e-01 -5.01376538e-04 -2.50189909e+01] [-7.05915938e-03 4.94145716e-04 9.99974962e-01 1.81665403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8407140569999 meters Centerline goodness [0,1] 0.9746913299011345 Centerline is valid? [True, True] Translation: X:525.14, Y:-25.02, Z:1.82 [[ 9.99971048e-01 4.77084380e-04 7.59439108e-03 5.25135374e+02] [-4.73010406e-04 9.99999743e-01 -5.38232341e-04 -2.50213785e+01] [-7.59464592e-03 5.34624532e-04 9.99971017e-01 1.81661632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.870714057 meters Centerline goodness [0,1] 0.9764649375600384 Centerline is valid? [True, True] Translation: X:525.17, Y:-25.02, Z:1.82 [[ 9.99969753e-01 3.33794269e-04 7.77050140e-03 5.25167613e+02] [-3.29510261e-04 9.99999793e-01 -5.52590476e-04 -2.50177244e+01] [-7.77068424e-03 5.50013303e-04 9.99969657e-01 1.81694600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.900714057 meters Centerline goodness [0,1] 0.9737922540030108 Centerline is valid? [True, True] Translation: X:525.20, Y:-25.03, Z:1.82 [[ 9.99968169e-01 4.18580414e-04 7.96780615e-03 5.25199169e+02] [-4.14053142e-04 9.99999752e-01 -5.69836666e-04 -2.50286841e+01] [-7.96804269e-03 5.66519433e-04 9.99968094e-01 1.81552568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9307140569999 meters Centerline goodness [0,1] 0.9765405281810906 Centerline is valid? [True, True] Translation: X:525.23, Y:-25.02, Z:1.81 [[ 9.99978651e-01 -7.46724862e-04 6.49146430e-03 5.25231498e+02] [ 7.49754453e-04 9.99999611e-01 -4.64282871e-04 -2.50222011e+01] [-6.49111509e-03 4.69139963e-04 9.99978822e-01 1.81489112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9607140569999 meters Centerline goodness [0,1] 0.9714964370546318 Centerline is valid? [True, True] Translation: X:525.26, Y:-25.03, Z:1.81 [[ 9.99984313e-01 -1.18703698e-03 5.47393000e-03 5.25261676e+02] [ 1.18919460e-03 9.99999216e-01 -3.90924562e-04 -2.50345981e+01] [-5.47346167e-03 3.97427998e-04 9.99984942e-01 1.81270428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.990714057 meters Centerline goodness [0,1] 0.9745597765107279 Centerline is valid? [True, True] Translation: X:525.29, Y:-25.03, Z:1.81 [[ 9.99985173e-01 -3.40930377e-03 4.24624824e-03 5.25292734e+02] [ 3.41063148e-03 9.99994137e-01 -3.05475900e-04 -2.50289657e+01] [-4.24518189e-03 3.19953759e-04 9.99990938e-01 1.81199683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.020714057 meters Centerline goodness [0,1] 0.9750693791426802 Centerline is valid? [True, True] Translation: X:525.32, Y:-25.03, Z:1.81 [[ 9.99980234e-01 -4.74556959e-03 4.12439904e-03 5.25324826e+02] [ 4.74682537e-03 9.99988690e-01 -2.94740780e-04 -2.50279633e+01] [-4.12295368e-03 3.14312756e-04 9.99991451e-01 1.81155736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0507140569999 meters Centerline goodness [0,1] 0.9745495289490533 Centerline is valid? [True, True] Translation: X:525.35, Y:-25.03, Z:1.81 [[ 9.99970380e-01 -6.70606580e-03 3.77735351e-03 5.25354793e+02] [ 6.70714455e-03 9.99977470e-01 -2.72987920e-04 -2.50342659e+01] [-3.77543773e-03 2.98315090e-04 9.99992829e-01 1.81013133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0807140569999 meters Centerline goodness [0,1] 0.9739080982711555 Centerline is valid? [True, True] Translation: X:525.39, Y:-25.04, Z:1.81 [[ 9.99967471e-01 -7.28041898e-03 3.47159425e-03 5.25386553e+02] [ 7.28133163e-03 9.99973459e-01 -2.50323877e-04 -2.50376940e+01] [-3.46967965e-03 2.75593564e-04 9.99993943e-01 1.80901689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.110714057 meters Centerline goodness [0,1] 0.9741280797184257 Centerline is valid? [True, True] Translation: X:525.42, Y:-25.04, Z:1.81 [[ 9.99964861e-01 -8.11735658e-03 2.09406103e-03 5.25418410e+02] [ 8.11769037e-03 9.99967040e-01 -1.50948510e-04 -2.50380916e+01] [-2.09276670e-03 1.67942145e-04 9.99997796e-01 1.80764050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.140714057 meters Centerline goodness [0,1] 0.9747055858497915 Centerline is valid? [True, True] Translation: X:525.45, Y:-25.04, Z:1.81 [[ 9.99965177e-01 -8.20460041e-03 1.52606064e-03 5.25450385e+02] [ 8.20477720e-03 9.99966334e-01 -1.09622359e-04 -2.50380663e+01] [-1.52510986e-03 1.22139530e-04 9.99998830e-01 1.80755214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1707140569999 meters Centerline goodness [0,1] 0.9734677087618264 Centerline is valid? [True, True] Translation: X:525.48, Y:-25.04, Z:1.81 [[ 9.99963026e-01 -8.51312109e-03 1.21369229e-03 5.25481135e+02] [ 8.51323328e-03 9.99963758e-01 -8.73014152e-05 -2.50430512e+01] [-1.21290510e-03 9.76306330e-05 9.99999260e-01 1.80688016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2007140569999 meters Centerline goodness [0,1] 0.9736522277511522 Centerline is valid? [True, True] Translation: X:525.51, Y:-25.04, Z:1.81 [[ 9.99957741e-01 -9.10121660e-03 1.29777330e-03 5.25513511e+02] [ 9.10134523e-03 9.99958578e-01 -9.32378988e-05 -2.50407513e+01] [-1.29687096e-03 1.05045441e-04 9.99999154e-01 1.80729716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.230714057 meters Centerline goodness [0,1] 0.9734930341624902 Centerline is valid? [True, True] Translation: X:525.55, Y:-25.04, Z:1.81 [[ 9.99943242e-01 -1.05075534e-02 1.76170839e-03 5.25545680e+02] [ 1.05077935e-02 9.99944784e-01 -1.27083622e-04 -2.50429124e+01] [-1.76027578e-03 1.45588077e-04 9.99998440e-01 1.80788603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.260714057 meters Centerline goodness [0,1] 0.9719129438717068 Centerline is valid? [True, True] Translation: X:525.58, Y:-25.05, Z:1.81 [[ 9.99936867e-01 -1.09314184e-02 2.60113848e-03 5.25576048e+02] [ 1.09319461e-02 9.99940227e-01 -1.88759464e-04 -2.50485823e+01] [-2.59891959e-03 2.17183052e-04 9.99996599e-01 1.80773313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.290714057 meters Centerline goodness [0,1] 0.9710384394721744 Centerline is valid? [True, True] Translation: X:525.61, Y:-25.05, Z:1.81 [[ 9.99918738e-01 -1.24114560e-02 2.91097355e-03 5.25607479e+02] [ 1.24121237e-02 9.99922944e-01 -2.11419915e-04 -2.50506324e+01] [-2.90812521e-03 2.47534098e-04 9.99995741e-01 1.80775646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3207140569999 meters Centerline goodness [0,1] 0.9704808906232067 Centerline is valid? [True, True] Translation: X:525.64, Y:-25.05, Z:1.81 [[ 9.99911294e-01 -1.29266762e-02 3.21014970e-03 5.25639920e+02] [ 1.29274900e-02 9.99916409e-01 -2.32897371e-04 -2.50522636e+01] [-3.20687077e-03 2.74375890e-04 9.99994820e-01 1.80713961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3507140569999 meters Centerline goodness [0,1] 0.9684856564913571 Centerline is valid? [True, True] Translation: X:525.67, Y:-25.06, Z:1.81 [[ 9.99911683e-01 -1.30628992e-02 2.44685307e-03 5.25670754e+02] [ 1.30633728e-02 9.99914655e-01 -1.77669178e-04 -2.50557445e+01] [-2.44432337e-03 2.09617640e-04 9.99996991e-01 1.80583598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.380714057 meters Centerline goodness [0,1] 0.9690799742906987 Centerline is valid? [True, True] Translation: X:525.70, Y:-25.06, Z:1.81 [[ 9.99920250e-01 -1.23879228e-02 2.45640642e-03 5.25703116e+02] [ 1.23883979e-02 9.99923245e-01 -1.78298107e-04 -2.50572906e+01] [-2.45400914e-03 2.08714828e-04 9.99996967e-01 1.80594804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.410714057 meters Centerline goodness [0,1] 0.9678422051059355 Centerline is valid? [True, True] Translation: X:525.74, Y:-25.06, Z:1.81 [[ 9.99921352e-01 -1.21770339e-02 3.00147244e-03 5.25735038e+02] [ 1.21777436e-02 9.99925825e-01 -2.18295377e-04 -2.50588175e+01] [-2.99859162e-03 2.54829371e-04 9.99995472e-01 1.80604493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4407140569999 meters Centerline goodness [0,1] 0.9668129898186666 Centerline is valid? [True, True] Translation: X:525.77, Y:-25.06, Z:1.81 [[ 9.99922630e-01 -1.20333070e-02 3.15178594e-03 5.25766977e+02] [ 1.20340898e-02 9.99927561e-01 -2.29498532e-04 -2.50619214e+01] [-3.14879600e-03 2.67409650e-04 9.99995007e-01 1.80582678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4707140569999 meters Centerline goodness [0,1] 0.9604912151595989 Centerline is valid? [True, True] Translation: X:525.80, Y:-25.07, Z:1.81 [[ 9.99920460e-01 -1.22631075e-02 2.94792367e-03 5.25797538e+02] [ 1.22637942e-02 9.99924774e-01 -2.14995690e-04 -2.50660205e+01] [-2.94506539e-03 2.51131318e-04 9.99995632e-01 1.80563841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.500714057 meters Centerline goodness [0,1] 0.9580203371198242 Centerline is valid? [True, True] Translation: X:525.83, Y:-25.07, Z:1.80 [[ 9.99905427e-01 -1.34662630e-02 2.79227248e-03 5.25829422e+02] [ 1.34668835e-02 9.99909297e-01 -2.03553417e-04 -2.50697729e+01] [-2.78927811e-03 2.41137375e-04 9.99996081e-01 1.80460140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.530714057 meters Centerline goodness [0,1] 0.9476871359167415 Centerline is valid? [True, False] Translation: X:525.83, Y:-25.07, Z:1.80 [[ 9.99904034e-01 -1.35359437e-02 2.94983463e-03 5.25829476e+02] [ 1.35362646e-02 9.99908377e-01 -8.88437611e-05 -2.50699067e+01] [-2.94836178e-03 1.28764977e-04 9.99995645e-01 1.80404175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5607140569999 meters Centerline goodness [0,1] 0.972124076538338 Centerline is valid? [False, True] Translation: X:525.83, Y:-25.07, Z:1.80 [[ 9.99907614e-01 -1.33212548e-02 2.70321503e-03 5.25830333e+02] [ 1.33206530e-02 9.99911247e-01 2.40497352e-04 -2.50701836e+01] [-2.70617884e-03 -2.04466544e-04 9.99996317e-01 1.80345753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5907140569999 meters Centerline goodness [0,1] 0.9723909442297074 Centerline is valid? [True, True] Translation: X:525.86, Y:-25.07, Z:1.80 [[ 9.99927582e-01 -1.19460271e-02 1.45683807e-03 5.25861775e+02] [ 1.19461975e-02 9.99928636e-01 -1.08316243e-04 -2.50702064e+01] [-1.45544015e-03 1.25712075e-04 9.99998933e-01 1.80187473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.620714057 meters Centerline goodness [0,1] 0.9675729092455129 Centerline is valid? [True, True] Translation: X:525.89, Y:-25.08, Z:1.80 [[ 9.99955611e-01 -9.42198761e-03 4.60069460e-05 5.25891003e+02] [ 9.42198778e-03 9.99955612e-01 -3.43815356e-06 -2.50782461e+01] [-4.59725096e-05 3.87147783e-06 9.99999999e-01 1.79847303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.650714057 meters Centerline goodness [0,1] 0.9761608049478445 Centerline is valid? [True, True] Translation: X:525.92, Y:-25.07, Z:1.80 [[ 9.99987857e-01 -4.78808424e-03 -1.16658205e-03 5.25922808e+02] [ 4.78818928e-03 9.99988533e-01 8.72715065e-05 -2.50683905e+01] [ 1.16615081e-03 -9.28562624e-05 9.99999316e-01 1.79982802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6807140569999 meters Centerline goodness [0,1] 0.9769344209410572 Centerline is valid? [True, True] Translation: X:525.95, Y:-25.07, Z:1.80 [[ 9.99992975e-01 -3.65319032e-03 -8.39556237e-04 5.25953971e+02] [ 3.65324477e-03 9.99993325e-01 6.33287241e-05 -2.50693155e+01] [ 8.39319281e-04 -6.63953836e-05 9.99999646e-01 1.80015007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7107140569999 meters Centerline goodness [0,1] 0.9777194073869265 Centerline is valid? [True, True] Translation: X:525.99, Y:-25.07, Z:1.80 [[ 9.99996906e-01 -2.45869280e-03 -3.78991295e-04 5.25985311e+02] [ 2.45870394e-03 9.99996977e-01 2.89146361e-05 -2.50682203e+01] [ 3.78919057e-04 -2.98463740e-05 9.99999928e-01 1.80084114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.740714057 meters Centerline goodness [0,1] 0.9782362851669782 Centerline is valid? [True, True] Translation: X:526.02, Y:-25.07, Z:1.80 [[ 9.99998401e-01 -1.70133973e-03 -5.50412849e-04 5.26016913e+02] [ 1.70136297e-03 9.99998552e-01 4.17606841e-05 -2.50694079e+01] [ 5.50341002e-04 -4.26970694e-05 9.99999848e-01 1.80029870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.770714057 meters Centerline goodness [0,1] 0.9773816104661875 Centerline is valid? [True, True] Translation: X:526.05, Y:-25.08, Z:1.80 [[ 9.99999591e-01 -9.19748773e-05 -9.00020867e-04 5.26046795e+02] [ 9.20358132e-05 9.99999993e-01 6.76637224e-05 -2.50759062e+01] [ 9.00014638e-04 -6.77465289e-05 9.99999593e-01 1.79861609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8007140569999 meters Centerline goodness [0,1] 0.9788840689481053 Centerline is valid? [True, True] Translation: X:526.08, Y:-25.08, Z:1.80 [[ 9.99999488e-01 9.35597887e-04 -3.85669707e-04 5.26077089e+02] [-9.35586821e-04 9.99999562e-01 2.88731974e-05 -2.50789725e+01] [ 3.85696552e-04 -2.85123552e-05 9.99999925e-01 1.79845214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8307140569999 meters Centerline goodness [0,1] 0.9781293838971552 Centerline is valid? [True, True] Translation: X:526.11, Y:-25.08, Z:1.80 [[ 9.99998449e-01 1.64898487e-03 6.19525279e-04 5.26107366e+02] [-1.64895628e-03 9.99998639e-01 -4.66450723e-05 -2.50792293e+01] [-6.19601353e-04 4.56234298e-05 9.99999807e-01 1.79968641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.860714057 meters Centerline goodness [0,1] 0.975068870523416 Centerline is valid? [True, True] Translation: X:526.14, Y:-25.09, Z:1.80 [[ 9.99996700e-01 2.25292098e-03 1.23501639e-03 5.26136717e+02] [-2.25280853e-03 9.99997458e-01 -9.24373724e-05 -2.50874355e+01] [-1.23522151e-03 8.96548119e-05 9.99999233e-01 1.79907153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.890714057 meters Centerline goodness [0,1] 0.9753191489361702 Centerline is valid? [True, True] Translation: X:526.17, Y:-25.09, Z:1.80 [[ 9.99994708e-01 2.70535992e-03 1.80703155e-03 5.26166870e+02] [-2.70511870e-03 9.99996332e-01 -1.35918020e-04 -2.50893576e+01] [-1.80739263e-03 1.31029066e-04 9.99998358e-01 1.79916093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9207140569999 meters Centerline goodness [0,1] 0.9790497654309631 Centerline is valid? [True, True] Translation: X:526.20, Y:-25.08, Z:1.80 [[ 9.99987884e-01 4.25103527e-03 2.48196153e-03 5.26197595e+02] [-4.25058695e-03 9.99990949e-01 -1.85879178e-04 -2.50824755e+01] [-2.48272924e-03 1.75327133e-04 9.99996903e-01 1.80079616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9507140569999 meters Centerline goodness [0,1] 0.9743060808178047 Centerline is valid? [True, True] Translation: X:526.23, Y:-25.10, Z:1.80 [[ 9.99982313e-01 5.06793121e-03 3.11294718e-03 5.26225479e+02] [-5.06722961e-03 9.99987134e-01 -2.33226591e-04 -2.50981337e+01] [-3.11408911e-03 2.17448448e-04 9.99995128e-01 1.79805973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.980714057 meters Centerline goodness [0,1] 0.9778545119705341 Centerline is valid? [True, True] Translation: X:526.26, Y:-25.09, Z:1.80 [[ 9.99983892e-01 4.92882386e-03 2.81457098e-03 5.26255556e+02] [-4.92824991e-03 9.99987834e-01 -2.10821375e-04 -2.50899763e+01] [-2.81557584e-03 1.96947069e-04 9.99996017e-01 1.79931116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.010714057 meters Centerline goodness [0,1] 0.9750556486219795 Centerline is valid? [True, True] Translation: X:526.28, Y:-25.10, Z:1.80 [[ 9.99981273e-01 5.43958589e-03 2.80427459e-03 5.26284325e+02] [-5.43901905e-03 9.99985186e-01 -2.09722671e-04 -2.51033638e+01] [-2.80537385e-03 1.94466240e-04 9.99996046e-01 1.79726535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.040714057 meters Centerline goodness [0,1] 0.9785411678025419 Centerline is valid? [True, True] Translation: X:526.31, Y:-25.10, Z:1.80 [[ 9.99981027e-01 5.80959595e-03 2.04792140e-03 5.26314317e+02] [-5.80929386e-03 9.99983114e-01 -1.53423853e-04 -2.50970037e+01] [-2.04877815e-03 1.41523965e-04 9.99997891e-01 1.79902222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0707140569999 meters Centerline goodness [0,1] 0.9804921761908044 Centerline is valid? [True, True] Translation: X:526.34, Y:-25.10, Z:1.80 [[ 9.99977682e-01 6.57761996e-03 1.17098790e-03 5.26343706e+02] [-6.57752149e-03 9.99978364e-01 -8.79192198e-05 -2.50990379e+01] [-1.17154086e-03 8.02150595e-05 9.99999311e-01 1.79878310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1007140569999 meters Centerline goodness [0,1] 0.9804921761908044 Centerline is valid? [True, True] Translation: X:526.37, Y:-25.10, Z:1.80 [[ 9.99978142e-01 6.50719002e-03 1.17095395e-03 5.26371999e+02] [-6.50709098e-03 9.99978825e-01 -8.83747280e-05 -2.51010873e+01] [-1.17150422e-03 8.07532925e-05 9.99999311e-01 1.79834776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.130714057 meters Centerline goodness [0,1] 0.9802545278806987 Centerline is valid? [True, True] Translation: X:526.40, Y:-25.10, Z:1.80 [[ 9.99974004e-01 7.17748778e-03 6.89382268e-04 5.26401123e+02] [-7.17745333e-03 9.99974240e-01 -5.24319449e-05 -2.51027081e+01] [-6.89740839e-04 4.74825728e-05 9.99999761e-01 1.79765934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.160714057 meters Centerline goodness [0,1] 0.9800471903420155 Centerline is valid? [True, True] Translation: X:526.43, Y:-25.11, Z:1.80 [[ 9.99953123e-01 9.68082178e-03 1.81273879e-04 5.26429656e+02] [-9.68081939e-03 9.99953140e-01 -1.40335442e-05 -2.51071828e+01] [-1.81401241e-04 1.22780067e-05 9.99999983e-01 1.79631063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1907140569999 meters Centerline goodness [0,1] 0.9806413138217349 Centerline is valid? [True, True] Translation: X:526.46, Y:-25.11, Z:1.80 [[ 9.99935187e-01 1.13817282e-02 2.77670328e-04 5.26458219e+02] [-1.13817226e-02 9.99935226e-01 -2.17017178e-05 -2.51086764e+01] [-2.77899345e-04 1.85399446e-05 9.99999961e-01 1.79622194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2207140569999 meters Centerline goodness [0,1] 0.9810541376286519 Centerline is valid? [True, True] Translation: X:526.49, Y:-25.11, Z:1.80 [[ 9.99874403e-01 1.58357414e-02 6.38093539e-04 5.26488903e+02] [-1.58357144e-02 9.99874606e-01 -4.74984279e-05 -2.51091494e+01] [-6.38765698e-04 3.73877952e-05 9.99999795e-01 1.79715145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.250714057 meters Centerline goodness [0,1] 0.9815598270946381 Centerline is valid? [True, True] Translation: X:526.52, Y:-25.11, Z:1.80 [[ 9.99824194e-01 1.87114959e-02 1.20879702e-03 5.26519430e+02] [-1.87114006e-02 9.99824922e-01 -9.01455921e-05 -2.51080536e+01] [-1.21027215e-03 6.75114587e-05 9.99999265e-01 1.79770177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.280714057 meters Centerline goodness [0,1] 0.9804730473047305 Centerline is valid? [True, True] Translation: X:526.55, Y:-25.11, Z:1.80 [[ 9.99677346e-01 2.52474707e-02 2.78734888e-03 5.26548172e+02] [-2.52469892e-02 9.99681222e-01 -2.07803437e-04 -2.51136836e+01] [-2.79170685e-03 1.37364222e-04 9.99996094e-01 1.79665591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3107140569999 meters Centerline goodness [0,1] 0.9816057725346466 Centerline is valid? [True, True] Translation: X:526.58, Y:-25.11, Z:1.80 [[ 9.99601827e-01 2.79619866e-02 3.78348365e-03 5.26578248e+02] [-2.79611208e-02 9.99608972e-01 -2.81535993e-04 -2.51115594e+01] [-3.78987651e-03 1.75633449e-04 9.99992803e-01 1.79757038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3407140569999 meters Centerline goodness [0,1] 0.9826285714285714 Centerline is valid? [True, True] Translation: X:526.61, Y:-25.11, Z:1.80 [[ 9.99450158e-01 3.28402904e-02 4.57142918e-03 5.26608151e+02] [-3.28390799e-02 9.99460594e-01 -3.39641839e-04 -2.51121592e+01] [-4.58011727e-03 1.89333561e-04 9.99989493e-01 1.79854381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.370714057 meters Centerline goodness [0,1] 0.9818136181087989 Centerline is valid? [True, True] Translation: X:526.64, Y:-25.11, Z:1.80 [[ 9.99380690e-01 3.48276429e-02 5.02701441e-03 5.26636202e+02] [-3.48262015e-02 9.99393314e-01 -3.74017636e-04 -2.51145796e+01] [-5.03699074e-03 1.98714186e-04 9.99987295e-01 1.79862851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.400714057 meters Centerline goodness [0,1] 0.982026106567647 Centerline is valid? [True, True] Translation: X:526.66, Y:-25.12, Z:1.80 [[ 9.99259348e-01 3.81819120e-02 4.78507152e-03 5.26664460e+02] [-3.81806471e-02 9.99270790e-01 -3.55447354e-04 -2.51182054e+01] [-4.79515386e-03 1.72486964e-04 9.99988488e-01 1.79788545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4307140569999 meters Centerline goodness [0,1] 0.9830292551981437 Centerline is valid? [True, True] Translation: X:526.69, Y:-25.12, Z:1.80 [[ 9.99212548e-01 3.93994089e-02 4.68726633e-03 5.26693251e+02] [-3.93982079e-02 9.99223528e-01 -3.48327080e-04 -2.51175200e+01] [-4.69735069e-03 1.63382896e-04 9.99988954e-01 1.79857213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4607140569999 meters Centerline goodness [0,1] 0.9831394022359115 Centerline is valid? [True, True] Translation: X:526.72, Y:-25.12, Z:1.80 [[ 9.99131437e-01 4.14564099e-02 4.21162063e-03 5.26721778e+02] [-4.14554593e-02 9.99140304e-01 -3.12791660e-04 -2.51225631e+01] [-4.22096713e-03 1.37925313e-04 9.99991082e-01 1.79839072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.490714057 meters Centerline goodness [0,1] 0.9829549312990923 Centerline is valid? [True, True] Translation: X:526.75, Y:-25.13, Z:1.80 [[ 9.99100825e-01 4.21720584e-02 4.36559828e-03 5.26750144e+02] [-4.21710454e-02 9.99110353e-01 -3.23875114e-04 -2.51265658e+01] [-4.37537292e-03 1.39482050e-04 9.99990418e-01 1.79779077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.520714057 meters Centerline goodness [0,1] 0.9839889171511628 Centerline is valid? [True, True] Translation: X:526.78, Y:-25.13, Z:1.80 [[ 9.99057422e-01 4.32961910e-02 3.11574691e-03 5.26779046e+02] [-4.32956801e-02 9.99062276e-01 -2.31263383e-04 -2.51313762e+01] [-3.12283802e-03 9.61470178e-05 9.99995119e-01 1.79765851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5507140569999 meters Centerline goodness [0,1] 0.9841133144475921 Centerline is valid? [True, True] Translation: X:526.81, Y:-25.14, Z:1.80 [[ 9.99051633e-01 4.34775941e-02 2.35223271e-03 5.26805510e+02] [-4.34773015e-02 9.99054400e-01 -1.75383992e-04 -2.51369203e+01] [-2.35763371e-03 7.29489330e-05 9.99997218e-01 1.79601180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5807140569999 meters Centerline goodness [0,1] 0.9838293246364995 Centerline is valid? [True, True] Translation: X:526.83, Y:-25.14, Z:1.79 [[ 9.99064631e-01 4.32224061e-02 1.29899935e-03 5.26833472e+02] [-4.32223167e-02 9.99065474e-01 -9.67787639e-05 -2.51449506e+01] [-1.30196841e-03 4.05424787e-05 9.99999152e-01 1.79434675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.610714057 meters Centerline goodness [0,1] 0.984722285093477 Centerline is valid? [True, True] Translation: X:526.86, Y:-25.15, Z:1.79 [[ 9.99075486e-01 4.29710726e-02 1.28854227e-03 5.26861776e+02] [-4.29709846e-02 9.99076316e-01 -9.59282841e-05 -2.51493614e+01] [-1.29147420e-03 4.04696671e-05 9.99999165e-01 1.79391511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.640714057 meters Centerline goodness [0,1] 0.984607421743142 Centerline is valid? [True, True] Translation: X:526.89, Y:-25.16, Z:1.79 [[ 9.99095839e-01 4.24618608e-02 2.12022610e-03 5.26888618e+02] [-4.24616217e-02 9.99098086e-01 -1.57683883e-04 -2.51575654e+01] [-2.12500939e-03 6.75130729e-05 9.99997740e-01 1.79377499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6707140569999 meters Centerline goodness [0,1] 0.9845860444245008 Centerline is valid? [True, True] Translation: X:526.92, Y:-25.16, Z:1.79 [[ 9.99155634e-01 4.10290301e-02 2.15348381e-03 5.26916479e+02] [-4.10287817e-02 9.99157952e-01 -1.59406134e-04 -2.51642553e+01] [-2.15821075e-03 7.09167193e-05 9.99997669e-01 1.79461764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7007140569999 meters Centerline goodness [0,1] 0.9842558535928949 Centerline is valid? [True, True] Translation: X:526.94, Y:-25.17, Z:1.79 [[ 9.99222428e-01 3.93192838e-02 2.92122237e-03 5.26944672e+02] [-3.93188223e-02 9.99226693e-01 -2.15259616e-04 -2.51703229e+01] [-2.92742722e-03 1.00233213e-04 9.99995710e-01 1.79405655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.730714057 meters Centerline goodness [0,1] 0.9844348390853508 Centerline is valid? [True, True] Translation: X:526.97, Y:-25.18, Z:1.79 [[ 9.99288130e-01 3.75431329e-02 3.70766849e-03 5.26973180e+02] [-3.75423794e-02 9.99294999e-01 -2.72660201e-04 -2.51761929e+01] [-3.71529110e-03 1.33271405e-04 9.99993089e-01 1.79383427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.760714057 meters Centerline goodness [0,1] 0.9842718750699152 Centerline is valid? [True, True] Translation: X:527.00, Y:-25.19, Z:1.79 [[ 9.99479980e-01 3.18464333e-02 5.05706716e-03 5.27002386e+02] [-3.18449652e-02 9.99492752e-01 -3.70586713e-04 -2.51879456e+01] [-5.06630384e-03 2.09351873e-04 9.99987144e-01 1.79330174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.790714057 meters Centerline goodness [0,1] 0.9843041818303602 Centerline is valid? [True, True] Translation: X:527.03, Y:-25.20, Z:1.79 [[ 9.99591553e-01 2.81582734e-02 4.88256121e-03 5.27031327e+02] [-2.81568583e-02 9.99603453e-01 -3.58333725e-04 -2.51951582e+01] [-4.89071510e-03 2.20709780e-04 9.99988016e-01 1.79189746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8207140569999 meters Centerline goodness [0,1] 0.9839163023110555 Centerline is valid? [True, True] Translation: X:527.06, Y:-25.21, Z:1.79 [[ 9.99793387e-01 2.00547997e-02 3.31485124e-03 5.27060079e+02] [-2.00541052e-02 9.99798867e-01 -2.42631217e-04 -2.52075192e+01] [-3.31905044e-03 1.76104711e-04 9.99994476e-01 1.78991312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8507140569999 meters Centerline goodness [0,1] 0.9833359359314698 Centerline is valid? [True, True] Translation: X:527.09, Y:-25.21, Z:1.79 [[ 9.99873459e-01 1.57664277e-02 2.11799078e-03 5.27089528e+02] [-1.57661347e-02 9.99875695e-01 -1.55007355e-04 -2.52141312e+01] [-2.12017142e-03 1.21595212e-04 9.99997745e-01 1.78809346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.880714057 meters Centerline goodness [0,1] 0.9834797109505281 Centerline is valid? [True, True] Translation: X:527.12, Y:-25.23, Z:1.79 [[ 9.99970431e-01 7.61918977e-03 1.04193814e-03 5.27117529e+02] [-7.61911452e-03 9.99970971e-01 -7.61784387e-05 -2.52269731e+01] [-1.04248831e-03 6.82375402e-05 9.99999454e-01 1.78614308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.910714057 meters Centerline goodness [0,1] 0.9823375587270632 Centerline is valid? [True, True] Translation: X:527.15, Y:-25.24, Z:1.78 [[ 9.99989872e-01 4.39373202e-03 9.74738094e-04 5.27146044e+02] [-4.39366413e-03 9.99990345e-01 -7.17798455e-05 -2.52364139e+01] [-9.75044064e-04 6.74964468e-05 9.99999522e-01 1.78481738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9407140569999 meters Centerline goodness [0,1] 0.9815334940398522 Centerline is valid? [True, True] Translation: X:527.18, Y:-25.24, Z:1.79 [[ 9.99998079e-01 -6.05987040e-04 1.86405158e-03 5.27176462e+02] [ 6.06242053e-04 9.99999807e-01 -1.36244125e-04 -2.52416095e+01] [-1.86396866e-03 1.37373930e-04 9.99998253e-01 1.78623023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9707140569999 meters Centerline goodness [0,1] 0.9806264911195547 Centerline is valid? [True, True] Translation: X:527.21, Y:-25.25, Z:1.79 [[ 9.99994272e-01 -2.23850810e-03 2.53881286e-03 5.27206520e+02] [ 2.23898467e-03 9.99997476e-01 -1.84883888e-04 -2.52467689e+01] [-2.53839259e-03 1.90567192e-04 9.99996760e-01 1.78606562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.000714057 meters Centerline goodness [0,1] 0.9799138216771628 Centerline is valid? [True, True] Translation: X:527.24, Y:-25.25, Z:1.79 [[ 9.99985847e-01 -4.21661515e-03 3.24428875e-03 5.27236379e+02] [ 4.21740653e-03 9.99991079e-01 -2.37126825e-04 -2.52528648e+01] [-3.24325993e-03 2.50805953e-04 9.99994709e-01 1.78671412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.030714057 meters Centerline goodness [0,1] 0.9818222025652367 Centerline is valid? [True, True] Translation: X:527.27, Y:-25.25, Z:1.79 [[ 9.99984084e-01 -4.49729942e-03 3.40686374e-03 5.27269113e+02] [ 4.49817174e-03 9.99989852e-01 -2.48426138e-04 -2.52468625e+01] [-3.40571192e-03 2.63746842e-04 9.99994166e-01 1.78747043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0607140569999 meters Centerline goodness [0,1] 0.9792735842822845 Centerline is valid? [True, True] Translation: X:527.30, Y:-25.26, Z:1.79 [[ 9.99983001e-01 -4.33295364e-03 3.90177624e-03 5.27299697e+02] [ 4.33409909e-03 9.99990567e-01 -2.85163944e-04 -2.52598472e+01] [-3.90050383e-03 3.02069781e-04 9.99992347e-01 1.78597568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0907140569999 meters Centerline goodness [0,1] 0.9823235671041584 Centerline is valid? [True, True] Translation: X:527.33, Y:-25.25, Z:1.79 [[ 9.99979839e-01 -4.32510287e-03 4.64921508e-03 5.27332257e+02] [ 4.32673008e-03 9.99990582e-01 -3.39995315e-04 -2.52506852e+01] [-4.64770077e-03 3.60104359e-04 9.99989135e-01 1.78798497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.120714057 meters Centerline goodness [0,1] 0.9825080613101286 Centerline is valid? [True, True] Translation: X:527.36, Y:-25.26, Z:1.79 [[ 9.99974194e-01 -4.22750003e-03 5.80864104e-03 5.27363654e+02] [ 4.23004347e-03 9.99990963e-01 -4.25656285e-04 -2.52551202e+01] [-5.80678908e-03 4.50216104e-04 9.99983039e-01 1.78905260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.150714057 meters Centerline goodness [0,1] 0.9817949114019021 Centerline is valid? [True, True] Translation: X:527.40, Y:-25.26, Z:1.79 [[ 9.99971453e-01 -4.19331699e-03 6.28569245e-03 5.27395947e+02] [ 4.19629625e-03 9.99991089e-01 -4.60861984e-04 -2.52565209e+01] [-6.28370390e-03 4.87225455e-04 9.99980139e-01 1.78878808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1807140569999 meters Centerline goodness [0,1] 0.9817555329769846 Centerline is valid? [True, True] Translation: X:527.43, Y:-25.26, Z:1.79 [[ 9.99977112e-01 -4.22622433e-03 5.28336509e-03 5.27427102e+02] [ 4.22833168e-03 9.99990985e-01 -3.87759552e-04 -2.52600835e+01] [-5.28167871e-03 4.10090497e-04 9.99985968e-01 1.78740908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2107140569999 meters Centerline goodness [0,1] 0.9807824144717928 Centerline is valid? [True, True] Translation: X:527.46, Y:-25.26, Z:1.79 [[ 9.99980328e-01 -4.08004165e-03 4.76419688e-03 5.27459492e+02] [ 4.08175351e-03 9.99991608e-01 -3.49649255e-04 -2.52630784e+01] [-4.76273032e-03 3.69088654e-04 9.99988590e-01 1.78564040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.240714057 meters Centerline goodness [0,1] 0.9815649867374006 Centerline is valid? [True, True] Translation: X:527.49, Y:-25.27, Z:1.78 [[ 9.99989152e-01 -3.55446196e-03 3.01022347e-03 5.27490310e+02] [ 3.55514312e-03 9.99993656e-01 -2.20959840e-04 -2.52661799e+01] [-3.00941898e-03 2.31659219e-04 9.99995445e-01 1.78267755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.270714057 meters Centerline goodness [0,1] 0.9821381083237302 Centerline is valid? [True, True] Translation: X:527.52, Y:-25.26, Z:1.78 [[ 9.99993785e-01 -2.95270103e-03 1.92660869e-03 5.27523212e+02] [ 2.95297805e-03 9.99995630e-01 -1.40954916e-04 -2.52613947e+01] [-1.92618407e-03 1.46643273e-04 9.99998134e-01 1.78217013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3007140569999 meters Centerline goodness [0,1] 0.9825290813392896 Centerline is valid? [True, True] Translation: X:527.55, Y:-25.26, Z:1.78 [[ 9.99999791e-01 -5.23315103e-04 3.80673460e-04 5.27553478e+02] [ 5.23325725e-04 9.99999863e-01 -2.78024316e-05 -2.52632706e+01] [-3.80658858e-04 2.80016420e-05 9.99999927e-01 1.78106644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3307140569999 meters Centerline goodness [0,1] 0.9823981910483496 Centerline is valid? [True, True] Translation: X:527.58, Y:-25.26, Z:1.78 [[ 9.99997957e-01 1.98704389e-03 3.69689901e-04 5.27584400e+02] [-1.98703404e-03 9.99998025e-01 -2.70034728e-05 -2.52622409e+01] [-3.69742828e-04 2.62688312e-05 9.99999931e-01 1.78128799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.360714057 meters Centerline goodness [0,1] 0.9829048414023372 Centerline is valid? [True, True] Translation: X:527.61, Y:-25.26, Z:1.78 [[ 9.99968619e-01 7.90801333e-03 4.74266685e-04 5.27614735e+02] [-7.90799760e-03 9.99968731e-01 -3.50326290e-05 -2.52583985e+01] [-4.74528894e-04 3.12810299e-05 9.99999887e-01 1.78228377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.390714057 meters Centerline goodness [0,1] 0.983573628531893 Centerline is valid? [True, True] Translation: X:527.65, Y:-25.26, Z:1.78 [[ 9.99933471e-01 1.14255287e-02 1.58427014e-03 5.27645538e+02] [-1.14253576e-02 9.99934722e-01 -1.16950519e-04 -2.52551043e+01] [-1.58550294e-03 9.88418857e-05 9.99998738e-01 1.78322070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4207140569999 meters Centerline goodness [0,1] 0.9823334971188636 Centerline is valid? [True, True] Translation: X:527.68, Y:-25.25, Z:1.78 [[ 9.99829009e-01 1.82478236e-02 2.99484582e-03 5.27675950e+02] [-1.82472423e-02 9.99833481e-01 -2.21315649e-04 -2.52493404e+01] [-2.99838565e-03 1.66630129e-04 9.99995491e-01 1.78452551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4507140569999 meters Centerline goodness [0,1] 0.9828351055529548 Centerline is valid? [True, True] Translation: X:527.71, Y:-25.25, Z:1.78 [[ 9.99731182e-01 2.27655907e-02 4.39231742e-03 5.27706870e+02] [-2.27643866e-02 9.99740805e-01 -3.23937474e-04 -2.52469087e+01] [-4.39855359e-03 2.23861982e-04 9.99990301e-01 1.78477056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.480714057 meters Centerline goodness [0,1] 0.9823082084544844 Centerline is valid? [True, True] Translation: X:527.74, Y:-25.25, Z:1.78 [[ 9.99719428e-01 2.31999116e-02 4.77808512e-03 5.27735093e+02] [-2.31984884e-02 9.99730817e-01 -3.53067961e-04 -2.52488336e+01] [-4.78499009e-03 2.42124548e-04 9.99988523e-01 1.78424817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.510714057 meters Centerline goodness [0,1] 0.9826615326403881 Centerline is valid? [True, True] Translation: X:527.76, Y:-25.25, Z:1.78 [[ 9.99755445e-01 2.16622360e-02 4.44954165e-03 5.27764186e+02] [-2.16609878e-02 9.99765319e-01 -3.28515639e-04 -2.52509689e+01] [-4.45561381e-03 2.32053832e-04 9.99990047e-01 1.78369834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.540714057 meters Centerline goodness [0,1] 0.9830682860274218 Centerline is valid? [True, True] Translation: X:527.79, Y:-25.25, Z:1.78 [[ 9.99788437e-01 2.00610173e-02 4.54273355e-03 5.27792510e+02] [-2.00597003e-02 9.99798728e-01 -3.35310108e-04 -2.52506078e+01] [-4.54854589e-03 2.44113295e-04 9.99989626e-01 1.78408694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5707140569999 meters Centerline goodness [0,1] 0.9837917485265226 Centerline is valid? [True, True] Translation: X:527.82, Y:-25.25, Z:1.78 [[ 9.99821125e-01 1.83112947e-02 4.73436935e-03 5.27822235e+02] [-1.83098495e-02 9.99832300e-01 -3.48406602e-04 -2.52543880e+01] [-4.73995517e-03 2.61658690e-04 9.99988732e-01 1.78375901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6007140569999 meters Centerline goodness [0,1] 0.9828481862964622 Centerline is valid? [True, True] Translation: X:527.85, Y:-25.26, Z:1.78 [[ 9.99891992e-01 1.41547195e-02 3.95586228e-03 5.27851883e+02] [-1.41536792e-02 9.99899789e-01 -2.90858363e-04 -2.52565802e+01] [-3.95958288e-03 2.34836943e-04 9.99992133e-01 1.78404636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.630714057 meters Centerline goodness [0,1] 0.9822897751473983 Centerline is valid? [True, True] Translation: X:527.88, Y:-25.26, Z:1.78 [[ 9.99938160e-01 1.08235585e-02 2.55460651e-03 5.27880874e+02] [-1.08231137e-02 9.99941411e-01 -1.87887299e-04 -2.52642500e+01] [-2.55649045e-03 1.60226883e-04 9.99996719e-01 1.78194767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.660714057 meters Centerline goodness [0,1] 0.9812652122457183 Centerline is valid? [True, True] Translation: X:527.91, Y:-25.27, Z:1.78 [[ 9.99950804e-01 9.75184876e-03 1.81389999e-03 5.27908968e+02] [-9.75162182e-03 9.99952443e-01 -1.33916678e-04 -2.52690649e+01] [-1.81511966e-03 1.16221623e-04 9.99998346e-01 1.78027092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6907140569999 meters Centerline goodness [0,1] 0.9815379100197168 Centerline is valid? [True, True] Translation: X:527.94, Y:-25.27, Z:1.78 [[ 9.99965384e-01 8.29749371e-03 6.17676327e-04 5.27938374e+02] [-8.29746680e-03 9.99965574e-01 -4.61157504e-05 -2.52668136e+01] [-6.18037708e-04 4.09890052e-05 9.99999808e-01 1.77910740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7207140569999 meters Centerline goodness [0,1] 0.9827284946236559 Centerline is valid? [True, True] Translation: X:527.97, Y:-25.27, Z:1.78 [[ 9.99968189e-01 7.96918903e-03 -3.36678170e-04 5.27967251e+02] [-7.96918155e-03 9.99968245e-01 2.35543035e-05 -2.52659608e+01] [ 3.36855187e-04 -2.08705047e-05 9.99999943e-01 1.77869907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.750714057 meters Centerline goodness [0,1] 0.9814371123401778 Centerline is valid? [True, True] Translation: X:527.99, Y:-25.27, Z:1.77 [[ 9.99958073e-01 9.11774764e-03 -8.47515053e-04 5.27994376e+02] [-9.11769951e-03 9.99958431e-01 6.06383831e-05 -2.52742306e+01] [ 8.48032708e-04 -5.29084531e-05 9.99999639e-01 1.77492488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.780714057 meters Centerline goodness [0,1] 0.9828947368421053 Centerline is valid? [True, True] Translation: X:528.02, Y:-25.27, Z:1.77 [[ 9.99942660e-01 1.06549211e-02 -1.07178537e-03 5.28023206e+02] [-1.06548443e-02 9.99943233e-01 7.73245426e-05 -2.52746557e+01] [ 1.07254842e-03 -6.59004025e-05 9.99999423e-01 1.77431638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8107140569999 meters Centerline goodness [0,1] 0.9828281922525107 Centerline is valid? [True, True] Translation: X:528.05, Y:-25.26, Z:1.78 [[ 9.99905909e-01 1.36646566e-02 -1.20434459e-03 5.28054069e+02] [-1.36645608e-02 9.99906632e-01 8.77507231e-05 -2.52649430e+01] [ 1.20543123e-03 -7.12856267e-05 9.99999271e-01 1.77692762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8407140569999 meters Centerline goodness [0,1] 0.9832808988764045 Centerline is valid? [True, True] Translation: X:528.08, Y:-25.26, Z:1.78 [[ 9.99886492e-01 1.50526943e-02 -6.47366673e-04 5.28082851e+02] [-1.50526675e-02 9.99886701e-01 4.61616008e-05 -2.52624029e+01] [ 6.47988183e-04 -3.64117658e-05 9.99999789e-01 1.77728698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.870714057 meters Centerline goodness [0,1] 0.9823509599191647 Centerline is valid? [True, True] Translation: X:528.11, Y:-25.26, Z:1.78 [[ 9.99848243e-01 1.74178142e-02 3.32643517e-04 5.28111933e+02] [-1.74178069e-02 9.99848298e-01 -2.48241812e-05 -2.52630273e+01] [-3.33025437e-04 1.90264934e-05 9.99999944e-01 1.77716834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.900714057 meters Centerline goodness [0,1] 0.9833171983699934 Centerline is valid? [True, True] Translation: X:528.14, Y:-25.26, Z:1.78 [[ 9.99840635e-01 1.78172849e-02 1.11726956e-03 5.28141262e+02] [-1.78172037e-02 9.99841258e-01 -8.25656370e-05 -2.52621434e+01] [-1.11856329e-03 6.26458596e-05 9.99999372e-01 1.77746619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9307140569999 meters Centerline goodness [0,1] 0.982148470831275 Centerline is valid? [True, True] Translation: X:528.17, Y:-25.27, Z:1.78 [[ 9.99811934e-01 1.92789389e-02 2.10228933e-03 5.28168272e+02] [-1.92786564e-02 9.99814137e-01 -1.54532025e-04 -2.52700920e+01] [-2.10487780e-03 1.13973649e-04 9.99997778e-01 1.77608676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9607140569999 meters Centerline goodness [0,1] 0.9824806341199784 Centerline is valid? [True, True] Translation: X:528.20, Y:-25.27, Z:1.78 [[ 9.99811594e-01 1.93842118e-02 1.01403653e-03 5.28197627e+02] [-1.93841458e-02 9.99812107e-01 -7.48193069e-05 -2.52677929e+01] [-1.01529631e-03 5.51489786e-05 9.99999483e-01 1.77597276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.990714057 meters Centerline goodness [0,1] 0.9829180695847363 Centerline is valid? [True, True] Translation: X:528.23, Y:-25.27, Z:1.78 [[ 9.99814925e-01 1.91997530e-02 -1.21841226e-03 5.28226173e+02] [-1.91996610e-02 9.99815666e-01 8.71605405e-05 -2.52654012e+01] [ 1.21986113e-03 -6.37513069e-05 9.99999254e-01 1.77546777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.020714057 meters Centerline goodness [0,1] 0.9829180695847363 Centerline is valid? [True, True] Translation: X:528.25, Y:-25.27, Z:1.78 [[ 9.99816959e-01 1.90935516e-02 -1.21844128e-03 5.28253603e+02] [-1.90934600e-02 9.99817700e-01 8.67598075e-05 -2.52673038e+01] [ 1.21987571e-03 -6.34796670e-05 9.99999254e-01 1.77504551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0507140569999 meters Centerline goodness [0,1] 0.984223382560563 Centerline is valid? [True, True] Translation: X:528.28, Y:-25.27, Z:1.77 [[ 9.99832694e-01 1.82656983e-02 -9.74079219e-04 5.28280891e+02] [-1.82656395e-02 9.99833167e-01 6.92288544e-05 -2.52705117e+01] [ 9.75181223e-04 -5.14250920e-05 9.99999523e-01 1.77405309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0807140569999 meters Centerline goodness [0,1] 0.983588843114743 Centerline is valid? [True, True] Translation: X:528.31, Y:-25.28, Z:1.77 [[ 9.99882247e-01 1.52600853e-02 -1.61896919e-03 5.28309630e+02] [-1.52599162e-02 9.99883554e-01 1.16718349e-04 -2.52760381e+01] [ 1.62056180e-03 -9.19992712e-05 9.99998683e-01 1.77301359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.110714057 meters Centerline goodness [0,1] 0.9833588198254924 Centerline is valid? [True, True] Translation: X:528.34, Y:-25.28, Z:1.77 [[ 9.99905858e-01 1.36482842e-02 -1.41410434e-03 5.28339555e+02] [-1.36481538e-02 9.99906854e-01 1.01822904e-04 -2.52773719e+01] [ 1.41536233e-03 -8.25134047e-05 9.99998995e-01 1.77320062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.140714057 meters Centerline goodness [0,1] 0.982424871401498 Centerline is valid? [True, True] Translation: X:528.37, Y:-25.28, Z:1.77 [[ 9.99942405e-01 1.06343802e-02 -1.44786059e-03 5.28368000e+02] [-1.06342397e-02 9.99943449e-01 1.04656610e-04 -2.52827600e+01] [ 1.44889168e-03 -8.92536860e-05 9.99998946e-01 1.77268913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1707140569999 meters Centerline goodness [0,1] 0.9811930517527717 Centerline is valid? [True, True] Translation: X:528.40, Y:-25.29, Z:1.77 [[ 9.99958288e-01 8.98888055e-03 -1.61951343e-03 5.28396225e+02] [-8.98870387e-03 9.99959594e-01 1.16342281e-04 -2.52881766e+01] [ 1.62049378e-03 -1.01780102e-04 9.99998682e-01 1.77106887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2007140569999 meters Centerline goodness [0,1] 0.9809992804461234 Centerline is valid? [True, True] Translation: X:528.43, Y:-25.29, Z:1.77 [[ 9.99979769e-01 6.16864410e-03 -1.55193555e-03 5.28426019e+02] [-6.16847774e-03 9.99980968e-01 1.11959194e-04 -2.52893947e+01] [ 1.55259665e-03 -1.02383849e-04 9.99998789e-01 1.77137785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.230714057 meters Centerline goodness [0,1] 0.9817558577453036 Centerline is valid? [True, True] Translation: X:528.46, Y:-25.29, Z:1.77 [[ 9.99987128e-01 4.84099796e-03 -1.51925004e-03 5.28455619e+02] [-4.84083798e-03 9.99988277e-01 1.08962512e-04 -2.52865896e+01] [ 1.51975972e-03 -1.01606667e-04 9.99998840e-01 1.77282360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.260714057 meters Centerline goodness [0,1] 0.980249082269216 Centerline is valid? [True, True] Translation: X:528.48, Y:-25.29, Z:1.77 [[ 9.99996403e-01 2.68199117e-03 4.01071216e-05 5.28483530e+02] [-2.68199101e-03 9.99996403e-01 -3.97100054e-06 -2.52897054e+01] [-4.01176276e-05 3.86341932e-06 9.99999999e-01 1.77389854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.290714057 meters Centerline goodness [0,1] 0.980082464006489 Centerline is valid? [True, True] Translation: X:528.51, Y:-25.29, Z:1.78 [[ 9.99998837e-01 1.78029013e-04 1.51497382e-03 5.28513959e+02] [-1.77863538e-04 9.99999978e-01 -1.09360310e-04 -2.52921545e+01] [-1.51499326e-03 1.09090724e-04 9.99998846e-01 1.77510887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3207140569999 meters Centerline goodness [0,1] 0.9800363383504184 Centerline is valid? [True, True] Translation: X:528.55, Y:-25.29, Z:1.78 [[ 9.99997599e-01 -1.13173810e-03 1.87641936e-03 5.28545670e+02] [ 1.13199335e-03 9.99999350e-01 -1.34974708e-04 -2.52918544e+01] [-1.87626538e-03 1.37098478e-04 9.99998230e-01 1.77564850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3507140569999 meters Centerline goodness [0,1] 0.9787200361827227 Centerline is valid? [True, True] Translation: X:528.58, Y:-25.29, Z:1.78 [[ 9.99994393e-01 -3.07555826e-03 1.32471980e-03 5.28576544e+02] [ 3.07568671e-03 9.99995266e-01 -9.49345728e-05 -2.52947177e+01] [-1.32442155e-03 9.90084636e-05 9.99999118e-01 1.77509334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.380714057 meters Centerline goodness [0,1] 0.9788462405845474 Centerline is valid? [True, True] Translation: X:528.61, Y:-25.30, Z:1.77 [[ 9.99978730e-01 -6.38595434e-03 1.32663619e-03 5.28607145e+02] [ 6.38608706e-03 9.99979604e-01 -9.58271746e-05 -2.52953393e+01] [-1.32599719e-03 1.04297151e-04 9.99999115e-01 1.77385680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.410714057 meters Centerline goodness [0,1] 0.9768595412308659 Centerline is valid? [True, True] Translation: X:528.64, Y:-25.30, Z:1.77 [[ 9.99972570e-01 -7.36169391e-03 8.14822317e-04 5.28637226e+02] [ 7.36174391e-03 9.99972900e-01 -5.83759554e-05 -2.53045568e+01] [-8.14370490e-04 6.43728674e-05 9.99999666e-01 1.77098891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4407140569999 meters Centerline goodness [0,1] 0.9783895326424635 Centerline is valid? [True, True] Translation: X:528.67, Y:-25.30, Z:1.77 [[ 9.99960725e-01 -8.64492491e-03 -1.95311350e-03 5.28668498e+02] [ 8.64521775e-03 9.99962619e-01 1.41541957e-04 -2.52994228e+01] [ 1.95181687e-03 -1.58421490e-04 9.99998083e-01 1.76921202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4707140569999 meters Centerline goodness [0,1] 0.9787519621448233 Centerline is valid? [True, True] Translation: X:528.70, Y:-25.30, Z:1.77 [[ 9.99952578e-01 -8.31971453e-03 -5.06209909e-03 5.28700465e+02] [ 8.32167954e-03 9.99965307e-01 3.67241061e-04 -2.52959424e+01] [ 5.05886812e-03 -4.09348812e-04 9.99987120e-01 1.76764981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.500714057 meters Centerline goodness [0,1] 0.9786075545632661 Centerline is valid? [True, True] Translation: X:528.73, Y:-25.30, Z:1.77 [[ 9.99955366e-01 -7.59474257e-03 -5.62019141e-03 5.28730582e+02] [ 7.59715035e-03 9.99971058e-01 4.07190984e-04 -2.52979793e+01] [ 5.61693624e-03 -4.49870249e-04 9.99984124e-01 1.76622556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.530714057 meters Centerline goodness [0,1] 0.9797705658311857 Centerline is valid? [True, True] Translation: X:528.76, Y:-25.29, Z:1.77 [[ 9.99969338e-01 -5.69403484e-03 -5.37605515e-03 5.28762047e+02] [ 5.69621126e-03 9.99983701e-01 3.89612116e-04 -2.52897301e+01] [ 5.37374905e-03 -4.20223315e-04 9.99985473e-01 1.76823152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5607140569999 meters Centerline goodness [0,1] 0.9779516033118338 Centerline is valid? [True, True] Translation: X:528.79, Y:-25.30, Z:1.77 [[ 9.99977879e-01 -4.57263487e-03 -4.83044169e-03 5.28791734e+02] [ 4.57437775e-03 9.99989476e-01 3.49825758e-04 -2.52951008e+01] [ 4.82879123e-03 -3.71914284e-04 9.99988272e-01 1.76701643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5907140569999 meters Centerline goodness [0,1] 0.9788887360748177 Centerline is valid? [True, True] Translation: X:528.82, Y:-25.29, Z:1.77 [[ 9.99992700e-01 -2.16922946e-03 -3.14564934e-03 5.28823008e+02] [ 2.16995605e-03 9.99997620e-01 2.27589950e-04 -2.52868517e+01] [ 3.14514816e-03 -2.34414209e-04 9.99995027e-01 1.76950565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.620714057 meters Centerline goodness [0,1] 0.978644169099561 Centerline is valid? [True, True] Translation: X:528.85, Y:-25.29, Z:1.77 [[ 9.99996840e-01 -1.29611706e-03 -2.15389312e-03 5.28853355e+02] [ 1.29645598e-03 9.99999147e-01 1.55961392e-04 -2.52860845e+01] [ 2.15368914e-03 -1.58753327e-04 9.99997668e-01 1.76956445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.650714057 meters Centerline goodness [0,1] 0.9798389887199834 Centerline is valid? [True, True] Translation: X:528.88, Y:-25.28, Z:1.77 [[ 9.99999578e-01 6.62210777e-05 -9.16495615e-04 5.28884018e+02] [-6.61605569e-05 9.99999996e-01 6.60651658e-05 -2.52806324e+01] [ 9.16499986e-04 -6.60045020e-05 9.99999578e-01 1.77071557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6807140569999 meters Centerline goodness [0,1] 0.9783390174209604 Centerline is valid? [True, True] Translation: X:528.91, Y:-25.28, Z:1.77 [[ 9.99999714e-01 5.32599046e-04 -5.37359401e-04 5.28913038e+02] [-5.32578374e-04 9.99999857e-01 3.86132529e-05 -2.52836890e+01] [ 5.37379890e-04 -3.83270559e-05 9.99999855e-01 1.77036542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7107140569999 meters Centerline goodness [0,1] 0.9797195851523341 Centerline is valid? [True, True] Translation: X:528.94, Y:-25.28, Z:1.77 [[ 9.99999091e-01 1.34808590e-03 3.77544090e-06 5.28943521e+02] [-1.34808590e-03 9.99999091e-01 -5.52349551e-07 -2.52799722e+01] [-3.77618208e-06 5.47259431e-07 1.00000000e+00 1.77070772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.740714057 meters Centerline goodness [0,1] 0.979420731707317 Centerline is valid? [True, True] Translation: X:528.97, Y:-25.28, Z:1.77 [[ 9.99999107e-01 1.29479885e-03 -3.30357535e-04 5.28972894e+02] [-1.29479112e-03 9.99999161e-01 2.36214046e-05 -2.52819274e+01] [ 3.30387843e-04 -2.31936395e-05 9.99999945e-01 1.76998064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.770714057 meters Centerline goodness [0,1] 0.9800416763139616 Centerline is valid? [True, True] Translation: X:529.00, Y:-25.28, Z:1.77 [[ 9.99997487e-01 1.07799851e-03 -1.96566988e-03 5.29002761e+02] [-1.07772169e-03 9.99999409e-01 1.41881924e-04 -2.52834393e+01] [ 1.96582166e-03 -1.39763122e-04 9.99998058e-01 1.76874713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8007140569999 meters Centerline goodness [0,1] 0.9804221049708415 Centerline is valid? [True, True] Translation: X:529.03, Y:-25.28, Z:1.77 [[ 9.99994521e-01 7.56574963e-04 -3.22276672e-03 5.29032302e+02] [-7.55829878e-04 9.99999687e-01 2.32405788e-04 -2.52845236e+01] [ 3.22294154e-03 -2.29968652e-04 9.99994780e-01 1.76736516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8307140569999 meters Centerline goodness [0,1] 0.9793637544054906 Centerline is valid? [True, True] Translation: X:529.06, Y:-25.29, Z:1.76 [[ 9.99983838e-01 1.12965884e-04 -5.68418738e-03 5.29060416e+02] [-1.10640649e-04 9.99999910e-01 4.09383543e-04 -2.52866487e+01] [ 5.68423311e-03 -4.08748025e-04 9.99983761e-01 1.76467182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.860714057 meters Centerline goodness [0,1] 0.9803675565158803 Centerline is valid? [True, True] Translation: X:529.09, Y:-25.28, Z:1.76 [[ 9.99978077e-01 1.22912949e-04 -6.62047742e-03 5.29089567e+02] [-1.19760908e-04 9.99999879e-01 4.76499211e-04 -2.52847488e+01] [ 6.62053519e-03 -4.75695890e-04 9.99977971e-01 1.76409017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.890714057 meters Centerline goodness [0,1] 0.98151299685278 Centerline is valid? [True, True] Translation: X:529.12, Y:-25.28, Z:1.76 [[ 9.99968926e-01 2.79466615e-04 -7.87837076e-03 5.29117389e+02] [-2.75050634e-04 9.99999804e-01 5.61597515e-04 -2.52836542e+01] [ 7.87852616e-03 -5.59413113e-04 9.99968807e-01 1.76293713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9207140569999 meters Centerline goodness [0,1] 0.9811188811188811 Centerline is valid? [True, True] Translation: X:529.15, Y:-25.29, Z:1.76 [[ 9.99969516e-01 1.72334509e-03 -7.61563064e-03 5.29145326e+02] [-1.71924331e-03 9.99998374e-01 5.45113431e-04 -2.52851136e+01] [ 7.61655767e-03 -5.32003692e-04 9.99970852e-01 1.76226566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9507140569999 meters Centerline goodness [0,1] 0.9815168748834607 Centerline is valid? [True, True] Translation: X:529.17, Y:-25.28, Z:1.76 [[ 9.99973803e-01 2.28689111e-03 -6.86763279e-03 5.29174282e+02] [-2.28359880e-03 9.99997274e-01 4.87198223e-04 -2.52829940e+01] [ 6.86872824e-03 -4.71502542e-04 9.99976299e-01 1.76361071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.980714057 meters Centerline goodness [0,1] 0.9815281276238456 Centerline is valid? [True, True] Translation: X:529.20, Y:-25.28, Z:1.76 [[ 9.99975551e-01 4.66322471e-03 -5.21080145e-03 5.29204208e+02] [-4.66134805e-03 9.99989067e-01 3.72233781e-04 -2.52835849e+01] [ 5.21248028e-03 -3.47935321e-04 9.99986354e-01 1.76326924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.010714057 meters Centerline goodness [0,1] 0.9818946384768135 Centerline is valid? [True, True] Translation: X:529.23, Y:-25.28, Z:1.76 [[ 9.99971416e-01 6.09715897e-03 -4.47122975e-03 5.29233606e+02] [-6.09579516e-03 9.99981370e-01 3.18583043e-04 -2.52844681e+01] [ 4.47308890e-03 -2.91318236e-04 9.99989953e-01 1.76310977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.040714057 meters Centerline goodness [0,1] 0.9814277694610778 Centerline is valid? [True, True] Translation: X:529.26, Y:-25.29, Z:1.76 [[ 9.99959120e-01 8.49732408e-03 -3.09104944e-03 5.29262844e+02] [-8.49668398e-03 9.99963878e-01 2.20154487e-04 -2.52863396e+01] [ 3.09280851e-03 -1.93881817e-04 9.99995198e-01 1.76289486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0707140569999 meters Centerline goodness [0,1] 0.9832584059192657 Centerline is valid? [True, True] Translation: X:529.29, Y:-25.28, Z:1.76 [[ 9.99948585e-01 9.73538571e-03 -2.83717284e-03 5.29292009e+02] [-9.73485370e-03 9.99952595e-01 2.01262183e-04 -2.52829096e+01] [ 2.83899771e-03 -1.73632372e-04 9.99995955e-01 1.76335268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1007140569999 meters Centerline goodness [0,1] 0.9829693401205752 Centerline is valid? [True, True] Translation: X:529.32, Y:-25.29, Z:1.76 [[ 9.99939196e-01 1.03400915e-02 -3.83225948e-03 5.29319263e+02] [-1.03391261e-02 9.99946513e-01 2.71627680e-04 -2.52854468e+01] [ 3.83486315e-03 -2.31988950e-04 9.99992620e-01 1.76149390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.130714057 meters Centerline goodness [0,1] 0.9829035742802122 Centerline is valid? [True, True] Translation: X:529.35, Y:-25.29, Z:1.76 [[ 9.99930106e-01 1.05829802e-02 -5.27097679e-03 5.29347702e+02] [-1.05811551e-02 9.99943948e-01 3.74028505e-04 -2.52875834e+01] [ 5.27463967e-03 -3.18229340e-04 9.99986038e-01 1.75930603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.160714057 meters Centerline goodness [0,1] 0.9834958739684921 Centerline is valid? [True, True] Translation: X:529.38, Y:-25.29, Z:1.76 [[ 9.99903985e-01 1.11034145e-02 -8.29063708e-03 5.29376137e+02] [-1.10989167e-02 9.99938232e-01 5.88328276e-04 -2.52870648e+01] [ 8.29665744e-03 -4.96254697e-04 9.99965459e-01 1.75564981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1907140569999 meters Centerline goodness [0,1] 0.983867549045006 Centerline is valid? [True, True] Translation: X:529.40, Y:-25.29, Z:1.75 [[ 9.99892180e-01 1.09880766e-02 -9.74114603e-03 5.29404651e+02] [-1.09818664e-02 9.99939459e-01 6.90782634e-04 -2.52888957e+01] [ 9.74814667e-03 -5.83732190e-04 9.99952315e-01 1.75383986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2207140569999 meters Centerline goodness [0,1] 0.9843125192248539 Centerline is valid? [True, True] Translation: X:529.43, Y:-25.29, Z:1.75 [[ 9.99858702e-01 1.22439574e-02 -1.15178549e-02 5.29433495e+02] [-1.22353651e-02 9.99924812e-01 8.16170739e-04 -2.52893104e+01] [ 1.15269821e-02 -6.75130256e-04 9.99933334e-01 1.75165745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.250714057 meters Centerline goodness [0,1] 0.9853682789970879 Centerline is valid? [True, True] Translation: X:529.46, Y:-25.29, Z:1.75 [[ 9.99834495e-01 1.37562710e-02 -1.19058033e-02 5.29462814e+02] [-1.37472011e-02 9.99905147e-01 8.43314980e-04 -2.52878305e+01] [ 1.19162749e-02 -6.79503935e-04 9.99928768e-01 1.75180003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.280714057 meters Centerline goodness [0,1] 0.9862501479114898 Centerline is valid? [True, True] Translation: X:529.49, Y:-25.28, Z:1.75 [[ 9.99811991e-01 1.64064137e-02 -1.03350408e-02 5.29493163e+02] [-1.63997178e-02 9.99865247e-01 7.32299258e-04 -2.52844901e+01] [ 1.03456626e-02 -5.62669825e-04 9.99946324e-01 1.75445843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3107140569999 meters Centerline goodness [0,1] 0.9852708229898102 Centerline is valid? [True, True] Translation: X:529.52, Y:-25.29, Z:1.76 [[ 9.99822276e-01 1.73950828e-02 -7.26824350e-03 5.29521939e+02] [-1.73918048e-02 9.99848619e-01 5.13980080e-04 -2.52860049e+01] [ 7.27608395e-03 -3.87480862e-04 9.99973454e-01 1.75636094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3407140569999 meters Centerline goodness [0,1] 0.984564393939394 Centerline is valid? [True, True] Translation: X:529.55, Y:-25.29, Z:1.76 [[ 9.99828998e-01 1.74751352e-02 -6.04927313e-03 5.29550359e+02] [-1.74728709e-02 9.99847247e-01 4.26951017e-04 -2.52880718e+01] [ 6.05581010e-03 -3.21179840e-04 9.99981612e-01 1.75667971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.370714057 meters Centerline goodness [0,1] 0.9849503455759205 Centerline is valid? [True, True] Translation: X:529.58, Y:-25.29, Z:1.76 [[ 9.99864805e-01 1.60386663e-02 -3.62386798e-03 5.29578323e+02] [-1.60378508e-02 9.99871353e-01 2.53977800e-04 -2.52934628e+01] [ 3.62747525e-03 -1.95824410e-04 9.99993402e-01 1.75760506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.400714057 meters Centerline goodness [0,1] 0.9830748530557326 Centerline is valid? [True, True] Translation: X:529.61, Y:-25.30, Z:1.76 [[ 9.99889787e-01 1.46011993e-02 -2.68684189e-03 5.29605890e+02] [-1.46007461e-02 9.99893386e-01 1.88192056e-04 -2.53027161e+01] [ 2.68930326e-03 -1.48941418e-04 9.99996373e-01 1.75594008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4307140569999 meters Centerline goodness [0,1] 0.9828747038262134 Centerline is valid? [True, True] Translation: X:529.63, Y:-25.31, Z:1.76 [[ 9.99928163e-01 1.18338221e-02 -1.90516807e-03 5.29634506e+02] [-1.18335898e-02 9.99929972e-01 1.33165665e-04 -2.53093311e+01] [ 1.90661052e-03 -1.10611121e-04 9.99998176e-01 1.75664809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4607140569999 meters Centerline goodness [0,1] 0.9825170722549457 Centerline is valid? [True, True] Translation: X:529.66, Y:-25.32, Z:1.76 [[ 9.99942822e-01 1.05437885e-02 -1.78344873e-03 5.29661754e+02] [-1.05435836e-02 9.99944407e-01 1.24257557e-04 -2.53153937e+01] [ 1.78465973e-03 -1.05446512e-04 9.99998402e-01 1.75577395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.490714057 meters Centerline goodness [0,1] 0.9807773553020701 Centerline is valid? [True, True] Translation: X:529.69, Y:-25.32, Z:1.75 [[ 9.99960243e-01 8.49556075e-03 -2.70887452e-03 5.29689545e+02] [-8.49507775e-03 9.99963898e-01 1.89760009e-04 -2.53233832e+01] [ 2.71038885e-03 -1.66740365e-04 9.99996313e-01 1.75340321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.520714057 meters Centerline goodness [0,1] 0.9835450752426047 Centerline is valid? [True, True] Translation: X:529.72, Y:-25.32, Z:1.75 [[ 9.99963260e-01 7.69077172e-03 -3.78564422e-03 5.29718585e+02] [-7.68982372e-03 9.99970398e-01 2.64910887e-04 -2.53183259e+01] [ 3.78756953e-03 -2.35790218e-04 9.99992799e-01 1.75447801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5507140569999 meters Centerline goodness [0,1] 0.9821236621956349 Centerline is valid? [True, True] Translation: X:529.74, Y:-25.33, Z:1.75 [[ 9.99946929e-01 7.87738934e-03 -6.63977589e-03 5.29744810e+02] [-7.87447492e-03 9.99968888e-01 4.64961238e-04 -2.53335739e+01] [ 6.64323199e-03 -4.12651813e-04 9.99977848e-01 1.74766344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5807140569999 meters Centerline goodness [0,1] 0.9840479955352991 Centerline is valid? [True, True] Translation: X:529.77, Y:-25.33, Z:1.75 [[ 9.99909519e-01 1.02695007e-02 -8.68852970e-03 5.29774106e+02] [-1.02646023e-02 9.99947133e-01 6.08176998e-04 -2.53283180e+01] [ 8.69431603e-03 -5.18937668e-04 9.99962069e-01 1.74896534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.610714057 meters Centerline goodness [0,1] 0.9839904921700223 Centerline is valid? [True, True] Translation: X:529.80, Y:-25.33, Z:1.75 [[ 9.99885207e-01 1.18272355e-02 -9.47048793e-03 5.29802860e+02] [-1.18214909e-02 9.99929904e-01 6.62331827e-04 -2.53301079e+01] [ 9.47765764e-03 -5.50300509e-04 9.99954935e-01 1.74899135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.640714057 meters Centerline goodness [0,1] 0.9836531296572281 Centerline is valid? [True, True] Translation: X:529.83, Y:-25.33, Z:1.75 [[ 9.99830465e-01 1.58673590e-02 -9.34171739e-03 5.29832207e+02] [-1.58619414e-02 9.99873978e-01 6.53748188e-04 -2.53346304e+01] [ 9.35091338e-03 -5.05459581e-04 9.99956152e-01 1.74896587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6707140569999 meters Centerline goodness [0,1] 0.983906976744186 Centerline is valid? [True, True] Translation: X:529.86, Y:-25.33, Z:1.75 [[ 9.99795386e-01 1.83122853e-02 -8.59343570e-03 5.29862438e+02] [-1.83077914e-02 9.99832218e-01 6.01328432e-04 -2.53347051e+01] [ 8.60300557e-03 -4.43878564e-04 9.99962895e-01 1.75026697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7007140569999 meters Centerline goodness [0,1] 0.9843376013756884 Centerline is valid? [True, True] Translation: X:529.89, Y:-25.34, Z:1.75 [[ 9.99756774e-01 2.07829457e-02 -7.37987330e-03 5.29891184e+02] [-2.07797028e-02 9.99783946e-01 5.15843113e-04 -2.53391903e+01] [ 7.38899959e-03 -3.62366072e-04 9.99972635e-01 1.74999831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.730714057 meters Centerline goodness [0,1] 0.9843436556065392 Centerline is valid? [True, True] Translation: X:529.92, Y:-25.34, Z:1.75 [[ 9.99646776e-01 2.61841243e-02 -4.55143299e-03 5.29920883e+02] [-2.61829470e-02 9.99657117e-01 3.18067046e-04 -2.53416318e+01] [ 4.55820069e-03 -1.98784769e-04 9.99989592e-01 1.75205412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.760714057 meters Centerline goodness [0,1] 0.9848488337286145 Centerline is valid? [True, True] Translation: X:529.95, Y:-25.34, Z:1.75 [[ 9.99500443e-01 3.15932433e-02 -8.55753016e-04 5.29950803e+02] [-3.15932037e-02 9.99500808e-01 5.98092665e-05 -2.53439397e+01] [ 8.57215400e-04 -3.27434090e-05 9.99999632e-01 1.75463732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.790714057 meters Centerline goodness [0,1] 0.9844918559302592 Centerline is valid? [True, True] Translation: X:529.98, Y:-25.35, Z:1.76 [[ 9.99428979e-01 3.37879633e-02 2.98931591e-04 5.29979760e+02] [-3.37879581e-02 9.99429024e-01 -2.25736101e-05 -2.53471364e+01] [-2.99523625e-04 1.24604321e-05 9.99999955e-01 1.75508393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8207140569999 meters Centerline goodness [0,1] 0.9855563234277817 Centerline is valid? [True, True] Translation: X:530.01, Y:-25.35, Z:1.76 [[ 9.99328363e-01 3.66274195e-02 1.12020250e-03 5.30008795e+02] [-3.66273511e-02 9.99328990e-01 -8.15112328e-05 -2.53487455e+01] [-1.12243638e-03 4.04264367e-05 9.99999369e-01 1.75719009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8507140569999 meters Centerline goodness [0,1] 0.9856555021723639 Centerline is valid? [True, True] Translation: X:530.04, Y:-25.35, Z:1.76 [[ 9.99290772e-01 3.76198911e-02 1.64216758e-03 5.30035992e+02] [-3.76197520e-02 9.99292120e-01 -1.15508023e-04 -2.53533717e+01] [-1.64535052e-03 5.36481646e-05 9.99998645e-01 1.75635939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.880714057 meters Centerline goodness [0,1] 0.9856125028729028 Centerline is valid? [True, True] Translation: X:530.06, Y:-25.36, Z:1.76 [[ 9.99279336e-01 3.79360485e-02 1.29059714e-03 5.30064661e+02] [-3.79359630e-02 9.99280168e-01 -9.07234827e-05 -2.53593017e+01] [-1.29310982e-03 4.16980561e-05 9.99999163e-01 1.75557212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.910714057 meters Centerline goodness [0,1] 0.9856125028729028 Centerline is valid? [True, True] Translation: X:530.09, Y:-25.36, Z:1.76 [[ 9.99283394e-01 3.78289946e-02 1.29056877e-03 5.30092066e+02] [-3.78289085e-02 9.99284227e-01 -9.11331298e-05 -2.53611170e+01] [-1.29309249e-03 4.22470153e-05 9.99999163e-01 1.75515039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9407140569999 meters Centerline goodness [0,1] 0.9865730503567602 Centerline is valid? [True, True] Translation: X:530.12, Y:-25.37, Z:1.75 [[ 9.99287743e-01 3.77186351e-02 1.14467508e-03 5.30118221e+02] [-3.77185657e-02 9.99288398e-01 -8.20996265e-05 -2.53670817e+01] [-1.14695722e-03 3.88656482e-05 9.99999341e-01 1.75349897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9707140569999 meters Centerline goodness [0,1] 0.9871141061834077 Centerline is valid? [True, True] Translation: X:530.15, Y:-25.38, Z:1.75 [[ 9.99368717e-01 3.55269084e-02 -7.97874826e-05 5.30147103e+02] [-3.55269081e-02 9.99368720e-01 4.96287400e-06 -2.53766986e+01] [ 7.99134300e-05 -2.12513846e-06 9.99999997e-01 1.75066462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.000714057 meters Centerline goodness [0,1] 0.9869724521644728 Centerline is valid? [True, True] Translation: X:530.17, Y:-25.39, Z:1.75 [[ 9.99448060e-01 3.32072629e-02 -9.23931622e-04 5.30174286e+02] [-3.32072191e-02 9.99448486e-01 6.26945384e-05 -2.53901203e+01] [ 9.25503975e-04 -3.19787349e-05 9.99999571e-01 1.74764503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.030714057 meters Centerline goodness [0,1] 0.9868057755850269 Centerline is valid? [True, True] Translation: X:530.20, Y:-25.40, Z:1.75 [[ 9.99492190e-01 3.18246504e-02 -1.59818915e-03 5.30202875e+02] [-3.18245165e-02 9.99493466e-01 1.09141845e-04 -2.53956091e+01] [ 1.60085301e-03 -5.82248252e-05 9.99998717e-01 1.74659841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0607140569999 meters Centerline goodness [0,1] 0.9867431915372497 Centerline is valid? [True, True] Translation: X:530.23, Y:-25.41, Z:1.75 [[ 9.99524641e-01 3.08083688e-02 -1.15641229e-03 5.30230120e+02] [-3.08082996e-02 9.99525309e-01 7.76115788e-05 -2.54069933e+01] [ 1.15825444e-03 -4.19475891e-05 9.99999328e-01 1.74593569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0907140569999 meters Centerline goodness [0,1] 0.9860353382277003 Centerline is valid? [True, True] Translation: X:530.26, Y:-25.41, Z:1.75 [[ 9.99518003e-01 3.10406467e-02 -4.89324286e-04 5.30259032e+02] [-3.10406344e-02 9.99518123e-01 3.25588748e-05 -2.54093051e+01] [ 4.90099141e-04 -1.73542453e-05 9.99999880e-01 1.74773714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.120714057 meters Centerline goodness [0,1] 0.9870187803898827 Centerline is valid? [True, True] Translation: X:530.29, Y:-25.42, Z:1.75 [[ 9.99448960e-01 3.31008465e-02 2.47179819e-03 5.30287394e+02] [-3.31005261e-02 9.99452013e-01 -1.70428527e-04 -2.54189623e+01] [-2.47608501e-03 8.85167940e-05 9.99996931e-01 1.74817778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.150714057 meters Centerline goodness [0,1] 0.9873695525596811 Centerline is valid? [True, True] Translation: X:530.32, Y:-25.42, Z:1.75 [[ 9.99429371e-01 3.35947328e-02 3.51090602e-03 5.30316128e+02] [-3.35940892e-02 9.99435530e-01 -2.42146851e-04 -2.54220128e+01] [-3.51705908e-03 1.24062985e-04 9.99993807e-01 1.74908109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1807140569999 meters Centerline goodness [0,1] 0.9878559650608316 Centerline is valid? [True, True] Translation: X:530.34, Y:-25.43, Z:1.75 [[ 9.99374810e-01 3.49851707e-02 5.10163796e-03 5.30343449e+02] [-3.49838333e-02 9.99387817e-01 -3.51177579e-04 -2.54306269e+01] [-5.11080083e-03 1.72483174e-04 9.99986925e-01 1.74865833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2107140569999 meters Centerline goodness [0,1] 0.988409673464839 Centerline is valid? [True, True] Translation: X:530.37, Y:-25.44, Z:1.75 [[ 9.99381871e-01 3.47535927e-02 5.29744287e-03 5.30371051e+02] [-3.47521493e-02 9.99395895e-01 -3.64304366e-04 -2.54359154e+01] [-5.30690355e-03 1.79981654e-04 9.99985902e-01 1.74828044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.240714057 meters Centerline goodness [0,1] 0.9881676582659269 Centerline is valid? [True, True] Translation: X:530.40, Y:-25.44, Z:1.75 [[ 9.99444604e-01 3.28353747e-02 5.68530560e-03 5.30399458e+02] [-3.28336870e-02 9.99460753e-01 -3.89944713e-04 -2.54430591e+01] [-5.69504379e-03 2.03058594e-04 9.99983762e-01 1.74843108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.270714057 meters Centerline goodness [0,1] 0.9888125830748782 Centerline is valid? [True, True] Translation: X:530.43, Y:-25.45, Z:1.75 [[ 9.99529548e-01 3.00985038e-02 5.89603132e-03 5.30426843e+02] [-3.00966440e-02 9.99546912e-01 -4.03927267e-04 -2.54541051e+01] [-5.90551750e-03 2.26286483e-04 9.99982537e-01 1.74716464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3007140569999 meters Centerline goodness [0,1] 0.9872365884464535 Centerline is valid? [True, True] Translation: X:530.46, Y:-25.46, Z:1.75 [[ 9.99592659e-01 2.78696779e-02 6.14797308e-03 5.30456228e+02] [-2.78676186e-02 9.99611534e-01 -4.20371336e-04 -2.54602214e+01] [-6.15730042e-03 2.48870732e-04 9.99981013e-01 1.74635479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3307140569999 meters Centerline goodness [0,1] 0.9878791892965956 Centerline is valid? [True, True] Translation: X:530.48, Y:-25.47, Z:1.74 [[ 9.99693111e-01 2.39534076e-02 6.31808623e-03 5.30483364e+02] [-2.39511543e-02 9.99713037e-01 -4.32075840e-04 -2.54723751e+01] [-6.32662286e-03 2.80617782e-04 9.99979947e-01 1.74499188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.360714057 meters Centerline goodness [0,1] 0.986562864243144 Centerline is valid? [True, True] Translation: X:530.51, Y:-25.48, Z:1.74 [[ 9.99736234e-01 2.20619588e-02 6.38214676e-03 5.30510544e+02] [-2.20596232e-02 9.99756562e-01 -4.36137735e-04 -2.54788141e+01] [-6.39021515e-03 2.95234944e-04 9.99979539e-01 1.74400479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.390714057 meters Centerline goodness [0,1] 0.9873223035176762 Centerline is valid? [True, True] Translation: X:530.54, Y:-25.48, Z:1.74 [[ 9.99801992e-01 1.90087386e-02 5.88596413e-03 5.30539257e+02] [-1.90067035e-02 9.99819276e-01 -4.01507727e-04 -2.54841212e+01] [-5.89253255e-03 2.89555450e-04 9.99982597e-01 1.74377398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4207140569999 meters Centerline goodness [0,1] 0.9871367108613575 Centerline is valid? [True, True] Translation: X:530.57, Y:-25.49, Z:1.74 [[ 9.99825950e-01 1.77509205e-02 5.74227154e-03 5.30566271e+02] [-1.77489627e-02 9.99842398e-01 -3.91739594e-04 -2.54901981e+01] [-5.74832029e-03 2.89752049e-04 9.99983436e-01 1.74297594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4507140569999 meters Centerline goodness [0,1] 0.9872109320252278 Centerline is valid? [True, True] Translation: X:530.59, Y:-25.50, Z:1.74 [[ 9.99846269e-01 1.62578215e-02 6.56665517e-03 5.30594123e+02] [-1.62552362e-02 9.99867775e-01 -4.46884580e-04 -2.54994998e+01] [-6.57305227e-03 3.40073350e-04 9.99978339e-01 1.74241825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.480714057 meters Centerline goodness [0,1] 0.9871708010053546 Centerline is valid? [True, True] Translation: X:530.62, Y:-25.50, Z:1.74 [[ 9.99849498e-01 1.59799532e-02 6.75436877e-03 5.30623102e+02] [-1.59772132e-02 9.99872251e-01 -4.59441265e-04 -2.54994019e+01] [-6.76084776e-03 3.51456129e-04 9.99977083e-01 1.74298195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.510714057 meters Centerline goodness [0,1] 0.9868432574430823 Centerline is valid? [True, True] Translation: X:530.65, Y:-25.50, Z:1.74 [[ 9.99853340e-01 1.52431865e-02 7.80659567e-03 5.30651620e+02] [-1.52395097e-02 9.99883731e-01 -5.30268080e-04 -2.55047588e+01] [-7.81377098e-03 4.11221621e-04 9.99969387e-01 1.74337228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.540714057 meters Centerline goodness [0,1] 0.9866465600139872 Centerline is valid? [True, True] Translation: X:530.68, Y:-25.51, Z:1.74 [[ 9.99856716e-01 1.44270186e-02 8.85482108e-03 5.30680252e+02] [-1.44222642e-02 9.99895813e-01 -6.00554387e-04 -2.55106511e+01] [-8.86256274e-03 4.72761768e-04 9.99960615e-01 1.74352601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5707140569999 meters Centerline goodness [0,1] 0.9863112234888942 Centerline is valid? [True, True] Translation: X:530.71, Y:-25.51, Z:1.74 [[ 9.99864305e-01 1.37777139e-02 9.03028085e-03 5.30709816e+02] [-1.37727484e-02 9.99904964e-01 -6.11832605e-04 -2.55146170e+01] [-9.03785231e-03 4.87377796e-04 9.99959039e-01 1.74303989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6007140569999 meters Centerline goodness [0,1] 0.9859259259259259 Centerline is valid? [True, True] Translation: X:530.74, Y:-25.52, Z:1.74 [[ 9.99904482e-01 1.05735702e-02 8.90097774e-03 5.30739606e+02] [-1.05686231e-02 9.99943969e-01 -6.02647669e-04 -2.55208154e+01] [-8.90685114e-03 5.08519026e-04 9.99960204e-01 1.74197513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.630714057 meters Centerline goodness [0,1] 0.9856226885791189 Centerline is valid? [True, True] Translation: X:530.77, Y:-25.52, Z:1.74 [[ 9.99931990e-01 8.03922229e-03 8.44901868e-03 5.30770570e+02] [-8.03467792e-03 9.99967558e-01 -5.71663936e-04 -2.55229694e+01] [-8.45334031e-03 5.03739913e-04 9.99964143e-01 1.74143485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.660714057 meters Centerline goodness [0,1] 0.985276207046542 Centerline is valid? [True, True] Translation: X:530.80, Y:-25.53, Z:1.74 [[ 9.99955094e-01 2.86313507e-03 9.03395191e-03 5.30799404e+02] [-2.85772703e-03 9.99995730e-01 -6.11487356e-04 -2.55320152e+01] [-9.03566411e-03 5.85643328e-04 9.99959006e-01 1.74087590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6907140569999 meters Centerline goodness [0,1] 0.9849107472876307 Centerline is valid? [True, True] Translation: X:530.83, Y:-25.53, Z:1.74 [[ 9.99957123e-01 2.87704218e-04 9.25580307e-03 5.30830693e+02] [-2.81918267e-04 9.99999764e-01 -6.26414711e-04 -2.55349413e+01] [-9.25598111e-03 6.23778472e-04 9.99956968e-01 1.74101858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7207140569999 meters Centerline goodness [0,1] 0.9838287285583345 Centerline is valid? [True, True] Translation: X:530.86, Y:-25.54, Z:1.74 [[ 9.99938393e-01 -5.25787233e-03 9.77570270e-03 5.30861668e+02] [ 5.26459437e-03 9.99985923e-01 -6.62021229e-04 -2.55413040e+01] [-9.77208426e-03 7.13445553e-04 9.99951998e-01 1.74128536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.750714057 meters Centerline goodness [0,1] 0.9828143647607681 Centerline is valid? [True, True] Translation: X:530.89, Y:-25.55, Z:1.74 [[ 9.99899706e-01 -1.01170395e-02 9.91078483e-03 5.30892694e+02] [ 1.01241888e-02 9.99948524e-01 -6.71451099e-04 -2.55472348e+01] [-9.90348156e-03 7.71722413e-04 9.99950662e-01 1.74034480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.780714057 meters Centerline goodness [0,1] 0.982236585260053 Centerline is valid? [True, True] Translation: X:530.92, Y:-25.55, Z:1.74 [[ 9.99883618e-01 -1.18444237e-02 9.61559200e-03 5.30924022e+02] [ 1.18512352e-02 9.99929559e-01 -6.51717364e-04 -2.55514202e+01] [-9.60719546e-03 7.65598159e-04 9.99953557e-01 1.73933255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8107140569999 meters Centerline goodness [0,1] 0.9813852343155377 Centerline is valid? [True, True] Translation: X:530.96, Y:-25.55, Z:1.74 [[ 9.99867244e-01 -1.38815632e-02 8.53209303e-03 5.30955395e+02] [ 1.38870020e-02 9.99903404e-01 -5.78525349e-04 -2.55535833e+01] [-8.52323803e-03 6.96933739e-04 9.99963434e-01 1.73865148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8407140569999 meters Centerline goodness [0,1] 0.9814097261526405 Centerline is valid? [True, True] Translation: X:530.99, Y:-25.55, Z:1.74 [[ 9.99875207e-01 -1.35700540e-02 8.08847235e-03 5.30987328e+02] [ 1.35749317e-02 9.99907706e-01 -5.48439351e-04 -2.55521070e+01] [-8.08028349e-03 6.58171370e-04 9.99967137e-01 1.73808860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.870714057 meters Centerline goodness [0,1] 0.9828551510794501 Centerline is valid? [True, True] Translation: X:531.02, Y:-25.55, Z:1.74 [[ 9.99900008e-01 -1.20273607e-02 7.43745769e-03 5.31017925e+02] [ 1.20314488e-02 9.99927492e-01 -5.05170755e-04 -2.55516960e+01] [-7.43084254e-03 5.94603634e-04 9.99972214e-01 1.73698229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.900714057 meters Centerline goodness [0,1] 0.9816853786466687 Centerline is valid? [True, True] Translation: X:531.05, Y:-25.55, Z:1.74 [[ 9.99914880e-01 -1.09336615e-02 7.11951386e-03 5.31048994e+02] [ 1.09373788e-02 9.99940068e-01 -4.83406871e-04 -2.55539155e+01] [-7.11380177e-03 5.61234543e-04 9.99974539e-01 1.73568524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9307140569999 meters Centerline goodness [0,1] 0.980631339629241 Centerline is valid? [True, True] Translation: X:531.08, Y:-25.55, Z:1.73 [[ 9.99931679e-01 -9.71985092e-03 6.49325676e-03 5.31080545e+02] [ 9.72292037e-03 9.99952634e-01 -4.41313858e-04 -2.55528051e+01] [-6.48865970e-03 5.04417125e-04 9.99978821e-01 1.73467796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9607140569999 meters Centerline goodness [0,1] 0.9819223118455855 Centerline is valid? [True, True] Translation: X:531.11, Y:-25.55, Z:1.73 [[ 9.99943250e-01 -8.92292591e-03 5.82042714e-03 5.31113379e+02] [ 8.92537677e-03 9.99960090e-01 -3.95239578e-04 -2.55520015e+01] [-5.81666815e-03 4.47166653e-04 9.99982983e-01 1.73411856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.990714057 meters Centerline goodness [0,1] 0.9824354178970623 Centerline is valid? [True, True] Translation: X:531.15, Y:-25.55, Z:1.73 [[ 9.99943241e-01 -8.94154743e-03 5.79332287e-03 5.31145716e+02] [ 8.94397963e-03 9.99959924e-01 -3.94056168e-04 -2.55510955e+01] [-5.78956723e-03 4.45849164e-04 9.99983141e-01 1.73386907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.020714057 meters Centerline goodness [0,1] 0.9832019498913067 Centerline is valid? [True, True] Translation: X:531.18, Y:-25.55, Z:1.73 [[ 9.99942883e-01 -8.85022850e-03 5.99208410e-03 5.31177926e+02] [ 8.85283152e-03 9.99960730e-01 -4.08024436e-04 -2.55476992e+01] [-5.98823768e-03 4.61048041e-04 9.99981964e-01 1.73406752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0507140569999 meters Centerline goodness [0,1] 0.982610595303113 Centerline is valid? [True, True] Translation: X:531.21, Y:-25.55, Z:1.73 [[ 9.99948726e-01 -8.10054062e-03 6.07673539e-03 5.31210094e+02] [ 8.10320673e-03 9.99967083e-01 -4.14247507e-04 -2.55486956e+01] [-6.07317974e-03 4.63467310e-04 9.99981451e-01 1.73370275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0807140569999 meters Centerline goodness [0,1] 0.9812908853030964 Centerline is valid? [True, True] Translation: X:531.24, Y:-25.55, Z:1.73 [[ 9.99957379e-01 -7.04802321e-03 5.96365060e-03 5.31241896e+02] [ 7.05057487e-03 9.99975062e-01 -4.06952856e-04 -2.55485052e+01] [-5.96063366e-03 4.48982677e-04 9.99982134e-01 1.73379086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.110714057 meters Centerline goodness [0,1] 0.9824173417998686 Centerline is valid? [True, True] Translation: X:531.27, Y:-25.54, Z:1.73 [[ 9.99964933e-01 -5.19452149e-03 6.56886491e-03 5.31273903e+02] [ 5.19758240e-03 9.99986392e-01 -4.48987498e-04 -2.55447097e+01] [-6.56644324e-03 4.83113970e-04 9.99978324e-01 1.73493432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.140714057 meters Centerline goodness [0,1] 0.9814261082131087 Centerline is valid? [True, True] Translation: X:531.31, Y:-25.55, Z:1.73 [[ 9.99969400e-01 -4.52429366e-03 6.38193069e-03 5.31306421e+02] [ 4.52717031e-03 9.99989657e-01 -4.36373953e-04 -2.55451909e+01] [-6.37989040e-03 4.65252687e-04 9.99979540e-01 1.73495305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1707140569999 meters Centerline goodness [0,1] 0.9824384025320351 Centerline is valid? [True, True] Translation: X:531.34, Y:-25.54, Z:1.73 [[ 9.99969810e-01 -4.31271982e-03 6.46378604e-03 5.31338740e+02] [ 4.31566931e-03 9.99990590e-01 -4.42432551e-04 -2.55423038e+01] [-6.46181712e-03 4.70314757e-04 9.99979012e-01 1.73487891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2007140569999 meters Centerline goodness [0,1] 0.9819632251419054 Centerline is valid? [True, True] Translation: X:531.37, Y:-25.54, Z:1.73 [[ 9.99966390e-01 -4.39532129e-03 6.92099402e-03 5.31370583e+02] [ 4.39870875e-03 9.99990213e-01 -4.74302219e-04 -2.55431365e+01] [-6.91884157e-03 5.04729715e-04 9.99975937e-01 1.73490090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.230714057 meters Centerline goodness [0,1] 0.9816463226545631 Centerline is valid? [True, True] Translation: X:531.40, Y:-25.55, Z:1.73 [[ 9.99965974e-01 -4.91139153e-03 6.62790654e-03 5.31401851e+02] [ 4.91451334e-03 9.99987820e-01 -4.54804887e-04 -2.55455577e+01] [-6.62559209e-03 4.87362347e-04 9.99977932e-01 1.73378777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.260714057 meters Centerline goodness [0,1] 0.981055510222085 Centerline is valid? [True, True] Translation: X:531.43, Y:-25.55, Z:1.73 [[ 9.99970716e-01 -5.56887458e-03 5.24920718e-03 5.31432829e+02] [ 5.57084233e-03 9.99984418e-01 -3.60318180e-04 -2.55466387e+01] [-5.24711882e-03 3.89550134e-04 9.99986158e-01 1.73181049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.290714057 meters Centerline goodness [0,1] 0.9810662571303204 Centerline is valid? [True, True] Translation: X:531.47, Y:-25.55, Z:1.73 [[ 9.99973531e-01 -5.18736367e-03 5.10191676e-03 5.31465070e+02] [ 5.18921796e-03 9.99986475e-01 -3.50279080e-04 -2.55481974e+01] [-5.10003072e-03 3.76744767e-04 9.99986924e-01 1.73090463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3207140569999 meters Centerline goodness [0,1] 0.9812176593636464 Centerline is valid? [True, True] Translation: X:531.50, Y:-25.55, Z:1.73 [[ 9.99975876e-01 -4.98276658e-03 4.83935822e-03 5.31497130e+02] [ 4.98443392e-03 9.99987522e-01 -3.32537662e-04 -2.55482154e+01] [-4.83764088e-03 3.56651101e-04 9.99988235e-01 1.73095859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3507140569999 meters Centerline goodness [0,1] 0.9817617811413737 Centerline is valid? [True, True] Translation: X:531.53, Y:-25.55, Z:1.73 [[ 9.99976612e-01 -4.54879126e-03 5.10723218e-03 5.31529255e+02] [ 4.55064478e-03 9.99989584e-01 -3.51359676e-04 -2.55494800e+01] [-5.10558073e-03 3.74592658e-04 9.99986896e-01 1.73057707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.380714057 meters Centerline goodness [0,1] 0.9831665451653523 Centerline is valid? [True, True] Translation: X:531.56, Y:-25.54, Z:1.73 [[ 9.99984549e-01 -3.38081851e-03 4.41265755e-03 5.31562207e+02] [ 3.38219133e-03 9.99994234e-01 -3.03685894e-04 -2.55399978e+01] [-4.41160540e-03 3.18605654e-04 9.99990218e-01 1.73168931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.410714057 meters Centerline goodness [0,1] 0.9814217548820359 Centerline is valid? [True, True] Translation: X:531.59, Y:-25.55, Z:1.73 [[ 9.99986861e-01 -2.05377499e-03 4.69671185e-03 5.31592488e+02] [ 2.05531950e-03 9.99997835e-01 -3.24047776e-04 -2.55509675e+01] [-4.69603616e-03 3.33696762e-04 9.99988918e-01 1.72992245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4407140569999 meters Centerline goodness [0,1] 0.9813507953011968 Centerline is valid? [True, True] Translation: X:531.62, Y:-25.55, Z:1.73 [[ 9.99986775e-01 1.68536334e-03 4.85894957e-03 5.31621991e+02] [-1.68375063e-03 9.99998526e-01 -3.35974880e-04 -2.55514506e+01] [-4.85950864e-03 3.27789177e-04 9.99988139e-01 1.72869178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4707140569999 meters Centerline goodness [0,1] 0.9817943360156494 Centerline is valid? [True, True] Translation: X:531.65, Y:-25.55, Z:1.73 [[ 9.99981834e-01 4.00218549e-03 4.50710878e-03 5.31653058e+02] [-4.00082309e-03 9.99991948e-01 -3.11253427e-04 -2.55508377e+01] [-4.50831818e-03 2.93215628e-04 9.99989794e-01 1.72854922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.500714057 meters Centerline goodness [0,1] 0.9823917828319882 Centerline is valid? [True, True] Translation: X:531.68, Y:-25.55, Z:1.73 [[ 9.99946540e-01 9.69922101e-03 3.58347136e-03 5.31683356e+02] [-9.69839543e-03 9.99952939e-01 -2.47692071e-04 -2.55478208e+01] [-3.58570513e-03 2.12924907e-04 9.99993549e-01 1.72772630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.530714057 meters Centerline goodness [0,1] 0.9842341342097082 Centerline is valid? [True, True] Translation: X:531.71, Y:-25.54, Z:1.73 [[ 9.99916477e-01 1.25184265e-02 3.21366719e-03 5.31713710e+02] [-1.25177757e-02 9.99921625e-01 -2.22544028e-04 -2.55381945e+01] [-3.21620122e-03 1.82297475e-04 9.99994811e-01 1.72885486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5607140569999 meters Centerline goodness [0,1] 0.9840117247351942 Centerline is valid? [True, True] Translation: X:531.74, Y:-25.55, Z:1.73 [[ 9.99837528e-01 1.76831947e-02 3.49614811e-03 5.31742491e+02] [-1.76824572e-02 9.99843624e-01 -2.41758334e-04 -2.55455766e+01] [-3.49987645e-03 1.79898565e-04 9.99993859e-01 1.72636365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5907140569999 meters Centerline goodness [0,1] 0.985020396335347 Centerline is valid? [True, True] Translation: X:531.77, Y:-25.54, Z:1.73 [[ 9.99802603e-01 1.95464237e-02 3.56267980e-03 5.31771745e+02] [-1.95456679e-02 9.99808935e-01 -2.46852019e-04 -2.55391011e+01] [-3.56682417e-03 1.77168335e-04 9.99993623e-01 1.72776442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.620714057 meters Centerline goodness [0,1] 0.9843404938767316 Centerline is valid? [True, True] Translation: X:531.80, Y:-25.54, Z:1.73 [[ 9.99763936e-01 2.12828770e-02 4.37161501e-03 5.31799261e+02] [-2.12817571e-02 9.99773472e-01 -3.02536373e-04 -2.55415673e+01] [-4.37706356e-03 2.09429306e-04 9.99990399e-01 1.72745811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.650714057 meters Centerline goodness [0,1] 0.9843263672743442 Centerline is valid? [True, True] Translation: X:531.83, Y:-25.54, Z:1.73 [[ 9.99756206e-01 2.15749255e-02 4.69581736e-03 5.31826921e+02] [-2.15736386e-02 9.99767209e-01 -3.24529626e-04 -2.55443128e+01] [-4.70172592e-03 2.23144641e-04 9.99988922e-01 1.72738618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6807140569999 meters Centerline goodness [0,1] 0.9847448594395346 Centerline is valid? [True, True] Translation: X:531.85, Y:-25.55, Z:1.73 [[ 9.99780343e-01 2.01636992e-02 5.71768598e-03 5.31854787e+02] [-2.01617735e-02 9.99796653e-01 -3.94240153e-04 -2.55488067e+01] [-5.72447264e-03 2.78874866e-04 9.99983576e-01 1.72803030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7107140569999 meters Centerline goodness [0,1] 0.9851167964404894 Centerline is valid? [True, True] Translation: X:531.88, Y:-25.55, Z:1.73 [[ 9.99842653e-01 1.64965817e-02 6.52169628e-03 5.31884618e+02] [-1.64940071e-02 9.99863864e-01 -4.48358007e-04 -2.55520694e+01] [-6.52820481e-03 3.40718554e-04 9.99978633e-01 1.72844403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.740714057 meters Centerline goodness [0,1] 0.9835919980461378 Centerline is valid? [True, True] Translation: X:531.91, Y:-25.56, Z:1.73 [[ 9.99875960e-01 1.43209123e-02 6.55554618e-03 5.31912763e+02] [-1.43182631e-02 9.99897387e-01 -4.50871445e-04 -2.55620812e+01] [-6.56133039e-03 3.56951484e-04 9.99978411e-01 1.72689686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.770714057 meters Centerline goodness [0,1] 0.9847640199888951 Centerline is valid? [True, True] Translation: X:531.94, Y:-25.56, Z:1.73 [[ 9.99907193e-01 1.21083338e-02 6.24456513e-03 5.31942570e+02] [-1.21058898e-02 9.99926629e-01 -4.29038476e-04 -2.55622480e+01] [-6.24930190e-03 3.53402641e-04 9.99980410e-01 1.72696608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8007140569999 meters Centerline goodness [0,1] 0.9849687403006252 Centerline is valid? [True, True] Translation: X:531.97, Y:-25.57, Z:1.73 [[ 9.99942486e-01 8.92323562e-03 5.94989362e-03 5.31972927e+02] [-8.92096361e-03 9.99960124e-01 -4.08288926e-04 -2.55674747e+01] [-5.95329962e-03 3.55186659e-04 9.99982216e-01 1.72617704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8307140569999 meters Centerline goodness [0,1] 0.9849687403006252 Centerline is valid? [True, True] Translation: X:532.00, Y:-25.57, Z:1.73 [[ 9.99942796e-01 8.88845149e-03 5.94987129e-03 5.32002064e+02] [-8.88617693e-03 9.99960434e-01 -4.08614289e-04 -2.55694430e+01] [-5.95326783e-03 3.55719305e-04 9.99982216e-01 1.72572907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.860714057 meters Centerline goodness [0,1] 0.9831585917669131 Centerline is valid? [True, True] Translation: X:532.03, Y:-25.58, Z:1.72 [[ 9.99951576e-01 8.02843477e-03 5.69113643e-03 5.32031239e+02] [-8.02634182e-03 9.99967712e-01 -3.90500469e-04 -2.55796573e+01] [-5.69408779e-03 3.44802553e-04 9.99983729e-01 1.72431176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.890714057 meters Centerline goodness [0,1] 0.9850339834842481 Centerline is valid? [True, True] Translation: X:532.06, Y:-25.57, Z:1.73 [[ 9.99956666e-01 8.07502831e-03 4.63243569e-03 5.32062771e+02] [-8.07364313e-03 9.99967357e-01 -3.17641057e-04 -2.55713188e+01] [-4.63484944e-03 2.80226660e-04 9.99989220e-01 1.72559160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9207140569999 meters Centerline goodness [0,1] 0.9847724711030565 Centerline is valid? [True, True] Translation: X:532.09, Y:-25.58, Z:1.72 [[ 9.99949631e-01 9.57952788e-03 2.99471735e-03 5.32091914e+02] [-9.57895505e-03 9.99954100e-01 -2.05566391e-04 -2.55763004e+01] [-2.99654912e-03 1.76869774e-04 9.99995495e-01 1.72380399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9507140569999 meters Centerline goodness [0,1] 0.98314084694013 Centerline is valid? [True, True] Translation: X:532.12, Y:-25.59, Z:1.72 [[ 9.99940787e-01 1.06211438e-02 2.36937876e-03 5.32119363e+02] [-1.06207865e-02 9.99943585e-01 -1.63329509e-04 -2.55887593e+01] [-2.37097984e-03 1.38155171e-04 9.99997180e-01 1.72048189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.980714057 meters Centerline goodness [0,1] 0.9856922057849415 Centerline is valid? [True, True] Translation: X:532.15, Y:-25.58, Z:1.72 [[ 9.99928218e-01 1.18497184e-02 1.77267983e-03 5.32149544e+02] [-1.18495204e-02 9.99929785e-01 -1.22129839e-04 -2.55775487e+01] [-1.77400256e-03 1.01115666e-04 9.99998421e-01 1.72268532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.010714057 meters Centerline goodness [0,1] 0.9860440388108634 Centerline is valid? [True, True] Translation: X:532.18, Y:-25.58, Z:1.72 [[ 9.99887235e-01 1.49641379e-02 1.26150867e-03 5.32178431e+02] [-1.49640402e-02 9.99888029e-01 -8.68246681e-05 -2.55800061e+01] [-1.26266667e-03 6.79376108e-05 9.99999201e-01 1.72211022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.040714057 meters Centerline goodness [0,1] 0.9858042081169117 Centerline is valid? [True, True] Translation: X:532.21, Y:-25.58, Z:1.72 [[ 9.99867301e-01 1.62348510e-02 1.34552918e-03 5.32206164e+02] [-1.62347402e-02 9.99868204e-01 -9.32158128e-05 -2.55845794e+01] [-1.34686518e-03 7.13591266e-05 9.99999090e-01 1.72106268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0707140569999 meters Centerline goodness [0,1] 0.9868453052110279 Centerline is valid? [True, True] Translation: X:532.24, Y:-25.58, Z:1.72 [[ 9.99816733e-01 1.90626495e-02 1.76527727e-03 5.32236141e+02] [-1.90624654e-02 9.99818287e-01 -1.21056430e-04 -2.55828791e+01] [-1.76726416e-03 8.73837069e-05 9.99998435e-01 1.72223679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1007140569999 meters Centerline goodness [0,1] 0.9866678458511132 Centerline is valid? [True, True] Translation: X:532.27, Y:-25.58, Z:1.72 [[ 9.99753203e-01 2.20682135e-02 2.55462508e-03 5.32265402e+02] [-2.20678386e-02 9.99756460e-01 -1.74850138e-04 -2.55843792e+01] [-2.55786156e-03 1.18431932e-04 9.99996722e-01 1.72230332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.130714057 meters Centerline goodness [0,1] 0.9870405590693971 Centerline is valid? [True, True] Translation: X:532.29, Y:-25.58, Z:1.72 [[ 9.99719713e-01 2.34494384e-02 3.25866462e-03 5.32294078e+02] [-2.34488351e-02 9.99725013e-01 -2.23214935e-04 -2.55838129e+01] [-3.26300280e-03 1.46740482e-04 9.99994666e-01 1.72295355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.160714057 meters Centerline goodness [0,1] 0.9868461708232178 Centerline is valid? [True, True] Translation: X:532.32, Y:-25.59, Z:1.72 [[ 9.99679255e-01 2.50248087e-02 3.89176564e-03 5.32321767e+02] [-2.50239612e-02 9.99686816e-01 -2.66329559e-04 -2.55856284e+01] [-3.89721165e-03 1.68856743e-04 9.99992392e-01 1.72323146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1907140569999 meters Centerline goodness [0,1] 0.9869423525785 Centerline is valid? [True, True] Translation: X:532.35, Y:-25.59, Z:1.72 [[ 9.99620589e-01 2.70796784e-02 5.03669346e-03 5.32350772e+02] [-2.70782904e-02 9.99633257e-01 -3.43583589e-04 -2.55856843e+01] [-5.04415042e-03 2.07068182e-04 9.99987257e-01 1.72472684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2207140569999 meters Centerline goodness [0,1] 0.9874355244015341 Centerline is valid? [True, True] Translation: X:532.38, Y:-25.59, Z:1.72 [[ 9.99629013e-01 2.67495422e-02 5.12816229e-03 5.32379978e+02] [-2.67481009e-02 9.99642144e-01 -3.49439838e-04 -2.55875312e+01] [-5.13567450e-03 2.12141598e-04 9.99986790e-01 1.72486025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.250714057 meters Centerline goodness [0,1] 0.9872545566610901 Centerline is valid? [True, True] Translation: X:532.41, Y:-25.59, Z:1.72 [[ 9.99695972e-01 2.42012782e-02 4.71819229e-03 5.32407844e+02] [-2.42000310e-02 9.99707085e-01 -3.21246696e-04 -2.55939342e+01] [-4.72458484e-03 2.06968629e-04 9.99988818e-01 1.72407837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.280714057 meters Centerline goodness [0,1] 0.9873892146920058 Centerline is valid? [True, True] Translation: X:532.44, Y:-25.60, Z:1.72 [[ 9.99739345e-01 2.24108615e-02 4.35844223e-03 5.32436125e+02] [-2.24097813e-02 9.99748825e-01 -2.96515782e-04 -2.55986648e+01] [-4.36399267e-03 1.98766757e-04 9.99990458e-01 1.72359717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3107140569999 meters Centerline goodness [0,1] 0.9870295182706025 Centerline is valid? [True, True] Translation: X:532.47, Y:-25.60, Z:1.72 [[ 9.99814042e-01 1.88431699e-02 4.10083155e-03 5.32466411e+02] [-1.88421879e-02 9.99822432e-01 -2.77975859e-04 -2.56028789e+01] [-4.10534132e-03 2.00655528e-04 9.99991553e-01 1.72293052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3407140569999 meters Centerline goodness [0,1] 0.9873033337000771 Centerline is valid? [True, True] Translation: X:532.49, Y:-25.61, Z:1.72 [[ 9.99877386e-01 1.51912279e-02 3.79996803e-03 5.32494809e+02] [-1.51903567e-02 9.99884587e-01 -2.57997449e-04 -2.56100293e+01] [-3.80344876e-03 2.00242945e-04 9.99992747e-01 1.72214642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.370714057 meters Centerline goodness [0,1] 0.9867469614716807 Centerline is valid? [True, True] Translation: X:532.52, Y:-25.61, Z:1.72 [[ 9.99903588e-01 1.34500875e-02 3.45094819e-03 5.32523926e+02] [-1.34493582e-02 9.99909526e-01 -2.34433779e-04 -2.56140387e+01] [-3.45378912e-03 1.87998138e-04 9.99994018e-01 1.72167962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.400714057 meters Centerline goodness [0,1] 0.9876928486659927 Centerline is valid? [True, True] Translation: X:532.55, Y:-25.62, Z:1.72 [[ 9.99942458e-01 1.03656290e-02 2.76317561e-03 5.32553771e+02] [-1.03651510e-02 9.99946263e-01 -1.87286115e-04 -2.56156629e+01] [-2.76496846e-03 1.58634606e-04 9.99996165e-01 1.72093474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4307140569999 meters Centerline goodness [0,1] 0.9864275220909071 Centerline is valid? [True, True] Translation: X:532.58, Y:-25.62, Z:1.72 [[ 9.99956994e-01 9.02609088e-03 2.13051012e-03 5.32581637e+02] [-9.02580255e-03 9.99959256e-01 -1.44910590e-04 -2.56236980e+01] [-2.13173129e-03 1.25674795e-04 9.99997720e-01 1.71876647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4607140569999 meters Centerline goodness [0,1] 0.9869060980172091 Centerline is valid? [True, True] Translation: X:532.61, Y:-25.62, Z:1.72 [[ 9.99976070e-01 6.86477743e-03 8.57411369e-04 5.32610860e+02] [-6.86472955e-03 9.99976436e-01 -5.87680432e-05 -2.56242831e+01] [-8.57794594e-04 5.28807397e-05 9.99999631e-01 1.71751099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.490714057 meters Centerline goodness [0,1] 0.9863139685111788 Centerline is valid? [True, True] Translation: X:532.64, Y:-25.63, Z:1.72 [[ 9.99979813e-01 6.33244019e-03 5.22303599e-04 5.32639665e+02] [-6.33242220e-03 9.99979949e-01 -3.60905049e-05 -2.56289534e+01] [-5.22521667e-04 3.27823295e-05 9.99999863e-01 1.71639513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.520714057 meters Centerline goodness [0,1] 0.9857123987319478 Centerline is valid? [True, True] Translation: X:532.67, Y:-25.63, Z:1.72 [[ 9.99983227e-01 5.77038242e-03 4.99209003e-04 5.32668125e+02] [-5.77036592e-03 9.99983351e-01 -3.44884698e-05 -2.56319761e+01] [-4.99399703e-04 3.16072727e-05 9.99999875e-01 1.71608189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5507140569999 meters Centerline goodness [0,1] 0.9856257417908479 Centerline is valid? [True, True] Translation: X:532.70, Y:-25.63, Z:1.72 [[ 9.99981064e-01 6.09470583e-03 8.51626236e-04 5.32697187e+02] [-6.09465823e-03 9.99981426e-01 -5.84788895e-05 -2.56316112e+01] [-8.51966829e-04 5.32874114e-05 9.99999636e-01 1.71683067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5807140569999 meters Centerline goodness [0,1] 0.9860211986218701 Centerline is valid? [True, True] Translation: X:532.73, Y:-25.63, Z:1.72 [[ 9.99966730e-01 7.99318354e-03 1.62728790e-03 5.32727484e+02] [-7.99301449e-03 9.99968049e-01 -1.10366739e-04 -2.56304226e+01] [-1.62811809e-03 9.73561310e-05 9.99998670e-01 1.71859367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.610714057 meters Centerline goodness [0,1] 0.9855527500274454 Centerline is valid? [True, True] Translation: X:532.76, Y:-25.64, Z:1.72 [[ 9.99956456e-01 9.02118396e-03 2.38853990e-03 5.32755488e+02] [-9.02082325e-03 9.99959298e-01 -1.61746647e-04 -2.56354201e+01] [-2.38990183e-03 1.40193008e-04 9.99997134e-01 1.71748437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.640714057 meters Centerline goodness [0,1] 0.9863112866074366 Centerline is valid? [True, True] Translation: X:532.79, Y:-25.63, Z:1.72 [[ 9.99934947e-01 1.07560810e-02 3.79582578e-03 5.32785375e+02] [-1.07551875e-02 9.99942129e-01 -2.55738664e-04 -2.56337863e+01] [-3.79835685e-03 2.14897210e-04 9.99992763e-01 1.71841132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6707140569999 meters Centerline goodness [0,1] 0.9854078378260299 Centerline is valid? [True, True] Translation: X:532.81, Y:-25.63, Z:1.72 [[ 9.99924477e-01 1.14843095e-02 4.37613176e-03 5.32814591e+02] [-1.14831290e-02 9.99934023e-01 -2.94791547e-04 -2.56346808e+01] [-4.37922852e-03 2.44517598e-04 9.99990381e-01 1.71821764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7007140569999 meters Centerline goodness [0,1] 0.9857456622007468 Centerline is valid? [True, True] Translation: X:532.84, Y:-25.63, Z:1.72 [[ 9.99899836e-01 1.33871999e-02 4.59347386e-03 5.32844419e+02] [-1.33859214e-02 9.99910357e-01 -3.08973688e-04 -2.56320231e+01] [-4.59719838e-03 2.47454860e-04 9.99989402e-01 1.71879793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.730714057 meters Centerline goodness [0,1] 0.9855018260219123 Centerline is valid? [True, True] Translation: X:532.87, Y:-25.63, Z:1.72 [[ 9.99866981e-01 1.57123308e-02 4.37535651e-03 5.32873531e+02] [-1.57111935e-02 9.99876528e-01 -2.94167222e-04 -2.56346546e+01] [-4.37943833e-03 2.25386019e-04 9.99990385e-01 1.71733216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.760714057 meters Centerline goodness [0,1] 0.985592866712055 Centerline is valid? [True, True] Translation: X:532.90, Y:-25.64, Z:1.72 [[ 9.99835136e-01 1.75809946e-02 4.53974016e-03 5.32902347e+02] [-1.75797887e-02 9.99845417e-01 -3.05407719e-04 -2.56352438e+01] [-4.54440777e-03 2.25549695e-04 9.99989649e-01 1.71687578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.790714057 meters Centerline goodness [0,1] 0.9854270470479298 Centerline is valid? [True, True] Translation: X:532.93, Y:-25.63, Z:1.72 [[ 9.99786433e-01 2.01708011e-02 4.49755951e-03 5.32931957e+02] [-2.01696467e-02 9.99796526e-01 -3.01895933e-04 -2.56340533e+01] [-4.50273386e-03 2.11117272e-04 9.99989840e-01 1.71648967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8207140569999 meters Centerline goodness [0,1] 0.987432596016287 Centerline is valid? [True, True] Translation: X:532.96, Y:-25.64, Z:1.72 [[ 9.99750369e-01 2.18403127e-02 4.71176187e-03 5.32960547e+02] [-2.18390632e-02 9.99761449e-01 -3.16462408e-04 -2.56352308e+01] [-4.71754951e-03 2.13482943e-04 9.99988850e-01 1.71648938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8507140569999 meters Centerline goodness [0,1] 0.9864123852099804 Centerline is valid? [True, True] Translation: X:532.99, Y:-25.64, Z:1.72 [[ 9.99729599e-01 2.27305655e-02 4.90418076e-03 5.32988385e+02] [-2.27292247e-02 9.99741604e-01 -3.28979326e-04 -2.56415364e+01] [-4.91039142e-03 2.17422144e-04 9.99987920e-01 1.71533836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.880714057 meters Centerline goodness [0,1] 0.9861034642235779 Centerline is valid? [True, True] Translation: X:533.02, Y:-25.64, Z:1.72 [[ 9.99686242e-01 2.45345121e-02 5.04726966e-03 5.33017853e+02] [-2.45331178e-02 9.99698961e-01 -3.37995636e-04 -2.56395028e+01] [-5.05404280e-03 2.14064326e-04 9.99987205e-01 1.71590602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.910714057 meters Centerline goodness [0,1] 0.9873498341861946 Centerline is valid? [True, True] Translation: X:533.05, Y:-25.64, Z:1.72 [[ 9.99654512e-01 2.55810942e-02 6.03849184e-03 5.33046512e+02] [-2.55791193e-02 9.99672719e-01 -4.04064268e-04 -2.56421717e+01] [-6.04685196e-03 2.49465365e-04 9.99981687e-01 1.71536131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9407140569999 meters Centerline goodness [0,1] 0.9867525098210388 Centerline is valid? [True, True] Translation: X:533.08, Y:-25.65, Z:1.71 [[ 9.99661176e-01 2.51795074e-02 6.59743996e-03 5.33075286e+02] [-2.51771451e-02 9.99682908e-01 -4.40890433e-04 -2.56452889e+01] [-6.60644937e-03 2.74636346e-04 9.99978139e-01 1.71453032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9707140569999 meters Centerline goodness [0,1] 0.9873428809179696 Centerline is valid? [True, True] Translation: X:533.10, Y:-25.65, Z:1.71 [[ 9.99688498e-01 2.39485633e-02 7.02656242e-03 5.33102651e+02] [-2.39458564e-02 9.99713147e-01 -4.69135955e-04 -2.56508853e+01] [-7.03578196e-03 3.00732763e-04 9.99975203e-01 1.71428686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.000714057 meters Centerline goodness [0,1] 0.9871078076695389 Centerline is valid? [True, True] Translation: X:533.13, Y:-25.65, Z:1.71 [[ 9.99712731e-01 2.29553647e-02 6.89251724e-03 5.33131652e+02] [-2.29527415e-02 9.99736446e-01 -4.59453351e-04 -2.56540449e+01] [-6.90124760e-03 3.01119198e-04 9.99976141e-01 1.71371784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.030714057 meters Centerline goodness [0,1] 0.9876050190943808 Centerline is valid? [True, True] Translation: X:533.16, Y:-25.66, Z:1.71 [[ 9.99730798e-01 2.20810851e-02 7.12440557e-03 5.33159810e+02] [-2.20782632e-02 9.99756133e-01 -4.74515336e-04 -2.56573361e+01] [-7.13314598e-03 3.17093094e-04 9.99974509e-01 1.71338853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0607140569999 meters Centerline goodness [0,1] 0.9855154785572281 Centerline is valid? [True, True] Translation: X:533.19, Y:-25.67, Z:1.71 [[ 9.99760432e-01 2.05434803e-02 7.55274019e-03 5.33187354e+02] [-2.05402707e-02 9.99788900e-01 -5.02289004e-04 -2.56673524e+01] [-7.56146457e-03 3.47033344e-04 9.99971352e-01 1.71236676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0907140569999 meters Centerline goodness [0,1] 0.9867178469389981 Centerline is valid? [True, True] Translation: X:533.22, Y:-25.67, Z:1.71 [[ 9.99781890e-01 1.91787651e-02 8.26727033e-03 5.33216652e+02] [-1.91748809e-02 9.99815994e-01 -5.48844344e-04 -2.56667316e+01] [-8.27627526e-03 3.90200711e-04 9.99965675e-01 1.71363105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.120714057 meters Centerline goodness [0,1] 0.9864912050979878 Centerline is valid? [True, True] Translation: X:533.24, Y:-25.67, Z:1.71 [[ 9.99795236e-01 1.83424378e-02 8.54642509e-03 5.33244767e+02] [-1.83382630e-02 9.99831679e-01 -5.66598439e-04 -2.56748759e+01] [-8.55537935e-03 4.09755829e-04 9.99963318e-01 1.71242788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.150714057 meters Centerline goodness [0,1] 0.9856218547807333 Centerline is valid? [True, True] Translation: X:533.27, Y:-25.68, Z:1.71 [[ 9.99803687e-01 1.77773686e-02 8.74948766e-03 5.33273989e+02] [-1.77729769e-02 9.99841880e-01 -5.79443006e-04 -2.56808562e+01] [-8.75840516e-03 4.23824812e-04 9.99961555e-01 1.71107124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1807140569999 meters Centerline goodness [0,1] 0.985940589756405 Centerline is valid? [True, True] Translation: X:533.30, Y:-25.68, Z:1.71 [[ 9.99811541e-01 1.71660326e-02 9.06695928e-03 5.33303250e+02] [-1.71612943e-02 9.99852554e-01 -6.00140483e-04 -2.56835980e+01] [-9.07592443e-03 4.44426625e-04 9.99958714e-01 1.71004456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2107140569999 meters Centerline goodness [0,1] 0.9844746266049437 Centerline is valid? [True, True] Translation: X:533.33, Y:-25.69, Z:1.71 [[ 9.99842973e-01 1.45132591e-02 1.01683136e-02 5.33331801e+02] [-1.45071703e-02 9.99894539e-01 -6.72314739e-04 -2.56909159e+01] [-1.01769987e-02 5.24695711e-04 9.99948075e-01 1.70938603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.240714057 meters Centerline goodness [0,1] 0.9841939341232743 Centerline is valid? [True, True] Translation: X:533.36, Y:-25.70, Z:1.71 [[ 9.99858831e-01 1.25864215e-02 1.11310241e-02 5.33360729e+02] [-1.25790003e-02 9.99920610e-01 -7.36480653e-04 -2.56965744e+01] [-1.11394101e-02 5.96359530e-04 9.99937777e-01 1.70903745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.270714057 meters Centerline goodness [0,1] 0.9843056160208968 Centerline is valid? [True, True] Translation: X:533.39, Y:-25.70, Z:1.71 [[ 9.99892824e-01 6.79948121e-03 1.29656316e-02 5.33391263e+02] [-6.78893083e-03 9.99976587e-01 -8.57558922e-04 -2.56974197e+01] [-1.29711590e-02 7.69444236e-04 9.99915575e-01 1.70973641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3007140569999 meters Centerline goodness [0,1] 0.9835282883743137 Centerline is valid? [True, True] Translation: X:533.42, Y:-25.70, Z:1.71 [[ 9.99909356e-01 3.55117937e-03 1.29872577e-02 5.33421858e+02] [-3.54032074e-03 9.99993364e-01 -8.58993430e-04 -2.57031351e+01] [-1.29902220e-02 8.12936510e-04 9.99915293e-01 1.70912491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3307140569999 meters Centerline goodness [0,1] 0.9834329818458528 Centerline is valid? [True, True] Translation: X:533.45, Y:-25.71, Z:1.71 [[ 9.99913853e-01 -2.69182057e-03 1.28468465e-02 5.33452757e+02] [ 2.70296120e-03 9.99995986e-01 -8.49903363e-04 -2.57084343e+01] [-1.28445071e-02 8.84554674e-04 9.99917115e-01 1.70784092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.360714057 meters Centerline goodness [0,1] 0.9829484979473032 Centerline is valid? [True, True] Translation: X:533.48, Y:-25.71, Z:1.71 [[ 9.99902187e-01 -5.37472555e-03 1.29123302e-02 5.33482382e+02] [ 5.38620644e-03 9.99985129e-01 -8.54530077e-04 -2.57140772e+01] [-1.29075453e-02 9.23994969e-04 9.99916267e-01 1.70699057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.390714057 meters Centerline goodness [0,1] 0.9808468179254696 Centerline is valid? [True, True] Translation: X:533.51, Y:-25.72, Z:1.71 [[ 9.99858385e-01 -1.02345097e-02 1.33590452e-02 5.33511634e+02] [ 1.02472432e-02 9.99947104e-01 -8.85070037e-04 -2.57208495e+01] [-1.33492803e-02 1.02183808e-03 9.99910372e-01 1.70596980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4207140569999 meters Centerline goodness [0,1] 0.9823715861230515 Centerline is valid? [True, True] Translation: X:533.54, Y:-25.72, Z:1.71 [[ 9.99838591e-01 -1.19860055e-02 1.33838362e-02 5.33542704e+02] [ 1.19989580e-02 9.99927616e-01 -8.87891852e-04 -2.57245770e+01] [-1.33722252e-02 1.04834063e-03 9.99910038e-01 1.70504829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4507140569999 meters Centerline goodness [0,1] 0.9811431299366374 Centerline is valid? [True, True] Translation: X:533.57, Y:-25.73, Z:1.70 [[ 9.99804930e-01 -1.52667550e-02 1.25310776e-02 5.33573222e+02] [ 1.52783717e-02 9.99882933e-01 -8.31819276e-04 -2.57302839e+01] [-1.25169115e-02 1.02311148e-03 9.99921137e-01 1.70237511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.480714057 meters Centerline goodness [0,1] 0.9820839124391939 Centerline is valid? [True, True] Translation: X:533.61, Y:-25.73, Z:1.70 [[ 9.99768717e-01 -1.70271220e-02 1.31373550e-02 5.33605135e+02] [ 1.70400407e-02 9.99854428e-01 -8.72040279e-04 -2.57264493e+01] [-1.31205942e-02 1.09569965e-03 9.99913321e-01 1.70215126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.510714057 meters Centerline goodness [0,1] 0.9794735465876405 Centerline is valid? [True, True] Translation: X:533.64, Y:-25.74, Z:1.70 [[ 9.99747228e-01 -1.77754199e-02 1.37664563e-02 5.33635190e+02] [ 1.77896835e-02 9.99841333e-01 -9.14334959e-04 -2.57361627e+01] [-1.37480193e-02 1.15900474e-03 9.99904820e-01 1.70152500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.540714057 meters Centerline goodness [0,1] 0.9802890361838531 Centerline is valid? [True, True] Translation: X:533.67, Y:-25.73, Z:1.70 [[ 9.99725716e-01 -1.77324208e-02 1.52988464e-02 5.33668289e+02] [ 1.77500415e-02 9.99841939e-01 -1.01674055e-03 -2.57315351e+01] [-1.52783990e-02 1.28801683e-03 9.99882449e-01 1.70144150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5707140569999 meters Centerline goodness [0,1] 0.9791296432751073 Centerline is valid? [True, True] Translation: X:533.70, Y:-25.73, Z:1.70 [[ 9.99727252e-01 -1.72303087e-02 1.57651001e-02 5.33700701e+02] [ 1.72489856e-02 9.99850674e-01 -1.04948657e-03 -2.57326422e+01] [-1.57446630e-02 1.32113231e-03 9.99875172e-01 1.70131344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6007140569999 meters Centerline goodness [0,1] 0.9783006935054739 Centerline is valid? [True, True] Translation: X:533.73, Y:-25.73, Z:1.70 [[ 9.99731935e-01 -1.57019384e-02 1.70149398e-02 5.33732155e+02] [ 1.57234962e-02 9.99875735e-01 -1.13394950e-03 -2.57321753e+01] [-1.69950203e-02 1.40117987e-03 9.99854592e-01 1.70159179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.630714057 meters Centerline goodness [0,1] 0.9787599087848844 Centerline is valid? [True, True] Translation: X:533.76, Y:-25.73, Z:1.70 [[ 9.99747696e-01 -1.46694963e-02 1.70103112e-02 5.33764297e+02] [ 1.46909054e-02 9.99891439e-01 -1.13431627e-03 -2.57332677e+01] [-1.69918247e-02 1.38392695e-03 9.99854671e-01 1.70120658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.660714057 meters Centerline goodness [0,1] 0.9786456747705824 Centerline is valid? [True, True] Translation: X:533.80, Y:-25.73, Z:1.70 [[ 9.99761848e-01 -1.32484035e-02 1.73414767e-02 5.33795601e+02] [ 1.32704627e-02 9.99911273e-01 -1.15758795e-03 -2.57320645e+01] [-1.73246018e-02 1.38744169e-03 9.99848955e-01 1.70086868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6907140569999 meters Centerline goodness [0,1] 0.9778050168541785 Centerline is valid? [True, True] Translation: X:533.83, Y:-25.73, Z:1.70 [[ 9.99763760e-01 -1.28212977e-02 1.75510070e-02 5.33827446e+02] [ 1.28438404e-02 9.99916827e-01 -1.17228579e-03 -2.57334498e+01] [-1.75345171e-02 1.39743118e-03 9.99845282e-01 1.70033530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7207140569999 meters Centerline goodness [0,1] 0.9778050168541785 Centerline is valid? [True, True] Translation: X:533.86, Y:-25.74, Z:1.70 [[ 9.99765112e-01 -1.27155688e-02 1.75509192e-02 5.33860003e+02] [ 1.27381181e-02 9.99918178e-01 -1.17359921e-03 -2.57357205e+01] [-1.75345602e-02 1.39688923e-03 9.99845282e-01 1.69983498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.750714057 meters Centerline goodness [0,1] 0.9795267332357376 Centerline is valid? [True, True] Translation: X:533.89, Y:-25.74, Z:1.70 [[ 9.99787852e-01 -1.16887547e-02 1.69594993e-02 5.33890896e+02] [ 1.17096911e-02 9.99930794e-01 -1.13570957e-03 -2.57360921e+01] [-1.69450506e-02 1.33405913e-03 9.99855532e-01 1.69832700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.780714057 meters Centerline goodness [0,1] 0.9791867496275524 Centerline is valid? [True, True] Translation: X:533.92, Y:-25.74, Z:1.70 [[ 9.99799416e-01 -1.05067505e-02 1.70509788e-02 5.33921045e+02] [ 1.05277567e-02 9.99943929e-01 -1.14267242e-03 -2.57367121e+01] [-1.70380170e-02 1.32195178e-03 9.99853969e-01 1.69708980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8107140569999 meters Centerline goodness [0,1] 0.9791771804717498 Centerline is valid? [True, True] Translation: X:533.95, Y:-25.73, Z:1.70 [[ 9.99806369e-01 -9.74426766e-03 1.70960019e-02 5.33954004e+02] [ 9.76528208e-03 9.99951662e-01 -1.14615014e-03 -2.57334747e+01] [-1.70840071e-02 1.31287549e-03 9.99853196e-01 1.69636490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8407140569999 meters Centerline goodness [0,1] 0.9791197005843857 Centerline is valid? [True, True] Translation: X:533.98, Y:-25.74, Z:1.70 [[ 9.99813600e-01 -8.77140232e-03 1.71996659e-02 5.33984910e+02] [ 8.79255986e-03 9.99960678e-01 -1.15487791e-03 -2.57350046e+01] [-1.71888597e-02 1.30589173e-03 9.99851408e-01 1.69556572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.870714057 meters Centerline goodness [0,1] 0.9789631524399656 Centerline is valid? [True, True] Translation: X:534.02, Y:-25.73, Z:1.69 [[ 9.99823643e-01 -7.01725844e-03 1.74195423e-02 5.34016878e+02] [ 7.03871180e-03 9.99974543e-01 -1.17056308e-03 -2.57295505e+01] [-1.74108848e-02 1.29296778e-03 9.99847583e-01 1.69490630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.900714057 meters Centerline goodness [0,1] 0.9798834076756614 Centerline is valid? [True, True] Translation: X:534.05, Y:-25.73, Z:1.69 [[ 9.99845334e-01 -6.08578906e-03 1.65006209e-02 5.34049706e+02] [ 6.10492254e-03 9.99980749e-01 -1.10943747e-03 -2.57295068e+01] [-1.64935515e-02 1.21000089e-03 9.99863240e-01 1.69364377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9307140569999 meters Centerline goodness [0,1] 0.9781616041294421 Centerline is valid? [True, True] Translation: X:534.08, Y:-25.73, Z:1.69 [[ 9.99883348e-01 -4.44640971e-03 1.46122871e-02 5.34080198e+02] [ 4.46125712e-03 9.99989565e-01 -9.83651331e-04 -2.57339520e+01] [-1.46077609e-02 1.04872576e-03 9.99892751e-01 1.69129807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9607140569999 meters Centerline goodness [0,1] 0.9788088826100393 Centerline is valid? [True, True] Translation: X:534.11, Y:-25.73, Z:1.69 [[ 9.99905561e-01 -3.28300551e-03 1.33450630e-02 5.34113273e+02] [ 3.29529079e-03 9.99994167e-01 -8.98701738e-04 -2.57267366e+01] [-1.33420347e-02 9.42592729e-04 9.99910547e-01 1.69050397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.990714057 meters Centerline goodness [0,1] 0.9794633321466714 Centerline is valid? [True, True] Translation: X:534.15, Y:-25.73, Z:1.69 [[ 9.99905604e-01 -3.28919853e-03 1.33403143e-02 5.34145169e+02] [ 3.30148815e-03 9.99994146e-01 -8.99321278e-04 -2.57253228e+01] [-1.33372781e-02 9.43279275e-04 9.99910610e-01 1.69056804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.020714057 meters Centerline goodness [0,1] 0.980121233731503 Centerline is valid? [True, True] Translation: X:534.18, Y:-25.72, Z:1.69 [[ 9.99887740e-01 -2.86611117e-03 1.47068838e-02 5.34177594e+02] [ 2.88101944e-03 9.99995357e-01 -9.92606943e-04 -2.57234942e+01] [-1.47039706e-02 1.03486633e-03 9.99891355e-01 1.69227786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0507140569999 meters Centerline goodness [0,1] 0.9798680237109942 Centerline is valid? [True, True] Translation: X:534.21, Y:-25.72, Z:1.69 [[ 9.99878292e-01 -2.91226255e-03 1.53270940e-02 5.34209907e+02] [ 2.92847773e-03 9.99995176e-01 -1.03560475e-03 -2.57239475e+01] [-1.53240042e-02 1.08036376e-03 9.99881997e-01 1.69222280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0807140569999 meters Centerline goodness [0,1] 0.9777682962430666 Centerline is valid? [True, True] Translation: X:534.24, Y:-25.73, Z:1.69 [[ 9.99870962e-01 -4.17790656e-03 1.55114306e-02 5.34241667e+02] [ 4.19468364e-03 9.99990652e-01 -1.04921748e-03 -2.57265533e+01] [-1.55069021e-02 1.11414763e-03 9.99879140e-01 1.69157793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.110714057 meters Centerline goodness [0,1] 0.9782569671947224 Centerline is valid? [True, True] Translation: X:534.27, Y:-25.73, Z:1.69 [[ 9.99871128e-01 -5.12602281e-03 1.52135374e-02 5.34273673e+02] [ 5.14232331e-03 9.99986245e-01 -1.03252211e-03 -2.57287899e+01] [-1.52080354e-02 1.11062198e-03 9.99883734e-01 1.69056474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.140714057 meters Centerline goodness [0,1] 0.9783670621074668 Centerline is valid? [True, True] Translation: X:534.30, Y:-25.73, Z:1.69 [[ 9.99876147e-01 -8.40380970e-03 1.33066753e-02 5.34303804e+02] [ 8.41658088e-03 9.99964171e-01 -9.04046951e-04 -2.57314233e+01] [-1.32986011e-02 1.01593169e-03 9.99911054e-01 1.68875908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1707140569999 meters Centerline goodness [0,1] 0.9789907451192326 Centerline is valid? [True, True] Translation: X:534.33, Y:-25.74, Z:1.69 [[ 9.99871638e-01 -9.92904978e-03 1.25746455e-02 5.34334205e+02] [ 9.94057331e-03 9.99950226e-01 -8.54238196e-04 -2.57354376e+01] [-1.25655378e-02 9.79127729e-04 9.99920571e-01 1.68751817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2007140569999 meters Centerline goodness [0,1] 0.9778579481397971 Centerline is valid? [True, True] Translation: X:534.36, Y:-25.74, Z:1.69 [[ 9.99849691e-01 -1.34323549e-02 1.09620674e-02 5.34364792e+02] [ 1.34413285e-02 9.99909383e-01 -7.45329905e-04 -2.57363562e+01] [-1.09510625e-02 8.92562623e-04 9.99939637e-01 1.68591272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.230714057 meters Centerline goodness [0,1] 0.9759145648716201 Centerline is valid? [True, True] Translation: X:534.39, Y:-25.74, Z:1.69 [[ 9.99829171e-01 -1.52179990e-02 1.04900184e-02 5.34394726e+02] [ 1.52263103e-02 9.99883819e-01 -7.12892013e-04 -2.57405880e+01] [-1.04779509e-02 8.72494506e-04 9.99944724e-01 1.68584565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.260714057 meters Centerline goodness [0,1] 0.9691769867020061 Centerline is valid? [True, True] Translation: X:534.42, Y:-25.75, Z:1.69 [[ 9.99782025e-01 -1.77325252e-02 1.10209209e-02 5.34423764e+02] [ 1.77418650e-02 9.99842319e-01 -7.50265573e-04 -2.57502610e+01] [-1.10058790e-02 9.45633725e-04 9.99938986e-01 1.68608632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.290714057 meters Centerline goodness [0,1] 0.9717393282970783 Centerline is valid? [True, True] Translation: X:534.46, Y:-25.75, Z:1.69 [[ 9.99769118e-01 -1.84497702e-02 1.10143728e-02 5.34455883e+02] [ 1.84591390e-02 9.99829335e-01 -7.49528371e-04 -2.57490697e+01] [-1.09986644e-02 9.52671156e-04 9.99939059e-01 1.68588938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3207140569999 meters Centerline goodness [0,1] 0.9722524730011798 Centerline is valid? [True, True] Translation: X:534.49, Y:-25.75, Z:1.69 [[ 9.99749020e-01 -1.89889660e-02 1.18876629e-02 5.34488277e+02] [ 1.89999277e-02 9.99819157e-01 -8.09838764e-04 -2.57487798e+01] [-1.18701351e-02 1.03550025e-03 9.99929011e-01 1.68685054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3507140569999 meters Centerline goodness [0,1] 0.9721931699331545 Centerline is valid? [True, True] Translation: X:534.52, Y:-25.75, Z:1.69 [[ 9.99750078e-01 -1.90096455e-02 1.17650154e-02 5.34520368e+02] [ 1.90203928e-02 9.99818774e-01 -8.02268050e-04 -2.57499505e+01] [-1.17476324e-02 1.02584276e-03 9.99930468e-01 1.68716512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.380714057 meters Centerline goodness [0,1] 0.974166136508225 Centerline is valid? [True, True] Translation: X:534.55, Y:-25.75, Z:1.69 [[ 9.99761987e-01 -1.85967906e-02 1.14074118e-02 5.34552908e+02] [ 1.86068761e-02 9.99826574e-01 -7.78613179e-04 -2.57452589e+01] [-1.13909537e-02 9.90684156e-04 9.99934630e-01 1.68638032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.410714057 meters Centerline goodness [0,1] 0.9761801546920988 Centerline is valid? [True, True] Translation: X:534.58, Y:-25.74, Z:1.68 [[ 9.99811255e-01 -1.65868007e-02 1.01159862e-02 5.34584814e+02] [ 1.65946381e-02 9.99862061e-01 -6.91308855e-04 -2.57354847e+01] [-1.01031242e-02 8.59049503e-04 9.99948593e-01 1.68474589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4407140569999 meters Centerline goodness [0,1] 0.973911257189811 Centerline is valid? [True, True] Translation: X:534.61, Y:-25.74, Z:1.68 [[ 9.99840881e-01 -1.48830895e-02 9.83395787e-03 5.34614483e+02] [ 1.48904159e-02 9.99888906e-01 -6.72205005e-04 -2.57449643e+01] [-9.82286089e-03 8.18529767e-04 9.99951420e-01 1.68341301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4707140569999 meters Centerline goodness [0,1] 0.9724471770400789 Centerline is valid? [True, True] Translation: X:534.64, Y:-25.74, Z:1.68 [[ 9.99876219e-01 -1.33071550e-02 8.39446749e-03 5.34644611e+02] [ 1.33124393e-02 9.99911221e-01 -5.73928050e-04 -2.57447079e+01] [-8.38608489e-03 6.85607847e-04 9.99964601e-01 1.68082610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.500714057 meters Centerline goodness [0,1] 0.9780751249395454 Centerline is valid? [True, True] Translation: X:534.68, Y:-25.74, Z:1.68 [[ 9.99895499e-01 -1.21935958e-02 7.76574721e-03 5.34677270e+02] [ 1.21980825e-02 9.99925460e-01 -5.30646431e-04 -2.57359787e+01] [-7.75869786e-03 6.25318203e-04 9.99969705e-01 1.68074061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.530714057 meters Centerline goodness [0,1] 0.9785360230547551 Centerline is valid? [True, True] Translation: X:534.71, Y:-25.74, Z:1.68 [[ 9.99914400e-01 -1.11496231e-02 6.84685078e-03 5.34709772e+02] [ 1.11530889e-02 9.99937693e-01 -4.68213958e-04 -2.57352626e+01] [-6.84120376e-03 5.44537414e-04 9.99976450e-01 1.68035309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5607140569999 meters Centerline goodness [0,1] 0.9776501522280653 Centerline is valid? [True, True] Translation: X:534.74, Y:-25.74, Z:1.68 [[ 9.99923685e-01 -1.03555804e-02 6.73697632e-03 5.34742492e+02] [ 1.03589201e-02 9.99946239e-01 -4.61014914e-04 -2.57367430e+01] [-6.73184006e-03 5.30767531e-04 9.99977200e-01 1.68021580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5907140569999 meters Centerline goodness [0,1] 0.9752325554555317 Centerline is valid? [True, True] Translation: X:534.77, Y:-25.74, Z:1.68 [[ 9.99942499e-01 -8.63488139e-03 6.35911236e-03 5.34774187e+02] [ 8.63782848e-03 9.99962598e-01 -4.36123952e-04 -2.57353162e+01] [-6.35510864e-03 4.91027796e-04 9.99979686e-01 1.67913177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.620714057 meters Centerline goodness [0,1] 0.9752381392767965 Centerline is valid? [True, True] Translation: X:534.81, Y:-25.73, Z:1.68 [[ 9.99954407e-01 -7.60070140e-03 5.78037393e-03 5.34806168e+02] [ 7.60311823e-03 9.99971017e-01 -3.96250829e-04 -2.57346155e+01] [-5.77719461e-03 4.40181629e-04 9.99983215e-01 1.67819133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.650714057 meters Centerline goodness [0,1] 0.9764024829702648 Centerline is valid? [True, True] Translation: X:534.84, Y:-25.73, Z:1.68 [[ 9.99966300e-01 -6.36629193e-03 5.18350660e-03 5.34837775e+02] [ 6.36822207e-03 9.99979659e-01 -3.55940945e-04 -2.57311639e+01] [-5.18113514e-03 3.88938671e-04 9.99986502e-01 1.67786146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6807140569999 meters Centerline goodness [0,1] 0.9758673398489972 Centerline is valid? [True, True] Translation: X:534.87, Y:-25.73, Z:1.68 [[ 9.99967575e-01 -6.41602932e-03 4.86660962e-03 5.34870078e+02] [ 6.41773015e-03 9.99979350e-01 -3.33952418e-04 -2.57313037e+01] [-4.86436648e-03 3.65174176e-04 9.99988102e-01 1.67742493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7107140569999 meters Centerline goodness [0,1] 0.9745434293272689 Centerline is valid? [True, True] Translation: X:534.90, Y:-25.73, Z:1.68 [[ 9.99963252e-01 -6.85420543e-03 5.14915877e-03 5.34901117e+02] [ 6.85611844e-03 9.99976434e-01 -3.53960672e-04 -2.57337663e+01] [-5.14661130e-03 3.89250907e-04 9.99986680e-01 1.67717249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.740714057 meters Centerline goodness [0,1] 0.9678745039100111 Centerline is valid? [True, True] Translation: X:534.93, Y:-25.74, Z:1.68 [[ 9.99945862e-01 -8.59173750e-03 5.86988203e-03 5.34930796e+02] [ 8.59425397e-03 9.99962987e-01 -4.03618928e-04 -2.57353556e+01] [-5.86619698e-03 4.54044333e-04 9.99982691e-01 1.67590714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.770714057 meters Centerline goodness [0,1] 0.970467385721623 Centerline is valid? [True, True] Translation: X:534.96, Y:-25.74, Z:1.68 [[ 9.99940215e-01 -8.68397685e-03 6.64484573e-03 5.34963124e+02] [ 8.68720962e-03 9.99962161e-01 -4.57799151e-04 -2.57366876e+01] [-6.64061878e-03 5.15496949e-04 9.99977818e-01 1.67562485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8007140569999 meters Centerline goodness [0,1] 0.969401689619257 Centerline is valid? [True, True] Translation: X:534.99, Y:-25.74, Z:1.67 [[ 9.99938147e-01 -9.34111882e-03 6.03697979e-03 5.34993797e+02] [ 9.34380302e-03 9.99956259e-01 -4.16573446e-04 -2.57392340e+01] [-6.03282447e-03 4.72956030e-04 9.99981691e-01 1.67495037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8307140569999 meters Centerline goodness [0,1] 0.9721848154167634 Centerline is valid? [True, True] Translation: X:535.03, Y:-25.74, Z:1.68 [[ 9.99935765e-01 -9.70414831e-03 5.85622656e-03 5.35026385e+02] [ 9.70667945e-03 9.99952807e-01 -4.03944870e-04 -2.57359571e+01] [-5.85203025e-03 4.60763437e-04 9.99982771e-01 1.67517183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.860714057 meters Centerline goodness [0,1] 0.9732668676095525 Centerline is valid? [True, True] Translation: X:535.06, Y:-25.73, Z:1.67 [[ 9.99912244e-01 -1.20749907e-02 5.44965546e-03 5.35057331e+02] [ 1.20772210e-02 9.99926997e-01 -3.76533888e-04 -2.57347757e+01] [-5.44471097e-03 4.42317538e-04 9.99985080e-01 1.67499832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.890714057 meters Centerline goodness [0,1] 0.9741652957668158 Centerline is valid? [True, True] Translation: X:535.09, Y:-25.74, Z:1.67 [[ 9.99893400e-01 -1.35957562e-02 5.32394150e-03 5.35087461e+02] [ 1.35979084e-02 9.99907476e-01 -3.68253318e-04 -2.57388897e+01] [-5.31844223e-03 4.40608531e-04 9.99985760e-01 1.67454954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9207140569999 meters Centerline goodness [0,1] 0.9728966554796898 Centerline is valid? [True, True] Translation: X:535.12, Y:-25.74, Z:1.67 [[ 9.99849552e-01 -1.65321519e-02 5.24993652e-03 5.35117838e+02] [ 1.65342860e-02 9.99863233e-01 -3.63360329e-04 -2.57427533e+01] [-5.24321138e-03 4.50109614e-04 9.99986153e-01 1.67339098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9507140569999 meters Centerline goodness [0,1] 0.9699551053298031 Centerline is valid? [True, True] Translation: X:535.15, Y:-25.75, Z:1.67 [[ 9.99797104e-01 -1.96070656e-02 4.61674893e-03 5.35147322e+02] [ 1.96087495e-02 9.99807679e-01 -3.19753252e-04 -2.57492974e+01] [-4.60959160e-03 4.10217049e-04 9.99989292e-01 1.67193411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.980714057 meters Centerline goodness [0,1] 0.9713220401399374 Centerline is valid? [True, True] Translation: X:535.18, Y:-25.75, Z:1.67 [[ 9.99784637e-01 -2.01979666e-02 4.76674743e-03 5.35179742e+02] [ 2.01997637e-02 9.99795910e-01 -3.29162892e-04 -2.57508675e+01] [-4.75912616e-03 4.25379175e-04 9.99988585e-01 1.67171134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.010714057 meters Centerline goodness [0,1] 0.9718786706280661 Centerline is valid? [True, True] Translation: X:535.21, Y:-25.75, Z:1.67 [[ 9.99758948e-01 -2.16160846e-02 3.84575624e-03 5.35210573e+02] [ 2.16172674e-02 9.99766284e-01 -2.66236199e-04 -2.57522315e+01] [-3.83910245e-03 3.49306763e-04 9.99992570e-01 1.67152895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.040714057 meters Centerline goodness [0,1] 0.9716109408484458 Centerline is valid? [True, True] Translation: X:535.24, Y:-25.75, Z:1.67 [[ 9.99772062e-01 -2.11365696e-02 3.01157806e-03 5.35243182e+02] [ 2.11372907e-02 9.99776561e-01 -2.07825609e-04 -2.57529353e+01] [-3.00651244e-03 2.71434839e-04 9.99995444e-01 1.67103967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0707140569999 meters Centerline goodness [0,1] 0.9689035873409582 Centerline is valid? [True, True] Translation: X:535.27, Y:-25.76, Z:1.67 [[ 9.99769094e-01 -2.13139226e-02 2.73423386e-03 5.35274232e+02] [ 2.13145158e-02 9.99772802e-01 -1.88000026e-04 -2.57565453e+01] [-2.72960563e-03 2.46235487e-04 9.99996244e-01 1.66954553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1007140569999 meters Centerline goodness [0,1] 0.9722990412979351 Centerline is valid? [True, True] Translation: X:535.31, Y:-25.75, Z:1.67 [[ 9.99784635e-01 -2.06421157e-02 2.14156924e-03 5.35307143e+02] [ 2.06424790e-02 9.99786910e-01 -1.47674355e-04 -2.57546462e+01] [-2.13806458e-03 1.91849849e-04 9.99997696e-01 1.66947372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.130714057 meters Centerline goodness [0,1] 0.9707170855430021 Centerline is valid? [True, True] Translation: X:535.34, Y:-25.76, Z:1.67 [[ 9.99808023e-01 -1.95664421e-02 1.03465947e-03 5.35338304e+02] [ 1.95665250e-02 9.99808555e-01 -6.99856289e-05 -2.57554794e+01] [-1.03309202e-03 9.02168836e-05 9.99999462e-01 1.66840208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.160714057 meters Centerline goodness [0,1] 0.9654670944807369 Centerline is valid? [True, True] Translation: X:535.37, Y:-25.76, Z:1.67 [[ 9.99840999e-01 -1.78106374e-02 8.70435666e-04 5.35368334e+02] [ 1.78106967e-02 9.99841375e-01 -6.04427609e-05 -2.57591145e+01] [-8.69221069e-04 7.59362161e-05 9.99999619e-01 1.66672197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1907140569999 meters Centerline goodness [0,1] 0.9549682631275245 Centerline is valid? [True, True] Translation: X:535.40, Y:-25.76, Z:1.67 [[ 9.99848201e-01 -1.74152922e-02 5.31747911e-04 5.35399392e+02] [ 1.74153133e-02 9.99848341e-01 -3.51549626e-05 -2.57634933e+01] [-5.31055033e-04 4.44101827e-05 9.99999858e-01 1.66571914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2207140569999 meters Centerline goodness [0,1] 0.9544677508778414 Centerline is valid? [True, True] Translation: X:535.43, Y:-25.76, Z:1.66 [[ 9.99870107e-01 -1.60918516e-02 -9.06180289e-04 5.35430614e+02] [ 1.60919160e-02 9.99870515e-01 6.38699595e-05 -2.57632672e+01] [ 9.05035166e-04 -7.84438403e-05 9.99999587e-01 1.66488024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.250714057 meters Centerline goodness [0,1] 0.9548033063974624 Centerline is valid? [True, True] Translation: X:535.46, Y:-25.76, Z:1.66 [[ 9.99885333e-01 -1.50941304e-02 -1.22012460e-03 5.35462835e+02] [ 1.50942470e-02 9.99886072e-01 8.64095113e-05 -2.57643705e+01] [ 1.21868132e-03 -1.04816465e-04 9.99999252e-01 1.66412994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.280714057 meters Centerline goodness [0,1] 0.9671480312035661 Centerline is valid? [True, True] Translation: X:535.50, Y:-25.76, Z:1.67 [[ 9.99883473e-01 -1.52048648e-02 -1.36115085e-03 5.35495144e+02] [ 1.52050100e-02 9.99884393e-01 9.64060190e-05 -2.57590608e+01] [ 1.35952765e-03 -1.17091097e-04 9.99999069e-01 1.66553943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3107140569999 meters Centerline goodness [0,1] 0.9707946360330731 Centerline is valid? [True, True] Translation: X:535.53, Y:-25.76, Z:1.67 [[ 9.99904440e-01 -1.37464683e-02 -1.46447174e-03 5.35526841e+02] [ 1.37466341e-02 9.99905505e-01 1.03179773e-04 -2.57570796e+01] [ 1.46291500e-03 -1.23301470e-04 9.99998922e-01 1.66648870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3407140569999 meters Centerline goodness [0,1] 0.9646445936559389 Centerline is valid? [True, True] Translation: X:535.56, Y:-25.76, Z:1.67 [[ 9.99923251e-01 -1.23530174e-02 -9.45692348e-04 5.35557450e+02] [ 1.23530861e-02 9.99923695e-01 6.68493130e-05 -2.57623127e+01] [ 9.44794396e-04 -7.85264014e-05 9.99999551e-01 1.66612798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.370714057 meters Centerline goodness [0,1] 0.9718791431163213 Centerline is valid? [True, True] Translation: X:535.59, Y:-25.75, Z:1.67 [[ 9.99930145e-01 -1.17710811e-02 -1.07092937e-03 5.35589983e+02] [ 1.17711695e-02 9.99930714e-01 7.62631181e-05 -2.57548105e+01] [ 1.06995747e-03 -8.88638820e-05 9.99999424e-01 1.66732882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.400714057 meters Centerline goodness [0,1] 0.964584689796298 Centerline is valid? [True, True] Translation: X:535.62, Y:-25.77, Z:1.67 [[ 9.99956889e-01 -9.26080175e-03 -6.75802439e-04 5.35618965e+02] [ 9.26083591e-03 9.99957116e-01 4.74365920e-05 -2.57656500e+01] [ 6.75334158e-04 -5.36930425e-05 9.99999771e-01 1.66539165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4307140569999 meters Centerline goodness [0,1] 0.9659588339387166 Centerline is valid? [True, True] Translation: X:535.65, Y:-25.77, Z:1.67 [[ 9.99980060e-01 -6.31504316e-03 -3.30436345e-06 5.35649384e+02] [ 6.31504316e-03 9.99980060e-01 3.16216362e-07 -2.57662395e+01] [ 3.30230063e-06 -3.37077253e-07 1.00000000e+00 1.66533809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4607140569999 meters Centerline goodness [0,1] 0.9626436111952646 Centerline is valid? [True, True] Translation: X:535.68, Y:-25.77, Z:1.66 [[ 9.99976325e-01 -6.83393883e-03 -8.03650171e-04 5.35680701e+02] [ 6.83398700e-03 9.99976646e-01 5.72105185e-05 -2.57681214e+01] [ 8.03240430e-04 -6.27012989e-05 9.99999675e-01 1.66409910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.490714057 meters Centerline goodness [0,1] 0.9716512284467673 Centerline is valid? [True, True] Translation: X:535.71, Y:-25.76, Z:1.67 [[ 9.99996064e-01 -2.60169586e-03 -1.05005265e-03 5.35712265e+02] [ 2.60177474e-03 9.99996613e-01 7.37653588e-05 -2.57589823e+01] [ 1.04985718e-03 -7.64970690e-05 9.99999446e-01 1.66593024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.520714057 meters Centerline goodness [0,1] 0.9723742749994176 Centerline is valid? [True, True] Translation: X:535.74, Y:-25.76, Z:1.67 [[ 9.99997834e-01 -1.64415468e-03 -1.27656278e-03 5.35743559e+02] [ 1.64427124e-03 9.99998644e-01 9.02639429e-05 -2.57579151e+01] [ 1.27641264e-03 -9.23627629e-05 9.99999181e-01 1.66619691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5507140569999 meters Centerline goodness [0,1] 0.9727437916414294 Centerline is valid? [True, True] Translation: X:535.77, Y:-25.76, Z:1.66 [[ 9.99999028e-01 -5.65863361e-04 -1.27395278e-03 5.35773616e+02] [ 5.65978256e-04 9.99999836e-01 8.98294401e-05 -2.57625747e+01] [ 1.27390174e-03 -9.05503824e-05 9.99999184e-01 1.66466970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5807140569999 meters Centerline goodness [0,1] 0.9723347771412603 Centerline is valid? [True, True] Translation: X:535.80, Y:-25.77, Z:1.66 [[ 9.99998499e-01 5.89244595e-04 -1.62963802e-03 5.35803665e+02] [-5.89059154e-04 9.99999820e-01 1.14270436e-04 -2.57654263e+01] [ 1.62970506e-03 -1.13310312e-04 9.99998666e-01 1.66371972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.610714057 meters Centerline goodness [0,1] 0.9735099337748344 Centerline is valid? [True, True] Translation: X:535.83, Y:-25.76, Z:1.66 [[ 9.99996374e-01 -8.97638764e-04 -2.53903468e-03 5.35833966e+02] [ 8.98093929e-04 9.99999581e-01 1.78132353e-04 -2.57643939e+01] [ 2.53887372e-03 -1.80411998e-04 9.99996761e-01 1.66352321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.640714057 meters Centerline goodness [0,1] 0.9735099337748344 Centerline is valid? [True, True] Translation: X:535.86, Y:-25.77, Z:1.66 [[ 9.99996341e-01 -9.33280959e-04 -2.53906014e-03 5.35863122e+02] [ 9.33735322e-04 9.99999548e-01 1.77769847e-04 -2.57664121e+01] [ 2.53889308e-03 -1.80140007e-04 9.99996761e-01 1.66307479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6707140569999 meters Centerline goodness [0,1] 0.9717804477162766 Centerline is valid? [True, True] Translation: X:535.89, Y:-25.78, Z:1.66 [[ 9.99996056e-01 -1.38292324e-03 -2.44432939e-03 5.35892249e+02] [ 1.38334619e-03 9.99999028e-01 1.71349551e-04 -2.57770858e+01] [ 2.44409005e-03 -1.74730229e-04 9.99996998e-01 1.66118179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7007140569999 meters Centerline goodness [0,1] 0.9725117157445617 Centerline is valid? [True, True] Translation: X:535.92, Y:-25.78, Z:1.66 [[ 9.99994342e-01 -2.53066525e-03 -2.21624437e-03 5.35922658e+02] [ 2.53101630e-03 9.99996785e-01 1.55607141e-04 -2.57764117e+01] [ 2.21584346e-03 -1.61215611e-04 9.99997532e-01 1.66158304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.730714057 meters Centerline goodness [0,1] 0.9719563040085715 Centerline is valid? [True, True] Translation: X:535.95, Y:-25.78, Z:1.66 [[ 9.99997618e-01 -1.34788072e-03 -1.71655341e-03 5.35953430e+02] [ 1.34808958e-03 9.99999084e-01 1.20522796e-04 -2.57772377e+01] [ 1.71638939e-03 -1.22836577e-04 9.99998519e-01 1.66139466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.760714057 meters Centerline goodness [0,1] 0.9710097643960756 Centerline is valid? [True, True] Translation: X:535.98, Y:-25.78, Z:1.66 [[ 9.99998555e-01 -2.37242103e-05 -1.69993304e-03 5.35983789e+02] [ 2.39271416e-05 9.99999993e-01 1.19355845e-04 -2.57783609e+01] [ 1.69993019e-03 -1.19396347e-04 9.99998548e-01 1.66114291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.790714057 meters Centerline goodness [0,1] 0.9719726244238559 Centerline is valid? [True, True] Translation: X:536.01, Y:-25.78, Z:1.66 [[ 9.99997323e-01 -1.36106889e-03 -1.87141318e-03 5.36012889e+02] [ 1.36131660e-03 9.99999065e-01 1.31097467e-04 -2.57812987e+01] [ 1.87123300e-03 -1.33644701e-04 9.99998240e-01 1.66077921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8207140569999 meters Centerline goodness [0,1] 0.9718654007260542 Centerline is valid? [True, True] Translation: X:536.04, Y:-25.78, Z:1.66 [[ 9.99997135e-01 -1.80017809e-03 -1.57748178e-03 5.36043229e+02] [ 1.80035499e-03 9.99998373e-01 1.10730874e-04 -2.57796532e+01] [ 1.57727988e-03 -1.13570584e-04 9.99998750e-01 1.66089238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8507140569999 meters Centerline goodness [0,1] 0.9722726637798575 Centerline is valid? [True, True] Translation: X:536.07, Y:-25.79, Z:1.66 [[ 9.99996464e-01 -1.91862746e-03 -1.84164775e-03 5.36073335e+02] [ 1.91886933e-03 9.99998151e-01 1.29577736e-04 -2.57852515e+01] [ 1.84139574e-03 -1.33111159e-04 9.99998296e-01 1.65933908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.880714057 meters Centerline goodness [0,1] 0.9739554187651558 Centerline is valid? [True, True] Translation: X:536.10, Y:-25.79, Z:1.66 [[ 9.99990915e-01 -3.64448572e-03 -2.21060063e-03 5.36103391e+02] [ 3.64483700e-03 9.99993346e-01 1.54899308e-04 -2.57859983e+01] [ 2.21002139e-03 -1.62955180e-04 9.99997545e-01 1.65900287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.910714057 meters Centerline goodness [0,1] 0.9738419365330112 Centerline is valid? [True, True] Translation: X:536.13, Y:-25.79, Z:1.66 [[ 9.99986690e-01 -4.82870069e-03 -1.81760839e-03 5.36133549e+02] [ 4.82894053e-03 9.99988332e-01 1.27586284e-04 -2.57878411e+01] [ 1.81697111e-03 -1.36361709e-04 9.99998340e-01 1.65846895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9407140569999 meters Centerline goodness [0,1] 0.9720114182273898 Centerline is valid? [True, True] Translation: X:536.16, Y:-25.80, Z:1.66 [[ 9.99972128e-01 -7.10830026e-03 -2.28359978e-03 5.36162648e+02] [ 7.10868475e-03 9.99974720e-01 1.60296361e-04 -2.57994454e+01] [ 2.28240262e-03 -1.76525284e-04 9.99997380e-01 1.65596614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9707140569999 meters Centerline goodness [0,1] 0.9740773286467487 Centerline is valid? [True, True] Translation: X:536.20, Y:-25.80, Z:1.66 [[ 9.99968082e-01 -7.65895956e-03 -2.27500317e-03 5.36195070e+02] [ 7.65934546e-03 9.99970654e-01 1.60960345e-04 -2.57964074e+01] [ 2.27370362e-03 -1.78380242e-04 9.99997399e-01 1.65667909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.000714057 meters Centerline goodness [0,1] 0.8097023771039418 Centerline is valid? [True, False] Translation: X:536.24, Y:-25.80, Z:1.66 [[ 9.99934911e-01 -1.10549099e-02 -2.82187677e-03 5.36244391e+02] [ 1.10491956e-02 9.99936890e-01 -2.03263113e-03 -2.57994875e+01] [ 2.84416923e-03 2.00131935e-03 9.99993953e-01 1.65784649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.030714057 meters Centerline goodness [0,1] 0.9746587796625774 Centerline is valid? [False, True] Translation: X:536.19, Y:-25.80, Z:1.66 [[ 9.99943566e-01 -1.01142726e-02 -3.25051205e-03 5.36188594e+02] [ 1.01226343e-02 9.99945472e-01 2.56636056e-03 -2.58015385e+01] [ 3.22437794e-03 -2.59911947e-03 9.99991424e-01 1.65664352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0607140569999 meters Centerline goodness [0,1] 0.9742110464982646 Centerline is valid? [True, True] Translation: X:536.22, Y:-25.81, Z:1.66 [[ 9.99945383e-01 -1.00037046e-02 -3.02600841e-03 5.36220785e+02] [ 1.00043975e-02 9.99949932e-01 2.13927390e-04 -2.58054482e+01] [ 3.02371684e-03 -2.44189097e-04 9.99995399e-01 1.65624930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0907140569999 meters Centerline goodness [0,1] 0.9747920342828333 Centerline is valid? [True, True] Translation: X:536.25, Y:-25.81, Z:1.66 [[ 9.99946494e-01 -9.87830082e-03 -3.07054557e-03 5.36251380e+02] [ 9.87901331e-03 9.99951178e-01 2.16958234e-04 -2.58116786e+01] [ 3.06825248e-03 -2.47280586e-04 9.99995262e-01 1.65580489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.120714057 meters Centerline goodness [0,1] 0.9747655819084391 Centerline is valid? [True, True] Translation: X:536.28, Y:-25.82, Z:1.66 [[ 9.99950991e-01 -9.35841973e-03 -3.23041565e-03 5.36283540e+02] [ 9.35920709e-03 9.99956176e-01 2.28702312e-04 -2.58151977e+01] [ 3.22813379e-03 -2.58925233e-04 9.99994756e-01 1.65538751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.150714057 meters Centerline goodness [0,1] 0.976723960359783 Centerline is valid? [True, True] Translation: X:536.31, Y:-25.82, Z:1.66 [[ 9.99970762e-01 -7.05287391e-03 -2.95499903e-03 5.36313974e+02] [ 7.05351991e-03 9.99975102e-01 2.08247426e-04 -2.58181095e+01] [ 2.95345671e-03 -2.29084482e-04 9.99995612e-01 1.65539855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1807140569999 meters Centerline goodness [0,1] 0.976218787158145 Centerline is valid? [True, True] Translation: X:536.34, Y:-25.82, Z:1.65 [[ 9.99981305e-01 -5.30336839e-03 -3.04356734e-03 5.36343740e+02] [ 5.30404659e-03 9.99985910e-01 2.14804379e-04 -2.58233341e+01] [ 3.04238527e-03 -2.30943586e-04 9.99995345e-01 1.65494670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2107140569999 meters Centerline goodness [0,1] 0.9764152016193227 Centerline is valid? [True, True] Translation: X:536.37, Y:-25.83, Z:1.65 [[ 9.99984595e-01 -4.86790014e-03 -2.66708468e-03 5.36373580e+02] [ 4.86841959e-03 9.99988131e-01 1.88305463e-04 -2.58285887e+01] [ 2.66613638e-03 -2.01287049e-04 9.99996426e-01 1.65418443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.240714057 meters Centerline goodness [0,1] 0.9762857532626984 Centerline is valid? [True, True] Translation: X:536.40, Y:-25.83, Z:1.65 [[ 9.99988416e-01 -3.40899316e-03 -3.39806330e-03 5.36404428e+02] [ 3.40982795e-03 9.99994158e-01 2.39900581e-04 -2.58330493e+01] [ 3.39722563e-03 -2.51484613e-04 9.99994198e-01 1.65368184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.270714057 meters Centerline goodness [0,1] 0.9753021784161526 Centerline is valid? [True, True] Translation: X:536.43, Y:-25.84, Z:1.65 [[ 9.99991300e-01 -2.58171795e-03 -3.27640874e-03 5.36434590e+02] [ 2.58248882e-03 9.99996639e-01 2.31070349e-04 -2.58353004e+01] [ 3.27580117e-03 -2.39529627e-04 9.99994606e-01 1.65350695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3007140569999 meters Centerline goodness [0,1] 0.9764588256680603 Centerline is valid? [True, True] Translation: X:536.46, Y:-25.84, Z:1.65 [[ 9.99998613e-01 -7.88818198e-04 -1.46713270e-03 5.36463806e+02] [ 7.88970445e-04 9.99999683e-01 1.03196171e-04 -2.58403815e+01] [ 1.46705083e-03 -1.04353552e-04 9.99998918e-01 1.65412706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3307140569999 meters Centerline goodness [0,1] 0.9773745366896333 Centerline is valid? [True, True] Translation: X:536.49, Y:-25.84, Z:1.66 [[ 9.99999455e-01 -3.05409374e-04 -9.97901619e-04 5.36494689e+02] [ 3.05479739e-04 9.99999951e-01 7.03604347e-05 -2.58403588e+01] [ 9.97880081e-04 -7.06652351e-05 9.99999500e-01 1.65545546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.360714057 meters Centerline goodness [0,1] 0.9765928009254009 Centerline is valid? [True, True] Translation: X:536.52, Y:-25.84, Z:1.66 [[ 9.99999169e-01 1.28886049e-03 3.79617116e-05 5.36524970e+02] [-1.28886038e-03 9.99999169e-01 -2.67661906e-06 -2.58447771e+01] [-3.79651298e-05 2.62768949e-06 9.99999999e-01 1.65513461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.390714057 meters Centerline goodness [0,1] 0.9756240955137482 Centerline is valid? [True, True] Translation: X:536.55, Y:-25.85, Z:1.65 [[ 9.99999217e-01 1.20712714e-03 3.29201322e-04 5.36554298e+02] [-1.20711948e-03 9.99999271e-01 -2.34591070e-05 -2.58527945e+01] [-3.29229400e-04 2.30617033e-05 9.99999946e-01 1.65375083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4207140569999 meters Centerline goodness [0,1] 0.9757934617391502 Centerline is valid? [True, True] Translation: X:536.58, Y:-25.85, Z:1.65 [[ 9.99999396e-01 1.09380651e-03 -1.11523104e-04 5.36584722e+02] [-1.09380564e-03 9.99999402e-01 7.86137285e-06 -2.58542629e+01] [ 1.11531637e-04 -7.73938350e-06 9.99999994e-01 1.65417446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4507140569999 meters Centerline goodness [0,1] 0.9733523511965405 Centerline is valid? [True, True] Translation: X:536.61, Y:-25.87, Z:1.65 [[ 9.99999902e-01 -6.82944475e-07 4.41714846e-04 5.36613781e+02] [ 6.96165226e-07 1.00000000e+00 -2.99303612e-05 -2.58657129e+01] [-4.41714825e-04 2.99306658e-05 9.99999902e-01 1.65232810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.480714057 meters Centerline goodness [0,1] 0.9753053039520526 Centerline is valid? [True, True] Translation: X:536.64, Y:-25.87, Z:1.65 [[ 9.99999195e-01 -9.36528126e-04 8.55918074e-04 5.36644136e+02] [ 9.36580171e-04 9.99999560e-01 -6.04076739e-05 -2.58657221e+01] [-8.55861123e-04 6.12092612e-05 9.99999632e-01 1.65256387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.510714057 meters Centerline goodness [0,1] 0.9722147167432226 Centerline is valid? [True, True] Translation: X:536.67, Y:-25.87, Z:1.65 [[ 9.99991408e-01 -4.04823522e-03 8.91523538e-04 5.36674436e+02] [ 4.04829285e-03 9.99991804e-01 -6.28478529e-05 -2.58736464e+01] [-8.91261808e-04 6.64564613e-05 9.99999601e-01 1.65194721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.540714057 meters Centerline goodness [0,1] 0.9732762505633168 Centerline is valid? [True, True] Translation: X:536.71, Y:-25.88, Z:1.65 [[ 9.99986143e-01 -5.12616887e-03 1.19837777e-03 5.36706829e+02] [ 5.12627278e-03 9.99986857e-01 -8.36579041e-05 -2.58772516e+01] [-1.19793317e-03 8.97999562e-05 9.99999278e-01 1.65196848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5707140569999 meters Centerline goodness [0,1] 0.9669909893715031 Centerline is valid? [True, True] Translation: X:536.74, Y:-25.89, Z:1.65 [[ 9.99969992e-01 -7.53590070e-03 1.79569328e-03 5.36736544e+02] [ 7.53614021e-03 9.99971595e-01 -1.26649187e-04 -2.58886378e+01] [-1.79468786e-03 1.40177983e-04 9.99998380e-01 1.65057000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6007140569999 meters Centerline goodness [0,1] 0.9713480613165013 Centerline is valid? [True, True] Translation: X:536.77, Y:-25.88, Z:1.65 [[ 9.99967788e-01 -7.81958638e-03 1.81030302e-03 5.36769040e+02] [ 7.81982910e-03 9.99969417e-01 -1.27035393e-04 -2.58849889e+01] [-1.80925429e-03 1.41187561e-04 9.99998353e-01 1.65092326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.630714057 meters Centerline goodness [0,1] 0.9663037377932427 Centerline is valid? [True, True] Translation: X:536.80, Y:-25.89, Z:1.65 [[ 9.99970574e-01 -7.54875348e-03 1.36633287e-03 5.36799310e+02] [ 7.54889161e-03 9.99971502e-01 -9.59612199e-05 -2.58946315e+01] [-1.36556954e-03 1.06272695e-04 9.99999062e-01 1.64812428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.660714057 meters Centerline goodness [0,1] 0.969762321966123 Centerline is valid? [True, True] Translation: X:536.83, Y:-25.90, Z:1.65 [[ 9.99969825e-01 -7.73647968e-03 7.03831884e-04 5.36831016e+02] [ 7.73651615e-03 9.99970072e-01 -4.91051017e-05 -2.58957034e+01] [-7.03430919e-04 5.45488267e-05 9.99999751e-01 1.64649503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6907140569999 meters Centerline goodness [0,1] 0.96983581519664 Centerline is valid? [True, True] Translation: X:536.86, Y:-25.90, Z:1.65 [[ 9.99967593e-01 -8.04201274e-03 3.73010392e-04 5.36863412e+02] [ 8.04202278e-03 9.99967662e-01 -2.54408680e-05 -2.58990156e+01] [-3.72793734e-04 2.84398016e-05 9.99999930e-01 1.64561165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7207140569999 meters Centerline goodness [0,1] 0.9672079599308223 Centerline is valid? [True, True] Translation: X:536.89, Y:-25.90, Z:1.64 [[ 9.99961196e-01 -8.79941760e-03 -4.21421485e-04 5.36894182e+02] [ 8.79943130e-03 9.99961284e-01 3.06587343e-05 -2.59041256e+01] [ 4.21135390e-04 -3.43658141e-05 9.99999911e-01 1.64451041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.750714057 meters Centerline goodness [0,1] 0.9693893557422969 Centerline is valid? [True, True] Translation: X:536.93, Y:-25.91, Z:1.64 [[ 9.99957955e-01 -9.15073875e-03 -5.94079352e-04 5.36926625e+02] [ 9.15076602e-03 9.99958130e-01 4.32101327e-05 -2.59057530e+01] [ 5.93659073e-04 -4.86445971e-05 9.99999823e-01 1.64378373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.780714057 meters Centerline goodness [0,1] 0.9696390849026922 Centerline is valid? [True, True] Translation: X:536.96, Y:-25.91, Z:1.64 [[ 9.99957997e-01 -9.13425085e-03 -7.55092100e-04 5.36958567e+02] [ 9.13429476e-03 9.99958280e-01 5.47174006e-05 -2.59066077e+01] [ 7.54560795e-04 -6.16123361e-05 9.99999713e-01 1.64285604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8107140569999 meters Centerline goodness [0,1] 0.966474299957335 Centerline is valid? [True, True] Translation: X:536.99, Y:-25.91, Z:1.64 [[ 9.99956378e-01 -9.32053406e-03 -6.07384313e-04 5.36989502e+02] [ 9.32056249e-03 9.99956562e-01 4.39844959e-05 -2.59143789e+01] [ 6.06947970e-04 -4.96437407e-05 9.99999815e-01 1.64056062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8407140569999 meters Centerline goodness [0,1] 0.9671957671957672 Centerline is valid? [True, True] Translation: X:537.02, Y:-25.92, Z:1.64 [[ 9.99955066e-01 -9.41605569e-03 -1.09748710e-03 5.37021491e+02] [ 9.41614822e-03 9.99955664e-01 7.91669828e-05 -2.59164199e+01] [ 1.09669300e-03 -8.94975267e-05 9.99999395e-01 1.64008467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.870714057 meters Centerline goodness [0,1] 0.9645259664543905 Centerline is valid? [True, True] Translation: X:537.05, Y:-25.92, Z:1.64 [[ 9.99952588e-01 -9.62256022e-03 -1.49241006e-03 5.37052522e+02] [ 9.62273199e-03 9.99953695e-01 1.07955620e-04 -2.59203262e+01] [ 1.49130215e-03 -1.22311564e-04 9.99998881e-01 1.63829138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.900714057 meters Centerline goodness [0,1] 0.9668717994789328 Centerline is valid? [True, True] Translation: X:537.09, Y:-25.92, Z:1.64 [[ 9.99943155e-01 -1.04734566e-02 -1.99812729e-03 5.37085045e+02] [ 1.04737645e-02 9.99945138e-01 1.43660270e-04 -2.59210959e+01] [ 1.99651305e-03 -1.64580018e-04 9.99997993e-01 1.63776141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9307140569999 meters Centerline goodness [0,1] 0.9667116509221773 Centerline is valid? [True, True] Translation: X:537.12, Y:-25.92, Z:1.64 [[ 9.99923024e-01 -1.22422587e-02 -2.01820509e-03 5.37116432e+02] [ 1.22425755e-02 9.99925046e-01 1.44665926e-04 -2.59235272e+01] [ 2.01628278e-03 -1.69362818e-04 9.99997953e-01 1.63682448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9607140569999 meters Centerline goodness [0,1] 0.9602937543512925 Centerline is valid? [True, True] Translation: X:537.15, Y:-25.93, Z:1.64 [[ 9.99895735e-01 -1.44022664e-02 -1.04549217e-03 5.37145800e+02] [ 1.44023534e-02 9.99896278e-01 7.57805734e-05 -2.59295682e+01] [ 1.04429231e-03 -9.08302199e-05 9.99999451e-01 1.63644155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.990714057 meters Centerline goodness [0,1] 0.9365619819900542 Centerline is valid? [True, False] Translation: X:537.15, Y:-25.93, Z:1.64 [[ 9.99896140e-01 -1.43669044e-02 -1.14061227e-03 5.37146198e+02] [ 1.43672739e-02 9.99896735e-01 3.16411023e-04 -2.59299603e+01] [ 1.13594864e-03 -3.32765649e-04 9.99999299e-01 1.63611745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.020714057 meters Centerline goodness [0,1] 0.9407404079432115 Centerline is valid? [False, False] Translation: X:537.15, Y:-25.93, Z:1.64 [[ 9.99892877e-01 -1.46056812e-02 -9.53297860e-04 5.37146007e+02] [ 1.46061588e-02 9.99893201e-01 4.95963530e-04 -2.59305868e+01] [ 9.45952164e-04 -5.09834420e-04 9.99999423e-01 1.63572455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0507140569999 meters Centerline goodness [0,1] 0.9338887516561496 Centerline is valid? [False, False] Translation: X:537.15, Y:-25.93, Z:1.64 [[ 9.99893277e-01 -1.45697484e-02 -1.07548996e-03 5.37146436e+02] [ 1.45704894e-02 9.99893611e-01 6.84431590e-04 -2.59307447e+01] [ 1.06540355e-03 -7.00028961e-04 9.99999187e-01 1.63536476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0807140569999 meters Centerline goodness [0,1] 0.9529824245965748 Centerline is valid? [False, True] Translation: X:537.15, Y:-25.93, Z:1.63 [[ 9.99893747e-01 -1.45283589e-02 -1.19210928e-03 5.37146946e+02] [ 1.45292532e-02 9.99894167e-01 7.45036395e-04 -2.59303698e+01] [ 1.18115896e-03 -7.62277690e-04 9.99999012e-01 1.63495848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.110714057 meters Centerline goodness [0,1] 0.9507767931633182 Centerline is valid? [True, True] Translation: X:537.18, Y:-25.93, Z:1.63 [[ 9.99888089e-01 -1.48990105e-02 -1.35228347e-03 5.37179227e+02] [ 1.48991649e-02 9.99888996e-01 1.04164600e-04 -2.59323915e+01] [ 1.35058141e-03 -1.24300837e-04 9.99999080e-01 1.63444671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.140714057 meters Centerline goodness [0,1] 0.9610278565321093 Centerline is valid? [True, True] Translation: X:537.21, Y:-25.93, Z:1.63 [[ 9.99897646e-01 -1.42724777e-02 -9.96893968e-04 5.37211963e+02] [ 1.42725617e-02 9.99898139e-01 7.71426702e-05 -2.59301039e+01] [ 9.95691407e-04 -9.13630049e-05 9.99999500e-01 1.63437889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1707140569999 meters Centerline goodness [0,1] 0.9689821275829469 Centerline is valid? [True, True] Translation: X:537.24, Y:-25.93, Z:1.63 [[ 9.99912513e-01 -1.31871077e-02 -1.03279380e-03 5.37243952e+02] [ 1.31871967e-02 9.99913042e-01 7.94256900e-05 -2.59257764e+01] [ 1.03165659e-03 -9.30383963e-05 9.99999464e-01 1.63479033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2007140569999 meters Centerline goodness [0,1] 0.9694871679220604 Centerline is valid? [True, True] Translation: X:537.27, Y:-25.92, Z:1.63 [[ 9.99940157e-01 -1.08528082e-02 -1.37779009e-03 5.37274557e+02] [ 1.08529635e-02 9.99941099e-01 1.05249450e-04 -2.59249409e+01] [ 1.37656668e-03 -1.20196257e-04 9.99999045e-01 1.63409955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.230714057 meters Centerline goodness [0,1] 0.9423281020661624 Centerline is valid? [True, False] Translation: X:537.27, Y:-25.92, Z:1.63 [[ 9.99972528e-01 -7.29320824e-03 -1.32395271e-03 5.37274520e+02] [ 7.29798903e-03 9.99966734e-01 3.64281792e-03 -2.59235532e+01] [ 1.29734084e-03 -3.65238004e-03 9.99992488e-01 1.63371549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.260714057 meters Centerline goodness [0,1] 0.9596899925435525 Centerline is valid? [False, True] Translation: X:537.28, Y:-25.92, Z:1.63 [[ 9.99973388e-01 -7.12025416e-03 -1.58880648e-03 5.37275073e+02] [ 7.12542204e-03 9.99969264e-01 3.27108076e-03 -2.59219091e+01] [ 1.56546672e-03 -3.28231463e-03 9.99993388e-01 1.63388744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.290714057 meters Centerline goodness [0,1] 0.9694235248886175 Centerline is valid? [True, True] Translation: X:537.31, Y:-25.91, Z:1.64 [[ 9.99976052e-01 -6.64121648e-03 -1.94676340e-03 5.37308253e+02] [ 6.64152403e-03 9.99977933e-01 1.51557599e-04 -2.59115650e+01] [ 1.94571392e-03 -1.64483445e-04 9.99998094e-01 1.63584524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3207140569999 meters Centerline goodness [0,1] 0.969878153734656 Centerline is valid? [True, True] Translation: X:537.34, Y:-25.91, Z:1.64 [[ 9.99978493e-01 -6.32121553e-03 -1.74808944e-03 5.37339883e+02] [ 6.32146246e-03 9.99980010e-01 1.35771128e-04 -2.59106207e+01] [ 1.74719626e-03 -1.46818689e-04 9.99998463e-01 1.63582863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3507140569999 meters Centerline goodness [0,1] 0.9700799528889493 Centerline is valid? [True, True] Translation: X:537.37, Y:-25.91, Z:1.64 [[ 9.99976447e-01 -6.85123109e-03 -4.06386892e-04 5.37370929e+02] [ 6.85124464e-03 9.99976529e-01 3.19561022e-05 -2.59112026e+01] [ 4.06158416e-04 -3.47396056e-05 9.99999917e-01 1.63644527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.380714057 meters Centerline goodness [0,1] 0.9666356687609154 Centerline is valid? [True, True] Translation: X:537.40, Y:-25.92, Z:1.64 [[ 9.99969596e-01 -7.77875383e-03 5.45806061e-04 5.37401110e+02] [ 7.77877714e-03 9.99969744e-01 -4.06116772e-05 -2.59198962e+01] [-5.45473638e-04 4.48561461e-05 9.99999850e-01 1.63589617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.410714057 meters Centerline goodness [0,1] 0.9609809214854472 Centerline is valid? [True, True] Translation: X:537.43, Y:-25.93, Z:1.64 [[ 9.99945426e-01 -1.03665293e-02 1.29631639e-03 5.37430666e+02] [ 1.03666683e-02 9.99946260e-01 -1.00530962e-04 -2.59261088e+01] [-1.29520457e-03 1.13963958e-04 9.99999155e-01 1.63551919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4407140569999 meters Centerline goodness [0,1] 0.9687584772583416 Centerline is valid? [True, True] Translation: X:537.46, Y:-25.92, Z:1.64 [[ 9.99906667e-01 -1.36033215e-02 1.26773572e-03 5.37461785e+02] [ 1.36034570e-02 9.99907464e-01 -9.82740677e-05 -2.59243847e+01] [-1.26628155e-03 1.15510484e-04 9.99999192e-01 1.63513535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4707140569999 meters Centerline goodness [0,1] 0.9666779776043434 Centerline is valid? [True, True] Translation: X:537.49, Y:-25.93, Z:1.63 [[ 9.99883300e-01 -1.52558048e-02 8.03909031e-04 5.37492978e+02] [ 1.52558594e-02 9.99883621e-01 -6.18907127e-05 -2.59285337e+01] [-8.02871280e-04 7.41478133e-05 9.99999675e-01 1.63426979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.500714057 meters Centerline goodness [0,1] 0.9589670468948035 Centerline is valid? [True, True] Translation: X:537.52, Y:-25.93, Z:1.63 [[ 9.99836959e-01 -1.80566236e-02 1.18847557e-04 5.37522310e+02] [ 1.80566248e-02 9.99836966e-01 -9.01288011e-06 -2.59343123e+01] [-1.18665439e-04 1.11573964e-05 9.99999993e-01 1.63319750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.530714057 meters Centerline goodness [0,1] 0.9589670468948035 Centerline is valid? [True, True] Translation: X:537.55, Y:-25.94, Z:1.63 [[ 9.99838863e-01 -1.79508827e-02 1.18942054e-04 5.37554896e+02] [ 1.79508838e-02 9.99838870e-01 -7.79613622e-06 -2.59369373e+01] [-1.18782942e-04 9.92999496e-06 9.99999993e-01 1.63275173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5607140569999 meters Centerline goodness [0,1] 0.9664889393079977 Centerline is valid? [True, True] Translation: X:537.59, Y:-25.94, Z:1.63 [[ 9.99814418e-01 -1.92623518e-02 -3.03132899e-04 5.37586054e+02] [ 1.92623599e-02 9.99814463e-01 2.38063504e-05 -2.59357675e+01] [ 3.02618090e-04 -2.96409874e-05 9.99999954e-01 1.63307995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5907140569999 meters Centerline goodness [0,1] 0.9630636755041921 Centerline is valid? [True, True] Translation: X:537.62, Y:-25.94, Z:1.63 [[ 9.99802340e-01 -1.98725326e-02 -6.02801811e-04 5.37616747e+02] [ 1.98725649e-02 9.99802520e-01 4.76177929e-05 -2.59406874e+01] [ 6.01736484e-04 -5.95875989e-05 9.99999817e-01 1.63213751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.620714057 meters Centerline goodness [0,1] 0.9684915947296683 Centerline is valid? [True, True] Translation: X:537.65, Y:-25.94, Z:1.63 [[ 9.99806046e-01 -1.96671302e-02 -1.03687092e-03 5.37649684e+02] [ 1.96672260e-02 9.99806578e-01 8.22600148e-05 -2.59387026e+01] [ 1.03505254e-03 -1.02636435e-04 9.99999459e-01 1.63133211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.650714057 meters Centerline goodness [0,1] 0.9383532181748205 Centerline is valid? [True, False] Translation: X:537.65, Y:-25.94, Z:1.63 [[ 9.99869911e-01 -1.60999529e-02 -9.75949087e-04 5.37649426e+02] [ 1.61039962e-02 9.99861131e-01 4.28716033e-03 -2.59398671e+01] [ 9.06790478e-04 -4.30231929e-03 9.99990334e-01 1.63085468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6807140569999 meters Centerline goodness [0,1] 0.9682788374205268 Centerline is valid? [False, True] Translation: X:537.65, Y:-25.94, Z:1.63 [[ 9.99871237e-01 -1.60043156e-02 -1.17068339e-03 5.37649702e+02] [ 1.60088796e-02 9.99863852e-01 3.99903378e-03 -2.59388001e+01] [ 1.10652221e-03 -4.01726018e-03 9.99991319e-01 1.63113754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7107140569999 meters Centerline goodness [0,1] 0.9679853181076672 Centerline is valid? [True, True] Translation: X:537.68, Y:-25.94, Z:1.63 [[ 9.99920816e-01 -1.25785363e-02 -3.78141450e-04 5.37679546e+02] [ 1.25785484e-02 9.99920886e-01 2.95244074e-05 -2.59374168e+01] [ 3.77740161e-04 -3.42785400e-05 9.99999928e-01 1.63305422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.740714057 meters Centerline goodness [0,1] 0.9688270196257417 Centerline is valid? [True, True] Translation: X:537.71, Y:-25.94, Z:1.63 [[ 9.99955161e-01 -9.46338373e-03 3.47339940e-04 5.37710080e+02] [ 9.46339378e-03 9.99955221e-01 -2.73157189e-05 -2.59365081e+01] [-3.47065887e-04 3.06015087e-05 9.99999939e-01 1.63360301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.770714057 meters Centerline goodness [0,1] 0.9698257253868351 Centerline is valid? [True, True] Translation: X:537.74, Y:-25.94, Z:1.63 [[ 9.99970177e-01 -7.65943327e-03 9.88838126e-04 5.37741369e+02] [ 7.65951373e-03 9.99970662e-01 -7.76059456e-05 -2.59366221e+01] [-9.88214698e-04 8.51776504e-05 9.99999508e-01 1.63377885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8007140569999 meters Centerline goodness [0,1] 0.9675471182114451 Centerline is valid? [True, True] Translation: X:537.77, Y:-25.94, Z:1.63 [[ 9.99977495e-01 -6.59288461e-03 1.24266478e-03 5.37771580e+02] [ 6.59301096e-03 9.99978261e-01 -9.76077184e-05 -2.59401880e+01] [-1.24199425e-03 1.05798424e-04 9.99999223e-01 1.63285009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8307140569999 meters Centerline goodness [0,1] 0.9701993560320614 Centerline is valid? [True, True] Translation: X:537.80, Y:-25.94, Z:1.63 [[ 9.99978245e-01 -6.47163849e-03 1.27559320e-03 5.37803574e+02] [ 6.47177080e-03 9.99979053e-01 -9.96259615e-05 -2.59419593e+01] [-1.27492174e-03 1.07879141e-04 9.99999181e-01 1.63253567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.860714057 meters Centerline goodness [0,1] 0.969731477896463 Centerline is valid? [True, True] Translation: X:537.84, Y:-25.94, Z:1.63 [[ 9.99973210e-01 -7.31817404e-03 -1.56603959e-04 5.37835243e+02] [ 7.31817617e-03 9.99973222e-01 1.30210418e-05 -2.59423691e+01] [ 1.56504475e-04 -1.41667483e-05 9.99999988e-01 1.63104524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.890714057 meters Centerline goodness [0,1] 0.9682424297494377 Centerline is valid? [True, True] Translation: X:537.87, Y:-25.95, Z:1.63 [[ 9.99968331e-01 -7.91422367e-03 -8.37330977e-04 5.37866035e+02] [ 7.91428230e-03 9.99968679e-01 6.67337759e-05 -2.59479218e+01] [ 8.36776606e-04 -7.33585362e-05 9.99999647e-01 1.62920293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9207140569999 meters Centerline goodness [0,1] 0.9706969738463646 Centerline is valid? [True, True] Translation: X:537.90, Y:-25.95, Z:1.63 [[ 9.99948448e-01 -9.93147220e-03 -2.11340655e-03 5.37896840e+02] [ 9.93184788e-03 9.99950664e-01 1.67335299e-04 -2.59494236e+01] [ 2.11164040e-03 -1.88316705e-04 9.99997753e-01 1.62791734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9507140569999 meters Centerline goodness [0,1] 0.951582782965156 Centerline is valid? [True, True] Translation: X:537.93, Y:-25.96, Z:1.63 [[ 9.99943535e-01 -1.03354648e-02 -2.47097910e-03 5.37926808e+02] [ 1.03359801e-02 9.99946563e-01 1.95867699e-04 -2.59633739e+01] [ 2.46882267e-03 -2.21396630e-04 9.99996928e-01 1.62545374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.980714057 meters Centerline goodness [0,1] 0.9297913578839357 Centerline is valid? [True, False] Translation: X:537.93, Y:-25.96, Z:1.63 [[ 9.99943925e-01 -1.02779104e-02 -2.55192210e-03 5.37927130e+02] [ 1.02792029e-02 9.99947046e-01 4.93888238e-04 -2.59639452e+01] [ 2.54671082e-03 -5.20092268e-04 9.99996622e-01 1.62516120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.010714057 meters Centerline goodness [0,1] 0.9687749287749288 Centerline is valid? [False, True] Translation: X:537.93, Y:-25.96, Z:1.63 [[ 9.99944397e-01 -1.01827743e-02 -2.74110997e-03 5.37927475e+02] [ 1.01843604e-02 9.99947978e-01 5.65298714e-04 -2.59639592e+01] [ 2.73521106e-03 -5.93183733e-04 9.99996083e-01 1.62524416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.040714057 meters Centerline goodness [0,1] 0.9485038115826602 Centerline is valid? [True, False] Translation: X:537.93, Y:-25.96, Z:1.63 [[ 9.99945360e-01 -1.00231283e-02 -2.96897465e-03 5.37927826e+02] [ 1.00251517e-02 9.99949524e-01 6.67406594e-04 -2.59640307e+01] [ 2.96213529e-03 -6.97134548e-04 9.99995370e-01 1.62548474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0707140569999 meters Centerline goodness [0,1] 0.9682086861263893 Centerline is valid? [False, True] Translation: X:537.93, Y:-25.96, Z:1.63 [[ 9.99946934e-01 -9.85571817e-03 -2.99905153e-03 5.37927980e+02] [ 9.85827268e-03 9.99951055e-01 8.38184158e-04 -2.59641000e+01] [ 2.99064384e-03 -8.67705147e-04 9.99995152e-01 1.62539377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1007140569999 meters Centerline goodness [0,1] 0.971864437745501 Centerline is valid? [True, True] Translation: X:537.96, Y:-25.96, Z:1.63 [[ 9.99963089e-01 -8.34240325e-03 -2.05544659e-03 5.37960282e+02] [ 8.34276028e-03 9.99965185e-01 1.65188536e-04 -2.59620425e+01] [ 2.05399696e-03 -1.82330537e-04 9.99997874e-01 1.62553292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.130714057 meters Centerline goodness [0,1] 0.9697203559106592 Centerline is valid? [True, True] Translation: X:537.99, Y:-25.97, Z:1.62 [[ 9.99973003e-01 -7.18760497e-03 -1.52688309e-03 5.37990517e+02] [ 7.18780066e-03 9.99974160e-01 1.22713610e-04 -2.59690331e+01] [ 1.52596161e-03 -1.33685228e-04 9.99998827e-01 1.62499275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.160714057 meters Centerline goodness [0,1] 0.9717586356475879 Centerline is valid? [True, True] Translation: X:538.02, Y:-25.97, Z:1.63 [[ 9.99985717e-01 -5.22191240e-03 -1.13937682e-03 5.38021245e+02] [ 5.22201974e-03 9.99986361e-01 9.12493005e-05 -2.59659737e+01] [ 1.13888478e-03 -9.71978454e-05 9.99999347e-01 1.62600885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1907140569999 meters Centerline goodness [0,1] 0.9703250547845143 Centerline is valid? [True, True] Translation: X:538.05, Y:-25.97, Z:1.63 [[ 9.99991077e-01 -4.12202292e-03 -9.24610731e-04 5.38053148e+02] [ 4.12209377e-03 9.99991501e-01 7.47317492e-05 -2.59679664e+01] [ 9.24294827e-04 -7.85424145e-05 9.99999570e-01 1.62577397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2207140569999 meters Centerline goodness [0,1] 0.9719668907486166 Centerline is valid? [True, True] Translation: X:538.08, Y:-25.97, Z:1.63 [[ 9.99998106e-01 -1.63790739e-03 -1.05139244e-03 5.38084349e+02] [ 1.63799712e-03 9.99998655e-01 8.44890345e-05 -2.59667015e+01] [ 1.05125264e-03 -8.62110523e-05 9.99999444e-01 1.62559756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.250714057 meters Centerline goodness [0,1] 0.9710931062894809 Centerline is valid? [True, True] Translation: X:538.12, Y:-25.97, Z:1.62 [[ 9.99998382e-01 -1.21527949e-03 -1.32598161e-03 5.38115002e+02] [ 1.21542148e-03 9.99999256e-01 1.06287651e-04 -2.59687412e+01] [ 1.32585145e-03 -1.07899106e-04 9.99999115e-01 1.62432333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.280714057 meters Centerline goodness [0,1] 0.9706179646220997 Centerline is valid? [True, True] Translation: X:538.14, Y:-25.97, Z:1.62 [[ 9.99998328e-01 -5.21116573e-04 -1.75271150e-03 5.38144936e+02] [ 5.21363613e-04 9.99999854e-01 1.40493342e-04 -2.59719222e+01] [ 1.75263803e-03 -1.41406907e-04 9.99998454e-01 1.62216316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3107140569999 meters Centerline goodness [0,1] 0.9710347674525273 Centerline is valid? [True, True] Translation: X:538.17, Y:-25.98, Z:1.62 [[ 9.99995685e-01 -1.19974792e-03 -2.68154502e-03 5.38174203e+02] [ 1.20032859e-03 9.99999257e-01 2.14946511e-04 -2.59763956e+01] [ 2.68128515e-03 -2.18164319e-04 9.99996382e-01 1.62001469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3407140569999 meters Centerline goodness [0,1] 0.9707572761966068 Centerline is valid? [True, True] Translation: X:538.20, Y:-25.98, Z:1.62 [[ 9.99994642e-01 -1.35593979e-03 -2.97944050e-03 5.38204182e+02] [ 1.35665722e-03 9.99999051e-01 2.38784154e-04 -2.59780541e+01] [ 2.97911389e-03 -2.42824954e-04 9.99995533e-01 1.61957399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.370714057 meters Centerline goodness [0,1] 0.971753619857504 Centerline is valid? [True, True] Translation: X:538.23, Y:-25.97, Z:1.62 [[ 9.99991475e-01 -2.30792742e-03 -3.42384081e-03 5.38234503e+02] [ 2.30887859e-03 9.99997297e-01 2.73882220e-04 -2.59714768e+01] [ 3.42319946e-03 -2.81785118e-04 9.99994101e-01 1.62030107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.400714057 meters Centerline goodness [0,1] 0.9693326283362836 Centerline is valid? [True, True] Translation: X:538.26, Y:-25.98, Z:1.62 [[ 9.99990780e-01 -2.58688551e-03 -3.42753031e-03 5.38263226e+02] [ 2.58784090e-03 9.99996614e-01 2.74334014e-04 -2.59820890e+01] [ 3.42680903e-03 -2.83201388e-04 9.99994088e-01 1.61851763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4307140569999 meters Centerline goodness [0,1] 0.9651563937442502 Centerline is valid? [True, True] Translation: X:538.29, Y:-25.99, Z:1.62 [[ 9.99988090e-01 -4.15923341e-03 -2.55367519e-03 5.38292550e+02] [ 4.15976907e-03 9.99991327e-01 2.04486233e-04 -2.59863277e+01] [ 2.55280253e-03 -2.15106496e-04 9.99996718e-01 1.61748039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4607140569999 meters Centerline goodness [0,1] 0.9694802207911684 Centerline is valid? [True, True] Translation: X:538.32, Y:-25.98, Z:1.62 [[ 9.99985843e-01 -4.83563540e-03 -2.22046274e-03 5.38324053e+02] [ 4.83604271e-03 9.99988290e-01 1.78103426e-04 -2.59801859e+01] [ 2.21957550e-03 -1.88839157e-04 9.99997519e-01 1.61896242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.490714057 meters Centerline goodness [0,1] 0.9696684206898136 Centerline is valid? [True, True] Translation: X:538.35, Y:-25.98, Z:1.62 [[ 9.99975713e-01 -6.91354083e-03 -8.81505026e-04 5.38354685e+02] [ 6.91360595e-03 9.99976098e-01 7.08505387e-05 -2.59816401e+01] [ 8.80994128e-04 -7.69431963e-05 9.99999609e-01 1.61966420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.520714057 meters Centerline goodness [0,1] 0.9690077423208583 Centerline is valid? [True, True] Translation: X:538.39, Y:-25.99, Z:1.62 [[ 9.99965512e-01 -8.29321712e-03 -4.44106459e-04 5.38385563e+02] [ 8.29323393e-03 9.99965610e-01 3.60279181e-05 -2.59861187e+01] [ 4.43792399e-04 -3.97097544e-05 9.99999901e-01 1.61917837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5507140569999 meters Centerline goodness [0,1] 0.9683628827999079 Centerline is valid? [True, True] Translation: X:538.42, Y:-25.99, Z:1.62 [[ 9.99938774e-01 -1.10479923e-02 6.24664017e-04 5.38416164e+02] [ 1.10480256e-02 9.99938967e-01 -4.98934812e-05 -2.59894924e+01] [-6.24074669e-04 5.67917304e-05 9.99999804e-01 1.61862737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5807140569999 meters Centerline goodness [0,1] 0.9673177023354369 Centerline is valid? [True, True] Translation: X:538.45, Y:-25.99, Z:1.62 [[ 9.99927372e-01 -1.20258173e-02 7.94193109e-04 5.38448158e+02] [ 1.20258708e-02 9.99927685e-01 -6.26740732e-05 -2.59937658e+01] [-7.93381970e-04 7.22203851e-05 9.99999683e-01 1.61799043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.610714057 meters Centerline goodness [0,1] 0.9662639512138994 Centerline is valid? [True, True] Translation: X:538.48, Y:-26.00, Z:1.62 [[ 9.99908413e-01 -1.35130450e-02 7.51109516e-04 5.38478984e+02] [ 1.35130939e-02 9.99908692e-01 -6.00922666e-05 -2.59961618e+01] [-7.50228904e-04 7.02365763e-05 9.99999716e-01 1.61737924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.640714057 meters Centerline goodness [0,1] 0.9671481558274011 Centerline is valid? [True, True] Translation: X:538.51, Y:-26.00, Z:1.62 [[ 9.99896143e-01 -1.44101513e-02 2.25237911e-04 5.38510967e+02] [ 1.44101555e-02 9.99896168e-01 -1.72370151e-05 -2.59986059e+01] [-2.24966137e-04 2.04809383e-05 9.99999974e-01 1.61696313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6707140569999 meters Centerline goodness [0,1] 0.965287356321839 Centerline is valid? [True, True] Translation: X:538.54, Y:-26.00, Z:1.62 [[ 9.99867746e-01 -1.62620107e-02 -1.93100813e-04 5.38540820e+02] [ 1.62620140e-02 9.99867765e-01 1.55184377e-05 -2.60030313e+01] [ 1.92822918e-04 -1.86565935e-05 9.99999981e-01 1.61574616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7007140569999 meters Centerline goodness [0,1] 0.9636677802096533 Centerline is valid? [True, True] Translation: X:538.57, Y:-26.01, Z:1.61 [[ 9.99860946e-01 -1.66747251e-02 -2.05984438e-04 5.38571390e+02] [ 1.66747290e-02 9.99860967e-01 1.72001581e-05 -2.60084732e+01] [ 2.05668991e-04 -2.06325010e-05 9.99999979e-01 1.61443679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.730714057 meters Centerline goodness [0,1] 0.9638082065467958 Centerline is valid? [True, True] Translation: X:538.60, Y:-26.01, Z:1.61 [[ 9.99848607e-01 -1.73999205e-02 7.41835250e-05 5.38603838e+02] [ 1.73999209e-02 9.99848610e-01 -5.12046186e-06 -2.60114122e+01] [-7.40831987e-05 6.41047412e-06 9.99999997e-01 1.61352831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.760714057 meters Centerline goodness [0,1] 0.9607447491516097 Centerline is valid? [True, True] Translation: X:538.64, Y:-26.01, Z:1.61 [[ 9.99858599e-01 -1.68038018e-02 -6.43448351e-04 5.38635546e+02] [ 1.68038391e-02 9.99858804e-01 5.26769763e-05 -2.60134991e+01] [ 6.42472325e-04 -6.34819302e-05 9.99999792e-01 1.61244242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.790714057 meters Centerline goodness [0,1] 0.9639229744013971 Centerline is valid? [True, True] Translation: X:538.67, Y:-26.01, Z:1.61 [[ 9.99871138e-01 -1.59940965e-02 -1.37683119e-03 5.38667724e+02] [ 1.59942655e-02 9.99872077e-01 1.11865104e-04 -2.60128755e+01] [ 1.37486589e-03 -1.33872092e-04 9.99999046e-01 1.61220940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8207140569999 meters Centerline goodness [0,1] 0.9658496091498143 Centerline is valid? [True, True] Translation: X:538.70, Y:-26.01, Z:1.61 [[ 9.99895516e-01 -1.43685522e-02 -1.58157024e-03 5.38699093e+02] [ 1.43687725e-02 9.99896756e-01 1.28009136e-04 -2.60116997e+01] [ 1.57956765e-03 -1.50720984e-04 9.99998741e-01 1.61157923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8507140569999 meters Centerline goodness [0,1] 0.9670094061232017 Centerline is valid? [True, True] Translation: X:538.73, Y:-26.01, Z:1.61 [[ 9.99908944e-01 -1.34180628e-02 -1.43508667e-03 5.38730912e+02] [ 1.34182433e-02 9.99909965e-01 1.16251128e-04 -2.60106175e+01] [ 1.43339759e-03 -1.35496885e-04 9.99998964e-01 1.61132023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.880714057 meters Centerline goodness [0,1] 0.9663375017304231 Centerline is valid? [True, True] Translation: X:538.76, Y:-26.01, Z:1.61 [[ 9.99939536e-01 -1.09785380e-02 -6.28569445e-04 5.38761695e+02] [ 1.09785722e-02 9.99939732e-01 5.09516716e-05 -2.60120735e+01] [ 6.27972187e-04 -5.78493859e-05 9.99999801e-01 1.61158121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.910714057 meters Centerline goodness [0,1] 0.9635973315482099 Centerline is valid? [True, True] Translation: X:538.79, Y:-26.02, Z:1.61 [[ 9.99949990e-01 -9.99690347e-03 -2.80657815e-04 5.38791620e+02] [ 9.99691028e-03 9.99950029e-01 2.28732470e-05 -2.60185660e+01] [ 2.80415129e-04 -2.56778141e-05 9.99999960e-01 1.61113177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9407140569999 meters Centerline goodness [0,1] 0.9553874973981822 Centerline is valid? [True, True] Translation: X:538.82, Y:-26.02, Z:1.61 [[ 9.99962602e-01 -8.60203826e-03 8.94407268e-04 5.38822305e+02] [ 8.60210592e-03 9.99962999e-01 -7.18289644e-05 -2.60243745e+01] [-8.93756298e-04 7.95200642e-05 9.99999597e-01 1.61103324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9707140569999 meters Centerline goodness [0,1] 0.9678739938939772 Centerline is valid? [True, True] Translation: X:538.86, Y:-26.02, Z:1.61 [[ 9.99967323e-01 -8.01477731e-03 1.05635783e-03 5.38855276e+02] [ 8.01487106e-03 9.99967877e-01 -8.45448836e-05 -2.60169993e+01] [-1.05564629e-03 9.30086927e-05 9.99999438e-01 1.61175821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.000714057 meters Centerline goodness [0,1] 0.9650060135072625 Centerline is valid? [True, True] Translation: X:538.89, Y:-26.02, Z:1.61 [[ 9.99962660e-01 -8.61523328e-03 6.75571314e-04 5.38886404e+02] [ 8.61527172e-03 9.99962886e-01 -5.40159539e-05 -2.60217440e+01] [-6.75080881e-04 5.98341673e-05 9.99999770e-01 1.61012975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.030714057 meters Centerline goodness [0,1] 0.9653756957328385 Centerline is valid? [True, True] Translation: X:538.92, Y:-26.03, Z:1.61 [[ 9.99955304e-01 -9.44233727e-03 4.82875488e-04 5.38916941e+02] [ 9.44235670e-03 9.99955419e-01 -3.79846921e-05 -2.60274127e+01] [-4.82495297e-04 4.25424769e-05 9.99999883e-01 1.60796437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0607140569999 meters Centerline goodness [0,1] 0.9631637219172394 Centerline is valid? [True, True] Translation: X:538.95, Y:-26.03, Z:1.61 [[ 9.99949443e-01 -1.00495479e-02 3.42732406e-04 5.38947661e+02] [ 1.00495578e-02 9.99949502e-01 -2.71503014e-05 -2.60327219e+01] [-3.42442250e-04 3.05932379e-05 9.99999941e-01 1.60657983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0907140569999 meters Centerline goodness [0,1] 0.9641038696537678 Centerline is valid? [True, True] Translation: X:538.98, Y:-26.03, Z:1.61 [[ 9.99940260e-01 -1.09204300e-02 -4.70417269e-04 5.38979667e+02] [ 1.09204496e-02 9.99940369e-01 3.89979460e-05 -2.60346022e+01] [ 4.69963344e-04 -4.41327843e-05 9.99999889e-01 1.60564081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.120714057 meters Centerline goodness [0,1] 0.948460276757456 Centerline is valid? [True, False] Translation: X:538.98, Y:-26.04, Z:1.60 [[ 9.99941904e-01 -1.07498906e-02 -7.92790931e-04 5.38980678e+02] [ 1.07502489e-02 9.99942114e-01 4.49108120e-04 -2.60351449e+01] [ 7.87917176e-04 -4.57604728e-04 9.99999585e-01 1.60495991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.150714057 meters Centerline goodness [0,1] 0.9618195273114102 Centerline is valid? [False, True] Translation: X:538.98, Y:-26.04, Z:1.60 [[ 9.99944954e-01 -1.04528137e-02 -9.09992048e-04 5.38981349e+02] [ 1.04537326e-02 9.99944847e-01 1.01102326e-03 -2.60358064e+01] [ 8.99373822e-04 -1.02048042e-03 9.99999075e-01 1.60423199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1807140569999 meters Centerline goodness [0,1] 0.9631340663402014 Centerline is valid? [True, True] Translation: X:539.01, Y:-26.04, Z:1.60 [[ 9.99957771e-01 -9.15516651e-03 -7.99464958e-04 5.39012410e+02] [ 9.15522299e-03 9.99958088e-01 6.70078742e-05 -2.60381004e+01] [ 7.98817983e-04 -7.43243245e-05 9.99999678e-01 1.60402819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2107140569999 meters Centerline goodness [0,1] 0.9653068300011557 Centerline is valid? [True, True] Translation: X:539.04, Y:-26.04, Z:1.61 [[ 9.99983140e-01 -5.78732775e-03 4.76636751e-04 5.39043353e+02] [ 5.78734729e-03 9.99983252e-01 -3.96238692e-05 -2.60386938e+01] [-4.76399452e-04 4.23816635e-05 9.99999886e-01 1.60525678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.240714057 meters Centerline goodness [0,1] 0.9636599911818625 Centerline is valid? [True, True] Translation: X:539.07, Y:-26.04, Z:1.61 [[ 9.99990751e-01 -4.18856660e-03 9.76984486e-04 5.39074022e+02] [ 4.18864758e-03 9.99991224e-01 -8.08561563e-05 -2.60406559e+01] [-9.76637240e-04 8.49476521e-05 9.99999519e-01 1.60555132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.270714057 meters Centerline goodness [0,1] 0.9642915262117866 Centerline is valid? [True, True] Translation: X:539.10, Y:-26.04, Z:1.61 [[ 9.99998661e-01 -9.84518862e-04 1.30696356e-03 5.39104275e+02] [ 9.84661877e-04 9.99999509e-01 -1.08786806e-04 -2.60398064e+01] [-1.30685581e-03 1.10073578e-04 9.99999140e-01 1.60616702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3007140569999 meters Centerline goodness [0,1] 0.9626485568760611 Centerline is valid? [True, True] Translation: X:539.14, Y:-26.04, Z:1.61 [[ 9.99998972e-01 2.43728299e-04 1.41313159e-03 5.39135363e+02] [-2.43562592e-04 9.99999963e-01 -1.17432807e-04 -2.60413840e+01] [-1.41316016e-03 1.17088500e-04 9.99998995e-01 1.60549316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3307140569999 meters Centerline goodness [0,1] 0.9640443678053782 Centerline is valid? [True, True] Translation: X:539.17, Y:-26.04, Z:1.60 [[ 9.99997300e-01 1.52315149e-03 1.75508635e-03 5.39165057e+02] [-1.52289734e-03 9.99998830e-01 -1.46138876e-04 -2.60436132e+01] [-1.75530689e-03 1.43465665e-04 9.99998449e-01 1.60494422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.360714057 meters Centerline goodness [0,1] 0.9668935932108552 Centerline is valid? [True, True] Translation: X:539.20, Y:-26.04, Z:1.61 [[ 9.99997274e-01 1.70268528e-03 1.59784522e-03 5.39195827e+02] [-1.70247485e-03 9.99998542e-01 -1.33046049e-04 -2.60378262e+01] [-1.59806942e-03 1.30325395e-04 9.99998715e-01 1.60514753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.390714057 meters Centerline goodness [0,1] 0.967278066515953 Centerline is valid? [True, True] Translation: X:539.23, Y:-26.04, Z:1.60 [[ 9.99996298e-01 2.33813350e-03 1.39156667e-03 5.39225023e+02] [-2.33797421e-03 9.99997260e-01 -1.16086735e-04 -2.60395604e+01] [-1.39183428e-03 1.12832858e-04 9.99999025e-01 1.60496477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4207140569999 meters Centerline goodness [0,1] 0.9668888109435286 Centerline is valid? [True, True] Translation: X:539.26, Y:-26.04, Z:1.60 [[ 9.99995733e-01 2.72772146e-03 1.04580972e-03 5.39255246e+02] [-2.72763166e-03 9.99996276e-01 -8.72838868e-05 -2.60397712e+01] [-1.04604391e-03 8.44309306e-05 9.99999449e-01 1.60445781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4507140569999 meters Centerline goodness [0,1] 0.9668888109435286 Centerline is valid? [True, True] Translation: X:539.28, Y:-26.04, Z:1.60 [[ 9.99995827e-01 2.69316164e-03 1.04579284e-03 5.39284394e+02] [-2.69307161e-03 9.99996370e-01 -8.74868329e-05 -2.60421650e+01] [-1.04602466e-03 8.46700728e-05 9.99999449e-01 1.60405227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.480714057 meters Centerline goodness [0,1] 0.9662687265917603 Centerline is valid? [True, True] Translation: X:539.31, Y:-26.04, Z:1.60 [[ 9.99994217e-01 3.37964366e-03 3.79286730e-04 5.39313454e+02] [-3.37963175e-03 9.99994289e-01 -3.20191112e-05 -2.60446099e+01] [-3.79392777e-04 3.07370766e-05 9.99999928e-01 1.60326642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.510714057 meters Centerline goodness [0,1] 0.9693994704655685 Centerline is valid? [True, True] Translation: X:539.34, Y:-26.04, Z:1.60 [[ 9.99980890e-01 6.17160120e-03 3.60931773e-04 5.39344299e+02] [-6.17159068e-03 9.99980955e-01 -3.02504391e-05 -2.60394413e+01] [-3.61111592e-04 2.80223379e-05 9.99999934e-01 1.60354244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.540714057 meters Centerline goodness [0,1] 0.9680409226365065 Centerline is valid? [True, True] Translation: X:539.37, Y:-26.05, Z:1.60 [[ 9.99969370e-01 7.82676922e-03 5.60327174e-06 5.39373079e+02] [-7.82676921e-03 9.99969370e-01 -9.49606895e-07 -2.60460115e+01] [-5.61053247e-06 9.05722295e-07 1.00000000e+00 1.60129024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5707140569999 meters Centerline goodness [0,1] 0.969060773480663 Centerline is valid? [True, True] Translation: X:539.40, Y:-26.05, Z:1.60 [[ 9.99932603e-01 1.15993253e-02 -4.96042664e-04 5.39402795e+02] [-1.15993064e-02 9.99932725e-01 4.09372533e-05 -2.60453623e+01] [ 4.96484137e-04 -3.51807434e-05 9.99999876e-01 1.60017394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6007140569999 meters Centerline goodness [0,1] 0.9718697770768108 Centerline is valid? [True, True] Translation: X:539.43, Y:-26.04, Z:1.60 [[ 9.99900312e-01 1.41139810e-02 -4.03065164e-04 5.39433243e+02] [-1.41139689e-02 9.99900392e-01 3.29779441e-05 -2.60357963e+01] [ 4.03490466e-04 -2.72858074e-05 9.99999918e-01 1.60209422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.630714057 meters Centerline goodness [0,1] 0.9721822768099201 Centerline is valid? [True, True] Translation: X:539.46, Y:-26.04, Z:1.60 [[ 9.99840102e-01 1.78761147e-02 -4.63908036e-04 5.39462335e+02] [-1.78760989e-02 9.99840209e-01 3.82102353e-05 -2.60361147e+01] [ 4.64516958e-04 -2.99112596e-05 9.99999892e-01 1.60163483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.660714057 meters Centerline goodness [0,1] 0.9730493780625706 Centerline is valid? [True, True] Translation: X:539.49, Y:-26.03, Z:1.60 [[ 9.99811901e-01 1.93911418e-02 3.81460608e-04 5.39491079e+02] [-1.93911307e-02 9.99811974e-01 -3.26292037e-05 -2.60346298e+01] [-3.82021601e-04 2.52261137e-05 9.99999927e-01 1.60217382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6907140569999 meters Centerline goodness [0,1] 0.9731262851875487 Centerline is valid? [True, True] Translation: X:539.52, Y:-26.04, Z:1.60 [[ 9.99771837e-01 2.13125570e-02 1.43167032e-03 5.39521234e+02] [-2.13124084e-02 9.99772858e-01 -1.18991895e-04 -2.60353595e+01] [-1.43388115e-03 8.84524029e-05 9.99998968e-01 1.60320897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7207140569999 meters Centerline goodness [0,1] 0.9734269358524347 Centerline is valid? [True, True] Translation: X:539.55, Y:-26.04, Z:1.60 [[ 9.99759130e-01 2.18113957e-02 2.43811902e-03 5.39550285e+02] [-2.18109652e-02 9.99762092e-01 -2.03031817e-04 -2.60377088e+01] [-2.44196738e-03 1.49805184e-04 9.99997007e-01 1.60350123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.750714057 meters Centerline goodness [0,1] 0.972885032537961 Centerline is valid? [True, True] Translation: X:539.58, Y:-26.04, Z:1.60 [[ 9.99743150e-01 2.23905405e-02 3.50682538e-03 5.39579566e+02] [-2.23896564e-02 9.99749278e-01 -2.91167732e-04 -2.60385989e+01] [-3.51246554e-03 2.12576331e-04 9.99993809e-01 1.60421231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.780714057 meters Centerline goodness [0,1] 0.972414765384525 Centerline is valid? [True, True] Translation: X:539.61, Y:-26.04, Z:1.60 [[ 9.99732726e-01 2.28773254e-02 3.33240721e-03 5.39606917e+02] [-2.28765290e-02 9.99738260e-01 -2.76912908e-04 -2.60434046e+01] [-3.33787001e-03 2.00604986e-04 9.99994409e-01 1.60298556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8107140569999 meters Centerline goodness [0,1] 0.9726706614968864 Centerline is valid? [True, True] Translation: X:539.64, Y:-26.05, Z:1.60 [[ 9.99712264e-01 2.39196340e-02 1.80029500e-03 5.39635450e+02] [-2.39194029e-02 9.99713879e-01 -1.49772699e-04 -2.60461647e+01] [-1.80336240e-03 1.06667623e-04 9.99998368e-01 1.60083277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8407140569999 meters Centerline goodness [0,1] 0.9725037537537538 Centerline is valid? [True, True] Translation: X:539.66, Y:-26.05, Z:1.60 [[ 9.99671343e-01 2.56333317e-02 3.72916353e-04 5.39663359e+02] [-2.56333217e-02 9.99671412e-01 -3.17562999e-05 -2.60529808e+01] [-3.73607837e-04 2.21867781e-05 9.99999930e-01 1.59785503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.870714057 meters Centerline goodness [0,1] 0.9722613348352577 Centerline is valid? [True, True] Translation: X:539.69, Y:-26.05, Z:1.60 [[ 9.99669326e-01 2.57145492e-02 2.35139379e-05 5.39692064e+02] [-2.57145491e-02 9.99669326e-01 -2.88767136e-06 -2.60535733e+01] [-2.35804176e-05 2.28206618e-06 1.00000000e+00 1.59699532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.900714057 meters Centerline goodness [0,1] 0.9746478210766445 Centerline is valid? [True, True] Translation: X:539.72, Y:-26.05, Z:1.60 [[ 9.99633336e-01 2.70771761e-02 -1.40675178e-04 5.39721904e+02] [-2.70771748e-02 9.99633346e-01 1.08451929e-05 -2.60496030e+01] [ 1.40917256e-04 -7.03212997e-06 9.99999990e-01 1.59821182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9307140569999 meters Centerline goodness [0,1] 0.9748686208104637 Centerline is valid? [True, True] Translation: X:539.75, Y:-26.05, Z:1.60 [[ 9.99608379e-01 2.79832272e-02 -1.64549831e-04 5.39749867e+02] [-2.79832255e-02 9.99608393e-01 1.25617128e-05 -2.60541744e+01] [ 1.64836909e-04 -7.95215833e-06 9.99999986e-01 1.59699924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9607140569999 meters Centerline goodness [0,1] 0.9738471642351175 Centerline is valid? [True, True] Translation: X:539.78, Y:-26.06, Z:1.59 [[ 9.99540844e-01 3.02798552e-02 -1.10980821e-03 5.39776950e+02] [-3.02797738e-02 9.99541458e-01 9.01353002e-05 -2.60607705e+01] [ 1.11202860e-03 -5.64891724e-05 9.99999380e-01 1.59464382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.990714057 meters Centerline goodness [0,1] 0.9759152215799615 Centerline is valid? [True, True] Translation: X:539.81, Y:-26.06, Z:1.60 [[ 9.99508082e-01 3.13321072e-02 -1.37590372e-03 5.39806210e+02] [-3.13319824e-02 9.99509027e-01 1.12166818e-04 -2.60558260e+01] [ 1.37874261e-03 -6.90018504e-05 9.99999047e-01 1.59603537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.020714057 meters Centerline goodness [0,1] 0.9776077230986578 Centerline is valid? [True, True] Translation: X:539.83, Y:-26.06, Z:1.60 [[ 9.99455127e-01 3.29886530e-02 -1.09462303e-03 5.39834915e+02] [-3.29885753e-02 9.99455725e-01 8.89471075e-05 -2.60560981e+01] [ 1.09696150e-03 -5.27885884e-05 9.99999397e-01 1.59676637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0507140569999 meters Centerline goodness [0,1] 0.9770805361223 Centerline is valid? [True, True] Translation: X:539.86, Y:-26.06, Z:1.60 [[ 9.99468767e-01 3.25898598e-02 -2.90065475e-04 5.39863614e+02] [-3.25898546e-02 9.99468809e-01 2.28293128e-05 -2.60593854e+01] [ 2.90655399e-04 -1.33639935e-05 9.99999958e-01 1.59662228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0807140569999 meters Centerline goodness [0,1] 0.9761327527362599 Centerline is valid? [True, True] Translation: X:539.89, Y:-26.06, Z:1.60 [[ 9.99536285e-01 3.04028072e-02 1.69825760e-03 5.39891807e+02] [-3.04026123e-02 9.99537724e-01 -1.40491461e-04 -2.60631076e+01] [-1.70174387e-03 8.87948452e-05 9.99998548e-01 1.59778596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.110714057 meters Centerline goodness [0,1] 0.976319984994842 Centerline is valid? [True, True] Translation: X:539.92, Y:-26.07, Z:1.60 [[ 9.99598174e-01 2.82384321e-02 2.46608459e-03 5.39920968e+02] [-2.82380179e-02 9.99601207e-01 -2.02627982e-04 -2.60673375e+01] [-2.47082303e-03 1.32909220e-04 9.99996939e-01 1.59820861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.140714057 meters Centerline goodness [0,1] 0.9735341732948547 Centerline is valid? [True, True] Translation: X:539.95, Y:-26.08, Z:1.60 [[ 9.99741199e-01 2.24720903e-02 3.54122518e-03 5.39950924e+02] [-2.24712026e-02 9.99747449e-01 -2.90265299e-04 -2.60755381e+01] [-3.54685371e-03 2.10614590e-04 9.99993688e-01 1.59749081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1707140569999 meters Centerline goodness [0,1] 0.9745610138184199 Centerline is valid? [True, True] Translation: X:539.98, Y:-26.08, Z:1.60 [[ 9.99800102e-01 1.95304175e-02 4.28012447e-03 5.39981335e+02] [-1.95290939e-02 9.99809228e-01 -3.50829833e-04 -2.60800931e+01] [-4.28615979e-03 2.67172750e-04 9.99990779e-01 1.59719636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2007140569999 meters Centerline goodness [0,1] 0.9745219952316395 Centerline is valid? [True, True] Translation: X:540.01, Y:-26.09, Z:1.60 [[ 9.99887001e-01 1.43236215e-02 4.56282095e-03 5.40011806e+02] [-1.43220633e-02 9.99897364e-01 -3.73996890e-04 -2.60851073e+01] [-4.56770963e-03 3.08605618e-04 9.99989520e-01 1.59688398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.230714057 meters Centerline goodness [0,1] 0.9727867320719458 Centerline is valid? [True, True] Translation: X:540.04, Y:-26.09, Z:1.60 [[ 9.99919786e-01 1.19825404e-02 4.10360072e-03 5.40039229e+02] [-1.19812576e-02 9.99928165e-01 -3.37054766e-04 -2.60932781e+01] [-4.10734471e-03 2.87861433e-04 9.99991523e-01 1.59557113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.260714057 meters Centerline goodness [0,1] 0.9728472952447715 Centerline is valid? [True, True] Translation: X:540.07, Y:-26.10, Z:1.59 [[ 9.99960896e-01 8.52304396e-03 2.35906243e-03 5.40067846e+02] [-8.52261120e-03 9.99963663e-01 -1.93437033e-04 -2.61000545e+01] [-2.36062539e-03 1.73324097e-04 9.99997199e-01 1.59330921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.290714057 meters Centerline goodness [0,1] 0.9722261121224852 Centerline is valid? [True, True] Translation: X:540.10, Y:-26.10, Z:1.59 [[ 9.99972353e-01 7.37324951e-03 9.63854363e-04 5.40097298e+02] [-7.37317642e-03 9.99972815e-01 -7.93602672e-05 -2.61040189e+01] [-9.64413303e-04 7.22514049e-05 9.99999532e-01 1.59169514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3207140569999 meters Centerline goodness [0,1] 0.9731513879169582 Centerline is valid? [True, True] Translation: X:540.12, Y:-26.11, Z:1.59 [[ 9.99973407e-01 7.19765349e-03 -1.17397531e-03 5.40124951e+02] [-7.19754714e-03 9.99974093e-01 9.47947075e-05 -2.61087850e+01] [ 1.17462719e-03 -8.63424440e-05 9.99999306e-01 1.58858222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3507140569999 meters Centerline goodness [0,1] 0.9727903834505894 Centerline is valid? [True, True] Translation: X:540.15, Y:-26.11, Z:1.59 [[ 9.99958289e-01 8.91412682e-03 -1.98967975e-03 5.40154037e+02] [-8.91382178e-03 9.99960258e-01 1.62131291e-04 -2.61110551e+01] [ 1.99104593e-03 -1.44388878e-04 9.99998007e-01 1.58654995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.380714057 meters Centerline goodness [0,1] 0.9737106301510589 Centerline is valid? [True, True] Translation: X:540.18, Y:-26.11, Z:1.59 [[ 9.99941718e-01 1.06101920e-02 -1.99622436e-03 5.40183061e+02] [-1.06098884e-02 9.99943700e-01 1.62601928e-04 -2.61121925e+01] [ 1.99783721e-03 -1.41412733e-04 9.99997994e-01 1.58647258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.410714057 meters Centerline goodness [0,1] 0.9724910373268973 Centerline is valid? [True, True] Translation: X:540.21, Y:-26.11, Z:1.59 [[ 9.99890960e-01 1.47395839e-02 -9.01233847e-04 5.40213786e+02] [-1.47395235e-02 9.99891365e-01 7.35798076e-05 -2.61118029e+01] [ 9.02220477e-04 -6.02880270e-05 9.99999591e-01 1.58652660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4407140569999 meters Centerline goodness [0,1] 0.9740062235324396 Centerline is valid? [True, True] Translation: X:540.24, Y:-26.10, Z:1.59 [[ 9.99859088e-01 1.67870114e-02 2.68988872e-05 5.40244475e+02] [-1.67870113e-02 9.99859088e-01 -2.44354614e-06 -2.61042384e+01] [-2.69361167e-05 1.99164989e-06 1.00000000e+00 1.58835933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4707140569999 meters Centerline goodness [0,1] 0.9747538677918425 Centerline is valid? [True, True] Translation: X:540.27, Y:-26.10, Z:1.59 [[ 9.99802434e-01 1.98400527e-02 1.21077108e-03 5.40273320e+02] [-1.98399469e-02 9.99803164e-01 -9.93277465e-05 -2.61049394e+01] [-1.21250343e-03 7.52864887e-05 9.99999262e-01 1.58841852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.500714057 meters Centerline goodness [0,1] 0.974255945428211 Centerline is valid? [True, True] Translation: X:540.30, Y:-26.10, Z:1.59 [[ 9.99775858e-01 2.11346545e-02 1.24890316e-03 5.40302853e+02] [-2.11345417e-02 9.99776635e-01 -1.03428569e-04 -2.61031701e+01] [-1.25081013e-03 7.70103900e-05 9.99999215e-01 1.58884626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.530714057 meters Centerline goodness [0,1] 0.9739045035776084 Centerline is valid? [True, True] Translation: X:540.33, Y:-26.10, Z:1.59 [[ 9.99789971e-01 2.04736038e-02 9.19747481e-04 5.40331581e+02] [-2.04735426e-02 9.99790392e-01 -7.58878879e-05 -2.61049601e+01] [-9.21108393e-04 5.70414600e-05 9.99999574e-01 1.58887956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5607140569999 meters Centerline goodness [0,1] 0.9725670570013846 Centerline is valid? [True, True] Translation: X:540.36, Y:-26.11, Z:1.59 [[ 9.99830941e-01 1.83510396e-02 1.15242186e-03 5.40359843e+02] [-1.83509428e-02 9.99831603e-01 -9.45259483e-05 -2.61106371e+01] [-1.15396245e-03 7.33619402e-05 9.99999331e-01 1.58769652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5907140569999 meters Centerline goodness [0,1] 0.9718998596162846 Centerline is valid? [True, True] Translation: X:540.39, Y:-26.12, Z:1.59 [[ 9.99851411e-01 1.71526613e-02 1.71545108e-03 5.40386749e+02] [-1.71524452e-02 9.99852876e-01 -1.40574122e-04 -2.61170399e+01] [-1.71760992e-03 1.11129053e-04 9.99998519e-01 1.58669378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.620714057 meters Centerline goodness [0,1] 0.9718253595262712 Centerline is valid? [True, True] Translation: X:540.42, Y:-26.12, Z:1.59 [[ 9.99893751e-01 1.44310690e-02 2.05708095e-03 5.40417451e+02] [-1.44307553e-02 9.99895857e-01 -1.67264315e-04 -2.61167434e+01] [-2.05928052e-03 1.37561312e-04 9.99997870e-01 1.58797327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.650714057 meters Centerline goodness [0,1] 0.9702812748631067 Centerline is valid? [True, True] Translation: X:540.45, Y:-26.12, Z:1.59 [[ 9.99912757e-01 1.29359747e-02 2.67179267e-03 5.40445002e+02] [-1.29354389e-02 9.99916310e-01 -2.17741897e-04 -2.61245763e+01] [-2.67438577e-03 1.83162090e-04 9.99996407e-01 1.58730086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6807140569999 meters Centerline goodness [0,1] 0.9687903017797266 Centerline is valid? [True, True] Translation: X:540.47, Y:-26.13, Z:1.59 [[ 9.99930866e-01 1.13414898e-02 3.10381091e-03 5.40473459e+02] [-1.13407595e-02 9.99935660e-01 -2.52776020e-04 -2.61308111e+01] [-3.10647807e-03 2.17558971e-04 9.99995151e-01 1.58674557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7107140569999 meters Centerline goodness [0,1] 0.9703107073450561 Centerline is valid? [True, True] Translation: X:540.50, Y:-26.13, Z:1.59 [[ 9.99935010e-01 1.10788006e-02 2.69015270e-03 5.40502024e+02] [-1.10782506e-02 9.99938610e-01 -2.19239155e-04 -2.61296611e+01] [-2.69241646e-03 1.89422721e-04 9.99996357e-01 1.58688220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.740714057 meters Centerline goodness [0,1] 0.9737510584250635 Centerline is valid? [True, True] Translation: X:540.53, Y:-26.12, Z:1.59 [[ 9.99939053e-01 1.09012258e-02 1.74723495e-03 5.40531269e+02] [-1.09009931e-02 9.99940572e-01 -1.42668329e-04 -2.61218857e+01] [-1.74868638e-03 1.23613038e-04 9.99998463e-01 1.58705480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.770714057 meters Centerline goodness [0,1] 0.9712176256885034 Centerline is valid? [True, True] Translation: X:540.56, Y:-26.13, Z:1.59 [[ 9.99944267e-01 1.05160489e-02 9.36089224e-04 5.40558694e+02] [-1.05159814e-02 9.99944703e-01 -7.70658441e-05 -2.61263733e+01] [-9.36847888e-04 6.72176522e-05 9.99999559e-01 1.58555839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8007140569999 meters Centerline goodness [0,1] 0.9724030934862838 Centerline is valid? [True, True] Translation: X:540.59, Y:-26.13, Z:1.59 [[ 9.99948797e-01 1.00788435e-02 9.05196163e-04 5.40586281e+02] [-1.00787802e-02 9.99949205e-01 -7.44474923e-05 -2.61302173e+01] [-9.05900529e-04 6.53204072e-05 9.99999588e-01 1.58520843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8307140569999 meters Centerline goodness [0,1] 0.9733542687070844 Centerline is valid? [True, True] Translation: X:540.62, Y:-26.13, Z:1.59 [[ 9.99943962e-01 1.05126587e-02 1.24784670e-03 5.40615840e+02] [-1.05125401e-02 9.99944737e-01 -1.01620799e-04 -2.61288302e+01] [-1.24884605e-03 8.84970655e-05 9.99999216e-01 1.58536654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.860714057 meters Centerline goodness [0,1] 0.9716593486581042 Centerline is valid? [True, True] Translation: X:540.64, Y:-26.13, Z:1.58 [[ 9.99940243e-01 1.08843258e-02 1.02096808e-03 5.40643519e+02] [-1.08842460e-02 9.99940761e-01 -8.36753138e-05 -2.61331262e+01] [-1.02181835e-03 7.25578458e-05 9.99999475e-01 1.58417768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.890714057 meters Centerline goodness [0,1] 0.9720548074206611 Centerline is valid? [True, True] Translation: X:540.67, Y:-26.13, Z:1.58 [[ 9.99928840e-01 1.18633678e-02 1.25482101e-03 5.40672338e+02] [-1.18632489e-02 9.99929624e-01 -1.02222380e-04 -2.61316804e+01] [-1.25594540e-03 8.73288522e-05 9.99999207e-01 1.58347074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9207140569999 meters Centerline goodness [0,1] 0.9721325763821818 Centerline is valid? [True, True] Translation: X:540.70, Y:-26.13, Z:1.58 [[ 9.99920072e-01 1.26198126e-02 7.68323698e-04 5.40701497e+02] [-1.26197680e-02 9.99920366e-01 -6.29185868e-05 -2.61317965e+01] [-7.69056534e-04 5.32174911e-05 9.99999703e-01 1.58329847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9507140569999 meters Centerline goodness [0,1] 0.9718041127835488 Centerline is valid? [True, True] Translation: X:540.73, Y:-26.13, Z:1.58 [[ 9.99900704e-01 1.40407624e-02 1.19930512e-03 5.40730994e+02] [-1.40406557e-02 9.99901420e-01 -9.73535773e-05 -2.61302946e+01] [-1.20055381e-03 8.05048803e-05 9.99999276e-01 1.58353582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.980714057 meters Centerline goodness [0,1] 0.9723207110102586 Centerline is valid? [True, True] Translation: X:540.76, Y:-26.13, Z:1.58 [[ 9.99898173e-01 1.41811239e-02 1.59355423e-03 5.40758184e+02] [-1.41809354e-02 9.99899437e-01 -1.29530899e-04 -2.61341576e+01] [-1.59523087e-03 1.06919619e-04 9.99998722e-01 1.58311052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.010714057 meters Centerline goodness [0,1] 0.9715909090909091 Centerline is valid? [True, True] Translation: X:540.79, Y:-26.14, Z:1.58 [[ 9.99897812e-01 1.40092115e-02 2.84746015e-03 5.40786039e+02] [-1.40086129e-02 9.99901848e-01 -2.30069040e-04 -2.61372399e+01] [-2.85040375e-03 1.90156562e-04 9.99995920e-01 1.58296081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.040714057 meters Centerline goodness [0,1] 0.9709902041779771 Centerline is valid? [True, True] Translation: X:540.82, Y:-26.14, Z:1.58 [[ 9.99924682e-01 1.20305287e-02 2.42850440e-03 5.40815275e+02] [-1.20300881e-02 9.99927617e-01 -1.95949194e-04 -2.61354746e+01] [-2.43068599e-03 1.66719314e-04 9.99997032e-01 1.58314132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0707140569999 meters Centerline goodness [0,1] 0.9694334464555053 Centerline is valid? [True, True] Translation: X:540.84, Y:-26.14, Z:1.58 [[ 9.99938127e-01 1.09573670e-02 1.91767039e-03 5.40843142e+02] [-1.09570904e-02 9.99939957e-01 -1.54645306e-04 -2.61437908e+01] [-1.91924975e-03 1.33623650e-04 9.99998149e-01 1.58143165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1007140569999 meters Centerline goodness [0,1] 0.9698397737983034 Centerline is valid? [True, True] Translation: X:540.87, Y:-26.15, Z:1.58 [[ 9.99961200e-01 8.64474427e-03 1.69346967e-03 5.40872738e+02] [-8.64452603e-03 9.99962626e-01 -1.36154231e-04 -2.61477486e+01] [-1.69458339e-03 1.21509705e-04 9.99998557e-01 1.58094465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.130714057 meters Centerline goodness [0,1] 0.9700741650526714 Centerline is valid? [True, True] Translation: X:540.90, Y:-26.14, Z:1.58 [[ 9.99970219e-01 7.57007041e-03 1.50183032e-03 5.40902862e+02] [-7.56989726e-03 9.99971341e-01 -1.20946507e-04 -2.61435476e+01] [-1.50270285e-03 1.09574204e-04 9.99998865e-01 1.58147765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.160714057 meters Centerline goodness [0,1] 0.9702333065164923 Centerline is valid? [True, True] Translation: X:540.93, Y:-26.15, Z:1.58 [[ 9.99980321e-01 6.16482766e-03 1.16264739e-03 5.40930701e+02] [-6.16472234e-03 9.99980993e-01 -9.41484868e-05 -2.61503685e+01] [-1.16320570e-03 8.69792357e-05 9.99999320e-01 1.58005331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1907140569999 meters Centerline goodness [0,1] 0.9695248420854153 Centerline is valid? [True, True] Translation: X:540.96, Y:-26.15, Z:1.58 [[ 9.99980871e-01 6.05720372e-03 1.25237263e-03 5.40958629e+02] [-6.05708194e-03 9.99981651e-01 -1.01008281e-04 -2.61544604e+01] [-1.25296148e-03 9.34206256e-05 9.99999211e-01 1.57912668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2207140569999 meters Centerline goodness [0,1] 0.9713785599394456 Centerline is valid? [True, True] Translation: X:540.99, Y:-26.15, Z:1.58 [[ 9.99977355e-01 6.58766424e-03 1.37566044e-03 5.40987976e+02] [-6.58751765e-03 9.99978296e-01 -1.11065236e-04 -2.61486632e+01] [-1.37636224e-03 1.02000533e-04 9.99999048e-01 1.58072825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.250714057 meters Centerline goodness [0,1] 0.9690243498426371 Centerline is valid? [True, True] Translation: X:541.02, Y:-26.16, Z:1.58 [[ 9.99974186e-01 6.98329428e-03 1.69152636e-03 5.41015096e+02] [-6.98307344e-03 9.99975609e-01 -1.36427958e-04 -2.61575330e+01] [-1.69243782e-03 1.24612384e-04 9.99998560e-01 1.57956161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.280714057 meters Centerline goodness [0,1] 0.9695717860346537 Centerline is valid? [True, True] Translation: X:541.04, Y:-26.16, Z:1.58 [[ 9.99950660e-01 9.69460731e-03 2.16618986e-03 5.41044224e+02] [-9.69425408e-03 9.99952995e-01 -1.73509257e-04 -2.61577423e+01] [-2.16777014e-03 1.52501101e-04 9.99997639e-01 1.57973346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3107140569999 meters Centerline goodness [0,1] 0.971907577592553 Centerline is valid? [True, True] Translation: X:541.07, Y:-26.15, Z:1.58 [[ 9.99937280e-01 1.10316169e-02 1.93383078e-03 5.41073583e+02] [-1.10313371e-02 9.99939141e-01 -1.55321945e-04 -2.61517828e+01] [-1.93542654e-03 1.33979464e-04 9.99998118e-01 1.58027783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3407140569999 meters Centerline goodness [0,1] 0.971907577592553 Centerline is valid? [True, True] Translation: X:541.10, Y:-26.15, Z:1.58 [[ 9.99938052e-01 1.09613719e-02 1.93384174e-03 5.41101864e+02] [-1.09610922e-02 9.99939913e-01 -1.55184884e-04 -2.61539787e+01] [-1.93542659e-03 1.33978253e-04 9.99998118e-01 1.57988417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.370714057 meters Centerline goodness [0,1] 0.9734361610968295 Centerline is valid? [True, True] Translation: X:541.13, Y:-26.15, Z:1.58 [[ 9.99906046e-01 1.36499320e-02 1.25614838e-03 5.41132064e+02] [-1.36498166e-02 9.99906832e-01 -1.00388488e-04 -2.61546556e+01] [-1.25740164e-03 8.32328612e-05 9.99999206e-01 1.57864753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.400714057 meters Centerline goodness [0,1] 0.9696307728837706 Centerline is valid? [True, True] Translation: X:541.16, Y:-26.16, Z:1.58 [[ 9.99897967e-01 1.42680710e-02 6.90534775e-04 5.41159280e+02] [-1.42680356e-02 9.99898205e-01 -5.62004638e-05 -2.61625886e+01] [-6.91266354e-04 4.63421548e-05 9.99999760e-01 1.57596711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4307140569999 meters Centerline goodness [0,1] 0.9714768293843372 Centerline is valid? [True, True] Translation: X:541.19, Y:-26.16, Z:1.58 [[ 9.99883189e-01 1.52838099e-02 -1.12010830e-04 5.41186688e+02] [-1.52838091e-02 9.99883196e-01 7.77808929e-06 -2.61644778e+01] [ 1.12116626e-04 -6.06522858e-06 9.99999994e-01 1.57500695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4607140569999 meters Centerline goodness [0,1] 0.972417407045709 Centerline is valid? [True, True] Translation: X:541.22, Y:-26.16, Z:1.58 [[ 9.99886770e-01 1.50399291e-02 -4.97493251e-04 5.41216179e+02] [-1.50399117e-02 9.99886893e-01 3.85719287e-05 -2.61579075e+01] [ 4.98017100e-04 -3.10853066e-05 9.99999876e-01 1.57627743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.490714057 meters Centerline goodness [0,1] 0.9728532647521074 Centerline is valid? [True, True] Translation: X:541.25, Y:-26.16, Z:1.58 [[ 9.99883694e-01 1.52472615e-02 -3.44865392e-04 5.41245544e+02] [-1.52472533e-02 9.99883754e-01 2.63884367e-05 -2.61554930e+01] [ 3.45227654e-04 -2.11271176e-05 9.99999940e-01 1.57642345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.520714057 meters Centerline goodness [0,1] 0.9728739351829819 Centerline is valid? [True, True] Translation: X:541.27, Y:-26.16, Z:1.58 [[ 9.99876627e-01 1.56339488e-02 1.52020948e-03 5.41272885e+02] [-1.56337816e-02 9.99877778e-01 -1.21823747e-04 -2.61585126e+01] [-1.52192826e-03 9.80420945e-05 9.99998837e-01 1.57760481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5507140569999 meters Centerline goodness [0,1] 0.9704760087761137 Centerline is valid? [True, True] Translation: X:541.30, Y:-26.16, Z:1.58 [[ 9.99881491e-01 1.52021268e-02 2.42867939e-03 5.41301592e+02] [-1.52017015e-02 9.99884429e-01 -1.93460035e-04 -2.61597746e+01] [-2.43133971e-03 1.56517049e-04 9.99997032e-01 1.57924858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5807140569999 meters Centerline goodness [0,1] 0.9709834700915686 Centerline is valid? [True, True] Translation: X:541.33, Y:-26.16, Z:1.58 [[ 9.99876473e-01 1.53807567e-02 3.23600679e-03 5.41330323e+02] [-1.53800045e-02 9.99881688e-01 -2.57211755e-04 -2.61622562e+01] [-3.23958004e-03 2.07410183e-04 9.99994731e-01 1.57954772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.610714057 meters Centerline goodness [0,1] 0.9693625118934348 Centerline is valid? [True, True] Translation: X:541.36, Y:-26.17, Z:1.58 [[ 9.99904163e-01 1.34782633e-02 3.16244587e-03 5.41358066e+02] [-1.34775366e-02 9.99909142e-01 -2.50968013e-04 -2.61739142e+01] [-3.16554115e-03 2.08321981e-04 9.99994968e-01 1.57686311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.640714057 meters Centerline goodness [0,1] 0.9706596808763991 Centerline is valid? [True, True] Translation: X:541.39, Y:-26.17, Z:1.58 [[ 9.99919498e-01 1.23895548e-02 2.73784156e-03 5.41386980e+02] [-1.23890059e-02 9.99923230e-01 -2.17383188e-04 -2.61747519e+01] [-2.74032465e-03 1.83446553e-04 9.99996228e-01 1.57579379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6707140569999 meters Centerline goodness [0,1] 0.9705875359630977 Centerline is valid? [True, True] Translation: X:541.42, Y:-26.18, Z:1.57 [[ 9.99954549e-01 9.52004427e-03 5.18069761e-04 5.41417599e+02] [-9.52002433e-03 9.99954683e-01 -4.09587499e-05 -2.61755254e+01] [-5.18436212e-04 3.60248515e-05 9.99999865e-01 1.57326245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7007140569999 meters Centerline goodness [0,1] 0.9703779366700716 Centerline is valid? [True, True] Translation: X:541.45, Y:-26.18, Z:1.57 [[ 9.99968178e-01 7.96563801e-03 -4.38737492e-04 5.41445588e+02] [-7.96562388e-03 9.99968273e-01 3.39395797e-05 -2.61829115e+01] [ 4.38993922e-04 -3.04436818e-05 9.99999903e-01 1.57088064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7307140569999 meters Centerline goodness [0,1] 0.970126871533646 Centerline is valid? [True, True] Translation: X:541.48, Y:-26.19, Z:1.57 [[ 9.99988529e-01 4.57664828e-03 -1.41252076e-03 5.41475839e+02] [-4.57649526e-03 9.99989522e-01 1.11547182e-04 -2.61873774e+01] [ 1.41301647e-03 -1.05081508e-04 9.99998996e-01 1.56963487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.760714057 meters Centerline goodness [0,1] 0.9694326257992442 Centerline is valid? [True, True] Translation: X:541.51, Y:-26.19, Z:1.57 [[ 9.99997611e-01 2.07158563e-03 -6.98039410e-04 5.41505784e+02] [-2.07154781e-03 9.99997853e-01 5.48990350e-05 -2.61910317e+01] [ 6.98151639e-04 -5.34528818e-05 9.99999755e-01 1.57001471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.790714057 meters Centerline goodness [0,1] 0.9716285138180524 Centerline is valid? [True, True] Translation: X:541.54, Y:-26.19, Z:1.57 [[ 9.99999173e-01 1.23224578e-03 -3.67867443e-04 5.41535362e+02] [-1.23223546e-03 9.99999240e-01 2.82897006e-05 -2.61877831e+01] [ 3.67902023e-04 -2.78363779e-05 9.99999932e-01 1.57085119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8207140569999 meters Centerline goodness [0,1] 0.9700021427040926 Centerline is valid? [True, True] Translation: X:541.56, Y:-26.19, Z:1.57 [[ 9.99999149e-01 2.94054400e-04 -1.27117272e-03 5.41563894e+02] [-2.93927778e-04 9.99999952e-01 9.97964377e-05 -2.61938778e+01] [ 1.27120201e-03 -9.94227197e-05 9.99999187e-01 1.56900015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8507140569999 meters Centerline goodness [0,1] 0.9709843817165783 Centerline is valid? [True, True] Translation: X:541.59, Y:-26.20, Z:1.57 [[ 9.99999485e-01 5.72535768e-04 -8.37770916e-04 5.41593755e+02] [-5.72481021e-04 9.99999834e-01 6.55861345e-05 -2.61950831e+01] [ 8.37808327e-04 -6.51064928e-05 9.99999647e-01 1.56879474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.880714057 meters Centerline goodness [0,1] 0.969822428564591 Centerline is valid? [True, True] Translation: X:541.62, Y:-26.20, Z:1.57 [[ 9.99999223e-01 9.38551645e-04 -8.20357505e-04 5.41623264e+02] [-9.38498797e-04 9.99999558e-01 6.48030275e-05 -2.61974166e+01] [ 8.20417963e-04 -6.40330727e-05 9.99999661e-01 1.56853397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.910714057 meters Centerline goodness [0,1] 0.9707420020144851 Centerline is valid? [True, True] Translation: X:541.65, Y:-26.20, Z:1.57 [[ 9.99998845e-01 1.28274371e-03 -8.14856460e-04 5.41652903e+02] [-1.28269217e-03 9.99999175e-01 6.37625636e-05 -2.62001514e+01] [ 8.14937579e-04 -6.27172799e-05 9.99999666e-01 1.56829345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9407140569999 meters Centerline goodness [0,1] 0.9711340206185567 Centerline is valid? [True, True] Translation: X:541.68, Y:-26.20, Z:1.57 [[ 9.99996571e-01 2.61495488e-03 1.44033756e-04 5.41682630e+02] [-2.61495321e-03 9.99996581e-01 -1.18261324e-05 -2.62008006e+01] [-1.44064189e-04 1.14494503e-05 9.99999990e-01 1.56819564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9707140569999 meters Centerline goodness [0,1] 0.9730457572915915 Centerline is valid? [True, True] Translation: X:541.71, Y:-26.20, Z:1.57 [[ 9.99987029e-01 5.08095214e-03 3.54354822e-04 5.41712852e+02] [-5.08094239e-03 9.99987092e-01 -2.84015747e-05 -2.61955578e+01] [-3.54494555e-04 2.66007499e-05 9.99999937e-01 1.56826463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.000714057 meters Centerline goodness [0,1] 0.9718299711815562 Centerline is valid? [True, True] Translation: X:541.74, Y:-26.20, Z:1.57 [[ 9.99981900e-01 5.98564118e-03 6.09091427e-04 5.41741233e+02] [-5.98561288e-03 9.99982085e-01 -4.82693760e-05 -2.62035832e+01] [-6.09369438e-04 4.46227169e-05 9.99999813e-01 1.56667463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.030714057 meters Centerline goodness [0,1] 0.9716581657203349 Centerline is valid? [True, True] Translation: X:541.77, Y:-26.20, Z:1.57 [[ 9.99971197e-01 7.50901992e-03 1.10458975e-03 5.41769822e+02] [-7.50892769e-03 9.99971804e-01 -8.76235654e-05 -2.62032775e+01] [-1.10521657e-03 7.93267570e-05 9.99999386e-01 1.56708597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0607140569999 meters Centerline goodness [0,1] 0.9736861094407697 Centerline is valid? [True, True] Translation: X:541.80, Y:-26.20, Z:1.57 [[ 9.99963237e-01 8.49152267e-03 1.19071246e-03 5.41798933e+02] [-8.49141604e-03 9.99963943e-01 -9.45759683e-05 -2.61994197e+01] [-1.19147262e-03 8.44616565e-05 9.99999287e-01 1.56785263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0907140569999 meters Centerline goodness [0,1] 0.9751611268013615 Centerline is valid? [True, True] Translation: X:541.83, Y:-26.20, Z:1.57 [[ 9.99953206e-01 9.61172568e-03 1.09591954e-03 5.41828073e+02] [-9.61163599e-03 9.99953803e-01 -8.70782368e-05 -2.61957893e+01] [-1.09670588e-03 7.65405823e-05 9.99999396e-01 1.56780412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.120714057 meters Centerline goodness [0,1] 0.9744427363566487 Centerline is valid? [True, True] Translation: X:541.86, Y:-26.20, Z:1.57 [[ 9.99950841e-01 9.81210593e-03 1.42739474e-03 5.41855439e+02] [-9.81195413e-03 9.99951855e-01 -1.13307654e-04 -2.61991409e+01] [-1.42843780e-03 9.92965521e-05 9.99998975e-01 1.56720069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.150714057 meters Centerline goodness [0,1] 0.9745599228357849 Centerline is valid? [True, True] Translation: X:541.88, Y:-26.20, Z:1.57 [[ 9.99956095e-01 9.19652020e-03 1.79756230e-03 5.41882921e+02] [-9.19627956e-03 9.99957703e-01 -1.42093514e-04 -2.62026934e+01] [-1.79879304e-03 1.25556390e-04 9.99998374e-01 1.56633846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1807140569999 meters Centerline goodness [0,1] 0.9748289815974565 Centerline is valid? [True, True] Translation: X:541.91, Y:-26.20, Z:1.57 [[ 9.99959598e-01 8.84229764e-03 1.61732734e-03 5.41912137e+02] [-8.84210273e-03 9.99960900e-01 -1.27623812e-04 -2.62021073e+01] [-1.61839259e-03 1.13318082e-04 9.99998684e-01 1.56616402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2107140569999 meters Centerline goodness [0,1] 0.9756519233539835 Centerline is valid? [True, True] Translation: X:541.94, Y:-26.21, Z:1.56 [[ 9.99965874e-01 8.14360724e-03 1.39049012e-03 5.41939020e+02] [-8.14346185e-03 9.99966835e-01 -1.10192996e-04 -2.62084456e+01] [-1.39134138e-03 9.88658323e-05 9.99999027e-01 1.56387717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.240714057 meters Centerline goodness [0,1] 0.9739063328992428 Centerline is valid? [True, True] Translation: X:541.97, Y:-26.22, Z:1.56 [[ 9.99969899e-01 7.73541603e-03 6.04347692e-04 5.41965664e+02] [-7.73538805e-03 9.99970080e-01 -4.86268046e-05 -2.62172412e+01] [-6.04705759e-04 4.39504769e-05 9.99999816e-01 1.56079837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.270714057 meters Centerline goodness [0,1] 0.9746413563251702 Centerline is valid? [True, True] Translation: X:542.00, Y:-26.22, Z:1.56 [[ 9.99971381e-01 7.55179459e-03 4.55053586e-04 5.41995123e+02] [-7.55177878e-03 9.99971484e-01 -3.64587044e-05 -2.62154055e+01] [-4.55315938e-04 3.30211970e-05 9.99999896e-01 1.56053198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3007140569999 meters Centerline goodness [0,1] 0.976630329924754 Centerline is valid? [True, True] Translation: X:542.02, Y:-26.21, Z:1.56 [[ 9.99971341e-01 7.56720888e-03 -2.31783857e-04 5.42024254e+02] [-7.56720513e-03 9.99971368e-01 1.70716158e-05 -2.62108222e+01] [ 2.31906405e-04 -1.53171706e-05 9.99999973e-01 1.56079551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3307140569999 meters Centerline goodness [0,1] 0.9760232793035448 Centerline is valid? [True, True] Translation: X:542.05, Y:-26.21, Z:1.56 [[ 9.99969988e-01 7.73313312e-03 -4.69981131e-04 5.42052724e+02] [-7.73311724e-03 9.99970098e-01 3.55969940e-05 -2.62106189e+01] [ 4.70242355e-04 -3.19615064e-05 9.99999889e-01 1.56100328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.360714057 meters Centerline goodness [0,1] 0.974903474903475 Centerline is valid? [True, True] Translation: X:542.08, Y:-26.21, Z:1.56 [[ 9.99960358e-01 8.86034791e-03 -8.81119361e-04 5.42080200e+02] [-8.86029204e-03 9.99960745e-01 6.72928836e-05 -2.62136596e+01] [ 8.81681011e-04 -5.94832412e-05 9.99999610e-01 1.55959862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.390714057 meters Centerline goodness [0,1] 0.9760392261056496 Centerline is valid? [True, True] Translation: X:542.11, Y:-26.21, Z:1.56 [[ 9.99951382e-01 9.80009132e-03 -1.09141347e-03 5.42109582e+02] [-9.80000535e-03 9.99951975e-01 8.40842027e-05 -2.62124096e+01] [ 1.09218508e-03 -7.33842569e-05 9.99999401e-01 1.55969849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4207140569999 meters Centerline goodness [0,1] 0.9745050700144857 Centerline is valid? [True, True] Translation: X:542.14, Y:-26.22, Z:1.56 [[ 9.99942842e-01 1.06797491e-02 -5.04742423e-04 5.42137529e+02] [-1.06797312e-02 9.99942969e-01 3.82068373e-05 -2.62178622e+01] [ 5.05121676e-04 -3.28141401e-05 9.99999872e-01 1.55826715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4507140569999 meters Centerline goodness [0,1] 0.9743466679465336 Centerline is valid? [True, True] Translation: X:542.17, Y:-26.22, Z:1.56 [[ 9.99905951e-01 1.37079973e-02 4.24782561e-04 5.42168269e+02] [-1.37079845e-02 9.99906041e-01 -3.32232192e-05 -2.62157212e+01] [-4.25198072e-04 2.73971818e-05 9.99999909e-01 1.55851976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4807140569999 meters Centerline goodness [0,1] 0.974083377614608 Centerline is valid? [True, True] Translation: X:542.20, Y:-26.22, Z:1.56 [[ 9.99856366e-01 1.69126876e-02 1.09915009e-03 5.42198422e+02] [-1.69126037e-02 9.99856968e-01 -8.55560019e-05 -2.62162795e+01] [-1.10043986e-03 6.69542233e-05 9.99999392e-01 1.55874224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.510714057 meters Centerline goodness [0,1] 0.9740700351387375 Centerline is valid? [True, True] Translation: X:542.23, Y:-26.22, Z:1.56 [[ 9.99825736e-01 1.86398441e-02 1.02704847e-03 5.42227719e+02] [-1.86397713e-02 9.99826261e-01 -8.03876903e-05 -2.62160251e+01] [-1.02836845e-03 6.12297329e-05 9.99999469e-01 1.55921394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.540714057 meters Centerline goodness [0,1] 0.9754768392370572 Centerline is valid? [True, True] Translation: X:542.26, Y:-26.21, Z:1.56 [[ 9.99764340e-01 2.16515165e-02 1.57333235e-03 5.42257698e+02] [-2.16513504e-02 9.99765575e-01 -1.22478201e-04 -2.62112543e+01] [-1.57561536e-03 8.83845680e-05 9.99998755e-01 1.56020125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5707140569999 meters Centerline goodness [0,1] 0.9719573888510555 Centerline is valid? [True, True] Translation: X:542.29, Y:-26.22, Z:1.56 [[ 9.99728464e-01 2.32242845e-02 1.90522872e-03 5.42285065e+02] [-2.32240430e-02 9.99730274e-01 -1.48767948e-04 -2.62205054e+01] [-1.90816986e-03 1.04480438e-04 9.99998174e-01 1.55778425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6007140569999 meters Centerline goodness [0,1] 0.9752737892431248 Centerline is valid? [True, True] Translation: X:542.31, Y:-26.21, Z:1.56 [[ 9.99696579e-01 2.45509843e-02 1.99957825e-03 5.42314748e+02] [-2.45507218e-02 9.99698573e-01 -1.55700860e-04 -2.62126871e+01] [-2.00279814e-03 1.06562528e-04 9.99997989e-01 1.55934592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.630714057 meters Centerline goodness [0,1] 0.9747723177324307 Centerline is valid? [True, True] Translation: X:542.34, Y:-26.21, Z:1.56 [[ 9.99679078e-01 2.52439415e-02 2.11747564e-03 5.42343446e+02] [-2.52436491e-02 9.99681315e-01 -1.64677392e-04 -2.62149845e+01] [-2.12095794e-03 1.11171732e-04 9.99997745e-01 1.55854812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.660714057 meters Centerline goodness [0,1] 0.9738447701694256 Centerline is valid? [True, True] Translation: X:542.37, Y:-26.22, Z:1.56 [[ 9.99688560e-01 2.49226172e-02 1.28309304e-03 5.42370636e+02] [-2.49225090e-02 9.99689381e-01 -1.00311440e-04 -2.62183243e+01] [-1.28519451e-03 6.83023008e-05 9.99999172e-01 1.55755190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6907140569999 meters Centerline goodness [0,1] 0.97364518246578 Centerline is valid? [True, True] Translation: X:542.40, Y:-26.22, Z:1.56 [[ 9.99734094e-01 2.30595251e-02 -1.94067444e-06 5.42399653e+02] [-2.30595251e-02 9.99734094e-01 -5.85943896e-07 -2.62216647e+01] [ 1.92664681e-06 6.30539122e-07 1.00000000e+00 1.55599704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7207140569999 meters Centerline goodness [0,1] 0.972278189100619 Centerline is valid? [True, True] Translation: X:542.43, Y:-26.23, Z:1.55 [[ 9.99767296e-01 2.15644179e-02 -5.73579641e-04 5.42426633e+02] [-2.15643971e-02 9.99767460e-01 4.23789499e-05 -2.62261666e+01] [ 5.74360139e-04 -3.00001890e-05 9.99999835e-01 1.55409693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.750714057 meters Centerline goodness [0,1] 0.9720011575748806 Centerline is valid? [True, True] Translation: X:542.46, Y:-26.23, Z:1.55 [[ 9.99816070e-01 1.91268018e-02 -1.41156149e-03 5.42455384e+02] [-1.91266684e-02 9.99817063e-01 1.07931934e-04 -2.62320491e+01] [ 1.41336766e-03 -8.09136137e-05 9.99998998e-01 1.55229214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.780714057 meters Centerline goodness [0,1] 0.97322206095791 Centerline is valid? [True, True] Translation: X:542.48, Y:-26.24, Z:1.55 [[ 9.99840190e-01 1.77799935e-02 -1.86163329e-03 5.42483929e+02] [-1.77797589e-02 9.99841917e-01 1.42484685e-04 -2.62370428e+01] [ 1.86387238e-03 -1.09362524e-04 9.99998257e-01 1.55136018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8107140569999 meters Centerline goodness [0,1] 0.9714037291082988 Centerline is valid? [True, True] Translation: X:542.51, Y:-26.24, Z:1.55 [[ 9.99876523e-01 1.53889982e-02 -3.18072757e-03 5.42514289e+02] [-1.53882974e-02 9.99881563e-01 2.44669345e-04 -2.62416902e+01] [ 3.18411608e-03 -1.95693152e-04 9.99994912e-01 1.55027996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8407140569999 meters Centerline goodness [0,1] 0.9716195670535994 Centerline is valid? [True, True] Translation: X:542.54, Y:-26.25, Z:1.55 [[ 9.99891812e-01 1.42998561e-02 -3.44647712e-03 5.42543211e+02] [-1.42990311e-02 9.99897729e-01 2.63909235e-04 -2.62458169e+01] [ 3.44989851e-03 -2.14599399e-04 9.99994026e-01 1.54978792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.870714057 meters Centerline goodness [0,1] 0.9721214160397991 Centerline is valid? [True, True] Translation: X:542.57, Y:-26.25, Z:1.55 [[ 9.99915039e-01 1.27422892e-02 -2.74766189e-03 5.42573075e+02] [-1.27417585e-02 9.99918798e-01 2.10578652e-04 -2.62485356e+01] [ 2.75012203e-03 -1.75550716e-04 9.99996203e-01 1.55036485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.900714057 meters Centerline goodness [0,1] 0.9711171400446568 Centerline is valid? [True, True] Translation: X:542.60, Y:-26.26, Z:1.55 [[ 9.99935999e-01 1.12268156e-02 -1.39849081e-03 5.42600371e+02] [-1.12266782e-02 9.99936973e-01 1.06096729e-04 -2.62554204e+01] [ 1.39959380e-03 -9.03895329e-05 9.99999016e-01 1.55131565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9307140569999 meters Centerline goodness [0,1] 0.9711589134288315 Centerline is valid? [True, True] Translation: X:542.63, Y:-26.26, Z:1.55 [[ 9.99946202e-01 1.02767660e-02 -1.40734102e-03 5.42628936e+02] [-1.02766257e-02 9.99947188e-01 1.06898462e-04 -2.62557011e+01] [ 1.40836527e-03 -9.24299945e-05 9.99999004e-01 1.55237904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9607140569999 meters Centerline goodness [0,1] 0.9705362263429554 Centerline is valid? [True, True] Translation: X:542.66, Y:-26.27, Z:1.55 [[ 9.99956207e-01 9.34310186e-03 -5.39463930e-04 5.42655926e+02] [-9.34308158e-03 9.99956352e-01 4.00878915e-05 -2.62653865e+01] [ 5.39814928e-04 -3.50458804e-05 9.99999854e-01 1.55261299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.990714057 meters Centerline goodness [0,1] 0.9704777626259001 Centerline is valid? [True, True] Translation: X:542.68, Y:-26.27, Z:1.55 [[ 9.99961253e-01 8.79886469e-03 2.69991094e-04 5.42684325e+02] [-8.79885918e-03 9.99961289e-01 -2.16008315e-05 -2.62683888e+01] [-2.70170706e-04 1.92243809e-05 9.99999963e-01 1.55303428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.020714057 meters Centerline goodness [0,1] 0.9691240284201993 Centerline is valid? [True, True] Translation: X:542.71, Y:-26.27, Z:1.55 [[ 9.99961084e-01 8.75668049e-03 1.07285665e-03 5.42712854e+02] [-8.75659652e-03 9.99961657e-01 -8.29405915e-05 -2.62740656e+01] [-1.07354180e-03 7.35427910e-05 9.99999421e-01 1.55274140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0507140569999 meters Centerline goodness [0,1] 0.9695213565142734 Centerline is valid? [True, True] Translation: X:542.74, Y:-26.27, Z:1.55 [[ 9.99960458e-01 8.86923039e-03 6.46757342e-04 5.42742233e+02] [-8.86919982e-03 9.99960667e-01 -5.01220925e-05 -2.62742442e+01] [-6.47176447e-04 4.43838905e-05 9.99999790e-01 1.55214693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0807140569999 meters Centerline goodness [0,1] 0.9700577372715561 Centerline is valid? [True, True] Translation: X:542.77, Y:-26.28, Z:1.55 [[ 9.99954157e-01 9.56874350e-03 3.50286004e-04 5.42769168e+02] [-9.56873430e-03 9.99954218e-01 -2.79201924e-05 -2.62834806e+01] [-3.50537129e-04 2.45671187e-05 9.99999938e-01 1.54999727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.110714057 meters Centerline goodness [0,1] 0.9698081734778983 Centerline is valid? [True, True] Translation: X:542.80, Y:-26.29, Z:1.55 [[ 9.99926032e-01 1.21576599e-02 -3.50141121e-04 5.42797842e+02] [-1.21576514e-02 9.99926093e-01 2.62460236e-05 -2.62868828e+01] [ 3.50434334e-04 -2.19871886e-05 9.99999938e-01 1.54924979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.140714057 meters Centerline goodness [0,1] 0.970864280085019 Centerline is valid? [True, True] Translation: X:542.83, Y:-26.29, Z:1.55 [[ 9.99904434e-01 1.38246929e-02 -2.65495400e-05 5.42828024e+02] [-1.38246929e-02 9.99904434e-01 1.79710720e-06 -2.62891304e+01] [ 2.65718472e-05 -1.42989622e-06 1.00000000e+00 1.54876125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1707140569999 meters Centerline goodness [0,1] 0.9730423010236801 Centerline is valid? [True, True] Translation: X:542.86, Y:-26.29, Z:1.55 [[ 9.99836761e-01 1.80654782e-02 -2.98539667e-04 5.42859290e+02] [-1.80654722e-02 9.99836806e-01 2.29583894e-05 -2.62850347e+01] [ 2.98905701e-04 -1.75613817e-05 9.99999955e-01 1.54962810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2007140569999 meters Centerline goodness [0,1] 0.9733558339077318 Centerline is valid? [True, True] Translation: X:542.89, Y:-26.29, Z:1.55 [[ 9.99793008e-01 2.03441043e-02 -2.40944726e-04 5.42888750e+02] [-2.03441006e-02 9.99793037e-01 1.78818399e-05 -2.62867733e+01] [ 2.41258649e-04 -1.29763348e-05 9.99999971e-01 1.54906049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2307140569999 meters Centerline goodness [0,1] 0.9738888492544767 Centerline is valid? [True, True] Translation: X:542.92, Y:-26.28, Z:1.55 [[ 9.99688957e-01 2.49377744e-02 -3.11503576e-04 5.42919826e+02] [-2.49377682e-02 9.99689005e-01 2.36734393e-05 -2.62846924e+01] [ 3.11997063e-04 -1.58978718e-05 9.99999951e-01 1.54985585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.260714057 meters Centerline goodness [0,1] 0.9738888492544767 Centerline is valid? [True, True] Translation: X:542.95, Y:-26.29, Z:1.55 [[ 9.99691627e-01 2.48304879e-02 -3.11613866e-04 5.42947239e+02] [-2.48304822e-02 9.99691676e-01 2.22253601e-05 -2.62866922e+01] [ 3.12069655e-04 -1.44809839e-05 9.99999951e-01 1.54947477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.290714057 meters Centerline goodness [0,1] 0.9740681866710954 Centerline is valid? [True, True] Translation: X:542.97, Y:-26.29, Z:1.55 [[ 9.99640825e-01 2.67982615e-02 -2.74095845e-04 5.42974541e+02] [-2.67982571e-02 9.99640862e-01 1.96035765e-05 -2.62898415e+01] [ 2.74522748e-04 -1.22512445e-05 9.99999962e-01 1.54845547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3207140569999 meters Centerline goodness [0,1] 0.9757806766258671 Centerline is valid? [True, True] Translation: X:543.00, Y:-26.29, Z:1.55 [[ 9.99492032e-01 3.18690386e-02 2.07877484e-04 5.43004803e+02] [-3.18690359e-02 9.99492053e-01 -1.59595336e-05 -2.62920846e+01] [-2.08280508e-04 9.32657164e-06 9.99999978e-01 1.54838813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3507140569999 meters Centerline goodness [0,1] 0.9759798923481848 Centerline is valid? [True, True] Translation: X:543.03, Y:-26.30, Z:1.55 [[ 9.99428276e-01 3.38069179e-02 4.62240621e-04 5.43033177e+02] [-3.38069048e-02 9.99428383e-01 -3.60821646e-05 -2.62954727e+01] [-4.63196223e-04 2.04346108e-05 9.99999893e-01 1.54761283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.380714057 meters Centerline goodness [0,1] 0.977136264098519 Centerline is valid? [True, True] Translation: X:543.06, Y:-26.30, Z:1.55 [[ 9.99325625e-01 3.67103171e-02 8.05073781e-04 5.43063112e+02] [-3.67102796e-02 9.99325949e-01 -6.13676411e-05 -2.63002321e+01] [-8.06783945e-04 3.17717728e-05 9.99999674e-01 1.54742544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.410714057 meters Centerline goodness [0,1] 0.9775012863089948 Centerline is valid? [True, True] Translation: X:543.09, Y:-26.31, Z:1.55 [[ 9.99316410e-01 3.68980746e-02 2.29003002e-03 5.43089996e+02] [-3.68977706e-02 9.99319030e-01 -1.74877600e-04 -2.63087756e+01] [-2.29492323e-03 9.02610531e-05 9.99997363e-01 1.54788587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4407140569999 meters Centerline goodness [0,1] 0.978110599078341 Centerline is valid? [True, True] Translation: X:543.12, Y:-26.31, Z:1.55 [[ 9.99348529e-01 3.60038335e-02 2.49830108e-03 5.43119006e+02] [-3.60034702e-02 9.99351647e-01 -1.90257564e-04 -2.63130583e+01] [-2.50353130e-03 1.00186108e-04 9.99996861e-01 1.54799788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4707140569999 meters Centerline goodness [0,1] 0.9771423240192191 Centerline is valid? [True, True] Translation: X:543.15, Y:-26.33, Z:1.55 [[ 9.99443387e-01 3.31513932e-02 3.72849782e-03 5.43146762e+02] [-3.31505677e-02 9.99450329e-01 -2.83016918e-04 -2.63259189e+01] [-3.73583078e-03 1.59257568e-04 9.99993009e-01 1.54680523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.500714057 meters Centerline goodness [0,1] 0.976447337828412 Centerline is valid? [True, True] Translation: X:543.18, Y:-26.33, Z:1.55 [[ 9.99506502e-01 3.12066427e-02 3.59127842e-03 5.43176328e+02] [-3.12058655e-02 9.99512941e-01 -2.72256942e-04 -2.63316234e+01] [-3.59802548e-03 1.60053633e-04 9.99993514e-01 1.54603155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.530714057 meters Centerline goodness [0,1] 0.9776050342402369 Centerline is valid? [True, True] Translation: X:543.21, Y:-26.34, Z:1.54 [[ 9.99626520e-01 2.72730192e-02 1.73263327e-03 5.43206195e+02] [-2.72728325e-02 9.99628018e-01 -1.31338427e-04 -2.63397298e+01] [-1.73557076e-03 8.40355581e-05 9.99998490e-01 1.54416409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5607140569999 meters Centerline goodness [0,1] 0.9753667312482701 Centerline is valid? [True, True] Translation: X:543.23, Y:-26.35, Z:1.54 [[ 9.99687653e-01 2.49769281e-02 8.66205732e-04 5.43234270e+02] [-2.49768800e-02 9.99688027e-01 -6.62336573e-05 -2.63513297e+01] [-8.67589812e-04 4.45778527e-05 9.99999623e-01 1.54141572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5907140569999 meters Centerline goodness [0,1] 0.976024321149727 Centerline is valid? [True, True] Translation: X:543.26, Y:-26.36, Z:1.54 [[ 9.99775572e-01 2.11482304e-02 -1.24836263e-03 5.43263114e+02] [-2.11481293e-02 9.99776349e-01 9.41345339e-05 -2.63623372e+01] [ 1.25007421e-03 -6.77128731e-05 9.99999216e-01 1.53900639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.620714057 meters Centerline goodness [0,1] 0.9760601600588722 Centerline is valid? [True, True] Translation: X:543.29, Y:-26.36, Z:1.54 [[ 9.99813787e-01 1.92303503e-02 -1.60774143e-03 5.43292293e+02] [-1.92301810e-02 9.99815076e-01 1.20690632e-04 -2.63622372e+01] [ 1.60976504e-03 -8.97509988e-05 9.99998700e-01 1.53984422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.650714057 meters Centerline goodness [0,1] 0.9745673473125172 Centerline is valid? [True, True] Translation: X:543.32, Y:-26.38, Z:1.54 [[ 9.99867820e-01 1.62242844e-02 -1.05613595e-03 5.43319223e+02] [-1.62242103e-02 9.99868376e-01 7.87008195e-05 -2.63784345e+01] [ 1.05727380e-03 -6.15554451e-05 9.99999439e-01 1.53820183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6807140569999 meters Centerline goodness [0,1] 0.9746603851255546 Centerline is valid? [True, True] Translation: X:543.35, Y:-26.38, Z:1.54 [[ 9.99908068e-01 1.35084763e-02 -1.17329220e-03 5.43349423e+02] [-1.35083820e-02 9.99908754e-01 8.82707609e-05 -2.63792569e+01] [ 1.17437755e-03 -7.24133667e-05 9.99999308e-01 1.53931746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7107140569999 meters Centerline goodness [0,1] 0.9758371123631533 Centerline is valid? [True, True] Translation: X:543.38, Y:-26.38, Z:1.54 [[ 9.99923506e-01 1.22878257e-02 -1.41144765e-03 5.43377554e+02] [-1.22876895e-02 9.99924498e-01 1.05116637e-04 -2.63829837e+01] [ 1.41263274e-03 -8.77651660e-05 9.99998998e-01 1.53930772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.740714057 meters Centerline goodness [0,1] 0.9754578838126953 Centerline is valid? [True, True] Translation: X:543.41, Y:-26.39, Z:1.54 [[ 9.99946090e-01 1.03643092e-02 -6.30814129e-04 5.43406166e+02] [-1.03642817e-02 9.99946288e-01 4.67606981e-05 -2.63896879e+01] [ 6.31264889e-04 -4.02202419e-05 9.99999800e-01 1.53919085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.770714057 meters Centerline goodness [0,1] 0.9753409090909091 Centerline is valid? [True, True] Translation: X:543.43, Y:-26.39, Z:1.54 [[ 9.99955238e-01 9.45668485e-03 -3.05457302e-04 5.43434263e+02] [-9.45667864e-03 9.99955284e-01 2.17468455e-05 -2.63943032e+01] [ 3.05649297e-04 -1.88572605e-05 9.99999953e-01 1.53877762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8007140569999 meters Centerline goodness [0,1] 0.9749226991633321 Centerline is valid? [True, True] Translation: X:543.46, Y:-26.40, Z:1.54 [[ 9.99972272e-01 7.43099603e-03 -4.84412260e-04 5.43463141e+02] [-7.43097966e-03 9.99972389e-01 3.55789342e-05 -2.63996175e+01] [ 4.84663272e-04 -3.19782900e-05 9.99999882e-01 1.53822042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8307140569999 meters Centerline goodness [0,1] 0.9749880407298571 Centerline is valid? [True, True] Translation: X:543.49, Y:-26.40, Z:1.54 [[ 9.99976914e-01 6.70551129e-03 -1.09893737e-03 5.43492078e+02] [-6.70542572e-03 9.99977515e-01 8.15271524e-05 -2.64029348e+01] [ 1.09945934e-03 -7.41564274e-05 9.99999393e-01 1.53801709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.860714057 meters Centerline goodness [0,1] 0.9739091012127394 Centerline is valid? [True, True] Translation: X:543.52, Y:-26.41, Z:1.54 [[ 9.99986613e-01 5.02540543e-03 -1.23236652e-03 5.43519519e+02] [-5.02529651e-03 9.99987369e-01 9.14637832e-05 -2.64126382e+01] [ 1.23281060e-03 -8.52695516e-05 9.99999236e-01 1.53625756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.890714057 meters Centerline goodness [0,1] 0.9744938445144762 Centerline is valid? [True, True] Translation: X:543.55, Y:-26.42, Z:1.54 [[ 9.99992505e-01 3.71680904e-03 -1.08387063e-03 5.43549276e+02] [-3.71672365e-03 9.99993090e-01 8.07894723e-05 -2.64168769e+01] [ 1.08416342e-03 -7.67604192e-05 9.99999409e-01 1.53572722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9207140569999 meters Centerline goodness [0,1] 0.9734294588405994 Centerline is valid? [True, True] Translation: X:543.58, Y:-26.42, Z:1.54 [[ 9.99995201e-01 2.87886506e-03 -1.14426582e-03 5.43578034e+02] [-2.87876961e-03 9.99995853e-01 8.50519237e-05 -2.64217353e+01] [ 1.14450593e-03 -8.17574379e-05 9.99999342e-01 1.53511630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9507140569999 meters Centerline goodness [0,1] 0.9731451157538114 Centerline is valid? [True, True] Translation: X:543.61, Y:-26.42, Z:1.53 [[ 9.99997674e-01 1.89758943e-03 -1.02503977e-03 5.43607198e+02] [-1.89751221e-03 9.99998197e-01 7.63034694e-05 -2.64248747e+01] [ 1.02518271e-03 -7.43582664e-05 9.99999472e-01 1.53469366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9807140569999 meters Centerline goodness [0,1] 0.9761780401952992 Centerline is valid? [True, True] Translation: X:543.64, Y:-26.42, Z:1.54 [[ 9.99996669e-01 6.86843466e-04 -2.48821510e-03 5.43637907e+02] [-6.86382636e-04 9.99999747e-01 1.86054275e-04 -2.64180785e+01] [ 2.48834226e-03 -1.84345788e-04 9.99996887e-01 1.53556053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.010714057 meters Centerline goodness [0,1] 0.9756247160381645 Centerline is valid? [True, True] Translation: X:543.67, Y:-26.42, Z:1.53 [[ 9.99990364e-01 -6.75941412e-04 -4.33769337e-03 5.43667439e+02] [ 6.77353689e-04 9.99999718e-01 3.24121676e-04 -2.64212027e+01] [ 4.33747306e-03 -3.27056705e-04 9.99990540e-01 1.53306072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.040714057 meters Centerline goodness [0,1] 0.9740168220050012 Centerline is valid? [True, True] Translation: X:543.70, Y:-26.43, Z:1.53 [[ 9.99981805e-01 -1.78044194e-03 -5.76365676e-03 5.43695275e+02] [ 1.78295138e-03 9.99998318e-01 4.30280045e-04 -2.64300872e+01] [ 5.76288098e-03 -4.40548535e-04 9.99983297e-01 1.53001623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0707140569999 meters Centerline goodness [0,1] 0.9763505838520605 Centerline is valid? [True, True] Translation: X:543.73, Y:-26.43, Z:1.53 [[ 9.99970716e-01 -2.67997561e-03 -7.16827862e-03 5.43725092e+02] [ 2.68388147e-03 9.99996255e-01 5.35317170e-04 -2.64269931e+01] [ 7.16681714e-03 -5.54540304e-04 9.99974164e-01 1.53019761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1007140569999 meters Centerline goodness [0,1] 0.9758978777435153 Centerline is valid? [True, True] Translation: X:543.75, Y:-26.43, Z:1.53 [[ 9.99967493e-01 -3.13017427e-03 -7.43064586e-03 5.43752876e+02] [ 3.13437337e-03 9.99994935e-01 5.53526899e-04 -2.64310753e+01] [ 7.42887559e-03 -5.76799324e-04 9.99972239e-01 1.52911229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.130714057 meters Centerline goodness [0,1] 0.9746597096188748 Centerline is valid? [True, True] Translation: X:543.78, Y:-26.43, Z:1.53 [[ 9.99968114e-01 -3.84730305e-03 -6.99780130e-03 5.43781318e+02] [ 3.85101668e-03 9.99992451e-01 5.17289093e-04 -2.64322253e+01] [ 6.99575830e-03 -5.44221248e-04 9.99975381e-01 1.53006991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.160714057 meters Centerline goodness [0,1] 0.975320716950232 Centerline is valid? [True, True] Translation: X:543.81, Y:-26.43, Z:1.53 [[ 9.99976596e-01 -3.05833390e-03 -6.11990584e-03 5.43810692e+02] [ 3.06114949e-03 9.99995213e-01 4.50756815e-04 -2.64309224e+01] [ 6.11849798e-03 -4.69480212e-04 9.99981172e-01 1.53151255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1907140569999 meters Centerline goodness [0,1] 0.9759639459188784 Centerline is valid? [True, True] Translation: X:543.84, Y:-26.43, Z:1.53 [[ 9.99987067e-01 -1.86945119e-03 -4.72969354e-03 5.43839052e+02] [ 1.87112672e-03 9.99998188e-01 3.49857126e-04 -2.64333390e+01] [ 4.72903093e-03 -3.58702457e-04 9.99988754e-01 1.53163693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2207140569999 meters Centerline goodness [0,1] 0.9741408719779845 Centerline is valid? [True, True] Translation: X:543.87, Y:-26.43, Z:1.53 [[ 9.99992378e-01 -6.61175527e-04 -3.84790429e-03 5.43868694e+02] [ 6.62275543e-04 9.99999740e-01 2.84606931e-04 -2.64343332e+01] [ 3.84771512e-03 -2.87153134e-04 9.99992556e-01 1.53214487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.250714057 meters Centerline goodness [0,1] 0.9738828810446848 Centerline is valid? [True, True] Translation: X:543.90, Y:-26.43, Z:1.53 [[ 9.99996242e-01 2.02390304e-03 -1.84914605e-03 5.43899377e+02] [-2.02365332e-03 9.99997943e-01 1.36904771e-04 -2.64330351e+01] [ 1.84941933e-03 -1.33162226e-04 9.99998281e-01 1.53299600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.280714057 meters Centerline goodness [0,1] 0.9734900245968844 Centerline is valid? [True, True] Translation: X:543.93, Y:-26.43, Z:1.53 [[ 9.99995442e-01 2.73480749e-03 -1.27905255e-03 5.43928658e+02] [-2.73468953e-03 9.99996256e-01 9.39698734e-05 -2.64339296e+01] [ 1.27930475e-03 -9.04716336e-05 9.99999178e-01 1.53278539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3107140569999 meters Centerline goodness [0,1] 0.9730200174064404 Centerline is valid? [True, True] Translation: X:543.96, Y:-26.43, Z:1.53 [[ 9.99993387e-01 3.62617971e-03 -2.77770076e-04 5.43957811e+02] [-3.62617428e-03 9.99993425e-01 2.00772306e-05 -2.64345292e+01] [ 2.77841053e-04 -1.90698551e-05 9.99999961e-01 1.53347845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3407140569999 meters Centerline goodness [0,1] 0.9714422681824407 Centerline is valid? [True, True] Translation: X:543.99, Y:-26.44, Z:1.53 [[ 9.99997522e-01 2.10622582e-03 7.21669055e-04 5.43986480e+02] [-2.10618734e-03 9.99997781e-01 -5.40748998e-05 -2.64378572e+01] [-7.21781347e-04 5.25547955e-05 9.99999738e-01 1.53333839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.370714057 meters Centerline goodness [0,1] 0.9738771036467015 Centerline is valid? [True, True] Translation: X:544.02, Y:-26.43, Z:1.53 [[ 9.99999342e-01 6.39148684e-04 9.52840721e-04 5.44017154e+02] [-6.39081837e-04 9.99999793e-01 -7.04588022e-05 -2.64346950e+01] [-9.52885558e-04 6.98498127e-05 9.99999544e-01 1.53394253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.400714057 meters Centerline goodness [0,1] 0.9743812418584455 Centerline is valid? [True, True] Translation: X:544.05, Y:-26.43, Z:1.53 [[ 9.99996512e-01 -2.63950087e-03 9.69400893e-05 5.44047957e+02] [ 2.63950157e-03 9.99996516e-01 -7.02955593e-06 -2.64343852e+01] [-9.69211971e-05 7.28540493e-06 9.99999995e-01 1.53315712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4307140569999 meters Centerline goodness [0,1] 0.9732708357151023 Centerline is valid? [True, True] Translation: X:544.08, Y:-26.44, Z:1.53 [[ 9.99990892e-01 -4.20939407e-03 -7.04793903e-04 5.44077109e+02] [ 4.20943185e-03 9.99991139e-01 5.21238471e-05 -2.64425317e+01] [ 7.04568248e-04 -5.50901542e-05 9.99999750e-01 1.53096439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4607140569999 meters Centerline goodness [0,1] 0.9733546984090649 Centerline is valid? [True, True] Translation: X:544.11, Y:-26.44, Z:1.53 [[ 9.99971943e-01 -7.19820439e-03 -2.07325769e-03 5.44108048e+02] [ 7.19853778e-03 9.99974078e-01 1.53387763e-04 -2.64433228e+01] [ 2.07209983e-03 -1.68307883e-04 9.99997839e-01 1.52933828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.490714057 meters Centerline goodness [0,1] 0.9732273726639795 Centerline is valid? [True, True] Translation: X:544.14, Y:-26.45, Z:1.53 [[ 9.99966058e-01 -7.67888023e-03 -2.98634701e-03 5.44140560e+02] [ 7.67957747e-03 9.99970487e-01 2.22075901e-04 -2.64454297e+01] [ 2.98455357e-03 -2.45002246e-04 9.99995516e-01 1.52830014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.520714057 meters Centerline goodness [0,1] 0.9730563554092966 Centerline is valid? [True, True] Translation: X:544.17, Y:-26.45, Z:1.53 [[ 9.99962566e-01 -7.19387543e-03 -4.80777688e-03 5.44171667e+02] [ 7.19567410e-03 9.99974047e-01 3.56923216e-04 -2.64492568e+01] [ 4.80508444e-03 -3.91505050e-04 9.99988379e-01 1.52605208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5507140569999 meters Centerline goodness [0,1] 0.973361172934401 Centerline is valid? [True, True] Translation: X:544.20, Y:-26.45, Z:1.53 [[ 9.99974980e-01 -4.81075767e-03 -5.18608318e-03 5.44202276e+02] [ 4.81281457e-03 9.99988345e-01 3.84211037e-04 -2.64486188e+01] [ 5.18417438e-03 -4.09161081e-04 9.99986478e-01 1.52599929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5807140569999 meters Centerline goodness [0,1] 0.9741278469689671 Centerline is valid? [True, True] Translation: X:544.23, Y:-26.45, Z:1.53 [[ 9.99981866e-01 -3.42764222e-03 -4.95172929e-03 5.44232922e+02] [ 3.42950056e-03 9.99994052e-01 3.66848927e-04 -2.64474278e+01] [ 4.95044241e-03 -3.83824232e-04 9.99987673e-01 1.52663835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.610714057 meters Centerline goodness [0,1] 0.9750471893559228 Centerline is valid? [True, True] Translation: X:544.26, Y:-26.44, Z:1.53 [[ 9.99992213e-01 -1.83591586e-04 -3.94204119e-03 5.44264319e+02] [ 1.84744024e-04 9.99999940e-01 2.91983411e-04 -2.64417983e+01] [ 3.94198735e-03 -2.92709406e-04 9.99992187e-01 1.52831806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.640714057 meters Centerline goodness [0,1] 0.9741748377295953 Centerline is valid? [True, True] Translation: X:544.29, Y:-26.44, Z:1.53 [[ 9.99992681e-01 1.21581377e-03 -3.62776524e-03 5.44294228e+02] [-1.21484903e-03 9.99999226e-01 2.68125902e-04 -2.64420535e+01] [ 3.62808842e-03 -2.63716752e-04 9.99993384e-01 1.52821591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6707140569999 meters Centerline goodness [0,1] 0.9744086765893619 Centerline is valid? [True, True] Translation: X:544.32, Y:-26.44, Z:1.53 [[ 9.99989824e-01 3.42341200e-03 -2.93817217e-03 5.44323030e+02] [-3.42278921e-03 9.99994119e-01 2.16964473e-04 -2.64435757e+01] [ 2.93889765e-03 -2.06905521e-04 9.99995660e-01 1.52819165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7007140569999 meters Centerline goodness [0,1] 0.9733694529259166 Centerline is valid? [True, True] Translation: X:544.35, Y:-26.44, Z:1.53 [[ 9.99987344e-01 4.30097116e-03 -2.61027917e-03 5.44351431e+02] [-4.30048446e-03 9.99990734e-01 1.92039090e-04 -2.64449055e+01] [ 2.61108094e-03 -1.80811195e-04 9.99996575e-01 1.52814295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7307140569999 meters Centerline goodness [0,1] 0.9734326907500405 Centerline is valid? [True, True] Translation: X:544.38, Y:-26.44, Z:1.53 [[ 9.99987941e-01 2.44937726e-03 -4.25666205e-03 5.44380907e+02] [-2.44806433e-03 9.99996954e-01 3.13623358e-04 -2.64417689e+01] [ 4.25741726e-03 -3.03198994e-04 9.99990891e-01 1.52828583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.760714057 meters Centerline goodness [0,1] 0.9730939634484032 Centerline is valid? [True, True] Translation: X:544.41, Y:-26.45, Z:1.53 [[ 9.99989634e-01 1.35604695e-03 -4.34664740e-03 5.44408403e+02] [-1.35466953e-03 9.99999031e-01 3.19820103e-04 -2.64500348e+01] [ 4.34707688e-03 -3.13928517e-04 9.99990502e-01 1.52613563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.790714057 meters Centerline goodness [0,1] 0.9725367214702424 Centerline is valid? [True, True] Translation: X:544.44, Y:-26.45, Z:1.53 [[ 9.99987157e-01 -1.92057565e-03 -4.69013134e-03 5.44438462e+02] [ 1.92221955e-03 9.99998093e-01 3.46019208e-04 -2.64515604e+01] [ 4.68945784e-03 -3.55030226e-04 9.99988941e-01 1.52665121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8207140569999 meters Centerline goodness [0,1] 0.9709691518483586 Centerline is valid? [True, True] Translation: X:544.47, Y:-26.46, Z:1.53 [[ 9.99969573e-01 -5.55951763e-03 -5.47213916e-03 5.44468689e+02] [ 5.56181022e-03 9.99984451e-01 4.03827696e-04 -2.64561194e+01] [ 5.46980899e-03 -4.34250408e-04 9.99984946e-01 1.52574374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8507140569999 meters Centerline goodness [0,1] 0.969096599015141 Centerline is valid? [True, True] Translation: X:544.50, Y:-26.46, Z:1.52 [[ 9.99959122e-01 -7.12260808e-03 -5.56976035e-03 5.44497572e+02] [ 7.12500545e-03 9.99974532e-01 4.10703143e-04 -2.64644214e+01] [ 5.56669323e-03 -4.50370927e-04 9.99984404e-01 1.52368804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.880714057 meters Centerline goodness [0,1] 0.9716928897706825 Centerline is valid? [True, True] Translation: X:544.53, Y:-26.46, Z:1.52 [[ 9.99929129e-01 -1.03456053e-02 -5.89110771e-03 5.44528289e+02] [ 1.03483452e-02 9.99946360e-01 4.34803068e-04 -2.64610368e+01] [ 5.88629341e-03 -4.95735469e-04 9.99982553e-01 1.52421337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.910714057 meters Centerline goodness [0,1] 0.9586032038723061 Centerline is valid? [True, True] Translation: X:544.56, Y:-26.47, Z:1.52 [[ 9.99922273e-01 -1.10371069e-02 -5.79920186e-03 5.44557687e+02] [ 1.10397750e-02 9.99938968e-01 4.28265062e-04 -2.64745938e+01] [ 5.79412111e-03 -4.92253657e-04 9.99983093e-01 1.52099228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9407140569999 meters Centerline goodness [0,1] 0.9708133530062707 Centerline is valid? [True, True] Translation: X:544.59, Y:-26.47, Z:1.52 [[ 9.99917944e-01 -1.15100173e-02 -5.62355686e-03 5.44589913e+02] [ 1.15125437e-02 9.99933641e-01 4.17076545e-04 -2.64697206e+01] [ 5.61838313e-03 -4.81783765e-04 9.99984101e-01 1.52295369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9707140569999 meters Centerline goodness [0,1] 0.9703910228346275 Centerline is valid? [True, True] Translation: X:544.62, Y:-26.47, Z:1.52 [[ 9.99914277e-01 -1.16462622e-02 -5.98352393e-03 5.44621949e+02] [ 1.16491240e-02 9.99932048e-01 4.43654455e-04 -2.64697068e+01] [ 5.97795042e-03 -5.13319236e-04 9.99982000e-01 1.52341874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.000714057 meters Centerline goodness [0,1] 0.9712786523059929 Centerline is valid? [True, True] Translation: X:544.65, Y:-26.47, Z:1.52 [[ 9.99911462e-01 -1.19522466e-02 -5.84901979e-03 5.44653948e+02] [ 1.19549890e-02 9.99928442e-01 4.34114169e-04 -2.64730761e+01] [ 5.84341260e-03 -5.04000701e-04 9.99982800e-01 1.52362551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.030714057 meters Centerline goodness [0,1] 0.9701994380728662 Centerline is valid? [True, True] Translation: X:544.69, Y:-26.48, Z:1.52 [[ 9.99916802e-01 -1.19292949e-02 -4.90734080e-03 5.44685870e+02] [ 1.19312275e-02 9.99928754e-01 3.64733106e-04 -2.64772241e+01] [ 4.90264016e-03 -4.23253360e-04 9.99987892e-01 1.52342794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0607140569999 meters Centerline goodness [0,1] 0.9701642795039582 Centerline is valid? [True, True] Translation: X:544.72, Y:-26.48, Z:1.52 [[ 9.99924288e-01 -1.15617406e-02 -4.21232693e-03 5.44717533e+02] [ 1.15631632e-02 9.99933095e-01 3.13512324e-04 -2.64800926e+01] [ 4.20842036e-03 -3.62196411e-04 9.99991079e-01 1.52345430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0907140569999 meters Centerline goodness [0,1] 0.9692530585962653 Centerline is valid? [True, True] Translation: X:544.75, Y:-26.48, Z:1.52 [[ 9.99940823e-01 -1.04395154e-02 -3.06055824e-03 5.44748481e+02] [ 1.04402608e-02 9.99945473e-01 2.27672446e-04 -2.64831654e+01] [ 3.05801457e-03 -2.59611999e-04 9.99995291e-01 1.52376218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.120714057 meters Centerline goodness [0,1] 0.97140560404226 Centerline is valid? [True, True] Translation: X:544.78, Y:-26.48, Z:1.52 [[ 9.99951098e-01 -9.57566497e-03 -2.47162569e-03 5.44780299e+02] [ 9.57614896e-03 9.99954131e-01 1.84060481e-04 -2.64809360e+01] [ 2.46974982e-03 -2.07720136e-04 9.99996929e-01 1.52423294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.150714057 meters Centerline goodness [0,1] 0.97140560404226 Centerline is valid? [True, True] Translation: X:544.81, Y:-26.48, Z:1.52 [[ 9.99951785e-01 -9.50367879e-03 -2.47157563e-03 5.44812016e+02] [ 9.50416422e-03 9.99954817e-01 1.84734094e-04 -2.64833537e+01] [ 2.46970830e-03 -2.08215448e-04 9.99996929e-01 1.52379213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1807140569999 meters Centerline goodness [0,1] 0.9674903067428362 Centerline is valid? [True, True] Translation: X:544.84, Y:-26.49, Z:1.52 [[ 9.99970869e-01 -7.54330430e-03 -1.16604177e-03 5.44841565e+02] [ 7.54341047e-03 9.99971544e-01 8.66819007e-05 -2.64927396e+01] [ 1.16535472e-03 -9.54753073e-05 9.99999316e-01 1.52244376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2107140569999 meters Centerline goodness [0,1] 0.9723342010089608 Centerline is valid? [True, True] Translation: X:544.87, Y:-26.49, Z:1.52 [[ 9.99976027e-01 -6.74569728e-03 -1.56249309e-03 5.44873955e+02] [ 6.74588824e-03 9.99977239e-01 1.16976284e-04 -2.64875691e+01] [ 1.56166844e-03 -1.27513883e-04 9.99998772e-01 1.52343770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.240714057 meters Centerline goodness [0,1] 0.9757357689823785 Centerline is valid? [True, True] Translation: X:544.91, Y:-26.48, Z:1.52 [[ 9.99982101e-01 -5.37973879e-03 -2.61841037e-03 5.44906087e+02] [ 5.38026955e-03 9.99985507e-01 1.95702825e-04 -2.64833971e+01] [ 2.61731959e-03 -2.09787076e-04 9.99996553e-01 1.52343506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.270714057 meters Centerline goodness [0,1] 0.9752620062190487 Centerline is valid? [True, True] Translation: X:544.94, Y:-26.49, Z:1.52 [[ 9.99987106e-01 -4.16018413e-03 -2.91203622e-03 5.44937481e+02] [ 4.16083479e-03 9.99991320e-01 2.17412493e-04 -2.64859406e+01] [ 2.91110647e-03 -2.29526191e-04 9.99995736e-01 1.52250862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3007140569999 meters Centerline goodness [0,1] 0.9758374140745338 Centerline is valid? [True, True] Translation: X:544.97, Y:-26.49, Z:1.52 [[ 9.99986017e-01 -3.71821128e-03 -3.76038604e-03 5.44967158e+02] [ 3.71929067e-03 9.99993044e-01 2.80090843e-04 -2.64908364e+01] [ 3.75931845e-03 -2.94072895e-04 9.99992890e-01 1.51965252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3307140569999 meters Centerline goodness [0,1] 0.9764102092011692 Centerline is valid? [True, True] Translation: X:545.00, Y:-26.49, Z:1.52 [[ 9.99979720e-01 -3.04725314e-03 -5.59231483e-03 5.44996209e+02] [ 3.04962805e-03 9.99995263e-01 4.16196009e-04 -2.64931103e+01] [ 5.59102009e-03 -4.33242049e-04 9.99984276e-01 1.51842257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.360714057 meters Centerline goodness [0,1] 0.9758271188788585 Centerline is valid? [True, True] Translation: X:545.03, Y:-26.49, Z:1.52 [[ 9.99980149e-01 -2.53485978e-03 -5.76859158e-03 5.45026175e+02] [ 2.53737576e-03 9.99996689e-01 4.28875531e-04 -2.64945654e+01] [ 5.76748534e-03 -4.43504102e-04 9.99983270e-01 1.51805870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.390714057 meters Centerline goodness [0,1] 0.9754520472022724 Centerline is valid? [True, True] Translation: X:545.06, Y:-26.50, Z:1.52 [[ 9.99977349e-01 -2.31071419e-03 -6.32152259e-03 5.45055346e+02] [ 2.31370536e-03 9.99997215e-01 4.65900400e-04 -2.64959982e+01] [ 6.32042842e-03 -4.80515987e-04 9.99979910e-01 1.51740279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4207140569999 meters Centerline goodness [0,1] 0.9762849497093291 Centerline is valid? [True, True] Translation: X:545.09, Y:-26.50, Z:1.52 [[ 9.99988698e-01 -3.69115610e-05 -4.75411757e-03 5.45085495e+02] [ 3.85875395e-05 9.99999937e-01 3.52440735e-04 -2.64962575e+01] [ 4.75410426e-03 -3.52620201e-04 9.99988637e-01 1.51872739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4507140569999 meters Centerline goodness [0,1] 0.9768144696165736 Centerline is valid? [True, True] Translation: X:545.11, Y:-26.49, Z:1.52 [[ 9.99992714e-01 1.11776265e-03 -3.64996653e-03 5.45114469e+02] [-1.11678624e-03 9.99999340e-01 2.69540282e-04 -2.64948709e+01] [ 3.65026540e-03 -2.65462086e-04 9.99993303e-01 1.51943073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4807140569999 meters Centerline goodness [0,1] 0.9758092545821072 Centerline is valid? [True, True] Translation: X:545.14, Y:-26.49, Z:1.52 [[ 9.99992844e-01 3.26180313e-03 -1.91652274e-03 5.45144555e+02] [-3.26153739e-03 9.99994671e-01 1.41765115e-04 -2.64942275e+01] [ 1.91697494e-03 -1.35513290e-04 9.99998153e-01 1.52103035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.510714057 meters Centerline goodness [0,1] 0.9761214790773154 Centerline is valid? [True, True] Translation: X:545.17, Y:-26.49, Z:1.52 [[ 9.99987603e-01 4.90200805e-03 -8.73764615e-04 5.45174631e+02] [-4.90195380e-03 9.99987983e-01 6.42173946e-05 -2.64915363e+01] [ 8.74068909e-04 -5.99334447e-05 9.99999616e-01 1.52172563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.540714057 meters Centerline goodness [0,1] 0.9762419006479481 Centerline is valid? [True, True] Translation: X:545.20, Y:-26.49, Z:1.52 [[ 9.99987125e-01 5.00968048e-03 -8.08338925e-04 5.45203338e+02] [-5.00963457e-03 9.99987450e-01 5.88112263e-05 -2.64912145e+01] [ 8.08623406e-04 -5.47609865e-05 9.99999672e-01 1.52117287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5707140569999 meters Centerline goodness [0,1] 0.9755530767800706 Centerline is valid? [True, True] Translation: X:545.23, Y:-26.50, Z:1.52 [[ 9.99986233e-01 4.91131917e-03 -1.84759282e-03 5.45231216e+02] [-4.91107753e-03 9.99987931e-01 1.35300012e-04 -2.64960222e+01] [ 1.84823503e-03 -1.26224477e-04 9.99998284e-01 1.51857665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6007140569999 meters Centerline goodness [0,1] 0.9750991166446408 Centerline is valid? [True, True] Translation: X:545.26, Y:-26.50, Z:1.52 [[ 9.99985810e-01 4.45452518e-03 -2.92179693e-03 5.45259027e+02] [-4.45391746e-03 9.99990058e-01 2.14468895e-04 -2.64995699e+01] [ 2.92272324e-03 -2.01452409e-04 9.99995709e-01 1.51671050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.630714057 meters Centerline goodness [0,1] 0.9752761949063845 Centerline is valid? [True, True] Translation: X:545.29, Y:-26.50, Z:1.52 [[ 9.99982454e-01 2.87212178e-03 -5.18105613e-03 5.45288614e+02] [-2.87018408e-03 9.99995808e-01 3.81392521e-04 -2.64958983e+01] [ 5.18212981e-03 -3.66515244e-04 9.99986506e-01 1.51621058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.660714057 meters Centerline goodness [0,1] 0.9749831438469229 Centerline is valid? [True, True] Translation: X:545.32, Y:-26.50, Z:1.51 [[ 9.99980616e-01 1.75131191e-03 -5.97491200e-03 5.45316572e+02] [-1.74871837e-03 9.99998375e-01 4.39268124e-04 -2.65010574e+01] [ 5.97567158e-03 -4.28811171e-04 9.99982054e-01 1.51466699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6907140569999 meters Centerline goodness [0,1] 0.9730110356928475 Centerline is valid? [True, True] Translation: X:545.34, Y:-26.51, Z:1.51 [[ 9.99976844e-01 -1.34648911e-04 -6.80393456e-03 5.45344380e+02] [ 1.38055856e-04 9.99999865e-01 5.00264410e-04 -2.65107457e+01] [ 6.80386628e-03 -5.01192149e-04 9.99976728e-01 1.51133166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7207140569999 meters Centerline goodness [0,1] 0.9750139198218263 Centerline is valid? [True, True] Translation: X:545.37, Y:-26.51, Z:1.51 [[ 9.99973500e-01 -9.94693380e-04 -7.21180573e-03 5.45373216e+02] [ 9.98535496e-04 9.99999361e-01 5.29172492e-04 -2.65063570e+01] [ 7.21127476e-03 -5.36359713e-04 9.99973855e-01 1.51277134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.750714057 meters Centerline goodness [0,1] 0.975242120909492 Centerline is valid? [True, True] Translation: X:545.40, Y:-26.51, Z:1.51 [[ 9.99969896e-01 -1.88561974e-03 -7.52672691e-03 5.45402013e+02] [ 1.88982786e-03 9.99998062e-01 5.52017880e-04 -2.65053164e+01] [ 7.52567143e-03 -5.66225481e-04 9.99971521e-01 1.51346063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.780714057 meters Centerline goodness [0,1] 0.975053903044073 Centerline is valid? [True, True] Translation: X:545.43, Y:-26.51, Z:1.51 [[ 9.99973874e-01 -2.23093533e-03 -6.87562775e-03 5.45429404e+02] [ 2.23444853e-03 9.99997377e-01 5.03325166e-04 -2.65100487e+01] [ 6.87448683e-03 -5.18675253e-04 9.99976236e-01 1.51221628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8107140569999 meters Centerline goodness [0,1] 0.9729371556113552 Centerline is valid? [True, True] Translation: X:545.46, Y:-26.51, Z:1.51 [[ 9.99979053e-01 -2.80345363e-03 -5.83382046e-03 5.45458358e+02] [ 2.80597059e-03 9.99995974e-01 4.23302500e-04 -2.65131588e+01] [ 5.83261026e-03 -4.39663162e-04 9.99982894e-01 1.51315361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8407140569999 meters Centerline goodness [0,1] 0.9726438815421866 Centerline is valid? [True, True] Translation: X:545.49, Y:-26.51, Z:1.51 [[ 9.99984075e-01 -3.10487120e-03 -4.71271001e-03 5.45488083e+02] [ 3.10652680e-03 9.99995116e-01 3.44026200e-04 -2.65126555e+01] [ 4.71161883e-03 -3.58660881e-04 9.99988836e-01 1.51390768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.870714057 meters Centerline goodness [0,1] 0.9720242379216679 Centerline is valid? [True, True] Translation: X:545.52, Y:-26.51, Z:1.51 [[ 9.99989861e-01 -2.74778701e-03 -3.56755253e-03 5.45517671e+02] [ 2.74873263e-03 9.99996188e-01 2.60185087e-04 -2.65147754e+01] [ 3.56682400e-03 -2.69988697e-04 9.99993602e-01 1.51430359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.900714057 meters Centerline goodness [0,1] 0.9711641070848606 Centerline is valid? [True, True] Translation: X:545.55, Y:-26.52, Z:1.51 [[ 9.99990057e-01 -2.60553208e-03 -3.61890558e-03 5.45548302e+02] [ 2.60650599e-03 9.99996568e-01 2.64427400e-04 -2.65168546e+01] [ 3.61820419e-03 -2.73857470e-04 9.99993417e-01 1.51362743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9307140569999 meters Centerline goodness [0,1] 0.970795615851814 Centerline is valid? [True, True] Translation: X:545.58, Y:-26.52, Z:1.51 [[ 9.99990514e-01 -1.25984016e-03 -4.16941966e-03 5.45577814e+02] [ 1.26111866e-03 9.99999159e-01 3.04022356e-04 -2.65181604e+01] [ 4.16903314e-03 -3.09277605e-04 9.99991262e-01 1.51245749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9607140569999 meters Centerline goodness [0,1] 0.972834050470985 Centerline is valid? [True, True] Translation: X:545.61, Y:-26.51, Z:1.51 [[ 9.99979654e-01 6.90911474e-04 -6.34154550e-03 5.45607892e+02] [-6.87992794e-04 9.99999656e-01 4.62417424e-04 -2.65144664e+01] [ 6.34186281e-03 -4.58045078e-04 9.99979785e-01 1.51181188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.990714057 meters Centerline goodness [0,1] 0.9710403672702822 Centerline is valid? [True, True] Translation: X:545.64, Y:-26.52, Z:1.51 [[ 9.99968836e-01 1.67623995e-03 -7.71475442e-03 5.45635341e+02] [-1.67195968e-03 9.99998445e-01 5.61233198e-04 -2.65202383e+01] [ 7.71568318e-03 -5.48316949e-04 9.99970083e-01 1.50917875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.020714057 meters Centerline goodness [0,1] 0.9733026627631396 Centerline is valid? [True, True] Translation: X:545.66, Y:-26.52, Z:1.51 [[ 9.99957226e-01 3.42811985e-03 -8.59036193e-03 5.45664245e+02] [-3.42287883e-03 9.99993947e-01 6.24733282e-04 -2.65178028e+01] [ 8.59245160e-03 -5.95302792e-04 9.99962907e-01 1.50876134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0507140569999 meters Centerline goodness [0,1] 0.972505399066484 Centerline is valid? [True, True] Translation: X:545.69, Y:-26.52, Z:1.51 [[ 9.99948000e-01 4.50135006e-03 -9.15064702e-03 5.45691392e+02] [-4.49546415e-03 9.99989675e-01 6.63690372e-04 -2.65232694e+01] [ 9.15354005e-03 -6.22519455e-04 9.99957912e-01 1.50717302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0807140569999 meters Centerline goodness [0,1] 0.9738105835226873 Centerline is valid? [True, True] Translation: X:545.72, Y:-26.51, Z:1.51 [[ 9.99945655e-01 5.88776050e-03 -8.60356111e-03 5.45720700e+02] [-5.88260869e-03 9.99982503e-01 6.23984539e-04 -2.65148415e+01] [ 8.60708445e-03 -5.73339245e-04 9.99962794e-01 1.50995457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.110714057 meters Centerline goodness [0,1] 0.9736034664480618 Centerline is valid? [True, True] Translation: X:545.75, Y:-26.52, Z:1.51 [[ 9.99945563e-01 6.80360081e-03 -7.91092663e-03 5.45749402e+02] [-6.79927877e-03 9.99976720e-01 5.73103746e-04 -2.65157768e+01] [ 7.91464164e-03 -5.19283953e-04 9.99968544e-01 1.51011535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.140714057 meters Centerline goodness [0,1] 0.9736786593226298 Centerline is valid? [True, True] Translation: X:545.78, Y:-26.52, Z:1.51 [[ 9.99940021e-01 9.50890954e-03 -5.43455935e-03 5.45778419e+02] [-9.50690964e-03 9.99954731e-01 3.93711180e-04 -2.65199760e+01] [ 5.43805710e-03 -3.42021701e-04 9.99985155e-01 1.51125813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1707140569999 meters Centerline goodness [0,1] 0.9742192069247865 Centerline is valid? [True, True] Translation: X:545.81, Y:-26.52, Z:1.51 [[ 9.99929758e-01 1.11171035e-02 -4.10973283e-03 5.45807987e+02] [-1.11159745e-02 9.99938171e-01 2.97465964e-04 -2.65183945e+01] [ 4.11278569e-03 -2.51761384e-04 9.99991511e-01 1.51262901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2007140569999 meters Centerline goodness [0,1] 0.9731128413822305 Centerline is valid? [True, True] Translation: X:545.84, Y:-26.52, Z:1.51 [[ 9.99903500e-01 1.36999024e-02 -2.30309016e-03 5.45837325e+02] [-1.36995554e-02 9.99906143e-01 1.66406259e-04 -2.65185297e+01] [ 2.30515375e-03 -1.34838889e-04 9.99997334e-01 1.51358205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2307140569999 meters Centerline goodness [0,1] 0.9739580880621616 Centerline is valid? [True, True] Translation: X:545.87, Y:-26.52, Z:1.51 [[ 9.99866932e-01 1.62967252e-02 -7.31278180e-04 5.45866302e+02] [-1.62966912e-02 9.99867199e-01 5.24865510e-05 -2.65197112e+01] [ 7.32036424e-04 -4.05621521e-05 9.99999731e-01 1.51380889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.260714057 meters Centerline goodness [0,1] 0.9734273318872018 Centerline is valid? [True, True] Translation: X:545.90, Y:-26.52, Z:1.51 [[ 9.99859971e-01 1.67010005e-02 -1.05556352e-03 5.45895075e+02] [-1.67009301e-02 9.99860527e-01 7.54254556e-05 -2.65209432e+01] [ 1.05667597e-03 -5.77860013e-05 9.99999440e-01 1.51338177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.290714057 meters Centerline goodness [0,1] 0.9733860901104595 Centerline is valid? [True, True] Translation: X:545.92, Y:-26.52, Z:1.51 [[ 9.99864523e-01 1.63962195e-02 -1.44915896e-03 5.45923138e+02] [-1.63960866e-02 9.99865570e-01 1.03552202e-04 -2.65245173e+01] [ 1.45066202e-03 -7.97776377e-05 9.99998945e-01 1.51241312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3207140569999 meters Centerline goodness [0,1] 0.9744037368185142 Centerline is valid? [True, True] Translation: X:545.95, Y:-26.52, Z:1.51 [[ 9.99875206e-01 1.57068155e-02 -1.69353392e-03 5.45952399e+02] [-1.57066325e-02 9.99876636e-01 1.21315668e-04 -2.65247334e+01] [ 1.69523048e-03 -9.47008138e-05 9.99998559e-01 1.51239775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3507140569999 meters Centerline goodness [0,1] 0.9742436727486757 Centerline is valid? [True, True] Translation: X:545.98, Y:-26.53, Z:1.51 [[ 9.99914085e-01 1.26150096e-02 -3.56146462e-03 5.45982543e+02] [-1.26141734e-02 9.99920405e-01 2.57156196e-04 -2.65302615e+01] [ 3.56442518e-03 -2.12209171e-04 9.99993625e-01 1.50899041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.380714057 meters Centerline goodness [0,1] 0.9732157593190767 Centerline is valid? [True, True] Translation: X:546.01, Y:-26.54, Z:1.51 [[ 9.99947698e-01 8.36644989e-03 -5.88254697e-03 5.46011078e+02] [-8.36408985e-03 9.99964930e-01 4.25680078e-04 -2.65367327e+01] [ 5.88590210e-03 -3.76455663e-04 9.99982607e-01 1.50651525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.410714057 meters Centerline goodness [0,1] 0.973246582421196 Centerline is valid? [True, True] Translation: X:546.04, Y:-26.54, Z:1.51 [[ 9.99958685e-01 6.28542888e-03 -6.56670017e-03 5.46039838e+02] [-6.28245742e-03 9.99980153e-01 4.73033107e-04 -2.65400223e+01] [ 6.56954306e-03 -4.31758550e-04 9.99978327e-01 1.50565500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4407140569999 meters Centerline goodness [0,1] 0.9738972410375021 Centerline is valid? [True, True] Translation: X:546.07, Y:-26.54, Z:1.51 [[ 9.99960663e-01 4.92352195e-03 -7.37782757e-03 5.46068723e+02] [-4.91973414e-03 9.99987757e-01 5.31465247e-04 -2.65427747e+01] [ 7.38035392e-03 -4.95147391e-04 9.99972642e-01 1.50505526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4707140569999 meters Centerline goodness [0,1] 0.9722150152133405 Centerline is valid? [True, True] Translation: X:546.10, Y:-26.55, Z:1.50 [[ 9.99972277e-01 3.84688727e-03 -6.37550777e-03 5.46096535e+02] [-3.84404573e-03 9.99992507e-01 4.57890620e-04 -2.65455454e+01] [ 6.37722145e-03 -4.33370182e-04 9.99979571e-01 1.50465393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.500714057 meters Centerline goodness [0,1] 0.9734192698532179 Centerline is valid? [True, True] Translation: X:546.13, Y:-26.54, Z:1.51 [[ 9.99972044e-01 5.34042047e-03 -5.23368177e-03 5.46127265e+02] [-5.33852188e-03 9.99985679e-01 3.76668371e-04 -2.65407537e+01] [ 5.23561839e-03 -3.48717716e-04 9.99986233e-01 1.50698554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.530714057 meters Centerline goodness [0,1] 0.9728427299703264 Centerline is valid? [True, True] Translation: X:546.16, Y:-26.54, Z:1.51 [[ 9.99971796e-01 5.81470716e-03 -4.75356255e-03 5.46156188e+02] [-5.81315131e-03 9.99983045e-01 3.41051308e-04 -2.65418973e+01] [ 4.75546507e-03 -3.13408511e-04 9.99988644e-01 1.50715759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5607140569999 meters Centerline goodness [0,1] 0.9728235182909538 Centerline is valid? [True, True] Translation: X:546.19, Y:-26.54, Z:1.51 [[ 9.99955460e-01 8.30915044e-03 -4.47623780e-03 5.46185443e+02] [-8.30779451e-03 9.99965438e-01 3.21425944e-04 -2.65412982e+01] [ 4.47875387e-03 -2.84223963e-04 9.99989930e-01 1.50710769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5907140569999 meters Centerline goodness [0,1] 0.972853040981467 Centerline is valid? [True, True] Translation: X:546.21, Y:-26.54, Z:1.51 [[ 9.99948501e-01 9.13351321e-03 -4.42425010e-03 5.46214454e+02] [-9.13220008e-03 9.99958250e-01 3.16914152e-04 -2.65415868e+01] [ 4.42695993e-03 -2.76494694e-04 9.99990163e-01 1.50737587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.620714057 meters Centerline goodness [0,1] 0.9737806328812753 Centerline is valid? [True, True] Translation: X:546.24, Y:-26.54, Z:1.51 [[ 9.99941733e-01 1.03861247e-02 -2.94266992e-03 5.46244302e+02] [-1.03855499e-02 9.99946047e-01 2.10529086e-04 -2.65369615e+01] [ 2.94469774e-03 -1.79955573e-04 9.99995648e-01 1.50880793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.650714057 meters Centerline goodness [0,1] 0.9713773314203731 Centerline is valid? [True, True] Translation: X:546.27, Y:-26.54, Z:1.51 [[ 9.99948767e-01 9.90271916e-03 -2.09742591e-03 5.46273345e+02] [-9.90242736e-03 9.99950959e-01 1.49461874e-04 -2.65379681e+01] [ 2.09880313e-03 -1.28684609e-04 9.99997789e-01 1.50959246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6807140569999 meters Centerline goodness [0,1] 0.9698292402148887 Centerline is valid? [True, True] Translation: X:546.30, Y:-26.55, Z:1.51 [[ 9.99961866e-01 8.50396006e-03 -1.98709864e-03 5.46300693e+02] [-8.50369629e-03 9.99963833e-01 1.41155371e-04 -2.65458123e+01] [ 1.98822716e-03 -1.24252305e-04 9.99998016e-01 1.50720451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7107140569999 meters Centerline goodness [0,1] 0.9693936897203509 Centerline is valid? [True, True] Translation: X:546.33, Y:-26.54, Z:1.51 [[ 9.99970685e-01 6.70731295e-03 -3.69327485e-03 5.46330042e+02] [-6.70638476e-03 9.99977477e-01 2.63644901e-04 -2.65424647e+01] [ 3.69496001e-03 -2.38868650e-04 9.99993145e-01 1.50848643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.740714057 meters Centerline goodness [0,1] 0.9686384930941574 Centerline is valid? [True, True] Translation: X:546.36, Y:-26.55, Z:1.50 [[ 9.99987934e-01 4.16094925e-03 -2.61108068e-03 5.46358244e+02] [-4.16047823e-03 9.99991328e-01 1.85799203e-04 -2.65489246e+01] [ 2.61183114e-03 -1.74933617e-04 9.99996574e-01 1.50394656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.770714057 meters Centerline goodness [0,1] 0.9683339508459924 Centerline is valid? [True, True] Translation: X:546.39, Y:-26.55, Z:1.50 [[ 9.99997385e-01 1.48123080e-03 -1.74212092e-03 5.46388083e+02] [-1.48101646e-03 9.99998896e-01 1.24317288e-04 -2.65493330e+01] [ 1.74230314e-03 -1.21736853e-04 9.99998475e-01 1.49847253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8007140569999 meters Centerline goodness [0,1] 0.9659683884141269 Centerline is valid? [True, True] Translation: X:546.42, Y:-26.55, Z:1.49 [[ 9.99998780e-01 9.18052393e-04 -1.26349995e-03 5.46415975e+02] [-9.17939972e-04 9.99999575e-01 8.95524519e-05 -2.65544658e+01] [ 1.26358162e-03 -8.83925256e-05 9.99999198e-01 1.49411514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8307140569999 meters Centerline goodness [0,1] 0.9657937764397498 Centerline is valid? [True, True] Translation: X:546.45, Y:-26.56, Z:1.50 [[ 9.99988564e-01 1.79261058e-03 -4.43369032e-03 5.46445430e+02] [-1.79122638e-03 9.99998346e-01 3.16151705e-04 -2.65558772e+01] [ 4.43424972e-03 -3.08206347e-04 9.99990121e-01 1.49746788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.860714057 meters Centerline goodness [0,1] 0.9671792457764528 Centerline is valid? [True, True] Translation: X:546.47, Y:-26.56, Z:1.50 [[ 9.99980421e-01 4.32750962e-03 -4.51995851e-03 5.46474597e+02] [-4.32609742e-03 9.99990591e-01 3.22165099e-04 -2.65595359e+01] [ 4.52131015e-03 -3.02605010e-04 9.99989733e-01 1.49622392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.890714057 meters Centerline goodness [0,1] 0.9765687773774656 Centerline is valid? [True, True] Translation: X:546.51, Y:-26.56, Z:1.50 [[ 9.99942462e-01 8.63798960e-03 -6.36067108e-03 5.46505423e+02] [-8.63527611e-03 9.99962612e-01 4.53945955e-04 -2.65555109e+01] [ 6.36435445e-03 -3.98993685e-04 9.99979668e-01 1.49805308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9207140569999 meters Centerline goodness [0,1] 0.9723135535723605 Centerline is valid? [True, True] Translation: X:546.54, Y:-26.56, Z:1.50 [[ 9.99930654e-01 1.14296892e-02 -2.83711699e-03 5.46535445e+02] [-1.14291607e-02 9.99934665e-01 2.02433294e-04 -2.65558197e+01] [ 2.83924538e-03 -1.69993390e-04 9.99995955e-01 1.49989046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9507140569999 meters Centerline goodness [0,1] 0.971249182472204 Centerline is valid? [True, True] Translation: X:546.57, Y:-26.55, Z:1.50 [[ 9.99866147e-01 1.60862472e-02 -2.98665663e-03 5.46566603e+02] [-1.60856822e-02 9.99870594e-01 2.13103144e-04 -2.65499806e+01] [ 2.98969817e-03 -1.65032210e-04 9.99995517e-01 1.49844144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9807140569999 meters Centerline goodness [0,1] 0.972894935358843 Centerline is valid? [True, True] Translation: X:546.60, Y:-26.55, Z:1.50 [[ 9.99803859e-01 1.97225346e-02 -1.80681861e-03 5.46595537e+02] [-1.97223346e-02 9.99805488e-01 1.28433122e-04 -2.65516095e+01] [ 1.80900019e-03 -9.27732500e-05 9.99998359e-01 1.50010956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.010714057 meters Centerline goodness [0,1] 0.9732447523523937 Centerline is valid? [True, True] Translation: X:546.63, Y:-26.55, Z:1.50 [[ 9.99661368e-01 2.59078561e-02 2.43545250e-03 5.46625372e+02] [-2.59075089e-02 9.99664329e-01 -1.74034502e-04 -2.65482468e+01] [-2.43914385e-03 1.10879061e-04 9.99997019e-01 1.49917936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.040714057 meters Centerline goodness [0,1] 0.9747005716946477 Centerline is valid? [True, True] Translation: X:546.66, Y:-26.54, Z:1.50 [[ 9.99558817e-01 2.96686240e-02 1.39450456e-03 5.46655683e+02] [-2.96685135e-02 9.99559788e-01 -9.98641342e-05 -2.65426027e+01] [-1.39685351e-03 5.84471986e-05 9.99999023e-01 1.50132366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0707140569999 meters Centerline goodness [0,1] 0.9747005716946477 Centerline is valid? [True, True] Translation: X:546.68, Y:-26.54, Z:1.50 [[ 9.99561821e-01 2.95672498e-02 1.39444823e-03 5.46683094e+02] [-2.95671381e-02 9.99562792e-01 -1.00655276e-04 -2.65444602e+01] [-1.39681467e-03 5.93813274e-05 9.99999023e-01 1.50094258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1007140569999 meters Centerline goodness [0,1] 0.9776958429621166 Centerline is valid? [True, True] Translation: X:546.71, Y:-26.55, Z:1.50 [[ 9.99477517e-01 3.21786330e-02 3.03791631e-03 5.46713288e+02] [-3.21781237e-02 9.99482127e-01 -2.16397631e-04 -2.65458267e+01] [-3.04330643e-03 1.18530120e-04 9.99995362e-01 1.50282024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.130714057 meters Centerline goodness [0,1] 0.9771678786457112 Centerline is valid? [True, True] Translation: X:546.74, Y:-26.55, Z:1.50 [[ 9.99469719e-01 3.23356158e-02 3.83263694e-03 5.46741680e+02] [-3.23348049e-02 9.99477056e-01 -2.73389989e-04 -2.65463686e+01] [-3.83947292e-03 1.49317448e-04 9.99992618e-01 1.50118839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.160714057 meters Centerline goodness [0,1] 0.9763313609467456 Centerline is valid? [True, True] Translation: X:546.77, Y:-26.55, Z:1.50 [[ 9.99412726e-01 3.40100533e-02 4.18552842e-03 5.46769610e+02] [-3.40091023e-02 9.99421479e-01 -2.98188663e-04 -2.65530719e+01] [-4.19324842e-03 1.55667480e-04 9.99991196e-01 1.50186499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1907140569999 meters Centerline goodness [0,1] 0.9763500299861803 Centerline is valid? [True, True] Translation: X:546.80, Y:-26.56, Z:1.50 [[ 9.99481168e-01 3.19726323e-02 3.89171333e-03 5.46798891e+02] [-3.19717969e-02 9.99488733e-01 -2.76723994e-04 -2.65556506e+01] [-3.89857122e-03 1.52155353e-04 9.99992389e-01 1.50057731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2207140569999 meters Centerline goodness [0,1] 0.9758003790927738 Centerline is valid? [True, True] Translation: X:546.83, Y:-26.56, Z:1.50 [[ 9.99522133e-01 3.07025971e-02 3.58566289e-03 5.46827211e+02] [-3.07018787e-02 9.99528554e-01 -2.55225287e-04 -2.65593231e+01] [-3.59180852e-03 1.45016736e-04 9.99993539e-01 1.49941720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.250714057 meters Centerline goodness [0,1] 0.9741399394268851 Centerline is valid? [True, True] Translation: X:546.86, Y:-26.56, Z:1.50 [[ 9.99617806e-01 2.75342180e-02 2.47168078e-03 5.46856383e+02] [-2.75338671e-02 9.99620856e-01 -1.75883126e-04 -2.65628228e+01] [-2.47558646e-03 1.07760974e-04 9.99996930e-01 1.49832242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.280714057 meters Centerline goodness [0,1] 0.9746541399958704 Centerline is valid? [True, True] Translation: X:546.88, Y:-26.57, Z:1.50 [[ 9.99648225e-01 2.64017370e-02 2.52482660e-03 5.46883468e+02] [-2.64013661e-02 9.99651407e-01 -1.80100636e-04 -2.65673487e+01] [-2.52870143e-03 1.13378409e-04 9.99996796e-01 1.49823224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3107140569999 meters Centerline goodness [0,1] 0.9710489331800178 Centerline is valid? [True, True] Translation: X:546.91, Y:-26.58, Z:1.50 [[ 9.99700321e-01 2.42446092e-02 3.38638177e-03 5.46911445e+02] [-2.42439344e-02 9.99706044e-01 -2.40165875e-04 -2.65759059e+01] [-3.39120905e-03 1.57994684e-04 9.99994237e-01 1.49715749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3407140569999 meters Centerline goodness [0,1] 0.9726048362411999 Centerline is valid? [True, True] Translation: X:546.94, Y:-26.58, Z:1.50 [[ 9.99746301e-01 2.21544542e-02 4.06381653e-03 5.46940963e+02] [-2.21534674e-02 9.99754540e-01 -2.87687554e-04 -2.65769570e+01] [-4.06919259e-03 1.97586941e-04 9.99991701e-01 1.49793945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.370714057 meters Centerline goodness [0,1] 0.9703509530959713 Centerline is valid? [True, True] Translation: X:546.97, Y:-26.58, Z:1.50 [[ 9.99829434e-01 1.78643955e-02 4.68683283e-03 5.46970466e+02] [-1.78630378e-02 9.99840388e-01 -3.31401941e-04 -2.65839085e+01] [-4.69200505e-03 2.47624343e-04 9.99988962e-01 1.49745212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.400714057 meters Centerline goodness [0,1] 0.9669446704637917 Centerline is valid? [True, True] Translation: X:547.00, Y:-26.59, Z:1.50 [[ 9.99871985e-01 1.52821718e-02 4.74007467e-03 5.46998698e+02] [-1.52807524e-02 9.99883186e-01 -3.35535167e-04 -2.65938391e+01] [-4.74464867e-03 2.63060306e-04 9.99988709e-01 1.49582486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4307140569999 meters Centerline goodness [0,1] 0.9683693367437385 Centerline is valid? [True, True] Translation: X:547.03, Y:-26.59, Z:1.49 [[ 9.99911689e-01 1.25263680e-02 4.43893580e-03 5.47027771e+02] [-1.25250979e-02 9.99921509e-01 -3.13829799e-04 -2.65947934e+01] [-4.44251853e-03 2.58203979e-04 9.99990099e-01 1.49499106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4607140569999 meters Centerline goodness [0,1] 0.9674141644495122 Centerline is valid? [True, True] Translation: X:547.06, Y:-26.60, Z:1.49 [[ 9.99971384e-01 6.59636887e-03 3.70398301e-03 5.47057617e+02] [-6.59544618e-03 9.99978216e-01 -2.61266161e-04 -2.66018173e+01] [-3.70562573e-03 2.36829264e-04 9.99993106e-01 1.49359914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.490714057 meters Centerline goodness [0,1] 0.9644203226292779 Centerline is valid? [True, True] Translation: X:547.09, Y:-26.61, Z:1.49 [[ 9.99996328e-01 1.41432320e-03 2.31168181e-03 5.47086216e+02] [-1.41394956e-03 9.99998987e-01 -1.63254479e-04 -2.66146579e+01] [-2.31191037e-03 1.59985278e-04 9.99997315e-01 1.49173300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.520714057 meters Centerline goodness [0,1] 0.9606340620539403 Centerline is valid? [True, True] Translation: X:547.12, Y:-26.62, Z:1.49 [[ 9.99997946e-01 -5.85636869e-04 1.94060026e-03 5.47115856e+02] [ 5.85901621e-04 9.99999819e-01 -1.35862402e-04 -2.66208224e+01] [-1.94052034e-03 1.36999124e-04 9.99998108e-01 1.49164113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5507140569999 meters Centerline goodness [0,1] 0.9620099894051763 Centerline is valid? [True, True] Translation: X:547.15, Y:-26.62, Z:1.49 [[ 9.99988988e-01 -4.28898472e-03 1.90471404e-03 5.47146635e+02] [ 4.28924855e-03 9.99990792e-01 -1.34452353e-04 -2.66200096e+01] [-1.90411984e-03 1.42620665e-04 9.99998177e-01 1.49282248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5807140569999 meters Centerline goodness [0,1] 0.9555433314997249 Centerline is valid? [True, True] Translation: X:547.18, Y:-26.63, Z:1.49 [[ 9.99981192e-01 -5.63014286e-03 2.43245463e-03 5.47177066e+02] [ 5.63057577e-03 9.99984134e-01 -1.71161995e-04 -2.66326936e+01] [-2.43145237e-03 1.84854896e-04 9.99997027e-01 1.49024189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.610714057 meters Centerline goodness [0,1] 0.9576038705172327 Centerline is valid? [True, True] Translation: X:547.21, Y:-26.63, Z:1.49 [[ 9.99975815e-01 -6.27277773e-03 3.00362952e-03 5.47208974e+02] [ 6.27344120e-03 9.99980299e-01 -2.11518951e-04 -2.66339159e+01] [-3.00224353e-03 2.30356928e-04 9.99995467e-01 1.49079315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.640714057 meters Centerline goodness [0,1] 0.9553224359613276 Centerline is valid? [True, True] Translation: X:547.24, Y:-26.64, Z:1.49 [[ 9.99961392e-01 -8.21850379e-03 3.10974395e-03 5.47239698e+02] [ 8.21922678e-03 9.99966197e-01 -2.19781740e-04 -2.66402287e+01] [-3.10783255e-03 2.45332946e-04 9.99995141e-01 1.49058210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6707140569999 meters Centerline goodness [0,1] 0.9506191220625821 Centerline is valid? [True, True] Translation: X:547.27, Y:-26.65, Z:1.49 [[ 9.99933127e-01 -1.08254523e-02 4.06830166e-03 5.47269311e+02] [ 1.08267123e-02 9.99941348e-01 -2.87832363e-04 -2.66472280e+01] [-4.06494713e-03 3.31859446e-04 9.99991683e-01 1.49059814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7007140569999 meters Centerline goodness [0,1] 0.9536261593460164 Centerline is valid? [True, True] Translation: X:547.30, Y:-26.64, Z:1.49 [[ 9.99909324e-01 -1.29792539e-02 3.58928418e-03 5.47300746e+02] [ 1.29802478e-02 9.99915721e-01 -2.53762973e-04 -2.66428232e+01] [-3.58568802e-03 3.00329761e-04 9.99993526e-01 1.49095548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7307140569999 meters Centerline goodness [0,1] 0.9513049092398996 Centerline is valid? [True, True] Translation: X:547.33, Y:-26.65, Z:1.49 [[ 9.99876419e-01 -1.48857211e-02 5.05586071e-03 5.47331296e+02] [ 1.48877183e-02 9.99889108e-01 -3.57637791e-04 -2.66491607e+01] [-5.04997636e-03 4.32863824e-04 9.99987155e-01 1.49084468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.760714057 meters Centerline goodness [0,1] 0.9471080104893375 Centerline is valid? [True, False] Translation: X:547.33, Y:-26.65, Z:1.49 [[ 9.99879040e-01 -1.47209623e-02 5.01989575e-03 5.47331671e+02] [ 1.47194565e-02 9.99891606e-01 3.36764733e-04 -2.66508985e+01] [-5.02430913e-03 -2.62833861e-04 9.99987344e-01 1.49025784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.790714057 meters Centerline goodness [0,1] 0.9512895401217761 Centerline is valid? [False, True] Translation: X:547.33, Y:-26.65, Z:1.49 [[ 9.99879736e-01 -1.46548823e-02 5.07417607e-03 5.47331664e+02] [ 1.46508313e-02 9.99892322e-01 8.34599288e-04 -2.66522808e+01] [-5.08586065e-03 -7.60158018e-04 9.99986778e-01 1.49000448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8207140569999 meters Centerline goodness [0,1] 0.9490496173784251 Centerline is valid? [True, False] Translation: X:547.33, Y:-26.65, Z:1.49 [[ 9.99877681e-01 -1.47369396e-02 5.23880723e-03 5.47331691e+02] [ 1.47278339e-02 9.99889969e-01 1.77246750e-03 -2.66547780e+01] [-5.26435155e-03 -1.69509441e-03 9.99984707e-01 1.48904597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8507140569999 meters Centerline goodness [0,1] 0.9451527781202989 Centerline is valid? [False, False] Translation: X:547.33, Y:-26.66, Z:1.49 [[ 9.99884250e-01 -1.43649051e-02 5.01368732e-03 5.47332959e+02] [ 1.43499118e-02 9.99892493e-01 3.01372963e-03 -2.66575237e+01] [-5.05644025e-03 -2.94143481e-03 9.99982890e-01 1.48749897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.880714057 meters Centerline goodness [0,1] 0.9433678500986193 Centerline is valid? [False, False] Translation: X:547.33, Y:-26.66, Z:1.49 [[ 9.99892024e-01 -1.39413994e-02 4.64513150e-03 5.47334397e+02] [ 1.39234865e-02 9.99895588e-01 3.86653790e-03 -2.66590704e+01] [-4.69855144e-03 -3.80144399e-03 9.99981736e-01 1.48634126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.910714057 meters Centerline goodness [0,1] 0.9409569472591568 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99901750e-01 -1.33334082e-02 4.32545956e-03 5.47336121e+02] [ 1.33101633e-02 9.99897055e-01 5.35898329e-03 -2.66622279e+01] [-4.39646779e-03 -5.30088420e-03 9.99976286e-01 1.48443201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9407140569999 meters Centerline goodness [0,1] 0.9399072443639791 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99903583e-01 -1.31832696e-02 4.36183489e-03 5.47336412e+02] [ 1.31576626e-02 9.99896332e-01 5.84820787e-03 -2.66633263e+01] [-4.43848120e-03 -5.79025245e-03 9.99973386e-01 1.48378437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9707140569999 meters Centerline goodness [0,1] 0.9230920341813181 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99909639e-01 -1.28105536e-02 4.07466806e-03 5.47337440e+02] [ 1.27845332e-02 9.99898117e-01 6.34908814e-03 -2.66643968e+01] [-4.15558825e-03 -6.29642170e-03 9.99971543e-01 1.48314717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.000714057 meters Centerline goodness [0,1] 0.9385704105953756 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99914543e-01 -1.25000610e-02 3.82816410e-03 5.47337819e+02] [ 1.24758712e-02 9.99902459e-01 6.27889671e-03 -2.66639977e+01] [-3.90627729e-03 -6.23060045e-03 9.99972960e-01 1.48361377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.030714057 meters Centerline goodness [0,1] 0.9379974863845831 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99916636e-01 -1.23877984e-02 3.64193410e-03 5.47337915e+02] [ 1.23653451e-02 9.99904790e-01 6.12441349e-03 -2.66635475e+01] [-3.71745536e-03 -6.07886916e-03 9.99974614e-01 1.48410820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0607140569999 meters Centerline goodness [0,1] 0.939934187908256 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99926620e-01 -1.16273804e-02 3.39978562e-03 5.47338561e+02] [ 1.16055078e-02 9.99912275e-01 6.38398474e-03 -2.66639720e+01] [-3.47371639e-03 -6.34406004e-03 9.99973843e-01 1.48444999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0907140569999 meters Centerline goodness [0,1] 0.9452213304446304 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99932752e-01 -1.10873033e-02 3.40034027e-03 5.47338674e+02] [ 1.10650605e-02 9.99917707e-01 6.49186551e-03 -2.66636414e+01] [-3.47203773e-03 -6.45380398e-03 9.99973146e-01 1.48468180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.120714057 meters Centerline goodness [0,1] 0.9489514620458797 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99937877e-01 -1.07048394e-02 3.10633119e-03 5.47339342e+02] [ 1.06845705e-02 9.99921987e-01 6.46988694e-03 -2.66631628e+01] [-3.17534796e-03 -6.43629520e-03 9.99974245e-01 1.48483406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.150714057 meters Centerline goodness [0,1] 0.9480580252690688 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.49 [[ 9.99943127e-01 -1.02393348e-02 2.98293461e-03 5.47339545e+02] [ 1.02210850e-02 9.99929338e-01 6.07036938e-03 -2.66613503e+01] [-3.04488038e-03 -6.03953531e-03 9.99977126e-01 1.48550860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1807140569999 meters Centerline goodness [0,1] 0.9462731464358803 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.49 [[ 9.99947529e-01 -9.91282036e-03 2.58373748e-03 5.47340396e+02] [ 9.89654304e-03 9.99931568e-01 6.23834792e-03 -2.66612109e+01] [-2.64540030e-03 -6.21245052e-03 9.99977203e-01 1.48548681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2107140569999 meters Centerline goodness [0,1] 0.9463774553351101 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99948116e-01 -9.83986431e-03 2.63468184e-03 5.47340691e+02] [ 9.82267288e-03 9.99930887e-01 6.46036595e-03 -2.66619849e+01] [-2.69806887e-03 -6.43415115e-03 9.99975661e-01 1.48494123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.240714057 meters Centerline goodness [0,1] 0.9483569230769231 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99951452e-01 -9.57254619e-03 2.33665041e-03 5.47341773e+02] [ 9.55618335e-03 9.99930420e-01 6.91619284e-03 -2.66627813e+01] [-2.40269340e-03 -6.89352762e-03 9.99973353e-01 1.48417722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.270714057 meters Centerline goodness [0,1] 0.953456300637821 Centerline is valid? [False, True] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99951234e-01 -9.58124911e-03 2.39363759e-03 5.47341920e+02] [ 9.56323981e-03 9.99926702e-01 7.42526060e-03 -2.66643293e+01] [-2.46460542e-03 -7.40200757e-03 9.99969568e-01 1.48354937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3007140569999 meters Centerline goodness [0,1] 0.9471160938191474 Centerline is valid? [True, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99952086e-01 -9.54789593e-03 2.15926759e-03 5.47342571e+02] [ 9.53136105e-03 9.99926129e-01 7.54248929e-03 -2.66646945e+01] [-2.23112299e-03 -7.52154715e-03 9.99969224e-01 1.48329915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3307140569999 meters Centerline goodness [0,1] 0.9451095105823357 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99950244e-01 -9.71417164e-03 2.26827932e-03 5.47342477e+02] [ 9.69697104e-03 9.99925045e-01 7.47481474e-03 -2.66648454e+01] [-2.34072093e-03 -7.45244738e-03 9.99969491e-01 1.48313194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.360714057 meters Centerline goodness [0,1] 0.9456136900078678 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.67, Z:1.48 [[ 9.99952196e-01 -9.54447335e-03 2.12331981e-03 5.47343011e+02] [ 9.52820606e-03 9.99926149e-01 7.54380505e-03 -2.66650911e+01] [-2.19516465e-03 -7.52321300e-03 9.99969291e-01 1.48296334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.390714057 meters Centerline goodness [0,1] 0.944717474754884 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.67, Z:1.48 [[ 9.99954112e-01 -9.40379600e-03 1.82814350e-03 5.47343590e+02] [ 9.38955510e-03 9.99926667e-01 7.64827965e-03 -2.66655353e+01] [-1.89993230e-03 -7.63076323e-03 9.99969080e-01 1.48301980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4207140569999 meters Centerline goodness [0,1] 0.9476170454826504 Centerline is valid? [False, False] Translation: X:547.34, Y:-26.67, Z:1.48 [[ 9.99955911e-01 -9.19380313e-03 1.91061059e-03 5.47343473e+02] [ 9.17857374e-03 9.99927201e-01 7.83245287e-03 -2.66660207e+01] [-1.98248153e-03 -7.81457086e-03 9.99967501e-01 1.48310872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4507140569999 meters Centerline goodness [0,1] 0.9520532850111418 Centerline is valid? [False, True] Translation: X:547.34, Y:-26.66, Z:1.48 [[ 9.99956846e-01 -9.18269882e-03 1.40841221e-03 5.47344083e+02] [ 9.17229554e-03 9.99931845e-01 7.22320404e-03 -2.66649899e+01] [-1.47464473e-03 -7.20997396e-03 9.99972920e-01 1.48400467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4807140569999 meters Centerline goodness [0,1] 0.9516366853435565 Centerline is valid? [True, True] Translation: X:547.38, Y:-26.66, Z:1.49 [[ 9.99965922e-01 -8.14693428e-03 1.33495859e-03 5.47376500e+02] [ 8.14706742e-03 9.99966808e-01 -9.43261154e-05 -2.66644382e+01] [-1.33414581e-03 1.05198899e-04 9.99999104e-01 1.48675900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.510714057 meters Centerline goodness [0,1] 0.9498779892630551 Centerline is valid? [True, False] Translation: X:547.38, Y:-26.66, Z:1.49 [[ 9.99966741e-01 -8.04829541e-03 1.32001067e-03 5.47376386e+02] [ 8.04853587e-03 9.99967594e-01 -1.76958789e-04 -2.66642351e+01] [-1.31854368e-03 1.87577056e-04 9.99999113e-01 1.48707799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.540714057 meters Centerline goodness [0,1] 0.9568690866962735 Centerline is valid? [False, True] Translation: X:547.38, Y:-26.67, Z:1.49 [[ 9.99971755e-01 -7.41381749e-03 1.23493239e-03 5.47376977e+02] [ 7.41333532e-03 9.99972443e-01 3.94560360e-04 -2.66656015e+01] [-1.23782356e-03 -3.85394247e-04 9.99999160e-01 1.48677699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5707140569999 meters Centerline goodness [0,1] 0.960144756137944 Centerline is valid? [True, True] Translation: X:547.41, Y:-26.67, Z:1.48 [[ 9.99980872e-01 -5.74430769e-03 2.29294088e-03 5.47407651e+02] [ 5.74469266e-03 9.99983486e-01 -1.61342569e-04 -2.66695530e+01] [-2.29197621e-03 1.74511724e-04 9.99997358e-01 1.48466479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6007140569999 meters Centerline goodness [0,1] 0.9629082592848465 Centerline is valid? [True, True] Translation: X:547.44, Y:-26.67, Z:1.48 [[ 9.99987398e-01 -5.00140798e-03 4.36017175e-04 5.47440112e+02] [ 5.00142156e-03 9.99987492e-01 -3.00619147e-05 -2.66676774e+01] [-4.35861369e-04 3.22422416e-05 9.99999904e-01 1.48403624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.630714057 meters Centerline goodness [0,1] 0.9630378903274943 Centerline is valid? [True, True] Translation: X:547.47, Y:-26.67, Z:1.48 [[ 9.99993421e-01 -3.57922988e-03 -5.89259619e-04 5.47471961e+02] [ 3.57925534e-03 9.99993594e-01 4.21626247e-05 -2.66703954e+01] [ 5.89104934e-04 -4.42714579e-05 9.99999825e-01 1.48312972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.660714057 meters Centerline goodness [0,1] 0.9634905862982318 Centerline is valid? [True, True] Translation: X:547.50, Y:-26.67, Z:1.48 [[ 9.99996474e-01 -1.23514667e-03 -2.35100335e-03 5.47502827e+02] [ 1.23554104e-03 9.99999223e-01 1.66304082e-04 -2.66709203e+01] [ 2.35079611e-03 -1.69208256e-04 9.99997223e-01 1.48051243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6907140569999 meters Centerline goodness [0,1] 0.9622094405095784 Centerline is valid? [True, True] Translation: X:547.53, Y:-26.68, Z:1.48 [[ 9.99996310e-01 6.62458406e-04 -2.63461863e-03 5.47531755e+02] [-6.61971374e-04 9.99999764e-01 1.85726376e-04 -2.66758573e+01] [ 2.63474104e-03 -1.83981649e-04 9.99996512e-01 1.47869109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7207140569999 meters Centerline goodness [0,1] 0.965535210933984 Centerline is valid? [True, True] Translation: X:547.56, Y:-26.67, Z:1.48 [[ 9.99983583e-01 5.02189034e-03 -2.75928144e-03 5.47562590e+02] [-5.02137173e-03 9.99987374e-01 1.94844833e-04 -2.66741881e+01] [ 2.76022509e-03 -1.80986257e-04 9.99996174e-01 1.47910933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.750714057 meters Centerline goodness [0,1] 0.9708324360538846 Centerline is valid? [True, True] Translation: X:547.59, Y:-26.67, Z:1.48 [[ 9.99969277e-01 7.27631118e-03 -2.91549445e-03 5.47593065e+02] [-7.27574232e-03 9.99973510e-01 2.05674697e-04 -2.66710269e+01] [ 2.91691378e-03 -1.84455991e-04 9.99995729e-01 1.48027248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.780714057 meters Centerline goodness [0,1] 0.9724349157733537 Centerline is valid? [True, True] Translation: X:547.62, Y:-26.67, Z:1.48 [[ 9.99913956e-01 1.29285224e-02 -2.22120633e-03 5.47623564e+02] [-1.29282069e-02 9.99916415e-01 1.56338734e-04 -2.66697220e+01] [ 2.22304189e-03 -1.27609067e-04 9.99997521e-01 1.48189444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8107140569999 meters Centerline goodness [0,1] 0.9743626570915619 Centerline is valid? [True, True] Translation: X:547.65, Y:-26.67, Z:1.48 [[ 9.99877439e-01 1.55732255e-02 -1.60697272e-03 5.47653702e+02] [-1.55730636e-02 9.99878726e-01 1.13190877e-04 -2.66696156e+01] [ 1.60854058e-03 -8.81515154e-05 9.99998702e-01 1.48281835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8407140569999 meters Centerline goodness [0,1] 0.9702640287598505 Centerline is valid? [True, True] Translation: X:547.68, Y:-26.68, Z:1.48 [[ 9.99836381e-01 1.80539080e-02 -1.12588351e-03 5.47681954e+02] [-1.80538307e-02 9.99837013e-01 7.88369269e-05 -2.66765583e+01] [ 1.12712332e-03 -5.84975175e-05 9.99999363e-01 1.48158272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.870714057 meters Centerline goodness [0,1] 0.9712982640464194 Centerline is valid? [True, True] Translation: X:547.71, Y:-26.68, Z:1.48 [[ 9.99762298e-01 2.17965828e-02 -5.06296188e-04 5.47710612e+02] [-2.17965677e-02 9.99762426e-01 3.53418392e-05 -2.66781700e+01] [ 5.06946237e-04 -2.42979193e-05 9.99999871e-01 1.48140474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.900714057 meters Centerline goodness [0,1] 0.9718256143779944 Centerline is valid? [True, True] Translation: X:547.74, Y:-26.68, Z:1.48 [[ 9.99728874e-01 2.32839530e-02 1.89440789e-04 5.47738486e+02] [-2.32839507e-02 9.99728892e-01 -1.41595707e-05 -2.66805679e+01] [-1.89719121e-04 9.74480170e-06 9.99999982e-01 1.48138739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9307140569999 meters Centerline goodness [0,1] 0.9715502271700088 Centerline is valid? [True, True] Translation: X:547.77, Y:-26.68, Z:1.48 [[ 9.99704706e-01 2.42976408e-02 -3.53356653e-04 5.47766006e+02] [-2.42976338e-02 9.99704769e-01 2.40216298e-05 -2.66833992e+01] [ 3.53836000e-04 -1.54288058e-05 9.99999937e-01 1.48103535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9607140569999 meters Centerline goodness [0,1] 0.9715502271700088 Centerline is valid? [True, True] Translation: X:547.79, Y:-26.69, Z:1.48 [[ 9.99707066e-01 2.42003616e-02 -3.53370416e-04 5.47793432e+02] [-2.42003547e-02 9.99707128e-01 2.38251565e-05 -2.66852255e+01] [ 3.53843501e-04 -1.52664879e-05 9.99999937e-01 1.48075839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.990714057 meters Centerline goodness [0,1] 0.9751454005934718 Centerline is valid? [True, True] Translation: X:547.82, Y:-26.68, Z:1.48 [[ 9.99719305e-01 2.36887374e-02 -3.93777360e-04 5.47822945e+02] [-2.36887286e-02 9.99719382e-01 2.69027062e-05 -2.66804454e+01] [ 3.94304150e-04 -1.75670697e-05 9.99999922e-01 1.48206448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.020714057 meters Centerline goodness [0,1] 0.972527081802451 Centerline is valid? [True, True] Translation: X:547.85, Y:-26.69, Z:1.48 [[ 9.99756410e-01 2.20597508e-02 -6.98086516e-04 5.47849688e+02] [-2.20597228e-02 9.99756654e-01 4.77998613e-05 -2.66892013e+01] [ 6.98971092e-04 -3.23886227e-05 9.99999755e-01 1.48038515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0507140569999 meters Centerline goodness [0,1] 0.9728348702348132 Centerline is valid? [True, True] Translation: X:547.88, Y:-26.69, Z:1.48 [[ 9.99806383e-01 1.96096263e-02 -1.63048395e-03 5.47878827e+02] [-1.96094671e-02 9.99807709e-01 1.13564630e-04 -2.66928806e+01] [ 1.63239738e-03 -8.15697208e-05 9.99998664e-01 1.48003285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0807140569999 meters Centerline goodness [0,1] 0.9707308954301204 Centerline is valid? [True, True] Translation: X:547.91, Y:-26.70, Z:1.48 [[ 9.99845601e-01 1.74374066e-02 -2.17056638e-03 5.47908109e+02] [-1.74371187e-02 9.99847950e-01 1.51454661e-04 -2.66984200e+01] [ 2.17287732e-03 -1.13582853e-04 9.99997633e-01 1.47934779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.110714057 meters Centerline goodness [0,1] 0.9674076510950277 Centerline is valid? [True, True] Translation: X:547.94, Y:-26.71, Z:1.48 [[ 9.99926655e-01 1.17106368e-02 -3.08949414e-03 5.47936772e+02] [-1.17100256e-02 9.99931412e-01 2.15848370e-04 -2.67088229e+01] [ 3.09180996e-03 -1.79654483e-04 9.99995204e-01 1.47760569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.140714057 meters Centerline goodness [0,1] 0.9653296276232424 Centerline is valid? [True, True] Translation: X:547.97, Y:-26.72, Z:1.48 [[ 9.99978688e-01 5.36775915e-03 -3.71639303e-03 5.47966562e+02] [-5.36683117e-03 9.99985565e-01 2.59625634e-04 -2.67150213e+01] [ 3.71773299e-03 -2.39674846e-04 9.99993060e-01 1.47732388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1707140569999 meters Centerline goodness [0,1] 0.9649748814498333 Centerline is valid? [True, True] Translation: X:548.00, Y:-26.72, Z:1.48 [[ 9.99990169e-01 2.57284082e-03 -3.61138750e-03 5.47996750e+02] [-2.57194583e-03 9.99996661e-01 2.52447003e-04 -2.67214425e+01] [ 3.61202495e-03 -2.43156228e-04 9.99993447e-01 1.47672249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2007140569999 meters Centerline goodness [0,1] 0.9644387217605057 Centerline is valid? [True, True] Translation: X:548.03, Y:-26.73, Z:1.48 [[ 9.99993357e-01 -4.80998773e-04 -3.61321678e-03 5.48026645e+02] [ 4.81913657e-04 9.99999852e-01 2.52338407e-04 -2.67274960e+01] [ 3.61309487e-03 -2.54077989e-04 9.99993440e-01 1.47572280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2307140569999 meters Centerline goodness [0,1] 0.9610111994051769 Centerline is valid? [True, True] Translation: X:548.06, Y:-26.74, Z:1.48 [[ 9.99983406e-01 -4.70509672e-03 -3.32410159e-03 5.48056173e+02] [ 4.70589484e-03 9.99988900e-01 2.32321445e-04 -2.67364118e+01] [ 3.32297160e-03 -2.47960462e-04 9.99994448e-01 1.47547389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.260714057 meters Centerline goodness [0,1] 0.9556062794055993 Centerline is valid? [True, True] Translation: X:548.09, Y:-26.74, Z:1.47 [[ 9.99973001e-01 -6.48247734e-03 -3.46042962e-03 5.48085497e+02] [ 6.48335664e-03 9.99978953e-01 2.42944219e-04 -2.67444059e+01] [ 3.45878191e-03 -2.65372860e-04 9.99993983e-01 1.47431145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.290714057 meters Centerline goodness [0,1] 0.9495739790588071 Centerline is valid? [True, False] Translation: X:548.08, Y:-26.75, Z:1.47 [[ 9.99971834e-01 -6.76183218e-03 -3.25725043e-03 5.48084852e+02] [ 6.76430190e-03 9.99976842e-01 7.47801546e-04 -2.67463772e+01] [ 3.25211849e-03 -7.69813509e-04 9.99994416e-01 1.47452008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3207140569999 meters Centerline goodness [0,1] 0.9610009749756256 Centerline is valid? [False, True] Translation: X:548.08, Y:-26.75, Z:1.47 [[ 9.99972073e-01 -6.72306460e-03 -3.26409166e-03 5.48084951e+02] [ 6.72661162e-03 9.99976796e-01 1.07692020e-03 -2.67471579e+01] [ 3.25677572e-03 -1.09884641e-03 9.99994093e-01 1.47439150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3507140569999 meters Centerline goodness [0,1] 0.9431282903851482 Centerline is valid? [True, False] Translation: X:548.08, Y:-26.75, Z:1.47 [[ 9.99971078e-01 -6.89745025e-03 -3.20448696e-03 5.48084773e+02] [ 6.90313378e-03 9.99974614e-01 1.76595342e-03 -2.67496496e+01] [ 3.19222503e-03 -1.78802334e-03 9.99993306e-01 1.47417025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.380714057 meters Centerline goodness [0,1] 0.9575595594673056 Centerline is valid? [False, True] Translation: X:548.09, Y:-26.75, Z:1.47 [[ 9.99971994e-01 -6.73580224e-03 -3.26185511e-03 5.48085243e+02] [ 6.74410628e-03 9.99974028e-01 2.54153269e-03 -2.67515428e+01] [ 3.24465113e-03 -2.56345981e-03 9.99991450e-01 1.47345721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.410714057 meters Centerline goodness [0,1] 0.9552449168207024 Centerline is valid? [True, True] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99943870e-01 -9.98961277e-03 -3.53047008e-03 5.48115021e+02] [ 9.99063407e-03 9.99950055e-01 2.71763058e-04 -2.67570436e+01] [ 3.52757895e-03 -3.07019439e-04 9.99993731e-01 1.47377851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4407140569999 meters Centerline goodness [0,1] 0.9486978204654599 Centerline is valid? [True, False] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99944932e-01 -9.85467284e-03 -3.60807587e-03 5.48115484e+02] [ 9.85792469e-03 9.99951018e-01 8.84598827e-04 -2.67583742e+01] [ 3.59918171e-03 -9.20118254e-04 9.99993100e-01 1.47318086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4707140569999 meters Centerline goodness [0,1] 0.9161963557623644 Centerline is valid? [False, False] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99943781e-01 -9.93898322e-03 -3.69492079e-03 5.48115818e+02] [ 9.94507983e-03 9.99949209e-01 1.63530136e-03 -2.67606109e+01] [ 3.67847989e-03 -1.67195571e-03 9.99991837e-01 1.47260999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.500714057 meters Centerline goodness [0,1] 0.9527774583093732 Centerline is valid? [False, True] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99944485e-01 -9.87105722e-03 -3.68640494e-03 5.48116110e+02] [ 9.87883000e-03 9.99949006e-01 2.09627501e-03 -2.67616268e+01] [ 3.66552450e-03 -2.13257600e-03 9.99991008e-01 1.47211266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.530714057 meters Centerline goodness [0,1] 0.9450026441036489 Centerline is valid? [True, False] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99944667e-01 -9.89647403e-03 -3.56689811e-03 5.48115989e+02] [ 9.90573099e-03 9.99947591e-01 2.58698569e-03 -2.67629359e+01] [ 3.54110913e-03 -2.62217528e-03 9.99990292e-01 1.47183986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5607140569999 meters Centerline goodness [0,1] 0.9517619673189057 Centerline is valid? [False, True] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99945124e-01 -9.88084694e-03 -3.48121017e-03 5.48115926e+02] [ 9.89045426e-03 9.99947297e-01 2.75344211e-03 -2.67632613e+01] [ 3.45382036e-03 -2.78772176e-03 9.99990150e-01 1.47171334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5907140569999 meters Centerline goodness [0,1] 0.9289534347625634 Centerline is valid? [True, False] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99945233e-01 -9.89294247e-03 -3.41472761e-03 5.48115829e+02] [ 9.90243144e-03 9.99947124e-01 2.77320611e-03 -2.67631537e+01] [ 3.38711188e-03 -2.80686834e-03 9.99990324e-01 1.47168764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.620714057 meters Centerline goodness [0,1] 0.9500506166022455 Centerline is valid? [False, True] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99944119e-01 -9.89881300e-03 -3.71106835e-03 5.48116414e+02] [ 9.90837311e-03 9.99947617e-01 2.56663531e-03 -2.67621253e+01] [ 3.68546731e-03 -2.60326253e-03 9.99989820e-01 1.47176463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.650714057 meters Centerline goodness [0,1] 0.9478932876744025 Centerline is valid? [True, False] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99944663e-01 -9.79584689e-03 -3.83565921e-03 5.48117076e+02] [ 9.80616309e-03 9.99948327e-01 2.68004552e-03 -2.67615335e+01] [ 3.80920770e-03 -2.71751032e-03 9.99989052e-01 1.47113143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6807140569999 meters Centerline goodness [0,1] 0.950958650958651 Centerline is valid? [False, True] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99946321e-01 -9.51940938e-03 -4.09086913e-03 5.48117955e+02] [ 9.53194562e-03 9.99949900e-01 3.05595227e-03 -2.67618014e+01] [ 4.06157332e-03 -3.09478217e-03 9.99986963e-01 1.47058348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7107140569999 meters Centerline goodness [0,1] 0.9428221029248427 Centerline is valid? [True, False] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99946852e-01 -9.43595481e-03 -4.15407868e-03 5.48118159e+02] [ 9.44887755e-03 9.99950546e-01 3.10229883e-03 -2.67615682e+01] [ 4.12460010e-03 -3.14138533e-03 9.99986560e-01 1.47046706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.740714057 meters Centerline goodness [0,1] 0.9395060586439737 Centerline is valid? [False, False] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99947262e-01 -9.28779813e-03 -4.38297624e-03 5.48118732e+02] [ 9.30034701e-03 9.99952685e-01 2.85145215e-03 -2.67602769e+01] [ 4.35628514e-03 -2.89206496e-03 9.99986329e-01 1.47054218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.770714057 meters Centerline goodness [0,1] 0.9288626360898773 Centerline is valid? [False, False] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99947717e-01 -9.15654178e-03 -4.55202780e-03 5.48119141e+02] [ 9.16891678e-03 9.99954305e-01 2.70517236e-03 -2.67594740e+01] [ 4.52704978e-03 -2.74676809e-03 9.99985980e-01 1.47059503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8007140569999 meters Centerline goodness [0,1] 0.9296730270470545 Centerline is valid? [False, False] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99949335e-01 -8.86159257e-03 -4.77487070e-03 5.48119655e+02] [ 8.87203201e-03 9.99958289e-01 2.16960176e-03 -2.67570238e+01] [ 4.75544541e-03 -2.21185465e-03 9.99986247e-01 1.47099626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8307140569999 meters Centerline goodness [0,1] 0.9547300276121308 Centerline is valid? [False, True] Translation: X:548.12, Y:-26.76, Z:1.47 [[ 9.99949670e-01 -8.64335180e-03 -5.09402248e-03 5.48120309e+02] [ 8.65304689e-03 9.99960786e-01 1.88427238e-03 -2.67555033e+01] [ 5.07753629e-03 -1.92825636e-03 9.99985250e-01 1.47116933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.860714057 meters Centerline goodness [0,1] 0.9576511627906976 Centerline is valid? [True, True] Translation: X:548.15, Y:-26.75, Z:1.47 [[ 9.99970164e-01 -6.03551573e-03 -4.82121013e-03 5.48151428e+02] [ 6.03751571e-03 9.99981694e-01 4.00381806e-04 -2.67527051e+01] [ 4.81870536e-03 -4.29477992e-04 9.99988298e-01 1.47147042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.890714057 meters Centerline goodness [0,1] 0.9589965558968631 Centerline is valid? [True, True] Translation: X:548.18, Y:-26.75, Z:1.47 [[ 9.99977240e-01 -4.72773840e-03 -4.81335529e-03 5.48181881e+02] [ 4.72971644e-03 9.99988735e-01 3.99647521e-04 -2.67526191e+01] [ 4.81141164e-03 -4.22404231e-04 9.99988336e-01 1.47119631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9207140569999 meters Centerline goodness [0,1] 0.9357851722124927 Centerline is valid? [True, False] Translation: X:548.18, Y:-26.75, Z:1.47 [[ 9.99988946e-01 -1.40986903e-03 -4.48558751e-03 5.48180936e+02] [ 1.42659283e-03 9.99992036e-01 3.72732841e-03 -2.67516265e+01] [ 4.48029674e-03 -3.73368631e-03 9.99982993e-01 1.47143637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9507140569999 meters Centerline goodness [0,1] 0.9563988130009112 Centerline is valid? [False, True] Translation: X:548.18, Y:-26.75, Z:1.47 [[ 9.99988495e-01 -1.71421019e-03 -4.48014141e-03 5.48180573e+02] [ 1.72708859e-03 9.99994384e-01 2.87226422e-03 -2.67498525e+01] [ 4.47519258e-03 -2.87996878e-03 9.99985839e-01 1.47219450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9807140569999 meters Centerline goodness [0,1] 0.9593686330530901 Centerline is valid? [True, True] Translation: X:548.21, Y:-26.74, Z:1.47 [[ 9.99991657e-01 -7.34796496e-04 -4.01826993e-03 5.48210538e+02] [ 7.36133198e-04 9.99999674e-01 3.31187019e-04 -2.67449215e+01] [ 4.01802527e-03 -3.34142238e-04 9.99991872e-01 1.47393357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.010714057 meters Centerline goodness [0,1] 0.959795578685796 Centerline is valid? [True, True] Translation: X:548.24, Y:-26.75, Z:1.47 [[ 9.99991997e-01 -5.05252715e-04 -3.96882977e-03 5.48240167e+02] [ 5.06554359e-04 9.99999818e-01 3.26968491e-04 -2.67467647e+01] [ 3.96866384e-03 -3.28976302e-04 9.99992071e-01 1.47417914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.040714057 meters Centerline goodness [0,1] 0.959809599737379 Centerline is valid? [True, True] Translation: X:548.27, Y:-26.75, Z:1.47 [[ 9.99991456e-01 -1.07284661e-03 -3.99202766e-03 5.48269306e+02] [ 1.07416744e-03 9.99999369e-01 3.28739159e-04 -2.67493493e+01] [ 3.99167245e-03 -3.33024456e-04 9.99991978e-01 1.47432206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0707140569999 meters Centerline goodness [0,1] 0.9489776777340087 Centerline is valid? [True, False] Translation: X:548.27, Y:-26.75, Z:1.47 [[ 9.99992210e-01 -1.29793137e-03 -3.72766637e-03 5.48268925e+02] [ 1.29955688e-03 9.99999062e-01 4.33675673e-04 -2.67494481e+01] [ 3.72709999e-03 -4.38516609e-04 9.99992958e-01 1.47399593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1007140569999 meters Centerline goodness [0,1] 0.9579725448785639 Centerline is valid? [False, True] Translation: X:548.27, Y:-26.75, Z:1.47 [[ 9.99992388e-01 -1.54623332e-03 -3.58241921e-03 5.48268948e+02] [ 1.54915021e-03 9.99998471e-01 8.11592225e-04 -2.67505542e+01] [ 3.58115882e-03 -8.17135753e-04 9.99993254e-01 1.47330642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.130714057 meters Centerline goodness [0,1] 0.9521643295971486 Centerline is valid? [True, True] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99988223e-01 -2.78645521e-03 -3.97369106e-03 5.48297871e+02] [ 2.78783210e-03 9.99996056e-01 3.41004932e-04 -2.67586525e+01] [ 3.97272519e-03 -3.52078900e-04 9.99992047e-01 1.47237802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.160714057 meters Centerline goodness [0,1] 0.9487281028699217 Centerline is valid? [True, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99987580e-01 -2.83635788e-03 -4.09827756e-03 5.48298323e+02] [ 2.83898755e-03 9.99995768e-01 6.35977690e-04 -2.67593410e+01] [ 4.09645636e-03 -6.47604750e-04 9.99991400e-01 1.47196334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1907140569999 meters Centerline goodness [0,1] 0.9408020964949225 Centerline is valid? [False, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99986801e-01 -3.43072422e-03 -3.82468371e-03 5.48297540e+02] [ 3.43284700e-03 9.99993957e-01 5.48594864e-04 -2.67600162e+01] [ 3.82277852e-03 -5.61717177e-04 9.99992535e-01 1.47207022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2207140569999 meters Centerline goodness [0,1] 0.9356233204813647 Centerline is valid? [False, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99987407e-01 -3.33073054e-03 -3.75384772e-03 5.48297557e+02] [ 3.33457111e-03 9.99993923e-01 1.01730801e-03 -2.67613892e+01] [ 3.75043653e-03 -1.02981268e-03 9.99992437e-01 1.47175366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.250714057 meters Centerline goodness [0,1] 0.8734990226193801 Centerline is valid? [False, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99987652e-01 -3.26125995e-03 -3.74979970e-03 5.48298039e+02] [ 3.26847829e-03 9.99992814e-01 1.92048015e-03 -2.67636804e+01] [ 3.74350957e-03 -1.93271258e-03 9.99991125e-01 1.47069183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.280714057 meters Centerline goodness [0,1] 0.9532590749482595 Centerline is valid? [False, True] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99987915e-01 -3.32973105e-03 -3.61696930e-03 5.48297871e+02] [ 3.33677894e-03 9.99992543e-01 1.94427833e-03 -2.67640483e+01] [ 3.61046840e-03 -1.95632386e-03 9.99991569e-01 1.47054500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3107140569999 meters Centerline goodness [0,1] 0.9476493485304058 Centerline is valid? [True, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99987804e-01 -3.38896734e-03 -3.59260903e-03 5.48297742e+02] [ 3.39548529e-03 9.99992598e-01 1.80972265e-03 -2.67638110e+01] [ 3.58644934e-03 -1.82189923e-03 9.99991909e-01 1.47078489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3407140569999 meters Centerline goodness [0,1] 0.9566129671508171 Centerline is valid? [False, True] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99987784e-01 -3.07019656e-03 -3.87381957e-03 5.48298523e+02] [ 3.07824532e-03 9.99993113e-01 2.07348229e-03 -2.67639298e+01] [ 3.86742689e-03 -2.08538153e-03 9.99990347e-01 1.47060269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.370714057 meters Centerline goodness [0,1] 0.9155031351250553 Centerline is valid? [True, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99988494e-01 -3.03343734e-03 -3.71614797e-03 5.48297948e+02] [ 3.03996334e-03 9.99993845e-01 1.75173069e-03 -2.67632622e+01] [ 3.71081133e-03 -1.76300749e-03 9.99991561e-01 1.47135949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.400714057 meters Centerline goodness [0,1] 0.9434829259190147 Centerline is valid? [False, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99987894e-01 -3.04440630e-03 -3.86560543e-03 5.48297995e+02] [ 3.05031880e-03 9.99994186e-01 1.52453937e-03 -2.67627543e+01] [ 3.86094164e-03 -1.53631225e-03 9.99991366e-01 1.47183808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4307140569999 meters Centerline goodness [0,1] 0.9548717948717949 Centerline is valid? [False, True] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99988459e-01 -2.86738316e-03 -3.85490152e-03 5.48298187e+02] [ 2.87365845e-03 9.99994553e-01 1.62331966e-03 -2.67627243e+01] [ 3.85022584e-03 -1.63437860e-03 9.99991252e-01 1.47168689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4607140569999 meters Centerline goodness [0,1] 0.9528257823446987 Centerline is valid? [True, True] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99984011e-01 -3.50841270e-03 -4.43488501e-03 5.48327918e+02] [ 3.51020833e-03 9.99993760e-01 3.97167902e-04 -2.67665302e+01] [ 4.43346391e-03 -4.12728922e-04 9.99990087e-01 1.47133527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.490714057 meters Centerline goodness [0,1] 0.6682872928176795 Centerline is valid? [True, False] Translation: X:548.36, Y:-26.76, Z:1.48 [[ 9.99950086e-01 -5.53203602e-03 -8.31998708e-03 5.48360494e+02] [ 5.45020849e-03 9.99936873e-01 -9.82577774e-03 -2.67635459e+01] [ 8.37381842e-03 9.77994163e-03 9.99917113e-01 1.47685111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.520714057 meters Centerline goodness [0,1] 0.9528352499358541 Centerline is valid? [False, True] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99953016e-01 -4.34469842e-03 -8.66536381e-03 5.48297894e+02] [ 4.35355052e-03 9.99990020e-01 1.00294837e-03 -2.67639128e+01] [ 8.66091982e-03 -1.04062635e-03 9.99961952e-01 1.47335625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5507140569999 meters Centerline goodness [0,1] 0.9467185425063486 Centerline is valid? [True, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99953037e-01 -4.27083585e-03 -8.69968799e-03 5.48298220e+02] [ 4.28102779e-03 9.99990171e-01 1.15324419e-03 -2.67639936e+01] [ 8.69467717e-03 -1.19043364e-03 9.99961492e-01 1.47294197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5807140569999 meters Centerline goodness [0,1] 0.9419839843111619 Centerline is valid? [False, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99951892e-01 -4.16159968e-03 -8.88230337e-03 5.48298766e+02] [ 4.16980492e-03 9.99990896e-01 9.05454628e-04 -2.67626278e+01] [ 8.87845437e-03 -9.42448540e-04 9.99960142e-01 1.47283694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.610714057 meters Centerline goodness [0,1] 0.9564363840329064 Centerline is valid? [False, True] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99950818e-01 -4.33194696e-03 -8.92159836e-03 5.48298510e+02] [ 4.33469666e-03 9.99990563e-01 2.88893467e-04 -2.67609050e+01] [ 8.92026270e-03 -3.27551681e-04 9.99960160e-01 1.47357765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.640714057 meters Centerline goodness [0,1] 0.9252310211720669 Centerline is valid? [True, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99951334e-01 -4.20287035e-03 -8.92551887e-03 5.48298617e+02] [ 4.20729891e-03 9.99991035e-01 4.77450124e-04 -2.67609053e+01] [ 8.92343219e-03 -5.14979214e-04 9.99960053e-01 1.47341632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6707140569999 meters Centerline goodness [0,1] 0.9455047244831135 Centerline is valid? [False, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99951864e-01 -4.02131244e-03 -8.94974258e-03 5.48298843e+02] [ 4.02855464e-03 9.99991572e-01 7.91327362e-04 -2.67613044e+01] [ 8.94648498e-03 -8.27343798e-04 9.99959637e-01 1.47315930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7007140569999 meters Centerline goodness [0,1] 0.9563113604488078 Centerline is valid? [False, True] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99952870e-01 -4.10001521e-03 -8.80048150e-03 5.48298762e+02] [ 4.10764288e-03 9.99991203e-01 8.48832963e-04 -2.67613151e+01] [ 8.79692386e-03 -8.84942192e-04 9.99960915e-01 1.47281970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7307140569999 meters Centerline goodness [0,1] 0.9347754834480498 Centerline is valid? [True, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99953611e-01 -3.94717661e-03 -8.78611450e-03 5.48299079e+02] [ 3.95827268e-03 9.99991390e-01 1.24587952e-03 -2.67619467e+01] [ 8.78112114e-03 -1.28059956e-03 9.99960625e-01 1.47228342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.760714057 meters Centerline goodness [0,1] 0.9420272977127684 Centerline is valid? [False, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99953091e-01 -3.95071700e-03 -8.84355072e-03 5.48299447e+02] [ 3.96631591e-03 9.99990608e-01 1.74703067e-03 -2.67631618e+01] [ 8.83656564e-03 -1.78202503e-03 9.99959369e-01 1.47173338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.790714057 meters Centerline goodness [0,1] 0.9444743053445818 Centerline is valid? [False, False] Translation: X:548.30, Y:-26.76, Z:1.47 [[ 9.99954325e-01 -4.23462438e-03 -8.56824948e-03 5.48298766e+02] [ 4.24954882e-03 9.99989484e-01 1.72437559e-03 -2.67635492e+01] [ 8.56085730e-03 -1.76070803e-03 9.99961805e-01 1.47183675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8207140569999 meters Centerline goodness [0,1] 0.9353994297200019 Centerline is valid? [False, False] Translation: X:548.30, Y:-26.77, Z:1.47 [[ 9.99957275e-01 -4.58167903e-03 -8.02843492e-03 5.48297805e+02] [ 4.60044893e-03 9.99986724e-01 2.32102217e-03 -2.67658879e+01] [ 8.01769416e-03 -2.35785741e-03 9.99965078e-01 1.47142936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8507140569999 meters Centerline goodness [0,1] 0.9513118239375745 Centerline is valid? [False, True] Translation: X:548.30, Y:-26.77, Z:1.47 [[ 9.99958070e-01 -4.64185701e-03 -7.89379274e-03 5.48297748e+02] [ 4.66358173e-03 9.99985383e-01 2.73595051e-03 -2.67671378e+01] [ 7.88097746e-03 -2.77264914e-03 9.99965101e-01 1.47093101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.880714057 meters Centerline goodness [0,1] 0.9513118239375745 Centerline is valid? [True, True] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99955417e-01 -4.88490175e-03 -8.08095025e-03 5.48326080e+02] [ 4.89123928e-03 9.99987745e-01 7.64677542e-04 -2.67689498e+01] [ 8.07711585e-03 -8.04169312e-04 9.99967056e-01 1.47154226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.910714057 meters Centerline goodness [0,1] 0.9462847538343021 Centerline is valid? [True, False] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99956089e-01 -4.72826530e-03 -8.09097269e-03 5.48326611e+02] [ 4.73868707e-03 9.99987967e-01 1.26938724e-03 -2.67699005e+01] [ 8.08487333e-03 -1.30767208e-03 9.99966462e-01 1.47072384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9407140569999 meters Centerline goodness [0,1] 0.9542877143857192 Centerline is valid? [False, True] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99955407e-01 -4.63243641e-03 -8.22953527e-03 5.48327352e+02] [ 4.64756616e-03 9.99987543e-01 1.82029712e-03 -2.67707395e+01] [ 8.22100035e-03 -1.85846325e-03 9.99964480e-01 1.46986905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9707140569999 meters Centerline goodness [0,1] 0.9066533568576469 Centerline is valid? [True, False] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99954372e-01 -4.46919995e-03 -8.44279011e-03 5.48328069e+02] [ 4.48714412e-03 9.99987712e-01 2.10763839e-03 -2.67712611e+01] [ 8.43326691e-03 -2.14542623e-03 9.99962138e-01 1.46948143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.000714057 meters Centerline goodness [0,1] 0.9229010127409343 Centerline is valid? [False, False] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99954457e-01 -4.50975932e-03 -8.41107403e-03 5.48327896e+02] [ 4.52706157e-03 9.99987674e-01 2.03917607e-03 -2.67712079e+01] [ 8.40177416e-03 -2.07716065e-03 9.99962547e-01 1.46966528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.030714057 meters Centerline goodness [0,1] 0.9494737333426685 Centerline is valid? [False, False] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99954735e-01 -4.30977057e-03 -8.48258926e-03 5.48328175e+02] [ 4.32845690e-03 9.99988243e-01 2.18578002e-03 -2.67713555e+01] [ 8.47306933e-03 -2.22239760e-03 9.99961633e-01 1.46963930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0607140569999 meters Centerline goodness [0,1] 0.9457763888241056 Centerline is valid? [False, False] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99954795e-01 -4.27533204e-03 -8.49294809e-03 5.48327985e+02] [ 4.29254145e-03 9.99988769e-01 2.00912379e-03 -2.67709843e+01] [ 8.48426304e-03 -2.04548930e-03 9.99961916e-01 1.47010893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0907140569999 meters Centerline goodness [0,1] 0.9455253826054498 Centerline is valid? [False, False] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99955314e-01 -4.20148833e-03 -8.46859920e-03 5.48328074e+02] [ 4.21982275e-03 9.99988789e-01 2.14828378e-03 -2.67711220e+01] [ 8.45947827e-03 -2.18392377e-03 9.99961833e-01 1.46994754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.120714057 meters Centerline goodness [0,1] 0.9513106864165226 Centerline is valid? [False, True] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99956689e-01 -4.06200768e-03 -8.37375536e-03 5.48327975e+02] [ 4.08016815e-03 9.99989359e-01 2.15279513e-03 -2.67707307e+01] [ 8.36492159e-03 -2.18686822e-03 9.99962622e-01 1.46997392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.150714057 meters Centerline goodness [0,1] 0.9434949098720463 Centerline is valid? [True, False] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99958143e-01 -3.86744426e-03 -8.29184864e-03 5.48328117e+02] [ 3.88763409e-03 9.99989514e-01 2.42016700e-03 -2.67711832e+01] [ 8.28240184e-03 -2.45230138e-03 9.99962693e-01 1.46966640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1807140569999 meters Centerline goodness [0,1] 0.9519757547499709 Centerline is valid? [False, True] Translation: X:548.33, Y:-26.77, Z:1.47 [[ 9.99958369e-01 -3.88237435e-03 -8.25758236e-03 5.48328048e+02] [ 3.90269699e-03 9.99989392e-01 2.44640044e-03 -2.67715317e+01] [ 8.24799692e-03 -2.47852543e-03 9.99962913e-01 1.46971262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2107140569999 meters Centerline goodness [0,1] 0.9505183459522423 Centerline is valid? [True, True] Translation: X:548.36, Y:-26.78, Z:1.47 [[ 9.99962348e-01 -3.61072514e-03 -7.89082367e-03 5.48356401e+02] [ 3.61680171e-03 9.99993174e-01 7.55946767e-04 -2.67751372e+01] [ 7.88804029e-03 -7.84457849e-04 9.99968581e-01 1.47027878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.240714057 meters Centerline goodness [0,1] 0.9476371435898632 Centerline is valid? [True, False] Translation: X:548.36, Y:-26.78, Z:1.47 [[ 9.99963026e-01 -3.44915480e-03 -7.87714399e-03 5.48356638e+02] [ 3.45736048e-03 9.99993495e-01 1.02832716e-03 -2.67753591e+01] [ 7.87354588e-03 -1.05552327e-03 9.99968446e-01 1.46991051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.270714057 meters Centerline goodness [0,1] 0.9479067166787037 Centerline is valid? [False, False] Translation: X:548.36, Y:-26.78, Z:1.47 [[ 9.99964038e-01 -3.40378875e-03 -7.76769938e-03 5.48356549e+02] [ 3.41447188e-03 9.99993242e-01 1.36248061e-03 -2.67762036e+01] [ 7.76300930e-03 -1.38895421e-03 9.99968903e-01 1.46972053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3007140569999 meters Centerline goodness [0,1] 0.9539800704767684 Centerline is valid? [False, True] Translation: X:548.36, Y:-26.78, Z:1.47 [[ 9.99964899e-01 -3.44720376e-03 -7.63659596e-03 5.48356200e+02] [ 3.45836445e-03 9.99992970e-01 1.44875148e-03 -2.67766174e+01] [ 7.63154813e-03 -1.47511076e-03 9.99969791e-01 1.46989659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3307140569999 meters Centerline goodness [0,1] 0.9157911901045913 Centerline is valid? [True, False] Translation: X:548.36, Y:-26.78, Z:1.47 [[ 9.99966683e-01 -3.35768413e-03 -7.44028839e-03 5.48356331e+02] [ 3.37473823e-03 9.99991705e-01 2.28076036e-03 -2.67789390e+01] [ 7.43256860e-03 -2.30579340e-03 9.99969720e-01 1.46891210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.360714057 meters Centerline goodness [0,1] 0.9390666016214835 Centerline is valid? [False, False] Translation: X:548.36, Y:-26.78, Z:1.47 [[ 9.99967772e-01 -3.16380054e-03 -7.37876578e-03 5.48357012e+02] [ 3.18610131e-03 9.99990387e-01 3.01249558e-03 -2.67805310e+01] [ 7.36916391e-03 -3.03590799e-03 9.99968239e-01 1.46765637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.390714057 meters Centerline goodness [0,1] 0.9406241305759065 Centerline is valid? [False, False] Translation: X:548.36, Y:-26.78, Z:1.47 [[ 9.99967882e-01 -3.00108588e-03 -7.43160842e-03 5.48357559e+02] [ 3.02630607e-03 9.99989693e-01 3.38472133e-03 -2.67817600e+01] [ 7.42137398e-03 -3.40710294e-03 9.99966657e-01 1.46705213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4207140569999 meters Centerline goodness [0,1] 0.9482554220228271 Centerline is valid? [False, False] Translation: X:548.36, Y:-26.78, Z:1.47 [[ 9.99967165e-01 -2.83327485e-03 -7.59217265e-03 5.48358176e+02] [ 2.86006158e-03 9.99989716e-01 3.51967291e-03 -2.67816539e+01] [ 7.58212237e-03 -3.54127143e-03 9.99964985e-01 1.46671430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4507140569999 meters Centerline goodness [0,1] 0.9540304606240713 Centerline is valid? [False, True] Translation: X:548.36, Y:-26.78, Z:1.47 [[ 9.99966575e-01 -2.72993501e-03 -7.70690793e-03 5.48358102e+02] [ 2.75363437e-03 9.99991508e-01 3.06614559e-03 -2.67805388e+01] [ 7.69847211e-03 -3.08726511e-03 9.99965601e-01 1.46743798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4807140569999 meters Centerline goodness [0,1] 0.9529337862360988 Centerline is valid? [True, True] Translation: X:548.39, Y:-26.78, Z:1.47 [[ 9.99972050e-01 -9.44218483e-04 -7.41672619e-03 5.48388213e+02] [ 9.49614496e-04 9.99999287e-01 7.24058582e-04 -2.67830397e+01] [ 7.41603723e-03 -7.31081375e-04 9.99972234e-01 1.46873819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.510714057 meters Centerline goodness [0,1] 0.9529212098667844 Centerline is valid? [True, True] Translation: X:548.42, Y:-26.78, Z:1.47 [[ 9.99975592e-01 8.16483572e-04 -6.93887716e-03 5.48417902e+02] [-8.11804148e-04 9.99999441e-01 6.77167539e-04 -2.67844380e+01] [ 6.93942617e-03 -6.71518002e-04 9.99975696e-01 1.46930335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.540714057 meters Centerline goodness [0,1] 0.9597840253211692 Centerline is valid? [True, True] Translation: X:548.45, Y:-26.78, Z:1.47 [[ 9.99964333e-01 6.06828149e-03 -5.87441231e-03 5.48448377e+02] [-6.06501803e-03 9.99981443e-01 5.73192692e-04 -2.67799138e+01] [ 5.87778159e-03 -5.37543832e-04 9.99982581e-01 1.47004607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5707140569999 meters Centerline goodness [0,1] 0.9601940162768463 Centerline is valid? [True, True] Translation: X:548.48, Y:-26.78, Z:1.47 [[ 9.99944391e-01 9.18797789e-03 -5.17657340e-03 5.48478657e+02] [-9.18548511e-03 9.99957685e-01 5.05121687e-04 -2.67818990e+01] [ 5.18099540e-03 -4.57544260e-04 9.99986474e-01 1.46974768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6007140569999 meters Centerline goodness [0,1] 0.9604699604465561 Centerline is valid? [True, True] Translation: X:548.51, Y:-26.78, Z:1.47 [[ 9.99867150e-01 1.51796332e-02 -5.93812637e-03 5.48508405e+02] [-1.51764589e-02 9.99884663e-01 5.79268969e-04 -2.67801307e+01] [ 5.94623458e-03 -4.89072282e-04 9.99982201e-01 1.47060602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.630714057 meters Centerline goodness [0,1] 0.9639635406878406 Centerline is valid? [True, True] Translation: X:548.54, Y:-26.78, Z:1.47 [[ 9.99841296e-01 1.70827435e-02 -5.05603876e-03 5.48539135e+02] [-1.70804669e-02 9.99853997e-01 4.93129378e-04 -2.67754311e+01] [ 5.06372456e-03 -4.06691614e-04 9.99987097e-01 1.47034020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.660714057 meters Centerline goodness [0,1] 0.9607137819156439 Centerline is valid? [True, True] Translation: X:548.57, Y:-26.78, Z:1.47 [[ 9.99695419e-01 2.39326370e-02 -6.02473079e-03 5.48567795e+02] [-2.39295287e-02 9.99713475e-01 5.87483743e-04 -2.67809895e+01] [ 6.03706459e-03 -4.43135839e-04 9.99981679e-01 1.46997648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6907140569999 meters Centerline goodness [0,1] 0.9662065235284434 Centerline is valid? [True, True] Translation: X:548.60, Y:-26.77, Z:1.47 [[ 9.99640180e-01 2.61168776e-02 -6.11716534e-03 5.48598787e+02] [-2.61137146e-02 9.99658801e-01 5.96395928e-04 -2.67725335e+01] [ 6.13065417e-03 -4.36439423e-04 9.99981112e-01 1.47087509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7207140569999 meters Centerline goodness [0,1] 0.9632848193679054 Centerline is valid? [True, True] Translation: X:548.63, Y:-26.78, Z:1.47 [[ 9.99578147e-01 2.84104677e-02 -6.03110155e-03 5.48626902e+02] [-2.84074370e-02 9.99596255e-01 5.87596631e-04 -2.67769131e+01] [ 6.04536041e-03 -4.16020614e-04 9.99981640e-01 1.47017724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.750714057 meters Centerline goodness [0,1] 0.9627675931401538 Centerline is valid? [True, True] Translation: X:548.66, Y:-26.78, Z:1.47 [[ 9.99479591e-01 3.15289960e-02 -6.81678702e-03 5.48655766e+02] [-3.15251977e-02 9.99502737e-01 6.63971351e-04 -2.67777530e+01] [ 6.83433163e-03 -4.48725257e-04 9.99976545e-01 1.46968307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.780714057 meters Centerline goodness [0,1] 0.966128611723435 Centerline is valid? [True, True] Translation: X:548.69, Y:-26.77, Z:1.47 [[ 9.99391636e-01 3.42958555e-02 -6.33654771e-03 5.48686312e+02] [-3.42926294e-02 9.99411644e-01 6.17120596e-04 -2.67746412e+01] [ 6.35398424e-03 -3.99448280e-04 9.99979733e-01 1.46984579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8107140569999 meters Centerline goodness [0,1] 0.9681113376641851 Centerline is valid? [True, True] Translation: X:548.72, Y:-26.77, Z:1.47 [[ 9.99359576e-01 3.52897021e-02 -5.92246548e-03 5.48715376e+02] [-3.52869045e-02 9.99377057e-01 5.76229834e-04 -2.67715964e+01] [ 5.93911110e-03 -3.66875329e-04 9.99982296e-01 1.47059958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8407140569999 meters Centerline goodness [0,1] 0.9657679059270697 Centerline is valid? [True, True] Translation: X:548.74, Y:-26.78, Z:1.47 [[ 9.99336166e-01 3.59315255e-02 -6.01264920e-03 5.48742567e+02] [-3.59286571e-02 9.99354186e-01 5.84425887e-04 -2.67782851e+01] [ 6.02976546e-03 -3.68011514e-04 9.99981753e-01 1.47002737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.870714057 meters Centerline goodness [0,1] 0.9656761443264685 Centerline is valid? [True, True] Translation: X:548.77, Y:-26.78, Z:1.47 [[ 9.99286321e-01 3.73312000e-02 -5.76450006e-03 5.48770241e+02] [-3.73285896e-02 9.99302889e-01 5.59814770e-04 -2.67795618e+01] [ 5.78138012e-03 -3.44234585e-04 9.99983228e-01 1.46982573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.900714057 meters Centerline goodness [0,1] 0.9698405141632944 Centerline is valid? [True, True] Translation: X:548.80, Y:-26.77, Z:1.47 [[ 9.99284038e-01 3.74279844e-02 -5.52795837e-03 5.48799257e+02] [-3.74255953e-02 9.99299274e-01 5.35040470e-04 -2.67749489e+01] [ 5.54411027e-03 -3.27770268e-04 9.99984578e-01 1.47094573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9307140569999 meters Centerline goodness [0,1] 0.9653342850344991 Centerline is valid? [True, True] Translation: X:548.83, Y:-26.79, Z:1.47 [[ 9.99288931e-01 3.72203853e-02 -6.02289422e-03 5.48826244e+02] [-3.72175459e-02 9.99307017e-01 5.82861920e-04 -2.67855396e+01] [ 6.04041480e-03 -3.58290122e-04 9.99981692e-01 1.46955087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9607140569999 meters Centerline goodness [0,1] 0.9701549372872885 Centerline is valid? [True, True] Translation: X:548.86, Y:-26.78, Z:1.47 [[ 9.99304367e-01 3.66829134e-02 -6.71908157e-03 5.48855513e+02] [-3.66793703e-02 9.99326874e-01 6.49823258e-04 -2.67796384e+01] [ 6.73839619e-03 -4.02919539e-04 9.99977216e-01 1.47010167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.990714057 meters Centerline goodness [0,1] 0.9713578837187173 Centerline is valid? [True, True] Translation: X:548.88, Y:-26.78, Z:1.47 [[ 9.99318801e-01 3.62350230e-02 -6.99687934e-03 5.48884450e+02] [-3.62311734e-02 9.99343207e-01 6.76194501e-04 -2.67817861e+01] [ 7.01678576e-03 -4.22228729e-04 9.99975293e-01 1.46986236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.020714057 meters Centerline goodness [0,1] 0.969589614342099 Centerline is valid? [True, True] Translation: X:548.91, Y:-26.79, Z:1.47 [[ 9.99326272e-01 3.60206631e-02 -7.03668207e-03 5.48911156e+02] [-3.60167761e-02 9.99350955e-01 6.78364134e-04 -2.67861831e+01] [ 7.05655008e-03 -4.24468498e-04 9.99975012e-01 1.47016003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0507140569999 meters Centerline goodness [0,1] 0.9697200352037297 Centerline is valid? [True, True] Translation: X:548.94, Y:-26.79, Z:1.47 [[ 9.99289357e-01 3.72145270e-02 -5.98835009e-03 5.48940157e+02] [-3.72117425e-02 9.99307237e-01 5.75775249e-04 -2.67885770e+01] [ 6.00562879e-03 -3.52529136e-04 9.99981904e-01 1.47103508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0807140569999 meters Centerline goodness [0,1] 0.9693945600914591 Centerline is valid? [True, True] Translation: X:548.97, Y:-26.79, Z:1.47 [[ 9.99244760e-01 3.84543735e-02 -5.58306480e-03 5.48968942e+02] [-3.84519726e-02 9.99260305e-01 5.36767409e-04 -2.67902910e+01] [ 5.59957610e-03 -3.21682165e-04 9.99984271e-01 1.47171605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.110714057 meters Centerline goodness [0,1] 0.9725720282388857 Centerline is valid? [True, True] Translation: X:549.00, Y:-26.79, Z:1.47 [[ 9.99186961e-01 3.99100810e-02 -5.70989502e-03 5.48998397e+02] [-3.99075981e-02 9.99203224e-01 5.48163430e-04 -2.67893174e+01] [ 5.72722276e-03 -3.19849556e-04 9.99983548e-01 1.47278038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.140714057 meters Centerline goodness [0,1] 0.9719579249342577 Centerline is valid? [True, True] Translation: X:549.03, Y:-26.79, Z:1.47 [[ 9.98992377e-01 4.45895238e-02 -5.09953179e-03 5.49028153e+02] [-4.45876037e-02 9.99005358e-01 4.89661011e-04 -2.67907834e+01] [ 5.11629333e-03 -2.61791716e-04 9.99986877e-01 1.47317926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1707140569999 meters Centerline goodness [0,1] 0.974156926614294 Centerline is valid? [True, True] Translation: X:549.06, Y:-26.79, Z:1.47 [[ 9.98749500e-01 4.98302544e-02 -4.04744170e-03 5.49058839e+02] [-4.98290877e-02 9.98757684e-01 3.88639535e-04 -2.67909726e+01] [ 4.06177951e-03 -1.86473214e-04 9.99991734e-01 1.47364816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2007140569999 meters Centerline goodness [0,1] 0.974484061506086 Centerline is valid? [True, True] Translation: X:549.09, Y:-26.79, Z:1.47 [[ 9.98620592e-01 5.23987861e-02 -3.35869057e-03 5.49087928e+02] [-5.23979979e-02 9.98626229e-01 3.22318252e-04 -2.67935697e+01] [ 3.37096558e-03 -1.45884982e-04 9.99994308e-01 1.47352281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2307140569999 meters Centerline goodness [0,1] 0.9750275080132038 Centerline is valid? [True, True] Translation: X:549.12, Y:-26.80, Z:1.47 [[ 9.98483757e-01 5.49526435e-02 -3.22404190e-03 5.49117036e+02] [-5.49519343e-02 9.98488953e-01 3.08226505e-04 -2.67956559e+01] [ 3.23610808e-03 -1.30591820e-04 9.99994755e-01 1.47352223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.260714057 meters Centerline goodness [0,1] 0.9773140179766686 Centerline is valid? [True, True] Translation: X:549.15, Y:-26.80, Z:1.47 [[ 9.98207438e-01 5.97757125e-02 -2.96231235e-03 5.49145798e+02] [-5.97751342e-02 9.98211828e-01 2.83427300e-04 -2.67952728e+01] [ 2.97395730e-03 -1.05846621e-04 9.99995572e-01 1.47462936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.290714057 meters Centerline goodness [0,1] 0.9791502094554159 Centerline is valid? [True, True] Translation: X:549.18, Y:-26.79, Z:1.47 [[ 9.97951135e-01 6.39036528e-02 -3.13942588e-03 5.49175786e+02] [-6.39030240e-02 9.97956068e-01 3.00311945e-04 -2.67938296e+01] [ 3.15220013e-03 -9.90778387e-05 9.99995027e-01 1.47475010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3207140569999 meters Centerline goodness [0,1] 0.9806471701276616 Centerline is valid? [True, True] Translation: X:549.20, Y:-26.79, Z:1.47 [[ 9.97879473e-01 6.50020600e-02 -3.35997251e-03 5.49204257e+02] [-6.50013505e-02 9.97885125e-01 3.20044215e-04 -2.67941338e+01] [ 3.37367012e-03 -1.00962802e-04 9.99994304e-01 1.47442334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3507140569999 meters Centerline goodness [0,1] 0.9800335168781422 Centerline is valid? [True, True] Translation: X:549.23, Y:-26.80, Z:1.47 [[ 9.97817365e-01 6.59376098e-02 -3.56907490e-03 5.49231825e+02] [-6.59368158e-02 9.97823742e-01 3.39821354e-04 -2.68000226e+01] [ 3.58371468e-03 -1.03746214e-04 9.99993573e-01 1.47311784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.380714057 meters Centerline goodness [0,1] 0.9785639262866418 Centerline is valid? [True, True] Translation: X:549.26, Y:-26.81, Z:1.47 [[ 9.97852295e-01 6.53072051e-02 -5.07602362e-03 5.49259104e+02] [-6.53055917e-02 9.97865194e-01 4.83125819e-04 -2.68087364e+01] [ 5.09673890e-03 -1.50595481e-04 9.99987000e-01 1.47050716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.410714057 meters Centerline goodness [0,1] 0.9816480920220509 Centerline is valid? [True, True] Translation: X:549.29, Y:-26.81, Z:1.47 [[ 9.97934820e-01 6.40774128e-02 -4.49230336e-03 5.49288299e+02] [-6.40761437e-02 9.97944921e-01 4.25999535e-04 -2.68080154e+01] [ 4.51036828e-03 -1.37270293e-04 9.99989819e-01 1.47180124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4407140569999 meters Centerline goodness [0,1] 0.9803432211447043 Centerline is valid? [True, True] Translation: X:549.32, Y:-26.82, Z:1.47 [[ 9.98121880e-01 6.10709155e-02 -4.80158905e-03 5.49316060e+02] [-6.10694302e-02 9.98133417e-01 4.55469897e-04 -2.68167319e+01] [ 4.82044245e-03 -1.61384162e-04 9.99988369e-01 1.47188890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4707140569999 meters Centerline goodness [0,1] 0.9784966474532408 Centerline is valid? [True, True] Translation: X:549.34, Y:-26.83, Z:1.47 [[ 9.98376839e-01 5.67910891e-02 -4.29648896e-03 5.49344425e+02] [-5.67898612e-02 9.98386070e-01 4.07352716e-04 -2.68263217e+01] [ 4.31268874e-03 -1.62694506e-04 9.99990687e-01 1.47142897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.500714057 meters Centerline goodness [0,1] 0.9792015074785066 Centerline is valid? [True, True] Translation: X:549.37, Y:-26.83, Z:1.47 [[ 9.98514499e-01 5.43071118e-02 -4.41956229e-03 5.49372954e+02] [-5.43057892e-02 9.98524264e-01 4.18789656e-04 -2.68334865e+01] [ 4.43578344e-03 -1.78159725e-04 9.99990146e-01 1.47101041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.530714057 meters Centerline goodness [0,1] 0.976249265138154 Centerline is valid? [True, True] Translation: X:549.40, Y:-26.84, Z:1.47 [[ 9.98666076e-01 5.14780212e-02 -4.01029121e-03 5.49401874e+02] [-5.14769099e-02 9.98674113e-01 3.79896981e-04 -2.68401426e+01] [ 4.02453036e-03 -1.72952828e-04 9.99991887e-01 1.47062554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5607140569999 meters Centerline goodness [0,1] 0.9737955538932654 Centerline is valid? [True, True] Translation: X:549.43, Y:-26.85, Z:1.47 [[ 9.98927790e-01 4.62323988e-02 -2.41572819e-03 5.49430193e+02] [-4.62319803e-02 9.98930704e-01 2.28798399e-04 -2.68525411e+01] [ 2.42372296e-03 -1.16869181e-04 9.99997056e-01 1.47137050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5907140569999 meters Centerline goodness [0,1] 0.974381707886141 Centerline is valid? [True, True] Translation: X:549.46, Y:-26.86, Z:1.47 [[ 9.99030284e-01 4.40048021e-02 -1.43809880e-03 5.49459535e+02] [-4.40046517e-02 9.99031317e-01 1.36097794e-04 -2.68585258e+01] [ 1.44269469e-03 -7.26827808e-05 9.99998957e-01 1.47209333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.620714057 meters Centerline goodness [0,1] 0.9709862358702969 Centerline is valid? [True, True] Translation: X:549.49, Y:-26.87, Z:1.47 [[ 9.99296530e-01 3.74969463e-02 -6.50763217e-04 5.49489513e+02] [-3.74969141e-02 9.99296742e-01 6.16055829e-05 -2.68667724e+01] [ 6.52615584e-04 -3.71606328e-05 9.99999786e-01 1.47259042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.650714057 meters Centerline goodness [0,1] 0.968579962490449 Centerline is valid? [True, True] Translation: X:549.52, Y:-26.87, Z:1.47 [[ 9.99402408e-01 3.45655850e-02 -2.19271065e-04 5.49519623e+02] [-3.45655813e-02 9.99402432e-01 2.07629450e-05 -2.68731872e+01] [ 2.19857719e-04 -1.31713054e-05 9.99999976e-01 1.47255184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6807140569999 meters Centerline goodness [0,1] 0.9665323045030519 Centerline is valid? [True, True] Translation: X:549.55, Y:-26.89, Z:1.47 [[ 9.99569569e-01 2.93372025e-02 -6.57001764e-05 5.49548178e+02] [-2.93372021e-02 9.99569572e-01 6.17708916e-06 -2.68880862e+01] [ 6.58531157e-05 -4.24697100e-06 9.99999998e-01 1.47220121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7107140569999 meters Centerline goodness [0,1] 0.9706119070066916 Centerline is valid? [True, True] Translation: X:549.58, Y:-26.89, Z:1.47 [[ 9.99637895e-01 2.69078495e-02 -2.16449070e-04 5.49577582e+02] [-2.69078457e-02 9.99637918e-01 2.03473538e-05 -2.68882464e+01] [ 2.16918202e-04 -1.45158077e-05 9.99999976e-01 1.47236172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.740714057 meters Centerline goodness [0,1] 0.9681733575384333 Centerline is valid? [True, True] Translation: X:549.61, Y:-26.90, Z:1.47 [[ 9.99772981e-01 2.12931195e-02 -7.68137318e-04 5.49607023e+02] [-2.12930699e-02 9.99773274e-01 7.26268105e-05 -2.68967727e+01] [ 7.69509613e-04 -5.62543212e-05 9.99999702e-01 1.47210760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.770714057 meters Centerline goodness [0,1] 0.9681733575384333 Centerline is valid? [True, True] Translation: X:549.63, Y:-26.90, Z:1.47 [[ 9.99775262e-01 2.11857243e-02 -7.68166195e-04 5.49634442e+02] [-2.11856749e-02 9.99775556e-01 7.23213606e-05 -2.68992754e+01] [ 7.69525965e-04 -5.60309879e-05 9.99999702e-01 1.47203977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8007140569999 meters Centerline goodness [0,1] 0.9651783464296351 Centerline is valid? [True, True] Translation: X:549.66, Y:-26.91, Z:1.47 [[ 9.99820576e-01 1.89173506e-02 -9.74071288e-04 5.49662828e+02] [-1.89172699e-02 9.99821048e-01 9.20184437e-05 -2.69076956e+01] [ 9.75637721e-04 -7.35751640e-05 9.99999521e-01 1.47174421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8307140569999 meters Centerline goodness [0,1] 0.9644893193213819 Centerline is valid? [True, True] Translation: X:549.69, Y:-26.91, Z:1.47 [[ 9.99874634e-01 1.57310266e-02 -1.80325632e-03 5.49693033e+02] [-1.57307448e-02 9.99876250e-01 1.70339728e-04 -2.69122640e+01] [ 1.80571279e-03 -1.41951808e-04 9.99998360e-01 1.47123710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.860714057 meters Centerline goodness [0,1] 0.9616221291016922 Centerline is valid? [True, True] Translation: X:549.72, Y:-26.92, Z:1.47 [[ 9.99888650e-01 1.48118454e-02 -1.81583719e-03 5.49719933e+02] [-1.48115588e-02 9.99890288e-01 1.71173618e-04 -2.69231297e+01] [ 1.81817337e-03 -1.44259178e-04 9.99998337e-01 1.47060196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.890714057 meters Centerline goodness [0,1] 0.9638959434415539 Centerline is valid? [True, True] Translation: X:549.75, Y:-26.92, Z:1.47 [[ 9.99897955e-01 1.42086845e-02 -1.48098428e-03 5.49748811e+02] [-1.42084934e-02 9.99899045e-01 1.39508079e-04 -2.69215570e+01] [ 1.48281700e-03 -1.18451287e-04 9.99998894e-01 1.47006369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9207140569999 meters Centerline goodness [0,1] 0.9630757954050897 Centerline is valid? [True, True] Translation: X:549.78, Y:-26.92, Z:1.47 [[ 9.99900552e-01 1.39397110e-02 -2.13768370e-03 5.49777864e+02] [-1.39393123e-02 9.99902823e-01 2.01295811e-04 -2.69246156e+01] [ 2.14028197e-03 -1.71477952e-04 9.99997695e-01 1.46986310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9507140569999 meters Centerline goodness [0,1] 0.9633861513097637 Centerline is valid? [True, True] Translation: X:549.81, Y:-26.93, Z:1.47 [[ 9.99892186e-01 1.45366233e-02 -2.07435217e-03 5.49806432e+02] [-1.45362495e-02 9.99894324e-01 1.95180714e-04 -2.69263425e+01] [ 2.07697023e-03 -1.65006370e-04 9.99997829e-01 1.46945798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9807140569999 meters Centerline goodness [0,1] 0.9636196811560959 Centerline is valid? [True, True] Translation: X:549.83, Y:-26.93, Z:1.47 [[ 9.99859484e-01 1.65092422e-02 -2.90797209e-03 5.49834966e+02] [-1.65085159e-02 9.99863688e-01 2.73579407e-04 -2.69283959e+01] [ 2.91209229e-03 -2.25534661e-04 9.99995734e-01 1.46936231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.010714057 meters Centerline goodness [0,1] 0.9640740486487723 Centerline is valid? [True, True] Translation: X:549.86, Y:-26.93, Z:1.47 [[ 9.99826748e-01 1.84236923e-02 -2.65367247e-03 5.49864930e+02] [-1.84230943e-02 9.99830249e-01 2.49593417e-04 -2.69267273e+01] [ 2.65782044e-03 -2.00661316e-04 9.99996448e-01 1.46987268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.040714057 meters Centerline goodness [0,1] 0.9615738187166759 Centerline is valid? [True, True] Translation: X:549.89, Y:-26.93, Z:1.47 [[ 9.99813586e-01 1.92172820e-02 -1.86818285e-03 5.49892453e+02] [-1.92169876e-02 9.99815321e-01 1.75398397e-04 -2.69307072e+01] [ 1.87120851e-03 -1.39464853e-04 9.99998240e-01 1.47038476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0707140569999 meters Centerline goodness [0,1] 0.9643398392652124 Centerline is valid? [True, True] Translation: X:549.92, Y:-26.92, Z:1.47 [[ 9.99806090e-01 1.96921892e-02 -2.11756208e-07 5.49921954e+02] [-1.96921892e-02 9.99806090e-01 -1.57997739e-07 -2.69246618e+01] [ 2.08603825e-07 1.62137045e-07 1.00000000e+00 1.47196874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1007140569999 meters Centerline goodness [0,1] 0.9649925295942995 Centerline is valid? [True, True] Translation: X:549.95, Y:-26.93, Z:1.47 [[ 9.99821899e-01 1.88709246e-02 2.40350852e-04 5.49950614e+02] [-1.88709197e-02 9.99821928e-01 -2.27379514e-05 -2.69251180e+01] [-2.40737139e-04 1.81982601e-05 9.99999971e-01 1.47272323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.130714057 meters Centerline goodness [0,1] 0.9611857490027053 Centerline is valid? [True, True] Translation: X:549.98, Y:-26.93, Z:1.47 [[ 9.99863215e-01 1.64837167e-02 1.35577403e-03 5.49979622e+02] [-1.64835592e-02 9.99864129e-01 -1.27269826e-04 -2.69308718e+01] [-1.35768770e-03 1.04904436e-04 9.99999073e-01 1.47323688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.160714057 meters Centerline goodness [0,1] 0.9591363270931434 Centerline is valid? [True, True] Translation: X:550.01, Y:-26.93, Z:1.47 [[ 9.99893600e-01 1.45446035e-02 1.11527482e-03 5.50008421e+02] [-1.45444957e-02 9.99894218e-01 -1.04723188e-04 -2.69345227e+01] [-1.11668000e-03 8.84909357e-05 9.99999373e-01 1.47261165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1907140569999 meters Centerline goodness [0,1] 0.9584061838593908 Centerline is valid? [True, True] Translation: X:550.04, Y:-26.94, Z:1.47 [[ 9.99924774e-01 1.22640204e-02 1.98831683e-04 5.50038409e+02] [-1.22640169e-02 9.99924794e-01 -1.86868105e-05 -2.69388207e+01] [-1.99045905e-04 1.62469297e-05 9.99999980e-01 1.47148622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2207140569999 meters Centerline goodness [0,1] 0.9584757622335911 Centerline is valid? [True, True] Translation: X:550.07, Y:-26.94, Z:1.47 [[ 9.99966729e-01 8.03268131e-03 -1.42032673e-03 5.50068895e+02] [-8.03250019e-03 9.99967730e-01 1.33178292e-04 -2.69439202e+01] [ 1.42135067e-03 -1.21765087e-04 9.99998982e-01 1.46951704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.250714057 meters Centerline goodness [0,1] 0.9584414391660735 Centerline is valid? [True, True] Translation: X:550.10, Y:-26.95, Z:1.47 [[ 9.99979102e-01 6.15280458e-03 -1.98452385e-03 5.50098628e+02] [-6.15244748e-03 9.99981056e-01 1.85997375e-04 -2.69482751e+01] [ 1.98563066e-03 -1.73783810e-04 9.99998014e-01 1.46848223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.280714057 meters Centerline goodness [0,1] 0.9596498081297824 Centerline is valid? [True, True] Translation: X:550.13, Y:-26.95, Z:1.47 [[ 9.99991157e-01 2.58129131e-03 -3.31997206e-03 5.50128613e+02] [-2.58027222e-03 9.99996623e-01 3.11203872e-04 -2.69513633e+01] [ 3.32076416e-03 -3.02634689e-04 9.99994440e-01 1.46753502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3107140569999 meters Centerline goodness [0,1] 0.9524981597350018 Centerline is valid? [True, True] Translation: X:550.16, Y:-26.96, Z:1.47 [[ 9.99991673e-01 9.57307834e-04 -3.96708946e-03 5.50156964e+02] [-9.55839965e-04 9.99999474e-01 3.71891115e-04 -2.69600574e+01] [ 3.96744339e-03 -3.68096115e-04 9.99992062e-01 1.46662278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3407140569999 meters Centerline goodness [0,1] 0.957651499459136 Centerline is valid? [True, True] Translation: X:550.19, Y:-26.96, Z:1.47 [[ 9.99987774e-01 -6.81832158e-04 -4.89769530e-03 5.50186663e+02] [ 6.84087003e-04 9.99999661e-01 4.58728629e-04 -2.69565435e+01] [ 4.89738086e-03 -4.62073470e-04 9.99987901e-01 1.46733336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.370714057 meters Centerline goodness [0,1] 0.954217255334805 Centerline is valid? [True, True] Translation: X:550.21, Y:-26.96, Z:1.47 [[ 9.99994799e-01 -2.16028867e-04 -3.21806803e-03 5.50214944e+02] [ 2.16999239e-04 9.99999931e-01 3.01192589e-04 -2.69591293e+01] [ 3.21800274e-03 -3.01889341e-04 9.99994777e-01 1.46881697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.400714057 meters Centerline goodness [0,1] 0.956044715915639 Centerline is valid? [True, True] Translation: X:550.24, Y:-26.96, Z:1.47 [[ 9.99995501e-01 3.50365049e-04 -2.97906197e-03 5.50244373e+02] [-3.49536171e-04 9.99999900e-01 2.78750772e-04 -2.69595635e+01] [ 2.97915934e-03 -2.77708228e-04 9.99995524e-01 1.46903113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4307140569999 meters Centerline goodness [0,1] 0.9442662297200618 Centerline is valid? [True, False] Translation: X:550.24, Y:-26.96, Z:1.47 [[ 9.99995276e-01 3.96315420e-04 -3.04803648e-03 5.50244555e+02] [-3.96109863e-04 9.99999919e-01 6.80423762e-05 -2.69586703e+01] [ 3.04806320e-03 -6.68346975e-05 9.99995352e-01 1.46908290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4607140569999 meters Centerline goodness [0,1] 0.9555823162965194 Centerline is valid? [False, True] Translation: X:550.25, Y:-26.96, Z:1.47 [[ 9.99994596e-01 7.69777914e-04 -3.19616948e-03 5.50245269e+02] [-7.70888167e-04 9.99999643e-01 -3.46152324e-04 -2.69563350e+01] [ 3.19590188e-03 3.48614343e-04 9.99994832e-01 1.46883149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.490714057 meters Centerline goodness [0,1] 0.9588495472755483 Centerline is valid? [True, True] Translation: X:550.28, Y:-26.95, Z:1.47 [[ 9.99991325e-01 2.55934090e-03 -3.28638848e-03 5.50275518e+02] [-2.55837159e-03 9.99996683e-01 2.99117456e-04 -2.69545825e+01] [ 3.28714312e-03 -2.90707058e-04 9.99994555e-01 1.46831245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.520714057 meters Centerline goodness [0,1] 0.960741118634635 Centerline is valid? [True, True] Translation: X:550.31, Y:-26.95, Z:1.47 [[ 9.99978317e-01 5.48861313e-03 -3.63867763e-03 5.50306112e+02] [-5.48744399e-03 9.99984889e-01 3.31215254e-04 -2.69539505e+01] [ 3.64044056e-03 -3.11241033e-04 9.99993325e-01 1.46844106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5507140569999 meters Centerline goodness [0,1] 0.954279342068581 Centerline is valid? [True, True] Translation: X:550.34, Y:-26.96, Z:1.47 [[ 9.99957831e-01 8.58781421e-03 -3.25369835e-03 5.50335359e+02] [-8.58689607e-03 9.99963088e-01 2.96050410e-04 -2.69592101e+01] [ 3.25612068e-03 -2.68098756e-04 9.99994663e-01 1.46813525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5807140569999 meters Centerline goodness [0,1] 0.9613736903376019 Centerline is valid? [True, True] Translation: X:550.37, Y:-26.95, Z:1.47 [[ 9.99948223e-01 9.57348947e-03 -3.44948202e-03 5.50365599e+02] [-9.57246427e-03 9.99954134e-01 3.13590325e-04 -2.69509775e+01] [ 3.45232596e-03 -2.80554044e-04 9.99994001e-01 1.46964112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.610714057 meters Centerline goodness [0,1] 0.9630337943419549 Centerline is valid? [True, True] Translation: X:550.40, Y:-26.95, Z:1.47 [[ 9.99921440e-01 1.22403918e-02 -2.69955544e-03 5.50396073e+02] [-1.22397738e-02 9.99925061e-01 2.45334894e-04 -2.69493399e+01] [ 2.70235613e-03 -2.12273672e-04 9.99996326e-01 1.47090046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.640714057 meters Centerline goodness [0,1] 0.9623373285670895 Centerline is valid? [True, True] Translation: X:550.42, Y:-26.95, Z:1.47 [[ 9.99912172e-01 1.29933362e-02 -2.61193113e-03 5.50424756e+02] [-1.29927609e-02 9.99915562e-01 2.37078713e-04 -2.69505221e+01] [ 2.61479102e-03 -2.03121694e-04 9.99996561e-01 1.47115667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6707140569999 meters Centerline goodness [0,1] 0.9618277680140598 Centerline is valid? [True, True] Translation: X:550.45, Y:-26.95, Z:1.47 [[ 9.99904494e-01 1.32966719e-02 -3.76836241e-03 5.50452992e+02] [-1.32954774e-02 9.99911553e-01 3.41871486e-04 -2.69525832e+01] [ 3.77257486e-03 -2.91736659e-04 9.99992841e-01 1.46972060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7007140569999 meters Centerline goodness [0,1] 0.9574463102180379 Centerline is valid? [True, True] Translation: X:550.48, Y:-26.96, Z:1.47 [[ 9.99903248e-01 1.32156408e-02 -4.34059852e-03 5.50479993e+02] [-1.32140568e-02 9.99912613e-01 3.93389416e-04 -2.69611384e+01] [ 4.34541810e-03 -3.35994439e-04 9.99990502e-01 1.46821004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7307140569999 meters Centerline goodness [0,1] 0.9627131347198801 Centerline is valid? [True, True] Translation: X:550.51, Y:-26.96, Z:1.47 [[ 9.99909281e-01 1.25592348e-02 -4.86784384e-03 5.50509051e+02] [-1.25572363e-02 9.99921058e-01 4.40900627e-04 -2.69553310e+01] [ 4.87299694e-03 -3.79733964e-04 9.99988055e-01 1.46882089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.760714057 meters Centerline goodness [0,1] 0.9623745232468353 Centerline is valid? [True, True] Translation: X:550.54, Y:-26.96, Z:1.47 [[ 9.99935608e-01 1.01552998e-02 -5.06452860e-03 5.50538338e+02] [-1.01531055e-02 9.99948351e-01 4.58788669e-04 -2.69594601e+01] [ 5.06892615e-03 -4.07338434e-04 9.99987070e-01 1.46860550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.790714057 meters Centerline goodness [0,1] 0.9607778895883551 Centerline is valid? [True, True] Translation: X:550.57, Y:-26.96, Z:1.47 [[ 9.99961248e-01 7.24621793e-03 -4.99955270e-03 5.50568607e+02] [-7.24404319e-03 9.99973659e-01 4.52958208e-04 -2.69639679e+01] [ 5.00270324e-03 -4.16723679e-04 9.99987400e-01 1.46871674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8207140569999 meters Centerline goodness [0,1] 0.9595331103366003 Centerline is valid? [True, True] Translation: X:550.60, Y:-26.97, Z:1.47 [[ 9.99969719e-01 5.95986963e-03 -5.00404064e-03 5.50597434e+02] [-5.95767710e-03 9.99982150e-01 4.52944349e-04 -2.69676208e+01] [ 5.00665081e-03 -4.23118175e-04 9.99987377e-01 1.46818999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8507140569999 meters Centerline goodness [0,1] 0.9563043275072437 Centerline is valid? [True, True] Translation: X:550.63, Y:-26.98, Z:1.47 [[ 9.99977816e-01 3.90300443e-03 -5.39762547e-03 5.50626468e+02] [-3.90042369e-03 9.99992274e-01 4.88568302e-04 -2.69750804e+01] [ 5.39949065e-03 -4.67504437e-04 9.99985313e-01 1.46794416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.880714057 meters Centerline goodness [0,1] 0.955981308411215 Centerline is valid? [True, True] Translation: X:550.66, Y:-26.98, Z:1.47 [[ 9.99979208e-01 2.72574778e-03 -5.84414806e-03 5.50656161e+02] [-2.72270384e-03 9.99996154e-01 5.28745304e-04 -2.69773724e+01] [ 5.84556681e-03 -5.12822426e-04 9.99982783e-01 1.46777738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.910714057 meters Centerline goodness [0,1] 0.9537008904573819 Centerline is valid? [True, True] Translation: X:550.68, Y:-26.98, Z:1.47 [[ 9.99980334e-01 1.86876098e-03 -5.98660429e-03 5.50684655e+02] [-1.86555464e-03 9.99998113e-01 5.41124567e-04 -2.69818842e+01] [ 5.98760423e-03 -5.29945588e-04 9.99981934e-01 1.46704916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9407140569999 meters Centerline goodness [0,1] 0.9593129235802758 Centerline is valid? [True, True] Translation: X:550.71, Y:-26.98, Z:1.47 [[ 9.99976767e-01 6.69467376e-04 -6.78360171e-03 5.50714031e+02] [-6.65325092e-04 9.99999591e-01 6.12870252e-04 -2.69793592e+01] [ 6.78400924e-03 -6.08342713e-04 9.99976803e-01 1.46716609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9707140569999 meters Centerline goodness [0,1] 0.9583401557858295 Centerline is valid? [True, True] Translation: X:550.74, Y:-26.98, Z:1.47 [[ 9.99970581e-01 6.64383956e-04 -7.64171412e-03 5.50740212e+02] [-6.59135886e-04 9.99999545e-01 6.89263991e-04 -2.69834745e+01] [ 7.64216858e-03 -6.84206786e-04 9.99970564e-01 1.46643872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.000714057 meters Centerline goodness [0,1] 0.9582632660687593 Centerline is valid? [True, True] Translation: X:550.77, Y:-26.99, Z:1.47 [[ 9.99964349e-01 6.60602846e-04 -8.41811644e-03 5.50769398e+02] [-6.54237453e-04 9.99999498e-01 7.58885463e-04 -2.69852200e+01] [ 8.41861353e-03 -7.53350961e-04 9.99964279e-01 1.46589083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.030714057 meters Centerline goodness [0,1] 0.9577395577395578 Centerline is valid? [True, True] Translation: X:550.80, Y:-26.99, Z:1.47 [[ 9.99966112e-01 1.17758526e-03 -8.14785743e-03 5.50796575e+02] [-1.17164536e-03 9.99999044e-01 7.33748005e-04 -2.69902816e+01] [ 8.14871370e-03 -7.24176740e-04 9.99966536e-01 1.46510425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0607140569999 meters Centerline goodness [0,1] 0.9588993056367334 Centerline is valid? [True, True] Translation: X:550.83, Y:-26.99, Z:1.47 [[ 9.99963475e-01 1.73126851e-03 -8.36971919e-03 5.50825148e+02] [-1.72502442e-03 9.99998228e-01 7.53194226e-04 -2.69899478e+01] [ 8.37100834e-03 -7.38728745e-04 9.99964690e-01 1.46615101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0907140569999 meters Centerline goodness [0,1] 0.9599335346017926 Centerline is valid? [True, True] Translation: X:550.85, Y:-26.99, Z:1.47 [[ 9.99966610e-01 1.81648943e-03 -7.96733799e-03 5.50853878e+02] [-1.81083866e-03 9.99998104e-01 7.16398811e-04 -2.69887629e+01] [ 7.96862421e-03 -7.01947328e-04 9.99968004e-01 1.46707875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.120714057 meters Centerline goodness [0,1] 0.9593801361822024 Centerline is valid? [True, True] Translation: X:550.88, Y:-26.99, Z:1.47 [[ 9.99962553e-01 3.37820664e-03 -7.96747221e-03 5.50882747e+02] [-3.37260630e-03 9.99994056e-01 7.16231523e-04 -2.69918406e+01] [ 7.96984443e-03 -6.89333555e-04 9.99968003e-01 1.46776116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.150714057 meters Centerline goodness [0,1] 0.9558311370481928 Centerline is valid? [True, True] Translation: X:550.91, Y:-27.00, Z:1.47 [[ 9.99961124e-01 5.13021780e-03 -7.17162565e-03 5.50911601e+02] [-5.12572700e-03 9.99986656e-01 6.44429839e-04 -2.69979465e+01] [ 7.17483601e-03 -6.07644991e-04 9.99974076e-01 1.46724001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1807140569999 meters Centerline goodness [0,1] 0.9616000753863551 Centerline is valid? [True, True] Translation: X:550.94, Y:-26.99, Z:1.47 [[ 9.99952614e-01 6.38747105e-03 -7.34643399e-03 5.50940779e+02] [-6.38279690e-03 9.99979412e-01 6.59517832e-04 -2.69934590e+01] [ 7.35049539e-03 -6.12595784e-04 9.99972797e-01 1.46787356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2107140569999 meters Centerline goodness [0,1] 0.9601225547961348 Centerline is valid? [True, True] Translation: X:550.97, Y:-27.00, Z:1.47 [[ 9.99937447e-01 7.91269178e-03 -7.90514845e-03 5.50969221e+02] [-7.90732968e-03 9.99968485e-01 7.09329836e-04 -2.69969931e+01] [ 7.91051203e-03 -6.46776851e-04 9.99968502e-01 1.46755855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.240714057 meters Centerline goodness [0,1] 0.9618643067846607 Centerline is valid? [True, True] Translation: X:551.00, Y:-26.99, Z:1.47 [[ 9.99935565e-01 8.07117699e-03 -7.98257451e-03 5.50998429e+02] [-8.06571929e-03 9.99967215e-01 7.15659131e-04 -2.69934782e+01] [ 7.98808902e-03 -6.51227813e-04 9.99967883e-01 1.46759111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.270714057 meters Centerline goodness [0,1] 0.9620949278953952 Centerline is valid? [True, True] Translation: X:551.03, Y:-27.00, Z:1.47 [[ 9.99940172e-01 8.08994402e-03 -7.36247402e-03 5.51027460e+02] [-8.08530578e-03 9.99967096e-01 6.59531310e-04 -2.69962562e+01] [ 7.36756733e-03 -5.99963997e-04 9.99972679e-01 1.46693005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3007140569999 meters Centerline goodness [0,1] 0.9625892139717351 Centerline is valid? [True, True] Translation: X:551.06, Y:-27.00, Z:1.47 [[ 9.99940926e-01 7.79872389e-03 -7.57132862e-03 5.51055798e+02] [-7.79381450e-03 9.99969398e-01 6.77708219e-04 -2.69976802e+01] [ 7.57638218e-03 -6.18658653e-04 9.99971107e-01 1.46702526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3307140569999 meters Centerline goodness [0,1] 0.96 Centerline is valid? [True, True] Translation: X:551.08, Y:-27.00, Z:1.47 [[ 9.99943372e-01 6.39310688e-03 -8.50766357e-03 5.51083844e+02] [-6.38686178e-03 9.99979314e-01 7.61022208e-04 -2.70021863e+01] [ 8.51235287e-03 -7.06641842e-04 9.99963520e-01 1.46592158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.360714057 meters Centerline goodness [0,1] 0.9610297423278045 Centerline is valid? [True, True] Translation: X:551.11, Y:-27.00, Z:1.47 [[ 9.99948538e-01 5.58156152e-03 -8.47159783e-03 5.51112757e+02] [-5.57534559e-03 9.99984171e-01 7.57177483e-04 -2.70015928e+01] [ 8.47568996e-03 -7.09906432e-04 9.99963829e-01 1.46601734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.390714057 meters Centerline goodness [0,1] 0.961459099210208 Centerline is valid? [True, True] Translation: X:551.14, Y:-27.00, Z:1.47 [[ 9.99953729e-01 4.40982062e-03 -8.54940829e-03 5.51142016e+02] [-4.40345094e-03 9.99990013e-01 7.63724100e-04 -2.70021073e+01] [ 8.55269080e-03 -7.26041862e-04 9.99963161e-01 1.46684606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4207140569999 meters Centerline goodness [0,1] 0.9607675501092429 Centerline is valid? [True, True] Translation: X:551.17, Y:-27.01, Z:1.47 [[ 9.99954720e-01 3.38584321e-03 -8.89342649e-03 5.51169358e+02] [-3.37892054e-03 9.99993977e-01 7.93312808e-04 -2.70050308e+01] [ 8.89605896e-03 -7.63226705e-04 9.99960138e-01 1.46733456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4507140569999 meters Centerline goodness [0,1] 0.9530964418808896 Centerline is valid? [True, True] Translation: X:551.20, Y:-27.01, Z:1.47 [[ 9.99961884e-01 2.43842817e-03 -8.38363491e-03 5.51196811e+02] [-2.43224916e-03 9.99996763e-01 7.47149081e-04 -2.70143624e+01] [ 8.38542964e-03 -7.26729514e-04 9.99964578e-01 1.46610015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4807140569999 meters Centerline goodness [0,1] 0.9488220765650233 Centerline is valid? [True, False] Translation: X:551.20, Y:-27.01, Z:1.47 [[ 9.99965256e-01 1.63023831e-03 -8.17495898e-03 5.51196326e+02] [-1.62817743e-03 9.99998641e-01 2.58744974e-04 -2.70138265e+01] [ 8.17536969e-03 -2.45425701e-04 9.99966551e-01 1.46596984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.510714057 meters Centerline goodness [0,1] 0.960537562921455 Centerline is valid? [False, True] Translation: X:551.20, Y:-27.01, Z:1.47 [[ 9.99967313e-01 1.23875096e-03 -7.98990580e-03 5.51196014e+02] [-1.23815881e-03 9.99999230e-01 7.90577707e-05 -2.70135136e+01] [ 7.98999758e-03 -6.91624142e-05 9.99968077e-01 1.46574098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.540714057 meters Centerline goodness [0,1] 0.9450476348863177 Centerline is valid? [True, False] Translation: X:551.20, Y:-27.01, Z:1.47 [[ 9.99968671e-01 6.83932851e-04 -7.88599849e-03 5.51195802e+02] [-6.85778858e-04 9.99999738e-01 -2.31384898e-04 -2.70128592e+01] [ 7.88583818e-03 2.36785700e-04 9.99968878e-01 1.46555396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5707140569999 meters Centerline goodness [0,1] 0.9589594825946357 Centerline is valid? [False, True] Translation: X:551.20, Y:-27.01, Z:1.47 [[ 9.99969434e-01 5.81996103e-04 -7.79695284e-03 5.51195996e+02] [-5.84577766e-04 9.99999775e-01 -3.28836847e-04 -2.70120761e+01] [ 7.79675970e-03 3.33384721e-04 9.99969549e-01 1.46505848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6007140569999 meters Centerline goodness [0,1] 0.9575070147905075 Centerline is valid? [True, True] Translation: X:551.23, Y:-27.01, Z:1.46 [[ 9.99972682e-01 1.28703517e-03 -7.27859841e-03 5.51225132e+02] [-1.28207094e-03 9.99998942e-01 6.86655102e-04 -2.70148172e+01] [ 7.27947446e-03 -6.77304665e-04 9.99973275e-01 1.46487213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.630714057 meters Centerline goodness [0,1] 0.7582153832350105 Centerline is valid? [True, False] Translation: X:551.27, Y:-27.01, Z:1.47 [[ 9.99972290e-01 -5.44675883e-04 -7.42440136e-03 5.51271635e+02] [ 5.24179370e-04 9.99996047e-01 -2.76236217e-03 -2.70147864e+01] [ 7.42587660e-03 2.75839391e-03 9.99968623e-01 1.46733593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.660714057 meters Centerline goodness [0,1] 0.9579421345085265 Centerline is valid? [False, True] Translation: X:551.21, Y:-27.01, Z:1.47 [[ 9.99940265e-01 3.24792066e-03 -1.04363409e-02 5.51214223e+02] [-3.22482151e-03 9.99992315e-01 2.22940481e-03 -2.70076149e+01] [ 1.04435017e-02 -2.19561630e-03 9.99943055e-01 1.46918164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6907140569999 meters Centerline goodness [0,1] 0.9579421345085265 Centerline is valid? [True, True] Translation: X:551.24, Y:-27.01, Z:1.47 [[ 9.99939374e-01 3.14687457e-03 -1.05520534e-02 5.51241730e+02] [-3.13689044e-03 9.99994617e-01 9.62596375e-04 -2.70095101e+01] [ 1.05550258e-02 -9.29437381e-04 9.99943862e-01 1.46961609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7207140569999 meters Centerline goodness [0,1] 0.9640310226426874 Centerline is valid? [True, True] Translation: X:551.27, Y:-27.00, Z:1.47 [[ 9.99905756e-01 9.67292333e-03 -9.74233892e-03 5.51273377e+02] [-9.66471924e-03 9.99952900e-01 8.88835902e-04 -2.69986938e+01] [ 9.75047770e-03 -7.94595164e-04 9.99952147e-01 1.47182543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.750714057 meters Centerline goodness [0,1] 0.964598566567726 Centerline is valid? [True, True] Translation: X:551.30, Y:-27.00, Z:1.47 [[ 9.99863630e-01 1.33400246e-02 -9.73471482e-03 5.51304095e+02] [-1.33320063e-02 9.99910730e-01 8.88111652e-04 -2.69980947e+01] [ 9.74569324e-03 -7.58207261e-04 9.99952222e-01 1.47212339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.780714057 meters Centerline goodness [0,1] 0.9644329147068806 Centerline is valid? [True, True] Translation: X:551.33, Y:-27.00, Z:1.47 [[ 9.99748634e-01 2.02230970e-02 -9.67962594e-03 5.51334305e+02] [-2.02154922e-02 9.99795256e-01 8.82858096e-04 -2.69955486e+01] [ 9.69549822e-03 -6.86957773e-04 9.99952762e-01 1.47125852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8107140569999 meters Centerline goodness [0,1] 0.9691076624636276 Centerline is valid? [True, True] Translation: X:551.36, Y:-26.99, Z:1.47 [[ 9.99681123e-01 2.32400977e-02 -9.87674980e-03 5.51364968e+02] [-2.32323282e-02 9.99729687e-01 9.00664513e-04 -2.69917817e+01] [ 9.89501152e-03 -6.70917419e-04 9.99950818e-01 1.47184724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8407140569999 meters Centerline goodness [0,1] 0.967285179967941 Centerline is valid? [True, True] Translation: X:551.39, Y:-27.00, Z:1.47 [[ 9.99619085e-01 2.58046167e-02 -9.78809130e-03 5.51393191e+02] [-2.57971141e-02 9.99666801e-01 8.92001849e-04 -2.69953078e+01] [ 9.80784768e-03 -6.39157564e-04 9.99951698e-01 1.47140258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.870714057 meters Centerline goodness [0,1] 0.9655105269563101 Centerline is valid? [True, True] Translation: X:551.42, Y:-27.00, Z:1.47 [[ 9.99498162e-01 3.00451130e-02 -1.00356599e-02 5.51422813e+02] [-3.00374405e-02 9.99548356e-01 9.14410851e-04 -2.69991325e+01] [ 1.00586009e-02 -6.12506429e-04 9.99949223e-01 1.46967447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.900714057 meters Centerline goodness [0,1] 0.9736861376229649 Centerline is valid? [True, True] Translation: X:551.45, Y:-26.99, Z:1.47 [[ 9.99380874e-01 3.37314540e-02 -1.00028908e-02 5.51453863e+02] [-3.37240173e-02 9.99430768e-01 9.11249294e-04 -2.69895742e+01] [ 1.00279346e-02 -5.73347455e-04 9.99949555e-01 1.47191455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9307140569999 meters Centerline goodness [0,1] 0.9724656430785754 Centerline is valid? [True, True] Translation: X:551.48, Y:-26.99, Z:1.47 [[ 9.99331185e-01 3.51184637e-02 -1.01919906e-02 5.51482421e+02] [-3.51108233e-02 9.99382994e-01 9.27667689e-04 -2.69913207e+01] [ 1.02182804e-02 -5.69198069e-04 9.99947630e-01 1.47199443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9607140569999 meters Centerline goodness [0,1] 0.9739483864649136 Centerline is valid? [True, True] Translation: X:551.51, Y:-26.99, Z:1.47 [[ 9.99213456e-01 3.81762609e-02 -1.07257705e-02 5.51513019e+02] [-3.81679759e-02 9.99270861e-01 9.76147768e-04 -2.69905410e+01] [ 1.07552156e-02 -5.65999036e-04 9.99942001e-01 1.47256206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.990714057 meters Centerline goodness [0,1] 0.9738201944505669 Centerline is valid? [True, True] Translation: X:551.54, Y:-26.99, Z:1.47 [[ 9.99185044e-01 3.88038617e-02 -1.11133888e-02 5.51540960e+02] [-3.87950179e-02 9.99246679e-01 1.01033202e-03 -2.69940969e+01] [ 1.11442216e-02 -5.78364523e-04 9.99937734e-01 1.47167364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.020714057 meters Centerline goodness [0,1] 0.9731928448909581 Centerline is valid? [True, True] Translation: X:551.57, Y:-27.00, Z:1.47 [[ 9.99185832e-01 3.85898904e-02 -1.17683196e-02 5.51568447e+02] [-3.85800019e-02 9.99254946e-01 1.06620701e-03 -2.69954457e+01] [ 1.18006964e-02 -6.11317149e-04 9.99930182e-01 1.47222372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0507140569999 meters Centerline goodness [0,1] 0.9729041732958023 Centerline is valid? [True, True] Translation: X:551.60, Y:-27.00, Z:1.47 [[ 9.99231678e-01 3.72231703e-02 -1.22673747e-02 5.51595707e+02] [-3.72123321e-02 9.99306764e-01 1.11065755e-03 -2.70002676e+01] [ 1.23002127e-02 -6.53306585e-04 9.99924136e-01 1.47159840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0807140569999 meters Centerline goodness [0,1] 0.9742352624231588 Centerline is valid? [True, True] Translation: X:551.62, Y:-27.00, Z:1.47 [[ 9.99301539e-01 3.54074352e-02 -1.19476829e-02 5.51624658e+02] [-3.53970322e-02 9.99372744e-01 1.08112222e-03 -2.70027107e+01] [ 1.19784684e-02 -6.57454586e-04 9.99928039e-01 1.47158571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.110714057 meters Centerline goodness [0,1] 0.9714432284541724 Centerline is valid? [True, True] Translation: X:551.65, Y:-27.01, Z:1.47 [[ 9.99454076e-01 3.10286164e-02 -1.13479450e-02 5.51653527e+02] [-3.10189510e-02 9.99518269e-01 1.02679379e-03 -2.70116137e+01] [ 1.13743383e-02 -6.74231885e-04 9.99935083e-01 1.47170352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.140714057 meters Centerline goodness [0,1] 0.9676720465444631 Centerline is valid? [True, True] Translation: X:551.68, Y:-27.02, Z:1.47 [[ 9.99603233e-01 2.59250493e-02 -1.10121690e-02 5.51682238e+02] [-2.59156412e-02 9.99663637e-01 9.96204706e-04 -2.70236328e+01] [ 1.10342915e-02 -7.10422025e-04 9.99938868e-01 1.47090546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1707140569999 meters Centerline goodness [0,1] 0.9698347107438017 Centerline is valid? [True, True] Translation: X:551.71, Y:-27.02, Z:1.47 [[ 9.99667424e-01 2.33653960e-02 -1.09132368e-02 5.51712860e+02] [-2.33560040e-02 9.99726724e-01 9.87281934e-04 -2.70224957e+01] [ 1.09333227e-02 -7.32063986e-04 9.99939961e-01 1.47247429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2007140569999 meters Centerline goodness [0,1] 0.9674496562780868 Centerline is valid? [True, True] Translation: X:551.74, Y:-27.03, Z:1.47 [[ 9.99730806e-01 2.07661132e-02 -1.03481592e-02 5.51741298e+02] [-2.07575309e-02 9.99784101e-01 9.36078506e-04 -2.70286672e+01] [ 1.03653637e-02 -7.21024284e-04 9.99946018e-01 1.47280000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2307140569999 meters Centerline goodness [0,1] 0.9629127857747671 Centerline is valid? [True, True] Translation: X:551.77, Y:-27.04, Z:1.47 [[ 9.99843303e-01 1.47585412e-02 -9.77524287e-03 5.51769297e+02] [-1.47506010e-02 9.99890813e-01 8.83883433e-04 -2.70429673e+01] [ 9.78722037e-03 -7.39554224e-04 9.99951831e-01 1.47256263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.260714057 meters Centerline goodness [0,1] 0.9639611407082419 Centerline is valid? [True, True] Translation: X:551.80, Y:-27.04, Z:1.47 [[ 9.99878177e-01 1.19297175e-02 -1.00653893e-02 5.51798934e+02] [-1.19211587e-02 9.99928526e-01 9.09893252e-04 -2.70447634e+01] [ 1.00755246e-02 -7.89791304e-04 9.99948929e-01 1.47322923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.290714057 meters Centerline goodness [0,1] 0.9633221823782822 Centerline is valid? [True, True] Translation: X:551.83, Y:-27.05, Z:1.47 [[ 9.99913544e-01 7.08395592e-03 -1.10780149e-02 5.51828692e+02] [-7.07329461e-03 9.99974483e-01 1.00126951e-03 -2.70508044e+01] [ 1.10848252e-02 -9.22824883e-04 9.99938136e-01 1.47238014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3207140569999 meters Centerline goodness [0,1] 0.9599142395991423 Centerline is valid? [True, True] Translation: X:551.86, Y:-27.06, Z:1.47 [[ 9.99920876e-01 4.33749075e-03 -1.18079193e-02 5.51857224e+02] [-4.32519275e-03 9.99990077e-01 1.06684206e-03 -2.70590475e+01] [ 1.18124296e-02 -1.01568612e-03 9.99929715e-01 1.47095143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3507140569999 meters Centerline goodness [0,1] 0.9627284501367103 Centerline is valid? [True, True] Translation: X:551.89, Y:-27.06, Z:1.47 [[ 9.99918686e-01 1.39887001e-03 -1.26753341e-02 5.51887703e+02] [-1.38446442e-03 9.99998386e-01 1.14520885e-03 -2.70594440e+01] [ 1.26769157e-02 -1.12756718e-03 9.99919009e-01 1.47067776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.380714057 meters Centerline goodness [0,1] 0.954944159516848 Centerline is valid? [True, True] Translation: X:551.91, Y:-27.07, Z:1.47 [[ 9.99916490e-01 5.23577455e-04 -1.29127392e-02 5.51914729e+02] [-5.08571234e-04 9.99999192e-01 1.16538155e-03 -2.70694444e+01] [ 1.29133390e-02 -1.15871718e-03 9.99915948e-01 1.46940242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.410714057 meters Centerline goodness [0,1] 0.9478333532290796 Centerline is valid? [True, False] Translation: X:551.91, Y:-27.07, Z:1.47 [[ 9.99916041e-01 4.47244765e-04 -1.29503135e-02 5.51914778e+02] [-4.34845380e-04 9.99999444e-01 9.60258265e-04 -2.70690855e+01] [ 1.29507358e-02 -9.54546259e-04 9.99915680e-01 1.46962796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4407140569999 meters Centerline goodness [0,1] 0.9484387740419205 Centerline is valid? [False, False] Translation: X:551.91, Y:-27.07, Z:1.47 [[ 9.99916138e-01 4.63128822e-04 -1.29422494e-02 5.51914712e+02] [-4.53686827e-04 9.99999629e-01 7.32474668e-04 -2.70684984e+01] [ 1.29425839e-02 -7.26541514e-04 9.99915977e-01 1.46986268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4707140569999 meters Centerline goodness [0,1] 0.9488385486657708 Centerline is valid? [False, False] Translation: X:551.91, Y:-27.07, Z:1.47 [[ 9.99914766e-01 7.31417147e-04 -1.30355380e-02 5.51914931e+02] [-7.26563041e-04 9.99999665e-01 3.77106736e-04 -2.70671129e+01] [ 1.30358094e-02 -3.67603453e-04 9.99914963e-01 1.47026760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.500714057 meters Centerline goodness [0,1] 0.9507528531696557 Centerline is valid? [False, True] Translation: X:551.91, Y:-27.07, Z:1.47 [[ 9.99914224e-01 7.49317020e-04 -1.30760752e-02 5.51914893e+02] [-7.48815692e-04 9.99999719e-01 4.32352946e-05 -2.70660510e+01] [ 1.30761039e-02 -3.34400157e-05 9.99914504e-01 1.47065025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.530714057 meters Centerline goodness [0,1] 0.9605884052388289 Centerline is valid? [True, True] Translation: X:551.95, Y:-27.06, Z:1.47 [[ 9.99924768e-01 3.07510546e-03 -1.18744643e-02 5.51945424e+02] [-3.06305006e-03 9.99994775e-01 1.03329033e-03 -2.70614542e+01] [ 1.18775797e-02 -9.96840511e-04 9.99928962e-01 1.47235916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5607140569999 meters Centerline goodness [0,1] 0.9645516543364581 Centerline is valid? [True, True] Translation: X:551.98, Y:-27.06, Z:1.47 [[ 9.99925907e-01 4.49986617e-03 -1.13107266e-02 5.51975954e+02] [-4.48902113e-03 9.99989440e-01 9.84032683e-04 -2.70572772e+01] [ 1.13150352e-02 -9.33185681e-04 9.99935547e-01 1.47383197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5907140569999 meters Centerline goodness [0,1] 0.959914187918816 Centerline is valid? [True, True] Translation: X:552.00, Y:-27.06, Z:1.47 [[ 9.99922077e-01 6.22725965e-03 -1.08194561e-02 5.52004291e+02] [-6.21744317e-03 9.99980229e-01 9.40697529e-04 -2.70606341e+01] [ 1.08251002e-02 -8.73354873e-04 9.99941025e-01 1.47375994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.620714057 meters Centerline goodness [0,1] 0.9579562184731977 Centerline is valid? [True, True] Translation: X:552.03, Y:-27.07, Z:1.47 [[ 9.99916976e-01 6.85851646e-03 -1.09087565e-02 5.52031736e+02] [-6.84858499e-03 9.99976099e-01 9.47508247e-04 -2.70675574e+01] [ 1.09149942e-02 -8.72720036e-04 9.99940049e-01 1.47315723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.650714057 meters Centerline goodness [0,1] 0.9605562824053884 Centerline is valid? [True, True] Translation: X:552.06, Y:-27.06, Z:1.47 [[ 9.99901945e-01 7.42059094e-03 -1.18757918e-02 5.52060522e+02] [-7.40886936e-03 9.99972023e-01 1.03070585e-03 -2.70641654e+01] [ 1.18831080e-02 -9.42618591e-04 9.99928949e-01 1.47319577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6807140569999 meters Centerline goodness [0,1] 0.9656025016362446 Centerline is valid? [True, True] Translation: X:552.09, Y:-27.06, Z:1.47 [[ 9.99888127e-01 8.21099456e-03 -1.25024895e-02 5.52089899e+02] [-8.19807572e-03 9.99965807e-01 1.08420189e-03 -2.70586049e+01] [ 1.25109644e-02 -9.81584240e-04 9.99921253e-01 1.47403760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7107140569999 meters Centerline goodness [0,1] 0.9650370010918355 Centerline is valid? [True, True] Translation: X:552.12, Y:-27.06, Z:1.47 [[ 9.99881036e-01 8.40249209e-03 -1.29349391e-02 5.52118433e+02] [-8.38869184e-03 9.99964186e-01 1.12078452e-03 -2.70614491e+01] [ 1.29438932e-02 -1.01214396e-03 9.99915712e-01 1.47302158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.740714057 meters Centerline goodness [0,1] 0.9641211003832905 Centerline is valid? [True, True] Translation: X:552.15, Y:-27.06, Z:1.47 [[ 9.99878858e-01 8.71605484e-03 -1.28957593e-02 5.52145929e+02] [-8.70238556e-03 9.99961511e-01 1.11571824e-03 -2.70642171e+01] [ 1.29049876e-02 -1.00335921e-03 9.99916224e-01 1.47242008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.770714057 meters Centerline goodness [0,1] 0.9641024393803049 Centerline is valid? [True, True] Translation: X:552.17, Y:-27.07, Z:1.47 [[ 9.99857932e-01 1.10239975e-02 -1.27509801e-02 5.52174655e+02] [-1.10108281e-02 9.99938771e-01 1.10256283e-03 -2.70653069e+01] [ 1.27623540e-02 -9.62007344e-04 9.99918095e-01 1.47254127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8007140569999 meters Centerline goodness [0,1] 0.9641024393803049 Centerline is valid? [True, True] Translation: X:552.20, Y:-27.07, Z:1.47 [[ 9.99859060e-01 1.09210371e-02 -1.27510961e-02 5.52202095e+02] [-1.09078763e-02 9.99939901e-01 1.10122013e-03 -2.70675830e+01] [ 1.27623562e-02 -9.61977548e-04 9.99918095e-01 1.47252501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8307140569999 meters Centerline goodness [0,1] 0.9643118683786555 Centerline is valid? [True, True] Translation: X:552.23, Y:-27.07, Z:1.47 [[ 9.99820638e-01 1.40777728e-02 -1.26691924e-02 5.52232426e+02] [-1.40650337e-02 9.99900484e-01 1.09405858e-03 -2.70659771e+01] [ 1.26833335e-02 -9.15669728e-04 9.99919144e-01 1.47254054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.860714057 meters Centerline goodness [0,1] 0.9641817336628092 Centerline is valid? [True, True] Translation: X:552.26, Y:-27.07, Z:1.47 [[ 9.99809980e-01 1.51855284e-02 -1.22230775e-02 5.52261025e+02] [-1.51737639e-02 9.99884316e-01 1.05465485e-03 -2.70669949e+01] [ 1.22376790e-02 -8.68984355e-04 9.99924739e-01 1.47278981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.890714057 meters Centerline goodness [0,1] 0.9650917992656058 Centerline is valid? [True, True] Translation: X:552.29, Y:-27.07, Z:1.47 [[ 9.99789675e-01 1.70807481e-02 -1.13513690e-02 5.52290489e+02] [-1.70707276e-02 9.99853805e-01 9.79067364e-04 -2.70679342e+01] [ 1.13664327e-02 -7.85085313e-04 9.99935092e-01 1.47319667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9207140569999 meters Centerline goodness [0,1] 0.9655231771793926 Centerline is valid? [True, True] Translation: X:552.32, Y:-27.07, Z:1.47 [[ 9.99744815e-01 1.99820712e-02 -1.05366382e-02 5.52319482e+02] [-1.99736018e-02 9.99800095e-01 9.08436438e-04 -2.70698043e+01] [ 1.05526843e-02 -6.97750004e-04 9.99944075e-01 1.47323066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9507140569999 meters Centerline goodness [0,1] 0.9689647528264242 Centerline is valid? [True, True] Translation: X:552.35, Y:-27.06, Z:1.47 [[ 9.99727890e-01 2.08693319e-02 -1.04219442e-02 5.52349080e+02] [-2.08611019e-02 9.99781980e-01 8.97777621e-04 -2.70631846e+01] [ 1.04384080e-02 -6.80120087e-04 9.99945287e-01 1.47456631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9807140569999 meters Centerline goodness [0,1] 0.9646820394948221 Centerline is valid? [True, True] Translation: X:552.38, Y:-27.07, Z:1.47 [[ 9.99682188e-01 2.32447910e-02 -9.75719695e-03 5.52377626e+02] [-2.32376933e-02 9.99729615e-01 8.40186181e-04 -2.70710594e+01] [ 9.77408871e-03 -6.13184409e-04 9.99952044e-01 1.47344468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.010714057 meters Centerline goodness [0,1] 0.9686626598402216 Centerline is valid? [True, True] Translation: X:552.41, Y:-27.07, Z:1.47 [[ 9.99652647e-01 2.45369685e-02 -9.61884805e-03 5.52407405e+02] [-2.45301416e-02 9.99698749e-01 8.27097462e-04 -2.70652172e+01] [ 9.63624482e-03 -5.90858462e-04 9.99953396e-01 1.47437769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.040714057 meters Centerline goodness [0,1] 0.9686487021502982 Centerline is valid? [True, True] Translation: X:552.44, Y:-27.07, Z:1.47 [[ 9.99609795e-01 2.66881388e-02 -8.24632769e-03 5.52435800e+02] [-2.66831974e-02 9.99643689e-01 7.08675773e-04 -2.70684237e+01] [ 8.26230267e-03 -4.88360853e-04 9.99965747e-01 1.47403504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0707140569999 meters Centerline goodness [0,1] 0.9712399811409712 Centerline is valid? [True, True] Translation: X:552.47, Y:-27.07, Z:1.47 [[ 9.99605697e-01 2.69851771e-02 -7.76207277e-03 5.52465289e+02] [-2.69808228e-02 9.99635730e-01 6.65162145e-04 -2.70671839e+01] [ 7.77719480e-03 -4.55472760e-04 9.99969653e-01 1.47474369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1007140569999 meters Centerline goodness [0,1] 0.9686244357358996 Centerline is valid? [True, True] Translation: X:552.49, Y:-27.07, Z:1.47 [[ 9.99599914e-01 2.74919674e-02 -6.64852542e-03 5.52493176e+02] [-2.74887866e-02 9.99621950e-01 5.69345554e-04 -2.70734142e+01] [ 6.66166437e-03 -3.86357870e-04 9.99977736e-01 1.47482104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.130714057 meters Centerline goodness [0,1] 0.9674268715914724 Centerline is valid? [True, True] Translation: X:552.52, Y:-27.08, Z:1.48 [[ 9.99583508e-01 2.85268982e-02 -4.36193118e-03 5.52520428e+02] [-2.85255406e-02 9.99592994e-01 3.73142329e-04 -2.70775645e+01] [ 4.37080044e-03 -2.48560473e-04 9.99990417e-01 1.47543773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.160714057 meters Centerline goodness [0,1] 0.9727561714597924 Centerline is valid? [True, True] Translation: X:552.55, Y:-27.08, Z:1.48 [[ 9.99583884e-01 2.87097756e-02 -2.79423719e-03 5.52549260e+02] [-2.87092198e-02 9.99587777e-01 2.38824853e-04 -2.70750163e+01] [ 2.79994194e-03 -1.58505104e-04 9.99996068e-01 1.47594186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1907140569999 meters Centerline goodness [0,1] 0.9704776045533284 Centerline is valid? [True, True] Translation: X:552.58, Y:-27.08, Z:1.48 [[ 9.99600755e-01 2.81835367e-02 -2.00474774e-03 5.52576793e+02] [-2.81832500e-02 9.99602759e-01 1.71147496e-04 -2.70787416e+01] [ 2.00877491e-03 -1.14578860e-04 9.99997976e-01 1.47535140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2207140569999 meters Centerline goodness [0,1] 0.9656358238495795 Centerline is valid? [True, True] Translation: X:552.60, Y:-27.09, Z:1.47 [[ 9.99613218e-01 2.77642650e-02 -1.59977476e-03 5.52604112e+02] [-2.77640821e-02 9.99614494e-01 1.36425007e-04 -2.70894295e+01] [ 1.60294577e-03 -9.19559621e-05 9.99998711e-01 1.47475834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.250714057 meters Centerline goodness [0,1] 0.9691167387276096 Centerline is valid? [True, True] Translation: X:552.63, Y:-27.09, Z:1.48 [[ 9.99638486e-01 2.68572820e-02 -1.25877083e-03 5.52633166e+02] [-2.68571682e-02 9.99639275e-01 1.07254860e-04 -2.70853909e+01] [ 1.26119734e-03 -7.34090663e-05 9.99999202e-01 1.47538611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.280714057 meters Centerline goodness [0,1] 0.9670828603859251 Centerline is valid? [True, True] Translation: X:552.66, Y:-27.09, Z:1.47 [[ 9.99648659e-01 2.64720131e-02 -1.33856968e-03 5.52659778e+02] [-2.64718844e-02 9.99649552e-01 1.13827327e-04 -2.70939899e+01] [ 1.34111382e-03 -7.83528726e-05 9.99999098e-01 1.47498446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3107140569999 meters Centerline goodness [0,1] 0.9685519139108644 Centerline is valid? [True, True] Translation: X:552.69, Y:-27.10, Z:1.47 [[ 9.99654465e-01 2.62444891e-02 -1.47551406e-03 5.52688128e+02] [-2.62443324e-02 9.99655550e-01 1.25422664e-04 -2.70965128e+01] [ 1.47829748e-03 -8.66554449e-05 9.99998904e-01 1.47278855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3407140569999 meters Centerline goodness [0,1] 0.9710002215602767 Centerline is valid? [True, True] Translation: X:552.72, Y:-27.09, Z:1.47 [[ 9.99656947e-01 2.60673946e-02 -2.54552389e-03 5.52717028e+02] [-2.60669282e-02 9.99660177e-01 2.16220123e-04 -2.70943900e+01] [ 2.55029516e-03 -1.49791959e-04 9.99996737e-01 1.47228390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.370714057 meters Centerline goodness [0,1] 0.9673795476892822 Centerline is valid? [True, True] Translation: X:552.74, Y:-27.10, Z:1.47 [[ 9.99662958e-01 2.57148549e-02 -3.56603390e-03 5.52744445e+02] [-2.57139385e-02 9.99669296e-01 3.02593701e-04 -2.71032350e+01] [ 3.57263575e-03 -2.10794937e-04 9.99993596e-01 1.46963947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.400714057 meters Centerline goodness [0,1] 0.9723381277305975 Centerline is valid? [True, True] Translation: X:552.77, Y:-27.10, Z:1.47 [[ 9.99651269e-01 2.60692993e-02 -4.21105437e-03 5.52774041e+02] [-2.60680254e-02 9.99660107e-01 3.57129491e-04 -2.71013238e+01] [ 4.21893318e-03 -2.47231077e-04 9.99991070e-01 1.46905934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4307140569999 meters Centerline goodness [0,1] 0.9691843789071118 Centerline is valid? [True, True] Translation: X:552.80, Y:-27.11, Z:1.47 [[ 9.99632523e-01 2.66025351e-02 -5.20801885e-03 5.52801628e+02] [-2.66005963e-02 9.99646044e-01 4.41202171e-04 -2.71063359e+01] [ 5.21791254e-03 -3.02503633e-04 9.99986341e-01 1.46741849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4607140569999 meters Centerline goodness [0,1] 0.970733505344637 Centerline is valid? [True, True] Translation: X:552.83, Y:-27.11, Z:1.47 [[ 9.99640024e-01 2.63083952e-02 -5.26218411e-03 5.52830243e+02] [-2.63064137e-02 9.99653827e-01 4.45430129e-04 -2.71074519e+01] [ 5.27208104e-03 -3.06840593e-04 9.99986055e-01 1.46769882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.490714057 meters Centerline goodness [0,1] 0.9673803988743424 Centerline is valid? [True, True] Translation: X:552.86, Y:-27.11, Z:1.47 [[ 9.99700207e-01 2.42397399e-02 -3.45417455e-03 5.52858385e+02] [-2.42388745e-02 9.99706153e-01 2.92201301e-04 -2.71141947e+01] [ 3.46024243e-03 -2.08388397e-04 9.99993992e-01 1.46737957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.520714057 meters Centerline goodness [0,1] 0.9667082507766445 Centerline is valid? [True, True] Translation: X:552.89, Y:-27.12, Z:1.47 [[ 9.99767576e-01 2.15230365e-02 -1.24646240e-03 5.52888046e+02] [-2.15229218e-02 9.99768350e-01 1.05421915e-04 -2.71195135e+01] [ 1.24844265e-03 -7.85698997e-05 9.99999218e-01 1.46862485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5507140569999 meters Centerline goodness [0,1] 0.9654127992183683 Centerline is valid? [True, True] Translation: X:552.92, Y:-27.12, Z:1.47 [[ 9.99802970e-01 1.98418434e-02 -5.68472681e-04 5.52917114e+02] [-1.98418193e-02 9.99803131e-01 4.80233389e-05 -2.71227526e+01] [ 5.69313638e-04 -3.67343446e-05 9.99999837e-01 1.46905026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5807140569999 meters Centerline goodness [0,1] 0.9654127992183683 Centerline is valid? [True, True] Translation: X:552.94, Y:-27.12, Z:1.47 [[ 9.99805041e-01 1.97372083e-02 -5.68480302e-04 5.52944534e+02] [-1.97371842e-02 9.99805202e-01 4.79331052e-05 -2.71249766e+01] [ 5.69315629e-04 -3.67035598e-05 9.99999837e-01 1.46903402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.610714057 meters Centerline goodness [0,1] 0.9637536514118793 Centerline is valid? [True, True] Translation: X:552.97, Y:-27.13, Z:1.47 [[ 9.99832693e-01 1.82697608e-02 -8.95568347e-04 5.52972565e+02] [-1.82697004e-02 9.99833092e-01 7.55161010e-05 -2.71297952e+01] [ 8.96798530e-04 -5.91417012e-05 9.99999596e-01 1.46943400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.640714057 meters Centerline goodness [0,1] 0.9644075229000195 Centerline is valid? [True, True] Translation: X:553.00, Y:-27.13, Z:1.47 [[ 9.99870877e-01 1.60658055e-02 -3.43963898e-04 5.53001926e+02] [-1.60657965e-02 9.99870936e-01 2.89475389e-05 -2.71313385e+01] [ 3.44384570e-04 -2.34177471e-05 9.99999940e-01 1.46923086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6707140569999 meters Centerline goodness [0,1] 0.9587754307407768 Centerline is valid? [True, True] Translation: X:553.03, Y:-27.14, Z:1.47 [[ 9.99886005e-01 1.50845578e-02 -6.58816941e-04 5.53028873e+02] [-1.50845246e-02 9.99886221e-01 5.53953133e-05 -2.71403183e+01] [ 6.59577595e-04 -4.54510581e-05 9.99999781e-01 1.46853835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7007140569999 meters Centerline goodness [0,1] 0.9653721761544635 Centerline is valid? [True, True] Translation: X:553.06, Y:-27.14, Z:1.47 [[ 9.99896796e-01 1.43235426e-02 -1.11087390e-03 5.53057912e+02] [-1.43234476e-02 9.99897410e-01 9.33903603e-05 -2.71377856e+01] [ 1.11209762e-03 -7.74691779e-05 9.99999379e-01 1.46723911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7307140569999 meters Centerline goodness [0,1] 0.9594880654030512 Centerline is valid? [True, True] Translation: X:553.08, Y:-27.15, Z:1.47 [[ 9.99899558e-01 1.40227362e-02 -2.05837080e-03 5.53084477e+02] [-1.40224097e-02 9.99901666e-01 1.72949001e-04 -2.71476179e+01] [ 2.06059361e-03 -1.44068311e-04 9.99997867e-01 1.46605867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.760714057 meters Centerline goodness [0,1] 0.9640084685956245 Centerline is valid? [True, True] Translation: X:553.11, Y:-27.15, Z:1.46 [[ 9.99883992e-01 1.49333714e-02 -2.99944333e-03 5.53113746e+02] [-1.49326828e-02 9.99888470e-01 2.51823776e-04 -2.71457462e+01] [ 3.00286938e-03 -2.07004827e-04 9.99995470e-01 1.46428054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.790714057 meters Centerline goodness [0,1] 0.963827560185974 Centerline is valid? [True, True] Translation: X:553.14, Y:-27.15, Z:1.46 [[ 9.99873442e-01 1.54309124e-02 -3.87139159e-03 5.53142346e+02] [-1.54297697e-02 9.99880901e-01 3.24846899e-04 -2.71490165e+01] [ 3.87594319e-03 -2.65071106e-04 9.99992453e-01 1.46361864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8207140569999 meters Centerline goodness [0,1] 0.9631092580401336 Centerline is valid? [True, True] Translation: X:553.17, Y:-27.15, Z:1.46 [[ 9.99819588e-01 1.85975673e-02 -3.86287323e-03 5.53171032e+02] [-1.85964537e-02 9.99827019e-01 3.24005900e-04 -2.71505174e+01] [ 3.86823074e-03 -2.52111702e-04 9.99992487e-01 1.46425762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8507140569999 meters Centerline goodness [0,1] 0.9668487981770514 Centerline is valid? [True, True] Translation: X:553.20, Y:-27.15, Z:1.47 [[ 9.99729471e-01 2.30313089e-02 -3.24705591e-03 5.53201624e+02] [-2.30305453e-02 9.99734725e-01 2.72357889e-04 -2.71450028e+01] [ 3.25246730e-03 -1.97502740e-04 9.99994691e-01 1.46534432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.880714057 meters Centerline goodness [0,1] 0.9672873186366862 Centerline is valid? [True, True] Translation: X:553.23, Y:-27.15, Z:1.47 [[ 9.99664226e-01 2.57583573e-02 -2.81826204e-03 5.53230794e+02] [-2.57577932e-02 9.99668185e-01 2.36274424e-04 -2.71454040e+01] [ 2.82341294e-03 -1.63602878e-04 9.99996001e-01 1.46531830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.910714057 meters Centerline goodness [0,1] 0.9694188101315531 Centerline is valid? [True, True] Translation: X:553.26, Y:-27.15, Z:1.47 [[ 9.99602092e-01 2.81292363e-02 -2.09849536e-03 5.53260628e+02] [-2.81289289e-02 9.99604288e-01 1.75853475e-04 -2.71456901e+01] [ 2.10261158e-03 -1.16755075e-04 9.99997783e-01 1.46556549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9407140569999 meters Centerline goodness [0,1] 0.9677117914668634 Centerline is valid? [True, True] Translation: X:553.29, Y:-27.15, Z:1.47 [[ 9.99490278e-01 3.18852932e-02 -1.58529898e-03 5.53289222e+02] [-3.18851226e-02 9.99491531e-01 1.32751189e-04 -2.71468017e+01] [ 1.58872571e-03 -8.21360704e-05 9.99998735e-01 1.46595604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9707140569999 meters Centerline goodness [0,1] 0.9724829090196271 Centerline is valid? [True, True] Translation: X:553.32, Y:-27.14, Z:1.47 [[ 9.99454603e-01 3.30016264e-02 -1.17835676e-03 5.53318428e+02] [-3.30015331e-02 9.99455296e-01 9.85696061e-05 -2.71409969e+01] [ 1.18096787e-03 -5.96282668e-05 9.99999301e-01 1.46663618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.000714057 meters Centerline goodness [0,1] 0.9699399783528486 Centerline is valid? [True, True] Translation: X:553.35, Y:-27.15, Z:1.47 [[ 9.99422455e-01 3.39660151e-02 -1.03255214e-03 5.53346189e+02] [-3.39659441e-02 9.99422987e-01 8.62942854e-05 -2.71490212e+01] [ 1.03488742e-03 -5.11728384e-05 9.99999463e-01 1.46612132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.030714057 meters Centerline goodness [0,1] 0.9684420575482854 Centerline is valid? [True, True] Translation: X:553.37, Y:-27.15, Z:1.47 [[ 9.99457496e-01 3.29051789e-02 -1.40138697e-03 5.53374782e+02] [-3.29050471e-02 9.99458475e-01 1.17043905e-04 -2.71522301e+01] [ 1.40447943e-03 -7.08677043e-05 9.99999011e-01 1.46592381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0607140569999 meters Centerline goodness [0,1] 0.9674110876088347 Centerline is valid? [True, True] Translation: X:553.40, Y:-27.16, Z:1.46 [[ 9.99553155e-01 2.97536999e-02 -2.86483114e-03 5.53404821e+02] [-2.97531359e-02 9.99557249e-01 2.39293641e-04 -2.71574628e+01] [ 2.87068260e-03 -1.53949004e-04 9.99995868e-01 1.46446192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0907140569999 meters Centerline goodness [0,1] 0.970983896307934 Centerline is valid? [True, True] Translation: X:553.44, Y:-27.15, Z:1.46 [[ 9.99634348e-01 2.68433937e-02 -3.25621531e-03 5.53435062e+02] [-2.68426501e-02 9.99639634e-01 2.71861907e-04 -2.71543715e+01] [ 3.26233958e-03 -1.84357052e-04 9.99994662e-01 1.46438489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.120714057 meters Centerline goodness [0,1] 0.9681219512195122 Centerline is valid? [True, True] Translation: X:553.46, Y:-27.16, Z:1.46 [[ 9.99692590e-01 2.45582915e-02 -3.40827133e-03 5.53462495e+02] [-2.45574646e-02 9.99698380e-01 2.84256005e-04 -2.71622611e+01] [ 3.41422417e-03 -2.00470120e-04 9.99994151e-01 1.46393663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.150714057 meters Centerline goodness [0,1] 0.9675811692277625 Centerline is valid? [True, True] Translation: X:553.49, Y:-27.17, Z:1.46 [[ 9.99835781e-01 1.75682100e-02 -4.44626260e-03 5.53492693e+02] [-1.75667340e-02 9.99845624e-01 3.70806818e-04 -2.71652047e+01] [ 4.45209062e-03 -2.92639612e-04 9.99990047e-01 1.46258336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1807140569999 meters Centerline goodness [0,1] 0.9671750501050985 Centerline is valid? [True, True] Translation: X:553.52, Y:-27.17, Z:1.46 [[ 9.99885599e-01 1.42065402e-02 -5.19258906e-03 5.53522124e+02] [-1.42044827e-02 9.99899018e-01 4.32916113e-04 -2.71701182e+01] [ 5.19821494e-03 -3.59108546e-04 9.99986425e-01 1.46218293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2107140569999 meters Centerline goodness [0,1] 0.9617848357161994 Centerline is valid? [True, True] Translation: X:553.55, Y:-27.18, Z:1.46 [[ 9.99952261e-01 7.83164919e-03 -5.84305007e-03 5.53550640e+02] [-7.82893607e-03 9.99969235e-01 4.87060105e-04 -2.71848506e+01] [ 5.84668480e-03 -4.41291987e-04 9.99982811e-01 1.46153392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.240714057 meters Centerline goodness [0,1] 0.9615889851123869 Centerline is valid? [True, True] Translation: X:553.58, Y:-27.19, Z:1.46 [[ 9.99968191e-01 4.81552084e-03 -6.35829572e-03 5.53581238e+02] [-4.81224744e-03 9.99988281e-01 5.30023227e-04 -2.71854216e+01] [ 6.36077355e-03 -4.99408675e-04 9.99979645e-01 1.46108106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.270714057 meters Centerline goodness [0,1] 0.9567269100727299 Centerline is valid? [True, True] Translation: X:553.61, Y:-27.20, Z:1.46 [[ 9.99972000e-01 1.01351856e-03 -7.41429272e-03 5.53609696e+02] [-1.00896475e-03 9.99999300e-01 6.17908399e-04 -2.71973723e+01] [ 7.41491379e-03 -6.10410338e-04 9.99972323e-01 1.46024083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3007140569999 meters Centerline goodness [0,1] 0.9596207609092015 Centerline is valid? [True, True] Translation: X:553.64, Y:-27.19, Z:1.46 [[ 9.99967120e-01 -3.65483419e-04 -8.10092059e-03 5.53639414e+02] [ 3.70961059e-04 9.99999704e-01 6.74682745e-04 -2.71941810e+01] [ 8.10067160e-03 -6.77665688e-04 9.99966959e-01 1.45998563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3307140569999 meters Centerline goodness [0,1] 0.9614532349575085 Centerline is valid? [True, True] Translation: X:553.67, Y:-27.19, Z:1.46 [[ 9.99961838e-01 -4.02516459e-04 -8.72698000e-03 5.53667889e+02] [ 4.08869355e-04 9.99999653e-01 7.26188578e-04 -2.71945384e+01] [ 8.72668466e-03 -7.29729060e-04 9.99961656e-01 1.46091406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.360714057 meters Centerline goodness [0,1] 0.9607323477922584 Centerline is valid? [True, True] Translation: X:553.70, Y:-27.20, Z:1.46 [[ 9.99965828e-01 6.45337778e-04 -8.24176268e-03 5.53695316e+02] [-6.39713201e-04 9.99999561e-01 6.85066376e-04 -2.71970055e+01] [ 8.24220116e-03 -6.79770602e-04 9.99965801e-01 1.46082059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.390714057 meters Centerline goodness [0,1] 0.960889775852418 Centerline is valid? [True, True] Translation: X:553.73, Y:-27.20, Z:1.46 [[ 9.99968499e-01 2.36600209e-03 -7.57650198e-03 5.53725572e+02] [-2.36130048e-03 9.99997014e-01 6.29437799e-04 -2.71960752e+01] [ 7.57796861e-03 -6.11527574e-04 9.99971100e-01 1.46175461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4207140569999 meters Centerline goodness [0,1] 0.9623129052703427 Centerline is valid? [True, True] Translation: X:553.76, Y:-27.19, Z:1.46 [[ 9.99960928e-01 7.02171088e-03 -5.37007039e-03 5.53755793e+02] [-7.01941650e-03 9.99975264e-01 4.45981229e-04 -2.71917407e+01] [ 5.37306910e-03 -4.08269043e-04 9.99985482e-01 1.46412145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4507140569999 meters Centerline goodness [0,1] 0.962374255298369 Centerline is valid? [True, True] Translation: X:553.79, Y:-27.19, Z:1.46 [[ 9.99946542e-01 9.30743683e-03 -4.50374988e-03 5.53785023e+02] [-9.30584683e-03 9.99956630e-01 3.73866040e-04 -2.71940075e+01] [ 4.50703429e-03 -3.31934848e-04 9.99989788e-01 1.46446350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4807140569999 meters Centerline goodness [0,1] 0.9658280410356619 Centerline is valid? [True, True] Translation: X:553.81, Y:-27.19, Z:1.46 [[ 9.99924320e-01 1.16056990e-02 -4.08201661e-03 5.53814939e+02] [-1.16044125e-02 9.99932609e-01 3.38707485e-04 -2.71910759e+01] [ 4.08567245e-03 -2.91312446e-04 9.99991611e-01 1.46482409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.510714057 meters Centerline goodness [0,1] 0.9658767539986263 Centerline is valid? [True, True] Translation: X:553.85, Y:-27.19, Z:1.47 [[ 9.99878810e-01 1.50503860e-02 -3.98134769e-03 5.53845141e+02] [-1.50491894e-02 9.99886700e-01 3.30351249e-04 -2.71909336e+01] [ 3.98586852e-03 -2.70395158e-04 9.99992020e-01 1.46529373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.540714057 meters Centerline goodness [0,1] 0.9659010124286029 Centerline is valid? [True, True] Translation: X:553.87, Y:-27.19, Z:1.46 [[ 9.99833233e-01 1.76303354e-02 -4.76203591e-03 5.53873485e+02] [-1.76286540e-02 9.99844525e-01 3.94843629e-04 -2.71942264e+01] [ 4.76825676e-03 -3.10829499e-04 9.99988583e-01 1.46360225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5707140569999 meters Centerline goodness [0,1] 0.9671974287887338 Centerline is valid? [True, True] Translation: X:553.90, Y:-27.19, Z:1.46 [[ 9.99814285e-01 1.83848697e-02 -5.77860032e-03 5.53902264e+02] [-1.83824087e-02 9.99830915e-01 4.78717360e-04 -2.71926416e+01] [ 5.78642440e-03 -3.72403862e-04 9.99983189e-01 1.46248519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6007140569999 meters Centerline goodness [0,1] 0.9675178001473116 Centerline is valid? [True, True] Translation: X:553.93, Y:-27.19, Z:1.46 [[ 9.99790648e-01 1.92198036e-02 -7.01843603e-03 5.53930677e+02] [-1.92161971e-02 9.99815183e-01 5.80939199e-04 -2.71945130e+01] [ 7.02830444e-03 -4.45949928e-04 9.99975202e-01 1.46043269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.630714057 meters Centerline goodness [0,1] 0.9634986394724585 Centerline is valid? [True, True] Translation: X:553.96, Y:-27.21, Z:1.46 [[ 9.99777672e-01 1.96832574e-02 -7.56152680e-03 5.53957266e+02] [-1.96790895e-02 9.99806152e-01 6.25218494e-04 -2.72053639e+01] [ 7.57236736e-03 -4.76275527e-04 9.99971216e-01 1.45869322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.660714057 meters Centerline goodness [0,1] 0.9682598129464615 Centerline is valid? [True, True] Translation: X:553.99, Y:-27.20, Z:1.46 [[ 9.99788092e-01 1.89567965e-02 -8.02561730e-03 5.53986339e+02] [-1.89520824e-02 9.99820173e-01 6.63030521e-04 -2.71993102e+01] [ 8.03674301e-03 -5.10787859e-04 9.99967574e-01 1.45961061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6907140569999 meters Centerline goodness [0,1] 0.9622882396268106 Centerline is valid? [True, True] Translation: X:554.01, Y:-27.21, Z:1.46 [[ 9.99800533e-01 1.84774742e-02 -7.58139080e-03 5.54012830e+02] [-1.84732626e-02 9.99829159e-01 6.25166385e-04 -2.72101158e+01] [ 7.59164708e-03 -4.84988661e-04 9.99971065e-01 1.45903218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7207140569999 meters Centerline goodness [0,1] 0.9670628599436344 Centerline is valid? [True, True] Translation: X:554.04, Y:-27.20, Z:1.46 [[ 9.99818811e-01 1.79663773e-02 -6.28918963e-03 5.54042654e+02] [-1.79634716e-02 9.99838510e-01 5.18193423e-04 -2.72043280e+01] [ 6.29748404e-03 -4.05123853e-04 9.99980089e-01 1.46059637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.750714057 meters Centerline goodness [0,1] 0.9638849414416621 Centerline is valid? [True, True] Translation: X:554.07, Y:-27.21, Z:1.46 [[ 9.99826748e-01 1.77522172e-02 -5.59762271e-03 5.54070141e+02] [-1.77499149e-02 9.99842352e-01 4.60704142e-04 -2.72128164e+01] [ 5.60491877e-03 -3.61266997e-04 9.99984227e-01 1.46040133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.780714057 meters Centerline goodness [0,1] 0.9668616461489513 Centerline is valid? [True, True] Translation: X:554.10, Y:-27.21, Z:1.46 [[ 9.99834943e-01 1.74766921e-02 -4.96514492e-03 5.54099226e+02] [-1.74748791e-02 9.99847219e-01 4.08296207e-04 -2.72092517e+01] [ 4.97152201e-03 -3.21463508e-04 9.99987590e-01 1.46143147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8107140569999 meters Centerline goodness [0,1] 0.9619166422072204 Centerline is valid? [True, True] Translation: X:554.13, Y:-27.22, Z:1.46 [[ 9.99855894e-01 1.61583568e-02 -5.20564171e-03 5.54126392e+02] [-1.61563486e-02 9.99869386e-01 4.27604201e-04 -2.72193757e+01] [ 5.21187117e-03 -3.43438419e-04 9.99986359e-01 1.46061356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8407140569999 meters Centerline goodness [0,1] 0.965892721990283 Centerline is valid? [True, True] Translation: X:554.16, Y:-27.22, Z:1.46 [[ 9.99866109e-01 1.53469564e-02 -5.67750143e-03 5.54155631e+02] [-1.53445568e-02 9.99882157e-01 4.65972673e-04 -2.72156949e+01] [ 5.68398363e-03 -3.78791541e-04 9.99983774e-01 1.46078134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.870714057 meters Centerline goodness [0,1] 0.9625167662480185 Centerline is valid? [True, True] Translation: X:554.18, Y:-27.23, Z:1.46 [[ 9.99897004e-01 1.27918896e-02 -6.50762750e-03 5.54183701e+02] [-1.27886832e-02 9.99918079e-01 5.34084207e-04 -2.72257016e+01] [ 6.51392633e-03 -4.50805211e-04 9.99978683e-01 1.46032049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.900714057 meters Centerline goodness [0,1] 0.9594167679222357 Centerline is valid? [True, True] Translation: X:554.21, Y:-27.23, Z:1.46 [[ 9.99929514e-01 9.90633714e-03 -6.54453926e-03 5.54212750e+02] [-9.90303356e-03 9.99950820e-01 5.36998034e-04 -2.72338671e+01] [ 6.54953708e-03 -4.72149391e-04 9.99978440e-01 1.45911243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9307140569999 meters Centerline goodness [0,1] 0.965369753821478 Centerline is valid? [True, True] Translation: X:554.24, Y:-27.23, Z:1.46 [[ 9.99939004e-01 8.82577595e-03 -6.64026973e-03 5.54242115e+02] [-8.82235468e-03 9.99960934e-01 5.44346216e-04 -2.72282673e+01] [ 6.64481460e-03 -4.85730198e-04 9.99977805e-01 1.46049383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9607140569999 meters Centerline goodness [0,1] 0.9573080199586224 Centerline is valid? [True, True] Translation: X:554.27, Y:-27.24, Z:1.46 [[ 9.99950384e-01 7.48746057e-03 -6.57018914e-03 5.54269411e+02] [-7.48408547e-03 9.99971849e-01 5.38134162e-04 -2.72417135e+01] [ 6.57403345e-03 -4.88935605e-04 9.99978271e-01 1.45975204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.990714057 meters Centerline goodness [0,1] 0.960934656540412 Centerline is valid? [True, True] Translation: X:554.30, Y:-27.24, Z:1.46 [[ 9.99971551e-01 5.27237835e-03 -5.39436628e-03 5.54299389e+02] [-5.27007207e-03 9.99986016e-01 4.41659226e-04 -2.72403617e+01] [ 5.39661943e-03 -4.13217962e-04 9.99985353e-01 1.46112600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.020714057 meters Centerline goodness [0,1] 0.9609069964835698 Centerline is valid? [True, True] Translation: X:554.33, Y:-27.24, Z:1.46 [[ 9.99981094e-01 4.22222101e-03 -4.47036110e-03 5.54327524e+02] [-4.22062863e-03 9.99991026e-01 3.65581651e-04 -2.72431715e+01] [ 4.47186456e-03 -3.46707006e-04 9.99989941e-01 1.46191175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0507140569999 meters Centerline goodness [0,1] 0.9612234016770879 Centerline is valid? [True, True] Translation: X:554.36, Y:-27.25, Z:1.46 [[ 9.99992462e-01 2.57154358e-03 -2.90929016e-03 5.54357286e+02] [-2.57086248e-03 9.99996667e-01 2.37828624e-04 -2.72460093e+01] [ 2.90989205e-03 -2.30347446e-04 9.99995740e-01 1.46386251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0807140569999 meters Centerline goodness [0,1] 0.9604404666618157 Centerline is valid? [True, True] Translation: X:554.39, Y:-27.25, Z:1.46 [[ 9.99993955e-01 1.91194574e-03 -2.90424861e-03 5.54386098e+02] [-1.91126488e-03 9.99998145e-01 2.37190955e-04 -2.72490637e+01] [ 2.90469672e-03 -2.31638732e-04 9.99995755e-01 1.46456711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.110714057 meters Centerline goodness [0,1] 0.9562698470414273 Centerline is valid? [True, True] Translation: X:554.41, Y:-27.26, Z:1.46 [[ 9.99995676e-01 1.58507599e-03 -2.47705113e-03 5.54414299e+02] [-1.58458002e-03 9.99998724e-01 2.02176361e-04 -2.72576283e+01] [ 2.47736843e-03 -1.98250401e-04 9.99996912e-01 1.46472796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.140714057 meters Centerline goodness [0,1] 0.9604034819718241 Centerline is valid? [True, True] Translation: X:554.44, Y:-27.26, Z:1.46 [[ 9.99994453e-01 9.94636797e-04 -3.17884803e-03 5.54443142e+02] [-9.93817721e-04 9.99999473e-01 2.59233470e-04 -2.72555226e+01] [ 3.17910420e-03 -2.56072837e-04 9.99994914e-01 1.46450832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1707140569999 meters Centerline goodness [0,1] 0.9600861693372706 Centerline is valid? [True, True] Translation: X:554.47, Y:-27.26, Z:1.46 [[ 9.99994988e-01 1.40846394e-03 -2.83544952e-03 5.54471946e+02] [-1.40781449e-03 9.99998982e-01 2.31028615e-04 -2.72592587e+01] [ 2.83577203e-03 -2.27035670e-04 9.99995953e-01 1.46392442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2007140569999 meters Centerline goodness [0,1] 0.9587123693083958 Centerline is valid? [True, True] Translation: X:554.50, Y:-27.26, Z:1.46 [[ 9.99989439e-01 1.64356098e-03 -4.29187072e-03 5.54500543e+02] [-1.64207597e-03 9.99998591e-01 3.49505797e-04 -2.72636463e+01] [ 4.29243911e-03 -3.42454528e-04 9.99990729e-01 1.46198141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2307140569999 meters Centerline goodness [0,1] 0.9588951560192694 Centerline is valid? [True, True] Translation: X:554.53, Y:-27.27, Z:1.46 [[ 9.99985557e-01 2.13258344e-03 -4.93337209e-03 5.54528353e+02] [-2.13062942e-03 9.99997650e-01 4.01303250e-04 -2.72673518e+01] [ 4.93421630e-03 -3.90786266e-04 9.99987750e-01 1.46105826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.260714057 meters Centerline goodness [0,1] 0.9599274047186933 Centerline is valid? [True, True] Translation: X:554.56, Y:-27.27, Z:1.46 [[ 9.99966304e-01 3.47002922e-03 -7.43971359e-03 5.54555925e+02] [-3.46562664e-03 9.99993812e-01 6.04577663e-04 -2.72695680e+01] [ 7.44176545e-03 -5.78774022e-04 9.99972142e-01 1.45894695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.290714057 meters Centerline goodness [0,1] 0.960551169661452 Centerline is valid? [True, True] Translation: X:554.59, Y:-27.27, Z:1.46 [[ 9.99956456e-01 4.65291584e-03 -8.08926805e-03 5.54585197e+02] [-4.64775676e-03 9.99988984e-01 6.56450297e-04 -2.72719029e+01] [ 8.09223334e-03 -6.18824762e-04 9.99967066e-01 1.45880504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3207140569999 meters Centerline goodness [0,1] 0.9609932520996165 Centerline is valid? [True, True] Translation: X:554.62, Y:-27.27, Z:1.46 [[ 9.99929725e-01 7.48120160e-03 -9.19653020e-03 5.54615387e+02] [-7.47465320e-03 9.99971786e-01 7.46216410e-04 -2.72725564e+01] [ 9.20185332e-03 -6.77423096e-04 9.99957433e-01 1.45853434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3507140569999 meters Centerline goodness [0,1] 0.9606415762781781 Centerline is valid? [True, True] Translation: X:554.64, Y:-27.27, Z:1.46 [[ 9.99912614e-01 9.04523389e-03 -9.64090805e-03 5.54644693e+02] [-9.03811282e-03 9.99958850e-01 7.81944614e-04 -2.72744746e+01] [ 9.64758420e-03 -6.94740668e-04 9.99953220e-01 1.45789561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.380714057 meters Centerline goodness [0,1] 0.963560000971086 Centerline is valid? [True, True] Translation: X:554.68, Y:-27.27, Z:1.46 [[ 9.99865861e-01 1.27444441e-02 -1.02878475e-02 5.54675051e+02] [-1.27365302e-02 9.99918539e-01 8.34401333e-04 -2.72707272e+01] [ 1.02976434e-02 -7.03257927e-04 9.99946731e-01 1.45850012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.410714057 meters Centerline goodness [0,1] 0.9626740540934606 Centerline is valid? [True, True] Translation: X:554.70, Y:-27.28, Z:1.46 [[ 9.99839879e-01 1.51663809e-02 -9.49718259e-03 5.54704186e+02] [-1.51597487e-02 9.99884788e-01 7.69937440e-04 -2.72755952e+01] [ 9.50776557e-03 -6.25839256e-04 9.99954604e-01 1.45850673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4407140569999 meters Centerline goodness [0,1] 0.9646838339093609 Centerline is valid? [True, True] Translation: X:554.73, Y:-27.27, Z:1.46 [[ 9.99786359e-01 1.89500779e-02 -8.25418701e-03 5.54734958e+02] [-1.89451967e-02 9.99820300e-01 6.69157694e-04 -2.72717764e+01] [ 8.26538432e-03 -5.12637538e-04 9.99965710e-01 1.46071917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4707140569999 meters Centerline goodness [0,1] 0.969743477307608 Centerline is valid? [True, True] Translation: X:554.76, Y:-27.27, Z:1.46 [[ 9.99757633e-01 2.06357663e-02 -7.67074989e-03 5.54764075e+02] [-2.06316046e-02 9.99786953e-01 6.21282972e-04 -2.72663870e+01] [ 7.68193630e-03 -4.62872515e-04 9.99970386e-01 1.46214980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.500714057 meters Centerline goodness [0,1] 0.969743477307608 Centerline is valid? [True, True] Translation: X:554.79, Y:-27.27, Z:1.46 [[ 9.99759793e-01 2.05308428e-02 -7.67081674e-03 5.54791495e+02] [-2.05266844e-02 9.99789113e-01 6.20457113e-04 -2.72685150e+01] [ 7.68193757e-03 -4.62851641e-04 9.99970386e-01 1.46213356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.530714057 meters Centerline goodness [0,1] 0.969096536764885 Centerline is valid? [True, True] Translation: X:554.82, Y:-27.27, Z:1.46 [[ 9.99706135e-01 2.31757868e-02 -7.10822695e-03 5.54820687e+02] [-2.31722841e-02 9.99731321e-01 5.74740564e-04 -2.72696149e+01] [ 7.11963719e-03 -4.09857814e-04 9.99974571e-01 1.46244151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5607140569999 meters Centerline goodness [0,1] 0.9698595396020289 Centerline is valid? [True, True] Translation: X:554.85, Y:-27.27, Z:1.46 [[ 9.99702915e-01 2.36105735e-02 -6.05162903e-03 5.54849208e+02] [-2.36080455e-02 9.99721172e-01 4.88853098e-04 -2.72690893e+01] [ 6.06148377e-03 -3.45840734e-04 9.99981569e-01 1.46293779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5907140569999 meters Centerline goodness [0,1] 0.9658436615594809 Centerline is valid? [True, True] Translation: X:554.88, Y:-27.28, Z:1.46 [[ 9.99679614e-01 2.46311960e-02 -5.82864077e-03 5.54876891e+02] [-2.46288705e-02 9.99696553e-01 4.70426931e-04 -2.72779252e+01] [ 5.83845926e-03 -3.26723374e-04 9.99982903e-01 1.46222143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.620714057 meters Centerline goodness [0,1] 0.9689010398867354 Centerline is valid? [True, True] Translation: X:554.91, Y:-27.27, Z:1.46 [[ 9.99679023e-01 2.46550947e-02 -5.82900977e-03 5.54906113e+02] [-2.46527717e-02 9.99695964e-01 4.70044397e-04 -2.72737787e+01] [ 5.83882653e-03 -3.26192276e-04 9.99982901e-01 1.46357544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.650714057 meters Centerline goodness [0,1] 0.9688831535633415 Centerline is valid? [True, True] Translation: X:554.93, Y:-27.28, Z:1.46 [[ 9.99695200e-01 2.39524922e-02 -5.98200583e-03 5.54933342e+02] [-2.39500380e-02 9.99713041e-01 4.81563516e-04 -2.72776606e+01] [ 5.99182388e-03 -3.38147469e-04 9.99981992e-01 1.46319488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6807140569999 meters Centerline goodness [0,1] 0.9699449559160213 Centerline is valid? [True, True] Translation: X:554.96, Y:-27.28, Z:1.46 [[ 9.99752305e-01 2.08085458e-02 -7.89506615e-03 5.54963034e+02] [-2.08041737e-02 9.99783368e-01 6.35517860e-04 -2.72807498e+01] [ 7.90658003e-03 -4.71110118e-04 9.99968632e-01 1.46188997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7107140569999 meters Centerline goodness [0,1] 0.9661594643944005 Centerline is valid? [True, True] Translation: X:554.99, Y:-27.29, Z:1.46 [[ 9.99792574e-01 1.85620916e-02 -8.38197714e-03 5.54990459e+02] [-1.85570901e-02 9.99827575e-01 6.74082837e-04 -2.72912518e+01] [ 8.39304426e-03 -5.18397910e-04 9.99964643e-01 1.46078159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.740714057 meters Centerline goodness [0,1] 0.9634433104652008 Centerline is valid? [True, True] Translation: X:555.02, Y:-27.30, Z:1.46 [[ 9.99872145e-01 1.36916784e-02 -8.26020277e-03 5.55019139e+02] [-1.36866566e-02 9.99906113e-01 6.64179868e-04 -2.73013073e+01] [ 8.26852098e-03 -5.51040391e-04 9.99965663e-01 1.46031394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.770714057 meters Centerline goodness [0,1] 0.9619225362353968 Centerline is valid? [True, True] Translation: X:555.05, Y:-27.31, Z:1.46 [[ 9.99896856e-01 1.13969146e-02 -8.74003107e-03 5.55048722e+02] [-1.13912064e-02 9.99934871e-01 7.02615234e-04 -2.73064671e+01] [ 8.74746949e-03 -6.02983266e-04 9.99961558e-01 1.46027653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8007140569999 meters Centerline goodness [0,1] 0.9605997881967845 Centerline is valid? [True, True] Translation: X:555.08, Y:-27.31, Z:1.46 [[ 9.99927751e-01 8.16225909e-03 -8.82442121e-03 5.55077316e+02] [-8.15631730e-03 9.99966485e-01 7.09114465e-04 -2.73141575e+01] [ 8.82991344e-03 -6.37088452e-04 9.99960813e-01 1.46013979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8307140569999 meters Centerline goodness [0,1] 0.9588634333582792 Centerline is valid? [True, True] Translation: X:555.11, Y:-27.32, Z:1.46 [[ 9.99937567e-01 6.59851012e-03 -9.01781875e-03 5.55105184e+02] [-6.59224735e-03 9.99978009e-01 7.24036120e-04 -2.73186763e+01] [ 9.02239800e-03 -6.64543225e-04 9.99959077e-01 1.45994749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.860714057 meters Centerline goodness [0,1] 0.9564472541260496 Centerline is valid? [True, True] Translation: X:555.13, Y:-27.32, Z:1.46 [[ 9.99938626e-01 5.91604226e-03 -9.36717935e-03 5.55133991e+02] [-5.90926080e-03 9.99982258e-01 7.51471078e-04 -2.73232781e+01] [ 9.37145889e-03 -6.96071852e-04 9.99955845e-01 1.45969138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.890714057 meters Centerline goodness [0,1] 0.9575505867581011 Centerline is valid? [True, True] Translation: X:555.16, Y:-27.33, Z:1.46 [[ 9.99937084e-01 5.48254444e-03 -9.78623635e-03 5.55162800e+02] [-5.47512829e-03 9.99984704e-01 7.84444326e-04 -2.73252450e+01] [ 9.79038741e-03 -7.30814072e-04 9.99951806e-01 1.46023439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9207140569999 meters Centerline goodness [0,1] 0.962630359212051 Centerline is valid? [True, True] Translation: X:555.19, Y:-27.32, Z:1.46 [[ 9.99938564e-01 5.97368919e-03 -9.33725117e-03 5.55192389e+02] [-5.96697030e-03 9.99981918e-01 7.47271596e-04 -2.73235359e+01] [ 9.34154631e-03 -6.91510586e-04 9.99956128e-01 1.46102008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9507140569999 meters Centerline goodness [0,1] 0.9646925378897577 Centerline is valid? [True, True] Translation: X:555.22, Y:-27.32, Z:1.46 [[ 9.99939521e-01 6.14336934e-03 -9.12214835e-03 5.55221753e+02] [-6.13696907e-03 9.99980903e-01 7.29444512e-04 -2.73194576e+01] [ 9.12645539e-03 -6.73418054e-04 9.99958126e-01 1.46261072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9807140569999 meters Centerline goodness [0,1] 0.9665967247907773 Centerline is valid? [True, True] Translation: X:555.25, Y:-27.32, Z:1.46 [[ 9.99939192e-01 6.55308680e-03 -8.86961223e-03 5.55250482e+02] [-6.54705762e-03 9.99978317e-01 7.08621760e-04 -2.73210011e+01] [ 8.87406357e-03 -6.50508808e-04 9.99960413e-01 1.46336203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.010714057 meters Centerline goodness [0,1] 0.9645241366013544 Centerline is valid? [True, True] Translation: X:555.28, Y:-27.33, Z:1.46 [[ 9.99941544e-01 6.34999636e-03 -8.75140244e-03 5.55277751e+02] [-6.34412589e-03 9.99979632e-01 6.98400748e-04 -2.73272955e+01] [ 8.75565903e-03 -6.42839923e-04 9.99961462e-01 1.46331341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.040714057 meters Centerline goodness [0,1] 0.9659225292627006 Centerline is valid? [True, True] Translation: X:555.31, Y:-27.33, Z:1.46 [[ 9.99932976e-01 5.37488116e-03 -1.02544976e-02 5.55306744e+02] [-5.36677495e-03 9.99985264e-01 8.17857384e-04 -2.73302516e+01] [ 1.02587424e-02 -7.62768986e-04 9.99947087e-01 1.46264080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0707140569999 meters Centerline goodness [0,1] 0.9631556133506719 Centerline is valid? [True, True] Translation: X:555.33, Y:-27.34, Z:1.46 [[ 9.99931034e-01 3.56751157e-03 -1.11892733e-02 5.55334213e+02] [-3.55775582e-03 9.99993274e-01 8.91667783e-04 -2.73372268e+01] [ 1.11923791e-02 -8.51797586e-04 9.99937001e-01 1.46073255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1007140569999 meters Centerline goodness [0,1] 0.9611141820279266 Centerline is valid? [True, True] Translation: X:555.36, Y:-27.34, Z:1.46 [[ 9.99930339e-01 1.76858767e-03 -1.16700314e-02 5.55363871e+02] [-1.75785809e-03 9.99998023e-01 9.29607062e-04 -2.73406929e+01] [ 1.16716524e-02 -9.09028045e-04 9.99931471e-01 1.46014535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.130714057 meters Centerline goodness [0,1] 0.959147339043403 Centerline is valid? [True, True] Translation: X:555.39, Y:-27.35, Z:1.46 [[ 9.99917996e-01 7.20410704e-04 -1.27860188e-02 5.55392188e+02] [-7.07453855e-04 9.99999232e-01 1.01785474e-03 -2.73454675e+01] [ 1.27867423e-02 -1.00872576e-03 9.99917737e-01 1.45974408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.160714057 meters Centerline goodness [0,1] 0.960578818326042 Centerline is valid? [True, True] Translation: X:555.42, Y:-27.35, Z:1.46 [[ 9.99914821e-01 -3.38105309e-04 -1.30474961e-02 5.55420428e+02] [ 3.51667654e-04 9.99999400e-01 1.03717931e-03 -2.73469555e+01] [ 1.30471376e-02 -1.04167934e-03 9.99914340e-01 1.45992199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1907140569999 meters Centerline goodness [0,1] 0.9632096568639238 Centerline is valid? [True, True] Translation: X:555.45, Y:-27.35, Z:1.46 [[ 9.99901696e-01 -2.61363250e-03 -1.37755715e-02 5.55451295e+02] [ 2.62896631e-03 9.99995945e-01 1.09512518e-03 -2.73452233e+01] [ 1.37726534e-02 -1.13123304e-03 9.99904513e-01 1.46123826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2207140569999 meters Centerline goodness [0,1] 0.9638840830449827 Centerline is valid? [True, True] Translation: X:555.48, Y:-27.35, Z:1.46 [[ 9.99903270e-01 -4.08579337e-03 -1.32949902e-02 5.55480800e+02] [ 4.10019865e-03 9.99991036e-01 1.05643491e-03 -2.73487010e+01] [ 1.32905547e-02 -1.11084483e-03 9.99911060e-01 1.46262181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.250714057 meters Centerline goodness [0,1] 0.9587260474374655 Centerline is valid? [True, True] Translation: X:555.51, Y:-27.36, Z:1.46 [[ 9.99899908e-01 -5.10000154e-03 -1.31971360e-02 5.55507643e+02] [ 5.11425522e-03 9.99986374e-01 1.04653506e-03 -2.73553392e+01] [ 1.31916189e-02 -1.11392384e-03 9.99912366e-01 1.46256506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.280714057 meters Centerline goodness [0,1] 0.9524665181245358 Centerline is valid? [True, True] Translation: X:555.54, Y:-27.36, Z:1.46 [[ 9.99909260e-01 -6.13599532e-03 -1.19925131e-02 5.55535013e+02] [ 6.14782762e-03 9.99980651e-01 9.50024260e-04 -2.73616587e+01] [ 1.19864517e-02 -1.02366596e-03 9.99927636e-01 1.46287342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3107140569999 meters Centerline goodness [0,1] 0.9558827049670856 Centerline is valid? [True, True] Translation: X:555.56, Y:-27.36, Z:1.46 [[ 9.99923245e-01 -6.10401322e-03 -1.07817342e-02 5.55564225e+02] [ 6.11355973e-03 9.99980948e-01 8.52696834e-04 -2.73631888e+01] [ 1.07763239e-02 -9.18546160e-04 9.99941512e-01 1.46442347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3407140569999 meters Centerline goodness [0,1] 0.948099782353926 Centerline is valid? [True, False] Translation: X:555.56, Y:-27.36, Z:1.46 [[ 9.99922195e-01 -6.01609996e-03 -1.09275136e-02 5.55564354e+02] [ 6.02605922e-03 9.99981457e-01 8.78695195e-04 -2.73632342e+01] [ 1.09220247e-02 -9.44476672e-04 9.99939907e-01 1.46475878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.370714057 meters Centerline goodness [0,1] 0.9558693310996769 Centerline is valid? [False, True] Translation: X:555.56, Y:-27.36, Z:1.46 [[ 9.99922392e-01 -5.68780760e-03 -1.10841932e-02 5.55564808e+02] [ 5.70129566e-03 9.99983045e-01 1.18565519e-03 -2.73636508e+01] [ 1.10772615e-02 -1.24875744e-03 9.99937866e-01 1.46464870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.400714057 meters Centerline goodness [0,1] 0.9637879005604253 Centerline is valid? [True, True] Translation: X:555.59, Y:-27.36, Z:1.47 [[ 9.99923085e-01 -5.20709327e-03 -1.12565324e-02 5.55594437e+02] [ 5.21734564e-03 9.99986001e-01 8.81619980e-04 -2.73563443e+01] [ 1.12517841e-02 -9.40281391e-04 9.99936255e-01 1.46589148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4307140569999 meters Centerline goodness [0,1] 0.9662894466110008 Centerline is valid? [True, True] Translation: X:555.62, Y:-27.36, Z:1.47 [[ 9.99927356e-01 -3.65413759e-03 -1.14860983e-02 5.55624163e+02] [ 3.66470899e-03 9.99992880e-01 8.99451886e-04 -2.73563267e+01] [ 1.14827298e-02 -9.41479753e-04 9.99933628e-01 1.46659490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4607140569999 meters Centerline goodness [0,1] 0.9615854388695965 Centerline is valid? [True, True] Translation: X:555.65, Y:-27.37, Z:1.47 [[ 9.99931172e-01 -2.70132080e-03 -1.14172949e-02 5.55651799e+02] [ 2.71169446e-03 9.99995924e-01 8.93208270e-04 -2.73655005e+01] [ 1.14148356e-02 -9.24107008e-04 9.99934422e-01 1.46513055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.490714057 meters Centerline goodness [0,1] 0.9623378802771319 Centerline is valid? [True, True] Translation: X:555.68, Y:-27.37, Z:1.47 [[ 9.99928832e-01 -3.12860831e-05 -1.19302269e-02 5.55680415e+02] [ 4.24198338e-05 9.99999564e-01 9.32986896e-04 -2.73677007e+01] [ 1.19301926e-02 -9.33426575e-04 9.99928397e-01 1.46531387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.520714057 meters Centerline goodness [0,1] 0.9669075421133231 Centerline is valid? [True, True] Translation: X:555.71, Y:-27.36, Z:1.47 [[ 9.99935046e-01 9.51556323e-04 -1.13577163e-02 5.55710211e+02] [-9.41538308e-04 9.99999163e-01 8.87359303e-04 -2.73599993e+01] [ 1.13585511e-02 -8.76607940e-04 9.99935105e-01 1.46712023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5507140569999 meters Centerline goodness [0,1] 0.967961467494189 Centerline is valid? [True, True] Translation: X:555.74, Y:-27.36, Z:1.47 [[ 9.99930349e-01 3.64037111e-03 -1.12269379e-02 5.55739950e+02] [-3.63075499e-03 9.99993024e-01 8.76784493e-04 -2.73599843e+01] [ 1.12300514e-02 -8.35961163e-04 9.99936592e-01 1.46763978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5807140569999 meters Centerline goodness [0,1] 0.9687537440394891 Centerline is valid? [True, True] Translation: X:555.77, Y:-27.36, Z:1.47 [[ 9.99931197e-01 5.35385854e-03 -1.04373558e-02 5.55770077e+02] [-5.34564211e-03 9.99985380e-01 8.14952416e-04 -2.73607912e+01] [ 1.04415664e-02 -7.59101976e-04 9.99945197e-01 1.46781987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.610714057 meters Centerline goodness [0,1] 0.9694524909626295 Centerline is valid? [True, True] Translation: X:555.80, Y:-27.36, Z:1.47 [[ 9.99931923e-01 5.52770166e-03 -1.02759100e-02 5.55799177e+02] [-5.51975483e-03 9.99984445e-01 8.01546098e-04 -2.73633229e+01] [ 1.02801809e-02 -7.44771027e-04 9.99946880e-01 1.46753251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.640714057 meters Centerline goodness [0,1] 0.9701014159969383 Centerline is valid? [True, True] Translation: X:555.83, Y:-27.37, Z:1.47 [[ 9.99925863e-01 6.38833744e-03 -1.03661375e-02 5.55828300e+02] [-6.38030200e-03 9.99979319e-01 8.08047889e-04 -2.73655609e+01] [ 1.03710852e-02 -7.41848895e-04 9.99945944e-01 1.46759631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6707140569999 meters Centerline goodness [0,1] 0.9683895668820292 Centerline is valid? [True, True] Translation: X:555.86, Y:-27.37, Z:1.47 [[ 9.99923278e-01 5.97672627e-03 -1.08497550e-02 5.55855598e+02] [-5.96791035e-03 9.99981835e-01 8.44740051e-04 -2.73710513e+01] [ 1.08546067e-02 -7.79924876e-04 9.99940783e-01 1.46741821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7007140569999 meters Centerline goodness [0,1] 0.9664166626857116 Centerline is valid? [True, True] Translation: X:555.88, Y:-27.38, Z:1.47 [[ 9.99925648e-01 5.35118385e-03 -1.09573181e-02 5.55882946e+02] [-5.34216533e-03 9.99985367e-01 8.52162482e-04 -2.73806943e+01] [ 1.09617178e-02 -7.93563317e-04 9.99939604e-01 1.46603582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7307140569999 meters Centerline goodness [0,1] 0.970216413113349 Centerline is valid? [True, True] Translation: X:555.91, Y:-27.38, Z:1.47 [[ 9.99926398e-01 4.03811007e-03 -1.14407857e-02 5.55913195e+02] [-4.02819657e-03 9.99991491e-01 8.89415917e-04 -2.73763372e+01] [ 1.14442800e-02 -8.43264721e-04 9.99934157e-01 1.46683020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.760714057 meters Centerline goodness [0,1] 0.9705301244971316 Centerline is valid? [True, True] Translation: X:555.94, Y:-27.38, Z:1.47 [[ 9.99923851e-01 3.02543652e-03 -1.19640940e-02 5.55941386e+02] [-3.01453689e-03 9.99995025e-01 9.28957404e-04 -2.73806030e+01] [ 1.19668449e-02 -8.92820462e-04 9.99927996e-01 1.46614949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.790714057 meters Centerline goodness [0,1] 0.9695098784194529 Centerline is valid? [True, True] Translation: X:555.97, Y:-27.39, Z:1.46 [[ 9.99911488e-01 1.17544802e-03 -1.32527135e-02 5.55969378e+02] [-1.16192088e-03 9.99998796e-01 1.02836048e-03 -2.73890604e+01] [ 1.32539063e-02 -1.01287085e-03 9.99911650e-01 1.46420555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8207140569999 meters Centerline goodness [0,1] 0.966370258253713 Centerline is valid? [True, True] Translation: X:556.00, Y:-27.40, Z:1.46 [[ 9.99909431e-01 -1.43027815e-04 -1.34576794e-02 5.55997181e+02] [ 1.57085765e-04 9.99999443e-01 1.04355308e-03 -2.74014561e+01] [ 1.34575226e-02 -1.04557258e-03 9.99908897e-01 1.46196601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8507140569999 meters Centerline goodness [0,1] 0.9667563866458894 Centerline is valid? [True, True] Translation: X:556.03, Y:-27.40, Z:1.46 [[ 9.99909888e-01 -1.86228261e-03 -1.32946397e-02 5.56026838e+02] [ 1.87614718e-03 9.99997709e-01 1.03047304e-03 -2.74027514e+01] [ 1.32926902e-02 -1.05532288e-03 9.99911091e-01 1.46278369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.880714057 meters Centerline goodness [0,1] 0.9693018649942234 Centerline is valid? [True, True] Translation: X:556.06, Y:-27.40, Z:1.46 [[ 9.99913010e-01 -2.33845904e-03 -1.29809328e-02 5.56055317e+02] [ 2.35170436e-03 9.99996730e-01 1.00519683e-03 -2.74033130e+01] [ 1.29785397e-02 -1.03563670e-03 9.99915239e-01 1.46415002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.910714057 meters Centerline goodness [0,1] 0.9652736904061212 Centerline is valid? [True, True] Translation: X:556.08, Y:-27.41, Z:1.46 [[ 9.99906496e-01 -4.04017601e-03 -1.30643299e-02 5.56083151e+02] [ 4.05372775e-03 9.99991273e-01 1.01099360e-03 -2.74143640e+01] [ 1.30601313e-02 -1.06385831e-03 9.99914147e-01 1.46390769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9407140569999 meters Centerline goodness [0,1] 0.9680953839628643 Centerline is valid? [True, True] Translation: X:556.11, Y:-27.41, Z:1.47 [[ 9.99904896e-01 -4.95886783e-03 -1.28689358e-02 5.56112395e+02] [ 4.97204866e-03 9.99987147e-01 9.92444757e-04 -2.74106437e+01] [ 1.28638490e-02 -1.05633535e-03 9.99916699e-01 1.46520554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9707140569999 meters Centerline goodness [0,1] 0.966753600714269 Centerline is valid? [True, True] Translation: X:556.14, Y:-27.42, Z:1.47 [[ 9.99916313e-01 -6.14176188e-03 -1.13861986e-02 5.56139424e+02] [ 6.15214677e-03 9.99980691e-01 8.77257238e-04 -2.74188345e+01] [ 1.13805908e-02 -9.47233388e-04 9.99934790e-01 1.46534671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.000714057 meters Centerline goodness [0,1] 0.9632690326809626 Centerline is valid? [True, True] Translation: X:556.17, Y:-27.42, Z:1.47 [[ 9.99919989e-01 -6.75879775e-03 -1.06927564e-02 5.56167409e+02] [ 6.76798133e-03 9.99976758e-01 8.22907746e-04 -2.74235222e+01] [ 1.06869460e-02 -8.95210280e-04 9.99942492e-01 1.46552491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.030714057 meters Centerline goodness [0,1] 0.966927296067219 Centerline is valid? [True, True] Translation: X:556.20, Y:-27.42, Z:1.47 [[ 9.99924845e-01 -7.38328121e-03 -9.78726793e-03 5.56196403e+02] [ 7.39097905e-03 9.99972405e-01 7.50579084e-04 -2.74231549e+01] [ 9.78145611e-03 -8.22860167e-04 9.99951822e-01 1.46706285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0607140569999 meters Centerline goodness [0,1] 0.9643708795062421 Centerline is valid? [True, True] Translation: X:556.22, Y:-27.43, Z:1.47 [[ 9.99924465e-01 -7.78529570e-03 -9.51066092e-03 5.56224695e+02] [ 7.79258000e-03 9.99969372e-01 7.29091489e-04 -2.74286171e+01] [ 9.50469343e-03 -8.03149003e-04 9.99954507e-01 1.46696316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0907140569999 meters Centerline goodness [0,1] 0.9619708762826357 Centerline is valid? [True, True] Translation: X:556.25, Y:-27.44, Z:1.47 [[ 9.99913948e-01 -8.80528152e-03 -9.72440245e-03 5.56253134e+02] [ 8.81293991e-03 9.99960888e-01 7.44971770e-04 -2.74356117e+01] [ 9.71746242e-03 -8.30608238e-04 9.99952439e-01 1.46619549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.120714057 meters Centerline goodness [0,1] 0.9629785345572607 Centerline is valid? [True, True] Translation: X:556.28, Y:-27.43, Z:1.47 [[ 9.99915037e-01 -8.75760094e-03 -9.65524315e-03 5.56283427e+02] [ 8.76514039e-03 9.99961312e-01 7.38826212e-04 -2.74344922e+01] [ 9.64839927e-03 -8.23393001e-04 9.99953114e-01 1.46633448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.150714057 meters Centerline goodness [0,1] 0.964393355295437 Centerline is valid? [True, True] Translation: X:556.31, Y:-27.44, Z:1.47 [[ 9.99915203e-01 -8.14756446e-03 -1.01589293e-02 5.56312907e+02] [ 8.15587890e-03 9.99966438e-01 7.77276439e-04 -2.74400663e+01] [ 1.01522555e-02 -8.60065526e-04 9.99948095e-01 1.46511025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1807140569999 meters Centerline goodness [0,1] 0.9621685959671397 Centerline is valid? [True, True] Translation: X:556.34, Y:-27.44, Z:1.46 [[ 9.99909465e-01 -7.91559256e-03 -1.08813894e-02 5.56341559e+02] [ 7.92511148e-03 9.99968250e-01 8.31948239e-04 -2.74447164e+01] [ 1.08744586e-02 -9.18109144e-04 9.99940450e-01 1.46409063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2107140569999 meters Centerline goodness [0,1] 0.9609772017343465 Centerline is valid? [True, True] Translation: X:556.37, Y:-27.45, Z:1.46 [[ 9.99908565e-01 -7.18874404e-03 -1.14535305e-02 5.56370344e+02] [ 7.19920958e-03 9.99973704e-01 8.72771673e-04 -2.74478980e+01] [ 1.14469552e-02 -9.55148237e-04 9.99934025e-01 1.46319093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.240714057 meters Centerline goodness [0,1] 0.9593738352590384 Centerline is valid? [True, True] Translation: X:556.40, Y:-27.45, Z:1.46 [[ 9.99909865e-01 -6.90667525e-03 -1.15134333e-02 5.56397947e+02] [ 6.91722282e-03 9.99975692e-01 8.76539719e-04 -2.74518513e+01] [ 1.15070995e-02 -9.56101696e-04 9.99933334e-01 1.46257598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.270714057 meters Centerline goodness [0,1] 0.9578062020922159 Centerline is valid? [True, True] Translation: X:556.43, Y:-27.46, Z:1.46 [[ 9.99922659e-01 -6.15310236e-03 -1.08080770e-02 5.56426905e+02] [ 6.16232595e-03 9.99980676e-01 8.20302070e-04 -2.74556560e+01] [ 1.08028208e-02 -8.86841521e-04 9.99941255e-01 1.46282816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3007140569999 meters Centerline goodness [0,1] 0.9625602458730121 Centerline is valid? [True, True] Translation: X:556.46, Y:-27.45, Z:1.46 [[ 9.99926078e-01 -6.04565829e-03 -1.05493338e-02 5.56456512e+02] [ 6.05442577e-03 9.99981352e-01 7.99354641e-04 -2.74518050e+01] [ 1.05443044e-02 -8.63165709e-04 9.99944035e-01 1.46362341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3307140569999 meters Centerline goodness [0,1] 0.9570713537422885 Centerline is valid? [True, True] Translation: X:556.48, Y:-27.46, Z:1.46 [[ 9.99930212e-01 -5.80356365e-03 -1.02902309e-02 5.56483850e+02] [ 5.81188434e-03 9.99982808e-01 7.78881362e-04 -2.74607894e+01] [ 1.02855337e-02 -8.38632637e-04 9.99946751e-01 1.46265934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.360714057 meters Centerline goodness [0,1] 0.9636359406263086 Centerline is valid? [True, True] Translation: X:556.51, Y:-27.46, Z:1.46 [[ 9.99945064e-01 -4.46687069e-03 -9.48243300e-03 5.56514184e+02] [ 4.47387389e-03 9.99989735e-01 7.17460149e-04 -2.74554901e+01] [ 9.47913086e-03 -7.59843944e-04 9.99954783e-01 1.46398952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.390714057 meters Centerline goodness [0,1] 0.9636359406263086 Centerline is valid? [True, True] Translation: X:556.54, Y:-27.46, Z:1.46 [[ 9.99943942e-01 -4.71096738e-03 -9.48262699e-03 5.56542431e+02] [ 4.71795728e-03 9.99988615e-01 7.14892208e-04 -2.74575724e+01] [ 9.47915120e-03 -7.59590761e-04 9.99954783e-01 1.46395512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4207140569999 meters Centerline goodness [0,1] 0.9610924839340598 Centerline is valid? [True, True] Translation: X:556.57, Y:-27.46, Z:1.46 [[ 9.99959041e-01 -3.71734984e-03 -8.25208993e-03 5.56569419e+02] [ 3.72260499e-03 9.99992878e-01 6.21558678e-04 -2.74648061e+01] [ 8.24972061e-03 -6.52252491e-04 9.99965758e-01 1.46379285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4507140569999 meters Centerline goodness [0,1] 0.9627634769632532 Centerline is valid? [True, True] Translation: X:556.60, Y:-27.46, Z:1.46 [[ 9.99966291e-01 -2.51502876e-03 -7.81607345e-03 5.56598359e+02] [ 2.51970266e-03 9.99996653e-01 5.88195781e-04 -2.74619093e+01] [ 7.81456796e-03 -6.07870135e-04 9.99969281e-01 1.46461273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4807140569999 meters Centerline goodness [0,1] 0.9655607476635514 Centerline is valid? [True, True] Translation: X:556.63, Y:-27.46, Z:1.46 [[ 9.99966942e-01 -2.29862389e-03 -7.79938388e-03 5.56627287e+02] [ 2.30325464e-03 9.99997177e-01 5.84803352e-04 -2.74601918e+01] [ 7.79801762e-03 -6.02747987e-04 9.99969413e-01 1.46448630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.510714057 meters Centerline goodness [0,1] 0.9623007525826205 Centerline is valid? [True, True] Translation: X:556.65, Y:-27.47, Z:1.46 [[ 9.99960841e-01 -2.68463350e-03 -8.43264367e-03 5.56654547e+02] [ 2.69005607e-03 9.99996182e-01 6.31768188e-04 -2.74672289e+01] [ 8.43091541e-03 -6.54427733e-04 9.99964245e-01 1.46254510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.540714057 meters Centerline goodness [0,1] 0.9661961973638167 Centerline is valid? [True, True] Translation: X:556.68, Y:-27.46, Z:1.46 [[ 9.99955551e-01 -3.19023333e-03 -8.87230653e-03 5.56683282e+02] [ 3.19624894e-03 9.99994672e-01 6.63924891e-04 -2.74628366e+01] [ 8.87014118e-03 -6.92253481e-04 9.99960420e-01 1.46270539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5707140569999 meters Centerline goodness [0,1] 0.9626787093151133 Centerline is valid? [True, True] Translation: X:556.71, Y:-27.47, Z:1.46 [[ 9.99934369e-01 -6.09239128e-03 -9.70256774e-03 5.56711456e+02] [ 6.09972083e-03 9.99981133e-01 7.26009857e-04 -2.74723200e+01] [ 9.69796154e-03 -7.85145163e-04 9.99952665e-01 1.46150441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6007140569999 meters Centerline goodness [0,1] 0.9621199728927629 Centerline is valid? [True, True] Translation: X:556.74, Y:-27.48, Z:1.46 [[ 9.99919904e-01 -8.01193574e-03 -9.79763016e-03 5.56741027e+02] [ 8.01949948e-03 9.99967575e-01 7.32953823e-04 -2.74762614e+01] [ 9.79144009e-03 -8.11467207e-04 9.99951733e-01 1.46161285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.630714057 meters Centerline goodness [0,1] 0.9538009239815204 Centerline is valid? [True, True] Translation: X:556.77, Y:-27.48, Z:1.46 [[ 9.99885949e-01 -1.16486354e-02 -9.61235401e-03 5.56770277e+02] [ 1.16560826e-02 9.99931807e-01 7.19098799e-04 -2.74840658e+01] [ 9.60332200e-03 -8.31059178e-04 9.99953542e-01 1.46151709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.660714057 meters Centerline goodness [0,1] 0.9444327755606898 Centerline is valid? [True, False] Translation: X:556.77, Y:-27.48, Z:1.46 [[ 9.99884557e-01 -1.18682046e-02 -9.48778517e-03 5.56770145e+02] [ 1.18760565e-02 9.99929179e-01 7.71661084e-04 -2.74844636e+01] [ 9.47795501e-03 -8.84249473e-04 9.99954692e-01 1.46127554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6907140569999 meters Centerline goodness [0,1] 0.9631603553062179 Centerline is valid? [False, True] Translation: X:556.77, Y:-27.48, Z:1.46 [[ 9.99883714e-01 -1.20446130e-02 -9.35342706e-03 5.56769850e+02] [ 1.20506453e-02 9.99927215e-01 5.88839081e-04 -2.74838373e+01] [ 9.34565393e-03 -7.01485439e-04 9.99956082e-01 1.46142128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7207140569999 meters Centerline goodness [0,1] 0.9500187020759304 Centerline is valid? [True, True] Translation: X:556.80, Y:-27.49, Z:1.46 [[ 9.99900362e-01 -1.16357585e-02 -7.99214735e-03 5.56799273e+02] [ 1.16410571e-02 9.99932050e-01 6.16782855e-04 -2.74922158e+01] [ 7.98442755e-03 -7.09758444e-04 9.99967872e-01 1.46092928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.750714057 meters Centerline goodness [0,1] 0.9631811487481591 Centerline is valid? [True, True] Translation: X:556.83, Y:-27.48, Z:1.46 [[ 9.99915371e-01 -1.07710135e-02 -7.29628567e-03 5.56830942e+02] [ 1.07754078e-02 9.99941785e-01 5.63223425e-04 -2.74840973e+01] [ 7.28979443e-03 -6.41796214e-04 9.99973223e-01 1.46223103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.780714057 meters Centerline goodness [0,1] 0.9571742998969748 Centerline is valid? [True, True] Translation: X:556.86, Y:-27.49, Z:1.46 [[ 9.99926088e-01 -9.97504352e-03 -6.95100400e-03 5.56860892e+02] [ 9.97901353e-03 9.99950064e-01 5.36693198e-04 -2.74924574e+01] [ 6.94530336e-03 -6.06017693e-04 9.99975697e-01 1.46187478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8107140569999 meters Centerline goodness [0,1] 0.961841180604357 Centerline is valid? [True, True] Translation: X:556.89, Y:-27.49, Z:1.46 [[ 9.99940362e-01 -8.93605205e-03 -6.27853536e-03 5.56892267e+02] [ 8.93927067e-03 9.99959926e-01 4.84761873e-04 -2.74894418e+01] [ 6.27395190e-03 -5.40858489e-04 9.99980172e-01 1.46319267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8407140569999 meters Centerline goodness [0,1] 0.9600552253474984 Centerline is valid? [True, True] Translation: X:556.92, Y:-27.49, Z:1.46 [[ 9.99950960e-01 -8.37663399e-03 -5.28297226e-03 5.56922318e+02] [ 8.37890722e-03 9.99964813e-01 4.08307230e-04 -2.74939123e+01] [ 5.27936613e-03 -4.52552741e-04 9.99985962e-01 1.46344905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.870714057 meters Centerline goodness [0,1] 0.9599925175953422 Centerline is valid? [True, True] Translation: X:556.95, Y:-27.50, Z:1.46 [[ 9.99955637e-01 -7.97715475e-03 -5.00888513e-03 5.56953495e+02] [ 7.97919399e-03 9.99968091e-01 3.87272218e-04 -2.74961469e+01] [ 5.00563597e-03 -4.27221904e-04 9.99987380e-01 1.46360949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.900714057 meters Centerline goodness [0,1] 0.9220025734003977 Centerline is valid? [True, False] Translation: X:556.95, Y:-27.50, Z:1.46 [[ 9.99956721e-01 -7.73267179e-03 -5.17314059e-03 5.56954216e+02] [ 7.73599187e-03 9.99969883e-01 6.22091197e-04 -2.74960525e+01] [ 5.16817437e-03 -6.62083647e-04 9.99986426e-01 1.46303189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9307140569999 meters Centerline goodness [0,1] 0.9625193018576575 Centerline is valid? [False, True] Translation: X:556.96, Y:-27.49, Z:1.46 [[ 9.99957365e-01 -7.32871459e-03 -5.61773009e-03 5.56955818e+02] [ 7.33267316e-03 9.99972881e-01 6.84383548e-04 -2.74948979e+01] [ 5.61256210e-03 -7.25547347e-04 9.99983986e-01 1.46215765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9607140569999 meters Centerline goodness [0,1] 0.9614861378242717 Centerline is valid? [True, True] Translation: X:556.99, Y:-27.50, Z:1.46 [[ 9.99950718e-01 -6.89196156e-03 -7.14580003e-03 5.56985501e+02] [ 6.89606114e-03 9.99976071e-01 5.49223810e-04 -2.74985535e+01] [ 7.14184381e-03 -5.98474618e-04 9.99974318e-01 1.46114989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.990714057 meters Centerline goodness [0,1] 0.9603059165767373 Centerline is valid? [True, True] Translation: X:557.02, Y:-27.50, Z:1.46 [[ 9.99961242e-01 -4.47817634e-03 -7.58020259e-03 5.57015000e+02] [ 4.48271879e-03 9.99989783e-01 5.82367860e-04 -2.75018051e+01] [ 7.57751720e-03 -6.16325205e-04 9.99971100e-01 1.45976029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.020714057 meters Centerline goodness [0,1] 0.9667853185922067 Centerline is valid? [True, True] Translation: X:557.04, Y:-27.49, Z:1.46 [[ 9.99966883e-01 -3.43287833e-03 -7.37887167e-03 5.57044807e+02] [ 3.43713858e-03 9.99993934e-01 5.64754561e-04 -2.74926248e+01] [ 7.37688817e-03 -5.90098062e-04 9.99972616e-01 1.46134675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0507140569999 meters Centerline goodness [0,1] 0.9673134890730972 Centerline is valid? [True, True] Translation: X:557.08, Y:-27.49, Z:1.46 [[ 9.99980637e-01 8.20432794e-04 -6.16867804e-03 5.57075802e+02] [-8.17533569e-04 9.99999554e-01 4.72498133e-04 -2.74908716e+01] [ 6.16906294e-03 -4.67445882e-04 9.99980862e-01 1.46216826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0807140569999 meters Centerline goodness [0,1] 0.9692714356517429 Centerline is valid? [True, True] Translation: X:557.11, Y:-27.49, Z:1.46 [[ 9.99978036e-01 3.59159794e-03 -5.57031539e-03 5.57106223e+02] [-3.58927739e-03 9.99993468e-01 4.26534564e-04 -2.74890068e+01] [ 5.57181095e-03 -4.06531788e-04 9.99984395e-01 1.46370108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.110714057 meters Centerline goodness [0,1] 0.9693523652235461 Centerline is valid? [True, True] Translation: X:557.14, Y:-27.49, Z:1.46 [[ 9.99939816e-01 1.02007821e-02 -4.03835854e-03 5.57136197e+02] [-1.01996160e-02 9.99947935e-01 3.09229745e-04 -2.74878736e+01] [ 4.04130267e-03 -2.68021428e-04 9.99991798e-01 1.46476344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.140714057 meters Centerline goodness [0,1] 0.9706629322826422 Centerline is valid? [True, True] Translation: X:557.17, Y:-27.48, Z:1.47 [[ 9.99912533e-01 1.28693026e-02 -3.05095266e-03 5.57166634e+02] [-1.28686496e-02 9.99917168e-01 2.33536548e-04 -2.74845967e+01] [ 3.05370539e-03 -1.94254480e-04 9.99995319e-01 1.46590713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1707140569999 meters Centerline goodness [0,1] 0.9708458279784854 Centerline is valid? [True, True] Translation: X:557.20, Y:-27.49, Z:1.47 [[ 9.99873592e-01 1.57532537e-02 -2.15313772e-03 5.57195573e+02] [-1.57529354e-02 9.99875901e-01 1.64690739e-04 -2.74867261e+01] [ 2.15546493e-03 -1.30751682e-04 9.99997668e-01 1.46644216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2007140569999 meters Centerline goodness [0,1] 0.9718356843309188 Centerline is valid? [True, True] Translation: X:557.23, Y:-27.48, Z:1.47 [[ 9.99803463e-01 1.97675557e-02 -1.50935586e-03 5.57226277e+02] [-1.97674038e-02 9.99804599e-01 1.15479346e-04 -2.74833292e+01] [ 1.51134367e-03 -8.56206030e-05 9.99998854e-01 1.46739438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2307140569999 meters Centerline goodness [0,1] 0.972453234838556 Centerline is valid? [True, True] Translation: X:557.25, Y:-27.49, Z:1.47 [[ 9.99775072e-01 2.11964605e-02 -7.17391876e-04 5.57254169e+02] [-2.11964268e-02 9.99775329e-01 5.46521063e-05 -2.74865902e+01] [ 7.18389130e-04 -3.94336692e-05 9.99999741e-01 1.46715151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.260714057 meters Centerline goodness [0,1] 0.9519737138227483 Centerline is valid? [True, True] Translation: X:557.28, Y:-27.52, Z:1.47 [[ 9.99705163e-01 2.42739304e-02 6.02815453e-04 5.57280562e+02] [-2.42739069e-02 9.99705344e-01 -4.61446790e-05 -2.75179638e+01] [-6.03757943e-04 3.14983876e-05 9.99999817e-01 1.46678799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.290714057 meters Centerline goodness [0,1] 0.9728249219996665 Centerline is valid? [True, True] Translation: X:557.31, Y:-27.49, Z:1.47 [[ 9.99819260e-01 1.89021657e-02 -2.03848921e-03 5.57313320e+02] [-1.89018875e-02 9.99821331e-01 1.55688783e-04 -2.74904580e+01] [ 2.04106785e-03 -1.17129350e-04 9.99997910e-01 1.46553272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3207140569999 meters Centerline goodness [0,1] 0.9691331622469347 Centerline is valid? [True, True] Translation: X:557.34, Y:-27.50, Z:1.46 [[ 9.99830000e-01 1.81107313e-02 -3.46016996e-03 5.57340222e+02] [-1.81099265e-02 9.99835967e-01 2.63786073e-04 -2.75010696e+01] [ 3.46437974e-03 -2.01077805e-04 9.99993979e-01 1.46384527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3507140569999 meters Centerline goodness [0,1] 0.9684947768281101 Centerline is valid? [True, True] Translation: X:557.37, Y:-27.51, Z:1.46 [[ 9.99850112e-01 1.66273485e-02 -4.82552535e-03 5.57369252e+02] [-1.66257665e-02 9.99861715e-01 3.67780195e-04 -2.75051637e+01] [ 4.83097326e-03 -2.87497011e-04 9.99988289e-01 1.46191744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.380714057 meters Centerline goodness [0,1] 0.9682682944208251 Centerline is valid? [True, True] Translation: X:557.40, Y:-27.51, Z:1.46 [[ 9.99867525e-01 1.46204812e-02 -7.15358160e-03 5.57398720e+02] [-1.46169543e-02 9.99893018e-01 5.45055604e-04 -2.75091459e+01] [ 7.16078527e-03 -4.40419822e-04 9.99974264e-01 1.45963485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.410714057 meters Centerline goodness [0,1] 0.965959464264549 Centerline is valid? [True, True] Translation: X:557.43, Y:-27.52, Z:1.46 [[ 9.99879226e-01 1.35938643e-02 -7.53265430e-03 5.57425539e+02] [-1.35899323e-02 9.99907488e-01 5.72935662e-04 -2.75163036e+01] [ 7.53974585e-03 -4.70498203e-04 9.99971465e-01 1.45860319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4407140569999 meters Centerline goodness [0,1] 0.9699902735273883 Centerline is valid? [True, True] Translation: X:557.46, Y:-27.51, Z:1.46 [[ 9.99909451e-01 1.13110693e-02 -7.29041101e-03 5.57455203e+02] [-1.13073277e-02 9.99935917e-01 5.54230894e-04 -2.75083091e+01] [ 7.29621276e-03 -4.71745642e-04 9.99973271e-01 1.46096104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4707140569999 meters Centerline goodness [0,1] 0.9691412281743675 Centerline is valid? [True, True] Translation: X:557.48, Y:-27.51, Z:1.46 [[ 9.99926393e-01 1.00720014e-02 -6.76487681e-03 5.57483821e+02] [-1.00687552e-02 9.99949177e-01 5.13751407e-04 -2.75112148e+01] [ 6.76970750e-03 -4.45599703e-04 9.99976986e-01 1.46165423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.500714057 meters Centerline goodness [0,1] 0.969155690325026 Centerline is valid? [True, True] Translation: X:557.51, Y:-27.52, Z:1.46 [[ 9.99954769e-01 7.78541581e-03 -5.46335379e-03 5.57513109e+02] [-7.78326540e-03 9.99969624e-01 4.14757392e-04 -2.75152042e+01] [ 5.46641690e-03 -3.72215899e-04 9.99984990e-01 1.46279511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.530714057 meters Centerline goodness [0,1] 0.9684437801029729 Centerline is valid? [True, True] Translation: X:557.54, Y:-27.52, Z:1.46 [[ 9.99967977e-01 6.20488463e-03 -5.05408161e-03 5.57541912e+02] [-6.20302647e-03 9.99980688e-01 3.83248845e-04 -2.75186554e+01] [ 5.05636202e-03 -3.51885970e-04 9.99987155e-01 1.46358635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5607140569999 meters Centerline goodness [0,1] 0.9632617335352006 Centerline is valid? [True, True] Translation: X:557.57, Y:-27.53, Z:1.46 [[ 9.99982767e-01 2.87142455e-03 -5.12069640e-03 5.57570127e+02] [-2.86947354e-03 9.99995808e-01 3.88309989e-04 -2.75292216e+01] [ 5.12178993e-03 -3.73609594e-04 9.99986814e-01 1.46317619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5907140569999 meters Centerline goodness [0,1] 0.9641286356112556 Centerline is valid? [True, True] Translation: X:557.60, Y:-27.53, Z:1.46 [[ 9.99985699e-01 9.64357079e-04 -5.26035465e-03 5.57600315e+02] [-9.62273130e-04 9.99999458e-01 3.98677971e-04 -2.75262248e+01] [ 5.26073626e-03 -3.93610372e-04 9.99986085e-01 1.46390223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.620714057 meters Centerline goodness [0,1] 0.9615902805682275 Centerline is valid? [True, True] Translation: X:557.63, Y:-27.54, Z:1.46 [[ 9.99976712e-01 -2.91626399e-03 -6.17019994e-03 5.57628848e+02] [ 2.91920516e-03 9.99995630e-01 4.67720926e-04 -2.75355923e+01] [ 6.16880898e-03 -4.85722114e-04 9.99980855e-01 1.46370240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.650714057 meters Centerline goodness [0,1] 0.9638255698711595 Centerline is valid? [True, True] Translation: X:557.66, Y:-27.53, Z:1.46 [[ 9.99968094e-01 -4.66081049e-03 -6.48757908e-03 5.57658860e+02] [ 4.66409652e-03 9.99989002e-01 4.91474360e-04 -2.75340180e+01] [ 6.48521706e-03 -5.21717374e-04 9.99978835e-01 1.46377541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6807140569999 meters Centerline goodness [0,1] 0.9606447659895367 Centerline is valid? [True, True] Translation: X:557.69, Y:-27.54, Z:1.46 [[ 9.99941763e-01 -7.14031843e-03 -8.09234299e-03 5.57687894e+02] [ 7.14551278e-03 9.99974283e-01 6.13152893e-04 -2.75400812e+01] [ 8.08775677e-03 -6.70941126e-04 9.99967068e-01 1.46225804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7107140569999 meters Centerline goodness [0,1] 0.9617204604844974 Centerline is valid? [True, True] Translation: X:557.72, Y:-27.54, Z:1.46 [[ 9.99929603e-01 -7.89120981e-03 -8.86099132e-03 5.57717711e+02] [ 7.89746370e-03 9.99968589e-01 6.71008901e-04 -2.75439931e+01] [ 8.85541792e-03 -7.40941021e-04 9.99960516e-01 1.46185562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.740714057 meters Centerline goodness [0,1] 0.9605653710247349 Centerline is valid? [True, True] Translation: X:557.75, Y:-27.55, Z:1.46 [[ 9.99913476e-01 -8.61570784e-03 -9.94031682e-03 5.57747216e+02] [ 8.62361239e-03 9.99962533e-01 7.52613342e-04 -2.75478479e+01] [ 9.93346009e-03 -8.38269662e-04 9.99950311e-01 1.46091530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.770714057 meters Centerline goodness [0,1] 0.9604583716488647 Centerline is valid? [True, True] Translation: X:557.78, Y:-27.55, Z:1.46 [[ 9.99893982e-01 -9.66045346e-03 -1.08950117e-02 5.57777167e+02] [ 9.67000936e-03 9.99952904e-01 8.24750942e-04 -2.75484077e+01] [ 1.08865311e-02 -9.30018368e-04 9.99940307e-01 1.46014981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8007140569999 meters Centerline goodness [0,1] 0.9641069235855294 Centerline is valid? [True, True] Translation: X:557.81, Y:-27.54, Z:1.46 [[ 9.99887576e-01 -9.75826614e-03 -1.13847262e-02 5.57807068e+02] [ 9.76870160e-03 9.99951914e-01 8.61370150e-04 -2.75442199e+01] [ 1.13757733e-02 -9.72487304e-04 9.99934821e-01 1.46112107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8307140569999 meters Centerline goodness [0,1] 0.9599178043365298 Centerline is valid? [True, True] Translation: X:557.84, Y:-27.55, Z:1.46 [[ 9.99887781e-01 -9.59252414e-03 -1.15069022e-02 5.57835650e+02] [ 9.60316644e-03 9.99953510e-01 8.69964307e-04 -2.75501504e+01] [ 1.14980221e-02 -9.80369378e-04 9.99933415e-01 1.46058752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.860714057 meters Centerline goodness [0,1] 0.9522210132929656 Centerline is valid? [True, True] Translation: X:557.86, Y:-27.56, Z:1.46 [[ 9.99900702e-01 -8.71672965e-03 -1.10726781e-02 5.57864199e+02] [ 8.72652420e-03 9.99961573e-01 8.36561751e-04 -2.75550218e+01] [ 1.10649605e-02 -9.33104676e-04 9.99938346e-01 1.46039036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.890714057 meters Centerline goodness [0,1] 0.9630402808748874 Centerline is valid? [True, True] Translation: X:557.89, Y:-27.55, Z:1.46 [[ 9.99908846e-01 -7.86145861e-03 -1.09771314e-02 5.57894388e+02] [ 7.87102971e-03 9.99968679e-01 8.28981984e-04 -2.75461462e+01] [ 1.09702706e-02 -9.15307746e-04 9.99939406e-01 1.46175140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9207140569999 meters Centerline goodness [0,1] 0.9639199696567419 Centerline is valid? [True, True] Translation: X:557.92, Y:-27.55, Z:1.46 [[ 9.99925333e-01 -6.10086785e-03 -1.05881333e-02 5.57923520e+02] [ 6.10967057e-03 9.99981016e-01 7.99229179e-04 -2.75473508e+01] [ 1.05830563e-02 -8.63859509e-04 9.99943625e-01 1.46173641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9507140569999 meters Centerline goodness [0,1] 0.9653731059706455 Centerline is valid? [True, True] Translation: X:557.95, Y:-27.55, Z:1.46 [[ 9.99929592e-01 -5.79856223e-03 -1.03531762e-02 5.57952284e+02] [ 5.80693108e-03 9.99982837e-01 7.78457770e-04 -2.75457686e+01] [ 1.03484846e-02 -8.38523141e-04 9.99946101e-01 1.46190357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9807140569999 meters Centerline goodness [0,1] 0.964621179611882 Centerline is valid? [True, True] Translation: X:557.98, Y:-27.54, Z:1.46 [[ 9.99927547e-01 -4.80952073e-03 -1.10349469e-02 5.57981583e+02] [ 4.81894050e-03 9.99988047e-01 8.27199726e-04 -2.75446533e+01] [ 1.10308366e-02 -8.80316545e-04 9.99938771e-01 1.46125376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.010714057 meters Centerline goodness [0,1] 0.9654094055860587 Centerline is valid? [True, True] Translation: X:558.01, Y:-27.55, Z:1.46 [[ 9.99924413e-01 -4.85766070e-03 -1.12947262e-02 5.58010273e+02] [ 4.86749987e-03 9.99987798e-01 8.43803490e-04 -2.75453402e+01] [ 1.12904895e-02 -8.98716788e-04 9.99935857e-01 1.46155633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.040714057 meters Centerline goodness [0,1] 0.9643813348632626 Centerline is valid? [True, True] Translation: X:558.04, Y:-27.55, Z:1.46 [[ 9.99928262e-01 -4.04086954e-03 -1.12757092e-02 5.58037721e+02] [ 4.05061636e-03 9.99991442e-01 8.41704919e-04 -2.75486633e+01] [ 1.12722115e-02 -8.87318109e-04 9.99936073e-01 1.46123266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0707140569999 meters Centerline goodness [0,1] 0.9624087154315815 Centerline is valid? [True, True] Translation: X:558.06, Y:-27.55, Z:1.46 [[ 9.99925142e-01 -4.21472902e-03 -1.14867561e-02 5.58064884e+02] [ 4.22484422e-03 9.99990709e-01 8.56473178e-04 -2.75531641e+01] [ 1.14830396e-02 -9.04938820e-04 9.99933658e-01 1.46097065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1007140569999 meters Centerline goodness [0,1] 0.9621850751987738 Centerline is valid? [True, True] Translation: X:558.09, Y:-27.56, Z:1.46 [[ 9.99925002e-01 -4.97421752e-03 -1.11914196e-02 5.58093055e+02] [ 4.98385585e-03 9.99987233e-01 8.33500851e-04 -2.75559685e+01] [ 1.11871307e-02 -8.89214762e-04 9.99937027e-01 1.46179604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.130714057 meters Centerline goodness [0,1] 0.959858464628111 Centerline is valid? [True, True] Translation: X:558.12, Y:-27.56, Z:1.46 [[ 9.99929666e-01 -5.67519715e-03 -1.04142228e-02 5.58121424e+02] [ 5.68355184e-03 9.99983550e-01 7.72817917e-04 -2.75579250e+01] [ 1.04096656e-02 -8.31953337e-04 9.99945472e-01 1.46220186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.160714057 meters Centerline goodness [0,1] 0.9592211696771576 Centerline is valid? [True, True] Translation: X:558.15, Y:-27.56, Z:1.46 [[ 9.99936142e-01 -6.08650002e-03 -9.52191200e-03 5.58149386e+02] [ 6.09349772e-03 9.99981185e-01 7.06065990e-04 -2.75611453e+01] [ 9.51743538e-03 -7.64042651e-04 9.99954416e-01 1.46244538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1907140569999 meters Centerline goodness [0,1] 0.9625933371625502 Centerline is valid? [True, True] Translation: X:558.18, Y:-27.56, Z:1.46 [[ 9.99941850e-01 -6.17218947e-03 -8.84309352e-03 5.58179782e+02] [ 6.17822636e-03 9.99980700e-01 6.55511430e-04 -2.75578123e+01] [ 8.83887691e-03 -7.10107946e-04 9.99960684e-01 1.46347401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2207140569999 meters Centerline goodness [0,1] 0.9629106068955603 Centerline is valid? [True, True] Translation: X:558.21, Y:-27.56, Z:1.46 [[ 9.99947046e-01 -5.40102360e-03 -8.75977779e-03 5.58209329e+02] [ 5.40690661e-03 9.99985173e-01 6.48050414e-04 -2.75558091e+01] [ 8.75614777e-03 -6.95379398e-04 9.99961422e-01 1.46396095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.250714057 meters Centerline goodness [0,1] 0.9667379653440361 Centerline is valid? [True, True] Translation: X:558.24, Y:-27.55, Z:1.47 [[ 9.99955831e-01 -5.00968916e-03 -7.95225072e-03 5.58238858e+02] [ 5.01451646e-03 9.99987255e-01 5.87213859e-04 -2.75528320e+01] [ 7.94920761e-03 -6.27064615e-04 9.99968208e-01 1.46501005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.280714057 meters Centerline goodness [0,1] 0.9659809936244437 Centerline is valid? [True, True] Translation: X:558.27, Y:-27.55, Z:1.47 [[ 9.99968146e-01 -2.67883102e-03 -7.51874593e-03 5.58267828e+02] [ 2.68308022e-03 9.99996246e-01 5.55117297e-04 -2.75530011e+01] [ 7.51723064e-03 -5.75273012e-04 9.99971580e-01 1.46525442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3107140569999 meters Centerline goodness [0,1] 0.9659809936244437 Centerline is valid? [True, True] Translation: X:558.30, Y:-27.56, Z:1.47 [[ 9.99967455e-01 -2.92495053e-03 -7.51891350e-03 5.58296058e+02] [ 2.92918966e-03 9.99995557e-01 5.52844028e-04 -2.75550354e+01] [ 7.51726305e-03 -5.74850360e-04 9.99971580e-01 1.46519749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3407140569999 meters Centerline goodness [0,1] 0.9664307967251914 Centerline is valid? [True, True] Translation: X:558.32, Y:-27.56, Z:1.47 [[ 9.99964906e-01 -2.46262689e-03 -8.00760594e-03 5.58324867e+02] [ 2.46740465e-03 9.99996784e-01 5.86828049e-04 -2.75552760e+01] [ 8.00613504e-03 -6.06565460e-04 9.99967766e-01 1.46515248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.370714057 meters Centerline goodness [0,1] 0.9664830119375574 Centerline is valid? [True, True] Translation: X:558.35, Y:-27.56, Z:1.46 [[ 9.99966753e-01 -1.20682687e-03 -8.06457378e-03 5.58352686e+02] [ 1.21162917e-03 9.99999092e-01 5.90621225e-04 -2.75575664e+01] [ 8.06385367e-03 -6.00372861e-04 9.99967306e-01 1.46430672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.400714057 meters Centerline goodness [0,1] 0.9647921405410638 Centerline is valid? [True, True] Translation: X:558.38, Y:-27.56, Z:1.46 [[ 9.99964219e-01 -1.48898353e-03 -8.32722848e-03 5.58380281e+02] [ 1.49409112e-03 9.99998700e-01 6.07171954e-04 -2.75591226e+01] [ 8.32631358e-03 -6.19591867e-04 9.99965144e-01 1.46318600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4307140569999 meters Centerline goodness [0,1] 0.964107168858904 Centerline is valid? [True, True] Translation: X:558.41, Y:-27.56, Z:1.46 [[ 9.99954176e-01 -2.90603785e-03 -9.12143750e-03 5.58410019e+02] [ 2.91222689e-03 9.99995538e-01 6.65307136e-04 -2.75621226e+01] [ 9.11946340e-03 -6.91840345e-04 9.99958177e-01 1.46170012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4607140569999 meters Centerline goodness [0,1] 0.9625142358671157 Centerline is valid? [True, True] Translation: X:558.44, Y:-27.56, Z:1.46 [[ 9.99952624e-01 -3.67590897e-03 -9.01321715e-03 5.58438789e+02] [ 3.68197691e-03 9.99993006e-01 6.56726196e-04 -2.75647010e+01] [ 9.01074005e-03 -6.89881540e-04 9.99959164e-01 1.46109759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.490714057 meters Centerline goodness [0,1] 0.9628095168871444 Centerline is valid? [True, True] Translation: X:558.47, Y:-27.57, Z:1.46 [[ 9.99939571e-01 -5.27810438e-03 -9.64343292e-03 5.58467125e+02] [ 5.28512033e-03 9.99985787e-01 7.02197674e-04 -2.75683060e+01] [ 9.63958958e-03 -7.53121945e-04 9.99953254e-01 1.46077348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.520714057 meters Centerline goodness [0,1] 0.9596742829363151 Centerline is valid? [True, True] Translation: X:558.50, Y:-27.57, Z:1.46 [[ 9.99929928e-01 -6.28719043e-03 -1.00304505e-02 5.58495513e+02] [ 6.29482631e-03 9.99979921e-01 7.29880083e-04 -2.75728141e+01] [ 1.00256602e-02 -7.92968883e-04 9.99949427e-01 1.46088286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5507140569999 meters Centerline goodness [0,1] 0.9577519662989749 Centerline is valid? [True, True] Translation: X:558.52, Y:-27.58, Z:1.46 [[ 9.99931250e-01 -7.24415920e-03 -9.22052450e-03 5.58524467e+02] [ 7.25062860e-03 9.99973490e-01 6.68395929e-04 -2.75751669e+01] [ 9.21543810e-03 -7.35204575e-04 9.99957267e-01 1.46109878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5807140569999 meters Centerline goodness [0,1] 0.9569282945736434 Centerline is valid? [True, True] Translation: X:558.55, Y:-27.58, Z:1.46 [[ 9.99938443e-01 -7.74060657e-03 -7.94936492e-03 5.58553428e+02] [ 7.74543742e-03 9.99969837e-01 5.77094772e-04 -2.75776839e+01] [ 7.94465808e-03 -6.38630556e-04 9.99968237e-01 1.46292227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.610714057 meters Centerline goodness [0,1] 0.9583068731376093 Centerline is valid? [True, True] Translation: X:558.58, Y:-27.58, Z:1.46 [[ 9.99932961e-01 -8.76222750e-03 -7.56942647e-03 5.58583360e+02] [ 8.76663481e-03 9.99961421e-01 5.49268134e-04 -2.75783917e+01] [ 7.56432164e-03 -6.15589709e-04 9.99971201e-01 1.46361279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.640714057 meters Centerline goodness [0,1] 0.9586821232458816 Centerline is valid? [True, True] Translation: X:558.61, Y:-27.58, Z:1.46 [[ 9.99928348e-01 -9.33950421e-03 -7.48817462e-03 5.58613801e+02] [ 9.34383374e-03 9.99956198e-01 5.43405400e-04 -2.75794582e+01] [ 7.48277148e-03 -6.13334722e-04 9.99971816e-01 1.46420624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6707140569999 meters Centerline goodness [0,1] 0.9601501377074751 Centerline is valid? [True, True] Translation: X:558.65, Y:-27.58, Z:1.46 [[ 9.99915050e-01 -1.02619322e-02 -8.03646111e-03 5.58645025e+02] [ 1.02669513e-02 9.99947123e-01 5.83535409e-04 -2.75800131e+01] [ 8.03004797e-03 -6.65995793e-04 9.99967537e-01 1.46367806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7007140569999 meters Centerline goodness [0,1] 0.9568652312794128 Centerline is valid? [True, True] Translation: X:558.67, Y:-27.58, Z:1.46 [[ 9.99909794e-01 -1.05036921e-02 -8.37121865e-03 5.58674754e+02] [ 1.05091504e-02 9.99944592e-01 6.08317167e-04 -2.75843998e+01] [ 8.36436524e-03 -6.96236688e-04 9.99964776e-01 1.46353286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7307140569999 meters Centerline goodness [0,1] 0.9633334146519967 Centerline is valid? [True, True] Translation: X:558.71, Y:-27.58, Z:1.46 [[ 9.99910225e-01 -1.02993655e-02 -8.57113673e-03 5.58706563e+02] [ 1.03050825e-02 9.99946707e-01 6.23105254e-04 -2.75806297e+01] [ 8.56426236e-03 -7.11375586e-04 9.99963073e-01 1.46490973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.760714057 meters Centerline goodness [0,1] 0.9622655298416565 Centerline is valid? [True, True] Translation: X:558.74, Y:-27.58, Z:1.46 [[ 9.99911144e-01 -1.04044914e-02 -8.33369153e-03 5.58737627e+02] [ 1.04099021e-02 9.99945632e-01 6.06136167e-04 -2.75816269e+01] [ 8.32693190e-03 -6.92835221e-04 9.99965090e-01 1.46470754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.790714057 meters Centerline goodness [0,1] 0.9611662319299871 Centerline is valid? [True, True] Translation: X:558.77, Y:-27.58, Z:1.47 [[ 9.99924059e-01 -8.88824868e-03 -8.53672627e-03 5.58768095e+02] [ 8.89387227e-03 9.99960256e-01 6.21014958e-04 -2.75835888e+01] [ 8.53086725e-03 -6.96892350e-04 9.99963369e-01 1.46523895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8207140569999 meters Centerline goodness [0,1] 0.9652546523016651 Centerline is valid? [True, True] Translation: X:558.80, Y:-27.58, Z:1.47 [[ 9.99932715e-01 -7.90426068e-03 -8.49051016e-03 5.58798673e+02] [ 7.90978801e-03 9.99968526e-01 6.17618281e-04 -2.75788483e+01] [ 8.48536112e-03 -6.84734860e-04 9.99963764e-01 1.46582319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8507140569999 meters Centerline goodness [0,1] 0.9635309656589375 Centerline is valid? [True, True] Translation: X:558.83, Y:-27.58, Z:1.47 [[ 9.99937951e-01 -7.02384259e-03 -8.64639660e-03 5.58827619e+02] [ 7.02954042e-03 9.99975095e-01 6.28769019e-04 -2.75825663e+01] [ 8.64176489e-03 -6.89510199e-04 9.99962422e-01 1.46517346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.880714057 meters Centerline goodness [0,1] 0.9631357909472702 Centerline is valid? [True, True] Translation: X:558.86, Y:-27.58, Z:1.46 [[ 9.99941884e-01 -5.95111497e-03 -8.98955775e-03 5.58857481e+02] [ 5.95722787e-03 9.99982042e-01 6.53375580e-04 -2.75848037e+01] [ 8.98550800e-03 -7.06890452e-04 9.99959380e-01 1.46492245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.910714057 meters Centerline goodness [0,1] 0.9619433198380567 Centerline is valid? [True, True] Translation: X:558.89, Y:-27.59, Z:1.47 [[ 9.99939866e-01 -6.30789910e-03 -8.97075878e-03 5.58886277e+02] [ 6.31399622e-03 9.99979854e-01 6.51506314e-04 -2.75886023e+01] [ 8.96646842e-03 -7.08108473e-04 9.99959550e-01 1.46547526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9407140569999 meters Centerline goodness [0,1] 0.9599460056448644 Centerline is valid? [True, True] Translation: X:558.92, Y:-27.59, Z:1.47 [[ 9.99936319e-01 -6.94042105e-03 -8.89873849e-03 5.58915061e+02] [ 6.94644315e-03 9.99975665e-01 6.46006057e-04 -2.75930750e+01] [ 8.89403838e-03 -7.07779500e-04 9.99960197e-01 1.46508374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9707140569999 meters Centerline goodness [0,1] 0.9590789699781526 Centerline is valid? [True, True] Translation: X:558.94, Y:-27.60, Z:1.47 [[ 9.99932011e-01 -7.63356282e-03 -8.81487646e-03 5.58944422e+02] [ 7.63949604e-03 9.99970614e-01 6.39615928e-04 -2.75958464e+01] [ 8.80973488e-03 -7.06913655e-04 9.99960944e-01 1.46521326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.000714057 meters Centerline goodness [0,1] 0.9575787280970469 Centerline is valid? [True, True] Translation: X:558.97, Y:-27.60, Z:1.46 [[ 9.99914090e-01 -9.33284064e-03 -9.20381205e-03 5.58974757e+02] [ 9.33938118e-03 9.99956164e-01 6.67909091e-04 -2.76011730e+01] [ 9.19717510e-03 -7.53809620e-04 9.99957421e-01 1.46393488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.030714057 meters Centerline goodness [0,1] 0.9563320917467163 Centerline is valid? [True, True] Translation: X:559.01, Y:-27.60, Z:1.46 [[ 9.99904694e-01 -9.70880350e-03 -9.81541535e-03 5.59005024e+02] [ 9.71626021e-03 9.99952542e-01 7.12292375e-04 -2.76042996e+01] [ 9.80803403e-03 -8.07593619e-04 9.99951574e-01 1.46353591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0607140569999 meters Centerline goodness [0,1] 0.9531548757170172 Centerline is valid? [True, True] Translation: X:559.03, Y:-27.61, Z:1.46 [[ 9.99902232e-01 -9.19245986e-03 -1.05368561e-02 5.59034555e+02] [ 9.20102588e-03 9.99957377e-01 7.64769273e-04 -2.76082541e+01] [ 1.05293769e-02 -8.61644389e-04 9.99944193e-01 1.46306666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0907140569999 meters Centerline goodness [0,1] 0.9623464810138994 Centerline is valid? [True, True] Translation: X:559.07, Y:-27.60, Z:1.46 [[ 9.99912705e-01 -8.33117835e-03 -1.02554616e-02 5.59066184e+02] [ 8.33924774e-03 9.99964951e-01 7.44326436e-04 -2.75977527e+01] [ 1.02489011e-02 -8.29784295e-04 9.99947134e-01 1.46496994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.120714057 meters Centerline goodness [0,1] 0.9593382009489392 Centerline is valid? [True, True] Translation: X:559.09, Y:-27.60, Z:1.47 [[ 9.99933189e-01 -5.74363286e-03 -1.00313929e-02 5.59094981e+02] [ 5.75121978e-03 9.99983197e-01 7.27633544e-04 -2.76031858e+01] [ 1.00270451e-02 -7.85277675e-04 9.99949420e-01 1.46528528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.150714057 meters Centerline goodness [0,1] 0.9622701799233113 Centerline is valid? [True, True] Translation: X:559.12, Y:-27.60, Z:1.47 [[ 9.99941109e-01 -4.34312406e-03 -9.94564850e-03 5.59124856e+02] [ 4.35050945e-03 9.99990277e-01 7.21060368e-04 -2.76001750e+01] [ 9.94242013e-03 -7.64286541e-04 9.99950281e-01 1.46609126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1807140569999 meters Centerline goodness [0,1] 0.9614967462039046 Centerline is valid? [True, True] Translation: X:559.15, Y:-27.60, Z:1.47 [[ 9.99953073e-01 -1.22243863e-03 -9.61027785e-03 5.59154159e+02] [ 1.22918915e-03 9.99999002e-01 6.96551496e-04 -2.76036808e+01] [ 9.60941677e-03 -7.08331658e-04 9.99953578e-01 1.46512133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2107140569999 meters Centerline goodness [0,1] 0.9584381628928025 Centerline is valid? [True, True] Translation: X:559.18, Y:-27.61, Z:1.46 [[ 9.99949809e-01 4.95917186e-04 -1.00066510e-02 5.59182416e+02] [-4.88689558e-04 9.99999618e-01 7.24714539e-04 -2.76080971e+01] [ 1.00070066e-02 -7.19788019e-04 9.99949670e-01 1.46448659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.240714057 meters Centerline goodness [0,1] 0.9647552102602047 Centerline is valid? [True, True] Translation: X:559.21, Y:-27.60, Z:1.47 [[ 9.99955626e-01 2.50703525e-03 -9.08082469e-03 5.59213133e+02] [-2.50116665e-03 9.99996656e-01 6.57561226e-04 -2.76011051e+01] [ 9.08244285e-03 -6.34819392e-04 9.99958552e-01 1.46593621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.270714057 meters Centerline goodness [0,1] 0.9622366208329212 Centerline is valid? [True, True] Translation: X:559.24, Y:-27.60, Z:1.47 [[ 9.99953111e-01 3.54004033e-03 -9.01353876e-03 5.59240891e+02] [-3.53430849e-03 9.99993542e-01 6.51763871e-04 -2.76047073e+01] [ 9.01578782e-03 -6.19876684e-04 9.99959165e-01 1.46575171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3007140569999 meters Centerline goodness [0,1] 0.7977778282702052 Centerline is valid? [True, False] Translation: X:559.29, Y:-27.60, Z:1.47 [[ 9.99963415e-01 2.27663384e-03 -8.24537181e-03 5.59293260e+02] [-2.31648479e-03 9.99985668e-01 -4.82680893e-03 -2.76039303e+01] [ 8.23426476e-03 4.84573262e-03 9.99954357e-01 1.46794473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3307140569999 meters Centerline goodness [0,1] 0.96260662566951 Centerline is valid? [False, True] Translation: X:559.21, Y:-27.60, Z:1.46 [[ 9.99963613e-01 4.72157791e-03 -7.10495429e-03 5.59213021e+02] [-4.72381034e-03 9.99988799e-01 -2.97457953e-04 -2.76016820e+01] [ 7.10347024e-03 3.31009586e-04 9.99974715e-01 1.46427618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.360714057 meters Centerline goodness [0,1] 0.966506465837586 Centerline is valid? [True, True] Translation: X:559.24, Y:-27.60, Z:1.46 [[ 9.99955830e-01 5.46108662e-03 -7.64944955e-03 5.59241762e+02] [-5.45710809e-03 9.99984964e-01 5.40883484e-04 -2.75979462e+01] [ 7.65228834e-03 -4.99115720e-04 9.99970596e-01 1.46378706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.390714057 meters Centerline goodness [0,1] 0.961318692238895 Centerline is valid? [True, True] Translation: X:559.27, Y:-27.61, Z:1.46 [[ 9.99953031e-01 5.33627679e-03 -8.09070166e-03 5.59269038e+02] [-5.33182814e-03 9.99985622e-01 5.71316677e-04 -2.76065834e+01] [ 8.09363404e-03 -5.28151612e-04 9.99967107e-01 1.46235132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4207140569999 meters Centerline goodness [0,1] 0.9646406917801411 Centerline is valid? [True, True] Translation: X:559.30, Y:-27.60, Z:1.46 [[ 9.99948980e-01 4.91949928e-03 -8.82252129e-03 5.59298405e+02] [-4.91419776e-03 9.99987732e-01 6.22485190e-04 -2.76044583e+01] [ 8.82547537e-03 -5.79097816e-04 9.99960887e-01 1.46230940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4507140569999 meters Centerline goodness [0,1] 0.9656241474242913 Centerline is valid? [True, True] Translation: X:559.33, Y:-27.60, Z:1.46 [[ 9.99949275e-01 5.17229165e-03 -8.64262128e-03 5.59327191e+02] [-5.16721893e-03 9.99986464e-01 6.09168429e-04 -2.76040204e+01] [ 8.64565509e-03 -5.64479213e-04 9.99962466e-01 1.46251925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4807140569999 meters Centerline goodness [0,1] 0.9675416594233491 Centerline is valid? [True, True] Translation: X:559.36, Y:-27.61, Z:1.46 [[ 9.99938349e-01 4.86095736e-03 -9.98345268e-03 5.59355557e+02] [-4.85417972e-03 9.99987971e-01 7.03005765e-04 -2.76052731e+01] [ 9.98674987e-03 -6.54500950e-04 9.99949917e-01 1.46150177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.510714057 meters Centerline goodness [0,1] 0.9656694944684229 Centerline is valid? [True, True] Translation: X:559.38, Y:-27.61, Z:1.46 [[ 9.99938620e-01 4.29826729e-03 -1.02117874e-02 5.59383425e+02] [-4.29115670e-03 9.99990535e-01 7.18120496e-04 -2.76084192e+01] [ 1.02147774e-02 -6.74256037e-04 9.99947600e-01 1.46081532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.540714057 meters Centerline goodness [0,1] 0.9660827986026806 Centerline is valid? [True, True] Translation: X:559.41, Y:-27.61, Z:1.46 [[ 9.99940875e-01 4.16725974e-03 -1.00438775e-02 5.59411240e+02] [-4.16038608e-03 9.99991097e-01 7.05160634e-04 -2.76093878e+01] [ 1.00467267e-02 -6.63332534e-04 9.99949310e-01 1.46114730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5707140569999 meters Centerline goodness [0,1] 0.9622941454084801 Centerline is valid? [True, True] Translation: X:559.44, Y:-27.62, Z:1.46 [[ 9.99946400e-01 3.92186088e-03 -9.58204105e-03 5.59437357e+02] [-3.91560578e-03 9.99992109e-01 6.71466787e-04 -2.76194305e+01] [ 9.58459884e-03 -6.33911301e-04 9.99953866e-01 1.46089731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6007140569999 meters Centerline goodness [0,1] 0.9611753920864201 Centerline is valid? [True, True] Translation: X:559.47, Y:-27.62, Z:1.46 [[ 9.99962943e-01 3.47685032e-03 -7.87551309e-03 5.59465777e+02] [-3.47261427e-03 9.99993818e-01 5.51486587e-04 -2.76222753e+01] [ 7.87738184e-03 -5.24117531e-04 9.99968836e-01 1.46221169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.630714057 meters Centerline goodness [0,1] 0.9665551839464883 Centerline is valid? [True, True] Translation: X:559.50, Y:-27.62, Z:1.46 [[ 9.99970988e-01 2.84721850e-03 -7.06510941e-03 5.59495054e+02] [-2.84379761e-03 9.99995834e-01 4.94192775e-04 -2.76180273e+01] [ 7.06648706e-03 -4.74086697e-04 9.99974920e-01 1.46427596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.660714057 meters Centerline goodness [0,1] 0.9619665819285732 Centerline is valid? [True, True] Translation: X:559.52, Y:-27.63, Z:1.46 [[ 9.99976571e-01 1.16372959e-03 -6.74556744e-03 5.59522901e+02] [-1.16057505e-03 9.99999215e-01 4.71542097e-04 -2.76298694e+01] [ 6.74611089e-03 -4.63702312e-04 9.99977137e-01 1.46273077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6907140569999 meters Centerline goodness [0,1] 0.9612720325403673 Centerline is valid? [True, True] Translation: X:559.55, Y:-27.63, Z:1.46 [[ 9.99974297e-01 -6.53288271e-04 -7.13987793e-03 5.59552313e+02] [ 6.56867344e-04 9.99999660e-01 4.98945707e-04 -2.76316794e+01] [ 7.13954954e-03 -5.03622836e-04 9.99974386e-01 1.46204710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7207140569999 meters Centerline goodness [0,1] 0.9617757970517655 Centerline is valid? [True, True] Translation: X:559.58, Y:-27.64, Z:1.46 [[ 9.99955919e-01 -4.33613986e-03 -8.32812907e-03 5.59582370e+02] [ 4.34113761e-03 9.99990408e-01 5.82121088e-04 -2.76392936e+01] [ 8.32552502e-03 -6.18248982e-04 9.99965151e-01 1.46079449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.750714057 meters Centerline goodness [0,1] 0.9633927914223324 Centerline is valid? [True, True] Translation: X:559.61, Y:-27.64, Z:1.46 [[ 9.99933803e-01 -6.78079836e-03 -9.29570376e-03 5.59613310e+02] [ 6.78713000e-03 9.99976756e-01 6.49758686e-04 -2.76367680e+01] [ 9.29108181e-03 -7.12806824e-04 9.99956583e-01 1.46080395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.780714057 meters Centerline goodness [0,1] 0.9573170731707317 Centerline is valid? [True, True] Translation: X:559.64, Y:-27.65, Z:1.46 [[ 9.99910079e-01 -9.13812602e-03 -9.81471784e-03 5.59641533e+02] [ 9.14529255e-03 9.99957946e-01 6.85549734e-04 -2.76503702e+01] [ 9.80804045e-03 -7.75246554e-04 9.99951599e-01 1.45845135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8107140569999 meters Centerline goodness [0,1] 0.9602351735746871 Centerline is valid? [True, True] Translation: X:559.67, Y:-27.65, Z:1.46 [[ 9.99856958e-01 -1.28992574e-02 -1.09394605e-02 5.59671694e+02] [ 1.29083836e-02 9.99916391e-01 7.64047596e-04 -2.76502850e+01] [ 1.09286903e-02 -9.05149059e-04 9.99939870e-01 1.45859497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8407140569999 meters Centerline goodness [0,1] 0.9491312133972218 Centerline is valid? [True, False] Translation: X:559.67, Y:-27.65, Z:1.46 [[ 9.99856800e-01 -1.28402548e-02 -1.10230101e-02 5.59672143e+02] [ 1.28566875e-02 9.99916339e-01 1.42119401e-03 -2.76517620e+01] [ 1.10038394e-02 -1.56270989e-03 9.99938235e-01 1.45791042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.870714057 meters Centerline goodness [0,1] 0.9561829392629995 Centerline is valid? [False, True] Translation: X:559.67, Y:-27.65, Z:1.46 [[ 9.99857986e-01 -1.30191106e-02 -1.07009946e-02 5.59671528e+02] [ 1.30416372e-02 9.99912877e-01 2.03801732e-03 -2.76538067e+01] [ 1.06735291e-02 -2.17728638e-03 9.99940666e-01 1.45760725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.900714057 meters Centerline goodness [0,1] 0.9529672254799387 Centerline is valid? [True, True] Translation: X:559.70, Y:-27.66, Z:1.46 [[ 9.99849905e-01 -1.36412350e-02 -1.06810601e-02 5.59701994e+02] [ 1.36503206e-02 9.99906527e-01 7.78185284e-04 -2.76575905e+01] [ 1.06694463e-02 -9.23868376e-04 9.99942653e-01 1.45805297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9307140569999 meters Centerline goodness [0,1] 0.9384294413041896 Centerline is valid? [True, False] Translation: X:559.70, Y:-27.66, Z:1.46 [[ 9.99851589e-01 -1.35247661e-02 -1.06714485e-02 5.59701756e+02] [ 1.35367676e-02 9.99907819e-01 1.05320388e-03 -2.76583057e+01] [ 1.06562205e-02 -1.19750449e-03 9.99942504e-01 1.45835611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9607140569999 meters Centerline goodness [0,1] 0.9542516883305497 Centerline is valid? [False, True] Translation: X:559.70, Y:-27.66, Z:1.46 [[ 9.99856220e-01 -1.31336990e-02 -1.07259387e-02 5.59702154e+02] [ 1.31506898e-02 9.99912378e-01 1.51509740e-03 -2.76589083e+01] [ 1.07051001e-02 -1.65593305e-03 9.99941328e-01 1.45803439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.990714057 meters Centerline goodness [0,1] 0.9547206399224336 Centerline is valid? [True, True] Translation: X:559.73, Y:-27.66, Z:1.46 [[ 9.99885517e-01 -1.10678734e-02 -1.03177124e-02 5.59732521e+02] [ 1.10761655e-02 9.99938378e-01 7.46885161e-04 -2.76604305e+01] [ 1.03088102e-02 -8.61080347e-04 9.99946492e-01 1.45802694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.020714057 meters Centerline goodness [0,1] 0.9600639751853827 Centerline is valid? [True, True] Translation: X:559.76, Y:-27.66, Z:1.46 [[ 9.99901084e-01 -1.01787357e-02 -9.70651369e-03 5.59763686e+02] [ 1.01860326e-02 9.99947874e-01 7.02610185e-04 -2.76583641e+01] [ 9.69885604e-03 -8.01411550e-04 9.99952644e-01 1.45871303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0507140569999 meters Centerline goodness [0,1] 0.9582636515669308 Centerline is valid? [True, True] Translation: X:559.79, Y:-27.66, Z:1.46 [[ 9.99927259e-01 -8.21441546e-03 -8.83172373e-03 5.59793727e+02] [ 8.22038026e-03 9.99966008e-01 6.39294054e-04 -2.76616954e+01] [ 8.82617209e-03 -7.11847679e-04 9.99960795e-01 1.45879224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0807140569999 meters Centerline goodness [0,1] 0.9614807282587643 Centerline is valid? [True, True] Translation: X:559.82, Y:-27.66, Z:1.46 [[ 9.99930082e-01 -7.69296738e-03 -8.98045752e-03 5.59824250e+02] [ 7.69911388e-03 9.99970150e-01 6.50060314e-04 -2.76571697e+01] [ 8.97518856e-03 -7.19156428e-04 9.99959464e-01 1.45936646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.110714057 meters Centerline goodness [0,1] 0.9645371199109799 Centerline is valid? [True, True] Translation: X:559.85, Y:-27.66, Z:1.46 [[ 9.99933779e-01 -7.26765107e-03 -8.92299554e-03 5.59853984e+02] [ 7.27369867e-03 9.99973338e-01 6.45488349e-04 -2.76579617e+01] [ 8.91806645e-03 -7.10348785e-04 9.99959981e-01 1.45839414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.140714057 meters Centerline goodness [0,1] 0.9643237229102167 Centerline is valid? [True, True] Translation: X:559.88, Y:-27.66, Z:1.46 [[ 9.99926152e-01 -7.78066546e-03 -9.33550829e-03 5.59883167e+02] [ 7.78730629e-03 9.99969451e-01 6.75212083e-04 -2.76617605e+01] [ 9.32996949e-03 -7.47860682e-04 9.99956195e-01 1.45745979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1707140569999 meters Centerline goodness [0,1] 0.9620779723323982 Centerline is valid? [True, True] Translation: X:559.91, Y:-27.67, Z:1.46 [[ 9.99908644e-01 -8.17702534e-03 -1.07629029e-02 5.59911675e+02] [ 8.18587054e-03 9.99966193e-01 7.78025487e-04 -2.76691265e+01] [ 1.07561771e-02 -8.66058140e-04 9.99941776e-01 1.45524660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2007140569999 meters Centerline goodness [0,1] 0.9620779723323982 Centerline is valid? [True, True] Translation: X:559.94, Y:-27.67, Z:1.46 [[ 9.99908362e-01 -8.21143395e-03 -1.07629294e-02 5.59940849e+02] [ 8.22027720e-03 9.99965911e-01 7.77658642e-04 -2.76712034e+01] [ 1.07561768e-02 -8.66061642e-04 9.99941776e-01 1.45517137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2307140569999 meters Centerline goodness [0,1] 0.9657799274486094 Centerline is valid? [True, True] Translation: X:559.97, Y:-27.67, Z:1.46 [[ 9.99899298e-01 -8.57442891e-03 -1.13080860e-02 5.59970523e+02] [ 8.58420926e-03 9.99962822e-01 8.16644197e-04 -2.76682645e+01] [ 1.13006633e-02 -9.13632936e-04 9.99935728e-01 1.45526353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.260714057 meters Centerline goodness [0,1] 0.9600202307266202 Centerline is valid? [True, True] Translation: X:560.00, Y:-27.68, Z:1.45 [[ 9.99891832e-01 -8.86024709e-03 -1.17396485e-02 5.59998358e+02] [ 8.87079998e-03 9.99960295e-01 8.47142780e-04 -2.76790609e+01] [ 1.17316765e-02 -9.51191220e-04 9.99930729e-01 1.45339352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.290714057 meters Centerline goodness [0,1] 0.9590778653934264 Centerline is valid? [True, True] Translation: X:560.03, Y:-27.68, Z:1.45 [[ 9.99882053e-01 -9.64150307e-03 -1.19549633e-02 5.60027372e+02] [ 9.65249503e-03 9.99953042e-01 8.62087510e-04 -2.76828420e+01] [ 1.19460901e-02 -9.77381053e-04 9.99928165e-01 1.45252520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3207140569999 meters Centerline goodness [0,1] 0.9625718842120524 Centerline is valid? [True, True] Translation: X:560.06, Y:-27.68, Z:1.45 [[ 9.99882583e-01 -9.66957016e-03 -1.18877944e-02 5.60057406e+02] [ 9.68043649e-03 9.99952776e-01 8.56871671e-04 -2.76803994e+01] [ 1.18789475e-02 -9.71850099e-04 9.99928971e-01 1.45357889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3507140569999 meters Centerline goodness [0,1] 0.9621740284177261 Centerline is valid? [True, True] Translation: X:560.09, Y:-27.68, Z:1.45 [[ 9.99892644e-01 -9.26579538e-03 -1.13509985e-02 5.60087196e+02] [ 9.27567211e-03 9.99956646e-01 8.17782727e-04 -2.76820160e+01] [ 1.13429289e-02 -9.22983073e-04 9.99935241e-01 1.45452846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.380714057 meters Centerline goodness [0,1] 0.9426952141057935 Centerline is valid? [True, False] Translation: X:560.08, Y:-27.68, Z:1.46 [[ 9.99920030e-01 -6.69044981e-03 -1.07317678e-02 5.60084759e+02] [ 6.73131475e-03 9.99970214e-01 3.77625736e-03 -2.76820832e+01] [ 1.07061833e-02 -3.84819429e-03 9.99935282e-01 1.45573699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.410714057 meters Centerline goodness [0,1] 0.9629477250726041 Centerline is valid? [False, True] Translation: X:560.08, Y:-27.68, Z:1.46 [[ 9.99921396e-01 -6.63344459e-03 -1.06395079e-02 5.60084489e+02] [ 6.67090729e-03 9.99971661e-01 3.48947808e-03 -2.76811918e+01] [ 1.06160591e-02 -3.56017896e-03 9.99937310e-01 1.45618529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4407140569999 meters Centerline goodness [0,1] 0.9597245459615431 Centerline is valid? [True, True] Translation: X:560.11, Y:-27.69, Z:1.46 [[ 9.99957822e-01 -3.31564978e-03 -8.56506192e-03 5.60113425e+02] [ 3.32116527e-03 9.99994287e-01 6.29809631e-04 -2.76875894e+01] [ 8.56292476e-03 -6.58229053e-04 9.99963121e-01 1.45857511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4707140569999 meters Centerline goodness [0,1] 0.9596764428083602 Centerline is valid? [True, True] Translation: X:560.14, Y:-27.69, Z:1.46 [[ 9.99969144e-01 -1.21787391e-03 -7.76061118e-03 5.60143462e+02] [ 1.22233657e-03 9.99999090e-01 5.70322352e-04 -2.76877558e+01] [ 7.75990954e-03 -5.79790833e-04 9.99969723e-01 1.45881927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.500714057 meters Centerline goodness [0,1] 0.9608713582223516 Centerline is valid? [True, True] Translation: X:560.17, Y:-27.69, Z:1.46 [[ 9.99971771e-01 3.33482414e-03 -6.73323467e-03 5.60173170e+02] [-3.33156883e-03 9.99994328e-01 4.94626050e-04 -2.76863114e+01] [ 6.73484597e-03 -4.72179852e-04 9.99977209e-01 1.45990538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.530714057 meters Centerline goodness [0,1] 0.9647978187306765 Centerline is valid? [True, True] Translation: X:560.20, Y:-27.68, Z:1.46 [[ 9.99957305e-01 6.34740907e-03 -6.71552189e-03 5.60204126e+02] [-6.34423919e-03 9.99979753e-01 4.93221658e-04 -2.76804540e+01] [ 6.71851660e-03 -4.50595723e-04 9.99977329e-01 1.46084543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5607140569999 meters Centerline goodness [0,1] 0.9665392202225848 Centerline is valid? [True, True] Translation: X:560.23, Y:-27.68, Z:1.46 [[ 9.99936051e-01 8.87404093e-03 -7.01040266e-03 5.60234143e+02] [-8.87064920e-03 9.99960523e-01 5.14760100e-04 -2.76795741e+01] [ 7.01469391e-03 -4.52540358e-04 9.99975294e-01 1.46072347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5907140569999 meters Centerline goodness [0,1] 0.9701780053645452 Centerline is valid? [True, True] Translation: X:560.26, Y:-27.68, Z:1.46 [[ 9.99869722e-01 1.44675595e-02 -7.15740107e-03 5.60264734e+02] [-1.44641689e-02 9.99895250e-01 5.25254454e-04 -2.76776862e+01] [ 7.16425048e-03 -4.21660167e-04 9.99974248e-01 1.45974458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.620714057 meters Centerline goodness [0,1] 0.968841642228739 Centerline is valid? [True, True] Translation: X:560.29, Y:-27.68, Z:1.46 [[ 9.99831449e-01 1.67554622e-02 -7.50514665e-03 5.60293559e+02] [-1.67518003e-02 9.99859527e-01 5.50526743e-04 -2.76814685e+01] [ 7.51331671e-03 -4.24709234e-04 9.99971684e-01 1.45862955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.650714057 meters Centerline goodness [0,1] 0.9722085949764521 Centerline is valid? [True, True] Translation: X:560.32, Y:-27.68, Z:1.46 [[ 9.99750678e-01 2.09332313e-02 -7.77054471e-03 5.60324191e+02] [-2.09294317e-02 9.99780793e-01 5.69980968e-04 -2.76772850e+01] [ 7.78077290e-03 -4.07205774e-04 9.99969646e-01 1.45883104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6807140569999 meters Centerline goodness [0,1] 0.9789968729224633 Centerline is valid? [True, True] Translation: X:560.35, Y:-27.67, Z:1.46 [[ 9.99645516e-01 2.53828872e-02 -8.03434910e-03 5.60354489e+02] [-2.53789711e-02 9.99677729e-01 5.89009777e-04 -2.76696703e+01] [ 8.04671062e-03 -3.84897470e-04 9.99967551e-01 1.45955278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7107140569999 meters Centerline goodness [0,1] 0.9785452127004458 Centerline is valid? [True, True] Translation: X:560.38, Y:-27.67, Z:1.46 [[ 9.99592412e-01 2.74849490e-02 -7.71932264e-03 5.60382872e+02] [-2.74814011e-02 9.99622155e-01 5.65321640e-04 -2.76712713e+01] [ 7.73194377e-03 -3.52953419e-04 9.99970046e-01 1.45927594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.740714057 meters Centerline goodness [0,1] 0.9787134560488238 Centerline is valid? [True, True] Translation: X:560.41, Y:-27.67, Z:1.46 [[ 9.99533521e-01 2.96080698e-02 -7.49011220e-03 5.60411848e+02] [-2.96047930e-02 9.99561532e-01 5.48001951e-04 -2.76725515e+01] [ 7.50305331e-03 -3.26003099e-04 9.99971799e-01 1.46020676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.770714057 meters Centerline goodness [0,1] 0.9779158040027606 Centerline is valid? [True, True] Translation: X:560.44, Y:-27.67, Z:1.46 [[ 9.99495356e-01 3.09490713e-02 -7.15454706e-03 5.60439468e+02] [-3.09461205e-02 9.99520917e-01 5.22800918e-04 -2.76747426e+01] [ 7.16729965e-03 -3.01131614e-04 9.99974269e-01 1.46086532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8007140569999 meters Centerline goodness [0,1] 0.9792293650402092 Centerline is valid? [True, True] Translation: X:560.47, Y:-27.67, Z:1.46 [[ 9.99407074e-01 3.38935153e-02 -6.06047279e-03 5.60469159e+02] [-3.38914531e-02 9.99425422e-01 4.42676716e-04 -2.76748645e+01] [ 6.07199445e-03 -2.37016013e-04 9.99981537e-01 1.46159620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8307140569999 meters Centerline goodness [0,1] 0.9813719692489651 Centerline is valid? [True, True] Translation: X:560.50, Y:-27.68, Z:1.46 [[ 9.99342370e-01 3.58928261e-02 -5.15105395e-03 5.60498340e+02] [-3.58913701e-02 9.99355627e-01 3.74852895e-04 -2.76767249e+01] [ 5.16118928e-03 -1.89727997e-04 9.99986663e-01 1.46187810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.860714057 meters Centerline goodness [0,1] 0.9792071655306479 Centerline is valid? [True, True] Translation: X:560.53, Y:-27.68, Z:1.46 [[ 9.99303260e-01 3.69401583e-02 -5.33099197e-03 5.60526284e+02] [-3.69386154e-02 9.99317461e-01 3.87621645e-04 -2.76811517e+01] [ 5.34167217e-03 -1.90432111e-04 9.99985715e-01 1.46155664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.890714057 meters Centerline goodness [0,1] 0.9801139153491113 Centerline is valid? [True, True] Translation: X:560.55, Y:-27.69, Z:1.46 [[ 9.99260509e-01 3.80826004e-02 -5.30576855e-03 5.60553867e+02] [-3.80810920e-02 9.99274578e-01 3.85074802e-04 -2.76863446e+01] [ 5.31658428e-03 -1.82740582e-04 9.99985850e-01 1.46119374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9207140569999 meters Centerline goodness [0,1] 0.9801904855417546 Centerline is valid? [True, True] Translation: X:560.58, Y:-27.69, Z:1.46 [[ 9.99246922e-01 3.84108304e-02 -5.49520525e-03 5.60582691e+02] [-3.84092190e-02 9.99262014e-01 3.98507119e-04 -2.76889582e+01] [ 5.50645686e-03 -1.87140470e-04 9.99984822e-01 1.46062074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9507140569999 meters Centerline goodness [0,1] 0.9804180418041805 Centerline is valid? [True, True] Translation: X:560.61, Y:-27.70, Z:1.46 [[ 9.99227810e-01 3.87681478e-02 -6.38866300e-03 5.60610006e+02] [-3.87659806e-02 9.99248210e-01 4.62750197e-04 -2.76950639e+01] [ 6.40180003e-03 -2.14730079e-04 9.99979485e-01 1.46028325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9807140569999 meters Centerline goodness [0,1] 0.9810129679471495 Centerline is valid? [True, True] Translation: X:560.64, Y:-27.70, Z:1.46 [[ 9.99244986e-01 3.83297429e-02 -6.34731742e-03 5.60638568e+02] [-3.83275975e-02 9.99265122e-01 4.59326807e-04 -2.76963847e+01] [ 6.36025879e-03 -2.15702581e-04 9.99979750e-01 1.46042092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.010714057 meters Centerline goodness [0,1] 0.9804592085979482 Centerline is valid? [True, True] Translation: X:560.67, Y:-27.70, Z:1.46 [[ 9.99231293e-01 3.86781745e-02 -6.38923743e-03 5.60666090e+02] [-3.86760136e-02 9.99251697e-01 4.61474817e-04 -2.77021200e+01] [ 6.40230534e-03 -2.14009845e-04 9.99979482e-01 1.45959746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.040714057 meters Centerline goodness [0,1] 0.9803706946876825 Centerline is valid? [True, True] Translation: X:560.69, Y:-27.71, Z:1.46 [[ 9.99243299e-01 3.84395276e-02 -5.93560193e-03 5.60694981e+02] [-3.84376605e-02 9.99260908e-01 4.28352554e-04 -2.77065111e+01] [ 5.94768065e-03 -1.99877768e-04 9.99982292e-01 1.45987769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0707140569999 meters Centerline goodness [0,1] 0.9798986445527509 Centerline is valid? [True, True] Translation: X:560.72, Y:-27.71, Z:1.46 [[ 9.99292550e-01 3.73089581e-02 -4.73719913e-03 5.60723210e+02] [-3.73077625e-02 9.99303765e-01 3.40530899e-04 -2.77103645e+01] [ 4.74660578e-03 -1.63555690e-04 9.99988721e-01 1.46011233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1007140569999 meters Centerline goodness [0,1] 0.97953914826879 Centerline is valid? [True, True] Translation: X:560.75, Y:-27.72, Z:1.46 [[ 9.99382914e-01 3.49011477e-02 -3.96257054e-03 5.60751931e+02] [-3.49002928e-02 9.99390759e-01 2.84691426e-04 -2.77163884e+01] [ 3.97009243e-03 -1.46220874e-04 9.99992108e-01 1.46105459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.130714057 meters Centerline goodness [0,1] 0.9793156404472813 Centerline is valid? [True, True] Translation: X:560.78, Y:-27.72, Z:1.46 [[ 9.99444267e-01 3.31035333e-02 -3.91322467e-03 5.60780588e+02] [-3.31026870e-02 9.99451916e-01 2.80865136e-04 -2.77214099e+01] [ 3.92037753e-03 -1.51170799e-04 9.99992304e-01 1.46101310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.160714057 meters Centerline goodness [0,1] 0.97698264735408 Centerline is valid? [True, True] Translation: X:560.81, Y:-27.73, Z:1.46 [[ 9.99584835e-01 2.86432224e-02 -3.11812530e-03 5.60809127e+02] [-2.86426635e-02 9.99589690e-01 2.23769127e-04 -2.77344267e+01] [ 3.12325537e-03 -1.34364812e-04 9.99995114e-01 1.46096595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1907140569999 meters Centerline goodness [0,1] 0.9737895110690186 Centerline is valid? [True, True] Translation: X:560.84, Y:-27.74, Z:1.46 [[ 9.99743863e-01 2.24417076e-02 -2.92896395e-03 5.60838595e+02] [-2.24411878e-02 9.99748143e-01 2.10206130e-04 -2.77434831e+01] [ 2.93294366e-03 -1.44422858e-04 9.99995688e-01 1.46094566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2207140569999 meters Centerline goodness [0,1] 0.971751545759192 Centerline is valid? [True, True] Translation: X:560.87, Y:-27.75, Z:1.46 [[ 9.99799595e-01 1.98470291e-02 -2.62029473e-03 5.60866537e+02] [-1.98466048e-02 9.99803019e-01 1.87865369e-04 -2.77541664e+01] [ 2.62350715e-03 -1.35823766e-04 9.99996549e-01 1.46070102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.250714057 meters Centerline goodness [0,1] 0.9697744219856493 Centerline is valid? [True, True] Translation: X:560.90, Y:-27.76, Z:1.46 [[ 9.99876476e-01 1.55143705e-02 -2.51722939e-03 5.60896030e+02] [-1.55139652e-02 9.99879635e-01 1.80464119e-04 -2.77618026e+01] [ 2.51972619e-03 -1.41389618e-04 9.99996815e-01 1.46005654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.280714057 meters Centerline goodness [0,1] 0.9698066504763684 Centerline is valid? [True, True] Translation: X:560.93, Y:-27.77, Z:1.46 [[ 9.99923086e-01 1.20871205e-02 -2.77917043e-03 5.60925810e+02] [-1.20866134e-02 9.99926934e-01 1.99177576e-04 -2.77708956e+01] [ 2.78137485e-03 -1.65571498e-04 9.99996118e-01 1.45959618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3107140569999 meters Centerline goodness [0,1] 0.9715757477318607 Centerline is valid? [True, True] Translation: X:560.95, Y:-27.77, Z:1.46 [[ 9.99941658e-01 1.05098798e-02 -2.49449814e-03 5.60954835e+02] [-1.05094668e-02 9.99944758e-01 1.78607293e-04 -2.77749014e+01] [ 2.49623748e-03 -1.52381027e-04 9.99996873e-01 1.45972362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3407140569999 meters Centerline goodness [0,1] 0.9670962815558692 Centerline is valid? [True, True] Translation: X:560.98, Y:-27.79, Z:1.46 [[ 9.99949906e-01 9.61870416e-03 -2.76891431e-03 5.60981102e+02] [-9.61819287e-03 9.99953725e-01 1.97911798e-04 -2.77890682e+01] [ 2.77068983e-03 -1.71269931e-04 9.99996147e-01 1.45880726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.370714057 meters Centerline goodness [0,1] 0.9725917431192661 Centerline is valid? [True, True] Translation: X:561.01, Y:-27.79, Z:1.46 [[ 9.99950438e-01 9.75229608e-03 -2.00381224e-03 5.61009238e+02] [-9.75202885e-03 9.99952438e-01 1.43088354e-04 -2.77943420e+01] [ 2.00511237e-03 -1.23540027e-04 9.99997982e-01 1.45806552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.400714057 meters Centerline goodness [0,1] 0.9697456615554128 Centerline is valid? [True, True] Translation: X:561.04, Y:-27.80, Z:1.46 [[ 9.99953847e-01 9.41022829e-03 -1.93698782e-03 5.61036274e+02] [-9.40997831e-03 9.99955716e-01 1.38126201e-04 -2.78020691e+01] [ 1.93820184e-03 -1.19892812e-04 9.99998114e-01 1.45738360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4307140569999 meters Centerline goodness [0,1] 0.9715968765697064 Centerline is valid? [True, True] Translation: X:561.06, Y:-27.80, Z:1.46 [[ 9.99951670e-01 9.69941509e-03 -1.60567787e-03 5.61064915e+02] [-9.69924387e-03 9.99952955e-01 1.14386005e-04 -2.77999871e+01] [ 1.60671181e-03 -9.88066153e-05 9.99998704e-01 1.45838414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4607140569999 meters Centerline goodness [0,1] 0.9715968765697064 Centerline is valid? [True, True] Translation: X:561.09, Y:-27.80, Z:1.46 [[ 9.99952362e-01 9.62786876e-03 -1.60568604e-03 5.61093205e+02] [-9.62769764e-03 9.99953646e-01 1.14271308e-04 -2.78019439e+01] [ 1.60671180e-03 -9.88068051e-05 9.99998704e-01 1.45835664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.490714057 meters Centerline goodness [0,1] 0.9715968765697064 Centerline is valid? [True, True] Translation: X:561.12, Y:-27.80, Z:1.46 [[ 9.99953048e-01 9.55632239e-03 -1.60569421e-03 5.61121495e+02] [-9.55615136e-03 9.99954332e-01 1.14156422e-04 -2.78038988e+01] [ 1.60671180e-03 -9.88068053e-05 9.99998704e-01 1.45832915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.520714057 meters Centerline goodness [0,1] 0.9692903995229577 Centerline is valid? [True, True] Translation: X:561.15, Y:-27.81, Z:1.46 [[ 9.99957427e-01 9.09760739e-03 -1.54216867e-03 5.61148238e+02] [-9.09744932e-03 9.99958611e-01 1.09483066e-04 -2.78143234e+01] [ 1.54310088e-03 -9.54486039e-05 9.99998805e-01 1.45826896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5507140569999 meters Centerline goodness [0,1] 0.9720435031482542 Centerline is valid? [True, True] Translation: X:561.18, Y:-27.81, Z:1.46 [[ 9.99956508e-01 9.14495588e-03 -1.83102276e-03 5.61177220e+02] [-9.14473331e-03 9.99958178e-01 1.29892673e-04 -2.78126403e+01] [ 1.83213405e-03 -1.13142809e-04 9.99998315e-01 1.45848527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5807140569999 meters Centerline goodness [0,1] 0.9729408809627109 Centerline is valid? [True, True] Translation: X:561.21, Y:-27.82, Z:1.46 [[ 9.99965178e-01 8.12838730e-03 -1.88990535e-03 5.61205687e+02] [-8.12814863e-03 9.99966957e-01 1.33936706e-04 -2.78188403e+01] [ 1.89093159e-03 -1.18570611e-04 9.99998205e-01 1.45804094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.610714057 meters Centerline goodness [0,1] 0.9729119638826185 Centerline is valid? [True, True] Translation: X:561.23, Y:-27.82, Z:1.46 [[ 9.99973414e-01 7.08432424e-03 -1.72734176e-03 5.61233742e+02] [-7.08412362e-03 9.99974900e-01 1.22235559e-04 -2.78220592e+01] [ 1.72816436e-03 -1.09995606e-04 9.99998501e-01 1.45757344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.640714057 meters Centerline goodness [0,1] 0.9731809489117567 Centerline is valid? [True, True] Translation: X:561.26, Y:-27.83, Z:1.46 [[ 9.99979699e-01 6.09485648e-03 -1.85871293e-03 5.61262222e+02] [-6.09462268e-03 9.99981419e-01 1.31423092e-04 -2.78278156e+01] [ 1.85947940e-03 -1.20092270e-04 9.99998264e-01 1.45755276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6707140569999 meters Centerline goodness [0,1] 0.9707383463763185 Centerline is valid? [True, True] Translation: X:561.29, Y:-27.84, Z:1.46 [[ 9.99992636e-01 2.82945089e-03 -2.59281430e-03 5.61290742e+02] [-2.82898510e-03 9.99995982e-01 1.83298642e-04 -2.78395782e+01] [ 2.59332251e-03 -1.75962259e-04 9.99996622e-01 1.45655157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7007140569999 meters Centerline goodness [0,1] 0.9706455707679753 Centerline is valid? [True, True] Translation: X:561.32, Y:-27.84, Z:1.46 [[ 9.99994924e-01 9.02501834e-04 -3.05582392e-03 5.61320163e+02] [-9.01846184e-04 9.99999570e-01 2.15928533e-04 -2.78411771e+01] [ 3.05601749e-03 -2.13171553e-04 9.99995308e-01 1.45642369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7307140569999 meters Centerline goodness [0,1] 0.9710934321746598 Centerline is valid? [True, True] Translation: X:561.35, Y:-27.85, Z:1.46 [[ 9.99991797e-01 -2.31884720e-03 -3.32107576e-03 5.61348650e+02] [ 2.31963891e-03 9.99997282e-01 2.34557431e-04 -2.78503248e+01] [ 3.32052283e-03 -2.42259203e-04 9.99994458e-01 1.45583825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.760714057 meters Centerline goodness [0,1] 0.9718541925290599 Centerline is valid? [True, True] Translation: X:561.38, Y:-27.85, Z:1.46 [[ 9.99987861e-01 -3.49056789e-03 -3.47768642e-03 5.61378089e+02] [ 3.49144265e-03 9.99993875e-01 2.45495573e-04 -2.78521506e+01] [ 3.47680820e-03 -2.57634736e-04 9.99993923e-01 1.45576238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.790714057 meters Centerline goodness [0,1] 0.9701835378898773 Centerline is valid? [True, True] Translation: X:561.41, Y:-27.86, Z:1.46 [[ 9.99983340e-01 -4.85790887e-03 -3.11768442e-03 5.61406988e+02] [ 4.85861838e-03 9.99988173e-01 2.20041049e-04 -2.78584435e+01] [ 3.11657861e-03 -2.35185022e-04 9.99995116e-01 1.45606332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8207140569999 meters Centerline goodness [0,1] 0.9710336484609525 Centerline is valid? [True, True] Translation: X:561.44, Y:-27.86, Z:1.46 [[ 9.99985244e-01 -4.83276322e-03 -2.48116848e-03 5.61437699e+02] [ 4.83321255e-03 9.99988305e-01 1.75130415e-04 -2.78588714e+01] [ 2.48029310e-03 -1.87119845e-04 9.99996907e-01 1.45662919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8507140569999 meters Centerline goodness [0,1] 0.9693475372176302 Centerline is valid? [True, True] Translation: X:561.47, Y:-27.86, Z:1.46 [[ 9.99981306e-01 -5.55672554e-03 -2.55151596e-03 5.61468014e+02] [ 5.55720321e-03 9.99984542e-01 1.80158411e-04 -2.78643946e+01] [ 2.55047542e-03 -1.94334336e-04 9.99996729e-01 1.45693873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.880714057 meters Centerline goodness [0,1] 0.9680458736226669 Centerline is valid? [True, True] Translation: X:561.50, Y:-27.87, Z:1.46 [[ 9.99980615e-01 -6.05260835e-03 -1.46119244e-03 5.61499576e+02] [ 6.05276564e-03 9.99981677e-01 1.03247780e-04 -2.78672274e+01] [ 1.46054075e-03 -1.12090034e-04 9.99998927e-01 1.45793770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.910714057 meters Centerline goodness [0,1] 0.969518764589693 Centerline is valid? [True, True] Translation: X:561.53, Y:-27.87, Z:1.46 [[ 9.99974788e-01 -6.96289705e-03 -1.39346887e-03 5.61531012e+02] [ 6.96304105e-03 9.99975753e-01 9.85146289e-05 -2.78673308e+01] [ 1.39274914e-03 -1.08214926e-04 9.99999024e-01 1.45787136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9407140569999 meters Centerline goodness [0,1] 0.9676003062097537 Centerline is valid? [True, True] Translation: X:561.56, Y:-27.88, Z:1.46 [[ 9.99968222e-01 -7.78883046e-03 -1.69946503e-03 5.61561649e+02] [ 7.78904621e-03 9.99969658e-01 1.20374436e-04 -2.78768122e+01] [ 1.69847589e-03 -1.33607822e-04 9.99998549e-01 1.45726376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9707140569999 meters Centerline goodness [0,1] 0.9675219446320054 Centerline is valid? [True, True] Translation: X:561.59, Y:-27.88, Z:1.46 [[ 9.99947618e-01 -1.00234712e-02 -2.07168621e-03 5.61593061e+02] [ 1.00237966e-02 9.99949750e-01 1.46737028e-04 -2.78756239e+01] [ 2.07011129e-03 -1.67495502e-04 9.99997843e-01 1.45750561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.000714057 meters Centerline goodness [0,1] 0.969056620757944 Centerline is valid? [True, True] Translation: X:561.62, Y:-27.87, Z:1.46 [[ 9.99930365e-01 -1.15530395e-02 -2.40665615e-03 5.61624894e+02] [ 1.15534832e-02 9.99933242e-01 1.70541301e-04 -2.78740047e+01] [ 2.40452522e-03 -1.98334687e-04 9.99997089e-01 1.45733280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.030714057 meters Centerline goodness [0,1] 0.9616651624548737 Centerline is valid? [True, True] Translation: X:561.65, Y:-27.89, Z:1.46 [[ 9.99883869e-01 -1.49906659e-02 -2.74370488e-03 5.61653322e+02] [ 1.49912552e-02 9.99887606e-01 1.94330869e-04 -2.78861872e+01] [ 2.74048335e-03 -2.35439882e-04 9.99996217e-01 1.45634369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0607140569999 meters Centerline goodness [0,1] 0.9672910890196343 Centerline is valid? [True, True] Translation: X:561.68, Y:-27.88, Z:1.46 [[ 9.99851534e-01 -1.69120307e-02 -3.30052253e-03 5.61684585e+02] [ 1.69128941e-02 9.99856939e-01 2.33863777e-04 -2.78787669e+01] [ 3.29609525e-03 -2.89650444e-04 9.99994526e-01 1.45679523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0907140569999 meters Centerline goodness [0,1] 0.9669662210982659 Centerline is valid? [True, True] Translation: X:561.72, Y:-27.88, Z:1.46 [[ 9.99784424e-01 -2.03359951e-02 -4.18959388e-03 5.61715010e+02] [ 2.03374162e-02 9.99793129e-01 2.96854244e-04 -2.78819436e+01] [ 4.18269035e-03 -3.81995764e-04 9.99991180e-01 1.45702093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.120714057 meters Centerline goodness [0,1] 0.9669662210982659 Centerline is valid? [True, True] Translation: X:561.75, Y:-27.88, Z:1.46 [[ 9.99785889e-01 -2.02638526e-02 -4.18956772e-03 5.61746752e+02] [ 2.02652746e-02 9.99794594e-01 2.97223267e-04 -2.78842539e+01] [ 4.18268427e-03 -3.82062369e-04 9.99991180e-01 1.45699010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.150714057 meters Centerline goodness [0,1] 0.9663626512551924 Centerline is valid? [True, True] Translation: X:561.78, Y:-27.89, Z:1.46 [[ 9.99744400e-01 -2.21127623e-02 -4.70740643e-03 5.61778211e+02] [ 2.21145784e-02 9.99755387e-01 3.34087608e-04 -2.78862986e+01] [ 4.69886733e-03 -4.38104524e-04 9.99988864e-01 1.45617914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1807140569999 meters Centerline goodness [0,1] 0.9623733719247467 Centerline is valid? [True, True] Translation: X:561.81, Y:-27.89, Z:1.45 [[ 9.99660580e-01 -2.54373454e-02 -5.62721845e-03 5.61807491e+02] [ 2.54399919e-02 9.99676271e-01 3.99226971e-04 -2.78933078e+01] [ 5.61524149e-03 -5.42247858e-04 9.99984087e-01 1.45483321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2107140569999 meters Centerline goodness [0,1] 0.963904135890312 Centerline is valid? [True, True] Translation: X:561.84, Y:-27.89, Z:1.45 [[ 9.99630884e-01 -2.64758174e-02 -6.09323314e-03 5.61839377e+02] [ 2.64789420e-02 9.99649278e-01 4.32689229e-04 -2.78920161e+01] [ 6.07964031e-03 -5.93871884e-04 9.99981342e-01 1.45489039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.240714057 meters Centerline goodness [0,1] 0.5989367737597444 Centerline is valid? [True, False] Translation: X:561.87, Y:-27.89, Z:1.46 [[ 9.99539614e-01 -2.88437564e-02 -9.41259833e-03 5.61869525e+02] [ 2.87534827e-02 9.99540537e-01 -9.58913793e-03 -2.78876397e+01] [ 9.68486035e-03 9.31407824e-03 9.99909722e-01 1.46086615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.270714057 meters Centerline goodness [0,1] 0.9645422208124703 Centerline is valid? [False, True] Translation: X:561.80, Y:-27.89, Z:1.46 [[ 9.99649954e-01 -2.44383641e-02 -1.01358510e-02 5.61798597e+02] [ 2.43906181e-02 9.99690944e-01 -4.80779121e-03 -2.78855907e+01] [ 1.02502130e-02 4.55888859e-03 9.99937073e-01 1.45774696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3007140569999 meters Centerline goodness [0,1] 0.9651617005813954 Centerline is valid? [True, True] Translation: X:561.83, Y:-27.88, Z:1.46 [[ 9.99724713e-01 -2.10325194e-02 -1.03986300e-02 5.61829117e+02] [ 2.10415104e-02 9.99778317e-01 7.55972747e-04 -2.78834827e+01] [ 1.03804248e-02 -9.74567519e-04 9.99945647e-01 1.45680731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3307140569999 meters Centerline goodness [0,1] 0.9640981332848275 Centerline is valid? [True, True] Translation: X:561.86, Y:-27.88, Z:1.46 [[ 9.99787119e-01 -1.80044639e-02 -1.00775155e-02 5.61858541e+02] [ 1.80127548e-02 9.99837489e-01 7.32550518e-04 -2.78844914e+01] [ 1.00626886e-02 -9.13918388e-04 9.99948952e-01 1.45714635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.360714057 meters Centerline goodness [0,1] 0.9654615367113376 Centerline is valid? [True, True] Translation: X:561.89, Y:-27.88, Z:1.46 [[ 9.99838654e-01 -1.49094513e-02 -1.00187050e-02 5.61888897e+02] [ 1.49174913e-02 9.99888463e-01 7.28250332e-04 -2.78819867e+01] [ 1.00067297e-02 -8.77586776e-04 9.99949546e-01 1.45726725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.390714057 meters Centerline goodness [0,1] 0.9672857697667512 Centerline is valid? [True, True] Translation: X:561.92, Y:-27.88, Z:1.46 [[ 9.99920883e-01 -8.37117030e-03 -9.38892230e-03 5.61919665e+02] [ 8.37794529e-03 9.99964671e-01 6.82495255e-04 -2.78766984e+01] [ 9.38287732e-03 -7.61101135e-04 9.99955690e-01 1.45777311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4207140569999 meters Centerline goodness [0,1] 0.9662348936559066 Centerline is valid? [True, True] Translation: X:561.95, Y:-27.88, Z:1.46 [[ 9.99955302e-01 -4.74423153e-03 -8.17836676e-03 5.61949222e+02] [ 4.74925077e-03 9.99988546e-01 5.94409780e-04 -2.78767985e+01] [ 8.17545306e-03 -6.33224326e-04 9.99966380e-01 1.45830885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4507140569999 meters Centerline goodness [0,1] 0.9697352407632781 Centerline is valid? [True, True] Translation: X:561.98, Y:-27.87, Z:1.46 [[ 9.99966712e-01 3.17141360e-03 -7.51774324e-03 5.61980583e+02] [-3.16739564e-03 9.99994835e-01 5.46308879e-04 -2.78699558e+01] [ 7.51943698e-03 -5.22479027e-04 9.99971592e-01 1.45974201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4807140569999 meters Centerline goodness [0,1] 0.9727395907493742 Centerline is valid? [True, True] Translation: X:562.01, Y:-27.87, Z:1.46 [[ 9.99948984e-01 7.23796092e-03 -7.04562944e-03 5.62011849e+02] [-7.23453242e-03 9.99973699e-01 5.11977992e-04 -2.78658091e+01] [ 7.04914981e-03 -4.60980038e-04 9.99975048e-01 1.45990883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.510714057 meters Centerline goodness [0,1] 0.9725104092383428 Centerline is valid? [True, True] Translation: X:562.04, Y:-27.87, Z:1.46 [[ 9.99906322e-01 1.17621995e-02 -6.99991239e-03 5.62041322e+02] [-1.17589264e-02 9.99930732e-01 5.08576374e-04 -2.78688481e+01] [ 7.00540950e-03 -4.26217277e-04 9.99975371e-01 1.45981525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.540714057 meters Centerline goodness [0,1] 0.9728463987449822 Centerline is valid? [True, True] Translation: X:562.07, Y:-27.86, Z:1.46 [[ 9.99777126e-01 1.96849920e-02 -7.62886787e-03 5.62072156e+02] [-1.96813350e-02 9.99806150e-01 5.54151907e-04 -2.78615076e+01] [ 7.63829749e-03 -4.03882097e-04 9.99970746e-01 1.46009220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5707140569999 meters Centerline goodness [0,1] 0.9783499664250817 Centerline is valid? [True, True] Translation: X:562.10, Y:-27.85, Z:1.46 [[ 9.99608319e-01 2.72395205e-02 -6.42001439e-03 5.62103183e+02] [-2.72370869e-02 9.99628893e-01 4.66215408e-04 -2.78542820e+01] [ 6.43033136e-03 -2.91170311e-04 9.99979283e-01 1.46043645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6007140569999 meters Centerline goodness [0,1] 0.9790349109273287 Centerline is valid? [True, True] Translation: X:562.13, Y:-27.86, Z:1.46 [[ 9.99515192e-01 3.04873651e-02 -6.31671704e-03 5.62131567e+02] [-3.04850756e-02 9.99535117e-01 4.58431924e-04 -2.78556191e+01] [ 6.32775688e-03 -2.65644076e-04 9.99979944e-01 1.46105839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.630714057 meters Centerline goodness [0,1] 0.9809596697511538 Centerline is valid? [True, True] Translation: X:562.16, Y:-27.85, Z:1.46 [[ 9.99450784e-01 3.25452676e-02 -6.23986221e-03 5.62160281e+02] [-3.25430759e-02 9.99470231e-01 4.52478636e-04 -2.78545363e+01] [ 6.25128257e-03 -2.49165818e-04 9.99980429e-01 1.46114338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.660714057 meters Centerline goodness [0,1] 0.9785963281431559 Centerline is valid? [True, True] Translation: X:562.19, Y:-27.86, Z:1.46 [[ 9.99308110e-01 3.65750788e-02 -6.75020705e-03 5.62188585e+02] [-3.65726089e-02 9.99330879e-01 4.89027082e-04 -2.78595179e+01] [ 6.76357655e-03 -2.41816047e-04 9.99977098e-01 1.45985498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6907140569999 meters Centerline goodness [0,1] 0.9806007509386734 Centerline is valid? [True, True] Translation: X:562.22, Y:-27.86, Z:1.46 [[ 9.99255174e-01 3.79669072e-02 -6.90011825e-03 5.62217356e+02] [-3.79643660e-02 9.99278969e-01 4.98938061e-04 -2.78589251e+01] [ 6.91408618e-03 -2.36607824e-04 9.99976069e-01 1.45974116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7207140569999 meters Centerline goodness [0,1] 0.9805760059267491 Centerline is valid? [True, True] Translation: X:562.25, Y:-27.86, Z:1.46 [[ 9.99205256e-01 3.92512643e-02 -6.94227789e-03 5.62246359e+02] [-3.92487350e-02 9.99229346e-01 5.00255148e-04 -2.78603734e+01] [ 6.95656344e-03 -2.27381948e-04 9.99975777e-01 1.45860365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.750714057 meters Centerline goodness [0,1] 0.9809133814547474 Centerline is valid? [True, True] Translation: X:562.27, Y:-27.87, Z:1.46 [[ 9.99193315e-01 3.95015043e-02 -7.23537517e-03 5.62273659e+02] [-3.94987730e-02 9.99219484e-01 5.20052607e-04 -2.78658344e+01] [ 7.25027070e-03 -2.33844647e-04 9.99973689e-01 1.45822484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.780714057 meters Centerline goodness [0,1] 0.9790151672553501 Centerline is valid? [True, True] Translation: X:562.30, Y:-27.87, Z:1.46 [[ 9.99204797e-01 3.92273802e-02 -7.14050517e-03 5.62299762e+02] [-3.92247199e-02 9.99230283e-01 5.12281731e-04 -2.78727277e+01] [ 7.15510448e-03 -2.31790048e-04 9.99974375e-01 1.45773346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8107140569999 meters Centerline goodness [0,1] 0.980569769049924 Centerline is valid? [True, True] Translation: X:562.33, Y:-27.87, Z:1.46 [[ 9.99224996e-01 3.85038189e-02 -8.17696196e-03 5.62328090e+02] [-3.85003154e-02 9.99258416e-01 5.85493504e-04 -2.78746163e+01] [ 8.19344179e-03 -2.70224130e-04 9.99966397e-01 1.45787851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8407140569999 meters Centerline goodness [0,1] 0.9812664178072722 Centerline is valid? [True, True] Translation: X:562.36, Y:-27.88, Z:1.46 [[ 9.99226068e-01 3.84833471e-02 -8.14234419e-03 5.62355471e+02] [-3.84798784e-02 9.99259206e-01 5.82293024e-04 -2.78792210e+01] [ 8.15872097e-03 -2.68525954e-04 9.99966681e-01 1.45823618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.870714057 meters Centerline goodness [0,1] 0.9814763869784503 Centerline is valid? [True, True] Translation: X:562.38, Y:-27.89, Z:1.46 [[ 9.99215617e-01 3.88689255e-02 -7.57351333e-03 5.62383063e+02] [-3.88659422e-02 9.99244288e-01 5.40751927e-04 -2.78857257e+01] [ 7.58880838e-03 -2.45976039e-04 9.99971174e-01 1.45857191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.900714057 meters Centerline goodness [0,1] 0.9801697124951396 Centerline is valid? [True, True] Translation: X:562.41, Y:-27.89, Z:1.46 [[ 9.99195354e-01 3.94887720e-02 -7.02012017e-03 5.62410161e+02] [-3.94862293e-02 9.99219989e-01 5.00497510e-04 -2.78902735e+01] [ 7.03440844e-03 -2.22896712e-04 9.99975233e-01 1.45878755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9307140569999 meters Centerline goodness [0,1] 0.9806106835362094 Centerline is valid? [True, True] Translation: X:562.44, Y:-27.90, Z:1.46 [[ 9.99124186e-01 4.12089063e-02 -7.25864498e-03 5.62439004e+02] [-4.12062411e-02 9.99150529e-01 5.16407792e-04 -2.78965780e+01] [ 7.27375957e-03 -2.16854040e-04 9.99973522e-01 1.45901758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9607140569999 meters Centerline goodness [0,1] 0.9817002389894162 Centerline is valid? [True, True] Translation: X:562.47, Y:-27.90, Z:1.46 [[ 9.99092953e-01 4.19535771e-02 -7.29172820e-03 5.62466853e+02] [-4.19509159e-02 9.99119539e-01 5.17597495e-04 -2.79010968e+01] [ 7.30702318e-03 -2.11233333e-04 9.99973281e-01 1.45847479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.990714057 meters Centerline goodness [0,1] 0.9832026620475887 Centerline is valid? [True, True] Translation: X:562.50, Y:-27.90, Z:1.46 [[ 9.99074834e-01 4.22181976e-02 -8.19146608e-03 5.62496069e+02] [-4.22148593e-02 9.99108387e-01 5.80095970e-04 -2.79024762e+01] [ 8.20865307e-03 -2.33757697e-04 9.99966281e-01 1.45882123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.020714057 meters Centerline goodness [0,1] 0.9806721542589476 Centerline is valid? [True, True] Translation: X:562.52, Y:-27.91, Z:1.46 [[ 9.99062370e-01 4.25304448e-02 -8.09583126e-03 5.62522761e+02] [-4.25272045e-02 9.99095145e-01 5.72051216e-04 -2.79141065e+01] [ 8.11283530e-03 -2.27221772e-04 9.99967065e-01 1.45698025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0507140569999 meters Centerline goodness [0,1] 0.9797030038650182 Centerline is valid? [True, True] Translation: X:562.55, Y:-27.92, Z:1.46 [[ 9.99104370e-01 4.15751913e-02 -7.87158641e-03 5.62550015e+02] [-4.15721036e-02 9.99135352e-01 5.55541144e-04 -2.79244043e+01] [ 7.88787698e-03 -2.27805179e-04 9.99968864e-01 1.45680292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0807140569999 meters Centerline goodness [0,1] 0.9795504249994363 Centerline is valid? [True, True] Translation: X:562.58, Y:-27.93, Z:1.46 [[ 9.99157316e-01 4.03566045e-02 -7.48342119e-03 5.62578718e+02] [-4.03537838e-02 9.99185315e-01 5.27604695e-04 -2.79308172e+01] [ 7.49861689e-03 -2.25175731e-04 9.99971860e-01 1.45716106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.110714057 meters Centerline goodness [0,1] 0.9792543257655874 Centerline is valid? [True, True] Translation: X:562.61, Y:-27.94, Z:1.46 [[ 9.99219470e-01 3.87988970e-02 -7.42274431e-03 5.62606988e+02] [-3.87960825e-02 9.99247012e-01 5.22843184e-04 -2.79372088e+01] [ 7.43744081e-03 -2.34461688e-04 9.99972314e-01 1.45765540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.140714057 meters Centerline goodness [0,1] 0.977803213933028 Centerline is valid? [True, True] Translation: X:562.63, Y:-27.95, Z:1.46 [[ 9.99374581e-01 3.45775798e-02 -7.40527725e-03 5.62634796e+02] [-3.45746659e-02 9.99401982e-01 5.21187793e-04 -2.79484629e+01] [ 7.41887017e-03 -2.64826846e-04 9.99972445e-01 1.45783494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1707140569999 meters Centerline goodness [0,1] 0.9770308123249299 Centerline is valid? [True, True] Translation: X:562.66, Y:-27.96, Z:1.46 [[ 9.99469920e-01 3.18280002e-02 -6.84524645e-03 5.62663644e+02] [-3.18254485e-02 9.99493326e-01 4.81395597e-04 -2.79561601e+01] [ 6.85710001e-03 -2.63287380e-04 9.99976455e-01 1.45869257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2007140569999 meters Centerline goodness [0,1] 0.9787333854573886 Centerline is valid? [True, True] Translation: X:562.69, Y:-27.96, Z:1.46 [[ 9.99655545e-01 2.56107368e-02 -5.73426664e-03 5.62693702e+02] [-2.56088454e-02 9.99671958e-01 4.03028768e-04 -2.79616745e+01] [ 5.74270743e-03 -2.56041994e-04 9.99983478e-01 1.46041554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2307140569999 meters Centerline goodness [0,1] 0.9776174250016704 Centerline is valid? [True, True] Translation: X:562.72, Y:-27.97, Z:1.46 [[ 9.99751709e-01 2.17470822e-02 -4.85643675e-03 5.62723383e+02] [-2.17456803e-02 9.99763476e-01 3.41293316e-04 -2.79689298e+01] [ 4.86271022e-03 -2.35602055e-04 9.99988149e-01 1.46076422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.260714057 meters Centerline goodness [0,1] 0.973153320918684 Centerline is valid? [True, True] Translation: X:562.75, Y:-27.99, Z:1.46 [[ 9.99897550e-01 1.39050721e-02 -3.39673330e-03 5.62751187e+02] [-1.39043413e-02 9.99903301e-01 2.38658087e-04 -2.79863055e+01] [ 3.39972340e-03 -1.91404297e-04 9.99994203e-01 1.46084689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.290714057 meters Centerline goodness [0,1] 0.9727103713868355 Centerline is valid? [True, True] Translation: X:562.78, Y:-27.99, Z:1.46 [[ 9.99945534e-01 9.84511979e-03 -3.46457660e-03 5.62781399e+02] [-9.84433513e-03 9.99951514e-01 2.43461808e-04 -2.79904160e+01] [ 3.46680552e-03 -2.09342095e-04 9.99993969e-01 1.46073123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3207140569999 meters Centerline goodness [0,1] 0.9707104646536098 Centerline is valid? [True, True] Translation: X:562.81, Y:-28.00, Z:1.46 [[ 9.99990297e-01 2.83929936e-03 -3.36819281e-03 5.62811298e+02] [-2.83851836e-03 9.99995943e-01 2.36631013e-04 -2.80010906e+01] [ 3.36885102e-03 -2.27068039e-04 9.99994300e-01 1.46052800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3507140569999 meters Centerline goodness [0,1] 0.9686036235086168 Centerline is valid? [True, True] Translation: X:562.84, Y:-28.01, Z:1.46 [[ 9.99993468e-01 -3.06495784e-04 -3.60144698e-03 5.62839605e+02] [ 3.07408853e-04 9.99999921e-01 2.52977776e-04 -2.80080377e+01] [ 3.60136916e-03 -2.54083240e-04 9.99993483e-01 1.46087200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.380714057 meters Centerline goodness [0,1] 0.9703035781212108 Centerline is valid? [True, True] Translation: X:562.87, Y:-28.01, Z:1.46 [[ 9.99976266e-01 -5.38823165e-03 -4.29361079e-03 5.62870062e+02] [ 5.38957530e-03 9.99985431e-01 3.01432788e-04 -2.80123316e+01] [ 4.29192405e-03 -3.24566372e-04 9.99990737e-01 1.45987541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.410714057 meters Centerline goodness [0,1] 0.9687967937989959 Centerline is valid? [True, True] Translation: X:562.90, Y:-28.02, Z:1.46 [[ 9.99965423e-01 -6.84816884e-03 -4.71761743e-03 5.62900621e+02] [ 6.84980698e-03 9.99976485e-01 3.31168782e-04 -2.80156177e+01] [ 4.71523859e-03 -3.63472100e-04 9.99988817e-01 1.45912587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4407140569999 meters Centerline goodness [0,1] 0.9671784012705135 Centerline is valid? [True, True] Translation: X:562.93, Y:-28.02, Z:1.46 [[ 9.99950086e-01 -8.28024983e-03 -5.59137273e-03 5.62929943e+02] [ 8.28257306e-03 9.99965622e-01 3.92475239e-04 -2.80214431e+01] [ 5.58793072e-03 -4.38766602e-04 9.99984291e-01 1.45877083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4707140569999 meters Centerline goodness [0,1] 0.9661031910667784 Centerline is valid? [True, True] Translation: X:562.96, Y:-28.03, Z:1.46 [[ 9.99950174e-01 -8.24404027e-03 -5.62899786e-03 5.62959394e+02] [ 8.24639374e-03 9.99965920e-01 3.95016341e-04 -2.80250150e+01] [ 5.62554949e-03 -4.41415592e-04 9.99984079e-01 1.45893858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.500714057 meters Centerline goodness [0,1] 0.9685559606673295 Centerline is valid? [True, True] Translation: X:562.99, Y:-28.02, Z:1.46 [[ 9.99950127e-01 -8.05020310e-03 -5.91084374e-03 5.62990324e+02] [ 8.05279437e-03 9.99967490e-01 4.14722959e-04 -2.80242142e+01] [ 5.90731297e-03 -4.62301084e-04 9.99982445e-01 1.45915838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.530714057 meters Centerline goodness [0,1] 0.9693114927577768 Centerline is valid? [True, True] Translation: X:563.02, Y:-28.02, Z:1.46 [[ 9.99959311e-01 -6.57797086e-03 -6.17302912e-03 5.63020590e+02] [ 6.58076898e-03 9.99978253e-01 4.33079049e-04 -2.80235383e+01] [ 6.17004609e-03 -4.73684706e-04 9.99980853e-01 1.45952925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5607140569999 meters Centerline goodness [0,1] 0.9694809780210081 Centerline is valid? [True, True] Translation: X:563.05, Y:-28.02, Z:1.46 [[ 9.99975463e-01 -4.36788155e-03 -5.47668660e-03 5.63050935e+02] [ 4.37005055e-03 9.99990378e-01 3.84137572e-04 -2.80228303e+01] [ 5.47495604e-03 -4.08061544e-04 9.99984929e-01 1.45886463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5907140569999 meters Centerline goodness [0,1] 0.9690526501144567 Centerline is valid? [True, True] Translation: X:563.08, Y:-28.02, Z:1.46 [[ 9.99981506e-01 -3.20728624e-03 -5.16721215e-03 5.63081086e+02] [ 3.20920117e-03 9.99994785e-01 3.62344030e-04 -2.80219767e+01] [ 5.16602306e-03 -3.78919952e-04 9.99986584e-01 1.45885353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.620714057 meters Centerline goodness [0,1] 0.9706655474807272 Centerline is valid? [True, True] Translation: X:563.11, Y:-28.02, Z:1.46 [[ 9.99984213e-01 -2.15700243e-03 -5.18853006e-03 5.63111353e+02] [ 2.15891854e-03 9.99997603e-01 3.63723514e-04 -2.80189087e+01] [ 5.18773308e-03 -3.74919385e-04 9.99986473e-01 1.45897459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.650714057 meters Centerline goodness [0,1] 0.9704473905910522 Centerline is valid? [True, True] Translation: X:563.14, Y:-28.02, Z:1.46 [[ 9.99986147e-01 -2.15064646e-04 -5.25914557e-03 5.63141075e+02] [ 2.17005533e-04 9.99999909e-01 3.68482061e-04 -2.80167760e+01] [ 5.25906584e-03 -3.69618220e-04 9.99986103e-01 1.45929574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6807140569999 meters Centerline goodness [0,1] 0.9682437673130194 Centerline is valid? [True, True] Translation: X:563.17, Y:-28.02, Z:1.46 [[ 9.99985514e-01 1.65069460e-04 -5.37999341e-03 5.63168806e+02] [-1.63045649e-04 9.99999916e-01 3.76609915e-04 -2.80221397e+01] [ 5.38005512e-03 -3.75727275e-04 9.99985457e-01 1.45967114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7107140569999 meters Centerline goodness [0,1] 0.970798384591488 Centerline is valid? [True, True] Translation: X:563.20, Y:-28.02, Z:1.46 [[ 9.99986277e-01 1.68134682e-03 -4.96183494e-03 5.63198534e+02] [-1.67964755e-03 9.99998529e-01 3.46615664e-04 -2.80161007e+01] [ 4.96241042e-03 -3.38276773e-04 9.99987630e-01 1.45995348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.740714057 meters Centerline goodness [0,1] 0.9683689109042849 Centerline is valid? [True, True] Translation: X:563.23, Y:-28.02, Z:1.46 [[ 9.99987745e-01 1.43526346e-03 -4.73820812e-03 5.63227430e+02] [-1.43371550e-03 9.99998918e-01 3.30076792e-04 -2.80166177e+01] [ 4.73867674e-03 -3.23279505e-04 9.99988720e-01 1.46040553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.770714057 meters Centerline goodness [0,1] 0.9658946806380565 Centerline is valid? [True, True] Translation: X:563.25, Y:-28.02, Z:1.46 [[ 9.99990145e-01 1.28463051e-03 -4.24964167e-03 5.63254997e+02] [-1.28338515e-03 9.99999133e-01 2.95765357e-04 -2.80207616e+01] [ 4.25001793e-03 -2.90308515e-04 9.99990926e-01 1.46113768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8007140569999 meters Centerline goodness [0,1] 0.9696240333400191 Centerline is valid? [True, True] Translation: X:563.28, Y:-28.01, Z:1.46 [[ 9.99989929e-01 1.16783644e-03 -4.33329856e-03 5.63284291e+02] [-1.16654211e-03 9.99999274e-01 3.01209256e-04 -2.80143902e+01] [ 4.33364718e-03 -2.96151248e-04 9.99990566e-01 1.46136401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8307140569999 meters Centerline goodness [0,1] 0.9686810861381507 Centerline is valid? [True, True] Translation: X:563.31, Y:-28.02, Z:1.46 [[ 9.99991345e-01 1.00287869e-03 -4.03786303e-03 5.63311632e+02] [-1.00175458e-03 9.99999459e-01 2.80403347e-04 -2.80162203e+01] [ 4.03814206e-03 -2.76355972e-04 9.99991808e-01 1.46146570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.860714057 meters Centerline goodness [0,1] 0.9681994558672673 Centerline is valid? [True, True] Translation: X:563.34, Y:-28.01, Z:1.46 [[ 9.99985723e-01 1.59227018e-03 -5.10074514e-03 5.63340635e+02] [-1.59048772e-03 9.99998673e-01 3.53487789e-04 -2.80142305e+01] [ 5.10130122e-03 -3.45370070e-04 9.99986929e-01 1.46083364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.890714057 meters Centerline goodness [0,1] 0.9699861440128726 Centerline is valid? [True, True] Translation: X:563.37, Y:-28.01, Z:1.46 [[ 9.99979902e-01 2.32631811e-03 -5.89775534e-03 5.63369260e+02] [-2.32395726e-03 9.99997217e-01 4.07118290e-04 -2.80113460e+01] [ 5.89868601e-03 -3.93403976e-04 9.99982525e-01 1.45985984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9207140569999 meters Centerline goodness [0,1] 0.970641585488747 Centerline is valid? [True, True] Translation: X:563.40, Y:-28.01, Z:1.46 [[ 9.99964323e-01 5.09595916e-03 -6.73670851e-03 5.63397918e+02] [-5.09294998e-03 9.99986923e-01 4.63764352e-04 -2.80097315e+01] [ 6.73898374e-03 -4.29438087e-04 9.99977201e-01 1.45942681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9507140569999 meters Centerline goodness [0,1] 0.9703296703296703 Centerline is valid? [True, True] Translation: X:563.43, Y:-28.01, Z:1.46 [[ 9.99955939e-01 6.69562432e-03 -6.57938650e-03 5.63426977e+02] [-6.69279109e-03 9.99977501e-01 4.52545214e-04 -2.80084230e+01] [ 6.58226854e-03 -4.08490815e-04 9.99978253e-01 1.46001501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9807140569999 meters Centerline goodness [0,1] 0.973380875493362 Centerline is valid? [True, True] Translation: X:563.46, Y:-28.00, Z:1.46 [[ 9.99929856e-01 1.07661856e-02 -4.93682240e-03 5.63457448e+02] [-1.07646409e-02 9.99942002e-01 3.39349321e-04 -2.80015585e+01] [ 4.94018957e-03 -2.86182397e-04 9.99987756e-01 1.46124487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.010714057 meters Centerline goodness [0,1] 0.973380875493362 Centerline is valid? [True, True] Translation: X:563.49, Y:-28.00, Z:1.46 [[ 9.99930620e-01 1.06949625e-02 -4.93683026e-03 5.63485739e+02] [-1.06934175e-02 9.99942766e-01 3.39234887e-04 -2.80034428e+01] [ 4.94017581e-03 -2.86419764e-04 9.99987756e-01 1.46135625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.040714057 meters Centerline goodness [0,1] 0.9734726507082216 Centerline is valid? [True, True] Translation: X:563.52, Y:-28.00, Z:1.46 [[ 9.99906423e-01 1.31378954e-02 -3.81319824e-03 5.63515510e+02] [-1.31369922e-02 9.99913672e-01 2.61811558e-04 -2.80027993e+01] [ 3.81630870e-03 -2.11693103e-04 9.99992695e-01 1.46160054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0707140569999 meters Centerline goodness [0,1] 0.974679834054834 Centerline is valid? [True, True] Translation: X:563.55, Y:-28.00, Z:1.46 [[ 9.99879011e-01 1.51774074e-02 -3.40734513e-03 5.63545109e+02] [-1.51766983e-02 9.99884800e-01 2.33848029e-04 -2.80016647e+01] [ 3.41050182e-03 -1.82107486e-04 9.99994168e-01 1.46169391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1007140569999 meters Centerline goodness [0,1] 0.9751266280752533 Centerline is valid? [True, True] Translation: X:563.57, Y:-28.00, Z:1.46 [[ 9.99816226e-01 1.86803551e-02 -4.30806185e-03 5.63574397e+02] [-1.86792553e-02 9.99825484e-01 2.95383509e-04 -2.80015519e+01] [ 4.31282789e-03 -2.14857838e-04 9.99990677e-01 1.46141705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.130714057 meters Centerline goodness [0,1] 0.9782066965701599 Centerline is valid? [True, True] Translation: X:563.60, Y:-28.00, Z:1.46 [[ 9.99767612e-01 2.11153084e-02 -4.34336753e-03 5.63604772e+02] [-2.11142140e-02 9.99777026e-01 2.97655141e-04 -2.79980364e+01] [ 4.34868415e-03 -2.05879178e-04 9.99990523e-01 1.46211974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.160714057 meters Centerline goodness [0,1] 0.9757203781844439 Centerline is valid? [True, True] Translation: X:563.63, Y:-28.00, Z:1.46 [[ 9.99749592e-01 2.19657480e-02 -4.27297401e-03 5.63632212e+02] [-2.19646970e-02 9.99758704e-01 2.92730731e-04 -2.80015030e+01] [ 4.27837301e-03 -1.98802849e-04 9.99990828e-01 1.46206736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1907140569999 meters Centerline goodness [0,1] 0.9773015873015873 Centerline is valid? [True, True] Translation: X:563.66, Y:-28.00, Z:1.46 [[ 9.99730206e-01 2.28062475e-02 -4.40354419e-03 5.63661687e+02] [-2.28051412e-02 9.99739884e-01 3.01291501e-04 -2.79993209e+01] [ 4.40927008e-03 -2.00786767e-04 9.99990259e-01 1.46196403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2207140569999 meters Centerline goodness [0,1] 0.9786828737300436 Centerline is valid? [True, True] Translation: X:563.69, Y:-28.00, Z:1.46 [[ 9.99682916e-01 2.48965934e-02 -3.77187730e-03 5.63689376e+02] [-2.48957972e-02 9.99690018e-01 2.57904979e-04 -2.80010198e+01] [ 3.77712904e-03 -1.63919309e-04 9.99992853e-01 1.46151021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.250714057 meters Centerline goodness [0,1] 0.9790017914238418 Centerline is valid? [True, True] Translation: X:563.72, Y:-28.00, Z:1.46 [[ 9.99579839e-01 2.86339900e-02 -4.49889935e-03 5.63717881e+02] [-2.86328970e-02 9.99589947e-01 3.07168749e-04 -2.80015617e+01] [ 4.50585003e-03 -1.78223167e-04 9.99989833e-01 1.46016070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.280714057 meters Centerline goodness [0,1] 0.9823724501385671 Centerline is valid? [True, True] Translation: X:563.75, Y:-28.00, Z:1.46 [[ 9.99496492e-01 3.13111765e-02 -5.13549658e-03 5.63747370e+02] [-3.13097892e-02 9.99509667e-01 3.50330759e-04 -2.80004504e+01] [ 5.14394774e-03 -1.89363049e-04 9.99986752e-01 1.45997312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3107140569999 meters Centerline goodness [0,1] 0.9819619246671816 Centerline is valid? [True, True] Translation: X:563.78, Y:-28.00, Z:1.46 [[ 9.99407733e-01 3.40704179e-02 -4.83628318e-03 5.63775666e+02] [-3.40692211e-02 9.99419421e-01 3.29654365e-04 -2.80022027e+01] [ 4.84470680e-03 -1.64690721e-04 9.99988251e-01 1.45979124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3407140569999 meters Centerline goodness [0,1] 0.9829015072173398 Centerline is valid? [True, True] Translation: X:563.81, Y:-28.00, Z:1.46 [[ 9.99229759e-01 3.88833926e-02 -5.28877901e-03 5.63805252e+02] [-3.88820306e-02 9.99243743e-01 3.60143127e-04 -2.80017225e+01] [ 5.29878292e-03 -1.54227262e-04 9.99985949e-01 1.45885871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.370714057 meters Centerline goodness [0,1] 0.9842827291723448 Centerline is valid? [True, True] Translation: X:563.83, Y:-28.00, Z:1.46 [[ 9.99178320e-01 4.01726291e-02 -5.37081612e-03 5.63834370e+02] [-4.01712457e-02 9.99192743e-01 3.65253854e-04 -2.80039782e+01] [ 5.38115369e-03 -1.49201359e-04 9.99985510e-01 1.45820570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.400714057 meters Centerline goodness [0,1] 0.9813608191250256 Centerline is valid? [True, True] Translation: X:563.86, Y:-28.01, Z:1.46 [[ 9.99185793e-01 4.00231143e-02 -5.08939325e-03 5.63860549e+02] [-4.00218752e-02 9.99198744e-01 3.45116681e-04 -2.80126958e+01] [ 5.09912799e-03 -1.41148623e-04 9.99986989e-01 1.45790224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4307140569999 meters Centerline goodness [0,1] 0.9838340842710621 Centerline is valid? [True, True] Translation: X:563.89, Y:-28.01, Z:1.46 [[ 9.99235244e-01 3.88788563e-02 -4.16665798e-03 5.63889537e+02] [-3.88780176e-02 9.99243924e-01 2.82134089e-04 -2.80146141e+01] [ 4.17447672e-03 -1.19926923e-04 9.99991280e-01 1.45856749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4607140569999 meters Centerline goodness [0,1] 0.9826927856481168 Centerline is valid? [True, True] Translation: X:563.92, Y:-28.02, Z:1.46 [[ 9.99411381e-01 3.41480923e-02 -3.28629822e-03 5.63918087e+02] [-3.41475456e-02 9.99416778e-01 2.22341437e-04 -2.80214679e+01] [ 3.29197412e-03 -1.09991544e-04 9.99994575e-01 1.45926369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.490714057 meters Centerline goodness [0,1] 0.98153540552132 Centerline is valid? [True, True] Translation: X:563.95, Y:-28.03, Z:1.46 [[ 9.99512078e-01 3.11043252e-02 -2.85070502e-03 5.63947123e+02] [-3.11039018e-02 9.99516138e-01 1.92745598e-04 -2.80270473e+01] [ 2.85532090e-03 -1.03983504e-04 9.99995918e-01 1.45957754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.520714057 meters Centerline goodness [0,1] 0.9794229428565003 Centerline is valid? [True, True] Translation: X:563.98, Y:-28.04, Z:1.46 [[ 9.99698552e-01 2.44251298e-02 -2.49371620e-03 5.63977088e+02] [-2.44247855e-02 9.99701656e-01 1.68430152e-04 -2.80379622e+01] [ 2.49708615e-03 -1.07470896e-04 9.99996877e-01 1.46062482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5507140569999 meters Centerline goodness [0,1] 0.97676500872991 Centerline is valid? [True, True] Translation: X:564.01, Y:-28.05, Z:1.46 [[ 9.99852777e-01 1.68355459e-02 -3.31481262e-03 5.64006822e+02] [-1.68348960e-02 9.99858258e-01 2.23864298e-04 -2.80497595e+01] [ 3.31811165e-03 -1.68026815e-04 9.99994481e-01 1.46000800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5807140569999 meters Centerline goodness [0,1] 0.9758292677493372 Centerline is valid? [True, True] Translation: X:564.04, Y:-28.06, Z:1.46 [[ 9.99904114e-01 1.32718782e-02 -3.95214869e-03 5.64036881e+02] [-1.32709265e-02 9.99911902e-01 2.66910879e-04 -2.80565935e+01] [ 3.95534292e-03 -2.14436611e-04 9.99992155e-01 1.45928739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.610714057 meters Centerline goodness [0,1] 0.975557988337541 Centerline is valid? [True, True] Translation: X:564.07, Y:-28.06, Z:1.46 [[ 9.99934240e-01 1.02872001e-02 -5.06838583e-03 5.64066472e+02] [-1.02855969e-02 9.99947043e-01 3.42276345e-04 -2.80626613e+01] [ 5.07163849e-03 -2.90122464e-04 9.99987097e-01 1.45910231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.640714057 meters Centerline goodness [0,1] 0.9748523018615539 Centerline is valid? [True, True] Translation: X:564.10, Y:-28.07, Z:1.46 [[ 9.99953336e-01 6.79641961e-03 -6.86540601e-03 5.64096514e+02] [-6.79339668e-03 9.99976817e-01 4.63538237e-04 -2.80699217e+01] [ 6.86839725e-03 -4.16877180e-04 9.99976325e-01 1.45849404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6707140569999 meters Centerline goodness [0,1] 0.9750484550092454 Centerline is valid? [True, True] Translation: X:564.12, Y:-28.07, Z:1.46 [[ 9.99954622e-01 6.02694698e-03 -7.37764815e-03 5.64124752e+02] [-6.02343749e-03 9.99981735e-01 4.97819097e-04 -2.80731269e+01] [ 7.38051373e-03 -4.53357704e-04 9.99972661e-01 1.45829785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7007140569999 meters Centerline goodness [0,1] 0.974656481749549 Centerline is valid? [True, True] Translation: X:564.15, Y:-28.08, Z:1.46 [[ 9.99944451e-01 7.44119300e-03 -7.46477047e-03 5.64153356e+02] [-7.43764386e-03 9.99972214e-01 5.03100153e-04 -2.80764277e+01] [ 7.46830672e-03 -4.47551902e-04 9.99972012e-01 1.45852608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7307140569999 meters Centerline goodness [0,1] 0.973779848832802 Centerline is valid? [True, True] Translation: X:564.18, Y:-28.08, Z:1.46 [[ 9.99930392e-01 9.22252627e-03 -7.35905613e-03 5.64181536e+02] [-9.21912877e-03 9.99957380e-01 4.95466382e-04 -2.80796604e+01] [ 7.36331194e-03 -4.27587808e-04 9.99972799e-01 1.45893498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.760714057 meters Centerline goodness [0,1] 0.9771824954275773 Centerline is valid? [True, True] Translation: X:564.21, Y:-28.07, Z:1.46 [[ 9.99862077e-01 1.53993411e-02 -6.21992329e-03 5.64212273e+02] [-1.53970351e-02 9.99881371e-01 4.18449056e-04 -2.80733057e+01] [ 6.22562926e-03 -3.22622965e-04 9.99980569e-01 1.46021656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.790714057 meters Centerline goodness [0,1] 0.978957938190338 Centerline is valid? [True, True] Translation: X:564.24, Y:-28.07, Z:1.46 [[ 9.99798824e-01 1.90523316e-02 -6.27053629e-03 5.64242862e+02] [-1.90500609e-02 9.99818442e-01 4.21651809e-04 -2.80700925e+01] [ 6.27743128e-03 -3.02112884e-04 9.99980251e-01 1.46037800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8207140569999 meters Centerline goodness [0,1] 0.97589070452719 Centerline is valid? [True, True] Translation: X:564.27, Y:-28.08, Z:1.46 [[ 9.99719354e-01 2.28692142e-02 -6.18154187e-03 5.64271702e+02] [-2.28670812e-02 9.99738428e-01 4.15516225e-04 -2.80755741e+01] [ 6.18942748e-03 -2.74045792e-04 9.99980808e-01 1.46024249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8507140569999 meters Centerline goodness [0,1] 0.981507982648361 Centerline is valid? [True, True] Translation: X:564.30, Y:-28.07, Z:1.46 [[ 9.99560720e-01 2.91566322e-02 -5.31577682e-03 5.64303090e+02] [-2.91551443e-02 9.99574835e-01 3.57194421e-04 -2.80673563e+01] [ 5.32393133e-03 -2.02055272e-04 9.99985807e-01 1.46135902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.880714057 meters Centerline goodness [0,1] 0.9802741931876635 Centerline is valid? [True, True] Translation: X:564.33, Y:-28.07, Z:1.46 [[ 9.99514423e-01 3.07717191e-02 -4.90089221e-03 5.64331951e+02] [-3.07704742e-02 9.99526423e-01 3.29233839e-04 -2.80684220e+01] [ 4.90870235e-03 -1.78271194e-04 9.99987936e-01 1.46173676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.910714057 meters Centerline goodness [0,1] 0.9817030890017223 Centerline is valid? [True, True] Translation: X:564.36, Y:-28.07, Z:1.46 [[ 9.99480111e-01 3.20182293e-02 -3.78682087e-03 5.64360857e+02] [-3.20174957e-02 9.99487276e-01 2.54188438e-04 -2.80693655e+01] [ 3.79301794e-03 -1.32811768e-04 9.99992798e-01 1.46289502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9407140569999 meters Centerline goodness [0,1] 0.9809925846511213 Centerline is valid? [True, True] Translation: X:564.39, Y:-28.07, Z:1.46 [[ 9.99476663e-01 3.21849671e-02 -3.24481363e-03 5.64388074e+02] [-3.21844299e-02 9.99481923e-01 2.17626111e-04 -2.80739472e+01] [ 3.25013686e-03 -1.13079742e-04 9.99994712e-01 1.46379964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9707140569999 meters Centerline goodness [0,1] 0.9782632928324602 Centerline is valid? [True, True] Translation: X:564.42, Y:-28.08, Z:1.46 [[ 9.99515631e-01 3.09885859e-02 -2.86547359e-03 5.64415509e+02] [-3.09881627e-02 9.99519733e-01 1.91968025e-04 -2.80814573e+01] [ 2.87004622e-03 -1.03079280e-04 9.99995876e-01 1.46431943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.000714057 meters Centerline goodness [0,1] 0.9793773016404419 Centerline is valid? [True, True] Translation: X:564.44, Y:-28.08, Z:1.46 [[ 9.99563634e-01 2.93900099e-02 -2.96119576e-03 5.64444003e+02] [-2.93895519e-02 9.99568014e-01 1.98097041e-04 -2.80837130e+01] [ 2.96573864e-03 -1.10982381e-04 9.99995596e-01 1.46384026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.030714057 meters Centerline goodness [0,1] 0.9781265912462087 Centerline is valid? [True, True] Translation: X:564.47, Y:-28.09, Z:1.46 [[ 9.99662246e-01 2.56906696e-02 -3.92211661e-03 5.64472700e+02] [-2.56898390e-02 9.99669927e-01 2.62025452e-04 -2.80888193e+01] [ 3.92755363e-03 -1.61178408e-04 9.99992274e-01 1.46246410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0607140569999 meters Centerline goodness [0,1] 0.9794149030766495 Centerline is valid? [True, True] Translation: X:564.50, Y:-28.09, Z:1.46 [[ 9.99725900e-01 2.29052938e-02 -4.84489613e-03 5.64502184e+02] [-2.29039950e-02 9.99737617e-01 3.23385400e-04 -2.80920754e+01] [ 4.85103215e-03 -2.12329283e-04 9.99988211e-01 1.46185527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0907140569999 meters Centerline goodness [0,1] 0.9741572286619827 Centerline is valid? [True, True] Translation: X:564.53, Y:-28.11, Z:1.46 [[ 9.99817368e-01 1.81246074e-02 -6.06040527e-03 5.64530160e+02] [-1.81224891e-02 9.99835692e-01 4.04263971e-04 -2.81085247e+01] [ 6.06673662e-03 -2.94360512e-04 9.99981554e-01 1.45999862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.120714057 meters Centerline goodness [0,1] 0.9761119351767805 Centerline is valid? [True, True] Translation: X:564.56, Y:-28.11, Z:1.46 [[ 9.99847020e-01 1.63532237e-02 -6.20552750e-03 5.64559696e+02] [-1.63509702e-02 9.99866228e-01 4.13719904e-04 -2.81067377e+01] [ 6.21146303e-03 -3.12190219e-04 9.99980660e-01 1.46024087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.150714057 meters Centerline goodness [0,1] 0.9737419397726518 Centerline is valid? [True, True] Translation: X:564.59, Y:-28.12, Z:1.46 [[ 9.99865277e-01 1.48899289e-02 -6.90784802e-03 5.64586345e+02] [-1.48871048e-02 9.99889075e-01 4.60075276e-04 -2.81174577e+01] [ 6.91393226e-03 -3.57175436e-04 9.99976035e-01 1.46000294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1807140569999 meters Centerline goodness [0,1] 0.9770590447536668 Centerline is valid? [True, True] Translation: X:564.62, Y:-28.11, Z:1.46 [[ 9.99879933e-01 1.43732113e-02 -5.79049111e-03 5.64615247e+02] [-1.43712210e-02 9.99896654e-01 3.85177856e-04 -2.81128384e+01] [ 5.79542893e-03 -3.01915181e-04 9.99983161e-01 1.46173608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2107140569999 meters Centerline goodness [0,1] 0.9757163671685284 Centerline is valid? [True, True] Translation: X:564.64, Y:-28.12, Z:1.46 [[ 9.99883899e-01 1.40513672e-02 -5.89475272e-03 5.64643161e+02] [-1.40493019e-02 9.99901227e-01 3.91621567e-04 -2.81171628e+01] [ 5.89967329e-03 -3.08758938e-04 9.99982549e-01 1.46222258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.240714057 meters Centerline goodness [0,1] 0.9757302974141735 Centerline is valid? [True, True] Translation: X:564.67, Y:-28.12, Z:1.46 [[ 9.99883949e-01 1.44154376e-02 -4.92794457e-03 5.64671448e+02] [-1.44140007e-02 9.99896059e-01 3.26978955e-04 -2.81208197e+01] [ 4.93214590e-03 -2.55909612e-04 9.99987804e-01 1.46307022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.270714057 meters Centerline goodness [0,1] 0.9775433970555922 Centerline is valid? [True, True] Translation: X:564.70, Y:-28.12, Z:1.46 [[ 9.99882089e-01 1.46733193e-02 -4.52800063e-03 5.64700361e+02] [-1.46721101e-02 9.99892314e-01 3.00143976e-04 -2.81221439e+01] [ 4.53191714e-03 -2.33673262e-04 9.99989704e-01 1.46357173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3007140569999 meters Centerline goodness [0,1] 0.9749544926201286 Centerline is valid? [True, True] Translation: X:564.73, Y:-28.13, Z:1.46 [[ 9.99887653e-01 1.44848869e-02 -3.85608965e-03 5.64727983e+02] [-1.44840095e-02 9.99895069e-01 2.55371428e-04 -2.81287526e+01] [ 3.85938405e-03 -1.99491099e-04 9.99992533e-01 1.46364270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3307140569999 meters Centerline goodness [0,1] 0.9742016363156506 Centerline is valid? [True, True] Translation: X:564.76, Y:-28.13, Z:1.46 [[ 9.99910531e-01 1.28825864e-02 -3.60119333e-03 5.64756441e+02] [-1.28818119e-02 9.99916998e-01 2.38186778e-04 -2.81344920e+01] [ 3.60396288e-03 -1.91775573e-04 9.99993487e-01 1.46358799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.360714057 meters Centerline goodness [0,1] 0.975944791324351 Centerline is valid? [True, True] Translation: X:564.79, Y:-28.14, Z:1.46 [[ 9.99941669e-01 1.02782994e-02 -3.31904563e-03 5.64785663e+02] [-1.02776279e-02 9.99947160e-01 2.19309722e-04 -2.81380944e+01] [ 3.32112438e-03 -1.85185013e-04 9.99994468e-01 1.46371738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.390714057 meters Centerline goodness [0,1] 0.9744895718990121 Centerline is valid? [True, True] Translation: X:564.81, Y:-28.14, Z:1.46 [[ 9.99956911e-01 8.72945158e-03 -3.15811743e-03 5.64814695e+02] [-8.72883643e-03 9.99961881e-01 2.08516841e-04 -2.81420859e+01] [ 3.15981728e-03 -1.80941165e-04 9.99994991e-01 1.46398238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4207140569999 meters Centerline goodness [0,1] 0.9749934193208739 Centerline is valid? [True, True] Translation: X:564.84, Y:-28.15, Z:1.46 [[ 9.99969262e-01 7.19504339e-03 -3.11539213e-03 5.64843781e+02] [-7.19443786e-03 9.99974099e-01 2.05530944e-04 -2.81461089e+01] [ 3.11679025e-03 -1.83111131e-04 9.99995126e-01 1.46414760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4507140569999 meters Centerline goodness [0,1] 0.9734364418812941 Centerline is valid? [True, True] Translation: X:564.87, Y:-28.15, Z:1.46 [[ 9.99980592e-01 4.36968456e-03 -4.44092593e-03 5.64874006e+02] [-4.36842770e-03 9.99990416e-01 2.92678809e-04 -2.81521762e+01] [ 4.44216228e-03 -2.73273265e-04 9.99990096e-01 1.46392876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4807140569999 meters Centerline goodness [0,1] 0.9714597425267292 Centerline is valid? [True, True] Translation: X:564.90, Y:-28.16, Z:1.46 [[ 9.99983517e-01 3.21310539e-03 -4.75823328e-03 5.64901677e+02] [-3.21164981e-03 9.99994793e-01 3.13516478e-04 -2.81591077e+01] [ 4.75921587e-03 -2.98229531e-04 9.99988630e-01 1.46342213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.510714057 meters Centerline goodness [0,1] 0.9733289574444809 Centerline is valid? [True, True] Translation: X:564.93, Y:-28.16, Z:1.46 [[ 9.99981159e-01 2.67252831e-03 -5.52625773e-03 5.64930293e+02] [-2.67055956e-03 9.99996368e-01 3.63601913e-04 -2.81580647e+01] [ 5.52720940e-03 -3.48836861e-04 9.99984664e-01 1.46289483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.540714057 meters Centerline goodness [0,1] 0.974341661039838 Centerline is valid? [True, True] Translation: X:564.96, Y:-28.16, Z:1.46 [[ 9.99977978e-01 3.71016580e-03 -5.50254698e-03 5.64958029e+02] [-3.70823188e-03 9.99993059e-01 3.61620692e-04 -2.81598282e+01] [ 5.50385046e-03 -3.41208008e-04 9.99984795e-01 1.46383959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5707140569999 meters Centerline goodness [0,1] 0.9746976866456362 Centerline is valid? [True, True] Translation: X:564.99, Y:-28.16, Z:1.47 [[ 9.99959331e-01 7.73368644e-03 -4.63965225e-03 5.64988227e+02] [-7.73235604e-03 9.99970058e-01 3.04614815e-04 -2.81586131e+01] [ 4.64186913e-03 -2.68726983e-04 9.99989190e-01 1.46549731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6007140569999 meters Centerline goodness [0,1] 0.9754710815815271 Centerline is valid? [True, True] Translation: X:565.02, Y:-28.16, Z:1.47 [[ 9.99933357e-01 1.07087183e-02 -4.31329419e-03 5.65018184e+02] [-1.07075962e-02 9.99942632e-01 2.83164727e-04 -2.81587515e+01] [ 4.31607907e-03 -2.36960844e-04 9.99990658e-01 1.46588662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.630714057 meters Centerline goodness [0,1] 0.975815276865835 Centerline is valid? [True, True] Translation: X:565.05, Y:-28.16, Z:1.47 [[ 9.99859123e-01 1.64143978e-02 -3.50734016e-03 5.65047362e+02] [-1.64136911e-02 9.99865260e-01 2.30206833e-04 -2.81579317e+01] [ 3.51064629e-03 -1.72606004e-04 9.99993823e-01 1.46629718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.660714057 meters Centerline goodness [0,1] 0.9755130648093392 Centerline is valid? [True, True] Translation: X:565.08, Y:-28.16, Z:1.47 [[ 9.99813903e-01 1.90244485e-02 -3.19834413e-03 5.65077525e+02] [-1.90238743e-02 9.99819008e-01 2.09864929e-04 -2.81578528e+01] [ 3.20175782e-03 -1.48980977e-04 9.99994863e-01 1.46650224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6907140569999 meters Centerline goodness [0,1] 0.9781955382016803 Centerline is valid? [True, True] Translation: X:565.11, Y:-28.15, Z:1.47 [[ 9.99697866e-01 2.45179480e-02 -1.74574802e-03 5.65108060e+02] [-2.45177853e-02 9.99699387e-01 1.14523118e-04 -2.81549533e+01] [ 1.74803109e-03 -7.16866420e-05 9.99998470e-01 1.46756273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7207140569999 meters Centerline goodness [0,1] 0.9783696033696033 Centerline is valid? [True, True] Translation: X:565.14, Y:-28.16, Z:1.47 [[ 9.99644873e-01 2.66159074e-02 -1.31214573e-03 5.65135910e+02] [-2.66158170e-02 9.99645733e-01 8.63369901e-05 -2.81566030e+01] [ 1.31397882e-03 -5.13824989e-05 9.99999135e-01 1.46806994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.750714057 meters Centerline goodness [0,1] 0.9804853365014411 Centerline is valid? [True, True] Translation: X:565.16, Y:-28.16, Z:1.47 [[ 9.99612789e-01 2.77123197e-02 -2.50996249e-03 5.65164547e+02] [-2.77119939e-02 9.99615935e-01 1.64466103e-04 -2.81572353e+01] [ 2.51355624e-03 -9.48463545e-05 9.99996837e-01 1.46732739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.780714057 meters Centerline goodness [0,1] 0.9816791880848821 Centerline is valid? [True, True] Translation: X:565.19, Y:-28.16, Z:1.47 [[ 9.99635434e-01 2.68138211e-02 -3.16527894e-03 5.65193130e+02] [-2.68132995e-02 9.99640437e-01 2.07120523e-04 -2.81588538e+01] [ 3.16969451e-03 -1.22173442e-04 9.99994969e-01 1.46642200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8107140569999 meters Centerline goodness [0,1] 0.9801395716292135 Centerline is valid? [True, True] Translation: X:565.22, Y:-28.16, Z:1.47 [[ 9.99696722e-01 2.43337878e-02 -3.78565278e-03 5.65222187e+02] [-2.43330251e-02 9.99703877e-01 2.47394908e-04 -2.81635527e+01] [ 3.79055182e-03 -1.55203494e-04 9.99992804e-01 1.46534189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8407140569999 meters Centerline goodness [0,1] 0.978535602426791 Centerline is valid? [True, True] Translation: X:565.25, Y:-28.17, Z:1.46 [[ 9.99819567e-01 1.84667432e-02 -4.45127019e-03 5.65251737e+02] [-1.84656321e-02 9.99829453e-01 2.90574483e-04 -2.81705344e+01] [ 4.45587700e-03 -2.08326536e-04 9.99990051e-01 1.46476868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.870714057 meters Centerline goodness [0,1] 0.9774228833953184 Centerline is valid? [True, True] Translation: X:565.28, Y:-28.17, Z:1.47 [[ 9.99871072e-01 1.54413665e-02 -4.40504056e-03 5.65280817e+02] [-1.54402493e-02 9.99880751e-01 2.87507694e-04 -2.81733093e+01] [ 4.40895477e-03 -2.19455702e-04 9.99990256e-01 1.46517011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.900714057 meters Centerline goodness [0,1] 0.9760057691046962 Centerline is valid? [True, True] Translation: X:565.31, Y:-28.18, Z:1.47 [[ 9.99937478e-01 1.06513737e-02 -3.40422815e-03 5.65310348e+02] [-1.06506793e-02 9.99943255e-01 2.22029460e-04 -2.81788059e+01] [ 3.40639989e-03 -1.85758235e-04 9.99994181e-01 1.46742860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9307140569999 meters Centerline goodness [0,1] 0.9760057691046962 Centerline is valid? [True, True] Translation: X:565.34, Y:-28.18, Z:1.47 [[ 9.99938241e-01 1.05794730e-02 -3.40422873e-03 5.65338644e+02] [-1.05787783e-02 9.99944019e-01 2.22020550e-04 -2.81805918e+01] [ 3.40638702e-03 -1.85994257e-04 9.99994181e-01 1.46753997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9607140569999 meters Centerline goodness [0,1] 0.974997818308753 Centerline is valid? [True, True] Translation: X:565.37, Y:-28.19, Z:1.47 [[ 9.99958740e-01 8.86148704e-03 -1.99789446e-03 5.65366464e+02] [-8.86124450e-03 9.99960730e-01 1.30214033e-04 -2.81862991e+01] [ 1.99896990e-03 -1.12504829e-04 9.99997996e-01 1.46922011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.990714057 meters Centerline goodness [0,1] 0.9760836419080811 Centerline is valid? [True, True] Translation: X:565.40, Y:-28.19, Z:1.47 [[ 9.99981178e-01 6.11690014e-03 -4.77425883e-04 5.65395301e+02] [-6.11688591e-03 9.99981291e-01 3.12728074e-05 -2.81892446e+01] [ 4.77608243e-04 -2.83518592e-05 9.99999886e-01 1.47058165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.020714057 meters Centerline goodness [0,1] 0.9740041837357274 Centerline is valid? [True, True] Translation: X:565.42, Y:-28.19, Z:1.47 [[ 9.99985339e-01 5.33757837e-03 -9.12377427e-04 5.65424003e+02] [-5.33752630e-03 9.99985754e-01 5.94993947e-05 -2.81943646e+01] [ 9.12682011e-04 -5.46286838e-05 9.99999582e-01 1.47026727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0507140569999 meters Centerline goodness [0,1] 0.9744957964890884 Centerline is valid? [True, True] Translation: X:565.45, Y:-28.20, Z:1.47 [[ 9.99987140e-01 4.93269732e-03 -1.17801706e-03 5.65453118e+02] [-4.93261032e-03 9.99987832e-01 7.67474651e-05 -2.81954423e+01] [ 1.17838130e-03 -7.09357790e-05 9.99999303e-01 1.46980655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0807140569999 meters Centerline goodness [0,1] 0.9656595098320949 Centerline is valid? [True, True] Translation: X:565.48, Y:-28.21, Z:1.47 [[ 9.99973265e-01 7.04040136e-03 -1.97539760e-03 5.65480591e+02] [-7.04016154e-03 9.99975210e-01 1.28333132e-04 -2.82139519e+01] [ 1.97625214e-03 -1.14422583e-04 9.99998041e-01 1.47042958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.110714057 meters Centerline goodness [0,1] 0.97525216216805 Centerline is valid? [True, True] Translation: X:565.51, Y:-28.20, Z:1.47 [[ 9.99990020e-01 3.46734165e-03 -2.81718027e-03 5.65511781e+02] [-3.46684051e-03 9.99993974e-01 1.82748948e-04 -2.81977311e+01] [ 2.81779694e-03 -1.72980410e-04 9.99996015e-01 1.46943938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.140714057 meters Centerline goodness [0,1] 0.9748383866965588 Centerline is valid? [True, True] Translation: X:565.54, Y:-28.20, Z:1.47 [[ 9.99989236e-01 3.68064723e-03 -2.82507605e-03 5.65540453e+02] [-3.68014415e-03 9.99993211e-01 1.83254350e-04 -2.81996072e+01] [ 2.82573137e-03 -1.72855690e-04 9.99995993e-01 1.46899711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1707140569999 meters Centerline goodness [0,1] 0.9752233602091959 Centerline is valid? [True, True] Translation: X:565.57, Y:-28.20, Z:1.47 [[ 9.99991221e-01 3.20840065e-03 -2.69512549e-03 5.65568871e+02] [-3.20794157e-03 9.99994839e-01 1.74644174e-04 -2.82019807e+01] [ 2.69567191e-03 -1.65996835e-04 9.99996353e-01 1.46916391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2007140569999 meters Centerline goodness [0,1] 0.9747425261828554 Centerline is valid? [True, True] Translation: X:565.60, Y:-28.21, Z:1.47 [[ 9.99994575e-01 1.56859290e-03 -2.89643448e-03 5.65597926e+02] [-1.56805654e-03 9.99998753e-01 1.87441240e-04 -2.82051094e+01] [ 2.89672489e-03 -1.82898450e-04 9.99995788e-01 1.46912053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2307140569999 meters Centerline goodness [0,1] 0.9738265573198395 Centerline is valid? [True, True] Translation: X:565.63, Y:-28.21, Z:1.47 [[ 9.99994109e-01 -6.66352080e-04 -3.36715837e-03 5.65626724e+02] [ 6.67088798e-04 9.99999754e-01 2.17676683e-04 -2.82094898e+01] [ 3.36701249e-03 -2.19921595e-04 9.99994307e-01 1.46916859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.260714057 meters Centerline goodness [0,1] 0.9740390069374755 Centerline is valid? [True, True] Translation: X:565.66, Y:-28.21, Z:1.47 [[ 9.99992451e-01 -1.50655803e-03 -3.58154594e-03 5.65655932e+02] [ 1.50739643e-03 9.99998837e-01 2.31398964e-04 -2.82116348e+01] [ 3.58119316e-03 -2.36796026e-04 9.99993559e-01 1.46877331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.290714057 meters Centerline goodness [0,1] 0.9742549199284374 Centerline is valid? [True, True] Translation: X:565.69, Y:-28.21, Z:1.47 [[ 9.99985986e-01 -3.05257976e-03 -4.32551058e-03 5.65685256e+02] [ 3.05381627e-03 9.99995298e-01 2.79288340e-04 -2.82149570e+01] [ 4.32463769e-03 -2.92493741e-04 9.99990606e-01 1.46814115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3207140569999 meters Centerline goodness [0,1] 0.972955260398462 Centerline is valid? [True, True] Translation: X:565.72, Y:-28.22, Z:1.47 [[ 9.99974655e-01 -5.18673918e-03 -4.87715757e-03 5.65715208e+02] [ 5.18833606e-03 9.99986491e-01 3.14823889e-04 -2.82188221e+01] [ 4.87545877e-03 -3.40120243e-04 9.99988057e-01 1.46743543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3507140569999 meters Centerline goodness [0,1] 0.973177817093681 Centerline is valid? [True, True] Translation: X:565.75, Y:-28.22, Z:1.47 [[ 9.99961703e-01 -6.78972623e-03 -5.52191604e-03 5.65745068e+02] [ 6.79179744e-03 9.99976872e-01 3.56423137e-04 -2.82205232e+01] [ 5.51936831e-03 -3.93913223e-04 9.99984691e-01 1.46746147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.380714057 meters Centerline goodness [0,1] 0.9719771099073913 Centerline is valid? [True, True] Translation: X:565.77, Y:-28.22, Z:1.47 [[ 9.99940162e-01 -9.36461759e-03 -5.65477026e-03 5.65774139e+02] [ 9.36683027e-03 9.99956064e-01 3.64936734e-04 -2.82242156e+01] [ 5.65110431e-03 -4.17882170e-04 9.99983945e-01 1.46801976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.410714057 meters Centerline goodness [0,1] 0.9698115682245442 Centerline is valid? [True, True] Translation: X:565.80, Y:-28.23, Z:1.47 [[ 9.99928329e-01 -1.06275197e-02 -5.51296589e-03 5.65803376e+02] [ 1.06296410e-02 9.99943441e-01 3.55621855e-04 -2.82286772e+01] [ 5.50887471e-03 -4.14197216e-04 9.99984740e-01 1.46806321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4407140569999 meters Centerline goodness [0,1] 0.9719123244520278 Centerline is valid? [True, True] Translation: X:565.83, Y:-28.23, Z:1.47 [[ 9.99903711e-01 -1.28725867e-02 -5.18319150e-03 5.65834263e+02] [ 1.28744915e-02 9.99917064e-01 3.34284764e-04 -2.82270913e+01] [ 5.17845852e-03 -4.00983531e-04 9.99986511e-01 1.46898426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4707140569999 meters Centerline goodness [0,1] 0.9723008092637674 Centerline is valid? [True, True] Translation: X:565.87, Y:-28.23, Z:1.47 [[ 9.99891699e-01 -1.37923391e-02 -5.13426858e-03 5.65865061e+02] [ 1.37942202e-02 9.99904800e-01 3.31151459e-04 -2.82274223e+01] [ 5.12921244e-03 -4.01938826e-04 9.99986765e-01 1.46976756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.500714057 meters Centerline goodness [0,1] 0.9712381160528903 Centerline is valid? [True, True] Translation: X:565.89, Y:-28.23, Z:1.47 [[ 9.99875846e-01 -1.47861195e-02 -5.44631212e-03 5.65894993e+02] [ 1.47882515e-02 9.99890586e-01 3.51380135e-04 -2.82310271e+01] [ 5.44052067e-03 -4.31877943e-04 9.99985107e-01 1.47017545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.530714057 meters Centerline goodness [0,1] 0.9720464943195499 Centerline is valid? [True, True] Translation: X:565.93, Y:-28.23, Z:1.47 [[ 9.99858609e-01 -1.57604923e-02 -5.86245591e-03 5.65925918e+02] [ 1.57629797e-02 9.99875685e-01 3.78338898e-04 -2.82307417e+01] [ 5.85576431e-03 -4.70695178e-04 9.99982744e-01 1.47067462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5607140569999 meters Centerline goodness [0,1] 0.9700114075114075 Centerline is valid? [True, True] Translation: X:565.96, Y:-28.23, Z:1.47 [[ 9.99856948e-01 -1.59318446e-02 -5.67969550e-03 5.65956662e+02] [ 1.59341831e-02 9.99872976e-01 3.66706475e-04 -2.82324555e+01] [ 5.67313173e-03 -4.57155325e-04 9.99983803e-01 1.47051898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5907140569999 meters Centerline goodness [0,1] 0.9699281080133263 Centerline is valid? [True, True] Translation: X:565.99, Y:-28.23, Z:1.47 [[ 9.99867638e-01 -1.53756498e-02 -5.31947681e-03 5.65987804e+02] [ 1.53776945e-02 9.99881697e-01 3.43695256e-04 -2.82314540e+01] [ 5.31356296e-03 -4.25451053e-04 9.99985792e-01 1.47093878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.620714057 meters Centerline goodness [0,1] 0.9642982764685192 Centerline is valid? [True, True] Translation: X:566.02, Y:-28.24, Z:1.47 [[ 9.99888931e-01 -1.43051719e-02 -4.18186558e-03 5.66017958e+02] [ 1.43064267e-02 9.99897621e-01 2.70307290e-04 -2.82400968e+01] [ 4.17757065e-03 -3.30104821e-04 9.99991219e-01 1.47185112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.650714057 meters Centerline goodness [0,1] 0.9684448940100273 Centerline is valid? [True, True] Translation: X:566.05, Y:-28.23, Z:1.47 [[ 9.99934271e-01 -1.10575472e-02 -3.03072615e-03 5.66049259e+02] [ 1.10581916e-02 9.99938837e-01 1.95943109e-04 -2.82334877e+01] [ 3.02837414e-03 -2.29444581e-04 9.99995388e-01 1.47287485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6807140569999 meters Centerline goodness [0,1] 0.9702859155239584 Centerline is valid? [True, True] Translation: X:566.08, Y:-28.23, Z:1.47 [[ 9.99951248e-01 -9.39214289e-03 -3.04782136e-03 5.66081734e+02] [ 9.39278683e-03 9.99955867e-01 1.97032427e-04 -2.82272738e+01] [ 3.04583630e-03 -2.25650357e-04 9.99995336e-01 1.47259585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7107140569999 meters Centerline goodness [0,1] 0.9706627315375636 Centerline is valid? [True, True] Translation: X:566.11, Y:-28.23, Z:1.47 [[ 9.99978335e-01 -5.56205056e-03 -3.52036606e-03 5.66110823e+02] [ 5.56288691e-03 9.99984501e-01 2.27828110e-04 -2.82276383e+01] [ 3.51904431e-03 -2.47406573e-04 9.99993778e-01 1.47233716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.740714057 meters Centerline goodness [0,1] 0.9737388003707463 Centerline is valid? [True, True] Translation: X:566.14, Y:-28.22, Z:1.47 [[ 9.99983217e-01 -3.91027531e-03 -4.27497364e-03 5.66141831e+02] [ 3.91149330e-03 9.99992312e-01 2.76588353e-04 -2.82197938e+01] [ 4.27385924e-03 -2.93305242e-04 9.99990824e-01 1.47206729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.770714057 meters Centerline goodness [0,1] 0.9736597458940193 Centerline is valid? [True, True] Translation: X:566.17, Y:-28.22, Z:1.47 [[ 9.99986777e-01 -1.20715231e-03 -4.99889905e-03 5.66170937e+02] [ 1.20878393e-03 9.99999217e-01 3.23387788e-04 -2.82167891e+01] [ 4.99850475e-03 -3.29426101e-04 9.99987453e-01 1.47122848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8007140569999 meters Centerline goodness [0,1] 0.9738531806447343 Centerline is valid? [True, True] Translation: X:566.20, Y:-28.22, Z:1.47 [[ 9.99983491e-01 -2.28607599e-04 -5.74149770e-03 5.66200184e+02] [ 2.30740641e-04 9.99999905e-01 3.70853530e-04 -2.82158747e+01] [ 5.74141237e-03 -3.72172205e-04 9.99983449e-01 1.47163603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8307140569999 meters Centerline goodness [0,1] 0.9739460708098263 Centerline is valid? [True, True] Translation: X:566.23, Y:-28.22, Z:1.47 [[ 9.99982415e-01 2.42634452e-04 -5.92535646e-03 5.66229580e+02] [-2.40379014e-04 9.99999898e-01 3.81350926e-04 -2.82150858e+01] [ 5.92544839e-03 -3.79919889e-04 9.99982372e-01 1.47113527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.860714057 meters Centerline goodness [0,1] 0.9758566978193146 Centerline is valid? [True, True] Translation: X:566.26, Y:-28.21, Z:1.47 [[ 9.99978168e-01 1.69144761e-03 -6.38763232e-03 5.66259142e+02] [-1.68886570e-03 9.99998490e-01 4.09577208e-04 -2.82104092e+01] [ 6.38831546e-03 -3.98780413e-04 9.99979515e-01 1.47125570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.890714057 meters Centerline goodness [0,1] 0.9748452873870264 Centerline is valid? [True, True] Translation: X:566.29, Y:-28.21, Z:1.47 [[ 9.99970454e-01 4.97009808e-03 -5.86419519e-03 5.66289902e+02] [-4.96798319e-03 9.99987589e-01 3.75157577e-04 -2.82054472e+01] [ 5.86598698e-03 -3.46013270e-04 9.99982735e-01 1.47103793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9207140569999 meters Centerline goodness [0,1] 0.975236269614836 Centerline is valid? [True, True] Translation: X:566.32, Y:-28.20, Z:1.47 [[ 9.99958681e-01 7.10870194e-03 -5.66595242e-03 5.66320378e+02] [-7.10676239e-03 9.99974681e-01 3.62377278e-04 -2.82035476e+01] [ 5.66838499e-03 -3.22095727e-04 9.99983883e-01 1.47063671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9507140569999 meters Centerline goodness [0,1] 0.9770163722052221 Centerline is valid? [True, True] Translation: X:566.35, Y:-28.20, Z:1.47 [[ 9.99938177e-01 9.63155226e-03 -5.55648223e-03 5.66350013e+02] [-9.62972647e-03 9.99953570e-01 3.55248915e-04 -2.82007637e+01] [ 5.55964584e-03 -3.01719548e-04 9.99984500e-01 1.47099153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9807140569999 meters Centerline goodness [0,1] 0.9778777904659547 Centerline is valid? [True, True] Translation: X:566.38, Y:-28.20, Z:1.47 [[ 9.99862191e-01 1.57358838e-02 -5.28976400e-03 5.66379836e+02] [-1.57343152e-02 9.99876151e-01 3.38033563e-04 -2.81956229e+01] [ 5.29442812e-03 -2.54756165e-04 9.99985952e-01 1.47199424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.010714057 meters Centerline goodness [0,1] 0.9790984525678403 Centerline is valid? [True, True] Translation: X:566.41, Y:-28.19, Z:1.47 [[ 9.99814191e-01 1.85179110e-02 -5.35445771e-03 5.66409571e+02] [-1.85163443e-02 9.99828499e-01 3.42032603e-04 -2.81930075e+01] [ 5.35987315e-03 -2.42824068e-04 9.99985606e-01 1.47241849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.040714057 meters Centerline goodness [0,1] 0.9805515630614445 Centerline is valid? [True, True] Translation: X:566.44, Y:-28.19, Z:1.47 [[ 9.99703892e-01 2.40221236e-02 -3.88157439e-03 5.66440538e+02] [-2.40213421e-02 9.99711415e-01 2.47845833e-04 -2.81898186e+01] [ 3.88640801e-03 -1.54531817e-04 9.99992436e-01 1.47316012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0707140569999 meters Centerline goodness [0,1] 0.9782442576527173 Centerline is valid? [True, True] Translation: X:566.47, Y:-28.20, Z:1.47 [[ 9.99661215e-01 2.58856818e-02 -2.71792528e-03 5.66468247e+02] [-2.58853053e-02 9.99664904e-01 1.73628047e-04 -2.81956473e+01] [ 2.72150900e-03 -1.03214898e-04 9.99996291e-01 1.47397479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1007140569999 meters Centerline goodness [0,1] 0.9811519971245002 Centerline is valid? [True, True] Translation: X:566.50, Y:-28.19, Z:1.47 [[ 9.99628904e-01 2.71789497e-02 -1.83296342e-03 5.66497539e+02] [-2.71787808e-02 9.99630582e-01 1.17006209e-04 -2.81921190e+01] [ 1.83546639e-03 -6.71450778e-05 9.99998313e-01 1.47403914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.130714057 meters Centerline goodness [0,1] 0.9802578565672845 Centerline is valid? [True, True] Translation: X:566.53, Y:-28.20, Z:1.47 [[ 9.99594206e-01 2.84594739e-02 -1.21728704e-03 5.66525388e+02] [-2.84594002e-02 9.99594946e-01 7.78435885e-05 -2.81969694e+01] [ 1.21900936e-03 -4.31687411e-05 9.99999256e-01 1.47396808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.160714057 meters Centerline goodness [0,1] 0.9797078651685394 Centerline is valid? [True, True] Translation: X:566.55, Y:-28.20, Z:1.47 [[ 9.99614467e-01 2.76959140e-02 -1.96324119e-03 5.66554254e+02] [-2.76957220e-02 9.99616392e-01 1.24919719e-04 -2.81997955e+01] [ 1.96594784e-03 -7.04981760e-05 9.99998065e-01 1.47304605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1907140569999 meters Centerline goodness [0,1] 0.9795060785150895 Centerline is valid? [True, True] Translation: X:566.58, Y:-28.20, Z:1.47 [[ 9.99662668e-01 2.55914973e-02 -4.43004693e-03 5.66583005e+02] [-2.55905018e-02 9.99672470e-01 2.81249024e-04 -2.82043247e+01] [ 4.43579354e-03 -1.67787025e-04 9.99990148e-01 1.47041493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2207140569999 meters Centerline goodness [0,1] 0.9811070971795275 Centerline is valid? [True, True] Translation: X:566.61, Y:-28.20, Z:1.47 [[ 9.99682713e-01 2.44737527e-02 -5.95888011e-03 5.66611585e+02] [-2.44719348e-02 9.99700446e-01 3.77811058e-04 -2.82046097e+01] [ 5.96634156e-03 -2.31865858e-04 9.99982174e-01 1.46882640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.250714057 meters Centerline goodness [0,1] 0.9802142152908488 Centerline is valid? [True, True] Translation: X:566.64, Y:-28.21, Z:1.47 [[ 9.99716535e-01 2.21922591e-02 -8.62284634e-03 5.66640488e+02] [-2.21883732e-02 9.99753659e-01 5.46065758e-04 -2.82096228e+01] [ 8.63284061e-03 -3.54584035e-04 9.99962673e-01 1.46570219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.280714057 meters Centerline goodness [0,1] 0.9809760688357085 Centerline is valid? [True, True] Translation: X:566.67, Y:-28.21, Z:1.47 [[ 9.99729674e-01 2.15540517e-02 -8.71792604e-03 5.66668787e+02] [-2.15500610e-02 9.99767618e-01 5.51447991e-04 -2.82111845e+01] [ 8.72778610e-03 -3.63427082e-04 9.99961846e-01 1.46611291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3107140569999 meters Centerline goodness [0,1] 0.9819680577022154 Centerline is valid? [True, True] Translation: X:566.70, Y:-28.21, Z:1.47 [[ 9.99723892e-01 2.16392547e-02 -9.15876733e-03 5.66697773e+02] [-2.16348605e-02 9.99765772e-01 5.78591415e-04 -2.82142127e+01] [ 9.16914237e-03 -3.80283007e-04 9.99957890e-01 1.46693452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3407140569999 meters Centerline goodness [0,1] 0.9818413864135059 Centerline is valid? [True, True] Translation: X:566.73, Y:-28.22, Z:1.47 [[ 9.99706699e-01 2.27878001e-02 -8.19956181e-03 5.66726285e+02] [-2.27843213e-02 9.99740270e-01 5.17441793e-04 -2.82171926e+01] [ 8.20922350e-03 -3.30468576e-04 9.99966249e-01 1.46836519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.370714057 meters Centerline goodness [0,1] 0.9834734770551927 Centerline is valid? [True, True] Translation: X:566.76, Y:-28.22, Z:1.47 [[ 9.99654856e-01 2.53056934e-02 -7.05630101e-03 5.66755030e+02] [-2.53031830e-02 9.99679724e-01 4.44832422e-04 -2.82198190e+01] [ 7.06529784e-03 -2.66132015e-04 9.99975005e-01 1.46967437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.400714057 meters Centerline goodness [0,1] 0.982809364548495 Centerline is valid? [True, True] Translation: X:566.78, Y:-28.22, Z:1.47 [[ 9.99633194e-01 2.63117428e-02 -6.41637044e-03 5.66783400e+02] [-2.63096905e-02 9.99653759e-01 4.04057920e-04 -2.82218439e+01] [ 6.42478029e-03 -2.35096988e-04 9.99979333e-01 1.47056973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4307140569999 meters Centerline goodness [0,1] 0.9833929369691551 Centerline is valid? [True, True] Translation: X:566.81, Y:-28.22, Z:1.47 [[ 9.99611473e-01 2.72086437e-02 -6.04927324e-03 5.66811879e+02] [-2.72068385e-02 9.99629753e-01 3.80523938e-04 -2.82248015e+01] [ 6.05738706e-03 -2.15794494e-04 9.99981631e-01 1.47093825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4607140569999 meters Centerline goodness [0,1] 0.9834486440791084 Centerline is valid? [True, True] Translation: X:566.84, Y:-28.23, Z:1.47 [[ 9.99582412e-01 2.83818744e-02 -5.42877909e-03 5.66840320e+02] [-2.83804398e-02 9.99597136e-01 3.41133209e-04 -2.82291928e+01] [ 5.43627403e-03 -1.86919618e-04 9.99985206e-01 1.47172503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.490714057 meters Centerline goodness [0,1] 0.9826425158350928 Centerline is valid? [True, True] Translation: X:566.87, Y:-28.24, Z:1.47 [[ 9.99601177e-01 2.77025931e-02 -5.48200774e-03 5.66867166e+02] [-2.77011225e-02 9.99616191e-01 3.44027650e-04 -2.82369590e+01] [ 5.48943416e-03 -1.92032676e-04 9.99984915e-01 1.47160160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.520714057 meters Centerline goodness [0,1] 0.9843382058915005 Centerline is valid? [True, True] Translation: X:566.90, Y:-28.24, Z:1.47 [[ 9.99622896e-01 2.69932567e-02 -5.04279364e-03 5.66896082e+02] [-2.69920056e-02 9.99635599e-01 3.15999154e-04 -2.82397812e+01] [ 5.04948589e-03 -1.79764876e-04 9.99987235e-01 1.47167425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5507140569999 meters Centerline goodness [0,1] 0.9825581395348837 Centerline is valid? [True, True] Translation: X:566.92, Y:-28.25, Z:1.47 [[ 9.99661136e-01 2.55033594e-02 -5.21455149e-03 5.66923728e+02] [-2.55020038e-02 9.99674718e-01 3.26302501e-04 -2.82461642e+01] [ 5.22117709e-03 -1.93210417e-04 9.99986351e-01 1.47195672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5807140569999 meters Centerline goodness [0,1] 0.9807408061064661 Centerline is valid? [True, True] Translation: X:566.95, Y:-28.26, Z:1.47 [[ 9.99729987e-01 2.26543396e-02 -5.17046709e-03 5.66951336e+02] [-2.26529719e-02 9.99743336e-01 3.22950620e-04 -2.82578451e+01] [ 5.17645625e-03 -2.05736973e-04 9.99986581e-01 1.47194466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.610714057 meters Centerline goodness [0,1] 0.9811729349891722 Centerline is valid? [True, True] Translation: X:566.98, Y:-28.26, Z:1.47 [[ 9.99749926e-01 2.17035782e-02 -5.38895207e-03 5.66979966e+02] [-2.17020807e-02 9.99764426e-01 3.36213838e-04 -2.82609909e+01] [ 5.39497961e-03 -2.19178287e-04 9.99985423e-01 1.47233247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.640714057 meters Centerline goodness [0,1] 0.9818867758019679 Centerline is valid? [True, True] Translation: X:567.01, Y:-28.27, Z:1.47 [[ 9.99772577e-01 2.02287871e-02 -6.75207108e-03 5.67008176e+02] [-2.02264062e-02 9.99795337e-01 4.20729944e-04 -2.82661535e+01] [ 6.75920003e-03 -2.84064128e-04 9.99977116e-01 1.47165771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6707140569999 meters Centerline goodness [0,1] 0.9816685372240928 Centerline is valid? [True, True] Translation: X:567.04, Y:-28.27, Z:1.47 [[ 9.99772513e-01 1.99294022e-02 -7.59870328e-03 5.67037113e+02] [-1.99263824e-02 9.99801338e-01 4.72918495e-04 -2.82669584e+01] [ 7.60661869e-03 -3.21396245e-04 9.99971018e-01 1.47132557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7007140569999 meters Centerline goodness [0,1] 0.9793936731107206 Centerline is valid? [True, True] Translation: X:567.06, Y:-28.28, Z:1.47 [[ 9.99794388e-01 1.90554111e-02 -6.93348952e-03 5.67064518e+02] [-1.90528803e-02 9.99818385e-01 4.30885432e-04 -2.82766524e+01] [ 6.94044099e-03 -2.98693891e-04 9.99975870e-01 1.47127802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7307140569999 meters Centerline goodness [0,1] 0.9809789166538689 Centerline is valid? [True, True] Translation: X:567.09, Y:-28.28, Z:1.47 [[ 9.99808257e-01 1.88224399e-02 -5.40042546e-03 5.67092416e+02] [-1.88209041e-02 9.99822815e-01 3.35072035e-04 -2.82769110e+01] [ 5.40577546e-03 -2.33366898e-04 9.99985361e-01 1.47225027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.760714057 meters Centerline goodness [0,1] 0.9797995306297019 Centerline is valid? [True, True] Translation: X:567.12, Y:-28.28, Z:1.47 [[ 9.99823600e-01 1.83050118e-02 -4.20665106e-03 5.67119978e+02] [-1.83040769e-02 9.99832432e-01 2.60651597e-04 -2.82822454e+01] [ 4.21071739e-03 -1.83606754e-04 9.99991118e-01 1.47317859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.790714057 meters Centerline goodness [0,1] 0.9797088759986866 Centerline is valid? [True, True] Translation: X:567.15, Y:-28.29, Z:1.47 [[ 9.99828666e-01 1.81578372e-02 -3.59605872e-03 5.67147841e+02] [-1.81571539e-02 9.99835121e-01 2.22555560e-04 -2.82871347e+01] [ 3.59950693e-03 -1.57223237e-04 9.99993509e-01 1.47428401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8207140569999 meters Centerline goodness [0,1] 0.9797088759986866 Centerline is valid? [True, True] Translation: X:567.18, Y:-28.29, Z:1.47 [[ 9.99830554e-01 1.80535718e-02 -3.59608188e-03 5.67175287e+02] [-1.80528893e-02 9.99837009e-01 2.22180719e-04 -2.82887372e+01] [ 3.59950690e-03 -1.57223404e-04 9.99993509e-01 1.47439210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8507140569999 meters Centerline goodness [0,1] 0.9793061206632542 Centerline is valid? [True, True] Translation: X:567.20, Y:-28.29, Z:1.47 [[ 9.99832220e-01 1.79013847e-02 -3.88237877e-03 5.67201906e+02] [-1.79005897e-02 9.99839743e-01 2.39431946e-04 -2.82930240e+01] [ 3.88604275e-03 -1.69894905e-04 9.99992435e-01 1.47446002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.880714057 meters Centerline goodness [0,1] 0.9788940112303087 Centerline is valid? [True, True] Translation: X:567.23, Y:-28.30, Z:1.47 [[ 9.99818320e-01 1.86959540e-02 -3.71323369e-03 5.67230601e+02] [-1.86952343e-02 9.99825203e-01 2.28452961e-04 -2.82981497e+01] [ 3.71685577e-03 -1.58991682e-04 9.99993080e-01 1.47355553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.910714057 meters Centerline goodness [0,1] 0.9794167721657135 Centerline is valid? [True, True] Translation: X:567.26, Y:-28.30, Z:1.47 [[ 9.99801099e-01 1.95903858e-02 -3.73883378e-03 5.67259755e+02] [-1.95896634e-02 9.99808078e-01 2.29767043e-04 -2.83006034e+01] [ 3.74261744e-03 -1.56478847e-04 9.99992984e-01 1.47325696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9407140569999 meters Centerline goodness [0,1] 0.981098345287667 Centerline is valid? [True, True] Translation: X:567.29, Y:-28.30, Z:1.47 [[ 9.99741275e-01 2.23601532e-02 -4.17218101e-03 5.67288275e+02] [-2.23592786e-02 9.99749967e-01 2.56154878e-04 -2.83037297e+01] [ 4.17686549e-03 -1.62801647e-04 9.99991264e-01 1.47312143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9707140569999 meters Centerline goodness [0,1] 0.9815400039230215 Centerline is valid? [True, True] Translation: X:567.32, Y:-28.31, Z:1.47 [[ 9.99706215e-01 2.37655943e-02 -4.76235620e-03 5.67316645e+02] [-2.37644725e-02 9.99717542e-01 2.92024198e-04 -2.83052692e+01] [ 4.76795116e-03 -1.78763523e-04 9.99988617e-01 1.47283951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.000714057 meters Centerline goodness [0,1] 0.9819878613848463 Centerline is valid? [True, True] Translation: X:567.35, Y:-28.31, Z:1.47 [[ 9.99661675e-01 2.55908881e-02 -4.65209038e-03 5.67345493e+02] [-2.55898388e-02 9.99672486e-01 2.84942591e-04 -2.83069434e+01] [ 4.65785869e-03 -1.65799945e-04 9.99989138e-01 1.47234386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.030714057 meters Centerline goodness [0,1] 0.9834974887482878 Centerline is valid? [True, True] Translation: X:567.37, Y:-28.31, Z:1.47 [[ 9.99552442e-01 2.96131427e-02 -4.23992729e-03 5.67374979e+02] [-2.96123084e-02 9.99561426e-01 2.59432927e-04 -2.83114859e+01] [ 4.24575039e-03 -1.33762781e-04 9.99990978e-01 1.47152637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0607140569999 meters Centerline goodness [0,1] 0.9827215698191842 Centerline is valid? [True, True] Translation: X:567.40, Y:-28.32, Z:1.47 [[ 9.99428919e-01 3.37044908e-02 -2.41732572e-03 5.67403813e+02] [-3.37042316e-02 9.99431840e-01 1.47885310e-04 -2.83156834e+01] [ 2.42093669e-03 -6.63267493e-05 9.99997067e-01 1.47150807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0907140569999 meters Centerline goodness [0,1] 0.9837046025829939 Centerline is valid? [True, True] Translation: X:567.43, Y:-28.32, Z:1.47 [[ 9.99345998e-01 3.61331730e-02 -1.40363494e-03 5.67432730e+02] [-3.61330878e-02 9.99346983e-01 8.59653206e-05 -2.83179703e+01] [ 1.40582454e-03 -3.51914345e-05 9.99999011e-01 1.47161616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.120714057 meters Centerline goodness [0,1] 0.9848432282406002 Centerline is valid? [True, True] Translation: X:567.46, Y:-28.32, Z:1.47 [[ 9.99261145e-01 3.84281249e-02 -6.66162124e-04 5.67461838e+02] [-3.84281062e-02 9.99261367e-01 4.08398463e-05 -2.83206425e+01] [ 6.67239474e-04 -1.52103227e-05 9.99999777e-01 1.47168540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.150714057 meters Centerline goodness [0,1] 0.9844989730839909 Centerline is valid? [True, True] Translation: X:567.49, Y:-28.33, Z:1.47 [[ 9.99152672e-01 4.11561947e-02 -3.24452021e-04 5.67489484e+02] [-4.11561903e-02 9.99152725e-01 2.02250171e-05 -2.83263767e+01] [ 3.25009506e-04 -6.85467070e-06 9.99999947e-01 1.47019357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1807140569999 meters Centerline goodness [0,1] 0.9855269989615784 Centerline is valid? [True, True] Translation: X:567.52, Y:-28.33, Z:1.47 [[ 9.99134316e-01 4.16006813e-02 -4.09294402e-05 5.67518398e+02] [-4.16006812e-02 9.99134317e-01 2.75645773e-06 -2.83310895e+01] [ 4.10086788e-05 -1.05137892e-06 9.99999999e-01 1.46988592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2107140569999 meters Centerline goodness [0,1] 0.9857130543464208 Centerline is valid? [True, True] Translation: X:567.55, Y:-28.34, Z:1.47 [[ 9.99146353e-01 4.13059672e-02 6.18068908e-04 5.67545857e+02] [-4.13059521e-02 9.99146544e-01 -3.72008429e-05 -2.83401846e+01] [-6.19078030e-04 1.16391619e-05 9.99999808e-01 1.46976768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.240714057 meters Centerline goodness [0,1] 0.9839782931713935 Centerline is valid? [True, True] Translation: X:567.57, Y:-28.35, Z:1.47 [[ 9.99167060e-01 4.07708487e-02 1.70987572e-03 5.67574080e+02] [-4.07707313e-02 9.99168523e-01 -1.03456352e-04 -2.83459589e+01] [-1.71267200e-03 3.36572957e-05 9.99998533e-01 1.47053672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.270714057 meters Centerline goodness [0,1] 0.9831147293833861 Centerline is valid? [True, True] Translation: X:567.60, Y:-28.35, Z:1.47 [[ 9.99179109e-01 4.04193434e-02 2.71748373e-03 5.67602272e+02] [-4.04190457e-02 9.99182803e-01 -1.64397232e-04 -2.83518328e+01] [-2.72190783e-03 5.44241814e-05 9.99996294e-01 1.47204598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3007140569999 meters Centerline goodness [0,1] 0.9820375907731739 Centerline is valid? [True, True] Translation: X:567.63, Y:-28.36, Z:1.47 [[ 9.99197870e-01 3.97235298e-02 5.06536782e-03 5.67630083e+02] [-3.97224880e-02 9.99210704e-01 -3.06144605e-04 -2.83601686e+01] [-5.07353089e-03 1.04690025e-04 9.99987124e-01 1.47286178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3307140569999 meters Centerline goodness [0,1] 0.9829182698405987 Centerline is valid? [True, True] Translation: X:567.66, Y:-28.37, Z:1.47 [[ 9.99180600e-01 4.00379487e-02 5.92380378e-03 5.67657670e+02] [-4.00365333e-02 9.99198153e-01 -3.57378135e-04 -2.83690031e+01] [-5.93336248e-03 1.19916732e-04 9.99982390e-01 1.47346969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.360714057 meters Centerline goodness [0,1] 0.983303365014128 Centerline is valid? [True, True] Translation: X:567.69, Y:-28.37, Z:1.47 [[ 9.99204330e-01 3.93133684e-02 6.72063024e-03 5.67685737e+02] [-3.93115342e-02 9.99226921e-01 -4.04845299e-04 -2.83741625e+01] [-6.73135050e-03 1.40324890e-04 9.99977334e-01 1.47270699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.390714057 meters Centerline goodness [0,1] 0.9824737640797657 Centerline is valid? [True, True] Translation: X:567.71, Y:-28.38, Z:1.47 [[ 9.99176594e-01 3.99537459e-02 7.05916315e-03 5.67714701e+02] [-3.99517409e-02 9.99201520e-01 -4.24868788e-04 -2.83802088e+01] [-7.07050165e-03 1.42493091e-04 9.99974994e-01 1.47236429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4207140569999 meters Centerline goodness [0,1] 0.9825845694162842 Centerline is valid? [True, True] Translation: X:567.74, Y:-28.39, Z:1.47 [[ 9.99109956e-01 4.17411228e-02 6.08068708e-03 5.67742958e+02] [-4.17396711e-02 9.99128453e-01 -3.65503021e-04 -2.83901046e+01] [-6.09064399e-03 1.11371828e-04 9.99981446e-01 1.47100319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4507140569999 meters Centerline goodness [0,1] 0.9826305879366154 Centerline is valid? [True, True] Translation: X:567.77, Y:-28.40, Z:1.47 [[ 9.99047765e-01 4.32742336e-02 5.55908942e-03 5.67770570e+02] [-4.32730473e-02 9.99063227e-01 -3.33566802e-04 -2.83961386e+01] [-5.56831666e-03 9.26904290e-05 9.99984493e-01 1.47083465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4807140569999 meters Centerline goodness [0,1] 0.9841783607674454 Centerline is valid? [True, True] Translation: X:567.80, Y:-28.41, Z:1.47 [[ 9.98898918e-01 4.66365419e-02 5.09754484e-03 5.67798769e+02] [-4.66355897e-02 9.98911922e-01 -3.05554476e-04 -2.84051340e+01] [-5.10624832e-03 6.74910250e-05 9.99986961e-01 1.47048033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.510714057 meters Centerline goodness [0,1] 0.9850997254092254 Centerline is valid? [True, True] Translation: X:567.83, Y:-28.41, Z:1.47 [[ 9.98798856e-01 4.87855997e-02 4.56194291e-03 5.67827909e+02] [-4.87848605e-02 9.98809272e-01 -2.73238885e-04 -2.84097959e+01] [-4.56984100e-03 5.03569367e-05 9.99989557e-01 1.47047108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.540714057 meters Centerline goodness [0,1] 0.9858781057549374 Centerline is valid? [True, True] Translation: X:567.86, Y:-28.42, Z:1.47 [[ 9.98531263e-01 5.40527074e-02 3.69061465e-03 5.67856216e+02] [-5.40522610e-02 9.98538084e-01 -2.20677551e-04 -2.84188470e+01] [-3.69714750e-03 2.08673677e-05 9.99993165e-01 1.47049950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5707140569999 meters Centerline goodness [0,1] 0.9849112740410159 Centerline is valid? [True, True] Translation: X:567.88, Y:-28.42, Z:1.47 [[ 9.98416874e-01 5.61451573e-02 3.38620261e-03 5.67884302e+02] [-5.61447944e-02 9.98422617e-01 -2.02214194e-04 -2.84249909e+01] [-3.39221462e-03 1.17764144e-05 9.99994246e-01 1.47011321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6007140569999 meters Centerline goodness [0,1] 0.9863717415301011 Centerline is valid? [True, True] Translation: X:567.91, Y:-28.43, Z:1.47 [[ 9.98266045e-01 5.87694274e-02 3.32528705e-03 5.67912694e+02] [-5.87690928e-02 9.98271583e-01 -1.98333858e-04 -2.84315135e+01] [-3.33119553e-03 2.56585328e-06 9.99994452e-01 1.47046022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.630714057 meters Centerline goodness [0,1] 0.9865992039969514 Centerline is valid? [True, True] Translation: X:567.94, Y:-28.44, Z:1.47 [[ 9.98055115e-01 6.22012571e-02 4.12203512e-03 5.67939568e+02] [-6.22007737e-02 9.98063627e-01 -2.45492819e-04 -2.84436641e+01] [-4.12932328e-03 -1.13784101e-05 9.99991474e-01 1.47229661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.660714057 meters Centerline goodness [0,1] 0.9872660904590081 Centerline is valid? [True, True] Translation: X:567.97, Y:-28.46, Z:1.47 [[ 9.97893205e-01 6.47019937e-02 4.77533388e-03 5.67967183e+02] [-6.47013746e-02 9.97904630e-01 -2.84189818e-04 -2.84572483e+01] [-4.78371544e-03 -2.53795782e-05 9.99988558e-01 1.47343030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6907140569999 meters Centerline goodness [0,1] 0.9882746012734035 Centerline is valid? [True, True] Translation: X:567.99, Y:-28.47, Z:1.47 [[ 9.97844254e-01 6.54863668e-02 4.28726910e-03 5.67994572e+02] [-6.54858770e-02 9.97853464e-01 -2.54677424e-04 -2.84652042e+01] [-4.29474423e-03 -2.66271733e-05 9.99990777e-01 1.47498335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7207140569999 meters Centerline goodness [0,1] 0.9885300901656532 Centerline is valid? [True, True] Translation: X:568.02, Y:-28.47, Z:1.47 [[ 9.97831128e-01 6.57221031e-02 3.69403805e-03 5.68022261e+02] [-6.57217429e-02 9.97837965e-01 -2.18950474e-04 -2.84738031e+01] [-3.70044130e-03 -2.43030211e-05 9.99993153e-01 1.47499136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.750714057 meters Centerline goodness [0,1] 0.9897127981189117 Centerline is valid? [True, True] Translation: X:568.05, Y:-28.49, Z:1.48 [[ 9.97825650e-01 6.58712951e-02 2.22353330e-03 5.68049850e+02] [-6.58711653e-02 9.97828128e-01 -1.31616185e-04 -2.84902572e+01] [-2.22737380e-03 -1.51367243e-05 9.99997519e-01 1.47536115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.780714057 meters Centerline goodness [0,1] 0.990192372311828 Centerline is valid? [True, True] Translation: X:568.08, Y:-28.50, Z:1.48 [[ 9.97840597e-01 6.56693052e-02 1.29790531e-03 5.68078469e+02] [-6.56692613e-02 9.97841441e-01 -7.63924677e-05 -2.84997554e+01] [-1.30012035e-03 -9.00497747e-06 9.99999155e-01 1.47624660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8107140569999 meters Centerline goodness [0,1] 0.9914616406299411 Centerline is valid? [True, True] Translation: X:568.11, Y:-28.52, Z:1.48 [[ 9.97914892e-01 6.45397781e-02 6.96126213e-04 5.68106207e+02] [-6.45397652e-02 9.97915135e-01 -4.08793259e-05 -2.85176969e+01] [-6.97313226e-04 -4.13373428e-06 9.99999757e-01 1.47886792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8407140569999 meters Centerline goodness [0,1] 0.9924212037408432 Centerline is valid? [True, True] Translation: X:568.13, Y:-28.53, Z:1.48 [[ 9.97970682e-01 6.36715850e-02 6.69321170e-04 5.68134789e+02] [-6.36715730e-02 9.97970906e-01 -3.92492479e-05 -2.85276164e+01] [-6.70462116e-04 -3.44713301e-06 9.99999775e-01 1.48040128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.870714057 meters Centerline goodness [0,1] 0.993910789911717 Centerline is valid? [True, True] Translation: X:568.16, Y:-28.55, Z:1.48 [[ 9.98132859e-01 6.10791850e-02 3.58680063e-04 5.68161705e+02] [-6.10791814e-02 9.98132924e-01 -2.08056904e-05 -2.85468183e+01] [-3.59281174e-04 -1.14104139e-06 9.99999935e-01 1.48439215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.900714057 meters Centerline goodness [0,1] 0.9951568751316067 Centerline is valid? [True, True] Translation: X:568.19, Y:-28.56, Z:1.49 [[ 9.98239681e-01 5.93054608e-02 6.34445588e-04 5.68188995e+02] [-5.93054493e-02 9.98239882e-01 -3.69873413e-05 -2.85572534e+01] [-6.35522440e-04 -7.03848842e-07 9.99999798e-01 1.48658260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9307140569999 meters Centerline goodness [0,1] 0.9962100475849581 Centerline is valid? [True, True] Translation: X:568.22, Y:-28.57, Z:1.49 [[ 9.98343994e-01 5.75219396e-02 7.04572588e-04 5.68217058e+02] [-5.75219249e-02 9.98344242e-01 -4.11639727e-05 -2.85673083e+01] [-7.05773818e-04 5.67433474e-07 9.99999751e-01 1.48845626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9607140569999 meters Centerline goodness [0,1] 0.9964436775320384 Centerline is valid? [True, True] Translation: X:568.24, Y:-28.58, Z:1.49 [[ 9.98520230e-01 5.43805273e-02 3.28233593e-04 5.68244883e+02] [-5.43805240e-02 9.98520284e-01 -1.90841079e-05 -2.85839959e+01] [-3.28785705e-04 1.20635300e-06 9.99999946e-01 1.49033185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.990714057 meters Centerline goodness [0,1] 0.9975371013577519 Centerline is valid? [True, True] Translation: X:568.27, Y:-28.60, Z:1.49 [[ 9.98621017e-01 5.24821883e-02 -1.29746828e-03 5.68274083e+02] [-5.24821334e-02 9.98621860e-01 7.63257769e-05 -2.85996551e+01] [ 1.29968593e-03 -8.12662160e-06 9.99999155e-01 1.48956803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.020714057 meters Centerline goodness [0,1] 0.9977847633916327 Centerline is valid? [True, True] Translation: X:568.30, Y:-28.61, Z:1.49 [[ 9.98656024e-01 5.17795822e-02 -2.24046649e-03 5.68303169e+02] [-5.17794172e-02 9.98658538e-01 1.31619108e-04 -2.86081973e+01] [ 2.24427617e-03 -1.54321662e-05 9.99997481e-01 1.48915975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0507140569999 meters Centerline goodness [0,1] 0.9986305410416315 Centerline is valid? [True, True] Translation: X:568.33, Y:-28.62, Z:1.49 [[ 9.98644853e-01 5.19327919e-02 -3.38267318e-03 5.68331269e+02] [-5.19324173e-02 9.98650582e-01 1.98538460e-04 -2.86161196e+01] [ 3.38841920e-03 -2.25990163e-05 9.99994259e-01 1.48923634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0807140569999 meters Centerline goodness [0,1] 0.9987761647535449 Centerline is valid? [True, True] Translation: X:568.36, Y:-28.63, Z:1.49 [[ 9.98600729e-01 5.27676738e-02 -3.48660382e-03 5.68359968e+02] [-5.27672816e-02 9.98606816e-01 2.04442254e-04 -2.86282798e+01] [ 3.49253428e-03 -2.01775783e-05 9.99993901e-01 1.49075365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.110714057 meters Centerline goodness [0,1] 0.9990298837969505 Centerline is valid? [True, True] Translation: X:568.39, Y:-28.63, Z:1.49 [[ 9.98552609e-01 5.36699442e-02 -3.49634110e-03 5.68389415e+02] [-5.36695558e-02 9.98558730e-01 2.04888385e-04 -2.86345464e+01] [ 3.50229827e-03 -1.69447574e-05 9.99993867e-01 1.49208281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.140714057 meters Centerline goodness [0,1] 0.9993504452592981 Centerline is valid? [True, True] Translation: X:568.42, Y:-28.65, Z:1.49 [[ 9.98489743e-01 5.48874350e-02 -2.36704807e-03 5.68417587e+02] [-5.48872605e-02 9.98492548e-01 1.38698775e-04 -2.86450825e+01] [ 2.37109268e-03 -8.56852081e-06 9.99997189e-01 1.49447228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1707140569999 meters Centerline goodness [0,1] 0.9991631098836723 Centerline is valid? [True, True] Translation: X:568.45, Y:-28.65, Z:1.50 [[ 9.98479957e-01 5.50920821e-02 -1.62409648e-03 5.68446406e+02] [-5.50920004e-02 9.98481278e-01 9.50619144e-05 -2.86513666e+01] [ 1.62686708e-03 -5.44269262e-06 9.99998677e-01 1.49552261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2007140569999 meters Centerline goodness [0,1] 0.9993937113229637 Centerline is valid? [True, True] Translation: X:568.48, Y:-28.66, Z:1.50 [[ 9.98586821e-01 5.31439856e-02 -2.80107795e-04 5.68476529e+02] [-5.31439830e-02 9.98586860e-01 1.63837732e-05 -2.86617953e+01] [ 2.80582662e-04 -1.47457610e-06 9.99999961e-01 1.49647893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2307140569999 meters Centerline goodness [0,1] 0.9990592858934694 Centerline is valid? [True, True] Translation: X:568.51, Y:-28.67, Z:1.50 [[ 9.98680561e-01 5.13519255e-02 3.42027091e-04 5.68506307e+02] [-5.13519216e-02 9.98680619e-01 -2.00804191e-05 -2.86687761e+01] [-3.42606996e-04 2.49017587e-06 9.99999941e-01 1.49651059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.260714057 meters Centerline goodness [0,1] 0.9990183177726257 Centerline is valid? [True, True] Translation: X:568.54, Y:-28.68, Z:1.50 [[ 9.98778771e-01 4.94047369e-02 3.72766571e-04 5.68537625e+02] [-4.94047321e-02 9.98778840e-01 -2.19600710e-05 -2.86758495e+01] [-3.73396295e-04 3.51682019e-06 9.99999930e-01 1.49662557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.290714057 meters Centerline goodness [0,1] 0.9992058350226755 Centerline is valid? [True, True] Translation: X:568.57, Y:-28.69, Z:1.50 [[ 9.98928011e-01 4.62894014e-02 3.46960984e-04 5.68569571e+02] [-4.62893968e-02 9.98928071e-01 -2.13683364e-05 -2.86877791e+01] [-3.47578194e-04 5.28481509e-06 9.99999940e-01 1.49523414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3207140569999 meters Centerline goodness [0,1] 0.9990799213750994 Centerline is valid? [True, True] Translation: X:568.60, Y:-28.69, Z:1.49 [[ 9.98990464e-01 4.49223333e-02 -1.90218709e-04 5.68599986e+02] [-4.49223321e-02 9.98990482e-01 1.06789934e-05 -2.86945580e+01] [ 1.90506405e-04 -2.12314458e-06 9.99999982e-01 1.49490485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3507140569999 meters Centerline goodness [0,1] 0.9989543249121633 Centerline is valid? [True, True] Translation: X:568.63, Y:-28.70, Z:1.49 [[ 9.99100067e-01 4.24145285e-02 -2.50890786e-04 5.68631382e+02] [-4.24145263e-02 9.99100099e-01 1.38787370e-05 -2.87035878e+01] [ 2.51253669e-04 -3.22483327e-06 9.99999968e-01 1.49415888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.380714057 meters Centerline goodness [0,1] 0.9989339242041012 Centerline is valid? [True, True] Translation: X:568.66, Y:-28.71, Z:1.49 [[ 9.99161095e-01 4.09521611e-02 -1.65797506e-04 5.68663576e+02] [-4.09521602e-02 9.99161108e-01 8.86754596e-06 -2.87079245e+01] [ 1.66021565e-04 -2.07034090e-06 9.99999986e-01 1.49438394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.410714057 meters Centerline goodness [0,1] 0.9991606689468494 Centerline is valid? [True, True] Translation: X:568.70, Y:-28.72, Z:1.50 [[ 9.99286679e-01 3.77597380e-02 5.79194380e-04 5.68695190e+02] [-3.77597237e-02 9.99286847e-01 -3.55361876e-05 -2.87163277e+01] [-5.80123163e-04 1.36406192e-05 9.99999832e-01 1.49576329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4407140569999 meters Centerline goodness [0,1] 0.9992681192756472 Centerline is valid? [True, True] Translation: X:568.73, Y:-28.72, Z:1.50 [[ 9.99344953e-01 3.61687698e-02 1.21821954e-03 5.68725731e+02] [-3.61687066e-02 9.99345696e-01 -7.38724703e-05 -2.87226529e+01] [-1.22009433e-03 2.97626554e-05 9.99999255e-01 1.49676551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4707140569999 meters Centerline goodness [0,1] 0.9995817562056923 Centerline is valid? [True, True] Translation: X:568.76, Y:-28.73, Z:1.50 [[ 9.99484082e-01 3.20714458e-02 1.72954090e-03 5.68756447e+02] [-3.20713123e-02 9.99485578e-01 -1.04869370e-04 -2.87324216e+01] [-1.73201450e-03 4.93466192e-05 9.99998499e-01 1.49815184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.500714057 meters Centerline goodness [0,1] 0.9990553164689829 Centerline is valid? [True, True] Translation: X:568.79, Y:-28.73, Z:1.50 [[ 9.99561477e-01 2.95528727e-02 1.86561756e-03 5.68788829e+02] [-2.95527140e-02 9.99563217e-01 -1.12578407e-04 -2.87349298e+01] [-1.86812971e-03 5.73949764e-05 9.99998253e-01 1.49728912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.530714057 meters Centerline goodness [0,1] 0.9993682348481657 Centerline is valid? [True, True] Translation: X:568.82, Y:-28.74, Z:1.50 [[ 9.99725152e-01 2.34325952e-02 7.30667186e-04 5.68818602e+02] [-2.34325693e-02 9.99725419e-01 -4.40640799e-05 -2.87448743e+01] [-7.31499094e-04 2.69305595e-05 9.99999732e-01 1.49680927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5607140569999 meters Centerline goodness [0,1] 0.9995991561181434 Centerline is valid? [True, True] Translation: X:568.85, Y:-28.74, Z:1.50 [[ 9.99792773e-01 2.03569002e-02 8.32048017e-05 5.68849395e+02] [-2.03568998e-02 9.99792777e-01 -5.22621339e-06 -2.87448170e+01] [-8.32939492e-05 3.53133857e-06 9.99999997e-01 1.49573071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5907140569999 meters Centerline goodness [0,1] 0.9994941937659382 Centerline is valid? [True, True] Translation: X:568.88, Y:-28.75, Z:1.50 [[ 9.99888988e-01 1.47697236e-02 -1.96664825e-03 5.68878202e+02] [-1.47695191e-02 9.99890918e-01 1.18463129e-04 -2.87546677e+01] [ 1.96818339e-03 -8.94035291e-05 9.99998059e-01 1.49509153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.620714057 meters Centerline goodness [0,1] 0.9996203172460344 Centerline is valid? [True, True] Translation: X:568.91, Y:-28.75, Z:1.49 [[ 9.99917573e-01 1.26781889e-02 -2.02755832e-03 5.68908497e+02] [-1.26779670e-02 9.99919624e-01 1.22260199e-04 -2.87497410e+01] [ 2.02894539e-03 -9.65448036e-05 9.99997937e-01 1.49487867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.650714057 meters Centerline goodness [0,1] 0.9996207652115288 Centerline is valid? [True, True] Translation: X:568.94, Y:-28.75, Z:1.50 [[ 9.99936317e-01 1.10941050e-02 -2.06934117e-03 5.68938645e+02] [-1.10938705e-02 9.99938453e-01 1.24746280e-04 -2.87512791e+01] [ 2.07059775e-03 -1.01781333e-04 9.99997851e-01 1.49566829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6807140569999 meters Centerline goodness [0,1] 0.9996627460899625 Centerline is valid? [True, True] Translation: X:568.97, Y:-28.75, Z:1.50 [[ 9.99943517e-01 1.03349851e-02 -2.47998742e-03 5.68968930e+02] [-1.03346459e-02 9.99946585e-01 1.49560687e-04 -2.87511627e+01] [ 2.48140066e-03 -1.23922447e-04 9.99996914e-01 1.49747715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7107140569999 meters Centerline goodness [0,1] 0.999704641350211 Centerline is valid? [True, True] Translation: X:569.00, Y:-28.76, Z:1.50 [[ 9.99937615e-01 1.08987222e-02 -2.44607383e-03 5.68997812e+02] [-1.08983937e-02 9.99940600e-01 1.47609572e-04 -2.87591413e+01] [ 2.44753729e-03 -1.20942088e-04 9.99996997e-01 1.49841302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.740714057 meters Centerline goodness [0,1] 0.999704641350211 Centerline is valid? [True, True] Translation: X:569.03, Y:-28.76, Z:1.50 [[ 9.99937615e-01 1.08987220e-02 -2.44607799e-03 5.69027794e+02] [-1.08983936e-02 9.99940600e-01 1.47540696e-04 -2.87609497e+01] [ 2.44754069e-03 -1.20873171e-04 9.99996997e-01 1.49853099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.770714057 meters Centerline goodness [0,1] 0.9996419167983149 Centerline is valid? [True, True] Translation: X:569.06, Y:-28.75, Z:1.50 [[ 9.99906674e-01 1.35332049e-02 -1.86946210e-03 5.69058243e+02] [-1.35330176e-02 9.99908418e-01 1.12829181e-04 -2.87478760e+01] [ 1.87081783e-03 -8.75191875e-05 9.99998246e-01 1.49962658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8007140569999 meters Centerline goodness [0,1] 0.9996207492309637 Centerline is valid? [True, True] Translation: X:569.09, Y:-28.74, Z:1.50 [[ 9.99883802e-01 1.51519291e-02 -1.67360483e-03 5.69089482e+02] [-1.51517815e-02 9.99885200e-01 1.00851133e-04 -2.87444199e+01] [ 1.67494079e-03 -7.54813197e-05 9.99998594e-01 1.50047745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8307140569999 meters Centerline goodness [0,1] 0.9997264597580221 Centerline is valid? [True, True] Translation: X:569.12, Y:-28.74, Z:1.50 [[ 9.99807817e-01 1.95068308e-02 -1.95282780e-03 5.69120244e+02] [-1.95066379e-02 9.99809721e-01 1.17759143e-04 -2.87371241e+01] [ 1.95475332e-03 -7.96434070e-05 9.99998086e-01 1.50105034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.860714057 meters Centerline goodness [0,1] 0.9998107414728519 Centerline is valid? [True, True] Translation: X:569.15, Y:-28.73, Z:1.50 [[ 9.99752866e-01 2.21082611e-02 -2.33062403e-03 5.69151516e+02] [-2.21079935e-02 9.99755579e-01 1.40512929e-04 -2.87341103e+01] [ 2.33316087e-03 -8.89527825e-05 9.99997274e-01 1.50116223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.890714057 meters Centerline goodness [0,1] 0.9996841706320798 Centerline is valid? [True, True] Translation: X:569.18, Y:-28.73, Z:1.50 [[ 9.99643641e-01 2.66198076e-02 -1.99434698e-03 5.69182442e+02] [-2.66196206e-02 9.99645628e-01 1.20297989e-04 -2.87271906e+01] [ 1.99684255e-03 -6.71663598e-05 9.99998004e-01 1.50169360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9207140569999 meters Centerline goodness [0,1] 0.9997052631578948 Centerline is valid? [True, True] Translation: X:569.21, Y:-28.73, Z:1.50 [[ 9.99585157e-01 2.87354743e-02 -1.94575204e-03 5.69212699e+02] [-2.87353003e-02 9.99587049e-01 1.17332159e-04 -2.87258353e+01] [ 1.94832014e-03 -6.13717150e-05 9.99998100e-01 1.50178446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9507140569999 meters Centerline goodness [0,1] 0.9992838939320542 Centerline is valid? [True, True] Translation: X:569.24, Y:-28.72, Z:1.50 [[ 9.99526213e-01 3.07086811e-02 -2.07977161e-03 5.69243862e+02] [-3.07084864e-02 9.99528375e-01 1.25487210e-04 -2.87210737e+01] [ 2.08264429e-03 -6.15611178e-05 9.99997829e-01 1.50086583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9807140569999 meters Centerline goodness [0,1] 0.9994106751978448 Centerline is valid? [True, True] Translation: X:569.27, Y:-28.72, Z:1.50 [[ 9.99524993e-01 3.07048926e-02 -2.64554263e-03 5.69274466e+02] [-3.07045775e-02 9.99528491e-01 1.59624144e-04 -2.87203561e+01] [ 2.64919647e-03 -7.83180529e-05 9.99996488e-01 1.50018941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.010714057 meters Centerline goodness [0,1] 0.9990948702296504 Centerline is valid? [True, True] Translation: X:569.30, Y:-28.72, Z:1.50 [[ 9.99533067e-01 3.03589838e-02 -3.46136187e-03 5.69304424e+02] [-3.03584424e-02 9.99539054e-01 2.08856302e-04 -2.87178020e+01] [ 3.46610704e-03 -1.03677225e-04 9.99993988e-01 1.49918604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.040714057 meters Centerline goodness [0,1] 0.9992213640859445 Centerline is valid? [True, True] Translation: X:569.33, Y:-28.72, Z:1.50 [[ 9.99527715e-01 3.04091499e-02 -4.43064802e-03 5.69334295e+02] [-3.04082638e-02 9.99537526e-01 2.67236141e-04 -2.87160509e+01] [ 4.43672538e-03 -1.32381616e-04 9.99990149e-01 1.49870641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0707140569999 meters Centerline goodness [0,1] 0.9986079767152469 Centerline is valid? [True, True] Translation: X:569.36, Y:-28.71, Z:1.50 [[ 9.99463182e-01 3.22716997e-02 -5.64669231e-03 5.69363871e+02] [-3.22702915e-02 9.99479121e-01 3.40343159e-04 -2.87124494e+01] [ 5.65473451e-03 -1.57940050e-04 9.99983999e-01 1.49781246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1007140569999 meters Centerline goodness [0,1] 0.9987778409928988 Centerline is valid? [True, True] Translation: X:569.39, Y:-28.71, Z:1.50 [[ 9.99394789e-01 3.42819645e-02 -5.89939597e-03 5.69392698e+02] [-3.42804639e-02 9.99412189e-01 3.55322613e-04 -2.87125163e+01] [ 5.90810940e-03 -1.52873537e-04 9.99982535e-01 1.49773564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.130714057 meters Centerline goodness [0,1] 0.9988176674267376 Centerline is valid? [True, True] Translation: X:569.42, Y:-28.71, Z:1.50 [[ 9.99319068e-01 3.64896880e-02 -5.46830176e-03 5.69422165e+02] [-3.64884337e-02 9.99334021e-01 3.29007035e-04 -2.87106713e+01] [ 5.47666535e-03 -1.29253237e-04 9.99984995e-01 1.49790071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.160714057 meters Centerline goodness [0,1] 0.999198971310525 Centerline is valid? [True, True] Translation: X:569.45, Y:-28.71, Z:1.50 [[ 9.99128668e-01 4.13718299e-02 -5.50233683e-03 5.69452392e+02] [-4.13706369e-02 9.99143814e-01 3.30516322e-04 -2.87067654e+01] [ 5.51129987e-03 -1.02593154e-04 9.99984807e-01 1.49827236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1907140569999 meters Centerline goodness [0,1] 0.998923641889325 Centerline is valid? [True, True] Translation: X:569.48, Y:-28.71, Z:1.50 [[ 9.99029881e-01 4.36149324e-02 -6.08564124e-03 5.69482170e+02] [-4.36135174e-02 9.99048411e-01 3.65096445e-04 -2.87057049e+01] [ 6.09577387e-03 -9.93260383e-05 9.99981416e-01 1.49798480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2207140569999 meters Centerline goodness [0,1] 0.9990507530692317 Centerline is valid? [True, True] Translation: X:569.51, Y:-28.70, Z:1.50 [[ 9.98915250e-01 4.59470035e-02 -7.56276048e-03 5.69511162e+02] [-4.59448883e-02 9.98943873e-01 4.53276671e-04 -2.87036365e+01] [ 7.57559995e-03 -1.05314794e-04 9.99971299e-01 1.49765933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.250714057 meters Centerline goodness [0,1] 0.9989666371420136 Centerline is valid? [True, True] Translation: X:569.54, Y:-28.71, Z:1.50 [[ 9.98893805e-01 4.63447536e-02 -7.95796481e-03 5.69539425e+02] [-4.63424294e-02 9.98925499e-01 4.76304972e-04 -2.87052008e+01] [ 7.97148820e-03 -1.06986664e-04 9.99968221e-01 1.49714436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.280714057 meters Centerline goodness [0,1] 0.9991973809272362 Centerline is valid? [True, True] Translation: X:569.57, Y:-28.71, Z:1.50 [[ 9.98953539e-01 4.48613270e-02 -8.90434384e-03 5.69567654e+02] [-4.48583657e-02 9.98993215e-01 5.32113852e-04 -2.87074829e+01] [ 8.91925041e-03 -1.32122704e-04 9.99960214e-01 1.49646702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3107140569999 meters Centerline goodness [0,1] 0.9987754154086523 Centerline is valid? [True, True] Translation: X:569.60, Y:-28.71, Z:1.50 [[ 9.99001672e-01 4.36740035e-02 -9.39363160e-03 5.69595220e+02] [-4.36706633e-02 9.99045824e-01 5.60500706e-04 -2.87098018e+01] [ 9.40914773e-03 -1.49715020e-04 9.99955722e-01 1.49612926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3407140569999 meters Centerline goodness [0,1] 0.9988385598141696 Centerline is valid? [True, True] Translation: X:569.62, Y:-28.71, Z:1.50 [[ 9.99072402e-01 4.21543062e-02 -8.79493400e-03 5.69623818e+02] [-4.21513252e-02 9.99111100e-01 5.24109194e-04 -2.87129550e+01] [ 8.80920964e-03 -1.52904908e-04 9.99961186e-01 1.49776319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.370714057 meters Centerline goodness [0,1] 0.9988818801291112 Centerline is valid? [True, True] Translation: X:569.65, Y:-28.71, Z:1.50 [[ 9.99096392e-01 4.17387114e-02 -8.01744848e-03 5.69652496e+02] [-4.17362252e-02 9.99128550e-01 4.77236778e-04 -2.87147848e+01] [ 8.03038092e-03 -1.42187508e-04 9.99967746e-01 1.49913778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.400714057 meters Centerline goodness [0,1] 0.9990299656270428 Centerline is valid? [True, True] Translation: X:569.68, Y:-28.72, Z:1.50 [[ 9.99099616e-01 4.18418561e-02 -7.01542271e-03 5.69680820e+02] [-4.18399583e-02 9.99124238e-01 4.17133204e-04 -2.87170637e+01] [ 7.02673250e-03 -1.23232631e-04 9.99975305e-01 1.50053397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4307140569999 meters Centerline goodness [0,1] 0.9990514333895447 Centerline is valid? [True, True] Translation: X:569.71, Y:-28.72, Z:1.50 [[ 9.99070118e-01 4.28290223e-02 -4.95717473e-03 5.69709560e+02] [-4.28280882e-02 9.99082413e-01 2.94484313e-04 -2.87198121e+01] [ 4.96523856e-03 -8.19041608e-05 9.99987670e-01 1.50288720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4607140569999 meters Centerline goodness [0,1] 0.999052811046328 Centerline is valid? [True, True] Translation: X:569.74, Y:-28.72, Z:1.50 [[ 9.99053478e-01 4.33169672e-02 -3.97343987e-03 5.69739556e+02] [-4.33163718e-02 9.99061378e-01 2.35822123e-04 -2.87221873e+01] [ 3.97992541e-03 -6.34839128e-05 9.99992078e-01 1.50368826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.490714057 meters Centerline goodness [0,1] 0.9992026187678361 Centerline is valid? [True, True] Translation: X:569.77, Y:-28.73, Z:1.50 [[ 9.99040584e-01 4.36141232e-02 -3.96479425e-03 5.69769360e+02] [-4.36135333e-02 9.99048449e-01 2.35170458e-04 -2.87252160e+01] [ 3.97127830e-03 -6.20261457e-05 9.99992113e-01 1.50436970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.520714057 meters Centerline goodness [0,1] 0.9995786191349051 Centerline is valid? [True, True] Translation: X:569.80, Y:-28.73, Z:1.50 [[ 9.99047245e-01 4.34286678e-02 -4.30734802e-03 5.69799334e+02] [-4.34279706e-02 9.99056528e-01 2.55325564e-04 -2.87270385e+01] [ 4.31437260e-03 -6.80229182e-05 9.99990691e-01 1.50396781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5507140569999 meters Centerline goodness [0,1] 0.9993899360484685 Centerline is valid? [True, True] Translation: X:569.83, Y:-28.73, Z:1.50 [[ 9.99076420e-01 4.27256204e-02 -4.56376768e-03 5.69827724e+02] [-4.27248312e-02 9.99086841e-01 2.70341258e-04 -2.87334455e+01] [ 4.57115073e-03 -7.51053728e-05 9.99989549e-01 1.50288876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5807140569999 meters Centerline goodness [0,1] 0.9991789819376026 Centerline is valid? [True, True] Translation: X:569.86, Y:-28.74, Z:1.50 [[ 9.99121799e-01 4.16102329e-02 -4.92139520e-03 5.69856737e+02] [-4.16093029e-02 9.99133915e-01 2.91248131e-04 -2.87370120e+01] [ 4.92925176e-03 -8.62165327e-05 9.99987847e-01 1.50309381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.610714057 meters Centerline goodness [0,1] 0.9994312077355748 Centerline is valid? [True, True] Translation: X:569.89, Y:-28.74, Z:1.50 [[ 9.99151333e-01 4.08912733e-02 -4.95151384e-03 5.69886013e+02] [-4.08903242e-02 9.99163598e-01 2.92792657e-04 -2.87386153e+01] [ 4.95934505e-03 -9.00751669e-05 9.99987698e-01 1.50305287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.640714057 meters Centerline goodness [0,1] 0.9993256343252128 Centerline is valid? [True, True] Translation: X:569.92, Y:-28.74, Z:1.50 [[ 9.99200556e-01 3.96751959e-02 -4.91207218e-03 5.69915869e+02] [-3.96742481e-02 9.99212625e-01 2.90285012e-04 -2.87434623e+01] [ 4.91972165e-03 -9.51701754e-05 9.99987894e-01 1.50279727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6707140569999 meters Centerline goodness [0,1] 0.9993256911665542 Centerline is valid? [True, True] Translation: X:569.95, Y:-28.75, Z:1.50 [[ 9.99160775e-01 4.05881229e-02 -5.50915471e-03 5.69945095e+02] [-4.05869457e-02 9.99175957e-01 3.25356339e-04 -2.87473581e+01] [ 5.51782053e-03 -1.01483529e-04 9.99984772e-01 1.50257292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7007140569999 meters Centerline goodness [0,1] 0.9993681417047536 Centerline is valid? [True, True] Translation: X:569.97, Y:-28.75, Z:1.50 [[ 9.99103253e-01 4.20063083e-02 -5.30661762e-03 5.69974307e+02] [-4.20052371e-02 9.99117341e-01 3.13210816e-04 -2.87493200e+01] [ 5.31509052e-03 -9.00242142e-05 9.99985871e-01 1.50275751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7307140569999 meters Centerline goodness [0,1] 0.9994512915752153 Centerline is valid? [True, True] Translation: X:570.00, Y:-28.75, Z:1.50 [[ 9.98897364e-01 4.67080200e-02 -4.73473626e-03 5.70003630e+02] [-4.67072208e-02 9.98908583e-01 2.79302582e-04 -2.87517144e+01] [ 4.74261436e-03 -5.78482407e-05 9.99988752e-01 1.50261991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.760714057 meters Centerline goodness [0,1] 0.9994736288030319 Centerline is valid? [True, True] Translation: X:570.03, Y:-28.75, Z:1.50 [[ 9.98742707e-01 4.99249476e-02 -4.52826261e-03 5.70033044e+02] [-4.99242503e-02 9.98752971e-01 2.66968218e-04 -2.87537312e+01] [ 4.53594411e-03 -4.05624446e-05 9.99989712e-01 1.50283773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.790714057 meters Centerline goodness [0,1] 0.9993917019759198 Centerline is valid? [True, True] Translation: X:570.06, Y:-28.76, Z:1.50 [[ 9.98374479e-01 5.68332913e-02 -4.28678883e-03 5.70062561e+02] [-5.68327306e-02 9.98383682e-01 2.52587300e-04 -2.87550238e+01] [ 4.29421538e-03 -8.54679916e-06 9.99990780e-01 1.50288444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8207140569999 meters Centerline goodness [0,1] 0.9993531289777351 Centerline is valid? [True, True] Translation: X:570.09, Y:-28.76, Z:1.50 [[ 9.98178867e-01 6.02007189e-02 -3.84998248e-03 5.70092077e+02] [-6.02002922e-02 9.98186292e-01 2.26727424e-04 -2.87563968e+01] [ 3.85664889e-03 5.45554680e-06 9.99992563e-01 1.50274999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8507140569999 meters Centerline goodness [0,1] 0.9991036624768098 Centerline is valid? [True, True] Translation: X:570.12, Y:-28.76, Z:1.50 [[ 9.97835152e-01 6.56948489e-02 -3.03245606e-03 5.70120994e+02] [-6.56946098e-02 9.97839760e-01 1.78504749e-04 -2.87587545e+01] [ 3.03763207e-03 2.10977044e-05 9.99995386e-01 1.50307021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.880714057 meters Centerline goodness [0,1] 0.9995809675459364 Centerline is valid? [True, True] Translation: X:570.15, Y:-28.76, Z:1.50 [[ 9.97713505e-01 6.75533571e-02 -2.07492767e-03 5.70150524e+02] [-6.75532492e-02 9.97715663e-01 1.22111126e-04 -2.87621450e+01] [ 2.07843686e-03 1.83361870e-05 9.99997840e-01 1.50343473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.910714057 meters Centerline goodness [0,1] 0.9995612385608624 Centerline is valid? [True, True] Translation: X:570.18, Y:-28.77, Z:1.50 [[ 9.97656285e-01 6.84030416e-02 -1.72076513e-03 5.70180539e+02] [-6.84029689e-02 9.97657769e-01 1.01152923e-04 -2.87696793e+01] [ 1.72365387e-03 1.67895940e-05 9.99998514e-01 1.50336007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9407140569999 meters Centerline goodness [0,1] 0.9994579606813018 Centerline is valid? [True, True] Translation: X:570.21, Y:-28.78, Z:1.50 [[ 9.97711575e-01 6.75930571e-02 -1.67063262e-03 5.70211341e+02] [-6.75929876e-02 9.97712974e-01 9.81258289e-05 -2.87755848e+01] [ 1.67344447e-03 1.50217746e-05 9.99998600e-01 1.50313752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9707140569999 meters Centerline goodness [0,1] 0.9995183447813704 Centerline is valid? [True, True] Translation: X:570.24, Y:-28.79, Z:1.50 [[ 9.97993966e-01 6.32752074e-02 -2.07193729e-03 5.70241883e+02] [-6.32750917e-02 9.97996116e-01 1.21445425e-04 -2.87872891e+01] [ 2.07546986e-03 9.90022055e-06 9.99997846e-01 1.50196691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.000714057 meters Centerline goodness [0,1] 0.999329702555509 Centerline is valid? [True, True] Translation: X:570.27, Y:-28.79, Z:1.50 [[ 9.98154008e-01 6.06920589e-02 -2.24719387e-03 5.70273021e+02] [-6.06919141e-02 9.98156538e-01 1.32636058e-04 -2.87945837e+01] [ 2.25110121e-03 3.99528483e-06 9.99997466e-01 1.50134370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.030714057 meters Centerline goodness [0,1] 0.9993311456221391 Centerline is valid? [True, True] Translation: X:570.31, Y:-28.80, Z:1.50 [[ 9.98322741e-01 5.78557980e-02 -2.10047983e-03 5.70305098e+02] [-5.78556659e-02 9.98324950e-01 1.23658685e-04 -2.88022300e+01] [ 2.10411579e-03 -1.92661850e-06 9.99997786e-01 1.50041929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0607140569999 meters Centerline goodness [0,1] 0.999203387698629 Centerline is valid? [True, True] Translation: X:570.34, Y:-28.82, Z:1.50 [[ 9.98743585e-01 5.00688774e-02 -2.08781821e-03 5.70335072e+02] [-5.00687287e-02 9.98745767e-01 1.23454272e-04 -2.88179211e+01] [ 2.09138081e-03 -1.87647593e-05 9.99997813e-01 1.49994228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0907140569999 meters Centerline goodness [0,1] 0.9994984535651592 Centerline is valid? [True, True] Translation: X:570.37, Y:-28.83, Z:1.50 [[ 9.99158510e-01 4.09729770e-02 -1.86728466e-03 5.70365782e+02] [-4.09728409e-02 9.99160254e-01 1.11131616e-04 -2.88299846e+01] [ 1.87027001e-03 -3.45301424e-05 9.99998250e-01 1.50043710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.120714057 meters Centerline goodness [0,1] 0.9993741786094249 Centerline is valid? [True, True] Translation: X:570.40, Y:-28.84, Z:1.50 [[ 9.99334305e-01 3.64652275e-02 -1.11073233e-03 5.70396343e+02] [-3.64651768e-02 9.99334922e-01 6.58446740e-05 -2.88425016e+01] [ 1.11239465e-03 -2.52977907e-05 9.99999381e-01 1.50117080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.150714057 meters Centerline goodness [0,1] 0.999415522064042 Centerline is valid? [True, True] Translation: X:570.43, Y:-28.85, Z:1.50 [[ 9.99477493e-01 3.23190071e-02 -4.72313830e-04 5.70427702e+02] [-3.23189977e-02 9.99477604e-01 2.74571537e-05 -2.88475143e+01] [ 4.72954483e-04 -1.21780975e-05 9.99999888e-01 1.50096214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1807140569999 meters Centerline goodness [0,1] 0.9993509756301817 Centerline is valid? [True, True] Translation: X:570.46, Y:-28.86, Z:1.50 [[ 9.99720310e-01 2.36461488e-02 4.02432432e-04 5.70456070e+02] [-2.36461411e-02 9.99720391e-01 -2.40566000e-05 -2.88641911e+01] [-4.02888754e-04 1.45338976e-05 9.99999919e-01 1.50253224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2107140569999 meters Centerline goodness [0,1] 0.9993468596591029 Centerline is valid? [True, True] Translation: X:570.49, Y:-28.87, Z:1.50 [[ 9.99853442e-01 1.70591909e-02 1.44138012e-03 5.70487103e+02] [-1.70590841e-02 9.99854480e-01 -8.63846639e-05 -2.88651053e+01] [-1.44264402e-03 6.17833789e-05 9.99998957e-01 1.50094045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.240714057 meters Centerline goodness [0,1] 0.9993053509030438 Centerline is valid? [True, True] Translation: X:570.52, Y:-28.87, Z:1.50 [[ 9.99893571e-01 1.45657914e-02 8.27037338e-04 5.70518673e+02] [-1.45657545e-02 9.99893912e-01 -5.06245142e-05 -2.88689812e+01] [-8.27686986e-04 3.85727035e-05 9.99999657e-01 1.50069630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.270714057 meters Centerline goodness [0,1] 0.999239977199316 Centerline is valid? [True, True] Translation: X:570.55, Y:-28.87, Z:1.50 [[ 9.99945872e-01 1.03765148e-02 7.61914419e-04 5.70549511e+02] [-1.03764828e-02 9.99946162e-01 -4.59055433e-05 -2.88738044e+01] [-7.62349739e-04 3.79970667e-05 9.99999709e-01 1.50003199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3007140569999 meters Centerline goodness [0,1] 0.9990909475286457 Centerline is valid? [True, True] Translation: X:570.58, Y:-28.87, Z:1.50 [[ 9.99960501e-01 8.84710001e-03 8.51146773e-04 5.70581302e+02] [-8.84705868e-03 9.99960863e-01 -5.23120992e-05 -2.88744098e+01] [-8.51576272e-04 4.47798875e-05 9.99999636e-01 1.49968690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3307140569999 meters Centerline goodness [0,1] 0.9992177589852008 Centerline is valid? [True, True] Translation: X:570.61, Y:-28.88, Z:1.50 [[ 9.99967052e-01 8.09496408e-03 6.05643091e-04 5.70612543e+02] [-8.09494305e-03 9.99967235e-01 -3.71714964e-05 -2.88806470e+01] [-6.05924149e-04 3.22676254e-05 9.99999816e-01 1.50027162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.360714057 meters Centerline goodness [0,1] 0.9991776142378171 Centerline is valid? [True, True] Translation: X:570.64, Y:-28.88, Z:1.50 [[ 9.99976566e-01 6.84285309e-03 -2.05078786e-04 5.70643581e+02] [-6.84285073e-03 9.99976587e-01 1.22168504e-05 -2.88815827e+01] [ 2.05157582e-04 -1.08132406e-05 9.99999979e-01 1.50060375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.390714057 meters Centerline goodness [0,1] 0.9993873196290115 Centerline is valid? [True, True] Translation: X:570.67, Y:-28.88, Z:1.50 [[ 9.99976011e-01 6.90314598e-03 5.69846611e-04 5.70674231e+02] [-6.90312738e-03 9.99976173e-01 -3.45981608e-05 -2.88818910e+01] [-5.70071870e-04 3.06636070e-05 9.99999837e-01 1.50114162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4207140569999 meters Centerline goodness [0,1] 0.9994505610616851 Centerline is valid? [True, True] Translation: X:570.71, Y:-28.88, Z:1.50 [[ 9.99971818e-01 7.45254442e-03 9.07250034e-04 5.70705614e+02] [-7.45249744e-03 9.99972228e-01 -5.51441575e-05 -2.88802759e+01] [-9.07635803e-04 4.83813249e-05 9.99999587e-01 1.50160130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4507140569999 meters Centerline goodness [0,1] 0.999556672085119 Centerline is valid? [True, True] Translation: X:570.74, Y:-28.88, Z:1.50 [[ 9.99960861e-01 8.65136015e-03 1.85238177e-03 5.70736309e+02] [-8.65116635e-03 9.99962572e-01 -1.12611192e-04 -2.88836088e+01] [-1.85328668e-03 9.65815216e-05 9.99998278e-01 1.50268138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4807140569999 meters Centerline goodness [0,1] 0.9993472447411088 Centerline is valid? [True, True] Translation: X:570.77, Y:-28.88, Z:1.50 [[ 9.99937792e-01 1.07496355e-02 2.97631286e-03 5.70768506e+02] [-1.07491444e-02 9.99942210e-01 -1.80969876e-04 -2.88790887e+01] [-2.97808622e-03 1.48965801e-04 9.99995554e-01 1.50293456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.510714057 meters Centerline goodness [0,1] 0.9994926433282598 Centerline is valid? [True, True] Translation: X:570.80, Y:-28.88, Z:1.50 [[ 9.99926392e-01 1.17734576e-02 2.93185412e-03 5.70801344e+02] [-1.17729842e-02 9.99930680e-01 -1.78665805e-04 -2.88768324e+01] [-2.93375439e-03 1.44135982e-04 9.99995686e-01 1.50274806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.540714057 meters Centerline goodness [0,1] 0.9998733990251725 Centerline is valid? [True, True] Translation: X:570.83, Y:-28.87, Z:1.50 [[ 9.99900221e-01 1.39014454e-02 2.50961944e-03 5.70833221e+02] [-1.39011054e-02 9.99903363e-01 -1.52869453e-04 -2.88713574e+01] [-2.51150202e-03 1.17967715e-04 9.99996839e-01 1.50181476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5707140569999 meters Centerline goodness [0,1] 0.9995988429786965 Centerline is valid? [True, True] Translation: X:570.86, Y:-28.87, Z:1.50 [[ 9.99886971e-01 1.48473863e-02 2.36656405e-03 5.70864929e+02] [-1.48470832e-02 9.99889765e-01 -1.45580473e-04 -2.88706752e+01] [-2.36846466e-03 1.10427445e-04 9.99997189e-01 1.50163360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6007140569999 meters Centerline goodness [0,1] 0.999661619152356 Centerline is valid? [True, True] Translation: X:570.90, Y:-28.87, Z:1.50 [[ 9.99850998e-01 1.71134847e-02 2.26054200e-03 5.70895855e+02] [-1.71132155e-02 9.99853549e-01 -1.38346647e-04 -2.88670696e+01] [-2.26257853e-03 9.96408902e-05 9.99997435e-01 1.50194111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.630714057 meters Centerline goodness [0,1] 0.999661619152356 Centerline is valid? [True, True] Translation: X:570.93, Y:-28.87, Z:1.50 [[ 9.99846837e-01 1.73548983e-02 2.26045890e-03 5.70927487e+02] [-1.73546268e-02 9.99849387e-01 -1.39702849e-04 -2.88690411e+01] [-2.26254297e-03 1.00452031e-04 9.99997435e-01 1.50206560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.660714057 meters Centerline goodness [0,1] 0.9997253791879673 Centerline is valid? [True, True] Translation: X:570.96, Y:-28.87, Z:1.50 [[ 9.99827523e-01 1.84056717e-02 2.48120691e-03 5.70959819e+02] [-1.84053464e-02 9.99830595e-01 -1.53890205e-04 -2.88658171e+01] [-2.48361903e-03 1.08196190e-04 9.99996910e-01 1.50231297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6907140569999 meters Centerline goodness [0,1] 0.9997677364864865 Centerline is valid? [True, True] Translation: X:570.99, Y:-28.87, Z:1.50 [[ 9.99810687e-01 1.91966761e-02 3.17449107e-03 5.70991539e+02] [-1.91961459e-02 9.99815718e-01 -1.97393911e-04 -2.88656886e+01] [-3.17769538e-03 1.36418548e-04 9.99994942e-01 1.50316335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7207140569999 meters Centerline goodness [0,1] 0.9997047845981908 Centerline is valid? [True, True] Translation: X:571.02, Y:-28.86, Z:1.50 [[ 9.99809205e-01 1.92411354e-02 3.36624152e-03 5.71023832e+02] [-1.92405368e-02 9.99814862e-01 -2.10121929e-04 -2.88598430e+01] [-3.36966129e-03 1.45313545e-04 9.99994312e-01 1.50450120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.750714057 meters Centerline goodness [0,1] 0.9997466216216216 Centerline is valid? [True, True] Translation: X:571.06, Y:-28.86, Z:1.51 [[ 9.99830808e-01 1.78986840e-02 4.24176064e-03 5.71055276e+02] [-1.78977188e-02 9.99839788e-01 -2.65399604e-04 -2.88592293e+01] [-4.24583136e-03 1.89436862e-04 9.99990968e-01 1.50590071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.780714057 meters Centerline goodness [0,1] 0.9997465788139889 Centerline is valid? [True, True] Translation: X:571.09, Y:-28.86, Z:1.51 [[ 9.99845858e-01 1.71230853e-02 3.88068521e-03 5.71087914e+02] [-1.71222673e-02 9.99853373e-01 -2.43909219e-04 -2.88584830e+01] [-3.88429268e-03 1.77425493e-04 9.99992440e-01 1.50561039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8107140569999 meters Centerline goodness [0,1] 0.9995986989397203 Centerline is valid? [True, True] Translation: X:571.12, Y:-28.86, Z:1.51 [[ 9.99863148e-01 1.62428936e-02 3.13901378e-03 5.71120071e+02] [-1.62423511e-02 9.99868065e-01 -1.98253251e-04 -2.88585590e+01] [-3.14181984e-03 1.47241156e-04 9.99995054e-01 1.50507123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8407140569999 meters Centerline goodness [0,1] 0.999662347528806 Centerline is valid? [True, True] Translation: X:571.15, Y:-28.86, Z:1.50 [[ 9.99890174e-01 1.45899459e-02 2.60259657e-03 5.71152583e+02] [-1.45895683e-02 9.99893553e-01 -1.64031626e-04 -2.88558374e+01] [-2.60471274e-03 1.26042851e-04 9.99996600e-01 1.50348379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.870714057 meters Centerline goodness [0,1] 0.9994720726428044 Centerline is valid? [True, True] Translation: X:571.18, Y:-28.86, Z:1.50 [[ 9.99896080e-01 1.43396620e-02 1.48428092e-03 5.71183709e+02] [-1.43395373e-02 9.99897179e-01 -9.46136229e-05 -2.88565770e+01] [-1.48548503e-03 7.33198891e-05 9.99998894e-01 1.50296329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.900714057 meters Centerline goodness [0,1] 0.998864401076716 Centerline is valid? [True, True] Translation: X:571.22, Y:-28.85, Z:1.50 [[ 9.99893255e-01 1.45992692e-02 5.83326247e-04 5.71215474e+02] [-1.45992501e-02 9.99893425e-01 -3.69915694e-05 -2.88515469e+01] [-5.83804129e-04 2.84714950e-05 9.99999829e-01 1.50209416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9307140569999 meters Centerline goodness [0,1] 0.9992188819456173 Centerline is valid? [True, True] Translation: X:571.25, Y:-28.85, Z:1.50 [[ 9.99888526e-01 1.49277312e-02 3.12199650e-04 5.71246789e+02] [-1.49277257e-02 9.99888575e-01 -1.98718089e-05 -2.88505379e+01] [-3.12461504e-04 1.52091630e-05 9.99999951e-01 1.50223135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9607140569999 meters Centerline goodness [0,1] 0.998731527874675 Centerline is valid? [True, True] Translation: X:571.28, Y:-28.85, Z:1.50 [[ 9.99880111e-01 1.54792068e-02 -3.97946205e-04 5.71277132e+02] [-1.54791981e-02 9.99880190e-01 2.50349872e-05 -2.88487472e+01] [ 3.98286049e-04 -1.88720976e-05 9.99999921e-01 1.50166972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.990714057 meters Centerline goodness [0,1] 0.9989027452469879 Centerline is valid? [True, True] Translation: X:571.31, Y:-28.85, Z:1.50 [[ 9.99883934e-01 1.52254800e-02 -5.50245558e-04 5.71307356e+02] [-1.52254632e-02 9.99884085e-01 3.47459524e-05 -2.88514609e+01] [ 5.50710800e-04 -2.63641761e-05 9.99999848e-01 1.50227148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.020714057 meters Centerline goodness [0,1] 0.9984571815030856 Centerline is valid? [True, True] Translation: X:571.34, Y:-28.85, Z:1.50 [[ 9.99895342e-01 1.44638173e-02 3.19770330e-04 5.71338472e+02] [-1.44638116e-02 9.99895393e-01 -2.02310163e-05 -2.88479478e+01] [-3.20029497e-04 1.56038012e-05 9.99999949e-01 1.50320974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0507140569999 meters Centerline goodness [0,1] 0.9981486935667101 Centerline is valid? [True, True] Translation: X:571.37, Y:-28.85, Z:1.50 [[ 9.99903440e-01 1.38384831e-02 1.26741231e-03 5.71369599e+02] [-1.38383923e-02 9.99904242e-01 -8.03527214e-05 -2.88481492e+01] [-1.26840290e-03 6.28060138e-05 9.99999194e-01 1.50409582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0807140569999 meters Centerline goodness [0,1] 0.9977768456375838 Centerline is valid? [True, True] Translation: X:571.40, Y:-28.85, Z:1.51 [[ 9.99925957e-01 1.19114120e-02 2.48970026e-03 5.71400174e+02] [-1.19110561e-02 9.99929048e-01 -1.57701617e-04 -2.88483248e+01] [-2.49140206e-03 1.28034981e-04 9.99996888e-01 1.50529495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.110714057 meters Centerline goodness [0,1] 0.9975702735536844 Centerline is valid? [True, True] Translation: X:571.43, Y:-28.84, Z:1.50 [[ 9.99940536e-01 1.05943842e-02 2.58506020e-03 5.71432310e+02] [-1.05939958e-02 9.99943869e-01 -1.63910675e-04 -2.88384543e+01] [-2.58665163e-03 1.36514812e-04 9.99996645e-01 1.50391539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.140714057 meters Centerline goodness [0,1] 0.9963966983701344 Centerline is valid? [True, True] Translation: X:571.46, Y:-28.85, Z:1.50 [[ 9.99960796e-01 8.59698691e-03 2.12108200e-03 5.71462630e+02] [-8.59672070e-03 9.99963038e-01 -1.34592194e-04 -2.88474052e+01] [-2.12216069e-03 1.16352568e-04 9.99997741e-01 1.50365078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1707140569999 meters Centerline goodness [0,1] 0.9966662473267077 Centerline is valid? [True, True] Translation: X:571.49, Y:-28.84, Z:1.50 [[ 9.99967006e-01 7.93415306e-03 1.74237686e-03 5.71494577e+02] [-7.93397227e-03 9.99968519e-01 -1.10649669e-04 -2.88357684e+01] [-1.74319992e-03 9.68220489e-05 9.99998476e-01 1.50129567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2007140569999 meters Centerline goodness [0,1] 0.9962394101366912 Centerline is valid? [True, True] Translation: X:571.52, Y:-28.84, Z:1.50 [[ 9.99974314e-01 7.08208952e-03 1.10232326e-03 5.71524418e+02] [-7.08201664e-03 9.99974920e-01 -7.00035889e-05 -2.88418399e+01] [-1.10279139e-03 6.21951191e-05 9.99999390e-01 1.50088845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2307140569999 meters Centerline goodness [0,1] 0.9964563690438525 Centerline is valid? [True, True] Translation: X:571.56, Y:-28.83, Z:1.50 [[ 9.99981955e-01 6.00243356e-03 2.45503575e-04 5.71555346e+02] [-6.00242992e-03 9.99981985e-01 -1.55752154e-05 -2.88328557e+01] [-2.45592642e-04 1.41013163e-05 9.99999970e-01 1.49945581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.260714057 meters Centerline goodness [0,1] 0.9967706530457174 Centerline is valid? [True, True] Translation: X:571.59, Y:-28.83, Z:1.50 [[ 9.99982849e-01 5.83536206e-03 4.99768748e-04 5.71586093e+02] [-5.83534694e-03 9.99982974e-01 -3.17062832e-05 -2.88304402e+01] [-4.99945257e-04 2.87894154e-05 9.99999875e-01 1.49981130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.290714057 meters Centerline goodness [0,1] 0.9955127801891342 Centerline is valid? [True, True] Translation: X:571.62, Y:-28.83, Z:1.50 [[ 9.99968282e-01 7.66404745e-03 2.16713844e-03 5.71616455e+02] [-7.66376719e-03 9.99970623e-01 -1.37599552e-04 -2.88278439e+01] [-2.16812935e-03 1.20986743e-04 9.99997642e-01 1.50122410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3207140569999 meters Centerline goodness [0,1] 0.9948858255287804 Centerline is valid? [True, True] Translation: X:571.65, Y:-28.83, Z:1.50 [[ 9.99947751e-01 9.79344341e-03 2.92977353e-03 5.71646784e+02] [-9.79294021e-03 9.99952031e-01 -1.86048855e-04 -2.88277884e+01] [-2.93145505e-03 1.57348037e-04 9.99995691e-01 1.50239610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3507140569999 meters Centerline goodness [0,1] 0.9933126493648065 Centerline is valid? [True, True] Translation: X:571.68, Y:-28.82, Z:1.50 [[ 9.99887758e-01 1.45614832e-02 3.52613862e-03 5.71677276e+02] [-1.45607843e-02 9.99893961e-01 -2.23795671e-04 -2.88210182e+01] [-3.52902351e-03 1.72427207e-04 9.99993758e-01 1.50289091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.380714057 meters Centerline goodness [0,1] 0.9937064977285042 Centerline is valid? [True, True] Translation: X:571.71, Y:-28.82, Z:1.50 [[ 9.99840914e-01 1.72473485e-02 4.54708017e-03 5.71709095e+02] [-1.72462125e-02 9.99851231e-01 -2.88921411e-04 -2.88163169e+01] [-4.55138683e-03 2.10455537e-04 9.99989620e-01 1.50368338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.410714057 meters Centerline goodness [0,1] 0.9931153902321991 Centerline is valid? [True, True] Translation: X:571.74, Y:-28.81, Z:1.50 [[ 9.99774126e-01 2.03349617e-02 6.17957940e-03 5.71740616e+02] [-2.03329214e-02 9.99793188e-01 -3.92820188e-04 -2.88130991e+01] [-6.18628937e-03 2.67082558e-04 9.99980829e-01 1.50440909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4407140569999 meters Centerline goodness [0,1] 0.9928598271326569 Centerline is valid? [True, True] Translation: X:571.77, Y:-28.81, Z:1.51 [[ 9.99572757e-01 2.83387219e-02 7.15680114e-03 5.71771084e+02] [-2.83361912e-02 9.99598346e-01 -4.54784560e-04 -2.88077324e+01] [-7.16681460e-03 2.51793771e-04 9.99974286e-01 1.50544566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4707140569999 meters Centerline goodness [0,1] 0.992810115999582 Centerline is valid? [True, True] Translation: X:571.80, Y:-28.79, Z:1.50 [[ 9.99289162e-01 3.72614232e-02 5.72346393e-03 5.71802693e+02] [-3.72599507e-02 9.99305541e-01 -3.63717643e-04 -2.87934362e+01] [-5.73304185e-03 1.50203114e-04 9.99983555e-01 1.50147781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.500714057 meters Centerline goodness [0,1] 0.9929131705675772 Centerline is valid? [True, True] Translation: X:571.83, Y:-28.79, Z:1.50 [[ 9.99130372e-01 4.13722127e-02 5.18076823e-03 5.71832784e+02] [-4.13710615e-02 9.99143797e-01 -3.29223674e-04 -2.87916519e+01] [-5.18995315e-03 1.14603490e-04 9.99986526e-01 1.50109302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.530714057 meters Centerline goodness [0,1] 0.9934039997471182 Centerline is valid? [True, True] Translation: X:571.86, Y:-28.79, Z:1.50 [[ 9.98961510e-01 4.52718248e-02 5.13448108e-03 5.71862619e+02] [-4.52707472e-02 9.98974701e-01 -3.25968498e-04 -2.87881715e+01] [-5.14397389e-03 9.31881875e-05 9.99986765e-01 1.50029483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5607140569999 meters Centerline goodness [0,1] 0.9937211255774885 Centerline is valid? [True, True] Translation: X:571.89, Y:-28.78, Z:1.50 [[ 9.98631227e-01 5.19212981e-02 6.31279340e-03 5.71892330e+02] [-5.19198030e-02 9.98651177e-01 -4.00588688e-04 -2.87836785e+01] [-6.32507765e-03 7.22813828e-05 9.99979994e-01 1.50176208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5907140569999 meters Centerline goodness [0,1] 0.9928322192794383 Centerline is valid? [True, True] Translation: X:571.92, Y:-28.78, Z:1.50 [[ 9.98497063e-01 5.42595009e-02 7.71505862e-03 5.71922578e+02] [-5.42573380e-02 9.98526866e-01 -4.89528145e-04 -2.87830756e+01] [-7.73025485e-03 7.01938721e-05 9.99970119e-01 1.50185162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.620714057 meters Centerline goodness [0,1] 0.9930536552508051 Centerline is valid? [True, True] Translation: X:571.95, Y:-28.78, Z:1.50 [[ 9.98252486e-01 5.84671399e-02 8.57711795e-03 5.71952146e+02] [-5.84646251e-02 9.98289333e-01 -5.43854059e-04 -2.87827237e+01] [-8.59424294e-03 4.14456818e-05 9.99963068e-01 1.50277903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.650714057 meters Centerline goodness [0,1] 0.9929850277457858 Centerline is valid? [True, True] Translation: X:571.98, Y:-28.78, Z:1.50 [[ 9.98074946e-01 6.14927919e-02 8.06465957e-03 5.71981719e+02] [-6.14906698e-02 9.98107527e-01 -5.11060901e-04 -2.87838231e+01] [-8.08082398e-03 1.41757626e-05 9.99967350e-01 1.50269207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6807140569999 meters Centerline goodness [0,1] 0.9934875317745425 Centerline is valid? [True, True] Translation: X:572.01, Y:-28.78, Z:1.50 [[ 9.97891754e-01 6.44228795e-02 7.85749882e-03 5.72011011e+02] [-6.44209580e-02 9.97922689e-01 -4.97649331e-04 -2.87849552e+01] [-7.87323635e-03 -9.58743782e-06 9.99969006e-01 1.50165039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7107140569999 meters Centerline goodness [0,1] 0.9935796231975581 Centerline is valid? [True, True] Translation: X:572.04, Y:-28.79, Z:1.50 [[ 9.97503550e-01 7.03667273e-02 5.93228810e-03 5.72039851e+02] [-7.03657407e-02 9.97521189e-01 -3.75112993e-04 -2.87867036e+01] [-5.94397855e-03 -4.32533049e-05 9.99982333e-01 1.49882502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.740714057 meters Centerline goodness [0,1] 0.9954072388657144 Centerline is valid? [True, True] Translation: X:572.07, Y:-28.79, Z:1.50 [[ 9.97161926e-01 7.51479998e-02 4.56842684e-03 5.72068228e+02] [-7.51474660e-02 9.97172390e-01 -2.88635519e-04 -2.87914997e+01] [-4.57719949e-03 -5.54893500e-05 9.99989523e-01 1.49799807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.770714057 meters Centerline goodness [0,1] 0.9952174279453901 Centerline is valid? [True, True] Translation: X:572.10, Y:-28.80, Z:1.50 [[ 9.97027355e-01 7.69514789e-02 3.86303460e-03 5.72096819e+02] [-7.69511121e-02 9.97034837e-01 -2.43691098e-04 -2.87964921e+01] [-3.87033247e-03 -5.42981184e-05 9.99992509e-01 1.49769889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8007140569999 meters Centerline goodness [0,1] 0.9957645868891839 Centerline is valid? [True, True] Translation: X:572.13, Y:-28.80, Z:1.50 [[ 9.96941243e-01 7.80744440e-02 3.54100773e-03 5.72125337e+02] [-7.80741440e-02 9.96947530e-01 -2.23101592e-04 -2.88019225e+01] [-3.54761745e-03 -5.40419687e-05 9.99993706e-01 1.49832261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8307140569999 meters Centerline goodness [0,1] 0.9964440516769768 Centerline is valid? [True, True] Translation: X:572.15, Y:-28.81, Z:1.50 [[ 9.96732498e-01 8.07250068e-02 2.79284882e-03 5.72153655e+02] [-8.07248312e-02 9.96736410e-01 -1.75705914e-04 -2.88115911e+01] [-2.79791797e-03 -5.03204558e-05 9.99996085e-01 1.49945687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.860714057 meters Centerline goodness [0,1] 0.9968641481637378 Centerline is valid? [True, True] Translation: X:572.18, Y:-28.82, Z:1.50 [[ 9.96654724e-01 8.16864316e-02 2.58595993e-03 5.72180887e+02] [-8.16862853e-02 9.96658078e-01 -1.62316934e-04 -2.88169460e+01] [-2.59057694e-03 -4.94635218e-05 9.99996643e-01 1.50029843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.890714057 meters Centerline goodness [0,1] 0.9969938405263933 Centerline is valid? [True, True] Translation: X:572.21, Y:-28.83, Z:1.50 [[ 9.96376011e-01 8.50130708e-02 2.76104145e-03 5.72209071e+02] [-8.50129167e-02 9.96379834e-01 -1.73365500e-04 -2.88271311e+01] [-2.76578436e-03 -6.19869616e-05 9.99996173e-01 1.50220142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9207140569999 meters Centerline goodness [0,1] 0.9978208029502975 Centerline is valid? [True, True] Translation: X:572.24, Y:-28.83, Z:1.50 [[ 9.96234024e-01 8.66637350e-02 2.67696874e-03 5.72236788e+02] [-8.66635967e-02 9.96237619e-01 -1.67829303e-04 -2.88326196e+01] [-2.68144168e-03 -6.47984770e-05 9.99996403e-01 1.50399582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9507140569999 meters Centerline goodness [0,1] 0.9982490150709774 Centerline is valid? [True, True] Translation: X:572.27, Y:-28.85, Z:1.51 [[ 9.96009547e-01 8.91741624e-02 3.59883910e-03 5.72265309e+02] [-8.91739285e-02 9.96016044e-01 -2.25721174e-04 -2.88467233e+01] [-3.60462998e-03 -9.61021762e-05 9.99993499e-01 1.50529947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9807140569999 meters Centerline goodness [0,1] 0.9983941940731164 Centerline is valid? [True, True] Translation: X:572.29, Y:-28.85, Z:1.51 [[ 9.95919428e-01 9.01922315e-02 3.13916050e-03 5.72293841e+02] [-9.01920594e-02 9.95924372e-01 -1.96638782e-04 -2.88526913e+01] [-3.14410174e-03 -8.72909671e-05 9.99995053e-01 1.50639207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.010714057 meters Centerline goodness [0,1] 0.9988459198019178 Centerline is valid? [True, True] Translation: X:572.32, Y:-28.86, Z:1.51 [[ 9.95902768e-01 9.03991122e-02 2.38281667e-03 5.72323293e+02] [-9.03990138e-02 9.95905616e-01 -1.49193785e-04 -2.88645661e+01] [-2.38654749e-03 -6.68217738e-05 9.99997150e-01 1.50606983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.040714057 meters Centerline goodness [0,1] 0.9988904938349139 Centerline is valid? [True, True] Translation: X:572.35, Y:-28.88, Z:1.51 [[ 9.95928568e-01 9.01261054e-02 1.89014323e-03 5.72352445e+02] [-9.01260426e-02 9.95930360e-01 -1.18559486e-04 -2.88800958e+01] [-1.89313634e-03 -5.22743501e-05 9.99998207e-01 1.50635738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0707140569999 meters Centerline goodness [0,1] 0.999518274164834 Centerline is valid? [True, True] Translation: X:572.38, Y:-28.90, Z:1.51 [[ 9.96093046e-01 8.82905022e-02 1.85221526e-03 5.72382924e+02] [-8.82904384e-02 9.96094767e-01 -1.16314367e-04 -2.88975103e+01] [-1.85525138e-03 -4.76729654e-05 9.99998278e-01 1.50754499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1007140569999 meters Centerline goodness [0,1] 0.9996654119615224 Centerline is valid? [True, True] Translation: X:572.41, Y:-28.91, Z:1.51 [[ 9.96184002e-01 8.72482402e-02 2.27572972e-03 5.72412655e+02] [-8.72481414e-02 9.96186600e-01 -1.42849341e-04 -2.89068984e+01] [-2.27951480e-03 -5.62489595e-05 9.99997400e-01 1.50811302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.130714057 meters Centerline goodness [0,1] 0.9996024439236693 Centerline is valid? [True, True] Translation: X:572.44, Y:-28.91, Z:1.51 [[ 9.96282623e-01 8.61206532e-02 2.04170207e-03 5.72443639e+02] [-8.61205687e-02 9.96284714e-01 -1.29428956e-04 -2.89149447e+01] [-2.04526307e-03 -4.68847234e-05 9.99997907e-01 1.50864000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.160714057 meters Centerline goodness [0,1] 0.9993922628777401 Centerline is valid? [True, True] Translation: X:572.47, Y:-28.94, Z:1.51 [[ 9.96453453e-01 8.41275668e-02 1.75193000e-03 5.72474949e+02] [-8.41275003e-02 9.96454992e-01 -1.11724925e-04 -2.89355796e+01] [-1.75511854e-03 -3.60568039e-05 9.99998459e-01 1.50739214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1907140569999 meters Centerline goodness [0,1] 0.9990794016110471 Centerline is valid? [True, True] Translation: X:572.51, Y:-28.94, Z:1.51 [[ 9.96519359e-01 8.33292647e-02 2.32415808e-03 5.72505807e+02] [-8.33291452e-02 9.96522068e-01 -1.48361523e-04 -2.89447757e+01] [-2.32843767e-03 -4.58249766e-05 9.99997288e-01 1.50724291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2207140569999 meters Centerline goodness [0,1] 0.9987013531062796 Centerline is valid? [True, True] Translation: X:572.54, Y:-28.96, Z:1.51 [[ 9.96718273e-01 8.09098380e-02 2.50648905e-03 5.72536093e+02] [-8.09096903e-02 9.96721424e-01 -1.60467057e-04 -2.89620760e+01] [-2.51125469e-03 -4.28588040e-05 9.99996846e-01 1.50771947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.250714057 meters Centerline goodness [0,1] 0.9985953583932577 Centerline is valid? [True, True] Translation: X:572.57, Y:-28.97, Z:1.51 [[ 9.96838287e-01 7.94177384e-02 2.50050926e-03 5.72567031e+02] [-7.94175852e-02 9.96841422e-01 -1.60634797e-04 -2.89711261e+01] [-2.50536846e-03 -3.84574916e-05 9.99996861e-01 1.50819720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.280714057 meters Centerline goodness [0,1] 0.9984928409947249 Centerline is valid? [True, True] Translation: X:572.60, Y:-28.99, Z:1.51 [[ 9.97116397e-01 7.58237302e-02 3.10703196e-03 5.72598443e+02] [-7.58234743e-02 9.97121237e-01 -2.00246496e-04 -2.89894012e+01] [-3.11327099e-03 -3.59168934e-05 9.99995153e-01 1.50821426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3107140569999 meters Centerline goodness [0,1] 0.9980957961037059 Centerline is valid? [True, True] Translation: X:572.63, Y:-29.00, Z:1.51 [[ 9.97288145e-01 7.34961423e-02 3.83048151e-03 5.72629966e+02] [-7.34957335e-02 9.97295501e-01 -2.47585350e-04 -2.89986496e+01] [-3.83831854e-03 -3.46101140e-05 9.99992633e-01 1.50825760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3407140569999 meters Centerline goodness [0,1] 0.9980634432820427 Centerline is valid? [True, True] Translation: X:572.66, Y:-29.01, Z:1.51 [[ 9.97453896e-01 7.12114713e-02 3.82783104e-03 5.72661487e+02] [-7.12110425e-02 9.97461240e-01 -2.48364989e-04 -2.90084308e+01] [-3.83579953e-03 -2.48512124e-05 9.99992643e-01 1.50823881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.370714057 meters Centerline goodness [0,1] 0.9970857094934585 Centerline is valid? [True, True] Translation: X:572.69, Y:-29.03, Z:1.51 [[ 9.97910402e-01 6.45223154e-02 3.42070357e-03 5.72692635e+02] [-6.45219303e-02 9.97916264e-01 -2.22907704e-04 -2.90256215e+01] [-3.42795825e-03 1.73151865e-06 9.99994125e-01 1.50636277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.400714057 meters Centerline goodness [0,1] 0.996099893061584 Centerline is valid? [True, True] Translation: X:572.72, Y:-29.04, Z:1.51 [[ 9.98388867e-01 5.66913961e-02 2.39912792e-03 5.72723679e+02] [-5.66911819e-02 9.98391749e-01 -1.57239043e-04 -2.90424368e+01] [-2.40418362e-03 2.09763129e-05 9.99997110e-01 1.50521947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4307140569999 meters Centerline goodness [0,1] 0.9966660376171604 Centerline is valid? [True, True] Translation: X:572.75, Y:-29.05, Z:1.51 [[ 9.98612014e-01 5.26196801e-02 2.28373317e-03 5.72754354e+02] [-5.26194743e-02 9.98614625e-01 -1.50171470e-04 -2.90519257e+01] [-2.28847131e-03 2.97941959e-05 9.99997381e-01 1.50533839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4607140569999 meters Centerline goodness [0,1] 0.9956841465714106 Centerline is valid? [True, True] Translation: X:572.79, Y:-29.06, Z:1.51 [[ 9.98796544e-01 4.89724040e-02 2.67734366e-03 5.72786318e+02] [-4.89721064e-02 9.98800131e-01 -1.76639197e-04 -2.90600352e+01] [-2.68278164e-03 4.53114614e-05 9.99996400e-01 1.50521330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.490714057 meters Centerline goodness [0,1] 0.9960384833050367 Centerline is valid? [True, True] Translation: X:572.82, Y:-29.07, Z:1.51 [[ 9.99064834e-01 4.31874609e-02 2.07398952e-03 5.72816720e+02] [-4.31872686e-02 9.99066985e-01 -1.37451020e-04 -2.90736590e+01] [-2.07799062e-03 4.77525381e-05 9.99997840e-01 1.50544097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.520714057 meters Centerline goodness [0,1] 0.9961664841182913 Centerline is valid? [True, True] Translation: X:572.85, Y:-29.08, Z:1.50 [[ 9.99252036e-01 3.86540631e-02 1.11009898e-03 5.72848650e+02] [-3.86540054e-02 9.99252652e-01 -7.34463498e-05 -2.90832459e+01] [-1.11210835e-03 3.04816425e-05 9.99999381e-01 1.50487184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5507140569999 meters Centerline goodness [0,1] 0.9961664841182913 Centerline is valid? [True, True] Translation: X:572.88, Y:-29.09, Z:1.50 [[ 9.99241093e-01 3.89359223e-02 1.11002356e-03 5.72881057e+02] [-3.89358635e-02 9.99241709e-01 -7.45875948e-05 -2.90854395e+01] [-1.11208598e-03 3.13112639e-05 9.99999381e-01 1.50499946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5807140569999 meters Centerline goodness [0,1] 0.9963929957009542 Centerline is valid? [True, True] Translation: X:572.91, Y:-29.09, Z:1.50 [[ 9.99290906e-01 3.76419841e-02 8.75047837e-04 5.72911422e+02] [-3.76419472e-02 9.99291289e-01 -5.85130243e-05 -2.90909018e+01] [-8.76630227e-04 2.55330286e-05 9.99999615e-01 1.50448216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.610714057 meters Centerline goodness [0,1] 0.9972536111868173 Centerline is valid? [True, True] Translation: X:572.94, Y:-29.10, Z:1.51 [[ 9.99321808e-01 3.68217281e-02 2.90389170e-04 5.72942045e+02] [-3.68217238e-02 9.99321850e-01 -2.02104069e-05 -2.91016576e+01] [-2.90936425e-04 9.50407051e-06 9.99999958e-01 1.50527472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.640714057 meters Centerline goodness [0,1] 0.9960261022337489 Centerline is valid? [True, True] Translation: X:572.97, Y:-29.10, Z:1.50 [[ 9.99333011e-01 3.65095912e-02 -7.63921801e-04 5.72974553e+02] [-3.65095636e-02 9.99333302e-01 5.00593528e-05 -2.91000282e+01] [ 7.65240142e-04 -2.21355122e-05 9.99999707e-01 1.50375677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6707140569999 meters Centerline goodness [0,1] 0.9970699831365936 Centerline is valid? [True, True] Translation: X:573.01, Y:-29.10, Z:1.50 [[ 9.99299134e-01 3.74058724e-02 -1.42857679e-03 5.73006314e+02] [-3.74057751e-02 9.99300155e-01 9.48044928e-05 -2.91028901e+01] [ 1.43112325e-03 -4.13010254e-05 9.99998975e-01 1.50324168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7007140569999 meters Centerline goodness [0,1] 0.9961789590812706 Centerline is valid? [True, True] Translation: X:573.04, Y:-29.10, Z:1.50 [[ 9.99163374e-01 4.07768274e-02 -3.13073896e-03 5.73036685e+02] [-4.07763699e-02 9.99168276e-01 2.09852087e-04 -2.91049249e+01] [ 3.13669216e-03 -8.20163491e-05 9.99995077e-01 1.50264155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7307140569999 meters Centerline goodness [0,1] 0.9964529331514325 Centerline is valid? [True, True] Translation: X:573.07, Y:-29.11, Z:1.50 [[ 9.99030197e-01 4.39196530e-02 -3.11931001e-03 5.73068679e+02] [-4.39192145e-02 9.99035064e-01 2.08961569e-04 -2.91055928e+01] [ 3.12547760e-03 -7.17612721e-05 9.99995113e-01 1.50292534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.760714057 meters Centerline goodness [0,1] 0.9948620082207869 Centerline is valid? [True, True] Translation: X:573.10, Y:-29.10, Z:1.50 [[ 9.98714502e-01 5.06413640e-02 -2.19004850e-03 5.73100061e+02] [-5.06411627e-02 9.98716902e-01 1.47311113e-04 -2.91022992e+01] [ 2.19469849e-03 -3.62151431e-05 9.99997591e-01 1.50405757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.790714057 meters Centerline goodness [0,1] 0.9954452910186177 Centerline is valid? [True, True] Translation: X:573.13, Y:-29.10, Z:1.50 [[ 9.98534550e-01 5.40811657e-02 -1.99495446e-03 5.73131064e+02] [-5.40810062e-02 9.98536543e-01 1.33877701e-04 -2.91025880e+01] [ 1.99927519e-03 -2.57923659e-05 9.99998001e-01 1.50489704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8207140569999 meters Centerline goodness [0,1] 0.9951712213225371 Centerline is valid? [True, True] Translation: X:573.16, Y:-29.10, Z:1.51 [[ 9.98342648e-01 5.75085087e-02 -2.17454899e-03 5.73163458e+02] [-5.75083260e-02 9.98345016e-01 1.46477221e-04 -2.91018200e+01] [ 2.17937383e-03 -2.11797847e-05 9.99997625e-01 1.50554525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8507140569999 meters Centerline goodness [0,1] 0.9947228996720209 Centerline is valid? [True, True] Translation: X:573.20, Y:-29.10, Z:1.51 [[ 9.98093499e-01 6.16885857e-02 -1.97111152e-03 5.73195934e+02] [-6.16884430e-02 9.98095445e-01 1.33161256e-04 -2.91004517e+01] [ 1.97557196e-03 -1.13125833e-05 9.99998048e-01 1.50651356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.880714057 meters Centerline goodness [0,1] 0.9951477816923694 Centerline is valid? [True, True] Translation: X:573.23, Y:-29.10, Z:1.51 [[ 9.97968409e-01 6.37080323e-02 -5.84744191e-04 5.73228431e+02] [-6.37080205e-02 9.97968580e-01 3.88481315e-05 -2.91014992e+01] [ 5.86031268e-04 -1.51631303e-06 9.99999828e-01 1.50777572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.910714057 meters Centerline goodness [0,1] 0.9952148089071715 Centerline is valid? [True, True] Translation: X:573.26, Y:-29.10, Z:1.51 [[ 9.97958249e-01 6.38696591e-02 -8.26328471e-06 5.73261332e+02] [-6.38696592e-02 9.97958249e-01 -5.34391672e-07 -2.91036097e+01] [ 8.21228173e-06 1.06107376e-06 1.00000000e+00 1.50885869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9407140569999 meters Centerline goodness [0,1] 0.9944816546611062 Centerline is valid? [True, True] Translation: X:573.29, Y:-29.11, Z:1.51 [[ 9.97980840e-01 6.35100174e-02 8.49048011e-04 5.73294228e+02] [-6.35099897e-02 9.97981201e-01 -5.95856457e-05 -2.91059036e+01] [-8.51118239e-04 5.54230235e-06 9.99999638e-01 1.50909274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9707140569999 meters Centerline goodness [0,1] 0.9951121879279469 Centerline is valid? [True, True] Translation: X:573.33, Y:-29.11, Z:1.51 [[ 9.98030652e-01 6.27171890e-02 1.17114489e-03 5.73327360e+02] [-6.27171358e-02 9.98031339e-01 -8.21445532e-05 -2.91081164e+01] [-1.17399118e-03 8.53192880e-06 9.99999311e-01 1.50940007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.000714057 meters Centerline goodness [0,1] 0.9947363988546404 Centerline is valid? [True, True] Translation: X:573.36, Y:-29.11, Z:1.51 [[ 9.98075377e-01 6.20041252e-02 1.01498030e-03 5.73359349e+02] [-6.20040845e-02 9.98075893e-01 -7.15356373e-05 -2.91113522e+01] [-1.01746288e-03 8.46503375e-06 9.99999482e-01 1.50942692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.030714057 meters Centerline goodness [0,1] 0.9953866571169767 Centerline is valid? [True, True] Translation: X:573.39, Y:-29.11, Z:1.51 [[ 9.98169888e-01 6.04714722e-02 2.74082597e-04 5.73392432e+02] [-6.04714689e-02 9.98169926e-01 -2.02219229e-05 -2.91147917e+01] [-2.74803855e-04 3.61073725e-06 9.99999962e-01 1.50861928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0607140569999 meters Centerline goodness [0,1] 0.9951745790926523 Centerline is valid? [True, True] Translation: X:573.42, Y:-29.12, Z:1.51 [[ 9.98222225e-01 5.96016759e-02 -1.70660952e-04 5.73424071e+02] [-5.96016749e-02 9.98222240e-01 1.09103200e-05 -2.91181347e+01] [ 1.71007831e-04 -7.19245313e-07 9.99999985e-01 1.50861433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0907140569999 meters Centerline goodness [0,1] 0.9948310055276594 Centerline is valid? [True, True] Translation: X:573.46, Y:-29.12, Z:1.51 [[ 9.98324023e-01 5.78623736e-02 -1.04406673e-03 5.73456439e+02] [-5.78623295e-02 9.98324569e-01 7.23628243e-05 -2.91217793e+01] [ 1.04650455e-03 -1.18294127e-05 9.99999452e-01 1.50784037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.120714057 meters Centerline goodness [0,1] 0.9951879445347291 Centerline is valid? [True, True] Translation: X:573.49, Y:-29.13, Z:1.51 [[ 9.98347222e-01 5.74504814e-02 -1.50526443e-03 5.73488822e+02] [-5.74503883e-02 9.98348357e-01 1.05045113e-04 -2.91250369e+01] [ 1.50881316e-03 -1.83934703e-05 9.99998862e-01 1.50743329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.150714057 meters Centerline goodness [0,1] 0.9953533561441305 Centerline is valid? [True, True] Translation: X:573.52, Y:-29.13, Z:1.51 [[ 9.98375902e-01 5.69318651e-02 -2.07891092e-03 5.73521611e+02] [-5.69316844e-02 9.98378066e-01 1.46068801e-04 -2.91268769e+01] [ 2.08385503e-03 -2.74756706e-05 9.99997828e-01 1.50740541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1807140569999 meters Centerline goodness [0,1] 0.9950717128956846 Centerline is valid? [True, True] Translation: X:573.55, Y:-29.13, Z:1.51 [[ 9.98412759e-01 5.62506227e-02 -2.79835265e-03 5.73552353e+02] [-5.62502887e-02 9.98416679e-01 1.97988520e-04 -2.91305751e+01] [ 2.80505894e-03 -4.02661198e-05 9.99996065e-01 1.50794957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2107140569999 meters Centerline goodness [0,1] 0.9956115485564304 Centerline is valid? [True, True] Translation: X:573.58, Y:-29.13, Z:1.51 [[ 9.98533185e-01 5.41134500e-02 -1.79260678e-03 5.73584153e+02] [-5.41133098e-02 9.98534793e-01 1.26660602e-04 -2.91338998e+01] [ 1.79683428e-03 -2.94709290e-05 9.99998385e-01 1.50906479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.240714057 meters Centerline goodness [0,1] 0.9954413068253767 Centerline is valid? [True, True] Translation: X:573.61, Y:-29.14, Z:1.51 [[ 9.98593133e-01 5.30152855e-02 -1.06517422e-03 5.73614884e+02] [-5.30152355e-02 9.98593701e-01 7.51892802e-05 -2.91371419e+01] [ 1.06766244e-03 -1.86130370e-05 9.99999430e-01 1.51004162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.270714057 meters Centerline goodness [0,1] 0.9951409339503576 Centerline is valid? [True, True] Translation: X:573.65, Y:-29.14, Z:1.51 [[ 9.98652450e-01 5.18885634e-02 -9.28165141e-04 5.73646975e+02] [-5.18885248e-02 9.98652881e-01 6.55536215e-05 -2.91392714e+01] [ 9.30316276e-04 -1.73041648e-05 9.99999567e-01 1.51031249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3007140569999 meters Centerline goodness [0,1] 0.9952635439589228 Centerline is valid? [True, True] Translation: X:573.68, Y:-29.14, Z:1.51 [[ 9.98788822e-01 4.91699158e-02 -1.79095409e-03 5.73679372e+02] [-4.91697657e-02 9.98790427e-01 1.27809371e-04 -2.91416815e+01] [ 1.79507218e-03 -3.95937782e-05 9.99998388e-01 1.51045552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3307140569999 meters Centerline goodness [0,1] 0.9960677937589368 Centerline is valid? [True, True] Translation: X:573.71, Y:-29.14, Z:1.51 [[ 9.98935923e-01 4.60555666e-02 -2.43050268e-03 5.73711390e+02] [-4.60552778e-02 9.98938877e-01 1.74663484e-04 -2.91443360e+01] [ 2.43596784e-03 -6.25401527e-05 9.99997031e-01 1.51191144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.360714057 meters Centerline goodness [0,1] 0.9948269001193792 Centerline is valid? [True, True] Translation: X:573.74, Y:-29.15, Z:1.51 [[ 9.99027496e-01 4.40474332e-02 -1.97101824e-03 5.73743736e+02] [-4.40472399e-02 9.99029439e-01 1.41387938e-04 -2.91464496e+01] [ 1.97533302e-03 -5.44325251e-05 9.99998048e-01 1.51237544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.390714057 meters Centerline goodness [0,1] 0.9963867064409059 Centerline is valid? [True, True] Translation: X:573.77, Y:-29.15, Z:1.51 [[ 9.99115982e-01 4.20175911e-02 -1.33280146e-03 5.73774694e+02] [-4.20175008e-02 9.99116870e-01 9.56707005e-05 -2.91505226e+01] [ 1.33564427e-03 -3.95851395e-05 9.99999107e-01 1.51347541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4207140569999 meters Centerline goodness [0,1] 0.9969767588335328 Centerline is valid? [True, True] Translation: X:573.81, Y:-29.15, Z:1.51 [[ 9.99269503e-01 3.82142488e-02 -3.62007132e-04 5.73805754e+02] [-3.82142418e-02 9.99269569e-01 2.61647479e-05 -2.91498765e+01] [ 3.62742577e-04 -1.23118066e-05 9.99999934e-01 1.51495058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4507140569999 meters Centerline goodness [0,1] 0.9966798352525846 Centerline is valid? [True, True] Translation: X:573.84, Y:-29.15, Z:1.52 [[ 9.99325363e-01 3.67257475e-02 1.95178586e-04 5.73837736e+02] [-3.67257452e-02 9.99325382e-01 -1.51751303e-05 -2.91503567e+01] [-1.95604233e-04 7.99681360e-06 9.99999981e-01 1.51556492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4807140569999 meters Centerline goodness [0,1] 0.9959435032998445 Centerline is valid? [True, True] Translation: X:573.87, Y:-29.15, Z:1.52 [[ 9.99363468e-01 3.56446225e-02 1.45562549e-03 5.73869164e+02] [-3.56445043e-02 9.99364527e-01 -1.07088606e-04 -2.91511966e+01] [-1.45851761e-03 5.51353915e-05 9.99998935e-01 1.51685276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.510714057 meters Centerline goodness [0,1] 0.996344691399521 Centerline is valid? [True, True] Translation: X:573.90, Y:-29.15, Z:1.52 [[ 9.99332777e-01 3.65055986e-02 1.15838438e-03 5.73900877e+02] [-3.65055237e-02 9.99333448e-01 -8.57584029e-05 -2.91519161e+01] [-1.16074291e-03 4.34137547e-05 9.99999325e-01 1.51722551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.540714057 meters Centerline goodness [0,1] 0.9968692875002626 Centerline is valid? [True, True] Translation: X:573.93, Y:-29.15, Z:1.52 [[ 9.99273396e-01 3.81118656e-02 4.07474853e-04 5.73933161e+02] [-3.81118562e-02 9.99273479e-01 -3.09013387e-05 -2.91510832e+01] [-4.08356521e-04 1.53492627e-05 9.99999917e-01 1.51689893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5707140569999 meters Centerline goodness [0,1] 0.9964889412160457 Centerline is valid? [True, True] Translation: X:573.96, Y:-29.15, Z:1.52 [[ 9.99037140e-01 4.38601107e-02 -1.04142687e-03 5.73963520e+02] [-4.38600548e-02 9.99037682e-01 7.64874971e-05 -2.91471441e+01] [ 1.04377943e-03 -3.07368109e-05 9.99999455e-01 1.51546821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6007140569999 meters Centerline goodness [0,1] 0.9967844983397083 Centerline is valid? [True, True] Translation: X:574.00, Y:-29.14, Z:1.51 [[ 9.98842187e-01 4.80783196e-02 -1.66131470e-03 5.73995423e+02] [-4.80781833e-02 9.98843568e-01 1.21895806e-04 -2.91441237e+01] [ 1.66525405e-03 -4.18816806e-05 9.99998613e-01 1.51441917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.630714057 meters Centerline goodness [0,1] 0.996449356051852 Centerline is valid? [True, True] Translation: X:574.03, Y:-29.14, Z:1.51 [[ 9.98336780e-01 5.76221647e-02 -1.83294265e-03 5.74027095e+02] [-5.76220146e-02 9.98338462e-01 1.34670462e-04 -2.91365021e+01] [ 1.83765715e-03 -2.88286271e-05 9.99998311e-01 1.51499975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.660714057 meters Centerline goodness [0,1] 0.997026132073482 Centerline is valid? [True, True] Translation: X:574.06, Y:-29.13, Z:1.52 [[ 9.98010067e-01 6.30342665e-02 -1.60883997e-03 5.74059362e+02] [-6.30341586e-02 9.98011363e-01 1.17711325e-04 -2.91339732e+01] [ 1.61306042e-03 -1.60652135e-05 9.99998699e-01 1.51595553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6907140569999 meters Centerline goodness [0,1] 0.9967660646787064 Centerline is valid? [True, True] Translation: X:574.09, Y:-29.13, Z:1.52 [[ 9.97354532e-01 7.26856558e-02 -8.55879331e-04 5.74091782e+02] [-7.26856290e-02 9.97354899e-01 6.23801154e-05 -2.91283945e+01] [ 8.58149584e-04 -4.96334894e-09 9.99999632e-01 1.51728285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7207140569999 meters Centerline goodness [0,1] 0.9965654564992942 Centerline is valid? [True, True] Translation: X:574.12, Y:-29.13, Z:1.52 [[ 9.97030283e-01 7.70103821e-02 -1.28497685e-04 5.74123827e+02] [-7.70103816e-02 9.97030291e-01 8.51085845e-06 -2.91273987e+01] [ 1.28771508e-04 1.41007213e-06 9.99999992e-01 1.51803490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.750714057 meters Centerline goodness [0,1] 0.9968374314078666 Centerline is valid? [True, True] Translation: X:574.16, Y:-29.12, Z:1.52 [[ 9.96495584e-01 8.36438178e-02 5.12251941e-04 5.74156584e+02] [-8.36438088e-02 9.96495716e-01 -3.91426318e-05 -2.91244014e+01] [-5.13730904e-04 -3.84124367e-06 9.99999868e-01 1.51827063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.780714057 meters Centerline goodness [0,1] 0.9970343884740772 Centerline is valid? [True, True] Translation: X:574.19, Y:-29.13, Z:1.52 [[ 9.96209912e-01 8.69665610e-02 1.62131405e-03 5.74189106e+02] [-8.69664772e-02 9.96211231e-01 -1.22233510e-04 -2.91254311e+01] [-1.62580149e-03 -1.92297365e-05 9.99998678e-01 1.51782590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8107140569999 meters Centerline goodness [0,1] 0.9965251611822825 Centerline is valid? [True, True] Translation: X:574.22, Y:-29.13, Z:1.52 [[ 9.95708913e-01 9.25186775e-02 2.01360417e-03 5.74220396e+02] [-9.25185607e-02 9.95710949e-01 -1.51310753e-04 -2.91265863e+01] [-2.01896679e-03 -3.56342935e-05 9.99997961e-01 1.51820867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8407140569999 meters Centerline goodness [0,1] 0.9964874132307435 Centerline is valid? [True, True] Translation: X:574.25, Y:-29.13, Z:1.52 [[ 9.95489154e-01 9.48609893e-02 1.65413281e-03 5.74252574e+02] [-9.48609120e-02 9.95490528e-01 -1.25292854e-04 -2.91295831e+01] [-1.65855895e-03 -3.21848704e-05 9.99998624e-01 1.51858676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.870714057 meters Centerline goodness [0,1] 0.9957676191278347 Centerline is valid? [True, True] Translation: X:574.28, Y:-29.13, Z:1.52 [[ 9.95218379e-01 9.76596135e-02 1.72595225e-03 5.74284033e+02] [-9.76595330e-02 9.95219874e-01 -1.31016579e-04 -2.91345732e+01] [-1.73049701e-03 -3.81655832e-05 9.99998502e-01 1.51796657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.900714057 meters Centerline goodness [0,1] 0.994672113886198 Centerline is valid? [True, True] Translation: X:574.32, Y:-29.14, Z:1.52 [[ 9.95336217e-01 9.64513162e-02 1.71989108e-03 5.74315826e+02] [-9.64512336e-02 9.95337703e-01 -1.31068204e-04 -2.91435480e+01] [-1.72451414e-03 -3.54286862e-05 9.99998512e-01 1.51737306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9307140569999 meters Centerline goodness [0,1] 0.9936903209523409 Centerline is valid? [True, True] Translation: X:574.35, Y:-29.15, Z:1.52 [[ 9.95553532e-01 9.41806632e-02 1.77969941e-03 5.74346538e+02] [-9.41805707e-02 9.95555122e-01 -1.35924963e-04 -2.91502419e+01] [-1.78459036e-03 -3.22925289e-05 9.99998407e-01 1.51702279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9607140569999 meters Centerline goodness [0,1] 0.9945626975763963 Centerline is valid? [True, True] Translation: X:574.38, Y:-29.16, Z:1.52 [[ 9.95826972e-01 9.12561032e-02 9.82239991e-04 5.74376842e+02] [-9.12560730e-02 9.95827457e-01 -7.56315939e-05 -2.91580869e+01] [-9.85043397e-04 -1.43193832e-05 9.99999515e-01 1.51781913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.990714057 meters Centerline goodness [0,1] 0.994303068384124 Centerline is valid? [True, True] Translation: X:574.41, Y:-29.17, Z:1.52 [[ 9.96598838e-01 8.23970348e-02 1.21852312e-03 5.74407610e+02] [-8.23969827e-02 9.96599583e-01 -9.29913115e-05 -2.91740780e+01] [-1.22204184e-03 -7.72759502e-06 9.99999253e-01 1.51761792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.020714057 meters Centerline goodness [0,1] 0.9949052631578947 Centerline is valid? [True, True] Translation: X:574.44, Y:-29.18, Z:1.52 [[ 9.96940542e-01 7.81541973e-02 1.21528341e-03 5.74438920e+02] [-7.81541410e-02 9.96941283e-01 -9.38180139e-05 -2.91831015e+01] [-1.21889847e-03 -1.44844936e-06 9.99999257e-01 1.51802013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0507140569999 meters Centerline goodness [0,1] 0.9942828422441414 Centerline is valid? [True, True] Translation: X:574.47, Y:-29.20, Z:1.52 [[ 9.97534482e-01 7.01515279e-02 1.92890778e-03 5.74469436e+02] [-7.01513715e-02 9.97536347e-01 -1.48703635e-04 -2.91969702e+01] [-1.93458740e-03 1.30214774e-05 9.99998129e-01 1.51868021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0807140569999 meters Centerline goodness [0,1] 0.9939079660195198 Centerline is valid? [True, True] Translation: X:574.50, Y:-29.20, Z:1.52 [[ 9.97737436e-01 6.71774897e-02 2.68228758e-03 5.74501237e+02] [-6.71771755e-02 9.97741041e-01 -2.07175669e-04 -2.92039992e+01] [-2.69014595e-03 2.65184173e-05 9.99996381e-01 1.51837365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.110714057 meters Centerline goodness [0,1] 0.9949726638597374 Centerline is valid? [True, True] Translation: X:574.53, Y:-29.22, Z:1.52 [[ 9.98068019e-01 6.20924325e-02 2.18173931e-03 5.74530898e+02] [-6.20922125e-02 9.98070403e-01 -1.68474773e-04 -2.92171065e+01] [-2.18799044e-03 3.26802623e-05 9.99997606e-01 1.51935184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.140714057 meters Centerline goodness [0,1] 0.9949875212348734 Centerline is valid? [True, True] Translation: X:574.56, Y:-29.22, Z:1.52 [[ 9.98178540e-01 6.03023997e-02 1.79501132e-03 5.74562379e+02] [-6.03022461e-02 9.98180154e-01 -1.39617524e-04 -2.92216333e+01] [-1.80016395e-03 3.11200022e-05 9.99998379e-01 1.51857833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1707140569999 meters Centerline goodness [0,1] 0.9949639080073863 Centerline is valid? [True, True] Translation: X:574.59, Y:-29.23, Z:1.52 [[ 9.98290149e-01 5.84472529e-02 8.35423768e-04 5.74594099e+02] [-5.84472184e-02 9.98290498e-01 -6.56911102e-05 -2.92274953e+01] [-8.37835074e-04 1.67505928e-05 9.99999649e-01 1.51827805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2007140569999 meters Centerline goodness [0,1] 0.9952708693999915 Centerline is valid? [True, True] Translation: X:574.63, Y:-29.23, Z:1.52 [[ 9.98401609e-01 5.65129563e-02 -7.16640258e-04 5.74626226e+02] [-5.65129316e-02 9.98401866e-01 5.47474421e-05 -2.92340726e+01] [ 7.18588910e-04 -1.41604924e-05 9.99999742e-01 1.51748193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2307140569999 meters Centerline goodness [0,1] 0.9956397786349153 Centerline is valid? [True, True] Translation: X:574.66, Y:-29.24, Z:1.52 [[ 9.98408486e-01 5.63847177e-02 -1.12217991e-03 5.74659034e+02] [-5.63846561e-02 9.98409116e-01 8.64511800e-05 -2.92382283e+01] [ 1.12526918e-03 -2.30398632e-05 9.99999367e-01 1.51715709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.260714057 meters Centerline goodness [0,1] 0.9952473490769296 Centerline is valid? [True, True] Translation: X:574.69, Y:-29.24, Z:1.52 [[ 9.98385945e-01 5.67870495e-02 -8.58160957e-04 5.74691681e+02] [-5.67870136e-02 9.98386313e-01 6.60972845e-05 -2.92409176e+01] [ 8.60529624e-04 -1.72582018e-05 9.99999630e-01 1.51750241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.290714057 meters Centerline goodness [0,1] 0.9959897539262619 Centerline is valid? [True, True] Translation: X:574.72, Y:-29.24, Z:1.52 [[ 9.98335910e-01 5.76616731e-02 -7.36347097e-04 5.74722696e+02] [-5.76616468e-02 9.98336181e-01 5.69377546e-05 -2.92446585e+01] [ 7.38405075e-04 -1.43840188e-05 9.99999727e-01 1.51823136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3207140569999 meters Centerline goodness [0,1] 0.9952346813983891 Centerline is valid? [True, True] Translation: X:574.76, Y:-29.24, Z:1.52 [[ 9.98149342e-01 6.08086647e-02 4.43615448e-04 5.74755255e+02] [-6.08086547e-02 9.98149441e-01 -3.59050969e-05 -2.92442620e+01] [-4.44977853e-04 8.86299020e-06 9.99999901e-01 1.51952817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3507140569999 meters Centerline goodness [0,1] 0.9945782878359563 Centerline is valid? [True, True] Translation: X:574.79, Y:-29.25, Z:1.52 [[ 9.98023254e-01 6.28359254e-02 1.10992773e-03 5.74787235e+02] [-6.28358656e-02 9.98023871e-01 -8.86484609e-05 -2.92456181e+01] [-1.11330468e-03 1.87299554e-05 9.99999380e-01 1.51995228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.380714057 meters Centerline goodness [0,1] 0.994327288064108 Centerline is valid? [True, True] Translation: X:574.82, Y:-29.24, Z:1.52 [[ 9.97682291e-01 6.80151582e-02 1.99628518e-03 5.74819256e+02] [-6.80149758e-02 9.97684288e-01 -1.59192781e-04 -2.92439004e+01] [-2.00248988e-03 2.30465300e-05 9.99997995e-01 1.52001116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.410714057 meters Centerline goodness [0,1] 0.9940617827286319 Centerline is valid? [True, True] Translation: X:574.85, Y:-29.24, Z:1.52 [[ 9.97455374e-01 7.12625533e-02 2.10382573e-03 5.74850655e+02] [-7.12623583e-02 9.97457592e-01 -1.67597112e-04 -2.92444748e+01] [-2.11042034e-03 1.72470569e-05 9.99997773e-01 1.52065582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4407140569999 meters Centerline goodness [0,1] 0.9940617827286319 Centerline is valid? [True, True] Translation: X:574.88, Y:-29.25, Z:1.52 [[ 9.97435297e-01 7.15430121e-02 2.10373517e-03 5.74883014e+02] [-7.15428153e-02 9.97437515e-01 -1.68734614e-04 -2.92471112e+01] [-2.11041617e-03 1.77947229e-05 9.99997773e-01 1.52078343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4707140569999 meters Centerline goodness [0,1] 0.993736291547157 Centerline is valid? [True, True] Translation: X:574.91, Y:-29.24, Z:1.52 [[ 9.96986966e-01 7.75542137e-02 1.52745311e-03 5.74914742e+02] [-7.75541163e-02 9.96988136e-01 -1.22948408e-04 -2.92449044e+01] [-1.53238780e-03 4.11768403e-06 9.99998826e-01 1.52036458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.500714057 meters Centerline goodness [0,1] 0.9926189923870179 Centerline is valid? [True, True] Translation: X:574.95, Y:-29.25, Z:1.52 [[ 9.96733741e-01 8.07466794e-02 1.35014111e-03 5.74947713e+02] [-8.07466053e-02 9.96734656e-01 -1.09396159e-04 -2.92458427e+01] [-1.35456581e-03 1.95318897e-08 9.99999083e-01 1.51973757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.530714057 meters Centerline goodness [0,1] 0.9915504235323865 Centerline is valid? [True, True] Translation: X:574.98, Y:-29.25, Z:1.52 [[ 9.96520358e-01 8.33395139e-02 1.30454059e-03 5.74980025e+02] [-8.33394466e-02 9.96521212e-01 -1.06009125e-04 -2.92472177e+01] [-1.30883712e-03 -3.07943988e-06 9.99999143e-01 1.52007631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5607140569999 meters Centerline goodness [0,1] 0.991464339908953 Centerline is valid? [True, True] Translation: X:575.01, Y:-29.25, Z:1.52 [[ 9.96158926e-01 8.75513136e-02 1.47007193e-03 5.75012232e+02] [-8.75512324e-02 9.96160011e-01 -1.19634400e-04 -2.92486626e+01] [-1.47490102e-03 -9.53173362e-06 9.99998912e-01 1.52018552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5907140569999 meters Centerline goodness [0,1] 0.9912615021793603 Centerline is valid? [True, True] Translation: X:575.04, Y:-29.25, Z:1.52 [[ 9.95900464e-01 9.04518834e-02 8.50625436e-04 5.75043546e+02] [-9.04518568e-02 9.95900827e-01 -6.97582499e-05 -2.92501357e+01] [-8.53448340e-04 -7.46837669e-06 9.99999636e-01 1.51960234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.620714057 meters Centerline goodness [0,1] 0.990921346421199 Centerline is valid? [True, True] Translation: X:575.08, Y:-29.25, Z:1.52 [[ 9.95797066e-01 9.15865009e-02 3.39953822e-04 5.75076210e+02] [-9.15864964e-02 9.95797124e-01 -2.87202338e-05 -2.92533718e+01] [-3.41155424e-04 -2.53565491e-06 9.99999942e-01 1.51904317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.650714057 meters Centerline goodness [0,1] 0.990759645540845 Centerline is valid? [True, True] Translation: X:575.11, Y:-29.26, Z:1.52 [[ 9.95705895e-01 9.25725693e-02 -3.00516262e-04 5.75108219e+02] [-9.25725663e-02 9.95705940e-01 2.37746929e-05 -2.92557754e+01] [ 3.01426711e-04 4.14695973e-06 9.99999955e-01 1.51899100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6807140569999 meters Centerline goodness [0,1] 0.9907442546911238 Centerline is valid? [True, True] Translation: X:575.14, Y:-29.26, Z:1.52 [[ 9.95639529e-01 9.32696258e-02 -1.64466284e-03 5.75140540e+02] [-9.32695330e-02 9.95640887e-01 1.33237823e-04 -2.92630904e+01] [ 1.64992061e-03 2.07400913e-05 9.99998639e-01 1.51701292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7107140569999 meters Centerline goodness [0,1] 0.9907307927278856 Centerline is valid? [True, True] Translation: X:575.17, Y:-29.27, Z:1.52 [[ 9.95610368e-01 9.35629822e-02 -2.44197743e-03 5.75173280e+02] [-9.35627754e-02 9.95613362e-01 1.99051729e-04 -2.92685260e+01] [ 2.44988923e-03 3.03002203e-05 9.99996999e-01 1.51648092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.740714057 meters Centerline goodness [0,1] 0.9917970562186327 Centerline is valid? [True, True] Translation: X:575.20, Y:-29.28, Z:1.52 [[ 9.95690550e-01 9.26644698e-02 -3.69115959e-03 5.75204675e+02] [-9.26639850e-02 9.95697391e-01 3.02508389e-04 -2.92780445e+01] [ 3.70330975e-03 4.08328123e-05 9.99993142e-01 1.51563083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.770714057 meters Centerline goodness [0,1] 0.9910851651246602 Centerline is valid? [True, True] Translation: X:575.24, Y:-29.28, Z:1.52 [[ 9.95784753e-01 9.16272221e-02 -4.14456691e-03 5.75235021e+02] [-9.16265972e-02 9.95793377e-01 3.40806197e-04 -2.92839570e+01] [ 4.15835941e-03 4.03829481e-05 9.99991353e-01 1.51520102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8007140569999 meters Centerline goodness [0,1] 0.991447229829366 Centerline is valid? [True, True] Translation: X:575.27, Y:-29.29, Z:1.52 [[ 9.96079173e-01 8.83920727e-02 -3.62246093e-03 5.75266925e+02] [-8.83915722e-02 9.96085760e-01 2.98331891e-04 -2.92947506e+01] [ 3.63465193e-03 2.30328338e-05 9.99993394e-01 1.51588125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8307140569999 meters Centerline goodness [0,1] 0.9911649973642593 Centerline is valid? [True, True] Translation: X:575.30, Y:-29.30, Z:1.52 [[ 9.96212489e-01 8.69004232e-02 -2.99898524e-03 5.75297340e+02] [-8.69000732e-02 9.96217003e-01 2.47063803e-04 -2.93010197e+01] [ 3.00911004e-03 1.44839904e-05 9.99995473e-01 1.51620606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.860714057 meters Centerline goodness [0,1] 0.9921763270800034 Centerline is valid? [True, True] Translation: X:575.33, Y:-29.31, Z:1.52 [[ 9.96434844e-01 8.43562523e-02 -1.27449390e-03 5.75329729e+02] [-8.43561875e-02 9.96435659e-01 1.04639974e-04 -2.93115493e+01] [ 1.27877821e-03 3.24453052e-06 9.99999182e-01 1.51792792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.890714057 meters Centerline goodness [0,1] 0.9917775955249931 Centerline is valid? [True, True] Translation: X:575.36, Y:-29.32, Z:1.52 [[ 9.96458974e-01 8.40803919e-02 -2.85491271e-05 5.75362648e+02] [-8.40803919e-02 9.96458974e-01 1.25649845e-06 -2.93181673e+01] [ 2.85536808e-05 1.14837264e-06 1.00000000e+00 1.51867250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9207140569999 meters Centerline goodness [0,1] 0.9921129011904262 Centerline is valid? [True, True] Translation: X:575.39, Y:-29.32, Z:1.52 [[ 9.96472187e-01 8.39176701e-02 1.00258606e-03 5.75393792e+02] [-8.39176273e-02 9.96472691e-01 -8.47728025e-05 -2.93242492e+01] [-1.00616357e-03 3.39096370e-07 9.99999494e-01 1.51978496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9507140569999 meters Centerline goodness [0,1] 0.9927087054274968 Centerline is valid? [True, True] Translation: X:575.43, Y:-29.33, Z:1.52 [[ 9.96390666e-01 8.48695414e-02 1.67406925e-03 5.75426573e+02] [-8.48694237e-02 9.96392072e-01 -1.41394086e-04 -2.93327923e+01] [-1.68002938e-03 -1.19354508e-06 9.99998589e-01 1.52032358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9807140569999 meters Centerline goodness [0,1] 0.9915540895434586 Centerline is valid? [True, True] Translation: X:575.46, Y:-29.34, Z:1.52 [[ 9.96303553e-01 8.58937808e-02 1.22042394e-03 5.75458808e+02] [-8.58937181e-02 9.96304300e-01 -1.03735759e-04 -2.93378307e+01] [-1.22482388e-03 -1.47444494e-06 9.99999250e-01 1.51938187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.010714057 meters Centerline goodness [0,1] 0.992630648081863 Centerline is valid? [True, True] Translation: X:575.49, Y:-29.34, Z:1.52 [[ 9.96190123e-01 8.72077033e-02 -2.36063923e-04 5.75489899e+02] [-8.72077013e-02 9.96190151e-01 1.88711419e-05 -2.93442300e+01] [ 2.36810264e-04 1.78734697e-06 9.99999972e-01 1.51819957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.040714057 meters Centerline goodness [0,1] 0.9917350157728707 Centerline is valid? [True, True] Translation: X:575.52, Y:-29.35, Z:1.52 [[ 9.96105441e-01 8.81700116e-02 -1.28014720e-05 5.75522073e+02] [-8.81700116e-02 9.96105441e-01 -4.22396728e-08 -2.93491640e+01] [ 1.27478916e-05 1.17078110e-06 1.00000000e+00 1.51780666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0707140569999 meters Centerline goodness [0,1] 0.9914652091654405 Centerline is valid? [True, True] Translation: X:575.55, Y:-29.36, Z:1.52 [[ 9.96078776e-01 8.84599119e-02 1.38408570e-03 5.75554546e+02] [-8.84598324e-02 9.96079738e-01 -1.18670354e-04 -2.93570962e+01] [-1.38915729e-03 -4.23096772e-06 9.99999035e-01 1.51832764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1007140569999 meters Centerline goodness [0,1] 0.9912643581613154 Centerline is valid? [True, True] Translation: X:575.59, Y:-29.36, Z:1.52 [[ 9.96110202e-01 8.81057320e-02 1.35855300e-03 5.75586714e+02] [-8.81056545e-02 9.96111128e-01 -1.16885583e-04 -2.93629308e+01] [-1.36356805e-03 -3.26528007e-06 9.99999070e-01 1.51919722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.130714057 meters Centerline goodness [0,1] 0.9916415773627808 Centerline is valid? [True, True] Translation: X:575.62, Y:-29.37, Z:1.52 [[ 9.96284830e-01 8.61054758e-02 1.54413966e-03 5.75619238e+02] [-8.61053729e-02 9.96286027e-01 -1.33137076e-04 -2.93718543e+01] [-1.54986860e-03 -3.16272038e-07 9.99998799e-01 1.51928684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.160714057 meters Centerline goodness [0,1] 0.9921019376579613 Centerline is valid? [True, True] Translation: X:575.65, Y:-29.38, Z:1.52 [[ 9.96386920e-01 8.49107211e-02 1.80993987e-03 5.75650302e+02] [-8.49105773e-02 9.96388563e-01 -1.56264295e-04 -2.93777562e+01] [-1.81667190e-03 2.01666002e-06 9.99998350e-01 1.51919803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1907140569999 meters Centerline goodness [0,1] 0.9919973043551512 Centerline is valid? [True, True] Translation: X:575.68, Y:-29.38, Z:1.52 [[ 9.96497250e-01 8.36049691e-02 1.85475354e-03 5.75682803e+02] [-8.36048147e-02 9.96498976e-01 -1.60737367e-04 -2.93834694e+01] [-1.86169845e-03 5.10801772e-06 9.99998267e-01 1.51920968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2207140569999 meters Centerline goodness [0,1] 0.9926733757210829 Centerline is valid? [True, True] Translation: X:575.71, Y:-29.39, Z:1.52 [[ 9.96695422e-01 8.11898890e-02 2.53730793e-03 5.75713864e+02] [-8.11895924e-02 9.96698651e-01 -2.19843485e-04 -2.93913201e+01] [-2.54678046e-03 1.31139984e-05 9.99996757e-01 1.51879756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.250714057 meters Centerline goodness [0,1] 0.9928125790405531 Centerline is valid? [True, True] Translation: X:575.75, Y:-29.40, Z:1.52 [[ 9.96810033e-01 7.97622077e-02 2.78344616e-03 5.75746129e+02] [-7.97618426e-02 9.96813919e-01 -2.42092062e-04 -2.93980941e+01] [-2.79388768e-03 1.93070014e-05 9.99996097e-01 1.51874423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.280714057 meters Centerline goodness [0,1] 0.9929909492738371 Centerline is valid? [True, True] Translation: X:575.78, Y:-29.40, Z:1.52 [[ 9.96860199e-01 7.91454415e-02 2.39657569e-03 5.75779153e+02] [-7.91451670e-02 9.96863079e-01 -2.09280983e-04 -2.94029671e+01] [-2.40562146e-03 1.89464987e-05 9.99997106e-01 1.51826308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3107140569999 meters Centerline goodness [0,1] 0.9923923122313074 Centerline is valid? [True, True] Translation: X:575.81, Y:-29.41, Z:1.52 [[ 9.96904387e-01 7.85824747e-02 2.53737162e-03 5.75810453e+02] [-7.85821639e-02 9.96907616e-01 -2.22108234e-04 -2.94073979e+01] [-2.54697891e-03 2.20285200e-05 9.99996756e-01 1.51831689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3407140569999 meters Centerline goodness [0,1] 0.992872356129141 Centerline is valid? [True, True] Translation: X:575.84, Y:-29.41, Z:1.52 [[ 9.97043863e-01 7.67674514e-02 3.20844182e-03 5.75841666e+02] [-7.67669440e-02 9.97049024e-01 -2.81153117e-04 -2.94118036e+01] [-3.22055720e-03 3.40197157e-05 9.99994813e-01 1.51868653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.370714057 meters Centerline goodness [0,1] 0.9928051482223863 Centerline is valid? [True, True] Translation: X:575.87, Y:-29.42, Z:1.52 [[ 9.97066770e-01 7.64775306e-02 3.00728867e-03 5.75874665e+02] [-7.64770803e-02 9.97071304e-01 -2.64629177e-04 -2.94152503e+01] [-3.01871942e-03 3.38643022e-05 9.99995443e-01 1.51834630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.400714057 meters Centerline goodness [0,1] 0.9925130757550193 Centerline is valid? [True, True] Translation: X:575.91, Y:-29.42, Z:1.52 [[ 9.97110408e-01 7.59507458e-02 1.52252228e-03 5.75907495e+02] [-7.59506282e-02 9.97111570e-01 -1.34933533e-04 -2.94183861e+01] [-1.52837288e-03 1.89071071e-05 9.99998832e-01 1.51772669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4307140569999 meters Centerline goodness [0,1] 0.9928260961303118 Centerline is valid? [True, True] Translation: X:575.94, Y:-29.42, Z:1.52 [[ 9.97146428e-01 7.54916649e-02 9.37991441e-05 5.75940632e+02] [-7.54916643e-02 9.97146433e-01 -9.39396035e-06 -2.94192113e+01] [-9.42406476e-05 2.28610051e-06 9.99999996e-01 1.51569235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4607140569999 meters Centerline goodness [0,1] 0.9927603529064123 Centerline is valid? [True, True] Translation: X:575.97, Y:-29.42, Z:1.52 [[ 9.97172533e-01 7.51427606e-02 -7.10339749e-04 5.75972723e+02] [-7.51427356e-02 9.97172786e-01 6.17958287e-05 -2.94225702e+01] [ 7.12974975e-04 -8.24423113e-06 9.99999746e-01 1.51546068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.490714057 meters Centerline goodness [0,1] 0.9929937112227241 Centerline is valid? [True, True] Translation: X:576.01, Y:-29.42, Z:1.52 [[ 9.97181709e-01 7.50216919e-02 -6.20711548e-04 5.76005694e+02] [-7.50216728e-02 9.97181902e-01 5.39788262e-05 -2.94239789e+01] [ 6.23011905e-04 -7.25987945e-06 9.99999806e-01 1.51561342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.520714057 meters Centerline goodness [0,1] 0.9936297671279108 Centerline is valid? [True, True] Translation: X:576.04, Y:-29.43, Z:1.52 [[ 9.97328455e-01 7.30472516e-02 -2.29285510e-04 5.76036839e+02] [-7.30472490e-02 9.97328481e-01 1.98598206e-05 -2.94260598e+01] [ 2.30123675e-04 -3.05808852e-06 9.99999974e-01 1.51573961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5507140569999 meters Centerline goodness [0,1] 0.994609221402448 Centerline is valid? [True, True] Translation: X:576.07, Y:-29.43, Z:1.52 [[ 9.97622066e-01 6.89192458e-02 5.92859359e-04 5.76069249e+02] [-6.89192264e-02 9.97622242e-01 -5.30043124e-05 -2.94287013e+01] [-5.95102700e-04 1.20188632e-05 9.99999823e-01 1.51558953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5807140569999 meters Centerline goodness [0,1] 0.9947672701185805 Centerline is valid? [True, True] Translation: X:576.10, Y:-29.43, Z:1.52 [[ 9.97760102e-01 6.68929690e-02 3.30809147e-04 5.76100583e+02] [-6.68929628e-02 9.97760157e-01 -2.99628184e-05 -2.94319061e+01] [-3.32072489e-04 7.76690080e-06 9.99999945e-01 1.51571574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.610714057 meters Centerline goodness [0,1] 0.9944595994840237 Centerline is valid? [True, True] Translation: X:576.13, Y:-29.43, Z:1.52 [[ 9.97876128e-01 6.51391230e-02 3.57673268e-04 5.76132798e+02] [-6.51391154e-02 9.97876192e-01 -3.29182944e-05 -2.94331128e+01] [-3.59057907e-04 9.54985986e-06 9.99999935e-01 1.51578400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.640714057 meters Centerline goodness [0,1] 0.9946259309410969 Centerline is valid? [True, True] Translation: X:576.16, Y:-29.43, Z:1.52 [[ 9.97982512e-01 6.34821454e-02 9.60452918e-04 5.76164776e+02] [-6.34820911e-02 9.97982974e-01 -8.69967326e-05 -2.94339129e+01] [-9.64038399e-04 2.58496581e-05 9.99999535e-01 1.51568644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6707140569999 meters Centerline goodness [0,1] 0.995332925052267 Centerline is valid? [True, True] Translation: X:576.20, Y:-29.43, Z:1.52 [[ 9.97985464e-01 6.34308372e-02 1.24219958e-03 5.76197281e+02] [-6.34307460e-02 9.97986236e-01 -1.12725394e-04 -2.94349766e+01] [-1.24684835e-03 3.37046586e-05 9.99999222e-01 1.51611680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7007140569999 meters Centerline goodness [0,1] 0.9954377442179745 Centerline is valid? [True, True] Translation: X:576.23, Y:-29.43, Z:1.52 [[ 9.97930496e-01 6.42746653e-02 1.86889502e-03 5.76229516e+02] [-6.42744608e-02 9.97932245e-01 -1.69355372e-04 -2.94337162e+01] [-1.87591586e-03 4.88826712e-05 9.99998239e-01 1.51639774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7307140569999 meters Centerline goodness [0,1] 0.9946124104709387 Centerline is valid? [True, True] Translation: X:576.26, Y:-29.44, Z:1.52 [[ 9.97928625e-01 6.43008191e-02 1.96575206e-03 5.76262406e+02] [-6.43005916e-02 9.97930560e-01 -1.78768248e-04 -2.94352966e+01] [-1.97317900e-03 5.19989318e-05 9.99998052e-01 1.51656253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.760714057 meters Centerline goodness [0,1] 0.9955861544634749 Centerline is valid? [True, True] Translation: X:576.29, Y:-29.44, Z:1.52 [[ 9.98019651e-01 6.28562353e-02 2.42290232e-03 5.76294251e+02] [-6.28558850e-02 9.98022589e-01 -2.20534814e-04 -2.94355708e+01] [-2.43197324e-03 6.78044080e-05 9.99997040e-01 1.51762778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.790714057 meters Centerline goodness [0,1] 0.9955664400624921 Centerline is valid? [True, True] Translation: X:576.33, Y:-29.44, Z:1.52 [[ 9.98099408e-01 6.15490014e-02 3.04839963e-03 5.76326235e+02] [-6.15484392e-02 9.98104059e-01 -2.77982717e-04 -2.94368225e+01] [-3.05972961e-03 8.98301460e-05 9.99995315e-01 1.51816511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8207140569999 meters Centerline goodness [0,1] 0.9966408214142353 Centerline is valid? [True, True] Translation: X:576.36, Y:-29.44, Z:1.52 [[ 9.98271718e-01 5.86605557e-02 3.53769360e-03 5.76358125e+02] [-5.86597783e-02 9.98277980e-01 -3.23207019e-04 -2.94361128e+01] [-3.55056112e-03 1.15128104e-04 9.99993690e-01 1.51898531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8507140569999 meters Centerline goodness [0,1] 0.9968136065331618 Centerline is valid? [True, True] Translation: X:576.39, Y:-29.44, Z:1.52 [[ 9.98322772e-01 5.77775818e-02 3.65974767e-03 5.76390387e+02] [-5.77767404e-02 9.98329473e-01 -3.35311574e-04 -2.94366019e+01] [-3.67300745e-03 1.23300889e-04 9.99993247e-01 1.51878080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.880714057 meters Centerline goodness [0,1] 0.9966644147947982 Centerline is valid? [True, True] Translation: X:576.42, Y:-29.44, Z:1.52 [[ 9.98322211e-01 5.78173027e-02 3.15001928e-03 5.76422017e+02] [-5.78166762e-02 9.98327175e-01 -2.89646817e-04 -2.94375912e+01] [-3.16149645e-03 1.07037205e-04 9.99994997e-01 1.51829778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.910714057 meters Centerline goodness [0,1] 0.9966634991025235 Centerline is valid? [True, True] Translation: X:576.45, Y:-29.43, Z:1.52 [[ 9.98210155e-01 5.97936340e-02 1.09870537e-03 5.76454592e+02] [-5.97935580e-02 9.98210759e-01 -1.01921923e-04 -2.94325503e+01] [-1.10283381e-03 3.60439957e-05 9.99999391e-01 1.51673267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9407140569999 meters Centerline goodness [0,1] 0.9970673249361774 Centerline is valid? [True, True] Translation: X:576.49, Y:-29.43, Z:1.52 [[ 9.97886570e-01 6.49785403e-02 -4.28318674e-04 5.76485752e+02] [-6.49785295e-02 9.97886661e-01 3.92267063e-05 -2.94274001e+01] [ 4.29962386e-04 -1.13122858e-05 9.99999908e-01 1.51605291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9707140569999 meters Centerline goodness [0,1] 0.9961935374725088 Centerline is valid? [True, True] Translation: X:576.52, Y:-29.42, Z:1.52 [[ 9.97650990e-01 6.85011074e-02 -3.17681471e-04 5.76518277e+02] [-6.85011019e-02 9.97651040e-01 2.82942827e-05 -2.94239661e+01] [ 3.18873440e-04 -6.46628828e-06 9.99999949e-01 1.51569119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.000714057 meters Centerline goodness [0,1] 0.9963679364811218 Centerline is valid? [True, True] Translation: X:576.55, Y:-29.42, Z:1.52 [[ 9.97177193e-01 7.50830317e-02 -4.29154236e-04 5.76550857e+02] [-7.50830217e-02 9.97177285e-01 3.93627881e-05 -2.94170765e+01] [ 4.30898333e-04 -7.02947770e-06 9.99999907e-01 1.51572498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.030714057 meters Centerline goodness [0,1] 0.9949567419286769 Centerline is valid? [True, True] Translation: X:576.58, Y:-29.42, Z:1.52 [[ 9.96923910e-01 7.83749540e-02 -2.89746588e-04 5.76583487e+02] [-7.83749498e-02 9.96923952e-01 2.58168055e-05 -2.94160765e+01] [ 2.90878705e-04 -3.02851635e-06 9.99999958e-01 1.51625798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0607140569999 meters Centerline goodness [0,1] 0.9955281808977388 Centerline is valid? [True, True] Translation: X:576.62, Y:-29.42, Z:1.52 [[ 9.96690903e-01 8.12849370e-02 -6.08534674e-05 5.76616274e+02] [-8.12849368e-02 9.96690904e-01 5.28331709e-06 -2.94154244e+01] [ 6.10815515e-05 -3.19363829e-07 9.99999998e-01 1.51599629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0907140569999 meters Centerline goodness [0,1] 0.9946188908584451 Centerline is valid? [True, True] Translation: X:576.65, Y:-29.41, Z:1.52 [[ 9.96215043e-01 8.69223962e-02 -2.92391809e-04 5.76648116e+02] [-8.69223923e-02 9.96215086e-01 2.62299240e-05 -2.94116475e+01] [ 2.93565099e-04 -7.15249337e-07 9.99999957e-01 1.51660482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.120714057 meters Centerline goodness [0,1] 0.9943917351886992 Centerline is valid? [True, True] Translation: X:576.68, Y:-29.41, Z:1.52 [[ 9.95792528e-01 9.16359019e-02 3.21647705e-04 5.76679754e+02] [-9.16358967e-02 9.95792580e-01 -3.07792621e-05 -2.94073043e+01] [-3.23114884e-04 1.17528335e-06 9.99999948e-01 1.51715978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.150714057 meters Centerline goodness [0,1] 0.9935731293592094 Centerline is valid? [True, True] Translation: X:576.71, Y:-29.41, Z:1.52 [[ 9.95497937e-01 9.47776192e-02 1.02980850e-03 5.76713346e+02] [-9.47775694e-02 9.95498470e-01 -9.71650754e-05 -2.94071845e+01] [-1.03438186e-03 -8.75114631e-07 9.99999465e-01 1.51733792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1807140569999 meters Centerline goodness [0,1] 0.994332904965555 Centerline is valid? [True, True] Translation: X:576.75, Y:-29.41, Z:1.52 [[ 9.95218728e-01 9.76576995e-02 1.63014183e-03 5.76746255e+02] [-9.76575788e-02 9.95220063e-01 -1.53659184e-04 -2.94074437e+01] [-1.63735586e-03 -6.27120637e-06 9.99998660e-01 1.51765386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2107140569999 meters Centerline goodness [0,1] 0.993367722918202 Centerline is valid? [True, True] Translation: X:576.78, Y:-29.41, Z:1.52 [[ 9.94661143e-01 1.03138675e-01 3.40938215e-03 5.76777614e+02] [-1.03138182e-01 9.94666986e-01 -3.20716023e-04 -2.94058011e+01] [-3.42427810e-03 -3.26337093e-05 9.99994137e-01 1.52011843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.240714057 meters Centerline goodness [0,1] 0.9927687474964687 Centerline is valid? [True, True] Translation: X:576.81, Y:-29.41, Z:1.52 [[ 9.94423573e-01 1.05358615e-01 4.61743279e-03 5.76809625e+02] [-1.05357730e-01 9.94434291e-01 -4.35172539e-04 -2.94071344e+01] [-4.63758268e-03 -5.37364055e-05 9.99989245e-01 1.52121150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.270714057 meters Centerline goodness [0,1] 0.9928101414846427 Centerline is valid? [True, True] Translation: X:576.84, Y:-29.41, Z:1.52 [[ 9.94274595e-01 1.06660887e-01 6.44090638e-03 5.76841675e+02] [-1.06659184e-01 9.94295453e-01 -6.08311517e-04 -2.94105180e+01] [-6.46904698e-03 -8.21531337e-05 9.99979072e-01 1.52094816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3007140569999 meters Centerline goodness [0,1] 0.9927636837898103 Centerline is valid? [True, True] Translation: X:576.87, Y:-29.41, Z:1.52 [[ 9.94361312e-01 1.05926086e-01 5.02454238e-03 5.76873205e+02] [-1.05925033e-01 9.94374004e-01 -4.76011896e-04 -2.94144306e+01] [-5.04669640e-03 -5.88970045e-05 9.99987264e-01 1.52028946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3307140569999 meters Centerline goodness [0,1] 0.9931391531273677 Centerline is valid? [True, True] Translation: X:576.91, Y:-29.42, Z:1.52 [[ 9.94743365e-01 1.02344031e-01 3.36692348e-03 5.76905268e+02] [-1.02343538e-01 9.94749063e-01 -3.18969210e-04 -2.94218972e+01] [-3.38188857e-03 -2.72903552e-05 9.99994281e-01 1.51753749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.360714057 meters Centerline goodness [0,1] 0.9931391531273677 Centerline is valid? [True, True] Translation: X:576.94, Y:-29.43, Z:1.52 [[ 9.94714333e-01 1.02625826e-01 3.36676089e-03 5.76937585e+02] [-1.02625329e-01 9.94720031e-01 -3.20684195e-04 -2.94250216e+01] [-3.38189498e-03 -2.65257773e-05 9.99994281e-01 1.51766507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.390714057 meters Centerline goodness [0,1] 0.9931316366087982 Centerline is valid? [True, True] Translation: X:576.97, Y:-29.43, Z:1.52 [[ 9.94984221e-01 9.99951754e-02 2.71387772e-03 5.76969727e+02] [-9.99948402e-02 9.94987922e-01 -2.59240253e-04 -2.94306302e+01] [-2.72619833e-03 -1.34338079e-05 9.99996284e-01 1.51661340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4207140569999 meters Centerline goodness [0,1] 0.9936001347340055 Centerline is valid? [True, True] Translation: X:577.00, Y:-29.44, Z:1.52 [[ 9.95469550e-01 9.50678622e-02 1.57385331e-03 5.77001671e+02] [-9.50677434e-02 9.95470794e-01 -1.50262039e-04 -2.94395617e+01] [-1.58101010e-03 -4.13989715e-08 9.99998750e-01 1.51553943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4507140569999 meters Centerline goodness [0,1] 0.9938643839082398 Centerline is valid? [True, True] Translation: X:577.03, Y:-29.45, Z:1.52 [[ 9.95618568e-01 9.34876154e-02 1.93182383e-03 5.77034491e+02] [-9.34874312e-02 9.95620443e-01 -1.85652441e-04 -2.94456450e+01] [-1.94071950e-03 4.23777048e-06 9.99998117e-01 1.51553849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4807140569999 meters Centerline goodness [0,1] 0.9936388912292526 Centerline is valid? [True, True] Translation: X:577.07, Y:-29.45, Z:1.52 [[ 9.95794605e-01 9.15915834e-02 2.02163602e-03 5.77066723e+02] [-9.15913766e-02 9.95796657e-01 -1.94828913e-04 -2.94534316e+01] [-2.03098308e-03 8.84515420e-06 9.99997938e-01 1.51565961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.510714057 meters Centerline goodness [0,1] 0.9932856240791412 Centerline is valid? [True, True] Translation: X:577.10, Y:-29.46, Z:1.52 [[ 9.95817844e-01 9.13290653e-02 2.41337139e-03 5.77098158e+02] [-9.13287690e-02 9.95820768e-01 -2.32926149e-04 -2.94600389e+01] [-2.42455827e-03 1.15417773e-05 9.99997061e-01 1.51598770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.540714057 meters Centerline goodness [0,1] 0.9933692586199638 Centerline is valid? [True, True] Translation: X:577.13, Y:-29.46, Z:1.52 [[ 9.95737187e-01 9.22074228e-02 2.29045896e-03 5.77130634e+02] [-9.22071565e-02 9.95739821e-01 -2.21822967e-04 -2.94644502e+01] [-2.30115492e-03 9.68066884e-06 9.99997352e-01 1.51577761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5707140569999 meters Centerline goodness [0,1] 0.9930586230832334 Centerline is valid? [True, True] Translation: X:577.16, Y:-29.47, Z:1.52 [[ 9.95551919e-01 9.41927762e-02 2.02445504e-03 5.77163482e+02] [-9.41925709e-02 9.95553977e-01 -1.96752214e-04 -2.94687035e+01] [-2.03398690e-03 5.18841959e-06 9.99997931e-01 1.51597253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6007140569999 meters Centerline goodness [0,1] 0.99368075156928 Centerline is valid? [True, True] Translation: X:577.19, Y:-29.47, Z:1.52 [[ 9.95025138e-01 9.95794814e-02 2.98361342e-03 5.77194586e+02] [-9.95790616e-02 9.95029611e-01 -2.89284695e-04 -2.94722802e+01] [-2.99759052e-03 -9.25988086e-06 9.99995507e-01 1.51712836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.630714057 meters Centerline goodness [0,1] 0.9930760164997053 Centerline is valid? [True, True] Translation: X:577.23, Y:-29.48, Z:1.52 [[ 9.94617134e-01 1.03554988e-01 3.62231943e-03 5.77226838e+02] [-1.03554391e-01 9.94623730e-01 -3.52461316e-04 -2.94756055e+01] [-3.63934399e-03 -2.45430198e-05 9.99993377e-01 1.51774196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.660714057 meters Centerline goodness [0,1] 0.9912317679790912 Centerline is valid? [True, True] Translation: X:577.26, Y:-29.48, Z:1.52 [[ 9.93714924e-01 1.11845192e-01 4.61551835e-03 5.77257401e+02] [-1.11844317e-01 9.93725640e-01 -4.48158651e-04 -2.94766014e+01] [-4.63668332e-03 -7.08775565e-05 9.99989248e-01 1.51915369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6907140569999 meters Centerline goodness [0,1] 0.9909094699970811 Centerline is valid? [True, True] Translation: X:577.29, Y:-29.48, Z:1.52 [[ 9.93221847e-01 1.16131414e-01 4.88445158e-03 5.77288336e+02] [-1.16130476e-01 9.93233853e-01 -4.76136293e-04 -2.94768175e+01] [-4.90669705e-03 -9.43247183e-05 9.99987958e-01 1.52021500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7207140569999 meters Centerline goodness [0,1] 0.9906878130911057 Centerline is valid? [True, True] Translation: X:577.32, Y:-29.48, Z:1.52 [[ 9.92270089e-01 1.23999998e-01 4.90617029e-03 5.77318883e+02] [-1.23999152e-01 9.92282209e-01 -4.77508521e-04 -2.94805904e+01] [-4.92751655e-03 -1.34543531e-04 9.99987851e-01 1.52007641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.750714057 meters Centerline goodness [0,1] 0.990835137578038 Centerline is valid? [True, True] Translation: X:577.35, Y:-29.48, Z:1.52 [[ 9.91815118e-01 1.27579516e-01 5.12243047e-03 5.77350948e+02] [-1.27578638e-01 9.91828333e-01 -4.99116919e-04 -2.94843268e+01] [-5.14424877e-03 -1.58480997e-04 9.99986756e-01 1.52076324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.780714057 meters Centerline goodness [0,1] 0.9902421622529064 Centerline is valid? [True, True] Translation: X:577.38, Y:-29.49, Z:1.52 [[ 9.91081151e-01 1.33181523e-01 4.56439214e-03 5.77381241e+02] [-1.33180885e-01 9.91091648e-01 -4.44827107e-04 -2.94916492e+01] [-4.58297368e-03 -1.67030023e-04 9.99989484e-01 1.52106107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8107140569999 meters Centerline goodness [0,1] 0.9905929184998953 Centerline is valid? [True, True] Translation: X:577.41, Y:-29.50, Z:1.52 [[ 9.90791118e-01 1.35345471e-01 3.81616748e-03 5.77412334e+02] [-1.35345034e-01 9.90798457e-01 -3.73586287e-04 -2.94984059e+01] [-3.83161606e-03 -1.46353344e-04 9.99992649e-01 1.52073868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8407140569999 meters Centerline goodness [0,1] 0.9887850467289719 Centerline is valid? [True, True] Translation: X:577.44, Y:-29.51, Z:1.52 [[ 9.90321511e-01 1.38769076e-01 2.53918510e-03 5.77443445e+02] [-1.38768892e-01 9.90324761e-01 -2.49472551e-04 -2.95064037e+01] [-2.54923695e-03 -1.05301869e-04 9.99996745e-01 1.51966151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.870714057 meters Centerline goodness [0,1] 0.9881512640039982 Centerline is valid? [True, True] Translation: X:577.47, Y:-29.51, Z:1.52 [[ 9.90160759e-01 1.39921937e-01 1.87708329e-03 5.77474593e+02] [-1.39921837e-01 9.90162535e-01 -1.85089779e-04 -2.95108940e+01] [-1.88451567e-03 -7.93763059e-05 9.99998221e-01 1.51962398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.900714057 meters Centerline goodness [0,1] 0.9877518767285658 Centerline is valid? [True, True] Translation: X:577.50, Y:-29.52, Z:1.52 [[ 9.89993493e-01 1.41110592e-01 8.27841448e-04 5.77504914e+02] [-1.41110572e-01 9.89993838e-01 -8.18466561e-05 -2.95208043e+01] [-8.31107362e-04 -3.57895236e-05 9.99999654e-01 1.51987978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9307140569999 meters Centerline goodness [0,1] 0.9873399179710387 Centerline is valid? [True, True] Translation: X:577.54, Y:-29.53, Z:1.52 [[ 9.89985723e-01 1.41166866e-01 4.29512593e-04 5.77536303e+02] [-1.41166861e-01 9.89985816e-01 -4.32729679e-05 -2.95304219e+01] [-4.31320084e-04 -1.77933239e-05 9.99999907e-01 1.51979731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9607140569999 meters Centerline goodness [0,1] 0.9873322776898075 Centerline is valid? [True, True] Translation: X:577.57, Y:-29.54, Z:1.52 [[ 9.90067879e-01 1.40589414e-01 -4.59916096e-04 5.77566508e+02] [-1.40589409e-01 9.90067986e-01 4.45160182e-05 -2.95424829e+01] [ 4.61606684e-04 2.05854523e-05 9.99999893e-01 1.52004733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.990714057 meters Centerline goodness [0,1] 0.9881423757371525 Centerline is valid? [True, True] Translation: X:577.60, Y:-29.55, Z:1.52 [[ 9.90154612e-01 1.39972592e-01 -1.23236555e-03 5.77597603e+02] [-1.39972550e-01 9.90155377e-01 1.21017862e-04 -2.95504528e+01] [ 1.23717256e-03 5.26709540e-05 9.99999233e-01 1.52055845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.020714057 meters Centerline goodness [0,1] 0.9881745048205172 Centerline is valid? [True, True] Translation: X:577.63, Y:-29.56, Z:1.52 [[ 9.90271906e-01 1.39113239e-01 -3.00971692e-03 5.77628120e+02] [-1.39112976e-01 9.90276472e-01 2.97655255e-04 -2.95626850e+01] [ 3.02185964e-03 1.23931042e-04 9.99995426e-01 1.52027740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0507140569999 meters Centerline goodness [0,1] 0.987821974848821 Centerline is valid? [True, True] Translation: X:577.66, Y:-29.57, Z:1.52 [[ 9.90322699e-01 1.38733769e-01 -3.72730979e-03 5.77659736e+02] [-1.38733359e-01 9.90329702e-01 3.69746766e-04 -2.95705393e+01] [ 3.74256195e-03 1.50933590e-04 9.99992985e-01 1.52020259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0807140569999 meters Centerline goodness [0,1] 0.9879112503704959 Centerline is valid? [True, True] Translation: X:577.69, Y:-29.58, Z:1.52 [[ 9.90510927e-01 1.37360531e-01 -4.49300775e-03 5.77691089e+02] [-1.37359915e-01 9.90521102e-01 4.46876125e-04 -2.95842980e+01] [ 4.51180213e-03 1.74523477e-04 9.99989807e-01 1.52146046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.110714057 meters Centerline goodness [0,1] 0.988833904326862 Centerline is valid? [True, True] Translation: X:577.72, Y:-29.59, Z:1.52 [[ 9.90701543e-01 1.35966935e-01 -4.84207159e-03 5.77722567e+02] [-1.35966200e-01 9.90713359e-01 4.82173292e-04 -2.95928308e+01] [ 4.86266463e-03 1.80668248e-04 9.99988161e-01 1.52208834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.140714057 meters Centerline goodness [0,1] 0.9890840359334848 Centerline is valid? [True, True] Translation: X:577.75, Y:-29.61, Z:1.52 [[ 9.91233719e-01 1.31997961e-01 -5.67921186e-03 5.77752666e+02] [-1.31996879e-01 9.91249970e-01 5.66679447e-04 -2.96069598e+01] [ 5.70431911e-03 1.87926464e-04 9.99983713e-01 1.52257519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1707140569999 meters Centerline goodness [0,1] 0.9893488105108744 Centerline is valid? [True, True] Translation: X:577.78, Y:-29.62, Z:1.52 [[ 9.91641783e-01 1.28874299e-01 -6.16357375e-03 5.77782776e+02] [-1.28872962e-01 9.91660920e-01 6.15228383e-04 -2.96157249e+01] [ 6.19146235e-03 1.84231838e-04 9.99980816e-01 1.52293760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2007140569999 meters Centerline goodness [0,1] 0.9897223108841366 Centerline is valid? [True, True] Translation: X:577.81, Y:-29.63, Z:1.52 [[ 9.92740879e-01 1.20089027e-01 -6.64629590e-03 5.77811676e+02] [-1.20087274e-01 9.92763117e-01 6.63592763e-04 -2.96331825e+01] [ 6.67788764e-03 1.39359897e-04 9.99977693e-01 1.52305682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2307140569999 meters Centerline goodness [0,1] 0.9902255639097745 Centerline is valid? [True, True] Translation: X:577.84, Y:-29.64, Z:1.52 [[ 9.93322949e-01 1.15137000e-01 -7.27948972e-03 5.77842327e+02] [-1.15134763e-01 9.93349615e-01 7.26986632e-04 -2.96437879e+01] [ 7.31478137e-03 1.15989819e-04 9.99973240e-01 1.52356745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.260714057 meters Centerline goodness [0,1] 0.993699798653359 Centerline is valid? [True, True] Translation: X:577.87, Y:-29.66, Z:1.53 [[ 9.94701787e-01 1.02487248e-01 -8.04477783e-03 5.77871711e+02] [-1.02484100e-01 9.94734318e-01 8.03702739e-04 -2.96638391e+01] [ 8.08478587e-03 2.50172602e-05 9.99967317e-01 1.52583368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.290714057 meters Centerline goodness [0,1] 0.9938138959432181 Centerline is valid? [True, True] Translation: X:577.90, Y:-29.67, Z:1.53 [[ 9.95320198e-01 9.62843427e-02 -8.18707292e-03 5.77903581e+02] [-9.62808610e-02 9.95353869e-01 8.19258701e-04 -2.96745988e+01] [ 8.22791649e-03 -2.71663027e-05 9.99966150e-01 1.52679826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3207140569999 meters Centerline goodness [0,1] 0.9958238172920065 Centerline is valid? [True, True] Translation: X:577.93, Y:-29.69, Z:1.53 [[ 9.96515032e-01 8.29839499e-02 -8.45308157e-03 5.77931859e+02] [-8.29797497e-02 9.96550874e-01 8.47009031e-04 -2.96907614e+01] [ 8.49421398e-03 -1.42622639e-04 9.99963913e-01 1.52886857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3507140569999 meters Centerline goodness [0,1] 0.9964242886732803 Centerline is valid? [True, True] Translation: X:577.96, Y:-29.70, Z:1.53 [[ 9.97002168e-01 7.68855405e-02 -8.67706410e-03 5.77962862e+02] [-7.68808823e-02 9.97039906e-01 8.69619215e-04 -2.96984876e+01] [ 8.71824032e-03 -1.99911898e-04 9.99961975e-01 1.52955569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.380714057 meters Centerline goodness [0,1] 0.9970618321109104 Centerline is valid? [True, True] Translation: X:577.99, Y:-29.71, Z:1.53 [[ 9.97755206e-01 6.65345000e-02 -7.59662059e-03 5.77992795e+02] [-6.65306287e-02 9.97784093e-01 7.61475735e-04 -2.97079047e+01] [ 7.63045159e-03 -2.54358436e-04 9.99970855e-01 1.53097424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.410714057 meters Centerline goodness [0,1] 0.9982902235861464 Centerline is valid? [True, True] Translation: X:578.02, Y:-29.71, Z:1.53 [[ 9.98027956e-01 6.23398922e-02 -7.34414801e-03 5.78023288e+02] [-6.23361598e-02 9.98054939e-01 7.36248651e-04 -2.97125499e+01] [ 7.37576086e-03 -2.76990752e-04 9.99972760e-01 1.53227859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4407140569999 meters Centerline goodness [0,1] 0.9976631942169517 Centerline is valid? [True, True] Translation: X:578.05, Y:-29.72, Z:1.53 [[ 9.98432765e-01 5.55444756e-02 -6.84291174e-03 5.78051840e+02] [-5.55410758e-02 9.98456167e-01 6.86024296e-04 -2.97197030e+01] [ 6.87045229e-03 -3.04886455e-04 9.99976352e-01 1.53286986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4707140569999 meters Centerline goodness [0,1] 0.9980506395654459 Centerline is valid? [True, True] Translation: X:578.08, Y:-29.72, Z:1.53 [[ 9.98577122e-01 5.28400985e-02 -7.18719474e-03 5.78083076e+02] [-5.28362776e-02 9.98602928e-01 7.20599044e-04 -2.97214504e+01] [ 7.21523024e-03 -3.39829102e-04 9.99973912e-01 1.53174903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.500714057 meters Centerline goodness [0,1] 0.9988238625225971 Centerline is valid? [True, True] Translation: X:578.11, Y:-29.72, Z:1.53 [[ 9.98790581e-01 4.85043410e-02 -8.04384619e-03 5.78113883e+02] [-4.84994128e-02 9.98822885e-01 8.06712922e-04 -2.97201208e+01] [ 8.07350674e-03 -4.15615451e-04 9.99967322e-01 1.53079194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.530714057 meters Centerline goodness [0,1] 0.9986111111111111 Centerline is valid? [True, True] Translation: X:578.14, Y:-29.72, Z:1.53 [[ 9.98857791e-01 4.70414632e-02 -8.37933936e-03 5.78144694e+02] [-4.70360621e-02 9.98892838e-01 8.40586733e-04 -2.97213544e+01] [ 8.40960451e-03 -4.45495481e-04 9.99964539e-01 1.53048664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5607140569999 meters Centerline goodness [0,1] 0.9988082856647599 Centerline is valid? [True, True] Translation: X:578.18, Y:-29.72, Z:1.53 [[ 9.98938453e-01 4.55447326e-02 -6.90244360e-03 5.78177870e+02] [-4.55410298e-02 9.98962229e-01 6.92756991e-04 -2.97150095e+01] [ 6.92683187e-03 -3.77677207e-04 9.99975938e-01 1.53010332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5907140569999 meters Centerline goodness [0,1] 0.9988738007060404 Centerline is valid? [True, True] Translation: X:578.21, Y:-29.72, Z:1.53 [[ 9.98979616e-01 4.45920989e-02 -7.16034654e-03 5.78208263e+02] [-4.45880824e-02 9.99005198e-01 7.19679108e-04 -2.97203432e+01] [ 7.18531541e-03 -3.99678638e-04 9.99974105e-01 1.53030558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.620714057 meters Centerline goodness [0,1] 0.9992018981880931 Centerline is valid? [True, True] Translation: X:578.24, Y:-29.71, Z:1.53 [[ 9.99031721e-01 4.34718677e-02 -6.76886730e-03 5.78241076e+02] [-4.34682425e-02 9.99054577e-01 6.81831209e-04 -2.97114384e+01] [ 6.79210833e-03 -3.86940240e-04 9.99976859e-01 1.53008689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.650714057 meters Centerline goodness [0,1] 0.99866703932234 Centerline is valid? [True, True] Translation: X:578.27, Y:-29.71, Z:1.53 [[ 9.99081366e-01 4.23723060e-02 -6.40402599e-03 5.78272406e+02] [-4.23690296e-02 9.99101820e-01 6.46482990e-04 -2.97110030e+01] [ 6.42566700e-03 -3.74556742e-04 9.99979285e-01 1.52974218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6807140569999 meters Centerline goodness [0,1] 0.9987346115900999 Centerline is valid? [True, True] Translation: X:578.31, Y:-29.70, Z:1.52 [[ 9.99109409e-01 4.19968149e-02 -4.08129374e-03 5.78305798e+02] [-4.19954786e-02 9.99117716e-01 4.12608040e-04 -2.97024535e+01] [ 4.09502110e-03 -2.40844691e-04 9.99991586e-01 1.52440923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7107140569999 meters Centerline goodness [0,1] 0.9979035190929512 Centerline is valid? [True, True] Translation: X:578.34, Y:-29.70, Z:1.52 [[ 9.99102205e-01 4.21939846e-02 -3.80143274e-03 5.78339319e+02] [-4.21928234e-02 9.99109412e-01 3.85172789e-04 -2.96996572e+01] [ 3.81429921e-03 -2.24433803e-04 9.99992700e-01 1.52267577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.740714057 meters Centerline goodness [0,1] 0.9972879057547249 Centerline is valid? [True, True] Translation: X:578.37, Y:-29.69, Z:1.52 [[ 9.99117683e-01 4.18947268e-02 -2.94737566e-03 5.78372146e+02] [-4.18940257e-02 9.99122015e-01 2.99265569e-04 -2.96898321e+01] [ 2.95732556e-03 -1.75524090e-04 9.99995612e-01 1.52216839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.770714057 meters Centerline goodness [0,1] 0.9971913671495545 Centerline is valid? [True, True] Translation: X:578.40, Y:-29.69, Z:1.52 [[ 9.99085899e-01 4.26744906e-02 -2.50101638e-03 5.78404227e+02] [-4.26739871e-02 9.99089018e-01 2.54356788e-04 -2.96879887e+01] [ 2.50959255e-03 -1.47395939e-04 9.99996840e-01 1.52178748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8007140569999 meters Centerline goodness [0,1] 0.9974546611517658 Centerline is valid? [True, True] Translation: X:578.44, Y:-29.68, Z:1.52 [[ 9.99029543e-01 4.39387961e-02 -3.05841671e-03 5.78438318e+02] [-4.39380458e-02 9.99034209e-01 3.12091936e-04 -2.96764012e+01] [ 3.06917586e-03 -1.77408211e-04 9.99995274e-01 1.52193431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8307140569999 meters Centerline goodness [0,1] 0.9966203451026492 Centerline is valid? [True, True] Translation: X:578.47, Y:-29.67, Z:1.52 [[ 9.98888867e-01 4.70350148e-02 -2.95612386e-03 5.78468979e+02] [-4.70343259e-02 9.98893228e-01 3.02181163e-04 -2.96668504e+01] [ 2.96706520e-03 -1.62806107e-04 9.99995585e-01 1.52214362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.860714057 meters Centerline goodness [0,1] 0.996187467087941 Centerline is valid? [True, True] Translation: X:578.50, Y:-29.66, Z:1.52 [[ 9.98758324e-01 4.97183439e-02 -3.14580727e-03 5.78501398e+02] [-4.97175773e-02 9.98763265e-01 3.21471043e-04 -2.96589711e+01] [ 3.15789974e-03 -1.64669964e-04 9.99995000e-01 1.52292603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.890714057 meters Centerline goodness [0,1] 0.9969950269812718 Centerline is valid? [True, True] Translation: X:578.53, Y:-29.64, Z:1.52 [[ 9.98435740e-01 5.58663270e-02 -2.24180502e-03 5.78533535e+02] [-5.58659530e-02 9.98438252e-01 2.29188747e-04 -2.96448225e+01] [ 2.25110782e-03 -1.03589663e-04 9.99997461e-01 1.52404451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9207140569999 meters Centerline goodness [0,1] 0.9957572559366754 Centerline is valid? [True, True] Translation: X:578.57, Y:-29.64, Z:1.53 [[ 9.98268146e-01 5.88068480e-02 -1.56972046e-03 5.78566251e+02] [-5.88066685e-02 9.98269377e-01 1.60300498e-04 -2.96378249e+01] [ 1.57643064e-03 -6.77128495e-05 9.99998755e-01 1.52576868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9507140569999 meters Centerline goodness [0,1] 0.9958870304359748 Centerline is valid? [True, True] Translation: X:578.60, Y:-29.63, Z:1.53 [[ 9.98074037e-01 6.20336066e-02 -2.18162564e-04 5.78596944e+02] [-6.20336033e-02 9.98074061e-01 2.22547028e-05 -2.96349428e+01] [ 2.19122936e-04 -8.67843108e-06 9.99999976e-01 1.52716925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9807140569999 meters Centerline goodness [0,1] 0.9959970504582324 Centerline is valid? [True, True] Translation: X:578.63, Y:-29.62, Z:1.53 [[ 9.97804848e-01 6.62187988e-02 7.45411298e-04 5.78630078e+02] [-6.62187601e-02 9.97805126e-01 -7.65210387e-05 -2.96219257e+01] [-7.48842346e-04 2.69928515e-05 9.99999719e-01 1.52925917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.010714057 meters Centerline goodness [0,1] 0.9964509791495025 Centerline is valid? [True, True] Translation: X:578.66, Y:-29.62, Z:1.53 [[ 9.97699280e-01 6.77876673e-02 9.89401044e-04 5.78662460e+02] [-6.77875990e-02 9.97699770e-01 -1.02488381e-04 -2.96183787e+01] [-9.94072642e-04 3.51834623e-05 9.99999505e-01 1.52984648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.040714057 meters Centerline goodness [0,1] 0.9957436101734007 Centerline is valid? [True, True] Translation: X:578.70, Y:-29.61, Z:1.53 [[ 9.97598667e-01 6.92525121e-02 9.94204059e-04 5.78696278e+02] [-6.92524442e-02 9.97599162e-01 -1.02678412e-04 -2.96088276e+01] [-9.98927874e-04 3.35807855e-05 9.99999501e-01 1.52969530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0707140569999 meters Centerline goodness [0,1] 0.9960865997601465 Centerline is valid? [True, True] Translation: X:578.73, Y:-29.60, Z:1.53 [[ 9.97579702e-01 6.95311337e-02 3.99580917e-04 5.78730375e+02] [-6.95311223e-02 9.97579782e-01 -4.22687483e-05 -2.96002212e+01] [-4.01552838e-04 1.43831357e-05 9.99999919e-01 1.52910364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1007140569999 meters Centerline goodness [0,1] 0.9972636763560588 Centerline is valid? [True, True] Translation: X:578.76, Y:-29.60, Z:1.53 [[ 9.97605712e-01 6.91575373e-02 -2.81758091e-04 5.78761224e+02] [-6.91575320e-02 9.97605751e-01 2.85455280e-05 -2.96013892e+01] [ 2.83057631e-04 -8.99148760e-06 9.99999960e-01 1.52977409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.130714057 meters Centerline goodness [0,1] 0.997579558848291 Centerline is valid? [True, True] Translation: X:578.79, Y:-29.60, Z:1.53 [[ 9.97628769e-01 6.88228660e-02 -5.02615984e-04 5.78793727e+02] [-6.88228490e-02 9.97628895e-01 5.10529018e-05 -2.96004175e+01] [ 5.04937836e-04 -1.63403796e-05 9.99999872e-01 1.52988608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.160714057 meters Centerline goodness [0,1] 0.9979152189020153 Centerline is valid? [True, True] Translation: X:578.83, Y:-29.59, Z:1.53 [[ 9.97733505e-01 6.72879814e-02 -4.23928547e-04 5.78826160e+02] [-6.72879692e-02 9.97733595e-01 4.30493243e-05 -2.95938856e+01] [ 4.25864455e-04 -1.44264623e-05 9.99999909e-01 1.53058605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1907140569999 meters Centerline goodness [0,1] 0.9983376470340677 Centerline is valid? [True, True] Translation: X:578.86, Y:-29.60, Z:1.53 [[ 9.97793537e-01 6.63930646e-02 1.35367108e-04 5.78857428e+02] [-6.63930632e-02 9.97793546e-01 -1.49322559e-05 -2.95955573e+01] [-1.36059825e-04 5.91187144e-06 9.99999991e-01 1.53170604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2207140569999 meters Centerline goodness [0,1] 0.9987870676314359 Centerline is valid? [True, True] Translation: X:578.89, Y:-29.59, Z:1.53 [[ 9.97868932e-01 6.52452368e-02 8.08926144e-04 5.78890078e+02] [-6.52451892e-02 9.97869259e-01 -8.51429162e-05 -2.95892021e+01] [-8.12757701e-04 3.21829315e-05 9.99999669e-01 1.53308328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.250714057 meters Centerline goodness [0,1] 0.9987870676314359 Centerline is valid? [True, True] Translation: X:578.92, Y:-29.59, Z:1.53 [[ 9.97851183e-01 6.55161267e-02 8.08889060e-04 5.78922397e+02] [-6.55160789e-02 9.97851510e-01 -8.54974725e-05 -2.95926407e+01] [-8.12752633e-04 3.23185146e-05 9.99999669e-01 1.53321107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.280714057 meters Centerline goodness [0,1] 0.9986156556758117 Centerline is valid? [True, True] Translation: X:578.95, Y:-29.59, Z:1.53 [[ 9.97827211e-01 6.58838611e-02 4.16213064e-04 5.78954948e+02] [-6.58838482e-02 9.97827298e-01 -4.45452337e-05 -2.95884826e+01] [-4.18243569e-04 1.70267280e-05 9.99999912e-01 1.53362220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3107140569999 meters Centerline goodness [0,1] 0.9986799371398638 Centerline is valid? [True, True] Translation: X:578.99, Y:-29.59, Z:1.53 [[ 9.97763653e-01 6.68398541e-02 3.54825176e-04 5.78986925e+02] [-6.68398448e-02 9.97763716e-01 -3.81179270e-05 -2.95880823e+01] [-3.56579483e-04 1.43162224e-05 9.99999936e-01 1.53394394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3407140569999 meters Centerline goodness [0,1] 0.9993088281495445 Centerline is valid? [True, True] Translation: X:579.02, Y:-29.58, Z:1.53 [[ 9.97527750e-01 7.02608170e-02 -1.34347674e-03 5.79019795e+02] [-7.02606911e-02 9.97528654e-01 1.40696785e-04 -2.95814503e+01] [ 1.35004201e-03 -4.59553432e-05 9.99999088e-01 1.53402824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.370714057 meters Centerline goodness [0,1] 0.9996031414487426 Centerline is valid? [True, True] Translation: X:579.05, Y:-29.58, Z:1.53 [[ 9.97385862e-01 7.22321282e-02 -1.99049813e-03 5.79052614e+02] [-7.22318559e-02 9.97387846e-01 2.08419526e-04 -2.95800000e+01] [ 2.00035323e-03 -6.40973138e-05 9.99997997e-01 1.53375231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.400714057 meters Centerline goodness [0,1] 0.9993715961457897 Centerline is valid? [True, True] Translation: X:579.08, Y:-29.57, Z:1.53 [[ 9.97140328e-01 7.54844201e-02 -3.64272389e-03 5.79083432e+02] [-7.54835239e-02 9.97146976e-01 3.83080736e-04 -2.95746140e+01] [ 3.66124774e-03 -1.07019614e-04 9.99993292e-01 1.53263905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4307140569999 meters Centerline goodness [0,1] 0.9997274233115971 Centerline is valid? [True, True] Translation: X:579.12, Y:-29.57, Z:1.53 [[ 9.97060941e-01 7.65104740e-02 -3.95313046e-03 5.79115381e+02] [-7.65094263e-02 9.97068771e-01 4.15805719e-04 -2.95743094e+01] [ 3.97335642e-03 -1.12131898e-04 9.99992100e-01 1.53290045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4607140569999 meters Centerline goodness [0,1] 0.9992890896165266 Centerline is valid? [True, True] Translation: X:579.15, Y:-29.57, Z:1.53 [[ 9.97042515e-01 7.67722154e-02 -3.49995058e-03 5.79149252e+02] [-7.67713933e-02 9.97048653e-01 3.68818636e-04 -2.95697877e+01] [ 3.51793604e-03 -9.90317777e-05 9.99993807e-01 1.53369906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.490714057 meters Centerline goodness [0,1] 0.9996240915545903 Centerline is valid? [True, True] Translation: X:579.18, Y:-29.57, Z:1.53 [[ 9.97083231e-01 7.62829950e-02 -2.43607342e-03 5.79181161e+02] [-7.62825943e-02 9.97086205e-01 2.57101959e-04 -2.95712390e+01] [ 2.44858771e-03 -7.05220513e-05 9.99997000e-01 1.53471846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.520714057 meters Centerline goodness [0,1] 0.9992247412311948 Centerline is valid? [True, True] Translation: X:579.21, Y:-29.57, Z:1.54 [[ 9.97272288e-01 7.37989917e-02 -1.30076123e-03 5.79212924e+02] [-7.37988754e-02 9.97273136e-01 1.37200204e-04 -2.95713938e+01] [ 1.30733946e-03 -4.08312461e-05 9.99999145e-01 1.53626641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5507140569999 meters Centerline goodness [0,1] 0.9993313832010029 Centerline is valid? [True, True] Translation: X:579.24, Y:-29.57, Z:1.54 [[ 9.97360946e-01 7.25945395e-02 -1.08422710e-03 5.79244273e+02] [-7.25944579e-02 9.97361535e-01 1.14464195e-04 -2.95740968e+01] [ 1.08967588e-03 -3.54532391e-05 9.99999406e-01 1.53679729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5807140569999 meters Centerline goodness [0,1] 0.9997278113942338 Centerline is valid? [True, True] Translation: X:579.27, Y:-29.58, Z:1.54 [[ 9.97661252e-01 6.83514839e-02 -3.17634119e-04 5.79274267e+02] [-6.83514766e-02 9.97661303e-01 3.37292043e-05 -2.95775055e+01] [ 3.19196710e-04 -1.19395592e-05 9.99999949e-01 1.53766143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.610714057 meters Centerline goodness [0,1] 0.9991846973973032 Centerline is valid? [True, True] Translation: X:579.31, Y:-29.58, Z:1.54 [[ 9.97764236e-01 6.68319451e-02 -1.46205820e-04 5.79305207e+02] [-6.68319437e-02 9.97764246e-01 1.50960324e-05 -2.95819097e+01] [ 1.46887837e-04 -5.29106209e-06 9.99999989e-01 1.53762206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.640714057 meters Centerline goodness [0,1] 0.9993264292329713 Centerline is valid? [True, True] Translation: X:579.34, Y:-29.58, Z:1.54 [[ 9.97963388e-01 6.37823931e-02 9.39295497e-04 5.79336723e+02] [-6.37823271e-02 9.97963829e-01 -1.00143164e-04 -2.95783127e+01] [-9.43770301e-04 4.00287586e-05 9.99999554e-01 1.53767706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6707140569999 meters Centerline goodness [0,1] 0.9994551322352152 Centerline is valid? [True, True] Translation: X:579.37, Y:-29.59, Z:1.54 [[ 9.98003881e-01 6.31406106e-02 1.23146034e-03 5.79367675e+02] [-6.31404958e-02 9.98004639e-01 -1.31891366e-04 -2.95851822e+01] [-1.23733083e-03 5.38730791e-05 9.99999233e-01 1.53814172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7007140569999 meters Centerline goodness [0,1] 0.9997683722889029 Centerline is valid? [True, True] Translation: X:579.40, Y:-29.58, Z:1.54 [[ 9.97969401e-01 6.36885899e-02 9.15593970e-04 5.79400829e+02] [-6.36885259e-02 9.97969820e-01 -9.88467331e-05 -2.95819849e+01] [-9.20030559e-04 4.03331847e-05 9.99999576e-01 1.53775823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7307140569999 meters Centerline goodness [0,1] 0.9995787700084247 Centerline is valid? [True, True] Translation: X:579.43, Y:-29.58, Z:1.54 [[ 9.97822438e-01 6.59572471e-02 1.51179610e-04 5.79432904e+02] [-6.59572454e-02 9.97822450e-01 -1.63092389e-05 -2.95791694e+01] [-1.51926121e-04 6.30233388e-06 9.99999988e-01 1.53642136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.760714057 meters Centerline goodness [0,1] 0.9996407059072175 Centerline is valid? [True, True] Translation: X:579.46, Y:-29.58, Z:1.54 [[ 9.97696976e-01 6.78287202e-02 -9.74913491e-05 5.79463454e+02] [-6.78287196e-02 9.97696980e-01 9.47827774e-06 -2.95828766e+01] [ 9.79097241e-05 -2.84373566e-06 9.99999995e-01 1.53659760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.790714057 meters Centerline goodness [0,1] 0.9997055606965592 Centerline is valid? [True, True] Translation: X:579.49, Y:-29.58, Z:1.54 [[ 9.97358055e-01 7.26373025e-02 -8.55991831e-04 5.79494618e+02] [-7.26372504e-02 9.97358422e-01 9.17656695e-05 -2.95776950e+01] [ 8.60396273e-04 -2.93463366e-05 9.99999629e-01 1.53575975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8207140569999 meters Centerline goodness [0,1] 0.99970688608337 Centerline is valid? [True, True] Translation: X:579.53, Y:-29.58, Z:1.54 [[ 9.97114412e-01 7.59029220e-02 -1.26296276e-03 5.79526546e+02] [-7.59028115e-02 9.97115211e-01 1.35255620e-04 -2.95777566e+01] [ 1.26958568e-03 -3.90029039e-05 9.99999193e-01 1.53615940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8507140569999 meters Centerline goodness [0,1] 0.9999162093091457 Centerline is valid? [True, True] Translation: X:579.56, Y:-29.57, Z:1.54 [[ 9.96532067e-01 8.31940252e-02 -1.61034693e-03 5.79557964e+02] [-8.31938548e-02 9.96533368e-01 1.72679761e-04 -2.95731335e+01] [ 1.61913038e-03 -3.81099502e-05 9.99998688e-01 1.53603778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.880714057 meters Centerline goodness [0,1] 0.999686572777801 Centerline is valid? [True, True] Translation: X:579.59, Y:-29.58, Z:1.54 [[ 9.96221596e-01 8.68189353e-02 -2.23679435e-03 5.79588927e+02] [-8.68186161e-02 9.96224107e-01 2.39571113e-04 -2.95758858e+01] [ 2.24914776e-03 -4.44705265e-05 9.99997470e-01 1.53653659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.910714057 meters Centerline goodness [0,1] 0.9997271487039563 Centerline is valid? [True, True] Translation: X:579.62, Y:-29.57, Z:1.54 [[ 9.95699450e-01 9.25875860e-02 -3.18498592e-03 5.79620773e+02] [-9.25869644e-02 9.95704543e-01 3.42364819e-04 -2.95713351e+01] [ 3.20300368e-03 -4.60042842e-05 9.99994869e-01 1.53605831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9407140569999 meters Centerline goodness [0,1] 0.9996014599152578 Centerline is valid? [True, True] Translation: X:579.65, Y:-29.57, Z:1.54 [[ 9.95327014e-01 9.64884345e-02 -3.75726591e-03 5.79651801e+02] [-9.64875968e-02 9.95334105e-01 4.04009000e-04 -2.95718211e+01] [ 3.77871710e-03 -3.95915129e-05 9.99992860e-01 1.53593487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9707140569999 meters Centerline goodness [0,1] 0.9994974979585854 Centerline is valid? [True, True] Translation: X:579.68, Y:-29.57, Z:1.54 [[ 9.95224956e-01 9.75373546e-02 -3.70819562e-03 5.79683356e+02] [-9.75365428e-02 9.95231864e-01 3.99588823e-04 -2.95737744e+01] [ 3.72948928e-03 -3.59961877e-05 9.99993045e-01 1.53591562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.000714057 meters Centerline goodness [0,1] 0.9994777522456654 Centerline is valid? [True, True] Translation: X:579.71, Y:-29.58, Z:1.54 [[ 9.95102740e-01 9.87996556e-02 -3.02735266e-03 5.79714044e+02] [-9.87991200e-02 9.95107345e-01 3.26317087e-04 -2.95761293e+01] [ 3.04478088e-03 -2.56192487e-05 9.99995364e-01 1.53691467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.030714057 meters Centerline goodness [0,1] 0.9995802287753175 Centerline is valid? [True, True] Translation: X:579.74, Y:-29.58, Z:1.54 [[ 9.95044986e-01 9.93966823e-02 -2.40306765e-03 5.79744801e+02] [-9.93963466e-02 9.95047888e-01 2.59027738e-04 -2.95791131e+01] [ 2.41691389e-03 -1.88881072e-05 9.99997079e-01 1.53776379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0607140569999 meters Centerline goodness [0,1] 0.9995174960140976 Centerline is valid? [True, True] Translation: X:579.77, Y:-29.58, Z:1.54 [[ 9.94959654e-01 1.00253818e-01 -2.11160981e-03 5.79774539e+02] [-1.00253560e-01 9.94961895e-01 2.27697476e-04 -2.95822670e+01] [ 2.12379884e-03 -1.48534010e-05 9.99997745e-01 1.53854790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0907140569999 meters Centerline goodness [0,1] 0.9994958936335567 Centerline is valid? [True, True] Translation: X:579.81, Y:-29.58, Z:1.54 [[ 9.94679486e-01 1.03017261e-01 -4.04299079e-04 5.79806161e+02] [-1.03017251e-01 9.94679569e-01 4.34879937e-05 -2.95841367e+01] [ 4.06628048e-04 -1.60683537e-06 9.99999917e-01 1.53974518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.120714057 meters Centerline goodness [0,1] 0.999413661682791 Centerline is valid? [True, True] Translation: X:579.84, Y:-29.59, Z:1.54 [[ 9.94458636e-01 1.05128283e-01 -2.56710273e-04 5.79838484e+02] [-1.05128279e-01 9.94458669e-01 2.68129351e-05 -2.95869763e+01] [ 2.58106554e-04 3.23154483e-07 9.99999967e-01 1.54037820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.150714057 meters Centerline goodness [0,1] 0.9995801582803283 Centerline is valid? [True, True] Translation: X:579.87, Y:-29.59, Z:1.54 [[ 9.94156168e-01 1.07951400e-01 -9.71007984e-05 5.79870490e+02] [-1.07951400e-01 9.94156172e-01 9.55303157e-06 -2.95897383e+01] [ 9.75646212e-05 9.84961877e-07 9.99999995e-01 1.54027940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1807140569999 meters Centerline goodness [0,1] 0.9996634908616737 Centerline is valid? [True, True] Translation: X:579.90, Y:-29.59, Z:1.54 [[ 9.93537672e-01 1.13498984e-01 -9.35101407e-04 5.79901359e+02] [-1.13498940e-01 9.93538112e-01 1.00672626e-04 -2.95925006e+01] [ 9.40485128e-04 6.11097176e-06 9.99999558e-01 1.54019114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2107140569999 meters Centerline goodness [0,1] 0.9994336892002433 Centerline is valid? [True, True] Translation: X:579.93, Y:-29.59, Z:1.54 [[ 9.93244950e-01 1.16030901e-01 -1.14010393e-03 5.79931895e+02] [-1.16030836e-01 9.93245604e-01 1.23787858e-04 -2.95947284e+01] [ 1.14676643e-03 9.33554688e-06 9.99999342e-01 1.53958233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.240714057 meters Centerline goodness [0,1] 0.9994123449535123 Centerline is valid? [True, True] Translation: X:579.96, Y:-29.60, Z:1.54 [[ 9.92574946e-01 1.21608913e-01 -2.49978254e-03 5.79962407e+02] [-1.21608615e-01 9.92578093e-01 2.71539596e-04 -2.95992788e+01] [ 2.51425102e-03 3.44716922e-05 9.99996839e-01 1.53745661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.270714057 meters Centerline goodness [0,1] 0.999517242826858 Centerline is valid? [True, True] Translation: X:579.99, Y:-29.60, Z:1.54 [[ 9.92278968e-01 1.23996065e-01 -2.72510638e-03 5.79992704e+02] [-1.23995719e-01 9.92282709e-01 2.96068942e-04 -2.96031985e+01] [ 2.74078733e-03 4.41185421e-05 9.99996243e-01 1.53728625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3007140569999 meters Centerline goodness [0,1] 0.9993104312938816 Centerline is valid? [True, True] Translation: X:580.02, Y:-29.61, Z:1.54 [[ 9.91852669e-01 1.27310971e-01 -4.49446857e-03 5.80023564e+02] [-1.27310064e-01 9.91862848e-01 4.88432392e-04 -2.96087727e+01] [ 4.52007920e-03 8.77381095e-05 9.99989781e-01 1.53557323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3307140569999 meters Centerline goodness [0,1] 0.9990535879532262 Centerline is valid? [True, True] Translation: X:580.05, Y:-29.61, Z:1.53 [[ 9.91664054e-01 1.28768405e-01 -4.59377689e-03 5.80053101e+02] [-1.28767473e-01 9.91674689e-01 4.99419259e-04 -2.96133443e+01] [ 4.61984169e-03 9.62729138e-05 9.99989324e-01 1.53479620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.360714057 meters Centerline goodness [0,1] 0.9992424720661575 Centerline is valid? [True, True] Translation: X:580.08, Y:-29.62, Z:1.53 [[ 9.91431040e-01 1.30455560e-01 -6.77051205e-03 5.80083788e+02] [-1.30453568e-01 9.91454146e-01 7.36937066e-04 -2.96236817e+01] [ 6.80878978e-03 1.52615171e-04 9.99976808e-01 1.53346372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.390714057 meters Centerline goodness [0,1] 0.9993286196840316 Centerline is valid? [True, True] Translation: X:580.11, Y:-29.63, Z:1.53 [[ 9.91386796e-01 1.30766027e-01 -7.24338145e-03 5.80113903e+02] [-1.30763748e-01 9.91413243e-01 7.89425185e-04 -2.96318365e+01] [ 7.28441429e-03 1.64546000e-04 9.99973455e-01 1.53385840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4207140569999 meters Centerline goodness [0,1] 0.9989229599594526 Centerline is valid? [True, True] Translation: X:580.15, Y:-29.64, Z:1.53 [[ 9.91321832e-01 1.31306515e-01 -6.29476344e-03 5.80145041e+02] [-1.31304798e-01 9.91341807e-01 6.87092428e-04 -2.96403033e+01] [ 6.33048188e-03 1.45402917e-04 9.99979952e-01 1.53464698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4507140569999 meters Centerline goodness [0,1] 0.9987399722793902 Centerline is valid? [True, True] Translation: X:580.18, Y:-29.65, Z:1.54 [[ 9.91377966e-01 1.30944974e-01 -4.81063649e-03 5.80176471e+02] [-1.30943962e-01 9.91389632e-01 5.26051777e-04 -2.96514662e+01] [ 4.83809897e-03 1.08407662e-04 9.99988290e-01 1.53699170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4807140569999 meters Centerline goodness [0,1] 0.9985291336597256 Centerline is valid? [True, True] Translation: X:580.21, Y:-29.66, Z:1.54 [[ 9.91345991e-01 1.31204466e-01 -4.30274097e-03 5.80208973e+02] [-1.31203655e-01 9.91355324e-01 4.71494443e-04 -2.96588057e+01] [ 4.32740735e-03 9.71212171e-05 9.99990632e-01 1.53829184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.510714057 meters Centerline goodness [0,1] 0.9989292912327847 Centerline is valid? [True, True] Translation: X:580.24, Y:-29.67, Z:1.54 [[ 9.91282354e-01 1.31733237e-01 -2.37661057e-03 5.80240540e+02] [-1.31732990e-01 9.91285202e-01 2.60606452e-04 -2.96703735e+01] [ 2.39022942e-03 5.47434389e-05 9.99997142e-01 1.53934517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.540714057 meters Centerline goodness [0,1] 0.9984212852842739 Centerline is valid? [True, True] Translation: X:580.27, Y:-29.68, Z:1.54 [[ 9.90975559e-01 1.34034785e-01 -1.45523726e-03 5.80271648e+02] [-1.34034695e-01 9.90976627e-01 1.59640980e-04 -2.96814566e+01] [ 1.46350356e-03 3.68519734e-05 9.99998928e-01 1.53982172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5707140569999 meters Centerline goodness [0,1] 0.9985253844533389 Centerline is valid? [True, True] Translation: X:580.30, Y:-29.69, Z:1.54 [[ 9.90760178e-01 1.35621006e-01 -1.10097211e-03 5.80302559e+02] [-1.35620955e-01 9.90760789e-01 1.20844370e-04 -2.96896704e+01] [ 1.10718903e-03 2.95870992e-05 9.99999387e-01 1.54040502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6007140569999 meters Centerline goodness [0,1] 0.9978939831097445 Centerline is valid? [True, True] Translation: X:580.33, Y:-29.70, Z:1.54 [[ 9.90259103e-01 1.39235883e-01 -5.27026630e-04 5.80333103e+02] [-1.39235872e-01 9.90259243e-01 5.74911369e-05 -2.96990628e+01] [ 5.29897821e-04 1.64498905e-05 9.99999859e-01 1.54058881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.630714057 meters Centerline goodness [0,1] 0.9974130315904598 Centerline is valid? [True, True] Translation: X:580.36, Y:-29.71, Z:1.54 [[ 9.89723607e-01 1.42992387e-01 -5.98840121e-04 5.80363890e+02] [-1.42992373e-01 9.89723788e-01 6.56048209e-05 -2.97102304e+01] [ 6.02067303e-04 2.06989299e-05 9.99999819e-01 1.53987384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.660714057 meters Centerline goodness [0,1] 0.996527631634328 Centerline is valid? [True, True] Translation: X:580.39, Y:-29.72, Z:1.54 [[ 9.89397022e-01 1.45233941e-01 -7.97609456e-04 5.80394646e+02] [-1.45233917e-01 9.89397343e-01 8.78790480e-05 -2.97173915e+01] [ 8.01915697e-04 2.88926774e-05 9.99999678e-01 1.53942984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6907140569999 meters Centerline goodness [0,1] 0.9964681396766666 Centerline is valid? [True, True] Translation: X:580.42, Y:-29.73, Z:1.54 [[ 9.88901542e-01 1.48554958e-01 -2.27245843e-03 5.80424906e+02] [-1.48554770e-01 9.88904149e-01 2.52582975e-04 -2.97320367e+01] [ 2.28476603e-03 8.78048459e-05 9.99997386e-01 1.53790919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7207140569999 meters Centerline goodness [0,1] 0.9954524401027411 Centerline is valid? [True, True] Translation: X:580.46, Y:-29.74, Z:1.54 [[ 9.88681726e-01 1.49993828e-01 -3.20887118e-03 5.80455130e+02] [-1.49993456e-01 9.88686925e-01 3.57894443e-04 -2.97382119e+01] [ 3.22625094e-03 1.27465982e-04 9.99994788e-01 1.53703007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.750714057 meters Centerline goodness [0,1] 0.994681964741845 Centerline is valid? [True, True] Translation: X:580.49, Y:-29.75, Z:1.54 [[ 9.88460156e-01 1.51411625e-01 -4.58682901e-03 5.80486136e+02] [-1.51410875e-01 9.88470781e-01 5.12466432e-04 -2.97531620e+01] [ 4.61153983e-03 1.87943144e-04 9.99989349e-01 1.53538498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.780714057 meters Centerline goodness [0,1] 0.9919551335909931 Centerline is valid? [True, True] Translation: X:580.52, Y:-29.75, Z:1.53 [[ 9.88343567e-01 1.52166746e-01 -4.71963534e-03 5.80517493e+02] [-1.52165955e-01 9.88354816e-01 5.28494394e-04 -2.97512874e+01] [ 4.74509359e-03 1.95833782e-04 9.99988723e-01 1.53455862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8107140569999 meters Centerline goodness [0,1] 0.9928526382173639 Centerline is valid? [True, True] Translation: X:580.55, Y:-29.78, Z:1.54 [[ 9.88256051e-01 1.52746738e-01 -4.29085550e-03 5.80546443e+02] [-1.52746085e-01 9.88265350e-01 4.81393914e-04 -2.97795973e+01] [ 4.31403516e-03 1.79670931e-04 9.99990678e-01 1.53504746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8407140569999 meters Centerline goodness [0,1] 0.9910231883448609 Centerline is valid? [True, True] Translation: X:580.58, Y:-29.78, Z:1.54 [[ 9.88167963e-01 1.53306611e-01 -4.59993092e-03 5.80578061e+02] [-1.53305862e-01 9.88178650e-01 5.17280377e-04 -2.97768311e+01] [ 4.62485603e-03 1.94036476e-04 9.99989286e-01 1.53545915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.870714057 meters Centerline goodness [0,1] 0.9909266571452575 Centerline is valid? [True, True] Translation: X:580.61, Y:-29.81, Z:1.54 [[ 9.87956161e-01 1.54676415e-01 -4.22257577e-03 5.80606830e+02] [-1.54675791e-01 9.87965168e-01 4.75753282e-04 -2.98061085e+01] [ 4.24534559e-03 1.83106862e-04 9.99990972e-01 1.53551724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.900714057 meters Centerline goodness [0,1] 0.9892034094496475 Centerline is valid? [True, True] Translation: X:580.64, Y:-29.82, Z:1.54 [[ 9.87723638e-01 1.56166466e-01 -3.74842969e-03 5.80636707e+02] [-1.56165982e-01 9.87730736e-01 4.23161431e-04 -2.98227558e+01] [ 3.76852284e-03 1.67410657e-04 9.99992885e-01 1.53612259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9307140569999 meters Centerline goodness [0,1] 0.9891242967393805 Centerline is valid? [True, True] Translation: X:580.67, Y:-29.83, Z:1.54 [[ 9.87674735e-01 1.56482230e-01 -3.45392543e-03 5.80667748e+02] [-1.56481819e-01 9.87680762e-01 3.90679988e-04 -2.98315412e+01] [ 3.47251018e-03 1.54611780e-04 9.99993959e-01 1.53706864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9607140569999 meters Centerline goodness [0,1] 0.989428775587407 Centerline is valid? [True, True] Translation: X:580.70, Y:-29.85, Z:1.54 [[ 9.87696435e-01 1.56369500e-01 -2.08121074e-03 5.80697757e+02] [-1.56369350e-01 9.87698623e-01 2.35412916e-04 -2.98468369e+01] [ 2.09242039e-03 9.29210739e-05 9.99997807e-01 1.53873431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.990714057 meters Centerline goodness [0,1] 0.9898589065255732 Centerline is valid? [True, True] Translation: X:580.73, Y:-29.86, Z:1.54 [[ 9.87675345e-01 1.56497833e-01 -2.41697802e-03 5.80729919e+02] [-1.56497630e-01 9.87678296e-01 2.74007006e-04 -2.98596839e+01] [ 2.43007823e-03 1.07621368e-04 9.99997042e-01 1.53865555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.020714057 meters Centerline goodness [0,1] 0.9903008006020193 Centerline is valid? [True, True] Translation: X:580.76, Y:-29.87, Z:1.54 [[ 9.87788421e-01 1.55751283e-01 -3.94629898e-03 5.80760077e+02] [-1.55750729e-01 9.87796289e-01 4.49240471e-04 -2.98747889e+01] [ 3.96810926e-03 1.70884409e-04 9.99992112e-01 1.53829058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0507140569999 meters Centerline goodness [0,1] 0.9909798668954837 Centerline is valid? [True, True] Translation: X:580.79, Y:-29.88, Z:1.54 [[ 9.87822208e-01 1.55519862e-01 -4.56701049e-03 5.80790947e+02] [-1.55519112e-01 9.87832746e-01 5.21201334e-04 -2.98841377e+01] [ 4.59249967e-03 1.95403161e-04 9.99989435e-01 1.53767027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0807140569999 meters Centerline goodness [0,1] 0.9902433884732905 Centerline is valid? [True, True] Translation: X:580.82, Y:-29.90, Z:1.54 [[ 9.87995065e-01 1.54398276e-01 -5.18878406e-03 5.80820583e+02] [-1.54397285e-01 9.88008667e-01 5.93446402e-04 -2.98980530e+01] [ 5.21819072e-03 2.14812056e-04 9.99986362e-01 1.53787010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.110714057 meters Centerline goodness [0,1] 0.9905419922903546 Centerline is valid? [True, True] Translation: X:580.85, Y:-29.91, Z:1.54 [[ 9.88052658e-01 1.54036913e-01 -4.95720803e-03 5.80851233e+02] [-1.54036000e-01 9.88065073e-01 5.67754359e-04 -2.99102470e+01] [ 4.98549924e-03 2.02617292e-04 9.99987552e-01 1.53822295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.140714057 meters Centerline goodness [0,1] 0.9914457704087021 Centerline is valid? [True, True] Translation: X:580.88, Y:-29.92, Z:1.54 [[ 9.88172021e-01 1.53249669e-01 -5.53136710e-03 5.80881888e+02] [-1.53248511e-01 9.88187477e-01 6.35017056e-04 -2.99248647e+01] [ 5.56334385e-03 2.20167685e-04 9.99984500e-01 1.53895308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1707140569999 meters Centerline goodness [0,1] 0.9914457704087021 Centerline is valid? [True, True] Translation: X:580.91, Y:-29.93, Z:1.54 [[ 9.88128626e-01 1.53529227e-01 -5.53120303e-03 5.80914135e+02] [-1.53528066e-01 9.88144083e-01 6.36443453e-04 -2.99286453e+01] [ 5.56333821e-03 2.20306907e-04 9.99984500e-01 1.53908086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2007140569999 meters Centerline goodness [0,1] 0.9912758073054526 Centerline is valid? [True, True] Translation: X:580.95, Y:-29.94, Z:1.54 [[ 9.88106645e-01 1.53645852e-01 -6.18142573e-03 5.80945766e+02] [-1.53644392e-01 9.88125950e-01 7.13165199e-04 -2.99379566e+01] [ 6.21760204e-03 2.45058128e-04 9.99980640e-01 1.53919758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2307140569999 meters Centerline goodness [0,1] 0.9912075776239222 Centerline is valid? [True, True] Translation: X:580.98, Y:-29.95, Z:1.54 [[ 9.88028814e-01 1.54080982e-01 -7.62325850e-03 5.80977195e+02] [-1.54078757e-01 9.88058176e-01 8.81955269e-04 -2.99516065e+01] [ 7.66811542e-03 3.03184972e-04 9.99970554e-01 1.53948082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.260714057 meters Centerline goodness [0,1] 0.9913842619184376 Centerline is valid? [True, True] Translation: X:581.01, Y:-29.96, Z:1.54 [[ 9.87889064e-01 1.54909983e-01 -8.83712690e-03 5.81008046e+02] [-1.54907002e-01 9.87928525e-01 1.02490974e-03 -2.99640216e+01] [ 8.88921849e-03 3.56435710e-04 9.99960427e-01 1.53947055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.290714057 meters Centerline goodness [0,1] 0.9917794251970177 Centerline is valid? [True, True] Translation: X:581.04, Y:-29.97, Z:1.54 [[ 9.87741591e-01 1.55825544e-01 -9.21681283e-03 5.81039033e+02] [-1.55822321e-01 9.87784520e-01 1.07117836e-03 -2.99687622e+01] [ 9.27114199e-03 3.78137745e-04 9.99956951e-01 1.53918532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3207140569999 meters Centerline goodness [0,1] 0.990882497384323 Centerline is valid? [True, True] Translation: X:581.07, Y:-29.97, Z:1.54 [[ 9.87569573e-01 1.56915325e-01 -9.16079254e-03 5.81070135e+02] [-1.56912169e-01 9.87611985e-01 1.06671847e-03 -2.99742860e+01] [ 9.21469298e-03 3.83981128e-04 9.99957470e-01 1.53941237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3507140569999 meters Centerline goodness [0,1] 0.9913521844296509 Centerline is valid? [True, True] Translation: X:581.10, Y:-29.99, Z:1.54 [[ 9.87241129e-01 1.58961465e-01 -9.28465712e-03 5.81100000e+02] [-1.58958294e-01 9.87284704e-01 1.08327518e-03 -2.99912618e+01] [ 9.33879897e-03 4.06419445e-04 9.99956310e-01 1.54101509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.380714057 meters Centerline goodness [0,1] 0.9914623655913979 Centerline is valid? [True, True] Translation: X:581.13, Y:-30.00, Z:1.54 [[ 9.86880100e-01 1.61145824e-01 -9.98458392e-03 5.81131222e+02] [-1.61142253e-01 9.86930501e-01 1.16636173e-03 -3.00024995e+01] [ 1.00420447e-02 4.57879173e-04 9.99949473e-01 1.54174593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.410714057 meters Centerline goodness [0,1] 0.9906576256592401 Centerline is valid? [True, True] Translation: X:581.16, Y:-30.01, Z:1.54 [[ 9.86627843e-01 1.62645755e-01 -1.05763306e-02 5.81162500e+02] [-1.62641814e-01 9.86684402e-01 1.23747064e-03 -3.00094890e+01] [ 1.06367698e-02 4.99230604e-04 9.99943303e-01 1.54217749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4407140569999 meters Centerline goodness [0,1] 0.9899800900277008 Centerline is valid? [True, True] Translation: X:581.19, Y:-30.02, Z:1.54 [[ 9.86264797e-01 1.64730860e-01 -1.20620594e-02 5.81193607e+02] [-1.64725868e-01 9.86338376e-01 1.41301569e-03 -3.00191943e+01] [ 1.21300393e-02 5.93325567e-04 9.99926252e-01 1.54209060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4707140569999 meters Centerline goodness [0,1] 0.9903769045709703 Centerline is valid? [True, True] Translation: X:581.22, Y:-30.03, Z:1.54 [[ 9.86026220e-01 1.66147718e-01 -1.21338109e-02 5.81224613e+02] [-1.66142746e-01 9.86100685e-01 1.42363231e-03 -3.00260411e+01] [ 1.22016925e-02 6.12205885e-04 9.99925369e-01 1.54193499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.500714057 meters Centerline goodness [0,1] 0.9893055102706227 Centerline is valid? [True, True] Translation: X:581.25, Y:-30.04, Z:1.54 [[ 9.85555323e-01 1.68855553e-01 -1.29810196e-02 5.81254670e+02] [-1.68850082e-01 9.85640567e-01 1.52417469e-03 -3.00350682e+01] [ 1.30519848e-02 6.89687743e-04 9.99914581e-01 1.54212110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.530714057 meters Centerline goodness [0,1] 0.9882072375618081 Centerline is valid? [True, True] Translation: X:581.28, Y:-30.04, Z:1.54 [[ 9.85117092e-01 1.71379198e-01 -1.31714128e-02 5.81284533e+02] [-1.71373787e-01 9.85204868e-01 1.54676810e-03 -3.00443873e+01] [ 1.32416239e-02 7.33487210e-04 9.99912057e-01 1.54239395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5607140569999 meters Centerline goodness [0,1] 0.9884338512861031 Centerline is valid? [True, True] Translation: X:581.32, Y:-30.05, Z:1.54 [[ 9.84993522e-01 1.72057570e-01 -1.35629489e-02 5.81315906e+02] [-1.72051863e-01 9.85086601e-01 1.59527977e-03 -3.00526171e+01] [ 1.36351592e-02 7.62190380e-04 9.99906746e-01 1.54278755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5907140569999 meters Centerline goodness [0,1] 0.9877459097834007 Centerline is valid? [True, True] Translation: X:581.35, Y:-30.06, Z:1.54 [[ 9.85035864e-01 1.71751323e-01 -1.43467687e-02 5.81346424e+02] [-1.71744854e-01 9.85140013e-01 1.69097069e-03 -3.00627216e+01] [ 1.44240023e-02 7.98316920e-04 9.99895650e-01 1.54278988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.620714057 meters Centerline goodness [0,1] 0.9881200870453435 Centerline is valid? [True, True] Translation: X:581.38, Y:-30.07, Z:1.54 [[ 9.85129924e-01 1.71182662e-01 -1.46808914e-02 5.81377551e+02] [-1.71175770e-01 9.85238981e-01 1.73405375e-03 -3.00730619e+01] [ 1.47610264e-02 8.04744653e-04 9.99890726e-01 1.54310690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.650714057 meters Centerline goodness [0,1] 0.9871036837055713 Centerline is valid? [True, True] Translation: X:581.41, Y:-30.08, Z:1.54 [[ 9.85738401e-01 1.67548250e-01 -1.57286038e-02 5.81406173e+02] [-1.67539861e-01 9.85863550e-01 1.85887819e-03 -3.00849739e+01] [ 1.58177089e-02 8.02800475e-04 9.99874570e-01 1.54288355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6807140569999 meters Centerline goodness [0,1] 0.987400233162945 Centerline is valid? [True, True] Translation: X:581.44, Y:-30.09, Z:1.54 [[ 9.86179577e-01 1.64933178e-01 -1.57127095e-02 5.81436540e+02] [-1.64924468e-01 9.86304451e-01 1.85742582e-03 -3.00938496e+01] [ 1.58038665e-02 7.59654845e-04 9.99874823e-01 1.54308405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7107140569999 meters Centerline goodness [0,1] 0.9882448868655297 Centerline is valid? [True, True] Translation: X:581.47, Y:-30.11, Z:1.54 [[ 9.87201280e-01 1.58673408e-01 -1.60119443e-02 5.81465364e+02] [-1.58663537e-01 9.87330896e-01 1.89307817e-03 -3.01098055e+01] [ 1.61094685e-02 6.71662530e-04 9.99870008e-01 1.54382883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.740714057 meters Centerline goodness [0,1] 0.9873939062962205 Centerline is valid? [True, True] Translation: X:581.49, Y:-30.12, Z:1.54 [[ 9.87846974e-01 1.54584243e-01 -1.61884974e-02 5.81494142e+02] [-1.54573606e-01 9.87979422e-01 1.91382089e-03 -3.01188262e+01] [ 1.62897489e-02 6.11752250e-04 9.99867126e-01 1.54464334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.770714057 meters Centerline goodness [0,1] 0.9885798151672897 Centerline is valid? [True, True] Translation: X:581.52, Y:-30.14, Z:1.55 [[ 9.89117915e-01 1.46250367e-01 -1.60181326e-02 5.81523647e+02] [-1.46238856e-01 9.89247497e-01 1.89396288e-03 -3.01350453e+01] [ 1.61228904e-02 4.69120765e-04 9.99869908e-01 1.54549377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8007140569999 meters Centerline goodness [0,1] 0.9898015689893862 Centerline is valid? [True, True] Translation: X:581.55, Y:-30.15, Z:1.55 [[ 9.90180560e-01 1.38937345e-01 -1.54555443e-02 5.81553448e+02] [-1.38925731e-01 9.90301116e-01 1.82775352e-03 -3.01489727e+01] [ 1.55595860e-02 3.37366784e-04 9.99878885e-01 1.54607046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8307140569999 meters Centerline goodness [0,1] 0.990107685567367 Centerline is valid? [True, True] Translation: X:581.59, Y:-30.16, Z:1.55 [[ 9.90599054e-01 1.35973416e-01 -1.49914795e-02 5.81585245e+02] [-1.35962127e-01 9.90712446e-01 1.77444016e-03 -3.01571897e+01] [ 1.50935220e-02 2.80514687e-04 9.99886047e-01 1.54664995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.860714057 meters Centerline goodness [0,1] 0.9905991040133701 Centerline is valid? [True, True] Translation: X:581.62, Y:-30.17, Z:1.55 [[ 9.91128978e-01 1.32217363e-01 -1.34877071e-02 5.81615867e+02] [-1.32207839e-01 9.91220727e-01 1.59927361e-03 -3.01671641e+01] [ 1.35807466e-02 1.98094185e-04 9.99907758e-01 1.54724873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.890714057 meters Centerline goodness [0,1] 0.9897857325254776 Centerline is valid? [True, True] Translation: X:581.65, Y:-30.17, Z:1.55 [[ 9.91247318e-01 1.31438892e-01 -1.23520233e-02 5.81647764e+02] [-1.31430807e-01 9.91324260e-01 1.46756002e-03 -3.01733015e+01] [ 1.24377548e-02 1.68721458e-04 9.99922634e-01 1.54819233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9207140569999 meters Centerline goodness [0,1] 0.9898813677599442 Centerline is valid? [True, True] Translation: X:581.68, Y:-30.18, Z:1.55 [[ 9.91244450e-01 1.31623990e-01 -1.04673926e-02 5.81679914e+02] [-1.31618180e-01 9.91299705e-01 1.24503934e-03 -3.01794310e+01] [ 1.05402003e-02 1.43560829e-04 9.99944440e-01 1.54942411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9507140569999 meters Centerline goodness [0,1] 0.9898270600203459 Centerline is valid? [True, True] Translation: X:581.71, Y:-30.18, Z:1.55 [[ 9.91071640e-01 1.32934424e-01 -1.02685190e-02 5.81711449e+02] [-1.32928882e-01 9.91124823e-01 1.22331453e-03 -3.01829315e+01] [ 1.03400047e-02 1.52590420e-04 9.99946529e-01 1.54948994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9807140569999 meters Centerline goodness [0,1] 0.9888331708223058 Centerline is valid? [True, True] Translation: X:581.74, Y:-30.18, Z:1.55 [[ 9.90370894e-01 1.38068594e-01 -1.01270007e-02 5.81743189e+02] [-1.38063448e-01 9.90422649e-01 1.20885462e-03 -3.01840331e+01] [ 1.01969157e-02 2.00954198e-04 9.99947990e-01 1.54804203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.010714057 meters Centerline goodness [0,1] 0.9868788386376326 Centerline is valid? [True, True] Translation: X:581.77, Y:-30.18, Z:1.55 [[ 9.89504594e-01 1.44050537e-01 -1.14062043e-02 5.81773385e+02] [-1.44044394e-01 9.89570289e-01 1.36256788e-03 -3.01822463e+01] [ 1.14835196e-02 2.94732614e-04 9.99934019e-01 1.54533689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.040714057 meters Centerline goodness [0,1] 0.9866722489707627 Centerline is valid? [True, True] Translation: X:581.80, Y:-30.19, Z:1.54 [[ 9.88911811e-01 1.47934833e-01 -1.29890397e-02 5.81804636e+02] [-1.47927174e-01 9.88997036e-01 1.55371266e-03 -3.01857283e+01] [ 1.30759700e-02 3.84947141e-04 9.99914432e-01 1.54433590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0707140569999 meters Centerline goodness [0,1] 0.9864542570680992 Centerline is valid? [True, True] Translation: X:581.84, Y:-30.19, Z:1.54 [[ 9.87829499e-01 1.54791723e-01 -1.52447772e-02 5.81835499e+02] [-1.54781970e-01 9.87946968e-01 1.82471376e-03 -3.01863420e+01] [ 1.53434820e-02 5.57110563e-04 9.99882127e-01 1.54222199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1007140569999 meters Centerline goodness [0,1] 0.9861627906976744 Centerline is valid? [True, True] Translation: X:581.87, Y:-30.19, Z:1.54 [[ 9.87320624e-01 1.57948764e-01 -1.58168371e-02 5.81866308e+02] [-1.57938666e-01 9.87447109e-01 1.89344819e-03 -3.01879074e+01] [ 1.59173578e-02 6.28649697e-04 9.99873113e-01 1.54155879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.130714057 meters Centerline goodness [0,1] 0.9843681044294242 Centerline is valid? [True, True] Translation: X:581.90, Y:-30.19, Z:1.54 [[ 9.86341375e-01 1.63942100e-01 -1.59273017e-02 5.81896481e+02] [-1.63932631e-01 9.86469693e-01 1.90719166e-03 -3.01854762e+01] [ 1.60244694e-02 7.29862422e-04 9.99871334e-01 1.54058862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.160714057 meters Centerline goodness [0,1] 0.9841402143965178 Centerline is valid? [True, True] Translation: X:581.93, Y:-30.19, Z:1.54 [[ 9.86026438e-01 1.65933540e-01 -1.47622299e-02 5.81927638e+02] [-1.65925605e-01 9.86136686e-01 1.76919544e-03 -3.01924365e+01] [ 1.48511454e-02 7.04958461e-04 9.99889467e-01 1.54215951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1907140569999 meters Centerline goodness [0,1] 0.9830875168659563 Centerline is valid? [True, True] Translation: X:581.96, Y:-30.19, Z:1.54 [[ 9.85708348e-01 1.67944094e-01 -1.31846445e-02 5.81959261e+02] [-1.67937910e-01 9.85796304e-01 1.58272013e-03 -3.01930515e+01] [ 1.32631823e-02 6.54101191e-04 9.99911826e-01 1.54256233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2207140569999 meters Centerline goodness [0,1] 0.9835993011065812 Centerline is valid? [True, True] Translation: X:581.99, Y:-30.20, Z:1.54 [[ 9.85740305e-01 1.67844813e-01 -1.20070787e-02 5.81990983e+02] [-1.67839658e-01 9.85813252e-01 1.44290780e-03 -3.02023670e+01] [ 1.20789219e-02 5.92931605e-04 9.99926871e-01 1.54395483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.250714057 meters Centerline goodness [0,1] 0.9839230553215389 Centerline is valid? [True, True] Translation: X:582.02, Y:-30.21, Z:1.55 [[ 9.85941627e-01 1.66747246e-01 -1.06987440e-02 5.82022127e+02] [-1.66743067e-01 9.85999539e-01 1.28771407e-03 -3.02116681e+01] [ 1.07636794e-02 5.14330480e-04 9.99941938e-01 1.54593603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.280714057 meters Centerline goodness [0,1] 0.982215470904417 Centerline is valid? [True, True] Translation: X:582.05, Y:-30.21, Z:1.55 [[ 9.86327461e-01 1.64534155e-01 -9.30864433e-03 5.82052941e+02] [-1.64530883e-01 9.86371295e-01 1.12145363e-03 -3.02137613e+01] [ 9.36629699e-03 4.25438959e-04 9.99956045e-01 1.54583754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3107140569999 meters Centerline goodness [0,1] 0.9832348527480773 Centerline is valid? [True, True] Translation: X:582.08, Y:-30.22, Z:1.55 [[ 9.86352169e-01 1.64351742e-01 -9.89466936e-03 5.82083965e+02] [-1.64348020e-01 9.86401695e-01 1.19370718e-03 -3.02241250e+01] [ 9.95630648e-03 4.48753655e-04 9.99950334e-01 1.54611317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3407140569999 meters Centerline goodness [0,1] 0.9845451765425419 Centerline is valid? [True, True] Translation: X:582.11, Y:-30.23, Z:1.55 [[ 9.86379964e-01 1.64105916e-01 -1.11271709e-02 5.82114999e+02] [-1.64101161e-01 9.86442598e-01 1.34531792e-03 -3.02313463e+01] [ 1.11970900e-02 4.98987021e-04 9.99937186e-01 1.54558976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.370714057 meters Centerline goodness [0,1] 0.982792215414231 Centerline is valid? [True, True] Translation: X:582.15, Y:-30.24, Z:1.54 [[ 9.86312598e-01 1.64461211e-01 -1.18308539e-02 5.82146460e+02] [-1.64455823e-01 9.86383408e-01 1.43356885e-03 -3.02351446e+01] [ 1.19055244e-02 5.31705788e-04 9.99928985e-01 1.54410882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.400714057 meters Centerline goodness [0,1] 0.9815478154310223 Centerline is valid? [True, True] Translation: X:582.18, Y:-30.24, Z:1.54 [[ 9.86241697e-01 1.64881870e-01 -1.18863098e-02 5.82178783e+02] [-1.64876424e-01 9.86313176e-01 1.44340656e-03 -3.02366931e+01] [ 1.19616155e-02 5.36224512e-04 9.99928314e-01 1.54326802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4307140569999 meters Centerline goodness [0,1] 0.9840909628158759 Centerline is valid? [True, True] Translation: X:582.21, Y:-30.25, Z:1.54 [[ 9.86410178e-01 1.63872470e-01 -1.18647900e-02 5.82209948e+02] [-1.63866951e-01 9.86481394e-01 1.44250986e-03 -3.02500318e+01] [ 1.19407822e-02 5.21340545e-04 9.99928570e-01 1.54404317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4607140569999 meters Centerline goodness [0,1] 0.9831458006931586 Centerline is valid? [True, True] Translation: X:582.24, Y:-30.26, Z:1.54 [[ 9.86416742e-01 1.63825188e-01 -1.19716024e-02 5.82241121e+02] [-1.63819536e-01 9.86489247e-01 1.45784872e-03 -3.02557267e+01] [ 1.20486894e-02 5.23135972e-04 9.99927275e-01 1.54438543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.490714057 meters Centerline goodness [0,1] 0.9829240488291455 Centerline is valid? [True, True] Translation: X:582.27, Y:-30.26, Z:1.55 [[ 9.86602700e-01 1.62751048e-01 -1.12786594e-02 5.82272595e+02] [-1.62745931e-01 9.86667050e-01 1.37619744e-03 -3.02639149e+01] [ 1.13522592e-02 4.77795819e-04 9.99935447e-01 1.54511311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.520714057 meters Centerline goodness [0,1] 0.9836319820572165 Centerline is valid? [True, True] Translation: X:582.30, Y:-30.27, Z:1.55 [[ 9.86599724e-01 1.62787303e-01 -1.10126717e-02 5.82304327e+02] [-1.62782396e-01 9.86661076e-01 1.34644319e-03 -3.02707970e+01] [ 1.10849584e-02 4.64268612e-04 9.99938452e-01 1.54534004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5507140569999 meters Centerline goodness [0,1] 0.983364803174072 Centerline is valid? [True, True] Translation: X:582.34, Y:-30.28, Z:1.55 [[ 9.86614498e-01 1.62703059e-01 -1.09337774e-02 5.82335825e+02] [-1.62698187e-01 9.86674975e-01 1.33952901e-03 -3.02772219e+01] [ 1.10060300e-02 4.57307027e-04 9.99939327e-01 1.54530998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5807140569999 meters Centerline goodness [0,1] 0.9835708819590587 Centerline is valid? [True, True] Translation: X:582.37, Y:-30.28, Z:1.54 [[ 9.86600071e-01 1.62791580e-01 -1.09179875e-02 5.82368690e+02] [-1.62786695e-01 9.86660375e-01 1.34058072e-03 -3.02820396e+01] [ 1.09905809e-02 4.54686069e-04 9.99939498e-01 1.54478400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.610714057 meters Centerline goodness [0,1] 0.9842138093181709 Centerline is valid? [True, True] Translation: X:582.40, Y:-30.29, Z:1.54 [[ 9.86577633e-01 1.62924691e-01 -1.09599319e-02 5.82399919e+02] [-1.62919743e-01 9.86638403e-01 1.34872991e-03 -3.02881044e+01] [ 1.10332311e-02 4.54962528e-04 9.99939029e-01 1.54454129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.640714057 meters Centerline goodness [0,1] 0.9840173306053677 Centerline is valid? [True, True] Translation: X:582.43, Y:-30.30, Z:1.55 [[ 9.86726548e-01 1.62043381e-01 -1.06142201e-02 5.82431687e+02] [-1.62038661e-01 9.86783542e-01 1.30886021e-03 -3.02957066e+01] [ 1.06860298e-02 4.28426903e-04 9.99942811e-01 1.54548227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6707140569999 meters Centerline goodness [0,1] 0.9842466578345176 Centerline is valid? [True, True] Translation: X:582.46, Y:-30.30, Z:1.55 [[ 9.86719547e-01 1.62074021e-01 -1.07956707e-02 5.82463758e+02] [-1.62069109e-01 9.86778508e-01 1.33417793e-03 -3.03015775e+01] [ 1.08691714e-02 4.33185286e-04 9.99940835e-01 1.54581021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7007140569999 meters Centerline goodness [0,1] 0.9838129061873354 Centerline is valid? [True, True] Translation: X:582.49, Y:-30.31, Z:1.55 [[ 9.87077614e-01 1.59913222e-01 -1.02734981e-02 5.82494643e+02] [-1.59908643e-01 9.87131000e-01 1.27092823e-03 -3.03083790e+01] [ 1.03445267e-02 3.88316330e-04 9.99946419e-01 1.54532044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7307140569999 meters Centerline goodness [0,1] 0.9841174056820102 Centerline is valid? [True, True] Translation: X:582.53, Y:-30.31, Z:1.54 [[ 9.87259662e-01 1.58802977e-01 -9.99874675e-03 5.82526008e+02] [-1.58798566e-01 9.87310225e-01 1.23859911e-03 -3.03117227e+01] [ 1.00685581e-02 3.64967709e-04 9.99949244e-01 1.54465448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.760714057 meters Centerline goodness [0,1] 0.9870727219908977 Centerline is valid? [True, True] Translation: X:582.56, Y:-30.32, Z:1.54 [[ 9.87840315e-01 1.55170615e-01 -9.67427061e-03 5.82556620e+02] [-1.55166299e-01 9.87887636e-01 1.19966066e-03 -3.03228219e+01] [ 9.74324440e-03 3.16047602e-04 9.99952484e-01 1.54457946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.790714057 meters Centerline goodness [0,1] 0.9869153877958022 Centerline is valid? [True, True] Translation: X:582.59, Y:-30.33, Z:1.54 [[ 9.88727484e-01 1.49386867e-01 -1.00760224e-02 5.82586382e+02] [-1.49381883e-01 9.88778788e-01 1.24974116e-03 -3.03296830e+01] [ 1.01496521e-02 2.69521763e-04 9.99948455e-01 1.54483073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8207140569999 meters Centerline goodness [0,1] 0.9884979042791695 Centerline is valid? [True, True] Translation: X:582.62, Y:-30.34, Z:1.55 [[ 9.89151381e-01 1.46518489e-01 -1.05771894e-02 5.82618010e+02] [-1.46512826e-01 9.89207900e-01 1.31252609e-03 -3.03384865e+01] [ 1.06553486e-02 2.51406902e-04 9.99943199e-01 1.54552553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8507140569999 meters Centerline goodness [0,1] 0.9912098136676379 Centerline is valid? [True, True] Translation: X:582.65, Y:-30.35, Z:1.54 [[ 9.90087084e-01 1.40040996e-01 -1.07742504e-02 5.82647957e+02] [-1.40034730e-01 9.90145689e-01 1.33758226e-03 -3.03475112e+01] [ 1.08553939e-02 1.84446318e-04 9.99941061e-01 1.54466962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.880714057 meters Centerline goodness [0,1] 0.9900696351510396 Centerline is valid? [True, True] Translation: X:582.68, Y:-30.35, Z:1.54 [[ 9.90506518e-01 1.37049689e-01 -1.06874144e-02 5.82678704e+02] [-1.37043331e-01 9.90564163e-01 1.32848828e-03 -3.03540060e+01] [ 1.07686386e-02 1.48762569e-04 9.99942005e-01 1.54483339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.910714057 meters Centerline goodness [0,1] 0.9925802171883445 Centerline is valid? [True, True] Translation: X:582.71, Y:-30.36, Z:1.55 [[ 9.91354998e-01 1.30902468e-01 -8.93380027e-03 5.82710115e+02] [-1.30897757e-01 9.91395249e-01 1.11247494e-03 -3.03629335e+01] [ 9.00255286e-03 6.65568250e-05 9.99959474e-01 1.54665766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9407140569999 meters Centerline goodness [0,1] 0.9910295165769618 Centerline is valid? [True, True] Translation: X:582.74, Y:-30.37, Z:1.55 [[ 9.91683988e-01 1.28469503e-01 -7.64560137e-03 5.82741086e+02] [-1.28465968e-01 9.91713459e-01 9.53713860e-04 -3.03689130e+01] [ 7.70476893e-03 3.64168166e-05 9.99970317e-01 1.54789608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9707140569999 meters Centerline goodness [0,1] 0.9925150806352333 Centerline is valid? [True, True] Translation: X:582.77, Y:-30.38, Z:1.55 [[ 9.91969592e-01 1.26313927e-01 -6.41244692e-03 5.82772860e+02] [-1.26311387e-01 9.91990318e-01 8.01235444e-04 -3.03750403e+01] [ 6.46229245e-03 1.51638665e-05 9.99979119e-01 1.54984415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.000714057 meters Centerline goodness [0,1] 0.9923392344145162 Centerline is valid? [True, True] Translation: X:582.80, Y:-30.38, Z:1.55 [[ 9.91985487e-01 1.26240872e-01 -5.29498257e-03 5.82804629e+02] [-1.26239133e-01 9.91999618e-01 6.62636268e-04 -3.03789513e+01] [ 5.33627247e-03 1.11084493e-05 9.99985762e-01 1.55052261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.030714057 meters Centerline goodness [0,1] 0.9913540409389856 Centerline is valid? [True, True] Translation: X:582.84, Y:-30.38, Z:1.55 [[ 9.91657546e-01 1.28802757e-01 -5.01611873e-03 5.82837488e+02] [-1.28801225e-01 9.91670232e-01 6.28699445e-04 -3.03815126e+01] [ 5.05531385e-03 2.26276885e-05 9.99987222e-01 1.55097498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0607140569999 meters Centerline goodness [0,1] 0.9913540409389856 Centerline is valid? [True, True] Translation: X:582.87, Y:-30.39, Z:1.55 [[ 9.91621242e-01 1.29081964e-01 -5.01594158e-03 5.82869609e+02] [-1.29080428e-01 9.91633927e-01 6.30109980e-04 -3.03856144e+01] [ 5.05531368e-03 2.26294440e-05 9.99987222e-01 1.55110269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0907140569999 meters Centerline goodness [0,1] 0.9906111342632314 Centerline is valid? [True, True] Translation: X:582.90, Y:-30.39, Z:1.55 [[ 9.91036918e-01 1.33430355e-01 -6.49371965e-03 5.82900862e+02] [-1.33427860e-01 9.91058191e-01 8.17791638e-04 -3.03859715e+01] [ 6.54477228e-03 5.59814136e-05 9.99978581e-01 1.54977229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.120714057 meters Centerline goodness [0,1] 0.9902388777161917 Centerline is valid? [True, True] Translation: X:582.93, Y:-30.39, Z:1.55 [[ 9.90731618e-01 1.35662150e-01 -6.82944330e-03 5.82931700e+02] [-1.35659434e-01 9.90755154e-01 8.61400973e-04 -3.03871097e+01] [ 6.88316565e-03 7.30612351e-05 9.99976308e-01 1.54809879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.150714057 meters Centerline goodness [0,1] 0.9890037063400505 Centerline is valid? [True, True] Translation: X:582.96, Y:-30.39, Z:1.55 [[ 9.90039701e-01 1.40443798e-01 -9.84534532e-03 5.82963514e+02] [-1.40438377e-01 9.90088641e-01 1.24327917e-03 -3.03873313e+01] [ 9.92237541e-03 1.51768574e-04 9.99950761e-01 1.54532547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1807140569999 meters Centerline goodness [0,1] 0.9895598470738163 Centerline is valid? [True, True] Translation: X:583.00, Y:-30.39, Z:1.54 [[ 9.89628254e-01 1.43220654e-01 -1.11249320e-02 5.82995222e+02] [-1.43213881e-01 9.89690762e-01 1.40720784e-03 -3.03892612e+01] [ 1.12117837e-02 2.00632050e-04 9.99937126e-01 1.54401964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2107140569999 meters Centerline goodness [0,1] 0.9884846706762506 Centerline is valid? [True, True] Translation: X:583.03, Y:-30.39, Z:1.54 [[ 9.88875803e-01 1.48190948e-01 -1.28097553e-02 5.83027799e+02] [-1.48182362e-01 9.88958723e-01 1.62207812e-03 -3.03902436e+01] [ 1.29086965e-02 2.94146002e-04 9.99916636e-01 1.54324531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.240714057 meters Centerline goodness [0,1] 0.9879193974371515 Centerline is valid? [True, True] Translation: X:583.06, Y:-30.39, Z:1.54 [[ 9.88525839e-01 1.50439627e-01 -1.35861991e-02 5.83058489e+02] [-1.50430172e-01 9.88619139e-01 1.72104575e-03 -3.03914990e+01] [ 1.36904900e-02 3.42476074e-04 9.99906222e-01 1.54291572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.270714057 meters Centerline goodness [0,1] 0.9867578793061325 Centerline is valid? [True, True] Translation: X:583.09, Y:-30.39, Z:1.54 [[ 9.88020017e-01 1.53785232e-01 -1.29053888e-02 5.83089444e+02] [-1.53776980e-01 9.88104229e-01 1.63525677e-03 -3.03918091e+01] [ 1.30033476e-02 3.68885303e-04 9.99915385e-01 1.54359292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3007140569999 meters Centerline goodness [0,1] 0.9851129363449692 Centerline is valid? [True, True] Translation: X:583.12, Y:-30.39, Z:1.54 [[ 9.87629099e-01 1.56256303e-01 -1.31427283e-02 5.83121854e+02] [-1.56247931e-01 9.87716459e-01 1.66775317e-03 -3.03929945e+01] [ 1.32418860e-02 4.06402553e-04 9.99912240e-01 1.54491108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3307140569999 meters Centerline goodness [0,1] 0.9842504327473974 Centerline is valid? [True, True] Translation: X:583.15, Y:-30.40, Z:1.54 [[ 9.87472553e-01 1.57240145e-01 -1.31716928e-02 5.83152410e+02] [-1.57231795e-01 9.87560308e-01 1.67353331e-03 -3.03954823e+01] [ 1.32709876e-02 4.18440691e-04 9.99911849e-01 1.54434074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.360714057 meters Centerline goodness [0,1] 0.9854255163322103 Centerline is valid? [True, True] Translation: X:583.19, Y:-30.40, Z:1.55 [[ 9.87356454e-01 1.58022784e-01 -1.24912722e-02 5.83185112e+02] [-1.58015301e-01 9.87435384e-01 1.58998793e-03 -3.04003679e+01] [ 1.25855785e-02 4.03927291e-04 9.99920717e-01 1.54557598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.390714057 meters Centerline goodness [0,1] 0.9858686616791354 Centerline is valid? [True, True] Translation: X:583.22, Y:-30.40, Z:1.55 [[ 9.87319690e-01 1.58298446e-01 -1.18924865e-02 5.83216602e+02] [-1.58291645e-01 9.87391236e-01 1.51695217e-03 -3.04036490e+01] [ 1.19826681e-02 3.84764513e-04 9.99928131e-01 1.54602732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4207140569999 meters Centerline goodness [0,1] 0.9856749579750043 Centerline is valid? [True, True] Translation: X:583.25, Y:-30.41, Z:1.55 [[ 9.87221407e-01 1.58926027e-01 -1.16795692e-02 5.83249248e+02] [-1.58919473e-01 9.87290419e-01 1.49301525e-03 -3.04083784e+01] [ 1.17684058e-02 3.82174368e-04 9.99930677e-01 1.54696507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4507140569999 meters Centerline goodness [0,1] 0.9844431981663456 Centerline is valid? [True, True] Translation: X:583.28, Y:-30.41, Z:1.55 [[ 9.87205464e-01 1.59021790e-01 -1.17235723e-02 5.83281654e+02] [-1.59015154e-01 9.87275000e-01 1.50194743e-03 -3.04118982e+01] [ 1.18132322e-02 3.81494956e-04 9.99930149e-01 1.54692868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4807140569999 meters Centerline goodness [0,1] 0.98441912552342 Centerline is valid? [True, True] Translation: X:583.31, Y:-30.42, Z:1.55 [[ 9.87065010e-01 1.59883556e-01 -1.18285382e-02 5.83313483e+02] [-1.59876826e-01 9.87135804e-01 1.51848152e-03 -3.04159661e+01] [ 1.19191538e-02 3.92269171e-04 9.99928887e-01 1.54736850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.510714057 meters Centerline goodness [0,1] 0.9851264976790531 Centerline is valid? [True, True] Translation: X:583.34, Y:-30.42, Z:1.55 [[ 9.86887444e-01 1.60935576e-01 -1.23658397e-02 5.83344979e+02] [-1.60928264e-01 9.86964824e-01 1.59059251e-03 -3.04198078e+01] [ 1.24606317e-02 4.20277343e-04 9.99922275e-01 1.54715201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.540714057 meters Centerline goodness [0,1] 0.9850956745848428 Centerline is valid? [True, True] Translation: X:583.38, Y:-30.42, Z:1.55 [[ 9.86515291e-01 1.63085477e-01 -1.38097013e-02 5.83376975e+02] [-1.63076544e-01 9.86611818e-01 1.77812064e-03 -3.04230795e+01] [ 1.39148001e-02 4.97895152e-04 9.99903061e-01 1.54726708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5707140569999 meters Centerline goodness [0,1] 0.9845761476803497 Centerline is valid? [True, True] Translation: X:583.41, Y:-30.43, Z:1.55 [[ 9.86336265e-01 1.64046895e-01 -1.51455987e-02 5.83409129e+02] [-1.64036214e-01 9.86452384e-01 1.95328397e-03 -3.04250803e+01] [ 1.52608421e-02 5.57831855e-04 9.99883391e-01 1.54663727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6007140569999 meters Centerline goodness [0,1] 0.9840946561924159 Centerline is valid? [True, True] Translation: X:583.44, Y:-30.43, Z:1.54 [[ 9.86188501e-01 1.64901398e-01 -1.54844807e-02 5.83440363e+02] [-1.64890281e-01 9.86309887e-01 2.00069924e-03 -3.04259510e+01] [ 1.56024145e-02 5.80173785e-04 9.99878107e-01 1.54498158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.630714057 meters Centerline goodness [0,1] 0.9853172776391346 Centerline is valid? [True, True] Translation: X:583.47, Y:-30.43, Z:1.55 [[ 9.86082374e-01 1.65518171e-01 -1.56616493e-02 5.83471938e+02] [-1.65506815e-01 9.86206562e-01 2.02747590e-03 -3.04325251e+01] [ 1.57812055e-02 5.92851457e-04 9.99875293e-01 1.54553915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.660714057 meters Centerline goodness [0,1] 0.9816271054803165 Centerline is valid? [True, True] Translation: X:583.50, Y:-30.43, Z:1.54 [[ 9.86027043e-01 1.65812999e-01 -1.60224590e-02 5.83503997e+02] [-1.65801084e-01 9.86157026e-01 2.07845563e-03 -3.04320250e+01] [ 1.61452955e-02 6.07127613e-04 9.99869472e-01 1.54433545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6907140569999 meters Centerline goodness [0,1] 0.9855622915297154 Centerline is valid? [True, True] Translation: X:583.54, Y:-30.44, Z:1.55 [[ 9.86211573e-01 1.64680042e-01 -1.63467621e-02 5.83535532e+02] [-1.64667448e-01 9.86346859e-01 2.12271136e-03 -3.04417128e+01] [ 1.64731457e-02 5.98337094e-04 9.99864130e-01 1.54657014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7207140569999 meters Centerline goodness [0,1] 0.9859062522780843 Centerline is valid? [True, True] Translation: X:583.57, Y:-30.45, Z:1.55 [[ 9.86272548e-01 1.64279308e-01 -1.66964122e-02 5.83566645e+02] [-1.64266051e-01 9.86413680e-01 2.17173111e-03 -3.04488252e+01] [ 1.68263399e-02 6.00734922e-04 9.99858247e-01 1.54745125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.750714057 meters Centerline goodness [0,1] 0.9861067179250104 Centerline is valid? [True, True] Translation: X:583.60, Y:-30.45, Z:1.55 [[ 9.86454840e-01 1.63076704e-01 -1.76872215e-02 5.83598145e+02] [-1.63061554e-01 9.86613205e-01 2.30511516e-03 -3.04548867e+01] [ 1.78263569e-02 6.10213806e-04 9.99840912e-01 1.54745089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.780714057 meters Centerline goodness [0,1] 0.9863703847932436 Centerline is valid? [True, True] Translation: X:583.63, Y:-30.46, Z:1.55 [[ 9.86514045e-01 1.62722869e-01 -1.76439172e-02 5.83629838e+02] [-1.62707657e-01 9.86671633e-01 2.30389365e-03 -3.04599172e+01] [ 1.77836487e-02 5.97976981e-04 9.99841680e-01 1.54747952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8107140569999 meters Centerline goodness [0,1] 0.9865784914224359 Centerline is valid? [True, True] Translation: X:583.66, Y:-30.47, Z:1.55 [[ 9.86706781e-01 1.61526464e-01 -1.78586205e-02 5.83660435e+02] [-1.61510608e-01 9.86868211e-01 2.33613827e-03 -3.04650632e+01] [ 1.80014530e-02 5.79273175e-04 9.99837793e-01 1.54755233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8407140569999 meters Centerline goodness [0,1] 0.9881169351899103 Centerline is valid? [True, True] Translation: X:583.69, Y:-30.47, Z:1.55 [[ 9.86924739e-01 1.60217081e-01 -1.76081110e-02 5.83691667e+02] [-1.60201383e-01 9.87081654e-01 2.30767615e-03 -3.04720498e+01] [ 1.77503724e-02 5.43341040e-04 9.99842302e-01 1.54936084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.870714057 meters Centerline goodness [0,1] 0.9879276637341153 Centerline is valid? [True, True] Translation: X:583.72, Y:-30.48, Z:1.55 [[ 9.87079302e-01 1.59289958e-01 -1.73539946e-02 5.83723277e+02] [-1.59274490e-01 9.87231708e-01 2.27871092e-03 -3.04774442e+01] [ 1.74953895e-02 5.14780252e-04 9.99846811e-01 1.55034674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.900714057 meters Centerline goodness [0,1] 0.9876455967639749 Centerline is valid? [True, True] Translation: X:583.75, Y:-30.48, Z:1.55 [[ 9.87431599e-01 1.57184091e-01 -1.64923927e-02 5.83754409e+02] [-1.57169763e-01 9.87569217e-01 2.16943131e-03 -3.04802737e+01] [ 1.66283794e-02 4.49940427e-04 9.99861638e-01 1.54961251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9307140569999 meters Centerline goodness [0,1] 0.9879679796944404 Centerline is valid? [True, True] Translation: X:583.79, Y:-30.49, Z:1.55 [[ 9.87493290e-01 1.56823611e-01 -1.62282571e-02 5.83785947e+02] [-1.56809625e-01 9.87626533e-01 2.13865008e-03 -3.04887683e+01] [ 1.63628481e-02 4.32844295e-04 9.99866026e-01 1.55205047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9607140569999 meters Centerline goodness [0,1] 0.9877645341765994 Centerline is valid? [True, True] Translation: X:583.82, Y:-30.49, Z:1.55 [[ 9.87790320e-01 1.55004030e-01 -1.56216139e-02 5.83817866e+02] [-1.54990782e-01 9.87913763e-01 2.06255036e-03 -3.04939158e+01] [ 1.57525110e-02 3.83838871e-04 9.99875848e-01 1.55279707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.990714057 meters Centerline goodness [0,1] 0.9889008147533785 Centerline is valid? [True, True] Translation: X:583.85, Y:-30.50, Z:1.55 [[ 9.87809542e-01 1.54829786e-01 -1.61259679e-02 5.83850320e+02] [-1.54815573e-01 9.87941084e-01 2.13360197e-03 -3.04983849e+01] [ 1.62618514e-02 3.88958591e-04 9.99867692e-01 1.55296035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.020714057 meters Centerline goodness [0,1] 0.9878378049670404 Centerline is valid? [True, True] Translation: X:583.88, Y:-30.50, Z:1.55 [[ 9.88033444e-01 1.53285294e-01 -1.71327668e-02 5.83881550e+02] [-1.53268946e-01 9.88181903e-01 2.27099492e-03 -3.05016657e+01] [ 1.72784002e-02 3.82102181e-04 9.99850644e-01 1.55081508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0507140569999 meters Centerline goodness [0,1] 0.989397484644633 Centerline is valid? [True, True] Translation: X:583.91, Y:-30.51, Z:1.55 [[ 9.88461353e-01 1.50449563e-01 -1.75807661e-02 5.83912983e+02] [-1.50431824e-01 9.88617628e-01 2.33474682e-03 -3.05103810e+01] [ 1.77319170e-02 3.36899715e-04 9.99842720e-01 1.55245318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0807140569999 meters Centerline goodness [0,1] 0.9896650904304587 Centerline is valid? [True, True] Translation: X:583.94, Y:-30.52, Z:1.55 [[ 9.88779022e-01 1.48299194e-01 -1.79831651e-02 5.83943640e+02] [-1.48280200e-01 9.88942495e-01 2.39247065e-03 -3.05158887e+01] [ 1.81391176e-02 3.00922521e-04 9.99835427e-01 1.55222172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.110714057 meters Centerline goodness [0,1] 0.9901836296151592 Centerline is valid? [True, True] Translation: X:583.97, Y:-30.52, Z:1.55 [[ 9.89545457e-01 1.43023860e-01 -1.85462568e-02 5.83973738e+02] [-1.43002650e-01 9.89719219e-01 2.47169550e-03 -3.05236876e+01] [ 1.87090982e-02 2.06308819e-04 9.99824948e-01 1.55198271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.140714057 meters Centerline goodness [0,1] 0.9906368867648493 Centerline is valid? [True, True] Translation: X:584.00, Y:-30.53, Z:1.55 [[ 9.89983503e-01 1.39921686e-01 -1.88304324e-02 5.84004966e+02] [-1.39899172e-01 9.90162563e-01 2.51419493e-03 -3.05302061e+01] [ 1.89969796e-02 1.45350388e-04 9.99819531e-01 1.55259494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1707140569999 meters Centerline goodness [0,1] 0.9912905972509427 Centerline is valid? [True, True] Translation: X:584.04, Y:-30.54, Z:1.55 [[ 9.90731845e-01 1.34499834e-01 -1.89790946e-02 5.84035523e+02] [-1.34475882e-01 9.90913615e-01 2.53847061e-03 -3.05371353e+01] [ 1.91480672e-02 3.72868200e-05 9.99816658e-01 1.55185552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2007140569999 meters Centerline goodness [0,1] 0.9919596520722169 Centerline is valid? [True, True] Translation: X:584.07, Y:-30.54, Z:1.55 [[ 9.91159225e-01 1.31324562e-01 -1.89010524e-02 5.84067991e+02] [-1.31300132e-01 9.91339427e-01 2.53314424e-03 -3.05430758e+01] [ 1.90700225e-02 -2.90386138e-05 9.99818150e-01 1.55374457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2307140569999 meters Centerline goodness [0,1] 0.993261324380869 Centerline is valid? [True, True] Translation: X:584.10, Y:-30.55, Z:1.55 [[ 9.91334445e-01 1.30033344e-01 -1.86372582e-02 5.84099852e+02] [-1.30009270e-01 9.91509620e-01 2.50271734e-03 -3.05475511e+01] [ 1.88044575e-02 -5.80135628e-05 9.99823179e-01 1.55387655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.260714057 meters Centerline goodness [0,1] 0.9918927421892016 Centerline is valid? [True, True] Translation: X:584.13, Y:-30.55, Z:1.55 [[ 9.91571401e-01 1.28252043e-01 -1.83730600e-02 5.84132894e+02] [-1.28228247e-01 9.91741602e-01 2.47229220e-03 -3.05507783e+01] [ 1.85384045e-02 -9.55089619e-05 9.99828144e-01 1.55447079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.290714057 meters Centerline goodness [0,1] 0.9929041945170978 Centerline is valid? [True, True] Translation: X:584.16, Y:-30.55, Z:1.55 [[ 9.91644405e-01 1.27744455e-01 -1.79646142e-02 5.84164693e+02] [-1.27721559e-01 9.91807110e-01 2.42084234e-03 -3.05546139e+01] [ 1.81266812e-02 -1.06146247e-04 9.99835693e-01 1.55429328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3207140569999 meters Centerline goodness [0,1] 0.9921797687721754 Centerline is valid? [True, True] Translation: X:584.20, Y:-30.56, Z:1.56 [[ 9.91847030e-01 1.26340579e-01 -1.66591745e-02 5.84197783e+02] [-1.26320621e-01 9.91986916e-01 2.24911796e-03 -3.05574545e+01] [ 1.68098380e-02 -1.26383698e-04 9.99858697e-01 1.55627305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3507140569999 meters Centerline goodness [0,1] 0.992238906698161 Centerline is valid? [True, True] Translation: X:584.23, Y:-30.56, Z:1.56 [[ 9.91654418e-01 1.28000855e-01 -1.54044248e-02 5.84229923e+02] [-1.27983931e-01 9.91774053e-01 2.08351848e-03 -3.05588071e+01] [ 1.55444010e-02 -9.46114527e-05 9.99879174e-01 1.55725732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.380714057 meters Centerline goodness [0,1] 0.9916222574295454 Centerline is valid? [True, True] Translation: X:584.26, Y:-30.56, Z:1.56 [[ 9.91451769e-01 1.29582130e-01 -1.52269693e-02 5.84262031e+02] [-1.29565725e-01 9.91568690e-01 2.06318507e-03 -3.05605215e+01] [ 1.53659379e-02 -7.26551705e-05 9.99881934e-01 1.55762416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.410714057 meters Centerline goodness [0,1] 0.9917810845134546 Centerline is valid? [True, True] Translation: X:584.29, Y:-30.56, Z:1.56 [[ 9.91143212e-01 1.31881112e-01 -1.55725625e-02 5.84294180e+02] [-1.31864175e-01 9.91265540e-01 2.11397342e-03 -3.05619120e+01] [ 1.57153377e-02 -4.17873013e-05 9.99876506e-01 1.55695794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4407140569999 meters Centerline goodness [0,1] 0.9919083422842822 Centerline is valid? [True, True] Translation: X:584.33, Y:-30.56, Z:1.56 [[ 9.90419359e-01 1.37159604e-01 -1.60229772e-02 5.84327371e+02] [-1.37142290e-01 9.90548960e-01 2.17961666e-03 -3.05591206e+01] [ 1.61704988e-02 3.86932452e-05 9.99869248e-01 1.55712654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4707140569999 meters Centerline goodness [0,1] 0.9904389499535061 Centerline is valid? [True, True] Translation: X:584.36, Y:-30.56, Z:1.56 [[ 9.89921477e-01 1.40725747e-01 -1.58660825e-02 5.84360006e+02] [-1.40709156e-01 9.90048613e-01 2.16279142e-03 -3.05599201e+01] [ 1.60125535e-02 9.15094080e-05 9.99871787e-01 1.55716411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.500714057 meters Centerline goodness [0,1] 0.9890491834499834 Centerline is valid? [True, True] Translation: X:584.39, Y:-30.56, Z:1.56 [[ 9.88978528e-01 1.47186184e-01 -1.60530029e-02 5.84392070e+02] [-1.47169986e-01 9.89108785e-01 2.19218806e-03 -3.05557744e+01] [ 1.62008260e-02 1.94493293e-04 9.99868739e-01 1.55666644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.530714057 meters Centerline goodness [0,1] 0.988922696586479 Centerline is valid? [True, True] Translation: X:584.42, Y:-30.56, Z:1.56 [[ 9.88543082e-01 1.50102379e-01 -1.58697924e-02 5.84423944e+02] [-1.50086867e-01 9.88670430e-01 2.17079466e-03 -3.05558314e+01] [ 1.60158359e-02 2.35923381e-04 9.99871710e-01 1.55643128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5607140569999 meters Centerline goodness [0,1] 0.989170784763436 Centerline is valid? [True, True] Translation: X:584.46, Y:-30.55, Z:1.56 [[ 9.87892909e-01 1.54305998e-01 -1.60393372e-02 5.84456869e+02] [-1.54290642e-01 9.88023060e-01 2.19789864e-03 -3.05536303e+01] [ 1.61863839e-02 3.03431147e-04 9.99868946e-01 1.55530168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5907140569999 meters Centerline goodness [0,1] 0.9887030966250796 Centerline is valid? [True, True] Translation: X:584.49, Y:-30.55, Z:1.56 [[ 9.87462531e-01 1.56989570e-01 -1.64931976e-02 5.84488726e+02] [-1.56973642e-01 9.87600197e-01 2.26401440e-03 -3.05540281e+01] [ 1.66441119e-02 3.53367906e-04 9.99861415e-01 1.55563780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.620714057 meters Centerline goodness [0,1] 0.9879055073557148 Centerline is valid? [True, True] Translation: X:584.52, Y:-30.55, Z:1.55 [[ 9.87275608e-01 1.58111248e-01 -1.69619420e-02 5.84520503e+02] [-1.58094500e-01 9.87421232e-01 2.33230458e-03 -3.05541165e+01] [ 1.71173453e-02 3.78962321e-04 9.99853416e-01 1.55397597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.650714057 meters Centerline goodness [0,1] 0.9871362940275651 Centerline is valid? [True, True] Translation: X:584.55, Y:-30.56, Z:1.55 [[ 9.87095348e-01 1.59330218e-01 -1.60204593e-02 5.84553802e+02] [-1.59315371e-01 9.87225274e-01 2.20694410e-03 -3.05557939e+01] [ 1.61674352e-02 3.73841153e-04 9.99869229e-01 1.55467139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6807140569999 meters Centerline goodness [0,1] 0.9885268255983448 Centerline is valid? [True, True] Translation: X:584.59, Y:-30.56, Z:1.56 [[ 9.87006169e-01 1.59865060e-01 -1.61859518e-02 5.84586342e+02] [-1.59849902e-01 9.87138803e-01 2.23432874e-03 -3.05621947e+01] [ 1.63349722e-02 3.82026570e-04 9.99866502e-01 1.55687105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7107140569999 meters Centerline goodness [0,1] 0.9876659227064489 Centerline is valid? [True, True] Translation: X:584.62, Y:-30.56, Z:1.56 [[ 9.86941779e-01 1.60271456e-01 -1.60930438e-02 5.84618294e+02] [-1.60256454e-01 9.87072902e-01 2.22587826e-03 -3.05624655e+01] [ 1.62417522e-02 3.82201893e-04 9.99868021e-01 1.55598437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.740714057 meters Centerline goodness [0,1] 0.9880074016817745 Centerline is valid? [True, True] Translation: X:584.65, Y:-30.57, Z:1.56 [[ 9.87004793e-01 1.59934147e-01 -1.55758700e-02 5.84650309e+02] [-1.59919990e-01 9.87127620e-01 2.15826460e-03 -3.05662899e+01] [ 1.57205517e-02 3.60675481e-04 9.99876359e-01 1.55608206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.770714057 meters Centerline goodness [0,1] 0.9889991321276945 Centerline is valid? [True, True] Translation: X:584.68, Y:-30.57, Z:1.56 [[ 9.87059457e-01 1.59539242e-01 -1.61511083e-02 5.84682465e+02] [-1.59523894e-01 9.87191521e-01 2.24249770e-03 -3.05703951e+01] [ 1.63020035e-02 3.63009122e-04 9.99867048e-01 1.55605576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8007140569999 meters Centerline goodness [0,1] 0.9902723735408561 Centerline is valid? [True, True] Translation: X:584.71, Y:-30.57, Z:1.56 [[ 9.87291669e-01 1.58116325e-01 -1.59495655e-02 5.84714147e+02] [-1.58101105e-01 9.87420436e-01 2.21868326e-03 -3.05746543e+01] [ 1.60997370e-02 3.31156440e-04 9.99870336e-01 1.55697226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8307140569999 meters Centerline goodness [0,1] 0.9893250930542875 Centerline is valid? [True, True] Translation: X:584.75, Y:-30.58, Z:1.56 [[ 9.87313371e-01 1.57923557e-01 -1.65063066e-02 5.84746514e+02] [-1.57907155e-01 9.87451284e-01 2.30056366e-03 -3.05768908e+01] [ 1.66624869e-02 3.35086654e-04 9.99861115e-01 1.55586118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.860714057 meters Centerline goodness [0,1] 0.9890425681042941 Centerline is valid? [True, True] Translation: X:584.78, Y:-30.58, Z:1.56 [[ 9.87479290e-01 1.56770095e-01 -1.75439427e-02 5.84778438e+02] [-1.56751303e-01 9.87635068e-01 2.44972137e-03 -3.05812360e+01] [ 1.77110560e-02 3.30986753e-04 9.99843092e-01 1.55661735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.890714057 meters Centerline goodness [0,1] 0.9896251986166932 Centerline is valid? [True, True] Translation: X:584.81, Y:-30.58, Z:1.56 [[ 9.87714356e-01 1.55416386e-01 -1.63125170e-02 5.84809793e+02] [-1.55399911e-01 9.87849010e-01 2.28045002e-03 -3.05845186e+01] [ 1.64687230e-02 2.82530468e-04 9.99864341e-01 1.55687503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9207140569999 meters Centerline goodness [0,1] 0.9908098122208451 Centerline is valid? [True, True] Translation: X:584.84, Y:-30.59, Z:1.56 [[ 9.87765524e-01 1.55153568e-01 -1.57047876e-02 5.84841097e+02] [-1.55138209e-01 9.87890328e-01 2.19899153e-03 -3.05897726e+01] [ 1.58557892e-02 2.64324606e-04 9.99874254e-01 1.55848076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9507140569999 meters Centerline goodness [0,1] 0.9889245660570525 Centerline is valid? [True, True] Translation: X:584.87, Y:-30.59, Z:1.56 [[ 9.87905695e-01 1.54345642e-01 -1.48242964e-02 5.84871892e+02] [-1.54331814e-01 9.88016887e-01 2.07916064e-03 -3.05908948e+01] [ 1.49675646e-02 2.33845926e-04 9.99887952e-01 1.55855988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9807140569999 meters Centerline goodness [0,1] 0.9889245660570525 Centerline is valid? [True, True] Translation: X:584.90, Y:-30.60, Z:1.56 [[ 9.87865172e-01 1.54604844e-01 -1.48237695e-02 5.84903978e+02] [-1.54590989e-01 9.87976360e-01 2.08291330e-03 -3.05954923e+01] [ 1.49675623e-02 2.33983683e-04 9.99887952e-01 1.55868756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.010714057 meters Centerline goodness [0,1] 0.9902604967612657 Centerline is valid? [True, True] Translation: X:584.94, Y:-30.60, Z:1.56 [[ 9.87847650e-01 1.54718067e-01 -1.48101554e-02 5.84935904e+02] [-1.54704189e-01 9.87958636e-01 2.08512255e-03 -3.06012952e+01] [ 1.49544270e-02 2.31409661e-04 9.99888150e-01 1.55991905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.040714057 meters Centerline goodness [0,1] 0.9902788436940394 Centerline is valid? [True, True] Translation: X:584.97, Y:-30.60, Z:1.56 [[ 9.87798406e-01 1.54949523e-01 -1.56510015e-02 5.84968808e+02] [-1.54933982e-01 9.87922358e-01 2.20803759e-03 -3.06047150e+01] [ 1.58041087e-02 2.43775966e-04 9.99875078e-01 1.56027173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0707140569999 meters Centerline goodness [0,1] 0.989812058057313 Centerline is valid? [True, True] Translation: X:585.00, Y:-30.61, Z:1.56 [[ 9.87714548e-01 1.55484025e-01 -1.56425750e-02 5.85001775e+02] [-1.55468497e-01 9.87838376e-01 2.21130872e-03 -3.06080960e+01] [ 1.57961591e-02 2.47785831e-04 9.99875202e-01 1.55964271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1007140569999 meters Centerline goodness [0,1] 0.9895480880648899 Centerline is valid? [True, True] Translation: X:585.03, Y:-30.61, Z:1.56 [[ 9.87368399e-01 1.57665205e-01 -1.56629374e-02 5.85033692e+02] [-1.57649847e-01 9.87492585e-01 2.21824011e-03 -3.06108597e+01] [ 1.58167738e-02 2.79039498e-04 9.99874868e-01 1.56037861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.130714057 meters Centerline goodness [0,1] 0.9884316680190101 Centerline is valid? [True, True] Translation: X:585.07, Y:-30.61, Z:1.56 [[ 9.86957159e-01 1.60227250e-01 -1.55818605e-02 5.85065686e+02] [-1.60212308e-01 9.87080103e-01 2.21066471e-03 -3.06130578e+01] [ 1.57347532e-02 3.14574474e-04 9.99876152e-01 1.56045404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.160714057 meters Centerline goodness [0,1] 0.9884022408444836 Centerline is valid? [True, True] Translation: X:585.10, Y:-30.62, Z:1.56 [[ 9.86727657e-01 1.61608883e-01 -1.58461100e-02 5.85097111e+02] [-1.61593548e-01 9.86854829e-01 2.25192148e-03 -3.06153450e+01] [ 1.60017407e-02 3.38595920e-04 9.99871907e-01 1.55976652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1907140569999 meters Centerline goodness [0,1] 0.9879337047224983 Centerline is valid? [True, True] Translation: X:585.13, Y:-30.62, Z:1.56 [[ 9.86317816e-01 1.64025995e-01 -1.65117483e-02 5.85128523e+02] [-1.64009619e-01 9.86455940e-01 2.35035776e-03 -3.06183680e+01] [ 1.66736319e-02 3.89885801e-04 9.99860909e-01 1.55941529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2207140569999 meters Centerline goodness [0,1] 0.9877378533160909 Centerline is valid? [True, True] Translation: X:585.16, Y:-30.62, Z:1.56 [[ 9.86097950e-01 1.65325319e-01 -1.66844878e-02 5.85160232e+02] [-1.65308714e-01 9.86239002e-01 2.37906115e-03 -3.06226388e+01] [ 1.68482116e-02 4.12103892e-04 9.99857974e-01 1.56010960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.250714057 meters Centerline goodness [0,1] 0.9875511005381435 Centerline is valid? [True, True] Translation: X:585.19, Y:-30.63, Z:1.56 [[ 9.85543250e-01 1.68580850e-01 -1.68819541e-02 5.85191686e+02] [-1.68564283e-01 9.85687717e-01 2.40978495e-03 -3.06253139e+01] [ 1.70465784e-02 4.70747205e-04 9.99854586e-01 1.56047851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.280714057 meters Centerline goodness [0,1] 0.9872477804681195 Centerline is valid? [True, True] Translation: X:585.22, Y:-30.63, Z:1.56 [[ 9.85217124e-01 1.70501215e-01 -1.66299148e-02 5.85223244e+02] [-1.70485355e-01 9.85357343e-01 2.37723440e-03 -3.06283893e+01] [ 1.67917300e-02 4.93064894e-04 9.99858887e-01 1.56063225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3107140569999 meters Centerline goodness [0,1] 0.9853406283907011 Centerline is valid? [True, True] Translation: X:585.25, Y:-30.63, Z:1.56 [[ 9.84456914e-01 1.74862048e-01 -1.63660934e-02 5.85254575e+02] [-1.74847266e-01 9.84592786e-01 2.34085342e-03 -3.06293141e+01] [ 1.65232639e-02 5.57097339e-04 9.99863326e-01 1.56100268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3407140569999 meters Centerline goodness [0,1] 0.9856260941675112 Centerline is valid? [True, True] Translation: X:585.29, Y:-30.63, Z:1.56 [[ 9.83723246e-01 1.79005636e-01 -1.56702697e-02 5.85285803e+02] [-1.78992601e-01 9.83847866e-01 2.24188169e-03 -3.06310858e+01] [ 1.58184709e-02 5.99471199e-04 9.99874700e-01 1.56097248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.370714057 meters Centerline goodness [0,1] 0.9839358352676212 Centerline is valid? [True, True] Translation: X:585.32, Y:-30.63, Z:1.56 [[ 9.83362007e-01 1.80982117e-01 -1.56408489e-02 5.85316547e+02] [-1.80969335e-01 9.83486187e-01 2.24052242e-03 -3.06337727e+01] [ 1.57880534e-02 6.27269398e-04 9.99875164e-01 1.56105816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.400714057 meters Centerline goodness [0,1] 0.9839840069854546 Centerline is valid? [True, True] Translation: X:585.35, Y:-30.63, Z:1.56 [[ 9.82813948e-01 1.83885140e-01 -1.62172327e-02 5.85346698e+02] [-1.83871760e-01 9.82947491e-01 2.32510259e-03 -3.06335397e+01] [ 1.63682400e-02 6.96747857e-04 9.99865789e-01 1.56038046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4307140569999 meters Centerline goodness [0,1] 0.9829215032754856 Centerline is valid? [True, True] Translation: X:585.38, Y:-30.64, Z:1.56 [[ 9.82499438e-01 1.85522318e-01 -1.66230222e-02 5.85378451e+02] [-1.85508437e-01 9.82639773e-01 2.38665107e-03 -3.06370299e+01] [ 1.67772198e-02 7.38827522e-04 9.99858980e-01 1.56023845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4607140569999 meters Centerline goodness [0,1] 0.9832684197183748 Centerline is valid? [True, True] Translation: X:585.41, Y:-30.64, Z:1.56 [[ 9.82179869e-01 1.87228131e-01 -1.63808620e-02 5.85410301e+02] [-1.87214825e-01 9.82316171e-01 2.35574725e-03 -3.06413347e+01] [ 1.65322478e-02 7.52972682e-04 9.99863050e-01 1.55996228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.490714057 meters Centerline goodness [0,1] 0.9838073489723894 Centerline is valid? [True, True] Translation: X:585.44, Y:-30.65, Z:1.56 [[ 9.82066918e-01 1.87820885e-01 -1.63671219e-02 5.85440962e+02] [-1.87807616e-01 9.82203003e-01 2.35783305e-03 -3.06517808e+01] [ 1.65186866e-02 7.58320298e-04 9.99863270e-01 1.56157520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.520714057 meters Centerline goodness [0,1] 0.9841075794621027 Centerline is valid? [True, True] Translation: X:585.47, Y:-30.66, Z:1.56 [[ 9.82022976e-01 1.87981350e-01 -1.71431124e-02 5.85473622e+02] [-1.87966734e-01 9.82172278e-01 2.47443650e-03 -3.06580851e+01] [ 1.73026377e-02 7.92381363e-04 9.99849984e-01 1.56118945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5507140569999 meters Centerline goodness [0,1] 0.9834680212422073 Centerline is valid? [True, True] Translation: X:585.51, Y:-30.67, Z:1.56 [[ 9.81998765e-01 1.88087643e-01 -1.73627181e-02 5.85506137e+02] [-1.88072578e-01 9.82151923e-01 2.51119586e-03 -3.06660133e+01] [ 1.75251519e-02 7.99459919e-04 9.99846103e-01 1.56204465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5807140569999 meters Centerline goodness [0,1] 0.9836490205601425 Centerline is valid? [True, True] Translation: X:585.54, Y:-30.67, Z:1.56 [[ 9.82051552e-01 1.87809497e-01 -1.73879954e-02 5.85536808e+02] [-1.87794269e-01 9.82205155e-01 2.51916093e-03 -3.06706258e+01] [ 1.75517011e-02 7.91419988e-04 9.99845644e-01 1.56110901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.610714057 meters Centerline goodness [0,1] 0.9834085387018396 Centerline is valid? [True, True] Translation: X:585.57, Y:-30.68, Z:1.56 [[ 9.82133842e-01 1.87358119e-01 -1.76082606e-02 5.85567855e+02] [-1.87342353e-01 9.82291358e-01 2.55540060e-03 -3.06782403e+01] [ 1.77752173e-02 7.89027567e-04 9.99841697e-01 1.56135131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.640714057 meters Centerline goodness [0,1] 0.9842803074279611 Centerline is valid? [True, True] Translation: X:585.60, Y:-30.69, Z:1.56 [[ 9.82126601e-01 1.87392760e-01 -1.76435094e-02 5.85598933e+02] [-1.87376857e-01 9.82284752e-01 2.56496315e-03 -3.06857407e+01] [ 1.78116058e-02 7.86866808e-04 9.99841051e-01 1.56147249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6707140569999 meters Centerline goodness [0,1] 0.9833965072204265 Centerline is valid? [True, True] Translation: X:585.63, Y:-30.69, Z:1.56 [[ 9.82362283e-01 1.86137935e-01 -1.78049169e-02 5.85630480e+02] [-1.86121453e-01 9.82523324e-01 2.59294218e-03 -3.06935623e+01] [ 1.79763911e-02 7.66668409e-04 9.99838118e-01 1.56097341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7007140569999 meters Centerline goodness [0,1] 0.9853895346123326 Centerline is valid? [True, True] Translation: X:585.66, Y:-30.70, Z:1.56 [[ 9.82556894e-01 1.85110690e-01 -1.77759129e-02 5.85661950e+02] [-1.85094013e-01 9.82717397e-01 2.59321057e-03 -3.07000363e+01] [ 1.79487299e-02 7.42238138e-04 9.99838633e-01 1.56120804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7307140569999 meters Centerline goodness [0,1] 0.9845995893223819 Centerline is valid? [True, True] Translation: X:585.69, Y:-30.71, Z:1.56 [[ 9.82883323e-01 1.83367510e-01 -1.77969044e-02 5.85692799e+02] [-1.83350428e-01 9.83044178e-01 2.60077719e-03 -3.07092734e+01] [ 1.79720413e-02 7.06809513e-04 9.99838240e-01 1.56206581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.760714057 meters Centerline goodness [0,1] 0.983826107280589 Centerline is valid? [True, True] Translation: X:585.72, Y:-30.72, Z:1.56 [[ 9.83038038e-01 1.82575368e-01 -1.73911292e-02 5.85724350e+02] [-1.82558855e-01 9.83191631e-01 2.54587455e-03 -3.07179290e+01] [ 1.75636266e-02 6.72213097e-04 9.99845522e-01 1.56301846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.790714057 meters Centerline goodness [0,1] 0.984285480438697 Centerline is valid? [True, True] Translation: X:585.75, Y:-30.72, Z:1.56 [[ 9.83149018e-01 1.81952610e-01 -1.76424522e-02 5.85754902e+02] [-1.81935462e-01 9.83307074e-01 2.58565010e-03 -3.07224002e+01] [ 1.78184138e-02 6.67708337e-04 9.99841017e-01 1.56281153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8207140569999 meters Centerline goodness [0,1] 0.9844153405623621 Centerline is valid? [True, True] Translation: X:585.79, Y:-30.73, Z:1.56 [[ 9.83253048e-01 1.81449198e-01 -1.70185740e-02 5.85785725e+02] [-1.81433100e-01 9.83400117e-01 2.49811810e-03 -3.07305413e+01] [ 1.71893492e-02 6.31450398e-04 9.99852053e-01 1.56364981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8507140569999 meters Centerline goodness [0,1] 0.985163274408996 Centerline is valid? [True, True] Translation: X:585.82, Y:-30.74, Z:1.56 [[ 9.83644688e-01 1.79309619e-01 -1.70642522e-02 5.85816510e+02] [-1.79293037e-01 9.83792514e-01 2.50917312e-03 -3.07378001e+01] [ 1.72376025e-02 5.91366792e-04 9.99851247e-01 1.56324313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.880714057 meters Centerline goodness [0,1] 0.9856070973526497 Centerline is valid? [True, True] Translation: X:585.85, Y:-30.75, Z:1.56 [[ 9.84134874e-01 1.76547624e-01 -1.75922383e-02 5.85847091e+02] [-1.76529528e-01 9.84291941e-01 2.58857321e-03 -3.07476177e+01] [ 1.77729049e-02 5.58044366e-04 9.99841894e-01 1.56309758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.910714057 meters Centerline goodness [0,1] 0.9863136745065595 Centerline is valid? [True, True] Translation: X:585.88, Y:-30.75, Z:1.56 [[ 9.84428732e-01 1.74884821e-01 -1.77586838e-02 5.85878331e+02] [-1.74866044e-01 9.84588756e-01 2.61675729e-03 -3.07545271e+01] [ 1.79426316e-02 5.29379729e-04 9.99838878e-01 1.56261732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9407140569999 meters Centerline goodness [0,1] 0.9871345306354546 Centerline is valid? [True, True] Translation: X:585.91, Y:-30.77, Z:1.56 [[ 9.85225019e-01 1.70397966e-01 -1.72103294e-02 5.85908335e+02] [-1.70379622e-01 9.85375231e-01 2.53738777e-03 -3.07656389e+01] [ 1.73909980e-02 4.32391499e-04 9.99848672e-01 1.56409220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9707140569999 meters Centerline goodness [0,1] 0.9881150463513192 Centerline is valid? [True, True] Translation: X:585.94, Y:-30.77, Z:1.56 [[ 9.85682026e-01 1.67760897e-01 -1.69477011e-02 5.85939206e+02] [-1.67742660e-01 9.85827642e-01 2.50209405e-03 -3.07727505e+01] [ 1.71272657e-02 3.76583325e-04 9.99853247e-01 1.56450336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.000714057 meters Centerline goodness [0,1] 0.9895594965675057 Centerline is valid? [True, True] Translation: X:585.97, Y:-30.78, Z:1.57 [[ 9.86573235e-01 1.62588786e-01 -1.54317195e-02 5.85969399e+02] [-1.62573008e-01 9.86693883e-01 2.27980881e-03 -3.07843453e+01] [ 1.55970546e-02 2.59582708e-04 9.99878325e-01 1.56630361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.030714057 meters Centerline goodness [0,1] 0.9907604662852766 Centerline is valid? [True, True] Translation: X:586.00, Y:-30.79, Z:1.57 [[ 9.87425518e-01 1.57427343e-01 -1.44041214e-02 5.85999088e+02] [-1.57413008e-01 9.87530559e-01 2.13068774e-03 -3.07944314e+01] [ 1.45599385e-02 1.63500633e-04 9.99893985e-01 1.56715244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0607140569999 meters Centerline goodness [0,1] 0.990726318564137 Centerline is valid? [True, True] Translation: X:586.03, Y:-30.80, Z:1.57 [[ 9.87704720e-01 1.55684091e-01 -1.42073986e-02 5.86029200e+02] [-1.55669918e-01 9.87806887e-01 2.10487390e-03 -3.08014580e+01] [ 1.43618616e-02 1.32670687e-04 9.99896854e-01 1.56742162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0907140569999 meters Centerline goodness [0,1] 0.9919986584577055 Centerline is valid? [True, True] Translation: X:586.06, Y:-30.81, Z:1.57 [[ 9.88276963e-01 1.52022589e-01 -1.40633273e-02 5.86059409e+02] [-1.52008285e-01 9.88377017e-01 2.08673751e-03 -3.08098365e+01] [ 1.42171007e-02 7.54676656e-05 9.99898929e-01 1.56726962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.120714057 meters Centerline goodness [0,1] 0.9920266258021262 Centerline is valid? [True, True] Translation: X:586.09, Y:-30.82, Z:1.57 [[ 9.88458751e-01 1.50845986e-01 -1.39566067e-02 5.86090676e+02] [-1.50831732e-01 9.88557275e-01 2.07440666e-03 -3.08159155e+01] [ 1.41098210e-02 5.46337483e-05 9.99900450e-01 1.56673377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.150714057 meters Centerline goodness [0,1] 0.9925290934342225 Centerline is valid? [True, True] Translation: X:586.12, Y:-30.82, Z:1.57 [[ 9.88669665e-01 1.49437316e-01 -1.41697523e-02 5.86122766e+02] [-1.49422422e-01 9.88771201e-01 2.11004100e-03 -3.08234570e+01] [ 1.43259619e-02 3.11451827e-05 9.99897378e-01 1.56721479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1807140569999 meters Centerline goodness [0,1] 0.9926928605654048 Centerline is valid? [True, True] Translation: X:586.16, Y:-30.83, Z:1.57 [[ 9.88809493e-01 1.48495689e-01 -1.43114615e-02 5.86155224e+02] [-1.48480338e-01 9.88913055e-01 2.13520040e-03 -3.08294733e+01] [ 1.44698592e-02 1.36642173e-05 9.99895306e-01 1.56742733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2107140569999 meters Centerline goodness [0,1] 0.9932088692647341 Centerline is valid? [True, True] Translation: X:586.19, Y:-30.83, Z:1.57 [[ 9.88780586e-01 1.48683031e-01 -1.43634989e-02 5.86186548e+02] [-1.48667545e-01 9.88884905e-01 2.14590468e-03 -3.08341561e+01] [ 1.45229069e-02 1.35572332e-05 9.99894537e-01 1.56653494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.240714057 meters Centerline goodness [0,1] 0.9924635176651305 Centerline is valid? [True, True] Translation: X:586.22, Y:-30.84, Z:1.57 [[ 9.88798630e-01 1.48566537e-01 -1.43266806e-02 5.86217673e+02] [-1.48551069e-01 9.88902414e-01 2.14379991e-03 -3.08384239e+01] [ 1.44861860e-02 8.45731013e-06 9.99895070e-01 1.56606241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.270714057 meters Centerline goodness [0,1] 0.9927771931502918 Centerline is valid? [True, True] Translation: X:586.25, Y:-30.84, Z:1.57 [[ 9.88747259e-01 1.48898636e-01 -1.44240554e-02 5.86250349e+02] [-1.48882934e-01 9.88852464e-01 2.16239831e-03 -3.08421094e+01] [ 1.45852409e-02 9.43028439e-06 9.99893630e-01 1.56638683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3007140569999 meters Centerline goodness [0,1] 0.9926811767519732 Centerline is valid? [True, True] Translation: X:586.28, Y:-30.85, Z:1.57 [[ 9.88543783e-01 1.50318042e-01 -1.36262668e-02 5.86283098e+02] [-1.50304111e-01 9.88637692e-01 2.04660603e-03 -3.08455586e+01] [ 1.37790827e-02 2.49242482e-05 9.99905064e-01 1.56682247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3307140569999 meters Centerline goodness [0,1] 0.9921738922955787 Centerline is valid? [True, True] Translation: X:586.31, Y:-30.85, Z:1.57 [[ 9.88386345e-01 1.51365371e-01 -1.34520533e-02 5.86314317e+02] [-1.51351841e-01 9.88477882e-01 2.02405324e-03 -3.08492083e+01] [ 1.36034287e-02 3.54464540e-05 9.99907468e-01 1.56690175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.360714057 meters Centerline goodness [0,1] 0.9915737712744372 Centerline is valid? [True, True] Translation: X:586.35, Y:-30.85, Z:1.57 [[ 9.87929304e-01 1.54279588e-01 -1.39104224e-02 5.86346043e+02] [-1.54265360e-01 9.88027228e-01 2.09656881e-03 -3.08514592e+01] [ 1.40673339e-02 7.46345611e-05 9.99901047e-01 1.56746503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.390714057 meters Centerline goodness [0,1] 0.9912564921141659 Centerline is valid? [True, True] Translation: X:586.38, Y:-30.85, Z:1.57 [[ 9.87648364e-01 1.56108791e-01 -1.34445144e-02 5.86377938e+02] [-1.56095623e-01 9.87739863e-01 2.02980968e-03 -3.08548156e+01] [ 1.35965539e-02 9.38916373e-05 9.99907558e-01 1.56686054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4207140569999 meters Centerline goodness [0,1] 0.9906807996016219 Centerline is valid? [True, True] Translation: X:586.41, Y:-30.86, Z:1.57 [[ 9.86945555e-01 1.60459659e-01 -1.38264316e-02 5.86410192e+02] [-1.60446109e-01 9.87042387e-01 2.09099359e-03 -3.08562840e+01] [ 1.39827942e-02 1.54700318e-04 9.99902224e-01 1.56685326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4507140569999 meters Centerline goodness [0,1] 0.9897663595783075 Centerline is valid? [True, True] Translation: X:586.44, Y:-30.86, Z:1.57 [[ 9.86545743e-01 1.62908453e-01 -1.37234439e-02 5.86442385e+02] [-1.62895293e-01 9.86641172e-01 2.07881889e-03 -3.08591850e+01] [ 1.38787719e-02 1.84634486e-04 9.99903668e-01 1.56651100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4807140569999 meters Centerline goodness [0,1] 0.9889743528683352 Centerline is valid? [True, True] Translation: X:586.47, Y:-30.86, Z:1.57 [[ 9.85735827e-01 1.67754438e-01 -1.35398471e-02 5.86474079e+02] [-1.67742041e-01 9.85828782e-01 2.05421161e-03 -3.08603807e+01] [ 1.36925741e-02 2.46291604e-04 9.99906222e-01 1.56635359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.510714057 meters Centerline goodness [0,1] 0.9886790657850926 Centerline is valid? [True, True] Translation: X:586.51, Y:-30.86, Z:1.57 [[ 9.85213041e-01 1.70754974e-01 -1.40713499e-02 5.86506236e+02] [-1.70741840e-01 9.85313479e-01 2.13836529e-03 -3.08637449e+01] [ 1.42298273e-02 2.95822811e-04 9.99898707e-01 1.56695528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.540714057 meters Centerline goodness [0,1] 0.9872838129581741 Centerline is valid? [True, True] Translation: X:586.54, Y:-30.86, Z:1.57 [[ 9.84370601e-01 1.75521968e-01 -1.43721754e-02 5.86536847e+02] [-1.75508760e-01 9.84475444e-01 2.18508282e-03 -3.08615608e+01] [ 1.45325838e-02 3.71511386e-04 9.99894327e-01 1.56557422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5707140569999 meters Centerline goodness [0,1] 0.986237445518287 Centerline is valid? [True, True] Translation: X:586.57, Y:-30.86, Z:1.57 [[ 9.83544701e-01 1.80070189e-01 -1.46474915e-02 5.86568087e+02] [-1.80056967e-01 9.83653662e-01 2.22731545e-03 -3.08637000e+01] [ 1.48091318e-02 4.46718601e-04 9.99890239e-01 1.56570224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6007140569999 meters Centerline goodness [0,1] 0.9856693546480005 Centerline is valid? [True, True] Translation: X:586.60, Y:-30.86, Z:1.56 [[ 9.83039514e-01 1.82793695e-01 -1.48249762e-02 5.86599162e+02] [-1.82780453e-01 9.83151169e-01 2.25482208e-03 -3.08638303e+01] [ 1.49873599e-02 4.93136649e-04 9.99887562e-01 1.56419086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.630714057 meters Centerline goodness [0,1] 0.9851704921129687 Centerline is valid? [True, True] Translation: X:586.63, Y:-30.87, Z:1.57 [[ 9.82305645e-01 1.86716917e-01 -1.45743911e-02 5.86629727e+02] [-1.86704542e-01 9.82413608e-01 2.21722815e-03 -3.08699780e+01] [ 1.47320741e-02 5.43109291e-04 9.99891330e-01 1.56540523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.660714057 meters Centerline goodness [0,1] 0.9863855535596104 Centerline is valid? [True, True] Translation: X:586.66, Y:-30.87, Z:1.57 [[ 9.82018265e-01 1.88216282e-01 -1.46546092e-02 5.86661861e+02] [-1.88203894e-01 9.82127441e-01 2.23231167e-03 -3.08740159e+01] [ 1.48128513e-02 5.65883688e-04 9.99890124e-01 1.56649432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6907140569999 meters Centerline goodness [0,1] 0.9839437085310855 Centerline is valid? [True, True] Translation: X:586.69, Y:-30.88, Z:1.57 [[ 9.81558828e-01 1.90627931e-01 -1.42569068e-02 5.86692815e+02] [-1.90616412e-01 9.81662189e-01 2.17511958e-03 -3.08756842e+01] [ 1.44101049e-02 5.82592588e-04 9.99895999e-01 1.56674522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7207140569999 meters Centerline goodness [0,1] 0.9849195075757575 Centerline is valid? [True, True] Translation: X:586.72, Y:-30.88, Z:1.57 [[ 9.81364699e-01 1.91633655e-01 -1.41375713e-02 5.86723758e+02] [-1.91622381e-01 9.81466350e-01 2.16041164e-03 -3.08832927e+01] [ 1.42895581e-02 5.88923362e-04 9.99897726e-01 1.56783324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.750714057 meters Centerline goodness [0,1] 0.9846733311223764 Centerline is valid? [True, True] Translation: X:586.75, Y:-30.89, Z:1.57 [[ 9.81129449e-01 1.92811735e-01 -1.44443751e-02 5.86754641e+02] [-1.92800043e-01 9.81235576e-01 2.21076374e-03 -3.08878347e+01] [ 1.45995959e-02 6.15830741e-04 9.99893231e-01 1.56794911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.780714057 meters Centerline goodness [0,1] 0.984543058622409 Centerline is valid? [True, True] Translation: X:586.79, Y:-30.89, Z:1.57 [[ 9.80887829e-01 1.93979649e-01 -1.51974696e-02 5.86785962e+02] [-1.93966788e-01 9.81005330e-01 2.32983049e-03 -3.08949886e+01] [ 1.53607384e-02 6.62502009e-04 9.99881797e-01 1.56799009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8107140569999 meters Centerline goodness [0,1] 0.9843046657298687 Centerline is valid? [True, True] Translation: X:586.82, Y:-30.90, Z:1.57 [[ 9.80725691e-01 1.94752975e-01 -1.57606355e-02 5.86817838e+02] [-1.94739179e-01 9.80852076e-01 2.42017026e-03 -3.09007866e+01] [ 1.59301874e-02 6.95690074e-04 9.99872864e-01 1.56781146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8407140569999 meters Centerline goodness [0,1] 0.9827619138573203 Centerline is valid? [True, True] Translation: X:586.85, Y:-30.90, Z:1.57 [[ 9.80584799e-01 1.95437081e-01 -1.60561036e-02 5.86848781e+02] [-1.95422793e-01 9.80715980e-01 2.46936371e-03 -3.09019281e+01] [ 1.62290826e-02 7.16308090e-04 9.99868043e-01 1.56600585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.870714057 meters Centerline goodness [0,1] 0.9827619138573203 Centerline is valid? [True, True] Translation: X:586.88, Y:-30.91, Z:1.57 [[ 9.80533042e-01 1.95696642e-01 -1.60554720e-02 5.86880824e+02] [-1.95682322e-01 9.80664219e-01 2.47346623e-03 -3.09069634e+01] [ 1.62290759e-02 7.16456658e-04 9.99868043e-01 1.56613363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.900714057 meters Centerline goodness [0,1] 0.9854126312265347 Centerline is valid? [True, True] Translation: X:586.91, Y:-30.92, Z:1.57 [[ 9.80434863e-01 1.96102996e-01 -1.70614742e-02 5.86911431e+02] [-1.96086808e-01 9.80583006e-01 2.63294509e-03 -3.09197512e+01] [ 1.72465201e-02 7.64098861e-04 9.99850976e-01 1.56796424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9307140569999 meters Centerline goodness [0,1] 0.9842642642642643 Centerline is valid? [True, True] Translation: X:586.94, Y:-30.92, Z:1.57 [[ 9.80425519e-01 1.96079311e-01 -1.78523553e-02 5.86943107e+02] [-1.96061496e-01 9.80587718e-01 2.75984928e-03 -3.09238780e+01] [ 1.80469497e-02 7.94332821e-04 9.99836825e-01 1.56622001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9607140569999 meters Centerline goodness [0,1] 0.9849428743235117 Centerline is valid? [True, True] Translation: X:586.97, Y:-30.93, Z:1.57 [[ 9.80401091e-01 1.96186235e-01 -1.80183998e-02 5.86974536e+02] [-1.96168013e-01 9.80566328e-01 2.79061253e-03 -3.09330398e+01] [ 1.82157159e-02 7.98714117e-04 9.99833761e-01 1.56688158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.990714057 meters Centerline goodness [0,1] 0.9841392276912694 Centerline is valid? [True, True] Translation: X:587.01, Y:-30.94, Z:1.57 [[ 9.80449760e-01 1.95869844e-01 -1.87955230e-02 5.87005848e+02] [-1.95849911e-01 9.80629555e-01 2.91345476e-03 -3.09395221e+01] [ 1.90021033e-02 8.24605500e-04 9.99819104e-01 1.56661904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.020714057 meters Centerline goodness [0,1] 0.9851057131093943 Centerline is valid? [True, True] Translation: X:587.04, Y:-30.95, Z:1.57 [[ 9.80638403e-01 1.94921966e-01 -1.88082186e-02 5.87036915e+02] [-1.94901754e-01 9.80818425e-01 2.91950738e-03 -3.09496818e+01] [ 1.90165235e-02 8.02773745e-04 9.99818847e-01 1.56663745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0507140569999 meters Centerline goodness [0,1] 0.9847913371456382 Centerline is valid? [True, True] Translation: X:587.07, Y:-30.96, Z:1.57 [[ 9.80885879e-01 1.93674915e-01 -1.87861317e-02 5.87067421e+02] [-1.93654434e-01 9.81065456e-01 2.92071209e-03 -3.09592064e+01] [ 1.89960936e-02 7.73132465e-04 9.99819259e-01 1.56750725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0807140569999 meters Centerline goodness [0,1] 0.9857387057387057 Centerline is valid? [True, True] Translation: X:587.10, Y:-30.97, Z:1.57 [[ 9.81444443e-01 1.90999859e-01 -1.69073471e-02 5.87096786e+02] [-1.90982855e-01 9.81589850e-01 2.62970307e-03 -3.09687841e+01] [ 1.70983532e-02 6.48105944e-04 9.99853602e-01 1.56943474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.110714057 meters Centerline goodness [0,1] 0.9851699581528522 Centerline is valid? [True, True] Translation: X:587.13, Y:-30.97, Z:1.57 [[ 9.81586411e-01 1.90316324e-01 -1.63650532e-02 5.87127079e+02] [-1.90300251e-01 9.81722629e-01 2.54821444e-03 -3.09742695e+01] [ 1.65509099e-02 6.12981064e-04 9.99862836e-01 1.56966664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.140714057 meters Centerline goodness [0,1] 0.9863819936958235 Centerline is valid? [True, True] Translation: X:587.16, Y:-30.99, Z:1.57 [[ 9.81778912e-01 1.89362998e-01 -1.58689477e-02 5.87157414e+02] [-1.89347698e-01 9.81906984e-01 2.47483764e-03 -3.09884927e+01] [ 1.60504733e-02 5.75005310e-04 9.99871018e-01 1.57303569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1707140569999 meters Centerline goodness [0,1] 0.9855018770993875 Centerline is valid? [True, True] Translation: X:587.19, Y:-30.99, Z:1.57 [[ 9.81883999e-01 1.88818142e-01 -1.58594609e-02 5.87188242e+02] [-1.88802729e-01 9.82011911e-01 2.47713294e-03 -3.09911136e+01] [ 1.60419072e-02 5.62052315e-04 9.99871162e-01 1.57158997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2007140569999 meters Centerline goodness [0,1] 0.9859782985681018 Centerline is valid? [True, True] Translation: X:587.22, Y:-31.00, Z:1.57 [[ 9.82081715e-01 1.87737855e-01 -1.64317910e-02 5.87218777e+02] [-1.87721092e-01 9.82219010e-01 2.57052494e-03 -3.10017224e+01] [ 1.66222023e-02 5.60128204e-04 9.99861685e-01 1.57219258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2307140569999 meters Centerline goodness [0,1] 0.9854835107570907 Centerline is valid? [True, True] Translation: X:587.25, Y:-31.01, Z:1.57 [[ 9.82170246e-01 1.87245938e-01 -1.67501014e-02 5.87250508e+02] [-1.87228379e-01 9.82312907e-01 2.62441198e-03 -3.10083437e+01] [ 1.69452512e-02 5.58474955e-04 9.99856263e-01 1.57190560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.260714057 meters Centerline goodness [0,1] 0.9845881884274474 Centerline is valid? [True, True] Translation: X:587.28, Y:-31.02, Z:1.57 [[ 9.82395653e-01 1.85970309e-01 -1.77150841e-02 5.87280806e+02] [-1.85950408e-01 9.82555202e-01 2.77852119e-03 -3.10155076e+01] [ 1.79227705e-02 5.64519990e-04 9.99839215e-01 1.56996488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.290714057 meters Centerline goodness [0,1] 0.9869496737418435 Centerline is valid? [True, True] Translation: X:587.31, Y:-31.03, Z:1.57 [[ 9.82809361e-01 1.83662349e-01 -1.88122565e-02 5.87311644e+02] [-1.83639434e-01 9.82989235e-01 2.95323098e-03 -3.10289759e+01] [ 1.90346429e-02 5.52209083e-04 9.99818672e-01 1.57130393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3207140569999 meters Centerline goodness [0,1] 0.9867397232855463 Centerline is valid? [True, True] Translation: X:587.34, Y:-31.03, Z:1.57 [[ 9.82975835e-01 1.82721468e-01 -1.92710402e-02 5.87341760e+02] [-1.82697187e-01 9.83164569e-01 3.02801174e-03 -3.10349485e+01] [ 1.94998867e-02 5.44302476e-04 9.99809711e-01 1.57156280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3507140569999 meters Centerline goodness [0,1] 0.987003846057163 Centerline is valid? [True, True] Translation: X:587.37, Y:-31.04, Z:1.57 [[ 9.83324378e-01 1.80803820e-01 -1.95741187e-02 5.87372671e+02] [-1.80778301e-01 9.83519049e-01 3.08011961e-03 -3.10438973e+01] [ 1.98084160e-02 5.09819206e-04 9.99803664e-01 1.57222509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.380714057 meters Centerline goodness [0,1] 0.9883077696756349 Centerline is valid? [True, True] Translation: X:587.40, Y:-31.05, Z:1.57 [[ 9.83580540e-01 1.79475420e-01 -1.89181120e-02 5.87403412e+02] [-1.79451253e-01 9.83762349e-01 2.98127771e-03 -3.10498538e+01] [ 1.91459923e-02 4.62552158e-04 9.99816592e-01 1.57242045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.410714057 meters Centerline goodness [0,1] 0.9886970093646158 Centerline is valid? [True, True] Translation: X:587.44, Y:-31.06, Z:1.57 [[ 9.84038589e-01 1.77014038e-01 -1.82780000e-02 5.87435136e+02] [-1.76991003e-01 9.84208246e-01 2.88323171e-03 -3.10582862e+01] [ 1.84997308e-02 3.97830279e-04 9.99828786e-01 1.57401808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4407140569999 meters Centerline goodness [0,1] 0.9878386544465707 Centerline is valid? [True, True] Translation: X:587.47, Y:-31.06, Z:1.57 [[ 9.84200213e-01 1.76176574e-01 -1.76565863e-02 5.87465755e+02] [-1.76154877e-01 9.84358513e-01 2.78890403e-03 -3.10627935e+01] [ 1.78717506e-02 3.65453859e-04 9.99840221e-01 1.57354416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4707140569999 meters Centerline goodness [0,1] 0.9888073810784239 Centerline is valid? [True, True] Translation: X:587.50, Y:-31.07, Z:1.58 [[ 9.84313642e-01 1.75553997e-01 -1.75342047e-02 5.87497493e+02] [-1.75532424e-01 9.84469742e-01 2.77395045e-03 -3.10698883e+01] [ 1.77488721e-02 3.47384190e-04 9.99842416e-01 1.57592820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.500714057 meters Centerline goodness [0,1] 0.9884226123207513 Centerline is valid? [True, True] Translation: X:587.53, Y:-31.07, Z:1.58 [[ 9.84213826e-01 1.76069667e-01 -1.79615507e-02 5.87528827e+02] [-1.76047037e-01 9.84377642e-01 2.84585876e-03 -3.10717611e+01] [ 1.81820183e-02 3.61144240e-04 9.99834628e-01 1.57550861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.530714057 meters Centerline goodness [0,1] 0.9891615234080987 Centerline is valid? [True, True] Translation: X:587.56, Y:-31.07, Z:1.57 [[ 9.84002200e-01 1.77211966e-01 -1.83190993e-02 5.87559457e+02] [-1.77188546e-01 9.84172632e-01 2.90671810e-03 -3.10745217e+01] [ 1.85442614e-02 3.85717559e-04 9.99827966e-01 1.57486706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5607140569999 meters Centerline goodness [0,1] 0.9879484935616952 Centerline is valid? [True, True] Translation: X:587.59, Y:-31.08, Z:1.57 [[ 9.83520343e-01 1.79812536e-01 -1.88464163e-02 5.87591830e+02] [-1.79788137e-01 9.83700796e-01 2.99498354e-03 -3.10754439e+01] [ 1.90777703e-02 4.42734849e-04 9.99817905e-01 1.57440198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5907140569999 meters Centerline goodness [0,1] 0.9876561681753572 Centerline is valid? [True, True] Translation: X:587.62, Y:-31.08, Z:1.57 [[ 9.83220325e-01 1.81419535e-01 -1.90982758e-02 5.87623054e+02] [-1.81394697e-01 9.83405677e-01 3.03943111e-03 -3.10781525e+01] [ 1.93327650e-02 4.75895497e-04 9.99812991e-01 1.57411979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.620714057 meters Centerline goodness [0,1] 0.9877507500805872 Centerline is valid? [True, True] Translation: X:587.66, Y:-31.08, Z:1.57 [[ 9.82749208e-01 1.83870905e-01 -1.98867923e-02 5.87655528e+02] [-1.83844433e-01 9.82950250e-01 3.16694975e-03 -3.10787281e+01] [ 2.01300374e-02 5.43758705e-04 9.99797222e-01 1.57361243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.650714057 meters Centerline goodness [0,1] 0.9877882638527656 Centerline is valid? [True, True] Translation: X:587.69, Y:-31.08, Z:1.57 [[ 9.82510500e-01 1.85088503e-01 -2.03804560e-02 5.87687165e+02] [-1.85060873e-01 9.82721686e-01 3.24993506e-03 -3.10826272e+01] [ 2.06298417e-02 5.78529657e-04 9.99787015e-01 1.57360642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6807140569999 meters Centerline goodness [0,1] 0.9860369711348359 Centerline is valid? [True, True] Translation: X:587.72, Y:-31.08, Z:1.57 [[ 9.82047661e-01 1.87447724e-01 -2.11126195e-02 5.87719242e+02] [-1.87418511e-01 9.82274368e-01 3.37162793e-03 -3.10799330e+01] [ 2.13703890e-02 6.45796392e-04 9.99771419e-01 1.56947994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7107140569999 meters Centerline goodness [0,1] 0.9865134741980818 Centerline is valid? [True, True] Translation: X:587.75, Y:-31.09, Z:1.57 [[ 9.81932632e-01 1.88010006e-01 -2.14602667e-02 5.87751032e+02] [-1.87979844e-01 9.82166889e-01 3.43237056e-03 -3.10862609e+01] [ 2.17228834e-02 6.63740928e-04 9.99763810e-01 1.57083542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.740714057 meters Centerline goodness [0,1] 0.986734919892698 Centerline is valid? [True, True] Translation: X:587.78, Y:-31.09, Z:1.57 [[ 9.81654844e-01 1.89488937e-01 -2.11591762e-02 5.87782614e+02] [-1.89459855e-01 9.81882619e-01 3.38904423e-03 -3.10887442e+01] [ 2.14180137e-02 6.81942757e-04 9.99770375e-01 1.57149971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.770714057 meters Centerline goodness [0,1] 0.9862280594083712 Centerline is valid? [True, True] Translation: X:587.81, Y:-31.10, Z:1.57 [[ 9.81535769e-01 1.90230879e-01 -1.99936735e-02 5.87814952e+02] [-1.90204955e-01 9.81739163e-01 3.20789539e-03 -3.10960635e+01] [ 2.02388131e-02 6.54231698e-04 9.99794960e-01 1.57460717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8007140569999 meters Centerline goodness [0,1] 0.9866558537304629 Centerline is valid? [True, True] Translation: X:587.85, Y:-31.10, Z:1.57 [[ 9.81578289e-01 1.90095734e-01 -1.91748526e-02 5.87846672e+02] [-1.90071773e-01 9.81765363e-01 3.08119234e-03 -3.10971608e+01] [ 1.94109276e-02 6.20166722e-04 9.99811398e-01 1.57371919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8307140569999 meters Centerline goodness [0,1] 0.9868785716037574 Centerline is valid? [True, True] Translation: X:587.88, Y:-31.10, Z:1.58 [[ 9.81558013e-01 1.90273827e-01 -1.84319844e-02 5.87877772e+02] [-1.90251633e-01 9.81730878e-01 2.96638422e-03 -3.11043349e+01] [ 1.86596735e-02 5.95036929e-04 9.99825716e-01 1.57665220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.860714057 meters Centerline goodness [0,1] 0.9874530409801852 Centerline is valid? [True, True] Translation: X:587.91, Y:-31.11, Z:1.58 [[ 9.81589557e-01 1.90192405e-01 -1.75724419e-02 5.87909620e+02] [-1.90172141e-01 9.81746675e-01 2.83247894e-03 -3.11092810e+01] [ 1.77904024e-02 5.61457147e-04 9.99841581e-01 1.57723256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.890714057 meters Centerline goodness [0,1] 0.986760315207283 Centerline is valid? [True, True] Translation: X:587.94, Y:-31.11, Z:1.58 [[ 9.81623189e-01 1.90063436e-01 -1.70823194e-02 5.87940484e+02] [-1.90044196e-01 9.81771664e-01 2.75755173e-03 -3.11119025e+01] [ 1.72950469e-02 5.39518944e-04 9.99850284e-01 1.57707482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9207140569999 meters Centerline goodness [0,1] 0.9863784206793671 Centerline is valid? [True, True] Translation: X:587.97, Y:-31.12, Z:1.58 [[ 9.81526558e-01 1.90528809e-01 -1.74467701e-02 5.87973088e+02] [-1.90508727e-01 9.81681448e-01 2.82123844e-03 -3.11177743e+01] [ 1.76646978e-02 5.54641524e-04 9.99843813e-01 1.57801711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9507140569999 meters Centerline goodness [0,1] 0.9856273373909218 Centerline is valid? [True, True] Translation: X:588.00, Y:-31.12, Z:1.58 [[ 9.81298068e-01 1.91687395e-01 -1.76080772e-02 5.88004104e+02] [-1.91667076e-01 9.81455862e-01 2.85015403e-03 -3.11180774e+01] [ 1.78278891e-02 5.78038021e-04 9.99840903e-01 1.57681907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9807140569999 meters Centerline goodness [0,1] 0.9856230810468346 Centerline is valid? [True, True] Translation: X:588.04, Y:-31.12, Z:1.58 [[ 9.81105215e-01 1.92631589e-01 -1.80451889e-02 5.88035160e+02] [-1.92610335e-01 9.81270963e-01 2.92496944e-03 -3.11241778e+01] [ 1.82706614e-02 6.05987093e-04 9.99832894e-01 1.57743495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.010714057 meters Centerline goodness [0,1] 0.98411114896102 Centerline is valid? [True, True] Translation: X:588.07, Y:-31.12, Z:1.57 [[ 9.80742481e-01 1.94372346e-01 -1.90676811e-02 5.88066565e+02] [-1.94348886e-01 9.80927592e-01 3.09364363e-03 -3.11219719e+01] [ 1.93053333e-02 6.71714855e-04 9.99813409e-01 1.57376234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.040714057 meters Centerline goodness [0,1] 0.9856263331394222 Centerline is valid? [True, True] Translation: X:588.10, Y:-31.13, Z:1.57 [[ 9.80393285e-01 1.96033143e-01 -2.00003234e-02 5.88097825e+02] [-1.96007584e-01 9.80596995e-01 3.24951515e-03 -3.11279895e+01] [ 2.02492697e-02 7.34412240e-04 9.99794693e-01 1.57399927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0707140569999 meters Centerline goodness [0,1] 0.9854970362452629 Centerline is valid? [True, True] Translation: X:588.13, Y:-31.13, Z:1.57 [[ 9.80284694e-01 1.96570736e-01 -2.00465643e-02 5.88130559e+02] [-1.96545056e-01 9.80489365e-01 3.26270883e-03 -3.11332134e+01] [ 2.02967962e-02 7.41669580e-04 9.99793724e-01 1.57442335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1007140569999 meters Centerline goodness [0,1] 0.9847291237425767 Centerline is valid? [True, True] Translation: X:588.16, Y:-31.14, Z:1.57 [[ 9.80390236e-01 1.96109417e-01 -1.93928397e-02 5.88162490e+02] [-1.96085196e-01 9.80581767e-01 3.16134345e-03 -3.11379788e+01] [ 1.96362343e-02 7.03298519e-04 9.99806943e-01 1.57482428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.130714057 meters Centerline goodness [0,1] 0.9837520613056553 Centerline is valid? [True, True] Translation: X:588.19, Y:-31.14, Z:1.58 [[ 9.80453542e-01 1.95832989e-01 -1.89813548e-02 5.88193101e+02] [-1.95809647e-01 9.80637028e-01 3.09875906e-03 -3.11420459e+01] [ 1.92206586e-02 6.78543079e-04 9.99815036e-01 1.57527746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.160714057 meters Centerline goodness [0,1] 0.98571463278346 Centerline is valid? [True, True] Translation: X:588.22, Y:-31.15, Z:1.58 [[ 9.80926034e-01 1.93591796e-01 -1.75023525e-02 5.88224017e+02] [-1.93571561e-01 9.81081993e-01 2.85913863e-03 -3.11502648e+01] [ 1.77247487e-02 5.83354170e-04 9.99842734e-01 1.57720767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1907140569999 meters Centerline goodness [0,1] 0.9861390945503095 Centerline is valid? [True, True] Translation: X:588.25, Y:-31.16, Z:1.58 [[ 9.81107533e-01 1.92621910e-01 -1.80224309e-02 5.88254263e+02] [-1.92600225e-01 9.81272880e-01 2.94770528e-03 -3.11557149e+01] [ 1.82527153e-02 5.79108390e-04 9.99833238e-01 1.57679530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2207140569999 meters Centerline goodness [0,1] 0.9868334750394753 Centerline is valid? [True, True] Translation: X:588.29, Y:-31.16, Z:1.58 [[ 9.81605168e-01 1.89997447e-01 -1.87686952e-02 5.88285888e+02] [-1.89973405e-01 9.81784430e-01 3.07206057e-03 -3.11635808e+01] [ 1.90104964e-02 5.50002421e-04 9.99819133e-01 1.57594069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.250714057 meters Centerline goodness [0,1] 0.9864720194647202 Centerline is valid? [True, True] Translation: X:588.32, Y:-31.17, Z:1.57 [[ 9.81974379e-01 1.87937829e-01 -2.01417792e-02 5.88317075e+02] [-1.87909617e-01 9.82180776e-01 3.30126770e-03 -3.11689217e+01] [ 2.04033014e-02 5.43073714e-04 9.99791683e-01 1.57363515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.280714057 meters Centerline goodness [0,1] 0.9872213026969137 Centerline is valid? [True, True] Translation: X:588.35, Y:-31.17, Z:1.57 [[ 9.82205806e-01 1.86715616e-01 -2.02245952e-02 5.88347776e+02] [-1.86686816e-01 9.82413871e-01 3.31953463e-03 -3.11747762e+01] [ 2.04887318e-02 5.15199093e-04 9.99789951e-01 1.57313483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3107140569999 meters Centerline goodness [0,1] 0.9866965547487939 Centerline is valid? [True, True] Translation: X:588.38, Y:-31.18, Z:1.57 [[ 9.82534448e-01 1.84960848e-01 -2.03848585e-02 5.88378418e+02] [-1.84931108e-01 9.82745774e-01 3.35088775e-03 -3.11842371e+01] [ 2.06529166e-02 4.77431823e-04 9.99786592e-01 1.57465746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3407140569999 meters Centerline goodness [0,1] 0.9877665407578896 Centerline is valid? [True, True] Translation: X:588.41, Y:-31.19, Z:1.58 [[ 9.82793827e-01 1.83694320e-01 -1.93051724e-02 5.88409697e+02] [-1.83667308e-01 9.82983326e-01 3.17827237e-03 -3.11915987e+01] [ 1.95604932e-02 4.22142574e-04 9.99808586e-01 1.57582936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.370714057 meters Centerline goodness [0,1] 0.9878081490331863 Centerline is valid? [True, True] Translation: X:588.44, Y:-31.20, Z:1.58 [[ 9.83255054e-01 1.81415763e-01 -1.72574461e-02 5.88440570e+02] [-1.81393778e-01 9.83406431e-01 2.84396819e-03 -3.11974730e+01] [ 1.74870241e-02 3.34047247e-04 9.99847035e-01 1.57696202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.400714057 meters Centerline goodness [0,1] 0.9876356172417163 Centerline is valid? [True, True] Translation: X:588.47, Y:-31.20, Z:1.58 [[ 9.83357700e-01 1.80969275e-01 -1.60547863e-02 5.88472105e+02] [-1.80950131e-01 9.83488704e-01 2.64927423e-03 -3.12038491e+01] [ 1.62691382e-02 2.99931465e-04 9.99867604e-01 1.57875854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4307140569999 meters Centerline goodness [0,1] 0.9889000024395599 Centerline is valid? [True, True] Translation: X:588.50, Y:-31.21, Z:1.58 [[ 9.83351758e-01 1.81089635e-01 -1.50287690e-02 5.88503333e+02] [-1.81072817e-01 9.83466556e-01 2.48366655e-03 -3.12107099e+01] [ 1.52300580e-02 2.78983680e-04 9.99883977e-01 1.58127722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4607140569999 meters Centerline goodness [0,1] 0.9890765132816891 Centerline is valid? [True, True] Translation: X:588.54, Y:-31.21, Z:1.58 [[ 9.83288169e-01 1.81443868e-01 -1.49164081e-02 5.88535098e+02] [-1.81427282e-01 9.83401264e-01 2.46904459e-03 -3.12147998e+01] [ 1.51168076e-02 2.78461030e-04 9.99885696e-01 1.58106986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.490714057 meters Centerline goodness [0,1] 0.9891657903103525 Centerline is valid? [True, True] Translation: X:588.57, Y:-31.22, Z:1.58 [[ 9.83150671e-01 1.82181743e-01 -1.49856527e-02 5.88567716e+02] [-1.82165023e-01 9.83264832e-01 2.48477374e-03 -3.12220266e+01] [ 1.51875457e-02 2.86954797e-04 9.99884621e-01 1.58213921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.520714057 meters Centerline goodness [0,1] 0.9892081049334377 Centerline is valid? [True, True] Translation: X:588.60, Y:-31.23, Z:1.58 [[ 9.83194213e-01 1.81966699e-01 -1.47397273e-02 5.88599489e+02] [-1.81950442e-01 9.83304655e-01 2.44785247e-03 -3.12276516e+01] [ 1.49390701e-02 2.75185525e-04 9.99888368e-01 1.58275570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5507140569999 meters Centerline goodness [0,1] 0.9889416254831922 Centerline is valid? [True, True] Translation: X:588.63, Y:-31.23, Z:1.58 [[ 9.83272233e-01 1.81591996e-01 -1.41443715e-02 5.88631361e+02] [-1.81576936e-01 9.83373928e-01 2.35249435e-03 -3.12333110e+01] [ 1.43364003e-02 2.55149262e-04 9.99897196e-01 1.58290741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5807140569999 meters Centerline goodness [0,1] 0.9900866500220297 Centerline is valid? [True, True] Translation: X:588.66, Y:-31.24, Z:1.58 [[ 9.83516072e-01 1.80316801e-01 -1.34903037e-02 5.88662835e+02] [-1.80302936e-01 9.83608561e-01 2.24707928e-03 -3.12400543e+01] [ 1.36743643e-02 2.22302780e-04 9.99906477e-01 1.58337631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.610714057 meters Centerline goodness [0,1] 0.9909119858903069 Centerline is valid? [True, True] Translation: X:588.69, Y:-31.25, Z:1.58 [[ 9.83641275e-01 1.79642155e-01 -1.33618269e-02 5.88693993e+02] [-1.79628444e-01 9.83732003e-01 2.22906656e-03 -3.12455854e+01] [ 1.35448910e-02 2.07562305e-04 9.99908242e-01 1.58375127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.640714057 meters Centerline goodness [0,1] 0.9901620935455522 Centerline is valid? [True, True] Translation: X:588.72, Y:-31.25, Z:1.58 [[ 9.83857902e-01 1.78394943e-01 -1.41022578e-02 5.88724853e+02] [-1.78379494e-01 9.83958945e-01 2.35601784e-03 -3.12512119e+01] [ 1.42963444e-02 1.97566833e-04 9.99897783e-01 1.58280811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6707140569999 meters Centerline goodness [0,1] 0.9913733947652191 Centerline is valid? [True, True] Translation: X:588.76, Y:-31.26, Z:1.58 [[ 9.83920662e-01 1.78022961e-01 -1.44206684e-02 5.88757135e+02] [-1.78006709e-01 9.84026315e-01 2.41311218e-03 -3.12569345e+01] [ 1.46199066e-02 1.92664791e-04 9.99893105e-01 1.58288054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7007140569999 meters Centerline goodness [0,1] 0.991692194583997 Centerline is valid? [True, True] Translation: X:588.79, Y:-31.26, Z:1.58 [[ 9.83987216e-01 1.77616765e-01 -1.48809483e-02 5.88789652e+02] [-1.77599349e-01 9.84099715e-01 2.49442992e-03 -3.12628872e+01] [ 1.50873895e-02 1.88359565e-04 9.99886161e-01 1.58265996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7307140569999 meters Centerline goodness [0,1] 0.990976049948783 Centerline is valid? [True, True] Translation: X:588.82, Y:-31.27, Z:1.58 [[ 9.84084235e-01 1.77086928e-01 -1.47796680e-02 5.88820346e+02] [-1.77069633e-01 9.84195199e-01 2.48107912e-03 -3.12668635e+01] [ 1.49854450e-02 1.75439548e-04 9.99887697e-01 1.58241487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.760714057 meters Centerline goodness [0,1] 0.9916169123918606 Centerline is valid? [True, True] Translation: X:588.85, Y:-31.27, Z:1.58 [[ 9.84149858e-01 1.76745633e-01 -1.44926850e-02 5.88851637e+02] [-1.76728914e-01 9.84256549e-01 2.43644236e-03 -3.12725685e+01] [ 1.46951507e-02 1.63452082e-04 9.99892007e-01 1.58325471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.790714057 meters Centerline goodness [0,1] 0.9916169123918606 Centerline is valid? [True, True] Translation: X:588.88, Y:-31.28, Z:1.58 [[ 9.84100405e-01 1.77020832e-01 -1.44920264e-02 5.88883564e+02] [-1.77004085e-01 9.84207091e-01 2.44035587e-03 -3.12780122e+01] [ 1.46951489e-02 1.63592674e-04 9.99892007e-01 1.58338237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8207140569999 meters Centerline goodness [0,1] 0.9899162536318578 Centerline is valid? [True, True] Translation: X:588.92, Y:-31.28, Z:1.58 [[ 9.84314359e-01 1.75825301e-01 -1.45156957e-02 5.88915578e+02] [-1.75808314e-01 9.84421375e-01 2.44812561e-03 -3.12837076e+01] [ 1.47200035e-02 1.42254793e-04 9.99891645e-01 1.58405957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8507140569999 meters Centerline goodness [0,1] 0.990576604655693 Centerline is valid? [True, True] Translation: X:588.95, Y:-31.29, Z:1.58 [[ 9.84434490e-01 1.75204516e-01 -1.38604943e-02 5.88946472e+02] [-1.75188921e-01 9.84532052e-01 2.34085249e-03 -3.12886057e+01] [ 1.40562288e-02 1.23789121e-04 9.99901199e-01 1.58437904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.880714057 meters Centerline goodness [0,1] 0.9905268527289951 Centerline is valid? [True, True] Translation: X:588.98, Y:-31.29, Z:1.58 [[ 9.84586358e-01 1.74349977e-01 -1.38487730e-02 5.88977408e+02] [-1.74334292e-01 9.84683743e-01 2.34115020e-03 -3.12928551e+01] [ 1.40448411e-02 1.09251493e-04 9.99901360e-01 1.58377931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.910714057 meters Centerline goodness [0,1] 0.9901235167075153 Centerline is valid? [True, True] Translation: X:589.01, Y:-31.30, Z:1.58 [[ 9.84582247e-01 1.74378258e-01 -1.37848335e-02 5.89009508e+02] [-1.74362674e-01 9.84678735e-01 2.33370179e-03 -3.12982660e+01] [ 1.39805793e-02 1.05839089e-04 9.99902261e-01 1.58381812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9407140569999 meters Centerline goodness [0,1] 0.9900807605558655 Centerline is valid? [True, True] Translation: X:589.04, Y:-31.30, Z:1.58 [[ 9.84535896e-01 1.74510362e-01 -1.53363368e-02 5.89040455e+02] [-1.74491028e-01 9.84655331e-01 2.60022586e-03 -3.13017405e+01] [ 1.55547721e-02 1.16037478e-04 9.99879010e-01 1.58215538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9707140569999 meters Centerline goodness [0,1] 0.9898045468821725 Centerline is valid? [True, True] Translation: X:589.07, Y:-31.31, Z:1.58 [[ 9.84481773e-01 1.74802185e-01 -1.54865891e-02 5.89072538e+02] [-1.74782445e-01 9.84603566e-01 2.62958348e-03 -3.13063643e+01] [ 1.57078078e-02 1.18006911e-04 9.99876618e-01 1.58168366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.000714057 meters Centerline goodness [0,1] 0.990114881111408 Centerline is valid? [True, True] Translation: X:589.10, Y:-31.31, Z:1.58 [[ 9.84310485e-01 1.75686253e-01 -1.63465635e-02 5.89104579e+02] [-1.75664313e-01 9.84446201e-01 2.77972315e-03 -3.13105889e+01] [ 1.65806715e-02 1.35397209e-04 9.99862522e-01 1.58244972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.030714057 meters Centerline goodness [0,1] 0.989795424868211 Centerline is valid? [True, True] Translation: X:589.14, Y:-31.32, Z:1.58 [[ 9.84409723e-01 1.75201080e-01 -1.55588925e-02 5.89136529e+02] [-1.75181084e-01 9.84532665e-01 2.64955744e-03 -3.13151297e+01] [ 1.57824432e-02 1.17373556e-04 9.99875443e-01 1.58301807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0607140569999 meters Centerline goodness [0,1] 0.9897598528130144 Centerline is valid? [True, True] Translation: X:589.17, Y:-31.32, Z:1.58 [[ 9.84434555e-01 1.75091426e-01 -1.52183716e-02 5.89168993e+02] [-1.75072218e-01 9.84552173e-01 2.59573859e-03 -3.13206386e+01] [ 1.54377724e-02 1.08979303e-04 9.99880825e-01 1.58407116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0907140569999 meters Centerline goodness [0,1] 0.990854026400251 Centerline is valid? [True, True] Translation: X:589.20, Y:-31.33, Z:1.59 [[ 9.84604974e-01 1.74272254e-01 -1.34991146e-02 5.89200945e+02] [-1.74257017e-01 9.84697504e-01 2.30589677e-03 -3.13256713e+01] [ 1.36943983e-02 8.19180163e-05 9.99906224e-01 1.58531935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.120714057 meters Centerline goodness [0,1] 0.9907046187930453 Centerline is valid? [True, True] Translation: X:589.23, Y:-31.33, Z:1.58 [[ 9.84658335e-01 1.74015371e-01 -1.29078727e-02 5.89231501e+02] [-1.74001378e-01 9.84742934e-01 2.20792883e-03 -3.13304209e+01] [ 1.30951500e-02 7.19321068e-05 9.99914252e-01 1.58499551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.150714057 meters Centerline goodness [0,1] 0.9898260347930414 Centerline is valid? [True, True] Translation: X:589.26, Y:-31.34, Z:1.58 [[ 9.84767329e-01 1.73348294e-01 -1.35527081e-02 5.89262599e+02] [-1.73332768e-01 9.84860582e-01 2.32088668e-03 -3.13351062e+01] [ 1.37498498e-02 6.35950358e-05 9.99905464e-01 1.58460621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1807140569999 meters Centerline goodness [0,1] 0.9906032203797164 Centerline is valid? [True, True] Translation: X:589.30, Y:-31.34, Z:1.59 [[ 9.84875263e-01 1.72708618e-01 -1.38726319e-02 5.89295289e+02] [-1.72692237e-01 9.84972959e-01 2.37927923e-03 -3.13408803e+01] [ 1.40750893e-02 5.24025729e-05 9.99900940e-01 1.58518483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2107140569999 meters Centerline goodness [0,1] 0.9911359869321867 Centerline is valid? [True, True] Translation: X:589.33, Y:-31.35, Z:1.58 [[ 9.84975658e-01 1.72084265e-01 -1.44899316e-02 5.89326208e+02] [-1.72066266e-01 9.85082232e-01 2.48919073e-03 -3.13464286e+01] [ 1.47021247e-02 4.14361355e-05 9.99891917e-01 1.58440144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.240714057 meters Centerline goodness [0,1] 0.9915797049298308 Centerline is valid? [True, True] Translation: X:589.36, Y:-31.35, Z:1.59 [[ 9.85075293e-01 1.71544412e-01 -1.41131939e-02 5.89358896e+02] [-1.71527226e-01 9.85176387e-01 2.42837365e-03 -3.13522723e+01] [ 1.43205593e-02 2.86661068e-05 9.99897455e-01 1.58511191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.270714057 meters Centerline goodness [0,1] 0.9914644672484895 Centerline is valid? [True, True] Translation: X:589.39, Y:-31.36, Z:1.59 [[ 9.85194626e-01 1.70939987e-01 -1.30793880e-02 5.89389372e+02] [-1.70925132e-01 9.85281442e-01 2.25358840e-03 -3.13571636e+01] [ 1.32721067e-02 1.53729440e-05 9.99911922e-01 1.58596514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3007140569999 meters Centerline goodness [0,1] 0.9911637931034483 Centerline is valid? [True, True] Translation: X:589.42, Y:-31.36, Z:1.59 [[ 9.85226086e-01 1.70779998e-01 -1.27965912e-02 5.89422209e+02] [-1.70765722e-01 9.85309186e-01 2.20819910e-03 -3.13621886e+01] [ 1.29857151e-02 9.64377672e-06 9.99915682e-01 1.58623938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3307140569999 meters Centerline goodness [0,1] 0.9914442081112731 Centerline is valid? [True, True] Translation: X:589.45, Y:-31.37, Z:1.59 [[ 9.85350946e-01 1.70120106e-01 -1.19441310e-02 5.89454521e+02] [-1.70107580e-01 9.85423335e-01 2.06440713e-03 -3.13667358e+01] [ 1.21212226e-02 -2.37828802e-06 9.99926535e-01 1.58698032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.360714057 meters Centerline goodness [0,1] 0.9910771800071574 Centerline is valid? [True, True] Translation: X:589.49, Y:-31.37, Z:1.59 [[ 9.85333979e-01 1.70188458e-01 -1.23627547e-02 5.89486913e+02] [-1.70174999e-01 9.85411533e-01 2.14034301e-03 -3.13719360e+01] [ 1.25466627e-02 -5.12093161e-06 9.99921288e-01 1.58661256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.390714057 meters Centerline goodness [0,1] 0.9915615837524732 Centerline is valid? [True, True] Translation: X:589.52, Y:-31.38, Z:1.59 [[ 9.85299286e-01 1.70386509e-01 -1.23998080e-02 5.89518553e+02] [-1.70372942e-01 9.85377307e-01 2.15015223e-03 -3.13756791e+01] [ 1.25848463e-02 -5.95169919e-06 9.99920808e-01 1.58562800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4207140569999 meters Centerline goodness [0,1] 0.9918325554814744 Centerline is valid? [True, True] Translation: X:589.55, Y:-31.38, Z:1.59 [[ 9.84953846e-01 1.72302553e-01 -1.33323574e-02 5.89550074e+02] [-1.72287011e-01 9.85044075e-01 2.31428449e-03 -3.13789518e+01] [ 1.35317167e-02 1.75285973e-05 9.99908442e-01 1.58631799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4507140569999 meters Centerline goodness [0,1] 0.9920944851890656 Centerline is valid? [True, True] Translation: X:589.58, Y:-31.38, Z:1.59 [[ 9.84608889e-01 1.74229217e-01 -1.37664577e-02 5.89582473e+02] [-1.74212788e-01 9.84705122e-01 2.39301496e-03 -3.13830009e+01] [ 1.39728345e-02 4.21091680e-05 9.99902374e-01 1.58554477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4807140569999 meters Centerline goodness [0,1] 0.9912489865992656 Centerline is valid? [True, True] Translation: X:589.62, Y:-31.38, Z:1.58 [[ 9.83837820e-01 1.78458428e-01 -1.46878504e-02 5.89615268e+02] [-1.78440138e-01 9.83947447e-01 2.55705302e-03 -3.13841069e+01] [ 1.49084005e-02 1.05176583e-04 9.99888858e-01 1.58453310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.510714057 meters Centerline goodness [0,1] 0.9912475256969784 Centerline is valid? [True, True] Translation: X:589.65, Y:-31.39, Z:1.58 [[ 9.83340040e-01 1.81139066e-01 -1.51988115e-02 5.89647355e+02] [-1.81119742e-01 9.83457481e-01 2.64986359e-03 -3.13873212e+01] [ 1.54273787e-02 1.47087853e-04 9.99880980e-01 1.58423113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.540714057 meters Centerline goodness [0,1] 0.9901949146506493 Centerline is valid? [True, True] Translation: X:589.68, Y:-31.39, Z:1.58 [[ 9.82480730e-01 1.85725269e-01 -1.54188081e-02 5.89679040e+02] [-1.85705889e-01 9.82601688e-01 2.69189813e-03 -3.13879598e+01] [ 1.56505004e-02 2.18625439e-04 9.99877500e-01 1.58330265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5707140569999 meters Centerline goodness [0,1] 0.9902668312600893 Centerline is valid? [True, True] Translation: X:589.71, Y:-31.39, Z:1.58 [[ 9.81953443e-01 1.88514917e-01 -1.51512704e-02 5.89710477e+02] [-1.88496477e-01 9.82070293e-01 2.64896681e-03 -3.13925483e+01] [ 1.53789823e-02 2.54799015e-04 9.99881704e-01 1.58417419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6007140569999 meters Centerline goodness [0,1] 0.9898227260893233 Centerline is valid? [True, True] Translation: X:589.74, Y:-31.39, Z:1.58 [[ 9.81132938e-01 1.92784944e-01 -1.45644940e-02 5.89741445e+02] [-1.92768323e-01 9.81240986e-01 2.54985388e-03 -3.13938945e+01] [ 1.47828519e-02 3.05827454e-04 9.99890681e-01 1.58373305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.630714057 meters Centerline goodness [0,1] 0.9889841751160807 Centerline is valid? [True, True] Translation: X:589.77, Y:-31.40, Z:1.58 [[ 9.80600570e-01 1.95448085e-01 -1.49186871e-02 5.89772700e+02] [-1.95430900e-01 9.80713986e-01 2.61542540e-03 -3.13984203e+01] [ 1.51421450e-02 3.50884820e-04 9.99885290e-01 1.58484057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.660714057 meters Centerline goodness [0,1] 0.9875 Centerline is valid? [True, True] Translation: X:589.80, Y:-31.40, Z:1.58 [[ 9.79780827e-01 1.99460556e-01 -1.56530641e-02 5.89804197e+02] [-1.99442111e-01 9.79905761e-01 2.74654425e-03 -3.14004843e+01] [ 1.58863549e-02 4.30868747e-04 9.99873711e-01 1.58435743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6907140569999 meters Centerline goodness [0,1] 0.9880332986472424 Centerline is valid? [True, True] Translation: X:589.84, Y:-31.40, Z:1.58 [[ 9.79052855e-01 2.02936583e-01 -1.65000216e-02 5.89836111e+02] [-2.02916557e-01 9.79191749e-01 2.89654878e-03 -3.14032497e+01] [ 1.67445007e-02 5.12253221e-04 9.99859670e-01 1.58277619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7207140569999 meters Centerline goodness [0,1] 0.9862789705673255 Centerline is valid? [True, True] Translation: X:589.87, Y:-31.41, Z:1.58 [[ 9.78687157e-01 2.04655740e-01 -1.69551148e-02 5.89867331e+02] [-2.04634795e-01 9.78833858e-01 2.97976854e-03 -3.14052727e+01] [ 1.72060672e-02 5.53345243e-04 9.99851812e-01 1.58094298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.750714057 meters Centerline goodness [0,1] 0.9871658260519524 Centerline is valid? [True, True] Translation: X:589.90, Y:-31.41, Z:1.58 [[ 9.78339450e-01 2.06290290e-01 -1.72115074e-02 5.89898707e+02] [-2.06268886e-01 9.78490660e-01 3.02903825e-03 -3.14137277e+01] [ 1.74661604e-02 5.86770831e-04 9.99847283e-01 1.58205420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.780714057 meters Centerline goodness [0,1] 0.9871773522064946 Centerline is valid? [True, True] Translation: X:589.93, Y:-31.42, Z:1.58 [[ 9.78213060e-01 2.06905602e-01 -1.70082461e-02 5.89930635e+02] [-2.06884712e-01 9.78360735e-01 2.99792345e-03 -3.14211689e+01] [ 1.72604874e-02 5.86138242e-04 9.99850855e-01 1.58301832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8107140569999 meters Centerline goodness [0,1] 0.987266917831084 Centerline is valid? [True, True] Translation: X:589.96, Y:-31.43, Z:1.58 [[ 9.78226810e-01 2.06846935e-01 -1.69308551e-02 5.89961914e+02] [-2.06826151e-01 9.78373145e-01 2.98865415e-03 -3.14292902e+01] [ 1.71828879e-02 5.78161983e-04 9.99852196e-01 1.58373169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8407140569999 meters Centerline goodness [0,1] 0.9871410201457351 Centerline is valid? [True, True] Translation: X:589.99, Y:-31.44, Z:1.58 [[ 9.78433051e-01 2.05905814e-01 -1.64791240e-02 5.89992603e+02] [-2.05885922e-01 9.78571664e-01 2.91301240e-03 -3.14373382e+01] [ 1.67258100e-02 5.42632033e-04 9.99859967e-01 1.58393059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.870714057 meters Centerline goodness [0,1] 0.988123174177482 Centerline is valid? [True, True] Translation: X:590.02, Y:-31.45, Z:1.59 [[ 9.78591962e-01 2.05145127e-01 -1.65302285e-02 5.90022969e+02] [-2.05124932e-01 9.78731423e-01 2.92627340e-03 -3.14472635e+01] [ 1.67789648e-02 5.27134380e-04 9.99859084e-01 1.58548423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.900714057 meters Centerline goodness [0,1] 0.9872250504274325 Centerline is valid? [True, True] Translation: X:590.05, Y:-31.46, Z:1.59 [[ 9.78936502e-01 2.03523594e-01 -1.61700780e-02 5.90053580e+02] [-2.03503981e-01 9.79069922e-01 2.86663967e-03 -3.14555754e+01] [ 1.64150658e-02 4.84417021e-04 9.99865146e-01 1.58596162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9307140569999 meters Centerline goodness [0,1] 0.987496687465369 Centerline is valid? [True, True] Translation: X:590.08, Y:-31.47, Z:1.59 [[ 9.79375947e-01 2.01447465e-01 -1.55458277e-02 5.90083833e+02] [-2.01429013e-01 9.79499227e-01 2.75991734e-03 -3.14669547e+01] [ 1.57831046e-02 4.28384083e-04 9.99875347e-01 1.58714356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9607140569999 meters Centerline goodness [0,1] 0.988186223690238 Centerline is valid? [True, True] Translation: X:590.11, Y:-31.47, Z:1.59 [[ 9.79638165e-01 2.00157190e-01 -1.56896598e-02 5.90113952e+02] [-2.00138170e-01 9.79763713e-01 2.78924388e-03 -3.14737336e+01] [ 1.59304465e-02 4.07650047e-04 9.99873019e-01 1.58679531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.990714057 meters Centerline goodness [0,1] 0.9895765156473468 Centerline is valid? [True, True] Translation: X:590.14, Y:-31.48, Z:1.59 [[ 9.80278942e-01 1.96956888e-01 -1.61610535e-02 5.90144527e+02] [-1.96936206e-01 9.80412083e-01 2.87707560e-03 -3.14837487e+01] [ 1.64111520e-02 3.62359942e-04 9.99865262e-01 1.58596320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.020714057 meters Centerline goodness [0,1] 0.9887965393214737 Centerline is valid? [True, True] Translation: X:590.18, Y:-31.49, Z:1.58 [[ 9.80581875e-01 1.95381591e-01 -1.68884800e-02 5.90175196e+02] [-1.95358703e-01 9.80727237e-01 3.01060164e-03 -3.14907479e+01] [ 1.71512085e-02 3.47170164e-04 9.99852847e-01 1.58445427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0507140569999 meters Centerline goodness [0,1] 0.9894176032695957 Centerline is valid? [True, True] Translation: X:590.21, Y:-31.50, Z:1.58 [[ 9.81257622e-01 1.91855824e-01 -1.80228511e-02 5.90205938e+02] [-1.91829082e-01 9.81423075e-01 3.21721940e-03 -3.15024429e+01] [ 1.83052843e-02 3.00385940e-04 9.99832399e-01 1.58461925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0807140569999 meters Centerline goodness [0,1] 0.9904675775425904 Centerline is valid? [True, True] Translation: X:590.24, Y:-31.51, Z:1.59 [[ 9.81575943e-01 1.90217490e-01 -1.80547698e-02 5.90237085e+02] [-1.90190296e-01 9.81741939e-01 3.22736385e-03 -3.15112681e+01] [ 1.83390258e-02 2.65939293e-04 9.99831791e-01 1.58555372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.110714057 meters Centerline goodness [0,1] 0.9917167570737428 Centerline is valid? [True, True] Translation: X:590.27, Y:-31.52, Z:1.59 [[ 9.82223312e-01 1.86873179e-01 -1.77702145e-02 5.90267467e+02] [-1.86846207e-01 9.82384027e-01 3.18090277e-03 -3.15216165e+01] [ 1.80516003e-02 1.95940320e-04 9.99837037e-01 1.58615190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.140714057 meters Centerline goodness [0,1] 0.9915492957746479 Centerline is valid? [True, True] Translation: X:590.30, Y:-31.53, Z:1.59 [[ 9.82484432e-01 1.85525113e-01 -1.74577521e-02 5.90297961e+02] [-1.85498797e-01 9.82639509e-01 3.12903649e-03 -3.15280842e+01] [ 1.77351918e-02 1.64162375e-04 9.99842706e-01 1.58521776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1707140569999 meters Centerline goodness [0,1] 0.9916502946954814 Centerline is valid? [True, True] Translation: X:590.33, Y:-31.54, Z:1.59 [[ 9.82779493e-01 1.84068287e-01 -1.62275915e-02 5.90328515e+02] [-1.84045288e-01 9.82913450e-01 2.91235607e-03 -3.15376679e+01] [ 1.64863904e-02 1.24407934e-04 9.99864082e-01 1.58678360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2007140569999 meters Centerline goodness [0,1] 0.9921234567901235 Centerline is valid? [True, True] Translation: X:590.36, Y:-31.55, Z:1.59 [[ 9.82927704e-01 1.83361861e-01 -1.52169835e-02 5.90359570e+02] [-1.83341495e-01 9.83045481e-01 2.73468675e-03 -3.15465043e+01] [ 1.54604241e-02 1.01905122e-04 9.99880475e-01 1.58915986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2307140569999 meters Centerline goodness [0,1] 0.9919508160292339 Centerline is valid? [True, True] Translation: X:590.39, Y:-31.55, Z:1.59 [[ 9.82900141e-01 1.83528541e-01 -1.49862323e-02 5.90391136e+02] [-1.83508764e-01 9.83014377e-01 2.69613691e-03 -3.15527836e+01] [ 1.52264998e-02 1.00071603e-04 9.99884065e-01 1.58891193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.260714057 meters Centerline goodness [0,1] 0.9919235328986367 Centerline is valid? [True, True] Translation: X:590.42, Y:-31.56, Z:1.59 [[ 9.82604580e-01 1.85044688e-01 -1.57067709e-02 5.90421919e+02] [-1.85023101e-01 9.82730099e-01 2.82925358e-03 -3.15598344e+01] [ 1.59590548e-02 1.26077922e-04 9.99872638e-01 1.58896079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.290714057 meters Centerline goodness [0,1] 0.9934616333580064 Centerline is valid? [True, True] Translation: X:590.45, Y:-31.56, Z:1.59 [[ 9.82469486e-01 1.85743742e-01 -1.59050790e-02 5.90452951e+02] [-1.85721630e-01 9.82598211e-01 2.86911346e-03 -3.15648835e+01] [ 1.61612221e-02 1.35100783e-04 9.99869390e-01 1.58801177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3207140569999 meters Centerline goodness [0,1] 0.9924446976640492 Centerline is valid? [True, True] Translation: X:590.48, Y:-31.57, Z:1.59 [[ 9.81934990e-01 1.88448426e-01 -1.70547752e-02 5.90484169e+02] [-1.88423334e-01 9.82083069e-01 3.08087718e-03 -3.15707886e+01] [ 1.73297925e-02 1.88296510e-04 9.99849810e-01 1.58731993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3507140569999 meters Centerline goodness [0,1] 0.9917774970899275 Centerline is valid? [True, True] Translation: X:590.51, Y:-31.58, Z:1.59 [[ 9.81744072e-01 1.89454872e-01 -1.68946110e-02 5.90514460e+02] [-1.89430355e-01 9.81889409e-01 3.05449405e-03 -3.15753748e+01] [ 1.71673284e-02 2.01620724e-04 9.99852610e-01 1.58651967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.380714057 meters Centerline goodness [0,1] 0.9912976645014132 Centerline is valid? [True, True] Translation: X:590.55, Y:-31.58, Z:1.59 [[ 9.81375499e-01 1.91403356e-01 -1.63366169e-02 5.90545280e+02] [-1.91380647e-01 9.81511439e-01 2.95690475e-03 -3.15824535e+01] [ 1.66005378e-02 2.24678424e-04 9.99862176e-01 1.58817059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.410714057 meters Centerline goodness [0,1] 0.9914417543163326 Centerline is valid? [True, True] Translation: X:590.58, Y:-31.59, Z:1.59 [[ 9.81141423e-01 1.92607423e-01 -1.62446315e-02 5.90576841e+02] [-1.92585068e-01 9.81275865e-01 2.94423258e-03 -3.15894707e+01] [ 1.65075459e-02 2.39764919e-04 9.99863712e-01 1.58890865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4407140569999 meters Centerline goodness [0,1] 0.9914461905709171 Centerline is valid? [True, True] Translation: X:590.61, Y:-31.60, Z:1.59 [[ 9.81074495e-01 1.92927647e-01 -1.64851150e-02 5.90609067e+02] [-1.92904593e-01 9.81212955e-01 2.99242270e-03 -3.15958028e+01] [ 1.67527295e-02 2.44264813e-04 9.99859633e-01 1.58866175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4707140569999 meters Centerline goodness [0,1] 0.9914355424986306 Centerline is valid? [True, True] Translation: X:590.64, Y:-31.60, Z:1.59 [[ 9.81069633e-01 1.92925671e-01 -1.67946487e-02 5.90640459e+02] [-1.92901665e-01 9.81213344e-01 3.05317237e-03 -3.16025996e+01] [ 1.70681687e-02 2.44341008e-04 9.99854298e-01 1.58849966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.500714057 meters Centerline goodness [0,1] 0.9919195949821682 Centerline is valid? [True, True] Translation: X:590.67, Y:-31.61, Z:1.59 [[ 9.81072472e-01 1.92925896e-01 -1.66253782e-02 5.90672684e+02] [-1.92902293e-01 9.81213301e-01 3.02704722e-03 -3.16100807e+01] [ 1.68970380e-02 2.37320888e-04 9.99857207e-01 1.58916453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.530714057 meters Centerline goodness [0,1] 0.9911002224944376 Centerline is valid? [True, True] Translation: X:590.70, Y:-31.62, Z:1.59 [[ 9.81426618e-01 1.91233122e-01 -1.52212447e-02 5.90703549e+02] [-1.91213075e-01 9.81544629e-01 2.77521829e-03 -3.16183999e+01] [ 1.54710446e-02 1.86827899e-04 9.99880299e-01 1.59097475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5607140569999 meters Centerline goodness [0,1] 0.9921120291555378 Centerline is valid? [True, True] Translation: X:590.74, Y:-31.63, Z:1.59 [[ 9.81564308e-01 1.90598113e-01 -1.42782536e-02 5.90735122e+02] [-1.90580355e-01 9.81668138e-01 2.60680340e-03 -3.16251502e+01] [ 1.45133584e-02 1.62409466e-04 9.99894662e-01 1.59258536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5907140569999 meters Centerline goodness [0,1] 0.9913362628582842 Centerline is valid? [True, True] Translation: X:590.77, Y:-31.63, Z:1.59 [[ 9.81794867e-01 1.89553710e-01 -1.21749383e-02 5.90765225e+02] [-1.89540694e-01 9.81870346e-01 2.22481058e-03 -3.16311849e+01] [ 1.23759319e-02 1.23338640e-04 9.99923408e-01 1.59269776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.620714057 meters Centerline goodness [0,1] 0.9915981052106706 Centerline is valid? [True, True] Translation: X:590.80, Y:-31.64, Z:1.59 [[ 9.81862108e-01 1.89202923e-01 -1.22087949e-02 5.90797522e+02] [-1.89189771e-01 9.81938002e-01 2.23389262e-03 -3.16379383e+01] [ 1.24109387e-02 1.16404589e-04 9.99922975e-01 1.59312816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.650714057 meters Centerline goodness [0,1] 0.9910355332484331 Centerline is valid? [True, True] Translation: X:590.83, Y:-31.64, Z:1.59 [[ 9.81796823e-01 1.89472185e-01 -1.32396826e-02 5.90829322e+02] [-1.89456691e-01 9.81886081e-01 2.42637459e-03 -3.16449045e+01] [ 1.34595906e-02 1.26139588e-04 9.99909408e-01 1.59300925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6807140569999 meters Centerline goodness [0,1] 0.9910355332484331 Centerline is valid? [True, True] Translation: X:590.86, Y:-31.65, Z:1.59 [[ 9.81744334e-01 1.89744017e-01 -1.32390104e-02 5.90861159e+02] [-1.89728498e-01 9.81833587e-01 2.43003878e-03 -3.16508188e+01] [ 1.34595904e-02 1.26140759e-04 9.99909408e-01 1.59313698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7107140569999 meters Centerline goodness [0,1] 0.9902656409490378 Centerline is valid? [True, True] Translation: X:590.89, Y:-31.66, Z:1.59 [[ 9.81484825e-01 1.90943274e-01 -1.51064103e-02 5.90892294e+02] [-1.90923150e-01 9.81601060e-01 2.77665538e-03 -3.16558225e+01] [ 1.53586520e-02 1.58918317e-04 9.99882036e-01 1.59060902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.740714057 meters Centerline goodness [0,1] 0.9903428656984579 Centerline is valid? [True, True] Translation: X:590.92, Y:-31.66, Z:1.59 [[ 9.81352829e-01 1.91546731e-01 -1.60148357e-02 5.90922825e+02] [-1.91524134e-01 9.81483479e-01 2.94735827e-03 -3.16598718e+01] [ 1.62828535e-02 1.74829149e-04 9.99867410e-01 1.58867246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.770714057 meters Centerline goodness [0,1] 0.9902570636288691 Centerline is valid? [True, True] Translation: X:590.95, Y:-31.66, Z:1.59 [[ 9.80988230e-01 1.93235803e-01 -1.79448468e-02 5.90954400e+02] [-1.93207631e-01 9.81152320e-01 3.30707510e-03 -3.16645859e+01] [ 1.82456734e-02 2.22879589e-04 9.99833509e-01 1.58688835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8007140569999 meters Centerline goodness [0,1] 0.9897979595919184 Centerline is valid? [True, True] Translation: X:590.99, Y:-31.67, Z:1.59 [[ 9.80842782e-01 1.93870787e-01 -1.90146047e-02 5.90986320e+02] [-1.93839181e-01 9.81027043e-01 3.50905771e-03 -3.16700605e+01] [ 1.93341452e-02 2.43941456e-04 9.99813048e-01 1.58688355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8307140569999 meters Centerline goodness [0,1] 0.9897045992770784 Centerline is valid? [True, True] Translation: X:591.02, Y:-31.67, Z:1.59 [[ 9.80640646e-01 1.94847022e-01 -1.94566637e-02 5.91017420e+02] [-1.94814031e-01 9.80833609e-01 3.59522220e-03 -3.16747232e+01] [ 1.97842680e-02 2.64810074e-04 9.99804237e-01 1.58686775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.860714057 meters Centerline goodness [0,1] 0.9901657348242812 Centerline is valid? [True, True] Translation: X:591.05, Y:-31.68, Z:1.59 [[ 9.80533914e-01 1.95384155e-01 -1.94493250e-02 5.91049514e+02] [-1.95351189e-01 9.80726750e-01 3.59916095e-03 -3.16806439e+01] [ 1.97776923e-02 2.70349383e-04 9.99804366e-01 1.58719261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.890714057 meters Centerline goodness [0,1] 0.9900172202949912 Centerline is valid? [True, True] Translation: X:591.08, Y:-31.69, Z:1.59 [[ 9.80308133e-01 1.96631673e-01 -1.82194924e-02 5.91081841e+02] [-1.96602866e-01 9.80477389e-01 3.37665149e-03 -3.16853783e+01] [ 1.85277570e-02 2.71845504e-04 9.99828309e-01 1.58848805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9207140569999 meters Centerline goodness [0,1] 0.9900027423898681 Centerline is valid? [True, True] Translation: X:591.11, Y:-31.69, Z:1.59 [[ 9.80238545e-01 1.97074827e-01 -1.71437586e-02 5.91113299e+02] [-1.97049312e-01 9.80388416e-01 3.18168387e-03 -3.16915444e+01] [ 1.74345721e-02 2.59356672e-04 9.99847973e-01 1.59037366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9507140569999 meters Centerline goodness [0,1] 0.9894122033055797 Centerline is valid? [True, True] Translation: X:591.15, Y:-31.70, Z:1.59 [[ 9.80089305e-01 1.98036923e-01 -1.43642114e-02 5.91145052e+02] [-1.98019064e-01 9.80194534e-01 2.66931777e-03 -3.16971030e+01] [ 1.46083450e-02 2.28217903e-04 9.99893266e-01 1.59250622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9807140569999 meters Centerline goodness [0,1] 0.9887119182296318 Centerline is valid? [True, True] Translation: X:591.18, Y:-31.70, Z:1.59 [[ 9.79964645e-01 1.98715770e-01 -1.34661292e-02 5.91176614e+02] [-1.98700090e-01 9.80057138e-01 2.50595087e-03 -3.17013192e+01] [ 1.36955480e-02 2.19977836e-04 9.99906187e-01 1.59376746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.010714057 meters Centerline goodness [0,1] 0.9888847629657136 Centerline is valid? [True, True] Translation: X:591.21, Y:-31.71, Z:1.59 [[ 9.79674262e-01 2.00169338e-01 -1.30604744e-02 5.91208280e+02] [-2.00154673e-01 9.79761289e-01 2.43382974e-03 -3.17073241e+01] [ 1.32833253e-02 2.29754636e-04 9.99911746e-01 1.59371090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.040714057 meters Centerline goodness [0,1] 0.9889273184204633 Centerline is valid? [True, True] Translation: X:591.24, Y:-31.71, Z:1.59 [[ 9.79409023e-01 2.01405162e-01 -1.39257431e-02 5.91240161e+02] [-2.01388563e-01 9.79507985e-01 2.59868269e-03 -3.17122344e+01] [ 1.41637647e-02 2.59312126e-04 9.99899655e-01 1.59276617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0707140569999 meters Centerline goodness [0,1] 0.9882165763436583 Centerline is valid? [True, True] Translation: X:591.27, Y:-31.72, Z:1.59 [[ 9.79128766e-01 2.02668204e-01 -1.52465852e-02 5.91272374e+02] [-2.02648399e-01 9.79247420e-01 2.84912130e-03 -3.17165783e+01] [ 1.55076055e-02 3.00039464e-04 9.99879705e-01 1.59024495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1007140569999 meters Centerline goodness [0,1] 0.9886061809606553 Centerline is valid? [True, True] Translation: X:591.31, Y:-31.72, Z:1.59 [[ 9.79112721e-01 2.02664984e-01 -1.62844909e-02 5.91305218e+02] [-2.02642312e-01 9.79248081e-01 3.04772887e-03 -3.17224000e+01] [ 1.65642244e-02 3.15856780e-04 9.99862754e-01 1.58956844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.130714057 meters Centerline goodness [0,1] 0.9886343853366162 Centerline is valid? [True, True] Translation: X:591.34, Y:-31.73, Z:1.59 [[ 9.79431284e-01 2.01025058e-01 -1.74151012e-02 5.91336320e+02] [-2.00998788e-01 9.79586052e-01 3.26394393e-03 -3.17279718e+01] [ 1.77157248e-02 3.03605433e-04 9.99843018e-01 1.58747452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.160714057 meters Centerline goodness [0,1] 0.9887710232777681 Centerline is valid? [True, True] Translation: X:591.37, Y:-31.73, Z:1.59 [[ 9.79711281e-01 1.99673770e-01 -1.72102034e-02 5.91366727e+02] [-1.99647838e-01 9.79862394e-01 3.22947719e-03 -3.17348584e+01] [ 1.75084730e-02 2.72024664e-04 9.99846678e-01 1.58787438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1907140569999 meters Centerline goodness [0,1] 0.9895724713242962 Centerline is valid? [True, True] Translation: X:591.40, Y:-31.74, Z:1.59 [[ 9.80630585e-01 1.95192806e-01 -1.62303644e-02 5.91397176e+02] [-1.95169064e-01 9.80764874e-01 3.04947635e-03 -3.17448099e+01] [ 1.65134071e-02 1.77255252e-04 9.99863629e-01 1.59030015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2207140569999 meters Centerline goodness [0,1] 0.9908060828943445 Centerline is valid? [True, True] Translation: X:591.43, Y:-31.75, Z:1.59 [[ 9.81549210e-01 1.90702086e-01 -1.39234421e-02 5.91426951e+02] [-1.90684118e-01 9.81647955e-01 2.61913555e-03 -3.17529293e+01] [ 1.41673931e-02 8.41688500e-05 9.99899634e-01 1.59181535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.250714057 meters Centerline goodness [0,1] 0.991305211904407 Centerline is valid? [True, True] Translation: X:591.46, Y:-31.76, Z:1.59 [[ 9.81915316e-01 1.88870014e-01 -1.30548750e-02 5.91458005e+02] [-1.88854016e-01 9.82002095e-01 2.45877640e-03 -3.17603140e+01] [ 1.32843038e-02 5.11553702e-05 9.99911758e-01 1.59250164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.280714057 meters Centerline goodness [0,1] 0.9918499192446266 Centerline is valid? [True, True] Translation: X:591.49, Y:-31.77, Z:1.59 [[ 9.82691696e-01 1.84895217e-01 -1.14363112e-02 5.91489185e+02] [-1.84882639e-01 9.82758240e-01 2.15665286e-03 -3.17685698e+01] [ 1.16378838e-02 -4.94946694e-06 9.99932278e-01 1.59442862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3107140569999 meters Centerline goodness [0,1] 0.9926254052315079 Centerline is valid? [True, True] Translation: X:591.52, Y:-31.78, Z:1.59 [[ 9.83115016e-01 1.82648055e-01 -1.11603158e-02 5.91520466e+02] [-1.82635899e-01 9.83178360e-01 2.10750481e-03 -3.17754983e+01] [ 1.13575127e-02 -3.36453122e-05 9.99935501e-01 1.59454278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3407140569999 meters Centerline goodness [0,1] 0.9926408642648298 Centerline is valid? [True, True] Translation: X:591.55, Y:-31.78, Z:1.59 [[ 9.83186888e-01 1.82249610e-01 -1.13412321e-02 5.91552632e+02] [-1.82236994e-01 9.83252296e-01 2.14482434e-03 -3.17811554e+01] [ 1.15421859e-02 -4.19711258e-05 9.99933386e-01 1.59474096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.370714057 meters Centerline goodness [0,1] 0.9933701385123478 Centerline is valid? [True, True] Translation: X:591.58, Y:-31.79, Z:1.59 [[ 9.83285355e-01 1.81655643e-01 -1.22937936e-02 5.91584297e+02] [-1.81640729e-01 9.83362204e-01 2.32836068e-03 -3.17852989e+01] [ 1.25122118e-02 -5.63893285e-05 9.99921718e-01 1.59278910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.400714057 meters Centerline goodness [0,1] 0.9931501768095156 Centerline is valid? [True, True] Translation: X:591.62, Y:-31.79, Z:1.59 [[ 9.83286216e-01 1.81632421e-01 -1.25651172e-02 5.91617281e+02] [-1.81616795e-01 9.83366493e-01 2.38323175e-03 -3.17900612e+01] [ 1.27889874e-02 -6.13626171e-05 9.99918216e-01 1.59229864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4307140569999 meters Centerline goodness [0,1] 0.9932684748427673 Centerline is valid? [True, True] Translation: X:591.65, Y:-31.79, Z:1.59 [[ 9.83418386e-01 1.80790832e-01 -1.42462001e-02 5.91647826e+02] [-1.80770604e-01 9.83521565e-01 2.70567686e-03 -3.17943701e+01] [ 1.45006066e-02 -8.55181676e-05 9.99894857e-01 1.59072078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4607140569999 meters Centerline goodness [0,1] 0.9932312690755144 Centerline is valid? [True, True] Translation: X:591.68, Y:-31.80, Z:1.59 [[ 9.83535602e-01 1.80118552e-01 -1.46638226e-02 5.91680132e+02] [-1.80096987e-01 9.83644904e-01 2.78901898e-03 -3.17995026e+01] [ 1.49263485e-02 -1.02189193e-04 9.99888591e-01 1.59143165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.490714057 meters Centerline goodness [0,1] 0.9931452999852587 Centerline is valid? [True, True] Translation: X:591.71, Y:-31.81, Z:1.59 [[ 9.83871055e-01 1.78238062e-01 -1.51307999e-02 5.91711687e+02] [-1.78214817e-01 9.83987385e-01 2.88184111e-03 -3.18054028e+01] [ 1.54021700e-02 -1.38827323e-04 9.99881370e-01 1.59173706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.520714057 meters Centerline goodness [0,1] 0.9936544492355939 Centerline is valid? [True, True] Translation: X:591.74, Y:-31.81, Z:1.59 [[ 9.84028693e-01 1.77388650e-01 -1.48592617e-02 5.91743264e+02] [-1.77366076e-01 9.84140866e-01 2.83404551e-03 -3.18116510e+01] [ 1.51263342e-02 -1.53253158e-04 9.99885579e-01 1.59144616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5507140569999 meters Centerline goodness [0,1] 0.9934646946096015 Centerline is valid? [True, True] Translation: X:591.77, Y:-31.82, Z:1.59 [[ 9.84136628e-01 1.76845863e-01 -1.41646759e-02 5.91774126e+02] [-1.76825241e-01 9.84238546e-01 2.70527265e-03 -3.18174445e+01] [ 1.44198363e-02 -1.57685683e-04 9.99896016e-01 1.59256710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5807140569999 meters Centerline goodness [0,1] 0.9942982992781109 Centerline is valid? [True, True] Translation: X:591.81, Y:-31.82, Z:1.59 [[ 9.84223726e-01 1.76389581e-01 -1.37975627e-02 5.91805806e+02] [-1.76369919e-01 9.84320420e-01 2.63874110e-03 -3.18228546e+01] [ 1.40466692e-02 -1.63636586e-04 9.99901327e-01 1.59318526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.610714057 meters Centerline goodness [0,1] 0.9942299699273857 Centerline is valid? [True, True] Translation: X:591.84, Y:-31.83, Z:1.59 [[ 9.84268350e-01 1.76150541e-01 -1.36675850e-02 5.91838390e+02] [-1.76131171e-01 9.84363225e-01 2.61765551e-03 -3.18282659e+01] [ 1.39149694e-02 -1.69187716e-04 9.99903168e-01 1.59419958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.640714057 meters Centerline goodness [0,1] 0.9944820177259076 Centerline is valid? [True, True] Translation: X:591.87, Y:-31.83, Z:1.60 [[ 9.84707286e-01 1.73753151e-01 -1.27044988e-02 5.91870082e+02] [-1.73736173e-01 9.84789219e-01 2.43645212e-03 -3.18336415e+01] [ 1.29345947e-02 -1.91961146e-04 9.99916326e-01 1.59517909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6707140569999 meters Centerline goodness [0,1] 0.9954565440422102 Centerline is valid? [True, True] Translation: X:591.90, Y:-31.84, Z:1.60 [[ 9.85096014e-01 1.71543556e-01 -1.25956701e-02 5.91901465e+02] [-1.71526647e-01 9.85176512e-01 2.41874371e-03 -3.18403389e+01] [ 1.28238782e-02 -2.22201740e-04 9.99917746e-01 1.59554800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7007140569999 meters Centerline goodness [0,1] 0.9959433526854033 Centerline is valid? [True, True] Translation: X:591.93, Y:-31.85, Z:1.60 [[ 9.86008090e-01 1.66286783e-01 -1.16940935e-02 5.91932462e+02] [-1.66271820e-01 9.86077397e-01 2.24708159e-03 -3.18481610e+01] [ 1.19049412e-02 -2.71242418e-04 9.99929097e-01 1.59766216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7307140569999 meters Centerline goodness [0,1] 0.9968693119767018 Centerline is valid? [True, True] Translation: X:591.96, Y:-31.86, Z:1.60 [[ 9.86894623e-01 1.60988199e-01 -1.10364541e-02 5.91961315e+02] [-1.60974531e-01 9.86956280e-01 2.12160773e-03 -3.18557981e+01] [ 1.12340515e-02 -3.17215227e-04 9.99936846e-01 1.59946454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.760714057 meters Centerline goodness [0,1] 0.9967633602647717 Centerline is valid? [True, True] Translation: X:591.99, Y:-31.86, Z:1.60 [[ 9.87239552e-01 1.58849161e-01 -1.11808427e-02 5.91992430e+02] [-1.58834981e-01 9.87302802e-01 2.15062157e-03 -3.18617655e+01] [ 1.13805018e-02 -3.47269729e-04 9.99935180e-01 1.60034638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.790714057 meters Centerline goodness [0,1] 0.99730575984854 Centerline is valid? [True, True] Translation: X:592.02, Y:-31.87, Z:1.60 [[ 9.87459602e-01 1.57518949e-01 -1.05506462e-02 5.92023848e+02] [-1.57506225e-01 9.87515905e-01 2.03149212e-03 -3.18669585e+01] [ 1.07389294e-02 -3.44223944e-04 9.99942277e-01 1.59972917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8207140569999 meters Centerline goodness [0,1] 0.9968753755558226 Centerline is valid? [True, True] Translation: X:592.06, Y:-31.87, Z:1.60 [[ 9.87700674e-01 1.56013909e-01 -1.03459569e-02 5.92056265e+02] [-1.56001564e-01 9.87754794e-01 1.99461619e-03 -3.18672209e+01] [ 1.05304564e-02 -3.56098294e-04 9.99944490e-01 1.59998166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8507140569999 meters Centerline goodness [0,1] 0.9965982320389047 Centerline is valid? [True, True] Translation: X:592.09, Y:-31.87, Z:1.60 [[ 9.87390145e-01 1.57976036e-01 -1.02114535e-02 5.92088975e+02] [-1.57964089e-01 9.87442890e-01 1.97121549e-03 -3.18670942e+01] [ 1.03946320e-02 -3.33315790e-04 9.99945919e-01 1.60019097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.880714057 meters Centerline goodness [0,1] 0.9964473056747735 Centerline is valid? [True, True] Translation: X:592.12, Y:-31.87, Z:1.60 [[ 9.87113944e-01 1.59718398e-01 -9.80278599e-03 5.92121670e+02] [-1.59707459e-01 9.87162571e-01 1.89378313e-03 -3.18699861e+01] [ 9.97941543e-03 -3.03801694e-04 9.99950158e-01 1.60052338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.910714057 meters Centerline goodness [0,1] 0.996057475359221 Centerline is valid? [True, True] Translation: X:592.15, Y:-31.87, Z:1.60 [[ 9.86451425e-01 1.63880908e-01 -7.52551915e-03 5.92154227e+02] [-1.63874579e-01 9.86480110e-01 1.45430604e-03 -3.18683977e+01] [ 7.66210795e-03 -2.01360988e-04 9.99970625e-01 1.60253024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9407140569999 meters Centerline goodness [0,1] 0.9952986202986203 Centerline is valid? [True, True] Translation: X:592.19, Y:-31.87, Z:1.60 [[ 9.85955020e-01 1.66848622e-01 -7.36451154e-03 5.92187034e+02] [-1.66842639e-01 9.85982508e-01 1.42371526e-03 -3.18698662e+01] [ 7.49882449e-03 -1.75004664e-04 9.99971868e-01 1.60331180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9707140569999 meters Centerline goodness [0,1] 0.9949026332479857 Centerline is valid? [True, True] Translation: X:592.22, Y:-31.87, Z:1.60 [[ 9.84747366e-01 1.73842460e-01 -7.17110728e-03 5.92218737e+02] [-1.73836969e-01 9.84773469e-01 1.38678908e-03 -3.18682271e+01] [ 7.30299901e-03 -1.19033342e-04 9.99973326e-01 1.60300301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.000714057 meters Centerline goodness [0,1] 0.993505431608457 Centerline is valid? [True, True] Translation: X:592.25, Y:-31.86, Z:1.60 [[ 9.83304981e-01 1.81784852e-01 -8.09828866e-03 5.92251198e+02] [-1.81778116e-01 9.83338326e-01 1.56639884e-03 -3.18641724e+01] [ 8.24810520e-03 -6.81561322e-05 9.99965981e-01 1.60167895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.030714057 meters Centerline goodness [0,1] 0.9928978926533939 Centerline is valid? [True, True] Translation: X:592.28, Y:-31.87, Z:1.60 [[ 9.82508015e-01 1.86002875e-01 -8.99615929e-03 5.92283854e+02] [-1.85994726e-01 9.82549199e-01 1.74150155e-03 -3.18651241e+01] [ 9.16309341e-03 -3.78010432e-05 9.99958017e-01 1.60097894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0607140569999 meters Centerline goodness [0,1] 0.9909544242143106 Centerline is valid? [True, True] Translation: X:592.32, Y:-31.86, Z:1.60 [[ 9.81078929e-01 1.93311005e-01 -1.07233401e-02 5.92316686e+02] [-1.93299830e-01 9.81137531e-01 2.07883232e-03 -3.18624707e+01] [ 1.09229326e-02 3.33212261e-05 9.99940342e-01 1.59765893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0907140569999 meters Centerline goodness [0,1] 0.9903723465955225 Centerline is valid? [True, True] Translation: X:592.35, Y:-31.86, Z:1.60 [[ 9.79964684e-01 1.98873864e-01 -1.08813290e-02 5.92349725e+02] [-1.98862668e-01 9.80025090e-01 2.11232625e-03 -3.18626081e+01] [ 1.10840619e-02 9.38849866e-05 9.99938565e-01 1.59732397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.120714057 meters Centerline goodness [0,1] 0.9897633792402255 Centerline is valid? [True, True] Translation: X:592.38, Y:-31.86, Z:1.60 [[ 9.79529098e-01 2.00980042e-01 -1.13916614e-02 5.92380932e+02] [-2.00967880e-01 9.79595329e-01 2.21424675e-03 -3.18648432e+01] [ 1.16042377e-02 1.20438922e-04 9.99932661e-01 1.59628069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.150714057 meters Centerline goodness [0,1] 0.9885311593201603 Centerline is valid? [True, True] Translation: X:592.41, Y:-31.87, Z:1.60 [[ 9.78914015e-01 2.03960470e-01 -1.12905927e-02 5.92412886e+02] [-2.03948688e-01 9.78979113e-01 2.19744096e-03 -3.18686683e+01] [ 1.15014455e-02 1.51595821e-04 9.99933845e-01 1.59642649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1807140569999 meters Centerline goodness [0,1] 0.9886878348239947 Centerline is valid? [True, True] Translation: X:592.44, Y:-31.87, Z:1.60 [[ 9.78728226e-01 2.04825484e-01 -1.17294894e-02 5.92444807e+02] [-2.04812793e-01 9.78798495e-01 2.28606732e-03 -3.18737856e+01] [ 1.19490514e-02 1.64910865e-04 9.99928594e-01 1.59666105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2107140569999 meters Centerline goodness [0,1] 0.988707451701932 Centerline is valid? [True, True] Translation: X:592.48, Y:-31.88, Z:1.60 [[ 9.78632399e-01 2.05342464e-01 -1.06348322e-02 5.92477499e+02] [-2.05332030e-01 9.78690170e-01 2.07567313e-03 -3.18800006e+01] [ 1.08344296e-02 1.52350711e-04 9.99941294e-01 1.59728223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.240714057 meters Centerline goodness [0,1] 0.9885409236291677 Centerline is valid? [True, True] Translation: X:592.51, Y:-31.89, Z:1.60 [[ 9.78602909e-01 2.05504280e-01 -1.02145393e-02 5.92509482e+02] [-2.05494633e-01 9.78656206e-01 1.99658375e-03 -3.18864169e+01] [ 1.04068288e-02 1.45170339e-04 9.99945837e-01 1.59804286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.270714057 meters Centerline goodness [0,1] 0.9889692336035372 Centerline is valid? [True, True] Translation: X:592.54, Y:-31.89, Z:1.60 [[ 9.78665501e-01 2.05293400e-01 -8.27388508e-03 5.92540156e+02] [-2.05287049e-01 9.78700468e-01 1.61880009e-03 -3.18926183e+01] [ 8.42998417e-03 1.14257647e-04 9.99964461e-01 1.59890369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3007140569999 meters Centerline goodness [0,1] 0.990099923845568 Centerline is valid? [True, True] Translation: X:592.57, Y:-31.90, Z:1.60 [[ 9.78633940e-01 2.05456962e-01 -7.94027067e-03 5.92572390e+02] [-2.05451104e-01 9.78666146e-01 1.55522535e-03 -3.19004598e+01] [ 8.09040597e-03 1.09341066e-04 9.99967266e-01 1.59946261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3307140569999 meters Centerline goodness [0,1] 0.9898143015521065 Centerline is valid? [True, True] Translation: X:592.60, Y:-31.91, Z:1.60 [[ 9.78341083e-01 2.06867593e-01 -7.38410902e-03 5.92603437e+02] [-2.06862553e-01 9.78368942e-01 1.44823444e-03 -3.19086316e+01] [ 7.52397570e-03 1.10628396e-04 9.99971688e-01 1.60024218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.360714057 meters Centerline goodness [0,1] 0.9894286375202406 Centerline is valid? [True, True] Translation: X:592.63, Y:-31.91, Z:1.60 [[ 9.77727336e-01 2.09708205e-01 -8.46903137e-03 5.92633508e+02] [-2.09701670e-01 9.77764003e-01 1.66234150e-03 -3.19147144e+01] [ 8.62932067e-03 1.50653292e-04 9.99962755e-01 1.59960369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.390714057 meters Centerline goodness [0,1] 0.9886597699553333 Centerline is valid? [True, True] Translation: X:592.66, Y:-31.92, Z:1.60 [[ 9.77164157e-01 2.12287691e-01 -9.17316789e-03 5.92664638e+02] [-2.12280124e-01 9.77207195e-01 1.80207296e-03 -3.19206185e+01] [ 9.34664357e-03 1.86360114e-04 9.99956302e-01 1.59894051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4207140569999 meters Centerline goodness [0,1] 0.9871105341246291 Centerline is valid? [True, True] Translation: X:592.70, Y:-31.93, Z:1.60 [[ 9.76079908e-01 2.17072119e-01 -1.21535543e-02 5.92695370e+02] [-2.17059188e-01 9.76155521e-01 2.38903290e-03 -3.19255394e+01] [ 1.23823516e-02 3.06153610e-04 9.99923289e-01 1.59648740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4507140569999 meters Centerline goodness [0,1] 0.9874224034096173 Centerline is valid? [True, True] Translation: X:592.73, Y:-31.93, Z:1.60 [[ 9.75526240e-01 2.19460720e-01 -1.36215886e-02 5.92726415e+02] [-2.19444690e-01 9.75621264e-01 2.67895894e-03 -3.19316726e+01] [ 1.38774377e-02 3.75790542e-04 9.99903633e-01 1.59535679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4807140569999 meters Centerline goodness [0,1] 0.9852151474998256 Centerline is valid? [True, True] Translation: X:592.76, Y:-31.93, Z:1.59 [[ 9.74531136e-01 2.23734225e-01 -1.52335424e-02 5.92756411e+02] [-2.23714689e-01 9.74650070e-01 2.99654443e-03 -3.19347786e+01] [ 1.55178027e-02 4.87741358e-04 9.99879473e-01 1.59257565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.510714057 meters Centerline goodness [0,1] 0.9848845346396081 Centerline is valid? [True, True] Translation: X:592.79, Y:-31.94, Z:1.59 [[ 9.73774867e-01 2.27015092e-01 -1.50551184e-02 5.92787025e+02] [-2.26996390e-01 9.73891095e-01 2.96225311e-03 -3.19445641e+01] [ 1.53345219e-02 5.32889909e-04 9.99882277e-01 1.59433861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.540714057 meters Centerline goodness [0,1] 0.9841670759372296 Centerline is valid? [True, True] Translation: X:592.82, Y:-31.95, Z:1.59 [[ 9.73419116e-01 2.28569315e-01 -1.45358879e-02 5.92817625e+02] [-2.28552013e-01 9.73527494e-01 2.86283237e-03 -3.19509271e+01] [ 1.48054422e-02 5.35470683e-04 9.99890250e-01 1.59482054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5707140569999 meters Centerline goodness [0,1] 0.9846877853480368 Centerline is valid? [True, True] Translation: X:592.85, Y:-31.96, Z:1.60 [[ 9.73029397e-01 2.30310390e-01 -1.30735339e-02 5.92848140e+02] [-2.30296509e-01 9.73117091e-01 2.57800729e-03 -3.19639497e+01] [ 1.33158211e-02 5.02312327e-04 9.99911214e-01 1.59827262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6007140569999 meters Centerline goodness [0,1] 0.9846877853480368 Centerline is valid? [True, True] Translation: X:592.88, Y:-31.97, Z:1.60 [[ 9.72963738e-01 2.30587654e-01 -1.30728263e-02 5.92879932e+02] [-2.30573750e-01 9.73051428e-01 2.58159228e-03 -3.19702928e+01] [ 1.33158156e-02 5.02454900e-04 9.99911214e-01 1.59840037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.630714057 meters Centerline goodness [0,1] 0.9832735120932742 Centerline is valid? [True, True] Translation: X:592.91, Y:-31.98, Z:1.60 [[ 9.72735892e-01 2.31676724e-01 -1.05251624e-02 5.92909805e+02] [-2.31667748e-01 9.72792745e-01 2.08099425e-03 -3.19795877e+01] [ 1.07209195e-02 4.14082862e-04 9.99942444e-01 1.60160056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.660714057 meters Centerline goodness [0,1] 0.983098194793305 Centerline is valid? [True, True] Translation: X:592.94, Y:-31.99, Z:1.60 [[ 9.72585645e-01 2.32378518e-01 -8.79697902e-03 5.92941105e+02] [-2.32372257e-01 9.72625366e-01 1.74141453e-03 -3.19865471e+01] [ 8.96083226e-03 3.50499093e-04 9.99959790e-01 1.60297645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6907140569999 meters Centerline goodness [0,1] 0.980347907851434 Centerline is valid? [True, True] Translation: X:592.97, Y:-31.99, Z:1.61 [[ 9.72163926e-01 2.34229030e-01 -5.83639705e-03 5.92971904e+02] [-2.34226300e-01 9.72181415e-01 1.15654155e-03 -3.19947813e+01] [ 5.94493234e-03 2.42689716e-04 9.99982299e-01 1.60568320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7207140569999 meters Centerline goodness [0,1] 0.9813386179724916 Centerline is valid? [True, True] Translation: X:593.00, Y:-32.00, Z:1.61 [[ 9.71910674e-01 2.35291828e-01 -5.23433250e-03 5.93003283e+02] [-2.35289642e-01 9.71924743e-01 1.03845211e-03 -3.20022842e+01] [ 5.33171656e-03 2.22301523e-04 9.99985762e-01 1.60649895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.750714057 meters Centerline goodness [0,1] 0.979137625516834 Centerline is valid? [True, True] Translation: X:593.03, Y:-32.01, Z:1.61 [[ 9.71548355e-01 2.36770026e-01 -5.80933852e-03 5.93033132e+02] [-2.36767350e-01 9.71565690e-01 1.15406269e-03 -3.20100027e+01] [ 5.91740144e-03 2.54233981e-04 9.99982460e-01 1.60576393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.780714057 meters Centerline goodness [0,1] 0.9832993310243393 Centerline is valid? [True, True] Translation: X:593.06, Y:-32.02, Z:1.60 [[ 9.71356461e-01 2.37524299e-01 -6.98803811e-03 5.93064006e+02] [-2.37520433e-01 9.71381548e-01 1.39011344e-03 -3.20204638e+01] [ 7.11823700e-03 3.09506166e-04 9.99974617e-01 1.60494192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8107140569999 meters Centerline goodness [0,1] 0.9798830075617064 Centerline is valid? [True, True] Translation: X:593.10, Y:-32.02, Z:1.60 [[ 9.70979305e-01 2.38964728e-01 -9.74922977e-03 5.93095464e+02] [-2.38957247e-01 9.71028147e-01 1.94221058e-03 -3.20235614e+01] [ 9.93089634e-03 4.43802834e-04 9.99950589e-01 1.60101504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8407140569999 meters Centerline goodness [0,1] 0.9818775782721701 Centerline is valid? [True, True] Translation: X:593.13, Y:-32.04, Z:1.60 [[ 9.70871802e-01 2.39281269e-01 -1.23458063e-02 5.93125456e+02] [-2.39269257e-01 9.70950131e-01 2.46275806e-03 -3.20353288e+01] [ 1.25764542e-02 5.62949558e-04 9.99920755e-01 1.59802376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.870714057 meters Centerline goodness [0,1] 0.9846080305927343 Centerline is valid? [True, True] Translation: X:593.16, Y:-32.05, Z:1.60 [[ 9.70948119e-01 2.38923134e-01 -1.32471168e-02 5.93155537e+02] [-2.38909224e-01 9.71038301e-01 2.64597388e-03 -3.20469045e+01] [ 1.34956422e-02 5.95755043e-04 9.99908752e-01 1.59786519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.900714057 meters Centerline goodness [0,1] 0.9831439121469333 Centerline is valid? [True, True] Translation: X:593.19, Y:-32.05, Z:1.60 [[ 9.71565862e-01 2.36289996e-01 -1.50603659e-02 5.93185529e+02] [-2.36271682e-01 9.71682374e-01 3.00947529e-03 -3.20527357e+01] [ 1.53450010e-02 6.34434539e-04 9.99882057e-01 1.59508715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9307140569999 meters Centerline goodness [0,1] 0.9854211273365892 Centerline is valid? [True, True] Translation: X:593.22, Y:-32.07, Z:1.60 [[ 9.71949777e-01 2.34694204e-01 -1.52401531e-02 5.93216353e+02] [-2.34675238e-01 9.72069057e-01 3.04648930e-03 -3.20652159e+01] [ 1.55294746e-02 6.15451950e-04 9.99879221e-01 1.59588664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9607140569999 meters Centerline goodness [0,1] 0.9865257148386473 Centerline is valid? [True, True] Translation: X:593.25, Y:-32.08, Z:1.60 [[ 9.72857040e-01 2.30899237e-01 -1.53206345e-02 5.93245648e+02] [-2.30879580e-01 9.72977509e-01 3.06384607e-03 -3.20805831e+01] [ 1.56140726e-02 5.56537448e-04 9.99877938e-01 1.59777048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.990714057 meters Centerline goodness [0,1] 0.986151532790066 Centerline is valid? [True, True] Translation: X:593.27, Y:-32.09, Z:1.60 [[ 9.74062191e-01 2.25831201e-01 -1.42518886e-02 5.93274387e+02] [-2.25813642e-01 9.74166348e-01 2.85053203e-03 -3.20923858e+01] [ 1.45274494e-02 4.41675399e-04 9.99894373e-01 1.59920003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.020714057 meters Centerline goodness [0,1] 0.9863937299191899 Centerline is valid? [True, True] Translation: X:593.30, Y:-32.10, Z:1.60 [[ 9.74579514e-01 2.23640739e-01 -1.34011236e-02 5.93304994e+02] [-2.23624973e-01 9.74671572e-01 2.68282831e-03 -3.21009385e+01] [ 1.36616839e-02 3.82196390e-04 9.99906602e-01 1.59951024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0507140569999 meters Centerline goodness [0,1] 0.98707644199057 Centerline is valid? [True, True] Translation: X:593.33, Y:-32.11, Z:1.60 [[ 9.75680270e-01 2.18895362e-01 -1.15252217e-02 5.93334117e+02] [-2.18883357e-01 9.75748301e-01 2.30839774e-03 -3.21137703e+01] [ 1.17510131e-02 2.70421092e-04 9.99930918e-01 1.60119786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0807140569999 meters Centerline goodness [0,1] 0.9869188182842585 Centerline is valid? [True, True] Translation: X:593.36, Y:-32.12, Z:1.60 [[ 9.76025774e-01 2.17364619e-01 -1.12387915e-02 5.93364690e+02] [-2.17353079e-01 9.76090448e-01 2.25300206e-03 -3.21215464e+01] [ 1.14598000e-02 2.43797859e-04 9.99934305e-01 1.60151335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.110714057 meters Centerline goodness [0,1] 0.9877593157015043 Centerline is valid? [True, True] Translation: X:593.40, Y:-32.13, Z:1.60 [[ 9.76721690e-01 2.14234987e-01 -1.08679019e-02 5.93395722e+02] [-2.14223985e-01 9.76782131e-01 2.18019831e-03 -3.21319986e+01] [ 1.10826471e-02 1.98718274e-04 9.99938566e-01 1.60255551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.140714057 meters Centerline goodness [0,1] 0.9887717746492715 Centerline is valid? [True, True] Translation: X:593.43, Y:-32.14, Z:1.60 [[ 9.77078001e-01 2.12583750e-01 -1.12573744e-02 5.93426052e+02] [-2.12571813e-01 9.77142833e-01 2.26036973e-03 -3.21399175e+01] [ 1.14805806e-02 1.84442954e-04 9.99934079e-01 1.60184497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1707140569999 meters Centerline goodness [0,1] 0.9887902849135918 Centerline is valid? [True, True] Translation: X:593.46, Y:-32.15, Z:1.60 [[ 9.77139466e-01 2.12270694e-01 -1.18159014e-02 5.93457935e+02] [-2.12257482e-01 9.77210887e-01 2.37564939e-03 -3.21469730e+01] [ 1.20509082e-02 1.86672686e-04 9.99927368e-01 1.60124812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2007140569999 meters Centerline goodness [0,1] 0.9885802696529875 Centerline is valid? [True, True] Translation: X:593.49, Y:-32.15, Z:1.60 [[ 9.77119201e-01 2.12311398e-01 -1.27254353e-02 5.93489934e+02] [-2.12296031e-01 9.77202042e-01 2.56212076e-03 -3.21536395e+01] [ 1.29792888e-02 1.98062022e-04 9.99915746e-01 1.60016571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2307140569999 meters Centerline goodness [0,1] 0.9889767259157419 Centerline is valid? [True, True] Translation: X:593.52, Y:-32.16, Z:1.60 [[ 9.77075632e-01 2.12387422e-01 -1.46557860e-02 5.93521179e+02] [-2.12366987e-01 9.77185516e-01 2.95473824e-03 -3.21615369e+01] [ 1.49489710e-02 2.25402385e-04 9.99888232e-01 1.59937129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.260714057 meters Centerline goodness [0,1] 0.988692232055064 Centerline is valid? [True, True] Translation: X:593.55, Y:-32.17, Z:1.60 [[ 9.77000836e-01 2.12708373e-01 -1.49838215e-02 5.93552902e+02] [-2.12686990e-01 9.77115702e-01 3.02487521e-03 -3.21661771e+01] [ 1.52843435e-02 2.31558278e-04 9.99883161e-01 1.59821740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.290714057 meters Centerline goodness [0,1] 0.989844229118116 Centerline is valid? [True, True] Translation: X:593.58, Y:-32.17, Z:1.60 [[ 9.77042101e-01 2.12597332e-01 -1.38241730e-02 5.93584266e+02] [-2.12579071e-01 9.77139873e-01 2.79421660e-03 -3.21738305e+01] [ 1.41021937e-02 2.08662599e-04 9.99900537e-01 1.59994895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3207140569999 meters Centerline goodness [0,1] 0.9896009614205479 Centerline is valid? [True, True] Translation: X:593.62, Y:-32.18, Z:1.60 [[ 9.76902464e-01 2.13239349e-01 -1.38041851e-02 5.93616703e+02] [-2.13221151e-01 9.76999966e-01 2.79400220e-03 -3.21801780e+01] [ 1.40824796e-02 2.13876611e-04 9.99900814e-01 1.60097515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3507140569999 meters Centerline goodness [0,1] 0.9896342511851833 Centerline is valid? [True, True] Translation: X:593.65, Y:-32.19, Z:1.60 [[ 9.76731483e-01 2.14109276e-01 -1.23623605e-02 5.93649433e+02] [-2.14094707e-01 9.76809694e-01 2.50567144e-03 -3.21860607e+01] [ 1.26121611e-02 1.99347769e-04 9.99920444e-01 1.60179969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.380714057 meters Centerline goodness [0,1] 0.9897766090781746 Centerline is valid? [True, True] Translation: X:593.68, Y:-32.19, Z:1.60 [[ 9.76620323e-01 2.14597571e-01 -1.26738785e-02 5.93680700e+02] [-2.14582253e-01 9.76702534e-01 2.57240321e-03 -3.21912569e+01] [ 1.29306408e-02 2.07328162e-04 9.99916374e-01 1.60120371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.410714057 meters Centerline goodness [0,1] 0.9894656526126658 Centerline is valid? [True, True] Translation: X:593.71, Y:-32.20, Z:1.60 [[ 9.76681639e-01 2.14296328e-01 -1.30406939e-02 5.93712269e+02] [-2.14280033e-01 9.76768674e-01 2.65059168e-03 -3.21986406e+01] [ 1.33057534e-02 2.05576098e-04 9.99911453e-01 1.60139512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4407140569999 meters Centerline goodness [0,1] 0.9899514814176292 Centerline is valid? [True, True] Translation: X:593.74, Y:-32.21, Z:1.60 [[ 9.77068045e-01 2.12492119e-01 -1.36064175e-02 5.93743001e+02] [-2.12474155e-01 9.77162763e-01 2.76919510e-03 -3.22068986e+01] [ 1.38841166e-02 1.85320018e-04 9.99903594e-01 1.60108340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4707140569999 meters Centerline goodness [0,1] 0.9899906316256595 Centerline is valid? [True, True] Translation: X:593.77, Y:-32.22, Z:1.60 [[ 9.77609987e-01 2.10019973e-01 -1.30508150e-02 5.93773821e+02] [-2.10003182e-01 9.77697086e-01 2.65939274e-03 -3.22163102e+01] [ 1.33182694e-02 1.40863776e-04 9.99911298e-01 1.60220356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.500714057 meters Centerline goodness [0,1] 0.9900938735177865 Centerline is valid? [True, True] Translation: X:593.80, Y:-32.22, Z:1.60 [[ 9.77679586e-01 2.09684160e-01 -1.32355838e-02 5.93804633e+02] [-2.09666812e-01 9.77769162e-01 2.70056681e-03 -3.22230684e+01] [ 1.35076118e-02 1.34773622e-04 9.99908759e-01 1.60229095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.530714057 meters Centerline goodness [0,1] 0.9900219812788659 Centerline is valid? [True, True] Translation: X:593.83, Y:-32.23, Z:1.60 [[ 9.77797720e-01 2.09157104e-01 -1.28422979e-02 5.93834743e+02] [-2.09140686e-01 9.77882044e-01 2.62337223e-03 -3.22288903e+01] [ 1.31069495e-02 1.20719618e-04 9.99914093e-01 1.60261945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5607140569999 meters Centerline goodness [0,1] 0.9891178570549277 Centerline is valid? [True, True] Translation: X:593.87, Y:-32.24, Z:1.60 [[ 9.77572836e-01 2.10218401e-01 -1.26323051e-02 5.93866614e+02] [-2.10202561e-01 9.77654442e-01 2.58383424e-03 -3.22350376e+01] [ 1.28931987e-02 1.29456721e-04 9.99916871e-01 1.60254785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5907140569999 meters Centerline goodness [0,1] 0.9901379700450063 Centerline is valid? [True, True] Translation: X:593.90, Y:-32.24, Z:1.60 [[ 9.77324808e-01 2.11309196e-01 -1.35883895e-02 5.93898112e+02] [-2.11290922e-01 9.77419255e-01 2.78304820e-03 -3.22397674e+01] [ 1.38696372e-02 1.51161303e-04 9.99903801e-01 1.60212273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.620714057 meters Centerline goodness [0,1] 0.9897011110018681 Centerline is valid? [True, True] Translation: X:593.93, Y:-32.24, Z:1.60 [[ 9.77152117e-01 2.12107347e-01 -1.35725471e-02 5.93929212e+02] [-2.12089142e-01 9.77246360e-01 2.78340767e-03 -3.22444965e+01] [ 1.38541034e-02 1.58777170e-04 9.99904015e-01 1.60041968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.650714057 meters Centerline goodness [0,1] 0.9896747547754259 Centerline is valid? [True, True] Translation: X:593.96, Y:-32.25, Z:1.60 [[ 9.77346353e-01 2.11164298e-01 -1.42739836e-02 5.93960669e+02] [-2.11144003e-01 9.77450570e-01 2.93136266e-03 -3.22532240e+01] [ 1.45711126e-02 1.48909432e-04 9.99893825e-01 1.60132081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6807140569999 meters Centerline goodness [0,1] 0.9907906724779001 Centerline is valid? [True, True] Translation: X:593.99, Y:-32.26, Z:1.60 [[ 9.77548786e-01 2.10220077e-01 -1.43489030e-02 5.93991167e+02] [-2.10199414e-01 9.77654081e-01 2.95030835e-03 -3.22601417e+01] [ 1.46484776e-02 1.32060662e-04 9.99892697e-01 1.60130525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7107140569999 meters Centerline goodness [0,1] 0.9912468870971719 Centerline is valid? [True, True] Translation: X:594.02, Y:-32.27, Z:1.60 [[ 9.78032388e-01 2.07987935e-01 -1.39164683e-02 5.94022042e+02] [-2.07968225e-01 9.78131387e-01 2.86475643e-03 -3.22687842e+01] [ 1.42079692e-02 9.23586356e-05 9.99899057e-01 1.60221293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.740714057 meters Centerline goodness [0,1] 0.9911906230721776 Centerline is valid? [True, True] Translation: X:594.05, Y:-32.28, Z:1.60 [[ 9.78237067e-01 2.07027677e-01 -1.38485517e-02 5.94053615e+02] [-2.07008012e-01 9.78335084e-01 2.85436693e-03 -3.22756444e+01] [ 1.41394569e-02 7.45136143e-05 9.99900030e-01 1.60204102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.770714057 meters Centerline goodness [0,1] 0.9920027644764773 Centerline is valid? [True, True] Translation: X:594.08, Y:-32.28, Z:1.60 [[ 9.78754677e-01 2.04607785e-01 -1.32263662e-02 5.94084882e+02] [-2.04589582e-01 9.78844039e-01 2.72939242e-03 -3.22832672e+01] [ 1.35050046e-02 3.45711353e-05 9.99908803e-01 1.60330081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8007140569999 meters Centerline goodness [0,1] 0.9921424700724174 Centerline is valid? [True, True] Translation: X:594.12, Y:-32.29, Z:1.60 [[ 9.79296966e-01 2.02003784e-01 -1.31119656e-02 5.94116625e+02] [-2.01985614e-01 9.79384741e-01 2.70932757e-03 -3.22908555e+01] [ 1.33889534e-02 -4.80784471e-06 9.99910364e-01 1.60339599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8307140569999 meters Centerline goodness [0,1] 0.9926208338457754 Centerline is valid? [True, True] Translation: X:594.15, Y:-32.30, Z:1.60 [[ 9.79512624e-01 2.00962652e-01 -1.30012566e-02 5.94149038e+02] [-2.00944647e-01 9.79598904e-01 2.69014077e-03 -3.22977967e+01] [ 1.32766345e-02 -2.24939308e-05 9.99911861e-01 1.60429180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.860714057 meters Centerline goodness [0,1] 0.9926209212816552 Centerline is valid? [True, True] Translation: X:594.18, Y:-32.30, Z:1.60 [[ 9.79990828e-01 1.98578723e-01 -1.35818782e-02 5.94180185e+02] [-1.98558795e-01 9.80084939e-01 2.81387487e-03 -3.23042524e+01] [ 1.38701699e-02 -6.07702039e-05 9.99903803e-01 1.60385546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.890714057 meters Centerline goodness [0,1] 0.9935241739642358 Centerline is valid? [True, True] Translation: X:594.21, Y:-32.31, Z:1.60 [[ 9.80201860e-01 1.97512460e-01 -1.38975642e-02 5.94212404e+02] [-1.97491432e-01 9.80300373e-01 2.88316057e-03 -3.23110490e+01] [ 1.41932476e-02 -8.14294827e-05 9.99899267e-01 1.60370446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9207140569999 meters Centerline goodness [0,1] 0.9931110837741419 Centerline is valid? [True, True] Translation: X:594.24, Y:-32.32, Z:1.60 [[ 9.80833597e-01 1.94363737e-01 -1.37183411e-02 5.94242580e+02] [-1.94342893e-01 9.80929519e-01 2.84935879e-03 -3.23173843e+01] [ 1.40105378e-02 -1.28684727e-04 9.99901839e-01 1.60371739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9507140569999 meters Centerline goodness [0,1] 0.9927836822856582 Centerline is valid? [True, True] Translation: X:594.28, Y:-32.32, Z:1.60 [[ 9.81161374e-01 1.92764632e-01 -1.28122678e-02 5.94275207e+02] [-1.92746270e-01 9.81245013e-01 2.66452119e-03 -3.23243051e+01] [ 1.30855993e-02 -1.44808441e-04 9.99914369e-01 1.60478157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9807140569999 meters Centerline goodness [0,1] 0.9940673187712976 Centerline is valid? [True, True] Translation: X:594.31, Y:-32.33, Z:1.61 [[ 9.81297491e-01 1.92098793e-01 -1.23809809e-02 5.94308035e+02] [-1.92081549e-01 9.81375581e-01 2.57834566e-03 -3.23294841e+01] [ 1.26456894e-02 -1.51966133e-04 9.99920029e-01 1.60570698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.010714057 meters Centerline goodness [0,1] 0.9937917043482511 Centerline is valid? [True, True] Translation: X:594.34, Y:-32.33, Z:1.61 [[ 9.81025019e-01 1.93555874e-01 -1.12265205e-02 5.94340107e+02] [-1.93541759e-01 9.81089246e-01 2.34079406e-03 -3.23324626e+01] [ 1.14672929e-02 -1.23577020e-04 9.99934241e-01 1.60632419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.040714057 meters Centerline goodness [0,1] 0.9932153105393706 Centerline is valid? [True, True] Translation: X:594.37, Y:-32.34, Z:1.61 [[ 9.80709082e-01 1.95164061e-01 -1.09857383e-02 5.94371657e+02] [-1.95150614e-01 9.80770604e-01 2.29334531e-03 -3.23362697e+01] [ 1.12220678e-02 -1.05230994e-04 9.99937025e-01 1.60674495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0707140569999 meters Centerline goodness [0,1] 0.992808194299828 Centerline is valid? [True, True] Translation: X:594.40, Y:-32.34, Z:1.61 [[ 9.79658083e-01 2.00291461e-01 -1.23843190e-02 5.94403806e+02] [-2.00274742e-01 9.79736356e-01 2.58840369e-03 -3.23364824e+01] [ 1.26518027e-02 -5.54843036e-05 9.99919961e-01 1.60548091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1007140569999 meters Centerline goodness [0,1] 0.9921859926683388 Centerline is valid? [True, True] Translation: X:594.44, Y:-32.34, Z:1.60 [[ 9.78372087e-01 2.06396738e-01 -1.37275879e-02 5.94436489e+02] [-2.06376745e-01 9.78468388e-01 2.87278837e-03 -3.23360014e+01] [ 1.40249449e-02 2.23989647e-05 9.99901645e-01 1.60353722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.130714057 meters Centerline goodness [0,1] 0.9923777922046695 Centerline is valid? [True, True] Translation: X:594.47, Y:-32.34, Z:1.60 [[ 9.77710014e-01 2.09499694e-01 -1.38926596e-02 5.94469651e+02] [-2.09479476e-01 9.77808710e-01 2.91119082e-03 -3.23392666e+01] [ 1.41942571e-02 6.39266266e-05 9.99899254e-01 1.60340780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.160714057 meters Centerline goodness [0,1] 0.9914763859876587 Centerline is valid? [True, True] Translation: X:594.50, Y:-32.34, Z:1.60 [[ 9.76524936e-01 2.14926488e-01 -1.43406286e-02 5.94502369e+02] [-2.14905474e-01 9.76630219e-01 3.00886369e-03 -3.23397984e+01] [ 1.46521758e-02 1.43649170e-04 9.99892641e-01 1.60325656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1907140569999 meters Centerline goodness [0,1] 0.9911591355599214 Centerline is valid? [True, True] Translation: X:594.53, Y:-32.34, Z:1.60 [[ 9.76032413e-01 2.17140661e-01 -1.45142058e-02 5.94533972e+02] [-2.17119343e-01 9.76140309e-01 3.04775116e-03 -3.23420349e+01] [ 1.48296921e-02 1.76610913e-04 9.99890018e-01 1.60163362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2207140569999 meters Centerline goodness [0,1] 0.9915686603271935 Centerline is valid? [True, True] Translation: X:594.57, Y:-32.35, Z:1.60 [[ 9.75529202e-01 2.19358706e-01 -1.49844414e-02 5.94565418e+02] [-2.19336194e-01 9.75644255e-01 3.14989206e-03 -3.23464334e+01] [ 1.53104404e-02 2.13818655e-04 9.99882765e-01 1.60223204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.250714057 meters Centerline goodness [0,1] 0.9909405999760965 Centerline is valid? [True, True] Translation: X:594.60, Y:-32.35, Z:1.60 [[ 9.75485343e-01 2.19511246e-01 -1.55935497e-02 5.94597855e+02] [-2.19486814e-01 9.75609945e-01 3.28242194e-03 -3.23530439e+01] [ 1.59337507e-02 2.20624055e-04 9.99873025e-01 1.60297979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.280714057 meters Centerline goodness [0,1] 0.9908342507059781 Centerline is valid? [True, True] Translation: X:594.63, Y:-32.36, Z:1.60 [[ 9.75594903e-01 2.19047164e-01 -1.52618522e-02 5.94628318e+02] [-2.19023644e-01 9.75714250e-01 3.21641769e-03 -3.23593318e+01] [ 1.55957539e-02 2.04785779e-04 9.99878358e-01 1.60322328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3107140569999 meters Centerline goodness [0,1] 0.9910835618071284 Centerline is valid? [True, True] Translation: X:594.66, Y:-32.37, Z:1.60 [[ 9.75984800e-01 2.17351509e-01 -1.45599023e-02 5.94660017e+02] [-2.17329887e-01 9.76093384e-01 3.07032167e-03 -3.23671378e+01] [ 1.48791634e-02 1.67714642e-04 9.99889285e-01 1.60398867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3407140569999 meters Centerline goodness [0,1] 0.9915802027429934 Centerline is valid? [True, True] Translation: X:594.69, Y:-32.37, Z:1.60 [[ 9.76425723e-01 2.15411889e-01 -1.38031311e-02 5.94690537e+02] [-2.15392225e-01 9.76523272e-01 2.91339421e-03 -3.23738588e+01] [ 1.41066585e-02 1.28374083e-04 9.99900488e-01 1.60486411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.370714057 meters Centerline goodness [0,1] 0.9919123962210135 Centerline is valid? [True, True] Translation: X:594.72, Y:-32.38, Z:1.60 [[ 9.76600930e-01 2.14646429e-01 -1.33242192e-02 5.94721828e+02] [-2.14627991e-01 9.76691813e-01 2.81551824e-03 -3.23810747e+01] [ 1.36179968e-02 1.10112675e-04 9.99907265e-01 1.60498780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.400714057 meters Centerline goodness [0,1] 0.9924652471446624 Centerline is valid? [True, True] Translation: X:594.75, Y:-32.39, Z:1.61 [[ 9.76829867e-01 2.13646861e-01 -1.25869218e-02 5.94752520e+02] [-2.13630285e-01 9.76910954e-01 2.66276168e-03 -3.23885305e+01] [ 1.28651925e-02 8.78825573e-05 9.99917236e-01 1.60577981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4307140569999 meters Centerline goodness [0,1] 0.9916433875319342 Centerline is valid? [True, True] Translation: X:594.78, Y:-32.40, Z:1.61 [[ 9.76814317e-01 2.13740427e-01 -1.21991525e-02 5.94784757e+02] [-2.13724823e-01 9.76890487e-01 2.58397358e-03 -3.23955016e+01] [ 1.24695357e-02 8.31993302e-05 9.99922249e-01 1.60620751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4607140569999 meters Centerline goodness [0,1] 0.9909693099504384 Centerline is valid? [True, True] Translation: X:594.82, Y:-32.40, Z:1.61 [[ 9.76682716e-01 2.14339905e-01 -1.22179469e-02 5.94816695e+02] [-2.14324257e-01 9.76759130e-01 2.59135115e-03 -3.24018730e+01] [ 1.24894211e-02 8.76745127e-05 9.99922000e-01 1.60661268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.490714057 meters Centerline goodness [0,1] 0.9909693099504384 Centerline is valid? [True, True] Translation: X:594.85, Y:-32.41, Z:1.61 [[ 9.76625825e-01 2.14599013e-01 -1.22172587e-02 5.94848368e+02] [-2.14583346e-01 9.76702235e-01 2.59459280e-03 -3.24086852e+01] [ 1.24894210e-02 8.76739172e-05 9.99922000e-01 1.60674040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.520714057 meters Centerline goodness [0,1] 0.9927399966675394 Centerline is valid? [True, True] Translation: X:594.88, Y:-32.41, Z:1.61 [[ 9.76212015e-01 2.16463350e-01 -1.23983987e-02 5.94880445e+02] [-2.16447324e-01 9.76290738e-01 2.63631203e-03 -3.24141423e+01] [ 1.26751068e-02 1.10000744e-04 9.99919662e-01 1.60701345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5507140569999 meters Centerline goodness [0,1] 0.9921042617960426 Centerline is valid? [True, True] Translation: X:594.91, Y:-32.42, Z:1.61 [[ 9.75852191e-01 2.18067811e-01 -1.26067909e-02 5.94911926e+02] [-2.18051333e-01 9.75933611e-01 2.68383017e-03 -3.24194017e+01] [ 1.28886480e-02 1.29906021e-04 9.99916929e-01 1.60636641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5807140569999 meters Centerline goodness [0,1] 0.9912445575884467 Centerline is valid? [True, True] Translation: X:594.94, Y:-32.42, Z:1.61 [[ 9.75091842e-01 2.21429132e-01 -1.28467680e-02 5.94942963e+02] [-2.21412272e-01 9.75176450e-01 2.73800989e-03 -3.24222684e+01] [ 1.31341407e-02 1.74620976e-04 9.99913728e-01 1.60504087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.610714057 meters Centerline goodness [0,1] 0.9910307517084282 Centerline is valid? [True, True] Translation: X:594.97, Y:-32.43, Z:1.61 [[ 9.74722799e-01 2.23055662e-01 -1.27136362e-02 5.94974075e+02] [-2.23039248e-01 9.74805691e-01 2.71273212e-03 -3.24283936e+01] [ 1.29984152e-02 1.91478012e-04 9.99915499e-01 1.60603336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.640714057 meters Centerline goodness [0,1] 0.99064114106999 Centerline is valid? [True, True] Translation: X:595.01, Y:-32.43, Z:1.61 [[ 9.74187287e-01 2.25380209e-01 -1.27628579e-02 5.95005895e+02] [-2.25363825e-01 9.74270862e-01 2.72644379e-03 -3.24336517e+01] [ 1.30489670e-02 2.20219590e-04 9.99914834e-01 1.60650822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6707140569999 meters Centerline goodness [0,1] 0.9902265448938441 Centerline is valid? [True, True] Translation: X:595.04, Y:-32.44, Z:1.61 [[ 9.73890092e-01 2.26618025e-01 -1.35040800e-02 5.95037528e+02] [-2.26599754e-01 9.73983680e-01 2.88823133e-03 -3.24393653e+01] [ 1.38072788e-02 2.47201320e-04 9.99904644e-01 1.60565996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7007140569999 meters Centerline goodness [0,1] 0.990991631699974 Centerline is valid? [True, True] Translation: X:595.07, Y:-32.45, Z:1.61 [[ 9.73836105e-01 2.26819011e-01 -1.40134460e-02 5.95069658e+02] [-2.26799300e-01 9.73936893e-01 3.00108377e-03 -3.24461030e+01] [ 1.43289149e-02 2.55676029e-04 9.99897303e-01 1.60501191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7307140569999 meters Centerline goodness [0,1] 0.9897758273039972 Centerline is valid? [True, True] Translation: X:595.10, Y:-32.45, Z:1.60 [[ 9.73740448e-01 2.27132050e-01 -1.55103562e-02 5.95100308e+02] [-2.27107899e-01 9.73863928e-01 3.32446144e-03 -3.24521928e+01] [ 1.58600682e-02 2.85361833e-04 9.99874180e-01 1.60351850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.760714057 meters Centerline goodness [0,1] 0.9904834411876665 Centerline is valid? [True, True] Translation: X:595.13, Y:-32.46, Z:1.60 [[ 9.73571645e-01 2.27845800e-01 -1.56378827e-02 5.95132614e+02] [-2.27821279e-01 9.73697183e-01 3.35573291e-03 -3.24603837e+01] [ 1.59911520e-02 2.95596030e-04 9.99872090e-01 1.60431722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.790714057 meters Centerline goodness [0,1] 0.9893308620853531 Centerline is valid? [True, True] Translation: X:595.16, Y:-32.47, Z:1.60 [[ 9.73423449e-01 2.28460384e-01 -1.58947183e-02 5.95163128e+02] [-2.28435086e-01 9.73553162e-01 3.41364631e-03 -3.24659369e+01] [ 1.62542362e-02 3.07987992e-04 9.99867844e-01 1.60378705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8207140569999 meters Centerline goodness [0,1] 0.9887228778073849 Centerline is valid? [True, True] Translation: X:595.19, Y:-32.47, Z:1.61 [[ 9.73219859e-01 2.29296095e-01 -1.63219984e-02 5.95193850e+02] [-2.29269475e-01 9.73356663e-01 3.50917108e-03 -3.24742938e+01] [ 1.66917651e-02 3.26941009e-04 9.99860629e-01 1.60524051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8507140569999 meters Centerline goodness [0,1] 0.9893118141350663 Centerline is valid? [True, True] Translation: X:595.23, Y:-32.48, Z:1.61 [[ 9.73072531e-01 2.29958979e-01 -1.57707873e-02 5.95225163e+02] [-2.29934145e-01 9.73200269e-01 3.39489017e-03 -3.24797061e+01] [ 1.61288199e-02 3.22768116e-04 9.99869870e-01 1.60516589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.880714057 meters Centerline goodness [0,1] 0.9888423657039539 Centerline is valid? [True, True] Translation: X:595.26, Y:-32.49, Z:1.61 [[ 9.72875258e-01 2.30869302e-01 -1.45978775e-02 5.95257408e+02] [-2.30848066e-01 9.72984722e-01 3.14650425e-03 -3.24861198e+01] [ 1.49299430e-02 3.08735647e-04 9.99888495e-01 1.60592122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.910714057 meters Centerline goodness [0,1] 0.9886444793600914 Centerline is valid? [True, True] Translation: X:595.29, Y:-32.49, Z:1.61 [[ 9.72761439e-01 2.31394494e-01 -1.38481530e-02 5.95289512e+02] [-2.31375380e-01 9.72859959e-01 2.98886196e-03 -3.24930972e+01] [ 1.41639198e-02 2.96672007e-04 9.99899643e-01 1.60630875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9407140569999 meters Centerline goodness [0,1] 0.9882839421088904 Centerline is valid? [True, True] Translation: X:595.32, Y:-32.50, Z:1.61 [[ 9.72419891e-01 2.32871437e-01 -1.30556571e-02 5.95320996e+02] [-2.32854550e-01 9.72507483e-01 2.82013006e-03 -3.24965274e+01] [ 1.33534520e-02 2.97718602e-04 9.99910794e-01 1.60665031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9707140569999 meters Centerline goodness [0,1] 0.9873586161011311 Centerline is valid? [True, True] Translation: X:595.35, Y:-32.50, Z:1.61 [[ 9.71889202e-01 2.35050196e-01 -1.35197985e-02 5.95352837e+02] [-2.35032258e-01 9.71983175e-01 2.92326802e-03 -3.25019714e+01] [ 1.38281314e-02 3.36496155e-04 9.99904330e-01 1.60589885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.000714057 meters Centerline goodness [0,1] 0.9874081100308276 Centerline is valid? [True, True] Translation: X:595.38, Y:-32.51, Z:1.61 [[ 9.71611675e-01 2.36203147e-01 -1.33725938e-02 5.95383918e+02] [-2.36185662e-01 9.71703635e-01 2.89472233e-03 -3.25091280e+01] [ 1.36779405e-02 3.45868898e-04 9.99906393e-01 1.60598303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.030714057 meters Centerline goodness [0,1] 0.986276325474274 Centerline is valid? [True, True] Translation: X:595.41, Y:-32.51, Z:1.61 [[ 9.71215302e-01 2.37803323e-01 -1.37991649e-02 5.95414226e+02] [-2.37784825e-01 9.71313254e-01 2.98998560e-03 -3.25141691e+01] [ 1.41143403e-02 3.77312233e-04 9.99900317e-01 1.60554434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0607140569999 meters Centerline goodness [0,1] 0.9859682389191752 Centerline is valid? [True, True] Translation: X:595.44, Y:-32.52, Z:1.61 [[ 9.70992618e-01 2.38676165e-01 -1.43883496e-02 5.95444626e+02] [-2.38656102e-01 9.71099133e-01 3.12081554e-03 -3.25205704e+01] [ 1.47173781e-02 4.03578572e-04 9.99891612e-01 1.60503881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0907140569999 meters Centerline goodness [0,1] 0.9856657237264363 Centerline is valid? [True, True] Translation: X:595.48, Y:-32.53, Z:1.60 [[ 9.70876856e-01 2.39076539e-01 -1.55093509e-02 5.95475722e+02] [-2.39053219e-01 9.71000627e-01 3.36770293e-03 -3.25274476e+01] [ 1.58647282e-02 4.37935429e-04 9.99874051e-01 1.60398800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.120714057 meters Centerline goodness [0,1] 0.9862645849670872 Centerline is valid? [True, True] Translation: X:595.51, Y:-32.53, Z:1.60 [[ 9.70792267e-01 2.39443031e-01 -1.51462604e-02 5.95507695e+02] [-2.39420773e-01 9.70910320e-01 3.29288425e-03 -3.25345961e+01] [ 1.54941187e-02 4.29622819e-04 9.99879867e-01 1.60374871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.150714057 meters Centerline goodness [0,1] 0.9876181632021335 Centerline is valid? [True, True] Translation: X:595.54, Y:-32.55, Z:1.61 [[ 9.70887188e-01 2.39087273e-01 -1.46746351e-02 5.95538472e+02] [-2.39066301e-01 9.70997996e-01 3.19288145e-03 -3.25463660e+01] [ 1.50124186e-02 4.08283054e-04 9.99887224e-01 1.60524247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1807140569999 meters Centerline goodness [0,1] 0.9872995448805013 Centerline is valid? [True, True] Translation: X:595.57, Y:-32.55, Z:1.60 [[ 9.71104820e-01 2.38261394e-01 -1.36724721e-02 5.95568758e+02] [-2.38243067e-01 9.71200996e-01 2.97765477e-03 -3.25522312e+01] [ 1.39881787e-02 3.65756788e-04 9.99902094e-01 1.60463009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2107140569999 meters Centerline goodness [0,1] 0.988078491213848 Centerline is valid? [True, True] Translation: X:595.60, Y:-32.56, Z:1.61 [[ 9.71083757e-01 2.38330696e-01 -1.39576743e-02 5.95599641e+02] [-2.38311549e-01 9.71183990e-01 3.04366816e-03 -3.25638350e+01] [ 1.42808694e-02 3.70618281e-04 9.99897954e-01 1.60620670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.240714057 meters Centerline goodness [0,1] 0.9879968374901171 Centerline is valid? [True, True] Translation: X:595.63, Y:-32.57, Z:1.61 [[ 9.71117169e-01 2.38221019e-01 -1.34977632e-02 5.95630713e+02] [-2.38203052e-01 9.71210905e-01 2.94695218e-03 -3.25734700e+01] [ 1.38112008e-02 3.53372529e-04 9.99904558e-01 1.60651938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.270714057 meters Centerline goodness [0,1] 0.9881696482026966 Centerline is valid? [True, True] Translation: X:595.66, Y:-32.58, Z:1.61 [[ 9.71065538e-01 2.38433041e-01 -1.34686994e-02 5.95662226e+02] [-2.38415119e-01 9.71158875e-01 2.94442484e-03 -3.25815603e+01] [ 1.37822952e-02 3.51912087e-04 9.99904958e-01 1.60687481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3007140569999 meters Centerline goodness [0,1] 0.9882595856041871 Centerline is valid? [True, True] Translation: X:595.69, Y:-32.59, Z:1.60 [[ 9.70858458e-01 2.39229134e-01 -1.42574613e-02 5.95692216e+02] [-2.39209085e-01 9.70963066e-01 3.12052252e-03 -3.25881417e+01] [ 1.45899883e-02 3.80928584e-04 9.99893488e-01 1.60494589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3307140569999 meters Centerline goodness [0,1] 0.9888776784856347 Centerline is valid? [True, True] Translation: X:595.72, Y:-32.60, Z:1.60 [[ 9.70684293e-01 2.39900024e-01 -1.48318051e-02 5.95723521e+02] [-2.39878348e-01 9.70797515e-01 3.24991126e-03 -3.25951010e+01] [ 1.51783333e-02 4.03191100e-04 9.99884721e-01 1.60394378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.360714057 meters Centerline goodness [0,1] 0.9878283460021168 Centerline is valid? [True, True] Translation: X:595.75, Y:-32.60, Z:1.60 [[ 9.70251643e-01 2.41541605e-01 -1.64134600e-02 5.95754794e+02] [-2.41515223e-01 9.70390350e-01 3.60074477e-03 -3.26039282e+01] [ 1.67971929e-02 4.70471926e-04 9.99858807e-01 1.60259212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.390714057 meters Centerline goodness [0,1] 0.9883232810615199 Centerline is valid? [True, True] Translation: X:595.79, Y:-32.61, Z:1.60 [[ 9.69989566e-01 2.42558243e-01 -1.69038540e-02 5.95785573e+02] [-2.42530345e-01 9.70136717e-01 3.71240265e-03 -3.26101517e+01] [ 1.72995233e-02 4.98705704e-04 9.99850228e-01 1.60145725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4207140569999 meters Centerline goodness [0,1] 0.9880750810313966 Centerline is valid? [True, True] Translation: X:595.82, Y:-32.62, Z:1.60 [[ 9.69648407e-01 2.43913499e-01 -1.69756123e-02 5.95816439e+02] [-2.43885497e-01 9.69796852e-01 3.73238826e-03 -3.26196229e+01] [ 1.73732752e-02 5.21001301e-04 9.99848938e-01 1.60215284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4507140569999 meters Centerline goodness [0,1] 0.9870230486151462 Centerline is valid? [True, True] Translation: X:595.85, Y:-32.62, Z:1.60 [[ 9.69237056e-01 2.45622880e-01 -1.57774981e-02 5.95846928e+02] [-2.45598858e-01 9.69365329e-01 3.47263430e-03 -3.26243259e+01] [ 1.61471180e-02 5.09129670e-04 9.99869497e-01 1.60203232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4807140569999 meters Centerline goodness [0,1] 0.9871200912023674 Centerline is valid? [True, True] Translation: X:595.88, Y:-32.63, Z:1.60 [[ 9.68989907e-01 2.46602026e-01 -1.56844353e-02 5.95878578e+02] [-2.46578355e-01 9.69116697e-01 3.45588031e-03 -3.26315241e+01] [ 1.60522752e-02 5.18729134e-04 9.99871019e-01 1.60228277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.510714057 meters Centerline goodness [0,1] 0.987438956242863 Centerline is valid? [True, True] Translation: X:595.91, Y:-32.64, Z:1.60 [[ 9.68562535e-01 2.48353783e-01 -1.43880266e-02 5.95908838e+02] [-2.48334008e-01 9.68669267e-01 3.17350802e-03 -3.26409060e+01] [ 1.47253919e-02 4.99295344e-04 9.99891451e-01 1.60437040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.540714057 meters Centerline goodness [0,1] 0.9876888640179071 Centerline is valid? [True, True] Translation: X:595.94, Y:-32.65, Z:1.60 [[ 9.68693015e-01 2.47867301e-01 -1.39872433e-02 5.95939430e+02] [-2.47848514e-01 9.68793877e-01 3.08849978e-03 -3.26498033e+01] [ 1.43162938e-02 4.74909305e-04 9.99897404e-01 1.60460081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5707140569999 meters Centerline goodness [0,1] 0.9861343823607974 Centerline is valid? [True, True] Translation: X:595.97, Y:-32.66, Z:1.60 [[ 9.69198026e-01 2.45898475e-01 -1.37523056e-02 5.95969748e+02] [-2.45880068e-01 9.69295492e-01 3.04001465e-03 -3.26585293e+01] [ 1.40775828e-02 4.35041640e-04 9.99900811e-01 1.60416973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6007140569999 meters Centerline goodness [0,1] 0.9870926891042814 Centerline is valid? [True, True] Translation: X:596.00, Y:-32.67, Z:1.60 [[ 9.69654404e-01 2.44089792e-01 -1.38025600e-02 5.96000831e+02] [-2.44071019e-01 9.69752550e-01 3.05454136e-03 -3.26668920e+01] [ 1.41306501e-02 4.06955398e-04 9.99900075e-01 1.60383094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.630714057 meters Centerline goodness [0,1] 0.9874738531886949 Centerline is valid? [True, True] Translation: X:596.03, Y:-32.68, Z:1.60 [[ 9.70135303e-01 2.42138800e-01 -1.43630004e-02 5.96031839e+02] [-2.42118225e-01 9.70241541e-01 3.18072810e-03 -3.26773945e+01] [ 1.47057573e-02 3.91807544e-04 9.99891788e-01 1.60286270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.660714057 meters Centerline goodness [0,1] 0.9875578280983687 Centerline is valid? [True, True] Translation: X:596.06, Y:-32.68, Z:1.60 [[ 9.70190064e-01 2.41907144e-01 -1.45661531e-02 5.96063031e+02] [-2.41885912e-01 9.70299325e-01 3.22873741e-03 -3.26816478e+01] [ 1.49145832e-02 3.90858260e-04 9.99888695e-01 1.60238130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6907140569999 meters Centerline goodness [0,1] 0.9863143335517216 Centerline is valid? [True, True] Translation: X:596.09, Y:-32.69, Z:1.60 [[ 9.69950638e-01 2.42867668e-01 -1.45277582e-02 5.96093990e+02] [-2.42846605e-01 9.70059346e-01 3.22356948e-03 -3.26866920e+01] [ 1.48756884e-02 4.01313495e-04 9.99889270e-01 1.60237982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7207140569999 meters Centerline goodness [0,1] 0.9875586968097981 Centerline is valid? [True, True] Translation: X:596.13, Y:-32.69, Z:1.60 [[ 9.69571922e-01 2.44201752e-01 -1.71986279e-02 5.96125667e+02] [-2.44172363e-01 9.69724321e-01 3.82068692e-03 -3.26917058e+01] [ 1.76109462e-02 4.94998852e-04 9.99844793e-01 1.60062576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.750714057 meters Centerline goodness [0,1] 0.9872906951458187 Centerline is valid? [True, True] Translation: X:596.16, Y:-32.69, Z:1.60 [[ 9.69420900e-01 2.44777524e-01 -1.75237440e-02 5.96157022e+02] [-2.44747027e-01 9.69579137e-01 3.89742275e-03 -3.26949989e+01] [ 1.79446581e-02 5.10641165e-04 9.99838851e-01 1.59849749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.780714057 meters Centerline goodness [0,1] 0.9865337741631874 Centerline is valid? [True, True] Translation: X:596.19, Y:-32.70, Z:1.60 [[ 9.69508942e-01 2.44437508e-01 -1.73987414e-02 5.96188198e+02] [-2.44407310e-01 9.69664921e-01 3.87408093e-03 -3.27016508e+01] [ 1.78179199e-02 4.96423488e-04 9.99841125e-01 1.59872646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8107140569999 meters Centerline goodness [0,1] 0.9871269466274528 Centerline is valid? [True, True] Translation: X:596.22, Y:-32.71, Z:1.60 [[ 9.69564330e-01 2.44217864e-01 -1.73966856e-02 5.96218983e+02] [-2.44187558e-01 9.69720267e-01 3.87808773e-03 -3.27093953e+01] [ 1.78170169e-02 4.87998649e-04 9.99841145e-01 1.60051317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8407140569999 meters Centerline goodness [0,1] 0.9874530392062422 Centerline is valid? [True, True] Translation: X:596.25, Y:-32.72, Z:1.60 [[ 9.69810850e-01 2.43307093e-01 -1.63882275e-02 5.96249077e+02] [-2.43280023e-01 9.69949207e-01 3.65604320e-03 -3.27164863e+01] [ 1.67852895e-02 4.41257990e-04 9.99859020e-01 1.60380560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.870714057 meters Centerline goodness [0,1] 0.9868974636374565 Centerline is valid? [True, True] Translation: X:596.28, Y:-32.72, Z:1.61 [[ 9.69751308e-01 2.43611935e-01 -1.53500912e-02 5.96280731e+02] [-2.43588169e-01 9.69872699e-01 3.42792849e-03 -3.27230903e+01] [ 1.57227187e-02 4.14862475e-04 9.99876304e-01 1.60501489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.900714057 meters Centerline goodness [0,1] 0.9880940973553085 Centerline is valid? [True, True] Translation: X:596.31, Y:-32.73, Z:1.61 [[ 9.69595551e-01 2.44311398e-01 -1.40145517e-02 5.96314074e+02] [-2.44291605e-01 9.69696753e-01 3.13358663e-03 -3.27259733e+01] [ 1.43554362e-02 3.85325675e-04 9.99896881e-01 1.60546593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9307140569999 meters Centerline goodness [0,1] 0.9868449325534201 Centerline is valid? [True, True] Translation: X:596.35, Y:-32.73, Z:1.61 [[ 9.69295539e-01 2.45552483e-01 -1.30436318e-02 5.96345442e+02] [-2.45535403e-01 9.69383226e-01 2.91995350e-03 -3.27305987e+01] [ 1.33612797e-02 3.72375498e-04 9.99910665e-01 1.60555320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9607140569999 meters Centerline goodness [0,1] 0.9864216680587042 Centerline is valid? [True, True] Translation: X:596.38, Y:-32.74, Z:1.61 [[ 9.69109838e-01 2.46284404e-01 -1.30427908e-02 5.96375869e+02] [-2.46267350e-01 9.69197528e-01 2.92298891e-03 -3.27359157e+01] [ 1.33609272e-02 3.79316206e-04 9.99910667e-01 1.60583797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.990714057 meters Centerline goodness [0,1] 0.9861679840015236 Centerline is valid? [True, True] Translation: X:596.41, Y:-32.74, Z:1.61 [[ 9.68481370e-01 2.48728135e-01 -1.33473465e-02 5.96407284e+02] [-2.48710460e-01 9.68573249e-01 2.99465303e-03 -3.27421022e+01] [ 1.36727372e-02 4.19359017e-04 9.99906436e-01 1.60711051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.020714057 meters Centerline goodness [0,1] 0.9856019070321812 Centerline is valid? [True, True] Translation: X:596.44, Y:-32.75, Z:1.61 [[ 9.68097668e-01 2.50213634e-01 -1.34179679e-02 5.96438724e+02] [-2.50195866e-01 9.68190552e-01 3.01399560e-03 -3.27480933e+01] [ 1.37452926e-02 4.39277993e-04 9.99905433e-01 1.60717236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0507140569999 meters Centerline goodness [0,1] 0.9857360213008749 Centerline is valid? [True, True] Translation: X:596.47, Y:-32.75, Z:1.61 [[ 9.67459728e-01 2.52650617e-01 -1.37600666e-02 5.96470854e+02] [-2.52632153e-01 9.67557456e-01 3.09260667e-03 -3.27513130e+01] [ 1.40950040e-02 4.84262830e-04 9.99900543e-01 1.60603229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0807140569999 meters Centerline goodness [0,1] 0.9848862315230028 Centerline is valid? [True, True] Translation: X:596.50, Y:-32.76, Z:1.61 [[ 9.67088491e-01 2.54073487e-01 -1.36569924e-02 5.96502267e+02] [-2.54055400e-01 9.67184788e-01 3.07228310e-03 -3.27568232e+01] [ 1.39894210e-02 4.98463044e-04 9.99902019e-01 1.60519593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.110714057 meters Centerline goodness [0,1] 0.9850416696345894 Centerline is valid? [True, True] Translation: X:596.53, Y:-32.76, Z:1.61 [[ 9.66552652e-01 2.56048570e-01 -1.46662983e-02 5.96533405e+02] [-2.56027902e-01 9.66663753e-01 3.30176891e-03 -3.27612178e+01] [ 1.50227922e-02 5.63648073e-04 9.99886993e-01 1.60521102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.140714057 meters Centerline goodness [0,1] 0.9848581787161441 Centerline is valid? [True, True] Translation: X:596.56, Y:-32.77, Z:1.61 [[ 9.66279468e-01 2.57071463e-01 -1.47734080e-02 5.96564349e+02] [-2.57050560e-01 9.66392222e-01 3.32922251e-03 -3.27694568e+01] [ 1.51327547e-02 5.80553436e-04 9.99885325e-01 1.60650281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1707140569999 meters Centerline goodness [0,1] 0.9844702879024252 Centerline is valid? [True, True] Translation: X:596.60, Y:-32.77, Z:1.61 [[ 9.66011672e-01 2.58115009e-01 -1.40744785e-02 5.96595628e+02] [-2.58096098e-01 9.66114032e-01 3.17513694e-03 -3.27740996e+01] [ 1.44171017e-02 5.65348636e-04 9.99895908e-01 1.60675455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2007140569999 meters Centerline goodness [0,1] 0.9845840536124464 Centerline is valid? [True, True] Translation: X:596.63, Y:-32.78, Z:1.61 [[ 9.65809888e-01 2.58904011e-01 -1.34154367e-02 5.96626993e+02] [-2.58886859e-01 9.65902901e-01 3.02986680e-03 -3.27810256e+01] [ 1.37424539e-02 5.46804945e-04 9.99905419e-01 1.60668782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2307140569999 meters Centerline goodness [0,1] 0.9845794171822604 Centerline is valid? [True, True] Translation: X:596.66, Y:-32.79, Z:1.61 [[ 9.65841083e-01 2.58817642e-01 -1.28230160e-02 5.96658341e+02] [-2.58801923e-01 9.65926063e-01 2.89922101e-03 -3.27853258e+01] [ 1.31364549e-02 5.18434426e-04 9.99913579e-01 1.60646532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.260714057 meters Centerline goodness [0,1] 0.9836791737729771 Centerline is valid? [True, True] Translation: X:596.69, Y:-32.79, Z:1.61 [[ 9.65961419e-01 2.58378010e-01 -1.26230356e-02 5.96689000e+02] [-2.58362701e-01 9.66043763e-01 2.85699441e-03 -3.27915157e+01] [ 1.29325894e-02 5.01575210e-04 9.99916245e-01 1.60688175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.290714057 meters Centerline goodness [0,1] 0.9850105044496377 Centerline is valid? [True, True] Translation: X:596.72, Y:-32.80, Z:1.61 [[ 9.66010933e-01 2.58222866e-01 -1.19928905e-02 5.96720276e+02] [-2.58208999e-01 9.66085260e-01 2.71732754e-03 -3.28004174e+01] [ 1.22878308e-02 4.71704137e-04 9.99924390e-01 1.60838294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3207140569999 meters Centerline goodness [0,1] 0.9841086186540732 Centerline is valid? [True, True] Translation: X:596.75, Y:-32.80, Z:1.61 [[ 9.66240494e-01 2.57396417e-01 -1.12423960e-02 5.96751113e+02] [-2.57384153e-01 9.66305800e-01 2.54928722e-03 -3.28038044e+01] [ 1.15197698e-02 4.30390023e-04 9.99933553e-01 1.60717224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3507140569999 meters Centerline goodness [0,1] 0.9859785554377283 Centerline is valid? [True, True] Translation: X:596.78, Y:-32.81, Z:1.61 [[ 9.66603401e-01 2.56047701e-01 -1.08369476e-02 5.96782483e+02] [-2.56036194e-01 9.66664066e-01 2.45969630e-03 -3.28117699e+01] [ 1.11054874e-02 3.97100008e-04 9.99938253e-01 1.60766804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.380714057 meters Centerline goodness [0,1] 0.9851158182761711 Centerline is valid? [True, True] Translation: X:596.81, Y:-32.82, Z:1.61 [[ 9.66624205e-01 2.55967562e-01 -1.08744315e-02 5.96813419e+02] [-2.55955940e-01 9.66685291e-01 2.47087343e-03 -3.28160572e+01] [ 1.11446164e-02 3.94969269e-04 9.99937819e-01 1.60774966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.410714057 meters Centerline goodness [0,1] 0.9851158182761711 Centerline is valid? [True, True] Translation: X:596.85, Y:-32.82, Z:1.61 [[ 9.66555431e-01 2.56227164e-01 -1.08738041e-02 5.96845014e+02] [-2.56215528e-01 9.66616514e-01 2.47363251e-03 -3.28233309e+01] [ 1.11446104e-02 3.95134510e-04 9.99937819e-01 1.60787739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4407140569999 meters Centerline goodness [0,1] 0.9842092858826302 Centerline is valid? [True, True] Translation: X:596.88, Y:-32.83, Z:1.61 [[ 9.66578342e-01 2.56128590e-01 -1.11559032e-02 5.96875829e+02] [-2.56116304e-01 9.66642635e-01 2.54058289e-03 -3.28291804e+01] [ 1.14344876e-02 4.01536311e-04 9.99934543e-01 1.60780744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4707140569999 meters Centerline goodness [0,1] 0.9853402894171526 Centerline is valid? [True, True] Translation: X:596.91, Y:-32.84, Z:1.61 [[ 9.66621637e-01 2.55916151e-01 -1.22283932e-02 5.96907206e+02] [-2.55901329e-01 9.66698885e-01 2.78829228e-03 -3.28407035e+01] [ 1.25347431e-02 4.34038423e-04 9.99921343e-01 1.60772622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.500714057 meters Centerline goodness [0,1] 0.9869318047790909 Centerline is valid? [True, True] Translation: X:596.94, Y:-32.85, Z:1.61 [[ 9.66709907e-01 2.55489410e-01 -1.40398800e-02 5.96939191e+02] [-2.55469763e-01 9.66811731e-01 3.20571925e-03 -3.28466113e+01] [ 1.43929480e-02 4.87764242e-04 9.99896297e-01 1.60555290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.530714057 meters Centerline goodness [0,1] 0.9859061828655067 Centerline is valid? [True, True] Translation: X:596.97, Y:-32.85, Z:1.60 [[ 9.66729175e-01 2.55374703e-01 -1.47804972e-02 5.96970756e+02] [-2.55352867e-01 9.66842025e-01 3.37806606e-03 -3.28516569e+01] [ 1.51530785e-02 5.08567316e-04 9.99885056e-01 1.60399614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5607140569999 meters Centerline goodness [0,1] 0.9847698981516408 Centerline is valid? [True, True] Translation: X:597.00, Y:-32.86, Z:1.60 [[ 9.66722713e-01 2.55385612e-01 -1.50128569e-02 5.97002846e+02] [-2.55363023e-01 9.66839142e-01 3.43517386e-03 -3.28603257e+01] [ 1.53923116e-02 5.12867916e-04 9.99881400e-01 1.60497714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5907140569999 meters Centerline goodness [0,1] 0.98671753567896 Centerline is valid? [True, True] Translation: X:597.03, Y:-32.87, Z:1.61 [[ 9.66850606e-01 2.54948383e-01 -1.41854942e-02 5.97033546e+02] [-2.54928114e-01 9.66954547e-01 3.24962156e-03 -3.28690985e+01] [ 1.45452139e-02 4.74382715e-04 9.99894100e-01 1.60648448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.620714057 meters Centerline goodness [0,1] 0.986061894637373 Centerline is valid? [True, True] Translation: X:597.06, Y:-32.88, Z:1.61 [[ 9.67058939e-01 2.54244396e-01 -1.25218263e-02 5.97064289e+02] [-2.54228503e-01 9.67139918e-01 2.87162894e-03 -3.28759419e+01] [ 1.28404536e-02 4.06370709e-04 9.99917475e-01 1.60857575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.650714057 meters Centerline goodness [0,1] 0.9870931273258279 Centerline is valid? [True, True] Translation: X:597.10, Y:-32.88, Z:1.61 [[ 9.67435118e-01 2.52931190e-01 -9.75223230e-03 5.97096022e+02] [-2.52921470e-01 9.67484223e-01 2.23779994e-03 -3.28831380e+01] [ 1.00011403e-02 3.01622684e-04 9.99949942e-01 1.61064353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6807140569999 meters Centerline goodness [0,1] 0.9861107847054124 Centerline is valid? [True, True] Translation: X:597.13, Y:-32.89, Z:1.61 [[ 9.67491207e-01 2.52746939e-01 -8.93018277e-03 5.97126266e+02] [-2.52738767e-01 9.67532382e-01 2.05072601e-03 -3.28890941e+01] [ 9.15855573e-03 2.72943996e-04 9.99958022e-01 1.61121554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7107140569999 meters Centerline goodness [0,1] 0.9865916549460854 Centerline is valid? [True, True] Translation: X:597.16, Y:-32.90, Z:1.61 [[ 9.67538228e-01 2.52606779e-01 -7.71965886e-03 5.97157970e+02] [-2.52600654e-01 9.67568995e-01 1.77454662e-03 -3.28957825e+01] [ 7.91756507e-03 2.33049185e-04 9.99968628e-01 1.61158499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.740714057 meters Centerline goodness [0,1] 0.9880287123851388 Centerline is valid? [True, True] Translation: X:597.19, Y:-32.90, Z:1.61 [[ 9.67632269e-01 2.52241319e-01 -7.88093916e-03 5.97189474e+02] [-2.52234906e-01 9.67664334e-01 1.81367803e-03 -3.29029617e+01] [ 8.08358828e-03 2.32874561e-04 9.99967300e-01 1.61182695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.770714057 meters Centerline goodness [0,1] 0.9878014384430969 Centerline is valid? [True, True] Translation: X:597.22, Y:-32.91, Z:1.61 [[ 9.67792978e-01 2.51586480e-01 -8.99971031e-03 5.97220754e+02] [-2.51578066e-01 9.67834788e-01 2.07360788e-03 -3.29091422e+01] [ 9.23192442e-03 2.57306568e-04 9.99957352e-01 1.61002541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8007140569999 meters Centerline goodness [0,1] 0.9883212707961274 Centerline is valid? [True, True] Translation: X:597.25, Y:-32.92, Z:1.61 [[ 9.68004843e-01 2.50758041e-01 -9.32894349e-03 5.97251880e+02] [-2.50748939e-01 9.68049761e-01 2.15191585e-03 -3.29159568e+01] [ 9.57049171e-03 2.56157714e-04 9.99954169e-01 1.60899974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8307140569999 meters Centerline goodness [0,1] 0.9891827205105944 Centerline is valid? [True, True] Translation: X:597.28, Y:-32.92, Z:1.61 [[ 9.68521294e-01 2.48693036e-01 -1.08754768e-02 5.97282944e+02] [-2.48680501e-01 9.68582314e-01 2.51165029e-03 -3.29238030e+01] [ 1.11584244e-02 2.71932230e-04 9.99937706e-01 1.60748578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.860714057 meters Centerline goodness [0,1] 0.9911535573493524 Centerline is valid? [True, True] Translation: X:597.31, Y:-32.93, Z:1.61 [[ 9.68910643e-01 2.47166359e-01 -1.09980119e-02 5.97314315e+02] [-2.47153410e-01 9.68973027e-01 2.54282085e-03 -3.29317710e+01] [ 1.12852766e-02 2.54429947e-04 9.99936287e-01 1.60723814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.890714057 meters Centerline goodness [0,1] 0.9897687983630077 Centerline is valid? [True, True] Translation: X:597.35, Y:-32.94, Z:1.61 [[ 9.69759756e-01 2.43833384e-01 -1.05497535e-02 5.97345336e+02] [-2.43821254e-01 9.69817116e-01 2.44075860e-03 -3.29421631e+01] [ 1.08264700e-02 2.05304677e-04 9.99941371e-01 1.60841070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9207140569999 meters Centerline goodness [0,1] 0.9904817999764401 Centerline is valid? [True, True] Translation: X:597.38, Y:-32.95, Z:1.61 [[ 9.70815626e-01 2.39649553e-01 -9.22565095e-03 5.97375521e+02] [-2.39640083e-01 9.70859450e-01 2.13502732e-03 -3.29520959e+01] [ 9.46846876e-03 1.38117869e-04 9.99955164e-01 1.60943107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9507140569999 meters Centerline goodness [0,1] 0.9907675640029204 Centerline is valid? [True, True] Translation: X:597.41, Y:-32.96, Z:1.61 [[ 9.71200677e-01 2.38121054e-01 -8.22242131e-03 5.97406291e+02] [-2.38113465e-01 9.71235477e-01 1.90419440e-03 -3.29606855e+01] [ 8.43933606e-03 1.08514338e-04 9.99964382e-01 1.60975366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9807140569999 meters Centerline goodness [0,1] 0.9922476966940785 Centerline is valid? [True, True] Translation: X:597.44, Y:-32.97, Z:1.61 [[ 9.72042963e-01 2.34702567e-01 -6.86899693e-03 5.97437354e+02] [-2.34697173e-01 9.72067231e-01 1.59239496e-03 -3.29703815e+01] [ 7.05086600e-03 6.42578503e-05 9.99975140e-01 1.60983023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.010714057 meters Centerline goodness [0,1] 0.9914203554424174 Centerline is valid? [True, True] Translation: X:597.47, Y:-32.98, Z:1.61 [[ 9.72326782e-01 2.33531438e-01 -6.61030364e-03 5.97467899e+02] [-2.33526405e-01 9.72349250e-01 1.53411273e-03 -3.29783265e+01] [ 6.78578734e-03 5.20215469e-05 9.99976975e-01 1.61010601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.040714057 meters Centerline goodness [0,1] 0.9915713142157555 Centerline is valid? [True, True] Translation: X:597.50, Y:-32.99, Z:1.61 [[ 9.72776303e-01 2.31656089e-01 -6.45921469e-03 5.97498931e+02] [-2.31651231e-01 9.72797746e-01 1.50069515e-03 -3.29871536e+01] [ 6.63115466e-03 3.64443517e-05 9.99978013e-01 1.60976363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0707140569999 meters Centerline goodness [0,1] 0.9906390385022461 Centerline is valid? [True, True] Translation: X:597.53, Y:-32.99, Z:1.61 [[ 9.72856804e-01 2.31311905e-01 -6.66643962e-03 5.97530720e+02] [-2.31306710e-01 9.72879644e-01 1.55068889e-03 -3.29946893e+01] [ 6.84433620e-03 3.33939757e-05 9.99976577e-01 1.60957936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1007140569999 meters Centerline goodness [0,1] 0.9914872660757 Centerline is valid? [True, True] Translation: X:597.56, Y:-33.00, Z:1.61 [[ 9.72815268e-01 2.31508536e-01 -5.85244828e-03 5.97563494e+02] [-2.31504526e-01 9.72832872e-01 1.36292826e-03 -3.30010750e+01] [ 6.00898360e-03 2.89908465e-05 9.99981945e-01 1.61010585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.130714057 meters Centerline goodness [0,1] 0.9917504511472028 Centerline is valid? [True, True] Translation: X:597.60, Y:-33.01, Z:1.61 [[ 9.72629613e-01 2.32298229e-01 -5.40088070e-03 5.97595538e+02] [-2.32294817e-01 9.72644607e-01 1.25927829e-03 -3.30078268e+01] [ 5.54566560e-03 2.97852421e-05 9.99984622e-01 1.61056309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.160714057 meters Centerline goodness [0,1] 0.9901008679333803 Centerline is valid? [True, True] Translation: X:597.63, Y:-33.01, Z:1.61 [[ 9.72477437e-01 2.32929927e-01 -5.59316837e-03 5.97626693e+02] [-2.32926269e-01 9.72493521e-01 1.30578928e-03 -3.30145270e+01] [ 5.74347741e-03 3.29452286e-05 9.99983506e-01 1.61052434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1907140569999 meters Centerline goodness [0,1] 0.9906042784507604 Centerline is valid? [True, True] Translation: X:597.66, Y:-33.02, Z:1.61 [[ 9.72441612e-01 2.33079400e-01 -5.59507190e-03 5.97659052e+02] [-2.33075733e-01 9.72457707e-01 1.30781593e-03 -3.30218169e+01] [ 5.74579575e-03 3.23008570e-05 9.99983492e-01 1.61075830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2207140569999 meters Centerline goodness [0,1] 0.9911779847428277 Centerline is valid? [True, True] Translation: X:597.69, Y:-33.03, Z:1.61 [[ 9.72523258e-01 2.32745854e-01 -5.28019709e-03 5.97690553e+02] [-2.32742576e-01 9.72537591e-01 1.23554005e-03 -3.30277032e+01] [ 5.42275698e-03 2.73352397e-05 9.99985296e-01 1.61034490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.250714057 meters Centerline goodness [0,1] 0.99139124111562 Centerline is valid? [True, True] Translation: X:597.72, Y:-33.03, Z:1.61 [[ 9.72622314e-01 2.32332348e-01 -5.24549737e-03 5.97723045e+02] [-2.32329101e-01 9.72636458e-01 1.22852524e-03 -3.30347093e+01] [ 5.38738814e-03 2.37906299e-05 9.99985488e-01 1.61016404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.280714057 meters Centerline goodness [0,1] 0.9925322471147319 Centerline is valid? [True, True] Translation: X:597.75, Y:-33.04, Z:1.61 [[ 9.73003932e-01 2.30705212e-01 -6.20105321e-03 5.97754947e+02] [-2.30700629e-01 9.73023692e-01 1.45432992e-03 -3.30420266e+01] [ 6.36929319e-03 1.55181431e-05 9.99979716e-01 1.60850067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3107140569999 meters Centerline goodness [0,1] 0.9918902496026923 Centerline is valid? [True, True] Translation: X:597.79, Y:-33.05, Z:1.61 [[ 9.73153159e-01 2.30048534e-01 -7.11339066e-03 5.97787146e+02] [-2.30042469e-01 9.73179157e-01 1.67057280e-03 -3.30502456e+01] [ 7.30691635e-03 1.06587531e-05 9.99973304e-01 1.60796171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3407140569999 meters Centerline goodness [0,1] 0.9933050867295583 Centerline is valid? [True, True] Translation: X:597.82, Y:-33.06, Z:1.61 [[ 9.73893285e-01 2.26872398e-01 -7.79644503e-03 5.97817217e+02] [-2.26864991e-01 9.73924491e-01 1.83332671e-03 -3.30596067e+01] [ 8.00907999e-03 -1.67241476e-05 9.99967927e-01 1.60766559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.370714057 meters Centerline goodness [0,1] 0.9925749509666574 Centerline is valid? [True, True] Translation: X:597.85, Y:-33.07, Z:1.61 [[ 9.74646727e-01 2.23606307e-01 -7.99861167e-03 5.97847898e+02] [-2.23598383e-01 9.74679546e-01 1.88300635e-03 -3.30690638e+01] [ 8.21713529e-03 -4.67893387e-05 9.99966238e-01 1.60823760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.400714057 meters Centerline goodness [0,1] 0.9925775030439262 Centerline is valid? [True, True] Translation: X:597.88, Y:-33.08, Z:1.61 [[ 9.75022389e-01 2.21951770e-01 -8.29167418e-03 5.97879080e+02] [-2.21943177e-01 9.75057643e-01 1.95415434e-03 -3.30769842e+01] [ 8.51858830e-03 -6.50637241e-05 9.99963714e-01 1.60890410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4307140569999 meters Centerline goodness [0,1] 0.9935423490875058 Centerline is valid? [True, True] Translation: X:597.91, Y:-33.08, Z:1.61 [[ 9.75648262e-01 2.19194843e-01 -8.00561567e-03 5.97910056e+02] [-2.19186723e-01 9.75681102e-01 1.88876833e-03 -3.30849852e+01] [ 8.22493620e-03 -8.80488723e-05 9.99966171e-01 1.60985334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4607140569999 meters Centerline goodness [0,1] 0.99425327633331 Centerline is valid? [True, True] Translation: X:597.94, Y:-33.09, Z:1.61 [[ 9.75831739e-01 2.18381071e-01 -7.88195947e-03 5.97940693e+02] [-2.18373161e-01 9.75863566e-01 1.86114325e-03 -3.30922575e+01] [ 8.09815553e-03 -9.49542512e-05 9.99967205e-01 1.61025650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.490714057 meters Centerline goodness [0,1] 0.9943780908836428 Centerline is valid? [True, True] Translation: X:597.97, Y:-33.10, Z:1.61 [[ 9.75862303e-01 2.18244218e-01 -7.88839364e-03 5.97972923e+02] [-2.18236277e-01 9.75894181e-01 1.86437758e-03 -3.30969900e+01] [ 8.10512707e-03 -9.78421425e-05 9.99967148e-01 1.61060542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.520714057 meters Centerline goodness [0,1] 0.9934846622921932 Centerline is valid? [True, True] Translation: X:598.01, Y:-33.10, Z:1.61 [[ 9.75537264e-01 2.19716573e-01 -7.18850002e-03 5.98005142e+02] [-2.19710005e-01 9.75563745e-01 1.70081541e-03 -3.30994987e+01] [ 7.38653734e-03 -7.98234380e-05 9.99972716e-01 1.61055068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5507140569999 meters Centerline goodness [0,1] 0.9934495289678957 Centerline is valid? [True, True] Translation: X:598.04, Y:-33.10, Z:1.61 [[ 9.75402960e-01 2.20318915e-01 -6.97425636e-03 5.98038241e+02] [-2.20312735e-01 9.75427891e-01 1.65197419e-03 -3.31043642e+01] [ 7.16684533e-03 -7.48230208e-05 9.99974315e-01 1.61075098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5807140569999 meters Centerline goodness [0,1] 0.9942906014516204 Centerline is valid? [True, True] Translation: X:598.07, Y:-33.11, Z:1.61 [[ 9.75187377e-01 2.21295167e-01 -6.16676787e-03 5.98070554e+02] [-2.21290344e-01 9.75206873e-01 1.46227758e-03 -3.31090297e+01] [ 6.33746937e-03 -6.13484510e-05 9.99979916e-01 1.61179127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.610714057 meters Centerline goodness [0,1] 0.9944826317846387 Centerline is valid? [True, True] Translation: X:598.10, Y:-33.11, Z:1.61 [[ 9.74777646e-01 2.23100613e-01 -5.88709049e-03 5.98102753e+02] [-2.23096242e-01 9.74795422e-01 1.39740459e-03 -3.31105719e+01] [ 6.05047068e-03 -4.87709940e-05 9.99981695e-01 1.61285163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.640714057 meters Centerline goodness [0,1] 0.9928473491773309 Centerline is valid? [True, True] Translation: X:598.13, Y:-33.11, Z:1.61 [[ 9.74183161e-01 2.25661037e-01 -6.65316839e-03 5.98134692e+02] [-2.25655502e-01 9.74205879e-01 1.58100533e-03 -3.31123835e+01] [ 6.83832706e-03 -3.88647173e-05 9.99976618e-01 1.61273096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6707140569999 meters Centerline goodness [0,1] 0.9933977566079547 Centerline is valid? [True, True] Translation: X:598.17, Y:-33.12, Z:1.61 [[ 9.73788978e-01 2.27332949e-01 -7.39972690e-03 5.98166118e+02] [-2.27326136e-01 9.73817092e-01 1.76036175e-03 -3.31168056e+01] [ 7.60616876e-03 -3.20695433e-05 9.99971072e-01 1.61228223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7007140569999 meters Centerline goodness [0,1] 0.9926271475708272 Centerline is valid? [True, True] Translation: X:598.20, Y:-33.12, Z:1.61 [[ 9.72990545e-01 2.30694314e-01 -8.33865688e-03 5.98199337e+02] [-2.30685764e-01 9.73026276e-01 1.98621576e-03 -3.31175209e+01] [ 8.57194094e-03 -8.95971931e-06 9.99963260e-01 1.61188161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7307140569999 meters Centerline goodness [0,1] 0.9928237840300718 Centerline is valid? [True, True] Translation: X:598.23, Y:-33.12, Z:1.61 [[ 9.72566216e-01 2.32462733e-01 -8.71975789e-03 5.98232081e+02] [-2.32453431e-01 9.72605304e-01 2.07964741e-03 -3.31219700e+01] [ 8.96432329e-03 4.34282442e-06 9.99959820e-01 1.61100977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.760714057 meters Centerline goodness [0,1] 0.9927028803227049 Centerline is valid? [True, True] Translation: X:598.26, Y:-33.12, Z:1.61 [[ 9.71605735e-01 2.36420984e-01 -9.34950852e-03 5.98263990e+02] [-2.36410448e-01 9.71650717e-01 2.23241261e-03 -3.31229814e+01] [ 9.61224584e-03 4.12966036e-05 9.99953800e-01 1.61018696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.790714057 meters Centerline goodness [0,1] 0.9920830600104051 Centerline is valid? [True, True] Translation: X:598.30, Y:-33.13, Z:1.61 [[ 9.70505684e-01 2.40841042e-01 -1.06915813e-02 5.98296304e+02] [-2.40827500e-01 9.70564569e-01 2.55571960e-03 -3.31253743e+01] [ 1.09923922e-02 9.44863985e-05 9.99939577e-01 1.61011474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8207140569999 meters Centerline goodness [0,1] 0.9924817122730967 Centerline is valid? [True, True] Translation: X:598.33, Y:-33.13, Z:1.61 [[ 9.69947707e-01 2.43077530e-01 -1.07125955e-02 5.98327841e+02] [-2.43064040e-01 9.70006856e-01 2.56355918e-03 -3.31303592e+01] [ 1.10144347e-02 1.17328398e-04 9.99939332e-01 1.60977416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8507140569999 meters Centerline goodness [0,1] 0.9921878517718042 Centerline is valid? [True, True] Translation: X:598.36, Y:-33.13, Z:1.61 [[ 9.68961708e-01 2.46963110e-01 -1.10648711e-02 5.98359606e+02] [-2.46948948e-01 9.69024868e-01 2.64989289e-03 -3.31328693e+01] [ 1.13765610e-02 1.64813531e-04 9.99935271e-01 1.60887912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.880714057 meters Centerline goodness [0,1] 0.9920439946809709 Centerline is valid? [True, True] Translation: X:598.39, Y:-33.14, Z:1.61 [[ 9.68381001e-01 2.49211593e-01 -1.14812278e-02 5.98391112e+02] [-2.49196475e-01 9.68449040e-01 2.75198517e-03 -3.31362444e+01] [ 1.18048106e-02 1.96111343e-04 9.99930302e-01 1.60804528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.910714057 meters Centerline goodness [0,1] 0.9913244780077765 Centerline is valid? [True, True] Translation: X:598.42, Y:-33.14, Z:1.61 [[ 9.67449512e-01 2.52784326e-01 -1.18965205e-02 5.98422351e+02] [-2.52768327e-01 9.67522622e-01 2.85454867e-03 -3.31428262e+01] [ 1.22317378e-02 2.45431863e-04 9.99925159e-01 1.60864452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9407140569999 meters Centerline goodness [0,1] 0.991889463042013 Centerline is valid? [True, True] Translation: X:598.45, Y:-33.15, Z:1.61 [[ 9.66969420e-01 2.54594839e-01 -1.23129787e-02 5.98453872e+02] [-2.54577806e-01 9.67047772e-01 2.95767446e-03 -3.31494800e+01] [ 1.26602473e-02 2.74630344e-04 9.99919818e-01 1.60867455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9707140569999 meters Centerline goodness [0,1] 0.9917240138532811 Centerline is valid? [True, True] Translation: X:598.48, Y:-33.16, Z:1.61 [[ 9.65929127e-01 2.58479910e-01 -1.30021926e-02 5.98484830e+02] [-2.58461246e-01 9.66016573e-01 3.12496475e-03 -3.31578346e+01] [ 1.33680741e-02 3.42068417e-04 9.99910585e-01 1.60976164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.000714057 meters Centerline goodness [0,1] 0.9910114890741157 Centerline is valid? [True, True] Translation: X:598.52, Y:-33.16, Z:1.61 [[ 9.65343691e-01 2.60667380e-01 -1.28092149e-02 5.98516046e+02] [-2.60649423e-01 9.65428601e-01 3.08125493e-03 -3.31649183e+01] [ 1.31695651e-02 3.64244467e-04 9.99913211e-01 1.61067114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.030714057 meters Centerline goodness [0,1] 0.9901766402307137 Centerline is valid? [True, True] Translation: X:598.55, Y:-33.17, Z:1.61 [[ 9.64173330e-01 2.64992968e-01 -1.21867531e-02 5.98545908e+02] [-2.64977044e-01 9.64250261e-01 2.93264261e-03 -3.31716028e+01] [ 1.25282095e-02 4.01634018e-04 9.99921438e-01 1.61115749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0607140569999 meters Centerline goodness [0,1] 0.9892555640828856 Centerline is valid? [True, True] Translation: X:598.58, Y:-33.18, Z:1.61 [[ 9.63255750e-01 2.68366080e-01 -1.08631167e-02 5.98576158e+02] [-2.68353622e-01 9.63316921e-01 2.61589065e-03 -3.31787001e+01] [ 1.11666404e-02 3.95384986e-04 9.99937573e-01 1.61176945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0907140569999 meters Centerline goodness [0,1] 0.9897142598788318 Centerline is valid? [True, True] Translation: X:598.61, Y:-33.19, Z:1.61 [[ 9.62806158e-01 2.69976804e-01 -1.08086786e-02 5.98606829e+02] [-2.69964541e-01 9.62866739e-01 2.60554870e-03 -3.31883814e+01] [ 1.11107548e-02 4.09321623e-04 9.99938190e-01 1.61287981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.120714057 meters Centerline goodness [0,1] 0.9888979703037734 Centerline is valid? [True, True] Translation: X:598.64, Y:-33.20, Z:1.61 [[ 9.62336862e-01 2.71637075e-01 -1.10029001e-02 5.98636486e+02] [-2.71624444e-01 9.62399663e-01 2.65514410e-03 -3.31976461e+01] [ 1.13104230e-02 4.33513593e-04 9.99935941e-01 1.61324933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.150714057 meters Centerline goodness [0,1] 0.9888207225630539 Centerline is valid? [True, True] Translation: X:598.67, Y:-33.21, Z:1.61 [[ 9.62173407e-01 2.72195270e-01 -1.14921535e-02 5.98666987e+02] [-2.72181495e-01 9.62241927e-01 2.77621822e-03 -3.32086953e+01] [ 1.18139054e-02 4.56748173e-04 9.99930109e-01 1.61340101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1807140569999 meters Centerline goodness [0,1] 0.987111758812278 Centerline is valid? [True, True] Translation: X:598.70, Y:-33.21, Z:1.61 [[ 9.62266712e-01 2.71817125e-01 -1.25787717e-02 5.98697153e+02] [-2.71800548e-01 9.62348798e-01 3.04197709e-03 -3.32143594e+01] [ 1.29320273e-02 4.91723744e-04 9.99916257e-01 1.61090546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2107140569999 meters Centerline goodness [0,1] 0.9886082898709855 Centerline is valid? [True, True] Translation: X:598.73, Y:-33.23, Z:1.61 [[ 9.62309030e-01 2.71649094e-01 -1.29653625e-02 5.98726893e+02] [-2.71631423e-01 9.62396238e-01 3.13875569e-03 -3.32272485e+01] [ 1.33304563e-02 5.01346929e-04 9.99911020e-01 1.61081347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.240714057 meters Centerline goodness [0,1] 0.9894645229261142 Centerline is valid? [True, True] Translation: X:598.76, Y:-33.24, Z:1.61 [[ 9.62589497e-01 2.70596606e-01 -1.41045342e-02 5.98756413e+02] [-2.70575526e-01 9.62692682e-01 3.41829490e-03 -3.32427838e+01] [ 1.45033109e-02 5.25926987e-04 9.99894683e-01 1.61142870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.270714057 meters Centerline goodness [0,1] 0.9876514767543657 Centerline is valid? [True, True] Translation: X:598.79, Y:-33.25, Z:1.61 [[ 9.62928080e-01 2.69362246e-01 -1.46114071e-02 5.98786368e+02] [-2.69339442e-01 9.63038788e-01 3.54379303e-03 -3.32496497e+01] [ 1.50259158e-02 5.23010406e-04 9.99886968e-01 1.60915291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3007140569999 meters Centerline goodness [0,1] 0.9876514767543657 Centerline is valid? [True, True] Translation: X:598.82, Y:-33.26, Z:1.61 [[ 9.62857117e-01 2.69615843e-01 -1.46105863e-02 5.98817863e+02] [-2.69593016e-01 9.62967820e-01 3.54717510e-03 -3.32573918e+01] [ 1.50258990e-02 5.23489232e-04 9.99886968e-01 1.60928051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3307140569999 meters Centerline goodness [0,1] 0.9890170871002798 Centerline is valid? [True, True] Translation: X:598.85, Y:-33.27, Z:1.61 [[ 9.62928431e-01 2.69352377e-01 -1.47693462e-02 5.98847629e+02] [-2.69328961e-01 9.63041549e-01 3.58966496e-03 -3.32720214e+01] [ 1.51903788e-02 5.21222212e-04 9.99884484e-01 1.61085986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.360714057 meters Centerline goodness [0,1] 0.9902453717648695 Centerline is valid? [True, True] Translation: X:598.88, Y:-33.29, Z:1.61 [[ 9.63516640e-01 2.67207439e-01 -1.53580079e-02 5.98876871e+02] [-2.67181783e-01 9.63638901e-01 3.73678324e-03 -3.32850253e+01] [ 1.57980701e-02 5.02927081e-04 9.99875076e-01 1.61100547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.390714057 meters Centerline goodness [0,1] 0.9895722049328812 Centerline is valid? [True, True] Translation: X:598.91, Y:-33.30, Z:1.61 [[ 9.63974752e-01 2.65526082e-01 -1.57663540e-02 5.98907493e+02] [-2.65498784e-01 9.64103554e-01 3.83827518e-03 -3.32968580e+01] [ 1.62195601e-02 4.85947454e-04 9.99868336e-01 1.61104447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4207140569999 meters Centerline goodness [0,1] 0.9901464029700889 Centerline is valid? [True, True] Translation: X:598.94, Y:-33.31, Z:1.61 [[ 9.65038935e-01 2.61541247e-01 -1.72055253e-02 5.98935448e+02] [-2.61508092e-01 9.65192192e-01 4.18927374e-03 -3.33110640e+01] [ 1.77023065e-02 4.56571815e-04 9.99843198e-01 1.61043586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4507140569999 meters Centerline goodness [0,1] 0.9905918696903743 Centerline is valid? [True, True] Translation: X:598.97, Y:-33.32, Z:1.61 [[ 9.65516950e-01 2.59761962e-01 -1.73419420e-02 5.98965489e+02] [-2.59727930e-01 9.65672586e-01 4.22601914e-03 -3.33227543e+01] [ 1.78443970e-02 4.23893589e-04 9.99840686e-01 1.61102406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4807140569999 meters Centerline goodness [0,1] 0.9909384046884929 Centerline is valid? [True, True] Translation: X:598.99, Y:-33.34, Z:1.61 [[ 9.66217945e-01 2.57206851e-01 -1.63560227e-02 5.98994269e+02] [-2.57176147e-01 9.66356307e-01 3.98963224e-03 -3.33371247e+01] [ 1.68319064e-02 3.51524621e-04 9.99858272e-01 1.61289064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.510714057 meters Centerline goodness [0,1] 0.9914443292165551 Centerline is valid? [True, True] Translation: X:599.02, Y:-33.35, Z:1.61 [[ 9.66507720e-01 2.56162331e-01 -1.56105041e-02 5.99024401e+02] [-2.56134164e-01 9.66633727e-01 3.81159711e-03 -3.33477214e+01] [ 1.60660274e-02 3.14445405e-04 9.99870884e-01 1.61407483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.540714057 meters Centerline goodness [0,1] 0.9896670765156531 Centerline is valid? [True, True] Translation: X:599.05, Y:-33.36, Z:1.62 [[ 9.66590889e-01 2.55949310e-01 -1.38565223e-02 5.99054110e+02] [-2.55927048e-01 9.66690166e-01 3.38670340e-03 -3.33603774e+01] [ 1.42617882e-02 2.72702190e-04 9.99898258e-01 1.61644816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5707140569999 meters Centerline goodness [0,1] 0.9891278657527771 Centerline is valid? [True, True] Translation: X:599.09, Y:-33.37, Z:1.62 [[ 9.66438806e-01 2.56567003e-01 -1.30156784e-02 5.99085371e+02] [-2.56547372e-01 9.66526412e-01 3.18456223e-03 -3.33685595e+01] [ 1.33970505e-02 2.61453568e-04 9.99910221e-01 1.61686816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6007140569999 meters Centerline goodness [0,1] 0.9888180805951056 Centerline is valid? [True, True] Translation: X:599.12, Y:-33.38, Z:1.62 [[ 9.65948068e-01 2.58441022e-01 -1.23518407e-02 5.99115654e+02] [-2.58423456e-01 9.66027000e-01 3.02521639e-03 -3.33779291e+01] [ 1.27140517e-02 2.69803448e-04 9.99919137e-01 1.61723583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.630714057 meters Centerline goodness [0,1] 0.9900042635842532 Centerline is valid? [True, True] Translation: X:599.15, Y:-33.39, Z:1.62 [[ 9.65622776e-01 2.59656227e-01 -1.23003154e-02 5.99145694e+02] [-2.59638868e-01 9.65701074e-01 3.01557749e-03 -3.33880201e+01] [ 1.26614413e-02 2.81729659e-04 9.99919801e-01 1.61800957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.660714057 meters Centerline goodness [0,1] 0.9878312537136067 Centerline is valid? [True, True] Translation: X:599.18, Y:-33.40, Z:1.62 [[ 9.65084899e-01 2.61555339e-01 -1.41401202e-02 5.99176698e+02] [-2.61532548e-01 9.65188418e-01 3.47034911e-03 -3.33975473e+01] [ 1.45555686e-02 3.48920145e-04 9.99894001e-01 1.61684237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6907140569999 meters Centerline goodness [0,1] 0.9876772732689787 Centerline is valid? [True, True] Translation: X:599.21, Y:-33.40, Z:1.62 [[ 9.64940661e-01 2.62019708e-01 -1.53360063e-02 5.99207059e+02] [-2.61992898e-01 9.65062447e-01 3.76765806e-03 -3.34044522e+01] [ 1.57874044e-02 3.82358266e-04 9.99875298e-01 1.61566121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7207140569999 meters Centerline goodness [0,1] 0.9879279020845286 Centerline is valid? [True, True] Translation: X:599.24, Y:-33.42, Z:1.62 [[ 9.65030888e-01 2.61616072e-01 -1.65050347e-02 5.99237816e+02] [-2.61584879e-01 9.65171939e-01 4.05957023e-03 -3.34174897e+01] [ 1.69922452e-02 3.99856843e-04 9.99855541e-01 1.61565497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.750714057 meters Centerline goodness [0,1] 0.9888325848363313 Centerline is valid? [True, True] Translation: X:599.27, Y:-33.43, Z:1.62 [[ 9.65623098e-01 2.59280112e-01 -1.85971804e-02 5.99267211e+02] [-2.59239978e-01 9.65802083e-01 4.57930667e-03 -3.34311143e+01] [ 1.91485188e-02 3.99248343e-04 9.99816571e-01 1.61501962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.780714057 meters Centerline goodness [0,1] 0.9892301748285521 Centerline is valid? [True, True] Translation: X:599.30, Y:-33.44, Z:1.61 [[ 9.66077496e-01 2.57529780e-01 -1.93050438e-02 5.99296360e+02] [-2.57486087e-01 9.66270290e-01 4.75841103e-03 -3.34412912e+01] [ 1.98793228e-02 3.73786380e-04 9.99802317e-01 1.61464790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8107140569999 meters Centerline goodness [0,1] 0.9894948808772867 Centerline is valid? [True, True] Translation: X:599.33, Y:-33.45, Z:1.61 [[ 9.66747135e-01 2.54986954e-01 -1.95353338e-02 5.99326974e+02] [-2.54941592e-01 9.66944440e-01 4.82019285e-03 -3.34527445e+01] [ 2.01186687e-02 3.20461467e-04 9.99797548e-01 1.61497874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8407140569999 meters Centerline goodness [0,1] 0.9902717614887593 Centerline is valid? [True, True] Translation: X:599.35, Y:-33.47, Z:1.62 [[ 9.68550181e-01 2.48093910e-01 -1.89725625e-02 5.99354367e+02] [-2.48049774e-01 9.68735972e-01 4.68257363e-03 -3.34683850e+01] [ 1.95411218e-02 1.70832318e-04 9.99809039e-01 1.61617743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.870714057 meters Centerline goodness [0,1] 0.9906623656957144 Centerline is valid? [True, True] Translation: X:599.38, Y:-33.48, Z:1.62 [[ 9.69449316e-01 2.44655209e-01 -1.76593264e-02 5.99384365e+02] [-2.44616335e-01 9.69610138e-01 4.36214497e-03 -3.34806864e+01] [ 1.81898834e-02 9.08812376e-05 9.99834546e-01 1.61815824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.900714057 meters Centerline goodness [0,1] 0.9918416053772344 Centerline is valid? [True, True] Translation: X:599.41, Y:-33.50, Z:1.62 [[ 9.71098509e-01 2.38134136e-01 -1.61188952e-02 5.99412498e+02] [-2.38100785e-01 9.71232275e-01 3.98551654e-03 -3.34960158e+01] [ 1.66042788e-02 -3.24075900e-05 9.99862139e-01 1.62035477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9307140569999 meters Centerline goodness [0,1] 0.9929278294821109 Centerline is valid? [True, True] Translation: X:599.44, Y:-33.51, Z:1.62 [[ 9.72254309e-01 2.33421275e-01 -1.53644568e-02 5.99442208e+02] [-2.33390323e-01 9.72375697e-01 3.80274547e-03 -3.35097408e+01] [ 1.58276661e-02 -1.11320131e-04 9.99874728e-01 1.62331775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9607140569999 meters Centerline goodness [0,1] 0.9919175989354886 Centerline is valid? [True, True] Translation: X:599.47, Y:-33.52, Z:1.62 [[ 9.72496028e-01 2.32449337e-01 -1.47912800e-02 5.99473510e+02] [-2.32420476e-01 9.72608498e-01 3.66502392e-03 -3.35191310e+01] [ 1.52380570e-02 -1.26424861e-04 9.99883886e-01 1.62463359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.990714057 meters Centerline goodness [0,1] 0.9931219140730551 Centerline is valid? [True, True] Translation: X:599.50, Y:-33.53, Z:1.62 [[ 9.72783916e-01 2.31300929e-01 -1.38323132e-02 5.99503810e+02] [-2.31275520e-01 9.72882244e-01 3.43119375e-03 -3.35287025e+01] [ 1.42508502e-02 -1.38734663e-04 9.99898442e-01 1.62449085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.020714057 meters Centerline goodness [0,1] 0.9932773523110641 Centerline is valid? [True, True] Translation: X:599.54, Y:-33.54, Z:1.62 [[ 9.72655298e-01 2.31828443e-01 -1.40443555e-02 5.99535925e+02] [-2.31802245e-01 9.72756678e-01 3.48778088e-03 -3.35365335e+01] [ 1.44703074e-02 -1.36895408e-04 9.99895290e-01 1.62361833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0507140569999 meters Centerline goodness [0,1] 0.9928641732283464 Centerline is valid? [True, True] Translation: X:599.57, Y:-33.54, Z:1.62 [[ 9.72385053e-01 2.32934650e-01 -1.44484468e-02 5.99567762e+02] [-2.32906984e-01 9.72492382e-01 3.59228233e-03 -3.35439155e+01] [ 1.48877715e-02 -1.27937473e-04 9.99889163e-01 1.62253855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0807140569999 meters Centerline goodness [0,1] 0.9928627877111528 Centerline is valid? [True, True] Translation: X:599.60, Y:-33.55, Z:1.62 [[ 9.71552811e-01 2.36233454e-01 -1.66999977e-02 5.99599857e+02] [-2.36196893e-01 9.71696324e-01 4.15708291e-03 -3.35497248e+01] [ 1.72093684e-02 -9.43380187e-05 9.99851903e-01 1.62059514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.110714057 meters Centerline goodness [0,1] 0.992567901234568 Centerline is valid? [True, True] Translation: X:599.63, Y:-33.56, Z:1.62 [[ 9.71210661e-01 2.37557774e-01 -1.77807681e-02 5.99629804e+02] [-2.37516492e-01 9.71373408e-01 4.42924788e-03 -3.35564089e+01] [ 1.83239676e-02 -7.85070990e-05 9.99832099e-01 1.61960107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.140714057 meters Centerline goodness [0,1] 0.991950020989209 Centerline is valid? [True, True] Translation: X:599.66, Y:-33.56, Z:1.62 [[ 9.70152139e-01 2.41684978e-01 -1.98292503e-02 5.99661502e+02] [-2.41634402e-01 9.70354766e-01 4.94414929e-03 -3.35621602e+01] [ 2.04363341e-02 -5.14798390e-06 9.99791156e-01 1.61805937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1707140569999 meters Centerline goodness [0,1] 0.991745545313002 Centerline is valid? [True, True] Translation: X:599.69, Y:-33.57, Z:1.62 [[ 9.69678597e-01 2.43513701e-01 -2.06033079e-02 5.99692224e+02] [-2.43459407e-01 9.69897457e-01 5.14202901e-03 -3.35686537e+01] [ 2.12352504e-02 2.99536317e-05 9.99774506e-01 1.61701147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2007140569999 meters Centerline goodness [0,1] 0.9920844327176781 Centerline is valid? [True, True] Translation: X:599.72, Y:-33.58, Z:1.62 [[ 9.69234077e-01 2.45249116e-01 -2.09326485e-02 5.99723684e+02] [-2.45193361e-01 9.69460091e-01 5.22960961e-03 -3.35753505e+01] [ 2.15759245e-02 6.38305929e-05 9.99767211e-01 1.61598534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2307140569999 meters Centerline goodness [0,1] 0.991277350680071 Centerline is valid? [True, True] Translation: X:599.75, Y:-33.58, Z:1.61 [[ 9.68472411e-01 2.48118706e-01 -2.23225780e-02 5.99754775e+02] [-2.48055982e-01 9.68729627e-01 5.58032708e-03 -3.35811321e+01] [ 2.30091261e-02 1.32856167e-04 9.99735246e-01 1.61445620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.260714057 meters Centerline goodness [0,1] 0.9909043851216446 Centerline is valid? [True, True] Translation: X:599.79, Y:-33.59, Z:1.61 [[ 9.67833907e-01 2.50665199e-01 -2.15519325e-02 5.99787132e+02] [-2.50607240e-01 9.68073822e-01 5.39314720e-03 -3.35880209e+01] [ 2.22157360e-02 1.81399606e-04 9.99753184e-01 1.61494709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.290714057 meters Centerline goodness [0,1] 0.9899527186761229 Centerline is valid? [True, True] Translation: X:599.82, Y:-33.60, Z:1.62 [[ 9.67546040e-01 2.51831552e-01 -2.08693415e-02 5.99818678e+02] [-2.51777351e-01 9.67771063e-01 5.22826282e-03 -3.35963726e+01] [ 2.15133863e-02 1.95842514e-04 9.99768541e-01 1.61642237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3207140569999 meters Centerline goodness [0,1] 0.9908559879722969 Centerline is valid? [True, True] Translation: X:599.85, Y:-33.60, Z:1.62 [[ 9.67269052e-01 2.52949615e-01 -2.01760815e-02 5.99850465e+02] [-2.52899075e-01 9.67479431e-01 5.06048074e-03 -3.36048604e+01] [ 2.07999905e-02 2.07665938e-04 9.99783635e-01 1.61813747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3507140569999 meters Centerline goodness [0,1] 0.989304022082019 Centerline is valid? [True, True] Translation: X:599.88, Y:-33.61, Z:1.62 [[ 9.66684690e-01 2.55261111e-01 -1.90388099e-02 5.99881724e+02] [-2.55216453e-01 9.66872126e-01 4.78049711e-03 -3.36121892e+01] [ 1.96283696e-02 2.37784162e-04 9.99807317e-01 1.61837329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.380714057 meters Centerline goodness [0,1] 0.9894752409356437 Centerline is valid? [True, True] Translation: X:599.91, Y:-33.62, Z:1.62 [[ 9.66379572e-01 2.56450835e-01 -1.85335291e-02 5.99913221e+02] [-2.56408665e-01 9.66557244e-01 4.65731636e-03 -3.36194254e+01] [ 1.91080895e-02 2.51422073e-04 9.99817392e-01 1.61894680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.410714057 meters Centerline goodness [0,1] 0.9894843126631532 Centerline is valid? [True, True] Translation: X:599.94, Y:-33.62, Z:1.62 [[ 9.65444965e-01 2.60019832e-01 -1.74844333e-02 5.99943946e+02] [-2.59982817e-01 9.65603229e-01 4.39751811e-03 -3.36241610e+01] [ 1.80264672e-02 3.00090508e-04 9.99837465e-01 1.61911553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4407140569999 meters Centerline goodness [0,1] 0.9890096380802518 Centerline is valid? [True, True] Translation: X:599.97, Y:-33.63, Z:1.62 [[ 9.64875014e-01 2.62158779e-01 -1.69994475e-02 5.99974881e+02] [-2.62124045e-01 9.65024698e-01 4.27986507e-03 -3.36325039e+01] [ 1.75268909e-02 3.26429064e-04 9.99846339e-01 1.62052780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4707140569999 meters Centerline goodness [0,1] 0.988762102351314 Centerline is valid? [True, True] Translation: X:600.01, Y:-33.64, Z:1.62 [[ 9.64393429e-01 2.63886458e-01 -1.75855261e-02 6.00005740e+02] [-2.63849495e-01 9.64553681e-01 4.43178915e-03 -3.36386357e+01] [ 1.81316731e-02 3.65943836e-04 9.99835541e-01 1.61959759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.500714057 meters Centerline goodness [0,1] 0.9883288602171718 Centerline is valid? [True, True] Translation: X:600.04, Y:-33.64, Z:1.62 [[ 9.63857921e-01 2.65775195e-01 -1.84784386e-02 6.00037094e+02] [-2.65734644e-01 9.64034943e-01 4.66130719e-03 -3.36433079e+01] [ 1.90527203e-02 4.17523434e-04 9.99818393e-01 1.61784131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.530714057 meters Centerline goodness [0,1] 0.9889099269678118 Centerline is valid? [True, True] Translation: X:600.07, Y:-33.65, Z:1.62 [[ 9.63539730e-01 2.66929411e-01 -1.84357950e-02 6.00068172e+02] [-2.66889167e-01 9.63715985e-01 4.65531171e-03 -3.36502042e+01] [ 1.90095100e-02 4.34736188e-04 9.99819208e-01 1.61810938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5607140569999 meters Centerline goodness [0,1] 0.988766249693402 Centerline is valid? [True, True] Translation: X:600.10, Y:-33.65, Z:1.62 [[ 9.63041358e-01 2.68717118e-01 -1.85054866e-02 6.00098663e+02] [-2.68676821e-01 9.63219026e-01 4.67695418e-03 -3.36547296e+01] [ 1.90816145e-02 4.67895022e-04 9.99817820e-01 1.61707429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5907140569999 meters Centerline goodness [0,1] 0.9899297538930097 Centerline is valid? [True, True] Translation: X:600.13, Y:-33.66, Z:1.62 [[ 9.62916387e-01 2.69206409e-01 -1.78868797e-02 6.00130679e+02] [-2.69168755e-01 9.63082396e-01 4.52555540e-03 -3.36625161e+01] [ 1.84448475e-02 4.56857685e-04 9.99829775e-01 1.61789247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.620714057 meters Centerline goodness [0,1] 0.9903126916002453 Centerline is valid? [True, True] Translation: X:600.16, Y:-33.67, Z:1.62 [[ 9.62763778e-01 2.69817589e-01 -1.68634759e-02 6.00162119e+02] [-2.69784128e-01 9.62911355e-01 4.27161302e-03 -3.36712003e+01] [ 1.73905887e-02 4.36943830e-04 9.99848677e-01 1.61922890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.650714057 meters Centerline goodness [0,1] 0.9888902513795218 Centerline is valid? [True, True] Translation: X:600.19, Y:-33.68, Z:1.62 [[ 9.62691755e-01 2.70105180e-01 -1.63638806e-02 6.00193668e+02] [-2.70073632e-01 9.62830728e-01 4.14992802e-03 -3.36791538e+01] [ 1.68765642e-02 4.24351178e-04 9.99857491e-01 1.61950476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6807140569999 meters Centerline goodness [0,1] 0.9888023130451828 Centerline is valid? [True, True] Translation: X:600.22, Y:-33.68, Z:1.62 [[ 9.62666968e-01 2.70259006e-01 -1.52439686e-02 6.00224634e+02] [-2.70231588e-01 9.62787575e-01 3.86973142e-03 -3.36849807e+01] [ 1.57225334e-02 3.94139238e-04 9.99876316e-01 1.61957007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7107140569999 meters Centerline goodness [0,1] 0.9887780548628429 Centerline is valid? [True, True] Translation: X:600.26, Y:-33.69, Z:1.62 [[ 9.62548561e-01 2.70675419e-01 -1.53324741e-02 6.00256256e+02] [-2.70647665e-01 9.62670587e-01 3.89652940e-03 -3.36938387e+01] [ 1.58148166e-02 3.99099559e-04 9.99874858e-01 1.61960450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.740714057 meters Centerline goodness [0,1] 0.9889026492800078 Centerline is valid? [True, True] Translation: X:600.29, Y:-33.70, Z:1.62 [[ 9.62545808e-01 2.70677942e-01 -1.54602324e-02 6.00287743e+02] [-2.70649655e-01 9.62669877e-01 3.93334473e-03 -3.37012701e+01] [ 1.59477697e-02 3.98282076e-04 9.99872747e-01 1.61894649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.770714057 meters Centerline goodness [0,1] 0.9888921511058916 Centerline is valid? [True, True] Translation: X:600.32, Y:-33.71, Z:1.62 [[ 9.62614793e-01 2.70388368e-01 -1.62139274e-02 6.00319689e+02] [-2.70357135e-01 9.62751247e-01 4.12985402e-03 -3.37110634e+01] [ 1.67266433e-02 4.08092371e-04 9.99860017e-01 1.61844520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8007140569999 meters Centerline goodness [0,1] 0.9901551239770368 Centerline is valid? [True, True] Translation: X:600.35, Y:-33.72, Z:1.62 [[ 9.62656733e-01 2.70221186e-01 -1.65083245e-02 6.00351593e+02] [-2.70188700e-01 9.62798185e-01 4.20971237e-03 -3.37194883e+01] [ 1.70317384e-02 4.07854789e-04 9.99854866e-01 1.61771284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8307140569999 meters Centerline goodness [0,1] 0.990078392944635 Centerline is valid? [True, True] Translation: X:600.38, Y:-33.73, Z:1.62 [[ 9.62971970e-01 2.69085233e-01 -1.66770071e-02 6.00381306e+02] [-2.69051839e-01 9.63116289e-01 4.25689911e-03 -3.37278716e+01] [ 1.72073659e-02 3.87704898e-04 9.99851867e-01 1.61653709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.860714057 meters Centerline goodness [0,1] 0.9906094101535753 Centerline is valid? [True, True] Translation: X:600.41, Y:-33.74, Z:1.62 [[ 9.63142144e-01 2.68438449e-01 -1.72629389e-02 6.00412384e+02] [-2.68402484e-01 9.63296762e-01 4.41087471e-03 -3.37374372e+01] [ 1.78133815e-02 3.85116359e-04 9.99841255e-01 1.61647582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.890714057 meters Centerline goodness [0,1] 0.9903839095647068 Centerline is valid? [True, True] Translation: X:600.44, Y:-33.75, Z:1.62 [[ 9.63462231e-01 2.67310075e-01 -1.69071952e-02 6.00442652e+02] [-2.67275326e-01 9.63610502e-01 4.32438547e-03 -3.37470752e+01] [ 1.74479027e-02 3.52494044e-04 9.99847712e-01 1.61689595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9207140569999 meters Centerline goodness [0,1] 0.9913126702495767 Centerline is valid? [True, True] Translation: X:600.47, Y:-33.76, Z:1.62 [[ 9.64462463e-01 2.63740925e-01 -1.59022428e-02 6.00473097e+02] [-2.63709665e-01 9.64593517e-01 4.06942781e-03 -3.37590905e+01] [ 1.64124749e-02 2.68764742e-04 9.99865270e-01 1.61817112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9507140569999 meters Centerline goodness [0,1] 0.9910436041518416 Centerline is valid? [True, True] Translation: X:600.50, Y:-33.77, Z:1.62 [[ 9.65096835e-01 2.61474829e-01 -1.47990713e-02 6.00502869e+02] [-2.61447443e-01 9.65210272e-01 3.79014274e-03 -3.37676074e+01] [ 1.52752425e-02 2.11324583e-04 9.99883304e-01 1.61831333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9807140569999 meters Centerline goodness [0,1] 0.9921658873356672 Centerline is valid? [True, True] Translation: X:600.53, Y:-33.78, Z:1.62 [[ 9.66786230e-01 2.55235593e-01 -1.33857082e-02 6.00532522e+02] [-2.55212544e-01 9.66878887e-01 3.43149961e-03 -3.37801254e+01] [ 1.38181995e-02 9.86740621e-05 9.99904519e-01 1.62036710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.010714057 meters Centerline goodness [0,1] 0.9922181853888452 Centerline is valid? [True, True] Translation: X:600.56, Y:-33.79, Z:1.62 [[ 9.67522589e-01 2.52487799e-01 -1.22454822e-02 6.00561685e+02] [-2.52468252e-01 9.67600077e-01 3.14211088e-03 -3.37898292e+01] [ 1.26420742e-02 5.15322406e-05 9.99920084e-01 1.62100269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.040714057 meters Centerline goodness [0,1] 0.9931967776795363 Centerline is valid? [True, True] Translation: X:600.59, Y:-33.80, Z:1.62 [[ 9.69102806e-01 2.46480303e-01 -9.33874015e-03 6.00591410e+02] [-2.46468635e-01 9.69147801e-01 2.39836418e-03 -3.38022056e+01] [ 9.64176901e-03 -2.25549129e-05 9.99953517e-01 1.62374242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0707140569999 meters Centerline goodness [0,1] 0.9935474373757943 Centerline is valid? [True, True] Translation: X:600.62, Y:-33.81, Z:1.63 [[ 9.69767324e-01 2.43886473e-01 -8.40983043e-03 6.00621583e+02] [-2.43876895e-01 9.69803788e-01 2.16193117e-03 -3.38120515e+01] [ 8.68315117e-03 -4.56068778e-05 9.99962300e-01 1.62504898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1007140569999 meters Centerline goodness [0,1] 0.9936180657830143 Centerline is valid? [True, True] Translation: X:600.65, Y:-33.82, Z:1.63 [[ 9.70373351e-01 2.41496649e-01 -7.41133547e-03 6.00652216e+02] [-2.41489126e-01 9.70401651e-01 1.90706743e-03 -3.38215092e+01] [ 7.65252257e-03 -6.08104853e-05 9.99970717e-01 1.62620106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.130714057 meters Centerline goodness [0,1] 0.9950785955633906 Centerline is valid? [True, True] Translation: X:600.68, Y:-33.83, Z:1.63 [[ 9.71616903e-01 2.36461582e-01 -6.82016564e-03 6.00682767e+02] [-2.36455076e-01 9.71640835e-01 1.75658752e-03 -3.38311973e+01] [ 7.04211690e-03 -9.40673410e-05 9.99975200e-01 1.62621624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.160714057 meters Centerline goodness [0,1] 0.9951363769674455 Centerline is valid? [True, True] Translation: X:600.71, Y:-33.84, Z:1.63 [[ 9.72013143e-01 2.34819458e-01 -7.09028710e-03 6.00714029e+02] [-2.34812370e-01 9.72038996e-01 1.82798552e-03 -3.38390121e+01] [ 7.32128212e-03 -1.11938834e-04 9.99973193e-01 1.62531704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1907140569999 meters Centerline goodness [0,1] 0.9952911898894772 Centerline is valid? [True, True] Translation: X:600.74, Y:-33.85, Z:1.62 [[ 9.72698000e-01 2.31960050e-01 -7.28943065e-03 6.00744821e+02] [-2.31952464e-01 9.72725303e-01 1.88121361e-03 -3.38465167e+01] [ 7.52698005e-03 -1.39051322e-04 9.99971662e-01 1.62374616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2207140569999 meters Centerline goodness [0,1] 0.9952911898894772 Centerline is valid? [True, True] Translation: X:600.78, Y:-33.85, Z:1.62 [[ 9.72634183e-01 2.32227512e-01 -7.28894704e-03 6.00776159e+02] [-2.32219918e-01 9.72661485e-01 1.88308602e-03 -3.38546826e+01] [ 7.52698243e-03 -1.38915145e-04 9.99971662e-01 1.62387383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.250714057 meters Centerline goodness [0,1] 0.994729393392221 Centerline is valid? [True, True] Translation: X:600.81, Y:-33.86, Z:1.62 [[ 9.72737190e-01 2.31742557e-01 -8.81738386e-03 6.00807091e+02] [-2.31731401e-01 9.72777136e-01 2.28059660e-03 -3.38625177e+01] [ 9.10586070e-03 -1.75156421e-04 9.99958525e-01 1.62368640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.280714057 meters Centerline goodness [0,1] 0.9957347242194545 Centerline is valid? [True, True] Translation: X:600.84, Y:-33.87, Z:1.62 [[ 9.72740694e-01 2.31676537e-01 -1.00758986e-02 6.00836993e+02] [-2.31661939e-01 9.72792856e-01 2.60872251e-03 -3.38711909e+01] [ 1.04061419e-02 -2.03408344e-04 9.99945834e-01 1.62203493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3107140569999 meters Centerline goodness [0,1] 0.9964261402314499 Centerline is valid? [True, True] Translation: X:600.87, Y:-33.88, Z:1.62 [[ 9.72996055e-01 2.30505604e-01 -1.20766159e-02 6.00868408e+02] [-2.30484514e-01 9.73070963e-01 3.12889996e-03 -3.38779862e+01] [ 1.24726332e-02 -2.60934366e-04 9.99922180e-01 1.61883958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3407140569999 meters Centerline goodness [0,1] 0.9955480951685886 Centerline is valid? [True, True] Translation: X:600.90, Y:-33.88, Z:1.62 [[ 9.73100596e-01 2.30030787e-01 -1.26912100e-02 6.00900378e+02] [-2.30007420e-01 9.73183311e-01 3.29091251e-03 -3.38841402e+01] [ 1.31078850e-02 -2.83316454e-04 9.99914048e-01 1.61866625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.370714057 meters Centerline goodness [0,1] 0.995425611733669 Centerline is valid? [True, True] Translation: X:600.93, Y:-33.89, Z:1.62 [[ 9.73302427e-01 2.29256771e-01 -1.11229186e-02 6.00932866e+02] [-2.29238737e-01 9.73365946e-01 2.88724280e-03 -3.38895605e+01] [ 1.14885902e-02 -2.60356607e-04 9.99933970e-01 1.62053076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.400714057 meters Centerline goodness [0,1] 0.9962680237489397 Centerline is valid? [True, True] Translation: X:600.96, Y:-33.90, Z:1.62 [[ 9.73267301e-01 2.29486740e-01 -9.30576636e-03 6.00964480e+02] [-2.29474105e-01 9.73311763e-01 2.41791272e-03 -3.38961315e+01] [ 9.61229077e-03 -2.17842985e-04 9.99953777e-01 1.62249992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4307140569999 meters Centerline goodness [0,1] 0.9964785335262905 Centerline is valid? [True, True] Translation: X:600.99, Y:-33.90, Z:1.62 [[ 9.73210483e-01 2.29792522e-01 -7.53346053e-03 6.00994620e+02] [-2.29784241e-01 9.73239624e-01 1.95875310e-03 -3.39030817e+01] [ 7.78196911e-03 -1.75208546e-04 9.99969705e-01 1.62402660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4607140569999 meters Centerline goodness [0,1] 0.9958414461190837 Centerline is valid? [True, True] Translation: X:601.03, Y:-33.91, Z:1.63 [[ 9.72833268e-01 2.31438274e-01 -5.63539449e-03 6.01027012e+02] [-2.31433662e-01 9.72849583e-01 1.46613206e-03 -3.39058552e+01] [ 5.82171025e-03 -1.22082057e-04 9.99983046e-01 1.62565156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.490714057 meters Centerline goodness [0,1] 0.9964937388193202 Centerline is valid? [True, True] Translation: X:601.06, Y:-33.91, Z:1.63 [[ 9.72144587e-01 2.34332788e-01 -4.80061643e-03 6.01058535e+02] [-2.34329471e-01 9.72156436e-01 1.25003128e-03 -3.39088850e+01] [ 4.95987348e-03 -9.02852314e-05 9.99987696e-01 1.62537464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.520714057 meters Centerline goodness [0,1] 0.9958191982416742 Centerline is valid? [True, True] Translation: X:601.09, Y:-33.91, Z:1.63 [[ 9.71734476e-01 2.36034848e-01 -4.43369695e-03 6.01090969e+02] [-2.36032032e-01 9.71744588e-01 1.15548798e-03 -3.39120195e+01] [ 4.58115645e-03 -7.63330090e-05 9.99989504e-01 1.62502245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5507140569999 meters Centerline goodness [0,1] 0.9952121197684667 Centerline is valid? [True, True] Translation: X:601.12, Y:-33.92, Z:1.62 [[ 9.71225085e-01 2.38116883e-01 -4.70997579e-03 6.01123159e+02] [-2.38113723e-01 9.71236503e-01 1.22876833e-03 -3.39166608e+01] [ 4.86709090e-03 -7.19007504e-05 9.99988153e-01 1.62457255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5807140569999 meters Centerline goodness [0,1] 0.994628108952363 Centerline is valid? [True, True] Translation: X:601.16, Y:-33.92, Z:1.62 [[ 9.70457290e-01 2.41216857e-01 -5.20350816e-03 6.01155608e+02] [-2.41213037e-01 9.70471238e-01 1.35898632e-03 -3.39186028e+01] [ 5.37766542e-03 -6.36841748e-05 9.99985538e-01 1.62465004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.610714057 meters Centerline goodness [0,1] 0.9940729196183999 Centerline is valid? [True, True] Translation: X:601.19, Y:-33.92, Z:1.62 [[ 9.70080599e-01 2.42710599e-01 -5.93266145e-03 6.01186021e+02] [-2.42705651e-01 9.70098738e-01 1.55107341e-03 -3.39247830e+01] [ 6.13172934e-03 -6.47757581e-05 9.99981199e-01 1.62424053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.640714057 meters Centerline goodness [0,1] 0.994495109389028 Centerline is valid? [True, True] Translation: X:601.22, Y:-33.93, Z:1.62 [[ 9.69763426e-01 2.43959593e-01 -6.52802795e-03 6.01218094e+02] [-2.43953621e-01 9.69785395e-01 1.70812134e-03 -3.39304302e+01] [ 6.74749875e-03 -6.39375397e-05 9.99977233e-01 1.62368452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6707140569999 meters Centerline goodness [0,1] 0.9941630578045566 Centerline is valid? [True, True] Translation: X:601.25, Y:-33.93, Z:1.62 [[ 9.69600250e-01 2.44577900e-01 -7.55022229e-03 6.01249912e+02] [-2.44569921e-01 9.69629644e-01 1.97688548e-03 -3.39331085e+01] [ 7.80442185e-03 -7.02313888e-05 9.99969543e-01 1.62177278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7007140569999 meters Centerline goodness [0,1] 0.9942580128959383 Centerline is valid? [True, True] Translation: X:601.28, Y:-33.94, Z:1.62 [[ 9.69491824e-01 2.45001958e-01 -7.72289170e-03 6.01282886e+02] [-2.44993608e-01 9.69522581e-01 2.02396654e-03 -3.39388952e+01] [ 7.98339366e-03 -7.01599156e-05 9.99968130e-01 1.62126006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7307140569999 meters Centerline goodness [0,1] 0.9943001899936669 Centerline is valid? [True, True] Translation: X:601.31, Y:-33.95, Z:1.62 [[ 9.69564165e-01 2.44707421e-01 -7.97542218e-03 6.01313665e+02] [-2.44698488e-01 9.69596964e-01 2.09237826e-03 -3.39453592e+01] [ 8.24496562e-03 -7.71212309e-05 9.99966007e-01 1.62072350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.760714057 meters Centerline goodness [0,1] 0.9949954397698838 Centerline is valid? [True, True] Translation: X:601.35, Y:-33.95, Z:1.62 [[ 9.69819596e-01 2.43690681e-01 -8.05007952e-03 6.01345395e+02] [-2.43681527e-01 9.69853001e-01 2.11405519e-03 -3.39495771e+01] [ 8.32256933e-03 -8.85964804e-05 9.99965363e-01 1.62162197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.790714057 meters Centerline goodness [0,1] 0.9944463889861159 Centerline is valid? [True, True] Translation: X:601.38, Y:-33.96, Z:1.62 [[ 9.69970614e-01 2.43091991e-01 -7.95567604e-03 6.01378128e+02] [-2.43083012e-01 9.70003234e-01 2.09148696e-03 -3.39559374e+01] [ 8.22545522e-03 -9.47911949e-05 9.99966166e-01 1.62218409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8207140569999 meters Centerline goodness [0,1] 0.9946832077979619 Centerline is valid? [True, True] Translation: X:601.41, Y:-33.96, Z:1.62 [[ 9.69942198e-01 2.43194138e-01 -8.29113821e-03 6.01410204e+02] [-2.43184368e-01 9.69977629e-01 2.18221388e-03 -3.39623884e+01] [ 8.57292020e-03 -1.00346128e-04 9.99963247e-01 1.62247568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8507140569999 meters Centerline goodness [0,1] 0.9954446148840236 Centerline is valid? [True, True] Translation: X:601.44, Y:-33.97, Z:1.62 [[ 9.69787808e-01 2.43821455e-01 -7.91866084e-03 6.01442072e+02] [-2.43812546e-01 9.69820132e-01 2.08642003e-03 -3.39657841e+01] [ 8.18839067e-03 -9.27158452e-05 9.99966470e-01 1.62228290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.880714057 meters Centerline goodness [0,1] 0.9942326400148237 Centerline is valid? [True, True] Translation: X:601.47, Y:-33.97, Z:1.62 [[ 9.69584101e-01 2.44634236e-01 -7.79502668e-03 6.01474451e+02] [-2.44625610e-01 9.69615431e-01 2.05606353e-03 -3.39711506e+01] [ 8.06116169e-03 -8.66633477e-05 9.99967505e-01 1.62225582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.910714057 meters Centerline goodness [0,1] 0.9948935973566857 Centerline is valid? [True, True] Translation: X:601.51, Y:-33.98, Z:1.62 [[ 9.69321246e-01 2.45672108e-01 -7.84459437e-03 6.01507312e+02] [-2.45663388e-01 9.69352985e-01 2.07144276e-03 -3.39769578e+01] [ 8.11307668e-03 -8.07638439e-05 9.99967085e-01 1.62233044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9407140569999 meters Centerline goodness [0,1] 0.9936085281155541 Centerline is valid? [True, True] Translation: X:601.54, Y:-33.98, Z:1.62 [[ 9.68704603e-01 2.48078947e-01 -8.26006723e-03 6.01539339e+02] [-2.48069347e-01 9.68739816e-01 2.18348690e-03 -3.39803309e+01] [ 8.54353314e-03 -6.60843299e-05 9.99963501e-01 1.62351732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9707140569999 meters Centerline goodness [0,1] 0.994116430327963 Centerline is valid? [True, True] Translation: X:601.57, Y:-33.99, Z:1.62 [[ 9.68451720e-01 2.49069368e-01 -8.10648641e-03 6.01570391e+02] [-2.49060143e-01 9.68485646e-01 2.14449389e-03 -3.39863399e+01] [ 8.38514346e-03 -5.78361315e-05 9.99964842e-01 1.62361243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.000714057 meters Centerline goodness [0,1] 0.9942724386989925 Centerline is valid? [True, True] Translation: X:601.60, Y:-33.99, Z:1.62 [[ 9.68198265e-01 2.50048505e-01 -8.23804917e-03 6.01603251e+02] [-2.50038997e-01 9.68233310e-01 2.18117129e-03 -3.39925143e+01] [ 8.52175223e-03 -5.19727070e-05 9.99963688e-01 1.62436491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.030714057 meters Centerline goodness [0,1] 0.9947576860563606 Centerline is valid? [True, True] Translation: X:601.64, Y:-34.00, Z:1.62 [[ 9.67696874e-01 2.51987095e-01 -8.07864253e-03 6.01635909e+02] [-2.51978001e-01 9.67730594e-01 2.14117665e-03 -3.39961006e+01] [ 8.35749842e-03 -3.63697544e-05 9.99965075e-01 1.62495540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0607140569999 meters Centerline goodness [0,1] 0.9934580721899446 Centerline is valid? [True, True] Translation: X:601.67, Y:-34.00, Z:1.63 [[ 9.67391645e-01 2.53150397e-01 -8.26321420e-03 6.01668076e+02] [-2.53140905e-01 9.67426935e-01 2.19244822e-03 -3.40026874e+01] [ 8.54907513e-03 -2.91985717e-05 9.99963456e-01 1.62540218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0907140569999 meters Centerline goodness [0,1] 0.9940510239103078 Centerline is valid? [True, True] Translation: X:601.70, Y:-34.01, Z:1.63 [[ 9.67079504e-01 2.54348789e-01 -7.99536971e-03 6.01699392e+02] [-2.54339924e-01 9.67112554e-01 2.12365919e-03 -3.40079961e+01] [ 8.27257257e-03 -2.02055504e-05 9.99965781e-01 1.62623445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.120714057 meters Centerline goodness [0,1] 0.9938860245471551 Centerline is valid? [True, True] Translation: X:601.73, Y:-34.02, Z:1.63 [[ 9.66920353e-01 2.54959103e-01 -7.80303064e-03 6.01731645e+02] [-2.54950661e-01 9.66951837e-01 2.07481138e-03 -3.40154829e+01] [ 8.07414686e-03 -1.67895342e-05 9.99967403e-01 1.62680014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.150714057 meters Centerline goodness [0,1] 0.9930625056864707 Centerline is valid? [True, True] Translation: X:601.76, Y:-34.02, Z:1.63 [[ 9.66925278e-01 2.54935295e-01 -7.96882670e-03 6.01762487e+02] [-2.54926471e-01 9.66958114e-01 2.12122730e-03 -3.40227986e+01] [ 8.24629735e-03 -1.96034317e-05 9.99965999e-01 1.62679286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1807140569999 meters Centerline goodness [0,1] 0.9930541322219945 Centerline is valid? [True, True] Translation: X:601.79, Y:-34.03, Z:1.63 [[ 9.66998357e-01 2.54671868e-01 -7.51116328e-03 6.01794553e+02] [-2.54664003e-01 9.67027528e-01 2.00152273e-03 -3.40304467e+01] [ 7.77323319e-03 -2.26462751e-05 9.99969788e-01 1.62735370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2107140569999 meters Centerline goodness [0,1] 0.993559214405588 Centerline is valid? [True, True] Translation: X:601.83, Y:-34.04, Z:1.63 [[ 9.67691185e-01 2.52062169e-01 -6.19943114e-03 6.01826226e+02] [-2.52056747e-01 9.67711042e-01 1.65364881e-03 -3.40388653e+01] [ 6.41608027e-03 -3.76129348e-05 9.99979416e-01 1.62874381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.240714057 meters Centerline goodness [0,1] 0.9944556795200982 Centerline is valid? [True, True] Translation: X:601.86, Y:-34.05, Z:1.63 [[ 9.68101102e-01 2.50498492e-01 -5.54638098e-03 6.01858226e+02] [-2.50494118e-01 9.68116989e-01 1.48099788e-03 -3.40480006e+01] [ 5.74053338e-03 -4.44198718e-05 9.99983522e-01 1.62936043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.270714057 meters Centerline goodness [0,1] 0.9939970551591347 Centerline is valid? [True, True] Translation: X:601.89, Y:-34.06, Z:1.63 [[ 9.68555030e-01 2.48732579e-01 -5.76690433e-03 6.01888218e+02] [-2.48727809e-01 9.68572197e-01 1.54154213e-03 -3.40572239e+01] [ 5.96909494e-03 -5.86789066e-05 9.99982183e-01 1.62940035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3007140569999 meters Centerline goodness [0,1] 0.9940407404889765 Centerline is valid? [True, True] Translation: X:601.92, Y:-34.07, Z:1.63 [[ 9.69613087e-01 2.44576726e-01 -5.71729025e-03 6.01918964e+02] [-2.44571957e-01 9.69629939e-01 1.52969306e-03 -3.40674042e+01] [ 5.91778312e-03 -8.49215378e-05 9.99982486e-01 1.63059414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3307140569999 meters Centerline goodness [0,1] 0.9952504317789291 Centerline is valid? [True, True] Translation: X:601.95, Y:-34.08, Z:1.63 [[ 9.70217709e-01 2.42150397e-01 -6.38619704e-03 6.01948834e+02] [-2.42144384e-01 9.70238719e-01 1.71013226e-03 -3.40767289e+01] [ 6.61024484e-03 -1.12818856e-04 9.99978146e-01 1.63062932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.360714057 meters Centerline goodness [0,1] 0.9952233645710127 Centerline is valid? [True, True] Translation: X:601.98, Y:-34.09, Z:1.63 [[ 9.71676415e-01 2.36199067e-01 -7.41251165e-03 6.01978848e+02] [-2.36190788e-01 9.71704672e-01 1.98570948e-03 -3.40852754e+01] [ 7.67179493e-03 -1.78700106e-04 9.99970555e-01 1.62915782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.390714057 meters Centerline goodness [0,1] 0.995719489981785 Centerline is valid? [True, True] Translation: X:602.01, Y:-34.09, Z:1.63 [[ 9.72334223e-01 2.33462424e-01 -7.83940274e-03 6.02008540e+02] [-2.33453065e-01 9.72365801e-01 2.10120082e-03 -3.40947623e+01] [ 8.11331856e-03 -2.12936863e-04 9.99967064e-01 1.62819491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4207140569999 meters Centerline goodness [0,1] 0.9961270333075135 Centerline is valid? [True, True] Translation: X:602.04, Y:-34.10, Z:1.63 [[ 9.73170860e-01 2.29920428e-01 -8.66448302e-03 6.02039994e+02] [-2.29908843e-01 9.73209394e-01 2.32373127e-03 -3.41015987e+01] [ 8.96662955e-03 -2.69346296e-04 9.99959763e-01 1.62751905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4507140569999 meters Centerline goodness [0,1] 0.9963149154932781 Centerline is valid? [True, True] Translation: X:602.07, Y:-34.11, Z:1.63 [[ 9.74377142e-01 2.24732088e-01 -9.20182439e-03 6.02068357e+02] [-2.24718783e-01 9.74420533e-01 2.46855425e-03 -3.41104564e+01] [ 9.52120998e-03 -3.37480056e-04 9.99954615e-01 1.62730385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4807140569999 meters Centerline goodness [0,1] 0.9970097861544037 Centerline is valid? [True, True] Translation: X:602.10, Y:-34.12, Z:1.63 [[ 9.74958902e-01 2.22214098e-01 -8.71977782e-03 6.02098905e+02] [-2.22202037e-01 9.74997834e-01 2.34068674e-03 -3.41182872e+01] [ 9.02189808e-03 -3.44520977e-04 9.99959242e-01 1.62806365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.510714057 meters Centerline goodness [0,1] 0.9969716829758865 Centerline is valid? [True, True] Translation: X:602.13, Y:-34.12, Z:1.63 [[ 9.75589646e-01 2.19485491e-01 -7.13873452e-03 6.02130687e+02] [-2.19477327e-01 9.75615717e-01 1.91727333e-03 -3.41244972e+01] [ 7.38547527e-03 -3.03681643e-04 9.99972681e-01 1.62946544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.540714057 meters Centerline goodness [0,1] 0.9980339427357574 Centerline is valid? [True, True] Translation: X:602.16, Y:-34.13, Z:1.63 [[ 9.76131233e-01 2.17104948e-01 -5.76700592e-03 6.02161017e+02] [-2.17099574e-01 9.76148233e-01 1.54956824e-03 -3.41320903e+01] [ 5.96587158e-03 -2.60567428e-04 9.99982170e-01 1.63049720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5707140569999 meters Centerline goodness [0,1] 0.9984513522612501 Centerline is valid? [True, True] Translation: X:602.19, Y:-34.14, Z:1.63 [[ 9.77184542e-01 2.12347470e-01 -4.35003728e-03 6.02190435e+02] [-2.12344362e-01 9.77194200e-01 1.16955579e-03 -3.41384599e+01] [ 4.49918341e-03 -2.19165944e-04 9.99989855e-01 1.63099708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6007140569999 meters Centerline goodness [0,1] 0.9978559942826514 Centerline is valid? [True, True] Translation: X:602.22, Y:-34.14, Z:1.63 [[ 9.77729831e-01 2.09831299e-01 -3.89916024e-03 6.02222809e+02] [-2.09828781e-01 9.77737584e-01 1.04853266e-03 -3.41381380e+01] [ 4.03237048e-03 -2.07025618e-04 9.99991849e-01 1.63125715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.630714057 meters Centerline goodness [0,1] 0.9981748169252342 Centerline is valid? [True, True] Translation: X:602.25, Y:-34.14, Z:1.63 [[ 9.78083085e-01 2.08190390e-01 -3.20012908e-03 6.02253303e+02] [-2.08188685e-01 9.78088304e-01 8.60597378e-04 -3.41446837e+01] [ 3.30917693e-03 -1.75505071e-04 9.99994509e-01 1.63155400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.660714057 meters Centerline goodness [0,1] 0.9987862738607525 Centerline is valid? [True, True] Translation: X:602.28, Y:-34.15, Z:1.63 [[ 9.78610024e-01 2.05720660e-01 -1.19623886e-03 6.02283833e+02] [-2.05720420e-01 9.78610753e-01 3.21878822e-04 -3.41459848e+01] [ 1.23686933e-03 -6.89030815e-05 9.99999233e-01 1.63245667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6907140569999 meters Centerline goodness [0,1] 0.9987690955050006 Centerline is valid? [True, True] Translation: X:602.32, Y:-34.15, Z:1.63 [[ 9.78755885e-01 2.05028986e-01 1.82306627e-04 6.02316888e+02] [-2.05028981e-01 9.78755901e-01 -5.00922226e-05 -3.41462115e+01] [-1.88704045e-04 1.16499158e-05 9.99999982e-01 1.63211591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7207140569999 meters Centerline goodness [0,1] 0.9987742683914461 Centerline is valid? [True, True] Translation: X:602.35, Y:-34.15, Z:1.63 [[ 9.78717067e-01 2.05213863e-01 4.15666279e-04 6.02350271e+02] [-2.05213834e-01 9.78717155e-01 -1.13206830e-04 -3.41499464e+01] [-4.30051329e-04 2.54969863e-05 9.99999907e-01 1.63247863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.750714057 meters Centerline goodness [0,1] 0.9986158870217782 Centerline is valid? [True, True] Translation: X:602.38, Y:-34.14, Z:1.63 [[ 9.78715948e-01 2.05219541e-01 1.82803521e-04 6.02384869e+02] [-2.05219536e-01 9.78715965e-01 -5.03451817e-05 -3.41446285e+01] [-1.89244539e-04 1.17587786e-05 9.99999982e-01 1.63025484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.780714057 meters Centerline goodness [0,1] 0.9990083214763075 Centerline is valid? [True, True] Translation: X:602.42, Y:-34.15, Z:1.63 [[ 9.78774727e-01 2.04939088e-01 6.34717128e-05 6.02416130e+02] [-2.04939088e-01 9.78774729e-01 -1.80727124e-05 -3.41482776e+01] [-6.58283137e-05 4.68127925e-06 9.99999998e-01 1.62928204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8107140569999 meters Centerline goodness [0,1] 0.9989718545174142 Centerline is valid? [True, True] Translation: X:602.45, Y:-34.15, Z:1.63 [[ 9.79123073e-01 2.03267945e-01 -3.88303598e-04 6.02450274e+02] [-2.03267920e-01 9.79123150e-01 1.04641892e-04 -3.41462159e+01] [ 4.01467384e-04 -2.35276268e-05 9.99999919e-01 1.62711233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8407140569999 meters Centerline goodness [0,1] 0.9991022379924331 Centerline is valid? [True, True] Translation: X:602.48, Y:-34.15, Z:1.63 [[ 9.79394298e-01 2.01957367e-01 1.77011692e-04 6.02481254e+02] [-2.01957362e-01 9.79394314e-01 -4.87912528e-05 -3.41509459e+01] [-1.83217998e-04 1.20370605e-05 9.99999983e-01 1.62666528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.870714057 meters Centerline goodness [0,1] 0.9988908559605827 Centerline is valid? [True, True] Translation: X:602.51, Y:-34.15, Z:1.63 [[ 9.79627718e-01 2.00821393e-01 5.50085233e-04 6.02513500e+02] [-2.00821341e-01 9.79627872e-01 -1.49100392e-04 -3.41537092e+01] [-5.68821374e-04 3.55940228e-05 9.99999838e-01 1.62597122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.900714057 meters Centerline goodness [0,1] 0.9988335595520869 Centerline is valid? [True, True] Translation: X:602.55, Y:-34.16, Z:1.63 [[ 9.79917292e-01 1.99403628e-01 5.41604339e-04 6.02545689e+02] [-1.99403577e-01 9.79917441e-01 -1.46846099e-04 -3.41576894e+01] [-5.60009183e-04 3.58991895e-05 9.99999843e-01 1.62568374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9307140569999 meters Centerline goodness [0,1] 0.9988355105756812 Centerline is valid? [True, True] Translation: X:602.58, Y:-34.16, Z:1.62 [[ 9.80471122e-01 1.96661458e-01 8.05860931e-04 6.02576793e+02] [-1.96661345e-01 9.80471452e-01 -2.18074224e-04 -3.41570768e+01] [-8.33010432e-04 5.53337845e-05 9.99999652e-01 1.62472855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9607140569999 meters Centerline goodness [0,1] 0.9990300269905533 Centerline is valid? [True, True] Translation: X:602.61, Y:-34.16, Z:1.62 [[ 9.80585692e-01 1.96088613e-01 9.77728915e-04 6.02609367e+02] [-1.96088445e-01 9.80586177e-01 -2.65747177e-04 -3.41577177e+01] [-1.01085746e-03 6.88665368e-05 9.99999487e-01 1.62442469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.990714057 meters Centerline goodness [0,1] 0.9989884941206221 Centerline is valid? [True, True] Translation: X:602.64, Y:-34.16, Z:1.62 [[ 9.80549727e-01 1.96265398e-01 1.45805903e-03 6.02642303e+02] [-1.96265024e-01 9.80550806e-01 -3.96404433e-04 -3.41601854e+01] [-1.50750143e-03 1.02528268e-04 9.99998858e-01 1.62400803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.020714057 meters Centerline goodness [0,1] 0.9990959929361308 Centerline is valid? [True, True] Translation: X:602.67, Y:-34.16, Z:1.62 [[ 9.80242713e-01 1.97795011e-01 1.16496705e-03 6.02672862e+02] [-1.97794775e-01 9.80243402e-01 -3.15959077e-04 -3.41624051e+01] [-1.20444639e-03 7.92921875e-05 9.99999272e-01 1.62327999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0507140569999 meters Centerline goodness [0,1] 0.9988431038472055 Centerline is valid? [True, True] Translation: X:602.70, Y:-34.17, Z:1.62 [[ 9.79971279e-01 1.99134558e-01 1.31153352e-03 6.02700701e+02] [-1.99134260e-01 9.79972153e-01 -3.55719829e-04 -3.41748153e+01] [-1.35610244e-03 8.74239598e-05 9.99999077e-01 1.62402961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0807140569999 meters Centerline goodness [0,1] 0.9990313138332596 Centerline is valid? [True, True] Translation: X:602.73, Y:-34.18, Z:1.62 [[ 9.79606025e-01 2.00921822e-01 1.56788720e-03 6.02733219e+02] [-2.00921397e-01 9.79607274e-01 -4.25429930e-04 -3.41765822e+01] [-1.62139186e-03 1.01731636e-04 9.99998680e-01 1.62402324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.110714057 meters Centerline goodness [0,1] 0.9990313138332596 Centerline is valid? [True, True] Translation: X:602.76, Y:-34.19, Z:1.62 [[ 9.79557509e-01 2.01158218e-01 1.56758292e-03 6.02764564e+02] [-2.01157791e-01 9.79558758e-01 -4.26551204e-04 -3.41851958e+01] [-1.62134386e-03 1.02499918e-04 9.99998680e-01 1.62415097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.140714057 meters Centerline goodness [0,1] 0.9989052862045009 Centerline is valid? [True, True] Translation: X:602.80, Y:-34.18, Z:1.62 [[ 9.78865508e-01 2.04497455e-01 1.76309857e-03 6.02797100e+02] [-2.04496924e-01 9.78867090e-01 -4.78632650e-04 -3.41805730e+01] [-1.82371833e-03 1.07968758e-04 9.99998331e-01 1.62491227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1707140569999 meters Centerline goodness [0,1] 0.9986125126135217 Centerline is valid? [True, True] Translation: X:602.83, Y:-34.18, Z:1.63 [[ 9.78427169e-01 2.06582357e-01 2.00095268e-03 6.02829024e+02] [-2.06581676e-01 9.78429208e-01 -5.43399961e-04 -3.41818398e+01] [-2.07004739e-03 1.18317127e-04 9.99997850e-01 1.62553513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2007140569999 meters Centerline goodness [0,1] 0.9981916056859281 Centerline is valid? [True, True] Translation: X:602.87, Y:-34.16, Z:1.62 [[ 9.78041709e-01 2.08400107e-01 1.95198285e-03 6.02865930e+02] [-2.08399462e-01 9.78043651e-01 -5.30199697e-04 -3.41643624e+01] [-2.01961811e-03 1.11765242e-04 9.99997954e-01 1.62359598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2307140569999 meters Centerline goodness [0,1] 0.9981513770140538 Centerline is valid? [True, True] Translation: X:602.90, Y:-34.17, Z:1.62 [[ 9.77583315e-01 2.10542644e-01 1.62986719e-03 6.02898515e+02] [-2.10542197e-01 9.77584670e-01 -4.42891413e-04 -3.41663734e+01] [-1.68658071e-03 8.98074356e-05 9.99998574e-01 1.62369817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.260714057 meters Centerline goodness [0,1] 0.9981448688759592 Centerline is valid? [True, True] Translation: X:602.93, Y:-34.16, Z:1.62 [[ 9.76821370e-01 2.14044844e-01 2.19454112e-03 6.02932167e+02] [-2.14044044e-01 9.76823829e-01 -5.96159857e-04 -3.41613315e+01] [-2.27128501e-03 1.12613232e-04 9.99997414e-01 1.62471370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.290714057 meters Centerline goodness [0,1] 0.997763477160038 Centerline is valid? [True, True] Translation: X:602.96, Y:-34.17, Z:1.63 [[ 9.76499099e-01 2.15509029e-01 2.31674346e-03 6.02963627e+02] [-2.15508138e-01 9.76501841e-01 -6.30780233e-04 -3.41651028e+01] [-2.39824309e-03 1.16679260e-04 9.99997117e-01 1.62524972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3207140569999 meters Centerline goodness [0,1] 0.9983729873642395 Centerline is valid? [True, True] Translation: X:603.00, Y:-34.16, Z:1.63 [[ 9.75962975e-01 2.17917459e-01 2.87282250e-03 6.02995693e+02] [-2.17916101e-01 9.75967193e-01 -7.81155684e-04 -3.41631534e+01] [-2.97400798e-03 1.36344746e-04 9.99995568e-01 1.62602248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3507140569999 meters Centerline goodness [0,1] 0.9983402315271971 Centerline is valid? [True, True] Translation: X:603.03, Y:-34.17, Z:1.63 [[ 9.75763620e-01 2.18805252e-01 3.10152348e-03 6.03028382e+02] [-2.18803669e-01 9.75768538e-01 -8.45033189e-04 -3.41668714e+01] [-3.21126673e-03 1.45927927e-04 9.99994833e-01 1.62618365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.380714057 meters Centerline goodness [0,1] 0.9984789267983522 Centerline is valid? [True, True] Translation: X:603.06, Y:-34.17, Z:1.63 [[ 9.75430527e-01 2.20288780e-01 2.85324137e-03 6.03062379e+02] [-2.20287448e-01 9.75434691e-01 -7.77131217e-04 -3.41664668e+01] [-2.95434391e-03 1.29504253e-04 9.99995628e-01 1.62650367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.410714057 meters Centerline goodness [0,1] 0.9986889405794037 Centerline is valid? [True, True] Translation: X:603.09, Y:-34.17, Z:1.63 [[ 9.75107128e-01 2.21718731e-01 2.62541117e-03 6.03092292e+02] [-2.21717604e-01 9.75110656e-01 -7.16329866e-04 -3.41744300e+01] [-2.71889016e-03 1.16398483e-04 9.99996297e-01 1.62761679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4407140569999 meters Centerline goodness [0,1] 0.9992238467831596 Centerline is valid? [True, True] Translation: X:603.12, Y:-34.17, Z:1.63 [[ 9.74507006e-01 2.24348230e-01 1.99175669e-03 6.03124032e+02] [-2.24347588e-01 9.74509038e-01 -5.42936512e-04 -3.41743366e+01] [-2.06279174e-03 8.22496260e-05 9.99997869e-01 1.62790179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4707140569999 meters Centerline goodness [0,1] 0.9990956126698355 Centerline is valid? [True, True] Translation: X:603.16, Y:-34.17, Z:1.63 [[ 9.74066324e-01 2.26256757e-01 1.63578629e-03 6.03157514e+02] [-2.26256325e-01 9.74067696e-01 -4.47223592e-04 -3.41726200e+01] [-1.69455394e-03 6.55184449e-05 9.99998562e-01 1.62717861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.500714057 meters Centerline goodness [0,1] 0.9990544033285003 Centerline is valid? [True, True] Translation: X:603.19, Y:-34.17, Z:1.63 [[ 9.73495844e-01 2.28701740e-01 1.16480568e-03 6.03190485e+02] [-2.28701523e-01 9.73496539e-01 -3.18026590e-04 -3.41730183e+01] [-1.20666754e-03 4.32047296e-05 9.99999271e-01 1.62779683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.530714057 meters Centerline goodness [0,1] 0.9994536093306714 Centerline is valid? [True, True] Translation: X:603.22, Y:-34.18, Z:1.63 [[ 9.73269296e-01 2.29665245e-01 8.67453380e-04 6.03221662e+02] [-2.29665125e-01 9.73269682e-01 -2.37383381e-04 -3.41776298e+01] [-8.98784787e-04 3.18141668e-05 9.99999596e-01 1.62776676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5607140569999 meters Centerline goodness [0,1] 0.9994534255502533 Centerline is valid? [True, True] Translation: X:603.25, Y:-34.18, Z:1.63 [[ 9.72758964e-01 2.31818706e-01 -2.90635754e-04 6.03252464e+02] [-2.31818693e-01 9.72759008e-01 7.88194614e-05 -3.41831071e+01] [ 3.00990373e-04 -9.29753704e-06 9.99999955e-01 1.62780445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5907140569999 meters Centerline goodness [0,1] 0.9994746795545283 Centerline is valid? [True, True] Translation: X:603.29, Y:-34.18, Z:1.63 [[ 9.72547617e-01 2.32702134e-01 -9.21313228e-04 6.03285663e+02] [-2.32702001e-01 9.72548053e-01 2.50897961e-04 -3.41822013e+01] [ 9.54405878e-04 -2.96187828e-05 9.99999544e-01 1.62733326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.620714057 meters Centerline goodness [0,1] 0.9997895224263855 Centerline is valid? [True, True] Translation: X:603.32, Y:-34.19, Z:1.63 [[ 9.72263732e-01 2.33880939e-01 -1.71496817e-03 6.03317343e+02] [-2.33880476e-01 9.72265243e-01 4.68343066e-04 -3.41874534e+01] [ 1.77694046e-03 -5.42554059e-05 9.99998420e-01 1.62749017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.650714057 meters Centerline goodness [0,1] 0.9995806688332111 Centerline is valid? [True, True] Translation: X:603.35, Y:-34.19, Z:1.63 [[ 9.71993386e-01 2.34997747e-01 -2.21732238e-03 6.03349436e+02] [-2.34996975e-01 9.71995913e-01 6.06405180e-04 -3.41933638e+01] [ 2.29773214e-03 -6.83577720e-05 9.99997358e-01 1.62795024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6807140569999 meters Centerline goodness [0,1] 0.9994713358286282 Centerline is valid? [True, True] Translation: X:603.38, Y:-34.19, Z:1.63 [[ 9.71853263e-01 2.35584671e-01 -1.04796279e-03 6.03383648e+02] [-2.35584499e-01 9.71853827e-01 2.86213978e-04 -3.41946139e+01] [ 1.08589428e-03 -3.12741990e-05 9.99999410e-01 1.62936406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7107140569999 meters Centerline goodness [0,1] 0.9998317171164728 Centerline is valid? [True, True] Translation: X:603.41, Y:-34.21, Z:1.63 [[ 9.72013839e-01 2.34921335e-01 -1.03113063e-03 6.03413373e+02] [-2.34921168e-01 9.72014385e-01 2.82089911e-04 -3.42054086e+01] [ 1.06854274e-03 -3.19608862e-05 9.99999429e-01 1.63064805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.740714057 meters Centerline goodness [0,1] 0.9995799554752803 Centerline is valid? [True, True] Translation: X:603.44, Y:-34.21, Z:1.63 [[ 9.72400664e-01 2.33315947e-01 -7.86365404e-04 6.03444923e+02] [-2.33315849e-01 9.72400981e-01 2.15092236e-04 -3.42125399e+01] [ 8.14846939e-04 -2.56843214e-05 9.99999668e-01 1.63127335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.770714057 meters Centerline goodness [0,1] 0.9994114432252911 Centerline is valid? [True, True] Translation: X:603.47, Y:-34.22, Z:1.63 [[ 9.73886404e-01 2.27035233e-01 -5.25486621e-04 6.03473483e+02] [-2.27035188e-01 9.73886545e-01 1.44272771e-04 -3.42209626e+01] [ 5.44519352e-04 -2.12013360e-05 9.99999852e-01 1.63197216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8007140569999 meters Centerline goodness [0,1] 0.9996428496396983 Centerline is valid? [True, True] Translation: X:603.50, Y:-34.23, Z:1.63 [[ 9.74913428e-01 2.22584312e-01 -1.78596509e-04 6.03503418e+02] [-2.22584307e-01 9.74913444e-01 4.90102128e-05 -3.42294840e+01] [ 1.85025042e-04 -8.02793437e-06 9.99999983e-01 1.63273862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8307140569999 meters Centerline goodness [0,1] 0.9998531694424634 Centerline is valid? [True, True] Translation: X:603.53, Y:-34.24, Z:1.63 [[ 9.75908705e-01 2.18178757e-01 -4.78303119e-04 6.03531789e+02] [-2.18178719e-01 9.75908822e-01 1.31240907e-04 -3.42384456e+01] [ 4.95414212e-04 -2.37235819e-05 9.99999877e-01 1.63341520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.860714057 meters Centerline goodness [0,1] 0.9997482270991566 Centerline is valid? [True, True] Translation: X:603.56, Y:-34.25, Z:1.63 [[ 9.78143224e-01 2.07930947e-01 -7.44576842e-04 6.03560974e+02] [-2.07930852e-01 9.78143506e-01 2.04627298e-04 -3.42474154e+01] [ 7.70851351e-04 -4.53343079e-05 9.99999702e-01 1.63349009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.890714057 meters Centerline goodness [0,1] 0.9997254545838525 Centerline is valid? [True, True] Translation: X:603.59, Y:-34.25, Z:1.63 [[ 9.79229585e-01 2.02749377e-01 -1.45286076e-03 6.03592103e+02] [-2.02749007e-01 9.79230658e-01 3.99307586e-04 -3.42501191e+01] [ 1.50364517e-03 -9.64477248e-05 9.99998865e-01 1.63376075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9207140569999 meters Centerline goodness [0,1] 0.9999161618913878 Centerline is valid? [True, True] Translation: X:603.62, Y:-34.25, Z:1.63 [[ 9.81134830e-01 1.93302711e-01 -2.91686455e-03 6.03623022e+02] [-1.93301177e-01 9.81139140e-01 8.01768837e-04 -3.42546737e+01] [ 3.01683407e-03 -2.22809981e-04 9.99995425e-01 1.63363709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9507140569999 meters Centerline goodness [0,1] 0.9998947457056248 Centerline is valid? [True, True] Translation: X:603.65, Y:-34.26, Z:1.63 [[ 9.81767955e-01 1.90056600e-01 -3.18918645e-03 6.03653277e+02] [-1.90054749e-01 9.81773102e-01 8.76691166e-04 -3.42613527e+01] [ 3.29767842e-03 -2.54587264e-04 9.99994530e-01 1.63413344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9807140569999 meters Centerline goodness [0,1] 0.9998945681511471 Centerline is valid? [True, True] Translation: X:603.68, Y:-34.27, Z:1.63 [[ 9.82230202e-01 1.87657746e-01 -2.89849417e-03 6.03683855e+02] [-1.87656207e-01 9.82234449e-01 7.96786482e-04 -3.42666850e+01] [ 2.99652398e-03 -2.38707327e-04 9.99995482e-01 1.63486466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.010714057 meters Centerline goodness [0,1] 0.9999158089705542 Centerline is valid? [True, True] Translation: X:603.72, Y:-34.27, Z:1.64 [[ 9.82478161e-01 1.86355933e-01 -2.85122523e-03 6.03715049e+02] [-1.86354437e-01 9.82482269e-01 7.83827604e-04 -3.42687444e+01] [ 2.94734915e-03 -2.38755030e-04 9.99995628e-01 1.63632102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.040714057 meters Centerline goodness [0,1] 0.9999578530335279 Centerline is valid? [True, True] Translation: X:603.75, Y:-34.27, Z:1.64 [[ 9.82290973e-01 1.87339447e-01 -2.89429881e-03 6.03746316e+02] [-1.87337910e-01 9.82295207e-01 7.95681447e-04 -3.42719956e+01] [ 2.99211838e-03 -2.39378812e-04 9.99995495e-01 1.63637838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:603.78, Y:-34.27, Z:1.64 [[ 9.82041781e-01 1.88625511e-01 -3.78910264e-03 6.03780256e+02] [-1.88622884e-01 9.82049042e-01 1.04242282e-03 -3.42691520e+01] [ 3.91771216e-03 -3.08991292e-04 9.99992278e-01 1.63672524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:603.81, Y:-34.28, Z:1.64 [[ 9.81729490e-01 1.90242615e-01 -3.86718053e-03 6.03810705e+02] [-1.90239890e-01 9.81737058e-01 1.06412568e-03 -3.42752420e+01] [ 3.99899649e-03 -3.08991560e-04 9.99991956e-01 1.63699430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.130714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:603.84, Y:-34.27, Z:1.64 [[ 9.81124373e-01 1.93327705e-01 -4.40026329e-03 6.03843609e+02] [-1.93324207e-01 9.81134183e-01 1.21098345e-03 -3.42705258e+01] [ 4.55136537e-03 -3.37447965e-04 9.99989586e-01 1.63662900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.160714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:603.87, Y:-34.27, Z:1.64 [[ 9.80788597e-01 1.95018693e-01 -4.63011042e-03 6.03874431e+02] [-1.95014838e-01 9.80799464e-01 1.27432661e-03 -3.42738892e+01] [ 4.78972733e-03 -3.46904772e-04 9.99988469e-01 1.63658537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1907140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:603.91, Y:-34.27, Z:1.64 [[ 9.80532573e-01 1.96292677e-01 -5.00584366e-03 6.03907926e+02] [-1.96288187e-01 9.80545281e-01 1.37795987e-03 -3.42717862e+01] [ 5.17893981e-03 -3.68546562e-04 9.99986521e-01 1.63719671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:603.94, Y:-34.27, Z:1.64 [[ 9.80065768e-01 1.98628212e-01 -4.23354875e-03 6.03939738e+02] [-1.98625021e-01 9.80074866e-01 1.16555374e-03 -3.42697651e+01] [ 4.38070658e-03 -3.01430607e-04 9.99990359e-01 1.63800660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.250714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:603.97, Y:-34.27, Z:1.64 [[ 9.79671740e-01 2.00569943e-01 -3.87046400e-03 6.03970420e+02] [-2.00567291e-01 9.79679349e-01 1.06559632e-03 -3.42746049e+01] [ 4.00554024e-03 -2.67646126e-04 9.99991942e-01 1.63860044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.280714057 meters Centerline goodness [0,1] 0.9999157575502295 Centerline is valid? [True, True] Translation: X:604.00, Y:-34.27, Z:1.64 [[ 9.78720255e-01 2.05152908e-01 -4.35281432e-03 6.04004494e+02] [-2.05149598e-01 9.78729894e-01 1.19863633e-03 -3.42677942e+01] [ 4.50613323e-03 -2.80151543e-04 9.99989808e-01 1.63923861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3107140569999 meters Centerline goodness [0,1] 0.9996834508082556 Centerline is valid? [True, True] Translation: X:604.03, Y:-34.27, Z:1.64 [[ 9.78122384e-01 2.07983245e-01 -4.42410166e-03 6.04033746e+02] [-2.07979854e-01 9.78132351e-01 1.21826401e-03 -3.42742344e+01] [ 4.58073546e-03 -2.71487277e-04 9.99989472e-01 1.63909562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3407140569999 meters Centerline goodness [0,1] 0.9992640255698545 Centerline is valid? [True, True] Translation: X:604.07, Y:-34.27, Z:1.64 [[ 9.77476099e-01 2.10992699e-01 -4.74946501e-03 6.04065483e+02] [-2.10988827e-01 9.77487598e-01 1.30780269e-03 -3.42715636e+01] [ 4.91847996e-03 -2.76261823e-04 9.99987866e-01 1.63893707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.370714057 meters Centerline goodness [0,1] 0.9990314158174008 Centerline is valid? [True, True] Translation: X:604.09, Y:-34.27, Z:1.64 [[ 9.76881679e-01 2.13723173e-01 -4.95881106e-03 6.04094911e+02] [-2.13718988e-01 9.76894227e-01 1.36521240e-03 -3.42727740e+01] [ 5.13601142e-03 -2.73858901e-04 9.99986773e-01 1.63871340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.400714057 meters Centerline goodness [0,1] 0.99848828420257 Centerline is valid? [True, True] Translation: X:604.13, Y:-34.27, Z:1.64 [[ 9.75785046e-01 2.18684868e-01 -4.52456073e-03 6.04128500e+02] [-2.18681438e-01 9.75795510e-01 1.24564618e-03 -3.42664616e+01] [ 4.68745002e-03 -2.26045468e-04 9.99988988e-01 1.63873163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4307140569999 meters Centerline goodness [0,1] 0.9977076279206714 Centerline is valid? [True, True] Translation: X:604.16, Y:-34.27, Z:1.64 [[ 9.75457441e-01 2.20147479e-01 -4.22719213e-03 6.04156593e+02] [-2.20144498e-01 9.75466578e-01 1.16372211e-03 -3.42689099e+01] [ 4.37967513e-03 -2.04568301e-04 9.99990388e-01 1.63861150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4607140569999 meters Centerline goodness [0,1] 0.9970295372772153 Centerline is valid? [True, True] Translation: X:604.19, Y:-34.27, Z:1.64 [[ 9.74977176e-01 2.22271474e-01 -3.85987664e-03 6.04186106e+02] [-2.22269007e-01 9.74984800e-01 1.06227549e-03 -3.42682187e+01] [ 3.99943459e-03 -1.77763415e-04 9.99991986e-01 1.63787541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.490714057 meters Centerline goodness [0,1] 0.9965885307660108 Centerline is valid? [True, True] Translation: X:604.22, Y:-34.27, Z:1.64 [[ 9.74825153e-01 2.22936435e-01 -3.90734949e-03 6.04215697e+02] [-2.22933913e-01 9.74832968e-01 1.07504506e-03 -3.42677190e+01] [ 4.04867982e-03 -1.76900247e-04 9.99991788e-01 1.63717318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.520714057 meters Centerline goodness [0,1] 0.9962781750512274 Centerline is valid? [True, True] Translation: X:604.24, Y:-34.28, Z:1.64 [[ 9.74828336e-01 2.22915705e-01 -4.27838942e-03 6.04242014e+02] [-2.22912683e-01 9.74837705e-01 1.17676538e-03 -3.42752972e+01] [ 4.43305480e-03 -1.93436973e-04 9.99990155e-01 1.63694009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5507140569999 meters Centerline goodness [0,1] 0.9959965624934499 Centerline is valid? [True, True] Translation: X:604.27, Y:-34.28, Z:1.64 [[ 9.74928593e-01 2.22471104e-01 -4.56574274e-03 6.04270454e+02] [-2.22467659e-01 9.74939262e-01 1.25535933e-03 -3.42805210e+01] [ 4.73060304e-03 -2.08155605e-04 9.99988789e-01 1.63680123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5807140569999 meters Centerline goodness [0,1] 0.9952724610396402 Centerline is valid? [True, True] Translation: X:604.30, Y:-34.28, Z:1.64 [[ 9.75154902e-01 2.21482385e-01 -4.29772695e-03 6.04299598e+02] [-2.21479325e-01 9.75164352e-01 1.18137066e-03 -3.42822542e+01] [ 4.45264291e-03 -2.00161726e-04 9.99990067e-01 1.63645155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.610714057 meters Centerline goodness [0,1] 0.9951680716213107 Centerline is valid? [True, True] Translation: X:604.33, Y:-34.29, Z:1.64 [[ 9.75249136e-01 2.21067047e-01 -4.29932157e-03 6.04328280e+02] [-2.21063982e-01 9.75258591e-01 1.18149188e-03 -3.42857682e+01] [ 4.45413922e-03 -2.01823789e-04 9.99990060e-01 1.63636152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.640714057 meters Centerline goodness [0,1] 0.9949569984724518 Centerline is valid? [True, True] Translation: X:604.36, Y:-34.29, Z:1.64 [[ 9.75240515e-01 2.21113849e-01 -3.82150593e-03 6.04355756e+02] [-2.21111429e-01 9.75247986e-01 1.04992786e-03 -3.42895057e+01] [ 3.95906955e-03 -1.78953551e-04 9.99992147e-01 1.63665364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6707140569999 meters Centerline goodness [0,1] 0.9943894597491016 Centerline is valid? [True, True] Translation: X:604.39, Y:-34.29, Z:1.64 [[ 9.75099043e-01 2.21745830e-01 -3.26240191e-03 6.04385242e+02] [-2.21744071e-01 9.75104489e-01 8.95930536e-04 -3.42925926e+01] [ 3.37985161e-03 -1.50202726e-04 9.99994277e-01 1.63707312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7007140569999 meters Centerline goodness [0,1] 0.9942668043757773 Centerline is valid? [True, True] Translation: X:604.41, Y:-34.30, Z:1.64 [[ 9.74948115e-01 2.22416647e-01 -2.64748280e-03 6.04414014e+02] [-2.22415491e-01 9.74951702e-01 7.26916463e-04 -3.42952649e+01] [ 2.74284618e-03 -1.19864648e-04 9.99996231e-01 1.63742973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7307140569999 meters Centerline goodness [0,1] 0.9942599769561119 Centerline is valid? [True, True] Translation: X:604.44, Y:-34.31, Z:1.64 [[ 9.74744795e-01 2.23311731e-01 -2.11063442e-03 6.04439750e+02] [-2.23310998e-01 9.74747076e-01 5.79505083e-04 -3.43061904e+01] [ 2.18674501e-03 -9.35416843e-05 9.99997605e-01 1.63811499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.760714057 meters Centerline goodness [0,1] 0.9939663451501106 Centerline is valid? [True, True] Translation: X:604.47, Y:-34.30, Z:1.64 [[ 9.74207048e-01 2.25653370e-01 -1.08810068e-03 6.04470144e+02] [-2.25653177e-01 9.74207655e-01 2.98697812e-04 -3.43041049e+01] [ 1.12743818e-03 -4.54601389e-05 9.99999363e-01 1.63815919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.790714057 meters Centerline goodness [0,1] 0.9937394352970638 Centerline is valid? [True, True] Translation: X:604.50, Y:-34.31, Z:1.64 [[ 9.73825295e-01 2.27295397e-01 -1.04795045e-03 6.04497558e+02] [-2.27295219e-01 9.73825858e-01 2.87605596e-04 -3.43115818e+01] [ 1.08589267e-03 -4.18834783e-05 9.99999410e-01 1.63802271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8207140569999 meters Centerline goodness [0,1] 0.9935751684432299 Centerline is valid? [True, True] Translation: X:604.53, Y:-34.32, Z:1.64 [[ 9.73402075e-01 2.29101035e-01 -1.05661097e-03 6.04526556e+02] [-2.29100855e-01 9.73402648e-01 2.90048459e-04 -3.43169267e+01] [ 1.09495831e-03 -4.02632963e-05 9.99999400e-01 1.63754251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8507140569999 meters Centerline goodness [0,1] 0.9937060889929742 Centerline is valid? [True, True] Translation: X:604.56, Y:-34.32, Z:1.64 [[ 9.72332254e-01 2.33598145e-01 -1.37645994e-03 6.04556560e+02] [-2.33597844e-01 9.72333227e-01 3.77305638e-04 -3.43191977e+01] [ 1.42651563e-03 -4.53283661e-05 9.99998981e-01 1.63677854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.880714057 meters Centerline goodness [0,1] 0.9937726496438539 Centerline is valid? [True, True] Translation: X:604.58, Y:-34.33, Z:1.64 [[ 9.71788751e-01 2.35850380e-01 -1.10539311e-03 6.04583163e+02] [-2.35850188e-01 9.71789379e-01 3.03088232e-04 -3.43287020e+01] [ 1.14569276e-03 -3.38305615e-05 9.99999343e-01 1.63757011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.910714057 meters Centerline goodness [0,1] 0.9941634241245136 Centerline is valid? [True, True] Translation: X:604.61, Y:-34.33, Z:1.64 [[ 9.71404948e-01 2.37428363e-01 -4.46060891e-04 6.04612028e+02] [-2.37428332e-01 9.71405051e-01 1.22442447e-04 -3.43318825e+01] [ 4.62377112e-04 -1.30337059e-05 9.99999893e-01 1.63778395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9407140569999 meters Centerline goodness [0,1] 0.9944090794873942 Centerline is valid? [True, True] Translation: X:604.64, Y:-34.34, Z:1.64 [[ 9.70729071e-01 2.40176908e-01 3.51180836e-04 6.04640147e+02] [-2.40176889e-01 9.70729135e-01 -9.58627693e-05 -3.43389703e+01] [-3.63925492e-04 8.71125630e-06 9.99999934e-01 1.63888588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9707140569999 meters Centerline goodness [0,1] 0.9940834609655288 Centerline is valid? [True, True] Translation: X:604.67, Y:-34.35, Z:1.64 [[ 9.70725731e-01 2.40189951e-01 5.84621807e-04 6.04667162e+02] [-2.40189898e-01 9.70725907e-01 -1.59567398e-04 -3.43469892e+01] [-6.05834020e-04 1.44759270e-05 9.99999816e-01 1.63893641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.000714057 meters Centerline goodness [0,1] 0.9942336426962982 Centerline is valid? [True, True] Translation: X:604.69, Y:-34.36, Z:1.64 [[ 9.70858611e-01 2.39652979e-01 8.38537781e-05 6.04693501e+02] [-2.39652978e-01 9.70858615e-01 -2.25871434e-05 -3.43571898e+01] [-8.68232391e-05 1.83311497e-06 9.99999996e-01 1.63808937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.030714057 meters Centerline goodness [0,1] 0.9942336426962982 Centerline is valid? [True, True] Translation: X:604.72, Y:-34.36, Z:1.64 [[ 9.70883425e-01 2.39552434e-01 8.38735045e-05 6.04720051e+02] [-2.39552433e-01 9.70883428e-01 -2.25149564e-05 -3.43643562e+01] [-8.68249083e-05 1.76729594e-06 9.99999996e-01 1.63819738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0607140569999 meters Centerline goodness [0,1] 0.9941678071375935 Centerline is valid? [True, True] Translation: X:604.75, Y:-34.37, Z:1.64 [[ 9.71067993e-01 2.38803147e-01 -9.94110247e-05 6.04747709e+02] [-2.38803145e-01 9.71067998e-01 2.74586125e-05 -3.43737303e+01] [ 1.03092068e-04 -2.92451434e-06 9.99999995e-01 1.63761212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0907140569999 meters Centerline goodness [0,1] 0.9943960541504879 Centerline is valid? [True, True] Translation: X:604.77, Y:-34.38, Z:1.64 [[ 9.71209659e-01 2.38225287e-01 -7.14380582e-04 6.04774971e+02] [-2.38225207e-01 9.71209922e-01 1.95533492e-04 -3.43830527e+01] [ 7.40394531e-04 -1.97205544e-05 9.99999726e-01 1.63709956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.120714057 meters Centerline goodness [0,1] 0.9947368421052631 Centerline is valid? [True, True] Translation: X:604.80, Y:-34.39, Z:1.64 [[ 9.71566766e-01 2.36762793e-01 -1.18312839e-03 6.04802109e+02] [-2.36762574e-01 9.71567485e-01 3.23568717e-04 -3.43931188e+01] [ 1.22609810e-03 -3.42480898e-05 9.99999248e-01 1.63732048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.150714057 meters Centerline goodness [0,1] 0.9950638548143169 Centerline is valid? [True, True] Translation: X:604.83, Y:-34.40, Z:1.64 [[ 9.71790983e-01 2.35840859e-01 -1.17253025e-03 6.04829498e+02] [-2.35840644e-01 9.71791690e-01 3.20583161e-04 -3.44029416e+01] [ 1.21506176e-03 -3.50095352e-05 9.99999261e-01 1.63754337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1807140569999 meters Centerline goodness [0,1] 0.9951106914279719 Centerline is valid? [True, True] Translation: X:604.86, Y:-34.41, Z:1.64 [[ 9.71964295e-01 2.35126895e-01 -8.67881843e-04 6.04855442e+02] [-2.35126777e-01 9.71964682e-01 2.37350582e-04 -3.44141491e+01] [ 8.99358004e-04 -2.66340306e-05 9.99999595e-01 1.63828262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2107140569999 meters Centerline goodness [0,1] 0.9954073608052847 Centerline is valid? [True, True] Translation: X:604.88, Y:-34.42, Z:1.64 [[ 9.72198633e-01 2.34156147e-01 -8.46691904e-04 6.04882743e+02] [-2.34156034e-01 9.72199001e-01 2.31434006e-04 -3.44233324e+01] [ 8.77344719e-04 -2.67418054e-05 9.99999615e-01 1.63940213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.240714057 meters Centerline goodness [0,1] 0.9958480991423598 Centerline is valid? [True, True] Translation: X:604.91, Y:-34.43, Z:1.64 [[ 9.72219377e-01 2.34069463e-01 -9.84902520e-04 6.04909210e+02] [-2.34069310e-01 9.72219875e-01 2.69200368e-04 -3.44319046e+01] [ 1.02055339e-03 -3.11863605e-05 9.99999479e-01 1.63991912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.270714057 meters Centerline goodness [0,1] 0.9957866934976732 Centerline is valid? [True, True] Translation: X:604.94, Y:-34.44, Z:1.64 [[ 9.72215142e-01 2.34084063e-01 -1.53898596e-03 6.04937218e+02] [-2.34083691e-01 9.72216359e-01 4.20139582e-04 -3.44400018e+01] [ 1.59457531e-03 -4.82145495e-05 9.99998728e-01 1.64032138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3007140569999 meters Centerline goodness [0,1] 0.9962893859667512 Centerline is valid? [True, True] Translation: X:604.96, Y:-34.45, Z:1.64 [[ 9.72105351e-01 2.34536635e-01 -1.93739652e-03 6.04963357e+02] [-2.34536046e-01 9.72107280e-01 5.28786024e-04 -3.44494086e+01] [ 2.00737695e-03 -5.96464042e-05 9.99997983e-01 1.64138487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3307140569999 meters Centerline goodness [0,1] 0.9963545946857155 Centerline is valid? [True, True] Translation: X:604.99, Y:-34.46, Z:1.64 [[ 9.71860343e-01 2.35554178e-01 -1.30517011e-03 6.04990368e+02] [-2.35553912e-01 9.71861218e-01 3.56066656e-04 -3.44583359e+01] [ 1.35231720e-03 -3.86091374e-05 9.99999085e-01 1.64236881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.360714057 meters Centerline goodness [0,1] 0.9968430357368354 Centerline is valid? [True, True] Translation: X:605.02, Y:-34.47, Z:1.64 [[ 9.71712416e-01 2.36164636e-01 -1.11615734e-03 6.05016633e+02] [-2.36164441e-01 9.71713056e-01 3.04502832e-04 -3.44677392e+01] [ 1.15649746e-03 -3.22925092e-05 9.99999331e-01 1.64309931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.390714057 meters Centerline goodness [0,1] 0.997027260652316 Centerline is valid? [True, True] Translation: X:605.04, Y:-34.48, Z:1.64 [[ 9.71447658e-01 2.37248883e-01 -1.55443895e-03 6.05044556e+02] [-2.37248508e-01 9.71448900e-01 4.23744871e-04 -3.44759594e+01] [ 1.61059100e-03 -4.28576408e-05 9.99998702e-01 1.64372008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4207140569999 meters Centerline goodness [0,1] 0.9974516658944442 Centerline is valid? [True, True] Translation: X:605.07, Y:-34.49, Z:1.64 [[ 9.70817830e-01 2.39815336e-01 -1.15977939e-03 6.05070952e+02] [-2.39815129e-01 9.70818523e-01 3.16143059e-04 -3.44862915e+01] [ 1.20175127e-03 -2.87846743e-05 9.99999277e-01 1.64466399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4507140569999 meters Centerline goodness [0,1] 0.9975338307828506 Centerline is valid? [True, True] Translation: X:605.10, Y:-34.50, Z:1.65 [[ 9.70386175e-01 2.41556772e-01 -9.98658321e-04 6.05097871e+02] [-2.41556619e-01 9.70386689e-01 2.72356208e-04 -3.44951527e+01] [ 1.03487423e-03 -2.30581718e-05 9.99999464e-01 1.64600022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4807140569999 meters Centerline goodness [0,1] 0.9981200625237633 Centerline is valid? [True, True] Translation: X:605.13, Y:-34.50, Z:1.65 [[ 9.69292484e-01 2.45909779e-01 -6.78872521e-04 6.05126165e+02] [-2.45909710e-01 9.69292722e-01 1.85032156e-04 -3.45009639e+01] [ 7.03527410e-04 -1.24089332e-05 9.99999752e-01 1.64731483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.510714057 meters Centerline goodness [0,1] 0.9981676881278827 Centerline is valid? [True, True] Translation: X:605.15, Y:-34.51, Z:1.65 [[ 9.68700918e-01 2.48230788e-01 -8.50586243e-05 6.05152509e+02] [-2.48230787e-01 9.68700922e-01 2.34980005e-05 -3.45095304e+01] [ 8.82292949e-05 -1.64836538e-06 9.99999996e-01 1.64830393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.540714057 meters Centerline goodness [0,1] 0.9982095462779627 Centerline is valid? [True, True] Translation: X:605.18, Y:-34.52, Z:1.65 [[ 9.68101903e-01 2.50556686e-01 -2.30023649e-04 6.05181000e+02] [-2.50556678e-01 9.68101930e-01 6.28449130e-05 -3.45161045e+01] [ 2.38432552e-04 -3.20631845e-06 9.99999972e-01 1.64847653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5707140569999 meters Centerline goodness [0,1] 0.998631665368503 Centerline is valid? [True, True] Translation: X:605.21, Y:-34.52, Z:1.65 [[ 9.67331120e-01 2.53516151e-01 -2.56541975e-04 6.05207732e+02] [-2.53516141e-01 9.67331154e-01 7.01017008e-05 -3.45235115e+01] [ 2.65932958e-04 -2.77402512e-06 9.99999965e-01 1.64861511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6007140569999 meters Centerline goodness [0,1] 0.9986727341676147 Centerline is valid? [True, True] Translation: X:605.24, Y:-34.53, Z:1.65 [[ 9.66050689e-01 2.58350369e-01 -1.07406726e-03 6.05235448e+02] [-2.58350204e-01 9.66051286e-01 2.92206168e-04 -3.45317182e+01] [ 1.11309563e-03 -4.80047366e-06 9.99999380e-01 1.64788490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.630714057 meters Centerline goodness [0,1] 0.9987567430883345 Centerline is valid? [True, True] Translation: X:605.26, Y:-34.54, Z:1.65 [[ 9.65495267e-01 2.60414311e-01 -1.81022487e-03 6.05262500e+02] [-2.60413846e-01 9.65496964e-01 4.92150962e-04 -3.45401518e+01] [ 1.87592977e-03 -3.76180284e-06 9.99998240e-01 1.64760026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.660714057 meters Centerline goodness [0,1] 0.9989455925769718 Centerline is valid? [True, True] Translation: X:605.29, Y:-34.55, Z:1.65 [[ 9.65013952e-01 2.62185332e-01 -2.63142884e-03 6.05288887e+02] [-2.62184357e-01 9.65017540e-01 7.15132938e-04 -3.45485272e+01] [ 2.72687235e-03 -1.93785695e-07 9.99996282e-01 1.64695209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6907140569999 meters Centerline goodness [0,1] 0.9993917019759198 Centerline is valid? [True, True] Translation: X:605.32, Y:-34.56, Z:1.65 [[ 9.64065734e-01 2.65631485e-01 -4.14429918e-03 6.05315471e+02] [-2.65629101e-01 9.64074641e-01 1.12559326e-03 -3.45593615e+01] [ 4.29440676e-03 1.57005765e-05 9.99990779e-01 1.64639650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7207140569999 meters Centerline goodness [0,1] 0.9994343772912957 Centerline is valid? [True, True] Translation: X:605.34, Y:-34.57, Z:1.65 [[ 9.63663678e-01 2.67085751e-01 -4.18532980e-03 6.05341553e+02] [-2.67083335e-01 9.63672766e-01 1.13641043e-03 -3.45678462e+01] [ 4.33680738e-03 2.27143854e-05 9.99990596e-01 1.64616794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.750714057 meters Centerline goodness [0,1] 0.9993736298152208 Centerline is valid? [True, True] Translation: X:605.37, Y:-34.58, Z:1.65 [[ 9.63262401e-01 2.68525478e-01 -4.42882677e-03 6.05368204e+02] [-2.68522789e-01 9.63272582e-01 1.20210032e-03 -3.45781734e+01] [ 4.58896196e-03 3.13028721e-05 9.99989470e-01 1.64647446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.780714057 meters Centerline goodness [0,1] 0.9994584799950014 Centerline is valid? [True, True] Translation: X:605.39, Y:-34.59, Z:1.65 [[ 9.62462454e-01 2.71373892e-01 -4.71544159e-03 6.05394361e+02] [-2.71370880e-01 9.62474004e-01 1.27952333e-03 -3.45908086e+01] [ 4.88571917e-03 4.81403717e-05 9.99988064e-01 1.64685940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8107140569999 meters Centerline goodness [0,1] 0.9994774902813193 Centerline is valid? [True, True] Translation: X:605.42, Y:-34.60, Z:1.65 [[ 9.62112281e-01 2.72606919e-01 -5.04235117e-03 6.05420473e+02] [-2.72603494e-01 9.62125493e-01 1.36780432e-03 -3.46004901e+01] [ 5.22424752e-03 5.85812102e-05 9.99986352e-01 1.64711428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8407140569999 meters Centerline goodness [0,1] 0.9997279822560733 Centerline is valid? [True, True] Translation: X:605.45, Y:-34.61, Z:1.65 [[ 9.61831707e-01 2.73589455e-01 -5.34572650e-03 6.05447110e+02] [-2.73585623e-01 9.61846560e-01 1.44960297e-03 -3.46114153e+01] [ 5.53836473e-03 6.82398131e-05 9.99984661e-01 1.64716882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.870714057 meters Centerline goodness [0,1] 0.9997695224925095 Centerline is valid? [True, True] Translation: X:605.47, Y:-34.63, Z:1.65 [[ 9.61305616e-01 2.75428326e-01 -5.54529006e-03 6.05472867e+02] [-2.75424236e-01 9.61321606e-01 1.50328500e-03 -3.46257324e+01] [ 5.74485442e-03 8.21909649e-05 9.99983495e-01 1.64683164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.900714057 meters Centerline goodness [0,1] 0.9998954609128353 Centerline is valid? [True, True] Translation: X:605.50, Y:-34.64, Z:1.65 [[ 9.60913692e-01 2.76795205e-01 -5.41212675e-03 6.05499907e+02] [-2.76791333e-01 9.60928929e-01 1.46677925e-03 -3.46371246e+01] [ 5.60666662e-03 8.85815089e-05 9.99984279e-01 1.64756907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9307140569999 meters Centerline goodness [0,1] 0.9997905890729378 Centerline is valid? [True, True] Translation: X:605.53, Y:-34.65, Z:1.65 [[ 9.60604038e-01 2.77871063e-01 -5.24926464e-03 6.05526676e+02] [-2.77867438e-01 9.60618376e-01 1.42227539e-03 -3.46475851e+01] [ 5.43774925e-03 9.23562314e-05 9.99985211e-01 1.64798316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9607140569999 meters Centerline goodness [0,1] 0.9997906329166928 Centerline is valid? [True, True] Translation: X:605.55, Y:-34.66, Z:1.65 [[ 9.59881126e-01 2.80374617e-01 -4.27755563e-03 6.05552480e+02] [-2.80372236e-01 9.59890653e-01 1.15876936e-03 -3.46575968e+01] [ 4.43087519e-03 8.70270033e-05 9.99990180e-01 1.64796728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.990714057 meters Centerline goodness [0,1] 0.9998744691089398 Centerline is valid? [True, True] Translation: X:605.58, Y:-34.67, Z:1.65 [[ 9.59517023e-01 2.81619417e-01 -4.19369034e-03 6.05577801e+02] [-2.81617142e-01 9.59526183e-01 1.13566389e-03 -3.46735607e+01] [ 4.34378069e-03 9.13262559e-05 9.99990562e-01 1.64821981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.020714057 meters Centerline goodness [0,1] 0.9998324887976884 Centerline is valid? [True, True] Translation: X:605.60, Y:-34.69, Z:1.65 [[ 9.59186498e-01 2.82742192e-01 -4.25615920e-03 6.05604043e+02] [-2.82739862e-01 9.59195936e-01 1.15223895e-03 -3.46851758e+01] [ 4.40827717e-03 9.81738224e-05 9.99990279e-01 1.64830459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0507140569999 meters Centerline goodness [0,1] 0.9999369562476359 Centerline is valid? [True, True] Translation: X:605.63, Y:-34.70, Z:1.65 [[ 9.58955226e-01 2.83531186e-01 -3.86527881e-03 6.05630293e+02] [-2.83529271e-01 9.58963012e-01 1.04608092e-03 -3.46983072e+01] [ 4.00325597e-03 9.27749175e-05 9.99991983e-01 1.64807664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0807140569999 meters Centerline goodness [0,1] 0.9997490642186487 Centerline is valid? [True, True] Translation: X:605.66, Y:-34.72, Z:1.65 [[ 9.58788399e-01 2.84095449e-01 -3.81857320e-03 6.05656594e+02] [-2.84093586e-01 9.58795999e-01 1.03314684e-03 -3.47176344e+01] [ 3.95474502e-03 9.42629518e-05 9.99992176e-01 1.64788358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.110714057 meters Centerline goodness [0,1] 0.9995816774733319 Centerline is valid? [True, True] Translation: X:605.68, Y:-34.73, Z:1.65 [[ 9.58939203e-01 2.83585073e-01 -3.88733274e-03 6.05684748e+02] [-2.83583138e-01 9.58947078e-01 1.05175218e-03 -3.47307357e+01] [ 4.02600759e-03 9.38156223e-05 9.99991891e-01 1.64771189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.140714057 meters Centerline goodness [0,1] 0.9996232496808087 Centerline is valid? [True, True] Translation: X:605.71, Y:-34.75, Z:1.65 [[ 9.59712575e-01 2.80952073e-01 -4.20787535e-03 6.05711837e+02] [-2.80949780e-01 9.59721795e-01 1.13866801e-03 -3.47518036e+01] [ 4.35830082e-03 8.94076436e-05 9.99990499e-01 1.64769795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1707140569999 meters Centerline goodness [0,1] 0.999621228062792 Centerline is valid? [True, True] Translation: X:605.74, Y:-34.77, Z:1.65 [[ 9.60242711e-01 2.79133983e-01 -4.26095561e-03 6.05741243e+02] [-2.79131608e-01 9.60252161e-01 1.15417148e-03 -3.47674344e+01] [ 4.41376032e-03 8.10826470e-05 9.99990256e-01 1.64779879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2007140569999 meters Centerline goodness [0,1] 0.9994323199192633 Centerline is valid? [True, True] Translation: X:605.77, Y:-34.78, Z:1.65 [[ 9.60798293e-01 2.77217062e-01 -4.16412517e-03 6.05770372e+02] [-2.77214771e-01 9.60807315e-01 1.12901170e-03 -3.47836238e+01] [ 4.31390323e-03 6.96044914e-05 9.99990693e-01 1.64742172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2307140569999 meters Centerline goodness [0,1] 0.9999158921737668 Centerline is valid? [True, True] Translation: X:605.80, Y:-34.81, Z:1.65 [[ 9.61953519e-01 2.73183858e-01 -4.00083064e-03 6.05797048e+02] [-2.73181705e-01 9.61961838e-01 1.08576553e-03 -3.48065357e+01] [ 4.14526002e-03 4.84977618e-05 9.99991407e-01 1.64803663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.260714057 meters Centerline goodness [0,1] 0.9993478901089654 Centerline is valid? [True, True] Translation: X:605.83, Y:-34.82, Z:1.65 [[ 9.62477967e-01 2.71337402e-01 -3.48965884e-03 6.05825273e+02] [-2.71335749e-01 9.62484292e-01 9.47869344e-04 -3.48210374e+01] [ 3.61593423e-03 3.45658357e-05 9.99993462e-01 1.64878213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.290714057 meters Centerline goodness [0,1] 0.9992844364937388 Centerline is valid? [True, True] Translation: X:605.85, Y:-34.84, Z:1.65 [[ 9.62839843e-01 2.70056030e-01 -3.02959553e-03 6.05854854e+02] [-2.70054775e-01 9.62844609e-01 8.23523976e-04 -3.48357282e+01] [ 3.13942734e-03 2.52350449e-05 9.99995072e-01 1.64874738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3207140569999 meters Centerline goodness [0,1] 0.9990107137594982 Centerline is valid? [True, True] Translation: X:605.88, Y:-34.85, Z:1.65 [[ 9.63532352e-01 2.67567851e-01 -3.58499024e-03 6.05881752e+02] [-2.67566073e-01 9.63539021e-01 9.75678333e-04 -3.48548993e+01] [ 3.71533814e-03 1.91241219e-05 9.99993098e-01 1.64797758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3507140569999 meters Centerline goodness [0,1] 0.9989692022887916 Centerline is valid? [True, True] Translation: X:605.91, Y:-34.87, Z:1.65 [[ 9.63863155e-01 2.66365018e-01 -4.18271237e-03 6.05910920e+02] [-2.66362581e-01 9.63872231e-01 1.13958712e-03 -3.48685636e+01] [ 4.33514645e-03 1.57120263e-05 9.99990603e-01 1.64773386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.380714057 meters Centerline goodness [0,1] 0.9987367623218308 Centerline is valid? [True, True] Translation: X:605.94, Y:-34.88, Z:1.65 [[ 9.64058834e-01 2.65646903e-01 -4.72091510e-03 6.05941303e+02] [-2.65643783e-01 9.64070393e-01 1.28772581e-03 -3.48832555e+01] [ 4.89337485e-03 1.26383016e-05 9.99988027e-01 1.64731181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.410714057 meters Centerline goodness [0,1] 0.9985533681363608 Centerline is valid? [True, True] Translation: X:605.97, Y:-34.90, Z:1.65 [[ 9.64761917e-01 2.63082106e-01 -4.71693278e-03 6.05970292e+02] [-2.63078952e-01 9.64773448e-01 1.28808993e-03 -3.49013831e+01] [ 4.88964491e-03 -1.77437538e-06 9.99988046e-01 1.64696481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4407140569999 meters Centerline goodness [0,1] 0.9984420724646834 Centerline is valid? [True, True] Translation: X:606.00, Y:-34.91, Z:1.65 [[ 9.65064591e-01 2.61966005e-01 -4.91406661e-03 6.06000128e+02] [-2.61962561e-01 9.65077102e-01 1.34334637e-03 -3.49143036e+01] [ 5.09436425e-03 -9.11454616e-06 9.99987024e-01 1.64707592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4707140569999 meters Centerline goodness [0,1] 0.9982747738270566 Centerline is valid? [True, True] Translation: X:606.03, Y:-34.93, Z:1.65 [[ 9.65493132e-01 2.60383533e-01 -4.84024566e-03 6.06030443e+02] [-2.60380167e-01 9.65505264e-01 1.32419331e-03 -3.49274220e+01] [ 5.01808079e-03 -1.81955710e-05 9.99987409e-01 1.64727336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.500714057 meters Centerline goodness [0,1] 0.9987564286316499 Centerline is valid? [True, True] Translation: X:606.06, Y:-34.94, Z:1.65 [[ 9.65907793e-01 2.58837401e-01 -5.03345858e-03 6.06059349e+02] [-2.58833732e-01 9.65920907e-01 1.37842254e-03 -3.49402274e+01] [ 5.21871019e-03 -2.86001995e-05 9.99986382e-01 1.64743285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.530714057 meters Centerline goodness [0,1] 0.9981265918706717 Centerline is valid? [True, True] Translation: X:606.09, Y:-34.96, Z:1.65 [[ 9.66847838e-01 2.55303485e-01 -5.03868204e-03 6.06088056e+02] [-2.55299756e-01 9.66860966e-01 1.38073642e-03 -3.49572540e+01] [ 5.22421181e-03 -4.85877233e-05 9.99986353e-01 1.64740350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5607140569999 meters Centerline goodness [0,1] 0.9981877186327812 Centerline is valid? [True, True] Translation: X:606.12, Y:-34.97, Z:1.65 [[ 9.67393498e-01 2.53229911e-01 -4.94290211e-03 6.06118233e+02] [-2.53226288e-01 9.67406124e-01 1.35578332e-03 -3.49699910e+01] [ 5.12511866e-03 -5.99032091e-05 9.99986865e-01 1.64809954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5907140569999 meters Centerline goodness [0,1] 0.9984205871204145 Centerline is valid? [True, True] Translation: X:606.15, Y:-34.99, Z:1.65 [[ 9.68425327e-01 2.49272861e-01 -3.92776955e-03 6.06146109e+02] [-2.49270538e-01 9.68433290e-01 1.07817524e-03 -3.49853724e+01] [ 4.07254262e-03 -6.50549834e-05 9.99991705e-01 1.64905235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.620714057 meters Centerline goodness [0,1] 0.9985884038429125 Centerline is valid? [True, True] Translation: X:606.18, Y:-35.00, Z:1.65 [[ 9.68741356e-01 2.48040589e-01 -4.00651347e-03 6.06176413e+02] [-2.48038157e-01 9.68749638e-01 1.10078912e-03 -3.49959031e+01] [ 4.15434885e-03 -7.26117298e-05 9.99991368e-01 1.64893401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.650714057 meters Centerline goodness [0,1] 0.9984193888303478 Centerline is valid? [True, True] Translation: X:606.21, Y:-35.01, Z:1.65 [[ 9.69006463e-01 2.46999656e-01 -4.20064822e-03 6.06207242e+02] [-2.46996968e-01 9.69015564e-01 1.15527770e-03 -3.50062849e+01] [ 4.35584670e-03 -8.19241882e-05 9.99990510e-01 1.64890140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6807140569999 meters Centerline goodness [0,1] 0.9983364568636948 Centerline is valid? [True, True] Translation: X:606.24, Y:-35.02, Z:1.65 [[ 9.68824436e-01 2.47702795e-01 -4.74733971e-03 6.06236853e+02] [-2.47699363e-01 9.68836063e-01 1.30697826e-03 -3.50171382e+01] [ 4.92313609e-03 -9.03194531e-05 9.99987877e-01 1.64935140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7107140569999 meters Centerline goodness [0,1] 0.9985055148606551 Centerline is valid? [True, True] Translation: X:606.27, Y:-35.02, Z:1.65 [[ 9.68470352e-01 2.49090373e-01 -4.37758637e-03 6.06267967e+02] [-2.49087465e-01 9.68480242e-01 1.20618145e-03 -3.50243883e+01] [ 4.54005410e-03 -7.77490811e-05 9.99989691e-01 1.65002870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.740714057 meters Centerline goodness [0,1] 0.9984838594200762 Centerline is valid? [True, True] Translation: X:606.30, Y:-35.03, Z:1.65 [[ 9.67999721e-01 2.50916637e-01 -4.16915745e-03 6.06297681e+02] [-2.50914011e-01 9.68008697e-01 1.14982028e-03 -3.50325950e+01] [ 4.32428971e-03 -6.69256937e-05 9.99990648e-01 1.65053307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.770714057 meters Centerline goodness [0,1] 0.998249351416338 Centerline is valid? [True, True] Translation: X:606.33, Y:-35.04, Z:1.65 [[ 9.66948487e-01 2.54937634e-01 -4.17439482e-03 6.06327725e+02] [-2.54935035e-01 9.66957497e-01 1.15230321e-03 -3.50392985e+01] [ 4.33022782e-03 -5.00183570e-05 9.99990623e-01 1.65086101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8007140569999 meters Centerline goodness [0,1] 0.9980824342548887 Centerline is valid? [True, True] Translation: X:606.36, Y:-35.05, Z:1.65 [[ 9.66452834e-01 2.56806300e-01 -4.40953757e-03 6.06357564e+02] [-2.56803414e-01 9.66462892e-01 1.21834867e-03 -3.50466870e+01] [ 4.57453405e-03 -4.50922267e-05 9.99989536e-01 1.65112974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8307140569999 meters Centerline goodness [0,1] 0.9979986517232662 Centerline is valid? [True, True] Translation: X:606.39, Y:-35.05, Z:1.65 [[ 9.66113901e-01 2.58076793e-01 -4.50545905e-03 6.06387592e+02] [-2.58073789e-01 9.66124406e-01 1.24596564e-03 -3.50547311e+01] [ 4.67438876e-03 -4.10038348e-05 9.99989074e-01 1.65131696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.860714057 meters Centerline goodness [0,1] 0.9983564414851026 Centerline is valid? [True, True] Translation: X:606.42, Y:-35.06, Z:1.65 [[ 9.66203542e-01 2.57741985e-01 -4.44797919e-03 6.06419545e+02] [-2.57739048e-01 9.66213779e-01 1.23117294e-03 -3.50631080e+01] [ 4.61502374e-03 -4.31457328e-05 9.99989350e-01 1.65113367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.890714057 meters Centerline goodness [0,1] 0.998248612605769 Centerline is valid? [True, True] Translation: X:606.45, Y:-35.07, Z:1.65 [[ 9.66491022e-01 2.56657761e-01 -4.67948722e-03 6.06449981e+02] [-2.56654491e-01 9.66502349e-01 1.29671084e-03 -3.50721249e+01] [ 4.85554629e-03 -5.22479746e-05 9.99988210e-01 1.65087998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9207140569999 meters Centerline goodness [0,1] 0.998248612605769 Centerline is valid? [True, True] Translation: X:606.48, Y:-35.08, Z:1.65 [[ 9.66418052e-01 2.56932392e-01 -4.67915600e-03 6.06481249e+02] [-2.56929119e-01 9.66429378e-01 1.29790507e-03 -3.50808579e+01] [ 4.85554768e-03 -5.21074552e-05 9.99988210e-01 1.65100767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9507140569999 meters Centerline goodness [0,1] 0.9983130904183536 Centerline is valid? [True, True] Translation: X:606.51, Y:-35.09, Z:1.65 [[ 9.66764398e-01 2.55615613e-01 -5.22085693e-03 6.06512358e+02] [-2.55611510e-01 9.66778493e-01 1.44983865e-03 -3.50905768e+01] [ 5.41801359e-03 -6.71412650e-05 9.99985320e-01 1.65085457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9807140569999 meters Centerline goodness [0,1] 0.9986482205090295 Centerline is valid? [True, True] Translation: X:606.54, Y:-35.10, Z:1.65 [[ 9.67820817e-01 2.51568501e-01 -6.01300667e-03 6.06543096e+02] [-2.51562969e-01 9.67839490e-01 1.67157788e-03 -3.51013179e+01] [ 6.24014165e-03 -1.05138055e-04 9.99980525e-01 1.64995316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.010714057 meters Centerline goodness [0,1] 0.9985850351629322 Centerline is valid? [True, True] Translation: X:606.57, Y:-35.11, Z:1.65 [[ 9.68462252e-01 2.49070745e-01 -6.68055267e-03 6.06573261e+02] [-2.49063844e-01 9.68485284e-01 1.85899330e-03 -3.51107207e+01] [ 6.93303779e-03 -1.36480714e-04 9.99975957e-01 1.65016773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.040714057 meters Centerline goodness [0,1] 0.9987339902517249 Centerline is valid? [True, True] Translation: X:606.60, Y:-35.12, Z:1.65 [[ 9.69819889e-01 2.43743764e-01 -6.19363889e-03 6.06602818e+02] [-2.43737718e-01 9.69839652e-01 1.72446926e-03 -3.51220026e+01] [ 6.42716522e-03 -1.62801173e-04 9.99979332e-01 1.65116455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0707140569999 meters Centerline goodness [0,1] 0.9986706056129985 Centerline is valid? [True, True] Translation: X:606.63, Y:-35.13, Z:1.65 [[ 9.70550671e-01 2.40845124e-01 -5.00214806e-03 6.06633356e+02] [-2.40841141e-01 9.70563550e-01 1.39293810e-03 -3.51320058e+01] [ 5.19038493e-03 -1.47193964e-04 9.99986519e-01 1.65181572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1007140569999 meters Centerline goodness [0,1] 0.9987971892211273 Centerline is valid? [True, True] Translation: X:606.66, Y:-35.14, Z:1.65 [[ 9.71061896e-01 2.38781053e-01 -4.73309802e-03 6.06664309e+02] [-2.38777460e-01 9.71073420e-01 1.31854769e-03 -3.51416459e+01] [ 4.91102989e-03 -1.50234301e-04 9.99987930e-01 1.65306287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.130714057 meters Centerline goodness [0,1] 0.9990507530692317 Centerline is valid? [True, True] Translation: X:606.69, Y:-35.15, Z:1.65 [[ 9.71537151e-01 2.36840946e-01 -4.68305491e-03 6.06693761e+02] [-2.36837400e-01 9.71548424e-01 1.30584236e-03 -3.51522616e+01] [ 4.85909156e-03 -1.59551814e-04 9.99988182e-01 1.65376242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.160714057 meters Centerline goodness [0,1] 0.9992404101785036 Centerline is valid? [True, True] Translation: X:606.72, Y:-35.16, Z:1.65 [[ 9.71878934e-01 2.35427819e-01 -5.00802767e-03 6.06724525e+02] [-2.35423738e-01 9.71891820e-01 1.39777111e-03 -3.51601369e+01] [ 5.19633533e-03 -1.79455701e-04 9.99986483e-01 1.65355607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1907140569999 meters Centerline goodness [0,1] 0.9989866148714268 Centerline is valid? [True, True] Translation: X:606.76, Y:-35.17, Z:1.65 [[ 9.71673616e-01 2.36259159e-01 -5.65630908e-03 6.06755891e+02] [-2.36253958e-01 9.71690059e-01 1.58027597e-03 -3.51667094e+01] [ 5.86953398e-03 -1.99187060e-04 9.99982754e-01 1.65304695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2207140569999 meters Centerline goodness [0,1] 0.9990294949153973 Centerline is valid? [True, True] Translation: X:606.79, Y:-35.17, Z:1.65 [[ 9.71220370e-01 2.38097065e-01 -6.38592900e-03 6.06786753e+02] [-2.38090463e-01 9.71241341e-01 1.78597427e-03 -3.51739822e+01] [ 6.62751347e-03 -2.14145803e-04 9.99978015e-01 1.65263955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.250714057 meters Centerline goodness [0,1] 0.9987339101076177 Centerline is valid? [True, True] Translation: X:606.82, Y:-35.18, Z:1.65 [[ 9.69631708e-01 2.44442445e-01 -7.88937588e-03 6.06816448e+02] [-2.44432568e-01 9.69663780e-01 2.20762515e-03 -3.51767805e+01] [ 8.18967932e-03 -2.12162943e-04 9.99966442e-01 1.65250506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.280714057 meters Centerline goodness [0,1] 0.999030251923685 Centerline is valid? [True, True] Translation: X:606.85, Y:-35.18, Z:1.65 [[ 9.68652199e-01 2.48281017e-01 -8.33392968e-03 6.06848219e+02] [-2.48270136e-01 9.68688030e-01 2.33220586e-03 -3.51817473e+01] [ 8.65202037e-03 -1.90030480e-04 9.99962553e-01 1.65289743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3107140569999 meters Centerline goodness [0,1] 0.9984623809925015 Centerline is valid? [True, True] Translation: X:606.88, Y:-35.19, Z:1.65 [[ 9.67583741e-01 2.52415317e-01 -8.25903296e-03 6.06880398e+02] [-2.52404773e-01 9.67618977e-01 2.31210438e-03 -3.51877255e+01] [ 8.57520758e-03 -1.52535264e-04 9.99963221e-01 1.65352948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3407140569999 meters Centerline goodness [0,1] 0.9988837640319286 Centerline is valid? [True, True] Translation: X:606.91, Y:-35.19, Z:1.66 [[ 9.65374069e-01 2.60751909e-01 -7.83258086e-03 6.06911855e+02] [-2.60742694e-01 9.65405840e-01 2.19338814e-03 -3.51902539e+01] [ 8.13354945e-03 -7.51517985e-05 9.99966919e-01 1.65568059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.370714057 meters Centerline goodness [0,1] 0.9983162502893945 Centerline is valid? [True, True] Translation: X:606.94, Y:-35.20, Z:1.66 [[ 9.64382149e-01 2.64397002e-01 -7.82923658e-03 6.06943894e+02] [-2.64387906e-01 9.64413927e-01 2.19367093e-03 -3.51963987e+01] [ 8.13062481e-03 -4.55816263e-05 9.99966945e-01 1.65653504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.400714057 meters Centerline goodness [0,1] 0.9986764149754191 Centerline is valid? [True, True] Translation: X:606.97, Y:-35.20, Z:1.66 [[ 9.63648168e-01 2.67075702e-01 -7.26484090e-03 6.06974516e+02] [-2.67067932e-01 9.63675552e-01 2.03732088e-03 -3.52031053e+01] [ 7.54506846e-03 -2.30544941e-05 9.99971535e-01 1.65689756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4307140569999 meters Centerline goodness [0,1] 0.9984849441323149 Centerline is valid? [True, True] Translation: X:607.01, Y:-35.21, Z:1.66 [[ 9.62620160e-01 2.70774345e-01 -6.60927895e-03 6.07006386e+02] [-2.70767989e-01 9.62642849e-01 1.85518971e-03 -3.52103215e+01] [ 6.86471289e-03 3.73815780e-06 9.99976438e-01 1.65778390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4607140569999 meters Centerline goodness [0,1] 0.9980881147971511 Centerline is valid? [True, True] Translation: X:607.04, Y:-35.22, Z:1.66 [[ 9.62313018e-01 2.71884456e-01 -5.70071311e-03 6.07037928e+02] [-2.71879738e-01 9.62329903e-01 1.60175028e-03 -3.52198908e+01] [ 5.92145770e-03 8.52324463e-06 9.99982468e-01 1.65710900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.490714057 meters Centerline goodness [0,1] 0.9984670950401076 Centerline is valid? [True, True] Translation: X:607.07, Y:-35.23, Z:1.66 [[ 9.61883838e-01 2.73386435e-01 -6.27205364e-03 6.07068960e+02] [-2.73380742e-01 9.61904287e-01 1.76432457e-03 -3.52303300e+01] [ 6.51545769e-03 1.75833860e-05 9.99978774e-01 1.65666164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.520714057 meters Centerline goodness [0,1] 0.9981927077860671 Centerline is valid? [True, True] Translation: X:607.10, Y:-35.24, Z:1.66 [[ 9.61613680e-01 2.74320808e-01 -6.87205880e-03 6.07100842e+02] [-2.74313982e-01 9.61638234e-01 1.93532404e-03 -3.52401773e+01] [ 7.13933414e-03 2.40677414e-05 9.99974514e-01 1.65645348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5507140569999 meters Centerline goodness [0,1] 0.9981485767183522 Centerline is valid? [True, True] Translation: X:607.13, Y:-35.25, Z:1.66 [[ 9.61268674e-01 2.75522253e-01 -7.07281508e-03 6.07132434e+02] [-2.75515039e-01 9.61294693e-01 1.99405318e-03 -3.52498914e+01] [ 7.34846563e-03 3.18460702e-05 9.99972999e-01 1.65597669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5807140569999 meters Centerline goodness [0,1] 0.9979611568858248 Centerline is valid? [True, True] Translation: X:607.16, Y:-35.26, Z:1.66 [[ 9.60952686e-01 2.76621334e-01 -7.11148549e-03 6.07163480e+02] [-2.76614056e-01 9.60978999e-01 2.00705843e-03 -3.52590825e+01] [ 7.38918338e-03 3.84486520e-05 9.99972699e-01 1.65544021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.610714057 meters Centerline goodness [0,1] 0.997981199924295 Centerline is valid? [True, True] Translation: X:607.19, Y:-35.27, Z:1.66 [[ 9.60370404e-01 2.78639533e-01 -6.97835377e-03 6.07194734e+02] [-2.78632563e-01 9.60395756e-01 1.97151639e-03 -3.52710446e+01] [ 7.25132375e-03 5.10106031e-05 9.99973708e-01 1.65580044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.640714057 meters Centerline goodness [0,1] 0.9976679692424052 Centerline is valid? [True, True] Translation: X:607.22, Y:-35.28, Z:1.66 [[ 9.60126200e-01 2.79474743e-01 -7.17965826e-03 6.07224480e+02] [-2.79467375e-01 9.60153042e-01 2.03016259e-03 -3.52815537e+01] [ 7.46094989e-03 5.72679564e-05 9.99972165e-01 1.65635602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6707140569999 meters Centerline goodness [0,1] 0.9979583245632498 Centerline is valid? [True, True] Translation: X:607.25, Y:-35.30, Z:1.66 [[ 9.59964650e-01 2.80062557e-01 -5.73019730e-03 6.07254714e+02] [-2.80057868e-01 9.59981751e-01 1.62140752e-03 -3.52958185e+01] [ 5.95498038e-03 4.82929369e-05 9.99982268e-01 1.65702165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7007140569999 meters Centerline goodness [0,1] 0.9972013551333039 Centerline is valid? [True, True] Translation: X:607.29, Y:-35.31, Z:1.66 [[ 9.59912350e-01 2.80240380e-01 -5.79733702e-03 6.07285097e+02] [-2.80235573e-01 9.59929855e-01 1.64215600e-03 -3.53080494e+01] [ 6.02523531e-03 4.82942296e-05 9.99981847e-01 1.65750372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7307140569999 meters Centerline goodness [0,1] 0.9977500683390458 Centerline is valid? [True, True] Translation: X:607.32, Y:-35.32, Z:1.66 [[ 9.60009307e-01 2.79923968e-01 -4.97016454e-03 6.07316238e+02] [-2.79920423e-01 9.60022172e-01 1.40917298e-03 -3.53205413e+01] [ 5.16592945e-03 3.84313792e-05 9.99986656e-01 1.65733590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.760714057 meters Centerline goodness [0,1] 0.9973693071807391 Centerline is valid? [True, True] Translation: X:607.34, Y:-35.34, Z:1.66 [[ 9.60636451e-01 2.77773375e-01 -4.42275151e-03 6.07344228e+02] [-2.77770541e-01 9.60646632e-01 1.25506340e-03 -3.53361691e+01] [ 4.59732454e-03 2.28504271e-05 9.99989432e-01 1.65683114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.790714057 meters Centerline goodness [0,1] 0.9973529967857818 Centerline is valid? [True, True] Translation: X:607.37, Y:-35.35, Z:1.66 [[ 9.60796515e-01 2.77226300e-01 -3.95414342e-03 6.07374255e+02] [-2.77224027e-01 9.60804652e-01 1.12263444e-03 -3.53494613e+01] [ 4.11038318e-03 1.75603002e-05 9.99991552e-01 1.65618986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8207140569999 meters Centerline goodness [0,1] 0.9972233324218011 Centerline is valid? [True, True] Translation: X:607.41, Y:-35.36, Z:1.66 [[ 9.61092489e-01 2.76191626e-01 -4.40612165e-03 6.07405068e+02] [-2.76188786e-01 9.61102589e-01 1.25243306e-03 -3.53625186e+01] [ 4.58064644e-03 1.32173881e-05 9.99989509e-01 1.65594003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8507140569999 meters Centerline goodness [0,1] 0.9975810353168844 Centerline is valid? [True, True] Translation: X:607.44, Y:-35.38, Z:1.66 [[ 9.61386946e-01 2.75169748e-01 -4.09258717e-03 6.07435031e+02] [-2.75167284e-01 9.61395657e-01 1.16443853e-03 -3.53753078e+01] [ 4.25501379e-03 6.67009854e-06 9.99990947e-01 1.65531395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.880714057 meters Centerline goodness [0,1] 0.9970173706652103 Centerline is valid? [True, True] Translation: X:607.46, Y:-35.39, Z:1.66 [[ 9.61691311e-01 2.74107683e-01 -3.84709299e-03 6.07464963e+02] [-2.74105494e-01 9.61699006e-01 1.09528220e-03 -3.53922641e+01] [ 3.99997077e-03 1.18595415e-06 9.99992000e-01 1.65609279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.910714057 meters Centerline goodness [0,1] 0.997184933089641 Centerline is valid? [True, True] Translation: X:607.50, Y:-35.41, Z:1.66 [[ 9.61840527e-01 2.73591760e-01 -3.21716201e-03 6.07495214e+02] [-2.73590224e-01 9.61845907e-01 9.16740425e-04 -3.54050490e+01] [ 3.34522674e-03 -1.57401801e-06 9.99994405e-01 1.65679426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9407140569999 meters Centerline goodness [0,1] 0.9965133375341315 Centerline is valid? [True, True] Translation: X:607.52, Y:-35.42, Z:1.66 [[ 9.62182553e-01 2.72388359e-01 -3.05225437e-03 6.07524322e+02] [-2.72386968e-01 9.62187394e-01 8.70649081e-04 -3.54208585e+01] [ 3.17399536e-03 -6.32904251e-06 9.99994963e-01 1.65744076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9707140569999 meters Centerline goodness [0,1] 0.996679416586104 Centerline is valid? [True, True] Translation: X:607.56, Y:-35.43, Z:1.66 [[ 9.62312054e-01 2.71934182e-01 -2.70374732e-03 6.07555102e+02] [-2.71933087e-01 9.62315853e-01 7.71876891e-04 -3.54328731e+01] [ 2.81175862e-03 -7.54808157e-06 9.99996047e-01 1.65781887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.000714057 meters Centerline goodness [0,1] 0.9966764829617164 Centerline is valid? [True, True] Translation: X:607.59, Y:-35.44, Z:1.66 [[ 9.62502074e-01 2.71262077e-01 -2.57764256e-03 6.07586320e+02] [-2.71261077e-01 9.62505525e-01 7.36604437e-04 -3.54447025e+01] [ 2.68080806e-03 -9.76920104e-06 9.99996407e-01 1.65801537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.030714057 meters Centerline goodness [0,1] 0.9966774614122892 Centerline is valid? [True, True] Translation: X:607.62, Y:-35.46, Z:1.66 [[ 9.62536994e-01 2.71142489e-01 -2.07022845e-03 6.07616972e+02] [-2.71141843e-01 9.62539220e-01 5.91995822e-04 -3.54583719e+01] [ 2.15319130e-03 -8.49232259e-06 9.99997682e-01 1.65792641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0607140569999 meters Centerline goodness [0,1] 0.997101266620455 Centerline is valid? [True, True] Translation: X:607.65, Y:-35.47, Z:1.66 [[ 9.62403904e-01 2.71608123e-01 -2.78441958e-03 6.07647307e+02] [-2.71606952e-01 9.62407932e-01 7.97489062e-04 -3.54696458e+01] [ 2.89635200e-03 -1.12388697e-05 9.99995806e-01 1.65761924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0907140569999 meters Centerline goodness [0,1] 0.9967622571692877 Centerline is valid? [True, True] Translation: X:607.68, Y:-35.48, Z:1.66 [[ 9.62141508e-01 2.72528175e-01 -3.48039088e-03 6.07678659e+02] [-2.72526347e-01 9.62147802e-01 9.98068069e-04 -3.54804149e+01] [ 3.62065211e-03 -1.17845025e-05 9.99993445e-01 1.65682059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.120714057 meters Centerline goodness [0,1] 0.9967242030994078 Centerline is valid? [True, True] Translation: X:607.71, Y:-35.49, Z:1.65 [[ 9.61747646e-01 2.73878152e-01 -5.67646142e-03 6.07708166e+02] [-2.73873300e-01 9.61764398e-01 1.63029663e-03 -3.54919510e+01] [ 5.90592113e-03 -1.33027248e-05 9.99982560e-01 1.65496346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.150714057 meters Centerline goodness [0,1] 0.9971781750794955 Centerline is valid? [True, True] Translation: X:607.74, Y:-35.50, Z:1.65 [[ 9.61458551e-01 2.74878665e-01 -6.25895592e-03 6.07739490e+02] [-2.74872774e-01 9.61478923e-01 1.79956626e-03 -3.55024856e+01] [ 6.51251657e-03 -9.79179016e-06 9.99978793e-01 1.65426682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1807140569999 meters Centerline goodness [0,1] 0.9970944921677615 Centerline is valid? [True, True] Translation: X:607.77, Y:-35.51, Z:1.65 [[ 9.61463058e-01 2.74856238e-01 -6.54501682e-03 6.07770843e+02] [-2.74849782e-01 9.61485334e-01 1.88389966e-03 -3.55130270e+01] [ 6.81073926e-03 -1.24034823e-05 9.99976807e-01 1.65401933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2107140569999 meters Centerline goodness [0,1] 0.9974303888116601 Centerline is valid? [True, True] Translation: X:607.80, Y:-35.53, Z:1.65 [[ 9.61932471e-01 2.73222111e-01 -5.96653092e-03 6.07800283e+02] [-2.73216705e-01 9.61950975e-01 1.71887936e-03 -3.55265751e+01] [ 6.20914608e-03 -2.32899484e-05 9.99980723e-01 1.65478997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.240714057 meters Centerline goodness [0,1] 0.9964864296233957 Centerline is valid? [True, True] Translation: X:607.83, Y:-35.54, Z:1.66 [[ 9.62411250e-01 2.71550416e-01 -4.99565282e-03 6.07831604e+02] [-2.71546599e-01 9.62424215e-01 1.44016418e-03 -3.55385094e+01] [ 5.19901443e-03 -2.94776738e-05 9.99986485e-01 1.65609509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.270714057 meters Centerline goodness [0,1] 0.9969020021074816 Centerline is valid? [True, True] Translation: X:607.86, Y:-35.55, Z:1.66 [[ 9.63464550e-01 2.67818294e-01 -3.06966194e-03 6.07861029e+02] [-2.67816832e-01 9.63469439e-01 8.85449459e-04 -3.55522659e+01] [ 3.19466503e-03 -3.09920277e-05 9.99994897e-01 1.65865104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3007140569999 meters Centerline goodness [0,1] 0.9974717680768582 Centerline is valid? [True, True] Translation: X:607.89, Y:-35.56, Z:1.66 [[ 9.64052509e-01 2.65704630e-01 -1.95164297e-03 6.07891038e+02] [-2.65704034e-01 9.64054484e-01 5.63108455e-04 -3.55632525e+01] [ 2.03111068e-03 -2.43067086e-05 9.99997937e-01 1.65957169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3307140569999 meters Centerline goodness [0,1] 0.9971156073015138 Centerline is valid? [True, True] Translation: X:607.92, Y:-35.57, Z:1.66 [[ 9.64449219e-01 2.64265745e-01 -1.14878965e-03 6.07920657e+02] [-2.64265537e-01 9.64449903e-01 3.31406984e-04 -3.55740054e+01] [ 1.19552958e-03 -1.60396938e-05 9.99999285e-01 1.66077099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.360714057 meters Centerline goodness [0,1] 0.9974542394277298 Centerline is valid? [True, True] Translation: X:607.95, Y:-35.59, Z:1.66 [[ 9.64995312e-01 2.62267122e-01 -6.21079150e-05 6.07949239e+02] [-2.62267122e-01 9.64995314e-01 1.74701236e-05 -3.55854565e+01] [ 6.45156860e-05 -5.69723267e-07 9.99999998e-01 1.66200402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.390714057 meters Centerline goodness [0,1] 0.9979037836704748 Centerline is valid? [True, True] Translation: X:607.98, Y:-35.60, Z:1.66 [[ 9.65023569e-01 2.62163136e-01 -4.15149797e-05 6.07980770e+02] [-2.62163136e-01 9.65023570e-01 1.08923971e-05 -3.55953724e+01] [ 4.29185188e-05 3.72277403e-07 9.99999999e-01 1.66211457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4207140569999 meters Centerline goodness [0,1] 0.9974548284638522 Centerline is valid? [True, True] Translation: X:608.01, Y:-35.60, Z:1.66 [[ 9.64785306e-01 2.63038614e-01 -1.79611964e-05 6.08011931e+02] [-2.63038614e-01 9.64785306e-01 4.19591228e-06 -3.56038943e+01] [ 1.84323853e-05 6.76333710e-07 1.00000000e+00 1.66235898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4507140569999 meters Centerline goodness [0,1] 0.9969066307527199 Centerline is valid? [True, True] Translation: X:608.04, Y:-35.61, Z:1.66 [[ 9.63925380e-01 2.66170042e-01 -1.17094658e-03 6.08042372e+02] [-2.66169827e-01 9.63926091e-01 3.38951588e-04 -3.56115760e+01] [ 1.21892472e-03 -1.50533890e-05 9.99999257e-01 1.66208908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4807140569999 meters Centerline goodness [0,1] 0.9972506138896468 Centerline is valid? [True, True] Translation: X:608.07, Y:-35.62, Z:1.66 [[ 9.63299574e-01 2.68422372e-01 -1.83341096e-03 6.08074063e+02] [-2.68421846e-01 9.63301318e-01 5.31659875e-04 -3.56190250e+01] [ 1.90883660e-03 -2.00201777e-05 9.99998178e-01 1.66158085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.510714057 meters Centerline goodness [0,1] 0.9967005022802261 Centerline is valid? [True, True] Translation: X:608.11, Y:-35.63, Z:1.66 [[ 9.62551605e-01 2.71080941e-01 -3.08728557e-03 6.08105440e+02] [-2.71079459e-01 9.62556556e-01 8.96773375e-04 -3.56264558e+01] [ 3.21478514e-03 -2.62909493e-05 9.99994832e-01 1.66134125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.540714057 meters Centerline goodness [0,1] 0.996684294468228 Centerline is valid? [True, True] Translation: X:608.14, Y:-35.63, Z:1.66 [[ 9.60884799e-01 2.76923676e-01 -3.69887498e-03 6.08136165e+02] [-2.76921587e-01 9.60891918e-01 1.07559997e-03 -3.56319054e+01] [ 3.85207817e-03 -9.22933254e-06 9.99992581e-01 1.66092090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5707140569999 meters Centerline goodness [0,1] 0.9967888849245493 Centerline is valid? [True, True] Translation: X:608.17, Y:-35.64, Z:1.66 [[ 9.60010380e-01 2.79932687e-01 -4.21442298e-03 6.08168179e+02] [-2.79930000e-01 9.60019630e-01 1.22669623e-03 -3.56393355e+01] [ 4.38932117e-03 2.10230579e-06 9.99990367e-01 1.66113396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6007140569999 meters Centerline goodness [0,1] 0.9967852415271153 Centerline is valid? [True, True] Translation: X:608.20, Y:-35.65, Z:1.66 [[ 9.59151798e-01 2.82857892e-01 -4.38648272e-03 6.08198979e+02] [-2.82855004e-01 9.59161828e-01 1.27812353e-03 -3.56467610e+01] [ 4.56887411e-03 1.48241056e-05 9.99989563e-01 1.66126231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.630714057 meters Centerline goodness [0,1] 0.9964495052417067 Centerline is valid? [True, True] Translation: X:608.23, Y:-35.65, Z:1.66 [[ 9.57881891e-01 2.87111812e-01 -5.39357774e-03 6.08229646e+02] [-2.87107506e-01 9.57897075e-01 1.57308809e-03 -3.56540109e+01] [ 5.61814451e-03 4.17040534e-05 9.99984217e-01 1.66085781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.660714057 meters Centerline goodness [0,1] 0.9959906799051198 Centerline is valid? [True, True] Translation: X:608.26, Y:-35.66, Z:1.66 [[ 9.57382678e-01 2.88754649e-01 -6.25781110e-03 6.08259691e+02] [-2.88748879e-01 9.57403128e-01 1.82635273e-03 -3.56625123e+01] [ 6.51861576e-03 5.84174718e-05 9.99978752e-01 1.66017930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6907140569999 meters Centerline goodness [0,1] 0.9957168951689097 Centerline is valid? [True, True] Translation: X:608.29, Y:-35.67, Z:1.66 [[ 9.57077858e-01 2.89745126e-01 -7.05232478e-03 6.08291408e+02] [-2.89737810e-01 9.57103838e-01 2.06019306e-03 -3.56722364e+01] [ 7.34673801e-03 7.15599788e-05 9.99973010e-01 1.65953955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7207140569999 meters Centerline goodness [0,1] 0.9960720062175731 Centerline is valid? [True, True] Translation: X:608.32, Y:-35.68, Z:1.66 [[ 9.56921704e-01 2.90240670e-01 -7.82345109e-03 6.08321861e+02] [-2.90231664e-01 9.56953681e-01 2.28793300e-03 -3.56847372e+01] [ 8.15073152e-03 8.12404789e-05 9.99966779e-01 1.65988172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.750714057 meters Centerline goodness [0,1] 0.9960084872166551 Centerline is valid? [True, True] Translation: X:608.35, Y:-35.70, Z:1.66 [[ 9.56999984e-01 2.89982757e-01 -7.81225500e-03 6.08352575e+02] [-2.89973748e-01 9.57031867e-01 2.28708620e-03 -3.56956821e+01] [ 8.13979255e-03 7.66074007e-05 9.99966868e-01 1.66033643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.780714057 meters Centerline goodness [0,1] 0.996366156948412 Centerline is valid? [True, True] Translation: X:608.38, Y:-35.71, Z:1.66 [[ 9.57231485e-01 2.89215482e-01 -7.89240027e-03 6.08383314e+02] [-2.89206240e-01 9.57264018e-01 2.31303350e-03 -3.57088871e+01] [ 8.22407589e-03 6.84229211e-05 9.99966179e-01 1.66153802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8107140569999 meters Centerline goodness [0,1] 0.9960926011512121 Centerline is valid? [True, True] Translation: X:608.41, Y:-35.72, Z:1.66 [[ 9.57386576e-01 2.88710613e-01 -7.55821634e-03 6.08413624e+02] [-2.88702104e-01 9.57416408e-01 2.21733803e-03 -3.57198695e+01] [ 7.87652936e-03 5.92233019e-05 9.99968978e-01 1.66185703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8407140569999 meters Centerline goodness [0,1] 0.9960926011512121 Centerline is valid? [True, True] Translation: X:608.44, Y:-35.73, Z:1.66 [[ 9.57304861e-01 2.88981461e-01 -7.55760342e-03 6.08444733e+02] [-2.88972944e-01 9.57334692e-01 2.21942568e-03 -3.57290692e+01] [ 7.87652881e-03 5.92759231e-05 9.99968978e-01 1.66198473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.870714057 meters Centerline goodness [0,1] 0.9961792799412197 Centerline is valid? [True, True] Translation: X:608.48, Y:-35.74, Z:1.66 [[ 9.57469066e-01 2.88443949e-01 -7.28529157e-03 6.08475965e+02] [-2.88436002e-01 9.57496781e-01 2.14166058e-03 -3.57407747e+01] [ 7.59339227e-03 5.07666183e-05 9.99971168e-01 1.66302773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.900714057 meters Centerline goodness [0,1] 0.9961332352632132 Centerline is valid? [True, True] Translation: X:608.51, Y:-35.75, Z:1.66 [[ 9.57756335e-01 2.87496641e-01 -6.96303831e-03 6.08506641e+02] [-2.87489346e-01 9.57781645e-01 2.04834944e-03 -3.57521208e+01] [ 7.25796387e-03 3.99796752e-05 9.99973660e-01 1.66407076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9307140569999 meters Centerline goodness [0,1] 0.9964705140864304 Centerline is valid? [True, True] Translation: X:608.54, Y:-35.77, Z:1.66 [[ 9.58805678e-01 2.84003633e-01 -5.79725010e-03 6.08535664e+02] [-2.83998508e-01 9.58823204e-01 1.70626093e-03 -3.57658473e+01] [ 6.04312221e-03 1.04377040e-05 9.99981740e-01 1.66486704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9607140569999 meters Centerline goodness [0,1] 0.9965347782258065 Centerline is valid? [True, True] Translation: X:608.57, Y:-35.78, Z:1.67 [[ 9.59302924e-01 2.82321259e-01 -5.71028360e-03 6.08565475e+02] [-2.82316247e-01 9.59319919e-01 1.68224346e-03 -3.57780063e+01] [ 5.95292189e-03 -1.67523346e-06 9.99982281e-01 1.66549574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.990714057 meters Centerline goodness [0,1] 0.9966957107378878 Centerline is valid? [True, True] Translation: X:608.59, Y:-35.79, Z:1.67 [[ 9.61046213e-01 2.76339690e-01 -5.15285119e-03 6.08594247e+02] [-2.76335515e-01 9.61060026e-01 1.51939089e-03 -3.57941352e+01] [ 5.37206731e-03 -3.62890685e-05 9.99985570e-01 1.66650743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.020714057 meters Centerline goodness [0,1] 0.9970108409641091 Centerline is valid? [True, True] Translation: X:608.62, Y:-35.81, Z:1.67 [[ 9.61870346e-01 2.73457865e-01 -5.12194867e-03 6.08622869e+02] [-2.73453692e-01 9.61883981e-01 1.51164146e-03 -3.58076556e+01] [ 5.34009062e-03 -5.33873168e-05 9.99985740e-01 1.66705078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0507140569999 meters Centerline goodness [0,1] 0.9976007071599949 Centerline is valid? [True, True] Translation: X:608.65, Y:-35.82, Z:1.67 [[ 9.62654076e-01 2.70670442e-01 -5.88573474e-03 6.08653246e+02] [-2.70664869e-01 9.62672065e-01 1.73871499e-03 -3.58190084e+01] [ 6.13665118e-03 -8.07194466e-05 9.99981167e-01 1.66724378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0807140569999 meters Centerline goodness [0,1] 0.9977452798381659 Centerline is valid? [True, True] Translation: X:608.68, Y:-35.83, Z:1.67 [[ 9.64003477e-01 2.65802618e-01 -6.80183870e-03 6.08683221e+02] [-2.65795044e-01 9.64027464e-01 2.01075074e-03 -3.58323147e+01] [ 7.09162212e-03 -1.30475682e-04 9.99974846e-01 1.66673843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.110714057 meters Centerline goodness [0,1] 0.9974685680533288 Centerline is valid? [True, True] Translation: X:608.71, Y:-35.84, Z:1.67 [[ 9.64406694e-01 2.64317730e-01 -7.47431799e-03 6.08712322e+02] [-2.64308534e-01 9.64435645e-01 2.21041186e-03 -3.58448950e+01] [ 7.79274973e-03 -1.56209966e-04 9.99969624e-01 1.66603983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.140714057 meters Centerline goodness [0,1] 0.998019176061532 Centerline is valid? [True, True] Translation: X:608.74, Y:-35.86, Z:1.67 [[ 9.64827451e-01 2.62769117e-01 -7.77052672e-03 6.08741769e+02] [-2.62759115e-01 9.64858725e-01 2.29954093e-03 -3.58566507e+01] [ 8.10170885e-03 -1.76883493e-04 9.99967165e-01 1.66696550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1707140569999 meters Centerline goodness [0,1] 0.9977037161877476 Centerline is valid? [True, True] Translation: X:608.77, Y:-35.87, Z:1.67 [[ 9.64785999e-01 2.62920503e-01 -7.79652465e-03 6.08773078e+02] [-2.62910421e-01 9.64817484e-01 2.30937395e-03 -3.58651925e+01] [ 8.12940506e-03 -1.78264072e-04 9.99966940e-01 1.66820848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2007140569999 meters Centerline goodness [0,1] 0.9979113924050633 Centerline is valid? [True, True] Translation: X:608.80, Y:-35.88, Z:1.67 [[ 9.64693516e-01 2.63255704e-01 -7.92803852e-03 6.08803694e+02] [-2.63245270e-01 9.64726076e-01 2.35068839e-03 -3.58752343e+01] [ 8.26721762e-03 -1.80675208e-04 9.99965810e-01 1.66910901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2307140569999 meters Centerline goodness [0,1] 0.9977008584867852 Centerline is valid? [True, True] Translation: X:608.83, Y:-35.88, Z:1.67 [[ 9.64414910e-01 2.64288385e-01 -7.45195741e-03 6.08834337e+02] [-2.64279183e-01 9.64443686e-01 2.21152696e-03 -3.58833165e+01] [ 7.77147416e-03 -1.63432363e-04 9.99969788e-01 1.66956508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.260714057 meters Centerline goodness [0,1] 0.9978294312266874 Centerline is valid? [True, True] Translation: X:608.87, Y:-35.89, Z:1.67 [[ 9.63419473e-01 2.67892558e-01 -7.51639130e-03 6.08865205e+02] [-2.67883289e-01 9.63448783e-01 2.23266698e-03 -3.58903484e+01] [ 7.83977292e-03 -1.37479217e-04 9.99969259e-01 1.66923163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.290714057 meters Centerline goodness [0,1] 0.9977045382752449 Centerline is valid? [True, True] Translation: X:608.90, Y:-35.90, Z:1.67 [[ 9.62844298e-01 2.69949457e-01 -7.62555559e-03 6.08896464e+02] [-2.69939965e-01 9.62874486e-01 2.26711615e-03 -3.58977239e+01] [ 7.95445969e-03 -1.24437642e-04 9.99968355e-01 1.66896341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3207140569999 meters Centerline goodness [0,1] 0.9973032760981776 Centerline is valid? [True, True] Translation: X:608.93, Y:-35.90, Z:1.67 [[ 9.61848129e-01 2.73454485e-01 -8.41549524e-03 6.08928471e+02] [-2.73443039e-01 9.61884938e-01 2.50432772e-03 -3.59024057e+01] [ 8.77955776e-03 -1.07624343e-04 9.99961453e-01 1.66980524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3507140569999 meters Centerline goodness [0,1] 0.9974288724973657 Centerline is valid? [True, True] Translation: X:608.96, Y:-35.91, Z:1.67 [[ 9.61521687e-01 2.74605048e-01 -8.25312130e-03 6.08958056e+02] [-2.74594062e-01 9.61557101e-01 2.45815611e-03 -3.59107286e+01] [ 8.61086946e-03 -9.73123079e-05 9.99962921e-01 1.66973272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.380714057 meters Centerline goodness [0,1] 0.997577672459189 Centerline is valid? [True, True] Translation: X:608.99, Y:-35.92, Z:1.67 [[ 9.61249489e-01 2.75555885e-01 -8.26891182e-03 6.08989543e+02] [-2.75544873e-01 9.61285049e-01 2.46519419e-03 -3.59190920e+01] [ 8.62808007e-03 -9.12104005e-05 9.99962773e-01 1.66993565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.410714057 meters Centerline goodness [0,1] 0.9973057169318852 Centerline is valid? [True, True] Translation: X:609.02, Y:-35.93, Z:1.67 [[ 9.61008928e-01 2.76400139e-01 -8.05001990e-03 6.09019599e+02] [-2.76389717e-01 9.61042640e-01 2.40170329e-03 -3.59263401e+01] [ 8.40024350e-03 -8.31155887e-05 9.99964714e-01 1.67011145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4407140569999 meters Centerline goodness [0,1] 0.9971741285138869 Centerline is valid? [True, True] Translation: X:609.05, Y:-35.93, Z:1.67 [[ 9.60847860e-01 2.76960002e-01 -8.03412665e-03 6.09052055e+02] [-2.76949624e-01 9.60881445e-01 2.39882209e-03 -3.59343457e+01] [ 8.38422100e-03 -7.98547152e-05 9.99964849e-01 1.67032739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4707140569999 meters Centerline goodness [0,1] 0.997156757439818 Centerline is valid? [True, True] Translation: X:609.08, Y:-35.94, Z:1.67 [[ 9.60717257e-01 2.77425001e-01 -7.59743777e-03 6.09083858e+02] [-2.77415718e-01 9.60747294e-01 2.27071447e-03 -3.59422031e+01] [ 7.92917075e-03 -7.38659218e-05 9.99968561e-01 1.67031092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.500714057 meters Centerline goodness [0,1] 0.9973690857046641 Centerline is valid? [True, True] Translation: X:609.12, Y:-35.95, Z:1.67 [[ 9.60749886e-01 2.77327838e-01 -6.99473464e-03 6.09115328e+02] [-2.77319954e-01 9.60775346e-01 2.09228920e-03 -3.59499087e+01] [ 7.30061864e-03 -7.03871189e-05 9.99973348e-01 1.67008273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.530714057 meters Centerline goodness [0,1] 0.9967777262962807 Centerline is valid? [True, True] Translation: X:609.15, Y:-35.96, Z:1.67 [[ 9.60777620e-01 2.77238317e-01 -6.72906861e-03 6.09147410e+02] [-2.77231007e-01 9.60801182e-01 2.01445568e-03 -3.59581007e+01] [ 7.02378138e-03 -6.99374611e-05 9.99975330e-01 1.66960512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5607140569999 meters Centerline goodness [0,1] 0.9968431686168869 Centerline is valid? [True, True] Translation: X:609.18, Y:-35.97, Z:1.67 [[ 9.61346595e-01 2.75259245e-01 -6.71362487e-03 6.09176876e+02] [-2.75251907e-01 9.61370033e-01 2.01175531e-03 -3.59667580e+01] [ 7.00803201e-03 -8.60560731e-05 9.99975440e-01 1.66892519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5907140569999 meters Centerline goodness [0,1] 0.9972456424381321 Centerline is valid? [True, True] Translation: X:609.21, Y:-35.98, Z:1.67 [[ 9.61676006e-01 2.74094620e-01 -7.16930597e-03 6.09207284e+02] [-2.74086205e-01 9.61702724e-01 2.15023307e-03 -3.59762903e+01] [ 7.48410839e-03 -1.02819686e-04 9.99971988e-01 1.66885749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.620714057 meters Centerline goodness [0,1] 0.9972002357696194 Centerline is valid? [True, True] Translation: X:609.24, Y:-35.99, Z:1.67 [[ 9.62050156e-01 2.72776358e-01 -7.24958814e-03 6.09237951e+02] [-2.72767701e-01 9.62077463e-01 2.17628402e-03 -3.59855072e+01] [ 7.56830420e-03 -1.16240895e-04 9.99971353e-01 1.66871982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.650714057 meters Centerline goodness [0,1] 0.997347256726599 Centerline is valid? [True, True] Translation: X:609.27, Y:-36.00, Z:1.67 [[ 9.62434827e-01 2.71407334e-01 -7.56720482e-03 6.09268907e+02] [-2.71397843e-01 9.62464566e-01 2.27372696e-03 -3.59952295e+01] [ 7.90027267e-03 -1.34590945e-04 9.99968783e-01 1.66905157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6807140569999 meters Centerline goodness [0,1] 0.9977260285509748 Centerline is valid? [True, True] Translation: X:609.30, Y:-36.00, Z:1.67 [[ 9.63015539e-01 2.69357874e-01 -6.88522497e-03 6.09299796e+02] [-2.69349952e-01 9.63040142e-01 2.07057537e-03 -3.60045684e+01] [ 7.18847382e-03 -1.39461237e-04 9.99974153e-01 1.66971443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7107140569999 meters Centerline goodness [0,1] 0.9978275542056864 Centerline is valid? [True, True] Translation: X:609.33, Y:-36.01, Z:1.67 [[ 9.63108350e-01 2.69022385e-01 -7.01875261e-03 6.09329480e+02] [-2.69014130e-01 9.63133913e-01 2.11256544e-03 -3.60135604e+01] [ 7.32832606e-03 -1.46485783e-04 9.99973137e-01 1.67008338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.740714057 meters Centerline goodness [0,1] 0.9983771707975047 Centerline is valid? [True, True] Translation: X:609.36, Y:-36.02, Z:1.67 [[ 9.62936926e-01 2.69634062e-01 -7.06742305e-03 6.09362348e+02] [-2.69625694e-01 9.62962851e-01 2.12917788e-03 -3.60202785e+01] [ 7.37976472e-03 -1.44705165e-04 9.99972759e-01 1.67053084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.770714057 meters Centerline goodness [0,1] 0.9978086348216355 Centerline is valid? [True, True] Translation: X:609.39, Y:-36.03, Z:1.67 [[ 9.62458342e-01 2.71323866e-01 -7.56964289e-03 6.09392708e+02] [-2.71314305e-01 9.62488098e-01 2.28231885e-03 -3.60278508e+01] [ 7.90493876e-03 -1.42884414e-04 9.99968745e-01 1.67044249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8007140569999 meters Centerline goodness [0,1] 0.9975163123552936 Centerline is valid? [True, True] Translation: X:609.43, Y:-36.03, Z:1.67 [[ 9.61164662e-01 2.75885223e-01 -7.05955285e-03 6.09425875e+02] [-2.75877023e-01 9.61190582e-01 2.12939105e-03 -3.60304718e+01] [ 7.37304323e-03 -9.91270051e-05 9.99972814e-01 1.67016296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8307140569999 meters Centerline goodness [0,1] 0.9973969266940969 Centerline is valid? [True, True] Translation: X:609.46, Y:-36.04, Z:1.67 [[ 9.60312560e-01 2.78821944e-01 -7.62307581e-03 6.09456786e+02] [-2.78812464e-01 9.60342812e-01 2.30076085e-03 -3.60370271e+01] [ 7.96226868e-03 -8.40409895e-05 9.99968297e-01 1.67051945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.860714057 meters Centerline goodness [0,1] 0.9968075945645097 Centerline is valid? [True, True] Translation: X:609.49, Y:-36.04, Z:1.67 [[ 9.59453228e-01 2.81765829e-01 -7.58426981e-03 6.09488184e+02] [-2.81756521e-01 9.59483202e-01 2.29106558e-03 -3.60431943e+01] [ 7.92252347e-03 -6.12527899e-05 9.99968614e-01 1.67064195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.890714057 meters Centerline goodness [0,1] 0.9963044619422572 Centerline is valid? [True, True] Translation: X:609.52, Y:-36.05, Z:1.67 [[ 9.57933144e-01 2.86887207e-01 -7.73443978e-03 6.09519734e+02] [-2.86877680e-01 9.57964368e-01 2.33811800e-03 -3.60474352e+01] [ 8.08009386e-03 -2.09225832e-05 9.99967355e-01 1.67103046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9207140569999 meters Centerline goodness [0,1] 0.9964536030553574 Centerline is valid? [True, True] Translation: X:609.55, Y:-36.06, Z:1.67 [[ 9.57335794e-01 2.88881972e-01 -7.44197456e-03 6.09551921e+02] [-2.88873199e-01 9.57364719e-01 2.25141003e-03 -3.60552507e+01] [ 7.77507566e-03 -5.56841438e-06 9.99969774e-01 1.67099553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9507140569999 meters Centerline goodness [0,1] 0.9962183285011975 Centerline is valid? [True, True] Translation: X:609.58, Y:-36.06, Z:1.67 [[ 9.56923009e-01 2.90239085e-01 -7.72189854e-03 6.09583247e+02] [-2.90229668e-01 9.56954165e-01 2.33805349e-03 -3.60635410e+01] [ 8.06809747e-03 3.78686140e-06 9.99967452e-01 1.67091953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9807140569999 meters Centerline goodness [0,1] 0.9963903462749213 Centerline is valid? [True, True] Translation: X:609.62, Y:-36.07, Z:1.67 [[ 9.56604798e-01 2.91291353e-01 -7.52385170e-03 6.09615445e+02] [-2.91282431e-01 9.56634385e-01 2.27997382e-03 -3.60724571e+01] [ 7.86171191e-03 1.05319158e-05 9.99969096e-01 1.67161083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.010714057 meters Centerline goodness [0,1] 0.9962005121961459 Centerline is valid? [True, True] Translation: X:609.65, Y:-36.08, Z:1.67 [[ 9.56845183e-01 2.90512229e-01 -7.06689813e-03 6.09646183e+02] [-2.90504321e-01 9.56871279e-01 2.14358035e-03 -3.60812991e+01] [ 7.38484816e-03 1.88991110e-06 9.99972732e-01 1.67188524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.040714057 meters Centerline goodness [0,1] 0.996217215870881 Centerline is valid? [True, True] Translation: X:609.68, Y:-36.09, Z:1.67 [[ 9.57870066e-01 2.87128787e-01 -6.48041081e-03 6.09676962e+02] [-2.87122046e-01 9.57891987e-01 1.96753391e-03 -3.60921718e+01] [ 6.77246921e-03 -2.39730200e-05 9.99977066e-01 1.67252782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0707140569999 meters Centerline goodness [0,1] 0.9967221381744831 Centerline is valid? [True, True] Translation: X:609.71, Y:-36.10, Z:1.67 [[ 9.58626207e-01 2.84606466e-01 -5.91217111e-03 6.09707696e+02] [-2.84600798e-01 9.58644438e-01 1.79665615e-03 -3.61025671e+01] [ 6.17900990e-03 -3.97130511e-05 9.99980909e-01 1.67281113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1007140569999 meters Centerline goodness [0,1] 0.9966954325405177 Centerline is valid? [True, True] Translation: X:609.74, Y:-36.11, Z:1.67 [[ 9.59525494e-01 2.81570268e-01 -5.38616639e-03 6.09738119e+02] [-2.81565507e-01 9.59540610e-01 1.63818801e-03 -3.61129866e+01] [ 5.62951041e-03 -5.53244877e-05 9.99984153e-01 1.67280325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.130714057 meters Centerline goodness [0,1] 0.9969500010517238 Centerline is valid? [True, True] Translation: X:609.77, Y:-36.12, Z:1.67 [[ 9.60510436e-01 2.78201795e-01 -4.84387396e-03 6.09766903e+02] [-2.78197897e-01 9.60522647e-01 1.47446043e-03 -3.61243169e+01] [ 5.06284818e-03 -6.86790819e-05 9.99987181e-01 1.67279308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.160714057 meters Centerline goodness [0,1] 0.9970865035947096 Centerline is valid? [True, True] Translation: X:609.80, Y:-36.14, Z:1.67 [[ 9.62558699e-01 2.71016035e-01 -5.57305259e-03 6.09796406e+02] [-2.71010747e-01 9.62574825e-01 1.69758892e-03 -3.61358538e+01] [ 5.82455394e-03 -1.23671841e-04 9.99983029e-01 1.67172174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1907140569999 meters Centerline goodness [0,1] 0.9973041280539174 Centerline is valid? [True, True] Translation: X:609.83, Y:-36.15, Z:1.67 [[ 9.63419339e-01 2.67930506e-01 -6.03499103e-03 6.09826636e+02] [-2.67924241e-01 9.63438229e-01 1.83863056e-03 -3.61463288e+01] [ 6.30696629e-03 -1.54451843e-04 9.99980099e-01 1.67112979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2207140569999 meters Centerline goodness [0,1] 0.9973281157956745 Centerline is valid? [True, True] Translation: X:609.86, Y:-36.16, Z:1.67 [[ 9.64168013e-01 2.65207369e-01 -6.71523168e-03 6.09857533e+02] [-2.65199543e-01 9.64191379e-01 2.04642246e-03 -3.61562017e+01] [ 7.01749481e-03 -1.92218700e-04 9.99975359e-01 1.67086506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.250714057 meters Centerline goodness [0,1] 0.9977062772248059 Centerline is valid? [True, True] Translation: X:609.89, Y:-36.16, Z:1.67 [[ 9.65351582e-01 2.60842216e-01 -7.59351249e-03 6.09887337e+02] [-2.60832071e-01 9.65381414e-01 2.31447215e-03 -3.61646107e+01] [ 7.93434787e-03 -2.53647766e-04 9.99968490e-01 1.67048868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.280714057 meters Centerline goodness [0,1] 0.9978993361902361 Centerline is valid? [True, True] Translation: X:609.92, Y:-36.17, Z:1.67 [[ 9.65747574e-01 2.59348958e-01 -8.35117973e-03 6.09917073e+02] [-2.59336621e-01 9.65783636e-01 2.54661569e-03 -3.61739409e+01] [ 8.72589485e-03 -2.93621190e-04 9.99961886e-01 1.67056838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3107140569999 meters Centerline goodness [0,1] 0.9979225684608121 Centerline is valid? [True, True] Translation: X:609.95, Y:-36.18, Z:1.67 [[ 9.66153010e-01 2.57831938e-01 -8.42934544e-03 6.09947180e+02] [-2.57819293e-01 9.66189730e-01 2.57251449e-03 -3.61829747e+01] [ 8.80762339e-03 -3.12194735e-04 9.99961163e-01 1.67025533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3407140569999 meters Centerline goodness [0,1] 0.9978336312966664 Centerline is valid? [True, True] Translation: X:609.98, Y:-36.19, Z:1.67 [[ 9.66470762e-01 2.56615464e-01 -9.09779606e-03 6.09977853e+02] [-2.56600659e-01 9.66513518e-01 2.77878961e-03 -3.61907815e+01] [ 9.50622326e-03 -3.51118450e-04 9.99954753e-01 1.67029065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.370714057 meters Centerline goodness [0,1] 0.9977702986958351 Centerline is valid? [True, True] Translation: X:610.01, Y:-36.20, Z:1.67 [[ 9.67263306e-01 2.53610895e-01 -9.12198045e-03 6.10008944e+02] [-2.53595867e-01 9.67306243e-01 2.78729135e-03 -3.61964631e+01] [ 9.53063609e-03 -3.82748108e-04 9.99954509e-01 1.67048644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.400714057 meters Centerline goodness [0,1] 0.9972265411606505 Centerline is valid? [True, True] Translation: X:610.04, Y:-36.20, Z:1.67 [[ 9.68169758e-01 2.50190474e-01 -7.21427088e-03 6.10040366e+02] [-2.50180977e-01 9.68196580e-01 2.20462317e-03 -3.62007017e+01] [ 7.53640811e-03 -3.29576138e-04 9.99971547e-01 1.67190276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4307140569999 meters Centerline goodness [0,1] 0.9976262997584288 Centerline is valid? [True, True] Translation: X:610.07, Y:-36.21, Z:1.67 [[ 9.68614118e-01 2.48489553e-01 -6.29540325e-03 6.10070041e+02] [-2.48482281e-01 9.68634530e-01 1.92459028e-03 -3.62098849e+01] [ 6.57618554e-03 -2.99889158e-04 9.99978332e-01 1.67245967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4607140569999 meters Centerline goodness [0,1] 0.9976687528878061 Centerline is valid? [True, True] Translation: X:610.10, Y:-36.22, Z:1.67 [[ 9.69165669e-01 2.46338438e-01 -5.93972856e-03 6.10101725e+02] [-2.46331917e-01 9.69183824e-01 1.81691713e-03 -3.62157043e+01] [ 6.20426537e-03 -2.97748984e-04 9.99980709e-01 1.67342222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.490714057 meters Centerline goodness [0,1] 0.9976436430960847 Centerline is valid? [True, True] Translation: X:610.13, Y:-36.23, Z:1.67 [[ 9.69667845e-01 2.44368309e-01 -5.32923638e-03 6.10131041e+02] [-2.44363027e-01 9.69682449e-01 1.63083295e-03 -3.62261916e+01] [ 5.56619087e-03 -2.79097942e-04 9.99984470e-01 1.67352659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.520714057 meters Centerline goodness [0,1] 0.9974407920958235 Centerline is valid? [True, True] Translation: X:610.16, Y:-36.23, Z:1.67 [[ 9.70582223e-01 2.40717158e-01 -5.03973122e-03 6.10162512e+02] [-2.40712380e-01 9.70595265e-01 1.54315897e-03 -3.62289955e+01] [ 5.26300410e-03 -2.84636967e-04 9.99986110e-01 1.67386314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5507140569999 meters Centerline goodness [0,1] 0.9978760540870187 Centerline is valid? [True, True] Translation: X:610.19, Y:-36.24, Z:1.67 [[ 9.70979002e-01 2.39119317e-01 -4.66148410e-03 6.10194349e+02] [-2.39115211e-01 9.70990154e-01 1.42747634e-03 -3.62354975e+01] [ 4.86759233e-03 -2.71417798e-04 9.99988116e-01 1.67416690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5807140569999 meters Centerline goodness [0,1] 0.9974106898511673 Centerline is valid? [True, True] Translation: X:610.22, Y:-36.24, Z:1.67 [[ 9.71267085e-01 2.37950570e-01 -4.44709128e-03 6.10224114e+02] [-2.37946819e-01 9.71277229e-01 1.36212518e-03 -3.62426800e+01] [ 4.64347696e-03 -2.64816130e-04 9.99989184e-01 1.67472080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.610714057 meters Centerline goodness [0,1] 0.9977059393021004 Centerline is valid? [True, True] Translation: X:610.26, Y:-36.24, Z:1.68 [[ 9.71831763e-01 2.35659039e-01 -2.80046622e-03 6.10256714e+02] [-2.35657541e-01 9.71835782e-01 8.57824562e-04 -3.62430872e+01] [ 2.92374739e-03 -1.73710171e-04 9.99995711e-01 1.67642918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.640714057 meters Centerline goodness [0,1] 0.9978244043260883 Centerline is valid? [True, True] Translation: X:610.29, Y:-36.25, Z:1.68 [[ 9.71904908e-01 2.35363140e-01 -2.24533940e-03 6.10287487e+02] [-2.35362177e-01 9.71907492e-01 6.87521023e-04 -3.62497838e+01] [ 2.34407929e-03 -1.39737087e-04 9.99997243e-01 1.67709552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6707140569999 meters Centerline goodness [0,1] 0.9982854155776267 Centerline is valid? [True, True] Translation: X:610.32, Y:-36.25, Z:1.68 [[ 9.71682616e-01 2.36284906e-01 -1.52885333e-03 6.10320202e+02] [-2.36284461e-01 9.71683814e-01 4.68182813e-04 -3.62507842e+01] [ 1.59618657e-03 -9.36808141e-05 9.99998722e-01 1.67779816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7007140569999 meters Centerline goodness [0,1] 0.9988480227882037 Centerline is valid? [True, True] Translation: X:610.35, Y:-36.25, Z:1.68 [[ 9.71327678e-01 2.37740916e-01 -1.34111758e-03 6.10351553e+02] [-2.37740573e-01 9.71328601e-01 4.11472288e-04 -3.62549062e+01] [ 1.40048966e-03 -8.08363608e-05 9.99999016e-01 1.67785012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7307140569999 meters Centerline goodness [0,1] 0.9988480227882037 Centerline is valid? [True, True] Translation: X:610.38, Y:-36.26, Z:1.68 [[ 9.71262835e-01 2.38005683e-01 -1.34128020e-03 6.10382612e+02] [-2.38005342e-01 9.71263758e-01 4.10942752e-04 -3.62645079e+01] [ 1.40054356e-03 -7.99015695e-05 9.99999016e-01 1.67797784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.760714057 meters Centerline goodness [0,1] 0.9990779354135669 Centerline is valid? [True, True] Translation: X:610.41, Y:-36.27, Z:1.68 [[ 9.70825859e-01 2.39783402e-01 -1.03544503e-03 6.10412968e+02] [-2.39783199e-01 9.70826409e-01 3.17803314e-04 -3.62682959e+01] [ 1.08144134e-03 -6.02493534e-05 9.99999413e-01 1.67795671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.790714057 meters Centerline goodness [0,1] 0.998972056725686 Centerline is valid? [True, True] Translation: X:610.45, Y:-36.26, Z:1.68 [[ 9.69959615e-01 2.43262902e-01 -1.22735539e-03 6.10447604e+02] [-2.43262619e-01 9.69960389e-01 3.77151234e-04 -3.62615080e+01] [ 1.28223301e-03 -6.72517793e-05 9.99999176e-01 1.67766313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8207140569999 meters Centerline goodness [0,1] 0.9989096246592577 Centerline is valid? [True, True] Translation: X:610.48, Y:-36.27, Z:1.68 [[ 9.69562027e-01 2.44841949e-01 -1.37703267e-03 6.10478393e+02] [-2.44841595e-01 9.69563002e-01 4.22863343e-04 -3.62679149e+01] [ 1.43865461e-03 -7.28373643e-05 9.99998962e-01 1.67765548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8507140569999 meters Centerline goodness [0,1] 0.9993914722175592 Centerline is valid? [True, True] Translation: X:610.51, Y:-36.26, Z:1.68 [[ 9.68766636e-01 2.47964748e-01 -2.16550162e-03 6.10512781e+02] [-2.47963878e-01 9.68769050e-01 6.65799972e-04 -3.62643458e+01] [ 2.26296587e-03 -1.08038619e-04 9.99997434e-01 1.67702780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.880714057 meters Centerline goodness [0,1] 0.9994545149378986 Centerline is valid? [True, True] Translation: X:610.55, Y:-36.27, Z:1.68 [[ 9.68358105e-01 2.49549276e-01 -2.78202706e-03 6.10545503e+02] [-2.49547846e-01 9.68362092e-01 8.55369354e-04 -3.62679535e+01] [ 2.90746635e-03 -1.34054987e-04 9.99995764e-01 1.67686232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.910714057 meters Centerline goodness [0,1] 0.9993288309073367 Centerline is valid? [True, True] Translation: X:610.58, Y:-36.27, Z:1.68 [[ 9.67920036e-01 2.51243774e-01 -2.71479770e-03 6.10578502e+02] [-2.51242417e-01 9.67923835e-01 8.35565097e-04 -3.62719229e+01] [ 2.83764793e-03 -1.26687864e-04 9.99995966e-01 1.67681409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9407140569999 meters Centerline goodness [0,1] 0.9995173846444384 Centerline is valid? [True, True] Translation: X:610.61, Y:-36.27, Z:1.68 [[ 9.66931288e-01 2.55020425e-01 -2.90989963e-03 6.10610919e+02] [-2.55018881e-01 9.66935658e-01 8.95989111e-04 -3.62694431e+01] [ 3.04218124e-03 -1.24280556e-04 9.99995365e-01 1.67816498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9707140569999 meters Centerline goodness [0,1] 0.9996643872970592 Centerline is valid? [True, True] Translation: X:610.64, Y:-36.27, Z:1.68 [[ 9.66204407e-01 2.57771210e-01 -1.74582211e-03 6.10643339e+02] [-2.57770659e-01 9.66205981e-01 5.37446549e-04 -3.62725295e+01] [ 1.82536201e-03 -6.92615085e-05 9.99998332e-01 1.67881011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.000714057 meters Centerline goodness [0,1] 0.9997901408155128 Centerline is valid? [True, True] Translation: X:610.68, Y:-36.27, Z:1.68 [[ 9.65391102e-01 2.60801454e-01 -1.61907919e-03 6.10675399e+02] [-2.60800984e-01 9.65392458e-01 4.98542360e-04 -3.62748759e+01] [ 1.69306741e-03 -5.90309120e-05 9.99998565e-01 1.67974832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.030714057 meters Centerline goodness [0,1] 0.999874095058231 Centerline is valid? [True, True] Translation: X:610.71, Y:-36.27, Z:1.68 [[ 9.63368789e-01 2.68177141e-01 -1.26374253e-03 6.10709257e+02] [-2.68176861e-01 9.63369617e-01 3.89216055e-04 -3.62698891e+01] [ 1.32183001e-03 -3.60520927e-05 9.99999126e-01 1.67990628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0607140569999 meters Centerline goodness [0,1] 0.9997692565866756 Centerline is valid? [True, True] Translation: X:610.74, Y:-36.27, Z:1.68 [[ 9.62332129e-01 2.71873826e-01 -1.22291638e-03 6.10740587e+02] [-2.71873566e-01 9.62332906e-01 3.76579224e-04 -3.62726195e+01] [ 1.27923470e-03 -2.99156500e-05 9.99999181e-01 1.67970015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0907140569999 meters Centerline goodness [0,1] 0.9999790378367047 Centerline is valid? [True, True] Translation: X:610.77, Y:-36.27, Z:1.68 [[ 9.60203129e-01 2.79296964e-01 -1.77673218e-03 6.10772684e+02] [-2.79296430e-01 9.60204772e-01 5.47317086e-04 -3.62692231e+01] [ 1.85889072e-03 -2.93006237e-05 9.99998272e-01 1.67913169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.120714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:610.81, Y:-36.27, Z:1.68 [[ 9.59173439e-01 2.82814409e-01 -1.52427654e-03 6.10805111e+02] [-2.82814020e-01 9.59174650e-01 4.68954978e-04 -3.62719972e+01] [ 1.59467464e-03 -1.87223829e-05 9.99998728e-01 1.67842378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.150714057 meters Centerline goodness [0,1] 0.9998743928990119 Centerline is valid? [True, True] Translation: X:610.84, Y:-36.28, Z:1.68 [[ 9.58216495e-01 2.86036208e-01 -2.10631970e-03 6.10837423e+02] [-2.86035473e-01 9.58218810e-01 6.48966564e-04 -3.62770653e+01] [ 2.20394309e-03 -1.93683145e-05 9.99997571e-01 1.67862766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1807140569999 meters Centerline goodness [0,1] 0.9998743508125314 Centerline is valid? [True, True] Translation: X:610.87, Y:-36.28, Z:1.68 [[ 9.57256632e-01 2.89234742e-01 -1.73323710e-03 6.10868410e+02] [-2.89234249e-01 9.57258201e-01 5.34537835e-04 -3.62837478e+01] [ 1.81376234e-03 -1.03783567e-05 9.99998355e-01 1.67881824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2107140569999 meters Centerline goodness [0,1] 0.9998115814596156 Centerline is valid? [True, True] Translation: X:610.90, Y:-36.29, Z:1.68 [[ 9.55435929e-01 2.95188632e-01 -2.42020021e-03 6.10901522e+02] [-2.95187687e-01 9.55438994e-01 7.46839686e-04 -3.62865313e+01] [ 2.53281224e-03 8.55833280e-07 9.99996792e-01 1.67868869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.240714057 meters Centerline goodness [0,1] 0.9999161372832673 Centerline is valid? [True, True] Translation: X:610.93, Y:-36.29, Z:1.68 [[ 9.54454482e-01 2.98345375e-01 -2.58447194e-03 6.10933669e+02] [-2.98344307e-01 9.54457981e-01 7.98238792e-04 -3.62936045e+01] [ 2.70492072e-03 9.17989571e-06 9.99996342e-01 1.67895703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.270714057 meters Centerline goodness [0,1] 0.9998331351813612 Centerline is valid? [True, True] Translation: X:610.97, Y:-36.30, Z:1.68 [[ 9.52736551e-01 3.03787450e-01 -2.49992721e-03 6.10966142e+02] [-3.03786467e-01 9.52739831e-01 7.72901595e-04 -3.62986090e+01] [ 2.61657803e-03 2.30724559e-05 9.99996576e-01 1.67813169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3007140569999 meters Centerline goodness [0,1] 0.9998744218171163 Centerline is valid? [True, True] Translation: X:611.00, Y:-36.31, Z:1.68 [[ 9.52106743e-01 3.05759361e-01 -1.99070825e-03 6.10997679e+02] [-3.05758742e-01 9.52108824e-01 6.15797044e-04 -3.63066073e+01] [ 2.08365660e-03 2.23719307e-05 9.99997829e-01 1.67855971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3307140569999 meters Centerline goodness [0,1] 0.9999581869877906 Centerline is valid? [True, True] Translation: X:611.03, Y:-36.31, Z:1.68 [[ 9.51547547e-01 3.07499175e-01 -1.23420309e-03 6.11026677e+02] [-3.07498938e-01 9.51548347e-01 3.82358419e-04 -3.63147113e+01] [ 1.29197881e-03 1.56839248e-05 9.99999165e-01 1.67899786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.360714057 meters Centerline goodness [0,1] 0.9999158302295731 Centerline is valid? [True, True] Translation: X:611.06, Y:-36.33, Z:1.68 [[ 9.50560032e-01 3.10540848e-01 9.00552557e-05 6.11057008e+02] [-3.10540846e-01 9.50560036e-01 -2.89536239e-05 -3.63258626e+01] [-9.45942101e-05 -4.43677674e-07 9.99999996e-01 1.67978574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.390714057 meters Centerline goodness [0,1] 0.9996232733361239 Centerline is valid? [True, True] Translation: X:611.09, Y:-36.34, Z:1.68 [[ 9.50102891e-01 3.11936633e-01 1.83187211e-04 6.11087331e+02] [-3.11936627e-01 9.50102909e-01 -5.78804679e-05 -3.63366745e+01] [-1.92101740e-04 -2.15040077e-06 9.99999982e-01 1.67998011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4207140569999 meters Centerline goodness [0,1] 0.9996208291203236 Centerline is valid? [True, True] Translation: X:611.12, Y:-36.35, Z:1.68 [[ 9.49559350e-01 3.13586863e-01 5.66538348e-04 6.11117095e+02] [-3.13586813e-01 9.49559519e-01 -1.77066330e-04 -3.63506817e+01] [-5.93487556e-04 -9.52396636e-06 9.99999824e-01 1.67941116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4507140569999 meters Centerline goodness [0,1] 0.9995585731402266 Centerline is valid? [True, True] Translation: X:611.15, Y:-36.36, Z:1.68 [[ 9.49612856e-01 3.13425307e-01 1.13957613e-05 6.11147431e+02] [-3.13425307e-01 9.49612856e-01 -4.58882779e-06 -3.63623942e+01] [-1.22598162e-05 7.85889885e-07 1.00000000e+00 1.67938027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4807140569999 meters Centerline goodness [0,1] 0.999747814391392 Centerline is valid? [True, True] Translation: X:611.18, Y:-36.37, Z:1.68 [[ 9.49711919e-01 3.13125007e-01 -1.11206109e-05 6.11176548e+02] [-3.13125007e-01 9.49711919e-01 2.49896887e-06 -3.63736961e+01] [ 1.13438664e-05 1.10884086e-06 1.00000000e+00 1.67911875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.510714057 meters Centerline goodness [0,1] 0.9993931149942451 Centerline is valid? [True, True] Translation: X:611.20, Y:-36.39, Z:1.68 [[ 9.50071556e-01 3.12031967e-01 -3.00667003e-04 6.11203952e+02] [-3.12031953e-01 9.50071603e-01 9.27041104e-05 -3.63892743e+01] [ 3.14581828e-04 5.74217395e-06 9.99999951e-01 1.67888792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.540714057 meters Centerline goodness [0,1] 0.9994531841507529 Centerline is valid? [True, True] Translation: X:611.23, Y:-36.40, Z:1.68 [[ 9.50379976e-01 3.11090910e-01 -5.89545178e-04 6.11233518e+02] [-3.11090856e-01 9.50380159e-01 1.82765727e-04 -3.64028537e+01] [ 6.17148796e-04 9.70522658e-06 9.99999810e-01 1.67871787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5707140569999 meters Centerline goodness [0,1] 0.9993493682575663 Centerline is valid? [True, True] Translation: X:611.26, Y:-36.42, Z:1.68 [[ 9.50893415e-01 3.09517689e-01 -7.15885382e-04 6.11261494e+02] [-3.09517610e-01 9.50893685e-01 2.22339569e-04 -3.64200681e+01] [ 7.49548919e-04 1.01578997e-05 9.99999719e-01 1.67834532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6007140569999 meters Centerline goodness [0,1] 0.9992886285176273 Centerline is valid? [True, True] Translation: X:611.29, Y:-36.43, Z:1.68 [[ 9.51357877e-01 3.08087335e-01 -6.19227410e-04 6.11289973e+02] [-3.08087275e-01 9.51358079e-01 1.92418409e-04 -3.64330562e+01] [ 6.48388674e-04 7.71731623e-06 9.99999790e-01 1.67874625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.630714057 meters Centerline goodness [0,1] 0.9993685805691194 Centerline is valid? [True, True] Translation: X:611.32, Y:-36.45, Z:1.68 [[ 9.51836377e-01 3.06604851e-01 -9.88454343e-04 6.11319265e+02] [-3.06604696e-01 9.51836890e-01 3.07908335e-04 -3.64468703e+01] [ 1.03525350e-03 9.98638985e-06 9.99999464e-01 1.67879262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.660714057 meters Centerline goodness [0,1] 0.999347560718946 Centerline is valid? [True, True] Translation: X:611.35, Y:-36.46, Z:1.68 [[ 9.52401018e-01 3.04846586e-01 -9.27272969e-04 6.11348177e+02] [-3.04846449e-01 9.52401469e-01 2.89042415e-04 -3.64607501e+01] [ 9.71249732e-04 7.39158119e-06 9.99999528e-01 1.67849272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6907140569999 meters Centerline goodness [0,1] 0.9992452513732232 Centerline is valid? [True, True] Translation: X:611.38, Y:-36.48, Z:1.68 [[ 9.54167705e-01 2.99268667e-01 -1.50222103e-03 6.11375011e+02] [-2.99268298e-01 9.54168887e-01 4.69577206e-04 -3.64795026e+01] [ 1.57390231e-03 1.51172681e-06 9.99998761e-01 1.67760325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7207140569999 meters Centerline goodness [0,1] 0.9989316910701942 Centerline is valid? [True, True] Translation: X:611.41, Y:-36.49, Z:1.68 [[ 9.55150599e-01 2.96116332e-01 -1.56560242e-03 6.11405058e+02] [-2.96115928e-01 9.55151882e-01 4.89324119e-04 -3.64949597e+01] [ 1.64028496e-03 -3.77841182e-06 9.99998655e-01 1.67744280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.750714057 meters Centerline goodness [0,1] 0.9988417638883039 Centerline is valid? [True, True] Translation: X:611.43, Y:-36.51, Z:1.68 [[ 9.56111046e-01 2.93001354e-01 -1.36918084e-03 6.11433950e+02] [-2.93001041e-01 9.56112026e-01 4.28297256e-04 -3.65097999e+01] [ 1.43458195e-03 -8.32832443e-06 9.99998971e-01 1.67738826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.780714057 meters Centerline goodness [0,1] 0.9990345464467112 Centerline is valid? [True, True] Translation: X:611.46, Y:-36.53, Z:1.68 [[ 9.57887592e-01 2.87138556e-01 -1.67625200e-03 6.11461334e+02] [-2.87138077e-01 9.57889059e-01 5.25070659e-04 -3.65280378e+01] [ 1.75643148e-03 -2.16428953e-05 9.99998457e-01 1.67804456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8107140569999 meters Centerline goodness [0,1] 0.9990300474433316 Centerline is valid? [True, True] Translation: X:611.49, Y:-36.54, Z:1.68 [[ 9.58343685e-01 2.85613782e-01 -1.46610002e-03 6.11491056e+02] [-2.85613413e-01 9.58344806e-01 4.59454906e-04 -3.65409591e+01] [ 1.53625599e-03 -2.15778755e-05 9.99998820e-01 1.67799531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8407140569999 meters Centerline goodness [0,1] 0.9989461481715671 Centerline is valid? [True, True] Translation: X:611.52, Y:-36.55, Z:1.68 [[ 9.59006856e-01 2.83377282e-01 -1.77946132e-03 6.11519754e+02] [-2.83376734e-01 9.59008506e-01 5.58407923e-04 -3.65543950e+01] [ 1.86475866e-03 -3.12590895e-05 9.99998261e-01 1.67812834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.870714057 meters Centerline goodness [0,1] 0.9990939547820223 Centerline is valid? [True, True] Translation: X:611.55, Y:-36.57, Z:1.68 [[ 9.58894570e-01 2.83756435e-01 -1.86779298e-03 6.11550291e+02] [-2.83755831e-01 9.58896389e-01 5.86539329e-04 -3.65657679e+01] [ 1.95745426e-03 -3.24322273e-05 9.99998084e-01 1.67800579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.900714057 meters Centerline goodness [0,1] 0.9987415843453092 Centerline is valid? [True, True] Translation: X:611.58, Y:-36.58, Z:1.68 [[ 9.58807139e-01 2.84053007e-01 -1.66114578e-03 6.11581398e+02] [-2.84052528e-01 9.58808578e-01 5.22029637e-04 -3.65772826e+01] [ 1.74100492e-03 -2.86730830e-05 9.99998484e-01 1.67850414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9307140569999 meters Centerline goodness [0,1] 0.9985740946549518 Centerline is valid? [True, True] Translation: X:611.61, Y:-36.59, Z:1.68 [[ 9.58631925e-01 2.84645437e-01 -1.34410487e-03 6.11612451e+02] [-2.84645125e-01 9.58632867e-01 4.22582138e-04 -3.65882507e+01] [ 1.40878919e-03 -2.25078295e-05 9.99999007e-01 1.67870146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9607140569999 meters Centerline goodness [0,1] 0.9990753777292117 Centerline is valid? [True, True] Translation: X:611.64, Y:-36.60, Z:1.68 [[ 9.58688017e-01 2.84459434e-01 -3.41980760e-04 6.11641971e+02] [-2.84459414e-01 9.58688078e-01 1.06825551e-04 -3.66011076e+01] [ 3.58240413e-04 -5.13272859e-06 9.99999936e-01 1.68009375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.990714057 meters Centerline goodness [0,1] 0.998820456651782 Centerline is valid? [True, True] Translation: X:611.67, Y:-36.61, Z:1.68 [[ 9.58845051e-01 2.83929448e-01 -4.87568069e-04 6.11672851e+02] [-2.83929407e-01 9.58845174e-01 1.52945606e-04 -3.66098564e+01] [ 5.10928052e-04 -8.21622461e-06 9.99999869e-01 1.68006249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.020714057 meters Centerline goodness [0,1] 0.9991368784472233 Centerline is valid? [True, True] Translation: X:611.70, Y:-36.62, Z:1.68 [[ 9.59636477e-01 2.81242225e-01 -8.01655786e-04 6.11701715e+02] [-2.81242112e-01 9.59636812e-01 2.52436225e-04 -3.66221010e+01] [ 8.40294128e-04 -1.67876434e-05 9.99999647e-01 1.67968517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0507140569999 meters Centerline goodness [0,1] 0.998947102425876 Centerline is valid? [True, True] Translation: X:611.73, Y:-36.63, Z:1.68 [[ 9.59963374e-01 2.80122896e-01 -1.21771608e-03 6.11732328e+02] [-2.80122634e-01 9.59964146e-01 3.84233340e-04 -3.66331152e+01] [ 1.27659633e-03 -2.77400977e-05 9.99999185e-01 1.67960360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0807140569999 meters Centerline goodness [0,1] 0.9992043384492976 Centerline is valid? [True, True] Translation: X:611.76, Y:-36.64, Z:1.68 [[ 9.60404553e-01 2.78603862e-01 -1.72685128e-03 6.11762703e+02] [-2.78603331e-01 9.60406105e-01 5.45772281e-04 -3.66437466e+01] [ 1.81053278e-03 -4.30556660e-05 9.99998360e-01 1.67952718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.110714057 meters Centerline goodness [0,1] 0.9989683341755096 Centerline is valid? [True, True] Translation: X:611.79, Y:-36.65, Z:1.68 [[ 9.60717360e-01 2.77522484e-01 -1.85072227e-03 6.11791935e+02] [-2.77521871e-01 9.60719141e-01 5.85532879e-04 -3.66541043e+01] [ 1.94052285e-03 -4.89156941e-05 9.99998116e-01 1.67973276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.140714057 meters Centerline goodness [0,1] 0.99907229753948 Centerline is valid? [True, True] Translation: X:611.82, Y:-36.66, Z:1.68 [[ 9.60525591e-01 2.78180261e-01 -2.51621261e-03 6.11822600e+02] [-2.78179127e-01 9.60528885e-01 7.97018180e-04 -3.66632268e+01] [ 2.63860962e-03 -6.55985313e-05 9.99996517e-01 1.68001542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1707140569999 meters Centerline goodness [0,1] 0.9987789216615086 Centerline is valid? [True, True] Translation: X:611.85, Y:-36.67, Z:1.68 [[ 9.59636703e-01 2.81227776e-01 -2.88713376e-03 6.11854671e+02] [-2.81226294e-01 9.59641044e-01 9.15422188e-04 -3.66693792e+01] [ 3.02805420e-03 -6.65348031e-05 9.99995413e-01 1.67953127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2007140569999 meters Centerline goodness [0,1] 0.9990089406207827 Centerline is valid? [True, True] Translation: X:611.88, Y:-36.68, Z:1.68 [[ 9.59020368e-01 2.83319750e-01 -3.13905185e-03 6.11884983e+02] [-2.83318006e-01 9.59025503e-01 9.96309976e-04 -3.66779729e+01] [ 3.29270507e-03 -6.61316476e-05 9.99994577e-01 1.67988479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2307140569999 meters Centerline goodness [0,1] 0.9990782637841461 Centerline is valid? [True, True] Translation: X:611.92, Y:-36.68, Z:1.68 [[ 9.57554195e-01 2.88238640e-01 -2.90679675e-03 6.11916437e+02] [-2.88237165e-01 9.57558606e-01 9.23098074e-04 -3.66817616e+01] [ 3.04950078e-03 -4.60695767e-05 9.99995349e-01 1.68008581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.260714057 meters Centerline goodness [0,1] 0.9990116291296027 Centerline is valid? [True, True] Translation: X:611.95, Y:-36.69, Z:1.68 [[ 9.56748111e-01 2.90908670e-01 -2.27996582e-03 6.11948459e+02] [-2.90907770e-01 9.56750827e-01 7.23935238e-04 -3.66888848e+01] [ 2.39195822e-03 -2.93638975e-05 9.99997139e-01 1.68045207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.290714057 meters Centerline goodness [0,1] 0.9990111300469188 Centerline is valid? [True, True] Translation: X:611.98, Y:-36.70, Z:1.68 [[ 9.55916336e-01 2.93628075e-01 -2.55183132e-03 6.11978940e+02] [-2.93626957e-01 9.55919742e-01 8.10555133e-04 -3.66973927e+01] [ 2.67734768e-03 -2.55364256e-05 9.99996416e-01 1.68110580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3207140569999 meters Centerline goodness [0,1] 0.9988644727158028 Centerline is valid? [True, True] Translation: X:612.01, Y:-36.70, Z:1.68 [[ 9.54268950e-01 2.98940070e-01 -2.36749893e-03 6.12010854e+02] [-2.98939123e-01 9.54271887e-01 7.52572834e-04 -3.67017746e+01] [ 2.48421184e-03 -1.04188356e-05 9.99996914e-01 1.68159329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3507140569999 meters Centerline goodness [0,1] 0.9991380760174907 Centerline is valid? [True, True] Translation: X:612.04, Y:-36.71, Z:1.68 [[ 9.53459908e-01 3.01500509e-01 -3.41261151e-03 6.12040657e+02] [-3.01498553e-01 9.53466016e-01 1.08618222e-03 -3.67094737e+01] [ 3.58129359e-03 -6.73376556e-06 9.99993587e-01 1.68168025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.380714057 meters Centerline goodness [0,1] 0.9992008916367001 Centerline is valid? [True, True] Translation: X:612.07, Y:-36.72, Z:1.68 [[ 9.52598762e-01 3.04214937e-01 -2.97821963e-03 6.12073257e+02] [-3.04213459e-01 9.52603418e-01 9.48499445e-04 -3.67171459e+01] [ 3.12560990e-03 2.47509656e-06 9.99995115e-01 1.68142430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.410714057 meters Centerline goodness [0,1] 0.9988652363040326 Centerline is valid? [True, True] Translation: X:612.10, Y:-36.72, Z:1.68 [[ 9.51303924e-01 3.08244599e-01 -2.47230852e-03 6.12104899e+02] [-3.08243592e-01 9.51307136e-01 7.87999150e-04 -3.67222629e+01] [ 2.59482122e-03 1.24465748e-05 9.99996633e-01 1.68155622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4407140569999 meters Centerline goodness [0,1] 0.999076542069805 Centerline is valid? [True, True] Translation: X:612.14, Y:-36.73, Z:1.68 [[ 9.50714186e-01 3.10063370e-01 -1.80106241e-03 6.12136100e+02] [-3.10062839e-01 9.50715892e-01 5.74259036e-04 -3.67317555e+01] [ 1.89035534e-03 1.24863105e-05 9.99998213e-01 1.68180506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4707140569999 meters Centerline goodness [0,1] 0.9989069889647925 Centerline is valid? [True, True] Translation: X:612.17, Y:-36.74, Z:1.68 [[ 9.50125416e-01 3.11866774e-01 -8.99466512e-04 6.12166535e+02] [-3.11866642e-01 9.50125842e-01 2.86656197e-04 -3.67404571e+01] [ 9.44004920e-04 8.15426225e-06 9.99999554e-01 1.68234527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.500714057 meters Centerline goodness [0,1] 0.9986570984934324 Centerline is valid? [True, True] Translation: X:612.20, Y:-36.75, Z:1.68 [[ 9.49967213e-01 3.12349049e-01 -6.05383401e-04 6.12197822e+02] [-3.12348989e-01 9.49967406e-01 1.92572087e-04 -3.67512993e+01] [ 6.35244207e-04 6.15372468e-06 9.99999798e-01 1.68192176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.530714057 meters Centerline goodness [0,1] 0.9985298750393784 Centerline is valid? [True, True] Translation: X:612.23, Y:-36.76, Z:1.68 [[ 9.50001055e-01 3.12245567e-01 -8.37866409e-04 6.12228483e+02] [-3.12245453e-01 9.50001424e-01 2.67317157e-04 -3.67619618e+01] [ 8.79442879e-04 7.66839556e-06 9.99999613e-01 1.68177348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5607140569999 meters Centerline goodness [0,1] 0.9987592008412197 Centerline is valid? [True, True] Translation: X:612.26, Y:-36.77, Z:1.68 [[ 9.50448729e-01 3.10878403e-01 -1.35342776e-03 6.12258510e+02] [-3.10878102e-01 9.50449693e-01 4.32947004e-04 -3.67744528e+01] [ 1.42095888e-03 9.25712490e-06 9.99998990e-01 1.68077057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5907140569999 meters Centerline goodness [0,1] 0.9987389659520807 Centerline is valid? [True, True] Translation: X:612.29, Y:-36.79, Z:1.68 [[ 9.50648038e-01 3.10266764e-01 -1.68599817e-03 6.12289141e+02] [-3.10266294e-01 9.50649533e-01 5.39955129e-04 -3.67864333e+01] [ 1.77032350e-03 9.80111856e-06 9.99998433e-01 1.68040605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.620714057 meters Centerline goodness [0,1] 0.9985685415964971 Centerline is valid? [True, True] Translation: X:612.32, Y:-36.80, Z:1.68 [[ 9.51203167e-01 3.08558466e-01 -2.05113837e-03 6.12319378e+02] [-3.08557765e-01 9.51205379e-01 6.57806112e-04 -3.68013082e+01] [ 2.15402549e-03 7.18741263e-06 9.99997680e-01 1.67969714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.650714057 meters Centerline goodness [0,1] 0.9985685415964971 Centerline is valid? [True, True] Translation: X:612.35, Y:-36.81, Z:1.68 [[ 9.51114948e-01 3.08830292e-01 -2.05094997e-03 6.12350276e+02] [-3.08829590e-01 9.51117159e-01 6.58392751e-04 -3.68112995e+01] [ 2.15402533e-03 7.18685064e-06 9.99997680e-01 1.67982485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6807140569999 meters Centerline goodness [0,1] 0.9984031936127744 Centerline is valid? [True, True] Translation: X:612.38, Y:-36.82, Z:1.68 [[ 9.51440269e-01 3.07827286e-01 -1.94333685e-03 6.12379550e+02] [-3.07826652e-01 9.51442254e-01 6.24437210e-04 -3.68236269e+01] [ 2.04119160e-03 4.09616993e-06 9.99997917e-01 1.67930167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7107140569999 meters Centerline goodness [0,1] 0.9986952861952862 Centerline is valid? [True, True] Translation: X:612.41, Y:-36.84, Z:1.68 [[ 9.51823602e-01 3.06638975e-01 -2.09026068e-03 6.12410480e+02] [-3.06638238e-01 9.51825897e-01 6.72302020e-04 -3.68366903e+01] [ 2.19571825e-03 1.04091974e-06 9.99997589e-01 1.67919289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.740714057 meters Centerline goodness [0,1] 0.9985102499003337 Centerline is valid? [True, True] Translation: X:612.44, Y:-36.85, Z:1.68 [[ 9.52227855e-01 3.05382431e-01 -1.91926770e-03 6.12440226e+02] [-3.05381805e-01 9.52229789e-01 6.17859297e-04 -3.68496978e+01] [ 2.01626725e-03 -2.23339777e-06 9.99997967e-01 1.67871919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.770714057 meters Centerline goodness [0,1] 0.9987984316370841 Centerline is valid? [True, True] Translation: X:612.47, Y:-36.87, Z:1.68 [[ 9.53159561e-01 3.02465186e-01 -1.28953464e-03 6.12470071e+02] [-3.02464902e-01 9.53160433e-01 4.15097072e-04 -3.68654269e+01] [ 1.35468581e-03 -5.61477421e-06 9.99999082e-01 1.67878665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8007140569999 meters Centerline goodness [0,1] 0.9988209533434395 Centerline is valid? [True, True] Translation: X:612.50, Y:-36.88, Z:1.68 [[ 9.53615492e-01 3.01025122e-01 -1.16986662e-03 6.12498475e+02] [-3.01024886e-01 9.53616210e-01 3.77263261e-04 -3.68781864e+01] [ 1.22916949e-03 -7.60512635e-06 9.99999245e-01 1.67995255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8307140569999 meters Centerline goodness [0,1] 0.9985473378386913 Centerline is valid? [True, True] Translation: X:612.53, Y:-36.89, Z:1.68 [[ 9.54513530e-01 2.98167016e-01 5.93256348e-04 6.12527607e+02] [-2.98166953e-01 9.54513714e-01 -1.92796192e-04 -3.68921327e+01] [-6.23756785e-04 7.13713552e-06 9.99999805e-01 1.68108923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.860714057 meters Centerline goodness [0,1] 0.9985259744361852 Centerline is valid? [True, True] Translation: X:612.56, Y:-36.90, Z:1.68 [[ 9.54892901e-01 2.96947848e-01 1.23383603e-03 6.12556397e+02] [-2.96947579e-01 9.54893698e-01 -4.00092029e-04 -3.69045171e+01] [-1.29698872e-03 1.56604167e-05 9.99999159e-01 1.68223601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.890714057 meters Centerline goodness [0,1] 0.9983351597403692 Centerline is valid? [True, True] Translation: X:612.59, Y:-36.92, Z:1.68 [[ 9.55380701e-01 2.95373698e-01 1.44754875e-03 6.12585977e+02] [-2.95373326e-01 9.55381797e-01 -4.69712064e-04 -3.69161623e+01] [-1.52170232e-03 2.11865523e-05 9.99998842e-01 1.68250681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9207140569999 meters Centerline goodness [0,1] 0.9986717547595454 Centerline is valid? [True, True] Translation: X:612.61, Y:-36.93, Z:1.68 [[ 9.56523801e-01 2.91647116e-01 2.04396501e-03 6.12614795e+02] [-2.91646366e-01 9.56525984e-01 -6.62602717e-04 -3.69301944e+01] [-2.14835181e-03 3.76803037e-05 9.99997692e-01 1.68268750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9507140569999 meters Centerline goodness [0,1] 0.9985874217284054 Centerline is valid? [True, True] Translation: X:612.64, Y:-36.94, Z:1.68 [[ 9.57098693e-01 2.89757732e-01 1.59678387e-03 6.12644422e+02] [-2.89757269e-01 9.57100024e-01 -5.18596826e-04 -3.69413234e+01] [-1.67854932e-03 3.36686090e-05 9.99998591e-01 1.68248189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9807140569999 meters Centerline goodness [0,1] 0.9987567692858799 Centerline is valid? [True, True] Translation: X:612.67, Y:-36.95, Z:1.68 [[ 9.57732559e-01 2.87655752e-01 1.58557625e-03 6.12674648e+02] [-2.87655292e-01 9.57733871e-01 -5.15463620e-04 -3.69529158e+01] [-1.66683615e-03 3.75768925e-05 9.99998610e-01 1.68233309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.010714057 meters Centerline goodness [0,1] 0.998840714120102 Centerline is valid? [True, True] Translation: X:612.70, Y:-36.97, Z:1.68 [[ 9.59036025e-01 2.83272567e-01 2.56046481e-03 6.12703671e+02] [-2.83271358e-01 9.59039440e-01 -8.30986757e-04 -3.69652412e+01] [-2.69098249e-03 7.16398917e-05 9.99996377e-01 1.68290975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.040714057 meters Centerline goodness [0,1] 0.9988604469580264 Centerline is valid? [True, True] Translation: X:612.73, Y:-36.97, Z:1.68 [[ 9.59469868e-01 2.81796872e-01 2.84518584e-03 6.12733737e+02] [-2.81795367e-01 9.59474083e-01 -9.24938079e-04 -3.69749182e+01] [-2.99052674e-03 8.56900276e-05 9.99995525e-01 1.68303189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0707140569999 meters Centerline goodness [0,1] 0.9984807241881369 Centerline is valid? [True, True] Translation: X:612.76, Y:-36.99, Z:1.68 [[ 9.59825041e-01 2.80584128e-01 2.90492167e-03 6.12762291e+02] [-2.80582552e-01 9.59829432e-01 -9.44820592e-04 -3.69861239e+01] [-3.05333098e-03 9.17921255e-05 9.99995334e-01 1.68387346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1007140569999 meters Centerline goodness [0,1] 0.9989685513408832 Centerline is valid? [True, True] Translation: X:612.79, Y:-37.00, Z:1.68 [[ 9.60333240e-01 2.78836164e-01 3.23453225e-03 6.12791698e+02] [-2.78834198e-01 9.60338681e-01 -1.05286786e-03 -3.69969435e+01] [-3.39982407e-03 1.09205798e-04 9.99994215e-01 1.68387337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.130714057 meters Centerline goodness [0,1] 0.998845895585026 Centerline is valid? [True, True] Translation: X:612.82, Y:-37.00, Z:1.68 [[ 9.61170700e-01 2.75923915e-01 4.10845843e-03 6.12823262e+02] [-2.75920718e-01 9.61179468e-01 -1.33676523e-03 -3.70043820e+01] [-4.31781138e-03 1.51250771e-04 9.99990667e-01 1.68355892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.160714057 meters Centerline goodness [0,1] 0.9993457293007746 Centerline is valid? [True, True] Translation: X:612.85, Y:-37.01, Z:1.68 [[ 9.61724394e-01 2.73993377e-01 3.71739841e-03 6.12853881e+02] [-2.73990739e-01 9.61731567e-01 -1.21116583e-03 -3.70126227e+01] [-3.90699081e-03 1.46274985e-04 9.99992357e-01 1.68338020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1907140569999 meters Centerline goodness [0,1] 0.9990140963248867 Centerline is valid? [True, True] Translation: X:612.88, Y:-37.02, Z:1.68 [[ 9.62029062e-01 2.72928196e-01 3.20684904e-03 6.12883717e+02] [-2.72926226e-01 9.62034398e-01 -1.04500913e-03 -3.70223698e+01] [-3.37031155e-03 1.30095941e-04 9.99994312e-01 1.68324357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2207140569999 meters Centerline goodness [0,1] 0.9989100132056092 Centerline is valid? [True, True] Translation: X:612.91, Y:-37.03, Z:1.68 [[ 9.62227609e-01 2.72233176e-01 2.66938589e-03 6.12912489e+02] [-2.72231805e-01 9.62231306e-01 -8.71020560e-04 -3.70343497e+01] [-2.80568736e-03 1.11428292e-04 9.99996058e-01 1.68364853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.250714057 meters Centerline goodness [0,1] 0.998742665549036 Centerline is valid? [True, True] Translation: X:612.94, Y:-37.04, Z:1.68 [[ 9.62544987e-01 2.71109088e-01 2.64780864e-03 6.12944483e+02] [-2.71107733e-01 9.62548622e-01 -8.64810005e-04 -3.70397200e+01] [-2.78310241e-03 1.14577137e-04 9.99996121e-01 1.68286171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.280714057 meters Centerline goodness [0,1] 0.9990972455492106 Centerline is valid? [True, True] Translation: X:612.97, Y:-37.05, Z:1.68 [[ 9.63068283e-01 2.69249755e-01 2.01284920e-03 6.12974161e+02] [-2.69248969e-01 9.63070382e-01 -6.56867044e-04 -3.70478297e+01] [-2.11537674e-03 9.06502447e-05 9.99997758e-01 1.68276309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3107140569999 meters Centerline goodness [0,1] 0.9988681380871534 Centerline is valid? [True, True] Translation: X:613.01, Y:-37.06, Z:1.68 [[ 9.63246915e-01 2.68612576e-01 1.63254988e-03 6.13005460e+02] [-2.68612056e-01 9.63248295e-01 -5.34089162e-04 -3.70558437e+01] [-1.71601396e-03 7.59371565e-05 9.99998525e-01 1.68274446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3407140569999 meters Centerline goodness [0,1] 0.9989739509171622 Centerline is valid? [True, True] Translation: X:613.04, Y:-37.06, Z:1.68 [[ 9.63315266e-01 2.68370533e-01 9.77642248e-04 6.13036178e+02] [-2.68370346e-01 9.63315761e-01 -3.20404227e-04 -3.70615925e+01] [-1.02776524e-03 4.62800942e-05 9.99999471e-01 1.68259124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.370714057 meters Centerline goodness [0,1] 0.9989738434797177 Centerline is valid? [True, True] Translation: X:613.07, Y:-37.07, Z:1.68 [[ 9.63131495e-01 2.69029763e-01 8.43185085e-04 6.13068442e+02] [-2.69029623e-01 9.63131863e-01 -2.76787335e-04 -3.70666835e+01] [-8.86562453e-04 3.97408336e-05 9.99999606e-01 1.68248726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.400714057 meters Centerline goodness [0,1] 0.9990154593824626 Centerline is valid? [True, True] Translation: X:613.10, Y:-37.07, Z:1.68 [[ 9.62938887e-01 2.69717438e-01 1.09667375e-03 6.13100112e+02] [-2.69717202e-01 9.62939511e-01 -3.59984911e-04 -3.70740103e+01] [-1.15312469e-03 5.08516945e-05 9.99999334e-01 1.68284051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4307140569999 meters Centerline goodness [0,1] 0.999140154772141 Centerline is valid? [True, True] Translation: X:613.13, Y:-37.08, Z:1.68 [[ 9.62554320e-01 2.71087389e-01 8.99029480e-04 6.13132659e+02] [-2.71087231e-01 9.62554739e-01 -2.94723874e-04 -3.70794214e+01] [-9.45261012e-04 3.99723261e-05 9.99999552e-01 1.68362568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4607140569999 meters Centerline goodness [0,1] 0.9992873760767957 Centerline is valid? [True, True] Translation: X:613.16, Y:-37.09, Z:1.68 [[ 9.62263898e-01 2.72115639e-01 1.12670640e-03 6.13163903e+02] [-2.72115392e-01 9.62264556e-01 -3.70222270e-04 -3.70865843e+01] [-1.18493290e-03 4.96573707e-05 9.99999297e-01 1.68402948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.490714057 meters Centerline goodness [0,1] 0.9995183145196758 Centerline is valid? [True, True] Translation: X:613.20, Y:-37.09, Z:1.68 [[ 9.61861365e-01 2.73537409e-01 -4.05086366e-06 6.13197279e+02] [-2.73537409e-01 9.61861365e-01 9.64274912e-07 -3.70895646e+01] [ 4.16013447e-06 1.80563968e-07 1.00000000e+00 1.68309334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.520714057 meters Centerline goodness [0,1] 0.9993291123317539 Centerline is valid? [True, True] Translation: X:613.23, Y:-37.10, Z:1.68 [[ 9.61539042e-01 2.74666584e-01 -9.68738148e-04 6.13229695e+02] [-2.74666404e-01 9.61539529e-01 3.17272349e-04 -3.70956391e+01] [ 1.01862413e-03 -3.89899276e-05 9.99999480e-01 1.68231583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5507140569999 meters Centerline goodness [0,1] 0.9993081180811808 Centerline is valid? [True, True] Translation: X:613.26, Y:-37.11, Z:1.68 [[ 9.61189319e-01 2.75884557e-01 -1.67434899e-03 6.13259414e+02] [-2.75884020e-01 9.61190775e-01 5.48482241e-04 -3.71052798e+01] [ 1.76068659e-03 -6.52691416e-05 9.99998448e-01 1.68229126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5807140569999 meters Centerline goodness [0,1] 0.9996855543676498 Centerline is valid? [True, True] Translation: X:613.29, Y:-37.11, Z:1.68 [[ 9.60621644e-01 2.77850933e-01 -2.21712090e-03 6.13292786e+02] [-2.77849993e-01 9.60624199e-01 7.27381812e-04 -3.71078807e+01] [ 2.33192370e-03 -8.27116861e-05 9.99997278e-01 1.68260215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.610714057 meters Centerline goodness [0,1] 0.9997064435637751 Centerline is valid? [True, True] Translation: X:613.32, Y:-37.11, Z:1.68 [[ 9.60260391e-01 2.79097459e-01 -2.14225656e-03 6.13324542e+02] [-2.79096585e-01 9.60262778e-01 7.02736512e-04 -3.71146572e+01] [ 2.25326121e-03 -7.69135460e-05 9.99997458e-01 1.68329176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.640714057 meters Centerline goodness [0,1] 0.9996853168858959 Centerline is valid? [True, True] Translation: X:613.36, Y:-37.12, Z:1.68 [[ 9.59843419e-01 2.80533256e-01 -1.30502314e-03 6.13356294e+02] [-2.80532933e-01 9.59844305e-01 4.28048031e-04 -3.71214486e+01] [ 1.37270074e-03 -4.47571156e-05 9.99999057e-01 1.68477015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6707140569999 meters Centerline goodness [0,1] 0.9996436581633723 Centerline is valid? [True, True] Translation: X:613.39, Y:-37.13, Z:1.69 [[ 9.59042716e-01 2.83261471e-01 9.19959918e-05 6.13388498e+02] [-2.83261469e-01 9.59042720e-01 -3.12987849e-05 -3.71256678e+01] [-9.70938261e-05 3.95795189e-06 9.99999995e-01 1.68612384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7007140569999 meters Centerline goodness [0,1] 0.9997910223188163 Centerline is valid? [True, True] Translation: X:613.42, Y:-37.13, Z:1.69 [[ 9.58441372e-01 2.85289308e-01 3.82998759e-04 6.13418199e+02] [-2.85289280e-01 9.58441449e-01 -1.27076687e-04 -3.71337623e+01] [-4.03335506e-04 1.25301141e-05 9.99999919e-01 1.68659798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7307140569999 meters Centerline goodness [0,1] 0.9998531725222863 Centerline is valid? [True, True] Translation: X:613.45, Y:-37.14, Z:1.69 [[ 9.58007192e-01 2.86744170e-01 6.36671371e-07 6.13449559e+02] [-2.86744170e-01 9.58007192e-01 -1.21092092e-06 -3.71409152e+01] [-9.57160313e-07 9.77509150e-07 1.00000000e+00 1.68667458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.760714057 meters Centerline goodness [0,1] 0.9997064435637751 Centerline is valid? [True, True] Translation: X:613.48, Y:-37.14, Z:1.69 [[ 9.57046468e-01 2.89933233e-01 -8.82101435e-04 6.13481177e+02] [-2.89933088e-01 9.57046875e-01 2.90614092e-04 -3.71444573e+01] [ 9.28471104e-04 -2.23807976e-05 9.99999569e-01 1.68528440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.790714057 meters Centerline goodness [0,1] 0.999937260806826 Centerline is valid? [True, True] Translation: X:613.51, Y:-37.16, Z:1.69 [[ 9.56774772e-01 2.90828682e-01 -8.44436606e-04 6.13510715e+02] [-2.90828550e-01 9.56775145e-01 2.77898118e-04 -3.71551227e+01] [ 8.88756699e-04 -2.02996345e-05 9.99999605e-01 1.68561882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8207140569999 meters Centerline goodness [0,1] 0.9998950593963817 Centerline is valid? [True, True] Translation: X:613.54, Y:-37.16, Z:1.69 [[ 9.56448656e-01 2.91900168e-01 -5.10560755e-04 6.13543120e+02] [-2.91900120e-01 9.56448792e-01 1.67505857e-04 -3.71608234e+01] [ 5.37220205e-04 -1.11780054e-05 9.99999856e-01 1.68593026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8507140569999 meters Centerline goodness [0,1] 0.999790224459828 Centerline is valid? [True, True] Translation: X:613.57, Y:-37.17, Z:1.69 [[ 9.56091765e-01 2.93067425e-01 1.49509160e-04 6.13574169e+02] [-2.93067421e-01 9.56091776e-01 -4.99406996e-05 -3.71671875e+01] [-1.57580471e-04 3.93162757e-06 9.99999988e-01 1.68744168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.880714057 meters Centerline goodness [0,1] 0.99995807303677 Centerline is valid? [True, True] Translation: X:613.60, Y:-37.18, Z:1.69 [[ 9.55822166e-01 2.93944908e-01 6.15121986e-04 6.13604807e+02] [-2.93944837e-01 9.55822364e-01 -2.04268975e-04 -3.71756106e+01] [-6.47991176e-04 1.44328819e-05 9.99999790e-01 1.68840856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.910714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:613.64, Y:-37.18, Z:1.69 [[ 9.55394625e-01 2.95330680e-01 9.48952146e-04 6.13635277e+02] [-2.95330513e-01 9.55395096e-01 -3.14302906e-04 -3.71826152e+01] [-9.99447518e-04 2.00287826e-05 9.99999500e-01 1.68964843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9407140569999 meters Centerline goodness [0,1] 0.9999790237660731 Centerline is valid? [True, True] Translation: X:613.67, Y:-37.19, Z:1.69 [[ 9.55101719e-01 2.96274874e-01 1.38058821e-03 6.13666054e+02] [-2.96274522e-01 9.55102716e-01 -4.57774871e-04 -3.71919738e+01] [-1.45423074e-03 2.81884551e-05 9.99998942e-01 1.69000941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9707140569999 meters Centerline goodness [0,1] 0.9999790277253471 Centerline is valid? [True, True] Translation: X:613.70, Y:-37.20, Z:1.69 [[ 9.54836021e-01 2.97129152e-01 1.56192104e-03 6.13697070e+02] [-2.97128702e-01 9.54837298e-01 -5.18174013e-04 -3.72018579e+01] [-1.64534507e-03 3.06796437e-05 9.99998646e-01 1.69089040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.000714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:613.73, Y:-37.21, Z:1.69 [[ 9.54607334e-01 2.97861097e-01 1.89834616e-03 6.13728485e+02] [-2.97860433e-01 9.54609221e-01 -6.30346225e-04 -3.72104582e+01] [-1.99993437e-03 3.62909211e-05 9.99997999e-01 1.69067258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.030714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:613.76, Y:-37.22, Z:1.69 [[ 9.54223508e-01 2.99093052e-01 9.17769776e-04 6.13757499e+02] [-2.99092897e-01 9.54223950e-01 -3.05341960e-04 -3.72213619e+01] [-9.67083559e-04 1.68660554e-05 9.99999532e-01 1.69092833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0607140569999 meters Centerline goodness [0,1] 0.9999790347603673 Centerline is valid? [True, True] Translation: X:613.79, Y:-37.23, Z:1.69 [[ 9.53992458e-01 2.99830363e-01 3.77556160e-04 6.13788751e+02] [-2.99830337e-01 9.53992533e-01 -1.25615054e-04 -3.72308940e+01] [-3.97848965e-04 6.63302377e-06 9.99999921e-01 1.68999212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0907140569999 meters Centerline goodness [0,1] 0.9999161566194349 Centerline is valid? [True, True] Translation: X:613.82, Y:-37.24, Z:1.69 [[ 9.53708784e-01 3.00731701e-01 -1.22374136e-05 6.13819807e+02] [-3.00731701e-01 9.53708784e-01 3.04649219e-06 -3.72400115e+01] [ 1.25871056e-05 7.74711862e-07 1.00000000e+00 1.68903574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.120714057 meters Centerline goodness [0,1] 0.9999161267325072 Centerline is valid? [True, True] Translation: X:613.85, Y:-37.25, Z:1.69 [[ 9.53048417e-01 3.02816921e-01 -7.92365888e-04 6.13848886e+02] [-3.02816808e-01 9.53048746e-01 2.62374093e-04 -3.72524270e+01] [ 8.34614631e-04 -1.01135052e-05 9.99999652e-01 1.68966273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.150714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:613.88, Y:-37.26, Z:1.69 [[ 9.52829912e-01 3.03504153e-01 -6.23563270e-04 6.13879308e+02] [-3.03504083e-01 9.52830116e-01 2.06384500e-04 -3.72630960e+01] [ 6.56788416e-04 -7.39532665e-06 9.99999784e-01 1.69033255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:613.91, Y:-37.27, Z:1.69 [[ 9.52410233e-01 3.04819190e-01 9.57342597e-05 6.13909793e+02] [-3.04819188e-01 9.52410238e-01 -3.28364159e-05 -3.72731915e+01] [-1.01187459e-04 2.09209923e-06 9.99999995e-01 1.69177044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2107140569999 meters Centerline goodness [0,1] 0.9998534000712057 Centerline is valid? [True, True] Translation: X:613.94, Y:-37.28, Z:1.69 [[ 9.52274432e-01 3.05242882e-01 4.34706166e-04 6.13940756e+02] [-3.05242847e-01 9.52274531e-01 -1.45961032e-04 -3.72839265e+01] [-4.58513177e-04 6.30401073e-06 9.99999895e-01 1.69210150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.240714057 meters Centerline goodness [0,1] 0.9999790505719194 Centerline is valid? [True, True] Translation: X:613.97, Y:-37.30, Z:1.69 [[ 9.52161956e-01 3.05591922e-01 1.08946252e-03 6.13971311e+02] [-3.05591705e-01 9.52162579e-01 -3.64418631e-04 -3.72951434e+01] [-1.14870884e-03 1.40548462e-05 9.99999340e-01 1.69274985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.270714057 meters Centerline goodness [0,1] 0.9998534829202947 Centerline is valid? [True, True] Translation: X:614.00, Y:-37.31, Z:1.69 [[ 9.51902568e-01 3.06399766e-01 8.27443466e-04 6.14002059e+02] [-3.06399640e-01 9.51902928e-01 -2.77349207e-04 -3.73063308e+01] [-8.72625590e-04 1.04810423e-05 9.99999619e-01 1.69193020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3007140569999 meters Centerline goodness [0,1] 0.9998533847184986 Centerline is valid? [True, True] Translation: X:614.03, Y:-37.32, Z:1.69 [[ 9.51852338e-01 3.06556737e-01 3.06908951e-04 6.14031542e+02] [-3.06556719e-01 9.51852387e-01 -1.03228888e-04 -3.73201856e+01] [-3.23777529e-04 4.17365715e-06 9.99999948e-01 1.69258096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3307140569999 meters Centerline goodness [0,1] 0.9997486805730083 Centerline is valid? [True, True] Translation: X:614.06, Y:-37.33, Z:1.69 [[ 9.51974065e-01 3.06178665e-01 -7.37942590e-05 6.14063133e+02] [-3.06178664e-01 9.51974067e-01 2.34682224e-05 -3.73283500e+01] [ 7.74356899e-05 2.53088577e-07 9.99999997e-01 1.69090434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.360714057 meters Centerline goodness [0,1] 0.9999161882412102 Centerline is valid? [True, True] Translation: X:614.09, Y:-37.34, Z:1.69 [[ 9.52657495e-01 3.04045471e-01 -2.20967336e-04 6.14091877e+02] [-3.04045462e-01 9.52657521e-01 7.28883205e-05 -3.73428048e+01] [ 2.32667559e-04 -2.25348895e-06 9.99999973e-01 1.69046312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.390714057 meters Centerline goodness [0,1] 0.9996858441368044 Centerline is valid? [True, True] Translation: X:614.12, Y:-37.36, Z:1.69 [[ 9.53066772e-01 3.02760070e-01 2.58964514e-04 6.14119752e+02] [-3.02760058e-01 9.53066808e-01 -8.76621873e-05 -3.73579473e+01] [-2.73351093e-04 5.14380662e-06 9.99999963e-01 1.69107234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4207140569999 meters Centerline goodness [0,1] 0.9998112178545958 Centerline is valid? [True, True] Translation: X:614.15, Y:-37.37, Z:1.69 [[ 9.54523196e-01 2.98136068e-01 5.94410339e-04 6.14148948e+02] [-2.98136002e-01 9.54523381e-01 -1.99360560e-04 -3.73721420e+01] [-6.26815140e-04 1.30791569e-05 9.99999803e-01 1.69033563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4507140569999 meters Centerline goodness [0,1] 0.9995808533825132 Centerline is valid? [True, True] Translation: X:614.18, Y:-37.38, Z:1.69 [[ 9.55344347e-01 2.95494155e-01 6.19518436e-04 6.14178419e+02] [-2.95494082e-01 9.55344547e-01 -2.08679265e-04 -3.73846106e+01] [-6.53517063e-04 1.62965244e-05 9.99999786e-01 1.69014351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4807140569999 meters Centerline goodness [0,1] 0.9997274118806483 Centerline is valid? [True, True] Translation: X:614.21, Y:-37.40, Z:1.69 [[ 9.55975933e-01 2.93444861e-01 3.58763921e-04 6.14206470e+02] [-2.93444836e-01 9.55976001e-01 -1.21290084e-04 -3.73978734e+01] [-3.78561650e-04 1.06729818e-05 9.99999928e-01 1.69001688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.510714057 meters Centerline goodness [0,1] 0.9998324747665117 Centerline is valid? [True, True] Translation: X:614.23, Y:-37.41, Z:1.69 [[ 9.57864626e-01 2.87219832e-01 3.54677645e-04 6.14232907e+02] [-2.87219807e-01 9.57864692e-01 -1.18969971e-04 -3.74134291e+01] [-3.73903728e-04 1.20866820e-05 9.99999930e-01 1.68980391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.540714057 meters Centerline goodness [0,1] 0.9998324747665117 Centerline is valid? [True, True] Translation: X:614.26, Y:-37.42, Z:1.69 [[ 9.57786168e-01 2.87481358e-01 3.54303984e-04 6.14263695e+02] [-2.87481334e-01 9.57786233e-01 -1.20083440e-04 -3.74238289e+01] [-3.73869228e-04 1.31584761e-05 9.99999930e-01 1.68993154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5707140569999 meters Centerline goodness [0,1] 0.9998111901315375 Centerline is valid? [True, True] Translation: X:614.29, Y:-37.44, Z:1.69 [[ 9.58771251e-01 2.84178837e-01 2.78265415e-04 6.14293033e+02] [-2.84178822e-01 9.58771291e-01 -9.35785087e-05 -3.74350499e+01] [-2.93385923e-04 1.06432461e-05 9.99999957e-01 1.68977086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6007140569999 meters Centerline goodness [0,1] 0.9997903783670474 Centerline is valid? [True, True] Translation: X:614.32, Y:-37.45, Z:1.69 [[ 9.59769474e-01 2.80788606e-01 5.61780226e-04 6.14319023e+02] [-2.80788543e-01 9.59769638e-01 -1.89033338e-04 -3.74511589e+01] [-5.92258012e-04 2.36869766e-05 9.99999824e-01 1.69045087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.630714057 meters Centerline goodness [0,1] 0.9998535656757944 Centerline is valid? [True, True] Translation: X:614.35, Y:-37.46, Z:1.69 [[ 9.61423970e-01 2.75069826e-01 7.35145529e-04 6.14348487e+02] [-2.75069718e-01 9.61424251e-01 -2.46942655e-04 -3.74602204e+01] [-7.74713212e-04 3.52003149e-05 9.99999699e-01 1.68987448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.660714057 meters Centerline goodness [0,1] 0.9997270513143529 Centerline is valid? [True, True] Translation: X:614.38, Y:-37.47, Z:1.69 [[ 9.61908831e-01 2.73370444e-01 2.59993263e-05 6.14377098e+02] [-2.73370444e-01 9.61908832e-01 -9.66145999e-06 -3.74721711e+01] [-2.76501392e-05 2.18599632e-06 1.00000000e+00 1.68959610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6907140569999 meters Centerline goodness [0,1] 0.9998115064820826 Centerline is valid? [True, True] Translation: X:614.41, Y:-37.48, Z:1.69 [[ 9.61913921e-01 2.73346073e-01 -1.87961024e-03 6.14409843e+02] [-2.73345360e-01 9.61915753e-01 6.31204781e-04 -3.74787982e+01] [ 1.98056405e-03 -9.33819277e-05 9.99998034e-01 1.68799246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7207140569999 meters Centerline goodness [0,1] 0.9998954062421554 Centerline is valid? [True, True] Translation: X:614.44, Y:-37.49, Z:1.69 [[ 9.61433299e-01 2.75020933e-01 -3.08187875e-03 6.14438084e+02] [-2.75019019e-01 9.61438227e-01 1.03668860e-03 -3.74925204e+01] [ 3.24814710e-03 -1.49131668e-04 9.99994714e-01 1.68763769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.750714057 meters Centerline goodness [0,1] 0.9998950109188645 Centerline is valid? [True, True] Translation: X:614.47, Y:-37.50, Z:1.69 [[ 9.60715266e-01 2.77515709e-01 -3.34814838e-03 6.14468663e+02] [-2.77513462e-01 9.60721087e-01 1.12725624e-03 -3.75005470e+01] [ 3.52946806e-03 -1.53816033e-04 9.99993760e-01 1.68827071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.780714057 meters Centerline goodness [0,1] 0.9998950065095964 Centerline is valid? [True, True] Translation: X:614.50, Y:-37.50, Z:1.69 [[ 9.59799591e-01 2.80669799e-01 -3.03472723e-03 6.14501443e+02] [-2.80667969e-01 9.59804380e-01 1.02182974e-03 -3.75017553e+01] [ 3.19954124e-03 -1.29001038e-04 9.99994873e-01 1.68890157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8107140569999 meters Centerline goodness [0,1] 0.9998740369071862 Centerline is valid? [True, True] Translation: X:614.53, Y:-37.51, Z:1.69 [[ 9.57989669e-01 2.86796686e-01 -1.85880543e-03 6.14531278e+02] [-2.86796011e-01 9.57991470e-01 6.25976597e-04 -3.75065085e+01] [ 1.96024776e-03 -6.65811315e-05 9.99998076e-01 1.69145592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8407140569999 meters Centerline goodness [0,1] 0.9999371174645761 Centerline is valid? [True, True] Translation: X:614.56, Y:-37.51, Z:1.69 [[ 9.57090537e-01 2.89784908e-01 -1.55244538e-03 6.14562666e+02] [-2.89784441e-01 9.57091795e-01 5.22712316e-04 -3.75113406e+01] [ 1.63730688e-03 -5.04084941e-05 9.99998658e-01 1.69239756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.870714057 meters Centerline goodness [0,1] 0.9998328143612464 Centerline is valid? [True, True] Translation: X:614.59, Y:-37.52, Z:1.69 [[ 9.56157614e-01 2.92850613e-01 -1.06575294e-03 6.14591583e+02] [-2.92850394e-01 9.56158207e-01 3.58838678e-04 -3.75221203e+01] [ 1.12411455e-03 -3.10001655e-05 9.99999368e-01 1.69308674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.900714057 meters Centerline goodness [0,1] 0.9998113484394324 Centerline is valid? [True, True] Translation: X:614.62, Y:-37.53, Z:1.69 [[ 9.55293831e-01 2.95657199e-01 -7.18828385e-04 6.14621936e+02] [-2.95657101e-01 9.55294101e-01 2.41421892e-04 -3.75298492e+01] [ 7.58070636e-04 -1.81021272e-05 9.99999713e-01 1.69362439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9307140569999 meters Centerline goodness [0,1] 0.9995806072806576 Centerline is valid? [True, True] Translation: X:614.65, Y:-37.53, Z:1.69 [[ 9.53646215e-01 3.00929832e-01 -3.65325797e-04 6.14654883e+02] [-3.00929807e-01 9.53646285e-01 1.22939625e-04 -3.75311708e+01] [ 3.85387789e-04 -7.30348640e-06 9.99999926e-01 1.69328970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9607140569999 meters Centerline goodness [0,1] 0.9998951759994968 Centerline is valid? [True, True] Translation: X:614.69, Y:-37.54, Z:1.69 [[ 9.52919077e-01 3.03224718e-01 -5.12998960e-05 6.14685238e+02] [-3.03224718e-01 9.52919078e-01 1.63517404e-05 -3.75395780e+01] [ 5.38429015e-05 -2.64889065e-08 9.99999999e-01 1.69296335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.990714057 meters Centerline goodness [0,1] 0.9998950924235749 Centerline is valid? [True, True] Translation: X:614.72, Y:-37.55, Z:1.69 [[ 9.51336633e-01 3.08153060e-01 -5.50398048e-04 6.14717029e+02] [-3.08153004e-01 9.51336792e-01 1.84821445e-04 -3.75465199e+01] [ 5.80567207e-04 -6.22059864e-06 9.99999831e-01 1.69253980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.020714057 meters Centerline goodness [0,1] 0.9996855279984905 Centerline is valid? [True, True] Translation: X:614.75, Y:-37.56, Z:1.69 [[ 9.50564331e-01 3.10526378e-01 -9.06748082e-04 6.14746739e+02] [-3.10526227e-01 9.50564763e-01 3.05459637e-04 -3.75550394e+01] [ 9.56776050e-04 -8.78997383e-06 9.99999542e-01 1.69186400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0507140569999 meters Centerline goodness [0,1] 0.9999161741900331 Centerline is valid? [True, True] Translation: X:614.78, Y:-37.56, Z:1.69 [[ 9.49967457e-01 3.12347773e-01 -8.36504093e-04 6.14777708e+02] [-3.12347646e-01 9.49967825e-01 2.81879322e-04 -3.75643257e+01] [ 8.82696353e-04 -6.49609798e-06 9.99999610e-01 1.69207780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0807140569999 meters Centerline goodness [0,1] 0.999664598356532 Centerline is valid? [True, True] Translation: X:614.81, Y:-37.57, Z:1.69 [[ 9.49014710e-01 3.15231574e-01 -3.66863625e-04 6.14808351e+02] [-3.15231550e-01 9.49014781e-01 1.23151662e-04 -3.75738548e+01] [ 3.86980295e-04 -1.22574930e-06 9.99999925e-01 1.69232737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.110714057 meters Centerline goodness [0,1] 0.9998743139637186 Centerline is valid? [True, True] Translation: X:614.84, Y:-37.58, Z:1.69 [[ 9.48701974e-01 3.16171717e-01 -1.01036634e-04 6.14839521e+02] [-3.16171715e-01 9.48701979e-01 3.30448822e-05 -3.75844894e+01] [ 1.06301512e-04 5.95181005e-07 9.99999994e-01 1.69298260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.140714057 meters Centerline goodness [0,1] 0.9995811079694209 Centerline is valid? [True, True] Translation: X:614.87, Y:-37.60, Z:1.69 [[ 9.48496447e-01 3.16786776e-01 7.92657153e-04 6.14869714e+02] [-3.16786661e-01 9.48496779e-01 -2.69968081e-04 -3.75969132e+01] [-8.37355074e-04 4.96055358e-06 9.99999649e-01 1.69324582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1707140569999 meters Centerline goodness [0,1] 0.999456055566016 Centerline is valid? [True, True] Translation: X:614.90, Y:-37.61, Z:1.69 [[ 9.48456622e-01 3.16906867e-01 2.70245453e-04 6.14899623e+02] [-3.16906853e-01 9.48456661e-01 -9.28142921e-05 -3.76087579e+01] [-2.85729586e-04 2.38769391e-06 9.99999959e-01 1.69341960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2007140569999 meters Centerline goodness [0,1] 0.9995398548451193 Centerline is valid? [True, True] Translation: X:614.93, Y:-37.62, Z:1.69 [[ 9.48322704e-01 3.17307334e-01 -3.22180134e-04 6.14930564e+02] [-3.17307316e-01 9.48322759e-01 1.08259377e-04 -3.76201056e+01] [ 3.39882247e-04 -4.34711505e-07 9.99999942e-01 1.69238741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2307140569999 meters Centerline goodness [0,1] 0.9992696617490557 Centerline is valid? [True, True] Translation: X:614.96, Y:-37.63, Z:1.69 [[ 9.48107787e-01 3.17946385e-01 -1.31169016e-03 6.14960717e+02] [-3.17946074e-01 9.48108694e-01 4.44887139e-04 -3.76316764e+01] [ 1.38507511e-03 -4.75422388e-06 9.99999041e-01 1.69144241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.260714057 meters Centerline goodness [0,1] 0.9995603935524388 Centerline is valid? [True, True] Translation: X:614.99, Y:-37.64, Z:1.69 [[ 9.47603117e-01 3.19439465e-01 -2.60020261e-03 6.14990880e+02] [-3.19438243e-01 9.47606684e-01 8.83756704e-04 -3.76445160e+01] [ 2.74627614e-03 -6.84645593e-06 9.99996229e-01 1.68938564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.290714057 meters Centerline goodness [0,1] 0.9995821232318589 Centerline is valid? [True, True] Translation: X:615.02, Y:-37.66, Z:1.69 [[ 9.47312167e-01 3.20295360e-01 -3.24653868e-03 6.15020492e+02] [-3.20293455e-01 9.47317730e-01 1.10475643e-03 -3.76561118e+01] [ 3.42935201e-03 -6.70411674e-06 9.99994120e-01 1.68861502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3207140569999 meters Centerline goodness [0,1] 0.9997904574314272 Centerline is valid? [True, True] Translation: X:615.05, Y:-37.67, Z:1.69 [[ 9.47091010e-01 3.20944959e-01 -3.59897100e-03 6.15051465e+02] [-3.20942618e-01 9.47097848e-01 1.22585719e-03 -3.76685889e+01] [ 3.80201037e-03 -5.93514631e-06 9.99992772e-01 1.68870100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3507140569999 meters Centerline goodness [0,1] 0.9998322358763578 Centerline is valid? [True, True] Translation: X:615.08, Y:-37.68, Z:1.69 [[ 9.46579933e-01 3.22443788e-01 -4.05393073e-03 6.15081226e+02] [-3.22440825e-01 9.46588614e-01 1.38225199e-03 -3.76820927e+01] [ 4.28310324e-03 -1.25922287e-06 9.99990827e-01 1.68951981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.380714057 meters Centerline goodness [0,1] 0.9997896817885461 Centerline is valid? [True, True] Translation: X:615.11, Y:-37.69, Z:1.69 [[ 9.46290958e-01 3.23297714e-01 -3.46564414e-03 6.15112080e+02] [-3.23295551e-01 9.46297304e-01 1.18258641e-03 -3.76943443e+01] [ 3.66185719e-03 1.35650161e-06 9.99993295e-01 1.69005983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.410714057 meters Centerline goodness [0,1] 0.9997056226081837 Centerline is valid? [True, True] Translation: X:615.14, Y:-37.71, Z:1.69 [[ 9.45827519e-01 3.24659609e-01 -2.53799965e-03 6.15141121e+02] [-3.24658453e-01 9.45830925e-01 8.66570376e-04 -3.77078199e+01] [ 2.68185896e-03 4.35693165e-06 9.99996404e-01 1.69151564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4407140569999 meters Centerline goodness [0,1] 0.9997480949681969 Centerline is valid? [True, True] Translation: X:615.17, Y:-37.72, Z:1.69 [[ 9.45694362e-01 3.25051516e-01 -1.91975525e-03 6.15171399e+02] [-3.25050855e-01 9.45696311e-01 6.55767197e-04 -3.77200717e+01] [ 2.02866358e-03 3.86274386e-06 9.99997942e-01 1.69242027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4707140569999 meters Centerline goodness [0,1] 0.9996865072730312 Centerline is valid? [True, True] Translation: X:615.20, Y:-37.73, Z:1.69 [[ 9.45500339e-01 3.25615888e-01 -1.84460848e-03 6.15202450e+02] [-3.25615277e-01 9.45502138e-01 6.30617952e-04 -3.77326388e+01] [ 1.94942048e-03 4.38321290e-06 9.99998100e-01 1.69311493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.500714057 meters Centerline goodness [0,1] 0.9996423612572054 Centerline is valid? [True, True] Translation: X:615.23, Y:-37.75, Z:1.69 [[ 9.45112120e-01 3.26745544e-01 -6.55278269e-04 6.15232553e+02] [-3.26745468e-01 9.45112347e-01 2.23440612e-04 -3.77473171e+01] [ 6.92319807e-04 2.93277353e-06 9.99999760e-01 1.69403774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.530714057 meters Centerline goodness [0,1] 0.9996851451480867 Centerline is valid? [True, True] Translation: X:615.26, Y:-37.76, Z:1.69 [[ 9.44755962e-01 3.27774415e-01 3.24084237e-04 6.15261921e+02] [-3.27774396e-01 9.44756017e-01 -1.12323758e-04 -3.77590493e+01] [-3.42997387e-04 -1.07974893e-07 9.99999941e-01 1.69478751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5607140569999 meters Centerline goodness [0,1] 0.999622293100554 Centerline is valid? [True, True] Translation: X:615.29, Y:-37.77, Z:1.70 [[ 9.43952930e-01 3.30078308e-01 1.08473757e-03 6.15291599e+02] [-3.30078097e-01 9.43953553e-01 -3.73540354e-04 -3.77714230e+01] [-1.14723946e-03 -5.44360277e-06 9.99999342e-01 1.69515148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5907140569999 meters Centerline goodness [0,1] 0.999390525829095 Centerline is valid? [True, True] Translation: X:615.32, Y:-37.78, Z:1.70 [[ 9.43425628e-01 3.31581309e-01 1.38549254e-03 6.15322159e+02] [-3.31580965e-01 9.43426646e-01 -4.77413425e-04 -3.77830963e+01] [-1.46541195e-03 -8.99889328e-06 9.99998926e-01 1.69508401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.620714057 meters Centerline goodness [0,1] 0.9991377678702866 Centerline is valid? [True, True] Translation: X:615.35, Y:-37.80, Z:1.69 [[ 9.42917024e-01 3.33026091e-01 1.05294352e-03 6.15352792e+02] [-3.33025893e-01 9.42917612e-01 -3.63442319e-04 -3.77950904e+01] [-1.11387476e-03 -7.96150401e-06 9.99999380e-01 1.69480587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.650714057 meters Centerline goodness [0,1] 0.9989705233523121 Centerline is valid? [True, True] Translation: X:615.38, Y:-37.81, Z:1.70 [[ 9.42159321e-01 3.35161006e-01 1.70690833e-03 6.15382035e+02] [-3.35160489e-01 9.42160867e-01 -5.88766000e-04 -3.78095618e+01] [-1.80551364e-03 -1.73768562e-05 9.99998370e-01 1.69511852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6807140569999 meters Centerline goodness [0,1] 0.9991370237844664 Centerline is valid? [True, True] Translation: X:615.41, Y:-37.82, Z:1.70 [[ 9.41688058e-01 3.36482878e-01 1.69536004e-03 6.15412279e+02] [-3.36482369e-01 9.41689584e-01 -5.85477508e-04 -3.78227810e+01] [-1.79350605e-03 -1.91215859e-05 9.99998391e-01 1.69586185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7107140569999 meters Centerline goodness [0,1] 0.9981094819980675 Centerline is valid? [True, True] Translation: X:615.44, Y:-37.84, Z:1.70 [[ 9.41191575e-01 3.37863360e-01 2.60164228e-03 6.15440627e+02] [-3.37862170e-01 9.41195170e-01 -8.97591724e-04 -3.78370328e+01] [-2.75191651e-03 -3.41907374e-05 9.99996213e-01 1.69651370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.740714057 meters Centerline goodness [0,1] 0.9980898805650595 Centerline is valid? [True, True] Translation: X:615.47, Y:-37.85, Z:1.70 [[ 9.40861846e-01 3.38779801e-01 2.68940619e-03 6.15470928e+02] [-3.38778529e-01 9.40865689e-01 -9.29297606e-04 -3.78504781e+01] [-2.84519727e-03 -3.67724113e-05 9.99995952e-01 1.69596719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.770714057 meters Centerline goodness [0,1] 0.9981730365392693 Centerline is valid? [True, True] Translation: X:615.50, Y:-37.86, Z:1.69 [[ 9.40468566e-01 3.39872070e-01 2.41931347e-03 6.15501029e+02] [-3.39871041e-01 9.40471677e-01 -8.36931961e-04 -3.78647630e+01] [-2.55974559e-03 -3.51463867e-05 9.99996723e-01 1.69496098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8007140569999 meters Centerline goodness [0,1] 0.9984032607097086 Centerline is valid? [True, True] Translation: X:615.53, Y:-37.88, Z:1.70 [[ 9.40073723e-01 3.40963917e-01 2.23669901e-03 6.15530893e+02] [-3.40963039e-01 9.40076383e-01 -7.74446792e-04 -3.78770863e+01] [-2.36672633e-03 -3.45946129e-05 9.99997199e-01 1.69501666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8307140569999 meters Centerline goodness [0,1] 0.9984031600621928 Centerline is valid? [True, True] Translation: X:615.56, Y:-37.89, Z:1.69 [[ 9.39616416e-01 3.42222617e-01 2.16132104e-03 6.15558431e+02] [-3.42221800e-01 9.39618901e-01 -7.48748877e-04 -3.78925730e+01] [-2.28705690e-03 -3.61144416e-05 9.99997384e-01 1.69470539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.860714057 meters Centerline goodness [0,1] 0.998214398252211 Centerline is valid? [True, True] Translation: X:615.59, Y:-37.91, Z:1.70 [[ 9.39396527e-01 3.42825494e-01 2.20132474e-03 6.15588411e+02] [-3.42824646e-01 9.39399105e-01 -7.63438687e-04 -3.79068954e+01] [-2.32964874e-03 -3.74967236e-05 9.99997286e-01 1.69501470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.890714057 meters Centerline goodness [0,1] 0.9981745698699118 Centerline is valid? [True, True] Translation: X:615.62, Y:-37.92, Z:1.69 [[ 9.39245247e-01 3.43239787e-01 2.19423547e-03 6.15617443e+02] [-3.43238944e-01 9.39247809e-01 -7.61729936e-04 -3.79226819e+01] [-2.32238688e-03 -3.76958444e-05 9.99997303e-01 1.69478058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9207140569999 meters Centerline goodness [0,1] 0.9979004828889355 Centerline is valid? [True, True] Translation: X:615.65, Y:-37.94, Z:1.69 [[ 9.39250366e-01 3.43226076e-01 2.14725503e-03 6.15646313e+02] [-3.43225267e-01 9.39252820e-01 -7.46124216e-04 -3.79409217e+01] [-2.27290463e-03 -3.61947398e-05 9.99997416e-01 1.69449183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9507140569999 meters Centerline goodness [0,1] 0.9982560094133468 Centerline is valid? [True, True] Translation: X:615.68, Y:-37.96, Z:1.69 [[ 9.39404517e-01 3.42806880e-01 1.61154065e-03 6.15675293e+02] [-3.42806423e-01 9.39405899e-01 -5.60610137e-04 -3.79560358e+01] [-1.70607180e-03 -2.58067902e-05 9.99998544e-01 1.69379713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9807140569999 meters Centerline goodness [0,1] 0.9978420280745862 Centerline is valid? [True, True] Translation: X:615.70, Y:-37.97, Z:1.69 [[ 9.39632019e-01 3.42183942e-01 1.34865892e-03 6.15704915e+02] [-3.42183622e-01 9.39632987e-01 -4.68788394e-04 -3.79702377e+01] [-1.42765627e-03 -2.10004078e-05 9.99998981e-01 1.69324962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.010714057 meters Centerline goodness [0,1] 0.9979187251666071 Centerline is valid? [True, True] Translation: X:615.73, Y:-37.99, Z:1.69 [[ 9.40403863e-01 3.40058157e-01 1.01219602e-03 6.15731884e+02] [-3.40057975e-01 9.40404407e-01 -3.52784675e-04 -3.79875717e+01] [-1.07184090e-03 -1.24452565e-05 9.99999426e-01 1.69299624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.040714057 meters Centerline goodness [0,1] 0.9985919932751918 Centerline is valid? [True, True] Translation: X:615.76, Y:-38.00, Z:1.69 [[ 9.40895674e-01 3.38695959e-01 6.14931089e-04 6.15760898e+02] [-3.38695891e-01 9.40895875e-01 -2.14928733e-04 -3.80023099e+01] [-6.51381618e-04 -6.04911782e-06 9.99999788e-01 1.69309862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0707140569999 meters Centerline goodness [0,1] 0.9980650724546238 Centerline is valid? [True, True] Translation: X:615.79, Y:-38.02, Z:1.69 [[ 9.42088483e-01 3.35364177e-01 -3.98634273e-04 6.15788379e+02] [-3.35364148e-01 9.42088568e-01 1.37741192e-04 -3.80220280e+01] [ 4.21742253e-04 3.92325314e-06 9.99999911e-01 1.69200539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1007140569999 meters Centerline goodness [0,1] 0.9976893668865269 Centerline is valid? [True, True] Translation: X:615.82, Y:-38.04, Z:1.69 [[ 9.42695348e-01 3.33653926e-01 -7.33378786e-04 6.15816542e+02] [-3.33653829e-01 9.42695634e-01 2.54547909e-04 -3.80354174e+01] [ 7.76283889e-04 4.73350992e-06 9.99999699e-01 1.69192322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.130714057 meters Centerline goodness [0,1] 0.9979360599806243 Centerline is valid? [True, True] Translation: X:615.85, Y:-38.05, Z:1.69 [[ 9.43348019e-01 3.31801506e-01 -1.50869249e-03 6.15845261e+02] [-3.31801090e-01 9.43349225e-01 5.24995334e-04 -3.80506550e+01] [ 1.59741813e-03 5.33250369e-06 9.99998724e-01 1.69132314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.160714057 meters Centerline goodness [0,1] 0.9973489869342927 Centerline is valid? [True, True] Translation: X:615.87, Y:-38.07, Z:1.69 [[ 9.44708980e-01 3.27901041e-01 -2.41880072e-03 6.15874293e+02] [-3.27899957e-01 9.44712077e-01 8.42949192e-04 -3.80685372e+01] [ 2.56147417e-03 -3.21701953e-06 9.99996719e-01 1.69022176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1907140569999 meters Centerline goodness [0,1] 0.997369750021042 Centerline is valid? [True, True] Translation: X:615.90, Y:-38.08, Z:1.69 [[ 9.45433770e-01 3.25802781e-01 -2.74495319e-03 6.15903204e+02] [-3.25801373e-01 9.45437755e-01 9.57688025e-04 -3.80826885e+01] [ 2.90719980e-03 -1.11210807e-05 9.99995774e-01 1.69011632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2207140569999 meters Centerline goodness [0,1] 0.9977015372287709 Centerline is valid? [True, True] Translation: X:615.93, Y:-38.10, Z:1.69 [[ 9.47192138e-01 3.20651614e-01 -3.09778156e-03 6.15930150e+02] [-3.20649791e-01 9.47197203e-01 1.08189290e-03 -3.81005677e+01] [ 3.28112074e-03 -3.14574429e-05 9.99994617e-01 1.69022014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.250714057 meters Centerline goodness [0,1] 0.9977871443624868 Centerline is valid? [True, True] Translation: X:615.96, Y:-38.11, Z:1.69 [[ 9.48088888e-01 3.17990868e-01 -3.04438454e-03 6.15959430e+02] [-3.17989091e-01 9.48093775e-01 1.06399300e-03 -3.81145184e+01] [ 3.22470209e-03 -4.06788659e-05 9.99994800e-01 1.69035847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.280714057 meters Centerline goodness [0,1] 0.9981953625013115 Centerline is valid? [True, True] Translation: X:615.99, Y:-38.13, Z:1.69 [[ 9.49172101e-01 3.14747076e-01 -2.56930435e-03 6.15989019e+02] [-3.14745797e-01 9.49175577e-01 8.98489214e-04 -3.81279973e+01] [ 2.72151779e-03 -4.41431503e-05 9.99996296e-01 1.69118822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3107140569999 meters Centerline goodness [0,1] 0.9976599063962559 Centerline is valid? [True, True] Translation: X:616.02, Y:-38.14, Z:1.69 [[ 9.51467913e-01 3.07745814e-01 -1.15072745e-03 6.16017289e+02] [-3.07745552e-01 9.51468609e-01 4.02766943e-04 -3.81428269e+01] [ 1.21883089e-03 -2.90885678e-05 9.99999257e-01 1.69191546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3407140569999 meters Centerline goodness [0,1] 0.9977651275563989 Centerline is valid? [True, True] Translation: X:616.05, Y:-38.15, Z:1.69 [[ 9.52396685e-01 3.04860767e-01 -6.84210408e-04 6.16047452e+02] [-3.04860674e-01 9.52396930e-01 2.39324408e-04 -3.81549378e+01] [ 7.24600515e-04 -1.93429273e-05 9.99999737e-01 1.69248217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.370714057 meters Centerline goodness [0,1] 0.9977913336137989 Centerline is valid? [True, True] Translation: X:616.08, Y:-38.17, Z:1.69 [[ 9.53399796e-01 3.01709615e-01 -3.71619252e-04 6.16075033e+02] [-3.01709587e-01 9.53399868e-01 1.30014087e-04 -3.81686828e+01] [ 3.93528245e-04 -1.18343130e-05 9.99999922e-01 1.69329630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.400714057 meters Centerline goodness [0,1] 0.9976192984304224 Centerline is valid? [True, True] Translation: X:616.10, Y:-38.18, Z:1.69 [[ 9.55020357e-01 2.96540237e-01 7.23735437e-05 6.16104475e+02] [-2.96540236e-01 9.55020360e-01 -2.55338198e-05 -3.81784779e+01] [-7.66900128e-05 2.92364998e-06 9.99999997e-01 1.69350200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4307140569999 meters Centerline goodness [0,1] 0.9976161846296648 Centerline is valid? [True, True] Translation: X:616.13, Y:-38.19, Z:1.69 [[ 9.55768311e-01 2.94119646e-01 7.54264674e-04 6.16132349e+02] [-2.94119529e-01 9.55768608e-01 -2.64405033e-04 -3.81920611e+01] [-7.98669213e-04 3.08659808e-05 9.99999681e-01 1.69357092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4607140569999 meters Centerline goodness [0,1] 0.9976161846296648 Centerline is valid? [True, True] Translation: X:616.16, Y:-38.20, Z:1.69 [[ 9.55687228e-01 2.94383005e-01 7.53880527e-04 6.16162972e+02] [-2.94382887e-01 9.55687525e-01 -2.65500962e-04 -3.82028600e+01] [-7.98633186e-04 3.18063531e-05 9.99999681e-01 1.69369849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.490714057 meters Centerline goodness [0,1] 0.997323385601079 Centerline is valid? [True, True] Translation: X:616.19, Y:-38.21, Z:1.69 [[ 9.56437988e-01 2.91935384e-01 3.27427470e-04 6.16194812e+02] [-2.91935361e-01 9.56438044e-01 -1.15143676e-04 -3.82099532e+01] [-3.46778602e-04 1.45401286e-05 9.99999940e-01 1.69317584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.520714057 meters Centerline goodness [0,1] 0.9976009596161536 Centerline is valid? [True, True] Translation: X:616.22, Y:-38.22, Z:1.69 [[ 9.57566368e-01 2.88212241e-01 5.96032113e-04 6.16223145e+02] [-2.88212167e-01 9.57566553e-01 -2.09138403e-04 -3.82211262e+01] [-6.31016664e-04 2.84801945e-05 9.99999801e-01 1.69360993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5507140569999 meters Centerline goodness [0,1] 0.9976062489501092 Centerline is valid? [True, True] Translation: X:616.25, Y:-38.23, Z:1.69 [[ 9.58047059e-01 2.86609510e-01 9.06334327e-04 6.16252171e+02] [-2.86609337e-01 9.58047487e-01 -3.18515812e-04 -3.82335074e+01] [-9.59600985e-04 4.53892564e-05 9.99999539e-01 1.69440208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5807140569999 meters Centerline goodness [0,1] 0.9975401047032357 Centerline is valid? [True, True] Translation: X:616.28, Y:-38.24, Z:1.69 [[ 9.58134564e-01 2.86317277e-01 7.57464438e-04 6.16283997e+02] [-2.86317155e-01 9.58134863e-01 -2.67008175e-04 -3.82393240e+01] [-8.02202140e-04 3.89546985e-05 9.99999677e-01 1.69455324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.610714057 meters Centerline goodness [0,1] 0.9975414486541008 Centerline is valid? [True, True] Translation: X:616.32, Y:-38.24, Z:1.69 [[ 9.58369417e-01 2.85530227e-01 7.42077905e-04 6.16317152e+02] [-2.85530110e-01 9.58369703e-01 -2.61836594e-04 -3.82428136e+01] [-7.85947244e-04 3.90505982e-05 9.99999690e-01 1.69448038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.640714057 meters Centerline goodness [0,1] 0.9981057018374693 Centerline is valid? [True, True] Translation: X:616.35, Y:-38.25, Z:1.69 [[ 9.58318349e-01 2.85702321e-01 3.54193876e-04 6.16347523e+02] [-2.85702294e-01 9.58318414e-01 -1.25689888e-04 -3.82522783e+01] [-3.75340407e-04 1.92569232e-05 9.99999929e-01 1.69496776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6707140569999 meters Centerline goodness [0,1] 0.9982207895508017 Centerline is valid? [True, True] Translation: X:616.38, Y:-38.26, Z:1.69 [[ 9.58218860e-01 2.86035992e-01 1.64789852e-04 6.16380474e+02] [-2.86035986e-01 9.58218874e-01 -5.91851580e-05 -3.82591144e+01] [-1.74833832e-04 9.57650691e-06 9.99999985e-01 1.69420466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7007140569999 meters Centerline goodness [0,1] 0.9980687686300852 Centerline is valid? [True, True] Translation: X:616.41, Y:-38.27, Z:1.69 [[ 9.58127723e-01 2.86341124e-01 1.64768861e-04 6.16413254e+02] [-2.86341118e-01 9.58127737e-01 -5.92312433e-05 -3.82666362e+01] [-1.74829956e-04 9.57099645e-06 9.99999985e-01 1.69459009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7307140569999 meters Centerline goodness [0,1] 0.9988470568505786 Centerline is valid? [True, True] Translation: X:616.44, Y:-38.27, Z:1.70 [[ 9.57877762e-01 2.87176008e-01 3.65372174e-04 6.16444741e+02] [-2.87175979e-01 9.57877832e-01 -1.29783619e-04 -3.82716414e+01] [-3.87252648e-04 1.93907303e-05 9.99999925e-01 1.69577385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.760714057 meters Centerline goodness [0,1] 0.9988676159120934 Centerline is valid? [True, True] Translation: X:616.48, Y:-38.28, Z:1.70 [[ 9.57618970e-01 2.88037413e-01 5.97615693e-04 6.16477626e+02] [-2.88037337e-01 9.57619156e-01 -2.11923965e-04 -3.82760907e+01] [-6.33330266e-04 3.08067764e-05 9.99999799e-01 1.69655772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.790714057 meters Centerline goodness [0,1] 0.9989731123079825 Centerline is valid? [True, True] Translation: X:616.51, Y:-38.28, Z:1.70 [[ 9.57046452e-01 2.89934054e-01 5.78111148e-04 6.16510427e+02] [-2.89933982e-01 9.57046626e-01 -2.05190434e-04 -3.82783660e+01] [-6.12771017e-04 2.87627090e-05 9.99999812e-01 1.69803409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8207140569999 meters Centerline goodness [0,1] 0.999517313746065 Centerline is valid? [True, True] Translation: X:616.54, Y:-38.28, Z:1.70 [[ 9.56716194e-01 2.91022016e-01 5.57688042e-04 6.16543203e+02] [-2.91021950e-01 9.56716356e-01 -1.98142969e-04 -3.82824363e+01] [-5.91213238e-04 2.72671259e-05 9.99999825e-01 1.69834329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8507140569999 meters Centerline goodness [0,1] 0.9994124929184415 Centerline is valid? [True, True] Translation: X:616.57, Y:-38.29, Z:1.70 [[ 9.56532132e-01 2.91626351e-01 5.93146359e-04 6.16574248e+02] [-2.91626276e-01 9.56532316e-01 -2.10289016e-04 -3.82895487e+01] [-6.28689479e-04 2.81711371e-05 9.99999802e-01 1.69827749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.880714057 meters Centerline goodness [0,1] 0.9993292810731503 Centerline is valid? [True, True] Translation: X:616.61, Y:-38.29, Z:1.70 [[ 9.56425809e-01 2.91974456e-01 7.67169883e-04 6.16608423e+02] [-2.91974331e-01 9.56426116e-01 -2.72687496e-04 -3.82915568e+01] [-8.13359095e-04 3.68114463e-05 9.99999669e-01 1.69777934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.910714057 meters Centerline goodness [0,1] 0.9993939520595181 Centerline is valid? [True, True] Translation: X:616.64, Y:-38.30, Z:1.70 [[ 9.56388414e-01 2.92097135e-01 6.81723552e-04 6.16641210e+02] [-2.92097036e-01 9.56388657e-01 -2.42669769e-04 -3.82976917e+01] [-7.22875816e-04 3.29571269e-05 9.99999738e-01 1.69746847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9407140569999 meters Centerline goodness [0,1] 0.9994331660823379 Centerline is valid? [True, True] Translation: X:616.67, Y:-38.30, Z:1.70 [[ 9.56440388e-01 2.91926648e-01 7.85304204e-04 6.16673213e+02] [-2.91926517e-01 9.56440709e-01 -2.79427593e-04 -3.83047153e+01] [-8.32669270e-04 3.80047144e-05 9.99999653e-01 1.69773674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9707140569999 meters Centerline goodness [0,1] 0.9993707789756282 Centerline is valid? [True, True] Translation: X:616.70, Y:-38.31, Z:1.70 [[ 9.56591815e-01 2.91430798e-01 4.36288607e-04 6.16704727e+02] [-2.91430757e-01 9.56591914e-01 -1.55817159e-04 -3.83113140e+01] [-4.62760073e-04 2.19054999e-05 9.99999893e-01 1.69781989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.000714057 meters Centerline goodness [0,1] 0.999390705101269 Centerline is valid? [True, True] Translation: X:616.74, Y:-38.31, Z:1.70 [[ 9.57184743e-01 2.89476821e-01 7.33372187e-04 6.16737520e+02] [-2.89476706e-01 9.57185023e-01 -2.60783408e-04 -3.83137824e+01] [-7.77463626e-04 3.73237348e-05 9.99999697e-01 1.69807737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.030714057 meters Centerline goodness [0,1] 0.9996852310404163 Centerline is valid? [True, True] Translation: X:616.77, Y:-38.33, Z:1.70 [[ 9.57630948e-01 2.87997729e-01 5.24271487e-04 6.16766023e+02] [-2.87997670e-01 9.57631091e-01 -1.87160565e-04 -3.83268372e+01] [-5.55960494e-04 2.82417826e-05 9.99999845e-01 1.69808728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0607140569999 meters Centerline goodness [0,1] 0.9995598130253422 Centerline is valid? [True, True] Translation: X:616.80, Y:-38.32, Z:1.70 [[ 9.59147872e-01 2.82905164e-01 1.64120744e-04 6.16799425e+02] [-2.82905158e-01 9.59147886e-01 -5.83239102e-05 -3.83239052e+01] [-1.73916200e-04 9.51064943e-06 9.99999985e-01 1.69698089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0907140569999 meters Centerline goodness [0,1] 0.9992680733599615 Centerline is valid? [True, True] Translation: X:616.83, Y:-38.33, Z:1.70 [[ 9.60039101e-01 2.79865863e-01 1.54565200e-04 6.16828165e+02] [-2.79865858e-01 9.60039113e-01 -5.49767897e-05 -3.83339343e+01] [-1.63774765e-04 9.52234537e-06 9.99999987e-01 1.69714290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.120714057 meters Centerline goodness [0,1] 0.9996425868303759 Centerline is valid? [True, True] Translation: X:616.86, Y:-38.34, Z:1.70 [[ 9.60945738e-01 2.76735498e-01 8.67963778e-04 6.16859219e+02] [-2.76735332e-01 9.60946128e-01 -3.08490631e-04 -3.83400900e+01] [-9.19436740e-04 5.62465130e-05 9.99999576e-01 1.69706369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.150714057 meters Centerline goodness [0,1] 0.9996442696017912 Centerline is valid? [True, True] Translation: X:616.89, Y:-38.35, Z:1.70 [[ 9.61776453e-01 2.73835197e-01 5.83069867e-04 6.16886692e+02] [-2.73835122e-01 9.61776629e-01 -2.07135128e-04 -3.83523888e+01] [-6.17503860e-04 3.95526807e-05 9.99999809e-01 1.69756188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1807140569999 meters Centerline goodness [0,1] 0.9997481531229013 Centerline is valid? [True, True] Translation: X:616.92, Y:-38.35, Z:1.70 [[ 9.63093788e-01 2.69164910e-01 7.79141960e-04 6.16918844e+02] [-2.69164774e-01 9.63094101e-01 -2.76938191e-04 -3.83532802e+01] [-8.24929069e-04 5.69998823e-05 9.99999658e-01 1.69827236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2107140569999 meters Centerline goodness [0,1] 0.9998949932795699 Centerline is valid? [True, True] Translation: X:616.95, Y:-38.36, Z:1.70 [[ 9.63485485e-01 2.67756794e-01 1.42105074e-03 6.16950494e+02] [-2.67756338e-01 9.63486527e-01 -5.05275967e-04 -3.83606574e+01] [-1.50445431e-03 1.06330719e-04 9.99998863e-01 1.69881754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.240714057 meters Centerline goodness [0,1] 0.99966239740046 Centerline is valid? [True, True] Translation: X:616.98, Y:-38.37, Z:1.70 [[ 9.63902950e-01 2.66246931e-01 1.91677629e-03 6.16981131e+02] [-2.66246099e-01 9.63904845e-01 -6.81479247e-04 -3.83675648e+01] [-2.02903171e-03 1.46545648e-04 9.99997931e-01 1.69938624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.270714057 meters Centerline goodness [0,1] 0.999873348250095 Centerline is valid? [True, True] Translation: X:617.01, Y:-38.37, Z:1.70 [[ 9.64639728e-01 2.63561975e-01 2.29791901e-03 6.17012670e+02] [-2.63560772e-01 9.64642448e-01 -8.16844531e-04 -3.83692649e+01] [-2.43195937e-03 1.82319379e-04 9.99997026e-01 1.70122637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3007140569999 meters Centerline goodness [0,1] 0.9998105382817928 Centerline is valid? [True, True] Translation: X:617.04, Y:-38.37, Z:1.70 [[ 9.64879833e-01 2.62680334e-01 2.43919104e-03 6.17044650e+02] [-2.62678974e-01 9.64882896e-01 -8.67621531e-04 -3.83743848e+01] [-2.58144083e-03 1.96426318e-04 9.99996649e-01 1.70152489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3307140569999 meters Centerline goodness [0,1] 0.9998317312748459 Centerline is valid? [True, True] Translation: X:617.08, Y:-38.38, Z:1.70 [[ 9.65020748e-01 2.62162540e-01 2.39979710e-03 6.17076536e+02] [-2.62161219e-01 9.65023712e-01 -8.54873151e-04 -3.83781695e+01] [-2.53997682e-03 1.95836595e-04 9.99996755e-01 1.70172382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.360714057 meters Centerline goodness [0,1] 0.9999367928702357 Centerline is valid? [True, True] Translation: X:617.11, Y:-38.38, Z:1.70 [[ 9.65014521e-01 2.62184974e-01 2.45238561e-03 6.17109149e+02] [-2.62183593e-01 9.65017616e-01 -8.74304684e-04 -3.83824649e+01] [-2.59582486e-03 2.00741445e-04 9.99996611e-01 1.70202813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.390714057 meters Centerline goodness [0,1] 0.9998948740591228 Centerline is valid? [True, True] Translation: X:617.14, Y:-38.39, Z:1.70 [[ 9.64694427e-01 2.63362658e-01 2.18464965e-03 6.17139742e+02] [-2.63361564e-01 9.64696885e-01 -7.79545898e-04 -3.83904263e+01] [-2.31282799e-03 1.76670835e-04 9.99997310e-01 1.70328179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:617.18, Y:-38.38, Z:1.70 [[ 9.64421645e-01 2.64357474e-01 2.45277426e-03 6.17176544e+02] [-2.64356096e-01 9.64424744e-01 -8.75808028e-04 -3.83840254e+01] [-2.59704259e-03 1.96242390e-04 9.99996608e-01 1.70274517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4507140569999 meters Centerline goodness [0,1] 0.9998529257274924 Centerline is valid? [True, True] Translation: X:617.21, Y:-38.39, Z:1.70 [[ 9.64029423e-01 2.65774948e-01 3.30875556e-03 6.17206138e+02] [-2.65772452e-01 9.64035067e-01 -1.18047300e-03 -3.83922943e+01] [-3.50349653e-03 2.58634628e-04 9.99993829e-01 1.70353758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4807140569999 meters Centerline goodness [0,1] 0.9996628739991572 Centerline is valid? [True, True] Translation: X:617.24, Y:-38.39, Z:1.70 [[ 9.63332378e-01 2.68278810e-01 4.14856416e-03 6.17241834e+02] [-2.68274910e-01 9.63341260e-01 -1.48000245e-03 -3.83850108e+01] [-4.39353632e-03 3.12778604e-04 9.99990299e-01 1.70353500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.510714057 meters Centerline goodness [0,1] 0.9995998652177576 Centerline is valid? [True, True] Translation: X:617.27, Y:-38.39, Z:1.70 [[ 9.62949147e-01 2.69648618e-01 4.30845301e-03 6.17271805e+02] [-2.69644416e-01 9.62958732e-01 -1.53903198e-03 -3.83932298e+01] [-4.56386029e-03 3.20259238e-04 9.99989534e-01 1.70412050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.540714057 meters Centerline goodness [0,1] 0.9995572142450503 Centerline is valid? [True, True] Translation: X:617.31, Y:-38.39, Z:1.70 [[ 9.62429159e-01 2.71510063e-01 3.52131805e-03 6.17305999e+02] [-2.71507271e-01 9.62435567e-01 -1.25721541e-03 -3.83895818e+01] [-3.73038837e-03 2.53917316e-04 9.99993010e-01 1.70351941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5707140569999 meters Centerline goodness [0,1] 0.9991603165606566 Centerline is valid? [True, True] Translation: X:617.34, Y:-38.40, Z:1.70 [[ 9.62316811e-01 2.71917029e-01 2.73596185e-03 6.17335125e+02] [-2.71915346e-01 9.62320680e-01 -9.76385912e-04 -3.83970617e+01] [-2.89836862e-03 1.95642564e-04 9.99995781e-01 1.70306907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6007140569999 meters Centerline goodness [0,1] 0.9988028982463509 Centerline is valid? [True, True] Translation: X:617.36, Y:-38.40, Z:1.70 [[ 9.62283554e-01 2.72039815e-01 2.16814326e-03 6.17364325e+02] [-2.72038759e-01 9.62285984e-01 -7.73438650e-04 -3.84014245e+01] [-2.29677998e-03 1.54448291e-04 9.99997350e-01 1.70268858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.630714057 meters Centerline goodness [0,1] 0.9979315532154945 Centerline is valid? [True, True] Translation: X:617.39, Y:-38.40, Z:1.70 [[ 9.62461136e-01 2.71417048e-01 1.16098830e-03 6.17393683e+02] [-2.71416745e-01 9.62461833e-01 -4.13825537e-04 -3.84020001e+01] [-1.22972623e-03 8.31793309e-05 9.99999240e-01 1.70155133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.660714057 meters Centerline goodness [0,1] 0.9973568098568099 Centerline is valid? [True, True] Translation: X:617.42, Y:-38.41, Z:1.70 [[ 9.62699232e-01 2.70572068e-01 9.71762190e-04 6.17420064e+02] [-2.70571856e-01 9.62699720e-01 -3.46229628e-04 -3.84110975e+01] [-1.02919525e-03 7.03834981e-05 9.99999468e-01 1.70127758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6907140569999 meters Centerline goodness [0,1] 0.9963946590647075 Centerline is valid? [True, True] Translation: X:617.45, Y:-38.41, Z:1.70 [[ 9.63116618e-01 2.69081224e-01 1.29410222e-03 6.17450844e+02] [-2.69080845e-01 9.63117483e-01 -4.61365327e-04 -3.84130963e+01] [-1.37051722e-03 9.61304957e-05 9.99999056e-01 1.70095015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7207140569999 meters Centerline goodness [0,1] 0.9960994841253198 Centerline is valid? [True, True] Translation: X:617.48, Y:-38.42, Z:1.70 [[ 9.63522289e-01 2.67624236e-01 1.43760844e-03 6.17480627e+02] [-2.67623767e-01 9.63523355e-01 -5.12484929e-04 -3.84183048e+01] [-1.52232270e-03 1.09052465e-04 9.99998835e-01 1.70087515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.750714057 meters Centerline goodness [0,1] 0.9952042889154153 Centerline is valid? [True, True] Translation: X:617.51, Y:-38.43, Z:1.70 [[ 9.63996693e-01 2.65912646e-01 9.16570109e-04 6.17508122e+02] [-2.65912455e-01 9.63997126e-01 -3.26561624e-04 -3.84270914e+01] [-9.70407817e-04 7.10769176e-05 9.99999527e-01 1.70043174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.780714057 meters Centerline goodness [0,1] 0.9944757205811036 Centerline is valid? [True, True] Translation: X:617.54, Y:-38.43, Z:1.70 [[ 9.64914745e-01 2.62563216e-01 3.05336253e-04 6.17539723e+02] [-2.62563194e-01 9.64914793e-01 -1.08830766e-04 -3.84283843e+01] [-3.23198423e-04 2.48423487e-05 9.99999947e-01 1.69895141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8107140569999 meters Centerline goodness [0,1] 0.993539290374174 Centerline is valid? [True, True] Translation: X:617.57, Y:-38.44, Z:1.70 [[ 9.65422566e-01 2.60689987e-01 -1.04322043e-05 6.17567062e+02] [-2.60689987e-01 9.65422566e-01 3.93988512e-06 -3.84376440e+01] [ 1.10985740e-05 -1.08408280e-06 1.00000000e+00 1.69861234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8407140569999 meters Centerline goodness [0,1] 0.993241109216095 Centerline is valid? [True, True] Translation: X:617.60, Y:-38.44, Z:1.70 [[ 9.65872525e-01 2.59017878e-01 5.96584612e-05 6.17597583e+02] [-2.59017877e-01 9.65872527e-01 -2.11133502e-05 -3.84406872e+01] [-6.30912039e-05 4.94019692e-06 9.99999998e-01 1.69835165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.870714057 meters Centerline goodness [0,1] 0.9916334745316221 Centerline is valid? [True, True] Translation: X:617.63, Y:-38.44, Z:1.70 [[ 9.66604885e-01 2.56270471e-01 6.64917749e-04 6.17630089e+02] [-2.56270369e-01 9.66605112e-01 -2.36898631e-04 -3.84401078e+01] [-7.03423019e-04 5.85886572e-05 9.99999751e-01 1.69798266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.900714057 meters Centerline goodness [0,1] 0.9905783385909569 Centerline is valid? [True, True] Translation: X:617.65, Y:-38.46, Z:1.70 [[ 9.66942502e-01 2.54994283e-01 3.36096081e-04 6.17653375e+02] [-2.54994257e-01 9.66942560e-01 -1.19533140e-04 -3.84598788e+01] [-3.55465872e-04 2.98791030e-05 9.99999936e-01 1.69862684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9307140569999 meters Centerline goodness [0,1] 0.9905041400272508 Centerline is valid? [True, True] Translation: X:617.68, Y:-38.46, Z:1.70 [[ 9.67157158e-01 2.54179108e-01 1.11635521e-04 6.17682977e+02] [-2.54179105e-01 9.67157165e-01 -3.94062495e-05 -3.84613158e+01] [-1.17985339e-04 9.73661951e-06 9.99999993e-01 1.69828651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9607140569999 meters Centerline goodness [0,1] 0.9878833775085195 Centerline is valid? [True, True] Translation: X:617.71, Y:-38.47, Z:1.70 [[ 9.67624735e-01 2.52393142e-01 -2.74278642e-04 6.17710343e+02] [-2.52393124e-01 9.67624773e-01 9.79752677e-05 -3.84677457e+01] [ 2.90127094e-04 -2.55772493e-05 9.99999958e-01 1.69780633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.990714057 meters Centerline goodness [0,1] 0.985778600580637 Centerline is valid? [True, True] Translation: X:617.74, Y:-38.47, Z:1.70 [[ 9.67835360e-01 2.51584410e-01 1.89952314e-05 6.17737371e+02] [-2.51584410e-01 9.67835360e-01 -6.41556782e-06 -3.84749730e+01] [-1.99983136e-05 1.43030931e-06 1.00000000e+00 1.69750587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.020714057 meters Centerline goodness [0,1] 0.9857178915485255 Centerline is valid? [True, True] Translation: X:617.77, Y:-38.48, Z:1.70 [[ 9.67989033e-01 2.50992200e-01 -3.84818562e-04 6.17766846e+02] [-2.50992165e-01 9.67989108e-01 1.37273655e-04 -3.84775733e+01] [ 4.06954793e-04 -3.62929482e-05 9.99999917e-01 1.69679158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0507140569999 meters Centerline goodness [0,1] 0.9860382841619811 Centerline is valid? [True, True] Translation: X:617.80, Y:-38.47, Z:1.70 [[ 9.68203970e-01 2.50161971e-01 -2.44970612e-04 6.17797951e+02] [-2.50161957e-01 9.68204001e-01 8.75535369e-05 -3.84748254e+01] [ 2.59084092e-04 -2.34873543e-05 9.99999966e-01 1.69629331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0807140569999 meters Centerline goodness [0,1] 0.9833912951838971 Centerline is valid? [True, True] Translation: X:617.83, Y:-38.47, Z:1.70 [[ 9.68607592e-01 2.48594125e-01 -5.41226828e-04 6.17830857e+02] [-2.48594056e-01 9.68607742e-01 1.92747911e-04 -3.84708644e+01] [ 5.72152494e-04 -5.21513176e-05 9.99999835e-01 1.69555703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.110714057 meters Centerline goodness [0,1] 0.9768523389659308 Centerline is valid? [True, True] Translation: X:617.85, Y:-38.49, Z:1.70 [[ 9.68871933e-01 2.47561949e-01 -5.09403707e-04 6.17852706e+02] [-2.47561887e-01 9.68872065e-01 1.81761687e-04 -3.84917511e+01] [ 5.38544299e-04 -4.99948540e-05 9.99999854e-01 1.69556772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.140714057 meters Centerline goodness [0,1] 0.9766956301670322 Centerline is valid? [True, True] Translation: X:617.89, Y:-38.48, Z:1.69 [[ 9.69265691e-01 2.46014011e-01 -1.06128830e-03 6.17888723e+02] [-2.46013744e-01 9.69266267e-01 3.77601433e-04 -3.84789341e+01] [ 1.12156619e-03 -1.04904605e-04 9.99999366e-01 1.69384113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1707140569999 meters Centerline goodness [0,1] 0.9770233557273129 Centerline is valid? [True, True] Translation: X:617.92, Y:-38.48, Z:1.69 [[ 9.69404752e-01 2.45465256e-01 -1.11133526e-03 6.17919575e+02] [-2.45464962e-01 9.69405383e-01 3.96002903e-04 -3.84788907e+01] [ 1.17453934e-03 -1.11093229e-04 9.99999304e-01 1.69353047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2007140569999 meters Centerline goodness [0,1] 0.9738201134040176 Centerline is valid? [True, True] Translation: X:617.95, Y:-38.49, Z:1.69 [[ 9.69594766e-01 2.44713179e-01 -1.20438529e-03 6.17946151e+02] [-2.44712834e-01 9.69595506e-01 4.28252488e-04 -3.84869650e+01] [ 1.27256559e-03 -1.20502833e-04 9.99999183e-01 1.69320956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2307140569999 meters Centerline goodness [0,1] 0.970639651214221 Centerline is valid? [True, True] Translation: X:617.97, Y:-38.49, Z:1.69 [[ 9.69786809e-01 2.43951392e-01 -1.12450546e-03 6.17973220e+02] [-2.43951090e-01 9.69787454e-01 3.99881632e-04 -3.84928006e+01] [ 1.18808297e-03 -1.13475598e-04 9.99999288e-01 1.69283329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.260714057 meters Centerline goodness [0,1] 0.9697148393075271 Centerline is valid? [True, True] Translation: X:618.01, Y:-38.49, Z:1.69 [[ 9.70192108e-01 2.42330757e-01 -1.75449525e-03 6.18006321e+02] [-2.42330022e-01 9.70193678e-01 6.23163164e-04 -3.84869721e+01] [ 1.85321180e-03 -1.79421112e-04 9.99998267e-01 1.69165442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.290714057 meters Centerline goodness [0,1] 0.9646718025147463 Centerline is valid? [True, True] Translation: X:618.03, Y:-38.50, Z:1.69 [[ 9.70434121e-01 2.41356647e-01 -2.14131990e-03 6.18033132e+02] [-2.41355550e-01 9.70436459e-01 7.60372389e-04 -3.84969587e+01] [ 2.26153583e-03 -2.21071868e-04 9.99997418e-01 1.69095919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3207140569999 meters Centerline goodness [0,1] 0.9629270350063265 Centerline is valid? [True, True] Translation: X:618.06, Y:-38.50, Z:1.69 [[ 9.70748029e-01 2.40084114e-01 -2.80753809e-03 6.18063055e+02] [-2.40082225e-01 9.70752045e-01 9.96681333e-04 -3.85013887e+01] [ 2.96471069e-03 -2.93486449e-04 9.99995562e-01 1.69024286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3507140569999 meters Centerline goodness [0,1] 0.9629270350063265 Centerline is valid? [True, True] Translation: X:618.09, Y:-38.51, Z:1.69 [[ 9.70816462e-01 2.39807247e-01 -2.80749438e-03 6.18089086e+02] [-2.39805356e-01 9.70820476e-01 9.96804574e-04 -3.85105340e+01] [ 2.96461400e-03 -2.94462099e-04 9.99995562e-01 1.69035124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.380714057 meters Centerline goodness [0,1] 0.9644649711080181 Centerline is valid? [True, True] Translation: X:618.12, Y:-38.51, Z:1.69 [[ 9.70983506e-01 2.39126585e-01 -3.08348843e-03 6.18119783e+02] [-2.39124305e-01 9.70988348e-01 1.09355553e-03 -3.85090316e+01] [ 3.25552954e-03 -3.24487359e-04 9.99994648e-01 1.68976997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.410714057 meters Centerline goodness [0,1] 0.9614563742788919 Centerline is valid? [True, True] Translation: X:618.15, Y:-38.51, Z:1.69 [[ 9.71107570e-01 2.38618707e-01 -3.34655992e-03 6.18150620e+02] [-2.38616020e-01 9.71113272e-01 1.18647345e-03 -3.85069103e+01] [ 3.53300351e-03 -3.53650546e-04 9.99993696e-01 1.68893578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4407140569999 meters Centerline goodness [0,1] 0.9610268772864725 Centerline is valid? [True, True] Translation: X:618.18, Y:-38.51, Z:1.69 [[ 9.71133228e-01 2.38519996e-01 -2.90958014e-03 6.18179362e+02] [-2.38517965e-01 9.71137537e-01 1.03144361e-03 -3.85111320e+01] [ 3.07162242e-03 -3.07682028e-04 9.99995235e-01 1.68853554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4707140569999 meters Centerline goodness [0,1] 0.9590089423503795 Centerline is valid? [True, True] Translation: X:618.21, Y:-38.51, Z:1.69 [[ 9.70873440e-01 2.39565358e-01 -3.63349258e-03 6.18208541e+02] [-2.39562202e-01 9.70880166e-01 1.28672821e-03 -3.85124718e+01] [ 3.83594138e-03 -3.78802764e-04 9.99992571e-01 1.68767895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.500714057 meters Centerline goodness [0,1] 0.9610081541882877 Centerline is valid? [True, True] Translation: X:618.24, Y:-38.51, Z:1.69 [[ 9.70542915e-01 2.40894874e-01 -4.01365812e-03 6.18239545e+02] [-2.40891036e-01 9.70551127e-01 1.42075026e-03 -3.85131982e+01] [ 4.23771186e-03 -4.12044836e-04 9.99990936e-01 1.68763951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.530714057 meters Centerline goodness [0,1] 0.9611574280319904 Centerline is valid? [True, True] Translation: X:618.27, Y:-38.51, Z:1.69 [[ 9.70029415e-01 2.42945025e-01 -4.54418590e-03 6.18270466e+02] [-2.42940130e-01 9.70039951e-01 1.60833721e-03 -3.85145775e+01] [ 4.79877940e-03 -4.56169287e-04 9.99988382e-01 1.68755932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5607140569999 meters Centerline goodness [0,1] 0.9627987868247471 Centerline is valid? [True, True] Translation: X:618.30, Y:-38.51, Z:1.69 [[ 9.68542276e-01 2.48782725e-01 -5.74591124e-03 6.18301668e+02] [-2.48775001e-01 9.68559169e-01 2.03340357e-03 -3.85126515e+01] [ 6.07113070e-03 -5.39998245e-04 9.99981425e-01 1.68685940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5907140569999 meters Centerline goodness [0,1] 0.9613230364492723 Centerline is valid? [True, True] Translation: X:618.33, Y:-38.52, Z:1.69 [[ 9.67631112e-01 2.52315148e-01 -5.20557363e-03 6.18330229e+02] [-2.52308860e-01 9.67645000e-01 1.84201046e-03 -3.85194265e+01] [ 5.50191443e-03 -4.68974283e-04 9.99984754e-01 1.68660082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.620714057 meters Centerline goodness [0,1] 0.9630227470636961 Centerline is valid? [True, True] Translation: X:618.36, Y:-38.52, Z:1.69 [[ 9.66770830e-01 2.55591399e-01 -5.21528826e-03 6.18361784e+02] [-2.55585136e-01 9.66784792e-01 1.84525674e-03 -3.85201828e+01] [ 5.51369313e-03 -4.50990233e-04 9.99984698e-01 1.68715363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.650714057 meters Centerline goodness [0,1] 0.9660681193686498 Centerline is valid? [True, True] Translation: X:618.39, Y:-38.52, Z:1.69 [[ 9.64828402e-01 2.62840946e-01 -4.55980709e-03 6.18393711e+02] [-2.62836239e-01 9.64839110e-01 1.61322856e-03 -3.85173227e+01] [ 4.82350273e-03 -3.58006187e-04 9.99988303e-01 1.68823701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6807140569999 meters Centerline goodness [0,1] 0.9670789805379307 Centerline is valid? [True, True] Translation: X:618.42, Y:-38.52, Z:1.69 [[ 9.64281626e-01 2.64841022e-01 -4.49206356e-03 6.18424473e+02] [-2.64836476e-01 9.64292028e-01 1.58909873e-03 -3.85209529e+01] [ 4.75251961e-03 -3.42676424e-04 9.99988648e-01 1.68889372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7107140569999 meters Centerline goodness [0,1] 0.9680444302039944 Centerline is valid? [True, True] Translation: X:618.45, Y:-38.53, Z:1.69 [[ 9.63943102e-01 2.66071548e-01 -4.43022807e-03 6.18454120e+02] [-2.66067140e-01 9.63953226e-01 1.56696349e-03 -3.85252186e+01] [ 4.68745704e-03 -3.31725537e-04 9.99988959e-01 1.68850613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.740714057 meters Centerline goodness [0,1] 0.9682607579775857 Centerline is valid? [True, True] Translation: X:618.48, Y:-38.53, Z:1.69 [[ 9.63894805e-01 2.66231016e-01 -5.27740437e-03 6.18480978e+02] [-2.66224772e-01 9.63909172e-01 1.86531313e-03 -3.85314817e+01] [ 5.58354269e-03 -3.92989866e-04 9.99984335e-01 1.68850801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.770714057 meters Centerline goodness [0,1] 0.9709380826850126 Centerline is valid? [True, True] Translation: X:618.51, Y:-38.53, Z:1.69 [[ 9.64501500e-01 2.64021330e-01 -5.44005429e-03 6.18511986e+02] [-2.64014662e-01 9.64516751e-01 1.92232105e-03 -3.85321306e+01] [ 5.75455724e-03 -4.17827439e-04 9.99983355e-01 1.68849993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8007140569999 meters Centerline goodness [0,1] 0.9704258929146711 Centerline is valid? [True, True] Translation: X:618.54, Y:-38.54, Z:1.69 [[ 9.64826577e-01 2.62830808e-01 -5.44454204e-03 6.18539186e+02] [-2.62824112e-01 9.64841845e-01 1.92357696e-03 -3.85412435e+01] [ 5.75869727e-03 -4.24961250e-04 9.99983328e-01 1.68911628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8307140569999 meters Centerline goodness [0,1] 0.9702552623649434 Centerline is valid? [True, True] Translation: X:618.57, Y:-38.55, Z:1.69 [[ 9.65472917e-01 2.60440134e-01 -5.74313296e-03 6.18569010e+02] [-2.60432643e-01 9.65489887e-01 2.02879340e-03 -3.85463484e+01] [ 6.07331602e-03 -4.63045787e-04 9.99981450e-01 1.68878571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.860714057 meters Centerline goodness [0,1] 0.9719362481154425 Centerline is valid? [True, True] Translation: X:618.60, Y:-38.55, Z:1.69 [[ 9.65763222e-01 2.59354545e-01 -6.05143444e-03 6.18597092e+02] [-2.59346212e-01 9.65782054e-01 2.13696511e-03 -3.85530339e+01] [ 6.39859839e-03 -4.94385706e-04 9.99979407e-01 1.68880173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.890714057 meters Centerline goodness [0,1] 0.9660312331717824 Centerline is valid? [True, True] Translation: X:618.62, Y:-38.57, Z:1.69 [[ 9.65852228e-01 2.59010829e-01 -6.54706085e-03 6.18621263e+02] [-2.59001078e-01 9.65874269e-01 2.31044026e-03 -3.85668764e+01] [ 6.92206665e-03 -5.35848053e-04 9.99975899e-01 1.68797836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9207140569999 meters Centerline goodness [0,1] 0.9704549378453039 Centerline is valid? [True, True] Translation: X:618.65, Y:-38.56, Z:1.69 [[ 9.65369865e-01 2.60784775e-01 -7.23359056e-03 6.18654448e+02] [-2.60772928e-01 9.65396793e-01 2.55192085e-03 -3.85632110e+01] [ 7.64878724e-03 -5.77222891e-04 9.99970581e-01 1.68821636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9507140569999 meters Centerline goodness [0,1] 0.9714928407665354 Centerline is valid? [True, True] Translation: X:618.68, Y:-38.57, Z:1.69 [[ 9.64844696e-01 2.62717337e-01 -7.36971004e-03 6.18684001e+02] [-2.62705098e-01 9.64872672e-01 2.59959932e-03 -3.85687910e+01] [ 7.79379163e-03 -5.72149219e-04 9.99969464e-01 1.68843312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9807140569999 meters Centerline goodness [0,1] 0.9709689229642711 Centerline is valid? [True, True] Translation: X:618.71, Y:-38.57, Z:1.69 [[ 9.63467196e-01 2.67726111e-01 -7.32750398e-03 6.18714258e+02] [-2.67714158e-01 9.63494915e-01 2.58445257e-03 -3.85710754e+01] [ 7.75193826e-03 -5.28358713e-04 9.99969814e-01 1.68868512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.010714057 meters Centerline goodness [0,1] 0.9716443677168752 Centerline is valid? [True, True] Translation: X:618.74, Y:-38.58, Z:1.69 [[ 9.62688746e-01 2.70521421e-01 -6.96702092e-03 6.18743617e+02] [-2.70510690e-01 9.62713836e-01 2.45707224e-03 -3.85767343e+01] [ 7.37193811e-03 -4.80742153e-04 9.99972711e-01 1.68900584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.040714057 meters Centerline goodness [0,1] 0.9716905468970152 Centerline is valid? [True, True] Translation: X:618.77, Y:-38.58, Z:1.69 [[ 9.61845131e-01 2.73510923e-01 -6.76156172e-03 6.18773782e+02] [-2.73500890e-01 9.61868794e-01 2.38441710e-03 -3.85818555e+01] [ 7.15589934e-03 -4.44146830e-04 9.99974298e-01 1.68921690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0707140569999 meters Centerline goodness [0,1] 0.9739377631179202 Centerline is valid? [True, True] Translation: X:618.80, Y:-38.59, Z:1.69 [[ 9.60859650e-01 2.76964882e-01 -6.25987543e-03 6.18803415e+02] [-2.76956357e-01 9.60879963e-01 2.20734074e-03 -3.85869932e+01] [ 6.62634474e-03 -3.87232353e-04 9.99977971e-01 1.68979975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1007140569999 meters Centerline goodness [0,1] 0.9752615518744551 Centerline is valid? [True, True] Translation: X:618.83, Y:-38.59, Z:1.69 [[ 9.58951216e-01 2.83503388e-01 -6.19632217e-03 6.18833257e+02] [-2.83495172e-01 9.58971175e-01 2.18466663e-03 -3.85892116e+01] [ 6.56145474e-03 -3.38361294e-04 9.99978416e-01 1.69052348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.130714057 meters Centerline goodness [0,1] 0.9756836917171894 Centerline is valid? [True, True] Translation: X:618.86, Y:-38.59, Z:1.69 [[ 9.57996469e-01 2.86711216e-01 -6.28039650e-03 6.18862926e+02] [-2.86702847e-01 9.58017002e-01 2.21402069e-03 -3.85944512e+01] [ 6.65151119e-03 -3.20416452e-04 9.99977827e-01 1.69096643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.160714057 meters Centerline goodness [0,1] 0.9769700938659681 Centerline is valid? [True, True] Translation: X:618.89, Y:-38.60, Z:1.69 [[ 9.57124848e-01 2.89609951e-01 -6.17260375e-03 6.18891204e+02] [-2.89601928e-01 9.57144707e-01 2.17579324e-03 -3.86008096e+01] [ 6.53820638e-03 -2.94907829e-04 9.99978582e-01 1.69121727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1907140569999 meters Centerline goodness [0,1] 0.9785846690655327 Centerline is valid? [True, True] Translation: X:618.92, Y:-38.61, Z:1.69 [[ 9.56150958e-01 2.92809600e-01 -6.15491944e-03 6.18920360e+02] [-2.92801690e-01 9.56170730e-01 2.16933216e-03 -3.86074184e+01] [ 6.52035510e-03 -2.72038208e-04 9.99978705e-01 1.69103438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2207140569999 meters Centerline goodness [0,1] 0.9810808443549094 Centerline is valid? [True, True] Translation: X:618.95, Y:-38.61, Z:1.69 [[ 9.54636377e-01 2.97705049e-01 -6.41018225e-03 6.18952015e+02] [-2.97696581e-01 9.54657866e-01 2.25910759e-03 -3.86072162e+01] [ 6.79207865e-03 -2.48336945e-04 9.99976903e-01 1.69097099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.250714057 meters Centerline goodness [0,1] 0.9819525459409675 Centerline is valid? [True, True] Translation: X:618.98, Y:-38.62, Z:1.69 [[ 9.53949988e-01 2.99898455e-01 -6.35108003e-03 6.18980293e+02] [-2.99890196e-01 9.53971102e-01 2.23754628e-03 -3.86150978e+01] [ 6.72978349e-03 -2.29880617e-04 9.99977328e-01 1.69095445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.280714057 meters Centerline goodness [0,1] 0.9828861557316059 Centerline is valid? [True, True] Translation: X:619.01, Y:-38.62, Z:1.69 [[ 9.52473020e-01 3.04565815e-01 -5.90002549e-03 6.19008439e+02] [-3.04558783e-01 9.52491276e-01 2.07769241e-03 -3.86227910e+01] [ 6.25251689e-03 -1.82041382e-04 9.99980436e-01 1.69173140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3107140569999 meters Centerline goodness [0,1] 0.9839608565911884 Centerline is valid? [True, True] Translation: X:619.04, Y:-38.63, Z:1.69 [[ 9.52199702e-01 3.05432544e-01 -5.16613535e-03 6.19035663e+02] [-3.05427168e-01 9.52213704e-01 1.81874862e-03 -3.86315760e+01] [ 5.47476990e-03 -1.53933803e-04 9.99985001e-01 1.69220184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3407140569999 meters Centerline goodness [0,1] 0.9830987767986321 Centerline is valid? [True, True] Translation: X:619.06, Y:-38.64, Z:1.69 [[ 9.52054625e-01 3.05898056e-01 -4.28614274e-03 6.19062793e+02] [-3.05894364e-01 9.52064265e-01 1.50799172e-03 -3.86406790e+01] [ 4.54197507e-03 -1.24583582e-04 9.99989677e-01 1.69248279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.370714057 meters Centerline goodness [0,1] 0.9819155187047072 Centerline is valid? [True, True] Translation: X:619.09, Y:-38.65, Z:1.69 [[ 9.52115053e-01 3.05724980e-01 -3.02700330e-03 6.19088156e+02] [-3.05723139e-01 9.52119861e-01 1.06450827e-03 -3.86522104e+01] [ 3.20751673e-03 -8.81094015e-05 9.99994852e-01 1.69284218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.400714057 meters Centerline goodness [0,1] 0.9836345337592438 Centerline is valid? [True, True] Translation: X:619.12, Y:-38.66, Z:1.69 [[ 9.52459832e-01 3.04651685e-01 -2.76035282e-03 6.19115107e+02] [-3.04650152e-01 9.52463828e-01 9.69977420e-04 -3.86619942e+01] [ 2.92464147e-03 -8.29226257e-05 9.99995720e-01 1.69322499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4307140569999 meters Centerline goodness [0,1] 0.9813956538848323 Centerline is valid? [True, True] Translation: X:619.14, Y:-38.68, Z:1.69 [[ 9.52931549e-01 3.03171575e-01 -2.90847138e-03 6.19138776e+02] [-3.03169869e-01 9.52935983e-01 1.02106382e-03 -3.86778394e+01] [ 3.08114456e-03 -9.12430402e-05 9.99995249e-01 1.69273330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4607140569999 meters Centerline goodness [0,1] 0.9819658138364229 Centerline is valid? [True, True] Translation: X:619.16, Y:-38.69, Z:1.69 [[ 9.53687647e-01 3.00769777e-01 -4.17282419e-03 6.19164744e+02] [-3.00766246e-01 9.53696766e-01 1.46410965e-03 -3.86890522e+01] [ 4.41996887e-03 -1.41258620e-04 9.99990222e-01 1.69179603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.490714057 meters Centerline goodness [0,1] 0.9787965988013587 Centerline is valid? [True, True] Translation: X:619.19, Y:-38.71, Z:1.69 [[ 9.53839097e-01 3.00289774e-01 -4.12651900e-03 6.19188493e+02] [-3.00286319e-01 9.53848013e-01 1.44746152e-03 -3.87067980e+01] [ 4.37072984e-03 -1.41508185e-04 9.99990438e-01 1.69151367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.520714057 meters Centerline goodness [0,1] 0.9805066103282295 Centerline is valid? [True, True] Translation: X:619.22, Y:-38.71, Z:1.69 [[ 9.54308647e-01 2.98782139e-01 -4.92342835e-03 6.19216557e+02] [-2.98777204e-01 9.54321331e-01 1.72622450e-03 -3.87146082e+01] [ 5.21429774e-03 -1.76342810e-04 9.99986390e-01 1.69144227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5507140569999 meters Centerline goodness [0,1] 0.9792992592914395 Centerline is valid? [True, True] Translation: X:619.24, Y:-38.73, Z:1.69 [[ 9.54416710e-01 2.98438789e-01 -4.79933734e-03 6.19240434e+02] [-2.98434102e-01 9.54428761e-01 1.68147747e-03 -3.87280462e+01] [ 5.08244369e-03 -1.72544268e-04 9.99987069e-01 1.69140002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5807140569999 meters Centerline goodness [0,1] 0.9802338952895485 Centerline is valid? [True, True] Translation: X:619.27, Y:-38.74, Z:1.69 [[ 9.54574673e-01 2.97941431e-01 -4.25404404e-03 6.19267090e+02] [-2.97937748e-01 9.54584140e-01 1.48954773e-03 -3.87368401e+01] [ 4.50464095e-03 -1.54444241e-04 9.99989842e-01 1.69179103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.610714057 meters Centerline goodness [0,1] 0.9789284086716868 Centerline is valid? [True, True] Translation: X:619.29, Y:-38.75, Z:1.69 [[ 9.54965263e-01 2.96696032e-01 -3.57914014e-03 6.19291618e+02] [-2.96693419e-01 9.54971961e-01 1.25225198e-03 -3.87515709e+01] [ 3.78951667e-03 -1.33949811e-04 9.99992811e-01 1.69198598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.640714057 meters Centerline goodness [0,1] 0.9792371876414911 Centerline is valid? [True, True] Translation: X:619.32, Y:-38.76, Z:1.69 [[ 9.55150951e-01 2.96100860e-01 -3.30783011e-03 6.19316733e+02] [-2.96098626e-01 9.55156670e-01 1.15702920e-03 -3.87640702e+01] [ 3.50209334e-03 -1.25693593e-04 9.99993860e-01 1.69217186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6707140569999 meters Centerline goodness [0,1] 0.9782387458588658 Centerline is valid? [True, True] Translation: X:619.34, Y:-38.78, Z:1.69 [[ 9.55652717e-01 2.94481185e-01 -2.95227674e-03 6.19343290e+02] [-2.94479399e-01 9.55657270e-01 1.03254491e-03 -3.87763138e+01] [ 3.12542978e-03 -1.17369674e-04 9.99995109e-01 1.69191079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7007140569999 meters Centerline goodness [0,1] 0.9782787062227404 Centerline is valid? [True, True] Translation: X:619.37, Y:-38.79, Z:1.69 [[ 9.56099048e-01 2.93034059e-01 -2.37700624e-03 6.19369065e+02] [-2.93032898e-01 9.56101998e-01 8.30895905e-04 -3.87886953e+01] [ 2.51614122e-03 -9.78777576e-05 9.99996830e-01 1.69177083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7307140569999 meters Centerline goodness [0,1] 0.9773370492794953 Centerline is valid? [True, True] Translation: X:619.40, Y:-38.80, Z:1.69 [[ 9.56965614e-01 2.90195582e-01 -1.82696863e-03 6.19395578e+02] [-2.90194892e-01 9.56967355e-01 6.37930859e-04 -3.88024357e+01] [ 1.93347405e-03 -8.03009336e-05 9.99998128e-01 1.69206735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.760714057 meters Centerline goodness [0,1] 0.9752646383097503 Centerline is valid? [True, True] Translation: X:619.42, Y:-38.82, Z:1.69 [[ 9.57476859e-01 2.88502679e-01 -2.06583350e-03 6.19419943e+02] [-2.88501793e-01 9.57479083e-01 7.21331771e-04 -3.88175147e+01] [ 2.18609852e-03 -9.46618086e-05 9.99997606e-01 1.69220125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.790714057 meters Centerline goodness [0,1] 0.9753581044695746 Centerline is valid? [True, True] Translation: X:619.45, Y:-38.83, Z:1.69 [[ 9.58078757e-01 2.86500270e-01 -1.64034447e-03 6.19447423e+02] [-2.86499709e-01 9.58080158e-01 5.72595785e-04 -3.88274765e+01] [ 1.73563034e-03 -7.86336440e-05 9.99998491e-01 1.69211331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8207140569999 meters Centerline goodness [0,1] 0.974964480991949 Centerline is valid? [True, True] Translation: X:619.47, Y:-38.84, Z:1.69 [[ 9.59347177e-01 2.82222132e-01 -1.91352592e-03 6.19473380e+02] [-2.82221360e-01 9.59349080e-01 6.67733862e-04 -3.88447519e+01] [ 2.02418861e-03 -1.00550707e-04 9.99997946e-01 1.69215268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8507140569999 meters Centerline goodness [0,1] 0.9758061044384175 Centerline is valid? [True, True] Translation: X:619.50, Y:-38.85, Z:1.69 [[ 9.60170319e-01 2.79409245e-01 -1.85294989e-03 6.19501513e+02] [-2.79408515e-01 9.60172101e-01 6.46601644e-04 -3.88535707e+01] [ 1.95981727e-03 -1.03117728e-04 9.99998074e-01 1.69254511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.880714057 meters Centerline goodness [0,1] 0.9750451379932937 Centerline is valid? [True, True] Translation: X:619.53, Y:-38.87, Z:1.69 [[ 9.60996329e-01 2.76551284e-01 -2.33285191e-03 6.19526477e+02] [-2.76550120e-01 9.60999151e-01 8.13958926e-04 -3.88691352e+01] [ 2.46697009e-03 -1.37061064e-04 9.99996948e-01 1.69236565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.910714057 meters Centerline goodness [0,1] 0.9728250370274969 Centerline is valid? [True, True] Translation: X:619.55, Y:-38.89, Z:1.69 [[ 9.62415813e-01 2.71563280e-01 -3.03133883e-03 6.19550900e+02] [-2.71561291e-01 9.62420567e-01 1.05739630e-03 -3.88883982e+01] [ 3.20457284e-03 -1.94460638e-04 9.99994846e-01 1.69199708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9407140569999 meters Centerline goodness [0,1] 0.9723715491208156 Centerline is valid? [True, True] Translation: X:619.58, Y:-38.90, Z:1.69 [[ 9.62855722e-01 2.69998284e-01 -3.12808267e-03 6.19577694e+02] [-2.69996158e-01 9.62860781e-01 1.09103162e-03 -3.89009093e+01] [ 3.30648479e-03 -2.05935736e-04 9.99994512e-01 1.69170946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9707140569999 meters Centerline goodness [0,1] 0.9729874584628577 Centerline is valid? [True, True] Translation: X:619.60, Y:-38.91, Z:1.69 [[ 9.63207290e-01 2.68740411e-01 -3.21076676e-03 6.19604304e+02] [-2.68738164e-01 9.63212617e-01 1.11977142e-03 -3.89103572e+01] [ 3.39357888e-03 -2.15716433e-04 9.99994219e-01 1.69159399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.000714057 meters Centerline goodness [0,1] 0.972972972972973 Centerline is valid? [True, True] Translation: X:619.63, Y:-38.92, Z:1.69 [[ 9.63054057e-01 2.69284977e-01 -3.53339604e-03 6.19631601e+02] [-2.69282262e-01 9.63060510e-01 1.23193461e-03 -3.89205716e+01] [ 3.73461567e-03 -2.34938743e-04 9.99992999e-01 1.69170294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.030714057 meters Centerline goodness [0,1] 0.9725159467442955 Centerline is valid? [True, True] Translation: X:619.66, Y:-38.93, Z:1.69 [[ 9.62521513e-01 2.71175781e-01 -4.00398908e-03 6.19658448e+02] [-2.71172316e-01 9.62529807e-01 1.39482538e-03 -3.89318372e+01] [ 4.23220170e-03 -2.56778444e-04 9.99991011e-01 1.69159847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0607140569999 meters Centerline goodness [0,1] 0.973339329307465 Centerline is valid? [True, True] Translation: X:619.69, Y:-38.94, Z:1.69 [[ 9.61796635e-01 2.73735740e-01 -3.99711416e-03 6.19688254e+02] [-2.73732308e-01 9.61804910e-01 1.39226988e-03 -3.89376404e+01] [ 4.22555805e-03 -2.44941202e-04 9.99991042e-01 1.69169954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0907140569999 meters Centerline goodness [0,1] 0.9752489026870784 Centerline is valid? [True, True] Translation: X:619.72, Y:-38.94, Z:1.69 [[ 9.59735212e-01 2.80871652e-01 -4.40891409e-03 6.19718618e+02] [-2.80867554e-01 9.59745310e-01 1.53547235e-03 -3.89430712e+01] [ 4.66270528e-03 -2.35325967e-04 9.99989102e-01 1.69175676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.120714057 meters Centerline goodness [0,1] 0.9772488699415155 Centerline is valid? [True, True] Translation: X:619.75, Y:-38.95, Z:1.69 [[ 9.58584120e-01 2.84783161e-01 -3.87761926e-03 6.19748376e+02] [-2.84780023e-01 9.58591944e-01 1.35029982e-03 -3.89489707e+01] [ 4.10159723e-03 -1.90107466e-04 9.99991570e-01 1.69225662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.150714057 meters Centerline goodness [0,1] 0.9779747976729708 Centerline is valid? [True, True] Translation: X:619.78, Y:-38.96, Z:1.69 [[ 9.57480896e-01 2.88475572e-01 -3.48973003e-03 6.19777401e+02] [-2.88473055e-01 9.57487243e-01 1.21516752e-03 -3.89551711e+01] [ 3.69191813e-03 -1.56806600e-04 9.99993173e-01 1.69243928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1807140569999 meters Centerline goodness [0,1] 0.9799085581814669 Centerline is valid? [True, True] Translation: X:619.80, Y:-38.96, Z:1.69 [[ 9.56203971e-01 2.92688669e-01 -2.70336592e-03 6.19804847e+02] [-2.92687175e-01 9.56207787e-01 9.41289685e-04 -3.89628988e+01] [ 2.86048437e-03 -1.08824401e-04 9.99995903e-01 1.69282148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2107140569999 meters Centerline goodness [0,1] 0.979277387279273 Centerline is valid? [True, True] Translation: X:619.83, Y:-38.97, Z:1.69 [[ 9.55996900e-01 2.93367071e-01 -2.38504607e-03 6.19831695e+02] [-2.93365910e-01 9.55999871e-01 8.30627905e-04 -3.89724336e+01] [ 2.52378261e-03 -9.43864918e-05 9.99996811e-01 1.69312831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.240714057 meters Centerline goodness [0,1] 0.9788573999100315 Centerline is valid? [True, True] Translation: X:619.86, Y:-38.98, Z:1.69 [[ 9.56160902e-01 2.92837472e-01 -1.59526202e-03 6.19856844e+02] [-2.92836953e-01 9.56162231e-01 5.55128823e-04 -3.89831737e+01] [ 1.68789182e-03 -6.36408068e-05 9.99998573e-01 1.69330341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.270714057 meters Centerline goodness [0,1] 0.9788573999100315 Centerline is valid? [True, True] Translation: X:619.88, Y:-38.99, Z:1.69 [[ 9.56243928e-01 2.92566240e-01 -1.59519084e-03 6.19882783e+02] [-2.92565720e-01 9.56245257e-01 5.55333806e-04 -3.89921163e+01] [ 1.68786560e-03 -6.43364228e-05 9.99998573e-01 1.69341126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3007140569999 meters Centerline goodness [0,1] 0.9780621181697783 Centerline is valid? [True, True] Translation: X:619.91, Y:-39.01, Z:1.69 [[ 9.57043803e-01 2.89942462e-01 -7.26114873e-04 6.19909330e+02] [-2.89942353e-01 9.57044078e-01 2.52500259e-04 -3.90051044e+01] [ 7.68134486e-04 -3.11223529e-05 9.99999705e-01 1.69353498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3307140569999 meters Centerline goodness [0,1] 0.9768437646457331 Centerline is valid? [True, True] Translation: X:619.93, Y:-39.02, Z:1.69 [[ 9.57426469e-01 2.88675866e-01 -8.95342563e-04 6.19933716e+02] [-2.88675701e-01 9.57426886e-01 3.11237074e-04 -3.90187487e+01] [ 9.47071674e-04 -3.95229703e-05 9.99999551e-01 1.69420681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.360714057 meters Centerline goodness [0,1] 0.9776132143924197 Centerline is valid? [True, True] Translation: X:619.96, Y:-39.03, Z:1.69 [[ 9.58270543e-01 2.85862654e-01 -3.32525838e-04 6.19961245e+02] [-2.85862631e-01 9.58270600e-01 1.15747413e-04 -3.90290013e+01] [ 3.51737597e-04 -1.58606251e-05 9.99999938e-01 1.69429452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.390714057 meters Centerline goodness [0,1] 0.9767004805125468 Centerline is valid? [True, True] Translation: X:619.99, Y:-39.04, Z:1.70 [[ 9.58476514e-01 2.85171397e-01 2.17063308e-04 6.19988078e+02] [-2.85171387e-01 9.58476538e-01 -7.42309462e-05 -3.90399014e+01] [-2.29218630e-04 9.24837401e-06 9.99999974e-01 1.69507021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4207140569999 meters Centerline goodness [0,1] 0.9763861904050217 Centerline is valid? [True, True] Translation: X:620.01, Y:-39.05, Z:1.70 [[ 9.58765857e-01 2.84195839e-01 8.70147290e-04 6.20014919e+02] [-2.84195683e-01 9.58766251e-01 -3.00505868e-04 -3.90511434e+01] [-9.19670372e-04 4.08226631e-05 9.99999576e-01 1.69563654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4507140569999 meters Centerline goodness [0,1] 0.9752751362325035 Centerline is valid? [True, True] Translation: X:620.04, Y:-39.06, Z:1.70 [[ 9.58807854e-01 2.84052063e-01 1.38734658e-03 6.20039868e+02] [-2.84051665e-01 9.58808855e-01 -4.80280685e-04 -3.90643241e+01] [-1.46662491e-03 6.64187866e-05 9.99998922e-01 1.69688807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4807140569999 meters Centerline goodness [0,1] 0.9756776868289572 Centerline is valid? [True, True] Translation: X:620.07, Y:-39.07, Z:1.70 [[ 9.58829867e-01 2.83973245e-01 2.11733243e-03 6.20065652e+02] [-2.83972320e-01 9.58832199e-01 -7.31715501e-04 -3.90736885e+01] [-2.23795413e-03 1.00326875e-04 9.99997491e-01 1.69715696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.510714057 meters Centerline goodness [0,1] 0.975529692629066 Centerline is valid? [True, True] Translation: X:620.09, Y:-39.08, Z:1.70 [[ 9.59062219e-01 2.83186419e-01 2.26117761e-03 6.20092603e+02] [-2.83185363e-01 9.59064878e-01 -7.80993823e-04 -3.90827212e+01] [-2.38978288e-03 1.08689266e-04 9.99997139e-01 1.69660527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.540714057 meters Centerline goodness [0,1] 0.9762843323176579 Centerline is valid? [True, True] Translation: X:620.12, Y:-39.09, Z:1.70 [[ 9.59255739e-01 2.82529977e-01 2.28898831e-03 6.20119600e+02] [-2.82528895e-01 9.59258463e-01 -7.89962673e-04 -3.90932835e+01] [-2.41891954e-03 1.11070891e-04 9.99997068e-01 1.69699217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5707140569999 meters Centerline goodness [0,1] 0.9744233551791642 Centerline is valid? [True, True] Translation: X:620.14, Y:-39.10, Z:1.70 [[ 9.59581294e-01 2.81422744e-01 2.23142915e-03 6.20144659e+02] [-2.81421711e-01 9.59583882e-01 -7.70526213e-04 -3.91047189e+01] [-2.35808705e-03 1.11409929e-04 9.99997214e-01 1.69652013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6007140569999 meters Centerline goodness [0,1] 0.9734709073502819 Centerline is valid? [True, True] Translation: X:620.17, Y:-39.12, Z:1.70 [[ 9.60370228e-01 2.78724448e-01 1.30668842e-03 6.20171072e+02] [-2.78724091e-01 9.60371114e-01 -4.51122921e-04 -3.91176970e+01] [-1.38064480e-03 6.90394797e-05 9.99999045e-01 1.69514355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.630714057 meters Centerline goodness [0,1] 0.9724049824337272 Centerline is valid? [True, True] Translation: X:620.20, Y:-39.13, Z:1.69 [[ 9.60813610e-01 2.77195122e-01 2.67382725e-04 6.20196238e+02] [-2.77195107e-01 9.60813647e-01 -9.17605032e-05 -3.91307188e+01] [-2.82340535e-04 1.40475571e-05 9.99999960e-01 1.69472816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.660714057 meters Centerline goodness [0,1] 0.9730671197960917 Centerline is valid? [True, True] Translation: X:620.22, Y:-39.14, Z:1.69 [[ 9.61731395e-01 2.73992049e-01 -1.04023824e-03 6.20224131e+02] [-2.73991820e-01 9.61731955e-01 3.59208997e-04 -3.91420701e+01] [ 1.09885077e-03 -6.04458013e-05 9.99999394e-01 1.69341964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6907140569999 meters Centerline goodness [0,1] 0.970254053363973 Centerline is valid? [True, True] Translation: X:620.25, Y:-39.16, Z:1.69 [[ 9.62224518e-01 2.72254493e-01 -1.21137451e-03 6.20249100e+02] [-2.72254181e-01 9.62225278e-01 4.18367689e-04 -3.91569552e+01] [ 1.27951766e-03 -7.27618732e-05 9.99999179e-01 1.69307308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7207140569999 meters Centerline goodness [0,1] 0.9728763040238451 Centerline is valid? [True, True] Translation: X:620.28, Y:-39.16, Z:1.69 [[ 9.63220502e-01 2.68705570e-01 -1.89224252e-03 6.20278417e+02] [-2.68704803e-01 9.63222353e-01 6.53217470e-04 -3.91632500e+01] [ 1.99817347e-03 -1.20737806e-04 9.99997996e-01 1.69293379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.750714057 meters Centerline goodness [0,1] 0.971180393322856 Centerline is valid? [True, True] Translation: X:620.30, Y:-39.18, Z:1.69 [[ 9.63691961e-01 2.67006043e-01 -2.36149644e-03 6.20303673e+02] [-2.67004844e-01 9.63694842e-01 8.15196054e-04 -3.91765952e+01] [ 2.49342421e-03 -1.55066896e-04 9.99996879e-01 1.69348828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.780714057 meters Centerline goodness [0,1] 0.9684089603676048 Centerline is valid? [True, True] Translation: X:620.33, Y:-39.19, Z:1.69 [[ 9.64220424e-01 2.65093067e-01 -2.15383682e-03 6.20328073e+02] [-2.65092065e-01 9.64222819e-01 7.43353911e-04 -3.91929173e+01] [ 2.27383658e-03 -1.45791974e-04 9.99997404e-01 1.69404266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8107140569999 meters Centerline goodness [0,1] 0.9701711803781298 Centerline is valid? [True, True] Translation: X:620.36, Y:-39.19, Z:1.69 [[ 9.65106565e-01 2.61852805e-01 -1.55803882e-03 6.20359825e+02] [-2.61852276e-01 9.65107816e-01 5.37512213e-04 -3.91944554e+01] [ 1.64442452e-03 -1.10780553e-04 9.99998642e-01 1.69453705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8407140569999 meters Centerline goodness [0,1] 0.9696802294698821 Centerline is valid? [True, True] Translation: X:620.39, Y:-39.21, Z:1.69 [[ 9.65663416e-01 2.59795006e-01 -8.49741213e-04 6.20386025e+02] [-2.59794848e-01 9.65663788e-01 2.93331200e-04 -3.92057616e+01] [ 8.96770299e-04 -6.25008188e-05 9.99999596e-01 1.69482421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.870714057 meters Centerline goodness [0,1] 0.9686707984580325 Centerline is valid? [True, True] Translation: X:620.41, Y:-39.22, Z:1.70 [[ 9.66140059e-01 2.58017706e-01 -5.00098895e-04 6.20412389e+02] [-2.58017651e-01 9.66140188e-01 1.72695437e-04 -3.92171201e+01] [ 5.27724121e-04 -3.78136377e-05 9.99999860e-01 1.69572013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.900714057 meters Centerline goodness [0,1] 0.9678537996766232 Centerline is valid? [True, True] Translation: X:620.44, Y:-39.23, Z:1.70 [[ 9.66605184e-01 2.56270180e-01 -1.15200016e-04 6.20440694e+02] [-2.56270177e-01 9.66605191e-01 3.98741086e-05 -3.92269159e+01] [ 1.21571479e-04 -9.02019140e-06 9.99999993e-01 1.69636174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9307140569999 meters Centerline goodness [0,1] 0.9668416689693285 Centerline is valid? [True, True] Translation: X:620.47, Y:-39.24, Z:1.70 [[ 9.67136003e-01 2.54257334e-01 1.07696791e-03 6.20468668e+02] [-2.54257078e-01 9.67136599e-01 -3.70949977e-04 -3.92356397e+01] [-1.13589183e-03 8.49323645e-05 9.99999351e-01 1.69714742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9607140569999 meters Centerline goodness [0,1] 0.9662835249042145 Centerline is valid? [True, True] Translation: X:620.50, Y:-39.24, Z:1.70 [[ 9.67326098e-01 2.53533146e-01 1.07851403e-03 6.20496321e+02] [-2.53532890e-01 9.67326696e-01 -3.70455894e-04 -3.92448276e+01] [-1.13719826e-03 8.49128768e-05 9.99999350e-01 1.69689110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.990714057 meters Centerline goodness [0,1] 0.9655898876404494 Centerline is valid? [True, True] Translation: X:620.52, Y:-39.25, Z:1.70 [[ 9.67311941e-01 2.53589289e-01 2.86114072e-04 6.20523184e+02] [-2.53589271e-01 9.67311983e-01 -9.79569373e-05 -3.92533504e+01] [-3.01602400e-04 2.21994563e-05 9.99999954e-01 1.69669764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.020714057 meters Centerline goodness [0,1] 0.9676469960971656 Centerline is valid? [True, True] Translation: X:620.55, Y:-39.26, Z:1.70 [[ 9.67065147e-01 2.54528557e-01 -4.64237103e-04 6.20552081e+02] [-2.54528510e-01 9.67065257e-01 1.60102286e-04 -3.92580195e+01] [ 4.89698177e-04 -3.66677631e-05 9.99999879e-01 1.69647218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0507140569999 meters Centerline goodness [0,1] 0.9686042301220473 Centerline is valid? [True, True] Translation: X:620.58, Y:-39.27, Z:1.70 [[ 9.66886367e-01 2.55206867e-01 -4.56319280e-04 6.20578625e+02] [-2.55206821e-01 9.66886474e-01 1.57554115e-04 -3.92657212e+01] [ 4.81417832e-04 -3.58811327e-05 9.99999883e-01 1.69602602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0807140569999 meters Centerline goodness [0,1] 0.9691203792683708 Centerline is valid? [True, True] Translation: X:620.61, Y:-39.27, Z:1.70 [[ 9.66147966e-01 2.57988430e-01 -2.80296799e-04 6.20609295e+02] [-2.57988412e-01 9.66148006e-01 9.65149540e-05 -3.92682891e+01] [ 2.95707934e-04 -2.09344004e-05 9.99999956e-01 1.69595990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.110714057 meters Centerline goodness [0,1] 0.9696351543741102 Centerline is valid? [True, True] Translation: X:620.64, Y:-39.27, Z:1.70 [[ 9.65904881e-01 2.58896229e-01 -7.10021277e-04 6.20638194e+02] [-2.58896119e-01 9.65905140e-01 2.45082419e-04 -3.92746295e+01] [ 7.49264115e-04 -5.29045515e-05 9.99999718e-01 1.69630690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.140714057 meters Centerline goodness [0,1] 0.972004623089765 Centerline is valid? [True, True] Translation: X:620.67, Y:-39.28, Z:1.70 [[ 9.65508018e-01 2.60372901e-01 -4.69716298e-04 6.20667282e+02] [-2.60372853e-01 9.65508131e-01 1.61754825e-04 -3.92791649e+01] [ 4.95631478e-04 -3.38742077e-05 9.99999877e-01 1.69617479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1707140569999 meters Centerline goodness [0,1] 0.971703973439006 Centerline is valid? [True, True] Translation: X:620.69, Y:-39.29, Z:1.70 [[ 9.65028373e-01 2.62143978e-01 -8.79435847e-04 6.20694977e+02] [-2.62143810e-01 9.65028772e-01 3.02451564e-04 -3.92865748e+01] [ 9.27966751e-04 -6.13356768e-05 9.99999568e-01 1.69645335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2007140569999 meters Centerline goodness [0,1] 0.9724943723871797 Centerline is valid? [True, True] Translation: X:620.73, Y:-39.29, Z:1.70 [[ 9.63882403e-01 2.66326381e-01 -9.85958402e-04 6.20726235e+02] [-2.66326173e-01 9.63882905e-01 3.38878745e-04 -3.92887118e+01] [ 1.04060080e-03 -6.40527310e-05 9.99999457e-01 1.69608399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2307140569999 meters Centerline goodness [0,1] 0.9726318045435062 Centerline is valid? [True, True] Translation: X:620.75, Y:-39.30, Z:1.70 [[ 9.63188233e-01 2.68826274e-01 -9.28460002e-04 6.20754785e+02] [-2.68826091e-01 9.63188679e-01 3.19168961e-04 -3.92957216e+01] [ 9.80083165e-04 -5.78255146e-05 9.99999518e-01 1.69620113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.260714057 meters Centerline goodness [0,1] 0.9735746178945561 Centerline is valid? [True, True] Translation: X:620.79, Y:-39.30, Z:1.70 [[ 9.61452988e-01 2.74969359e-01 5.90987526e-05 6.20785038e+02] [-2.74969358e-01 9.61452990e-01 -2.01929034e-05 -3.92985717e+01] [-6.23731022e-05 3.16418121e-06 9.99999998e-01 1.69755817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.290714057 meters Centerline goodness [0,1] 0.9729107000581407 Centerline is valid? [True, True] Translation: X:620.81, Y:-39.30, Z:1.70 [[ 9.60659183e-01 2.77729383e-01 5.70053385e-04 6.20813338e+02] [-2.77729315e-01 9.60659351e-01 -1.95599338e-04 -3.93048684e+01] [-6.01950798e-04 2.95837634e-05 9.99999818e-01 1.69773899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3207140569999 meters Centerline goodness [0,1] 0.9753402274632899 Centerline is valid? [True, True] Translation: X:620.84, Y:-39.31, Z:1.70 [[ 9.59694317e-01 2.81042310e-01 1.42720418e-03 6.20843018e+02] [-2.81041891e-01 9.59695376e-01 -4.90053424e-04 -3.93093953e+01] [-1.50740700e-03 6.91973237e-05 9.99998861e-01 1.69874312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3507140569999 meters Centerline goodness [0,1] 0.9760450713917083 Centerline is valid? [True, True] Translation: X:620.87, Y:-39.31, Z:1.70 [[ 9.58642588e-01 2.84609347e-01 1.38121216e-03 6.20871351e+02] [-2.84608958e-01 9.58643581e-01 -4.74206315e-04 -3.93149426e+01] [-1.45905372e-03 6.14890155e-05 9.99998934e-01 1.69934213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.380714057 meters Centerline goodness [0,1] 0.9750559091691038 Centerline is valid? [True, True] Translation: X:620.90, Y:-39.32, Z:1.70 [[ 9.58589800e-01 2.84784034e-01 1.91022504e-03 6.20899095e+02] [-2.84783294e-01 9.58591700e-01 -6.54491089e-04 -3.93235712e+01] [-2.01751448e-03 8.33883030e-05 9.99997961e-01 1.69982643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.410714057 meters Centerline goodness [0,1] 0.9769146443694516 Centerline is valid? [True, True] Translation: X:620.93, Y:-39.33, Z:1.70 [[ 9.58725736e-01 2.84321094e-01 2.54524559e-03 6.20927126e+02] [-2.84319780e-01 9.58729108e-01 -8.71658045e-04 -3.93302345e+01] [-2.68803181e-03 1.12017334e-04 9.99996381e-01 1.70030794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4407140569999 meters Centerline goodness [0,1] 0.9732544378698225 Centerline is valid? [True, True] Translation: X:620.95, Y:-39.34, Z:1.70 [[ 9.58823492e-01 2.83980690e-01 3.53259933e-03 6.20952078e+02] [-2.83978154e-01 9.58829986e-01 -1.21052187e-03 -3.93440142e+01] [-3.73092700e-03 1.57495772e-04 9.99993028e-01 1.70190597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4707140569999 meters Centerline goodness [0,1] 0.9760132518716117 Centerline is valid? [True, True] Translation: X:620.98, Y:-39.35, Z:1.70 [[ 9.58724720e-01 2.84317805e-01 3.20879187e-03 6.20980652e+02] [-2.84315720e-01 9.58730080e-01 -1.09794977e-03 -3.93479704e+01] [-3.38853196e-03 1.40321618e-04 9.99994249e-01 1.70080918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.500714057 meters Centerline goodness [0,1] 0.9766061752816719 Centerline is valid? [True, True] Translation: X:621.01, Y:-39.36, Z:1.70 [[ 9.58549309e-01 2.84915044e-01 2.57701791e-03 6.21007114e+02] [-2.84913701e-01 9.58552766e-01 -8.81689210e-04 -3.93574015e+01] [-2.72141417e-03 1.10914871e-04 9.99996291e-01 1.70009283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.530714057 meters Centerline goodness [0,1] 0.9777529153578037 Centerline is valid? [True, True] Translation: X:621.04, Y:-39.36, Z:1.70 [[ 9.57897392e-01 2.87110161e-01 5.85121109e-04 6.21035637e+02] [-2.87110093e-01 9.57897570e-01 -1.99195196e-04 -3.93648995e+01] [-6.17677054e-04 2.28143832e-05 9.99999809e-01 1.69905099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5607140569999 meters Centerline goodness [0,1] 0.9768153415212238 Centerline is valid? [True, True] Translation: X:621.06, Y:-39.38, Z:1.70 [[ 9.57508250e-01 2.88405824e-01 1.79463799e-04 6.21060961e+02] [-2.88405817e-01 9.57508267e-01 -6.10061306e-05 -3.93759261e+01] [-1.89432594e-04 6.65546984e-06 9.99999982e-01 1.69931812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5907140569999 meters Centerline goodness [0,1] 0.978608474831601 Centerline is valid? [True, True] Translation: X:621.09, Y:-39.38, Z:1.70 [[ 9.56994082e-01 2.90104758e-01 1.24788832e-03 6.21088702e+02] [-2.90104449e-01 9.56994894e-01 -4.25393788e-04 -3.93835990e+01] [-1.31763152e-03 4.50813820e-05 9.99999131e-01 1.69957672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.620714057 meters Centerline goodness [0,1] 0.9785156670035915 Centerline is valid? [True, True] Translation: X:621.12, Y:-39.39, Z:1.70 [[ 9.56921622e-01 2.90340556e-01 1.83619596e-03 6.21116058e+02] [-2.90339888e-01 9.56923381e-01 -6.25891051e-04 -3.93925224e+01] [-1.93882040e-03 6.58077510e-05 9.99998118e-01 1.69947414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.650714057 meters Centerline goodness [0,1] 0.9786740545067972 Centerline is valid? [True, True] Translation: X:621.14, Y:-39.40, Z:1.70 [[ 9.57062573e-01 2.89876414e-01 1.70161802e-03 6.21142373e+02] [-2.89875841e-01 9.57064084e-01 -5.79247547e-04 -3.94028352e+01] [-1.79646770e-03 6.11181920e-05 9.99998384e-01 1.69942783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6807140569999 meters Centerline goodness [0,1] 0.9784525396757129 Centerline is valid? [True, True] Translation: X:621.17, Y:-39.42, Z:1.70 [[ 9.57706096e-01 2.87746600e-01 9.63101544e-04 6.21168131e+02] [-2.87746416e-01 9.57706580e-01 -3.27211643e-04 -3.94159699e+01] [-1.01652272e-03 3.62435676e-05 9.99999483e-01 1.69820399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7107140569999 meters Centerline goodness [0,1] 0.9771899764403512 Centerline is valid? [True, True] Translation: X:621.19, Y:-39.43, Z:1.70 [[ 9.58209759e-01 2.86066397e-01 2.73257445e-04 6.21192989e+02] [-2.86066382e-01 9.58209798e-01 -9.27381625e-05 -3.94301217e+01] [-2.88367233e-04 1.06928436e-05 9.99999958e-01 1.69808767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.740714057 meters Centerline goodness [0,1] 0.9785061794734013 Centerline is valid? [True, True] Translation: X:621.22, Y:-39.44, Z:1.70 [[ 9.58881675e-01 2.83806145e-01 -6.90100761e-05 6.21220672e+02] [-2.83806144e-01 9.58881678e-01 2.45361406e-05 -3.94391076e+01] [ 7.31360050e-05 -3.94177205e-06 9.99999997e-01 1.69796140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.770714057 meters Centerline goodness [0,1] 0.9785209528105333 Centerline is valid? [True, True] Translation: X:621.25, Y:-39.45, Z:1.70 [[ 9.59571760e-01 2.81464094e-01 -1.91923996e-05 6.21246123e+02] [-2.81464094e-01 9.59571761e-01 6.82751005e-06 -3.94518340e+01] [ 2.03381835e-05 -1.14951448e-06 1.00000000e+00 1.69817134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8007140569999 meters Centerline goodness [0,1] 0.9774111892912305 Centerline is valid? [True, True] Translation: X:621.27, Y:-39.47, Z:1.70 [[ 9.60978223e-01 2.76623574e-01 -5.03589427e-04 6.21272438e+02] [-2.76623522e-01 9.60978354e-01 1.71470572e-04 -3.94677768e+01] [ 5.31371342e-04 -2.54748040e-05 9.99999858e-01 1.69855796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8307140569999 meters Centerline goodness [0,1] 0.9754223281172859 Centerline is valid? [True, True] Translation: X:621.30, Y:-39.48, Z:1.70 [[ 9.61798689e-01 2.73756383e-01 -8.51369625e-04 6.21299276e+02] [-2.73756234e-01 9.61799065e-01 2.89877334e-04 -3.94808189e+01] [ 8.98202280e-04 -4.57358975e-05 9.99999596e-01 1.69856961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.860714057 meters Centerline goodness [0,1] 0.9745820831547364 Centerline is valid? [True, True] Translation: X:621.33, Y:-39.49, Z:1.70 [[ 9.62543947e-01 2.71119819e-01 -1.78741428e-03 6.21325969e+02] [-2.71119155e-01 9.62545601e-01 6.08392571e-04 -3.94934028e+01] [ 1.88541504e-03 -1.01002337e-04 9.99998218e-01 1.69857636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.890714057 meters Centerline goodness [0,1] 0.9734216429868604 Centerline is valid? [True, True] Translation: X:621.35, Y:-39.51, Z:1.70 [[ 9.63726195e-01 2.66891191e-01 -9.55766336e-04 6.21351235e+02] [-2.66890999e-01 9.63726667e-01 3.25266574e-04 -3.95100338e+01] [ 1.00790829e-03 -5.83824852e-05 9.99999490e-01 1.69957959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9207140569999 meters Centerline goodness [0,1] 0.9722643970660565 Centerline is valid? [True, True] Translation: X:621.38, Y:-39.52, Z:1.70 [[ 9.64164716e-01 2.65303873e-01 -5.04673840e-04 6.21378855e+02] [-2.65303819e-01 9.64164848e-01 1.71829450e-04 -3.95217832e+01] [ 5.32175795e-04 -3.17799953e-05 9.99999858e-01 1.70020414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9507140569999 meters Centerline goodness [0,1] 0.9715415019762846 Centerline is valid? [True, True] Translation: X:621.40, Y:-39.54, Z:1.70 [[ 9.64809532e-01 2.62949606e-01 -2.67838569e-04 6.21404341e+02] [-2.62949591e-01 9.64809569e-01 9.14027921e-05 -3.95354023e+01] [ 2.82447543e-04 -1.77582428e-05 9.99999960e-01 1.70071171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9807140569999 meters Centerline goodness [0,1] 0.9736678859440844 Centerline is valid? [True, True] Translation: X:621.43, Y:-39.54, Z:1.70 [[ 9.64983579e-01 2.62309878e-01 -4.69947513e-04 6.21433814e+02] [-2.62309830e-01 9.64983693e-01 1.60758717e-04 -3.95382196e+01] [ 4.95660285e-04 -3.18576694e-05 9.99999877e-01 1.70092556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.010714057 meters Centerline goodness [0,1] 0.9717235765391371 Centerline is valid? [True, True] Translation: X:621.46, Y:-39.55, Z:1.70 [[ 9.65036082e-01 2.62116626e-01 -4.84963389e-04 6.21457218e+02] [-2.62116576e-01 9.65036203e-01 1.65128220e-04 -3.95549773e+01] [ 5.11290079e-04 -3.22377475e-05 9.99999869e-01 1.70153189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.040714057 meters Centerline goodness [0,1] 0.9702506892351093 Centerline is valid? [True, True] Translation: X:621.48, Y:-39.57, Z:1.70 [[ 9.65121043e-01 2.61803919e-01 -2.84301990e-04 6.21483389e+02] [-2.61803902e-01 9.65121085e-01 9.69081518e-05 -3.95655240e+01] [ 2.99756779e-04 -1.90967262e-05 9.99999955e-01 1.70153766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0707140569999 meters Centerline goodness [0,1] 0.9706108829568788 Centerline is valid? [True, True] Translation: X:621.51, Y:-39.58, Z:1.70 [[ 9.65056037e-01 2.62043571e-01 -1.12498371e-04 6.21509063e+02] [-2.62043568e-01 9.65056043e-01 3.87080361e-05 -3.95759743e+01] [ 1.18710425e-04 -7.87594939e-06 9.99999993e-01 1.70091824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1007140569999 meters Centerline goodness [0,1] 0.9729614101138017 Centerline is valid? [True, True] Translation: X:621.54, Y:-39.58, Z:1.70 [[ 9.64946819e-01 2.62445108e-01 -4.49695807e-04 6.21538873e+02] [-2.62445065e-01 9.64946923e-01 1.53577294e-04 -3.95770691e+01] [ 4.74238195e-04 -3.01734764e-05 9.99999887e-01 1.70098547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.130714057 meters Centerline goodness [0,1] 0.9726514016691633 Centerline is valid? [True, True] Translation: X:621.56, Y:-39.59, Z:1.70 [[ 9.64695919e-01 2.63365313e-01 -7.04562941e-04 6.21564384e+02] [-2.63365208e-01 9.64696175e-01 2.39293683e-04 -3.95874102e+01] [ 7.42710830e-04 -4.52882740e-05 9.99999723e-01 1.70111030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.160714057 meters Centerline goodness [0,1] 0.9726514016691633 Centerline is valid? [True, True] Translation: X:621.59, Y:-39.60, Z:1.70 [[ 9.64768905e-01 2.63097821e-01 -7.04390938e-04 6.21590431e+02] [-2.63097715e-01 9.64769161e-01 2.39801276e-04 -3.95961521e+01] [ 7.42665848e-04 -4.60291683e-05 9.99999723e-01 1.70121828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1907140569999 meters Centerline goodness [0,1] 0.9752719656329479 Centerline is valid? [True, True] Translation: X:621.62, Y:-39.60, Z:1.70 [[ 9.64673587e-01 2.63446408e-01 -9.27830876e-04 6.21619199e+02] [-2.63446226e-01 9.64674031e-01 3.15141838e-04 -3.95995478e+01] [ 9.78077337e-04 -5.95754643e-05 9.99999520e-01 1.70073075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2207140569999 meters Centerline goodness [0,1] 0.9737501338186489 Centerline is valid? [True, True] Translation: X:621.64, Y:-39.61, Z:1.70 [[ 9.64591112e-01 2.63747489e-01 -1.11758307e-03 6.21644829e+02] [-2.63747227e-01 9.64591757e-01 3.78587549e-04 -3.96098739e+01] [ 1.17786294e-03 -7.04227479e-05 9.99999304e-01 1.70028267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.250714057 meters Centerline goodness [0,1] 0.9747814535481659 Centerline is valid? [True, True] Translation: X:621.67, Y:-39.62, Z:1.70 [[ 9.64023634e-01 2.65812549e-01 -1.45695275e-03 6.21672645e+02] [-2.65812106e-01 9.64024731e-01 4.93155601e-04 -3.96186980e+01] [ 1.53562542e-03 -8.81379769e-05 9.99998817e-01 1.70007916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.280714057 meters Centerline goodness [0,1] 0.9759686435777164 Centerline is valid? [True, True] Translation: X:621.70, Y:-39.62, Z:1.70 [[ 9.63756191e-01 2.66781281e-01 -1.32393843e-03 6.21702267e+02] [-2.66780916e-01 9.63757097e-01 4.48685222e-04 -3.96218532e+01] [ 1.39565588e-03 -7.92216532e-05 9.99999023e-01 1.69994803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3107140569999 meters Centerline goodness [0,1] 0.975944870093738 Centerline is valid? [True, True] Translation: X:621.73, Y:-39.63, Z:1.70 [[ 9.62616569e-01 2.70866222e-01 -9.11858451e-04 6.21730109e+02] [-2.70866051e-01 9.62616999e-01 3.08410359e-04 -3.96294032e+01] [ 9.61308395e-04 -4.98894230e-05 9.99999537e-01 1.70031535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3407140569999 meters Centerline goodness [0,1] 0.9768499645991118 Centerline is valid? [True, True] Translation: X:621.76, Y:-39.64, Z:1.70 [[ 9.62123651e-01 2.72612489e-01 -7.14290775e-04 6.21758109e+02] [-2.72612385e-01 9.62123916e-01 2.41715583e-04 -3.96356184e+01] [ 7.53130924e-04 -3.78357679e-05 9.99999716e-01 1.70083915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.370714057 meters Centerline goodness [0,1] 0.977262001801879 Centerline is valid? [True, True] Translation: X:621.78, Y:-39.65, Z:1.70 [[ 9.61710458e-01 2.74067269e-01 -3.56690487e-04 6.21784433e+02] [-2.74067243e-01 9.61710524e-01 1.20891229e-04 -3.96450644e+01] [ 3.76165324e-04 -1.85051805e-05 9.99999929e-01 1.70125223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.400714057 meters Centerline goodness [0,1] 0.976517595777868 Centerline is valid? [True, True] Translation: X:621.81, Y:-39.65, Z:1.70 [[ 9.61439546e-01 2.75016150e-01 -3.41775014e-04 6.21812693e+02] [-2.75016125e-01 9.61439607e-01 1.16347305e-04 -3.96527390e+01] [ 3.60593423e-04 -1.78672595e-05 9.99999935e-01 1.70106540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4307140569999 meters Centerline goodness [0,1] 0.9768964850879265 Centerline is valid? [True, True] Translation: X:621.84, Y:-39.66, Z:1.70 [[ 9.61586025e-01 2.74502899e-01 -6.89043428e-04 6.21840196e+02] [-2.74502802e-01 9.61586271e-01 2.33482254e-04 -3.96598673e+01] [ 7.26666257e-04 -3.53689211e-05 9.99999735e-01 1.70052918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4607140569999 meters Centerline goodness [0,1] 0.9780368414272833 Centerline is valid? [True, True] Translation: X:621.87, Y:-39.67, Z:1.70 [[ 9.62044819e-01 2.72889790e-01 -9.63558013e-04 6.21868322e+02] [-2.72889600e-01 9.62045300e-01 3.25841365e-04 -3.96665429e+01] [ 1.01590524e-03 -5.05290361e-05 9.99999483e-01 1.70021130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.490714057 meters Centerline goodness [0,1] 0.9759400107123728 Centerline is valid? [True, True] Translation: X:621.89, Y:-39.68, Z:1.70 [[ 9.62605489e-01 2.70906111e-01 -7.43035258e-04 6.21894530e+02] [-2.70905998e-01 9.62605775e-01 2.50624267e-04 -3.96789437e+01] [ 7.83145676e-04 -3.99595872e-05 9.99999693e-01 1.70053081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.520714057 meters Centerline goodness [0,1] 0.9748910874090607 Centerline is valid? [True, True] Translation: X:621.92, Y:-39.69, Z:1.70 [[ 9.64210013e-01 2.65139047e-01 -5.79675328e-04 6.21923011e+02] [-2.65138977e-01 9.64210187e-01 1.95392727e-04 -3.96888385e+01] [ 6.10735097e-04 -3.47051006e-05 9.99999813e-01 1.70090000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5507140569999 meters Centerline goodness [0,1] 0.9742372736407756 Centerline is valid? [True, True] Translation: X:621.95, Y:-39.70, Z:1.70 [[ 9.64982664e-01 2.62312624e-01 -7.38181335e-04 6.21949430e+02] [-2.62312510e-01 9.64982945e-01 2.48912167e-04 -3.97007089e+01] [ 7.77625202e-04 -4.65617267e-05 9.99999697e-01 1.70150736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5807140569999 meters Centerline goodness [0,1] 0.9736419157827065 Centerline is valid? [True, True] Translation: X:621.98, Y:-39.71, Z:1.70 [[ 9.65920685e-01 2.58837491e-01 -6.19752847e-04 6.21978355e+02] [-2.58837410e-01 9.65920883e-01 2.08871210e-04 -3.97097293e+01] [ 6.52695917e-04 -4.13378004e-05 9.99999786e-01 1.70154520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.610714057 meters Centerline goodness [0,1] 0.969921581265442 Centerline is valid? [True, True] Translation: X:622.00, Y:-39.73, Z:1.70 [[ 9.67806941e-01 2.51692975e-01 -6.08494457e-04 6.22004362e+02] [-2.51692896e-01 9.67807132e-01 2.05081927e-04 -3.97250312e+01] [ 6.40522956e-04 -4.53259805e-05 9.99999794e-01 1.70156639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.640714057 meters Centerline goodness [0,1] 0.9664912469122543 Centerline is valid? [True, True] Translation: X:622.03, Y:-39.74, Z:1.70 [[ 9.68696732e-01 2.48246627e-01 -5.03241767e-04 6.22030181e+02] [-2.48246572e-01 9.68696862e-01 1.69582667e-04 -3.97412513e+01] [ 5.29587046e-04 -3.93461323e-05 9.99999859e-01 1.70168923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6707140569999 meters Centerline goodness [0,1] 0.9695698924731183 Centerline is valid? [True, True] Translation: X:622.06, Y:-39.74, Z:1.70 [[ 9.69606073e-01 2.44671152e-01 -3.00865412e-04 6.22062222e+02] [-2.44671132e-01 9.69606119e-01 1.01403043e-04 -3.97419597e+01] [ 3.16531344e-04 -2.47079253e-05 9.99999950e-01 1.70176752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7007140569999 meters Centerline goodness [0,1] 0.9681778083783377 Centerline is valid? [True, True] Translation: X:622.09, Y:-39.75, Z:1.70 [[ 9.71181977e-01 2.38339186e-01 -3.19657133e-05 6.22088677e+02] [-2.38339186e-01 9.71181977e-01 1.08366715e-05 -3.97544475e+01] [ 3.36273281e-05 -2.90569797e-06 9.99999999e-01 1.70159569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7307140569999 meters Centerline goodness [0,1] 0.9675203400382114 Centerline is valid? [True, True] Translation: X:622.12, Y:-39.76, Z:1.70 [[ 9.71875461e-01 2.35495271e-01 -2.57619809e-04 6.22117290e+02] [-2.35495256e-01 9.71875495e-01 8.68646459e-05 -3.97628132e+01] [ 2.70830593e-04 -2.37533748e-05 9.99999963e-01 1.70051360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.760714057 meters Centerline goodness [0,1] 0.9658694997634307 Centerline is valid? [True, True] Translation: X:622.15, Y:-39.77, Z:1.70 [[ 9.72967799e-01 2.30936307e-01 -1.44405147e-03 6.22145752e+02] [-2.30935837e-01 9.72968860e-01 4.86361678e-04 -3.97735080e+01] [ 1.51733568e-03 -1.39731017e-04 9.99998839e-01 1.69903694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.790714057 meters Centerline goodness [0,1] 0.9608396732688205 Centerline is valid? [True, True] Translation: X:622.17, Y:-39.79, Z:1.70 [[ 9.73342428e-01 2.29343227e-01 -2.49023202e-03 6.22170552e+02] [-2.29341824e-01 9.73345583e-01 8.38807638e-04 -3.97888037e+01] [ 2.61623119e-03 -2.45332709e-04 9.99996548e-01 1.69899522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8207140569999 meters Centerline goodness [0,1] 0.9429574280238593 Centerline is valid? [True, False] Translation: X:622.17, Y:-39.79, Z:1.70 [[ 9.74232859e-01 2.25508305e-01 -4.04236938e-03 6.22172327e+02] [-2.25524360e-01 9.74228956e-01 -4.08708582e-03 -3.97850217e+01] [ 3.01652151e-03 4.89342608e-03 9.99983477e-01 1.69930859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8507140569999 meters Centerline goodness [0,1] 0.9662739513205593 Centerline is valid? [False, True] Translation: X:622.17, Y:-39.78, Z:1.70 [[ 9.74364486e-01 2.24930184e-01 -4.50127295e-03 6.22173320e+02] [-2.24951542e-01 9.74357184e-01 -4.98808818e-03 -3.97829171e+01] [ 3.26387604e-03 5.87278426e-03 9.99977429e-01 1.69935684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.880714057 meters Centerline goodness [0,1] 0.9647422057172468 Centerline is valid? [True, True] Translation: X:622.20, Y:-39.79, Z:1.70 [[ 9.74307236e-01 2.25198880e-01 -3.29766277e-03 6.22199973e+02] [-2.25196424e-01 9.74312760e-01 1.10290206e-03 -3.97911769e+01] [ 3.46132722e-03 -3.31943598e-04 9.99993954e-01 1.69778060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.910714057 meters Centerline goodness [0,1] 0.9644016446656568 Centerline is valid? [True, True] Translation: X:622.23, Y:-39.80, Z:1.70 [[ 9.74129409e-01 2.25970041e-01 -3.07150172e-03 6.22228408e+02] [-2.25967916e-01 9.74134204e-01 1.02683233e-03 -3.97981187e+01] [ 3.22408822e-03 -3.06206730e-04 9.99994756e-01 1.69789914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9407140569999 meters Centerline goodness [0,1] 0.9663028413028413 Centerline is valid? [True, True] Translation: X:622.26, Y:-39.80, Z:1.70 [[ 9.73782095e-01 2.27458687e-01 -3.31308643e-03 6.22258750e+02] [-2.27456224e-01 9.73787677e-01 1.10714388e-03 -3.98006355e+01] [ 3.47807223e-03 -3.24534757e-04 9.99993899e-01 1.69861564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9707140569999 meters Centerline goodness [0,1] 0.9649012508942701 Centerline is valid? [True, True] Translation: X:622.29, Y:-39.81, Z:1.70 [[ 9.73306040e-01 2.29495146e-01 -2.70743255e-03 6.22286844e+02] [-2.29493509e-01 9.73309771e-01 9.04662482e-04 -3.98082666e+01] [ 2.84278620e-03 -2.59175262e-04 9.99995926e-01 1.69910701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.000714057 meters Centerline goodness [0,1] 0.9668803650983375 Centerline is valid? [True, True] Translation: X:622.32, Y:-39.81, Z:1.70 [[ 9.72147710e-01 2.34357735e-01 -2.29831025e-03 6.22318881e+02] [-2.34356569e-01 9.72150404e-01 7.67879099e-04 -3.98067127e+01] [ 2.41426164e-03 -2.07867804e-04 9.99997064e-01 1.70047787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.030714057 meters Centerline goodness [0,1] 0.9666115270764409 Centerline is valid? [True, True] Translation: X:622.35, Y:-39.81, Z:1.70 [[ 9.71599285e-01 2.36622829e-01 -2.11326733e-03 6.22346727e+02] [-2.36621849e-01 9.71601566e-01 7.06014428e-04 -3.98137989e+01] [ 2.22031298e-03 -1.85917891e-04 9.99997518e-01 1.70078542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0607140569999 meters Centerline goodness [0,1] 0.9678341516639389 Centerline is valid? [True, True] Translation: X:622.38, Y:-39.82, Z:1.70 [[ 9.71141848e-01 2.38494177e-01 -2.00969967e-03 6.22376856e+02] [-2.38493294e-01 9.71143912e-01 6.71290458e-04 -3.98186751e+01] [ 2.11180647e-03 -1.72618361e-04 9.99997755e-01 1.70089648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0907140569999 meters Centerline goodness [0,1] 0.9715461390299422 Centerline is valid? [True, True] Translation: X:622.41, Y:-39.82, Z:1.70 [[ 9.70367562e-01 2.41621958e-01 -2.37148997e-03 6.22408984e+02] [-2.41620739e-01 9.70370440e-01 7.91973847e-04 -3.98182779e+01] [ 2.49258203e-03 -1.95504574e-04 9.99996874e-01 1.70107901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.120714057 meters Centerline goodness [0,1] 0.9718504541664839 Centerline is valid? [True, True] Translation: X:622.44, Y:-39.83, Z:1.70 [[ 9.70263414e-01 2.42037428e-01 -2.60598664e-03 6.22435938e+02] [-2.42035958e-01 9.70266890e-01 8.70269656e-04 -3.98258515e+01] [ 2.73914038e-03 -2.13648335e-04 9.99996226e-01 1.70128714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.150714057 meters Centerline goodness [0,1] 0.9742806940478805 Centerline is valid? [True, True] Translation: X:622.46, Y:-39.83, Z:1.70 [[ 9.70257956e-01 2.42054725e-01 -3.00163988e-03 6.22464825e+02] [-2.42052775e-01 9.70262568e-01 1.00205993e-03 -3.98289704e+01] [ 3.15493216e-03 -2.45701358e-04 9.99994993e-01 1.70140041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1807140569999 meters Centerline goodness [0,1] 0.9725256610325955 Centerline is valid? [True, True] Translation: X:622.49, Y:-39.84, Z:1.70 [[ 9.70254210e-01 2.42061987e-01 -3.57230367e-03 6.22491778e+02] [-2.42059230e-01 9.70260743e-01 1.19148869e-03 -3.98374426e+01] [ 3.75448013e-03 -2.91337844e-04 9.99992909e-01 1.70158822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2107140569999 meters Centerline goodness [0,1] 0.9737422284933198 Centerline is valid? [True, True] Translation: X:622.52, Y:-39.84, Z:1.70 [[ 9.70535039e-01 2.40932340e-01 -3.65317224e-03 6.22520547e+02] [-2.40929451e-01 9.70541867e-01 1.21797973e-03 -3.98430607e+01] [ 3.83900732e-03 -3.01935222e-04 9.99992585e-01 1.70182573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.240714057 meters Centerline goodness [0,1] 0.972892888498683 Centerline is valid? [True, True] Translation: X:622.55, Y:-39.85, Z:1.70 [[ 9.70683168e-01 2.40330385e-01 -3.93624378e-03 6.22546148e+02] [-2.40327030e-01 9.70691094e-01 1.31134333e-03 -3.98523565e+01] [ 4.13603243e-03 -3.26913124e-04 9.99991393e-01 1.70227298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.270714057 meters Centerline goodness [0,1] 0.9738047301931458 Centerline is valid? [True, True] Translation: X:622.57, Y:-39.86, Z:1.70 [[ 9.70965100e-01 2.39181825e-01 -4.33926731e-03 6.22574933e+02] [-2.39177739e-01 9.70974727e-01 1.44513840e-03 -3.98586968e+01] [ 4.55896973e-03 -3.65322809e-04 9.99989541e-01 1.70228300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3007140569999 meters Centerline goodness [0,1] 0.9725245553490841 Centerline is valid? [True, True] Translation: X:622.60, Y:-39.87, Z:1.70 [[ 9.71262462e-01 2.37956392e-01 -5.09757746e-03 6.22603766e+02] [-2.37950737e-01 9.71275741e-01 1.69739475e-03 -3.98660462e+01] [ 5.35505926e-03 -4.35643488e-04 9.99985567e-01 1.70193713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3307140569999 meters Centerline goodness [0,1] 0.9743066341246949 Centerline is valid? [True, True] Translation: X:622.63, Y:-39.87, Z:1.70 [[ 9.71850697e-01 2.35523396e-01 -5.91206782e-03 6.22633065e+02] [-2.35515746e-01 9.71868540e-01 1.96841053e-03 -3.98737347e+01] [ 6.20935945e-03 -5.20616087e-04 9.99980586e-01 1.70121593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.360714057 meters Centerline goodness [0,1] 0.9660214671437143 Centerline is valid? [True, True] Translation: X:622.66, Y:-39.89, Z:1.70 [[ 9.72252622e-01 2.33853026e-01 -6.13203979e-03 6.22657423e+02] [-2.33844765e-01 9.72271803e-01 2.04130551e-03 -3.98894517e+01] [ 6.43937486e-03 -5.50719233e-04 9.99979115e-01 1.70097747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.390714057 meters Centerline goodness [0,1] 0.971034727300933 Centerline is valid? [True, True] Translation: X:622.69, Y:-39.89, Z:1.70 [[ 9.72556394e-01 2.32575099e-01 -6.54863874e-03 6.22688021e+02] [-2.32565652e-01 9.72578258e-01 2.17955577e-03 -3.98918731e+01] [ 6.87597406e-03 -5.96752459e-04 9.99976182e-01 1.70085313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4207140569999 meters Centerline goodness [0,1] 0.9758104070985866 Centerline is valid? [True, True] Translation: X:622.72, Y:-39.89, Z:1.70 [[ 9.73028519e-01 2.30584182e-01 -6.81445601e-03 6.22719824e+02] [-2.30573905e-01 9.73052173e-01 2.26782933e-03 -3.98924379e+01] [ 7.15374680e-03 -6.35426880e-04 9.99974210e-01 1.70047113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4507140569999 meters Centerline goodness [0,1] 0.9725176910409898 Centerline is valid? [True, True] Translation: X:622.75, Y:-39.90, Z:1.70 [[ 9.73330858e-01 2.29291788e-01 -7.23297862e-03 6.22746796e+02] [-2.29280178e-01 9.73357492e-01 2.40669182e-03 -3.99026874e+01] [ 7.59210861e-03 -6.84128795e-04 9.99970946e-01 1.70030578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4807140569999 meters Centerline goodness [0,1] 0.9620965221661681 Centerline is valid? [True, True] Translation: X:622.77, Y:-39.92, Z:1.70 [[ 9.73624865e-01 2.28045405e-01 -7.06508182e-03 6.22771392e+02] [-2.28034299e-01 9.73650263e-01 2.35033703e-03 -3.99189439e+01] [ 7.41490233e-03 -6.77265590e-04 9.99972280e-01 1.69960700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.510714057 meters Centerline goodness [0,1] 0.9711022862399318 Centerline is valid? [True, True] Translation: X:622.80, Y:-39.92, Z:1.70 [[ 9.74073325e-01 2.26087624e-01 -8.09590530e-03 6.22803911e+02] [-2.26072975e-01 9.74106646e-01 2.69305531e-03 -3.99178311e+01] [ 8.49514164e-03 -7.92967941e-04 9.99963601e-01 1.70061693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.540714057 meters Centerline goodness [0,1] 0.9695706731200143 Centerline is valid? [True, True] Translation: X:622.83, Y:-39.93, Z:1.70 [[ 9.74232889e-01 2.25405730e-01 -7.90785551e-03 6.22831476e+02] [-2.25391742e-01 9.74264671e-01 2.62917397e-03 -3.99259170e+01] [ 8.29697513e-03 -7.79062427e-04 9.99965276e-01 1.70095306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5707140569999 meters Centerline goodness [0,1] 0.9677239347335997 Centerline is valid? [True, True] Translation: X:622.86, Y:-39.93, Z:1.70 [[ 9.74384962e-01 2.24770807e-01 -7.21318170e-03 6.22859042e+02] [-2.24759166e-01 9.74411399e-01 2.39632195e-03 -3.99338626e+01] [ 7.56722969e-03 -7.13711365e-04 9.99971113e-01 1.70131983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6007140569999 meters Centerline goodness [0,1] 0.9708646193966098 Centerline is valid? [True, True] Translation: X:622.89, Y:-39.94, Z:1.70 [[ 9.74550981e-01 2.24061687e-01 -6.83704954e-03 6.22888453e+02] [-2.24051225e-01 9.74574727e-01 2.26952598e-03 -3.99368193e+01] [ 7.17172951e-03 -6.79919449e-04 9.99974052e-01 1.70271111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.630714057 meters Centerline goodness [0,1] 0.9699292187006898 Centerline is valid? [True, True] Translation: X:622.92, Y:-39.94, Z:1.70 [[ 9.74354665e-01 2.24959793e-01 -5.10671429e-03 6.22916730e+02] [-2.24953973e-01 9.74367918e-01 1.69435344e-03 -3.99426816e+01] [ 5.35697997e-03 -5.02125513e-04 9.99985525e-01 1.70441911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.660714057 meters Centerline goodness [0,1] 0.9709043486081755 Centerline is valid? [True, True] Translation: X:622.95, Y:-39.95, Z:1.71 [[ 9.74375487e-01 2.24873772e-01 -4.91897958e-03 6.22945802e+02] [-2.24868374e-01 9.74387784e-01 1.63130729e-03 -3.99473445e+01] [ 5.15983183e-03 -4.83382891e-04 9.99986571e-01 1.70525715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6907140569999 meters Centerline goodness [0,1] 0.9700569054285972 Centerline is valid? [True, True] Translation: X:622.97, Y:-39.95, Z:1.71 [[ 9.74281152e-01 2.25284550e-01 -4.80709422e-03 6.22974515e+02] [-2.25279406e-01 9.74292898e-01 1.59290951e-03 -3.99534040e+01] [ 5.04237567e-03 -4.69002383e-04 9.99987177e-01 1.70540110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7207140569999 meters Centerline goodness [0,1] 0.9698999662807688 Centerline is valid? [True, True] Translation: X:623.00, Y:-39.96, Z:1.71 [[ 9.74167669e-01 2.25781069e-01 -4.50123501e-03 6.23002074e+02] [-2.25776570e-01 9.74177971e-01 1.49041485e-03 -3.99615925e+01] [ 4.72151145e-03 -4.35640563e-04 9.99988759e-01 1.70529988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.750714057 meters Centerline goodness [0,1] 0.9678434747163659 Centerline is valid? [True, True] Translation: X:623.03, Y:-39.97, Z:1.70 [[ 9.74039591e-01 2.26321893e-01 -5.02743113e-03 6.23028245e+02] [-2.26316294e-01 9.74052446e-01 1.66351087e-03 -3.99705676e+01] [ 5.27347051e-03 -4.82535867e-04 9.99985979e-01 1.70398266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.780714057 meters Centerline goodness [0,1] 0.9581475361597139 Centerline is valid? [True, True] Translation: X:623.05, Y:-39.98, Z:1.70 [[ 9.73969954e-01 2.26610412e-01 -5.50006885e-03 6.23053424e+02] [-2.26603720e-01 9.73985342e-01 1.81891620e-03 -3.99844364e+01] [ 5.76917178e-03 -5.25233661e-04 9.99983220e-01 1.70293112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8107140569999 meters Centerline goodness [0,1] 0.9578987938695929 Centerline is valid? [True, True] Translation: X:623.08, Y:-39.99, Z:1.70 [[ 9.73909372e-01 2.26849382e-01 -6.31606632e-03 6.23081624e+02] [-2.26840573e-01 9.73929668e-01 2.08738002e-03 -3.99922513e+01] [ 6.62492524e-03 -6.00178862e-04 9.99977875e-01 1.70202864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8407140569999 meters Centerline goodness [0,1] 0.9731627505340181 Centerline is valid? [True, True] Translation: X:623.11, Y:-39.99, Z:1.70 [[ 9.73652479e-01 2.27894827e-01 -8.04974647e-03 6.23114151e+02] [-2.27880560e-01 9.73685461e-01 2.65940205e-03 -3.99859188e+01] [ 8.44398507e-03 -7.54952664e-04 9.99964064e-01 1.70144263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.870714057 meters Centerline goodness [0,1] 0.9730043475291922 Centerline is valid? [True, True] Translation: X:623.14, Y:-39.99, Z:1.70 [[ 9.73582277e-01 2.28171334e-01 -8.68291576e-03 6.23141891e+02] [-2.28154762e-01 9.73620658e-01 2.86676437e-03 -3.99933881e+01] [ 9.10797961e-03 -8.09982403e-04 9.99958193e-01 1.70101378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.900714057 meters Centerline goodness [0,1] 0.9737698945786561 Centerline is valid? [True, True] Translation: X:623.17, Y:-40.00, Z:1.70 [[ 9.73509487e-01 2.28464147e-01 -9.13298066e-03 6.23169696e+02] [-2.28445850e-01 9.73551959e-01 3.01280481e-03 -4.00017582e+01] [ 9.57974909e-03 -8.46602542e-04 9.99953755e-01 1.70059513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9307140569999 meters Centerline goodness [0,1] 0.9735955567695529 Centerline is valid? [True, True] Translation: X:623.20, Y:-40.01, Z:1.70 [[ 9.73315140e-01 2.29273066e-01 -9.56548776e-03 6.23197240e+02] [-2.29253047e-01 9.73361748e-01 3.15410184e-03 -4.00101386e+01] [ 1.00338305e-02 -8.77017859e-04 9.99949275e-01 1.70012954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9607140569999 meters Centerline goodness [0,1] 0.9722798932262554 Centerline is valid? [True, True] Translation: X:623.23, Y:-40.02, Z:1.70 [[ 9.73115089e-01 2.30116463e-01 -9.66629743e-03 6.23225211e+02] [-2.30096069e-01 9.73162702e-01 3.18659270e-03 -4.00182853e+01] [ 1.01401676e-02 -8.76744392e-04 9.99948203e-01 1.70027385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.990714057 meters Centerline goodness [0,1] 0.9745875039992687 Centerline is valid? [True, True] Translation: X:623.26, Y:-40.02, Z:1.70 [[ 9.72485903e-01 2.32772662e-01 -9.38381585e-03 6.23255509e+02] [-2.32753569e-01 9.72530827e-01 3.09311995e-03 -4.00219156e+01] [ 9.84604395e-03 -8.23898917e-04 9.99951187e-01 1.70064045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.020714057 meters Centerline goodness [0,1] 0.9716862655554287 Centerline is valid? [True, True] Translation: X:623.28, Y:-40.03, Z:1.70 [[ 9.72110807e-01 2.34344972e-01 -9.11118783e-03 6.23282311e+02] [-2.34327043e-01 9.72153187e-01 3.00295023e-03 -4.00326658e+01] [ 9.56119658e-03 -7.84202665e-04 9.99953983e-01 1.70076977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0507140569999 meters Centerline goodness [0,1] 0.9735609711739566 Centerline is valid? [True, True] Translation: X:623.31, Y:-40.04, Z:1.70 [[ 9.71733292e-01 2.35907631e-01 -9.05536026e-03 6.23311010e+02] [-2.35889992e-01 9.71775183e-01 2.98419991e-03 -4.00395522e+01] [ 9.50376991e-03 -7.63777537e-04 9.99954546e-01 1.70092250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0807140569999 meters Centerline goodness [0,1] 0.9735609711739566 Centerline is valid? [True, True] Translation: X:623.34, Y:-40.05, Z:1.70 [[ 9.71797374e-01 2.35643488e-01 -9.05593240e-03 6.23337137e+02] [-2.35625853e-01 9.71839268e-01 2.98246300e-03 -4.00480622e+01] [ 9.50370869e-03 -7.64537911e-04 9.99954546e-01 1.70101065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.110714057 meters Centerline goodness [0,1] 0.9750900291304447 Centerline is valid? [True, True] Translation: X:623.37, Y:-40.05, Z:1.70 [[ 9.71497494e-01 2.36885368e-01 -8.82849471e-03 6.23366623e+02] [-2.36868681e-01 9.71537332e-01 2.90523087e-03 -4.00523108e+01] [ 9.26541888e-03 -7.31230614e-04 9.99956808e-01 1.70170973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.140714057 meters Centerline goodness [0,1] 0.9731990634447956 Centerline is valid? [True, True] Translation: X:623.39, Y:-40.06, Z:1.70 [[ 9.71012817e-01 2.38894491e-01 -7.97064254e-03 6.23393779e+02] [-2.38880964e-01 9.71045318e-01 2.62206516e-03 -4.00635808e+01] [ 8.36625204e-03 -6.42024108e-04 9.99964796e-01 1.70194529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1707140569999 meters Centerline goodness [0,1] 0.9749340671941291 Centerline is valid? [True, True] Translation: X:623.42, Y:-40.07, Z:1.70 [[ 9.70427153e-01 2.41271077e-01 -7.70768948e-03 6.23424906e+02] [-2.41258503e-01 9.70457576e-01 2.53536312e-03 -4.00661394e+01] [ 8.09169543e-03 -6.00839587e-04 9.99967081e-01 1.70283737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2007140569999 meters Centerline goodness [0,1] 0.9740831632302012 Centerline is valid? [True, True] Translation: X:623.45, Y:-40.07, Z:1.70 [[ 9.70126101e-01 2.42493097e-01 -7.24194046e-03 6.23451404e+02] [-2.42482036e-01 9.70152973e-01 2.38155306e-03 -4.00741168e+01] [ 7.60330024e-03 -5.54366323e-04 9.99970941e-01 1.70295461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2307140569999 meters Centerline goodness [0,1] 0.9722963266981326 Centerline is valid? [True, True] Translation: X:623.48, Y:-40.08, Z:1.70 [[ 9.69833470e-01 2.43673436e-01 -6.80413039e-03 6.23478112e+02] [-2.43663705e-01 9.69857203e-01 2.23692097e-03 -4.00831570e+01] [ 7.14411309e-03 -5.11521199e-04 9.99974350e-01 1.70294535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.260714057 meters Centerline goodness [0,1] 0.9747286607799853 Centerline is valid? [True, True] Translation: X:623.51, Y:-40.09, Z:1.70 [[ 9.69878796e-01 2.43494908e-01 -6.73427637e-03 6.23505676e+02] [-2.43485381e-01 9.69902043e-01 2.21262230e-03 -4.00879798e+01] [ 7.07035068e-03 -5.06277602e-04 9.99974877e-01 1.70376620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.290714057 meters Centerline goodness [0,1] 0.9773600533787359 Centerline is valid? [True, True] Translation: X:623.54, Y:-40.09, Z:1.70 [[ 9.69823517e-01 2.43725597e-01 -6.33867189e-03 6.23535992e+02] [-2.43717174e-01 9.69844116e-01 2.08086169e-03 -4.00881569e+01] [ 6.65468289e-03 -4.73225406e-04 9.99977745e-01 1.70370402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3207140569999 meters Centerline goodness [0,1] 0.976426170634007 Centerline is valid? [True, True] Translation: X:623.56, Y:-40.10, Z:1.70 [[ 9.69885249e-01 2.43487344e-01 -6.04294121e-03 6.23561452e+02] [-2.43479690e-01 9.69903969e-01 1.98267418e-03 -4.00989372e+01] [ 6.34382873e-03 -4.51632988e-04 9.99979776e-01 1.70378256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3507140569999 meters Centerline goodness [0,1] 0.9762080073630925 Centerline is valid? [True, True] Translation: X:623.59, Y:-40.11, Z:1.70 [[ 9.70180375e-01 2.42304074e-01 -6.22700401e-03 6.23589637e+02] [-2.42295930e-01 9.70200244e-01 2.04187393e-03 -4.01052845e+01] [ 6.53619518e-03 -4.72208287e-04 9.99978527e-01 1.70378944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.380714057 meters Centerline goodness [0,1] 0.9752768714673039 Centerline is valid? [True, True] Translation: X:623.62, Y:-40.11, Z:1.70 [[ 9.70264582e-01 2.41963130e-01 -6.36268416e-03 6.23616545e+02] [-2.41954628e-01 9.70285324e-01 2.08517481e-03 -4.01139693e+01] [ 6.67815449e-03 -4.83690380e-04 9.99977584e-01 1.70386695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.410714057 meters Centerline goodness [0,1] 0.9761232408108915 Centerline is valid? [True, True] Translation: X:623.64, Y:-40.12, Z:1.70 [[ 9.70390975e-01 2.41452760e-01 -6.47458171e-03 6.23643594e+02] [-2.41443954e-01 9.70412448e-01 2.12059654e-03 -4.01227622e+01] [ 6.79503858e-03 -4.94559132e-04 9.99976791e-01 1.70349756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4407140569999 meters Centerline goodness [0,1] 0.977490774907749 Centerline is valid? [True, True] Translation: X:623.67, Y:-40.13, Z:1.70 [[ 9.70471448e-01 2.41114418e-01 -7.00048380e-03 6.23671080e+02] [-2.41104129e-01 9.70496549e-01 2.29084626e-03 -4.01312241e+01] [ 7.34630143e-03 -5.35355334e-04 9.99972872e-01 1.70324851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4707140569999 meters Centerline goodness [0,1] 0.9759480256185781 Centerline is valid? [True, True] Translation: X:623.70, Y:-40.14, Z:1.70 [[ 9.70430722e-01 2.41271053e-01 -7.24521976e-03 6.23697858e+02] [-2.41260052e-01 9.70457611e-01 2.36891498e-03 -4.01400467e+01] [ 7.60272927e-03 -5.50885776e-04 9.99970947e-01 1.70219561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.500714057 meters Centerline goodness [0,1] 0.9754579940784605 Centerline is valid? [True, True] Translation: X:623.73, Y:-40.15, Z:1.70 [[ 9.70363255e-01 2.41518589e-01 -7.99523309e-03 6.23725764e+02] [-2.41505220e-01 9.70396005e-01 2.61186793e-03 -4.01476756e+01] [ 8.38935690e-03 -6.03570148e-04 9.99964627e-01 1.70197965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.530714057 meters Centerline goodness [0,1] 0.9748772673842395 Centerline is valid? [True, True] Translation: X:623.75, Y:-40.16, Z:1.70 [[ 9.70285733e-01 2.41823170e-01 -8.19460809e-03 6.23751676e+02] [-2.41809148e-01 9.70320141e-01 2.67564731e-03 -4.01571366e+01] [ 8.59842679e-03 -6.14611213e-04 9.99962844e-01 1.70103913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5607140569999 meters Centerline goodness [0,1] 0.9754564363300208 Centerline is valid? [True, True] Translation: X:623.78, Y:-40.17, Z:1.70 [[ 9.70222504e-01 2.42070190e-01 -8.38541910e-03 6.23778820e+02] [-2.42055532e-01 9.70258539e-01 2.73621642e-03 -4.01656750e+01] [ 8.79838092e-03 -6.25001659e-04 9.99961098e-01 1.70055750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5907140569999 meters Centerline goodness [0,1] 0.9755335401138836 Centerline is valid? [True, True] Translation: X:623.81, Y:-40.17, Z:1.70 [[ 9.69965792e-01 2.43077879e-01 -8.91664658e-03 6.23805403e+02] [-2.43061363e-01 9.70006556e-01 2.90792645e-03 -4.01744437e+01] [ 9.35605823e-03 -6.53296913e-04 9.99956018e-01 1.69995406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.620714057 meters Centerline goodness [0,1] 0.9748996682673348 Centerline is valid? [True, True] Translation: X:623.83, Y:-40.18, Z:1.70 [[ 9.69933236e-01 2.43211573e-01 -8.81187182e-03 6.23832801e+02] [-2.43195466e-01 9.69973050e-01 2.87184448e-03 -4.01826376e+01] [ 9.24574400e-03 -6.42490138e-04 9.99957051e-01 1.70004779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.650714057 meters Centerline goodness [0,1] 0.9751590286483726 Centerline is valid? [True, True] Translation: X:623.86, Y:-40.19, Z:1.70 [[ 9.69930816e-01 2.43233766e-01 -8.45858666e-03 6.23859990e+02] [-2.43218944e-01 9.69967503e-01 2.75451984e-03 -4.01917362e+01] [ 8.87454641e-03 -6.14405152e-04 9.99960432e-01 1.70001336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6807140569999 meters Centerline goodness [0,1] 0.974577056778679 Centerline is valid? [True, True] Translation: X:623.89, Y:-40.20, Z:1.70 [[ 9.69783199e-01 2.43854178e-01 -7.46236402e-03 6.23888078e+02] [-2.43842671e-01 9.69811761e-01 2.42880959e-03 -4.01999509e+01] [ 7.82936376e-03 -5.35775958e-04 9.99969207e-01 1.70074302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7107140569999 meters Centerline goodness [0,1] 0.9730005330366869 Centerline is valid? [True, True] Translation: X:623.91, Y:-40.21, Z:1.70 [[ 9.69759067e-01 2.43977130e-01 -6.52009784e-03 6.23914172e+02] [-2.43968352e-01 9.69780873e-01 2.12145072e-03 -4.02098072e+01] [ 6.84065164e-03 -4.66598546e-04 9.99976494e-01 1.70116384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.740714057 meters Centerline goodness [0,1] 0.9749437915768491 Centerline is valid? [True, True] Translation: X:623.94, Y:-40.22, Z:1.70 [[ 9.69720620e-01 2.44130158e-01 -6.51032662e-03 6.23941572e+02] [-2.44121419e-01 9.69742363e-01 2.11710086e-03 -4.02171998e+01] [ 6.83018769e-03 -4.63686193e-04 9.99976566e-01 1.70162656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.770714057 meters Centerline goodness [0,1] 0.9713795342796178 Centerline is valid? [True, True] Translation: X:623.97, Y:-40.23, Z:1.70 [[ 9.69663231e-01 2.44383942e-01 -5.45045995e-03 6.23967856e+02] [-2.44377828e-01 9.69678473e-01 1.77117138e-03 -4.02277183e+01] [ 5.71803952e-03 -3.85468204e-04 9.99983578e-01 1.70170992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8007140569999 meters Centerline goodness [0,1] 0.9725807949479941 Centerline is valid? [True, True] Translation: X:623.99, Y:-40.24, Z:1.70 [[ 9.69607130e-01 2.44617124e-01 -4.94736719e-03 6.23994992e+02] [-2.44612095e-01 9.69619689e-01 1.60650429e-03 -4.02357356e+01] [ 5.19004310e-03 -3.47492156e-04 9.99986471e-01 1.70242456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8307140569999 meters Centerline goodness [0,1] 0.9784851505807618 Centerline is valid? [True, True] Translation: X:624.03, Y:-40.23, Z:1.70 [[ 9.69631597e-01 2.44532187e-01 -4.30988160e-03 6.24026368e+02] [-2.44528375e-01 9.69641129e-01 1.39848343e-03 -4.02308447e+01] [ 4.52101267e-03 -3.02125383e-04 9.99989735e-01 1.70313977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.860714057 meters Centerline goodness [0,1] 0.9776808500765626 Centerline is valid? [True, True] Translation: X:624.05, Y:-40.24, Z:1.70 [[ 9.69558786e-01 2.44827633e-01 -3.89745289e-03 6.24052775e+02] [-2.44824521e-01 9.69566582e-01 1.26380506e-03 -4.02399905e+01] [ 4.08825448e-03 -2.71141268e-04 9.99991606e-01 1.70372334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.890714057 meters Centerline goodness [0,1] 0.9752902926149559 Centerline is valid? [True, True] Translation: X:624.08, Y:-40.25, Z:1.70 [[ 9.69363696e-01 2.45608774e-01 -3.21781992e-03 6.24077679e+02] [-2.45606658e-01 9.69369012e-01 1.04315976e-03 -4.02537153e+01] [ 3.37546411e-03 -2.20883200e-04 9.99994279e-01 1.70393601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9207140569999 meters Centerline goodness [0,1] 0.9779164443619662 Centerline is valid? [True, True] Translation: X:624.11, Y:-40.26, Z:1.70 [[ 9.69181350e-01 2.46334702e-01 -2.59321352e-03 6.24107116e+02] [-2.46333331e-01 9.69184804e-01 8.40560160e-04 -4.02556348e+01] [ 2.72036228e-03 -1.75860305e-04 9.99996284e-01 1.70395397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9507140569999 meters Centerline goodness [0,1] 0.9774484684809455 Centerline is valid? [True, True] Translation: X:624.13, Y:-40.26, Z:1.70 [[ 9.68895811e-01 2.47454351e-01 -2.69306596e-03 6.24134508e+02] [-2.47452878e-01 9.68899537e-01 8.72081165e-04 -4.02642904e+01] [ 2.82511064e-03 -1.78548863e-04 9.99995993e-01 1.70377422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9807140569999 meters Centerline goodness [0,1] 0.9785666288203536 Centerline is valid? [True, True] Translation: X:624.16, Y:-40.27, Z:1.70 [[ 9.68651245e-01 2.48410765e-01 -2.61886185e-03 6.24162497e+02] [-2.48409376e-01 9.68654770e-01 8.47936142e-04 -4.02718618e+01] [ 2.74740949e-03 -1.70804561e-04 9.99996211e-01 1.70428886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.010714057 meters Centerline goodness [0,1] 0.9789008946206577 Centerline is valid? [True, True] Translation: X:624.19, Y:-40.28, Z:1.70 [[ 9.68388416e-01 2.49431394e-01 -2.80284659e-03 6.24190902e+02] [-2.49429810e-01 9.68392455e-01 9.06697875e-04 -4.02785325e+01] [ 2.94041441e-03 -1.78922226e-04 9.99995661e-01 1.70366284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.040714057 meters Centerline goodness [0,1] 0.9788380591146677 Centerline is valid? [True, True] Translation: X:624.22, Y:-40.29, Z:1.70 [[ 9.68109812e-01 2.50509346e-01 -2.90865452e-03 6.24216635e+02] [-2.50507648e-01 9.68114164e-01 9.40128772e-04 -4.02902116e+01] [ 3.05142068e-03 -1.81507686e-04 9.99995328e-01 1.70322706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0707140569999 meters Centerline goodness [0,1] 0.9773205896646687 Centerline is valid? [True, True] Translation: X:624.24, Y:-40.30, Z:1.70 [[ 9.67960842e-01 2.51081808e-01 -3.12003314e-03 6.24242044e+02] [-2.51079857e-01 9.67965851e-01 1.00812464e-03 -4.03015813e+01] [ 3.27320729e-03 -1.92447699e-04 9.99994625e-01 1.70250450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1007140569999 meters Centerline goodness [0,1] 0.9781900515213825 Centerline is valid? [True, True] Translation: X:624.27, Y:-40.31, Z:1.70 [[ 9.67818024e-01 2.51630888e-01 -3.18887869e-03 6.24269826e+02] [-2.51628855e-01 9.67823258e-01 1.03003906e-03 -4.03085410e+01] [ 3.34546060e-03 -1.94476480e-04 9.99994385e-01 1.70210230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.130714057 meters Centerline goodness [0,1] 0.9806527942097572 Centerline is valid? [True, True] Translation: X:624.30, Y:-40.31, Z:1.70 [[ 9.67291406e-01 2.53636818e-01 -3.96233496e-03 6.24299536e+02] [-2.53633700e-01 9.67299494e-01 1.27882916e-03 -4.03138693e+01] [ 4.15712276e-03 -2.32018777e-04 9.99991332e-01 1.70197052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.160714057 meters Centerline goodness [0,1] 0.9816886372075752 Centerline is valid? [True, True] Translation: X:624.33, Y:-40.32, Z:1.70 [[ 9.67126523e-01 2.54263368e-01 -4.05314151e-03 6.24327065e+02] [-2.54260113e-01 9.67134988e-01 1.30769730e-03 -4.03223827e+01] [ 4.25243448e-03 -2.34156529e-04 9.99990931e-01 1.70180483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1907140569999 meters Centerline goodness [0,1] 0.9801682552259328 Centerline is valid? [True, True] Translation: X:624.35, Y:-40.33, Z:1.70 [[ 9.66903054e-01 2.55105193e-01 -4.45253630e-03 6.24352372e+02] [-2.55101278e-01 9.66913273e-01 1.43552751e-03 -4.03337808e+01] [ 4.67142696e-03 -2.52168231e-04 9.99989057e-01 1.70180024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2207140569999 meters Centerline goodness [0,1] 0.9809609943880154 Centerline is valid? [True, True] Translation: X:624.38, Y:-40.34, Z:1.70 [[ 9.66219291e-01 2.57689941e-01 -4.02184556e-03 6.24381158e+02] [-2.57686771e-01 9.66227637e-01 1.29637242e-03 -4.03402606e+01] [ 4.22008047e-03 -2.16203644e-04 9.99991072e-01 1.70220848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.250714057 meters Centerline goodness [0,1] 0.9815370305778398 Centerline is valid? [True, True] Translation: X:624.41, Y:-40.35, Z:1.70 [[ 9.65809089e-01 2.59215849e-01 -4.46628270e-03 6.24408629e+02] [-2.59211956e-01 9.65819388e-01 1.43940006e-03 -4.03484425e+01] [ 4.68673773e-03 -2.32471781e-04 9.99988990e-01 1.70203562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.280714057 meters Centerline goodness [0,1] 0.9816318909583158 Centerline is valid? [True, True] Translation: X:624.44, Y:-40.35, Z:1.70 [[ 9.65667003e-01 2.59745489e-01 -4.41822152e-03 6.24436315e+02] [-2.59741688e-01 9.65677084e-01 1.42333085e-03 -4.03548934e+01] [ 4.63627904e-03 -2.26867317e-04 9.99989227e-01 1.70178199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3107140569999 meters Centerline goodness [0,1] 0.9807346519393784 Centerline is valid? [True, True] Translation: X:624.46, Y:-40.36, Z:1.70 [[ 9.65551367e-01 2.60171455e-01 -4.62302301e-03 6.24463966e+02] [-2.60167305e-01 9.65562406e-01 1.48806161e-03 -4.03641213e+01] [ 4.85096838e-03 -2.34040488e-04 9.99988207e-01 1.70193064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3407140569999 meters Centerline goodness [0,1] 0.982677859196735 Centerline is valid? [True, True] Translation: X:624.49, Y:-40.37, Z:1.70 [[ 9.65417702e-01 2.60669682e-01 -4.46963293e-03 6.24492762e+02] [-2.60665813e-01 9.65428023e-01 1.43756432e-03 -4.03702143e+01] [ 4.68983832e-03 -2.22769546e-04 9.99988978e-01 1.70226786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.370714057 meters Centerline goodness [0,1] 0.9801876955161627 Centerline is valid? [True, True] Translation: X:624.52, Y:-40.38, Z:1.70 [[ 9.65549372e-01 2.60186531e-01 -4.16891144e-03 6.24517184e+02] [-2.60183164e-01 9.65558349e-01 1.34002174e-03 -4.03840626e+01] [ 4.37398285e-03 -2.09176579e-04 9.99990412e-01 1.70253114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.400714057 meters Centerline goodness [0,1] 0.979655566171844 Centerline is valid? [True, True] Translation: X:624.54, Y:-40.39, Z:1.70 [[ 9.65858513e-01 2.59041511e-01 -3.85077650e-03 6.24544472e+02] [-2.59038631e-01 9.65866169e-01 1.23728454e-03 -4.03924648e+01] [ 4.03984281e-03 -1.97541930e-04 9.99991820e-01 1.70316386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4307140569999 meters Centerline goodness [0,1] 0.9788683442235506 Centerline is valid? [True, True] Translation: X:624.57, Y:-40.40, Z:1.70 [[ 9.66408151e-01 2.56998368e-01 -2.66896649e-03 6.24571414e+02] [-2.56996979e-01 9.66411826e-01 8.57028605e-04 -4.04041650e+01] [ 2.79957573e-03 -1.42323106e-04 9.99996071e-01 1.70398266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4607140569999 meters Centerline goodness [0,1] 0.9792178874611495 Centerline is valid? [True, True] Translation: X:624.60, Y:-40.41, Z:1.70 [[ 9.66728674e-01 2.55792956e-01 -2.37374410e-03 6.24598997e+02] [-2.55791853e-01 9.66731579e-01 7.62259740e-04 -4.04128381e+01] [ 2.48975405e-03 -1.29713945e-04 9.99996892e-01 1.70437355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.490714057 meters Centerline goodness [0,1] 0.9774756214805659 Centerline is valid? [True, True] Translation: X:624.62, Y:-40.43, Z:1.70 [[ 9.66853520e-01 2.55326938e-01 -1.55727365e-03 6.24624277e+02] [-2.55326463e-01 9.66854771e-01 4.99677969e-04 -4.04260543e+01] [ 1.63323870e-03 -8.55022308e-05 9.99998663e-01 1.70468341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.520714057 meters Centerline goodness [0,1] 0.9767757052283378 Centerline is valid? [True, True] Translation: X:624.65, Y:-40.44, Z:1.70 [[ 9.67114663e-01 2.54336605e-01 -1.45621443e-03 6.24650199e+02] [-2.54336189e-01 9.67115756e-01 4.67127399e-04 -4.04380957e+01] [ 1.52713551e-03 -8.13977288e-05 9.99998831e-01 1.70494512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5507140569999 meters Centerline goodness [0,1] 0.9718019257221459 Centerline is valid? [True, True] Translation: X:624.68, Y:-40.45, Z:1.71 [[ 9.67323676e-01 2.53538649e-01 -1.74898464e-03 6.24675041e+02] [-2.53538048e-01 9.67325252e-01 5.60883532e-04 -4.04527435e+01] [ 1.83404266e-03 -9.91217673e-05 9.99998313e-01 1.70515368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5807140569999 meters Centerline goodness [0,1] 0.9750275684616798 Centerline is valid? [True, True] Translation: X:624.70, Y:-40.46, Z:1.70 [[ 9.67521367e-01 2.52778070e-01 -2.37742765e-03 6.24703577e+02] [-2.52776958e-01 9.67524278e-01 7.62024387e-04 -4.04587392e+01] [ 2.49284202e-03 -1.36315948e-04 9.99996884e-01 1.70495140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.610714057 meters Centerline goodness [0,1] 0.9747693293953339 Centerline is valid? [True, True] Translation: X:624.73, Y:-40.47, Z:1.71 [[ 9.67598329e-01 2.52482130e-01 -2.49932767e-03 6.24729685e+02] [-2.52480903e-01 9.67601547e-01 8.00328753e-04 -4.04697236e+01] [ 2.62042203e-03 -1.43364258e-04 9.99996556e-01 1.70510229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.640714057 meters Centerline goodness [0,1] 0.9755137735024049 Centerline is valid? [True, True] Translation: X:624.76, Y:-40.48, Z:1.70 [[ 9.67785999e-01 2.51754062e-01 -3.18614476e-03 6.24756981e+02] [-2.51752065e-01 9.67791226e-01 1.01987538e-03 -4.04799166e+01] [ 3.34028071e-03 -1.84902589e-04 9.99994404e-01 1.70436295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6707140569999 meters Centerline goodness [0,1] 0.9742412415629735 Centerline is valid? [True, True] Translation: X:624.78, Y:-40.49, Z:1.70 [[ 9.67946483e-01 2.51119560e-01 -4.30966976e-03 6.24782435e+02] [-2.51115904e-01 9.67956044e-01 1.37830173e-03 -4.04922551e+01] [ 4.51768942e-03 -2.51895692e-04 9.99989763e-01 1.70310659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7007140569999 meters Centerline goodness [0,1] 0.9747253749031405 Centerline is valid? [True, True] Translation: X:624.81, Y:-40.50, Z:1.70 [[ 9.67872472e-01 2.51401998e-01 -4.46252823e-03 6.24809616e+02] [-2.51398084e-01 9.67882725e-01 1.42644441e-03 -4.05033489e+01] [ 4.67781496e-03 -2.58745229e-04 9.99989025e-01 1.70304045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7307140569999 meters Centerline goodness [0,1] 0.9742022615941034 Centerline is valid? [True, True] Translation: X:624.84, Y:-40.51, Z:1.70 [[ 9.67955993e-01 2.51067000e-01 -5.15335621e-03 6.24836013e+02] [-2.51061783e-01 9.67969665e-01 1.64594425e-03 -4.05137725e+01] [ 5.40153477e-03 -2.99390805e-04 9.99985367e-01 1.70246240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.760714057 meters Centerline goodness [0,1] 0.9795389973421318 Centerline is valid? [True, True] Translation: X:624.87, Y:-40.51, Z:1.70 [[ 9.67734244e-01 2.51914868e-01 -5.41592904e-03 6.24866645e+02] [-2.51909127e-01 9.67749350e-01 1.72837360e-03 -4.05130066e+01] [ 5.67666481e-03 -3.08284363e-04 9.99983840e-01 1.70267705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.790714057 meters Centerline goodness [0,1] 0.9791254069065993 Centerline is valid? [True, True] Translation: X:624.89, Y:-40.52, Z:1.70 [[ 9.67444900e-01 2.53018043e-01 -5.67754894e-03 6.24894524e+02] [-2.53011763e-01 9.67461509e-01 1.81031864e-03 -4.05218680e+01] [ 5.95085334e-03 -3.14896869e-04 9.99982244e-01 1.70294113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8207140569999 meters Centerline goodness [0,1] 0.973582929106602 Centerline is valid? [True, True] Translation: X:624.92, Y:-40.54, Z:1.70 [[ 9.67226742e-01 2.53838642e-01 -6.19458010e-03 6.24917132e+02] [-2.53831193e-01 9.67246520e-01 1.97347286e-03 -4.05437034e+01] [ 6.49262972e-03 -3.36418064e-04 9.99978866e-01 1.70195293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8507140569999 meters Centerline goodness [0,1] 0.9805202245903518 Centerline is valid? [True, True] Translation: X:624.95, Y:-40.54, Z:1.70 [[ 9.66827640e-01 2.55333892e-01 -6.99412827e-03 6.24948103e+02] [-2.55324445e-01 9.66852868e-01 2.22695106e-03 -4.05407501e+01] [ 7.33090906e-03 -3.67305915e-04 9.99973061e-01 1.70241266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.880714057 meters Centerline goodness [0,1] 0.9800146178794938 Centerline is valid? [True, True] Translation: X:624.97, Y:-40.55, Z:1.70 [[ 9.66327772e-01 2.57203061e-01 -7.56452381e-03 6.24974219e+02] [-2.57192074e-01 9.66357305e-01 2.40770340e-03 -4.05500768e+01] [ 7.92930152e-03 -3.81095095e-04 9.99968490e-01 1.70218971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.910714057 meters Centerline goodness [0,1] 0.9822034863848695 Centerline is valid? [True, True] Translation: X:625.00, Y:-40.56, Z:1.70 [[ 9.65289276e-01 2.61045616e-01 -8.47353031e-03 6.25003555e+02] [-2.61031982e-01 9.65326387e-01 2.69646297e-03 -4.05573685e+01] [ 8.88362224e-03 -3.91004380e-04 9.99960463e-01 1.70170565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9407140569999 meters Centerline goodness [0,1] 0.981939921200665 Centerline is valid? [True, True] Translation: X:625.03, Y:-40.57, Z:1.70 [[ 9.64791523e-01 2.62859450e-01 -9.06786613e-03 6.25031270e+02] [-2.62843921e-01 9.64834053e-01 2.88506951e-03 -4.05661353e+01] [ 9.50735381e-03 -4.00057120e-04 9.99954724e-01 1.70166250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9707140569999 meters Centerline goodness [0,1] 0.981939921200665 Centerline is valid? [True, True] Translation: X:625.06, Y:-40.57, Z:1.70 [[ 9.64864932e-01 2.62589844e-01 -9.06846802e-03 6.25057409e+02] [-2.62574321e-01 9.64907464e-01 2.88317678e-03 -4.05743690e+01] [ 9.50732542e-03 -4.00729341e-04 9.99954724e-01 1.70175046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.000714057 meters Centerline goodness [0,1] 0.9824968176032006 Centerline is valid? [True, True] Translation: X:625.08, Y:-40.58, Z:1.70 [[ 9.64312247e-01 2.64615441e-01 -8.97547115e-03 6.25084728e+02] [-2.64600335e-01 9.64353943e-01 2.85222841e-03 -4.05831891e+01] [ 9.41027467e-03 -3.75526114e-04 9.99955652e-01 1.70234988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.030714057 meters Centerline goodness [0,1] 0.9827609702916326 Centerline is valid? [True, True] Translation: X:625.11, Y:-40.59, Z:1.70 [[ 9.63989959e-01 2.65804355e-01 -8.45005146e-03 6.25111764e+02] [-2.65791026e-01 9.64026934e-01 2.68360763e-03 -4.05920069e+01] [ 8.85939179e-03 -3.41022965e-04 9.99960697e-01 1.70262489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0607140569999 meters Centerline goodness [0,1] 0.9829728801922417 Centerline is valid? [True, True] Translation: X:625.14, Y:-40.60, Z:1.70 [[ 9.63337873e-01 2.68172189e-01 -7.98869648e-03 6.25139224e+02] [-2.68160374e-01 9.63370950e-01 2.53511250e-03 -4.06020956e+01] [ 8.37592479e-03 -2.99918048e-04 9.99964876e-01 1.70367129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0907140569999 meters Centerline goodness [0,1] 0.9831528553516471 Centerline is valid? [True, True] Translation: X:625.17, Y:-40.61, Z:1.70 [[ 9.63129890e-01 2.68930864e-01 -7.55021009e-03 6.25166232e+02] [-2.68920349e-01 9.63159444e-01 2.39408132e-03 -4.06124074e+01] [ 7.91589851e-03 -2.75406144e-04 9.99968631e-01 1.70389497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.120714057 meters Centerline goodness [0,1] 0.9833405304666015 Centerline is valid? [True, True] Translation: X:625.19, Y:-40.62, Z:1.70 [[ 9.62970642e-01 2.69510251e-01 -7.19500538e-03 6.25191788e+02] [-2.69500727e-01 9.62997486e-01 2.28030471e-03 -4.06231669e+01] [ 7.54333759e-03 -2.56807316e-04 9.99971516e-01 1.70349842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.150714057 meters Centerline goodness [0,1] 0.9838160522970765 Centerline is valid? [True, True] Translation: X:625.22, Y:-40.64, Z:1.70 [[ 9.63053653e-01 2.69207066e-01 -7.43077732e-03 6.25217716e+02] [-2.69196910e-01 9.63082284e-01 2.35345247e-03 -4.06352453e+01] [ 7.79001602e-03 -2.66158710e-04 9.99969622e-01 1.70390996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1807140569999 meters Centerline goodness [0,1] 0.9836994877632328 Centerline is valid? [True, True] Translation: X:625.24, Y:-40.65, Z:1.70 [[ 9.63160397e-01 2.68815182e-01 -7.77480781e-03 6.25244019e+02] [-2.68804069e-01 9.63191736e-01 2.46027191e-03 -4.06459082e+01] [ 8.14998907e-03 -2.79736492e-04 9.99966749e-01 1.70377969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2107140569999 meters Centerline goodness [0,1] 0.9822096317280453 Centerline is valid? [True, True] Translation: X:625.27, Y:-40.66, Z:1.70 [[ 9.63276796e-01 2.68410769e-01 -7.31255506e-03 6.25269274e+02] [-2.68400935e-01 9.63304515e-01 2.31287863e-03 -4.06567645e+01] [ 7.66501884e-03 -2.65245696e-04 9.99970588e-01 1.70420678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.240714057 meters Centerline goodness [0,1] 0.9844498422283262 Centerline is valid? [True, True] Translation: X:625.30, Y:-40.66, Z:1.70 [[ 9.63524337e-01 2.67518567e-01 -7.39383005e-03 6.25297144e+02] [-2.67508498e-01 9.63552666e-01 2.33713825e-03 -4.06633516e+01] [ 7.74957254e-03 -2.73977204e-04 9.99969934e-01 1.70478794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.270714057 meters Centerline goodness [0,1] 0.9830909705782888 Centerline is valid? [True, True] Translation: X:625.32, Y:-40.68, Z:1.70 [[ 9.63739314e-01 2.66750038e-01 -7.13809411e-03 6.25320142e+02] [-2.66740641e-01 9.63765711e-01 2.25504005e-03 -4.06812876e+01] [ 7.48098236e-03 -2.69250950e-04 9.99971981e-01 1.70450476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3007140569999 meters Centerline goodness [0,1] 0.9845871808799566 Centerline is valid? [True, True] Translation: X:625.35, Y:-40.69, Z:1.70 [[ 9.63961569e-01 2.65933907e-01 -7.56638041e-03 6.25348592e+02] [-2.65923337e-01 9.63991220e-01 2.38873510e-03 -4.06862207e+01] [ 7.92916994e-03 -2.90571707e-04 9.99968521e-01 1.70477445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3307140569999 meters Centerline goodness [0,1] 0.9825562955915002 Centerline is valid? [True, True] Translation: X:625.37, Y:-40.70, Z:1.70 [[ 9.64141296e-01 2.65271538e-01 -7.91022116e-03 6.25372168e+02] [-2.65259975e-01 9.64173696e-01 2.49593894e-03 -4.07046264e+01] [ 8.28892873e-03 -3.08172739e-04 9.99965599e-01 1.70377054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.360714057 meters Centerline goodness [0,1] 0.9854759170438425 Centerline is valid? [True, True] Translation: X:625.40, Y:-40.71, Z:1.70 [[ 9.64177420e-01 2.65158760e-01 -7.26193595e-03 6.25400491e+02] [-2.65149023e-01 9.64204725e-01 2.28979581e-03 -4.07080536e+01] [ 7.60915237e-03 -2.82274196e-04 9.99971010e-01 1.70456864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.390714057 meters Centerline goodness [0,1] 0.9853400085310823 Centerline is valid? [True, True] Translation: X:625.43, Y:-40.72, Z:1.70 [[ 9.64355696e-01 2.64506715e-01 -7.36812720e-03 6.25426478e+02] [-2.64496689e-01 9.64383800e-01 2.32113639e-03 -4.07207824e+01] [ 7.71965867e-03 -2.89555845e-04 9.99970161e-01 1.70471847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4207140569999 meters Centerline goodness [0,1] 0.985936658891082 Centerline is valid? [True, True] Translation: X:625.45, Y:-40.73, Z:1.70 [[ 9.64388193e-01 2.64383938e-01 -7.51977508e-03 6.25452648e+02] [-2.64373509e-01 9.64417465e-01 2.36666184e-03 -4.07309571e+01] [ 7.87790980e-03 -2.94351407e-04 9.99968925e-01 1.70496511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4507140569999 meters Centerline goodness [0,1] 0.9855772470963539 Centerline is valid? [True, True] Translation: X:625.48, Y:-40.74, Z:1.70 [[ 9.64717183e-01 2.63181221e-01 -7.51010609e-03 6.25479869e+02] [-2.63170799e-01 9.64746368e-01 2.36143032e-03 -4.07412233e+01] [ 7.86683169e-03 -3.01671786e-04 9.99969010e-01 1.70474004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4807140569999 meters Centerline goodness [0,1] 0.9857993997222596 Centerline is valid? [True, True] Translation: X:625.51, Y:-40.75, Z:1.70 [[ 9.64900024e-01 2.62500921e-01 -7.82364668e-03 6.25505414e+02] [-2.62489600e-01 9.64931689e-01 2.45867054e-03 -4.07532584e+01] [ 8.19468789e-03 -3.18745378e-04 9.99966372e-01 1.70444982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.510714057 meters Centerline goodness [0,1] 0.9864750067066083 Centerline is valid? [True, True] Translation: X:625.53, Y:-40.77, Z:1.70 [[ 9.65541338e-01 2.60105077e-01 -8.67598108e-03 6.25532320e+02] [-2.60091063e-01 9.65580244e-01 2.72597446e-03 -4.07674224e+01] [ 9.08639573e-03 -3.75495879e-04 9.99958647e-01 1.70408873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.540714057 meters Centerline goodness [0,1] 0.9858010358992677 Centerline is valid? [True, True] Translation: X:625.56, Y:-40.78, Z:1.70 [[ 9.65884106e-01 2.58833387e-01 -8.55405036e-03 6.25557321e+02] [-2.58819720e-01 9.65921908e-01 2.68701206e-03 -4.07800350e+01] [ 8.95803307e-03 -3.81385323e-04 9.99959803e-01 1.70376858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5707140569999 meters Centerline goodness [0,1] 0.9839098954143202 Centerline is valid? [True, True] Translation: X:625.58, Y:-40.79, Z:1.70 [[ 9.66395736e-01 2.56905094e-01 -8.89126413e-03 6.25583826e+02] [-2.56890265e-01 9.66436548e-01 2.79103926e-03 -4.07910086e+01] [ 9.30987482e-03 -4.13169238e-04 9.99956577e-01 1.70324165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6007140569999 meters Centerline goodness [0,1] 0.9820128763910706 Centerline is valid? [True, True] Translation: X:625.61, Y:-40.81, Z:1.70 [[ 9.67168716e-01 2.53960858e-01 -9.41046747e-03 6.25606860e+02] [-2.53944121e-01 9.67214385e-01 2.95255792e-03 -4.08113944e+01] [ 9.85177365e-03 -4.65888757e-04 9.99951362e-01 1.70202619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.630714057 meters Centerline goodness [0,1] 0.9843085106382978 Centerline is valid? [True, True] Translation: X:625.64, Y:-40.82, Z:1.70 [[ 9.67650884e-01 2.52124880e-01 -9.20934238e-03 6.25636247e+02] [-2.52108773e-01 9.67694591e-01 2.88894196e-03 -4.08168852e+01] [ 9.64020495e-03 -4.73731236e-04 9.99953420e-01 1.70257305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.660714057 meters Centerline goodness [0,1] 0.984226571819909 Centerline is valid? [True, True] Translation: X:625.66, Y:-40.83, Z:1.70 [[ 9.68074864e-01 2.50493941e-01 -9.15659151e-03 6.25663433e+02] [-2.50477963e-01 9.68118045e-01 2.87057548e-03 -4.08263010e+01] [ 9.58372324e-03 -4.85407580e-04 9.99953957e-01 1.70298397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6907140569999 meters Centerline goodness [0,1] 0.9825875593857032 Centerline is valid? [True, True] Translation: X:625.69, Y:-40.84, Z:1.70 [[ 9.68431138e-01 2.49121192e-01 -8.93101994e-03 6.25688652e+02] [-2.49105946e-01 9.68472197e-01 2.79844711e-03 -4.08389307e+01] [ 9.34659698e-03 -4.85333147e-04 9.99956202e-01 1.70260245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7207140569999 meters Centerline goodness [0,1] 0.9816983412061958 Centerline is valid? [True, True] Translation: X:625.71, Y:-40.86, Z:1.70 [[ 9.69039913e-01 2.46762145e-01 -8.37197449e-03 6.25712895e+02] [-2.46748667e-01 9.69075961e-01 2.62255180e-03 -4.08578976e+01] [ 8.76022573e-03 -4.75583817e-04 9.99961515e-01 1.70242418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.750714057 meters Centerline goodness [0,1] 0.9820100480463351 Centerline is valid? [True, True] Translation: X:625.74, Y:-40.86, Z:1.70 [[ 9.69362296e-01 2.45486855e-01 -8.54070222e-03 6.25741331e+02] [-2.45472794e-01 9.69399793e-01 2.67365051e-03 -4.08634093e+01] [ 8.93570101e-03 -4.95225960e-04 9.99959953e-01 1.70291529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.780714057 meters Centerline goodness [0,1] 0.9813686456523174 Centerline is valid? [True, True] Translation: X:625.77, Y:-40.88, Z:1.70 [[ 9.69813286e-01 2.43696936e-01 -8.60192904e-03 6.25768428e+02] [-2.43682612e-01 9.69851297e-01 2.69175977e-03 -4.08762266e+01] [ 8.99856565e-03 -5.14363849e-04 9.99959380e-01 1.70244585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8107140569999 meters Centerline goodness [0,1] 0.9820736752248999 Centerline is valid? [True, True] Translation: X:625.79, Y:-40.89, Z:1.70 [[ 9.70069106e-01 2.42683329e-01 -8.41023834e-03 6.25794892e+02] [-2.42669605e-01 9.70105427e-01 2.63113587e-03 -4.08863441e+01] [ 8.79735067e-03 -5.11474409e-04 9.99961172e-01 1.70231396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8407140569999 meters Centerline goodness [0,1] 0.9814160651205652 Centerline is valid? [True, True] Translation: X:625.82, Y:-40.90, Z:1.70 [[ 9.70424805e-01 2.41257580e-01 -8.39508547e-03 6.25821488e+02] [-2.41243867e-01 9.70460977e-01 2.62464655e-03 -4.08973098e+01] [ 8.78031872e-03 -5.21759231e-04 9.99961316e-01 1.70251245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.870714057 meters Centerline goodness [0,1] 0.9813002255359216 Centerline is valid? [True, True] Translation: X:625.85, Y:-40.91, Z:1.70 [[ 9.70658652e-01 2.40336395e-01 -7.75879204e-03 6.25847963e+02] [-2.40324663e-01 9.70689538e-01 2.42448991e-03 -4.09074070e+01] [ 8.11407142e-03 -4.88723031e-04 9.99966961e-01 1.70300019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.900714057 meters Centerline goodness [0,1] 0.980495715631917 Centerline is valid? [True, True] Translation: X:625.87, Y:-40.92, Z:1.70 [[ 9.70975275e-01 2.39062619e-01 -7.48870041e-03 6.25874712e+02] [-2.39051663e-01 9.71004034e-01 2.33859874e-03 -4.09175089e+01] [ 7.83062984e-03 -4.80535267e-04 9.99969225e-01 1.70315754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9307140569999 meters Centerline goodness [0,1] 0.9788223478811432 Centerline is valid? [True, True] Translation: X:625.90, Y:-40.93, Z:1.70 [[ 9.71315717e-01 2.37698311e-01 -6.72989430e-03 6.25899860e+02] [-2.37689440e-01 9.71338931e-01 2.10026578e-03 -4.09290119e+01] [ 7.03623796e-03 -4.40396353e-04 9.99975148e-01 1.70312050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9607140569999 meters Centerline goodness [0,1] 0.9796476638581901 Centerline is valid? [True, True] Translation: X:625.93, Y:-40.94, Z:1.70 [[ 9.71437576e-01 2.37205187e-01 -6.53720317e-03 6.25926593e+02] [-2.37196816e-01 9.71459476e-01 2.03869085e-03 -4.09387231e+01] [ 6.83421601e-03 -4.29857120e-04 9.99976554e-01 1.70328349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.990714057 meters Centerline goodness [0,1] 0.9785258650821391 Centerline is valid? [True, True] Translation: X:625.95, Y:-40.95, Z:1.70 [[ 9.71526446e-01 2.36837834e-01 -6.64865534e-03 6.25953226e+02] [-2.36829180e-01 9.71549097e-01 2.07150954e-03 -4.09477279e+01] [ 6.95010692e-03 -4.37930713e-04 9.99975752e-01 1.70317547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.020714057 meters Centerline goodness [0,1] 0.9794225170202053 Centerline is valid? [True, True] Translation: X:625.98, Y:-40.96, Z:1.70 [[ 9.71381382e-01 2.37422780e-01 -6.97382870e-03 6.25980647e+02] [-2.37413288e-01 9.71406310e-01 2.17077981e-03 -4.09552068e+01] [ 7.28981378e-03 -4.52975488e-04 9.99973326e-01 1.70296503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0507140569999 meters Centerline goodness [0,1] 0.979088530309638 Centerline is valid? [True, True] Translation: X:626.01, Y:-40.97, Z:1.70 [[ 9.70994373e-01 2.38994855e-01 -7.16847862e-03 6.26006663e+02] [-2.38984878e-01 9.71020728e-01 2.23012474e-03 -4.09654299e+01] [ 7.49372967e-03 -4.52280584e-04 9.99971819e-01 1.70219772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0807140569999 meters Centerline goodness [0,1] 0.9803694392829817 Centerline is valid? [True, True] Translation: X:626.04, Y:-40.97, Z:1.70 [[ 9.70852555e-01 2.39569887e-01 -7.18233813e-03 6.26035567e+02] [-2.39559898e-01 9.70879019e-01 2.23301443e-03 -4.09701081e+01] [ 7.50814442e-03 -4.47327575e-04 9.99971713e-01 1.70259646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.110714057 meters Centerline goodness [0,1] 0.9786605882991425 Centerline is valid? [True, True] Translation: X:626.06, Y:-40.98, Z:1.70 [[ 9.70516227e-01 2.40940063e-01 -6.79264340e-03 6.26061185e+02] [-2.40931170e-01 9.70539910e-01 2.11055679e-03 -4.09807771e+01] [ 7.10104920e-03 -4.11770091e-04 9.99974702e-01 1.70223090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.140714057 meters Centerline goodness [0,1] 0.9792213473315835 Centerline is valid? [True, True] Translation: X:626.09, Y:-40.99, Z:1.70 [[ 9.70372624e-01 2.41526256e-01 -6.48369435e-03 6.26087733e+02] [-2.41518173e-01 9.70394207e-01 2.01384316e-03 -4.09899363e+01] [ 6.77813544e-03 -3.88248261e-04 9.99976953e-01 1.70194022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1707140569999 meters Centerline goodness [0,1] 0.9794962690649686 Centerline is valid? [True, True] Translation: X:626.12, Y:-41.00, Z:1.70 [[ 9.70207194e-01 2.42196106e-01 -6.24879487e-03 6.26116272e+02] [-2.42188618e-01 9.70227247e-01 1.93981585e-03 -4.09967850e+01] [ 6.53256689e-03 -3.68636294e-04 9.99978595e-01 1.70218335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2007140569999 meters Centerline goodness [0,1] 0.9780250892934924 Centerline is valid? [True, True] Translation: X:626.14, Y:-41.01, Z:1.70 [[ 9.69969724e-01 2.43158414e-01 -5.72015643e-03 6.26142450e+02] [-2.43152162e-01 9.69986534e-01 1.77476483e-03 -4.10059088e+01] [ 5.98002371e-03 -3.30599757e-04 9.99982065e-01 1.70216725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2307140569999 meters Centerline goodness [0,1] 0.9788889863205893 Centerline is valid? [True, True] Translation: X:626.17, Y:-41.02, Z:1.70 [[ 9.70041531e-01 2.42873165e-01 -5.66155681e-03 6.26168058e+02] [-2.42867039e-01 9.70057997e-01 1.75600773e-03 -4.10155259e+01] [ 5.91852562e-03 -3.28394885e-04 9.99982431e-01 1.70235948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.260714057 meters Centerline goodness [0,1] 0.9776728115637779 Centerline is valid? [True, True] Translation: X:626.20, Y:-41.02, Z:1.70 [[ 9.70142370e-01 2.42476076e-01 -5.39755829e-03 6.26195500e+02] [-2.42470507e-01 9.70157335e-01 1.67319859e-03 -4.10249479e+01] [ 5.64219139e-03 -3.14492146e-04 9.99984033e-01 1.70238178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.290714057 meters Centerline goodness [0,1] 0.978672674774696 Centerline is valid? [True, True] Translation: X:626.22, Y:-41.03, Z:1.70 [[ 9.70378655e-01 2.41541220e-01 -4.80685031e-03 6.26224015e+02] [-2.41536798e-01 9.70390519e-01 1.48890592e-03 -4.10286927e+01] [ 5.02415412e-03 -2.83771289e-04 9.99987339e-01 1.70263320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3207140569999 meters Centerline goodness [0,1] 0.9787345645284669 Centerline is valid? [True, True] Translation: X:626.25, Y:-41.04, Z:1.70 [[ 9.70529751e-01 2.40938590e-01 -4.53861292e-03 6.26251004e+02] [-2.40934647e-01 9.70540325e-01 1.40463168e-03 -4.10384276e+01] [ 4.74333683e-03 -2.69727740e-04 9.99988714e-01 1.70273540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3507140569999 meters Centerline goodness [0,1] 0.9781139996064455 Centerline is valid? [True, True] Translation: X:626.28, Y:-41.05, Z:1.70 [[ 9.70860580e-01 2.39607578e-01 -4.23587840e-03 6.26278647e+02] [-2.39604135e-01 9.70869787e-01 1.30984599e-03 -4.10473086e+01] [ 4.42633538e-03 -2.56743855e-04 9.99990171e-01 1.70259999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.380714057 meters Centerline goodness [0,1] 0.9787317841669949 Centerline is valid? [True, True] Translation: X:626.31, Y:-41.05, Z:1.70 [[ 9.71059428e-01 2.38804882e-01 -3.97684124e-03 6.26307169e+02] [-2.38801845e-01 9.71067541e-01 1.22870305e-03 -4.10525974e+01] [ 4.15520173e-03 -2.43466655e-04 9.99991337e-01 1.70286442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.410714057 meters Centerline goodness [0,1] 0.9764456766137658 Centerline is valid? [True, True] Translation: X:626.33, Y:-41.07, Z:1.70 [[ 9.71363323e-01 2.37576940e-01 -3.23909346e-03 6.26332185e+02] [-2.37574921e-01 9.71368703e-01 1.00004011e-03 -4.10659852e+01] [ 3.38394048e-03 -2.01874913e-04 9.99994254e-01 1.70279197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4407140569999 meters Centerline goodness [0,1] 0.9774017443504361 Centerline is valid? [True, True] Translation: X:626.36, Y:-41.08, Z:1.70 [[ 9.71418065e-01 2.37357015e-01 -2.93081767e-03 6.26358039e+02] [-2.37355362e-01 9.71422469e-01 9.04626799e-04 -4.10753107e+01] [ 3.06178166e-03 -1.83125526e-04 9.99995296e-01 1.70306267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4707140569999 meters Centerline goodness [0,1] 0.9760865315696878 Centerline is valid? [True, True] Translation: X:626.38, Y:-41.09, Z:1.70 [[ 9.71409144e-01 2.37406186e-01 -1.60534399e-03 6.26384119e+02] [-2.37405690e-01 9.71410466e-01 4.95122499e-04 -4.10853693e+01] [ 1.67699309e-03 -9.98487262e-05 9.99998589e-01 1.70351739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.500714057 meters Centerline goodness [0,1] 0.9751035535208197 Centerline is valid? [True, True] Translation: X:626.41, Y:-41.09, Z:1.70 [[ 9.71476041e-01 2.37136371e-01 -8.01600293e-04 6.26410280e+02] [-2.37136247e-01 9.71476371e-01 2.47781970e-04 -4.10943900e+01] [ 8.37493861e-04 -5.06257622e-05 9.99999648e-01 1.70369236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.530714057 meters Centerline goodness [0,1] 0.9745077087467562 Centerline is valid? [True, True] Translation: X:626.44, Y:-41.10, Z:1.70 [[ 9.71298845e-01 2.37861677e-01 6.14075408e-04 6.26436031e+02] [-2.37861605e-01 9.71299038e-01 -1.88739364e-04 -4.11044969e+01] [-6.41344715e-04 3.72573643e-05 9.99999794e-01 1.70426222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5607140569999 meters Centerline goodness [0,1] 0.9757032969427557 Centerline is valid? [True, True] Translation: X:626.46, Y:-41.11, Z:1.70 [[ 9.71130981e-01 2.38544184e-01 1.13547528e-03 6.26464364e+02] [-2.38543939e-01 9.71131643e-01 -3.48379706e-04 -4.11099390e+01] [-1.18579992e-03 6.74615808e-05 9.99999295e-01 1.70416747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5907140569999 meters Centerline goodness [0,1] 0.9759164814088314 Centerline is valid? [True, True] Translation: X:626.49, Y:-41.12, Z:1.70 [[ 9.71070738e-01 2.38785482e-01 1.76507953e-03 6.26490041e+02] [-2.38784889e-01 9.71072336e-01 -5.42392213e-04 -4.11203461e+01] [-1.84353529e-03 1.05226887e-04 9.99998295e-01 1.70388805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.620714057 meters Centerline goodness [0,1] 0.9741820319132726 Centerline is valid? [True, True] Translation: X:626.52, Y:-41.13, Z:1.70 [[ 9.70891705e-01 2.39509337e-01 2.13882585e-03 6.26516940e+02] [-2.39508470e-01 9.70894053e-01 -6.56205131e-04 -4.11306113e+01] [-2.23374056e-03 1.24837211e-04 9.99997497e-01 1.70216058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.650714057 meters Centerline goodness [0,1] 0.9748672643398033 Centerline is valid? [True, True] Translation: X:626.54, Y:-41.14, Z:1.70 [[ 9.70673444e-01 2.40385667e-01 2.79210238e-03 6.26543096e+02] [-2.40384193e-01 9.70677446e-01 -8.57152800e-04 -4.11402077e+01] [-2.91627805e-03 1.60838183e-04 9.99995735e-01 1.70165861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6807140569999 meters Centerline goodness [0,1] 0.9749967443677562 Centerline is valid? [True, True] Translation: X:626.57, Y:-41.15, Z:1.70 [[ 9.70525746e-01 2.40981920e-01 2.73685324e-03 6.26569523e+02] [-2.40980509e-01 9.70529593e-01 -8.38945043e-04 -4.11500621e+01] [-2.85836764e-03 1.54689477e-04 9.99995903e-01 1.70138135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7107140569999 meters Centerline goodness [0,1] 0.9770852827889365 Centerline is valid? [True, True] Translation: X:626.60, Y:-41.15, Z:1.70 [[ 9.70438703e-01 2.41327298e-01 3.13994489e-03 6.26599036e+02] [-2.41325445e-01 9.70443767e-01 -9.61844228e-04 -4.11535548e+01] [-3.27925921e-03 1.75662267e-04 9.99994608e-01 1.70051339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.740714057 meters Centerline goodness [0,1] 0.9774688398849473 Centerline is valid? [True, True] Translation: X:626.63, Y:-41.16, Z:1.70 [[ 9.69985198e-01 2.43138410e-01 3.52550951e-03 6.26625639e+02] [-2.43136085e-01 9.69991586e-01 -1.08019122e-03 -4.11619972e+01] [-3.68235054e-03 1.90590910e-04 9.99993202e-01 1.70057180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.770714057 meters Centerline goodness [0,1] 0.9761796585967417 Centerline is valid? [True, True] Translation: X:626.65, Y:-41.17, Z:1.70 [[ 9.69762548e-01 2.44031559e-01 3.03299470e-03 6.26651848e+02] [-2.44029844e-01 9.69767277e-01 -9.28956639e-04 -4.11704521e+01] [-3.16799375e-03 1.60726134e-04 9.99994969e-01 1.70011992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8007140569999 meters Centerline goodness [0,1] 0.9777540758799329 Centerline is valid? [True, True] Translation: X:626.68, Y:-41.18, Z:1.70 [[ 9.69683945e-01 2.44342057e-01 3.16309987e-03 6.26679959e+02] [-2.44340198e-01 9.69689090e-01 -9.67399705e-04 -4.11769044e+01] [-3.30359987e-03 1.65199515e-04 9.99994529e-01 1.69943469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8307140569999 meters Centerline goodness [0,1] 0.9783101045296168 Centerline is valid? [True, True] Translation: X:626.71, Y:-41.19, Z:1.70 [[ 9.69496106e-01 2.45088442e-01 2.99273509e-03 6.26705915e+02] [-2.45086780e-01 9.69500713e-01 -9.15504653e-04 -4.11866143e+01] [-3.12583841e-03 1.54098390e-04 9.99995103e-01 1.69878263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.860714057 meters Centerline goodness [0,1] 0.9776078764512405 Centerline is valid? [True, True] Translation: X:626.73, Y:-41.19, Z:1.70 [[ 9.69459322e-01 2.45229743e-01 3.31603041e-03 6.26733540e+02] [-2.45227709e-01 9.69464978e-01 -1.01296932e-03 -4.11938287e+01] [-3.46318556e-03 1.68850006e-04 9.99993989e-01 1.69819075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.890714057 meters Centerline goodness [0,1] 0.9776078764512405 Centerline is valid? [True, True] Translation: X:626.76, Y:-41.20, Z:1.70 [[ 9.69530222e-01 2.44949281e-01 3.31635756e-03 6.26759799e+02] [-2.44947249e-01 9.69535879e-01 -1.01189831e-03 -4.12017860e+01] [-3.46319141e-03 1.68733333e-04 9.99993989e-01 1.69827897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9207140569999 meters Centerline goodness [0,1] 0.977336925818087 Centerline is valid? [True, True] Translation: X:626.79, Y:-41.21, Z:1.70 [[ 9.69521803e-01 2.44974972e-01 3.83882278e-03 6.26785403e+02] [-2.44972249e-01 9.69529383e-01 -1.17149126e-03 -4.12117796e+01] [-4.00883752e-03 1.95381268e-04 9.99991945e-01 1.69901172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9507140569999 meters Centerline goodness [0,1] 0.9769912658062834 Centerline is valid? [True, True] Translation: X:626.81, Y:-41.22, Z:1.70 [[ 9.69477470e-01 2.45148561e-01 3.95208361e-03 6.26811092e+02] [-2.45145678e-01 9.69485504e-01 -1.20548057e-03 -4.12225451e+01] [-4.12700960e-03 1.99850038e-04 9.99991464e-01 1.69992836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9807140569999 meters Centerline goodness [0,1] 0.9763820739286883 Centerline is valid? [True, True] Translation: X:626.84, Y:-41.23, Z:1.70 [[ 9.69467996e-01 2.45164312e-01 5.12486010e-03 6.26837440e+02] [-2.45159475e-01 9.69481508e-01 -1.56129562e-03 -4.12304279e+01] [-5.35123106e-03 2.57218122e-04 9.99985649e-01 1.70047207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.010714057 meters Centerline goodness [0,1] 0.9753545636474376 Centerline is valid? [True, True] Translation: X:626.86, Y:-41.24, Z:1.70 [[ 9.69351302e-01 2.45629651e-01 4.91191006e-03 6.26862987e+02] [-2.45625216e-01 9.69363716e-01 -1.49620243e-03 -4.12405954e+01] [-5.12893907e-03 2.43856805e-04 9.99986817e-01 1.70110741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.040714057 meters Centerline goodness [0,1] 0.9778668525618682 Centerline is valid? [True, True] Translation: X:626.89, Y:-41.24, Z:1.70 [[ 9.69311589e-01 2.45783053e-01 5.07288022e-03 6.26891589e+02] [-2.45778334e-01 9.69324831e-01 -1.54346125e-03 -4.12443959e+01] [-5.29662538e-03 2.49290834e-04 9.99985942e-01 1.69906659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0707140569999 meters Centerline goodness [0,1] 0.9777347320767857 Centerline is valid? [True, True] Translation: X:626.92, Y:-41.25, Z:1.70 [[ 9.69030405e-01 2.46915755e-01 3.56150998e-03 6.26919409e+02] [-2.46913440e-01 9.69036935e-01 -1.08254020e-03 -4.12535147e+01] [-3.71853095e-03 1.69629690e-04 9.99993072e-01 1.69851638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1007140569999 meters Centerline goodness [0,1] 0.976999047041497 Centerline is valid? [True, True] Translation: X:626.95, Y:-41.26, Z:1.70 [[ 9.68974274e-01 2.47140864e-01 3.20151427e-03 6.26947187e+02] [-2.47138998e-01 9.68979551e-01 -9.72125124e-04 -4.12621193e+01] [-3.34245370e-03 1.50745209e-04 9.99994403e-01 1.69804588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.130714057 meters Centerline goodness [0,1] 0.9782925820287836 Centerline is valid? [True, True] Translation: X:626.97, Y:-41.27, Z:1.70 [[ 9.68887226e-01 2.47484264e-01 3.01370959e-03 6.26974770e+02] [-2.47482615e-01 9.68891903e-01 -9.14218403e-04 -4.12692519e+01] [-3.14621349e-03 1.39933802e-04 9.99995041e-01 1.69797738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.160714057 meters Centerline goodness [0,1] 0.9785384465303821 Centerline is valid? [True, True] Translation: X:627.00, Y:-41.28, Z:1.70 [[ 9.68810742e-01 2.47785182e-01 2.87237752e-03 6.27002418e+02] [-2.47783688e-01 9.68814991e-01 -8.70530267e-04 -4.12777483e+01] [-2.99850690e-03 1.31650781e-04 9.99995496e-01 1.69804666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1907140569999 meters Centerline goodness [0,1] 0.9794699677447476 Centerline is valid? [True, True] Translation: X:627.03, Y:-41.28, Z:1.70 [[ 9.68727305e-01 2.48111102e-01 2.87925939e-03 6.27030205e+02] [-2.48109604e-01 9.68731575e-01 -8.71811868e-04 -4.12846441e+01] [-3.00553568e-03 1.30176055e-04 9.99995475e-01 1.69832009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2207140569999 meters Centerline goodness [0,1] 0.979101290097629 Centerline is valid? [True, True] Translation: X:627.06, Y:-41.29, Z:1.70 [[ 9.68637944e-01 2.48465453e-01 2.33509629e-03 6.27057074e+02] [-2.48464471e-01 9.68640753e-01 -7.06254395e-04 -4.12931663e+01] [-2.43734925e-03 1.03916340e-04 9.99997024e-01 1.69869493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.250714057 meters Centerline goodness [0,1] 0.9801154306871392 Centerline is valid? [True, True] Translation: X:627.08, Y:-41.30, Z:1.70 [[ 9.68656706e-01 2.48394507e-01 2.08685213e-03 6.27084761e+02] [-2.48393725e-01 9.68658949e-01 -6.30277302e-04 -4.12996549e+01] [-2.17800541e-03 9.21613612e-05 9.99997624e-01 1.69818824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.280714057 meters Centerline goodness [0,1] 0.9789418612255575 Centerline is valid? [True, True] Translation: X:627.11, Y:-41.31, Z:1.70 [[ 9.68538625e-01 2.48859187e-01 1.42751034e-03 6.27111171e+02] [-2.48858822e-01 9.68539675e-01 -4.30567036e-04 -4.13100151e+01] [-1.48975096e-03 6.17722631e-05 9.99998888e-01 1.69814297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3107140569999 meters Centerline goodness [0,1] 0.9789391406300888 Centerline is valid? [True, True] Translation: X:627.14, Y:-41.32, Z:1.70 [[ 9.68272285e-01 2.49896927e-01 5.54323340e-04 6.27137245e+02] [-2.49896872e-01 9.68272444e-01 -1.67013934e-04 -4.13206960e+01] [-5.78472284e-04 2.31912950e-05 9.99999832e-01 1.69836278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3407140569999 meters Centerline goodness [0,1] 0.9799834646011922 Centerline is valid? [True, True] Translation: X:627.17, Y:-41.33, Z:1.70 [[ 9.68257134e-01 2.49955751e-01 4.94385247e-04 6.27165443e+02] [-2.49955708e-01 9.68257260e-01 -1.48374838e-04 -4.13274631e+01] [-5.15779249e-04 2.00905811e-05 9.99999867e-01 1.69835479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.370714057 meters Centerline goodness [0,1] 0.9800512842800643 Centerline is valid? [True, True] Translation: X:627.19, Y:-41.34, Z:1.70 [[ 9.68232975e-01 2.50047721e-01 1.02185251e-03 6.27193283e+02] [-2.50047536e-01 9.68233513e-01 -3.07290020e-04 -4.13361866e+01] [-1.06622901e-03 4.20166279e-05 9.99999431e-01 1.69860390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.400714057 meters Centerline goodness [0,1] 0.9796978485779836 Centerline is valid? [True, True] Translation: X:627.22, Y:-41.35, Z:1.70 [[ 9.68099257e-01 2.50564344e-01 1.15668566e-03 6.27220305e+02] [-2.50564107e-01 9.68099947e-01 -3.47640052e-04 -4.13455613e+01] [-1.20689352e-03 4.67261678e-05 9.99999271e-01 1.69978823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4307140569999 meters Centerline goodness [0,1] 0.9780776812598835 Centerline is valid? [True, True] Translation: X:627.25, Y:-41.36, Z:1.70 [[ 9.68010452e-01 2.50908290e-01 8.91407875e-04 6.27246299e+02] [-2.50908150e-01 9.68010862e-01 -2.68170949e-04 -4.13558769e+01] [-9.30178819e-04 3.59307809e-05 9.99999567e-01 1.70002968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4607140569999 meters Centerline goodness [0,1] 0.979377195645574 Centerline is valid? [True, True] Translation: X:627.27, Y:-41.36, Z:1.70 [[ 9.67943286e-01 2.51166286e-01 1.13679788e-03 6.27273683e+02] [-2.51166058e-01 9.67943952e-01 -3.41252618e-04 -4.13642486e+01] [-1.18606778e-03 4.47881391e-05 9.99999296e-01 1.70017716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.490714057 meters Centerline goodness [0,1] 0.9787811069406175 Centerline is valid? [True, True] Translation: X:627.30, Y:-41.37, Z:1.70 [[ 9.67931072e-01 2.51213455e-01 1.11346557e-03 6.27300756e+02] [-2.51213237e-01 9.67931712e-01 -3.33944571e-04 -4.13738384e+01] [-1.16165000e-03 4.35180362e-05 9.99999324e-01 1.70021564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.520714057 meters Centerline goodness [0,1] 0.980824295010846 Centerline is valid? [True, True] Translation: X:627.33, Y:-41.38, Z:1.70 [[ 9.67758601e-01 2.51876619e-01 1.20792314e-03 6.27328722e+02] [-2.51876363e-01 9.67759354e-01 -3.61968434e-04 -4.13812896e+01] [-1.26015030e-03 4.60507789e-05 9.99999205e-01 1.69990299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5507140569999 meters Centerline goodness [0,1] 0.9779981809519684 Centerline is valid? [True, True] Translation: X:627.35, Y:-41.39, Z:1.70 [[ 9.67725399e-01 2.52004392e-01 1.15718439e-03 6.27353845e+02] [-2.52004157e-01 9.67726090e-01 -3.47163097e-04 -4.13944612e+01] [-1.20732415e-03 4.43432695e-05 9.99999270e-01 1.70051851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5807140569999 meters Centerline goodness [0,1] 0.9802329609422361 Centerline is valid? [True, True] Translation: X:627.38, Y:-41.40, Z:1.70 [[ 9.67732041e-01 2.51978098e-01 1.31710068e-03 6.27381593e+02] [-2.51977795e-01 9.67732936e-01 -3.94091453e-04 -4.13997038e+01] [-1.37390412e-03 4.94948021e-05 9.99999055e-01 1.69987735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.610714057 meters Centerline goodness [0,1] 0.9797868191862732 Centerline is valid? [True, True] Translation: X:627.41, Y:-41.41, Z:1.70 [[ 9.67835872e-01 2.51579834e-01 1.14542045e-03 6.27406812e+02] [-2.51579605e-01 9.67836549e-01 -3.42237274e-04 -4.14110766e+01] [-1.19467977e-03 4.30650875e-05 9.99999285e-01 1.70003140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.640714057 meters Centerline goodness [0,1] 0.9792436920282804 Centerline is valid? [True, True] Translation: X:627.43, Y:-41.42, Z:1.70 [[ 9.67822939e-01 2.51630962e-01 7.86598218e-04 6.27432638e+02] [-2.51630853e-01 9.67823258e-01 -2.35314731e-04 -4.14213436e+01] [-8.20500522e-04 2.98106141e-05 9.99999663e-01 1.69999273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6707140569999 meters Centerline goodness [0,1] 0.9790452760153654 Centerline is valid? [True, True] Translation: X:627.46, Y:-41.43, Z:1.70 [[ 9.67842830e-01 2.51554161e-01 8.71934691e-04 6.27459521e+02] [-2.51554028e-01 9.67843222e-01 -2.59940645e-04 -4.14298891e+01] [-9.09285232e-04 3.22430061e-05 9.99999586e-01 1.69984657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7007140569999 meters Centerline goodness [0,1] 0.9786240733135928 Centerline is valid? [True, True] Translation: X:627.49, Y:-41.44, Z:1.70 [[ 9.67685106e-01 2.52159134e-01 1.14342321e-03 6.27485754e+02] [-2.52158907e-01 9.67685780e-01 -3.41530341e-04 -4.14396776e+01] [-1.19259437e-03 4.21694785e-05 9.99999288e-01 1.70011663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7307140569999 meters Centerline goodness [0,1] 0.980189677893236 Centerline is valid? [True, True] Translation: X:627.51, Y:-41.45, Z:1.70 [[ 9.67385964e-01 2.53306388e-01 5.20420042e-04 6.27512634e+02] [-2.53306341e-01 9.67386104e-01 -1.54671936e-04 -4.14496793e+01] [-5.42626506e-04 1.78017628e-05 9.99999853e-01 1.70013385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.760714057 meters Centerline goodness [0,1] 0.9807978597164987 Centerline is valid? [True, True] Translation: X:627.54, Y:-41.46, Z:1.70 [[ 9.67512966e-01 2.52821140e-01 3.61779928e-04 6.27539341e+02] [-2.52821118e-01 9.67513034e-01 -1.07008600e-04 -4.14574056e+01] [-3.77080832e-04 1.20666027e-05 9.99999929e-01 1.69947060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.790714057 meters Centerline goodness [0,1] 0.9786413207465839 Centerline is valid? [True, True] Translation: X:627.56, Y:-41.47, Z:1.70 [[ 9.67671638e-01 2.52213178e-01 -3.36367129e-04 6.27564784e+02] [-2.52213159e-01 9.67671697e-01 1.00671498e-04 -4.14707895e+01] [ 3.50883629e-04 -1.25807372e-05 9.99999938e-01 1.69970955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8207140569999 meters Centerline goodness [0,1] 0.9789437423299675 Centerline is valid? [True, True] Translation: X:627.59, Y:-41.48, Z:1.70 [[ 9.67890999e-01 2.51369335e-01 -6.87145773e-04 6.27592126e+02] [-2.51369252e-01 9.67891242e-01 2.05270644e-04 -4.14780383e+01] [ 7.16681121e-04 -2.59522896e-05 9.99999743e-01 1.69889838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8507140569999 meters Centerline goodness [0,1] 0.9762518919610309 Centerline is valid? [True, True] Translation: X:627.62, Y:-41.49, Z:1.70 [[ 9.68620763e-01 2.48542752e-01 -5.64110354e-04 6.27616957e+02] [-2.48542696e-01 9.68620927e-01 1.68415810e-04 -4.14947095e+01] [ 5.88267623e-04 -2.29255421e-05 9.99999827e-01 1.69978961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.880714057 meters Centerline goodness [0,1] 0.9777109081139173 Centerline is valid? [True, True] Translation: X:627.64, Y:-41.50, Z:1.70 [[ 9.69178858e-01 2.46357768e-01 -4.36376901e-04 6.27644927e+02] [-2.46357735e-01 9.69178956e-01 1.30295003e-04 -4.15029117e+01] [ 4.55026496e-04 -1.87743369e-05 9.99999896e-01 1.70014950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.910714057 meters Centerline goodness [0,1] 0.9749565441318483 Centerline is valid? [True, True] Translation: X:627.67, Y:-41.52, Z:1.70 [[ 9.69688984e-01 2.44342534e-01 1.48898940e-05 6.27670074e+02] [-2.44342534e-01 9.69688984e-01 -4.26285160e-06 -4.15177814e+01] [-1.54801622e-05 4.95405807e-07 1.00000000e+00 1.70135644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9407140569999 meters Centerline goodness [0,1] 0.9763115174299385 Centerline is valid? [True, True] Translation: X:627.70, Y:-41.53, Z:1.70 [[ 9.70480970e-01 2.41177370e-01 4.02992228e-04 6.27697836e+02] [-2.41177341e-01 9.70481054e-01 -1.20008907e-04 -4.15282368e+01] [-4.20039754e-04 1.92737664e-05 9.99999912e-01 1.70224783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9707140569999 meters Centerline goodness [0,1] 0.976442596244534 Centerline is valid? [True, True] Translation: X:627.73, Y:-41.54, Z:1.70 [[ 9.70870150e-01 2.39605625e-01 5.43729659e-04 6.27725065e+02] [-2.39605572e-01 9.70870302e-01 -1.61549278e-04 -4.15362383e+01] [-5.66599094e-04 2.65627156e-05 9.99999839e-01 1.70230831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.000714057 meters Centerline goodness [0,1] 0.976262777468885 Centerline is valid? [True, True] Translation: X:627.75, Y:-41.55, Z:1.70 [[ 9.71135132e-01 2.38529941e-01 1.54006642e-04 6.27751843e+02] [-2.38529936e-01 9.71135144e-01 -4.55706135e-05 -4.15452764e+01] [-1.60431218e-04 7.52002910e-06 9.99999987e-01 1.70258831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.030714057 meters Centerline goodness [0,1] 0.9765628347401345 Centerline is valid? [True, True] Translation: X:627.78, Y:-41.56, Z:1.70 [[ 9.71406652e-01 2.37421771e-01 -1.36607464e-04 6.27778869e+02] [-2.37421768e-01 9.71406662e-01 4.14895630e-05 -4.15553210e+01] [ 1.42551926e-04 -7.86965200e-06 9.99999990e-01 1.70290903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0607140569999 meters Centerline goodness [0,1] 0.9765539686958011 Centerline is valid? [True, True] Translation: X:627.81, Y:-41.56, Z:1.70 [[ 9.71532073e-01 2.36907955e-01 -2.28363442e-04 6.27806163e+02] [-2.36907945e-01 9.71532100e-01 6.87259676e-05 -4.15645693e+01] [ 2.38144143e-04 -1.26683680e-05 9.99999972e-01 1.70302298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0907140569999 meters Centerline goodness [0,1] 0.977233036589002 Centerline is valid? [True, True] Translation: X:627.83, Y:-41.57, Z:1.70 [[ 9.71346920e-01 2.37665832e-01 -3.37248278e-04 6.27833671e+02] [-2.37665812e-01 9.71346978e-01 1.01001808e-04 -4.15733326e+01] [ 3.51589775e-04 -1.79554090e-05 9.99999938e-01 1.70324848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.120714057 meters Centerline goodness [0,1] 0.9770575382374362 Centerline is valid? [True, True] Translation: X:627.86, Y:-41.58, Z:1.70 [[ 9.71203684e-01 2.38250516e-01 -3.08677562e-04 6.27861761e+02] [-2.38250499e-01 9.71203733e-01 9.24453579e-05 -4.15801230e+01] [ 3.21813955e-04 -1.62406890e-05 9.99999948e-01 1.70347457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.150714057 meters Centerline goodness [0,1] 0.9765295078836237 Centerline is valid? [True, True] Translation: X:627.89, Y:-41.59, Z:1.70 [[ 9.70862313e-01 2.39637255e-01 -5.96277050e-04 6.27888311e+02] [-2.39637191e-01 9.70862496e-01 1.77185813e-04 -4.15880929e+01] [ 6.21363347e-04 -2.91328703e-05 9.99999807e-01 1.70360715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1807140569999 meters Centerline goodness [0,1] 0.978218542054475 Centerline is valid? [True, True] Translation: X:627.92, Y:-41.60, Z:1.70 [[ 9.70737687e-01 2.40138987e-01 -1.26910454e-03 6.27915339e+02] [-2.40138699e-01 9.70738514e-01 3.76969782e-04 -4.15967381e+01] [ 1.32249380e-03 -6.11776614e-05 9.99999124e-01 1.70388627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2107140569999 meters Centerline goodness [0,1] 0.97849945446377 Centerline is valid? [True, True] Translation: X:627.94, Y:-41.60, Z:1.70 [[ 9.70498200e-01 2.41102141e-01 -1.73218362e-03 6.27943251e+02] [-2.41101607e-01 9.70499743e-01 5.13752329e-04 -4.16038697e+01] [ 1.80495054e-03 -8.09634569e-05 9.99998368e-01 1.70377662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.240714057 meters Centerline goodness [0,1] 0.9791209025571029 Centerline is valid? [True, True] Translation: X:627.97, Y:-41.61, Z:1.70 [[ 9.70339678e-01 2.41732936e-01 -2.46911356e-03 6.27971391e+02] [-2.41731856e-01 9.70342813e-01 7.31278921e-04 -4.16120470e+01] [ 2.57266080e-03 -1.12725549e-04 9.99996684e-01 1.70354529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.270714057 meters Centerline goodness [0,1] 0.9787438787075252 Centerline is valid? [True, True] Translation: X:628.00, Y:-41.62, Z:1.70 [[ 9.69983536e-01 2.43135603e-01 -4.12542401e-03 6.27998141e+02] [-2.43132608e-01 9.69992292e-01 1.22025378e-03 -4.16214739e+01] [ 4.29831663e-03 -1.80600976e-04 9.99990746e-01 1.70291569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3007140569999 meters Centerline goodness [0,1] 0.9789883601506334 Centerline is valid? [True, True] Translation: X:628.03, Y:-41.63, Z:1.70 [[ 9.69770949e-01 2.43977171e-01 -4.40982227e-03 6.28025371e+02] [-2.43973763e-01 9.69780957e-01 1.30314047e-03 -4.16301271e+01] [ 4.59449819e-03 -1.87866834e-04 9.99989428e-01 1.70301845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3307140569999 meters Centerline goodness [0,1] 0.9780113903995205 Centerline is valid? [True, True] Translation: X:628.05, Y:-41.64, Z:1.70 [[ 9.69556729e-01 2.44824935e-01 -4.52777266e-03 6.28051693e+02] [-2.44821357e-01 9.69567283e-01 1.33696328e-03 -4.16383667e+01] [ 4.71730218e-03 -1.87766297e-04 9.99988856e-01 1.70331314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.360714057 meters Centerline goodness [0,1] 0.9800666581207538 Centerline is valid? [True, True] Translation: X:628.08, Y:-41.64, Z:1.70 [[ 9.69096971e-01 2.46630428e-01 -4.94899533e-03 6.28080674e+02] [-2.46626181e-01 9.69109588e-01 1.46040847e-03 -4.16431539e+01] [ 5.15629999e-03 -1.94725608e-04 9.99986687e-01 1.70376842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.390714057 meters Centerline goodness [0,1] 0.9786019666524156 Centerline is valid? [True, True] Translation: X:628.11, Y:-41.65, Z:1.70 [[ 9.68825266e-01 2.47684816e-01 -5.46231451e-03 6.28105916e+02] [-2.47679665e-01 9.68840642e-01 1.61080458e-03 -4.16544110e+01] [ 5.69108413e-03 -2.07683945e-04 9.99983784e-01 1.70431237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4207140569999 meters Centerline goodness [0,1] 0.9804492424081434 Centerline is valid? [True, True] Translation: X:628.13, Y:-41.66, Z:1.70 [[ 9.68666967e-01 2.48311906e-01 -5.05011861e-03 6.28134781e+02] [-2.48307516e-01 9.68680113e-01 1.48844481e-03 -4.16584388e+01] [ 5.26154804e-03 -1.87824915e-04 9.99986140e-01 1.70486548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4507140569999 meters Centerline goodness [0,1] 0.9812962250438203 Centerline is valid? [True, True] Translation: X:628.16, Y:-41.67, Z:1.71 [[ 9.68530334e-01 2.48844399e-01 -5.04545254e-03 6.28163245e+02] [-2.48840032e-01 9.68543459e-01 1.48572884e-03 -4.16654477e+01] [ 5.25645535e-03 -1.83462885e-04 9.99986168e-01 1.70583697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4807140569999 meters Centerline goodness [0,1] 0.9771916462901351 Centerline is valid? [True, True] Translation: X:628.19, Y:-41.69, Z:1.71 [[ 9.67701965e-01 2.52064437e-01 -4.05288703e-03 6.28185848e+02] [-2.52061650e-01 9.67710443e-01 1.19271308e-03 -4.16864905e+01] [ 4.22266165e-03 -1.32613401e-04 9.99991076e-01 1.70551199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.510714057 meters Centerline goodness [0,1] 0.9812752495564628 Centerline is valid? [True, True] Translation: X:628.22, Y:-41.68, Z:1.71 [[ 9.68567441e-01 2.48711173e-01 -4.45708961e-03 6.28216916e+02] [-2.48707768e-01 9.68577682e-01 1.31125089e-03 -4.16842211e+01] [ 4.64316027e-03 -1.61522112e-04 9.99989207e-01 1.70602890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.540714057 meters Centerline goodness [0,1] 0.9814184879666639 Centerline is valid? [True, True] Translation: X:628.24, Y:-41.69, Z:1.71 [[ 9.68688378e-01 2.48235058e-01 -4.70979961e-03 6.28243048e+02] [-2.48231253e-01 9.68699812e-01 1.38524997e-03 -4.16934547e+01] [ 4.90624961e-03 -1.72756088e-04 9.99987949e-01 1.70599443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5707140569999 meters Centerline goodness [0,1] 0.9799867575129755 Centerline is valid? [True, True] Translation: X:628.27, Y:-41.70, Z:1.71 [[ 9.69178390e-01 2.46298113e-01 -5.52156224e-03 6.28269365e+02] [-2.46292855e-01 9.69194095e-01 1.62342372e-03 -4.17039718e+01] [ 5.75131172e-03 -2.13465860e-04 9.99983438e-01 1.70651232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6007140569999 meters Centerline goodness [0,1] 0.9793913507741591 Centerline is valid? [True, True] Translation: X:628.30, Y:-41.71, Z:1.71 [[ 9.69507378e-01 2.44999600e-01 -5.53529405e-03 6.28295589e+02] [-2.44994298e-01 9.69523154e-01 1.62693071e-03 -4.17137869e+01] [ 5.76519312e-03 -2.21205846e-04 9.99983357e-01 1.70611013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.630714057 meters Centerline goodness [0,1] 0.9795797070685629 Centerline is valid? [True, True] Translation: X:628.32, Y:-41.72, Z:1.71 [[ 9.69831150e-01 2.43707554e-01 -5.84534294e-03 6.28323076e+02] [-2.43701624e-01 9.69848736e-01 1.71700411e-03 -4.17224337e+01] [ 6.08754533e-03 -2.40684500e-04 9.99981442e-01 1.70690221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.660714057 meters Centerline goodness [0,1] 0.9789527611159733 Centerline is valid? [True, True] Translation: X:628.35, Y:-41.73, Z:1.71 [[ 9.70214188e-01 2.42183795e-01 -5.60701104e-03 6.28348624e+02] [-2.42178320e-01 9.70230360e-01 1.64595973e-03 -4.17338375e+01] [ 5.83871712e-03 -2.39036972e-04 9.99982926e-01 1.70699241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6907140569999 meters Centerline goodness [0,1] 0.9770403282382704 Centerline is valid? [True, True] Translation: X:628.37, Y:-41.74, Z:1.71 [[ 9.70646415e-01 2.40457807e-01 -5.05775756e-03 6.28374598e+02] [-2.40453331e-01 9.70659566e-01 1.48427515e-03 -4.17449623e+01] [ 5.26626631e-03 -2.24551706e-04 9.99986108e-01 1.70744267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7207140569999 meters Centerline goodness [0,1] 0.9776270608057671 Centerline is valid? [True, True] Translation: X:628.40, Y:-41.75, Z:1.71 [[ 9.70840440e-01 2.39678054e-01 -4.82404516e-03 6.28402240e+02] [-2.39673976e-01 9.70852400e-01 1.41494782e-03 -4.17516373e+01] [ 5.02256776e-03 -2.17490484e-04 9.99987363e-01 1.70833530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.750714057 meters Centerline goodness [0,1] 0.9779968841368418 Centerline is valid? [True, True] Translation: X:628.43, Y:-41.76, Z:1.71 [[ 9.70913413e-01 2.39381802e-01 -4.84737435e-03 6.28428573e+02] [-2.39377688e-01 9.70925489e-01 1.42041903e-03 -4.17594205e+01] [ 5.04646178e-03 -2.18750622e-04 9.99987243e-01 1.70880919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.780714057 meters Centerline goodness [0,1] 0.9779968841368418 Centerline is valid? [True, True] Translation: X:628.45, Y:-41.77, Z:1.71 [[ 9.70981051e-01 2.39107294e-01 -4.84777562e-03 6.28454936e+02] [-2.39103183e-01 9.70993128e-01 1.41904849e-03 -4.17670621e+01] [ 5.04646165e-03 -2.18750616e-04 9.99987243e-01 1.70889741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8107140569999 meters Centerline goodness [0,1] 0.9777791994540763 Centerline is valid? [True, True] Translation: X:628.48, Y:-41.78, Z:1.71 [[ 9.71052015e-01 2.38819389e-01 -4.82531887e-03 6.28481250e+02] [-2.38815320e-01 9.71063979e-01 1.41099602e-03 -4.17754554e+01] [ 5.02266655e-03 -2.17790457e-04 9.99987363e-01 1.70930299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8407140569999 meters Centerline goodness [0,1] 0.9777891789050642 Centerline is valid? [True, True] Translation: X:628.51, Y:-41.78, Z:1.71 [[ 9.71218467e-01 2.38144674e-01 -4.66931624e-03 6.28508569e+02] [-2.38140863e-01 9.71229668e-01 1.36403184e-03 -4.17841344e+01] [ 4.85981538e-03 -2.12817917e-04 9.99988168e-01 1.70898089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.870714057 meters Centerline goodness [0,1] 0.977364850450143 Centerline is valid? [True, True] Translation: X:628.53, Y:-41.79, Z:1.71 [[ 9.71120015e-01 2.38530494e-01 -5.39627945e-03 6.28534399e+02] [-2.38525416e-01 9.71134978e-01 1.57521806e-03 -4.17936061e+01] [ 5.61625327e-03 -2.42575991e-04 9.99984199e-01 1.70894355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.900714057 meters Centerline goodness [0,1] 0.9767506464089578 Centerline is valid? [True, True] Translation: X:628.56, Y:-41.80, Z:1.71 [[ 9.71139548e-01 2.38450781e-01 -5.40405438e-03 6.28561573e+02] [-2.38445693e-01 9.71154553e-01 1.57648546e-03 -4.18016647e+01] [ 5.62408621e-03 -2.42413884e-04 9.99984155e-01 1.70865716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9307140569999 meters Centerline goodness [0,1] 0.9767600674363516 Centerline is valid? [True, True] Translation: X:628.59, Y:-41.81, Z:1.71 [[ 9.70943364e-01 2.39245099e-01 -5.54676387e-03 6.28587790e+02] [-2.39239759e-01 9.70959177e-01 1.61692240e-03 -4.18118123e+01] [ 5.77252205e-03 -2.42933621e-04 9.99983309e-01 1.70805567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9607140569999 meters Centerline goodness [0,1] 0.9762616343608573 Centerline is valid? [True, True] Translation: X:628.61, Y:-41.82, Z:1.71 [[ 9.70880291e-01 2.39500127e-01 -5.58121105e-03 6.28614986e+02] [-2.39494729e-01 9.70896303e-01 1.62601944e-03 -4.18202093e+01] [ 5.80820903e-03 -2.41999596e-04 9.99983103e-01 1.70775355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.990714057 meters Centerline goodness [0,1] 0.9766508729244034 Centerline is valid? [True, True] Translation: X:628.64, Y:-41.83, Z:1.71 [[ 9.70927643e-01 2.39308532e-01 -5.56217715e-03 6.28641646e+02] [-2.39303174e-01 9.70943545e-01 1.61944427e-03 -4.18298170e+01] [ 5.78810683e-03 -2.41316561e-04 9.99983220e-01 1.70741325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.020714057 meters Centerline goodness [0,1] 0.976704 Centerline is valid? [True, True] Translation: X:628.67, Y:-41.84, Z:1.71 [[ 9.70961661e-01 2.39168036e-01 -5.66593897e-03 6.28668720e+02] [-2.39162480e-01 9.70978162e-01 1.64859927e-03 -4.18369201e+01] [ 5.89579525e-03 -2.45646669e-04 9.99982589e-01 1.70746812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0507140569999 meters Centerline goodness [0,1] 0.9782784961379252 Centerline is valid? [True, True] Translation: X:628.70, Y:-41.84, Z:1.71 [[ 9.71230579e-01 2.38058579e-01 -6.26707286e-03 6.28697556e+02] [-2.38051771e-01 9.71250759e-01 1.82162554e-03 -4.18420435e+01] [ 6.52055285e-03 -2.77330635e-04 9.99978703e-01 1.70774769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0807140569999 meters Centerline goodness [0,1] 0.9776589853899561 Centerline is valid? [True, True] Translation: X:628.72, Y:-41.85, Z:1.71 [[ 9.71379930e-01 2.37463416e-01 -5.67083073e-03 6.28723309e+02] [-2.37457838e-01 9.71396449e-01 1.64717671e-03 -4.18519775e+01] [ 5.89976905e-03 -2.53451188e-04 9.99982564e-01 1.70745982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.110714057 meters Centerline goodness [0,1] 0.9764547953378364 Centerline is valid? [True, True] Translation: X:628.75, Y:-41.86, Z:1.71 [[ 9.71737683e-01 2.36000042e-01 -5.46397851e-03 6.28750058e+02] [-2.35994847e-01 9.71753012e-01 1.58602085e-03 -4.18618348e+01] [ 5.68393857e-03 -2.51725451e-04 9.99983815e-01 1.70769524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.140714057 meters Centerline goodness [0,1] 0.977280969345308 Centerline is valid? [True, True] Translation: X:628.78, Y:-41.87, Z:1.71 [[ 9.71984620e-01 2.34993790e-01 -4.88024979e-03 6.28777522e+02] [-2.34989639e-01 9.71996845e-01 1.41535052e-03 -4.18693982e+01] [ 5.07618599e-03 -2.28890802e-04 9.99987090e-01 1.70777463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1707140569999 meters Centerline goodness [0,1] 0.976247687498671 Centerline is valid? [True, True] Translation: X:628.80, Y:-41.88, Z:1.71 [[ 9.72078506e-01 2.34607081e-01 -4.78490983e-03 6.28803448e+02] [-2.34603091e-01 9.72090256e-01 1.38670975e-03 -4.18804962e+01] [ 4.97669615e-03 -2.25436111e-04 9.99987591e-01 1.70789470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2007140569999 meters Centerline goodness [0,1] 0.976115530222468 Centerline is valid? [True, True] Translation: X:628.83, Y:-41.89, Z:1.71 [[ 9.72392312e-01 2.33313703e-01 -4.23173997e-03 6.28830862e+02] [-2.33310573e-01 9.72401498e-01 1.22582363e-03 -4.18883860e+01] [ 4.40095174e-03 -2.04671801e-04 9.99990295e-01 1.70765898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2307140569999 meters Centerline goodness [0,1] 0.975406517059864 Centerline is valid? [True, True] Translation: X:628.86, Y:-41.90, Z:1.71 [[ 9.72884175e-01 2.31255175e-01 -4.17451037e-03 6.28857730e+02] [-2.31252114e-01 9.72893108e-01 1.20836827e-03 -4.18983599e+01] [ 4.34079379e-03 -2.10238018e-04 9.99990557e-01 1.70795221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.260714057 meters Centerline goodness [0,1] 0.9753658951667801 Centerline is valid? [True, True] Translation: X:628.89, Y:-41.91, Z:1.71 [[ 9.73202215e-01 2.29917197e-01 -3.94083108e-03 6.28885416e+02] [-2.29914460e-01 9.73210173e-01 1.14033007e-03 -4.19063371e+01] [ 4.09743839e-03 -2.03717703e-04 9.99991585e-01 1.70842336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.290714057 meters Centerline goodness [0,1] 0.9746081704697701 Centerline is valid? [True, True] Translation: X:628.91, Y:-41.92, Z:1.71 [[ 9.73558120e-01 2.28405871e-01 -3.91724254e-03 6.28912860e+02] [-2.28403158e-01 9.73565979e-01 1.13245792e-03 -4.19154779e+01] [ 4.07235410e-03 -2.07803032e-04 9.99991686e-01 1.70834876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3207140569999 meters Centerline goodness [0,1] 0.976390368634136 Centerline is valid? [True, True] Translation: X:628.94, Y:-41.92, Z:1.71 [[ 9.73911331e-01 2.26893857e-01 -3.98699975e-03 6.28941460e+02] [-2.26891039e-01 9.73919468e-01 1.15152905e-03 -4.19209670e+01] [ 4.14429154e-03 -2.16872673e-04 9.99991389e-01 1.70853280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3507140569999 meters Centerline goodness [0,1] 0.9732579397134475 Centerline is valid? [True, True] Translation: X:628.97, Y:-41.94, Z:1.71 [[ 9.74682273e-01 2.23571855e-01 -3.17693664e-03 6.28967891e+02] [-2.23570050e-01 9.74687433e-01 9.16875666e-04 -4.19352316e+01] [ 3.30150781e-03 -1.83394575e-04 9.99994533e-01 1.70889353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.380714057 meters Centerline goodness [0,1] 0.9727500743952727 Centerline is valid? [True, True] Translation: X:629.00, Y:-41.94, Z:1.71 [[ 9.75177413e-01 2.21410615e-01 -2.52067482e-03 6.28996592e+02] [-2.21409472e-01 9.75180659e-01 7.27401070e-04 -4.19434392e+01] [ 2.61916765e-03 -1.51243814e-04 9.99996559e-01 1.70926981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.410714057 meters Centerline goodness [0,1] 0.9691351454905384 Centerline is valid? [True, True] Translation: X:629.02, Y:-41.96, Z:1.71 [[ 9.75578701e-01 2.19641395e-01 -1.96359172e-03 6.29020349e+02] [-2.19640698e-01 9.75580670e-01 5.66634503e-04 -4.19623581e+01] [ 2.04009852e-03 -1.21511895e-04 9.99997912e-01 1.70997281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4407140569999 meters Centerline goodness [0,1] 0.9712784290364445 Centerline is valid? [True, True] Translation: X:629.05, Y:-41.96, Z:1.71 [[ 9.76246786e-01 2.16657052e-01 -1.39122182e-03 6.29051963e+02] [-2.16656699e-01 9.76247773e-01 4.01330394e-04 -4.19605254e+01] [ 1.44512826e-03 -9.03799808e-05 9.99998952e-01 1.71042077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4707140569999 meters Centerline goodness [0,1] 0.9694083632730288 Centerline is valid? [True, True] Translation: X:629.08, Y:-41.97, Z:1.71 [[ 9.76501396e-01 2.15506513e-01 -1.40248518e-03 6.29077135e+02] [-2.15506153e-01 9.76502398e-01 4.04714680e-04 -4.19717077e+01] [ 1.45674879e-03 -9.29602643e-05 9.99998935e-01 1.71056624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.500714057 meters Centerline goodness [0,1] 0.96950739440366 Centerline is valid? [True, True] Translation: X:629.10, Y:-41.98, Z:1.71 [[ 9.76736612e-01 2.14436736e-01 -1.57358489e-03 6.29104994e+02] [-2.14436282e-01 9.76737874e-01 4.53831073e-04 -4.19775566e+01] [ 1.63429801e-03 -1.05839732e-04 9.99998659e-01 1.71018969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.530714057 meters Centerline goodness [0,1] 0.9698020117814686 Centerline is valid? [True, True] Translation: X:629.13, Y:-41.99, Z:1.71 [[ 9.76907646e-01 2.13653525e-01 -1.90323996e-03 6.29132572e+02] [-2.13652859e-01 9.76909491e-01 5.48865545e-04 -4.19850113e+01] [ 1.97656024e-03 -1.29558289e-04 9.99998038e-01 1.70986291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5607140569999 meters Centerline goodness [0,1] 0.9696847210994342 Centerline is valid? [True, True] Translation: X:629.16, Y:-41.99, Z:1.71 [[ 9.77073683e-01 2.12890452e-01 -2.16167204e-03 6.29158787e+02] [-2.12889593e-01 9.77076063e-01 6.22530176e-04 -4.19937566e+01] [ 2.24464874e-03 -1.48060370e-04 9.99997470e-01 1.70948096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5907140569999 meters Centerline goodness [0,1] 0.969636444765527 Centerline is valid? [True, True] Translation: X:629.19, Y:-42.00, Z:1.71 [[ 9.77146090e-01 2.12556444e-01 -2.29714478e-03 6.29185391e+02] [-2.12555474e-01 9.77148777e-01 6.61468853e-04 -4.20017332e+01] [ 2.38525168e-03 -1.58081006e-04 9.99997143e-01 1.70925644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.620714057 meters Centerline goodness [0,1] 0.9700406408919718 Centerline is valid? [True, True] Translation: X:629.21, Y:-42.01, Z:1.71 [[ 9.77210968e-01 2.12255275e-01 -2.53436860e-03 6.29212497e+02] [-2.12254095e-01 9.77214239e-01 7.28907638e-04 -4.20082006e+01] [ 2.63133557e-03 -1.74366426e-04 9.99996523e-01 1.70917078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.650714057 meters Centerline goodness [0,1] 0.971054591891029 Centerline is valid? [True, True] Translation: X:629.24, Y:-42.01, Z:1.71 [[ 9.77380341e-01 2.11471662e-01 -2.72133546e-03 6.29240653e+02] [-2.11470301e-01 9.77384111e-01 7.81760417e-04 -4.20136586e+01] [ 2.82511021e-03 -1.88595635e-04 9.99995992e-01 1.70877374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6807140569999 meters Centerline goodness [0,1] 0.9710178925593398 Centerline is valid? [True, True] Translation: X:629.27, Y:-42.02, Z:1.71 [[ 9.77362318e-01 2.11549047e-01 -3.14661423e-03 6.29268528e+02] [-2.11547231e-01 9.77367359e-01 9.02936144e-04 -4.20191551e+01] [ 3.26641332e-03 -2.16838236e-04 9.99994642e-01 1.70951501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7107140569999 meters Centerline goodness [0,1] 0.9708522569777607 Centerline is valid? [True, True] Translation: X:629.29, Y:-42.03, Z:1.71 [[ 9.77393518e-01 2.11403291e-01 -3.24960323e-03 6.29294637e+02] [-2.11401357e-01 9.77398894e-01 9.31588947e-04 -4.20267584e+01] [ 3.37309957e-03 -2.23558466e-04 9.99994286e-01 1.70965919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.740714057 meters Centerline goodness [0,1] 0.9700508690122933 Centerline is valid? [True, True] Translation: X:629.32, Y:-42.04, Z:1.71 [[ 9.77424293e-01 2.11261338e-01 -3.22477679e-03 6.29320406e+02] [-2.11259434e-01 9.77429587e-01 9.24035129e-04 -4.20354083e+01] [ 3.34720514e-03 -2.21909864e-04 9.99994373e-01 1.70965033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.770714057 meters Centerline goodness [0,1] 0.9712843235413161 Centerline is valid? [True, True] Translation: X:629.35, Y:-42.04, Z:1.71 [[ 9.77601409e-01 2.10422573e-01 -4.22199737e-03 6.29348285e+02] [-2.10419305e-01 9.77610482e-01 1.20893065e-03 -4.20430489e+01] [ 4.38185519e-03 -2.93462559e-04 9.99990357e-01 1.70962043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8007140569999 meters Centerline goodness [0,1] 0.9726919463660432 Centerline is valid? [True, True] Translation: X:629.38, Y:-42.05, Z:1.71 [[ 9.77728607e-01 2.09829856e-01 -4.26655888e-03 6.29376480e+02] [-2.09826518e-01 9.77737870e-01 1.22053560e-03 -4.20480099e+01] [ 4.42768100e-03 -2.98115382e-04 9.99990153e-01 1.70973573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8307140569999 meters Centerline goodness [0,1] 0.9736769010533513 Centerline is valid? [True, True] Translation: X:629.40, Y:-42.06, Z:1.71 [[ 9.77862951e-01 2.09202181e-01 -4.30086403e-03 6.29404078e+02] [-2.09198788e-01 9.77872362e-01 1.22916636e-03 -4.20553876e+01] [ 4.46284035e-03 -3.02220696e-04 9.99989996e-01 1.71026220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.860714057 meters Centerline goodness [0,1] 0.9729412016158334 Centerline is valid? [True, True] Translation: X:629.43, Y:-42.06, Z:1.71 [[ 9.77979468e-01 2.08673119e-01 -3.41914039e-03 6.29430580e+02] [-2.08670974e-01 9.77985415e-01 9.76469417e-04 -4.20633663e+01] [ 3.54763235e-03 -2.41491685e-04 9.99993678e-01 1.71149117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.890714057 meters Centerline goodness [0,1] 0.9731557945500715 Centerline is valid? [True, True] Translation: X:629.46, Y:-42.07, Z:1.71 [[ 9.78022466e-01 2.08466990e-01 -3.68384159e-03 6.29457662e+02] [-2.08464500e-01 9.78029369e-01 1.05155766e-03 -4.20704421e+01] [ 3.82212033e-03 -2.60496822e-04 9.99992662e-01 1.71208724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9207140569999 meters Centerline goodness [0,1] 0.9724553199666901 Centerline is valid? [True, True] Translation: X:629.49, Y:-42.08, Z:1.71 [[ 9.78074397e-01 2.08227518e-01 -3.43153903e-03 6.29485030e+02] [-2.08225360e-01 9.78080386e-01 9.78544876e-04 -4.20772075e+01] [ 3.56008099e-03 -2.42556239e-04 9.99993633e-01 1.71202625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9507140569999 meters Centerline goodness [0,1] 0.9741006886522092 Centerline is valid? [True, True] Translation: X:629.51, Y:-42.08, Z:1.71 [[ 9.78104771e-01 2.08083698e-01 -3.49733046e-03 6.29512094e+02] [-2.08081460e-01 9.78110993e-01 9.96208511e-04 -4.20839594e+01] [ 3.62807211e-03 -2.46666672e-04 9.99993388e-01 1.71231572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9807140569999 meters Centerline goodness [0,1] 0.9740896058881424 Centerline is valid? [True, True] Translation: X:629.54, Y:-42.09, Z:1.71 [[ 9.78064608e-01 2.08273201e-01 -3.44905188e-03 6.29541007e+02] [-2.08271029e-01 9.78070660e-01 9.81416965e-04 -4.20885129e+01] [ 3.57781930e-03 -2.41551616e-04 9.99993570e-01 1.71271134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.010714057 meters Centerline goodness [0,1] 0.9744253734537517 Centerline is valid? [True, True] Translation: X:629.57, Y:-42.10, Z:1.71 [[ 9.78156661e-01 2.07845077e-01 -3.15768326e-03 6.29567561e+02] [-2.07843257e-01 9.78161732e-01 8.97724405e-04 -4.20967045e+01] [ 3.27531253e-03 -2.21811934e-04 9.99994612e-01 1.71258602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.040714057 meters Centerline goodness [0,1] 0.9747076712211419 Centerline is valid? [True, True] Translation: X:629.60, Y:-42.10, Z:1.71 [[ 9.78350181e-01 2.06928824e-01 -3.37429998e-03 6.29595870e+02] [-2.06926741e-01 9.78355970e-01 9.58750886e-04 -4.21024719e+01] [ 3.49965973e-03 -2.39761203e-04 9.99993847e-01 1.71319381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0707140569999 meters Centerline goodness [0,1] 0.9728786711191026 Centerline is valid? [True, True] Translation: X:629.62, Y:-42.11, Z:1.71 [[ 9.78453952e-01 2.06440243e-01 -3.20771815e-03 6.29622061e+02] [-2.06438361e-01 9.78459184e-01 9.10602145e-04 -4.21120924e+01] [ 3.32660621e-03 -2.28786191e-04 9.99994441e-01 1.71261832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1007140569999 meters Centerline goodness [0,1] 0.9742711588681022 Centerline is valid? [True, True] Translation: X:629.65, Y:-42.12, Z:1.71 [[ 9.78840196e-01 2.04585713e-01 -4.06894740e-03 6.29651391e+02] [-2.04582671e-01 9.78848608e-01 1.15466855e-03 -4.21184407e+01] [ 4.21911219e-03 -2.97799861e-04 9.99991055e-01 1.71225032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.130714057 meters Centerline goodness [0,1] 0.972141986006804 Centerline is valid? [True, True] Translation: X:629.68, Y:-42.13, Z:1.71 [[ 9.79119583e-01 2.03241767e-01 -4.19832419e-03 6.29677416e+02] [-2.03238517e-01 9.79128534e-01 1.19117273e-03 -4.21299828e+01] [ 4.35279506e-03 -3.13039364e-04 9.99990478e-01 1.71185197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.160714057 meters Centerline goodness [0,1] 0.9734323820941534 Centerline is valid? [True, True] Translation: X:629.71, Y:-42.13, Z:1.71 [[ 9.79435184e-01 2.01714393e-01 -4.24542615e-03 6.29706944e+02] [-2.01711058e-01 9.79444332e-01 1.20425054e-03 -4.21342582e+01] [ 4.40107325e-03 -3.23135952e-04 9.99990263e-01 1.71198134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1907140569999 meters Centerline goodness [0,1] 0.9709486674093752 Centerline is valid? [True, True] Translation: X:629.73, Y:-42.15, Z:1.71 [[ 9.79876274e-01 1.99554663e-01 -4.51923918e-03 6.29733421e+02] [-1.99550861e-01 9.79886632e-01 1.28177687e-03 -4.21479911e+01] [ 4.68412661e-03 -3.54164676e-04 9.99988967e-01 1.71243183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2207140569999 meters Centerline goodness [0,1] 0.9727716414076548 Centerline is valid? [True, True] Translation: X:629.76, Y:-42.15, Z:1.71 [[ 9.80050495e-01 1.98695955e-01 -4.57644243e-03 6.29761958e+02] [-1.98692048e-01 9.80061114e-01 1.29756951e-03 -4.21529450e+01] [ 4.74301508e-03 -3.62380919e-04 9.99988686e-01 1.71302060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.250714057 meters Centerline goodness [0,1] 0.9733824821585478 Centerline is valid? [True, True] Translation: X:629.79, Y:-42.16, Z:1.71 [[ 9.80125018e-01 1.98332138e-01 -4.39448456e-03 6.29789852e+02] [-1.98328537e-01 9.80134808e-01 1.24505931e-03 -4.21584774e+01] [ 4.55412256e-03 -3.48762084e-04 9.99989569e-01 1.71352717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.280714057 meters Centerline goodness [0,1] 0.9724440638047318 Centerline is valid? [True, True] Translation: X:629.82, Y:-42.17, Z:1.71 [[ 9.80236686e-01 1.97769427e-01 -4.82622629e-03 6.29817403e+02] [-1.97765080e-01 9.80248492e-01 1.36658675e-03 -4.21654410e+01] [ 5.00117012e-03 -3.85119436e-04 9.99987420e-01 1.71361404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3107140569999 meters Centerline goodness [0,1] 0.9742694318279201 Centerline is valid? [True, True] Translation: X:629.85, Y:-42.17, Z:1.71 [[ 9.80139006e-01 1.98231240e-01 -5.64837758e-03 6.29846521e+02] [-1.98225304e-01 9.80155180e-01 1.59771252e-03 -4.21683050e+01] [ 5.85300308e-03 -4.46328998e-04 9.99982771e-01 1.71351079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3407140569999 meters Centerline goodness [0,1] 0.9734517069823297 Centerline is valid? [True, True] Translation: X:629.87, Y:-42.18, Z:1.71 [[ 9.80065244e-01 1.98590621e-01 -5.82088606e-03 6.29872364e+02] [-1.98584330e-01 9.80082423e-01 1.64537309e-03 -4.21776775e+01] [ 6.03170378e-03 -4.56636219e-04 9.99981705e-01 1.71316012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.370714057 meters Centerline goodness [0,1] 0.9741199716500935 Centerline is valid? [True, True] Translation: X:629.90, Y:-42.18, Z:1.71 [[ 9.80018079e-01 1.98813114e-01 -6.15721520e-03 6.29900469e+02] [-1.98806087e-01 9.80037303e-01 1.73930250e-03 -4.21835897e+01] [ 6.38009673e-03 -4.80456040e-04 9.99979532e-01 1.71316223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.400714057 meters Centerline goodness [0,1] 0.9751866350082354 Centerline is valid? [True, True] Translation: X:629.93, Y:-42.19, Z:1.71 [[ 9.79957691e-01 1.99112097e-01 -6.10718525e-03 6.29927444e+02] [-1.99105197e-01 9.79976606e-01 1.72392317e-03 -4.21918033e+01] [ 6.32815263e-03 -4.73399447e-04 9.99979865e-01 1.71332088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4307140569999 meters Centerline goodness [0,1] 0.9755358907169552 Centerline is valid? [True, True] Translation: X:629.96, Y:-42.20, Z:1.71 [[ 9.79960281e-01 1.99083771e-01 -6.59541861e-03 6.29956019e+02] [-1.99075732e-01 9.79982343e-01 1.86033872e-03 -4.21976575e+01] [ 6.83375703e-03 -5.10070265e-04 9.99976520e-01 1.71352716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4607140569999 meters Centerline goodness [0,1] 0.9768495651240202 Centerline is valid? [True, True] Translation: X:629.99, Y:-42.20, Z:1.71 [[ 9.79798661e-01 1.99875249e-01 -6.66855779e-03 6.29985021e+02] [-1.99867061e-01 9.79821222e-01 1.87920492e-03 -4.21996165e+01] [ 6.90960099e-03 -5.08417415e-04 9.99975999e-01 1.71447986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.490714057 meters Centerline goodness [0,1] 0.9758963672688994 Centerline is valid? [True, True] Translation: X:630.01, Y:-42.20, Z:1.71 [[ 9.79761775e-01 2.00064829e-01 -6.39749131e-03 6.30013575e+02] [-2.00057309e-01 9.79782542e-01 1.80114394e-03 -4.22043890e+01] [ 6.62849585e-03 -4.84827087e-04 9.99977914e-01 1.71474877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.520714057 meters Centerline goodness [0,1] 0.9759715792873291 Centerline is valid? [True, True] Translation: X:630.04, Y:-42.21, Z:1.71 [[ 9.79714509e-01 2.00286011e-01 -6.70778335e-03 6.30041597e+02] [-2.00277762e-01 9.79737342e-01 1.88664242e-03 -4.22112281e+01] [ 6.94973391e-03 -5.04951113e-04 9.99975723e-01 1.71488929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5507140569999 meters Centerline goodness [0,1] 0.9772409490825392 Centerline is valid? [True, True] Translation: X:630.07, Y:-42.21, Z:1.72 [[ 9.79692226e-01 2.00402788e-01 -6.47035459e-03 6.30070486e+02] [-2.00395127e-01 9.79713472e-01 1.81812145e-03 -4.22147409e+01] [ 6.70345016e-03 -4.84571920e-04 9.99977414e-01 1.71544533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5807140569999 meters Centerline goodness [0,1] 0.9763149403033237 Centerline is valid? [True, True] Translation: X:630.10, Y:-42.23, Z:1.72 [[ 9.79627007e-01 2.00703772e-01 -6.99443611e-03 6.30096169e+02] [-2.00694836e-01 9.79651839e-01 1.96407937e-03 -4.22259456e+01] [ 7.24631034e-03 -5.20317989e-04 9.99973610e-01 1.71528989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.610714057 meters Centerline goodness [0,1] 0.9775019394879751 Centerline is valid? [True, True] Translation: X:630.13, Y:-42.23, Z:1.72 [[ 9.79575577e-01 2.00935479e-01 -7.52479766e-03 6.30125262e+02] [-2.00925155e-01 9.79604320e-01 2.11148717e-03 -4.22288751e+01] [ 7.79559698e-03 -5.56440126e-04 9.99969459e-01 1.71551054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.640714057 meters Centerline goodness [0,1] 0.9772658837699488 Centerline is valid? [True, True] Translation: X:630.15, Y:-42.23, Z:1.72 [[ 9.79612174e-01 2.00738462e-01 -8.00359340e-03 6.30152916e+02] [-2.00726796e-01 9.79644691e-01 2.24343381e-03 -4.22343192e+01] [ 8.29102124e-03 -5.91159409e-04 9.99965454e-01 1.71514009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6707140569999 meters Centerline goodness [0,1] 0.9765365538063403 Centerline is valid? [True, True] Translation: X:630.18, Y:-42.24, Z:1.71 [[ 9.79564776e-01 2.00961637e-01 -8.20181626e-03 6.30181354e+02] [-2.00949413e-01 9.79598928e-01 2.29664580e-03 -4.22391893e+01] [ 8.49602811e-03 -6.01563170e-04 9.99963727e-01 1.71479668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7007140569999 meters Centerline goodness [0,1] 0.9765365538063403 Centerline is valid? [True, True] Translation: X:630.21, Y:-42.25, Z:1.71 [[ 9.79621843e-01 2.00683243e-01 -8.20243791e-03 6.30207845e+02] [-2.00671029e-01 9.79655998e-01 2.29442415e-03 -4.22465221e+01] [ 8.49601998e-03 -6.01676360e-04 9.99963727e-01 1.71488501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7307140569999 meters Centerline goodness [0,1] 0.9780148583275743 Centerline is valid? [True, True] Translation: X:630.24, Y:-42.25, Z:1.72 [[ 9.79630225e-01 2.00629704e-01 -8.50559225e-03 6.30236741e+02] [-2.00616589e-01 9.79666951e-01 2.37674764e-03 -4.22485143e+01] [ 8.80949380e-03 -6.21970916e-04 9.99961002e-01 1.71562921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.760714057 meters Centerline goodness [0,1] 0.978282393456737 Centerline is valid? [True, True] Translation: X:630.26, Y:-42.26, Z:1.72 [[ 9.79581104e-01 2.00889369e-01 -8.02015549e-03 6.30263053e+02] [-2.00877730e-01 9.79613762e-01 2.23958180e-03 -4.22575126e+01] [ 8.30656286e-03 -5.82781380e-04 9.99965330e-01 1.71610334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.790714057 meters Centerline goodness [0,1] 0.9748238751782858 Centerline is valid? [True, True] Translation: X:630.29, Y:-42.27, Z:1.72 [[ 9.79545439e-01 2.01075641e-01 -7.70197705e-03 6.30289408e+02] [-2.01064920e-01 9.79575559e-01 2.14986416e-03 -4.22672917e+01] [ 7.97695379e-03 -5.57292237e-04 9.99968028e-01 1.71654678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8207140569999 meters Centerline goodness [0,1] 0.9777159375269652 Centerline is valid? [True, True] Translation: X:630.32, Y:-42.27, Z:1.72 [[ 9.79412874e-01 2.01761731e-01 -6.52880851e-03 6.30319309e+02] [-2.01754051e-01 9.79434524e-01 1.82122746e-03 -4.22670056e+01] [ 6.76199446e-03 -4.66520054e-04 9.99977029e-01 1.71817792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8507140569999 meters Centerline goodness [0,1] 0.9771995418296557 Centerline is valid? [True, True] Translation: X:630.35, Y:-42.27, Z:1.72 [[ 9.79407940e-01 2.01795069e-01 -6.23192581e-03 6.30347422e+02] [-2.01788082e-01 9.79427666e-01 1.73678486e-03 -4.22725204e+01] [ 6.45419517e-03 -4.43492528e-04 9.99979073e-01 1.71894994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.880714057 meters Centerline goodness [0,1] 0.9771719138807746 Centerline is valid? [True, True] Translation: X:630.38, Y:-42.28, Z:1.72 [[ 9.79359835e-01 2.02027456e-01 -6.26265668e-03 6.30375836e+02] [-2.02020416e-01 9.79379758e-01 1.74366512e-03 -4.22760283e+01] [ 6.48578741e-03 -4.42491079e-04 9.99978869e-01 1.71968480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.910714057 meters Centerline goodness [0,1] 0.9771885357769545 Centerline is valid? [True, True] Translation: X:630.40, Y:-42.28, Z:1.72 [[ 9.79224905e-01 2.02678762e-01 -6.31703599e-03 6.30403104e+02] [-2.02671620e-01 9.79245181e-01 1.75765687e-03 -4.22828921e+01] [ 6.54216677e-03 -4.40857463e-04 9.99978503e-01 1.72000941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9407140569999 meters Centerline goodness [0,1] 0.977850981751983 Centerline is valid? [True, True] Translation: X:630.43, Y:-42.29, Z:1.72 [[ 9.79157454e-01 2.03006813e-01 -6.23810307e-03 6.30430434e+02] [-2.02999858e-01 9.79177230e-01 1.73510704e-03 -4.22890875e+01] [ 6.46044703e-03 -4.32608956e-04 9.99979038e-01 1.72018007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9707140569999 meters Centerline goodness [0,1] 0.9767729342875732 Centerline is valid? [True, True] Translation: X:630.46, Y:-42.30, Z:1.72 [[ 9.79313820e-01 2.02243235e-01 -6.48969934e-03 6.30458787e+02] [-2.02235700e-01 9.79335217e-01 1.80389602e-03 -4.22955266e+01] [ 6.72041688e-03 -4.54131414e-04 9.99977315e-01 1.72008922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.000714057 meters Centerline goodness [0,1] 0.9765916789715974 Centerline is valid? [True, True] Translation: X:630.49, Y:-42.30, Z:1.72 [[ 9.79468503e-01 2.01457229e-01 -7.51249126e-03 6.30485351e+02] [-2.01447119e-01 9.79497169e-01 2.08685024e-03 -4.23030534e+01] [ 7.77887499e-03 -5.30634360e-04 9.99969603e-01 1.71991980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.030714057 meters Centerline goodness [0,1] 0.9771814411949891 Centerline is valid? [True, True] Translation: X:630.52, Y:-42.31, Z:1.72 [[ 9.79848841e-01 1.99568471e-01 -8.28698724e-03 6.30515556e+02] [-1.99556106e-01 9.79883699e-01 2.30147835e-03 -4.23053434e+01] [ 8.57958623e-03 -6.01381990e-04 9.99963014e-01 1.72001017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0607140569999 meters Centerline goodness [0,1] 0.9766097126211903 Centerline is valid? [True, True] Translation: X:630.54, Y:-42.31, Z:1.72 [[ 9.80175916e-01 1.97923957e-01 -9.01563420e-03 6.30544411e+02] [-1.97909256e-01 9.80217149e-01 2.50348369e-03 -4.23132416e+01] [ 9.33277865e-03 -6.69576965e-04 9.99956224e-01 1.71966733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0907140569999 meters Centerline goodness [0,1] 0.9758978486437102 Centerline is valid? [True, True] Translation: X:630.57, Y:-42.32, Z:1.72 [[ 9.80494202e-01 1.96316363e-01 -9.53968332e-03 6.30571579e+02] [-1.96299834e-01 9.80540341e-01 2.64835448e-03 -4.23236333e+01] [ 9.87395966e-03 -7.24057954e-04 9.99950989e-01 1.71929703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.120714057 meters Centerline goodness [0,1] 0.9769874932028276 Centerline is valid? [True, True] Translation: X:630.60, Y:-42.33, Z:1.72 [[ 9.80790661e-01 1.94809217e-01 -9.95231251e-03 6.30600898e+02] [-1.94791156e-01 9.80840851e-01 2.76238242e-03 -4.23290023e+01] [ 1.02997722e-02 -7.70696424e-04 9.99946659e-01 1.71962479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.150714057 meters Centerline goodness [0,1] 0.9759715928895085 Centerline is valid? [True, True] Translation: X:630.63, Y:-42.34, Z:1.72 [[ 9.81191138e-01 1.92764906e-01 -1.02781942e-02 6.30629642e+02] [-1.92745535e-01 9.81244629e-01 2.85244594e-03 -4.23368946e+01] [ 1.06352744e-02 -8.17718638e-04 9.99943110e-01 1.71995230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1807140569999 meters Centerline goodness [0,1] 0.9748724074275166 Centerline is valid? [True, True] Translation: X:630.66, Y:-42.34, Z:1.72 [[ 9.81337002e-01 1.92022823e-01 -1.02432745e-02 6.30657384e+02] [-1.92003564e-01 9.81390117e-01 2.84074071e-03 -4.23438049e+01] [ 1.05981354e-02 -8.20978748e-04 9.99943501e-01 1.72046771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2107140569999 meters Centerline goodness [0,1] 0.9760166840458812 Centerline is valid? [True, True] Translation: X:630.69, Y:-42.35, Z:1.72 [[ 9.81417808e-01 1.91624972e-01 -9.94765034e-03 6.30686626e+02] [-1.91606816e-01 9.81467897e-01 2.75609705e-03 -4.23475971e+01] [ 1.02914365e-02 -7.98845112e-04 9.99946723e-01 1.72102845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.240714057 meters Centerline goodness [0,1] 0.9740685285246187 Centerline is valid? [True, True] Translation: X:630.71, Y:-42.35, Z:1.72 [[ 9.81352256e-01 1.91958047e-01 -9.99286784e-03 6.30714823e+02] [-1.91939771e-01 9.81402809e-01 2.76592100e-03 -4.23547367e+01] [ 1.03379694e-02 -7.96314048e-04 9.99946245e-01 1.72174432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.270714057 meters Centerline goodness [0,1] 0.9760272477184403 Centerline is valid? [True, True] Translation: X:630.75, Y:-42.36, Z:1.72 [[ 9.80917445e-01 1.94155834e-01 -1.02214640e-02 6.30745260e+02] [-1.94136843e-01 9.80970381e-01 2.82800544e-03 -4.23583670e+01] [ 1.05760271e-02 -7.89677129e-04 9.99943760e-01 1.72277656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3007140569999 meters Centerline goodness [0,1] 0.9772657718707647 Centerline is valid? [True, True] Translation: X:630.77, Y:-42.36, Z:1.72 [[ 9.80530166e-01 1.96081789e-01 -1.06078161e-02 6.30774781e+02] [-1.96061452e-01 9.80587220e-01 2.93445903e-03 -4.23631288e+01] [ 1.09772829e-02 -7.97541781e-04 9.99939430e-01 1.72372870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3307140569999 meters Centerline goodness [0,1] 0.9771816489652907 Centerline is valid? [True, True] Translation: X:630.80, Y:-42.37, Z:1.72 [[ 9.80120537e-01 1.98120439e-01 -1.05842017e-02 6.30804108e+02] [-1.98100315e-01 9.80177379e-01 2.92752131e-03 -4.23681442e+01] [ 1.09543969e-02 -7.72590073e-04 9.99939700e-01 1.72419810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.360714057 meters Centerline goodness [0,1] 0.9780765344229164 Centerline is valid? [True, True] Translation: X:630.83, Y:-42.37, Z:1.73 [[ 9.79311055e-01 2.02099396e-01 -1.02806114e-02 6.30833688e+02] [-2.02080630e-01 9.79364761e-01 2.84332065e-03 -4.23724097e+01] [ 1.06431019e-02 -7.06982916e-04 9.99943111e-01 1.72531150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.390714057 meters Centerline goodness [0,1] 0.9779961827874427 Centerline is valid? [True, True] Translation: X:630.86, Y:-42.38, Z:1.73 [[ 9.78932003e-01 2.03943414e-01 -9.96077050e-03 6.30862591e+02] [-2.03925896e-01 9.78982452e-01 2.75455706e-03 -4.23783338e+01] [ 1.03131933e-02 -6.65265010e-04 9.99946596e-01 1.72573286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4207140569999 meters Centerline goodness [0,1] 0.9782136033206685 Centerline is valid? [True, True] Translation: X:630.89, Y:-42.38, Z:1.73 [[ 9.78458816e-01 2.06193894e-01 -1.01204761e-02 6.30892218e+02] [-2.06175933e-01 9.78510937e-01 2.79847391e-03 -4.23845152e+01] [ 1.04800248e-02 -6.51592861e-04 9.99944871e-01 1.72620651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4507140569999 meters Centerline goodness [0,1] 0.9805534119722191 Centerline is valid? [True, True] Translation: X:630.92, Y:-42.39, Z:1.73 [[ 9.77778189e-01 2.09369029e-01 -1.06968488e-02 6.30922654e+02] [-2.09349156e-01 9.77836481e-01 2.95748313e-03 -4.23866355e+01] [ 1.10789743e-02 -6.52386238e-04 9.99938413e-01 1.72631773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4807140569999 meters Centerline goodness [0,1] 0.9806268183020365 Centerline is valid? [True, True] Translation: X:630.95, Y:-42.40, Z:1.73 [[ 9.77505256e-01 2.10629282e-01 -1.08986308e-02 6.30948692e+02] [-2.10608740e-01 9.77565795e-01 3.01241265e-03 -4.23963965e+01] [ 1.12886310e-02 -6.49302295e-04 9.99936071e-01 1.72553429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.510714057 meters Centerline goodness [0,1] 0.9811844540407156 Centerline is valid? [True, True] Translation: X:630.98, Y:-42.40, Z:1.73 [[ 9.77303595e-01 2.11553799e-01 -1.10757644e-02 6.30977121e+02] [-2.11532671e-01 9.77366140e-01 3.05900694e-03 -4.24005876e+01] [ 1.14722217e-02 -6.46692458e-04 9.99933983e-01 1.72597300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.540714057 meters Centerline goodness [0,1] 0.9817135042131734 Centerline is valid? [True, True] Translation: X:631.01, Y:-42.40, Z:1.73 [[ 9.77256094e-01 2.11760446e-01 -1.13154973e-02 6.31006689e+02] [-2.11738442e-01 9.77321382e-01 3.12217276e-03 -4.24024840e+01] [ 1.17200301e-02 -6.55236587e-04 9.99931103e-01 1.72666763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5707140569999 meters Centerline goodness [0,1] 0.9808578829521009 Centerline is valid? [True, True] Translation: X:631.03, Y:-42.41, Z:1.73 [[ 9.76971370e-01 2.13066971e-01 -1.13758078e-02 6.31033188e+02] [-2.13044839e-01 9.77037386e-01 3.13717958e-03 -4.24103411e+01] [ 1.17830189e-02 -6.41377483e-04 9.99930372e-01 1.72619663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6007140569999 meters Centerline goodness [0,1] 0.9818688365099721 Centerline is valid? [True, True] Translation: X:631.06, Y:-42.42, Z:1.73 [[ 9.76660111e-01 2.14480778e-01 -1.15335846e-02 6.31061708e+02] [-2.14458137e-01 9.76728005e-01 3.17974755e-03 -4.24151633e+01] [ 1.19471698e-02 -6.32061522e-04 9.99928430e-01 1.72641733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.630714057 meters Centerline goodness [0,1] 0.9813571302350239 Centerline is valid? [True, True] Translation: X:631.09, Y:-42.42, Z:1.73 [[ 9.76513476e-01 2.15154845e-01 -1.13940195e-02 6.31088550e+02] [-2.15132808e-01 9.76579753e-01 3.14025313e-03 -4.24230594e+01] [ 1.18028094e-02 -6.15272099e-04 9.99930155e-01 1.72631497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.660714057 meters Centerline goodness [0,1] 0.9831224562024421 Centerline is valid? [True, True] Translation: X:631.12, Y:-42.43, Z:1.73 [[ 9.76346366e-01 2.15927234e-01 -1.10997101e-02 6.31117115e+02] [-2.15906397e-01 9.76409281e-01 3.05672912e-03 -4.24284452e+01] [ 1.14978910e-02 -5.87927954e-04 9.99933724e-01 1.72658527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6907140569999 meters Centerline goodness [0,1] 0.9802720336171624 Centerline is valid? [True, True] Translation: X:631.14, Y:-42.44, Z:1.73 [[ 9.76190778e-01 2.16616563e-01 -1.13502871e-02 6.31141756e+02] [-2.16594845e-01 9.76256583e-01 3.12374934e-03 -4.24435709e+01] [ 1.17574483e-02 -5.90961637e-04 9.99930704e-01 1.72538919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7207140569999 meters Centerline goodness [0,1] 0.9828165774691494 Centerline is valid? [True, True] Translation: X:631.17, Y:-42.44, Z:1.73 [[ 9.76310605e-01 2.16075868e-01 -1.13499348e-02 6.31172467e+02] [-2.16054146e-01 9.76376395e-01 3.12101673e-03 -4.24416069e+01] [ 1.17561848e-02 -5.94881270e-04 9.99930717e-01 1.72715215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.750714057 meters Centerline goodness [0,1] 0.9816895179124281 Centerline is valid? [True, True] Translation: X:631.20, Y:-42.45, Z:1.73 [[ 9.76413753e-01 2.15630981e-01 -1.09298803e-02 6.31197765e+02] [-2.15610827e-01 9.76474755e-01 3.00397272e-03 -4.24534483e+01] [ 1.13205018e-02 -5.76519746e-04 9.99935755e-01 1.72637829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.780714057 meters Centerline goodness [0,1] 0.982689717603939 Centerline is valid? [True, True] Translation: X:631.23, Y:-42.46, Z:1.73 [[ 9.76841750e-01 2.13676751e-01 -1.10652946e-02 6.31226388e+02] [-2.13655978e-01 9.76904232e-01 3.04043789e-03 -4.24586970e+01] [ 1.14594040e-02 -6.05860328e-04 9.99934155e-01 1.72761621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8107140569999 meters Centerline goodness [0,1] 0.9818141641807535 Centerline is valid? [True, True] Translation: X:631.25, Y:-42.47, Z:1.73 [[ 9.77202821e-01 2.12013208e-01 -1.11823666e-02 6.31254548e+02] [-2.11991912e-01 9.77266598e-01 3.07023040e-03 -4.24660069e+01] [ 1.15790828e-02 -6.29666536e-04 9.99932762e-01 1.72807092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8407140569999 meters Centerline goodness [0,1] 0.98178606910255 Centerline is valid? [True, True] Translation: X:631.28, Y:-42.48, Z:1.73 [[ 9.77550604e-01 2.10388461e-01 -1.14678409e-02 6.31280595e+02] [-2.10365970e-01 9.77617642e-01 3.14706208e-03 -4.24771706e+01] [ 1.18732691e-02 -6.63968960e-04 9.99929290e-01 1.72760111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.870714057 meters Centerline goodness [0,1] 0.9803406154050054 Centerline is valid? [True, True] Translation: X:631.31, Y:-42.49, Z:1.73 [[ 9.77912758e-01 2.08706770e-01 -1.13191017e-02 6.31307060e+02] [-2.08684755e-01 9.77978031e-01 3.10553188e-03 -4.24886175e+01] [ 1.17179784e-02 -6.74815273e-04 9.99931114e-01 1.72748442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.900714057 meters Centerline goodness [0,1] 0.9806795176480944 Centerline is valid? [True, True] Translation: X:631.34, Y:-42.50, Z:1.73 [[ 9.78649177e-01 2.05180167e-01 -1.21197299e-02 6.31335663e+02] [-2.05154662e-01 9.78723919e-01 3.32483619e-03 -4.24966108e+01] [ 1.25440600e-02 -7.67429100e-04 9.99921026e-01 1.72856152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9307140569999 meters Centerline goodness [0,1] 0.980266784257524 Centerline is valid? [True, True] Translation: X:631.36, Y:-42.51, Z:1.73 [[ 9.78995888e-01 2.03510707e-01 -1.22655780e-02 6.31362003e+02] [-2.03484461e-01 9.79072396e-01 3.36426774e-03 -4.25084518e+01] [ 1.26935533e-02 -7.97749749e-04 9.99919115e-01 1.72848318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9607140569999 meters Centerline goodness [0,1] 0.9801842401749619 Centerline is valid? [True, True] Translation: X:631.39, Y:-42.52, Z:1.73 [[ 9.79309493e-01 2.02003857e-01 -1.21391802e-02 6.31390431e+02] [-2.01978042e-01 9.79384393e-01 3.32891216e-03 -4.25154118e+01] [ 1.25613768e-02 -8.08187414e-04 9.99920776e-01 1.72958011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.990714057 meters Centerline goodness [0,1] 0.9793071532460664 Centerline is valid? [True, True] Translation: X:631.42, Y:-42.52, Z:1.73 [[ 9.79550636e-01 2.00851106e-01 -1.18061467e-02 6.31416113e+02] [-2.00826620e-01 9.79621455e-01 3.23643234e-03 -4.25246318e+01] [ 1.22155956e-02 -7.99260821e-04 9.99925067e-01 1.72970341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.020714057 meters Centerline goodness [0,1] 0.9796984525856368 Centerline is valid? [True, True] Translation: X:631.44, Y:-42.53, Z:1.73 [[ 9.79816583e-01 1.99537951e-01 -1.20029295e-02 6.31444512e+02] [-1.99512552e-01 9.79889749e-01 3.28968949e-03 -4.25344283e+01] [ 1.24179655e-02 -8.28557214e-04 9.99922551e-01 1.73030186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0507140569999 meters Centerline goodness [0,1] 0.9790429006729947 Centerline is valid? [True, True] Translation: X:631.47, Y:-42.54, Z:1.73 [[ 9.79943714e-01 1.98941295e-01 -1.15186458e-02 6.31471467e+02] [-1.98917878e-01 9.80011081e-01 3.15567897e-03 -4.25431396e+01] [ 1.19161954e-02 -8.01123188e-04 9.99928679e-01 1.72999182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0807140569999 meters Centerline goodness [0,1] 0.9791240458435073 Centerline is valid? [True, True] Translation: X:631.50, Y:-42.55, Z:1.73 [[ 9.80037086e-01 1.98481093e-01 -1.15137064e-02 6.31497468e+02] [-1.98457679e-01 9.80104386e-01 3.15312100e-03 -4.25518432e+01] [ 1.19104690e-02 -8.05192064e-04 9.99928744e-01 1.73015889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.110714057 meters Centerline goodness [0,1] 0.9780045401450201 Centerline is valid? [True, True] Translation: X:631.52, Y:-42.56, Z:1.73 [[ 9.80149324e-01 1.97922543e-01 -1.15745449e-02 6.31523604e+02] [-1.97898860e-01 9.80217324e-01 3.16833640e-03 -4.25605828e+01] [ 1.19726547e-02 -8.14853531e-04 9.99927993e-01 1.73057835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.140714057 meters Centerline goodness [0,1] 0.9786700125470514 Centerline is valid? [True, True] Translation: X:631.55, Y:-42.57, Z:1.73 [[ 9.80217209e-01 1.97581392e-01 -1.16540516e-02 6.31551730e+02] [-1.97557389e-01 9.80286141e-01 3.18749303e-03 -4.25682346e+01] [ 1.20540945e-02 -8.22091516e-04 9.99927009e-01 1.73043836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1707140569999 meters Centerline goodness [0,1] 0.976522102669043 Centerline is valid? [True, True] Translation: X:631.58, Y:-42.58, Z:1.73 [[ 9.80305416e-01 1.97097206e-01 -1.24089489e-02 6.31579167e+02] [-1.97069996e-01 9.80383557e-01 3.39075833e-03 -4.25757323e+01] [ 1.28338385e-02 -8.78547240e-04 9.99917257e-01 1.73049983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2007140569999 meters Centerline goodness [0,1] 0.9771570808643743 Centerline is valid? [True, True] Translation: X:631.61, Y:-42.58, Z:1.73 [[ 9.80378684e-01 1.96690557e-01 -1.30560455e-02 6.31605205e+02] [-1.96660422e-01 9.80465177e-01 3.56585563e-03 -4.25844335e+01] [ 1.35023680e-02 -9.28281444e-04 9.99908408e-01 1.72969156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2307140569999 meters Centerline goodness [0,1] 0.9778207636339656 Centerline is valid? [True, True] Translation: X:631.63, Y:-42.59, Z:1.73 [[ 9.80506381e-01 1.96006349e-01 -1.37385409e-02 6.31633017e+02] [-1.95972956e-01 9.80602133e-01 3.74929842e-03 -4.25915601e+01] [ 1.42069288e-02 -9.83828544e-04 9.99898592e-01 1.72979884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.260714057 meters Centerline goodness [0,1] 0.9797846336790645 Centerline is valid? [True, True] Translation: X:631.66, Y:-42.59, Z:1.73 [[ 9.80609849e-01 1.95466860e-01 -1.40367313e-02 6.31662649e+02] [-1.95432000e-01 9.80709788e-01 3.82700880e-03 -4.25926404e+01] [ 1.45140132e-02 -1.00957604e-03 9.99894156e-01 1.73022437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.290714057 meters Centerline goodness [0,1] 0.8138940567947172 Centerline is valid? [True, False] Translation: X:631.72, Y:-42.60, Z:1.73 [[ 9.81230847e-01 1.92311996e-01 -1.42169331e-02 6.31721082e+02] [-1.92412875e-01 9.81295146e-01 -6.09272565e-03 -4.26024900e+01] [ 1.27793032e-02 8.71389132e-03 9.99880372e-01 1.73012429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3207140569999 meters Centerline goodness [0,1] 0.9755656906162558 Centerline is valid? [False, True] Translation: X:631.64, Y:-42.58, Z:1.73 [[ 9.81077681e-01 1.93060753e-01 -1.46331843e-02 6.31644723e+02] [-1.93117896e-01 9.81172155e-01 -2.58464926e-03 -4.25842145e+01] [ 1.38586787e-02 5.36167147e-03 9.99889589e-01 1.72962975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3507140569999 meters Centerline goodness [0,1] 0.9806622516556291 Centerline is valid? [True, True] Translation: X:631.68, Y:-42.58, Z:1.73 [[ 9.81378672e-01 1.91683122e-01 -1.23888263e-02 6.31675305e+02] [-1.91655798e-01 9.81456425e-01 3.36751773e-03 -4.25825843e+01] [ 1.28045895e-02 -9.30419687e-04 9.99917585e-01 1.73044900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.380714057 meters Centerline goodness [0,1] 0.9796824275082264 Centerline is valid? [True, True] Translation: X:631.70, Y:-42.59, Z:1.73 [[ 9.81371203e-01 1.91723714e-01 -1.23522995e-02 6.31702183e+02] [-1.91696568e-01 9.81448501e-01 3.35644264e-03 -4.25903230e+01] [ 1.27666554e-02 -9.26022733e-04 9.99918074e-01 1.73070877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.410714057 meters Centerline goodness [0,1] 0.9801021306568057 Centerline is valid? [True, True] Translation: X:631.73, Y:-42.60, Z:1.73 [[ 9.81548154e-01 1.90796273e-01 -1.26492483e-02 6.31730004e+02] [-1.90767771e-01 9.81629189e-01 3.43400676e-03 -4.25963190e+01] [ 1.30720671e-02 -9.57574091e-04 9.99914098e-01 1.73043415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4407140569999 meters Centerline goodness [0,1] 0.9794096854012019 Centerline is valid? [True, True] Translation: X:631.76, Y:-42.60, Z:1.73 [[ 9.81614656e-01 1.90446314e-01 -1.27619920e-02 6.31758651e+02] [-1.90417317e-01 9.81697135e-01 3.46119337e-03 -4.26012120e+01] [ 1.31875825e-02 -9.67453876e-04 9.99912572e-01 1.73107807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4707140569999 meters Centerline goodness [0,1] 0.9791928132637558 Centerline is valid? [True, True] Translation: X:631.79, Y:-42.61, Z:1.73 [[ 9.81548185e-01 1.90824824e-01 -1.22085266e-02 6.31785079e+02] [-1.90798334e-01 9.81623676e-01 3.30971624e-03 -4.26087790e+01] [ 1.26157548e-02 -9.19279432e-04 9.99919996e-01 1.73144807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.500714057 meters Centerline goodness [0,1] 0.9793385687423958 Centerline is valid? [True, True] Translation: X:631.81, Y:-42.62, Z:1.73 [[ 9.81613699e-01 1.90494892e-01 -1.20930818e-02 6.31812645e+02] [-1.90468918e-01 9.81687764e-01 3.27505210e-03 -4.26154287e+01] [ 1.24955111e-02 -9.11479812e-04 9.99921513e-01 1.73183475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.530714057 meters Centerline goodness [0,1] 0.9790504030472141 Centerline is valid? [True, True] Translation: X:631.84, Y:-42.62, Z:1.73 [[ 9.81512343e-01 1.91033427e-01 -1.18215902e-02 6.31841117e+02] [-1.91008684e-01 9.81583136e-01 3.19833623e-03 -4.26189656e+01] [ 1.22148627e-02 -8.81180101e-04 9.99925008e-01 1.73285709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5607140569999 meters Centerline goodness [0,1] 0.9777029123631367 Centerline is valid? [True, True] Translation: X:631.87, Y:-42.63, Z:1.73 [[ 9.81417096e-01 1.91539017e-01 -1.15451063e-02 6.31867375e+02] [-1.91515468e-01 9.81484629e-01 3.12222445e-03 -4.26290333e+01] [ 1.19293722e-02 -8.53138012e-04 9.99928479e-01 1.73232725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5907140569999 meters Centerline goodness [0,1] 0.9777029123631367 Centerline is valid? [True, True] Translation: X:631.89, Y:-42.64, Z:1.73 [[ 9.81469850e-01 1.91268466e-01 -1.15458998e-02 6.31893921e+02] [-1.91244933e-01 9.81537389e-01 3.11928891e-03 -4.26361194e+01] [ 1.19293539e-02 -8.53393193e-04 9.99928479e-01 1.73236475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.620714057 meters Centerline goodness [0,1] 0.9774868415232871 Centerline is valid? [True, True] Translation: X:631.92, Y:-42.64, Z:1.73 [[ 9.81403675e-01 1.91593483e-01 -1.17798216e-02 6.31921899e+02] [-1.91569048e-01 9.81473989e-01 3.17940003e-03 -4.26429982e+01] [ 1.21707409e-02 -8.63625660e-04 9.99925561e-01 1.73229051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.650714057 meters Centerline goodness [0,1] 0.9770816231446764 Centerline is valid? [True, True] Translation: X:631.95, Y:-42.65, Z:1.73 [[ 9.81360997e-01 1.91794535e-01 -1.20602659e-02 6.31948225e+02] [-1.91768954e-01 9.81434706e-01 3.25376914e-03 -4.26503551e+01] [ 1.24604186e-02 -8.80337550e-04 9.99921978e-01 1.73219492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6807140569999 meters Centerline goodness [0,1] 0.9771499699926649 Centerline is valid? [True, True] Translation: X:631.98, Y:-42.66, Z:1.73 [[ 9.81194776e-01 1.92614855e-01 -1.25031959e-02 6.31975237e+02] [-1.92587441e-01 9.81274022e-01 3.37213600e-03 -4.26566165e+01] [ 1.29185848e-02 -9.00763737e-04 9.99916146e-01 1.73192195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7107140569999 meters Centerline goodness [0,1] 0.9774222222222222 Centerline is valid? [True, True] Translation: X:632.00, Y:-42.66, Z:1.73 [[ 9.81149915e-01 1.92833490e-01 -1.26526170e-02 6.32002865e+02] [-1.92805474e-01 9.81231076e-01 3.40946882e-03 -4.26636277e+01] [ 1.30726008e-02 -9.05706210e-04 9.99914140e-01 1.73166832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.740714057 meters Centerline goodness [0,1] 0.9799285064055596 Centerline is valid? [True, True] Translation: X:632.03, Y:-42.66, Z:1.73 [[ 9.80932102e-01 1.93943083e-01 -1.25813930e-02 6.32033764e+02] [-1.93915495e-01 9.81012385e-01 3.38850751e-03 -4.26617941e+01] [ 1.29996799e-02 -8.84168744e-04 9.99915110e-01 1.73339510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.770714057 meters Centerline goodness [0,1] 0.9818663225347098 Centerline is valid? [True, True] Translation: X:632.06, Y:-42.67, Z:1.73 [[ 9.80391775e-01 1.96663333e-01 -1.24699776e-02 6.32063639e+02] [-1.96636455e-01 9.80470717e-01 3.35812052e-03 -4.26658487e+01] [ 1.28868671e-02 -8.40221553e-04 9.99916608e-01 1.73372247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8007140569999 meters Centerline goodness [0,1] 0.9805089092571531 Centerline is valid? [True, True] Translation: X:632.09, Y:-42.68, Z:1.73 [[ 9.79926343e-01 1.98994791e-01 -1.20596270e-02 6.32090387e+02] [-1.98969837e-01 9.80000235e-01 3.24697893e-03 -4.26769975e+01] [ 1.24645692e-02 -7.82298173e-04 9.99922008e-01 1.73314191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8307140569999 meters Centerline goodness [0,1] 0.9824760885559495 Centerline is valid? [True, True] Translation: X:632.12, Y:-42.68, Z:1.73 [[ 9.79492435e-01 2.01147455e-01 -1.15875618e-02 6.32121794e+02] [-2.01124573e-01 9.79560706e-01 3.11927862e-03 -4.26766180e+01] [ 1.19781552e-02 -7.24766386e-04 9.99927997e-01 1.73445514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.860714057 meters Centerline goodness [0,1] 0.9814823097911168 Centerline is valid? [True, True] Translation: X:632.15, Y:-42.68, Z:1.74 [[ 9.79002786e-01 2.03532896e-01 -1.13095607e-02 6.32151480e+02] [-2.03511264e-01 9.79067873e-01 3.04388143e-03 -4.26819799e+01] [ 1.16923576e-02 -6.78345401e-04 9.99931412e-01 1.73546634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.890714057 meters Centerline goodness [0,1] 0.9830895181854784 Centerline is valid? [True, True] Translation: X:632.18, Y:-42.69, Z:1.74 [[ 9.77990121e-01 2.08423633e-01 -9.74226462e-03 6.32180688e+02] [-2.08407828e-01 9.78038498e-01 2.62165760e-03 -4.26866811e+01] [ 1.00747253e-02 -5.33591028e-04 9.99949106e-01 1.73667041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9207140569999 meters Centerline goodness [0,1] 0.9828790116825568 Centerline is valid? [True, True] Translation: X:632.21, Y:-42.69, Z:1.74 [[ 9.77638870e-01 2.10099772e-01 -8.96241954e-03 6.32209293e+02] [-2.10086483e-01 9.77679836e-01 2.40988112e-03 -4.26920497e+01] [ 9.26869235e-03 -4.73110252e-04 9.99956933e-01 1.73731922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9507140569999 meters Centerline goodness [0,1] 0.9836648839759224 Centerline is valid? [True, True] Translation: X:632.24, Y:-42.70, Z:1.74 [[ 9.77187405e-01 2.12202474e-01 -8.65366706e-03 6.32237370e+02] [-2.12190175e-01 9.77225624e-01 2.32600320e-03 -4.26979382e+01] [ 8.95016882e-03 -4.36717909e-04 9.99959851e-01 1.73783428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9807140569999 meters Centerline goodness [0,1] 0.9841344537815127 Centerline is valid? [True, True] Translation: X:632.27, Y:-42.70, Z:1.74 [[ 9.76880088e-01 2.13628725e-01 -8.24997129e-03 6.32265107e+02] [-2.13617602e-01 9.76914840e-01 2.21688385e-03 -4.27043270e+01] [ 8.53310946e-03 -4.03290601e-04 9.99963511e-01 1.73782635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.010714057 meters Centerline goodness [0,1] 0.9846267124815922 Centerline is valid? [True, True] Translation: X:632.29, Y:-42.71, Z:1.74 [[ 9.76470551e-01 2.15500059e-01 -8.06141955e-03 6.32294049e+02] [-2.15489518e-01 9.76503755e-01 2.16446965e-03 -4.27097327e+01] [ 8.33844980e-03 -3.76389459e-04 9.99965164e-01 1.73770370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.040714057 meters Centerline goodness [0,1] 0.9844707988364287 Centerline is valid? [True, True] Translation: X:632.32, Y:-42.72, Z:1.74 [[ 9.76603521e-01 2.14894423e-01 -8.12094933e-03 6.32322112e+02] [-2.14883722e-01 9.76637211e-01 2.17833157e-03 -4.27176875e+01] [ 8.39933260e-03 -3.82306464e-04 9.99964652e-01 1.73737779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0707140569999 meters Centerline goodness [0,1] 0.9844354496052955 Centerline is valid? [True, True] Translation: X:632.35, Y:-42.73, Z:1.74 [[ 9.76987007e-01 2.13122379e-01 -8.67412184e-03 6.32349867e+02] [-2.13110122e-01 9.77025421e-01 2.32437231e-03 -4.27262566e+01] [ 8.97021330e-03 -4.22338385e-04 9.99959678e-01 1.73649069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1007140569999 meters Centerline goodness [0,1] 0.9848007331411073 Centerline is valid? [True, True] Translation: X:632.38, Y:-42.74, Z:1.74 [[ 9.77259395e-01 2.11861452e-01 -8.87691331e-03 6.32375796e+02] [-2.11848573e-01 9.77299611e-01 2.37763805e-03 -4.27356636e+01] [ 9.17913377e-03 -4.43007700e-04 9.99957773e-01 1.73595490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.130714057 meters Centerline goodness [0,1] 0.9848806306809299 Centerline is valid? [True, True] Translation: X:632.40, Y:-42.74, Z:1.74 [[ 9.77547544e-01 2.10523934e-01 -8.97065327e-03 6.32403469e+02] [-2.10510746e-01 9.77588596e-01 2.40058346e-03 -4.27440139e+01] [ 9.27498861e-03 -4.58265557e-04 9.99956881e-01 1.73533338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.160714057 meters Centerline goodness [0,1] 0.9838216588936246 Centerline is valid? [True, True] Translation: X:632.43, Y:-42.75, Z:1.73 [[ 9.77827509e-01 2.09193833e-01 -9.55530608e-03 6.32429181e+02] [-2.09178817e-01 9.77874067e-01 2.55588955e-03 -4.27547148e+01] [ 9.87856235e-03 -5.00451491e-04 9.99951081e-01 1.73407397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1907140569999 meters Centerline goodness [0,1] 0.9846648362686667 Centerline is valid? [True, True] Translation: X:632.46, Y:-42.76, Z:1.73 [[ 9.78118014e-01 2.07801806e-01 -1.01764146e-02 6.32457036e+02] [-2.07784710e-01 9.78170798e-01 2.72104756e-03 -4.27603965e+01] [ 1.05197102e-02 -5.47002270e-04 9.99944517e-01 1.73414839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2207140569999 meters Centerline goodness [0,1] 0.982505994139064 Centerline is valid? [True, True] Translation: X:632.48, Y:-42.77, Z:1.73 [[ 9.78223877e-01 2.07284823e-01 -1.05379694e-02 6.32482047e+02] [-2.07266479e-01 9.78280469e-01 2.81606139e-03 -4.27726173e+01] [ 1.08928164e-02 -5.70570679e-04 9.99940509e-01 1.73326690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.250714057 meters Centerline goodness [0,1] 0.9844477618591386 Centerline is valid? [True, True] Translation: X:632.51, Y:-42.78, Z:1.73 [[ 9.78385471e-01 2.06523158e-01 -1.04906858e-02 6.32510502e+02] [-2.06504964e-01 9.78441544e-01 2.80075239e-03 -4.27760625e+01] [ 1.08429430e-02 -5.73836763e-04 9.99941049e-01 1.73410806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.280714057 meters Centerline goodness [0,1] 0.9822652425456164 Centerline is valid? [True, True] Translation: X:632.54, Y:-42.79, Z:1.73 [[ 9.78366692e-01 2.06629488e-01 -1.01424828e-02 6.32536806e+02] [-2.06612499e-01 9.78419107e-01 2.70661464e-03 -4.27850533e+01] [ 1.04828653e-02 -5.52497897e-04 9.99944901e-01 1.73401671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3107140569999 meters Centerline goodness [0,1] 0.9824444887206394 Centerline is valid? [True, True] Translation: X:632.56, Y:-42.79, Z:1.73 [[ 9.78495730e-01 2.06051863e-01 -9.42000487e-03 6.32564767e+02] [-2.06037204e-01 9.78540936e-01 2.51156047e-03 -4.27932706e+01] [ 9.73537210e-03 -5.16679724e-04 9.99952477e-01 1.73493615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3407140569999 meters Centerline goodness [0,1] 0.9803172218785897 Centerline is valid? [True, True] Translation: X:632.59, Y:-42.80, Z:1.74 [[ 9.78529671e-01 2.05919649e-01 -8.76243390e-03 6.32592674e+02] [-2.05906980e-01 9.78568786e-01 2.33396620e-03 -4.28019476e+01] [ 9.05525380e-03 -4.79608869e-04 9.99958885e-01 1.73560178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.370714057 meters Centerline goodness [0,1] 0.9809675563227548 Centerline is valid? [True, True] Translation: X:632.62, Y:-42.81, Z:1.74 [[ 9.78559464e-01 2.05800945e-01 -8.20649096e-03 6.32618635e+02] [-2.05789839e-01 9.78593771e-01 2.18466741e-03 -4.28105608e+01] [ 8.48042755e-03 -4.49014515e-04 9.99963940e-01 1.73626819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.400714057 meters Centerline goodness [0,1] 0.9809392633402941 Centerline is valid? [True, True] Translation: X:632.65, Y:-42.82, Z:1.74 [[ 9.78597921e-01 2.05663728e-01 -6.96705208e-03 6.32646431e+02] [-2.05655732e-01 9.78622647e-01 1.85305797e-03 -4.28163106e+01] [ 7.19922176e-03 -3.80584483e-04 9.99974013e-01 1.73689566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4307140569999 meters Centerline goodness [0,1] 0.9809047007221656 Centerline is valid? [True, True] Translation: X:632.67, Y:-42.83, Z:1.74 [[ 9.78596839e-01 2.05699333e-01 -6.00087029e-03 6.32672948e+02] [-2.05693406e-01 9.78615184e-01 1.59533182e-03 -4.28263458e+01] [ 6.20070147e-03 -3.26847226e-04 9.99980722e-01 1.73638990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4607140569999 meters Centerline goodness [0,1] 0.9819035594834651 Centerline is valid? [True, True] Translation: X:632.70, Y:-42.83, Z:1.74 [[ 9.78678393e-01 2.05301768e-01 -6.30770245e-03 6.32700704e+02] [-2.05295221e-01 9.78698659e-01 1.67542068e-03 -4.28321143e+01] [ 6.51730676e-03 -3.44756852e-04 9.99978703e-01 1.73629357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.490714057 meters Centerline goodness [0,1] 0.9822236013831014 Centerline is valid? [True, True] Translation: X:632.73, Y:-42.84, Z:1.74 [[ 9.78775442e-01 2.04827887e-01 -6.64617809e-03 6.32726557e+02] [-2.04820613e-01 9.78797938e-01 1.76443779e-03 -4.28414077e+01] [ 6.86667147e-03 -3.65714106e-04 9.99976357e-01 1.73573493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.520714057 meters Centerline goodness [0,1] 0.9793076004775169 Centerline is valid? [True, True] Translation: X:632.75, Y:-42.85, Z:1.73 [[ 9.78862075e-01 2.04421590e-01 -6.39154229e-03 6.32752076e+02] [-2.04414859e-01 9.78882878e-01 1.69623479e-03 -4.28522663e+01] [ 6.60331832e-03 -3.53853690e-04 9.99978135e-01 1.73479724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5507140569999 meters Centerline goodness [0,1] 0.9796957686601865 Centerline is valid? [True, True] Translation: X:632.78, Y:-42.86, Z:1.73 [[ 9.79056344e-01 2.03488357e-01 -6.41597211e-03 6.32779663e+02] [-2.03481563e-01 9.79077300e-01 1.70125913e-03 -4.28613448e+01] [ 6.62791907e-03 -3.60096509e-04 9.99977970e-01 1.73473409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5807140569999 meters Centerline goodness [0,1] 0.9799977971142196 Centerline is valid? [True, True] Translation: X:632.81, Y:-42.87, Z:1.73 [[ 9.79091709e-01 2.03321065e-01 -6.32218014e-03 6.32805995e+02] [-2.03314478e-01 9.79112056e-01 1.67455068e-03 -4.28694196e+01] [ 6.53059423e-03 -3.54147933e-04 9.99978613e-01 1.73498424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.610714057 meters Centerline goodness [0,1] 0.9787636299683433 Centerline is valid? [True, True] Translation: X:632.83, Y:-42.88, Z:1.73 [[ 9.79218880e-01 2.02716900e-01 -6.02023174e-03 6.32831765e+02] [-2.02710920e-01 9.79237327e-01 1.59376204e-03 -4.28797684e+01] [ 6.21831814e-03 -3.40275162e-04 9.99980608e-01 1.73477834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.640714057 meters Centerline goodness [0,1] 0.9800718647355775 Centerline is valid? [True, True] Translation: X:632.86, Y:-42.89, Z:1.74 [[ 9.79296437e-01 2.02349240e-01 -5.76827367e-03 6.32859697e+02] [-2.02343752e-01 9.79313371e-01 1.52559346e-03 -4.28851602e+01] [ 5.95765021e-03 -3.26834101e-04 9.99982200e-01 1.73535754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6707140569999 meters Centerline goodness [0,1] 0.979333289267852 Centerline is valid? [True, True] Translation: X:632.88, Y:-42.89, Z:1.74 [[ 9.79331879e-01 2.02183362e-01 -5.56400256e-03 6.32884675e+02] [-2.02178259e-01 9.79347634e-01 1.47062487e-03 -4.28948419e+01] [ 5.74642862e-03 -3.15309464e-04 9.99983439e-01 1.73520952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7007140569999 meters Centerline goodness [0,1] 0.9784242424242424 Centerline is valid? [True, True] Translation: X:632.91, Y:-42.90, Z:1.74 [[ 9.79397438e-01 2.01866152e-01 -5.54208818e-03 6.32911621e+02] [-2.01861092e-01 9.79413068e-01 1.46338407e-03 -4.29007100e+01] [ 5.72340129e-03 -3.14502632e-04 9.99983572e-01 1.73540860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7307140569999 meters Centerline goodness [0,1] 0.9781119648737651 Centerline is valid? [True, True] Translation: X:632.94, Y:-42.91, Z:1.73 [[ 9.79286295e-01 2.02407215e-01 -5.44723488e-03 6.32938128e+02] [-2.02402340e-01 9.79301397e-01 1.43756077e-03 -4.29100163e+01] [ 5.62545740e-03 -3.05250475e-04 9.99984130e-01 1.73447579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.760714057 meters Centerline goodness [0,1] 0.9781033153430995 Centerline is valid? [True, True] Translation: X:632.97, Y:-42.92, Z:1.73 [[ 9.79226657e-01 2.02701604e-01 -5.21666238e-03 6.32965482e+02] [-2.02697143e-01 9.79240510e-01 1.37558436e-03 -4.29182688e+01] [ 5.38720028e-03 -2.89606311e-04 9.99985447e-01 1.73427053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.790714057 meters Centerline goodness [0,1] 0.9778750410329358 Centerline is valid? [True, True] Translation: X:632.99, Y:-42.93, Z:1.73 [[ 9.79138481e-01 2.03127724e-01 -5.19260568e-03 6.32991427e+02] [-2.03123314e-01 9.79152208e-01 1.36854665e-03 -4.29271241e+01] [ 5.36234109e-03 -2.85257419e-04 9.99985582e-01 1.73368669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8207140569999 meters Centerline goodness [0,1] 0.9789721166311441 Centerline is valid? [True, True] Translation: X:633.02, Y:-42.93, Z:1.73 [[ 9.79163644e-01 2.03012775e-01 -4.93669052e-03 6.33017972e+02] [-2.03008793e-01 9.79176052e-01 1.29991629e-03 -4.29340684e+01] [ 5.09778875e-03 -2.70639182e-04 9.99986970e-01 1.73391124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8507140569999 meters Centerline goodness [0,1] 0.9775049782270947 Centerline is valid? [True, True] Translation: X:633.04, Y:-42.94, Z:1.73 [[ 9.79269218e-01 2.02518037e-01 -4.27112780e-03 6.33043896e+02] [-2.02515055e-01 9.79278504e-01 1.12405596e-03 -4.29445958e+01] [ 4.41026525e-03 -2.35785719e-04 9.99990247e-01 1.73360186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.880714057 meters Centerline goodness [0,1] 0.9770026577635249 Centerline is valid? [True, True] Translation: X:633.07, Y:-42.95, Z:1.73 [[ 9.79406858e-01 2.01855388e-01 -4.07548690e-03 6.33070059e+02] [-2.01852669e-01 9.79415311e-01 1.07220589e-03 -4.29542951e+01] [ 4.20802480e-03 -2.27477894e-04 9.99991120e-01 1.73363408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.910714057 meters Centerline goodness [0,1] 0.9797070256736872 Centerline is valid? [True, True] Translation: X:633.10, Y:-42.96, Z:1.73 [[ 9.79542006e-01 2.01192838e-01 -4.34741877e-03 6.33099423e+02] [-2.01189741e-01 9.79551623e-01 1.14280888e-03 -4.29558231e+01] [ 4.48844608e-03 -2.44773251e-04 9.99989897e-01 1.73440343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9407140569999 meters Centerline goodness [0,1] 0.9794898764133578 Centerline is valid? [True, True] Translation: X:633.13, Y:-42.97, Z:1.73 [[ 9.79802870e-01 1.99920326e-01 -4.26600915e-03 6.33125533e+02] [-1.99917334e-01 9.79812127e-01 1.12078160e-03 -4.29661286e+01] [ 4.40395452e-03 -2.45295845e-04 9.99990272e-01 1.73476230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9707140569999 meters Centerline goodness [0,1] 0.9797384618754518 Centerline is valid? [True, True] Translation: X:633.15, Y:-42.97, Z:1.74 [[ 9.79865402e-01 1.99627258e-01 -3.57104949e-03 6.33152465e+02] [-1.99625162e-01 9.79871887e-01 9.37420052e-04 -4.29747964e+01] [ 3.68630560e-03 -2.05674142e-04 9.99993184e-01 1.73505778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.000714057 meters Centerline goodness [0,1] 0.9795107033639143 Centerline is valid? [True, True] Translation: X:633.18, Y:-42.98, Z:1.74 [[ 9.79928194e-01 1.99321316e-01 -3.42749206e-03 6.33179289e+02] [-1.99319388e-01 9.79934168e-01 8.98724253e-04 -4.29824049e+01] [ 3.53785149e-03 -1.97519613e-04 9.99993722e-01 1.73549466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.030714057 meters Centerline goodness [0,1] 0.9786996985188098 Centerline is valid? [True, True] Translation: X:633.21, Y:-42.99, Z:1.74 [[ 9.79925649e-01 1.99339515e-01 -3.07908856e-03 6.33206056e+02] [-1.99337961e-01 9.79930470e-01 8.06850799e-04 -4.29908921e+01] [ 3.17812995e-03 -1.76874558e-04 9.99994934e-01 1.73597625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0607140569999 meters Centerline goodness [0,1] 0.9789130957323602 Centerline is valid? [True, True] Translation: X:633.23, Y:-43.00, Z:1.74 [[ 9.79642641e-01 2.00730133e-01 -2.77648437e-03 6.33232818e+02] [-2.00728875e-01 9.79646564e-01 7.27338396e-04 -4.29998512e+01] [ 2.86597210e-03 -1.55211124e-04 9.99995881e-01 1.73676940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0907140569999 meters Centerline goodness [0,1] 0.9812443919199877 Centerline is valid? [True, True] Translation: X:633.26, Y:-43.00, Z:1.74 [[ 9.79478161e-01 2.01537883e-01 -2.23900028e-03 6.33262392e+02] [-2.01537068e-01 9.79480713e-01 5.86210723e-04 -4.30015417e+01] [ 2.31120126e-03 -1.22939048e-04 9.99997322e-01 1.73718368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.120714057 meters Centerline goodness [0,1] 0.9820134462586222 Centerline is valid? [True, True] Translation: X:633.29, Y:-43.01, Z:1.74 [[ 9.79219085e-01 2.02791696e-01 -2.34769301e-03 6.33290607e+02] [-2.02790805e-01 9.79221891e-01 6.14038626e-04 -4.30088669e+01] [ 2.42343432e-03 -1.25187787e-04 9.99997056e-01 1.73765805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.150714057 meters Centerline goodness [0,1] 0.9819240329684706 Centerline is valid? [True, True] Translation: X:633.32, Y:-43.02, Z:1.74 [[ 9.78679802e-01 2.05389055e-01 -1.08685449e-03 6.33318294e+02] [-2.05388866e-01 9.78680404e-01 2.84127362e-04 -4.30166681e+01] [ 1.12203985e-03 -5.48418977e-05 9.99999369e-01 1.73804168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1807140569999 meters Centerline goodness [0,1] 0.9835432263133771 Centerline is valid? [True, True] Translation: X:633.35, Y:-43.02, Z:1.74 [[ 9.78492313e-01 2.06281726e-01 -8.02218437e-04 6.33346690e+02] [-2.06281623e-01 9.78492641e-01 2.09802266e-04 -4.30208128e+01] [ 8.28243211e-04 -3.98069835e-05 9.99999656e-01 1.73815780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2107140569999 meters Centerline goodness [0,1] 0.9844695397654049 Centerline is valid? [True, True] Translation: X:633.37, Y:-43.03, Z:1.74 [[ 9.78330476e-01 2.07049463e-01 -2.40890771e-05 6.33374859e+02] [-2.07049463e-01 9.78330476e-01 6.64098184e-06 -4.30279882e+01] [ 2.49420900e-05 -1.50944445e-06 1.00000000e+00 1.73886820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.240714057 meters Centerline goodness [0,1] 0.9823537100779922 Centerline is valid? [True, True] Translation: X:633.40, Y:-43.04, Z:1.74 [[ 9.78148327e-01 2.07908126e-01 -2.49318058e-04 6.33401058e+02] [-2.07908117e-01 9.78148358e-01 6.51271491e-05 -4.30371489e+01] [ 2.57410513e-04 -1.18687639e-05 9.99999967e-01 1.73839126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.270714057 meters Centerline goodness [0,1] 0.9819772642970915 Centerline is valid? [True, True] Translation: X:633.43, Y:-43.04, Z:1.74 [[ 9.78225301e-01 2.07536791e-01 -1.93390437e-03 6.33427872e+02] [-2.07536200e-01 9.78227209e-01 5.04006573e-04 -4.30445593e+01] [ 1.99639778e-03 -9.16768174e-05 9.99998003e-01 1.73765683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3007140569999 meters Centerline goodness [0,1] 0.9821816601477619 Centerline is valid? [True, True] Translation: X:633.45, Y:-43.05, Z:1.74 [[ 9.78332076e-01 2.07026000e-01 -2.56594268e-03 6.33454436e+02] [-2.07024958e-01 9.78335433e-01 6.68075110e-04 -4.30531979e+01] [ 2.64866156e-03 -1.22385133e-04 9.99996485e-01 1.73672682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3307140569999 meters Centerline goodness [0,1] 0.9814132874294554 Centerline is valid? [True, True] Translation: X:633.48, Y:-43.06, Z:1.74 [[ 9.78735808e-01 2.05104169e-01 -2.91529004e-03 6.33482019e+02] [-2.05102817e-01 9.78740139e-01 7.58472069e-04 -4.30627354e+01] [ 3.00887716e-03 -1.44409573e-04 9.99995463e-01 1.73594473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.360714057 meters Centerline goodness [0,1] 0.9803007191109174 Centerline is valid? [True, True] Translation: X:633.51, Y:-43.07, Z:1.74 [[ 9.79131242e-01 2.03204955e-01 -3.12375038e-03 6.33509121e+02] [-2.03203396e-01 9.79136211e-01 8.11862569e-04 -4.30718305e+01] [ 3.22355161e-03 -1.60163319e-04 9.99994792e-01 1.73613018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.390714057 meters Centerline goodness [0,1] 0.979828531638959 Centerline is valid? [True, True] Translation: X:633.54, Y:-43.08, Z:1.74 [[ 9.79513682e-01 2.01352800e-01 -3.16173068e-03 6.33537098e+02] [-2.01351195e-01 9.79518771e-01 8.21314014e-04 -4.30813105e+01] [ 3.26234842e-03 -1.67870064e-04 9.99994664e-01 1.73634917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4207140569999 meters Centerline goodness [0,1] 0.9785944720551051 Centerline is valid? [True, True] Translation: X:633.56, Y:-43.09, Z:1.74 [[ 9.79871717e-01 1.99609176e-01 -2.75586140e-03 6.33564970e+02] [-1.99607950e-01 9.79875581e-01 7.15786133e-04 -4.30913345e+01] [ 2.84327877e-03 -1.51286744e-04 9.99995946e-01 1.73684935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4507140569999 meters Centerline goodness [0,1] 0.9800740418118467 Centerline is valid? [True, True] Translation: X:633.59, Y:-43.10, Z:1.74 [[ 9.80350655e-01 1.97248440e-01 -2.37630227e-03 6.33594040e+02] [-1.97247521e-01 9.80353525e-01 6.17119309e-04 -4.30983995e+01] [ 2.45134213e-03 -1.36273586e-04 9.99996986e-01 1.73762152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4807140569999 meters Centerline goodness [0,1] 0.9765908843685412 Centerline is valid? [True, True] Translation: X:633.62, Y:-43.11, Z:1.74 [[ 9.80517294e-01 1.96412591e-01 -2.81593558e-03 6.33619448e+02] [-1.96411299e-01 9.80521324e-01 7.31087251e-04 -4.31120346e+01] [ 2.90467963e-03 -1.63762128e-04 9.99995768e-01 1.73754392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.510714057 meters Centerline goodness [0,1] 0.9765908843685412 Centerline is valid? [True, True] Translation: X:633.65, Y:-43.12, Z:1.74 [[ 9.80571172e-01 1.96143433e-01 -2.81607287e-03 6.33646043e+02] [-1.96142142e-01 9.80575202e-01 7.30558144e-04 -4.31188469e+01] [ 2.90466540e-03 -1.64013692e-04 9.99995768e-01 1.73758138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.540714057 meters Centerline goodness [0,1] 0.978587887483153 Centerline is valid? [True, True] Translation: X:633.67, Y:-43.12, Z:1.74 [[ 9.80690794e-01 1.95541770e-01 -2.99711941e-03 6.33674579e+02] [-1.95540306e-01 9.80695358e-01 7.76667294e-04 -4.31230640e+01] [ 3.09113199e-03 -1.75612817e-04 9.99995207e-01 1.73796063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5707140569999 meters Centerline goodness [0,1] 0.977868514214973 Centerline is valid? [True, True] Translation: X:633.70, Y:-43.13, Z:1.74 [[ 9.80892335e-01 1.94524540e-01 -3.22966851e-03 6.33701996e+02] [-1.94522838e-01 9.80897633e-01 8.36038733e-04 -4.31317450e+01] [ 3.33060425e-03 -1.91819700e-04 9.99994435e-01 1.73764768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6007140569999 meters Centerline goodness [0,1] 0.9779196248290236 Centerline is valid? [True, True] Translation: X:633.73, Y:-43.14, Z:1.74 [[ 9.81096666e-01 1.93485129e-01 -3.58295029e-03 6.33729842e+02] [-1.93483031e-01 9.81103184e-01 9.26489202e-04 -4.31399030e+01] [ 3.69450582e-03 -2.15735383e-04 9.99993152e-01 1.73814275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.630714057 meters Centerline goodness [0,1] 0.977558056332531 Centerline is valid? [True, True] Translation: X:633.76, Y:-43.15, Z:1.74 [[ 9.81288796e-01 1.92513817e-01 -3.27553280e-03 6.33756883e+02] [-1.92512060e-01 9.81294243e-01 8.46391824e-04 -4.31485791e+01] [ 3.37720360e-03 -1.99975247e-04 9.99994277e-01 1.73825121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.660714057 meters Centerline goodness [0,1] 0.9755268230351071 Centerline is valid? [True, True] Translation: X:633.78, Y:-43.16, Z:1.74 [[ 9.81768999e-01 1.90055534e-01 -2.92006258e-03 6.33783285e+02] [-1.90054128e-01 9.81773324e-01 7.54249205e-04 -4.31592560e+01] [ 3.01018878e-03 -1.85528539e-04 9.99995452e-01 1.73952295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6907140569999 meters Centerline goodness [0,1] 0.9748823286987831 Centerline is valid? [True, True] Translation: X:633.81, Y:-43.17, Z:1.74 [[ 9.81996807e-01 1.88881666e-01 -2.44697915e-03 6.33809076e+02] [-1.88880675e-01 9.81999843e-01 6.31841197e-04 -4.31688592e+01] [ 2.52227636e-03 -1.58278964e-04 9.99996807e-01 1.74034250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7207140569999 meters Centerline goodness [0,1] 0.9750048733999004 Centerline is valid? [True, True] Translation: X:633.84, Y:-43.18, Z:1.74 [[ 9.82257916e-01 1.87521243e-01 -2.27357828e-03 6.33836205e+02] [-1.87520385e-01 9.82260536e-01 5.86875411e-04 -4.31781466e+01] [ 2.34329783e-03 -1.50120744e-04 9.99997243e-01 1.74093761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.750714057 meters Centerline goodness [0,1] 0.9738028169014085 Centerline is valid? [True, True] Translation: X:633.86, Y:-43.19, Z:1.74 [[ 9.82531138e-01 1.86083359e-01 -2.35498952e-03 6.33864068e+02] [-1.86082435e-01 9.82533948e-01 6.07545729e-04 -4.31862328e+01] [ 2.42691130e-03 -1.58710412e-04 9.99997042e-01 1.74082451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.780714057 meters Centerline goodness [0,1] 0.9738308436138152 Centerline is valid? [True, True] Translation: X:633.89, Y:-43.19, Z:1.74 [[ 9.82668489e-01 1.85357737e-01 -2.26949652e-03 6.33891630e+02] [-1.85356878e-01 9.82671097e-01 5.84914063e-04 -4.31938766e+01] [ 2.33858698e-03 -1.54109829e-04 9.99997254e-01 1.74090234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8107140569999 meters Centerline goodness [0,1] 0.9736722355847364 Centerline is valid? [True, True] Translation: X:633.92, Y:-43.20, Z:1.74 [[ 9.82987184e-01 1.83643214e-01 -3.37149322e-03 6.33918383e+02] [-1.83641311e-01 9.82992937e-01 8.68270808e-04 -4.32035223e+01] [ 3.47360607e-03 -2.34353642e-04 9.99993940e-01 1.73958693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8407140569999 meters Centerline goodness [0,1] 0.9741184644780267 Centerline is valid? [True, True] Translation: X:633.95, Y:-43.21, Z:1.74 [[ 9.83187387e-01 1.82555941e-01 -3.98637691e-03 6.33946423e+02] [-1.82553274e-01 9.83195428e-01 1.02582700e-03 -4.32109046e+01] [ 4.10665836e-03 -2.80854012e-04 9.99991528e-01 1.73861095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.870714057 meters Centerline goodness [0,1] 0.9744246634824143 Centerline is valid? [True, True] Translation: X:633.97, Y:-43.22, Z:1.74 [[ 9.83265051e-01 1.82107556e-01 -5.16505979e-03 6.33972615e+02] [-1.82103078e-01 9.83278549e-01 1.32835518e-03 -4.32192382e+01] [ 5.32059601e-03 -3.65551937e-04 9.99985779e-01 1.73785685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.900714057 meters Centerline goodness [0,1] 0.9743099741579622 Centerline is valid? [True, True] Translation: X:634.00, Y:-43.22, Z:1.74 [[ 9.83282393e-01 1.82017221e-01 -5.04646282e-03 6.34000964e+02] [-1.82012950e-01 9.83295278e-01 1.29679152e-03 -4.32242934e+01] [ 5.19820145e-03 -3.56590684e-04 9.99986426e-01 1.73768875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9307140569999 meters Centerline goodness [0,1] 0.9773383403156135 Centerline is valid? [True, True] Translation: X:634.03, Y:-43.22, Z:1.74 [[ 9.83250643e-01 1.82185389e-01 -5.16303785e-03 6.34030147e+02] [-1.82180928e-01 9.83264132e-01 1.32538449e-03 -4.32245317e+01] [ 5.31809561e-03 -3.62578127e-04 9.99985793e-01 1.73853418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9607140569999 meters Centerline goodness [0,1] 0.977227744306936 Centerline is valid? [True, True] Translation: X:634.06, Y:-43.23, Z:1.74 [[ 9.83188533e-01 1.82527832e-01 -4.88864272e-03 6.34059194e+02] [-1.82523841e-01 9.83200628e-01 1.25409836e-03 -4.32291045e+01] [ 5.03542445e-03 -3.40721280e-04 9.99987264e-01 1.73911564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.990714057 meters Centerline goodness [0,1] 0.9771749989141294 Centerline is valid? [True, True] Translation: X:634.09, Y:-43.24, Z:1.74 [[ 9.83175513e-01 1.82604999e-01 -4.61787321e-03 6.34086895e+02] [-1.82601444e-01 9.83186306e-01 1.18357652e-03 -4.32354796e+01] [ 4.75635669e-03 -3.20433134e-04 9.99988637e-01 1.73943445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.020714057 meters Centerline goodness [0,1] 0.9761868615671561 Centerline is valid? [True, True] Translation: X:634.11, Y:-43.24, Z:1.74 [[ 9.82939154e-01 1.83907675e-01 -2.93037360e-03 6.34113949e+02] [-1.83906251e-01 9.82943502e-01 7.50626092e-04 -4.32419721e+01] [ 3.01843759e-03 -1.98905753e-04 9.99995425e-01 1.74104171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0507140569999 meters Centerline goodness [0,1] 0.9780042684785922 Centerline is valid? [True, True] Translation: X:634.14, Y:-43.25, Z:1.74 [[ 9.82885116e-01 1.84206677e-01 -2.17934261e-03 6.34142422e+02] [-1.84205891e-01 9.82887521e-01 5.57885902e-04 -4.32451845e+01] [ 2.24481496e-03 -1.46890003e-04 9.99997470e-01 1.74149461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0807140569999 meters Centerline goodness [0,1] 0.9774277185872715 Centerline is valid? [True, True] Translation: X:634.17, Y:-43.25, Z:1.74 [[ 9.82793043e-01 1.84703213e-01 -1.59923163e-03 6.34168675e+02] [-1.84702791e-01 9.82794338e-01 4.09098656e-04 -4.32538137e+01] [ 1.64727763e-03 -1.06676767e-04 9.99998638e-01 1.74160039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.110714057 meters Centerline goodness [0,1] 0.9788313696452294 Centerline is valid? [True, True] Translation: X:634.20, Y:-43.26, Z:1.74 [[ 9.82709867e-01 1.85142596e-01 -1.88080083e-03 6.34197227e+02] [-1.85142013e-01 9.82711659e-01 4.80830399e-04 -4.32571943e+01] [ 1.93730709e-03 -1.24301526e-04 9.99998116e-01 1.74155188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.140714057 meters Centerline goodness [0,1] 0.9764528730113698 Centerline is valid? [True, True] Translation: X:634.22, Y:-43.27, Z:1.74 [[ 9.82545639e-01 1.86004659e-01 -2.51684107e-03 6.34223695e+02] [-1.86003620e-01 9.82548849e-01 6.42648886e-04 -4.32678229e+01] [ 2.59245498e-03 -1.63290310e-04 9.99996626e-01 1.74057920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1707140569999 meters Centerline goodness [0,1] 0.9800091861507841 Centerline is valid? [True, True] Translation: X:634.25, Y:-43.27, Z:1.74 [[ 9.82475273e-01 1.86364189e-01 -3.27531194e-03 6.34252972e+02] [-1.86362435e-01 9.82480710e-01 8.35349149e-04 -4.32684587e+01] [ 3.37360997e-03 -2.10314773e-04 9.99994287e-01 1.74005457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2007140569999 meters Centerline goodness [0,1] 0.9793625914315569 Centerline is valid? [True, True] Translation: X:634.28, Y:-43.27, Z:1.74 [[ 9.82403712e-01 1.86737736e-01 -3.45903917e-03 6.34281326e+02] [-1.86735786e-01 9.82409777e-01 8.81270872e-04 -4.32728584e+01] [ 3.56276042e-03 -2.19837378e-04 9.99993629e-01 1.73961178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2307140569999 meters Centerline goodness [0,1] 0.9791261393193591 Centerline is valid? [True, True] Translation: X:634.31, Y:-43.28, Z:1.74 [[ 9.82219891e-01 1.87704352e-01 -3.34101486e-03 6.34307639e+02] [-1.87702540e-01 9.82225551e-01 8.50670378e-04 -4.32818393e+01] [ 3.44130470e-03 -2.08428389e-04 9.99994057e-01 1.73895295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.260714057 meters Centerline goodness [0,1] 0.9789018477263792 Centerline is valid? [True, True] Translation: X:634.34, Y:-43.29, Z:1.74 [[ 9.82058242e-01 1.88545633e-01 -3.48618213e-03 6.34335472e+02] [-1.88543668e-01 9.82064407e-01 8.86943355e-04 -4.32875551e+01] [ 3.59088468e-03 -2.13732467e-04 9.99993530e-01 1.73928342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.290714057 meters Centerline goodness [0,1] 0.9811267236865072 Centerline is valid? [True, True] Translation: X:634.37, Y:-43.29, Z:1.74 [[ 9.81336531e-01 1.92271798e-01 -3.18874431e-03 6.34366186e+02] [-1.92270174e-01 9.81341695e-01 8.10924471e-04 -4.32893919e+01] [ 3.28516565e-03 -1.82689383e-04 9.99994587e-01 1.74014705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3207140569999 meters Centerline goodness [0,1] 0.9820540351030962 Centerline is valid? [True, True] Translation: X:634.40, Y:-43.29, Z:1.74 [[ 9.80905540e-01 1.94465040e-01 -2.76935429e-03 6.34395809e+02] [-1.94463825e-01 9.80909438e-01 7.04195184e-04 -4.32933427e+01] [ 2.85342711e-03 -1.52209730e-04 9.99995917e-01 1.74079469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3507140569999 meters Centerline goodness [0,1] 0.982873558177273 Centerline is valid? [True, True] Translation: X:634.43, Y:-43.29, Z:1.74 [[ 9.79830144e-01 1.99811876e-01 -2.84662697e-03 6.34426673e+02] [-1.99810615e-01 9.79834269e-01 7.23771301e-04 -4.32936473e+01] [ 2.93384075e-03 -1.40386653e-04 9.99995686e-01 1.74104260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.380714057 meters Centerline goodness [0,1] 0.984259930972323 Centerline is valid? [True, True] Translation: X:634.46, Y:-43.30, Z:1.74 [[ 9.79268383e-01 2.02542999e-01 -3.12546391e-03 6.34456199e+02] [-2.02541492e-01 9.79273360e-01 7.94549702e-04 -4.32988919e+01] [ 3.22161402e-03 -1.45041278e-04 9.99994800e-01 1.74085666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.410714057 meters Centerline goodness [0,1] 0.9862748548301953 Centerline is valid? [True, True] Translation: X:634.49, Y:-43.30, Z:1.74 [[ 9.78753824e-01 2.05012728e-01 -3.27604557e-03 6.34485427e+02] [-2.05011087e-01 9.78759297e-01 8.32606095e-04 -4.33017936e+01] [ 3.37715490e-03 -1.43290736e-04 9.99994287e-01 1.74024448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4407140569999 meters Centerline goodness [0,1] 0.9859526478928972 Centerline is valid? [True, True] Translation: X:634.51, Y:-43.31, Z:1.74 [[ 9.78362831e-01 2.06866199e-01 -3.54224281e-03 6.34511925e+02] [-2.06864294e-01 9.78369232e-01 8.99859696e-04 -4.33102087e+01] [ 3.65177194e-03 -1.47625720e-04 9.99993321e-01 1.73917372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4707140569999 meters Centerline goodness [0,1] 0.9867357056296133 Centerline is valid? [True, True] Translation: X:634.54, Y:-43.32, Z:1.74 [[ 9.78040367e-01 2.08384717e-01 -3.58481271e-03 6.34539892e+02] [-2.08382779e-01 9.78046926e-01 9.09908341e-04 -4.33155569e+01] [ 3.69572605e-03 -1.42913852e-04 9.99993161e-01 1.73938309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.500714057 meters Centerline goodness [0,1] 0.9850900081127897 Centerline is valid? [True, True] Translation: X:634.57, Y:-43.32, Z:1.74 [[ 9.77737473e-01 2.09816675e-01 -2.52935603e-03 6.34566499e+02] [-2.09815716e-01 9.77740739e-01 6.41654260e-04 -4.33223831e+01] [ 2.60768419e-03 -9.66707676e-05 9.99996595e-01 1.73934320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.530714057 meters Centerline goodness [0,1] 0.9848838232705509 Centerline is valid? [True, True] Translation: X:634.59, Y:-43.33, Z:1.74 [[ 9.77741313e-01 2.09799144e-01 -2.49894793e-03 6.34592194e+02] [-2.09798209e-01 9.77744501e-01 6.33671133e-04 -4.33290381e+01] [ 2.57627626e-03 -9.52916452e-05 9.99996677e-01 1.73965153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5607140569999 meters Centerline goodness [0,1] 0.986908802397849 Centerline is valid? [True, True] Translation: X:634.62, Y:-43.33, Z:1.74 [[ 9.77896290e-01 2.09078201e-01 -2.26969968e-03 6.34620542e+02] [-2.09077429e-01 9.77898920e-01 5.75135292e-04 -4.33327952e+01] [ 2.33978511e-03 -8.78796961e-05 9.99997259e-01 1.73991351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5907140569999 meters Centerline goodness [0,1] 0.9842330951072018 Centerline is valid? [True, True] Translation: X:634.65, Y:-43.35, Z:1.74 [[ 9.78414926e-01 2.06632420e-01 -2.69738623e-03 6.34645776e+02] [-2.06631321e-01 9.78418638e-01 6.82983752e-04 -4.33477407e+01] [ 2.78029955e-03 -1.10877017e-04 9.99996129e-01 1.73854415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.620714057 meters Centerline goodness [0,1] 0.9828358208955223 Centerline is valid? [True, True] Translation: X:634.67, Y:-43.36, Z:1.74 [[ 9.78873486e-01 2.04446717e-01 -2.87009025e-03 6.34672395e+02] [-2.04445464e-01 9.78877686e-01 7.26490644e-04 -4.33580169e+01] [ 2.95799593e-03 -1.24365495e-04 9.99995617e-01 1.73754970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.650714057 meters Centerline goodness [0,1] 0.9855759731278404 Centerline is valid? [True, True] Translation: X:634.70, Y:-43.36, Z:1.74 [[ 9.79383140e-01 2.01981457e-01 -3.48659992e-03 6.34701335e+02] [-2.01979593e-01 9.79389333e-01 8.82305197e-04 -4.33618950e+01] [ 3.59294806e-03 -1.59892801e-04 9.99993533e-01 1.73749264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6807140569999 meters Centerline goodness [0,1] 0.9840647056244795 Centerline is valid? [True, True] Translation: X:634.73, Y:-43.37, Z:1.74 [[ 9.79996287e-01 1.98978956e-01 -3.82792850e-03 6.34727892e+02] [-1.98976688e-01 9.80003745e-01 9.68375444e-04 -4.33723358e+01] [ 3.94407060e-03 -1.87335805e-04 9.99992205e-01 1.73676491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7107140569999 meters Centerline goodness [0,1] 0.9833428308420638 Centerline is valid? [True, True] Translation: X:634.76, Y:-43.38, Z:1.74 [[ 9.80519264e-01 1.96391918e-01 -3.49114203e-03 6.34755826e+02] [-1.96390016e-01 9.80525462e-01 8.82988305e-04 -4.33820762e+01] [ 3.59656542e-03 -1.80161603e-04 9.99993516e-01 1.73700060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.740714057 meters Centerline goodness [0,1] 0.9819017397964767 Centerline is valid? [True, True] Translation: X:634.78, Y:-43.39, Z:1.74 [[ 9.81431416e-01 1.91795424e-01 -2.62513199e-03 6.34784055e+02] [-1.91794332e-01 9.81434916e-01 6.63887177e-04 -4.33941648e+01] [ 2.70372672e-03 -1.48074296e-04 9.99996334e-01 1.73752769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.770714057 meters Centerline goodness [0,1] 0.9818654547838056 Centerline is valid? [True, True] Translation: X:634.81, Y:-43.40, Z:1.74 [[ 9.81874020e-01 1.89520508e-01 -2.32064414e-03 6.34811980e+02] [-1.89519648e-01 9.81876753e-01 5.86775492e-04 -4.34018050e+01] [ 2.38979253e-03 -1.36331950e-04 9.99997135e-01 1.73853213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8007140569999 meters Centerline goodness [0,1] 0.9811328985538857 Centerline is valid? [True, True] Translation: X:634.84, Y:-43.41, Z:1.74 [[ 9.82209922e-01 1.87776607e-01 -1.90147520e-03 6.34839948e+02] [-1.87776027e-01 9.82211756e-01 4.80546748e-04 -4.34081950e+01] [ 1.95788674e-03 -1.14946324e-04 9.99998077e-01 1.73905721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8307140569999 meters Centerline goodness [0,1] 0.9806266809524851 Centerline is valid? [True, True] Translation: X:634.87, Y:-43.42, Z:1.74 [[ 9.82443475e-01 1.86555964e-01 -1.30023301e-03 6.34865730e+02] [-1.86555693e-01 9.82444332e-01 3.28360182e-04 -4.34176425e+01] [ 1.33866410e-03 -8.00294493e-05 9.99999101e-01 1.74002126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.860714057 meters Centerline goodness [0,1] 0.9789565597031216 Centerline is valid? [True, True] Translation: X:634.89, Y:-43.43, Z:1.74 [[ 9.82673753e-01 1.85343708e-01 -7.12068983e-05 6.34892268e+02] [-1.85343707e-01 9.82673756e-01 1.80907813e-05 -4.34264929e+01] [ 7.33261626e-05 -4.57958544e-06 9.99999997e-01 1.74101538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.890714057 meters Centerline goodness [0,1] 0.9782641904720337 Centerline is valid? [True, True] Translation: X:634.92, Y:-43.43, Z:1.74 [[ 9.82695920e-01 1.85226063e-01 1.83971144e-04 6.34918247e+02] [-1.85226057e-01 9.82695937e-01 -4.62284995e-05 -4.34333576e+01] [-1.89350418e-04 1.13523083e-05 9.99999982e-01 1.74189734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9207140569999 meters Centerline goodness [0,1] 0.9794982642300386 Centerline is valid? [True, True] Translation: X:634.95, Y:-43.43, Z:1.74 [[ 9.82743830e-01 1.84971793e-01 1.52189496e-05 6.34946836e+02] [-1.84971793e-01 9.82743830e-01 -3.42818977e-06 -4.34344486e+01] [-1.55904472e-05 5.53955955e-07 1.00000000e+00 1.74220973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9507140569999 meters Centerline goodness [0,1] 0.9791056519648556 Centerline is valid? [True, True] Translation: X:634.97, Y:-43.44, Z:1.74 [[ 9.82777222e-01 1.84794204e-01 1.85308962e-04 6.34974369e+02] [-1.84794199e-01 9.82777239e-01 -4.62192156e-05 -4.34412215e+01] [-1.90658473e-04 1.11791712e-05 9.99999982e-01 1.74287897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9807140569999 meters Centerline goodness [0,1] 0.9784782277212626 Centerline is valid? [True, True] Translation: X:635.00, Y:-43.45, Z:1.74 [[ 9.82890369e-01 1.84189259e-01 9.15611672e-04 6.35000767e+02] [-1.84189124e-01 9.82890794e-01 -2.30148920e-04 -4.34513357e+01] [-9.42337242e-04 5.75654450e-05 9.99999554e-01 1.74330322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.010714057 meters Centerline goodness [0,1] 0.9787843034434539 Centerline is valid? [True, True] Translation: X:635.03, Y:-43.45, Z:1.74 [[ 9.83076604e-01 1.83192507e-01 9.46316549e-04 6.35029725e+02] [-1.83192363e-01 9.83077058e-01 -2.37390788e-04 -4.34546705e+01] [-9.73790302e-04 6.00153644e-05 9.99999524e-01 1.74256247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.040714057 meters Centerline goodness [0,1] 0.9775669057197831 Centerline is valid? [True, True] Translation: X:635.06, Y:-43.46, Z:1.74 [[ 9.83272987e-01 1.82135613e-01 9.22942445e-04 6.35056269e+02] [-1.82135476e-01 9.83273418e-01 -2.31659473e-04 -4.34645771e+01] [-9.49698213e-04 5.96839408e-05 9.99999547e-01 1.74225133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0707140569999 meters Centerline goodness [0,1] 0.9787341107489006 Centerline is valid? [True, True] Translation: X:635.08, Y:-43.47, Z:1.74 [[ 9.83424398e-01 1.81318373e-01 3.17323602e-04 6.35084654e+02] [-1.81318357e-01 9.83424449e-01 -7.92522946e-05 -4.34688062e+01] [-3.26433685e-04 2.04020460e-05 9.99999947e-01 1.74131940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1007140569999 meters Centerline goodness [0,1] 0.9776749667197695 Centerline is valid? [True, True] Translation: X:635.11, Y:-43.48, Z:1.74 [[ 9.83812438e-01 1.79195432e-01 -1.44342950e-03 6.35111226e+02] [-1.79195092e-01 9.83813492e-01 3.62101447e-04 -4.34779465e+01] [ 1.48495235e-03 -9.75844249e-05 9.99998893e-01 1.73911326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.130714057 meters Centerline goodness [0,1] 0.9770263463349467 Centerline is valid? [True, True] Translation: X:635.14, Y:-43.48, Z:1.74 [[ 9.83986375e-01 1.78225195e-01 -2.56788505e-03 6.35139319e+02] [-1.78224119e-01 9.83989710e-01 6.43676264e-04 -4.34846887e+01] [ 2.64149180e-03 -1.75709622e-04 9.99996496e-01 1.73851930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.160714057 meters Centerline goodness [0,1] 0.9773105927744651 Centerline is valid? [True, True] Translation: X:635.17, Y:-43.49, Z:1.74 [[ 9.84117491e-01 1.77493040e-01 -2.99748049e-03 6.35166177e+02] [-1.77491572e-01 9.84122034e-01 7.50794854e-04 -4.34924438e+01] [ 3.08314745e-03 -2.06842823e-04 9.99995226e-01 1.73772087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1907140569999 meters Centerline goodness [0,1] 0.978093858378331 Centerline is valid? [True, True] Translation: X:635.19, Y:-43.50, Z:1.74 [[ 9.84187160e-01 1.77095493e-01 -3.58056974e-03 6.35194214e+02] [-1.77093400e-01 9.84193642e-01 8.96102080e-04 -4.34980336e+01] [ 3.68266961e-03 -2.47836892e-04 9.99993188e-01 1.73791226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2207140569999 meters Centerline goodness [0,1] 0.9786892809280049 Centerline is valid? [True, True] Translation: X:635.22, Y:-43.50, Z:1.74 [[ 9.84236732e-01 1.76817211e-01 -3.70520859e-03 6.35222068e+02] [-1.76814971e-01 9.84243673e-01 9.26208059e-04 -4.35026069e+01] [ 3.81059764e-03 -2.56471643e-04 9.99992707e-01 1.73804230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.250714057 meters Centerline goodness [0,1] 0.97637829879804 Centerline is valid? [True, True] Translation: X:635.25, Y:-43.51, Z:1.74 [[ 9.84220963e-01 1.76915417e-01 -3.16711057e-03 6.35248677e+02] [-1.76913782e-01 9.84226035e-01 7.91178442e-04 -4.35123884e+01] [ 3.25712434e-03 -2.18388898e-04 9.99994672e-01 1.73844058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.280714057 meters Centerline goodness [0,1] 0.9772227112676056 Centerline is valid? [True, True] Translation: X:635.28, Y:-43.52, Z:1.74 [[ 9.84004746e-01 1.78136533e-01 -1.42673055e-03 6.35277316e+02] [-1.78136203e-01 9.84005776e-01 3.56348803e-04 -4.35162324e+01] [ 1.46738984e-03 -9.64965517e-05 9.99998919e-01 1.74071959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3107140569999 meters Centerline goodness [0,1] 0.9763845258232464 Centerline is valid? [True, True] Translation: X:635.31, Y:-43.52, Z:1.74 [[ 9.83932732e-01 1.78539514e-01 -1.46363011e-04 6.35305103e+02] [-1.78539511e-01 9.83932742e-01 3.68511791e-05 -4.35228252e+01] [ 1.50590750e-04 -1.01275010e-05 9.99999989e-01 1.74160221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3407140569999 meters Centerline goodness [0,1] 0.974507735583685 Centerline is valid? [True, True] Translation: X:635.33, Y:-43.53, Z:1.74 [[ 9.83891588e-01 1.78763420e-01 9.91735694e-04 6.35331743e+02] [-1.78763262e-01 9.83892085e-01 -2.47060025e-04 -4.35325054e+01] [-1.01992620e-03 6.57943733e-05 9.99999478e-01 1.74234320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.370714057 meters Centerline goodness [0,1] 0.9742884793032156 Centerline is valid? [True, True] Translation: X:635.36, Y:-43.54, Z:1.74 [[ 9.83953227e-01 1.78419693e-01 1.56868779e-03 6.35358973e+02] [-1.78419296e-01 9.83954472e-01 -3.90235537e-04 -4.35378273e+01] [-1.61314307e-03 1.04089344e-04 9.99998693e-01 1.74281831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.400714057 meters Centerline goodness [0,1] 0.9742884793032156 Centerline is valid? [True, True] Translation: X:635.39, Y:-43.54, Z:1.74 [[ 9.84001985e-01 1.78150587e-01 1.56879447e-03 6.35385645e+02] [-1.78150191e-01 9.84003230e-01 -3.89806644e-04 -4.35443753e+01] [-1.61314311e-03 1.04089477e-04 9.99998693e-01 1.74285586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4307140569999 meters Centerline goodness [0,1] 0.9771446186366038 Centerline is valid? [True, True] Translation: X:635.42, Y:-43.55, Z:1.74 [[ 9.84126072e-01 1.77456115e-01 2.28084515e-03 6.35415064e+02] [-1.77455277e-01 9.84128703e-01 -5.66331518e-04 -4.35463181e+01] [-2.34514417e-03 1.52593605e-04 9.99997239e-01 1.74255225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4607140569999 meters Centerline goodness [0,1] 0.9747544657570365 Centerline is valid? [True, True] Translation: X:635.44, Y:-43.56, Z:1.74 [[ 9.84350784e-01 1.76207058e-01 2.14651873e-03 6.35440021e+02] [-1.76206314e-01 9.84353113e-01 -5.32733694e-04 -4.35589829e+01] [-2.20680383e-03 1.46166677e-04 9.99997554e-01 1.74267743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.490714057 meters Centerline goodness [0,1] 0.978347753524529 Centerline is valid? [True, True] Translation: X:635.47, Y:-43.56, Z:1.74 [[ 9.84499858e-01 1.75374401e-01 1.96173480e-03 6.35469807e+02] [-1.75373779e-01 9.84501804e-01 -4.86196337e-04 -4.35600815e+01] [-2.01659784e-03 1.34623379e-04 9.99997958e-01 1.74216128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.520714057 meters Centerline goodness [0,1] 0.9719650827854615 Centerline is valid? [True, True] Translation: X:635.50, Y:-43.58, Z:1.74 [[ 9.84786483e-01 1.73761962e-01 1.53739530e-03 6.35495188e+02] [-1.73761578e-01 9.84787677e-01 -3.81142827e-04 -4.35764611e+01] [-1.58023607e-03 1.08204071e-04 9.99998746e-01 1.74227296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5507140569999 meters Centerline goodness [0,1] 0.9769913058751207 Centerline is valid? [True, True] Translation: X:635.53, Y:-43.58, Z:1.74 [[ 9.85152115e-01 1.71682202e-01 7.29226608e-04 6.35525818e+02] [-1.71682115e-01 9.85152384e-01 -1.80743567e-04 -4.35757933e+01] [-7.49429785e-04 5.28647415e-05 9.99999718e-01 1.74150036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5807140569999 meters Centerline goodness [0,1] 0.9755840737084567 Centerline is valid? [True, True] Translation: X:635.55, Y:-43.58, Z:1.74 [[ 9.85284138e-01 1.70924179e-01 3.03806749e-04 6.35553601e+02] [-1.70924164e-01 9.85284185e-01 -7.48905873e-05 -4.35835547e+01] [-3.12136597e-04 2.18605932e-05 9.99999951e-01 1.74101205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.610714057 meters Centerline goodness [0,1] 0.9769220625082421 Centerline is valid? [True, True] Translation: X:635.58, Y:-43.59, Z:1.74 [[ 9.85433183e-01 1.70063051e-01 -3.26806391e-05 6.35582391e+02] [-1.70063050e-01 9.85433183e-01 8.44007572e-06 -4.35886566e+01] [ 3.36399313e-05 -2.75936150e-06 9.99999999e-01 1.74094068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.640714057 meters Centerline goodness [0,1] 0.9760402699316378 Centerline is valid? [True, True] Translation: X:635.61, Y:-43.60, Z:1.74 [[ 9.85460585e-01 1.69904145e-01 1.32074099e-04 6.35608105e+02] [-1.69904143e-01 9.85460593e-01 -3.23706747e-05 -4.35959736e+01] [-1.35653732e-04 9.46008740e-06 9.99999991e-01 1.74099037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6707140569999 meters Centerline goodness [0,1] 0.9759823885525591 Centerline is valid? [True, True] Translation: X:635.64, Y:-43.60, Z:1.74 [[ 9.85376659e-01 1.70390232e-01 9.27531984e-05 6.35636267e+02] [-1.70390231e-01 9.85376663e-01 -2.25527102e-05 -4.36026660e+01] [-9.52395987e-05 6.41867542e-06 9.99999995e-01 1.74132255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7007140569999 meters Centerline goodness [0,1] 0.9763379910361192 Centerline is valid? [True, True] Translation: X:635.66, Y:-43.61, Z:1.74 [[ 9.85267013e-01 1.71022240e-01 5.53583493e-04 6.35664591e+02] [-1.71022190e-01 9.85267168e-01 -1.36232698e-04 -4.36094862e+01] [-5.68726462e-04 3.95505216e-05 9.99999837e-01 1.74091973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7307140569999 meters Centerline goodness [0,1] 0.9767113931301915 Centerline is valid? [True, True] Translation: X:635.69, Y:-43.61, Z:1.74 [[ 9.84811364e-01 1.73627587e-01 1.94453783e-04 6.35693354e+02] [-1.73627580e-01 9.84811383e-01 -4.79104748e-05 -4.36142591e+01] [-1.99818879e-04 1.34202402e-05 9.99999980e-01 1.74016554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.760714057 meters Centerline goodness [0,1] 0.9768501199304623 Centerline is valid? [True, True] Translation: X:635.72, Y:-43.62, Z:1.74 [[ 9.84472986e-01 1.75536104e-01 1.25817531e-04 6.35722934e+02] [-1.75536101e-01 9.84472994e-01 -3.10047946e-05 -4.36203435e+01] [-1.29306423e-04 8.43786380e-06 9.99999992e-01 1.73993189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.790714057 meters Centerline goodness [0,1] 0.979879674725081 Centerline is valid? [True, True] Translation: X:635.75, Y:-43.62, Z:1.74 [[ 9.84190905e-01 1.77109412e-01 -7.20380337e-04 6.35753124e+02] [-1.77109329e-01 9.84191167e-01 1.77735508e-04 -4.36200435e+01] [ 7.40470596e-04 -4.73395921e-05 9.99999725e-01 1.73925463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8207140569999 meters Centerline goodness [0,1] 0.9787191770237753 Centerline is valid? [True, True] Translation: X:635.78, Y:-43.63, Z:1.74 [[ 9.83498168e-01 1.80916603e-01 -7.32413964e-04 6.35781251e+02] [-1.80916518e-01 9.83498440e-01 1.80555986e-04 -4.36261355e+01] [ 7.52993567e-04 -4.50706970e-05 9.99999715e-01 1.73944964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8507140569999 meters Centerline goodness [0,1] 0.9809092915471198 Centerline is valid? [True, True] Translation: X:635.81, Y:-43.63, Z:1.74 [[ 9.83231285e-01 1.82362698e-01 -2.94142848e-04 6.35809846e+02] [-1.82362684e-01 9.83231329e-01 7.25731932e-05 -4.36291363e+01] [ 3.02445107e-04 -1.77155546e-05 9.99999954e-01 1.73944529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.880714057 meters Centerline goodness [0,1] 0.9802137972246199 Centerline is valid? [True, True] Translation: X:635.84, Y:-43.64, Z:1.74 [[ 9.83070105e-01 1.83228357e-01 -7.33531285e-04 6.35837836e+02] [-1.83228273e-01 9.83070378e-01 1.80888315e-04 -4.36352015e+01] [ 7.54256746e-04 -4.34222244e-05 9.99999715e-01 1.73960462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.910714057 meters Centerline goodness [0,1] 0.9804185912878202 Centerline is valid? [True, True] Translation: X:635.87, Y:-43.64, Z:1.74 [[ 9.82954621e-01 1.83847481e-01 -5.62448650e-04 6.35865398e+02] [-1.83847431e-01 9.82954782e-01 1.38630706e-04 -4.36414834e+01] [ 5.78348496e-04 -3.28629540e-05 9.99999832e-01 1.73989992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9407140569999 meters Centerline goodness [0,1] 0.9825838084884521 Centerline is valid? [True, True] Translation: X:635.89, Y:-43.64, Z:1.74 [[ 9.82783327e-01 1.84761823e-01 8.81087128e-06 6.35894354e+02] [-1.84761823e-01 9.82783327e-01 -1.80740190e-06 -4.36436683e+01] [-8.99311626e-06 1.48371816e-07 1.00000000e+00 1.74013327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9707140569999 meters Centerline goodness [0,1] 0.9821836657717823 Centerline is valid? [True, True] Translation: X:635.92, Y:-43.65, Z:1.74 [[ 9.82666004e-01 1.85384320e-01 4.21959758e-04 6.35922718e+02] [-1.85384292e-01 9.82666095e-01 -1.03160921e-04 -4.36500585e+01] [-4.33769964e-04 2.31480184e-05 9.99999906e-01 1.74056039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.000714057 meters Centerline goodness [0,1] 0.9819913381651052 Centerline is valid? [True, True] Translation: X:635.95, Y:-43.66, Z:1.74 [[ 9.82509947e-01 1.86208654e-01 7.35714847e-04 6.35951037e+02] [-1.86208572e-01 9.82510222e-01 -1.79935578e-04 -4.36558294e+01] [-7.56352919e-04 3.97920846e-05 9.99999713e-01 1.74040306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.030714057 meters Centerline goodness [0,1] 0.9833474142914314 Centerline is valid? [True, True] Translation: X:635.98, Y:-43.66, Z:1.74 [[ 9.82420372e-01 1.86680056e-01 8.76566313e-04 6.35979342e+02] [-1.86679939e-01 9.82420762e-01 -2.14216243e-04 -4.36617397e+01] [-9.01146846e-04 4.68130552e-05 9.99999593e-01 1.73961969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0607140569999 meters Centerline goodness [0,1] 0.9844763258416985 Centerline is valid? [True, True] Translation: X:636.01, Y:-43.67, Z:1.74 [[ 9.82150172e-01 1.88097474e-01 -6.16783620e-04 6.36008506e+02] [-1.88097416e-01 9.82150365e-01 1.51159290e-04 -4.36656401e+01] [ 6.34206938e-04 -3.24457168e-05 9.99999798e-01 1.73862051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0907140569999 meters Centerline goodness [0,1] 0.9832039331716759 Centerline is valid? [True, True] Translation: X:636.03, Y:-43.67, Z:1.74 [[ 9.82044672e-01 1.88646763e-01 -8.13352457e-04 6.36034778e+02] [-1.88646663e-01 9.82045008e-01 1.98940662e-04 -4.36742393e+01] [ 8.36278232e-04 -4.19323907e-05 9.99999649e-01 1.73814718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.120714057 meters Centerline goodness [0,1] 0.9821639052596464 Centerline is valid? [True, True] Translation: X:636.06, Y:-43.68, Z:1.74 [[ 9.81954740e-01 1.89111117e-01 -1.36895409e-03 6.36062573e+02] [-1.89110834e-01 9.81955692e-01 3.34610858e-04 -4.36802304e+01] [ 1.40753089e-03 -6.96886683e-05 9.99999007e-01 1.73739569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.150714057 meters Centerline goodness [0,1] 0.9835183166885384 Centerline is valid? [True, True] Translation: X:636.09, Y:-43.69, Z:1.74 [[ 9.82024991e-01 1.88746670e-01 -1.26945351e-03 6.36090209e+02] [-1.88746427e-01 9.82025809e-01 3.09984143e-04 -4.36862756e+01] [ 1.30514459e-03 -6.48073605e-05 9.99999146e-01 1.73738436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1807140569999 meters Centerline goodness [0,1] 0.9832290251453262 Centerline is valid? [True, True] Translation: X:636.12, Y:-43.69, Z:1.74 [[ 9.82071359e-01 1.88505368e-01 -1.25386162e-03 6.36117353e+02] [-1.88505130e-01 9.82072157e-01 3.05804006e-04 -4.36927421e+01] [ 1.28902829e-03 -6.39620071e-05 9.99999167e-01 1.73727213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2107140569999 meters Centerline goodness [0,1] 0.9828687120386232 Centerline is valid? [True, True] Translation: X:636.15, Y:-43.70, Z:1.74 [[ 9.82067566e-01 1.88522298e-01 -1.62425502e-03 6.36145426e+02] [-1.88521901e-01 9.82068906e-01 3.95545738e-04 -4.36989734e+01] [ 1.66969954e-03 -8.22449958e-05 9.99998603e-01 1.73761467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.240714057 meters Centerline goodness [0,1] 0.9831598149136858 Centerline is valid? [True, True] Translation: X:636.17, Y:-43.71, Z:1.74 [[ 9.82026849e-01 1.88737643e-01 -1.17073492e-03 6.36173492e+02] [-1.88737437e-01 9.82027545e-01 2.84891817e-04 -4.37058322e+01] [ 1.20346375e-03 -5.88099051e-05 9.99999274e-01 1.73753299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.270714057 meters Centerline goodness [0,1] 0.9833555555555555 Centerline is valid? [True, True] Translation: X:636.20, Y:-43.71, Z:1.74 [[ 9.81957413e-01 1.89099002e-01 -1.09812016e-03 6.36201715e+02] [-1.89098821e-01 9.81958026e-01 2.66954294e-04 -4.37125799e+01] [ 1.12878870e-03 -5.44845198e-05 9.99999361e-01 1.73766468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3007140569999 meters Centerline goodness [0,1] 0.9832433273329333 Centerline is valid? [True, True] Translation: X:636.23, Y:-43.72, Z:1.74 [[ 9.81838685e-01 1.89715169e-01 -9.75529496e-04 6.36229592e+02] [-1.89715027e-01 9.81839168e-01 2.36935078e-04 -4.37197014e+01] [ 1.00276325e-03 -4.75594209e-05 9.99999496e-01 1.73764094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3307140569999 meters Centerline goodness [0,1] 0.9825627828556216 Centerline is valid? [True, True] Translation: X:636.26, Y:-43.73, Z:1.74 [[ 9.81765942e-01 1.90091913e-01 -8.35980802e-04 6.36256533e+02] [-1.90091809e-01 9.81766297e-01 2.02872661e-04 -4.37281748e+01] [ 8.59302229e-04 -4.02603661e-05 9.99999630e-01 1.73714362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.360714057 meters Centerline goodness [0,1] 0.9839680248695459 Centerline is valid? [True, True] Translation: X:636.28, Y:-43.73, Z:1.74 [[ 9.81690069e-01 1.90475194e-01 -1.95139414e-03 6.36284226e+02] [-1.90474630e-01 9.81692005e-01 4.72600208e-04 -4.37346857e+01] [ 2.00568664e-03 -9.22558526e-05 9.99997984e-01 1.73608246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.390714057 meters Centerline goodness [0,1] 0.9825197375736684 Centerline is valid? [True, True] Translation: X:636.31, Y:-43.74, Z:1.74 [[ 9.81708571e-01 1.90374841e-01 -2.38768157e-03 6.36309505e+02] [-1.90373998e-01 9.81711468e-01 5.77714731e-04 -4.37442622e+01] [ 2.45399673e-03 -1.12595015e-04 9.99996983e-01 1.73527842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4207140569999 meters Centerline goodness [0,1] 0.9818250494367543 Centerline is valid? [True, True] Translation: X:636.34, Y:-43.75, Z:1.73 [[ 9.81760652e-01 1.90098523e-01 -2.92801585e-03 6.36336316e+02] [-1.90097256e-01 9.81765009e-01 7.07788368e-04 -4.37501854e+01] [ 3.00917303e-03 -1.38270993e-04 9.99995463e-01 1.73469114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4507140569999 meters Centerline goodness [0,1] 0.9827486678507993 Centerline is valid? [True, True] Translation: X:636.36, Y:-43.76, Z:1.73 [[ 9.81756254e-01 1.90120200e-01 -2.99471558e-03 6.36364337e+02] [-1.90118877e-01 9.81760811e-01 7.23107151e-04 -4.37580218e+01] [ 3.07757168e-03 -1.40563005e-04 9.99995254e-01 1.73473905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4807140569999 meters Centerline goodness [0,1] 0.9824982231698649 Centerline is valid? [True, True] Translation: X:636.39, Y:-43.77, Z:1.73 [[ 9.81664505e-01 1.90592842e-01 -3.02803594e-03 6.36390573e+02] [-1.90591493e-01 9.81669165e-01 7.30667538e-04 -4.37672367e+01] [ 3.11178951e-03 -1.40152496e-04 9.99995149e-01 1.73473265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.510714057 meters Centerline goodness [0,1] 0.9839056984926854 Centerline is valid? [True, True] Translation: X:636.42, Y:-43.77, Z:1.74 [[ 9.81658119e-01 1.90631274e-01 -2.65595363e-03 6.36417882e+02] [-1.90630238e-01 9.81661705e-01 6.40454842e-04 -4.37746317e+01] [ 2.72933869e-03 -1.22402624e-04 9.99996268e-01 1.73511746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.540714057 meters Centerline goodness [0,1] 0.9841786877617497 Centerline is valid? [True, True] Translation: X:636.45, Y:-43.78, Z:1.74 [[ 9.81603332e-01 1.90914107e-01 -2.58876108e-03 6.36447225e+02] [-1.90913125e-01 9.81606739e-01 6.23607469e-04 -4.37771079e+01] [ 2.66020078e-03 -1.17906703e-04 9.99996455e-01 1.73569217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5707140569999 meters Centerline goodness [0,1] 0.9855165540914628 Centerline is valid? [True, True] Translation: X:636.48, Y:-43.78, Z:1.74 [[ 9.81512513e-01 1.91387660e-01 -1.98769983e-03 6.36475357e+02] [-1.91387083e-01 9.81514521e-01 4.78377454e-04 -4.37818832e+01] [ 2.04251179e-03 -8.91133853e-05 9.99997910e-01 1.73599495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6007140569999 meters Centerline goodness [0,1] 0.9855888064971752 Centerline is valid? [True, True] Translation: X:636.50, Y:-43.79, Z:1.74 [[ 9.81293430e-01 1.92512329e-01 -1.48587534e-03 6.36503387e+02] [-1.92512008e-01 9.81294553e-01 3.57297953e-04 -4.37892091e+01] [ 1.52686564e-03 -6.45652884e-05 9.99998832e-01 1.73671538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.630714057 meters Centerline goodness [0,1] 0.9866191887468483 Centerline is valid? [True, True] Translation: X:636.53, Y:-43.80, Z:1.74 [[ 9.81263475e-01 1.92667564e-01 -1.09678413e-03 6.36530878e+02] [-1.92667389e-01 9.81264087e-01 2.63536521e-04 -4.37966233e+01] [ 1.12700982e-03 -4.72842276e-05 9.99999364e-01 1.73728067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.660714057 meters Centerline goodness [0,1] 0.9855359184032357 Centerline is valid? [True, True] Translation: X:636.56, Y:-43.80, Z:1.74 [[ 9.81254567e-01 1.92714471e-01 -7.79989941e-04 6.36558515e+02] [-1.92714383e-01 9.81254876e-01 1.87311000e-04 -4.38046921e+01] [ 8.01466473e-04 -3.34844937e-05 9.99999678e-01 1.73755126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6907140569999 meters Centerline goodness [0,1] 0.9841353548670622 Centerline is valid? [True, True] Translation: X:636.59, Y:-43.81, Z:1.74 [[ 9.81407408e-01 1.91936042e-01 -2.36314280e-04 6.36585035e+02] [-1.91936034e-01 9.81407436e-01 5.67454702e-05 -4.38142607e+01] [ 2.42812093e-04 -1.03331991e-05 9.99999970e-01 1.73735039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7207140569999 meters Centerline goodness [0,1] 0.9839654640764725 Centerline is valid? [True, True] Translation: X:636.61, Y:-43.82, Z:1.74 [[ 9.81641290e-01 1.90736222e-01 -2.67353277e-04 6.36612617e+02] [-1.90736212e-01 9.81641326e-01 6.43360115e-05 -4.38222301e+01] [ 2.74716233e-04 -1.21609340e-05 9.99999962e-01 1.73684382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.750714057 meters Centerline goodness [0,1] 0.9838205512019019 Centerline is valid? [True, True] Translation: X:636.64, Y:-43.83, Z:1.74 [[ 9.82197397e-01 1.87848670e-01 -1.07233545e-03 6.36639953e+02] [-1.87848502e-01 9.82197981e-01 2.56667267e-04 -4.38340240e+01] [ 1.10146032e-03 -5.06613145e-05 9.99999392e-01 1.73626146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.780714057 meters Centerline goodness [0,1] 0.9836905361325773 Centerline is valid? [True, True] Translation: X:636.67, Y:-43.84, Z:1.74 [[ 9.82560392e-01 1.85937954e-01 -1.46735756e-03 6.36667531e+02] [-1.85937636e-01 9.82561485e-01 3.51104752e-04 -4.38439776e+01] [ 1.50705272e-03 -7.21446274e-05 9.99998862e-01 1.73557509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8107140569999 meters Centerline goodness [0,1] 0.9835362904998461 Centerline is valid? [True, True] Translation: X:636.70, Y:-43.85, Z:1.74 [[ 9.82921546e-01 1.84018659e-01 -1.53866080e-03 6.36695404e+02] [-1.84018308e-01 9.82922747e-01 3.68047862e-04 -4.38529814e+01] [ 1.58011238e-03 -7.86204157e-05 9.99998749e-01 1.73544260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8407140569999 meters Centerline goodness [0,1] 0.9832050384884534 Centerline is valid? [True, True] Translation: X:636.72, Y:-43.86, Z:1.74 [[ 9.83265484e-01 1.82171969e-01 -1.53656468e-03 6.36723302e+02] [-1.82171616e-01 9.83266682e-01 3.67460179e-04 -4.38617685e+01] [ 1.57779380e-03 -8.13924389e-05 9.99998752e-01 1.73568440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.870714057 meters Centerline goodness [0,1] 0.9816517778945525 Centerline is valid? [True, True] Translation: X:636.75, Y:-43.87, Z:1.74 [[ 9.83907165e-01 1.78666817e-01 -2.20422399e-03 6.36749942e+02] [-1.78666084e-01 9.83909626e-01 5.26986428e-04 -4.38748357e+01] [ 2.26291219e-03 -1.24685655e-04 9.99997432e-01 1.73615376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.900714057 meters Centerline goodness [0,1] 0.9801719447165089 Centerline is valid? [True, True] Translation: X:636.78, Y:-43.89, Z:1.74 [[ 9.84105832e-01 1.77569303e-01 -2.20301722e-03 6.36776170e+02] [-1.77568568e-01 9.84108290e-01 5.26567613e-04 -4.38855155e+01] [ 2.26150975e-03 -1.27011647e-04 9.99997435e-01 1.73605751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9307140569999 meters Centerline goodness [0,1] 0.9797341611647938 Centerline is valid? [True, True] Translation: X:636.80, Y:-43.89, Z:1.74 [[ 9.84381830e-01 1.76031987e-01 -2.26984008e-03 6.36803628e+02] [-1.76031203e-01 9.84384438e-01 5.42170756e-04 -4.38935480e+01] [ 2.32983465e-03 -1.34140361e-04 9.99997277e-01 1.73600068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9607140569999 meters Centerline goodness [0,1] 0.9792712197250709 Centerline is valid? [True, True] Translation: X:636.83, Y:-43.90, Z:1.74 [[ 9.84513593e-01 1.75289098e-01 -2.59180837e-03 6.36829008e+02] [-1.75288075e-01 9.84516992e-01 6.18546792e-04 -4.39048357e+01] [ 2.66010389e-03 -1.54654625e-04 9.99996450e-01 1.73602963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.990714057 meters Centerline goodness [0,1] 0.9811077903095617 Centerline is valid? [True, True] Translation: X:636.86, Y:-43.91, Z:1.74 [[ 9.84564089e-01 1.75003639e-01 -2.69836818e-03 6.36856751e+02] [-1.75002530e-01 9.84567773e-01 6.43416030e-04 -4.39090008e+01] [ 2.76932650e-03 -1.61263058e-04 9.99996152e-01 1.73607904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.020714057 meters Centerline goodness [0,1] 0.9811263185424113 Centerline is valid? [True, True] Translation: X:636.89, Y:-43.92, Z:1.74 [[ 9.84447012e-01 1.75659529e-01 -2.79461588e-03 6.36885158e+02] [-1.75658345e-01 9.84450965e-01 6.65599150e-04 -4.39163158e+01] [ 2.86808113e-03 -1.64349494e-04 9.99995874e-01 1.73646037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0507140569999 meters Centerline goodness [0,1] 0.980886866795829 Centerline is valid? [True, True] Translation: X:636.91, Y:-43.92, Z:1.74 [[ 9.84112794e-01 1.77522892e-01 -2.76259978e-03 6.36912115e+02] [-1.77521743e-01 9.84116659e-01 6.57523727e-04 -4.39241511e+01] [ 2.83544598e-03 -1.56655984e-04 9.99995968e-01 1.73673056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0807140569999 meters Centerline goodness [0,1] 0.9825877135776705 Centerline is valid? [True, True] Translation: X:636.94, Y:-43.93, Z:1.74 [[ 9.83951787e-01 1.78408688e-01 -3.03648878e-03 6.36941931e+02] [-1.78407306e-01 9.83956458e-01 7.22146020e-04 -4.39253245e+01] [ 3.11660987e-03 -1.68825084e-04 9.99995129e-01 1.73748090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.110714057 meters Centerline goodness [0,1] 0.9802728773789867 Centerline is valid? [True, True] Translation: X:636.97, Y:-43.94, Z:1.74 [[ 9.83759304e-01 1.79473355e-01 -2.63572057e-03 6.36967197e+02] [-1.79472319e-01 9.83762824e-01 6.26417895e-04 -4.39377396e+01] [ 2.70534924e-03 -1.43205548e-04 9.99996330e-01 1.73726363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.140714057 meters Centerline goodness [0,1] 0.9807692307692307 Centerline is valid? [True, True] Translation: X:637.00, Y:-43.94, Z:1.74 [[ 9.83631282e-01 1.80180905e-01 -2.08405024e-03 6.36995385e+02] [-1.80180259e-01 9.83633483e-01 4.95010897e-04 -4.39442065e+01] [ 2.13913310e-03 -1.11403491e-04 9.99997706e-01 1.73752168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1707140569999 meters Centerline goodness [0,1] 0.9827024915357236 Centerline is valid? [True, True] Translation: X:637.02, Y:-43.95, Z:1.74 [[ 9.83469078e-01 1.81059359e-01 -2.46591434e-03 6.37023793e+02] [-1.81058460e-01 9.83472161e-01 5.85012724e-04 -4.39486407e+01] [ 2.53108013e-03 -1.28867272e-04 9.99996789e-01 1.73774336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2007140569999 meters Centerline goodness [0,1] 0.9829614516409099 Centerline is valid? [True, True] Translation: X:637.05, Y:-43.95, Z:1.74 [[ 9.83434896e-01 1.81245168e-01 -2.44839975e-03 6.37052096e+02] [-1.81244284e-01 9.83437936e-01 5.80213649e-04 -4.39541162e+01] [ 2.51301012e-03 -1.26843891e-04 9.99996834e-01 1.73815498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2307140569999 meters Centerline goodness [0,1] 0.9812650432595356 Centerline is valid? [True, True] Translation: X:637.08, Y:-43.96, Z:1.74 [[ 9.83366686e-01 1.81611751e-01 -2.67085090e-03 6.37078918e+02] [-1.81610701e-01 9.83370303e-01 6.32356113e-04 -4.39628598e+01] [ 2.74127876e-03 -1.36782830e-04 9.99996233e-01 1.73814857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.260714057 meters Centerline goodness [0,1] 0.982544237207078 Centerline is valid? [True, True] Translation: X:637.11, Y:-43.97, Z:1.74 [[ 9.83332295e-01 1.81794633e-01 -2.88256255e-03 6.37106175e+02] [-1.81793412e-01 9.83336509e-01 6.82138516e-04 -4.39703877e+01] [ 2.95853812e-03 -1.46737950e-04 9.99995613e-01 1.73859200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.290714057 meters Centerline goodness [0,1] 0.9835077565762277 Centerline is valid? [True, True] Translation: X:637.14, Y:-43.97, Z:1.74 [[ 9.83314260e-01 1.81898687e-01 -2.43582883e-03 6.37135253e+02] [-1.81897817e-01 9.83317269e-01 5.76024235e-04 -4.39735528e+01] [ 2.49997061e-03 -1.23340896e-04 9.99996867e-01 1.73945665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3207140569999 meters Centerline goodness [0,1] 0.9835077565762277 Centerline is valid? [True, True] Translation: X:637.16, Y:-43.98, Z:1.74 [[ 9.83366655e-01 1.81615220e-01 -2.43598342e-03 6.37161970e+02] [-1.81614350e-01 9.83369664e-01 5.75369935e-04 -4.39797960e+01] [ 2.49996813e-03 -1.23390063e-04 9.99996867e-01 1.73949416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3507140569999 meters Centerline goodness [0,1] 0.9815450830362578 Centerline is valid? [True, True] Translation: X:637.19, Y:-43.99, Z:1.74 [[ 9.83386579e-01 1.81512132e-01 -2.04527726e-03 6.37187500e+02] [-1.81511519e-01 9.83388700e-01 4.82652920e-04 -4.39886360e+01] [ 2.09890991e-03 -1.03393021e-04 9.99997792e-01 1.73941297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.380714057 meters Centerline goodness [0,1] 0.982701365224752 Centerline is valid? [True, True] Translation: X:637.22, Y:-43.99, Z:1.74 [[ 9.83296199e-01 1.81999088e-01 -2.21759065e-03 6.37216536e+02] [-1.81998370e-01 9.83298693e-01 5.22907894e-04 -4.39931980e+01] [ 2.27572275e-03 -1.10575460e-04 9.99997404e-01 1.73969501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.410714057 meters Centerline goodness [0,1] 0.9833387710712344 Centerline is valid? [True, True] Translation: X:637.24, Y:-44.00, Z:1.74 [[ 9.83059020e-01 1.83283653e-01 -1.43756232e-03 6.37243600e+02] [-1.83283353e-01 9.83060068e-01 3.38755696e-04 -4.39999305e+01] [ 1.47529849e-03 -6.95356008e-05 9.99998909e-01 1.73980952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4407140569999 meters Centerline goodness [0,1] 0.9829508339502678 Centerline is valid? [True, True] Translation: X:637.27, Y:-44.00, Z:1.74 [[ 9.82896676e-01 1.84151260e-01 -1.56149263e-03 6.37272171e+02] [-1.84150908e-01 9.82897913e-01 3.67762778e-04 -4.40046846e+01] [ 1.60251182e-03 -7.39225271e-05 9.99998713e-01 1.74039698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4707140569999 meters Centerline goodness [0,1] 0.9829820486661313 Centerline is valid? [True, True] Translation: X:637.30, Y:-44.01, Z:1.74 [[ 9.82702271e-01 1.85190150e-01 -9.24958008e-04 6.37299523e+02] [-1.85190027e-01 9.82702705e-01 2.17743920e-04 -4.40120308e+01] [ 9.49282766e-04 -4.26844458e-05 9.99999549e-01 1.74048326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.500714057 meters Centerline goodness [0,1] 0.9830125559369162 Centerline is valid? [True, True] Translation: X:637.33, Y:-44.02, Z:1.74 [[ 9.82530291e-01 1.86101179e-01 -7.60177654e-04 6.37328218e+02] [-1.86101097e-01 9.82530585e-01 1.78817566e-04 -4.40158463e+01] [ 7.80175954e-04 -3.42237801e-05 9.99999695e-01 1.74085462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.530714057 meters Centerline goodness [0,1] 0.983801178491444 Centerline is valid? [True, True] Translation: X:637.35, Y:-44.02, Z:1.74 [[ 9.82274036e-01 1.87450427e-01 2.37480077e-04 6.37354915e+02] [-1.87450419e-01 9.82274064e-01 -5.56067320e-05 -4.40231641e+01] [-2.43694026e-04 1.01053091e-05 9.99999970e-01 1.74103072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5607140569999 meters Centerline goodness [0,1] 0.9835044860015133 Centerline is valid? [True, True] Translation: X:637.38, Y:-44.03, Z:1.74 [[ 9.82235891e-01 1.87650247e-01 -2.00407340e-04 6.37383206e+02] [-1.87650241e-01 9.82235911e-01 4.73233734e-05 -4.40297179e+01] [ 2.05727528e-04 -8.87623027e-06 9.99999979e-01 1.74089906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5907140569999 meters Centerline goodness [0,1] 0.9830644635994529 Centerline is valid? [True, True] Translation: X:637.41, Y:-44.04, Z:1.74 [[ 9.82212511e-01 1.87772675e-01 8.08686771e-05 6.37409386e+02] [-1.87772674e-01 9.82212514e-01 -1.88277293e-05 -4.40379331e+01] [-8.29655598e-05 3.30790355e-06 9.99999997e-01 1.74135310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.620714057 meters Centerline goodness [0,1] 0.9825395791256759 Centerline is valid? [True, True] Translation: X:637.44, Y:-44.05, Z:1.74 [[ 9.82293492e-01 1.87348095e-01 4.31793236e-04 6.37437382e+02] [-1.87348069e-01 9.82293587e-01 -1.00729474e-04 -4.40452541e+01] [-4.43019201e-04 1.80502775e-05 9.99999902e-01 1.74116210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.650714057 meters Centerline goodness [0,1] 0.9826270357243808 Centerline is valid? [True, True] Translation: X:637.47, Y:-44.05, Z:1.74 [[ 9.82409458e-01 1.86738599e-01 5.94031076e-04 6.37465286e+02] [-1.86738550e-01 9.82409637e-01 -1.38549954e-04 -4.40533109e+01] [-6.09454478e-04 2.51842841e-05 9.99999814e-01 1.74099106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6807140569999 meters Centerline goodness [0,1] 0.9823129842227479 Centerline is valid? [True, True] Translation: X:637.49, Y:-44.06, Z:1.74 [[ 9.82476203e-01 1.86387099e-01 6.00553920e-04 6.37491377e+02] [-1.86387048e-01 9.82476386e-01 -1.40240915e-04 -4.40619169e+01] [-6.16169142e-04 2.58478894e-05 9.99999810e-01 1.74136761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7107140569999 meters Centerline goodness [0,1] 0.981839065513729 Centerline is valid? [True, True] Translation: X:637.52, Y:-44.07, Z:1.74 [[ 9.82555577e-01 1.85967402e-01 8.14062820e-04 6.37518731e+02] [-1.85967308e-01 9.82555914e-01 -1.89725276e-04 -4.40693272e+01] [-8.35144954e-04 3.50265570e-05 9.99999651e-01 1.74112957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.740714057 meters Centerline goodness [0,1] 0.9815911012814675 Centerline is valid? [True, True] Translation: X:637.55, Y:-44.08, Z:1.74 [[ 9.82593093e-01 1.85768828e-01 8.69814990e-04 6.37545935e+02] [-1.85768722e-01 9.82593477e-01 -2.02447789e-04 -4.40769654e+01] [-8.92283024e-04 3.73393801e-05 9.99999601e-01 1.74118229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.770714057 meters Centerline goodness [0,1] 0.9815392615704628 Centerline is valid? [True, True] Translation: X:637.57, Y:-44.09, Z:1.74 [[ 9.82701158e-01 1.85196405e-01 8.51720283e-04 6.37571980e+02] [-1.85196303e-01 9.82701526e-01 -1.98414896e-04 -4.40867206e+01] [-8.73732548e-04 3.72471011e-05 9.99999618e-01 1.74099262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8007140569999 meters Centerline goodness [0,1] 0.9813617591731714 Centerline is valid? [True, True] Translation: X:637.60, Y:-44.10, Z:1.74 [[ 9.82871705e-01 1.84288534e-01 9.73876349e-04 6.37598796e+02] [-1.84288400e-01 9.82872186e-01 -2.26805452e-04 -4.40957075e+01] [-9.98993621e-04 4.34465469e-05 9.99999500e-01 1.74082809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8307140569999 meters Centerline goodness [0,1] 0.9807825484764543 Centerline is valid? [True, True] Translation: X:637.63, Y:-44.10, Z:1.74 [[ 9.83053951e-01 1.83315010e-01 7.32448160e-04 6.37625874e+02] [-1.83314934e-01 9.83054223e-01 -1.70487695e-04 -4.41045708e+01] [-7.51289211e-04 3.33299164e-05 9.99999717e-01 1.74086236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.860714057 meters Centerline goodness [0,1] 0.9797374737798153 Centerline is valid? [True, True] Translation: X:637.65, Y:-44.11, Z:1.74 [[ 9.83297002e-01 1.82006209e-01 8.63428096e-04 6.37652858e+02] [-1.82006102e-01 9.83297380e-01 -2.00922016e-04 -4.41134210e+01] [-8.85575639e-04 4.04168332e-05 9.99999607e-01 1.74085903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.890714057 meters Centerline goodness [0,1] 0.9815062869982284 Centerline is valid? [True, True] Translation: X:637.68, Y:-44.12, Z:1.74 [[ 9.83802009e-01 1.79251809e-01 1.54826289e-03 6.37682673e+02] [-1.79251463e-01 9.83803224e-01 -3.60381068e-04 -4.41153800e+01] [-1.58778498e-03 7.70152313e-05 9.99998737e-01 1.74099659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9207140569999 meters Centerline goodness [0,1] 0.9810681288317071 Centerline is valid? [True, True] Translation: X:637.71, Y:-44.12, Z:1.74 [[ 9.84084119e-01 1.77691560e-01 2.03890631e-03 6.37709929e+02] [-1.77690958e-01 9.84086225e-01 -4.73759266e-04 -4.41242500e+01] [-2.09064264e-03 1.03923753e-04 9.99997809e-01 1.74147469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9507140569999 meters Centerline goodness [0,1] 0.9806950638829638 Centerline is valid? [True, True] Translation: X:637.74, Y:-44.13, Z:1.74 [[ 9.84370844e-01 1.76090945e-01 2.45362939e-03 6.37737725e+02] [-1.76090071e-01 9.84373894e-01 -5.69543195e-04 -4.41327667e+01] [-2.51558012e-03 1.28581943e-04 9.99996828e-01 1.74131351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9807140569999 meters Centerline goodness [0,1] 0.9794811066853267 Centerline is valid? [True, True] Translation: X:637.76, Y:-44.14, Z:1.74 [[ 9.84621796e-01 1.74682720e-01 2.42213615e-03 6.37763854e+02] [-1.74681865e-01 9.84624766e-01 -5.62051087e-04 -4.41432863e+01] [-2.48307585e-03 1.30304492e-04 9.99996909e-01 1.74095261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.010714057 meters Centerline goodness [0,1] 0.9781400758097863 Centerline is valid? [True, True] Translation: X:637.79, Y:-44.16, Z:1.74 [[ 9.85109919e-01 1.71910577e-01 2.28070028e-03 6.37789855e+02] [-1.71909811e-01 9.85112550e-01 -5.29141544e-04 -4.41556619e+01] [-2.33771149e-03 1.29187831e-04 9.99997259e-01 1.74034490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.040714057 meters Centerline goodness [0,1] 0.9792033309009743 Centerline is valid? [True, True] Translation: X:637.82, Y:-44.16, Z:1.74 [[ 9.85520006e-01 1.69553654e-01 1.36953807e-03 6.37818696e+02] [-1.69553376e-01 9.85520955e-01 -3.17649000e-04 -4.41606937e+01] [-1.40356701e-03 8.08396419e-05 9.99999012e-01 1.73938443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0707140569999 meters Centerline goodness [0,1] 0.9775958270090002 Centerline is valid? [True, True] Translation: X:637.84, Y:-44.17, Z:1.74 [[ 9.85924392e-01 1.67189967e-01 7.80155702e-04 6.37844945e+02] [-1.67189876e-01 9.85924699e-01 -1.80832193e-04 -4.41733318e+01] [-7.99408105e-04 4.78527344e-05 9.99999679e-01 1.73922930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1007140569999 meters Centerline goodness [0,1] 0.9773763440860215 Centerline is valid? [True, True] Translation: X:637.87, Y:-44.18, Z:1.74 [[ 9.86426581e-01 1.64202553e-01 3.49208961e-04 6.37873660e+02] [-1.64202534e-01 9.86426643e-01 -8.09568043e-05 -4.41813231e+01] [-3.57762337e-04 2.25169473e-05 9.99999936e-01 1.73823476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.130714057 meters Centerline goodness [0,1] 0.9760956175298805 Centerline is valid? [True, True] Translation: X:637.90, Y:-44.19, Z:1.74 [[ 9.87213978e-01 1.59394936e-01 -1.34738470e-03 6.37900399e+02] [-1.59394658e-01 9.87214893e-01 3.12459032e-04 -4.41939658e+01] [ 1.37996263e-03 -9.36980012e-05 9.99999043e-01 1.73724140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.160714057 meters Centerline goodness [0,1] 0.9777434046575578 Centerline is valid? [True, True] Translation: X:637.93, Y:-44.20, Z:1.74 [[ 9.87536432e-01 1.57384876e-01 -1.34003246e-03 6.37928994e+02] [-1.57384599e-01 9.87537337e-01 3.10792269e-04 -4.41994217e+01] [ 1.37224609e-03 -9.60182177e-05 9.99999054e-01 1.73725586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1907140569999 meters Centerline goodness [0,1] 0.9769300167547365 Centerline is valid? [True, True] Translation: X:637.96, Y:-44.21, Z:1.74 [[ 9.87773898e-01 1.55889306e-01 -1.11823662e-03 6.37957327e+02] [-1.55889111e-01 9.87774528e-01 2.59344705e-04 -4.42059485e+01] [ 1.14499471e-03 -8.18530175e-05 9.99999341e-01 1.73804119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2207140569999 meters Centerline goodness [0,1] 0.975100625160572 Centerline is valid? [True, True] Translation: X:637.98, Y:-44.22, Z:1.74 [[ 9.87944534e-01 1.54807706e-01 -4.14228334e-04 6.37983245e+02] [-1.54807679e-01 9.87944621e-01 9.60241250e-05 -4.42159481e+01] [ 4.24099928e-04 -3.07407826e-05 9.99999910e-01 1.73863828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.250714057 meters Centerline goodness [0,1] 0.974665063552044 Centerline is valid? [True, True] Translation: X:638.01, Y:-44.22, Z:1.74 [[ 9.88052802e-01 1.54115627e-01 1.85467220e-04 6.38011525e+02] [-1.54115622e-01 9.88052819e-01 -4.25404155e-05 -4.42205455e+01] [-1.89807552e-04 1.34487807e-05 9.99999982e-01 1.73949388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.280714057 meters Centerline goodness [0,1] 0.976346855548401 Centerline is valid? [True, True] Translation: X:638.04, Y:-44.22, Z:1.74 [[ 9.87980943e-01 1.54574912e-01 5.03780052e-04 6.38040484e+02] [-1.54574873e-01 9.87981070e-01 -1.16007325e-04 -4.42230629e+01] [-5.15656977e-04 3.67412885e-05 9.99999866e-01 1.73999314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3107140569999 meters Centerline goodness [0,1] 0.9769642741918139 Centerline is valid? [True, True] Translation: X:638.07, Y:-44.23, Z:1.74 [[ 9.87929794e-01 1.54902215e-01 1.58735324e-04 6.38069201e+02] [-1.54902212e-01 9.87929807e-01 -3.62659882e-05 -4.42281376e+01] [-1.62437040e-04 1.12397975e-05 9.99999987e-01 1.73996036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3407140569999 meters Centerline goodness [0,1] 0.976130518068918 Centerline is valid? [True, True] Translation: X:638.10, Y:-44.23, Z:1.74 [[ 9.87890812e-01 1.55150557e-01 2.19043418e-04 6.38096789e+02] [-1.55150550e-01 9.87890836e-01 -5.03890096e-05 -4.42338334e+01] [-2.24208869e-04 1.57941328e-05 9.99999975e-01 1.73981769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.370714057 meters Centerline goodness [0,1] 0.9758109679920735 Centerline is valid? [True, True] Translation: X:638.13, Y:-44.24, Z:1.74 [[ 9.87969279e-01 1.54650011e-01 -2.77833314e-04 6.38125630e+02] [-1.54649999e-01 9.87969318e-01 6.43501136e-05 -4.42387682e+01] [ 2.84442536e-04 -2.06090136e-05 9.99999959e-01 1.73973305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.400714057 meters Centerline goodness [0,1] 0.9744879395586756 Centerline is valid? [True, True] Translation: X:638.15, Y:-44.25, Z:1.74 [[ 9.88127226e-01 1.53637789e-01 1.25739274e-04 6.38151774e+02] [-1.53637787e-01 9.88127234e-01 -2.88016720e-05 -4.42464266e+01] [-1.28671426e-04 9.14141252e-06 9.99999992e-01 1.73989792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4307140569999 meters Centerline goodness [0,1] 0.974594107035478 Centerline is valid? [True, True] Translation: X:638.18, Y:-44.25, Z:1.74 [[ 9.88355565e-01 1.52161596e-01 3.53758873e-04 6.38180508e+02] [-1.52161577e-01 9.88355628e-01 -8.13879659e-05 -4.42541254e+01] [-3.62023696e-04 2.66117411e-05 9.99999934e-01 1.74021437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4607140569999 meters Centerline goodness [0,1] 0.9758916634320955 Centerline is valid? [True, True] Translation: X:638.21, Y:-44.26, Z:1.74 [[ 9.88685083e-01 1.50003495e-01 8.71041763e-04 6.38209567e+02] [-1.50003377e-01 9.88685464e-01 -2.00393602e-04 -4.42577255e+01] [-8.91246070e-04 6.74669589e-05 9.99999601e-01 1.74057774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.490714057 meters Centerline goodness [0,1] 0.9741881226549359 Centerline is valid? [True, True] Translation: X:638.24, Y:-44.27, Z:1.74 [[ 9.89293826e-01 1.45937109e-01 2.94705814e-04 6.38237900e+02] [-1.45937095e-01 9.89293869e-01 -6.78137157e-05 -4.42666518e+01] [-3.01447192e-04 2.40791797e-05 9.99999954e-01 1.74170551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.520714057 meters Centerline goodness [0,1] 0.9739578838353327 Centerline is valid? [True, True] Translation: X:638.27, Y:-44.27, Z:1.74 [[ 9.89548109e-01 1.44202708e-01 3.45403799e-04 6.38267494e+02] [-1.44202689e-01 9.89548169e-01 -7.94275649e-05 -4.42699179e+01] [-3.53247367e-04 2.87892402e-05 9.99999937e-01 1.74183930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5507140569999 meters Centerline goodness [0,1] 0.9734578149593566 Centerline is valid? [True, True] Translation: X:638.29, Y:-44.28, Z:1.74 [[ 9.89756322e-01 1.42766873e-01 -2.09945545e-04 6.38293990e+02] [-1.42766866e-01 9.89756344e-01 4.84068464e-05 -4.42796038e+01] [ 2.14705829e-04 -1.79377147e-05 9.99999977e-01 1.74247541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5807140569999 meters Centerline goodness [0,1] 0.9753089091341889 Centerline is valid? [True, True] Translation: X:638.32, Y:-44.28, Z:1.74 [[ 9.89943868e-01 1.41457943e-01 -8.88292721e-04 6.38323476e+02] [-1.41457816e-01 9.89944263e-01 2.04437359e-04 -4.42796067e+01] [ 9.08279572e-04 -7.67255612e-05 9.99999585e-01 1.74271244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.610714057 meters Centerline goodness [0,1] 0.9758306850855005 Centerline is valid? [True, True] Translation: X:638.35, Y:-44.28, Z:1.74 [[ 9.89943479e-01 1.41454879e-01 -1.55755926e-03 6.38352568e+02] [-1.41454490e-01 9.89944695e-01 3.57787018e-04 -4.42833468e+01] [ 1.59250825e-03 -1.33865174e-04 9.99998723e-01 1.74262388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.640714057 meters Centerline goodness [0,1] 0.974905272274548 Centerline is valid? [True, True] Translation: X:638.38, Y:-44.29, Z:1.74 [[ 9.89938346e-01 1.41487436e-01 -1.83742762e-03 6.38378844e+02] [-1.41486895e-01 9.89940039e-01 4.21607755e-04 -4.42910690e+01] [ 1.87859537e-03 -1.57393754e-04 9.99998223e-01 1.74236878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6707140569999 meters Centerline goodness [0,1] 0.9756182062275346 Centerline is valid? [True, True] Translation: X:638.41, Y:-44.29, Z:1.74 [[ 9.89914776e-01 1.41641393e-01 -2.53997996e-03 6.38407657e+02] [-1.41640362e-01 9.89918011e-01 5.82316416e-04 -4.42936362e+01] [ 2.59685201e-03 -2.16679945e-04 9.99996605e-01 1.74213270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7007140569999 meters Centerline goodness [0,1] 0.9771356674909975 Centerline is valid? [True, True] Translation: X:638.44, Y:-44.29, Z:1.74 [[ 9.89889517e-01 1.41810015e-01 -2.94340200e-03 6.38437587e+02] [-1.41808633e-01 9.89893862e-01 6.73954765e-04 -4.42935455e+01] [ 3.00922910e-03 -2.49740943e-04 9.99995441e-01 1.74182241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7307140569999 meters Centerline goodness [0,1] 0.9769520429362881 Centerline is valid? [True, True] Translation: X:638.46, Y:-44.30, Z:1.74 [[ 9.89878035e-01 1.41888792e-01 -3.00758538e-03 6.38464992e+02] [-1.41887353e-01 9.89882572e-01 6.87824907e-04 -4.43003544e+01] [ 3.07475100e-03 -2.54124440e-04 9.99995241e-01 1.74188896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.760714057 meters Centerline goodness [0,1] 0.9773686146390013 Centerline is valid? [True, True] Translation: X:638.49, Y:-44.31, Z:1.74 [[ 9.89857000e-01 1.42024194e-01 -3.49981273e-03 6.38492878e+02] [-1.42022249e-01 9.89863143e-01 7.99397476e-04 -4.43054963e+01] [ 3.57786941e-03 -2.94237913e-04 9.99993556e-01 1.74237843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.790714057 meters Centerline goodness [0,1] 0.9760996749729144 Centerline is valid? [True, True] Translation: X:638.52, Y:-44.31, Z:1.74 [[ 9.89837148e-01 1.42155741e-01 -3.76377855e-03 6.38520040e+02] [-1.42153495e-01 9.89844253e-01 8.59079639e-04 -4.43132185e+01] [ 3.84767767e-03 -3.15314663e-04 9.99992548e-01 1.74213132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8207140569999 meters Centerline goodness [0,1] 0.9772212543554007 Centerline is valid? [True, True] Translation: X:638.55, Y:-44.32, Z:1.74 [[ 9.89877540e-01 1.41852597e-01 -4.50521400e-03 6.38548432e+02] [-1.41849381e-01 9.89887720e-01 1.02719971e-03 -4.43155328e+01] [ 4.60536696e-03 -3.77740107e-04 9.99989324e-01 1.74228288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8507140569999 meters Centerline goodness [0,1] 0.9783763773354819 Centerline is valid? [True, True] Translation: X:638.58, Y:-44.32, Z:1.74 [[ 9.89976380e-01 1.41152976e-01 -4.75441858e-03 6.38576739e+02] [-1.41149392e-01 9.89987715e-01 1.08268471e-03 -4.43211434e+01] [ 4.85964016e-03 -4.00748995e-04 9.99988112e-01 1.74235210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.880714057 meters Centerline goodness [0,1] 0.9757319453480807 Centerline is valid? [True, True] Translation: X:638.60, Y:-44.33, Z:1.74 [[ 9.90066734e-01 1.40504952e-01 -5.12061166e-03 6.38603381e+02] [-1.40500790e-01 9.90079881e-01 1.16533876e-03 -4.43297813e+01] [ 5.23355045e-03 -4.34313157e-04 9.99986211e-01 1.74208371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.910714057 meters Centerline goodness [0,1] 0.9762703008664606 Centerline is valid? [True, True] Translation: X:638.63, Y:-44.33, Z:1.74 [[ 9.90159338e-01 1.39821803e-01 -5.86084508e-03 6.38631715e+02] [-1.39816348e-01 9.90176557e-01 1.33246620e-03 -4.43339156e+01] [ 5.98957923e-03 -4.99911894e-04 9.99981937e-01 1.74218876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9407140569999 meters Centerline goodness [0,1] 0.977432143946325 Centerline is valid? [True, True] Translation: X:638.66, Y:-44.34, Z:1.74 [[ 9.90251411e-01 1.39094255e-01 -7.41161461e-03 6.38658413e+02] [-1.39085521e-01 9.90278942e-01 1.68360117e-03 -4.43397595e+01] [ 7.57374512e-03 -6.36340158e-04 9.99971116e-01 1.74121697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9707140569999 meters Centerline goodness [0,1] 0.9770152363589009 Centerline is valid? [True, True] Translation: X:638.69, Y:-44.35, Z:1.74 [[ 9.90240738e-01 1.39167812e-01 -7.45654717e-03 6.38686190e+02] [-1.39158988e-01 9.90268607e-01 1.69200096e-03 -4.43451958e+01] [ 7.61945665e-03 -6.37842720e-04 9.99970768e-01 1.74135657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.000714057 meters Centerline goodness [0,1] 0.9769662432573517 Centerline is valid? [True, True] Translation: X:638.72, Y:-44.35, Z:1.74 [[ 9.90188837e-01 1.39505985e-01 -8.00919758e-03 6.38715368e+02] [-1.39495831e-01 9.90220994e-01 1.81541732e-03 -4.43485035e+01] [ 8.18413717e-03 -6.80356286e-04 9.99966278e-01 1.74159209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.030714057 meters Centerline goodness [0,1] 0.9772965420887181 Centerline is valid? [True, True] Translation: X:638.74, Y:-44.35, Z:1.74 [[ 9.90015930e-01 1.40739824e-01 -7.79491635e-03 6.38743202e+02] [-1.40730251e-01 9.90046402e-01 1.76605706e-03 -4.43541960e+01] [ 7.96588344e-03 -6.51444085e-04 9.99968060e-01 1.74212235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0607140569999 meters Centerline goodness [0,1] 0.9791220790565626 Centerline is valid? [True, True] Translation: X:638.77, Y:-44.36, Z:1.74 [[ 9.89421909e-01 1.44911696e-01 -6.69972864e-03 6.38774105e+02] [-1.44904721e-01 9.89444450e-01 1.51761666e-03 -4.43555533e+01] [ 6.84892972e-03 -5.30740863e-04 9.99976405e-01 1.74305905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0907140569999 meters Centerline goodness [0,1] 0.9788656977379522 Centerline is valid? [True, True] Translation: X:638.80, Y:-44.36, Z:1.74 [[ 9.89093004e-01 1.47166821e-01 -6.07917833e-03 6.38803547e+02] [-1.47161122e-01 9.89111575e-01 1.37682541e-03 -4.43594526e+01] [ 6.21560867e-03 -4.67189676e-04 9.99980574e-01 1.74416919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.120714057 meters Centerline goodness [0,1] 0.9800538611433451 Centerline is valid? [True, True] Translation: X:638.83, Y:-44.36, Z:1.74 [[ 9.88758451e-01 1.49408645e-01 -5.81227932e-03 6.38832259e+02] [-1.49403475e-01 9.88775439e-01 1.31616826e-03 -4.43637394e+01] [ 5.94368596e-03 -4.32997763e-04 9.99982242e-01 1.74482938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.150714057 meters Centerline goodness [0,1] 0.9002465312442697 Centerline is valid? [True, False] Translation: X:638.90, Y:-44.37, Z:1.74 [[ 9.88549539e-01 1.50778993e-01 -5.95851053e-03 6.38896482e+02] [-1.50825966e-01 9.88524391e-01 -8.42949315e-03 -4.43674269e+01] [ 4.61914250e-03 9.23166968e-03 9.99946718e-01 1.74494772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1807140569999 meters Centerline goodness [0,1] 0.9828984678961599 Centerline is valid? [False, True] Translation: X:638.84, Y:-44.35, Z:1.75 [[ 9.88407535e-01 1.51582482e-01 -8.56126965e-03 6.38842050e+02] [-1.51605988e-01 9.88438640e-01 -2.16304000e-03 -4.43549420e+01] [ 8.13441076e-03 3.43590478e-03 9.99961012e-01 1.74572149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2107140569999 meters Centerline goodness [0,1] 0.9828984678961599 Centerline is valid? [True, True] Translation: X:638.87, Y:-44.36, Z:1.74 [[ 9.88454634e-01 1.51320678e-01 -7.71286564e-03 6.38868556e+02] [-1.51312039e-01 9.88484595e-01 1.69502929e-03 -4.43622806e+01] [ 7.88054185e-03 -5.08410133e-04 9.99968819e-01 1.74468540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.240714057 meters Centerline goodness [0,1] 0.9825787033985808 Centerline is valid? [True, True] Translation: X:638.90, Y:-44.37, Z:1.75 [[ 9.88044293e-01 1.53994128e-01 -7.36771575e-03 6.38897353e+02] [-1.53986327e-01 9.88071654e-01 1.61794536e-03 -4.43663050e+01] [ 7.52898517e-03 -4.64074193e-04 9.99971549e-01 1.74541693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.270714057 meters Centerline goodness [0,1] 0.9821405005938504 Centerline is valid? [True, True] Translation: X:638.93, Y:-44.37, Z:1.75 [[ 9.87148148e-01 1.59668050e-01 -6.68190452e-03 6.38925769e+02] [-1.59661765e-01 9.87170689e-01 1.46708877e-03 -4.43727525e+01] [ 6.83042749e-03 -3.81389288e-04 9.99976600e-01 1.74553377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3007140569999 meters Centerline goodness [0,1] 0.9837746081435594 Centerline is valid? [True, True] Translation: X:638.96, Y:-44.37, Z:1.75 [[ 9.86747711e-01 1.62140825e-01 -6.26964711e-03 6.38956483e+02] [-1.62135343e-01 9.86767569e-01 1.37636734e-03 -4.43729782e+01] [ 6.40984978e-03 -3.41595934e-04 9.99979398e-01 1.74563432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3307140569999 meters Centerline goodness [0,1] 0.9833311400622889 Centerline is valid? [True, True] Translation: X:638.98, Y:-44.38, Z:1.75 [[ 9.86396768e-01 1.64259668e-01 -6.33857178e-03 6.38984139e+02] [-1.64254109e-01 9.86417078e-01 1.39129777e-03 -4.43800849e+01] [ 6.48100956e-03 -3.31235164e-04 9.99978943e-01 1.74554203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.360714057 meters Centerline goodness [0,1] 0.9835967987300748 Centerline is valid? [True, True] Translation: X:639.01, Y:-44.39, Z:1.74 [[ 9.86140518e-01 1.65771853e-01 -6.82434829e-03 6.39011822e+02] [-1.65765449e-01 9.86164070e-01 1.49744922e-03 -4.43851033e+01] [ 6.97816202e-03 -3.45454184e-04 9.99975593e-01 1.74487707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.390714057 meters Centerline goodness [0,1] 0.9848079432122244 Centerline is valid? [True, True] Translation: X:639.04, Y:-44.39, Z:1.74 [[ 9.85864674e-01 1.67374677e-01 -7.52079929e-03 6.39041400e+02] [-1.67366951e-01 9.85893292e-01 1.64964126e-03 -4.43853748e+01] [ 7.69081374e-03 -3.67589795e-04 9.99970358e-01 1.74442356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4207140569999 meters Centerline goodness [0,1] 0.985708913125235 Centerline is valid? [True, True] Translation: X:639.07, Y:-44.39, Z:1.74 [[ 9.85360744e-01 1.70274684e-01 -8.41043596e-03 6.39069371e+02] [-1.70265132e-01 9.85396562e-01 1.84422551e-03 -4.43919958e+01] [ 8.60163959e-03 -3.85223431e-04 9.99962931e-01 1.74219460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4507140569999 meters Centerline goodness [0,1] 0.9865382486438614 Centerline is valid? [True, True] Translation: X:639.10, Y:-44.39, Z:1.74 [[ 9.85229932e-01 1.70997155e-01 -9.05289375e-03 6.39099345e+02] [-1.70986132e-01 9.85271439e-01 1.98363178e-03 -4.43915067e+01] [ 9.25875304e-03 -4.06414109e-04 9.99957054e-01 1.74203842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4807140569999 meters Centerline goodness [0,1] 0.9874401913875598 Centerline is valid? [True, True] Translation: X:639.13, Y:-44.40, Z:1.74 [[ 9.85054364e-01 1.71959336e-01 -9.89378715e-03 6.39127600e+02] [-1.71946245e-01 9.85103954e-01 2.16528186e-03 -4.43970095e+01] [ 1.01187493e-02 -4.31720795e-04 9.99948711e-01 1.74163034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.510714057 meters Centerline goodness [0,1] 0.9877292460352618 Centerline is valid? [True, True] Translation: X:639.16, Y:-44.40, Z:1.74 [[ 9.84680735e-01 1.74116197e-01 -9.34881389e-03 6.39156139e+02] [-1.74104627e-01 9.84725039e-01 2.04373529e-03 -4.44024832e+01] [ 9.56185853e-03 -3.84755011e-04 9.99954210e-01 1.74169568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.540714057 meters Centerline goodness [0,1] 0.9859879389854558 Centerline is valid? [True, True] Translation: X:639.18, Y:-44.41, Z:1.74 [[ 9.84538579e-01 1.74930682e-01 -9.11282746e-03 6.39182181e+02] [-1.74919737e-01 9.84580684e-01 1.99074906e-03 -4.44139361e+01] [ 9.32055698e-03 -3.65955877e-04 9.99956496e-01 1.74081512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5707140569999 meters Centerline goodness [0,1] 0.9871618625277162 Centerline is valid? [True, True] Translation: X:639.21, Y:-44.41, Z:1.74 [[ 9.84383546e-01 1.75801646e-01 -9.10029112e-03 6.39211895e+02] [-1.75790784e-01 9.84425546e-01 1.98630727e-03 -4.44131565e+01] [ 9.30775514e-03 -3.55540889e-04 9.99956619e-01 1.74226782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6007140569999 meters Centerline goodness [0,1] 0.9884441689542194 Centerline is valid? [True, True] Translation: X:639.24, Y:-44.42, Z:1.74 [[ 9.84254503e-01 1.76537208e-01 -8.81408787e-03 6.39240130e+02] [-1.76527068e-01 9.84293910e-01 1.92157013e-03 -4.44183461e+01] [ 9.01488164e-03 -3.35388960e-04 9.99959309e-01 1.74263279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.630714057 meters Centerline goodness [0,1] 0.9876756660903488 Centerline is valid? [True, True] Translation: X:639.27, Y:-44.42, Z:1.74 [[ 9.84112022e-01 1.77354398e-01 -8.30334793e-03 6.39268265e+02] [-1.77345447e-01 9.84147003e-01 1.80810759e-03 -4.44245338e+01] [ 8.49239081e-03 -3.06819473e-04 9.99963892e-01 1.74293870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.660714057 meters Centerline goodness [0,1] 0.9874457532548047 Centerline is valid? [True, True] Translation: X:639.30, Y:-44.43, Z:1.74 [[ 9.84083469e-01 1.77547192e-01 -7.53136790e-03 6.39295544e+02] [-1.77539843e-01 9.84112249e-01 1.63874052e-03 -4.44312827e+01] [ 7.70266518e-03 -2.75539589e-04 9.99970296e-01 1.74325531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6907140569999 meters Centerline goodness [0,1] 0.9874558303886926 Centerline is valid? [True, True] Translation: X:639.32, Y:-44.44, Z:1.74 [[ 9.84178618e-01 1.77057178e-01 -6.57294776e-03 6.39322737e+02] [-1.77051577e-01 9.84200537e-01 1.42908053e-03 -4.44362942e+01] [ 6.72212768e-03 -2.42719729e-04 9.99977377e-01 1.74374049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7207140569999 meters Centerline goodness [0,1] 0.9875871224692997 Centerline is valid? [True, True] Translation: X:639.35, Y:-44.44, Z:1.74 [[ 9.84184684e-01 1.77031895e-01 -6.34156180e-03 6.39349181e+02] [-1.77026692e-01 9.84205087e-01 1.37713373e-03 -4.44435330e+01] [ 6.48519398e-03 -2.32728216e-04 9.99978944e-01 1.74439810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.750714057 meters Centerline goodness [0,1] 0.9870860927152318 Centerline is valid? [True, True] Translation: X:639.38, Y:-44.45, Z:1.75 [[ 9.84507527e-01 1.75246283e-01 -5.80258400e-03 6.39377053e+02] [-1.75241903e-01 9.84524601e-01 1.25885914e-03 -4.44517141e+01] [ 5.93339708e-03 -2.22500434e-04 9.99982372e-01 1.74519989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.780714057 meters Centerline goodness [0,1] 0.9866563910602224 Centerline is valid? [True, True] Translation: X:639.40, Y:-44.46, Z:1.75 [[ 9.84658410e-01 1.74427512e-01 -4.78098433e-03 6.39403468e+02] [-1.74424533e-01 9.84670000e-01 1.03629823e-03 -4.44596960e+01] [ 4.88845076e-03 -1.86478807e-04 9.99988034e-01 1.74524040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8107140569999 meters Centerline goodness [0,1] 0.9865629887437496 Centerline is valid? [True, True] Translation: X:639.43, Y:-44.47, Z:1.75 [[ 9.84811608e-01 1.73572040e-01 -4.34085164e-03 6.39430894e+02] [-1.73569578e-01 9.84821160e-01 9.40458095e-04 -4.44680390e+01] [ 4.43819978e-03 -1.72734261e-04 9.99990136e-01 1.74553224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8407140569999 meters Centerline goodness [0,1] 0.9857573026792975 Centerline is valid? [True, True] Translation: X:639.46, Y:-44.48, Z:1.75 [[ 9.84934351e-01 1.72885293e-01 -3.87280973e-03 6.39456905e+02] [-1.72883332e-01 9.84941953e-01 8.38158846e-04 -4.44773850e+01] [ 3.95939812e-03 -1.55987189e-04 9.99992149e-01 1.74520168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.870714057 meters Centerline goodness [0,1] 0.9858593818404693 Centerline is valid? [True, True] Translation: X:639.48, Y:-44.49, Z:1.74 [[ 9.85258134e-01 1.71025742e-01 -4.07488059e-03 6.39484635e+02] [-1.71023557e-01 9.85266546e-01 8.81474866e-04 -4.44867990e+01] [ 4.16559842e-03 -1.71579709e-04 9.99991309e-01 1.74412154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.900714057 meters Centerline goodness [0,1] 0.9856380525726333 Centerline is valid? [True, True] Translation: X:639.51, Y:-44.49, Z:1.74 [[ 9.85426534e-01 1.70047345e-01 -4.29494855e-03 6.39512426e+02] [-1.70044912e-01 9.85435877e-01 9.27930622e-04 -4.44935471e+01] [ 4.39018853e-03 -1.84073307e-04 9.99990346e-01 1.74402838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9307140569999 meters Centerline goodness [0,1] 0.9850209443603746 Centerline is valid? [True, True] Translation: X:639.54, Y:-44.50, Z:1.74 [[ 9.85632292e-01 1.68850313e-01 -4.30775370e-03 6.39539266e+02] [-1.68847859e-01 9.85641688e-01 9.29631687e-04 -4.45016870e+01] [ 4.40287022e-03 -1.88920020e-04 9.99990289e-01 1.74335650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9607140569999 meters Centerline goodness [0,1] 0.9848013665630064 Centerline is valid? [True, True] Translation: X:639.57, Y:-44.51, Z:1.74 [[ 9.85800539e-01 1.67870800e-01 -4.08556679e-03 6.39566726e+02] [-1.67868587e-01 9.85808988e-01 8.81132184e-04 -4.45097548e+01] [ 4.17550483e-03 -1.82782255e-04 9.99991266e-01 1.74303505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.990714057 meters Centerline goodness [0,1] 0.9844236077640977 Centerline is valid? [True, True] Translation: X:639.59, Y:-44.52, Z:1.74 [[ 9.86105917e-01 1.66058159e-01 -4.45068977e-03 6.39594049e+02] [-1.66055520e-01 9.86115939e-01 9.58660666e-04 -4.45184116e+01] [ 4.54808955e-03 -2.06279352e-04 9.99989636e-01 1.74226222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.020714057 meters Centerline goodness [0,1] 0.9839062842128312 Centerline is valid? [True, True] Translation: X:639.62, Y:-44.53, Z:1.74 [[ 9.86189552e-01 1.65560186e-01 -4.47130566e-03 6.39620850e+02] [-1.65557522e-01 9.86199666e-01 9.62051083e-04 -4.45268909e+01] [ 4.56887751e-03 -2.08506440e-04 9.99989541e-01 1.74183899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0507140569999 meters Centerline goodness [0,1] 0.9839917659425368 Centerline is valid? [True, True] Translation: X:639.65, Y:-44.53, Z:1.74 [[ 9.86385010e-01 1.64386879e-01 -4.64385251e-03 6.39648615e+02] [-1.64383995e-01 9.86395917e-01 9.98625754e-04 -4.45327406e+01] [ 4.74483812e-03 -2.21654448e-04 9.99988719e-01 1.74104449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0807140569999 meters Centerline goodness [0,1] 0.9836755264368824 Centerline is valid? [True, True] Translation: X:639.68, Y:-44.54, Z:1.74 [[ 9.86466166e-01 1.63904744e-01 -4.44281199e-03 6.39676754e+02] [-1.63902104e-01 9.86476147e-01 9.54395719e-04 -4.45366486e+01] [ 4.53915804e-03 -2.13292853e-04 9.99989675e-01 1.74116992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.110714057 meters Centerline goodness [0,1] 0.9839856483405893 Centerline is valid? [True, True] Translation: X:639.70, Y:-44.55, Z:1.74 [[ 9.86674090e-01 1.62689451e-01 -2.52654328e-03 6.39702773e+02] [-1.62688593e-01 9.86677317e-01 5.42764760e-04 -4.45454317e+01] [ 2.58118505e-03 -1.24492155e-04 9.99996661e-01 1.74196096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.140714057 meters Centerline goodness [0,1] 0.9829298640064613 Centerline is valid? [True, True] Translation: X:639.73, Y:-44.55, Z:1.74 [[ 9.86854972e-01 1.61604304e-01 -1.14558672e-03 6.39730486e+02] [-1.61604127e-01 9.86855636e-01 2.46526264e-04 -4.45529788e+01] [ 1.17036841e-03 -5.81541281e-05 9.99999313e-01 1.74279922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1707140569999 meters Centerline goodness [0,1] 0.9821806826370842 Centerline is valid? [True, True] Translation: X:639.76, Y:-44.56, Z:1.74 [[ 9.86988827e-01 1.60788372e-01 -3.92716574e-04 6.39757455e+02] [-1.60788351e-01 9.86988905e-01 8.44866180e-05 -4.45611147e+01] [ 4.01191367e-04 -2.02430975e-05 9.99999919e-01 1.74374625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2007140569999 meters Centerline goodness [0,1] 0.9810535443312378 Centerline is valid? [True, True] Translation: X:639.79, Y:-44.57, Z:1.74 [[ 9.87338029e-01 1.58627301e-01 9.97562417e-04 6.39786206e+02] [-1.58627166e-01 9.87338532e-01 -2.13522875e-04 -4.45682891e+01] [-1.01880237e-03 5.25787551e-05 9.99999480e-01 1.74386210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2307140569999 meters Centerline goodness [0,1] 0.9814329973382205 Centerline is valid? [True, True] Translation: X:639.81, Y:-44.57, Z:1.74 [[ 9.87622974e-01 1.56839112e-01 1.53458085e-03 6.39814217e+02] [-1.56838792e-01 9.87624162e-01 -3.27273946e-04 -4.45739765e+01] [-1.56691849e-03 8.25414596e-05 9.99998769e-01 1.74290828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.260714057 meters Centerline goodness [0,1] 0.9809681423251966 Centerline is valid? [True, True] Translation: X:639.84, Y:-44.58, Z:1.74 [[ 9.87821405e-01 1.55587267e-01 1.21453202e-03 6.39841607e+02] [-1.55587066e-01 9.87822149e-01 -2.58494525e-04 -4.45817058e+01] [-1.23996008e-03 6.63809522e-05 9.99999229e-01 1.74272826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.290714057 meters Centerline goodness [0,1] 0.9799965097508835 Centerline is valid? [True, True] Translation: X:639.87, Y:-44.59, Z:1.74 [[ 9.88282866e-01 1.52624331e-01 1.67042931e-03 6.39870293e+02] [-1.52623945e-01 9.88284273e-01 -3.56817135e-04 -4.45916316e+01] [-1.70531799e-03 9.76887489e-05 9.99998541e-01 1.74178939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3207140569999 meters Centerline goodness [0,1] 0.9796715161297359 Centerline is valid? [True, True] Translation: X:639.90, Y:-44.60, Z:1.74 [[ 9.88490734e-01 1.51269067e-01 1.93320592e-03 6.39897100e+02] [-1.51268549e-01 9.88492618e-01 -4.12498352e-04 -4.46001202e+01] [-1.97335803e-03 1.15317545e-04 9.99998046e-01 1.74195053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3507140569999 meters Centerline goodness [0,1] 0.9773524095729622 Centerline is valid? [True, True] Translation: X:639.92, Y:-44.61, Z:1.74 [[ 9.88670945e-01 1.50085108e-01 2.05498642e-03 6.39923407e+02] [-1.50084520e-01 9.88673073e-01 -4.38323639e-04 -4.46097728e+01] [-2.09749559e-03 1.24936196e-04 9.99997792e-01 1.74260010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.380714057 meters Centerline goodness [0,1] 0.9805527123848516 Centerline is valid? [True, True] Translation: X:639.95, Y:-44.61, Z:1.74 [[ 9.88829494e-01 1.49028426e-01 2.60017120e-03 6.39952923e+02] [-1.49027485e-01 9.88832899e-01 -5.53339818e-04 -4.46093767e+01] [-2.65359819e-03 1.59661758e-04 9.99996466e-01 1.74207877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.410714057 meters Centerline goodness [0,1] 0.979066373319973 Centerline is valid? [True, True] Translation: X:639.98, Y:-44.62, Z:1.74 [[ 9.88883098e-01 1.48684397e-01 1.78013401e-03 6.39979058e+02] [-1.48683955e-01 9.88884694e-01 -3.78733606e-04 -4.46184097e+01] [-1.81665905e-03 1.09845896e-04 9.99998344e-01 1.74254279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4407140569999 meters Centerline goodness [0,1] 0.9775881634078212 Centerline is valid? [True, True] Translation: X:640.01, Y:-44.63, Z:1.74 [[ 9.88836789e-01 1.49000646e-01 7.81872058e-04 6.40005472e+02] [-1.49000561e-01 9.88837097e-01 -1.66164301e-04 -4.46285550e+01] [-7.97902684e-04 4.78099990e-05 9.99999681e-01 1.74240955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4707140569999 meters Centerline goodness [0,1] 0.9770578238703211 Centerline is valid? [True, True] Translation: X:640.03, Y:-44.63, Z:1.74 [[ 9.88723625e-01 1.49750029e-01 7.23173320e-04 6.40033525e+02] [-1.49749957e-01 9.88723888e-01 -1.52884634e-04 -4.46340417e+01] [-7.37913215e-04 4.28654756e-05 9.99999727e-01 1.74196074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.500714057 meters Centerline goodness [0,1] 0.9805865525298626 Centerline is valid? [True, True] Translation: X:640.06, Y:-44.63, Z:1.74 [[ 9.88459321e-01 1.51486239e-01 2.98979318e-04 6.40063899e+02] [-1.51486227e-01 9.88459366e-01 -6.30987817e-05 -4.46326382e+01] [-3.05087504e-04 1.70793301e-05 9.99999953e-01 1.74108967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.530714057 meters Centerline goodness [0,1] 0.9787907220319012 Centerline is valid? [True, True] Translation: X:640.09, Y:-44.64, Z:1.74 [[ 9.88307247e-01 1.52475205e-01 3.11424498e-04 6.40090237e+02] [-1.52475192e-01 9.88307296e-01 -6.58277382e-05 -4.46435394e+01] [-3.17820201e-04 1.75735207e-05 9.99999949e-01 1.74219101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5607140569999 meters Centerline goodness [0,1] 0.9815776836774786 Centerline is valid? [True, True] Translation: X:640.12, Y:-44.64, Z:1.74 [[ 9.88167419e-01 1.53378993e-01 1.89926504e-04 6.40120883e+02] [-1.53378988e-01 9.88167437e-01 -3.93658144e-05 -4.46405229e+01] [-1.93717075e-04 9.76928034e-06 9.99999981e-01 1.74210231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5907140569999 meters Centerline goodness [0,1] 0.9801787200490604 Centerline is valid? [True, True] Translation: X:640.15, Y:-44.65, Z:1.74 [[ 9.88017825e-01 1.54339326e-01 3.87113495e-04 6.40147170e+02] [-1.54339305e-01 9.88017901e-01 -8.17775554e-05 -4.46487232e+01] [-3.95096556e-04 2.10508545e-05 9.99999922e-01 1.74287250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.620714057 meters Centerline goodness [0,1] 0.9835243082181276 Centerline is valid? [True, True] Translation: X:640.18, Y:-44.65, Z:1.74 [[ 9.87889457e-01 1.55158243e-01 5.83060752e-04 6.40176664e+02] [-1.55158198e-01 9.87889629e-01 -1.22530898e-04 -4.46496068e+01] [-5.95011348e-04 3.05803265e-05 9.99999823e-01 1.74268347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.650714057 meters Centerline goodness [0,1] 0.9840162679844318 Centerline is valid? [True, True] Translation: X:640.20, Y:-44.65, Z:1.74 [[ 9.87749198e-01 1.56049379e-01 3.35352156e-04 6.40204716e+02] [-1.56049364e-01 9.87749255e-01 -6.99440721e-05 -4.46544203e+01] [-3.42158572e-04 1.67557104e-05 9.99999941e-01 1.74237019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6807140569999 meters Centerline goodness [0,1] 0.9820150968165409 Centerline is valid? [True, True] Translation: X:640.23, Y:-44.66, Z:1.74 [[ 9.87655602e-01 1.56641000e-01 9.07129471e-05 6.40230783e+02] [-1.56640999e-01 9.87655606e-01 -1.88250610e-05 -4.46634453e+01] [-9.25419272e-05 4.38331028e-06 9.99999996e-01 1.74263502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7107140569999 meters Centerline goodness [0,1] 0.9824934268185802 Centerline is valid? [True, True] Translation: X:640.26, Y:-44.67, Z:1.74 [[ 9.87724807e-01 1.56203198e-01 -5.15518855e-04 6.40258462e+02] [-1.56203162e-01 9.87724942e-01 1.10090771e-04 -4.46658336e+01] [ 5.26387361e-04 -2.82137107e-05 9.99999861e-01 1.74230566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.740714057 meters Centerline goodness [0,1] 0.9812602739726027 Centerline is valid? [True, True] Translation: X:640.29, Y:-44.67, Z:1.74 [[ 9.87838258e-01 1.55480439e-01 -1.18734725e-03 6.40285758e+02] [-1.55480249e-01 9.87838969e-01 2.51097438e-04 -4.46731018e+01] [ 1.21194863e-03 -6.34346092e-05 9.99999264e-01 1.74217960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.770714057 meters Centerline goodness [0,1] 0.981503775856408 Centerline is valid? [True, True] Translation: X:640.31, Y:-44.68, Z:1.74 [[ 9.87918574e-01 1.54964779e-01 -1.67563375e-03 6.40312363e+02] [-1.54964401e-01 9.87919991e-01 3.54049812e-04 -4.46805882e+01] [ 1.71025733e-03 -9.01088049e-05 9.99998533e-01 1.74203076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8007140569999 meters Centerline goodness [0,1] 0.9797538098257428 Centerline is valid? [True, True] Translation: X:640.34, Y:-44.69, Z:1.74 [[ 9.88149107e-01 1.53480168e-01 -2.27584481e-03 6.40339586e+02] [-1.53479467e-01 9.88151720e-01 4.80531808e-04 -4.46879092e+01] [ 2.32263207e-03 -1.25541627e-04 9.99997295e-01 1.74161058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8307140569999 meters Centerline goodness [0,1] 0.9761395389451624 Centerline is valid? [True, True] Translation: X:640.37, Y:-44.70, Z:1.74 [[ 9.88644241e-01 1.50256851e-01 -2.33293608e-03 6.40366638e+02] [-1.50256106e-01 9.88646985e-01 4.92251490e-04 -4.47023347e+01] [ 2.38041438e-03 -1.36123709e-04 9.99997158e-01 1.74200977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.860714057 meters Centerline goodness [0,1] 0.9776132366352542 Centerline is valid? [True, True] Translation: X:640.40, Y:-44.71, Z:1.74 [[ 9.88919887e-01 1.48432418e-01 -2.29641778e-03 6.40395942e+02] [-1.48431692e-01 9.88922544e-01 4.84535135e-04 -4.47059298e+01] [ 2.34290003e-03 -1.38305256e-04 9.99997246e-01 1.74209972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.890714057 meters Centerline goodness [0,1] 0.9774462330410505 Centerline is valid? [True, True] Translation: X:640.43, Y:-44.71, Z:1.74 [[ 9.89225890e-01 1.46381342e-01 -2.15455174e-03 6.40425035e+02] [-1.46380698e-01 9.89228227e-01 4.54569269e-04 -4.47089701e+01] [ 2.19788386e-03 -1.34286902e-04 9.99997576e-01 1.74245782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9207140569999 meters Centerline goodness [0,1] 0.9764605785592739 Centerline is valid? [True, True] Translation: X:640.45, Y:-44.72, Z:1.74 [[ 9.89452989e-01 1.44832337e-01 -2.52526757e-03 6.40453294e+02] [-1.44831447e-01 9.89456198e-01 5.32630775e-04 -4.47167480e+01] [ 2.57578381e-03 -1.61274955e-04 9.99996670e-01 1.74273697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9507140569999 meters Centerline goodness [0,1] 0.9772187220684092 Centerline is valid? [True, True] Translation: X:640.48, Y:-44.72, Z:1.74 [[ 9.89646501e-01 1.43496684e-01 -2.91637290e-03 6.40480766e+02] [-1.43495493e-01 9.89650780e-01 6.14873714e-04 -4.47233905e+01] [ 2.97442305e-03 -1.90021254e-04 9.99995558e-01 1.74288061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9807140569999 meters Centerline goodness [0,1] 0.9753662364841298 Centerline is valid? [True, True] Translation: X:640.51, Y:-44.73, Z:1.74 [[ 9.89937076e-01 1.41441866e-01 -4.33416605e-03 6.40507734e+02] [-1.41439217e-01 9.89946521e-01 9.13219914e-04 -4.47325092e+01] [ 4.41976013e-03 -2.91009198e-04 9.99990190e-01 1.74216401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.010714057 meters Centerline goodness [0,1] 0.9759998259280213 Centerline is valid? [True, True] Translation: X:640.54, Y:-44.74, Z:1.74 [[ 9.90020098e-01 1.40850049e-01 -4.63355963e-03 6.40535788e+02] [-1.40847017e-01 9.90030891e-01 9.75809161e-04 -4.47397930e+01] [ 4.72480993e-03 -3.13447628e-04 9.99988789e-01 1.74232233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.040714057 meters Centerline goodness [0,1] 0.9759237912960265 Centerline is valid? [True, True] Translation: X:640.56, Y:-44.75, Z:1.74 [[ 9.90202989e-01 1.39538693e-01 -5.19545673e-03 6.40564720e+02] [-1.39534870e-01 9.90216555e-01 1.09296813e-03 -4.47477651e+01] [ 5.29713860e-03 -3.57312934e-04 9.99985906e-01 1.74254354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0707140569999 meters Centerline goodness [0,1] 0.9765215309963662 Centerline is valid? [True, True] Translation: X:640.59, Y:-44.75, Z:1.74 [[ 9.90299571e-01 1.38830019e-01 -5.74329336e-03 6.40593558e+02] [-1.38825339e-01 9.90316145e-01 1.20758094e-03 -4.47504030e+01] [ 5.85532462e-03 -3.98552240e-04 9.99982778e-01 1.74282018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1007140569999 meters Centerline goodness [0,1] 0.9736360865589759 Centerline is valid? [True, True] Translation: X:640.62, Y:-44.76, Z:1.74 [[ 9.90384891e-01 1.38238625e-01 -5.27733866e-03 6.40619711e+02] [-1.38234671e-01 9.90398883e-01 1.10853776e-03 -4.47621883e+01] [ 5.37991305e-03 -3.68367874e-04 9.99985460e-01 1.74337197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.130714057 meters Centerline goodness [0,1] 0.9736360865589759 Centerline is valid? [True, True] Translation: X:640.65, Y:-44.77, Z:1.74 [[ 9.90422759e-01 1.37967049e-01 -5.27748996e-03 6.40646619e+02] [-1.37963095e-01 9.90436751e-01 1.10781698e-03 -4.47677453e+01] [ 5.37986225e-03 -3.69108302e-04 9.99985460e-01 1.74348219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.160714057 meters Centerline goodness [0,1] 0.9734125947217142 Centerline is valid? [True, True] Translation: X:640.67, Y:-44.77, Z:1.74 [[ 9.90446909e-01 1.37807581e-01 -4.89812035e-03 6.40674104e+02] [-1.37804180e-01 9.90458961e-01 1.02686012e-03 -4.47733154e+01] [ 4.99289631e-03 -3.42068977e-04 9.99987477e-01 1.74408202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1907140569999 meters Centerline goodness [0,1] 0.9771093495493539 Centerline is valid? [True, True] Translation: X:640.70, Y:-44.77, Z:1.75 [[ 9.90203101e-01 1.39550215e-01 -4.85339447e-03 6.40704333e+02] [-1.39546902e-01 9.90214941e-01 1.01633414e-03 -4.47733583e+01] [ 4.94773337e-03 -3.29101057e-04 9.99987706e-01 1.74557419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2207140569999 meters Centerline goodness [0,1] 0.975247201999348 Centerline is valid? [True, True] Translation: X:640.73, Y:-44.78, Z:1.75 [[ 9.89939431e-01 1.41396249e-01 -5.19834999e-03 6.40733644e+02] [-1.41392475e-01 9.89953021e-01 1.08836694e-03 -4.47770795e+01] [ 5.30001327e-03 -3.42409781e-04 9.99985896e-01 1.74583934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.250714057 meters Centerline goodness [0,1] 0.977112637898524 Centerline is valid? [True, True] Translation: X:640.76, Y:-44.78, Z:1.75 [[ 9.89588880e-01 1.43828652e-01 -5.21218861e-03 6.40762460e+02] [-1.43824892e-01 9.89602552e-01 1.09107023e-03 -4.47828463e+01] [ 5.31492230e-03 -3.30068499e-04 9.99985821e-01 1.74642254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.280714057 meters Centerline goodness [0,1] 0.9777062444265611 Centerline is valid? [True, True] Translation: X:640.79, Y:-44.79, Z:1.75 [[ 9.89201160e-01 1.46462176e-01 -5.46777734e-03 6.40791905e+02] [-1.46458080e-01 9.89216216e-01 1.14436403e-03 -4.47864687e+01] [ 5.57642006e-03 -3.31206056e-04 9.99984397e-01 1.74605180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3107140569999 meters Centerline goodness [0,1] 0.9797211936397299 Centerline is valid? [True, True] Translation: X:640.82, Y:-44.79, Z:1.75 [[ 9.88312473e-01 1.52299874e-01 -6.57298628e-03 6.40822152e+02] [-1.52294085e-01 9.88334265e-01 1.37544401e-03 -4.47870376e+01] [ 6.70578752e-03 -3.58341540e-04 9.99977452e-01 1.74617621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3407140569999 meters Centerline goodness [0,1] 0.9805617904072872 Centerline is valid? [True, True] Translation: X:640.85, Y:-44.79, Z:1.75 [[ 9.87777830e-01 1.55717119e-01 -6.86561295e-03 6.40852017e+02] [-1.55710886e-01 9.87801628e-01 1.43653382e-03 -4.47911507e+01] [ 7.00555656e-03 -3.49925581e-04 9.99975400e-01 1.74601244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.370714057 meters Centerline goodness [0,1] 0.9827142171199093 Centerline is valid? [True, True] Translation: X:640.88, Y:-44.79, Z:1.75 [[ 9.87235423e-01 1.59115171e-01 -6.97010688e-03 6.40882044e+02] [-1.59108832e-01 9.87259972e-01 1.45821002e-03 -4.47925032e+01] [ 7.11333086e-03 -3.30591018e-04 9.99974645e-01 1.74661498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.400714057 meters Centerline goodness [0,1] 0.985021507019804 Centerline is valid? [True, True] Translation: X:640.91, Y:-44.79, Z:1.75 [[ 9.85836739e-01 1.67563108e-01 -6.96625777e-03 6.40911734e+02] [-1.67556988e-01 9.85861315e-01 1.45717206e-03 -4.47945011e+01] [ 7.11193233e-03 -2.69288580e-04 9.99974674e-01 1.74699507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4307140569999 meters Centerline goodness [0,1] 0.9860744297719087 Centerline is valid? [True, True] Translation: X:640.94, Y:-44.80, Z:1.75 [[ 9.85002664e-01 1.72419016e-01 -6.43701226e-03 6.40941283e+02] [-1.72413896e-01 9.85023673e-01 1.34627186e-03 -4.47978963e+01] [ 6.57273233e-03 -2.16251007e-04 9.99978376e-01 1.74701685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4607140569999 meters Centerline goodness [0,1] 0.9872679391472784 Centerline is valid? [True, True] Translation: X:640.97, Y:-44.80, Z:1.75 [[ 9.84136465e-01 1.77290042e-01 -6.60754937e-03 6.40971376e+02] [-1.77284758e-01 9.84158628e-01 1.38173976e-03 -4.48019077e+01] [ 6.74784543e-03 -1.88402695e-04 9.99977215e-01 1.74708970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.490714057 meters Centerline goodness [0,1] 0.9888021569437498 Centerline is valid? [True, True] Translation: X:641.00, Y:-44.81, Z:1.75 [[ 9.83265280e-01 1.82062010e-01 -6.54317435e-03 6.40999881e+02] [-1.82056935e-01 9.83287039e-01 1.36806269e-03 -4.48063732e+01] [ 6.68289077e-03 -1.53938282e-04 9.99977657e-01 1.74752534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.520714057 meters Centerline goodness [0,1] 0.9892892980236464 Centerline is valid? [True, True] Translation: X:641.03, Y:-44.81, Z:1.75 [[ 9.81649859e-01 1.90598523e-01 -5.97980712e-03 6.41029889e+02] [-1.90594444e-01 9.81668068e-01 1.25003815e-03 -4.48087153e+01] [ 6.10844113e-03 -8.73817566e-05 9.99981339e-01 1.74711240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5507140569999 meters Centerline goodness [0,1] 0.9900443202410323 Centerline is valid? [True, True] Translation: X:641.06, Y:-44.81, Z:1.75 [[ 9.80959010e-01 1.94119874e-01 -6.07413135e-03 6.41058355e+02] [-1.94115736e-01 9.80977813e-01 1.26913400e-03 -4.48144704e+01] [ 6.20495222e-03 -6.58839548e-05 9.99980747e-01 1.74685020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5807140569999 meters Centerline goodness [0,1] 0.9917834492077676 Centerline is valid? [True, True] Translation: X:641.09, Y:-44.82, Z:1.75 [[ 9.80374371e-01 1.97073196e-01 -5.31496733e-03 6.41086388e+02] [-1.97070078e-01 9.80388777e-01 1.10928485e-03 -4.48207157e+01] [ 5.42934463e-03 -4.00934079e-05 9.99985260e-01 1.74687512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.610714057 meters Centerline goodness [0,1] 0.9917729508553519 Centerline is valid? [True, True] Translation: X:641.11, Y:-44.83, Z:1.75 [[ 9.79438881e-01 2.01688106e-01 -4.62456678e-03 6.41112913e+02] [-2.01685801e-01 9.79449798e-01 9.64262992e-04 -4.48291698e+01] [ 4.72401137e-03 -1.17272086e-05 9.99988842e-01 1.74639661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.640714057 meters Centerline goodness [0,1] 0.9918821276225298 Centerline is valid? [True, True] Translation: X:641.14, Y:-44.84, Z:1.75 [[ 9.79134627e-01 2.03167973e-01 -4.26114371e-03 6.41139882e+02] [-2.03166033e-01 9.79143899e-01 8.88061479e-04 -4.48369839e+01] [ 4.35269852e-03 -3.81208215e-06 9.99990527e-01 1.74669804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6707140569999 meters Centerline goodness [0,1] 0.9922903183772749 Centerline is valid? [True, True] Translation: X:641.17, Y:-44.85, Z:1.75 [[ 9.78934126e-01 2.04143116e-01 -3.68320831e-03 6.41165921e+02] [-2.04141677e-01 9.78941054e-01 7.66654623e-04 -4.48452207e+01] [ 3.76215109e-03 1.39194587e-06 9.99992923e-01 1.74660253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7007140569999 meters Centerline goodness [0,1] 0.9914588756696284 Centerline is valid? [True, True] Translation: X:641.19, Y:-44.86, Z:1.75 [[ 9.78629960e-01 2.05600026e-01 -3.46847045e-03 6.41190926e+02] [-2.05598761e-01 9.78636107e-01 7.21267039e-04 -4.48574945e+01] [ 3.54266294e-03 7.25969227e-06 9.99993725e-01 1.74647161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7307140569999 meters Centerline goodness [0,1] 0.9922764929237142 Centerline is valid? [True, True] Translation: X:641.22, Y:-44.87, Z:1.75 [[ 9.78572003e-01 2.05883035e-01 -3.00165053e-03 6.41217324e+02] [-2.05882090e-01 9.78576607e-01 6.24033535e-04 -4.48674694e+01] [ 3.06582291e-03 7.32433699e-06 9.99995300e-01 1.74656727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.760714057 meters Centerline goodness [0,1] 0.9919527086794244 Centerline is valid? [True, True] Translation: X:641.24, Y:-44.88, Z:1.75 [[ 9.78490201e-01 2.06268990e-01 -3.16701095e-03 6.41244120e+02] [-2.06267942e-01 9.78495326e-01 6.57483680e-04 -4.48774867e+01] [ 3.23452391e-03 9.91149316e-06 9.99994769e-01 1.74645561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.790714057 meters Centerline goodness [0,1] 0.9915505675954592 Centerline is valid? [True, True] Translation: X:641.27, Y:-44.89, Z:1.75 [[ 9.78396694e-01 2.06712796e-01 -3.11923600e-03 6.41270129e+02] [-2.06711785e-01 9.78401666e-01 6.46732987e-04 -4.48874850e+01] [ 3.18555368e-03 1.20214251e-05 9.99994926e-01 1.74629316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8207140569999 meters Centerline goodness [0,1] 0.9909830610360892 Centerline is valid? [True, True] Translation: X:641.30, Y:-44.90, Z:1.75 [[ 9.78376951e-01 2.06815523e-01 -2.42529966e-03 6.41296776e+02] [-2.06814913e-01 9.78379957e-01 5.02472491e-04 -4.48988441e+01] [ 2.47678369e-03 9.98063409e-06 9.99996933e-01 1.74610470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8507140569999 meters Centerline goodness [0,1] 0.990734444066644 Centerline is valid? [True, True] Translation: X:641.32, Y:-44.92, Z:1.75 [[ 9.78116843e-01 2.08055551e-01 -5.73131771e-04 6.41322601e+02] [-2.08055517e-01 9.78117011e-01 1.19344668e-04 -4.49156719e+01] [ 5.85420255e-04 2.51019631e-06 9.99999829e-01 1.74732962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.880714057 meters Centerline goodness [0,1] 0.9911874533233757 Centerline is valid? [True, True] Translation: X:641.35, Y:-44.93, Z:1.75 [[ 9.78109514e-01 2.08090787e-01 -5.04572052e-05 6.41348109e+02] [-2.08090787e-01 9.78109516e-01 1.09185981e-05 -4.49269711e+01] [ 5.16247322e-05 -1.79905168e-07 9.99999999e-01 1.74814923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.910714057 meters Centerline goodness [0,1] 0.9899359367401738 Centerline is valid? [True, True] Translation: X:641.37, Y:-44.95, Z:1.75 [[ 9.77935078e-01 2.08904233e-01 1.41589071e-03 6.41373104e+02] [-2.08904030e-01 9.77936103e-01 -2.91626731e-04 -4.49450865e+01] [-1.44557270e-03 -1.05932651e-05 9.99998955e-01 1.74918560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9407140569999 meters Centerline goodness [0,1] 0.9898721249388285 Centerline is valid? [True, True] Translation: X:641.40, Y:-44.96, Z:1.75 [[ 9.77994819e-01 2.08622247e-01 1.70073310e-03 6.41398854e+02] [-2.08621955e-01 9.77996297e-01 -3.49054639e-04 -4.49573959e+01] [-1.73613124e-03 -1.34366375e-05 9.99998493e-01 1.74874878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9707140569999 meters Centerline goodness [0,1] 0.9889417485992177 Centerline is valid? [True, True] Translation: X:641.42, Y:-44.97, Z:1.75 [[ 9.77949434e-01 2.08837003e-01 1.41805474e-03 6.41424519e+02] [-2.08836802e-01 9.77950462e-01 -2.90434328e-04 -4.49691388e+01] [-1.44744072e-03 -1.21119296e-05 9.99998952e-01 1.74835533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.000714057 meters Centerline goodness [0,1] 0.9884467536856334 Centerline is valid? [True, True] Translation: X:641.45, Y:-44.98, Z:1.75 [[ 9.77920847e-01 2.08968655e-01 1.70820367e-03 6.41450194e+02] [-2.08968363e-01 9.77922339e-01 -3.49590017e-04 -4.49809850e+01] [-1.74354388e-03 -1.50891586e-05 9.99998480e-01 1.74805025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.030714057 meters Centerline goodness [0,1] 0.9881595390904662 Centerline is valid? [True, True] Translation: X:641.48, Y:-45.00, Z:1.75 [[ 9.77611004e-01 2.10419433e-01 6.22030151e-04 6.41475858e+02] [-2.10419395e-01 9.77611202e-01 -1.26537231e-04 -4.50000465e+01] [-6.34729536e-04 -7.18301866e-06 9.99999799e-01 1.74699499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0607140569999 meters Centerline goodness [0,1] 0.9880390371954189 Centerline is valid? [True, True] Translation: X:641.50, Y:-45.01, Z:1.75 [[ 9.77348623e-01 2.11635648e-01 -1.49625111e-04 6.41501425e+02] [-2.11635646e-01 9.77348634e-01 3.10314366e-05 -4.50125988e+01] [ 1.52803256e-04 1.33747529e-06 9.99999988e-01 1.74709459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0907140569999 meters Centerline goodness [0,1] 0.9882902496248229 Centerline is valid? [True, True] Translation: X:641.53, Y:-45.03, Z:1.75 [[ 9.77124644e-01 2.12667280e-01 -2.40953895e-04 6.41528339e+02] [-2.12667274e-01 9.77124674e-01 5.03363820e-05 -4.50254067e+01] [ 2.46146898e-04 2.05808874e-06 9.99999970e-01 1.74713137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.120714057 meters Centerline goodness [0,1] 0.987373843125759 Centerline is valid? [True, True] Translation: X:641.56, Y:-45.04, Z:1.75 [[ 9.76824747e-01 2.14037598e-01 -1.14928095e-03 6.41555327e+02] [-2.14037468e-01 9.76825423e-01 2.35993304e-04 -4.50384317e+01] [ 1.17315829e-03 1.54650850e-05 9.99999312e-01 1.74783571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.150714057 meters Centerline goodness [0,1] 0.9889288040167223 Centerline is valid? [True, True] Translation: X:641.58, Y:-45.06, Z:1.75 [[ 9.76408038e-01 2.15927615e-01 -1.61510671e-03 6.41580129e+02] [-2.15927363e-01 9.76409373e-01 3.30825329e-04 -4.50590275e+01] [ 1.64843965e-03 2.57252226e-05 9.99998641e-01 1.74943346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1807140569999 meters Centerline goodness [0,1] 0.9899733601829127 Centerline is valid? [True, True] Translation: X:641.61, Y:-45.07, Z:1.75 [[ 9.76289252e-01 2.16467462e-01 -1.06490173e-03 6.41606894e+02] [-2.16467353e-01 9.76289833e-01 2.18192639e-04 -4.50724435e+01] [ 1.08688434e-03 1.74973310e-05 9.99999409e-01 1.75046316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2107140569999 meters Centerline goodness [0,1] 0.9908488284832819 Centerline is valid? [True, True] Translation: X:641.63, Y:-45.09, Z:1.75 [[ 9.76235877e-01 2.16704768e-01 -1.59859013e-03 6.41632208e+02] [-2.16704524e-01 9.76237186e-01 3.26719013e-04 -4.50860003e+01] [ 1.63140470e-03 2.74668916e-05 9.99998669e-01 1.75193340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.240714057 meters Centerline goodness [0,1] 0.9920237821089873 Centerline is valid? [True, True] Translation: X:641.66, Y:-45.11, Z:1.75 [[ 9.76413794e-01 2.15903852e-01 -1.27627583e-03 6.41656085e+02] [-2.15903695e-01 9.76414628e-01 2.60706624e-04 -4.51092453e+01] [ 1.30246195e-03 2.09951236e-05 9.99999152e-01 1.75379690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.270714057 meters Centerline goodness [0,1] 0.9931395105626438 Centerline is valid? [True, True] Translation: X:641.68, Y:-45.12, Z:1.76 [[ 9.76672195e-01 2.14731188e-01 -1.39313370e-03 6.41682306e+02] [-2.14731001e-01 9.76673188e-01 2.83984201e-04 -4.51244216e+01] [ 1.42161660e-03 2.17895214e-05 9.99998989e-01 1.75526891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3007140569999 meters Centerline goodness [0,1] 0.9938346430362816 Centerline is valid? [True, True] Translation: X:641.71, Y:-45.14, Z:1.76 [[ 9.77095172e-01 2.12797995e-01 -1.42772984e-03 6.41708082e+02] [-2.12797798e-01 9.77096215e-01 2.90642136e-04 -4.51394029e+01] [ 1.45687749e-03 1.98327374e-05 9.99998939e-01 1.75609245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3307140569999 meters Centerline goodness [0,1] 0.99503356552116 Centerline is valid? [True, True] Translation: X:641.73, Y:-45.15, Z:1.76 [[ 9.77536691e-01 2.10759046e-01 -1.62572401e-03 6.41733501e+02] [-2.10758789e-01 9.77538042e-01 3.30123260e-04 -4.51541542e+01] [ 1.65878353e-03 1.99280251e-05 9.99998624e-01 1.75786653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.360714057 meters Centerline goodness [0,1] 0.9960421052631578 Centerline is valid? [True, True] Translation: X:641.76, Y:-45.18, Z:1.76 [[ 9.78595969e-01 2.05783224e-01 -1.78741307e-03 6.41757974e+02] [-2.05782904e-01 9.78597601e-01 3.62941446e-04 -4.51797362e+01] [ 1.82384540e-03 1.26460160e-05 9.99998337e-01 1.75864386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.390714057 meters Centerline goodness [0,1] 0.997128604963112 Centerline is valid? [True, True] Translation: X:641.78, Y:-45.19, Z:1.76 [[ 9.79072899e-01 2.03492361e-01 -2.66774974e-03 6.41783447e+02] [-2.03491644e-01 9.79076534e-01 5.40289171e-04 -4.51934083e+01] [ 2.72187589e-03 1.38822971e-05 9.99996296e-01 1.75964359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4207140569999 meters Centerline goodness [0,1] 0.9978553406223717 Centerline is valid? [True, True] Translation: X:641.81, Y:-45.21, Z:1.76 [[ 9.79535682e-01 2.01243819e-01 -3.28220348e-03 6.41809912e+02] [-2.01242723e-01 9.79541181e-01 6.64336180e-04 -4.52077957e+01] [ 3.34874702e-03 9.77857004e-06 9.99994393e-01 1.75982834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4507140569999 meters Centerline goodness [0,1] 0.9981890543073133 Centerline is valid? [True, True] Translation: X:641.84, Y:-45.22, Z:1.76 [[ 9.79976506e-01 1.99081745e-01 -3.53654393e-03 6.41835104e+02] [-1.99080459e-01 9.79982887e-01 7.15551248e-04 -4.52210722e+01] [ 3.60820572e-03 2.83337760e-06 9.99993490e-01 1.76061602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4807140569999 meters Centerline goodness [0,1] 0.9982747012287494 Centerline is valid? [True, True] Translation: X:641.86, Y:-45.24, Z:1.76 [[ 9.80872321e-01 1.94632936e-01 -2.74064627e-03 6.41860235e+02] [-1.94632147e-01 9.80876149e-01 5.54209943e-04 -4.52425262e+01] [ 2.79610207e-03 -1.01913253e-05 9.99996091e-01 1.76261353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.510714057 meters Centerline goodness [0,1] 0.9982954186746354 Centerline is valid? [True, True] Translation: X:641.89, Y:-45.26, Z:1.76 [[ 9.81391270e-01 1.92006632e-01 -2.15137152e-03 6.41886577e+02] [-1.92006140e-01 9.81393628e-01 4.34952607e-04 -4.52558046e+01] [ 2.19485608e-03 -1.37821516e-05 9.99997591e-01 1.76398096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.540714057 meters Centerline goodness [0,1] 0.9987388069113381 Centerline is valid? [True, True] Translation: X:641.91, Y:-45.27, Z:1.76 [[ 9.81877603e-01 1.89510043e-01 -1.52173694e-03 6.41913517e+02] [-1.89509793e-01 9.81878783e-01 3.07630148e-04 -4.52691513e+01] [ 1.55246021e-03 -1.36710997e-05 9.99998795e-01 1.76490316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5707140569999 meters Centerline goodness [0,1] 0.9988427143608627 Centerline is valid? [True, True] Translation: X:641.94, Y:-45.29, Z:1.77 [[ 9.82951614e-01 1.83857188e-01 -1.63050073e-03 6.41939075e+02] [-1.83856894e-01 9.82952966e-01 3.29477504e-04 -4.52882587e+01] [ 1.66328233e-03 -2.40816447e-05 9.99998616e-01 1.76546848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6007140569999 meters Centerline goodness [0,1] 0.9987158165091261 Centerline is valid? [True, True] Translation: X:641.97, Y:-45.30, Z:1.77 [[ 9.83504257e-01 1.80873407e-01 -2.04605728e-03 6.41965949e+02] [-1.80872939e-01 9.83506385e-01 4.13223011e-04 -4.52996824e+01] [ 2.08705146e-03 -3.63301958e-05 9.99997821e-01 1.76527497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.630714057 meters Centerline goodness [0,1] 0.9986745213549337 Centerline is valid? [True, True] Translation: X:641.99, Y:-45.31, Z:1.76 [[ 9.84064672e-01 1.77793341e-01 -2.49964048e-03 6.41992375e+02] [-1.77792633e-01 9.84067846e-01 5.04604425e-04 -4.53113891e+01] [ 2.54953113e-03 -5.21457263e-05 9.99996749e-01 1.76477395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.660714057 meters Centerline goodness [0,1] 0.9990960119410516 Centerline is valid? [True, True] Translation: X:642.02, Y:-45.33, Z:1.76 [[ 9.85153832e-01 1.71639388e-01 -3.44208432e-03 6.42019452e+02] [-1.71638009e-01 9.85159841e-01 6.94375599e-04 -4.53282462e+01] [ 3.51018545e-03 -9.32742827e-05 9.99993835e-01 1.76396032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6907140569999 meters Centerline goodness [0,1] 0.9989482762247324 Centerline is valid? [True, True] Translation: X:642.05, Y:-45.34, Z:1.76 [[ 9.85671045e-01 1.68650251e-01 -3.11177596e-03 6.42047767e+02] [-1.68649110e-01 9.85675953e-01 6.27641248e-04 -4.53396804e+01] [ 3.17305459e-03 -9.38495592e-05 9.99994961e-01 1.76383323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7207140569999 meters Centerline goodness [0,1] 0.9990949845305496 Centerline is valid? [True, True] Translation: X:642.08, Y:-45.35, Z:1.76 [[ 9.86107980e-01 1.66068294e-01 -3.51765556e-03 6.42076372e+02] [-1.66066819e-01 9.86114247e-01 7.09360146e-04 -4.53490747e+01] [ 3.58661250e-03 -1.15339831e-04 9.99993561e-01 1.76396307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.750714057 meters Centerline goodness [0,1] 0.9994525509022383 Centerline is valid? [True, True] Translation: X:642.10, Y:-45.36, Z:1.76 [[ 9.86829997e-01 1.61729447e-01 -3.18484807e-03 6.42103492e+02] [-1.61728216e-01 9.86835129e-01 6.42098439e-04 -4.53622100e+01] [ 3.24676619e-03 -1.18562203e-04 9.99994722e-01 1.76487902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.780714057 meters Centerline goodness [0,1] 0.999327773459656 Centerline is valid? [True, True] Translation: X:642.13, Y:-45.37, Z:1.77 [[ 9.87076677e-01 1.60232347e-01 -2.28647870e-03 6.42130913e+02] [-1.60231708e-01 9.87079322e-01 4.61101066e-04 -4.53720272e+01] [ 2.33081915e-03 -8.87757219e-05 9.99997280e-01 1.76586093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8107140569999 meters Centerline goodness [0,1] 0.9995164816683485 Centerline is valid? [True, True] Translation: X:642.16, Y:-45.38, Z:1.77 [[ 9.87222111e-01 1.59340092e-01 -1.79966703e-03 6.42159726e+02] [-1.59339695e-01 9.87223749e-01 3.62894472e-04 -4.53783195e+01] [ 1.83449767e-03 -7.14990512e-05 9.99998315e-01 1.76723695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8407140569999 meters Centerline goodness [0,1] 0.9992851886891622 Centerline is valid? [True, True] Translation: X:642.19, Y:-45.39, Z:1.77 [[ 9.87305034e-01 1.58830199e-01 -1.31833091e-03 6.42188908e+02] [-1.58829986e-01 9.87305913e-01 2.65696954e-04 -4.53852069e+01] [ 1.34379660e-03 -5.29334613e-05 9.99999096e-01 1.76794279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.870714057 meters Centerline goodness [0,1] 0.9995586009752817 Centerline is valid? [True, True] Translation: X:642.22, Y:-45.39, Z:1.77 [[ 9.87223824e-01 1.59338162e-01 -6.86277626e-04 6.42219280e+02] [-1.59338105e-01 9.87224062e-01 1.38339199e-04 -4.53885301e+01] [ 6.99552500e-04 -2.72215770e-05 9.99999755e-01 1.76862266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.900714057 meters Centerline goodness [0,1] 0.9994319257716342 Centerline is valid? [True, True] Translation: X:642.25, Y:-45.40, Z:1.77 [[ 9.87119111e-01 1.59985517e-01 -7.04137213e-04 6.42247915e+02] [-1.59985457e-01 9.87119361e-01 1.41997336e-04 -4.53964280e+01] [ 7.17784993e-04 -2.75165703e-05 9.99999742e-01 1.76890272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9307140569999 meters Centerline goodness [0,1] 0.9996424515206327 Centerline is valid? [True, True] Translation: X:642.28, Y:-45.40, Z:1.77 [[ 9.86926922e-01 1.61168066e-01 -3.24424699e-04 6.42277504e+02] [-1.61168053e-01 9.86926975e-01 6.55185689e-05 -4.54011456e+01] [ 3.30742988e-04 -1.23751424e-05 9.99999945e-01 1.76874334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9607140569999 meters Centerline goodness [0,1] 0.9997054863682262 Centerline is valid? [True, True] Translation: X:642.31, Y:-45.41, Z:1.77 [[ 9.86812743e-01 1.61865978e-01 -1.22858857e-04 6.42306391e+02] [-1.61865977e-01 9.86812751e-01 2.48261722e-05 -4.54068873e+01] [ 1.25257199e-04 -4.61211424e-06 9.99999992e-01 1.76903200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.990714057 meters Centerline goodness [0,1] 0.9996210925165772 Centerline is valid? [True, True] Translation: X:642.34, Y:-45.41, Z:1.77 [[ 9.86574109e-01 1.63313510e-01 4.73532602e-04 6.42336232e+02] [-1.63313483e-01 9.86574223e-01 -9.52653070e-05 -4.54076417e+01] [-4.82733170e-04 1.66520267e-05 9.99999883e-01 1.76849702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.020714057 meters Centerline goodness [0,1] 0.9996210925165772 Centerline is valid? [True, True] Translation: X:642.36, Y:-45.41, Z:1.77 [[ 9.86579573e-01 1.63280500e-01 4.73535427e-04 6.42364846e+02] [-1.63280473e-01 9.86579687e-01 -9.52512719e-05 -4.54133759e+01] [-4.82733108e-04 1.66538706e-05 9.99999883e-01 1.76861399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0507140569999 meters Centerline goodness [0,1] 0.9996213396162908 Centerline is valid? [True, True] Translation: X:642.39, Y:-45.42, Z:1.77 [[ 9.86393398e-01 1.64401750e-01 3.59961323e-04 6.42394798e+02] [-1.64401734e-01 9.86393463e-01 -7.23550630e-05 -4.54152801e+01] [-3.66958795e-04 1.21922906e-05 9.99999933e-01 1.76789357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0807140569999 meters Centerline goodness [0,1] 0.999557801642451 Centerline is valid? [True, True] Translation: X:642.42, Y:-45.42, Z:1.77 [[ 9.86212544e-01 1.65483206e-01 -3.56263864e-04 6.42424311e+02] [-1.65483190e-01 9.86212608e-01 7.18817708e-05 -4.54197086e+01] [ 3.63247140e-04 -1.19350233e-05 9.99999934e-01 1.76796801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.110714057 meters Centerline goodness [0,1] 0.9995581087052585 Centerline is valid? [True, True] Translation: X:642.45, Y:-45.42, Z:1.77 [[ 9.85871809e-01 1.67498008e-01 -1.09292887e-03 6.42454338e+02] [-1.67497866e-01 9.85872414e-01 2.20182848e-04 -4.54211707e+01] [ 1.11436861e-03 -3.40088086e-05 9.99999379e-01 1.76690951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.140714057 meters Centerline goodness [0,1] 0.9996210765635855 Centerline is valid? [True, True] Translation: X:642.48, Y:-45.42, Z:1.77 [[ 9.85743084e-01 1.68250672e-01 -1.51090149e-03 6.42483775e+02] [-1.68250403e-01 9.85744241e-01 3.04278480e-04 -4.54244371e+01] [ 1.54055750e-03 -4.57306225e-05 9.99998812e-01 1.76632566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1707140569999 meters Centerline goodness [0,1] 0.9991993594875901 Centerline is valid? [True, True] Translation: X:642.51, Y:-45.43, Z:1.77 [[ 9.85690948e-01 1.68549123e-01 -2.13274681e-03 6.42509764e+02] [-1.68548588e-01 9.85693253e-01 4.29471026e-04 -4.54347497e+01] [ 2.17462111e-03 -6.38542396e-05 9.99997633e-01 1.76640850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2007140569999 meters Centerline goodness [0,1] 0.9988410805343673 Centerline is valid? [True, True] Translation: X:642.54, Y:-45.44, Z:1.77 [[ 9.85661280e-01 1.68718668e-01 -2.41926645e-03 6.42538452e+02] [-1.68717981e-01 9.85664246e-01 4.86855467e-04 -4.54378703e+01] [ 2.46672605e-03 -7.17008303e-05 9.99996955e-01 1.76598105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2307140569999 meters Centerline goodness [0,1] 0.9988243197850185 Centerline is valid? [True, True] Translation: X:642.57, Y:-45.44, Z:1.77 [[ 9.85811961e-01 1.67831652e-01 -2.70461802e-03 6.42567346e+02] [-1.67830791e-01 9.85815667e-01 5.44068965e-04 -4.54396726e+01] [ 2.75756682e-03 -8.24315116e-05 9.99996195e-01 1.76536661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.260714057 meters Centerline goodness [0,1] 0.9990947368421053 Centerline is valid? [True, True] Translation: X:642.60, Y:-45.45, Z:1.77 [[ 9.86045109e-01 1.66454435e-01 -2.82210481e-03 6.42595746e+02] [-1.66453492e-01 9.86049143e-01 5.67488327e-04 -4.54458479e+01] [ 2.87719498e-03 -8.98198881e-05 9.99995857e-01 1.76586627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.290714057 meters Centerline goodness [0,1] 0.9985477964389443 Centerline is valid? [True, True] Translation: X:642.62, Y:-45.45, Z:1.77 [[ 9.86575015e-01 1.63276859e-01 -3.22598468e-03 6.42623727e+02] [-1.63275611e-01 9.86580283e-01 6.48420693e-04 -4.54517256e+01] [ 3.28856497e-03 -1.12991037e-04 9.99994586e-01 1.76521725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3207140569999 meters Centerline goodness [0,1] 0.9986922038474519 Centerline is valid? [True, True] Translation: X:642.65, Y:-45.45, Z:1.76 [[ 9.86798756e-01 1.61894484e-01 -4.28853201e-03 6.42652243e+02] [-1.61892266e-01 9.86808062e-01 8.61689453e-04 -4.54549428e+01] [ 4.37146073e-03 -1.56033914e-04 9.99990433e-01 1.76486674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3507140569999 meters Centerline goodness [0,1] 0.9984867591424968 Centerline is valid? [True, True] Translation: X:642.68, Y:-45.46, Z:1.76 [[ 9.86995152e-01 1.60687951e-01 -4.46684079e-03 6.42678222e+02] [-1.60685534e-01 9.87005245e-01 8.97170200e-04 -4.54644278e+01] [ 4.55295973e-03 -1.67745940e-04 9.99989621e-01 1.76488825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.380714057 meters Centerline goodness [0,1] 0.9987182719784837 Centerline is valid? [True, True] Translation: X:642.71, Y:-45.47, Z:1.77 [[ 9.87134619e-01 1.59822651e-01 -4.68668540e-03 6.42706640e+02] [-1.59819982e-01 9.87145728e-01 9.40879145e-04 -4.54670472e+01] [ 4.77681527e-03 -1.79748398e-04 9.99988575e-01 1.76561738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.410714057 meters Centerline goodness [0,1] 0.998336036396571 Centerline is valid? [True, True] Translation: X:642.74, Y:-45.47, Z:1.77 [[ 9.87384742e-01 1.58295962e-01 -3.70941957e-03 6.42735077e+02] [-1.58294281e-01 9.87391699e-01 7.44416399e-04 -4.54701782e+01] [ 3.78048820e-03 -1.47845491e-04 9.99992843e-01 1.76707842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4407140569999 meters Centerline goodness [0,1] 0.9981450252951096 Centerline is valid? [True, True] Translation: X:642.76, Y:-45.48, Z:1.77 [[ 9.87478904e-01 1.57705434e-01 -3.79607475e-03 6.42762272e+02] [-1.57703670e-01 9.87486189e-01 7.61516591e-04 -4.54766616e+01] [ 3.86866669e-03 -1.53326651e-04 9.99992505e-01 1.76790767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4707140569999 meters Centerline goodness [0,1] 0.9979286102858099 Centerline is valid? [True, True] Translation: X:642.79, Y:-45.48, Z:1.77 [[ 9.87688682e-01 1.56372434e-01 -4.32771873e-03 6.42789998e+02] [-1.56370131e-01 9.87698147e-01 8.67727997e-04 -4.54838402e+01] [ 4.41016850e-03 -1.80319179e-04 9.99990259e-01 1.76882636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.500714057 meters Centerline goodness [0,1] 0.9981993299832496 Centerline is valid? [True, True] Translation: X:642.82, Y:-45.49, Z:1.77 [[ 9.87858907e-01 1.55286856e-01 -4.55769468e-03 6.42817018e+02] [-1.55284291e-01 9.87869401e-01 9.13555411e-04 -4.54905331e+01] [ 4.64427027e-03 -1.94725461e-04 9.99989196e-01 1.76926997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.530714057 meters Centerline goodness [0,1] 0.9981384647563272 Centerline is valid? [True, True] Translation: X:642.85, Y:-45.50, Z:1.77 [[ 9.88038569e-01 1.54141884e-01 -4.47954432e-03 6.42845695e+02] [-1.54139396e-01 9.88048704e-01 8.97508572e-04 -4.54955170e+01] [ 4.56435162e-03 -1.96298828e-04 9.99989564e-01 1.77012296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5607140569999 meters Centerline goodness [0,1] 0.9980556542827873 Centerline is valid? [True, True] Translation: X:642.87, Y:-45.50, Z:1.77 [[ 9.88300734e-01 1.52463589e-01 -4.06362448e-03 6.42872982e+02] [-1.52461529e-01 9.88309071e-01 8.13918728e-04 -4.55028699e+01] [ 4.14020990e-03 -1.84850076e-04 9.99991412e-01 1.77077847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5907140569999 meters Centerline goodness [0,1] 0.9976754900318311 Centerline is valid? [True, True] Translation: X:642.90, Y:-45.50, Z:1.77 [[ 9.88746574e-01 1.49561382e-01 -3.40680552e-03 6.42902711e+02] [-1.49559916e-01 9.88752429e-01 6.82344040e-04 -4.55033840e+01] [ 3.47053955e-03 -1.65143782e-04 9.99993964e-01 1.77166194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.620714057 meters Centerline goodness [0,1] 0.9978096708248154 Centerline is valid? [True, True] Translation: X:642.93, Y:-45.51, Z:1.77 [[ 9.88942933e-01 1.48252014e-01 -3.63544707e-03 6.42930655e+02] [-1.48250338e-01 9.88949598e-01 7.27918829e-04 -4.55098335e+01] [ 3.70318935e-03 -1.80913925e-04 9.99993127e-01 1.77169235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.650714057 meters Centerline goodness [0,1] 0.9977653864628365 Centerline is valid? [True, True] Translation: X:642.96, Y:-45.52, Z:1.77 [[ 9.89117541e-01 1.47057827e-01 -4.52610277e-03 6.42958974e+02] [-1.47055217e-01 9.89127870e-01 9.05979912e-04 -4.55161334e+01] [ 4.61012582e-03 -2.30533597e-04 9.99989347e-01 1.77118656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6807140569999 meters Centerline goodness [0,1] 0.9977406803062633 Centerline is valid? [True, True] Translation: X:642.99, Y:-45.52, Z:1.77 [[ 9.89315991e-01 1.45682258e-01 -5.52708548e-03 6.42988434e+02] [-1.45678346e-01 9.89331388e-01 1.10602370e-03 -4.55196341e+01] [ 5.62924718e-03 -2.89030259e-04 9.99984114e-01 1.77016287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7107140569999 meters Centerline goodness [0,1] 0.9977717985369545 Centerline is valid? [True, True] Translation: X:643.02, Y:-45.53, Z:1.77 [[ 9.89676566e-01 1.43141434e-01 -7.12915260e-03 6.43015204e+02] [-1.43134863e-01 9.89702166e-01 1.42619172e-03 -4.55302233e+01] [ 7.25988489e-03 -3.91038250e-04 9.99973570e-01 1.76952800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.740714057 meters Centerline goodness [0,1] 0.9979012760241773 Centerline is valid? [True, True] Translation: X:643.05, Y:-45.53, Z:1.77 [[ 9.89758251e-01 1.42533392e-01 -7.92698767e-03 6.43045396e+02] [-1.42525254e-01 9.89789896e-01 1.58517907e-03 -4.55271307e+01] [ 8.07199325e-03 -4.39148138e-04 9.99967325e-01 1.76999425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.770714057 meters Centerline goodness [0,1] 0.9980273650633762 Centerline is valid? [True, True] Translation: X:643.07, Y:-45.53, Z:1.77 [[ 9.89796883e-01 1.42254834e-01 -8.10511107e-03 6.43072795e+02] [-1.42246322e-01 9.89829965e-01 1.62010843e-03 -4.55328963e+01] [ 8.25315007e-03 -4.50656028e-04 9.99965841e-01 1.77027550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8007140569999 meters Centerline goodness [0,1] 0.9972912817067024 Centerline is valid? [True, True] Translation: X:643.10, Y:-45.53, Z:1.77 [[ 9.89571997e-01 1.43791018e-01 -8.45015027e-03 6.43102351e+02] [-1.43781827e-01 9.89607971e-01 1.68835977e-03 -4.55315325e+01] [ 8.60510702e-03 -4.55775499e-04 9.99962872e-01 1.77126688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8307140569999 meters Centerline goodness [0,1] 0.9973539417867193 Centerline is valid? [True, True] Translation: X:643.13, Y:-45.54, Z:1.77 [[ 9.89319837e-01 1.45534488e-01 -8.12241229e-03 6.43129827e+02] [-1.45526060e-01 9.89353089e-01 1.62227164e-03 -4.55356496e+01] [ 8.27203016e-03 -4.22922858e-04 9.99965697e-01 1.77182794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.860714057 meters Centerline goodness [0,1] 0.9969198962047214 Centerline is valid? [True, True] Translation: X:643.16, Y:-45.53, Z:1.77 [[ 9.88641767e-01 1.50103018e-01 -7.51933149e-03 6.43161347e+02] [-1.50095930e-01 9.88670298e-01 1.50146424e-03 -4.55327973e+01] [ 7.65951401e-03 -3.55789207e-04 9.99970602e-01 1.77250128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.890714057 meters Centerline goodness [0,1] 0.9967521511726 Centerline is valid? [True, True] Translation: X:643.19, Y:-45.53, Z:1.77 [[ 9.88221549e-01 1.52869886e-01 -6.99774642e-03 6.43191419e+02] [-1.52863818e-01 9.88246276e-01 1.39712803e-03 -4.55345835e+01] [ 7.12907564e-03 -3.10969793e-04 9.99974539e-01 1.77303538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9207140569999 meters Centerline goodness [0,1] 0.9967345571766479 Centerline is valid? [True, True] Translation: X:643.22, Y:-45.54, Z:1.77 [[ 9.87671934e-01 1.56383983e-01 -6.94264536e-03 6.43222001e+02] [-1.56378098e-01 9.87696294e-01 1.38593200e-03 -4.55354317e+01] [ 7.07396266e-03 -2.83168460e-04 9.99974939e-01 1.77290124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9507140569999 meters Centerline goodness [0,1] 0.9964832220384753 Centerline is valid? [True, True] Translation: X:643.25, Y:-45.53, Z:1.77 [[ 9.86621562e-01 1.62874801e-01 -7.04931581e-03 6.43252902e+02] [-1.62868900e-01 9.86646716e-01 1.40708327e-03 -4.55324189e+01] [ 7.18436270e-03 -2.40144381e-04 9.99974163e-01 1.77147898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9807140569999 meters Centerline goodness [0,1] 0.9968761792947294 Centerline is valid? [True, True] Translation: X:643.28, Y:-45.53, Z:1.77 [[ 9.86138988e-01 1.65776074e-01 -6.94193947e-03 6.43282826e+02] [-1.65770426e-01 9.86163398e-01 1.38533815e-03 -4.55306986e+01] [ 7.07554254e-03 -2.15367698e-04 9.99974945e-01 1.77121132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.010714057 meters Centerline goodness [0,1] 0.996758949481432 Centerline is valid? [True, True] Translation: X:643.31, Y:-45.53, Z:1.77 [[ 9.85607694e-01 1.68899950e-01 -7.09080264e-03 6.43311701e+02] [-1.68894141e-01 9.85633181e-01 1.41451248e-03 -4.55323116e+01] [ 7.22784145e-03 -1.96559357e-04 9.99973859e-01 1.77054645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.040714057 meters Centerline goodness [0,1] 0.9959467647243173 Centerline is valid? [True, True] Translation: X:643.34, Y:-45.53, Z:1.77 [[ 9.85195086e-01 1.71289648e-01 -7.10628693e-03 6.43339344e+02] [-1.71283880e-01 9.85220698e-01 1.41701878e-03 -4.55349536e+01] [ 7.24398162e-03 -1.78847540e-04 9.99973746e-01 1.77018680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0707140569999 meters Centerline goodness [0,1] 0.9954480915392967 Centerline is valid? [True, True] Translation: X:643.37, Y:-45.54, Z:1.77 [[ 9.84730462e-01 1.73950325e-01 -6.87038114e-03 6.43367041e+02] [-1.73945002e-01 9.84754417e-01 1.36936684e-03 -4.55372293e+01] [ 7.00383997e-03 -1.53388779e-04 9.99975461e-01 1.76932602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1007140569999 meters Centerline goodness [0,1] 0.9957962207608424 Centerline is valid? [True, True] Translation: X:643.39, Y:-45.54, Z:1.77 [[ 9.84742627e-01 1.73886131e-01 -6.75072715e-03 6.43394834e+02] [-1.73880995e-01 9.84765754e-01 1.34488239e-03 -4.55415269e+01] [ 6.88174131e-03 -1.50539858e-04 9.99976309e-01 1.76918977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.130714057 meters Centerline goodness [0,1] 0.9962756831401431 Centerline is valid? [True, True] Translation: X:643.42, Y:-45.54, Z:1.77 [[ 9.84810970e-01 1.73507245e-01 -6.52601223e-03 6.43423536e+02] [-1.73502441e-01 9.84832582e-01 1.29953709e-03 -4.55440808e+01] [ 6.65250858e-03 -1.47519335e-04 9.99977861e-01 1.77019384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.160714057 meters Centerline goodness [0,1] 0.9959091195166467 Centerline is valid? [True, True] Translation: X:643.45, Y:-45.55, Z:1.77 [[ 9.85007801e-01 1.72389071e-01 -6.45285911e-03 6.43451719e+02] [-1.72384353e-01 9.85028926e-01 1.28450436e-03 -4.55479027e+01] [ 6.57768740e-03 -1.52874871e-04 9.99978355e-01 1.77050803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1907140569999 meters Centerline goodness [0,1] 0.9963362250484292 Centerline is valid? [True, True] Translation: X:643.48, Y:-45.55, Z:1.77 [[ 9.85311839e-01 1.70642629e-01 -6.45542410e-03 6.43480626e+02] [-1.70637873e-01 9.85332972e-01 1.28453873e-03 -4.55523871e+01] [ 6.57993928e-03 -1.64131377e-04 9.99978338e-01 1.76975768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2207140569999 meters Centerline goodness [0,1] 0.9965018017828167 Centerline is valid? [True, True] Translation: X:643.51, Y:-45.56, Z:1.77 [[ 9.85476118e-01 1.69680112e-01 -6.74388779e-03 6.43509081e+02] [-1.69674903e-01 9.85499177e-01 1.34142411e-03 -4.55574647e+01] [ 6.87370886e-03 -1.77672922e-04 9.99976360e-01 1.76986412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.250714057 meters Centerline goodness [0,1] 0.9959100204498977 Centerline is valid? [True, True] Translation: X:643.54, Y:-45.56, Z:1.77 [[ 9.85538581e-01 1.69329926e-01 -6.40943519e-03 6.43536069e+02] [-1.69325216e-01 9.85559408e-01 1.27438873e-03 -4.55635104e+01] [ 6.53267130e-03 -1.70680263e-04 9.99978647e-01 1.76925312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.280714057 meters Centerline goodness [0,1] 0.9951532370944493 Centerline is valid? [True, True] Translation: X:643.56, Y:-45.57, Z:1.77 [[ 9.85515299e-01 1.69487661e-01 -5.79037653e-03 6.43564678e+02] [-1.69483822e-01 9.85532298e-01 1.15083448e-03 -4.55675684e+01] [ 5.90165533e-03 -1.52789845e-04 9.99982573e-01 1.76998017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3107140569999 meters Centerline goodness [0,1] 0.9954454401686874 Centerline is valid? [True, True] Translation: X:643.59, Y:-45.57, Z:1.77 [[ 9.85484032e-01 1.69707307e-01 -4.54451626e-03 6.43593037e+02] [-1.69704947e-01 9.85494503e-01 9.02946768e-04 -4.55719087e+01] [ 4.63183245e-03 -1.18612733e-04 9.99989266e-01 1.77112613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3407140569999 meters Centerline goodness [0,1] 0.9959269368045349 Centerline is valid? [True, True] Translation: X:643.62, Y:-45.58, Z:1.77 [[ 9.85481052e-01 1.69737202e-01 -4.04714203e-03 6.43619688e+02] [-1.69735331e-01 9.85489356e-01 8.03846225e-04 -4.55776151e+01] [ 4.12485800e-03 -1.05232232e-04 9.99991487e-01 1.77200711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.370714057 meters Centerline goodness [0,1] 0.9958515787047707 Centerline is valid? [True, True] Translation: X:643.65, Y:-45.58, Z:1.77 [[ 9.85500046e-01 1.69643327e-01 -3.28652802e-03 6.43647213e+02] [-1.69642094e-01 9.85505522e-01 6.52428634e-04 -4.55829526e+01] [ 3.34957168e-03 -8.54349550e-05 9.99994387e-01 1.77295874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.400714057 meters Centerline goodness [0,1] 0.9955953604463368 Centerline is valid? [True, True] Translation: X:643.68, Y:-45.59, Z:1.77 [[ 9.85630579e-01 1.68877717e-01 -3.56073049e-03 6.43675875e+02] [-1.68876267e-01 9.85637006e-01 7.06418947e-04 -4.55885854e+01] [ 3.62888616e-03 -9.49452444e-05 9.99993411e-01 1.77274847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4307140569999 meters Centerline goodness [0,1] 0.995236602945785 Centerline is valid? [True, True] Translation: X:643.70, Y:-45.60, Z:1.77 [[ 9.85795721e-01 1.67911752e-01 -3.52690457e-03 6.43702492e+02] [-1.67910323e-01 9.85802026e-01 6.99457705e-04 -4.55958105e+01] [ 3.59427684e-03 -9.73187257e-05 9.99993536e-01 1.77304547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4607140569999 meters Centerline goodness [0,1] 0.9950574544847866 Centerline is valid? [True, True] Translation: X:643.73, Y:-45.60, Z:1.77 [[ 9.86020686e-01 1.66579942e-01 -3.78536481e-03 6.43730462e+02] [-1.66578288e-01 9.86027946e-01 7.50340228e-04 -4.56008398e+01] [ 3.85746712e-03 -1.09291396e-04 9.99992554e-01 1.77360594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.490714057 meters Centerline goodness [0,1] 0.9953657104512665 Centerline is valid? [True, True] Translation: X:643.76, Y:-45.61, Z:1.77 [[ 9.86757212e-01 1.62185904e-01 -2.43663734e-03 6.43759144e+02] [-1.62185206e-01 9.86760217e-01 4.82862561e-04 -4.56093372e+01] [ 2.48269030e-03 -8.12815850e-05 9.99996915e-01 1.77448277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.520714057 meters Centerline goodness [0,1] 0.9952816340225643 Centerline is valid? [True, True] Translation: X:643.79, Y:-45.62, Z:1.77 [[ 9.87210426e-01 1.59407333e-01 -2.20858712e-03 6.43788275e+02] [-1.59406752e-01 9.87212893e-01 4.37602505e-04 -4.56165094e+01] [ 2.25010273e-03 -7.99420550e-05 9.99997465e-01 1.77460860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5507140569999 meters Centerline goodness [0,1] 0.9948195187165776 Centerline is valid? [True, True] Translation: X:643.82, Y:-45.62, Z:1.77 [[ 9.87699844e-01 1.56347292e-01 -2.13120524e-03 6.43816963e+02] [-1.56346744e-01 9.87702140e-01 4.22195417e-04 -4.56243880e+01] [ 2.17100509e-03 -8.37953471e-05 9.99997640e-01 1.77487720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5807140569999 meters Centerline goodness [0,1] 0.9940833385972669 Centerline is valid? [True, True] Translation: X:643.84, Y:-45.64, Z:1.77 [[ 9.88970092e-01 1.48093913e-01 -2.51998597e-03 6.43844533e+02] [-1.48093121e-01 9.88973295e-01 4.99063634e-04 -4.56356948e+01] [ 2.56610712e-03 -1.20366420e-04 9.99996700e-01 1.77428892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.610714057 meters Centerline goodness [0,1] 0.9930201454484661 Centerline is valid? [True, True] Translation: X:643.87, Y:-45.65, Z:1.77 [[ 9.89658141e-01 1.43422180e-01 -2.61569638e-03 6.43871948e+02] [-1.43421311e-01 9.89661588e-01 5.17993324e-04 -4.56466264e+01] [ 2.66294597e-03 -1.37489707e-04 9.99996445e-01 1.77401059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.640714057 meters Centerline goodness [0,1] 0.9938397924094429 Centerline is valid? [True, True] Translation: X:643.90, Y:-45.65, Z:1.77 [[ 9.90971474e-01 1.34029983e-01 -3.39121979e-03 6.43901753e+02] [-1.34028468e-01 9.90977255e-01 6.71388529e-04 -4.56536626e+01] [ 3.45060787e-03 -2.10806888e-04 9.99994024e-01 1.77381257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6707140569999 meters Centerline goodness [0,1] 0.9934451797833326 Centerline is valid? [True, True] Translation: X:643.93, Y:-45.67, Z:1.77 [[ 9.91537562e-01 1.29770576e-01 -3.58611705e-03 6.43928638e+02] [-1.29768853e-01 9.91544019e-01 7.09923269e-04 -4.56678852e+01] [ 3.64792007e-03 -2.38549290e-04 9.99993318e-01 1.77396479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7007140569999 meters Centerline goodness [0,1] 0.9925015185472216 Centerline is valid? [True, True] Translation: X:643.96, Y:-45.67, Z:1.77 [[ 9.91970566e-01 1.26423041e-01 -3.40741783e-03 6.43957777e+02] [-1.26421466e-01 9.91976390e-01 6.74561755e-04 -4.56749518e+01] [ 3.46535819e-03 -2.38374650e-04 9.99993967e-01 1.77412314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7307140569999 meters Centerline goodness [0,1] 0.9927005768222339 Centerline is valid? [True, True] Translation: X:643.99, Y:-45.68, Z:1.77 [[ 9.92353418e-01 1.23388819e-01 -3.14539972e-03 6.43987541e+02] [-1.23387462e-01 9.92358376e-01 6.22638777e-04 -4.56796075e+01] [ 3.19819042e-03 -2.29774830e-04 9.99994859e-01 1.77475077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.760714057 meters Centerline goodness [0,1] 0.9918885892465868 Centerline is valid? [True, True] Translation: X:644.02, Y:-45.68, Z:1.78 [[ 9.92703610e-01 1.20565823e-01 -1.85076527e-03 6.44018285e+02] [-1.20565348e-01 9.92705325e-01 3.66320142e-04 -4.56819618e+01] [ 1.88143023e-03 -1.40509167e-04 9.99998220e-01 1.77554685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.790714057 meters Centerline goodness [0,1] 0.9912605820662932 Centerline is valid? [True, True] Translation: X:644.05, Y:-45.69, Z:1.78 [[ 9.92749789e-01 1.20190287e-01 -1.46684616e-03 6.44046459e+02] [-1.20189988e-01 9.92750866e-01 2.90517120e-04 -4.56858788e+01] [ 1.49113013e-03 -1.12110587e-04 9.99998882e-01 1.77573179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8207140569999 meters Centerline goodness [0,1] 0.9904519011887699 Centerline is valid? [True, True] Translation: X:644.08, Y:-45.69, Z:1.78 [[ 9.92648328e-01 1.21030419e-01 -9.66487736e-04 6.44076137e+02] [-1.21030289e-01 9.92648796e-01 1.91446477e-04 -4.56857100e+01] [ 9.82553735e-04 -7.30647356e-05 9.99999515e-01 1.77620986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8507140569999 meters Centerline goodness [0,1] 0.9895335179125766 Centerline is valid? [True, True] Translation: X:644.11, Y:-45.69, Z:1.78 [[ 9.92532693e-01 1.21971943e-01 -1.30365270e-03 6.44105298e+02] [-1.21971708e-01 9.92533544e-01 2.58031382e-04 -4.56877852e+01] [ 1.32539162e-03 -9.70958366e-05 9.99999117e-01 1.77601615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.880714057 meters Centerline goodness [0,1] 0.988704136899117 Centerline is valid? [True, True] Translation: X:644.13, Y:-45.69, Z:1.78 [[ 9.92370465e-01 1.23289249e-01 -7.88290236e-04 6.44134745e+02] [-1.23289164e-01 9.92370776e-01 1.56083172e-04 -4.56888300e+01] [ 8.01519571e-04 -5.77046861e-05 9.99999677e-01 1.77567976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.910714057 meters Centerline goodness [0,1] 0.9877361268879633 Centerline is valid? [True, True] Translation: X:644.16, Y:-45.69, Z:1.78 [[ 9.92170359e-01 1.24891175e-01 -4.16302168e-04 6.44162123e+02] [-1.24891151e-01 9.92170446e-01 8.25964728e-05 -4.56930194e+01] [ 4.23358278e-04 -2.99573150e-05 9.99999910e-01 1.77585593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9407140569999 meters Centerline goodness [0,1] 0.9877361268879633 Centerline is valid? [True, True] Translation: X:644.19, Y:-45.70, Z:1.78 [[ 9.92183542e-01 1.24786403e-01 -4.16297603e-04 6.44189175e+02] [-1.24786380e-01 9.92183628e-01 8.26196855e-05 -4.56982666e+01] [ 4.23353480e-04 -3.00256214e-05 9.99999910e-01 1.77596640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9707140569999 meters Centerline goodness [0,1] 0.9877612066059993 Centerline is valid? [True, True] Translation: X:644.22, Y:-45.69, Z:1.78 [[ 9.91507942e-01 1.30043599e-01 8.14694400e-04 6.44221568e+02] [-1.30043511e-01 9.91508275e-01 -1.60824290e-04 -4.56896860e+01] [-8.28690408e-04 5.35128410e-05 9.99999655e-01 1.77586890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.000714057 meters Centerline goodness [0,1] 0.9857200025274332 Centerline is valid? [True, True] Translation: X:644.25, Y:-45.69, Z:1.78 [[ 9.91140853e-01 1.32810308e-01 1.10963425e-03 6.44250035e+02] [-1.32810146e-01 9.91141472e-01 -2.18783410e-04 -4.56934425e+01] [-1.12886121e-03 6.94744888e-05 9.99999360e-01 1.77617907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.030714057 meters Centerline goodness [0,1] 0.9851010101010101 Centerline is valid? [True, True] Translation: X:644.28, Y:-45.69, Z:1.78 [[ 9.90735726e-01 1.35797618e-01 1.31422239e-03 6.44280976e+02] [-1.35797394e-01 9.90736595e-01 -2.59285805e-04 -4.56913460e+01] [-1.33725861e-03 7.84157357e-05 9.99999103e-01 1.77574814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0607140569999 meters Centerline goodness [0,1] 0.9834833889483515 Centerline is valid? [True, True] Translation: X:644.31, Y:-45.69, Z:1.78 [[ 9.89983731e-01 1.41168726e-01 1.89829793e-03 6.44313166e+02] [-1.41168267e-01 9.89985545e-01 -3.74606652e-04 -4.56866573e+01] [-1.93217026e-03 1.02875062e-04 9.99998128e-01 1.77545779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0907140569999 meters Centerline goodness [0,1] 0.9835064141722664 Centerline is valid? [True, True] Translation: X:644.34, Y:-45.69, Z:1.78 [[ 9.89682454e-01 1.43270326e-01 1.50128212e-03 6.44342968e+02] [-1.43270041e-01 9.89683590e-01 -2.95961671e-04 -4.56860554e+01] [-1.52819680e-03 7.78193214e-05 9.99998829e-01 1.77532130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.120714057 meters Centerline goodness [0,1] 0.9820421052631579 Centerline is valid? [True, True] Translation: X:644.37, Y:-45.69, Z:1.77 [[ 9.89460348e-01 1.44796419e-01 1.48875732e-03 6.44370616e+02] [-1.44796141e-01 9.89461465e-01 -2.93031700e-04 -4.56887631e+01] [-1.51549794e-03 7.43769318e-05 9.99998849e-01 1.77486134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.150714057 meters Centerline goodness [0,1] 0.9808717268111821 Centerline is valid? [True, True] Translation: X:644.40, Y:-45.69, Z:1.77 [[ 9.89144190e-01 1.46941556e-01 1.39654151e-03 6.44400597e+02] [-1.46941314e-01 9.89145174e-01 -2.75049301e-04 -4.56873222e+01] [-1.42179846e-03 6.68537745e-05 9.99998987e-01 1.77357401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1807140569999 meters Centerline goodness [0,1] 0.9798062750052643 Centerline is valid? [True, True] Translation: X:644.43, Y:-45.69, Z:1.77 [[ 9.89081235e-01 1.47369173e-01 7.97972280e-04 6.44428657e+02] [-1.47369095e-01 9.89081556e-01 -1.56851666e-04 -4.56908155e+01] [-8.12374765e-04 3.75425867e-05 9.99999669e-01 1.77321723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2107140569999 meters Centerline goodness [0,1] 0.9798507777262572 Centerline is valid? [True, True] Translation: X:644.46, Y:-45.69, Z:1.77 [[ 9.89014051e-01 1.47821104e-01 3.57821806e-04 6.44457799e+02] [-1.47821088e-01 9.89014116e-01 -7.01770797e-05 -4.56924690e+01] [-3.64264471e-04 1.65125090e-05 9.99999934e-01 1.77222867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.240714057 meters Centerline goodness [0,1] 0.9786452838151509 Centerline is valid? [True, True] Translation: X:644.49, Y:-45.69, Z:1.77 [[ 9.88912926e-01 1.48494299e-01 -8.17794724e-04 6.44485586e+02] [-1.48494216e-01 9.88913263e-01 1.61344058e-04 -4.56935777e+01] [ 8.32686722e-04 -3.81174385e-05 9.99999653e-01 1.77080722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.270714057 meters Centerline goodness [0,1] 0.9799687934888036 Centerline is valid? [True, True] Translation: X:644.51, Y:-45.69, Z:1.77 [[ 9.88801191e-01 1.49231968e-01 -1.42273334e-03 6.44514652e+02] [-1.49231719e-01 9.88802212e-01 2.80251582e-04 -4.56946530e+01] [ 1.44862437e-03 -6.47961564e-05 9.99998949e-01 1.77100164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3007140569999 meters Centerline goodness [0,1] 0.9780763345978915 Centerline is valid? [True, True] Translation: X:644.54, Y:-45.70, Z:1.77 [[ 9.88634757e-01 1.50330835e-01 -1.39897028e-03 6.44541742e+02] [-1.50330596e-01 9.88635745e-01 2.75515973e-04 -4.57003090e+01] [ 1.42449057e-03 -6.20766320e-05 9.99998983e-01 1.77086879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3307140569999 meters Centerline goodness [0,1] 0.9785059530081129 Centerline is valid? [True, True] Translation: X:644.57, Y:-45.70, Z:1.77 [[ 9.88240191e-01 1.52900804e-01 -1.63400562e-03 6.44571412e+02] [-1.52900481e-01 9.88241539e-01 3.21545032e-04 -4.56979701e+01] [ 1.66395672e-03 -6.79234779e-05 9.99998613e-01 1.77108304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.360714057 meters Centerline goodness [0,1] 0.9788075846539134 Centerline is valid? [True, True] Translation: X:644.60, Y:-45.70, Z:1.77 [[ 9.87991471e-01 1.54498194e-01 -1.77810346e-03 6.44599800e+02] [-1.54497813e-01 9.87993068e-01 3.50135987e-04 -4.57012701e+01] [ 1.81084927e-03 -7.12182724e-05 9.99998358e-01 1.77129092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.390714057 meters Centerline goodness [0,1] 0.9793803576317951 Centerline is valid? [True, True] Translation: X:644.63, Y:-45.70, Z:1.77 [[ 9.87785394e-01 1.55811567e-01 -1.66491394e-03 6.44628968e+02] [-1.55811236e-01 9.87786795e-01 3.27498220e-04 -4.57038979e+01] [ 1.69560801e-03 -6.40856596e-05 9.99998560e-01 1.77101312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4207140569999 meters Centerline goodness [0,1] 0.9789972331684413 Centerline is valid? [True, True] Translation: X:644.66, Y:-45.71, Z:1.77 [[ 9.87542989e-01 1.57337390e-01 -1.94698536e-03 6.44656776e+02] [-1.57336943e-01 9.87544906e-01 3.81967998e-04 -4.57081534e+01] [ 1.98283332e-03 -7.08770950e-05 9.99998032e-01 1.77122590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4507140569999 meters Centerline goodness [0,1] 0.979813501168249 Centerline is valid? [True, True] Translation: X:644.69, Y:-45.71, Z:1.77 [[ 9.87296361e-01 1.58880312e-01 -1.71492264e-03 6.44685480e+02] [-1.58879967e-01 9.87297849e-01 3.36708789e-04 -4.57094324e+01] [ 1.74663583e-03 -5.99645098e-05 9.99998473e-01 1.77147339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4807140569999 meters Centerline goodness [0,1] 0.9788710252164252 Centerline is valid? [True, True] Translation: X:644.71, Y:-45.71, Z:1.77 [[ 9.87263537e-01 1.59082706e-01 -1.84429987e-03 6.44714110e+02] [-1.59082308e-01 9.87265258e-01 3.61540627e-04 -4.57144664e+01] [ 1.87832805e-03 -6.35403989e-05 9.99998234e-01 1.77120607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.510714057 meters Centerline goodness [0,1] 0.9788130238827345 Centerline is valid? [True, True] Translation: X:644.74, Y:-45.72, Z:1.77 [[ 9.87363861e-01 1.58462009e-01 -1.54857260e-03 6.44742063e+02] [-1.58461728e-01 9.87365074e-01 3.03322508e-04 -4.57203567e+01] [ 1.57707160e-03 -5.41001916e-05 9.99998755e-01 1.77123339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.540714057 meters Centerline goodness [0,1] 0.9789251844046365 Centerline is valid? [True, True] Translation: X:644.77, Y:-45.73, Z:1.77 [[ 9.87601415e-01 1.56965479e-01 -2.29847174e-03 6.44769948e+02] [-1.56964858e-01 9.87604086e-01 4.49110939e-04 -4.57267648e+01] [ 2.34047500e-03 -8.27633082e-05 9.99997258e-01 1.77069293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5707140569999 meters Centerline goodness [0,1] 0.9792587913244893 Centerline is valid? [True, True] Translation: X:644.80, Y:-45.73, Z:1.77 [[ 9.87861515e-01 1.55309957e-01 -2.90577309e-03 6.44797562e+02] [-1.55308962e-01 9.87865783e-01 5.66570522e-04 -4.57330872e+01] [ 2.95850786e-03 -1.08400612e-04 9.99995618e-01 1.77017044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6007140569999 meters Centerline goodness [0,1] 0.9781994518237402 Centerline is valid? [True, True] Translation: X:644.82, Y:-45.74, Z:1.77 [[ 9.88285252e-01 1.52562525e-01 -4.11536952e-03 6.44824797e+02] [-1.52560507e-01 9.88293807e-01 8.01890598e-04 -4.57423682e+01] [ 4.18953266e-03 -1.64653793e-04 9.99991210e-01 1.76954209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.630714057 meters Centerline goodness [0,1] 0.9773814519513219 Centerline is valid? [True, True] Translation: X:644.85, Y:-45.75, Z:1.77 [[ 9.88534549e-01 1.50926051e-01 -4.55779097e-03 6.44852016e+02] [-1.50923559e-01 9.88545037e-01 8.87800228e-04 -4.57496877e+01] [ 4.63957383e-03 -1.89743163e-04 9.99989219e-01 1.76964922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.660714057 meters Centerline goodness [0,1] 0.9776382068413176 Centerline is valid? [True, True] Translation: X:644.88, Y:-45.76, Z:1.77 [[ 9.88819459e-01 1.49049068e-01 -4.52257127e-03 6.44879554e+02] [-1.49046597e-01 9.88829781e-01 8.80533999e-04 -4.57560230e+01] [ 4.60329593e-03 -1.96615295e-04 9.99989385e-01 1.77029435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6907140569999 meters Centerline goodness [0,1] 0.9770805425318151 Centerline is valid? [True, True] Translation: X:644.91, Y:-45.76, Z:1.77 [[ 9.89095269e-01 1.47210046e-01 -4.44416772e-03 6.44905929e+02] [-1.47207643e-01 9.89105233e-01 8.64862772e-04 -4.57642525e+01] [ 4.52306604e-03 -2.01216219e-04 9.99989751e-01 1.77082491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7207140569999 meters Centerline goodness [0,1] 0.9760180233292627 Centerline is valid? [True, True] Translation: X:644.93, Y:-45.77, Z:1.77 [[ 9.89597130e-01 1.43817490e-01 -3.74831712e-03 6.44934769e+02] [-1.43815758e-01 9.89604212e-01 7.29093441e-04 -4.57720476e+01] [ 3.81420680e-03 -1.82441710e-04 9.99992709e-01 1.77280033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.750714057 meters Centerline goodness [0,1] 0.9773732777145746 Centerline is valid? [True, True] Translation: X:644.96, Y:-45.77, Z:1.77 [[ 9.89750052e-01 1.42767639e-01 -3.49805657e-03 6.44963333e+02] [-1.42766123e-01 9.89756218e-01 6.80400939e-04 -4.57749181e+01] [ 3.55936248e-03 -1.74022889e-04 9.99993650e-01 1.77386659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.780714057 meters Centerline goodness [0,1] 0.9772880356992506 Centerline is valid? [True, True] Translation: X:644.99, Y:-45.78, Z:1.78 [[ 9.90038240e-01 1.40778604e-01 -2.38096090e-03 6.44991599e+02] [-1.40777898e-01 9.90041095e-01 4.62495270e-04 -4.57826179e+01] [ 2.42235857e-03 -1.22701333e-04 9.99997059e-01 1.77506601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8107140569999 meters Centerline goodness [0,1] 0.9769630861883805 Centerline is valid? [True, True] Translation: X:645.02, Y:-45.79, Z:1.78 [[ 9.90193282e-01 1.39687559e-01 -2.15661686e-03 6.45018130e+02] [-1.39686977e-01 9.90195624e-01 4.18881673e-04 -4.57901372e+01] [ 2.19398514e-03 -1.13522528e-04 9.99997587e-01 1.77552060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8407140569999 meters Centerline goodness [0,1] 0.9775712307498636 Centerline is valid? [True, True] Translation: X:645.05, Y:-45.80, Z:1.78 [[ 9.90285267e-01 1.39031983e-01 -2.28001404e-03 6.45045838e+02] [-1.39031331e-01 9.90287884e-01 4.42583570e-04 -4.57964713e+01] [ 2.31940356e-03 -1.21290601e-04 9.99997303e-01 1.77557529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.870714057 meters Centerline goodness [0,1] 0.9774864813684853 Centerline is valid? [True, True] Translation: X:645.08, Y:-45.80, Z:1.78 [[ 9.90658230e-01 1.36328755e-01 -3.27752276e-03 6.45075032e+02] [-1.36327395e-01 9.90663635e-01 6.35817564e-04 -4.58022248e+01] [ 3.33360283e-03 -1.83061761e-04 9.99994427e-01 1.77509329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.900714057 meters Centerline goodness [0,1] 0.9772985722107569 Centerline is valid? [True, True] Translation: X:645.10, Y:-45.81, Z:1.77 [[ 9.90873791e-01 1.34725014e-01 -4.27801363e-03 6.45102433e+02] [-1.34722683e-01 9.90882995e-01 8.29690829e-04 -4.58109857e+01] [ 4.35079107e-03 -2.45773422e-04 9.99990505e-01 1.77473576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9307140569999 meters Centerline goodness [0,1] 0.9779402469343896 Centerline is valid? [True, True] Translation: X:645.13, Y:-45.82, Z:1.77 [[ 9.91087403e-01 1.33124815e-01 -4.85213244e-03 6.45131065e+02] [-1.33121799e-01 9.91099239e-01 9.40712385e-04 -4.58169330e+01] [ 4.93417693e-03 -2.86403595e-04 9.99987786e-01 1.77450898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9607140569999 meters Centerline goodness [0,1] 0.9772316360425514 Centerline is valid? [True, True] Translation: X:645.16, Y:-45.83, Z:1.77 [[ 9.91605163e-01 1.29204101e-01 -5.04978841e-03 6.45159983e+02] [-1.29200786e-01 9.91617970e-01 9.78684916e-04 -4.58258017e+01] [ 5.13391104e-03 -3.18032385e-04 9.99986771e-01 1.77463423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.990714057 meters Centerline goodness [0,1] 0.9762960472397924 Centerline is valid? [True, True] Translation: X:645.19, Y:-45.83, Z:1.78 [[ 9.91951008e-01 1.26522230e-01 -5.03218376e-03 6.45189316e+02] [-1.26518904e-01 9.91963717e-01 9.75149090e-04 -4.58339507e+01] [ 5.11512175e-03 -3.30633751e-04 9.99986863e-01 1.77527414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.020714057 meters Centerline goodness [0,1] 0.9761103633916555 Centerline is valid? [True, True] Translation: X:645.22, Y:-45.84, Z:1.78 [[ 9.92309697e-01 1.23681753e-01 -4.92831764e-03 6.45218520e+02] [-1.23678528e-01 9.92321878e-01 9.54931094e-04 -4.58412034e+01] [ 5.00858497e-03 -3.38060313e-04 9.99987400e-01 1.77578423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0507140569999 meters Centerline goodness [0,1] 0.9745319296476076 Centerline is valid? [True, True] Translation: X:645.25, Y:-45.85, Z:1.78 [[ 9.93054899e-01 1.17578278e-01 -4.16134187e-03 6.45245369e+02] [-1.17575926e-01 9.93063569e-01 8.06248521e-04 -4.58544918e+01] [ 4.22727433e-03 -3.11375420e-04 9.99991017e-01 1.77646522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0807140569999 meters Centerline goodness [0,1] 0.9741795873776209 Centerline is valid? [True, True] Translation: X:645.28, Y:-45.86, Z:1.78 [[ 9.93469354e-01 1.14020893e-01 -4.22828812e-03 6.45275564e+02] [-1.14018433e-01 9.93478297e-01 8.19075726e-04 -4.58575769e+01] [ 4.29410422e-03 -3.31623846e-04 9.99990725e-01 1.77644037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.110714057 meters Centerline goodness [0,1] 0.9743519838939686 Centerline is valid? [True, True] Translation: X:645.30, Y:-45.87, Z:1.78 [[ 9.93794630e-01 1.11139216e-01 -4.50653871e-03 6.45303491e+02] [-1.11136393e-01 9.93804780e-01 8.72935110e-04 -4.58667734e+01] [ 4.57563703e-03 -3.66677767e-04 9.99989464e-01 1.77620506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.140714057 meters Centerline goodness [0,1] 0.9743864290063194 Centerline is valid? [True, True] Translation: X:645.33, Y:-45.87, Z:1.78 [[ 9.94315243e-01 1.06345168e-01 -5.28233541e-03 6.45333154e+02] [-1.06341223e-01 9.94329170e-01 1.02304047e-03 -4.58744196e+01] [ 5.36117560e-03 -4.55494730e-04 9.99985525e-01 1.77546895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1707140569999 meters Centerline goodness [0,1] 0.9734370074603341 Centerline is valid? [True, True] Translation: X:645.36, Y:-45.88, Z:1.78 [[ 9.94548340e-01 1.04119652e-01 -5.71824288e-03 6.45362725e+02] [-1.04114992e-01 9.94564649e-01 1.10743613e-03 -4.58791049e+01] [ 5.80246809e-03 -5.06043955e-04 9.99983037e-01 1.77537366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2007140569999 meters Centerline goodness [0,1] 0.973037155346335 Centerline is valid? [True, True] Translation: X:645.39, Y:-45.89, Z:1.78 [[ 9.94734421e-01 1.02324765e-01 -5.75109504e-03 6.45389944e+02] [-1.02320023e-01 9.94750910e-01 1.11359023e-03 -4.58856943e+01] [ 5.83485488e-03 -5.19274361e-04 9.99982842e-01 1.77545560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2307140569999 meters Centerline goodness [0,1] 0.970361962416446 Centerline is valid? [True, True] Translation: X:645.42, Y:-45.89, Z:1.77 [[ 9.95050534e-01 9.91935752e-02 -5.92187930e-03 6.45418578e+02] [-9.91884944e-02 9.95068002e-01 1.14631815e-03 -4.58927989e+01] [ 6.00637999e-03 -5.53262198e-04 9.99981808e-01 1.77493981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.260714057 meters Centerline goodness [0,1] 0.9720259128386337 Centerline is valid? [True, True] Translation: X:645.45, Y:-45.89, Z:1.78 [[ 9.95207711e-01 9.76041345e-02 -5.91985958e-03 6.45448691e+02] [-9.75990304e-02 9.95225159e-01 1.14573153e-03 -4.58901874e+01] [ 6.00342133e-03 -5.62468297e-04 9.99981821e-01 1.77502478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.290714057 meters Centerline goodness [0,1] 0.9697976696252051 Centerline is valid? [True, True] Translation: X:645.48, Y:-45.90, Z:1.78 [[ 9.95366459e-01 9.59724146e-02 -5.90836500e-03 6.45475771e+02] [-9.59673041e-02 9.95383830e-01 1.14313113e-03 -4.58986351e+01] [ 5.99080004e-03 -5.70824525e-04 9.99981892e-01 1.77514250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3207140569999 meters Centerline goodness [0,1] 0.9629777572215448 Centerline is valid? [True, True] Translation: X:645.50, Y:-45.91, Z:1.78 [[ 9.95643611e-01 9.30550774e-02 -5.87810388e-03 6.45504039e+02] [-9.30499708e-02 9.95660791e-01 1.13693668e-03 -4.59070760e+01] [ 5.95839529e-03 -5.85026346e-04 9.99982077e-01 1.77523836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3507140569999 meters Centerline goodness [0,1] 0.9698192517864649 Centerline is valid? [True, True] Translation: X:645.53, Y:-45.90, Z:1.78 [[ 9.95731432e-01 9.21648601e-02 -4.95515822e-03 6.45534584e+02] [-9.21612210e-02 9.95743637e-01 9.58271737e-04 -4.59005359e+01] [ 5.02238624e-03 -4.97507857e-04 9.99987264e-01 1.77594895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.380714057 meters Centerline goodness [0,1] 0.9683668103901567 Centerline is valid? [True, True] Translation: X:645.56, Y:-45.91, Z:1.78 [[ 9.95732098e-01 9.21829300e-02 -4.46058899e-03 6.45561254e+02] [-9.21799828e-02 9.95741988e-01 8.62284548e-04 -4.59069114e+01] [ 4.52108367e-03 -4.47427385e-04 9.99989680e-01 1.77627397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.410714057 meters Centerline goodness [0,1] 0.9668747504046072 Centerline is valid? [True, True] Translation: X:645.59, Y:-45.91, Z:1.78 [[ 9.95624377e-01 9.33749937e-02 -3.63460978e-03 6.45591544e+02] [-9.33730464e-02 9.95630946e-01 7.02190556e-04 -4.59060667e+01] [ 3.68429701e-03 -3.59743447e-04 9.99993148e-01 1.77612583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4407140569999 meters Centerline goodness [0,1] 0.9665875133965158 Centerline is valid? [True, True] Translation: X:645.62, Y:-45.91, Z:1.78 [[ 9.95523252e-01 9.44487942e-02 -3.58880063e-03 6.45621260e+02] [-9.44469030e-02 9.95529659e-01 6.93236381e-04 -4.59075447e+01] [ 3.63823281e-03 -3.51181831e-04 9.99993320e-01 1.77587130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4707140569999 meters Centerline goodness [0,1] 0.9659848214098009 Centerline is valid? [True, True] Translation: X:645.65, Y:-45.91, Z:1.78 [[ 9.95373328e-01 9.59807051e-02 -4.43189704e-03 6.45651771e+02] [-9.59778386e-02 9.95383103e-01 8.55493027e-04 -4.59093858e+01] [ 4.49354625e-03 -4.26171043e-04 9.99989813e-01 1.77526761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.500714057 meters Centerline goodness [0,1] 0.9659739330006527 Centerline is valid? [True, True] Translation: X:645.68, Y:-45.91, Z:1.77 [[ 9.95031134e-01 9.94126946e-02 -5.49172260e-03 6.45683825e+02] [-9.94083455e-02 9.95046158e-01 1.05997578e-03 -4.59052834e+01] [ 5.56989253e-03 -5.08785844e-04 9.99984359e-01 1.77357190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.530714057 meters Centerline goodness [0,1] 0.9664012470508931 Centerline is valid? [True, True] Translation: X:645.71, Y:-45.91, Z:1.77 [[ 9.94872666e-01 1.00967718e-01 -5.82223333e-03 6.45713878e+02] [-1.00962857e-01 9.94889561e-01 1.12368400e-03 -4.59061534e+01] [ 5.90593497e-03 -5.30093185e-04 9.99982419e-01 1.77331162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5607140569999 meters Centerline goodness [0,1] 0.9662139433184762 Centerline is valid? [True, True] Translation: X:645.74, Y:-45.91, Z:1.77 [[ 9.94753045e-01 1.02101833e-01 -6.44942699e-03 6.45742781e+02] [-1.02095894e-01 9.94773783e-01 1.24438098e-03 -4.59072017e+01] [ 6.54277446e-03 -5.79391761e-04 9.99978428e-01 1.77263140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5907140569999 meters Centerline goodness [0,1] 0.966145998018508 Centerline is valid? [True, True] Translation: X:645.77, Y:-45.91, Z:1.77 [[ 9.94644856e-01 1.03199423e-01 -5.61158696e-03 6.45770583e+02] [-1.03194947e-01 9.94660561e-01 1.08231349e-03 -4.59097315e+01] [ 5.69331836e-03 -4.97430124e-04 9.99983669e-01 1.77277016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.620714057 meters Centerline goodness [0,1] 0.9669297653216276 Centerline is valid? [True, True] Translation: X:645.80, Y:-45.90, Z:1.77 [[ 9.94408751e-01 1.05429807e-01 -5.98268660e-03 6.45801853e+02] [-1.05424761e-01 9.94426613e-01 1.15342265e-03 -4.59040829e+01] [ 6.07094790e-03 -5.16250268e-04 9.99981438e-01 1.77357884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.650714057 meters Centerline goodness [0,1] 0.9660408439103715 Centerline is valid? [True, True] Translation: X:645.83, Y:-45.91, Z:1.77 [[ 9.94250219e-01 1.06935116e-01 -5.60208466e-03 6.45830013e+02] [-1.06930717e-01 9.94265888e-01 1.07981407e-03 -4.59094935e+01] [ 5.68543172e-03 -4.74570445e-04 9.99983725e-01 1.77417956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6807140569999 meters Centerline goodness [0,1] 0.9673599258275913 Centerline is valid? [True, True] Translation: X:645.86, Y:-45.90, Z:1.78 [[ 9.93856199e-01 1.10602261e-01 -4.12262222e-03 6.45862317e+02] [-1.10599911e-01 9.93864693e-01 7.94482295e-04 -4.59030280e+01] [ 4.18520021e-03 -3.33639503e-04 9.99991186e-01 1.77585044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7107140569999 meters Centerline goodness [0,1] 0.9676702235772358 Centerline is valid? [True, True] Translation: X:645.89, Y:-45.90, Z:1.78 [[ 9.93650653e-01 1.12462718e-01 -3.24290127e-03 6.45892690e+02] [-1.12461273e-01 9.93655912e-01 6.24948264e-04 -4.59035968e+01] [ 3.29261140e-03 -2.56279444e-04 9.99994547e-01 1.77655377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.740714057 meters Centerline goodness [0,1] 0.9680339162692104 Centerline is valid? [True, True] Translation: X:645.92, Y:-45.90, Z:1.78 [[ 9.93371436e-01 1.14934701e-01 -1.79017361e-03 6.45922928e+02] [-1.14934265e-01 9.93373040e-01 3.45034930e-04 -4.59047129e+01] [ 1.81796669e-03 -1.36995556e-04 9.99998338e-01 1.77717224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.770714057 meters Centerline goodness [0,1] 0.9714958325380162 Centerline is valid? [True, True] Translation: X:645.96, Y:-45.90, Z:1.78 [[ 9.92916409e-01 1.18799755e-01 -1.90313670e-03 6.45955128e+02] [-1.18799269e-01 9.92918224e-01 3.66650494e-04 -4.58977411e+01] [ 1.93321710e-03 -1.37962042e-04 9.99998122e-01 1.77673069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8007140569999 meters Centerline goodness [0,1] 0.9718052695271863 Centerline is valid? [True, True] Translation: X:645.98, Y:-45.90, Z:1.78 [[ 9.92668461e-01 1.20858420e-01 -1.60287833e-03 6.45983643e+02] [-1.20858078e-01 9.92669749e-01 3.08874782e-04 -4.59041718e+01] [ 1.62845895e-03 -1.12889461e-04 9.99998668e-01 1.77634136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8307140569999 meters Centerline goodness [0,1] 0.9718052695271863 Centerline is valid? [True, True] Translation: X:646.01, Y:-45.91, Z:1.78 [[ 9.92702611e-01 1.20577601e-01 -1.60277891e-03 6.46010659e+02] [-1.20577258e-01 9.92703898e-01 3.09391453e-04 -4.59092924e+01] [ 1.62839055e-03 -1.13875017e-04 9.99998668e-01 1.77645159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.860714057 meters Centerline goodness [0,1] 0.9733265698645193 Centerline is valid? [True, True] Translation: X:646.04, Y:-45.91, Z:1.78 [[ 9.92455773e-01 1.22581496e-01 -2.30533914e-03 6.46040828e+02] [-1.22580795e-01 9.92458438e-01 4.43379085e-04 -4.59105817e+01] [ 2.34230335e-03 -1.57443828e-04 9.99997244e-01 1.77596167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.890714057 meters Centerline goodness [0,1] 0.9752551020408163 Centerline is valid? [True, True] Translation: X:646.07, Y:-45.91, Z:1.78 [[ 9.92086114e-01 1.25530039e-01 -2.71124640e-03 6.46071516e+02] [-1.25529081e-01 9.92089803e-01 5.21383462e-04 -4.59088065e+01] [ 2.75524919e-03 -1.76917024e-04 9.99996189e-01 1.77562509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9207140569999 meters Centerline goodness [0,1] 0.9751465715014019 Centerline is valid? [True, True] Translation: X:646.10, Y:-45.91, Z:1.78 [[ 9.91984741e-01 1.26323088e-01 -2.95825199e-03 6.46098946e+02] [-1.26321951e-01 9.91989134e-01 5.68936091e-04 -4.59135034e+01] [ 3.00642359e-03 -1.90683760e-04 9.99995463e-01 1.77541046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9507140569999 meters Centerline goodness [0,1] 0.9748140887686177 Centerline is valid? [True, True] Translation: X:646.13, Y:-45.92, Z:1.77 [[ 9.91939891e-01 1.26661840e-01 -3.46855962e-03 6.46127461e+02] [-1.26660280e-01 9.91945931e-01 6.66573505e-04 -4.59156835e+01] [ 3.52505303e-03 -2.21872117e-04 9.99993762e-01 1.77497945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9807140569999 meters Centerline goodness [0,1] 0.9758037008612603 Centerline is valid? [True, True] Translation: X:646.16, Y:-45.92, Z:1.77 [[ 9.92012167e-01 1.26090672e-01 -3.60586736e-03 6.46155880e+02] [-1.26088986e-01 9.92018694e-01 6.92006336e-04 -4.59195132e+01] [ 3.66434337e-03 -2.31818548e-04 9.99993259e-01 1.77488938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.010714057 meters Centerline goodness [0,1] 0.9745041287137142 Centerline is valid? [True, True] Translation: X:646.18, Y:-45.93, Z:1.78 [[ 9.92155264e-01 1.24947152e-01 -4.01761452e-03 6.46182418e+02] [-1.24945054e-01 9.92163364e-01 7.69897023e-04 -4.59264750e+01] [ 4.08232638e-03 -2.61876319e-04 9.99991633e-01 1.77517299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.040714057 meters Centerline goodness [0,1] 0.9760182150912883 Centerline is valid? [True, True] Translation: X:646.21, Y:-45.93, Z:1.78 [[ 9.92320113e-01 1.23632549e-01 -3.97325434e-03 6.46212028e+02] [-1.23630490e-01 9.92328032e-01 7.60771181e-04 -4.59264807e+01] [ 4.03682774e-03 -2.63713165e-04 9.99991817e-01 1.77530257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0707140569999 meters Centerline goodness [0,1] 0.9725551983307429 Centerline is valid? [True, True] Translation: X:646.24, Y:-45.94, Z:1.78 [[ 9.92650507e-01 1.20941426e-01 -4.25936803e-03 6.46239457e+02] [-1.20939040e-01 9.92659602e-01 8.14452107e-04 -4.59388891e+01] [ 4.32660357e-03 -2.93342418e-04 9.99990597e-01 1.77548892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1007140569999 meters Centerline goodness [0,1] 0.9729562960125963 Centerline is valid? [True, True] Translation: X:646.27, Y:-45.94, Z:1.78 [[ 9.92818722e-01 1.19546211e-01 -4.43722322e-03 6.46267609e+02] [-1.19543608e-01 9.92828589e-01 8.48295979e-04 -4.59446772e+01] [ 4.50681264e-03 -3.11762457e-04 9.99989796e-01 1.77561160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.130714057 meters Centerline goodness [0,1] 0.9756851212547415 Centerline is valid? [True, True] Translation: X:646.30, Y:-45.94, Z:1.78 [[ 9.92964519e-01 1.18318384e-01 -4.71425383e-03 6.46297612e+02] [-1.18315438e-01 9.92975653e-01 9.00038667e-04 -4.59427159e+01] [ 4.78763040e-03 -3.35937456e-04 9.99988483e-01 1.77581896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.160714057 meters Centerline goodness [0,1] 0.9769324160259004 Centerline is valid? [True, True] Translation: X:646.33, Y:-45.94, Z:1.78 [[ 9.92991785e-01 1.18080175e-01 -4.93835501e-03 6.46326321e+02] [-1.18076946e-01 9.93004002e-01 9.41463314e-04 -4.59433526e+01] [ 5.01497444e-03 -3.51759458e-04 9.99987363e-01 1.77603362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1907140569999 meters Centerline goodness [0,1] 0.9771573604060914 Centerline is valid? [True, True] Translation: X:646.35, Y:-45.95, Z:1.78 [[ 9.92984909e-01 1.18137039e-01 -4.96097946e-03 6.46354387e+02] [-1.18133788e-01 9.92997239e-01 9.44312108e-04 -4.59479837e+01] [ 5.03779714e-03 -3.51628374e-04 9.99987248e-01 1.77638387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2207140569999 meters Centerline goodness [0,1] 0.9769520526080572 Centerline is valid? [True, True] Translation: X:646.38, Y:-45.95, Z:1.78 [[ 9.92877264e-01 1.19053605e-01 -4.58024329e-03 6.46381685e+02] [-1.19050848e-01 9.92887777e-01 8.70823308e-04 -4.59535812e+01] [ 4.65134224e-03 -3.19338815e-04 9.99989131e-01 1.77766695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.250714057 meters Centerline goodness [0,1] 0.9756746969987433 Centerline is valid? [True, True] Translation: X:646.41, Y:-45.96, Z:1.78 [[ 9.92811249e-01 1.19618371e-01 -4.15553245e-03 6.46408702e+02] [-1.19616109e-01 9.92819905e-01 7.89722424e-04 -4.59595699e+01] [ 4.22016064e-03 -2.86976685e-04 9.99991054e-01 1.77846367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.280714057 meters Centerline goodness [0,1] 0.9768556997634422 Centerline is valid? [True, True] Translation: X:646.44, Y:-45.96, Z:1.78 [[ 9.92627269e-01 1.21172883e-01 -2.87008182e-03 6.46438155e+02] [-1.21171811e-01 9.92631399e-01 5.45312171e-04 -4.59611593e+01] [ 2.91501038e-03 -1.93518721e-04 9.99995733e-01 1.78044487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3107140569999 meters Centerline goodness [0,1] 0.9771569818236059 Centerline is valid? [True, True] Translation: X:646.47, Y:-45.96, Z:1.78 [[ 9.92555941e-01 1.21767896e-01 -2.29858557e-03 6.46467677e+02] [-1.21767210e-01 9.92558591e-01 4.36788406e-04 -4.59613099e+01] [ 2.33466766e-03 -1.53644576e-04 9.99997263e-01 1.78133913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3407140569999 meters Centerline goodness [0,1] 0.9775587114356888 Centerline is valid? [True, True] Translation: X:646.49, Y:-45.97, Z:1.78 [[ 9.92462667e-01 1.22529507e-01 -2.09174880e-03 6.46494332e+02] [-1.22528942e-01 9.92464861e-01 3.96719763e-04 -4.59689224e+01] [ 2.12459706e-03 -1.37429787e-04 9.99997734e-01 1.78142840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.370714057 meters Centerline goodness [0,1] 0.978831805585163 Centerline is valid? [True, True] Translation: X:646.52, Y:-45.97, Z:1.78 [[ 9.92436951e-01 1.22743139e-01 -1.73783614e-03 6.46523155e+02] [-1.22742749e-01 9.92438466e-01 3.29867295e-04 -4.59695234e+01] [ 1.76518438e-03 -1.14065708e-04 9.99998436e-01 1.78178549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.400714057 meters Centerline goodness [0,1] 0.9776555370773101 Centerline is valid? [True, True] Translation: X:646.55, Y:-45.98, Z:1.78 [[ 9.92397798e-01 1.23063371e-01 -1.42054817e-03 6.46549720e+02] [-1.23063111e-01 9.92398810e-01 2.69035440e-04 -4.59777179e+01] [ 1.44285872e-03 -9.21731006e-05 9.99998955e-01 1.78250518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4307140569999 meters Centerline goodness [0,1] 0.9790317081486533 Centerline is valid? [True, True] Translation: X:646.58, Y:-45.98, Z:1.78 [[ 9.92414087e-01 1.22930884e-01 -1.50889499e-03 6.46577571e+02] [-1.22930591e-01 9.92415230e-01 2.86099978e-04 -4.59788330e+01] [ 1.53262089e-03 -9.84402969e-05 9.99998821e-01 1.78213043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4607140569999 meters Centerline goodness [0,1] 0.9786313860837701 Centerline is valid? [True, True] Translation: X:646.61, Y:-45.98, Z:1.78 [[ 9.92471977e-01 1.22452094e-01 -2.20448950e-03 6.46606032e+02] [-1.22451469e-01 9.92474415e-01 4.16742468e-04 -4.59825679e+01] [ 2.23893042e-03 -1.43662244e-04 9.99997483e-01 1.78146555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.490714057 meters Centerline goodness [0,1] 0.9802568729434242 Centerline is valid? [True, True] Translation: X:646.63, Y:-45.99, Z:1.78 [[ 9.92469877e-01 1.22438321e-01 -3.52151578e-03 6.46634301e+02] [-1.22436731e-01 9.92476098e-01 6.64185296e-04 -4.59871496e+01] [ 3.57634197e-03 -2.28021017e-04 9.99993579e-01 1.78028990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.520714057 meters Centerline goodness [0,1] 0.9783001040405971 Centerline is valid? [True, True] Translation: X:646.66, Y:-46.00, Z:1.78 [[ 9.92470026e-01 1.22436041e-01 -3.55854059e-03 6.46660430e+02] [-1.22434422e-01 9.92476379e-01 6.70166669e-04 -4.59969759e+01] [ 3.61382004e-03 -2.29432470e-04 9.99993444e-01 1.78026419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5507140569999 meters Centerline goodness [0,1] 0.9809418235306657 Centerline is valid? [True, True] Translation: X:646.69, Y:-46.00, Z:1.78 [[ 9.92360350e-01 1.23318887e-01 -3.65896034e-03 6.46690542e+02] [-1.23317183e-01 9.92367068e-01 6.88741861e-04 -4.59956399e+01] [ 3.71596662e-03 -2.32267433e-04 9.99993069e-01 1.78095006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5807140569999 meters Centerline goodness [0,1] 0.9814397482779148 Centerline is valid? [True, True] Translation: X:646.72, Y:-46.00, Z:1.78 [[ 9.92242724e-01 1.24250271e-01 -4.03082940e-03 6.46718103e+02] [-1.24248212e-01 9.92250879e-01 7.58142112e-04 -4.60011296e+01] [ 4.09379338e-03 -2.51437648e-04 9.99991589e-01 1.78132932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.610714057 meters Centerline goodness [0,1] 0.9811546259737488 Centerline is valid? [True, True] Translation: X:646.75, Y:-46.01, Z:1.78 [[ 9.92148448e-01 1.24980899e-01 -4.60783674e-03 6.46746790e+02] [-1.24978223e-01 9.92159108e-01 8.65343837e-04 -4.60053189e+01] [ 4.67985864e-03 -2.82670299e-04 9.99989009e-01 1.78102796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.640714057 meters Centerline goodness [0,1] 0.981462497864343 Centerline is valid? [True, True] Translation: X:646.78, Y:-46.01, Z:1.78 [[ 9.92003700e-01 1.26114091e-01 -4.88828637e-03 6.46775679e+02] [-1.26111100e-01 9.92015701e-01 9.16722725e-04 -4.60102365e+01] [ 4.96486848e-03 -2.92925165e-04 9.99987632e-01 1.78153586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6707140569999 meters Centerline goodness [0,1] 0.9822891771935814 Centerline is valid? [True, True] Translation: X:646.81, Y:-46.01, Z:1.78 [[ 9.91487962e-01 1.30115501e-01 -4.64514921e-03 6.46806020e+02] [-1.30112847e-01 9.91498810e-01 8.70231602e-04 -4.60119361e+01] [ 4.71889054e-03 -2.58430566e-04 9.99988833e-01 1.78224419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7007140569999 meters Centerline goodness [0,1] 0.981537278030643 Centerline is valid? [True, True] Translation: X:646.83, Y:-46.02, Z:1.78 [[ 9.91219734e-01 1.32161159e-01 -4.10699932e-03 6.46833527e+02] [-1.32159103e-01 9.91228218e-01 7.69323122e-04 -4.60157622e+01] [ 4.17264826e-03 -2.19790915e-04 9.99991270e-01 1.78286468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7307140569999 meters Centerline goodness [0,1] 0.9806352327619373 Centerline is valid? [True, True] Translation: X:646.86, Y:-46.02, Z:1.78 [[ 9.90939699e-01 1.34259557e-01 -3.58937664e-03 6.46862516e+02] [-1.34258001e-01 9.90946183e-01 6.72137677e-04 -4.60192623e+01] [ 3.64711999e-03 -1.84145374e-04 9.99993332e-01 1.78377256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.760714057 meters Centerline goodness [0,1] 0.9807462686567164 Centerline is valid? [True, True] Translation: X:646.89, Y:-46.02, Z:1.78 [[ 9.90549704e-01 1.37134111e-01 -2.34921339e-03 6.46891068e+02] [-1.37133453e-01 9.90552484e-01 4.39369030e-04 -4.60239055e+01] [ 2.38727164e-03 -1.13061117e-04 9.99997144e-01 1.78425543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.790714057 meters Centerline goodness [0,1] 0.9816057084259101 Centerline is valid? [True, True] Translation: X:646.92, Y:-46.03, Z:1.78 [[ 9.90422361e-01 1.38054493e-01 -2.12201507e-03 6.46918155e+02] [-1.38053959e-01 9.90424630e-01 3.96909228e-04 -4.60302784e+01] [ 2.15649109e-03 -1.00155195e-04 9.99997670e-01 1.78476818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8207140569999 meters Centerline goodness [0,1] 0.9820937519984652 Centerline is valid? [True, True] Translation: X:646.95, Y:-46.04, Z:1.78 [[ 9.90382880e-01 1.38339160e-01 -2.00674611e-03 6.46946407e+02] [-1.38338683e-01 9.90384909e-01 3.75493921e-04 -4.60351687e+01] [ 2.03939658e-03 -9.42721371e-05 9.99997916e-01 1.78458154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8507140569999 meters Centerline goodness [0,1] 0.9792411300256457 Centerline is valid? [True, True] Translation: X:646.97, Y:-46.05, Z:1.78 [[ 9.90160983e-01 1.39884357e-01 -3.68697739e-03 6.46971879e+02] [-1.39882763e-01 9.90167834e-01 6.88157454e-04 -4.60515794e+01] [ 3.74698888e-03 -1.65642077e-04 9.99992966e-01 1.78383143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.880714057 meters Centerline goodness [0,1] 0.9813155874072178 Centerline is valid? [True, True] Translation: X:647.00, Y:-46.05, Z:1.78 [[ 9.90600568e-01 1.36761970e-01 -2.58423508e-03 6.47002435e+02] [-1.36761177e-01 9.90603931e-01 4.82144466e-04 -4.60494734e+01] [ 2.62589246e-03 -1.24189550e-04 9.99996545e-01 1.78393999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.910714057 meters Centerline goodness [0,1] 0.9798417201732119 Centerline is valid? [True, True] Translation: X:647.03, Y:-46.06, Z:1.78 [[ 9.90934219e-01 1.34312326e-01 -3.09394887e-03 6.47029737e+02] [-1.34311177e-01 9.90939037e-01 5.77124606e-04 -4.60597678e+01] [ 3.14342966e-03 -1.56340607e-04 9.99995047e-01 1.78420899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9407140569999 meters Centerline goodness [0,1] 0.9803913201186336 Centerline is valid? [True, True] Translation: X:647.06, Y:-46.07, Z:1.78 [[ 9.91169302e-01 1.32562067e-01 -3.27313222e-03 6.47057708e+02] [-1.32560772e-01 9.91174692e-01 6.10493004e-04 -4.60669483e+01] [ 3.32517403e-03 -1.71212993e-04 9.99994457e-01 1.78457799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9707140569999 meters Centerline goodness [0,1] 0.980857368207883 Centerline is valid? [True, True] Translation: X:647.09, Y:-46.07, Z:1.78 [[ 9.91452657e-01 1.30432154e-01 -3.01369364e-03 6.47087391e+02] [-1.30431048e-01 9.91457224e-01 5.61301019e-04 -4.60673094e+01] [ 3.06116003e-03 -1.63424166e-04 9.99995301e-01 1.78432546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.000714057 meters Centerline goodness [0,1] 0.9806503857136768 Centerline is valid? [True, True] Translation: X:647.12, Y:-46.07, Z:1.78 [[ 9.91877820e-01 1.27152233e-01 -3.27121741e-03 6.47116489e+02] [-1.27150913e-01 9.91883196e-01 6.09047158e-04 -4.60744997e+01] [ 3.32210728e-03 -1.88162086e-04 9.99994464e-01 1.78426901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.030714057 meters Centerline goodness [0,1] 0.9796526477098587 Centerline is valid? [True, True] Translation: X:647.15, Y:-46.08, Z:1.78 [[ 9.92096102e-01 1.25423167e-01 -3.78864339e-03 6.47145532e+02] [-1.25421385e-01 9.92103311e-01 7.05305616e-04 -4.60806287e+01] [ 3.84718732e-03 -2.24554051e-04 9.99992574e-01 1.78446879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0607140569999 meters Centerline goodness [0,1] 0.979878762097203 Centerline is valid? [True, True] Translation: X:647.17, Y:-46.09, Z:1.78 [[ 9.92573734e-01 1.21588942e-01 -3.67586429e-03 6.47174672e+02] [-1.21587239e-01 9.92580513e-01 6.84175964e-04 -4.60901517e+01] [ 3.73177949e-03 -2.32156904e-04 9.99993010e-01 1.78426619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0907140569999 meters Centerline goodness [0,1] 0.9794637156841881 Centerline is valid? [True, True] Translation: X:647.20, Y:-46.10, Z:1.78 [[ 9.92797402e-01 1.19743881e-01 -3.83681519e-03 6.47203236e+02] [-1.19742011e-01 9.92804785e-01 7.14032659e-04 -4.60970529e+01] [ 3.89470952e-03 -2.49461800e-04 9.99992384e-01 1.78493432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.120714057 meters Centerline goodness [0,1] 0.9802806703720267 Centerline is valid? [True, True] Translation: X:647.23, Y:-46.10, Z:1.79 [[ 9.92966721e-01 1.18352475e-01 -3.12761362e-03 6.47231747e+02] [-1.18351226e-01 9.92971625e-01 5.81917731e-04 -4.61042040e+01] [ 3.17450299e-03 -2.07668034e-04 9.99994940e-01 1.78550139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.150714057 meters Centerline goodness [0,1] 0.9774605400123213 Centerline is valid? [True, True] Translation: X:647.26, Y:-46.11, Z:1.79 [[ 9.93119345e-01 1.17090947e-01 -1.91736186e-03 6.47258734e+02] [-1.17090476e-01 9.93121188e-01 3.56791042e-04 -4.61114658e+01] [ 1.94594969e-03 -1.29831273e-04 9.99998098e-01 1.78677949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1807140569999 meters Centerline goodness [0,1] 0.9790433189930571 Centerline is valid? [True, True] Translation: X:647.29, Y:-46.11, Z:1.79 [[ 9.93141055e-01 1.16908948e-01 -1.77289112e-03 6.47287073e+02] [-1.16908544e-01 9.93142630e-01 3.30238752e-04 -4.61100910e+01] [ 1.79934162e-03 -1.20707542e-04 9.99998374e-01 1.78687506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2107140569999 meters Centerline goodness [0,1] 0.9794484080502609 Centerline is valid? [True, True] Translation: X:647.31, Y:-46.12, Z:1.79 [[ 9.93054655e-01 1.17640394e-01 -1.78577980e-03 6.47314093e+02] [-1.17639987e-01 9.93056254e-01 3.31728636e-04 -4.61159617e+01] [ 1.81240448e-03 -1.19345554e-04 9.99998350e-01 1.78720479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.240714057 meters Centerline goodness [0,1] 0.978772378516624 Centerline is valid? [True, True] Translation: X:647.34, Y:-46.12, Z:1.79 [[ 9.92993394e-01 1.18163706e-01 -1.20778252e-03 6.47341033e+02] [-1.18163521e-01 9.92994125e-01 2.24366871e-04 -4.61220287e+01] [ 1.22583297e-03 -8.00789860e-05 9.99999245e-01 1.78762560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.270714057 meters Centerline goodness [0,1] 0.9793273943992157 Centerline is valid? [True, True] Translation: X:647.37, Y:-46.13, Z:1.79 [[ 9.92943255e-01 1.18587331e-01 -8.58331248e-04 6.47369909e+02] [-1.18587237e-01 9.92943625e-01 1.59879516e-04 -4.61253919e+01] [ 8.71234225e-04 -5.69641553e-05 9.99999619e-01 1.78784122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3007140569999 meters Centerline goodness [0,1] 0.9790317081486533 Centerline is valid? [True, True] Translation: X:647.40, Y:-46.13, Z:1.79 [[ 9.92854601e-01 1.19330385e-01 -3.32866969e-05 6.47397388e+02] [-1.19330385e-01 9.92854601e-01 7.18338611e-06 -4.61317401e+01] [ 3.39060464e-05 -3.15994359e-06 9.99999999e-01 1.78864425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3307140569999 meters Centerline goodness [0,1] 0.9780039605646998 Centerline is valid? [True, True] Translation: X:647.43, Y:-46.14, Z:1.79 [[ 9.92860610e-01 1.19280352e-01 -8.69897021e-05 6.47425966e+02] [-1.19280351e-01 9.92860613e-01 1.70856077e-05 -4.61361389e+01] [ 8.84066263e-05 -6.58746463e-06 9.99999996e-01 1.78878031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.360714057 meters Centerline goodness [0,1] 0.9789207240550486 Centerline is valid? [True, True] Translation: X:647.45, Y:-46.14, Z:1.79 [[ 9.92848988e-01 1.19376992e-01 1.44146031e-04 6.47454452e+02] [-1.19376990e-01 9.92848998e-01 -2.55171082e-05 -4.61401222e+01] [-1.46161399e-04 8.12691572e-06 9.99999989e-01 1.78865800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.390714057 meters Centerline goodness [0,1] 0.9795320395770521 Centerline is valid? [True, True] Translation: X:647.48, Y:-46.15, Z:1.79 [[ 9.92869948e-01 1.19201746e-01 -4.57752844e-04 6.47481680e+02] [-1.19201720e-01 9.92870053e-01 8.54002502e-05 -4.61465066e+01] [ 4.64668950e-04 -3.02264158e-05 9.99999892e-01 1.78767707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4207140569999 meters Centerline goodness [0,1] 0.9785741614589976 Centerline is valid? [True, True] Translation: X:647.51, Y:-46.15, Z:1.79 [[ 9.93003752e-01 1.18075283e-01 -1.33258965e-03 6.47508188e+02] [-1.18075060e-01 9.93004642e-01 2.45440005e-04 -4.61540045e+01] [ 1.35224810e-03 -8.63772437e-05 9.99999082e-01 1.78678310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4507140569999 meters Centerline goodness [0,1] 0.9788610963278339 Centerline is valid? [True, True] Translation: X:647.54, Y:-46.16, Z:1.79 [[ 9.93117219e-01 1.17096409e-01 -2.57309378e-03 6.47536072e+02] [-1.17095573e-01 9.93120538e-01 4.73423559e-04 -4.61593278e+01] [ 2.61082848e-03 -1.68867196e-04 9.99996578e-01 1.78619037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4807140569999 meters Centerline goodness [0,1] 0.9784568925183956 Centerline is valid? [True, True] Translation: X:647.56, Y:-46.17, Z:1.79 [[ 9.93233479e-01 1.16105587e-01 -2.59794985e-03 6.47564113e+02] [-1.16104734e-01 9.93236861e-01 4.77302914e-04 -4.61660794e+01] [ 2.63579709e-03 -1.72438959e-04 9.99996511e-01 1.78598346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.510714057 meters Centerline goodness [0,1] 0.9778147177290455 Centerline is valid? [True, True] Translation: X:647.59, Y:-46.17, Z:1.79 [[ 9.93575435e-01 1.13135422e-01 -2.86899171e-03 6.47593321e+02] [-1.13134372e-01 9.93579558e-01 5.25988027e-04 -4.61732352e+01] [ 2.91007939e-03 -1.98027207e-04 9.99995746e-01 1.78628143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.540714057 meters Centerline goodness [0,1] 0.9769376021046825 Centerline is valid? [True, True] Translation: X:647.62, Y:-46.18, Z:1.79 [[ 9.93787737e-01 1.11269699e-01 -2.23344650e-03 6.47620952e+02] [-1.11269058e-01 9.93790234e-01 4.09547682e-04 -4.61814508e+01] [ 2.26514757e-03 -1.58489976e-04 9.99997422e-01 1.78673356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5707140569999 meters Centerline goodness [0,1] 0.9777882091877014 Centerline is valid? [True, True] Translation: X:647.65, Y:-46.19, Z:1.79 [[ 9.94250907e-01 1.07032252e-01 -3.03822428e-03 6.47651207e+02] [-1.07031048e-01 9.94255523e-01 5.56699563e-04 -4.61873471e+01] [ 3.08035608e-03 -2.28314717e-04 9.99995230e-01 1.78690539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6007140569999 meters Centerline goodness [0,1] 0.9762082259473045 Centerline is valid? [True, True] Translation: X:647.68, Y:-46.19, Z:1.79 [[ 9.94491542e-01 1.04764142e-01 -3.32365384e-03 6.47681374e+02] [-1.04762688e-01 9.94497063e-01 6.08992623e-04 -4.61929532e+01] [ 3.36916457e-03 -2.57443102e-04 9.99994291e-01 1.78703011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.630714057 meters Centerline goodness [0,1] 0.9759788562781081 Centerline is valid? [True, True] Translation: X:647.71, Y:-46.20, Z:1.79 [[ 9.94723252e-01 1.02550612e-01 -3.00402895e-03 6.47709298e+02] [-1.02549415e-01 9.94727759e-01 5.50462669e-04 -4.62019088e+01] [ 3.04464127e-03 -2.39496606e-04 9.99995336e-01 1.78724364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.660714057 meters Centerline goodness [0,1] 0.9757110898050495 Centerline is valid? [True, True] Translation: X:647.74, Y:-46.20, Z:1.79 [[ 9.94915655e-01 1.00661789e-01 -3.16915163e-03 6.47738569e+02] [-1.00660447e-01 9.94920669e-01 5.80609591e-04 -4.62027366e+01] [ 3.21149966e-03 -2.58649351e-04 9.99994810e-01 1.78759722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6907140569999 meters Centerline goodness [0,1] 0.9760025597269625 Centerline is valid? [True, True] Translation: X:647.77, Y:-46.21, Z:1.79 [[ 9.95173933e-01 9.80994210e-02 -2.31213821e-03 6.47766609e+02] [-9.80987001e-02 9.95176600e-01 4.23461630e-04 -4.62105535e+01] [ 2.34252719e-03 -1.94600223e-04 9.99997237e-01 1.78944082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7207140569999 meters Centerline goodness [0,1] 0.9741509313735902 Centerline is valid? [True, True] Translation: X:647.79, Y:-46.22, Z:1.79 [[ 9.95261661e-01 9.72023332e-02 -2.43553765e-03 6.47793765e+02] [-9.72015304e-02 9.95264620e-01 4.46133164e-04 -4.62183350e+01] [ 2.46736963e-03 -2.07281247e-04 9.99996935e-01 1.78997966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.750714057 meters Centerline goodness [0,1] 0.9741509313735902 Centerline is valid? [True, True] Translation: X:647.82, Y:-46.22, Z:1.79 [[ 9.95271962e-01 9.70968092e-02 -2.43557310e-03 6.47820901e+02] [-9.70960065e-02 9.95274920e-01 4.45939519e-04 -4.62232053e+01] [ 2.46736412e-03 -2.07346678e-04 9.99996935e-01 1.79009023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.780714057 meters Centerline goodness [0,1] 0.976446219223131 Centerline is valid? [True, True] Translation: X:647.85, Y:-46.22, Z:1.79 [[ 9.95400503e-01 9.57754304e-02 -2.21498092e-03 6.47851280e+02] [-9.57747641e-02 9.95402949e-01 4.05222558e-04 -4.62225836e+01] [ 2.24360891e-03 -1.91219463e-04 9.99997465e-01 1.79034184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8107140569999 meters Centerline goodness [0,1] 0.9752661507546282 Centerline is valid? [True, True] Translation: X:647.88, Y:-46.23, Z:1.79 [[ 9.95490567e-01 9.48283785e-02 -2.47164474e-03 6.47878131e+02] [-9.48275459e-02 9.95493612e-01 4.52149993e-04 -4.62313736e+01] [ 2.50338321e-03 -2.15731047e-04 9.99996843e-01 1.79021066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8407140569999 meters Centerline goodness [0,1] 0.9767268068752002 Centerline is valid? [True, True] Translation: X:647.91, Y:-46.23, Z:1.79 [[ 9.95604067e-01 9.35977535e-02 -3.46454854e-03 6.47908286e+02] [-9.35961120e-02 9.95610048e-01 6.33288047e-04 -4.62323299e+01] [ 3.50861367e-03 -3.06235881e-04 9.99993798e-01 1.78966460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.870714057 meters Centerline goodness [0,1] 0.9758604512304346 Centerline is valid? [True, True] Translation: X:647.94, Y:-46.24, Z:1.79 [[ 9.95704695e-01 9.25013205e-02 -3.95798971e-03 6.47936691e+02] [-9.24991702e-02 9.95712499e-01 7.23312814e-04 -4.62369583e+01] [ 4.00792721e-03 -3.54095202e-04 9.99991906e-01 1.78968241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.900714057 meters Centerline goodness [0,1] 0.974030419064325 Centerline is valid? [True, True] Translation: X:647.97, Y:-46.24, Z:1.79 [[ 9.95891353e-01 9.04625174e-02 -4.11646735e-03 6.47965059e+02] [-9.04601787e-02 9.95899790e-01 7.51204179e-04 -4.62435180e+01] [ 4.16754479e-03 -3.75741374e-04 9.99991245e-01 1.79043806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9307140569999 meters Centerline goodness [0,1] 0.9771175375131108 Centerline is valid? [True, True] Translation: X:647.99, Y:-46.24, Z:1.79 [[ 9.95980276e-01 8.94667753e-02 -4.35720310e-03 6.47994221e+02] [-8.94641462e-02 9.95989726e-01 7.94984457e-04 -4.62431500e+01] [ 4.41085421e-03 -4.01975385e-04 9.99990191e-01 1.79088679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9607140569999 meters Centerline goodness [0,1] 0.97301753859991 Centerline is valid? [True, True] Translation: X:648.02, Y:-46.25, Z:1.79 [[ 9.96010664e-01 8.91291778e-02 -4.32970936e-03 6.48021242e+02] [-8.91265833e-02 9.96019995e-01 7.88908988e-04 -4.62505502e+01] [ 4.38279191e-03 -3.99869563e-04 9.99990316e-01 1.79124555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.990714057 meters Centerline goodness [0,1] 0.9774914089347079 Centerline is valid? [True, True] Translation: X:648.05, Y:-46.25, Z:1.79 [[ 9.95993198e-01 8.93215557e-02 -4.38294567e-03 6.48051509e+02] [-8.93189010e-02 9.96002759e-01 7.98125113e-04 -4.62459401e+01] [ 4.43671576e-03 -4.03447293e-04 9.99990076e-01 1.79197545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.020714057 meters Centerline goodness [0,1] 0.9786565686991695 Centerline is valid? [True, True] Translation: X:648.08, Y:-46.25, Z:1.79 [[ 9.95962126e-01 8.96543862e-02 -4.64053155e-03 6.48080405e+02] [-8.96514199e-02 9.95972847e-01 8.43757213e-04 -4.62475497e+01] [ 4.69748995e-03 -4.24319986e-04 9.99988877e-01 1.79203795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0507140569999 meters Centerline goodness [0,1] 0.9792852998689215 Centerline is valid? [True, True] Translation: X:648.11, Y:-46.25, Z:1.79 [[ 9.95854366e-01 9.08134490e-02 -5.19610808e-03 6.48110417e+02] [-9.08097532e-02 9.95867812e-01 9.43313744e-04 -4.62464954e+01] [ 5.26030235e-03 -4.67545818e-04 9.99986055e-01 1.79164085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0807140569999 meters Centerline goodness [0,1] 0.9795157082174354 Centerline is valid? [True, True] Translation: X:648.14, Y:-46.25, Z:1.79 [[ 9.95744732e-01 9.19801166e-02 -5.66459288e-03 6.48139493e+02] [-9.19757497e-02 9.95760717e-01 1.02719082e-03 -4.62463767e+01] [ 5.73506020e-03 -5.01814668e-04 9.99983428e-01 1.79125289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.110714057 meters Centerline goodness [0,1] 0.9798717145757294 Centerline is valid? [True, True] Translation: X:648.17, Y:-46.25, Z:1.79 [[ 9.95627056e-01 9.32055605e-02 -6.28405064e-03 6.48167369e+02] [-9.32002138e-02 9.95646736e-01 1.13901358e-03 -4.62502063e+01] [ 6.36285690e-03 -5.48357877e-04 9.99979606e-01 1.79119277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.140714057 meters Centerline goodness [0,1] 0.9801450276243094 Centerline is valid? [True, True] Translation: X:648.20, Y:-46.25, Z:1.79 [[ 9.95407844e-01 9.54452940e-02 -7.30893235e-03 6.48197701e+02] [-9.54381244e-02 9.95434483e-01 1.32430888e-03 -4.62496530e+01] [ 7.40196234e-03 -6.20676648e-04 9.99972412e-01 1.79060535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1707140569999 meters Centerline goodness [0,1] 0.9789500871698844 Centerline is valid? [True, True] Translation: X:648.23, Y:-46.25, Z:1.79 [[ 9.95295030e-01 9.65854430e-02 -7.68476963e-03 6.48225424e+02] [-9.65775547e-02 9.95324489e-01 1.39190748e-03 -4.62539452e+01] [ 7.78327740e-03 -6.43182341e-04 9.99969503e-01 1.79082098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2007140569999 meters Centerline goodness [0,1] 0.9805707609424695 Centerline is valid? [True, True] Translation: X:648.26, Y:-46.25, Z:1.79 [[ 9.95073801e-01 9.88172313e-02 -7.95515091e-03 6.48256118e+02] [-9.88088526e-02 9.95105389e-01 1.44043088e-03 -4.62542367e+01] [ 8.05855293e-03 -6.47295694e-04 9.99967320e-01 1.79212401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2307140569999 meters Centerline goodness [0,1] 0.9807904233021457 Centerline is valid? [True, True] Translation: X:648.29, Y:-46.26, Z:1.79 [[ 9.94952892e-01 1.00040699e-01 -7.78464488e-03 6.48285303e+02] [-1.00032716e-01 9.94983151e-01 1.40920639e-03 -4.62555798e+01] [ 7.88656848e-03 -6.23374809e-04 9.99968706e-01 1.79267884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.260714057 meters Centerline goodness [0,1] 0.9806489317950605 Centerline is valid? [True, True] Translation: X:648.31, Y:-46.26, Z:1.79 [[ 9.94819546e-01 1.01350498e-01 -7.88341777e-03 6.48314483e+02] [-1.01342358e-01 9.94850588e-01 1.42632524e-03 -4.62575852e+01] [ 7.98738158e-03 -6.20012085e-04 9.99967908e-01 1.79312612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.290714057 meters Centerline goodness [0,1] 0.9811785552218164 Centerline is valid? [True, True] Translation: X:648.34, Y:-46.26, Z:1.79 [[ 9.94425015e-01 1.05157080e-01 -7.80250012e-03 6.48344235e+02] [-1.05149227e-01 9.94455453e-01 1.41112497e-03 -4.62593138e+01] [ 7.90762857e-03 -5.82831117e-04 9.99968564e-01 1.79371896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3207140569999 meters Centerline goodness [0,1] 0.9828099532761057 Centerline is valid? [True, True] Translation: X:648.37, Y:-46.26, Z:1.79 [[ 9.94242755e-01 1.06863460e-01 -7.84502290e-03 6.48374724e+02] [-1.06855575e-01 9.94273541e-01 1.41864606e-03 -4.62587279e+01] [ 7.95170012e-03 -5.72194135e-04 9.99968221e-01 1.79419358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3507140569999 meters Centerline goodness [0,1] 0.9828254244666957 Centerline is valid? [True, True] Translation: X:648.40, Y:-46.26, Z:1.79 [[ 9.94096192e-01 1.08220871e-01 -7.81047127e-03 6.48403457e+02] [-1.08213100e-01 9.94126718e-01 1.41204235e-03 -4.62608339e+01] [ 7.91741062e-03 -5.58510621e-04 9.99968501e-01 1.79459247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.380714057 meters Centerline goodness [0,1] 0.9827665090742718 Centerline is valid? [True, True] Translation: X:648.43, Y:-46.26, Z:1.79 [[ 9.93883389e-01 1.10085456e-01 -8.77500828e-03 6.48432230e+02] [-1.10075724e-01 9.93921939e-01 1.58583051e-03 -4.62634274e+01] [ 8.89625011e-03 -6.10215215e-04 9.99960241e-01 1.79405125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.410714057 meters Centerline goodness [0,1] 0.982042722174947 Centerline is valid? [True, True] Translation: X:648.46, Y:-46.27, Z:1.79 [[ 9.93817694e-01 1.10670726e-01 -8.85332352e-03 6.48459619e+02] [-1.10660851e-01 9.93856941e-01 1.59912182e-03 -4.62673438e+01] [ 8.97591300e-03 -6.09519251e-04 9.99959530e-01 1.79417135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4407140569999 meters Centerline goodness [0,1] 0.9823795279372912 Centerline is valid? [True, True] Translation: X:648.49, Y:-46.27, Z:1.79 [[ 9.93818801e-01 1.10691269e-01 -8.46364597e-03 6.48488423e+02] [-1.10682259e-01 9.93854670e-01 1.52711490e-03 -4.62713534e+01] [ 8.58067236e-03 -5.80900049e-04 9.99963017e-01 1.79474554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4707140569999 meters Centerline goodness [0,1] 0.9834454442211933 Centerline is valid? [True, True] Translation: X:648.52, Y:-46.27, Z:1.80 [[ 9.93845059e-01 1.10454384e-01 -8.47515848e-03 6.48516979e+02] [-1.10445360e-01 9.93881025e-01 1.52686223e-03 -4.62683353e+01] [ 8.59194782e-03 -5.81422548e-04 9.99962920e-01 1.79592785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.500714057 meters Centerline goodness [0,1] 0.9831310071268226 Centerline is valid? [True, True] Translation: X:648.54, Y:-46.27, Z:1.80 [[ 9.93779301e-01 1.11097545e-01 -7.74827844e-03 6.48544600e+02] [-1.11090034e-01 9.93809368e-01 1.39448936e-03 -4.62720110e+01] [ 7.85523605e-03 -5.25058153e-04 9.99969009e-01 1.79651373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.530714057 meters Centerline goodness [0,1] 0.9836610599531923 Centerline is valid? [True, True] Translation: X:648.57, Y:-46.28, Z:1.80 [[ 9.93707387e-01 1.11762999e-01 -7.39336749e-03 6.48572091e+02] [-1.11756183e-01 9.93734767e-01 1.32995503e-03 -4.62763285e+01] [ 7.49568608e-03 -4.95331609e-04 9.99971784e-01 1.79756279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5607140569999 meters Centerline goodness [0,1] 0.9832427933058793 Centerline is valid? [True, True] Translation: X:648.60, Y:-46.28, Z:1.80 [[ 9.93559769e-01 1.13081395e-01 -7.18210852e-03 6.48601869e+02] [-1.13075005e-01 9.93585616e-01 1.29083857e-03 -4.62766587e+01] [ 7.28200955e-03 -4.70408312e-04 9.99973375e-01 1.79852423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5907140569999 meters Centerline goodness [0,1] 0.9837644529278835 Centerline is valid? [True, True] Translation: X:648.63, Y:-46.28, Z:1.80 [[ 9.93428487e-01 1.14231042e-01 -7.14912606e-03 6.48630372e+02] [-1.14224750e-01 9.93454105e-01 1.28374947e-03 -4.62795574e+01] [ 7.24897267e-03 -4.58706154e-04 9.99973621e-01 1.79857011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.620714057 meters Centerline goodness [0,1] 0.9845053112106049 Centerline is valid? [True, True] Translation: X:648.66, Y:-46.28, Z:1.80 [[ 9.93332457e-01 1.15030335e-01 -7.65846486e-03 6.48659901e+02] [-1.15023147e-01 9.93361861e-01 1.37400359e-03 -4.62800151e+01] [ 7.76567900e-03 -4.83941628e-04 9.99969730e-01 1.79858132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.650714057 meters Centerline goodness [0,1] 0.9853820451947595 Centerline is valid? [True, True] Translation: X:648.69, Y:-46.28, Z:1.80 [[ 9.93107382e-01 1.16870323e-01 -8.89130750e-03 6.48688651e+02] [-1.16860721e-01 9.93147034e-01 1.59371285e-03 -4.62829849e+01] [ 9.01663341e-03 -5.43683388e-04 9.99959202e-01 1.79765224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6807140569999 meters Centerline goodness [0,1] 0.9855952145323393 Centerline is valid? [True, True] Translation: X:648.72, Y:-46.29, Z:1.80 [[ 9.92992793e-01 1.17818248e-01 -9.17464654e-03 6.48716775e+02] [-1.17808080e-01 9.93035023e-01 1.64285446e-03 -4.62875665e+01] [ 9.30430357e-03 -5.50495148e-04 9.99956563e-01 1.79686323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7107140569999 meters Centerline goodness [0,1] 0.9837107056495933 Centerline is valid? [True, True] Translation: X:648.74, Y:-46.30, Z:1.80 [[ 9.92929352e-01 1.18308777e-01 -9.71259414e-03 6.48743533e+02] [-1.18297423e-01 9.92976687e-01 1.73732968e-03 -4.62950106e+01] [ 9.84992091e-03 -5.76070774e-04 9.99951322e-01 1.79589311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.740714057 meters Centerline goodness [0,1] 0.9849784463798715 Centerline is valid? [True, True] Translation: X:648.77, Y:-46.30, Z:1.80 [[ 9.92865669e-01 1.18814441e-01 -1.00444622e-02 6.48770370e+02] [-1.18802335e-01 9.92916301e-01 1.79560669e-03 -4.63005870e+01] [ 1.01866542e-02 -5.89490685e-04 9.99947941e-01 1.79603460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.770714057 meters Centerline goodness [0,1] 0.9847507976675102 Centerline is valid? [True, True] Translation: X:648.80, Y:-46.30, Z:1.80 [[ 9.92888852e-01 1.18628823e-01 -9.94634683e-03 6.48798580e+02] [-1.18616963e-01 9.92938498e-01 1.77602459e-03 -4.63017876e+01] [ 1.00867984e-02 -5.83589560e-04 9.99948957e-01 1.79631108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8007140569999 meters Centerline goodness [0,1] 0.9845024469820555 Centerline is valid? [True, True] Translation: X:648.82, Y:-46.31, Z:1.80 [[ 9.92958752e-01 1.18045552e-01 -9.90783743e-03 6.48824865e+02] [-1.18033773e-01 9.93008008e-01 1.76740768e-03 -4.63097565e+01] [ 1.00471965e-02 -5.85503490e-04 9.99949354e-01 1.79570926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8307140569999 meters Centerline goodness [0,1] 0.9853122794636556 Centerline is valid? [True, True] Translation: X:648.85, Y:-46.31, Z:1.80 [[ 9.93101586e-01 1.16841977e-01 -9.85858138e-03 6.48853694e+02] [-1.16830274e-01 9.93150342e-01 1.75675776e-03 -4.63134307e+01] [ 9.99631651e-03 -5.92858157e-04 9.99949860e-01 1.79573663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.860714057 meters Centerline goodness [0,1] 0.984624873342438 Centerline is valid? [True, True] Translation: X:648.88, Y:-46.32, Z:1.80 [[ 9.93145954e-01 1.16471400e-01 -9.77377181e-03 6.48881257e+02] [-1.16459905e-01 9.93193871e-01 1.73905195e-03 -4.63189143e+01] [ 9.90980008e-03 -5.88879874e-04 9.99950723e-01 1.79594076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.890714057 meters Centerline goodness [0,1] 0.9851941747572815 Centerline is valid? [True, True] Translation: X:648.91, Y:-46.32, Z:1.80 [[ 9.93330827e-01 1.14914432e-01 -9.40965644e-03 6.48909331e+02] [-1.14903731e-01 9.93375225e-01 1.67186724e-03 -4.63247871e+01] [ 9.53944126e-03 -5.79512633e-04 9.99954331e-01 1.79656898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9207140569999 meters Centerline goodness [0,1] 0.9838684796262424 Centerline is valid? [True, True] Translation: X:648.94, Y:-46.33, Z:1.80 [[ 9.93402259e-01 1.14347949e-01 -8.74638327e-03 6.48937530e+02] [-1.14338700e-01 9.93440614e-01 1.55196043e-03 -4.63302578e+01] [ 8.86647586e-03 -5.41670904e-04 9.99960545e-01 1.79693182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9507140569999 meters Centerline goodness [0,1] 0.9856254684950836 Centerline is valid? [True, True] Translation: X:648.97, Y:-46.33, Z:1.80 [[ 9.93507803e-01 1.13438462e-01 -8.60003861e-03 6.48967077e+02] [-1.13429505e-01 9.93544878e-01 1.52384949e-03 -4.63278202e+01] [ 8.71738746e-03 -5.38458236e-04 9.99961858e-01 1.79786301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9807140569999 meters Centerline goodness [0,1] 0.986206439937322 Centerline is valid? [True, True] Translation: X:649.00, Y:-46.33, Z:1.80 [[ 9.93615593e-01 1.12457165e-01 -9.02434089e-03 6.48995410e+02] [-1.12447283e-01 9.93656409e-01 1.59662871e-03 -4.63308496e+01] [ 9.14664650e-03 -5.71672565e-04 9.99958005e-01 1.79804824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.010714057 meters Centerline goodness [0,1] 0.9847758357823099 Centerline is valid? [True, True] Translation: X:649.02, Y:-46.34, Z:1.80 [[ 9.93859857e-01 1.10265838e-01 -9.16675770e-03 6.49022715e+02] [-1.10255562e-01 9.93901949e-01 1.62048185e-03 -4.63404275e+01] [ 9.28954213e-03 -5.99845838e-04 9.99956671e-01 1.79680485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.040714057 meters Centerline goodness [0,1] 0.9851773425092641 Centerline is valid? [True, True] Translation: X:649.05, Y:-46.35, Z:1.80 [[ 9.93995790e-01 1.09040604e-01 -9.08388904e-03 6.49050707e+02] [-1.09030468e-01 9.94037112e-01 1.60514638e-03 -4.63453989e+01] [ 9.20474896e-03 -6.05088066e-04 9.99957452e-01 1.79708551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0707140569999 meters Centerline goodness [0,1] 0.9839984108766664 Centerline is valid? [True, True] Translation: X:649.08, Y:-46.35, Z:1.80 [[ 9.94114761e-01 1.07931750e-01 -9.30480259e-03 6.49078631e+02] [-1.07921083e-01 9.94158107e-01 1.64244684e-03 -4.63506081e+01] [ 9.42771710e-03 -6.28596276e-04 9.99955361e-01 1.79743378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1007140569999 meters Centerline goodness [0,1] 0.9841845650202393 Centerline is valid? [True, True] Translation: X:649.11, Y:-46.35, Z:1.80 [[ 9.94253795e-01 1.06644287e-01 -9.29451948e-03 6.49106677e+02] [-1.06633602e-01 9.94297032e-01 1.63913789e-03 -4.63546643e+01] [ 9.41631783e-03 -6.38610975e-04 9.99955462e-01 1.79881513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.130714057 meters Centerline goodness [0,1] 0.9844800141492749 Centerline is valid? [True, True] Translation: X:649.14, Y:-46.36, Z:1.80 [[ 9.94316723e-01 1.06052550e-01 -9.33334798e-03 6.49135206e+02] [-1.06041766e-01 9.94360317e-01 1.64422706e-03 -4.63574909e+01] [ 9.45508533e-03 -6.45157764e-04 9.99955092e-01 1.79906706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.160714057 meters Centerline goodness [0,1] 0.985062478000704 Centerline is valid? [True, True] Translation: X:649.16, Y:-46.36, Z:1.80 [[ 9.94264036e-01 1.06527614e-01 -9.53386342e-03 6.49163392e+02] [-1.06516407e-01 9.94309531e-01 1.67706911e-03 -4.63624312e+01] [ 9.65826543e-03 -6.51936625e-04 9.99953145e-01 1.79950896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1907140569999 meters Centerline goodness [0,1] 0.9855248887806821 Centerline is valid? [True, True] Translation: X:649.19, Y:-46.37, Z:1.80 [[ 9.93991507e-01 1.08959395e-01 -1.04275293e-02 6.49192358e+02] [-1.08946136e-01 9.94045965e-01 1.83292473e-03 -4.63660780e+01] [ 1.05651578e-02 -6.85872586e-04 9.99943952e-01 1.79984921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2207140569999 meters Centerline goodness [0,1] 0.9849419568822554 Centerline is valid? [True, True] Translation: X:649.22, Y:-46.37, Z:1.80 [[ 9.93777374e-01 1.10893756e-01 -1.04454164e-02 6.49222098e+02] [-1.10880562e-01 9.93832044e-01 1.83568830e-03 -4.63690173e+01] [ 1.05845559e-02 -6.66071850e-04 9.99943760e-01 1.79974269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.250714057 meters Centerline goodness [0,1] 0.9856078413979686 Centerline is valid? [True, True] Translation: X:649.25, Y:-46.37, Z:1.80 [[ 9.93235638e-01 1.15510191e-01 -1.18475225e-02 6.49251238e+02] [-1.15493548e-01 9.93306049e-01 2.08172718e-03 -4.63718808e+01] [ 1.20086765e-02 -6.99333211e-04 9.99927649e-01 1.79915813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.280714057 meters Centerline goodness [0,1] 0.9849192816174679 Centerline is valid? [True, True] Translation: X:649.28, Y:-46.38, Z:1.80 [[ 9.92955081e-01 1.17866225e-01 -1.21556393e-02 6.49281080e+02] [-1.17848885e-01 9.93029244e-01 2.13561454e-03 -4.63750592e+01] [ 1.23226221e-02 -6.88040773e-04 9.99923837e-01 1.79890330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3107140569999 meters Centerline goodness [0,1] 0.9844615862038392 Centerline is valid? [True, True] Translation: X:649.31, Y:-46.38, Z:1.80 [[ 9.92668024e-01 1.20198786e-01 -1.27454271e-02 6.49309149e+02] [-1.20179920e-01 9.92749603e-01 2.23869337e-03 -4.63798961e+01] [ 1.29221059e-02 -6.90534913e-04 9.99916268e-01 1.79852418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3407140569999 meters Centerline goodness [0,1] 0.9856449746283272 Centerline is valid? [True, True] Translation: X:649.34, Y:-46.38, Z:1.80 [[ 9.92165590e-01 1.24293730e-01 -1.25901358e-02 6.49340302e+02] [-1.24275656e-01 9.92245269e-01 2.21090240e-03 -4.63782601e+01] [ 1.27673040e-02 -6.28933902e-04 9.99918297e-01 1.79925251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.370714057 meters Centerline goodness [0,1] 0.9851596395594615 Centerline is valid? [True, True] Translation: X:649.37, Y:-46.38, Z:1.80 [[ 9.91993908e-01 1.25593910e-01 -1.32006324e-02 6.49369292e+02] [-1.25574187e-01 9.92081529e-01 2.31580349e-03 -4.63823340e+01] [ 1.33869544e-02 -6.39604268e-04 9.99910186e-01 1.79929687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.400714057 meters Centerline goodness [0,1] 0.9864115301508097 Centerline is valid? [True, True] Translation: X:649.40, Y:-46.38, Z:1.80 [[ 9.91725983e-01 1.27676079e-01 -1.33564015e-02 6.49398936e+02] [-1.27656104e-01 9.91815728e-01 2.34104080e-03 -4.63828238e+01] [ 1.35459840e-02 -6.16644806e-04 9.99908059e-01 1.80036179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4307140569999 meters Centerline goodness [0,1] 0.9854501768671161 Centerline is valid? [True, True] Translation: X:649.43, Y:-46.39, Z:1.80 [[ 9.91733003e-01 1.27583047e-01 -1.37191915e-02 6.49426078e+02] [-1.27561983e-01 9.91827689e-01 2.40323064e-03 -4.63888445e+01] [ 1.39136855e-02 -6.33315860e-04 9.99902999e-01 1.79966039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4607140569999 meters Centerline goodness [0,1] 0.9850639955481357 Centerline is valid? [True, True] Translation: X:649.45, Y:-46.40, Z:1.80 [[ 9.91695084e-01 1.27864218e-01 -1.38420626e-02 6.49453101e+02] [-1.27842820e-01 9.91791480e-01 2.42349639e-03 -4.63962651e+01] [ 1.40383182e-02 -6.33761145e-04 9.99901257e-01 1.79905649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.490714057 meters Centerline goodness [0,1] 0.9865352087599039 Centerline is valid? [True, True] Translation: X:649.48, Y:-46.40, Z:1.80 [[ 9.91785816e-01 1.27137984e-01 -1.40295352e-02 6.49481969e+02] [-1.27115972e-01 9.91884827e-01 2.45337746e-03 -4.63986559e+01] [ 1.42276006e-02 -6.49846958e-04 9.99898571e-01 1.79981646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.520714057 meters Centerline goodness [0,1] 0.9850222222222222 Centerline is valid? [True, True] Translation: X:649.51, Y:-46.41, Z:1.80 [[ 9.91874897e-01 1.26567837e-01 -1.28363249e-02 6.49507704e+02] [-1.26549385e-01 9.91957772e-01 2.24298951e-03 -4.64112804e+01] [ 1.30169826e-02 -6.00335973e-04 9.99915095e-01 1.79880013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5507140569999 meters Centerline goodness [0,1] 0.9869240348692403 Centerline is valid? [True, True] Translation: X:649.54, Y:-46.41, Z:1.80 [[ 9.91973778e-01 1.25844950e-01 -1.22911507e-02 6.49537308e+02] [-1.25828007e-01 9.92049752e-01 2.14523606e-03 -4.64100031e+01] [ 1.24634001e-02 -5.81446918e-04 9.99922160e-01 1.80103913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5807140569999 meters Centerline goodness [0,1] 0.9867486671238634 Centerline is valid? [True, True] Translation: X:649.57, Y:-46.42, Z:1.80 [[ 9.92076203e-01 1.25013780e-01 -1.25045214e-02 6.49565032e+02] [-1.24996202e-01 9.92154824e-01 2.18065664e-03 -4.64160893e+01] [ 1.26790333e-02 -6.00359885e-04 9.99919438e-01 1.80163431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.610714057 meters Centerline goodness [0,1] 0.9865779256794232 Centerline is valid? [True, True] Translation: X:649.59, Y:-46.42, Z:1.80 [[ 9.92327717e-01 1.23055829e-01 -1.19568224e-02 6.49594069e+02] [-1.23039622e-01 9.92399570e-01 2.08450267e-03 -4.64242181e+01] [ 1.21224556e-02 -5.97346863e-04 9.99926342e-01 1.80183496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.640714057 meters Centerline goodness [0,1] 0.9865779256794232 Centerline is valid? [True, True] Translation: X:649.62, Y:-46.43, Z:1.80 [[ 9.92362913e-01 1.22771631e-01 -1.19572465e-02 6.49621100e+02] [-1.22755433e-01 9.92434768e-01 2.08206827e-03 -4.64288584e+01] [ 1.21224060e-02 -5.98350362e-04 9.99926342e-01 1.80194493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6707140569999 meters Centerline goodness [0,1] 0.9861431358637814 Centerline is valid? [True, True] Translation: X:649.65, Y:-46.44, Z:1.80 [[ 9.92553597e-01 1.21254443e-01 -1.16067455e-02 6.49649375e+02] [-1.21239114e-01 9.92621280e-01 2.01792655e-03 -4.64352336e+01] [ 1.17657851e-02 -5.95708707e-04 9.99930603e-01 1.80216667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7007140569999 meters Centerline goodness [0,1] 0.986142828636676 Centerline is valid? [True, True] Translation: X:649.68, Y:-46.44, Z:1.80 [[ 9.92864667e-01 1.18652162e-01 -1.18919491e-02 6.49676410e+02] [-1.18635905e-01 9.92935675e-01 2.06578225e-03 -4.64449772e+01] [ 1.20530500e-02 -6.40230067e-04 9.99927154e-01 1.80238180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7307140569999 meters Centerline goodness [0,1] 0.9846876592727192 Centerline is valid? [True, True] Translation: X:649.70, Y:-46.46, Z:1.80 [[ 9.93055646e-01 1.16965689e-01 -1.26297917e-02 6.49702700e+02] [-1.16947229e-01 9.93135709e-01 2.19296609e-03 -4.64581724e+01] [ 1.27995989e-02 -7.00718221e-04 9.99917836e-01 1.80111974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.760714057 meters Centerline goodness [0,1] 0.9845293610626119 Centerline is valid? [True, True] Translation: X:649.73, Y:-46.46, Z:1.80 [[ 9.93253458e-01 1.15286681e-01 -1.25119652e-02 6.49731709e+02] [-1.15268440e-01 9.93332004e-01 2.17176948e-03 -4.64624853e+01] [ 1.26789115e-02 -7.14882841e-04 9.99919364e-01 1.80133210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.790714057 meters Centerline goodness [0,1] 0.9827927650398275 Centerline is valid? [True, True] Translation: X:649.76, Y:-46.48, Z:1.80 [[ 9.93626657e-01 1.11903594e-01 -1.35518181e-02 6.49759051e+02] [-1.11881887e-01 9.93718729e-01 2.35187445e-03 -4.64765653e+01] [ 1.37298787e-02 -8.20682173e-04 9.99905404e-01 1.79991203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8207140569999 meters Centerline goodness [0,1] 0.9847237245855317 Centerline is valid? [True, True] Translation: X:649.79, Y:-46.48, Z:1.80 [[ 9.93813564e-01 1.10146440e-01 -1.42253653e-02 6.49789180e+02] [-1.10122348e-01 9.93914974e-01 2.46832259e-03 -4.64763199e+01] [ 1.44106805e-02 -8.86521843e-04 9.99895768e-01 1.80106654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8507140569999 meters Centerline goodness [0,1] 0.9828341292722111 Centerline is valid? [True, True] Translation: X:649.82, Y:-46.49, Z:1.80 [[ 9.93997457e-01 1.08475669e-01 -1.42156386e-02 6.49816147e+02] [-1.08451450e-01 9.94098688e-01 2.46593394e-03 -4.64870965e+01] [ 1.43992415e-02 -9.09425452e-04 9.99895912e-01 1.80021021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.880714057 meters Centerline goodness [0,1] 0.9821052169330757 Centerline is valid? [True, True] Translation: X:649.85, Y:-46.49, Z:1.80 [[ 9.94311525e-01 1.05561858e-01 -1.41874942e-02 6.49845192e+02] [-1.05537445e-01 9.94412285e-01 2.46065492e-03 -4.64945734e+01] [ 1.43679698e-02 -9.49345667e-04 9.99896325e-01 1.80002771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.910714057 meters Centerline goodness [0,1] 0.9805373108099202 Centerline is valid? [True, True] Translation: X:649.87, Y:-46.51, Z:1.80 [[ 9.94440681e-01 1.04287127e-01 -1.45577334e-02 6.49872345e+02] [-1.04261296e-01 9.94546736e-01 2.52423108e-03 -4.65066696e+01] [ 1.47415911e-02 -9.92389917e-04 9.99890844e-01 1.79939849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9407140569999 meters Centerline goodness [0,1] 0.9810363013096598 Centerline is valid? [True, True] Translation: X:649.90, Y:-46.51, Z:1.80 [[ 9.94649151e-01 1.02282786e-01 -1.45360911e-02 6.49902012e+02] [-1.02256831e-01 9.94754840e-01 2.51969208e-03 -4.65051423e+01] [ 1.47175681e-02 -1.01979498e-03 9.99891171e-01 1.80150008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9707140569999 meters Centerline goodness [0,1] 0.9806843872780351 Centerline is valid? [True, True] Translation: X:649.93, Y:-46.51, Z:1.80 [[ 9.94735178e-01 1.01404285e-01 -1.48018863e-02 6.49929841e+02] [-1.01377319e-01 9.94844747e-01 2.56279677e-03 -4.65106447e+01] [ 1.49854574e-02 -1.04872855e-03 9.99887162e-01 1.80081705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.000714057 meters Centerline goodness [0,1] 0.9816007561935328 Centerline is valid? [True, True] Translation: X:649.96, Y:-46.51, Z:1.80 [[ 9.94787850e-01 1.00847880e-01 -1.50611585e-02 6.49958062e+02] [-1.00819957e-01 9.94901280e-01 2.60380175e-03 -4.65136008e+01] [ 1.52469537e-02 -1.07176499e-03 9.99883184e-01 1.80160741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.030714057 meters Centerline goodness [0,1] 0.9788308876593698 Centerline is valid? [True, True] Translation: X:649.98, Y:-46.52, Z:1.80 [[ 9.94826273e-01 1.00523344e-01 -1.46882255e-02 6.49984184e+02] [-1.00496781e-01 9.94934148e-01 2.53735340e-03 -4.65241421e+01] [ 1.48688803e-02 -1.04810644e-03 9.99888903e-01 1.80038647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0607140569999 meters Centerline goodness [0,1] 0.9798026315789474 Centerline is valid? [True, True] Translation: X:650.01, Y:-46.52, Z:1.80 [[ 9.94875502e-01 1.00145498e-01 -1.39145449e-02 6.50012785e+02] [-1.00121669e-01 9.94972306e-01 2.40045400e-03 -4.65241549e+01] [ 1.40849815e-02 -9.95005420e-04 9.99900307e-01 1.80211819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0907140569999 meters Centerline goodness [0,1] 0.9816388833981243 Centerline is valid? [True, True] Translation: X:650.04, Y:-46.53, Z:1.80 [[ 9.94899188e-01 1.00000635e-01 -1.32468363e-02 6.50041233e+02] [-9.99790724e-02 9.94986924e-01 2.28175214e-03 -4.65258752e+01] [ 1.34086056e-02 -9.45706950e-04 9.99909653e-01 1.80320099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.120714057 meters Centerline goodness [0,1] 0.9801762598624206 Centerline is valid? [True, True] Translation: X:650.07, Y:-46.53, Z:1.80 [[ 9.94792059e-01 1.01214391e-01 -1.20168841e-02 6.50070113e+02] [-1.01196753e-01 9.94864282e-01 2.06836912e-03 -4.65294447e+01] [ 1.21645175e-02 -8.41527520e-04 9.99925655e-01 1.80375903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.150714057 meters Centerline goodness [0,1] 0.9806200698732175 Centerline is valid? [True, True] Translation: X:650.10, Y:-46.53, Z:1.80 [[ 9.94693305e-01 1.02252185e-01 -1.13894411e-02 6.50098746e+02] [-1.02236419e-01 9.94758199e-01 1.95954967e-03 -4.65330742e+01] [ 1.15301081e-02 -7.84735261e-04 9.99933218e-01 1.80427242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1807140569999 meters Centerline goodness [0,1] 0.9790618477425025 Centerline is valid? [True, True] Translation: X:650.13, Y:-46.54, Z:1.80 [[ 9.94564606e-01 1.03546837e-01 -1.09223301e-02 6.50125601e+02] [-1.03532423e-01 9.94624305e-01 1.87839675e-03 -4.65431664e+01] [ 1.10581171e-02 -7.37371616e-04 9.99938585e-01 1.80336683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2107140569999 meters Centerline goodness [0,1] 0.981437033448572 Centerline is valid? [True, True] Translation: X:650.16, Y:-46.54, Z:1.80 [[ 9.94300084e-01 1.06063778e-01 -1.08543887e-02 6.50157142e+02] [-1.06049697e-01 9.94359079e-01 1.86629946e-03 -4.65379745e+01] [ 1.09911067e-02 -7.04557083e-04 9.99939348e-01 1.80367311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.240714057 meters Centerline goodness [0,1] 0.9808052537629195 Centerline is valid? [True, True] Translation: X:650.18, Y:-46.54, Z:1.80 [[ 9.94223831e-01 1.06738828e-01 -1.12159186e-02 6.50184916e+02] [-1.06723859e-01 9.94286833e-01 1.92653098e-03 -4.65435450e+01] [ 1.13574758e-02 -7.18396900e-04 9.99935244e-01 1.80307078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.270714057 meters Centerline goodness [0,1] 0.9815707774621838 Centerline is valid? [True, True] Translation: X:650.21, Y:-46.54, Z:1.80 [[ 9.94174102e-01 1.07206538e-01 -1.11630324e-02 6.50213878e+02] [-1.07191771e-01 9.94236520e-01 1.91457820e-03 -4.65440537e+01] [ 1.13039498e-02 -7.06838849e-04 9.99935858e-01 1.80306549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3007140569999 meters Centerline goodness [0,1] 0.9821188105697698 Centerline is valid? [True, True] Translation: X:650.24, Y:-46.55, Z:1.80 [[ 9.94122060e-01 1.07571673e-01 -1.22337433e-02 6.50240771e+02] [-1.07553988e-01 9.94197035e-01 2.09633926e-03 -4.65502793e+01] [ 1.23882580e-02 -7.68229231e-04 9.99922967e-01 1.80107094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3307140569999 meters Centerline goodness [0,1] 0.9827521393980939 Centerline is valid? [True, True] Translation: X:650.27, Y:-46.55, Z:1.80 [[ 9.94163957e-01 1.07096556e-01 -1.29751676e-02 6.50269900e+02] [-1.07076658e-01 9.94248288e-01 2.22067790e-03 -4.65521718e+01] [ 1.31383652e-02 -8.18380333e-04 9.99913353e-01 1.80080198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.360714057 meters Centerline goodness [0,1] 0.9820309235269536 Centerline is valid? [True, True] Translation: X:650.30, Y:-46.56, Z:1.80 [[ 9.94232852e-01 1.06380853e-01 -1.35701945e-02 6.50298204e+02] [-1.06359070e-01 9.94325083e-01 2.31897229e-03 -4.65563374e+01] [ 1.37398791e-02 -8.62285161e-04 9.99905232e-01 1.80014909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.390714057 meters Centerline goodness [0,1] 0.9821882951653944 Centerline is valid? [True, True] Translation: X:650.33, Y:-46.56, Z:1.80 [[ 9.94343536e-01 1.05196432e-01 -1.46506845e-02 6.50326531e+02] [-1.05170939e-01 9.94451011e-01 2.50193131e-03 -4.65610509e+01] [ 1.48325823e-02 -9.46952976e-04 9.99889543e-01 1.79983598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4207140569999 meters Centerline goodness [0,1] 0.9827331466249145 Centerline is valid? [True, True] Translation: X:650.35, Y:-46.56, Z:1.80 [[ 9.94370107e-01 1.04937844e-01 -1.47016571e-02 6.50354830e+02] [-1.04912195e-01 9.94478328e-01 2.50726258e-03 -4.65636530e+01] [ 1.48835861e-02 -9.50763833e-04 9.99888781e-01 1.79997507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4507140569999 meters Centerline goodness [0,1] 0.9829868092534082 Centerline is valid? [True, True] Translation: X:650.38, Y:-46.57, Z:1.80 [[ 9.94309578e-01 1.05603724e-01 -1.40113043e-02 6.50383664e+02] [-1.05580546e-01 9.94407892e-01 2.38585064e-03 -4.65663239e+01] [ 1.41849063e-02 -8.92952994e-04 9.99898990e-01 1.80061856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4807140569999 meters Centerline goodness [0,1] 0.9822124756335283 Centerline is valid? [True, True] Translation: X:650.41, Y:-46.57, Z:1.80 [[ 9.94230652e-01 1.06378498e-01 -1.37486347e-02 6.50412552e+02] [-1.06356303e-01 9.94325335e-01 2.33764601e-03 -4.65699430e+01] [ 1.39192910e-02 -8.61905372e-04 9.99902750e-01 1.80110233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.510714057 meters Centerline goodness [0,1] 0.9819652154647169 Centerline is valid? [True, True] Translation: X:650.44, Y:-46.57, Z:1.80 [[ 9.94124569e-01 1.07465615e-01 -1.29414855e-02 6.50440972e+02] [-1.07446062e-01 9.94208484e-01 2.19881594e-03 -4.65727561e+01] [ 1.31028318e-02 -7.95385298e-04 9.99913838e-01 1.80222213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.540714057 meters Centerline goodness [0,1] 0.9826428143911684 Centerline is valid? [True, True] Translation: X:650.47, Y:-46.57, Z:1.80 [[ 9.93786534e-01 1.10772885e-01 -1.08486491e-02 6.50470672e+02] [-1.10759346e-01 9.93845547e-01 1.84274886e-03 -4.65736944e+01] [ 1.09860082e-02 -6.29709722e-04 9.99939454e-01 1.80320681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5707140569999 meters Centerline goodness [0,1] 0.9818460581281664 Centerline is valid? [True, True] Translation: X:650.50, Y:-46.58, Z:1.80 [[ 9.93709561e-01 1.11524219e-01 -1.01812332e-02 6.50499549e+02] [-1.11512351e-01 9.93761546e-01 1.72770123e-03 -4.65767953e+01] [ 1.03103986e-02 -5.81499971e-04 9.99946677e-01 1.80368022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6007140569999 meters Centerline goodness [0,1] 0.9832743146032382 Centerline is valid? [True, True] Translation: X:650.53, Y:-46.58, Z:1.80 [[ 9.93620185e-01 1.12367158e-01 -9.62028033e-03 6.50528710e+02] [-1.12356625e-01 9.93666610e-01 1.63011975e-03 -4.65757645e+01] [ 9.74252326e-03 -5.38817660e-04 9.99952395e-01 1.80459930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.630714057 meters Centerline goodness [0,1] 0.9822084660090405 Centerline is valid? [True, True] Translation: X:650.56, Y:-46.58, Z:1.80 [[ 9.93670964e-01 1.12023373e-01 -8.29327190e-03 6.50556836e+02] [-1.12015552e-01 9.93705463e-01 1.40311088e-03 -4.65793536e+01] [ 8.39825081e-03 -4.65255108e-04 9.99964626e-01 1.80494421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.660714057 meters Centerline goodness [0,1] 0.9826318711826763 Centerline is valid? [True, True] Translation: X:650.59, Y:-46.58, Z:1.80 [[ 9.93765064e-01 1.11219143e-01 -7.82946476e-03 6.50585715e+02] [-1.11212164e-01 9.93795807e-01 1.32254334e-03 -4.65829604e+01] [ 7.92798139e-03 -4.43565643e-04 9.99968475e-01 1.80482030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6907140569999 meters Centerline goodness [0,1] 0.981111903064861 Centerline is valid? [True, True] Translation: X:650.62, Y:-46.59, Z:1.80 [[ 9.94121896e-01 1.07957325e-01 -8.17747478e-03 6.50615623e+02] [-1.07949611e-01 9.94155409e-01 1.38026069e-03 -4.65889882e+01] [ 8.27869004e-03 -4.89392155e-04 9.99965611e-01 1.80449775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7207140569999 meters Centerline goodness [0,1] 0.9812261986949647 Centerline is valid? [True, True] Translation: X:650.64, Y:-46.59, Z:1.80 [[ 9.94308009e-01 1.06214552e-01 -8.36975347e-03 6.50644381e+02] [-1.06206411e-01 9.94343101e-01 1.41247089e-03 -4.65949452e+01] [ 8.47243159e-03 -5.15509640e-04 9.99963975e-01 1.80407562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.750714057 meters Centerline goodness [0,1] 0.9809458472569544 Centerline is valid? [True, True] Translation: X:650.67, Y:-46.60, Z:1.80 [[ 9.94480523e-01 1.04595908e-01 -8.25740777e-03 6.50672398e+02] [-1.04587932e-01 9.94514667e-01 1.39306004e-03 -4.66025488e+01] [ 8.35782153e-03 -5.21745875e-04 9.99964937e-01 1.80368020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.780714057 meters Centerline goodness [0,1] 0.9804510274886576 Centerline is valid? [True, True] Translation: X:650.70, Y:-46.61, Z:1.80 [[ 9.94655206e-01 1.02914545e-01 -8.34374094e-03 6.50701176e+02] [-1.02906346e-01 9.94690054e-01 1.40724788e-03 -4.66092745e+01] [ 8.44426240e-03 -5.41102531e-04 9.99964200e-01 1.80389796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8107140569999 meters Centerline goodness [0,1] 0.9791620335364497 Centerline is valid? [True, True] Translation: X:650.73, Y:-46.62, Z:1.80 [[ 9.94876438e-01 1.00833950e-01 -7.30669346e-03 6.50729906e+02] [-1.00827609e-01 9.94903149e-01 1.23195612e-03 -4.66150547e+01] [ 7.39367534e-03 -4.88927686e-04 9.99972547e-01 1.80400633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8407140569999 meters Centerline goodness [0,1] 0.9800645951664996 Centerline is valid? [True, True] Translation: X:650.76, Y:-46.62, Z:1.80 [[ 9.94952585e-01 1.00082021e-01 -7.27623038e-03 6.50759042e+02] [-1.00075721e-01 9.94979069e-01 1.22565336e-03 -4.66170359e+01] [ 7.36236280e-03 -4.91292980e-04 9.99972777e-01 1.80409537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.870714057 meters Centerline goodness [0,1] 0.9803384546871521 Centerline is valid? [True, True] Translation: X:650.79, Y:-46.62, Z:1.80 [[ 9.94909075e-01 1.00456780e-01 -8.02290763e-03 6.50786644e+02] [-1.00449146e-01 9.94941278e-01 1.34992530e-03 -4.66218047e+01] [ 8.11793112e-03 -5.37158717e-04 9.99966905e-01 1.80364851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.900714057 meters Centerline goodness [0,1] 0.9807885400629226 Centerline is valid? [True, True] Translation: X:650.82, Y:-46.62, Z:1.80 [[ 9.94872031e-01 1.00806474e-01 -8.22785900e-03 6.50815939e+02] [-1.00798469e-01 9.94905903e-01 1.38300765e-03 -4.66235858e+01] [ 8.32536162e-03 -5.46560044e-04 9.99965194e-01 1.80391941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9307140569999 meters Centerline goodness [0,1] 0.9809103276019714 Centerline is valid? [True, True] Translation: X:650.84, Y:-46.63, Z:1.80 [[ 9.94660891e-01 1.02915237e-01 -7.62669727e-03 6.50844501e+02] [-1.02908428e-01 9.94690009e-01 1.28094111e-03 -4.66287566e+01] [ 7.71802793e-03 -4.89250598e-04 9.99970096e-01 1.80369957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9607140569999 meters Centerline goodness [0,1] 0.9797387660485022 Centerline is valid? [True, True] Translation: X:650.87, Y:-46.64, Z:1.80 [[ 9.94550959e-01 1.04030084e-01 -6.79200195e-03 6.50871838e+02] [-1.04024713e-01 9.94574059e-01 1.14041789e-03 -4.66375615e+01] [ 6.87378672e-03 -4.27667656e-04 9.99976284e-01 1.80424853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.990714057 meters Centerline goodness [0,1] 0.9795384993410324 Centerline is valid? [True, True] Translation: X:650.90, Y:-46.64, Z:1.80 [[ 9.94424089e-01 1.05247533e-01 -6.60976420e-03 6.50900508e+02] [-1.05242475e-01 9.94445972e-01 1.10936119e-03 -4.66403272e+01] [ 6.68981091e-03 -4.07547543e-04 9.99977540e-01 1.80474501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.020714057 meters Centerline goodness [0,1] 0.9814425613736977 Centerline is valid? [True, True] Translation: X:650.93, Y:-46.64, Z:1.81 [[ 9.94312562e-01 1.06331019e-01 -6.02031389e-03 6.50930219e+02] [-1.06326847e-01 9.94330721e-01 1.00970253e-03 -4.66399668e+01] [ 6.09354575e-03 -3.63838910e-04 9.99981368e-01 1.80555394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0507140569999 meters Centerline goodness [0,1] 0.9804627249357326 Centerline is valid? [True, True] Translation: X:650.96, Y:-46.64, Z:1.81 [[ 9.94164398e-01 1.07720727e-01 -5.77874407e-03 6.50958280e+02] [-1.07716913e-01 9.94181135e-01 9.68179124e-04 -4.66432378e+01] [ 5.84941130e-03 -3.40060745e-04 9.99982834e-01 1.80553560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0807140569999 meters Centerline goodness [0,1] 0.981219817563942 Centerline is valid? [True, True] Translation: X:650.99, Y:-46.65, Z:1.81 [[ 9.94126139e-01 1.08072439e-01 -5.79369301e-03 6.50986400e+02] [-1.08068615e-01 9.94142964e-01 9.69947529e-04 -4.66469501e+01] [ 5.86458374e-03 -3.38133815e-04 9.99982746e-01 1.80505588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.110714057 meters Centerline goodness [0,1] 0.9808055870643446 Centerline is valid? [True, True] Translation: X:651.01, Y:-46.65, Z:1.80 [[ 9.94011906e-01 1.09055273e-01 -6.87589680e-03 6.51013777e+02] [-1.09049921e-01 9.94035610e-01 1.14970451e-03 -4.66523173e+01] [ 6.96026761e-03 -3.93003967e-04 9.99975700e-01 1.80431590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.140714057 meters Centerline goodness [0,1] 0.9808762091999732 Centerline is valid? [True, True] Translation: X:651.04, Y:-46.66, Z:1.80 [[ 9.94018834e-01 1.08973152e-01 -7.17001248e-03 6.51040054e+02] [-1.08967335e-01 9.94044609e-01 1.19813352e-03 -4.66578943e+01] [ 7.25787664e-03 -4.09670130e-04 9.99973577e-01 1.80388558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1707140569999 meters Centerline goodness [0,1] 0.980436435183115 Centerline is valid? [True, True] Translation: X:651.07, Y:-46.66, Z:1.80 [[ 9.94041382e-01 1.08805909e-01 -6.55779709e-03 6.51068067e+02] [-1.08801047e-01 9.94062943e-01 1.09467204e-03 -4.66618133e+01] [ 6.63796986e-03 -3.74654111e-04 9.99977898e-01 1.80377362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2007140569999 meters Centerline goodness [0,1] 0.9811460176000358 Centerline is valid? [True, True] Translation: X:651.10, Y:-46.66, Z:1.81 [[ 9.94071045e-01 1.08595709e-01 -5.45242206e-03 6.51096463e+02] [-1.08592352e-01 9.94085950e-01 9.08804910e-04 -4.66610860e+01] [ 5.51886848e-03 -3.11325309e-04 9.99984722e-01 1.80520887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2307140569999 meters Centerline goodness [0,1] 0.9802306425041186 Centerline is valid? [True, True] Translation: X:651.12, Y:-46.67, Z:1.81 [[ 9.94067787e-01 1.08680588e-01 -4.21484438e-03 6.51124470e+02] [-1.08678587e-01 9.94076693e-01 7.01564949e-04 -4.66658021e+01] [ 4.26612505e-03 -2.39339783e-04 9.99990871e-01 1.80587073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.260714057 meters Centerline goodness [0,1] 0.9777326126770001 Centerline is valid? [True, True] Translation: X:651.15, Y:-46.68, Z:1.81 [[ 9.93980857e-01 1.09502194e-01 -3.36523894e-03 6.51150195e+02] [-1.09500926e-01 9.93986536e-01 5.59390983e-04 -4.66793186e+01] [ 3.40625674e-03 -1.87527149e-04 9.99994181e-01 1.80621461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.290714057 meters Centerline goodness [0,1] 0.9804640350485047 Centerline is valid? [True, True] Translation: X:651.18, Y:-46.67, Z:1.81 [[ 9.93811048e-01 1.11038802e-01 -3.15983317e-03 6.51180000e+02] [-1.11037692e-01 9.93816057e-01 5.24967643e-04 -4.66742108e+01] [ 3.19858472e-03 -1.70858061e-04 9.99994870e-01 1.80608430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3207140569999 meters Centerline goodness [0,1] 0.9809743954480796 Centerline is valid? [True, True] Translation: X:651.21, Y:-46.68, Z:1.81 [[ 9.93649806e-01 1.12462311e-01 -3.50581105e-03 6.51208605e+02] [-1.12460955e-01 9.93655974e-01 5.82158921e-04 -4.66788357e+01] [ 3.54904103e-03 -1.84195238e-04 9.99993685e-01 1.80577508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3507140569999 meters Centerline goodness [0,1] 0.9807469212921649 Centerline is valid? [True, True] Translation: X:651.24, Y:-46.68, Z:1.81 [[ 9.93440711e-01 1.14281187e-01 -3.91966499e-03 6.51236204e+02] [-1.14279508e-01 9.93448424e-01 6.50562770e-04 -4.66838165e+01] [ 3.96833209e-03 -1.98358157e-04 9.99992106e-01 1.80528006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.380714057 meters Centerline goodness [0,1] 0.9812180360452911 Centerline is valid? [True, True] Translation: X:651.26, Y:-46.69, Z:1.80 [[ 9.93397925e-01 1.14639940e-01 -4.27167069e-03 6.51264142e+02] [-1.14637950e-01 9.93407086e-01 7.08518054e-04 -4.66883844e+01] [ 4.32473240e-03 -2.14144793e-04 9.99990625e-01 1.80499533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.410714057 meters Centerline goodness [0,1] 0.9822797788873039 Centerline is valid? [True, True] Translation: X:651.29, Y:-46.69, Z:1.80 [[ 9.93299647e-01 1.15465886e-01 -4.84147111e-03 6.51292736e+02] [-1.15463347e-01 9.93311418e-01 8.01681328e-04 -4.66898999e+01] [ 4.90165538e-03 -2.37297322e-04 9.99987959e-01 1.80479387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4407140569999 meters Centerline goodness [0,1] 0.9826574113340625 Centerline is valid? [True, True] Translation: X:651.32, Y:-46.69, Z:1.80 [[ 9.93241387e-01 1.15950527e-01 -5.19834331e-03 6.51320820e+02] [-1.15947613e-01 9.93254958e-01 8.59362963e-04 -4.66944988e+01] [ 5.26292385e-03 -2.50819361e-04 9.99986119e-01 1.80442571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4707140569999 meters Centerline goodness [0,1] 0.9830761683910096 Centerline is valid? [True, True] Translation: X:651.35, Y:-46.70, Z:1.80 [[ 9.93218526e-01 1.16139054e-01 -5.35542700e-03 6.51349079e+02] [-1.16135972e-01 9.93232931e-01 8.83929622e-04 -4.67004345e+01] [ 5.42184521e-03 -2.55977555e-04 9.99985269e-01 1.80448901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.500714057 meters Centerline goodness [0,1] 0.9815611692047 Centerline is valid? [True, True] Translation: X:651.38, Y:-46.71, Z:1.80 [[ 9.93200835e-01 1.16295250e-01 -5.24559712e-03 6.51375739e+02] [-1.16292302e-01 9.93214656e-01 8.64641309e-04 -4.67085012e+01] [ 5.31055761e-03 -2.48739906e-04 9.99985868e-01 1.80441051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.530714057 meters Centerline goodness [0,1] 0.9832549220718411 Centerline is valid? [True, True] Translation: X:651.40, Y:-46.71, Z:1.81 [[ 9.93140468e-01 1.16849012e-01 -4.28002865e-03 6.51404219e+02] [-1.16847057e-01 9.93149671e-01 7.04965818e-04 -4.67099388e+01] [ 4.33308361e-03 -2.00021332e-04 9.99990592e-01 1.80513935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5607140569999 meters Centerline goodness [0,1] 0.9832549220718411 Centerline is valid? [True, True] Translation: X:651.43, Y:-46.71, Z:1.81 [[ 9.93173431e-01 1.16568503e-01 -4.28020443e-03 6.51431285e+02] [-1.16566549e-01 9.93182634e-01 7.03897047e-04 -4.67143146e+01] [ 4.33307693e-03 -2.00163184e-04 9.99990592e-01 1.80524957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5907140569999 meters Centerline goodness [0,1] 0.9823736518406275 Centerline is valid? [True, True] Translation: X:651.46, Y:-46.72, Z:1.81 [[ 9.93138162e-01 1.16864053e-01 -4.40270427e-03 6.51458567e+02] [-1.16861994e-01 9.93147900e-01 7.22822469e-04 -4.67215143e+01] [ 4.45700847e-03 -2.03353777e-04 9.99990047e-01 1.80527920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.620714057 meters Centerline goodness [0,1] 0.9813042510572001 Centerline is valid? [True, True] Translation: X:651.49, Y:-46.73, Z:1.81 [[ 9.93051007e-01 1.17594377e-01 -4.61087708e-03 6.51486251e+02] [-1.17592130e-01 9.93061689e-01 7.56468302e-04 -4.67273449e+01] [ 4.66784181e-03 -2.09008753e-04 9.99989084e-01 1.80501359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.650714057 meters Centerline goodness [0,1] 0.9818315573587766 Centerline is valid? [True, True] Translation: X:651.51, Y:-46.73, Z:1.81 [[ 9.92957825e-01 1.18378359e-01 -4.61758226e-03 6.51513128e+02] [-1.18376119e-01 9.92968540e-01 7.56520552e-04 -4.67336024e+01] [ 4.67466958e-03 -2.04581537e-04 9.99989053e-01 1.80567030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6807140569999 meters Centerline goodness [0,1] 0.9815651786708227 Centerline is valid? [True, True] Translation: X:651.54, Y:-46.74, Z:1.81 [[ 9.92955139e-01 1.18408792e-01 -4.41020002e-03 6.51541727e+02] [-1.18406751e-01 9.92964914e-01 7.21961176e-04 -4.67387153e+01] [ 4.46466043e-03 -1.94677602e-04 9.99990014e-01 1.80574565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7107140569999 meters Centerline goodness [0,1] 0.9828043803109039 Centerline is valid? [True, True] Translation: X:651.57, Y:-46.74, Z:1.81 [[ 9.92991930e-01 1.18149120e-01 -2.79520230e-03 6.51570241e+02] [-1.18148300e-01 9.92995856e-01 4.57333609e-04 -4.67365886e+01] [ 2.82965786e-03 -1.23880184e-04 9.99995989e-01 1.80788724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.740714057 meters Centerline goodness [0,1] 0.9818141592920354 Centerline is valid? [True, True] Translation: X:651.60, Y:-46.74, Z:1.81 [[ 9.92989012e-01 1.18201390e-01 -1.11965520e-03 6.51596128e+02] [-1.18201258e-01 9.92989642e-01 1.83291479e-04 -4.67429326e+01] [ 1.13347132e-03 -4.96617720e-05 9.99999356e-01 1.80908684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.770714057 meters Centerline goodness [0,1] 0.9827601568068425 Centerline is valid? [True, True] Translation: X:651.62, Y:-46.75, Z:1.81 [[ 9.93037991e-01 1.17792272e-01 -7.28012495e-04 6.51624197e+02] [-1.17792216e-01 9.93038257e-01 1.19482537e-04 -4.67478875e+01] [ 7.37018378e-04 -3.28964929e-05 9.99999728e-01 1.80968994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8007140569999 meters Centerline goodness [0,1] 0.9828664248681604 Centerline is valid? [True, True] Translation: X:651.65, Y:-46.75, Z:1.81 [[ 9.93096546e-01 1.17299800e-01 -8.50190236e-05 6.51652666e+02] [-1.17299799e-01 9.93096550e-01 1.48190445e-05 -4.67546814e+01] [ 8.61703699e-05 -4.74402756e-06 9.99999996e-01 1.81004176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8307140569999 meters Centerline goodness [0,1] 0.983047458229648 Centerline is valid? [True, True] Translation: X:651.68, Y:-46.76, Z:1.81 [[ 9.93185804e-01 1.16539592e-01 -6.95073998e-04 6.51680363e+02] [-1.16539540e-01 9.93186046e-01 1.13764591e-04 -4.67610933e+01] [ 7.03595875e-04 -3.19857723e-05 9.99999752e-01 1.80953319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.860714057 meters Centerline goodness [0,1] 0.9705906018667525 Centerline is valid? [True, True] Translation: X:651.70, Y:-46.80, Z:1.81 [[ 9.92733214e-01 1.20272924e-01 -3.89729189e-03 6.51703390e+02] [-1.20271367e-01 9.92740852e-01 6.32288749e-04 -4.68003207e+01] [ 3.94504809e-03 -1.58961418e-04 9.99992206e-01 1.80923374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.890714057 meters Centerline goodness [0,1] 0.9845162723536599 Centerline is valid? [True, True] Translation: X:651.74, Y:-46.77, Z:1.81 [[ 9.93384877e-01 1.14791827e-01 -3.05316192e-03 6.51738077e+02] [-1.14790846e-01 9.93389559e-01 4.95251532e-04 -4.67721996e+01] [ 3.08983000e-03 -1.41500343e-04 9.99995216e-01 1.80819106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9207140569999 meters Centerline goodness [0,1] 0.9835396423976219 Centerline is valid? [True, True] Translation: X:651.77, Y:-46.78, Z:1.81 [[ 9.93511707e-01 1.13663590e-01 -3.88289138e-03 6.51765345e+02] [-1.13661995e-01 9.93519277e-01 6.29718349e-04 -4.67792453e+01] [ 3.92930349e-03 -1.84295370e-04 9.99992263e-01 1.80716963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9507140569999 meters Centerline goodness [0,1] 0.9828098001860794 Centerline is valid? [True, True] Translation: X:651.79, Y:-46.79, Z:1.81 [[ 9.93651267e-01 1.12415470e-01 -4.46331222e-03 6.51792372e+02] [-1.12413352e-01 9.93661268e-01 7.23389780e-04 -4.67871001e+01] [ 4.51634068e-03 -2.17061282e-04 9.99989778e-01 1.80661297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9807140569999 meters Centerline goodness [0,1] 0.9828984094634708 Centerline is valid? [True, True] Translation: X:651.82, Y:-46.79, Z:1.81 [[ 9.93945925e-01 1.09724265e-01 -5.66425704e-03 6.51821049e+02] [-1.09720813e-01 9.93962022e-01 9.17519390e-04 -4.67945859e+01] [ 5.73073053e-03 -2.90477768e-04 9.99983537e-01 1.80578704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.010714057 meters Centerline goodness [0,1] 0.98238527249851 Centerline is valid? [True, True] Translation: X:651.85, Y:-46.80, Z:1.81 [[ 9.94062386e-01 1.08662618e-01 -5.69286846e-03 6.51848233e+02] [-1.08659116e-01 9.94078642e-01 9.21780209e-04 -4.68021169e+01] [ 5.75932200e-03 -2.97724980e-04 9.99983371e-01 1.80561863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.040714057 meters Centerline goodness [0,1] 0.9811946902654867 Centerline is valid? [True, True] Translation: X:651.88, Y:-46.81, Z:1.81 [[ 9.94207156e-01 1.07364549e-01 -4.99854473e-03 6.51875452e+02] [-1.07361836e-01 9.94219685e-01 8.08802383e-04 -4.68099106e+01] [ 5.05648827e-03 -2.67464179e-04 9.99987180e-01 1.80687617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0707140569999 meters Centerline goodness [0,1] 0.9827803722803834 Centerline is valid? [True, True] Translation: X:651.90, Y:-46.81, Z:1.81 [[ 9.94251550e-01 1.06953390e-01 -4.98264149e-03 6.51904594e+02] [-1.06950692e-01 9.94263999e-01 8.05581230e-04 -4.68071070e+01] [ 5.04022070e-03 -2.68053431e-04 9.99987262e-01 1.80809283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1007140569999 meters Centerline goodness [0,1] 0.9832023901737302 Centerline is valid? [True, True] Translation: X:651.93, Y:-46.81, Z:1.81 [[ 9.94274454e-01 1.06761120e-01 -4.51374976e-03 6.51932526e+02] [-1.06758910e-01 9.94284670e-01 7.28542327e-04 -4.68114736e+01] [ 4.56573219e-03 -2.42488020e-04 9.99989548e-01 1.80851175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.130714057 meters Centerline goodness [0,1] 0.9830373707924729 Centerline is valid? [True, True] Translation: X:651.96, Y:-46.82, Z:1.81 [[ 9.94267809e-01 1.06852368e-01 -3.75450858e-03 6.51960024e+02] [-1.06850842e-01 9.94274877e-01 6.05071586e-04 -4.68180839e+01] [ 3.79766689e-03 -2.00430795e-04 9.99992769e-01 1.80924921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.160714057 meters Centerline goodness [0,1] 0.9840859359458922 Centerline is valid? [True, True] Translation: X:651.99, Y:-46.82, Z:1.81 [[ 9.94322653e-01 1.06339745e-01 -3.78419087e-03 6.51988406e+02] [-1.06338196e-01 9.94329833e-01 6.08871434e-04 -4.68238612e+01] [ 3.82748111e-03 -2.03010629e-04 9.99992655e-01 1.80930438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1907140569999 meters Centerline goodness [0,1] 0.9834812949958041 Centerline is valid? [True, True] Translation: X:652.02, Y:-46.83, Z:1.81 [[ 9.94403413e-01 1.05558225e-01 -4.39464207e-03 6.52017053e+02] [-1.05556134e-01 9.94413095e-01 7.05814897e-04 -4.68270676e+01] [ 4.44459420e-03 -2.37983316e-04 9.99990094e-01 1.80948218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2207140569999 meters Centerline goodness [0,1] 0.9845583693638048 Centerline is valid? [True, True] Translation: X:652.05, Y:-46.83, Z:1.81 [[ 9.94583087e-01 1.03837480e-01 -4.71808037e-03 6.52046059e+02] [-1.03835055e-01 9.94594243e-01 7.56634371e-04 -4.68326254e+01] [ 4.77114258e-03 -2.62633614e-04 9.99988584e-01 1.80963628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.250714057 meters Centerline goodness [0,1] 0.981749972415315 Centerline is valid? [True, True] Translation: X:652.07, Y:-46.84, Z:1.81 [[ 9.94689820e-01 1.02794344e-01 -5.04820841e-03 6.52072343e+02] [-1.02791556e-01 9.94702589e-01 8.09269942e-04 -4.68425718e+01] [ 5.10465435e-03 -2.86059375e-04 9.99986930e-01 1.80919434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.280714057 meters Centerline goodness [0,1] 0.9831762082440996 Centerline is valid? [True, True] Translation: X:652.10, Y:-46.85, Z:1.81 [[ 9.94779622e-01 1.01864536e-01 -6.09259027e-03 6.52099075e+02] [-1.01860463e-01 9.94798218e-01 9.75849224e-04 -4.68491387e+01] [ 6.16030236e-03 -3.50160855e-04 9.99980964e-01 1.80931153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3107140569999 meters Centerline goodness [0,1] 0.9833642220457153 Centerline is valid? [True, True] Translation: X:652.13, Y:-46.85, Z:1.81 [[ 9.94782773e-01 1.01827914e-01 -6.18959090e-03 6.52127479e+02] [-1.01823716e-01 9.94801965e-01 9.90491332e-04 -4.68540572e+01] [ 6.25827686e-03 -3.55076570e-04 9.99980354e-01 1.80937377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3407140569999 meters Centerline goodness [0,1] 0.9845472180583723 Centerline is valid? [True, True] Translation: X:652.16, Y:-46.85, Z:1.81 [[ 9.94744007e-01 1.02189276e-01 -6.45856069e-03 6.52156871e+02] [-1.02184723e-01 9.94764906e-01 1.03188500e-03 -4.68520797e+01] [ 6.53019710e-03 -3.66495184e-04 9.99978611e-01 1.80925980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.370714057 meters Centerline goodness [0,1] 0.9849910739867322 Centerline is valid? [True, True] Translation: X:652.18, Y:-46.86, Z:1.81 [[ 9.94700229e-01 1.02566316e-01 -7.18372096e-03 6.52184942e+02] [-1.02560708e-01 9.94726087e-01 1.14577580e-03 -4.68561477e+01] [ 7.26335264e-03 -4.02935940e-04 9.99973540e-01 1.80890037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.400714057 meters Centerline goodness [0,1] 0.9845294844632768 Centerline is valid? [True, True] Translation: X:652.21, Y:-46.86, Z:1.81 [[ 9.94427125e-01 1.05113959e-01 -8.10853683e-03 6.52213671e+02] [-1.05106909e-01 9.94460089e-01 1.29197348e-03 -4.68616857e+01] [ 8.19942071e-03 -4.32510238e-04 9.99966291e-01 1.80785316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4307140569999 meters Centerline goodness [0,1] 0.9855324967470172 Centerline is valid? [True, True] Translation: X:652.24, Y:-46.87, Z:1.81 [[ 9.94249968e-01 1.06773247e-01 -8.15317976e-03 6.52241546e+02] [-1.06766178e-01 9.94283308e-01 1.29864281e-03 -4.68655105e+01] [ 8.24523085e-03 -4.20691736e-04 9.99965919e-01 1.80754339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4607140569999 meters Centerline goodness [0,1] 0.9866531135369249 Centerline is valid? [True, True] Translation: X:652.27, Y:-46.86, Z:1.81 [[ 9.93813881e-01 1.10679091e-01 -9.17113201e-03 6.52271779e+02] [-1.10670317e-01 9.93856100e-01 1.46027296e-03 -4.68630987e+01] [ 9.27640718e-03 -4.36267446e-04 9.99956878e-01 1.80799612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.490714057 meters Centerline goodness [0,1] 0.9854915643494391 Centerline is valid? [True, True] Translation: X:652.30, Y:-46.87, Z:1.81 [[ 9.93646957e-01 1.12164728e-01 -9.20866197e-03 6.52298856e+02] [-1.12155954e-01 9.93689536e-01 1.46539176e-03 -4.68709145e+01] [ 9.31491631e-03 -4.23275796e-04 9.99956526e-01 1.80750772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.520714057 meters Centerline goodness [0,1] 0.9877326378144202 Centerline is valid? [True, True] Translation: X:652.33, Y:-46.87, Z:1.81 [[ 9.93398149e-01 1.14330096e-01 -9.42052914e-03 6.52328687e+02] [-1.14321028e-01 9.93442732e-01 1.49724983e-03 -4.68701655e+01] [ 9.52993692e-03 -4.10400630e-04 9.99954505e-01 1.80823843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5507140569999 meters Centerline goodness [0,1] 0.9875880651074449 Centerline is valid? [True, True] Translation: X:652.36, Y:-46.88, Z:1.81 [[ 9.93296468e-01 1.15205601e-01 -9.47613832e-03 6.52355949e+02] [-1.15196482e-01 9.93341586e-01 1.50439052e-03 -4.68762505e+01] [ 9.58635648e-03 -4.02687998e-04 9.99953969e-01 1.80798563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5807140569999 meters Centerline goodness [0,1] 0.9859348047237826 Centerline is valid? [True, True] Translation: X:652.38, Y:-46.88, Z:1.81 [[ 9.93248378e-01 1.15574197e-01 -1.00131726e-02 6.52383363e+02] [-1.15564055e-01 9.93298761e-01 1.58757314e-03 -4.68836303e+01] [ 1.01295544e-02 -4.19691612e-04 9.99948607e-01 1.80767520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.610714057 meters Centerline goodness [0,1] 0.9868333848804842 Centerline is valid? [True, True] Translation: X:652.41, Y:-46.88, Z:1.81 [[ 9.93214905e-01 1.15876843e-01 -9.83408340e-03 6.52412173e+02] [-1.15867100e-01 9.93263506e-01 1.55668963e-03 -4.68824440e+01] [ 9.94822044e-03 -4.06680620e-04 9.99950433e-01 1.80884443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.640714057 meters Centerline goodness [0,1] 0.9857423904153496 Centerline is valid? [True, True] Translation: X:652.44, Y:-46.89, Z:1.81 [[ 9.93254533e-01 1.15641065e-01 -8.51923303e-03 6.52438475e+02] [-1.15633764e-01 9.93291005e-01 1.34633173e-03 -4.68914829e+01] [ 8.61776877e-03 -3.52139113e-04 9.99962804e-01 1.80892323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6707140569999 meters Centerline goodness [0,1] 0.9864879709985719 Centerline is valid? [True, True] Translation: X:652.47, Y:-46.90, Z:1.81 [[ 9.93393442e-01 1.14474446e-01 -8.06660350e-03 6.52466895e+02] [-1.14467879e-01 9.93426135e-01 1.27267132e-03 -4.68955046e+01] [ 8.15926308e-03 -3.40896352e-04 9.99966655e-01 1.80939393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7007140569999 meters Centerline goodness [0,1] 0.9865076736226124 Centerline is valid? [True, True] Translation: X:652.50, Y:-46.90, Z:1.81 [[ 9.93730565e-01 1.11571355e-01 -7.16910728e-03 6.52495488e+02] [-1.11566099e-01 9.93756373e-01 1.13007400e-03 -4.69034168e+01] [ 7.25042993e-03 -3.23159740e-04 9.99973663e-01 1.80949255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7307140569999 meters Centerline goodness [0,1] 0.9862533870861147 Centerline is valid? [True, True] Translation: X:652.52, Y:-46.91, Z:1.81 [[ 9.93953667e-01 1.09596748e-01 -6.68288773e-03 6.52522771e+02] [-1.09592139e-01 9.93976083e-01 1.05310129e-03 -4.69120245e+01] [ 6.75804705e-03 -3.14341930e-04 9.99977115e-01 1.80920693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.760714057 meters Centerline goodness [0,1] 0.9858900702194633 Centerline is valid? [True, True] Translation: X:652.55, Y:-46.92, Z:1.81 [[ 9.94186388e-01 1.07501224e-01 -6.07559204e-03 6.52551615e+02] [-1.07497378e-01 9.94204907e-01 9.57069039e-04 -4.69198214e+01] [ 6.14326952e-03 -2.98394799e-04 9.99981085e-01 1.80937376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.790714057 meters Centerline goodness [0,1] 0.9846722230774305 Centerline is valid? [True, True] Translation: X:652.58, Y:-46.93, Z:1.81 [[ 9.94528912e-01 1.04351308e-01 -4.80076549e-03 6.52580969e+02] [-1.04348870e-01 9.94540468e-01 7.56139074e-04 -4.69286631e+01] [ 4.85345966e-03 -2.51047715e-04 9.99988190e-01 1.81029199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8207140569999 meters Centerline goodness [0,1] 0.9852055396790503 Centerline is valid? [True, True] Translation: X:652.61, Y:-46.93, Z:1.81 [[ 9.94640082e-01 1.03332279e-01 -3.68081387e-03 6.52609249e+02] [-1.03330839e-01 9.94646873e-01 5.79813460e-04 -4.69318813e+01] [ 3.72102345e-03 -1.96364122e-04 9.99993058e-01 1.81116562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8507140569999 meters Centerline goodness [0,1] 0.986483224716389 Centerline is valid? [True, True] Translation: X:652.64, Y:-46.94, Z:1.81 [[ 9.94702402e-01 1.02767209e-01 -2.45612619e-03 6.52637503e+02] [-1.02766567e-01 9.94705425e-01 3.86606410e-04 -4.69378078e+01] [ 2.48285251e-03 -1.32150668e-04 9.99996909e-01 1.81191919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.880714057 meters Centerline goodness [0,1] 0.9847514151564352 Centerline is valid? [True, True] Translation: X:652.66, Y:-46.95, Z:1.81 [[ 9.94737201e-01 1.02431034e-01 -2.40499341e-03 6.52664186e+02] [-1.02430419e-01 9.94740100e-01 3.77707283e-04 -4.69460485e+01] [ 2.43103234e-03 -1.29375002e-04 9.99997037e-01 1.81135719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.910714057 meters Centerline goodness [0,1] 0.9848109589041096 Centerline is valid? [True, True] Translation: X:652.69, Y:-46.95, Z:1.81 [[ 9.94730274e-01 1.02489099e-01 -2.76900800e-03 6.52692233e+02] [-1.02488284e-01 9.94734117e-01 4.34761598e-04 -4.69513330e+01] [ 2.79898505e-03 -1.48679644e-04 9.99996072e-01 1.81034828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9407140569999 meters Centerline goodness [0,1] 0.9858114035087719 Centerline is valid? [True, True] Translation: X:652.72, Y:-46.96, Z:1.81 [[ 9.94683432e-01 1.02922264e-01 -3.44626653e-03 6.52721100e+02] [-1.02921009e-01 9.94689386e-01 5.39987193e-04 -4.69564138e+01] [ 3.48354145e-03 -1.82423084e-04 9.99993916e-01 1.80912956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9707140569999 meters Centerline goodness [0,1] 0.9860156694533199 Centerline is valid? [True, True] Translation: X:652.75, Y:-46.96, Z:1.81 [[ 9.94670827e-01 1.03047786e-01 -3.33174052e-03 6.52749302e+02] [-1.03046617e-01 9.94676391e-01 5.21304916e-04 -4.69612553e+01] [ 3.36772296e-03 -1.75202204e-04 9.99994314e-01 1.80808094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.000714057 meters Centerline goodness [0,1] 0.9853409115846299 Centerline is valid? [True, True] Translation: X:652.78, Y:-46.97, Z:1.81 [[ 9.94626482e-01 1.03459668e-01 -3.77598438e-03 6.52776222e+02] [-1.03458173e-01 9.94633630e-01 5.89697654e-04 -4.69685114e+01] [ 3.81673097e-03 -1.95872458e-04 9.99992697e-01 1.80691619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.030714057 meters Centerline goodness [0,1] 0.984163888401474 Centerline is valid? [True, True] Translation: X:652.80, Y:-46.97, Z:1.81 [[ 9.94669287e-01 1.03051497e-01 -3.66029519e-03 6.52804550e+02] [-1.03050091e-01 9.94676004e-01 5.71363115e-04 -4.69736314e+01] [ 3.69968762e-03 -1.91123591e-04 9.99993138e-01 1.80631910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0607140569999 meters Centerline goodness [0,1] 0.98432732620673 Centerline is valid? [True, True] Translation: X:652.83, Y:-46.98, Z:1.81 [[ 9.94689299e-01 1.02859839e-01 -3.61270580e-03 6.52832384e+02] [-1.02858471e-01 9.94695842e-01 5.63062082e-04 -4.69792598e+01] [ 3.65145992e-03 -1.88474434e-04 9.99993316e-01 1.80608823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0907140569999 meters Centerline goodness [0,1] 0.9860913059693307 Centerline is valid? [True, True] Translation: X:652.86, Y:-46.98, Z:1.81 [[ 9.94702916e-01 1.02710227e-01 -4.08887088e-03 6.52861010e+02] [-1.02708478e-01 9.94711297e-01 6.35970860e-04 -4.69789848e+01] [ 4.13256676e-03 -2.12640364e-04 9.99991438e-01 1.80622186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.120714057 meters Centerline goodness [0,1] 0.9853867251782775 Centerline is valid? [True, True] Translation: X:652.89, Y:-46.99, Z:1.81 [[ 9.94583601e-01 1.03861384e-01 -4.03402310e-03 6.52887824e+02] [-1.03859696e-01 9.94591761e-01 6.26258625e-04 -4.69900174e+01] [ 4.07725022e-03 -2.03894146e-04 9.99991667e-01 1.80546784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.150714057 meters Centerline goodness [0,1] 0.9846494109403057 Centerline is valid? [True, True] Translation: X:652.92, Y:-47.00, Z:1.81 [[ 9.94508859e-01 1.04588607e-01 -3.65415051e-03 6.52916422e+02] [-1.04587230e-01 9.94515556e-01 5.66434267e-04 -4.69950720e+01] [ 3.69335210e-03 -1.81146417e-04 9.99993163e-01 1.80612924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1807140569999 meters Centerline goodness [0,1] 0.986402452375739 Centerline is valid? [True, True] Translation: X:652.95, Y:-46.99, Z:1.81 [[ 9.94272748e-01 1.06852111e-01 -2.08085623e-03 6.52946222e+02] [-1.06851669e-01 9.94274920e-01 3.22461210e-04 -4.69940574e+01] [ 2.10339882e-03 -9.82714323e-05 9.99997783e-01 1.80724489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2107140569999 meters Centerline goodness [0,1] 0.9843578845901064 Centerline is valid? [True, True] Translation: X:652.97, Y:-47.00, Z:1.81 [[ 9.94145084e-01 1.08049685e-01 -9.04106202e-04 6.52972941e+02] [-1.08049603e-01 9.94145494e-01 1.39972659e-04 -4.70049551e+01] [ 9.13937108e-04 -4.14648155e-05 9.99999581e-01 1.80867756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.240714057 meters Centerline goodness [0,1] 0.9838579499596449 Centerline is valid? [True, True] Translation: X:653.00, Y:-47.01, Z:1.81 [[ 9.94007038e-01 1.09315747e-01 -2.77192612e-04 6.53001968e+02] [-1.09315739e-01 9.94007076e-01 4.36116686e-05 -4.70090535e+01] [ 2.80298860e-04 -1.30487903e-05 9.99999961e-01 1.80985075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.270714057 meters Centerline goodness [0,1] 0.9863286376760871 Centerline is valid? [True, True] Translation: X:653.03, Y:-47.01, Z:1.81 [[ 9.93704140e-01 1.12023729e-01 1.66334679e-03 6.53031277e+02] [-1.12023458e-01 9.93705530e-01 -2.56083684e-04 -4.70077235e+01] [-1.68156436e-03 6.81375586e-05 9.99998584e-01 1.81045555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3007140569999 meters Centerline goodness [0,1] 0.9855262296155609 Centerline is valid? [True, True] Translation: X:653.06, Y:-47.01, Z:1.81 [[ 9.93634463e-01 1.12627027e-01 2.38901907e-03 6.53059459e+02] [-1.12626471e-01 9.93637330e-01 -3.66618174e-04 -4.70131026e+01] [-2.41510965e-03 9.52176652e-05 9.99997079e-01 1.81027644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3307140569999 meters Centerline goodness [0,1] 0.9853242618518034 Centerline is valid? [True, True] Translation: X:653.09, Y:-47.02, Z:1.81 [[ 9.93534091e-01 1.13500791e-01 2.75322332e-03 6.53086046e+02] [-1.13500054e-01 9.93537900e-01 -4.23060375e-04 -4.70205246e+01] [-2.78344941e-03 1.07833908e-04 9.99996120e-01 1.81042399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.360714057 meters Centerline goodness [0,1] 0.9865410497981157 Centerline is valid? [True, True] Translation: X:653.11, Y:-47.02, Z:1.81 [[ 9.93360467e-01 1.14999777e-01 3.16775628e-03 6.53114964e+02] [-1.14998814e-01 9.93365510e-01 -4.85331324e-04 -4.70233063e+01] [-3.20255283e-03 1.17820736e-04 9.99994865e-01 1.80890506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.390714057 meters Centerline goodness [0,1] 0.985261189974131 Centerline is valid? [True, True] Translation: X:653.14, Y:-47.03, Z:1.81 [[ 9.93317012e-01 1.15379571e-01 2.97800138e-03 6.53142016e+02] [-1.15378720e-01 9.93321470e-01 -4.56585613e-04 -4.70320365e+01] [-3.01079336e-03 1.09936269e-04 9.99995462e-01 1.80931142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4207140569999 meters Centerline goodness [0,1] 0.9847154471544716 Centerline is valid? [True, True] Translation: X:653.17, Y:-47.04, Z:1.81 [[ 9.93240265e-01 1.16063062e-01 1.77271989e-03 6.53169236e+02] [-1.16062762e-01 9.93241845e-01 -2.71510331e-04 -4.70405709e+01] [-1.79225190e-03 6.39282273e-05 9.99998392e-01 1.80790460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4507140569999 meters Centerline goodness [0,1] 0.9847154471544716 Centerline is valid? [True, True] Translation: X:653.20, Y:-47.04, Z:1.81 [[ 9.93271056e-01 1.15799251e-01 1.77290186e-03 6.53196359e+02] [-1.15798953e-01 9.93272636e-01 -2.70322359e-04 -4.70446344e+01] [-1.79227804e-03 6.32031965e-05 9.99998392e-01 1.80801462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4807140569999 meters Centerline goodness [0,1] 0.9857114895282835 Centerline is valid? [True, True] Translation: X:653.23, Y:-47.05, Z:1.81 [[ 9.93269618e-01 1.15818113e-01 1.27657067e-03 6.53225539e+02] [-1.15817959e-01 9.93270438e-01 -1.94073975e-04 -4.70451159e+01] [-1.29045719e-03 4.49179731e-05 9.99999166e-01 1.80631441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.510714057 meters Centerline goodness [0,1] 0.9862566868177272 Centerline is valid? [True, True] Translation: X:653.25, Y:-47.05, Z:1.81 [[ 9.93205613e-01 1.16368765e-01 9.59409703e-04 6.53253871e+02] [-1.16368679e-01 9.93206076e-01 -1.45349841e-04 -4.70505111e+01] [-9.69805728e-04 3.27170389e-05 9.99999529e-01 1.80559853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.540714057 meters Centerline goodness [0,1] 0.9859476626568924 Centerline is valid? [True, True] Translation: X:653.28, Y:-47.06, Z:1.81 [[ 9.93125615e-01 1.17049846e-01 9.20430370e-04 6.53280810e+02] [-1.17049767e-01 9.93126041e-01 -1.39762929e-04 -4.70575507e+01] [-9.30462599e-04 3.10659846e-05 9.99999567e-01 1.80521714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5707140569999 meters Centerline goodness [0,1] 0.9862671931270881 Centerline is valid? [True, True] Translation: X:653.31, Y:-47.06, Z:1.80 [[ 9.92766061e-01 1.20056042e-01 1.44731623e-03 6.53309306e+02] [-1.20055850e-01 9.92767115e-01 -2.19344394e-04 -4.70634671e+01] [-1.46318158e-03 4.39988905e-05 9.99998929e-01 1.80466641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6007140569999 meters Centerline goodness [0,1] 0.9864507457509538 Centerline is valid? [True, True] Translation: X:653.34, Y:-47.07, Z:1.80 [[ 9.92575436e-01 1.21608480e-01 2.31990527e-03 6.53337815e+02] [-1.21607990e-01 9.92578145e-01 -3.51478523e-04 -4.70679232e+01] [-2.34543004e-03 6.67499310e-05 9.99997247e-01 1.80467746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.630714057 meters Centerline goodness [0,1] 0.9856419101002479 Centerline is valid? [True, True] Translation: X:653.36, Y:-47.07, Z:1.81 [[ 9.92069804e-01 1.25634215e-01 3.68073166e-03 6.53364864e+02] [-1.25633008e-01 9.92076628e-01 -5.58279821e-04 -4.70734444e+01] [-3.72170690e-03 9.14311606e-05 9.99993070e-01 1.80584425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.660714057 meters Centerline goodness [0,1] 0.9870098941306371 Centerline is valid? [True, True] Translation: X:653.39, Y:-47.08, Z:1.81 [[ 9.91857912e-01 1.27266900e-01 4.58466558e-03 6.53393620e+02] [-1.27265052e-01 9.91868502e-01 -6.93797777e-04 -4.70769052e+01] [-4.63568288e-03 1.04681110e-04 9.99989250e-01 1.80572028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6907140569999 meters Centerline goodness [0,1] 0.9864140999611214 Centerline is valid? [True, True] Translation: X:653.42, Y:-47.08, Z:1.81 [[ 9.91593692e-01 1.29285736e-01 5.21037386e-03 6.53421164e+02] [-1.29283375e-01 9.91607375e-01 -7.88812660e-04 -4.70832066e+01] [-5.26862737e-03 1.08566940e-04 9.99986115e-01 1.80666652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7207140569999 meters Centerline goodness [0,1] 0.9868472120401914 Centerline is valid? [True, True] Translation: X:653.45, Y:-47.09, Z:1.81 [[ 9.91192356e-01 1.32307358e-01 5.69888785e-03 6.53449449e+02] [-1.32304595e-01 9.91208733e-01 -8.60678918e-04 -4.70888302e+01] [-5.76266156e-03 9.91093138e-05 9.99983391e-01 1.80595538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.750714057 meters Centerline goodness [0,1] 0.987607491540766 Centerline is valid? [True, True] Translation: X:653.48, Y:-47.10, Z:1.81 [[ 9.91067119e-01 1.33217019e-01 6.26033550e-03 6.53476171e+02] [-1.33213703e-01 9.91086886e-01 -9.45661768e-04 -4.70953932e+01] [-6.33051466e-03 1.03251812e-04 9.99979957e-01 1.80567417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.780714057 meters Centerline goodness [0,1] 0.9859790976732183 Centerline is valid? [True, True] Translation: X:653.50, Y:-47.11, Z:1.80 [[ 9.91105555e-01 1.32935807e-01 6.15222807e-03 6.53502164e+02] [-1.32932604e-01 9.91124644e-01 -9.28419630e-04 -4.71050957e+01] [-6.22104507e-03 1.02330154e-04 9.99980644e-01 1.80485601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8107140569999 meters Centerline goodness [0,1] 0.9849460066288891 Centerline is valid? [True, True] Translation: X:653.53, Y:-47.11, Z:1.80 [[ 9.91292266e-01 1.31524032e-01 6.40877111e-03 6.53529786e+02] [-1.31520540e-01 9.91312976e-01 -9.65076441e-04 -4.71128354e+01] [-6.48002870e-03 1.13787776e-04 9.99978998e-01 1.80453660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8407140569999 meters Centerline goodness [0,1] 0.9843276362463721 Centerline is valid? [True, True] Translation: X:653.56, Y:-47.12, Z:1.80 [[ 9.91658511e-01 1.28741884e-01 6.23893605e-03 6.53557468e+02] [-1.28738531e-01 9.91678129e-01 -9.37836041e-04 -4.71199593e+01] [-6.30775520e-03 1.26821632e-04 9.99980098e-01 1.80389230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.870714057 meters Centerline goodness [0,1] 0.9846685705696678 Centerline is valid? [True, True] Translation: X:653.58, Y:-47.13, Z:1.81 [[ 9.92022172e-01 1.25886403e-01 6.68011524e-03 6.53583548e+02] [-1.25882498e-01 9.92044651e-01 -1.00354215e-03 -4.71301042e+01] [-6.75330490e-03 1.54626469e-04 9.99977184e-01 1.80507666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.900714057 meters Centerline goodness [0,1] 0.9807110277505435 Centerline is valid? [True, True] Translation: X:653.61, Y:-47.15, Z:1.81 [[ 9.92869208e-01 1.19013318e-01 6.82396349e-03 6.53610371e+02] [-1.19009079e-01 9.92892637e-01 -1.02542106e-03 -4.71451910e+01] [-6.89750186e-03 2.05995385e-04 9.99976191e-01 1.80558267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9307140569999 meters Centerline goodness [0,1] 0.9801052496470286 Centerline is valid? [True, True] Translation: X:653.64, Y:-47.16, Z:1.81 [[ 9.93347676e-01 1.14923153e-01 7.28450715e-03 6.53639029e+02] [-1.14918214e-01 9.93374354e-01 -1.09438334e-03 -4.71550003e+01] [-7.36201257e-03 2.49980591e-04 9.99972869e-01 1.80572025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9607140569999 meters Centerline goodness [0,1] 0.9785706655271873 Centerline is valid? [True, True] Translation: X:653.67, Y:-47.17, Z:1.80 [[ 9.94241151e-01 1.06976897e-01 6.36224687e-03 6.53668010e+02] [-1.06972966e-01 9.94261470e-01 -9.55932926e-04 -4.71686285e+01] [-6.42799966e-03 2.69839435e-04 9.99979304e-01 1.80499201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.990714057 meters Centerline goodness [0,1] 0.9783151559131753 Centerline is valid? [True, True] Translation: X:653.70, Y:-47.18, Z:1.80 [[ 9.94677903e-01 1.02891321e-01 5.40796836e-03 6.53697000e+02] [-1.02888422e-01 9.94692572e-01 -8.12387071e-04 -4.71760295e+01] [-5.46285353e-03 2.51646138e-04 9.99985047e-01 1.80417379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.020714057 meters Centerline goodness [0,1] 0.9768503701807165 Centerline is valid? [True, True] Translation: X:653.73, Y:-47.18, Z:1.80 [[ 9.95060757e-01 9.91516224e-02 4.80066890e-03 6.53725931e+02] [-9.91492946e-02 9.95072308e-01 -7.21051209e-04 -4.71844466e+01] [-4.84850607e-03 2.41506827e-04 9.99988217e-01 1.80383522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0507140569999 meters Centerline goodness [0,1] 0.9753217516884 Centerline is valid? [True, True] Translation: X:653.75, Y:-47.20, Z:1.80 [[ 9.95718756e-01 9.22645436e-02 5.60468384e-03 6.53754694e+02] [-9.22612620e-02 9.95734478e-01 -8.41823196e-04 -4.71960382e+01] [-5.65844737e-03 3.21123942e-04 9.99983939e-01 1.80433067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0807140569999 meters Centerline goodness [0,1] 0.9735631204465085 Centerline is valid? [True, True] Translation: X:653.78, Y:-47.20, Z:1.81 [[ 9.96028607e-01 8.88146526e-02 6.24270920e-03 6.53784290e+02] [-8.88105135e-02 9.96048098e-01 -9.37691346e-04 -4.72039764e+01] [-6.30131935e-03 3.79549196e-04 9.99980074e-01 1.80517024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.110714057 meters Centerline goodness [0,1] 0.9719520759294333 Centerline is valid? [True, True] Translation: X:653.81, Y:-47.21, Z:1.81 [[ 9.96283890e-01 8.58410996e-02 7.05102663e-03 6.53812251e+02] [-8.58357478e-02 9.96308739e-01 -1.05870425e-03 -4.72132385e+01] [-7.11587979e-03 4.49539847e-04 9.99974581e-01 1.80631078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.140714057 meters Centerline goodness [0,1] 0.9718966067439634 Centerline is valid? [True, True] Translation: X:653.84, Y:-47.22, Z:1.81 [[ 9.96749952e-01 8.02975122e-02 6.46852993e-03 6.53842028e+02] [-8.02928910e-02 9.96770840e-01 -9.71384533e-04 -4.72194339e+01] [-6.52564177e-03 4.48850519e-04 9.99978607e-01 1.80571869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1707140569999 meters Centerline goodness [0,1] 0.9703934141747614 Centerline is valid? [True, True] Translation: X:653.87, Y:-47.23, Z:1.81 [[ 9.96975593e-01 7.75169755e-02 5.54849070e-03 6.53870896e+02] [-7.75135335e-02 9.96990952e-01 -8.33044432e-04 -4.72270980e+01] [-5.59637011e-03 4.00441846e-04 9.99984260e-01 1.80529753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2007140569999 meters Centerline goodness [0,1] 0.9711460769721454 Centerline is valid? [True, True] Translation: X:653.90, Y:-47.23, Z:1.80 [[ 9.97400963e-01 7.19899116e-02 2.96182486e-03 6.53900218e+02] [-7.19889068e-02 9.97405334e-01 -4.44605773e-04 -4.72337648e+01] [-2.98614704e-03 2.30231692e-04 9.99995515e-01 1.80410870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2307140569999 meters Centerline goodness [0,1] 0.9709514513664913 Centerline is valid? [True, True] Translation: X:653.93, Y:-47.24, Z:1.80 [[ 9.97563325e-01 6.97357122e-02 2.08405216e-03 6.53929278e+02] [-6.97352099e-02 9.97565488e-01 -3.12779229e-04 -4.72399970e+01] [-2.10079039e-03 1.66685273e-04 9.99997779e-01 1.80401054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.260714057 meters Centerline goodness [0,1] 0.970047405454816 Centerline is valid? [True, True] Translation: X:653.96, Y:-47.24, Z:1.80 [[ 9.97699677e-01 6.77767630e-02 1.29032879e-03 6.53958285e+02] [-6.77765692e-02 9.97700506e-01 -1.93414047e-04 -4.72447981e+01] [-1.30047066e-03 1.05515074e-04 9.99999149e-01 1.80390907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.290714057 meters Centerline goodness [0,1] 0.970924416253379 Centerline is valid? [True, True] Translation: X:653.99, Y:-47.25, Z:1.80 [[ 9.97820763e-01 6.59730437e-02 1.13252538e-03 6.53988024e+02] [-6.59728932e-02 9.97821401e-01 -1.69763012e-04 -4.72477676e+01] [-1.14125784e-03 9.46770822e-05 9.99999344e-01 1.80403441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3207140569999 meters Centerline goodness [0,1] 0.9702757372511445 Centerline is valid? [True, True] Translation: X:654.02, Y:-47.25, Z:1.80 [[ 9.97909759e-01 6.46148708e-02 1.01592861e-03 6.54017075e+02] [-6.46147492e-02 9.97910272e-01 -1.52143837e-04 -4.72506775e+01] [-1.02363635e-03 8.61818471e-05 9.99999472e-01 1.80470874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3507140569999 meters Centerline goodness [0,1] 0.9678126196655746 Centerline is valid? [True, True] Translation: X:654.04, Y:-47.26, Z:1.81 [[ 9.97926078e-01 6.43683642e-02 5.06006570e-04 6.54043990e+02] [-6.43683341e-02 9.97926206e-01 -7.54826199e-05 -4.72582445e+01] [-5.09815910e-04 4.27552749e-05 9.99999869e-01 1.80542912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.380714057 meters Centerline goodness [0,1] 0.9719767789302941 Centerline is valid? [True, True] Translation: X:654.08, Y:-47.25, Z:1.81 [[ 9.97891065e-01 6.49101917e-02 -2.99140111e-04 6.54075045e+02] [-6.49101811e-02 9.97891109e-01 4.50392061e-05 -4.72488693e+01] [ 3.01432760e-04 -2.55269826e-05 9.99999954e-01 1.80575942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.410714057 meters Centerline goodness [0,1] 0.9735827350390933 Centerline is valid? [True, True] Translation: X:654.10, Y:-47.25, Z:1.81 [[ 9.97883497e-01 6.50253778e-02 -4.76353262e-04 6.54104239e+02] [-6.50253510e-02 9.97883610e-01 7.16279104e-05 -4.72501662e+01] [ 4.80002745e-04 -4.05012717e-05 9.99999884e-01 1.80569254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4407140569999 meters Centerline goodness [0,1] 0.9728845454739858 Centerline is valid? [True, True] Translation: X:654.13, Y:-47.25, Z:1.81 [[ 9.97825638e-01 6.58893329e-02 -1.60986207e-03 6.54132816e+02] [-6.58890288e-02 9.97826928e-01 2.41251404e-04 -4.72506585e+01] [ 1.62225962e-03 -1.34654588e-04 9.99998675e-01 1.80583556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4707140569999 meters Centerline goodness [0,1] 0.9739437372981068 Centerline is valid? [True, True] Translation: X:654.16, Y:-47.25, Z:1.81 [[ 9.97789989e-01 6.64105201e-02 -2.18636088e-03 6.54162303e+02] [-6.64099605e-02 9.97792368e-01 3.27672480e-04 -4.72507704e+01] [ 2.20329510e-03 -1.81752181e-04 9.99997556e-01 1.80555443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.500714057 meters Centerline goodness [0,1] 0.9703226081943762 Centerline is valid? [True, True] Translation: X:654.19, Y:-47.26, Z:1.81 [[ 9.97740121e-01 6.71555010e-02 -2.18858250e-03 6.54188489e+02] [-6.71549437e-02 9.97742505e-01 3.27222906e-04 -4.72611361e+01] [ 2.20561660e-03 -1.79509287e-04 9.99997552e-01 1.80581827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.530714057 meters Centerline goodness [0,1] 0.9698614269166417 Centerline is valid? [True, True] Translation: X:654.22, Y:-47.26, Z:1.81 [[ 9.97731187e-01 6.72951758e-02 -1.95920441e-03 6.54217718e+02] [-6.72947299e-02 9.97733097e-01 2.92743715e-04 -4.72621786e+01] [ 1.97446333e-03 -1.60235402e-04 9.99998038e-01 1.80672910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5607140569999 meters Centerline goodness [0,1] 0.9743038844963905 Centerline is valid? [True, True] Translation: X:654.25, Y:-47.25, Z:1.81 [[ 9.97775672e-01 6.66376479e-02 -1.77009156e-03 6.54248182e+02] [-6.66372830e-02 9.97777231e-01 2.64398420e-04 -4.72531347e+01] [ 1.78377594e-03 -1.45856219e-04 9.99998398e-01 1.80751979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5907140569999 meters Centerline goodness [0,1] 0.9754894602534686 Centerline is valid? [True, True] Translation: X:654.28, Y:-47.25, Z:1.81 [[ 9.97791693e-01 6.63908677e-02 -1.99747737e-03 6.54277250e+02] [-6.63904028e-02 9.97793679e-01 2.98223440e-04 -4.72501973e+01] [ 2.01286961e-03 -1.64951544e-04 9.99997961e-01 1.80769689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.620714057 meters Centerline goodness [0,1] 0.9725980180956484 Centerline is valid? [True, True] Translation: X:654.31, Y:-47.26, Z:1.81 [[ 9.97872392e-01 6.51345971e-02 -2.85899075e-03 6.54305360e+02] [-6.51336409e-02 9.97876459e-01 4.26387066e-04 -4.72572092e+01] [ 2.88069212e-03 -2.39263405e-04 9.99995822e-01 1.80852980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.650714057 meters Centerline goodness [0,1] 0.9754209697936655 Centerline is valid? [True, True] Translation: X:654.33, Y:-47.25, Z:1.81 [[ 9.97918518e-01 6.43857395e-02 -3.62061424e-03 6.54334888e+02] [-6.43842021e-02 9.97925039e-01 5.39725348e-04 -4.72542810e+01] [ 3.64785222e-03 -3.05491561e-04 9.99993300e-01 1.80822565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6807140569999 meters Centerline goodness [0,1] 0.9769898885143894 Centerline is valid? [True, True] Translation: X:654.36, Y:-47.25, Z:1.81 [[ 9.97944861e-01 6.39282827e-02 -4.38500032e-03 6.54364769e+02] [-6.39260248e-02 9.97954426e-01 6.53297255e-04 -4.72519602e+01] [ 4.41779465e-03 -3.71639000e-04 9.99990172e-01 1.80828575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7107140569999 meters Centerline goodness [0,1] 0.9712728216665224 Centerline is valid? [True, True] Translation: X:654.39, Y:-47.26, Z:1.81 [[ 9.97976201e-01 6.34016112e-02 -4.87209495e-03 6.54390829e+02] [-6.33988198e-02 9.97988008e-01 7.25418524e-04 -4.72642308e+01] [ 4.90828503e-03 -4.15065354e-04 9.99987868e-01 1.80775988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.740714057 meters Centerline goodness [0,1] 0.9792750607006591 Centerline is valid? [True, True] Translation: X:654.42, Y:-47.25, Z:1.81 [[ 9.97947928e-01 6.37319577e-02 -6.17830388e-03 6.54422113e+02] [-6.37274805e-02 9.97966915e-01 9.19050393e-04 -4.72473020e+01] [ 6.22431574e-03 -5.23436695e-04 9.99980492e-01 1.80827310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.770714057 meters Centerline goodness [0,1] 0.9781792127146797 Centerline is valid? [True, True] Translation: X:654.45, Y:-47.25, Z:1.81 [[ 9.97919000e-01 6.41596094e-02 -6.41979185e-03 6.54450038e+02] [-6.41547882e-02 9.97939503e-01 9.54329415e-04 -4.72487739e+01] [ 6.46779329e-03 -5.40483070e-04 9.99978938e-01 1.80840430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8007140569999 meters Centerline goodness [0,1] 0.9733725234051818 Centerline is valid? [True, True] Translation: X:654.48, Y:-47.26, Z:1.81 [[ 9.97830789e-01 6.54172628e-02 -7.36877199e-03 6.54476711e+02] [-6.54109519e-02 9.97857810e-01 1.09446540e-03 -4.72577326e+01] [ 7.42458361e-03 -6.10092881e-04 9.99972251e-01 1.80878656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8307140569999 meters Centerline goodness [0,1] 0.9799001547818883 Centerline is valid? [True, True] Translation: X:654.51, Y:-47.25, Z:1.81 [[ 9.97793038e-01 6.59643930e-02 -7.59952364e-03 6.54507948e+02] [-6.59577059e-02 9.97821783e-01 1.12749073e-03 -4.72459500e+01] [ 7.65734447e-03 -6.23755254e-04 9.99970488e-01 1.80930598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.860714057 meters Centerline goodness [0,1] 0.9809060850905428 Centerline is valid? [True, True] Translation: X:654.54, Y:-47.24, Z:1.81 [[ 9.97798555e-01 6.58121899e-02 -8.17313100e-03 6.54536165e+02] [-6.58044688e-02 9.97831803e-01 1.21032648e-03 -4.72438123e+01] [ 8.23506428e-03 -6.69833465e-04 9.99965867e-01 1.80979923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.890714057 meters Centerline goodness [0,1] 0.979484032176753 Centerline is valid? [True, True] Translation: X:654.56, Y:-47.25, Z:1.81 [[ 9.97845427e-01 6.50590024e-02 -8.47521647e-03 6.54564818e+02] [-6.50506934e-02 9.97881174e-01 1.25268386e-03 -4.72457555e+01] [ 8.53875733e-03 -6.98666157e-04 9.99963300e-01 1.81009972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9207140569999 meters Centerline goodness [0,1] 0.9782632489109735 Centerline is valid? [True, True] Translation: X:654.59, Y:-47.25, Z:1.81 [[ 9.97921708e-01 6.38352469e-02 -8.79353040e-03 6.54593671e+02] [-6.38262752e-02 9.97960181e-01 1.29743546e-03 -4.72485664e+01] [ 8.85841531e-03 -7.33480718e-04 9.99960494e-01 1.81016680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9507140569999 meters Centerline goodness [0,1] 0.9784199538512252 Centerline is valid? [True, True] Translation: X:654.62, Y:-47.25, Z:1.81 [[ 9.98070132e-01 6.13316847e-02 -9.71783650e-03 6.54622678e+02] [-6.13206229e-02 9.98117092e-01 1.43248055e-03 -4.72503771e+01] [ 9.78739515e-03 -8.33812266e-04 9.99951755e-01 1.81057546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9807140569999 meters Centerline goodness [0,1] 0.9789795738686389 Centerline is valid? [True, True] Translation: X:654.65, Y:-47.25, Z:1.81 [[ 9.98136744e-01 6.02396889e-02 -9.70671374e-03 6.54652589e+02] [-6.02286046e-02 9.98183585e-01 1.43048986e-03 -4.72522997e+01] [ 9.77525458e-03 -8.43202670e-04 9.99951866e-01 1.81102205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.010714057 meters Centerline goodness [0,1] 0.9775218935433349 Centerline is valid? [True, True] Translation: X:654.68, Y:-47.25, Z:1.81 [[ 9.98297601e-01 5.75221004e-02 -9.64918987e-03 6.54683251e+02] [-5.75110223e-02 9.98343859e-01 1.42187828e-03 -4.72544731e+01] [ 9.71499887e-03 -8.64522899e-04 9.99952435e-01 1.81139085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.040714057 meters Centerline goodness [0,1] 0.9762625035882262 Centerline is valid? [True, True] Translation: X:654.71, Y:-47.26, Z:1.81 [[ 9.98364594e-01 5.63888445e-02 -9.40398893e-03 6.54712360e+02] [-5.63782762e-02 9.98408519e-01 1.38535820e-03 -4.72569268e+01] [ 9.46714141e-03 -8.52911889e-04 9.99954822e-01 1.81191470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0707140569999 meters Centerline goodness [0,1] 0.9759355923206229 Centerline is valid? [True, True] Translation: X:654.74, Y:-47.26, Z:1.81 [[ 9.98409197e-01 5.56440304e-02 -9.10038109e-03 6.54740721e+02] [-5.56341095e-02 9.98450325e-01 1.33989426e-03 -4.72592054e+01] [ 9.16083557e-03 -8.31471156e-04 9.99957693e-01 1.81255375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1007140569999 meters Centerline goodness [0,1] 0.9749195427810454 Centerline is valid? [True, True] Translation: X:654.77, Y:-47.26, Z:1.81 [[ 9.98482714e-01 5.40795095e-02 -1.03767614e-02 6.54770181e+02] [-5.40665345e-02 9.98536168e-01 1.52707471e-03 -4.72589413e+01] [ 1.04441550e-02 -9.63722174e-04 9.99944994e-01 1.81314621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.130714057 meters Centerline goodness [0,1] 0.9742553144227992 Centerline is valid? [True, True] Translation: X:654.80, Y:-47.26, Z:1.81 [[ 9.98522505e-01 5.33133758e-02 -1.05115011e-02 6.54799021e+02] [-5.33000390e-02 9.98577347e-01 1.54506114e-03 -4.72608234e+01] [ 1.05789193e-02 -9.82514904e-04 9.99943559e-01 1.81342771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.160714057 meters Centerline goodness [0,1] 0.9711076512455517 Centerline is valid? [True, True] Translation: X:654.83, Y:-47.26, Z:1.81 [[ 9.98553965e-01 5.26639451e-02 -1.07929689e-02 6.54826826e+02] [-5.26498677e-02 9.98611777e-01 1.58451929e-03 -4.72637650e+01] [ 1.08614329e-02 -1.01397964e-03 9.99940499e-01 1.81286038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1907140569999 meters Centerline goodness [0,1] 0.9778862658552353 Centerline is valid? [True, True] Translation: X:654.86, Y:-47.26, Z:1.81 [[ 9.98565880e-01 5.23506394e-02 -1.12068344e-02 6.54856292e+02] [-5.23354724e-02 9.98628209e-01 1.64258455e-03 -4.72566876e+01] [ 1.12774514e-02 -1.05371391e-03 9.99935852e-01 1.81317481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2207140569999 meters Centerline goodness [0,1] 0.9760920567534354 Centerline is valid? [True, True] Translation: X:654.88, Y:-47.26, Z:1.81 [[ 9.98580395e-01 5.18450359e-02 -1.22182723e-02 6.54883683e+02] [-5.18269951e-02 9.98654476e-01 1.78878916e-03 -4.72595797e+01] [ 1.22945722e-02 -1.15301344e-03 9.99923754e-01 1.81284155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.250714057 meters Centerline goodness [0,1] 0.9734135324896024 Centerline is valid? [True, True] Translation: X:654.91, Y:-47.26, Z:1.81 [[ 9.98589647e-01 5.16452300e-02 -1.23080344e-02 6.54909848e+02] [-5.16269330e-02 9.98664819e-01 1.79991634e-03 -4.72634666e+01] [ 1.23845580e-02 -1.16195175e-03 9.99922633e-01 1.81285464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.280714057 meters Centerline goodness [0,1] 0.9728484523170513 Centerline is valid? [True, True] Translation: X:654.94, Y:-47.26, Z:1.81 [[ 9.98594651e-01 5.15554494e-02 -1.22784118e-02 6.54938644e+02] [-5.15372690e-02 9.98669463e-01 1.79273069e-03 -4.72623258e+01] [ 1.23544999e-02 -1.15741546e-03 9.99923010e-01 1.81408212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3107140569999 meters Centerline goodness [0,1] 0.9722789611905457 Centerline is valid? [True, True] Translation: X:654.97, Y:-47.26, Z:1.81 [[ 9.98600345e-01 5.15449446e-02 -1.18520029e-02 6.54967820e+02] [-5.15280391e-02 9.98670054e-01 1.72755402e-03 -4.72639660e+01] [ 1.19252871e-02 -1.11442557e-03 9.99928270e-01 1.81423562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3407140569999 meters Centerline goodness [0,1] 0.9753266908076741 Centerline is valid? [True, True] Translation: X:655.00, Y:-47.26, Z:1.81 [[ 9.98611359e-01 5.13176690e-02 -1.19101188e-02 6.54996641e+02] [-5.13006211e-02 9.98681753e-01 1.73270887e-03 -4.72590962e+01] [ 1.19833369e-02 -1.11930627e-03 9.99927571e-01 1.81454371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.370714057 meters Centerline goodness [0,1] 0.9753266908076741 Centerline is valid? [True, True] Translation: X:655.02, Y:-47.26, Z:1.81 [[ 9.98626016e-01 5.10315281e-02 -1.19106145e-02 6.55023874e+02] [-5.10145003e-02 9.98696415e-01 1.72929662e-03 -4.72629734e+01] [ 1.19833367e-02 -1.11930654e-03 9.99927571e-01 1.81465434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.400714057 meters Centerline goodness [0,1] 0.9754845681096779 Centerline is valid? [True, True] Translation: X:655.05, Y:-47.26, Z:1.81 [[ 9.98633773e-01 5.08400883e-02 -1.20778096e-02 6.55051587e+02] [-5.08226084e-02 9.98706163e-01 1.75001555e-03 -4.72646252e+01] [ 1.21511538e-02 -1.13379884e-03 9.99925529e-01 1.81446598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4307140569999 meters Centerline goodness [0,1] 0.9758331270673477 Centerline is valid? [True, True] Translation: X:655.08, Y:-47.27, Z:1.81 [[ 9.98671157e-01 5.01691103e-02 -1.17889852e-02 6.55080087e+02] [-5.01524472e-02 9.98740119e-01 1.70503333e-03 -4.72678153e+01] [ 1.18596725e-02 -1.11152114e-03 9.99929054e-01 1.81415489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4607140569999 meters Centerline goodness [0,1] 0.9762317795751008 Centerline is valid? [True, True] Translation: X:655.11, Y:-47.27, Z:1.81 [[ 9.98703900e-01 4.94150661e-02 -1.21930539e-02 6.55108505e+02] [-4.93972076e-02 9.98777659e-01 1.76166968e-03 -4.72686821e+01] [ 1.22652029e-02 -1.15708357e-03 9.99924110e-01 1.81429570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.490714057 meters Centerline goodness [0,1] 0.9291171764069508 Centerline is valid? [True, False] Translation: X:655.11, Y:-47.26, Z:1.81 [[ 9.98739350e-01 4.86023391e-02 -1.25508495e-02 6.55109039e+02] [-4.86038687e-02 9.98818117e-01 1.83303694e-04 -4.72648925e+01] [ 1.25449249e-02 4.26947230e-04 9.99921218e-01 1.81477877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.520714057 meters Centerline goodness [0,1] 0.968612197824563 Centerline is valid? [False, True] Translation: X:655.11, Y:-47.26, Z:1.81 [[ 9.98877938e-01 4.54240878e-02 -1.33983756e-02 6.55110828e+02] [-4.54804079e-02 9.98957504e-01 -3.92903787e-03 -4.72613732e+01] [ 1.32059349e-02 4.53399284e-03 9.99902518e-01 1.81489731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5507140569999 meters Centerline goodness [0,1] 0.9711283711872467 Centerline is valid? [True, True] Translation: X:655.14, Y:-47.26, Z:1.81 [[ 9.98940567e-01 4.40775652e-02 -1.32253994e-02 6.55140662e+02] [-4.40564307e-02 9.99027265e-01 1.88527789e-03 -4.72631861e+01] [ 1.32956331e-02 -1.30061667e-03 9.99910763e-01 1.81260676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5807140569999 meters Centerline goodness [0,1] 0.9750481150232084 Centerline is valid? [True, True] Translation: X:655.17, Y:-47.26, Z:1.81 [[ 9.98960251e-01 4.36204739e-02 -1.32541197e-02 6.55169568e+02] [-4.35992220e-02 9.99047317e-01 1.88829077e-03 -4.72611385e+01] [ 1.33238608e-02 -1.30845812e-03 9.99910377e-01 1.81366582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.610714057 meters Centerline goodness [0,1] 0.9709151957892826 Centerline is valid? [True, True] Translation: X:655.20, Y:-47.27, Z:1.81 [[ 9.98979200e-01 4.30758634e-02 -1.36024842e-02 6.55196969e+02] [-4.30534467e-02 9.99070893e-01 1.93666897e-03 -4.72677583e+01] [ 1.36732698e-02 -1.34905819e-03 9.99905606e-01 1.81325178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.640714057 meters Centerline goodness [0,1] 0.9697960666757506 Centerline is valid? [True, True] Translation: X:655.23, Y:-47.27, Z:1.81 [[ 9.98964046e-01 4.34004846e-02 -1.36833112e-02 6.55225545e+02] [-4.33778725e-02 9.99056844e-01 1.94515348e-03 -4.72693927e+01] [ 1.37548263e-02 -1.34958546e-03 9.99904487e-01 1.81357592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6707140569999 meters Centerline goodness [0,1] 0.9734696666059391 Centerline is valid? [True, True] Translation: X:655.25, Y:-47.27, Z:1.81 [[ 9.98946436e-01 4.38276234e-02 -1.36072776e-02 6.55254976e+02] [-4.38053488e-02 9.99038219e-01 1.93086572e-03 -4.72672052e+01] [ 1.36788157e-02 -1.33275988e-03 9.99905552e-01 1.81409615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7007140569999 meters Centerline goodness [0,1] 0.9247794634555638 Centerline is valid? [True, False] Translation: X:655.26, Y:-47.26, Z:1.81 [[ 9.98951604e-01 4.35957646e-02 -1.39679211e-02 6.55255592e+02] [-4.35857921e-02 9.99049169e-01 1.01772412e-03 -4.72649950e+01] [ 1.39990084e-02 -4.07854241e-04 9.99901926e-01 1.81453435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7307140569999 meters Centerline goodness [0,1] 0.9736193518941123 Centerline is valid? [False, True] Translation: X:655.26, Y:-47.26, Z:1.82 [[ 9.98957371e-01 4.33841808e-02 -1.42120952e-02 6.55255859e+02] [-4.33991770e-02 9.99057532e-01 -7.48320636e-04 -4.72600178e+01] [ 1.41662355e-02 1.36433365e-03 9.99898723e-01 1.81573301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.760714057 meters Centerline goodness [0,1] 0.9728004758201034 Centerline is valid? [True, True] Translation: X:655.28, Y:-47.27, Z:1.82 [[ 9.98913873e-01 4.43795134e-02 -1.41962696e-02 6.55283567e+02] [-4.43561459e-02 9.99013865e-01 1.95683755e-03 -4.72652290e+01] [ 1.42691137e-02 -1.32502037e-03 9.99897313e-01 1.81505652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.790714057 meters Centerline goodness [0,1] 0.9751352094600788 Centerline is valid? [True, True] Translation: X:655.31, Y:-47.26, Z:1.82 [[ 9.98862658e-01 4.56826034e-02 -1.36561146e-02 6.55314246e+02] [-4.56611068e-02 9.98955215e-01 1.88196950e-03 -4.72622992e+01] [ 1.37278201e-02 -1.25627575e-03 9.99904980e-01 1.81538856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8207140569999 meters Centerline goodness [0,1] 0.9752257413943255 Centerline is valid? [True, True] Translation: X:655.34, Y:-47.27, Z:1.82 [[ 9.98857330e-01 4.56989151e-02 -1.39872732e-02 6.55343078e+02] [-4.56764040e-02 9.98954434e-01 1.92481748e-03 -4.72654822e+01] [ 1.40606106e-02 -1.28372971e-03 9.99900321e-01 1.81538709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8507140569999 meters Centerline goodness [0,1] 0.9710387525796835 Centerline is valid? [True, True] Translation: X:655.37, Y:-47.27, Z:1.81 [[ 9.98862826e-01 4.57914546e-02 -1.32739616e-02 6.55370541e+02] [-4.57712332e-02 9.98950284e-01 1.82336065e-03 -4.72729492e+01] [ 1.33435220e-02 -1.21372158e-03 9.99910235e-01 1.81495660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.880714057 meters Centerline goodness [0,1] 0.9768178479618068 Centerline is valid? [True, True] Translation: X:655.40, Y:-47.27, Z:1.82 [[ 9.98857862e-01 4.56950579e-02 -1.39618379e-02 6.55398962e+02] [-4.56727329e-02 9.98954623e-01 1.91385338e-03 -4.72681181e+01] [ 1.40346962e-02 -1.27399220e-03 9.99900697e-01 1.81534867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.910714057 meters Centerline goodness [0,1] 0.9765124555160143 Centerline is valid? [True, True] Translation: X:655.43, Y:-47.27, Z:1.81 [[ 9.98868866e-01 4.53323564e-02 -1.43515067e-02 6.55427714e+02] [-4.53087856e-02 9.98971100e-01 1.96345959e-03 -4.72721073e+01] [ 1.44257487e-02 -1.31098931e-03 9.99895084e-01 1.81470713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9407140569999 meters Centerline goodness [0,1] 0.9769147639741556 Centerline is valid? [True, True] Translation: X:655.46, Y:-47.28, Z:1.81 [[ 9.98893698e-01 4.46348723e-02 -1.48022761e-02 6.55456403e+02] [-4.46097781e-02 9.99002443e-01 2.02132427e-03 -4.72755984e+01] [ 1.48777316e-02 -1.35876183e-03 9.99888397e-01 1.81419096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9707140569999 meters Centerline goodness [0,1] 0.9762562120375483 Centerline is valid? [True, True] Translation: X:655.48, Y:-47.28, Z:1.81 [[ 9.98920396e-01 4.40041170e-02 -1.48889471e-02 6.55484837e+02] [-4.39787157e-02 9.99030407e-01 2.02934875e-03 -4.72795042e+01] [ 1.49638105e-02 -1.37236108e-03 9.99887094e-01 1.81366738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.000714057 meters Centerline goodness [0,1] 0.9753560827446559 Centerline is valid? [True, True] Translation: X:655.51, Y:-47.28, Z:1.81 [[ 9.98947226e-01 4.33499203e-02 -1.50074522e-02 6.55511693e+02] [-4.33240717e-02 9.99058982e-01 2.04338728e-03 -4.72839418e+01] [ 1.50819106e-02 -1.39105212e-03 9.99885294e-01 1.81381699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.030714057 meters Centerline goodness [0,1] 0.9744990892531876 Centerline is valid? [True, True] Translation: X:655.54, Y:-47.29, Z:1.81 [[ 9.98981527e-01 4.26930479e-02 -1.46017739e-02 6.55540320e+02] [-4.26685555e-02 9.99087311e-01 1.98493994e-03 -4.72868773e+01] [ 1.46731902e-02 -1.35988173e-03 9.99891418e-01 1.81410504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0607140569999 meters Centerline goodness [0,1] 0.9745033341793765 Centerline is valid? [True, True] Translation: X:655.57, Y:-47.29, Z:1.81 [[ 9.98830453e-01 4.61810955e-02 -1.43189829e-02 6.55569890e+02] [-4.61579134e-02 9.98932261e-01 1.94543793e-03 -4.72895292e+01] [ 1.43935364e-02 -1.28222827e-03 9.99895586e-01 1.81418176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0907140569999 meters Centerline goodness [0,1] 0.9614574898785425 Centerline is valid? [True, True] Translation: X:655.60, Y:-47.30, Z:1.81 [[ 9.98672623e-01 4.94452812e-02 -1.44276019e-02 6.55598632e+02] [-4.94220885e-02 9.98776059e-01 1.95987149e-03 -4.72996135e+01] [ 1.45068498e-02 -1.24422779e-03 9.99893996e-01 1.81341968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.120714057 meters Centerline goodness [0,1] 0.9773642549645882 Centerline is valid? [True, True] Translation: X:655.63, Y:-47.29, Z:1.82 [[ 9.98436744e-01 5.42486248e-02 -1.34593908e-02 6.55630329e+02] [-5.42288796e-02 9.98526859e-01 1.82793271e-03 -4.72908644e+01] [ 1.35387261e-02 -1.09518750e-03 9.99907747e-01 1.81607494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.150714057 meters Centerline goodness [0,1] 0.9773686760329434 Centerline is valid? [True, True] Translation: X:655.66, Y:-47.29, Z:1.82 [[ 9.98326980e-01 5.62922634e-02 -1.32069228e-02 6.55660276e+02] [-5.62734367e-02 9.98413784e-01 1.79311950e-03 -4.72941161e+01] [ 1.32869126e-02 -1.04692064e-03 9.99911177e-01 1.81645865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1807140569999 meters Centerline goodness [0,1] 0.9773601520137183 Centerline is valid? [True, True] Translation: X:655.69, Y:-47.30, Z:1.82 [[ 9.98245931e-01 5.78001016e-02 -1.28144316e-02 6.55689904e+02] [-5.77825068e-02 9.98327680e-01 1.73936928e-03 -4.72972366e+01] [ 1.28935375e-02 -9.95868329e-04 9.99916379e-01 1.81599874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2107140569999 meters Centerline goodness [0,1] 0.9770981738868134 Centerline is valid? [True, True] Translation: X:655.72, Y:-47.30, Z:1.82 [[ 9.98179482e-01 5.89715321e-02 -1.26522454e-02 6.55717383e+02] [-5.89544851e-02 9.98259196e-01 1.71643745e-03 -4.73016713e+01] [ 1.27314413e-02 -9.67406031e-04 9.99918484e-01 1.81532423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.240714057 meters Centerline goodness [0,1] 0.9786691398098771 Centerline is valid? [True, True] Translation: X:655.75, Y:-47.31, Z:1.81 [[ 9.98060631e-01 6.09090332e-02 -1.28478275e-02 6.55747258e+02] [-6.08916204e-02 9.98142863e-01 1.74252841e-03 -4.73051572e+01] [ 1.29301031e-02 -9.56823963e-04 9.99915945e-01 1.81447967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.270714057 meters Centerline goodness [0,1] 0.9790073230268511 Centerline is valid? [True, True] Translation: X:655.78, Y:-47.31, Z:1.81 [[ 9.98056285e-01 6.09697522e-02 -1.28973491e-02 6.55776034e+02] [-6.09522405e-02 9.98139155e-01 1.74688544e-03 -4.73090670e+01] [ 1.29798563e-02 -9.57367667e-04 9.99915300e-01 1.81450750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3007140569999 meters Centerline goodness [0,1] 0.9788720949130505 Centerline is valid? [True, True] Translation: X:655.80, Y:-47.31, Z:1.81 [[ 9.98097862e-01 6.03350136e-02 -1.26626959e-02 6.55804423e+02] [-6.03181206e-02 9.98177736e-01 1.71211702e-03 -4.73130910e+01] [ 1.27429217e-02 -9.45070317e-04 9.99918359e-01 1.81475951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3307140569999 meters Centerline goodness [0,1] 0.9752077626630763 Centerline is valid? [True, True] Translation: X:655.83, Y:-47.32, Z:1.82 [[ 9.98212053e-01 5.84070877e-02 -1.27007850e-02 6.55831708e+02] [-5.83899572e-02 9.98292377e-01 1.71574831e-03 -4.73197516e+01] [ 1.27793087e-02 -9.71082346e-04 9.99917870e-01 1.81545683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.360714057 meters Centerline goodness [0,1] 0.9724467986246631 Centerline is valid? [True, True] Translation: X:655.86, Y:-47.33, Z:1.82 [[ 9.98307182e-01 5.67752687e-02 -1.26229480e-02 6.55860117e+02] [-5.67582271e-02 9.98386497e-01 1.70451314e-03 -4.73257142e+01] [ 1.26993550e-02 -9.85171562e-04 9.99918875e-01 1.81521380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.390714057 meters Centerline goodness [0,1] 0.9796647112017993 Centerline is valid? [True, True] Translation: X:655.89, Y:-47.32, Z:1.82 [[ 9.98503130e-01 5.31976053e-02 -1.27088527e-02 6.55891507e+02] [-5.31800459e-02 9.98583466e-01 1.71587651e-03 -4.73186248e+01] [ 1.27821307e-02 -1.03745069e-03 9.99917767e-01 1.81643501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4207140569999 meters Centerline goodness [0,1] 0.9480111008325625 Centerline is valid? [True, False] Translation: X:655.89, Y:-47.32, Z:1.82 [[ 9.98687820e-01 4.93840865e-02 -1.35591589e-02 6.55892698e+02] [-4.94225436e-02 9.98774791e-01 -2.51576328e-03 -4.73177822e+01] [ 1.34183074e-02 3.18259027e-03 9.99904906e-01 1.81688449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4507140569999 meters Centerline goodness [0,1] 0.9731619513545946 Centerline is valid? [False, True] Translation: X:655.89, Y:-47.32, Z:1.82 [[ 9.98851666e-01 4.57516312e-02 -1.42175020e-02 6.55893842e+02] [-4.58474144e-02 9.98927401e-01 -6.48554057e-03 -4.73170215e+01] [ 1.39055283e-02 7.12992871e-03 9.99877893e-01 1.81700770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4807140569999 meters Centerline goodness [0,1] 0.97721114430626 Centerline is valid? [True, True] Translation: X:655.92, Y:-47.32, Z:1.81 [[ 9.98957117e-01 4.36272546e-02 -1.34663130e-02 6.55924559e+02] [-4.36072024e-02 9.99047169e-01 1.77925486e-03 -4.73178561e+01] [ 1.35311059e-02 -1.19017107e-03 9.99907742e-01 1.81486812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.510714057 meters Centerline goodness [0,1] 0.9728156685220685 Centerline is valid? [True, True] Translation: X:655.95, Y:-47.33, Z:1.81 [[ 9.99082720e-01 4.04469284e-02 -1.40628604e-02 6.55952937e+02] [-4.04247504e-02 9.99180858e-01 1.85787665e-03 -4.73292931e+01] [ 1.41264863e-02 -1.28768483e-03 9.99899387e-01 1.81444280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.540714057 meters Centerline goodness [0,1] 0.9760831889081456 Centerline is valid? [True, True] Translation: X:655.98, Y:-47.33, Z:1.81 [[ 9.99109546e-01 3.96890873e-02 -1.43140549e-02 6.55981252e+02] [-3.96660540e-02 9.99211206e-01 1.88958357e-03 -4.73305953e+01] [ 1.43777599e-02 -1.32011890e-03 9.99895763e-01 1.81475008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5707140569999 meters Centerline goodness [0,1] 0.9753291753291753 Centerline is valid? [True, True] Translation: X:656.01, Y:-47.33, Z:1.82 [[ 9.99094498e-01 4.01080539e-02 -1.41960423e-02 6.56009989e+02] [-4.00854855e-02 9.99194502e-01 1.87087431e-03 -4.73340850e+01] [ 1.42596445e-02 -1.30012499e-03 9.99897481e-01 1.81500654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6007140569999 meters Centerline goodness [0,1] 0.975083133197857 Centerline is valid? [True, True] Translation: X:656.04, Y:-47.34, Z:1.82 [[ 9.99070109e-01 4.09178391e-02 -1.35885111e-02 6.56038809e+02] [-4.08972794e-02 9.99161757e-01 1.78758479e-03 -4.73379878e+01] [ 1.36502647e-02 -1.23018940e-03 9.99906074e-01 1.81506579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.630714057 meters Centerline goodness [0,1] 0.9737923709245405 Centerline is valid? [True, True] Translation: X:656.07, Y:-47.34, Z:1.82 [[ 9.99014704e-01 4.24346096e-02 -1.29970927e-02 6.56067791e+02] [-4.24159441e-02 9.99098578e-01 1.70855649e-03 -4.73425838e+01] [ 1.30578788e-02 -1.15558910e-03 9.99914075e-01 1.81568610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.660714057 meters Centerline goodness [0,1] 0.9757743874248729 Centerline is valid? [True, True] Translation: X:656.10, Y:-47.34, Z:1.82 [[ 9.98850405e-01 4.64829527e-02 -1.17134010e-02 6.56098411e+02] [-4.64680738e-02 9.98918590e-01 1.53936981e-03 -4.73432210e+01] [ 1.17722884e-02 -9.93300979e-04 9.99930211e-01 1.81781354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6907140569999 meters Centerline goodness [0,1] 0.9778589257649996 Centerline is valid? [True, True] Translation: X:656.13, Y:-47.34, Z:1.82 [[ 9.98733993e-01 4.90334366e-02 -1.12309317e-02 6.56128868e+02] [-4.90199215e-02 9.98796711e-01 1.47567997e-03 -4.73410987e+01] [ 1.12897753e-02 -9.23272356e-04 9.99935842e-01 1.81867223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7207140569999 meters Centerline goodness [0,1] 0.9787602847369881 Centerline is valid? [True, True] Translation: X:656.16, Y:-47.34, Z:1.82 [[ 9.98413411e-01 5.51470629e-02 -1.13781043e-02 6.56158331e+02] [-5.51335884e-02 9.98477868e-01 1.49477597e-03 -4.73415821e+01] [ 1.14432179e-02 -8.65088651e-04 9.99934150e-01 1.81826393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.750714057 meters Centerline goodness [0,1] 0.9808932020759152 Centerline is valid? [True, True] Translation: X:656.19, Y:-47.34, Z:1.82 [[ 9.98241875e-01 5.80843577e-02 -1.18053852e-02 6.56188914e+02] [-5.80700591e-02 9.98311306e-01 1.55067164e-03 -4.73402153e+01] [ 1.18755192e-02 -8.62405953e-04 9.99929112e-01 1.81831926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.780714057 meters Centerline goodness [0,1] 0.9801110620599921 Centerline is valid? [True, True] Translation: X:656.22, Y:-47.34, Z:1.82 [[ 9.98086752e-01 6.07339398e-02 -1.15855280e-02 6.56217916e+02] [-6.07203505e-02 9.98153658e-01 1.52144704e-03 -4.73445546e+01] [ 1.16565406e-02 -8.15058819e-04 9.99931728e-01 1.81748580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8107140569999 meters Centerline goodness [0,1] 0.9809872626323893 Centerline is valid? [True, True] Translation: X:656.25, Y:-47.35, Z:1.82 [[ 9.97791465e-01 6.52457716e-02 -1.24571553e-02 6.56247411e+02] [-6.52304148e-02 9.97868888e-01 1.63555458e-03 -4.73472017e+01] [ 1.25373207e-02 -8.19356993e-04 9.99921069e-01 1.81646779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8407140569999 meters Centerline goodness [0,1] 0.9826060634284915 Centerline is valid? [True, True] Translation: X:656.28, Y:-47.35, Z:1.82 [[ 9.97648647e-01 6.72932472e-02 -1.29921209e-02 6.56277946e+02] [-6.72767193e-02 9.97732897e-01 1.70552977e-03 -4.73453380e+01] [ 1.30774370e-02 -8.27452199e-04 9.99914144e-01 1.81708277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.870714057 meters Centerline goodness [0,1] 0.9823671722341119 Centerline is valid? [True, True] Translation: X:656.31, Y:-47.35, Z:1.82 [[ 9.97554474e-01 6.86698864e-02 -1.30199487e-02 6.56307139e+02] [-6.86534197e-02 9.97639108e-01 1.70801709e-03 -4.73472829e+01] [ 1.31064994e-02 -8.09976084e-04 9.99913778e-01 1.81716840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.900714057 meters Centerline goodness [0,1] 0.9829962913721922 Centerline is valid? [True, True] Translation: X:656.34, Y:-47.35, Z:1.82 [[ 9.97375879e-01 7.13172743e-02 -1.24579880e-02 6.56336164e+02] [-7.13024139e-02 9.97453406e-01 1.63352409e-03 -4.73501453e+01] [ 1.25427611e-02 -7.40952907e-04 9.99921062e-01 1.81748534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9307140569999 meters Centerline goodness [0,1] 0.9822286487242875 Centerline is valid? [True, True] Translation: X:656.37, Y:-47.35, Z:1.82 [[ 9.97320181e-01 7.21249075e-02 -1.22660174e-02 6.56365073e+02] [-7.21105898e-02 9.97395349e-01 1.60613496e-03 -4.73524540e+01] [ 1.23499111e-02 -7.17321054e-04 9.99923480e-01 1.81733077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9607140569999 meters Centerline goodness [0,1] 0.9796402727040044 Centerline is valid? [True, True] Translation: X:656.39, Y:-47.37, Z:1.82 [[ 9.97256440e-01 7.29337829e-02 -1.26592250e-02 6.56391495e+02] [-7.29186206e-02 9.97336519e-01 1.65580594e-03 -4.73675161e+01] [ 1.27462716e-02 -7.28169914e-04 9.99918498e-01 1.81554919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.990714057 meters Centerline goodness [0,1] 0.9830342120022434 Centerline is valid? [True, True] Translation: X:656.42, Y:-47.36, Z:1.82 [[ 9.97204249e-01 7.34926800e-02 -1.35097111e-02 6.56421681e+02] [-7.34755009e-02 9.97295462e-01 1.76426079e-03 -4.73562663e+01] [ 1.36028339e-02 -7.66695562e-04 9.99907183e-01 1.81717648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.020714057 meters Centerline goodness [0,1] 0.9832283151015436 Centerline is valid? [True, True] Translation: X:656.45, Y:-47.36, Z:1.82 [[ 9.97212408e-01 7.33279143e-02 -1.37996649e-02 6.56449034e+02] [-7.33100279e-02 9.97307578e-01 1.79824402e-03 -4.73595320e+01] [ 1.38943719e-02 -7.81577429e-04 9.99903163e-01 1.81749547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0507140569999 meters Centerline goodness [0,1] 0.9816464300782898 Centerline is valid? [True, True] Translation: X:656.48, Y:-47.36, Z:1.82 [[ 9.97245891e-01 7.28422185e-02 -1.39514949e-02 6.56476719e+02] [-7.28239181e-02 9.97343160e-01 1.81595270e-03 -4.73648907e+01] [ 1.40467060e-02 -7.94948842e-04 9.99901024e-01 1.81732262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0807140569999 meters Centerline goodness [0,1] 0.9832970225127088 Centerline is valid? [True, True] Translation: X:656.50, Y:-47.37, Z:1.82 [[ 9.97292195e-01 7.23514104e-02 -1.31738470e-02 6.56504401e+02] [-7.23350902e-02 9.97378917e-01 1.71176327e-03 -4.73684445e+01] [ 1.32631658e-02 -7.54196735e-04 9.99911756e-01 1.81814572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.110714057 meters Centerline goodness [0,1] 0.9817952077873455 Centerline is valid? [True, True] Translation: X:656.53, Y:-47.37, Z:1.82 [[ 9.97295226e-01 7.24272115e-02 -1.25112450e-02 6.56531707e+02] [-7.24125257e-02 9.97373446e-01 1.62343816e-03 -4.73740870e+01] [ 1.25959646e-02 -7.13076272e-04 9.99920413e-01 1.81816148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.140714057 meters Centerline goodness [0,1] 0.9825682062801254 Centerline is valid? [True, True] Translation: X:656.56, Y:-47.37, Z:1.82 [[ 9.97294291e-01 7.25051194e-02 -1.21286589e-02 6.56560936e+02] [-7.24913555e-02 9.97367803e-01 1.57120917e-03 -4.73734596e+01] [ 1.22106546e-02 -6.87735015e-04 9.99925211e-01 1.81967952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1707140569999 meters Centerline goodness [0,1] 0.9833925898203593 Centerline is valid? [True, True] Translation: X:656.59, Y:-47.38, Z:1.82 [[ 9.97288923e-01 7.26530736e-02 -1.16762895e-02 6.56589293e+02] [-7.26403618e-02 9.97357057e-01 1.50968018e-03 -4.73774735e+01] [ 1.17551126e-02 -6.57417426e-04 9.99930690e-01 1.82014255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2007140569999 meters Centerline goodness [0,1] 0.9824860870785204 Centerline is valid? [True, True] Translation: X:656.62, Y:-47.38, Z:1.82 [[ 9.97290647e-01 7.26821540e-02 -1.13432778e-02 6.56617996e+02] [-7.26701913e-02 9.97354952e-01 1.46378940e-03 -4.73812787e+01] [ 1.14196657e-02 -6.35505313e-04 9.99934592e-01 1.82053544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2307140569999 meters Centerline goodness [0,1] 0.9825294873292071 Centerline is valid? [True, True] Translation: X:656.65, Y:-47.38, Z:1.82 [[ 9.97359528e-01 7.17279724e-02 -1.13609055e-02 6.56646601e+02] [-7.17159437e-02 9.97424023e-01 1.46317629e-03 -4.73837431e+01] [ 1.14365907e-02 -6.44554755e-04 9.99934392e-01 1.82063897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.260714057 meters Centerline goodness [0,1] 0.9825294873292071 Centerline is valid? [True, True] Translation: X:656.67, Y:-47.39, Z:1.82 [[ 9.97380119e-01 7.14410137e-02 -1.13613068e-02 6.56673795e+02] [-7.14290020e-02 9.97444618e-01 1.46005543e-03 -4.73871714e+01] [ 1.14365822e-02 -6.44703452e-04 9.99934392e-01 1.82075084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.290714057 meters Centerline goodness [0,1] 0.9806295399515739 Centerline is valid? [True, True] Translation: X:656.70, Y:-47.40, Z:1.82 [[ 9.97419356e-01 7.08407960e-02 -1.16709179e-02 6.56699767e+02] [-7.08281021e-02 9.97487412e-01 1.49794111e-03 -4.74002768e+01] [ 1.17477091e-02 -6.67446493e-04 9.99930771e-01 1.81888694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3207140569999 meters Centerline goodness [0,1] 0.9812132980838968 Centerline is valid? [True, True] Translation: X:656.73, Y:-47.40, Z:1.82 [[ 9.97506759e-01 6.95102805e-02 -1.21896233e-02 6.56729412e+02] [-6.94963641e-02 9.97580982e-01 1.56205851e-03 -4.73953527e+01] [ 1.22687155e-02 -7.11029425e-04 9.99924484e-01 1.81927087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3507140569999 meters Centerline goodness [0,1] 0.981380679827123 Centerline is valid? [True, True] Translation: X:656.76, Y:-47.41, Z:1.82 [[ 9.97633220e-01 6.74039899e-02 -1.35889731e-02 6.56757062e+02] [-6.73865228e-02 9.97725428e-01 1.73971847e-03 -4.74051473e+01] [ 1.36753280e-02 -8.19887296e-04 9.99906152e-01 1.81694054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.380714057 meters Centerline goodness [0,1] 0.9825353034695595 Centerline is valid? [True, True] Translation: X:656.79, Y:-47.41, Z:1.82 [[ 9.97707038e-01 6.62253815e-02 -1.39593822e-02 6.56786332e+02] [-6.62068728e-02 9.97804322e-01 1.78439009e-03 -4.74053205e+01] [ 1.40469038e-02 -8.56091505e-04 9.99900971e-01 1.81711297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.410714057 meters Centerline goodness [0,1] 0.9825295851068806 Centerline is valid? [True, True] Translation: X:656.82, Y:-47.41, Z:1.82 [[ 9.97809521e-01 6.46905032e-02 -1.38310593e-02 6.56815821e+02] [-6.46722054e-02 9.97904998e-01 1.76661766e-03 -4.74111331e+01] [ 1.39163666e-02 -8.68262811e-04 9.99902786e-01 1.81695328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4407140569999 meters Centerline goodness [0,1] 0.9799561321635244 Centerline is valid? [True, True] Translation: X:656.84, Y:-47.42, Z:1.82 [[ 9.97856354e-01 6.40297319e-02 -1.35236994e-02 6.56842410e+02] [-6.40121914e-02 9.97947623e-01 1.72636921e-03 -4.74211343e+01] [ 1.36064826e-02 -8.56986848e-04 9.99907060e-01 1.81674235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4707140569999 meters Centerline goodness [0,1] 0.9796508914403061 Centerline is valid? [True, True] Translation: X:656.87, Y:-47.43, Z:1.82 [[ 9.97915154e-01 6.32130242e-02 -1.30176714e-02 6.56870700e+02] [-6.31967354e-02 9.97999709e-01 1.65927299e-03 -4.74255704e+01] [ 1.30965199e-02 -8.33139326e-04 9.99913890e-01 1.81739233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.500714057 meters Centerline goodness [0,1] 0.9791963722213132 Centerline is valid? [True, True] Translation: X:656.90, Y:-47.43, Z:1.82 [[ 9.97971512e-01 6.23858099e-02 -1.26835695e-02 6.56898530e+02] [-6.23703183e-02 9.98051772e-01 1.61368878e-03 -4.74310901e+01] [ 1.27595303e-02 -8.19337170e-04 9.99918258e-01 1.81786597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.530714057 meters Centerline goodness [0,1] 0.9808337996642418 Centerline is valid? [True, True] Translation: X:656.93, Y:-47.43, Z:1.82 [[ 9.98077091e-01 6.06490438e-02 -1.27989621e-02 6.56927726e+02] [-6.06331477e-02 9.98158793e-01 1.62674497e-03 -4.74327362e+01] [ 1.28740571e-02 -8.47575523e-04 9.99916767e-01 1.81887507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5607140569999 meters Centerline goodness [0,1] 0.9801950243198585 Centerline is valid? [True, True] Translation: X:656.96, Y:-47.44, Z:1.82 [[ 9.98148067e-01 5.95028039e-02 -1.26432942e-02 6.56955919e+02] [-5.94872314e-02 9.98227777e-01 1.60453732e-03 -4.74371130e+01] [ 1.27163619e-02 -8.49451254e-04 9.99918783e-01 1.81912551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5907140569999 meters Centerline goodness [0,1] 0.9812430271476386 Centerline is valid? [True, True] Translation: X:656.98, Y:-47.44, Z:1.82 [[ 9.98259115e-01 5.75183279e-02 -1.30529800e-02 6.56984718e+02] [-5.75015807e-02 9.98344043e-01 1.65501759e-03 -4.74414545e+01] [ 1.31265587e-02 -9.01569411e-04 9.99913437e-01 1.81898934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.620714057 meters Centerline goodness [0,1] 0.9797744972683947 Centerline is valid? [True, True] Translation: X:657.01, Y:-47.45, Z:1.82 [[ 9.98318758e-01 5.65412090e-02 -1.27572912e-02 6.57011067e+02] [-5.65251473e-02 9.98399867e-01 1.61638273e-03 -4.74500349e+01] [ 1.28282701e-02 -8.92557437e-04 9.99917316e-01 1.81865804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.650714057 meters Centerline goodness [0,1] 0.9799262882177048 Centerline is valid? [True, True] Translation: X:657.04, Y:-47.45, Z:1.82 [[ 9.98364893e-01 5.57293789e-02 -1.27191469e-02 6.57039880e+02] [-5.57133807e-02 9.98445507e-01 1.60896708e-03 -4.74534371e+01] [ 1.27890418e-02 -8.97709574e-04 9.99917814e-01 1.81898993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6807140569999 meters Centerline goodness [0,1] 0.9793489836551373 Centerline is valid? [True, True] Translation: X:657.07, Y:-47.46, Z:1.82 [[ 9.98452978e-01 5.42461682e-02 -1.22067436e-02 6.57069155e+02] [-5.42313381e-02 9.98527206e-01 1.54289838e-03 -4.74597135e+01] [ 1.22724619e-02 -8.78523440e-04 9.99924305e-01 1.81964888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7107140569999 meters Centerline goodness [0,1] 0.9787947460919434 Centerline is valid? [True, True] Translation: X:657.10, Y:-47.47, Z:1.82 [[ 9.98515698e-01 5.31195594e-02 -1.20297095e-02 6.57096221e+02] [-5.31050895e-02 9.98587773e-01 1.51932019e-03 -4.74659880e+01] [ 1.20934264e-02 -8.78226263e-04 9.99926486e-01 1.81939104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.740714057 meters Centerline goodness [0,1] 0.9765192094569635 Centerline is valid? [True, True] Translation: X:657.12, Y:-47.48, Z:1.82 [[ 9.98545429e-01 5.24929719e-02 -1.23091334e-02 6.57123365e+02] [-5.24777903e-02 9.98620883e-01 1.55334597e-03 -4.74757730e+01] [ 1.23736974e-02 -9.05130393e-04 9.99923033e-01 1.81894968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.770714057 meters Centerline goodness [0,1] 0.9803831170328023 Centerline is valid? [True, True] Translation: X:657.15, Y:-47.47, Z:1.82 [[ 9.98602516e-01 5.11329752e-02 -1.33579466e-02 6.57153701e+02] [-5.11149847e-02 9.98691353e-01 1.68498358e-03 -4.74732505e+01] [ 1.34266240e-02 -9.99837604e-04 9.99909359e-01 1.81897896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8007140569999 meters Centerline goodness [0,1] 0.9789858908555251 Centerline is valid? [True, True] Translation: X:657.18, Y:-47.48, Z:1.82 [[ 9.98634919e-01 5.04543704e-02 -1.35150270e-02 6.57180120e+02] [-5.04359118e-02 9.98725847e-01 1.70337464e-03 -4.74829406e+01] [ 1.35837495e-02 -1.01940668e-03 9.99907217e-01 1.81818482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8307140569999 meters Centerline goodness [0,1] 0.981267116194509 Centerline is valid? [True, True] Translation: X:657.21, Y:-47.48, Z:1.82 [[ 9.98653940e-01 4.98665271e-02 -1.42701305e-02 6.57208983e+02] [-4.98459341e-02 9.98755305e-01 1.79535612e-03 -4.74821373e+01] [ 1.43418967e-02 -1.08163147e-03 9.99896565e-01 1.81847010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8607140569999 meters Centerline goodness [0,1] 0.9807277070795241 Centerline is valid? [True, True] Translation: X:657.24, Y:-47.49, Z:1.82 [[ 9.98650459e-01 4.97829364e-02 -1.47959381e-02 6.57236790e+02] [-4.97608510e-02 9.98759435e-01 1.85731337e-03 -4.74880526e+01] [ 1.48700453e-02 -1.11854838e-03 9.99888809e-01 1.81785532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.890714057 meters Centerline goodness [0,1] 0.9813438807471593 Centerline is valid? [True, True] Translation: X:657.26, Y:-47.49, Z:1.82 [[ 9.98628390e-01 5.03107105e-02 -1.44972951e-02 6.57264909e+02] [-5.02896186e-02 9.98733026e-01 1.81601085e-03 -4.74916775e+01] [ 1.45702922e-02 -1.08445655e-03 9.99893260e-01 1.81818264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9207140569999 meters Centerline goodness [0,1] 0.9818039971547234 Centerline is valid? [True, True] Translation: X:657.29, Y:-47.50, Z:1.82 [[ 9.98575798e-01 5.14327836e-02 -1.41790314e-02 6.57292948e+02] [-5.14127450e-02 9.98675914e-01 1.77440354e-03 -4.74967457e+01] [ 1.42515196e-02 -1.04289351e-03 9.99897898e-01 1.81806648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9507140569999 meters Centerline goodness [0,1] 0.9819898263141011 Centerline is valid? [True, True] Translation: X:657.32, Y:-47.50, Z:1.82 [[ 9.98529668e-01 5.24601697e-02 -1.36540573e-02 6.57321767e+02] [-5.24417180e-02 9.98622529e-01 1.70616668e-03 -4.75013383e+01] [ 1.37247551e-02 -9.87615823e-04 9.99905323e-01 1.81828902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9807140569999 meters Centerline goodness [0,1] 0.981847996902544 Centerline is valid? [True, True] Translation: X:657.35, Y:-47.50, Z:1.82 [[ 9.98481365e-01 5.35004167e-02 -1.31403437e-02 6.57350427e+02] [-5.34834377e-02 9.98567389e-01 1.64040214e-03 -4.75041931e+01] [ 1.32092809e-02 -9.35120214e-04 9.99912316e-01 1.81873911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.010714057 meters Centerline goodness [0,1] 0.9828019942368384 Centerline is valid? [True, True] Translation: X:657.38, Y:-47.51, Z:1.82 [[ 9.98406476e-01 5.49888348e-02 -1.26781637e-02 6.57378611e+02] [-5.49731603e-02 9.98486580e-01 1.58179959e-03 -4.75088582e+01] [ 1.27459576e-02 -8.82320229e-04 9.99918378e-01 1.81896258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.040714057 meters Centerline goodness [0,1] 0.9814005627873991 Centerline is valid? [True, True] Translation: X:657.41, Y:-47.51, Z:1.82 [[ 9.98370719e-01 5.56558516e-02 -1.25831023e-02 6.57405636e+02] [-5.56404773e-02 9.98449636e-01 1.56888253e-03 -4.75147177e+01] [ 1.26509114e-02 -8.66196560e-04 9.99919599e-01 1.81859276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0707140569999 meters Centerline goodness [0,1] 0.9815597650983707 Centerline is valid? [True, True] Translation: X:657.43, Y:-47.52, Z:1.82 [[ 9.98349184e-01 5.61510393e-02 -1.20817446e-02 6.57433816e+02] [-5.61369308e-02 9.98421946e-01 1.50399446e-03 -4.75183157e+01] [ 1.21471298e-02 -8.23279584e-04 9.99925882e-01 1.81865967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1007140569999 meters Centerline goodness [0,1] 0.9807837140835749 Centerline is valid? [True, True] Translation: X:657.46, Y:-47.53, Z:1.82 [[ 9.98285643e-01 5.73375817e-02 -1.17548545e-02 6.57460846e+02] [-5.73243313e-02 9.98354539e-01 1.46135090e-03 -4.75256857e+01] [ 1.18193027e-02 -7.85006451e-04 9.99929841e-01 1.81837932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.130714057 meters Centerline goodness [0,1] 0.9809980586959004 Centerline is valid? [True, True] Translation: X:657.49, Y:-47.53, Z:1.82 [[ 9.98266400e-01 5.76682135e-02 -1.17716732e-02 6.57487908e+02] [-5.76549621e-02 9.98335498e-01 1.46226169e-03 -4.75312137e+01] [ 1.18364053e-02 -7.81031336e-04 9.99929642e-01 1.81863096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.160714057 meters Centerline goodness [0,1] 0.9810783084463696 Centerline is valid? [True, True] Translation: X:657.52, Y:-47.54, Z:1.82 [[ 9.98233595e-01 5.83494689e-02 -1.11816654e-02 6.57515186e+02] [-5.83375691e-02 9.98295949e-01 1.38772628e-03 -4.75385758e+01] [ 1.12435843e-02 -7.32963812e-04 9.99936520e-01 1.81804299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1907140569999 meters Centerline goodness [0,1] 0.9804566210045662 Centerline is valid? [True, True] Translation: X:657.54, Y:-47.54, Z:1.82 [[ 9.98219093e-01 5.84584272e-02 -1.18850483e-02 6.57543933e+02] [-5.84450200e-02 9.98289543e-01 1.47258175e-03 -4.75430773e+01] [ 1.19508043e-02 -7.75337330e-04 9.99928286e-01 1.81832431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2207140569999 meters Centerline goodness [0,1] 0.9812531282704646 Centerline is valid? [True, True] Translation: X:657.57, Y:-47.55, Z:1.82 [[ 9.98207468e-01 5.86679808e-02 -1.18287621e-02 6.57570991e+02] [-5.86547344e-02 9.98277256e-01 1.46397373e-03 -4.75479508e+01] [ 1.18942726e-02 -7.67536606e-04 9.99928966e-01 1.81801186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.250714057 meters Centerline goodness [0,1] 0.9808186761928599 Centerline is valid? [True, True] Translation: X:657.60, Y:-47.55, Z:1.82 [[ 9.98187551e-01 5.89478509e-02 -1.21146093e-02 6.57599101e+02] [-5.89340049e-02 9.98260758e-01 1.49706031e-03 -4.75512313e+01] [ 1.21817875e-02 -7.80384527e-04 9.99925495e-01 1.81809413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.280714057 meters Centerline goodness [0,1] 0.9816133803618159 Centerline is valid? [True, True] Translation: X:657.63, Y:-47.56, Z:1.82 [[ 9.98146699e-01 5.94614498e-02 -1.29423413e-02 6.57626138e+02] [-5.94457133e-02 9.98230262e-01 1.59755679e-03 -4.75573406e+01] [ 1.30144298e-02 -8.25229327e-04 9.99914968e-01 1.81743263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3107140569999 meters Centerline goodness [0,1] 0.9833439519432056 Centerline is valid? [True, True] Translation: X:657.66, Y:-47.55, Z:1.82 [[ 9.98178590e-01 5.86554131e-02 -1.41083016e-02 6.57655121e+02] [-5.86366513e-02 9.98277875e-01 1.74019318e-03 -4.75537025e+01] [ 1.41860770e-02 -9.09760016e-04 9.99898959e-01 1.81773006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3407140569999 meters Centerline goodness [0,1] 0.978704040771751 Centerline is valid? [True, True] Translation: X:657.68, Y:-47.57, Z:1.82 [[ 9.98212579e-01 5.80208716e-02 -1.43256763e-02 6.57681617e+02] [-5.80014874e-02 9.98314936e-01 1.76525086e-03 -4.75689794e+01] [ 1.44039580e-02 -9.31185085e-04 9.99895824e-01 1.81574043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.370714057 meters Centerline goodness [0,1] 0.9800431377000794 Centerline is valid? [True, True] Translation: X:657.71, Y:-47.57, Z:1.82 [[ 9.98257445e-01 5.72344436e-02 -1.43628400e-02 6.57709892e+02] [-5.72149201e-02 9.98360321e-01 1.76688707e-03 -4.75739867e+01] [ 1.44404163e-02 -9.42039430e-04 9.99895288e-01 1.81602734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.400714057 meters Centerline goodness [0,1] 0.9818440485061988 Centerline is valid? [True, True] Translation: X:657.74, Y:-47.57, Z:1.82 [[ 9.98351760e-01 5.53804572e-02 -1.50588078e-02 6.57740630e+02] [-5.53588065e-02 9.98464810e-01 1.85112392e-03 -4.75688100e+01] [ 1.51382058e-02 -1.01443520e-03 9.99884896e-01 1.81801369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4307140569999 meters Centerline goodness [0,1] 0.9793746745454958 Centerline is valid? [True, True] Translation: X:657.77, Y:-47.58, Z:1.82 [[ 9.98435257e-01 5.39388750e-02 -1.47524987e-02 6.57768760e+02] [-5.39179502e-02 9.98543724e-01 1.81275512e-03 -4.75770521e+01] [ 1.48287930e-02 -1.01449413e-03 9.99889533e-01 1.81828307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4607140569999 meters Centerline goodness [0,1] 0.9807902155133218 Centerline is valid? [True, True] Translation: X:657.80, Y:-47.58, Z:1.82 [[ 9.98509549e-01 5.25758350e-02 -1.46444947e-02 6.57798364e+02] [-5.25550783e-02 9.98616407e-01 1.79889240e-03 -4.75788691e+01] [ 1.47188110e-02 -1.02656868e-03 9.99891145e-01 1.81913966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.490714057 meters Centerline goodness [0,1] 0.9793043912855812 Centerline is valid? [True, True] Translation: X:657.83, Y:-47.58, Z:1.82 [[ 9.98590422e-01 5.14514487e-02 -1.30352780e-02 6.57826786e+02] [-5.14349391e-02 9.98675068e-01 1.59885132e-03 -4.75830457e+01] [ 1.31002704e-02 -9.26128877e-04 9.99913759e-01 1.82080456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.520714057 meters Centerline goodness [0,1] 0.9783842449182626 Centerline is valid? [True, True] Translation: X:657.85, Y:-47.59, Z:1.82 [[ 9.98607794e-01 5.12537754e-02 -1.24709482e-02 6.57852996e+02] [-5.12386742e-02 9.98685268e-01 1.52763058e-03 -4.75873515e+01] [ 1.25328491e-02 -8.86508949e-04 9.99921068e-01 1.82141881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5507140569999 meters Centerline goodness [0,1] 0.9779712767160466 Centerline is valid? [True, True] Translation: X:657.88, Y:-47.59, Z:1.82 [[ 9.98626893e-01 5.09775988e-02 -1.20670617e-02 6.57880614e+02] [-5.09634732e-02 9.98699428e-01 1.47541390e-03 -4.75901071e+01] [ 1.21265807e-02 -8.58408627e-04 9.99926102e-01 1.82233033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5807140569999 meters Centerline goodness [0,1] 0.9775397686189443 Centerline is valid? [True, True] Translation: X:657.91, Y:-47.59, Z:1.82 [[ 9.98615272e-01 5.14011562e-02 -1.12009059e-02 6.57909121e+02] [-5.13890440e-02 9.98677775e-01 1.36669077e-03 -4.75911781e+01] [ 1.12563453e-02 -7.89194425e-04 9.99936334e-01 1.82345840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6107140569999 meters Centerline goodness [0,1] 0.9780157580148524 Centerline is valid? [True, True] Translation: X:657.94, Y:-47.60, Z:1.82 [[ 9.98597527e-01 5.17652530e-02 -1.11057397e-02 6.57936765e+02] [-5.17533860e-02 9.98658978e-01 1.35347659e-03 -4.75959074e+01] [ 1.11609097e-02 -7.76818742e-04 9.99937413e-01 1.82385684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.640714057 meters Centerline goodness [0,1] 0.9772244085583752 Centerline is valid? [True, True] Translation: X:657.97, Y:-47.60, Z:1.82 [[ 9.98582527e-01 5.21416429e-02 -1.06858042e-02 6.57965162e+02] [-5.21306990e-02 9.98639424e-01 1.30033390e-03 -4.75978801e+01] [ 1.07390669e-02 -7.41432271e-04 9.99942060e-01 1.82426054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6707140569999 meters Centerline goodness [0,1] 0.9788192469571152 Centerline is valid? [True, True] Translation: X:658.00, Y:-47.59, Z:1.82 [[ 9.98504672e-01 5.35000522e-02 -1.12323274e-02 6.57995289e+02] [-5.34880766e-02 9.98567557e-01 1.36409689e-03 -4.75928662e+01] [ 1.12892170e-02 -7.61261532e-04 9.99935985e-01 1.82492595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7007140569999 meters Centerline goodness [0,1] 0.9773373683132722 Centerline is valid? [True, True] Translation: X:658.02, Y:-47.60, Z:1.82 [[ 9.98470617e-01 5.40534757e-02 -1.16038567e-02 6.58022352e+02] [-5.40407515e-02 9.98537739e-01 1.40754577e-03 -4.76015696e+01] [ 1.16629716e-02 -7.78311960e-04 9.99931682e-01 1.82407901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7307140569999 meters Centerline goodness [0,1] 0.9789567279193835 Centerline is valid? [True, True] Translation: X:658.05, Y:-47.60, Z:1.82 [[ 9.98458199e-01 5.41767386e-02 -1.20874172e-02 6.58051537e+02] [-5.41629705e-02 9.98531036e-01 1.46374977e-03 -4.75968501e+01] [ 1.21489624e-02 -8.06802539e-04 9.99925873e-01 1.82478351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.760714057 meters Centerline goodness [0,1] 0.9789775441949355 Centerline is valid? [True, True] Translation: X:658.08, Y:-47.60, Z:1.82 [[ 9.98375471e-01 5.55959189e-02 -1.24704570e-02 6.58080466e+02] [-5.55813957e-02 9.98453020e-01 1.50844826e-03 -4.75991263e+01] [ 1.25350290e-02 -8.12872336e-04 9.99921103e-01 1.82486847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.790714057 meters Centerline goodness [0,1] 0.9790108015918135 Centerline is valid? [True, True] Translation: X:658.11, Y:-47.60, Z:1.83 [[ 9.98344982e-01 5.61898246e-02 -1.22474832e-02 6.58107951e+02] [-5.61758733e-02 9.98419791e-01 1.48044699e-03 -4.76023034e+01] [ 1.23113157e-02 -7.89983760e-04 9.99923901e-01 1.82503984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8207140569999 meters Centerline goodness [0,1] 0.9794063375629314 Centerline is valid? [True, True] Translation: X:658.14, Y:-47.60, Z:1.83 [[ 9.98304255e-01 5.69615389e-02 -1.19998927e-02 6.58136862e+02] [-5.69482301e-02 9.98376082e-01 1.44815408e-03 -4.76041349e+01] [ 1.20628950e-02 -7.62325727e-04 9.99926950e-01 1.82525384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8507140569999 meters Centerline goodness [0,1] 0.9773671426301332 Centerline is valid? [True, True] Translation: X:658.16, Y:-47.61, Z:1.83 [[ 9.98285332e-01 5.74198238e-02 -1.13736014e-02 6.58164195e+02] [-5.74079161e-02 9.98349864e-01 1.37095259e-03 -4.76125156e+01] [ 1.14335532e-02 -7.15667113e-04 9.99934379e-01 1.82505357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.880714057 meters Centerline goodness [0,1] 0.9797082348663879 Centerline is valid? [True, True] Translation: X:658.19, Y:-47.61, Z:1.83 [[ 9.98294050e-01 5.72732829e-02 -1.13472734e-02 6.58192733e+02] [-5.72614491e-02 9.98358284e-01 1.36530748e-03 -4.76085231e+01] [ 1.14068400e-02 -7.13217018e-04 9.99934686e-01 1.82661416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.910714057 meters Centerline goodness [0,1] 0.9799447223554673 Centerline is valid? [True, True] Translation: X:658.22, Y:-47.61, Z:1.83 [[ 9.98305615e-01 5.70355955e-02 -1.15256194e-02 6.58220440e+02] [-5.70234100e-02 9.98371883e-01 1.38339915e-03 -4.76096193e+01] [ 1.15857573e-02 -7.23825023e-04 9.99932621e-01 1.82720178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9407140569999 meters Centerline goodness [0,1] 0.9799872210305326 Centerline is valid? [True, True] Translation: X:658.25, Y:-47.61, Z:1.83 [[ 9.98325293e-01 5.68511694e-02 -1.07029435e-02 6.58247342e+02] [-5.68406717e-02 9.98382438e-01 1.28272127e-03 -4.76138448e+01] [ 1.07585551e-02 -6.72210590e-04 9.99941899e-01 1.82737753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9707140569999 meters Centerline goodness [0,1] 0.9780996920269192 Centerline is valid? [True, True] Translation: X:658.27, Y:-47.62, Z:1.83 [[ 9.98346969e-01 5.65504397e-02 -1.02653854e-02 6.58274362e+02] [-5.65407778e-02 9.98399534e-01 1.22923556e-03 -4.76200399e+01] [ 1.03184698e-02 -6.46790718e-04 9.99946554e-01 1.82747824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.000714057 meters Centerline goodness [0,1] 0.9793951023391813 Centerline is valid? [True, True] Translation: X:658.30, Y:-47.62, Z:1.83 [[ 9.98369976e-01 5.60377157e-02 -1.08242751e-02 6.58303395e+02] [-5.60269659e-02 9.98428417e-01 1.29405117e-03 -4.76193922e+01] [ 1.08797795e-02 -6.85490544e-04 9.99940578e-01 1.82800898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.030714057 meters Centerline goodness [0,1] 0.9802430222465853 Centerline is valid? [True, True] Translation: X:658.33, Y:-47.62, Z:1.83 [[ 9.98386318e-01 5.56820621e-02 -1.11475548e-02 6.58331664e+02] [-5.56706738e-02 9.98448300e-01 1.32954586e-03 -4.76212127e+01] [ 1.12042890e-02 -7.06808507e-04 9.99936980e-01 1.82833332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0607140569999 meters Centerline goodness [0,1] 0.979466916383071 Centerline is valid? [True, True] Translation: X:658.36, Y:-47.63, Z:1.83 [[ 9.98361061e-01 5.60942440e-02 -1.13414035e-02 6.58357971e+02] [-5.60825041e-02 9.98425224e-01 1.35079118e-03 -4.76326503e+01] [ 1.13993150e-02 -7.12523002e-04 9.99934772e-01 1.82725767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0907140569999 meters Centerline goodness [0,1] 0.9816331652558808 Centerline is valid? [True, True] Translation: X:658.39, Y:-47.63, Z:1.83 [[ 9.98370653e-01 5.60280764e-02 -1.08117671e-02 6.58387552e+02] [-5.60174261e-02 9.98428963e-01 1.28563672e-03 -4.76296785e+01] [ 1.08668131e-02 -6.77894606e-04 9.99940725e-01 1.82826091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.120714057 meters Centerline goodness [0,1] 0.9789829278799284 Centerline is valid? [True, True] Translation: X:658.41, Y:-47.64, Z:1.83 [[ 9.98344647e-01 5.64662206e-02 -1.09330198e-02 6.58414496e+02] [-5.64553867e-02 9.98404280e-01 1.29727547e-03 -4.76419845e+01] [ 1.09888260e-02 -6.77900157e-04 9.99939391e-01 1.82754967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.150714057 meters Centerline goodness [0,1] 0.9818751703461434 Centerline is valid? [True, True] Translation: X:658.44, Y:-47.64, Z:1.83 [[ 9.98304172e-01 5.72934379e-02 -1.03073919e-02 6.58444728e+02] [-5.72838710e-02 9.98357184e-01 1.22125814e-03 -4.76357824e+01] [ 1.03604288e-02 -6.28739792e-04 9.99946132e-01 1.82936002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1807140569999 meters Centerline goodness [0,1] 0.9818751703461434 Centerline is valid? [True, True] Translation: X:658.47, Y:-47.64, Z:1.83 [[ 9.98320690e-01 5.70048456e-02 -1.03076681e-02 6.58471970e+02] [-5.69952873e-02 9.98373703e-01 1.21892417e-03 -4.76389393e+01] [ 1.03603893e-02 -6.29388718e-04 9.99946132e-01 1.82947174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2107140569999 meters Centerline goodness [0,1] 0.981478950246036 Centerline is valid? [True, True] Translation: X:658.50, Y:-47.64, Z:1.83 [[ 9.98319733e-01 5.70861764e-02 -9.94376781e-03 6.58500302e+02] [-5.70773117e-02 9.98369072e-01 1.17323698e-03 -4.76422064e+01] [ 9.99452586e-03 -6.03702091e-04 9.99949871e-01 1.83012003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.240714057 meters Centerline goodness [0,1] 0.9815164690082174 Centerline is valid? [True, True] Translation: X:658.53, Y:-47.65, Z:1.83 [[ 9.98281276e-01 5.77950201e-02 -9.70719391e-03 6.58528172e+02] [-5.77866295e-02 9.98328302e-01 1.14287350e-03 -4.76461919e+01] [ 9.75701881e-03 -5.79963197e-04 9.99952231e-01 1.83079444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.270714057 meters Centerline goodness [0,1] 0.981501334367373 Centerline is valid? [True, True] Translation: X:658.56, Y:-47.65, Z:1.83 [[ 9.98254618e-01 5.82966091e-02 -9.44576747e-03 6.58555993e+02] [-5.82887091e-02 9.98299151e-01 1.10973604e-03 -4.76505396e+01] [ 9.49439550e-03 -5.57217535e-04 9.99954772e-01 1.83105730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3007140569999 meters Centerline goodness [0,1] 0.9815021527667038 Centerline is valid? [True, True] Translation: X:658.59, Y:-47.65, Z:1.83 [[ 9.98107647e-01 6.07136825e-02 -9.74547043e-03 6.58585531e+02] [-6.07054003e-02 9.98155071e-01 1.14369417e-03 -4.76520560e+01] [ 9.79692861e-03 -5.49927218e-04 9.99951858e-01 1.83107350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3307140569999 meters Centerline goodness [0,1] 0.9830061196168983 Centerline is valid? [True, True] Translation: X:658.61, Y:-47.65, Z:1.83 [[ 9.98006261e-01 6.22925422e-02 -1.01558961e-02 6.58614441e+02] [-6.22836353e-02 9.98057779e-01 1.19126570e-03 -4.76537234e+01] [ 1.02103781e-02 -5.56344499e-04 9.99947718e-01 1.83084130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3607140569999 meters Centerline goodness [0,1] 0.9838647011770083 Centerline is valid? [True, True] Translation: X:658.64, Y:-47.66, Z:1.83 [[ 9.97803638e-01 6.52433455e-02 -1.14545466e-02 6.58644381e+02] [-6.52322166e-02 9.97869207e-01 1.34291535e-03 -4.76562566e+01] [ 1.15177556e-02 -5.92760352e-04 9.99933493e-01 1.82963760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.390714057 meters Centerline goodness [0,1] 0.9829564899952087 Centerline is valid? [True, True] Translation: X:658.67, Y:-47.66, Z:1.83 [[ 9.97728999e-01 6.62648775e-02 -1.20752417e-02 6.58671713e+02] [-6.62525954e-02 9.97801880e-01 1.41476450e-03 -4.76639512e+01] [ 1.21424480e-02 -6.11535471e-04 9.99926091e-01 1.82900553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4207140569999 meters Centerline goodness [0,1] 0.9837637870795369 Centerline is valid? [True, True] Translation: X:658.70, Y:-47.66, Z:1.83 [[ 9.97666435e-01 6.70532872e-02 -1.28663071e-02 6.58701429e+02] [-6.70394402e-02 9.97749191e-01 1.50500118e-03 -4.76613691e+01] [ 1.29382628e-02 -6.38939130e-04 9.99916093e-01 1.82966212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4507140569999 meters Centerline goodness [0,1] 0.9849414771042004 Centerline is valid? [True, True] Translation: X:658.73, Y:-47.66, Z:1.83 [[ 9.97526501e-01 6.89814287e-02 -1.35070909e-02 6.58730428e+02] [-6.89663672e-02 9.97617737e-01 1.57827131e-03 -4.76623275e+01] [ 1.35837849e-02 -6.42832462e-04 9.99907530e-01 1.83049253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4807140569999 meters Centerline goodness [0,1] 0.9846445194852605 Centerline is valid? [True, True] Translation: X:658.76, Y:-47.67, Z:1.83 [[ 9.97458967e-01 7.00087087e-02 -1.32056971e-02 6.58758197e+02] [-6.99944166e-02 9.97546191e-01 1.54193102e-03 -4.76670716e+01] [ 1.32812415e-02 -6.13687855e-04 9.99911612e-01 1.83028968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.510714057 meters Centerline goodness [0,1] 0.9849219906616559 Centerline is valid? [True, True] Translation: X:658.79, Y:-47.67, Z:1.83 [[ 9.97391178e-01 7.08782016e-02 -1.36791267e-02 6.58785477e+02] [-7.08629649e-02 9.97484783e-01 1.59596945e-03 -4.76709145e+01] [ 1.37578401e-02 -6.22462375e-04 9.99905163e-01 1.83019312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.540714057 meters Centerline goodness [0,1] 0.9853567443237458 Centerline is valid? [True, True] Translation: X:658.81, Y:-47.67, Z:1.83 [[ 9.97295656e-01 7.21752923e-02 -1.38600831e-02 6.58814497e+02] [-7.21598146e-02 9.97391776e-01 1.61423354e-03 -4.76724995e+01] [ 1.39404407e-02 -6.09727068e-04 9.99902641e-01 1.83088939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5707140569999 meters Centerline goodness [0,1] 0.9865765683499224 Centerline is valid? [True, True] Translation: X:658.84, Y:-47.68, Z:1.83 [[ 9.97107931e-01 7.47772667e-02 -1.35696367e-02 6.58842406e+02] [-7.47626941e-02 9.97200104e-01 1.57873516e-03 -4.76765532e+01] [ 1.36496966e-02 -5.59666752e-04 9.99906682e-01 1.83154610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6007140569999 meters Centerline goodness [0,1] 0.9866383445251473 Centerline is valid? [True, True] Translation: X:658.87, Y:-47.68, Z:1.83 [[ 9.97044776e-01 7.56090498e-02 -1.36009791e-02 6.58871535e+02] [-7.55945241e-02 9.97137389e-01 1.57967716e-03 -4.76771740e+01] [ 1.36814827e-02 -5.46849322e-04 9.99906255e-01 1.83224244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.630714057 meters Centerline goodness [0,1] 0.9864723058673237 Centerline is valid? [True, True] Translation: X:658.90, Y:-47.68, Z:1.83 [[ 9.96983772e-01 7.63500755e-02 -1.39292711e-02 6.58900319e+02] [-7.63349619e-02 9.97080923e-01 1.61426556e-03 -4.76807055e+01] [ 1.40118598e-02 -5.46106191e-04 9.99901680e-01 1.83240141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.660714057 meters Centerline goodness [0,1] 0.9870023445858278 Centerline is valid? [True, True] Translation: X:658.93, Y:-47.68, Z:1.83 [[ 9.96955665e-01 7.68432213e-02 -1.32106888e-02 6.58928359e+02] [-7.68297136e-02 9.97043059e-01 1.52772245e-03 -4.76847968e+01] [ 1.32890206e-02 -5.08098114e-04 9.99911568e-01 1.83282197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6907140569999 meters Centerline goodness [0,1] 0.9862067393187726 Centerline is valid? [True, True] Translation: X:658.96, Y:-47.69, Z:1.83 [[ 9.96976424e-01 7.65128304e-02 -1.35571349e-02 6.58956154e+02] [-7.64986260e-02 9.97068460e-01 1.56400595e-03 -4.76885781e+01] [ 1.36370581e-02 -5.22174872e-04 9.99906875e-01 1.83366671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7207140569999 meters Centerline goodness [0,1] 0.9852663650212592 Centerline is valid? [True, True] Translation: X:658.98, Y:-47.70, Z:1.83 [[ 9.97121040e-01 7.46301010e-02 -1.34156473e-02 6.58983028e+02] [-7.46160538e-02 9.97211139e-01 1.54527419e-03 -4.76950061e+01] [ 1.34935569e-02 -5.39802746e-04 9.99908812e-01 1.83334360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.750714057 meters Centerline goodness [0,1] 0.9839750875119334 Centerline is valid? [True, True] Translation: X:659.01, Y:-47.70, Z:1.83 [[ 9.97259673e-01 7.26578843e-02 -1.39275155e-02 6.59010797e+02] [-7.26425679e-02 9.97356750e-01 1.60314739e-03 -4.77019534e+01] [ 1.40071829e-02 -5.87023749e-04 9.99901722e-01 1.83257796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.780714057 meters Centerline goodness [0,1] 0.9846758082092263 Centerline is valid? [True, True] Translation: X:659.04, Y:-47.71, Z:1.83 [[ 9.97407863e-01 7.04775025e-02 -1.45078231e-02 6.59040083e+02] [-7.04606615e-02 9.97513162e-01 1.66934820e-03 -4.77065131e+01] [ 1.45893960e-02 -6.42790208e-04 9.99893362e-01 1.83266950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8107140569999 meters Centerline goodness [0,1] 0.9827868107911708 Centerline is valid? [True, True] Translation: X:659.07, Y:-47.72, Z:1.83 [[ 9.97734376e-01 6.55600927e-02 -1.50993192e-02 6.59068452e+02] [-6.55412965e-02 9.97848346e-01 1.73687125e-03 -4.77176414e+01] [ 1.51807002e-02 -7.43307190e-04 9.99884490e-01 1.83208337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8407140569999 meters Centerline goodness [0,1] 0.9821987877149102 Centerline is valid? [True, True] Translation: X:659.10, Y:-47.72, Z:1.83 [[ 9.97892829e-01 6.32343086e-02 -1.45370176e-02 6.59097703e+02] [-6.32166475e-02 9.97998427e-01 1.67168943e-03 -4.77246308e+01] [ 1.46136288e-02 -7.49185376e-04 9.99892935e-01 1.83252676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.870714057 meters Centerline goodness [0,1] 0.981272052836334 Centerline is valid? [True, True] Translation: X:659.13, Y:-47.73, Z:1.83 [[ 9.98032712e-01 6.09211865e-02 -1.48092803e-02 6.59127271e+02] [-6.09026115e-02 9.98142261e-01 1.70247281e-03 -4.77283136e+01] [ 1.48854852e-02 -7.97199711e-04 9.99888887e-01 1.83378710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.900714057 meters Centerline goodness [0,1] 0.9798959746720941 Centerline is valid? [True, True] Translation: X:659.16, Y:-47.74, Z:1.83 [[ 9.98229853e-01 5.78010310e-02 -1.40071965e-02 6.59155411e+02] [-5.77841143e-02 9.98327804e-01 1.60977784e-03 -4.77399167e+01] [ 1.40768205e-02 -7.97534856e-04 9.99900599e-01 1.83361396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9307140569999 meters Centerline goodness [0,1] 0.9807037713306733 Centerline is valid? [True, True] Translation: X:659.18, Y:-47.74, Z:1.83 [[ 9.98268936e-01 5.71872220e-02 -1.37387653e-02 6.59184185e+02] [-5.71709238e-02 9.98363161e-01 1.57644850e-03 -4.77443638e+01] [ 1.38064299e-02 -7.88261661e-04 9.99904376e-01 1.83402802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9607140569999 meters Centerline goodness [0,1] 0.9810621377544143 Centerline is valid? [True, True] Translation: X:659.21, Y:-47.75, Z:1.83 [[ 9.98253936e-01 5.74126676e-02 -1.38876104e-02 6.59211206e+02] [-5.73960615e-02 9.98350218e-01 1.59170177e-03 -4.77499800e+01] [ 1.39560827e-02 -7.91828420e-04 9.99902296e-01 1.83398941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.990714057 meters Centerline goodness [0,1] 0.9797624383684447 Centerline is valid? [True, True] Translation: X:659.24, Y:-47.75, Z:1.83 [[ 9.98214593e-01 5.82785269e-02 -1.30858616e-02 6.59239390e+02] [-5.82638893e-02 9.98300094e-01 1.49736561e-03 -4.77540251e+01] [ 1.31508812e-02 -7.32259012e-04 9.99913255e-01 1.83450725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.020714057 meters Centerline goodness [0,1] 0.9832582244254169 Centerline is valid? [True, True] Translation: X:659.27, Y:-47.75, Z:1.84 [[ 9.98167124e-01 5.91356068e-02 -1.28597411e-02 6.59269304e+02] [-5.91215807e-02 9.98249709e-01 1.46846866e-03 -4.77491827e+01] [ 1.29240716e-02 -7.05488920e-04 9.99916232e-01 1.83668081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0507140569999 meters Centerline goodness [0,1] 0.9836091446092798 Centerline is valid? [True, True] Translation: X:659.30, Y:-47.75, Z:1.84 [[ 9.97935921e-01 6.29068587e-02 -1.29082928e-02 6.59299248e+02] [-6.28930556e-02 9.98019185e-01 1.47289011e-03 -4.77523329e+01] [ 1.29753787e-02 -6.58007973e-04 9.99915600e-01 1.83693855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0807140569999 meters Centerline goodness [0,1] 0.983974358974359 Centerline is valid? [True, True] Translation: X:659.33, Y:-47.75, Z:1.84 [[ 9.97853300e-01 6.42850631e-02 -1.24988677e-02 6.59328334e+02] [-6.42722557e-02 9.97931385e-01 1.42409406e-03 -4.77545563e+01] [ 1.25645603e-02 -6.17706534e-04 9.99920872e-01 1.83688206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1107140569999 meters Centerline goodness [0,1] 0.9838757028974052 Centerline is valid? [True, True] Translation: X:659.36, Y:-47.76, Z:1.84 [[ 9.97748576e-01 6.57889566e-02 -1.30227737e-02 6.59356053e+02] [-6.57752094e-02 9.97833366e-01 1.48159487e-03 -4.77591674e+01] [ 1.30920307e-02 -6.21683501e-04 9.99914102e-01 1.83670702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.140714057 meters Centerline goodness [0,1] 0.9842647489799139 Centerline is valid? [True, True] Translation: X:659.39, Y:-47.76, Z:1.84 [[ 9.97671181e-01 6.69303483e-02 -1.31355912e-02 6.59385102e+02] [-6.69164955e-02 9.97757464e-01 1.49178790e-03 -4.77624761e+01] [ 1.32059801e-02 -6.09326059e-04 9.99912612e-01 1.83675275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1707140569999 meters Centerline goodness [0,1] 0.9847505349701543 Centerline is valid? [True, True] Translation: X:659.41, Y:-47.76, Z:1.84 [[ 9.97537897e-01 6.88442976e-02 -1.33643917e-02 6.59413777e+02] [-6.88301512e-02 9.97627241e-01 1.51614746e-03 -4.77648388e+01] [ 1.34370594e-02 -5.92541444e-04 9.99909543e-01 1.83651669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2007140569999 meters Centerline goodness [0,1] 0.9842027093928619 Centerline is valid? [True, True] Translation: X:659.44, Y:-47.77, Z:1.84 [[ 9.97493380e-01 6.93490850e-02 -1.40591852e-02 6.59440672e+02] [-6.93334964e-02 9.97592265e-01 1.59376263e-03 -4.77743173e+01] [ 1.41358604e-02 -6.14995206e-04 9.99899895e-01 1.83520963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2307140569999 meters Centerline goodness [0,1] 0.9853172286830407 Centerline is valid? [True, True] Translation: X:659.47, Y:-47.78, Z:1.84 [[ 9.97472238e-01 6.97298701e-02 -1.36704148e-02 6.59469612e+02] [-6.97152057e-02 9.97565736e-01 1.54691371e-03 -4.77752057e+01] [ 1.37450035e-02 -5.89967703e-04 9.99905359e-01 1.83542210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.260714057 meters Centerline goodness [0,1] 0.9849504328713049 Centerline is valid? [True, True] Translation: X:659.50, Y:-47.78, Z:1.83 [[ 9.97449357e-01 7.01316112e-02 -1.32792346e-02 6.59496663e+02] [-7.01178339e-02 9.97537587e-01 1.50083692e-03 -4.77821240e+01] [ 1.33517918e-02 -5.65897655e-04 9.99910701e-01 1.83482238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.290714057 meters Centerline goodness [0,1] 0.9836591836279733 Centerline is valid? [True, True] Translation: X:659.52, Y:-47.79, Z:1.83 [[ 9.97411026e-01 7.06521103e-02 -1.33987033e-02 6.59524253e+02] [-7.06381519e-02 9.97500859e-01 1.51277405e-03 -4.77880093e+01] [ 1.34720987e-02 -5.62397878e-04 9.99909089e-01 1.83446645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3207140569999 meters Centerline goodness [0,1] 0.9859727085016609 Centerline is valid? [True, True] Translation: X:659.55, Y:-47.79, Z:1.84 [[ 9.97335188e-01 7.16801681e-02 -1.35822005e-02 6.59553144e+02] [-7.16659599e-02 9.97427515e-01 1.53055987e-03 -4.77879538e+01] [ 1.36569713e-02 -5.53099777e-04 9.99906586e-01 1.83562662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3507140569999 meters Centerline goodness [0,1] 0.985547251958078 Centerline is valid? [True, True] Translation: X:659.58, Y:-47.79, Z:1.84 [[ 9.97296777e-01 7.22244871e-02 -1.35189179e-02 6.59581331e+02] [-7.22105071e-02 9.97388255e-01 1.52003311e-03 -4.77919709e+01] [ 1.35933936e-02 -5.39716208e-04 9.99907460e-01 1.83621643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.380714057 meters Centerline goodness [0,1] 0.9860818030799623 Centerline is valid? [True, True] Translation: X:659.61, Y:-47.80, Z:1.84 [[ 9.97264640e-01 7.27845903e-02 -1.28701931e-02 6.59609384e+02] [-7.27720076e-02 9.97347557e-01 1.44390870e-03 -4.77961007e+01] [ 1.29411499e-02 -5.03369303e-04 9.99916133e-01 1.83617180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.410714057 meters Centerline goodness [0,1] 0.9856195681390556 Centerline is valid? [True, True] Translation: X:659.64, Y:-47.80, Z:1.84 [[ 9.97186587e-01 7.39721879e-02 -1.21254512e-02 6.59637562e+02] [-7.39611437e-02 9.97260200e-01 1.35734962e-03 -4.78003698e+01] [ 1.21926360e-02 -4.56718595e-04 9.99925563e-01 1.83727708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4407140569999 meters Centerline goodness [0,1] 0.9865900811300091 Centerline is valid? [True, True] Translation: X:659.67, Y:-47.81, Z:1.84 [[ 9.97188939e-01 7.40783448e-02 -1.12524841e-02 6.59665324e+02] [-7.40688717e-02 9.97252336e-01 1.25686456e-03 -4.78064009e+01] [ 1.13146725e-02 -4.19872638e-04 9.99935899e-01 1.83743269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4707140569999 meters Centerline goodness [0,1] 0.987129266927812 Centerline is valid? [True, True] Translation: X:659.69, Y:-47.81, Z:1.84 [[ 9.97206395e-01 7.38847151e-02 -1.09751469e-02 6.59692701e+02] [-7.38757247e-02 9.97266705e-01 1.22287460e-03 -4.78106851e+01] [ 1.10355003e-02 -4.08661439e-04 9.99939024e-01 1.83812785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.500714057 meters Centerline goodness [0,1] 0.9867641469358553 Centerline is valid? [True, True] Translation: X:659.72, Y:-47.82, Z:1.84 [[ 9.97208552e-01 7.38637475e-02 -1.09201723e-02 6.59720643e+02] [-7.38548806e-02 9.97268261e-01 1.21357647e-03 -4.78158798e+01] [ 1.09799806e-02 -4.03680817e-04 9.99939637e-01 1.83778898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.530714057 meters Centerline goodness [0,1] 0.9869011224421484 Centerline is valid? [True, True] Translation: X:659.75, Y:-47.82, Z:1.84 [[ 9.97253209e-01 7.32280867e-02 -1.11213782e-02 6.59748537e+02] [-7.32188746e-02 9.97315133e-01 1.23378230e-03 -4.78211895e+01] [ 1.11818663e-02 -4.16098560e-04 9.99937394e-01 1.83702194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5607140569999 meters Centerline goodness [0,1] 0.9870341078708758 Centerline is valid? [True, True] Translation: X:659.78, Y:-47.83, Z:1.84 [[ 9.97230944e-01 7.35386628e-02 -1.10683910e-02 6.59775415e+02] [-7.35295705e-02 9.97292283e-01 1.22672944e-03 -4.78279384e+01] [ 1.11286330e-02 -4.09478521e-04 9.99937991e-01 1.83650367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5907140569999 meters Centerline goodness [0,1] 0.9872902105684904 Centerline is valid? [True, True] Translation: X:659.80, Y:-47.83, Z:1.84 [[ 9.97250886e-01 7.32478216e-02 -1.11994441e-02 6.59802606e+02] [-7.32385213e-02 9.97313684e-01 1.23886400e-03 -4.78349795e+01] [ 1.12601029e-02 -4.15227498e-04 9.99936517e-01 1.83590883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.620714057 meters Centerline goodness [0,1] 0.9877422081822429 Centerline is valid? [True, True] Translation: X:659.83, Y:-47.84, Z:1.84 [[ 9.97259260e-01 7.30435434e-02 -1.17732303e-02 6.59830027e+02] [-7.30332918e-02 9.97328658e-01 1.29892830e-03 -4.78385824e+01] [ 1.18366583e-02 -4.35530513e-04 9.99929849e-01 1.83614321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.650714057 meters Centerline goodness [0,1] 0.9870739521224526 Centerline is valid? [True, True] Translation: X:659.86, Y:-47.84, Z:1.84 [[ 9.97210333e-01 7.37029798e-02 -1.18077281e-02 6.59858861e+02] [-7.36927510e-02 9.97280146e-01 1.29963329e-03 -4.78429568e+01] [ 1.18713996e-02 -4.25863778e-04 9.99929442e-01 1.83683157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6807140569999 meters Centerline goodness [0,1] 0.9886867247177249 Centerline is valid? [True, True] Translation: X:659.89, Y:-47.85, Z:1.84 [[ 9.97183015e-01 7.41680379e-02 -1.11864606e-02 6.59887538e+02] [-7.41589175e-02 9.97245680e-01 1.22848545e-03 -4.78464867e+01] [ 1.12467638e-02 -3.95449021e-04 9.99936675e-01 1.83727995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7107140569999 meters Centerline goodness [0,1] 0.9881410681888579 Centerline is valid? [True, True] Translation: X:659.92, Y:-47.85, Z:1.84 [[ 9.97162200e-01 7.44921744e-02 -1.08840859e-02 6.59915036e+02] [-7.44835806e-02 9.97221526e-01 1.19336824e-03 -4.78520043e+01] [ 1.09427413e-02 -3.79296012e-04 9.99940054e-01 1.83740390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.740714057 meters Centerline goodness [0,1] 0.9877064585314083 Centerline is valid? [True, True] Translation: X:659.94, Y:-47.86, Z:1.84 [[ 9.97162897e-01 7.45257515e-02 -1.05862792e-02 6.59942313e+02] [-7.45176352e-02 9.97219022e-01 1.15961521e-03 -4.78602945e+01] [ 1.06432602e-02 -3.67460774e-04 9.99943291e-01 1.83668918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.770714057 meters Centerline goodness [0,1] 0.9878667549084491 Centerline is valid? [True, True] Translation: X:659.97, Y:-47.86, Z:1.84 [[ 9.97186173e-01 7.42563125e-02 -1.02828380e-02 6.59969788e+02] [-7.42486625e-02 9.97239125e-01 1.12425106e-03 -4.78625517e+01] [ 1.03379311e-02 -3.57600644e-04 9.99946498e-01 1.83703853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8007140569999 meters Centerline goodness [0,1] 0.9876807122708039 Centerline is valid? [True, True] Translation: X:660.00, Y:-47.87, Z:1.84 [[ 9.97231184e-01 7.37254741e-02 -9.72211088e-03 6.59996788e+02] [-7.37186370e-02 9.97278516e-01 1.06022627e-03 -4.78686644e+01] [ 9.77381799e-03 -3.40589932e-04 9.99952177e-01 1.83666348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8307140569999 meters Centerline goodness [0,1] 0.9880201209019106 Centerline is valid? [True, True] Translation: X:660.02, Y:-47.87, Z:1.84 [[ 9.97241779e-01 7.35563660e-02 -9.91443007e-03 6.60024551e+02] [-7.35492762e-02 9.97291001e-01 1.07831629e-03 -4.78721644e+01] [ 9.96688892e-03 -3.46142901e-04 9.99950269e-01 1.83707693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8607140569999 meters Centerline goodness [0,1] 0.9865928686409844 Centerline is valid? [True, True] Translation: X:660.05, Y:-47.88, Z:1.84 [[ 9.97256842e-01 7.33864613e-02 -9.65493414e-03 6.60050383e+02] [-7.33797478e-02 9.97303521e-01 1.04824881e-03 -4.78815308e+01] [ 9.70582709e-03 -3.36896668e-04 9.99952841e-01 1.83642940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.890714057 meters Centerline goodness [0,1] 0.9876624517035476 Centerline is valid? [True, True] Translation: X:660.08, Y:-47.88, Z:1.84 [[ 9.97266102e-01 7.32579004e-02 -9.67476451e-03 6.60078510e+02] [-7.32511736e-02 9.97312973e-01 1.04829524e-03 -4.78829268e+01] [ 9.72556407e-03 -3.36741458e-04 9.99952649e-01 1.83678298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9207140569999 meters Centerline goodness [0,1] 0.9869611028185091 Centerline is valid? [True, True] Translation: X:660.11, Y:-47.89, Z:1.84 [[ 9.97273494e-01 7.31649725e-02 -9.61591375e-03 6.60105758e+02] [-7.31583495e-02 9.97319796e-01 1.03918264e-03 -4.78868977e+01] [ 9.66617291e-03 -3.32864928e-04 9.99953226e-01 1.83676676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9507140569999 meters Centerline goodness [0,1] 0.9867280903806076 Centerline is valid? [True, True] Translation: X:660.13, Y:-47.89, Z:1.84 [[ 9.97312323e-01 7.25277776e-02 -1.03851777e-02 6.60133850e+02] [-7.25200476e-02 9.97366327e-01 1.11948724e-03 -4.78937351e+01] [ 1.04390204e-02 -3.63344838e-04 9.99945446e-01 1.83621911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9807140569999 meters Centerline goodness [0,1] 0.9869686898723107 Centerline is valid? [True, True] Translation: X:660.16, Y:-47.90, Z:1.84 [[ 9.97330984e-01 7.22425823e-02 -1.05791020e-02 6.60160890e+02] [-7.22345618e-02 9.97387022e-01 1.13879004e-03 -4.78990876e+01] [ 1.06337282e-02 -3.71573792e-04 9.99943391e-01 1.83571524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.010714057 meters Centerline goodness [0,1] 0.9865865953622934 Centerline is valid? [True, True] Translation: X:660.19, Y:-47.90, Z:1.84 [[ 9.97388386e-01 7.13830452e-02 -1.09939877e-02 6.60189775e+02] [-7.13743542e-02 9.97448899e-01 1.18136148e-03 -4.79034852e+01] [ 1.10502701e-02 -3.93587445e-04 9.99938866e-01 1.83533489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.040714057 meters Centerline goodness [0,1] 0.9860469191509867 Centerline is valid? [True, True] Translation: X:660.22, Y:-47.91, Z:1.83 [[ 9.97434626e-01 7.06732011e-02 -1.13782724e-02 6.60218117e+02] [-7.06638782e-02 9.97499438e-01 1.21982077e-03 -4.79088946e+01] [ 1.14360290e-02 -4.12658617e-04 9.99934521e-01 1.83473427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0707140569999 meters Centerline goodness [0,1] 0.9860469191509867 Centerline is valid? [True, True] Translation: X:660.25, Y:-47.91, Z:1.83 [[ 9.97454191e-01 7.03964845e-02 -1.13785952e-02 6.60245387e+02] [-7.03871780e-02 9.97519005e-01 1.21680526e-03 -4.79117357e+01] [ 1.14360237e-02 -4.12800307e-04 9.99934521e-01 1.83484606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1007140569999 meters Centerline goodness [0,1] 0.9863517060367454 Centerline is valid? [True, True] Translation: X:660.27, Y:-47.92, Z:1.84 [[ 9.97543345e-01 6.90922327e-02 -1.15559133e-02 6.60273593e+02] [-6.90825814e-02 9.97610183e-01 1.23274972e-03 -4.79175332e+01] [ 1.16134702e-02 -4.31408953e-04 9.99932468e-01 1.83515891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.130714057 meters Centerline goodness [0,1] 0.986863100832805 Centerline is valid? [True, True] Translation: X:660.30, Y:-47.92, Z:1.84 [[ 9.97564053e-01 6.88599894e-02 -1.11473165e-02 6.60301106e+02] [-6.88510276e-02 9.97626247e-01 1.18617948e-03 -4.79221525e+01] [ 1.12025359e-02 -4.15785814e-04 9.99937163e-01 1.83545942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.160714057 meters Centerline goodness [0,1] 0.9873558943845295 Centerline is valid? [True, True] Translation: X:660.33, Y:-47.93, Z:1.84 [[ 9.97525724e-01 6.96109710e-02 -9.83583149e-03 6.60328587e+02] [-6.96040454e-02 9.97574150e-01 1.04510530e-03 -4.79284028e+01] [ 9.88472204e-03 -3.57905756e-04 9.99951081e-01 1.83635896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1907140569999 meters Centerline goodness [0,1] 0.985544848035582 Centerline is valid? [True, True] Translation: X:660.36, Y:-47.93, Z:1.84 [[ 9.97453930e-01 7.07072689e-02 -9.28112385e-03 6.60356371e+02] [-7.07011572e-02 9.97497055e-01 9.85375066e-04 -4.79325641e+01] [ 9.32756689e-03 -3.26680036e-04 9.99956444e-01 1.83625482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2207140569999 meters Centerline goodness [0,1] 0.9871386842219994 Centerline is valid? [True, True] Translation: X:660.39, Y:-47.94, Z:1.84 [[ 9.97387405e-01 7.17145409e-02 -8.68271531e-03 6.60385191e+02] [-7.17092428e-02 9.97425154e-01 9.20388190e-04 -4.79363838e+01] [ 8.72636387e-03 -2.95352648e-04 9.99961881e-01 1.83671819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.250714057 meters Centerline goodness [0,1] 0.9868540934530782 Centerline is valid? [True, True] Translation: X:660.41, Y:-47.94, Z:1.84 [[ 9.97155062e-01 7.48981525e-02 -8.48815780e-03 6.60412801e+02] [-7.48932158e-02 9.97191155e-01 8.98424034e-04 -4.79401355e+01] [ 8.53160618e-03 -2.60162639e-04 9.99963571e-01 1.83630577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.280714057 meters Centerline goodness [0,1] 0.9868953807305498 Centerline is valid? [True, True] Translation: X:660.44, Y:-47.94, Z:1.84 [[ 9.97069558e-01 7.59996333e-02 -8.73795950e-03 6.60441242e+02] [-7.59944570e-02 9.97107813e-01 9.23385854e-04 -4.79441769e+01] [ 8.78286467e-03 -2.56643438e-04 9.99961397e-01 1.83589160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3107140569999 meters Centerline goodness [0,1] 0.9872589307068467 Centerline is valid? [True, True] Translation: X:660.47, Y:-47.95, Z:1.84 [[ 9.96943047e-01 7.76327735e-02 -8.81552597e-03 6.60468566e+02] [-7.76275825e-02 9.96981993e-01 9.30015243e-04 -4.79507614e+01] [ 8.86112031e-03 -2.42844261e-04 9.99960710e-01 1.83518173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3407140569999 meters Centerline goodness [0,1] 0.9871592213247873 Centerline is valid? [True, True] Translation: X:660.50, Y:-47.96, Z:1.84 [[ 9.96961106e-01 7.74064567e-02 -8.76319302e-03 6.60496401e+02] [-7.74013340e-02 9.96999590e-01 9.22731527e-04 -4.79560156e+01] [ 8.80832522e-03 -2.41644615e-04 9.99961177e-01 1.83527443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.370714057 meters Centerline goodness [0,1] 0.9868574892824665 Centerline is valid? [True, True] Translation: X:660.52, Y:-47.96, Z:1.84 [[ 9.96989799e-01 7.72074345e-02 -7.09601574e-03 6.60523963e+02] [-7.72040826e-02 9.97015032e-01 7.45493980e-04 -4.79641374e+01] [ 7.13239204e-03 -1.95408508e-04 9.99974545e-01 1.83585064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.400714057 meters Centerline goodness [0,1] 0.985842010694261 Centerline is valid? [True, True] Translation: X:660.55, Y:-47.97, Z:1.84 [[ 9.97066721e-01 7.62854794e-02 -6.20324107e-03 6.60552169e+02] [-7.62829090e-02 9.97086002e-01 6.50256940e-04 -4.79699449e+01] [ 6.23477000e-03 -1.75148280e-04 9.99980548e-01 1.83616866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4307140569999 meters Centerline goodness [0,1] 0.9872698193135645 Centerline is valid? [True, True] Translation: X:660.58, Y:-47.98, Z:1.84 [[ 9.97103317e-01 7.58765565e-02 -5.26527295e-03 6.60579558e+02] [-7.58747038e-02 9.97117208e-01 5.51036869e-04 -4.79765042e+01] [ 5.29190504e-03 -1.49939665e-04 9.99985987e-01 1.83653627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4607140569999 meters Centerline goodness [0,1] 0.9864081852450188 Centerline is valid? [True, True] Translation: X:660.61, Y:-47.98, Z:1.84 [[ 9.97204890e-01 7.45287806e-02 -5.27909212e-03 6.60608405e+02] [-7.45269026e-02 9.97218851e-01 5.51848290e-04 -4.79790505e+01] [ 5.30553876e-03 -1.56871429e-04 9.99985913e-01 1.83639495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.490714057 meters Centerline goodness [0,1] 0.9862181482515081 Centerline is valid? [True, True] Translation: X:660.64, Y:-47.99, Z:1.84 [[ 9.97393745e-01 7.20310499e-02 -4.15281735e-03 6.60636139e+02] [-7.20298694e-02 9.97402381e-01 4.33309444e-04 -4.79870293e+01] [ 4.17324165e-03 -1.33053238e-04 9.99991283e-01 1.83613360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.520714057 meters Centerline goodness [0,1] 0.986021065328365 Centerline is valid? [True, True] Translation: X:660.67, Y:-48.00, Z:1.84 [[ 9.97592422e-01 6.92382798e-02 -3.92681200e-03 6.60665114e+02] [-6.92372065e-02 9.97600141e-01 4.08776457e-04 -4.79976463e+01] [ 3.94569118e-03 -1.35910803e-04 9.99992206e-01 1.83514501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5507140569999 meters Centerline goodness [0,1] 0.9842605913551352 Centerline is valid? [True, True] Translation: X:660.69, Y:-48.01, Z:1.84 [[ 9.97666614e-01 6.81922629e-02 -3.33791555e-03 6.60692199e+02] [-6.81914817e-02 9.97672191e-01 3.47413057e-04 -4.80078219e+01] [ 3.35383640e-03 -1.18985001e-04 9.99994369e-01 1.83523234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5807140569999 meters Centerline goodness [0,1] 0.984355605016479 Centerline is valid? [True, True] Translation: X:660.72, Y:-48.01, Z:1.84 [[ 9.97690598e-01 6.78491303e-02 -3.15703280e-03 6.60720714e+02] [-6.78484307e-02 9.97695586e-01 3.28308277e-04 -4.80143743e+01] [ 3.17203312e-03 -1.13350360e-04 9.99994963e-01 1.83551215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6107140569999 meters Centerline goodness [0,1] 0.9848070430360272 Centerline is valid? [True, True] Translation: X:660.75, Y:-48.02, Z:1.84 [[ 9.97753068e-01 6.69345081e-02 -2.93030453e-03 6.60749166e+02] [-6.69339014e-02 9.97757365e-01 3.04753103e-04 -4.80167296e+01] [ 2.94413143e-03 -1.07931630e-04 9.99995660e-01 1.83513748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.640714057 meters Centerline goodness [0,1] 0.9854805155811011 Centerline is valid? [True, True] Translation: X:660.78, Y:-48.02, Z:1.84 [[ 9.97748523e-01 6.70040472e-02 -2.88842301e-03 6.60777483e+02] [-6.70034606e-02 9.97752698e-01 2.99496268e-04 -4.80223878e+01] [ 2.90199931e-03 -1.05287622e-04 9.99995784e-01 1.83600737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6707140569999 meters Centerline goodness [0,1] 0.985038475553555 Centerline is valid? [True, True] Translation: X:660.80, Y:-48.03, Z:1.84 [[ 9.97731603e-01 6.72754881e-02 -2.37861729e-03 6.60804638e+02] [-6.72750913e-02 9.97734434e-01 2.46543652e-04 -4.80297022e+01] [ 2.38981472e-03 -8.59626978e-05 9.99997141e-01 1.83672055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7007140569999 meters Centerline goodness [0,1] 0.9835260979044855 Centerline is valid? [True, True] Translation: X:660.83, Y:-48.03, Z:1.84 [[ 9.97664275e-01 6.82891589e-02 -1.60799514e-03 6.60833306e+02] [-6.82889789e-02 9.97665569e-01 1.66598836e-04 -4.80334299e+01] [ 1.61561828e-03 -5.64013607e-05 9.99998693e-01 1.83695054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7307140569999 meters Centerline goodness [0,1] 0.9834452667151473 Centerline is valid? [True, True] Translation: X:660.86, Y:-48.04, Z:1.84 [[ 9.97630909e-01 6.87748511e-02 -1.60892079e-03 6.60861168e+02] [-6.87746718e-02 9.97632205e-01 1.66620938e-04 -4.80386081e+01] [ 1.61657053e-03 -5.55731982e-05 9.99998692e-01 1.83678884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.760714057 meters Centerline goodness [0,1] 0.985334614153058 Centerline is valid? [True, True] Translation: X:660.89, Y:-48.04, Z:1.84 [[ 9.97580427e-01 6.95054310e-02 -1.51222821e-03 6.60889700e+02] [-6.95052736e-02 9.97581572e-01 1.56451475e-04 -4.80422039e+01] [ 1.51944522e-03 -5.09650939e-05 9.99998844e-01 1.83672506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.790714057 meters Centerline goodness [0,1] 0.9846785691485966 Centerline is valid? [True, True] Translation: X:660.92, Y:-48.05, Z:1.84 [[ 9.97516595e-01 7.04101547e-02 -1.74739210e-03 6.60917297e+02] [-7.04099460e-02 9.97518124e-01 1.80748014e-04 -4.80485682e+01] [ 1.75578178e-03 -5.72653606e-05 9.99998457e-01 1.83576494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8207140569999 meters Centerline goodness [0,1] 0.984579898338388 Centerline is valid? [True, True] Translation: X:660.95, Y:-48.05, Z:1.84 [[ 9.97487887e-01 7.08074848e-02 -2.05327224e-03 6.60946009e+02] [-7.08071985e-02 9.97489998e-01 2.11899125e-04 -4.80528468e+01] [ 2.06312257e-03 -6.59803554e-05 9.99997870e-01 1.83535446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8507140569999 meters Centerline goodness [0,1] 0.9838747370881047 Centerline is valid? [True, True] Translation: X:660.97, Y:-48.06, Z:1.84 [[ 9.97464634e-01 7.11184327e-02 -2.54407651e-03 6.60973563e+02] [-7.11179948e-02 9.97467875e-01 2.62327286e-04 -4.80587929e+01] [ 2.55629089e-03 -8.07325706e-05 9.99996729e-01 1.83531070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.880714057 meters Centerline goodness [0,1] 0.9848303819074035 Centerline is valid? [True, True] Translation: X:661.00, Y:-48.06, Z:1.83 [[ 9.97501551e-01 7.05953668e-02 -2.63626361e-03 6.61002050e+02] [-7.05948954e-02 9.97505031e-01 2.71567082e-04 -4.80600111e+01] [ 2.64885760e-03 -8.47818311e-05 9.99996488e-01 1.83446904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.910714057 meters Centerline goodness [0,1] 0.9838249083624584 Centerline is valid? [True, True] Translation: X:661.03, Y:-48.07, Z:1.83 [[ 9.97557255e-01 6.97777470e-02 -3.25420988e-03 6.61028791e+02] [-6.97770253e-02 9.97562557e-01 3.34932279e-04 -4.80680345e+01] [ 3.26964874e-03 -1.07045040e-04 9.99994649e-01 1.83393485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9407140569999 meters Centerline goodness [0,1] 0.9832697512840732 Centerline is valid? [True, True] Translation: X:661.06, Y:-48.07, Z:1.83 [[ 9.97626870e-01 6.87545893e-02 -3.66537987e-03 6.61057377e+02] [-6.87536682e-02 9.97633596e-01 3.76868377e-04 -4.80730248e+01] [ 3.68261753e-03 -1.23965708e-04 9.99993211e-01 1.83393257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9707140569999 meters Centerline goodness [0,1] 0.9830963126969259 Centerline is valid? [True, True] Translation: X:661.09, Y:-48.08, Z:1.83 [[ 9.97793126e-01 6.63077444e-02 -3.48722152e-03 6.61086246e+02] [-6.63068966e-02 9.97799212e-01 3.58297087e-04 -4.80804822e+01] [ 3.50330476e-03 -1.26279533e-04 9.99993855e-01 1.83488251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.000714057 meters Centerline goodness [0,1] 0.9824516731385405 Centerline is valid? [True, True] Translation: X:661.11, Y:-48.09, Z:1.84 [[ 9.97883971e-01 6.49263793e-02 -3.48511415e-03 6.61114981e+02] [-6.49255245e-02 9.97890048e-01 3.57977082e-04 -4.80858226e+01] [ 3.50100289e-03 -1.30946728e-04 9.99993863e-01 1.83552054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.030714057 meters Centerline goodness [0,1] 0.9797034231857541 Centerline is valid? [True, True] Translation: X:661.14, Y:-48.09, Z:1.84 [[ 9.97978302e-01 6.34850507e-02 -2.99290749e-03 6.61142076e+02] [-6.34844142e-02 9.97982783e-01 3.07267415e-04 -4.80915525e+01] [ 3.00637703e-03 -1.16643235e-04 9.99995474e-01 1.83590594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0607140569999 meters Centerline goodness [0,1] 0.9797182259300247 Centerline is valid? [True, True] Translation: X:661.17, Y:-48.10, Z:1.84 [[ 9.98160289e-01 6.05992985e-02 -1.93956179e-03 6.61170423e+02] [-6.05990260e-02 9.98162170e-01 1.99006950e-04 -4.80997145e+01] [ 1.94805689e-03 -8.11052794e-05 9.99998099e-01 1.83635365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0907140569999 meters Centerline goodness [0,1] 0.9799285592787889 Centerline is valid? [True, True] Translation: X:661.20, Y:-48.11, Z:1.84 [[ 9.98226932e-01 5.95067405e-02 -1.39274247e-03 6.61198578e+02] [-5.95065989e-02 9.98227902e-01 1.42933138e-04 -4.81055946e+01] [ 1.39877988e-03 -5.98023403e-05 9.99999020e-01 1.83667143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.120714057 meters Centerline goodness [0,1] 0.9803234844625573 Centerline is valid? [True, True] Translation: X:661.23, Y:-48.11, Z:1.84 [[ 9.98352765e-01 5.73662032e-02 -9.35591405e-04 6.61228059e+02] [-5.73661385e-02 9.98353203e-01 9.59411878e-05 -4.81097112e+01] [ 9.39554457e-04 -4.21118841e-05 9.99999558e-01 1.83649181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.150714057 meters Centerline goodness [0,1] 0.9801061571125266 Centerline is valid? [True, True] Translation: X:661.26, Y:-48.11, Z:1.84 [[ 9.98435441e-01 5.59091736e-02 -9.13228036e-04 6.61256074e+02] [-5.59091111e-02 9.98435858e-01 9.37864611e-05 -4.81147785e+01] [ 9.17043141e-04 -4.25819590e-05 9.99999579e-01 1.83649610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1807140569999 meters Centerline goodness [0,1] 0.9788878536337455 Centerline is valid? [True, True] Translation: X:661.28, Y:-48.12, Z:1.84 [[ 9.98508489e-01 5.45949296e-02 -4.37421129e-04 6.61282927e+02] [-5.45949150e-02 9.98508584e-01 4.52310992e-05 -4.81206608e+01] [ 4.39238141e-04 -2.12826672e-05 9.99999903e-01 1.83646240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2107140569999 meters Centerline goodness [0,1] 0.9779163749761344 Centerline is valid? [True, True] Translation: X:661.31, Y:-48.13, Z:1.84 [[ 9.98687638e-01 5.11984111e-02 -1.31296972e-03 6.61313115e+02] [-5.11982789e-02 9.98688499e-01 1.34142320e-04 -4.81257782e+01] [ 1.31811564e-03 -6.67444866e-05 9.99999129e-01 1.83629542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.240714057 meters Centerline goodness [0,1] 0.978253028663569 Centerline is valid? [True, True] Translation: X:661.34, Y:-48.13, Z:1.84 [[ 9.98784717e-01 4.92661010e-02 -1.39267328e-03 6.61341904e+02] [-4.92659502e-02 9.98785686e-01 1.42429437e-04 -4.81302829e+01] [ 1.39799908e-03 -7.36449727e-05 9.99999020e-01 1.83628584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.270714057 meters Centerline goodness [0,1] 0.9767269649846609 Centerline is valid? [True, True] Translation: X:661.37, Y:-48.14, Z:1.84 [[ 9.98900607e-01 4.68756227e-02 -5.02547665e-04 6.61370871e+02] [-4.68756028e-02 9.98900733e-01 5.14439822e-05 -4.81372794e+01] [ 5.04406700e-04 -2.78302004e-05 9.99999872e-01 1.83739843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3007140569999 meters Centerline goodness [0,1] 0.9754797665943418 Centerline is valid? [True, True] Translation: X:661.40, Y:-48.14, Z:1.84 [[ 9.98934455e-01 4.61514118e-02 -3.92138003e-05 6.61398427e+02] [-4.61514117e-02 9.98934456e-01 4.47961977e-06 -4.81428345e+01] [ 3.93787571e-05 -2.66507430e-06 9.99999999e-01 1.83802921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3307140569999 meters Centerline goodness [0,1] 0.9762554758428036 Centerline is valid? [True, True] Translation: X:661.43, Y:-48.14, Z:1.84 [[ 9.98955646e-01 4.56870532e-02 5.56891286e-04 6.61427297e+02] [-4.56870288e-02 9.98955801e-01 -5.64447399e-05 -4.81432346e+01] [-5.58888575e-04 3.09430834e-05 9.99999843e-01 1.83762186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3607140569999 meters Centerline goodness [0,1] 0.977164887307236 Centerline is valid? [True, True] Translation: X:661.46, Y:-48.14, Z:1.84 [[ 9.98958407e-01 4.56296555e-02 -1.87604015e-04 6.61455706e+02] [-4.56296527e-02 9.98958425e-01 1.93989023e-05 -4.81448127e+01] [ 1.88293776e-04 -1.08183905e-05 9.99999982e-01 1.83751505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.390714057 meters Centerline goodness [0,1] 0.976638092004753 Centerline is valid? [True, True] Translation: X:661.48, Y:-48.15, Z:1.84 [[ 9.98950235e-01 4.57956604e-02 -1.08866121e-03 6.61483403e+02] [-4.57955665e-02 9.98950826e-01 1.11108999e-04 -4.81496520e+01] [ 1.09260733e-03 -6.11365039e-05 9.99999401e-01 1.83657974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4207140569999 meters Centerline goodness [0,1] 0.9766954533909068 Centerline is valid? [True, True] Translation: X:661.51, Y:-48.15, Z:1.84 [[ 9.98938963e-01 4.60266736e-02 -1.57914700e-03 6.61512510e+02] [-4.60264767e-02 9.98940207e-01 1.60809797e-04 -4.81518437e+01] [ 1.58487497e-03 -8.79565993e-05 9.99998740e-01 1.83573925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4507140569999 meters Centerline goodness [0,1] 0.9771152501430297 Centerline is valid? [True, True] Translation: X:661.54, Y:-48.16, Z:1.84 [[ 9.98928373e-01 4.62329531e-02 -2.14927403e-03 6.61540155e+02] [-4.62325894e-02 9.98930678e-01 2.18638061e-04 -4.81557092e+01] [ 2.15708405e-03 -1.19037259e-04 9.99997666e-01 1.83525472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4807140569999 meters Centerline goodness [0,1] 0.9770056533062313 Centerline is valid? [True, True] Translation: X:661.57, Y:-48.16, Z:1.83 [[ 9.98891388e-01 4.70433811e-02 -1.70742150e-03 6.61568859e+02] [-4.70431530e-02 9.98892843e-01 1.73569957e-04 -4.81570734e+01] [ 1.71369643e-03 -9.30550447e-05 9.99998527e-01 1.83441518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.510714057 meters Centerline goodness [0,1] 0.9765304829101357 Centerline is valid? [True, True] Translation: X:661.60, Y:-48.16, Z:1.83 [[ 9.98858462e-01 4.77154833e-02 -2.23725613e-03 6.61596619e+02] [-4.77150938e-02 9.98860960e-01 2.27208303e-04 -4.81600671e+01] [ 2.24554916e-03 -1.20198050e-04 9.99997472e-01 1.83437190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.540714057 meters Centerline goodness [0,1] 0.976264146145043 Centerline is valid? [True, True] Translation: X:661.62, Y:-48.17, Z:1.83 [[ 9.98794278e-01 4.90280142e-02 -2.49874056e-03 6.61623590e+02] [-4.90275330e-02 9.98797395e-01 2.53493885e-04 -4.81660839e+01] [ 2.50816386e-03 -1.30681156e-04 9.99996846e-01 1.83477939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5707140569999 meters Centerline goodness [0,1] 0.9778501766485435 Centerline is valid? [True, True] Translation: X:661.65, Y:-48.16, Z:1.83 [[ 9.98762552e-01 4.96651132e-02 -2.59652691e-03 6.61653204e+02] [-4.96645965e-02 9.98765918e-01 2.63142847e-04 -4.81634818e+01] [ 2.60639160e-03 -1.33861760e-04 9.99996594e-01 1.83483285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6007140569999 meters Centerline goodness [0,1] 0.9778187364942164 Centerline is valid? [True, True] Translation: X:661.68, Y:-48.17, Z:1.84 [[ 9.98753623e-01 4.98535868e-02 -2.41254546e-03 6.61680770e+02] [-4.98531414e-02 9.98756529e-01 2.44429962e-04 -4.81676662e+01] [ 2.42173124e-03 -1.23852341e-04 9.99997060e-01 1.83512253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.630714057 meters Centerline goodness [0,1] 0.9783609478753421 Centerline is valid? [True, True] Translation: X:661.71, Y:-48.17, Z:1.84 [[ 9.98729825e-01 5.03433143e-02 -2.07067622e-03 6.61709417e+02] [-5.03429878e-02 9.98731966e-01 2.09503892e-04 -4.81668286e+01] [ 2.07859765e-03 -1.04993758e-04 9.99997834e-01 1.83545566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.660714057 meters Centerline goodness [0,1] 0.9780205818828611 Centerline is valid? [True, True] Translation: X:661.74, Y:-48.17, Z:1.84 [[ 9.98681947e-01 5.12929205e-02 -1.84533364e-03 6.61736515e+02] [-5.12926630e-02 9.98683648e-01 1.86640008e-04 -4.81731313e+01] [ 1.85247784e-03 -9.17419299e-05 9.99998280e-01 1.83613325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6907140569999 meters Centerline goodness [0,1] 0.9775221276505424 Centerline is valid? [True, True] Translation: X:661.77, Y:-48.17, Z:1.84 [[ 9.98708239e-01 5.07889551e-02 -1.52847493e-03 6.61765618e+02] [-5.07887781e-02 9.98709405e-01 1.54467947e-04 -4.81729659e+01] [ 1.53434755e-03 -7.66390377e-05 9.99998820e-01 1.83533692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7207140569999 meters Centerline goodness [0,1] 0.9764043039905109 Centerline is valid? [True, True] Translation: X:661.79, Y:-48.18, Z:1.84 [[ 9.98764197e-01 4.96827611e-02 -1.30486185e-03 6.61792654e+02] [-4.96826311e-02 9.98765047e-01 1.31865684e-04 -4.81786174e+01] [ 1.30980185e-03 -6.68737540e-05 9.99999140e-01 1.83546546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.750714057 meters Centerline goodness [0,1] 0.977096808397837 Centerline is valid? [True, True] Translation: X:661.82, Y:-48.18, Z:1.84 [[ 9.98814659e-01 4.86665007e-02 -9.20717646e-04 6.61821386e+02] [-4.86664356e-02 9.98815083e-01 9.30136088e-05 -4.81808373e+01] [ 9.24153319e-04 -4.80953100e-05 9.99999572e-01 1.83588084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.780714057 meters Centerline goodness [0,1] 0.9771410446183125 Centerline is valid? [True, True] Translation: X:661.85, Y:-48.18, Z:1.84 [[ 9.98854546e-01 4.78463115e-02 -5.72192663e-04 6.61850044e+02] [-4.78462862e-02 9.98854709e-01 5.78723722e-05 -4.81843302e+01] [ 5.74306315e-04 -3.04287882e-05 9.99999835e-01 1.83587866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8107140569999 meters Centerline goodness [0,1] 0.9753732133403917 Centerline is valid? [True, True] Translation: X:661.88, Y:-48.19, Z:1.84 [[ 9.98925761e-01 4.63278330e-02 -1.02802640e-03 6.61877559e+02] [-4.63277507e-02 9.98926288e-01 1.03822081e-04 -4.81889339e+01] [ 1.03173245e-03 -5.60844003e-05 9.99999466e-01 1.83622969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8407140569999 meters Centerline goodness [0,1] 0.9766162310866575 Centerline is valid? [True, True] Translation: X:661.91, Y:-48.19, Z:1.84 [[ 9.98953387e-01 4.57177582e-02 -1.42035111e-03 6.61906270e+02] [-4.57176010e-02 9.98954394e-01 1.42959556e-04 -4.81874534e+01] [ 1.42540177e-03 -7.78748876e-05 9.99998981e-01 1.83581404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.870714057 meters Centerline goodness [0,1] 0.9768343038644786 Centerline is valid? [True, True] Translation: X:661.93, Y:-48.19, Z:1.84 [[ 9.98972906e-01 4.52820328e-02 -1.63396340e-03 6.61934258e+02] [-4.52818244e-02 9.98974239e-01 1.64338394e-04 -4.81915552e+01] [ 1.63972892e-03 -9.01807595e-05 9.99998652e-01 1.83608582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.900714057 meters Centerline goodness [0,1] 0.9773845892735913 Centerline is valid? [True, True] Translation: X:661.96, Y:-48.19, Z:1.84 [[ 9.99010709e-01 4.44541485e-02 -1.19642673e-03 6.61962537e+02] [-4.44540362e-02 9.99011423e-01 1.20321889e-04 -4.81938042e+01] [ 1.20059277e-03 -6.70168591e-05 9.99999277e-01 1.83667789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9307140569999 meters Centerline goodness [0,1] 0.9759683526898099 Centerline is valid? [True, True] Translation: X:661.99, Y:-48.20, Z:1.84 [[ 9.99045785e-01 4.36661898e-02 -8.85522718e-04 6.61991232e+02] [-4.36661280e-02 9.99046176e-01 8.90142979e-05 -4.81954603e+01] [ 8.88565000e-04 -5.02620108e-05 9.99999604e-01 1.83692532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9607140569999 meters Centerline goodness [0,1] 0.9761697981317121 Centerline is valid? [True, True] Translation: X:662.02, Y:-48.20, Z:1.84 [[ 9.99052767e-01 4.35026816e-02 -1.04178567e-03 6.62017894e+02] [-4.35025960e-02 9.99053308e-01 1.04754894e-04 -4.81992320e+01] [ 1.04535654e-03 -5.93352852e-05 9.99999452e-01 1.83748259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.990714057 meters Centerline goodness [0,1] 0.9761697981317121 Centerline is valid? [True, True] Translation: X:662.05, Y:-48.20, Z:1.84 [[ 9.99057389e-01 4.33964138e-02 -1.04180427e-03 6.62045283e+02] [-4.33963283e-02 9.99057930e-01 1.04569150e-04 -4.82018810e+01] [ 1.04536075e-03 -5.92601021e-05 9.99999452e-01 1.83759458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.020714057 meters Centerline goodness [0,1] 0.9751084770875225 Centerline is valid? [True, True] Translation: X:662.07, Y:-48.20, Z:1.84 [[ 9.99036275e-01 4.38861643e-02 -7.25100587e-04 6.62072788e+02] [-4.38861230e-02 9.99036537e-01 7.27731242e-05 -4.82044441e+01] [ 7.27595713e-04 -4.08811374e-05 9.99999734e-01 1.83703461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0507140569999 meters Centerline goodness [0,1] 0.975165668071052 Centerline is valid? [True, True] Translation: X:662.10, Y:-48.21, Z:1.84 [[ 9.99022793e-01 4.41907287e-02 -7.99216709e-04 6.62101172e+02] [-4.41906788e-02 9.99023112e-01 8.00442960e-05 -4.82072353e+01] [ 8.01973179e-04 -4.46481473e-05 9.99999677e-01 1.83673356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0807140569999 meters Centerline goodness [0,1] 0.9770143975751452 Centerline is valid? [True, True] Translation: X:662.13, Y:-48.21, Z:1.84 [[ 9.98975672e-01 4.52344810e-02 -1.20353309e-03 6.62130062e+02] [-4.52343688e-02 9.98976395e-01 1.20313956e-04 -4.82062371e+01] [ 1.20774349e-03 -6.57496548e-05 9.99999269e-01 1.83617025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1107140569999 meters Centerline goodness [0,1] 0.9771687563537784 Centerline is valid? [True, True] Translation: X:662.16, Y:-48.21, Z:1.84 [[ 9.98931178e-01 4.62136555e-02 -8.94667169e-04 6.62158876e+02] [-4.62135938e-02 9.98931577e-01 8.94470396e-05 -4.82084346e+01] [ 8.97844961e-04 -4.80056515e-05 9.99999596e-01 1.83596967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.140714057 meters Centerline goodness [0,1] 0.9772265062282858 Centerline is valid? [True, True] Translation: X:662.19, Y:-48.21, Z:1.84 [[ 9.98878001e-01 4.73464671e-02 -1.02553330e-03 6.62187460e+02] [-4.73463868e-02 9.98878526e-01 1.02413857e-04 -4.82097298e+01] [ 1.02923213e-03 -5.37436524e-05 9.99999469e-01 1.83573182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1707140569999 meters Centerline goodness [0,1] 0.9794142614601019 Centerline is valid? [True, True] Translation: X:662.22, Y:-48.21, Z:1.84 [[ 9.98723494e-01 5.04952033e-02 -1.27184504e-03 6.62217720e+02] [-5.04950827e-02 9.98724302e-01 1.26753650e-04 -4.82067517e+01] [ 1.27662301e-03 -6.23699273e-05 9.99999183e-01 1.83573069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2007140569999 meters Centerline goodness [0,1] 0.9800992913820172 Centerline is valid? [True, True] Translation: X:662.25, Y:-48.21, Z:1.84 [[ 9.98650141e-01 5.19238479e-02 -1.34511659e-03 6.62246371e+02] [-5.19237143e-02 9.98651045e-01 1.34096419e-04 -4.82085398e+01] [ 1.35026489e-03 -6.40719584e-05 9.99999086e-01 1.83568383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2307140569999 meters Centerline goodness [0,1] 0.9789201340289265 Centerline is valid? [True, True] Translation: X:662.27, Y:-48.21, Z:1.84 [[ 9.98564952e-01 5.35357395e-02 -1.40070171e-03 6.62273622e+02] [-5.35355963e-02 9.98565932e-01 1.39568825e-04 -4.82118658e+01] [ 1.40616493e-03 -6.43811362e-05 9.99999009e-01 1.83594627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.260714057 meters Centerline goodness [0,1] 0.9810928381962865 Centerline is valid? [True, True] Translation: X:662.30, Y:-48.21, Z:1.84 [[ 9.98363267e-01 5.71900793e-02 2.87957827e-04 6.62303195e+02] [-5.71900735e-02 9.98363308e-01 -2.84587475e-05 -4.82115075e+01] [-2.89114087e-04 1.19438388e-05 9.99999958e-01 1.83666620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.290714057 meters Centerline goodness [0,1] 0.9805468932306582 Centerline is valid? [True, True] Translation: X:662.33, Y:-48.21, Z:1.84 [[ 9.98241936e-01 5.92648116e-02 8.47743980e-04 6.62331942e+02] [-5.92647617e-02 9.98242296e-01 -8.38556357e-05 -4.82124375e+01] [-8.51223586e-04 3.34668672e-05 9.99999637e-01 1.83668296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3207140569999 meters Centerline goodness [0,1] 0.9815192022066624 Centerline is valid? [True, True] Translation: X:662.36, Y:-48.22, Z:1.84 [[ 9.98131067e-01 6.11010146e-02 1.01926312e-03 6.62360104e+02] [-6.11009435e-02 9.98131587e-01 -1.00810138e-04 -4.82159105e+01] [-1.02351832e-03 3.83437919e-05 9.99999475e-01 1.83711959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3507140569999 meters Centerline goodness [0,1] 0.9805065331749533 Centerline is valid? [True, True] Translation: X:662.39, Y:-48.22, Z:1.84 [[ 9.97992785e-01 6.33260176e-02 4.65626713e-04 6.62389393e+02] [-6.33260031e-02 9.97992893e-01 -4.59465286e-05 -4.82178201e+01] [-4.67601762e-04 1.63680253e-05 9.99999891e-01 1.83711965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.380714057 meters Centerline goodness [0,1] 0.980205590009345 Centerline is valid? [True, True] Translation: X:662.42, Y:-48.22, Z:1.84 [[ 9.97694903e-01 6.78591221e-02 1.39522988e-04 6.62418486e+02] [-6.78591208e-02 9.97694913e-01 -1.36846508e-05 -4.82223071e+01] [-1.40130004e-04 4.18519904e-06 9.99999990e-01 1.83689390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.410714057 meters Centerline goodness [0,1] 0.9823697889042113 Centerline is valid? [True, True] Translation: X:662.45, Y:-48.22, Z:1.84 [[ 9.97537480e-01 7.01353885e-02 -6.00049655e-05 6.62447581e+02] [-7.01353883e-02 9.97537482e-01 6.23528977e-06 -4.82195042e+01] [ 6.02945167e-05 -2.01146369e-06 9.99999998e-01 1.83580399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4407140569999 meters Centerline goodness [0,1] 0.9837156402134399 Centerline is valid? [True, True] Translation: X:662.48, Y:-48.22, Z:1.84 [[ 9.97179354e-01 7.50540608e-02 4.72269212e-04 6.62476098e+02] [-7.50540472e-02 9.97179466e-01 -4.65274951e-05 -4.82235290e+01] [-4.74429239e-04 1.09505418e-05 9.99999887e-01 1.83649432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4707140569999 meters Centerline goodness [0,1] 0.9834689671291673 Centerline is valid? [True, True] Translation: X:662.51, Y:-48.23, Z:1.84 [[ 9.97000824e-01 7.73876673e-02 7.11172890e-04 6.62505449e+02] [-7.73876372e-02 9.97001078e-01 -6.97648188e-05 -4.82251947e+01] [-7.14439074e-04 1.45195923e-05 9.99999745e-01 1.83655056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.500714057 meters Centerline goodness [0,1] 0.9836326582600943 Centerline is valid? [True, True] Translation: X:662.53, Y:-48.23, Z:1.84 [[ 9.96842656e-01 7.93975764e-02 8.63045018e-04 6.62534484e+02] [-7.93975333e-02 9.96843029e-01 -8.41516175e-05 -4.82283512e+01] [-8.67001844e-04 1.53622763e-05 9.99999624e-01 1.83649705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.530714057 meters Centerline goodness [0,1] 0.9837689892217601 Centerline is valid? [True, True] Translation: X:662.56, Y:-48.23, Z:1.84 [[ 9.96678759e-01 8.14244632e-02 1.22773788e-03 6.62561994e+02] [-8.14243767e-02 9.96679515e-01 -1.20367885e-04 -4.82327444e+01] [-1.23346209e-03 2.00003225e-05 9.99999239e-01 1.83700829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5607140569999 meters Centerline goodness [0,1] 0.9836531326195272 Centerline is valid? [True, True] Translation: X:662.59, Y:-48.24, Z:1.84 [[ 9.96390407e-01 8.48702445e-02 1.78825105e-03 6.62590552e+02] [-8.48700659e-02 9.96392012e-01 -1.75693153e-04 -4.82373411e+01] [-1.79671019e-03 2.32899873e-05 9.99998386e-01 1.83752813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5907140569999 meters Centerline goodness [0,1] 0.9833425168482177 Centerline is valid? [True, True] Translation: X:662.62, Y:-48.24, Z:1.84 [[ 9.96275729e-01 8.61910568e-02 2.40268524e-03 6.62619184e+02] [-8.61907383e-02 9.96278626e-01 -2.35989751e-04 -4.82420916e+01] [-2.41408415e-03 2.80216463e-05 9.99997086e-01 1.83769201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.620714057 meters Centerline goodness [0,1] 0.9835058968006944 Centerline is valid? [True, True] Translation: X:662.65, Y:-48.25, Z:1.84 [[ 9.96131047e-01 8.78325813e-02 2.89392946e-03 6.62647113e+02] [-8.78321266e-02 9.96135250e-01 -2.84082976e-04 -4.82499689e+01] [-2.90769689e-03 2.88038939e-05 9.99995772e-01 1.83715137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.650714057 meters Centerline goodness [0,1] 0.9843160402217678 Centerline is valid? [True, True] Translation: X:662.68, Y:-48.26, Z:1.84 [[ 9.96087371e-01 8.83290551e-02 2.81551420e-03 6.62675534e+02] [-8.83286273e-02 9.96091350e-01 -2.76175059e-04 -4.82559408e+01] [-2.82890362e-03 2.64039841e-05 9.99995998e-01 1.83678874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6807140569999 meters Centerline goodness [0,1] 0.9840426657636876 Centerline is valid? [True, True] Translation: X:662.70, Y:-48.26, Z:1.84 [[ 9.96098876e-01 8.82040597e-02 2.65944957e-03 6.62703134e+02] [-8.82036788e-02 9.96102426e-01 -2.60411409e-04 -4.82620877e+01] [-2.67205351e-03 2.48222761e-05 9.99996430e-01 1.83652847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7107140569999 meters Centerline goodness [0,1] 0.9831072541915915 Centerline is valid? [True, True] Translation: X:662.73, Y:-48.27, Z:1.84 [[ 9.96139843e-01 8.77435430e-02 2.54618252e-03 6.62730998e+02] [-8.77431931e-02 9.96143097e-01 -2.49022591e-04 -4.82683180e+01] [-2.55821227e-03 2.46511402e-05 9.99996727e-01 1.83625742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.740714057 meters Centerline goodness [0,1] 0.9820700724377521 Centerline is valid? [True, True] Translation: X:662.76, Y:-48.28, Z:1.84 [[ 9.96213451e-01 8.69114028e-02 2.27333062e-03 6.62758115e+02] [-8.69111221e-02 9.96216045e-01 -2.22160737e-04 -4.82791296e+01] [-2.28403673e-03 2.37417995e-05 9.99997391e-01 1.83645669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.770714057 meters Centerline goodness [0,1] 0.9822952759232655 Centerline is valid? [True, True] Translation: X:662.79, Y:-48.29, Z:1.84 [[ 9.96238052e-01 8.66271616e-02 2.34077115e-03 6.62786332e+02] [-8.66268634e-02 9.96240801e-01 -2.28669587e-04 -4.82856683e+01] [-2.35178073e-03 2.50356808e-05 9.99997234e-01 1.83651477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8007140569999 meters Centerline goodness [0,1] 0.9801656034810527 Centerline is valid? [True, True] Translation: X:662.81, Y:-48.30, Z:1.84 [[ 9.96215967e-01 8.68736813e-02 2.59061613e-03 6.62811866e+02] [-8.68733183e-02 9.96219335e-01 -2.52571013e-04 -4.82972961e+01] [-2.60276365e-03 2.65598568e-05 9.99996612e-01 1.83752497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8307140569999 meters Centerline goodness [0,1] 0.9832511692579952 Centerline is valid? [True, True] Translation: X:662.84, Y:-48.30, Z:1.84 [[ 9.96132714e-01 8.77941602e-02 3.43522338e-03 6.62840737e+02] [-8.77935268e-02 9.96138637e-01 -3.35041851e-04 -4.83030182e+01] [-3.45137345e-03 3.21557725e-05 9.99994043e-01 1.83745100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8607140569999 meters Centerline goodness [0,1] 0.9830533358501646 Centerline is valid? [True, True] Translation: X:662.87, Y:-48.31, Z:1.84 [[ 9.96006598e-01 8.92150534e-02 3.39559121e-03 6.62868668e+02] [-8.92144436e-02 9.96012386e-01 -3.30926916e-04 -4.83093718e+01] [-3.41157457e-03 2.66696114e-05 9.99994180e-01 1.83822205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.890714057 meters Centerline goodness [0,1] 0.9841500378883556 Centerline is valid? [True, True] Translation: X:662.90, Y:-48.32, Z:1.84 [[ 9.95587038e-01 9.37802217e-02 3.42350314e-03 6.62896266e+02] [-9.37796297e-02 9.95592924e-01 -3.33400112e-04 -4.83192496e+01] [-3.43968183e-03 1.08739734e-05 9.99994084e-01 1.83940847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9207140569999 meters Centerline goodness [0,1] 0.9845553363830948 Centerline is valid? [True, True] Translation: X:662.92, Y:-48.33, Z:1.84 [[ 9.95342048e-01 9.63522520e-02 3.23288023e-03 6.62924482e+02] [-9.63517384e-02 9.95347298e-01 -3.14587556e-04 -4.83250577e+01] [-3.24814982e-03 1.62859192e-06 9.99994725e-01 1.83955290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9507140569999 meters Centerline goodness [0,1] 0.9858797067644118 Centerline is valid? [True, True] Translation: X:662.95, Y:-48.33, Z:1.84 [[ 9.95024498e-01 9.95942049e-02 2.69140463e-03 6.62951047e+02] [-9.95938637e-02 9.95028137e-01 -2.60822493e-04 -4.83307288e+01] [-2.70399975e-03 -8.52261669e-06 9.99996344e-01 1.83945052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9807140569999 meters Centerline goodness [0,1] 0.9874678327091658 Centerline is valid? [True, True] Translation: X:662.98, Y:-48.34, Z:1.84 [[ 9.94442555e-01 1.05263798e-01 1.88078225e-03 6.62979350e+02] [-1.05263642e-01 9.94444334e-01 -1.82397424e-04 -4.83409646e+01] [-1.88953310e-03 -1.65942282e-05 9.99998215e-01 1.83942853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.010714057 meters Centerline goodness [0,1] 0.9881178607972936 Centerline is valid? [True, True] Translation: X:663.01, Y:-48.35, Z:1.84 [[ 9.94195503e-01 1.07584550e-01 9.30892322e-04 6.63007428e+02] [-1.07584512e-01 9.94195939e-01 -9.00616987e-05 -4.83483793e+01] [-9.35178613e-04 -1.06106607e-05 9.99999563e-01 1.83951184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.040714057 meters Centerline goodness [0,1] 0.9896574014221073 Centerline is valid? [True, True] Translation: X:663.04, Y:-48.36, Z:1.84 [[ 9.93825434e-01 1.10954571e-01 -3.00030019e-04 6.63035450e+02] [-1.10954567e-01 9.93825479e-01 2.93886900e-05 -4.83620554e+01] [ 3.01438287e-04 4.08247331e-06 9.99999955e-01 1.84043443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0707140569999 meters Centerline goodness [0,1] 0.9915370825864009 Centerline is valid? [True, True] Translation: X:663.06, Y:-48.37, Z:1.84 [[ 9.93832172e-01 1.10893602e-01 -4.72465158e-04 6.63061291e+02] [-1.10893593e-01 9.93832284e-01 4.64979356e-05 -4.83706246e+01] [ 4.74707451e-04 6.18221464e-06 9.99999887e-01 1.84148085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1007140569999 meters Centerline goodness [0,1] 0.9923890151594137 Centerline is valid? [True, True] Translation: X:663.09, Y:-48.38, Z:1.84 [[ 9.93909528e-01 1.10198732e-01 2.99048682e-04 6.63089603e+02] [-1.10198728e-01 9.93909573e-01 -2.86432086e-05 -4.83804908e+01] [-3.00383794e-04 -4.48602642e-06 9.99999955e-01 1.84273326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.130714057 meters Centerline goodness [0,1] 0.9923788786064235 Centerline is valid? [True, True] Translation: X:663.12, Y:-48.39, Z:1.84 [[ 9.94011766e-01 1.09272867e-01 2.21575805e-04 6.63117150e+02] [-1.09272865e-01 9.94011791e-01 -2.11315827e-05 -4.83907458e+01] [-2.22558071e-04 -3.20718111e-06 9.99999975e-01 1.84419340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.160714057 meters Centerline goodness [0,1] 0.9934872581356751 Centerline is valid? [True, True] Translation: X:663.14, Y:-48.41, Z:1.85 [[ 9.94197383e-01 1.07571168e-01 8.80499029e-05 6.63144621e+02] [-1.07571168e-01 9.94197387e-01 -8.20876984e-06 -4.84089399e+01] [-8.84220103e-05 -1.31049340e-06 9.99999996e-01 1.84608448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1907140569999 meters Centerline goodness [0,1] 0.9947549890293595 Centerline is valid? [True, True] Translation: X:663.17, Y:-48.42, Z:1.85 [[ 9.94269840e-01 1.06899138e-01 -2.44598356e-04 6.63172173e+02] [-1.06899136e-01 9.94269870e-01 2.39682917e-05 -4.84169122e+01] [ 2.45758966e-04 2.31640324e-06 9.99999970e-01 1.84697839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2207140569999 meters Centerline goodness [0,1] 0.9961321785924493 Centerline is valid? [True, True] Translation: X:663.20, Y:-48.43, Z:1.85 [[ 9.94312940e-01 1.06493250e-01 -9.82184903e-04 6.63200018e+02] [-1.06493208e-01 9.94313425e-01 9.49925289e-05 -4.84326173e+01] [ 9.86715698e-04 1.01437204e-05 9.99999513e-01 1.84749146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.250714057 meters Centerline goodness [0,1] 0.9963241472021509 Centerline is valid? [True, True] Translation: X:663.23, Y:-48.44, Z:1.85 [[ 9.94272178e-01 1.06868404e-01 -1.40697458e-03 6.63228209e+02] [-1.06868319e-01 9.94273174e-01 1.35856859e-04 -4.84415993e+01] [ 1.41343589e-03 1.52823123e-05 9.99999001e-01 1.84755069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.280714057 meters Centerline goodness [0,1] 0.9978560618799395 Centerline is valid? [True, True] Translation: X:663.25, Y:-48.46, Z:1.85 [[ 9.94094016e-01 1.08520957e-01 -5.37687117e-04 6.63254713e+02] [-1.08520945e-01 9.94094161e-01 5.21181267e-05 -4.84554283e+01] [ 5.40167533e-04 6.53999595e-06 9.99999854e-01 1.84967535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3107140569999 meters Centerline goodness [0,1] 0.9982403954920608 Centerline is valid? [True, True] Translation: X:663.28, Y:-48.46, Z:1.85 [[ 9.94002240e-01 1.09359572e-01 -1.74003963e-04 6.63283138e+02] [-1.09359570e-01 9.94002256e-01 1.70229516e-05 -4.84640070e+01] [ 1.74821955e-04 2.10814668e-06 9.99999985e-01 1.85109694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3407140569999 meters Centerline goodness [0,1] 0.9983396733990458 Centerline is valid? [True, True] Translation: X:663.31, Y:-48.47, Z:1.85 [[ 9.93908185e-01 1.10211255e-01 1.16081353e-05 6.63310837e+02] [-1.10211255e-01 9.93908185e-01 -8.22210703e-07 -4.84731588e+01] [-1.16280376e-05 -4.62145213e-07 1.00000000e+00 1.85204547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.370714057 meters Centerline goodness [0,1] 0.9987607645452636 Centerline is valid? [True, True] Translation: X:663.34, Y:-48.49, Z:1.85 [[ 9.93775819e-01 1.11398464e-01 6.37572361e-05 6.63337511e+02] [-1.11398464e-01 9.93775821e-01 -5.75935667e-06 -4.84865162e+01] [-6.40019832e-05 -1.37894876e-06 9.99999998e-01 1.85323085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.400714057 meters Centerline goodness [0,1] 0.998949888688201 Centerline is valid? [True, True] Translation: X:663.37, Y:-48.50, Z:1.85 [[ 9.93760955e-01 1.11530253e-01 4.07556276e-04 6.63366101e+02] [-1.11530246e-01 9.93761039e-01 -3.88184106e-05 -4.84951236e+01] [-4.09342976e-04 -6.87863098e-06 9.99999916e-01 1.85400274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4307140569999 meters Centerline goodness [0,1] 0.9988449503328644 Centerline is valid? [True, True] Translation: X:663.39, Y:-48.50, Z:1.85 [[ 9.93788006e-01 1.11288148e-01 5.88634275e-04 6.63393748e+02] [-1.11288134e-01 9.93788181e-01 -5.61504101e-05 -4.85036266e+01] [-5.91226661e-04 -9.70640620e-06 9.99999825e-01 1.85454851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4607140569999 meters Centerline goodness [0,1] 0.9990977001846567 Centerline is valid? [True, True] Translation: X:663.42, Y:-48.51, Z:1.85 [[ 9.93865671e-01 1.10590535e-01 8.72232973e-04 6.63421876e+02] [-1.10590505e-01 9.93866054e-01 -8.32792802e-05 -4.85122606e+01] [-8.76092643e-04 -1.36922668e-05 9.99999616e-01 1.85471020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.490714057 meters Centerline goodness [0,1] 0.9994798818291516 Centerline is valid? [True, True] Translation: X:663.45, Y:-48.53, Z:1.86 [[ 9.94055368e-01 1.08875626e-01 -1.53823370e-04 6.63449062e+02] [-1.08875625e-01 9.94055380e-01 1.49513302e-05 -4.85271378e+01] [ 1.54536784e-04 1.88516554e-06 9.99999988e-01 1.85553929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.520714057 meters Centerline goodness [0,1] 0.9996037291175673 Centerline is valid? [True, True] Translation: X:663.48, Y:-48.54, Z:1.86 [[ 9.94197506e-01 1.07569820e-01 -2.30734212e-04 6.63478118e+02] [-1.07569818e-01 9.94197533e-01 2.22329955e-05 -4.85361539e+01] [ 2.31786984e-04 2.71604859e-06 9.99999973e-01 1.85585731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5507140569999 meters Centerline goodness [0,1] 0.9999167984025293 Centerline is valid? [True, True] Translation: X:663.51, Y:-48.55, Z:1.86 [[ 9.94521173e-01 1.04531843e-01 -8.54733731e-04 6.63507213e+02] [-1.04531811e-01 9.94521540e-01 8.18206881e-05 -4.85512786e+01] [ 8.58603974e-04 7.97445837e-06 9.99999631e-01 1.85569191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5807140569999 meters Centerline goodness [0,1] 0.9999581764951903 Centerline is valid? [True, True] Translation: X:663.54, Y:-48.56, Z:1.86 [[ 9.94773689e-01 1.02099568e-01 -9.92551633e-04 6.63536422e+02] [-1.02099524e-01 9.94774185e-01 9.50683719e-05 -4.85600987e+01] [ 9.97071181e-04 6.76753394e-06 9.99999503e-01 1.85605253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6107140569999 meters Centerline goodness [0,1] 0.999791571136771 Centerline is valid? [True, True] Translation: X:663.57, Y:-48.57, Z:1.86 [[ 9.95016218e-01 9.97033180e-02 -1.40525751e-03 6.63566806e+02] [-9.97032276e-02 9.95017210e-01 1.34400760e-04 -4.85693804e+01] [ 1.41165561e-03 6.37777310e-06 9.99999004e-01 1.85590578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.640714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.60, Y:-48.59, Z:1.86 [[ 9.95496511e-01 9.47943270e-02 -8.55619714e-04 6.63596601e+02] [-9.47942922e-02 9.95496879e-01 8.11786340e-05 -4.85850151e+01] [ 8.59462029e-04 2.94818299e-07 9.99999631e-01 1.85673857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.63, Y:-48.59, Z:1.86 [[ 9.95731277e-01 9.22992206e-02 -2.78704041e-04 6.63628511e+02] [-9.22992170e-02 9.95731316e-01 2.58032445e-05 -4.85939064e+01] [ 2.79895961e-04 3.10671450e-08 9.99999961e-01 1.85780198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.66, Y:-48.60, Z:1.86 [[ 9.95975145e-01 8.96290718e-02 3.74518586e-04 6.63660237e+02] [-8.96290642e-02 9.95975215e-01 -3.71458917e-05 -4.86023722e+01] [-3.76340581e-04 3.42863449e-06 9.99999929e-01 1.85856622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.69, Y:-48.61, Z:1.86 [[ 9.96312643e-01 8.57824662e-02 1.57677722e-03 6.63691445e+02] [-8.57823306e-02 9.96313890e-01 -1.53534646e-04 -4.86144816e+01] [-1.58413563e-03 1.77088843e-05 9.99998745e-01 1.85965769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.760714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.72, Y:-48.62, Z:1.86 [[ 9.96441121e-01 8.42672840e-02 2.02923872e-03 6.63722703e+02] [-8.42670559e-02 9.96443187e-01 -1.97816846e-04 -4.86213055e+01] [-2.03869059e-03 2.61148672e-05 9.99997922e-01 1.85998937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.790714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.75, Y:-48.63, Z:1.86 [[ 9.96536609e-01 8.31261631e-02 2.19709256e-03 6.63753030e+02] [-8.31258921e-02 9.96539031e-01 -2.14525923e-04 -4.86281630e+01] [-2.20732121e-03 3.11476570e-05 9.99997563e-01 1.86028928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.78, Y:-48.64, Z:1.86 [[ 9.96631694e-01 8.19868999e-02 1.84773992e-03 6.63783450e+02] [-8.19867053e-02 9.96633407e-01 -1.80966278e-04 -4.86358792e+01] [-1.85635619e-03 2.88666202e-05 9.99998277e-01 1.86056041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.82, Y:-48.64, Z:1.86 [[ 9.96852100e-01 7.92485344e-02 2.35803401e-03 6.63815287e+02] [-7.92482087e-02 9.96854888e-01 -2.31405066e-04 -4.86413657e+01] [-2.36895624e-03 4.38066547e-05 9.99997193e-01 1.85991205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.880714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.85, Y:-48.64, Z:1.86 [[ 9.96829097e-01 7.95373561e-02 2.35795251e-03 6.63847632e+02] [-7.95370292e-02 9.96831885e-01 -2.32236441e-04 -4.86445773e+01] [-2.36895372e-03 4.39555041e-05 9.99997193e-01 1.86004429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.910714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.88, Y:-48.65, Z:1.86 [[ 9.96935548e-01 7.81859936e-02 2.54228658e-03 6.63877928e+02] [-7.81856085e-02 9.96938788e-01 -2.50666940e-04 -4.86507170e+01] [-2.55410275e-03 5.11285598e-05 9.99996737e-01 1.86039559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9407140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.91, Y:-48.66, Z:1.86 [[ 9.97186023e-01 7.49285391e-02 2.39775999e-03 6.63908946e+02] [-7.49281857e-02 9.97188904e-01 -2.37007352e-04 -4.86590553e+01] [-2.40877827e-03 5.66806128e-05 9.99997097e-01 1.85973181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.94, Y:-48.66, Z:1.86 [[ 9.97313351e-01 7.32187432e-02 2.25754398e-03 6.63940528e+02] [-7.32184240e-02 9.97315904e-01 -2.23838938e-04 -4.86649056e+01] [-2.26787372e-03 5.79437490e-05 9.99997427e-01 1.85940761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.000714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:663.97, Y:-48.67, Z:1.86 [[ 9.97460925e-01 7.11823470e-02 2.18556007e-03 6.63972653e+02] [-7.11820416e-02 9.97463317e-01 -2.17279814e-04 -4.86707753e+01] [-2.19548249e-03 6.11554963e-05 9.99997588e-01 1.85949426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.030714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.00, Y:-48.68, Z:1.86 [[ 9.97829124e-01 6.58177618e-02 2.24991284e-03 6.64001779e+02] [-6.58174270e-02 9.97831658e-01 -2.22638116e-04 -4.86791393e+01] [-2.25968780e-03 7.40713218e-05 9.99997444e-01 1.85914632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.03, Y:-48.68, Z:1.86 [[ 9.98003582e-01 6.31098628e-02 2.44871788e-03 6.64033693e+02] [-6.31094569e-02 9.98006582e-01 -2.42769049e-04 -4.86849090e+01] [-2.45915768e-03 8.77471253e-05 9.99996972e-01 1.85912006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0907140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.07, Y:-48.69, Z:1.86 [[ 9.98181883e-01 6.02451844e-02 1.85661524e-03 6.64065864e+02] [-6.02449457e-02 9.98183607e-01 -1.84270620e-04 -4.86896209e+01] [-1.86434431e-03 7.20839097e-05 9.99998260e-01 1.85892966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.120714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.10, Y:-48.70, Z:1.86 [[ 9.98321384e-01 5.79024632e-02 1.31073702e-03 6.64096285e+02] [-5.79023409e-02 9.98322243e-01 -1.31106930e-04 -4.87003312e+01] [-1.31612934e-03 5.49921102e-05 9.99999132e-01 1.85951078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.150714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.13, Y:-48.70, Z:1.86 [[ 9.98592613e-01 5.30044234e-02 1.82340117e-03 6.64127351e+02] [-5.30041807e-02 9.98594274e-01 -1.81209531e-04 -4.86993674e+01] [-1.83044287e-03 8.43066144e-05 9.99998321e-01 1.85908376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.16, Y:-48.70, Z:1.86 [[ 9.98646711e-01 5.19527440e-02 2.37874460e-03 6.64157925e+02] [-5.19523247e-02 9.98649538e-01 -2.37779244e-04 -4.87041392e+01] [-2.38788548e-03 1.13876148e-04 9.99997143e-01 1.85972527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2107140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.19, Y:-48.70, Z:1.86 [[ 9.98665451e-01 5.15819803e-02 2.57232128e-03 6.64189767e+02] [-5.15814873e-02 9.98668756e-01 -2.57653847e-04 -4.87043767e+01] [-2.58218719e-03 1.24625838e-04 9.99996658e-01 1.85993202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.240714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.22, Y:-48.70, Z:1.86 [[ 9.98550519e-01 5.37794931e-02 2.15125651e-03 6.64221876e+02] [-5.37791544e-02 9.98552831e-01 -2.15026142e-04 -4.87035543e+01] [-2.15970727e-03 9.90217098e-05 9.99997663e-01 1.86029124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.270714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.25, Y:-48.70, Z:1.86 [[ 9.98410878e-01 5.63291219e-02 1.65817459e-03 6.64253962e+02] [-5.63289240e-02 9.98412252e-01 -1.65880408e-04 -4.87029551e+01] [-1.66488573e-03 7.22136131e-05 9.99998611e-01 1.86039925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.28, Y:-48.70, Z:1.86 [[ 9.98092498e-01 6.17241506e-02 1.22265985e-03 6.64284360e+02] [-6.17240472e-02 9.98093246e-01 -1.22152808e-04 -4.87037136e+01] [-1.22786832e-03 4.64522872e-05 9.99999245e-01 1.86147395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.32, Y:-48.70, Z:1.86 [[ 9.97926450e-01 6.43562731e-02 1.03436725e-03 6.64316629e+02] [-6.43562002e-02 9.97926986e-01 -1.03720592e-04 -4.86992177e+01] [-1.03889806e-03 3.69375766e-05 9.99999460e-01 1.86147471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.35, Y:-48.70, Z:1.86 [[ 9.97748190e-01 6.70575084e-02 1.35677818e-03 6.64348092e+02] [-6.70573856e-02 9.97749111e-01 -1.35841010e-04 -4.86989596e+01] [-1.36283339e-03 4.45531238e-05 9.99999070e-01 1.86171318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.390714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.38, Y:-48.69, Z:1.86 [[ 9.97411438e-01 7.18961928e-02 1.16658944e-03 6.64380158e+02] [-7.18961052e-02 9.97412120e-01 -1.16862535e-04 -4.86946897e+01] [-1.17197242e-03 3.26867919e-05 9.99999313e-01 1.86216117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.41, Y:-48.69, Z:1.86 [[ 9.97281306e-01 7.36807104e-02 1.07265254e-03 6.64412672e+02] [-7.36806362e-02 9.97281882e-01 -1.08598972e-04 -4.86944148e+01] [-1.07773859e-03 2.92700028e-05 9.99999419e-01 1.86200705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.45, Y:-48.70, Z:1.86 [[ 9.97159580e-01 7.53108948e-02 1.02076264e-03 6.64445168e+02] [-7.53108281e-02 9.97160102e-01 -1.03641549e-04 -4.86951457e+01] [-1.02566911e-03 2.64726840e-05 9.99999474e-01 1.86206726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.48, Y:-48.70, Z:1.86 [[ 9.97041792e-01 7.68418251e-02 1.73149748e-03 6.64477332e+02] [-7.68416377e-02 9.97043295e-01 -1.74617117e-04 -4.86955262e+01] [-1.73979585e-03 4.10494616e-05 9.99998486e-01 1.86284981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.510714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.51, Y:-48.70, Z:1.86 [[ 9.97063000e-01 7.65560198e-02 2.13314901e-03 6.64509715e+02] [-7.65557323e-02 9.97065280e-01 -2.16259917e-04 -4.86956216e+01] [-2.14344481e-03 5.23199776e-05 9.99997701e-01 1.86264796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.540714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.54, Y:-48.70, Z:1.86 [[ 9.97208518e-01 7.46406072e-02 1.98802570e-03 6.64540727e+02] [-7.46403528e-02 9.97210498e-01 -2.01969423e-04 -4.86977326e+01] [-1.99755522e-03 5.30186893e-05 9.99998003e-01 1.86259148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.57, Y:-48.70, Z:1.86 [[ 9.97290119e-01 7.35580014e-02 1.28059019e-03 6.64572572e+02] [-7.35578941e-02 9.97290940e-01 -1.30808404e-04 -4.87008610e+01] [-1.28674300e-03 3.62564110e-05 9.99999171e-01 1.86221859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.60, Y:-48.70, Z:1.86 [[ 9.97370300e-01 7.24731350e-02 3.58453441e-04 6.64604322e+02] [-7.24731262e-02 9.97370365e-01 -3.74324245e-05 -4.87031305e+01] [-3.60223684e-04 1.13557470e-05 9.99999935e-01 1.86228930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.630714057 meters Centerline goodness [0,1] 0.9999159169259229 Centerline is valid? [True, True] Translation: X:664.63, Y:-48.71, Z:1.86 [[ 9.97480743e-01 7.09363481e-02 4.50169520e-04 6.64634888e+02] [-7.09363342e-02 9.97480844e-01 -4.67771567e-05 -4.87079855e+01] [-4.52353673e-04 1.47259375e-05 9.99999898e-01 1.86254972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.660714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.67, Y:-48.71, Z:1.86 [[ 9.97502419e-01 7.06322358e-02 1.02273668e-04 6.64666885e+02] [-7.06322350e-02 9.97502425e-01 -1.14475877e-05 -4.87074126e+01] [-1.02826800e-04 4.19517869e-06 9.99999995e-01 1.86275799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6907140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.70, Y:-48.71, Z:1.86 [[ 9.97515497e-01 7.04454221e-02 5.24677308e-04 6.64699012e+02] [-7.04454030e-02 9.97515635e-01 -5.47125990e-05 -4.87093244e+01] [-5.27228070e-04 1.76155610e-05 9.99999861e-01 1.86341220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7207140569999 meters Centerline goodness [0,1] 0.999873941634977 Centerline is valid? [True, True] Translation: X:664.73, Y:-48.71, Z:1.86 [[ 9.97537348e-01 7.01366624e-02 2.96976155e-04 6.64730400e+02] [-7.01366563e-02 9.97537392e-01 -3.09888783e-05 -4.87124579e+01] [-2.98418276e-04 1.00836489e-05 9.99999955e-01 1.86387627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.750714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.76, Y:-48.71, Z:1.86 [[ 9.97575314e-01 6.95951573e-02 8.63936093e-05 6.64762706e+02] [-6.95951567e-02 9.97575317e-01 -9.88172851e-06 -4.87138669e+01] [-8.68718527e-05 3.84519164e-06 9.99999996e-01 1.86425546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.780714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.79, Y:-48.72, Z:1.86 [[ 9.97575436e-01 6.95934494e-02 -3.67614663e-05 6.64794795e+02] [-6.95934493e-02 9.97575437e-01 2.77188461e-06 -4.87161996e+01] [ 3.68652408e-05 -2.06806761e-07 9.99999999e-01 1.86428514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8107140569999 meters Centerline goodness [0,1] 0.9999789964504001 Centerline is valid? [True, True] Translation: X:664.83, Y:-48.72, Z:1.86 [[ 9.97661646e-01 6.83464503e-02 5.24051501e-05 6.64826702e+02] [-6.83464501e-02 9.97661647e-01 -6.43078811e-06 -4.87182963e+01] [-5.27221300e-05 2.83404467e-06 9.99999999e-01 1.86496916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8407140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.86, Y:-48.72, Z:1.87 [[ 9.97703933e-01 6.77263032e-02 -9.50484119e-05 6.64858493e+02] [-6.77263026e-02 9.97703938e-01 8.81936203e-06 -4.87215106e+01] [ 9.54274777e-05 -2.36183468e-06 9.99999995e-01 1.86527998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.870714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.89, Y:-48.73, Z:1.87 [[ 9.97781385e-01 6.65731162e-02 -5.73410973e-04 6.64889374e+02] [-6.65730936e-02 9.97781549e-01 5.84756780e-05 -4.87256141e+01] [ 5.76031797e-04 -2.01722007e-05 9.99999834e-01 1.86599613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.900714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.92, Y:-48.73, Z:1.87 [[ 9.97954339e-01 6.39295098e-02 -3.92619361e-04 6.64921386e+02] [-6.39294989e-02 9.97954417e-01 4.04027536e-05 -4.87302201e+01] [ 3.94399153e-04 -1.52201443e-05 9.99999922e-01 1.86630834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9307140569999 meters Centerline goodness [0,1] 0.9999160157890317 Centerline is valid? [True, True] Translation: X:664.95, Y:-48.73, Z:1.87 [[ 9.98076783e-01 6.19891092e-02 -2.91816203e-04 6.64953011e+02] [-6.19891033e-02 9.98076826e-01 2.94191786e-05 -4.87338776e+01] [ 2.93078658e-04 -1.12731744e-05 9.99999957e-01 1.86681686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9607140569999 meters Centerline goodness [0,1] 0.9998741320354948 Centerline is valid? [True, True] Translation: X:664.99, Y:-48.73, Z:1.87 [[ 9.98187984e-01 6.01726577e-02 -1.25937635e-05 6.64985050e+02] [-6.01726576e-02 9.98187984e-01 1.01164729e-06 -4.87343174e+01] [ 1.26318169e-05 -2.52013954e-07 1.00000000e+00 1.86673162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.990714057 meters Centerline goodness [0,1] 0.9998320174701831 Centerline is valid? [True, True] Translation: X:665.02, Y:-48.74, Z:1.87 [[ 9.98314950e-01 5.80275547e-02 2.53306331e-04 6.65017152e+02] [-5.80275498e-02 9.98314982e-01 -2.66910935e-05 -4.87375004e+01] [-2.54428325e-04 1.19473720e-05 9.99999968e-01 1.86680215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.020714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.05, Y:-48.74, Z:1.87 [[ 9.98540388e-01 5.40024370e-02 9.10746263e-04 6.65046845e+02] [-5.40023729e-02 9.98540803e-01 -9.49068543e-05 -4.87418717e+01] [-9.14542506e-04 4.55858679e-05 9.99999581e-01 1.86689497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0507140569999 meters Centerline goodness [0,1] 0.9999789787895987 Centerline is valid? [True, True] Translation: X:665.08, Y:-48.75, Z:1.87 [[ 9.98605358e-01 5.27906663e-02 6.96477284e-04 6.65078283e+02] [-5.27906277e-02 9.98605600e-01 -7.36753326e-05 -4.87451129e+01] [-6.99395486e-04 3.68051088e-05 9.99999755e-01 1.86735847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0807140569999 meters Centerline goodness [0,1] 0.9999369469724038 Centerline is valid? [True, True] Translation: X:665.11, Y:-48.74, Z:1.87 [[ 9.98729060e-01 5.03897511e-02 1.06676910e-03 6.65109525e+02] [-5.03896607e-02 9.98729628e-01 -1.11504181e-04 -4.87447579e+01] [-1.07103257e-03 5.76083327e-05 9.99999425e-01 1.86709004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1107140569999 meters Centerline goodness [0,1] 0.9997270971534133 Centerline is valid? [True, True] Translation: X:665.14, Y:-48.75, Z:1.87 [[ 9.98762543e-01 4.97133879e-02 1.40086349e-03 6.65140996e+02] [-4.97132307e-02 9.98763522e-01 -1.46824814e-04 -4.87492062e+01] [-1.40643051e-03 7.70016753e-05 9.99999008e-01 1.86719835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.140714057 meters Centerline goodness [0,1] 0.9998317100363927 Centerline is valid? [True, True] Translation: X:665.17, Y:-48.75, Z:1.87 [[ 9.98756954e-01 4.98332381e-02 1.09370028e-03 6.65172136e+02] [-4.98331413e-02 9.98757550e-01 -1.15555888e-04 -4.87486138e+01] [-1.09809994e-03 6.09097257e-05 9.99999395e-01 1.86691339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1707140569999 meters Centerline goodness [0,1] 0.999853132474508 Centerline is valid? [True, True] Translation: X:665.20, Y:-48.75, Z:1.87 [[ 9.98728488e-01 5.04120347e-02 -1.83201230e-04 6.65203276e+02] [-5.04120321e-02 9.98728505e-01 1.89869962e-05 -4.87487516e+01] [ 1.83925464e-04 -9.72730769e-06 9.99999983e-01 1.86657058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2007140569999 meters Centerline goodness [0,1] 0.9994146545416536 Centerline is valid? [True, True] Translation: X:665.23, Y:-48.75, Z:1.87 [[ 9.98701175e-01 5.09505699e-02 -5.19226228e-05 6.65234465e+02] [-5.09505697e-02 9.98701176e-01 5.29806276e-06 -4.87487745e+01] [ 5.21251237e-05 -2.64569430e-06 9.99999999e-01 1.86578889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2307140569999 meters Centerline goodness [0,1] 0.9993508533137891 Centerline is valid? [True, True] Translation: X:665.27, Y:-48.75, Z:1.87 [[ 9.98667540e-01 5.16049618e-02 -2.67856458e-04 6.65265573e+02] [-5.16049562e-02 9.98667576e-01 2.80229291e-05 -4.87492975e+01] [ 2.68945682e-04 -1.41628689e-05 9.99999964e-01 1.86565045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.260714057 meters Centerline goodness [0,1] 0.9991206214275246 Centerline is valid? [True, True] Translation: X:665.30, Y:-48.74, Z:1.87 [[ 9.98604533e-01 5.28100890e-02 2.85392315e-04 6.65297171e+02] [-5.28100825e-02 9.98604574e-01 -3.00152574e-05 -4.87445880e+01] [-2.86579180e-04 1.49017804e-05 9.99999959e-01 1.86564601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.290714057 meters Centerline goodness [0,1] 0.9991007382311731 Centerline is valid? [True, True] Translation: X:665.33, Y:-48.75, Z:1.87 [[ 9.98569468e-01 5.34639315e-02 7.91085183e-04 6.65326773e+02] [-5.34638822e-02 9.98569780e-01 -8.34570991e-05 -4.87492277e+01] [-7.94415702e-04 4.10432261e-05 9.99999684e-01 1.86611257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3207140569999 meters Centerline goodness [0,1] 0.9991839979913797 Centerline is valid? [True, True] Translation: X:665.36, Y:-48.75, Z:1.87 [[ 9.98524771e-01 5.42902366e-02 9.23007264e-04 6.65358504e+02] [-5.42901700e-02 9.98525196e-01 -9.71030892e-05 -4.87473367e+01] [-9.26917760e-04 4.68496186e-05 9.99999569e-01 1.86598595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3507140569999 meters Centerline goodness [0,1] 0.9985024958402662 Centerline is valid? [True, True] Translation: X:665.39, Y:-48.75, Z:1.87 [[ 9.98469343e-01 5.52671188e-02 2.12507479e-03 6.65388773e+02] [-5.52667685e-02 9.98471599e-01 -2.23224903e-04 -4.87468569e+01] [-2.13416383e-03 1.05437206e-04 9.99997717e-01 1.86586986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.380714057 meters Centerline goodness [0,1] 0.9986853088480802 Centerline is valid? [True, True] Translation: X:665.42, Y:-48.74, Z:1.87 [[ 9.98437272e-01 5.58476632e-02 2.01289471e-03 6.65420449e+02] [-5.58473497e-02 9.98439296e-01 -2.11666594e-04 -4.87420675e+01] [-2.02157426e-03 9.89209825e-05 9.99997952e-01 1.86562345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.410714057 meters Centerline goodness [0,1] 0.9979808492922565 Centerline is valid? [True, True] Translation: X:665.45, Y:-48.75, Z:1.87 [[ 9.98390407e-01 5.66840259e-02 1.87502299e-03 6.65450365e+02] [-5.66837554e-02 9.98392164e-01 -1.97138312e-04 -4.87452910e+01] [-1.88318285e-03 9.05376555e-05 9.99998223e-01 1.86513104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4407140569999 meters Centerline goodness [0,1] 0.9977964868516787 Centerline is valid? [True, True] Translation: X:665.48, Y:-48.74, Z:1.86 [[ 9.98236188e-01 5.93629449e-02 7.43900659e-04 6.65482116e+02] [-5.93629030e-02 9.98236465e-01 -7.82710773e-05 -4.87397236e+01] [-7.47235166e-04 3.39729192e-05 9.99999720e-01 1.86376183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4707140569999 meters Centerline goodness [0,1] 0.9979380154961259 Centerline is valid? [True, True] Translation: X:665.51, Y:-48.74, Z:1.86 [[ 9.98134006e-01 6.10606914e-02 3.13691840e-04 6.65513115e+02] [-6.10606840e-02 9.98134055e-01 -3.29744827e-05 -4.87392193e+01] [-3.15119953e-04 1.37587142e-05 9.99999950e-01 1.86314023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.500714057 meters Centerline goodness [0,1] 0.9978724735623553 Centerline is valid? [True, True] Translation: X:665.54, Y:-48.74, Z:1.86 [[ 9.98012863e-01 6.30104697e-02 -7.28294686e-05 6.65542804e+02] [-6.30104693e-02 9.98012866e-01 7.72717747e-06 -4.87417896e+01] [ 7.31716397e-05 -3.12280352e-06 9.99999997e-01 1.86294427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.530714057 meters Centerline goodness [0,1] 0.9972617056856188 Centerline is valid? [True, True] Translation: X:665.57, Y:-48.74, Z:1.86 [[ 9.97645472e-01 6.85773986e-02 8.08018211e-04 6.65573055e+02] [-6.85773524e-02 9.97645799e-01 -8.47604747e-05 -4.87365048e+01] [-8.11928626e-04 2.91491542e-05 9.99999670e-01 1.86328478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5607140569999 meters Centerline goodness [0,1] 0.9975929840718337 Centerline is valid? [True, True] Translation: X:665.60, Y:-48.73, Z:1.86 [[ 9.97418228e-01 7.18061511e-02 8.69122297e-04 6.65603177e+02] [-7.18060989e-02 9.97418606e-01 -9.11335060e-05 -4.87306102e+01] [-8.73422696e-04 2.84899385e-05 9.99999618e-01 1.86330577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5907140569999 meters Centerline goodness [0,1] 0.9972792532596639 Centerline is valid? [True, True] Translation: X:665.63, Y:-48.73, Z:1.86 [[ 9.97157699e-01 7.53210998e-02 1.80406785e-03 6.65633006e+02] [-7.53208805e-02 9.97159330e-01 -1.89264076e-04 -4.87291776e+01] [-1.81319867e-03 5.28421513e-05 9.99998355e-01 1.86311515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.620714057 meters Centerline goodness [0,1] 0.997335165407116 Centerline is valid? [True, True] Translation: X:665.66, Y:-48.72, Z:1.86 [[ 9.96621263e-01 8.21067767e-02 2.12961350e-03 6.65662885e+02] [-8.21064867e-02 9.96623537e-01 -2.23367937e-04 -4.87242886e+01] [-2.14076296e-03 4.77581529e-05 9.99997707e-01 1.86281267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.650714057 meters Centerline goodness [0,1] 0.9976916458565043 Centerline is valid? [True, True] Translation: X:665.69, Y:-48.72, Z:1.86 [[ 9.96342093e-01 8.54321565e-02 1.94417565e-03 6.65692580e+02] [-8.54319215e-02 9.96343989e-01 -2.03722992e-04 -4.87227019e+01] [-1.95447222e-03 3.68831309e-05 9.99998089e-01 1.86229321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6807140569999 meters Centerline goodness [0,1] 0.9975463982384397 Centerline is valid? [True, True] Translation: X:665.72, Y:-48.72, Z:1.86 [[ 9.96071368e-01 8.85362960e-02 1.77581983e-03 6.65720464e+02] [-8.85361055e-02 9.96072951e-01 -1.85757865e-04 -4.87225591e+01] [-1.78529241e-03 2.78039194e-05 9.99998406e-01 1.86185028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7107140569999 meters Centerline goodness [0,1] 0.9977420029270332 Centerline is valid? [True, True] Translation: X:665.75, Y:-48.72, Z:1.86 [[ 9.95530928e-01 9.44249919e-02 1.44652942e-03 6.65749789e+02] [-9.44248718e-02 9.95531979e-01 -1.51214270e-04 -4.87197976e+01] [-1.45434471e-03 1.39501267e-05 9.99998942e-01 1.86105561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.740714057 meters Centerline goodness [0,1] 0.9979838286254331 Centerline is valid? [True, True] Translation: X:665.78, Y:-48.72, Z:1.86 [[ 9.95315299e-01 9.66678006e-02 1.67084197e-03 6.65777527e+02] [-9.66676438e-02 9.95316701e-01 -1.74490965e-04 -4.87213037e+01] [-1.67988457e-03 1.21571712e-05 9.99998589e-01 1.86138112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.770714057 meters Centerline goodness [0,1] 0.9980019769911876 Centerline is valid? [True, True] Translation: X:665.81, Y:-48.72, Z:1.86 [[ 9.95154881e-01 9.83087543e-02 1.46670184e-03 6.65806660e+02] [-9.83086355e-02 9.95155962e-01 -1.53092646e-04 -4.87229511e+01] [-1.47464743e-03 8.16143742e-06 9.99998913e-01 1.86097404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8007140569999 meters Centerline goodness [0,1] 0.9980019769911876 Centerline is valid? [True, True] Translation: X:665.83, Y:-48.73, Z:1.86 [[ 9.95161891e-01 9.82377744e-02 1.46671288e-03 6.65834839e+02] [-9.82376556e-02 9.95162971e-01 -1.52986981e-04 -4.87258403e+01] [-1.47464745e-03 8.16037808e-06 9.99998913e-01 1.86108924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8307140569999 meters Centerline goodness [0,1] 0.9979596558759807 Centerline is valid? [True, True] Translation: X:665.86, Y:-48.73, Z:1.86 [[ 9.95033230e-01 9.95190883e-02 2.19609995e-03 6.65862591e+02] [-9.95188254e-02 9.95035653e-01 -2.28944911e-04 -4.87293406e+01] [-2.20798214e-03 9.25450708e-06 9.99997562e-01 1.86217397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8607140569999 meters Centerline goodness [0,1] 0.9978133344547003 Centerline is valid? [True, True] Translation: X:665.89, Y:-48.73, Z:1.86 [[ 9.95053819e-01 9.93086731e-02 2.38419035e-03 6.65891082e+02] [-9.93083627e-02 9.95056675e-01 -2.48493945e-04 -4.87332312e+01] [-2.39708212e-03 1.04948093e-05 9.99997127e-01 1.86227307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.890714057 meters Centerline goodness [0,1] 0.9984449534536743 Centerline is valid? [True, True] Translation: X:665.92, Y:-48.74, Z:1.86 [[ 9.95175557e-01 9.80901185e-02 1.98466941e-03 6.65919061e+02] [-9.80899015e-02 9.95177536e-01 -2.06658302e-04 -4.87396602e+01] [-1.99536955e-03 1.09852646e-05 9.99998009e-01 1.86262193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9207140569999 meters Centerline goodness [0,1] 0.9986589837611315 Centerline is valid? [True, True] Translation: X:665.95, Y:-48.75, Z:1.86 [[ 9.95267132e-01 9.71651982e-02 1.50360736e-03 6.65946091e+02] [-9.71650730e-02 9.95268267e-01 -1.56293135e-04 -4.87452128e+01] [-1.51167895e-03 9.45530153e-06 9.99998857e-01 1.86248156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9507140569999 meters Centerline goodness [0,1] 0.9982947009410724 Centerline is valid? [True, True] Translation: X:665.97, Y:-48.75, Z:1.86 [[ 9.95403192e-01 9.57690445e-02 8.80265676e-04 6.65974743e+02] [-9.57690012e-02 9.95403582e-01 -9.13625816e-05 -4.87506704e+01] [-8.84969313e-04 6.64044082e-06 9.99999608e-01 1.86164863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9807140569999 meters Centerline goodness [0,1] 0.9987167620329855 Centerline is valid? [True, True] Translation: X:666.00, Y:-48.76, Z:1.86 [[ 9.95673373e-01 9.29220877e-02 1.37656544e-04 6.66002651e+02] [-9.29220866e-02 9.95673383e-01 -1.40287918e-05 -4.87597301e+01] [-1.38364541e-04 1.17676121e-06 9.99999990e-01 1.86106358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.010714057 meters Centerline goodness [0,1] 0.9986346258874932 Centerline is valid? [True, True] Translation: X:666.03, Y:-48.77, Z:1.86 [[ 9.95820236e-01 9.13348129e-02 -9.24229782e-05 6.66031414e+02] [-9.13348124e-02 9.95820241e-01 9.90735223e-06 -4.87658553e+01] [ 9.29415586e-05 -1.42450647e-06 9.99999996e-01 1.86117729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.040714057 meters Centerline goodness [0,1] 0.9986584215491039 Centerline is valid? [True, True] Translation: X:666.06, Y:-48.77, Z:1.86 [[ 9.95984489e-01 8.95250563e-02 -4.01622282e-04 6.66058376e+02] [-8.95250466e-02 9.95984570e-01 4.20887379e-05 -4.87725430e+01] [ 4.03777593e-04 -5.96447652e-06 9.99999918e-01 1.86190283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0707140569999 meters Centerline goodness [0,1] 0.9988465732740542 Centerline is valid? [True, True] Translation: X:666.09, Y:-48.78, Z:1.86 [[ 9.96126075e-01 8.79365871e-02 -1.74798940e-06 6.66086798e+02] [-8.79365871e-02 9.96126075e-01 4.70946014e-07 -4.87786364e+01] [ 1.78263119e-06 -3.15409382e-07 1.00000000e+00 1.86266819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1007140569999 meters Centerline goodness [0,1] 0.9989499989499989 Centerline is valid? [True, True] Translation: X:666.11, Y:-48.79, Z:1.86 [[ 9.96350214e-01 8.53580374e-02 -5.07301499e-04 6.66114119e+02] [-8.53580215e-02 9.96350343e-01 5.28502361e-05 -4.87898530e+01] [ 5.09961215e-04 -9.35509176e-06 9.99999870e-01 1.86433866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.130714057 meters Centerline goodness [0,1] 0.9987819220430108 Centerline is valid? [True, True] Translation: X:666.14, Y:-48.79, Z:1.86 [[ 9.96469435e-01 8.39507756e-02 -9.66006070e-04 6.66143577e+02] [-8.39507178e-02 9.96469903e-01 1.00334713e-04 -4.87927206e+01] [ 9.71019151e-04 -1.88835722e-05 9.99999528e-01 1.86368884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.160714057 meters Centerline goodness [0,1] 0.9988022190468185 Centerline is valid? [True, True] Translation: X:666.17, Y:-48.80, Z:1.86 [[ 9.96550059e-01 8.29842720e-02 -1.26147416e-03 6.66172535e+02] [-8.29841728e-02 9.96550857e-01 1.30933019e-04 -4.87992538e+01] [ 1.26798853e-03 -2.57989182e-05 9.99999196e-01 1.86422582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1907140569999 meters Centerline goodness [0,1] 0.9992226074167455 Centerline is valid? [True, True] Translation: X:666.20, Y:-48.81, Z:1.87 [[ 9.96679159e-01 8.14233573e-02 -9.43999635e-04 6.66201787e+02] [-8.14233010e-02 9.96679606e-01 9.79845001e-05 -4.88083705e+01] [ 9.48843411e-04 -2.07955426e-05 9.99999550e-01 1.86518361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2207140569999 meters Centerline goodness [0,1] 0.9991595402685269 Centerline is valid? [True, True] Translation: X:666.23, Y:-48.81, Z:1.87 [[ 9.96701612e-01 8.11482690e-02 -9.24591657e-04 6.66231505e+02] [-8.11482149e-02 9.96702041e-01 9.59409155e-05 -4.88139801e+01] [ 9.29327830e-04 -2.05955026e-05 9.99999568e-01 1.86587273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.250714057 meters Centerline goodness [0,1] 0.99905366756393 Centerline is valid? [True, True] Translation: X:666.26, Y:-48.82, Z:1.87 [[ 9.96717438e-01 8.09372458e-02 -1.87363039e-03 6.66259793e+02] [-8.09370239e-02 9.96719198e-01 1.94084427e-04 -4.88229806e+01] [ 1.88319204e-03 -4.18012657e-05 9.99998226e-01 1.86576121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.280714057 meters Centerline goodness [0,1] 0.9991798969614131 Centerline is valid? [True, True] Translation: X:666.29, Y:-48.83, Z:1.87 [[ 9.96724001e-01 8.08617318e-02 -1.62644907e-03 6.66288735e+02] [-8.08615642e-02 9.96725328e-01 1.68626967e-04 -4.88278387e+01] [ 1.63475845e-03 -3.65573295e-05 9.99998663e-01 1.86556672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3107140569999 meters Centerline goodness [0,1] 0.9993898975448635 Centerline is valid? [True, True] Translation: X:666.32, Y:-48.83, Z:1.87 [[ 9.96706720e-01 8.10731298e-02 -1.69156272e-03 6.66318116e+02] [-8.10729490e-02 9.96708155e-01 1.75311552e-04 -4.88337805e+01] [ 1.70020742e-03 -3.75942240e-05 9.99998554e-01 1.86600260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3407140569999 meters Centerline goodness [0,1] 0.9996219202251675 Centerline is valid? [True, True] Translation: X:666.35, Y:-48.84, Z:1.87 [[ 9.96665358e-01 8.15815071e-02 -1.61908968e-03 6.66347427e+02] [-8.15813422e-02 9.96666673e-01 1.67748623e-04 -4.88393557e+01] [ 1.62737791e-03 -3.51017326e-05 9.99998675e-01 1.86673261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.370714057 meters Centerline goodness [0,1] 0.9993054678621038 Centerline is valid? [True, True] Translation: X:666.38, Y:-48.85, Z:1.87 [[ 9.96536642e-01 8.31407187e-02 -1.53057157e-03 6.66377571e+02] [-8.31405734e-02 9.96537817e-01 1.58440309e-04 -4.88460523e+01] [ 1.53844529e-03 -3.06389757e-05 9.99998816e-01 1.86719330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.400714057 meters Centerline goodness [0,1] 0.9995800877616579 Centerline is valid? [True, True] Translation: X:666.41, Y:-48.85, Z:1.87 [[ 9.96447037e-01 8.42035202e-02 -1.75230262e-03 6.66407081e+02] [-8.42033313e-02 9.96448577e-01 1.81434445e-04 -4.88514555e+01] [ 1.76135687e-03 -3.32400968e-05 9.99998448e-01 1.86707457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4307140569999 meters Centerline goodness [0,1] 0.9996430596090453 Centerline is valid? [True, True] Translation: X:666.44, Y:-48.86, Z:1.87 [[ 9.96211604e-01 8.69106405e-02 -2.99691705e-03 6.66436359e+02] [-8.69101005e-02 9.96216110e-01 3.10196682e-04 -4.88580835e+01] [ 3.01253644e-03 -4.85591713e-05 9.99995461e-01 1.86552930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4607140569999 meters Centerline goodness [0,1] 0.9998108568186117 Centerline is valid? [True, True] Translation: X:666.47, Y:-48.86, Z:1.87 [[ 9.96071146e-01 8.85045086e-02 -3.03700405e-03 6.66465264e+02] [-8.85039616e-02 9.96075775e-01 3.14308714e-04 -4.88629333e+01] [ 3.05290390e-03 -4.42869514e-05 9.99995339e-01 1.86567530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.490714057 meters Centerline goodness [0,1] 0.9998950682056663 Centerline is valid? [True, True] Translation: X:666.50, Y:-48.87, Z:1.87 [[ 9.95908323e-01 9.03228044e-02 -2.89890840e-03 6.66495650e+02] [-9.03223140e-02 9.95912541e-01 2.99883489e-04 -4.88671932e+01] [ 2.91414555e-03 -3.68203478e-05 9.99995753e-01 1.86574514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.520714057 meters Centerline goodness [0,1] 0.9996867298776158 Centerline is valid? [True, True] Translation: X:666.52, Y:-48.87, Z:1.87 [[ 9.95691290e-01 9.26899469e-02 -2.72548608e-03 6.66524827e+02] [-9.26895223e-02 9.95695020e-01 2.81966796e-04 -4.88727703e+01] [ 2.73988840e-03 -2.81278801e-05 9.99996246e-01 1.86586005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:666.55, Y:-48.88, Z:1.87 [[ 9.95183449e-01 9.79972134e-02 -2.53930386e-03 6.66554881e+02] [-9.79968623e-02 9.95186689e-01 2.62638555e-04 -4.88769410e+01] [ 2.55281925e-03 -1.25297327e-05 9.99996741e-01 1.86679436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5807140569999 meters Centerline goodness [0,1] 0.9999582750923164 Centerline is valid? [True, True] Translation: X:666.58, Y:-48.88, Z:1.87 [[ 9.94879165e-01 1.01047889e-01 -2.18415455e-03 6.66584998e+02] [-1.01047637e-01 9.94881563e-01 2.25905692e-04 -4.88801623e+01] [ 2.19580239e-03 -4.04521105e-06 9.99997589e-01 1.86734018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6107140569999 meters Centerline goodness [0,1] 0.999958264643893 Centerline is valid? [True, True] Translation: X:666.61, Y:-48.88, Z:1.87 [[ 9.94244938e-01 1.07126276e-01 -9.82432376e-04 6.66613880e+02] [-1.07126228e-01 9.94245423e-01 1.01665789e-04 -4.88842856e+01] [ 9.87669970e-04 4.16357787e-06 9.99999512e-01 1.86877648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.640714057 meters Centerline goodness [0,1] 0.9999791310154847 Centerline is valid? [True, True] Translation: X:666.64, Y:-48.89, Z:1.87 [[ 9.93909858e-01 1.10194974e-01 -5.11990223e-04 6.66643636e+02] [-1.10194961e-01 9.93909990e-01 5.29458822e-05 -4.88887553e+01] [ 5.14706568e-04 3.79530859e-06 9.99999868e-01 1.86951517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6707140569999 meters Centerline goodness [0,1] 0.9999790724928846 Centerline is valid? [True, True] Translation: X:666.67, Y:-48.89, Z:1.87 [[ 9.93598639e-01 1.12967520e-01 -2.90264806e-04 6.66674743e+02] [-1.12967517e-01 9.93598681e-01 2.98803894e-05 -4.88946688e+01] [ 2.91782242e-04 3.10138003e-06 9.99999957e-01 1.86956342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:666.70, Y:-48.90, Z:1.87 [[ 9.93153084e-01 1.16820120e-01 1.03866551e-04 6.66704804e+02] [-1.16820119e-01 9.93153090e-01 -1.08200424e-05 -4.89033798e+01] [-1.04419385e-04 -1.38774442e-06 9.99999995e-01 1.87020611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:666.74, Y:-48.91, Z:1.87 [[ 9.92953046e-01 1.18508411e-01 7.51182536e-05 6.66735546e+02] [-1.18508411e-01 9.92953048e-01 -8.73682071e-06 -4.89092503e+01] [-7.56242857e-05 -2.26892152e-07 9.99999997e-01 1.87044928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.760714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:666.77, Y:-48.92, Z:1.87 [[ 9.92817733e-01 1.19636117e-01 3.86022767e-04 6.66767580e+02] [-1.19636110e-01 9.92817808e-01 -4.11537631e-05 -4.89166273e+01] [-3.88173754e-04 -5.32407664e-06 9.99999925e-01 1.87035210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.790714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:666.80, Y:-48.93, Z:1.87 [[ 9.92641062e-01 1.21093690e-01 -2.00819883e-04 6.66798786e+02] [-1.21093689e-01 9.92641082e-01 1.99061583e-05 -4.89281241e+01] [ 2.01752576e-04 4.55835015e-06 9.99999980e-01 1.86957523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:666.83, Y:-48.94, Z:1.87 [[ 9.92575087e-01 1.21627152e-01 -1.23780375e-03 6.66831220e+02] [-1.21627087e-01 9.92575859e-01 1.28169430e-04 -4.89366726e+01] [ 1.24420300e-03 2.33326807e-05 9.99999226e-01 1.86887095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:666.86, Y:-48.95, Z:1.87 [[ 9.92430737e-01 1.22764074e-01 -3.19614582e-03 6.66862641e+02] [-1.22763635e-01 9.92435881e-01 3.33741356e-04 -4.89494423e+01] [ 3.21294124e-03 6.11552996e-05 9.99994837e-01 1.86768486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.880714057 meters Centerline goodness [0,1] 0.9999789522426386 Centerline is valid? [True, True] Translation: X:666.89, Y:-48.96, Z:1.87 [[ 9.92283912e-01 1.23933928e-01 -3.60811587e-03 6.66894586e+02] [-1.23933373e-01 9.92290470e-01 3.77983077e-04 -4.89576565e+01] [ 3.62714391e-03 7.20994412e-05 9.99993419e-01 1.86779017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.910714057 meters Centerline goodness [0,1] 0.9999369787618427 Centerline is valid? [True, True] Translation: X:666.93, Y:-48.96, Z:1.87 [[ 9.92118698e-01 1.25235564e-01 -4.06715858e-03 6.66925462e+02] [-1.25234864e-01 9.92127031e-01 4.27247046e-04 -4.89647381e+01] [ 4.08864449e-03 8.54702687e-05 9.99991638e-01 1.86804327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9407140569999 meters Centerline goodness [0,1] 0.9999369071904772 Centerline is valid? [True, True] Translation: X:666.96, Y:-48.97, Z:1.87 [[ 9.91967436e-01 1.26421495e-01 -4.26758953e-03 6.66957077e+02] [-1.26420731e-01 9.91976611e-01 4.49362124e-04 -4.89733031e+01] [ 4.29015803e-03 9.37591928e-05 9.99990793e-01 1.86821373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9707140569999 meters Centerline goodness [0,1] 0.9997899159663866 Centerline is valid? [True, True] Translation: X:666.99, Y:-48.99, Z:1.87 [[ 9.91759523e-01 1.28089078e-01 -2.49739939e-03 6.66987654e+02] [-1.28088821e-01 9.91762665e-01 2.63173959e-04 -4.89868133e+01] [ 2.51053719e-03 5.88836636e-05 9.99996847e-01 1.86979433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.000714057 meters Centerline goodness [0,1] 0.9996854950308215 Centerline is valid? [True, True] Translation: X:667.02, Y:-48.99, Z:1.87 [[ 9.91763951e-01 1.28068260e-01 -1.66936386e-03 6.67019325e+02] [-1.28068145e-01 9.91765355e-01 1.75960647e-04 -4.89948130e+01] [ 1.67815221e-03 3.92809067e-05 9.99998591e-01 1.87064781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.030714057 meters Centerline goodness [0,1] 0.9996236041989043 Centerline is valid? [True, True] Translation: X:667.05, Y:-49.01, Z:1.87 [[ 9.91815920e-01 1.27671983e-01 -1.02216797e-03 6.67049742e+02] [-1.27671940e-01 9.91816447e-01 1.07659429e-04 -4.90087385e+01] [ 1.02754810e-03 2.37238323e-05 9.99999472e-01 1.87124073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0607140569999 meters Centerline goodness [0,1] 0.9993727392477053 Centerline is valid? [True, True] Translation: X:667.08, Y:-49.02, Z:1.87 [[ 9.91865878e-01 1.27282826e-01 -1.07820514e-03 6.67081147e+02] [-1.27282777e-01 9.91866464e-01 1.13891026e-04 -4.90173852e+01] [ 1.08393190e-03 2.42723233e-05 9.99999412e-01 1.87083444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0907140569999 meters Centerline goodness [0,1] 0.99951695894151 Centerline is valid? [True, True] Translation: X:667.11, Y:-49.03, Z:1.87 [[ 9.91956728e-01 1.26575938e-01 -6.17281158e-04 6.67112281e+02] [-1.26575922e-01 9.91956920e-01 6.49145427e-05 -4.90265727e+01] [ 6.20532935e-04 1.37405143e-05 9.99999807e-01 1.87065209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.120714057 meters Centerline goodness [0,1] 0.9993480820995962 Centerline is valid? [True, True] Translation: X:667.14, Y:-49.03, Z:1.87 [[ 9.92088257e-01 1.25540139e-01 -7.50671384e-04 6.67143219e+02] [-1.25540115e-01 9.92088541e-01 7.94174705e-05 -4.90340340e+01] [ 7.54702559e-04 1.54502322e-05 9.99999715e-01 1.87062711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.150714057 meters Centerline goodness [0,1] 0.9997898453261601 Centerline is valid? [True, True] Translation: X:667.17, Y:-49.05, Z:1.87 [[ 9.92496748e-01 1.22271028e-01 3.32954099e-05 6.67173478e+02] [-1.22271028e-01 9.92496748e-01 -4.60240391e-06 -4.90496383e+01] [-3.36083267e-05 4.96806923e-07 9.99999999e-01 1.87064875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1807140569999 meters Centerline goodness [0,1] 0.9993938633893488 Centerline is valid? [True, True] Translation: X:667.20, Y:-49.06, Z:1.87 [[ 9.92689200e-01 1.20697111e-01 6.00382526e-04 6.67204507e+02] [-1.20697094e-01 9.92689381e-01 -6.55932378e-05 -4.90585626e+01] [-6.03910272e-04 -7.35072732e-06 9.99999818e-01 1.87100318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2107140569999 meters Centerline goodness [0,1] 0.999264798554804 Centerline is valid? [True, True] Translation: X:667.24, Y:-49.07, Z:1.87 [[ 9.92934490e-01 1.18653919e-01 1.53149613e-03 6.67236396e+02] [-1.18653805e-01 9.92935671e-01 -1.65222190e-04 -4.90674653e+01] [-1.54028140e-03 -1.76630315e-05 9.99998814e-01 1.87133880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.240714057 meters Centerline goodness [0,1] 0.9992446812974697 Centerline is valid? [True, True] Translation: X:667.27, Y:-49.08, Z:1.87 [[ 9.93552515e-01 1.13331751e-01 3.05192511e-03 6.67267764e+02] [-1.13331274e-01 9.93557202e-01 -3.29160563e-04 -4.90812932e+01] [-3.06956652e-03 -1.88402578e-05 9.99995289e-01 1.87233374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.270714057 meters Centerline goodness [0,1] 0.9995379607266618 Centerline is valid? [True, True] Translation: X:667.30, Y:-49.09, Z:1.87 [[ 9.93827377e-01 1.10888451e-01 3.30109012e-03 6.67297860e+02] [-1.10887878e-01 9.93832859e-01 -3.56676447e-04 -4.90896827e+01] [-3.32028313e-03 -1.15760603e-05 9.99994488e-01 1.87343053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3007140569999 meters Centerline goodness [0,1] 0.9995586659100939 Centerline is valid? [True, True] Translation: X:667.33, Y:-49.10, Z:1.87 [[ 9.94441147e-01 1.05239290e-01 3.39063532e-03 6.67329843e+02] [-1.05238647e-01 9.94446928e-01 -3.67921969e-04 -4.91028135e+01] [-3.41052672e-03 9.05086991e-06 9.99994184e-01 1.87257702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3307140569999 meters Centerline goodness [0,1] 0.9992011940047508 Centerline is valid? [True, True] Translation: X:667.36, Y:-49.11, Z:1.87 [[ 9.94743501e-01 1.02360701e-01 2.76665317e-03 6.67361254e+02] [-1.02360259e-01 9.94747348e-01 -3.01090112e-04 -4.91105464e+01] [-2.78294070e-03 1.63120965e-05 9.99996127e-01 1.87219818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3607140569999 meters Centerline goodness [0,1] 0.9990979462543792 Centerline is valid? [True, True] Translation: X:667.39, Y:-49.12, Z:1.87 [[ 9.95043027e-01 9.94090766e-02 2.68515767e-03 6.67392612e+02] [-9.94086483e-02 9.95046650e-01 -2.92850085e-04 -4.91179107e+01] [-2.70096910e-03 2.44705413e-05 9.99996352e-01 1.87116491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.390714057 meters Centerline goodness [0,1] 0.9994746353969655 Centerline is valid? [True, True] Translation: X:667.42, Y:-49.13, Z:1.87 [[ 9.95314670e-01 9.66645285e-02 2.16263842e-03 6.67423419e+02] [-9.66642441e-02 9.95317019e-01 -2.35886250e-04 -4.91254246e+01] [-2.17531265e-03 2.57312372e-05 9.99997634e-01 1.87117671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4207140569999 meters Centerline goodness [0,1] 0.9992221988648308 Centerline is valid? [True, True] Translation: X:667.45, Y:-49.13, Z:1.87 [[ 9.95789270e-01 9.16603770e-02 1.45077280e-03 6.67454385e+02] [-9.16602423e-02 9.95790327e-01 -1.59173602e-04 -4.91337699e+01] [-1.45925543e-03 2.55251782e-05 9.99998935e-01 1.87048908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4507140569999 meters Centerline goodness [0,1] 0.9995376791493297 Centerline is valid? [True, True] Translation: X:667.48, Y:-49.14, Z:1.87 [[ 9.95961364e-01 8.97760110e-02 1.10887147e-03 6.67484436e+02] [-8.97759312e-02 9.95961981e-01 -1.21581145e-04 -4.91408734e+01] [-1.11530890e-03 2.15401542e-05 9.99999378e-01 1.87124606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4807140569999 meters Centerline goodness [0,1] 0.9991807927405634 Centerline is valid? [True, True] Translation: X:667.52, Y:-49.15, Z:1.87 [[ 9.96080614e-01 8.84386489e-02 1.41944802e-03 6.67516036e+02] [-8.84385160e-02 9.96081625e-01 -1.56309819e-04 -4.91460758e+01] [-1.42770992e-03 3.01633045e-05 9.99998980e-01 1.87128541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.510714057 meters Centerline goodness [0,1] 0.9991164033408368 Centerline is valid? [True, True] Translation: X:667.55, Y:-49.15, Z:1.87 [[ 9.96240111e-01 8.66078600e-02 2.17269134e-03 6.67547859e+02] [-8.66075438e-02 9.96242479e-01 -2.39355861e-04 -4.91490211e+01] [-2.18525751e-03 5.02844487e-05 9.99997611e-01 1.87151862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.540714057 meters Centerline goodness [0,1] 0.9996429921458272 Centerline is valid? [True, True] Translation: X:667.58, Y:-49.16, Z:1.87 [[ 9.96332559e-01 8.55360616e-02 2.23906425e-03 6.67578402e+02] [-8.55357221e-02 9.96335074e-01 -2.47087067e-04 -4.91553259e+01] [-2.25199310e-03 5.46609127e-05 9.99997463e-01 1.87286944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5707140569999 meters Centerline goodness [0,1] 0.999558015700966 Centerline is valid? [True, True] Translation: X:667.61, Y:-49.16, Z:1.87 [[ 9.96441701e-01 8.42216932e-02 3.26243314e-03 6.67610574e+02] [-8.42209641e-02 9.96447038e-01 -3.60466568e-04 -4.91566561e+01] [-3.28120095e-03 8.44186550e-05 9.99994613e-01 1.87277492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6007140569999 meters Centerline goodness [0,1] 0.9995373583159842 Centerline is valid? [True, True] Translation: X:667.64, Y:-49.16, Z:1.87 [[ 9.96541359e-01 8.30213908e-02 3.57329276e-03 6.67641420e+02] [-8.30205061e-02 9.96547761e-01 -3.95468672e-04 -4.91637377e+01] [-3.59378926e-03 9.74443146e-05 9.99993538e-01 1.87419252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.630714057 meters Centerline goodness [0,1] 0.9996428046141239 Centerline is valid? [True, True] Translation: X:667.67, Y:-49.16, Z:1.87 [[ 9.96632773e-01 8.19444420e-02 2.86791992e-03 6.67674012e+02] [-8.19438648e-02 9.96636896e-01 -3.18387098e-04 -4.91641677e+01] [-2.88436486e-03 8.23065735e-05 9.99995837e-01 1.87358879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.660714057 meters Centerline goodness [0,1] 0.999434602336977 Centerline is valid? [True, True] Translation: X:667.70, Y:-49.17, Z:1.87 [[ 9.96953361e-01 7.79752317e-02 1.96424929e-03 6.67704706e+02] [-7.79749518e-02 9.96955294e-01 -2.18759137e-04 -4.91680709e+01] [-1.97532652e-03 6.49304132e-05 9.99998047e-01 1.87354580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6907140569999 meters Centerline goodness [0,1] 0.999434602336977 Centerline is valid? [True, True] Translation: X:667.74, Y:-49.17, Z:1.87 [[ 9.96931343e-01 7.82562358e-02 1.96416395e-03 6.67736984e+02] [-7.82559550e-02 9.96933276e-01 -2.19526510e-04 -4.91717074e+01] [-1.97531972e-03 6.51453331e-05 9.99998047e-01 1.87367807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7207140569999 meters Centerline goodness [0,1] 0.9996001094437312 Centerline is valid? [True, True] Translation: X:667.77, Y:-49.17, Z:1.87 [[ 9.97033796e-01 7.69477552e-02 1.62895716e-03 6.67768562e+02] [-7.69475598e-02 9.97035125e-01 -1.82419414e-04 -4.91747408e+01] [-1.63816427e-03 5.65340428e-05 9.99998657e-01 1.87395117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.750714057 meters Centerline goodness [0,1] 0.9994966126224385 Centerline is valid? [True, True] Translation: X:667.80, Y:-49.18, Z:1.87 [[ 9.97136976e-01 7.55958124e-02 1.76757181e-03 6.67799588e+02] [-7.55955795e-02 9.97138541e-01 -1.98261128e-04 -4.91779418e+01] [-1.77750169e-03 6.40728867e-05 9.99998418e-01 1.87420882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.780714057 meters Centerline goodness [0,1] 0.9993692973973006 Centerline is valid? [True, True] Translation: X:667.83, Y:-49.19, Z:1.88 [[ 9.97192043e-01 7.48781440e-02 1.13739395e-03 6.67829571e+02] [-7.48780471e-02 9.97192690e-01 -1.27612075e-04 -4.91853782e+01] [-1.14375628e-03 4.20879079e-05 9.99999345e-01 1.87506986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8107140569999 meters Centerline goodness [0,1] 0.9996453012852612 Centerline is valid? [True, True] Translation: X:667.86, Y:-49.18, Z:1.87 [[ 9.97246523e-01 7.41577514e-02 -3.22688848e-05 6.67862569e+02] [-7.41577513e-02 9.97246523e-01 2.61439496e-06 -4.91794258e+01] [ 3.23739108e-05 -2.14208351e-07 9.99999999e-01 1.87419267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8407140569999 meters Centerline goodness [0,1] 0.9996437477734236 Centerline is valid? [True, True] Translation: X:667.89, Y:-49.18, Z:1.87 [[ 9.97191194e-01 7.48963610e-02 -5.07595898e-04 6.67894804e+02] [-7.48963422e-02 9.97191323e-01 5.59745191e-05 -4.91800598e+01] [ 5.10362513e-04 -1.78002214e-05 9.99999870e-01 1.87430905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.870714057 meters Centerline goodness [0,1] 0.9998534522463677 Centerline is valid? [True, True] Translation: X:667.93, Y:-49.18, Z:1.87 [[ 9.97061004e-01 7.66028125e-02 -1.16758645e-03 6.67927205e+02] [-7.66027123e-02 9.97061687e-01 1.30360367e-04 -4.91790800e+01] [ 1.17414169e-03 -4.05369497e-05 9.99999310e-01 1.87442904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.900714057 meters Centerline goodness [0,1] 0.9997278911564625 Centerline is valid? [True, True] Translation: X:667.96, Y:-49.18, Z:1.87 [[ 9.96933296e-01 7.82404174e-02 -1.56239865e-03 6.67959220e+02] [-7.82402388e-02 9.96934519e-01 1.75166494e-04 -4.91793015e+01] [ 1.57131425e-03 -5.23868664e-05 9.99998764e-01 1.87434054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9307140569999 meters Centerline goodness [0,1] 0.9996444258523322 Centerline is valid? [True, True] Translation: X:667.99, Y:-49.17, Z:1.87 [[ 9.96563515e-01 8.27917647e-02 -2.58546609e-03 6.67991846e+02] [-8.27912869e-02 9.96566866e-01 2.91447721e-04 -4.91749964e+01] [ 2.60071931e-03 -7.63920998e-05 9.99996615e-01 1.87383976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9607140569999 meters Centerline goodness [0,1] 0.999642413916409 Centerline is valid? [True, True] Translation: X:668.02, Y:-49.17, Z:1.87 [[ 9.96297620e-01 8.59229404e-02 -2.88102583e-03 6.68024306e+02] [-8.59223604e-02 9.96301783e-01 3.24711938e-04 -4.91728796e+01] [ 2.89827137e-03 -7.59651910e-05 9.99995797e-01 1.87344686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.990714057 meters Centerline goodness [0,1] 0.9997278170930866 Centerline is valid? [True, True] Translation: X:668.06, Y:-49.17, Z:1.87 [[ 9.96013607e-01 8.91414324e-02 -3.27116162e-03 6.68056403e+02] [-8.91406989e-02 9.96018975e-01 3.69645843e-04 -4.91718414e+01] [ 3.29108980e-03 -7.65786570e-05 9.99994581e-01 1.87314067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.020714057 meters Centerline goodness [0,1] 0.9998742902637809 Centerline is valid? [True, True] Translation: X:668.09, Y:-49.17, Z:1.87 [[ 9.95751411e-01 9.19954774e-02 -3.99488779e-03 6.68088629e+02] [-9.19944014e-02 9.95759421e-01 4.52666188e-04 -4.91711398e+01] [ 4.01959040e-03 -8.32356851e-05 9.99991918e-01 1.87311531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0507140569999 meters Centerline goodness [0,1] 0.9997487910569617 Centerline is valid? [True, True] Translation: X:668.12, Y:-49.17, Z:1.87 [[ 9.95277799e-01 9.69345119e-02 -5.07968664e-03 6.68121348e+02] [-9.69328284e-02 9.95290758e-01 5.77149404e-04 -4.91674361e+01] [ 5.11171086e-03 -8.20355958e-05 9.99986932e-01 1.87314169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0807140569999 meters Centerline goodness [0,1] 0.9996650126667085 Centerline is valid? [True, True] Translation: X:668.15, Y:-49.17, Z:1.87 [[ 9.95095606e-01 9.88016948e-02 -4.79166664e-03 6.68153002e+02] [-9.88002130e-02 9.95107140e-01 5.45562764e-04 -4.91683331e+01] [ 4.82212421e-03 -6.94694251e-05 9.99988371e-01 1.87340664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1107140569999 meters Centerline goodness [0,1] 0.9998115577889447 Centerline is valid? [True, True] Translation: X:668.19, Y:-49.17, Z:1.87 [[ 9.95071542e-01 9.90735776e-02 -4.12951707e-03 6.68186689e+02] [-9.90724759e-02 9.95080109e-01 4.71011747e-04 -4.91666479e+01] [ 4.15586512e-03 -5.95689043e-05 9.99991363e-01 1.87492942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.140714057 meters Centerline goodness [0,1] 0.9999581668723462 Centerline is valid? [True, True] Translation: X:668.22, Y:-49.17, Z:1.88 [[ 9.95145605e-01 9.83468272e-02 -3.62314579e-03 6.68218765e+02] [-9.83459710e-02 9.95152199e-01 4.14163154e-04 -4.91683089e+01] [ 3.64631313e-03 -5.58308511e-05 9.99993351e-01 1.87619699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1707140569999 meters Centerline goodness [0,1] 0.9998532771594458 Centerline is valid? [True, True] Translation: X:668.25, Y:-49.17, Z:1.88 [[ 9.95266078e-01 9.71532592e-02 -2.58414112e-03 6.68251334e+02] [-9.71528187e-02 9.95269432e-01 2.95748888e-04 -4.91702556e+01] [ 2.60064963e-03 -4.32922420e-05 9.99996617e-01 1.87660646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2007140569999 meters Centerline goodness [0,1] 0.9998536391577979 Centerline is valid? [True, True] Translation: X:668.28, Y:-49.17, Z:1.88 [[ 9.95647894e-01 9.31710590e-02 -2.10373955e-03 6.68282562e+02] [-9.31707573e-02 9.95650115e-01 2.41139396e-04 -4.91716037e+01] [ 2.11705574e-03 -4.40829244e-05 9.99997758e-01 1.87726393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.31, Y:-49.17, Z:1.88 [[ 9.95810550e-01 9.14248328e-02 -1.68797166e-03 6.68313281e+02] [-9.14246358e-02 9.95811979e-01 1.93693466e-04 -4.91747959e+01] [ 1.69861079e-03 -3.85598031e-05 9.99998557e-01 1.87755450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.260714057 meters Centerline goodness [0,1] 0.9998744454674814 Centerline is valid? [True, True] Translation: X:668.34, Y:-49.18, Z:1.88 [[ 9.95978514e-01 8.95837300e-02 -1.24698249e-03 6.68344877e+02] [-8.95836210e-02 9.95979294e-01 1.43138131e-04 -4.91781172e+01] [ 1.25479159e-03 -3.08532960e-05 9.99999212e-01 1.87764429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.290714057 meters Centerline goodness [0,1] 0.9998953339892404 Centerline is valid? [True, True] Translation: X:668.38, Y:-49.18, Z:1.88 [[ 9.96139149e-01 8.77711551e-02 -1.73800730e-03 6.68376744e+02] [-8.77709393e-02 9.96140664e-01 2.00204700e-04 -4.91810976e+01] [ 1.74887194e-03 -4.68852062e-05 9.99998470e-01 1.87742745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.41, Y:-49.18, Z:1.88 [[ 9.96527238e-01 8.32342752e-02 -2.34934840e-03 6.68406555e+02] [-8.32338655e-02 9.96530004e-01 2.71787762e-04 -4.91821892e+01] [ 2.36381823e-03 -7.52985588e-05 9.99997203e-01 1.87699714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.44, Y:-49.18, Z:1.88 [[ 9.96701377e-01 8.11244996e-02 -2.27612349e-03 6.68438319e+02] [-8.11241091e-02 9.96703973e-01 2.63516839e-04 -4.91846630e+01] [ 2.28999900e-03 -7.79991060e-05 9.99997375e-01 1.87687985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.380714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.47, Y:-49.19, Z:1.88 [[ 9.96870097e-01 7.90300541e-02 -2.06403519e-03 6.68469628e+02] [-7.90297288e-02 9.96872231e-01 2.38781896e-04 -4.91874951e+01] [ 2.07645031e-03 -7.49143907e-05 9.99997841e-01 1.87720526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.410714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.50, Y:-49.19, Z:1.88 [[ 9.97189227e-01 7.49067697e-02 -1.61912962e-03 6.68500738e+02] [-7.49065631e-02 9.97190539e-01 1.87954309e-04 -4.91892792e+01] [ 1.62865979e-03 -6.61425766e-05 9.99998672e-01 1.87787514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4407140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.53, Y:-49.19, Z:1.88 [[ 9.97311124e-01 7.32507936e-02 -2.20088894e-03 6.68532263e+02] [-7.32504085e-02 9.97313548e-01 2.55187236e-04 -4.91913227e+01] [ 2.21366903e-03 -9.32850545e-05 9.99997545e-01 1.87791101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.56, Y:-49.19, Z:1.88 [[ 9.97517615e-01 7.03536304e-02 -2.99558389e-03 6.68562540e+02] [-7.03529004e-02 9.97522104e-01 3.48495637e-04 -4.91914974e+01] [ 3.01267908e-03 -1.36882522e-04 9.99995453e-01 1.87680831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.500714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.59, Y:-49.19, Z:1.88 [[ 9.97629278e-01 6.87331990e-02 -3.40171758e-03 6.68594639e+02] [-6.87322484e-02 9.97635064e-01 3.95702775e-04 -4.91937829e+01] [ 3.42087065e-03 -1.60956976e-04 9.99994136e-01 1.87673976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.530714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.63, Y:-49.20, Z:1.88 [[ 9.97679241e-01 6.80160697e-02 -3.15363651e-03 6.68627041e+02] [-6.80152490e-02 9.97684214e-01 3.66885500e-04 -4.91950121e+01] [ 3.17128748e-03 -1.51538675e-04 9.99994960e-01 1.87712656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.66, Y:-49.18, Z:1.88 [[ 9.97730095e-01 6.73094853e-02 -2.02246301e-03 6.68660760e+02] [-6.73091455e-02 9.97732140e-01 2.35691523e-04 -4.91836695e+01] [ 2.03374062e-03 -9.90262681e-05 9.99997927e-01 1.87808263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5907140569999 meters Centerline goodness [0,1] 0.9999790571530294 Centerline is valid? [True, True] Translation: X:668.69, Y:-49.19, Z:1.88 [[ 9.97706355e-01 6.76514116e-02 -2.30550394e-03 6.68691610e+02] [-6.76509711e-02 9.97709013e-01 2.68622259e-04 -4.91934722e+01] [ 2.31839474e-03 -1.12036555e-04 9.99997306e-01 1.87843389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.620714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.73, Y:-49.18, Z:1.88 [[ 9.97638018e-01 6.86273141e-02 -2.94553297e-03 6.68725786e+02] [-6.86265959e-02 9.97642357e-01 3.44324062e-04 -4.91815411e+01] [ 2.96221849e-03 -1.41368874e-04 9.99995603e-01 1.87803148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.650714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.76, Y:-49.19, Z:1.88 [[ 9.97536656e-01 7.00623473e-02 -3.44785287e-03 6.68755645e+02] [-7.00613681e-02 9.97542601e-01 4.04133565e-04 -4.91932056e+01] [ 3.46769466e-03 -1.61576756e-04 9.99993974e-01 1.87816001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.79, Y:-49.19, Z:1.88 [[ 9.97251130e-01 7.40341528e-02 -3.02109307e-03 6.68786249e+02] [-7.40334177e-02 9.97255698e-01 3.54594981e-04 -4.91880470e+01] [ 3.03905442e-03 -1.29958400e-04 9.99995374e-01 1.87879097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7107140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.82, Y:-49.17, Z:1.88 [[ 9.97041461e-01 7.68317835e-02 -2.28101541e-03 6.68819482e+02] [-7.68313717e-02 9.97044066e-01 2.67712047e-04 -4.91724173e+01] [ 2.29484167e-03 -9.16664679e-05 9.99997363e-01 1.87921009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.740714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.85, Y:-49.17, Z:1.88 [[ 9.96511595e-01 8.34272397e-02 -2.12982223e-03 6.68850050e+02] [-8.34268955e-02 9.96513869e-01 2.50073299e-04 -4.91665654e+01] [ 2.14326031e-03 -7.15164854e-05 9.99997701e-01 1.87998794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.770714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.88, Y:-49.17, Z:1.88 [[ 9.96241465e-01 8.66067406e-02 -1.48884525e-03 6.68879471e+02] [-8.66065759e-02 9.96242576e-01 1.74815963e-04 -4.91749214e+01] [ 1.49839126e-03 -4.52151219e-05 9.99998876e-01 1.88064694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8007140569999 meters Centerline goodness [0,1] 0.9999789699480558 Centerline is valid? [True, True] Translation: X:668.91, Y:-49.16, Z:1.88 [[ 9.95853633e-01 9.09631667e-02 -1.11539276e-03 6.68912589e+02] [-9.09630771e-02 9.95854257e-01 1.30916667e-04 -4.91601598e+01] [ 1.12267723e-03 -2.89142808e-05 9.99999369e-01 1.87953063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8307140569999 meters Centerline goodness [0,1] 0.9999368301362364 Centerline is valid? [True, True] Translation: X:668.94, Y:-49.16, Z:1.88 [[ 9.95769197e-01 9.18883964e-02 -4.78952351e-04 6.68944602e+02] [-9.18883800e-02 9.95769312e-01 5.61480605e-05 -4.91594770e+01] [ 4.82085408e-04 -1.19003535e-05 9.99999884e-01 1.87947231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:668.98, Y:-49.16, Z:1.88 [[ 9.95706624e-01 9.25631066e-02 -6.25208673e-04 6.68976104e+02] [-9.25630788e-02 9.95706820e-01 7.33614808e-05 -4.91600322e+01] [ 6.29315106e-04 -1.51752727e-05 9.99999802e-01 1.87924509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.890714057 meters Centerline goodness [0,1] 0.9998945881559252 Centerline is valid? [True, True] Translation: X:669.01, Y:-49.16, Z:1.88 [[ 9.95672584e-01 9.29283511e-02 -6.53100402e-04 6.69006834e+02] [-9.29283208e-02 9.95672798e-01 7.66659273e-05 -4.91626808e+01] [ 6.57398743e-04 -1.56426383e-05 9.99999784e-01 1.87945421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9207140569999 meters Centerline goodness [0,1] 0.9998736123691362 Centerline is valid? [True, True] Translation: X:669.04, Y:-49.16, Z:1.88 [[ 9.95588333e-01 9.38280833e-02 -4.02162173e-04 6.69037720e+02] [-9.38280719e-02 9.95588414e-01 4.72985929e-05 -4.91605281e+01] [ 4.04825937e-04 -9.35582594e-06 9.99999918e-01 1.87904977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9507140569999 meters Centerline goodness [0,1] 0.9998735670937289 Centerline is valid? [True, True] Translation: X:669.07, Y:-49.16, Z:1.88 [[ 9.95511571e-01 9.46381962e-02 -5.68978482e-04 6.69069302e+02] [-9.46381734e-02 9.95511734e-01 6.67944520e-05 -4.91619147e+01] [ 5.72746061e-04 -1.26475657e-05 9.99999836e-01 1.87911956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9807140569999 meters Centerline goodness [0,1] 0.9997061231344067 Centerline is valid? [True, True] Translation: X:669.10, Y:-49.16, Z:1.88 [[ 9.95342214e-01 9.64045297e-02 -2.10610374e-04 6.69100446e+02] [-9.64045266e-02 9.95342236e-01 2.47775418e-05 -4.91605926e+01] [ 2.12018068e-04 -4.35833984e-06 9.99999978e-01 1.87874136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.010714057 meters Centerline goodness [0,1] 0.9996630443939011 Centerline is valid? [True, True] Translation: X:669.13, Y:-49.16, Z:1.88 [[ 9.95212192e-01 9.77361254e-02 5.85817337e-04 6.69129801e+02] [-9.77361018e-02 9.95212364e-01 -6.88358267e-05 -4.91642451e+01] [-5.89740404e-04 1.12507511e-05 9.99999826e-01 1.87936598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.040714057 meters Centerline goodness [0,1] 0.999873668252832 Centerline is valid? [True, True] Translation: X:669.16, Y:-49.17, Z:1.88 [[ 9.95065852e-01 9.92166835e-02 7.51634695e-06 6.69160855e+02] [-9.92166835e-02 9.95065852e-01 -9.55239935e-07 -4.91653391e+01] [-7.57403592e-06 2.04779623e-07 1.00000000e+00 1.87908530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0707140569999 meters Centerline goodness [0,1] 0.9997048468365906 Centerline is valid? [True, True] Translation: X:669.19, Y:-49.16, Z:1.88 [[ 9.94728197e-01 1.02543383e-01 -8.17177697e-04 6.69191699e+02] [-1.02543339e-01 9.94728533e-01 9.61375886e-05 -4.91648576e+01] [ 8.22728246e-04 -1.18346408e-05 9.99999661e-01 1.87786239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1007140569999 meters Centerline goodness [0,1] 0.999577863143231 Centerline is valid? [True, True] Translation: X:669.22, Y:-49.17, Z:1.88 [[ 9.94570549e-01 1.04054460e-01 -1.44664119e-03 6.69221045e+02] [-1.04054323e-01 9.94571601e-01 1.70238101e-04 -4.91686701e+01] [ 1.45650228e-03 -1.87845318e-05 9.99998939e-01 1.87750317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.130714057 meters Centerline goodness [0,1] 0.9994956499810869 Centerline is valid? [True, True] Translation: X:669.25, Y:-49.17, Z:1.88 [[ 9.94381490e-01 1.05837115e-01 -1.98914475e-03 6.69250418e+02] [-1.05836859e-01 9.94383480e-01 2.34051232e-04 -4.91697720e+01] [ 2.00274399e-03 -2.22113807e-05 9.99997994e-01 1.87676954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.160714057 meters Centerline goodness [0,1] 0.9995785036880928 Centerline is valid? [True, True] Translation: X:669.28, Y:-49.17, Z:1.88 [[ 9.94134352e-01 1.08129137e-01 -2.23138230e-03 6.69280309e+02] [-1.08128820e-01 9.94136856e-01 2.62459461e-04 -4.91717362e+01] [ 2.24667890e-03 -1.96432311e-05 9.99997476e-01 1.87654206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1907140569999 meters Centerline goodness [0,1] 0.9997261947387266 Centerline is valid? [True, True] Translation: X:669.31, Y:-49.18, Z:1.88 [[ 9.94080741e-01 1.08629581e-01 -1.75921113e-03 6.69309667e+02] [-1.08629385e-01 9.94082297e-01 2.06889560e-04 -4.91751629e+01] [ 1.77127497e-03 -1.45629040e-05 9.99998431e-01 1.87663584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2207140569999 meters Centerline goodness [0,1] 0.9996417054819061 Centerline is valid? [True, True] Translation: X:669.34, Y:-49.18, Z:1.88 [[ 9.94085280e-01 1.08581587e-01 -2.12013749e-03 6.69338807e+02] [-1.08581302e-01 9.94087541e-01 2.49227434e-04 -4.91791263e+01] [ 2.13466378e-03 -1.75460329e-05 9.99997721e-01 1.87711989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.250714057 meters Centerline goodness [0,1] 0.999663455470952 Centerline is valid? [True, True] Translation: X:669.37, Y:-49.18, Z:1.88 [[ 9.94271318e-01 1.06858622e-01 -2.40445717e-03 6.69367914e+02] [-1.06858252e-01 9.94274225e-01 2.82513208e-04 -4.91848207e+01] [ 2.42087876e-03 -2.39586903e-05 9.99997069e-01 1.87741125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.280714057 meters Centerline goodness [0,1] 0.9995380965378236 Centerline is valid? [True, True] Translation: X:669.40, Y:-49.19, Z:1.88 [[ 9.94431060e-01 1.05365260e-01 -2.24235806e-03 6.69397095e+02] [-1.05364934e-01 9.94433588e-01 2.63463603e-04 -4.91900111e+01] [ 2.25763609e-03 -2.57304807e-05 9.99997451e-01 1.87787734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3107140569999 meters Centerline goodness [0,1] 0.9999157894736842 Centerline is valid? [True, True] Translation: X:669.43, Y:-49.20, Z:1.88 [[ 9.94790642e-01 1.01930800e-01 -1.29992782e-03 6.69426729e+02] [-1.01930687e-01 9.94791492e-01 1.52649911e-04 -4.91968698e+01] [ 1.30871686e-03 -1.93521671e-05 9.99999143e-01 1.87926903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3407140569999 meters Centerline goodness [0,1] 0.999852823682772 Centerline is valid? [True, True] Translation: X:669.46, Y:-49.20, Z:1.88 [[ 9.94943902e-01 1.00425458e-01 -1.16596213e-03 6.69456260e+02] [-1.00425367e-01 9.94944585e-01 1.36867021e-04 -4.92024632e+01] [ 1.17381264e-03 -1.90828330e-05 9.99999311e-01 1.87966067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.370714057 meters Centerline goodness [0,1] 0.9999163792202362 Centerline is valid? [True, True] Translation: X:669.49, Y:-49.21, Z:1.88 [[ 9.95102611e-01 9.88367733e-02 -1.44443263e-03 6.69487193e+02] [-9.88366313e-02 9.95103659e-01 1.69552500e-04 -4.92078178e+01] [ 1.45411822e-03 -2.59592798e-05 9.99998942e-01 1.88037849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.400714057 meters Centerline goodness [0,1] 0.9997686791579922 Centerline is valid? [True, True] Translation: X:669.52, Y:-49.21, Z:1.88 [[ 9.95425417e-01 9.55387974e-02 -7.59918351e-04 6.69517509e+02] [-9.55387571e-02 9.95425707e-01 8.92189553e-05 -4.92144221e+01] [ 7.64966133e-04 -1.62091611e-05 9.99999707e-01 1.88074426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4307140569999 meters Centerline goodness [0,1] 0.9998319045217684 Centerline is valid? [True, True] Translation: X:669.55, Y:-49.22, Z:1.88 [[ 9.95559833e-01 9.41270668e-02 -8.45449884e-04 6.69548802e+02] [-9.41270164e-02 9.95560192e-01 9.92272005e-05 -4.92197978e+01] [ 8.51036214e-04 -1.92069400e-05 9.99999638e-01 1.88085554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4607140569999 meters Centerline goodness [0,1] 0.9999369827332689 Centerline is valid? [True, True] Translation: X:669.58, Y:-49.22, Z:1.88 [[ 9.95665239e-01 9.30012394e-02 -1.22554039e-03 6.69579749e+02] [-9.30011327e-02 9.95665992e-01 1.43944665e-04 -4.92243054e+01] [ 1.23361592e-03 -2.93440549e-05 9.99999239e-01 1.88104457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.490714057 meters Centerline goodness [0,1] 0.999894840894273 Centerline is valid? [True, True] Translation: X:669.61, Y:-49.23, Z:1.88 [[ 9.95833503e-01 9.11827943e-02 -1.15454474e-03 6.69610731e+02] [-9.11826983e-02 9.95834172e-01 1.35638705e-04 -4.92290514e+01] [ 1.16210302e-03 -2.97990619e-05 9.99999324e-01 1.88069307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.520714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.64, Y:-49.24, Z:1.88 [[ 9.96178644e-01 8.73235727e-02 -1.64407597e-03 6.69641265e+02] [-8.73233729e-02 9.96179999e-01 1.93073494e-04 -4.92377114e+01] [ 1.65465547e-03 -4.87694321e-05 9.99998630e-01 1.88076632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5507140569999 meters Centerline goodness [0,1] 0.9998108806657 Centerline is valid? [True, True] Translation: X:669.67, Y:-49.24, Z:1.88 [[ 9.96540262e-01 8.30937274e-02 -1.71439778e-03 6.69671710e+02] [-8.30935031e-02 9.96541735e-01 2.01789943e-04 -4.92438357e+01] [ 1.72523641e-03 -5.86364858e-05 9.99998510e-01 1.88098245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5807140569999 meters Centerline goodness [0,1] 0.9998743034315163 Centerline is valid? [True, True] Translation: X:669.70, Y:-49.25, Z:1.88 [[ 9.96698250e-01 8.11780014e-02 -1.65251270e-03 6.69703199e+02] [-8.11777904e-02 9.96699618e-01 1.94488409e-04 -4.92470974e+01] [ 1.66284695e-03 -5.96989276e-05 9.99998616e-01 1.88128885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6107140569999 meters Centerline goodness [0,1] 0.9998743034315163 Centerline is valid? [True, True] Translation: X:669.73, Y:-49.25, Z:1.88 [[ 9.96695349e-01 8.12136141e-02 -1.65250575e-03 6.69733837e+02] [-8.12134031e-02 9.96696717e-01 1.94547379e-04 -4.92507339e+01] [ 1.66284695e-03 -5.96988518e-05 9.99998616e-01 1.88141432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.640714057 meters Centerline goodness [0,1] 0.9999579124579124 Centerline is valid? [True, True] Translation: X:669.76, Y:-49.26, Z:1.88 [[ 9.96857612e-01 7.91951168e-02 -1.74222855e-03 6.69764333e+02] [-7.91948798e-02 9.96859132e-01 2.04727565e-04 -4.92580295e+01] [ 1.75296986e-03 -6.61086507e-05 9.99998461e-01 1.88186938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6707140569999 meters Centerline goodness [0,1] 0.9998315718556571 Centerline is valid? [True, True] Translation: X:669.80, Y:-49.26, Z:1.88 [[ 9.97025962e-01 7.70487151e-02 -1.65108154e-03 6.69795991e+02] [-7.70484980e-02 9.97027327e-01 1.94826000e-04 -4.92601651e+01] [ 1.66118451e-03 -6.70332267e-05 9.99998618e-01 1.88167084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7007140569999 meters Centerline goodness [0,1] 0.9998947102425876 Centerline is valid? [True, True] Translation: X:669.83, Y:-49.26, Z:1.88 [[ 9.97284424e-01 7.36079895e-02 -2.37531048e-03 6.69826744e+02] [-7.36075298e-02 9.97287247e-01 2.80463724e-04 -4.92631964e+01] [ 2.38951122e-03 -1.04861366e-04 9.99997140e-01 1.88112484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7307140569999 meters Centerline goodness [0,1] 0.9996843168616887 Centerline is valid? [True, True] Translation: X:669.86, Y:-49.27, Z:1.88 [[ 9.97380220e-01 7.23119456e-02 -1.91833980e-03 6.69856717e+02] [-7.23116434e-02 9.97382061e-01 2.26528291e-04 -4.92674328e+01] [ 1.92969840e-03 -8.72165331e-05 9.99998134e-01 1.88121505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.760714057 meters Centerline goodness [0,1] 0.9997694210371861 Centerline is valid? [True, True] Translation: X:669.89, Y:-49.27, Z:1.88 [[ 9.97459056e-01 7.12240597e-02 -1.60159459e-03 6.69887424e+02] [-7.12238485e-02 9.97460339e-01 1.88631354e-04 -4.92720893e+01] [ 1.61096218e-03 -7.40803219e-05 9.99998700e-01 1.88148786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.790714057 meters Centerline goodness [0,1] 0.9996440685063439 Centerline is valid? [True, True] Translation: X:669.92, Y:-49.28, Z:1.88 [[ 9.97675745e-01 6.81242780e-02 -1.48019712e-03 6.69917135e+02] [-6.81240931e-02 9.97676840e-01 1.75062148e-04 -4.92765104e+01] [ 1.48868437e-03 -7.38181721e-05 9.99998889e-01 1.88203545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8207140569999 meters Centerline goodness [0,1] 0.9995400568656966 Centerline is valid? [True, True] Translation: X:669.95, Y:-49.28, Z:1.88 [[ 9.97760841e-01 6.68760536e-02 -9.47201406e-04 6.69948556e+02] [-6.68759773e-02 9.97761290e-01 1.12036567e-04 -4.92795425e+01] [ 9.52573460e-04 -4.84406794e-05 9.99999545e-01 1.88187587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8507140569999 meters Centerline goodness [0,1] 0.9994981599197056 Centerline is valid? [True, True] Translation: X:669.98, Y:-49.28, Z:1.88 [[ 9.97825538e-01 6.58985280e-02 -1.25672930e-03 6.69979965e+02] [-6.58983928e-02 9.97826327e-01 1.48738781e-04 -4.92818741e+01] [ 1.26379925e-03 -6.55989131e-05 9.99999199e-01 1.88198557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.880714057 meters Centerline goodness [0,1] 0.9992846021125279 Centerline is valid? [True, True] Translation: X:670.01, Y:-49.28, Z:1.88 [[ 9.97971795e-01 6.36413778e-02 -1.43927701e-03 6.70010391e+02] [-6.36411980e-02 9.97972830e-01 1.70461339e-04 -4.92836811e+01] [ 1.44720775e-03 -7.85182947e-05 9.99998950e-01 1.88187627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.910714057 meters Centerline goodness [0,1] 0.9994780575389369 Centerline is valid? [True, True] Translation: X:670.04, Y:-49.29, Z:1.88 [[ 9.98011514e-01 6.30131452e-02 -1.53676556e-03 6.70041849e+02] [-6.30129394e-02 9.98012693e-01 1.81995985e-04 -4.92864319e+01] [ 1.54517967e-03 -8.47979736e-05 9.99998803e-01 1.88192661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9407140569999 meters Centerline goodness [0,1] 0.9992910463322073 Centerline is valid? [True, True] Translation: X:670.07, Y:-49.29, Z:1.88 [[ 9.98040707e-01 6.25341974e-02 -2.05443213e-03 6.70072426e+02] [-6.25338282e-02 9.98042815e-01 2.43489489e-04 -4.92883393e+01] [ 2.06563765e-03 -1.14540916e-04 9.99997860e-01 1.88139461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9707140569999 meters Centerline goodness [0,1] 0.9985794564331822 Centerline is valid? [True, True] Translation: X:670.10, Y:-49.29, Z:1.88 [[ 9.98030120e-01 6.26467303e-02 -3.35674313e-03 6.70102124e+02] [-6.26457455e-02 9.98035747e-01 3.97849957e-04 -4.92864045e+01] [ 3.37507364e-03 -1.86780564e-04 9.99994287e-01 1.88002517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.000714057 meters Centerline goodness [0,1] 0.9987895231138474 Centerline is valid? [True, True] Translation: X:670.13, Y:-49.29, Z:1.88 [[ 9.97992111e-01 6.32479075e-02 -3.38347002e-03 6.70133204e+02] [-6.32469106e-02 9.97997829e-01 4.00947726e-04 -4.92867010e+01] [ 3.40205484e-03 -1.86148641e-04 9.99994196e-01 1.88008952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.030714057 meters Centerline goodness [0,1] 0.9986626266847769 Centerline is valid? [True, True] Translation: X:670.16, Y:-49.29, Z:1.88 [[ 9.97899811e-01 6.46914690e-02 -3.31390047e-03 6.70163830e+02] [-6.46905206e-02 9.97905297e-01 3.92703600e-04 -4.92863351e+01] [ 3.33236340e-03 -1.77500901e-04 9.99994432e-01 1.88055376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0607140569999 meters Centerline goodness [0,1] 0.9981236709335779 Centerline is valid? [True, True] Translation: X:670.19, Y:-49.28, Z:1.88 [[ 9.97728260e-01 6.73452815e-02 -1.71257785e-03 6.70194057e+02] [-6.73450324e-02 9.97729726e-01 2.02803871e-04 -4.92817826e+01] [ 1.72234771e-03 -8.70095429e-05 9.99998513e-01 1.88113251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0907140569999 meters Centerline goodness [0,1] 0.9981412639405205 Centerline is valid? [True, True] Translation: X:670.22, Y:-49.28, Z:1.88 [[ 9.97625168e-01 6.88705996e-02 -9.29712425e-04 6.70224006e+02] [-6.88705266e-02 9.97625600e-01 1.10280260e-04 -4.92810367e+01] [ 9.35099984e-04 -4.59885786e-05 9.99999562e-01 1.88185446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.120714057 meters Centerline goodness [0,1] 0.9974755904197613 Centerline is valid? [True, True] Translation: X:670.26, Y:-49.27, Z:1.88 [[ 9.97428267e-01 7.16665331e-02 -8.72148533e-04 6.70255014e+02] [-7.16664699e-02 9.97428647e-01 1.03500769e-04 -4.92692022e+01] [ 8.77323473e-04 -4.07307856e-05 9.99999614e-01 1.88122486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.150714057 meters Centerline goodness [0,1] 0.9966555883029201 Centerline is valid? [True, True] Translation: X:670.28, Y:-49.27, Z:1.88 [[ 9.97311079e-01 7.32813720e-02 -6.72684557e-04 6.70283844e+02] [-7.32813347e-02 9.97311305e-01 7.98375054e-05 -4.92744180e+01] [ 6.76726516e-04 -3.03276064e-05 9.99999771e-01 1.88106592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1807140569999 meters Centerline goodness [0,1] 0.9967853042479908 Centerline is valid? [True, True] Translation: X:670.31, Y:-49.27, Z:1.88 [[ 9.97153035e-01 7.53998128e-02 -8.32853497e-04 6.70313223e+02] [-7.53997566e-02 9.97153382e-01 9.87758206e-05 -4.92730344e+01] [ 8.37930359e-04 -3.56976584e-05 9.99999648e-01 1.88077301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2107140569999 meters Centerline goodness [0,1] 0.9964133789306865 Centerline is valid? [True, True] Translation: X:670.35, Y:-49.26, Z:1.88 [[ 9.96791432e-01 8.00283051e-02 -1.52029447e-03 6.70345628e+02] [-8.00281233e-02 9.96792590e-01 1.80113878e-04 -4.92568276e+01] [ 1.52983247e-03 -5.78696575e-05 9.99998828e-01 1.87867879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.240714057 meters Centerline goodness [0,1] 0.9966793367027276 Centerline is valid? [True, True] Translation: X:670.37, Y:-49.26, Z:1.88 [[ 9.96599711e-01 8.23918572e-02 -7.73314798e-04 6.70374841e+02] [-8.23918107e-02 9.96600011e-01 9.18159161e-05 -4.92551125e+01] [ 7.78250420e-04 -2.77889090e-05 9.99999697e-01 1.87874978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.270714057 meters Centerline goodness [0,1] 0.9960986397396312 Centerline is valid? [True, True] Translation: X:670.40, Y:-49.25, Z:1.88 [[ 9.96430626e-01 8.44136869e-02 -5.81193422e-04 6.70402846e+02] [-8.44136610e-02 9.96430795e-01 6.90820179e-05 -4.92549712e+01] [ 5.84950492e-04 -1.97747738e-05 9.99999829e-01 1.87922739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3007140569999 meters Centerline goodness [0,1] 0.996314522039577 Centerline is valid? [True, True] Translation: X:670.43, Y:-49.25, Z:1.88 [[ 9.96175509e-01 8.73738082e-02 4.15109336e-04 6.70432982e+02] [-8.73737955e-02 9.96175596e-01 -4.87660786e-05 -4.92471441e+01] [-4.17782668e-04 1.23098949e-05 9.99999913e-01 1.87967434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3307140569999 meters Centerline goodness [0,1] 0.9962347822449065 Centerline is valid? [True, True] Translation: X:670.46, Y:-49.25, Z:1.88 [[ 9.96112230e-01 8.80870386e-02 1.04850045e-03 6.70461388e+02] [-8.80869574e-02 9.96112781e-01 -1.23461783e-04 -4.92477153e+01] [-1.05530008e-03 3.06225775e-05 9.99999443e-01 1.87959921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3607140569999 meters Centerline goodness [0,1] 0.9957138695851192 Centerline is valid? [True, True] Translation: X:670.49, Y:-49.25, Z:1.88 [[ 9.96059720e-01 8.86761952e-02 1.25144779e-03 6.70489938e+02] [-8.86760799e-02 9.96060506e-01 -1.47415992e-04 -4.92478559e+01] [-1.25959001e-03 3.58616476e-05 9.99999206e-01 1.87974919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.390714057 meters Centerline goodness [0,1] 0.9949369726013126 Centerline is valid? [True, True] Translation: X:670.52, Y:-49.25, Z:1.88 [[ 9.96092101e-01 8.83052319e-02 1.64696961e-03 6.70517272e+02] [-8.83050320e-02 9.96093461e-01 -1.93881234e-04 -4.92497173e+01] [-1.65765639e-03 4.76878622e-05 9.99998625e-01 1.88050554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4207140569999 meters Centerline goodness [0,1] 0.9953560371517027 Centerline is valid? [True, True] Translation: X:670.55, Y:-49.25, Z:1.88 [[ 9.96235656e-01 8.66572556e-02 2.24463489e-03 6.70546354e+02] [-8.66568799e-02 9.96238182e-01 -2.64276349e-04 -4.92488466e+01] [-2.25909244e-03 6.87684656e-05 9.99997446e-01 1.88026597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4507140569999 meters Centerline goodness [0,1] 0.9943467467718047 Centerline is valid? [True, True] Translation: X:670.57, Y:-49.25, Z:1.88 [[ 9.96351096e-01 8.53267169e-02 1.96082881e-03 6.70574062e+02] [-8.53264283e-02 9.96353024e-01 -2.30507742e-04 -4.92532911e+01] [-1.97334618e-03 6.23561230e-05 9.99998051e-01 1.88014585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4807140569999 meters Centerline goodness [0,1] 0.9938446077507694 Centerline is valid? [True, True] Translation: X:670.60, Y:-49.25, Z:1.88 [[ 9.96634344e-01 8.19698776e-02 9.60843535e-04 6.70603634e+02] [-8.19698067e-02 9.96634807e-01 -1.12973778e-04 -4.92535740e+01] [-9.66870558e-04 3.38333878e-05 9.99999532e-01 1.87825759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.510714057 meters Centerline goodness [0,1] 0.9938760581042951 Centerline is valid? [True, True] Translation: X:670.63, Y:-49.26, Z:1.88 [[ 9.96776591e-01 8.02273307e-02 -5.59945251e-05 6.70632781e+02] [-8.02273304e-02 9.96776593e-01 6.88334204e-06 -4.92555018e+01] [ 5.63662640e-05 -2.36886295e-06 9.99999998e-01 1.87756496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.540714057 meters Centerline goodness [0,1] 0.9933337539166824 Centerline is valid? [True, True] Translation: X:670.66, Y:-49.26, Z:1.88 [[ 9.96894347e-01 7.87486039e-02 -5.63788711e-04 6.70661545e+02] [-7.87485788e-02 9.96894506e-01 6.65901565e-05 -4.92574514e+01] [ 5.67281751e-04 -2.19857908e-05 9.99999839e-01 1.87726647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5707140569999 meters Centerline goodness [0,1] 0.9927045554600532 Centerline is valid? [True, True] Translation: X:670.69, Y:-49.26, Z:1.88 [[ 9.97049621e-01 7.67470079e-02 -1.39653276e-03 6.70689458e+02] [-7.67468527e-02 9.97050597e-01 1.64450138e-04 -4.92612287e+01] [ 1.40503488e-03 -5.67854542e-05 9.99999011e-01 1.87768519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6007140569999 meters Centerline goodness [0,1] 0.993413992635455 Centerline is valid? [True, True] Translation: X:670.72, Y:-49.26, Z:1.88 [[ 9.97117524e-01 7.58698071e-02 -6.44178948e-04 6.70718683e+02] [-7.58697738e-02 9.97117732e-01 7.59368360e-05 -4.92619552e+01] [ 6.48083565e-04 -2.68442388e-05 9.99999790e-01 1.87840392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.630714057 meters Centerline goodness [0,1] 0.9920533142724999 Centerline is valid? [True, True] Translation: X:670.75, Y:-49.26, Z:1.88 [[ 9.97177531e-01 7.50793251e-02 -2.57433793e-04 6.70747850e+02] [-7.50793197e-02 9.97177564e-01 3.05073604e-05 -4.92641132e+01] [ 2.58997675e-04 -1.10933003e-05 9.99999966e-01 1.87916740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.660714057 meters Centerline goodness [0,1] 0.9917218195188571 Centerline is valid? [True, True] Translation: X:670.78, Y:-49.27, Z:1.88 [[ 9.97280408e-01 7.36989834e-02 4.97442611e-04 6.70775287e+02] [-7.36989637e-02 9.97280532e-01 -5.78883790e-05 -4.92664362e+01] [-5.00356147e-04 2.10699413e-05 9.99999875e-01 1.88087156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6907140569999 meters Centerline goodness [0,1] 0.9911618793513153 Centerline is valid? [True, True] Translation: X:670.80, Y:-49.27, Z:1.88 [[ 9.97337731e-01 7.29181714e-02 6.25053508e-04 6.70802461e+02] [-7.29181400e-02 9.97337926e-01 -7.27733628e-05 -4.92692108e+01] [-6.28696070e-04 2.70018813e-05 9.99999802e-01 1.88151727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7207140569999 meters Centerline goodness [0,1] 0.9910947592867446 Centerline is valid? [True, True] Translation: X:670.83, Y:-49.27, Z:1.88 [[ 9.97436870e-01 7.15500737e-02 5.26826198e-04 6.70830831e+02] [-7.15500512e-02 9.97437009e-01 -6.12947271e-05 -4.92702273e+01] [-5.29861589e-04 2.34431792e-05 9.99999859e-01 1.88125336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.750714057 meters Centerline goodness [0,1] 0.9916426936564265 Centerline is valid? [True, True] Translation: X:670.86, Y:-49.27, Z:1.88 [[ 9.97471007e-01 7.10743345e-02 1.71673575e-04 6.70859126e+02] [-7.10743322e-02 9.97471022e-01 -1.97127801e-05 -4.92721724e+01] [-1.72640489e-04 7.46134188e-06 9.99999985e-01 1.88115734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.780714057 meters Centerline goodness [0,1] 0.990499411467967 Centerline is valid? [True, True] Translation: X:670.89, Y:-49.27, Z:1.88 [[ 9.97484477e-01 7.08852528e-02 -6.67799436e-06 6.70887961e+02] [-7.08852528e-02 9.97484477e-01 1.07775443e-06 -4.92718192e+01] [ 6.73759260e-06 -6.01671994e-07 1.00000000e+00 1.88058984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8107140569999 meters Centerline goodness [0,1] 0.9896194498728698 Centerline is valid? [True, True] Translation: X:670.92, Y:-49.27, Z:1.88 [[ 9.97435039e-01 7.15691209e-02 -1.09758169e-03 6.70917437e+02] [-7.15690228e-02 9.97435641e-01 1.28495627e-04 -4.92702937e+01] [ 1.10396341e-03 -4.96131915e-05 9.99999389e-01 1.87968327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8407140569999 meters Centerline goodness [0,1] 0.9887805697957811 Centerline is valid? [True, True] Translation: X:670.94, Y:-49.27, Z:1.88 [[ 9.97401026e-01 7.20263098e-02 -1.84494967e-03 6.70944891e+02] [-7.20260338e-02 9.97402729e-01 2.15700281e-04 -4.92747418e+01] [ 1.85569393e-03 -8.22552747e-05 9.99998275e-01 1.87951960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.870714057 meters Centerline goodness [0,1] 0.9889513147726561 Centerline is valid? [True, True] Translation: X:670.97, Y:-49.27, Z:1.88 [[ 9.97313330e-01 7.32112393e-02 -2.49730620e-03 6.70974690e+02] [-7.32107384e-02 9.97316451e-01 2.91531416e-04 -4.92721678e+01] [ 2.51194793e-03 -1.07918537e-04 9.99996839e-01 1.87889529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.900714057 meters Centerline goodness [0,1] 0.9880143827407112 Centerline is valid? [True, True] Translation: X:671.00, Y:-49.27, Z:1.88 [[ 9.97285629e-01 7.35863189e-02 -2.53532529e-03 6.71004038e+02] [-7.35858042e-02 9.97288846e-01 2.95858884e-04 -4.92717637e+01] [ 2.55022280e-03 -1.08491863e-04 9.99996742e-01 1.87870074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9307140569999 meters Centerline goodness [0,1] 0.9878792944913484 Centerline is valid? [True, True] Translation: X:671.03, Y:-49.27, Z:1.88 [[ 9.97233895e-01 7.42931276e-02 -2.25615773e-03 6.71032179e+02] [-7.42927220e-02 9.97236442e-01 2.63179130e-04 -4.92740898e+01] [ 2.26947511e-03 -9.48350503e-05 9.99997420e-01 1.87919745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9607140569999 meters Centerline goodness [0,1] 0.9857136845648881 Centerline is valid? [True, True] Translation: X:671.06, Y:-49.27, Z:1.88 [[ 9.97050062e-01 7.67411324e-02 -1.40416886e-03 6.71061832e+02] [-7.67409778e-02 9.97051050e-01 1.63705879e-04 -4.92719374e+01] [ 1.41259101e-03 -5.54656659e-05 9.99999001e-01 1.88024895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.990714057 meters Centerline goodness [0,1] 0.9858478802992519 Centerline is valid? [True, True] Translation: X:671.09, Y:-49.27, Z:1.88 [[ 9.96917247e-01 7.84540039e-02 -9.85524735e-04 6.71090112e+02] [-7.84539285e-02 9.96917734e-01 1.14962603e-04 -4.92729202e+01] [ 9.91506362e-04 -3.72899147e-05 9.99999508e-01 1.88087790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.020714057 meters Centerline goodness [0,1] 0.9859700048379294 Centerline is valid? [True, True] Translation: X:671.12, Y:-49.27, Z:1.88 [[ 9.96794259e-01 8.00059988e-02 -4.94988109e-04 6.71119552e+02] [-8.00059799e-02 9.96794382e-01 5.78515759e-05 -4.92721135e+01] [ 4.98029839e-04 -1.80641101e-05 9.99999876e-01 1.88133517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0507140569999 meters Centerline goodness [0,1] 0.9864240080699395 Centerline is valid? [True, True] Translation: X:671.15, Y:-49.27, Z:1.88 [[ 9.96519380e-01 8.33598164e-02 -5.15908137e-04 6.71149081e+02] [-8.33597964e-02 9.96519513e-01 6.02497128e-05 -4.92686741e+01] [ 5.19134931e-04 -1.70340092e-05 9.99999865e-01 1.88050317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0807140569999 meters Centerline goodness [0,1] 0.9857926012721795 Centerline is valid? [True, True] Translation: X:671.18, Y:-49.27, Z:1.88 [[ 9.96352303e-01 8.53320512e-02 -7.27744098e-04 6.71177072e+02] [-8.53320120e-02 9.96352568e-01 8.48746617e-05 -4.92714450e+01] [ 7.32332230e-04 -2.24651966e-05 9.99999732e-01 1.88003099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1107140569999 meters Centerline goodness [0,1] 0.9858653544131505 Centerline is valid? [True, True] Translation: X:671.21, Y:-49.27, Z:1.88 [[ 9.96251464e-01 8.64916715e-02 -1.48731839e-03 6.71205939e+02] [-8.64915097e-02 9.96252573e-01 1.72897789e-04 -4.92704533e+01] [ 1.49669899e-03 -4.36092630e-05 9.99998879e-01 1.87921949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.140714057 meters Centerline goodness [0,1] 0.9856284901485618 Centerline is valid? [True, True] Translation: X:671.24, Y:-49.27, Z:1.88 [[ 9.96027083e-01 8.90465978e-02 -8.68344674e-04 6.71235471e+02] [-8.90465436e-02 9.96027461e-01 1.01005792e-04 -4.92681406e+01] [ 8.73889363e-04 -2.32814129e-05 9.99999618e-01 1.87917931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1707140569999 meters Centerline goodness [0,1] 0.9857669122572003 Centerline is valid? [True, True] Translation: X:671.26, Y:-49.27, Z:1.88 [[ 9.95931243e-01 9.01073507e-02 -1.27426958e-03 6.71263695e+02] [-9.01072350e-02 9.95932058e-01 1.47989094e-04 -4.92708808e+01] [ 1.28242083e-03 -3.25660545e-05 9.99999177e-01 1.87974724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2007140569999 meters Centerline goodness [0,1] 0.9838675752986707 Centerline is valid? [True, True] Translation: X:671.29, Y:-49.27, Z:1.88 [[ 9.95724712e-01 9.23684687e-02 -6.02808779e-04 6.71292788e+02] [-9.23684432e-02 9.95724895e-01 7.01170077e-05 -4.92689504e+01] [ 6.06708309e-04 -1.41367289e-05 9.99999816e-01 1.87970705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2307140569999 meters Centerline goodness [0,1] 0.9843977007137894 Centerline is valid? [True, True] Translation: X:671.32, Y:-49.27, Z:1.88 [[ 9.95615812e-01 9.35350448e-02 -5.91414170e-04 6.71321822e+02] [-9.35350205e-02 9.95615988e-01 6.87537540e-05 -4.92709877e+01] [ 5.95252289e-04 -1.31343881e-05 9.99999823e-01 1.87983770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.260714057 meters Centerline goodness [0,1] 0.984686032060329 Centerline is valid? [True, True] Translation: X:671.35, Y:-49.27, Z:1.88 [[ 9.95519988e-01 9.45506880e-02 -3.47607422e-04 6.71350168e+02] [-9.45506796e-02 9.95520049e-01 4.05034892e-05 -4.92731102e+01] [ 3.49879791e-04 -7.45551501e-06 9.99999939e-01 1.87956168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.290714057 meters Centerline goodness [0,1] 0.9850144818032993 Centerline is valid? [True, True] Translation: X:671.38, Y:-49.27, Z:1.88 [[ 9.95323443e-01 9.65963604e-02 -6.22030209e-04 6.71378392e+02] [-9.65963341e-02 9.95323637e-01 7.22054142e-05 -4.92748552e+01] [ 6.26096150e-04 -1.17819036e-05 9.99999804e-01 1.87952493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3207140569999 meters Centerline goodness [0,1] 0.9849059768139032 Centerline is valid? [True, True] Translation: X:671.41, Y:-49.28, Z:1.88 [[ 9.95248465e-01 9.73658485e-02 -6.20039835e-04 6.71406741e+02] [-9.73658226e-02 9.95248658e-01 7.19289231e-05 -4.92775010e+01] [ 6.24097234e-04 -1.12164617e-05 9.99999805e-01 1.87973494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3507140569999 meters Centerline goodness [0,1] 0.9839933131334239 Centerline is valid? [True, True] Translation: X:671.43, Y:-49.28, Z:1.88 [[ 9.95234176e-01 9.75132086e-02 -3.31668294e-04 6.71433384e+02] [-9.75132010e-02 9.95234231e-01 3.90100873e-05 -4.92802055e+01] [ 3.33891638e-04 -6.48213506e-06 9.99999944e-01 1.87960377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.380714057 meters Centerline goodness [0,1] 0.9846218664419634 Centerline is valid? [True, True] Translation: X:671.46, Y:-49.28, Z:1.88 [[ 9.95223487e-01 9.76203620e-02 -6.89142135e-04 6.71460988e+02] [-9.76203302e-02 9.95223726e-01 7.97916708e-05 -4.92832741e+01] [ 6.93639895e-04 -1.21362621e-05 9.99999759e-01 1.87915193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.410714057 meters Centerline goodness [0,1] 0.984654463011168 Centerline is valid? [True, True] Translation: X:671.49, Y:-49.29, Z:1.88 [[ 9.95256902e-01 9.72748583e-02 -1.14086125e-03 6.71488414e+02] [-9.72747711e-02 9.95257555e-01 1.31764183e-04 -4.92870283e+01] [ 1.14826812e-03 -2.01621951e-05 9.99999341e-01 1.87888380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4407140569999 meters Centerline goodness [0,1] 0.9857753988156702 Centerline is valid? [True, True] Translation: X:671.52, Y:-49.29, Z:1.88 [[ 9.95291242e-01 9.69130233e-02 -1.79166475e-03 6.71516372e+02] [-9.69128085e-02 9.95292854e-01 2.06537802e-04 -4.92926860e+01] [ 1.80324733e-03 -3.19300028e-05 9.99998374e-01 1.87903089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4707140569999 meters Centerline goodness [0,1] 0.9859178576675272 Centerline is valid? [True, True] Translation: X:671.54, Y:-49.30, Z:1.88 [[ 9.95319066e-01 9.66272787e-02 -1.76801514e-03 6.71543579e+02] [-9.66270692e-02 9.95320636e-01 2.03732132e-04 -4.92973283e+01] [ 1.77942803e-03 -3.19403537e-05 9.99998416e-01 1.87922819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.500714057 meters Centerline goodness [0,1] 0.9859178576675272 Centerline is valid? [True, True] Translation: X:671.57, Y:-49.30, Z:1.88 [[ 9.95328695e-01 9.65280454e-02 -1.76802777e-03 6.71570896e+02] [-9.65278359e-02 9.95330264e-01 2.03622416e-04 -4.93003737e+01] [ 1.77942682e-03 -3.20073383e-05 9.99998416e-01 1.87934000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.530714057 meters Centerline goodness [0,1] 0.985662477861179 Centerline is valid? [True, True] Translation: X:671.60, Y:-49.30, Z:1.88 [[ 9.95340942e-01 9.64095363e-02 -1.26894694e-03 6.71598759e+02] [-9.64094283e-02 9.95341751e-01 1.46131016e-04 -4.93048204e+01] [ 1.27712429e-03 -2.31117343e-05 9.99999184e-01 1.88015667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5607140569999 meters Centerline goodness [0,1] 0.9865204286671132 Centerline is valid? [True, True] Translation: X:671.63, Y:-49.31, Z:1.88 [[ 9.95339465e-01 9.64291747e-02 -8.73480374e-04 6.71625644e+02] [-9.64291235e-02 9.95339848e-01 1.00678930e-04 -4.93092416e+01] [ 8.79118210e-04 -1.59807656e-05 9.99999613e-01 1.88073655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5907140569999 meters Centerline goodness [0,1] 0.986989709851552 Centerline is valid? [True, True] Translation: X:671.65, Y:-49.31, Z:1.88 [[ 9.95345753e-01 9.63679452e-02 -2.24519901e-04 6.71653768e+02] [-9.63679417e-02 9.95345779e-01 2.61540995e-05 -4.93132715e+01] [ 2.25995352e-04 -4.39585117e-06 9.99999974e-01 1.88201532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.620714057 meters Centerline goodness [0,1] 0.9867516138559554 Centerline is valid? [True, True] Translation: X:671.68, Y:-49.32, Z:1.88 [[ 9.95354965e-01 9.62729940e-02 5.90230028e-05 6.71679772e+02] [-9.62729938e-02 9.95354967e-01 -6.27107400e-06 -4.93190765e+01] [-5.93525741e-05 5.59623466e-07 9.99999998e-01 1.88299435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.650714057 meters Centerline goodness [0,1] 0.9891459823306689 Centerline is valid? [True, True] Translation: X:671.71, Y:-49.32, Z:1.88 [[ 9.95147671e-01 9.83926451e-02 -1.69503090e-05 6.71708017e+02] [-9.83926451e-02 9.95147671e-01 2.22749893e-06 -4.93226540e+01] [ 1.70872300e-05 -5.48904630e-07 1.00000000e+00 1.88298053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6807140569999 meters Centerline goodness [0,1] 0.9878278328523027 Centerline is valid? [True, True] Translation: X:671.74, Y:-49.33, Z:1.88 [[ 9.95022374e-01 9.96513593e-02 -2.84746770e-04 6.71735395e+02] [-9.96513539e-02 9.95022415e-01 3.30480264e-05 -4.93291662e+01] [ 2.86622699e-04 -4.50812459e-06 9.99999959e-01 1.88348385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7107140569999 meters Centerline goodness [0,1] 0.9884912369290328 Centerline is valid? [True, True] Translation: X:671.76, Y:-49.33, Z:1.88 [[ 9.94807809e-01 1.01770784e-01 -3.62932456e-04 6.71764664e+02] [-1.01770775e-01 9.94807875e-01 4.16775449e-05 -4.93310275e+01] [ 3.65289622e-04 -4.52522967e-06 9.99999933e-01 1.88308844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.740714057 meters Centerline goodness [0,1] 0.9895302238727681 Centerline is valid? [True, True] Translation: X:671.79, Y:-49.34, Z:1.88 [[ 9.94433723e-01 1.05362046e-01 -6.40176555e-04 6.71792730e+02] [-1.05362020e-01 9.94433929e-01 7.33758252e-05 -4.93352451e+01] [ 6.44344314e-04 -5.51709995e-06 9.99999792e-01 1.88387036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.770714057 meters Centerline goodness [0,1] 0.990382790256248 Centerline is valid? [True, True] Translation: X:671.82, Y:-49.34, Z:1.88 [[ 9.94275673e-01 1.06842436e-01 -7.62088025e-04 6.71821026e+02] [-1.06842401e-01 9.94275965e-01 8.72480416e-05 -4.93388711e+01] [ 7.67047600e-04 -5.32529110e-06 9.99999706e-01 1.88398182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8007140569999 meters Centerline goodness [0,1] 0.9905296314065792 Centerline is valid? [True, True] Translation: X:671.85, Y:-49.34, Z:1.88 [[ 9.94131075e-01 1.08178085e-01 -9.52519604e-04 6.71848875e+02] [-1.08178030e-01 9.94131531e-01 1.08962166e-04 -4.93440375e+01] [ 9.58717091e-04 -5.28098094e-06 9.99999540e-01 1.88412812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8307140569999 meters Centerline goodness [0,1] 0.9926074136478518 Centerline is valid? [True, True] Translation: X:671.88, Y:-49.35, Z:1.88 [[ 9.93923663e-01 1.10058159e-01 -1.71875176e-03 6.71876525e+02] [-1.10057984e-01 9.93925149e-01 1.96134031e-04 -4.93517094e+01] [ 1.72989675e-03 -5.77990083e-06 9.99998504e-01 1.88408883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8607140569999 meters Centerline goodness [0,1] 0.9923105854820511 Centerline is valid? [True, True] Translation: X:671.90, Y:-49.36, Z:1.88 [[ 9.93894628e-01 1.10311731e-01 -2.18849266e-03 6.71903060e+02] [-1.10311449e-01 9.93897038e-01 2.49598995e-04 -4.93575611e+01] [ 2.20267007e-03 -6.65930428e-06 9.99997574e-01 1.88437466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.890714057 meters Centerline goodness [0,1] 0.9932922369658342 Centerline is valid? [True, True] Translation: X:671.93, Y:-49.37, Z:1.89 [[ 9.93810481e-01 1.11051205e-01 -2.89101151e-03 6.71930216e+02] [-1.11050717e-01 9.93814686e-01 3.29178068e-04 -4.93663205e+01] [ 2.90968532e-03 -6.09171334e-06 9.99995767e-01 1.88518113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9207140569999 meters Centerline goodness [0,1] 0.993909203173075 Centerline is valid? [True, True] Translation: X:671.96, Y:-49.37, Z:1.89 [[ 9.93792226e-01 1.11221191e-01 -2.61892080e-03 6.71956979e+02] [-1.11220792e-01 9.93795677e-01 2.97985527e-04 -4.93722789e+01] [ 2.63581447e-03 -4.85725441e-06 9.99996526e-01 1.88571239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9507140569999 meters Centerline goodness [0,1] 0.9938079849890545 Centerline is valid? [True, True] Translation: X:671.98, Y:-49.38, Z:1.89 [[ 9.93723860e-01 1.11829846e-01 -2.64100055e-03 6.71982955e+02] [-1.11829443e-01 9.93727370e-01 3.00231396e-04 -4.93783911e+01] [ 2.65800936e-03 -3.00548200e-06 9.99996467e-01 1.88649249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9807140569999 meters Centerline goodness [0,1] 0.9947521865889213 Centerline is valid? [True, True] Translation: X:672.01, Y:-49.39, Z:1.89 [[ 9.93499095e-01 1.13812969e-01 -2.48124588e-03 6.72010360e+02] [-1.13812621e-01 9.93502193e-01 2.81612820e-04 -4.93878005e+01] [ 2.49717441e-03 2.61501529e-06 9.99996882e-01 1.88799634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.010714057 meters Centerline goodness [0,1] 0.9948695488957017 Centerline is valid? [True, True] Translation: X:672.04, Y:-49.39, Z:1.89 [[ 9.93325338e-01 1.15317643e-01 -2.57174550e-03 6.72038591e+02] [-1.15317274e-01 9.93328667e-01 2.91549477e-04 -4.93943742e+01] [ 2.58820933e-03 6.96319845e-06 9.99996651e-01 1.88854206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.040714057 meters Centerline goodness [0,1] 0.9961684219342141 Centerline is valid? [True, True] Translation: X:672.07, Y:-49.40, Z:1.89 [[ 9.93145207e-01 1.16867062e-01 -2.16507767e-03 6.72067181e+02] [-1.16866805e-01 9.93147567e-01 2.45346584e-04 -4.94011299e+01] [ 2.17891455e-03 9.36092567e-06 9.99997626e-01 1.88926938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0707140569999 meters Centerline goodness [0,1] 0.9966236762084513 Centerline is valid? [True, True] Translation: X:672.10, Y:-49.41, Z:1.89 [[ 9.92768660e-01 1.20028096e-01 -1.90874467e-03 6.72095360e+02] [-1.20027902e-01 9.92770495e-01 2.16195078e-04 -4.94113483e+01] [ 1.92089488e-03 1.44709207e-05 9.99998155e-01 1.89044293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1007140569999 meters Centerline goodness [0,1] 0.9970773144935764 Centerline is valid? [True, True] Translation: X:672.12, Y:-49.42, Z:1.89 [[ 9.92599679e-01 1.21424108e-01 -1.43635474e-03 6.72123806e+02] [-1.21423999e-01 9.92600718e-01 1.62662909e-04 -4.94189628e+01] [ 1.44547795e-03 1.29487860e-05 9.99998955e-01 1.89133651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.130714057 meters Centerline goodness [0,1] 0.9975629228118829 Centerline is valid? [True, True] Translation: X:672.15, Y:-49.43, Z:1.89 [[ 9.92373463e-01 1.23255956e-01 -1.69677432e-03 6.72150405e+02] [-1.23255808e-01 9.92374914e-01 1.92018782e-04 -4.94305073e+01] [ 1.70750373e-03 1.85829462e-05 9.99998542e-01 1.89276819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.160714057 meters Centerline goodness [0,1] 0.9985702571434579 Centerline is valid? [True, True] Translation: X:672.18, Y:-49.44, Z:1.89 [[ 9.92316798e-01 1.23710260e-01 -1.77331319e-03 6.72178236e+02] [-1.23710099e-01 9.92318382e-01 2.00459520e-04 -4.94385441e+01] [ 1.78449017e-03 2.04574007e-05 9.99998408e-01 1.89372360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1907140569999 meters Centerline goodness [0,1] 0.998236220472441 Centerline is valid? [True, True] Translation: X:672.21, Y:-49.45, Z:1.89 [[ 9.92268859e-01 1.24095427e-01 -1.68416812e-03 6.72206167e+02] [-1.24095283e-01 9.92270288e-01 1.90274553e-04 -4.94472362e+01] [ 1.69476219e-03 2.01938057e-05 9.99998564e-01 1.89359019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2207140569999 meters Centerline goodness [0,1] 0.9985122477631331 Centerline is valid? [True, True] Translation: X:672.23, Y:-49.46, Z:1.89 [[ 9.92263603e-01 1.24134465e-01 -1.89126934e-03 6.72233218e+02] [-1.24134284e-01 9.92265405e-01 2.13577529e-04 -4.94559292e+01] [ 1.90315347e-03 2.28461560e-05 9.99998189e-01 1.89394671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.250714057 meters Centerline goodness [0,1] 0.9986575491882368 Centerline is valid? [True, True] Translation: X:672.26, Y:-49.47, Z:1.89 [[ 9.92280865e-01 1.23985118e-01 -2.52495821e-03 6.72260086e+02] [-1.23984795e-01 9.92284077e-01 2.84691656e-04 -4.94700502e+01] [ 2.54077335e-03 3.05623424e-05 9.99996772e-01 1.89396253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.280714057 meters Centerline goodness [0,1] 0.9989907273071343 Centerline is valid? [True, True] Translation: X:672.29, Y:-49.48, Z:1.89 [[ 9.92249394e-01 1.24209440e-01 -3.62706726e-03 6.72287620e+02] [-1.24208777e-01 9.92256022e-01 4.08466339e-04 -4.94791350e+01] [ 3.64971471e-03 4.52131119e-05 9.99993339e-01 1.89394129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3107140569999 meters Centerline goodness [0,1] 0.9994123079506338 Centerline is valid? [True, True] Translation: X:672.32, Y:-49.49, Z:1.89 [[ 9.92189555e-01 1.24636221e-01 -5.06954327e-03 6.72315127e+02] [-1.24634933e-01 9.92202504e-01 5.70381626e-04 -4.94939497e+01] [ 5.10110374e-03 6.59154960e-05 9.99986987e-01 1.89350410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3407140569999 meters Centerline goodness [0,1] 0.9997915146460961 Centerline is valid? [True, True] Translation: X:672.34, Y:-49.50, Z:1.89 [[ 9.92098488e-01 1.25327799e-01 -5.79071223e-03 6.72343361e+02] [-1.25326135e-01 9.92115385e-01 6.50829051e-04 -4.95033969e+01] [ 5.82662167e-03 8.00410634e-05 9.99983022e-01 1.89404757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.370714057 meters Centerline goodness [0,1] 0.9999164961797002 Centerline is valid? [True, True] Translation: X:672.37, Y:-49.51, Z:1.89 [[ 9.92052368e-01 1.25698982e-01 -5.64490680e-03 6.72371061e+02] [-1.25697409e-01 9.92068425e-01 6.34044253e-04 -4.95118454e+01] [ 5.67983252e-03 8.05450540e-05 9.99983866e-01 1.89465257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.400714057 meters Centerline goodness [0,1] 0.9997286295793758 Centerline is valid? [True, True] Translation: X:672.40, Y:-49.53, Z:1.90 [[ 9.91942211e-01 1.26613036e-01 -4.44841705e-03 6.72398238e+02] [-1.26612069e-01 9.91952184e-01 4.99399007e-04 -4.95254258e+01] [ 4.47584743e-03 6.78483316e-05 9.99989981e-01 1.89627779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4307140569999 meters Centerline goodness [0,1] 0.9999371754062657 Centerline is valid? [True, True] Translation: X:672.43, Y:-49.53, Z:1.90 [[ 9.91930564e-01 1.26726042e-01 -3.77721442e-03 6.72426469e+02] [-1.26725346e-01 9.91937754e-01 4.23823436e-04 -4.95341639e+01] [ 3.80047106e-03 5.82653867e-05 9.99992776e-01 1.89748720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.45, Y:-49.55, Z:1.90 [[ 9.91946468e-01 1.26608757e-01 -3.52517143e-03 6.72454319e+02] [-1.26608152e-01 9.91952731e-01 3.95292927e-04 -4.95491422e+01] [ 3.54685097e-03 5.42060160e-05 9.99993708e-01 1.89787782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.490714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.48, Y:-49.56, Z:1.90 [[ 9.92064897e-01 1.25684472e-01 -3.26402123e-03 6.72482623e+02] [-1.25683949e-01 9.92070265e-01 3.65855148e-04 -4.95574535e+01] [ 3.28412071e-03 4.72830265e-05 9.99994606e-01 1.89776641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.520714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.51, Y:-49.57, Z:1.90 [[ 9.92258192e-01 1.24155001e-01 -3.03577740e-03 6.72512779e+02] [-1.24154540e-01 9.92262835e-01 3.40322422e-04 -4.95680731e+01] [ 3.05454182e-03 3.92178370e-05 9.99995334e-01 1.89791620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.54, Y:-49.58, Z:1.90 [[ 9.92773369e-01 1.19991920e-01 -1.72550327e-03 6.72541890e+02] [-1.19991765e-01 9.92774868e-01 1.93185003e-04 -4.95844268e+01] [ 1.73621692e-03 1.52572565e-05 9.99998493e-01 1.89854700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.57, Y:-49.59, Z:1.90 [[ 9.93084944e-01 1.17391143e-01 -1.27021734e-03 6.72573276e+02] [-1.17391057e-01 9.93085756e-01 1.41944369e-04 -4.95945973e+01] [ 1.27809776e-03 8.14934104e-06 9.99999183e-01 1.89898331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6107140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.60, Y:-49.61, Z:1.90 [[ 9.93764739e-01 1.11492443e-01 -1.03818556e-03 6.72603647e+02] [-1.11492382e-01 9.93765282e-01 1.16076573e-04 -4.96110741e+01] [ 1.04465442e-03 3.96975494e-07 9.99999454e-01 1.89903731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.640714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.64, Y:-49.62, Z:1.90 [[ 9.94115865e-01 1.08317428e-01 -9.90680064e-04 6.72635185e+02] [-1.08317372e-01 9.94116359e-01 1.10923419e-04 -4.96210828e+01] [ 9.96866197e-04 -2.96286999e-06 9.99999503e-01 1.89931036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.67, Y:-49.63, Z:1.90 [[ 9.94431564e-01 1.05376805e-01 -1.26205899e-03 6.72666802e+02] [-1.05376709e-01 9.94432365e-01 1.42009355e-04 -4.96311592e+01] [ 1.26999680e-03 -8.22696141e-06 9.99999194e-01 1.89967264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.70, Y:-49.65, Z:1.90 [[ 9.95177562e-01 9.80811126e-02 -1.30971132e-03 6.72697632e+02] [-9.80810024e-02 9.95178424e-01 1.48227166e-04 -4.96469038e+01] [ 1.31793473e-03 -1.90545511e-05 9.99999131e-01 1.89928232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.73, Y:-49.66, Z:1.90 [[ 9.95550130e-01 9.42196147e-02 -1.61361462e-03 6.72729329e+02] [-9.42194428e-02 9.95551437e-01 1.82372464e-04 -4.96560839e+01] [ 1.62361941e-03 -2.95270605e-05 9.99998681e-01 1.89944662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.760714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.76, Y:-49.67, Z:1.90 [[ 9.96231845e-01 8.66933389e-02 -2.52496094e-03 6.72758604e+02] [-8.66928899e-02 9.96235043e-01 2.86932833e-04 -4.96702775e+01] [ 2.54032974e-03 -6.69554649e-05 9.99996771e-01 1.89885624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.790714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.79, Y:-49.68, Z:1.90 [[ 9.96487330e-01 8.36650523e-02 -3.62760647e-03 6.72790091e+02] [-8.36641053e-02 9.96493927e-01 4.12309552e-04 -4.96779909e+01] [ 3.64938372e-03 -1.07360795e-04 9.99993335e-01 1.89882800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.82, Y:-49.69, Z:1.90 [[ 9.96747504e-01 8.04918884e-02 -3.93298231e-03 6.72821544e+02] [-8.04907493e-02 9.96755255e-01 4.47322878e-04 -4.96852939e+01] [ 3.95622665e-03 -1.29299269e-04 9.99992166e-01 1.89901186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.85, Y:-49.69, Z:1.90 [[ 9.97134901e-01 7.55235694e-02 -4.26366429e-03 6.72851649e+02] [-7.55221839e-02 9.97144004e-01 4.85248764e-04 -4.96934227e+01] [ 4.28813500e-03 -1.61857240e-04 9.99990793e-01 1.90075419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.880714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.88, Y:-49.70, Z:1.90 [[ 9.97281050e-01 7.35637180e-02 -4.34586268e-03 6.72883219e+02] [-7.35622596e-02 9.97290504e-01 4.94698321e-04 -4.96977912e+01] [ 4.37047943e-03 -1.73661782e-04 9.99990434e-01 1.90165289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.910714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.91, Y:-49.70, Z:1.90 [[ 9.97545974e-01 6.99266619e-02 -3.50607488e-03 6.72912417e+02] [-6.99256894e-02 9.97552123e-01 3.99336255e-04 -4.97043404e+01] [ 3.52541669e-03 -1.53191570e-04 9.99993774e-01 1.90377589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9407140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.94, Y:-49.71, Z:1.90 [[ 9.97631185e-01 6.87261303e-02 -2.95602524e-03 6.72943865e+02] [-6.87254345e-02 9.97635555e-01 3.36440344e-04 -4.97072438e+01] [ 2.97215813e-03 -1.32489260e-04 9.99995574e-01 1.90455699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:672.98, Y:-49.71, Z:1.91 [[ 9.97702696e-01 6.76950561e-02 -2.59022894e-03 6.72976158e+02] [-6.76945172e-02 9.97706051e-01 2.95256761e-04 -4.97103893e+01] [ 2.60427451e-03 -1.19234170e-04 9.99996602e-01 1.90519896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.000714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.01, Y:-49.71, Z:1.91 [[ 9.97891420e-01 6.48855926e-02 -1.60451490e-03 6.73006530e+02] [-6.48853813e-02 9.97892706e-01 1.83465710e-04 -4.97128326e+01] [ 1.61303799e-03 -7.89692965e-05 9.99998696e-01 1.90696677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.030714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.04, Y:-49.72, Z:1.91 [[ 9.97939054e-01 6.41562841e-02 -1.27107230e-03 6.73038734e+02] [-6.41561516e-02 9.97939862e-01 1.44731244e-04 -4.97153720e+01] [ 1.27773913e-03 -6.28858534e-05 9.99999182e-01 1.90771268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.07, Y:-49.72, Z:1.91 [[ 9.98006852e-01 6.30875779e-02 -1.51004965e-03 6.73070121e+02] [-6.30873890e-02 9.98007992e-01 1.72482740e-04 -4.97168366e+01] [ 1.51792314e-03 -7.68738670e-05 9.99998845e-01 1.90844331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0907140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.10, Y:-49.71, Z:1.91 [[ 9.97998484e-01 6.32267163e-02 -1.18652426e-03 6.73103555e+02] [-6.32265998e-02 9.97999188e-01 1.35480794e-04 -4.97132345e+01] [ 1.19271625e-03 -6.01897324e-05 9.99999287e-01 1.90848366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.120714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.14, Y:-49.71, Z:1.91 [[ 9.97970605e-01 6.36689102e-02 -9.70438280e-04 6.73136225e+02] [-6.36688323e-02 9.97971075e-01 1.10992633e-04 -4.97127738e+01] [ 9.75536114e-04 -4.89807126e-05 9.99999523e-01 1.90886500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.150714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.17, Y:-49.72, Z:1.91 [[ 9.97895695e-01 6.48288152e-02 -1.18573469e-03 6.73166534e+02] [-6.48286990e-02 9.97896398e-01 1.36183171e-04 -4.97184153e+01] [ 1.19206897e-03 -5.90269630e-05 9.99999288e-01 1.90893863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.20, Y:-49.71, Z:1.91 [[ 9.97722505e-01 6.74201379e-02 -2.08040533e-03 6.73199193e+02] [-6.74197828e-02 9.97724669e-01 2.40444968e-04 -4.97110129e+01] [ 2.09188255e-03 -9.96368806e-05 9.99997807e-01 1.90829293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2107140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.23, Y:-49.71, Z:1.91 [[ 9.97592163e-01 6.93078265e-02 -2.51025523e-03 6.73231500e+02] [-6.93073150e-02 9.97595315e-01 2.90295114e-04 -4.97073588e+01] [ 2.52433858e-03 -1.15617080e-04 9.99996807e-01 1.90772609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.240714057 meters Centerline goodness [0,1] 0.9999789571145996 Centerline is valid? [True, True] Translation: X:673.26, Y:-49.70, Z:1.91 [[ 9.97443266e-01 7.13661400e-02 -3.71544641e-03 6.73263290e+02] [-7.13650325e-02 9.97450173e-01 4.29973979e-04 -4.97047590e+01] [ 3.73665825e-03 -1.63721696e-04 9.99993005e-01 1.90717500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.270714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.29, Y:-49.70, Z:1.91 [[ 9.97142738e-01 7.53368353e-02 -5.54273906e-03 6.73293236e+02] [-7.53344307e-02 9.97158118e-01 6.41630622e-04 -4.97018589e+01] [ 5.57532567e-03 -2.22238224e-04 9.99984433e-01 1.90554761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3007140569999 meters Centerline goodness [0,1] 0.9999789964504001 Centerline is valid? [True, True] Translation: X:673.33, Y:-49.70, Z:1.90 [[ 9.97025146e-01 7.68509708e-02 -5.89804111e-03 6.73326471e+02] [-7.68482735e-02 9.97042565e-01 6.82930926e-04 -4.96988858e+01] [ 5.93308195e-03 -2.27645029e-04 9.99982373e-01 1.90495901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.36, Y:-49.69, Z:1.90 [[ 9.96745069e-01 8.03441688e-02 -6.63940299e-03 6.73358678e+02] [-8.03408235e-02 9.96767154e-01 7.69471946e-04 -4.96914038e+01] [ 6.67976141e-03 -2.33552264e-04 9.99977663e-01 1.90490301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3607140569999 meters Centerline goodness [0,1] 0.9998736283409507 Centerline is valid? [True, True] Translation: X:673.39, Y:-49.69, Z:1.90 [[ 9.96580745e-01 8.23341861e-02 -6.92096479e-03 6.73389069e+02] [-8.23305976e-02 9.96604751e-01 8.02310069e-04 -4.96916040e+01] [ 6.96352394e-03 -2.29759600e-04 9.99975728e-01 1.90484992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.390714057 meters Centerline goodness [0,1] 0.9998113484394324 Centerline is valid? [True, True] Translation: X:673.42, Y:-49.69, Z:1.91 [[ 9.96361266e-01 8.49315924e-02 -7.13105429e-03 6.73419269e+02] [-8.49278485e-02 9.96386761e-01 8.26740506e-04 -4.96911827e+01] [ 7.17550447e-03 -2.18107119e-04 9.99974232e-01 1.90508646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4207140569999 meters Centerline goodness [0,1] 0.9998113484394324 Centerline is valid? [True, True] Translation: X:673.45, Y:-49.69, Z:1.91 [[ 9.96361266e-01 8.49315924e-02 -7.13105429e-03 6.73449083e+02] [-8.49278485e-02 9.96386761e-01 8.26740506e-04 -4.96946392e+01] [ 7.17550447e-03 -2.18107119e-04 9.99974232e-01 1.90520850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4507140569999 meters Centerline goodness [0,1] 0.9999158355426503 Centerline is valid? [True, True] Translation: X:673.48, Y:-49.69, Z:1.91 [[ 9.95876104e-01 9.04499171e-02 -7.04261980e-03 6.73481293e+02] [-9.04464030e-02 9.95900990e-01 8.16542353e-04 -4.96869032e+01] [ 7.08760821e-03 -1.76195389e-04 9.99974867e-01 1.90602335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4807140569999 meters Centerline goodness [0,1] 0.9998735884038429 Centerline is valid? [True, True] Translation: X:673.51, Y:-49.69, Z:1.91 [[ 9.95601763e-01 9.34390421e-02 -6.80260797e-03 6.73511324e+02] [-9.34358329e-02 9.95624991e-01 7.88735985e-04 -4.96861517e+01] [ 6.84654523e-03 -1.49659596e-04 9.99976551e-01 1.90687529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.510714057 meters Centerline goodness [0,1] 0.9996656776296544 Centerline is valid? [True, True] Translation: X:673.54, Y:-49.68, Z:1.91 [[ 9.95319988e-01 9.64598306e-02 -5.79845206e-03 6.73542185e+02] [-9.64575505e-02 9.95336872e-01 6.72246320e-04 -4.96848806e+01] [ 5.83625790e-03 -1.09795717e-04 9.99982963e-01 1.90773720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.540714057 meters Centerline goodness [0,1] 0.9996230287545289 Centerline is valid? [True, True] Translation: X:673.57, Y:-49.68, Z:1.91 [[ 9.94776802e-01 1.02027197e-01 -3.09291865e-03 6.73571747e+02] [-1.02026575e-01 9.94781609e-01 3.58630149e-04 -4.96803434e+01] [ 3.11336862e-03 -4.11970573e-05 9.99995153e-01 1.90962891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5707140569999 meters Centerline goodness [0,1] 0.9995213618296465 Centerline is valid? [True, True] Translation: X:673.60, Y:-49.68, Z:1.91 [[ 9.94515657e-01 1.04564390e-01 -2.21278373e-03 6.73602715e+02] [-1.04564078e-01 9.94518118e-01 2.56420565e-04 -4.96798383e+01] [ 2.22746597e-03 -2.36365762e-05 9.99997519e-01 1.91001393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6007140569999 meters Centerline goodness [0,1] 0.999351505135661 Centerline is valid? [True, True] Translation: X:673.63, Y:-49.68, Z:1.91 [[ 9.94168408e-01 1.07831144e-01 -1.27331571e-03 6.73632603e+02] [-1.07831043e-01 9.94169223e-01 1.47653842e-04 -4.96766787e+01] [ 1.28181298e-03 -9.48982325e-06 9.99999178e-01 1.90990880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.630714057 meters Centerline goodness [0,1] 0.9992671231442511 Centerline is valid? [True, True] Translation: X:673.66, Y:-49.68, Z:1.91 [[ 9.94031280e-01 1.09086968e-01 -1.35906403e-03 6.73661684e+02] [-1.09086855e-01 9.94032209e-01 1.57382474e-04 -4.96778522e+01] [ 1.36812179e-03 -8.18708294e-06 9.99999064e-01 1.91010254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.660714057 meters Centerline goodness [0,1] 0.9989914059380975 Centerline is valid? [True, True] Translation: X:673.69, Y:-49.68, Z:1.91 [[ 9.93880274e-01 1.10460445e-01 -7.00564516e-04 6.73691872e+02] [-1.10460415e-01 9.93880521e-01 8.12923120e-05 -4.96790487e+01] [ 7.05257011e-04 -3.41017825e-06 9.99999751e-01 1.90996944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6907140569999 meters Centerline goodness [0,1] 0.9993901284936174 Centerline is valid? [True, True] Translation: X:673.72, Y:-49.68, Z:1.91 [[ 9.93750639e-01 1.11621550e-01 -5.44503152e-04 6.73721679e+02] [-1.11621532e-01 9.93750788e-01 6.31960467e-05 -4.96803205e+01] [ 5.48154477e-04 -2.02283586e-06 9.99999850e-01 1.91008148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7207140569999 meters Centerline goodness [0,1] 0.9993271798322154 Centerline is valid? [True, True] Translation: X:673.75, Y:-49.68, Z:1.91 [[ 9.93446039e-01 1.14300505e-01 -6.01731644e-04 6.73751667e+02] [-1.14300484e-01 9.93446221e-01 6.97400254e-05 -4.96797660e+01] [ 6.05759348e-04 -5.04734050e-07 9.99999817e-01 1.90939959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.750714057 meters Centerline goodness [0,1] 0.9990752805682821 Centerline is valid? [True, True] Translation: X:673.78, Y:-49.68, Z:1.91 [[ 9.93195250e-01 1.16450588e-01 -1.56697904e-03 6.73780121e+02] [-1.16450446e-01 9.93196486e-01 1.81554938e-04 -4.96799380e+01] [ 1.57746026e-03 2.15590720e-06 9.99998756e-01 1.90776218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.780714057 meters Centerline goodness [0,1] 0.9990775294561617 Centerline is valid? [True, True] Translation: X:673.81, Y:-49.68, Z:1.91 [[ 9.93100920e-01 1.17236264e-01 -2.49424768e-03 6.73809210e+02] [-1.17235908e-01 9.93104052e-01 2.88751420e-04 -4.96825969e+01] [ 2.51089962e-03 5.65609103e-06 9.99996848e-01 1.90706893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8107140569999 meters Centerline goodness [0,1] 0.999369429964688 Centerline is valid? [True, True] Translation: X:673.84, Y:-49.69, Z:1.91 [[ 9.93060134e-01 1.17568294e-01 -3.04397964e-03 6.73837510e+02] [-1.17567767e-01 9.93064800e-01 3.52110712e-04 -4.96860331e+01] [ 3.06426608e-03 8.20677708e-06 9.99995305e-01 1.90651731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8407140569999 meters Centerline goodness [0,1] 0.9992228360183999 Centerline is valid? [True, True] Translation: X:673.87, Y:-49.69, Z:1.91 [[ 9.93024791e-01 1.17849033e-01 -3.65640719e-03 6.73866301e+02] [-1.17848275e-01 9.93031523e-01 4.22631958e-04 -4.96895504e+01] [ 3.68073437e-03 1.12172694e-05 9.99993226e-01 1.90591246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.870714057 meters Centerline goodness [0,1] 0.9991188318227593 Centerline is valid? [True, True] Translation: X:673.89, Y:-49.69, Z:1.91 [[ 9.93024474e-01 1.17845200e-01 -3.86047651e-03 6.73894010e+02] [-1.17844357e-01 9.93031978e-01 4.45931381e-04 -4.96941749e+01] [ 3.88612750e-03 1.21145967e-05 9.99992449e-01 1.90610265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.900714057 meters Centerline goodness [0,1] 0.9989145409760781 Centerline is valid? [True, True] Translation: X:673.92, Y:-49.70, Z:1.91 [[ 9.93100029e-01 1.17211120e-01 -3.72643460e-03 6.73921501e+02] [-1.17210331e-01 9.93107020e-01 4.30130409e-04 -4.96980707e+01] [ 3.75116443e-03 9.61411142e-06 9.99992964e-01 1.90565640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9307140569999 meters Centerline goodness [0,1] 0.9990967714831852 Centerline is valid? [True, True] Translation: X:673.95, Y:-49.71, Z:1.91 [[ 9.93406213e-01 1.14575143e-01 -4.07826817e-03 6.73950093e+02] [-1.14574177e-01 9.93414585e-01 4.70351015e-04 -4.97054669e+01] [ 4.10530161e-03 1.45987846e-08 9.99991573e-01 1.90592711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9607140569999 meters Centerline goodness [0,1] 0.9994336060415355 Centerline is valid? [True, True] Translation: X:673.98, Y:-49.71, Z:1.91 [[ 9.93669715e-01 1.12262747e-01 -4.19193683e-03 6.73978112e+02] [-1.12261708e-01 9.93678557e-01 4.83299884e-04 -4.97120044e+01] [ 4.21969432e-03 -9.64647172e-06 9.99991097e-01 1.90624918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.990714057 meters Centerline goodness [0,1] 0.9995163291485291 Centerline is valid? [True, True] Translation: X:674.01, Y:-49.72, Z:1.91 [[ 9.93949190e-01 1.09776888e-01 -3.74744662e-03 6.74007164e+02] [-1.09776040e-01 9.93956254e-01 4.31866261e-04 -4.97192209e+01] [ 3.77220694e-03 -1.78732706e-05 9.99992885e-01 1.90701190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.020714057 meters Centerline goodness [0,1] 0.999601660446979 Centerline is valid? [True, True] Translation: X:674.04, Y:-49.73, Z:1.91 [[ 9.94536280e-01 1.04362412e-01 -2.46489033e-03 6.74036410e+02] [-1.04362029e-01 9.94539334e-01 2.83965473e-04 -4.97301255e+01] [ 2.48106571e-03 -2.51730100e-05 9.99996922e-01 1.90804272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0507140569999 meters Centerline goodness [0,1] 0.9996861727723497 Centerline is valid? [True, True] Translation: X:674.07, Y:-49.74, Z:1.91 [[ 9.94773759e-01 1.02075626e-01 -2.39467689e-03 6.74065677e+02] [-1.02075258e-01 9.94776641e-01 2.75876597e-04 -4.97370830e+01] [ 2.41032891e-03 -2.99975393e-05 9.99997095e-01 1.90871115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0807140569999 meters Centerline goodness [0,1] 0.9998528948197961 Centerline is valid? [True, True] Translation: X:674.10, Y:-49.74, Z:1.91 [[ 9.95127606e-01 9.85847111e-02 -1.45012773e-03 6.74096708e+02] [-9.85845724e-02 9.95128662e-01 1.66966094e-04 -4.97449596e+01] [ 1.45952397e-03 -2.31923470e-05 9.99998935e-01 1.90930566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1107140569999 meters Centerline goodness [0,1] 0.9997897304344169 Centerline is valid? [True, True] Translation: X:674.13, Y:-49.75, Z:1.91 [[ 9.95256994e-01 9.72756194e-02 -9.84584540e-04 6.74127998e+02] [-9.72755549e-02 9.95257481e-01 1.13351958e-04 -4.97506078e+01] [ 9.90941511e-04 -1.70383216e-05 9.99999509e-01 1.90948995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.140714057 meters Centerline goodness [0,1] 0.9998107136096914 Centerline is valid? [True, True] Translation: X:674.16, Y:-49.76, Z:1.91 [[ 9.95344007e-01 9.63844569e-02 5.86336928e-04 6.74158682e+02] [-9.63844331e-02 9.95344180e-01 -6.86851279e-05 -4.97591175e+01] [-5.90227227e-04 1.18515781e-05 9.99999826e-01 1.91097659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1707140569999 meters Centerline goodness [0,1] 0.9998743165964934 Centerline is valid? [True, True] Translation: X:674.19, Y:-49.77, Z:1.91 [[ 9.95348153e-01 9.63362618e-02 1.17392085e-03 6.74189973e+02] [-9.63361671e-02 9.95348845e-01 -1.37010495e-04 -4.97657237e+01] [-1.18165984e-03 2.32821074e-05 9.99999302e-01 1.91207384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2007140569999 meters Centerline goodness [0,1] 0.9999579177713251 Centerline is valid? [True, True] Translation: X:674.22, Y:-49.77, Z:1.91 [[ 9.95366563e-01 9.61266181e-02 2.25367155e-03 6.74222181e+02] [-9.61262700e-02 9.95369113e-01 -2.62515396e-04 -4.97713079e+01] [-2.26846977e-03 4.46620070e-05 9.99997426e-01 1.91264215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:674.25, Y:-49.78, Z:1.91 [[ 9.95458906e-01 9.51377588e-02 3.22085309e-03 6.74253710e+02] [-9.51370414e-02 9.95464114e-01 -3.75541140e-04 -4.97783469e+01] [-3.24197181e-03 6.74133384e-05 9.99994743e-01 1.91309261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.260714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:674.29, Y:-49.78, Z:1.91 [[ 9.95524365e-01 9.44373155e-02 3.58208063e-03 6.74285124e+02] [-9.44364210e-02 9.95530807e-01 -4.18431682e-04 -4.97835154e+01] [-3.60558719e-03 7.82800604e-05 9.99993497e-01 1.91300074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.290714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:674.32, Y:-49.79, Z:1.91 [[ 9.95752772e-01 9.20333194e-02 2.50689780e-03 6.74315284e+02] [-9.20328717e-02 9.95755926e-01 -2.93636733e-04 -4.97912379e+01] [-2.52328270e-03 6.16725879e-05 9.99996815e-01 1.91186655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:674.35, Y:-49.80, Z:1.91 [[ 9.95866774e-01 9.07988026e-02 2.22382426e-03 6.74346462e+02] [-9.07984458e-02 9.95869256e-01 -2.61084166e-04 -4.97971437e+01] [-2.23834434e-03 5.80852596e-05 9.99997493e-01 1.91133687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3507140569999 meters Centerline goodness [0,1] 0.9999578041267564 Centerline is valid? [True, True] Translation: X:674.38, Y:-49.80, Z:1.91 [[ 9.96140874e-01 8.77555498e-02 1.52394514e-03 6.74377329e+02] [-8.77553778e-02 9.96142039e-01 -1.79547532e-04 -4.98038181e+01] [-1.53382211e-03 4.51202544e-05 9.99998823e-01 1.90974368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.380714057 meters Centerline goodness [0,1] 0.9999790123197683 Centerline is valid? [True, True] Translation: X:674.41, Y:-49.81, Z:1.91 [[ 9.96298448e-01 8.59558124e-02 1.00031510e-03 6.74408905e+02] [-8.59557367e-02 9.96298950e-01 -1.18464416e-04 -4.98093995e+01] [-1.00679559e-03 3.20430924e-05 9.99999493e-01 1.90992508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.410714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:674.44, Y:-49.81, Z:1.91 [[ 9.96411861e-01 8.46142455e-02 1.95755855e-03 6.74441063e+02] [-8.46139540e-02 9.96413782e-01 -2.31372134e-04 -4.98143620e+01] [-1.97011569e-03 6.49051698e-05 9.99998057e-01 1.91033858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4407140569999 meters Centerline goodness [0,1] 0.9998527710589967 Centerline is valid? [True, True] Translation: X:674.47, Y:-49.82, Z:1.91 [[ 9.96694021e-01 8.11940925e-02 2.92354107e-03 6.74472343e+02] [-8.11934313e-02 9.96698303e-01 -3.44342398e-04 -4.98175220e+01] [-2.94184699e-03 1.05831678e-04 9.99995667e-01 1.91050235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4707140569999 meters Centerline goodness [0,1] 0.9997262523952916 Centerline is valid? [True, True] Translation: X:674.50, Y:-49.83, Z:1.91 [[ 9.96828399e-01 7.95238876e-02 3.01557065e-03 6.74502453e+02] [-7.95231720e-02 9.96832954e-01 -3.56658392e-04 -4.98257639e+01] [-3.03438306e-03 1.15719470e-04 9.99995390e-01 1.91157478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.500714057 meters Centerline goodness [0,1] 0.9999156954075074 Centerline is valid? [True, True] Translation: X:674.53, Y:-49.83, Z:1.91 [[ 9.96988088e-01 7.75027072e-02 2.84302368e-03 6.74534569e+02] [-7.75020641e-02 9.96992135e-01 -3.35841177e-04 -4.98304150e+01] [-2.86050085e-03 1.14489449e-04 9.99995902e-01 1.91159422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.530714057 meters Centerline goodness [0,1] 0.9998317701980906 Centerline is valid? [True, True] Translation: X:674.57, Y:-49.83, Z:1.91 [[ 9.97282009e-01 7.36091238e-02 3.20803324e-03 6.74565987e+02] [-7.36082854e-02 9.97287159e-01 -3.78778326e-04 -4.98301586e+01] [-3.22721190e-03 1.41610983e-04 9.99994783e-01 1.91119314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5607140569999 meters Centerline goodness [0,1] 0.9997684356777466 Centerline is valid? [True, True] Translation: X:674.60, Y:-49.83, Z:1.91 [[ 9.97449105e-01 7.13010388e-02 3.38301423e-03 6.74598119e+02] [-7.13000917e-02 9.97454830e-01 -3.99888759e-04 -4.98339746e+01] [-3.40291636e-03 1.57659459e-04 9.99994198e-01 1.91127046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5907140569999 meters Centerline goodness [0,1] 0.9997894781162502 Centerline is valid? [True, True] Translation: X:674.63, Y:-49.84, Z:1.91 [[ 9.97553032e-01 6.98223864e-02 3.57530177e-03 6.74628835e+02] [-6.98213140e-02 9.97559424e-01 -4.24053936e-04 -4.98426008e+01] [-3.59618443e-03 1.73384023e-04 9.99993519e-01 1.91240928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.620714057 meters Centerline goodness [0,1] 0.9996000168413961 Centerline is valid? [True, True] Translation: X:674.66, Y:-49.84, Z:1.91 [[ 9.97780240e-01 6.64733926e-02 3.98498755e-03 6.74660283e+02] [-6.64720372e-02 9.97788177e-01 -4.71756935e-04 -4.98415065e+01] [-4.00753275e-03 2.05819507e-04 9.99991949e-01 1.91191861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.650714057 meters Centerline goodness [0,1] 0.9998103985843094 Centerline is valid? [True, True] Translation: X:674.69, Y:-49.84, Z:1.91 [[ 9.97841648e-01 6.55370547e-02 4.11594143e-03 6.74692920e+02] [-6.55355981e-02 9.97850113e-01 -4.87928312e-04 -4.98423196e+01] [-4.13907001e-03 2.17134508e-04 9.99991410e-01 1.91191503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6807140569999 meters Centerline goodness [0,1] 0.9999789752538738 Centerline is valid? [True, True] Translation: X:674.73, Y:-49.84, Z:1.91 [[ 9.97890854e-01 6.47883311e-02 4.03932683e-03 6.74725571e+02] [-6.47869151e-02 9.97899005e-01 -4.80541667e-04 -4.98408388e+01] [-4.06197372e-03 2.17832610e-04 9.99991726e-01 1.91175535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7107140569999 meters Centerline goodness [0,1] 0.9997055359246172 Centerline is valid? [True, True] Translation: X:674.76, Y:-49.84, Z:1.91 [[ 9.97843011e-01 6.54798510e-02 4.65992269e-03 6.74758597e+02] [-6.54779760e-02 9.97853861e-01 -5.53976480e-04 -4.98396279e+01] [-4.68619615e-03 2.47659252e-04 9.99988989e-01 1.91147895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.740714057 meters Centerline goodness [0,1] 0.9999157362544765 Centerline is valid? [True, True] Translation: X:674.79, Y:-49.84, Z:1.91 [[ 9.97769423e-01 6.65728932e-02 4.92217319e-03 6.74791206e+02] [-6.65708100e-02 9.97781531e-01 -5.86042818e-04 -4.98390462e+01] [-4.95026806e-03 2.57062548e-04 9.99987714e-01 1.91181345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.770714057 meters Centerline goodness [0,1] 0.9998739177944019 Centerline is valid? [True, True] Translation: X:674.82, Y:-49.84, Z:1.91 [[ 9.97591642e-01 6.91538843e-02 5.35307109e-03 6.74822308e+02] [-6.91514589e-02 9.97605969e-01 -6.37069245e-04 -4.98378751e+01] [-5.38431148e-03 2.65362278e-04 9.99985469e-01 1.91202114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8007140569999 meters Centerline goodness [0,1] 0.9998741452363972 Centerline is valid? [True, True] Translation: X:674.85, Y:-49.84, Z:1.91 [[ 9.97450980e-01 7.12069890e-02 4.59418306e-03 6.74853734e+02] [-7.12052234e-02 9.97461537e-01 -5.46935718e-04 -4.98374955e+01] [-4.62146654e-03 2.18411738e-04 9.99989297e-01 1.91183891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8307140569999 meters Centerline goodness [0,1] 0.9999369641956631 Centerline is valid? [True, True] Translation: X:674.89, Y:-49.83, Z:1.91 [[ 9.97061088e-01 7.65346412e-02 3.41100938e-03 6.74885710e+02] [-7.65336991e-02 9.97066913e-01 -4.06054762e-04 -4.98325009e+01] [-3.43208185e-03 1.43804237e-04 9.99994100e-01 1.91125099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8607140569999 meters Centerline goodness [0,1] 0.9997687034778586 Centerline is valid? [True, True] Translation: X:674.92, Y:-49.83, Z:1.91 [[ 9.96806660e-01 7.98008139e-02 2.88304753e-03 6.74917411e+02] [-7.98001539e-02 9.96810823e-01 -3.43418607e-04 -4.98311837e+01] [-2.90125807e-03 1.12254318e-04 9.99995785e-01 1.91053876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.890714057 meters Centerline goodness [0,1] 0.999621307750568 Centerline is valid? [True, True] Translation: X:674.95, Y:-49.83, Z:1.91 [[ 9.96188857e-01 8.72044765e-02 1.77208890e-03 6.74949241e+02] [-8.72042389e-02 9.96190432e-01 -2.11018265e-04 -4.98263683e+01] [-1.78373974e-03 5.56803807e-05 9.99998408e-01 1.90938423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9207140569999 meters Centerline goodness [0,1] 0.9993688329721655 Centerline is valid? [True, True] Translation: X:674.98, Y:-49.82, Z:1.91 [[ 9.95867973e-01 9.07984069e-02 1.62177607e-03 6.74979959e+02] [-9.07982127e-02 9.95869292e-01 -1.93104240e-04 -4.98238980e+01] [-1.63261055e-03 4.50519593e-05 9.99998666e-01 1.90933247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9507140569999 meters Centerline goodness [0,1] 0.9992850383766165 Centerline is valid? [True, True] Translation: X:675.01, Y:-49.82, Z:1.91 [[ 9.95575494e-01 9.39232201e-02 2.80454081e-03 6.75010131e+02] [-9.39226518e-02 9.95579441e-01 -3.33935573e-04 -4.98246073e+01] [-2.82350748e-03 6.90481630e-05 9.99996012e-01 1.90953364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9807140569999 meters Centerline goodness [0,1] 0.9992225747483874 Centerline is valid? [True, True] Translation: X:675.04, Y:-49.82, Z:1.91 [[ 9.95148009e-01 9.83389916e-02 3.14357393e-03 6.75040763e+02] [-9.83383007e-02 9.95152973e-01 -3.73992696e-04 -4.98213026e+01] [-3.16511500e-03 6.30443687e-05 9.99994989e-01 1.91012708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.010714057 meters Centerline goodness [0,1] 0.9988465732740542 Centerline is valid? [True, True] Translation: X:675.07, Y:-49.82, Z:1.91 [[ 9.94997349e-01 9.98307208e-02 3.75548397e-03 6.75070134e+02] [-9.98297437e-02 9.95004433e-01 -4.47195078e-04 -4.98227780e+01] [-3.78136700e-03 7.00489153e-05 9.99992848e-01 1.91083967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.040714057 meters Centerline goodness [0,1] 0.9982775280426837 Centerline is valid? [True, True] Translation: X:675.10, Y:-49.82, Z:1.91 [[ 9.94828774e-01 1.01479507e-01 4.19769198e-03 6.75100367e+02] [-1.01478304e-01 9.94837627e-01 -4.99281037e-04 -4.98210071e+01] [-4.22668872e-03 7.07244807e-05 9.99991065e-01 1.91092505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0707140569999 meters Centerline goodness [0,1] 0.9983427732326411 Centerline is valid? [True, True] Translation: X:675.13, Y:-49.82, Z:1.91 [[ 9.94771982e-01 1.02010746e-01 4.74464335e-03 6.75128788e+02] [-1.02009215e-01 9.94783294e-01 -5.64228002e-04 -4.98233701e+01] [-4.77744926e-03 7.72808628e-05 9.99988585e-01 1.91176830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1007140569999 meters Centerline goodness [0,1] 0.9978462246199528 Centerline is valid? [True, True] Translation: X:675.16, Y:-49.83, Z:1.91 [[ 9.94743454e-01 1.02277294e-01 4.98161395e-03 6.75156874e+02] [-1.02275611e-01 9.94755924e-01 -5.92098492e-04 -4.98261291e+01] [-5.01604822e-03 7.94884871e-05 9.99987416e-01 1.91225905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.130714057 meters Centerline goodness [0,1] 0.9979846328252928 Centerline is valid? [True, True] Translation: X:675.19, Y:-49.83, Z:1.91 [[ 9.94675260e-01 1.02940052e-01 4.94693441e-03 6.75186828e+02] [-1.02938401e-01 9.94687559e-01 -5.87873179e-04 -4.98277884e+01] [-4.98116981e-03 7.55133873e-05 9.99987591e-01 1.91221115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.160714057 meters Centerline goodness [0,1] 0.9973772555602182 Centerline is valid? [True, True] Translation: X:675.22, Y:-49.83, Z:1.91 [[ 9.94663381e-01 1.03073912e-01 4.53067911e-03 6.75216019e+02] [-1.03072530e-01 9.94673697e-01 -5.38227003e-04 -4.98300275e+01] [-4.56202450e-03 6.83661338e-05 9.99989592e-01 1.91115726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1907140569999 meters Centerline goodness [0,1] 0.997148906731515 Centerline is valid? [True, True] Translation: X:675.25, Y:-49.83, Z:1.91 [[ 9.94659081e-01 1.03117646e-01 4.47922099e-03 6.75245031e+02] [-1.03116296e-01 9.94669164e-01 -5.31950789e-04 -4.98331655e+01] [-4.51019651e-03 6.72290046e-05 9.99989827e-01 1.91111868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2207140569999 meters Centerline goodness [0,1] 0.9974416507643593 Centerline is valid? [True, True] Translation: X:675.27, Y:-49.84, Z:1.91 [[ 9.94564399e-01 1.04041574e-01 4.12397358e-03 6.75273214e+02] [-1.04040439e-01 9.94572947e-01 -4.89456493e-04 -4.98365158e+01] [-4.15251638e-03 5.77359807e-05 9.99991377e-01 1.91038683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.250714057 meters Centerline goodness [0,1] 0.9971862926255669 Centerline is valid? [True, True] Translation: X:675.30, Y:-49.84, Z:1.91 [[ 9.94560906e-01 1.04103842e-01 3.31577854e-03 6.75302313e+02] [-1.04103109e-01 9.94566432e-01 -3.93449662e-04 -4.98404071e+01] [-3.33872165e-03 4.61267979e-05 9.99994425e-01 1.91007679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.280714057 meters Centerline goodness [0,1] 0.9976427007913791 Centerline is valid? [True, True] Translation: X:675.33, Y:-49.85, Z:1.91 [[ 9.94572933e-01 1.04006699e-01 2.69951885e-03 6.75331861e+02] [-1.04006213e-01 9.94576596e-01 -3.20201300e-04 -4.98467653e+01] [-2.71818135e-03 3.76968131e-05 9.99996305e-01 1.91019943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3107140569999 meters Centerline goodness [0,1] 0.9976427007913791 Centerline is valid? [True, True] Translation: X:675.36, Y:-49.85, Z:1.91 [[ 9.94576600e-01 1.03971632e-01 2.69953023e-03 6.75360829e+02] [-1.03971146e-01 9.94580262e-01 -3.20105356e-04 -4.98501728e+01] [-2.71818136e-03 3.76960449e-05 9.99996305e-01 1.91031804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3407140569999 meters Centerline goodness [0,1] 0.997077305275464 Centerline is valid? [True, True] Translation: X:675.39, Y:-49.86, Z:1.91 [[ 9.94670728e-01 1.03068097e-01 2.66635580e-03 6.75390239e+02] [-1.03067620e-01 9.94674301e-01 -3.16076065e-04 -4.98552748e+01] [-2.68473295e-03 3.95766636e-05 9.99996395e-01 1.90996252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.370714057 meters Centerline goodness [0,1] 0.9972917366476318 Centerline is valid? [True, True] Translation: X:675.42, Y:-49.86, Z:1.91 [[ 9.94949053e-01 1.00351578e-01 2.43769711e-03 6.75418146e+02] [-1.00351171e-01 9.94952039e-01 -2.88811441e-04 -4.98633145e+01] [-2.45437439e-03 4.27269104e-05 9.99996987e-01 1.91008765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.400714057 meters Centerline goodness [0,1] 0.9977133506755056 Centerline is valid? [True, True] Translation: X:675.45, Y:-49.87, Z:1.91 [[ 9.95103503e-01 9.88145559e-02 2.16842830e-03 6.75447615e+02] [-9.88142307e-02 9.95105865e-01 -2.56855597e-04 -4.98693278e+01] [-2.18319679e-03 4.13263301e-05 9.99997616e-01 1.91014295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4307140569999 meters Centerline goodness [0,1] 0.9975239214369649 Centerline is valid? [True, True] Translation: X:675.48, Y:-49.88, Z:1.91 [[ 9.95275057e-01 9.70800082e-02 1.74174044e-03 6.75475703e+02] [-9.70797959e-02 9.95276580e-01 -2.06226939e-04 -4.98758535e+01] [-1.75353398e-03 3.61647221e-05 9.99998462e-01 1.91005820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4607140569999 meters Centerline goodness [0,1] 0.9981950595000735 Centerline is valid? [True, True] Translation: X:675.50, Y:-49.88, Z:1.91 [[ 9.95593535e-01 9.37715250e-02 6.42842122e-04 6.75504980e+02] [-9.37714954e-02 9.95593743e-01 -7.60852404e-05 -4.98840034e+01] [-6.47144224e-04 1.54697064e-05 9.99999790e-01 1.90999308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.490714057 meters Centerline goodness [0,1] 0.9983057583300216 Centerline is valid? [True, True] Translation: X:675.54, Y:-49.89, Z:1.91 [[ 9.95740543e-01 9.21991178e-02 3.07528443e-04 6.75535150e+02] [-9.21991109e-02 9.95740590e-01 -3.64314462e-05 -4.98882681e+01] [-3.09577501e-04 7.92241891e-06 9.99999952e-01 1.91005607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.520714057 meters Centerline goodness [0,1] 0.9983902999895474 Centerline is valid? [True, True] Translation: X:675.57, Y:-49.90, Z:1.91 [[ 9.96127602e-01 8.79124803e-02 1.09401976e-03 6.75565289e+02] [-8.79123909e-02 9.96128202e-01 -1.29603368e-04 -4.98953013e+01] [-1.10117769e-03 3.29235992e-05 9.99999393e-01 1.91070456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5507140569999 meters Centerline goodness [0,1] 0.9985527309338031 Centerline is valid? [True, True] Translation: X:675.59, Y:-49.90, Z:1.91 [[ 9.96307902e-01 8.58342016e-02 1.74759056e-03 6.75594842e+02] [-8.58339702e-02 9.96309433e-01 -2.07131739e-04 -4.99045291e+01] [-1.75891994e-03 5.63643528e-05 9.99998452e-01 1.91205432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5807140569999 meters Centerline goodness [0,1] 0.9988035013329415 Centerline is valid? [True, True] Translation: X:675.63, Y:-49.91, Z:1.91 [[ 9.96530122e-01 8.32046158e-02 2.16982010e-03 6.75625266e+02] [-8.32042527e-02 9.96532481e-01 -2.57197485e-04 -4.99086352e+01] [-2.18369623e-03 7.57667807e-05 9.99997613e-01 1.91229184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6107140569999 meters Centerline goodness [0,1] 0.9989079989079989 Centerline is valid? [True, True] Translation: X:675.65, Y:-49.92, Z:1.91 [[ 9.96733764e-01 8.07087628e-02 2.81052924e-03 6.75654635e+02] [-8.07081437e-02 9.96737721e-01 -3.33171631e-04 -4.99162594e+01] [-2.82825038e-03 1.05250816e-04 9.99995995e-01 1.91339086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.640714057 meters Centerline goodness [0,1] 0.9990556733049336 Centerline is valid? [True, True] Translation: X:675.68, Y:-49.92, Z:1.91 [[ 9.97176569e-01 7.49997617e-02 3.73170923e-03 6.75684504e+02] [-7.49986306e-02 9.97183539e-01 -4.42324355e-04 -4.99226988e+01] [-3.75437323e-03 1.61202400e-04 9.99992939e-01 1.91337825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6707140569999 meters Centerline goodness [0,1] 0.9985512723607962 Centerline is valid? [True, True] Translation: X:675.71, Y:-49.93, Z:1.91 [[ 9.97395757e-01 7.20451014e-02 3.34759028e-03 6.75713854e+02] [-7.20441737e-02 9.97401363e-01 -3.97038893e-04 -4.99348575e+01] [-3.36749582e-03 1.54830531e-04 9.99994318e-01 1.91407837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7007140569999 meters Centerline goodness [0,1] 0.9988457744853203 Centerline is valid? [True, True] Translation: X:675.74, Y:-49.94, Z:1.91 [[ 9.97849544e-01 6.55081437e-02 2.22967512e-03 6.75743771e+02] [-6.55077160e-02 9.97852028e-01 -2.64372402e-04 -4.99400198e+01] [-2.24220439e-03 1.17742956e-04 9.99997479e-01 1.91252503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7307140569999 meters Centerline goodness [0,1] 0.9989208931684237 Centerline is valid? [True, True] Translation: X:675.77, Y:-49.95, Z:1.91 [[ 9.98020937e-01 6.28680457e-02 1.34872719e-03 6.75773591e+02] [-6.28678864e-02 9.98021845e-01 -1.60189803e-04 -4.99485729e+01] [-1.35613002e-03 7.50811498e-05 9.99999078e-01 1.91202309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.760714057 meters Centerline goodness [0,1] 0.9988510549404638 Centerline is valid? [True, True] Translation: X:675.80, Y:-49.95, Z:1.91 [[ 9.98190776e-01 6.01118234e-02 1.32018501e-03 6.75804900e+02] [-6.01116684e-02 9.98191646e-01 -1.56789504e-04 -4.99526190e+01] [-1.32722255e-03 7.71473128e-05 9.99999116e-01 1.91140981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.790714057 meters Centerline goodness [0,1] 0.9986266022973198 Centerline is valid? [True, True] Translation: X:675.83, Y:-49.96, Z:1.91 [[ 9.98429831e-01 5.60026955e-02 1.25300467e-03 6.75833620e+02] [-5.60025526e-02 9.98430614e-01 -1.48808150e-04 -4.99600248e+01] [-1.25937188e-03 7.84030365e-05 9.99999204e-01 1.91117721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8207140569999 meters Centerline goodness [0,1] 0.9984631041143118 Centerline is valid? [True, True] Translation: X:675.86, Y:-49.97, Z:1.91 [[ 9.98506292e-01 5.46315512e-02 7.60818623e-04 6.75863753e+02] [-5.46314981e-02 9.98506580e-01 -9.04648051e-05 -4.99659847e+01] [-7.64624634e-04 4.87650159e-05 9.99999706e-01 1.91150260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8507140569999 meters Centerline goodness [0,1] 0.9983743903963986 Centerline is valid? [True, True] Translation: X:675.89, Y:-49.97, Z:1.91 [[ 9.98622268e-01 5.24554490e-02 1.41099894e-03 6.75894685e+02] [-5.24552643e-02 9.98623261e-01 -1.67602908e-04 -4.99673456e+01] [-1.41784805e-03 9.33576740e-05 9.99998990e-01 1.91166320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.880714057 meters Centerline goodness [0,1] 0.998007637390005 Centerline is valid? [True, True] Translation: X:675.93, Y:-49.97, Z:1.91 [[ 9.98646707e-01 5.19843270e-02 1.54409556e-03 6.75925387e+02] [-5.19841033e-02 9.98647895e-01 -1.84627038e-04 -4.99714966e+01] [-1.55160549e-03 1.04108760e-04 9.99998791e-01 1.91191512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.910714057 meters Centerline goodness [0,1] 0.9979605003017628 Centerline is valid? [True, True] Translation: X:675.96, Y:-49.97, Z:1.91 [[ 9.98677835e-01 5.13771292e-02 1.72401570e-03 6.75957350e+02] [-5.13768489e-02 9.98679316e-01 -2.06531294e-04 -4.99741610e+01] [-1.73234980e-03 1.17683732e-04 9.99998493e-01 1.91226076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9407140569999 meters Centerline goodness [0,1] 0.9978552053325483 Centerline is valid? [True, True] Translation: X:675.99, Y:-49.98, Z:1.91 [[ 9.98742535e-01 5.00835720e-02 2.23248145e-03 6.75988024e+02] [-5.00830984e-02 9.98745018e-01 -2.67580649e-04 -4.99800597e+01] [-2.24308112e-03 1.55434587e-04 9.99997472e-01 1.91273327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9707140569999 meters Centerline goodness [0,1] 0.9977688811042996 Centerline is valid? [True, True] Translation: X:676.02, Y:-49.98, Z:1.91 [[ 9.98758646e-01 4.97734016e-02 1.94326306e-03 6.76020741e+02] [-4.97730408e-02 9.98760527e-01 -2.33626012e-04 -4.99765855e+01] [-1.95248280e-03 1.36613888e-04 9.99998085e-01 1.91167957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.000714057 meters Centerline goodness [0,1] 0.9976003171754689 Centerline is valid? [True, True] Translation: X:676.05, Y:-49.98, Z:1.91 [[ 9.98769643e-01 4.95595411e-02 1.74690876e-03 6.76051568e+02] [-4.95592494e-02 9.98771163e-01 -2.09893729e-04 -4.99807540e+01] [-1.75516433e-03 1.23059998e-04 9.99998452e-01 1.91192615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.030714057 meters Centerline goodness [0,1] 0.9971451791035446 Centerline is valid? [True, True] Translation: X:676.08, Y:-49.98, Z:1.91 [[ 9.98827177e-01 4.84016685e-02 1.24467472e-03 6.76084056e+02] [-4.84015195e-02 9.98827948e-01 -1.49535127e-04 -4.99791155e+01] [-1.25045364e-03 8.91156012e-05 9.99999214e-01 1.91105574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0607140569999 meters Centerline goodness [0,1] 0.9964269296669314 Centerline is valid? [True, True] Translation: X:676.11, Y:-49.99, Z:1.91 [[ 9.98837362e-01 4.81884796e-02 1.33962210e-03 6.76114530e+02] [-4.81883063e-02 9.98838256e-01 -1.61360882e-04 -4.99864203e+01] [-1.34584153e-03 9.66191576e-05 9.99999090e-01 1.91138654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0907140569999 meters Centerline goodness [0,1] 0.9970647433747065 Centerline is valid? [True, True] Translation: X:676.15, Y:-49.98, Z:1.91 [[ 9.98853908e-01 4.78447791e-02 1.32203578e-03 6.76147538e+02] [-4.78446104e-02 9.98854778e-01 -1.58896357e-04 -4.99770477e+01] [-1.32812412e-03 9.54619605e-05 9.99999113e-01 1.91140776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.120714057 meters Centerline goodness [0,1] 0.9963005002732584 Centerline is valid? [True, True] Translation: X:676.18, Y:-49.98, Z:1.91 [[ 9.98850469e-01 4.78915152e-02 2.03528253e-03 6.76179421e+02] [-4.78911156e-02 9.98852532e-01 -2.44615594e-04 -4.99782028e+01] [-2.04466212e-03 1.46862450e-04 9.99997899e-01 1.91164541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.150714057 meters Centerline goodness [0,1] 0.9960456849588794 Centerline is valid? [True, True] Translation: X:676.21, Y:-49.98, Z:1.91 [[ 9.98846976e-01 4.79500816e-02 2.34704647e-03 6.76211480e+02] [-4.79495503e-02 9.98849719e-01 -2.82153222e-04 -4.99760413e+01] [-2.35787598e-03 1.69288069e-04 9.99997206e-01 1.91152617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1807140569999 meters Centerline goodness [0,1] 0.995485090298194 Centerline is valid? [True, True] Translation: X:676.24, Y:-49.98, Z:1.91 [[ 9.98843805e-01 4.79872650e-02 2.87686402e-03 6.76242141e+02] [-4.79864670e-02 9.98847926e-01 -3.45789517e-04 -4.99750365e+01] [-2.89014315e-03 2.07339176e-04 9.99995802e-01 1.91290379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2107140569999 meters Centerline goodness [0,1] 0.9930443864229765 Centerline is valid? [True, True] Translation: X:676.27, Y:-49.98, Z:1.91 [[ 9.98816838e-01 4.85398242e-02 2.96822806e-03 6.76273050e+02] [-4.85389767e-02 9.98821225e-01 -3.56948161e-04 -4.99760204e+01] [-2.98205539e-03 2.12451081e-04 9.99995531e-01 1.91202805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.240714057 meters Centerline goodness [0,1] 0.9934323363313114 Centerline is valid? [True, True] Translation: X:676.30, Y:-49.97, Z:1.91 [[ 9.98798038e-01 4.89060712e-02 3.26735723e-03 6.76304355e+02] [-4.89050467e-02 9.98803355e-01 -3.92759334e-04 -4.99692665e+01] [-3.28265568e-03 2.32496994e-04 9.99994585e-01 1.91147104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.270714057 meters Centerline goodness [0,1] 0.9934323363313114 Centerline is valid? [True, True] Translation: X:676.33, Y:-49.97, Z:1.91 [[ 9.98798038e-01 4.89060712e-02 3.26735723e-03 6.76334216e+02] [-4.89050467e-02 9.98803355e-01 -3.92759334e-04 -4.99728560e+01] [-3.28265568e-03 2.32496994e-04 9.99994585e-01 1.91159333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3007140569999 meters Centerline goodness [0,1] 0.9916926920674578 Centerline is valid? [True, True] Translation: X:676.36, Y:-49.97, Z:1.91 [[ 9.98746356e-01 4.99565165e-02 3.17229431e-03 6.76364363e+02] [-4.99555561e-02 9.98751369e-01 -3.81332102e-04 -4.99730636e+01] [-3.18738331e-03 2.22380321e-04 9.99994896e-01 1.91154539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3307140569999 meters Centerline goodness [0,1] 0.9906106231702216 Centerline is valid? [True, True] Translation: X:676.40, Y:-49.97, Z:1.91 [[ 9.98656293e-01 5.17639471e-02 2.47009955e-03 6.76396386e+02] [-5.17633700e-02 9.98659334e-01 -2.97037581e-04 -4.99659022e+01] [-2.48216381e-03 1.68777772e-04 9.99996905e-01 1.91078671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3607140569999 meters Centerline goodness [0,1] 0.9902530027040057 Centerline is valid? [True, True] Translation: X:676.43, Y:-49.96, Z:1.91 [[ 9.98607552e-01 5.27191789e-02 1.90938259e-03 6.76427243e+02] [-5.27188360e-02 9.98609369e-01 -2.29554743e-04 -4.99643472e+01] [-1.91882928e-03 1.28574672e-04 9.99998151e-01 1.90997128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.390714057 meters Centerline goodness [0,1] 0.989633274455379 Centerline is valid? [True, True] Translation: X:676.46, Y:-49.96, Z:1.91 [[ 9.98541673e-01 5.39445295e-02 2.12500337e-03 6.76458379e+02] [-5.39441077e-02 9.98543924e-01 -2.55367533e-04 -4.99590274e+01] [-2.13568489e-03 1.40363713e-04 9.99997710e-01 1.90917645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4207140569999 meters Centerline goodness [0,1] 0.9888462586745498 Centerline is valid? [True, True] Translation: X:676.49, Y:-49.96, Z:1.91 [[ 9.98480922e-01 5.50751713e-02 1.60446543e-03 6.76488905e+02] [-5.50749323e-02 9.98482205e-01 -1.92767281e-04 -4.99572182e+01] [-1.61264687e-03 1.04108628e-04 9.99998694e-01 1.90877675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4507140569999 meters Centerline goodness [0,1] 0.9878777710199032 Centerline is valid? [True, True] Translation: X:676.52, Y:-49.95, Z:1.91 [[ 9.98375093e-01 5.69460069e-02 2.07973614e-03 6.76520006e+02] [-5.69456095e-02 9.98377251e-01 -2.49853006e-04 -4.99494858e+01] [-2.09058938e-03 1.31015176e-04 9.99997806e-01 1.90885859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4807140569999 meters Centerline goodness [0,1] 0.9872217902103781 Centerline is valid? [True, True] Translation: X:676.55, Y:-49.95, Z:1.91 [[ 9.98352355e-01 5.73101489e-02 2.84996399e-03 6.76550557e+02] [-5.73094045e-02 9.98356407e-01 -3.42237695e-04 -4.99467356e+01] [-2.86489350e-03 1.78344070e-04 9.99995880e-01 1.90948687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.510714057 meters Centerline goodness [0,1] 0.9860227653163709 Centerline is valid? [True, True] Translation: X:676.58, Y:-49.95, Z:1.91 [[ 9.98357173e-01 5.72120280e-02 3.12081180e-03 6.76579696e+02] [-5.72111361e-02 9.98362031e-01 -3.74411250e-04 -4.99455490e+01] [-3.13712083e-03 1.95250968e-04 9.99995060e-01 1.90943110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.540714057 meters Centerline goodness [0,1] 0.9840008409544834 Centerline is valid? [True, True] Translation: X:676.61, Y:-49.94, Z:1.91 [[ 9.98379543e-01 5.68346105e-02 2.84888005e-03 6.76609156e+02] [-5.68338660e-02 9.98383591e-01 -3.41684026e-04 -4.99408999e+01] [-2.86369457e-03 1.79217475e-04 9.99995884e-01 1.90928696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5707140569999 meters Centerline goodness [0,1] 0.9833078197412293 Centerline is valid? [True, True] Translation: X:676.64, Y:-49.94, Z:1.91 [[ 9.98405531e-01 5.63267820e-02 3.69996569e-03 6.76638182e+02] [-5.63255237e-02 9.98412359e-01 -4.43491890e-04 -4.99378454e+01] [-3.71907194e-03 2.34382251e-04 9.99993057e-01 1.90809227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6007140569999 meters Centerline goodness [0,1] 0.9813626706493616 Centerline is valid? [True, True] Translation: X:676.67, Y:-49.93, Z:1.91 [[ 9.98448622e-01 5.55480521e-02 3.84236956e-03 6.76668216e+02] [-5.55466904e-02 9.98455985e-01 -4.60293464e-04 -4.99303335e+01] [-3.86200528e-03 2.46148463e-04 9.99992512e-01 1.90579965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.630714057 meters Centerline goodness [0,1] 0.9814047858099063 Centerline is valid? [True, True] Translation: X:676.70, Y:-49.93, Z:1.91 [[ 9.98457410e-01 5.54473724e-02 2.89628354e-03 6.76697747e+02] [-5.54465991e-02 9.98461594e-01 -3.46671562e-04 -4.99271359e+01] [-2.91104990e-03 1.85547719e-04 9.99995746e-01 1.90549038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.660714057 meters Centerline goodness [0,1] 0.9800227349275851 Centerline is valid? [True, True] Translation: X:676.73, Y:-49.93, Z:1.91 [[ 9.98482370e-01 5.49619855e-02 3.48392830e-03 6.76725555e+02] [-5.49608648e-02 9.98488422e-01 -4.16685439e-04 -4.99301638e+01] [-3.50156393e-03 2.24573352e-04 9.99993844e-01 1.90602632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6907140569999 meters Centerline goodness [0,1] 0.9794060400577635 Centerline is valid? [True, True] Translation: X:676.76, Y:-49.92, Z:1.91 [[ 9.98440673e-01 5.57195320e-02 3.39946449e-03 6.76756174e+02] [-5.57184695e-02 9.98446437e-01 -4.06540840e-04 -4.99211859e+01] [-3.41683547e-03 2.16493951e-04 9.99994139e-01 1.90604573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7207140569999 meters Centerline goodness [0,1] 0.9789207066901113 Centerline is valid? [True, True] Translation: X:676.79, Y:-49.92, Z:1.91 [[ 9.98418537e-01 5.60738801e-02 4.01817322e-03 6.76785240e+02] [-5.60723998e-02 9.98426590e-01 -4.80206636e-04 -4.99177547e+01] [-4.03877803e-03 2.54138591e-04 9.99991812e-01 1.90617101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.750714057 meters Centerline goodness [0,1] 0.9773347324239244 Centerline is valid? [True, True] Translation: X:676.81, Y:-49.92, Z:1.91 [[ 9.98353678e-01 5.71700934e-02 4.63840829e-03 6.76812701e+02] [-5.71681345e-02 9.98364411e-01 -5.53920258e-04 -4.99208853e+01] [-4.66248943e-03 2.87839178e-04 9.99989089e-01 1.90733338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.780714057 meters Centerline goodness [0,1] 0.9773016767942534 Centerline is valid? [True, True] Translation: X:676.84, Y:-49.91, Z:1.91 [[ 9.98198095e-01 5.98164023e-02 4.74977992e-03 6.76844486e+02] [-5.98143771e-02 9.98209356e-01 -5.67415736e-04 -4.99079262e+01] [-4.77521552e-03 2.82288180e-04 9.99988559e-01 1.90572350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8107140569999 meters Centerline goodness [0,1] 0.9774699985288245 Centerline is valid? [True, True] Translation: X:676.87, Y:-49.91, Z:1.90 [[ 9.98164276e-01 6.03132640e-02 5.51257342e-03 6.76873896e+02] [-6.03105471e-02 9.98179445e-01 -6.57926947e-04 -4.99061755e+01] [-5.54221920e-03 3.24252856e-04 9.99984589e-01 1.90474259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8407140569999 meters Centerline goodness [0,1] 0.9724841521394612 Centerline is valid? [True, True] Translation: X:676.90, Y:-49.92, Z:1.91 [[ 9.98023853e-01 6.27138803e-02 3.91899182e-03 6.76901277e+02] [-6.27125265e-02 9.98031523e-01 -4.67509466e-04 -4.99186987e+01] [-3.94059671e-03 2.20815720e-04 9.99992211e-01 1.90685142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.870714057 meters Centerline goodness [0,1] 0.9754072517078297 Centerline is valid? [True, True] Translation: X:676.93, Y:-49.90, Z:1.90 [[ 9.98117973e-01 6.10457235e-02 5.82503278e-03 6.76933479e+02] [-6.10427044e-02 9.98134913e-01 -6.94851574e-04 -4.99008768e+01] [-5.85658631e-03 3.37968091e-04 9.99982793e-01 1.90411088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.900714057 meters Centerline goodness [0,1] 0.9742252931323283 Centerline is valid? [True, True] Translation: X:676.96, Y:-49.90, Z:1.90 [[ 9.98188614e-01 5.99020097e-02 5.58933395e-03 6.76961345e+02] [-5.98992162e-02 9.98204208e-01 -6.66001564e-04 -4.99037600e+01] [-5.61919150e-03 3.29998455e-04 9.99984158e-01 1.90369790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9307140569999 meters Centerline goodness [0,1] 0.9743584372054048 Centerline is valid? [True, True] Translation: X:676.99, Y:-49.90, Z:1.90 [[ 9.98304367e-01 5.80179306e-02 4.72334417e-03 6.76990646e+02] [-5.80159154e-02 9.98315500e-01 -5.62650727e-04 -4.99032441e+01] [-4.74803153e-03 2.87667542e-04 9.99988687e-01 1.90174808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9607140569999 meters Centerline goodness [0,1] 0.9725497614393509 Centerline is valid? [True, True] Translation: X:677.02, Y:-49.91, Z:1.90 [[ 9.98405536e-01 5.62941836e-02 4.16535571e-03 6.77019145e+02] [-5.62926026e-02 9.98414191e-01 -4.95934554e-04 -4.99084263e+01] [-4.18666848e-03 2.60665090e-04 9.99991202e-01 1.90130131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.990714057 meters Centerline goodness [0,1] 0.9734503958228061 Centerline is valid? [True, True] Translation: X:677.05, Y:-49.91, Z:1.90 [[ 9.98477247e-01 5.50322066e-02 3.82657461e-03 6.77048097e+02] [-5.50308645e-02 9.98484550e-01 -4.55235860e-04 -4.99082618e+01] [-3.84582826e-03 2.43962939e-04 9.99992575e-01 1.90092037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.020714057 meters Centerline goodness [0,1] 0.9743303100611685 Centerline is valid? [True, True] Translation: X:677.08, Y:-49.91, Z:1.90 [[ 9.98614885e-01 5.25212941e-02 3.13443495e-03 6.77077666e+02] [-5.25203823e-02 9.98619783e-01 -3.72585079e-04 -4.99061668e+01] [-3.14967740e-03 2.07447285e-04 9.99995018e-01 1.90009754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0507140569999 meters Centerline goodness [0,1] 0.9714966373621741 Centerline is valid? [True, True] Translation: X:677.11, Y:-49.91, Z:1.90 [[ 9.98653372e-01 5.18265725e-02 2.33432809e-03 6.77105111e+02] [-5.18260657e-02 9.98656088e-01 -2.77130474e-04 -4.99125176e+01] [-2.34555368e-03 1.55778242e-04 9.99997237e-01 1.90002633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0807140569999 meters Centerline goodness [0,1] 0.9705367868658982 Centerline is valid? [True, True] Translation: X:677.13, Y:-49.91, Z:1.90 [[ 9.98698492e-01 5.09722195e-02 1.77626705e-03 6.77134629e+02] [-5.09719249e-02 9.98700064e-01 -2.10746024e-04 -4.99099032e+01] [-1.78470021e-03 1.19931986e-04 9.99998400e-01 1.89914673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1107140569999 meters Centerline goodness [0,1] 0.9717747894192404 Centerline is valid? [True, True] Translation: X:677.16, Y:-49.91, Z:1.90 [[ 9.98680591e-01 5.13206130e-02 1.80858449e-03 6.77163363e+02] [-5.13203084e-02 9.98682222e-01 -2.14459062e-04 -4.99109758e+01] [-1.81720734e-03 1.21358989e-04 9.99998342e-01 1.89950237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.140714057 meters Centerline goodness [0,1] 0.9707883573438616 Centerline is valid? [True, True] Translation: X:677.19, Y:-49.91, Z:1.90 [[ 9.98639283e-01 5.21013384e-02 2.24326245e-03 6.77191458e+02] [-5.21008722e-02 9.98641792e-01 -2.65807053e-04 -4.99119301e+01] [-2.25406454e-03 1.48569434e-04 9.99997449e-01 1.89901942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1707140569999 meters Centerline goodness [0,1] 0.9711952299972707 Centerline is valid? [True, True] Translation: X:677.22, Y:-49.91, Z:1.90 [[ 9.98448055e-01 5.56405800e-02 2.36785502e-03 6.77222879e+02] [-5.56400697e-02 9.98450852e-01 -2.80906488e-04 -4.99085977e+01] [-2.37981666e-03 1.48722918e-04 9.99997157e-01 1.89935265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2007140569999 meters Centerline goodness [0,1] 0.9727155618440225 Centerline is valid? [True, True] Translation: X:677.25, Y:-49.90, Z:1.90 [[ 9.98322247e-01 5.78184976e-02 3.11642294e-03 6.77254006e+02] [-5.78176245e-02 9.98327094e-01 -3.69610710e-04 -4.99018742e+01] [-3.13257979e-03 1.88806423e-04 9.99995076e-01 1.89903384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2307140569999 meters Centerline goodness [0,1] 0.9727155618440225 Centerline is valid? [True, True] Translation: X:677.28, Y:-49.91, Z:1.90 [[ 9.98328449e-01 5.77113032e-02 3.11650544e-03 6.77281350e+02] [-5.77104317e-02 9.98333296e-01 -3.68914841e-04 -4.99050268e+01] [-3.13260171e-03 1.88443306e-04 9.99995076e-01 1.89914578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.260714057 meters Centerline goodness [0,1] 0.9741564062696979 Centerline is valid? [True, True] Translation: X:677.31, Y:-49.90, Z:1.90 [[ 9.97986416e-01 6.33053009e-02 3.94375267e-03 6.77311624e+02] [-6.33039474e-02 9.97994184e-01 -4.67227922e-04 -4.99009510e+01] [-3.96542024e-03 2.16632007e-04 9.99992114e-01 1.90068368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.290714057 meters Centerline goodness [0,1] 0.9752868490732568 Centerline is valid? [True, True] Translation: X:677.34, Y:-49.90, Z:1.90 [[ 9.97631276e-01 6.85780328e-02 5.37502308e-03 6.77341080e+02] [-6.85755952e-02 9.97645720e-01 -6.36710637e-04 -4.98996417e+01] [-5.40603314e-03 2.66607038e-04 9.99985352e-01 1.90179855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3207140569999 meters Centerline goodness [0,1] 0.9753107225616179 Centerline is valid? [True, True] Translation: X:677.37, Y:-49.90, Z:1.90 [[ 9.97435363e-01 7.13435512e-02 5.72667687e-03 6.77371915e+02] [-7.13408302e-02 9.97451766e-01 -6.78283286e-04 -4.98971697e+01] [-5.76047510e-03 2.67997853e-04 9.99983372e-01 1.90147561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3507140569999 meters Centerline goodness [0,1] 0.9753107225616179 Centerline is valid? [True, True] Translation: X:677.40, Y:-49.90, Z:1.90 [[ 9.97442907e-01 7.12379832e-02 5.72679079e-03 6.77399239e+02] [-7.12352659e-02 9.97459312e-01 -6.77321076e-04 -4.99003147e+01] [-5.76049179e-03 2.67639638e-04 9.99983372e-01 1.90158747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.380714057 meters Centerline goodness [0,1] 0.9765806970736459 Centerline is valid? [True, True] Translation: X:677.43, Y:-49.90, Z:1.90 [[ 9.97144966e-01 7.51474232e-02 7.40152415e-03 6.77428898e+02] [-7.51429906e-02 9.97172384e-01 -8.75549925e-04 -4.98985923e+01] [-7.44639081e-03 3.16877541e-04 9.99972225e-01 1.90131612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.410714057 meters Centerline goodness [0,1] 0.976143266959163 Centerline is valid? [True, True] Translation: X:677.46, Y:-49.90, Z:1.90 [[ 9.97025219e-01 7.66182541e-02 8.38788957e-03 6.77458078e+02] [-7.66126194e-02 9.97060441e-01 -9.91506024e-04 -4.98990411e+01] [-8.43920034e-03 3.45938319e-04 9.99964329e-01 1.90109107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4407140569999 meters Centerline goodness [0,1] 0.977222444636423 Centerline is valid? [True, True] Translation: X:677.49, Y:-49.90, Z:1.90 [[ 9.96857811e-01 7.87999394e-02 8.06690567e-03 6.77486698e+02] [-7.87948037e-02 9.96890401e-01 -9.52983136e-04 -4.98998119e+01] [-8.11691584e-03 3.14358433e-04 9.99967008e-01 1.90021407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4707140569999 meters Centerline goodness [0,1] 0.9760920025321798 Centerline is valid? [True, True] Translation: X:677.51, Y:-49.90, Z:1.90 [[ 9.96766148e-01 7.99987921e-02 7.57886685e-03 6.77514572e+02] [-7.99942978e-02 9.96794920e-01 -8.94781756e-04 -4.99048336e+01] [-7.62615743e-03 2.85622033e-04 9.99970880e-01 1.90059777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.500714057 meters Centerline goodness [0,1] 0.9782535472190644 Centerline is valid? [True, True] Translation: X:677.54, Y:-49.91, Z:1.90 [[ 9.96714662e-01 8.06606894e-02 7.33043793e-03 6.77543178e+02] [-8.06565067e-02 9.96741581e-01 -8.64927884e-04 -4.99052735e+01] [-7.37631797e-03 2.70838788e-04 9.99972758e-01 1.89942323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.530714057 meters Centerline goodness [0,1] 0.9817324440290581 Centerline is valid? [True, True] Translation: X:677.57, Y:-49.90, Z:1.90 [[ 9.96536102e-01 8.28140144e-02 7.59188785e-03 6.77572004e+02] [-8.28095947e-02 9.96564985e-01 -8.95214824e-04 -4.99046151e+01] [-7.63994594e-03 2.63432734e-04 9.99970780e-01 1.89752763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5607140569999 meters Centerline goodness [0,1] 0.9788461538461538 Centerline is valid? [True, True] Translation: X:677.60, Y:-49.91, Z:1.90 [[ 9.96439617e-01 8.39787183e-02 7.46089672e-03 6.77599738e+02] [-8.39744865e-02 9.96467517e-01 -8.79222160e-04 -4.99111787e+01] [-7.50837718e-03 2.49566821e-04 9.99971781e-01 1.89811313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5907140569999 meters Centerline goodness [0,1] 0.9814951109241931 Centerline is valid? [True, True] Translation: X:677.63, Y:-49.91, Z:1.90 [[ 9.96372375e-01 8.48498169e-02 6.52684735e-03 6.77629019e+02] [-8.48466114e-02 9.96393730e-01 -7.66973455e-04 -4.99122631e+01] [-6.56838733e-03 2.10410282e-04 9.99978406e-01 1.89646369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.620714057 meters Centerline goodness [0,1] 0.9814814814814815 Centerline is valid? [True, True] Translation: X:677.66, Y:-49.92, Z:1.90 [[ 9.96385627e-01 8.46412276e-02 7.17940853e-03 6.77657254e+02] [-8.46373419e-02 9.96411465e-01 -8.43885481e-04 -4.99156488e+01] [-7.22507247e-03 2.33189311e-04 9.99973872e-01 1.89590934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.650714057 meters Centerline goodness [0,1] 0.9813443072702333 Centerline is valid? [True, True] Translation: X:677.68, Y:-49.92, Z:1.90 [[ 9.96367788e-01 8.48576198e-02 7.10035193e-03 6.77684732e+02] [-8.48538297e-02 9.96393061e-01 -8.33897350e-04 -4.99200088e+01] [-7.14550394e-03 2.28376405e-04 9.99974444e-01 1.89607824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6807140569999 meters Centerline goodness [0,1] 0.979687897548978 Centerline is valid? [True, True] Translation: X:677.71, Y:-49.92, Z:1.90 [[ 9.96388587e-01 8.45900518e-02 7.36934730e-03 6.77712775e+02] [-8.45859650e-02 9.96415810e-01 -8.65058437e-04 -4.99242659e+01] [-7.41610950e-03 2.38591001e-04 9.99972472e-01 1.89500900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7107140569999 meters Centerline goodness [0,1] 0.9816756699502172 Centerline is valid? [True, True] Translation: X:677.74, Y:-49.93, Z:1.89 [[ 9.96424944e-01 8.41929140e-02 6.99170355e-03 6.77740813e+02] [-8.41892304e-02 9.96449447e-01 -8.20031745e-04 -4.99282292e+01] [-7.03592000e-03 2.28473944e-04 9.99975222e-01 1.89449954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.740714057 meters Centerline goodness [0,1] 0.9788155282389219 Centerline is valid? [True, True] Translation: X:677.77, Y:-49.94, Z:1.89 [[ 9.96488433e-01 8.33874623e-02 7.57192881e-03 6.77767677e+02] [-8.33831234e-02 9.96517169e-01 -8.87459560e-04 -4.99358229e+01] [-7.61956006e-03 2.52972111e-04 9.99970939e-01 1.89475498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.770714057 meters Centerline goodness [0,1] 0.9789085044983874 Centerline is valid? [True, True] Translation: X:677.80, Y:-49.94, Z:1.89 [[ 9.96578214e-01 8.22705225e-02 7.96389071e-03 6.77796468e+02] [-8.22656909e-02 9.96609997e-01 -9.32939538e-04 -4.99396385e+01] [-8.01364652e-03 2.74592247e-04 9.99967853e-01 1.89462615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8007140569999 meters Centerline goodness [0,1] 0.9795235574377977 Centerline is valid? [True, True] Translation: X:677.83, Y:-49.94, Z:1.89 [[ 9.96648981e-01 8.13136456e-02 8.88259237e-03 6.77825397e+02] [-8.13076023e-02 9.96688513e-01 -1.03997204e-03 -4.99440373e+01] [-8.93774170e-03 3.14264785e-04 9.99960008e-01 1.89495295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8307140569999 meters Centerline goodness [0,1] 0.980008022124174 Centerline is valid? [True, True] Translation: X:677.85, Y:-49.95, Z:1.89 [[ 9.96779366e-01 7.96550365e-02 9.27201237e-03 6.77854267e+02] [-7.96483862e-02 9.96822430e-01 -1.08489184e-03 -4.99464588e+01] [-9.32896701e-03 3.42896977e-04 9.99956425e-01 1.89458412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8607140569999 meters Centerline goodness [0,1] 0.9776620616365569 Centerline is valid? [True, True] Translation: X:677.88, Y:-49.95, Z:1.90 [[ 9.97062403e-01 7.59169552e-02 1.01577570e-02 6.77882096e+02] [-7.59087879e-02 9.97114058e-01 -1.18774230e-03 -4.99547083e+01] [-1.02186121e-02 4.13190170e-04 9.99947703e-01 1.89581356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.890714057 meters Centerline goodness [0,1] 0.9782405638347557 Centerline is valid? [True, True] Translation: X:677.91, Y:-49.96, Z:1.89 [[ 9.97211566e-01 7.38570539e-02 1.06877630e-02 6.77911394e+02] [-7.38478961e-02 9.97268734e-01 -1.24950888e-03 -4.99587556e+01] [-1.07508569e-02 4.56755896e-04 9.99942104e-01 1.89494715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9207140569999 meters Centerline goodness [0,1] 0.9747890250625504 Centerline is valid? [True, True] Translation: X:677.94, Y:-49.97, Z:1.90 [[ 9.97363968e-01 7.17910892e-02 1.05429661e-02 6.77937298e+02] [-7.17820779e-02 9.97419580e-01 -1.23114630e-03 -4.99717624e+01] [-1.06041461e-02 4.71104945e-04 9.99943663e-01 1.89693389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9507140569999 meters Centerline goodness [0,1] 0.9737325534745244 Centerline is valid? [True, True] Translation: X:677.97, Y:-49.98, Z:1.90 [[ 9.97703143e-01 6.70189706e-02 9.84352742e-03 6.77965471e+02] [-6.70108841e-02 9.97751582e-01 -1.14941521e-03 -4.99823909e+01] [-9.89842769e-03 4.87151697e-04 9.99950891e-01 1.89681098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9807140569999 meters Centerline goodness [0,1] 0.9774024485985274 Centerline is valid? [True, True] Translation: X:678.00, Y:-49.98, Z:1.89 [[ 9.97887740e-01 6.42742122e-02 9.42783033e-03 6.77995788e+02] [-6.42666755e-02 9.97932154e-01 -1.10051001e-03 -4.99784743e+01] [-9.47906944e-03 4.92290130e-04 9.99954951e-01 1.89406927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.010714057 meters Centerline goodness [0,1] 0.9743448742623887 Centerline is valid? [True, True] Translation: X:678.02, Y:-49.99, Z:1.89 [[ 9.98199497e-01 5.93822401e-02 8.45662337e-03 6.78023757e+02] [-5.93760031e-02 9.98235201e-01 -9.86918965e-04 -4.99891064e+01] [-8.50030459e-03 4.83021518e-04 9.99963755e-01 1.89405466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.040714057 meters Centerline goodness [0,1] 0.9735093714843667 Centerline is valid? [True, True] Translation: X:678.05, Y:-49.99, Z:1.89 [[ 9.98327866e-01 5.71891140e-02 8.41888026e-03 6.78053662e+02] [-5.71828576e-02 9.98363239e-01 -9.82176328e-04 -4.99911360e+01] [-8.46127036e-03 4.99118366e-04 9.99964078e-01 1.89347741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0707140569999 meters Centerline goodness [0,1] 0.9738621863037006 Centerline is valid? [True, True] Translation: X:678.08, Y:-50.00, Z:1.89 [[ 9.98439716e-01 5.52236781e-02 8.27519403e-03 6.78081645e+02] [-5.52175725e-02 9.98473880e-01 -9.64661590e-04 -4.99980196e+01] [-8.31583725e-03 5.06220317e-04 9.99965295e-01 1.89477373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1007140569999 meters Centerline goodness [0,1] 0.9730686854549696 Centerline is valid? [True, True] Translation: X:678.11, Y:-50.00, Z:1.90 [[ 9.98532094e-01 5.35704018e-02 7.99184642e-03 6.78110492e+02] [-5.35646572e-02 9.98563949e-01 -9.31277775e-04 -5.00023653e+01] [-8.03025865e-03 5.01830232e-04 9.99967631e-01 1.89508419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.130714057 meters Centerline goodness [0,1] 0.9739546760293648 Centerline is valid? [True, True] Translation: X:678.14, Y:-50.00, Z:1.90 [[ 9.98691002e-01 5.05401216e-02 7.87265728e-03 6.78141156e+02] [-5.05344517e-02 9.98721897e-01 -9.17599492e-04 -5.00038156e+01] [-7.90897080e-03 5.18557938e-04 9.99968589e-01 1.89513952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.160714057 meters Centerline goodness [0,1] 0.9735726910709342 Centerline is valid? [True, True] Translation: X:678.17, Y:-50.01, Z:1.90 [[ 9.98727900e-01 4.97896241e-02 7.97336144e-03 6.78169367e+02] [-4.97837931e-02 9.98759587e-01 -9.28248090e-04 -5.00067001e+01] [-8.00968830e-03 5.30123090e-04 9.99967781e-01 1.89549933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1907140569999 meters Centerline goodness [0,1] 0.9732247293762362 Centerline is valid? [True, True] Translation: X:678.20, Y:-50.01, Z:1.90 [[ 9.98786156e-01 4.86800958e-02 7.51414180e-03 6.78198167e+02] [-4.86748896e-02 9.98814292e-01 -8.74297446e-04 -5.00089497e+01] [-7.54779311e-03 5.07486163e-04 9.99971386e-01 1.89542271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2207140569999 meters Centerline goodness [0,1] 0.9731878973443048 Centerline is valid? [True, True] Translation: X:678.23, Y:-50.01, Z:1.90 [[ 9.98807179e-01 4.82509674e-02 7.48750118e-03 6.78226725e+02] [-4.82457901e-02 9.98835114e-01 -8.70650413e-04 -5.00098230e+01] [-7.52078882e-03 5.08371472e-04 9.99971589e-01 1.89535789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.250714057 meters Centerline goodness [0,1] 0.972005001377498 Centerline is valid? [True, True] Translation: X:678.25, Y:-50.01, Z:1.90 [[ 9.98828817e-01 4.76992540e-02 8.11019342e-03 6.78254572e+02] [-4.76931679e-02 9.98861589e-01 -9.42279997e-04 -5.00115967e+01] [-8.14590674e-03 5.54375598e-04 9.99966668e-01 1.89708276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.280714057 meters Centerline goodness [0,1] 0.9734861370981459 Centerline is valid? [True, True] Translation: X:678.28, Y:-50.01, Z:1.90 [[ 9.98856996e-01 4.69671256e-02 8.87638644e-03 6.78283855e+02] [-4.69598114e-02 9.98896248e-01 -1.03075968e-03 -5.00120984e+01] [-8.91500093e-03 6.12748085e-04 9.99960073e-01 1.89754895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3107140569999 meters Centerline goodness [0,1] 0.9715242881072027 Centerline is valid? [True, True] Translation: X:678.31, Y:-50.02, Z:1.90 [[ 9.98882711e-01 4.64448463e-02 8.72956558e-03 6.78311360e+02] [-4.64377615e-02 9.98920672e-01 -1.01265370e-03 -5.00175200e+01] [-8.76717606e-03 6.06140788e-04 9.99961384e-01 1.89848488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3407140569999 meters Centerline goodness [0,1] 0.9706659844802592 Centerline is valid? [True, True] Translation: X:678.34, Y:-50.02, Z:1.90 [[ 9.98924848e-01 4.56668548e-02 7.98042055e-03 6.78340040e+02] [-4.56609127e-02 9.98956568e-01 -9.25295250e-04 -5.00189379e+01] [-8.01434885e-03 5.59907131e-04 9.99967728e-01 1.89825584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.370714057 meters Centerline goodness [0,1] 0.9733523622885869 Centerline is valid? [True, True] Translation: X:678.37, Y:-50.02, Z:1.90 [[ 9.98928768e-01 4.56628994e-02 7.49773388e-03 6.78369087e+02] [-4.56576585e-02 9.98956768e-01 -8.68761401e-04 -5.00167554e+01] [-7.52958216e-03 5.25501783e-04 9.99971514e-01 1.89763002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.400714057 meters Centerline goodness [0,1] 0.971612326170752 Centerline is valid? [True, True] Translation: X:678.40, Y:-50.02, Z:1.90 [[ 9.98932360e-01 4.56217246e-02 7.26620487e-03 6.78396060e+02] [-4.56168067e-02 9.98958657e-01 -8.41202859e-04 -5.00220451e+01] [-7.29701539e-03 5.08843694e-04 9.99973247e-01 1.89788765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4307140569999 meters Centerline goodness [0,1] 0.9720293127689489 Centerline is valid? [True, True] Translation: X:678.42, Y:-50.02, Z:1.90 [[ 9.98945716e-01 4.54128640e-02 6.71769768e-03 6.78424749e+02] [-4.54086588e-02 9.98968192e-01 -7.77278214e-04 -5.00229699e+01] [-6.74606474e-03 4.71417101e-04 9.99977134e-01 1.89780743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4607140569999 meters Centerline goodness [0,1] 0.9710478136841657 Centerline is valid? [True, True] Translation: X:678.45, Y:-50.02, Z:1.90 [[ 9.98950334e-01 4.54050815e-02 6.05050824e-03 6.78452758e+02] [-4.54016738e-02 9.98968567e-01 -6.99454071e-04 -5.00243162e+01] [-6.07602631e-03 4.24016676e-04 9.99981451e-01 1.89851348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.490714057 meters Centerline goodness [0,1] 0.9712831000617796 Centerline is valid? [True, True] Translation: X:678.48, Y:-50.03, Z:1.90 [[ 9.98925091e-01 4.59743427e-02 5.91795422e-03 6.78481565e+02] [-4.59710946e-02 9.98942536e-01 -6.83791145e-04 -5.00258267e+01] [-5.94313305e-03 4.11001298e-04 9.99982255e-01 1.89852923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.520714057 meters Centerline goodness [0,1] 0.9741486134256292 Centerline is valid? [True, True] Translation: X:678.51, Y:-50.02, Z:1.90 [[ 9.98859142e-01 4.75200036e-02 4.71852620e-03 6.78511623e+02] [-4.75179563e-02 9.98870235e-01 -5.45117368e-04 -5.00220777e+01] [-4.73909935e-03 3.20280745e-04 9.99988719e-01 1.89707110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5507140569999 meters Centerline goodness [0,1] 0.975744635422227 Centerline is valid? [True, True] Translation: X:678.54, Y:-50.02, Z:1.90 [[ 9.98815117e-01 4.85449747e-02 3.42757544e-03 6.78541350e+02] [-4.85439019e-02 9.98820972e-01 -3.95539195e-04 -5.00185861e+01] [-3.44273567e-03 2.28682641e-04 9.99994048e-01 1.89596623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5807140569999 meters Centerline goodness [0,1] 0.9772537428516352 Centerline is valid? [True, True] Translation: X:678.57, Y:-50.02, Z:1.89 [[ 9.98744382e-01 5.00069995e-02 2.99309824e-03 6.78570369e+02] [-5.00061888e-02 9.98748848e-01 -3.45135654e-04 -5.00164887e+01] [-3.00661262e-03 1.95028860e-04 9.99995461e-01 1.89469225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6107140569999 meters Centerline goodness [0,1] 0.9764902363823227 Centerline is valid? [True, True] Translation: X:678.60, Y:-50.02, Z:1.90 [[ 9.98584140e-01 5.31809094e-02 1.22733809e-03 6.78599630e+02] [-5.31807756e-02 9.98584891e-01 -1.41454465e-04 -5.00186502e+01] [-1.23312395e-03 7.59833940e-05 9.99999237e-01 1.89500642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.640714057 meters Centerline goodness [0,1] 0.978027396085661 Centerline is valid? [True, True] Translation: X:678.63, Y:-50.02, Z:1.89 [[ 9.98534529e-01 5.41086624e-02 1.02300929e-03 6.78629061e+02] [-5.41085702e-02 9.98535051e-01 -1.17664713e-04 -5.00173539e+01] [-1.02787731e-03 6.21387093e-05 9.99999470e-01 1.89463033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6707140569999 meters Centerline goodness [0,1] 0.97488956555303 Centerline is valid? [True, True] Translation: X:678.66, Y:-50.03, Z:1.90 [[ 9.98466391e-01 5.53539133e-02 9.00242556e-04 6.78655675e+02] [-5.53538426e-02 9.98466795e-01 -1.03359235e-04 -5.00266571e+01] [-9.04583638e-04 5.33688380e-05 9.99999589e-01 1.89571457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7007140569999 meters Centerline goodness [0,1] 0.9782361155870662 Centerline is valid? [True, True] Translation: X:678.69, Y:-50.02, Z:1.90 [[ 9.98392794e-01 5.66729137e-02 1.00864063e-04 6.78685117e+02] [-5.66729128e-02 9.98392799e-01 -1.13290224e-05 -5.00206684e+01] [-1.01344003e-04 5.59455401e-06 9.99999995e-01 1.89603305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7307140569999 meters Centerline goodness [0,1] 0.9797032896151365 Centerline is valid? [True, True] Translation: X:678.71, Y:-50.02, Z:1.90 [[ 9.98234566e-01 5.93948657e-02 1.43830831e-05 6.78714762e+02] [-5.93948656e-02 9.98234567e-01 -1.51449682e-06 -5.00200556e+01] [-1.44476441e-05 6.57541786e-07 1.00000000e+00 1.89639220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.760714057 meters Centerline goodness [0,1] 0.9792835192229171 Centerline is valid? [True, True] Translation: X:678.74, Y:-50.02, Z:1.90 [[ 9.98152315e-01 6.07591068e-02 -5.35697347e-04 6.78743456e+02] [-6.07590823e-02 9.98152458e-01 6.19078004e-05 -5.00206016e+01] [ 5.38469086e-04 -2.92449351e-05 9.99999855e-01 1.89652282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.790714057 meters Centerline goodness [0,1] 0.9805327648211556 Centerline is valid? [True, True] Translation: X:678.77, Y:-50.02, Z:1.90 [[ 9.97971366e-01 6.36619783e-02 -5.53099517e-04 6.78773811e+02] [-6.36619528e-02 9.97971518e-01 6.37526626e-05 -5.00168781e+01] [ 5.56036185e-04 -2.84119365e-05 9.99999845e-01 1.89676249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8207140569999 meters Centerline goodness [0,1] 0.9800499827645639 Centerline is valid? [True, True] Translation: X:678.80, Y:-50.02, Z:1.90 [[ 9.97895423e-01 6.48380164e-02 -8.69446103e-04 6.78802469e+02] [-6.48379536e-02 9.97895801e-01 1.00215690e-04 -5.00175465e+01] [ 8.74114401e-04 -4.36316722e-05 9.99999617e-01 1.89644881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8507140569999 meters Centerline goodness [0,1] 0.9806357010393755 Centerline is valid? [True, True] Translation: X:678.83, Y:-50.02, Z:1.90 [[ 9.97812611e-01 6.60968546e-02 -1.09535888e-03 6.78830615e+02] [-6.60967559e-02 9.97813210e-01 1.26099007e-04 -5.00198460e+01] [ 1.10129831e-03 -5.34235110e-05 9.99999392e-01 1.89666447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.880714057 meters Centerline goodness [0,1] 0.9787508880707874 Centerline is valid? [True, True] Translation: X:678.86, Y:-50.02, Z:1.90 [[ 9.97643276e-01 6.85883958e-02 -1.87770429e-03 6.78859545e+02] [-6.85881109e-02 9.97645039e-01 2.15745479e-04 -5.00236006e+01] [ 1.88808000e-03 -8.64488367e-05 9.99998214e-01 1.89678006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.910714057 meters Centerline goodness [0,1] 0.980792833918305 Centerline is valid? [True, True] Translation: X:678.89, Y:-50.02, Z:1.90 [[ 9.97575575e-01 6.95807654e-02 -1.22032716e-03 6.78888922e+02] [-6.95806457e-02 9.97576320e-01 1.40325119e-04 -5.00191682e+01] [ 1.22713341e-03 -5.50737598e-05 9.99999246e-01 1.89686886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9407140569999 meters Centerline goodness [0,1] 0.9805024129610479 Centerline is valid? [True, True] Translation: X:678.92, Y:-50.02, Z:1.90 [[ 9.97468209e-01 7.10968637e-02 -1.55161767e-03 6.78916743e+02] [-7.10966721e-02 9.97469414e-01 1.78375549e-04 -5.00212927e+01] [ 1.56037311e-03 -6.76090865e-05 9.99998780e-01 1.89721495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9707140569999 meters Centerline goodness [0,1] 0.980331687118549 Centerline is valid? [True, True] Translation: X:678.94, Y:-50.02, Z:1.90 [[ 9.97350528e-01 7.27380069e-02 -1.05243912e-03 6.78944167e+02] [-7.27379198e-02 9.97351082e-01 1.20894020e-04 -5.00240631e+01] [ 1.05844488e-03 -4.40214822e-05 9.99999439e-01 1.89780504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.000714057 meters Centerline goodness [0,1] 0.983879681051062 Centerline is valid? [True, True] Translation: X:678.97, Y:-50.02, Z:1.90 [[ 9.97041870e-01 7.68469247e-02 -1.43545609e-03 6.78974299e+02] [-7.68467674e-02 9.97042901e-01 1.64500983e-04 -5.00196617e+01] [ 1.44385270e-03 -5.37042070e-05 9.99998956e-01 1.89747866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.030714057 meters Centerline goodness [0,1] 0.9831145275522543 Centerline is valid? [True, True] Translation: X:679.00, Y:-50.03, Z:1.90 [[ 9.96912518e-01 7.85013803e-02 -1.72205338e-03 6.79001694e+02] [-7.85011563e-02 9.96914003e-01 1.97377485e-04 -5.00259845e+01] [ 1.73223353e-03 -6.15849043e-05 9.99998498e-01 1.89746227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0607140569999 meters Centerline goodness [0,1] 0.983792999266261 Centerline is valid? [True, True] Translation: X:679.03, Y:-50.03, Z:1.90 [[ 9.96774978e-01 8.02287632e-02 -1.72890221e-03 6.79030554e+02] [-8.02285397e-02 9.96776475e-01 1.98345063e-04 -5.00275122e+01] [ 1.73924203e-03 -5.89980962e-05 9.99998486e-01 1.89763199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0907140569999 meters Centerline goodness [0,1] 0.983682026454569 Centerline is valid? [True, True] Translation: X:679.06, Y:-50.03, Z:1.90 [[ 9.96500477e-01 8.35684786e-02 -1.76311121e-03 6.79059470e+02] [-8.35682529e-02 9.96502035e-01 2.01438495e-04 -5.00279898e+01] [ 1.77377782e-03 -5.33934327e-05 9.99998425e-01 1.89791585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.120714057 meters Centerline goodness [0,1] 0.983682026454569 Centerline is valid? [True, True] Translation: X:679.09, Y:-50.03, Z:1.90 [[ 9.96508882e-01 8.34681974e-02 -1.76311582e-03 6.79086784e+02] [-8.34679716e-02 9.96510440e-01 2.01398274e-04 -5.00310093e+01] [ 1.77377367e-03 -5.35314676e-05 9.99998425e-01 1.89802767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.150714057 meters Centerline goodness [0,1] 0.9866597590985624 Centerline is valid? [True, True] Translation: X:679.12, Y:-50.03, Z:1.90 [[ 9.96422028e-01 8.44933871e-02 -2.00253534e-03 6.79116302e+02] [-8.44930979e-02 9.96424038e-01 2.28758232e-04 -5.00300779e+01] [ 2.01470291e-03 -5.87393269e-05 9.99997969e-01 1.89782384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1807140569999 meters Centerline goodness [0,1] 0.9847519492019611 Centerline is valid? [True, True] Translation: X:679.14, Y:-50.03, Z:1.90 [[ 9.96253156e-01 8.64388146e-02 -2.82506314e-03 6.79143862e+02] [-8.64382502e-02 9.96257158e-01 3.21487608e-04 -5.00339323e+01] [ 2.84227839e-03 -7.60895296e-05 9.99995958e-01 1.89624335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2107140569999 meters Centerline goodness [0,1] 0.9864719776680266 Centerline is valid? [True, True] Translation: X:679.17, Y:-50.04, Z:1.90 [[ 9.96196624e-01 8.70629372e-02 -3.51151580e-03 6.79172288e+02] [-8.70620702e-02 9.96202809e-01 3.99286616e-04 -5.00375846e+01] [ 3.53294497e-03 -9.20481431e-05 9.99993755e-01 1.89568266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.240714057 meters Centerline goodness [0,1] 0.9863763742185816 Centerline is valid? [True, True] Translation: X:679.20, Y:-50.04, Z:1.90 [[ 9.96174106e-01 8.72971149e-02 -4.04529083e-03 6.79200726e+02] [-8.72959710e-02 9.96182314e-01 4.58820978e-04 -5.00408569e+01] [ 4.06990093e-03 -1.03927987e-04 9.99991713e-01 1.89532612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.270714057 meters Centerline goodness [0,1] 0.9867907858728209 Centerline is valid? [True, True] Translation: X:679.23, Y:-50.05, Z:1.90 [[ 9.96131207e-01 8.77877195e-02 -3.99191541e-03 6.79228438e+02] [-8.77866136e-02 9.96139200e-01 4.51775373e-04 -5.00452384e+01] [ 4.01616375e-03 -9.95908121e-05 9.99991930e-01 1.89552970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3007140569999 meters Centerline goodness [0,1] 0.9875765680269174 Centerline is valid? [True, True] Translation: X:679.26, Y:-50.05, Z:1.90 [[ 9.96074693e-01 8.84320929e-02 -3.86910138e-03 6.79255418e+02] [-8.84310607e-02 9.96082204e-01 4.37371563e-04 -5.00503912e+01] [ 3.89262071e-03 -9.35060070e-05 9.99992419e-01 1.89571498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3307140569999 meters Centerline goodness [0,1] 0.9872156339452898 Centerline is valid? [True, True] Translation: X:679.28, Y:-50.05, Z:1.90 [[ 9.96062405e-01 8.85696322e-02 -3.88671904e-03 6.79283290e+02] [-8.85685929e-02 9.96069983e-01 4.39050994e-04 -5.00540476e+01] [ 3.91033075e-03 -9.30809528e-05 9.99992350e-01 1.89576717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3607140569999 meters Centerline goodness [0,1] 0.9870352880570104 Centerline is valid? [True, True] Translation: X:679.31, Y:-50.06, Z:1.90 [[ 9.95952905e-01 8.97874713e-02 -4.00273178e-03 6.79310675e+02] [-8.97863836e-02 9.95960944e-01 4.50989975e-04 -5.00603570e+01] [ 4.02705777e-03 -8.97739647e-05 9.99991887e-01 1.89585332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.390714057 meters Centerline goodness [0,1] 0.9864960301324716 Centerline is valid? [True, True] Translation: X:679.34, Y:-50.06, Z:1.90 [[ 9.95935772e-01 8.99885011e-02 -3.74276994e-03 6.79338128e+02] [-8.99875524e-02 9.95942801e-01 4.21452490e-04 -5.00646154e+01] [ 3.76551066e-03 -8.29369052e-05 9.99992907e-01 1.89583109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4207140569999 meters Centerline goodness [0,1] 0.987270215705026 Centerline is valid? [True, True] Translation: X:679.37, Y:-50.07, Z:1.90 [[ 9.95918507e-01 9.01915818e-02 -3.43598340e-03 6.79365788e+02] [-9.01907864e-02 9.95924431e-01 3.86060664e-04 -5.00688895e+01] [ 3.45679924e-03 -7.45909144e-05 9.99994022e-01 1.89652231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4507140569999 meters Centerline goodness [0,1] 0.9883977782066954 Centerline is valid? [True, True] Translation: X:679.39, Y:-50.07, Z:1.90 [[ 9.95945972e-01 8.98897950e-02 -3.38321110e-03 6.79393649e+02] [-8.98890251e-02 9.95951715e-01 3.79246081e-04 -5.00704991e+01] [ 3.40360525e-03 -7.35950592e-05 9.99994205e-01 1.89635082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4807140569999 meters Centerline goodness [0,1] 0.9878921652665866 Centerline is valid? [True, True] Translation: X:679.42, Y:-50.08, Z:1.90 [[ 9.95999843e-01 8.93082615e-02 -2.88919135e-03 6.79421165e+02] [-8.93077002e-02 9.96004031e-01 3.22966167e-04 -5.00781716e+01] [ 2.90648978e-03 -6.36472165e-05 9.99995774e-01 1.89683319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.510714057 meters Centerline goodness [0,1] 0.9882466281310212 Centerline is valid? [True, True] Translation: X:679.45, Y:-50.08, Z:1.90 [[ 9.96059539e-01 8.86571003e-02 -2.30504449e-03 6.79449255e+02] [-8.86567409e-02 9.96062205e-01 2.57815291e-04 -5.00817450e+01] [ 2.31882485e-03 -5.24416479e-05 9.99997310e-01 1.89665631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.540714057 meters Centerline goodness [0,1] 0.9866535483594987 Centerline is valid? [True, True] Translation: X:679.48, Y:-50.09, Z:1.90 [[ 9.96139506e-01 8.77623952e-02 -1.96151192e-03 6.79477839e+02] [-8.77621339e-02 9.96141436e-01 2.19055921e-04 -5.00862041e+01] [ 1.97316818e-03 -4.60637849e-05 9.99998052e-01 1.89712492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5707140569999 meters Centerline goodness [0,1] 0.9865115782733966 Centerline is valid? [True, True] Translation: X:679.51, Y:-50.09, Z:1.90 [[ 9.96280940e-01 8.61614860e-02 -6.97120604e-04 6.79505698e+02] [-8.61614522e-02 9.96281184e-01 7.83378077e-05 -5.00932610e+01] [ 7.01277843e-04 -1.79815411e-05 9.99999754e-01 1.89774343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6007140569999 meters Centerline goodness [0,1] 0.9852618108136931 Centerline is valid? [True, True] Translation: X:679.53, Y:-50.10, Z:1.90 [[ 9.96374657e-01 8.50728738e-02 -3.86516218e-04 6.79533575e+02] [-8.50728635e-02 9.96374732e-01 4.31947907e-05 -5.00989423e+01] [ 3.88789698e-04 -1.01561533e-05 9.99999924e-01 1.89827263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.630714057 meters Centerline goodness [0,1] 0.9845846356658374 Centerline is valid? [True, True] Translation: X:679.56, Y:-50.11, Z:1.90 [[ 9.96600567e-01 8.23792688e-02 -9.82422709e-04 6.79560621e+02] [-8.23792012e-02 9.96601051e-01 1.09132211e-04 -5.01097902e+01] [ 9.88073736e-04 -2.78300257e-05 9.99999511e-01 1.89845630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.660714057 meters Centerline goodness [0,1] 0.9846727776593477 Centerline is valid? [True, True] Translation: X:679.59, Y:-50.11, Z:1.90 [[ 9.96781341e-01 8.01575409e-02 -1.31441054e-03 6.79589357e+02] [-8.01574178e-02 9.96782206e-01 1.46202402e-04 -5.01148675e+01] [ 1.32190026e-03 -4.03720720e-05 9.99999125e-01 1.89747016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6907140569999 meters Centerline goodness [0,1] 0.9846314532975231 Centerline is valid? [True, True] Translation: X:679.62, Y:-50.12, Z:1.90 [[ 9.96962201e-01 7.78712068e-02 -1.56361459e-03 6.79618025e+02] [-7.78710306e-02 9.96963426e-01 1.73348655e-04 -5.01204140e+01] [ 1.57236542e-03 -5.10617771e-05 9.99998763e-01 1.89755720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7207140569999 meters Centerline goodness [0,1] 0.9812286327054976 Centerline is valid? [True, True] Translation: X:679.65, Y:-50.13, Z:1.90 [[ 9.97393840e-01 7.21465774e-02 -6.31145130e-04 6.79646021e+02] [-7.21465478e-02 9.97394040e-01 6.96820565e-05 -5.01333090e+01] [ 6.34527712e-04 -2.39655117e-05 9.99999798e-01 1.89804890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.750714057 meters Centerline goodness [0,1] 0.9803045771652203 Centerline is valid? [True, True] Translation: X:679.68, Y:-50.14, Z:1.90 [[ 9.97610022e-01 6.90959005e-02 -5.36262937e-06 6.79675072e+02] [-6.90959005e-02 9.97610022e-01 7.33162493e-07 -5.01396562e+01] [ 5.40047133e-06 -3.60874546e-07 1.00000000e+00 1.89893295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.780714057 meters Centerline goodness [0,1] 0.9784366576819407 Centerline is valid? [True, True] Translation: X:679.70, Y:-50.15, Z:1.90 [[ 9.97847873e-01 6.55692616e-02 5.42914099e-04 6.79704146e+02] [-6.55692389e-02 9.97848020e-01 -5.96361452e-05 -5.01469253e+01] [-5.45656056e-04 2.39093364e-05 9.99999851e-01 1.89896220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8107140569999 meters Centerline goodness [0,1] 0.9765250279967038 Centerline is valid? [True, True] Translation: X:679.73, Y:-50.16, Z:1.90 [[ 9.98250913e-01 5.91079129e-02 1.17038973e-03 6.79733097e+02] [-5.91078024e-02 9.98251597e-01 -1.28776318e-04 -5.01584604e+01] [-1.17595511e-03 5.93719120e-05 9.99999307e-01 1.89995085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8407140569999 meters Centerline goodness [0,1] 0.9752971335353064 Centerline is valid? [True, True] Translation: X:679.76, Y:-50.17, Z:1.90 [[ 9.98461059e-01 5.54471992e-02 1.05955927e-03 6.79761662e+02] [-5.54471067e-02 9.98461619e-01 -1.16574043e-04 -5.01677854e+01] [-1.06439297e-03 5.76451464e-05 9.99999432e-01 1.89997571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.870714057 meters Centerline goodness [0,1] 0.9764351222826086 Centerline is valid? [True, True] Translation: X:679.79, Y:-50.17, Z:1.90 [[ 9.98812216e-01 4.87157322e-02 9.66962270e-04 6.79791324e+02] [-4.87156520e-02 9.98812682e-01 -1.06354254e-04 -5.01726284e+01] [-9.70995303e-04 5.91217305e-05 9.99999527e-01 1.89937850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.900714057 meters Centerline goodness [0,1] 0.9734339335531321 Centerline is valid? [True, True] Translation: X:679.82, Y:-50.19, Z:1.90 [[ 9.98912588e-01 4.66201094e-02 4.54290137e-04 6.79818151e+02] [-4.66200916e-02 9.98912691e-01 -4.96618414e-05 -5.01851942e+01] [-4.56111424e-04 2.84287907e-05 9.99999896e-01 1.90006643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9307140569999 meters Centerline goodness [0,1] 0.9716392992244131 Centerline is valid? [True, True] Translation: X:679.85, Y:-50.19, Z:1.90 [[ 9.98986099e-01 4.50190210e-02 2.49260261e-04 6.79846945e+02] [-4.50190156e-02 9.98986130e-01 -2.71972591e-05 -5.01900511e+01] [-2.50231937e-04 1.59482322e-05 9.99999969e-01 1.89979971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9607140569999 meters Centerline goodness [0,1] 0.9739584438737611 Centerline is valid? [True, True] Translation: X:679.88, Y:-50.19, Z:1.90 [[ 9.99044603e-01 4.36999364e-02 4.44320048e-04 6.79877390e+02] [-4.36999191e-02 9.99044701e-01 -4.86843170e-05 -5.01862574e+01] [-4.46023091e-04 2.92210540e-05 9.99999900e-01 1.89901683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.990714057 meters Centerline goodness [0,1] 0.9738977147226234 Centerline is valid? [True, True] Translation: X:679.91, Y:-50.19, Z:1.90 [[ 9.99056209e-01 4.34348350e-02 3.24712900e-04 6.79905072e+02] [-4.34348258e-02 9.99056262e-01 -3.52957153e-05 -5.01896686e+01] [-3.25939519e-04 2.11585553e-05 9.99999947e-01 1.89934835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.020714057 meters Centerline goodness [0,1] 0.9736652236652237 Centerline is valid? [True, True] Translation: X:679.93, Y:-50.19, Z:1.90 [[ 9.99053125e-01 4.35021365e-02 6.46937540e-04 6.79933976e+02] [-4.35020998e-02 9.99053333e-01 -7.07075651e-05 -5.01913295e+01] [-6.49401036e-04 4.24974723e-05 9.99999788e-01 1.89953531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0507140569999 meters Centerline goodness [0,1] 0.9738171016337789 Centerline is valid? [True, True] Translation: X:679.96, Y:-50.19, Z:1.90 [[ 9.99032578e-01 4.39757515e-02 2.04998517e-04 6.79962234e+02] [-4.39757479e-02 9.99032599e-01 -2.21984289e-05 -5.01927397e+01] [-2.05776394e-04 1.31619906e-05 9.99999979e-01 1.89952510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0807140569999 meters Centerline goodness [0,1] 0.9741924529903646 Centerline is valid? [True, True] Translation: X:679.99, Y:-50.20, Z:1.90 [[ 9.99021102e-01 4.42358615e-02 1.61519011e-04 6.79991429e+02] [-4.42358593e-02 9.99021115e-01 -1.74956567e-05 -5.01953722e+01] [-1.62134837e-04 1.03335980e-05 9.99999987e-01 1.89960978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1107140569999 meters Centerline goodness [0,1] 0.9742228639374894 Centerline is valid? [True, True] Translation: X:680.02, Y:-50.20, Z:1.90 [[ 9.99025521e-01 4.41359619e-02 -1.59010495e-04 6.80019439e+02] [-4.41359596e-02 9.99025534e-01 1.78295798e-05 -5.01974419e+01] [ 1.59642470e-04 -1.07941245e-05 9.99999987e-01 1.89905880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.140714057 meters Centerline goodness [0,1] 0.9745883352809944 Centerline is valid? [True, True] Translation: X:680.05, Y:-50.20, Z:1.90 [[ 9.99002108e-01 4.46600844e-02 -5.15252137e-04 6.80048494e+02] [-4.46600611e-02 9.99002240e-01 5.66665847e-05 -5.01997695e+01] [ 5.17268774e-04 -3.35988457e-05 9.99999866e-01 1.89916528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1707140569999 meters Centerline goodness [0,1] 0.9745571452904105 Centerline is valid? [True, True] Translation: X:680.08, Y:-50.20, Z:1.90 [[ 9.98919244e-01 4.64552666e-02 -1.50076129e-03 6.80077339e+02] [-4.64550719e-02 9.98920367e-01 1.64378742e-04 -5.01990387e+01] [ 1.50677727e-03 -9.44831152e-05 9.99998860e-01 1.89902237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2007140569999 meters Centerline goodness [0,1] 0.9782289159193064 Centerline is valid? [True, True] Translation: X:680.11, Y:-50.19, Z:1.90 [[ 9.98866886e-01 4.75669565e-02 -1.52572314e-03 6.80107736e+02] [-4.75667567e-02 9.98868047e-01 1.67039604e-04 -5.01917230e+01] [ 1.53194166e-03 -9.42766277e-05 9.99998822e-01 1.89895115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2307140569999 meters Centerline goodness [0,1] 0.9784776342478916 Centerline is valid? [True, True] Translation: X:680.14, Y:-50.19, Z:1.90 [[ 9.98696048e-01 5.10322907e-02 -1.38148599e-03 6.80137775e+02] [-5.10321303e-02 9.98697001e-01 1.51147099e-04 -5.01882579e+01] [ 1.38739930e-03 -8.04498375e-05 9.99999034e-01 1.89934089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.260714057 meters Centerline goodness [0,1] 0.9789837155767755 Centerline is valid? [True, True] Translation: X:680.17, Y:-50.19, Z:1.90 [[ 9.98566688e-01 5.35078235e-02 -1.21730444e-03 6.80166638e+02] [-5.35077008e-02 9.98567428e-01 1.33207061e-04 -5.01894917e+01] [ 1.22268818e-03 -6.78809721e-05 9.99999250e-01 1.89991824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.290714057 meters Centerline goodness [0,1] 0.9794459147955263 Centerline is valid? [True, True] Translation: X:680.20, Y:-50.19, Z:1.90 [[ 9.98434747e-01 5.59199031e-02 -1.00992701e-03 6.80196729e+02] [-5.59198200e-02 9.98435257e-01 1.10388445e-04 -5.01895557e+01] [ 1.01451964e-03 -5.37407228e-05 9.99999484e-01 1.90004479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3207140569999 meters Centerline goodness [0,1] 0.9801095046625032 Centerline is valid? [True, True] Translation: X:680.23, Y:-50.19, Z:1.90 [[ 9.98287118e-01 5.84999840e-02 -7.63015668e-04 6.80227218e+02] [-5.84999373e-02 9.98287409e-01 8.34040336e-05 -5.01896780e+01] [ 7.66588068e-04 -3.86248037e-05 9.99999705e-01 1.90066961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3507140569999 meters Centerline goodness [0,1] 0.9807351780342628 Centerline is valid? [True, True] Translation: X:680.26, Y:-50.19, Z:1.90 [[ 9.98015466e-01 6.29595323e-02 -1.10734292e-03 6.80258281e+02] [-6.29594367e-02 9.98016079e-01 1.21040657e-04 -5.01850051e+01] [ 1.11276670e-03 -5.10827611e-05 9.99999380e-01 1.90034555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.380714057 meters Centerline goodness [0,1] 0.9829475987216061 Centerline is valid? [True, True] Translation: X:680.29, Y:-50.18, Z:1.90 [[ 9.97857300e-01 6.54158038e-02 -1.25793134e-03 6.80288145e+02] [-6.54156822e-02 9.97858091e-01 1.37675842e-04 -5.01819677e+01] [ 1.26424314e-03 -5.50924068e-05 9.99999199e-01 1.90017607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.410714057 meters Centerline goodness [0,1] 0.9823003167537026 Centerline is valid? [True, True] Translation: X:680.32, Y:-50.18, Z:1.90 [[ 9.97719800e-01 6.74670498e-02 -1.84325753e-03 6.80316068e+02] [-6.74667930e-02 9.97721500e-01 2.01228100e-04 -5.01831506e+01] [ 1.85263394e-03 -7.64105850e-05 9.99998281e-01 1.90019245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4407140569999 meters Centerline goodness [0,1] 0.9835770335748896 Centerline is valid? [True, True] Translation: X:680.35, Y:-50.18, Z:1.90 [[ 9.97308895e-01 7.32894247e-02 -1.90475899e-03 6.80345051e+02] [-7.32891617e-02 9.97310712e-01 2.07635353e-04 -5.01847912e+01] [ 1.91485402e-03 -6.74783945e-05 9.99998164e-01 1.90051212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4707140569999 meters Centerline goodness [0,1] 0.9847983853652252 Centerline is valid? [True, True] Translation: X:680.38, Y:-50.18, Z:1.90 [[ 9.97097225e-01 7.61192878e-02 -1.72544189e-03 6.80375148e+02] [-7.61190759e-02 9.97098717e-01 1.88240163e-04 -5.01794635e+01] [ 1.73476461e-03 -5.63547022e-05 9.99998494e-01 1.89946332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.500714057 meters Centerline goodness [0,1] 0.9866506417135253 Centerline is valid? [True, True] Translation: X:680.40, Y:-50.18, Z:1.90 [[ 9.96614868e-01 8.21659865e-02 -2.74884293e-03 6.80403893e+02] [-8.21654736e-02 9.96618656e-01 2.99180442e-04 -5.01786651e+01] [ 2.76413060e-03 -7.23076958e-05 9.99996177e-01 1.89870980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.530714057 meters Centerline goodness [0,1] 0.9850870811759168 Centerline is valid? [True, True] Translation: X:680.43, Y:-50.18, Z:1.90 [[ 9.96389912e-01 8.48412010e-02 -3.01908375e-03 6.80432037e+02] [-8.48405945e-02 9.96394483e-01 3.28603500e-04 -5.01819178e+01] [ 3.03607750e-03 -7.12763521e-05 9.99995389e-01 1.89835844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5607140569999 meters Centerline goodness [0,1] 0.9875779058062581 Centerline is valid? [True, True] Translation: X:680.46, Y:-50.18, Z:1.90 [[ 9.96141324e-01 8.77049713e-02 -3.20953535e-03 6.80461250e+02] [-8.77043035e-02 9.96146492e-01 3.48487044e-04 -5.01793498e+01] [ 3.22773143e-03 -6.56522827e-05 9.99994789e-01 1.89814579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5907140569999 meters Centerline goodness [0,1] 0.9881021287542607 Centerline is valid? [True, True] Translation: X:680.49, Y:-50.18, Z:1.90 [[ 9.95563925e-01 9.40495795e-02 -2.67343903e-03 6.80490491e+02] [-9.40491411e-02 9.95567514e-01 2.89533082e-04 -5.01784292e+01] [ 2.68881952e-03 -3.68140465e-05 9.99996384e-01 1.89901654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.620714057 meters Centerline goodness [0,1] 0.9893129770992366 Centerline is valid? [True, True] Translation: X:680.52, Y:-50.18, Z:1.90 [[ 9.95312565e-01 9.66770423e-02 -2.53924785e-03 6.80519709e+02] [-9.66766551e-02 9.95315803e-01 2.75075564e-04 -5.01798716e+01] [ 2.55394700e-03 -2.83001767e-05 9.99996738e-01 1.89937721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.650714057 meters Centerline goodness [0,1] 0.9886532138482368 Centerline is valid? [True, True] Translation: X:680.55, Y:-50.18, Z:1.90 [[ 9.95079080e-01 9.90642081e-02 -1.97649484e-03 6.80548604e+02] [-9.90639786e-02 9.95081043e-01 2.13905355e-04 -5.01822210e+01] [ 1.98796292e-03 -1.70533007e-05 9.99998024e-01 1.89923374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6807140569999 meters Centerline goodness [0,1] 0.989163489955883 Centerline is valid? [True, True] Translation: X:680.58, Y:-50.19, Z:1.90 [[ 9.94654767e-01 1.03231367e-01 -2.27601691e-03 6.80575935e+02] [-1.03231076e-01 9.94657371e-01 2.45301401e-04 -5.01858350e+01] [ 2.28917980e-03 -9.03453312e-06 9.99997380e-01 1.89873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7107140569999 meters Centerline goodness [0,1] 0.9890324100850416 Centerline is valid? [True, True] Translation: X:680.60, Y:-50.19, Z:1.90 [[ 9.94525783e-01 1.04471531e-01 -2.04135702e-03 6.80602589e+02] [-1.04471299e-01 9.94527878e-01 2.19934108e-04 -5.01899350e+01] [ 2.05316331e-03 -5.46692128e-06 9.99997892e-01 1.89820584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.740714057 meters Centerline goodness [0,1] 0.9894025528263435 Centerline is valid? [True, True] Translation: X:680.63, Y:-50.19, Z:1.90 [[ 9.94411785e-01 1.05559963e-01 -1.51529053e-03 6.80630313e+02] [-1.05559837e-01 9.94412939e-01 1.63597512e-04 -5.01943420e+01] [ 1.52409386e-03 -2.72947311e-06 9.99998839e-01 1.89780306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.770714057 meters Centerline goodness [0,1] 0.9900396272892792 Centerline is valid? [True, True] Translation: X:680.66, Y:-50.20, Z:1.90 [[ 9.94265915e-01 1.06930006e-01 -1.12475174e-03 6.80656366e+02] [-1.06929937e-01 9.94266551e-01 1.20943474e-04 -5.02014072e+01] [ 1.13123552e-03 1.96589283e-08 9.99999360e-01 1.89818392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8007140569999 meters Centerline goodness [0,1] 0.9896056121139533 Centerline is valid? [True, True] Translation: X:680.68, Y:-50.21, Z:1.90 [[ 9.94237474e-01 1.07197683e-01 -7.08632434e-04 6.80683843e+02] [-1.07197656e-01 9.94237726e-01 7.68172774e-05 -5.02069524e+01] [ 7.12783735e-04 -4.10880069e-07 9.99999746e-01 1.89863718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8307140569999 meters Centerline goodness [0,1] 0.9890638016105261 Centerline is valid? [True, True] Translation: X:680.71, Y:-50.22, Z:1.90 [[ 9.94357280e-01 1.06082586e-01 2.89881280e-04 6.80710418e+02] [-1.06082582e-01 9.94357323e-01 -2.97505217e-05 -5.02172849e+01] [-2.91401585e-04 -1.16870677e-06 9.99999958e-01 1.89825898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8607140569999 meters Centerline goodness [0,1] 0.9889767808788725 Centerline is valid? [True, True] Translation: X:680.74, Y:-50.22, Z:1.90 [[ 9.94407331e-01 1.05612334e-01 -3.09478730e-04 6.80736723e+02] [-1.05612328e-01 9.94407379e-01 3.34219776e-05 -5.02247382e+01] [ 3.11277706e-04 -5.50290230e-07 9.99999952e-01 1.89848712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.890714057 meters Centerline goodness [0,1] 0.988989181230395 Centerline is valid? [True, True] Translation: X:680.76, Y:-50.23, Z:1.90 [[ 9.94537853e-01 1.04376358e-01 1.85721011e-04 6.80763829e+02] [-1.04376356e-01 9.94537871e-01 -1.94033989e-05 -5.02323866e+01] [-1.86731835e-04 -8.74677036e-08 9.99999983e-01 1.89843614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9207140569999 meters Centerline goodness [0,1] 0.9875919411576591 Centerline is valid? [True, True] Translation: X:680.79, Y:-50.24, Z:1.90 [[ 9.94727584e-01 1.02548295e-01 9.38288962e-04 6.80790117e+02] [-1.02548248e-01 9.94728027e-01 -9.83625848e-05 -5.02449375e+01] [-9.43429243e-04 1.62408702e-06 9.99999555e-01 1.89799888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9507140569999 meters Centerline goodness [0,1] 0.9873560527043999 Centerline is valid? [True, True] Translation: X:680.82, Y:-50.25, Z:1.90 [[ 9.94802428e-01 1.01808076e-01 1.80161330e-03 6.80817353e+02] [-1.01807900e-01 9.94804059e-01 -1.89407938e-04 -5.02525413e+01] [-1.81153548e-03 5.00500937e-06 9.99998359e-01 1.89798290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9807140569999 meters Centerline goodness [0,1] 0.9867119507535556 Centerline is valid? [True, True] Translation: X:680.84, Y:-50.26, Z:1.90 [[ 9.94822613e-01 1.01615598e-01 1.49605104e-03 6.80844800e+02] [-1.01615476e-01 9.94823738e-01 -1.57646256e-04 -5.02602734e+01] [-1.50432641e-03 4.80812148e-06 9.99998868e-01 1.89817268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.010714057 meters Centerline goodness [0,1] 0.9856412855272605 Centerline is valid? [True, True] Translation: X:680.87, Y:-50.27, Z:1.90 [[ 9.94866185e-01 1.01192116e-01 1.19597296e-03 6.80871072e+02] [-1.01192038e-01 9.94866904e-01 -1.25728855e-04 -5.02724457e+01] [-1.20255669e-03 4.06044574e-06 9.99999277e-01 1.89755899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.040714057 meters Centerline goodness [0,1] 0.9856412855272605 Centerline is valid? [True, True] Translation: X:680.90, Y:-50.28, Z:1.90 [[ 9.94876518e-01 1.01090475e-01 1.19597825e-03 6.80898403e+02] [-1.01090397e-01 9.94877237e-01 -1.25678475e-04 -5.02752375e+01] [-1.20255643e-03 4.13264655e-06 9.99999277e-01 1.89767081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0707140569999 meters Centerline goodness [0,1] 0.9849700244870387 Centerline is valid? [True, True] Translation: X:680.93, Y:-50.28, Z:1.90 [[ 9.94896138e-01 1.00898651e-01 1.06587441e-03 6.80925563e+02] [-1.00898589e-01 9.94896709e-01 -1.11852439e-04 -5.02830240e+01] [-1.07172071e-03 3.73633516e-06 9.99999426e-01 1.89733559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1007140569999 meters Centerline goodness [0,1] 0.9846160357195759 Centerline is valid? [True, True] Translation: X:680.95, Y:-50.30, Z:1.90 [[ 9.94899583e-01 1.00854044e-01 1.81154069e-03 6.80952962e+02] [-1.00853864e-01 9.94901232e-01 -1.90403230e-04 -5.02957647e+01] [-1.82150700e-03 6.73121472e-06 9.99998341e-01 1.89674089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.130714057 meters Centerline goodness [0,1] 0.9845858636977058 Centerline is valid? [True, True] Translation: X:680.98, Y:-50.30, Z:1.90 [[ 9.94926201e-01 1.00594409e-01 1.61837334e-03 6.80979047e+02] [-1.00594266e-01 9.94927517e-01 -1.69667930e-04 -5.03038881e+01] [-1.62723181e-03 6.00799129e-06 9.99998676e-01 1.89756241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.160714057 meters Centerline goodness [0,1] 0.9843440932620681 Centerline is valid? [True, True] Translation: X:681.01, Y:-50.31, Z:1.90 [[ 9.94942061e-01 1.00415015e-01 2.66846975e-03 6.81007115e+02] [-1.00414625e-01 9.94945639e-01 -2.80111688e-04 -5.03119256e+01] [-2.68310976e-03 1.07415110e-05 9.99996400e-01 1.89758790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1907140569999 meters Centerline goodness [0,1] 0.9838910851320213 Centerline is valid? [True, True] Translation: X:681.03, Y:-50.32, Z:1.90 [[ 9.94935494e-01 1.00475941e-01 2.81930202e-03 6.81034756e+02] [-1.00475507e-01 9.94939488e-01 -2.95541065e-04 -5.03201030e+01] [-2.83472968e-03 1.07734940e-05 9.99995982e-01 1.89838883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2207140569999 meters Centerline goodness [0,1] 0.9846079135171657 Centerline is valid? [True, True] Translation: X:681.06, Y:-50.33, Z:1.90 [[ 9.94934556e-01 1.00467780e-01 3.38438630e-03 6.81061005e+02] [-1.00467155e-01 9.94940312e-01 -3.54647986e-04 -5.03328033e+01] [-3.40289306e-03 1.28318739e-05 9.99994210e-01 1.89876760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.250714057 meters Centerline goodness [0,1] 0.9864328817993839 Centerline is valid? [True, True] Translation: X:681.09, Y:-50.35, Z:1.90 [[ 9.94863421e-01 1.01177094e-01 3.15750874e-03 6.81088812e+02] [-1.01176554e-01 9.94868431e-01 -3.30668446e-04 -5.03451888e+01] [-3.17476184e-03 9.50408641e-06 9.99994960e-01 1.89847745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.280714057 meters Centerline goodness [0,1] 0.9861316333854013 Centerline is valid? [True, True] Translation: X:681.12, Y:-50.35, Z:1.90 [[ 9.94885998e-01 1.00945506e-01 3.44326959e-03 6.81116350e+02] [-1.00944864e-01 9.94891956e-01 -3.60107116e-04 -5.03532270e+01] [-3.46203242e-03 1.06851445e-05 9.99994007e-01 1.89894734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3107140569999 meters Centerline goodness [0,1] 0.9846956959265394 Centerline is valid? [True, True] Translation: X:681.14, Y:-50.36, Z:1.90 [[ 9.94907309e-01 1.00742613e-01 3.22060237e-03 6.81142380e+02] [-1.00742052e-01 9.94912522e-01 -3.36321619e-04 -5.03613185e+01] [-3.23809954e-03 1.01587464e-05 9.99994757e-01 1.89953972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3407140569999 meters Centerline goodness [0,1] 0.9864127010794237 Centerline is valid? [True, True] Translation: X:681.17, Y:-50.37, Z:1.90 [[ 9.94964831e-01 1.00157267e-01 3.67522875e-03 6.81170009e+02] [-1.00156533e-01 9.94971619e-01 -3.83819646e-04 -5.03695072e+01] [-3.69519062e-03 1.37888816e-05 9.99993173e-01 1.90027991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.370714057 meters Centerline goodness [0,1] 0.9867682773637049 Centerline is valid? [True, True] Translation: X:681.20, Y:-50.38, Z:1.90 [[ 9.95052868e-01 9.92423214e-02 4.55528657e-03 6.81197032e+02] [-9.92411853e-02 9.95063295e-01 -4.75323812e-04 -5.03829557e+01] [-4.57997070e-03 2.09002846e-05 9.99989512e-01 1.90207789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.400714057 meters Centerline goodness [0,1] 0.9870458730955969 Centerline is valid? [True, True] Translation: X:681.22, Y:-50.39, Z:1.90 [[ 9.95085651e-01 9.88901837e-02 5.02781778e-03 6.81224848e+02] [-9.88887964e-02 9.95098352e-01 -5.24390445e-04 -5.03903320e+01] [-5.05503025e-03 2.46185587e-05 9.99987223e-01 1.90268438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4307140569999 meters Centerline goodness [0,1] 0.9879797157703625 Centerline is valid? [True, True] Translation: X:681.25, Y:-50.40, Z:1.90 [[ 9.95078857e-01 9.89491283e-02 5.20953859e-03 6.81252649e+02] [-9.89476434e-02 9.95092493e-01 -5.42642351e-04 -5.03976519e+01] [-5.23766673e-03 2.45003637e-05 9.99986283e-01 1.90317878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4607140569999 meters Centerline goodness [0,1] 0.9887028148644966 Centerline is valid? [True, True] Translation: X:681.28, Y:-50.41, Z:1.90 [[ 9.95084408e-01 9.89226529e-02 4.61847772e-03 6.81280619e+02] [-9.89214866e-02 9.95095125e-01 -4.80842081e-04 -5.04099577e+01] [-4.64339084e-03 2.16117753e-05 9.99989219e-01 1.90394130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.490714057 meters Centerline goodness [0,1] 0.9889956149509292 Centerline is valid? [True, True] Translation: X:681.31, Y:-50.42, Z:1.90 [[ 9.95099125e-01 9.87945126e-02 4.16841121e-03 6.81306555e+02] [-9.87935662e-02 9.95107855e-01 -4.32837084e-04 -5.04170984e+01] [-4.19078067e-03 1.89035949e-05 9.99991218e-01 1.90408463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.520714057 meters Centerline goodness [0,1] 0.9901532647491077 Centerline is valid? [True, True] Translation: X:681.33, Y:-50.43, Z:1.90 [[ 9.95031643e-01 9.94811514e-02 3.94068608e-03 6.81334856e+02] [-9.94803106e-02 9.95039447e-01 -4.09268744e-04 -5.04282716e+01] [-3.96185263e-03 1.52146755e-05 9.99992152e-01 1.90424317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5507140569999 meters Centerline goodness [0,1] 0.9906991326157383 Centerline is valid? [True, True] Translation: X:681.36, Y:-50.43, Z:1.90 [[ 9.94963066e-01 1.00165064e-01 3.93151811e-03 6.81361962e+02] [-1.00164235e-01 9.94970834e-01 -4.07750597e-04 -5.04344751e+01] [-3.95258822e-03 1.18992803e-05 9.99992188e-01 1.90485327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5807140569999 meters Centerline goodness [0,1] 0.9913001652132087 Centerline is valid? [True, True] Translation: X:681.39, Y:-50.44, Z:1.91 [[ 9.94919191e-01 1.00585637e-01 4.28179761e-03 6.81389300e+02] [-1.00584659e-01 9.94928404e-01 -4.43659912e-04 -5.04403314e+01] [-4.30470788e-03 1.07226093e-05 9.99990735e-01 1.90510372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6107140569999 meters Centerline goodness [0,1] 0.9924226522816003 Centerline is valid? [True, True] Translation: X:681.42, Y:-50.45, Z:1.91 [[ 9.94805423e-01 1.01700907e-01 4.36979392e-03 6.81416696e+02] [-1.01699901e-01 9.94815021e-01 -4.52323143e-04 -5.04484423e+01] [-4.39313830e-03 5.56590454e-06 9.99990350e-01 1.90567457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.640714057 meters Centerline goodness [0,1] 0.9927233837314152 Centerline is valid? [True, True] Translation: X:681.44, Y:-50.45, Z:1.91 [[ 9.94740756e-01 1.02338272e-01 4.20794515e-03 6.81444494e+02] [-1.02337347e-01 9.94749656e-01 -4.35101734e-04 -5.04536511e+01] [-4.23037955e-03 2.18348404e-06 9.99991052e-01 1.90584699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6707140569999 meters Centerline goodness [0,1] 0.9933446348967163 Centerline is valid? [True, True] Translation: X:681.47, Y:-50.46, Z:1.91 [[ 9.94686557e-01 1.02841179e-01 4.72708996e-03 6.81473322e+02] [-1.02840018e-01 9.94697789e-01 -4.88643998e-04 -5.04591671e+01] [-4.75227865e-03 -8.63986033e-08 9.99988708e-01 1.90603502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7007140569999 meters Centerline goodness [0,1] 0.9932259552871104 Centerline is valid? [True, True] Translation: X:681.50, Y:-50.47, Z:1.91 [[ 9.94532728e-01 1.04303986e-01 5.03298351e-03 6.81500261e+02] [-1.04302691e-01 9.94545463e-01 -5.19770574e-04 -5.04674068e+01] [-5.05974506e-03 -8.02487544e-06 9.99987199e-01 1.90670065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7307140569999 meters Centerline goodness [0,1] 0.9940701146305305 Centerline is valid? [True, True] Translation: X:681.53, Y:-50.47, Z:1.91 [[ 9.94420737e-01 1.05371212e-01 4.93005285e-03 6.81527416e+02] [-1.05369985e-01 9.94432958e-01 -5.08704008e-04 -5.04725775e+01] [-4.95620980e-03 -1.36137782e-05 9.99987718e-01 1.90757864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.760714057 meters Centerline goodness [0,1] 0.9942498583450504 Centerline is valid? [True, True] Translation: X:681.56, Y:-50.48, Z:1.91 [[ 9.94187459e-01 1.07511790e-01 5.70195264e-03 6.81555081e+02] [-1.07510186e-01 9.94203809e-01 -5.87902788e-04 -5.04802574e+01] [-5.73210952e-03 -2.85324095e-05 9.99983571e-01 1.90828079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.790714057 meters Centerline goodness [0,1] 0.9949677854044722 Centerline is valid? [True, True] Translation: X:681.58, Y:-50.49, Z:1.91 [[ 9.94060729e-01 1.08661233e-01 6.00032855e-03 6.81582664e+02] [-1.08659482e-01 9.94078837e-01 -6.18015772e-04 -5.04850610e+01] [-6.03195398e-03 -3.76473823e-05 9.99981807e-01 1.90877520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8207140569999 meters Centerline goodness [0,1] 0.9961252553330385 Centerline is valid? [True, True] Translation: X:681.61, Y:-50.49, Z:1.91 [[ 9.93904790e-01 1.10048722e-01 6.52280230e-03 6.81610644e+02] [-1.10046685e-01 9.93926193e-01 -6.71495551e-04 -5.04907781e+01] [-6.55708128e-03 -5.04101262e-05 9.99978501e-01 1.90830857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8507140569999 meters Centerline goodness [0,1] 0.9966128082134141 Centerline is valid? [True, True] Translation: X:681.64, Y:-50.50, Z:1.91 [[ 9.93694654e-01 1.11867747e-01 7.51948839e-03 6.81638300e+02] [-1.11865098e-01 9.93723101e-01 -7.73244246e-04 -5.04970045e+01] [-7.55879041e-03 -7.27996338e-05 9.99971429e-01 1.91056887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.880714057 meters Centerline goodness [0,1] 0.9966389379043777 Centerline is valid? [True, True] Translation: X:681.67, Y:-50.50, Z:1.91 [[ 9.93625079e-01 1.12501146e-01 7.25909938e-03 6.81666656e+02] [-1.12498698e-01 9.93651592e-01 -7.46050927e-04 -5.05041576e+01] [-7.29694724e-03 -7.53443143e-05 9.99973374e-01 1.90919128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.910714057 meters Centerline goodness [0,1] 0.9977480321589426 Centerline is valid? [True, True] Translation: X:681.69, Y:-50.51, Z:1.91 [[ 9.93628931e-01 1.12458474e-01 7.39181738e-03 6.81693504e+02] [-1.12455939e-01 9.93656422e-01 -7.58962141e-04 -5.05140107e+01] [-7.43027853e-03 -7.71270233e-05 9.99972392e-01 1.91001409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9407140569999 meters Centerline goodness [0,1] 0.9977708144939118 Centerline is valid? [True, True] Translation: X:681.72, Y:-50.52, Z:1.91 [[ 9.93675003e-01 1.12061284e-01 7.22883287e-03 6.81721602e+02] [-1.12058853e-01 9.93701295e-01 -7.41777643e-04 -5.05208411e+01] [-7.26642514e-03 -7.29688176e-05 9.99973597e-01 1.91004661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9707140569999 meters Centerline goodness [0,1] 0.9979166666666667 Centerline is valid? [True, True] Translation: X:681.75, Y:-50.53, Z:1.91 [[ 9.93725863e-01 1.11601147e-01 7.35483769e-03 6.81749770e+02] [-1.11598621e-01 9.93753077e-01 -7.54179227e-04 -5.05278721e+01] [-7.39305986e-03 -7.13423441e-05 9.99972668e-01 1.91013922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.000714057 meters Centerline goodness [0,1] 0.998568662120064 Centerline is valid? [True, True] Translation: X:681.78, Y:-50.54, Z:1.91 [[ 9.93923383e-01 1.09864527e-01 6.78928517e-03 6.81776717e+02] [-1.09862339e-01 9.93946569e-01 -6.95487572e-04 -5.05388339e+01] [-6.82459612e-03 -5.46253897e-05 9.99976711e-01 1.91034199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.030714057 meters Centerline goodness [0,1] 0.9987367623218308 Centerline is valid? [True, True] Translation: X:681.80, Y:-50.55, Z:1.91 [[ 9.94042894e-01 1.08788703e-01 6.61376950e-03 6.81804772e+02] [-1.08786606e-01 9.94064895e-01 -6.77099393e-04 -5.05460284e+01] [-6.64817685e-03 -4.64236974e-05 9.99977900e-01 1.91040855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0607140569999 meters Centerline goodness [0,1] 0.9985090298194036 Centerline is valid? [True, True] Translation: X:681.83, Y:-50.55, Z:1.91 [[ 9.94178058e-01 1.07599842e-01 5.68005264e-03 6.81832621e+02] [-1.07598279e-01 9.94194283e-01 -5.81060436e-04 -5.05532341e+01] [-5.70959787e-03 -3.34863503e-05 9.99983700e-01 1.91039128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0907140569999 meters Centerline goodness [0,1] 0.9986744655781855 Centerline is valid? [True, True] Translation: X:681.86, Y:-50.56, Z:1.91 [[ 9.94255015e-01 1.06888889e-01 5.63298931e-03 6.81861202e+02] [-1.06887342e-01 9.94270971e-01 -5.75845612e-04 -5.05603811e+01] [-5.66226925e-03 -2.95578677e-05 9.99983969e-01 1.91020451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.120714057 meters Centerline goodness [0,1] 0.999119847440223 Centerline is valid? [True, True] Translation: X:681.89, Y:-50.57, Z:1.91 [[ 9.94372897e-01 1.05838571e-01 4.55389964e-03 6.81889447e+02] [-1.05837549e-01 9.94383325e-01 -4.65458433e-04 -5.05714402e+01] [-4.57758532e-03 -1.91343267e-05 9.99989523e-01 1.91050371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.150714057 meters Centerline goodness [0,1] 0.9993061687902107 Centerline is valid? [True, True] Translation: X:681.92, Y:-50.58, Z:1.91 [[ 9.94437431e-01 1.05229025e-01 4.58793121e-03 6.81918565e+02] [-1.05227982e-01 9.94448014e-01 -4.68775509e-04 -5.05783320e+01] [-4.61178787e-03 -1.66108319e-05 9.99989366e-01 1.91085317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1807140569999 meters Centerline goodness [0,1] 0.9993051900200021 Centerline is valid? [True, True] Translation: X:681.95, Y:-50.59, Z:1.91 [[ 9.94568603e-01 1.04002701e-01 4.09056325e-03 6.81947524e+02] [-1.04001862e-01 9.94577015e-01 -4.17794704e-04 -5.05893553e+01] [-4.11183196e-03 -9.90070064e-06 9.99991546e-01 1.91054451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2107140569999 meters Centerline goodness [0,1] 0.9995382516528492 Centerline is valid? [True, True] Translation: X:681.98, Y:-50.60, Z:1.91 [[ 9.94693373e-01 1.02842821e-01 2.90667608e-03 6.81977105e+02] [-1.02842392e-01 9.94697620e-01 -2.96856253e-04 -5.05964919e+01] [-2.92179332e-03 -3.64857486e-06 9.99995732e-01 1.91120061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.240714057 meters Centerline goodness [0,1] 0.9994983906700665 Centerline is valid? [True, True] Translation: X:682.01, Y:-50.61, Z:1.91 [[ 9.94972887e-01 1.00110644e-01 2.61009126e-03 6.82006380e+02] [-1.00110289e-01 9.94976311e-01 -2.66630649e-04 -5.06085871e+01] [-2.62367154e-03 3.99327525e-06 9.99996558e-01 1.91127695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.270714057 meters Centerline goodness [0,1] 0.9994752529280887 Centerline is valid? [True, True] Translation: X:682.04, Y:-50.62, Z:1.91 [[ 9.95187305e-01 9.79530604e-02 2.72490085e-03 6.82036580e+02] [-9.79526654e-02 9.95191036e-01 -2.78358881e-04 -5.06164255e+01] [-2.73906301e-03 1.01079234e-05 9.99996249e-01 1.91178436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3007140569999 meters Centerline goodness [0,1] 0.999516501997057 Centerline is valid? [True, True] Translation: X:682.07, Y:-50.62, Z:1.91 [[ 9.95440560e-01 9.53370908e-02 2.98845752e-03 6.82067716e+02] [-9.53366032e-02 9.95445046e-01 -3.05532242e-04 -5.06244016e+01] [-3.00397378e-03 1.92297981e-05 9.99995488e-01 1.91218898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3307140569999 meters Centerline goodness [0,1] 0.9993521014901666 Centerline is valid? [True, True] Translation: X:682.10, Y:-50.63, Z:1.91 [[ 9.95732597e-01 9.22504318e-02 2.54029783e-03 6.82098491e+02] [-9.22500688e-02 9.95735837e-01 -2.59945396e-04 -5.06324851e+01] [-2.55344567e-03 2.44934540e-05 9.99996740e-01 1.91283315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3607140569999 meters Centerline goodness [0,1] 0.9996210765635855 Centerline is valid? [True, True] Translation: X:682.13, Y:-50.64, Z:1.91 [[ 9.96397901e-01 8.47805999e-02 1.86376165e-03 6.82129342e+02] [-8.47803890e-02 9.96399643e-01 -1.91990965e-04 -5.06441587e+01] [-1.87332855e-03 3.32889564e-05 9.99998245e-01 1.91304152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.390714057 meters Centerline goodness [0,1] 0.9986742145247164 Centerline is valid? [True, True] Translation: X:682.16, Y:-50.65, Z:1.91 [[ 9.96678870e-01 8.14035382e-02 2.16672882e-03 6.82159876e+02] [-8.14032445e-02 9.96681224e-01 -2.23545127e-04 -5.06530496e+01] [-2.17773530e-03 4.64239490e-05 9.99997628e-01 1.91272438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4207140569999 meters Centerline goodness [0,1] 0.9988209533434395 Centerline is valid? [True, True] Translation: X:682.19, Y:-50.66, Z:1.91 [[ 9.96981482e-01 7.76073852e-02 2.24006279e-03 6.82189976e+02] [-7.76070630e-02 9.96983997e-01 -2.30558808e-04 -5.06625201e+01] [-2.25119982e-03 5.60181682e-05 9.99997464e-01 1.91347089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4507140569999 meters Centerline goodness [0,1] 0.998398921378613 Centerline is valid? [True, True] Translation: X:682.22, Y:-50.67, Z:1.91 [[ 9.97471375e-01 7.10424811e-02 1.95494062e-03 6.82220755e+02] [-7.10422231e-02 9.97473289e-01 -2.01177340e-04 -5.06715242e+01] [-1.96429319e-03 6.17853103e-05 9.99998069e-01 1.91326290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4807140569999 meters Centerline goodness [0,1] 0.9985893251921255 Centerline is valid? [True, True] Translation: X:682.25, Y:-50.68, Z:1.91 [[ 9.97674044e-01 6.81519035e-02 1.34926293e-03 6.82252766e+02] [-6.81517776e-02 9.97674955e-01 -1.39131664e-04 -5.06778930e+01] [-1.35560792e-03 4.68533831e-05 9.99999080e-01 1.91348259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.510714057 meters Centerline goodness [0,1] 0.9989029535864979 Centerline is valid? [True, True] Translation: X:682.28, Y:-50.69, Z:1.91 [[ 9.97813725e-01 6.60840707e-02 8.16454119e-04 6.82282822e+02] [-6.60840240e-02 9.97814058e-01 -8.41886122e-05 -5.06850690e+01] [-8.20232924e-04 3.00499791e-05 9.99999663e-01 1.91366133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.540714057 meters Centerline goodness [0,1] 0.9990369114167871 Centerline is valid? [True, True] Translation: X:682.31, Y:-50.69, Z:1.91 [[ 9.98027361e-01 6.27772391e-02 6.36864861e-04 6.82313252e+02] [-6.27772100e-02 9.98027564e-01 -6.56386548e-05 -5.06909676e+01] [-6.39729299e-04 2.55285743e-05 9.99999795e-01 1.91394112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5707140569999 meters Centerline goodness [0,1] 0.9991158639272483 Centerline is valid? [True, True] Translation: X:682.35, Y:-50.69, Z:1.91 [[ 9.98109054e-01 6.14617177e-02 8.79172437e-04 6.82345505e+02] [-6.14616607e-02 9.98109441e-01 -9.17271695e-05 -5.06936926e+01] [-8.83148019e-04 3.75183203e-05 9.99999609e-01 1.91432838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6007140569999 meters Centerline goodness [0,1] 0.9989242775785699 Centerline is valid? [True, True] Translation: X:682.38, Y:-50.70, Z:1.91 [[ 9.98168841e-01 6.04830570e-02 8.74968635e-04 6.82377181e+02] [-6.04830001e-02 9.98169223e-01 -9.14572828e-05 -5.06957262e+01] [-8.78898379e-04 3.83690820e-05 9.99999613e-01 1.91382860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.630714057 meters Centerline goodness [0,1] 0.9986730975799827 Centerline is valid? [True, True] Translation: X:682.41, Y:-50.70, Z:1.91 [[ 9.98252443e-01 5.90935513e-02 1.06281296e-04 6.82407902e+02] [-5.90935504e-02 9.98252449e-01 -1.19618383e-05 -5.07021919e+01] [-1.06802432e-04 5.66039513e-06 9.99999994e-01 1.91406638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.660714057 meters Centerline goodness [0,1] 0.9993680485338726 Centerline is valid? [True, True] Translation: X:682.44, Y:-50.70, Z:1.91 [[ 9.98297076e-01 5.83346287e-02 -1.38274060e-04 6.82439429e+02] [-5.83346274e-02 9.98297086e-01 1.33676163e-05 -5.07047165e+01] [ 1.38818386e-04 -5.27868655e-06 9.99999990e-01 1.91459251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6907140569999 meters Centerline goodness [0,1] 0.9991574690369871 Centerline is valid? [True, True] Translation: X:682.47, Y:-50.71, Z:1.92 [[ 9.98315744e-01 5.80144332e-02 -4.70023182e-06 6.82471286e+02] [-5.80144332e-02 9.98315744e-01 -5.37185708e-07 -5.07051608e+01] [ 4.66115090e-06 8.08962234e-07 1.00000000e+00 1.91513639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7207140569999 meters Centerline goodness [0,1] 0.9990978516280631 Centerline is valid? [True, True] Translation: X:682.50, Y:-50.71, Z:1.92 [[ 9.98426842e-01 5.60615258e-02 9.73093866e-04 6.82502111e+02] [-5.60614525e-02 9.98427315e-01 -1.02533928e-04 -5.07094810e+01] [-9.77311704e-04 4.78195706e-05 9.99999521e-01 1.91652240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.750714057 meters Centerline goodness [0,1] 0.9993477529035516 Centerline is valid? [True, True] Translation: X:682.53, Y:-50.71, Z:1.92 [[ 9.98505784e-01 5.46360908e-02 1.04716749e-03 6.82534069e+02] [-5.46360056e-02 9.98506332e-01 -1.09785892e-04 -5.07100748e+01] [-1.05160164e-03 5.24087997e-05 9.99999446e-01 1.91695949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.780714057 meters Centerline goodness [0,1] 0.9996843168616887 Centerline is valid? [True, True] Translation: X:682.57, Y:-50.71, Z:1.92 [[ 9.98674105e-01 5.14726085e-02 7.76319157e-04 6.82565348e+02] [-5.14725609e-02 9.98674406e-01 -8.12082503e-05 -5.07102751e+01] [-7.79470074e-04 4.11414416e-05 9.99999695e-01 1.91750109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8107140569999 meters Centerline goodness [0,1] 0.99966514587083 Centerline is valid? [True, True] Translation: X:682.60, Y:-50.72, Z:1.92 [[ 9.98752258e-01 4.99389992e-02 1.51848531e-04 6.82595623e+02] [-4.99389973e-02 9.98752270e-01 -1.61774153e-05 -5.07173429e+01] [-1.52466949e-04 8.57406671e-06 9.99999988e-01 1.91803551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8407140569999 meters Centerline goodness [0,1] 0.9994952893674294 Centerline is valid? [True, True] Translation: X:682.63, Y:-50.72, Z:1.92 [[ 9.98838153e-01 4.81896902e-02 -3.11930881e-04 6.82627935e+02] [-4.81896825e-02 9.98838202e-01 3.23509602e-05 -5.07157796e+01] [ 3.13127463e-04 -1.72815232e-05 9.99999951e-01 1.91764958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.870714057 meters Centerline goodness [0,1] 0.9992887029288703 Centerline is valid? [True, True] Translation: X:682.66, Y:-50.72, Z:1.92 [[ 9.98996026e-01 4.47912768e-02 -8.25472279e-04 6.82657732e+02] [-4.47912207e-02 9.98996366e-01 8.63352674e-05 -5.07210483e+01] [ 8.28510874e-04 -4.92746780e-05 9.99999656e-01 1.91798902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.900714057 meters Centerline goodness [0,1] 0.9994142014310222 Centerline is valid? [True, True] Translation: X:682.69, Y:-50.72, Z:1.92 [[ 9.99058310e-01 4.33743034e-02 -1.07808976e-03 6.82689319e+02] [-4.33742070e-02 9.99058890e-01 1.12689585e-04 -5.07221988e+01] [ 1.08196299e-03 -6.58221780e-05 9.99999413e-01 1.91838959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9307140569999 meters Centerline goodness [0,1] 0.9994142014310222 Centerline is valid? [True, True] Translation: X:682.72, Y:-50.73, Z:1.92 [[ 9.99056743e-01 4.34103911e-02 -1.07807822e-03 6.82720038e+02] [-4.34102946e-02 9.99057322e-01 1.12799710e-04 -5.07254480e+01] [ 1.08195862e-03 -6.58936178e-05 9.99999413e-01 1.91851522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9607140569999 meters Centerline goodness [0,1] 0.9992908245207851 Centerline is valid? [True, True] Translation: X:682.75, Y:-50.72, Z:1.92 [[ 9.99127445e-01 4.17375144e-02 -1.52572925e-03 6.82751935e+02] [-4.17373189e-02 9.99128606e-01 1.59753988e-04 -5.07227997e+01] [ 1.53106747e-03 -9.59347459e-05 9.99998823e-01 1.91878497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.990714057 meters Centerline goodness [0,1] 0.9992696007846574 Centerline is valid? [True, True] Translation: X:682.78, Y:-50.72, Z:1.92 [[ 9.99145474e-01 4.12756186e-02 -2.15528058e-03 6.82782696e+02] [-4.12752270e-02 9.99147789e-01 2.25882291e-04 -5.07227347e+01] [ 2.16276726e-03 -1.36729574e-04 9.99997652e-01 1.91927748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.020714057 meters Centerline goodness [0,1] 0.9990607976958237 Centerline is valid? [True, True] Translation: X:682.81, Y:-50.72, Z:1.92 [[ 9.99137756e-01 4.14634160e-02 -2.12844672e-03 6.82812583e+02] [-4.14630345e-02 9.99140014e-01 2.23104482e-04 -5.07208930e+01] [ 2.13586696e-03 -1.34660251e-04 9.99997710e-01 1.91956650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0507140569999 meters Centerline goodness [0,1] 0.9989983932558479 Centerline is valid? [True, True] Translation: X:682.84, Y:-50.72, Z:1.92 [[ 9.99103873e-01 4.22561051e-02 -2.42313988e-03 6.82843291e+02] [-4.22556131e-02 9.99106800e-01 2.53911424e-04 -5.07191014e+01] [ 2.43170484e-03 -1.51292627e-04 9.99997032e-01 1.91981571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0807140569999 meters Centerline goodness [0,1] 0.998642949601236 Centerline is valid? [True, True] Translation: X:682.87, Y:-50.72, Z:1.92 [[ 9.99053558e-01 4.34235434e-02 -2.52655238e-03 6.82874013e+02] [-4.34230122e-02 9.99056741e-01 2.64747619e-04 -5.07174145e+01] [ 2.53566546e-03 -1.54786536e-04 9.99996773e-01 1.91998714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1107140569999 meters Centerline goodness [0,1] 0.9983277591973244 Centerline is valid? [True, True] Translation: X:682.90, Y:-50.72, Z:1.92 [[ 9.98969169e-01 4.52925631e-02 -3.03026312e-03 6.82903898e+02] [-4.52918074e-02 9.98973749e-01 3.17565366e-04 -5.07153874e+01] [ 3.04153666e-03 -1.79991916e-04 9.99995358e-01 1.91994575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.140714057 meters Centerline goodness [0,1] 0.9981789257755265 Centerline is valid? [True, True] Translation: X:682.93, Y:-50.71, Z:1.92 [[ 9.98790978e-01 4.90871410e-02 -2.65243827e-03 6.82934670e+02] [-4.90865756e-02 9.98794489e-01 2.77868794e-04 -5.07071955e+01] [ 2.66288051e-03 -1.47333733e-04 9.99996444e-01 1.92023681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1707140569999 meters Centerline goodness [0,1] 0.9976964798023161 Centerline is valid? [True, True] Translation: X:682.97, Y:-50.70, Z:1.92 [[ 9.98690607e-01 5.11100892e-02 -2.19764832e-03 6.82965569e+02] [-5.11097060e-02 9.98693018e-01 2.30201596e-04 -5.07021037e+01] [ 2.20654165e-03 -1.17579012e-04 9.99997559e-01 1.92012972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2007140569999 meters Centerline goodness [0,1] 0.9972650786028936 Centerline is valid? [True, True] Translation: X:682.99, Y:-50.70, Z:1.92 [[ 9.98460161e-01 5.54504262e-02 -1.59939871e-03 6.82994919e+02] [-5.54502287e-02 9.98461438e-01 1.67569196e-04 -5.06982143e+01] [ 1.60622972e-03 -7.86241423e-05 9.99998707e-01 1.92012793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2307140569999 meters Centerline goodness [0,1] 0.9975393598164947 Centerline is valid? [True, True] Translation: X:683.03, Y:-50.69, Z:1.92 [[ 9.98342159e-01 5.75442615e-02 -1.26129057e-03 6.83025323e+02] [-5.75441404e-02 9.98342954e-01 1.32132874e-04 -5.06931642e+01] [ 1.26680404e-03 -5.93339374e-05 9.99999196e-01 1.92056412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.260714057 meters Centerline goodness [0,1] 0.9973412607029958 Centerline is valid? [True, True] Translation: X:683.06, Y:-50.69, Z:1.92 [[ 9.98235732e-01 5.93648591e-02 -1.11202469e-03 6.83055128e+02] [-5.93647661e-02 9.98236350e-01 1.16472429e-04 -5.06914106e+01] [ 1.11697784e-03 -5.02518552e-05 9.99999375e-01 1.92089302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.290714057 meters Centerline goodness [0,1] 0.9967015990981587 Centerline is valid? [True, True] Translation: X:683.08, Y:-50.69, Z:1.92 [[ 9.98012016e-01 6.30239295e-02 1.36351570e-05 6.83084906e+02] [-6.30239295e-02 9.98012016e-01 -1.27922859e-06 -5.06867956e+01] [-1.36886725e-05 4.17344335e-07 1.00000000e+00 1.92053466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3207140569999 meters Centerline goodness [0,1] 0.9961702754455737 Centerline is valid? [True, True] Translation: X:683.11, Y:-50.69, Z:1.92 [[ 9.97900580e-01 6.47642481e-02 1.55288148e-04 6.83114648e+02] [-6.47642464e-02 9.97900592e-01 -1.60872761e-05 -5.06862559e+01] [-1.56004015e-04 5.99638227e-06 9.99999988e-01 1.92066714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3507140569999 meters Centerline goodness [0,1] 0.9963585375551974 Centerline is valid? [True, True] Translation: X:683.14, Y:-50.68, Z:1.92 [[ 9.97787115e-01 6.64895885e-02 8.72908385e-05 6.83143457e+02] [-6.64895880e-02 9.97787119e-01 -8.82379551e-06 -5.06845137e+01] [-8.76843648e-05 3.00033758e-06 9.99999996e-01 1.92030749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.380714057 meters Centerline goodness [0,1] 0.9961222532627277 Centerline is valid? [True, True] Translation: X:683.17, Y:-50.68, Z:1.92 [[ 9.97709869e-01 6.76376783e-02 -4.01868908e-04 6.83172416e+02] [-6.76376667e-02 9.97709950e-01 4.22425225e-05 -5.06840594e+01] [ 4.03805795e-04 -1.49643063e-05 9.99999918e-01 1.91999855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.410714057 meters Centerline goodness [0,1] 0.9953103970390309 Centerline is valid? [True, True] Translation: X:683.20, Y:-50.68, Z:1.92 [[ 9.97626400e-01 6.88581469e-02 -3.49741814e-04 6.83201957e+02] [-6.88581382e-02 9.97626461e-01 3.67794771e-05 -5.06797780e+01] [ 3.51444255e-04 -1.26096071e-05 9.99999938e-01 1.91926260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4407140569999 meters Centerline goodness [0,1] 0.9954796795828691 Centerline is valid? [True, True] Translation: X:683.23, Y:-50.68, Z:1.92 [[ 9.97591649e-01 6.93597110e-02 -3.64026177e-04 6.83230490e+02] [-6.93597017e-02 9.97591715e-01 3.82417843e-05 -5.06804181e+01] [ 3.65801937e-04 -1.29009376e-05 9.99999933e-01 1.91906590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4707140569999 meters Centerline goodness [0,1] 0.9940483701366982 Centerline is valid? [True, True] Translation: X:683.26, Y:-50.68, Z:1.92 [[ 9.97543668e-01 7.00447548e-02 -6.02085263e-04 6.83259342e+02] [-7.00447295e-02 9.97543850e-01 6.30132906e-05 -5.06790833e+01] [ 6.05020201e-04 -2.06856097e-05 9.99999817e-01 1.91818122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.500714057 meters Centerline goodness [0,1] 0.995119077673988 Centerline is valid? [True, True] Translation: X:683.29, Y:-50.68, Z:1.92 [[ 9.97508424e-01 7.05414096e-02 -9.23447839e-04 6.83288361e+02] [-7.05413505e-02 9.97508851e-01 9.64250032e-05 -5.06795110e+01] [ 9.27949349e-04 -3.10434953e-05 9.99999569e-01 1.91822010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.530714057 meters Centerline goodness [0,1] 0.994602510460251 Centerline is valid? [True, True] Translation: X:683.32, Y:-50.68, Z:1.92 [[ 9.97501067e-01 7.06431548e-02 -1.08017010e-03 6.83316000e+02] [-7.06430741e-02 9.97501651e-01 1.12712358e-04 -5.06813592e+01] [ 1.08543381e-03 -3.61241613e-05 9.99999410e-01 1.91818112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5607140569999 meters Centerline goodness [0,1] 0.9937101626101773 Centerline is valid? [True, True] Translation: X:683.35, Y:-50.68, Z:1.92 [[ 9.97428441e-01 7.16658026e-02 -7.20011339e-04 6.83345566e+02] [-7.16657671e-02 9.97428700e-01 7.51300534e-05 -5.06795276e+01] [ 7.23544230e-04 -2.33366871e-05 9.99999738e-01 1.91768893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5907140569999 meters Centerline goodness [0,1] 0.9930596449903256 Centerline is valid? [True, True] Translation: X:683.37, Y:-50.68, Z:1.92 [[ 9.97386929e-01 7.22416709e-02 -6.74868510e-04 6.83374429e+02] [-7.22416398e-02 9.97387157e-01 7.03866094e-05 -5.06809921e+01] [ 6.78190031e-04 -2.14490763e-05 9.99999770e-01 1.91782650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.620714057 meters Centerline goodness [0,1] 0.9930237444841353 Centerline is valid? [True, True] Translation: X:683.40, Y:-50.68, Z:1.92 [[ 9.97338605e-01 7.29075294e-02 -4.45438096e-04 6.83403123e+02] [-7.29075159e-02 9.97338705e-01 4.65256048e-05 -5.06818926e+01] [ 4.47644721e-04 -1.39259968e-05 9.99999900e-01 1.91758750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.650714057 meters Centerline goodness [0,1] 0.9924139799512327 Centerline is valid? [True, True] Translation: X:683.43, Y:-50.68, Z:1.92 [[ 9.97128509e-01 7.57254597e-02 -6.25184576e-04 6.83430736e+02] [-7.57254337e-02 9.97128705e-01 6.51741953e-05 -5.06831656e+01] [ 6.28324833e-04 -1.76446750e-05 9.99999802e-01 1.91762493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6807140569999 meters Centerline goodness [0,1] 0.9924780610112829 Centerline is valid? [True, True] Translation: X:683.46, Y:-50.68, Z:1.92 [[ 9.96992659e-01 7.74921089e-02 -7.81115143e-04 6.83459424e+02] [-7.74920690e-02 9.96992965e-01 8.12355206e-05 -5.06830008e+01] [ 7.85061414e-04 -2.04609892e-05 9.99999692e-01 1.91746566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7107140569999 meters Centerline goodness [0,1] 0.9922394678492239 Centerline is valid? [True, True] Translation: X:683.49, Y:-50.68, Z:1.92 [[ 9.96846782e-01 7.93494194e-02 -4.03077021e-04 6.83488657e+02] [-7.93494089e-02 9.96846864e-01 4.20296708e-05 -5.06839130e+01] [ 4.05141094e-04 -9.91321874e-06 9.99999918e-01 1.91781468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.740714057 meters Centerline goodness [0,1] 0.9918806369933245 Centerline is valid? [True, True] Translation: X:683.52, Y:-50.68, Z:1.92 [[ 9.96483678e-01 8.37843180e-02 6.83854008e-04 6.83516890e+02] [-8.37842894e-02 9.96483913e-01 -7.04028013e-05 -5.06828982e+01] [-6.87348169e-04 1.28590202e-05 9.99999764e-01 1.91890449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.770714057 meters Centerline goodness [0,1] 0.9926165397851705 Centerline is valid? [True, True] Translation: X:683.55, Y:-50.68, Z:1.92 [[ 9.96256672e-01 8.64358874e-02 1.21697615e-03 6.83546383e+02] [-8.64357984e-02 9.96257415e-01 -1.25639385e-04 -5.06823637e+01] [-1.22328126e-03 1.99787701e-05 9.99999252e-01 1.91935716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8007140569999 meters Centerline goodness [0,1] 0.9922541956440262 Centerline is valid? [True, True] Translation: X:683.57, Y:-50.68, Z:1.92 [[ 9.96032940e-01 8.89738425e-02 1.42755224e-03 6.83573944e+02] [-8.89737230e-02 9.96033963e-01 -1.47148792e-04 -5.06834993e+01] [-1.43498291e-03 1.95504060e-05 9.99998970e-01 1.92020966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8307140569999 meters Centerline goodness [0,1] 0.9921014689596088 Centerline is valid? [True, True] Translation: X:683.60, Y:-50.68, Z:1.92 [[ 9.95533376e-01 9.43919088e-02 1.86116203e-03 6.83602975e+02] [-9.43917150e-02 9.95535116e-01 -1.91884730e-04 -5.06814050e+01] [-1.87096452e-03 1.53493778e-05 9.99998250e-01 1.92008027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8607140569999 meters Centerline goodness [0,1] 0.9920740864341732 Centerline is valid? [True, True] Translation: X:683.63, Y:-50.68, Z:1.92 [[ 9.95281579e-01 9.70124110e-02 1.78061250e-03 6.83630784e+02] [-9.70122383e-02 9.95283172e-01 -1.83338934e-04 -5.06831806e+01] [-1.78999981e-03 9.73266001e-06 9.99998398e-01 1.91993834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.890714057 meters Centerline goodness [0,1] 0.9925299947835159 Centerline is valid? [True, True] Translation: X:683.66, Y:-50.68, Z:1.92 [[ 9.94931397e-01 1.00549343e-01 1.15942996e-03 6.83659754e+02] [-1.00549272e-01 9.94932073e-01 -1.19245141e-04 -5.06843421e+01] [-1.16554408e-03 2.06089629e-06 9.99999321e-01 1.91902021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9207140569999 meters Centerline goodness [0,1] 0.9929272757530371 Centerline is valid? [True, True] Translation: X:683.69, Y:-50.69, Z:1.92 [[ 9.94861104e-01 1.01246955e-01 6.62016218e-04 6.83688724e+02] [-1.01246932e-01 9.94861324e-01 -6.79181118e-05 -5.06874478e+01] [-6.65490834e-04 5.41976538e-07 9.99999779e-01 1.91897470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9507140569999 meters Centerline goodness [0,1] 0.99322083394172 Centerline is valid? [True, True] Translation: X:683.72, Y:-50.69, Z:1.92 [[ 9.94840117e-01 1.01453207e-01 6.23683748e-04 6.83716189e+02] [-1.01453187e-01 9.94840312e-01 -6.37577837e-05 -5.06909085e+01] [-6.26934167e-04 1.54097032e-07 9.99999803e-01 1.91885077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9807140569999 meters Centerline goodness [0,1] 0.992855506259243 Centerline is valid? [True, True] Translation: X:683.74, Y:-50.69, Z:1.92 [[ 9.94871427e-01 1.01144712e-01 7.68782893e-04 6.83744220e+02] [-1.01144682e-01 9.94871724e-01 -7.86133960e-05 -5.06948363e+01] [-7.72791691e-04 4.51920524e-07 9.99999701e-01 1.91896485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.010714057 meters Centerline goodness [0,1] 0.9936633414894285 Centerline is valid? [True, True] Translation: X:683.77, Y:-50.70, Z:1.92 [[ 9.94973656e-01 1.00136394e-01 3.56197896e-04 6.83770935e+02] [-1.00136387e-01 9.94973720e-01 -3.60829784e-05 -5.07003285e+01] [-3.58020765e-04 2.33242512e-07 9.99999936e-01 1.91909940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.040714057 meters Centerline goodness [0,1] 0.9941786466918439 Centerline is valid? [True, True] Translation: X:683.80, Y:-50.70, Z:1.92 [[ 9.95040311e-01 9.94710603e-02 -5.35813929e-04 6.83798183e+02] [-9.94710449e-02 9.95040456e-01 5.53954968e-05 -5.07048277e+01] [ 5.38666785e-04 -1.82278097e-06 9.99999855e-01 1.91868697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0707140569999 meters Centerline goodness [0,1] 0.9944261199949898 Centerline is valid? [True, True] Translation: X:683.83, Y:-50.71, Z:1.92 [[ 9.95093811e-01 9.89266145e-02 -1.35365893e-03 6.83825207e+02] [-9.89265166e-02 9.95094732e-01 1.39282876e-04 -5.07095804e+01] [ 1.36079765e-03 -4.68676511e-06 9.99999074e-01 1.91849915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1007140569999 meters Centerline goodness [0,1] 0.9944090794873942 Centerline is valid? [True, True] Translation: X:683.85, Y:-50.72, Z:1.92 [[ 9.95138687e-01 9.84698348e-02 -1.63885418e-03 6.83853157e+02] [-9.84696915e-02 9.95140036e-01 1.68124281e-04 -5.07157388e+01] [ 1.64744458e-03 -5.92951004e-06 9.99998643e-01 1.91820727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.130714057 meters Centerline goodness [0,1] 0.9951804199321068 Centerline is valid? [True, True] Translation: X:683.88, Y:-50.72, Z:1.92 [[ 9.95114949e-01 9.87093030e-02 -1.64674131e-03 6.83881279e+02] [-9.87091589e-02 9.95116312e-01 1.68755020e-04 -5.07201000e+01] [ 1.65535683e-03 -5.38219363e-06 9.99998630e-01 1.91871701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.160714057 meters Centerline goodness [0,1] 0.995760588087879 Centerline is valid? [True, True] Translation: X:683.91, Y:-50.73, Z:1.92 [[ 9.94990441e-01 9.99629610e-02 -1.19538869e-03 6.83909061e+02] [-9.99628861e-02 9.94991159e-01 1.22439851e-04 -5.07263657e+01] [ 1.20164063e-03 -2.33197791e-06 9.99999278e-01 1.92016190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1907140569999 meters Centerline goodness [0,1] 0.9962455691423537 Centerline is valid? [True, True] Translation: X:683.94, Y:-50.73, Z:1.92 [[ 9.94929861e-01 1.00566900e-01 -9.32495043e-04 6.83936790e+02] [-1.00566855e-01 9.94930298e-01 9.55706321e-05 -5.07314872e+01] [ 9.37378814e-04 -1.30798201e-06 9.99999561e-01 1.92080537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2207140569999 meters Centerline goodness [0,1] 0.9959110924722164 Centerline is valid? [True, True] Translation: X:683.96, Y:-50.74, Z:1.92 [[ 9.94882969e-01 1.01033794e-01 -2.25743729e-04 6.83963962e+02] [-1.01033792e-01 9.94882994e-01 2.34298284e-05 -5.07369134e+01] [ 2.26955801e-04 -5.02192357e-07 9.99999974e-01 1.92218888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.250714057 meters Centerline goodness [0,1] 0.9966221886539107 Centerline is valid? [True, True] Translation: X:683.99, Y:-50.74, Z:1.92 [[ 9.94856763e-01 1.01291448e-01 2.52375843e-04 6.83991638e+02] [-1.01291445e-01 9.94856795e-01 -2.52569323e-05 -5.07421389e+01] [-2.53636133e-04 -4.36483864e-07 9.99999968e-01 1.92273726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.280714057 meters Centerline goodness [0,1] 0.996572461939608 Centerline is valid? [True, True] Translation: X:684.02, Y:-50.75, Z:1.92 [[ 9.94913650e-01 1.00706095e-01 2.26095408e-03 6.84019858e+02] [-1.00705833e-01 9.94916219e-01 -2.29722051e-04 -5.07499211e+01] [-2.27259430e-03 8.62341072e-07 9.99997418e-01 1.92492193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3107140569999 meters Centerline goodness [0,1] 0.9966415482462585 Centerline is valid? [True, True] Translation: X:684.05, Y:-50.76, Z:1.93 [[ 9.94974884e-01 1.00091230e-01 2.59324927e-03 6.84048130e+02] [-1.00090884e-01 9.94978264e-01 -2.63343596e-04 -5.07551987e+01] [-2.60658504e-03 2.45965295e-06 9.99996603e-01 1.92542322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3407140569999 meters Centerline goodness [0,1] 0.9972430919460403 Centerline is valid? [True, True] Translation: X:684.08, Y:-50.76, Z:1.93 [[ 9.95059887e-01 9.92335170e-02 2.92061968e-03 6.84076732e+02] [-9.92330745e-02 9.95064173e-01 -2.96411846e-04 -5.07634889e+01] [-2.93561799e-03 5.12546787e-06 9.99995691e-01 1.92542586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.370714057 meters Centerline goodness [0,1] 0.9976273962248304 Centerline is valid? [True, True] Translation: X:684.10, Y:-50.77, Z:1.93 [[ 9.95080837e-01 9.90320897e-02 2.60241927e-03 6.84103700e+02] [-9.90317385e-02 9.95084240e-01 -2.63786740e-04 -5.07688163e+01] [-2.61574975e-03 4.76702608e-06 9.99996579e-01 1.92569576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.400714057 meters Centerline goodness [0,1] 0.9977499737146462 Centerline is valid? [True, True] Translation: X:684.13, Y:-50.77, Z:1.93 [[ 9.95094691e-01 9.89084576e-02 1.91667327e-03 6.84132209e+02] [-9.89082672e-02 9.95096537e-01 -1.94131866e-04 -5.07743205e+01] [-1.92647621e-03 3.60475800e-06 9.99998144e-01 1.92568206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4307140569999 meters Centerline goodness [0,1] 0.9983156830957745 Centerline is valid? [True, True] Translation: X:684.16, Y:-50.78, Z:1.92 [[ 9.95108796e-01 9.87776458e-02 1.20898503e-03 6.84160376e+02] [-9.87775702e-02 9.95109530e-01 -1.22254954e-04 -5.07815822e+01] [-1.21514858e-03 2.23637584e-06 9.99999262e-01 1.92432123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4607140569999 meters Centerline goodness [0,1] 0.9981457288549875 Centerline is valid? [True, True] Translation: X:684.19, Y:-50.79, Z:1.92 [[ 9.95147041e-01 9.83974492e-02 5.56080220e-04 6.84189235e+02] [-9.83974333e-02 9.95147196e-01 -5.60272277e-05 -5.07864005e+01] [-5.58894609e-04 1.03846349e-06 9.99999844e-01 1.92374103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.490714057 meters Centerline goodness [0,1] 0.9985690837927697 Centerline is valid? [True, True] Translation: X:684.22, Y:-50.79, Z:1.92 [[ 9.95218580e-01 9.76728068e-02 1.45422265e-06 6.84216714e+02] [-9.76728068e-02 9.95218580e-01 2.48829647e-07 -5.07930110e+01] [-1.42296551e-06 -3.89677897e-07 1.00000000e+00 1.92433892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.520714057 meters Centerline goodness [0,1] 0.9982748827130625 Centerline is valid? [True, True] Translation: X:684.24, Y:-50.80, Z:1.92 [[ 9.95247353e-01 9.73791304e-02 -1.10718863e-04 6.84244800e+02] [-9.73791297e-02 9.95247359e-01 1.14829837e-05 -5.07981975e+01] [ 1.11310859e-04 -6.46702609e-07 9.99999994e-01 1.92419889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5507140569999 meters Centerline goodness [0,1] 0.9984862182789143 Centerline is valid? [True, True] Translation: X:684.27, Y:-50.80, Z:1.92 [[ 9.95296720e-01 9.68733092e-02 1.77266884e-05 6.84273456e+02] [-9.68733092e-02 9.95296721e-01 -1.49346488e-06 -5.08033988e+01] [-1.77879917e-05 -2.30802268e-07 1.00000000e+00 1.92420826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5807140569999 meters Centerline goodness [0,1] 0.9986761368412205 Centerline is valid? [True, True] Translation: X:684.30, Y:-50.81, Z:1.93 [[ 9.95349780e-01 9.63260113e-02 3.38873490e-04 6.84300486e+02] [-9.63260054e-02 9.95349838e-01 -3.38414453e-05 -5.08089816e+01] [-3.40557485e-04 1.04174551e-06 9.99999942e-01 1.92503355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6107140569999 meters Centerline goodness [0,1] 0.9987159786978761 Centerline is valid? [True, True] Translation: X:684.33, Y:-50.82, Z:1.93 [[ 9.95468901e-01 9.50801468e-02 1.19703223e-03 6.84327419e+02] [-9.50800707e-02 9.95469621e-01 -1.20371730e-04 -5.08168637e+01] [-1.20305418e-03 6.01240486e-06 9.99999276e-01 1.92663564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.640714057 meters Centerline goodness [0,1] 0.9985273079188757 Centerline is valid? [True, True] Translation: X:684.36, Y:-50.82, Z:1.93 [[ 9.95550482e-01 9.42214059e-02 1.25099761e-03 6.84355435e+02] [-9.42213222e-02 9.95551268e-01 -1.25789804e-04 -5.08220319e+01] [-1.25728435e-03 7.35945118e-06 9.99999210e-01 1.92669113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6707140569999 meters Centerline goodness [0,1] 0.9986141441290106 Centerline is valid? [True, True] Translation: X:684.38, Y:-50.83, Z:1.93 [[ 9.95661907e-01 9.30372490e-02 1.19912420e-03 6.84383571e+02] [-9.30371712e-02 9.95662629e-01 -1.20571621e-04 -5.08310243e+01] [-1.20514080e-03 8.48544622e-06 9.99999274e-01 1.92758650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7007140569999 meters Centerline goodness [0,1] 0.9984680601024092 Centerline is valid? [True, True] Translation: X:684.41, Y:-50.84, Z:1.93 [[ 9.95722287e-01 9.23917838e-02 9.41406572e-04 6.84412789e+02] [-9.23917356e-02 9.95722732e-01 -9.46522949e-05 -5.08359727e+01] [-9.46125018e-04 7.26921239e-06 9.99999552e-01 1.92765444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7307140569999 meters Centerline goodness [0,1] 0.9988430551757504 Centerline is valid? [True, True] Translation: X:684.44, Y:-50.84, Z:1.93 [[ 9.95776967e-01 9.18007003e-02 9.29562683e-04 6.84441453e+02] [-9.18006532e-02 9.95777401e-01 -9.33390896e-05 -5.08412704e+01] [-9.34206106e-04 7.61045406e-06 9.99999564e-01 1.92862348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.760714057 meters Centerline goodness [0,1] 0.99901312335958 Centerline is valid? [True, True] Translation: X:684.47, Y:-50.85, Z:1.93 [[ 9.95903983e-01 9.03932129e-02 2.07924996e-03 6.84470557e+02] [-9.03929734e-02 9.95906154e-01 -2.09044566e-04 -5.08485512e+01] [-2.08963404e-03 2.02387293e-05 9.99997817e-01 1.92969555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.790714057 meters Centerline goodness [0,1] 0.9988029485267866 Centerline is valid? [True, True] Translation: X:684.50, Y:-50.85, Z:1.93 [[ 9.95994298e-01 8.93776245e-02 2.64540380e-03 6.84500009e+02] [-8.93772334e-02 9.95997811e-01 -2.65909720e-04 -5.08541602e+01] [-2.65858277e-03 2.84056921e-05 9.99996466e-01 1.93022310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8207140569999 meters Centerline goodness [0,1] 0.9991827668580529 Centerline is valid? [True, True] Translation: X:684.53, Y:-50.86, Z:1.93 [[ 9.96115285e-01 8.80185313e-02 2.66011803e-03 6.84529892e+02] [-8.80181306e-02 9.96118837e-01 -2.67535447e-04 -5.08597788e+01] [-2.67334175e-03 3.23575318e-05 9.99996426e-01 1.93082485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8507140569999 meters Centerline goodness [0,1] 0.9991827668580529 Centerline is valid? [True, True] Translation: X:684.56, Y:-50.86, Z:1.93 [[ 9.96115285e-01 8.80185313e-02 2.66011803e-03 6.84559744e+02] [-8.80181306e-02 9.96118837e-01 -2.67535447e-04 -5.08627811e+01] [-2.67334175e-03 3.23575318e-05 9.99996426e-01 1.93094686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.880714057 meters Centerline goodness [0,1] 0.9990753971589477 Centerline is valid? [True, True] Translation: X:684.59, Y:-50.87, Z:1.93 [[ 9.96410379e-01 8.45900017e-02 3.29965231e-03 6.84590212e+02] [-8.45893655e-02 9.96415841e-01 -3.32118610e-04 -5.08720492e+01] [-3.31591974e-03 5.18109353e-05 9.99994501e-01 1.93140702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.910714057 meters Centerline goodness [0,1] 0.9988894243865641 Centerline is valid? [True, True] Translation: X:684.62, Y:-50.88, Z:1.93 [[ 9.96554015e-01 8.28745692e-02 3.44984999e-03 6.84620151e+02] [-8.28738641e-02 9.96559984e-01 -3.47084700e-04 -5.08781023e+01] [-3.46674694e-03 5.99862524e-05 9.99993989e-01 1.93194173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9407140569999 meters Centerline goodness [0,1] 0.999305949902202 Centerline is valid? [True, True] Translation: X:684.65, Y:-50.89, Z:1.93 [[ 9.96825285e-01 7.95361898e-02 3.65321287e-03 6.84651127e+02] [-7.95353757e-02 9.96831976e-01 -3.67824018e-04 -5.08861254e+01] [-3.67089473e-03 7.60966232e-05 9.99993259e-01 1.93159053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9707140569999 meters Centerline goodness [0,1] 0.9990742299276216 Centerline is valid? [True, True] Translation: X:684.68, Y:-50.89, Z:1.93 [[ 9.96960644e-01 7.78751820e-02 2.22054875e-03 6.84682395e+02] [-7.78748768e-02 9.96963115e-01 -2.23716639e-04 -5.08910416e+01] [-2.23122717e-03 5.01117242e-05 9.99997510e-01 1.93070035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.000714057 meters Centerline goodness [0,1] 0.9991616716267762 Centerline is valid? [True, True] Translation: X:684.71, Y:-50.90, Z:1.93 [[ 9.97066181e-01 7.65414280e-02 6.63485052e-04 6.84712775e+02] [-7.65414004e-02 9.97066402e-01 -6.68865802e-05 -5.08957386e+01] [-6.66658248e-04 1.59062721e-05 9.99999778e-01 1.92937367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.030714057 meters Centerline goodness [0,1] 0.9989908121859429 Centerline is valid? [True, True] Translation: X:684.74, Y:-50.90, Z:1.93 [[ 9.97165354e-01 7.52397689e-02 -4.83436302e-04 6.84742796e+02] [-7.52397542e-02 9.97165471e-01 4.86819385e-05 -5.08999966e+01] [ 4.85728806e-04 -1.21703139e-05 9.99999882e-01 1.92800005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0607140569999 meters Centerline goodness [0,1] 0.9993469422149193 Centerline is valid? [True, True] Translation: X:684.77, Y:-50.91, Z:1.93 [[ 9.97392848e-01 7.21530294e-02 -1.20281251e-03 6.84773277e+02] [-7.21529359e-02 9.97393573e-01 1.21070635e-04 -5.09053849e+01] [ 1.20841308e-03 -3.39685311e-05 9.99999269e-01 1.92805487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0907140569999 meters Centerline goodness [0,1] 0.9989259992418819 Centerline is valid? [True, True] Translation: X:684.80, Y:-50.91, Z:1.93 [[ 9.97553435e-01 6.99080861e-02 -6.38034386e-05 6.84802985e+02] [-6.99080858e-02 9.97553437e-01 6.35295634e-06 -5.09132198e+01] [ 6.40914625e-05 -1.87703716e-06 9.99999998e-01 1.92906233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.120714057 meters Centerline goodness [0,1] 0.9990744246707897 Centerline is valid? [True, True] Translation: X:684.83, Y:-50.92, Z:1.93 [[ 9.97850694e-01 6.55201207e-02 1.05174786e-03 6.84834027e+02] [-6.55200452e-02 9.97851248e-01 -1.06128984e-04 -5.09192745e+01] [-1.05644150e-03 3.69903128e-05 9.99999441e-01 1.93083517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.150714057 meters Centerline goodness [0,1] 0.9987189180107527 Centerline is valid? [True, True] Translation: X:684.86, Y:-50.93, Z:1.93 [[ 9.98016805e-01 6.29418963e-02 8.80096559e-04 6.84864858e+02] [-6.29418423e-02 9.98017193e-01 -8.89497091e-05 -5.09251485e+01] [-8.83950160e-04 3.33784057e-05 9.99999609e-01 1.93113141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1807140569999 meters Centerline goodness [0,1] 0.999136769412161 Centerline is valid? [True, True] Translation: X:684.90, Y:-50.93, Z:1.93 [[ 9.98164271e-01 6.05643173e-02 2.29199579e-04 6.84896331e+02] [-6.05643135e-02 9.98164297e-01 -2.32645657e-05 -5.09268151e+01] [-2.30187839e-04 9.34054306e-06 9.99999973e-01 1.93091610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2107140569999 meters Centerline goodness [0,1] 0.9991021089997912 Centerline is valid? [True, True] Translation: X:684.92, Y:-50.93, Z:1.93 [[ 9.98503083e-01 5.46951556e-02 -1.81746914e-04 6.84924921e+02] [-5.46951532e-02 9.98503100e-01 1.83164486e-05 -5.09344488e+01] [ 1.82476678e-04 -8.34835508e-06 9.99999983e-01 1.93058984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.240714057 meters Centerline goodness [0,1] 0.9994156562389132 Centerline is valid? [True, True] Translation: X:684.96, Y:-50.94, Z:1.93 [[ 9.98657500e-01 5.17962317e-02 -5.89413450e-04 6.84955549e+02] [-5.17962057e-02 9.98657674e-01 5.93890813e-05 -5.09380775e+01] [ 5.91698395e-04 -2.87799712e-05 9.99999825e-01 1.93074244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.270714057 meters Centerline goodness [0,1] 0.9988315075639019 Centerline is valid? [True, True] Translation: X:684.98, Y:-50.94, Z:1.93 [[ 9.98807325e-01 4.88212659e-02 -6.41840473e-04 6.84984714e+02] [-4.88212345e-02 9.98807530e-01 6.44627239e-05 -5.09449029e+01] [ 6.44222249e-04 -3.30503966e-05 9.99999792e-01 1.93038117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3007140569999 meters Centerline goodness [0,1] 0.9990806903179976 Centerline is valid? [True, True] Translation: X:685.01, Y:-50.95, Z:1.93 [[ 9.99070161e-01 4.31061505e-02 -8.21084987e-04 6.85014709e+02] [-4.31060969e-02 9.99070497e-01 8.29503930e-05 -5.09472422e+01] [ 8.23897458e-04 -4.74794934e-05 9.99999659e-01 1.93072157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3307140569999 meters Centerline goodness [0,1] 0.998978208737358 Centerline is valid? [True, True] Translation: X:685.05, Y:-50.95, Z:1.93 [[ 9.99168193e-01 4.07777228e-02 -3.15342150e-04 6.85046234e+02] [-4.07777149e-02 9.99168243e-01 3.16991737e-05 -5.09469147e+01] [ 3.16372482e-04 -1.88138739e-05 9.99999950e-01 1.93098892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3607140569999 meters Centerline goodness [0,1] 0.9988896803117275 Centerline is valid? [True, True] Translation: X:685.08, Y:-50.95, Z:1.93 [[ 9.99246650e-01 3.88086536e-02 1.44083467e-04 6.85077599e+02] [-3.88086519e-02 9.99246660e-01 -1.47044522e-05 -5.09480466e+01] [-1.44545583e-04 9.10168949e-06 9.99999990e-01 1.93099800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.390714057 meters Centerline goodness [0,1] 0.9989277604911277 Centerline is valid? [True, True] Translation: X:685.11, Y:-50.95, Z:1.93 [[ 9.99346568e-01 3.61432717e-02 3.16759722e-04 6.85109349e+02] [-3.61432634e-02 9.99346618e-01 -3.21603259e-05 -5.09476539e+01] [-3.17715136e-04 2.06905813e-05 9.99999949e-01 1.93216801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4207140569999 meters Centerline goodness [0,1] 0.9981616110971839 Centerline is valid? [True, True] Translation: X:685.14, Y:-50.95, Z:1.93 [[ 9.99367749e-01 3.55440655e-02 8.48980560e-04 6.85139996e+02] [-3.55440053e-02 9.99368109e-01 -8.59789166e-05 -5.09488366e+01] [-8.51500137e-04 5.57483869e-05 9.99999636e-01 1.93228884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4507140569999 meters Centerline goodness [0,1] 0.9975628716095553 Centerline is valid? [True, True] Translation: X:685.17, Y:-50.94, Z:1.93 [[ 9.99371952e-01 3.54062916e-02 1.44771765e-03 6.85171748e+02] [-3.54061163e-02 9.99372996e-01 -1.46562566e-04 -5.09440325e+01] [-1.45199916e-03 9.52124582e-05 9.99998941e-01 1.93295462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4807140569999 meters Centerline goodness [0,1] 0.9978503235052372 Centerline is valid? [True, True] Translation: X:685.20, Y:-50.94, Z:1.93 [[ 9.99332028e-01 3.65089230e-02 1.61130538e-03 6.85203528e+02] [-3.65087072e-02 9.99333322e-01 -1.63168658e-04 -5.09413051e+01] [-1.61618827e-03 1.04232989e-04 9.99998689e-01 1.93290855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.510714057 meters Centerline goodness [0,1] 0.9975986350135867 Centerline is valid? [True, True] Translation: X:685.23, Y:-50.94, Z:1.93 [[ 9.99275977e-01 3.80055515e-02 1.76062295e-03 6.85234413e+02] [-3.80052964e-02 9.99277522e-01 -1.78126103e-04 -5.09391064e+01] [-1.76612072e-03 1.11084139e-04 9.99998434e-01 1.93276273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.540714057 meters Centerline goodness [0,1] 0.9970789517609748 Centerline is valid? [True, True] Translation: X:685.26, Y:-50.94, Z:1.93 [[ 9.99112876e-01 4.20941915e-02 1.24118480e-03 6.85264284e+02] [-4.20940679e-02 9.99113644e-01 -1.25537599e-04 -5.09357579e+01] [-1.24536907e-03 7.31797144e-05 9.99999222e-01 1.93214458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5707140569999 meters Centerline goodness [0,1] 0.996846875065255 Centerline is valid? [True, True] Translation: X:685.30, Y:-50.93, Z:1.93 [[ 9.99020675e-01 4.42326656e-02 1.07850252e-03 6.85295276e+02] [-4.42325735e-02 9.99021255e-01 -1.09107173e-04 -5.09345521e+01] [-1.08227305e-03 6.12953796e-05 9.99999412e-01 1.93138168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6007140569999 meters Centerline goodness [0,1] 0.9962526315789474 Centerline is valid? [True, True] Translation: X:685.33, Y:-50.93, Z:1.93 [[ 9.98931102e-01 4.62124974e-02 1.02861907e-03 6.85326039e+02] [-4.62124147e-02 9.98931630e-01 -1.04060692e-04 -5.09312487e+01] [-1.03232903e-03 5.64144910e-05 9.99999466e-01 1.93045086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.630714057 meters Centerline goodness [0,1] 0.995367835937171 Centerline is valid? [True, True] Translation: X:685.36, Y:-50.93, Z:1.93 [[ 9.98710717e-01 5.07632047e-02 1.07873395e-05 6.85355841e+02] [-5.07632047e-02 9.98710717e-01 -9.69907016e-07 -5.09259735e+01] [-1.08226672e-05 4.21056606e-07 1.00000000e+00 1.92851530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.660714057 meters Centerline goodness [0,1] 0.9953785396185194 Centerline is valid? [True, True] Translation: X:685.39, Y:-50.92, Z:1.93 [[ 9.98588294e-01 5.31152884e-02 -4.31422581e-04 6.85385979e+02] [-5.31152745e-02 9.98588387e-01 4.37597265e-05 -5.09248810e+01] [ 4.33137890e-04 -2.07828218e-05 9.99999906e-01 1.92783616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6907140569999 meters Centerline goodness [0,1] 0.9957656575870568 Centerline is valid? [True, True] Translation: X:685.42, Y:-50.92, Z:1.93 [[ 9.98497710e-01 5.47894709e-02 -6.60836159e-04 6.85416321e+02] [-5.47894386e-02 9.98497928e-01 6.69339024e-05 -5.09210949e+01] [ 6.63510809e-04 -3.06265061e-05 9.99999779e-01 1.92745181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7207140569999 meters Centerline goodness [0,1] 0.9947788374492095 Centerline is valid? [True, True] Translation: X:685.45, Y:-50.92, Z:1.93 [[ 9.98320086e-01 5.79283249e-02 -1.14710745e-03 6.85445438e+02] [-5.79282297e-02 9.98320743e-01 1.16035555e-04 -5.09208432e+01] [ 1.15190291e-03 -4.93907216e-05 9.99999335e-01 1.92665794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.750714057 meters Centerline goodness [0,1] 0.9947570412935428 Centerline is valid? [True, True] Translation: X:685.47, Y:-50.92, Z:1.93 [[ 9.98258741e-01 5.89815204e-02 -8.16316421e-04 6.85474258e+02] [-5.89814725e-02 9.98259074e-01 8.26950119e-05 -5.09202185e+01] [ 8.19772752e-04 -3.44034739e-05 9.99999663e-01 1.92652685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.780714057 meters Centerline goodness [0,1] 0.9951387142737407 Centerline is valid? [True, True] Translation: X:685.50, Y:-50.91, Z:1.93 [[ 9.98057978e-01 6.22874059e-02 -7.43234251e-04 6.85504941e+02] [-6.22873672e-02 9.98058254e-01 7.51549120e-05 -5.09134032e+01] [ 7.46472283e-04 -2.87148548e-05 9.99999721e-01 1.92650171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8107140569999 meters Centerline goodness [0,1] 0.9949067643220946 Centerline is valid? [True, True] Translation: X:685.53, Y:-50.91, Z:1.93 [[ 9.97936931e-01 6.41998152e-02 -5.16035884e-04 6.85534678e+02] [-6.41997967e-02 9.97937064e-01 5.24594165e-05 -5.09112784e+01] [ 5.18339220e-04 -1.92217903e-05 9.99999865e-01 1.92592273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8407140569999 meters Centerline goodness [0,1] 0.994861535221649 Centerline is valid? [True, True] Translation: X:685.56, Y:-50.91, Z:1.93 [[ 9.97792781e-01 6.63959164e-02 -1.07168897e-03 6.85562486e+02] [-6.63958383e-02 9.97793356e-01 1.08314065e-04 -5.09113451e+01] [ 1.07651575e-03 -3.69193043e-05 9.99999420e-01 1.92559508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.870714057 meters Centerline goodness [0,1] 0.9941750827641118 Centerline is valid? [True, True] Translation: X:685.59, Y:-50.91, Z:1.93 [[ 9.97622285e-01 6.89077739e-02 -1.22266151e-03 6.85590584e+02] [-6.89076744e-02 9.97623034e-01 1.23354755e-04 -5.09135707e+01] [ 1.22825539e-03 -3.88106909e-05 9.99999245e-01 1.92543752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.900714057 meters Centerline goodness [0,1] 0.9947330720937092 Centerline is valid? [True, True] Translation: X:685.62, Y:-50.91, Z:1.93 [[ 9.97467603e-01 7.11202986e-02 -5.33511658e-04 6.85620368e+02] [-7.11202800e-02 9.97467745e-01 5.38939669e-05 -5.09097857e+01] [ 5.35993626e-04 -1.58139875e-05 9.99999856e-01 1.92544155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9307140569999 meters Centerline goodness [0,1] 0.9939548403403825 Centerline is valid? [True, True] Translation: X:685.65, Y:-50.91, Z:1.93 [[ 9.97147383e-01 7.54789120e-02 1.75955458e-04 6.85648426e+02] [-7.54789101e-02 9.97147398e-01 -1.73613731e-05 -5.09089466e+01] [-1.76763944e-04 4.03092160e-06 9.99999984e-01 1.92634063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9607140569999 meters Centerline goodness [0,1] 0.9937407105026272 Centerline is valid? [True, True] Translation: X:685.68, Y:-50.91, Z:1.93 [[ 9.96985907e-01 7.75774617e-02 9.16012656e-04 6.85677787e+02] [-7.75774100e-02 9.96986327e-01 -9.18064595e-05 -5.09092146e+01] [-9.20374206e-04 2.04678569e-05 9.99999576e-01 1.92662686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.990714057 meters Centerline goodness [0,1] 0.9944615127385207 Centerline is valid? [True, True] Translation: X:685.71, Y:-50.91, Z:1.93 [[ 9.96697935e-01 8.11889567e-02 1.25715558e-03 6.85706663e+02] [-8.11888624e-02 9.96698727e-01 -1.25908427e-04 -5.09072324e+01] [-1.26322774e-03 2.34256370e-05 9.99999202e-01 1.92655111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.020714057 meters Centerline goodness [0,1] 0.9942763695829926 Centerline is valid? [True, True] Translation: X:685.74, Y:-50.91, Z:1.93 [[ 9.96579756e-01 8.26270252e-02 1.25068496e-03 6.85735466e+02] [-8.26269332e-02 9.96580541e-01 -1.25168455e-04 -5.09087645e+01] [-1.25675059e-03 2.14000858e-05 9.99999210e-01 1.92621895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0507140569999 meters Centerline goodness [0,1] 0.9941458894878706 Centerline is valid? [True, True] Translation: X:685.76, Y:-50.91, Z:1.93 [[ 9.96479377e-01 8.38197451e-02 1.76118811e-03 6.85764746e+02] [-8.38195643e-02 9.96480933e-01 -1.76355440e-04 -5.09107793e+01] [-1.76977244e-03 2.81125390e-05 9.99998434e-01 1.92630849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0807140569999 meters Centerline goodness [0,1] 0.9939562507842236 Centerline is valid? [True, True] Translation: X:685.79, Y:-50.91, Z:1.93 [[ 9.96367157e-01 8.51340071e-02 2.16570346e-03 6.85792111e+02] [-8.51337374e-02 9.96369510e-01 -2.16570174e-04 -5.09134164e+01] [-2.17627839e-03 3.14089783e-05 9.99997631e-01 1.92694224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1107140569999 meters Centerline goodness [0,1] 0.9941549766199065 Centerline is valid? [True, True] Translation: X:685.82, Y:-50.92, Z:1.93 [[ 9.96234976e-01 8.66414707e-02 3.02141641e-03 6.85820549e+02] [-8.66409527e-02 9.96239557e-01 -3.02147347e-04 -5.09161251e+01] [-3.03623303e-03 3.92313589e-05 9.99995390e-01 1.92802704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.140714057 meters Centerline goodness [0,1] 0.9946381820085873 Centerline is valid? [True, True] Translation: X:685.85, Y:-50.92, Z:1.93 [[ 9.96204539e-01 8.69855175e-02 3.16800470e-03 6.85849222e+02] [-8.69849505e-02 9.96209575e-01 -3.16591824e-04 -5.09193028e+01] [-3.18353552e-03 3.98214799e-05 9.99994932e-01 1.92828194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1707140569999 meters Centerline goodness [0,1] 0.9949947862356622 Centerline is valid? [True, True] Translation: X:685.88, Y:-50.92, Z:1.93 [[ 9.96182784e-01 8.72647058e-02 2.17546980e-03 6.85878137e+02] [-8.72644396e-02 9.96185159e-01 -2.17159753e-04 -5.09229542e+01] [-2.18612111e-03 2.64896550e-05 9.99997610e-01 1.92814473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2007140569999 meters Centerline goodness [0,1] 0.9953229865771812 Centerline is valid? [True, True] Translation: X:685.91, Y:-50.93, Z:1.93 [[ 9.96184981e-01 8.72509192e-02 1.66159703e-03 6.85907042e+02] [-8.72507643e-02 9.96186366e-01 -1.65677615e-04 -5.09268923e+01] [-1.66971583e-03 2.00699412e-05 9.99998606e-01 1.92775510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2307140569999 meters Centerline goodness [0,1] 0.9950154333861684 Centerline is valid? [True, True] Translation: X:685.93, Y:-50.93, Z:1.93 [[ 9.96184598e-01 8.72693901e-02 5.48635998e-04 6.85934813e+02] [-8.72693734e-02 9.96184749e-01 -5.43935961e-05 -5.09332276e+01] [-5.51289710e-04 6.30694290e-06 9.99999848e-01 1.92656128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.260714057 meters Centerline goodness [0,1] 0.995485893416928 Centerline is valid? [True, True] Translation: X:685.96, Y:-50.94, Z:1.93 [[ 9.96141761e-01 8.77585812e-02 1.53314861e-04 6.85963510e+02] [-8.77585799e-02 9.96141773e-01 -1.50072442e-05 -5.09378874e+01] [-1.54040352e-04 1.49464809e-06 9.99999988e-01 1.92682840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.290714057 meters Centerline goodness [0,1] 0.9959942417224761 Centerline is valid? [True, True] Translation: X:685.99, Y:-50.94, Z:1.93 [[ 9.96102217e-01 8.82062439e-02 1.80353987e-04 6.85991166e+02] [-8.82062422e-02 9.96102233e-01 -1.76200508e-05 -5.09421661e+01] [-1.81205208e-04 1.64302415e-06 9.99999984e-01 1.92724601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3207140569999 meters Centerline goodness [0,1] 0.9968240702047639 Centerline is valid? [True, True] Translation: X:686.02, Y:-50.95, Z:1.93 [[ 9.95933854e-01 9.00849469e-02 6.78933462e-04 6.86019597e+02] [-9.00849219e-02 9.95934085e-01 -6.74010177e-05 -5.09476711e+01] [-6.82244794e-04 5.96528746e-06 9.99999767e-01 1.92859966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3507140569999 meters Centerline goodness [0,1] 0.9973901330190268 Centerline is valid? [True, True] Translation: X:686.05, Y:-50.95, Z:1.93 [[ 9.95824621e-01 9.12793220e-02 1.18688296e-03 6.86048336e+02] [-9.12792464e-02 9.95825329e-01 -1.17818814e-04 -5.09511324e+01] [-1.19268254e-03 8.98909369e-06 9.99999289e-01 1.92910475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.380714057 meters Centerline goodness [0,1] 0.9966150158736833 Centerline is valid? [True, True] Translation: X:686.08, Y:-50.95, Z:1.93 [[ 9.95681073e-01 9.28306505e-02 1.29272939e-03 6.86077437e+02] [-9.28305623e-02 9.95681912e-01 -1.28251494e-04 -5.09546081e+01] [-1.29905294e-03 7.69278878e-06 9.99999156e-01 1.92903990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.410714057 meters Centerline goodness [0,1] 0.997829659909815 Centerline is valid? [True, True] Translation: X:686.11, Y:-50.96, Z:1.93 [[ 9.95316569e-01 9.66490205e-02 1.97330054e-03 6.86105062e+02] [-9.66488226e-02 9.95318525e-01 -1.95647562e-04 -5.09591975e+01] [-1.98297173e-03 4.01408652e-06 9.99998034e-01 1.93049040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4407140569999 meters Centerline goodness [0,1] 0.9969944723512474 Centerline is valid? [True, True] Translation: X:686.13, Y:-50.96, Z:1.93 [[ 9.95086032e-01 9.89946538e-02 1.96145951e-03 6.86132342e+02] [-9.89944631e-02 9.95087965e-01 -1.94327475e-04 -5.09630009e+01] [-1.97106213e-03 -8.01074305e-07 9.99998057e-01 1.93148747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4707140569999 meters Centerline goodness [0,1] 0.9970940026954178 Centerline is valid? [True, True] Translation: X:686.16, Y:-50.97, Z:1.93 [[ 9.94923359e-01 1.00611497e-01 2.19934813e-03 6.86160431e+02] [-1.00611261e-01 9.94925790e-01 -2.17844776e-04 -5.09672293e+01] [-2.21010586e-03 -4.54033207e-06 9.99997558e-01 1.93143211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.500714057 meters Centerline goodness [0,1] 0.9978511839555069 Centerline is valid? [True, True] Translation: X:686.19, Y:-50.97, Z:1.93 [[ 9.94725694e-01 1.02553295e-01 1.90137751e-03 6.86187767e+02] [-1.02553123e-01 9.94727511e-01 -1.88052539e-04 -5.09716718e+01] [-1.91063792e-03 -7.93150899e-06 9.99998175e-01 1.93168098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.530714057 meters Centerline goodness [0,1] 0.9986139403994372 Centerline is valid? [True, True] Translation: X:686.21, Y:-50.98, Z:1.93 [[ 9.94290696e-01 1.06705160e-01 1.44444058e-04 6.86214716e+02] [-1.06705159e-01 9.94290706e-01 -1.39041241e-05 -5.09781826e+01] [-1.45103027e-04 -1.58818495e-06 9.99999989e-01 1.93200824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5607140569999 meters Centerline goodness [0,1] 0.9984822934232715 Centerline is valid? [True, True] Translation: X:686.24, Y:-50.98, Z:1.93 [[ 9.94110692e-01 1.08369389e-01 -9.00228348e-05 6.86243565e+02] [-1.08369388e-01 9.94110696e-01 9.19490987e-06 -5.09835948e+01] [ 9.04891098e-05 6.14961340e-07 9.99999996e-01 1.93150280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5907140569999 meters Centerline goodness [0,1] 0.998503845748604 Centerline is valid? [True, True] Translation: X:686.27, Y:-50.99, Z:1.93 [[ 9.93959421e-01 1.09746812e-01 -5.53452000e-04 6.86270555e+02] [-1.09746798e-01 9.93959575e-01 5.51224686e-05 -5.09884849e+01] [ 5.56158430e-04 5.95008792e-06 9.99999845e-01 1.93248175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.620714057 meters Centerline goodness [0,1] 0.9981929736090099 Centerline is valid? [True, True] Translation: X:686.30, Y:-51.00, Z:1.93 [[ 9.93683486e-01 1.12218642e-01 -3.24401981e-04 6.86298707e+02] [-1.12218637e-01 9.93683539e-01 3.23266004e-05 -5.09997658e+01] [ 3.25980556e-04 4.28153921e-06 9.99999947e-01 1.93402166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.650714057 meters Centerline goodness [0,1] 0.9986737121323762 Centerline is valid? [True, True] Translation: X:686.33, Y:-51.00, Z:1.94 [[ 9.93605854e-01 1.12904261e-01 1.85059499e-04 6.86325818e+02] [-1.12904260e-01 9.93605871e-01 -1.78936556e-05 -5.10044345e+01] [-1.85896475e-04 -3.11476487e-06 9.99999983e-01 1.93592465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6807140569999 meters Centerline goodness [0,1] 0.9985481325618095 Centerline is valid? [True, True] Translation: X:686.35, Y:-51.01, Z:1.94 [[ 9.93525156e-01 1.13611384e-01 4.67406621e-04 6.86354306e+02] [-1.13611375e-01 9.93525266e-01 -4.57919517e-05 -5.10126597e+01] [-4.69582774e-04 -7.60725305e-06 9.99999890e-01 1.93634123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7107140569999 meters Centerline goodness [0,1] 0.9989918084436042 Centerline is valid? [True, True] Translation: X:686.38, Y:-51.02, Z:1.94 [[ 9.93492469e-01 1.13895684e-01 6.98238422e-04 6.86382115e+02] [-1.13895664e-01 9.93492714e-01 -6.84961673e-05 -5.10199942e+01] [-7.01496203e-04 -1.14759024e-05 9.99999754e-01 1.93760653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.740714057 meters Centerline goodness [0,1] 0.9989918084436042 Centerline is valid? [True, True] Translation: X:686.41, Y:-51.02, Z:1.94 [[ 9.93500513e-01 1.13825492e-01 6.98243197e-04 6.86410316e+02] [-1.13825472e-01 9.93500759e-01 -6.84475815e-05 -5.10227151e+01] [-7.01496225e-04 -1.14751541e-05 9.99999754e-01 1.93772174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.770714057 meters Centerline goodness [0,1] 0.9994580736602956 Centerline is valid? [True, True] Translation: X:686.44, Y:-51.03, Z:1.94 [[ 9.93458221e-01 1.14194487e-01 -6.18291823e-04 6.86436776e+02] [-1.14194471e-01 9.93458413e-01 6.11693677e-05 -5.10327922e+01] [ 6.21232418e-04 9.83629650e-06 9.99999807e-01 1.93865712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8007140569999 meters Centerline goodness [0,1] 0.9993736690467243 Centerline is valid? [True, True] Translation: X:686.47, Y:-51.04, Z:1.94 [[ 9.93504006e-01 1.13786407e-01 -1.56302140e-03 6.86465192e+02] [-1.13786306e-01 9.93505235e-01 1.53902183e-04 -5.10424939e+01] [ 1.57038192e-03 2.49479951e-05 9.99998767e-01 1.93838723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8307140569999 meters Centerline goodness [0,1] 0.9996032906000751 Centerline is valid? [True, True] Translation: X:686.49, Y:-51.05, Z:1.94 [[ 9.93556243e-01 1.13324530e-01 -1.88213237e-03 6.86493623e+02] [-1.13324383e-01 9.93558025e-01 1.85136965e-04 -5.10511311e+01] [ 1.89098828e-03 2.93475016e-05 9.99998212e-01 1.93821353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8607140569999 meters Centerline goodness [0,1] 0.9999373799782917 Centerline is valid? [True, True] Translation: X:686.52, Y:-51.06, Z:1.94 [[ 9.93645890e-01 1.12508142e-01 -3.12459788e-03 6.86521742e+02] [-1.12507733e-01 9.93650802e-01 3.06904104e-04 -5.10643131e+01] [ 3.13928840e-03 4.65874228e-05 9.99995071e-01 1.93836188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.890714057 meters Centerline goodness [0,1] 0.999916485719058 Centerline is valid? [True, True] Translation: X:686.55, Y:-51.07, Z:1.94 [[ 9.93669579e-01 1.12280561e-01 -3.72074376e-03 6.86549996e+02] [-1.12279980e-01 9.93676543e-01 3.65302756e-04 -5.10720726e+01] [ 3.73823220e-03 5.47747989e-05 9.99993011e-01 1.93850813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9207140569999 meters Centerline goodness [0,1] 0.9998955373558416 Centerline is valid? [True, True] Translation: X:686.58, Y:-51.08, Z:1.94 [[ 9.93733347e-01 1.11711449e-01 -3.81925452e-03 6.86578986e+02] [-1.11710834e-01 9.93740685e-01 3.74760325e-04 -5.10800520e+01] [ 3.83721362e-03 5.42402740e-05 9.99992636e-01 1.93896324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9507140569999 meters Centerline goodness [0,1] 0.9998533109807208 Centerline is valid? [True, True] Translation: X:686.61, Y:-51.09, Z:1.94 [[ 9.93750806e-01 1.11557481e-01 -3.77665760e-03 6.86608076e+02] [-1.11556879e-01 9.93757981e-01 3.70447625e-04 -5.10885796e+01] [ 3.79440984e-03 5.31795076e-05 9.99992800e-01 1.93977097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:686.64, Y:-51.10, Z:1.94 [[ 9.93868930e-01 1.10519044e-01 -3.17664600e-03 6.86637772e+02] [-1.10518613e-01 9.93874006e-01 3.11470009e-04 -5.11019820e+01] [ 3.19160925e-03 4.15181444e-05 9.99994906e-01 1.94100178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.010714057 meters Centerline goodness [0,1] 0.9996461061265275 Centerline is valid? [True, True] Translation: X:686.67, Y:-51.11, Z:1.94 [[ 9.93908129e-01 1.10170086e-01 -3.03049060e-03 6.86667580e+02] [-1.10169693e-01 9.93912748e-01 2.97121098e-04 -5.11096426e+01] [ 3.04477709e-03 3.85571424e-05 9.99995364e-01 1.94151290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.040714057 meters Centerline goodness [0,1] 0.9994552121529596 Centerline is valid? [True, True] Translation: X:686.70, Y:-51.12, Z:1.94 [[ 9.93961991e-01 1.09688472e-01 -2.82840970e-03 6.86698005e+02] [-1.09688127e-01 9.93966014e-01 2.77332621e-04 -5.11177269e+01] [ 2.84176331e-03 3.45848777e-05 9.99995962e-01 1.94215007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0707140569999 meters Centerline goodness [0,1] 0.9983872319034852 Centerline is valid? [True, True] Translation: X:686.73, Y:-51.13, Z:1.94 [[ 9.94155179e-01 1.07931299e-01 -2.51270684e-03 6.86728442e+02] [-1.07931022e-01 9.94158355e-01 2.46121741e-04 -5.11317702e+01] [ 2.52459274e-03 2.65158141e-05 9.99996813e-01 1.94197139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1007140569999 meters Centerline goodness [0,1] 0.9977624424926809 Centerline is valid? [True, True] Translation: X:686.76, Y:-51.14, Z:1.94 [[ 9.94255071e-01 1.07004250e-01 -2.63530222e-03 6.86760124e+02] [-1.07003939e-01 9.94258563e-01 2.58845303e-04 -5.11405259e+01] [ 2.64786935e-03 2.46294645e-05 9.99996494e-01 1.94164441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.130714057 meters Centerline goodness [0,1] 0.9969655749712253 Centerline is valid? [True, True] Translation: X:686.79, Y:-51.15, Z:1.94 [[ 9.94389485e-01 1.05744497e-01 -2.76659742e-03 6.86791862e+02] [-1.05744148e-01 9.94393333e-01 2.72477802e-04 -5.11491450e+01] [ 2.77989906e-03 2.16024265e-05 9.99996136e-01 1.94161937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.160714057 meters Centerline goodness [0,1] 0.9963420497063189 Centerline is valid? [True, True] Translation: X:686.82, Y:-51.16, Z:1.94 [[ 9.94688074e-01 1.02887596e-01 -3.12692942e-03 6.86822180e+02] [-1.02887133e-01 9.94692989e-01 3.08892964e-04 -5.11624144e+01] [ 3.14211603e-03 1.44686566e-05 9.99995063e-01 1.94068843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1907140569999 meters Centerline goodness [0,1] 0.9960659579810831 Centerline is valid? [True, True] Translation: X:686.85, Y:-51.17, Z:1.94 [[ 9.94810801e-01 1.01670310e-01 -3.82346661e-03 6.86853068e+02] [-1.01669605e-01 9.94818148e-01 3.78772032e-04 -5.11702808e+01] [ 3.84216385e-03 1.19238323e-05 9.99992619e-01 1.94029533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2207140569999 meters Centerline goodness [0,1] 0.9952510460251046 Centerline is valid? [True, True] Translation: X:686.89, Y:-51.18, Z:1.94 [[ 9.94919550e-01 1.00585789e-01 -4.19376119e-03 6.86885735e+02] [-1.00584927e-01 9.94928389e-01 4.16643984e-04 -5.11782357e+01] [ 4.21440052e-03 7.30191673e-06 9.99991119e-01 1.93983077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.250714057 meters Centerline goodness [0,1] 0.9951264406283336 Centerline is valid? [True, True] Translation: X:686.92, Y:-51.19, Z:1.94 [[ 9.95017532e-01 9.96007579e-02 -4.44968968e-03 6.86917542e+02] [-9.95997712e-02 9.95027482e-01 4.43348705e-04 -5.11857606e+01] [ 4.47172139e-03 2.04834003e-06 9.99990002e-01 1.94008839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.280714057 meters Centerline goodness [0,1] 0.9950252915848 Centerline is valid? [True, True] Translation: X:686.95, Y:-51.19, Z:1.94 [[ 9.95092406e-01 9.88395924e-02 -4.67307604e-03 6.86950091e+02] [-9.88384898e-02 9.95103379e-01 4.66864052e-04 -5.11932266e+01] [ 4.69633841e-03 -2.69309498e-06 9.99988972e-01 1.94072618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3107140569999 meters Centerline goodness [0,1] 0.9948142107354202 Centerline is valid? [True, True] Translation: X:686.98, Y:-51.20, Z:1.94 [[ 9.95240384e-01 9.73507994e-02 -4.40454626e-03 6.86981000e+02] [-9.73498002e-02 9.95250130e-01 4.41195449e-04 -5.12040783e+01] [ 4.42657597e-03 -1.03138297e-05 9.99990203e-01 1.94145433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3407140569999 meters Centerline goodness [0,1] 0.9943659021887109 Centerline is valid? [True, True] Translation: X:687.01, Y:-51.21, Z:1.94 [[ 9.95254010e-01 9.72048110e-02 -4.54753118e-03 6.87013176e+02] [-9.72037388e-02 9.95264399e-01 4.56738300e-04 -5.12103301e+01] [ 4.57039305e-03 -1.25335921e-05 9.99989556e-01 1.94219309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.370714057 meters Centerline goodness [0,1] 0.9950583160583789 Centerline is valid? [True, True] Translation: X:687.05, Y:-51.22, Z:1.94 [[ 9.95241423e-01 9.73335737e-02 -4.54816901e-03 6.87046181e+02] [-9.73324969e-02 9.95251815e-01 4.58047032e-04 -5.12157227e+01] [ 4.57115682e-03 -1.31827330e-05 9.99989552e-01 1.94261968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.400714057 meters Centerline goodness [0,1] 0.9945584188141106 Centerline is valid? [True, True] Translation: X:687.08, Y:-51.22, Z:1.94 [[ 9.95177216e-01 9.80036542e-02 -4.19445575e-03 6.87079057e+02] [-9.80027395e-02 9.95186055e-01 4.23535603e-04 -5.12212654e+01] [ 4.21577191e-03 -1.04248278e-05 9.99991114e-01 1.94280597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4307140569999 meters Centerline goodness [0,1] 0.9946027048992435 Centerline is valid? [True, True] Translation: X:687.11, Y:-51.23, Z:1.94 [[ 9.94981272e-01 9.99666635e-02 -4.35135492e-03 6.87111062e+02] [-9.99656923e-02 9.94990787e-01 4.40663437e-04 -5.12282357e+01] [ 4.37360971e-03 -3.46565993e-06 9.99990436e-01 1.94341687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4607140569999 meters Centerline goodness [0,1] 0.9945208333333333 Centerline is valid? [True, True] Translation: X:687.14, Y:-51.23, Z:1.94 [[ 9.94832596e-01 1.01425894e-01 -4.57108821e-03 6.87143689e+02] [-1.01424832e-01 9.94843097e-01 4.64280917e-04 -5.12333557e+01] [ 4.59460566e-03 1.74006335e-06 9.99989445e-01 1.94402883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.490714057 meters Centerline goodness [0,1] 0.9936420295310997 Centerline is valid? [True, True] Translation: X:687.18, Y:-51.24, Z:1.94 [[ 9.94690479e-01 1.02791664e-01 -4.97245302e-03 6.87175855e+02] [-1.02790416e-01 9.94702907e-01 5.06561726e-04 -5.12379283e+01] [ 4.99818380e-03 7.24839104e-06 9.99987509e-01 1.94434177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.520714057 meters Centerline goodness [0,1] 0.9933572112781641 Centerline is valid? [True, True] Translation: X:687.21, Y:-51.24, Z:1.94 [[ 9.94446845e-01 1.05094344e-01 -5.53637599e-03 6.87207243e+02] [-1.05092823e-01 9.94462256e-01 5.65613557e-04 -5.12427104e+01] [ 5.56515974e-03 1.93607675e-05 9.99984514e-01 1.94457058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5507140569999 meters Centerline goodness [0,1] 0.993734990080401 Centerline is valid? [True, True] Translation: X:687.24, Y:-51.25, Z:1.95 [[ 9.94301552e-01 1.06466649e-01 -5.41077329e-03 6.87239808e+02] [-1.06465210e-01 9.94316274e-01 5.54215257e-04 -5.12473730e+01] [ 5.43902537e-03 2.50020214e-05 9.99985208e-01 1.94511430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5807140569999 meters Centerline goodness [0,1] 0.9928610308587699 Centerline is valid? [True, True] Translation: X:687.27, Y:-51.25, Z:1.95 [[ 9.94208842e-01 1.07349878e-01 -4.97821755e-03 6.87271406e+02] [-1.07348664e-01 9.94221305e-01 5.11120149e-04 -5.12522119e+01] [ 5.00431863e-03 2.62448314e-05 9.99987478e-01 1.94574132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6107140569999 meters Centerline goodness [0,1] 0.9930075786124021 Centerline is valid? [True, True] Translation: X:687.30, Y:-51.26, Z:1.95 [[ 9.94102221e-01 1.08332337e-01 -4.98780363e-03 6.87303934e+02] [-1.08331126e-01 9.94114734e-01 5.13077009e-04 -5.12577170e+01] [ 5.01403191e-03 3.02833907e-05 9.99987429e-01 1.94668652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.640714057 meters Centerline goodness [0,1] 0.9932514821511164 Centerline is valid? [True, True] Translation: X:687.34, Y:-51.26, Z:1.95 [[ 9.93977507e-01 1.09487388e-01 -4.60725617e-03 6.87335912e+02] [-1.09486362e-01 9.93988184e-01 4.75125170e-04 -5.12632286e+01] [ 4.63157841e-03 3.21679851e-05 9.99989274e-01 1.94730029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6707140569999 meters Centerline goodness [0,1] 0.9931617477398108 Centerline is valid? [True, True] Translation: X:687.37, Y:-51.27, Z:1.95 [[ 9.93805245e-01 1.11061976e-01 -4.04625288e-03 6.87367040e+02] [-1.11061194e-01 9.93813482e-01 4.18198153e-04 -5.12706574e+01] [ 4.06766657e-03 3.37741569e-05 9.99991726e-01 1.94846364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7007140569999 meters Centerline goodness [0,1] 0.9925330990776181 Centerline is valid? [True, True] Translation: X:687.40, Y:-51.28, Z:1.95 [[ 9.93686660e-01 1.12125012e-01 -3.84763031e-03 6.87399084e+02] [-1.12124309e-01 9.93694108e-01 3.98601861e-04 -5.12768025e+01] [ 3.86806081e-03 3.53275384e-05 9.99992518e-01 1.94842461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7307140569999 meters Centerline goodness [0,1] 0.9922462702248371 Centerline is valid? [True, True] Translation: X:687.43, Y:-51.28, Z:1.95 [[ 9.93489675e-01 1.13877302e-01 -3.19780446e-03 6.87429599e+02] [-1.13876823e-01 9.93494821e-01 3.32049827e-04 -5.12826065e+01] [ 3.21481511e-03 3.42677380e-05 9.99994832e-01 1.94828191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.760714057 meters Centerline goodness [0,1] 0.9927537753880405 Centerline is valid? [True, True] Translation: X:687.46, Y:-51.29, Z:1.95 [[ 9.93453063e-01 1.14186214e-01 -3.53837847e-03 6.87461881e+02] [-1.14185626e-01 9.93459364e-01 3.68303140e-04 -5.12883652e+01] [ 3.55729036e-03 3.81400784e-05 9.99993672e-01 1.94817757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.790714057 meters Centerline goodness [0,1] 0.9923667332562296 Centerline is valid? [True, True] Translation: X:687.49, Y:-51.29, Z:1.95 [[ 9.93463705e-01 1.14078651e-01 -3.99105663e-03 6.87493809e+02] [-1.14077898e-01 9.93471721e-01 4.16698964e-04 -5.12941058e+01] [ 4.01253836e-03 4.13160541e-05 9.99991949e-01 1.94771167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8207140569999 meters Centerline goodness [0,1] 0.9925589344894429 Centerline is valid? [True, True] Translation: X:687.53, Y:-51.30, Z:1.95 [[ 9.93475114e-01 1.13946803e-01 -4.82956247e-03 6.87526131e+02] [-1.13945691e-01 9.93486851e-01 5.05758049e-04 -5.13009420e+01] [ 4.85573633e-03 4.78497980e-05 9.99988210e-01 1.94726684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8507140569999 meters Centerline goodness [0,1] 0.9921074552269887 Centerline is valid? [True, True] Translation: X:687.56, Y:-51.31, Z:1.95 [[ 9.93763260e-01 1.11347861e-01 -6.01970172e-03 6.87555998e+02] [-1.11346074e-01 9.93781491e-01 6.32269314e-04 -5.13106413e+01] [ 6.05266999e-03 4.19441401e-05 9.99981682e-01 1.94665507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.880714057 meters Centerline goodness [0,1] 0.9919698976267054 Centerline is valid? [True, True] Translation: X:687.59, Y:-51.32, Z:1.95 [[ 9.93914796e-01 1.09999686e-01 -5.78332839e-03 6.87587044e+02] [-1.09998006e-01 9.93931621e-01 6.08765086e-04 -5.13186212e+01] [ 5.81519694e-03 3.10939623e-05 9.99983091e-01 1.94696471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.910714057 meters Centerline goodness [0,1] 0.9924250350499069 Centerline is valid? [True, True] Translation: X:687.62, Y:-51.33, Z:1.95 [[ 9.94099424e-01 1.08284957e-01 -6.37986681e-03 6.87619413e+02] [-1.08282865e-01 9.94119896e-01 6.73345963e-04 -5.13251816e+01] [ 6.41526577e-03 2.14574233e-05 9.99979422e-01 1.94691833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9407140569999 meters Centerline goodness [0,1] 0.9930737198936994 Centerline is valid? [True, True] Translation: X:687.65, Y:-51.33, Z:1.95 [[ 9.94301361e-01 1.06398902e-01 -6.63903814e-03 6.87652140e+02] [-1.06396582e-01 9.94323526e-01 7.02641643e-04 -5.13319849e+01] [ 6.67611211e-03 7.73342701e-06 9.99977714e-01 1.94744283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9707140569999 meters Centerline goodness [0,1] 0.9931282309923086 Centerline is valid? [True, True] Translation: X:687.68, Y:-51.34, Z:1.95 [[ 9.94794552e-01 1.01754787e-01 -5.45545484e-03 6.87683346e+02] [-1.01753144e-01 9.94809511e-01 5.78699159e-04 -5.13426910e+01] [ 5.48602377e-03 -2.05770907e-05 9.99984951e-01 1.94906715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.000714057 meters Centerline goodness [0,1] 0.9933756729475101 Centerline is valid? [True, True] Translation: X:687.72, Y:-51.35, Z:1.95 [[ 9.95013376e-01 9.96331185e-02 -4.65017769e-03 6.87716147e+02] [-9.96318961e-02 9.95024241e-01 4.94362396e-04 -5.13501250e+01] [ 4.67629440e-03 -2.85911756e-05 9.99989066e-01 1.95043719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.030714057 meters Centerline goodness [0,1] 0.9940591556416954 Centerline is valid? [True, True] Translation: X:687.75, Y:-51.36, Z:1.95 [[ 9.95228315e-01 9.74672674e-02 -4.55331567e-03 6.87747266e+02] [-9.74660670e-02 9.95238730e-01 4.85310247e-04 -5.13571623e+01] [ 4.57893797e-03 -3.92007288e-05 9.99989516e-01 1.95168432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0607140569999 meters Centerline goodness [0,1] 0.9946321439848437 Centerline is valid? [True, True] Translation: X:687.78, Y:-51.37, Z:1.95 [[ 9.95632992e-01 9.32732153e-02 -3.87973970e-03 6.87778951e+02] [-9.32723088e-02 9.95640550e-01 4.14330363e-04 -5.13664858e+01] [ 3.90147210e-03 -5.06486994e-05 9.99992388e-01 1.95261331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0907140569999 meters Centerline goodness [0,1] 0.9933912823858734 Centerline is valid? [True, True] Translation: X:687.81, Y:-51.37, Z:1.95 [[ 9.95796635e-01 9.15162021e-02 -3.72117335e-03 6.87810887e+02] [-9.15153526e-02 9.95803586e-01 3.98272490e-04 -5.13724562e+01] [ 3.74200615e-03 -5.60539138e-05 9.99992997e-01 1.95238686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.120714057 meters Centerline goodness [0,1] 0.9940284699005446 Centerline is valid? [True, True] Translation: X:687.84, Y:-51.38, Z:1.95 [[ 9.95977559e-01 8.95353973e-02 -3.48068945e-03 6.87841161e+02] [-8.95346390e-02 9.95983639e-01 3.73391674e-04 -5.13779062e+01] [ 3.50014151e-03 -6.02474546e-05 9.99993873e-01 1.95237842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.150714057 meters Centerline goodness [0,1] 0.9934688718002739 Centerline is valid? [True, True] Translation: X:687.87, Y:-51.38, Z:1.95 [[ 9.96107766e-01 8.80692097e-02 -3.62383496e-03 6.87872921e+02] [-8.80683765e-02 9.96114356e-01 3.89154910e-04 -5.13821561e+01] [ 3.64402659e-03 -6.84949666e-05 9.99993358e-01 1.95263306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1807140569999 meters Centerline goodness [0,1] 0.9937369519832986 Centerline is valid? [True, True] Translation: X:687.90, Y:-51.39, Z:1.95 [[ 9.96339330e-01 8.53949372e-02 -3.95529230e-03 6.87904178e+02] [-8.53939193e-02 9.96347177e-01 4.25831969e-04 -5.13884072e+01] [ 3.97720821e-03 -8.65152278e-05 9.99992087e-01 1.95286633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2107140569999 meters Centerline goodness [0,1] 0.9939750152731256 Centerline is valid? [True, True] Translation: X:687.93, Y:-51.39, Z:1.95 [[ 9.96386481e-01 8.48252894e-02 -4.31867020e-03 6.87934877e+02] [-8.48240658e-02 9.96395835e-01 4.66042391e-04 -5.13934290e+01] [ 4.34263718e-03 -9.80311731e-05 9.99990566e-01 1.95279230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.240714057 meters Centerline goodness [0,1] 0.9939301337463633 Centerline is valid? [True, True] Translation: X:687.97, Y:-51.40, Z:1.95 [[ 9.96392119e-01 8.47124963e-02 -5.15154673e-03 6.87967090e+02] [-8.47107464e-02 9.96405429e-01 5.57325062e-04 -5.13975719e+01] [ 5.18024153e-03 -1.18922930e-04 9.99986575e-01 1.95283563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.270714057 meters Centerline goodness [0,1] 0.9937347059319889 Centerline is valid? [True, True] Translation: X:688.00, Y:-51.40, Z:1.95 [[ 9.96392105e-01 8.46772100e-02 -5.70463975e-03 6.87999179e+02] [-8.46750544e-02 9.96408426e-01 6.18782182e-04 -5.14008684e+01] [ 5.73654787e-03 -1.33508999e-04 9.99983537e-01 1.95250549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3007140569999 meters Centerline goodness [0,1] 0.9937274481832676 Centerline is valid? [True, True] Translation: X:688.03, Y:-51.40, Z:1.95 [[ 9.96336827e-01 8.53209743e-02 -5.76694537e-03 6.88032006e+02] [-8.53187730e-02 9.96353508e-01 6.27102462e-04 -5.14024184e+01] [ 5.79942125e-03 -1.32776575e-04 9.99983174e-01 1.95250884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3307140569999 meters Centerline goodness [0,1] 0.993258190245444 Centerline is valid? [True, True] Translation: X:688.06, Y:-51.40, Z:1.95 [[ 9.96280501e-01 8.60223719e-02 -5.03142830e-03 6.88064437e+02] [-8.60206990e-02 9.96293199e-01 5.48363832e-04 -5.14049780e+01] [ 5.05994935e-03 -1.13517214e-04 9.99987192e-01 1.95279882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3607140569999 meters Centerline goodness [0,1] 0.9936811508730543 Centerline is valid? [True, True] Translation: X:688.10, Y:-51.41, Z:1.95 [[ 9.96190341e-01 8.70826451e-02 -4.62791930e-03 6.88095345e+02] [-8.70812363e-02 9.96201086e-01 5.05433751e-04 -5.14069175e+01] [ 4.65435274e-03 -1.00503286e-04 9.99989163e-01 1.95382735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.390714057 meters Centerline goodness [0,1] 0.9936670371380041 Centerline is valid? [True, True] Translation: X:688.13, Y:-51.41, Z:1.95 [[ 9.96121790e-01 8.78567084e-02 -4.75172754e-03 6.88125941e+02] [-8.78552268e-02 9.96133118e-01 5.20054685e-04 -5.14106427e+01] [ 4.77904347e-03 -1.00573703e-04 9.99988575e-01 1.95424316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4207140569999 meters Centerline goodness [0,1] 0.9940531421341207 Centerline is valid? [True, True] Translation: X:688.16, Y:-51.41, Z:1.96 [[ 9.96068872e-01 8.84959956e-02 -3.90663943e-03 6.88159465e+02] [-8.84949963e-02 9.96076529e-01 4.28267844e-04 -5.14115167e+01] [ 3.92921183e-03 -8.08662264e-05 9.99992277e-01 1.95539726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4507140569999 meters Centerline goodness [0,1] 0.9938262500263385 Centerline is valid? [True, True] Translation: X:688.19, Y:-51.41, Z:1.96 [[ 9.96011456e-01 8.91450325e-02 -3.78711753e-03 6.88190845e+02] [-8.91440941e-02 9.96018653e-01 4.16202762e-04 -5.14144557e+01] [ 3.80914211e-03 -7.69435579e-05 9.99992742e-01 1.95596207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4807140569999 meters Centerline goodness [0,1] 0.9937348380972472 Centerline is valid? [True, True] Translation: X:688.22, Y:-51.42, Z:1.96 [[ 9.95954535e-01 8.98086996e-02 -2.99368156e-03 6.88223202e+02] [-8.98081148e-02 9.95959032e-01 3.29458481e-04 -5.14170178e+01] [ 3.01117243e-03 -5.92687709e-05 9.99995465e-01 1.95675455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.510714057 meters Centerline goodness [0,1] 0.9935497470489039 Centerline is valid? [True, True] Translation: X:688.25, Y:-51.42, Z:1.96 [[ 9.95829186e-01 9.11910942e-02 -2.90123277e-03 6.88254826e+02] [-9.11905485e-02 9.95833410e-01 3.20125415e-04 -5.14176989e+01] [ 2.91833711e-03 -5.42252240e-05 9.99995740e-01 1.95741755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.540714057 meters Centerline goodness [0,1] 0.9938140871060412 Centerline is valid? [True, True] Translation: X:688.29, Y:-51.42, Z:1.96 [[ 9.95782851e-01 9.17105769e-02 -2.38412805e-03 6.88287253e+02] [-9.17102098e-02 9.95785704e-01 2.63072522e-04 -5.14200383e+01] [ 2.39820717e-03 -4.33142218e-05 9.99997123e-01 1.95753184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5707140569999 meters Centerline goodness [0,1] 0.9934919966301601 Centerline is valid? [True, True] Translation: X:688.32, Y:-51.42, Z:1.96 [[ 9.95606760e-01 9.36129452e-02 -1.94853944e-03 6.88319624e+02] [-9.36127030e-02 9.95608666e-01 2.15347336e-04 -5.14179379e+01] [ 1.96014205e-03 -3.19932198e-05 9.99998078e-01 1.95786846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6007140569999 meters Centerline goodness [0,1] 0.9934455942169487 Centerline is valid? [True, True] Translation: X:688.35, Y:-51.42, Z:1.96 [[ 9.95474192e-01 9.50164133e-02 -1.73603400e-03 6.88349918e+02] [-9.50162222e-02 9.95475706e-01 1.92451669e-04 -5.14239988e+01] [ 1.74646574e-03 -2.66292781e-05 9.99998475e-01 1.95911941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.630714057 meters Centerline goodness [0,1] 0.9934359533596174 Centerline is valid? [True, True] Translation: X:688.38, Y:-51.43, Z:1.96 [[ 9.95332249e-01 9.64812154e-02 -2.25575444e-03 6.88381770e+02] [-9.64808956e-02 9.95334805e-01 2.50428200e-04 -5.14259971e+01] [ 2.26939253e-03 -3.16220549e-05 9.99997424e-01 1.95894527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.660714057 meters Centerline goodness [0,1] 0.9934359533596174 Centerline is valid? [True, True] Translation: X:688.41, Y:-51.43, Z:1.96 [[ 9.95307524e-01 9.67359571e-02 -2.25570467e-03 6.88414038e+02] [-9.67356369e-02 9.95310079e-01 2.50875481e-04 -5.14296897e+01] [ 2.26939427e-03 -3.14912261e-05 9.99997424e-01 1.95907750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6907140569999 meters Centerline goodness [0,1] 0.9931296101159115 Centerline is valid? [True, True] Translation: X:688.45, Y:-51.43, Z:1.96 [[ 9.95163282e-01 9.82116598e-02 -2.12392598e-03 6.88445745e+02] [-9.82113781e-02 9.95165549e-01 2.36769874e-04 -5.14312792e+01] [ 2.13691152e-03 -2.70309883e-05 9.99997716e-01 1.95944736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7207140569999 meters Centerline goodness [0,1] 0.9932439542861954 Centerline is valid? [True, True] Translation: X:688.48, Y:-51.43, Z:1.96 [[ 9.94832210e-01 1.01508961e-01 -2.19174106e-03 6.88477872e+02] [-1.01508668e-01 9.94834625e-01 2.44817546e-04 -5.14295241e+01] [ 2.20527107e-03 -2.10716642e-05 9.99997568e-01 1.95801331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.750714057 meters Centerline goodness [0,1] 0.9932042920260888 Centerline is valid? [True, True] Translation: X:688.51, Y:-51.43, Z:1.96 [[ 9.94689189e-01 1.02902090e-01 -2.13938206e-03 6.88510181e+02] [-1.02901813e-01 9.94691490e-01 2.39476084e-04 -5.14322426e+01] [ 2.15266772e-03 -1.80579788e-05 9.99997683e-01 1.95750696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.780714057 meters Centerline goodness [0,1] 0.9929555317944525 Centerline is valid? [True, True] Translation: X:688.54, Y:-51.44, Z:1.96 [[ 9.94568885e-01 1.04020957e-01 -3.51765179e-03 6.88541449e+02] [-1.04020210e-01 9.94575105e-01 3.95333979e-04 -5.14354470e+01] [ 3.53969191e-03 -2.72799980e-05 9.99993735e-01 1.95735424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8107140569999 meters Centerline goodness [0,1] 0.9927552921962353 Centerline is valid? [True, True] Translation: X:688.57, Y:-51.44, Z:1.96 [[ 9.94427452e-01 1.05351899e-01 -3.87552799e-03 6.88573062e+02] [-1.05350999e-01 9.94435004e-01 4.36130992e-04 -5.14406493e+01] [ 3.89990792e-03 -2.54098840e-05 9.99992395e-01 1.95724793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8407140569999 meters Centerline goodness [0,1] 0.9934921336955835 Centerline is valid? [True, True] Translation: X:688.61, Y:-51.44, Z:1.96 [[ 9.94328996e-01 1.06274686e-01 -3.94198716e-03 6.88605509e+02] [-1.06273758e-01 9.94336809e-01 4.44660115e-04 -5.14432642e+01] [ 3.96691905e-03 -2.32086576e-05 9.99992131e-01 1.95640209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.870714057 meters Centerline goodness [0,1] 0.9929745826692391 Centerline is valid? [True, True] Translation: X:688.64, Y:-51.45, Z:1.96 [[ 9.94334430e-01 1.06217417e-01 -4.11119445e-03 6.88638467e+02] [-1.06216403e-01 9.94342929e-01 4.64939652e-04 -5.14477348e+01] [ 4.13732182e-03 -2.56292188e-05 9.99991441e-01 1.95638706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.900714057 meters Centerline goodness [0,1] 0.9933900303132368 Centerline is valid? [True, True] Translation: X:688.67, Y:-51.45, Z:1.96 [[ 9.94368102e-01 1.05919950e-01 -3.61140002e-03 6.88670447e+02] [-1.05919162e-01 9.94374660e-01 4.09288015e-04 -5.14524111e+01] [ 3.63443643e-03 -2.44664826e-05 9.99993395e-01 1.95683373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9307140569999 meters Centerline goodness [0,1] 0.9935550453884875 Centerline is valid? [True, True] Translation: X:688.70, Y:-51.46, Z:1.96 [[ 9.94658400e-01 1.03179917e-01 -2.92792933e-03 6.88701120e+02] [-1.03179385e-01 9.94662709e-01 3.32425630e-04 -5.14593352e+01] [ 2.94660177e-03 -2.85479970e-05 9.99995658e-01 1.95754072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9607140569999 meters Centerline goodness [0,1] 0.9944131722640356 Centerline is valid? [True, True] Translation: X:688.73, Y:-51.46, Z:1.96 [[ 9.94863835e-01 1.01188195e-01 -2.62659912e-03 6.88733172e+02] [-1.01187759e-01 9.94867302e-01 2.98657596e-04 -5.14636286e+01] [ 2.64333821e-03 -3.13439620e-05 9.99996506e-01 1.95803398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.990714057 meters Centerline goodness [0,1] 0.9934466991170955 Centerline is valid? [True, True] Translation: X:688.77, Y:-51.47, Z:1.96 [[ 9.95100603e-01 9.88515274e-02 -1.77909359e-03 6.88765145e+02] [-9.88513235e-02 9.95102193e-01 2.02410735e-04 -5.14690926e+01] [ 1.79038855e-03 -2.55532885e-05 9.99998397e-01 1.95850363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.020714057 meters Centerline goodness [0,1] 0.9937552388935457 Centerline is valid? [True, True] Translation: X:688.80, Y:-51.48, Z:1.96 [[ 9.95328438e-01 9.65352597e-02 -1.49803534e-03 6.88795351e+02] [-9.65351121e-02 9.95329565e-01 1.70701759e-04 -5.14773658e+01] [ 1.50751761e-03 -2.52913056e-05 9.99998863e-01 1.95959321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0507140569999 meters Centerline goodness [0,1] 0.9935933910771111 Centerline is valid? [True, True] Translation: X:688.83, Y:-51.48, Z:1.96 [[ 9.95833726e-01 9.11807550e-02 1.12256224e-03 6.88826267e+02] [-9.11806677e-02 9.95834358e-01 -1.28800561e-04 -5.14831568e+01] [-1.12963018e-03 2.59079680e-05 9.99999362e-01 1.96078182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0807140569999 meters Centerline goodness [0,1] 0.9944820033276468 Centerline is valid? [True, True] Translation: X:688.86, Y:-51.49, Z:1.96 [[ 9.96063416e-01 8.86224564e-02 1.93153467e-03 6.88858198e+02] [-8.86221908e-02 9.96065288e-01 -2.22852037e-04 -5.14886530e+01] [-1.94368433e-03 5.07979276e-05 9.99998110e-01 1.96148768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1107140569999 meters Centerline goodness [0,1] 0.9942186845412652 Centerline is valid? [True, True] Translation: X:688.89, Y:-51.49, Z:1.96 [[ 9.96309532e-01 8.57968411e-02 2.49359221e-03 6.88889851e+02] [-8.57963916e-02 9.96312650e-01 -2.86876788e-04 -5.14939831e+01] [-2.50901059e-03 7.18768642e-05 9.99996850e-01 1.96189419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.140714057 meters Centerline goodness [0,1] 0.9950184192900201 Centerline is valid? [True, True] Translation: X:688.92, Y:-51.50, Z:1.96 [[ 9.96520890e-01 8.33084268e-02 2.41277557e-03 6.88920347e+02] [-8.33079975e-02 9.96523808e-01 -2.78070376e-04 -5.15011572e+01] [-2.42755391e-03 7.60994371e-05 9.99997051e-01 1.96235720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1707140569999 meters Centerline goodness [0,1] 0.9939028223018417 Centerline is valid? [True, True] Translation: X:688.95, Y:-51.50, Z:1.96 [[ 9.96893983e-01 7.87354176e-02 1.76659750e-03 6.88951270e+02] [-7.87351804e-02 9.96895546e-01 -2.03516098e-04 -5.15040842e+01] [-1.77713711e-03 6.37906002e-05 9.99998419e-01 1.96059468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2007140569999 meters Centerline goodness [0,1] 0.9949938208248675 Centerline is valid? [True, True] Translation: X:688.98, Y:-51.51, Z:1.96 [[ 9.97006465e-01 7.73106730e-02 1.08109443e-03 6.88981756e+02] [-7.73105822e-02 9.97007050e-01 -1.25607311e-04 -5.15126491e+01] [-1.08756956e-03 4.16512610e-05 9.99999408e-01 1.96070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2307140569999 meters Centerline goodness [0,1] 0.9953621120228326 Centerline is valid? [True, True] Translation: X:689.01, Y:-51.51, Z:1.96 [[ 9.97089230e-01 7.62414987e-02 5.49123237e-04 6.89013930e+02] [-7.62414747e-02 9.97089381e-01 -6.44497991e-05 -5.15135416e+01] [-5.52438697e-04 2.23962352e-05 9.99999847e-01 1.96017366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.260714057 meters Centerline goodness [0,1] 0.9951856658433458 Centerline is valid? [True, True] Translation: X:689.05, Y:-51.52, Z:1.96 [[ 9.97261634e-01 7.39527739e-02 4.69686820e-04 6.89046006e+02] [-7.39527564e-02 9.97261744e-01 -5.45985817e-05 -5.15171829e+01] [-4.72438414e-04 1.97144358e-05 9.99999888e-01 1.95997765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.290714057 meters Centerline goodness [0,1] 0.9958485344068436 Centerline is valid? [True, True] Translation: X:689.08, Y:-51.52, Z:1.96 [[ 9.97337273e-01 7.29269915e-02 1.34452224e-04 6.89078402e+02] [-7.29269899e-02 9.97337282e-01 -1.65865124e-05 -5.15192088e+01] [-1.35303820e-04 6.73715101e-06 9.99999991e-01 1.95981629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3207140569999 meters Centerline goodness [0,1] 0.9956426102440558 Centerline is valid? [True, True] Translation: X:689.11, Y:-51.52, Z:1.96 [[ 9.97392713e-01 7.21645158e-02 2.42276606e-04 6.89109182e+02] [-7.21645109e-02 9.97392742e-01 -2.90598993e-05 -5.15245042e+01] [-2.43742022e-04 1.15003590e-05 9.99999970e-01 1.96013169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3507140569999 meters Centerline goodness [0,1] 0.9950305089010505 Centerline is valid? [True, True] Translation: X:689.14, Y:-51.53, Z:1.96 [[ 9.97432679e-01 7.16077054e-02 6.22089429e-04 6.89140989e+02] [-7.16076735e-02 9.97432873e-01 -7.33565334e-05 -5.15279668e+01] [-6.25745339e-04 2.86218270e-05 9.99999804e-01 1.96028015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.380714057 meters Centerline goodness [0,1] 0.9956796208133218 Centerline is valid? [True, True] Translation: X:689.17, Y:-51.53, Z:1.96 [[ 9.97442604e-01 7.14651482e-02 9.91976691e-04 6.89172777e+02] [-7.14650675e-02 9.97443096e-01 -1.16630320e-04 -5.15298131e+01] [-9.97775306e-04 4.54403692e-05 9.99999501e-01 1.96086995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.410714057 meters Centerline goodness [0,1] 0.9949618993639398 Centerline is valid? [True, True] Translation: X:689.21, Y:-51.53, Z:1.96 [[ 9.97366532e-01 7.25210945e-02 8.31270207e-04 6.89205452e+02] [-7.25210379e-02 9.97366878e-01 -9.81026634e-05 -5.15306696e+01] [-8.36195883e-04 3.75597351e-05 9.99999650e-01 1.96100461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4407140569999 meters Centerline goodness [0,1] 0.9956100008361903 Centerline is valid? [True, True] Translation: X:689.24, Y:-51.54, Z:1.96 [[ 9.97237404e-01 7.42759420e-02 8.02301193e-04 6.89235584e+02] [-7.42758897e-02 9.97237727e-01 -9.48163000e-05 -5.15381987e+01] [-8.07127587e-04 3.49627260e-05 9.99999674e-01 1.96192006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4707140569999 meters Centerline goodness [0,1] 0.9955339357977062 Centerline is valid? [True, True] Translation: X:689.27, Y:-51.53, Z:1.96 [[ 9.96853598e-01 7.92517076e-02 1.43918701e-03 6.89267456e+02] [-7.92515467e-02 9.96854635e-01 -1.68565713e-04 -5.15313869e+01] [-1.44801936e-03 5.39775416e-05 9.99998950e-01 1.96204594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.500714057 meters Centerline goodness [0,1] 0.9955125920023485 Centerline is valid? [True, True] Translation: X:689.30, Y:-51.53, Z:1.96 [[ 9.96645560e-01 8.18291764e-02 1.27024128e-03 6.89300057e+02] [-8.18290529e-02 9.96646369e-01 -1.48997088e-04 -5.15269740e+01] [-1.27817367e-03 4.45546449e-05 9.99999182e-01 1.96188897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.530714057 meters Centerline goodness [0,1] 0.9948556670970967 Centerline is valid? [True, True] Translation: X:689.33, Y:-51.53, Z:1.96 [[ 9.96411557e-01 8.46278500e-02 1.46122348e-03 6.89330695e+02] [-8.46276897e-02 9.96412628e-01 -1.71346583e-04 -5.15298498e+01] [-1.47048222e-03 4.70717485e-05 9.99998918e-01 1.96202871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5607140569999 meters Centerline goodness [0,1] 0.9950113188563763 Centerline is valid? [True, True] Translation: X:689.36, Y:-51.52, Z:1.96 [[ 9.96166753e-01 8.74597991e-02 1.60763046e-03 6.89363320e+02] [-8.74596085e-02 9.96168049e-01 -1.88663238e-04 -5.15244869e+01] [-1.61797055e-03 4.73373142e-05 9.99998690e-01 1.96148959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5907140569999 meters Centerline goodness [0,1] 0.9952029829485944 Centerline is valid? [True, True] Translation: X:689.39, Y:-51.52, Z:1.96 [[ 9.95801716e-01 9.15109449e-02 2.16531830e-03 6.89393766e+02] [-9.15106089e-02 9.95804069e-01 -2.53930445e-04 -5.15234611e+01] [-2.17947019e-03 5.47147765e-05 9.99997623e-01 1.96232945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.620714057 meters Centerline goodness [0,1] 0.9942826027770215 Centerline is valid? [True, True] Translation: X:689.43, Y:-51.52, Z:1.96 [[ 9.95612977e-01 9.35232024e-02 2.86534593e-03 6.89426424e+02] [-9.35226177e-02 9.95617098e-01 -3.37668644e-04 -5.15218676e+01] [-2.88436726e-03 6.82126313e-05 9.99995838e-01 1.96144144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.650714057 meters Centerline goodness [0,1] 0.9942421641087917 Centerline is valid? [True, True] Translation: X:689.46, Y:-51.52, Z:1.96 [[ 9.95451930e-01 9.52329754e-02 2.47693982e-03 6.89459218e+02] [-9.52325445e-02 9.95455010e-01 -2.91604922e-04 -5.15226205e+01] [-2.49345256e-03 5.43934007e-05 9.99996890e-01 1.96121234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6807140569999 meters Centerline goodness [0,1] 0.9946310976888554 Centerline is valid? [True, True] Translation: X:689.49, Y:-51.52, Z:1.96 [[ 9.95315570e-01 9.66538235e-02 2.22583949e-03 6.89491841e+02] [-9.66534762e-02 9.95318058e-01 -2.63299049e-04 -5.15232889e+01] [-2.24086710e-03 4.69305189e-05 9.99997488e-01 1.96081415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7107140569999 meters Centerline goodness [0,1] 0.9942846376083406 Centerline is valid? [True, True] Translation: X:689.52, Y:-51.52, Z:1.96 [[ 9.95145449e-01 9.84065741e-02 1.29696930e-03 6.89524942e+02] [-9.84064578e-02 9.95146294e-01 -1.53314580e-04 -5.15215288e+01] [-1.30576135e-03 2.49401526e-05 9.99999147e-01 1.95938685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.740714057 meters Centerline goodness [0,1] 0.9948652387140042 Centerline is valid? [True, True] Translation: X:689.56, Y:-51.53, Z:1.96 [[ 9.95131849e-01 9.85443081e-02 1.27345729e-03 6.89556957e+02] [-9.85441947e-02 9.95132664e-01 -1.51620894e-04 -5.15250613e+01] [-1.28220032e-03 2.53909574e-05 9.99999178e-01 1.95949046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.770714057 meters Centerline goodness [0,1] 0.9943657841823056 Centerline is valid? [True, True] Translation: X:689.59, Y:-51.53, Z:1.96 [[ 9.95126568e-01 9.85975666e-02 1.27820048e-03 6.89590474e+02] [-9.85974518e-02 9.95127388e-01 -1.52619512e-04 -5.15258541e+01] [-1.28702022e-03 2.58484208e-05 9.99999171e-01 1.95900538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8007140569999 meters Centerline goodness [0,1] 0.9950301962757927 Centerline is valid? [True, True] Translation: X:689.62, Y:-51.53, Z:1.96 [[ 9.95302017e-01 9.68054032e-02 1.61516116e-03 6.89622420e+02] [-9.68052177e-02 9.95303327e-01 -1.92827929e-04 -5.15262021e+01] [-1.62624206e-03 3.55659989e-05 9.99998677e-01 1.95897913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8307140569999 meters Centerline goodness [0,1] 0.9955558350627843 Centerline is valid? [True, True] Translation: X:689.65, Y:-51.53, Z:1.96 [[ 9.95410320e-01 9.56771276e-02 2.04493040e-03 6.89653274e+02] [-9.56768276e-02 9.95412420e-01 -2.44263993e-04 -5.15307882e+01] [-2.05891960e-03 4.74904461e-05 9.99997879e-01 1.95943097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8607140569999 meters Centerline goodness [0,1] 0.9954750183303656 Centerline is valid? [True, True] Translation: X:689.68, Y:-51.53, Z:1.96 [[ 9.95519556e-01 9.45359433e-02 1.94165599e-03 6.89683908e+02] [-9.45356697e-02 9.95521448e-01 -2.32380803e-04 -5.15348237e+01] [-1.95492852e-03 4.77838839e-05 9.99998088e-01 1.96035327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.890714057 meters Centerline goodness [0,1] 0.9955739217989595 Centerline is valid? [True, True] Translation: X:689.72, Y:-51.54, Z:1.96 [[ 9.95619725e-01 9.34662000e-02 2.33059252e-03 6.89715793e+02] [-9.34658019e-02 9.95622451e-01 -2.79420172e-04 -5.15360163e+01] [-2.34650658e-03 6.03655365e-05 9.99997245e-01 1.96036469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9207140569999 meters Centerline goodness [0,1] 0.9960047691760621 Centerline is valid? [True, True] Translation: X:689.75, Y:-51.54, Z:1.96 [[ 9.95883584e-01 9.06102089e-02 2.38271888e-03 6.89748190e+02] [-9.06097859e-02 9.95886432e-01 -2.85092883e-04 -5.15371603e+01] [-2.39874973e-03 6.80216746e-05 9.99997121e-01 1.96087295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9507140569999 meters Centerline goodness [0,1] 0.9964310457036089 Centerline is valid? [True, True] Translation: X:689.78, Y:-51.54, Z:1.96 [[ 9.95960237e-01 8.97620750e-02 2.44470196e-03 6.89780232e+02] [-8.97616239e-02 9.95963235e-01 -2.93826017e-04 -5.15392678e+01] [-2.46120770e-03 7.31986120e-05 9.99996969e-01 1.96124783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9807140569999 meters Centerline goodness [0,1] 0.9958880543783829 Centerline is valid? [True, True] Translation: X:689.81, Y:-51.54, Z:1.96 [[ 9.96056484e-01 8.86895992e-02 2.37416097e-03 6.89811158e+02] [-8.86891695e-02 9.96059310e-01 -2.85841744e-04 -5.15424380e+01] [-2.39015632e-03 7.41521584e-05 9.99997141e-01 1.96123680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.010714057 meters Centerline goodness [0,1] 0.9963004765487835 Centerline is valid? [True, True] Translation: X:689.84, Y:-51.54, Z:1.96 [[ 9.96182439e-01 8.72733077e-02 1.97963718e-03 6.89843728e+02] [-8.72730048e-02 9.96184403e-01 -2.39060643e-04 -5.15440299e+01] [-1.99294730e-03 6.53791288e-05 9.99998012e-01 1.96123179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.040714057 meters Centerline goodness [0,1] 0.9964742917103883 Centerline is valid? [True, True] Translation: X:689.88, Y:-51.55, Z:1.96 [[ 9.96314274e-01 8.57640319e-02 1.54852075e-03 6.89876154e+02] [-8.57638438e-02 9.96315476e-01 -1.87609400e-04 -5.15462043e+01] [-1.55890532e-03 5.41108321e-05 9.99998783e-01 1.96117285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0707140569999 meters Centerline goodness [0,1] 0.9967859843710613 Centerline is valid? [True, True] Translation: X:689.91, Y:-51.55, Z:1.96 [[ 9.96496635e-01 8.36246883e-02 1.16960777e-03 6.89908587e+02] [-8.36245800e-02 9.96497320e-01 -1.41314929e-04 -5.15486887e+01] [-1.17732842e-03 4.30118927e-05 9.99999306e-01 1.96120325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1007140569999 meters Centerline goodness [0,1] 0.9969611822249974 Centerline is valid? [True, True] Translation: X:689.94, Y:-51.55, Z:1.96 [[ 9.96911540e-01 7.85314351e-02 4.41935321e-04 6.89938377e+02] [-7.85314190e-02 9.96911638e-01 -5.35866380e-05 -5.15520131e+01] [-4.44778700e-04 1.87153299e-05 9.99999901e-01 1.96157996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.130714057 meters Centerline goodness [0,1] 0.9973255886838971 Centerline is valid? [True, True] Translation: X:689.97, Y:-51.56, Z:1.96 [[ 9.97149599e-01 7.54488421e-02 3.87785906e-04 6.89967529e+02] [-7.54488296e-02 9.97149674e-01 -4.69351600e-05 -5.15619412e+01] [-3.90221793e-04 1.75433832e-05 9.99999924e-01 1.96299238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.160714057 meters Centerline goodness [0,1] 0.9980414455395502 Centerline is valid? [True, True] Translation: X:690.00, Y:-51.56, Z:1.96 [[ 9.97548716e-01 6.99732389e-02 5.53053816e-04 6.89999424e+02] [-6.99732126e-02 9.97548869e-01 -6.67561739e-05 -5.15569812e+01] [-5.56369354e-04 2.78935833e-05 9.99999845e-01 1.96349425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1907140569999 meters Centerline goodness [0,1] 0.9986099703039111 Centerline is valid? [True, True] Translation: X:690.03, Y:-51.56, Z:1.96 [[ 9.97712740e-01 6.75962800e-02 1.74402615e-04 6.90030014e+02] [-6.75962773e-02 9.97712756e-01 -2.11174961e-05 -5.15599358e+01] [-1.75431178e-04 9.28022743e-06 9.99999985e-01 1.96416694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2207140569999 meters Centerline goodness [0,1] 0.9982749190053436 Centerline is valid? [True, True] Translation: X:690.06, Y:-51.56, Z:1.96 [[ 9.97814557e-01 6.60727992e-02 -7.03215194e-04 6.90062413e+02] [-6.60727559e-02 9.97814804e-01 8.46475637e-05 -5.15602542e+01] [ 7.07271433e-04 -3.79992054e-05 9.99999749e-01 1.96384101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.250714057 meters Centerline goodness [0,1] 0.998132919358899 Centerline is valid? [True, True] Translation: X:690.09, Y:-51.56, Z:1.96 [[ 9.97870356e-01 6.52183089e-02 -1.15129296e-03 6.90093188e+02] [-6.52181925e-02 9.97871018e-01 1.38349355e-04 -5.15647568e+01] [ 1.15786478e-03 -6.29694742e-05 9.99999328e-01 1.96410572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.280714057 meters Centerline goodness [0,1] 0.9987362567926198 Centerline is valid? [True, True] Translation: X:690.13, Y:-51.56, Z:1.96 [[ 9.97890298e-01 6.49080238e-02 -1.37870003e-03 6.90126121e+02] [-6.49078560e-02 9.97891248e-01 1.66185979e-04 -5.15577394e+01] [ 1.38657950e-03 -7.63469131e-05 9.99999036e-01 1.96425378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3107140569999 meters Centerline goodness [0,1] 0.9987997220408937 Centerline is valid? [True, True] Translation: X:690.16, Y:-51.56, Z:1.96 [[ 9.97847930e-01 6.55555043e-02 -1.40861123e-03 6.90158447e+02] [-6.55553292e-02 9.97848921e-01 1.70160525e-04 -5.15579119e+01] [ 1.41673616e-03 -7.74523550e-05 9.99998993e-01 1.96455699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3407140569999 meters Centerline goodness [0,1] 0.9987989633157041 Centerline is valid? [True, True] Translation: X:690.19, Y:-51.55, Z:1.97 [[ 9.97743818e-01 6.71234770e-02 -1.30874580e-03 6.90191672e+02] [-6.71233269e-02 9.97744674e-01 1.58312452e-04 -5.15535858e+01] [ 1.31642063e-03 -7.01078981e-05 9.99999131e-01 1.96514274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.370714057 meters Centerline goodness [0,1] 0.9989468141126909 Centerline is valid? [True, True] Translation: X:690.22, Y:-51.55, Z:1.97 [[ 9.97337490e-01 7.29163125e-02 -1.06897047e-03 6.90223469e+02] [-7.29162148e-02 9.97338061e-01 1.30125951e-04 -5.15466365e+01] [ 1.07561324e-03 -5.18342091e-05 9.99999420e-01 1.96566903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.400714057 meters Centerline goodness [0,1] 0.9990104429846723 Centerline is valid? [True, True] Translation: X:690.25, Y:-51.55, Z:1.97 [[ 9.97020315e-01 7.71217282e-02 -1.65229259e-03 6.90254329e+02] [-7.71215007e-02 9.97021682e-01 2.01095818e-04 -5.15457705e+01] [ 1.66288040e-03 -7.30693317e-05 9.99998615e-01 1.96610359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4307140569999 meters Centerline goodness [0,1] 0.9990132269577997 Centerline is valid? [True, True] Translation: X:690.29, Y:-51.54, Z:1.97 [[ 9.96637830e-01 8.19187998e-02 -1.53197331e-03 6.90285573e+02] [-8.19186098e-02 9.96639005e-01 1.86474391e-04 -5.15434459e+01] [ 1.54210012e-03 -6.03503078e-05 9.99998809e-01 1.96609494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4607140569999 meters Centerline goodness [0,1] 0.9993678621096549 Centerline is valid? [True, True] Translation: X:690.32, Y:-51.54, Z:1.97 [[ 9.96235881e-01 8.66704072e-02 -1.51990279e-03 6.90316649e+02] [-8.66702256e-02 9.96237039e-01 1.85077449e-04 -5.15400764e+01] [ 1.53022419e-03 -5.26504782e-05 9.99998828e-01 1.96655853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.490714057 meters Centerline goodness [0,1] 0.9992641184138598 Centerline is valid? [True, True] Translation: X:690.35, Y:-51.53, Z:1.97 [[ 9.95419440e-01 9.55881610e-02 -1.74415070e-03 6.90348689e+02] [-9.55879355e-02 9.95420967e-01 2.12372674e-04 -5.15315433e+01] [ 1.75646449e-03 -4.46801240e-05 9.99998456e-01 1.96668959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.520714057 meters Centerline goodness [0,1] 0.9995370467793186 Centerline is valid? [True, True] Translation: X:690.38, Y:-51.53, Z:1.97 [[ 9.95014293e-01 9.97170758e-02 -1.74992565e-03 6.90380661e+02] [-9.97168553e-02 9.95015831e-01 2.13009792e-04 -5.15292780e+01] [ 1.76244444e-03 -3.74507042e-05 9.99998446e-01 1.96647695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5507140569999 meters Centerline goodness [0,1] 0.9995370467793186 Centerline is valid? [True, True] Translation: X:690.41, Y:-51.53, Z:1.97 [[ 9.95010662e-01 9.97533016e-02 -1.74991758e-03 6.90411272e+02] [-9.97530811e-02 9.95012200e-01 2.13076111e-04 -5.15330341e+01] [ 1.76244438e-03 -3.74533323e-05 9.99998446e-01 1.96660237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5807140569999 meters Centerline goodness [0,1] 0.99957931933869 Centerline is valid? [True, True] Translation: X:690.44, Y:-51.53, Z:1.97 [[ 9.94681832e-01 1.02973559e-01 -2.12114569e-03 6.90441969e+02] [-1.02973242e-01 9.94684093e-01 2.58458928e-04 -5.15325977e+01] [ 2.13648431e-03 -3.86631510e-05 9.99997717e-01 1.96643348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6107140569999 meters Centerline goodness [0,1] 0.999328055771371 Centerline is valid? [True, True] Translation: X:690.47, Y:-51.53, Z:1.97 [[ 9.94183732e-01 1.07672273e-01 -2.32143886e-03 6.90472302e+02] [-1.07671906e-01 9.94186442e-01 2.82864398e-04 -5.15318712e+01] [ 2.33839969e-03 -3.12654369e-05 9.99997265e-01 1.96577078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.640714057 meters Centerline goodness [0,1] 0.9994556911675424 Centerline is valid? [True, True] Translation: X:690.50, Y:-51.53, Z:1.97 [[ 9.94020081e-01 1.09171766e-01 -2.36717887e-03 6.90502666e+02] [-1.09171389e-01 9.94022899e-01 2.88437760e-04 -5.15327925e+01] [ 2.38451926e-03 -2.82847210e-05 9.99997157e-01 1.96584213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6707140569999 meters Centerline goodness [0,1] 0.9996010749979004 Centerline is valid? [True, True] Translation: X:690.53, Y:-51.53, Z:1.97 [[ 9.93837721e-01 1.10815130e-01 -2.56742095e-03 6.90532740e+02] [-1.10814691e-01 9.93841037e-01 3.12837006e-04 -5.15343856e+01] [ 2.58627537e-03 -2.64012565e-05 9.99996655e-01 1.96596296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7007140569999 meters Centerline goodness [0,1] 0.9997478514845244 Centerline is valid? [True, True] Translation: X:690.56, Y:-51.53, Z:1.97 [[ 9.93655999e-01 1.12438823e-01 -2.29494338e-03 6.90561751e+02] [-1.12438477e-01 9.93658649e-01 2.79730713e-04 -5.15348580e+01] [ 2.31184293e-03 -1.99161631e-05 9.99997327e-01 1.96593124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7307140569999 meters Centerline goodness [0,1] 0.9997693340043616 Centerline is valid? [True, True] Translation: X:690.59, Y:-51.54, Z:1.97 [[ 9.93548121e-01 1.13381854e-01 -2.58590878e-03 6.90591426e+02] [-1.13381418e-01 9.93551486e-01 3.15001517e-04 -5.15371764e+01] [ 2.60494897e-03 -1.97751607e-05 9.99996607e-01 1.96573920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.760714057 meters Centerline goodness [0,1] 0.9996441877014526 Centerline is valid? [True, True] Translation: X:690.62, Y:-51.54, Z:1.97 [[ 9.93422641e-01 1.14475909e-01 -2.59274149e-03 6.90620358e+02] [-1.14475475e-01 9.93426024e-01 3.15764884e-04 -5.15406492e+01] [ 2.61184434e-03 -1.68826716e-05 9.99996589e-01 1.96586316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.790714057 meters Centerline goodness [0,1] 0.9995399703071743 Centerline is valid? [True, True] Translation: X:690.65, Y:-51.55, Z:1.97 [[ 9.93185608e-01 1.16511861e-01 -2.70837642e-03 6.90648910e+02] [-1.16511395e-01 9.93189300e-01 3.29668399e-04 -5.15451744e+01] [ 2.72834076e-03 -1.18651948e-05 9.99996278e-01 1.96578143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8207140569999 meters Centerline goodness [0,1] 0.9994379449602399 Centerline is valid? [True, True] Translation: X:690.68, Y:-51.55, Z:1.97 [[ 9.93104233e-01 1.17200174e-01 -2.84631230e-03 6.90678473e+02] [-1.17199663e-01 9.93108312e-01 3.46351719e-04 -5.15487893e+01] [ 2.86728889e-03 -1.03765168e-05 9.99995889e-01 1.96572077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8507140569999 meters Centerline goodness [0,1] 0.9992896688603363 Centerline is valid? [True, True] Translation: X:690.71, Y:-51.55, Z:1.97 [[ 9.93047205e-01 1.17690098e-01 -2.50768700e-03 6.90706413e+02] [-1.17689703e-01 9.93050372e-01 3.05100045e-04 -5.15525314e+01] [ 2.52616676e-03 -7.84980860e-06 9.99996809e-01 1.96594022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.880714057 meters Centerline goodness [0,1] 0.9995385131733512 Centerline is valid? [True, True] Translation: X:690.74, Y:-51.56, Z:1.97 [[ 9.93057959e-01 1.17603217e-01 -2.31821940e-03 6.90735442e+02] [-1.17602880e-01 9.93060664e-01 2.81906865e-04 -5.15569210e+01] [ 2.33528566e-03 -7.32057774e-06 9.99997273e-01 1.96662118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.910714057 meters Centerline goodness [0,1] 0.9995202236175139 Centerline is valid? [True, True] Translation: X:690.76, Y:-51.56, Z:1.97 [[ 9.93294217e-01 1.15612135e-01 -6.57348130e-04 6.90763858e+02] [-1.15612108e-01 9.93294435e-01 7.99555972e-05 -5.15646596e+01] [ 6.62184076e-04 -3.42202966e-06 9.99999781e-01 1.96757542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9407140569999 meters Centerline goodness [0,1] 0.9998318055672357 Centerline is valid? [True, True] Translation: X:690.79, Y:-51.57, Z:1.97 [[ 9.93552554e-01 1.13372490e-01 -9.74005395e-06 6.90793980e+02] [-1.13372490e-01 9.93552554e-01 1.18366122e-06 -5.15714041e+01] [ 9.81145011e-06 -7.17754647e-08 1.00000000e+00 1.96853413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9707140569999 meters Centerline goodness [0,1] 0.9991157708583338 Centerline is valid? [True, True] Translation: X:690.82, Y:-51.58, Z:1.97 [[ 9.94250672e-01 1.07074509e-01 8.07005957e-04 6.90824193e+02] [-1.07074463e-01 9.94250999e-01 -9.91583301e-05 -5.15839449e+01] [-8.12983809e-04 1.21785066e-05 9.99999669e-01 1.96854133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.000714057 meters Centerline goodness [0,1] 0.9991819440365818 Centerline is valid? [True, True] Translation: X:690.85, Y:-51.59, Z:1.97 [[ 9.94650102e-01 1.03299895e-01 5.54235412e-04 6.90854641e+02] [-1.03299872e-01 9.94650256e-01 -6.84913242e-05 -5.15931740e+01] [-5.58345541e-04 1.08724553e-05 9.99999844e-01 1.96830632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.030714057 meters Centerline goodness [0,1] 0.9993061979648473 Centerline is valid? [True, True] Translation: X:690.89, Y:-51.60, Z:1.97 [[ 9.95170152e-01 9.81646936e-02 2.47177433e-04 6.90885692e+02] [-9.81646891e-02 9.95170183e-01 -3.04382526e-05 -5.16022425e+01] [-2.48971573e-04 6.02714460e-06 9.99999969e-01 1.96861428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0607140569999 meters Centerline goodness [0,1] 0.9990952130457654 Centerline is valid? [True, True] Translation: X:690.92, Y:-51.61, Z:1.97 [[ 9.95631816e-01 9.33659831e-02 2.83051246e-04 6.90915736e+02] [-9.33659770e-02 9.95631856e-01 -3.46166016e-05 -5.16106316e+01] [-2.85046850e-04 8.03803385e-06 9.99999959e-01 1.96838063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0907140569999 meters Centerline goodness [0,1] 0.9990955175532699 Centerline is valid? [True, True] Translation: X:690.94, Y:-51.63, Z:1.97 [[ 9.96536447e-01 8.31567548e-02 2.52075327e-04 6.90944095e+02] [-8.31567496e-02 9.96536479e-01 -3.08041284e-05 -5.16254110e+01] [-2.53763830e-04 9.73567188e-06 9.99999968e-01 1.96889088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.120714057 meters Centerline goodness [0,1] 0.9989471245972752 Centerline is valid? [True, True] Translation: X:690.97, Y:-51.63, Z:1.97 [[ 9.96886904e-01 7.88447311e-02 9.30648019e-05 6.90974579e+02] [-7.88447304e-02 9.96886909e-01 -1.14957720e-05 -5.16343976e+01] [-9.36814637e-05 4.12231536e-06 9.99999996e-01 1.96868072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.150714057 meters Centerline goodness [0,1] 0.9988621757727723 Centerline is valid? [True, True] Translation: X:691.01, Y:-51.63, Z:1.97 [[ 9.97171660e-01 7.51575967e-02 1.23223998e-04 6.91005684e+02] [-7.51575954e-02 9.97171668e-01 -1.51209686e-05 -5.16331936e+01] [-1.24011935e-04 5.81698200e-06 9.99999992e-01 1.96750699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1807140569999 meters Centerline goodness [0,1] 0.9985454392141155 Centerline is valid? [True, True] Translation: X:691.03, Y:-51.64, Z:1.97 [[ 9.97402003e-01 7.20306250e-02 -9.12404398e-04 6.91034693e+02] [-7.20305532e-02 9.97402420e-01 1.11418052e-04 -5.16426170e+01] [ 9.18059866e-04 -4.54075949e-05 9.99999578e-01 1.96707419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2107140569999 meters Centerline goodness [0,1] 0.9985252912549771 Centerline is valid? [True, True] Translation: X:691.07, Y:-51.65, Z:1.97 [[ 9.97685557e-01 6.79656556e-02 -2.04904805e-03 6.91065344e+02] [-6.79652847e-02 9.97687655e-01 2.50183297e-04 -5.16465873e+01] [ 2.06131381e-03 -1.10340128e-04 9.99997869e-01 1.96694091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.240714057 meters Centerline goodness [0,1] 0.9985873323774985 Centerline is valid? [True, True] Translation: X:691.10, Y:-51.65, Z:1.97 [[ 9.97727396e-01 6.73521641e-02 -1.93087761e-03 6.91096855e+02] [-6.73518344e-02 9.97729259e-01 2.35299251e-04 -5.16509155e+01] [ 1.94234100e-03 -1.04716360e-04 9.99998108e-01 1.96729970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.270714057 meters Centerline goodness [0,1] 0.9987567430883345 Centerline is valid? [True, True] Translation: X:691.13, Y:-51.65, Z:1.97 [[ 9.97712243e-01 6.75866644e-02 -1.52399502e-03 6.91129119e+02] [-6.75864584e-02 9.97713404e-01 1.86282325e-04 -5.16539933e+01] [ 1.53310046e-03 -8.28547304e-05 9.99998821e-01 1.96774587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3007140569999 meters Centerline goodness [0,1] 0.9985903046625147 Centerline is valid? [True, True] Translation: X:691.16, Y:-51.66, Z:1.97 [[ 9.97579291e-01 6.95373975e-02 -3.29362517e-04 6.91159957e+02] [-6.95373880e-02 9.97579345e-01 4.02032090e-05 -5.16557992e+01] [ 3.31360871e-04 -1.72028796e-05 9.99999945e-01 1.96878926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3307140569999 meters Centerline goodness [0,1] 0.9990767939571968 Centerline is valid? [True, True] Translation: X:691.19, Y:-51.66, Z:1.97 [[ 9.97468931e-01 7.11036641e-02 2.34034029e-05 6.91192479e+02] [-7.11036641e-02 9.97468931e-01 -3.22667504e-06 -5.16576212e+01] [-2.35735957e-05 1.55444041e-06 1.00000000e+00 1.96964402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3607140569999 meters Centerline goodness [0,1] 0.9992000336827923 Centerline is valid? [True, True] Translation: X:691.22, Y:-51.66, Z:1.97 [[ 9.97336502e-01 7.29372607e-02 2.38726527e-04 6.91223888e+02] [-7.29372558e-02 9.97336531e-01 -2.94184630e-05 -5.16597300e+01] [-2.40236388e-04 1.19280493e-05 9.99999971e-01 1.96993662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.390714057 meters Centerline goodness [0,1] 0.9994538618270422 Centerline is valid? [True, True] Translation: X:691.26, Y:-51.66, Z:1.97 [[ 9.97200814e-01 7.47698232e-02 -1.04471874e-04 6.91256846e+02] [-7.47698223e-02 9.97200819e-01 1.21843486e-05 -5.16594117e+01] [ 1.05090460e-04 -4.33889885e-06 9.99999994e-01 1.97012951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4207140569999 meters Centerline goodness [0,1] 0.999033410380332 Centerline is valid? [True, True] Translation: X:691.29, Y:-51.66, Z:1.97 [[ 9.96927891e-01 7.83245710e-02 2.04564811e-04 6.91289102e+02] [-7.83245675e-02 9.96927912e-01 -2.53523752e-05 -5.16570721e+01] [-2.05922084e-04 9.25203961e-06 9.99999979e-01 1.97023961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4507140569999 meters Centerline goodness [0,1] 0.9992425358217434 Centerline is valid? [True, True] Translation: X:691.32, Y:-51.66, Z:1.97 [[ 9.96790526e-01 8.00538710e-02 -1.56112893e-04 6.91320259e+02] [-8.00538692e-02 9.96790539e-01 1.82691337e-05 -5.16591156e+01] [ 1.57074370e-04 -5.71305827e-06 9.99999988e-01 1.97100292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4807140569999 meters Centerline goodness [0,1] 0.9992649220817407 Centerline is valid? [True, True] Translation: X:691.35, Y:-51.66, Z:1.97 [[ 9.96698003e-01 8.11978265e-02 -6.81712798e-05 6.91352958e+02] [-8.11978262e-02 9.96698005e-01 8.03287762e-06 -5.16607621e+01] [ 6.85984308e-05 -2.47099335e-06 9.99999998e-01 1.97116902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.510714057 meters Centerline goodness [0,1] 0.9993682082385645 Centerline is valid? [True, True] Translation: X:691.38, Y:-51.66, Z:1.97 [[ 9.96657771e-01 8.16883378e-02 -5.50377032e-04 6.91384976e+02] [-8.16883133e-02 9.96657923e-01 6.68959770e-05 -5.16601868e+01] [ 5.54002251e-04 -2.17130238e-05 9.99999846e-01 1.97127671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.540714057 meters Centerline goodness [0,1] 0.999284451553161 Centerline is valid? [True, True] Translation: X:691.42, Y:-51.66, Z:1.97 [[ 9.96704299e-01 8.11119385e-02 -1.18101324e-03 6.91415651e+02] [-8.11118234e-02 9.96704997e-01 1.45092147e-04 -5.16644810e+01] [ 1.18889051e-03 -4.88198292e-05 9.99999292e-01 1.97170891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5707140569999 meters Centerline goodness [0,1] 0.9992433159576257 Centerline is valid? [True, True] Translation: X:691.45, Y:-51.67, Z:1.97 [[ 9.96814024e-01 7.97520305e-02 -1.18944378e-03 6.91446584e+02] [-7.97519118e-02 9.96814733e-01 1.46990903e-04 -5.16667204e+01] [ 1.19737790e-03 -5.16621780e-05 9.99999282e-01 1.97160809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6007140569999 meters Centerline goodness [0,1] 0.9994527237517892 Centerline is valid? [True, True] Translation: X:691.48, Y:-51.67, Z:1.97 [[ 9.97067559e-01 7.65139333e-02 -1.37866102e-03 6.91476045e+02] [-7.65137705e-02 9.97068510e-01 1.70494753e-04 -5.16708837e+01] [ 1.38766472e-03 -6.45082344e-05 9.99999035e-01 1.97203512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.630714057 meters Centerline goodness [0,1] 0.999199848392327 Centerline is valid? [True, True] Translation: X:691.51, Y:-51.68, Z:1.97 [[ 9.97145841e-01 7.54872976e-02 -1.35629067e-03 6.91506875e+02] [-7.54871392e-02 9.97146761e-01 1.67654576e-04 -5.16752873e+01] [ 1.36507664e-03 -6.47935606e-05 9.99999066e-01 1.97220426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.660714057 meters Centerline goodness [0,1] 0.9991593283033143 Centerline is valid? [True, True] Translation: X:691.54, Y:-51.68, Z:1.97 [[ 9.97150530e-01 7.54248215e-02 -1.38455677e-03 6.91537570e+02] [-7.54246569e-02 9.97151489e-01 1.70750602e-04 -5.16787002e+01] [ 1.39349168e-03 -6.58343340e-05 9.99999027e-01 1.97223586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6907140569999 meters Centerline goodness [0,1] 0.9991813945678183 Centerline is valid? [True, True] Translation: X:691.57, Y:-51.67, Z:1.97 [[ 9.96963604e-01 7.78416270e-02 -2.06257109e-03 6.91569617e+02] [-7.78412643e-02 9.96965733e-01 2.55699264e-04 -5.16749673e+01] [ 2.07621674e-03 -9.43697184e-05 9.99997840e-01 1.97218321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7207140569999 meters Centerline goodness [0,1] 0.9992639017413981 Centerline is valid? [True, True] Translation: X:691.60, Y:-51.67, Z:1.97 [[ 9.96738937e-01 8.06534143e-02 -2.55309951e-03 6.91599366e+02] [-8.06528672e-02 9.96742201e-01 3.16724073e-04 -5.16736790e+01] [ 2.57032691e-03 -1.09776420e-04 9.99996691e-01 1.97227652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.750714057 meters Centerline goodness [0,1] 0.9990946415412149 Centerline is valid? [True, True] Translation: X:691.63, Y:-51.68, Z:1.97 [[ 9.96438054e-01 8.42830989e-02 -2.75031502e-03 6.91629201e+02] [-8.42824779e-02 9.96441844e-01 3.41109834e-04 -5.16766466e+01] [ 2.76927877e-03 -1.08091454e-04 9.99996160e-01 1.97252065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.780714057 meters Centerline goodness [0,1] 0.9990354169724674 Centerline is valid? [True, True] Translation: X:691.66, Y:-51.67, Z:1.97 [[ 9.95628326e-01 9.33498394e-02 -3.16929624e-03 6.91660862e+02] [-9.33490607e-02 9.95633365e-01 3.93061612e-04 -5.16699856e+01] [ 3.19214932e-03 -9.54924471e-05 9.99994901e-01 1.97314666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8107140569999 meters Centerline goodness [0,1] 0.9990532096193903 Centerline is valid? [True, True] Translation: X:691.69, Y:-51.67, Z:1.97 [[ 9.95197818e-01 9.78380295e-02 -3.00387117e-03 6.91689920e+02] [-9.78373501e-02 9.95202348e-01 3.72655679e-04 -5.16701030e+01] [ 3.02591954e-03 -7.69753235e-05 9.99995419e-01 1.97415958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8407140569999 meters Centerline goodness [0,1] 0.9991411634093718 Centerline is valid? [True, True] Translation: X:691.72, Y:-51.67, Z:1.97 [[ 9.94802559e-01 1.01790901e-01 -2.54574312e-03 6.91719723e+02] [-1.01790426e-01 9.94805815e-01 3.15694657e-04 -5.16683610e+01] [ 2.56465490e-03 -5.49215764e-05 9.99996710e-01 1.97468876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.870714057 meters Centerline goodness [0,1] 0.999033999033999 Centerline is valid? [True, True] Translation: X:691.75, Y:-51.67, Z:1.98 [[ 9.94164717e-01 1.07863725e-01 -1.39033486e-03 6.91750335e+02] [-1.07863589e-01 9.94165689e-01 1.72381530e-04 -5.16677798e+01] [ 1.40081693e-03 -2.14091270e-05 9.99999019e-01 1.97663815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.900714057 meters Centerline goodness [0,1] 0.9987407920418057 Centerline is valid? [True, True] Translation: X:691.78, Y:-51.67, Z:1.98 [[ 9.94006749e-01 1.09311498e-01 -1.25647994e-03 6.91779024e+02] [-1.09311388e-01 9.94007543e-01 1.55868836e-04 -5.16703671e+01] [ 1.26598880e-03 -1.75871084e-05 9.99999198e-01 1.97726861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9307140569999 meters Centerline goodness [0,1] 0.998885665026702 Centerline is valid? [True, True] Translation: X:691.81, Y:-51.67, Z:1.98 [[ 9.93927263e-01 1.10035021e-01 -9.43814199e-04 6.91808900e+02] [-1.10034960e-01 9.93927711e-01 1.17030746e-04 -5.16733008e+01] [ 9.50960566e-04 -1.24674922e-05 9.99999548e-01 1.97686059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9607140569999 meters Centerline goodness [0,1] 0.9991177953285162 Centerline is valid? [True, True] Translation: X:691.84, Y:-51.68, Z:1.98 [[ 9.93897282e-01 1.10296171e-01 -1.71691415e-03 6.91837018e+02] [-1.10295968e-01 9.93898765e-01 2.12717920e-04 -5.16773710e+01] [ 1.72990082e-03 -2.20510547e-05 9.99998503e-01 1.97663179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.990714057 meters Centerline goodness [0,1] 0.9992850684441827 Centerline is valid? [True, True] Translation: X:691.87, Y:-51.68, Z:1.97 [[ 9.93983628e-01 1.09468385e-01 -3.63581488e-03 6.91866506e+02] [-1.09467470e-01 9.93990277e-01 4.50148122e-04 -5.16825734e+01] [ 3.66324162e-03 -4.94364060e-05 9.99993289e-01 1.97444872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.020714057 meters Centerline goodness [0,1] 0.9990333291304165 Centerline is valid? [True, True] Translation: X:691.89, Y:-51.69, Z:1.97 [[ 9.94105458e-01 1.08323732e-01 -4.50634034e-03 6.91894479e+02] [-1.08322317e-01 9.94115670e-01 5.57720220e-04 -5.16878742e+01] [ 4.54023788e-03 -6.62954882e-05 9.99989691e-01 1.97359031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0507140569999 meters Centerline goodness [0,1] 0.999075474869726 Centerline is valid? [True, True] Translation: X:691.92, Y:-51.69, Z:1.97 [[ 9.94267550e-01 1.06786380e-01 -5.35801844e-03 6.91922965e+02] [-1.06784359e-01 9.94281983e-01 6.62773899e-04 -5.16935197e+01] [ 5.39815642e-03 -8.68220165e-05 9.99985426e-01 1.97278306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0807140569999 meters Centerline goodness [0,1] 0.9992230644856477 Centerline is valid? [True, True] Translation: X:691.95, Y:-51.70, Z:1.97 [[ 9.94444826e-01 1.05089867e-01 -5.96723717e-03 6.91952049e+02] [-1.05087332e-01 9.94462724e-01 7.37741479e-04 -5.16986115e+01] [ 6.01172408e-03 -1.06562164e-04 9.99981924e-01 1.97267979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1107140569999 meters Centerline goodness [0,1] 0.9997055978466586 Centerline is valid? [True, True] Translation: X:691.98, Y:-51.71, Z:1.97 [[ 9.94990436e-01 9.97132718e-02 -7.16204321e-03 6.91980249e+02] [-9.97094820e-02 9.95016199e-01 8.85165273e-04 -5.17077798e+01] [ 7.21461173e-03 -1.66607362e-04 9.99973960e-01 1.97366021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.140714057 meters Centerline goodness [0,1] 0.9996635262449529 Centerline is valid? [True, True] Translation: X:692.01, Y:-51.71, Z:1.97 [[ 9.95275775e-01 9.68252936e-02 -7.14096178e-03 6.92009188e+02] [-9.68214537e-02 9.95301375e-01 8.82300253e-04 -5.17133058e+01] [ 7.19283806e-03 -1.86733768e-04 9.99974114e-01 1.97488073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1707140569999 meters Centerline goodness [0,1] 0.9996634837841248 Centerline is valid? [True, True] Translation: X:692.04, Y:-51.72, Z:1.98 [[ 9.95613047e-01 9.33565994e-02 -6.26153748e-03 6.92038580e+02] [-9.33535798e-02 9.95632719e-01 7.73434412e-04 -5.17200175e+01] [ 6.30639679e-03 -1.85504452e-04 9.99980097e-01 1.97607826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2007140569999 meters Centerline goodness [0,1] 0.9995587679119217 Centerline is valid? [True, True] Translation: X:692.07, Y:-51.73, Z:1.98 [[ 9.96205171e-01 8.69407711e-02 -4.06925370e-03 6.92066633e+02] [-8.69394427e-02 9.96213471e-01 5.02544274e-04 -5.17284045e+01] [ 4.09753694e-03 -1.46858556e-04 9.99991594e-01 1.97946480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2307140569999 meters Centerline goodness [0,1] 0.9994324631101021 Centerline is valid? [True, True] Translation: X:692.10, Y:-51.73, Z:1.98 [[ 9.96468030e-01 8.38925045e-02 -3.67600334e-03 6.92097092e+02] [-8.38914002e-02 9.96474800e-01 4.53840696e-04 -5.17332869e+01] [ 3.70111852e-03 -1.43852677e-04 9.99993140e-01 1.98030743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.260714057 meters Centerline goodness [0,1] 0.9993263866961373 Centerline is valid? [True, True] Translation: X:692.13, Y:-51.74, Z:1.98 [[ 9.96702274e-01 8.10747254e-02 -3.38604754e-03 6.92127443e+02] [-8.10737721e-02 9.96708016e-01 4.18097890e-04 -5.17392538e+01] [ 3.40879789e-03 -1.42199472e-04 9.99994180e-01 1.98122193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.290714057 meters Centerline goodness [0,1] 0.9990969232384753 Centerline is valid? [True, True] Translation: X:692.16, Y:-51.75, Z:1.98 [[ 9.97093346e-01 7.60810707e-02 -4.06560324e-03 6.92157415e+02] [-7.60796545e-02 9.97101617e-01 5.02094136e-04 -5.17459961e+01] [ 4.09201942e-03 -1.91325032e-04 9.99991609e-01 1.98117133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3207140569999 meters Centerline goodness [0,1] 0.9990741520074068 Centerline is valid? [True, True] Translation: X:692.19, Y:-51.75, Z:1.98 [[ 9.97266033e-01 7.37510550e-02 -4.60884367e-03 6.92187682e+02] [-7.37492099e-02 9.97276657e-01 5.69246533e-04 -5.17505811e+01] [ 4.63827474e-03 -2.27791652e-04 9.99989217e-01 1.98055011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3507140569999 meters Centerline goodness [0,1] 0.9989491824639569 Centerline is valid? [True, True] Translation: X:692.22, Y:-51.75, Z:1.98 [[ 9.97401856e-01 7.18389169e-02 -5.35786923e-03 6.92217868e+02] [-7.18363961e-02 9.97416209e-01 6.61717351e-04 -5.17541938e+01] [ 5.39156268e-03 -2.75108098e-04 9.99985428e-01 1.98001910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.380714057 meters Centerline goodness [0,1] 0.9987497916319387 Centerline is valid? [True, True] Translation: X:692.25, Y:-51.76, Z:1.98 [[ 9.97631564e-01 6.84699572e-02 -6.56708112e-03 6.92246754e+02] [-6.84660948e-02 9.97653114e-01 8.11426926e-04 -5.17644399e+01] [ 6.60722729e-03 -3.59882715e-04 9.99978107e-01 1.97889966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.410714057 meters Centerline goodness [0,1] 0.9986503322259136 Centerline is valid? [True, True] Translation: X:692.28, Y:-51.77, Z:1.98 [[ 9.97715682e-01 6.71185377e-02 -7.64976306e-03 6.92276002e+02] [-6.71132566e-02 9.97744916e-01 9.45287463e-04 -5.17706479e+01] [ 7.69595851e-03 -4.29727616e-04 9.99970293e-01 1.97852900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4407140569999 meters Centerline goodness [0,1] 0.9987015162938762 Centerline is valid? [True, True] Translation: X:692.31, Y:-51.77, Z:1.98 [[ 9.97804622e-01 6.57533405e-02 -7.90158732e-03 6.92306035e+02] [-6.57476643e-02 9.97835804e-01 9.76267189e-04 -5.17697224e+01] [ 7.94867956e-03 -4.54613004e-04 9.99968305e-01 1.97907835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4707140569999 meters Centerline goodness [0,1] 0.9987015162938762 Centerline is valid? [True, True] Translation: X:692.34, Y:-51.77, Z:1.98 [[ 9.97806945e-01 6.57180780e-02 -7.90162177e-03 6.92335032e+02] [-6.57124029e-02 9.97838127e-01 9.75988265e-04 -5.17732729e+01] [ 7.94867954e-03 -4.54613316e-04 9.99968305e-01 1.97919714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.500714057 meters Centerline goodness [0,1] 0.9986841555620536 Centerline is valid? [True, True] Translation: X:692.36, Y:-51.78, Z:1.98 [[ 9.97858346e-01 6.48691378e-02 -8.40927343e-03 6.92363781e+02] [-6.48626826e-02 9.97893659e-01 1.03838222e-03 -5.17776959e+01] [ 8.45891959e-03 -4.90710331e-04 9.99964102e-01 1.97958698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.530714057 meters Centerline goodness [0,1] 0.9983689515285852 Centerline is valid? [True, True] Translation: X:692.39, Y:-51.78, Z:1.98 [[ 9.97826921e-01 6.54309954e-02 -7.76016068e-03 6.92394008e+02] [-6.54255173e-02 9.97856996e-01 9.57961934e-04 -5.17761648e+01] [ 7.80621103e-03 -4.48167680e-04 9.99969431e-01 1.98100187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5607140569999 meters Centerline goodness [0,1] 0.9983500417710944 Centerline is valid? [True, True] Translation: X:692.42, Y:-51.78, Z:1.98 [[ 9.97749581e-01 6.66609277e-02 -7.21770317e-03 6.92424016e+02] [-6.66562227e-02 9.97775603e-01 8.90744751e-04 -5.17758012e+01] [ 7.26102601e-03 -4.07635371e-04 9.99973555e-01 1.98195235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5907140569999 meters Centerline goodness [0,1] 0.9981657113079729 Centerline is valid? [True, True] Translation: X:692.45, Y:-51.78, Z:1.98 [[ 9.97642152e-01 6.83619179e-02 -6.06497384e-03 6.92453145e+02] [-6.83586273e-02 9.97660532e-01 7.48458354e-04 -5.17819911e+01] [ 6.10195108e-03 -3.32100317e-04 9.99981328e-01 1.98262764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.620714057 meters Centerline goodness [0,1] 0.998076199238844 Centerline is valid? [True, True] Translation: X:692.48, Y:-51.77, Z:1.98 [[ 9.97314612e-01 7.30782959e-02 -4.80907837e-03 6.92484531e+02] [-7.30762809e-02 9.97326178e-01 5.93623815e-04 -5.17736572e+01] [ 4.83960076e-03 -2.40600144e-04 9.99988260e-01 1.98303175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.650714057 meters Centerline goodness [0,1] 0.9979303424342518 Centerline is valid? [True, True] Translation: X:692.51, Y:-51.77, Z:1.98 [[ 9.97114525e-01 7.57310656e-02 -5.23739572e-03 6.92514134e+02] [-7.57287125e-02 9.97128249e-01 6.46433748e-04 -5.17736821e+01] [ 5.27131034e-03 -2.47947244e-04 9.99986076e-01 1.98278590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6807140569999 meters Centerline goodness [0,1] 0.9973927915901886 Centerline is valid? [True, True] Translation: X:692.54, Y:-51.78, Z:1.98 [[ 9.96870535e-01 7.88505776e-02 -5.63223113e-03 6.92542555e+02] [-7.88479074e-02 9.96886415e-01 6.94925921e-04 -5.17752625e+01] [ 5.66949001e-03 -2.48661536e-04 9.99983897e-01 1.98185178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7107140569999 meters Centerline goodness [0,1] 0.9977474189175096 Centerline is valid? [True, True] Translation: X:692.57, Y:-51.77, Z:1.98 [[ 9.96623826e-01 8.18725472e-02 -6.15100411e-03 6.92572619e+02] [-8.18694218e-02 9.96642776e-01 7.58624305e-04 -5.17732677e+01] [ 6.19246431e-03 -2.52483908e-04 9.99980795e-01 1.98153991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.740714057 meters Centerline goodness [0,1] 0.9981154200519307 Centerline is valid? [True, True] Translation: X:692.60, Y:-51.77, Z:1.98 [[ 9.96199037e-01 8.68600791e-02 -6.54259433e-03 6.92603585e+02] [-8.68566517e-02 9.96220493e-01 8.06723175e-04 -5.17666205e+01] [ 6.58793859e-03 -2.35389012e-04 9.99978272e-01 1.98066004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.770714057 meters Centerline goodness [0,1] 0.9980169084646696 Centerline is valid? [True, True] Translation: X:692.63, Y:-51.77, Z:1.98 [[ 9.96050097e-01 8.85592145e-02 -6.43972103e-03 6.92632965e+02] [-8.85559311e-02 9.96070890e-01 7.93787102e-04 -5.17665219e+01] [ 6.48471581e-03 -2.20376228e-04 9.99978950e-01 1.98107087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8007140569999 meters Centerline goodness [0,1] 0.9981803350693355 Centerline is valid? [True, True] Translation: X:692.66, Y:-51.77, Z:1.98 [[ 9.95947674e-01 8.97275875e-02 -6.09843646e-03 6.92661260e+02] [-8.97246675e-02 9.95966325e-01 7.51284535e-04 -5.17687799e+01] [ 6.14124829e-03 -2.01059902e-04 9.99981122e-01 1.98201278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8307140569999 meters Centerline goodness [0,1] 0.9973645129578113 Centerline is valid? [True, True] Translation: X:692.69, Y:-51.77, Z:1.98 [[ 9.95883014e-01 9.05290934e-02 -4.63747757e-03 6.92689206e+02] [-9.05274149e-02 9.95893800e-01 5.71024999e-04 -5.17689972e+01] [ 4.67012953e-03 -1.48855242e-04 9.99989084e-01 1.98365950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8607140569999 meters Centerline goodness [0,1] 0.9975616421079183 Centerline is valid? [True, True] Translation: X:692.72, Y:-51.77, Z:1.98 [[ 9.95882720e-01 9.05721499e-02 -3.78064977e-03 6.92718065e+02] [-9.05710357e-02 9.95889889e-01 4.65238530e-04 -5.17685225e+01] [ 3.80724854e-03 -1.20905647e-04 9.99992745e-01 1.98468002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.890714057 meters Centerline goodness [0,1] 0.997983701587835 Centerline is valid? [True, True] Translation: X:692.75, Y:-51.77, Z:1.98 [[ 9.95891461e-01 9.04879056e-02 -3.48389061e-03 6.92746482e+02] [-9.04869598e-02 9.95897548e-01 4.28484980e-04 -5.17704956e+01] [ 3.50837083e-03 -1.11477863e-04 9.99993839e-01 1.98458574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9207140569999 meters Centerline goodness [0,1] 0.9975004686621258 Centerline is valid? [True, True] Translation: X:692.77, Y:-51.77, Z:1.98 [[ 9.95934902e-01 8.99599708e-02 -4.56888003e-03 6.92773614e+02] [-8.99583406e-02 9.95945371e-01 5.61483060e-04 -5.17748892e+01] [ 4.60086592e-03 -1.48191711e-04 9.99989405e-01 1.98360643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9507140569999 meters Centerline goodness [0,1] 0.9972839712518803 Centerline is valid? [True, True] Translation: X:692.80, Y:-51.78, Z:1.98 [[ 9.95985207e-01 8.94047148e-02 -4.50161414e-03 6.92801261e+02] [-8.94031284e-02 9.95995369e-01 5.52804827e-04 -5.17796241e+01] [ 4.53301020e-03 -1.48127043e-04 9.99989715e-01 1.98315122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9807140569999 meters Centerline goodness [0,1] 0.9977844661817574 Centerline is valid? [True, True] Translation: X:692.83, Y:-51.78, Z:1.98 [[ 9.96066195e-01 8.84765382e-02 -4.90272843e-03 6.92829751e+02] [-8.84746477e-02 9.96078247e-01 6.01575767e-04 -5.17810467e+01] [ 4.93672648e-03 -1.65442115e-04 9.99987801e-01 1.98318918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.010714057 meters Centerline goodness [0,1] 0.9972656494604354 Centerline is valid? [True, True] Translation: X:692.86, Y:-51.78, Z:1.98 [[ 9.96176675e-01 8.72203319e-02 -4.96437808e-03 6.92858568e+02] [-8.72183798e-02 9.96189030e-01 6.08774836e-04 -5.17827450e+01] [ 4.99855652e-03 -1.73462280e-04 9.99987492e-01 1.98250904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.040714057 meters Centerline goodness [0,1] 0.9973532292686993 Centerline is valid? [True, True] Translation: X:692.89, Y:-51.79, Z:1.98 [[ 9.96192491e-01 8.70506281e-02 -4.76533244e-03 6.92886431e+02] [-8.70488292e-02 9.96203875e-01 5.84009042e-04 -5.17869751e+01] [ 4.79808100e-03 -1.66968813e-04 9.99988475e-01 1.98280083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0707140569999 meters Centerline goodness [0,1] 0.9971230820547031 Centerline is valid? [True, True] Translation: X:692.91, Y:-51.79, Z:1.98 [[ 9.96188863e-01 8.70709324e-02 -5.13830790e-03 6.92913761e+02] [-8.70688439e-02 9.96202098e-01 6.29190830e-04 -5.17905738e+01] [ 5.17357734e-03 -1.79406369e-04 9.99986601e-01 1.98352724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1007140569999 meters Centerline goodness [0,1] 0.9969040247678018 Centerline is valid? [True, True] Translation: X:692.94, Y:-51.79, Z:1.98 [[ 9.96202637e-01 8.69316863e-02 -4.81535924e-03 6.92941462e+02] [-8.69298525e-02 9.96214261e-01 5.89232781e-04 -5.17936483e+01] [ 4.84835254e-03 -1.68396783e-04 9.99988232e-01 1.98370069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.130714057 meters Centerline goodness [0,1] 0.9968117693638125 Centerline is valid? [True, True] Translation: X:692.97, Y:-51.80, Z:1.99 [[ 9.96105287e-01 8.81002566e-02 -3.54979640e-03 6.92970055e+02] [-8.80992682e-02 9.96111605e-01 4.34140294e-04 -5.17952680e+01] [ 3.57424126e-03 -1.19714978e-04 9.99993605e-01 1.98526686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.160714057 meters Centerline goodness [0,1] 0.9973088557421508 Centerline is valid? [True, True] Translation: X:693.00, Y:-51.80, Z:1.99 [[ 9.96027956e-01 8.89936618e-02 -2.90515994e-03 6.92999219e+02] [-8.89930041e-02 9.96032188e-01 3.55146185e-04 -5.17976838e+01] [ 2.92523857e-03 -9.51966176e-05 9.99995717e-01 1.98634715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1907140569999 meters Centerline goodness [0,1] 0.9969339229100618 Centerline is valid? [True, True] Translation: X:693.03, Y:-51.80, Z:1.99 [[ 9.95941667e-01 8.99648405e-02 -2.55396417e-03 6.93028347e+02] [-8.99643358e-02 9.95944939e-01 3.12065467e-04 -5.17997530e+01] [ 2.57168260e-03 -8.10333120e-05 9.99996690e-01 1.98659001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2207140569999 meters Centerline goodness [0,1] 0.9968112780062096 Centerline is valid? [True, True] Translation: X:693.06, Y:-51.80, Z:1.99 [[ 9.95833698e-01 9.11792183e-02 -1.26308638e-03 6.93056863e+02] [-9.11790957e-02 9.95834499e-01 1.54390374e-04 -5.18012797e+01] [ 1.27190219e-03 -3.85800629e-05 9.99999190e-01 1.98671162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.250714057 meters Centerline goodness [0,1] 0.997254359490275 Centerline is valid? [True, True] Translation: X:693.09, Y:-51.80, Z:1.99 [[ 9.95775888e-01 9.18062147e-02 -1.41430155e-03 6.93085887e+02] [-9.18060618e-02 9.95776891e-01 1.72736088e-04 -5.18045086e+01] [ 1.42418705e-03 -4.21649758e-05 9.99998985e-01 1.98635351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.280714057 meters Centerline goodness [0,1] 0.9968190189184665 Centerline is valid? [True, True] Translation: X:693.11, Y:-51.81, Z:1.99 [[ 9.95753083e-01 9.20556227e-02 -1.24907449e-03 6.93113270e+02] [-9.20555037e-02 9.95753866e-01 1.52548327e-04 -5.18087262e+01] [ 1.25781369e-03 -3.69162857e-05 9.99999208e-01 1.98576876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3107140569999 meters Centerline goodness [0,1] 0.9971104274072842 Centerline is valid? [True, True] Translation: X:693.14, Y:-51.81, Z:1.98 [[ 9.95691973e-01 9.26827224e-02 -2.72177296e-03 6.93141744e+02] [-9.26821616e-02 9.95695690e-01 3.31721863e-04 -5.18097388e+01] [ 2.74080249e-03 -7.80329951e-05 9.99996241e-01 1.98423211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3407140569999 meters Centerline goodness [0,1] 0.996944692702596 Centerline is valid? [True, True] Translation: X:693.17, Y:-51.81, Z:1.98 [[ 9.95714149e-01 9.24093143e-02 -3.72193987e-03 6.93170536e+02] [-9.24082651e-02 9.95721099e-01 4.53250449e-04 -5.18133895e+01] [ 3.74789862e-03 -1.07369879e-04 9.99992971e-01 1.98302774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.370714057 meters Centerline goodness [0,1] 0.9969469479935593 Centerline is valid? [True, True] Translation: X:693.20, Y:-51.82, Z:1.98 [[ 9.95816539e-01 9.12617453e-02 -4.55122741e-03 6.93198637e+02] [-9.12601663e-02 9.95826930e-01 5.53846510e-04 -5.18174114e+01] [ 4.58277982e-03 -1.36183744e-04 9.99989490e-01 1.98140041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.400714057 meters Centerline goodness [0,1] 0.9973751093704429 Centerline is valid? [True, True] Translation: X:693.23, Y:-51.82, Z:1.98 [[ 9.95911695e-01 9.01763812e-02 -5.30254711e-03 6.93226766e+02] [-9.01742254e-02 9.95925797e-01 6.44737843e-04 -5.18212406e+01] [ 5.33908358e-03 -1.63948880e-04 9.99985734e-01 1.98135571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4307140569999 meters Centerline goodness [0,1] 0.9970397548416686 Centerline is valid? [True, True] Translation: X:693.25, Y:-51.83, Z:1.98 [[ 9.96027452e-01 8.88757477e-02 -5.51507614e-03 6.93254026e+02] [-8.88733985e-02 9.96042705e-01 6.70062379e-04 -5.18267275e+01] [ 5.55280365e-03 -1.77256964e-04 9.99984567e-01 1.98164169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4607140569999 meters Centerline goodness [0,1] 0.9971217019501513 Centerline is valid? [True, True] Translation: X:693.28, Y:-51.83, Z:1.98 [[ 9.96149803e-01 8.75162497e-02 -5.14555426e-03 6.93282759e+02] [-8.75141889e-02 9.96163077e-01 6.24746333e-04 -5.18306117e+01] [ 5.18048662e-03 -1.72031929e-04 9.99986566e-01 1.98212251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.490714057 meters Centerline goodness [0,1] 0.9975913203753352 Centerline is valid? [True, True] Translation: X:693.31, Y:-51.83, Z:1.98 [[ 9.96336265e-01 8.53974426e-02 -4.61783455e-03 6.93311612e+02] [-8.53957614e-02 9.96346953e-01 5.60368986e-04 -5.18347419e+01] [ 4.64881946e-03 -1.63972445e-04 9.99989181e-01 1.98364591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.520714057 meters Centerline goodness [0,1] 0.9974964010765476 Centerline is valid? [True, True] Translation: X:693.34, Y:-51.84, Z:1.98 [[ 9.96403886e-01 8.46202940e-02 -4.32449334e-03 6.93338610e+02] [-8.46188136e-02 9.96413258e-01 5.24476662e-04 -5.18394226e+01] [ 4.35336387e-03 -1.56657088e-04 9.99990512e-01 1.98388747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5507140569999 meters Centerline goodness [0,1] 0.99736847601345 Centerline is valid? [True, True] Translation: X:693.37, Y:-51.84, Z:1.98 [[ 9.96439576e-01 8.42167140e-02 -3.96428852e-03 6.93367377e+02] [-8.42154678e-02 9.96447452e-01 4.80553996e-04 -5.18434102e+01] [ 3.99067587e-03 -1.44988609e-04 9.99992027e-01 1.98477119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5807140569999 meters Centerline goodness [0,1] 0.997415428226025 Centerline is valid? [True, True] Translation: X:693.39, Y:-51.85, Z:1.99 [[ 9.96446696e-01 8.41775254e-02 -2.85073018e-03 6.93394864e+02] [-8.41768811e-02 9.96450768e-01 3.45464561e-04 -5.18474761e+01] [ 2.86969263e-03 -1.04271445e-04 9.99995877e-01 1.98615831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6107140569999 meters Centerline goodness [0,1] 0.9974453236961804 Centerline is valid? [True, True] Translation: X:693.42, Y:-51.85, Z:1.99 [[ 9.96407121e-01 8.46567597e-02 -2.46633444e-03 6.93424027e+02] [-8.46562794e-02 9.96410169e-01 2.98651542e-04 -5.18504747e+01] [ 2.48276358e-03 -8.87878254e-05 9.99996914e-01 1.98669937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.640714057 meters Centerline goodness [0,1] 0.9972481080743011 Centerline is valid? [True, True] Translation: X:693.45, Y:-51.85, Z:1.99 [[ 9.96327757e-01 8.55969111e-02 -2.04191316e-03 6.93452225e+02] [-8.55965840e-02 9.96329847e-01 2.47220219e-04 -5.18532457e+01] [ 2.05558031e-03 -7.15315750e-05 9.99997885e-01 1.98704552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6707140569999 meters Centerline goodness [0,1] 0.997269468067367 Centerline is valid? [True, True] Translation: X:693.48, Y:-51.85, Z:1.99 [[ 9.96249445e-01 8.64994484e-02 -2.21121996e-03 6.93480839e+02] [-8.64990674e-02 9.96251896e-01 2.67540752e-04 -5.18542603e+01] [ 2.22607420e-03 -7.52688614e-05 9.99997519e-01 1.98701906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7007140569999 meters Centerline goodness [0,1] 0.9968407050216163 Centerline is valid? [True, True] Translation: X:693.51, Y:-51.86, Z:1.99 [[ 9.96045276e-01 8.88111305e-02 -2.52814098e-03 6.93509774e+02] [-8.88106406e-02 9.96048481e-01 3.05634204e-04 -5.18560213e+01] [ 2.54529471e-03 -7.98996849e-05 9.99996758e-01 1.98694814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7307140569999 meters Centerline goodness [0,1] 0.997167197817076 Centerline is valid? [True, True] Translation: X:693.54, Y:-51.86, Z:1.99 [[ 9.95928663e-01 9.01160442e-02 -2.27984175e-03 6.93538679e+02] [-9.01156494e-02 9.95931270e-01 2.75546995e-04 -5.18571237e+01] [ 2.29539689e-03 -6.89757303e-05 9.99997363e-01 1.98693701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.760714057 meters Centerline goodness [0,1] 0.9976066597294485 Centerline is valid? [True, True] Translation: X:693.57, Y:-51.86, Z:1.99 [[ 9.95777822e-01 9.17672842e-02 -2.30104817e-03 6.93567137e+02] [-9.17668867e-02 9.95780478e-01 2.77941996e-04 -5.18595198e+01] [ 2.31684483e-03 -6.56084489e-05 9.99997314e-01 1.98719707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.790714057 meters Centerline goodness [0,1] 0.9978279938181362 Centerline is valid? [True, True] Translation: X:693.60, Y:-51.86, Z:1.99 [[ 9.95578958e-01 9.38927417e-02 -2.58687899e-03 6.93596000e+02] [-9.38922472e-02 9.95582316e-01 3.12247244e-04 -5.18611796e+01] [ 2.60476873e-03 -6.79789046e-05 9.99996605e-01 1.98731881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8207140569999 meters Centerline goodness [0,1] 0.9979713479033776 Centerline is valid? [True, True] Translation: X:693.63, Y:-51.86, Z:1.99 [[ 9.95017672e-01 9.96394434e-02 -3.43716358e-03 6.93625855e+02] [-9.96386057e-02 9.95023606e-01 4.14516968e-04 -5.18605979e+01] [ 3.46136114e-03 -6.99775223e-05 9.99994007e-01 1.98616347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8507140569999 meters Centerline goodness [0,1] 0.9983451685204968 Centerline is valid? [True, True] Translation: X:693.65, Y:-51.86, Z:1.99 [[ 9.94709622e-01 1.02656825e-01 -3.78737628e-03 6.93654834e+02] [-1.02655831e-01 9.94716830e-01 4.56609062e-04 -5.18614767e+01] [ 3.81424096e-03 -6.53971698e-05 9.99992724e-01 1.98565492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.880714057 meters Centerline goodness [0,1] 0.9979462246159649 Centerline is valid? [True, True] Translation: X:693.68, Y:-51.86, Z:1.99 [[ 9.93965099e-01 1.09621235e-01 -4.07030072e-03 6.93683679e+02] [-1.09620146e-01 9.93973432e-01 4.90395397e-04 -5.18614645e+01] [ 4.09952853e-03 -4.12489498e-05 9.99991596e-01 1.98507445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.910714057 meters Centerline goodness [0,1] 0.9977091696265316 Centerline is valid? [True, True] Translation: X:693.71, Y:-51.86, Z:1.98 [[ 9.93539203e-01 1.13407216e-01 -4.31907487e-03 6.93711920e+02] [-1.13406027e-01 9.93548591e-01 5.20031131e-04 -5.18636707e+01] [ 4.35018603e-03 -2.68621935e-05 9.99990538e-01 1.98486709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9407140569999 meters Centerline goodness [0,1] 0.9981716159132463 Centerline is valid? [True, True] Translation: X:693.74, Y:-51.87, Z:1.98 [[ 9.93153884e-01 1.16737408e-01 -4.21203601e-03 6.93740663e+02] [-1.16736308e-01 9.93162815e-01 5.06844178e-04 -5.18662188e+01] [ 4.24240522e-03 -1.16767296e-05 9.99991001e-01 1.98463993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9707140569999 meters Centerline goodness [0,1] 0.9987599310605743 Centerline is valid? [True, True] Translation: X:693.77, Y:-51.87, Z:1.98 [[ 9.92801724e-01 1.19694555e-01 -4.23681221e-03 6.93768910e+02] [-1.19693471e-01 9.92810764e-01 5.09513148e-04 -5.18697490e+01] [ 4.26733872e-03 1.27322668e-06 9.99990895e-01 1.98493134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.000714057 meters Centerline goodness [0,1] 0.9984490600046109 Centerline is valid? [True, True] Translation: X:693.80, Y:-51.87, Z:1.98 [[ 9.92523441e-01 1.21997255e-01 -3.72687025e-03 6.93797088e+02] [-1.21996433e-01 9.92530438e-01 4.47950606e-04 -5.18740232e+01] [ 3.75368091e-03 1.00634009e-05 9.99992955e-01 1.98490154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.030714057 meters Centerline goodness [0,1] 0.9989523969158565 Centerline is valid? [True, True] Translation: X:693.82, Y:-51.88, Z:1.99 [[ 9.91980390e-01 1.26334200e-01 -3.81770682e-03 6.93824006e+02] [-1.26333370e-01 9.91987736e-01 4.58584268e-04 -5.18796680e+01] [ 3.84505323e-03 2.73971687e-05 9.99992607e-01 1.98524752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0607140569999 meters Centerline goodness [0,1] 0.9988448290346972 Centerline is valid? [True, True] Translation: X:693.85, Y:-51.88, Z:1.99 [[ 9.91726735e-01 1.28328509e-01 -3.14261981e-03 6.93852812e+02] [-1.28327957e-01 9.91731714e-01 3.77253959e-04 -5.18848683e+01] [ 3.16504817e-03 2.91531437e-05 9.99994991e-01 1.98567955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0907140569999 meters Centerline goodness [0,1] 0.998507305792074 Centerline is valid? [True, True] Translation: X:693.88, Y:-51.89, Z:1.99 [[ 9.91506040e-01 1.30019331e-01 -3.27803932e-03 6.93879769e+02] [-1.30018741e-01 9.91511459e-01 3.93287234e-04 -5.18898643e+01] [ 3.30134849e-03 3.62598771e-05 9.99994550e-01 1.98610048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.120714057 meters Centerline goodness [0,1] 0.9990987592219986 Centerline is valid? [True, True] Translation: X:693.91, Y:-51.90, Z:1.99 [[ 9.91060724e-01 1.33388814e-01 -2.46297178e-03 6.93906380e+02] [-1.33388492e-01 9.91063783e-01 2.95313459e-04 -5.18969582e+01] [ 2.48035364e-03 3.58585221e-05 9.99996923e-01 1.98713999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.150714057 meters Centerline goodness [0,1] 0.999329702555509 Centerline is valid? [True, True] Translation: X:693.93, Y:-51.90, Z:1.99 [[ 9.90835927e-01 1.35046916e-01 -2.54881327e-03 6.93934648e+02] [-1.35046577e-01 9.90839204e-01 3.05338905e-04 -5.19030231e+01] [ 2.56669919e-03 4.16677514e-05 9.99996705e-01 1.98721753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1807140569999 meters Centerline goodness [0,1] 0.9995203936942197 Centerline is valid? [True, True] Translation: X:693.96, Y:-51.91, Z:1.99 [[ 9.90633879e-01 1.36529067e-01 -2.08103095e-03 6.93961765e+02] [-1.36528845e-01 9.90636065e-01 2.49236711e-04 -5.19091078e+01] [ 2.09557236e-03 3.72184216e-05 9.99997804e-01 1.98739763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2107140569999 meters Centerline goodness [0,1] 0.9996875130202908 Centerline is valid? [True, True] Translation: X:693.99, Y:-51.92, Z:1.99 [[ 9.90486068e-01 1.37596815e-01 -2.11330793e-03 6.93989260e+02] [-1.37596588e-01 9.90488321e-01 2.52878963e-04 -5.19216385e+01] [ 2.12800217e-03 4.03108715e-05 9.99997735e-01 1.98735312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.240714057 meters Centerline goodness [0,1] 0.9999582637729549 Centerline is valid? [True, True] Translation: X:694.02, Y:-51.93, Z:1.99 [[ 9.90583132e-01 1.36901515e-01 -1.74177422e-03 6.94016144e+02] [-1.36901360e-01 9.90584663e-01 2.08399952e-04 -5.19297644e+01] [ 1.75390510e-03 3.20137828e-05 9.99998461e-01 1.98812872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.270714057 meters Centerline goodness [0,1] 0.9998122849097925 Centerline is valid? [True, True] Translation: X:694.04, Y:-51.95, Z:1.99 [[ 9.91104313e-01 1.33078400e-01 -1.54261356e-03 6.94044275e+02] [-1.33078274e-01 9.91105514e-01 1.84329507e-04 -5.19471160e+01] [ 1.55342308e-03 2.25985813e-05 9.99998793e-01 1.98758876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3007140569999 meters Centerline goodness [0,1] 0.9999791801128438 Centerline is valid? [True, True] Translation: X:694.07, Y:-51.96, Z:1.99 [[ 9.91515099e-01 1.29975167e-01 -2.06502772e-03 6.94072012e+02] [-1.29974935e-01 9.91517249e-01 2.46663277e-04 -5.19562112e+01] [ 2.07957071e-03 2.38314800e-05 9.99997837e-01 1.98771722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3307140569999 meters Centerline goodness [0,1] 0.9996872263230326 Centerline is valid? [True, True] Translation: X:694.10, Y:-51.97, Z:1.99 [[ 9.91976738e-01 1.26401973e-01 -2.16617023e-03 6.94101124e+02] [-1.26401710e-01 9.91979103e-01 2.58514853e-04 -5.19687265e+01] [ 2.18147239e-03 1.73669009e-05 9.99997620e-01 1.98709727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3607140569999 meters Centerline goodness [0,1] 0.9996872263230326 Centerline is valid? [True, True] Translation: X:694.13, Y:-51.97, Z:1.99 [[ 9.91981161e-01 1.26367261e-01 -2.16616242e-03 6.94130088e+02] [-1.26366997e-01 9.91983526e-01 2.58580344e-04 -5.19721534e+01] [ 2.18147352e-03 1.72246107e-05 9.99997620e-01 1.98721587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.390714057 meters Centerline goodness [0,1] 0.9991859737006888 Centerline is valid? [True, True] Translation: X:694.16, Y:-51.98, Z:1.99 [[ 9.92407777e-01 1.22967771e-01 -2.39394829e-03 6.94159656e+02] [-1.22967440e-01 9.92410665e-01 2.85613351e-04 -5.19839908e+01] [ 2.41090105e-03 1.09327814e-05 9.99997094e-01 1.98663850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4207140569999 meters Centerline goodness [0,1] 0.9987480960627622 Centerline is valid? [True, True] Translation: X:694.19, Y:-52.00, Z:1.99 [[ 9.93224230e-01 1.16190886e-01 -2.30383417e-03 6.94190106e+02] [-1.16190562e-01 9.93226902e-01 2.74425757e-04 -5.20026727e+01] [ 2.32011584e-03 -4.88252533e-06 9.99997309e-01 1.98589658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4507140569999 meters Centerline goodness [0,1] 0.9984964918142332 Centerline is valid? [True, True] Translation: X:694.22, Y:-52.01, Z:1.99 [[ 9.93550749e-01 1.13364137e-01 -2.34110567e-03 6.94220063e+02] [-1.13363793e-01 9.93553508e-01 2.79505479e-04 -5.20141242e+01] [ 2.35769964e-03 -1.23062596e-05 9.99997221e-01 1.98610713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4807140569999 meters Centerline goodness [0,1] 0.9983444055577677 Centerline is valid? [True, True] Translation: X:694.25, Y:-52.02, Z:1.99 [[ 9.93812394e-01 1.11054731e-01 -1.94216423e-03 6.94251302e+02] [-1.11054490e-01 9.93814292e-01 2.32128610e-04 -5.20237452e+01] [ 1.95592955e-03 -1.50062316e-05 9.99998087e-01 1.98607906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.510714057 meters Centerline goodness [0,1] 0.9979342723004695 Centerline is valid? [True, True] Translation: X:694.28, Y:-52.04, Z:1.99 [[ 9.94295901e-01 1.06653777e-01 -7.95576121e-04 6.94280953e+02] [-1.06653735e-01 9.94296219e-01 9.47563172e-05 -5.20404259e+01] [ 8.01144448e-04 -9.36465283e-06 9.99999679e-01 1.98672010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.540714057 meters Centerline goodness [0,1] 0.9972878244179254 Centerline is valid? [True, True] Translation: X:694.31, Y:-52.05, Z:1.99 [[ 9.94467500e-01 1.05044226e-01 -3.20066043e-04 6.94312155e+02] [-1.05044219e-01 9.94467551e-01 3.75888337e-05 -5.20489039e+01] [ 3.22243784e-04 -3.75978584e-06 9.99999948e-01 1.98662667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5707140569999 meters Centerline goodness [0,1] 0.9974968710888611 Centerline is valid? [True, True] Translation: X:694.34, Y:-52.06, Z:1.99 [[ 9.94650003e-01 1.03301322e-01 4.55828440e-04 6.94343226e+02] [-1.03301307e-01 9.94650108e-01 -5.60192061e-05 -5.20580337e+01] [-4.59176665e-04 8.63182997e-06 9.99999895e-01 1.98739408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6007140569999 meters Centerline goodness [0,1] 0.9975584816677449 Centerline is valid? [True, True] Translation: X:694.37, Y:-52.07, Z:1.99 [[ 9.94851836e-01 1.01334947e-01 1.02630807e-03 6.94374051e+02] [-1.01334872e-01 9.94852365e-01 -1.25066044e-04 -5.20667630e+01] [-1.03369858e-03 2.04213863e-05 9.99999466e-01 1.98750812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.630714057 meters Centerline goodness [0,1] 0.9972088566727072 Centerline is valid? [True, True] Translation: X:694.40, Y:-52.08, Z:1.99 [[ 9.95305780e-01 9.67618232e-02 1.88492772e-03 6.94404579e+02] [-9.67615623e-02 9.95307564e-01 -2.29355977e-04 -5.20789928e+01] [-1.89827572e-03 4.58907784e-05 9.99998197e-01 1.98711216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.660714057 meters Centerline goodness [0,1] 0.9977488744372186 Centerline is valid? [True, True] Translation: X:694.44, Y:-52.08, Z:1.99 [[ 9.95518292e-01 9.45481943e-02 1.99234301e-03 6.94435903e+02] [-9.45478974e-02 9.95520284e-01 -2.42872149e-04 -5.20846939e+01] [-2.00638100e-03 5.34118241e-05 9.99997986e-01 1.98591246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6907140569999 meters Centerline goodness [0,1] 0.997732143228679 Centerline is valid? [True, True] Translation: X:694.47, Y:-52.09, Z:1.99 [[ 9.95722235e-01 9.23864552e-02 1.40471347e-03 6.94467249e+02] [-9.23863045e-02 9.95723225e-01 -1.71937353e-04 -5.20919270e+01] [-1.41459051e-03 4.14255588e-05 9.99998999e-01 1.98553559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7207140569999 meters Centerline goodness [0,1] 0.9968985100274523 Centerline is valid? [True, True] Translation: X:694.50, Y:-52.10, Z:1.98 [[ 9.96054134e-01 8.87347041e-02 1.52163768e-03 6.94498336e+02] [-8.87345241e-02 9.96055295e-01 -1.85559318e-04 -5.21009830e+01] [-1.53210082e-03 4.98053305e-05 9.99998825e-01 1.98418523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.750714057 meters Centerline goodness [0,1] 0.9975290028060476 Centerline is valid? [True, True] Translation: X:694.53, Y:-52.11, Z:1.98 [[ 9.96125740e-01 8.79315112e-02 1.24838821e-03 6.94529101e+02] [-8.79313882e-02 9.96126522e-01 -1.53235202e-04 -5.21081178e+01] [-1.25702681e-03 4.28690208e-05 9.99999209e-01 1.98419895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.780714057 meters Centerline goodness [0,1] 0.9976618930316062 Centerline is valid? [True, True] Translation: X:694.56, Y:-52.11, Z:1.98 [[ 9.96130681e-01 8.78803389e-02 8.43754139e-04 6.94561793e+02] [-8.78802820e-02 9.96131038e-01 -1.04320392e-04 -5.21131754e+01] [-8.49657398e-04 2.97673916e-05 9.99999639e-01 1.98341357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8107140569999 meters Centerline goodness [0,1] 0.9977652931225329 Centerline is valid? [True, True] Translation: X:694.59, Y:-52.12, Z:1.98 [[ 9.96008307e-01 8.92587411e-02 5.74369135e-04 6.94592380e+02] [-8.92587148e-02 9.96008472e-01 -7.12919972e-05 -5.21188040e+01] [-5.78439959e-04 1.97399707e-05 9.99999833e-01 1.98336508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8407140569999 meters Centerline goodness [0,1] 0.9976865842729413 Centerline is valid? [True, True] Translation: X:694.62, Y:-52.12, Z:1.98 [[ 9.95869609e-01 9.07907759e-02 8.69439900e-04 6.94623801e+02] [-9.07907164e-02 9.95869989e-01 -1.07706588e-04 -5.21230200e+01] [-8.75627868e-04 2.83246464e-05 9.99999616e-01 1.98353359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.870714057 meters Centerline goodness [0,1] 0.9974740621672964 Centerline is valid? [True, True] Translation: X:694.66, Y:-52.13, Z:1.98 [[ 9.95700530e-01 9.26220413e-02 1.26948764e-03 6.94656345e+02] [-9.26219172e-02 9.95701339e-01 -1.56287140e-04 -5.21265615e+01] [-1.27850618e-03 3.80328082e-05 9.99999182e-01 1.98399008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.900714057 meters Centerline goodness [0,1] 0.9965362545644236 Centerline is valid? [True, True] Translation: X:694.69, Y:-52.13, Z:1.98 [[ 9.95479469e-01 9.49605728e-02 1.76541986e-03 6.94688812e+02] [-9.49603349e-02 9.95481033e-01 -2.18311889e-04 -5.21275723e+01] [-1.77817301e-03 4.96801423e-05 9.99998418e-01 1.98394825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9307140569999 meters Centerline goodness [0,1] 0.9968121473962375 Centerline is valid? [True, True] Translation: X:694.72, Y:-52.13, Z:1.98 [[ 9.95004295e-01 9.98094006e-02 2.12999335e-03 6.94719676e+02] [-9.98090675e-02 9.95006573e-01 -2.62393340e-04 -5.21304180e+01] [-2.14554671e-03 4.84898501e-05 9.99997697e-01 1.98473843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9607140569999 meters Centerline goodness [0,1] 0.9971690991444389 Centerline is valid? [True, True] Translation: X:694.75, Y:-52.13, Z:1.98 [[ 9.94792196e-01 1.01905228e-01 1.95207232e-03 6.94751804e+02] [-1.01904950e-01 9.94794111e-01 -2.41852710e-04 -5.21322288e+01] [-1.96655610e-03 4.16673578e-05 9.99998065e-01 1.98394782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.990714057 meters Centerline goodness [0,1] 0.9971096449890041 Centerline is valid? [True, True] Translation: X:694.78, Y:-52.14, Z:1.98 [[ 9.94609192e-01 1.03670261e-01 2.24325874e-03 6.94783701e+02] [-1.03669896e-01 9.94611721e-01 -2.78343624e-04 -5.21355286e+01] [-2.26002740e-03 4.42847259e-05 9.99997445e-01 1.98315754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.020714057 meters Centerline goodness [0,1] 0.9969841037133224 Centerline is valid? [True, True] Translation: X:694.81, Y:-52.14, Z:1.98 [[ 9.94494898e-01 1.04776633e-01 1.32466146e-03 6.94814692e+02] [-1.04776506e-01 9.94495780e-01 -1.65003413e-04 -5.21410797e+01] [-1.33465874e-03 2.53016533e-05 9.99999109e-01 1.98365774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0507140569999 meters Centerline goodness [0,1] 0.9972524015269096 Centerline is valid? [True, True] Translation: X:694.85, Y:-52.14, Z:1.98 [[ 9.94345440e-01 1.06190259e-01 8.80721411e-04 6.94847269e+02] [-1.06190203e-01 9.94345829e-01 -1.10313422e-04 -5.21422666e+01] [-8.87455872e-04 1.61656626e-05 9.99999606e-01 1.98277315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0807140569999 meters Centerline goodness [0,1] 0.9966895742541066 Centerline is valid? [True, True] Translation: X:694.88, Y:-52.15, Z:1.98 [[ 9.94312512e-01 1.06498878e-01 7.85545837e-04 6.94878838e+02] [-1.06498834e-01 9.94312822e-01 -9.83515755e-05 -5.21461448e+01] [-7.91552631e-04 1.41324865e-05 9.99999687e-01 1.98324339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1107140569999 meters Centerline goodness [0,1] 0.9971511761871845 Centerline is valid? [True, True] Translation: X:694.91, Y:-52.15, Z:1.98 [[ 9.94235011e-01 1.07220084e-01 7.72496804e-04 6.94911954e+02] [-1.07220041e-01 9.94235311e-01 -9.73935930e-05 -5.21487985e+01] [-7.78486150e-04 1.40049809e-05 9.99999697e-01 1.98330988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.140714057 meters Centerline goodness [0,1] 0.9966920693409262 Centerline is valid? [True, True] Translation: X:694.94, Y:-52.15, Z:1.98 [[ 9.94022846e-01 1.09161408e-01 1.53926627e-03 6.94944417e+02] [-1.09161240e-01 9.94024037e-01 -1.93151796e-04 -5.21518625e+01] [-1.55115239e-03 2.39690837e-05 9.99998797e-01 1.98435065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1707140569999 meters Centerline goodness [0,1] 0.9971734260170432 Centerline is valid? [True, True] Translation: X:694.98, Y:-52.16, Z:1.99 [[ 9.93909556e-01 1.10185956e-01 1.68825896e-03 6.94976365e+02] [-1.10185755e-01 9.93910989e-01 -2.12166369e-04 -5.21558297e+01] [-1.70135689e-03 2.48520937e-05 9.99998552e-01 1.98557665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2007140569999 meters Centerline goodness [0,1] 0.9975308125300801 Centerline is valid? [True, True] Translation: X:695.01, Y:-52.16, Z:1.99 [[ 9.93813246e-01 1.11032983e-01 2.62863497e-03 6.95009253e+02] [-1.11032496e-01 9.93816721e-01 -3.30713721e-04 -5.21596741e+01] [-2.64910152e-03 3.68037735e-05 9.99996490e-01 1.98614456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2307140569999 meters Centerline goodness [0,1] 0.9965846852287636 Centerline is valid? [True, True] Translation: X:695.04, Y:-52.17, Z:1.99 [[ 9.93731836e-01 1.11732037e-01 3.60417828e-03 6.95040519e+02] [-1.11731128e-01 9.93738371e-01 -4.53219975e-04 -5.21658946e+01] [-3.63224945e-03 4.76802118e-05 9.99993402e-01 1.98781951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.260714057 meters Centerline goodness [0,1] 0.9974097593582888 Centerline is valid? [True, True] Translation: X:695.07, Y:-52.17, Z:1.99 [[ 9.93731856e-01 1.11720121e-01 3.95132936e-03 6.95072977e+02] [-1.11719022e-01 9.93739710e-01 -4.98355283e-04 -5.21685778e+01] [-3.98226921e-03 5.37928673e-05 9.99992069e-01 1.98690620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.290714057 meters Centerline goodness [0,1] 0.9968263248006013 Centerline is valid? [True, True] Translation: X:695.11, Y:-52.17, Z:1.99 [[ 9.93739157e-01 1.11655934e-01 3.92949500e-03 6.95105773e+02] [-1.11654843e-01 9.93746924e-01 -4.96781402e-04 -5.21720495e+01] [-3.96039216e-03 5.49239857e-05 9.99992156e-01 1.98594214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3207140569999 meters Centerline goodness [0,1] 0.9975956009952122 Centerline is valid? [True, True] Translation: X:695.14, Y:-52.18, Z:1.99 [[ 9.93734594e-01 1.11714290e-01 3.38749818e-03 6.95137655e+02] [-1.11713475e-01 9.93740366e-01 -4.29257631e-04 -5.21773490e+01] [-3.41424789e-03 4.81389636e-05 9.99994170e-01 1.98609488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3507140569999 meters Centerline goodness [0,1] 0.9977039325373632 Centerline is valid? [True, True] Translation: X:695.17, Y:-52.18, Z:1.98 [[ 9.93707902e-01 1.11971505e-01 2.64327016e-03 6.95170054e+02] [-1.11971008e-01 9.93711417e-01 -3.35991839e-04 -5.21810301e+01] [-2.66426925e-03 3.79081224e-05 9.99996450e-01 1.98473343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.380714057 meters Centerline goodness [0,1] 0.9971149624736061 Centerline is valid? [True, True] Translation: X:695.20, Y:-52.19, Z:1.98 [[ 9.93826307e-01 1.10905306e-01 3.04700939e-03 6.95201980e+02] [-1.10904638e-01 9.93830977e-01 -3.87760321e-04 -5.21861291e+01] [-3.07121700e-03 4.74389346e-05 9.99995283e-01 1.98398092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.410714057 meters Centerline goodness [0,1] 0.9971584379766407 Centerline is valid? [True, True] Translation: X:695.23, Y:-52.19, Z:1.98 [[ 9.93908873e-01 1.10153517e-01 3.36957795e-03 6.95234160e+02] [-1.10152694e-01 9.93914584e-01 -4.29563862e-04 -5.21911307e+01] [-3.39639063e-03 5.57792460e-05 9.99994231e-01 1.98425066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4407140569999 meters Centerline goodness [0,1] 0.9970733950707611 Centerline is valid? [True, True] Translation: X:695.27, Y:-52.20, Z:1.98 [[ 9.94010354e-01 1.09227818e-01 3.56375006e-03 6.95265687e+02] [-1.09226888e-01 9.94016740e-01 -4.55153674e-04 -5.21963707e+01] [-3.59214266e-03 6.31701376e-05 9.99993546e-01 1.98449446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4707140569999 meters Centerline goodness [0,1] 0.9969909729187563 Centerline is valid? [True, True] Translation: X:695.30, Y:-52.20, Z:1.98 [[ 9.94190874e-01 1.07571489e-01 3.58908795e-03 6.95295966e+02] [-1.07570532e-01 9.94197350e-01 -4.59135587e-04 -5.22021889e+01] [-3.61765162e-03 7.03883087e-05 9.99993454e-01 1.98434292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.500714057 meters Centerline goodness [0,1] 0.9972416098967694 Centerline is valid? [True, True] Translation: X:695.33, Y:-52.21, Z:1.98 [[ 9.94188652e-01 1.07613160e-01 2.88665421e-03 6.95328775e+02] [-1.07612538e-01 9.94192841e-01 -3.70502872e-04 -5.22064853e+01] [-2.90976194e-03 5.77095649e-05 9.99995765e-01 1.98403047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.530714057 meters Centerline goodness [0,1] 0.9966152688980819 Centerline is valid? [True, True] Translation: X:695.36, Y:-52.21, Z:1.98 [[ 9.94180770e-01 1.07667732e-01 3.50080951e-03 6.95360954e+02] [-1.07666814e-01 9.94186931e-01 -4.49959544e-04 -5.22109599e+01] [-3.52890519e-03 7.04201178e-05 9.99993771e-01 1.98375885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5607140569999 meters Centerline goodness [0,1] 0.997037037037037 Centerline is valid? [True, True] Translation: X:695.39, Y:-52.22, Z:1.98 [[ 9.94101456e-01 1.08382174e-01 3.94953994e-03 6.95393033e+02] [-1.08381009e-01 9.94109299e-01 -5.08538154e-04 -5.22155443e+01] [-3.98139085e-03 7.74833965e-05 9.99992071e-01 1.98431113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5907140569999 meters Centerline goodness [0,1] 0.9970771832397336 Centerline is valid? [True, True] Translation: X:695.43, Y:-52.22, Z:1.98 [[ 9.94035501e-01 1.08974984e-01 4.22795800e-03 6.95426158e+02] [-1.08973649e-01 9.94044489e-01 -5.45559582e-04 -5.22200600e+01] [-4.26223070e-03 8.15695812e-05 9.99990913e-01 1.98486933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.620714057 meters Centerline goodness [0,1] 0.9966284417989969 Centerline is valid? [True, True] Translation: X:695.46, Y:-52.22, Z:1.98 [[ 9.93942505e-01 1.09803417e-01 4.63757417e-03 6.95458678e+02] [-1.09801815e-01 9.93953320e-01 -5.99607023e-04 -5.22239604e+01] [-4.67537114e-03 8.67608472e-05 9.99989067e-01 1.98454323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.650714057 meters Centerline goodness [0,1] 0.9968353771522558 Centerline is valid? [True, True] Translation: X:695.49, Y:-52.23, Z:1.98 [[ 9.93821597e-01 1.10885347e-01 4.80335451e-03 6.95489224e+02] [-1.10883636e-01 9.93833202e-01 -6.21858647e-04 -5.22280127e+01] [-4.84268821e-03 8.54031390e-05 9.99988270e-01 1.98452378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6807140569999 meters Centerline goodness [0,1] 0.9969450954134583 Centerline is valid? [True, True] Translation: X:695.52, Y:-52.23, Z:1.98 [[ 9.93547092e-01 1.13340881e-01 4.24508249e-03 6.95521481e+02] [-1.13339563e-01 9.93556159e-01 -5.50774623e-04 -5.22310651e+01] [-4.28015313e-03 6.60847328e-05 9.99990838e-01 1.98429871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7107140569999 meters Centerline goodness [0,1] 0.9966297043709822 Centerline is valid? [True, True] Translation: X:695.55, Y:-52.23, Z:1.98 [[ 9.93319267e-01 1.15337447e-01 3.75591090e-03 6.95553784e+02] [-1.15336424e-01 9.93326367e-01 -4.88317857e-04 -5.22343714e+01] [-3.78716666e-03 5.18622014e-05 9.99992827e-01 1.98375270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.740714057 meters Centerline goodness [0,1] 0.996597219322784 Centerline is valid? [True, True] Translation: X:695.59, Y:-52.24, Z:1.98 [[ 9.92887215e-01 1.19018882e-01 3.07965959e-03 6.95586246e+02] [-1.19018210e-01 9.92891990e-01 -4.01327658e-04 -5.22358246e+01] [-3.10553491e-03 3.19375297e-05 9.99995177e-01 1.98346018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.770714057 meters Centerline goodness [0,1] 0.9968631715426922 Centerline is valid? [True, True] Translation: X:695.62, Y:-52.24, Z:1.98 [[ 9.92699613e-01 1.20576103e-01 2.98009718e-03 6.95617942e+02] [-1.20575478e-01 9.92704086e-01 -3.89112595e-04 -5.22390361e+01] [-3.00527233e-03 2.69452804e-05 9.99995484e-01 1.98362347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8007140569999 meters Centerline goodness [0,1] 0.9969851140003768 Centerline is valid? [True, True] Translation: X:695.65, Y:-52.24, Z:1.98 [[ 9.92582356e-01 1.21538530e-01 2.94143150e-03 6.95651120e+02] [-1.21537922e-01 9.92586714e-01 -3.85026003e-04 -5.22432642e+01] [-2.96642132e-03 2.46745437e-05 9.99995600e-01 1.98378248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8307140569999 meters Centerline goodness [0,1] 0.9965898154734508 Centerline is valid? [True, True] Translation: X:695.68, Y:-52.25, Z:1.98 [[ 9.92515648e-01 1.22062751e-01 3.65690898e-03 6.95683485e+02] [-1.22061813e-01 9.92522385e-01 -4.79417301e-04 -5.22480024e+01] [-3.68808301e-03 2.94602337e-05 9.99993199e-01 1.98419553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8607140569999 meters Centerline goodness [0,1] 0.996547033587946 Centerline is valid? [True, True] Translation: X:695.72, Y:-52.25, Z:1.99 [[ 9.92531880e-01 1.21917129e-01 4.08417101e-03 6.95715128e+02] [-1.21915954e-01 9.92540283e-01 -5.36277055e-04 -5.22534808e+01] [-4.11908561e-03 3.43464664e-05 9.99991516e-01 1.98560265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.890714057 meters Centerline goodness [0,1] 0.9968596909935937 Centerline is valid? [True, True] Translation: X:695.75, Y:-52.26, Z:1.99 [[ 9.92810599e-01 1.19589308e-01 5.05095099e-03 6.95746050e+02] [-1.19587478e-01 9.92823446e-01 -6.63928071e-04 -5.22608969e+01] [-5.09410126e-03 5.51243379e-05 9.99987023e-01 1.98650052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9207140569999 meters Centerline goodness [0,1] 0.9962246047307163 Centerline is valid? [True, True] Translation: X:695.78, Y:-52.27, Z:1.99 [[ 9.93018003e-01 1.17821972e-01 5.76435046e-03 6.95776075e+02] [-1.17819558e-01 9.93034731e-01 -7.57843105e-04 -5.22680315e+01] [-5.81349078e-03 7.33986237e-05 9.99983099e-01 1.98744839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9507140569999 meters Centerline goodness [0,1] 0.9965599697948567 Centerline is valid? [True, True] Translation: X:695.81, Y:-52.27, Z:1.99 [[ 9.93282434e-01 1.15542421e-01 6.32093194e-03 6.95807646e+02] [-1.15539460e-01 9.93302542e-01 -8.32866816e-04 -5.22747410e+01] [-6.37482921e-03 9.69549134e-05 9.99979676e-01 1.98787879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9807140569999 meters Centerline goodness [0,1] 0.9963035669534709 Centerline is valid? [True, True] Translation: X:695.84, Y:-52.28, Z:1.99 [[ 9.93772196e-01 1.11256905e-01 6.22286093e-03 6.95839594e+02] [-1.11253953e-01 9.93791671e-01 -8.19745376e-04 -5.22812590e+01] [-6.27542970e-03 1.22322287e-04 9.99980302e-01 1.98615881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.010714057 meters Centerline goodness [0,1] 0.996833518569002 Centerline is valid? [True, True] Translation: X:695.87, Y:-52.29, Z:1.99 [[ 9.93974524e-01 1.09410937e-01 6.62519545e-03 6.95871599e+02] [-1.09407533e-01 9.93996592e-01 -8.75073977e-04 -5.22863725e+01] [-6.68116437e-03 1.44954946e-04 9.99977670e-01 1.98556747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.040714057 meters Centerline goodness [0,1] 0.996871850856567 Centerline is valid? [True, True] Translation: X:695.90, Y:-52.29, Z:1.99 [[ 9.94116780e-01 1.08113461e-01 6.58077012e-03 6.95902173e+02] [-1.08110065e-01 9.94138550e-01 -8.70628503e-04 -5.22922959e+01] [-6.63632393e-03 1.54058915e-04 9.99977967e-01 1.98558388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0707140569999 meters Centerline goodness [0,1] 0.9973975822699799 Centerline is valid? [True, True] Translation: X:695.93, Y:-52.30, Z:1.99 [[ 9.94251720e-01 1.06846698e-01 6.87757639e-03 6.95932391e+02] [-1.06842949e-01 9.94275492e-01 -9.11390903e-04 -5.23006056e+01] [-6.93558476e-03 1.71331430e-04 9.99975934e-01 1.98625704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1007140569999 meters Centerline goodness [0,1] 0.9967463632737883 Centerline is valid? [True, True] Translation: X:695.97, Y:-52.30, Z:1.99 [[ 9.94171293e-01 1.07575641e-01 7.13600162e-03 6.95965680e+02] [-1.07571607e-01 9.94196887e-01 -9.47826605e-04 -5.23032927e+01] [-7.19655366e-03 1.74670838e-04 9.99974089e-01 1.98575034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.130714057 meters Centerline goodness [0,1] 0.9972335163683614 Centerline is valid? [True, True] Translation: X:696.00, Y:-52.31, Z:1.99 [[ 9.94059568e-01 1.08612270e-01 6.99640537e-03 6.95996476e+02] [-1.08608408e-01 9.94084175e-01 -9.30659472e-04 -5.23082537e+01] [-7.05609690e-03 1.65262503e-04 9.99975092e-01 1.98635992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.160714057 meters Centerline goodness [0,1] 0.9969433685753166 Centerline is valid? [True, True] Translation: X:696.03, Y:-52.31, Z:1.99 [[ 9.93585204e-01 1.12903159e-01 6.42806468e-03 6.96027978e+02] [-1.12899992e-01 9.93605989e-01 -8.54597219e-04 -5.23076244e+01] [-6.48345029e-03 1.23386702e-04 9.99978975e-01 1.98520756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1907140569999 meters Centerline goodness [0,1] 0.9963552576455802 Centerline is valid? [True, True] Translation: X:696.06, Y:-52.31, Z:1.98 [[ 9.93257380e-01 1.15760836e-01 6.26145571e-03 6.96060046e+02] [-1.15757873e-01 9.93277110e-01 -8.34840815e-04 -5.23100465e+01] [-6.31600251e-03 1.04399008e-04 9.99980048e-01 1.98477950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2207140569999 meters Centerline goodness [0,1] 0.9968378950013612 Centerline is valid? [True, True] Translation: X:696.09, Y:-52.31, Z:1.99 [[ 9.92919618e-01 1.18622055e-01 6.28018863e-03 6.96091204e+02] [-1.18619129e-01 9.92939475e-01 -8.37789501e-04 -5.23148685e+01] [-6.33522751e-03 8.69071277e-05 9.99979928e-01 1.98629875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.250714057 meters Centerline goodness [0,1] 0.9964092607669987 Centerline is valid? [True, True] Translation: X:696.12, Y:-52.32, Z:1.99 [[ 9.92296037e-01 1.23736741e-01 6.14761051e-03 6.96122910e+02] [-1.23734024e-01 9.92315079e-01 -8.21845986e-04 -5.23159051e+01] [-6.20205915e-03 5.48459266e-05 9.99980766e-01 1.98569944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.280714057 meters Centerline goodness [0,1] 0.9964092607669987 Centerline is valid? [True, True] Translation: X:696.16, Y:-52.32, Z:1.99 [[ 9.92264710e-01 1.23987724e-01 6.14738570e-03 6.96155103e+02] [-1.23985001e-01 9.92283750e-01 -8.23526996e-04 -5.23203079e+01] [-6.20205818e-03 5.49731510e-05 9.99980766e-01 1.98583167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3107140569999 meters Centerline goodness [0,1] 0.9960676037483266 Centerline is valid? [True, True] Translation: X:696.19, Y:-52.32, Z:1.98 [[ 9.91984363e-01 1.26202878e-01 6.31325482e-03 6.96186954e+02] [-1.26200041e-01 9.92004451e-01 -8.47281758e-04 -5.23218158e+01] [-6.36970628e-03 4.37572360e-05 9.99979712e-01 1.98333875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3407140569999 meters Centerline goodness [0,1] 0.9955223258913696 Centerline is valid? [True, True] Translation: X:696.22, Y:-52.33, Z:1.98 [[ 9.91769543e-01 1.27890945e-01 6.08939537e-03 6.96218670e+02] [-1.27888328e-01 9.91788236e-01 -8.18802688e-04 -5.23253516e+01] [-6.14410815e-03 3.33009749e-05 9.99981124e-01 1.98277365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.370714057 meters Centerline goodness [0,1] 0.9958170315491551 Centerline is valid? [True, True] Translation: X:696.25, Y:-52.33, Z:1.98 [[ 9.91575829e-01 1.29420416e-01 5.26612241e-03 6.96250335e+02] [-1.29418473e-01 9.91589812e-01 -7.09590008e-04 -5.23295361e+01] [-5.31366876e-03 2.20787801e-05 9.99985882e-01 1.98189504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.400714057 meters Centerline goodness [0,1] 0.9959002607013708 Centerline is valid? [True, True] Translation: X:696.28, Y:-52.34, Z:1.98 [[ 9.91515013e-01 1.29919569e-01 4.34556332e-03 6.96281722e+02] [-1.29918245e-01 9.91524536e-01 -5.86823277e-04 -5.23350759e+01] [-4.38497248e-03 1.72761296e-05 9.99990386e-01 1.98089674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4307140569999 meters Centerline goodness [0,1] 0.9955423476968797 Centerline is valid? [True, True] Translation: X:696.31, Y:-52.34, Z:1.98 [[ 9.91567044e-01 1.29541526e-01 3.71349471e-03 6.96314230e+02] [-1.29540551e-01 9.91573998e-01 -5.02855078e-04 -5.23407220e+01] [-3.74734541e-03 1.75663707e-05 9.99992979e-01 1.98050704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4607140569999 meters Centerline goodness [0,1] 0.9962565614739528 Centerline is valid? [True, True] Translation: X:696.35, Y:-52.35, Z:1.98 [[ 9.91697426e-01 1.28538354e-01 3.75582654e-03 6.96346675e+02] [-1.28537346e-01 9.91704538e-01 -5.09645546e-04 -5.23465442e+01] [-3.79017923e-03 2.26501995e-05 9.99992817e-01 1.98101855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.490714057 meters Centerline goodness [0,1] 0.9963989092650029 Centerline is valid? [True, True] Translation: X:696.38, Y:-52.35, Z:1.98 [[ 9.91788805e-01 1.27817363e-01 4.20570838e-03 6.96379262e+02] [-1.27816087e-01 9.91797722e-01 -5.71780141e-04 -5.23524673e+01] [-4.24429542e-03 2.95279538e-05 9.99990993e-01 1.98150351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.520714057 meters Centerline goodness [0,1] 0.9959677419354839 Centerline is valid? [True, True] Translation: X:696.41, Y:-52.36, Z:1.98 [[ 9.92036324e-01 1.25846044e-01 5.16761026e-03 6.96410350e+02] [-1.25844087e-01 9.92049782e-01 -7.03428234e-04 -5.23603416e+01] [-5.21505029e-03 4.75131622e-05 9.99986400e-01 1.98276780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5507140569999 meters Centerline goodness [0,1] 0.99582193068583 Centerline is valid? [True, True] Translation: X:696.44, Y:-52.37, Z:1.98 [[ 9.92187566e-01 1.24634074e-01 5.49375567e-03 6.96441064e+02] [-1.24631842e-01 9.92202774e-01 -7.48059310e-04 -5.23683884e+01] [-5.54415330e-03 5.75182559e-05 9.99984629e-01 1.98440905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5807140569999 meters Centerline goodness [0,1] 0.9961447088734214 Centerline is valid? [True, True] Translation: X:696.47, Y:-52.37, Z:1.98 [[ 9.92342266e-01 1.23409645e-01 5.18530576e-03 6.96472809e+02] [-1.23407630e-01 9.92355811e-01 -7.07884390e-04 -5.23722328e+01] [-5.23302807e-03 6.25573031e-05 9.99986306e-01 1.98210262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6107140569999 meters Centerline goodness [0,1] 0.9956738907814165 Centerline is valid? [True, True] Translation: X:696.50, Y:-52.38, Z:1.98 [[ 9.92551869e-01 1.21714196e-01 5.14212147e-03 6.96503555e+02] [-1.21712191e-01 9.92565187e-01 -7.02238658e-04 -5.23795139e+01] [-5.18936317e-03 7.11494232e-05 9.99986533e-01 1.98247466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.640714057 meters Centerline goodness [0,1] 0.9960439743482968 Centerline is valid? [True, True] Translation: X:696.53, Y:-52.39, Z:1.98 [[ 9.93016654e-01 1.17864956e-01 5.07712728e-03 6.96533502e+02] [-1.17862943e-01 9.93029629e-01 -6.94874682e-04 -5.23882429e+01] [-5.12363920e-03 9.16169665e-05 9.99986870e-01 1.98264898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6707140569999 meters Centerline goodness [0,1] 0.9963435782787656 Centerline is valid? [True, True] Translation: X:696.57, Y:-52.39, Z:1.98 [[ 9.93300761e-01 1.15437432e-01 5.27236546e-03 6.96565315e+02] [-1.15435220e-01 9.93314747e-01 -7.23016674e-04 -5.23928024e+01] [-5.32058155e-03 1.09556347e-04 9.99985840e-01 1.98195276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7007140569999 meters Centerline goodness [0,1] 0.9963275185710708 Centerline is valid? [True, True] Translation: X:696.60, Y:-52.40, Z:1.98 [[ 9.93628126e-01 1.12580145e-01 5.37202041e-03 6.96596859e+02] [-1.12577799e-01 9.93642639e-01 -7.38038992e-04 -5.23991082e+01] [-5.42095708e-03 1.28566066e-04 9.99985298e-01 1.98213128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7307140569999 meters Centerline goodness [0,1] 0.9964907883193382 Centerline is valid? [True, True] Translation: X:696.63, Y:-52.41, Z:1.98 [[ 9.94412778e-01 1.05418776e-01 5.48705597e-03 6.96626202e+02] [-1.05416222e-01 9.94427902e-01 -7.53457581e-04 -5.24076987e+01] [-5.53591014e-03 1.70823135e-04 9.99984662e-01 1.98238061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.760714057 meters Centerline goodness [0,1] 0.9963409563409563 Centerline is valid? [True, True] Translation: X:696.66, Y:-52.42, Z:1.98 [[ 9.94862284e-01 1.01115375e-01 4.97161608e-03 6.96655613e+02] [-1.01113224e-01 9.94874690e-01 -6.82859946e-04 -5.24177392e+01] [-5.01518265e-03 1.76655476e-04 9.99987408e-01 1.98351713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.790714057 meters Centerline goodness [0,1] 0.9965449777296758 Centerline is valid? [True, True] Translation: X:696.69, Y:-52.42, Z:1.98 [[ 9.95255167e-01 9.71937305e-02 4.53115768e-03 6.96686763e+02] [-9.71919022e-02 9.95265465e-01 -6.22484700e-04 -5.24209272e+01] [-4.57020637e-03 1.79139280e-04 9.99989541e-01 1.98284981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8207140569999 meters Centerline goodness [0,1] 0.9970827124477931 Centerline is valid? [True, True] Translation: X:696.72, Y:-52.43, Z:1.98 [[ 9.95607357e-01 9.35048021e-02 4.77935956e-03 6.96717676e+02] [-9.35027248e-02 9.95618807e-01 -6.56743119e-04 -5.24263944e+01] [-4.81982890e-03 2.06975140e-04 9.99988363e-01 1.98362941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8507140569999 meters Centerline goodness [0,1] 0.9972210526315789 Centerline is valid? [True, True] Translation: X:696.75, Y:-52.43, Z:1.99 [[ 9.96084251e-01 8.82914781e-02 4.55847007e-03 6.96746938e+02] [-8.82895350e-02 9.96094657e-01 -6.26150414e-04 -5.24319713e+01] [-4.59595142e-03 2.21233364e-04 9.99989414e-01 1.98554928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.880714057 meters Centerline goodness [0,1] 0.9974350888258173 Centerline is valid? [True, True] Translation: X:696.78, Y:-52.44, Z:1.99 [[ 9.96174962e-01 8.72572175e-02 4.65011830e-03 6.96779016e+02] [-8.72551741e-02 9.96185788e-01 -6.40887912e-04 -5.24357182e+01] [-4.68830386e-03 2.32689609e-04 9.99988983e-01 1.98615231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.910714057 meters Centerline goodness [0,1] 0.9980633209834961 Centerline is valid? [True, True] Translation: X:696.81, Y:-52.43, Z:1.99 [[ 9.96193338e-01 8.70720182e-02 4.15890986e-03 6.96811603e+02] [-8.70703770e-02 9.96201997e-01 -5.74404599e-04 -5.24332264e+01] [-4.19312888e-03 2.10100185e-04 9.99991187e-01 1.98675744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9407140569999 meters Centerline goodness [0,1] 0.997698022391964 Centerline is valid? [True, True] Translation: X:696.84, Y:-52.44, Z:1.99 [[ 9.96004406e-01 8.92126159e-02 4.04136943e-03 6.96841555e+02] [-8.92110872e-02 9.96012586e-01 -5.57320406e-04 -5.24382974e+01] [-4.07497483e-03 1.94558619e-04 9.99991678e-01 1.98855979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9707140569999 meters Centerline goodness [0,1] 0.9979175777264113 Centerline is valid? [True, True] Translation: X:696.87, Y:-52.44, Z:1.99 [[ 9.95834838e-01 9.10833480e-02 4.09863354e-03 6.96873220e+02] [-9.10817906e-02 9.95843255e-01 -5.65417933e-04 -5.24387296e+01] [-4.13309673e-03 1.89751993e-04 9.99991441e-01 1.98913597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.000714057 meters Centerline goodness [0,1] 0.9978734050537903 Centerline is valid? [True, True] Translation: X:696.90, Y:-52.44, Z:1.99 [[ 9.95589578e-01 9.37471126e-02 3.58750988e-03 6.96903948e+02] [-9.37459362e-02 9.95596030e-01 -4.95043558e-04 -5.24395150e+01] [-3.61811950e-03 1.56545735e-04 9.99993442e-01 1.98963391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.030714057 meters Centerline goodness [0,1] 0.9981417296529836 Centerline is valid? [True, True] Translation: X:696.94, Y:-52.43, Z:1.99 [[ 9.94947402e-01 1.00318738e-01 3.97729438e-03 6.96936485e+02] [-1.00317345e-01 9.94955340e-01 -5.48709471e-04 -5.24294152e+01] [-4.01227613e-03 1.46945450e-04 9.99991940e-01 1.98903521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0607140569999 meters Centerline goodness [0,1] 0.9980196368639386 Centerline is valid? [True, True] Translation: X:696.97, Y:-52.43, Z:1.99 [[ 9.94579168e-01 1.03915790e-01 3.71311216e-03 6.96967534e+02] [-1.03914599e-01 9.94586091e-01 -5.12521818e-04 -5.24296182e+01] [-3.74626882e-03 1.23896960e-04 9.99992975e-01 1.99001180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0907140569999 meters Centerline goodness [0,1] 0.9979512052348797 Centerline is valid? [True, True] Translation: X:697.00, Y:-52.43, Z:1.99 [[ 9.94209965e-01 1.07384833e-01 3.87867067e-03 6.96999477e+02] [-1.07383559e-01 9.94217524e-01 -5.35640214e-04 -5.24296273e+01] [-3.91376198e-03 1.16033377e-04 9.99992334e-01 1.99060127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.120714057 meters Centerline goodness [0,1] 0.9979517190929041 Centerline is valid? [True, True] Translation: X:697.03, Y:-52.43, Z:1.99 [[ 9.93875980e-01 1.10428059e-01 4.02244399e-03 6.97031606e+02] [-1.10426713e-01 9.93884114e-01 -5.55695344e-04 -5.24298614e+01] [-4.05920753e-03 1.08106985e-04 9.99991756e-01 1.99111254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.150714057 meters Centerline goodness [0,1] 0.9975834340235824 Centerline is valid? [True, True] Translation: X:697.06, Y:-52.43, Z:1.99 [[ 9.93541656e-01 1.13403959e-01 3.81038575e-03 6.97064384e+02] [-1.13402772e-01 9.93548959e-01 -5.26877445e-04 -5.24302588e+01] [-3.84555478e-03 9.13663853e-05 9.99992602e-01 1.99127667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1807140569999 meters Centerline goodness [0,1] 0.9982264324166423 Centerline is valid? [True, True] Translation: X:697.10, Y:-52.43, Z:1.99 [[ 9.93037836e-01 1.17749346e-01 3.30873417e-03 6.97096725e+02] [-1.17748474e-01 9.93043346e-01 -4.57589665e-04 -5.24272799e+01] [-3.33959734e-03 6.48054495e-05 9.99994421e-01 1.99107763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2107140569999 meters Centerline goodness [0,1] 0.9982264324166423 Centerline is valid? [True, True] Translation: X:697.13, Y:-52.43, Z:1.99 [[ 9.93005869e-01 1.18018635e-01 3.30848713e-03 6.97128909e+02] [-1.18017760e-01 9.93011378e-01 -4.59374812e-04 -5.24318073e+01] [-3.33958015e-03 6.57016459e-05 9.99994421e-01 1.99120981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.240714057 meters Centerline goodness [0,1] 0.9979530026109661 Centerline is valid? [True, True] Translation: X:697.16, Y:-52.43, Z:1.99 [[ 9.92661128e-01 1.20896553e-01 2.81230349e-03 6.97161283e+02] [-1.20895930e-01 9.92665110e-01 -3.91205921e-04 -5.24300707e+01] [-2.83897100e-03 4.83388663e-05 9.99995969e-01 1.99080647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.270714057 meters Centerline goodness [0,1] 0.9986607236277649 Centerline is valid? [True, True] Translation: X:697.19, Y:-52.43, Z:1.99 [[ 9.92574287e-01 1.21610636e-01 2.67164790e-03 6.97194470e+02] [-1.21610073e-01 9.92577882e-01 -3.72661972e-04 -5.24315602e+01] [-2.69713828e-03 4.49953938e-05 9.99996362e-01 1.99027744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3007140569999 meters Centerline goodness [0,1] 0.9985746027753323 Centerline is valid? [True, True] Translation: X:697.23, Y:-52.43, Z:1.99 [[ 9.92513872e-01 1.22110168e-01 2.30685628e-03 6.97227746e+02] [-1.22109748e-01 9.92516552e-01 -3.22608463e-04 -5.24347768e+01] [-2.32898681e-03 3.85037360e-05 9.99997287e-01 1.99004187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3307140569999 meters Centerline goodness [0,1] 0.9981143934632307 Centerline is valid? [True, True] Translation: X:697.26, Y:-52.44, Z:1.99 [[ 9.92503687e-01 1.22202215e-01 1.74633460e-03 6.97260825e+02] [-1.22201973e-01 9.92505223e-01 -2.45012000e-04 -5.24381268e+01] [-1.76318722e-03 2.97697793e-05 9.99998445e-01 1.98942106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3607140569999 meters Centerline goodness [0,1] 0.9984941963818885 Centerline is valid? [True, True] Translation: X:697.29, Y:-52.44, Z:1.99 [[ 9.92599489e-01 1.21429301e-01 1.08586598e-03 6.97291714e+02] [-1.21429207e-01 9.92600083e-01 -1.52327595e-04 -5.24410172e+01] [-1.09632769e-03 1.93444489e-05 9.99999399e-01 1.98875890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.390714057 meters Centerline goodness [0,1] 0.9987280271910253 Centerline is valid? [True, True] Translation: X:697.32, Y:-52.44, Z:1.99 [[ 9.92631188e-01 1.21174467e-01 -2.71357128e-04 6.97324694e+02] [-1.21174462e-01 9.92631225e-01 3.68547217e-05 -5.24449746e+01] [ 2.73823409e-04 -3.70159225e-06 9.99999963e-01 1.98836859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4207140569999 meters Centerline goodness [0,1] 0.9983872319034852 Centerline is valid? [True, True] Translation: X:697.36, Y:-52.45, Z:1.99 [[ 9.92698532e-01 1.20618068e-01 -9.52208885e-04 6.97355782e+02] [-1.20617996e-01 9.92698988e-01 1.32940769e-04 -5.24500533e+01] [ 9.61291855e-04 -1.71165791e-05 9.99999538e-01 1.98804451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4507140569999 meters Centerline goodness [0,1] 0.9981545946399363 Centerline is valid? [True, True] Translation: X:697.39, Y:-52.45, Z:1.99 [[ 9.92728176e-01 1.20367046e-01 -1.59476836e-03 6.97389261e+02] [-1.20366844e-01 9.92729456e-01 2.22861995e-04 -5.24524479e+01] [ 1.60999877e-03 -2.92841482e-05 9.99998704e-01 1.98731830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4807140569999 meters Centerline goodness [0,1] 0.998595034390203 Centerline is valid? [True, True] Translation: X:697.42, Y:-52.46, Z:1.99 [[ 9.92864977e-01 1.19201582e-01 -3.18126754e-03 6.97420191e+02] [-1.19200762e-01 9.92870071e-01 4.46712138e-04 -5.24569863e+01] [ 3.21183412e-03 -6.43153200e-05 9.99994840e-01 1.98651932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.510714057 meters Centerline goodness [0,1] 0.998435511796241 Centerline is valid? [True, True] Translation: X:697.45, Y:-52.46, Z:1.99 [[ 9.92939386e-01 1.18549321e-01 -4.17535116e-03 6.97451878e+02] [-1.18547898e-01 9.92948161e-01 5.87578053e-04 -5.24618224e+01] [ 4.21556424e-03 -8.84502866e-05 9.99991111e-01 1.98681231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.540714057 meters Centerline goodness [0,1] 0.9986791899031406 Centerline is valid? [True, True] Translation: X:697.48, Y:-52.47, Z:1.99 [[ 9.93045335e-01 1.17661666e-01 -4.08603473e-03 6.97482967e+02] [-1.17660292e-01 9.93053737e-01 5.76012635e-04 -5.24674018e+01] [ 4.12542667e-03 -9.12426210e-05 9.99991486e-01 1.98675019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5707140569999 meters Centerline goodness [0,1] 0.9988719684151156 Centerline is valid? [True, True] Translation: X:697.51, Y:-52.47, Z:1.99 [[ 9.93223273e-01 1.16135801e-01 -4.47281903e-03 6.97512917e+02] [-1.16134134e-01 9.93233338e-01 6.31574835e-04 -5.24747010e+01] [ 4.51590143e-03 -1.07847859e-04 9.99989797e-01 1.98761964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6007140569999 meters Centerline goodness [0,1] 0.9991228436573243 Centerline is valid? [True, True] Translation: X:697.55, Y:-52.48, Z:1.99 [[ 9.93305869e-01 1.15441545e-01 -4.08662480e-03 6.97545055e+02] [-1.15440146e-01 9.93314270e-01 5.77188633e-04 -5.24789804e+01] [ 4.12593428e-03 -1.01564291e-04 9.99991483e-01 1.98852450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.630714057 meters Centerline goodness [0,1] 0.9986302791325101 Centerline is valid? [True, True] Translation: X:697.58, Y:-52.48, Z:1.99 [[ 9.93324295e-01 1.15294869e-01 -3.73340951e-03 6.97576343e+02] [-1.15293698e-01 9.93331306e-01 5.28127404e-04 -5.24844275e+01] [ 3.76940292e-03 -9.41631937e-05 9.99992891e-01 1.98883726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.660714057 meters Centerline goodness [0,1] 0.9987893967856397 Centerline is valid? [True, True] Translation: X:697.61, Y:-52.49, Z:1.99 [[ 9.93402111e-01 1.14625619e-01 -3.63492655e-03 6.97608120e+02] [-1.14624501e-01 9.93408757e-01 5.15126094e-04 -5.24896062e+01] [ 3.67001451e-03 -9.50757064e-05 9.99993261e-01 1.98985248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6907140569999 meters Centerline goodness [0,1] 0.998580375782881 Centerline is valid? [True, True] Translation: X:697.64, Y:-52.50, Z:1.99 [[ 9.93735754e-01 1.11723670e-01 -2.65953330e-03 6.97638242e+02] [-1.11723059e-01 9.93739310e-01 3.77564734e-04 -5.24964083e+01] [ 2.68506570e-03 -7.80683796e-05 9.99996392e-01 1.99081838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7207140569999 meters Centerline goodness [0,1] 0.9989778037383178 Centerline is valid? [True, True] Translation: X:697.67, Y:-52.50, Z:1.99 [[ 9.93955182e-01 1.09755211e-01 -2.62501943e-03 6.97669895e+02] [-1.09754610e-01 9.93958644e-01 3.72467662e-04 -5.25027036e+01] [ 2.65004102e-03 -8.21081789e-05 9.99996485e-01 1.99152901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.750714057 meters Centerline goodness [0,1] 0.9984719402172776 Centerline is valid? [True, True] Translation: X:697.70, Y:-52.51, Z:1.99 [[ 9.94278841e-01 1.06790179e-01 -2.33321456e-03 6.97702043e+02] [-1.06789694e-01 9.94281575e-01 3.31796902e-04 -5.25063725e+01] [ 2.35530490e-03 -8.07353707e-05 9.99997223e-01 1.99170399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.780714057 meters Centerline goodness [0,1] 0.9987162759375394 Centerline is valid? [True, True] Translation: X:697.73, Y:-52.51, Z:1.99 [[ 9.94617757e-01 1.03586390e-01 -2.31875164e-03 6.97732428e+02] [-1.03585901e-01 9.94620456e-01 3.29934992e-04 -5.25137586e+01] [ 2.34045458e-03 -8.79692231e-05 9.99997257e-01 1.99211897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8107140569999 meters Centerline goodness [0,1] 0.998461732973702 Centerline is valid? [True, True] Translation: X:697.76, Y:-52.52, Z:1.99 [[ 9.95416480e-01 9.55837752e-02 -3.12622446e-03 6.97762359e+02] [-9.55828477e-02 9.95421379e-01 4.45118787e-04 -5.25197044e+01] [ 3.15445680e-03 -1.44265139e-04 9.99995014e-01 1.99293104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8407140569999 meters Centerline goodness [0,1] 0.9986516664559896 Centerline is valid? [True, True] Translation: X:697.79, Y:-52.53, Z:1.99 [[ 9.95772648e-01 9.18005170e-02 -3.08193441e-03 6.97792173e+02] [-9.17995975e-02 9.95777406e-01 4.38784272e-04 -5.25251921e+01] [ 3.10920127e-03 -1.54009039e-04 9.99995155e-01 1.99363917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.870714057 meters Centerline goodness [0,1] 0.9985488043409679 Centerline is valid? [True, True] Translation: X:697.82, Y:-52.53, Z:1.99 [[ 9.96128890e-01 8.78632932e-02 -2.69739613e-03 6.97822522e+02] [-8.78625742e-02 9.96132532e-01 3.84161084e-04 -5.25289791e+01] [ 2.72071769e-03 -1.45673787e-04 9.99996288e-01 1.99461207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.900714057 meters Centerline goodness [0,1] 0.9984866955315482 Centerline is valid? [True, True] Translation: X:697.85, Y:-52.54, Z:2.00 [[ 9.96647323e-01 8.17904237e-02 -2.10694048e-03 6.97851248e+02] [-8.17899713e-02 9.96649542e-01 3.00155403e-04 -5.25359190e+01] [ 2.12443110e-03 -1.26822477e-04 9.99997735e-01 1.99667227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9307140569999 meters Centerline goodness [0,1] 0.9988015390761338 Centerline is valid? [True, True] Translation: X:697.88, Y:-52.54, Z:2.00 [[ 9.96798776e-01 7.99218845e-02 -2.16644978e-03 6.97879919e+02] [-7.99214023e-02 9.96801121e-01 3.08405911e-04 -5.25448662e+01] [ 2.18416795e-03 -1.34272930e-04 9.99997606e-01 1.99764715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9607140569999 meters Centerline goodness [0,1] 0.9986336500462457 Centerline is valid? [True, True] Translation: X:697.91, Y:-52.55, Z:2.00 [[ 9.96894127e-01 7.87134000e-02 -2.50988572e-03 6.97911446e+02] [-7.87127487e-02 9.96897274e-01 3.57373603e-04 -5.25494936e+01] [ 2.53022833e-03 -1.58703642e-04 9.99996786e-01 1.99780573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.990714057 meters Centerline goodness [0,1] 0.9990736647087307 Centerline is valid? [True, True] Translation: X:697.94, Y:-52.55, Z:2.00 [[ 9.96942833e-01 7.80800448e-02 -2.91454218e-03 6.97943349e+02] [-7.80791616e-02 9.96947076e-01 4.15759574e-04 -5.25533401e+01] [ 2.93810683e-03 -1.86923518e-04 9.99995666e-01 1.99804981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.020714057 meters Centerline goodness [0,1] 0.9987573191794095 Centerline is valid? [True, True] Translation: X:697.98, Y:-52.55, Z:2.00 [[ 9.96976260e-01 7.76405853e-02 -3.20570195e-03 6.97976207e+02] [-7.76395118e-02 9.96981392e-01 4.58142689e-04 -5.25512225e+01] [ 3.23159566e-03 -2.07868251e-04 9.99994757e-01 1.99726582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0507140569999 meters Centerline goodness [0,1] 0.9988273479216836 Centerline is valid? [True, True] Translation: X:698.01, Y:-52.55, Z:2.00 [[ 9.96989900e-01 7.73768555e-02 -4.89510404e-03 6.98009502e+02] [-7.73743408e-02 9.97001865e-01 7.01308705e-04 -5.25481218e+01] [ 4.93469292e-03 -3.20442247e-04 9.99987773e-01 1.99655046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0807140569999 meters Centerline goodness [0,1] 0.9987789473684211 Centerline is valid? [True, True] Translation: X:698.04, Y:-52.56, Z:2.00 [[ 9.96974485e-01 7.75670552e-02 -5.02275280e-03 6.98040410e+02] [-7.75644035e-02 9.96987083e-01 7.20901557e-04 -5.25555386e+01] [ 5.06353787e-03 -3.29133634e-04 9.99987126e-01 1.99623453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1107140569999 meters Centerline goodness [0,1] 0.9992003198720512 Centerline is valid? [True, True] Translation: X:698.07, Y:-52.55, Z:2.00 [[ 9.96947027e-01 7.78786221e-02 -5.61657769e-03 6.98073389e+02] [-7.78753021e-02 9.96962780e-01 8.07743540e-04 -5.25517547e+01] [ 5.66242486e-03 -3.67884836e-04 9.99983901e-01 1.99697894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.140714057 meters Centerline goodness [0,1] 0.9990524320909665 Centerline is valid? [True, True] Translation: X:698.10, Y:-52.56, Z:2.00 [[ 9.96890039e-01 7.85813611e-02 -5.93464414e-03 6.98104468e+02] [-7.85776573e-02 9.96907629e-01 8.55071167e-04 -5.25573663e+01] [ 5.98348468e-03 -3.86081495e-04 9.99982024e-01 1.99660096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1707140569999 meters Centerline goodness [0,1] 0.9990524320909665 Centerline is valid? [True, True] Translation: X:698.14, Y:-52.56, Z:2.00 [[ 9.96869936e-01 7.88359874e-02 -5.93442610e-03 6.98135866e+02] [-7.88322791e-02 9.96887525e-01 8.56582188e-04 -5.25619386e+01] [ 5.98348486e-03 -3.86076696e-04 9.99982024e-01 1.99673006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2007140569999 meters Centerline goodness [0,1] 0.9990749306197965 Centerline is valid? [True, True] Translation: X:698.17, Y:-52.56, Z:2.00 [[ 9.96747487e-01 8.03330613e-02 -6.40668471e-03 6.98166983e+02] [-8.03287606e-02 9.96767993e-01 9.26233419e-04 -5.25625195e+01] [ 6.46038543e-03 -4.08579791e-04 9.99979048e-01 1.99733269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2307140569999 meters Centerline goodness [0,1] 0.9992623969990095 Centerline is valid? [True, True] Translation: X:698.20, Y:-52.56, Z:2.00 [[ 9.96677041e-01 8.12335782e-02 -5.99855605e-03 6.98198918e+02] [-8.12298204e-02 9.96695020e-01 8.67855850e-04 -5.25578753e+01] [ 6.04922998e-03 -3.77710370e-04 9.99981632e-01 1.99814236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.260714057 meters Centerline goodness [0,1] 0.9991357868555288 Centerline is valid? [True, True] Translation: X:698.23, Y:-52.56, Z:2.00 [[ 9.96641597e-01 8.17042430e-02 -5.47208657e-03 6.98229937e+02] [-8.17011219e-02 9.96656561e-01 7.91869097e-04 -5.25591911e+01] [ 5.51849005e-03 -3.42134069e-04 9.99984714e-01 1.99839728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.290714057 meters Centerline goodness [0,1] 0.9992191786603638 Centerline is valid? [True, True] Translation: X:698.26, Y:-52.57, Z:2.00 [[ 9.96608890e-01 8.21474310e-02 -4.74544565e-03 6.98260295e+02] [-8.21450874e-02 9.96620145e-01 6.87003839e-04 -5.25664366e+01] [ 4.78584233e-03 -2.94859085e-04 9.99988504e-01 1.99948464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3207140569999 meters Centerline goodness [0,1] 0.9989269031687918 Centerline is valid? [True, True] Translation: X:698.29, Y:-52.56, Z:2.00 [[ 9.96665973e-01 8.15112164e-02 -3.58620108e-03 6.98292679e+02] [-8.15098714e-02 9.96672399e-01 5.19854527e-04 -5.25575292e+01] [ 3.61664161e-03 -2.25810529e-04 9.99993434e-01 2.00086584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3507140569999 meters Centerline goodness [0,1] 0.9991420799330404 Centerline is valid? [True, True] Translation: X:698.32, Y:-52.56, Z:2.00 [[ 9.96766836e-01 8.02427109e-02 -4.12087111e-03 6.98323040e+02] [-8.02409235e-02 9.96775319e-01 5.97538002e-04 -5.25599360e+01] [ 4.15553069e-03 -2.64943561e-04 9.99991331e-01 2.00184156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.380714057 meters Centerline goodness [0,1] 0.9988482881373678 Centerline is valid? [True, True] Translation: X:698.35, Y:-52.56, Z:2.00 [[ 9.96912335e-01 7.84085007e-02 -4.23130763e-03 6.98354272e+02] [-7.84065984e-02 9.96921275e-01 6.13849690e-04 -5.25615122e+01] [ 4.26641163e-03 -2.80191889e-04 9.99990860e-01 2.00151826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.410714057 meters Centerline goodness [0,1] 0.9986227045075126 Centerline is valid? [True, True] Translation: X:698.39, Y:-52.56, Z:2.00 [[ 9.97313414e-01 7.30584734e-02 -5.33048023e-03 6.98385070e+02] [-7.30553771e-02 9.97327586e-01 7.73557808e-04 -5.25613072e+01] [ 5.37274993e-03 -3.82059335e-04 9.99985494e-01 2.00104844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4407140569999 meters Centerline goodness [0,1] 0.9985121230537103 Centerline is valid? [True, True] Translation: X:698.42, Y:-52.56, Z:2.00 [[ 9.97586422e-01 6.92644184e-02 -4.87559716e-03 6.98415440e+02] [-6.92617820e-02 9.97598268e-01 7.07725922e-04 -5.25618030e+01] [ 4.91290751e-03 -3.68325222e-04 9.99987864e-01 2.00110465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4707140569999 meters Centerline goodness [0,1] 0.9981692304454872 Centerline is valid? [True, True] Translation: X:698.45, Y:-52.56, Z:2.00 [[ 9.97838918e-01 6.55270042e-02 -4.86876568e-03 6.98445560e+02] [-6.55243308e-02 9.97850722e-01 7.06774297e-04 -5.25640257e+01] [ 4.90461415e-03 -3.86224287e-04 9.99987898e-01 2.00129002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.500714057 meters Centerline goodness [0,1] 0.997812506572997 Centerline is valid? [True, True] Translation: X:698.48, Y:-52.56, Z:2.00 [[ 9.98063542e-01 6.19959379e-02 -5.06650509e-03 6.98476180e+02] [-6.19929976e-02 9.98076313e-01 7.35492628e-04 -5.25632016e+01] [ 5.10235628e-03 -4.19980540e-04 9.99986895e-01 2.00150116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.530714057 meters Centerline goodness [0,1] 0.9970836305652302 Centerline is valid? [True, True] Translation: X:698.51, Y:-52.56, Z:2.00 [[ 9.98421386e-01 5.60140615e-02 -4.14260868e-03 6.98506043e+02] [-5.60120446e-02 9.98429912e-01 6.01372063e-04 -5.25626199e+01] [ 4.16978971e-03 -3.68386746e-04 9.99991239e-01 2.00263815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5607140569999 meters Centerline goodness [0,1] 0.9967174040311115 Centerline is valid? [True, True] Translation: X:698.54, Y:-52.56, Z:2.00 [[ 9.98543350e-01 5.38016316e-02 -4.06961181e-03 6.98536707e+02] [-5.37996665e-02 9.98551574e-01 5.90889867e-04 -5.25633544e+01] [ 4.09550812e-03 -3.71085389e-04 9.99991545e-01 2.00346018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5907140569999 meters Centerline goodness [0,1] 0.9964474154421812 Centerline is valid? [True, True] Translation: X:698.57, Y:-52.56, Z:2.00 [[ 9.98638549e-01 5.20633300e-02 -3.23386052e-03 6.98568045e+02] [-5.20620801e-02 9.98643740e-01 4.69542429e-04 -5.25601982e+01] [ 3.25392051e-03 -3.00541664e-04 9.99994661e-01 2.00353176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.620714057 meters Centerline goodness [0,1] 0.9953547739114059 Centerline is valid? [True, True] Translation: X:698.60, Y:-52.56, Z:2.00 [[ 9.98688913e-01 5.11016160e-02 -3.01322500e-03 6.98597345e+02] [-5.11005264e-02 9.98693419e-01 4.37526213e-04 -5.25643931e+01] [ 3.03164627e-03 -2.82975195e-04 9.99995365e-01 2.00388503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.650714057 meters Centerline goodness [0,1] 0.9935005224660397 Centerline is valid? [True, True] Translation: X:698.63, Y:-52.57, Z:2.00 [[ 9.98726914e-01 5.03944072e-02 -2.22592353e-03 6.98626510e+02] [-5.03938112e-02 9.98729372e-01 3.23061816e-04 -5.25653671e+01] [ 2.23937572e-03 -2.10477761e-04 9.99997470e-01 2.00374740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6807140569999 meters Centerline goodness [0,1] 0.9934462614376348 Centerline is valid? [True, True] Translation: X:698.66, Y:-52.56, Z:2.00 [[ 9.98722023e-01 5.05061466e-02 -1.85762271e-03 6.98656895e+02] [-5.05057313e-02 9.98723735e-01 2.69855357e-04 -5.25611023e+01] [ 1.86888124e-03 -1.75689894e-04 9.99998238e-01 2.00308264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7107140569999 meters Centerline goodness [0,1] 0.9926065952530981 Centerline is valid? [True, True] Translation: X:698.69, Y:-52.56, Z:2.00 [[ 9.98711693e-01 5.06933832e-02 -2.26590650e-03 6.98687447e+02] [-5.06927659e-02 9.98714241e-01 3.29053732e-04 -5.25566184e+01] [ 2.27967393e-03 -2.13764742e-04 9.99997379e-01 2.00220217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.740714057 meters Centerline goodness [0,1] 0.9918623967029039 Centerline is valid? [True, True] Translation: X:698.72, Y:-52.54, Z:2.00 [[ 9.98633443e-01 5.21683222e-02 -3.11639289e-03 6.98719577e+02] [-5.21671623e-02 9.98638264e-01 4.52392058e-04 -5.25428870e+01] [ 3.13574972e-03 -2.89200465e-04 9.99995042e-01 2.00010436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.770714057 meters Centerline goodness [0,1] 0.9908802454348694 Centerline is valid? [True, True] Translation: X:698.75, Y:-52.54, Z:2.00 [[ 9.98571282e-01 5.33455864e-02 -3.10524535e-03 6.98748938e+02] [-5.33444407e-02 9.98576070e-01 4.50655988e-04 -5.25433400e+01] [ 3.12486421e-03 -2.84364551e-04 9.99995077e-01 1.99930428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8007140569999 meters Centerline goodness [0,1] 0.9903951240016814 Centerline is valid? [True, True] Translation: X:698.78, Y:-52.54, Z:2.00 [[ 9.98515190e-01 5.43868290e-02 -3.08027451e-03 6.98778771e+02] [-5.43857068e-02 9.98519902e-01 4.46952602e-04 -5.25403831e+01] [ 3.10002374e-03 -2.78766056e-04 9.99995156e-01 1.99913433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8307140569999 meters Centerline goodness [0,1] 0.9874054359898573 Centerline is valid? [True, True] Translation: X:698.81, Y:-52.54, Z:2.00 [[ 9.98399119e-01 5.64649856e-02 -3.30219490e-03 6.98808277e+02] [-5.64637082e-02 9.98404537e-01 4.78870105e-04 -5.25356119e+01] [ 3.32396576e-03 -2.91649321e-04 9.99994433e-01 1.99866451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8607140569999 meters Centerline goodness [0,1] 0.9867396823398585 Centerline is valid? [True, True] Translation: X:698.84, Y:-52.53, Z:2.00 [[ 9.98318599e-01 5.78851422e-02 -3.04706675e-03 6.98837163e+02] [-5.78840615e-02 9.98323214e-01 4.41718741e-04 -5.25346211e+01] [ 3.06752642e-03 -2.64599435e-04 9.99995260e-01 1.99824674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.890714057 meters Centerline goodness [0,1] 0.985626584532864 Centerline is valid? [True, True] Translation: X:698.87, Y:-52.53, Z:2.00 [[ 9.98231591e-01 5.93666312e-02 -3.04858690e-03 6.98868387e+02] [-5.93655569e-02 9.98236212e-01 4.41771696e-04 -5.25290525e+01] [ 3.06943634e-03 -2.60009404e-04 9.99995255e-01 1.99745114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9207140569999 meters Centerline goodness [0,1] 0.9840506381826889 Centerline is valid? [True, True] Translation: X:698.90, Y:-52.53, Z:2.00 [[ 9.98130038e-01 6.10396299e-02 -3.25441290e-03 6.98897170e+02] [-6.10384151e-02 9.98135306e-01 4.71396808e-04 -5.25286619e+01] [ 3.27711830e-03 -2.71871108e-04 9.99994593e-01 1.99719017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9507140569999 meters Centerline goodness [0,1] 0.9818364233012143 Centerline is valid? [True, True] Translation: X:698.93, Y:-52.52, Z:2.00 [[ 9.97836363e-01 6.56861134e-02 -2.81545318e-03 6.98926716e+02] [-6.56852228e-02 9.97840310e-01 4.07759246e-04 -5.25237525e+01] [ 2.83615680e-03 -2.21943334e-04 9.99995953e-01 1.99590139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9807140569999 meters Centerline goodness [0,1] 0.9816502230880412 Centerline is valid? [True, True] Translation: X:698.96, Y:-52.51, Z:1.99 [[ 9.97682734e-01 6.79690951e-02 -3.06029040e-03 6.98958717e+02] [-6.79680540e-02 9.97687400e-01 4.43050957e-04 -5.25099570e+01] [ 3.08332694e-03 -2.34022307e-04 9.99995219e-01 1.99482205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.010714057 meters Centerline goodness [0,1] 0.9807231951619 Centerline is valid? [True, True] Translation: X:698.99, Y:-52.51, Z:1.99 [[ 9.97517030e-01 7.03605160e-02 -3.02857588e-03 6.98989244e+02] [-7.03595077e-02 9.97521603e-01 4.38347758e-04 -5.25054067e+01] [ 3.05191224e-03 -2.24170246e-04 9.99995318e-01 1.99398351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.040714057 meters Centerline goodness [0,1] 0.9794093570933821 Centerline is valid? [True, True] Translation: X:699.02, Y:-52.50, Z:1.99 [[ 9.97358524e-01 7.25667207e-02 -3.16960963e-03 6.99018231e+02] [-7.25656276e-02 9.97363534e-01 4.58648755e-04 -5.25036414e+01] [ 3.19453570e-03 -2.27432532e-04 9.99994872e-01 1.99312245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0707140569999 meters Centerline goodness [0,1] 0.9752048793779212 Centerline is valid? [True, True] Translation: X:699.05, Y:-52.50, Z:1.99 [[ 9.97049578e-01 7.66978200e-02 -3.09560649e-03 6.99048827e+02] [-7.66967979e-02 9.97054362e-01 4.47738695e-04 -5.24989255e+01] [ 3.12082854e-03 -2.08994572e-04 9.99995108e-01 1.99166539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1007140569999 meters Centerline goodness [0,1] 0.9757258149040982 Centerline is valid? [True, True] Translation: X:699.08, Y:-52.49, Z:1.99 [[ 9.96867044e-01 7.90031055e-02 -3.82188275e-03 6.99079698e+02] [-7.90015648e-02 9.96874339e-01 5.52678723e-04 -5.24941037e+01] [ 3.85360017e-03 -2.49012487e-04 9.99992544e-01 1.99129835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.130714057 meters Centerline goodness [0,1] 0.9753122703894196 Centerline is valid? [True, True] Translation: X:699.11, Y:-52.49, Z:1.99 [[ 9.96708818e-01 8.09890754e-02 -3.50750852e-03 6.99109852e+02] [-8.09877901e-02 9.96714965e-01 5.07167644e-04 -5.24921089e+01] [ 3.53706127e-03 -2.21433099e-04 9.99993720e-01 1.99134869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.160714057 meters Centerline goodness [0,1] 0.9735164812049054 Centerline is valid? [True, True] Translation: X:699.14, Y:-52.49, Z:1.99 [[ 9.96348020e-01 8.53535783e-02 -2.32173221e-03 6.99140137e+02] [-8.53530271e-02 9.96350715e-01 3.35649550e-04 -5.24882709e+01] [ 2.34190844e-03 -1.36256892e-04 9.99997248e-01 1.99262188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1907140569999 meters Centerline goodness [0,1] 0.9739364385404405 Centerline is valid? [True, True] Translation: X:699.17, Y:-52.49, Z:1.99 [[ 9.96219603e-01 8.68633351e-02 -1.12442629e-03 6.99169781e+02] [-8.68632067e-02 9.96220235e-01 1.62670906e-04 -5.24871739e+01] [ 1.13430636e-03 -6.43846723e-05 9.99999355e-01 1.99392937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2207140569999 meters Centerline goodness [0,1] 0.972988194067832 Centerline is valid? [True, True] Translation: X:699.20, Y:-52.49, Z:2.00 [[ 9.96053121e-01 8.87584674e-02 3.38119024e-04 6.99197285e+02] [-8.87584561e-02 9.96053178e-01 -4.82955009e-05 -5.24894468e+01] [-3.41071163e-04 1.80939619e-05 9.99999942e-01 1.99559816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.250714057 meters Centerline goodness [0,1] 0.9728363074094195 Centerline is valid? [True, True] Translation: X:699.23, Y:-52.49, Z:2.00 [[ 9.95933787e-01 9.00773983e-02 1.39807960e-03 6.99226960e+02] [-9.00772039e-02 9.95934765e-01 -2.01518095e-04 -5.24886589e+01] [-1.41054830e-03 7.47635783e-05 9.99999002e-01 1.99586405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.280714057 meters Centerline goodness [0,1] 0.9734698965388291 Centerline is valid? [True, True] Translation: X:699.26, Y:-52.49, Z:1.99 [[ 9.95770592e-01 9.18737336e-02 3.80489104e-04 6.99256667e+02] [-9.18737195e-02 9.95770665e-01 -5.45869412e-05 -5.24854775e+01] [-3.83894994e-04 1.93991216e-05 9.99999926e-01 1.99468264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3107140569999 meters Centerline goodness [0,1] 0.9726125669916024 Centerline is valid? [True, True] Translation: X:699.29, Y:-52.49, Z:1.99 [[ 9.95617373e-01 9.35180796e-02 6.44382693e-04 6.99285873e+02] [-9.35180392e-02 9.95617581e-01 -9.25922597e-05 -5.24851891e+01] [-6.50217788e-04 3.19250564e-05 9.99999788e-01 1.99430725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3407140569999 meters Centerline goodness [0,1] 0.9749718667944818 Centerline is valid? [True, True] Translation: X:699.31, Y:-52.49, Z:1.99 [[ 9.95469125e-01 9.50762033e-02 -1.31785019e-03 6.99314428e+02] [-9.50760347e-02 9.95469995e-01 1.90162837e-04 -5.24852821e+01] [ 1.32996028e-03 -6.40052629e-05 9.99999114e-01 1.99165433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.370714057 meters Centerline goodness [0,1] 0.9757755789385604 Centerline is valid? [True, True] Translation: X:699.34, Y:-52.49, Z:1.99 [[ 9.95377486e-01 9.60342474e-02 -1.04053019e-03 6.99344033e+02] [-9.60341429e-02 9.95378029e-01 1.50075498e-04 -5.24853878e+01] [ 1.05013328e-03 -4.94553469e-05 9.99999447e-01 1.99133571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.400714057 meters Centerline goodness [0,1] 0.9777043939170856 Centerline is valid? [True, True] Translation: X:699.37, Y:-52.48, Z:1.99 [[ 9.95239922e-01 9.74521701e-02 -7.56812043e-04 6.99373439e+02] [-9.74521151e-02 9.95240209e-01 1.09236120e-04 -5.24843686e+01] [ 7.63855073e-04 -3.49632133e-05 9.99999708e-01 1.99129860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4307140569999 meters Centerline goodness [0,1] 0.9795577541011331 Centerline is valid? [True, True] Translation: X:699.40, Y:-52.48, Z:1.99 [[ 9.94857965e-01 1.01278725e-01 -5.00133712e-04 6.99404277e+02] [-1.01278701e-01 9.94858090e-01 7.20585186e-05 -5.24817457e+01] [ 5.04860064e-04 -2.10350984e-05 9.99999872e-01 1.99115477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4607140569999 meters Centerline goodness [0,1] 0.9778392766604699 Centerline is valid? [True, True] Translation: X:699.43, Y:-52.49, Z:1.99 [[ 9.94660873e-01 1.03197367e-01 -2.28057351e-04 6.99432058e+02] [-1.03197362e-01 9.94660899e-01 3.31688502e-05 -5.24855551e+01] [ 2.30262668e-04 -9.45684035e-06 9.99999973e-01 1.99109733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.490714057 meters Centerline goodness [0,1] 0.9795673076923077 Centerline is valid? [True, True] Translation: X:699.46, Y:-52.49, Z:1.99 [[ 9.94497503e-01 1.04759283e-01 4.56866814e-04 6.99461269e+02] [-1.04759264e-01 9.94497608e-01 -6.53920428e-05 -5.24874014e+01] [-4.61203378e-04 1.71711920e-05 9.99999893e-01 1.99141123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.520714057 meters Centerline goodness [0,1] 0.9781343566819888 Centerline is valid? [True, True] Translation: X:699.49, Y:-52.49, Z:1.99 [[ 9.94390713e-01 1.05759808e-01 1.40485424e-03 6.99490069e+02] [-1.05759628e-01 9.94391704e-01 -2.01577139e-04 -5.24897289e+01] [-1.41829417e-03 5.18695724e-05 9.99998993e-01 1.99139048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5507140569999 meters Centerline goodness [0,1] 0.9794976181982247 Centerline is valid? [True, True] Translation: X:699.52, Y:-52.49, Z:1.99 [[ 9.94327473e-01 1.06346606e-01 1.80963806e-03 6.99518660e+02] [-1.06346310e-01 9.94329118e-01 -2.59611119e-04 -5.24931479e+01] [-1.82698458e-03 6.56901385e-05 9.99998329e-01 1.99182136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5807140569999 meters Centerline goodness [0,1] 0.9784404636459431 Centerline is valid? [True, True] Translation: X:699.55, Y:-52.50, Z:1.99 [[ 9.94343288e-01 1.06172313e-01 2.97760108e-03 6.99546741e+02] [-1.06171509e-01 9.94347740e-01 -4.27142468e-04 -5.24973951e+01] [-3.00612161e-03 1.08589846e-04 9.99995476e-01 1.99238271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6107140569999 meters Centerline goodness [0,1] 0.9773919296167837 Centerline is valid? [True, True] Translation: X:699.58, Y:-52.50, Z:1.99 [[ 9.94420156e-01 1.05446932e-01 3.08181682e-03 6.99575202e+02] [-1.05446069e-01 9.94424925e-01 -4.41878719e-04 -5.25023569e+01] [-3.11123021e-03 1.14447637e-04 9.99995154e-01 1.99143978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.640714057 meters Centerline goodness [0,1] 0.9779792472368394 Centerline is valid? [True, True] Translation: X:699.60, Y:-52.51, Z:1.99 [[ 9.94681203e-01 1.02976395e-01 2.27320260e-03 6.99603592e+02] [-1.02975918e-01 9.94683796e-01 -3.25808846e-04 -5.25098022e+01] [-2.29466841e-03 8.99908087e-05 9.99997363e-01 1.98956697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6707140569999 meters Centerline goodness [0,1] 0.975488447251894 Centerline is valid? [True, True] Translation: X:699.63, Y:-52.52, Z:1.99 [[ 9.94852454e-01 1.01323776e-01 1.44447300e-03 6.99630167e+02] [-1.01323584e-01 9.94853501e-01 -2.06302460e-04 -5.25173061e+01] [-1.45794236e-03 5.88813282e-05 9.99998935e-01 1.98926842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7007140569999 meters Centerline goodness [0,1] 0.9757539917208752 Centerline is valid? [True, True] Translation: X:699.66, Y:-52.52, Z:1.99 [[ 9.95086327e-01 9.89888040e-02 2.10200132e-03 6.99659424e+02] [-9.89883888e-02 9.95088543e-01 -3.00918791e-04 -5.25235372e+01] [-2.12146503e-03 9.13664504e-05 9.99997746e-01 1.98849608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7307140569999 meters Centerline goodness [0,1] 0.9737891737891737 Centerline is valid? [True, True] Translation: X:699.69, Y:-52.54, Z:1.99 [[ 9.95550408e-01 9.42269128e-02 8.20777035e-04 6.99687434e+02] [-9.42268479e-02 9.95550746e-01 -1.17470642e-04 -5.25360944e+01] [-8.28194085e-04 3.96087131e-05 9.99999656e-01 1.98765996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.760714057 meters Centerline goodness [0,1] 0.9730231380903166 Centerline is valid? [True, True] Translation: X:699.72, Y:-52.54, Z:1.99 [[ 9.95813498e-01 9.14081232e-02 1.80787787e-04 6.99716876e+02] [-9.14081201e-02 9.95813514e-01 -2.57370801e-05 -5.25392503e+01] [-1.82383500e-04 9.10386002e-06 9.99999983e-01 1.98695882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.790714057 meters Centerline goodness [0,1] 0.9729655753237183 Centerline is valid? [True, True] Translation: X:699.74, Y:-52.55, Z:1.99 [[ 9.96081141e-01 8.84441106e-02 7.93353837e-06 6.99743939e+02] [-8.84441106e-02 9.96081141e-01 -7.88154038e-07 -5.25471640e+01] [-7.97215552e-06 8.33906266e-08 1.00000000e+00 1.98749242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8207140569999 meters Centerline goodness [0,1] 0.9735086756448685 Centerline is valid? [True, True] Translation: X:699.77, Y:-52.55, Z:1.99 [[ 9.96336192e-01 8.55230448e-02 4.77546099e-05 6.99773340e+02] [-8.55230446e-02 9.96336193e-01 -6.68041021e-06 -5.25511254e+01] [-4.81509752e-05 2.57181484e-06 9.99999999e-01 1.98774705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8507140569999 meters Centerline goodness [0,1] 0.972597834786638 Centerline is valid? [True, True] Translation: X:699.80, Y:-52.56, Z:1.99 [[ 9.96833886e-01 7.95065946e-02 9.51243210e-04 6.99800734e+02] [-7.95065006e-02 9.96834338e-01 -1.36220631e-04 -5.25645030e+01] [-9.59062334e-04 6.01593218e-05 9.99999538e-01 1.98943105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.880714057 meters Centerline goodness [0,1] 0.9725802375537023 Centerline is valid? [True, True] Translation: X:699.83, Y:-52.57, Z:1.99 [[ 9.97085915e-01 7.62670509e-02 1.73640176e-03 6.99830188e+02] [-7.62667336e-02 9.97087420e-01 -2.48304037e-04 -5.25706376e+01] [-1.75028177e-03 1.15150767e-04 9.99998462e-01 1.98924658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.910714057 meters Centerline goodness [0,1] 0.9712005041487238 Centerline is valid? [True, True] Translation: X:699.86, Y:-52.58, Z:1.99 [[ 9.97274568e-01 7.37533783e-02 1.96867818e-03 6.99858313e+02] [-7.37529655e-02 9.97276502e-01 -2.81519265e-04 -5.25815365e+01] [-1.98407948e-03 1.35556149e-04 9.99998023e-01 1.99031216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9407140569999 meters Centerline goodness [0,1] 0.9708539538801727 Centerline is valid? [True, True] Translation: X:699.89, Y:-52.59, Z:1.99 [[ 9.97645473e-01 6.85293314e-02 2.69091199e-03 6.99888625e+02] [-6.85285412e-02 9.97649082e-01 -3.84846659e-04 -5.25872999e+01] [-2.71095916e-03 1.99536254e-04 9.99996305e-01 1.98781161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9707140569999 meters Centerline goodness [0,1] 0.9713393930446886 Centerline is valid? [True, True] Translation: X:699.92, Y:-52.59, Z:1.99 [[ 9.97800334e-01 6.62551953e-02 2.17797372e-03 6.99918143e+02] [-6.62546727e-02 9.97802697e-01 -3.11288607e-04 -5.25913584e+01] [-2.19381253e-03 1.66302940e-04 9.99997580e-01 1.98676011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.000714057 meters Centerline goodness [0,1] 0.969427366388988 Centerline is valid? [True, True] Translation: X:699.95, Y:-52.60, Z:1.98 [[ 9.97922231e-01 6.43921127e-02 2.20846449e-03 6.99947254e+02] [-6.43915713e-02 9.97924660e-01 -3.15449442e-04 -5.25956297e+01] [-2.22419363e-03 1.72587512e-04 9.99997512e-01 1.98494572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.030714057 meters Centerline goodness [0,1] 0.9620521968104309 Centerline is valid? [True, True] Translation: X:699.98, Y:-52.61, Z:1.98 [[ 9.98105324e-01 6.14678230e-02 2.73290276e-03 6.99975381e+02] [-6.14669826e-02 9.98109041e-01 -3.90510170e-04 -5.26073433e+01] [-2.75173876e-03 2.21786993e-04 9.99996189e-01 1.98314446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0607140569999 meters Centerline goodness [0,1] 0.9610177404295052 Centerline is valid? [True, True] Translation: X:700.00, Y:-52.61, Z:1.98 [[ 9.98134799e-01 6.09816707e-02 2.85630737e-03 7.00004596e+02] [-6.09807520e-02 9.98138859e-01 -4.07734842e-04 -5.26079111e+01] [-2.87585573e-03 2.32794563e-04 9.99995838e-01 1.98423657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0907140569999 meters Centerline goodness [0,1] 0.9610177404295052 Centerline is valid? [True, True] Translation: X:700.03, Y:-52.61, Z:1.98 [[ 9.98141120e-01 6.08781224e-02 2.85636953e-03 7.00031903e+02] [-6.08772045e-02 9.98145180e-01 -4.07299426e-04 -5.26117132e+01] [-2.87586711e-03 2.32654513e-04 9.99995838e-01 1.98434872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.120714057 meters Centerline goodness [0,1] 0.9582430315644915 Centerline is valid? [True, True] Translation: X:700.06, Y:-52.61, Z:1.98 [[ 9.98198866e-01 5.96334315e-02 6.54807342e-03 7.00062034e+02] [-5.96285781e-02 9.98220196e-01 -9.34107492e-04 -5.26082625e+01] [-6.59212317e-03 5.41972732e-04 9.99978125e-01 1.97774637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.150714057 meters Centerline goodness [0,1] 0.9536961451247166 Centerline is valid? [True, True] Translation: X:700.09, Y:-52.61, Z:1.98 [[ 9.98110622e-01 6.06494200e-02 9.84040414e-03 7.00089710e+02] [-6.06385147e-02 9.98158806e-01 -1.40309584e-03 -5.26141969e+01] [-9.90738299e-03 8.03737367e-04 9.99950598e-01 1.97816068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1807140569999 meters Centerline goodness [0,1] 0.9435661764705883 Centerline is valid? [True, False] Translation: X:700.09, Y:-52.61, Z:1.98 [[ 9.98184359e-01 5.94834464e-02 9.47126228e-03 7.00089515e+02] [-5.94521913e-02 9.98224848e-01 -3.54829161e-03 -5.26087537e+01] [-9.66551396e-03 2.97876189e-03 9.99948851e-01 1.97985642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2107140569999 meters Centerline goodness [0,1] 0.9648752595214595 Centerline is valid? [False, True] Translation: X:699.93, Y:-52.60, Z:1.98 [[ 9.98284117e-01 5.75251496e-02 -1.09397810e-02 6.99926885e+02] [-5.68312272e-02 9.96830133e-01 5.56767184e-02 -5.26041829e+01] [ 1.41079149e-02 -5.49594625e-02 9.98388914e-01 1.97586039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.240714057 meters Centerline goodness [0,1] 0.973897190840538 Centerline is valid? [True, True] Translation: X:699.96, Y:-52.60, Z:2.00 [[ 9.97880194e-01 6.49923586e-02 -3.33355514e-03 6.99957411e+02] [-6.49911634e-02 9.97885731e-01 4.65747558e-04 -5.25967807e+01] [ 3.35677714e-03 -2.48108636e-04 9.99994335e-01 2.00282880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.270714057 meters Centerline goodness [0,1] 0.965180984683873 Centerline is valid? [True, True] Translation: X:699.99, Y:-52.59, Z:1.99 [[ 9.97754029e-01 6.66032477e-02 7.13473349e-03 6.99988425e+02] [-6.65978299e-02 9.97779404e-01 -9.94523938e-04 -5.25873918e+01] [-7.18512865e-03 5.17132499e-04 9.99974053e-01 1.99118357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3007140569999 meters Centerline goodness [0,1] 0.9652973489371866 Centerline is valid? [True, True] Translation: X:700.01, Y:-52.60, Z:2.00 [[ 9.97913295e-01 6.39465262e-02 -8.93854172e-03 7.00014896e+02] [-6.39379073e-02 9.97953100e-01 1.24699300e-03 -5.26026523e+01] [ 8.99998629e-03 -6.72879241e-04 9.99959273e-01 2.00411235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3307140569999 meters Centerline goodness [0,1] 0.9629036504036504 Centerline is valid? [True, True] Translation: X:700.05, Y:-52.60, Z:2.00 [[ 9.97672827e-01 6.81827514e-02 -2.04609494e-04 7.00045482e+02] [-6.81827470e-02 9.97672848e-01 2.85576319e-05 -5.26003899e+01] [ 2.06080474e-04 -1.45403360e-05 9.99999979e-01 2.00267042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3607140569999 meters Centerline goodness [0,1] 0.9659663774638136 Centerline is valid? [True, True] Translation: X:700.08, Y:-52.60, Z:2.00 [[ 9.97528021e-01 7.02697749e-02 -7.60888603e-05 7.00075335e+02] [-7.02697743e-02 9.97528024e-01 1.08494600e-05 -5.26018531e+01] [ 7.66631596e-05 -5.47589332e-06 9.99999997e-01 2.00320055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.390714057 meters Centerline goodness [0,1] 0.9585465379882117 Centerline is valid? [True, True] Translation: X:700.10, Y:-52.60, Z:2.00 [[ 9.97469557e-01 7.10947266e-02 -1.53610305e-04 7.00103046e+02] [-7.10947240e-02 9.97469568e-01 2.22387412e-05 -5.26027964e+01] [ 1.54802662e-04 -1.12615851e-05 9.99999988e-01 1.99803388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4207140569999 meters Centerline goodness [0,1] 0.9603261924794512 Centerline is valid? [True, True] Translation: X:700.13, Y:-52.60, Z:2.00 [[ 9.97381429e-01 7.23095734e-02 -1.26890563e-03 7.00132118e+02] [-7.23094063e-02 9.97382233e-01 1.77128164e-04 -5.26043605e+01] [ 1.27839200e-03 -8.49105286e-05 9.99999179e-01 1.99842435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4507140569999 meters Centerline goodness [0,1] 0.9619950961414376 Centerline is valid? [True, True] Translation: X:700.16, Y:-52.60, Z:2.00 [[ 9.97245642e-01 7.41678883e-02 -5.03652387e-04 7.00162108e+02] [-7.41678622e-02 9.97245769e-01 7.03377498e-05 -5.26029848e+01] [ 5.07482015e-04 -3.27891936e-05 9.99999871e-01 1.99811349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4807140569999 meters Centerline goodness [0,1] 0.9649326871297792 Centerline is valid? [True, True] Translation: X:700.19, Y:-52.60, Z:2.00 [[ 9.97052552e-01 7.67210890e-02 -2.89436038e-04 7.00192666e+02] [-7.67210805e-02 9.97052593e-01 4.03982603e-05 -5.26037220e+01] [ 2.91682351e-04 -1.80733430e-05 9.99999957e-01 1.99958865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.510714057 meters Centerline goodness [0,1] 0.9646941819990055 Centerline is valid? [True, True] Translation: X:700.22, Y:-52.60, Z:2.00 [[ 9.96621097e-01 8.21214861e-02 1.56538317e-03 7.00222695e+02] [-8.21212452e-02 9.96622322e-01 -2.17687684e-04 -5.26010019e+01] [-1.57797265e-03 8.84009227e-05 9.99998751e-01 2.00144847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.540714057 meters Centerline goodness [0,1] 0.9656870122331391 Centerline is valid? [True, True] Translation: X:700.25, Y:-52.60, Z:2.00 [[ 9.96327681e-01 8.55715492e-02 2.94310657e-03 7.00252601e+02] [-8.55707127e-02 9.96332016e-01 -4.09207268e-04 -5.26014439e+01] [-2.96732781e-03 1.55860801e-04 9.99995585e-01 2.00327126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5707140569999 meters Centerline goodness [0,1] 0.96788637045289 Centerline is valid? [True, True] Translation: X:700.28, Y:-52.60, Z:2.01 [[ 9.95683552e-01 9.26813442e-02 4.94299557e-03 7.00282880e+02] [-9.26790715e-02 9.95695796e-01 -6.87370750e-04 -5.25974715e+01] [-4.98542636e-03 2.26291510e-04 9.99987547e-01 2.00512033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6007140569999 meters Centerline goodness [0,1] 0.9697008878544953 Centerline is valid? [True, True] Translation: X:700.31, Y:-52.60, Z:2.01 [[ 9.95262568e-01 9.71264031e-02 4.34535869e-03 7.00313334e+02] [-9.71246900e-02 9.95272038e-01 -6.04027555e-04 -5.25987943e+01] [-4.38348102e-03 1.79124400e-04 9.99990376e-01 2.00664521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.630714057 meters Centerline goodness [0,1] 0.9712492451039599 Centerline is valid? [True, True] Translation: X:700.34, Y:-52.60, Z:2.00 [[ 9.95011733e-01 9.96562595e-02 4.50342327e-03 7.00341801e+02] [-9.96544478e-02 9.95021909e-01 -6.25482914e-04 -5.25991022e+01] [-4.54333811e-03 1.73576680e-04 9.99989664e-01 2.00453673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.660714057 meters Centerline goodness [0,1] 0.9747446450889972 Centerline is valid? [True, True] Translation: X:700.37, Y:-52.60, Z:2.00 [[ 9.94731719e-01 1.02418371e-01 4.39144170e-03 7.00371526e+02] [-1.02416685e-01 9.94741400e-01 -6.07861704e-04 -5.25976109e+01] [-4.43060507e-03 1.54902418e-04 9.99990173e-01 2.00309496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6907140569999 meters Centerline goodness [0,1] 0.9787708288249297 Centerline is valid? [True, True] Translation: X:700.40, Y:-52.60, Z:2.00 [[ 9.94377616e-01 1.05850905e-01 2.95671825e-03 7.00401614e+02] [-1.05850154e-01 9.94382008e-01 -4.09931648e-04 -5.25971248e+01] [-2.98349906e-03 9.46577744e-05 9.99995545e-01 2.00190898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7207140569999 meters Centerline goodness [0,1] 0.9780054879094495 Centerline is valid? [True, True] Translation: X:700.43, Y:-52.60, Z:2.00 [[ 9.94330181e-01 1.06293085e-01 3.04492050e-03 7.00429175e+02] [-1.06292292e-01 9.94334838e-01 -4.21543458e-04 -5.26021336e+01] [-3.07247769e-03 9.55018036e-05 9.99995275e-01 2.00276391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.750714057 meters Centerline goodness [0,1] 0.9778831644751024 Centerline is valid? [True, True] Translation: X:700.46, Y:-52.61, Z:2.00 [[ 9.94427080e-01 1.05369453e-01 3.47275157e-03 7.00457609e+02] [-1.05368422e-01 9.94433138e-01 -4.78946214e-04 -5.26066568e+01] [-3.50388554e-03 1.10358732e-04 9.99993855e-01 2.00304326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.780714057 meters Centerline goodness [0,1] 0.9768987545976641 Centerline is valid? [True, True] Translation: X:700.49, Y:-52.61, Z:2.01 [[ 9.94710739e-01 1.02665349e-01 3.22048647e-03 7.00485657e+02] [-1.02664451e-01 9.94715946e-01 -4.43231422e-04 -5.26140648e+01] [-3.24897375e-03 1.10257580e-04 9.99994716e-01 2.00546720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8107140569999 meters Centerline goodness [0,1] 0.9752472048083759 Centerline is valid? [True, True] Translation: X:700.51, Y:-52.62, Z:2.01 [[ 9.94961011e-01 1.00204142e-01 3.42306106e-03 7.00513638e+02] [-1.00203116e-01 9.94966891e-01 -4.70376588e-04 -5.26207715e+01] [-3.45296610e-03 1.25004980e-04 9.99994031e-01 2.00573895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8407140569999 meters Centerline goodness [0,1] 0.975239530627624 Centerline is valid? [True, True] Translation: X:700.54, Y:-52.63, Z:2.01 [[ 9.95153942e-01 9.82692579e-02 3.43274675e-03 7.00541736e+02] [-9.82682175e-02 9.95159854e-01 -4.70844835e-04 -5.26269241e+01] [-3.46240133e-03 1.31233189e-04 9.99993997e-01 2.00624372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.870714057 meters Centerline goodness [0,1] 0.9718757379935163 Centerline is valid? [True, True] Translation: X:700.57, Y:-52.63, Z:2.01 [[ 9.95432091e-01 9.53941143e-02 3.86208739e-03 7.00570220e+02] [-9.53927709e-02 9.95439570e-01 -5.31009038e-04 -5.26345773e+01] [-3.89512974e-03 1.60168220e-04 9.99992401e-01 2.00605351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.900714057 meters Centerline goodness [0,1] 0.9698928425709193 Centerline is valid? [True, True] Translation: X:700.60, Y:-52.64, Z:2.01 [[ 9.95317638e-01 9.66281416e-02 2.40849358e-03 7.00598390e+02] [-9.66276276e-02 9.95320548e-01 -3.29146979e-04 -5.26415552e+01] [-2.42902801e-03 9.48787729e-05 9.99997045e-01 2.01013662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9307140569999 meters Centerline goodness [0,1] 0.9709449868811562 Centerline is valid? [True, True] Translation: X:700.63, Y:-52.65, Z:2.01 [[ 9.95507068e-01 9.46192187e-02 3.58894670e-03 7.00627716e+02] [-9.46180569e-02 9.95513526e-01 -4.92525618e-04 -5.26456267e+01] [-3.61944737e-03 1.50733571e-04 9.99993438e-01 2.00783140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9607140569999 meters Centerline goodness [0,1] 0.9710729613733906 Centerline is valid? [True, True] Translation: X:700.65, Y:-52.65, Z:2.01 [[ 9.95504302e-01 9.46609808e-02 3.23766631e-03 7.00654849e+02] [-9.46600377e-02 9.95509558e-01 -4.43655363e-04 -5.26514833e+01] [-3.26512461e-03 1.35183208e-04 9.99994660e-01 2.00828366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.990714057 meters Centerline goodness [0,1] 0.9688533745757615 Centerline is valid? [True, True] Translation: X:700.68, Y:-52.66, Z:2.01 [[ 9.95402263e-01 9.57458974e-02 2.65681040e-03 7.00682819e+02] [-9.57452667e-02 9.95405802e-01 -3.63885568e-04 -5.26570726e+01] [-2.67944504e-03 1.07835497e-04 9.99996404e-01 2.01016470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.020714057 meters Centerline goodness [0,1] 0.9714819106476117 Centerline is valid? [True, True] Translation: X:700.71, Y:-52.66, Z:2.01 [[ 9.95516419e-01 9.45207469e-02 3.59008573e-03 7.00711211e+02] [-9.45195875e-02 9.95522881e-01 -4.91612405e-04 -5.26623382e+01] [-3.62048006e-03 1.50074798e-04 9.99993435e-01 2.00915322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0507140569999 meters Centerline goodness [0,1] 0.9711942989611059 Centerline is valid? [True, True] Translation: X:700.74, Y:-52.67, Z:2.01 [[ 9.95550379e-01 9.41700787e-02 3.38211069e-03 7.00739291e+02] [-9.41690487e-02 9.95556114e-01 -4.62854870e-04 -5.26665313e+01] [-3.41066805e-03 1.42305195e-04 9.99994174e-01 2.00909652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0807140569999 meters Centerline goodness [0,1] 0.9661446041621969 Centerline is valid? [True, True] Translation: X:700.77, Y:-52.67, Z:2.01 [[ 9.95287692e-01 9.69538916e-02 1.53399030e-03 7.00767633e+02] [-9.69536831e-02 9.95288872e-01 -2.09857155e-04 -5.26744865e+01] [-1.54710994e-03 6.01422345e-05 9.99998801e-01 2.01457934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1107140569999 meters Centerline goodness [0,1] 0.968336483931947 Centerline is valid? [True, True] Translation: X:700.80, Y:-52.68, Z:2.01 [[ 9.95375038e-01 9.60595294e-02 1.04928674e-03 7.00795575e+02] [-9.60594319e-02 9.95375590e-01 -1.43026778e-04 -5.26792252e+01] [-1.05817350e-03 4.15713955e-05 9.99999439e-01 2.01250090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.140714057 meters Centerline goodness [0,1] 0.9654692584346635 Centerline is valid? [True, True] Translation: X:700.82, Y:-52.69, Z:2.01 [[ 9.95146446e-01 9.84039078e-02 -4.71579417e-04 7.00822931e+02] [-9.84038881e-02 9.95146557e-01 6.49772484e-05 -5.26875939e+01] [ 4.75684649e-04 -1.82566296e-05 9.99999887e-01 2.01471785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1707140569999 meters Centerline goodness [0,1] 0.9704569834799399 Centerline is valid? [True, True] Translation: X:700.85, Y:-52.69, Z:2.01 [[ 9.95307155e-01 9.67647251e-02 5.05215209e-04 7.00851308e+02] [-9.67647027e-02 9.95307283e-01 -6.86122080e-05 -5.26907466e+01] [-5.09483619e-04 1.94032221e-05 9.99999870e-01 2.01113524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2007140569999 meters Centerline goodness [0,1] 0.9691159438939647 Centerline is valid? [True, True] Translation: X:700.88, Y:-52.70, Z:2.01 [[ 9.95178196e-01 9.80747737e-02 1.30277783e-03 7.00878974e+02] [-9.80746254e-02 9.95179047e-01 -1.77433723e-04 -5.26964501e+01] [-1.31389897e-03 4.88087254e-05 9.99999136e-01 2.01216223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2307140569999 meters Centerline goodness [0,1] 0.9704683880929913 Centerline is valid? [True, True] Translation: X:700.91, Y:-52.70, Z:2.01 [[ 9.94840713e-01 1.01437512e-01 1.54466237e-03 7.00908680e+02] [-1.01437307e-01 9.94841911e-01 -2.10653948e-04 -5.27011527e+01] [-1.55806308e-03 5.28807322e-05 9.99998785e-01 2.01353194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.260714057 meters Centerline goodness [0,1] 0.9709672577567168 Centerline is valid? [True, True] Translation: X:700.94, Y:-52.71, Z:2.01 [[ 9.94657646e-01 1.03221546e-01 1.21672545e-03 7.00937239e+02] [-1.03221420e-01 9.94658389e-01 -1.65645814e-04 -5.27066506e+01] [-1.22732439e-03 3.91687471e-05 9.99999246e-01 2.01325096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.290714057 meters Centerline goodness [0,1] 0.9734769019994006 Centerline is valid? [True, True] Translation: X:700.97, Y:-52.71, Z:2.01 [[ 9.94490372e-01 1.04827721e-01 2.18984687e-04 7.00965788e+02] [-1.04827717e-01 9.94490397e-01 -2.94055889e-05 -5.27098835e+01] [-2.20860689e-04 6.28791028e-06 9.99999976e-01 2.01285242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3207140569999 meters Centerline goodness [0,1] 0.9735310480592289 Centerline is valid? [True, True] Translation: X:700.99, Y:-52.72, Z:2.01 [[ 9.94323708e-01 1.06384707e-01 -1.63001042e-03 7.00994115e+02] [-1.06384485e-01 9.94325043e-01 2.22762993e-04 -5.27180013e+01] [ 1.64445876e-03 -4.80907063e-05 9.99998647e-01 2.01234814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3507140569999 meters Centerline goodness [0,1] 0.9734734949045132 Centerline is valid? [True, True] Translation: X:701.02, Y:-52.73, Z:2.01 [[ 9.94336591e-01 1.06261795e-01 -1.78201803e-03 7.01020189e+02] [-1.06261529e-01 9.94338186e-01 2.43617085e-04 -5.27262234e+01] [ 1.79781577e-03 -5.28774205e-05 9.99998383e-01 2.01297788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.380714057 meters Centerline goodness [0,1] 0.9733675323287379 Centerline is valid? [True, True] Translation: X:701.05, Y:-52.73, Z:2.01 [[ 9.94367883e-01 1.05951387e-01 -2.61100845e-03 7.01047824e+02] [-1.05950817e-01 9.94371308e-01 3.56169630e-04 -5.27310546e+01] [ 2.63404855e-03 -7.75251634e-05 9.99996528e-01 2.01324299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.410714057 meters Centerline goodness [0,1] 0.9723457001196786 Centerline is valid? [True, True] Translation: X:701.08, Y:-52.74, Z:2.01 [[ 9.94412823e-01 1.05522616e-01 -2.84862103e-03 7.01076167e+02] [-1.05521937e-01 9.94416900e-01 3.88075461e-04 -5.27383879e+01] [ 2.87366764e-03 -8.53152057e-05 9.99995867e-01 2.01439838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4407140569999 meters Centerline goodness [0,1] 0.9723923108105225 Centerline is valid? [True, True] Translation: X:701.10, Y:-52.75, Z:2.02 [[ 9.94586810e-01 1.03857347e-01 -3.27558517e-03 7.01103957e+02] [-1.03856441e-01 9.94592198e-01 4.45941461e-04 -5.27479625e+01] [ 3.30418575e-03 -1.03336876e-04 9.99994536e-01 2.01547140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4707140569999 meters Centerline goodness [0,1] 0.9708886618998979 Centerline is valid? [True, True] Translation: X:701.13, Y:-52.76, Z:2.02 [[ 9.94638153e-01 1.03366206e-01 -3.22041554e-03 7.01130767e+02] [-1.03365328e-01 9.94643362e-01 4.38412850e-04 -5.27569528e+01] [ 3.24848201e-03 -1.03182840e-04 9.99994718e-01 2.01607124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.500714057 meters Centerline goodness [0,1] 0.9691716064333822 Centerline is valid? [True, True] Translation: X:701.16, Y:-52.77, Z:2.02 [[ 9.94612981e-01 1.03601543e-01 -3.42608711e-03 7.01157373e+02] [-1.03600553e-01 9.94618876e-01 4.65734729e-04 -5.27666206e+01] [ 3.45590174e-03 -1.08281290e-04 9.99994022e-01 2.01746221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.530714057 meters Centerline goodness [0,1] 0.9710018879531618 Centerline is valid? [True, True] Translation: X:701.19, Y:-52.77, Z:2.02 [[ 9.94522217e-01 1.04495685e-01 -2.49227304e-03 7.01185833e+02] [-1.04495162e-01 9.94525337e-01 3.39311021e-04 -5.27744113e+01] [ 2.51408522e-03 -7.70218732e-05 9.99996837e-01 2.01920350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5607140569999 meters Centerline goodness [0,1] 0.969665581532998 Centerline is valid? [True, True] Translation: X:701.21, Y:-52.78, Z:2.02 [[ 9.94375228e-01 1.05888000e-01 -2.37437333e-03 7.01212440e+02] [-1.05887531e-01 9.94378060e-01 3.22356787e-04 -5.27826207e+01] [ 2.39515846e-03 -6.91270731e-05 9.99997129e-01 2.01957466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5907140569999 meters Centerline goodness [0,1] 0.9716182678234309 Centerline is valid? [True, True] Translation: X:701.24, Y:-52.79, Z:2.02 [[ 9.94215458e-01 1.07365354e-01 -2.88157149e-03 7.01240555e+02] [-1.07364673e-01 9.94219631e-01 3.90437843e-04 -5.27870207e+01] [ 2.90683444e-03 -7.88003593e-05 9.99995772e-01 2.01942282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.620714057 meters Centerline goodness [0,1] 0.974253107201084 Centerline is valid? [True, True] Translation: X:701.27, Y:-52.79, Z:2.02 [[ 9.93828942e-01 1.10834548e-01 -4.44262819e-03 7.01268433e+02] [-1.10832966e-01 9.93838866e-01 6.01395508e-04 -5.27945912e+01] [ 4.48191196e-03 -1.05294603e-04 9.99989951e-01 2.01906943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.650714057 meters Centerline goodness [0,1] 0.9742074380514163 Centerline is valid? [True, True] Translation: X:701.30, Y:-52.80, Z:2.02 [[ 9.93546128e-01 1.13318310e-01 -5.00522126e-03 7.01295608e+02] [-1.13316336e-01 9.93558730e-01 6.77163927e-04 -5.28033083e+01] [ 5.04971635e-03 -1.05620265e-04 9.99987245e-01 2.01991583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6807140569999 meters Centerline goodness [0,1] 0.9751212178957843 Centerline is valid? [True, True] Translation: X:701.32, Y:-52.81, Z:2.02 [[ 9.93422571e-01 1.14409630e-01 -4.69377093e-03 7.01324357e+02] [-1.14407908e-01 9.93433655e-01 6.34613908e-04 -5.28082982e+01] [ 4.73555596e-03 -9.34352659e-05 9.99988783e-01 2.02031914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7107140569999 meters Centerline goodness [0,1] 0.9759754714603721 Centerline is valid? [True, True] Translation: X:701.35, Y:-52.82, Z:2.02 [[ 9.93273952e-01 1.15702362e-01 -4.45185599e-03 7.01351476e+02] [-1.15700827e-01 9.93283925e-01 6.01742762e-04 -5.28152665e+01] [ 4.49158005e-03 -8.26119904e-05 9.99989909e-01 2.02162585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.740714057 meters Centerline goodness [0,1] 0.978725653985239 Centerline is valid? [True, True] Translation: X:701.38, Y:-52.82, Z:2.02 [[ 9.93369602e-01 1.14899514e-01 -3.86458671e-03 7.01379445e+02] [-1.14898353e-01 9.93377117e-01 5.21824883e-04 -5.28248501e+01] [ 3.89894943e-03 -7.43303291e-05 9.99992396e-01 2.02355833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.770714057 meters Centerline goodness [0,1] 0.9776608335446784 Centerline is valid? [True, True] Translation: X:701.41, Y:-52.83, Z:2.03 [[ 9.93476018e-01 1.13969032e-01 -4.05737473e-03 7.01405664e+02] [-1.13967745e-01 9.93484299e-01 5.47753772e-04 -5.28346675e+01] [ 4.09336506e-03 -8.17703881e-05 9.99991619e-01 2.02508061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8007140569999 meters Centerline goodness [0,1] 0.9787314769924749 Centerline is valid? [True, True] Translation: X:701.43, Y:-52.85, Z:2.03 [[ 9.93856001e-01 1.10562579e-01 -5.11525457e-03 7.01432861e+02] [-1.10560494e-01 9.93869157e-01 6.89380535e-04 -5.28463198e+01] [ 5.16011344e-03 -1.19599908e-04 9.99986679e-01 2.02597600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8307140569999 meters Centerline goodness [0,1] 0.9777254275077298 Centerline is valid? [True, True] Translation: X:701.46, Y:-52.86, Z:2.03 [[ 9.94112362e-01 1.08195312e-01 -5.86391276e-03 7.01459085e+02] [-1.08192534e-01 9.94129645e-01 7.89800823e-04 -5.28583323e+01] [ 5.91494226e-03 -1.50719179e-04 9.99982495e-01 2.02668466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8607140569999 meters Centerline goodness [0,1] 0.9784450063211125 Centerline is valid? [True, True] Translation: X:701.49, Y:-52.87, Z:2.03 [[ 9.94454926e-01 1.05003840e-01 -5.79597480e-03 7.01487325e+02] [-1.05001075e-01 9.94471802e-01 7.80113445e-04 -5.28676724e+01] [ 5.84584841e-03 -1.67204073e-04 9.99982899e-01 2.02679541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.890714057 meters Centerline goodness [0,1] 0.9781917692874434 Centerline is valid? [True, True] Translation: X:701.51, Y:-52.88, Z:2.03 [[ 9.94775742e-01 1.01873358e-01 -6.56058157e-03 7.01514336e+02] [-1.01869750e-01 9.94797354e-01 8.82651763e-04 -5.28776300e+01] [ 6.61636788e-03 -2.09715756e-04 9.99978090e-01 2.02730876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9207140569999 meters Centerline goodness [0,1] 0.9791231732776617 Centerline is valid? [True, True] Translation: X:701.54, Y:-52.89, Z:2.03 [[ 9.95113918e-01 9.84998630e-02 -6.78731494e-03 7.01542355e+02] [-9.84959262e-02 9.95137036e-01 9.12692016e-04 -5.28870604e+01] [ 6.84420851e-03 -2.39709657e-04 9.99976549e-01 2.02752870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9507140569999 meters Centerline goodness [0,1] 0.9795833072116691 Centerline is valid? [True, True] Translation: X:701.57, Y:-52.90, Z:2.03 [[ 9.95727553e-01 9.20213453e-02 -7.66244327e-03 7.01569931e+02] [-9.20161391e-02 9.95756983e-01 1.02998124e-03 -5.29026051e+01] [ 7.72471165e-03 -3.20512257e-04 9.99970113e-01 2.02717354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9807140569999 meters Centerline goodness [0,1] 0.9795833072116691 Centerline is valid? [True, True] Translation: X:701.60, Y:-52.91, Z:2.03 [[ 9.95736447e-01 9.19250510e-02 -7.66247454e-03 7.01597209e+02] [-9.19198438e-02 9.95765877e-01 1.02974857e-03 -5.29061672e+01] [ 7.72469037e-03 -3.21024722e-04 9.99970113e-01 2.02735523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.010714057 meters Centerline goodness [0,1] 0.9801176495393114 Centerline is valid? [True, True] Translation: X:701.63, Y:-52.92, Z:2.03 [[ 9.95989512e-01 8.91413905e-02 -7.66191872e-03 7.01625559e+02] [-8.91361072e-02 9.96018923e-01 1.02897483e-03 -5.29153318e+01] [ 7.72314028e-03 -3.41894531e-04 9.99970118e-01 2.02800654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.040714057 meters Centerline goodness [0,1] 0.9806397482957525 Centerline is valid? [True, True] Translation: X:701.65, Y:-52.92, Z:2.03 [[ 9.96194290e-01 8.67493270e-02 -8.45528324e-03 7.01653247e+02] [-8.67428107e-02 9.96230092e-01 1.13507476e-03 -5.29241561e+01] [ 8.52187457e-03 -3.97319963e-04 9.99963609e-01 2.02860314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0707140569999 meters Centerline goodness [0,1] 0.9806867854741089 Centerline is valid? [True, True] Translation: X:701.68, Y:-52.93, Z:2.03 [[ 9.96404501e-01 8.43986103e-02 -7.41247867e-03 7.01682301e+02] [-8.43935397e-02 9.96432005e-01 9.94776868e-04 -5.29323707e+01] [ 7.46998877e-03 -3.65634837e-04 9.99972032e-01 2.02917265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1007140569999 meters Centerline goodness [0,1] 0.9816964003622807 Centerline is valid? [True, True] Translation: X:701.71, Y:-52.94, Z:2.03 [[ 9.96750977e-01 8.02302083e-02 -7.11366761e-03 7.01709937e+02] [-8.02254338e-02 9.96776288e-01 9.54462911e-04 -5.29440790e+01] [ 7.16731195e-03 -3.80664769e-04 9.99974242e-01 2.03088807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.130714057 meters Centerline goodness [0,1] 0.9821737114922668 Centerline is valid? [True, True] Translation: X:701.74, Y:-52.95, Z:2.03 [[ 9.96910644e-01 7.81716222e-02 -7.63974431e-03 7.01738424e+02] [-7.81660565e-02 9.96939826e-01 1.02487735e-03 -5.29512373e+01] [ 7.69648169e-03 -4.24542456e-04 9.99970292e-01 2.03076562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.160714057 meters Centerline goodness [0,1] 0.9837612418121696 Centerline is valid? [True, True] Translation: X:701.77, Y:-52.95, Z:2.03 [[ 9.97082830e-01 7.58961274e-02 -8.09985871e-03 7.01768706e+02] [-7.58897996e-02 9.97115619e-01 1.08618477e-03 -5.29452887e+01] [ 8.15893285e-03 -4.68319535e-04 9.99966606e-01 2.03173652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1907140569999 meters Centerline goodness [0,1] 0.9834755575956102 Centerline is valid? [True, True] Translation: X:701.80, Y:-52.95, Z:2.03 [[ 9.97080266e-01 7.59543201e-02 -7.86663648e-03 7.01797209e+02] [-7.59483568e-02 9.97111195e-01 1.05446787e-03 -5.29507382e+01] [ 7.92400269e-03 -4.53930995e-04 9.99968502e-01 2.03179182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2207140569999 meters Centerline goodness [0,1] 0.9831598864711447 Centerline is valid? [True, True] Translation: X:701.82, Y:-52.96, Z:2.03 [[ 9.97075996e-01 7.60100365e-02 -7.86977617e-03 7.01824769e+02] [-7.60040748e-02 9.97106950e-01 1.05429488e-03 -5.29579194e+01] [ 7.92714550e-03 -4.53077056e-04 9.99968477e-01 2.03200059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.250714057 meters Centerline goodness [0,1] 0.9846686657938083 Centerline is valid? [True, True] Translation: X:701.85, Y:-52.96, Z:2.03 [[ 9.97052763e-01 7.63136259e-02 -7.87513288e-03 7.01853807e+02] [-7.63076710e-02 9.97083762e-01 1.05432524e-03 -5.29573277e+01] [ 7.93262650e-03 -4.50284842e-04 9.99968435e-01 2.03282315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.280714057 meters Centerline goodness [0,1] 0.9846905468865164 Centerline is valid? [True, True] Translation: X:701.88, Y:-52.96, Z:2.03 [[ 9.96803870e-01 7.94575261e-02 -8.27932217e-03 7.01881745e+02] [-7.94510573e-02 9.96838152e-01 1.10783507e-03 -5.29639726e+01] [ 8.34117005e-03 -4.46493383e-04 9.99965112e-01 2.03342524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3107140569999 meters Centerline goodness [0,1] 0.9839545167403664 Centerline is valid? [True, True] Translation: X:701.91, Y:-52.96, Z:2.03 [[ 9.96621778e-01 8.17487660e-02 -7.88480183e-03 7.01911893e+02] [-8.17429737e-02 9.96652885e-01 1.05465470e-03 -5.29640658e+01] [ 7.94462721e-03 -4.06564692e-04 9.99968358e-01 2.03357450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3407140569999 meters Centerline goodness [0,1] 0.983341045812124 Centerline is valid? [True, True] Translation: X:701.94, Y:-52.97, Z:2.03 [[ 9.96329130e-01 8.52640454e-02 -7.63586319e-03 7.01941533e+02] [-8.52587181e-02 9.96358323e-01 1.02109004e-03 -5.29655933e+01] [ 7.69511811e-03 -3.66317841e-04 9.99970325e-01 2.03419072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.370714057 meters Centerline goodness [0,1] 0.9828597867463038 Centerline is valid? [True, True] Translation: X:701.97, Y:-52.97, Z:2.03 [[ 9.95947670e-01 8.96155330e-02 -7.56932995e-03 7.01970123e+02] [-8.96104256e-02 9.95976379e-01 1.01190697e-03 -5.29679176e+01] [ 7.62955642e-03 -3.29515509e-04 9.99970840e-01 2.03440258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.400714057 meters Centerline goodness [0,1] 0.983045519322659 Centerline is valid? [True, True] Translation: X:702.00, Y:-52.96, Z:2.03 [[ 9.94941997e-01 1.00135392e-01 -7.95782161e-03 7.02001280e+02] [-1.00130085e-01 9.94973786e-01 1.06342738e-03 -5.29630716e+01] [ 8.02431062e-03 -2.61231203e-04 9.99967771e-01 2.03467305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4307140569999 meters Centerline goodness [0,1] 0.9836461237568142 Centerline is valid? [True, True] Translation: X:702.03, Y:-52.96, Z:2.04 [[ 9.94368885e-01 1.05637110e-01 -8.44524062e-03 7.02031610e+02] [-1.05631335e-01 9.94404720e-01 1.12828393e-03 -5.29627106e+01] [ 8.51717579e-03 -2.29848398e-04 9.99963702e-01 2.03518255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4607140569999 meters Centerline goodness [0,1] 0.9839402897456863 Centerline is valid? [True, True] Translation: X:702.06, Y:-52.96, Z:2.04 [[ 9.93801343e-01 1.10886354e-01 -7.94398114e-03 7.02061364e+02] [-1.10881412e-01 9.93833078e-01 1.06115888e-03 -5.29620194e+01] [ 8.01265927e-03 -1.73741270e-04 9.99967883e-01 2.03601365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.490714057 meters Centerline goodness [0,1] 0.984358009201171 Centerline is valid? [True, True] Translation: X:702.09, Y:-52.96, Z:2.04 [[ 9.93190239e-01 1.16271408e-01 -7.35590031e-03 7.02089623e+02] [-1.16267321e-01 9.93217471e-01 9.82317768e-04 -5.29624668e+01] [ 7.42022418e-03 -1.20377596e-04 9.99972463e-01 2.03677642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.520714057 meters Centerline goodness [0,1] 0.9856602981314297 Centerline is valid? [True, True] Translation: X:702.12, Y:-52.96, Z:2.04 [[ 9.92202156e-01 1.24497318e-01 -5.94137556e-03 7.02118936e+02] [-1.24494802e-01 9.92219943e-01 7.92999811e-04 -5.29603527e+01] [ 5.99387767e-03 -4.71457503e-05 9.99982035e-01 2.03896900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5507140569999 meters Centerline goodness [0,1] 0.9857253166934491 Centerline is valid? [True, True] Translation: X:702.15, Y:-52.96, Z:2.04 [[ 9.91742772e-01 1.28129990e-01 -5.38326966e-03 7.02147062e+02] [-1.28127979e-01 9.91757382e-01 7.18194463e-04 -5.29629660e+01] [ 5.43091968e-03 -2.25167055e-05 9.99985252e-01 2.03979070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5807140569999 meters Centerline goodness [0,1] 0.987190238584427 Centerline is valid? [True, True] Translation: X:702.18, Y:-52.97, Z:2.04 [[ 9.91365908e-01 1.31009947e-01 -5.47997556e-03 7.02176008e+02] [-1.31007910e-01 9.91381054e-01 7.30595134e-04 -5.29659282e+01] [ 5.52845917e-03 -6.36696613e-06 9.99984718e-01 2.04031533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6107140569999 meters Centerline goodness [0,1] 0.9870297772958545 Centerline is valid? [True, True] Translation: X:702.20, Y:-52.97, Z:2.04 [[ 9.91065314e-01 1.33260177e-01 -5.59179387e-03 7.02202354e+02] [-1.33258094e-01 9.91081089e-01 7.45210486e-04 -5.29693675e+01] [ 5.64122804e-03 6.59952725e-06 9.99984088e-01 2.03972037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.640714057 meters Centerline goodness [0,1] 0.9881916187759554 Centerline is valid? [True, True] Translation: X:702.23, Y:-52.97, Z:2.04 [[ 9.90559367e-01 1.36943433e-01 -6.21583481e-03 7.02230471e+02] [-1.36940940e-01 9.90578869e-01 8.26981105e-04 -5.29746144e+01] [ 6.27052425e-03 3.20283818e-05 9.99980340e-01 2.03906124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6707140569999 meters Centerline goodness [0,1] 0.9885209713024282 Centerline is valid? [True, True] Translation: X:702.26, Y:-52.98, Z:2.04 [[ 9.90310021e-01 1.38737811e-01 -6.15487848e-03 7.02257527e+02] [-1.38735403e-01 9.90329146e-01 8.18443727e-04 -5.29793626e+01] [ 6.20890465e-03 4.33865250e-05 9.99980724e-01 2.03847762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7007140569999 meters Centerline goodness [0,1] 0.9892818863879957 Centerline is valid? [True, True] Translation: X:702.29, Y:-52.99, Z:2.04 [[ 9.90030228e-01 1.40730277e-01 -5.92762771e-03 7.02286050e+02] [-1.40728083e-01 9.90047972e-01 7.87712283e-04 -5.29859159e+01] [ 5.97949076e-03 5.43247136e-05 9.99982121e-01 2.03888124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7307140569999 meters Centerline goodness [0,1] 0.9897388645739534 Centerline is valid? [True, True] Translation: X:702.31, Y:-52.99, Z:2.04 [[ 9.89752624e-01 1.42679205e-01 -5.69098025e-03 7.02314571e+02] [-1.42677217e-01 9.89768983e-01 7.55873436e-04 -5.29923242e+01] [ 5.74060315e-03 6.38455065e-05 9.99983521e-01 2.03960270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.760714057 meters Centerline goodness [0,1] 0.9899220583305397 Centerline is valid? [True, True] Translation: X:702.34, Y:-53.00, Z:2.04 [[ 9.89542513e-01 1.44103287e-01 -6.31334203e-03 7.02342780e+02] [-1.44100873e-01 9.89562649e-01 8.38031574e-04 -5.29988353e+01] [ 6.36821057e-03 8.04902262e-05 9.99979720e-01 2.04099035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.790714057 meters Centerline goodness [0,1] 0.9916216953992819 Centerline is valid? [True, True] Translation: X:702.37, Y:-53.01, Z:2.04 [[ 9.89044204e-01 1.47502521e-01 -5.87954887e-03 7.02369828e+02] [-1.47500489e-01 9.89061675e-01 7.80077676e-04 -5.30100698e+01] [ 5.93029988e-03 9.57050307e-05 9.99982411e-01 2.04238887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8207140569999 meters Centerline goodness [0,1] 0.9925237167808004 Centerline is valid? [True, True] Translation: X:702.40, Y:-53.02, Z:2.04 [[ 9.88877780e-01 1.48623533e-01 -5.63747568e-03 7.02396693e+02] [-1.48621686e-01 9.88893845e-01 7.47465807e-04 -5.30164098e+01] [ 5.68595601e-03 9.86988123e-05 9.99983830e-01 2.04336424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8507140569999 meters Centerline goodness [0,1] 0.993863870384769 Centerline is valid? [True, True] Translation: X:702.42, Y:-53.02, Z:2.04 [[ 9.88751810e-01 1.49497456e-01 -4.51322658e-03 7.02423553e+02] [-1.49496283e-01 9.88762107e-01 5.98103392e-04 -5.30242607e+01] [ 4.55192236e-03 8.33347873e-05 9.99989636e-01 2.04492754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.880714057 meters Centerline goodness [0,1] 0.9951702941729913 Centerline is valid? [True, True] Translation: X:702.45, Y:-53.04, Z:2.05 [[ 9.88829411e-01 1.49002444e-01 -3.82987430e-03 7.02449993e+02] [-1.49001596e-01 9.88836825e-01 5.07292196e-04 -5.30377508e+01] [ 3.86270852e-03 6.90319411e-05 9.99992537e-01 2.04682507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.910714057 meters Centerline goodness [0,1] 0.9959281336579632 Centerline is valid? [True, True] Translation: X:702.48, Y:-53.05, Z:2.05 [[ 9.88922710e-01 1.48388706e-01 -3.55883973e-03 7.02478334e+02] [-1.48387972e-01 9.88929112e-01 4.71018427e-04 -5.30470328e+01] [ 3.58933403e-03 6.22881894e-05 9.99993556e-01 2.04750784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9407140569999 meters Centerline goodness [0,1] 0.995766885307739 Centerline is valid? [True, True] Translation: X:702.51, Y:-53.06, Z:2.05 [[ 9.89052876e-01 1.47522039e-01 -3.41420806e-03 7.02506271e+02] [-1.47521359e-01 9.89058767e-01 4.51774016e-04 -5.30575700e+01] [ 3.44349904e-03 5.68402221e-05 9.99994070e-01 2.04699694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9707140569999 meters Centerline goodness [0,1] 0.9967978903748352 Centerline is valid? [True, True] Translation: X:702.53, Y:-53.07, Z:2.05 [[ 9.89203379e-01 1.46504591e-01 -3.61657027e-03 7.02533251e+02] [-1.46503822e-01 9.89209989e-01 4.78316079e-04 -5.30665129e+01] [ 3.64762294e-03 5.66894845e-05 9.99993346e-01 2.04719240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.000714057 meters Centerline goodness [0,1] 0.9973236314975118 Centerline is valid? [True, True] Translation: X:702.56, Y:-53.08, Z:2.05 [[ 9.89605926e-01 1.43700068e-01 -5.51377109e-03 7.02559051e+02] [-1.43698239e-01 9.89621284e-01 7.28441416e-04 -5.30817796e+01] [ 5.56122230e-03 7.14492552e-05 9.99984534e-01 2.04755942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.030714057 meters Centerline goodness [0,1] 0.997910004806989 Centerline is valid? [True, True] Translation: X:702.59, Y:-53.09, Z:2.05 [[ 9.89820904e-01 1.42204430e-01 -5.69899236e-03 7.02586277e+02] [-1.42202455e-01 9.89837308e-01 7.52383073e-04 -5.30925240e+01] [ 5.74806746e-03 6.56862112e-05 9.99983478e-01 2.04743092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0607140569999 meters Centerline goodness [0,1] 0.9980754748556606 Centerline is valid? [True, True] Translation: X:702.61, Y:-53.10, Z:2.05 [[ 9.90114562e-01 1.40138848e-01 -5.85297756e-03 7.02612889e+02] [-1.40136730e-01 9.90131860e-01 7.72297997e-04 -5.31023066e+01] [ 5.90344851e-03 5.55536460e-05 9.99982573e-01 2.04770209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0907140569999 meters Centerline goodness [0,1] 0.9986169031203503 Centerline is valid? [True, True] Translation: X:702.64, Y:-53.12, Z:2.05 [[ 9.90761740e-01 1.35493926e-01 -5.70701877e-03 7.02639398e+02] [-1.35491839e-01 9.90778177e-01 7.52552425e-04 -5.31207441e+01] [ 5.75635593e-03 2.76543169e-05 9.99983432e-01 2.04922276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.120714057 meters Centerline goodness [0,1] 0.9993296183014204 Centerline is valid? [True, True] Translation: X:702.67, Y:-53.13, Z:2.05 [[ 9.91167564e-01 1.32510302e-01 -5.28005975e-03 7.02665898e+02] [-1.32508475e-01 9.91181628e-01 6.95937098e-04 -5.31310678e+01] [ 5.32571705e-03 9.86238457e-06 9.99985818e-01 2.05090771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.150714057 meters Centerline goodness [0,1] 0.9991443894905987 Centerline is valid? [True, True] Translation: X:702.69, Y:-53.14, Z:2.05 [[ 9.91543816e-01 1.29710590e-01 -4.00294472e-03 7.02694015e+02] [-1.29709519e-01 9.91551896e-01 5.27310638e-04 -5.31418409e+01] [ 4.03752520e-03 -3.63156998e-06 9.99991849e-01 2.05161177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1807140569999 meters Centerline goodness [0,1] 0.9994975084795444 Centerline is valid? [True, True] Translation: X:702.72, Y:-53.15, Z:2.05 [[ 9.91987133e-01 1.26311718e-01 -2.62270067e-03 7.02721416e+02] [-1.26311246e-01 9.91990600e-01 3.45481928e-04 -5.31522182e+01] [ 2.64533283e-03 -1.14370380e-05 9.99996501e-01 2.05233150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2107140569999 meters Centerline goodness [0,1] 0.9995164816683485 Centerline is valid? [True, True] Translation: X:702.75, Y:-53.17, Z:2.05 [[ 9.92824667e-01 1.19576181e-01 -8.46881776e-04 7.02750057e+02] [-1.19576129e-01 9.92825028e-01 1.11300993e-04 -5.31709444e+01] [ 8.54114371e-04 -9.23552633e-06 9.99999635e-01 2.05319613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.240714057 meters Centerline goodness [0,1] 0.99928913420728 Centerline is valid? [True, True] Translation: X:702.78, Y:-53.18, Z:2.05 [[ 9.93249090e-01 1.15999373e-01 -6.24838774e-04 7.02779570e+02] [-1.15999345e-01 9.93249287e-01 8.14179324e-05 -5.31840771e+01] [ 6.30065096e-04 -8.38739879e-06 9.99999801e-01 2.05409216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.270714057 meters Centerline goodness [0,1] 0.9991838101416822 Centerline is valid? [True, True] Translation: X:702.81, Y:-53.19, Z:2.05 [[ 9.93708732e-01 1.11994194e-01 -5.07238965e-04 7.02810695e+02] [-1.11994176e-01 9.93708861e-01 6.52944985e-05 -5.31941175e+01] [ 5.11360459e-04 -8.07590346e-06 9.99999869e-01 2.05304450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3007140569999 meters Centerline goodness [0,1] 0.9992460890871395 Centerline is valid? [True, True] Translation: X:702.84, Y:-53.20, Z:2.05 [[ 9.94132930e-01 1.08164510e-01 -3.94785085e-04 7.02842032e+02] [-1.08164498e-01 9.94133009e-01 5.16527545e-05 -5.32047992e+01] [ 3.98055879e-04 -8.64797358e-06 9.99999921e-01 2.05248669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3307140569999 meters Centerline goodness [0,1] 0.9996424063946151 Centerline is valid? [True, True] Translation: X:702.87, Y:-53.22, Z:2.05 [[ 9.94941753e-01 1.00448352e-01 -1.01808461e-03 7.02870059e+02] [-1.00448267e-01 9.94942274e-01 1.34405752e-04 -5.32200878e+01] [ 1.02643626e-03 -3.14610599e-05 9.99999473e-01 2.05074389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3607140569999 meters Centerline goodness [0,1] 0.9994534025690079 Centerline is valid? [True, True] Translation: X:702.90, Y:-53.23, Z:2.05 [[ 9.95238325e-01 9.74609873e-02 -1.42593293e-03 7.02901365e+02] [-9.74608181e-02 9.95239345e-01 1.87880963e-04 -5.32279986e+01] [ 1.43745562e-03 -4.80137455e-05 9.99998966e-01 2.05001186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.390714057 meters Centerline goodness [0,1] 0.9994745912319785 Centerline is valid? [True, True] Translation: X:702.93, Y:-53.24, Z:2.05 [[ 9.95498542e-01 9.47687905e-02 -1.23655334e-03 7.02931148e+02] [-9.47686615e-02 9.95499309e-01 1.62670995e-04 -5.32370708e+01] [ 1.24640413e-03 -4.47522329e-05 9.99999222e-01 2.05041723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4207140569999 meters Centerline goodness [0,1] 0.9995586195300349 Centerline is valid? [True, True] Translation: X:702.96, Y:-53.25, Z:2.05 [[ 9.95913602e-01 9.03104641e-02 -3.43214004e-04 7.02961012e+02] [-9.03104538e-02 9.95913661e-01 4.52671876e-05 -5.32468537e+01] [ 3.45899616e-04 -1.40863954e-05 9.99999940e-01 2.05130197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4507140569999 meters Centerline goodness [0,1] 0.9996004794246903 Centerline is valid? [True, True] Translation: X:702.99, Y:-53.26, Z:2.05 [[ 9.96067916e-01 8.85925059e-02 2.73949919e-04 7.02990846e+02] [-8.85924991e-02 9.96067953e-01 -3.70880390e-05 -5.32566940e+01] [-2.76158458e-04 1.26722978e-05 9.99999962e-01 2.05235416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4807140569999 meters Centerline goodness [0,1] 0.9996626323113904 Centerline is valid? [True, True] Translation: X:703.02, Y:-53.26, Z:2.05 [[ 9.96144593e-01 8.77183464e-02 1.20098697e-03 7.03022692e+02] [-8.77182161e-02 9.96145315e-01 -1.60810020e-04 -5.32635465e+01] [-1.21046353e-03 5.48415969e-05 9.99999266e-01 2.05328848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.510714057 meters Centerline goodness [0,1] 0.9997899821484826 Centerline is valid? [True, True] Translation: X:703.05, Y:-53.27, Z:2.05 [[ 9.96226249e-01 8.67775832e-02 1.70670540e-03 7.03053826e+02] [-8.67773195e-02 9.96227707e-01 -2.28126224e-04 -5.32698275e+01] [-1.72006345e-03 7.91620120e-05 9.99998518e-01 2.05394377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.540714057 meters Centerline goodness [0,1] 0.9994965809455888 Centerline is valid? [True, True] Translation: X:703.09, Y:-53.28, Z:2.05 [[ 9.96395057e-01 8.47715174e-02 3.26814294e-03 7.03085150e+02] [-8.47705415e-02 9.96400404e-01 -4.36227116e-04 -5.32750200e+01] [-3.29335858e-03 1.57612295e-04 9.99994564e-01 2.05450854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5707140569999 meters Centerline goodness [0,1] 0.9995166645652083 Centerline is valid? [True, True] Translation: X:703.12, Y:-53.28, Z:2.05 [[ 9.96428878e-01 8.43578223e-02 3.63978690e-03 7.03117191e+02] [-8.43566062e-02 9.96435510e-01 -4.86622078e-04 -5.32801465e+01] [-3.66786330e-03 1.77844221e-04 9.99993258e-01 2.05495332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6007140569999 meters Centerline goodness [0,1] 0.998989792697043 Centerline is valid? [True, True] Translation: X:703.15, Y:-53.28, Z:2.05 [[ 9.96455908e-01 8.40556683e-02 3.20426323e-03 7.03149973e+02] [-8.40547207e-02 9.96461048e-01 -4.29513933e-04 -5.32770746e+01] [-3.22902658e-03 1.58658245e-04 9.99994774e-01 2.05299718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.630714057 meters Centerline goodness [0,1] 0.9995797083175724 Centerline is valid? [True, True] Translation: X:703.18, Y:-53.28, Z:2.05 [[ 9.96469334e-01 8.38940885e-02 3.26305458e-03 7.03180812e+02] [-8.38931029e-02 9.96474664e-01 -4.38001522e-04 -5.32845328e+01] [-3.28829695e-03 1.62707312e-04 9.99994580e-01 2.05351287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.660714057 meters Centerline goodness [0,1] 0.9994116287377335 Centerline is valid? [True, True] Translation: X:703.21, Y:-53.28, Z:2.05 [[ 9.96480536e-01 8.37616077e-02 3.24562989e-03 7.03213608e+02] [-8.37606340e-02 9.96485809e-01 -4.35016501e-04 -5.32846507e+01] [-3.27066181e-03 1.61629459e-04 9.99994638e-01 2.05233211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6907140569999 meters Centerline goodness [0,1] 0.9994960841539463 Centerline is valid? [True, True] Translation: X:703.24, Y:-53.29, Z:2.05 [[ 9.96441233e-01 8.42420929e-02 2.85302654e-03 7.03244582e+02] [-8.42413372e-02 9.96445307e-01 -3.84243675e-04 -5.32914728e+01] [-2.87525439e-03 1.42533471e-04 9.99995856e-01 2.05299256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7207140569999 meters Centerline goodness [0,1] 0.9993483150791482 Centerline is valid? [True, True] Translation: X:703.28, Y:-53.30, Z:2.05 [[ 9.96470661e-01 8.38863688e-02 3.04929231e-03 7.03275398e+02] [-8.38855053e-02 9.96475315e-01 -4.10195544e-04 -5.32961723e+01] [-3.07295433e-03 1.52956399e-04 9.99995267e-01 2.05299013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.750714057 meters Centerline goodness [0,1] 0.9992657394004237 Centerline is valid? [True, True] Translation: X:703.31, Y:-53.29, Z:2.05 [[ 9.96388801e-01 8.48476975e-02 3.19758214e-03 7.03308195e+02] [-8.48467482e-02 9.96393920e-01 -4.31628417e-04 -5.32928064e+01] [-3.22267408e-03 1.58765275e-04 9.99994795e-01 2.05276832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.780714057 meters Centerline goodness [0,1] 0.9994529425379258 Centerline is valid? [True, True] Translation: X:703.34, Y:-53.29, Z:2.05 [[ 9.96321408e-01 8.56005183e-02 4.02534647e-03 7.03340322e+02] [-8.55990175e-02 9.96329520e-01 -5.43966944e-04 -5.32920959e+01] [-4.05713537e-03 1.97400209e-04 9.99991750e-01 2.05263876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8107140569999 meters Centerline goodness [0,1] 0.9994958724557313 Centerline is valid? [True, True] Translation: X:703.37, Y:-53.30, Z:2.05 [[ 9.96247132e-01 8.64855775e-02 3.44911496e-03 7.03371473e+02] [-8.64844778e-02 9.96253089e-01 -4.66994186e-04 -5.32962198e+01] [-3.47657970e-03 1.66946712e-04 9.99993943e-01 2.05386288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8407140569999 meters Centerline goodness [0,1] 0.9992850233418851 Centerline is valid? [True, True] Translation: X:703.40, Y:-53.29, Z:2.05 [[ 9.96164327e-01 8.74431733e-02 3.21317177e-03 7.03404095e+02] [-8.74422206e-02 9.96169498e-01 -4.36075025e-04 -5.32945750e+01] [-3.23899549e-03 1.53435509e-04 9.99994743e-01 2.05311636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.870714057 meters Centerline goodness [0,1] 0.9994538962402857 Centerline is valid? [True, True] Translation: X:703.43, Y:-53.30, Z:2.05 [[ 9.96058369e-01 8.86478712e-02 3.04623487e-03 7.03434807e+02] [-8.86470185e-02 9.96063017e-01 -4.14079576e-04 -5.32971730e+01] [-3.07094917e-03 1.42407788e-04 9.99995274e-01 2.05339879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.900714057 meters Centerline goodness [0,1] 0.9994538962402857 Centerline is valid? [True, True] Translation: X:703.47, Y:-53.30, Z:2.05 [[ 9.96034632e-01 8.89141931e-02 3.04608710e-03 7.03467038e+02] [-8.89133383e-02 9.96039279e-01 -4.15168049e-04 -5.33016195e+01] [-3.07093674e-03 1.42683982e-04 9.99995274e-01 2.05361375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9307140569999 meters Centerline goodness [0,1] 0.9995159117696581 Centerline is valid? [True, True] Translation: X:703.50, Y:-53.30, Z:2.05 [[ 9.95979451e-01 8.95252869e-02 3.18676986e-03 7.03500029e+02] [-8.95243526e-02 9.95984539e-01 -4.34903628e-04 -5.32989956e+01] [-3.21290838e-03 1.47861568e-04 9.99994828e-01 2.05260608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9607140569999 meters Centerline goodness [0,1] 0.9994956393821582 Centerline is valid? [True, True] Translation: X:703.53, Y:-53.30, Z:2.05 [[ 9.95905810e-01 9.03509143e-02 2.88626328e-03 7.03530339e+02] [-9.03501494e-02 9.95909983e-01 -3.94575543e-04 -5.33049719e+01] [-2.91010867e-03 1.32185757e-04 9.99995757e-01 2.05320030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.990714057 meters Centerline goodness [0,1] 0.9995803873025197 Centerline is valid? [True, True] Translation: X:703.56, Y:-53.30, Z:2.05 [[ 9.95801271e-01 9.15030730e-02 2.64882293e-03 7.03563721e+02] [-9.15024303e-02 9.95804787e-01 -3.63074162e-04 -5.32965344e+01] [-2.67093295e-03 1.19175977e-04 9.99996426e-01 2.05155681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.020714057 meters Centerline goodness [0,1] 0.9997900174285534 Centerline is valid? [True, True] Translation: X:703.59, Y:-53.30, Z:2.05 [[ 9.95666720e-01 9.29452946e-02 2.99262227e-03 7.03594153e+02] [-9.29444797e-02 9.95671208e-01 -4.10548496e-04 -5.33047297e+01] [-3.01782638e-03 1.30621755e-04 9.99995438e-01 2.05346378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0507140569999 meters Centerline goodness [0,1] 0.999789628694646 Centerline is valid? [True, True] Translation: X:703.63, Y:-53.30, Z:2.05 [[ 9.95590920e-01 9.37345863e-02 3.54235747e-03 7.03627487e+02] [-9.37334468e-02 9.95597210e-01 -4.86712178e-04 -5.32989367e+01] [-3.57238298e-03 1.52528850e-04 9.99993607e-01 2.05184458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0807140569999 meters Centerline goodness [0,1] 0.9995585545815728 Centerline is valid? [True, True] Translation: X:703.66, Y:-53.30, Z:2.05 [[ 9.95399288e-01 9.57533839e-02 3.39818795e-03 7.03659452e+02] [-9.57523506e-02 9.95405079e-01 -4.65849262e-04 -5.32995914e+01] [-3.42718019e-03 1.38321540e-04 9.99994118e-01 2.05239161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1107140569999 meters Centerline goodness [0,1] 0.9997054367951523 Centerline is valid? [True, True] Translation: X:703.69, Y:-53.30, Z:2.05 [[ 9.94924231e-01 1.00466509e-01 5.67929300e-03 7.03690437e+02] [-1.00463695e-01 9.94940420e-01 -7.79276197e-04 -5.32962763e+01] [-5.72884932e-03 2.04758009e-04 9.99983569e-01 2.05330845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.140714057 meters Centerline goodness [0,1] 0.9992625368731564 Centerline is valid? [True, True] Translation: X:703.72, Y:-53.30, Z:2.05 [[ 9.94612732e-01 1.03487865e-01 5.98117388e-03 7.03722346e+02] [-1.03484799e-01 9.94630697e-01 -8.20624582e-04 -5.32968448e+01] [-6.03398383e-03 1.97243081e-04 9.99981776e-01 2.05386704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1707140569999 meters Centerline goodness [0,1] 0.9995372026000799 Centerline is valid? [True, True] Translation: X:703.75, Y:-53.30, Z:2.05 [[ 9.94255204e-01 1.06827939e-01 6.66185027e-03 7.03754051e+02] [-1.06824210e-01 9.94277503e-01 -9.14103532e-04 -5.32964580e+01] [-6.72137964e-03 1.97205303e-04 9.99977392e-01 2.05409246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2007140569999 meters Centerline goodness [0,1] 0.9993087557603687 Centerline is valid? [True, True] Translation: X:703.79, Y:-53.30, Z:2.06 [[ 9.93904531e-01 1.10008223e-01 7.20928399e-03 7.03785189e+02] [-1.10003918e-01 9.93930658e-01 -9.92146903e-04 -5.32985920e+01] [-7.27467270e-03 1.93049816e-04 9.99973521e-01 2.05561329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2307140569999 meters Centerline goodness [0,1] 0.9989473240978568 Centerline is valid? [True, True] Translation: X:703.82, Y:-53.30, Z:2.06 [[ 9.93415368e-01 1.14270870e-01 8.25078034e-03 7.03817119e+02] [-1.14265389e-01 9.93449613e-01 -1.13426653e-03 -5.32957152e+01] [-8.32634817e-03 1.84019175e-04 9.99965318e-01 2.05611789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.260714057 meters Centerline goodness [0,1] 0.9991594696253336 Centerline is valid? [True, True] Translation: X:703.85, Y:-53.30, Z:2.05 [[ 9.93261944e-01 1.15595420e-01 8.27098430e-03 7.03849226e+02] [-1.15589952e-01 9.93296365e-01 -1.13762750e-03 -5.32958554e+01] [-8.34704316e-03 1.73919424e-04 9.99965148e-01 2.05380263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.290714057 meters Centerline goodness [0,1] 0.9992424720661575 Centerline is valid? [True, True] Translation: X:703.88, Y:-53.30, Z:2.05 [[ 9.93183951e-01 1.16290376e-01 7.88592135e-03 7.03878923e+02] [-1.16285420e-01 9.93215245e-01 -1.08570948e-03 -5.32994381e+01] [-7.95867486e-03 1.61291555e-04 9.99968316e-01 2.05400217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3207140569999 meters Centerline goodness [0,1] 0.9991173132697239 Centerline is valid? [True, True] Translation: X:703.91, Y:-53.30, Z:2.05 [[ 9.93416995e-01 1.14373093e-01 6.43962370e-03 7.03908559e+02] [-1.14369750e-01 9.93437857e-01 -8.86302370e-04 -5.33034211e+01] [-6.49873511e-03 1.43969686e-04 9.99978873e-01 2.05242989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3507140569999 meters Centerline goodness [0,1] 0.9988638037326152 Centerline is valid? [True, True] Translation: X:703.94, Y:-53.31, Z:2.05 [[ 9.93595293e-01 1.12863929e-01 5.48891711e-03 7.03939698e+02] [-1.12861475e-01 9.93610445e-01 -7.55787972e-04 -5.33055945e+01] [-5.53914657e-03 1.31460092e-04 9.99984650e-01 2.05062601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.380714057 meters Centerline goodness [0,1] 0.9987209058502831 Centerline is valid? [True, True] Translation: X:703.97, Y:-53.31, Z:2.05 [[ 9.93883173e-01 1.10312071e-01 5.24271647e-03 7.03969347e+02] [-1.10309798e-01 9.93896991e-01 -7.21663349e-04 -5.33105173e+01] [-5.29032830e-03 1.38926066e-04 9.99985996e-01 2.05097525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.410714057 meters Centerline goodness [0,1] 0.9988199098073924 Centerline is valid? [True, True] Translation: X:704.00, Y:-53.32, Z:2.05 [[ 9.94147407e-01 1.07896448e-01 5.41200027e-03 7.04000387e+02] [-1.07893988e-01 9.94162126e-01 -7.45401371e-04 -5.33151463e+01] [-5.46083185e-03 1.57116551e-04 9.99985077e-01 2.05094011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4407140569999 meters Centerline goodness [0,1] 0.9989250484782058 Centerline is valid? [True, True] Translation: X:704.03, Y:-53.32, Z:2.05 [[ 9.94637450e-01 1.03287388e-01 5.29708935e-03 7.04031118e+02] [-1.03284965e-01 9.94651539e-01 -7.29774375e-04 -5.33203037e+01] [-5.34413456e-03 1.78751236e-04 9.99985704e-01 2.05103923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4707140569999 meters Centerline goodness [0,1] 0.9991403170343034 Centerline is valid? [True, True] Translation: X:704.06, Y:-53.33, Z:2.05 [[ 9.94810031e-01 1.01643205e-01 4.65405572e-03 7.04060329e+02] [-1.01641314e-01 9.94820904e-01 -6.41805174e-04 -5.33276934e+01] [-4.69518706e-03 1.65429888e-04 9.99988964e-01 2.05174190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.500714057 meters Centerline goodness [0,1] 0.9987146800396132 Centerline is valid? [True, True] Translation: X:704.09, Y:-53.33, Z:2.05 [[ 9.94942019e-01 1.00320738e-01 5.11160051e-03 7.04091381e+02] [-1.00318438e-01 9.94955132e-01 -7.04998468e-04 -5.33320831e+01] [-5.15653912e-03 1.88644822e-04 9.99986687e-01 2.05142347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.530714057 meters Centerline goodness [0,1] 0.998596799865963 Centerline is valid? [True, True] Translation: X:704.12, Y:-53.34, Z:2.05 [[ 9.94997326e-01 9.98052618e-02 4.38528734e-03 7.04121597e+02] [-9.98035646e-02 9.95006976e-01 -6.04718082e-04 -5.33373548e+01] [-4.42374555e-03 1.64025566e-04 9.99990202e-01 2.05187777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5607140569999 meters Centerline goodness [0,1] 0.9988208788663593 Centerline is valid? [True, True] Translation: X:704.15, Y:-53.34, Z:2.05 [[ 9.94977966e-01 9.99896632e-02 4.57325243e-03 7.04152504e+02] [-9.99878189e-02 9.94988461e-01 -6.30715764e-04 -5.33396170e+01] [-4.61339846e-03 1.70278752e-04 9.99989344e-01 2.05151665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5907140569999 meters Centerline goodness [0,1] 0.9986556316430703 Centerline is valid? [True, True] Translation: X:704.18, Y:-53.34, Z:2.05 [[ 9.94756967e-01 1.02157015e-01 4.74554944e-03 7.04182813e+02] [-1.02155054e-01 9.94768273e-01 -6.54355211e-04 -5.33411232e+01] [-4.78756899e-03 1.66142545e-04 9.99988526e-01 2.05259019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.620714057 meters Centerline goodness [0,1] 0.9986114325387642 Centerline is valid? [True, True] Translation: X:704.21, Y:-53.34, Z:2.05 [[ 9.94539997e-01 1.04236337e-01 4.99812725e-03 7.04213538e+02] [-1.04234188e-01 9.94552542e-01 -6.89182709e-04 -5.33427120e+01] [-5.04273805e-03 1.64444030e-04 9.99987272e-01 2.05257013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.650714057 meters Centerline goodness [0,1] 0.9983815709271286 Centerline is valid? [True, True] Translation: X:704.24, Y:-53.34, Z:2.05 [[ 9.94218047e-01 1.07278714e-01 4.66394547e-03 7.04243867e+02] [-1.07276878e-01 9.94228977e-01 -6.42895969e-04 -5.33427179e+01] [-4.70599878e-03 1.38845267e-04 9.99988917e-01 2.05210738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6807140569999 meters Centerline goodness [0,1] 0.9982128965792738 Centerline is valid? [True, True] Translation: X:704.27, Y:-53.34, Z:2.05 [[ 9.93419147e-01 1.14480413e-01 3.55435278e-03 7.04273239e+02] [-1.14479393e-01 9.93425502e-01 -4.89671367e-04 -5.33432905e+01] [-3.58704247e-03 7.95487621e-05 9.99993563e-01 2.05194498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7107140569999 meters Centerline goodness [0,1] 0.9976222540190219 Centerline is valid? [True, True] Translation: X:704.30, Y:-53.34, Z:2.05 [[ 9.93007663e-01 1.18003878e-01 3.29633725e-03 7.04303481e+02] [-1.18003020e-01 9.93013132e-01 -4.54345497e-04 -5.33446780e+01] [-3.32692071e-03 6.21908100e-05 9.99994464e-01 2.05137502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.740714057 meters Centerline goodness [0,1] 0.9981884057971014 Centerline is valid? [True, True] Translation: X:704.33, Y:-53.35, Z:2.05 [[ 9.92672609e-01 1.20780966e-01 3.61230242e-03 7.04332952e+02] [-1.20779955e-01 9.92679180e-01 -4.97524546e-04 -5.33472911e+01] [-3.64594890e-03 5.75852651e-05 9.99993352e-01 2.05184588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.770714057 meters Centerline goodness [0,1] 0.9981059410316308 Centerline is valid? [True, True] Translation: X:704.36, Y:-53.35, Z:2.05 [[ 9.92050535e-01 1.25779100e-01 3.91843881e-03 7.04362642e+02] [-1.25777950e-01 9.92058273e-01 -5.39565487e-04 -5.33503866e+01] [-3.95518570e-03 4.24230304e-05 9.99992177e-01 2.05260710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8007140569999 meters Centerline goodness [0,1] 0.9984871089071463 Centerline is valid? [True, True] Translation: X:704.39, Y:-53.35, Z:2.05 [[ 9.91841225e-01 1.27404379e-01 4.37139451e-03 7.04390728e+02] [-1.27402965e-01 9.91850857e-01 -6.01606165e-04 -5.33545844e+01] [-4.41241865e-03 3.97691745e-05 9.99990264e-01 2.05320787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8307140569999 meters Centerline goodness [0,1] 0.9986746050112554 Centerline is valid? [True, True] Translation: X:704.42, Y:-53.36, Z:2.05 [[ 9.91641881e-01 1.28968427e-01 3.67768513e-03 7.04420526e+02] [-1.28967437e-01 9.91648700e-01 -5.06062803e-04 -5.33588734e+01] [-3.71223780e-03 2.75314463e-05 9.99993109e-01 2.05321489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8607140569999 meters Centerline goodness [0,1] 0.9987380376485435 Centerline is valid? [True, True] Translation: X:704.45, Y:-53.36, Z:2.05 [[ 9.91568280e-01 1.29554881e-01 2.80704712e-03 7.04448671e+02] [-1.29554307e-01 9.91572253e-01 -3.85931548e-04 -5.33637091e+01] [-2.83338935e-03 1.90124362e-05 9.99995986e-01 2.05335143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.890714057 meters Centerline goodness [0,1] 0.9982536242556862 Centerline is valid? [True, True] Translation: X:704.48, Y:-53.37, Z:2.05 [[ 9.91455794e-01 1.30410059e-01 2.93679962e-03 7.04476907e+02] [-1.30409436e-01 9.91460144e-01 -4.03457176e-04 -5.33683638e+01] [-2.96433464e-03 1.70235743e-05 9.99995606e-01 2.05260285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9207140569999 meters Centerline goodness [0,1] 0.9984650967199327 Centerline is valid? [True, True] Translation: X:704.51, Y:-53.37, Z:2.05 [[ 9.91226136e-01 1.32160033e-01 2.11469391e-03 7.04505342e+02] [-1.32159715e-01 9.91228392e-01 -2.90215716e-04 -5.33749500e+01] [-2.13449956e-03 8.19205956e-06 9.99997722e-01 2.05217133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9507140569999 meters Centerline goodness [0,1] 0.9986136492532611 Centerline is valid? [True, True] Translation: X:704.53, Y:-53.38, Z:2.05 [[ 9.91109772e-01 1.33038870e-01 1.44214190e-03 7.04533927e+02] [-1.33038723e-01 9.91110821e-01 -1.97808578e-04 -5.33806553e+01] [-1.45563867e-03 4.18929794e-06 9.99998941e-01 2.05323355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9807140569999 meters Centerline goodness [0,1] 0.9989086177223692 Centerline is valid? [True, True] Translation: X:704.56, Y:-53.39, Z:2.05 [[ 9.90923019e-01 1.34428803e-01 6.83762784e-04 7.04562278e+02] [-1.34428771e-01 9.90923255e-01 -9.34282723e-05 -5.33858305e+01] [-6.90115895e-04 6.62834928e-07 9.99999762e-01 2.05281611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.010714057 meters Centerline goodness [0,1] 0.9990578875745839 Centerline is valid? [True, True] Translation: X:704.59, Y:-53.39, Z:2.05 [[ 9.90428375e-01 1.38027125e-01 -3.84057632e-04 7.04589851e+02] [-1.38027115e-01 9.90428449e-01 5.33058301e-05 -5.33925118e+01] [ 3.87739255e-04 2.14760125e-07 9.99999925e-01 2.05286194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.040714057 meters Centerline goodness [0,1] 0.9992887326890089 Centerline is valid? [True, True] Translation: X:704.62, Y:-53.40, Z:2.05 [[ 9.90067421e-01 1.40588033e-01 -1.22734007e-03 7.04617327e+02] [-1.40587931e-01 9.90068182e-01 1.68926179e-04 -5.33971613e+01] [ 1.23889935e-03 5.30089523e-06 9.99999233e-01 2.05341083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0707140569999 meters Centerline goodness [0,1] 0.999415960952818 Centerline is valid? [True, True] Translation: X:704.65, Y:-53.40, Z:2.05 [[ 9.89702664e-01 1.43133823e-01 -1.15969372e-03 7.04645317e+02] [-1.43133735e-01 9.89703344e-01 1.59587154e-04 -5.34017790e+01] [ 1.17059507e-03 8.04746170e-06 9.99999315e-01 2.05349181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1007140569999 meters Centerline goodness [0,1] 0.9997070026369763 Centerline is valid? [True, True] Translation: X:704.67, Y:-53.41, Z:2.05 [[ 9.88814546e-01 1.49145882e-01 -1.13980989e-03 7.04674060e+02] [-1.49145801e-01 9.88815203e-01 1.56419137e-04 -5.34081086e+01] [ 1.15039062e-03 1.53283410e-05 9.99999338e-01 2.05479805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.130714057 meters Centerline goodness [0,1] 0.9993942811788541 Centerline is valid? [True, True] Translation: X:704.70, Y:-53.41, Z:2.06 [[ 9.88400665e-01 1.51867352e-01 -6.58184304e-04 7.04702447e+02] [-1.51867326e-01 9.88400884e-01 9.04557317e-05 -5.34128136e+01] [ 6.64287221e-04 1.05501848e-05 9.99999779e-01 2.05563019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.160714057 meters Centerline goodness [0,1] 0.9992921827833872 Centerline is valid? [True, True] Translation: X:704.73, Y:-53.42, Z:2.06 [[ 9.88076781e-01 1.53960912e-01 -5.58172585e-04 7.04731850e+02] [-1.53960893e-01 9.88076939e-01 7.66728386e-05 -5.34188536e+01] [ 5.63322079e-04 1.01780982e-05 9.99999841e-01 2.05578837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1907140569999 meters Centerline goodness [0,1] 0.9990604839551538 Centerline is valid? [True, True] Translation: X:704.76, Y:-53.43, Z:2.06 [[ 9.87812540e-01 1.55645705e-01 -8.95032154e-04 7.04760452e+02] [-1.55645658e-01 9.87812945e-01 1.22773127e-04 -5.34258014e+01] [ 9.03233457e-04 1.80310345e-05 9.99999592e-01 2.05590671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2207140569999 meters Centerline goodness [0,1] 0.9992689142331955 Centerline is valid? [True, True] Translation: X:704.79, Y:-53.43, Z:2.06 [[ 9.87592680e-01 1.57030941e-01 -1.40755317e-03 7.04788334e+02] [-1.57030826e-01 9.87593683e-01 1.92980911e-04 -5.34324918e+01] [ 1.42039460e-03 3.04427016e-05 9.99998991e-01 2.05605112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.250714057 meters Centerline goodness [0,1] 0.9988520860726734 Centerline is valid? [True, True] Translation: X:704.82, Y:-53.44, Z:2.06 [[ 9.87524238e-01 1.57456403e-01 -1.83318433e-03 7.04816200e+02] [-1.57456208e-01 9.87525939e-01 2.51128417e-04 -5.34438079e+01] [ 1.84985885e-03 4.06508532e-05 9.99998288e-01 2.05616117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.280714057 meters Centerline goodness [0,1] 0.9990189939469839 Centerline is valid? [True, True] Translation: X:704.85, Y:-53.45, Z:2.06 [[ 9.87642873e-01 1.56712085e-01 -1.69643192e-03 7.04845379e+02] [-1.56711917e-01 9.87644329e-01 2.32243244e-04 -5.34525036e+01] [ 1.71186669e-03 3.64777123e-05 9.99998534e-01 2.05626451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3107140569999 meters Centerline goodness [0,1] 0.9986439970793783 Centerline is valid? [True, True] Translation: X:704.87, Y:-53.46, Z:2.06 [[ 9.87882907e-01 1.55192257e-01 -1.65082227e-03 7.04873751e+02] [-1.55192096e-01 9.87884286e-01 2.25860239e-04 -5.34609820e+01] [ 1.66587314e-03 3.30710983e-05 9.99998612e-01 2.05661179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3407140569999 meters Centerline goodness [0,1] 0.9986414179416436 Centerline is valid? [True, True] Translation: X:704.90, Y:-53.48, Z:2.06 [[ 9.88582052e-01 1.50671712e-01 -1.88735318e-03 7.04903717e+02] [-1.50671496e-01 9.88583853e-01 2.56888061e-04 -5.34807172e+01] [ 1.90451265e-03 3.04154011e-05 9.99998186e-01 2.05660085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.370714057 meters Centerline goodness [0,1] 0.9988914221171746 Centerline is valid? [True, True] Translation: X:704.93, Y:-53.49, Z:2.06 [[ 9.88952885e-01 1.48223986e-01 -1.35702052e-03 7.04934246e+02] [-1.48223872e-01 9.88953816e-01 1.84686329e-04 -5.34905651e+01] [ 1.36940556e-03 1.84967581e-05 9.99999062e-01 2.05677767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.400714057 meters Centerline goodness [0,1] 0.9994783189349359 Centerline is valid? [True, True] Translation: X:704.97, Y:-53.50, Z:2.06 [[ 9.89382813e-01 1.45326536e-01 -1.35921783e-03 7.04965719e+02] [-1.45326417e-01 9.89383747e-01 1.85788710e-04 -5.35012988e+01] [ 1.37178806e-03 1.37141016e-05 9.99999059e-01 2.05674760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4307140569999 meters Centerline goodness [0,1] 0.9990799213750994 Centerline is valid? [True, True] Translation: X:705.00, Y:-53.51, Z:2.06 [[ 9.89725023e-01 1.42974210e-01 -1.65981405e-03 7.04995708e+02] [-1.42974031e-01 9.89726414e-01 2.26907277e-04 -5.35107204e+01] [ 1.67520369e-03 1.27344953e-05 9.99998597e-01 2.05700841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4607140569999 meters Centerline goodness [0,1] 0.998660331149394 Centerline is valid? [True, True] Translation: X:705.03, Y:-53.53, Z:2.06 [[ 9.90253245e-01 1.39247664e-01 -2.93238617e-03 7.05026173e+02] [-1.39247082e-01 9.90257587e-01 4.02645683e-04 -5.35252512e+01] [ 2.95988512e-03 9.60502467e-06 9.99995619e-01 2.05617068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.490714057 meters Centerline goodness [0,1] 0.9985994690524468 Centerline is valid? [True, True] Translation: X:705.06, Y:-53.53, Z:2.06 [[ 9.90443331e-01 1.37873559e-01 -3.59026682e-03 7.05057463e+02] [-1.37872673e-01 9.90449838e-01 4.94215662e-04 -5.35346366e+01] [ 3.62411846e-03 5.50707717e-06 9.99993433e-01 2.05598411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.520714057 meters Centerline goodness [0,1] 0.9980750721847931 Centerline is valid? [True, True] Translation: X:705.09, Y:-53.54, Z:2.06 [[ 9.90627420e-01 1.36517971e-01 -4.48971508e-03 7.05089835e+02] [-1.36516565e-01 9.90637594e-01 6.19632285e-04 -5.35438484e+01] [ 4.53227149e-03 -9.04251062e-07 9.99989729e-01 2.05534174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5507140569999 meters Centerline goodness [0,1] 0.9986017488573993 Centerline is valid? [True, True] Translation: X:705.12, Y:-53.55, Z:2.06 [[ 9.90875785e-01 1.34684561e-01 -5.02480376e-03 7.05122181e+02] [-1.34682767e-01 9.90888525e-01 6.95171950e-04 -5.35526722e+01] [ 5.07264931e-03 -1.20745767e-05 9.99987134e-01 2.05556472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5807140569999 meters Centerline goodness [0,1] 0.9984521742768098 Centerline is valid? [True, True] Translation: X:705.15, Y:-53.57, Z:2.06 [[ 9.91280396e-01 1.31663804e-01 -5.27449025e-03 7.05152055e+02] [-1.31661776e-01 9.91294427e-01 7.31425020e-04 -5.35650521e+01] [ 5.32487499e-03 -3.05985323e-05 9.99985822e-01 2.05644675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6107140569999 meters Centerline goodness [0,1] 0.9985997617505068 Centerline is valid? [True, True] Translation: X:705.18, Y:-53.57, Z:2.06 [[ 9.91434748e-01 1.30487224e-01 -5.49771554e-03 7.05183820e+02] [-1.30484995e-01 9.91449990e-01 7.63694473e-04 -5.35732396e+01] [ 5.55036239e-03 -3.97838538e-05 9.99984596e-01 2.05739211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.640714057 meters Centerline goodness [0,1] 0.998807431584233 Centerline is valid? [True, True] Translation: X:705.22, Y:-53.58, Z:2.06 [[ 9.91569343e-01 1.29474259e-01 -5.16280381e-03 7.05216398e+02] [-1.29472273e-01 9.91582782e-01 7.18488387e-04 -5.35804194e+01] [ 5.21237312e-03 -4.39911113e-05 9.99986415e-01 2.05861019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6707140569999 meters Centerline goodness [0,1] 0.9989124751646973 Centerline is valid? [True, True] Translation: X:705.25, Y:-53.59, Z:2.06 [[ 9.91701752e-01 1.28474116e-01 -4.69423745e-03 7.05246191e+02] [-1.28472456e-01 9.91712861e-01 6.54640709e-04 -5.35886667e+01] [ 4.73944004e-03 -4.61281239e-05 9.99988768e-01 2.05946987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7007140569999 meters Centerline goodness [0,1] 0.9987664129798445 Centerline is valid? [True, True] Translation: X:705.28, Y:-53.60, Z:2.06 [[ 9.91974577e-01 1.26371068e-01 -4.09770483e-03 7.05275770e+02] [-1.26369782e-01 9.91983040e-01 5.72252663e-04 -5.35991767e+01] [ 4.13716987e-03 -4.98340279e-05 9.99991441e-01 2.06061287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7307140569999 meters Centerline goodness [0,1] 0.9987862553886075 Centerline is valid? [True, True] Translation: X:705.31, Y:-53.61, Z:2.06 [[ 9.92018018e-01 1.26037262e-01 -3.85499379e-03 7.05307595e+02] [-1.26036121e-01 9.92025507e-01 5.38428955e-04 -5.36066612e+01] [ 3.89211428e-03 -4.82627595e-05 9.99992425e-01 2.06168028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.760714057 meters Centerline goodness [0,1] 0.9989120883718984 Centerline is valid? [True, True] Translation: X:705.34, Y:-53.61, Z:2.06 [[ 9.92044836e-01 1.25839736e-01 -3.37699335e-03 7.05340231e+02] [-1.25838857e-01 9.92050583e-01 4.72339534e-04 -5.36129102e+01] [ 3.40958730e-03 -4.36250130e-05 9.99994186e-01 2.06191545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.790714057 meters Centerline goodness [0,1] 0.9989120883718984 Centerline is valid? [True, True] Translation: X:705.37, Y:-53.62, Z:2.06 [[ 9.92009671e-01 1.26116652e-01 -3.37686164e-03 7.05372394e+02] [-1.26115771e-01 9.92015417e-01 4.73278371e-04 -5.36174970e+01] [ 3.40958710e-03 -4.36212104e-05 9.99994186e-01 2.06213022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8207140569999 meters Centerline goodness [0,1] 0.998870954252739 Centerline is valid? [True, True] Translation: X:705.40, Y:-53.63, Z:2.06 [[ 9.91883662e-01 1.27132096e-01 -2.05680056e-03 7.05404990e+02] [-1.27131772e-01 9.91885795e-01 2.88134544e-04 -5.36256177e+01] [ 2.07674240e-03 -2.43112482e-05 9.99997843e-01 2.06284179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8507140569999 meters Centerline goodness [0,1] 0.9991645606633388 Centerline is valid? [True, True] Translation: X:705.44, Y:-53.63, Z:2.06 [[ 9.91744897e-01 1.28214819e-01 -1.73775422e-03 7.05437970e+02] [-1.28214589e-01 9.91746419e-01 2.43650629e-04 -5.36309182e+01] [ 1.75465115e-03 -1.88338246e-05 9.99998460e-01 2.06348582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.880714057 meters Centerline goodness [0,1] 0.9989748096074985 Centerline is valid? [True, True] Translation: X:705.47, Y:-53.63, Z:2.06 [[ 9.91557986e-01 1.29660928e-01 -8.96401246e-04 7.05470404e+02] [-1.29660867e-01 9.91558391e-01 1.26122338e-04 -5.36347722e+01] [ 9.05187317e-04 -8.82944883e-06 9.99999590e-01 2.06325231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.910714057 meters Centerline goodness [0,1] 0.9987041488138781 Centerline is valid? [True, True] Translation: X:705.50, Y:-53.64, Z:2.06 [[ 9.91351786e-01 1.31229657e-01 -6.42337279e-04 7.05501855e+02] [-1.31229627e-01 9.91351995e-01 8.93162922e-05 -5.36388113e+01] [ 6.48503289e-04 -4.25018427e-06 9.99999790e-01 2.06380544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9407140569999 meters Centerline goodness [0,1] 0.998537797923673 Centerline is valid? [True, True] Translation: X:705.53, Y:-53.64, Z:2.06 [[ 9.90964619e-01 1.34122849e-01 4.29305473e-04 7.05532345e+02] [-1.34122835e-01 9.90964712e-01 -6.24143005e-05 -5.36432094e+01] [-4.33797758e-04 4.27069658e-06 9.99999906e-01 2.06375531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9707140569999 meters Centerline goodness [0,1] 0.9987025217118343 Centerline is valid? [True, True] Translation: X:705.57, Y:-53.65, Z:2.06 [[ 9.90771054e-01 1.35545585e-01 3.34887003e-04 7.05565445e+02] [-1.35545576e-01 9.90771111e-01 -4.95340548e-05 -5.36479580e+01] [-3.38510491e-04 3.68445597e-06 9.99999943e-01 2.06312080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.000714057 meters Centerline goodness [0,1] 0.9987605823162405 Centerline is valid? [True, True] Translation: X:705.60, Y:-53.65, Z:2.06 [[ 9.90610099e-01 1.36715923e-01 6.23205999e-04 7.05596857e+02] [-1.36715893e-01 9.90610295e-01 -9.05518481e-05 -5.36535204e+01] [-6.29734158e-04 4.49941045e-06 9.99999802e-01 2.06340942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.030714057 meters Centerline goodness [0,1] 0.9984743035091019 Centerline is valid? [True, True] Translation: X:705.63, Y:-53.66, Z:2.06 [[ 9.90326449e-01 1.38749147e-01 1.48263283e-03 7.05629379e+02] [-1.38748983e-01 9.90327559e-01 -2.13476791e-04 -5.36596045e+01] [-1.49791188e-03 5.69791471e-06 9.99998878e-01 2.06329731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0607140569999 meters Centerline goodness [0,1] 0.9986194779116466 Centerline is valid? [True, True] Translation: X:705.66, Y:-53.67, Z:2.06 [[ 9.90175107e-01 1.39818844e-01 1.98713467e-03 7.05662392e+02] [-1.39818551e-01 9.90177101e-01 -2.86068956e-04 -5.36651243e+01] [-2.00761308e-03 5.42006807e-06 9.99997985e-01 2.06289132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0907140569999 meters Centerline goodness [0,1] 0.9988451443569554 Centerline is valid? [True, True] Translation: X:705.69, Y:-53.67, Z:2.06 [[ 9.90087061e-01 1.40427603e-01 2.77483683e-03 7.05694189e+02] [-1.40427035e-01 9.90090950e-01 -3.99327751e-04 -5.36702959e+01] [-2.80341748e-03 5.70712950e-06 9.99996070e-01 2.06294499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.120714057 meters Centerline goodness [0,1] 0.9988288928855242 Centerline is valid? [True, True] Translation: X:705.73, Y:-53.68, Z:2.06 [[ 9.90139203e-01 1.40075755e-01 1.77238413e-03 7.05726319e+02] [-1.40075520e-01 9.90140789e-01 -2.56351775e-04 -5.36759565e+01] [-1.79081849e-03 5.55631423e-06 9.99998396e-01 2.06228678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.150714057 meters Centerline goodness [0,1] 0.999079343823234 Centerline is valid? [True, True] Translation: X:705.76, Y:-53.68, Z:2.06 [[ 9.90136401e-01 1.40098056e-01 1.56263185e-03 7.05757270e+02] [-1.40097873e-01 9.90137634e-01 -2.26529287e-04 -5.36826076e+01] [-1.57895692e-03 5.37349425e-06 9.99998753e-01 2.06413669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1807140569999 meters Centerline goodness [0,1] 0.9989753241321623 Centerline is valid? [True, True] Translation: X:705.79, Y:-53.69, Z:2.06 [[ 9.90295163e-01 1.38975913e-01 1.08899013e-03 7.05789041e+02] [-1.38975822e-01 9.90295762e-01 -1.58817441e-04 -5.36903723e+01] [-1.10049411e-03 5.93284499e-06 9.99999394e-01 2.06196824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2107140569999 meters Centerline goodness [0,1] 0.9985361161069054 Centerline is valid? [True, True] Translation: X:705.82, Y:-53.70, Z:2.06 [[ 9.90302444e-01 1.38919921e-01 1.52464116e-03 7.05821693e+02] [-1.38919744e-01 9.90303618e-01 -2.22024650e-04 -5.36969538e+01] [-1.54070130e-03 8.06879358e-06 9.99998813e-01 2.06260850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.240714057 meters Centerline goodness [0,1] 0.9985127152373371 Centerline is valid? [True, True] Translation: X:705.85, Y:-53.70, Z:2.06 [[ 9.90278323e-01 1.39087072e-01 1.90509864e-03 7.05853937e+02] [-1.39086796e-01 9.90280155e-01 -2.77500813e-04 -5.37029927e+01] [-1.92517815e-03 9.82897454e-06 9.99998147e-01 2.06319088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.270714057 meters Centerline goodness [0,1] 0.9985269670251047 Centerline is valid? [True, True] Translation: X:705.89, Y:-53.71, Z:2.06 [[ 9.90120346e-01 1.40198982e-01 2.43860243e-03 7.05886354e+02] [-1.40198532e-01 9.90123349e-01 -3.55473988e-04 -5.37095237e+01] [-2.46435430e-03 1.00735473e-05 9.99996963e-01 2.06379129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3007140569999 meters Centerline goodness [0,1] 0.9988643294285895 Centerline is valid? [True, True] Translation: X:705.92, Y:-53.72, Z:2.06 [[ 9.90071526e-01 1.40546442e-01 2.25187696e-03 7.05918027e+02] [-1.40546060e-01 9.90074087e-01 -3.28083536e-04 -5.37152049e+01] [-2.27563599e-03 8.33373472e-06 9.99997411e-01 2.06476163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3307140569999 meters Centerline goodness [0,1] 0.9986169321039396 Centerline is valid? [True, True] Translation: X:705.95, Y:-53.72, Z:2.07 [[ 9.90029299e-01 1.40839593e-01 2.48903950e-03 7.05950653e+02] [-1.40839123e-01 9.90032428e-01 -3.63905837e-04 -5.37210200e+01] [-2.51548217e-03 9.72330034e-06 9.99996836e-01 2.06527564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3607140569999 meters Centerline goodness [0,1] 0.9985473684210526 Centerline is valid? [True, True] Translation: X:705.98, Y:-53.73, Z:2.07 [[ 9.90150647e-01 1.39965816e-01 3.35660249e-03 7.05981958e+02] [-1.39964957e-01 9.90156336e-01 -4.90693224e-04 -5.37284622e+01] [-3.39224150e-03 1.60534896e-05 9.99994246e-01 2.06515256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.390714057 meters Centerline goodness [0,1] 0.9984842105263158 Centerline is valid? [True, True] Translation: X:706.01, Y:-53.74, Z:2.07 [[ 9.90194144e-01 1.39644595e-01 3.86578308e-03 7.06014178e+02] [-1.39643448e-01 9.90201690e-01 -5.66208231e-04 -5.37350485e+01] [-3.90697286e-03 2.08247958e-05 9.99992368e-01 2.06559031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4207140569999 meters Centerline goodness [0,1] 0.9988067075596123 Centerline is valid? [True, True] Translation: X:706.05, Y:-53.74, Z:2.07 [[ 9.90269363e-01 1.39119467e-01 3.51606063e-03 7.06046556e+02] [-1.39118511e-01 9.90275605e-01 -5.16137817e-04 -5.37421945e+01] [-3.55367389e-03 2.19663456e-05 9.99993685e-01 2.06597758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4507140569999 meters Centerline goodness [0,1] 0.9987803082875949 Centerline is valid? [True, True] Translation: X:706.08, Y:-53.75, Z:2.07 [[ 9.90328935e-01 1.38692174e-01 3.61692926e-03 7.06078145e+02] [-1.38691157e-01 9.90335539e-01 -5.31720540e-04 -5.37488378e+01] [-3.65571907e-03 2.49421315e-05 9.99993318e-01 2.06565677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4807140569999 meters Centerline goodness [0,1] 0.9989285264086726 Centerline is valid? [True, True] Translation: X:706.11, Y:-53.76, Z:2.07 [[ 9.90405063e-01 1.38168902e-01 2.67678078e-03 7.06110400e+02] [-1.38168339e-01 9.90408680e-01 -3.94810431e-04 -5.37554922e+01] [-2.70565744e-03 2.11758953e-05 9.99996339e-01 2.06514477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.510714057 meters Centerline goodness [0,1] 0.9985899783235473 Centerline is valid? [True, True] Translation: X:706.14, Y:-53.76, Z:2.06 [[ 9.90588365e-01 1.36856697e-01 2.22171409e-03 7.06141844e+02] [-1.36856306e-01 9.90590856e-01 -3.27693082e-04 -5.37637716e+01] [-2.24565665e-03 2.05533717e-05 9.99997478e-01 2.06404562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.540714057 meters Centerline goodness [0,1] 0.9988909581702903 Centerline is valid? [True, True] Translation: X:706.17, Y:-53.77, Z:2.06 [[ 9.90732146e-01 1.35815476e-01 1.99286877e-03 7.06173648e+02] [-1.35815157e-01 9.90734150e-01 -2.95257104e-04 -5.37709004e+01] [-2.01450363e-03 2.18589200e-05 9.99997971e-01 2.06434806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5707140569999 meters Centerline goodness [0,1] 0.9990583410061104 Centerline is valid? [True, True] Translation: X:706.20, Y:-53.78, Z:2.07 [[ 9.90814982e-01 1.35204341e-01 2.33609162e-03 7.06204599e+02] [-1.35203901e-01 9.90817736e-01 -3.45975994e-04 -5.37778057e+01] [-2.36141847e-03 2.69494973e-05 9.99997211e-01 2.06519413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6007140569999 meters Centerline goodness [0,1] 0.9985344611004103 Centerline is valid? [True, True] Translation: X:706.23, Y:-53.79, Z:2.07 [[ 9.90981073e-01 1.33930049e-01 4.38792524e-03 7.06234937e+02] [-1.33928491e-01 9.90990786e-01 -6.48517263e-04 -5.37862899e+01] [-4.43524944e-03 5.50001294e-05 9.99990163e-01 2.06713134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.630714057 meters Centerline goodness [0,1] 0.9989690721649485 Centerline is valid? [True, True] Translation: X:706.27, Y:-53.79, Z:2.07 [[ 9.91017640e-01 1.33641598e-01 4.89496372e-03 7.06266111e+02] [-1.33639646e-01 9.91029727e-01 -7.25200984e-04 -5.37923559e+01] [-4.94797158e-03 6.45257497e-05 9.99987757e-01 2.06825809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.660714057 meters Centerline goodness [0,1] 0.9983260446527589 Centerline is valid? [True, True] Translation: X:706.30, Y:-53.80, Z:2.07 [[ 9.91061308e-01 1.33320200e-01 4.81747173e-03 7.06297168e+02] [-1.33318299e-01 9.91073014e-01 -7.15042739e-04 -5.37986122e+01] [-4.86979587e-03 6.63940557e-05 9.99988140e-01 2.06800239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6907140569999 meters Centerline goodness [0,1] 0.9989278731947276 Centerline is valid? [True, True] Translation: X:706.33, Y:-53.81, Z:2.07 [[ 9.91306359e-01 1.31489694e-01 4.70777366e-03 7.06328557e+02] [-1.31487854e-01 9.91317535e-01 -6.99755987e-04 -5.38057057e+01] [-4.75890928e-03 7.46575054e-05 9.99988674e-01 2.06799164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7207140569999 meters Centerline goodness [0,1] 0.9987839651123784 Centerline is valid? [True, True] Translation: X:706.36, Y:-53.81, Z:2.07 [[ 9.91471825e-01 1.30260555e-01 3.97604217e-03 7.06360348e+02] [-1.30259227e-01 9.91479795e-01 -5.92273457e-04 -5.38098984e+01] [-4.01931534e-03 6.93062647e-05 9.99991920e-01 2.06655035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.750714057 meters Centerline goodness [0,1] 0.9990790933255196 Centerline is valid? [True, True] Translation: X:706.39, Y:-53.81, Z:2.07 [[ 9.91671717e-01 1.28745347e-01 3.44105733e-03 7.06392013e+02] [-1.28744339e-01 9.91677685e-01 -5.13704112e-04 -5.38146087e+01] [-3.47855678e-03 6.64091855e-05 9.99993948e-01 2.06577598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.780714057 meters Centerline goodness [0,1] 0.9991424926275281 Centerline is valid? [True, True] Translation: X:706.42, Y:-53.82, Z:2.07 [[ 9.92080100e-01 1.25583326e-01 2.42986254e-03 7.06423966e+02] [-1.25582811e-01 9.92083074e-01 -3.63838763e-04 -5.38208708e+01] [-2.45631758e-03 5.58082276e-05 9.99996982e-01 2.06578905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8107140569999 meters Centerline goodness [0,1] 0.9995598222520332 Centerline is valid? [True, True] Translation: X:706.46, Y:-53.83, Z:2.07 [[ 9.92277211e-01 1.24018897e-01 2.29129104e-03 7.06455687e+02] [-1.24018433e-01 9.92279855e-01 -3.43785216e-04 -5.38257415e+01] [-2.31623781e-03 5.69679098e-05 9.99997316e-01 2.06572695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8407140569999 meters Centerline goodness [0,1] 0.9993308798929408 Centerline is valid? [True, True] Translation: X:706.49, Y:-53.83, Z:2.07 [[ 9.92502889e-01 1.22202793e-01 2.11948202e-03 7.06485884e+02] [-1.22202393e-01 9.92505151e-01 -3.17564158e-04 -5.38314393e+01] [-2.14240405e-03 5.61775686e-05 9.99997703e-01 2.06624632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.870714057 meters Centerline goodness [0,1] 0.9993691780389848 Centerline is valid? [True, True] Translation: X:706.52, Y:-53.84, Z:2.07 [[ 9.92680259e-01 1.20741243e-01 2.73060462e-03 7.06517862e+02] [-1.20740571e-01 9.92684011e-01 -4.10414613e-04 -5.38359490e+01] [-2.76018152e-03 7.77157242e-05 9.99996188e-01 2.06665089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.900714057 meters Centerline goodness [0,1] 0.9989738004984398 Centerline is valid? [True, True] Translation: X:706.55, Y:-53.84, Z:2.07 [[ 9.93051345e-01 1.17649166e-01 2.77486985e-03 7.06547887e+02] [-1.17648460e-01 9.93055218e-01 -4.16558201e-04 -5.38422931e+01] [-2.80460671e-03 8.72045168e-05 9.99996063e-01 2.06789099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9307140569999 meters Centerline goodness [0,1] 0.9990172914880716 Centerline is valid? [True, True] Translation: X:706.58, Y:-53.85, Z:2.07 [[ 9.93168158e-01 1.16665200e-01 2.49812790e-03 7.06579681e+02] [-1.16664622e-01 9.93171297e-01 -3.76480268e-04 -5.38466918e+01] [-2.52499107e-03 8.24650671e-05 9.99996809e-01 2.06850629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9607140569999 meters Centerline goodness [0,1] 0.9992686392510866 Centerline is valid? [True, True] Translation: X:706.61, Y:-53.85, Z:2.07 [[ 9.93256039e-01 1.15913451e-01 2.55215882e-03 7.06611740e+02] [-1.15912843e-01 9.93259314e-01 -3.85251012e-04 -5.38493715e+01] [-2.57961130e-03 8.68249081e-05 9.99996669e-01 2.06830922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.990714057 meters Centerline goodness [0,1] 0.9989954796584631 Centerline is valid? [True, True] Translation: X:706.64, Y:-53.85, Z:2.07 [[ 9.93284253e-01 1.15665457e-01 2.80970686e-03 7.06643565e+02] [-1.15664718e-01 9.93288222e-01 -4.24666626e-04 -5.38526280e+01] [-2.83996799e-03 9.68307217e-05 9.99995963e-01 2.06868210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.020714057 meters Centerline goodness [0,1] 0.9993474508483139 Centerline is valid? [True, True] Translation: X:706.68, Y:-53.85, Z:2.07 [[ 9.93264589e-01 1.15807167e-01 3.76253435e-03 7.06676300e+02] [-1.15805841e-01 9.93271707e-01 -5.69097382e-04 -5.38527540e+01] [-3.80312447e-03 1.29540823e-04 9.99992760e-01 2.07006078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0507140569999 meters Centerline goodness [0,1] 0.999120216175454 Centerline is valid? [True, True] Translation: X:706.71, Y:-53.86, Z:2.07 [[ 9.93189694e-01 1.16451077e-01 3.65759486e-03 7.06707459e+02] [-1.16449825e-01 9.93196421e-01 -5.54173952e-04 -5.38583191e+01] [-3.69724428e-03 1.24473578e-04 9.99993157e-01 2.07153189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0807140569999 meters Centerline goodness [0,1] 0.9993296604311122 Centerline is valid? [True, True] Translation: X:706.74, Y:-53.86, Z:2.07 [[ 9.93060171e-01 1.17536512e-01 4.08237571e-03 7.06740465e+02] [-1.17534958e-01 9.93068553e-01 -6.19394120e-04 -5.38577971e+01] [-4.12688036e-03 1.35273773e-04 9.99991475e-01 2.07143159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1107140569999 meters Centerline goodness [0,1] 0.999287211740042 Centerline is valid? [True, True] Translation: X:706.77, Y:-53.86, Z:2.07 [[ 9.92985876e-01 1.18153547e-01 4.33470494e-03 7.06772243e+02] [-1.18151801e-01 9.92995327e-01 -6.57468615e-04 -5.38591335e+01] [-4.38202399e-03 1.40703854e-04 9.99990389e-01 2.07224551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.140714057 meters Centerline goodness [0,1] 0.9993506493506493 Centerline is valid? [True, True] Translation: X:706.81, Y:-53.86, Z:2.07 [[ 9.92945428e-01 1.18512166e-01 3.77397757e-03 7.06805275e+02] [-1.18510837e-01 9.92952593e-01 -5.74611232e-04 -5.38607327e+01] [-3.81547924e-03 1.23300355e-04 9.99992713e-01 2.07186267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1707140569999 meters Centerline goodness [0,1] 0.9992247249869042 Centerline is valid? [True, True] Translation: X:706.84, Y:-53.86, Z:2.07 [[ 9.92935413e-01 1.18606876e-01 3.41680732e-03 7.06838548e+02] [-1.18605783e-01 9.92941285e-01 -5.21402747e-04 -5.38634712e+01] [-3.45453100e-03 1.12466144e-04 9.99994027e-01 2.07157211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2007140569999 meters Centerline goodness [0,1] 0.9996017856768595 Centerline is valid? [True, True] Translation: X:706.87, Y:-53.87, Z:2.07 [[ 9.92868043e-01 1.19197720e-01 2.22552012e-03 7.06870737e+02] [-1.19197256e-01 9.92870534e-01 -3.40598533e-04 -5.38652918e+01] [-2.25025192e-03 7.28935077e-05 9.99997466e-01 2.07141878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2307140569999 meters Centerline goodness [0,1] 0.9994971505196111 Centerline is valid? [True, True] Translation: X:706.90, Y:-53.87, Z:2.07 [[ 9.92754622e-01 1.20156184e-01 8.66745707e-04 7.06901885e+02] [-1.20156113e-01 9.92755000e-01 -1.33727848e-04 -5.38653163e+01] [-8.76534362e-04 2.86141442e-05 9.99999615e-01 2.07106659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.260714057 meters Centerline goodness [0,1] 0.999706572769953 Centerline is valid? [True, True] Translation: X:706.93, Y:-53.87, Z:2.07 [[ 9.92667142e-01 1.20879740e-01 -1.86004796e-04 7.06934373e+02] [-1.20879737e-01 9.92667159e-01 2.68115537e-05 -5.38671223e+01] [ 1.87881826e-04 -4.13073750e-06 9.99999982e-01 2.07149513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.290714057 meters Centerline goodness [0,1] 0.9993293654120211 Centerline is valid? [True, True] Translation: X:706.97, Y:-53.87, Z:2.07 [[ 9.92562964e-01 1.21732267e-01 -1.30518312e-04 7.06967028e+02] [-1.21732265e-01 9.92562973e-01 1.83252558e-05 -5.38681643e+01] [ 1.31778419e-04 -2.30068038e-06 9.99999991e-01 2.07165833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3207140569999 meters Centerline goodness [0,1] 0.9995599052748496 Centerline is valid? [True, True] Translation: X:707.00, Y:-53.87, Z:2.07 [[ 9.92454397e-01 1.22614268e-01 -1.08463199e-04 7.06998271e+02] [-1.22614267e-01 9.92454403e-01 1.50999133e-05 -5.38719706e+01] [ 1.09496244e-04 -1.68683972e-06 9.99999994e-01 2.07295731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3507140569999 meters Centerline goodness [0,1] 0.999351383018789 Centerline is valid? [True, True] Translation: X:707.03, Y:-53.87, Z:2.07 [[ 9.92365081e-01 1.23330455e-01 -1.07045667e-03 7.07031187e+02] [-1.23330351e-01 9.92365657e-01 1.62688228e-04 -5.38699241e+01] [ 1.08234885e-03 -2.94263195e-05 9.99999414e-01 2.07408076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.380714057 meters Centerline goodness [0,1] 0.9997904662126768 Centerline is valid? [True, True] Translation: X:707.06, Y:-53.87, Z:2.07 [[ 9.92308506e-01 1.23781624e-01 -1.39197909e-03 7.07063847e+02] [-1.23781448e-01 9.92309482e-01 2.12207271e-04 -5.38721418e+01] [ 1.40754141e-03 -3.82738926e-05 9.99999009e-01 2.07450286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.410714057 meters Centerline goodness [0,1] 0.9994342587742273 Centerline is valid? [True, True] Translation: X:707.09, Y:-53.87, Z:2.08 [[ 9.92566251e-01 1.21680558e-01 -2.46579662e-03 7.07094774e+02] [-1.21679991e-01 9.92569310e-01 3.79099109e-04 -5.38733427e+01] [ 2.49360304e-03 -7.62428705e-05 9.99996888e-01 2.07509093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4407140569999 meters Centerline goodness [0,1] 0.9996435012372604 Centerline is valid? [True, True] Translation: X:707.13, Y:-53.88, Z:2.08 [[ 9.92787017e-01 1.19867597e-01 -2.38722930e-03 7.07125306e+02] [-1.19867063e-01 9.92789884e-01 3.66295088e-04 -5.38777225e+01] [ 2.41392401e-03 -7.75028436e-05 9.99997083e-01 2.07590495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4707140569999 meters Centerline goodness [0,1] 0.9997070271627674 Centerline is valid? [True, True] Translation: X:707.16, Y:-53.88, Z:2.08 [[ 9.93169870e-01 1.16657677e-01 -2.14362513e-03 7.07156900e+02] [-1.16657238e-01 9.93172181e-01 3.29238713e-04 -5.38794336e+01] [ 2.16739707e-03 -7.69205836e-05 9.99997648e-01 2.07581658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.500714057 meters Centerline goodness [0,1] 0.9994978133958277 Centerline is valid? [True, True] Translation: X:707.19, Y:-53.89, Z:2.08 [[ 9.93591958e-01 1.12993705e-01 -2.72833740e-03 7.07186019e+02] [-1.12992974e-01 9.93595698e-01 4.20987706e-04 -5.38860700e+01] [ 2.75843326e-03 -1.10007042e-04 9.99996189e-01 2.07659745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.530714057 meters Centerline goodness [0,1] 0.9994782862747553 Centerline is valid? [True, True] Translation: X:707.22, Y:-53.89, Z:2.08 [[ 9.94010246e-01 1.09259416e-01 -2.45187213e-03 7.07215922e+02] [-1.09258815e-01 9.94013264e-01 3.78258742e-04 -5.38909676e+01] [ 2.47852175e-03 -1.08104421e-04 9.99996923e-01 2.07712391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5607140569999 meters Centerline goodness [0,1] 0.9997481161184694 Centerline is valid? [True, True] Translation: X:707.25, Y:-53.89, Z:2.08 [[ 9.94840133e-01 1.01425989e-01 -2.42452582e-03 7.07248055e+02] [-1.01425378e-01 9.94843079e-01 3.74016649e-04 -5.38889054e+01] [ 2.44995774e-03 -1.26178324e-04 9.99996991e-01 2.07783286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5907140569999 meters Centerline goodness [0,1] 0.9998105462582886 Centerline is valid? [True, True] Translation: X:707.28, Y:-53.89, Z:2.08 [[ 9.95141980e-01 9.83989422e-02 -3.17627201e-03 7.07279072e+02] [-9.83978775e-02 9.95147033e-01 4.90142688e-04 -5.38927040e+01] [ 3.20908719e-03 -1.75223141e-04 9.99994836e-01 2.07865227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.620714057 meters Centerline goodness [0,1] 0.9999580087761658 Centerline is valid? [True, True] Translation: X:707.31, Y:-53.90, Z:2.08 [[ 9.95388290e-01 9.58649816e-02 -3.47247063e-03 7.07308242e+02] [-9.58636930e-02 9.95394326e-01 5.36051885e-04 -5.39019046e+01] [ 3.50786617e-03 -2.00695910e-04 9.99993827e-01 2.07946584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.650714057 meters Centerline goodness [0,1] 0.9996636677036912 Centerline is valid? [True, True] Translation: X:707.34, Y:-53.90, Z:2.08 [[ 9.95549026e-01 9.41699469e-02 -3.76257241e-03 7.07340726e+02] [-9.41684221e-02 9.95556111e-01 5.80775905e-04 -5.39043388e+01] [ 3.80054360e-03 -2.23875379e-04 9.99992753e-01 2.08048558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6807140569999 meters Centerline goodness [0,1] 0.9998111386242498 Centerline is valid? [True, True] Translation: X:707.37, Y:-53.90, Z:2.08 [[ 9.95561178e-01 9.40562181e-02 -3.37184335e-03 7.07372648e+02] [-9.40549929e-02 9.95566867e-01 5.20458308e-04 -5.39025185e+01] [ 3.40584786e-03 -2.01009384e-04 9.99994180e-01 2.08236478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7107140569999 meters Centerline goodness [0,1] 0.9998111386242498 Centerline is valid? [True, True] Translation: X:707.40, Y:-53.91, Z:2.08 [[ 9.95536700e-01 9.43149542e-02 -3.37184537e-03 7.07404801e+02] [-9.43137305e-02 9.95542390e-01 5.20445931e-04 -5.39075788e+01] [ 3.40590083e-03 -2.00111708e-04 9.99994180e-01 2.08257981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.740714057 meters Centerline goodness [0,1] 0.9996849070475791 Centerline is valid? [True, True] Translation: X:707.44, Y:-53.91, Z:2.08 [[ 9.95467608e-01 9.50363771e-02 -3.51131136e-03 7.07438159e+02] [-9.50350490e-02 9.95473779e-01 5.43527155e-04 -5.39057685e+01] [ 3.54707324e-03 -2.07366030e-04 9.99993688e-01 2.08318305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.770714057 meters Centerline goodness [0,1] 0.9997268907563025 Centerline is valid? [True, True] Translation: X:707.47, Y:-53.89, Z:2.08 [[ 9.95264098e-01 9.71530365e-02 -3.26549076e-03 7.07472083e+02] [-9.71518983e-02 9.95269437e-01 5.05753979e-04 -5.38949345e+01] [ 3.29917869e-03 -1.86110151e-04 9.99994540e-01 2.08398907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8007140569999 meters Centerline goodness [0,1] 0.9994745912319785 Centerline is valid? [True, True] Translation: X:707.51, Y:-53.89, Z:2.08 [[ 9.95103685e-01 9.87742833e-02 -3.50683993e-03 7.07505102e+02] [-9.87729817e-02 9.95109845e-01 5.42848328e-04 -5.38902523e+01] [ 3.54331039e-03 -1.93809336e-04 9.99993704e-01 2.08397264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8307140569999 meters Centerline goodness [0,1] 0.9998737745613666 Centerline is valid? [True, True] Translation: X:707.54, Y:-53.89, Z:2.08 [[ 9.94896174e-01 1.00838040e-01 -3.64591702e-03 7.07537180e+02] [-1.00836641e-01 9.94902835e-01 5.65986336e-04 -5.38910702e+01] [ 3.68440613e-03 -1.95455613e-04 9.99993193e-01 2.08374358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8607140569999 meters Centerline goodness [0,1] 0.9997896640935574 Centerline is valid? [True, True] Translation: X:707.57, Y:-53.89, Z:2.08 [[ 9.94648792e-01 1.03216412e-01 -4.48919335e-03 7.07568010e+02] [-1.03214313e-01 9.94658896e-01 6.97263666e-04 -5.38922685e+01] [ 4.53718515e-03 -2.30183455e-04 9.99989680e-01 2.08328207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.890714057 meters Centerline goodness [0,1] 0.9998107255520505 Centerline is valid? [True, True] Translation: X:707.60, Y:-53.89, Z:2.08 [[ 9.94076947e-01 1.08541761e-01 -5.45066199e-03 7.07598383e+02] [-1.08538746e-01 9.94091859e-01 8.46881444e-04 -5.38915711e+01] [ 5.51038072e-03 -2.50257304e-04 9.99984786e-01 2.08253050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9207140569999 meters Centerline goodness [0,1] 0.9996419695884756 Centerline is valid? [True, True] Translation: X:707.63, Y:-53.89, Z:2.08 [[ 9.93791157e-01 1.11124107e-01 -5.52902037e-03 7.07629609e+02] [-1.11121044e-01 9.93806508e-01 8.59110105e-04 -5.38881622e+01] [ 5.59024427e-03 -2.39385511e-04 9.99984346e-01 2.08256122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9507140569999 meters Centerline goodness [0,1] 0.9997685087756218 Centerline is valid? [True, True] Translation: X:707.66, Y:-53.88, Z:2.08 [[ 9.93557820e-01 1.13200980e-01 -5.32887274e-03 7.07662010e+02] [-1.13198164e-01 9.93572086e-01 8.27988615e-04 -5.38822054e+01] [ 5.38834832e-03 -2.19435951e-04 9.99985459e-01 2.08287688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9807140569999 meters Centerline goodness [0,1] 0.9994738835809588 Centerline is valid? [True, True] Translation: X:707.69, Y:-53.88, Z:2.08 [[ 9.93171602e-01 1.16559304e-01 -4.90901839e-03 7.07692266e+02] [-1.16556955e-01 9.93183716e-01 7.62761314e-04 -5.38783613e+01] [ 4.96446405e-03 -1.85372640e-04 9.99987660e-01 2.08348851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.010714057 meters Centerline goodness [0,1] 0.9992627698788836 Centerline is valid? [True, True] Translation: X:707.72, Y:-53.88, Z:2.08 [[ 9.93017769e-01 1.17896644e-01 -4.01158054e-03 7.07721080e+02] [-1.17895085e-01 9.93025861e-01 6.23732171e-04 -5.38797764e+01] [ 4.05713915e-03 -1.46431500e-04 9.99991759e-01 2.08391067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.040714057 meters Centerline goodness [0,1] 0.9993886370823232 Centerline is valid? [True, True] Translation: X:707.75, Y:-53.88, Z:2.08 [[ 9.92901544e-01 1.18878517e-01 -3.79757465e-03 7.07751155e+02] [-1.18877127e-01 9.92908797e-01 5.90370438e-04 -5.38809712e+01] [ 3.84082764e-03 -1.34734955e-04 9.99992615e-01 2.08456651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0707140569999 meters Centerline goodness [0,1] 0.9990132891062918 Centerline is valid? [True, True] Translation: X:707.78, Y:-53.88, Z:2.08 [[ 9.92618903e-01 1.21215087e-01 -3.82307216e-03 7.07780771e+02] [-1.21213696e-01 9.92626257e-01 5.94217065e-04 -5.38803741e+01] [ 3.86690988e-03 -1.26422384e-04 9.99992515e-01 2.08482278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1007140569999 meters Centerline goodness [0,1] 0.9989042481456507 Centerline is valid? [True, True] Translation: X:707.81, Y:-53.88, Z:2.08 [[ 9.92488648e-01 1.22278547e-01 -3.77374322e-03 7.07810095e+02] [-1.22277200e-01 9.92495815e-01 5.86464108e-04 -5.38779417e+01] [ 3.81713633e-03 -1.20616213e-04 9.99992707e-01 2.08451806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.130714057 meters Centerline goodness [0,1] 0.9993486437081084 Centerline is valid? [True, True] Translation: X:707.84, Y:-53.88, Z:2.08 [[ 9.92348408e-01 1.23414999e-01 -3.65718994e-03 7.07838139e+02] [-1.23413742e-01 9.92355141e-01 5.68087518e-04 -5.38810403e+01] [ 3.69934176e-03 -1.12393247e-04 9.99993151e-01 2.08476512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.160714057 meters Centerline goodness [0,1] 0.9985463585227632 Centerline is valid? [True, True] Translation: X:707.87, Y:-53.88, Z:2.08 [[ 9.92240886e-01 1.24296538e-01 -2.89750647e-03 7.07866191e+02] [-1.24295753e-01 9.92245112e-01 4.50028107e-04 -5.38800786e+01] [ 2.93097357e-03 -8.63885376e-05 9.99995701e-01 2.08395187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1907140569999 meters Centerline goodness [0,1] 0.9983133038161501 Centerline is valid? [True, True] Translation: X:707.90, Y:-53.88, Z:2.08 [[ 9.92332982e-01 1.23567925e-01 -2.49400645e-03 7.07895350e+02] [-1.23567342e-01 9.92336113e-01 3.87142520e-04 -5.38806421e+01] [ 2.52273106e-03 -7.59965437e-05 9.99996815e-01 2.08318887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2207140569999 meters Centerline goodness [0,1] 0.9984400362586167 Centerline is valid? [True, True] Translation: X:707.92, Y:-53.88, Z:2.08 [[ 9.92504792e-01 1.22184492e-01 -2.27748541e-03 7.07924427e+02] [-1.22184003e-01 9.92507403e-01 3.53254227e-04 -5.38843164e+01] [ 2.30358332e-03 -7.23342289e-05 9.99997344e-01 2.08357252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.250714057 meters Centerline goodness [0,1] 0.9981701161029783 Centerline is valid? [True, True] Translation: X:707.95, Y:-53.89, Z:2.08 [[ 9.92738850e-01 1.20271504e-01 -2.08367086e-03 7.07952721e+02] [-1.20271090e-01 9.92741034e-01 3.23138040e-04 -5.38905784e+01] [ 2.10740987e-03 -7.01863190e-05 9.99997777e-01 2.08383953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.280714057 meters Centerline goodness [0,1] 0.9982272122913282 Centerline is valid? [True, True] Translation: X:707.98, Y:-53.89, Z:2.08 [[ 9.93358894e-01 1.15044823e-01 -1.67210050e-03 7.07982458e+02] [-1.15044550e-01 9.93360299e-01 2.59212932e-04 -5.38930390e+01] [ 1.69081936e-03 -6.51254227e-05 9.99998568e-01 2.08334107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3107140569999 meters Centerline goodness [0,1] 0.9977650804360202 Centerline is valid? [True, True] Translation: X:708.01, Y:-53.90, Z:2.08 [[ 9.93759773e-01 1.11524327e-01 -1.95895987e-03 7.08011271e+02] [-1.11523944e-01 9.93761701e-01 3.03794804e-04 -5.38981636e+01] [ 1.98061980e-03 -8.34281239e-05 9.99998035e-01 2.08337427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3407140569999 meters Centerline goodness [0,1] 0.9979525065963061 Centerline is valid? [True, True] Translation: X:708.04, Y:-53.90, Z:2.08 [[ 9.94070887e-01 1.08723096e-01 -1.53606224e-03 7.08040526e+02] [-1.08722857e-01 9.94072072e-01 2.38205676e-04 -5.39008008e+01] [ 1.55285503e-03 -6.97882522e-05 9.99998792e-01 2.08343084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.370714057 meters Centerline goodness [0,1] 0.9976401677166515 Centerline is valid? [True, True] Translation: X:708.07, Y:-53.91, Z:2.08 [[ 9.94358192e-01 1.06072645e-01 -6.16369004e-04 7.08068199e+02] [-1.06072606e-01 9.94358383e-01 9.56578959e-05 -5.39084160e+01] [ 6.23038372e-04 -2.97383462e-05 9.99999805e-01 2.08366289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.400714057 meters Centerline goodness [0,1] 0.9974919912325072 Centerline is valid? [True, True] Translation: X:708.10, Y:-53.91, Z:2.08 [[ 9.94830875e-01 1.01545386e-01 2.53384880e-04 7.08097595e+02] [-1.01545379e-01 9.94830907e-01 -3.90988970e-05 -5.39128503e+01] [-2.56045422e-04 1.31667263e-05 9.99999967e-01 2.08439167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4307140569999 meters Centerline goodness [0,1] 0.9972311952007383 Centerline is valid? [True, True] Translation: X:708.13, Y:-53.92, Z:2.08 [[ 9.94962686e-01 1.00245814e-01 1.71415797e-04 7.08127304e+02] [-1.00245811e-01 9.94962701e-01 -2.62808681e-05 -5.39157169e+01] [-1.73186871e-04 8.96476753e-06 9.99999985e-01 2.08456095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4607140569999 meters Centerline goodness [0,1] 0.997146992804548 Centerline is valid? [True, True] Translation: X:708.16, Y:-53.92, Z:2.09 [[ 9.95044661e-01 9.94253960e-02 8.45089613e-04 7.08155682e+02] [-9.94253210e-02 9.95045018e-01 -1.30401500e-04 -5.39205272e+01] [-8.53867431e-04 4.57320106e-05 9.99999634e-01 2.08505893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.490714057 meters Centerline goodness [0,1] 0.9969917272499373 Centerline is valid? [True, True] Translation: X:708.18, Y:-53.93, Z:2.09 [[ 9.95066099e-01 9.92086486e-02 1.04965927e-03 7.08184093e+02] [-9.92085328e-02 9.95066651e-01 -1.61964200e-04 -5.39263195e+01] [-1.06054918e-03 5.70299295e-05 9.99999436e-01 2.08562913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.520714057 meters Centerline goodness [0,1] 0.9961327814707973 Centerline is valid? [True, True] Translation: X:708.22, Y:-53.92, Z:2.08 [[ 9.94955445e-01 1.00307068e-01 1.46814473e-03 7.08215316e+02] [-1.00306843e-01 9.94956525e-01 -2.26624101e-04 -5.39214283e+01] [-1.48347218e-03 7.82159204e-05 9.99998897e-01 2.08454123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5507140569999 meters Centerline goodness [0,1] 0.9962240534056535 Centerline is valid? [True, True] Translation: X:708.24, Y:-53.93, Z:2.08 [[ 9.94855644e-01 1.01295191e-01 1.23794370e-03 7.08243796e+02] [-1.01295032e-01 9.94856412e-01 -1.90943441e-04 -5.39261926e+01] [-1.25091788e-03 6.45636136e-05 9.99999216e-01 2.08457218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5807140569999 meters Centerline goodness [0,1] 0.995704630156023 Centerline is valid? [True, True] Translation: X:708.27, Y:-53.93, Z:2.08 [[ 9.94689153e-01 1.02904670e-01 2.02899418e-03 7.08273578e+02] [-1.02904245e-01 9.94691218e-01 -3.13243334e-04 -5.39275688e+01] [-2.05045689e-03 1.02787633e-04 9.99997893e-01 2.08418711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6107140569999 meters Centerline goodness [0,1] 0.995980656911386 Centerline is valid? [True, True] Translation: X:708.30, Y:-53.93, Z:2.08 [[ 9.94510580e-01 1.04624908e-01 1.52781032e-03 7.08304546e+02] [-1.04624669e-01 9.94511751e-01 -2.35894367e-04 -5.39252144e+01] [-1.54410574e-03 7.47527948e-05 9.99998805e-01 2.08342113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.640714057 meters Centerline goodness [0,1] 0.9951954210273444 Centerline is valid? [True, True] Translation: X:708.33, Y:-53.93, Z:2.08 [[ 9.94015255e-01 1.09229317e-01 1.62154789e-03 7.08333842e+02] [-1.09229054e-01 9.94016575e-01 -2.50193174e-04 -5.39252748e+01] [-1.63917391e-03 7.15756896e-05 9.99998654e-01 2.08351213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6707140569999 meters Centerline goodness [0,1] 0.9943698390191008 Centerline is valid? [True, True] Translation: X:708.36, Y:-53.93, Z:2.08 [[ 9.93764910e-01 1.11478782e-01 1.94533339e-03 7.08361806e+02] [-1.11478409e-01 9.93766811e-01 -2.99730839e-04 -5.39271948e+01] [-1.96662139e-03 8.09993192e-05 9.99998063e-01 2.08307306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7007140569999 meters Centerline goodness [0,1] 0.9948625845794002 Centerline is valid? [True, True] Translation: X:708.39, Y:-53.92, Z:2.08 [[ 9.93428614e-01 1.14424061e-01 2.59297858e-03 7.08392618e+02] [-1.14423406e-01 9.93431993e-01 -4.00082861e-04 -5.39246394e+01] [-2.62172699e-03 1.00756321e-04 9.99996558e-01 2.08245800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7307140569999 meters Centerline goodness [0,1] 0.9945238245106062 Centerline is valid? [True, True] Translation: X:708.42, Y:-53.93, Z:2.08 [[ 9.93157550e-01 1.16735060e-01 3.31750693e-03 7.08421851e+02] [-1.16734003e-01 9.93163084e-01 -5.11303430e-04 -5.39253040e+01] [-3.35451245e-03 1.20538999e-04 9.99994366e-01 2.08237390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.760714057 meters Centerline goodness [0,1] 0.9942395592010519 Centerline is valid? [True, True] Translation: X:708.45, Y:-53.92, Z:2.08 [[ 9.92649870e-01 1.20978933e-01 3.21442138e-03 7.08450803e+02] [-1.20977963e-01 9.92655070e-01 -4.95347340e-04 -5.39249665e+01] [-3.25073827e-03 1.02832323e-04 9.99994711e-01 2.08088274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.790714057 meters Centerline goodness [0,1] 0.993768428096443 Centerline is valid? [True, True] Translation: X:708.48, Y:-53.93, Z:2.08 [[ 9.92505642e-01 1.22155065e-01 3.26959983e-03 7.08480024e+02] [-1.22154068e-01 9.92511023e-01 -5.03684673e-04 -5.39275200e+01] [-3.30664151e-03 1.00514959e-04 9.99994528e-01 2.07981395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8207140569999 meters Centerline goodness [0,1] 0.9943783828969092 Centerline is valid? [True, True] Translation: X:708.51, Y:-53.93, Z:2.08 [[ 9.92359565e-01 1.23343818e-01 2.96596897e-03 7.08509277e+02] [-1.23343003e-01 9.92363993e-01 -4.56714469e-04 -5.39297215e+01] [-2.99965372e-03 8.73934520e-05 9.99995497e-01 2.07897689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8507140569999 meters Centerline goodness [0,1] 0.994024112497127 Centerline is valid? [True, True] Translation: X:708.54, Y:-53.93, Z:2.08 [[ 9.92284547e-01 1.23938690e-01 3.25266228e-03 7.08537708e+02] [-1.23937715e-01 9.92289873e-01 -5.00544039e-04 -5.39316385e+01] [-3.28962061e-03 9.35545861e-05 9.99994585e-01 2.07850303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.880714057 meters Centerline goodness [0,1] 0.9936894628705606 Centerline is valid? [True, True] Translation: X:708.57, Y:-53.93, Z:2.08 [[ 9.92392097e-01 1.23044512e-01 4.23945589e-03 7.08566335e+02] [-1.23042847e-01 9.92401145e-01 -6.52224929e-04 -5.39347183e+01] [-4.28749357e-03 1.25628142e-04 9.99990801e-01 2.07823069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.910714057 meters Centerline goodness [0,1] 0.9931318107803432 Centerline is valid? [True, True] Translation: X:708.59, Y:-53.94, Z:2.08 [[ 9.92455129e-01 1.22546921e-01 3.88180489e-03 7.08593461e+02] [-1.22545524e-01 9.92462714e-01 -5.96692397e-04 -5.39395921e+01] [-3.92566943e-03 1.16492616e-04 9.99992288e-01 2.07857210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9407140569999 meters Centerline goodness [0,1] 0.9933082392304475 Centerline is valid? [True, True] Translation: X:708.62, Y:-53.94, Z:2.08 [[ 9.92581072e-01 1.21510719e-01 4.23790994e-03 7.08621907e+02] [-1.21509045e-01 9.92590111e-01 -6.51289968e-04 -5.39430660e+01] [-4.28564621e-03 1.31513704e-04 9.99990808e-01 2.07810096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9707140569999 meters Centerline goodness [0,1] 0.9926117627415787 Centerline is valid? [True, True] Translation: X:708.65, Y:-53.95, Z:2.08 [[ 9.92708229e-01 1.20473143e-01 4.07366262e-03 7.08648984e+02] [-1.20471590e-01 9.92716578e-01 -6.25383060e-04 -5.39491803e+01] [-4.11933428e-03 1.30062299e-04 9.99991507e-01 2.07879706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.000714057 meters Centerline goodness [0,1] 0.9929724755291559 Centerline is valid? [True, True] Translation: X:708.68, Y:-53.95, Z:2.08 [[ 9.92692973e-01 1.20594623e-01 4.19513075e-03 7.08678132e+02] [-1.20592977e-01 9.92701828e-01 -6.43968276e-04 -5.39499394e+01] [-4.24217308e-03 1.33359475e-04 9.99990993e-01 2.07841499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.030714057 meters Centerline goodness [0,1] 0.9922824336477527 Centerline is valid? [True, True] Translation: X:708.71, Y:-53.95, Z:2.08 [[ 9.92615342e-01 1.21201759e-01 4.99159607e-03 7.08706735e+02] [-1.21199438e-01 9.92627881e-01 -7.65946606e-04 -5.39519907e+01] [-5.04763151e-03 1.55311713e-04 9.99987249e-01 2.07798410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0607140569999 meters Centerline goodness [0,1] 0.992926058475126 Centerline is valid? [True, True] Translation: X:708.74, Y:-53.95, Z:2.08 [[ 9.92414728e-01 1.22837524e-01 4.89384772e-03 7.08735633e+02] [-1.22835315e-01 9.92426784e-01 -7.50577883e-04 -5.39544713e+01] [-4.94898468e-03 1.43747218e-04 9.99987743e-01 2.07830673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0907140569999 meters Centerline goodness [0,1] 0.9926413713807881 Centerline is valid? [True, True] Translation: X:708.76, Y:-53.96, Z:2.08 [[ 9.91828041e-01 1.27491533e-01 4.80059069e-03 7.08764261e+02] [-1.27489463e-01 9.91839652e-01 -7.36126373e-04 -5.39564674e+01] [-4.85526608e-03 1.18086051e-04 9.99988206e-01 2.07883540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.120714057 meters Centerline goodness [0,1] 0.9927834186456322 Centerline is valid? [True, True] Translation: X:708.79, Y:-53.96, Z:2.08 [[ 9.91474158e-01 1.30194995e-01 5.31584554e-03 7.08792704e+02] [-1.30192497e-01 9.91488401e-01 -8.14678786e-04 -5.39591005e+01] [-5.37666630e-03 1.15649757e-04 9.99985539e-01 2.07855177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.150714057 meters Centerline goodness [0,1] 0.9932995862126909 Centerline is valid? [True, True] Translation: X:708.82, Y:-53.96, Z:2.08 [[ 9.90766622e-01 1.35455920e-01 5.76147514e-03 7.08820412e+02] [-1.35453078e-01 9.90783369e-01 -8.82385508e-04 -5.39608837e+01] [-5.82789809e-03 9.38285654e-05 9.99983013e-01 2.07879924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1807140569999 meters Centerline goodness [0,1] 0.9932655707533359 Centerline is valid? [True, True] Translation: X:708.85, Y:-53.96, Z:2.08 [[ 9.90446551e-01 1.37784660e-01 5.56932007e-03 7.08848697e+02] [-1.37782043e-01 9.90462206e-01 -8.52677219e-04 -5.39640479e+01] [-5.63368688e-03 7.71789115e-05 9.99984128e-01 2.07905431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2107140569999 meters Centerline goodness [0,1] 0.993219771481187 Centerline is valid? [True, True] Translation: X:708.88, Y:-53.97, Z:2.08 [[ 9.90215288e-01 1.39417161e-01 6.04472836e-03 7.08877412e+02] [-1.39414111e-01 9.90233735e-01 -9.25051515e-04 -5.39671731e+01] [-6.11466199e-03 7.32797223e-05 9.99981303e-01 2.07801672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.240714057 meters Centerline goodness [0,1] 0.993177367390343 Centerline is valid? [True, True] Translation: X:708.91, Y:-53.97, Z:2.08 [[ 9.89974442e-01 1.41100563e-01 6.42141152e-03 7.08906096e+02] [-1.41097160e-01 9.89995266e-01 -9.82257500e-04 -5.39714737e+01] [-6.49576409e-03 6.63668920e-05 9.99978900e-01 2.07790038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.270714057 meters Centerline goodness [0,1] 0.9937803652203049 Centerline is valid? [True, True] Translation: X:708.93, Y:-53.98, Z:2.08 [[ 9.89481696e-01 1.44538924e-01 5.87136899e-03 7.08933577e+02] [-1.44536145e-01 9.89499115e-01 -8.97147792e-04 -5.39775686e+01] [-5.93938719e-03 3.90862811e-05 9.99982361e-01 2.07751687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3007140569999 meters Centerline goodness [0,1] 0.9938845659096182 Centerline is valid? [True, True] Translation: X:708.96, Y:-53.98, Z:2.08 [[ 9.89258061e-01 1.46064409e-01 5.80323137e-03 7.08961487e+02] [-1.46061721e-01 9.89275082e-01 -8.86576866e-04 -5.39828606e+01] [-5.87048951e-03 2.94233482e-05 9.99982768e-01 2.07703132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3307140569999 meters Centerline goodness [0,1] 0.994409282700422 Centerline is valid? [True, True] Translation: X:708.99, Y:-53.99, Z:2.08 [[ 9.89004991e-01 1.47759051e-01 6.03240763e-03 7.08990057e+02] [-1.47756181e-01 9.89023388e-01 -9.21154806e-04 -5.39880505e+01] [-6.10230119e-03 1.97011850e-05 9.99981381e-01 2.07724198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3607140569999 meters Centerline goodness [0,1] 0.9951731551546066 Centerline is valid? [True, True] Translation: X:709.02, Y:-53.99, Z:2.08 [[ 9.88675077e-01 1.49924504e-01 6.65100731e-03 7.09018795e+02] [-1.49921067e-01 9.88697448e-01 -1.01517918e-03 -5.39931515e+01] [-6.72803419e-03 6.55623443e-06 9.99977367e-01 2.07751947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.390714057 meters Centerline goodness [0,1] 0.9952199456716292 Centerline is valid? [True, True] Translation: X:709.04, Y:-54.00, Z:2.08 [[ 9.88322895e-01 1.52230798e-01 6.60592967e-03 7.09044957e+02] [-1.52227467e-01 9.88344972e-01 -1.00710002e-03 -5.39978910e+01] [-6.68224901e-03 -1.02639391e-05 9.99977673e-01 2.07828077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4207140569999 meters Centerline goodness [0,1] 0.996040354683123 Centerline is valid? [True, True] Translation: X:709.07, Y:-54.00, Z:2.08 [[ 9.87574664e-01 1.57006971e-01 6.71520355e-03 7.09071748e+02] [-1.57003641e-01 9.87597494e-01 -1.02341243e-03 -5.40045060e+01] [-6.79260108e-03 -4.36152207e-05 9.99976929e-01 2.07924091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4507140569999 meters Centerline goodness [0,1] 0.9968 Centerline is valid? [True, True] Translation: X:709.10, Y:-54.01, Z:2.08 [[ 9.87288484e-01 1.58774527e-01 7.21792584e-03 7.09100354e+02] [-1.58770730e-01 9.87314867e-01 -1.09966789e-03 -5.40105211e+01] [-7.30096474e-03 -6.03059070e-05 9.99973346e-01 2.07915341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4807140569999 meters Centerline goodness [0,1] 0.9965507813321556 Centerline is valid? [True, True] Translation: X:709.13, Y:-54.02, Z:2.08 [[ 9.87075573e-01 1.60084605e-01 7.39809668e-03 7.09128672e+02] [-1.60080657e-01 9.87103295e-01 -1.12658638e-03 -5.40171388e+01] [-7.48303474e-03 -7.22662737e-05 9.99971999e-01 2.07879799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.510714057 meters Centerline goodness [0,1] 0.9975146383588188 Centerline is valid? [True, True] Translation: X:709.16, Y:-54.03, Z:2.08 [[ 9.86934046e-01 1.60917386e-01 8.17212153e-03 7.09156656e+02] [-1.60912602e-01 9.86967876e-01 -1.24389229e-03 -5.40278748e+01] [-8.26578532e-03 -8.73576883e-05 9.99965834e-01 2.07740633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.540714057 meters Centerline goodness [0,1] 0.9971601666035592 Centerline is valid? [True, True] Translation: X:709.18, Y:-54.04, Z:2.08 [[ 9.87056755e-01 1.60199092e-01 7.43061110e-03 7.09183247e+02] [-1.60195123e-01 9.87084720e-01 -1.13018304e-03 -5.40351911e+01] [-7.51569698e-03 -7.47928565e-05 9.99971754e-01 2.07794024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5707140569999 meters Centerline goodness [0,1] 0.9973077003975349 Centerline is valid? [True, True] Translation: X:709.21, Y:-54.04, Z:2.08 [[ 9.87214671e-01 1.59247660e-01 6.88308097e-03 7.09211001e+02] [-1.59244234e-01 9.87238664e-01 -1.04647908e-03 -5.40439361e+01] [-6.96189300e-03 -6.29914585e-05 9.99975764e-01 2.07748306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6007140569999 meters Centerline goodness [0,1] 0.9973077003975349 Centerline is valid? [True, True] Translation: X:709.24, Y:-54.05, Z:2.08 [[ 9.87226057e-01 1.59177052e-01 6.88315585e-03 7.09239018e+02] [-1.59173627e-01 9.87250051e-01 -1.04598660e-03 -5.40481404e+01] [-6.96189302e-03 -6.29916578e-05 9.99975764e-01 2.07767017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.630714057 meters Centerline goodness [0,1] 0.9976018175698418 Centerline is valid? [True, True] Translation: X:709.27, Y:-54.06, Z:2.08 [[ 9.87534620e-01 1.57312149e-01 5.31611056e-03 7.09265916e+02] [-1.57310083e-01 9.87548928e-01 -8.07351642e-04 -5.40615676e+01] [-5.37692551e-03 -3.89900943e-05 9.99985543e-01 2.07631301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.660714057 meters Centerline goodness [0,1] 0.9973480942057963 Centerline is valid? [True, True] Translation: X:709.29, Y:-54.07, Z:2.08 [[ 9.87716590e-01 1.56201042e-01 4.14396756e-03 7.09293434e+02] [-1.56199778e-01 9.87725283e-01 -6.28935621e-04 -5.40704611e+01] [-4.19134193e-03 -2.60766635e-05 9.99991216e-01 2.07590749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6907140569999 meters Centerline goodness [0,1] 0.9975410869656592 Centerline is valid? [True, True] Translation: X:709.32, Y:-54.08, Z:2.08 [[ 9.87879843e-01 1.55180208e-01 3.53825995e-03 7.09320579e+02] [-1.55179281e-01 9.87886179e-01 -5.36501313e-04 -5.40788555e+01] [-3.57865248e-03 -1.90658036e-05 9.99993596e-01 2.07603592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7207140569999 meters Centerline goodness [0,1] 0.9975185582402792 Centerline is valid? [True, True] Translation: X:709.35, Y:-54.09, Z:2.08 [[ 9.87976555e-01 1.54561357e-01 3.62115538e-03 7.09348278e+02] [-1.54560383e-01 9.87983191e-01 -5.48940456e-04 -5.40877065e+01] [-3.66248563e-03 -1.73468626e-05 9.99993293e-01 2.07662940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.750714057 meters Centerline goodness [0,1] 0.9976667927859756 Centerline is valid? [True, True] Translation: X:709.38, Y:-54.10, Z:2.08 [[ 9.88078667e-01 1.53890188e-01 4.28453912e-03 7.09375522e+02] [-1.53888820e-01 9.88087956e-01 -6.49278630e-04 -5.40992162e+01] [-4.33341911e-03 -1.78043054e-05 9.99990611e-01 2.07853898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.780714057 meters Centerline goodness [0,1] 0.9982542854138184 Centerline is valid? [True, True] Translation: X:709.40, Y:-54.11, Z:2.08 [[ 9.88149042e-01 1.53415938e-01 5.00207304e-03 7.09403914e+02] [-1.53414068e-01 9.88161702e-01 -7.57719030e-04 -5.41072525e+01] [-5.05910319e-03 -1.86490418e-05 9.99987202e-01 2.07915579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8107140569999 meters Centerline goodness [0,1] 0.9986369736621372 Centerline is valid? [True, True] Translation: X:709.43, Y:-54.12, Z:2.08 [[ 9.88186866e-01 1.53176370e-01 4.87011273e-03 7.09432097e+02] [-1.53174595e-01 9.88198866e-01 -7.37574540e-04 -5.41153471e+01] [-4.92561887e-03 -1.71160710e-05 9.99987869e-01 2.08026480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8407140569999 meters Centerline goodness [0,1] 0.9984016824395373 Centerline is valid? [True, True] Translation: X:709.46, Y:-54.12, Z:2.08 [[ 9.88254580e-01 1.52738589e-01 4.87944452e-03 7.09461049e+02] [-1.52736803e-01 9.88266626e-01 -7.38930830e-04 -5.41234141e+01] [-4.93505543e-03 -1.50189791e-05 9.99987822e-01 2.08071412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.870714057 meters Centerline goodness [0,1] 0.9989569425901201 Centerline is valid? [True, True] Translation: X:709.49, Y:-54.14, Z:2.08 [[ 9.88457257e-01 1.51423091e-01 4.82691044e-03 7.09489371e+02] [-1.51421327e-01 9.88469042e-01 -7.31005306e-04 -5.41357218e+01] [-4.88194262e-03 -8.32968573e-06 9.99988083e-01 2.08076906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.900714057 meters Centerline goodness [0,1] 0.9987595399785547 Centerline is valid? [True, True] Translation: X:709.52, Y:-54.14, Z:2.08 [[ 9.88572981e-01 1.50638251e-01 5.61955167e-03 7.09518820e+02] [-1.50635846e-01 9.88588953e-01 -8.51182697e-04 -5.41441202e+01] [-5.68364737e-03 -5.04970389e-06 9.99983848e-01 2.08022037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9307140569999 meters Centerline goodness [0,1] 0.9989273320012619 Centerline is valid? [True, True] Translation: X:709.55, Y:-54.15, Z:2.08 [[ 9.88718274e-01 1.49676367e-01 5.75851473e-03 7.09548638e+02] [-1.49673824e-01 9.88735043e-01 -8.72452943e-04 -5.41527894e+01] [-5.82423089e-03 7.11248664e-07 9.99983039e-01 2.08129558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9607140569999 meters Centerline goodness [0,1] 0.9994154976619907 Centerline is valid? [True, True] Translation: X:709.58, Y:-54.16, Z:2.08 [[ 9.88878439e-01 1.48623770e-01 5.51441837e-03 7.09578957e+02] [-1.48621420e-01 9.88893814e-01 -8.35798462e-04 -5.41609664e+01] [-5.57739374e-03 6.94238999e-06 9.99984446e-01 2.08067621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.990714057 meters Centerline goodness [0,1] 0.999288256227758 Centerline is valid? [True, True] Translation: X:709.61, Y:-54.17, Z:2.08 [[ 9.89022813e-01 1.47658303e-01 5.55891584e-03 7.09608803e+02] [-1.47655891e-01 9.89038435e-01 -8.44021016e-04 -5.41693579e+01] [-5.62260814e-03 1.39493655e-05 9.99984193e-01 2.08104045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.020714057 meters Centerline goodness [0,1] 0.9988262664794282 Centerline is valid? [True, True] Translation: X:709.64, Y:-54.18, Z:2.08 [[ 9.89255865e-01 1.46091994e-01 5.47385147e-03 7.09639830e+02] [-1.46089619e-01 9.89271009e-01 -8.33452183e-04 -5.41816662e+01] [-5.53688325e-03 2.48245848e-05 9.99984671e-01 2.08023081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0507140569999 meters Centerline goodness [0,1] 0.9987876254180602 Centerline is valid? [True, True] Translation: X:709.67, Y:-54.19, Z:2.08 [[ 9.89389643e-01 1.45200583e-01 4.99255771e-03 7.09671596e+02] [-1.45198589e-01 9.89402239e-01 -7.61475476e-04 -5.41900370e+01] [-5.05021446e-03 2.84836130e-05 9.99987247e-01 2.07997582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0807140569999 meters Centerline goodness [0,1] 0.9987918931866941 Centerline is valid? [True, True] Translation: X:709.70, Y:-54.20, Z:2.08 [[ 9.89524552e-01 1.44291807e-01 4.58634635e-03 7.09702521e+02] [-1.44290107e-01 9.89535181e-01 -7.01001482e-04 -5.41984592e+01] [-4.63949984e-03 3.18937695e-05 9.99989237e-01 2.08025288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1107140569999 meters Centerline goodness [0,1] 0.998496774328246 Centerline is valid? [True, True] Translation: X:709.73, Y:-54.21, Z:2.08 [[ 9.89748128e-01 1.42752889e-01 4.50063446e-03 7.09734433e+02] [-1.42751230e-01 9.89758360e-01 -6.89356947e-04 -5.42094374e+01] [-4.55294828e-03 3.98186443e-05 9.99989634e-01 2.07946026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.140714057 meters Centerline goodness [0,1] 0.9987228340521753 Centerline is valid? [True, True] Translation: X:709.77, Y:-54.22, Z:2.08 [[ 9.89745940e-01 1.42753822e-01 4.93155225e-03 7.09765120e+02] [-1.42751825e-01 9.89758225e-01 -7.56377837e-04 -5.42178383e+01] [-4.98902023e-03 4.46338089e-05 9.99987554e-01 2.08033954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1707140569999 meters Centerline goodness [0,1] 0.9986656659161037 Centerline is valid? [True, True] Translation: X:709.80, Y:-54.23, Z:2.08 [[ 9.89656818e-01 1.43379159e-01 4.66893683e-03 7.09796977e+02] [-1.43377369e-01 9.89667831e-01 -7.17580618e-04 -5.42258307e+01] [-4.72358269e-03 4.07386723e-05 9.99988843e-01 2.08036001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2007140569999 meters Centerline goodness [0,1] 0.9990571572242709 Centerline is valid? [True, True] Translation: X:709.83, Y:-54.23, Z:2.08 [[ 9.89445276e-01 1.44834154e-01 4.59495873e-03 7.09828024e+02] [-1.44832432e-01 9.89455945e-01 -7.07252973e-04 -5.42326320e+01] [-4.64894362e-03 3.42890675e-05 9.99989193e-01 2.07902695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2307140569999 meters Centerline goodness [0,1] 0.9993293794664375 Centerline is valid? [True, True] Translation: X:709.86, Y:-54.24, Z:2.08 [[ 9.88955478e-01 1.48168937e-01 3.60949452e-03 7.09858069e+02] [-1.48167892e-01 9.88962065e-01 -5.56661675e-04 -5.42411225e+01] [-3.65213312e-03 1.57024201e-05 9.99993331e-01 2.07918793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.260714057 meters Centerline goodness [0,1] 0.9989323172901794 Centerline is valid? [True, True] Translation: X:709.89, Y:-54.25, Z:2.08 [[ 9.88606052e-01 1.50479517e-01 3.74023886e-03 7.09890637e+02] [-1.50478407e-01 9.88613127e-01 -5.78151766e-04 -5.42478243e+01] [-3.78464923e-03 8.73915101e-06 9.99992838e-01 2.07867642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.290714057 meters Centerline goodness [0,1] 0.9991226237727178 Centerline is valid? [True, True] Translation: X:709.92, Y:-54.25, Z:2.08 [[ 9.88267584e-01 1.52677926e-01 4.07845315e-03 7.09923251e+02] [-1.52676621e-01 9.88275999e-01 -6.31438656e-04 -5.42545065e+01] [-4.12704410e-03 1.34591097e-06 9.99991484e-01 2.07894755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3207140569999 meters Centerline goodness [0,1] 0.9992487479131886 Centerline is valid? [True, True] Translation: X:709.96, Y:-54.26, Z:2.08 [[ 9.87921962e-01 1.54889936e-01 4.39372034e-03 7.09955532e+02] [-1.54888437e-01 9.87931732e-01 -6.81371242e-04 -5.42617002e+01] [-4.44623329e-03 -7.39486125e-06 9.99990115e-01 2.07938579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3507140569999 meters Centerline goodness [0,1] 0.9987888659191047 Centerline is valid? [True, True] Translation: X:709.99, Y:-54.27, Z:2.08 [[ 9.87384128e-01 1.58270822e-01 4.78858776e-03 7.09985921e+02] [-1.58269079e-01 9.87395739e-01 -7.43180616e-04 -5.42716623e+01] [-4.84585496e-03 -2.40806312e-05 9.99988258e-01 2.08113530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.380714057 meters Centerline goodness [0,1] 0.9984967115565299 Centerline is valid? [True, True] Translation: X:710.02, Y:-54.28, Z:2.08 [[ 9.87201156e-01 1.59402211e-01 4.98120575e-03 7.10018150e+02] [-1.59400331e-01 9.87213723e-01 -7.74817125e-04 -5.42798840e+01] [-5.04102223e-03 -2.91054826e-05 9.99987294e-01 2.08022754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.410714057 meters Centerline goodness [0,1] 0.9987885623577083 Centerline is valid? [True, True] Translation: X:710.05, Y:-54.29, Z:2.08 [[ 9.87063043e-01 1.60258012e-01 4.89063220e-03 7.10049192e+02] [-1.60256209e-01 9.87075159e-01 -7.60917278e-04 -5.42871562e+01] [-4.94936465e-03 -3.26808509e-05 9.99987751e-01 2.08092654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4407140569999 meters Centerline goodness [0,1] 0.9989112911668028 Centerline is valid? [True, True] Translation: X:710.08, Y:-54.30, Z:2.08 [[ 9.86713470e-01 1.62376587e-01 5.51106918e-03 7.10079705e+02] [-1.62374320e-01 9.86728859e-01 -8.59195828e-04 -5.42988363e+01] [-5.57744429e-03 -4.70760152e-05 9.99984445e-01 2.07968251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4707140569999 meters Centerline goodness [0,1] 0.9988035766760421 Centerline is valid? [True, True] Translation: X:710.11, Y:-54.31, Z:2.08 [[ 9.86528462e-01 1.63474860e-01 6.12887234e-03 7.10110781e+02] [-1.63472070e-01 9.86547498e-01 -9.56909136e-04 -5.43071079e+01] [-6.20285426e-03 -5.78813473e-05 9.99980760e-01 2.07977531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.500714057 meters Centerline goodness [0,1] 0.9986444212721585 Centerline is valid? [True, True] Translation: X:710.14, Y:-54.32, Z:2.08 [[ 9.86322595e-01 1.64699837e-01 6.45764959e-03 7.10142122e+02] [-1.64696755e-01 9.86343733e-01 -1.00982757e-03 -5.43155383e+01] [-6.53578063e-03 -6.75381873e-05 9.99978639e-01 2.07981166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.530714057 meters Centerline goodness [0,1] 0.9984959264675162 Centerline is valid? [True, True] Translation: X:710.17, Y:-54.32, Z:2.08 [[ 9.86140672e-01 1.65778289e-01 6.64337876e-03 7.10173191e+02] [-1.65775039e-01 9.86163046e-01 -1.04075372e-03 -5.43235523e+01] [-6.72398901e-03 -7.49767955e-05 9.99977391e-01 2.08035966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5607140569999 meters Centerline goodness [0,1] 0.998509874703549 Centerline is valid? [True, True] Translation: X:710.20, Y:-54.34, Z:2.08 [[ 9.86085502e-01 1.66041726e-01 8.09490233e-03 7.10203400e+02] [-1.66036898e-01 9.86118723e-01 -1.26962472e-03 -5.43365319e+01] [-8.19334544e-03 -9.20939398e-05 9.99966430e-01 2.08064349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5907140569999 meters Centerline goodness [0,1] 0.9988735919899875 Centerline is valid? [True, True] Translation: X:710.24, Y:-54.35, Z:2.08 [[ 9.86093763e-01 1.65993321e-01 8.08138707e-03 7.10235549e+02] [-1.65988485e-01 9.86126873e-01 -1.27017523e-03 -5.43470380e+01] [-8.18011356e-03 -8.89053272e-05 9.99966538e-01 2.08017675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.620714057 meters Centerline goodness [0,1] 0.9986347692760077 Centerline is valid? [True, True] Translation: X:710.27, Y:-54.36, Z:2.08 [[ 9.86164162e-01 1.65575320e-01 8.06597594e-03 7.10265243e+02] [-1.65570487e-01 9.86197144e-01 -1.26793264e-03 -5.43561522e+01] [-8.16458079e-03 -8.50978383e-05 9.99966666e-01 2.08028002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.650714057 meters Centerline goodness [0,1] 0.998928436357524 Centerline is valid? [True, True] Translation: X:710.30, Y:-54.37, Z:2.08 [[ 9.86203079e-01 1.65371229e-01 7.47283423e-03 7.10296873e+02] [-1.65367071e-01 9.86231388e-01 -1.17509198e-03 -5.43651859e+01] [-7.56427008e-03 -7.68813844e-05 9.99971388e-01 2.07964462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6807140569999 meters Centerline goodness [0,1] 0.9984938813931598 Centerline is valid? [True, True] Translation: X:710.33, Y:-54.38, Z:2.08 [[ 9.86320393e-01 1.64717593e-01 6.34014117e-03 7.10327200e+02] [-1.64714569e-01 9.86340768e-01 -9.99750909e-04 -5.43785344e+01] [-6.41821628e-03 -5.82389128e-05 9.99979401e-01 2.07759785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7107140569999 meters Centerline goodness [0,1] 0.9981808297089327 Centerline is valid? [True, True] Translation: X:710.36, Y:-54.39, Z:2.08 [[ 9.86378554e-01 1.64379408e-01 6.06294392e-03 7.10357080e+02] [-1.64376628e-01 9.86397185e-01 -9.57404214e-04 -5.43873396e+01] [-6.13784835e-03 -5.22432929e-05 9.99981162e-01 2.07834480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.740714057 meters Centerline goodness [0,1] 0.9992008412197687 Centerline is valid? [True, True] Translation: X:710.39, Y:-54.40, Z:2.08 [[ 9.86750674e-01 1.62084372e-01 7.19470930e-03 7.10388242e+02] [-1.62080381e-01 9.86776902e-01 -1.13824731e-03 -5.44028042e+01] [-7.28406505e-03 -4.29549221e-05 9.99973470e-01 2.07754829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.770714057 meters Centerline goodness [0,1] 0.9991578592782854 Centerline is valid? [True, True] Translation: X:710.42, Y:-54.41, Z:2.08 [[ 9.86945457e-01 1.60903289e-01 6.98549948e-03 7.10419318e+02] [-1.60899486e-01 9.86970177e-01 -1.10683140e-03 -5.44131784e+01] [-7.07257247e-03 -3.15810556e-05 9.99974989e-01 2.07714005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8007140569999 meters Centerline goodness [0,1] 0.9992218062507887 Centerline is valid? [True, True] Translation: X:710.45, Y:-54.42, Z:2.08 [[ 9.87234002e-01 1.59135261e-01 6.70774696e-03 7.10449471e+02] [-1.59131702e-01 9.87256790e-01 -1.06435898e-03 -5.44230366e+01] [-6.79164577e-03 -1.66438132e-05 9.99976936e-01 2.07747515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8307140569999 meters Centerline goodness [0,1] 0.9988861568207132 Centerline is valid? [True, True] Translation: X:710.48, Y:-54.43, Z:2.08 [[ 9.87481867e-01 1.57603464e-01 6.38041333e-03 7.10481223e+02] [-1.57600198e-01 9.87502480e-01 -1.01467727e-03 -5.44328471e+01] [-6.46059064e-03 -3.57900108e-06 9.99979130e-01 2.07712215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8607140569999 meters Centerline goodness [0,1] 0.9991584085505691 Centerline is valid? [True, True] Translation: X:710.51, Y:-54.45, Z:2.08 [[ 9.87955368e-01 1.54638846e-01 5.56939613e-03 7.10511216e+02] [-1.54636301e-01 9.87971066e-01 -8.87307684e-04 -5.44463972e+01] [-5.63961447e-03 1.53895701e-05 9.99984097e-01 2.07652350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.890714057 meters Centerline goodness [0,1] 0.9989948485990703 Centerline is valid? [True, True] Translation: X:710.54, Y:-54.46, Z:2.08 [[ 9.88034449e-01 1.54162079e-01 4.68841786e-03 7.10541453e+02] [-1.54160265e-01 9.88045572e-01 -7.47995614e-04 -5.44551476e+01] [-4.74768307e-03 1.62776927e-05 9.99988730e-01 2.07630626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9207140569999 meters Centerline goodness [0,1] 0.998841373499052 Centerline is valid? [True, True] Translation: X:710.57, Y:-54.46, Z:2.08 [[ 9.88042858e-01 1.54082023e-01 5.48097140e-03 7.10573509e+02] [-1.54079533e-01 9.88058060e-01 -8.76211245e-04 -5.44635084e+01] [-5.55052636e-03 2.12287520e-05 9.99984595e-01 2.07507955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9507140569999 meters Centerline goodness [0,1] 0.9982515272803876 Centerline is valid? [True, True] Translation: X:710.61, Y:-54.47, Z:2.08 [[ 9.87994870e-01 1.54398569e-01 5.21718055e-03 7.10605581e+02] [-1.54396309e-01 9.88008644e-01 -8.35696360e-04 -5.44714061e+01] [-5.28364980e-03 2.01502986e-05 9.99986041e-01 2.07541471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9807140569999 meters Centerline goodness [0,1] 0.9985267810165211 Centerline is valid? [True, True] Translation: X:710.64, Y:-54.48, Z:2.08 [[ 9.87924354e-01 1.54863767e-01 4.76288415e-03 7.10637728e+02] [-1.54861881e-01 9.87935835e-01 -7.64524277e-04 -5.44790184e+01] [-4.82382104e-03 1.77029544e-05 9.99988365e-01 2.07544297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.010714057 meters Centerline goodness [0,1] 0.9984200547714346 Centerline is valid? [True, True] Translation: X:710.67, Y:-54.49, Z:2.08 [[ 9.87722847e-01 1.56132598e-01 5.11761957e-03 7.10668706e+02] [-1.56130432e-01 9.87736104e-01 -8.22603360e-04 -5.44877481e+01] [-5.18329282e-03 1.34879794e-05 9.99986567e-01 2.07612162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.040714057 meters Centerline goodness [0,1] 0.9983815028901734 Centerline is valid? [True, True] Translation: X:710.70, Y:-54.49, Z:2.08 [[ 9.87586938e-01 1.56993462e-01 5.00921224e-03 7.10701080e+02] [-1.56991389e-01 9.87599642e-01 -8.06780233e-04 -5.44947964e+01] [-5.07375544e-03 1.03624314e-05 9.99987128e-01 2.07647160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0707140569999 meters Centerline goodness [0,1] 0.9981041056645109 Centerline is valid? [True, True] Translation: X:710.73, Y:-54.50, Z:2.08 [[ 9.87478019e-01 1.57666894e-01 5.32090671e-03 7.10732509e+02] [-1.57664557e-01 9.87492355e-01 -8.58417488e-04 -5.45040122e+01] [-5.38969872e-03 8.74999982e-06 9.99985475e-01 2.07699972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1007140569999 meters Centerline goodness [0,1] 0.9981715390597087 Centerline is valid? [True, True] Translation: X:710.76, Y:-54.51, Z:2.08 [[ 9.87402941e-01 1.58134023e-01 5.39102422e-03 7.10763734e+02] [-1.58131624e-01 9.87417658e-01 -8.71040500e-04 -5.45111878e+01] [-5.46093365e-03 7.57653774e-06 9.99985089e-01 2.07719510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.130714057 meters Centerline goodness [0,1] 0.9985057664786599 Centerline is valid? [True, True] Translation: X:710.80, Y:-54.52, Z:2.08 [[ 9.87451243e-01 1.57840887e-01 5.12796586e-03 7.10795615e+02] [-1.57838704e-01 9.87464558e-01 -8.30197019e-04 -5.45182906e+01] [-5.19472358e-03 1.03875923e-05 9.99986507e-01 2.07717444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.160714057 meters Centerline goodness [0,1] 0.9982978186861682 Centerline is valid? [True, True] Translation: X:710.83, Y:-54.53, Z:2.08 [[ 9.87575089e-01 1.57071580e-01 4.89513381e-03 7.10827193e+02] [-1.57069576e-01 9.87587221e-01 -7.93767520e-04 -5.45251796e+01] [-4.95904991e-03 1.50284405e-05 9.99987704e-01 2.07699646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1907140569999 meters Centerline goodness [0,1] 0.9983819790287671 Centerline is valid? [True, True] Translation: X:710.86, Y:-54.53, Z:2.08 [[ 9.87939665e-01 1.54774868e-01 4.46762130e-03 7.10858893e+02] [-1.54773167e-01 9.87949766e-01 -7.26022338e-04 -5.45341048e+01] [-4.52615543e-03 2.57983676e-05 9.99989757e-01 2.07560053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2207140569999 meters Centerline goodness [0,1] 0.9989692456561067 Centerline is valid? [True, True] Translation: X:710.89, Y:-54.54, Z:2.08 [[ 9.88105297e-01 1.53716094e-01 4.39131063e-03 7.10889748e+02] [-1.53714436e-01 9.88115055e-01 -7.14694269e-04 -5.45415501e+01] [-4.44898016e-03 3.11853564e-05 9.99990103e-01 2.07629964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.250714057 meters Centerline goodness [0,1] 0.9983792885708271 Centerline is valid? [True, True] Translation: X:710.92, Y:-54.55, Z:2.08 [[ 9.88344194e-01 1.52161183e-01 4.76748059e-03 7.10921501e+02] [-1.52159205e-01 9.88355691e-01 -7.76923020e-04 -5.45485967e+01] [-4.83018410e-03 4.24512983e-05 9.99988334e-01 2.07585513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.280714057 meters Centerline goodness [0,1] 0.9985903046625147 Centerline is valid? [True, True] Translation: X:710.95, Y:-54.56, Z:2.08 [[ 9.88552544e-01 1.50804827e-01 4.66614186e-03 7.10952529e+02] [-1.50802912e-01 9.88563555e-01 -7.61647893e-04 -5.45561649e+01] [-4.72763796e-03 4.92611839e-05 9.99988823e-01 2.07648051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3107140569999 meters Centerline goodness [0,1] 0.9985286080632279 Centerline is valid? [True, True] Translation: X:710.98, Y:-54.57, Z:2.08 [[ 9.89108135e-01 1.47130325e-01 4.21482865e-03 7.10983480e+02] [-1.47128724e-01 9.89117113e-01 -6.89210129e-04 -5.45661591e+01] [-4.27036286e-03 6.15809843e-05 9.99990880e-01 2.07740832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3407140569999 meters Centerline goodness [0,1] 0.998675273881868 Centerline is valid? [True, True] Translation: X:711.01, Y:-54.57, Z:2.08 [[ 9.89412690e-01 1.45075471e-01 3.95433395e-03 7.11014071e+02] [-1.45074041e-01 9.89420590e-01 -6.47514494e-04 -5.45732204e+01] [-4.00643790e-03 6.69878512e-05 9.99991972e-01 2.07834077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.370714057 meters Centerline goodness [0,1] 0.9989904938167746 Centerline is valid? [True, True] Translation: X:711.05, Y:-54.58, Z:2.08 [[ 9.89729319e-01 1.42876328e-01 4.71484114e-03 7.11045207e+02] [-1.42874267e-01 9.89740545e-01 -7.72860880e-04 -5.45792360e+01] [-4.77689297e-03 9.12936005e-05 9.99988586e-01 2.07879382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.400714057 meters Centerline goodness [0,1] 0.9991021277484288 Centerline is valid? [True, True] Translation: X:711.08, Y:-54.59, Z:2.08 [[ 9.90430693e-01 1.37906693e-01 5.36519758e-03 7.11076540e+02] [-1.37903946e-01 9.90445216e-01 -8.80525711e-04 -5.45850663e+01] [-5.43536467e-03 1.32217774e-04 9.99985220e-01 2.07963039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4307140569999 meters Centerline goodness [0,1] 0.9994742818690331 Centerline is valid? [True, True] Translation: X:711.11, Y:-54.59, Z:2.08 [[ 9.90717124e-01 1.35832064e-01 5.40649536e-03 7.11108407e+02] [-1.35829235e-01 9.90731865e-01 -8.88792361e-04 -5.45908485e+01] [-5.47711373e-03 1.46181684e-04 9.99984990e-01 2.08015223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4607140569999 meters Centerline goodness [0,1] 0.9995192910588137 Centerline is valid? [True, True] Translation: X:711.14, Y:-54.60, Z:2.08 [[ 9.91029873e-01 1.33554607e-01 4.79137788e-03 7.11137744e+02] [-1.33552358e-01 9.91041446e-01 -7.87631350e-04 -5.46016076e+01] [-4.85364585e-03 1.40666383e-04 9.99988211e-01 2.08227106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.490714057 meters Centerline goodness [0,1] 0.9995168676217283 Centerline is valid? [True, True] Translation: X:711.17, Y:-54.60, Z:2.08 [[ 9.91353512e-01 1.31124665e-01 4.95351878e-03 7.11170102e+02] [-1.31122231e-01 9.91365875e-01 -8.14255985e-04 -5.46037753e+01] [-5.01751853e-03 1.57699094e-04 9.99987400e-01 2.07999470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.520714057 meters Centerline goodness [0,1] 0.9995168676217283 Centerline is valid? [True, True] Translation: X:711.20, Y:-54.61, Z:2.08 [[ 9.91316901e-01 1.31401178e-01 4.95306764e-03 7.11202139e+02] [-1.31398734e-01 9.91329262e-01 -8.16999286e-04 -5.46091005e+01] [-5.01747556e-03 1.59078382e-04 9.99987400e-01 2.08020928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5507140569999 meters Centerline goodness [0,1] 0.9992857292914015 Centerline is valid? [True, True] Translation: X:711.23, Y:-54.61, Z:2.08 [[ 9.91954661e-01 1.26521005e-01 4.28781117e-03 7.11232755e+02] [-1.26519134e-01 9.91963916e-01 -7.05846687e-04 -5.46135515e+01] [-4.34265839e-03 1.57677755e-04 9.99990558e-01 2.07980373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5807140569999 meters Centerline goodness [0,1] 0.9998948298346725 Centerline is valid? [True, True] Translation: X:711.26, Y:-54.62, Z:2.08 [[ 9.92182955e-01 1.24728351e-01 3.97764502e-03 7.11264734e+02] [-1.24726717e-01 9.92190916e-01 -6.57333095e-04 -5.46174245e+01] [-4.02857133e-03 1.56076089e-04 9.99991873e-01 2.08031788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6107140569999 meters Centerline goodness [0,1] 0.9997483115902512 Centerline is valid? [True, True] Translation: X:711.29, Y:-54.62, Z:2.08 [[ 9.92425122e-01 1.22777540e-01 4.24895116e-03 7.11294891e+02] [-1.22775659e-01 9.92434202e-01 -7.01772998e-04 -5.46223403e+01] [-4.30296641e-03 1.74789374e-04 9.99990727e-01 2.08043104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.640714057 meters Centerline goodness [0,1] 0.999726200505476 Centerline is valid? [True, True] Translation: X:711.33, Y:-54.63, Z:2.08 [[ 9.92608185e-01 1.21283964e-01 4.38087842e-03 7.11325015e+02] [-1.21281952e-01 9.92617834e-01 -7.23104180e-04 -5.46280365e+01] [-4.43623899e-03 1.86437643e-04 9.99990142e-01 2.08127167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6707140569999 meters Centerline goodness [0,1] 0.999515830245874 Centerline is valid? [True, True] Translation: X:711.36, Y:-54.63, Z:2.08 [[ 9.92904258e-01 1.18850699e-01 3.95541675e-03 7.11357022e+02] [-1.18849037e-01 9.92912121e-01 -6.53405262e-04 -5.46305735e+01] [-4.00503890e-03 1.78671397e-04 9.99991964e-01 2.08168584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7007140569999 meters Centerline goodness [0,1] 0.9994755611495699 Centerline is valid? [True, True] Translation: X:711.39, Y:-54.63, Z:2.08 [[ 9.93000009e-01 1.18036674e-01 4.28083207e-03 7.11389145e+02] [-1.18034711e-01 9.93009216e-01 -7.09303881e-04 -5.46341279e+01] [-4.33462957e-03 1.99051984e-04 9.99990586e-01 2.08273410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7307140569999 meters Centerline goodness [0,1] 0.9996203893118502 Centerline is valid? [True, True] Translation: X:711.42, Y:-54.64, Z:2.09 [[ 9.93094993e-01 1.17230642e-01 4.39456948e-03 7.11420535e+02] [-1.17228562e-01 9.93104694e-01 -7.28973478e-04 -5.46362524e+01] [-4.44972560e-03 2.08770853e-04 9.99990078e-01 2.08548595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.760714057 meters Centerline goodness [0,1] 0.9998103586328965 Centerline is valid? [True, True] Translation: X:711.46, Y:-54.63, Z:2.08 [[ 9.93058210e-01 1.17532583e-01 4.63501864e-03 7.11455050e+02] [-1.17530264e-01 9.93069002e-01 -7.70579262e-04 -5.46318438e+01] [-4.69346151e-03 2.20475098e-04 9.99988961e-01 2.08439891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.790714057 meters Centerline goodness [0,1] 0.9997274004487408 Centerline is valid? [True, True] Translation: X:711.49, Y:-54.63, Z:2.09 [[ 9.92950582e-01 1.18447953e-01 4.38453609e-03 7.11485858e+02] [-1.18445883e-01 9.92960241e-01 -7.29705286e-04 -5.46349329e+01] [-4.44010211e-03 2.05231041e-04 9.99990122e-01 2.08529220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8207140569999 meters Centerline goodness [0,1] 0.9996026019116939 Centerline is valid? [True, True] Translation: X:711.52, Y:-54.64, Z:2.09 [[ 9.92757178e-01 1.20083684e-01 3.61866700e-03 7.11517023e+02] [-1.20082281e-01 9.92763759e-01 -6.03319177e-04 -5.46363428e+01] [-3.66493025e-03 1.64411655e-04 9.99993271e-01 2.08634500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8507140569999 meters Centerline goodness [0,1] 0.9996442696017912 Centerline is valid? [True, True] Translation: X:711.55, Y:-54.63, Z:2.09 [[ 9.92312717e-01 1.23694047e-01 3.90567002e-03 7.11548331e+02] [-1.23692447e-01 9.92320390e-01 -6.49726632e-04 -5.46317046e+01] [-3.95604332e-03 1.61630119e-04 9.99992162e-01 2.08771717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.880714057 meters Centerline goodness [0,1] 0.9996021608945098 Centerline is valid? [True, True] Translation: X:711.58, Y:-54.64, Z:2.09 [[ 9.92044642e-01 1.25836333e-01 3.55601617e-03 7.11578933e+02] [-1.25835019e-01 9.92051006e-01 -5.91809130e-04 -5.46350226e+01] [-3.60222051e-03 1.39629713e-04 9.99993502e-01 2.08967734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.910714057 meters Centerline goodness [0,1] 0.9996856400368849 Centerline is valid? [True, True] Translation: X:711.61, Y:-54.63, Z:2.09 [[ 9.91700067e-01 1.28511557e-01 3.96944077e-03 7.11611864e+02] [-1.28509939e-01 9.91708001e-01 -6.60919325e-04 -5.46307435e+01] [-4.02146194e-03 1.45321146e-04 9.99991903e-01 2.08921833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9407140569999 meters Centerline goodness [0,1] 0.9997274175962425 Centerline is valid? [True, True] Translation: X:711.64, Y:-54.63, Z:2.09 [[ 9.91411996e-01 1.30714525e-01 3.99583886e-03 7.11642829e+02] [-1.30712895e-01 9.91420039e-01 -6.67380732e-04 -5.46329671e+01] [-4.04879108e-03 1.39341597e-04 9.99991794e-01 2.09007757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9707140569999 meters Centerline goodness [0,1] 0.9998325799430772 Centerline is valid? [True, True] Translation: X:711.68, Y:-54.63, Z:2.09 [[ 9.90876780e-01 1.34732469e-01 3.22020240e-03 7.11675334e+02] [-1.34731434e-01 9.90882007e-01 -5.36977998e-04 -5.46271952e+01] [-3.26318899e-03 9.82165405e-05 9.99994671e-01 2.09033007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.000714057 meters Centerline goodness [0,1] 0.9994552806352266 Centerline is valid? [True, True] Translation: X:711.71, Y:-54.63, Z:2.09 [[ 9.90605061e-01 1.36733640e-01 2.35031607e-03 7.11708418e+02] [-1.36733093e-01 9.90607847e-01 -3.92568538e-04 -5.46267834e+01] [-2.38191887e-03 6.75143944e-05 9.99997161e-01 2.08976343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.030714057 meters Centerline goodness [0,1] 0.999266385797229 Centerline is valid? [True, True] Translation: X:711.74, Y:-54.63, Z:2.09 [[ 9.90416802e-01 1.38094073e-01 2.14131007e-03 7.11739679e+02] [-1.38093619e-01 9.90419115e-01 -3.59163948e-04 -5.46289055e+01] [-2.17039283e-03 6.00207518e-05 9.99997643e-01 2.08995987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0607140569999 meters Centerline goodness [0,1] 0.999078437532726 Centerline is valid? [True, True] Translation: X:711.77, Y:-54.63, Z:2.09 [[ 9.90248887e-01 1.39294011e-01 2.07864717e-03 7.11772211e+02] [-1.39293585e-01 9.90251067e-01 -3.49323901e-04 -5.46278579e+01] [-2.10704130e-03 5.63753897e-05 9.99997779e-01 2.09100942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0907140569999 meters Centerline goodness [0,1] 0.9994771952571154 Centerline is valid? [True, True] Translation: X:711.81, Y:-54.63, Z:2.09 [[ 9.90261346e-01 1.39205620e-01 2.06440620e-03 7.11805503e+02] [-1.39205197e-01 9.90263496e-01 -3.47771385e-04 -5.46314077e+01] [-2.09271783e-03 5.70084887e-05 9.99997809e-01 2.09181824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.120714057 meters Centerline goodness [0,1] 0.9992466097438473 Centerline is valid? [True, True] Translation: X:711.84, Y:-54.64, Z:2.09 [[ 9.90355709e-01 1.38523042e-01 2.63378137e-03 7.11837091e+02] [-1.38522351e-01 9.90359208e-01 -4.43579622e-04 -5.46354015e+01] [-2.66983563e-03 7.44640225e-05 9.99996433e-01 2.09265288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.150714057 meters Centerline goodness [0,1] 0.9993724768339365 Centerline is valid? [True, True] Translation: X:711.87, Y:-54.64, Z:2.09 [[ 9.90512237e-01 1.37388365e-01 3.15373782e-03 7.11869123e+02] [-1.37387368e-01 9.90517253e-01 -5.31606560e-04 -5.46398830e+01] [-3.19686828e-03 9.32790649e-05 9.99994886e-01 2.09336560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1807140569999 meters Centerline goodness [0,1] 0.9994344957587182 Centerline is valid? [True, True] Translation: X:711.90, Y:-54.64, Z:2.09 [[ 9.90919568e-01 1.34407286e-01 3.61829596e-03 7.11900021e+02] [-1.34405956e-01 9.90926167e-01 -6.09248500e-04 -5.46427147e+01] [-3.66735158e-03 1.17395732e-04 9.99993268e-01 2.09420248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2107140569999 meters Centerline goodness [0,1] 0.9993736821228001 Centerline is valid? [True, True] Translation: X:711.93, Y:-54.65, Z:2.09 [[ 9.91180744e-01 1.32472831e-01 3.41789185e-03 7.11930829e+02] [-1.32471631e-01 9.91186630e-01 -5.76020743e-04 -5.46471863e+01] [-3.46407580e-03 1.18166961e-04 9.99993993e-01 2.09452761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.240714057 meters Centerline goodness [0,1] 0.9998533908599673 Centerline is valid? [True, True] Translation: X:711.96, Y:-54.65, Z:2.09 [[ 9.91489433e-01 1.30139787e-01 3.51297760e-03 7.11962927e+02] [-1.30138505e-01 9.91495648e-01 -5.91912958e-04 -5.46515403e+01] [-3.56013343e-03 1.29701790e-04 9.99993654e-01 2.09471528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.270714057 meters Centerline goodness [0,1] 0.9997698841052676 Centerline is valid? [True, True] Translation: X:711.99, Y:-54.66, Z:2.09 [[ 9.92268635e-01 1.24080718e-01 2.63271468e-03 7.11992475e+02] [-1.24079978e-01 9.92272121e-01 -4.43144776e-04 -5.46565994e+01] [-2.66735511e-03 1.13051482e-04 9.99996436e-01 2.09429482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3007140569999 meters Centerline goodness [0,1] 0.9997287654655845 Centerline is valid? [True, True] Translation: X:712.02, Y:-54.66, Z:2.09 [[ 9.92711929e-01 1.20491249e-01 2.21001001e-03 7.12022938e+02] [-1.20490718e-01 9.92714384e-01 -3.72206425e-04 -5.46618267e+01] [-2.23875634e-03 1.03208065e-04 9.99997489e-01 2.09385286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3307140569999 meters Centerline goodness [0,1] 0.9997912404492506 Centerline is valid? [True, True] Translation: X:712.05, Y:-54.67, Z:2.09 [[ 9.93169980e-01 1.16661747e-01 1.85153897e-03 7.12053693e+02] [-1.16661368e-01 9.93171701e-01 -3.11882404e-04 -5.46670959e+01] [-1.87528086e-03 9.37491715e-05 9.99998237e-01 2.09375166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3607140569999 meters Centerline goodness [0,1] 0.9998535932401907 Centerline is valid? [True, True] Translation: X:712.08, Y:-54.67, Z:2.09 [[ 9.94102346e-01 1.08432332e-01 1.71892136e-03 7.12083255e+02] [-1.08431993e-01 9.94103827e-01 -2.89529438e-04 -5.46730653e+01] [-1.74018066e-03 1.01435825e-04 9.99998481e-01 2.09408562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.390714057 meters Centerline goodness [0,1] 0.999726707029936 Centerline is valid? [True, True] Translation: X:712.11, Y:-54.68, Z:2.09 [[ 9.94532901e-01 1.04397940e-01 2.31905891e-03 7.12113119e+02] [-1.04397312e-01 9.94535594e-01 -3.90563889e-04 -5.46785353e+01] [-2.34716070e-03 1.46325119e-04 9.99997235e-01 2.09471203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4207140569999 meters Centerline goodness [0,1] 0.9998318550590609 Centerline is valid? [True, True] Translation: X:712.14, Y:-54.68, Z:2.10 [[ 9.94964047e-01 1.00213150e-01 1.96707602e-03 7.12143112e+02] [-1.00212690e-01 9.94965983e-01 -3.31282061e-04 -5.46833505e+01] [-1.99037255e-03 1.32487760e-04 9.99998010e-01 2.09563601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4507140569999 meters Centerline goodness [0,1] 0.9998736921878618 Centerline is valid? [True, True] Translation: X:712.18, Y:-54.68, Z:2.09 [[ 9.95635884e-01 9.33030859e-02 1.92873719e-03 7.12175041e+02] [-9.33026307e-02 9.95637742e-01 -3.24823503e-04 -5.46770999e+01] [-1.95063058e-03 1.43449682e-04 9.99998087e-01 2.09469714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4807140569999 meters Centerline goodness [0,1] 0.9999367768856294 Centerline is valid? [True, True] Translation: X:712.21, Y:-54.68, Z:2.10 [[ 9.95955771e-01 8.98284596e-02 1.71784988e-03 7.12205673e+02] [-8.98280933e-02 9.95957243e-01 -2.89327656e-04 -5.46807496e+01] [-1.73689489e-03 1.33846369e-04 9.99998483e-01 2.09554764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.510714057 meters Centerline goodness [0,1] 0.9999157451290153 Centerline is valid? [True, True] Translation: X:712.23, Y:-54.69, Z:2.10 [[ 9.96157052e-01 8.75567461e-02 2.22357335e-03 7.12234530e+02] [-8.75561266e-02 9.96159518e-01 -3.74633000e-04 -5.46902372e+01] [-2.24783540e-03 1.78505836e-04 9.99997458e-01 2.09708346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.540714057 meters Centerline goodness [0,1] 0.9998102226720648 Centerline is valid? [True, True] Translation: X:712.27, Y:-54.69, Z:2.10 [[ 9.96290553e-01 8.60077822e-02 2.79218889e-03 7.12266409e+02] [-8.60067983e-02 9.96294439e-01 -4.70788647e-04 -5.46857880e+01] [-2.82233375e-03 2.28895055e-04 9.99995991e-01 2.09785048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5707140569999 meters Centerline goodness [0,1] 0.9998106459078476 Centerline is valid? [True, True] Translation: X:712.30, Y:-54.68, Z:2.10 [[ 9.96399364e-01 8.46934630e-02 3.91459656e-03 7.12298930e+02] [-8.46915195e-02 9.96407001e-01 -6.59917107e-04 -5.46823359e+01] [-3.95642208e-03 3.26007855e-04 9.99992120e-01 2.09962831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6007140569999 meters Centerline goodness [0,1] 0.9996422107168413 Centerline is valid? [True, True] Translation: X:712.33, Y:-54.69, Z:2.10 [[ 9.96364818e-01 8.50737562e-02 4.42790374e-03 7.12330288e+02] [-8.50712698e-02 9.96374589e-01 -7.47202456e-04 -5.46900494e+01] [-4.47541809e-03 3.67798845e-04 9.99989918e-01 2.10107899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.630714057 meters Centerline goodness [0,1] 0.9998948054953609 Centerline is valid? [True, True] Translation: X:712.36, Y:-54.68, Z:2.10 [[ 9.96315095e-01 8.56224812e-02 5.00228908e-03 7.12364433e+02] [-8.56193128e-02 9.96327567e-01 -8.44531388e-04 -5.46838219e+01] [-5.05622938e-03 4.13126817e-04 9.99987132e-01 2.10044514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.660714057 meters Centerline goodness [0,1] 0.9996445893962201 Centerline is valid? [True, True] Translation: X:712.40, Y:-54.69, Z:2.10 [[ 9.96141799e-01 8.76299459e-02 4.74424986e-03 7.12395800e+02] [-8.76271184e-02 9.96153024e-01 -8.01011829e-04 -5.46852648e+01] [-4.79619146e-03 3.82196421e-04 9.99988425e-01 2.10243597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6907140569999 meters Centerline goodness [0,1] 0.999643516188559 Centerline is valid? [True, True] Translation: X:712.43, Y:-54.68, Z:2.10 [[ 9.95994588e-01 8.92772248e-02 4.93534826e-03 7.12427429e+02] [-8.92741847e-02 9.96006740e-01 -8.33333653e-04 -5.46845633e+01] [-4.99003785e-03 3.89396616e-04 9.99987474e-01 2.10288490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7207140569999 meters Centerline goodness [0,1] 0.9995599421638273 Centerline is valid? [True, True] Translation: X:712.46, Y:-54.69, Z:2.10 [[ 9.95878239e-01 9.05512182e-02 5.19719357e-03 7.12457673e+02] [-9.05478644e-02 9.95891718e-01 -8.77505125e-04 -5.46859400e+01] [-5.25530119e-03 4.03293479e-04 9.99986109e-01 2.10389564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.750714057 meters Centerline goodness [0,1] 0.9995412270092172 Centerline is valid? [True, True] Translation: X:712.49, Y:-54.68, Z:2.11 [[ 9.95634148e-01 9.31671188e-02 5.70358512e-03 7.12488557e+02] [-9.31631230e-02 9.95650393e-01 -9.62871403e-04 -5.46820609e+01] [-5.76848472e-03 4.27303847e-04 9.99983271e-01 2.10578432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.780714057 meters Centerline goodness [0,1] 0.9994986945169713 Centerline is valid? [True, True] Translation: X:712.52, Y:-54.68, Z:2.11 [[ 9.95492084e-01 9.46178425e-02 6.55547315e-03 7.12521212e+02] [-9.46125903e-02 9.95513552e-01 -1.10742356e-03 -5.46803410e+01] [-6.63084438e-03 4.82201089e-04 9.99977899e-01 2.10627394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8107140569999 meters Centerline goodness [0,1] 0.9995200033391072 Centerline is valid? [True, True] Translation: X:712.55, Y:-54.68, Z:2.11 [[ 9.95392186e-01 9.56358063e-02 6.94181003e-03 7.12552016e+02] [-9.56299214e-02 9.95416263e-01 -1.17554765e-03 -5.46825789e+01] [-7.02241505e-03 5.06286200e-04 9.99975214e-01 2.10715093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8407140569999 meters Centerline goodness [0,1] 0.9994338910554786 Centerline is valid? [True, True] Translation: X:712.59, Y:-54.68, Z:2.11 [[ 9.95342814e-01 9.60917783e-02 7.68456387e-03 7.12585533e+02] [-9.60845603e-02 9.95372321e-01 -1.30388557e-03 -5.46820204e+01] [-7.77429485e-03 5.59445192e-04 9.99969623e-01 2.10725943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.870714057 meters Centerline goodness [0,1] 0.999104241313224 Centerline is valid? [True, True] Translation: X:712.62, Y:-54.68, Z:2.11 [[ 9.95325255e-01 9.63288513e-02 6.95625618e-03 7.12617735e+02] [-9.63229282e-02 9.95349434e-01 -1.18233787e-03 -5.46829685e+01] [-7.03779890e-03 5.06763775e-04 9.99975106e-01 2.10729123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.900714057 meters Centerline goodness [0,1] 0.9987877014401271 Centerline is valid? [True, True] Translation: X:712.65, Y:-54.68, Z:2.11 [[ 9.95300139e-01 9.65963985e-02 6.83874566e-03 7.12651246e+02] [-9.65906650e-02 9.95323509e-01 -1.16454391e-03 -5.46821333e+01] [-6.91925508e-03 4.98511722e-04 9.99975937e-01 2.10628667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9307140569999 meters Centerline goodness [0,1] 0.998384152099553 Centerline is valid? [True, True] Translation: X:712.68, Y:-54.69, Z:2.11 [[ 9.95285169e-01 9.67731797e-02 6.51026738e-03 7.12682632e+02] [-9.67679872e-02 9.95306349e-01 -1.10865768e-03 -5.46852395e+01] [-6.58699879e-03 4.73445072e-04 9.99978193e-01 2.10650230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9607140569999 meters Centerline goodness [0,1] 0.9975643044619422 Centerline is valid? [True, True] Translation: X:712.72, Y:-54.68, Z:2.11 [[ 9.95198740e-01 9.77071913e-02 5.72480106e-03 7.12716125e+02] [-9.77031781e-02 9.95215119e-01 -9.77214009e-04 -5.46819902e+01] [-5.79288940e-03 4.13190893e-04 9.99983136e-01 2.10571054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.990714057 meters Centerline goodness [0,1] 0.9973673763607113 Centerline is valid? [True, True] Translation: X:712.75, Y:-54.69, Z:2.11 [[ 9.95150599e-01 9.82455027e-02 4.80702456e-03 7.12746564e+02] [-9.82426732e-02 9.95162148e-01 -8.21826847e-04 -5.46867257e+01] [-4.86450968e-03 3.45586536e-04 9.99988108e-01 2.10600023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.020714057 meters Centerline goodness [0,1] 0.9968268548286084 Centerline is valid? [True, True] Translation: X:712.78, Y:-54.68, Z:2.10 [[ 9.94975615e-01 1.00057197e-01 3.47601082e-03 7.12779873e+02] [-1.00055731e-01 9.94981657e-01 -5.93700990e-04 -5.46798516e+01] [-3.51797106e-03 2.42923205e-04 9.99993782e-01 2.10403487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0507140569999 meters Centerline goodness [0,1] 0.9962020033388982 Centerline is valid? [True, True] Translation: X:712.81, Y:-54.68, Z:2.10 [[ 9.94843967e-01 1.01367132e-01 3.19168023e-03 7.12810716e+02] [-1.01365902e-01 9.94849062e-01 -5.45162141e-04 -5.46814172e+01] [-3.23050161e-03 2.18823721e-04 9.99994758e-01 2.10396080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0807140569999 meters Centerline goodness [0,1] 0.9963805259744335 Centerline is valid? [True, True] Translation: X:712.84, Y:-54.68, Z:2.10 [[ 9.94627877e-01 1.03467635e-01 3.13620165e-03 7.12842335e+02] [-1.03466459e-01 9.94632799e-01 -5.35454338e-04 -5.46775512e+01] [-3.17477122e-03 2.08086133e-04 9.99994939e-01 2.10367077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1107140569999 meters Centerline goodness [0,1] 0.9953535099836744 Centerline is valid? [True, True] Translation: X:712.87, Y:-54.67, Z:2.10 [[ 9.94179725e-01 1.07694879e-01 2.91338343e-03 7.12873884e+02] [-1.07693883e-01 9.94183977e-01 -4.97379196e-04 -5.46717073e+01] [-2.95000432e-03 1.80730739e-04 9.99995632e-01 2.10247996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.140714057 meters Centerline goodness [0,1] 0.9948547405408797 Centerline is valid? [True, True] Translation: X:712.90, Y:-54.68, Z:2.10 [[ 9.93986865e-01 1.09466049e-01 2.70132744e-03 7.12902571e+02] [-1.09465199e-01 9.93990522e-01 -4.60861854e-04 -5.46758462e+01] [-2.73554260e-03 1.62389282e-04 9.99996245e-01 2.10246594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1707140569999 meters Centerline goodness [0,1] 0.9947282540479477 Centerline is valid? [True, True] Translation: X:712.93, Y:-54.68, Z:2.10 [[ 9.93899240e-01 1.10267817e-01 2.30421508e-03 7.12931635e+02] [-1.10267201e-01 9.93901902e-01 -3.92849176e-04 -5.46778501e+01] [-2.33348237e-03 1.36373149e-04 9.99997268e-01 2.10273303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2007140569999 meters Centerline goodness [0,1] 0.9942489072923856 Centerline is valid? [True, True] Translation: X:712.96, Y:-54.68, Z:2.10 [[ 9.93827038e-01 1.10910337e-01 2.59155727e-03 7.12961271e+02] [-1.10909562e-01 9.93830405e-01 -4.41571677e-04 -5.46754218e+01] [-2.62454327e-03 1.51417391e-04 9.99996544e-01 2.10167081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2307140569999 meters Centerline goodness [0,1] 0.993155129466435 Centerline is valid? [True, True] Translation: X:712.99, Y:-54.67, Z:2.10 [[ 9.93630600e-01 1.12655896e-01 2.62284638e-03 7.12990347e+02] [-1.12655107e-01 9.93634051e-01 -4.46888564e-04 -5.46741857e+01] [-2.65649411e-03 1.48565112e-04 9.99996460e-01 2.10212982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.260714057 meters Centerline goodness [0,1] 0.9933277204798989 Centerline is valid? [True, True] Translation: X:713.02, Y:-54.67, Z:2.10 [[ 9.93537061e-01 1.13477426e-01 2.64221993e-03 7.13020402e+02] [-1.13476630e-01 9.93540564e-01 -4.49850880e-04 -5.46669732e+01] [-2.67620060e-03 1.47113308e-04 9.99996408e-01 2.10057219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.290714057 meters Centerline goodness [0,1] 0.9916699722332408 Centerline is valid? [True, True] Translation: X:713.05, Y:-54.67, Z:2.10 [[ 9.93334621e-01 1.15252300e-01 1.79963144e-03 7.13048759e+02] [-1.15251934e-01 9.93336246e-01 -3.06110417e-04 -5.46690474e+01] [-1.82291907e-03 9.66590716e-05 9.99998334e-01 2.10100328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3207140569999 meters Centerline goodness [0,1] 0.991696297845639 Centerline is valid? [True, True] Translation: X:713.08, Y:-54.67, Z:2.10 [[ 9.93302764e-01 1.15534123e-01 1.21860609e-03 7.13076502e+02] [-1.15533956e-01 9.93303510e-01 -2.06865864e-04 -5.46709160e+01] [-1.23434577e-03 6.46900520e-05 9.99999236e-01 2.10108257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3507140569999 meters Centerline goodness [0,1] 0.9905161561057491 Centerline is valid? [True, True] Translation: X:713.11, Y:-54.67, Z:2.10 [[ 9.93325499e-01 1.15342969e-01 6.72938119e-04 7.13105698e+02] [-1.15342918e-01 9.93325726e-01 -1.13796535e-04 -5.46662190e+01] [-6.81572376e-04 3.54183532e-05 9.99999767e-01 2.09943088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.380714057 meters Centerline goodness [0,1] 0.990595280770934 Centerline is valid? [True, True] Translation: X:713.13, Y:-54.67, Z:2.10 [[ 9.93371134e-01 1.14951249e-01 2.79462072e-05 7.13134512e+02] [-1.14951249e-01 9.93371134e-01 -4.27680549e-06 -5.46676747e+01] [-2.82525796e-05 1.03600370e-06 1.00000000e+00 2.09912512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.410714057 meters Centerline goodness [0,1] 0.990595280770934 Centerline is valid? [True, True] Translation: X:713.16, Y:-54.67, Z:2.10 [[ 9.93383404e-01 1.14845165e-01 2.79861632e-05 7.13161665e+02] [-1.14845165e-01 9.93383404e-01 -4.04166499e-06 -5.46722003e+01] [-2.82651557e-05 8.00847396e-07 1.00000000e+00 2.09930694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4407140569999 meters Centerline goodness [0,1] 0.9896722520813573 Centerline is valid? [True, True] Translation: X:713.19, Y:-54.67, Z:2.10 [[ 9.93424543e-01 1.14488522e-01 -2.34838014e-04 7.13191660e+02] [-1.14488516e-01 9.93424571e-01 4.03952195e-05 -5.46705971e+01] [ 2.37918642e-04 -1.32433468e-05 9.99999972e-01 2.09842843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4707140569999 meters Centerline goodness [0,1] 0.9891123161648344 Centerline is valid? [True, True] Translation: X:713.22, Y:-54.67, Z:2.10 [[ 9.93537291e-01 1.13502176e-01 -9.52336443e-04 7.13219320e+02] [-1.13502073e-01 9.93537746e-01 1.62327255e-04 -5.46740968e+01] [ 9.64606700e-04 -5.31860208e-05 9.99999533e-01 2.09695802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.500714057 meters Centerline goodness [0,1] 0.988885373826848 Centerline is valid? [True, True] Translation: X:713.25, Y:-54.67, Z:2.10 [[ 9.93588470e-01 1.13038480e-01 -2.06266909e-03 7.13248698e+02] [-1.13037995e-01 9.93590604e-01 3.50592305e-04 -5.46746270e+01] [ 2.08907904e-03 -1.15184493e-04 9.99997811e-01 2.09573745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.530714057 meters Centerline goodness [0,1] 0.9887678334351885 Centerline is valid? [True, True] Translation: X:713.28, Y:-54.68, Z:2.09 [[ 9.93664398e-01 1.12346145e-01 -3.06722222e-03 7.13276447e+02] [-1.12345071e-01 9.93669117e-01 5.20926859e-04 -5.46781470e+01] [ 3.10632812e-03 -1.73039177e-04 9.99995160e-01 2.09475110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5607140569999 meters Centerline goodness [0,1] 0.9870916200647522 Centerline is valid? [True, True] Translation: X:713.30, Y:-54.68, Z:2.09 [[ 9.93698363e-01 1.12025227e-01 -3.72994764e-03 7.13303683e+02] [-1.12023638e-01 9.93705341e-01 6.32995846e-04 -5.46844522e+01] [ 3.77738039e-03 -2.11164632e-04 9.99992843e-01 2.09334747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5907140569999 meters Centerline goodness [0,1] 0.9863218052695718 Centerline is valid? [True, True] Translation: X:713.33, Y:-54.69, Z:2.09 [[ 9.93735181e-01 1.11588909e-01 -6.18915146e-03 7.13332845e+02] [-1.11584531e-01 9.93754392e-01 1.04935797e-03 -5.46861572e+01] [ 6.26759316e-03 -3.52170370e-04 9.99980296e-01 2.09134166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.620714057 meters Centerline goodness [0,1] 0.986539883782356 Centerline is valid? [True, True] Translation: X:713.36, Y:-54.69, Z:2.09 [[ 9.93770910e-01 1.11223451e-01 -6.98016866e-03 7.13361468e+02] [-1.11217877e-01 9.93795343e-01 1.18290662e-03 -5.46870640e+01] [ 7.06842607e-03 -3.99218648e-04 9.99974939e-01 2.09081789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.650714057 meters Centerline goodness [0,1] 0.9836545550289626 Centerline is valid? [True, True] Translation: X:713.39, Y:-54.70, Z:2.09 [[ 9.93820119e-01 1.10668812e-01 -8.60149511e-03 7.13387279e+02] [-1.10660334e-01 9.93857217e-01 1.45688263e-03 -5.47031686e+01] [ 8.70988947e-03 -4.96034950e-04 9.99961945e-01 2.08880858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6807140569999 meters Centerline goodness [0,1] 0.9845783336150076 Centerline is valid? [True, True] Translation: X:713.42, Y:-54.70, Z:2.09 [[ 9.93889309e-01 1.10001757e-01 -9.14631394e-03 7.13417839e+02] [-1.09992151e-01 9.93931250e-01 1.54833868e-03 -5.46958361e+01] [ 9.26112723e-03 -5.32854525e-04 9.99956973e-01 2.08857824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7107140569999 meters Centerline goodness [0,1] 0.9830154002154763 Centerline is valid? [True, True] Translation: X:713.44, Y:-54.71, Z:2.09 [[ 9.93978416e-01 1.09181255e-01 -9.29309815e-03 7.13443124e+02] [-1.09171308e-01 9.94021706e-01 1.57246820e-03 -5.47120889e+01] [ 9.40922533e-03 -5.48459765e-04 9.99955582e-01 2.08850900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.740714057 meters Centerline goodness [0,1] 0.9843485617597293 Centerline is valid? [True, True] Translation: X:713.47, Y:-54.70, Z:2.09 [[ 9.94179337e-01 1.07373423e-01 -8.85402317e-03 7.13474822e+02] [-1.07364329e-01 9.94218617e-01 1.49749381e-03 -5.46997698e+01] [ 8.96362571e-03 -5.38171153e-04 9.99959681e-01 2.09025399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.770714057 meters Centerline goodness [0,1] 0.9826403501388772 Centerline is valid? [True, True] Translation: X:713.50, Y:-54.70, Z:2.09 [[ 9.94317161e-01 1.06056296e-01 -9.24367983e-03 7.13503212e+02] [-1.06046332e-01 9.94359962e-01 1.56281690e-03 -5.47027246e+01] [ 9.35729169e-03 -5.73677319e-04 9.99956055e-01 2.09057406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8007140569999 meters Centerline goodness [0,1] 0.9816731212833048 Centerline is valid? [True, True] Translation: X:713.53, Y:-54.71, Z:2.09 [[ 9.94610292e-01 1.03233142e-01 -9.65841692e-03 7.13531253e+02] [-1.03222138e-01 9.94656989e-01 1.63231299e-03 -5.47103763e+01] [ 9.77532069e-03 -6.26552859e-04 9.99952024e-01 2.09001000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8307140569999 meters Centerline goodness [0,1] 0.9807724671827668 Centerline is valid? [True, True] Translation: X:713.56, Y:-54.71, Z:2.09 [[ 9.94732271e-01 1.01973349e-01 -1.04472526e-02 7.13559539e+02] [-1.01960411e-01 9.94786891e-01 1.76501298e-03 -5.47138007e+01] [ 1.05727742e-02 -6.90509191e-04 9.99943868e-01 2.08989599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8607140569999 meters Centerline goodness [0,1] 0.9799267368242742 Centerline is valid? [True, True] Translation: X:713.59, Y:-54.72, Z:2.09 [[ 9.94846524e-01 1.00831711e-01 -1.06470681e-02 7.13586495e+02] [-1.00818219e-01 9.94903239e-01 1.79779859e-03 -5.47199809e+01] [ 1.07740776e-02 -7.15115244e-04 9.99941702e-01 2.08973466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.890714057 meters Centerline goodness [0,1] 0.9804207941749217 Centerline is valid? [True, True] Translation: X:713.62, Y:-54.72, Z:2.09 [[ 9.95151039e-01 9.76868046e-02 -1.14759661e-02 7.13617919e+02] [-9.76709300e-02 9.95216880e-01 1.93703745e-03 -5.47164199e+01] [ 1.16102981e-02 -8.06776551e-04 9.99932273e-01 2.09042002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9207140569999 meters Centerline goodness [0,1] 0.9790211270587239 Centerline is valid? [True, True] Translation: X:713.65, Y:-54.72, Z:2.09 [[ 9.95337952e-01 9.57566430e-02 -1.15336904e-02 7.13645276e+02] [-9.57404857e-02 9.95404426e-01 1.94623721e-03 -5.47242930e+01] [ 1.16670516e-02 -8.32922647e-04 9.99931591e-01 2.09061118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9507140569999 meters Centerline goodness [0,1] 0.9796912390673641 Centerline is valid? [True, True] Translation: X:713.67, Y:-54.73, Z:2.09 [[ 9.95513905e-01 9.38890670e-02 -1.17007758e-02 7.13674691e+02] [-9.38723186e-02 9.95582288e-01 1.97369023e-03 -5.47289615e+01] [ 1.18343931e-02 -8.66457109e-04 9.99929596e-01 2.09123134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9807140569999 meters Centerline goodness [0,1] 0.9765315324762484 Centerline is valid? [True, True] Translation: X:713.70, Y:-54.73, Z:2.09 [[ 9.95840631e-01 9.03648670e-02 -1.16459797e-02 7.13704397e+02] [-9.03480384e-02 9.95908316e-01 1.96419247e-03 -5.47328122e+01] [ 1.17758220e-02 -9.03831245e-04 9.99930254e-01 2.09266104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.010714057 meters Centerline goodness [0,1] 0.9760467628184764 Centerline is valid? [True, True] Translation: X:713.73, Y:-54.73, Z:2.09 [[ 9.95987819e-01 8.87540825e-02 -1.14445351e-02 7.13733546e+02] [-8.87377288e-02 9.96053157e-01 1.92992101e-03 -5.47345884e+01] [ 1.15706536e-02 -9.06615766e-04 9.99932647e-01 2.09300679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.040714057 meters Centerline goodness [0,1] 0.9743870818137741 Centerline is valid? [True, True] Translation: X:713.76, Y:-54.74, Z:2.09 [[ 9.96066672e-01 8.79153754e-02 -1.10485680e-02 7.13760842e+02] [-8.79000935e-02 9.96127555e-01 1.86217223e-03 -5.47365522e+01] [ 1.11694966e-02 -8.83677537e-04 9.99937229e-01 2.09358690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0707140569999 meters Centerline goodness [0,1] 0.9740842684734279 Centerline is valid? [True, True] Translation: X:713.79, Y:-54.74, Z:2.09 [[ 9.96051883e-01 8.81477697e-02 -1.05175123e-02 7.13790379e+02] [-8.81339467e-02 9.96107057e-01 1.77150952e-03 -5.47354151e+01] [ 1.06327228e-02 -8.37565522e-04 9.99943120e-01 2.09475706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1007140569999 meters Centerline goodness [0,1] 0.9730840569935081 Centerline is valid? [True, True] Translation: X:713.82, Y:-54.74, Z:2.10 [[ 9.95946089e-01 8.93712685e-02 -1.02060797e-02 7.13818140e+02] [-8.93583243e-02 9.95998061e-01 1.71824668e-03 -5.47386843e+01] [ 1.03187975e-02 -7.99282884e-04 9.99946440e-01 2.09502771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.130714057 meters Centerline goodness [0,1] 0.9712854478002976 Centerline is valid? [True, True] Translation: X:713.85, Y:-54.74, Z:2.10 [[ 9.95559152e-01 9.36873235e-02 -9.20114027e-03 7.13847636e+02] [-9.36769917e-02 9.95601438e-01 1.54846090e-03 -5.47397553e+01] [ 9.30573964e-03 -6.79649280e-04 9.99956470e-01 2.09557693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.160714057 meters Centerline goodness [0,1] 0.971141939681407 Centerline is valid? [True, True] Translation: X:713.88, Y:-54.74, Z:2.10 [[ 9.95385980e-01 9.54989241e-02 -9.31159261e-03 7.13878745e+02] [-9.54884235e-02 9.95429307e-01 1.56685086e-03 -5.47363532e+01] [ 9.41866476e-03 -6.70472081e-04 9.99955419e-01 2.09601901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1907140569999 meters Centerline goodness [0,1] 0.9694019471488178 Centerline is valid? [True, True] Translation: X:713.91, Y:-54.74, Z:2.10 [[ 9.94902055e-01 1.00448974e-01 -8.93891904e-03 7.13907550e+02] [-1.00439498e-01 9.94942031e-01 1.50392149e-03 -5.47380444e+01] [ 9.04477364e-03 -5.98434040e-04 9.99958916e-01 2.09634282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2207140569999 meters Centerline goodness [0,1] 0.9676563594303784 Centerline is valid? [True, True] Translation: X:713.94, Y:-54.74, Z:2.10 [[ 9.94732609e-01 1.02181995e-01 -8.11639356e-03 7.13937593e+02] [-1.02174243e-01 9.94765581e-01 1.36521984e-03 -5.47388745e+01] [ 8.21340984e-03 -5.28742324e-04 9.99966130e-01 2.09681064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.250714057 meters Centerline goodness [0,1] 0.9663326653306613 Centerline is valid? [True, True] Translation: X:713.97, Y:-54.74, Z:2.10 [[ 9.94484005e-01 1.04587621e-01 -7.93682258e-03 7.13966669e+02] [-1.04580286e-01 9.94515551e-01 1.33474831e-03 -5.47401325e+01] [ 8.03289163e-03 -4.97350667e-04 9.99967612e-01 2.09724852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.280714057 meters Centerline goodness [0,1] 0.969934251122412 Centerline is valid? [True, True] Translation: X:714.00, Y:-54.73, Z:2.10 [[ 9.94091523e-01 1.08268357e-01 -7.74636034e-03 7.13999070e+02] [-1.08261483e-01 9.94121600e-01 1.30247998e-03 -5.47273403e+01] [ 7.84184150e-03 -4.56151850e-04 9.99969148e-01 2.09878259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3107140569999 meters Centerline goodness [0,1] 0.970351149584193 Centerline is valid? [True, True] Translation: X:714.03, Y:-54.73, Z:2.10 [[ 9.93913085e-01 1.09924011e-01 -7.31371076e-03 7.14028336e+02] [-1.09917930e-01 9.93939906e-01 1.22956573e-03 -5.47274765e+01] [ 7.40454778e-03 -4.18173527e-04 9.99972499e-01 2.09917539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3407140569999 meters Centerline goodness [0,1] 0.9681163710171893 Centerline is valid? [True, True] Translation: X:714.06, Y:-54.73, Z:2.10 [[ 9.93486915e-01 1.13713427e-01 -7.28050230e-03 7.14057889e+02] [-1.13707506e-01 9.93513516e-01 1.22348030e-03 -5.47261796e+01] [ 7.37240357e-03 -3.87663906e-04 9.99972748e-01 2.09942846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.370714057 meters Centerline goodness [0,1] 0.9697379257913965 Centerline is valid? [True, True] Translation: X:714.09, Y:-54.73, Z:2.10 [[ 9.93263244e-01 1.15644323e-01 -7.38363086e-03 7.14086393e+02] [-1.15638288e-01 9.93290616e-01 1.24050936e-03 -5.47276360e+01] [ 7.47754911e-03 -3.78321923e-04 9.99971971e-01 2.09952697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.400714057 meters Centerline goodness [0,1] 0.9707238651267082 Centerline is valid? [True, True] Translation: X:714.12, Y:-54.73, Z:2.10 [[ 9.92987604e-01 1.17959486e-01 -7.82158229e-03 7.14116432e+02] [-1.17952790e-01 9.93018335e-01 1.31355226e-03 -5.47261154e+01] [ 7.92192058e-03 -3.81763655e-04 9.99968548e-01 2.09915254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4307140569999 meters Centerline goodness [0,1] 0.9733087017454453 Centerline is valid? [True, True] Translation: X:714.15, Y:-54.72, Z:2.10 [[ 9.92429532e-01 1.22499204e-01 -8.80728963e-03 7.14147352e+02] [-1.22490895e-01 9.92468535e-01 1.47878570e-03 -5.47224711e+01] [ 8.92210791e-03 -3.88777817e-04 9.99960122e-01 2.09791107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4607140569999 meters Centerline goodness [0,1] 0.9741114149008886 Centerline is valid? [True, True] Translation: X:714.18, Y:-54.72, Z:2.10 [[ 9.92166063e-01 1.24600668e-01 -9.00986496e-03 7.14176629e+02] [-1.24592061e-01 9.92206899e-01 1.51249814e-03 -5.47220776e+01] [ 9.12810845e-03 -3.78091672e-04 9.99958266e-01 2.09720580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.490714057 meters Centerline goodness [0,1] 0.975531462585034 Centerline is valid? [True, True] Translation: X:714.20, Y:-54.72, Z:2.10 [[ 9.91885003e-01 1.26829160e-01 -8.86034174e-03 7.14204412e+02] [-1.26820932e-01 9.91924514e-01 1.48663418e-03 -5.47244101e+01] [ 8.97733874e-03 -3.50893348e-04 9.99959641e-01 2.09720017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.520714057 meters Centerline goodness [0,1] 0.9758946109830046 Centerline is valid? [True, True] Translation: X:714.23, Y:-54.72, Z:2.10 [[ 9.91613350e-01 1.29042812e-01 -7.13562995e-03 7.14233994e+02] [-1.29037538e-01 9.91638988e-01 1.19654259e-03 -5.47221359e+01] [ 7.23037409e-03 -2.65743485e-04 9.99973825e-01 2.09811658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5507140569999 meters Centerline goodness [0,1] 0.9774040203790155 Centerline is valid? [True, True] Translation: X:714.26, Y:-54.72, Z:2.10 [[ 9.91589382e-01 1.29272604e-01 -6.25234939e-03 7.14262315e+02] [-1.29268561e-01 9.91609066e-01 1.04808329e-03 -5.47247042e+01] [ 6.33537479e-03 -2.31036056e-04 9.99979905e-01 2.09845943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5807140569999 meters Centerline goodness [0,1] 0.9760927516608132 Centerline is valid? [True, True] Translation: X:714.29, Y:-54.73, Z:2.10 [[ 9.91798834e-01 1.27641935e-01 -6.52758944e-03 7.14289622e+02] [-1.27637505e-01 9.91820283e-01 1.09248187e-03 -5.47288309e+01] [ 6.61364210e-03 -2.50357012e-04 9.99978098e-01 2.09819567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6107140569999 meters Centerline goodness [0,1] 0.9763399530215674 Centerline is valid? [True, True] Translation: X:714.32, Y:-54.73, Z:2.10 [[ 9.92085328e-01 1.25422310e-01 -5.99547053e-03 7.14318610e+02] [-1.25418537e-01 9.92103415e-01 1.00264018e-03 -5.47321670e+01] [ 6.07388023e-03 -2.42761473e-04 9.99981524e-01 2.09849495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.640714057 meters Centerline goodness [0,1] 0.9766735797823438 Centerline is valid? [True, True] Translation: X:714.35, Y:-54.74, Z:2.10 [[ 9.92340775e-01 1.23389982e-01 -5.89061035e-03 7.14347050e+02] [-1.23386305e-01 9.92358226e-01 9.84911709e-04 -5.47376608e+01] [ 5.96712387e-03 -2.50547401e-04 9.99982165e-01 2.09942887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6707140569999 meters Centerline goodness [0,1] 0.9727870813397129 Centerline is valid? [True, True] Translation: X:714.38, Y:-54.74, Z:2.10 [[ 9.92994537e-01 1.18095046e-01 -3.92543585e-03 7.14376427e+02] [-1.18093376e-01 9.93002278e-01 6.55252981e-04 -5.47443331e+01] [ 3.97534887e-03 -1.87094657e-04 9.99992081e-01 2.10060702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7007140569999 meters Centerline goodness [0,1] 0.971359668779478 Centerline is valid? [True, True] Translation: X:714.40, Y:-54.75, Z:2.10 [[ 9.93303729e-01 1.15465576e-01 -3.92453881e-03 7.14403975e+02] [-1.15463886e-01 9.93311463e-01 6.55126954e-04 -5.47535169e+01] [ 3.97393400e-03 -1.97597544e-04 9.99992084e-01 2.10230702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7307140569999 meters Centerline goodness [0,1] 0.9713182099489959 Centerline is valid? [True, True] Translation: X:714.43, Y:-54.76, Z:2.10 [[ 9.93855798e-01 1.10652512e-01 -2.58347344e-03 7.14434484e+02] [-1.10651765e-01 9.93859146e-01 4.30988947e-04 -5.47578509e+01] [ 2.61529871e-03 -1.42474969e-04 9.99996570e-01 2.10296278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.760714057 meters Centerline goodness [0,1] 0.9689591949857161 Centerline is valid? [True, True] Translation: X:714.46, Y:-54.77, Z:2.10 [[ 9.94039817e-01 1.09000112e-01 -1.95410426e-03 7.14462376e+02] [-1.08999681e-01 9.94041731e-01 3.26290974e-04 -5.47656650e+01] [ 1.97802693e-03 -1.11349480e-04 9.99998038e-01 2.10396326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.790714057 meters Centerline goodness [0,1] 0.9693605209779012 Centerline is valid? [True, True] Translation: X:714.49, Y:-54.77, Z:2.10 [[ 9.94179650e-01 1.07728682e-01 -1.16374950e-03 7.14490604e+02] [-1.07728528e-01 9.94180329e-01 1.94497187e-04 -5.47698072e+01] [ 1.17792979e-03 -6.79961250e-05 9.99999304e-01 2.10419262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8207140569999 meters Centerline goodness [0,1] 0.9680628495794372 Centerline is valid? [True, True] Translation: X:714.52, Y:-54.78, Z:2.10 [[ 9.94261709e-01 1.06962451e-01 -1.63983035e-03 7.14517693e+02] [-1.06962144e-01 9.94263056e-01 2.73834859e-04 -5.47750461e+01] [ 1.65971278e-03 -9.68637447e-05 9.99998618e-01 2.10475990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8507140569999 meters Centerline goodness [0,1] 0.9678445606917904 Centerline is valid? [True, True] Translation: X:714.55, Y:-54.78, Z:2.10 [[ 9.94243589e-01 1.07122063e-01 -2.13304584e-03 7.14546470e+02] [-1.07121545e-01 9.94245869e-01 3.55742878e-04 -5.47784698e+01] [ 2.15887993e-03 -1.25199908e-04 9.99997662e-01 2.10421631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.880714057 meters Centerline goodness [0,1] 0.9692350451105315 Centerline is valid? [True, True] Translation: X:714.58, Y:-54.78, Z:2.10 [[ 9.94046858e-01 1.08922559e-01 -2.59243504e-03 7.14575927e+02] [-1.08921800e-01 9.94050227e-01 4.32711944e-04 -5.47798790e+01] [ 2.62414273e-03 -1.47763259e-04 9.99996546e-01 2.10409926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.910714057 meters Centerline goodness [0,1] 0.9675823709239131 Centerline is valid? [True, True] Translation: X:714.60, Y:-54.79, Z:2.10 [[ 9.93900654e-01 1.10250962e-01 -2.49288838e-03 7.14603283e+02] [-1.10250267e-01 9.93903771e-01 4.14981837e-04 -5.47851627e+01] [ 2.52344331e-03 -1.37609110e-04 9.99996807e-01 2.10296597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9407140569999 meters Centerline goodness [0,1] 0.9720615542227818 Centerline is valid? [True, True] Translation: X:714.63, Y:-54.78, Z:2.10 [[ 9.93787764e-01 1.11252162e-01 -2.97263354e-03 7.14632866e+02] [-1.11251178e-01 9.93792197e-01 4.95083917e-04 -5.47813548e+01] [ 3.00925917e-03 -1.61299356e-04 9.99995459e-01 2.10250275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9707140569999 meters Centerline goodness [0,1] 0.9706454578496141 Centerline is valid? [True, True] Translation: X:714.66, Y:-54.79, Z:2.10 [[ 9.93424312e-01 1.14446255e-01 -3.19226870e-03 7.14660691e+02] [-1.14445141e-01 9.93429428e-01 5.29997098e-04 -5.47885943e+01] [ 3.23194985e-03 -1.61172360e-04 9.99994764e-01 2.10278611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.000714057 meters Centerline goodness [0,1] 0.9726759663507614 Centerline is valid? [True, True] Translation: X:714.69, Y:-54.79, Z:2.10 [[ 9.93289833e-01 1.15621363e-01 -2.64722385e-03 7.14690301e+02] [-1.15620599e-01 9.93293352e-01 4.40124701e-04 -5.47890977e+01] [ 2.68035767e-03 -1.31097782e-04 9.99996399e-01 2.10251738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.030714057 meters Centerline goodness [0,1] 0.9709962168978562 Centerline is valid? [True, True] Translation: X:714.72, Y:-54.79, Z:2.10 [[ 9.93034052e-01 1.17809781e-01 -2.05574158e-03 7.14718156e+02] [-1.17809327e-01 9.93036176e-01 3.40903015e-04 -5.47936018e+01] [ 2.08158747e-03 -9.63427706e-05 9.99997829e-01 2.10317235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0607140569999 meters Centerline goodness [0,1] 0.9726340525528733 Centerline is valid? [True, True] Translation: X:714.75, Y:-54.80, Z:2.10 [[ 9.93022917e-01 1.17896896e-01 -2.40992013e-03 7.14747233e+02] [-1.17896271e-01 9.93025835e-01 4.00130574e-04 -5.47953438e+01] [ 2.44028711e-03 -1.13218232e-04 9.99997016e-01 2.10263729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0907140569999 meters Centerline goodness [0,1] 0.9726793451580542 Centerline is valid? [True, True] Translation: X:714.78, Y:-54.80, Z:2.10 [[ 9.92999024e-01 1.18102053e-01 -2.20065172e-03 7.14775715e+02] [-1.18101534e-01 9.93001457e-01 3.64962340e-04 -5.48002170e+01] [ 2.22835317e-03 -1.02506904e-04 9.99997512e-01 2.10292883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.120714057 meters Centerline goodness [0,1] 0.972832345289376 Centerline is valid? [True, True] Translation: X:714.80, Y:-54.81, Z:2.10 [[ 9.93130927e-01 1.16982440e-01 -2.46369779e-03 7.14803779e+02] [-1.16981788e-01 9.93133976e-01 4.07756849e-04 -5.48064209e+01] [ 2.49448238e-03 -1.16748166e-04 9.99996882e-01 2.10271861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.150714057 meters Centerline goodness [0,1] 0.9704823767436908 Centerline is valid? [True, True] Translation: X:714.83, Y:-54.82, Z:2.10 [[ 9.93269866e-01 1.15796367e-01 -2.48474642e-03 7.14830554e+02] [-1.15795703e-01 9.93272967e-01 4.10117999e-04 -5.48151848e+01] [ 2.51552162e-03 -1.19634891e-04 9.99996829e-01 2.10298448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1807140569999 meters Centerline goodness [0,1] 0.9707438863044684 Centerline is valid? [True, True] Translation: X:714.86, Y:-54.82, Z:2.10 [[ 9.93489804e-01 1.13893245e-01 -2.51758948e-03 7.14858719e+02] [-1.13892557e-01 9.93492986e-01 4.15644179e-04 -5.48192829e+01] [ 2.54854656e-03 -1.26203551e-04 9.99996744e-01 2.10327558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2107140569999 meters Centerline goodness [0,1] 0.9708107184067695 Centerline is valid? [True, True] Translation: X:714.89, Y:-54.83, Z:2.10 [[ 9.93595853e-01 1.12952659e-01 -2.99618795e-03 7.14885406e+02] [-1.12951684e-01 9.93600359e-01 4.93102033e-04 -5.48256586e+01] [ 3.03271060e-03 -1.51519662e-04 9.99995390e-01 2.10372413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.240714057 meters Centerline goodness [0,1] 0.970496960421715 Centerline is valid? [True, True] Translation: X:714.91, Y:-54.83, Z:2.10 [[ 9.93701249e-01 1.12007370e-01 -3.48948290e-03 7.14913194e+02] [-1.12006042e-01 9.93707360e-01 5.74222247e-04 -5.48313832e+01] [ 3.53184196e-03 -1.79762194e-04 9.99993747e-01 2.10444089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.270714057 meters Centerline goodness [0,1] 0.9702606961797086 Centerline is valid? [True, True] Translation: X:714.94, Y:-54.84, Z:2.11 [[ 9.93937020e-01 1.09906978e-01 -3.10744815e-03 7.14942086e+02] [-1.09905918e-01 9.93941864e-01 5.10123333e-04 -5.48354138e+01] [ 3.14468892e-03 -1.65503522e-04 9.99995042e-01 2.10617784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3007140569999 meters Centerline goodness [0,1] 0.9712609471983675 Centerline is valid? [True, True] Translation: X:714.97, Y:-54.84, Z:2.11 [[ 9.94065027e-01 1.08754988e-01 -2.65993950e-03 7.14971262e+02] [-1.08754206e-01 9.94068575e-01 4.37355530e-04 -5.48376737e+01] [ 2.69172686e-03 -1.45480230e-04 9.99996367e-01 2.10744461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3307140569999 meters Centerline goodness [0,1] 0.9712609471983675 Centerline is valid? [True, True] Translation: X:715.00, Y:-54.84, Z:2.11 [[ 9.94076689e-01 1.08648331e-01 -2.66013938e-03 7.14998428e+02] [-1.08647552e-01 9.94080238e-01 4.36135309e-04 -5.48420315e+01] [ 2.69177736e-03 -1.44534312e-04 9.99996367e-01 2.10762661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3607140569999 meters Centerline goodness [0,1] 0.9698174511564277 Centerline is valid? [True, True] Translation: X:715.03, Y:-54.85, Z:2.11 [[ 9.94184590e-01 1.07675860e-01 -1.70604376e-03 7.15025947e+02] [-1.07675538e-01 9.94186049e-01 2.79687198e-04 -5.48482553e+01] [ 1.72624046e-03 -9.43615225e-05 9.99998506e-01 2.10975693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.390714057 meters Centerline goodness [0,1] 0.9687305771662488 Centerline is valid? [True, True] Translation: X:715.05, Y:-54.85, Z:2.11 [[ 9.94115194e-01 1.08318388e-01 -1.45217620e-03 7.15054677e+02] [-1.08318156e-01 9.94116251e-01 2.37929844e-04 -5.48526179e+01] [ 1.46940414e-03 -7.92326242e-05 9.99998917e-01 2.11065522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4207140569999 meters Centerline goodness [0,1] 0.9681847338037204 Centerline is valid? [True, True] Translation: X:715.08, Y:-54.86, Z:2.11 [[ 9.93957026e-01 1.09744008e-01 -2.38411081e-03 7.15082635e+02] [-1.09743387e-01 9.93959877e-01 3.90143345e-04 -5.48576661e+01] [ 2.41252638e-03 -1.26145325e-04 9.99997082e-01 2.11110185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4507140569999 meters Centerline goodness [0,1] 0.969778760121565 Centerline is valid? [True, True] Translation: X:715.11, Y:-54.86, Z:2.11 [[ 9.93473355e-01 1.14028994e-01 -2.84279457e-03 7.15112338e+02] [-1.14028129e-01 9.93477413e-01 4.64774235e-04 -5.48594292e+01] [ 2.87724993e-03 -1.37582272e-04 9.99995851e-01 2.10999244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4807140569999 meters Centerline goodness [0,1] 0.9692867632973629 Centerline is valid? [True, True] Translation: X:715.14, Y:-54.86, Z:2.11 [[ 9.93288553e-01 1.15626655e-01 -2.88564724e-03 7.15141260e+02] [-1.15625770e-01 9.93292735e-01 4.72380015e-04 -5.48632287e+01] [ 2.92091216e-03 -1.35554478e-04 9.99995725e-01 2.10930888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.510714057 meters Centerline goodness [0,1] 0.9727915796650616 Centerline is valid? [True, True] Translation: X:715.17, Y:-54.86, Z:2.11 [[ 9.92795180e-01 1.19784545e-01 -3.06501882e-03 7.15171162e+02] [-1.19783570e-01 9.92799902e-01 5.00284754e-04 -5.48634639e+01] [ 3.10287676e-03 -1.29541396e-04 9.99995178e-01 2.10932591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.540714057 meters Centerline goodness [0,1] 0.9737378022910479 Centerline is valid? [True, True] Translation: X:715.20, Y:-54.87, Z:2.11 [[ 9.92407901e-01 1.22966245e-01 -2.42089555e-03 7.15201226e+02] [-1.22965646e-01 9.92410849e-01 3.95036002e-04 -5.48666551e+01] [ 2.45109910e-03 -9.43498636e-05 9.99996992e-01 2.11044719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5707140569999 meters Centerline goodness [0,1] 0.9729764153947397 Centerline is valid? [True, True] Translation: X:715.23, Y:-54.87, Z:2.11 [[ 9.92052524e-01 1.25806101e-01 -2.14803993e-03 7.15228378e+02] [-1.25805636e-01 9.92054847e-01 3.50800779e-04 -5.48728546e+01] [ 2.17510630e-03 -7.77772689e-05 9.99997631e-01 2.11154882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6007140569999 meters Centerline goodness [0,1] 0.978009086449246 Centerline is valid? [True, True] Translation: X:715.26, Y:-54.87, Z:2.11 [[ 9.91644580e-01 1.28990328e-01 -1.58827829e-03 7.15258554e+02] [-1.28990077e-01 9.91645850e-01 2.60170570e-04 -5.48699189e+01] [ 1.60856906e-03 -5.31245966e-05 9.99998705e-01 2.11121903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.630714057 meters Centerline goodness [0,1] 0.9793489599965937 Centerline is valid? [True, True] Translation: X:715.29, Y:-54.88, Z:2.11 [[ 9.90734364e-01 1.35802971e-01 -1.72398472e-03 7.15286752e+02] [-1.35802688e-01 9.90735863e-01 2.80829918e-04 -5.48760533e+01] [ 1.74615102e-03 -4.41060925e-05 9.99998475e-01 2.11205628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.660714057 meters Centerline goodness [0,1] 0.9806014201385919 Centerline is valid? [True, True] Translation: X:715.32, Y:-54.88, Z:2.11 [[ 9.89863317e-01 1.42021663e-01 -6.79292453e-04 7.15315300e+02] [-1.42021621e-01 9.89863550e-01 1.10762827e-04 -5.48811500e+01] [ 6.88137560e-04 -1.31658437e-05 9.99999763e-01 2.11324097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6907140569999 meters Centerline goodness [0,1] 0.9797488690652348 Centerline is valid? [True, True] Translation: X:715.34, Y:-54.89, Z:2.11 [[ 9.89384828e-01 1.45318161e-01 -5.41653041e-04 7.15344225e+02] [-1.45318133e-01 9.89384977e-01 8.95037009e-05 -5.48854126e+01] [ 5.48909895e-04 -9.84159490e-06 9.99999849e-01 2.11322222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7207140569999 meters Centerline goodness [0,1] 0.9825957129145783 Centerline is valid? [True, True] Translation: X:715.37, Y:-54.89, Z:2.11 [[ 9.88996647e-01 1.47935967e-01 -7.63353843e-04 7.15372175e+02] [-1.47935915e-01 9.88996941e-01 1.25477165e-04 -5.48901798e+01] [ 7.73517201e-04 -1.11690465e-05 9.99999701e-01 2.11329331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.750714057 meters Centerline goodness [0,1] 0.9827879664695119 Centerline is valid? [True, True] Translation: X:715.40, Y:-54.90, Z:2.11 [[ 9.88660958e-01 1.50157350e-01 -1.51021735e-03 7.15400903e+02] [-1.50157149e-01 9.88662111e-01 2.46185756e-04 -5.48957378e+01] [ 1.53006127e-03 -1.66243142e-05 9.99998829e-01 2.11252116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.780714057 meters Centerline goodness [0,1] 0.9837172863555518 Centerline is valid? [True, True] Translation: X:715.43, Y:-54.90, Z:2.11 [[ 9.87953661e-01 1.54711203e-01 -3.46506462e-03 7.15428565e+02] [-1.54710183e-01 9.87959738e-01 5.62125277e-04 -5.49037198e+01] [ 3.51031142e-03 -1.92729447e-05 9.99993839e-01 2.11034590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8107140569999 meters Centerline goodness [0,1] 0.984240230007454 Centerline is valid? [True, True] Translation: X:715.46, Y:-54.91, Z:2.11 [[ 9.87687715e-01 1.56388012e-01 -3.97084992e-03 7.15455673e+02] [-1.56386690e-01 9.87695697e-01 6.43033216e-04 -5.49109387e+01] [ 4.02255406e-03 -1.41279315e-05 9.99991909e-01 2.11014675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8407140569999 meters Centerline goodness [0,1] 0.9844802592308348 Centerline is valid? [True, True] Translation: X:715.48, Y:-54.92, Z:2.11 [[ 9.87164612e-01 1.59654960e-01 -4.04015120e-03 7.15482175e+02] [-1.59653624e-01 9.87172879e-01 6.53083157e-04 -5.49218196e+01] [ 4.09259566e-03 3.24198471e-07 9.99991625e-01 2.10976137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.870714057 meters Centerline goodness [0,1] 0.9863252589268625 Centerline is valid? [True, True] Translation: X:715.51, Y:-54.93, Z:2.11 [[ 9.86907461e-01 1.61239261e-01 -3.94510861e-03 7.15508610e+02] [-1.61238006e-01 9.86915346e-01 6.36189647e-04 -5.49298444e+01] [ 3.99606698e-03 8.24113841e-06 9.99992016e-01 2.11026814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.900714057 meters Centerline goodness [0,1] 0.9859301387886762 Centerline is valid? [True, True] Translation: X:715.54, Y:-54.94, Z:2.11 [[ 9.86716560e-01 1.62414828e-01 -3.44284126e-03 7.15535587e+02] [-1.62413879e-01 9.86722567e-01 5.55361622e-04 -5.49381598e+01] [ 3.48732812e-03 1.11806930e-05 9.99993919e-01 2.11145509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9307140569999 meters Centerline goodness [0,1] 0.9870891273520012 Centerline is valid? [True, True] Translation: X:715.56, Y:-54.95, Z:2.11 [[ 9.86361708e-01 1.64573117e-01 -2.50418925e-03 7.15561794e+02] [-1.64572624e-01 9.86364886e-01 4.02942521e-04 -5.49522042e+01] [ 2.53635785e-03 1.46739227e-05 9.99996783e-01 2.11420854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9607140569999 meters Centerline goodness [0,1] 0.9867719268540467 Centerline is valid? [True, True] Translation: X:715.59, Y:-54.96, Z:2.12 [[ 9.86319247e-01 1.64837734e-01 -1.69255733e-03 7.15588561e+02] [-1.64837509e-01 9.86320699e-01 2.72376712e-04 -5.49623636e+01] [ 1.71430229e-03 1.03465411e-05 9.99998531e-01 2.11542087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.990714057 meters Centerline goodness [0,1] 0.9863915530876661 Centerline is valid? [True, True] Translation: X:715.61, Y:-54.98, Z:2.12 [[ 9.86523353e-01 1.63615739e-01 -1.25081682e-03 7.15614458e+02] [-1.63615614e-01 9.86524146e-01 2.02359271e-04 -5.49792965e+01] [ 1.26707016e-03 5.02101566e-06 9.99999197e-01 2.11784163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.020714057 meters Centerline goodness [0,1] 0.9871335470757109 Centerline is valid? [True, True] Translation: X:715.64, Y:-54.99, Z:2.12 [[ 9.86733989e-01 1.62343332e-01 -8.22880647e-04 7.15640490e+02] [-1.62343277e-01 9.86734332e-01 1.33553839e-04 -5.49905283e+01] [ 8.33646161e-04 1.80702879e-06 9.99999653e-01 2.11851363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0507140569999 meters Centerline goodness [0,1] 0.9871124235393377 Centerline is valid? [True, True] Translation: X:715.67, Y:-55.01, Z:2.12 [[ 9.87451714e-01 1.57909354e-01 -1.93609690e-03 7.15666893e+02] [-1.57909047e-01 9.87453612e-01 3.10959872e-04 -5.50099689e+01] [ 1.96090935e-03 -1.33064166e-06 9.99998077e-01 2.11990388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0807140569999 meters Centerline goodness [0,1] 0.9877933483202723 Centerline is valid? [True, True] Translation: X:715.69, Y:-55.02, Z:2.12 [[ 9.87871285e-01 1.55259823e-01 -2.17067157e-03 7.15691920e+02] [-1.55259435e-01 9.87873670e-01 3.47340443e-04 -5.50221473e+01] [ 2.19827730e-03 -6.11040853e-06 9.99997584e-01 2.12091613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1107140569999 meters Centerline goodness [0,1] 0.9868669096393113 Centerline is valid? [True, True] Translation: X:715.72, Y:-55.03, Z:2.12 [[ 9.88335101e-01 1.52272056e-01 -2.63624690e-03 7.15719017e+02] [-1.52271474e-01 9.88338616e-01 4.21131658e-04 -5.50344677e+01] [ 2.66963120e-03 -1.47939975e-05 9.99996436e-01 2.12066511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.140714057 meters Centerline goodness [0,1] 0.9880581407508104 Centerline is valid? [True, True] Translation: X:715.75, Y:-55.05, Z:2.12 [[ 9.88792093e-01 1.49275802e-01 -2.63295841e-03 7.15746258e+02] [-1.49275212e-01 9.88795598e-01 4.20418150e-04 -5.50468464e+01] [ 2.66621595e-03 -2.26707171e-05 9.99996445e-01 2.12182973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1707140569999 meters Centerline goodness [0,1] 0.9887768448588667 Centerline is valid? [True, True] Translation: X:715.77, Y:-55.06, Z:2.12 [[ 9.89416803e-01 1.45079475e-01 -2.51703605e-03 7.15772633e+02] [-1.45078922e-01 9.89420004e-01 4.01756145e-04 -5.50648404e+01] [ 2.54869239e-03 -3.23354026e-05 9.99996752e-01 2.12388038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2007140569999 meters Centerline goodness [0,1] 0.9895985936126575 Centerline is valid? [True, True] Translation: X:715.80, Y:-55.08, Z:2.13 [[ 9.89506064e-01 1.44468854e-01 -2.54946146e-03 7.15798750e+02] [-1.44468285e-01 9.89509348e-01 4.06811076e-04 -5.50756372e+01] [ 2.58148747e-03 -3.42257021e-05 9.99996667e-01 2.12505761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2307140569999 meters Centerline goodness [0,1] 0.9909977494373593 Centerline is valid? [True, True] Translation: X:715.83, Y:-55.09, Z:2.13 [[ 9.89281263e-01 1.46000512e-01 -2.53631246e-03 7.15825289e+02] [-1.45999955e-01 9.89284514e-01 4.04415111e-04 -5.50893229e+01] [ 2.56817945e-03 -2.97787867e-05 9.99996702e-01 2.12746040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.260714057 meters Centerline goodness [0,1] 0.9925455491931285 Centerline is valid? [True, True] Translation: X:715.85, Y:-55.10, Z:2.13 [[ 9.89047965e-01 1.47576072e-01 -2.32956760e-03 7.15851612e+02] [-1.47575606e-01 9.89050708e-01 3.71393271e-04 -5.50983673e+01] [ 2.35886924e-03 -2.35384079e-05 9.99997218e-01 2.12896882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.290714057 meters Centerline goodness [0,1] 0.9920955228874344 Centerline is valid? [True, True] Translation: X:715.88, Y:-55.11, Z:2.13 [[ 9.88712014e-01 1.49818241e-01 -1.74565015e-03 7.15879287e+02] [-1.49817983e-01 9.88713555e-01 2.78208080e-04 -5.51057825e+01] [ 1.76762861e-03 -1.35378861e-05 9.99998438e-01 2.12915982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3207140569999 meters Centerline goodness [0,1] 0.9939518669410727 Centerline is valid? [True, True] Translation: X:715.91, Y:-55.12, Z:2.13 [[ 9.87668511e-01 1.56552600e-01 -1.48215808e-03 7.15907347e+02] [-1.56552422e-01 9.87669623e-01 2.36091257e-04 -5.51161081e+01] [ 1.50084321e-03 -1.14446344e-06 9.99998874e-01 2.13098322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3507140569999 meters Centerline goodness [0,1] 0.994409650708251 Centerline is valid? [True, True] Translation: X:715.94, Y:-55.12, Z:2.13 [[ 9.87059773e-01 1.60340954e-01 -1.94493551e-03 7.15935516e+02] [-1.60340655e-01 9.87061689e-01 3.09687448e-04 -5.51231581e+01] [ 1.96942691e-03 6.17221092e-06 9.99998061e-01 2.13076357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.380714057 meters Centerline goodness [0,1] 0.9953662934541032 Centerline is valid? [True, True] Translation: X:715.96, Y:-55.13, Z:2.13 [[ 9.86406473e-01 1.64304379e-01 -2.51811424e-03 7.15962809e+02] [-1.64303891e-01 9.86409687e-01 4.00695633e-04 -5.51298299e+01] [ 2.54972833e-03 1.84872017e-05 9.99996749e-01 2.13119210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.410714057 meters Centerline goodness [0,1] 0.9964809384164223 Centerline is valid? [True, True] Translation: X:715.99, Y:-55.14, Z:2.13 [[ 9.85296236e-01 1.70817767e-01 -3.55210780e-03 7.15990094e+02] [-1.70816841e-01 9.85302638e-01 5.64607844e-04 -5.51414196e+01] [ 3.59634623e-03 5.04538500e-05 9.99993532e-01 2.13105480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4407140569999 meters Centerline goodness [0,1] 0.9972565445026178 Centerline is valid? [True, True] Translation: X:716.02, Y:-55.15, Z:2.13 [[ 9.84935038e-01 1.72891699e-01 -3.38116578e-03 7.16017557e+02] [-1.72890873e-01 9.84940840e-01 5.37218584e-04 -5.51506673e+01] [ 3.42312890e-03 5.54472985e-05 9.99994140e-01 2.13113181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4707140569999 meters Centerline goodness [0,1] 0.9979025085997147 Centerline is valid? [True, True] Translation: X:716.04, Y:-55.16, Z:2.13 [[ 9.84510017e-01 1.75292050e-01 -3.56707131e-03 7.16043298e+02] [-1.75291147e-01 9.84516477e-01 5.66520338e-04 -5.51638722e+01] [ 3.61114699e-03 6.75310754e-05 9.99993478e-01 2.13259431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.500714057 meters Centerline goodness [0,1] 0.9983042331365406 Centerline is valid? [True, True] Translation: X:716.07, Y:-55.18, Z:2.13 [[ 9.84417653e-01 1.75811946e-01 -3.47034045e-03 7.16070414e+02] [-1.75811097e-01 9.84423768e-01 5.50750250e-04 -5.51753685e+01] [ 3.51311409e-03 6.79560910e-05 9.99993827e-01 2.13272111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.530714057 meters Centerline goodness [0,1] 0.9985419704228286 Centerline is valid? [True, True] Translation: X:716.10, Y:-55.19, Z:2.13 [[ 9.84408954e-01 1.75848198e-01 -4.05237390e-03 7.16095792e+02] [-1.75847040e-01 9.84417292e-01 6.43019362e-04 -5.51851174e+01] [ 4.10230074e-03 7.96039370e-05 9.99991582e-01 2.13318844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5607140569999 meters Centerline goodness [0,1] 0.9990656922182543 Centerline is valid? [True, True] Translation: X:716.12, Y:-55.20, Z:2.13 [[ 9.84570709e-01 1.74930733e-01 -4.44490554e-03 7.16121937e+02] [-1.74929334e-01 9.84580739e-01 7.04543140e-04 -5.52024714e+01] [ 4.49961463e-03 8.38718279e-05 9.99989873e-01 2.13376593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5907140569999 meters Centerline goodness [0,1] 0.9990848776023793 Centerline is valid? [True, True] Translation: X:716.15, Y:-55.21, Z:2.13 [[ 9.84768857e-01 1.73805475e-01 -4.68570997e-03 7.16149424e+02] [-1.73803909e-01 9.84780001e-01 7.42352311e-04 -5.52132294e+01] [ 4.74341836e-03 8.33492741e-05 9.99988746e-01 2.13374593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.620714057 meters Centerline goodness [0,1] 0.9996448566892288 Centerline is valid? [True, True] Translation: X:716.18, Y:-55.23, Z:2.13 [[ 9.85256245e-01 1.71024393e-01 -4.55952119e-03 7.16176364e+02] [-1.71022882e-01 9.85266793e-01 7.22101446e-04 -5.52302646e+01] [ 4.61584178e-03 6.83274946e-05 9.99989345e-01 2.13435028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.650714057 meters Centerline goodness [0,1] 0.9996882015465204 Centerline is valid? [True, True] Translation: X:716.20, Y:-55.24, Z:2.14 [[ 9.85576059e-01 1.69174815e-01 -4.44006283e-03 7.16202954e+02] [-1.69173365e-01 9.85586058e-01 7.02737568e-04 -5.52411311e+01] [ 4.49494953e-03 5.85390498e-05 9.99989896e-01 2.13500392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6807140569999 meters Centerline goodness [0,1] 0.9997084001582971 Centerline is valid? [True, True] Translation: X:716.23, Y:-55.25, Z:2.14 [[ 9.85920230e-01 1.67166769e-01 -4.07070706e-03 7.16230722e+02] [-1.67165536e-01 9.85928633e-01 6.43815951e-04 -5.52525711e+01] [ 4.12105128e-03 4.57307568e-05 9.99991507e-01 2.13556926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7107140569999 meters Centerline goodness [0,1] 0.9995633278576033 Centerline is valid? [True, True] Translation: X:716.26, Y:-55.26, Z:2.14 [[ 9.86361896e-01 1.64540693e-01 -4.07062101e-03 7.16258219e+02] [-1.64539438e-01 9.86370295e-01 6.43701890e-04 -5.52637800e+01] [ 4.12105480e-03 3.48546751e-05 9.99991508e-01 2.13593246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.740714057 meters Centerline goodness [0,1] 0.9992301770592764 Centerline is valid? [True, True] Translation: X:716.29, Y:-55.28, Z:2.13 [[ 9.87207193e-01 1.59379070e-01 -4.50229973e-03 7.16285887e+02] [-1.59377482e-01 9.87217459e-01 7.11584914e-04 -5.52820713e+01] [ 4.55816064e-03 1.50834496e-05 9.99989611e-01 2.13489506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.770714057 meters Centerline goodness [0,1] 0.9991690383696533 Centerline is valid? [True, True] Translation: X:716.32, Y:-55.29, Z:2.13 [[ 9.87555396e-01 1.57190931e-01 -5.03500285e-03 7.16315698e+02] [-1.57188917e-01 9.87568231e-01 7.95725154e-04 -5.52927065e+01] [ 5.09748964e-03 5.62397627e-06 9.99987008e-01 2.13433908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8007140569999 meters Centerline goodness [0,1] 0.9991885481253381 Centerline is valid? [True, True] Translation: X:716.35, Y:-55.31, Z:2.13 [[ 9.88104062e-01 1.53689636e-01 -5.46428553e-03 7.16345834e+02] [-1.53687210e-01 9.88119171e-01 8.63632948e-04 -5.53083190e+01] [ 5.53209672e-03 -1.35684247e-05 9.99984698e-01 2.13364874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8307140569999 meters Centerline goodness [0,1] 0.9991265467401477 Centerline is valid? [True, True] Translation: X:716.38, Y:-55.32, Z:2.13 [[ 9.88401889e-01 1.51754307e-01 -5.68647066e-03 7.16376642e+02] [-1.51751642e-01 9.88418246e-01 8.99736380e-04 -5.53186426e+01] [ 5.75715023e-03 -2.63698766e-05 9.99983427e-01 2.13352275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8607140569999 meters Centerline goodness [0,1] 0.9989361480214439 Centerline is valid? [True, True] Translation: X:716.41, Y:-55.33, Z:2.13 [[ 9.88708552e-01 1.49766054e-01 -5.05258901e-03 7.16407530e+02] [-1.49763918e-01 9.88721461e-01 8.00596857e-04 -5.53286641e+01] [ 5.11550543e-03 -3.48614319e-05 9.99986915e-01 2.13301265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.890714057 meters Centerline goodness [0,1] 0.998807606217183 Centerline is valid? [True, True] Translation: X:716.44, Y:-55.34, Z:2.13 [[ 9.89545051e-01 1.44144491e-01 -4.79145359e-03 7.16437610e+02] [-1.44142500e-01 9.89556649e-01 7.60278783e-04 -5.53437634e+01] [ 4.85100476e-03 -6.16780096e-05 9.99988232e-01 2.13314612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9207140569999 meters Centerline goodness [0,1] 0.9985561530896231 Centerline is valid? [True, True] Translation: X:716.47, Y:-55.35, Z:2.13 [[ 9.89959463e-01 1.41276298e-01 -4.61192948e-03 7.16466979e+02] [-1.41274416e-01 9.89970203e-01 7.33009833e-04 -5.53543935e+01] [ 4.66922967e-03 -7.41023793e-05 9.99989096e-01 2.13317801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9507140569999 meters Centerline goodness [0,1] 0.9993507853403142 Centerline is valid? [True, True] Translation: X:716.50, Y:-55.37, Z:2.13 [[ 9.91041526e-01 1.33481560e-01 -4.40071759e-03 7.16496631e+02] [-1.33479764e-01 9.91051291e-01 7.00604639e-04 -5.53673739e+01] [ 4.45485465e-03 -1.06921547e-04 9.99990071e-01 2.13313988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9807140569999 meters Centerline goodness [0,1] 0.9990574929311969 Centerline is valid? [True, True] Translation: X:716.53, Y:-55.38, Z:2.13 [[ 9.91554571e-01 1.29623379e-01 -4.16080522e-03 7.16526259e+02] [-1.29621739e-01 9.91563294e-01 6.62548983e-04 -5.53768635e+01] [ 4.21158357e-03 -1.17622663e-04 9.99991124e-01 2.13334760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.010714057 meters Centerline goodness [0,1] 0.9992032039588182 Centerline is valid? [True, True] Translation: X:716.56, Y:-55.39, Z:2.13 [[ 9.92021477e-01 1.26022217e-01 -3.43374309e-03 7.16557289e+02] [-1.26021079e-01 9.92027413e-01 5.46750803e-04 -5.53864318e+01] [ 3.47527003e-03 -1.09664529e-04 9.99993955e-01 2.13368204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.040714057 meters Centerline goodness [0,1] 0.9994151680347557 Centerline is valid? [True, True] Translation: X:716.59, Y:-55.40, Z:2.13 [[ 9.92968810e-01 1.18339998e-01 -2.93035736e-03 7.16585443e+02] [-1.18339134e-01 9.92973127e-01 4.67045968e-04 -5.53987001e+01] [ 2.96503633e-03 -1.16986128e-04 9.99995597e-01 2.13445357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0707140569999 meters Centerline goodness [0,1] 0.9996660404925902 Centerline is valid? [True, True] Translation: X:716.61, Y:-55.41, Z:2.14 [[ 9.93367303e-01 1.14939433e-01 -3.21372568e-03 7.16614343e+02] [-1.14938377e-01 9.93372492e-01 5.12047894e-04 -5.54101760e+01] [ 3.25128118e-03 -1.39271221e-04 9.99994705e-01 2.13522257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1007140569999 meters Centerline goodness [0,1] 0.9994138335287222 Centerline is valid? [True, True] Translation: X:716.64, Y:-55.42, Z:2.14 [[ 9.94072972e-01 1.08677731e-01 -2.84209885e-03 7.16643668e+02] [-1.08676879e-01 9.94077025e-01 4.52926310e-04 -5.54193857e+01] [ 2.87448817e-03 -1.41371369e-04 9.99995859e-01 2.13527188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.130714057 meters Centerline goodness [0,1] 0.9995193111519812 Centerline is valid? [True, True] Translation: X:716.67, Y:-55.42, Z:2.14 [[ 9.94355457e-01 1.06049588e-01 -3.27259454e-03 7.16674463e+02] [-1.06048445e-01 9.94360828e-01 5.21496642e-04 -5.54213047e+01] [ 3.30944432e-03 -1.71499471e-04 9.99994509e-01 2.13548767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.160714057 meters Centerline goodness [0,1] 0.9996641195734318 Centerline is valid? [True, True] Translation: X:716.71, Y:-55.42, Z:2.14 [[ 9.94561688e-01 1.04116127e-01 -2.62296874e-03 7.16706181e+02] [-1.04115386e-01 9.94565137e-01 4.17611195e-04 -5.54249646e+01] [ 2.65219332e-03 -1.42248691e-04 9.99996473e-01 2.13564391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1907140569999 meters Centerline goodness [0,1] 0.9996220869200084 Centerline is valid? [True, True] Translation: X:716.74, Y:-55.43, Z:2.14 [[ 9.94896841e-01 1.00878664e-01 -1.94180186e-03 7.16737058e+02] [-1.00878252e-01 9.94898730e-01 3.09564296e-04 -5.54298608e+01] [ 1.96312464e-03 -1.12098964e-04 9.99998067e-01 2.13618498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2207140569999 meters Centerline goodness [0,1] 0.9996220869200084 Centerline is valid? [True, True] Translation: X:716.77, Y:-55.44, Z:2.14 [[ 9.94868644e-01 1.01156366e-01 -1.94196985e-03 7.16769180e+02] [-1.01155956e-01 9.94870533e-01 3.08512478e-04 -5.54350475e+01] [ 1.96321658e-03 -1.10487574e-04 9.99998067e-01 2.13639988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.250714057 meters Centerline goodness [0,1] 0.9995572329165701 Centerline is valid? [True, True] Translation: X:716.80, Y:-55.44, Z:2.14 [[ 9.94952527e-01 1.00337788e-01 -1.34091507e-03 7.16800512e+02] [-1.00337592e-01 9.94953427e-01 2.13113456e-04 -5.54402750e+01] [ 1.35553138e-03 -7.74935830e-05 9.99999078e-01 2.13679983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.280714057 meters Centerline goodness [0,1] 0.9996202771976457 Centerline is valid? [True, True] Translation: X:716.83, Y:-55.44, Z:2.14 [[ 9.95055132e-01 9.93017374e-02 -2.10930081e-03 7.16831634e+02] [-9.93012452e-02 9.95057360e-01 3.37045381e-04 -5.54437217e+01] [ 2.13234448e-03 -1.25922540e-04 9.99997719e-01 2.13666075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3107140569999 meters Centerline goodness [0,1] 0.9996205173613307 Centerline is valid? [True, True] Translation: X:716.86, Y:-55.45, Z:2.14 [[ 9.95074910e-01 9.90902376e-02 -2.65482088e-03 7.16861731e+02] [-9.90894563e-02 9.95078439e-01 4.24530866e-04 -5.54495859e+01] [ 2.68382188e-03 -1.59375255e-04 9.99996386e-01 2.13681261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3407140569999 meters Centerline goodness [0,1] 0.9993878240310732 Centerline is valid? [True, True] Translation: X:716.89, Y:-55.45, Z:2.14 [[ 9.95082096e-01 9.90063177e-02 -3.06124737e-03 7.16894071e+02] [-9.90052767e-02 9.95086788e-01 4.90117946e-04 -5.54504540e+01] [ 3.09473158e-03 -1.84627951e-04 9.99995194e-01 2.13689521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.370714057 meters Centerline goodness [0,1] 0.9992191786603638 Centerline is valid? [True, True] Translation: X:716.93, Y:-55.45, Z:2.14 [[ 9.95210717e-01 9.77058275e-02 -3.03301391e-03 7.16927009e+02] [-9.77047955e-02 9.95215321e-01 4.86911780e-04 -5.54472749e+01] [ 3.06607603e-03 -1.88239818e-04 9.99995282e-01 2.13661360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.400714057 meters Centerline goodness [0,1] 0.9995582574307411 Centerline is valid? [True, True] Translation: X:716.96, Y:-55.46, Z:2.14 [[ 9.95321159e-01 9.65469252e-02 -3.80551491e-03 7.16957626e+02] [-9.65452913e-02 9.95328405e-01 6.11177329e-04 -5.54551778e+01] [ 3.84674438e-03 -2.40913182e-04 9.99992572e-01 2.13695570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4307140569999 meters Centerline goodness [0,1] 0.9996620551272574 Centerline is valid? [True, True] Translation: X:716.99, Y:-55.46, Z:2.14 [[ 9.95527069e-01 9.43989452e-02 -3.83331409e-03 7.16989061e+02] [-9.43972688e-02 9.95534417e-01 6.16335856e-04 -5.54570411e+01] [ 3.87437757e-03 -2.51724647e-04 9.99992463e-01 2.13723931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4607140569999 meters Centerline goodness [0,1] 0.9996200848477174 Centerline is valid? [True, True] Translation: X:717.02, Y:-55.46, Z:2.14 [[ 9.95532617e-01 9.43512622e-02 -3.55646955e-03 7.17019594e+02] [-9.43498202e-02 9.95538942e-01 5.71464814e-04 -5.54606625e+01] [ 3.59452236e-03 -2.33359599e-04 9.99993512e-01 2.13768870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.490714057 meters Centerline goodness [0,1] 0.9996418790815251 Centerline is valid? [True, True] Translation: X:717.05, Y:-55.46, Z:2.14 [[ 9.95496469e-01 9.47317877e-02 -3.55941658e-03 7.17052588e+02] [-9.47303431e-02 9.95502805e-01 5.72680353e-04 -5.54551323e+01] [ 3.59766022e-03 -2.32916515e-04 9.99993501e-01 2.13762696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.520714057 meters Centerline goodness [0,1] 0.9996000336813742 Centerline is valid? [True, True] Translation: X:717.08, Y:-55.46, Z:2.14 [[ 9.95363292e-01 9.61233610e-02 -3.49514905e-03 7.17083682e+02] [-9.61219736e-02 9.95369403e-01 5.63201127e-04 -5.54606578e+01] [ 3.53310121e-03 -2.24629103e-04 9.99993733e-01 2.13883227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5507140569999 meters Centerline goodness [0,1] 0.999852671900322 Centerline is valid? [True, True] Translation: X:717.12, Y:-55.45, Z:2.14 [[ 9.94882598e-01 1.01007374e-01 -2.47522536e-03 7.17116441e+02] [-1.01006690e-01 9.94885666e-01 3.99996457e-04 -5.54498012e+01] [ 2.50296882e-03 -1.47935194e-04 9.99996857e-01 2.14169869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5807140569999 meters Centerline goodness [0,1] 0.999684615546351 Centerline is valid? [True, True] Translation: X:717.15, Y:-55.44, Z:2.14 [[ 9.93977179e-01 1.09571443e-01 -1.86175528e-03 7.17148003e+02] [-1.09571072e-01 9.93978918e-01 3.00819792e-04 -5.54424142e+01] [ 1.88350676e-03 -9.50134876e-05 9.99998222e-01 2.14353101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6107140569999 meters Centerline goodness [0,1] 0.999663356337317 Centerline is valid? [True, True] Translation: X:717.18, Y:-55.44, Z:2.14 [[ 9.93381530e-01 1.14849644e-01 -1.64145118e-03 7.17178499e+02] [-1.14849362e-01 9.93382884e-01 2.65358117e-04 -5.54413957e+01] [ 1.66106579e-03 -7.50822320e-05 9.99998618e-01 2.14412127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.640714057 meters Centerline goodness [0,1] 0.9996632925777058 Centerline is valid? [True, True] Translation: X:717.21, Y:-55.44, Z:2.14 [[ 9.92742369e-01 1.20250359e-01 -1.56203767e-03 7.17208573e+02] [-1.20250111e-01 9.92743596e-01 2.52449231e-04 -5.54405954e+01] [ 1.58106000e-03 -6.27818452e-05 9.99998748e-01 2.14417181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6707140569999 meters Centerline goodness [0,1] 0.9994527352712118 Centerline is valid? [True, True] Translation: X:717.24, Y:-55.43, Z:2.14 [[ 9.91460309e-01 1.30392457e-01 -2.06471137e-03 7.17241519e+02] [-1.30392045e-01 9.91462457e-01 3.33530251e-04 -5.54314538e+01] [ 2.09057364e-03 -6.14600670e-05 9.99997813e-01 2.14312991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7007140569999 meters Centerline goodness [0,1] 0.9996008487216655 Centerline is valid? [True, True] Translation: X:717.27, Y:-55.43, Z:2.14 [[ 9.90783780e-01 1.35425430e-01 -2.73043632e-03 7.17272139e+02] [-1.35424727e-01 9.90787540e-01 4.41377049e-04 -5.54303583e+01] [ 2.76505596e-03 -6.75406272e-05 9.99996175e-01 2.14278104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7307140569999 meters Centerline goodness [0,1] 0.9994318899128898 Centerline is valid? [True, True] Translation: X:717.30, Y:-55.43, Z:2.14 [[ 9.90164278e-01 1.39878839e-01 -2.93481715e-03 7.17303359e+02] [-1.39878047e-01 9.90168625e-01 4.74415362e-04 -5.54293051e+01] [ 2.97232454e-03 -5.92326509e-05 9.99995581e-01 2.14276659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.760714057 meters Centerline goodness [0,1] 0.9995168574729545 Centerline is valid? [True, True] Translation: X:717.33, Y:-55.42, Z:2.14 [[ 9.88944678e-01 1.48271172e-01 -2.02088296e-03 7.17333523e+02] [-1.48270814e-01 9.88946742e-01 3.26838520e-04 -5.54247191e+01] [ 2.04700635e-03 -2.35872541e-05 9.99997905e-01 2.14340668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.790714057 meters Centerline goodness [0,1] 0.999516268113656 Centerline is valid? [True, True] Translation: X:717.36, Y:-55.43, Z:2.14 [[ 9.88340561e-01 1.52255165e-01 -1.14064339e-03 7.17363667e+02] [-1.52255053e-01 9.88341219e-01 1.84537309e-04 -5.54256885e+01] [ 1.15544163e-03 -8.71698784e-06 9.99999332e-01 2.14420633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8207140569999 meters Centerline goodness [0,1] 0.9992627698788836 Centerline is valid? [True, True] Translation: X:717.39, Y:-55.42, Z:2.14 [[ 9.87376858e-01 1.58387747e-01 -5.11185678e-04 7.17391874e+02] [-1.58387725e-01 9.87376991e-01 8.31317613e-05 -5.54245497e+01] [ 5.17900029e-04 -1.11684061e-06 9.99999866e-01 2.14415983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8507140569999 meters Centerline goodness [0,1] 0.9991632324331109 Centerline is valid? [True, True] Translation: X:717.42, Y:-55.43, Z:2.14 [[ 9.87011765e-01 1.60646302e-01 -7.36138845e-04 7.17420576e+02] [-1.60646257e-01 9.87012039e-01 1.19290024e-04 -5.54275738e+01] [ 7.45741404e-04 5.17293438e-07 9.99999722e-01 2.14383493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.880714057 meters Centerline goodness [0,1] 0.9994995203736915 Centerline is valid? [True, True] Translation: X:717.45, Y:-55.43, Z:2.14 [[ 9.86703833e-01 1.62523147e-01 -1.33137166e-03 7.17448820e+02] [-1.62523004e-01 9.86704731e-01 2.15275774e-04 -5.54320774e+01] [ 1.34865801e-03 3.96508997e-06 9.99999091e-01 2.14382885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.910714057 meters Centerline goodness [0,1] 0.9993543818727091 Centerline is valid? [True, True] Translation: X:717.48, Y:-55.44, Z:2.14 [[ 9.86506856e-01 1.63710863e-01 -1.72497596e-03 7.17476024e+02] [-1.63710626e-01 9.86508365e-01 2.78777589e-04 -5.54367657e+01] [ 1.74734213e-03 7.38089113e-06 9.99998473e-01 2.14327930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9407140569999 meters Centerline goodness [0,1] 0.9992656007385958 Centerline is valid? [True, True] Translation: X:717.50, Y:-55.44, Z:2.14 [[ 9.86148166e-01 1.65842722e-01 -2.82585316e-03 7.17503582e+02] [-1.65842096e-01 9.86152215e-01 4.55939712e-04 -5.54440673e+01] [ 2.86233563e-03 1.90213006e-05 9.99995903e-01 2.14209323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9707140569999 meters Centerline goodness [0,1] 0.9992637004312612 Centerline is valid? [True, True] Translation: X:717.53, Y:-55.45, Z:2.14 [[ 9.85955430e-01 1.66978489e-01 -3.17386668e-03 7.17532036e+02] [-1.66977706e-01 9.85960539e-01 5.11807296e-04 -5.54491476e+01] [ 3.21476811e-03 2.53457963e-05 9.99994832e-01 2.14166592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.000714057 meters Centerline goodness [0,1] 0.9989588755856325 Centerline is valid? [True, True] Translation: X:717.56, Y:-55.46, Z:2.14 [[ 9.85483427e-01 1.69741701e-01 -3.18901214e-03 7.17560097e+02] [-1.69740926e-01 9.85488586e-01 5.14021927e-04 -5.54552987e+01] [ 3.22998602e-03 3.47457824e-05 9.99994783e-01 2.14185575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.030714057 meters Centerline goodness [0,1] 0.9989963827963284 Centerline is valid? [True, True] Translation: X:717.59, Y:-55.46, Z:2.14 [[ 9.85317443e-01 1.70713576e-01 -2.53209907e-03 7.17588377e+02] [-1.70713091e-01 9.85320696e-01 4.08065798e-04 -5.54628305e+01] [ 2.56459199e-03 3.01881107e-05 9.99996711e-01 2.14213614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0607140569999 meters Centerline goodness [0,1] 0.9993108633003382 Centerline is valid? [True, True] Translation: X:717.62, Y:-55.47, Z:2.14 [[ 9.85160586e-01 1.71617239e-01 -2.47863143e-03 7.17616784e+02] [-1.71616778e-01 9.85163703e-01 3.99279268e-04 -5.54705087e+01] [ 2.51038093e-03 3.20205430e-05 9.99996848e-01 2.14279792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0907140569999 meters Centerline goodness [0,1] 0.9991842881345298 Centerline is valid? [True, True] Translation: X:717.64, Y:-55.48, Z:2.14 [[ 9.85122354e-01 1.71842312e-01 -2.04152100e-03 7.17643771e+02] [-1.71842000e-01 9.85124469e-01 3.28715374e-04 -5.54819093e+01] [ 2.06763950e-03 2.69941896e-05 9.99997862e-01 2.14324800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.120714057 meters Centerline goodness [0,1] 0.9992480260684297 Centerline is valid? [True, True] Translation: X:717.67, Y:-55.49, Z:2.14 [[ 9.85254946e-01 1.71080351e-01 -2.05073447e-03 7.17672414e+02] [-1.71080035e-01 9.85257080e-01 3.30002783e-04 -5.54911934e+01] [ 2.07695765e-03 2.57028501e-05 9.99997843e-01 2.14287951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.150714057 meters Centerline goodness [0,1] 0.9991855657185816 Centerline is valid? [True, True] Translation: X:717.70, Y:-55.50, Z:2.14 [[ 9.85548304e-01 1.69382414e-01 -2.03418180e-03 7.17701174e+02] [-1.69382100e-01 9.85550403e-01 3.27185404e-04 -5.55003549e+01] [ 2.06020815e-03 2.20969649e-05 9.99997878e-01 2.14330835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1807140569999 meters Centerline goodness [0,1] 0.9990601111157525 Centerline is valid? [True, True] Translation: X:717.73, Y:-55.52, Z:2.14 [[ 9.86082842e-01 1.66244808e-01 -1.81436963e-03 7.17730621e+02] [-1.66244553e-01 9.86084511e-01 2.91551748e-04 -5.55159617e+01] [ 1.83759075e-03 1.41348915e-05 9.99998312e-01 2.14339498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2107140569999 meters Centerline goodness [0,1] 0.9990196078431373 Centerline is valid? [True, True] Translation: X:717.76, Y:-55.53, Z:2.14 [[ 9.86411042e-01 1.64290601e-01 -1.36172822e-03 7.17761022e+02] [-1.64290457e-01 9.86411982e-01 2.17773726e-04 -5.55255850e+01] [ 1.37900321e-03 8.90454368e-06 9.99999049e-01 2.14419460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.240714057 meters Centerline goodness [0,1] 0.9987904571237904 Centerline is valid? [True, True] Translation: X:717.79, Y:-55.54, Z:2.14 [[ 9.87203289e-01 1.59466665e-01 -2.19197156e-04 7.17789826e+02] [-1.59466662e-01 9.87203314e-01 3.44354298e-05 -5.55425878e+01] [ 2.21883462e-04 9.59869221e-07 9.99999975e-01 2.14476993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.270714057 meters Centerline goodness [0,1] 0.9982660287881003 Centerline is valid? [True, True] Translation: X:717.82, Y:-55.55, Z:2.14 [[ 9.87525803e-01 1.57457188e-01 1.52197710e-04 7.17820856e+02] [-1.57457186e-01 9.87525814e-01 -2.64467976e-05 -5.55544269e+01] [-1.54463406e-04 2.15227191e-06 9.99999988e-01 2.14456141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3007140569999 meters Centerline goodness [0,1] 0.9982664633764281 Centerline is valid? [True, True] Translation: X:717.85, Y:-55.57, Z:2.15 [[ 9.87888066e-01 1.55167258e-01 5.39706609e-04 7.17851721e+02] [-1.55167232e-01 9.87888213e-01 -8.90417508e-05 -5.55661030e+01] [-5.46986162e-04 4.21850224e-06 9.99999850e-01 2.14515481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3307140569999 meters Centerline goodness [0,1] 0.9981442095166604 Centerline is valid? [True, True] Translation: X:717.88, Y:-55.58, Z:2.15 [[ 9.88138395e-01 1.53560070e-01 1.34786880e-03 7.17882302e+02] [-1.53559913e-01 9.88139314e-01 -2.19992501e-04 -5.55769646e+01] [-1.36566421e-03 1.04044220e-05 9.99999067e-01 2.14529678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3607140569999 meters Centerline goodness [0,1] 0.998579248673269 Centerline is valid? [True, True] Translation: X:717.91, Y:-55.59, Z:2.15 [[ 9.88687741e-01 1.49957533e-01 3.04790526e-03 7.17911995e+02] [-1.49956719e-01 9.88692438e-01 -4.95038456e-04 -5.55922185e+01] [-3.08767562e-03 3.23845806e-05 9.99995233e-01 2.14666351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.390714057 meters Centerline goodness [0,1] 0.998330132754446 Centerline is valid? [True, True] Translation: X:717.94, Y:-55.60, Z:2.15 [[ 9.88805349e-01 1.49170990e-01 3.46359594e-03 7.17942632e+02] [-1.49169929e-01 9.88811415e-01 -5.64114077e-04 -5.56016660e+01] [-3.50899265e-03 4.11346562e-05 9.99993843e-01 2.14714742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4207140569999 meters Centerline goodness [0,1] 0.9978718521145862 Centerline is valid? [True, True] Translation: X:717.97, Y:-55.62, Z:2.15 [[ 9.88980630e-01 1.47980561e-01 4.36659750e-03 7.17972015e+02] [-1.47978865e-01 9.88990268e-01 -7.10583014e-04 -5.56151446e+01] [-4.42367490e-03 5.65886936e-05 9.99990214e-01 2.14803384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4507140569999 meters Centerline goodness [0,1] 0.9982488325550367 Centerline is valid? [True, True] Translation: X:718.00, Y:-55.62, Z:2.15 [[ 9.88969177e-01 1.48065806e-01 4.06017547e-03 7.18003775e+02] [-1.48064332e-01 9.88977509e-01 -6.62917446e-04 -5.56243131e+01] [-4.11357763e-03 5.44377516e-05 9.99991538e-01 2.14825201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4807140569999 meters Centerline goodness [0,1] 0.9979583333333333 Centerline is valid? [True, True] Translation: X:718.03, Y:-55.63, Z:2.15 [[ 9.88929120e-01 1.48340022e-01 3.79910019e-03 7.18034715e+02] [-1.48338730e-01 9.88936416e-01 -6.21297194e-04 -5.56330864e+01] [-3.84923177e-03 5.08651916e-05 9.99992590e-01 2.14780007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.510714057 meters Centerline goodness [0,1] 0.9982435597189696 Centerline is valid? [True, True] Translation: X:718.07, Y:-55.64, Z:2.15 [[ 9.88945498e-01 1.48235377e-01 3.61605240e-03 7.18066845e+02] [-1.48234202e-01 9.88952107e-01 -5.92569594e-04 -5.56439725e+01] [-3.66394242e-03 4.99963926e-05 9.99993286e-01 2.14709322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.540714057 meters Centerline goodness [0,1] 0.998076199238844 Centerline is valid? [True, True] Translation: X:718.10, Y:-55.65, Z:2.15 [[ 9.88890529e-01 1.48606184e-01 3.42411832e-03 7.18098742e+02] [-1.48605128e-01 9.88896456e-01 -5.62179315e-04 -5.56513798e+01] [-3.46964180e-03 4.70922574e-05 9.99993980e-01 2.14699783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5707140569999 meters Centerline goodness [0,1] 0.9981572610197885 Centerline is valid? [True, True] Translation: X:718.13, Y:-55.66, Z:2.15 [[ 9.88758062e-01 1.49490591e-01 3.17160565e-03 7.18128820e+02] [-1.49489688e-01 9.88763147e-01 -5.21219533e-04 -5.56598907e+01] [-3.21388420e-03 4.12376768e-05 9.99994835e-01 2.14675669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6007140569999 meters Centerline goodness [0,1] 0.9978651708909773 Centerline is valid? [True, True] Translation: X:718.16, Y:-55.67, Z:2.15 [[ 9.88720618e-01 1.49749378e-01 2.58123516e-03 7.18161410e+02] [-1.49748777e-01 9.88723987e-01 -4.25644164e-04 -5.56660546e+01] [-2.61586906e-03 3.43063522e-05 9.99996578e-01 2.14619700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.630714057 meters Centerline goodness [0,1] 0.998012427558215 Centerline is valid? [True, True] Translation: X:718.19, Y:-55.68, Z:2.15 [[ 9.88758124e-01 1.49508131e-01 2.16568216e-03 7.18192063e+02] [-1.49507705e-01 9.88760496e-01 -3.57880998e-04 -5.56772504e+01] [-2.19484709e-03 3.00715743e-05 9.99997591e-01 2.14700824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.660714057 meters Centerline goodness [0,1] 0.9983885819521179 Centerline is valid? [True, True] Translation: X:718.22, Y:-55.68, Z:2.15 [[ 9.88858727e-01 1.48839841e-01 2.26246887e-03 7.18223665e+02] [-1.48839374e-01 9.88861315e-01 -3.74268348e-04 -5.56832162e+01] [-2.29297399e-03 3.33540703e-05 9.99997371e-01 2.14588244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6907140569999 meters Centerline goodness [0,1] 0.9986212371263239 Centerline is valid? [True, True] Translation: X:718.25, Y:-55.69, Z:2.15 [[ 9.88911384e-01 1.48499876e-01 1.43572669e-03 7.18254404e+02] [-1.48499686e-01 9.88912426e-01 -2.38609615e-04 -5.56907866e+01] [-1.45524146e-03 2.27588020e-05 9.99998941e-01 2.14668283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7207140569999 meters Centerline goodness [0,1] 0.9988942438088085 Centerline is valid? [True, True] Translation: X:718.28, Y:-55.70, Z:2.15 [[ 9.89146691e-01 1.46927998e-01 9.93267256e-04 7.18284432e+02] [-1.46927906e-01 9.89147190e-01 -1.65572587e-04 -5.57007357e+01] [-1.00681476e-03 1.78368982e-05 9.99999493e-01 2.14755094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.750714057 meters Centerline goodness [0,1] 0.9992036881810562 Centerline is valid? [True, True] Translation: X:718.32, Y:-55.71, Z:2.15 [[ 9.89326567e-01 1.45713539e-01 7.13531720e-04 7.18315656e+02] [-1.45713491e-01 9.89326824e-01 -1.19556494e-04 -5.57069459e+01] [-7.23337070e-04 1.43092182e-05 9.99999738e-01 2.14764388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.780714057 meters Centerline goodness [0,1] 0.9991831605403707 Centerline is valid? [True, True] Translation: X:718.35, Y:-55.71, Z:2.15 [[ 9.89483018e-01 1.44648620e-01 3.64856631e-04 7.18346056e+02] [-1.44648607e-01 9.89483086e-01 -6.18370074e-05 -5.57139637e+01] [-3.69964103e-04 8.41066528e-06 9.99999932e-01 2.14788590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8107140569999 meters Centerline goodness [0,1] 0.9992255849972791 Centerline is valid? [True, True] Translation: X:718.38, Y:-55.73, Z:2.15 [[ 9.89798045e-01 1.42477303e-01 -2.18030223e-04 7.18375587e+02] [-1.42477298e-01 9.89798069e-01 3.47741096e-05 -5.57254018e+01] [ 2.20760415e-04 -3.35498861e-06 9.99999976e-01 2.14831098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8407140569999 meters Centerline goodness [0,1] 0.9991629697832092 Centerline is valid? [True, True] Translation: X:718.41, Y:-55.73, Z:2.15 [[ 9.89922567e-01 1.41606392e-01 -9.70097411e-04 7.18408159e+02] [-1.41606304e-01 9.89923042e-01 1.59495537e-04 -5.57276253e+01] [ 9.82907367e-04 -2.05163224e-05 9.99999517e-01 2.14671463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.870714057 meters Centerline goodness [0,1] 0.9989096703849702 Centerline is valid? [True, True] Translation: X:718.44, Y:-55.74, Z:2.15 [[ 9.90132259e-01 1.40118813e-01 -2.19744043e-03 7.18438332e+02] [-1.40118350e-01 9.90134696e-01 3.64000415e-04 -5.57363284e+01] [ 2.22676532e-03 -5.25068247e-05 9.99997519e-01 2.14640827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.900714057 meters Centerline goodness [0,1] 0.9989522652026319 Centerline is valid? [True, True] Translation: X:718.47, Y:-55.74, Z:2.15 [[ 9.90039683e-01 1.40767835e-01 -2.41704608e-03 7.18470610e+02] [-1.40767275e-01 9.90042632e-01 4.00995905e-04 -5.57375101e+01] [ 2.44942599e-03 -5.67608677e-05 9.99996999e-01 2.14588970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9307140569999 meters Centerline goodness [0,1] 0.9990157480314961 Centerline is valid? [True, True] Translation: X:718.50, Y:-55.74, Z:2.15 [[ 9.89900576e-01 1.41739439e-01 -2.60407969e-03 7.18501721e+02] [-1.41738790e-01 9.89903999e-01 4.33253078e-04 -5.57428247e+01] [ 2.63919795e-03 -5.97783671e-05 9.99996516e-01 2.14682714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9607140569999 meters Centerline goodness [0,1] 0.9985343690458742 Centerline is valid? [True, True] Translation: X:718.53, Y:-55.75, Z:2.15 [[ 9.89710081e-01 1.43072095e-01 -2.08108024e-03 7.18533471e+02] [-1.43071684e-01 9.89712268e-01 3.45868520e-04 -5.57462449e+01] [ 2.10915478e-03 -4.45659058e-05 9.99997775e-01 2.14756575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.990714057 meters Centerline goodness [0,1] 0.9991850211058637 Centerline is valid? [True, True] Translation: X:718.56, Y:-55.75, Z:2.15 [[ 9.89207894e-01 1.46506380e-01 -1.90346517e-03 7.18564234e+02] [-1.46506041e-01 9.89209725e-01 3.16781919e-04 -5.57505674e+01] [ 1.92933683e-03 -3.44940278e-05 9.99998138e-01 2.14974162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.020714057 meters Centerline goodness [0,1] 0.999121081488302 Centerline is valid? [True, True] Translation: X:718.60, Y:-55.75, Z:2.15 [[ 9.89062666e-01 1.47487316e-01 -1.59211202e-03 7.18596028e+02] [-1.47487081e-01 9.89063947e-01 2.65015340e-04 -5.57543644e+01] [ 1.61378699e-03 -2.73008249e-05 9.99998697e-01 2.15018683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0507140569999 meters Centerline goodness [0,1] 0.9985353503651162 Centerline is valid? [True, True] Translation: X:718.63, Y:-55.76, Z:2.15 [[ 9.88986131e-01 1.48002500e-01 -1.30086368e-03 7.18629073e+02] [-1.48002344e-01 9.88986986e-01 2.16357774e-04 -5.57589262e+01] [ 1.31855874e-03 -2.14439646e-05 9.99999130e-01 2.15081021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0807140569999 meters Centerline goodness [0,1] 0.998590423293781 Centerline is valid? [True, True] Translation: X:718.66, Y:-55.76, Z:2.15 [[ 9.89061497e-01 1.47503746e-01 8.87175361e-06 7.18660508e+02] [-1.47503746e-01 9.89061497e-01 -3.15427816e-06 -5.57636312e+01] [-9.23997775e-06 1.81115819e-06 1.00000000e+00 2.15275323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1107140569999 meters Centerline goodness [0,1] 0.9985566967180538 Centerline is valid? [True, True] Translation: X:718.69, Y:-55.77, Z:2.15 [[ 9.89203043e-01 1.46550324e-01 5.85158113e-04 7.18692552e+02] [-1.46550291e-01 9.89203216e-01 -1.00120049e-04 -5.57691192e+01] [-5.93512913e-04 1.32839660e-05 9.99999824e-01 2.15378070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.140714057 meters Centerline goodness [0,1] 0.9985566967180538 Centerline is valid? [True, True] Translation: X:718.72, Y:-55.77, Z:2.15 [[ 9.89161630e-01 1.46829589e-01 5.85090996e-04 7.18724577e+02] [-1.46829555e-01 9.89161803e-01 -1.00517168e-04 -5.57745694e+01] [-5.93508559e-04 1.35190757e-05 9.99999824e-01 2.15399546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1707140569999 meters Centerline goodness [0,1] 0.9991434600037604 Centerline is valid? [True, True] Translation: X:718.76, Y:-55.78, Z:2.16 [[ 9.89328608e-01 1.45700812e-01 4.22572028e-04 7.18756193e+02] [-1.45700794e-01 9.89328698e-01 -7.29880476e-05 -5.57786964e+01] [-4.28697052e-04 1.06400835e-05 9.99999908e-01 2.15506312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2007140569999 meters Centerline goodness [0,1] 0.9988702692524948 Centerline is valid? [True, True] Translation: X:718.79, Y:-55.78, Z:2.15 [[ 9.89290776e-01 1.45957993e-01 1.55123159e-04 7.18788544e+02] [-1.45957990e-01 9.89290789e-01 -2.81107248e-05 -5.57835041e+01] [-1.57564898e-04 5.16821625e-06 9.99999988e-01 2.15499647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2307140569999 meters Centerline goodness [0,1] 0.9990162630554451 Centerline is valid? [True, True] Translation: X:718.82, Y:-55.79, Z:2.15 [[ 9.89263783e-01 1.46138815e-01 -7.84038634e-04 7.18821367e+02] [-1.46138757e-01 9.89264093e-01 1.30932771e-04 -5.57879604e+01] [ 7.94755629e-04 -1.49486171e-05 9.99999684e-01 2.15449288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.260714057 meters Centerline goodness [0,1] 0.9990365685083568 Centerline is valid? [True, True] Translation: X:718.85, Y:-55.79, Z:2.15 [[ 9.89225244e-01 1.46383025e-01 -2.32930699e-03 7.18854039e+02] [-1.46382505e-01 9.89227986e-01 3.93370549e-04 -5.57915775e+01] [ 2.36179843e-03 -4.81622867e-05 9.99997210e-01 2.15347807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.290714057 meters Centerline goodness [0,1] 0.9992039384099717 Centerline is valid? [True, True] Translation: X:718.88, Y:-55.80, Z:2.15 [[ 9.89144504e-01 1.46912981e-01 -3.11867943e-03 7.18884435e+02] [-1.46912044e-01 9.89149418e-01 5.28712882e-04 -5.57974453e+01] [ 3.16251473e-03 -6.48018715e-05 9.99994997e-01 2.15408224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3207140569999 meters Centerline goodness [0,1] 0.998910652561014 Centerline is valid? [True, True] Translation: X:718.92, Y:-55.80, Z:2.15 [[ 9.88929206e-01 1.48333851e-01 -4.01163821e-03 7.18916963e+02] [-1.48332309e-01 9.88937340e-01 6.80940339e-04 -5.58008485e+01] [ 4.06826533e-03 -7.83462324e-05 9.99991722e-01 2.15447742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3507140569999 meters Centerline goodness [0,1] 0.9988636841883759 Centerline is valid? [True, True] Translation: X:718.95, Y:-55.80, Z:2.15 [[ 9.88628914e-01 1.50309274e-01 -4.47141589e-03 7.18948945e+02] [-1.50307376e-01 9.88639022e-01 7.59454238e-04 -5.58049474e+01] [ 4.53476925e-03 -7.87316297e-05 9.99989715e-01 2.15487587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.380714057 meters Centerline goodness [0,1] 0.9988005050505051 Centerline is valid? [True, True] Translation: X:718.98, Y:-55.81, Z:2.16 [[ 9.88360743e-01 1.52030761e-01 -5.44888928e-03 7.18980177e+02] [-1.52027958e-01 9.88375759e-01 9.27276440e-04 -5.58094082e+01] [ 5.52652462e-03 -8.81001184e-05 9.99984725e-01 2.15528029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.410714057 meters Centerline goodness [0,1] 0.9982411692037103 Centerline is valid? [True, True] Translation: X:719.01, Y:-55.81, Z:2.16 [[ 9.87878882e-01 1.55097464e-01 -6.33182047e-03 7.19012653e+02] [-1.55093731e-01 9.87899170e-01 1.07932319e-03 -5.58132795e+01] [ 6.42260048e-03 -8.42149283e-05 9.99979371e-01 2.15579267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4407140569999 meters Centerline goodness [0,1] 0.9988487220815104 Centerline is valid? [True, True] Translation: X:719.04, Y:-55.82, Z:2.16 [[ 9.87719522e-01 1.56100083e-01 -6.55062822e-03 7.19043495e+02] [-1.56096106e-01 9.87741240e-01 1.11724058e-03 -5.58200021e+01] [ 6.64472699e-03 -8.09927713e-05 9.99977920e-01 2.15599122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4707140569999 meters Centerline goodness [0,1] 0.998596564725597 Centerline is valid? [True, True] Translation: X:719.08, Y:-55.82, Z:2.16 [[ 9.87625401e-01 1.56703616e-01 -6.32801393e-03 7.19076194e+02] [-1.56699911e-01 9.87645671e-01 1.08011869e-03 -5.58240381e+01] [ 6.41909407e-03 -7.51534351e-05 9.99979395e-01 2.15647238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.500714057 meters Centerline goodness [0,1] 0.9983479024635075 Centerline is valid? [True, True] Translation: X:719.11, Y:-55.83, Z:2.16 [[ 9.87524893e-01 1.57346413e-01 -6.05733216e-03 7.19108266e+02] [-1.57343021e-01 9.87543468e-01 1.03559665e-03 -5.58315263e+01] [ 6.14482623e-03 -6.95985280e-05 9.99981118e-01 2.15792272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.530714057 meters Centerline goodness [0,1] 0.998745845613595 Centerline is valid? [True, True] Translation: X:719.14, Y:-55.84, Z:2.16 [[ 9.87441264e-01 1.57871794e-01 -6.02059593e-03 7.19141026e+02] [-1.57868441e-01 9.87459615e-01 1.03104727e-03 -5.58381904e+01] [ 6.10786863e-03 -6.76365196e-05 9.99981345e-01 2.15872556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5607140569999 meters Centerline goodness [0,1] 0.9985768699510276 Centerline is valid? [True, True] Translation: X:719.17, Y:-55.84, Z:2.16 [[ 9.87283498e-01 1.58881358e-01 -5.29237577e-03 7.19173457e+02] [-1.58878775e-01 9.87297681e-01 9.07633450e-04 -5.58443628e+01] [ 5.36935636e-03 -5.52453469e-05 9.99985583e-01 2.15981389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5907140569999 meters Centerline goodness [0,1] 0.9987449536678729 Centerline is valid? [True, True] Translation: X:719.21, Y:-55.85, Z:2.16 [[ 9.87210645e-01 1.59330597e-01 -5.37620742e-03 7.19206180e+02] [-1.59327930e-01 9.87225282e-01 9.23593929e-04 -5.58498291e+01] [ 5.45468466e-03 -5.52017587e-05 9.99985122e-01 2.16004847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.620714057 meters Centerline goodness [0,1] 0.9984075098482944 Centerline is valid? [True, True] Translation: X:719.24, Y:-55.86, Z:2.16 [[ 9.87212008e-01 1.59338600e-01 -4.86436925e-03 7.19237790e+02] [-1.59336411e-01 9.87223991e-01 8.36950032e-04 -5.58562731e+01] [ 4.93558047e-03 -5.11759861e-05 9.99987819e-01 2.16051836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.650714057 meters Centerline goodness [0,1] 0.9983799023733378 Centerline is valid? [True, True] Translation: X:719.27, Y:-55.86, Z:2.16 [[ 9.87199642e-01 1.59425185e-01 -4.52519368e-03 7.19269967e+02] [-1.59423286e-01 9.87210012e-01 7.79674881e-04 -5.58615292e+01] [ 4.59161632e-03 -4.82735188e-05 9.99989457e-01 2.16108881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6807140569999 meters Centerline goodness [0,1] 0.9987676755018067 Centerline is valid? [True, True] Translation: X:719.30, Y:-55.87, Z:2.16 [[ 9.87586646e-01 1.57001237e-01 -4.81948052e-03 7.19300011e+02] [-1.56999046e-01 9.87598404e-01 8.32003628e-04 -5.58704234e+01] [ 4.89033686e-03 -6.50218282e-05 9.99988040e-01 2.16220744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7107140569999 meters Centerline goodness [0,1] 0.9983059000690189 Centerline is valid? [True, True] Translation: X:719.33, Y:-55.88, Z:2.16 [[ 9.87817980e-01 1.55530116e-01 -5.10109858e-03 7.19331097e+02] [-1.55527635e-01 9.87831148e-01 8.81889630e-04 -5.58787578e+01] [ 5.17618446e-03 -7.77846326e-05 9.99986600e-01 2.16309178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.740714057 meters Centerline goodness [0,1] 0.9988731688994616 Centerline is valid? [True, True] Translation: X:719.36, Y:-55.89, Z:2.16 [[ 9.88611285e-01 1.50412043e-01 -4.89321677e-03 7.19361473e+02] [-1.50409692e-01 9.88623390e-01 8.47121707e-04 -5.58895828e+01] [ 4.96496586e-03 -1.01486854e-04 9.99987669e-01 2.16447402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.770714057 meters Centerline goodness [0,1] 0.9989907697483232 Centerline is valid? [True, True] Translation: X:719.39, Y:-55.90, Z:2.16 [[ 9.89127035e-01 1.47003359e-01 -4.20968740e-03 7.19392948e+02] [-1.47001583e-01 9.89135988e-01 7.29913679e-04 -5.58959237e+01] [ 4.27125307e-03 -1.03146641e-04 9.99990873e-01 2.16473029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8007140569999 meters Centerline goodness [0,1] 0.9993723718069416 Centerline is valid? [True, True] Translation: X:719.42, Y:-55.90, Z:2.16 [[ 9.89619985e-01 1.43645986e-01 -4.25634217e-03 7.19424041e+02] [-1.43644138e-01 9.89629131e-01 7.38321176e-04 -5.59037340e+01] [ 4.31825708e-03 -1.19258789e-04 9.99990669e-01 2.16494104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8307140569999 meters Centerline goodness [0,1] 0.9996023357542017 Centerline is valid? [True, True] Translation: X:719.45, Y:-55.91, Z:2.16 [[ 9.90610161e-01 1.36633189e-01 -4.78343350e-03 7.19452925e+02] [-1.36630771e-01 9.90621695e-01 8.30286198e-04 -5.59143083e+01] [ 4.85201765e-03 -1.68925737e-04 9.99988215e-01 2.16453291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8607140569999 meters Centerline goodness [0,1] 0.9998538744154977 Centerline is valid? [True, True] Translation: X:719.48, Y:-55.92, Z:2.16 [[ 9.91018937e-01 1.33616649e-01 -5.29702793e-03 7.19483608e+02] [-1.33613642e-01 9.91033072e-01 9.19151840e-04 -5.59232414e+01] [ 5.37234385e-03 -2.03141686e-04 9.99985548e-01 2.16423724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.890714057 meters Centerline goodness [0,1] 0.9997905978431578 Centerline is valid? [True, True] Translation: X:719.51, Y:-55.93, Z:2.16 [[ 9.91587615e-01 1.29318091e-01 -5.55271325e-03 7.19512213e+02] [-1.29314710e-01 9.91603133e-01 9.65090097e-04 -5.59322132e+01] [ 5.63089147e-03 -2.38923882e-04 9.99984118e-01 2.16462838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9207140569999 meters Centerline goodness [0,1] 0.9996453974677207 Centerline is valid? [True, True] Translation: X:719.54, Y:-55.94, Z:2.17 [[ 9.91718429e-01 1.28318425e-01 -5.37962999e-03 7.19544041e+02] [-1.28315239e-01 9.91732991e-01 9.34729072e-04 -5.59376776e+01] [ 5.45509950e-03 -2.36699541e-04 9.99985093e-01 2.16538348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9507140569999 meters Centerline goodness [0,1] 0.9992883307169022 Centerline is valid? [True, True] Translation: X:719.58, Y:-55.94, Z:2.17 [[ 9.91682977e-01 1.28613514e-01 -4.84116221e-03 7.19577049e+02] [-1.28610932e-01 9.91694771e-01 8.42140813e-04 -5.59425941e+01] [ 4.90926594e-03 -2.12510324e-04 9.99987927e-01 2.16649842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9807140569999 meters Centerline goodness [0,1] 0.9995618701883958 Centerline is valid? [True, True] Translation: X:719.61, Y:-55.95, Z:2.17 [[ 9.91395820e-01 1.30820076e-01 -4.52061834e-03 7.19607815e+02] [-1.30817840e-01 9.91406108e-01 7.88038712e-04 -5.59459881e+01] [ 4.58485992e-03 -1.89880756e-04 9.99989471e-01 2.16757277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.010714057 meters Centerline goodness [0,1] 0.9994769436772952 Centerline is valid? [True, True] Translation: X:719.64, Y:-55.95, Z:2.17 [[ 9.91077074e-01 1.33227365e-01 -4.08696291e-03 7.19639588e+02] [-1.33225558e-01 9.91085487e-01 7.12565220e-04 -5.59462435e+01] [ 4.14546282e-03 -1.61719138e-04 9.99991394e-01 2.16803141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.040714057 meters Centerline goodness [0,1] 0.9991632674406443 Centerline is valid? [True, True] Translation: X:719.67, Y:-55.94, Z:2.17 [[ 9.90153642e-01 1.39968243e-01 -2.15771513e-03 7.19671599e+02] [-1.39967755e-01 9.90155991e-01 3.76211623e-04 -5.59444109e+01] [ 2.18913224e-03 -7.04967667e-05 9.99997601e-01 2.16941557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0707140569999 meters Centerline goodness [0,1] 0.9993723324127542 Centerline is valid? [True, True] Translation: X:719.70, Y:-55.95, Z:2.17 [[ 9.89582936e-01 1.43958308e-01 -1.27183049e-03 7.19702165e+02] [-1.43958142e-01 9.89583753e-01 2.21659436e-04 -5.59475631e+01] [ 1.29049251e-03 -3.62600401e-05 9.99999167e-01 2.17055732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1007140569999 meters Centerline goodness [0,1] 0.9988913757399543 Centerline is valid? [True, True] Translation: X:719.73, Y:-55.95, Z:2.17 [[ 9.88937148e-01 1.48334409e-01 -4.69500423e-04 7.19734195e+02] [-1.48334387e-01 9.88937259e-01 8.15800929e-05 -5.59483831e+01] [ 4.76407597e-04 -1.10345269e-05 9.99999886e-01 2.17086020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.130714057 meters Centerline goodness [0,1] 0.9989115646258503 Centerline is valid? [True, True] Translation: X:719.77, Y:-55.95, Z:2.17 [[ 9.88325867e-01 1.52354616e-01 2.27126808e-04 7.19765326e+02] [-1.52354611e-01 9.88325893e-01 -4.12379812e-05 -5.59508431e+01] [-2.30758102e-04 6.15274717e-06 9.99999973e-01 2.17147553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.160714057 meters Centerline goodness [0,1] 0.9989133387666395 Centerline is valid? [True, True] Translation: X:719.80, Y:-55.95, Z:2.17 [[ 9.87250341e-01 1.59173869e-01 6.66043662e-04 7.19796532e+02] [-1.59173826e-01 9.87250566e-01 -1.16662026e-04 -5.59511091e+01] [-6.76121528e-04 9.15790691e-06 9.99999771e-01 2.17157297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1907140569999 meters Centerline goodness [0,1] 0.9984543403793132 Centerline is valid? [True, True] Translation: X:719.83, Y:-55.95, Z:2.17 [[ 9.86685750e-01 1.62633679e-01 1.23161624e-03 7.19827710e+02] [-1.62633535e-01 9.86686519e-01 -2.17040587e-04 -5.59543574e+01] [-1.25051725e-03 1.38487512e-05 9.99999218e-01 2.17125620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2207140569999 meters Centerline goodness [0,1] 0.9987456620813647 Centerline is valid? [True, True] Translation: X:719.86, Y:-55.96, Z:2.17 [[ 9.85942749e-01 1.67078177e-01 1.33367796e-03 7.19860287e+02] [-1.67078011e-01 9.85943651e-01 -2.35396634e-04 -5.59558993e+01] [-1.35426096e-03 9.25934328e-06 9.99999083e-01 2.16969618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.250714057 meters Centerline goodness [0,1] 0.9983477296969443 Centerline is valid? [True, True] Translation: X:719.89, Y:-55.96, Z:2.17 [[ 9.85636316e-01 1.68875976e-01 1.39910117e-03 7.19892516e+02] [-1.68875794e-01 9.85637309e-01 -2.47522381e-04 -5.59610224e+01] [-1.42080689e-03 7.69272754e-06 9.99998991e-01 2.16947755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.280714057 meters Centerline goodness [0,1] 0.9982651952177911 Centerline is valid? [True, True] Translation: X:719.92, Y:-55.97, Z:2.17 [[ 9.85403360e-01 1.70228395e-01 1.58472407e-03 7.19924483e+02] [-1.70228164e-01 9.85404634e-01 -2.80602027e-04 -5.59670295e+01] [-1.60936088e-03 6.74151199e-06 9.99998705e-01 2.16914689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3107140569999 meters Centerline goodness [0,1] 0.998675580221998 Centerline is valid? [True, True] Translation: X:719.96, Y:-55.97, Z:2.17 [[ 9.85251377e-01 1.71103648e-01 1.80731458e-03 7.19955150e+02] [-1.71103349e-01 9.85253034e-01 -3.20107009e-04 -5.59747125e+01] [-1.83543365e-03 6.14829440e-06 9.99998316e-01 2.16902324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3407140569999 meters Centerline goodness [0,1] 0.9985567269076305 Centerline is valid? [True, True] Translation: X:719.99, Y:-55.98, Z:2.17 [[ 9.85191505e-01 1.71447847e-01 1.82604013e-03 7.19985968e+02] [-1.71447542e-01 9.85193197e-01 -3.23860957e-04 -5.59816936e+01] [-1.85452758e-03 5.99497192e-06 9.99998280e-01 2.16829106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.370714057 meters Centerline goodness [0,1] 0.9987873465888896 Centerline is valid? [True, True] Translation: X:720.02, Y:-55.99, Z:2.17 [[ 9.85162548e-01 1.71617287e-01 1.50369600e-03 7.20017978e+02] [-1.71617079e-01 9.85163695e-01 -2.67547563e-04 -5.59889260e+01] [-1.52730250e-03 5.51792296e-06 9.99998834e-01 2.16784928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.400714057 meters Centerline goodness [0,1] 0.9986768319576587 Centerline is valid? [True, True] Translation: X:720.05, Y:-56.00, Z:2.17 [[ 9.84836188e-01 1.73481090e-01 1.41209122e-03 7.20050276e+02] [-1.73480907e-01 9.84837200e-01 -2.51812337e-04 -5.59981106e+01] [-1.43436464e-03 3.02303593e-06 9.99998971e-01 2.16690948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4307140569999 meters Centerline goodness [0,1] 0.9983078465780898 Centerline is valid? [True, True] Translation: X:720.08, Y:-56.01, Z:2.17 [[ 9.84649166e-01 1.74544328e-01 5.45404358e-04 7.20081107e+02] [-1.74544300e-01 9.84649317e-01 -9.75335809e-05 -5.60052326e+01] [-5.54055962e-04 8.39137036e-07 9.99999847e-01 2.16668937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4607140569999 meters Centerline goodness [0,1] 0.9986155395200537 Centerline is valid? [True, True] Translation: X:720.11, Y:-56.01, Z:2.17 [[ 9.84287503e-01 1.76571213e-01 8.47078500e-04 7.20113374e+02] [-1.76571147e-01 9.84287868e-01 -1.52185963e-04 -5.60148248e+01] [-8.60640751e-04 2.25119530e-07 9.99999630e-01 2.16582268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.490714057 meters Centerline goodness [0,1] 0.998342147234114 Centerline is valid? [True, True] Translation: X:720.14, Y:-56.02, Z:2.17 [[ 9.84202060e-01 1.77045073e-01 1.16108203e-03 7.20144772e+02] [-1.77044951e-01 9.84202744e-01 -2.08081981e-04 -5.60223346e+01] [-1.17958001e-03 -7.68997608e-07 9.99999304e-01 2.16666980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.520714057 meters Centerline goodness [0,1] 0.9980465057659588 Centerline is valid? [True, True] Translation: X:720.18, Y:-56.03, Z:2.17 [[ 9.84091551e-01 1.77656962e-01 1.35012894e-03 7.20176987e+02] [-1.77656797e-01 9.84092477e-01 -2.42186034e-04 -5.60308837e+01] [-1.37167777e-03 -1.52635271e-06 9.99999059e-01 2.16701647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5507140569999 meters Centerline goodness [0,1] 0.9980353634577603 Centerline is valid? [True, True] Translation: X:720.21, Y:-56.04, Z:2.17 [[ 9.84126655e-01 1.77456554e-01 1.97452197e-03 7.20207869e+02] [-1.77456201e-01 9.84128636e-01 -3.53718349e-04 -5.60420441e+01] [-2.00595325e-03 -2.28751165e-06 9.99997988e-01 2.16808145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5807140569999 meters Centerline goodness [0,1] 0.9977315213510051 Centerline is valid? [True, True] Translation: X:720.24, Y:-56.05, Z:2.17 [[ 9.84196971e-01 1.77055396e-01 2.77633671e-03 7.20238487e+02] [-1.77054698e-01 9.84200887e-01 -4.97335586e-04 -5.60511079e+01] [-2.82052900e-03 -2.08727837e-06 9.99996022e-01 2.16856646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6107140569999 meters Centerline goodness [0,1] 0.9975201227329088 Centerline is valid? [True, True] Translation: X:720.27, Y:-56.06, Z:2.17 [[ 9.84329904e-01 1.76313735e-01 2.84731815e-03 7.20270616e+02] [-1.76312994e-01 9.84334022e-01 -5.10923871e-04 -5.60608847e+01] [-2.89279503e-03 8.98455295e-07 9.99995816e-01 2.16930937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.640714057 meters Centerline goodness [0,1] 0.9978978347698129 Centerline is valid? [True, True] Translation: X:720.30, Y:-56.07, Z:2.17 [[ 9.84538235e-01 1.75141710e-01 3.13775338e-03 7.20302075e+02] [-1.75140803e-01 9.84543235e-01 -5.63846455e-04 -5.60712113e+01] [-3.18800690e-03 5.57974756e-06 9.99994918e-01 2.16887464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6707140569999 meters Centerline goodness [0,1] 0.9979411764705882 Centerline is valid? [True, True] Translation: X:720.33, Y:-56.08, Z:2.17 [[ 9.85290782e-01 1.70855225e-01 3.25068259e-03 7.20332220e+02] [-1.70854226e-01 9.85296144e-01 -5.84674598e-04 -5.60849881e+01] [-3.30277973e-03 2.06816345e-05 9.99994546e-01 2.16910397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7007140569999 meters Centerline goodness [0,1] 0.9978571878742043 Centerline is valid? [True, True] Translation: X:720.36, Y:-56.09, Z:2.17 [[ 9.85731885e-01 1.68295897e-01 3.02351526e-03 7.20362203e+02] [-1.68295019e-01 9.85736522e-01 -5.44515352e-04 -5.60942567e+01] [-3.07202912e-03 2.79035861e-05 9.99995281e-01 2.16867753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7307140569999 meters Centerline goodness [0,1] 0.9983324995831249 Centerline is valid? [True, True] Translation: X:720.39, Y:-56.11, Z:2.17 [[ 9.86740391e-01 1.62286952e-01 2.51928092e-03 7.20391294e+02] [-1.62286320e-01 9.86743606e-01 -4.54533301e-04 -5.61093099e+01] [-2.55964917e-03 3.96615368e-05 9.99996723e-01 2.16847988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.760714057 meters Centerline goodness [0,1] 0.9973692518152163 Centerline is valid? [True, True] Translation: X:720.42, Y:-56.12, Z:2.17 [[ 9.87186808e-01 1.59527648e-01 3.62422941e-03 7.20422300e+02] [-1.59526321e-01 9.87193459e-01 -6.54291764e-04 -5.61181240e+01] [-3.68219319e-03 6.77482147e-05 9.99993218e-01 2.16758400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.790714057 meters Centerline goodness [0,1] 0.9982092822381865 Centerline is valid? [True, True] Translation: X:720.45, Y:-56.13, Z:2.17 [[ 9.87534598e-01 1.57362727e-01 3.52003753e-03 7.20452873e+02] [-1.57361457e-01 9.87540868e-01 -6.36416849e-04 -5.61284725e+01] [-3.57632921e-03 7.45654207e-05 9.99993602e-01 2.16772994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8207140569999 meters Centerline goodness [0,1] 0.9984649353380296 Centerline is valid? [True, True] Translation: X:720.48, Y:-56.14, Z:2.17 [[ 9.88046873e-01 1.54130445e-01 2.68007441e-03 7.20482223e+02] [-1.54129695e-01 9.88050506e-01 -4.85447692e-04 -5.61405512e+01] [-2.72287115e-03 6.65660227e-05 9.99996291e-01 2.16717080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8507140569999 meters Centerline goodness [0,1] 0.9985476436043697 Centerline is valid? [True, True] Translation: X:720.51, Y:-56.15, Z:2.17 [[ 9.88115476e-01 1.53701323e-01 1.92591846e-03 7.20514588e+02] [-1.53700932e-01 9.88117352e-01 -3.50173238e-04 -5.61478136e+01] [-1.95685554e-03 4.99961338e-05 9.99998084e-01 2.16644282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.880714057 meters Centerline goodness [0,1] 0.9983470728543332 Centerline is valid? [True, True] Translation: X:720.55, Y:-56.15, Z:2.17 [[ 9.88155192e-01 1.53456815e-01 5.68067325e-04 7.20546401e+02] [-1.53456780e-01 9.88155355e-01 -1.04768839e-04 -5.61544631e+01] [-5.77416262e-04 1.63540892e-05 9.99999833e-01 2.16584132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.910714057 meters Centerline goodness [0,1] 0.9983840842794485 Centerline is valid? [True, True] Translation: X:720.58, Y:-56.16, Z:2.16 [[ 9.88043441e-01 1.54172689e-01 -9.69531324e-04 7.20576186e+02] [-1.54172592e-01 9.88043917e-01 1.74339730e-04 -5.61640853e+01] [ 9.84817952e-04 -2.27800688e-05 9.99999515e-01 2.16498047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9407140569999 meters Centerline goodness [0,1] 0.9984647093463448 Centerline is valid? [True, True] Translation: X:720.61, Y:-56.17, Z:2.16 [[ 9.87914875e-01 1.54990796e-01 -1.43307180e-03 7.20607479e+02] [-1.54990584e-01 9.87915913e-01 2.58723538e-04 -5.61701245e+01] [ 1.45585420e-03 -3.34841977e-05 9.99998940e-01 2.16484907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9707140569999 meters Centerline goodness [0,1] 0.998293982602835 Centerline is valid? [True, True] Translation: X:720.64, Y:-56.17, Z:2.16 [[ 9.87763110e-01 1.55959410e-01 -8.37641104e-04 7.20639027e+02] [-1.55959339e-01 9.87763465e-01 1.50728678e-04 -5.61744337e+01] [ 8.50898834e-04 -1.82462747e-05 9.99999638e-01 2.16482017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.000714057 meters Centerline goodness [0,1] 0.9985681196041272 Centerline is valid? [True, True] Translation: X:720.67, Y:-56.18, Z:2.17 [[ 9.87377122e-01 1.58383871e-01 -9.83880888e-04 7.20670096e+02] [-1.58383773e-01 9.87377612e-01 1.77574060e-04 -5.61803839e+01] [ 9.99586829e-04 -1.95017972e-05 9.99999500e-01 2.16532269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.030714057 meters Centerline goodness [0,1] 0.9985681196041272 Centerline is valid? [True, True] Translation: X:720.70, Y:-56.19, Z:2.17 [[ 9.87334266e-01 1.58650811e-01 -9.83872939e-04 7.20702028e+02] [-1.58650712e-01 9.87334756e-01 1.77618854e-04 -5.61862756e+01] [ 9.99591323e-04 -1.92770379e-05 9.99999500e-01 2.16553745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0607140569999 meters Centerline goodness [0,1] 0.9986942695280416 Centerline is valid? [True, True] Translation: X:720.73, Y:-56.19, Z:2.17 [[ 9.86971100e-01 1.60889118e-01 -1.65524484e-03 7.20733969e+02] [-1.60888840e-01 9.86972487e-01 3.00699414e-04 -5.61916934e+01] [ 1.68206038e-03 -3.04712090e-05 9.99998585e-01 2.16536535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0907140569999 meters Centerline goodness [0,1] 0.9983395687082265 Centerline is valid? [True, True] Translation: X:720.77, Y:-56.19, Z:2.16 [[ 9.86268183e-01 1.65134293e-01 -2.39500653e-03 7.20766352e+02] [-1.65133721e-01 9.86271090e-01 4.36342013e-04 -5.61949997e+01] [ 2.43418074e-03 -3.48539042e-05 9.99997037e-01 2.16449391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.120714057 meters Centerline goodness [0,1] 0.9987786388140162 Centerline is valid? [True, True] Translation: X:720.80, Y:-56.20, Z:2.16 [[ 9.85965166e-01 1.66941532e-01 -1.79338541e-03 7.20797655e+02] [-1.66941214e-01 9.85966797e-01 3.26775499e-04 -5.62000517e+01] [ 1.82277087e-03 -2.27993212e-05 9.99998338e-01 2.16495316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.150714057 meters Centerline goodness [0,1] 0.9984447246742328 Centerline is valid? [True, True] Translation: X:720.83, Y:-56.21, Z:2.17 [[ 9.85718301e-01 1.68394866e-01 -1.61264964e-03 7.20828463e+02] [-1.68394610e-01 9.85719620e-01 2.94178634e-04 -5.62071799e+01] [ 1.63915856e-03 -1.84157568e-05 9.99998656e-01 2.16586912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1807140569999 meters Centerline goodness [0,1] 0.9981088861339329 Centerline is valid? [True, True] Translation: X:720.86, Y:-56.21, Z:2.17 [[ 9.85507360e-01 1.69631398e-01 6.57565274e-04 7.20861363e+02] [-1.69631354e-01 9.85507579e-01 -1.22687981e-04 -5.62127807e+01] [-6.68847295e-04 9.36622066e-06 9.99999776e-01 2.16654952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2107140569999 meters Centerline goodness [0,1] 0.9985927621768079 Centerline is valid? [True, True] Translation: X:720.89, Y:-56.22, Z:2.17 [[ 9.85470945e-01 1.69837282e-01 1.52124715e-03 7.20893360e+02] [-1.69837049e-01 9.85472119e-01 -2.81756941e-04 -5.62201388e+01] [-1.54699949e-03 1.92991522e-05 9.99998803e-01 2.16783786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.240714057 meters Centerline goodness [0,1] 0.9976062489501092 Centerline is valid? [True, True] Translation: X:720.92, Y:-56.23, Z:2.17 [[ 9.85468788e-01 1.69841453e-01 2.26922633e-03 7.20924377e+02] [-1.69840938e-01 9.85471400e-01 -4.19028486e-04 -5.62273501e+01] [-2.30742606e-03 2.75319648e-05 9.99997338e-01 2.16909363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.270714057 meters Centerline goodness [0,1] 0.9977130148339313 Centerline is valid? [True, True] Translation: X:720.96, Y:-56.23, Z:2.17 [[ 9.85406946e-01 1.70173057e-01 3.77916142e-03 7.20955686e+02] [-1.70171630e-01 9.85414191e-01 -6.98530520e-04 -5.62347638e+01] [-3.84291037e-03 4.52307687e-05 9.99992615e-01 2.16934321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3007140569999 meters Centerline goodness [0,1] 0.9978779283538187 Centerline is valid? [True, True] Translation: X:720.99, Y:-56.24, Z:2.17 [[ 9.85352596e-01 1.70490423e-01 3.64382920e-03 7.20987784e+02] [-1.70489092e-01 9.85359332e-01 -6.74958862e-04 -5.62410467e+01] [-3.70555513e-03 4.38393343e-05 9.99993133e-01 2.16918389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3307140569999 meters Centerline goodness [0,1] 0.9975660420906859 Centerline is valid? [True, True] Translation: X:721.02, Y:-56.25, Z:2.17 [[ 9.85312618e-01 1.70740666e-01 2.58275473e-03 7.21017858e+02] [-1.70739997e-01 9.85316002e-01 -4.79229914e-04 -5.62474986e+01] [-2.62665360e-03 3.12117475e-05 9.99996550e-01 2.16851263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3607140569999 meters Centerline goodness [0,1] 0.997398073735233 Centerline is valid? [True, True] Translation: X:721.05, Y:-56.25, Z:2.17 [[ 9.85137634e-01 1.71746994e-01 2.61006349e-03 7.21050216e+02] [-1.71746310e-01 9.85141091e-01 -4.85425309e-04 -5.62537597e+01] [-2.65465113e-03 2.99419667e-05 9.99996476e-01 2.16818298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.390714057 meters Centerline goodness [0,1] 0.9978580428391433 Centerline is valid? [True, True] Translation: X:721.08, Y:-56.26, Z:2.17 [[ 9.84932486e-01 1.72929634e-01 1.82745553e-03 7.21081942e+02] [-1.72929299e-01 9.84934181e-01 -3.40697519e-04 -5.62600235e+01] [-1.85884012e-03 1.95434494e-05 9.99998272e-01 2.16793641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4207140569999 meters Centerline goodness [0,1] 0.9976898036333088 Centerline is valid? [True, True] Translation: X:721.11, Y:-56.27, Z:2.17 [[ 9.84725631e-01 1.74109628e-01 1.12688343e-03 7.21113971e+02] [-1.74109502e-01 9.84726275e-01 -2.09748576e-04 -5.62662718e+01] [-1.14619097e-03 1.03436864e-05 9.99999343e-01 2.16773002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4507140569999 meters Centerline goodness [0,1] 0.9974346034149214 Centerline is valid? [True, True] Translation: X:721.14, Y:-56.27, Z:2.17 [[ 9.84054167e-01 1.77866406e-01 -9.68369859e-04 7.21144941e+02] [-1.77866316e-01 9.84054644e-01 1.78294480e-04 -5.62727137e+01] [ 9.84641455e-04 -3.21104582e-06 9.99999515e-01 2.16730517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4807140569999 meters Centerline goodness [0,1] 0.9973535527504148 Centerline is valid? [True, True] Translation: X:721.18, Y:-56.28, Z:2.17 [[ 9.83622439e-01 1.80228072e-01 -2.17707529e-03 7.21176403e+02] [-1.80227620e-01 9.83624848e-01 4.03507776e-04 -5.62770517e+01] [ 2.21414878e-03 -4.53020388e-06 9.99997549e-01 2.16567610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.510714057 meters Centerline goodness [0,1] 0.9969948513186929 Centerline is valid? [True, True] Translation: X:721.21, Y:-56.28, Z:2.16 [[ 9.83200910e-01 1.82492983e-01 -3.50456193e-03 7.21208778e+02] [-1.82491820e-01 9.83207156e-01 6.51354679e-04 -5.62833272e+01] [ 3.56457803e-03 -8.58626671e-07 9.99993647e-01 2.16465841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.540714057 meters Centerline goodness [0,1] 0.9968455585464334 Centerline is valid? [True, True] Translation: X:721.24, Y:-56.29, Z:2.16 [[ 9.83194086e-01 1.82524020e-01 -3.79108594e-03 7.21240771e+02] [-1.82522655e-01 9.83201395e-01 7.05867637e-04 -5.62908334e+01] [ 3.85623878e-03 -2.04581620e-06 9.99992565e-01 2.16495762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5707140569999 meters Centerline goodness [0,1] 0.99739490325427 Centerline is valid? [True, True] Translation: X:721.27, Y:-56.30, Z:2.17 [[ 9.83280010e-01 1.82065541e-01 -3.54402819e-03 7.21272361e+02] [-1.82064342e-01 9.83286397e-01 6.60754358e-04 -5.62993416e+01] [ 3.60509531e-03 -4.46539066e-06 9.99993502e-01 2.16567103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6007140569999 meters Centerline goodness [0,1] 0.9970739922113462 Centerline is valid? [True, True] Translation: X:721.30, Y:-56.31, Z:2.17 [[ 9.83881022e-01 1.78799458e-01 -2.98129964e-03 7.21303209e+02] [-1.78798593e-01 9.83885539e-01 5.56545762e-04 -5.63112002e+01] [ 3.03276768e-03 -1.45226338e-05 9.99995401e-01 2.16657247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.630714057 meters Centerline goodness [0,1] 0.9975414486541008 Centerline is valid? [True, True] Translation: X:721.33, Y:-56.32, Z:2.17 [[ 9.84196108e-01 1.77057499e-01 -2.94319857e-03 7.21334403e+02] [-1.77056646e-01 9.84200509e-01 5.50178117e-04 -5.63196229e+01] [ 2.99411069e-03 -2.03702964e-05 9.99995517e-01 2.16719451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.660714057 meters Centerline goodness [0,1] 0.9971421366731109 Centerline is valid? [True, True] Translation: X:721.37, Y:-56.33, Z:2.17 [[ 9.84488807e-01 1.75424478e-01 -2.83591682e-03 7.21365451e+02] [-1.75423677e-01 9.84492891e-01 5.30793246e-04 -5.63273070e+01] [ 2.88505408e-03 -2.50730540e-05 9.99995838e-01 2.16763108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6907140569999 meters Centerline goodness [0,1] 0.9970815486688502 Centerline is valid? [True, True] Translation: X:721.39, Y:-56.34, Z:2.17 [[ 9.85148352e-01 1.71698338e-01 -1.55074694e-03 7.21394753e+02] [-1.71698092e-01 9.85149573e-01 2.90983896e-04 -5.63374999e+01] [ 1.57767914e-03 -2.04020139e-05 9.99998755e-01 2.16850082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7207140569999 meters Centerline goodness [0,1] 0.9975275013095861 Centerline is valid? [True, True] Translation: X:721.43, Y:-56.34, Z:2.17 [[ 9.85429325e-01 1.70083497e-01 -8.05803130e-04 7.21425763e+02] [-1.70083431e-01 9.85429655e-01 1.49859832e-04 -5.63447520e+01] [ 8.19550984e-04 -1.06225121e-05 9.99999664e-01 2.16910556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.750714057 meters Centerline goodness [0,1] 0.9979220452112587 Centerline is valid? [True, True] Translation: X:721.45, Y:-56.36, Z:2.17 [[ 9.85999757e-01 1.66746622e-01 2.05766551e-04 7.21454756e+02] [-1.66746618e-01 9.85999779e-01 -3.95533802e-05 -5.63566786e+01] [-2.09481167e-04 4.68874677e-06 9.99999978e-01 2.17084061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.780714057 meters Centerline goodness [0,1] 0.9970790955703118 Centerline is valid? [True, True] Translation: X:721.49, Y:-56.36, Z:2.17 [[ 9.86305258e-01 1.64929550e-01 4.27173657e-04 7.21486819e+02] [-1.64929529e-01 9.86305350e-01 -8.21463768e-05 -5.63617823e+01] [-4.34872029e-04 1.05678530e-05 9.99999905e-01 2.17043315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8107140569999 meters Centerline goodness [0,1] 0.9977315213510051 Centerline is valid? [True, True] Translation: X:721.52, Y:-56.37, Z:2.17 [[ 9.86558377e-01 1.63406164e-01 9.97065262e-04 7.21517967e+02] [-1.63406056e-01 9.86558881e-01 -1.89811454e-04 -5.63687858e+01] [-1.01467995e-03 2.43335777e-05 9.99999485e-01 2.17096468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8407140569999 meters Centerline goodness [0,1] 0.9978599303428307 Centerline is valid? [True, True] Translation: X:721.55, Y:-56.38, Z:2.17 [[ 9.87086351e-01 1.60181939e-01 1.51050574e-03 7.21547663e+02] [-1.60181687e-01 9.87087506e-01 -2.86920586e-04 -5.63777065e+01] [-1.53696084e-03 4.12600367e-05 9.99998818e-01 2.17206282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.870714057 meters Centerline goodness [0,1] 0.9975239733932056 Centerline is valid? [True, True] Translation: X:721.58, Y:-56.38, Z:2.17 [[ 9.87288456e-01 1.58927680e-01 1.87015958e-03 7.21579414e+02] [-1.58927291e-01 9.87290226e-01 -3.55495126e-04 -5.63828553e+01] [-1.90288829e-03 5.37568383e-05 9.99998188e-01 2.17186519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.900714057 meters Centerline goodness [0,1] 0.9980696600923206 Centerline is valid? [True, True] Translation: X:721.61, Y:-56.39, Z:2.17 [[ 9.87348575e-01 1.58557241e-01 1.54661279e-03 7.21609692e+02] [-1.58556974e-01 9.87349786e-01 -2.94518944e-04 -5.63916486e+01] [-1.57374592e-03 4.55666158e-05 9.99998761e-01 2.17282873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9307140569999 meters Centerline goodness [0,1] 0.9984440052146852 Centerline is valid? [True, True] Translation: X:721.64, Y:-56.40, Z:2.17 [[ 9.87308097e-01 1.58814806e-01 7.61488295e-04 7.21642161e+02] [-1.58814740e-01 9.87308390e-01 -1.46283477e-04 -5.63961677e+01] [-7.75055764e-04 2.34912958e-05 9.99999699e-01 2.17170342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9607140569999 meters Centerline goodness [0,1] 0.9984471397993873 Centerline is valid? [True, True] Translation: X:721.67, Y:-56.40, Z:2.17 [[ 9.87358391e-01 1.58503212e-01 3.73091396e-04 7.21674170e+02] [-1.58503196e-01 9.87358462e-01 -7.24604015e-05 -5.64015637e+01] [-3.79860154e-04 1.24082068e-05 9.99999928e-01 2.17120136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.990714057 meters Centerline goodness [0,1] 0.9976668418286916 Centerline is valid? [True, True] Translation: X:721.71, Y:-56.41, Z:2.17 [[ 9.87669729e-01 1.56551718e-01 -2.55282944e-04 7.21706021e+02] [-1.56551711e-01 9.87669762e-01 4.69116162e-05 -5.64062387e+01] [ 2.59479339e-04 -6.36820153e-06 9.99999966e-01 2.16948855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.020714057 meters Centerline goodness [0,1] 0.9982567786108836 Centerline is valid? [True, True] Translation: X:721.74, Y:-56.41, Z:2.17 [[ 9.87869390e-01 1.55286937e-01 -1.86286337e-04 7.21737313e+02] [-1.55286933e-01 9.87869408e-01 3.39125554e-05 -5.64111493e+01] [ 1.89292750e-04 -4.57334140e-06 9.99999982e-01 2.16917529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0507140569999 meters Centerline goodness [0,1] 0.9977932367962001 Centerline is valid? [True, True] Translation: X:721.77, Y:-56.42, Z:2.17 [[ 9.88179828e-01 1.53299076e-01 -1.42099802e-04 7.21767813e+02] [-1.53299074e-01 9.88179839e-01 2.55474507e-05 -5.64190415e+01] [ 1.44336560e-04 -3.46170744e-06 9.99999990e-01 2.16955878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0807140569999 meters Centerline goodness [0,1] 0.9982334756366849 Centerline is valid? [True, True] Translation: X:721.80, Y:-56.42, Z:2.17 [[ 9.88543539e-01 1.50935760e-01 -2.60481061e-04 7.21799585e+02] [-1.50935753e-01 9.88543573e-01 4.92172111e-05 -5.64246495e+01] [ 2.64925516e-04 -9.33745109e-06 9.99999965e-01 2.16949242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1107140569999 meters Centerline goodness [0,1] 0.9987808466809602 Centerline is valid? [True, True] Translation: X:721.83, Y:-56.43, Z:2.17 [[ 9.89389421e-01 1.45287074e-01 -4.89948757e-04 7.21828465e+02] [-1.45287045e-01 9.89389542e-01 9.31999334e-05 -5.64322347e+01] [ 4.98290922e-04 -2.10278209e-05 9.99999876e-01 2.16930540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.140714057 meters Centerline goodness [0,1] 0.9986747722922232 Centerline is valid? [True, True] Translation: X:721.86, Y:-56.44, Z:2.17 [[ 9.89752429e-01 1.42791679e-01 -8.15462065e-04 7.21858605e+02] [-1.42791600e-01 9.89752765e-01 1.54294181e-04 -5.64399388e+01] [ 8.29137759e-04 -3.62719074e-05 9.99999656e-01 2.16945151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1707140569999 meters Centerline goodness [0,1] 0.9989464146490508 Centerline is valid? [True, True] Translation: X:721.89, Y:-56.44, Z:2.17 [[ 9.90352226e-01 1.38572869e-01 1.65591222e-04 7.21888894e+02] [-1.38572866e-01 9.90352240e-01 -3.17505055e-05 -5.64449171e+01] [-1.68393396e-04 8.49773358e-06 9.99999986e-01 2.17079811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2007140569999 meters Centerline goodness [0,1] 0.9989087322406666 Centerline is valid? [True, True] Translation: X:721.92, Y:-56.45, Z:2.17 [[ 9.90602876e-01 1.36766659e-01 9.07265682e-04 7.21920828e+02] [-1.36766557e-01 9.90603290e-01 -1.73869140e-04 -5.64482471e+01] [-9.22519871e-04 4.81516668e-05 9.99999573e-01 2.17133051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2307140569999 meters Centerline goodness [0,1] 0.9990165923880067 Centerline is valid? [True, True] Translation: X:721.95, Y:-56.46, Z:2.17 [[ 9.90753021e-01 1.35669047e-01 1.53635676e-03 7.21951489e+02] [-1.35668752e-01 9.90754209e-01 -2.95499336e-04 -5.64551591e+01] [-1.56224204e-03 8.43312564e-05 9.99998776e-01 2.17266785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.260714057 meters Centerline goodness [0,1] 0.9989487626936905 Centerline is valid? [True, True] Translation: X:721.98, Y:-56.45, Z:2.17 [[ 9.90944376e-01 1.34245348e-01 2.72586820e-03 7.21984678e+02] [-1.34244417e-01 9.90948113e-01 -5.22280317e-04 -5.64540361e+01] [-2.77130766e-03 1.51618154e-04 9.99996148e-01 2.17252819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.290714057 meters Centerline goodness [0,1] 0.9992254877334004 Centerline is valid? [True, True] Translation: X:722.02, Y:-56.46, Z:2.17 [[ 9.90945123e-01 1.34248068e-01 2.28445430e-03 7.22018005e+02] [-1.34247409e-01 9.90947748e-01 -4.39871238e-04 -5.64570465e+01] [-2.32282670e-03 1.29206187e-04 9.99997294e-01 2.17206642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3207140569999 meters Centerline goodness [0,1] 0.9994358074222668 Centerline is valid? [True, True] Translation: X:722.05, Y:-56.46, Z:2.17 [[ 9.91044698e-01 1.33511942e-01 2.22904129e-03 7.22048285e+02] [-1.33511315e-01 9.91047196e-01 -4.28455565e-04 -5.64618332e+01] [-2.26628905e-03 1.27016382e-04 9.99997424e-01 2.17204858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3507140569999 meters Centerline goodness [0,1] 0.9991642988467324 Centerline is valid? [True, True] Translation: X:722.08, Y:-56.47, Z:2.17 [[ 9.91095159e-01 1.33141689e-01 1.91762508e-03 7.22079928e+02] [-1.33141222e-01 9.91097007e-01 -3.69984993e-04 -5.64654585e+01] [-1.94981291e-03 1.11375389e-04 9.99998093e-01 2.17180938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.380714057 meters Centerline goodness [0,1] 0.998870174704467 Centerline is valid? [True, True] Translation: X:722.11, Y:-56.47, Z:2.17 [[ 9.91107424e-01 1.33049508e-01 1.97563169e-03 7.22112170e+02] [-1.33049010e-01 9.91109386e-01 -3.81640796e-04 -5.64678717e+01] [-2.00884423e-03 1.15391185e-04 9.99997976e-01 2.17165240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.410714057 meters Centerline goodness [0,1] 0.9994128378803447 Centerline is valid? [True, True] Translation: X:722.14, Y:-56.47, Z:2.17 [[ 9.91199446e-01 1.32376896e-01 1.25187543e-04 7.22143758e+02] [-1.32376894e-01 9.91199454e-01 -2.56118617e-05 -5.64703153e+01] [-1.27476243e-04 8.81452503e-06 9.99999992e-01 2.17136880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4407140569999 meters Centerline goodness [0,1] 0.9997903871549249 Centerline is valid? [True, True] Translation: X:722.18, Y:-56.47, Z:2.17 [[ 9.91228638e-01 1.32156854e-01 -5.93641966e-04 7.22176053e+02] [-1.32156810e-01 9.91228816e-01 1.12850178e-04 -5.64704978e+01] [ 6.03348948e-04 -3.34064992e-05 9.99999817e-01 2.17140729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4707140569999 meters Centerline goodness [0,1] 0.9995804929208181 Centerline is valid? [True, True] Translation: X:722.21, Y:-56.47, Z:2.17 [[ 9.91208083e-01 1.32308351e-01 -1.01821350e-03 7.22207925e+02] [-1.32308221e-01 9.91208604e-01 1.94885618e-04 -5.64715112e+01] [ 1.03504698e-03 -5.84541828e-05 9.99999463e-01 2.17282333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.500714057 meters Centerline goodness [0,1] 0.9997061663098686 Centerline is valid? [True, True] Translation: X:722.24, Y:-56.47, Z:2.17 [[ 9.91125870e-01 1.32925230e-01 -6.27145211e-04 7.22240201e+02] [-1.32925181e-01 9.91126068e-01 1.19658756e-04 -5.64737796e+01] [ 6.37485634e-04 -3.52334979e-05 9.99999796e-01 2.17364815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.530714057 meters Centerline goodness [0,1] 0.9997270742358079 Centerline is valid? [True, True] Translation: X:722.27, Y:-56.48, Z:2.17 [[ 9.90996692e-01 1.33886018e-01 -2.99784253e-04 7.22272320e+02] [-1.33886007e-01 9.90996738e-01 5.64373996e-05 -5.64754883e+01] [ 3.04641395e-04 -1.57923598e-05 9.99999953e-01 2.17453823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5607140569999 meters Centerline goodness [0,1] 0.9997692227000944 Centerline is valid? [True, True] Translation: X:722.30, Y:-56.48, Z:2.18 [[ 9.90785782e-01 1.35436249e-01 -7.45617939e-04 7.22304827e+02] [-1.35436179e-01 9.90786062e-01 1.44036501e-04 -5.64755675e+01] [ 7.58255625e-04 -4.17256728e-05 9.99999712e-01 2.17516099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5907140569999 meters Centerline goodness [0,1] 0.9997484856741632 Centerline is valid? [True, True] Translation: X:722.34, Y:-56.47, Z:2.18 [[ 9.90045299e-01 1.40740154e-01 -1.58589283e-03 7.22336146e+02] [-1.40739842e-01 9.90046566e-01 3.07178722e-04 -5.64705140e+01] [ 1.61334013e-03 -8.09225448e-05 9.99998695e-01 2.17583065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.620714057 meters Centerline goodness [0,1] 0.9996224198691056 Centerline is valid? [True, True] Translation: X:722.37, Y:-56.46, Z:2.18 [[ 9.88829048e-01 1.49038507e-01 -2.15331506e-03 7.22369088e+02] [-1.49037952e-01 9.88831389e-01 4.16895116e-04 -5.64614904e+01] [ 2.19139895e-03 -9.13123340e-05 9.99997595e-01 2.17589472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.650714057 meters Centerline goodness [0,1] 0.9995385422128998 Centerline is valid? [True, True] Translation: X:722.40, Y:-56.46, Z:2.18 [[ 9.88162549e-01 1.53399749e-01 -1.81476366e-03 7.22401086e+02] [-1.53399362e-01 9.88164213e-01 3.51317044e-04 -5.64587195e+01] [ 1.84717645e-03 -6.87747582e-05 9.99998292e-01 2.17631732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6807140569999 meters Centerline goodness [0,1] 0.9993715829824672 Centerline is valid? [True, True] Translation: X:722.43, Y:-56.46, Z:2.18 [[ 9.87515066e-01 1.57516549e-01 -1.59087791e-03 7.22433347e+02] [-1.57516257e-01 9.87516346e-01 3.07899451e-04 -5.64573643e+01] [ 1.61951720e-03 -5.34662118e-05 9.99998687e-01 2.17714564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7107140569999 meters Centerline goodness [0,1] 0.999455314869904 Centerline is valid? [True, True] Translation: X:722.46, Y:-56.46, Z:2.18 [[ 9.86843700e-01 1.61671829e-01 -1.31562939e-03 7.22463800e+02] [-1.61671633e-01 9.86844577e-01 2.54729057e-04 -5.64586420e+01] [ 1.33950424e-03 -3.86778140e-05 9.99999102e-01 2.17824836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.740714057 meters Centerline goodness [0,1] 0.9988897035718026 Centerline is valid? [True, True] Translation: X:722.50, Y:-56.45, Z:2.18 [[ 9.85555133e-01 1.69345607e-01 -1.77356631e-03 7.22497049e+02] [-1.69345263e-01 9.85556728e-01 3.43443688e-04 -5.64499357e+01] [ 1.80611089e-03 -3.81376362e-05 9.99998368e-01 2.17797161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.770714057 meters Centerline goodness [0,1] 0.9990786498031661 Centerline is valid? [True, True] Translation: X:722.53, Y:-56.45, Z:2.18 [[ 9.84996117e-01 1.72559845e-01 -2.39794799e-03 7.22529178e+02] [-1.72559228e-01 9.84999034e-01 4.63510378e-04 -5.64512910e+01] [ 2.44195973e-03 -4.27678679e-05 9.99997017e-01 2.17880424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8007140569999 meters Centerline goodness [0,1] 0.9990162630554451 Centerline is valid? [True, True] Translation: X:722.56, Y:-56.45, Z:2.18 [[ 9.84036892e-01 1.77953108e-01 -2.02164744e-03 7.22560989e+02] [-1.77952680e-01 9.84038968e-01 3.91119139e-04 -5.64497289e+01] [ 2.05898072e-03 -2.51180818e-05 9.99997880e-01 2.17997820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8307140569999 meters Centerline goodness [0,1] 0.9984938183795996 Centerline is valid? [True, True] Translation: X:722.59, Y:-56.45, Z:2.18 [[ 9.83617402e-01 1.80264985e-01 -1.15852159e-03 7.22591944e+02] [-1.80264847e-01 9.83618084e-01 2.23783498e-04 -5.64526682e+01] [ 1.17988312e-03 -1.12766256e-05 9.99999304e-01 2.18059154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8607140569999 meters Centerline goodness [0,1] 0.9983899634082593 Centerline is valid? [True, True] Translation: X:722.62, Y:-56.46, Z:2.18 [[ 9.83269432e-01 1.82155956e-01 -6.56755241e-04 7.22624018e+02] [-1.82155912e-01 9.83269652e-01 1.26224007e-04 -5.64555530e+01] [ 6.68759951e-04 -4.48035711e-06 9.99999776e-01 2.18105610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.890714057 meters Centerline goodness [0,1] 0.9985389271550824 Centerline is valid? [True, True] Translation: X:722.66, Y:-56.46, Z:2.18 [[ 9.82674066e-01 1.85341008e-01 6.25226607e-04 7.22656215e+02] [-1.85340967e-01 9.82674265e-01 -1.23555958e-04 -5.64566899e+01] [-6.37294082e-04 5.53513168e-06 9.99999797e-01 2.18142388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9207140569999 meters Centerline goodness [0,1] 0.9988089516685125 Centerline is valid? [True, True] Translation: X:722.69, Y:-56.46, Z:2.18 [[ 9.82234556e-01 1.87654590e-01 1.01610513e-03 7.22689049e+02] [-1.87654483e-01 9.82235081e-01 -2.00332071e-04 -5.64609299e+01] [-1.03564734e-03 6.09639955e-06 9.99999464e-01 2.18089021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9507140569999 meters Centerline goodness [0,1] 0.9988089516685125 Centerline is valid? [True, True] Translation: X:722.72, Y:-56.47, Z:2.18 [[ 9.82180886e-01 1.87935292e-01 1.01604869e-03 7.22720926e+02] [-1.87935185e-01 9.82181412e-01 -2.00619509e-04 -5.64672146e+01] [-1.03564762e-03 6.09334871e-06 9.99999464e-01 2.18110497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9807140569999 meters Centerline goodness [0,1] 0.9986424961363352 Centerline is valid? [True, True] Translation: X:722.75, Y:-56.47, Z:2.18 [[ 9.81695951e-01 1.90453064e-01 8.30631333e-04 7.22752891e+02] [-1.90452993e-01 9.81696303e-01 -1.64455442e-04 -5.64720525e+01] [-8.46748752e-04 3.24901847e-06 9.99999642e-01 2.18083531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.010714057 meters Centerline goodness [0,1] 0.9982675127327377 Centerline is valid? [True, True] Translation: X:722.79, Y:-56.48, Z:2.18 [[ 9.80791051e-01 1.95060699e-01 4.86916900e-04 7.22785659e+02] [-1.95060675e-01 9.80791172e-01 -9.73844119e-05 -5.64763304e+01] [-4.96559668e-04 5.35420716e-07 9.99999877e-01 2.18026139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.040714057 meters Centerline goodness [0,1] 0.9981647932264186 Centerline is valid? [True, True] Translation: X:722.82, Y:-56.48, Z:2.18 [[ 9.80358000e-01 1.97223673e-01 1.00702848e-03 7.22818222e+02] [-1.97223572e-01 9.80358517e-01 -1.99720602e-04 -5.64820144e+01] [-1.02663858e-03 -2.81206343e-06 9.99999473e-01 2.18020017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0707140569999 meters Centerline goodness [0,1] 0.9982683802052909 Centerline is valid? [True, True] Translation: X:722.85, Y:-56.49, Z:2.18 [[ 9.80123635e-01 1.98383136e-01 1.33848756e-03 7.22849768e+02] [-1.98382959e-01 9.80124549e-01 -2.65064748e-04 -5.64876532e+01] [-1.36446889e-03 -5.73689737e-06 9.99999069e-01 2.18104939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1007140569999 meters Centerline goodness [0,1] 0.9977345667358882 Centerline is valid? [True, True] Translation: X:722.88, Y:-56.50, Z:2.18 [[ 9.80128637e-01 1.98352149e-01 2.06881347e-03 7.22882091e+02] [-1.98351727e-01 9.80130820e-01 -4.09483085e-04 -5.64967220e+01] [-2.10892969e-03 -9.00662555e-06 9.99997776e-01 2.18059096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.130714057 meters Centerline goodness [0,1] 0.9982904557394822 Centerline is valid? [True, True] Translation: X:722.91, Y:-56.51, Z:2.18 [[ 9.80350480e-01 1.97256328e-01 1.69613796e-03 7.22912727e+02] [-1.97256042e-01 9.80351947e-01 -3.36248647e-04 -5.65057479e+01] [-1.72913932e-03 -4.93193681e-06 9.99998505e-01 2.18075281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.160714057 meters Centerline goodness [0,1] 0.998102862384556 Centerline is valid? [True, True] Translation: X:722.94, Y:-56.52, Z:2.18 [[ 9.81273601e-01 1.92608443e-01 2.02668621e-03 7.22943809e+02] [-1.92608023e-01 9.81275694e-01 -4.02279973e-04 -5.65199824e+01] [-2.06622044e-03 4.39069267e-06 9.99997865e-01 2.18150566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1907140569999 meters Centerline goodness [0,1] 0.9984759598321468 Centerline is valid? [True, True] Translation: X:722.97, Y:-56.53, Z:2.18 [[ 9.81755411e-01 1.90126682e-01 2.85628588e-03 7.22974425e+02] [-1.90125838e-01 9.81759566e-01 -5.66664979e-04 -5.65302003e+01] [-2.91192411e-03 1.32726636e-05 9.99995760e-01 2.18244107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2207140569999 meters Centerline goodness [0,1] 0.9987682415081734 Centerline is valid? [True, True] Translation: X:723.00, Y:-56.54, Z:2.18 [[ 9.82228466e-01 1.87648158e-01 3.92539588e-03 7.23004922e+02] [-1.87646543e-01 9.82236310e-01 -7.79187071e-04 -5.65396172e+01] [-4.00187938e-03 2.87527564e-05 9.99991992e-01 2.18298551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.250714057 meters Centerline goodness [0,1] 0.9986218704975883 Centerline is valid? [True, True] Translation: X:723.04, Y:-56.55, Z:2.18 [[ 9.82618603e-01 1.85590270e-01 4.11492640e-03 7.23035980e+02] [-1.85588473e-01 9.82627218e-01 -8.17799766e-04 -5.65487144e+01] [-4.19521436e-03 3.99023583e-05 9.99991199e-01 2.18368593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.280714057 meters Centerline goodness [0,1] 0.9985371562317145 Centerline is valid? [True, True] Translation: X:723.07, Y:-56.56, Z:2.18 [[ 9.83253896e-01 1.82213644e-01 3.15642529e-03 7.23065998e+02] [-1.82212566e-01 9.83258962e-01 -6.28504625e-04 -5.65604941e+01] [-3.21810557e-03 4.28392713e-05 9.99994821e-01 2.18274231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3107140569999 meters Centerline goodness [0,1] 0.9985780305723427 Centerline is valid? [True, True] Translation: X:723.10, Y:-56.57, Z:2.18 [[ 9.83543264e-01 1.80658634e-01 2.25963137e-03 7.23095447e+02] [-1.80658076e-01 9.83545859e-01 -4.50505186e-04 -5.65697784e+01] [-2.30383873e-03 3.48706864e-05 9.99997346e-01 2.18205168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3407140569999 meters Centerline goodness [0,1] 0.9987242230309115 Centerline is valid? [True, True] Translation: X:723.13, Y:-56.58, Z:2.18 [[ 9.83943786e-01 1.78471300e-01 1.61898955e-03 7.23125921e+02] [-1.78471008e-01 9.83945118e-01 -3.23918529e-04 -5.65805038e+01] [-1.65080702e-03 2.97749267e-05 9.99998637e-01 2.18120323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.370714057 meters Centerline goodness [0,1] 0.9985985609103079 Centerline is valid? [True, True] Translation: X:723.16, Y:-56.59, Z:2.18 [[ 9.84031823e-01 1.77985391e-01 1.60391351e-03 7.23156722e+02] [-1.77985104e-01 9.84033129e-01 -3.21333361e-04 -5.65885956e+01] [-1.63549667e-03 3.07295407e-05 9.99998662e-01 2.18166983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.400714057 meters Centerline goodness [0,1] 0.9987231548541048 Centerline is valid? [True, True] Translation: X:723.19, Y:-56.60, Z:2.18 [[ 9.84010520e-01 1.78097585e-01 2.13217367e-03 7.23188772e+02] [-1.78097076e-01 9.84012830e-01 -4.27491998e-04 -5.65969506e+01] [-2.17422154e-03 4.09227267e-05 9.99997636e-01 2.18216598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4307140569999 meters Centerline goodness [0,1] 0.9981201044386423 Centerline is valid? [True, True] Translation: X:723.22, Y:-56.61, Z:2.18 [[ 9.83929220e-01 1.78528316e-01 3.30615863e-03 7.23220290e+02] [-1.78527096e-01 9.83934773e-01 -6.62778099e-04 -5.66066484e+01] [-3.37136910e-03 6.18878384e-05 9.99994315e-01 2.18465397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4607140569999 meters Centerline goodness [0,1] 0.9984324380813042 Centerline is valid? [True, True] Translation: X:723.25, Y:-56.61, Z:2.19 [[ 9.83791131e-01 1.79274623e-01 3.95219692e-03 7.23250897e+02] [-1.79272884e-01 9.83799067e-01 -7.92861981e-04 -5.66146289e+01] [-4.03030768e-03 7.14888458e-05 9.99991876e-01 2.18570531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.490714057 meters Centerline goodness [0,1] 0.9985379506245039 Centerline is valid? [True, True] Translation: X:723.28, Y:-56.62, Z:2.19 [[ 9.83333843e-01 1.81773882e-01 3.57890705e-03 7.23281542e+02] [-1.81772470e-01 9.83340354e-01 -7.18684897e-04 -5.66213413e+01] [-3.64992187e-03 5.61604074e-05 9.99993337e-01 2.18567678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.520714057 meters Centerline goodness [0,1] 0.9982855231245296 Centerline is valid? [True, True] Translation: X:723.31, Y:-56.63, Z:2.19 [[ 9.83111000e-01 1.82971771e-01 3.75409887e-03 7.23312941e+02] [-1.82970222e-01 9.83118166e-01 -7.54841286e-04 -5.66271076e+01] [-3.82883744e-03 5.52044666e-05 9.99992668e-01 2.18531300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5507140569999 meters Centerline goodness [0,1] 0.9976395387700535 Centerline is valid? [True, True] Translation: X:723.35, Y:-56.63, Z:2.18 [[ 9.82936453e-01 1.83901921e-01 4.00162996e-03 7.23345042e+02] [-1.83900163e-01 9.82944597e-01 -8.05955782e-04 -5.66332053e+01] [-4.08159736e-03 5.63029146e-05 9.99991669e-01 2.18491301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5807140569999 meters Centerline goodness [0,1] 0.9978692291623146 Centerline is valid? [True, True] Translation: X:723.37, Y:-56.64, Z:2.19 [[ 9.82975309e-01 1.83677166e-01 4.71605366e-03 7.23374448e+02] [-1.83674720e-01 9.82986620e-01 -9.50240578e-04 -5.66430881e+01] [-4.81035514e-03 6.78431886e-05 9.99988428e-01 2.18534493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6107140569999 meters Centerline goodness [0,1] 0.9978702969056666 Centerline is valid? [True, True] Translation: X:723.41, Y:-56.65, Z:2.19 [[ 9.83114229e-01 1.82938942e-01 4.44475060e-03 7.23406277e+02] [-1.82936754e-01 9.83124274e-01 -8.97324393e-04 -5.66513377e+01] [-4.53389778e-03 6.90641308e-05 9.99989719e-01 2.18571017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.640714057 meters Centerline goodness [0,1] 0.9986361728913135 Centerline is valid? [True, True] Translation: X:723.44, Y:-56.66, Z:2.19 [[ 9.83515661e-01 1.80752090e-01 5.06222946e-03 7.23436820e+02] [-1.80749220e-01 9.83528685e-01 -1.02260436e-03 -5.66599982e+01] [-5.16368576e-03 9.07533756e-05 9.99986664e-01 2.18555730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6707140569999 meters Centerline goodness [0,1] 0.9987269122404258 Centerline is valid? [True, True] Translation: X:723.47, Y:-56.67, Z:2.19 [[ 9.83645534e-01 1.80061037e-01 4.41427887e-03 7.23467873e+02] [-1.80058841e-01 9.83655436e-01 -8.93352502e-04 -5.66673679e+01] [-4.50298738e-03 8.39122622e-05 9.99989858e-01 2.18540709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7007140569999 meters Centerline goodness [0,1] 0.9989343919765984 Centerline is valid? [True, True] Translation: X:723.50, Y:-56.68, Z:2.19 [[ 9.83731939e-01 1.79588248e-01 4.41969874e-03 7.23497597e+02] [-1.79586038e-01 9.83741863e-01 -8.95235089e-04 -5.66752612e+01] [-4.50861637e-03 8.69551664e-05 9.99989832e-01 2.18596532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7307140569999 meters Centerline goodness [0,1] 0.9983261847473585 Centerline is valid? [True, True] Translation: X:723.53, Y:-56.68, Z:2.18 [[ 9.83782526e-01 1.79317924e-01 4.12601625e-03 7.23529781e+02] [-1.79315988e-01 9.83791175e-01 -8.37438705e-04 -5.66816827e+01] [-4.20930614e-03 8.39968844e-05 9.99991137e-01 2.18492195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.760714057 meters Centerline goodness [0,1] 0.9983250633335427 Centerline is valid? [True, True] Translation: X:723.56, Y:-56.69, Z:2.18 [[ 9.83727768e-01 1.79613076e-01 4.33841168e-03 7.23562502e+02] [-1.79610934e-01 9.83737330e-01 -8.81751653e-04 -5.66885992e+01] [-4.42623165e-03 8.81774121e-05 9.99990200e-01 2.18480042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.790714057 meters Centerline goodness [0,1] 0.9980672268907563 Centerline is valid? [True, True] Translation: X:723.59, Y:-56.70, Z:2.19 [[ 9.83668640e-01 1.79933425e-01 4.46870533e-03 7.23594059e+02] [-1.79931155e-01 9.83678786e-01 -9.08270008e-04 -5.66963653e+01] [-4.55919877e-03 8.93774125e-05 9.99989603e-01 2.18588034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8207140569999 meters Centerline goodness [0,1] 0.9985993226575239 Centerline is valid? [True, True] Translation: X:723.63, Y:-56.70, Z:2.19 [[ 9.83612219e-01 1.80243040e-01 4.41014659e-03 7.23626859e+02] [-1.80240823e-01 9.83622101e-01 -8.98376796e-04 -5.67026507e+01] [-4.49984382e-03 8.87659412e-05 9.99989872e-01 2.18539994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8507140569999 meters Centerline goodness [0,1] 0.9985581443945252 Centerline is valid? [True, True] Translation: X:723.66, Y:-56.71, Z:2.19 [[ 9.83603111e-01 1.80283050e-01 4.78969004e-03 7.23659708e+02] [-1.80280430e-01 9.83614768e-01 -9.76943671e-04 -5.67088713e+01] [-4.88733625e-03 9.74374553e-05 9.99988052e-01 2.18525597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.880714057 meters Centerline goodness [0,1] 0.998493440187483 Centerline is valid? [True, True] Translation: X:723.69, Y:-56.71, Z:2.18 [[ 9.83705838e-01 1.79725894e-01 4.62904651e-03 7.23691448e+02] [-1.79723435e-01 9.83716724e-01 -9.45215034e-04 -5.67148828e+01] [-4.72355009e-03 9.78654056e-05 9.99988839e-01 2.18440974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.910714057 meters Centerline goodness [0,1] 0.9981194366668059 Centerline is valid? [True, True] Translation: X:723.72, Y:-56.72, Z:2.18 [[ 9.83736950e-01 1.79567555e-01 4.13605563e-03 7.23721932e+02] [-1.79565589e-01 9.83745641e-01 -8.45005097e-04 -5.67230559e+01] [-4.22056219e-03 8.85694738e-05 9.99991089e-01 2.18400796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9407140569999 meters Centerline goodness [0,1] 0.9982302727462002 Centerline is valid? [True, True] Translation: X:723.75, Y:-56.73, Z:2.18 [[ 9.84061523e-01 1.77818224e-01 1.89694294e-03 7.23752870e+02] [-1.77817804e-01 9.84063350e-01 -3.89147874e-04 -5.67305873e+01] [-1.93590961e-03 4.56352224e-05 9.99998125e-01 2.18332499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9707140569999 meters Centerline goodness [0,1] 0.9984582369731442 Centerline is valid? [True, True] Translation: X:723.78, Y:-56.74, Z:2.18 [[ 9.84195088e-01 1.77081885e-01 1.42673529e-03 7.23782636e+02] [-1.77081645e-01 9.84196121e-01 -2.93303350e-04 -5.67385197e+01] [-1.45612605e-03 3.60190829e-05 9.99998939e-01 2.18337576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.000714057 meters Centerline goodness [0,1] 0.9987075255367939 Centerline is valid? [True, True] Translation: X:723.81, Y:-56.74, Z:2.18 [[ 9.84308838e-01 1.76451924e-01 9.11294950e-04 7.23814753e+02] [-1.76451825e-01 9.84309259e-01 -1.88237355e-04 -5.67441874e+01] [-9.30210901e-04 2.44840350e-05 9.99999567e-01 2.18269362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.030714057 meters Centerline goodness [0,1] 0.9988708125967128 Centerline is valid? [True, True] Translation: X:723.85, Y:-56.75, Z:2.18 [[ 9.84607837e-01 1.74772001e-01 1.46770311e-03 7.23845711e+02] [-1.74771744e-01 9.84608931e-01 -3.02533130e-04 -5.67516363e+01] [-1.49798791e-03 4.13634605e-05 9.99998877e-01 2.18394382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0607140569999 meters Centerline goodness [0,1] 0.9989951431920951 Centerline is valid? [True, True] Translation: X:723.88, Y:-56.76, Z:2.18 [[ 9.84784251e-01 1.73765222e-01 2.37219004e-03 7.23876235e+02] [-1.73764549e-01 9.84787105e-01 -4.88385685e-04 -5.67592474e+01] [-2.42096661e-03 6.87519973e-05 9.99997067e-01 2.18480307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0907140569999 meters Centerline goodness [0,1] 0.9993927210286049 Centerline is valid? [True, True] Translation: X:723.91, Y:-56.76, Z:2.18 [[ 9.84988327e-01 1.72594628e-01 3.01511233e-03 7.23907796e+02] [-1.72593534e-01 9.84992937e-01 -6.21270371e-04 -5.67649778e+01] [-3.07709228e-03 9.15551686e-05 9.99995262e-01 2.18487727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.120714057 meters Centerline goodness [0,1] 0.9989065522752124 Centerline is valid? [True, True] Translation: X:723.94, Y:-56.77, Z:2.19 [[ 9.85450741e-01 1.69925905e-01 3.46743574e-03 7.23937918e+02] [-1.69924440e-01 9.85456835e-01 -7.14912399e-04 -5.67747213e+01] [-3.53849039e-03 1.15308876e-04 9.99993733e-01 2.18555773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.150714057 meters Centerline goodness [0,1] 0.9990591482155178 Centerline is valid? [True, True] Translation: X:723.97, Y:-56.78, Z:2.18 [[ 9.85689896e-01 1.68537114e-01 3.26649082e-03 7.23969500e+02] [-1.68535803e-01 9.85695302e-01 -6.74552045e-04 -5.67806761e+01] [-3.33345171e-03 1.14378481e-04 9.99994437e-01 2.18489360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1807140569999 meters Centerline goodness [0,1] 0.9994567034436643 Centerline is valid? [True, True] Translation: X:724.00, Y:-56.79, Z:2.19 [[ 9.85830522e-01 1.67711763e-01 3.30858291e-03 7.23998320e+02] [-1.67710411e-01 9.85836067e-01 -6.83881084e-04 -5.67945374e+01] [-3.37641526e-03 1.19307048e-04 9.99994293e-01 2.18750956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2107140569999 meters Centerline goodness [0,1] 0.9990818221656477 Centerline is valid? [True, True] Translation: X:724.03, Y:-56.80, Z:2.19 [[ 9.85981048e-01 1.66817171e-01 3.66110358e-03 7.24031057e+02] [-1.66815506e-01 9.85987836e-01 -7.57622549e-04 -5.67968041e+01] [-3.73618805e-03 1.36272628e-04 9.99993011e-01 2.18666300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.240714057 meters Centerline goodness [0,1] 0.9991206950696117 Centerline is valid? [True, True] Translation: X:724.06, Y:-56.80, Z:2.19 [[ 9.85943300e-01 1.67039651e-01 3.68285154e-03 7.24063109e+02] [-1.67037963e-01 9.85950169e-01 -7.63474131e-04 -5.68022763e+01] [-3.75863855e-03 1.37566186e-04 9.99992927e-01 2.18638698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.270714057 meters Centerline goodness [0,1] 0.9985566967180538 Centerline is valid? [True, True] Translation: X:724.09, Y:-56.81, Z:2.19 [[ 9.85788975e-01 1.67959358e-01 3.12266274e-03 7.24093258e+02] [-1.67958147e-01 9.85793914e-01 -6.48018095e-04 -5.68088693e+01] [-3.18714263e-03 1.14332444e-04 9.99994915e-01 2.18623730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3007140569999 meters Centerline goodness [0,1] 0.9985981210637541 Centerline is valid? [True, True] Translation: X:724.12, Y:-56.81, Z:2.19 [[ 9.85385774e-01 1.70328125e-01 1.79072913e-03 7.24124314e+02] [-1.70327731e-01 9.85387399e-01 -3.71025557e-04 -5.68123510e+01] [-1.82775800e-03 6.05924762e-05 9.99998328e-01 2.18580712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3307140569999 meters Centerline goodness [0,1] 0.9991434600037604 Centerline is valid? [True, True] Translation: X:724.15, Y:-56.82, Z:2.19 [[ 9.84985675e-01 1.72632079e-01 1.17716020e-03 7.24154700e+02] [-1.72631909e-01 9.84986378e-01 -2.45524797e-04 -5.68182425e+01] [-1.20187222e-03 3.86229962e-05 9.99999277e-01 2.18573094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3607140569999 meters Centerline goodness [0,1] 0.9987432449415609 Centerline is valid? [True, True] Translation: X:724.19, Y:-56.82, Z:2.19 [[ 9.84218362e-01 1.76955805e-01 9.26630263e-04 7.24186540e+02] [-1.76955702e-01 9.84218798e-01 -1.92481642e-04 -5.68222706e+01] [-9.46067667e-04 2.54714576e-05 9.99999552e-01 2.18654788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.390714057 meters Centerline goodness [0,1] 0.9991199580932425 Centerline is valid? [True, True] Translation: X:724.22, Y:-56.83, Z:2.19 [[ 9.83801135e-01 1.79253747e-01 1.84941074e-03 7.24217901e+02] [-1.79253339e-01 9.83802872e-01 -3.85539304e-04 -5.68273434e+01] [-1.88856496e-03 4.77809546e-05 9.99998216e-01 2.18789807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4207140569999 meters Centerline goodness [0,1] 0.9985966235180763 Centerline is valid? [True, True] Translation: X:724.25, Y:-56.83, Z:2.19 [[ 9.83493145e-01 1.80925443e-01 2.68678607e-03 7.24249865e+02] [-1.80924587e-01 9.83496812e-01 -5.60161724e-04 -5.68299140e+01] [-2.74379304e-03 6.48095549e-05 9.99996234e-01 2.18810538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4507140569999 meters Centerline goodness [0,1] 0.9986191313080592 Centerline is valid? [True, True] Translation: X:724.28, Y:-56.84, Z:2.19 [[ 9.83288755e-01 1.82027867e-01 3.01340117e-03 7.24280223e+02] [-1.82026795e-01 9.83293370e-01 -6.28643656e-04 -5.68364271e+01] [-3.07748806e-03 6.96184797e-05 9.99995262e-01 2.18926694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4807140569999 meters Centerline goodness [0,1] 0.998766284005604 Centerline is valid? [True, True] Translation: X:724.31, Y:-56.84, Z:2.19 [[ 9.83131908e-01 1.82874591e-01 2.92153642e-03 7.24312386e+02] [-1.82873589e-01 9.83136247e-01 -6.08817691e-04 -5.68422207e+01] [-2.98360564e-03 6.42762478e-05 9.99995547e-01 2.18963947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.510714057 meters Centerline goodness [0,1] 0.998996193901878 Centerline is valid? [True, True] Translation: X:724.34, Y:-56.85, Z:2.19 [[ 9.83224352e-01 1.82375001e-01 3.03856591e-03 7.24342096e+02] [-1.82373911e-01 9.83229045e-01 -6.34484824e-04 -5.68499377e+01] [-3.10332043e-03 6.96857806e-05 9.99995182e-01 2.19022927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.540714057 meters Centerline goodness [0,1] 0.9983275844047246 Centerline is valid? [True, True] Translation: X:724.37, Y:-56.86, Z:2.19 [[ 9.83729230e-01 1.79632524e-01 2.99287550e-03 7.24373508e+02] [-1.79631450e-01 9.83733780e-01 -6.26097909e-04 -5.68564375e+01] [-3.05666028e-03 7.82962470e-05 9.99995325e-01 2.18925000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5707140569999 meters Centerline goodness [0,1] 0.9991211918312688 Centerline is valid? [True, True] Translation: X:724.40, Y:-56.87, Z:2.19 [[ 9.84170237e-01 1.77197553e-01 3.15789676e-03 7.24403533e+02] [-1.77196343e-01 9.84175299e-01 -6.61137883e-04 -5.68660254e+01] [-3.22507600e-03 9.11044685e-05 9.99994795e-01 2.19061389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6007140569999 meters Centerline goodness [0,1] 0.999289223372008 Centerline is valid? [True, True] Translation: X:724.43, Y:-56.87, Z:2.19 [[ 9.85409714e-01 1.70171845e-01 3.03951876e-03 7.24432977e+02] [-1.70170695e-01 9.85414396e-01 -6.34993293e-04 -5.68737249e+01] [-3.10324352e-03 1.08491541e-04 9.99995179e-01 2.19019834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.630714057 meters Centerline goodness [0,1] 0.9989761377408166 Centerline is valid? [True, True] Translation: X:724.46, Y:-56.88, Z:2.19 [[ 9.86039604e-01 1.66491771e-01 2.52782223e-03 7.24463893e+02] [-1.66490963e-01 9.86042839e-01 -5.28365554e-04 -5.68784332e+01] [-2.58050952e-03 1.00129805e-04 9.99996665e-01 2.18982290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.660714057 meters Centerline goodness [0,1] 0.9991836051160746 Centerline is valid? [True, True] Translation: X:724.49, Y:-56.89, Z:2.19 [[ 9.86636219e-01 1.62916431e-01 2.68477232e-03 7.24494343e+02] [-1.62915505e-01 9.86639865e-01 -5.61252910e-04 -5.68855885e+01] [-2.74034072e-03 1.16361410e-04 9.99996238e-01 2.18929003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6907140569999 meters Centerline goodness [0,1] 0.9992700729927008 Centerline is valid? [True, True] Translation: X:724.52, Y:-56.89, Z:2.19 [[ 9.87248272e-01 1.59166552e-01 2.61880620e-03 7.24524866e+02] [-1.59165658e-01 9.87251738e-01 -5.47397635e-04 -5.68919797e+01] [-2.67254837e-03 1.23593356e-04 9.99996421e-01 2.18972416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7207140569999 meters Centerline goodness [0,1] 0.9992075243477717 Centerline is valid? [True, True] Translation: X:724.56, Y:-56.90, Z:2.19 [[ 9.88191443e-01 1.53190814e-01 3.20091531e-03 7.24555263e+02] [-1.53189449e-01 9.88196613e-01 -6.68978468e-04 -5.68972449e+01] [-3.26561502e-03 1.70732346e-04 9.99994653e-01 2.19082347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.750714057 meters Centerline goodness [0,1] 0.9992917847025495 Centerline is valid? [True, True] Translation: X:724.58, Y:-56.90, Z:2.19 [[ 9.88569154e-01 1.50731628e-01 3.31731137e-03 7.24584155e+02] [-1.50730147e-01 9.88574702e-01 -6.93271222e-04 -5.69039689e+01] [-3.38390800e-03 1.85327714e-04 9.99994257e-01 2.19188882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.780714057 meters Centerline goodness [0,1] 0.999329969220461 Centerline is valid? [True, True] Translation: X:724.61, Y:-56.91, Z:2.19 [[ 9.88877856e-01 1.48680697e-01 3.82563207e-03 7.24613776e+02] [-1.48678712e-01 9.88885232e-01 -7.99684320e-04 -5.69100794e+01] [-3.90200868e-03 2.22000067e-04 9.99992362e-01 2.19300312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8107140569999 meters Centerline goodness [0,1] 0.999498997995992 Centerline is valid? [True, True] Translation: X:724.64, Y:-56.91, Z:2.19 [[ 9.89486699e-01 1.44592033e-01 3.03569322e-03 7.24644725e+02] [-1.44590765e-01 9.89491338e-01 -6.34537560e-04 -5.69107685e+01] [-3.09554122e-03 1.88933272e-04 9.99995191e-01 2.19337992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8407140569999 meters Centerline goodness [0,1] 0.999498997995992 Centerline is valid? [True, True] Translation: X:724.68, Y:-56.92, Z:2.19 [[ 9.89447166e-01 1.44862326e-01 3.03515960e-03 7.24676562e+02] [-1.44861051e-01 9.89451803e-01 -6.37088855e-04 -5.69174947e+01] [-3.09543431e-03 1.90689351e-04 9.99995191e-01 2.19359481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.870714057 meters Centerline goodness [0,1] 0.9996860151131393 Centerline is valid? [True, True] Translation: X:724.71, Y:-56.92, Z:2.19 [[ 9.89689224e-01 1.43204826e-01 2.75987747e-03 7.24708704e+02] [-1.43203768e-01 9.89693057e-01 -5.78285437e-04 -5.69208556e+01] [-2.81424483e-03 1.77098012e-04 9.99996024e-01 2.19300861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.900714057 meters Centerline goodness [0,1] 0.9994543775707211 Centerline is valid? [True, True] Translation: X:724.74, Y:-56.92, Z:2.19 [[ 9.90146194e-01 1.40031323e-01 1.31997991e-03 7.24740565e+02] [-1.40031078e-01 9.90147070e-01 -2.76497921e-04 -5.69198993e+01] [-1.34569261e-03 8.89351538e-05 9.99999091e-01 2.19095008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9307140569999 meters Centerline goodness [0,1] 0.9994528158935937 Centerline is valid? [True, True] Translation: X:724.77, Y:-56.92, Z:2.19 [[ 9.90428374e-01 1.38026532e-01 5.59752156e-04 7.24772358e+02] [-1.38026487e-01 9.90428531e-01 -1.17332518e-04 -5.69189462e+01] [-5.70589506e-04 3.89488308e-05 9.99999836e-01 2.19010286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9607140569999 meters Centerline goodness [0,1] 0.9994106379843819 Centerline is valid? [True, True] Translation: X:724.80, Y:-56.92, Z:2.19 [[ 9.90687669e-01 1.36153843e-01 2.69641110e-04 7.24802896e+02] [-1.36153833e-01 9.90687706e-01 -5.65868426e-05 -5.69231914e+01] [-2.74834649e-04 1.93472167e-05 9.99999962e-01 2.19035623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.990714057 meters Centerline goodness [0,1] 0.9995583967699878 Centerline is valid? [True, True] Translation: X:724.84, Y:-56.92, Z:2.19 [[ 9.91136848e-01 1.32844390e-01 3.40818582e-04 7.24835114e+02] [-1.32844373e-01 9.91136907e-01 -7.14230742e-05 -5.69170403e+01] [-3.47286030e-04 2.55142098e-05 9.99999939e-01 2.19084542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.020714057 meters Centerline goodness [0,1] 0.999874442840103 Centerline is valid? [True, True] Translation: X:724.87, Y:-56.92, Z:2.19 [[ 9.91271582e-01 1.31835239e-01 3.46821362e-04 7.24865578e+02] [-1.31835221e-01 9.91271642e-01 -7.42728658e-05 -5.69242337e+01] [-3.53585962e-04 2.79013103e-05 9.99999937e-01 2.19175055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0507140569999 meters Centerline goodness [0,1] 0.9998110989841323 Centerline is valid? [True, True] Translation: X:724.90, Y:-56.92, Z:2.19 [[ 9.91538535e-01 1.29807012e-01 1.21355026e-03 7.24897640e+02] [-1.29806796e-01 9.91539273e-01 -2.54734027e-04 -5.69231798e+01] [-1.23634901e-03 9.50515323e-05 9.99999231e-01 2.19226365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0807140569999 meters Centerline goodness [0,1] 0.999685692733216 Centerline is valid? [True, True] Translation: X:724.93, Y:-56.93, Z:2.19 [[ 9.91690466e-01 1.28637464e-01 1.55675114e-03 7.24929855e+02] [-1.28637108e-01 9.91691680e-01 -3.27074844e-04 -5.69253276e+01] [-1.58589123e-03 1.24101040e-04 9.99998735e-01 2.19254806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1107140569999 meters Centerline goodness [0,1] 0.9997912273742667 Centerline is valid? [True, True] Translation: X:724.96, Y:-56.92, Z:2.19 [[ 9.92015954e-01 1.26101842e-01 1.63496866e-03 7.24962545e+02] [-1.26101447e-01 9.92017292e-01 -3.43299102e-04 -5.69224484e+01] [-1.66520783e-03 1.34386273e-04 9.99998605e-01 2.19249257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.140714057 meters Centerline goodness [0,1] 0.9995830205987825 Centerline is valid? [True, True] Translation: X:724.99, Y:-56.93, Z:2.19 [[ 9.92150316e-01 1.25042464e-01 1.46044842e-03 7.24993175e+02] [-1.25042145e-01 9.92151383e-01 -3.08401182e-04 -5.69273313e+01] [-1.48754917e-03 1.23362727e-04 9.99998886e-01 2.19255933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1707140569999 meters Centerline goodness [0,1] 0.9991443894905987 Centerline is valid? [True, True] Translation: X:725.03, Y:-56.93, Z:2.19 [[ 9.92280715e-01 1.24004796e-01 1.33901803e-03 7.25026068e+02] [-1.24004527e-01 9.92281612e-01 -2.81887205e-04 -5.69260851e+01] [-1.36363833e-03 1.13666939e-04 9.99999064e-01 2.19150488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2007140569999 meters Centerline goodness [0,1] 0.997906898861353 Centerline is valid? [True, True] Translation: X:725.06, Y:-56.93, Z:2.19 [[ 9.92367486e-01 1.23312348e-01 9.14730185e-04 7.25057374e+02] [-1.23312221e-01 9.92367905e-01 -1.94055163e-04 -5.69300823e+01] [-9.31678275e-04 7.97766241e-05 9.99999563e-01 2.19072754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2307140569999 meters Centerline goodness [0,1] 0.9980178601235186 Centerline is valid? [True, True] Translation: X:725.09, Y:-56.92, Z:2.19 [[ 9.92356830e-01 1.23401461e-01 -4.40296138e-05 7.25092184e+02] [-1.23401460e-01 9.92356831e-01 7.31022817e-06 -5.69240092e+01] [ 4.45951809e-05 -1.82103621e-06 9.99999999e-01 2.19042373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.260714057 meters Centerline goodness [0,1] 0.9976008081488341 Centerline is valid? [True, True] Translation: X:725.13, Y:-56.92, Z:2.19 [[ 9.92266508e-01 1.24125066e-01 3.81256365e-04 7.25126282e+02] [-1.24125043e-01 9.92266581e-01 -8.21524530e-05 -5.69177742e+01] [-3.88505128e-04 3.41936647e-05 9.99999924e-01 2.19036401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.290714057 meters Centerline goodness [0,1] 0.9970899803207303 Centerline is valid? [True, True] Translation: X:725.16, Y:-56.92, Z:2.19 [[ 9.92148396e-01 1.25066211e-01 6.34742736e-05 7.25157895e+02] [-1.25066210e-01 9.92148398e-01 -1.49915329e-05 -5.69191576e+01] [-6.48508330e-05 6.93533852e-06 9.99999998e-01 2.19044297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3207140569999 meters Centerline goodness [0,1] 0.9967835519677094 Centerline is valid? [True, True] Translation: X:725.19, Y:-56.92, Z:2.19 [[ 9.92036602e-01 1.25948832e-01 5.22040168e-04 7.25190626e+02] [-1.25948790e-01 9.92036738e-01 -1.12087573e-04 -5.69205496e+01] [-5.32000324e-04 4.54446473e-05 9.99999857e-01 2.19051430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3507140569999 meters Centerline goodness [0,1] 0.9963007335477226 Centerline is valid? [True, True] Translation: X:725.22, Y:-56.92, Z:2.19 [[ 9.91947414e-01 1.26646884e-01 9.45830630e-04 7.25221934e+02] [-1.26646749e-01 9.91947862e-01 -2.01802071e-04 -5.69226265e+01] [-9.63772274e-04 8.03906681e-05 9.99999532e-01 2.19076301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.380714057 meters Centerline goodness [0,1] 0.9963652407765359 Centerline is valid? [True, True] Translation: X:725.25, Y:-56.92, Z:2.19 [[ 9.91818541e-01 1.27645096e-01 1.64634114e-03 7.25253684e+02] [-1.27644692e-01 9.91819898e-01 -3.48552025e-04 -5.69186201e+01] [-1.67736486e-03 1.35553652e-04 9.99998584e-01 2.19103906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.410714057 meters Centerline goodness [0,1] 0.9959217137211209 Centerline is valid? [True, True] Translation: X:725.28, Y:-56.92, Z:2.19 [[ 9.91781953e-01 1.27923399e-01 2.03989315e-03 7.25284184e+02] [-1.27922779e-01 9.91784037e-01 -4.32027311e-04 -5.69220333e+01] [-2.07839986e-03 1.67528089e-04 9.99997826e-01 2.19126790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4407140569999 meters Centerline goodness [0,1] 0.9951477631606467 Centerline is valid? [True, True] Translation: X:725.32, Y:-56.92, Z:2.19 [[ 9.91714206e-01 1.28434806e-01 2.72644463e-03 7.25316662e+02] [-1.28433701e-01 9.91717929e-01 -5.77273876e-04 -5.69169603e+01] [-2.77800608e-03 2.22323330e-04 9.99996117e-01 2.19145052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4707140569999 meters Centerline goodness [0,1] 0.9948724414743833 Centerline is valid? [True, True] Translation: X:725.35, Y:-56.92, Z:2.19 [[ 9.91679623e-01 1.28700945e-01 2.75550905e-03 7.25346649e+02] [-1.28699819e-01 9.91683426e-01 -5.83089552e-04 -5.69165753e+01] [-2.80763683e-03 2.23604512e-04 9.99996034e-01 2.19132769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.500714057 meters Centerline goodness [0,1] 0.9931658123932158 Centerline is valid? [True, True] Translation: X:725.38, Y:-56.92, Z:2.19 [[ 9.91662622e-01 1.28836213e-01 2.54437601e-03 7.25375009e+02] [-1.28835253e-01 9.91665865e-01 -5.38303254e-04 -5.69232947e+01] [-2.59252379e-03 2.06009888e-04 9.99996618e-01 2.19145150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.530714057 meters Centerline goodness [0,1] 0.9927496752022128 Centerline is valid? [True, True] Translation: X:725.41, Y:-56.92, Z:2.19 [[ 9.91722516e-01 1.28381022e-01 2.18292067e-03 7.25405895e+02] [-1.28380315e-01 9.91724902e-01 -4.61568534e-04 -5.69182687e+01] [-2.22411343e-03 1.77503865e-04 9.99997511e-01 2.18995868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5607140569999 meters Centerline goodness [0,1] 0.9925155050982866 Centerline is valid? [True, True] Translation: X:725.44, Y:-56.92, Z:2.19 [[ 9.91777097e-01 1.27964067e-01 1.84040980e-03 7.25436581e+02] [-1.27963564e-01 9.91778793e-01 -3.89131033e-04 -5.69153430e+01] [-1.87507420e-03 1.50425850e-04 9.99998231e-01 2.18901528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5907140569999 meters Centerline goodness [0,1] 0.9920429428481212 Centerline is valid? [True, True] Translation: X:725.47, Y:-56.91, Z:2.19 [[ 9.91829158e-01 1.27555232e-01 2.14107750e-03 7.25467957e+02] [-1.27554551e-01 9.91831453e-01 -4.52320830e-04 -5.69085496e+01] [-2.18128390e-03 1.75520809e-04 9.99997606e-01 2.18760551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.620714057 meters Centerline goodness [0,1] 0.9909205814198441 Centerline is valid? [True, True] Translation: X:725.49, Y:-56.92, Z:2.19 [[ 9.91885162e-01 1.27123828e-01 1.83226737e-03 7.25494691e+02] [-1.27123329e-01 9.91886843e-01 -3.86606631e-04 -5.69164718e+01] [-1.86654881e-03 1.50545453e-04 9.99998247e-01 2.18812421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.650714057 meters Centerline goodness [0,1] 0.9895096825629943 Centerline is valid? [True, True] Translation: X:725.52, Y:-56.92, Z:2.19 [[ 9.91924378e-01 1.26818777e-01 1.73960153e-03 7.25523395e+02] [-1.26818327e-01 9.91925893e-01 -3.67116456e-04 -5.69192627e+01] [-1.77211306e-03 1.43538406e-04 9.99998420e-01 2.18764068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6807140569999 meters Centerline goodness [0,1] 0.9884217838873335 Centerline is valid? [True, True] Translation: X:725.55, Y:-56.92, Z:2.19 [[ 9.91890968e-01 1.27081787e-01 1.58960477e-03 7.25553075e+02] [-1.27081411e-01 9.91892233e-01 -3.35304949e-04 -5.69188011e+01] [-1.61932778e-03 1.30576733e-04 9.99998680e-01 2.18703644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7107140569999 meters Centerline goodness [0,1] 0.9877938231263834 Centerline is valid? [True, True] Translation: X:725.58, Y:-56.92, Z:2.19 [[ 9.91853359e-01 1.27372226e-01 1.79720646e-03 7.25582828e+02] [-1.27371747e-01 9.91854976e-01 -3.79007341e-04 -5.69161341e+01] [-1.83084318e-03 1.47006376e-04 9.99998313e-01 2.18606877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.740714057 meters Centerline goodness [0,1] 0.9863971282826375 Centerline is valid? [True, True] Translation: X:725.61, Y:-56.93, Z:2.19 [[ 9.91781292e-01 1.27933749e-01 1.68050039e-03 7.25608924e+02] [-1.27933331e-01 9.91782707e-01 -3.54062573e-04 -5.69252768e+01] [-1.71198778e-03 1.36160623e-04 9.99998525e-01 2.18649162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.770714057 meters Centerline goodness [0,1] 0.9858590967524393 Centerline is valid? [True, True] Translation: X:725.64, Y:-56.92, Z:2.18 [[ 9.91636162e-01 1.29054494e-01 1.63064263e-03 7.25640406e+02] [-1.29054102e-01 9.91637495e-01 -3.43552390e-04 -5.69170148e+01] [-1.66134335e-03 1.30237853e-04 9.99998611e-01 2.18474851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8007140569999 meters Centerline goodness [0,1] 0.9844142785319256 Centerline is valid? [True, True] Translation: X:725.67, Y:-56.92, Z:2.18 [[ 9.91603940e-01 1.29303186e-01 1.52051590e-03 7.25668224e+02] [-1.29302846e-01 9.91605099e-01 -3.20056866e-04 -5.69219418e+01] [-1.54913570e-03 1.20762616e-04 9.99998793e-01 2.18423987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8307140569999 meters Centerline goodness [0,1] 0.9838012275632237 Centerline is valid? [True, True] Translation: X:725.70, Y:-56.92, Z:2.18 [[ 9.91520772e-01 1.29945318e-01 8.79105255e-04 7.25697663e+02] [-1.29945205e-01 9.91521159e-01 -1.84844399e-04 -5.69216111e+01] [-8.95671126e-04 6.90415485e-05 9.99999597e-01 2.18285902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8607140569999 meters Centerline goodness [0,1] 0.9819624058564165 Centerline is valid? [True, True] Translation: X:725.72, Y:-56.93, Z:2.18 [[ 9.91378292e-01 1.31030024e-01 4.63540073e-04 7.25724653e+02] [-1.31029993e-01 9.91378400e-01 -9.69428565e-05 -5.69281444e+01] [-4.72246040e-04 3.53693910e-05 9.99999888e-01 2.18260870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.890714057 meters Centerline goodness [0,1] 0.9812518452908179 Centerline is valid? [True, True] Translation: X:725.75, Y:-56.93, Z:2.18 [[ 9.91239630e-01 1.32075394e-01 -2.93147940e-04 7.25753840e+02] [-1.32075382e-01 9.91239673e-01 6.21019709e-05 -5.69315457e+01] [ 2.98782011e-04 -2.28403086e-05 9.99999955e-01 2.18172526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9207140569999 meters Centerline goodness [0,1] 0.9805901113058906 Centerline is valid? [True, True] Translation: X:725.78, Y:-56.93, Z:2.18 [[ 9.91028242e-01 1.33650589e-01 -7.36688186e-04 7.25783491e+02] [-1.33650511e-01 9.91028515e-01 1.55389386e-04 -5.69346065e+01] [ 7.50846882e-04 -5.55365173e-05 9.99999717e-01 2.18141046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9507140569999 meters Centerline goodness [0,1] 0.9801955219173762 Centerline is valid? [True, True] Translation: X:725.81, Y:-56.93, Z:2.18 [[ 9.90805863e-01 1.35291322e-01 -9.59943139e-07 7.25814955e+02] [-1.35291322e-01 9.90805863e-01 4.40954344e-07 -5.69300430e+01] [ 1.01077459e-06 -3.07028174e-07 1.00000000e+00 2.18099997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9807140569999 meters Centerline goodness [0,1] 0.9796792341926275 Centerline is valid? [True, True] Translation: X:725.84, Y:-56.93, Z:2.18 [[ 9.90791451e-01 1.35396464e-01 3.12398642e-04 7.25843497e+02] [-1.35396451e-01 9.90791500e-01 -6.52875834e-05 -5.69344414e+01] [-3.18361627e-04 2.23887123e-05 9.99999949e-01 2.18175079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.010714057 meters Centerline goodness [0,1] 0.9782103610675039 Centerline is valid? [True, True] Translation: X:725.87, Y:-56.94, Z:2.18 [[ 9.90864007e-01 1.34860743e-01 1.04832690e-03 7.25872924e+02] [-1.34860585e-01 9.90864559e-01 -2.20124266e-04 -5.69366086e+01] [-1.06843609e-03 7.67352337e-05 9.99999426e-01 2.18247797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.040714057 meters Centerline goodness [0,1] 0.9779694089507144 Centerline is valid? [True, True] Translation: X:725.90, Y:-56.94, Z:2.18 [[ 9.91061930e-01 1.33398369e-01 1.06119675e-03 7.25902196e+02] [-1.33398206e-01 9.91062495e-01 -2.23029579e-04 -5.69411376e+01] [-1.08146408e-03 7.94743824e-05 9.99999412e-01 2.18208313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0707140569999 meters Centerline goodness [0,1] 0.9762893333614349 Centerline is valid? [True, True] Translation: X:725.93, Y:-56.95, Z:2.18 [[ 9.91607164e-01 1.29285449e-01 7.10294898e-04 7.25932005e+02] [-1.29285375e-01 9.91607417e-01 -1.49441512e-04 -5.69478601e+01] [-7.23654303e-04 5.63565317e-05 9.99999737e-01 2.18157249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1007140569999 meters Centerline goodness [0,1] 0.9766009072686992 Centerline is valid? [True, True] Translation: X:725.96, Y:-56.95, Z:2.18 [[ 9.91902762e-01 1.26999646e-01 3.66977235e-05 7.25962725e+02] [-1.26999646e-01 9.91902762e-01 -7.72095688e-06 -5.69506052e+01] [-3.73811321e-05 2.99784055e-06 9.99999999e-01 2.18095970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.130714057 meters Centerline goodness [0,1] 0.9730155396892062 Centerline is valid? [True, True] Translation: X:725.99, Y:-56.96, Z:2.18 [[ 9.92172760e-01 1.24871785e-01 -5.01422084e-04 7.25990074e+02] [-1.24871747e-01 9.92172886e-01 1.05718266e-04 -5.69625724e+01] [ 5.10698625e-04 -4.22773323e-05 9.99999869e-01 2.18196209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.160714057 meters Centerline goodness [0,1] 0.972025480910272 Centerline is valid? [True, True] Translation: X:726.02, Y:-56.97, Z:2.18 [[ 9.92578458e-01 1.21605159e-01 -4.34878463e-04 7.26020386e+02] [-1.21605131e-01 9.92578553e-01 9.14892461e-05 -5.69651204e+01] [ 4.42776600e-04 -3.79268025e-05 9.99999901e-01 2.18183633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1907140569999 meters Centerline goodness [0,1] 0.9730790328705853 Centerline is valid? [True, True] Translation: X:726.05, Y:-56.96, Z:2.18 [[ 9.92726101e-01 1.20394614e-01 1.56665228e-04 7.26050999e+02] [-1.20394610e-01 9.92726114e-01 -3.27077470e-05 -5.69646357e+01] [-1.59463500e-04 1.36081851e-05 9.99999987e-01 2.18181519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2207140569999 meters Centerline goodness [0,1] 0.9720750575173608 Centerline is valid? [True, True] Translation: X:726.08, Y:-56.97, Z:2.18 [[ 9.92767968e-01 1.20044820e-01 1.00115648e-03 7.26079359e+02] [-1.20044669e-01 9.92768469e-01 -2.10005915e-04 -5.69677013e+01] [-1.01912670e-03 8.83036483e-05 9.99999477e-01 2.18386366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.250714057 meters Centerline goodness [0,1] 0.9729912221471978 Centerline is valid? [True, True] Translation: X:726.11, Y:-56.97, Z:2.18 [[ 9.92613275e-01 1.21302604e-01 2.13638332e-03 7.26108079e+02] [-1.21301917e-01 9.92615557e-01 -4.48518109e-04 -5.69695123e+01] [-2.17501373e-03 1.86057637e-04 9.99997617e-01 2.18459330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.280714057 meters Centerline goodness [0,1] 0.9740196596554276 Centerline is valid? [True, True] Translation: X:726.14, Y:-56.97, Z:2.19 [[ 9.92412189e-01 1.22937026e-01 2.12928527e-03 7.26138618e+02] [-1.22936347e-01 9.92414457e-01 -4.47345902e-04 -5.69697188e+01] [-2.16812886e-03 1.82184973e-04 9.99997633e-01 2.18525878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3107140569999 meters Centerline goodness [0,1] 0.9724406138322472 Centerline is valid? [True, True] Translation: X:726.17, Y:-56.97, Z:2.19 [[ 9.91691832e-01 1.28618567e-01 2.13898174e-03 7.26169702e+02] [-1.28617895e-01 9.91694124e-01 -4.49314808e-04 -5.69668599e+01] [-2.17900585e-03 1.70470496e-04 9.99997611e-01 2.18536936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3407140569999 meters Centerline goodness [0,1] 0.9726393270241851 Centerline is valid? [True, True] Translation: X:726.20, Y:-56.97, Z:2.19 [[ 9.91190386e-01 1.32424128e-01 2.33841501e-03 7.26200475e+02] [-1.32423336e-01 9.91193129e-01 -4.91336869e-04 -5.69688759e+01] [-2.38288575e-03 1.77347666e-04 9.99997145e-01 2.18582594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.370714057 meters Centerline goodness [0,1] 0.9733083734724355 Centerline is valid? [True, True] Translation: X:726.23, Y:-56.97, Z:2.19 [[ 9.89935972e-01 1.41481662e-01 3.11628759e-03 7.26231354e+02] [-1.41480299e-01 9.89940855e-01 -6.54698366e-04 -5.69659345e+01] [-3.17756821e-03 2.07216164e-04 9.99994930e-01 2.18546161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.400714057 meters Centerline goodness [0,1] 0.9738488015783067 Centerline is valid? [True, True] Translation: X:726.26, Y:-56.97, Z:2.19 [[ 9.89146270e-01 1.46915675e-01 2.33257269e-03 7.26262478e+02] [-1.46914927e-01 9.89149010e-01 -4.89735720e-04 -5.69655584e+01] [-2.37921182e-03 1.41730515e-04 9.99997160e-01 2.18516804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4307140569999 meters Centerline goodness [0,1] 0.9731495531950767 Centerline is valid? [True, True] Translation: X:726.29, Y:-56.97, Z:2.18 [[ 9.88446992e-01 1.51545525e-01 2.54910261e-03 7.26291982e+02] [-1.51544647e-01 9.88450269e-01 -5.35283623e-04 -5.69694777e+01] [-2.60078099e-03 1.42796632e-04 9.99996608e-01 2.18460237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4607140569999 meters Centerline goodness [0,1] 0.9770636367490567 Centerline is valid? [True, True] Translation: X:726.32, Y:-56.96, Z:2.18 [[ 9.86998971e-01 1.60720250e-01 1.42543926e-03 7.26324400e+02] [-1.60719985e-01 9.86999998e-01 -2.99360989e-04 -5.69643439e+01] [-1.45502192e-03 6.63724108e-05 9.99998939e-01 2.18243593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.490714057 meters Centerline goodness [0,1] 0.9770851273865283 Centerline is valid? [True, True] Translation: X:726.35, Y:-56.97, Z:2.18 [[ 9.86255105e-01 1.65229408e-01 3.31408384e-04 7.26354296e+02] [-1.65229394e-01 9.86255161e-01 -6.93558436e-05 -5.69669861e+01] [-3.38312855e-04 1.36441482e-05 9.99999943e-01 2.18202903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.520714057 meters Centerline goodness [0,1] 0.9792010844241115 Centerline is valid? [True, True] Translation: X:726.39, Y:-56.97, Z:2.18 [[ 9.85021437e-01 1.72430298e-01 7.49195879e-04 7.26385564e+02] [-1.72430228e-01 9.85021721e-01 -1.57286298e-04 -5.69673753e+01] [-7.65095137e-04 2.57463592e-05 9.99999707e-01 2.18202930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5507140569999 meters Centerline goodness [0,1] 0.980147043244274 Centerline is valid? [True, True] Translation: X:726.41, Y:-56.97, Z:2.18 [[ 9.84444460e-01 1.75694783e-01 6.69989859e-04 7.26414520e+02] [-1.75694729e-01 9.84444688e-01 -1.38987596e-04 -5.69713548e+01] [-6.83987353e-04 1.91118820e-05 9.99999766e-01 2.18252639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5807140569999 meters Centerline goodness [0,1] 0.9800363744025716 Centerline is valid? [True, True] Translation: X:726.44, Y:-56.97, Z:2.18 [[ 9.83816419e-01 1.79172963e-01 1.51755200e-03 7.26443626e+02] [-1.79172686e-01 9.83817589e-01 -3.17713394e-04 -5.69737900e+01] [-1.54992000e-03 4.06677868e-05 9.99998798e-01 2.18198452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6107140569999 meters Centerline goodness [0,1] 0.9821686031719108 Centerline is valid? [True, True] Translation: X:726.47, Y:-56.98, Z:2.18 [[ 9.82681837e-01 1.85292965e-01 1.70992348e-03 7.26471574e+02] [-1.85292623e-01 9.82683324e-01 -3.58079798e-04 -5.69791502e+01] [-1.74666296e-03 3.50423069e-05 9.99998474e-01 2.18199583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.640714057 meters Centerline goodness [0,1] 0.981827424069132 Centerline is valid? [True, True] Translation: X:726.50, Y:-56.99, Z:2.18 [[ 9.82300094e-01 1.87305588e-01 1.77261200e-03 7.26498880e+02] [-1.87305224e-01 9.82301693e-01 -3.70823834e-04 -5.69859812e+01] [-1.81069715e-03 3.22407981e-05 9.99998360e-01 2.18265336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6707140569999 meters Centerline goodness [0,1] 0.9823903369357915 Centerline is valid? [True, True] Translation: X:726.53, Y:-56.99, Z:2.18 [[ 9.81962343e-01 1.89068570e-01 1.74132044e-03 7.26526411e+02] [-1.89068224e-01 9.81963887e-01 -3.62813232e-04 -5.69924793e+01] [-1.77851037e-03 2.70405673e-05 9.99998418e-01 2.18294592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7007140569999 meters Centerline goodness [0,1] 0.9807631728164311 Centerline is valid? [True, True] Translation: X:726.55, Y:-57.00, Z:2.18 [[ 9.81601725e-01 1.90925405e-01 2.35441341e-03 7.26553277e+02] [-1.90924775e-01 9.81604548e-01 -4.91580022e-04 -5.70019723e+01] [-2.40495802e-03 3.30199478e-05 9.99997108e-01 2.18325422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7307140569999 meters Centerline goodness [0,1] 0.9820097176845104 Centerline is valid? [True, True] Translation: X:726.58, Y:-57.01, Z:2.18 [[ 9.81563206e-01 1.91119345e-01 2.65870720e-03 7.26580035e+02] [-1.91118547e-01 9.81566806e-01 -5.53406855e-04 -5.70092332e+01] [-2.71546549e-03 3.50755496e-05 9.99996313e-01 2.18267770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.760714057 meters Centerline goodness [0,1] 0.9820097176845104 Centerline is valid? [True, True] Translation: X:726.61, Y:-57.01, Z:2.18 [[ 9.81616669e-01 1.90844558e-01 2.65886209e-03 7.26606914e+02] [-1.90843761e-01 9.81620269e-01 -5.52663496e-04 -5.70147734e+01] [-2.71546574e-03 3.50764595e-05 9.99996313e-01 2.18285923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.790714057 meters Centerline goodness [0,1] 0.9825125968581954 Centerline is valid? [True, True] Translation: X:726.63, Y:-57.03, Z:2.18 [[ 9.81806725e-01 1.89870030e-01 2.21966492e-03 7.26632330e+02] [-1.89869474e-01 9.81809233e-01 -4.60404987e-04 -5.70278555e+01] [-2.26670462e-03 3.05821008e-05 9.99997431e-01 2.18350624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8207140569999 meters Centerline goodness [0,1] 0.9834256479641453 Centerline is valid? [True, True] Translation: X:726.66, Y:-57.04, Z:2.18 [[ 9.81985103e-01 1.88945697e-01 2.18650705e-03 7.26659292e+02] [-1.88945156e-01 9.81987537e-01 -4.53165754e-04 -5.70380168e+01] [-2.23274639e-03 3.18721043e-05 9.99997507e-01 2.18374186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8507140569999 meters Centerline goodness [0,1] 0.9835466179159049 Centerline is valid? [True, True] Translation: X:726.69, Y:-57.05, Z:2.18 [[ 9.82127027e-01 1.88214021e-01 1.40928190e-03 7.26685613e+02] [-1.88213797e-01 9.82128037e-01 -2.90824180e-04 -5.70482525e+01] [-1.43883245e-03 2.03799902e-05 9.99998965e-01 2.18466305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.880714057 meters Centerline goodness [0,1] 0.9842493085319765 Centerline is valid? [True, True] Translation: X:726.71, Y:-57.06, Z:2.19 [[ 9.82515936e-01 1.86169335e-01 1.84770913e-03 7.26710762e+02] [-1.86168944e-01 9.82517673e-01 -3.83047102e-04 -5.70639489e+01] [-1.88671850e-03 3.23638256e-05 9.99998220e-01 2.18680091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.910714057 meters Centerline goodness [0,1] 0.9846608916120854 Centerline is valid? [True, True] Translation: X:726.74, Y:-57.08, Z:2.19 [[ 9.82769903e-01 1.84825553e-01 1.68280529e-03 7.26737426e+02] [-1.84825229e-01 9.82771344e-01 -3.47337063e-04 -5.70750487e+01] [-1.71800958e-03 3.03275402e-05 9.99998524e-01 2.18822129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9407140569999 meters Centerline goodness [0,1] 0.9858876480114414 Centerline is valid? [True, True] Translation: X:726.76, Y:-57.09, Z:2.19 [[ 9.83168098e-01 1.82699526e-01 1.17253830e-03 7.26763068e+02] [-1.82699368e-01 9.83168797e-01 -2.41212341e-04 -5.70928855e+01] [-1.19687245e-03 2.29302723e-05 9.99999283e-01 2.18859905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9707140569999 meters Centerline goodness [0,1] 0.9862100762846844 Centerline is valid? [True, True] Translation: X:726.79, Y:-57.10, Z:2.19 [[ 9.83400580e-01 1.81447757e-01 1.03356080e-04 7.26790014e+02] [-1.81447756e-01 9.83400585e-01 -1.97389286e-05 -5.71049985e+01] [-1.05222014e-04 6.57545035e-07 9.99999994e-01 2.18889639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.000714057 meters Centerline goodness [0,1] 0.987689253964567 Centerline is valid? [True, True] Translation: X:726.82, Y:-57.12, Z:2.19 [[ 9.83641620e-01 1.80136315e-01 -2.69139061e-04 7.26817258e+02] [-1.80136306e-01 9.83641656e-01 5.72728901e-05 -5.71157366e+01] [ 2.75053319e-04 -7.85428211e-06 9.99999962e-01 2.18946913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.030714057 meters Centerline goodness [0,1] 0.988775297308575 Centerline is valid? [True, True] Translation: X:726.84, Y:-57.13, Z:2.19 [[ 9.83880029e-01 1.78822634e-01 -1.59807032e-03 7.26843835e+02] [-1.78822332e-01 9.83881326e-01 3.31423198e-04 -5.71311651e+01] [ 1.63157752e-03 -4.03100041e-05 9.99998668e-01 2.19082053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0607140569999 meters Centerline goodness [0,1] 0.9893381188641401 Centerline is valid? [True, True] Translation: X:726.87, Y:-57.14, Z:2.19 [[ 9.83983963e-01 1.78252854e-01 -1.21649440e-03 7.26871091e+02] [-1.78252680e-01 9.83984715e-01 2.51415666e-04 -5.71406986e+01] [ 1.24182745e-03 -3.05455971e-05 9.99999228e-01 2.19130078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0907140569999 meters Centerline goodness [0,1] 0.9918044875171179 Centerline is valid? [True, True] Translation: X:726.90, Y:-57.15, Z:2.19 [[ 9.83828896e-01 1.79104731e-01 -1.48275411e-03 7.26897975e+02] [-1.79104473e-01 9.83830013e-01 3.06244410e-04 -5.71529606e+01] [ 1.51362781e-03 -3.57242071e-05 9.99998854e-01 2.19227798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.120714057 meters Centerline goodness [0,1] 0.9921345722256014 Centerline is valid? [True, True] Translation: X:726.92, Y:-57.16, Z:2.19 [[ 9.83756076e-01 1.79506181e-01 -1.22999802e-03 7.26923915e+02] [-1.79506004e-01 9.83756845e-01 2.54126262e-04 -5.71644069e+01] [ 1.25563621e-03 -2.92062244e-05 9.99999211e-01 2.19349110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.150714057 meters Centerline goodness [0,1] 0.9925712616334877 Centerline is valid? [True, True] Translation: X:726.95, Y:-57.17, Z:2.19 [[ 9.83665916e-01 1.79998047e-01 -1.43799230e-03 7.26951750e+02] [-1.79997806e-01 9.83666967e-01 2.96752320e-04 -5.71744237e+01] [ 1.46792036e-03 -3.30696845e-05 9.99998922e-01 2.19460494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1807140569999 meters Centerline goodness [0,1] 0.9938103801597591 Centerline is valid? [True, True] Translation: X:726.98, Y:-57.19, Z:2.20 [[ 9.83669296e-01 1.79984796e-01 -4.35110631e-04 7.26978793e+02] [-1.79984774e-01 9.83669392e-01 9.00972388e-05 -5.71871753e+01] [ 4.44221143e-04 -1.03125988e-05 9.99999901e-01 2.19694397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2107140569999 meters Centerline goodness [0,1] 0.9938827066413345 Centerline is valid? [True, True] Translation: X:727.01, Y:-57.20, Z:2.20 [[ 9.83732656e-01 1.79638410e-01 -3.21476116e-04 7.27006124e+02] [-1.79638398e-01 9.83732708e-01 6.66682495e-05 -5.71967177e+01] [ 3.28222748e-04 -7.83427975e-06 9.99999946e-01 2.19848573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.240714057 meters Centerline goodness [0,1] 0.9938483995412366 Centerline is valid? [True, True] Translation: X:727.03, Y:-57.21, Z:2.20 [[ 9.83931843e-01 1.78544374e-01 1.85037856e-04 7.27033402e+02] [-1.78544370e-01 9.83931861e-01 -3.76073404e-05 -5.72064800e+01] [-1.88779221e-04 3.96559247e-06 9.99999982e-01 2.19914686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.270714057 meters Centerline goodness [0,1] 0.9947293862755718 Centerline is valid? [True, True] Translation: X:727.06, Y:-57.22, Z:2.20 [[ 9.84487435e-01 1.75455086e-01 6.07924685e-05 7.27059166e+02] [-1.75455086e-01 9.84487437e-01 -1.19092689e-05 -5.72215357e+01] [-6.19389633e-05 1.05817783e-06 9.99999998e-01 2.19972484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3007140569999 meters Centerline goodness [0,1] 0.9952730983070612 Centerline is valid? [True, True] Translation: X:727.09, Y:-57.24, Z:2.20 [[ 9.85242917e-01 1.71159453e-01 -9.14419781e-04 7.27085924e+02] [-1.71159352e-01 9.85243341e-01 1.88426390e-04 -5.72373209e+01] [ 9.33176957e-04 -2.91342691e-05 9.99999564e-01 2.19987790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3307140569999 meters Centerline goodness [0,1] 0.995692899556745 Centerline is valid? [True, True] Translation: X:727.11, Y:-57.25, Z:2.20 [[ 9.85763744e-01 1.68126307e-01 -1.84032567e-03 7.27112806e+02] [-1.68125892e-01 9.85765459e-01 3.78750080e-04 -5.72485883e+01] [ 1.87780733e-03 -6.39517020e-05 9.99998235e-01 2.19982264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3607140569999 meters Centerline goodness [0,1] 0.9954142782699322 Centerline is valid? [True, True] Translation: X:727.14, Y:-57.26, Z:2.20 [[ 9.86316844e-01 1.64840417e-01 -2.59248662e-03 7.27140581e+02] [-1.64839584e-01 9.86320246e-01 5.33257127e-04 -5.72582679e+01] [ 2.64492437e-03 -9.86160693e-05 9.99996497e-01 2.19955901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.390714057 meters Centerline goodness [0,1] 0.9954730364034631 Centerline is valid? [True, True] Translation: X:727.17, Y:-57.27, Z:2.20 [[ 9.86930290e-01 1.61114028e-01 -3.29727561e-03 7.27167775e+02] [-1.61112660e-01 9.86935789e-01 6.77945500e-04 -5.72694103e+01] [ 3.36342583e-03 -1.37852104e-04 9.99994334e-01 2.19950432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4207140569999 meters Centerline goodness [0,1] 0.9956422018348624 Centerline is valid? [True, True] Translation: X:727.20, Y:-57.28, Z:2.20 [[ 9.88152429e-01 1.53407810e-01 -4.56294612e-03 7.27195824e+02] [-1.53405112e-01 9.88162938e-01 9.37686758e-04 -5.72833699e+01] [ 4.65278272e-03 -2.26598189e-04 9.99989150e-01 2.19900436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4507140569999 meters Centerline goodness [0,1] 0.9960618436406068 Centerline is valid? [True, True] Translation: X:727.22, Y:-57.30, Z:2.20 [[ 9.89396795e-01 1.45139622e-01 -5.33590092e-03 7.27222572e+02] [-1.45135811e-01 9.89411135e-01 1.09653749e-03 -5.72990185e+01] [ 5.43855083e-03 -3.10480372e-04 9.99985163e-01 2.19922835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4807140569999 meters Centerline goodness [0,1] 0.9962029541850955 Centerline is valid? [True, True] Translation: X:727.25, Y:-57.31, Z:2.20 [[ 9.89908513e-01 1.41612392e-01 -5.20249343e-03 7.27249843e+02] [-1.41608722e-01 9.89922132e-01 1.06912850e-03 -5.73098869e+01] [ 5.30146524e-03 -3.21620963e-04 9.99985895e-01 2.19972752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.510714057 meters Centerline goodness [0,1] 0.9960461147875307 Centerline is valid? [True, True] Translation: X:727.28, Y:-57.32, Z:2.20 [[ 9.90443163e-01 1.37823071e-01 -5.20982181e-03 7.27279307e+02] [-1.37819338e-01 9.90456806e-01 1.07056506e-03 -5.73179098e+01] [ 5.30765203e-03 -3.42319653e-04 9.99985856e-01 2.20048079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.540714057 meters Centerline goodness [0,1] 0.9962681873453814 Centerline is valid? [True, True] Translation: X:727.31, Y:-57.33, Z:2.20 [[ 9.90897985e-01 1.34508334e-01 -5.35641583e-03 7.27308651e+02] [-1.34504341e-01 9.90912393e-01 1.10059210e-03 -5.73260724e+01] [ 5.45577764e-03 -3.70113313e-04 9.99985049e-01 2.20106110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5707140569999 meters Centerline goodness [0,1] 0.9960480955183721 Centerline is valid? [True, True] Translation: X:727.34, Y:-57.34, Z:2.20 [[ 9.91672044e-01 1.28670511e-01 -5.51883000e-03 7.27337770e+02] [-1.28666182e-01 9.91687314e-01 1.13383866e-03 -5.73364307e+01] [ 5.61884529e-03 -4.14309317e-04 9.99984128e-01 2.20127888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6007140569999 meters Centerline goodness [0,1] 0.9958177278401997 Centerline is valid? [True, True] Translation: X:727.37, Y:-57.34, Z:2.20 [[ 9.92023100e-01 1.25920082e-01 -5.85678339e-03 7.27365433e+02] [-1.25915159e-01 9.92040284e-01 1.20330495e-03 -5.73448524e+01] [ 5.96168532e-03 -4.56248493e-04 9.99982125e-01 2.20081499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.630714057 meters Centerline goodness [0,1] 0.995775119216933 Centerline is valid? [True, True] Translation: X:727.40, Y:-57.35, Z:2.20 [[ 9.92586710e-01 1.21399715e-01 -5.80797925e-03 7.27395129e+02] [-1.21394799e-01 9.92603586e-01 1.19304130e-03 -5.73529445e+01] [ 5.90985591e-03 -4.79138463e-04 9.99982422e-01 2.20126612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.660714057 meters Centerline goodness [0,1] 0.9958170372074541 Centerline is valid? [True, True] Translation: X:727.43, Y:-57.36, Z:2.20 [[ 9.92822702e-01 1.19475871e-01 -5.34769009e-03 7.27425346e+02] [-1.19471675e-01 9.92837002e-01 1.09849622e-03 -5.73569703e+01] [ 5.44062839e-03 -4.51714497e-04 9.99985098e-01 2.20157719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6907140569999 meters Centerline goodness [0,1] 0.9957530492269713 Centerline is valid? [True, True] Translation: X:727.45, Y:-57.36, Z:2.20 [[ 9.93028866e-01 1.17769718e-01 -4.89531088e-03 7.27454190e+02] [-1.17766181e-01 9.93040843e-01 1.00560016e-03 -5.73642010e+01] [ 4.97967289e-03 -4.22087921e-04 9.99987512e-01 2.20251419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7207140569999 meters Centerline goodness [0,1] 0.9948171307467948 Centerline is valid? [True, True] Translation: X:727.48, Y:-57.37, Z:2.20 [[ 9.93335818e-01 1.15188428e-01 -3.94708532e-03 7.27484314e+02] [-1.15186109e-01 9.93343598e-01 8.10764339e-04 -5.73676594e+01] [ 4.01420260e-03 -3.50711859e-04 9.99991882e-01 2.20314929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.750714057 meters Centerline goodness [0,1] 0.994741491733625 Centerline is valid? [True, True] Translation: X:727.51, Y:-57.37, Z:2.20 [[ 9.93450548e-01 1.14197874e-01 -3.85412420e-03 7.27512498e+02] [-1.14195655e-01 9.93457964e-01 7.91688536e-04 -5.73734234e+01] [ 3.91931953e-03 -3.46379171e-04 9.99992259e-01 2.20334981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.780714057 meters Centerline goodness [0,1] 0.9940791131267321 Centerline is valid? [True, True] Translation: X:727.54, Y:-57.38, Z:2.20 [[ 9.93600341e-01 1.12899746e-01 -3.46556533e-03 7.27541418e+02] [-1.12897945e-01 9.93606334e-01 7.11733463e-04 -5.73784190e+01] [ 3.52376219e-03 -3.15923408e-04 9.99993742e-01 2.20351948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8107140569999 meters Centerline goodness [0,1] 0.9930641409802401 Centerline is valid? [True, True] Translation: X:727.57, Y:-57.38, Z:2.20 [[ 9.93765557e-01 1.11463617e-01 -2.42473802e-03 7.27569528e+02] [-1.11462731e-01 9.93768490e-01 4.98021444e-04 -5.73815156e+01] [ 2.46513951e-03 -2.24648637e-04 9.99996936e-01 2.20423823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8407140569999 meters Centerline goodness [0,1] 0.992284854060383 Centerline is valid? [True, True] Translation: X:727.60, Y:-57.38, Z:2.20 [[ 9.93811608e-01 1.11058578e-01 -2.11676394e-03 7.27598633e+02] [-1.11057902e-01 9.93813843e-01 4.34589689e-04 -5.73849447e+01] [ 2.15193421e-03 -1.96816917e-04 9.99997665e-01 2.20466811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.870714057 meters Centerline goodness [0,1] 0.9920961046584762 Centerline is valid? [True, True] Translation: X:727.63, Y:-57.39, Z:2.21 [[ 9.93734661e-01 1.11755749e-01 -1.44101297e-03 7.27628353e+02] [-1.11755437e-01 9.93735697e-01 2.95793185e-04 -5.73850821e+01] [ 1.46504262e-03 -1.32898906e-04 9.99998918e-01 2.20521447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.900714057 meters Centerline goodness [0,1] 0.9913640948058497 Centerline is valid? [True, True] Translation: X:727.66, Y:-57.39, Z:2.20 [[ 9.93632738e-01 1.12651258e-01 -1.91739998e-03 7.27656812e+02] [-1.12650706e-01 9.93634572e-01 3.93512103e-04 -5.73884107e+01] [ 1.94952454e-03 -1.75010047e-04 9.99998084e-01 2.20434721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9307140569999 meters Centerline goodness [0,1] 0.9905341728868687 Centerline is valid? [True, True] Translation: X:727.69, Y:-57.39, Z:2.20 [[ 9.93579543e-01 1.13091572e-01 -3.16049348e-03 7.27685780e+02] [-1.13090078e-01 9.93584528e-01 6.48298262e-04 -5.73907401e+01] [ 3.21353449e-03 -2.86715438e-04 9.99994795e-01 2.20280670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9607140569999 meters Centerline goodness [0,1] 0.9899051504763507 Centerline is valid? [True, True] Translation: X:727.72, Y:-57.39, Z:2.20 [[ 9.93297299e-01 1.15474330e-01 -5.11420423e-03 7.27716408e+02] [-1.15470451e-01 9.93310362e-01 1.04835909e-03 -5.73880870e+01] [ 5.20105062e-03 -4.50792786e-04 9.99986373e-01 2.19992113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.990714057 meters Centerline goodness [0,1] 0.9893436261039206 Centerline is valid? [True, True] Translation: X:727.75, Y:-57.39, Z:2.20 [[ 9.93097248e-01 1.17173821e-01 -5.30578945e-03 7.27745501e+02] [-1.17169671e-01 9.93111316e-01 1.08746205e-03 -5.73889422e+01] [ 5.39666163e-03 -4.58277968e-04 9.99985333e-01 2.19942098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.020714057 meters Centerline goodness [0,1] 0.9874981552927287 Centerline is valid? [True, True] Translation: X:727.78, Y:-57.39, Z:2.20 [[ 9.92908966e-01 1.18725502e-01 -6.00331263e-03 7.27776168e+02] [-1.18720219e-01 9.92926984e-01 1.23006305e-03 -5.73889619e+01] [ 6.10689096e-03 -5.08626038e-04 9.99981223e-01 2.19907260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0507140569999 meters Centerline goodness [0,1] 0.985632485265432 Centerline is valid? [True, True] Translation: X:727.81, Y:-57.38, Z:2.20 [[ 9.92393177e-01 1.23009871e-01 -4.93499704e-03 7.27807741e+02] [-1.23006355e-01 9.92405368e-01 1.01097268e-03 -5.73834438e+01] [ 5.02187718e-03 -3.96246397e-04 9.99987312e-01 2.19957461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0807140569999 meters Centerline goodness [0,1] 0.985283265512661 Centerline is valid? [True, True] Translation: X:727.84, Y:-57.38, Z:2.20 [[ 9.92101097e-01 1.25364913e-01 -4.36478303e-03 7.27838298e+02] [-1.25362185e-01 9.92110641e-01 8.94020126e-04 -5.73836073e+01] [ 4.44242645e-03 -3.39779608e-04 9.99990075e-01 2.19994241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1107140569999 meters Centerline goodness [0,1] 0.9827181208053691 Centerline is valid? [True, True] Translation: X:727.87, Y:-57.38, Z:2.20 [[ 9.91492146e-01 1.30101530e-01 -4.11284265e-03 7.27870355e+02] [-1.30099149e-01 9.91500631e-01 8.42376471e-04 -5.73765741e+01] [ 4.18748055e-03 -3.00132328e-04 9.99991187e-01 2.19943487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.140714057 meters Centerline goodness [0,1] 0.9837470262531843 Centerline is valid? [True, True] Translation: X:727.90, Y:-57.37, Z:2.20 [[ 9.91211432e-01 1.32217704e-01 -4.28674941e-03 7.27902874e+02] [-1.32215137e-01 9.91220655e-01 8.77891637e-04 -5.73658186e+01] [ 4.36518738e-03 -3.03403064e-04 9.99990426e-01 2.19910126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1707140569999 meters Centerline goodness [0,1] 0.9825393494228751 Centerline is valid? [True, True] Translation: X:727.93, Y:-57.37, Z:2.20 [[ 9.90936449e-01 1.34272297e-01 -3.98814939e-03 7.27931607e+02] [-1.34270093e-01 9.90944436e-01 8.16608808e-04 -5.73705428e+01] [ 4.06168239e-03 -2.73718245e-04 9.99991714e-01 2.19909208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2007140569999 meters Centerline goodness [0,1] 0.9828564198806486 Centerline is valid? [True, True] Translation: X:727.96, Y:-57.36, Z:2.20 [[ 9.90640581e-01 1.36448370e-01 -3.61691207e-03 7.27963672e+02] [-1.36446573e-01 9.90647154e-01 7.40433697e-04 -5.73628766e+01] [ 3.68411462e-03 -2.39988413e-04 9.99993185e-01 2.19897131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2307140569999 meters Centerline goodness [0,1] 0.9801439875742501 Centerline is valid? [True, True] Translation: X:727.99, Y:-57.36, Z:2.20 [[ 9.90022555e-01 1.40882487e-01 -2.73244126e-03 7.27993697e+02] [-1.40881478e-01 9.90026311e-01 5.59360520e-04 -5.73635814e+01] [ 2.78399284e-03 -1.68829168e-04 9.99996110e-01 2.19924777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.260714057 meters Centerline goodness [0,1] 0.9797590462951261 Centerline is valid? [True, True] Translation: X:728.02, Y:-57.36, Z:2.20 [[ 9.89780347e-01 1.42581215e-01 -2.33697080e-03 7.28023718e+02] [-1.42580479e-01 9.89783096e-01 4.79261083e-04 -5.73623520e+01] [ 2.38142782e-03 -1.41156783e-04 9.99997154e-01 2.19939224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.290714057 meters Centerline goodness [0,1] 0.9794325493091446 Centerline is valid? [True, True] Translation: X:728.06, Y:-57.35, Z:2.20 [[ 9.89318242e-01 1.45765825e-01 -1.31946710e-03 7.28055839e+02] [-1.45765594e-01 9.89319119e-01 2.69925895e-04 -5.73533252e+01] [ 1.34471999e-03 -7.47097060e-05 9.99999093e-01 2.19873104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3207140569999 meters Centerline goodness [0,1] 0.9787189211967973 Centerline is valid? [True, True] Translation: X:728.08, Y:-57.36, Z:2.20 [[ 9.89034759e-01 1.47680508e-01 -8.44528857e-04 7.28083574e+02] [-1.47680414e-01 9.89035118e-01 1.73145871e-04 -5.73561308e+01] [ 8.60838969e-04 -4.65269131e-05 9.99999628e-01 2.19880961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3507140569999 meters Centerline goodness [0,1] 0.9775591954866718 Centerline is valid? [True, True] Translation: X:728.11, Y:-57.36, Z:2.20 [[ 9.88859114e-01 1.48851369e-01 -9.60272223e-04 7.28110464e+02] [-1.48851248e-01 9.88859579e-01 1.96694131e-04 -5.73614832e+01] [ 9.78852577e-04 -5.15650655e-05 9.99999520e-01 2.19900630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.380714057 meters Centerline goodness [0,1] 0.974638594721802 Centerline is valid? [True, True] Translation: X:728.14, Y:-57.37, Z:2.20 [[ 9.88600058e-01 1.50558234e-01 -1.46394849e-03 7.28138599e+02] [-1.50557956e-01 9.88601139e-01 2.99289517e-04 -5.73651853e+01] [ 1.49232165e-03 -7.54685417e-05 9.99998884e-01 2.19858257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.410714057 meters Centerline goodness [0,1] 0.9717115755896919 Centerline is valid? [True, True] Translation: X:728.16, Y:-57.38, Z:2.20 [[ 9.88507204e-01 1.51159096e-01 -2.10606406e-03 7.28164495e+02] [-1.51158521e-01 9.88509442e-01 4.30442006e-04 -5.73787117e+01] [ 2.14692943e-03 -1.07145496e-04 9.99997690e-01 2.19905925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4407140569999 meters Centerline goodness [0,1] 0.971473215228362 Centerline is valid? [True, True] Translation: X:728.19, Y:-57.38, Z:2.20 [[ 9.88391582e-01 1.51901587e-01 -2.82647988e-03 7.28193765e+02] [-1.51900555e-01 9.88395613e-01 5.77312462e-04 -5.73820409e+01] [ 2.88137499e-03 -1.41266915e-04 9.99995839e-01 2.19853399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4707140569999 meters Centerline goodness [0,1] 0.9769796056672102 Centerline is valid? [True, True] Translation: X:728.23, Y:-57.37, Z:2.20 [[ 9.88058710e-01 1.54012676e-01 -4.48130194e-03 7.28226612e+02] [-1.54010114e-01 9.88068849e-01 9.13386304e-04 -5.73665711e+01] [ 4.56850792e-03 -2.12313470e-04 9.99989542e-01 2.19643227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.500714057 meters Centerline goodness [0,1] 0.9769788112388896 Centerline is valid? [True, True] Translation: X:728.26, Y:-57.37, Z:2.20 [[ 9.87860260e-01 1.55260183e-01 -5.13645596e-03 7.28255252e+02] [-1.55256835e-01 9.87873585e-01 1.04671680e-03 -5.73709167e+01] [ 5.23668260e-03 -2.36540032e-04 9.99986261e-01 2.19531376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.530714057 meters Centerline goodness [0,1] 0.9780053727333781 Centerline is valid? [True, True] Translation: X:728.29, Y:-57.37, Z:2.20 [[ 9.87309419e-01 1.58710095e-01 -5.58715028e-03 7.28285011e+02] [-1.58706199e-01 9.87325200e-01 1.13675987e-03 -5.73747789e+01] [ 5.69674954e-03 -2.35618342e-04 9.99983746e-01 2.19546348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5607140569999 meters Centerline goodness [0,1] 0.9786261792452831 Centerline is valid? [True, True] Translation: X:728.31, Y:-57.38, Z:2.20 [[ 9.86991521e-01 1.60698219e-01 -4.88054616e-03 7.28313887e+02] [-1.60695270e-01 9.87003568e-01 9.93009804e-04 -5.73773479e+01] [ 4.97669138e-03 -1.95811575e-04 9.99987597e-01 2.19660391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5907140569999 meters Centerline goodness [0,1] 0.9792050483874384 Centerline is valid? [True, True] Translation: X:728.34, Y:-57.38, Z:2.20 [[ 9.86744402e-01 1.62229479e-01 -4.13304062e-03 7.28342540e+02] [-1.62227377e-01 9.86753044e-01 8.41124113e-04 -5.73816188e+01] [ 4.21474554e-03 -1.59482172e-04 9.99991105e-01 2.19761872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.620714057 meters Centerline goodness [0,1] 0.9794124450613 Centerline is valid? [True, True] Translation: X:728.37, Y:-57.39, Z:2.20 [[ 9.86238084e-01 1.65286182e-01 -3.86269882e-03 7.28369714e+02] [-1.65284374e-01 9.86245639e-01 7.84714778e-04 -5.73899533e+01] [ 3.93927237e-03 -1.35471842e-04 9.99992232e-01 2.19870143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.650714057 meters Centerline goodness [0,1] 0.9794124450613 Centerline is valid? [True, True] Translation: X:728.40, Y:-57.40, Z:2.20 [[ 9.86282900e-01 1.65018549e-01 -3.86264834e-03 7.28396645e+02] [-1.65016739e-01 9.86290454e-01 7.84963877e-04 -5.73953310e+01] [ 3.93922679e-03 -1.36794815e-04 9.99992232e-01 2.19888285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6807140569999 meters Centerline goodness [0,1] 0.9801848288113012 Centerline is valid? [True, True] Translation: X:728.42, Y:-57.40, Z:2.20 [[ 9.86185891e-01 1.65599684e-01 -3.75932968e-03 7.28424955e+02] [-1.65597978e-01 9.86193048e-01 7.62883045e-04 -5.73988687e+01] [ 3.83375798e-03 -1.29807103e-04 9.99992643e-01 2.19896035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7107140569999 meters Centerline goodness [0,1] 0.9809509714793124 Centerline is valid? [True, True] Translation: X:728.45, Y:-57.40, Z:2.20 [[ 9.86132712e-01 1.65911836e-01 -3.94175271e-03 7.28453884e+02] [-1.65909967e-01 9.86140581e-01 7.98778503e-04 -5.74036399e+01] [ 4.01964911e-03 -1.33725551e-04 9.99991912e-01 2.19917153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.740714057 meters Centerline goodness [0,1] 0.9800138997114757 Centerline is valid? [True, True] Translation: X:728.48, Y:-57.41, Z:2.20 [[ 9.86118875e-01 1.65989338e-01 -4.13567510e-03 7.28481480e+02] [-1.65987286e-01 9.86127538e-01 8.37033632e-04 -5.74121390e+01] [ 4.21724176e-03 -1.38945180e-04 9.99991098e-01 2.20036781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.770714057 meters Centerline goodness [0,1] 0.9810009267840594 Centerline is valid? [True, True] Translation: X:728.51, Y:-57.42, Z:2.20 [[ 9.86239414e-01 1.65286332e-01 -3.49947705e-03 7.28509063e+02] [-1.65284862e-01 9.86245616e-01 7.07127065e-04 -5.74187826e+01] [ 3.56822234e-03 -1.18986002e-04 9.99993627e-01 2.20159967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8007140569999 meters Centerline goodness [0,1] 0.9790371852944275 Centerline is valid? [True, True] Translation: X:728.53, Y:-57.43, Z:2.20 [[ 9.86447628e-01 1.64039926e-01 -3.46132439e-03 7.28534410e+02] [-1.64038481e-01 9.86453693e-01 6.99307174e-04 -5.74310999e+01] [ 3.52915052e-03 -1.22039508e-04 9.99993765e-01 2.20340776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8307140569999 meters Centerline goodness [0,1] 0.9795669283053807 Centerline is valid? [True, True] Translation: X:728.56, Y:-57.44, Z:2.21 [[ 9.87007763e-01 1.60635263e-01 -3.46223675e-03 7.28562556e+02] [-1.60633800e-01 9.87013827e-01 6.98594783e-04 -5.74388934e+01] [ 3.52949450e-03 -1.33366230e-04 9.99993762e-01 2.20562269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8607140569999 meters Centerline goodness [0,1] 0.9798219959181097 Centerline is valid? [True, True] Translation: X:728.59, Y:-57.45, Z:2.21 [[ 9.87380020e-01 1.58310714e-01 -4.29114640e-03 7.28590356e+02] [-1.58308443e-01 9.87389329e-01 8.65970456e-04 -5.74467273e+01] [ 4.37412456e-03 -1.75717220e-04 9.99990418e-01 2.20608489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.890714057 meters Centerline goodness [0,1] 0.9789046397173263 Centerline is valid? [True, True] Translation: X:728.62, Y:-57.46, Z:2.21 [[ 9.88031836e-01 1.54181373e-01 -4.60378336e-03 7.28617588e+02] [-1.54178723e-01 9.88042540e-01 9.27301177e-04 -5.74617631e+01] [ 4.69170637e-03 -2.06397648e-04 9.99988973e-01 2.20734553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9207140569999 meters Centerline goodness [0,1] 0.9794330999203321 Centerline is valid? [True, True] Translation: X:728.65, Y:-57.47, Z:2.21 [[ 9.88372848e-01 1.51972980e-01 -4.82984850e-03 7.28646840e+02] [-1.51970037e-01 9.88384622e-01 9.72771648e-04 -5.74683282e+01] [ 4.92158299e-03 -2.27468827e-04 9.99987863e-01 2.20777116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9507140569999 meters Centerline goodness [0,1] 0.9793673495141547 Centerline is valid? [True, True] Translation: X:728.68, Y:-57.48, Z:2.21 [[ 9.88673615e-01 1.50001579e-01 -4.90000530e-03 7.28675588e+02] [-1.49998526e-01 9.88685728e-01 9.86718787e-04 -5.74767100e+01] [ 4.99257469e-03 -2.40549255e-04 9.99987508e-01 2.20853467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9807140569999 meters Centerline goodness [0,1] 0.979841930466221 Centerline is valid? [True, True] Translation: X:728.70, Y:-57.49, Z:2.21 [[ 9.89006988e-01 1.47779367e-01 -5.14164543e-03 7.28702911e+02] [-1.47775977e-01 9.89020318e-01 1.03520006e-03 -5.74859368e+01] [ 5.23817300e-03 -2.64008413e-04 9.99986246e-01 2.20887746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.010714057 meters Centerline goodness [0,1] 0.9788562180794048 Centerline is valid? [True, True] Translation: X:728.73, Y:-57.50, Z:2.21 [[ 9.89644223e-01 1.43402713e-01 -6.32242981e-03 7.28731276e+02] [-1.43397500e-01 9.89664356e-01 1.27249871e-03 -5.74960307e+01] [ 6.43956320e-03 -3.52700367e-04 9.99979204e-01 2.20863435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.040714057 meters Centerline goodness [0,1] 0.9793753806733455 Centerline is valid? [True, True] Translation: X:728.76, Y:-57.50, Z:2.21 [[ 9.89935582e-01 1.41331607e-01 -7.27470082e-03 7.28760060e+02] [-1.41324652e-01 9.89962221e-01 1.46399312e-03 -5.75043861e+01] [ 7.40858749e-03 -4.21164318e-04 9.99972467e-01 2.20805819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0707140569999 meters Centerline goodness [0,1] 0.9790759606036268 Centerline is valid? [True, True] Translation: X:728.79, Y:-57.51, Z:2.21 [[ 9.90169610e-01 1.39637508e-01 -8.09382525e-03 7.28788999e+02] [-1.39628845e-01 9.90202572e-01 1.62851328e-03 -5.75120966e+01] [ 8.24192811e-03 -4.82372889e-04 9.99965918e-01 2.20827917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1007140569999 meters Centerline goodness [0,1] 0.9787364331263989 Centerline is valid? [True, True] Translation: X:728.82, Y:-57.52, Z:2.21 [[ 9.90617666e-01 1.36350486e-01 -9.22958764e-03 7.28816910e+02] [-1.36339081e-01 9.90660491e-01 1.85669553e-03 -5.75228210e+01] [ 9.39654916e-03 -5.80921893e-04 9.99955683e-01 2.20760415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.130714057 meters Centerline goodness [0,1] 0.9791495025033272 Centerline is valid? [True, True] Translation: X:728.85, Y:-57.53, Z:2.21 [[ 9.90789532e-01 1.35087210e-01 -9.35679373e-03 7.28845235e+02] [-1.35075436e-01 9.90833530e-01 1.88191944e-03 -5.75298481e+01] [ 9.52524821e-03 -6.00713085e-04 9.99954453e-01 2.20828040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.160714057 meters Centerline goodness [0,1] 0.9800362976406534 Centerline is valid? [True, True] Translation: X:728.87, Y:-57.53, Z:2.21 [[ 9.91120085e-01 1.32744741e-01 -7.73368612e-03 7.28874932e+02] [-1.32736630e-01 9.91150124e-01 1.55500725e-03 -5.75303405e+01] [ 7.87166300e-03 -5.14655486e-04 9.99968886e-01 2.21046400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1907140569999 meters Centerline goodness [0,1] 0.9785563210688334 Centerline is valid? [True, True] Translation: X:728.90, Y:-57.54, Z:2.21 [[ 9.91292914e-01 1.31465113e-01 -7.43529276e-03 7.28901461e+02] [-1.31457583e-01 9.91320670e-01 1.49456395e-03 -5.75398549e+01] [ 7.56724241e-03 -5.04125031e-04 9.99971241e-01 2.21074589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2207140569999 meters Centerline goodness [0,1] 0.9792853225330127 Centerline is valid? [True, True] Translation: X:728.93, Y:-57.54, Z:2.21 [[ 9.91509357e-01 1.29885363e-01 -6.24405200e-03 7.28931040e+02] [-1.29880026e-01 9.91528923e-01 1.25461853e-03 -5.75404471e+01] [ 6.35411473e-03 -4.32988379e-04 9.99979719e-01 2.21100664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.250714057 meters Centerline goodness [0,1] 0.9785809340740584 Centerline is valid? [True, True] Translation: X:728.96, Y:-57.55, Z:2.21 [[ 9.91882059e-01 1.27032660e-01 -5.71707343e-03 7.28958778e+02] [-1.27028141e-01 9.91898449e-01 1.14830623e-03 -5.75496154e+01] [ 5.81662866e-03 -4.12755141e-04 9.99982998e-01 2.21146700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.280714057 meters Centerline goodness [0,1] 0.9785854575404954 Centerline is valid? [True, True] Translation: X:728.99, Y:-57.55, Z:2.21 [[ 9.92004880e-01 1.26088802e-01 -5.28514482e-03 7.28987156e+02] [-1.26084927e-01 9.92018883e-01 1.06141300e-03 -5.75536616e+01] [ 5.37679575e-03 -3.86549782e-04 9.99985470e-01 2.21088276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3107140569999 meters Centerline goodness [0,1] 0.9764335383509818 Centerline is valid? [True, True] Translation: X:729.01, Y:-57.56, Z:2.21 [[ 9.92185789e-01 1.24637952e-01 -5.72192165e-03 7.29014607e+02] [-1.24633389e-01 9.92202197e-01 1.14864433e-03 -5.75639638e+01] [ 5.82046791e-03 -4.26526095e-04 9.99982970e-01 2.21043939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3407140569999 meters Centerline goodness [0,1] 0.9775007922256258 Centerline is valid? [True, True] Translation: X:729.04, Y:-57.57, Z:2.21 [[ 9.92326825e-01 1.23479800e-01 -6.34119692e-03 7.29043436e+02] [-1.23474175e-01 9.92346970e-01 1.27256800e-03 -5.75662004e+01] [ 6.44980400e-03 -4.79829307e-04 9.99979085e-01 2.21033764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.370714057 meters Centerline goodness [0,1] 0.9759815242494226 Centerline is valid? [True, True] Translation: X:729.07, Y:-57.57, Z:2.21 [[ 9.92619752e-01 1.21121589e-01 -5.96562057e-03 7.29073272e+02] [-1.21116571e-01 9.92637569e-01 1.19676025e-03 -5.75695047e+01] [ 6.06665261e-03 -4.65392359e-04 9.99981489e-01 2.20973251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.400714057 meters Centerline goodness [0,1] 0.9755021944632005 Centerline is valid? [True, True] Translation: X:729.10, Y:-57.57, Z:2.21 [[ 9.93046685e-01 1.17590244e-01 -5.55122646e-03 7.29103077e+02] [-1.17585844e-01 9.93062097e-01 1.11350208e-03 -5.75739711e+01] [ 5.64364957e-03 -4.53013903e-04 9.99983972e-01 2.20990050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4307140569999 meters Centerline goodness [0,1] 0.9754736842105263 Centerline is valid? [True, True] Translation: X:729.13, Y:-57.57, Z:2.21 [[ 9.93197274e-01 1.16309730e-01 -5.58756001e-03 7.29133097e+02] [-1.16305253e-01 9.93212883e-01 1.12082530e-03 -5.75735452e+01] [ 5.67999947e-03 -4.63338052e-04 9.99983761e-01 2.20995044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4607140569999 meters Centerline goodness [0,1] 0.9762502902742299 Centerline is valid? [True, True] Translation: X:729.16, Y:-57.58, Z:2.21 [[ 9.93466546e-01 1.14003750e-01 -5.23129221e-03 7.29163574e+02] [-1.13999795e-01 9.93480219e-01 1.04903894e-03 -5.75758346e+01] [ 5.31677971e-03 -4.45818849e-04 9.99985766e-01 2.20997607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.490714057 meters Centerline goodness [0,1] 0.9735230775727376 Centerline is valid? [True, True] Translation: X:729.19, Y:-57.59, Z:2.21 [[ 9.93751539e-01 1.11509906e-01 -4.83944564e-03 7.29190701e+02] [-1.11506492e-01 9.93763232e-01 9.70408159e-04 -5.75891046e+01] [ 4.91747326e-03 -4.24714993e-04 9.99987819e-01 2.20982853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.520714057 meters Centerline goodness [0,1] 0.9717425763499947 Centerline is valid? [True, True] Translation: X:729.22, Y:-57.59, Z:2.21 [[ 9.94439547e-01 1.05207411e-01 -4.62476319e-03 7.29220732e+02] [-1.05204227e-01 9.94450205e-01 9.27159554e-04 -5.75919209e+01] [ 4.69664076e-03 -4.35459492e-04 9.99988876e-01 2.20998637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5507140569999 meters Centerline goodness [0,1] 0.9722099132746724 Centerline is valid? [True, True] Translation: X:729.25, Y:-57.59, Z:2.21 [[ 9.94765486e-01 1.02098090e-01 -4.19625336e-03 7.29251983e+02] [-1.02095442e-01 9.94774252e-01 8.41147676e-04 -5.75925161e+01] [ 4.26020437e-03 -4.08326335e-04 9.99990842e-01 2.21048012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5807140569999 meters Centerline goodness [0,1] 0.9699448354574852 Centerline is valid? [True, True] Translation: X:729.28, Y:-57.59, Z:2.21 [[ 9.95319915e-01 9.65713200e-02 -3.49960535e-03 7.29282119e+02] [-9.65694441e-02 9.95326002e-01 7.01489350e-04 -5.75946287e+01] [ 3.55099196e-03 -3.60251376e-04 9.99993630e-01 2.21072579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6107140569999 meters Centerline goodness [0,1] 0.963321565228421 Centerline is valid? [True, True] Translation: X:729.31, Y:-57.61, Z:2.21 [[ 9.95499255e-01 9.46838342e-02 -4.02557153e-03 7.29309647e+02] [-9.46813368e-02 9.95507305e-01 8.06919174e-04 -5.76079553e+01] [ 4.08388807e-03 -4.22140943e-04 9.99991572e-01 2.21120314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.640714057 meters Centerline goodness [0,1] 0.8964933443379256 Centerline is valid? [True, False] Translation: X:729.31, Y:-57.60, Z:2.21 [[ 9.95574438e-01 9.38760967e-02 -4.33776509e-03 7.29310396e+02] [-9.38798634e-02 9.95583306e-01 -6.72607971e-04 -5.76043616e+01] [ 4.25546469e-03 1.07686010e-03 9.99990366e-01 2.21117877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6707140569999 meters Centerline goodness [0,1] 0.9652000000000001 Centerline is valid? [False, True] Translation: X:729.31, Y:-57.60, Z:2.21 [[ 9.95703928e-01 9.24483709e-02 -5.19481644e-03 7.29312488e+02] [-9.24687378e-02 9.95708233e-01 -3.82716829e-03 -5.75963474e+01] [ 4.81870602e-03 4.29108462e-03 9.99979183e-01 2.21117632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7007140569999 meters Centerline goodness [0,1] 0.9643764287528576 Centerline is valid? [True, True] Translation: X:729.34, Y:-57.60, Z:2.21 [[ 9.95708251e-01 9.24771874e-02 -3.61234010e-03 7.29340836e+02] [-9.24751673e-02 9.95714729e-01 7.22659779e-04 -5.76010405e+01] [ 3.66368979e-03 -3.85506549e-04 9.99993214e-01 2.21079594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7307140569999 meters Centerline goodness [0,1] 0.9595118661214854 Centerline is valid? [True, True] Translation: X:729.37, Y:-57.60, Z:2.21 [[ 9.95513906e-01 9.45726750e-02 -2.84107094e-03 7.29369645e+02] [-9.45714345e-02 9.95517916e-01 5.68141035e-04 -5.76038981e+01] [ 2.88206764e-03 -2.96908147e-04 9.99995803e-01 2.21254126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.760714057 meters Centerline goodness [0,1] 0.9627723778667174 Centerline is valid? [True, True] Translation: X:729.40, Y:-57.60, Z:2.21 [[ 9.95391348e-01 9.58702505e-02 -2.22688544e-03 7.29400472e+02] [-9.58694917e-02 9.95393813e-01 4.45279189e-04 -5.76008358e+01] [ 2.25931702e-03 -2.29736677e-04 9.99997421e-01 2.21328825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.790714057 meters Centerline goodness [0,1] 0.9615660464920053 Centerline is valid? [True, True] Translation: X:729.43, Y:-57.60, Z:2.21 [[ 9.95161426e-01 9.82251088e-02 -2.35874308e-03 7.29430221e+02] [-9.82242643e-02 9.95164193e-01 4.71508838e-04 -5.76028603e+01] [ 2.39365066e-03 -2.37541605e-04 9.99997107e-01 2.21333922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8207140569999 meters Centerline goodness [0,1] 0.9615957446808511 Centerline is valid? [True, True] Translation: X:729.46, Y:-57.60, Z:2.21 [[ 9.94573940e-01 1.04001187e-01 -2.53583492e-03 7.29460449e+02] [-1.04000230e-01 9.94577144e-01 5.06790869e-04 -5.75994586e+01] [ 2.57479030e-03 -2.40313578e-04 9.99996656e-01 2.21290030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8507140569999 meters Centerline goodness [0,1] 0.9640881627095567 Centerline is valid? [True, True] Translation: X:729.49, Y:-57.60, Z:2.21 [[ 9.94180855e-01 1.07706237e-01 -1.94762025e-03 7.29491176e+02] [-1.07705679e-01 9.94182747e-01 3.89287794e-04 -5.75970255e+01] [ 1.97821917e-03 -1.77252710e-04 9.99998028e-01 2.21296101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.880714057 meters Centerline goodness [0,1] 0.9663856646615268 Centerline is valid? [True, True] Translation: X:729.52, Y:-57.59, Z:2.21 [[ 9.93238660e-01 1.16075439e-01 -1.85898410e-03 7.29522371e+02] [-1.16074945e-01 9.93240388e-01 3.71506999e-04 -5.75905532e+01] [ 1.88954092e-03 -1.53213637e-04 9.99998203e-01 2.21294284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.910714057 meters Centerline goodness [0,1] 0.9680526842991412 Centerline is valid? [True, True] Translation: X:729.55, Y:-57.59, Z:2.21 [[ 9.92735654e-01 1.20304186e-01 -1.68040385e-03 7.29553855e+02] [-1.20303789e-01 9.92737068e-01 3.35876268e-04 -5.75883086e+01] [ 1.70860651e-03 -1.31277397e-04 9.99998532e-01 2.21341935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9407140569999 meters Centerline goodness [0,1] 0.9728554065292023 Centerline is valid? [True, True] Translation: X:729.59, Y:-57.58, Z:2.21 [[ 9.92149779e-01 1.25044153e-01 -1.66581138e-03 7.29586027e+02] [-1.25043769e-01 9.92151170e-01 3.32768671e-04 -5.75821671e+01] [ 1.69434748e-03 -1.21857029e-04 9.99998557e-01 2.21333063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9707140569999 meters Centerline goodness [0,1] 0.9708970383834064 Centerline is valid? [True, True] Translation: X:729.61, Y:-57.59, Z:2.21 [[ 9.91529619e-01 1.29868381e-01 -1.79401890e-03 7.29614486e+02] [-1.29867944e-01 9.91531234e-01 3.58456648e-04 -5.75878738e+01] [ 1.82537796e-03 -1.22434837e-04 9.99998327e-01 2.21388442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.000714057 meters Centerline goodness [0,1] 0.9751632587517396 Centerline is valid? [True, True] Translation: X:729.65, Y:-57.58, Z:2.21 [[ 9.90059017e-01 1.40634010e-01 -2.28429694e-03 7.29647206e+02] [-1.40633330e-01 9.90061644e-01 4.56184341e-04 -5.75790801e+01] [ 2.32574982e-03 -1.30401134e-04 9.99997287e-01 2.21366607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.030714057 meters Centerline goodness [0,1] 0.9758648776096369 Centerline is valid? [True, True] Translation: X:729.68, Y:-57.58, Z:2.21 [[ 9.89299835e-01 1.45876239e-01 -2.44100786e-03 7.29676980e+02] [-1.45875479e-01 9.89302839e-01 4.87532493e-04 -5.75790850e+01] [ 2.48601541e-03 -1.26232625e-04 9.99996902e-01 2.21309170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0607140569999 meters Centerline goodness [0,1] 0.9815582129285729 Centerline is valid? [True, True] Translation: X:729.71, Y:-57.57, Z:2.21 [[ 9.88446239e-01 1.51546145e-01 -2.79264946e-03 7.29709398e+02] [-1.51545173e-01 9.88450176e-01 5.57632523e-04 -5.75709185e+01] [ 2.84490191e-03 -1.27977224e-04 9.99995945e-01 2.21226462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0907140569999 meters Centerline goodness [0,1] 0.9824591573516767 Centerline is valid? [True, True] Translation: X:729.74, Y:-57.57, Z:2.21 [[ 9.86730726e-01 1.62348500e-01 -2.33209240e-03 7.29741527e+02] [-1.62347852e-01 9.86733479e-01 4.65663956e-04 -5.75661794e+01] [ 2.37675349e-03 -8.08747410e-05 9.99997172e-01 2.21217064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.120714057 meters Centerline goodness [0,1] 0.9824119530416222 Centerline is valid? [True, True] Translation: X:729.77, Y:-57.57, Z:2.21 [[ 9.85878851e-01 1.67442706e-01 -2.41490367e-03 7.29770327e+02] [-1.67442026e-01 9.85881806e-01 4.82305286e-04 -5.75684574e+01] [ 2.46156809e-03 -7.11382172e-05 9.99996968e-01 2.21187145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.150714057 meters Centerline goodness [0,1] 0.9829142488716957 Centerline is valid? [True, True] Translation: X:729.80, Y:-57.57, Z:2.21 [[ 9.84403825e-01 1.75919438e-01 -1.20843171e-03 7.29799277e+02] [-1.75919274e-01 9.84404567e-01 2.41268871e-04 -5.75693596e+01] [ 1.23202958e-03 -2.49195706e-05 9.99999241e-01 2.21245499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1807140569999 meters Centerline goodness [0,1] 0.9844301834783358 Centerline is valid? [True, True] Translation: X:729.83, Y:-57.57, Z:2.21 [[ 9.83804452e-01 1.79243105e-01 -8.41829186e-04 7.29828635e+02] [-1.79243026e-01 9.83804812e-01 1.69115520e-04 -5.75711905e+01] [ 8.58508395e-04 -1.54845911e-05 9.99999631e-01 2.21240024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2107140569999 meters Centerline goodness [0,1] 0.9849824651993373 Centerline is valid? [True, True] Translation: X:729.86, Y:-57.58, Z:2.21 [[ 9.83239847e-01 1.82315498e-01 -6.80285862e-04 7.29855742e+02] [-1.82315447e-01 9.83240082e-01 1.36246738e-04 -5.75758894e+01] [ 6.93724219e-04 -9.93660024e-06 9.99999759e-01 2.21282136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.240714057 meters Centerline goodness [0,1] 0.9847454709755153 Centerline is valid? [True, True] Translation: X:729.88, Y:-57.58, Z:2.21 [[ 9.82805576e-01 1.84642969e-01 -4.17384105e-04 7.29884594e+02] [-1.84642950e-01 9.82805664e-01 8.43241820e-05 -5.75808587e+01] [ 4.25777330e-04 -5.80724407e-06 9.99999909e-01 2.21267110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.270714057 meters Centerline goodness [0,1] 0.9842534950347888 Centerline is valid? [True, True] Translation: X:729.91, Y:-57.59, Z:2.21 [[ 9.82231924e-01 1.87669935e-01 -6.65369187e-04 7.29912180e+02] [-1.87669887e-01 9.82232150e-01 1.33599464e-04 -5.75884706e+01] [ 6.78619609e-04 -6.35589812e-06 9.99999770e-01 2.21206717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3007140569999 meters Centerline goodness [0,1] 0.9853943943728624 Centerline is valid? [True, True] Translation: X:729.94, Y:-57.60, Z:2.21 [[ 9.82077777e-01 1.88474369e-01 -8.07869827e-04 7.29938595e+02] [-1.88474300e-01 9.82078109e-01 1.60944801e-04 -5.75965047e+01] [ 8.23725242e-04 -5.79761228e-06 9.99999661e-01 2.21179420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3307140569999 meters Centerline goodness [0,1] 0.9846266314046743 Centerline is valid? [True, True] Translation: X:729.97, Y:-57.61, Z:2.21 [[ 9.82215113e-01 1.87758915e-01 2.49243210e-04 7.29965046e+02] [-1.87758909e-01 9.82215144e-01 -4.80329868e-05 -5.76099263e+01] [-2.53829077e-04 3.81092412e-07 9.99999968e-01 2.21192299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3607140569999 meters Centerline goodness [0,1] 0.9845787577213452 Centerline is valid? [True, True] Translation: X:729.99, Y:-57.62, Z:2.21 [[ 9.82431704e-01 1.86619923e-01 9.75443048e-04 7.29991245e+02] [-1.86619823e-01 9.82432188e-01 -1.92894303e-04 -5.76200790e+01] [-9.94304568e-04 7.46846994e-06 9.99999506e-01 2.21199022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.390714057 meters Centerline goodness [0,1] 0.9825338727284403 Centerline is valid? [True, True] Translation: X:730.02, Y:-57.64, Z:2.21 [[ 9.82842342e-01 1.84438383e-01 1.84764811e-03 7.30017408e+02] [-1.84438023e-01 9.82844079e-01 -3.64445698e-04 -5.76354122e+01] [-1.88316778e-03 1.74160976e-05 9.99998227e-01 2.21249724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4207140569999 meters Centerline goodness [0,1] 0.9816936088213254 Centerline is valid? [True, True] Translation: X:730.04, Y:-57.65, Z:2.21 [[ 9.83025394e-01 1.83461011e-01 1.76976854e-03 7.30043751e+02] [-1.83460682e-01 9.83026987e-01 -3.48275288e-04 -5.76455711e+01] [-1.80362517e-03 1.76805100e-05 9.99998373e-01 2.21270816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4507140569999 meters Centerline goodness [0,1] 0.9810901001112347 Centerline is valid? [True, True] Translation: X:730.07, Y:-57.66, Z:2.21 [[ 9.83182095e-01 1.82614197e-01 2.24142621e-03 7.30069579e+02] [-1.82613663e-01 9.83184649e-01 -4.42427623e-04 -5.76573506e+01] [-2.28452940e-03 2.56718679e-05 9.99997390e-01 2.21355255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4807140569999 meters Centerline goodness [0,1] 0.9812501334700067 Centerline is valid? [True, True] Translation: X:730.10, Y:-57.67, Z:2.21 [[ 9.83415585e-01 1.81349053e-01 2.51165722e-03 7.30096359e+02] [-1.81348382e-01 9.83418792e-01 -4.94320021e-04 -5.76678451e+01] [-2.55965538e-03 3.06370394e-05 9.99996724e-01 2.21312756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.510714057 meters Centerline goodness [0,1] 0.9801734557560593 Centerline is valid? [True, True] Translation: X:730.12, Y:-57.68, Z:2.21 [[ 9.83602647e-01 1.80328531e-01 2.73031178e-03 7.30122755e+02] [-1.80327735e-01 9.83606435e-01 -5.36773611e-04 -5.76847334e+01] [-2.78234784e-03 3.56210035e-05 9.99996129e-01 2.21316385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.540714057 meters Centerline goodness [0,1] 0.9799659357036407 Centerline is valid? [True, True] Translation: X:730.15, Y:-57.70, Z:2.21 [[ 9.83773913e-01 1.79394246e-01 2.56755245e-03 7.30149498e+02] [-1.79393542e-01 9.83777263e-01 -5.04009611e-04 -5.76954121e+01] [-2.61631615e-03 3.52291790e-05 9.99996577e-01 2.21335714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5707140569999 meters Centerline goodness [0,1] 0.9799659357036407 Centerline is valid? [True, True] Translation: X:730.18, Y:-57.70, Z:2.21 [[ 9.83824980e-01 1.79113973e-01 2.56773412e-03 7.30176426e+02] [-1.79113270e-01 9.83828330e-01 -5.03084990e-04 -5.77006460e+01] [-2.61631913e-03 3.50323242e-05 9.99996577e-01 2.21350776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6007140569999 meters Centerline goodness [0,1] 0.9798729265276535 Centerline is valid? [True, True] Translation: X:730.20, Y:-57.71, Z:2.21 [[ 9.84009089e-01 1.78096484e-01 2.78491273e-03 7.30203691e+02] [-1.78095654e-01 9.84013029e-01 -5.45230303e-04 -5.77112932e+01] [-2.83749401e-03 4.05307184e-05 9.99995973e-01 2.21317816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.630714057 meters Centerline goodness [0,1] 0.9815383312514555 Centerline is valid? [True, True] Translation: X:730.23, Y:-57.73, Z:2.21 [[ 9.84202744e-01 1.77036890e-01 1.70266763e-03 7.30227771e+02] [-1.77036579e-01 9.84204216e-01 -3.32771102e-04 -5.77279540e+01] [-1.73468542e-03 2.60797788e-05 9.99998495e-01 2.21349479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.660714057 meters Centerline goodness [0,1] 0.9814712506905784 Centerline is valid? [True, True] Translation: X:730.26, Y:-57.74, Z:2.21 [[ 9.84447410e-01 1.75666536e-01 2.13639124e-03 7.30255337e+02] [-1.75666045e-01 9.84449728e-01 -4.16972782e-04 -5.77389430e+01] [-2.17641793e-03 3.51963774e-05 9.99997631e-01 2.21335310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6907140569999 meters Centerline goodness [0,1] 0.9819486230039343 Centerline is valid? [True, True] Translation: X:730.28, Y:-57.76, Z:2.21 [[ 9.84982171e-01 1.72641684e-01 2.22992020e-03 7.30280006e+02] [-1.72641140e-01 9.84984694e-01 -4.35631625e-04 -5.77569237e+01] [-2.27164544e-03 4.41134184e-05 9.99997419e-01 2.21495168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7207140569999 meters Centerline goodness [0,1] 0.9810807941395052 Centerline is valid? [True, True] Translation: X:730.31, Y:-57.77, Z:2.22 [[ 9.85410492e-01 1.70164216e-01 3.20971808e-03 7.30307348e+02] [-1.70163079e-01 9.85415717e-01 -6.25903683e-04 -5.77683464e+01] [-3.26941305e-03 7.05965443e-05 9.99994653e-01 2.21515148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.750714057 meters Centerline goodness [0,1] 0.9813239217663494 Centerline is valid? [True, True] Translation: X:730.33, Y:-57.78, Z:2.22 [[ 9.85835416e-01 1.67698275e-01 2.41288724e-03 7.30334525e+02] [-1.67697627e-01 9.85838367e-01 -4.69571207e-04 -5.77805035e+01] [-2.45746309e-03 5.82844618e-05 9.99996979e-01 2.21618795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.780714057 meters Centerline goodness [0,1] 0.9815813402694072 Centerline is valid? [True, True] Translation: X:730.36, Y:-57.80, Z:2.22 [[ 9.86787430e-01 1.62002672e-01 2.38782165e-03 7.30361413e+02] [-1.62002019e-01 9.86790317e-01 -4.65760240e-04 -5.77982025e+01] [-2.43173369e-03 7.27744217e-05 9.99997041e-01 2.21632775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8107140569999 meters Centerline goodness [0,1] 0.9830177179007545 Centerline is valid? [True, True] Translation: X:730.39, Y:-57.81, Z:2.22 [[ 9.87277638e-01 1.58993704e-01 1.96674456e-03 7.30389072e+02] [-1.58993255e-01 9.87279595e-01 -3.83379173e-04 -5.78096527e+01] [-2.00268164e-03 6.58025648e-05 9.99997992e-01 2.21672164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8407140569999 meters Centerline goodness [0,1] 0.9818989286691503 Centerline is valid? [True, True] Translation: X:730.42, Y:-57.82, Z:2.22 [[ 9.87713351e-01 1.56263673e-01 2.00017471e-03 7.30415186e+02] [-1.56263204e-01 9.87715374e-01 -3.89654423e-04 -5.78221157e+01] [-2.03649215e-03 7.23131676e-05 9.99997924e-01 2.21724597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.870714057 meters Centerline goodness [0,1] 0.9815127113284708 Centerline is valid? [True, True] Translation: X:730.44, Y:-57.84, Z:2.22 [[ 9.88540149e-01 1.50948280e-01 1.72930437e-03 7.30443536e+02] [-1.50947921e-01 9.88541659e-01 -3.37231263e-04 -5.78365164e+01] [-1.76039389e-03 7.23317437e-05 9.99998448e-01 2.21802656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.900714057 meters Centerline goodness [0,1] 0.9822709121699317 Centerline is valid? [True, True] Translation: X:730.47, Y:-57.85, Z:2.22 [[ 9.88946800e-01 1.48264395e-01 1.37671711e-03 7.30471077e+02] [-1.48264165e-01 9.88947757e-01 -2.68104190e-04 -5.78464674e+01] [-1.40125160e-03 6.10229688e-05 9.99999016e-01 2.21852122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9307140569999 meters Centerline goodness [0,1] 0.9810684863110594 Centerline is valid? [True, True] Translation: X:730.50, Y:-57.86, Z:2.22 [[ 9.89314192e-01 1.45796288e-01 9.33762368e-04 7.30497907e+02] [-1.45796181e-01 9.89314632e-01 -1.81556741e-04 -5.78580371e+01] [-9.50255072e-04 4.34776729e-05 9.99999548e-01 2.21962862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9607140569999 meters Centerline goodness [0,1] 0.9813818090431213 Centerline is valid? [True, True] Translation: X:730.53, Y:-57.87, Z:2.22 [[ 9.90067650e-01 1.40585538e-01 1.32497107e-03 7.30526761e+02] [-1.40585318e-01 9.90068534e-01 -2.58175471e-04 -5.78692614e+01] [-1.34810790e-03 6.93397020e-05 9.99999089e-01 2.22073101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.990714057 meters Centerline goodness [0,1] 0.9827705900915115 Centerline is valid? [True, True] Translation: X:730.56, Y:-57.87, Z:2.22 [[ 9.90421331e-01 1.38071773e-01 1.33137638e-03 7.30555998e+02] [-1.38071550e-01 9.90422223e-01 -2.59065033e-04 -5.78730216e+01] [-1.35439432e-03 7.27583352e-05 9.99999080e-01 2.22050705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.020714057 meters Centerline goodness [0,1] 0.9824635182303714 Centerline is valid? [True, True] Translation: X:730.58, Y:-57.88, Z:2.22 [[ 9.90711576e-01 1.35968485e-01 1.77318595e-03 7.30583491e+02] [-1.35968085e-01 9.90713158e-01 -3.45038226e-04 -5.78825130e+01] [-1.80363297e-03 1.00736667e-04 9.99998368e-01 2.22126876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0507140569999 meters Centerline goodness [0,1] 0.980588812971437 Centerline is valid? [True, True] Translation: X:730.61, Y:-57.90, Z:2.22 [[ 9.91265847e-01 1.31871764e-01 1.36349912e-03 7.30610092e+02] [-1.31871523e-01 9.91266781e-01 -2.65304151e-04 -5.78972018e+01] [-1.38657751e-03 8.31802373e-05 9.99999035e-01 2.22221032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0807140569999 meters Centerline goodness [0,1] 0.9811245652993673 Centerline is valid? [True, True] Translation: X:730.64, Y:-57.90, Z:2.22 [[ 9.91555786e-01 1.29675358e-01 1.19349309e-03 7.30639769e+02] [-1.29675173e-01 9.91556502e-01 -2.32030071e-04 -5.78966970e+01] [-1.21350442e-03 7.53043372e-05 9.99999261e-01 2.22118813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1107140569999 meters Centerline goodness [0,1] 0.9798011710687055 Centerline is valid? [True, True] Translation: X:730.67, Y:-57.91, Z:2.22 [[ 9.91854643e-01 1.27373291e-01 6.42284633e-04 7.30667041e+02] [-1.27373237e-01 9.91854850e-01 -1.24695200e-04 -5.79070852e+01] [-6.52935966e-04 4.18696401e-05 9.99999786e-01 2.22134028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.140714057 meters Centerline goodness [0,1] 0.9806171303229072 Centerline is valid? [True, True] Translation: X:730.70, Y:-57.91, Z:2.22 [[ 9.92484198e-01 1.22367914e-01 -1.10033141e-03 7.30698320e+02] [-1.22367751e-01 9.92484805e-01 2.14136666e-04 -5.79072764e+01] [ 1.11826566e-03 -7.78821765e-05 9.99999372e-01 2.21910530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1707140569999 meters Centerline goodness [0,1] 0.9788827191654047 Centerline is valid? [True, True] Translation: X:730.73, Y:-57.92, Z:2.22 [[ 9.92860622e-01 1.19261474e-01 -2.11810106e-03 7.30726027e+02] [-1.19260864e-01 9.92862869e-01 4.12326669e-04 -5.79166452e+01] [ 2.15215859e-03 -1.56776349e-04 9.99997672e-01 2.21799492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2007140569999 meters Centerline goodness [0,1] 0.9766923557592169 Centerline is valid? [True, True] Translation: X:730.75, Y:-57.92, Z:2.22 [[ 9.93479787e-01 1.13971861e-01 -2.88574038e-03 7.30754557e+02] [-1.13970708e-01 9.93483952e-01 5.61454357e-04 -5.79231131e+01] [ 2.93092676e-03 -2.28903680e-04 9.99995679e-01 2.21720262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2307140569999 meters Centerline goodness [0,1] 0.9763987664421927 Centerline is valid? [True, True] Translation: X:730.78, Y:-57.93, Z:2.22 [[ 9.93726370e-01 1.11811893e-01 -2.45003698e-03 7.30784585e+02] [-1.11811055e-01 9.93729370e-01 4.76793913e-04 -5.79251342e+01] [ 2.48798493e-03 -1.99861466e-04 9.99996885e-01 2.21773068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.260714057 meters Centerline goodness [0,1] 0.974576628191086 Centerline is valid? [True, True] Translation: X:730.81, Y:-57.93, Z:2.22 [[ 9.93966808e-01 1.09660888e-01 -2.11500216e-03 7.30814474e+02] [-1.09660259e-01 9.93969043e-01 4.11568243e-04 -5.79286812e+01] [ 2.14737961e-03 -1.77153488e-04 9.99997679e-01 2.21843997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.290714057 meters Centerline goodness [0,1] 0.973138894127014 Centerline is valid? [True, True] Translation: X:730.85, Y:-57.93, Z:2.22 [[ 9.94316333e-01 1.06439313e-01 -2.38802087e-03 7.30845876e+02] [-1.06438502e-01 9.94319179e-01 4.64604729e-04 -5.79287231e+01] [ 2.42390716e-03 -2.07786706e-04 9.99997041e-01 2.21945435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3207140569999 meters Centerline goodness [0,1] 0.9729200858477465 Centerline is valid? [True, True] Translation: X:730.88, Y:-57.93, Z:2.22 [[ 9.94465845e-01 1.05028129e-01 -2.60278848e-03 7.30875139e+02] [-1.05027160e-01 9.94469225e-01 5.06502583e-04 -5.79304856e+01] [ 2.64159006e-03 -2.30336037e-04 9.99996484e-01 2.21928738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3507140569999 meters Centerline goodness [0,1] 0.9723847611029257 Centerline is valid? [True, True] Translation: X:730.90, Y:-57.93, Z:2.22 [[ 9.94530499e-01 1.04397969e-01 -3.18615927e-03 7.30903713e+02] [-1.04396515e-01 9.94535562e-01 6.19819886e-04 -5.79328770e+01] [ 3.23345664e-03 -2.83805858e-04 9.99994732e-01 2.21970983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.380714057 meters Centerline goodness [0,1] 0.9706357363089121 Centerline is valid? [True, True] Translation: X:730.93, Y:-57.93, Z:2.22 [[ 9.94599628e-01 1.03743471e-01 -2.97876171e-03 7.30933653e+02] [-1.03742197e-01 9.94604052e-01 5.79325225e-04 -5.79274702e+01] [ 3.02278967e-03 -2.67173369e-04 9.99995396e-01 2.21897274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.410714057 meters Centerline goodness [0,1] 0.9697557274432524 Centerline is valid? [True, True] Translation: X:730.96, Y:-57.93, Z:2.22 [[ 9.94577497e-01 1.03953940e-01 -3.03007814e-03 7.30963022e+02] [-1.03952625e-01 9.94582076e-01 5.88962261e-04 -5.79290408e+01] [ 3.07488636e-03 -2.70784036e-04 9.99995236e-01 2.21912924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4407140569999 meters Centerline goodness [0,1] 0.9690868671616123 Centerline is valid? [True, True] Translation: X:730.99, Y:-57.92, Z:2.22 [[ 9.94419939e-01 1.05430780e-01 -3.65192733e-03 7.30994718e+02] [-1.05428880e-01 9.94426593e-01 7.09373584e-04 -5.79242060e+01] [ 3.70636346e-03 -3.20396628e-04 9.99993080e-01 2.21935224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4707140569999 meters Centerline goodness [0,1] 0.9675470903925076 Centerline is valid? [True, True] Translation: X:731.02, Y:-57.93, Z:2.22 [[ 9.94364572e-01 1.05937832e-01 -4.03394526e-03 7.31022340e+02] [-1.05935519e-01 9.94372693e-01 7.83592953e-04 -5.79264167e+01] [ 4.09425715e-03 -3.51838989e-04 9.99991557e-01 2.21968186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.500714057 meters Centerline goodness [0,1] 0.9680319891676893 Centerline is valid? [True, True] Translation: X:731.05, Y:-57.93, Z:2.22 [[ 9.94341405e-01 1.06155884e-01 -4.01222289e-03 7.31052189e+02] [-1.06153598e-01 9.94349439e-01 7.78974939e-04 -5.79255763e+01] [ 4.07224435e-03 -3.48655140e-04 9.99991648e-01 2.21920526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.530714057 meters Centerline goodness [0,1] 0.9653672340245808 Centerline is valid? [True, True] Translation: X:731.08, Y:-57.92, Z:2.22 [[ 9.94419758e-01 1.05390147e-01 -4.71821142e-03 7.31080497e+02] [-1.05386979e-01 9.94430865e-01 9.15662800e-04 -5.79243903e+01] [ 4.78843690e-03 -4.13315132e-04 9.99988450e-01 2.21842367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5607140569999 meters Centerline goodness [0,1] 0.9650167394160275 Centerline is valid? [True, True] Translation: X:731.11, Y:-57.93, Z:2.22 [[ 9.94531593e-01 1.04320372e-01 -4.91640670e-03 7.31110552e+02] [-1.04316923e-01 9.94543649e-01 9.53364580e-04 -5.79265752e+01] [ 4.98903641e-03 -4.35286774e-04 9.99987460e-01 2.21842501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5907140569999 meters Centerline goodness [0,1] 0.9663600135662201 Centerline is valid? [True, True] Translation: X:731.14, Y:-57.92, Z:2.22 [[ 9.94686599e-01 1.02839702e-01 -4.75035276e-03 7.31140549e+02] [-1.02836466e-01 9.94697850e-01 9.21010707e-04 -5.79242058e+01] [ 4.81988215e-03 -4.27607515e-04 9.99988293e-01 2.21867948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.620714057 meters Centerline goodness [0,1] 0.9639853670843495 Centerline is valid? [True, True] Translation: X:731.17, Y:-57.93, Z:2.22 [[ 9.95023738e-01 9.95213239e-02 -4.82349861e-03 7.31169680e+02] [-9.95179512e-02 9.95035328e-01 9.34855784e-04 -5.79265611e+01] [ 4.89258961e-03 -4.50178997e-04 9.99987930e-01 2.21946352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.650714057 meters Centerline goodness [0,1] 0.9636406186839138 Centerline is valid? [True, True] Translation: X:731.20, Y:-57.93, Z:2.22 [[ 9.95230140e-01 9.73860542e-02 -5.73797877e-03 7.31200401e+02] [-9.73812442e-02 9.95246530e-01 1.11243670e-03 -5.79276010e+01] [ 5.81903928e-03 -5.48359016e-04 9.99982919e-01 2.21935956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6807140569999 meters Centerline goodness [0,1] 0.9613081921806754 Centerline is valid? [True, True] Translation: X:731.23, Y:-57.93, Z:2.22 [[ 9.95611538e-01 9.32217736e-02 -8.20770897e-03 7.31231258e+02] [-9.32117935e-02 9.95645032e-01 1.59103446e-03 -5.79256394e+01] [ 8.32028372e-03 -8.18996995e-04 9.99965050e-01 2.21853901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7107140569999 meters Centerline goodness [0,1] 0.9581670330608499 Centerline is valid? [True, True] Translation: X:731.26, Y:-57.93, Z:2.22 [[ 9.95779540e-01 9.12920611e-02 -9.42695135e-03 7.31261211e+02] [-9.12788115e-02 9.95823699e-01 1.82721169e-03 -5.79284819e+01] [ 9.55439149e-03 -9.59019098e-04 9.99953896e-01 2.21765011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.740714057 meters Centerline goodness [0,1] 0.9129887045459398 Centerline is valid? [True, False] Translation: X:731.26, Y:-57.92, Z:2.22 [[ 9.95868568e-01 9.02611493e-02 -9.93576827e-03 7.31262357e+02] [-9.02647184e-02 9.95917804e-01 8.95477761e-05 -5.79242652e+01] [ 9.90329120e-03 8.07671509e-04 9.99950635e-01 2.21753516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.770714057 meters Centerline goodness [0,1] 0.9467305102498877 Centerline is valid? [False, False] Translation: X:731.26, Y:-57.92, Z:2.22 [[ 9.95948232e-01 8.93202350e-02 -1.04410214e-02 7.31263490e+02] [-8.93430601e-02 9.95999393e-01 -1.73957303e-03 -5.79196970e+01] [ 1.02438719e-02 2.66535748e-03 9.99943978e-01 2.21755304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8007140569999 meters Centerline goodness [0,1] 0.9513911234099148 Centerline is valid? [False, True] Translation: X:731.27, Y:-57.91, Z:2.22 [[ 9.96109736e-01 8.73698715e-02 -1.14847453e-02 7.31265698e+02] [-8.74423599e-02 9.96151704e-01 -5.96788259e-03 -5.79087730e+01] [ 1.09191354e-02 6.94891918e-03 9.99916239e-01 2.21825358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8307140569999 meters Centerline goodness [0,1] 0.9488332078718141 Centerline is valid? [True, False] Translation: X:731.27, Y:-57.90, Z:2.22 [[ 9.96181288e-01 8.64565957e-02 -1.21695867e-02 7.31266698e+02] [-8.65591624e-02 9.96213219e-01 -8.16908324e-03 -5.79029414e+01] [ 1.14172320e-02 9.19127709e-03 9.99892578e-01 2.21915483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8607140569999 meters Centerline goodness [0,1] 0.9440260665041107 Centerline is valid? [False, False] Translation: X:731.27, Y:-57.89, Z:2.22 [[ 9.96035947e-01 8.80862035e-02 -1.23779643e-02 7.31267470e+02] [-8.81962852e-02 9.96065581e-01 -8.64722372e-03 -5.78929248e+01] [ 1.15675631e-02 9.70463613e-03 9.99885999e-01 2.22049053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.890714057 meters Centerline goodness [0,1] 0.9547191811880547 Centerline is valid? [False, True] Translation: X:731.27, Y:-57.89, Z:2.22 [[ 9.96068819e-01 8.76217959e-02 -1.30126435e-02 7.31268598e+02] [-8.77603466e-02 9.96086413e-01 -1.04870589e-02 -5.78873469e+01] [ 1.20428225e-02 1.15878265e-02 9.99860337e-01 2.22126820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9207140569999 meters Centerline goodness [0,1] 0.9254546236189329 Centerline is valid? [True, False] Translation: X:731.27, Y:-57.88, Z:2.22 [[ 9.95866693e-01 8.98540992e-02 -1.32578860e-02 7.31269889e+02] [-8.99913087e-02 9.95890906e-01 -1.01423990e-02 -5.78787209e+01] [ 1.22920719e-02 1.12935719e-02 9.99860670e-01 2.22192791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9507140569999 meters Centerline goodness [0,1] 0.9592816191799861 Centerline is valid? [False, True] Translation: X:731.27, Y:-57.88, Z:2.22 [[ 9.95609106e-01 9.27119402e-02 -1.29230103e-02 7.31269535e+02] [-9.28176243e-02 9.95652323e-01 -7.83202130e-03 -5.78755486e+01] [ 1.21407033e-02 8.99711484e-03 9.99885821e-01 2.22244012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9807140569999 meters Centerline goodness [0,1] 0.9419863191618322 Centerline is valid? [True, False] Translation: X:731.27, Y:-57.87, Z:2.22 [[ 9.95616581e-01 9.25486888e-02 -1.35042155e-02 7.31271082e+02] [-9.26753059e-02 9.95655060e-01 -9.07131156e-03 -5.78707447e+01] [ 1.26060026e-02 1.02830555e-02 9.99867665e-01 2.22249725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.010714057 meters Centerline goodness [0,1] 0.96314790989773 Centerline is valid? [False, True] Translation: X:731.27, Y:-57.87, Z:2.22 [[ 9.95658295e-01 9.20195836e-02 -1.40341004e-02 7.31271846e+02] [-9.21744793e-02 9.95684082e-01 -1.08200960e-02 -5.78654120e+01] [ 1.29778697e-02 1.20667043e-02 9.99842972e-01 2.22340124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.040714057 meters Centerline goodness [0,1] 0.9678303583176177 Centerline is valid? [True, True] Translation: X:731.30, Y:-57.86, Z:2.22 [[ 9.95593118e-01 9.29688695e-02 -1.22935652e-02 7.31302184e+02] [-9.29468224e-02 9.95668292e-01 2.35397419e-03 -5.78628837e+01] [ 1.24591594e-02 -1.20095268e-03 9.99921660e-01 2.22069909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0707140569999 meters Centerline goodness [0,1] 0.9551034724658015 Centerline is valid? [True, True] Translation: X:731.33, Y:-57.87, Z:2.22 [[ 9.95548787e-01 9.33095285e-02 -1.32644483e-02 7.31329553e+02] [-9.32839094e-02 9.95636313e-01 2.53852016e-03 -5.78694597e+01] [ 1.34434345e-02 -1.28986107e-03 9.99908801e-01 2.21958301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1007140569999 meters Centerline goodness [0,1] 0.9669925573611662 Centerline is valid? [True, True] Translation: X:731.36, Y:-57.86, Z:2.22 [[ 9.95436936e-01 9.43784241e-02 -1.40719520e-02 7.31360275e+02] [-9.43497123e-02 9.95535477e-01 2.69194444e-03 -5.78609435e+01] [ 1.42631889e-02 -1.35197631e-03 9.99897362e-01 2.21969318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.130714057 meters Centerline goodness [0,1] 0.9681955434087853 Centerline is valid? [True, True] Translation: X:731.39, Y:-57.86, Z:2.22 [[ 9.95370897e-01 9.49878092e-02 -1.46319307e-02 7.31389430e+02] [-9.49568782e-02 9.95477460e-01 2.79593709e-03 -5.78600836e+01] [ 1.48313371e-02 -1.39359195e-03 9.99889039e-01 2.21988684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.160714057 meters Centerline goodness [0,1] 0.9739722695207979 Centerline is valid? [True, True] Translation: X:731.42, Y:-57.86, Z:2.22 [[ 9.95207030e-01 9.65831935e-02 -1.53184230e-02 7.31420267e+02] [-9.65495000e-02 9.95323884e-01 2.92576794e-03 -5.78566783e+01] [ 1.55293722e-02 -1.43275874e-03 9.99878386e-01 2.22064701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1907140569999 meters Centerline goodness [0,1] 0.9722314783960901 Centerline is valid? [True, True] Translation: X:731.45, Y:-57.85, Z:2.22 [[ 9.94814832e-01 1.00377844e-01 -1.63626915e-02 7.31450376e+02] [-1.00339918e-01 9.94948309e-01 3.12462519e-03 -5.78542866e+01] [ 1.65936754e-02 -1.46659236e-03 9.99861240e-01 2.21965744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2207140569999 meters Centerline goodness [0,1] 0.9720032072698116 Centerline is valid? [True, True] Translation: X:731.48, Y:-57.85, Z:2.22 [[ 9.94538336e-01 1.03142535e-01 -1.59723573e-02 7.31480785e+02] [-1.03106754e-01 9.94665620e-01 3.04984097e-03 -5.78541734e+01] [ 1.62017230e-02 -1.38632585e-03 9.99867782e-01 2.21976758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.250714057 meters Centerline goodness [0,1] 0.9656087606218079 Centerline is valid? [True, True] Translation: X:731.51, Y:-57.86, Z:2.22 [[ 9.94215765e-01 1.06195899e-01 -1.60450633e-02 7.31509011e+02] [-1.06160193e-01 9.94344321e-01 3.06335044e-03 -5.78610323e+01] [ 1.62796329e-02 -1.34228428e-03 9.99866577e-01 2.21910703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.280714057 meters Centerline goodness [0,1] 0.9723499218924347 Centerline is valid? [True, True] Translation: X:731.54, Y:-57.85, Z:2.22 [[ 9.93454051e-01 1.13232918e-01 -1.50782589e-02 7.31541916e+02] [-1.13202196e-01 9.93567802e-01 2.87840638e-03 -5.78522182e+01] [ 1.53072029e-02 -1.15267246e-03 9.99882174e-01 2.22101574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3107140569999 meters Centerline goodness [0,1] 0.9760665042794252 Centerline is valid? [True, True] Translation: X:731.57, Y:-57.84, Z:2.22 [[ 9.93032220e-01 1.16936878e-01 -1.45868365e-02 7.31574737e+02] [-1.16908526e-01 9.93138784e-01 2.78441133e-03 -5.78425390e+01] [ 1.48123535e-02 -1.05968461e-03 9.99889730e-01 2.22332616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3407140569999 meters Centerline goodness [0,1] 0.9768237253048918 Centerline is valid? [True, True] Translation: X:731.61, Y:-57.84, Z:2.22 [[ 9.92061739e-01 1.25058254e-01 -1.31885755e-02 7.31605266e+02] [-1.25035795e-01 9.92149038e-01 2.51718832e-03 -5.78367362e+01] [ 1.33998277e-02 -8.48162198e-04 9.99909859e-01 2.22461507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.370714057 meters Centerline goodness [0,1] 0.9777406537836374 Centerline is valid? [True, True] Translation: X:731.64, Y:-57.84, Z:2.23 [[ 9.91613024e-01 1.28647438e-01 -1.23873540e-02 7.31635935e+02] [-1.28627906e-01 9.91690109e-01 2.36403590e-03 -5.78364892e+01] [ 1.25885436e-02 -7.50849375e-04 9.99920479e-01 2.22534161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.400714057 meters Centerline goodness [0,1] 0.9786095048789303 Centerline is valid? [True, True] Translation: X:731.67, Y:-57.84, Z:2.23 [[ 9.91208175e-01 1.31784754e-01 -1.17954567e-02 7.31666173e+02] [-1.31767269e-01 9.91278125e-01 2.25087219e-03 -5.78379022e+01] [ 1.19892089e-02 -6.76827804e-04 9.99927898e-01 2.22574105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4307140569999 meters Centerline goodness [0,1] 0.9773565272468161 Centerline is valid? [True, True] Translation: X:731.70, Y:-57.84, Z:2.23 [[ 9.90622779e-01 1.36184325e-01 -1.09699410e-02 7.31695255e+02] [-1.36169473e-01 9.90683347e-01 2.09305567e-03 -5.78437336e+01] [ 1.11527792e-02 -5.79657537e-04 9.99937638e-01 2.22539132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4607140569999 meters Centerline goodness [0,1] 0.9773565272468161 Centerline is valid? [True, True] Translation: X:731.72, Y:-57.85, Z:2.23 [[ 9.90658739e-01 1.35922461e-01 -1.09703428e-02 7.31722218e+02] [-1.35907617e-01 9.90719308e-01 2.09094839e-03 -5.78487751e+01] [ 1.11527372e-02 -5.80463159e-04 9.99937638e-01 2.22548543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.490714057 meters Centerline goodness [0,1] 0.9795511221945137 Centerline is valid? [True, True] Translation: X:731.75, Y:-57.84, Z:2.23 [[ 9.90424538e-01 1.37602528e-01 -1.11704247e-02 7.31752533e+02] [-1.37587261e-01 9.90487364e-01 2.12756801e-03 -5.78440089e+01] [ 1.13569233e-02 -5.70287411e-04 9.99935345e-01 2.22628648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.520714057 meters Centerline goodness [0,1] 0.9800417309262451 Centerline is valid? [True, True] Translation: X:731.78, Y:-57.85, Z:2.23 [[ 9.90235013e-01 1.38930292e-01 -1.15322943e-02 7.31780950e+02] [-1.38914137e-01 9.90301999e-01 2.19413409e-03 -5.78478648e+01] [ 1.17252858e-02 -5.70709685e-04 9.99931094e-01 2.22573712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5507140569999 meters Centerline goodness [0,1] 0.9803926002985209 Centerline is valid? [True, True] Translation: X:731.81, Y:-57.85, Z:2.22 [[ 9.89686687e-01 1.42701528e-01 -1.25113929e-02 7.31809902e+02] [-1.42682830e-01 9.89765603e-01 2.37914383e-03 -5.78513529e+01] [ 1.27228538e-02 -5.69446026e-04 9.99918899e-01 2.22406321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5807140569999 meters Centerline goodness [0,1] 0.9825088138291823 Centerline is valid? [True, True] Translation: X:731.84, Y:-57.85, Z:2.22 [[ 9.89425934e-01 1.44404670e-01 -1.35503778e-02 7.31839459e+02] [-1.44382933e-01 9.89518541e-01 2.57410980e-03 -5.78521920e+01] [ 1.37800635e-02 -5.90447707e-04 9.99904876e-01 2.22425098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6107140569999 meters Centerline goodness [0,1] 0.9818867753005613 Centerline is valid? [True, True] Translation: X:731.87, Y:-57.86, Z:2.22 [[ 9.89077642e-01 1.46720828e-01 -1.40860445e-02 7.31867317e+02] [-1.46697596e-01 9.89177772e-01 2.67422469e-03 -5.78571708e+01] [ 1.43259666e-02 -5.78626973e-04 9.99897211e-01 2.22309686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.640714057 meters Centerline goodness [0,1] 0.9836689139941691 Centerline is valid? [True, True] Translation: X:731.90, Y:-57.86, Z:2.22 [[ 9.88340934e-01 1.51497733e-01 -1.51866665e-02 7.31897297e+02] [-1.51471299e-01 9.88457453e-01 2.88269041e-03 -5.78598149e+01] [ 1.54480948e-02 -5.48736819e-04 9.99880520e-01 2.22156314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6707140569999 meters Centerline goodness [0,1] 0.9831266981756741 Centerline is valid? [True, True] Translation: X:731.93, Y:-57.86, Z:2.22 [[ 9.87979909e-01 1.53855482e-01 -1.49729979e-02 7.31926226e+02] [-1.53830100e-01 9.88093234e-01 2.83930571e-03 -5.78645062e+01] [ 1.52315607e-02 -5.01879232e-04 9.99883867e-01 2.22116699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7007140569999 meters Centerline goodness [0,1] 0.9836670539192237 Centerline is valid? [True, True] Translation: X:731.96, Y:-57.87, Z:2.22 [[ 9.87155487e-01 1.59124909e-01 -1.42585724e-02 7.31955307e+02] [-1.59102457e-01 9.87258377e-01 2.70266840e-03 -5.78694463e+01] [ 1.45069569e-02 -3.99380045e-04 9.99894689e-01 2.22164056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7307140569999 meters Centerline goodness [0,1] 0.984090857363953 Centerline is valid? [True, True] Translation: X:731.98, Y:-57.88, Z:2.22 [[ 9.86886857e-01 1.60834098e-01 -1.36646812e-02 7.31983233e+02] [-1.60813679e-01 9.86981391e-01 2.58737488e-03 -5.78752950e+01] [ 1.39029242e-02 -3.55978602e-04 9.99903286e-01 2.22182823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.760714057 meters Centerline goodness [0,1] 0.9846865528792471 Centerline is valid? [True, True] Translation: X:732.01, Y:-57.88, Z:2.22 [[ 9.86761716e-01 1.61638336e-01 -1.32047427e-02 7.32010842e+02] [-1.61619384e-01 9.86850009e-01 2.49697811e-03 -5.78815192e+01] [ 1.34347078e-02 -3.29780024e-04 9.99909696e-01 2.22203022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.790714057 meters Centerline goodness [0,1] 0.9837637375062186 Centerline is valid? [True, True] Translation: X:732.04, Y:-57.89, Z:2.22 [[ 9.86728135e-01 1.61981742e-01 -1.13799009e-02 7.32038304e+02] [-1.61967722e-01 9.86793716e-01 2.14910225e-03 -5.78898528e+01] [ 1.15777300e-02 -2.77403033e-04 9.99932937e-01 2.22292761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8207140569999 meters Centerline goodness [0,1] 0.9836109921323745 Centerline is valid? [True, True] Translation: X:732.06, Y:-57.90, Z:2.22 [[ 9.86840102e-01 1.61366372e-01 -1.03685402e-02 7.32063765e+02] [-1.61354723e-01 9.86894537e-01 1.95590787e-03 -5.78991538e+01] [ 1.05482734e-02 -2.57155404e-04 9.99944332e-01 2.22304701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8507140569999 meters Centerline goodness [0,1] 0.9832531582969923 Centerline is valid? [True, True] Translation: X:732.09, Y:-57.91, Z:2.22 [[ 9.87522039e-01 1.57232960e-01 -8.83285641e-03 7.32090553e+02] [-1.57224349e-01 9.87561507e-01 1.66534371e-03 -5.79136604e+01] [ 8.98483591e-03 -2.55823524e-04 9.99959603e-01 2.22353714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.880714057 meters Centerline goodness [0,1] 0.9814827299489877 Centerline is valid? [True, True] Translation: X:732.12, Y:-57.92, Z:2.22 [[ 9.87998610e-01 1.54269828e-01 -7.71801448e-03 7.32117979e+02] [-1.54263166e-01 9.88028724e-01 1.45475411e-03 -5.79249964e+01] [ 7.85004467e-03 -2.46689695e-04 9.99969157e-01 2.22359607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.910714057 meters Centerline goodness [0,1] 0.9804104685033243 Centerline is valid? [True, True] Translation: X:732.14, Y:-57.94, Z:2.22 [[ 9.88444852e-01 1.51415410e-01 -7.08154129e-03 7.32144203e+02] [-1.51409731e-01 9.88470188e-01 1.33433676e-03 -5.79376288e+01] [ 7.20193159e-03 -2.46704034e-04 9.99974035e-01 2.22382673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9407140569999 meters Centerline goodness [0,1] 0.9795544841748136 Centerline is valid? [True, True] Translation: X:732.17, Y:-57.95, Z:2.22 [[ 9.89077368e-01 1.47251592e-01 -6.55198539e-03 7.32172199e+02] [-1.47246642e-01 9.89099036e-01 1.23420402e-03 -5.79484532e+01] [ 6.66230094e-03 -2.55965412e-04 9.99977774e-01 2.22414313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9707140569999 meters Centerline goodness [0,1] 0.9789009815049743 Centerline is valid? [True, True] Translation: X:732.20, Y:-57.97, Z:2.22 [[ 9.90117648e-01 1.40150739e-01 -4.98126293e-03 7.32199350e+02] [-1.40147788e-01 9.90130152e-01 9.38221162e-04 -5.79668929e+01] [ 5.06359101e-03 -2.30836348e-04 9.99987153e-01 2.22443795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.000714057 meters Centerline goodness [0,1] 0.9785168717395611 Centerline is valid? [True, True] Translation: X:732.23, Y:-57.98, Z:2.22 [[ 9.90634153e-01 1.36449437e-01 -5.05226170e-03 7.32226017e+02] [-1.36446354e-01 9.90647004e-01 9.51551845e-04 -5.79810025e+01] [ 5.13484663e-03 -2.53277068e-04 9.99986785e-01 2.22358789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.030714057 meters Centerline goodness [0,1] 0.9770147872270093 Centerline is valid? [True, True] Translation: X:732.25, Y:-58.00, Z:2.22 [[ 9.91577657e-01 1.29365767e-01 -6.18452688e-03 7.32254053e+02] [-1.29361010e-01 9.91596880e-01 1.16476415e-03 -5.79986311e+01] [ 6.28323817e-03 -3.54917458e-04 9.99980197e-01 2.22235985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0607140569999 meters Centerline goodness [0,1] 0.977235199577288 Centerline is valid? [True, True] Translation: X:732.28, Y:-58.01, Z:2.22 [[ 9.91977533e-01 1.26271222e-01 -6.01276322e-03 7.32282404e+02] [-1.26266669e-01 9.91995688e-01 1.13236941e-03 -5.80102448e+01] [ 6.10762086e-03 -3.64073425e-04 9.99981282e-01 2.22158212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0907140569999 meters Centerline goodness [0,1] 0.9777362637362638 Centerline is valid? [True, True] Translation: X:732.31, Y:-58.02, Z:2.22 [[ 9.92298919e-01 1.23742845e-01 -5.52839619e-03 7.32310208e+02] [-1.23738958e-01 9.92314258e-01 1.04097799e-03 -5.80209167e+01] [ 5.61471994e-03 -3.48883347e-04 9.99984176e-01 2.22145343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.120714057 meters Centerline goodness [0,1] 0.976878612716763 Centerline is valid? [True, True] Translation: X:732.34, Y:-58.03, Z:2.22 [[ 9.92678924e-01 1.20708901e-01 -4.23256853e-03 7.32338661e+02] [-1.20706596e-01 9.92687908e-01 7.96823420e-04 -5.80333250e+01] [ 4.29780328e-03 -2.80090876e-04 9.99990725e-01 2.22237409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.150714057 meters Centerline goodness [0,1] 0.9769000021895733 Centerline is valid? [True, True] Translation: X:732.37, Y:-58.04, Z:2.22 [[ 9.92840423e-01 1.19398006e-01 -3.46549927e-03 7.32365865e+02] [-1.19396453e-01 9.92846444e-01 6.52351622e-04 -5.80414490e+01] [ 3.51859811e-03 -2.33912738e-04 9.99993782e-01 2.22255260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1807140569999 meters Centerline goodness [0,1] 0.9779137083560896 Centerline is valid? [True, True] Translation: X:732.39, Y:-58.05, Z:2.22 [[ 9.92969077e-01 1.18317257e-01 -3.66599785e-03 7.32394244e+02] [-1.18315514e-01 9.92975812e-01 6.89526242e-04 -5.80463069e+01] [ 3.72183005e-03 -2.50933818e-04 9.99993042e-01 2.22264953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2107140569999 meters Centerline goodness [0,1] 0.9763588736083825 Centerline is valid? [True, True] Translation: X:732.42, Y:-58.06, Z:2.22 [[ 9.93078809e-01 1.17400521e-01 -3.40545212e-03 7.32419726e+02] [-1.17399015e-01 9.93084620e-01 6.39697308e-04 -5.80607332e+01] [ 3.45700293e-03 -2.35473117e-04 9.99993997e-01 2.22209505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.240714057 meters Centerline goodness [0,1] 0.9775447469968824 Centerline is valid? [True, True] Translation: X:732.45, Y:-58.06, Z:2.22 [[ 9.93161072e-01 1.16716681e-01 -2.88126223e-03 7.32448537e+02] [-1.16715600e-01 9.93165231e-01 5.41094285e-04 -5.80636119e+01] [ 2.92472420e-03 -2.01105529e-04 9.99995703e-01 2.22169180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.270714057 meters Centerline goodness [0,1] 0.9767209771548825 Centerline is valid? [True, True] Translation: X:732.48, Y:-58.08, Z:2.22 [[ 9.93335785e-01 1.15240404e-01 -1.91491045e-03 7.32475358e+02] [-1.15239925e-01 9.93337622e-01 3.59110441e-04 -5.80752077e+01] [ 1.94353662e-03 -1.36043116e-04 9.99998102e-01 2.22200259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3007140569999 meters Centerline goodness [0,1] 0.9760562460547224 Centerline is valid? [True, True] Translation: X:732.50, Y:-58.08, Z:2.22 [[ 9.93445801e-01 1.14300138e-01 -9.58611979e-04 7.32503139e+02] [-1.14300017e-01 9.93446261e-01 1.80303051e-04 -5.80821179e+01] [ 9.72938150e-04 -6.95519437e-05 9.99999524e-01 2.22226126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3307140569999 meters Centerline goodness [0,1] 0.9755614984889005 Centerline is valid? [True, True] Translation: X:732.53, Y:-58.09, Z:2.22 [[ 9.93613024e-01 1.12837869e-01 -8.80027152e-04 7.32531456e+02] [-1.12837767e-01 9.93613411e-01 1.64858372e-04 -5.80902538e+01] [ 8.93009047e-04 -6.45051262e-05 9.99999599e-01 2.22222776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3607140569999 meters Centerline goodness [0,1] 0.9752780674313521 Centerline is valid? [True, True] Translation: X:732.56, Y:-58.10, Z:2.22 [[ 9.93816328e-01 1.11035174e-01 -5.45243012e-04 7.32560131e+02] [-1.11035135e-01 9.93816476e-01 1.02130809e-04 -5.80981478e+01] [ 5.53211601e-04 -4.09581339e-05 9.99999846e-01 2.22200875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.390714057 meters Centerline goodness [0,1] 0.9735808097253881 Centerline is valid? [True, True] Translation: X:732.59, Y:-58.11, Z:2.22 [[ 9.94331782e-01 1.06310174e-01 -1.56651513e-03 7.32589465e+02] [-1.06309844e-01 9.94333008e-01 2.93084912e-04 -5.81084068e+01] [ 1.58879561e-03 -1.24887664e-04 9.99998730e-01 2.22178054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4207140569999 meters Centerline goodness [0,1] 0.9730619315721092 Centerline is valid? [True, True] Translation: X:732.62, Y:-58.12, Z:2.22 [[ 9.94609874e-01 1.03664135e-01 -2.22397985e-03 7.32618993e+02] [-1.03663462e-01 9.94612343e-01 4.16057021e-04 -5.81166782e+01] [ 2.25512800e-03 -1.83268970e-04 9.99997440e-01 2.22119737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4507140569999 meters Centerline goodness [0,1] 0.9719043793560154 Centerline is valid? [True, True] Translation: X:732.65, Y:-58.13, Z:2.22 [[ 9.95206038e-01 9.77611824e-02 -2.77357317e-03 7.32647416e+02] [-9.77601130e-02 9.95209873e-01 5.18880802e-04 -5.81276511e+01] [ 2.81101380e-03 -2.45248480e-04 9.99996019e-01 2.21987753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4807140569999 meters Centerline goodness [0,1] 0.9681610167653502 Centerline is valid? [True, True] Translation: X:732.68, Y:-58.14, Z:2.22 [[ 9.95513415e-01 9.45802298e-02 -2.76051710e-03 7.32675053e+02] [-9.45791584e-02 9.95517210e-01 5.16398319e-04 -5.81389999e+01] [ 2.79698335e-03 -2.52994070e-04 9.99996056e-01 2.21908911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.510714057 meters Centerline goodness [0,1] 0.9711496746203905 Centerline is valid? [True, True] Translation: X:732.71, Y:-58.14, Z:2.22 [[ 9.95740018e-01 9.21693353e-02 -2.57481236e-03 7.32705662e+02] [-9.21683952e-02 9.95743318e-01 4.81658933e-04 -5.81414295e+01] [ 2.60824639e-03 -2.42290751e-04 9.99996569e-01 2.21894703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.540714057 meters Centerline goodness [0,1] 0.969400165052339 Centerline is valid? [True, True] Translation: X:732.74, Y:-58.14, Z:2.22 [[ 9.95988663e-01 8.94393553e-02 -2.68029156e-03 7.32735493e+02] [-8.94383268e-02 9.95992236e-01 5.01397087e-04 -5.81449154e+01] [ 2.71439422e-03 -2.59665022e-04 9.99996282e-01 2.22023510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5707140569999 meters Centerline goodness [0,1] 0.9711208581230729 Centerline is valid? [True, True] Translation: X:732.76, Y:-58.15, Z:2.22 [[ 9.96053274e-01 8.87401568e-02 -1.74946453e-03 7.32764315e+02] [-8.87397169e-02 9.96054795e-01 3.27674959e-04 -5.81484421e+01] [ 1.77164046e-03 -1.71134729e-04 9.99998416e-01 2.22141892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6007140569999 meters Centerline goodness [0,1] 0.9681728196314747 Centerline is valid? [True, True] Translation: X:732.79, Y:-58.16, Z:2.22 [[ 9.96056757e-01 8.87115530e-02 -1.09409403e-03 7.32791462e+02] [-8.87113812e-02 9.96057352e-01 2.04689924e-04 -5.81570318e+01] [ 1.10793877e-03 -1.06824189e-04 9.99999381e-01 2.22212969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.630714057 meters Centerline goodness [0,1] 0.9663552622982949 Centerline is valid? [True, True] Translation: X:732.82, Y:-58.16, Z:2.22 [[ 9.95876497e-01 9.07164975e-02 -7.20640302e-04 7.32821053e+02] [-9.07164237e-02 9.95876756e-01 1.34556928e-04 -5.81606633e+01] [ 7.29875459e-04 -6.86281713e-05 9.99999731e-01 2.22208559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.660714057 meters Centerline goodness [0,1] 0.9701772361622811 Centerline is valid? [True, True] Translation: X:732.85, Y:-58.16, Z:2.22 [[ 9.95803195e-01 9.15165898e-02 -8.42994042e-04 7.32850624e+02] [-9.15164890e-02 9.95803549e-01 1.57519689e-04 -5.81595864e+01] [ 8.53872123e-04 -7.97107546e-05 9.99999632e-01 2.22207697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6907140569999 meters Centerline goodness [0,1] 0.9711111111111111 Centerline is valid? [True, True] Translation: X:732.88, Y:-58.16, Z:2.22 [[ 9.95590730e-01 9.37926325e-02 -1.42862459e-03 7.32880689e+02] [-9.37923458e-02 9.95591746e-01 2.66558959e-04 -5.81609504e+01] [ 1.44732812e-03 -1.31389577e-04 9.99998944e-01 2.22214016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7207140569999 meters Centerline goodness [0,1] 0.9709818991681041 Centerline is valid? [True, True] Translation: X:732.91, Y:-58.16, Z:2.22 [[ 9.95457858e-01 9.51960071e-02 -1.17168819e-03 7.32910775e+02] [-9.51958152e-02 9.95458542e-01 2.18608029e-04 -5.81642470e+01] [ 1.18717763e-03 -1.06075267e-04 9.99999290e-01 2.22280589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.750714057 meters Centerline goodness [0,1] 0.972987691972552 Centerline is valid? [True, True] Translation: X:732.94, Y:-58.16, Z:2.22 [[ 9.95398521e-01 9.58185280e-02 -7.71149844e-04 7.32940410e+02] [-9.58184446e-02 9.95398817e-01 1.44469987e-04 -5.81649049e+01] [ 7.81444544e-04 -6.99148332e-05 9.99999692e-01 2.22286327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.780714057 meters Centerline goodness [0,1] 0.9710477841586304 Centerline is valid? [True, True] Translation: X:732.97, Y:-58.17, Z:2.22 [[ 9.95291238e-01 9.69291567e-02 -3.00853894e-04 7.32967427e+02] [-9.69291441e-02 9.95291283e-01 5.63277273e-05 -5.81703438e+01] [ 3.04897057e-04 -2.69009830e-05 9.99999953e-01 2.22303692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8107140569999 meters Centerline goodness [0,1] 0.9703366657187233 Centerline is valid? [True, True] Translation: X:733.00, Y:-58.17, Z:2.22 [[ 9.95346078e-01 9.63636314e-02 -4.85471863e-04 7.32995442e+02] [-9.63635985e-02 9.95346195e-01 9.06500125e-05 -5.81745620e+01] [ 4.91947936e-04 -4.34463187e-05 9.99999878e-01 2.22297214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8407140569999 meters Centerline goodness [0,1] 0.9689317018137638 Centerline is valid? [True, True] Translation: X:733.02, Y:-58.18, Z:2.22 [[ 9.95392792e-01 9.58718442e-02 -1.33417627e-03 7.33022999e+02] [-9.58715966e-02 9.95393679e-01 2.48467310e-04 -5.81799931e+01] [ 1.35185164e-03 -1.19412960e-04 9.99999079e-01 2.22315185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.870714057 meters Centerline goodness [0,1] 0.969730012648842 Centerline is valid? [True, True] Translation: X:733.05, Y:-58.18, Z:2.22 [[ 9.95543951e-01 9.42604522e-02 -2.68484343e-03 7.33052919e+02] [-9.42594452e-02 9.95547542e-01 4.99430947e-04 -5.81777390e+01] [ 2.71996587e-03 -2.44133606e-04 9.99996271e-01 2.22203878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.900714057 meters Centerline goodness [0,1] 0.9736034376918354 Centerline is valid? [True, True] Translation: X:733.08, Y:-58.18, Z:2.22 [[ 9.95596260e-01 9.36876251e-02 -3.27341861e-03 7.33082447e+02] [-9.36861259e-02 9.95601597e-01 6.08717152e-04 -5.81766262e+01] [ 3.31605006e-03 -2.99362612e-04 9.99994457e-01 2.22123981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9307140569999 meters Centerline goodness [0,1] 0.9650587847489287 Centerline is valid? [True, True] Translation: X:733.11, Y:-58.19, Z:2.22 [[ 9.95670193e-01 9.28439982e-02 -4.56715245e-03 7.33108676e+02] [-9.28410771e-02 9.95680579e-01 8.47943618e-04 -5.81879846e+01] [ 4.62615148e-03 -4.20252833e-04 9.99989211e-01 2.21981514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9607140569999 meters Centerline goodness [0,1] 0.9696449782235713 Centerline is valid? [True, True] Translation: X:733.14, Y:-58.19, Z:2.22 [[ 9.95730595e-01 9.21640590e-02 -5.13492643e-03 7.33138268e+02] [-9.21603617e-02 9.95743722e-01 9.52550904e-04 -5.81852004e+01] [ 5.20086171e-03 -4.75247402e-04 9.99986362e-01 2.21936356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.990714057 meters Centerline goodness [0,1] 0.9703549060542798 Centerline is valid? [True, True] Translation: X:733.17, Y:-58.19, Z:2.22 [[ 9.95808214e-01 9.13122748e-02 -5.29813370e-03 7.33167610e+02] [-9.13083343e-02 9.95822185e-01 9.81431568e-04 -5.81858073e+01] [ 5.36561583e-03 -4.93553853e-04 9.99985483e-01 2.21923864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.020714057 meters Centerline goodness [0,1] 0.9698252110471908 Centerline is valid? [True, True] Translation: X:733.20, Y:-58.19, Z:2.22 [[ 9.95930733e-01 8.99600196e-02 -5.40085412e-03 7.33196610e+02] [-8.99559109e-02 9.95945247e-01 9.99403007e-04 -5.81873042e+01] [ 5.46886130e-03 -5.09497418e-04 9.99984916e-01 2.21973284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0507140569999 meters Centerline goodness [0,1] 0.9693542341865644 Centerline is valid? [True, True] Translation: X:733.23, Y:-58.19, Z:2.22 [[ 9.95976496e-01 8.94589759e-02 -5.28311620e-03 7.33225484e+02] [-8.94550415e-02 9.95990382e-01 9.76854865e-04 -5.81868484e+01] [ 5.34932136e-03 -5.00323106e-04 9.99985567e-01 2.21999361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0807140569999 meters Centerline goodness [0,1] 0.9517537074281168 Centerline is valid? [True, True] Translation: X:733.25, Y:-58.20, Z:2.22 [[ 9.96062723e-01 8.84766173e-02 -5.56235730e-03 7.33251926e+02] [-8.84722469e-02 9.96078112e-01 1.02739513e-03 -5.81995490e+01] [ 5.63144281e-03 -5.31235746e-04 9.99984002e-01 2.22045193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1107140569999 meters Centerline goodness [0,1] 0.9687250996015936 Centerline is valid? [True, True] Translation: X:733.28, Y:-58.19, Z:2.22 [[ 9.96124048e-01 8.77881946e-02 -5.48766756e-03 7.33282790e+02] [-8.77839349e-02 9.96139024e-01 1.01280305e-03 -5.81901102e+01] [ 5.55539196e-03 -5.27148419e-04 9.99984430e-01 2.22110193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.140714057 meters Centerline goodness [0,1] 0.9641175300126019 Centerline is valid? [True, True] Translation: X:733.31, Y:-58.19, Z:2.22 [[ 9.96168923e-01 8.72614946e-02 -5.73662658e-03 7.33309884e+02] [-8.72568379e-02 9.96185287e-01 1.05756538e-03 -5.81939903e+01] [ 5.80702774e-03 -5.52953865e-04 9.99982986e-01 2.22164176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1707140569999 meters Centerline goodness [0,1] 0.9657192305132131 Centerline is valid? [True, True] Translation: X:733.34, Y:-58.20, Z:2.22 [[ 9.96245971e-01 8.63605215e-02 -5.98549834e-03 7.33339277e+02] [-8.63554423e-02 9.96263782e-01 1.10238353e-03 -5.81952859e+01] [ 6.05833762e-03 -5.81364792e-04 9.99981479e-01 2.22110054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2007140569999 meters Centerline goodness [0,1] 0.9652893665309392 Centerline is valid? [True, True] Translation: X:733.37, Y:-58.20, Z:2.22 [[ 9.96291447e-01 8.57643334e-02 -6.91603892e-03 7.33368148e+02] [-8.57575512e-02 9.96315224e-01 1.27185565e-03 -5.81985866e+01] [ 6.99963471e-03 -6.74036345e-04 9.99975275e-01 2.22104882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2307140569999 meters Centerline goodness [0,1] 0.9640510501815266 Centerline is valid? [True, True] Translation: X:733.40, Y:-58.20, Z:2.22 [[ 9.96357763e-01 8.49220235e-02 -7.71086576e-03 7.33396448e+02] [-8.49135785e-02 9.96387313e-01 1.41666112e-03 -5.82010252e+01] [ 7.80331454e-03 -7.56744101e-04 9.99969267e-01 2.22018881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.260714057 meters Centerline goodness [0,1] 0.9667710196779964 Centerline is valid? [True, True] Translation: X:733.43, Y:-58.20, Z:2.22 [[ 9.96459125e-01 8.36650458e-02 -8.32897973e-03 7.33426227e+02] [-8.36551542e-02 9.96493590e-01 1.52961095e-03 -5.81992310e+01] [ 8.42774988e-03 -8.27432706e-04 9.99964144e-01 2.21978543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.290714057 meters Centerline goodness [0,1] 0.9596016114592659 Centerline is valid? [True, True] Translation: X:733.45, Y:-58.21, Z:2.22 [[ 9.96524138e-01 8.28885747e-02 -8.31424350e-03 7.33452905e+02] [-8.28786968e-02 9.96558474e-01 1.52625879e-03 -5.82081929e+01] [ 8.41213923e-03 -8.31880056e-04 9.99964271e-01 2.21976868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3207140569999 meters Centerline goodness [0,1] 0.9633916554508748 Centerline is valid? [True, True] Translation: X:733.48, Y:-58.21, Z:2.22 [[ 9.96680084e-01 8.09621278e-02 -8.59907207e-03 7.33483863e+02] [-8.09514941e-02 9.96716793e-01 1.57812565e-03 -5.82069166e+01] [ 8.69860794e-03 -8.76778678e-04 9.99961782e-01 2.21989244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3507140569999 meters Centerline goodness [0,1] 0.9310837988826816 Centerline is valid? [True, False] Translation: X:733.49, Y:-58.20, Z:2.22 [[ 9.96918483e-01 7.78571681e-02 -9.58120123e-03 7.33485966e+02] [-7.78830140e-02 9.96959725e-01 -2.35411579e-03 -5.82033838e+01] [ 9.36878696e-03 3.09307437e-03 9.99951328e-01 2.21971236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.380714057 meters Centerline goodness [0,1] 0.9310837988826816 Centerline is valid? [False, False] Translation: X:733.49, Y:-58.20, Z:2.22 [[ 9.96918483e-01 7.78571681e-02 -9.58120123e-03 7.33485966e+02] [-7.78830140e-02 9.96959725e-01 -2.35411579e-03 -5.82033838e+01] [ 9.36878696e-03 3.09307437e-03 9.99951328e-01 2.21971236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.410714057 meters Centerline goodness [0,1] 0.9370908438705049 Centerline is valid? [False, False] Translation: X:733.49, Y:-58.20, Z:2.22 [[ 9.96954855e-01 7.73765998e-02 -9.68906559e-03 7.33486134e+02] [-7.74102674e-02 9.96994351e-01 -3.14881259e-03 -5.82016745e+01] [ 9.41629924e-03 3.88925716e-03 9.99948102e-01 2.21983576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4407140569999 meters Centerline goodness [0,1] 0.9153175031480482 Centerline is valid? [False, False] Translation: X:733.49, Y:-58.20, Z:2.22 [[ 9.97017279e-01 7.65232765e-02 -1.00366196e-02 7.33486741e+02] [-7.65738985e-02 9.97052547e-01 -4.75979079e-03 -5.81974017e+01] [ 9.64280234e-03 5.51413675e-03 9.99938303e-01 2.22022766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4707140569999 meters Centerline goodness [0,1] 0.9536103358242549 Centerline is valid? [False, True] Translation: X:733.49, Y:-58.19, Z:2.22 [[ 9.97047363e-01 7.60857167e-02 -1.03691835e-02 7.33487299e+02] [-7.61483495e-02 9.97079717e-01 -5.78504192e-03 -5.81947615e+01] [ 9.89874349e-03 6.55755700e-03 9.99929504e-01 2.22060450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.500714057 meters Centerline goodness [0,1] 0.946184216429629 Centerline is valid? [True, False] Translation: X:733.49, Y:-58.19, Z:2.22 [[ 9.97057773e-01 7.58740064e-02 -1.09056384e-02 7.33488319e+02] [-7.59490431e-02 9.97089599e-01 -6.63887322e-03 -5.81922678e+01] [ 1.03701807e-02 7.44761295e-03 9.99918493e-01 2.22093848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.530714057 meters Centerline goodness [0,1] 0.9603233746584469 Centerline is valid? [False, True] Translation: X:733.49, Y:-58.19, Z:2.22 [[ 9.97100846e-01 7.52450594e-02 -1.13173736e-02 7.33488777e+02] [-7.53434354e-02 9.97121139e-01 -8.53235170e-03 -5.81870446e+01] [ 1.06427751e-02 9.36030490e-03 9.99899553e-01 2.22201102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5607140569999 meters Centerline goodness [0,1] 0.9383484162895928 Centerline is valid? [True, False] Translation: X:733.49, Y:-58.18, Z:2.22 [[ 9.97111142e-01 7.50385384e-02 -1.17723818e-02 7.33489483e+02] [-7.51501562e-02 9.97128453e-01 -9.34359409e-03 -5.81847523e+01] [ 1.10374472e-02 1.02012981e-02 9.99887048e-01 2.22254665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5907140569999 meters Centerline goodness [0,1] 0.9545403041221927 Centerline is valid? [False, True] Translation: X:733.49, Y:-58.18, Z:2.22 [[ 9.97130382e-01 7.47160539e-02 -1.21865918e-02 7.33490127e+02] [-7.48473585e-02 9.97137602e-01 -1.06993295e-02 -5.81806242e+01] [ 1.13522973e-02 1.15807608e-02 9.99868497e-01 2.22334758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.620714057 meters Centerline goodness [0,1] 0.9477102000181011 Centerline is valid? [True, False] Translation: X:733.49, Y:-58.18, Z:2.22 [[ 9.97139191e-01 7.45529532e-02 -1.24615981e-02 7.33490651e+02] [-7.46948167e-02 9.97142022e-01 -1.13345508e-02 -5.81785996e+01] [ 1.15809588e-02 1.22329416e-02 9.99858108e-01 2.22359584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.650714057 meters Centerline goodness [0,1] 0.9647040130742691 Centerline is valid? [False, True] Translation: X:733.49, Y:-58.18, Z:2.22 [[ 9.97147499e-01 7.43741586e-02 -1.28588783e-02 7.33491281e+02] [-7.45296623e-02 9.97145766e-01 -1.20686266e-02 -5.81762492e+01] [ 1.19245821e-02 1.29925687e-02 9.99844487e-01 2.22403855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6807140569999 meters Centerline goodness [0,1] 0.9656151993091223 Centerline is valid? [True, True] Translation: X:733.52, Y:-58.18, Z:2.22 [[ 9.97144349e-01 7.48776034e-02 -9.82304026e-03 7.33519259e+02] [-7.48640771e-02 9.97192233e-01 1.73806832e-03 -5.81836117e+01] [ 9.92560184e-03 -9.97712158e-04 9.99950242e-01 2.21970593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7107140569999 meters Centerline goodness [0,1] 0.962150850696024 Centerline is valid? [True, True] Translation: X:733.55, Y:-58.19, Z:2.22 [[ 9.97163709e-01 7.46572177e-02 -9.53086413e-03 7.33546473e+02] [-7.46444925e-02 9.97208786e-01 1.68446397e-03 -5.81906893e+01] [ 9.63001884e-03 -9.68259822e-04 9.99953162e-01 2.21958164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.740714057 meters Centerline goodness [0,1] 0.9628480853878258 Centerline is valid? [True, True] Translation: X:733.58, Y:-58.19, Z:2.22 [[ 9.97228543e-01 7.37425068e-02 -9.86281439e-03 7.33576402e+02] [-7.37288428e-02 9.97276803e-01 1.74239547e-03 -5.81928469e+01] [ 9.96444461e-03 -1.01039261e-03 9.99949843e-01 2.21979933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.770714057 meters Centerline goodness [0,1] 0.9597427183358803 Centerline is valid? [True, True] Translation: X:733.60, Y:-58.20, Z:2.22 [[ 9.97258244e-01 7.33454037e-02 -9.82069567e-03 7.33603171e+02] [-7.33318424e-02 9.97306088e-01 1.73441902e-03 -5.81994794e+01] [ 9.92145124e-03 -1.00949396e-03 9.99950272e-01 2.22005236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8007140569999 meters Centerline goodness [0,1] 0.9528439696886698 Centerline is valid? [True, True] Translation: X:733.63, Y:-58.21, Z:2.22 [[ 9.97279602e-01 7.29970325e-02 -1.02385690e-02 7.33630540e+02] [-7.29822842e-02 9.97331600e-01 1.80727244e-03 -5.82063542e+01] [ 1.03431740e-02 -1.05512179e-03 9.99945951e-01 2.22043627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8307140569999 meters Centerline goodness [0,1] 0.9590889341169475 Centerline is valid? [True, True] Translation: X:733.66, Y:-58.21, Z:2.22 [[ 9.97321434e-01 7.20906194e-02 -1.23652964e-02 7.33659712e+02] [-7.20690657e-02 9.97397260e-01 2.18048647e-03 -5.82064789e+01] [ 1.24903054e-02 -1.28349053e-03 9.99921169e-01 2.21835037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8607140569999 meters Centerline goodness [0,1] 0.9594439864431621 Centerline is valid? [True, True] Translation: X:733.69, Y:-58.21, Z:2.22 [[ 9.97371968e-01 7.11307541e-02 -1.37685756e-02 7.33688573e+02] [-7.11039910e-02 9.97465962e-01 2.42426677e-03 -5.82101519e+01] [ 1.39061255e-02 -1.43889504e-03 9.99902270e-01 2.21792419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.890714057 meters Centerline goodness [0,1] 0.923486406214302 Centerline is valid? [True, False] Translation: X:733.69, Y:-58.21, Z:2.22 [[ 9.97566868e-01 6.81162995e-02 -1.48497150e-02 7.33691076e+02] [-6.81460874e-02 9.97674213e-01 -1.50867854e-03 -5.82069350e+01] [ 1.47124121e-02 2.51695770e-03 9.99888599e-01 2.21764850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9207140569999 meters Centerline goodness [0,1] 0.9208127176104086 Centerline is valid? [False, False] Translation: X:733.69, Y:-58.21, Z:2.22 [[ 9.97583753e-01 6.78457843e-02 -1.49534187e-02 7.33691115e+02] [-6.78835056e-02 9.97691191e-01 -2.02902643e-03 -5.82059459e+01] [ 1.47812332e-02 3.03921428e-03 9.99886133e-01 2.21793212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9507140569999 meters Centerline goodness [0,1] 0.9217897584009536 Centerline is valid? [False, False] Translation: X:733.69, Y:-58.20, Z:2.22 [[ 9.97597001e-01 6.75992137e-02 -1.51845147e-02 7.33691405e+02] [-6.76472491e-02 9.97705724e-01 -2.67182840e-03 -5.82047732e+01] [ 1.49690637e-02 3.69259864e-03 9.99881139e-01 2.21832533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9807140569999 meters Centerline goodness [0,1] 0.9447046726836513 Centerline is valid? [False, False] Translation: X:733.69, Y:-58.20, Z:2.22 [[ 9.97595617e-01 6.75225604e-02 -1.56105604e-02 7.33692081e+02] [-6.75906117e-02 9.97705622e-01 -3.87300574e-03 -5.82012434e+01] [ 1.53132286e-02 4.91882088e-03 9.99870647e-01 2.21930379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.010714057 meters Centerline goodness [0,1] 0.9683112346898913 Centerline is valid? [False, True] Translation: X:733.69, Y:-58.20, Z:2.22 [[ 9.97622921e-01 6.70510479e-02 -1.58954523e-02 7.33691978e+02] [-6.71402852e-02 9.97730265e-01 -5.14786234e-03 -5.81983170e+01] [ 1.55142043e-02 6.20285066e-03 9.99860407e-01 2.22055148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.040714057 meters Centerline goodness [0,1] 0.961007591442374 Centerline is valid? [True, True] Translation: X:733.72, Y:-58.21, Z:2.22 [[ 9.97540884e-01 6.87544792e-02 -1.36016997e-02 7.33719119e+02] [-6.87295595e-02 9.97632696e-01 2.29169233e-03 -5.82092500e+01] [ 1.37270644e-02 -1.35121796e-03 9.99904866e-01 2.21847534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0707140569999 meters Centerline goodness [0,1] 0.9670542189478532 Centerline is valid? [True, True] Translation: X:733.75, Y:-58.21, Z:2.22 [[ 9.97368667e-01 7.13861596e-02 -1.26395181e-02 7.33749951e+02] [-7.13648565e-02 9.97448006e-01 2.12909415e-03 -5.82065489e+01] [ 1.27592500e-02 -1.22147440e-03 9.99917851e-01 2.22009382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1007140569999 meters Centerline goodness [0,1] 0.9664903812844969 Centerline is valid? [True, True] Translation: X:733.78, Y:-58.21, Z:2.22 [[ 9.97307192e-01 7.22359068e-02 -1.26624959e-02 7.33778794e+02] [-7.22145981e-02 9.97386838e-01 2.13264630e-03 -5.82099530e+01] [ 1.27834604e-02 -1.21248644e-03 9.99917553e-01 2.22010223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.130714057 meters Centerline goodness [0,1] 0.9681513962612509 Centerline is valid? [True, True] Translation: X:733.81, Y:-58.21, Z:2.22 [[ 9.97309304e-01 7.22784661e-02 -1.22464170e-02 7.33808042e+02] [-7.22585558e-02 9.97383804e-01 2.06113076e-03 -5.82114888e+01] [ 1.23633534e-02 -1.17067648e-03 9.99922886e-01 2.21984352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.160714057 meters Centerline goodness [0,1] 0.9691510764748051 Centerline is valid? [True, True] Translation: X:733.84, Y:-58.21, Z:2.22 [[ 9.97346617e-01 7.17419200e-02 -1.23621452e-02 7.33837010e+02] [-7.17216305e-02 9.97422524e-01 2.07742028e-03 -5.82138010e+01] [ 1.24793202e-02 -1.18527488e-03 9.99921428e-01 2.21991724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1907140569999 meters Centerline goodness [0,1] 0.9560932728786897 Centerline is valid? [True, True] Translation: X:733.86, Y:-58.23, Z:2.22 [[ 9.97379058e-01 7.12685188e-02 -1.24825296e-02 7.33862027e+02] [-7.12478292e-02 9.97456444e-01 2.09496915e-03 -5.82302729e+01] [ 1.26000850e-02 -1.20012522e-03 9.99919896e-01 2.21938548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2207140569999 meters Centerline goodness [0,1] 0.9626742756396873 Centerline is valid? [True, True] Translation: X:733.89, Y:-58.23, Z:2.22 [[ 9.97412697e-01 7.06092443e-02 -1.34998581e-02 7.33891322e+02] [-7.05850119e-02 9.97503199e-01 2.26372180e-03 -5.82295405e+01] [ 1.36259913e-02 -1.30497722e-03 9.99906310e-01 2.21811151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.250714057 meters Centerline goodness [0,1] 0.9683995922528033 Centerline is valid? [True, True] Translation: X:733.92, Y:-58.23, Z:2.22 [[ 9.97419312e-01 7.01865381e-02 -1.51184178e-02 7.33920241e+02] [-7.01561597e-02 9.97532810e-01 2.53108704e-03 -5.82282486e+01] [ 1.52587660e-02 -1.46390496e-03 9.99882507e-01 2.21728432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.280714057 meters Centerline goodness [0,1] 0.9411057692307693 Centerline is valid? [True, False] Translation: X:733.92, Y:-58.23, Z:2.22 [[ 9.97601148e-01 6.72780064e-02 -1.62978565e-02 7.33923098e+02] [-6.73075821e-02 9.97731462e-01 -1.27240440e-03 -5.82259839e+01] [ 1.61752793e-02 2.36632140e-03 9.99866372e-01 2.21672095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3107140569999 meters Centerline goodness [0,1] 0.9672009635875104 Centerline is valid? [False, True] Translation: X:733.92, Y:-58.23, Z:2.22 [[ 9.97607256e-01 6.71291511e-02 -1.65360231e-02 7.33923426e+02] [-6.71671558e-02 9.97740197e-01 -1.75312007e-03 -5.82251259e+01] [ 1.63809695e-02 2.85960294e-03 9.99861734e-01 2.21708245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3407140569999 meters Centerline goodness [0,1] 0.9682638313541378 Centerline is valid? [True, True] Translation: X:733.95, Y:-58.23, Z:2.22 [[ 9.97509418e-01 6.87529163e-02 -1.57479274e-02 7.33953555e+02] [-6.87206881e-02 9.97632605e-01 2.57922447e-03 -5.82291653e+01] [ 1.58879750e-02 -1.49059230e-03 9.99872667e-01 2.21691433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.370714057 meters Centerline goodness [0,1] 0.9695324283559578 Centerline is valid? [True, True] Translation: X:733.98, Y:-58.23, Z:2.22 [[ 9.97432696e-01 6.98388626e-02 -1.58287544e-02 7.33982285e+02] [-6.98064483e-02 9.97557187e-01 2.59182193e-03 -5.82311733e+01] [ 1.59710976e-02 -1.48021880e-03 9.99871358e-01 2.21745522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.400714057 meters Centerline goodness [0,1] 0.9717145444834072 Centerline is valid? [True, True] Translation: X:734.01, Y:-58.23, Z:2.22 [[ 9.97237139e-01 7.27248722e-02 -1.51387422e-02 7.34013432e+02] [-7.26955628e-02 9.97351099e-01 2.47815635e-03 -5.82279480e+01] [ 1.52788648e-02 -1.37079016e-03 9.99882332e-01 2.21821295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4307140569999 meters Centerline goodness [0,1] 0.9658669877732493 Centerline is valid? [True, True] Translation: X:734.04, Y:-58.24, Z:2.22 [[ 9.97122237e-01 7.44107665e-02 -1.45011369e-02 7.34040046e+02] [-7.43840562e-02 9.97226844e-01 2.37342744e-03 -5.82420591e+01] [ 1.46375316e-02 -1.28794390e-03 9.99892036e-01 2.21836724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4607140569999 meters Centerline goodness [0,1] 0.9693144570751099 Centerline is valid? [True, True] Translation: X:734.07, Y:-58.24, Z:2.22 [[ 9.97023830e-01 7.57994581e-02 -1.40685694e-02 7.34070319e+02] [-7.57744642e-02 9.97122325e-01 2.30196362e-03 -5.82401983e+01] [ 1.42025722e-02 -1.22907427e-03 9.99898383e-01 2.21924417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.490714057 meters Centerline goodness [0,1] 0.9732382844454832 Centerline is valid? [True, True] Translation: X:734.10, Y:-58.24, Z:2.22 [[ 9.96880784e-01 7.77720318e-02 -1.34243445e-02 7.34101803e+02] [-7.77494591e-02 9.96970511e-01 2.19604784e-03 -5.82355872e+01] [ 1.35544667e-02 -1.14546238e-03 9.99907478e-01 2.22035691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.520714057 meters Centerline goodness [0,1] 0.9668566356799178 Centerline is valid? [True, True] Translation: X:734.13, Y:-58.25, Z:2.22 [[ 9.96590962e-01 8.16110670e-02 -1.20866660e-02 7.34129664e+02] [-8.15930549e-02 9.96663768e-01 1.97675209e-03 -5.82483524e+01] [ 1.22076669e-02 -9.83825267e-04 9.99925000e-01 2.22058845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5507140569999 meters Centerline goodness [0,1] 0.9728961290172224 Centerline is valid? [True, True] Translation: X:734.16, Y:-58.24, Z:2.22 [[ 9.96266325e-01 8.55775670e-02 -1.13969089e-02 7.34161555e+02] [-8.55618135e-02 9.96331121e-01 1.86364493e-03 -5.82406136e+01] [ 1.15145812e-02 -8.81546495e-04 9.99933316e-01 2.22160826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5807140569999 meters Centerline goodness [0,1] 0.9725532513840668 Centerline is valid? [True, True] Translation: X:734.19, Y:-58.25, Z:2.22 [[ 9.96141910e-01 8.70052048e-02 -1.14624957e-02 7.34189397e+02] [-8.69893668e-02 9.96207477e-01 1.87407567e-03 -5.82458779e+01] [ 1.15820782e-02 -8.69730077e-04 9.99932547e-01 2.22147956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6107140569999 meters Centerline goodness [0,1] 0.9727361928791701 Centerline is valid? [True, True] Translation: X:734.22, Y:-58.25, Z:2.22 [[ 9.96005435e-01 8.84040805e-02 -1.25655412e-02 7.34217980e+02] [-8.83851705e-02 9.96084256e-01 2.05344435e-03 -5.82481582e+01] [ 1.26978707e-02 -9.34634228e-04 9.99918942e-01 2.22122397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.640714057 meters Centerline goodness [0,1] 0.9702842377260982 Centerline is valid? [True, True] Translation: X:734.24, Y:-58.26, Z:2.22 [[ 9.95890868e-01 8.96282361e-02 -1.29675807e-02 7.34244575e+02] [-8.96082123e-02 9.95974840e-01 2.11818552e-03 -5.82614444e+01] [ 1.31052333e-02 -9.47479898e-04 9.99913674e-01 2.22003609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6707140569999 meters Centerline goodness [0,1] 0.973957598834203 Centerline is valid? [True, True] Translation: X:734.27, Y:-58.26, Z:2.22 [[ 9.95724099e-01 9.10803639e-02 -1.54235656e-02 7.34274340e+02] [-9.10522287e-02 9.95842935e-01 2.51812595e-03 -5.82562978e+01] [ 1.55888007e-02 -1.10300867e-03 9.99877879e-01 2.21804020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7007140569999 meters Centerline goodness [0,1] 0.9745365462982593 Centerline is valid? [True, True] Translation: X:734.30, Y:-58.26, Z:2.22 [[ 9.95582183e-01 9.24461923e-02 -1.64261287e-02 7.34303398e+02] [-9.24144909e-02 9.95717017e-01 2.68024991e-03 -5.82606437e+01] [ 1.66035547e-02 -1.15039673e-03 9.99861490e-01 2.21671257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7307140569999 meters Centerline goodness [0,1] 0.9751827219101784 Centerline is valid? [True, True] Translation: X:734.33, Y:-58.26, Z:2.22 [[ 9.95559082e-01 9.26602364e-02 -1.66191303e-02 7.34332085e+02] [-9.26278655e-02 9.95697113e-01 2.70876190e-03 -5.82622441e+01] [ 1.67986145e-02 -1.15733794e-03 9.99858224e-01 2.21737633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.760714057 meters Centerline goodness [0,1] 0.9734187312312312 Centerline is valid? [True, True] Translation: X:734.36, Y:-58.27, Z:2.22 [[ 9.95523898e-01 9.30874108e-02 -1.63371799e-02 7.34358959e+02] [-9.30562536e-02 9.95657303e-01 2.65872597e-03 -5.82728537e+01] [ 1.65137264e-02 -1.12654849e-03 9.99863004e-01 2.21788872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.790714057 meters Centerline goodness [0,1] 0.9725611192237035 Centerline is valid? [True, True] Translation: X:734.39, Y:-58.28, Z:2.22 [[ 9.95425026e-01 9.41338440e-02 -1.63657531e-02 7.34387426e+02] [-9.41027649e-02 9.95558934e-01 2.66057098e-03 -5.82766688e+01] [ 1.65435214e-02 -1.10833632e-03 9.99862532e-01 2.21847372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8207140569999 meters Centerline goodness [0,1] 0.9749588138385502 Centerline is valid? [True, True] Translation: X:734.42, Y:-58.28, Z:2.22 [[ 9.95122473e-01 9.73907934e-02 -1.56938531e-02 7.34417884e+02] [-9.73626292e-02 9.95245705e-01 2.55058514e-03 -5.82768829e+01] [ 1.58676434e-02 -1.01014979e-03 9.99873591e-01 2.21977788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8507140569999 meters Centerline goodness [0,1] 0.9775651600131969 Centerline is valid? [True, True] Translation: X:734.45, Y:-58.27, Z:2.22 [[ 9.94721665e-01 1.01534464e-01 -1.48176199e-02 7.34449395e+02] [-1.01509819e-01 9.94831623e-01 2.40791458e-03 -5.82708272e+01] [ 1.49855232e-02 -8.91070878e-04 9.99887314e-01 2.22146265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.880714057 meters Centerline goodness [0,1] 0.9768191659606514 Centerline is valid? [True, True] Translation: X:734.48, Y:-58.28, Z:2.22 [[ 9.94515734e-01 1.03584605e-01 -1.44459022e-02 7.34478082e+02] [-1.03561400e-01 9.94620293e-01 2.34722883e-03 -5.82751189e+01] [ 1.46113243e-02 -8.38318146e-04 9.99892897e-01 2.22165054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.910714057 meters Centerline goodness [0,1] 0.9766990291262136 Centerline is valid? [True, True] Translation: X:734.51, Y:-58.28, Z:2.22 [[ 9.94306375e-01 1.05580307e-01 -1.44094040e-02 7.34507330e+02] [-1.05557438e-01 9.94410453e-01 2.34058829e-03 -5.82760045e+01] [ 1.45759820e-02 -8.06242080e-04 9.99893440e-01 2.22289654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9407140569999 meters Centerline goodness [0,1] 0.9771690576918531 Centerline is valid? [True, True] Translation: X:734.54, Y:-58.28, Z:2.22 [[ 9.94142479e-01 1.07160647e-01 -1.40473316e-02 7.34535040e+02] [-1.07139086e-01 9.94241427e-01 2.28068376e-03 -5.82796708e+01] [ 1.42108385e-02 -7.62306346e-04 9.99898730e-01 2.22297579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9707140569999 meters Centerline goodness [0,1] 0.978338665718687 Centerline is valid? [True, True] Translation: X:734.56, Y:-58.28, Z:2.22 [[ 9.93966885e-01 1.08776143e-01 -1.40563913e-02 7.34562688e+02] [-1.08754736e-01 9.94065997e-01 2.28070745e-03 -5.82815987e+01] [ 1.42210672e-02 -7.38248543e-04 9.99898603e-01 2.22381338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.000714057 meters Centerline goodness [0,1] 0.9769897258652526 Centerline is valid? [True, True] Translation: X:734.59, Y:-58.29, Z:2.22 [[ 9.93900077e-01 1.09352136e-01 -1.43090158e-02 7.34590872e+02] [-1.09330048e-01 9.94002798e-01 2.31923643e-03 -5.82862819e+01] [ 1.44768152e-02 -7.40683888e-04 9.99894931e-01 2.22405946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.030714057 meters Centerline goodness [0,1] 0.9778652938245831 Centerline is valid? [True, True] Translation: X:734.62, Y:-58.29, Z:2.22 [[ 9.93886786e-01 1.09415401e-01 -1.47419966e-02 7.34619762e+02] [-1.09392019e-01 9.93995822e-01 2.38562738e-03 -5.82901553e+01] [ 1.49145074e-02 -7.58386753e-04 9.99888485e-01 2.22286255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0607140569999 meters Centerline goodness [0,1] 0.9783221587813026 Centerline is valid? [True, True] Translation: X:734.65, Y:-58.29, Z:2.22 [[ 9.93883815e-01 1.09500927e-01 -1.43007015e-02 7.34648251e+02] [-1.09478985e-01 9.93986425e-01 2.31066425e-03 -5.82946175e+01] [ 1.44677230e-02 -7.30905514e-04 9.99895070e-01 2.22212692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0907140569999 meters Centerline goodness [0,1] 0.9773448978624579 Centerline is valid? [True, True] Translation: X:734.68, Y:-58.30, Z:2.22 [[ 9.93903106e-01 1.09275356e-01 -1.46803672e-02 7.34675200e+02] [-1.09252267e-01 9.94011235e-01 2.36805941e-03 -5.82997314e+01] [ 1.48512205e-02 -7.49758203e-04 9.99889433e-01 2.22218249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.120714057 meters Centerline goodness [0,1] 0.9791102881830699 Centerline is valid? [True, True] Translation: X:734.70, Y:-58.30, Z:2.22 [[ 9.93857908e-01 1.09694873e-01 -1.46113939e-02 7.34704416e+02] [-1.09672105e-01 9.93965036e-01 2.35291000e-03 -5.83014576e+01] [ 1.47813168e-02 -7.35995886e-04 9.99890479e-01 2.22255915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.150714057 meters Centerline goodness [0,1] 0.9780661325013591 Centerline is valid? [True, True] Translation: X:734.73, Y:-58.31, Z:2.22 [[ 9.93884563e-01 1.09447153e-01 -1.46559409e-02 7.34731847e+02] [-1.09424265e-01 9.93992342e-01 2.35694227e-03 -5.83087496e+01] [ 1.48258536e-02 -7.38812974e-04 9.99889818e-01 2.22268902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1807140569999 meters Centerline goodness [0,1] 0.9780261413146429 Centerline is valid? [True, True] Translation: X:734.76, Y:-58.31, Z:2.22 [[ 9.93986126e-01 1.08598027e-01 -1.40730467e-02 7.34760951e+02] [-1.08576874e-01 9.94085485e-01 2.26074622e-03 -5.83109457e+01] [ 1.42353240e-02 -7.19142950e-04 9.99898414e-01 2.22401493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2107140569999 meters Centerline goodness [0,1] 0.9771668990947124 Centerline is valid? [True, True] Translation: X:734.79, Y:-58.32, Z:2.22 [[ 9.94072436e-01 1.07796685e-01 -1.41374277e-02 7.34788177e+02] [-1.07775301e-01 9.94172691e-01 2.26806565e-03 -5.83177270e+01] [ 1.42995345e-02 -7.30956019e-04 9.99897489e-01 2.22422030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.240714057 meters Centerline goodness [0,1] 0.9744568547056883 Centerline is valid? [True, True] Translation: X:734.81, Y:-58.33, Z:2.22 [[ 9.94350112e-01 1.05204280e-01 -1.41390662e-02 7.34814372e+02] [-1.05182653e-01 9.94450336e-01 2.26673412e-03 -5.83312364e+01] [ 1.42990692e-02 -7.66742837e-04 9.99897469e-01 2.22334486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.270714057 meters Centerline goodness [0,1] 0.9744568547056883 Centerline is valid? [True, True] Translation: X:734.84, Y:-58.34, Z:2.22 [[ 9.94377246e-01 1.04947466e-01 -1.41393699e-02 7.34841461e+02] [-1.04925839e-01 9.94477470e-01 2.26483792e-03 -5.83354697e+01] [ 1.42989738e-02 -7.68518047e-04 9.99897469e-01 2.22360216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3007140569999 meters Centerline goodness [0,1] 0.9761882286307642 Centerline is valid? [True, True] Translation: X:734.87, Y:-58.33, Z:2.22 [[ 9.94568834e-01 1.03062111e-01 -1.45270646e-02 7.34872244e+02] [-1.03039121e-01 9.94674589e-01 2.32422604e-03 -5.83306610e+01] [ 1.46892417e-02 -8.14746811e-04 9.99891775e-01 2.22483082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3307140569999 meters Centerline goodness [0,1] 0.976027397260274 Centerline is valid? [True, True] Translation: X:734.90, Y:-58.34, Z:2.22 [[ 9.94741468e-01 1.01330228e-01 -1.48861100e-02 7.34900739e+02] [-1.01305905e-01 9.94852474e-01 2.38101239e-03 -5.83375813e+01] [ 1.50507518e-02 -8.60440927e-04 9.99886361e-01 2.22429596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3607140569999 meters Centerline goodness [0,1] 0.9759781662470884 Centerline is valid? [True, True] Translation: X:734.93, Y:-58.35, Z:2.22 [[ 9.95087050e-01 9.78377817e-02 -1.51503006e-02 7.34928902e+02] [-9.78121947e-02 9.95201942e-01 2.42253414e-03 -5.83452154e+01] [ 1.53146240e-02 -9.28748195e-04 9.99882293e-01 2.22367925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.390714057 meters Centerline goodness [0,1] 0.9743710322125558 Centerline is valid? [True, True] Translation: X:734.96, Y:-58.35, Z:2.22 [[ 9.95233045e-01 9.63276081e-02 -1.52374121e-02 7.34957552e+02] [-9.63015583e-02 9.95349223e-01 2.43590520e-03 -5.83528396e+01] [ 1.54011912e-02 -9.56906819e-04 9.99880937e-01 2.22369824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4207140569999 meters Centerline goodness [0,1] 0.9753986546874265 Centerline is valid? [True, True] Translation: X:734.99, Y:-58.36, Z:2.22 [[ 9.95475900e-01 9.37509745e-02 -1.54430339e-02 7.34987689e+02] [-9.37239132e-02 9.95595166e-01 2.46843750e-03 -5.83589382e+01] [ 1.56064283e-02 -1.00988847e-03 9.99877702e-01 2.22411568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4507140569999 meters Centerline goodness [0,1] 0.9748741354161765 Centerline is valid? [True, True] Translation: X:735.02, Y:-58.36, Z:2.22 [[ 9.95584651e-01 9.25688629e-02 -1.55630692e-02 7.35016034e+02] [-9.25412609e-02 9.95705747e-01 2.48600850e-03 -5.83640850e+01] [ 1.57263644e-02 -1.03480587e-03 9.99875798e-01 2.22427900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4807140569999 meters Centerline goodness [0,1] 0.9760792639773531 Centerline is valid? [True, True] Translation: X:735.04, Y:-58.37, Z:2.22 [[ 9.95705393e-01 9.12123890e-02 -1.58451816e-02 7.35044487e+02] [-9.11836721e-02 9.95830885e-01 2.52694695e-03 -5.83677983e+01] [ 1.60096101e-02 -1.07127286e-03 9.99871264e-01 2.22444068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.510714057 meters Centerline goodness [0,1] 0.9757028727641223 Centerline is valid? [True, True] Translation: X:735.07, Y:-58.38, Z:2.22 [[ 9.95943883e-01 8.86447641e-02 -1.54236255e-02 7.35072716e+02] [-8.86172886e-02 9.96062718e-01 2.45715172e-03 -5.83760785e+01] [ 1.55807119e-02 -1.08038535e-03 9.99878030e-01 2.22434696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.540714057 meters Centerline goodness [0,1] 0.9745618993781797 Centerline is valid? [True, True] Translation: X:735.10, Y:-58.38, Z:2.23 [[ 9.96177638e-01 8.60391659e-02 -1.50789419e-02 7.35102712e+02] [-8.60126128e-02 9.96291153e-01 2.40190769e-03 -5.83823998e+01] [ 1.52296745e-02 -1.09574754e-03 9.99883421e-01 2.22551409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5707140569999 meters Centerline goodness [0,1] 0.9742590069989197 Centerline is valid? [True, True] Translation: X:735.13, Y:-58.39, Z:2.23 [[ 9.96270845e-01 8.49050745e-02 -1.53470150e-02 7.35129957e+02] [-8.48774481e-02 9.96388402e-01 2.44376523e-03 -5.83896521e+01] [ 1.54990758e-02 -1.13203658e-03 9.99879241e-01 2.22593713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6007140569999 meters Centerline goodness [0,1] 0.9733484013749588 Centerline is valid? [True, True] Translation: X:735.16, Y:-58.40, Z:2.23 [[ 9.96369132e-01 8.36672228e-02 -1.57590695e-02 7.35158517e+02] [-8.36379654e-02 9.96493052e-01 2.50771006e-03 -5.83964843e+01] [ 1.59136164e-02 -1.18054839e-03 9.99872673e-01 2.22590545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.630714057 meters Centerline goodness [0,1] 0.97390915298938 Centerline is valid? [True, True] Translation: X:735.19, Y:-58.40, Z:2.23 [[ 9.96401505e-01 8.31861818e-02 -1.62511764e-02 7.35186528e+02] [-8.31550421e-02 9.96533273e-01 2.58374250e-03 -5.84020773e+01] [ 1.64097697e-02 -1.22307765e-03 9.99864603e-01 2.22589425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.660714057 meters Centerline goodness [0,1] 0.9740672696438666 Centerline is valid? [True, True] Translation: X:735.21, Y:-58.41, Z:2.23 [[ 9.96482678e-01 8.20827641e-02 -1.68728380e-02 7.35214341e+02] [-8.20491126e-02 9.96624689e-01 2.67825545e-03 -5.84083427e+01] [ 1.70357255e-02 -1.28443378e-03 9.99854056e-01 2.22563942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6907140569999 meters Centerline goodness [0,1] 0.9729475196006875 Centerline is valid? [True, True] Translation: X:735.24, Y:-58.41, Z:2.23 [[ 9.96479128e-01 8.22946845e-02 -1.60291020e-02 7.35241549e+02] [-8.22643921e-02 9.96607301e-01 2.54123300e-03 -5.84143930e+01] [ 1.61838500e-02 -1.21366131e-03 9.99868296e-01 2.22601041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7207140569999 meters Centerline goodness [0,1] 0.9726895706677977 Centerline is valid? [True, True] Translation: X:735.27, Y:-58.42, Z:2.23 [[ 9.96434076e-01 8.29469167e-02 -1.54577138e-02 7.35269249e+02] [-8.29188505e-02 9.96553294e-01 2.44892456e-03 -5.84188568e+01] [ 1.56075664e-02 -1.15845602e-03 9.99877523e-01 2.22698719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.750714057 meters Centerline goodness [0,1] 0.9729010688892028 Centerline is valid? [True, True] Translation: X:735.30, Y:-58.42, Z:2.23 [[ 9.96394474e-01 8.34159851e-02 -1.54863026e-02 7.35298074e+02] [-8.33879077e-02 9.96514149e-01 2.45112701e-03 -5.84218268e+01] [ 1.56367828e-02 -1.15091904e-03 9.99877076e-01 2.22736156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.780714057 meters Centerline goodness [0,1] 0.9753707376971757 Centerline is valid? [True, True] Translation: X:735.33, Y:-58.42, Z:2.23 [[ 9.96216107e-01 8.55506555e-02 -1.53151334e-02 7.35329214e+02] [-8.55234824e-02 9.96333212e-01 2.42169666e-03 -5.84174505e+01] [ 1.54661538e-02 -1.10272967e-03 9.99879784e-01 2.22885715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8107140569999 meters Centerline goodness [0,1] 0.9752701137196491 Centerline is valid? [True, True] Translation: X:735.36, Y:-58.42, Z:2.23 [[ 9.96135170e-01 8.65881549e-02 -1.47381673e-02 7.35356314e+02] [-8.65631136e-02 9.96243645e-01 2.32980933e-03 -5.84224098e+01] [ 1.48845394e-02 -1.04502337e-03 9.99888673e-01 2.22909808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8407140569999 meters Centerline goodness [0,1] 0.9719661424563224 Centerline is valid? [True, True] Translation: X:735.38, Y:-58.43, Z:2.23 [[ 9.96036367e-01 8.75956004e-02 -1.54455660e-02 7.35382763e+02] [-8.75682399e-02 9.96155534e-01 2.44021249e-03 -5.84331279e+01] [ 1.55999379e-02 -1.07799936e-03 9.99877732e-01 2.22746792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.870714057 meters Centerline goodness [0,1] 0.9723674560552651 Centerline is valid? [True, True] Translation: X:735.41, Y:-58.44, Z:2.23 [[ 9.96010492e-01 8.77360892e-02 -1.62934882e-02 7.35410928e+02] [-8.77057025e-02 9.96143110e-01 2.57163335e-03 -5.84377570e+01] [ 1.64562711e-02 -1.13234197e-03 9.99863945e-01 2.22718073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.900714057 meters Centerline goodness [0,1] 0.9763981042654029 Centerline is valid? [True, True] Translation: X:735.44, Y:-58.43, Z:2.23 [[ 9.96016858e-01 8.75702460e-02 -1.67889839e-02 7.35439849e+02] [-8.75380343e-02 9.96157665e-01 2.64542051e-03 -5.84345446e+01] [ 1.69561351e-02 -1.16520877e-03 9.99855555e-01 2.22742887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9307140569999 meters Centerline goodness [0,1] 0.976157182471026 Centerline is valid? [True, True] Translation: X:735.47, Y:-58.44, Z:2.23 [[ 9.96017026e-01 8.73382528e-02 -1.79475418e-02 7.35466907e+02] [-8.73014688e-02 9.96177934e-01 2.82439070e-03 -5.84395904e+01] [ 1.81256225e-02 -1.24629446e-03 9.99834941e-01 2.22672476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9607140569999 meters Centerline goodness [0,1] 0.9757986447241046 Centerline is valid? [True, True] Translation: X:735.49, Y:-58.44, Z:2.23 [[ 9.96035266e-01 8.71606882e-02 -1.77978617e-02 7.35493380e+02] [-8.71245202e-02 9.96193497e-01 2.79899795e-03 -5.84447329e+01] [ 1.79740766e-02 -1.23727051e-03 9.99837688e-01 2.22684899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.990714057 meters Centerline goodness [0,1] 0.9771860415531497 Centerline is valid? [True, True] Translation: X:735.52, Y:-58.44, Z:2.23 [[ 9.96000857e-01 8.76936666e-02 -1.70913564e-02 7.35522709e+02] [-8.76604442e-02 9.96146796e-01 2.68483456e-03 -5.84425047e+01] [ 1.72609429e-02 -1.17586163e-03 9.99850327e-01 2.22834672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.020714057 meters Centerline goodness [0,1] 0.9743777798807609 Centerline is valid? [True, True] Translation: X:735.55, Y:-58.45, Z:2.23 [[ 9.95976872e-01 8.80454126e-02 -1.66756202e-02 7.35548944e+02] [-8.80138909e-02 9.96115812e-01 2.61626735e-03 -5.84526953e+01] [ 1.68411993e-02 -1.13805555e-03 9.99857529e-01 2.22812828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0507140569999 meters Centerline goodness [0,1] 0.9784025983262606 Centerline is valid? [True, True] Translation: X:735.58, Y:-58.45, Z:2.23 [[ 9.95978648e-01 8.79418154e-02 -1.71105215e-02 7.35578412e+02] [-8.79086739e-02 9.96124931e-01 2.68095750e-03 -5.84472208e+01] [ 1.72799853e-02 -1.16601317e-03 9.99850010e-01 2.22911494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0807140569999 meters Centerline goodness [0,1] 0.9773116438356164 Centerline is valid? [True, True] Translation: X:735.61, Y:-58.45, Z:2.23 [[ 9.95973224e-01 8.79296686e-02 -1.74845547e-02 7.35607036e+02] [-8.78951457e-02 9.96125978e-01 2.73472703e-03 -5.84501897e+01] [ 1.76572828e-02 -1.18690741e-03 9.99843394e-01 2.23014254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1107140569999 meters Centerline goodness [0,1] 0.9765794041419977 Centerline is valid? [True, True] Translation: X:735.63, Y:-58.45, Z:2.23 [[ 9.96002083e-01 8.76621113e-02 -1.71815235e-02 7.35634240e+02] [-8.76288147e-02 9.96149584e-01 2.68275083e-03 -5.84540609e+01] [ 1.73505431e-02 -1.16642888e-03 9.99848788e-01 2.23075030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.140714057 meters Centerline goodness [0,1] 0.976758584559699 Centerline is valid? [True, True] Translation: X:735.66, Y:-58.46, Z:2.23 [[ 9.96151251e-01 8.58682266e-02 -1.75878411e-02 7.35663598e+02] [-8.58331118e-02 9.96305752e-01 2.74316623e-03 -5.84587978e+01] [ 1.77584181e-02 -1.22298934e-03 9.99841559e-01 2.23106365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1707140569999 meters Centerline goodness [0,1] 0.9764538333728934 Centerline is valid? [True, True] Translation: X:735.69, Y:-58.46, Z:2.23 [[ 9.96255345e-01 8.46320911e-02 -1.76832330e-02 7.35691431e+02] [-8.45964200e-02 9.96411484e-01 2.75695540e-03 -5.84639242e+01] [ 1.78531033e-02 -1.25069335e-03 9.99839838e-01 2.23098132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2007140569999 meters Centerline goodness [0,1] 0.975859615840645 Centerline is valid? [True, True] Translation: X:735.72, Y:-58.47, Z:2.23 [[ 9.96366455e-01 8.32674677e-02 -1.79001757e-02 7.35719819e+02] [-8.32307514e-02 9.96526402e-01 2.78775563e-03 -5.84686464e+01] [ 1.80701270e-02 -1.28778113e-03 9.99835893e-01 2.23089156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2307140569999 meters Centerline goodness [0,1] 0.9736717379970614 Centerline is valid? [True, True] Translation: X:735.75, Y:-58.47, Z:2.23 [[ 9.96422845e-01 8.25772040e-02 -1.79588137e-02 7.35746518e+02] [-8.25401947e-02 9.96583821e-01 2.79360377e-03 -5.84744383e+01] [ 1.81281511e-02 -1.30128664e-03 9.99834825e-01 2.23116919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.260714057 meters Centerline goodness [0,1] 0.9735952380952381 Centerline is valid? [True, True] Translation: X:735.77, Y:-58.48, Z:2.23 [[ 9.96427781e-01 8.24733950e-02 -1.81608685e-02 7.35774139e+02] [-8.24355638e-02 9.96592398e-01 2.82324517e-03 -5.84797300e+01] [ 1.83318261e-02 -1.31605849e-03 9.99831092e-01 2.23083524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.290714057 meters Centerline goodness [0,1] 0.9759233731045301 Centerline is valid? [True, True] Translation: X:735.80, Y:-58.48, Z:2.23 [[ 9.96379211e-01 8.30156461e-02 -1.83540520e-02 7.35803562e+02] [-8.29771550e-02 9.96547374e-01 2.85015690e-03 -5.84788753e+01] [ 1.85272900e-02 -1.31687006e-03 9.99827488e-01 2.23098506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3207140569999 meters Centerline goodness [0,1] 0.9765779503919559 Centerline is valid? [True, True] Translation: X:735.83, Y:-58.48, Z:2.23 [[ 9.96363263e-01 8.31939572e-02 -1.84123074e-02 7.35832492e+02] [-8.31553386e-02 9.96532509e-01 2.85452149e-03 -5.84815848e+01] [ 1.85859418e-02 -1.31305869e-03 9.99826404e-01 2.23116821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3507140569999 meters Centerline goodness [0,1] 0.9768358208955223 Centerline is valid? [True, True] Translation: X:735.86, Y:-58.49, Z:2.23 [[ 9.96331400e-01 8.35276720e-02 -1.86244473e-02 7.35861224e+02] [-8.34883058e-02 9.96504588e-01 2.88264879e-03 -5.84852422e+01] [ 1.88001281e-02 -1.31714996e-03 9.99822394e-01 2.23128716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.380714057 meters Centerline goodness [0,1] 0.975931286934469 Centerline is valid? [True, True] Translation: X:735.89, Y:-58.49, Z:2.23 [[ 9.96257112e-01 8.42357891e-02 -1.93932571e-02 7.35889974e+02] [-8.41933366e-02 9.96444932e-01 2.99664708e-03 -5.84882754e+01] [ 1.95767377e-02 -1.35264794e-03 9.99807442e-01 2.23153739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.410714057 meters Centerline goodness [0,1] 0.9762656713561106 Centerline is valid? [True, True] Translation: X:735.92, Y:-58.49, Z:2.23 [[ 9.96220694e-01 8.47538636e-02 -1.90029418e-02 7.35917849e+02] [-8.47132876e-02 9.96401056e-01 2.93160207e-03 -5.84931230e+01] [ 1.91830159e-02 -1.31072097e-03 9.99815130e-01 2.23143416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4407140569999 meters Centerline goodness [0,1] 0.9744387535302284 Centerline is valid? [True, True] Translation: X:735.95, Y:-58.50, Z:2.23 [[ 9.96109079e-01 8.60339676e-02 -1.91012968e-02 7.35945109e+02] [-8.59932663e-02 9.96291370e-01 2.94357758e-03 -5.84971763e+01] [ 1.92837048e-02 -1.28954145e-03 9.99813220e-01 2.23048996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4707140569999 meters Centerline goodness [0,1] 0.9759733888529926 Centerline is valid? [True, True] Translation: X:735.97, Y:-58.50, Z:2.23 [[ 9.96054925e-01 8.66790486e-02 -1.90086501e-02 7.35974313e+02] [-8.66389205e-02 9.96235482e-01 2.92605375e-03 -5.84971793e+01] [ 1.91907193e-02 -1.26762132e-03 9.99815038e-01 2.23128603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.500714057 meters Centerline goodness [0,1] 0.9745175596308282 Centerline is valid? [True, True] Translation: X:736.00, Y:-58.50, Z:2.23 [[ 9.95978367e-01 8.76350791e-02 -1.86329285e-02 7.36000907e+02] [-8.75967468e-02 9.96151897e-01 2.86511211e-03 -5.85047269e+01] [ 1.88123114e-02 -1.22140576e-03 9.99822287e-01 2.23095751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.530714057 meters Centerline goodness [0,1] 0.9752028421911758 Centerline is valid? [True, True] Translation: X:736.03, Y:-58.51, Z:2.23 [[ 9.95795667e-01 8.98723237e-02 -1.77187764e-02 7.36029900e+02] [-8.98380326e-02 9.95952665e-01 2.72347565e-03 -5.85063724e+01] [ 1.78918277e-02 -1.12020524e-03 9.99839301e-01 2.23233939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5607140569999 meters Centerline goodness [0,1] 0.9753270847890514 Centerline is valid? [True, True] Translation: X:736.06, Y:-58.51, Z:2.23 [[ 9.95726109e-01 9.07292385e-02 -1.72545830e-02 7.36057664e+02] [-9.06968662e-02 9.95875017e-01 2.65114067e-03 -5.85099268e+01] [ 1.74239442e-02 -1.07487337e-03 9.99847614e-01 2.23291879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5907140569999 meters Centerline goodness [0,1] 0.9749242679232581 Centerline is valid? [True, True] Translation: X:736.09, Y:-58.51, Z:2.23 [[ 9.95542027e-01 9.27514810e-02 -1.71241146e-02 7.36086137e+02] [-9.27199146e-02 9.95688757e-01 2.62992242e-03 -5.85125575e+01] [ 1.72942176e-02 -1.03045185e-03 9.99849913e-01 2.23380196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.620714057 meters Centerline goodness [0,1] 0.9762151730792425 Centerline is valid? [True, True] Translation: X:736.12, Y:-58.51, Z:2.23 [[ 9.95522335e-01 9.29132979e-02 -1.73896642e-02 7.36115287e+02] [-9.28808121e-02 9.95673659e-01 2.66827131e-03 -5.85129883e+01] [ 1.75623485e-02 -1.04115755e-03 9.99845228e-01 2.23428646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.650714057 meters Centerline goodness [0,1] 0.974785265741164 Centerline is valid? [True, True] Translation: X:736.14, Y:-58.52, Z:2.23 [[ 9.95537866e-01 9.26441956e-02 -1.79279456e-02 7.36142133e+02] [-9.26096858e-02 9.95698698e-01 2.74744772e-03 -5.85188649e+01] [ 1.81053672e-02 -1.07488683e-03 9.99835507e-01 2.23362456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6807140569999 meters Centerline goodness [0,1] 0.9772651046907191 Centerline is valid? [True, True] Translation: X:736.17, Y:-58.52, Z:2.23 [[ 9.95534105e-01 9.27458582e-02 -1.76082616e-02 7.36171223e+02] [-9.27126419e-02 9.95689260e-01 2.69520676e-03 -5.85170135e+01] [ 1.77823263e-02 -1.05066180e-03 9.99841330e-01 2.23482801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7107140569999 meters Centerline goodness [0,1] 0.9752759806633157 Centerline is valid? [True, True] Translation: X:736.20, Y:-58.53, Z:2.23 [[ 9.95515977e-01 9.30058474e-02 -1.72583939e-02 7.36198176e+02] [-9.29740511e-02 9.95665039e-01 2.63740485e-03 -5.85274307e+01] [ 1.74288736e-02 -1.02099587e-03 9.99847584e-01 2.23409725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.740714057 meters Centerline goodness [0,1] 0.9746591511297393 Centerline is valid? [True, True] Translation: X:736.23, Y:-58.53, Z:2.23 [[ 9.95448293e-01 9.38391777e-02 -1.66404582e-02 7.36227167e+02] [-9.38097980e-02 9.95586900e-01 2.53915477e-03 -5.85311015e+01] [ 1.68052944e-02 -9.66559262e-04 9.99858314e-01 2.23481321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.770714057 meters Centerline goodness [0,1] 0.9773329479211832 Centerline is valid? [True, True] Translation: X:736.26, Y:-58.53, Z:2.24 [[ 9.95203198e-01 9.63195032e-02 -1.71215486e-02 7.36258086e+02] [-9.62888136e-02 9.95350015e-01 2.60980059e-03 -5.85288413e+01] [ 1.72933084e-02 -9.48668284e-04 9.99850010e-01 2.23501016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8007140569999 meters Centerline goodness [0,1] 0.9787495186753947 Centerline is valid? [True, True] Translation: X:736.29, Y:-58.53, Z:2.24 [[ 9.94669825e-01 1.01697709e-01 -1.70151560e-02 7.36288986e+02] [-1.01668200e-01 9.94814985e-01 2.59269053e-03 -5.85291603e+01] [ 1.71906029e-02 -8.48970762e-04 9.99851870e-01 2.23623064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8307140569999 meters Centerline goodness [0,1] 0.9783079738058552 Centerline is valid? [True, True] Translation: X:736.32, Y:-58.53, Z:2.24 [[ 9.94545378e-01 1.02998038e-01 -1.64589155e-02 7.36316885e+02] [-1.02970621e-01 9.94681239e-01 2.50689636e-03 -5.85324670e+01] [ 1.66295799e-02 -7.98437429e-04 9.99861400e-01 2.23796969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8607140569999 meters Centerline goodness [0,1] 0.9797276123900205 Centerline is valid? [True, True] Translation: X:736.35, Y:-58.53, Z:2.24 [[ 9.94513069e-01 1.03368984e-01 -1.60812883e-02 7.36346058e+02] [-1.03342907e-01 9.94642779e-01 2.44645524e-03 -5.85340223e+01] [ 1.62480249e-02 -7.71144621e-04 9.99867695e-01 2.23867259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.890714057 meters Centerline goodness [0,1] 0.9798379316997877 Centerline is valid? [True, True] Translation: X:736.37, Y:-58.54, Z:2.24 [[ 9.94470591e-01 1.03421629e-01 -1.82266229e-02 7.36373694e+02] [-1.03388235e-01 9.94637227e-01 2.76751784e-03 -5.85388474e+01] [ 1.84150988e-02 -8.67796724e-04 9.99830051e-01 2.23654408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9207140569999 meters Centerline goodness [0,1] 0.9785900279679814 Centerline is valid? [True, True] Translation: X:736.40, Y:-58.55, Z:2.23 [[ 9.94466235e-01 1.03359571e-01 -1.88071082e-02 7.36399742e+02] [-1.03324082e-01 9.94643656e-01 2.85164343e-03 -5.85459995e+01] [ 1.90011155e-02 -8.92635919e-04 9.99819064e-01 2.23445611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9507140569999 meters Centerline goodness [0,1] 0.9789473684210527 Centerline is valid? [True, True] Translation: X:736.43, Y:-58.55, Z:2.23 [[ 9.94425729e-01 1.03533578e-01 -1.99566402e-02 7.36426837e+02] [-1.03493739e-01 9.94625515e-01 3.02162085e-03 -5.85516279e+01] [ 2.01622228e-02 -9.39390194e-04 9.99796280e-01 2.23298489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9807140569999 meters Centerline goodness [0,1] 0.976864989658987 Centerline is valid? [True, True] Translation: X:736.45, Y:-58.56, Z:2.23 [[ 9.94424366e-01 1.03585561e-01 -1.97537753e-02 7.36453459e+02] [-1.03546610e-01 9.94620116e-01 2.98733356e-03 -5.85607646e+01] [ 1.99569469e-02 -9.25240809e-04 9.99800412e-01 2.23267872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.010714057 meters Centerline goodness [0,1] 0.9794324707465341 Centerline is valid? [True, True] Translation: X:736.48, Y:-58.56, Z:2.24 [[ 9.94310705e-01 1.04978986e-01 -1.80453370e-02 7.36483661e+02] [-1.04946744e-01 9.94474104e-01 2.72713367e-03 -5.85563474e+01] [ 1.82319121e-02 -8.17818837e-04 9.99833450e-01 2.23760743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.040714057 meters Centerline goodness [0,1] 0.9741106852262793 Centerline is valid? [True, True] Translation: X:736.51, Y:-58.58, Z:2.24 [[ 9.93994313e-01 1.08302080e-01 -1.56832839e-02 7.36509171e+02] [-1.08278159e-01 9.94117814e-01 2.36893930e-03 -5.85804525e+01] [ 1.58475929e-02 -6.56555100e-04 9.99874203e-01 2.23593027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0707140569999 meters Centerline goodness [0,1] 0.9805529578207803 Centerline is valid? [True, True] Translation: X:736.54, Y:-58.57, Z:2.24 [[ 9.94122877e-01 1.06960055e-01 -1.67108295e-02 7.36540229e+02] [-1.06932745e-01 9.94263058e-01 2.52193389e-03 -5.85655824e+01] [ 1.68847067e-02 -7.20177304e-04 9.99857184e-01 2.23943483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1007140569999 meters Centerline goodness [0,1] 0.9802585646532007 Centerline is valid? [True, True] Translation: X:736.57, Y:-58.57, Z:2.24 [[ 9.93915534e-01 1.09080184e-01 -1.52782785e-02 7.36567249e+02] [-1.09057646e-01 9.94032759e-01 2.30309241e-03 -5.85707808e+01] [ 1.54383310e-02 -6.22866233e-04 9.99880628e-01 2.24070772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.130714057 meters Centerline goodness [0,1] 0.9812603608581794 Centerline is valid? [True, True] Translation: X:736.60, Y:-58.58, Z:2.24 [[ 9.93857443e-01 1.09703053e-01 -1.45815983e-02 7.36595320e+02] [-1.09682622e-01 9.93964235e-01 2.19598432e-03 -5.85751210e+01] [ 1.47344934e-02 -5.83147421e-04 9.99891271e-01 2.24125622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.160714057 meters Centerline goodness [0,1] 0.9804407385348421 Centerline is valid? [True, True] Translation: X:736.62, Y:-58.58, Z:2.24 [[ 9.93781422e-01 1.10522118e-01 -1.35405797e-02 7.36623342e+02] [-1.10504620e-01 9.93873525e-01 2.03604307e-03 -5.85797788e+01] [ 1.36826515e-02 -5.27085163e-04 9.99906249e-01 2.24183792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1907140569999 meters Centerline goodness [0,1] 0.9804407385348421 Centerline is valid? [True, True] Translation: X:736.65, Y:-58.58, Z:2.24 [[ 9.93811618e-01 1.10250199e-01 -1.35410888e-02 7.36650434e+02] [-1.10232721e-01 9.93903725e-01 2.03265261e-03 -5.85837631e+01] [ 1.36826390e-02 -5.27402717e-04 9.99906249e-01 2.24209561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2207140569999 meters Centerline goodness [0,1] 0.9800124772051061 Centerline is valid? [True, True] Translation: X:736.68, Y:-58.59, Z:2.24 [[ 9.93619398e-01 1.12135056e-01 -1.20921891e-02 7.36678767e+02] [-1.12121289e-01 9.93692876e-01 1.81264628e-03 -5.85897408e+01] [ 1.22191833e-02 -4.45288682e-04 9.99925244e-01 2.24245080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.250714057 meters Centerline goodness [0,1] 0.9824155924611022 Centerline is valid? [True, True] Translation: X:736.71, Y:-58.59, Z:2.24 [[ 9.93433451e-01 1.13829799e-01 -1.15219308e-02 7.36707219e+02] [-1.13817427e-01 9.93500183e-01 1.72598329e-03 -5.85921818e+01] [ 1.16435087e-02 -4.03253019e-04 9.99932131e-01 2.24320688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.280714057 meters Centerline goodness [0,1] 0.9819763679505309 Centerline is valid? [True, True] Translation: X:736.74, Y:-58.60, Z:2.24 [[ 9.92986393e-01 1.17694518e-01 -1.12260062e-02 7.36735160e+02] [-1.17683047e-01 9.93049788e-01 1.67927728e-03 -5.85987634e+01] [ 1.13456248e-02 -3.46388872e-04 9.99935576e-01 2.24380759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3107140569999 meters Centerline goodness [0,1] 0.9822825257535291 Centerline is valid? [True, True] Translation: X:736.76, Y:-58.60, Z:2.24 [[ 9.92731267e-01 1.19803258e-01 -1.14808722e-02 7.36764191e+02] [-1.19791413e-01 9.92797598e-01 1.71639096e-03 -5.86022983e+01] [ 1.16038116e-02 -3.28605055e-04 9.99932620e-01 2.24383690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3407140569999 meters Centerline goodness [0,1] 0.9821899892997266 Centerline is valid? [True, True] Translation: X:736.79, Y:-58.61, Z:2.24 [[ 9.92571955e-01 1.21056315e-01 -1.20947483e-02 7.36793186e+02] [-1.21043298e-01 9.92645587e-01 1.80527860e-03 -5.86061297e+01] [ 1.22243389e-02 -3.27880694e-04 9.99925226e-01 2.24435614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.370714057 meters Centerline goodness [0,1] 0.9825888397316969 Centerline is valid? [True, True] Translation: X:736.82, Y:-58.61, Z:2.24 [[ 9.92364206e-01 1.22756456e-01 -1.20056450e-02 7.36820196e+02] [-1.22743782e-01 9.92436779e-01 1.78959864e-03 -5.86121797e+01] [ 1.21345284e-02 -3.02315352e-04 9.99926328e-01 2.24362783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.400714057 meters Centerline goodness [0,1] 0.9842431732300306 Centerline is valid? [True, True] Translation: X:736.85, Y:-58.62, Z:2.24 [[ 9.92110418e-01 1.24562624e-01 -1.41799628e-02 7.36848320e+02] [-1.24545159e-01 9.92211693e-01 2.11154305e-03 -5.86195740e+01] [ 1.43325442e-02 -3.28838136e-04 9.99897230e-01 2.24153149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4307140569999 meters Centerline goodness [0,1] 0.984096843104676 Centerline is valid? [True, True] Translation: X:736.88, Y:-58.63, Z:2.24 [[ 9.91950253e-01 1.25703842e-01 -1.52722135e-02 7.36877062e+02] [-1.25683777e-01 9.92067757e-01 2.27038639e-03 -5.86250741e+01] [ 1.54364668e-02 -3.32640883e-04 9.99880795e-01 2.24064769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4607140569999 meters Centerline goodness [0,1] 0.9836992681304059 Centerline is valid? [True, True] Translation: X:736.91, Y:-58.63, Z:2.24 [[ 9.91835615e-01 1.26520682e-01 -1.59571216e-02 7.36905237e+02] [-1.26498946e-01 9.91963915e-01 2.36830358e-03 -5.86295334e+01] [ 1.61285282e-02 -3.30408771e-04 9.99869872e-01 2.23979935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.490714057 meters Centerline goodness [0,1] 0.9849551022342266 Centerline is valid? [True, True] Translation: X:736.93, Y:-58.64, Z:2.24 [[ 9.91635480e-01 1.28024903e-01 -1.63920649e-02 7.36932351e+02] [-1.28002227e-01 9.91770905e-01 2.42949437e-03 -5.86369573e+01] [ 1.65682088e-02 -3.10952007e-04 9.99862689e-01 2.23901856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.520714057 meters Centerline goodness [0,1] 0.9854223272297696 Centerline is valid? [True, True] Translation: X:736.96, Y:-58.64, Z:2.24 [[ 9.91291775e-01 1.30745743e-01 -1.56897058e-02 7.36960809e+02] [-1.30725353e-01 9.91415900e-01 2.32257500e-03 -5.86413707e+01] [ 1.58586906e-02 -2.51307150e-04 9.99874211e-01 2.24074412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5507140569999 meters Centerline goodness [0,1] 0.9855116848850358 Centerline is valid? [True, True] Translation: X:736.99, Y:-58.65, Z:2.24 [[ 9.91191019e-01 1.31674527e-01 -1.42190669e-02 7.36987721e+02] [-1.31657914e-01 9.91292981e-01 2.10227989e-03 -5.86466964e+01] [ 1.43720779e-02 -2.11708259e-04 9.99896694e-01 2.24166168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5807140569999 meters Centerline goodness [0,1] 0.9850686887125839 Centerline is valid? [True, True] Translation: X:737.01, Y:-58.66, Z:2.24 [[ 9.91179846e-01 1.31940394e-01 -1.24195705e-02 7.37014447e+02] [-1.31927754e-01 9.91257635e-01 1.83521247e-03 -5.86566642e+01] [ 1.25531328e-02 -1.80539575e-04 9.99921190e-01 2.24346594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6107140569999 meters Centerline goodness [0,1] 0.9851157791433979 Centerline is valid? [True, True] Translation: X:737.04, Y:-58.66, Z:2.24 [[ 9.91332424e-01 1.30820400e-01 -1.20849930e-02 7.37042616e+02] [-1.30808367e-01 9.91406066e-01 1.78427263e-03 -5.86638678e+01] [ 1.22145547e-02 -1.87989109e-04 9.99925382e-01 2.24407172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.640714057 meters Centerline goodness [0,1] 0.985571768215934 Centerline is valid? [True, True] Translation: X:737.07, Y:-58.67, Z:2.24 [[ 9.91582507e-01 1.28914859e-01 -1.20454047e-02 7.37070327e+02] [-1.28902800e-01 9.91655644e-01 1.77545155e-03 -5.86713637e+01] [ 1.21737756e-02 -2.07820297e-04 9.99925875e-01 2.24403141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6707140569999 meters Centerline goodness [0,1] 0.9849312838639165 Centerline is valid? [True, True] Translation: X:737.10, Y:-58.69, Z:2.24 [[ 9.92287575e-01 1.23276913e-01 -1.29680656e-02 7.37096924e+02] [-1.23262490e-01 9.92372266e-01 1.90871541e-03 -5.86866079e+01] [ 1.31044492e-02 -2.95518521e-04 9.99914089e-01 2.24278483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7007140569999 meters Centerline goodness [0,1] 0.985313504637232 Centerline is valid? [True, True] Translation: X:737.12, Y:-58.70, Z:2.24 [[ 9.92714623e-01 1.19684128e-01 -1.39063377e-02 7.37124448e+02] [-1.19667214e-01 9.92811954e-01 2.04511673e-03 -5.86955786e+01] [ 1.40511464e-02 -3.66084595e-04 9.99901211e-01 2.24189405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7307140569999 meters Centerline goodness [0,1] 0.9842876532701466 Centerline is valid? [True, True] Translation: X:737.15, Y:-58.71, Z:2.24 [[ 9.93508640e-01 1.12578433e-01 -1.63302844e-02 7.37153207e+02] [-1.12554195e-01 9.93642692e-01 2.39872610e-03 -5.87084514e+01] [ 1.64965126e-02 -5.45113101e-04 9.99863775e-01 2.24094192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.760714057 meters Centerline goodness [0,1] 0.9824085981995223 Centerline is valid? [True, True] Translation: X:737.18, Y:-58.72, Z:2.24 [[ 9.93860694e-01 1.09338407e-01 -1.69125549e-02 7.37180244e+02] [-1.09311954e-01 9.94004391e-01 2.48351706e-03 -5.87195416e+01] [ 1.70826977e-02 -6.19525561e-04 9.99853888e-01 2.24047345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.790714057 meters Centerline goodness [0,1] 0.9810771470160117 Centerline is valid? [True, True] Translation: X:737.21, Y:-58.73, Z:2.24 [[ 9.94459725e-01 1.03755749e-01 -1.68701024e-02 7.37209080e+02] [-1.03728640e-01 9.94602552e-01 2.47646789e-03 -5.87326587e+01] [ 1.70359947e-02 -7.12834801e-04 9.99854623e-01 2.24043801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8207140569999 meters Centerline goodness [0,1] 0.9806796226843959 Centerline is valid? [True, True] Translation: X:737.24, Y:-58.74, Z:2.24 [[ 9.94700412e-01 1.01467240e-01 -1.65978931e-02 7.37237644e+02] [-1.01440687e-01 9.94838606e-01 2.43608035e-03 -5.87411243e+01] [ 1.67594072e-02 -7.39468449e-04 9.99859278e-01 2.24076181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8507140569999 meters Centerline goodness [0,1] 0.9805253623188406 Centerline is valid? [True, True] Translation: X:737.26, Y:-58.75, Z:2.24 [[ 9.94895182e-01 9.95536785e-02 -1.65118803e-02 7.37264985e+02] [-9.95271540e-02 9.95031898e-01 2.42247652e-03 -5.87490942e+01] [ 1.66710140e-02 -7.66729768e-04 9.99860735e-01 2.24116284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.880714057 meters Centerline goodness [0,1] 0.9790190735694823 Centerline is valid? [True, True] Translation: X:737.29, Y:-58.76, Z:2.24 [[ 9.95145316e-01 9.71442915e-02 -1.57729854e-02 7.37292100e+02] [-9.71198065e-02 9.95270011e-01 2.31278747e-03 -5.87599622e+01] [ 1.59230535e-02 -7.69690321e-04 9.99872924e-01 2.24265636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.910714057 meters Centerline goodness [0,1] 0.978666485297785 Centerline is valid? [True, True] Translation: X:737.32, Y:-58.77, Z:2.24 [[ 9.95214923e-01 9.64540543e-02 -1.56164025e-02 7.37320437e+02] [-9.64300040e-02 9.95337140e-01 2.28755807e-03 -5.87657567e+01] [ 1.57642297e-02 -7.70722176e-04 9.99875440e-01 2.24327342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9407140569999 meters Centerline goodness [0,1] 0.9780329279615916 Centerline is valid? [True, True] Translation: X:737.35, Y:-58.77, Z:2.24 [[ 9.95298584e-01 9.54498356e-02 -1.64334049e-02 7.37348668e+02] [-9.54231360e-02 9.95433901e-01 2.40303059e-03 -5.87722931e+01] [ 1.65877372e-02 -8.23605921e-04 9.99862075e-01 2.24320569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9707140569999 meters Centerline goodness [0,1] 0.9781939859417458 Centerline is valid? [True, True] Translation: X:737.38, Y:-58.78, Z:2.24 [[ 9.95348623e-01 9.49746602e-02 -1.61534191e-02 7.37375473e+02] [-9.49488473e-02 9.95479357e-01 2.35920872e-03 -5.87795834e+01] [ 1.63044603e-02 -8.14486626e-04 9.99866742e-01 2.24248597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.000714057 meters Centerline goodness [0,1] 0.9788325272747722 Centerline is valid? [True, True] Translation: X:737.40, Y:-58.78, Z:2.24 [[ 9.95386594e-01 9.46130626e-02 -1.59341566e-02 7.37402896e+02] [-9.45879427e-02 9.95513796e-01 2.32450422e-03 -5.87844781e+01] [ 1.60826012e-02 -8.06601248e-04 9.99870341e-01 2.24265580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.030714057 meters Centerline goodness [0,1] 0.9776394444694143 Centerline is valid? [True, True] Translation: X:737.43, Y:-58.79, Z:2.24 [[ 9.95467341e-01 9.36936272e-02 -1.63179762e-02 7.37430188e+02] [-9.36672184e-02 9.95600724e-01 2.37690280e-03 -5.87916218e+01] [ 1.64688896e-02 -8.37669670e-04 9.99864028e-01 2.24287220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0607140569999 meters Centerline goodness [0,1] 0.9782549790001355 Centerline is valid? [True, True] Translation: X:737.46, Y:-58.80, Z:2.24 [[ 9.95442113e-01 9.38712675e-02 -1.68280931e-02 7.37458259e+02] [-9.38432596e-02 9.95583974e-01 2.44810492e-03 -5.87953360e+01] [ 1.69835865e-02 -8.57743623e-04 9.99855401e-01 2.24305486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0907140569999 meters Centerline goodness [0,1] 0.9789414287326487 Centerline is valid? [True, True] Translation: X:737.49, Y:-58.80, Z:2.24 [[ 9.95391129e-01 9.43692784e-02 -1.70569708e-02 7.37487007e+02] [-9.43406496e-02 9.95536893e-01 2.47714092e-03 -5.87970074e+01] [ 1.72146097e-02 -8.56558389e-04 9.99851451e-01 2.24339915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.120714057 meters Centerline goodness [0,1] 0.9801864012817909 Centerline is valid? [True, True] Translation: X:737.52, Y:-58.80, Z:2.24 [[ 9.95231314e-01 9.57316541e-02 -1.87104850e-02 7.37515959e+02] [-9.56975384e-02 9.95406763e-01 2.71233467e-03 -5.88000170e+01] [ 1.88841996e-02 -9.08853050e-04 9.99821265e-01 2.24321351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.150714057 meters Centerline goodness [0,1] 0.9800626281285905 Centerline is valid? [True, True] Translation: X:737.54, Y:-58.80, Z:2.24 [[ 9.95164164e-01 9.63988641e-02 -1.88559016e-02 7.37544300e+02] [-9.63644266e-02 9.95342379e-01 2.72862450e-03 -5.88037481e+01] [ 1.90311142e-02 -8.98391179e-04 9.99818488e-01 2.24324960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1807140569999 meters Centerline goodness [0,1] 0.979220895790324 Centerline is valid? [True, True] Translation: X:737.57, Y:-58.81, Z:2.24 [[ 9.95056234e-01 9.76269308e-02 -1.82228638e-02 7.37572749e+02] [-9.75950552e-02 9.95222726e-01 2.63252322e-03 -5.88076387e+01] [ 1.83928134e-02 -8.41047241e-04 9.99830484e-01 2.24440281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2107140569999 meters Centerline goodness [0,1] 0.9800252502479935 Centerline is valid? [True, True] Translation: X:737.60, Y:-58.81, Z:2.25 [[ 9.95011756e-01 9.82288975e-02 -1.73979658e-02 7.37600786e+02] [-9.82000091e-02 9.95163536e-01 2.50911288e-03 -5.88119782e+01] [ 1.75602885e-02 -7.88116417e-04 9.99845496e-01 2.24540717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.240714057 meters Centerline goodness [0,1] 0.9795789852464916 Centerline is valid? [True, True] Translation: X:737.63, Y:-58.82, Z:2.25 [[ 9.94969636e-01 9.86491458e-02 -1.74289578e-02 7.37629232e+02] [-9.86202956e-02 9.95121973e-01 2.50921132e-03 -5.88161656e+01] [ 1.75914704e-02 -7.77740112e-04 9.99844956e-01 2.24615450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.270714057 meters Centerline goodness [0,1] 0.9796484322583531 Centerline is valid? [True, True] Translation: X:737.66, Y:-58.82, Z:2.25 [[ 9.94823503e-01 1.00132085e-01 -1.73136614e-02 7.37658146e+02] [-1.00103913e-01 9.94973876e-01 2.48837760e-03 -5.88190023e+01] [ 1.74758072e-02 -7.42331263e-04 9.99847011e-01 2.24805029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3007140569999 meters Centerline goodness [0,1] 0.9813640859634924 Centerline is valid? [True, True] Translation: X:737.69, Y:-58.82, Z:2.25 [[ 9.94761785e-01 1.00797550e-01 -1.69954521e-02 7.37687039e+02] [-1.00770573e-01 9.94906702e-01 2.43849862e-03 -5.88210750e+01] [ 1.71546839e-02 -7.13083795e-04 9.99852593e-01 2.25011055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3307140569999 meters Centerline goodness [0,1] 0.9812856530856126 Centerline is valid? [True, True] Translation: X:737.71, Y:-58.82, Z:2.25 [[ 9.94838978e-01 1.00321054e-01 -1.52017835e-02 7.37714549e+02] [-1.00299474e-01 9.94954911e-01 2.17730577e-03 -5.88246552e+01] [ 1.53435188e-02 -6.41337750e-04 9.99882076e-01 2.25302465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3607140569999 meters Centerline goodness [0,1] 0.9817306394276201 Centerline is valid? [True, True] Translation: X:737.74, Y:-58.83, Z:2.25 [[ 9.94860515e-01 1.00228436e-01 -1.43810741e-02 7.37743254e+02] [-1.00209170e-01 9.94964268e-01 2.05587742e-03 -5.88299628e+01] [ 1.45147122e-02 -6.04195767e-04 9.99894473e-01 2.25409894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.390714057 meters Centerline goodness [0,1] 0.9814935137678399 Centerline is valid? [True, True] Translation: X:737.77, Y:-58.84, Z:2.25 [[ 9.94909284e-01 9.98740884e-02 -1.34418384e-02 7.37770772e+02] [-9.98572714e-02 9.94999923e-01 1.91817677e-03 -5.88355029e+01] [ 1.35662043e-02 -5.66146568e-04 9.99907815e-01 2.25473735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4207140569999 meters Centerline goodness [0,1] 0.9822855859901213 Centerline is valid? [True, True] Translation: X:737.80, Y:-58.84, Z:2.26 [[ 9.94737023e-01 1.01483177e-01 -1.41216211e-02 7.37798266e+02] [-1.01464824e-01 9.94837093e-01 2.01191418e-03 -5.88401776e+01] [ 1.42528879e-02 -5.68477727e-04 9.99898261e-01 2.25558590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4507140569999 meters Centerline goodness [0,1] 0.9829409911329162 Centerline is valid? [True, True] Translation: X:737.83, Y:-58.84, Z:2.26 [[ 9.94647271e-01 1.02251045e-01 -1.48838584e-02 7.37827340e+02] [-1.02230776e-01 9.94758454e-01 2.11833185e-03 -5.88433585e+01] [ 1.50224456e-02 -5.85404591e-04 9.99886985e-01 2.25555281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4807140569999 meters Centerline goodness [0,1] 0.9829235280848184 Centerline is valid? [True, True] Translation: X:737.86, Y:-58.85, Z:2.26 [[ 9.94555054e-01 1.02876340e-01 -1.66344098e-02 7.37855572e+02] [-1.02851181e-01 9.94693948e-01 2.36321674e-03 -5.88460156e+01] [ 1.67892659e-02 -6.39480457e-04 9.99858846e-01 2.25524106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.510714057 meters Centerline goodness [0,1] 0.9835598618400395 Centerline is valid? [True, True] Translation: X:737.88, Y:-58.85, Z:2.25 [[ 9.94359621e-01 1.04414266e-01 -1.86173115e-02 7.37882449e+02] [-1.04383085e-01 9.94533657e-01 2.64146452e-03 -5.88515311e+01] [ 1.87913494e-02 -6.83233258e-04 9.99823194e-01 2.25348034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.540714057 meters Centerline goodness [0,1] 0.9831539119859466 Centerline is valid? [True, True] Translation: X:737.91, Y:-58.85, Z:2.25 [[ 9.94312214e-01 1.04583876e-01 -2.01353929e-02 7.37910580e+02] [-1.04547475e-01 9.94515799e-01 2.85496632e-03 -5.88546477e+01] [ 2.03235498e-02 -7.33623389e-04 9.99793186e-01 2.25342122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5707140569999 meters Centerline goodness [0,1] 0.9836892853924484 Centerline is valid? [True, True] Translation: X:737.94, Y:-58.86, Z:2.25 [[ 9.94232395e-01 1.05220279e-01 -2.07517947e-02 7.37937741e+02] [-1.05181793e-01 9.94448663e-01 2.94045962e-03 -5.88613294e+01] [ 2.09459904e-02 -7.40789235e-04 9.99780334e-01 2.25183389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6007140569999 meters Centerline goodness [0,1] 0.9830806317164935 Centerline is valid? [True, True] Translation: X:737.97, Y:-58.87, Z:2.25 [[ 9.94190400e-01 1.05632476e-01 -2.06695319e-02 7.37966463e+02] [-1.05594461e-01 9.94404975e-01 2.92509171e-03 -5.88654280e+01] [ 2.08628700e-02 -7.25510020e-04 9.99782083e-01 2.25252428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.630714057 meters Centerline goodness [0,1] 0.9840111696617574 Centerline is valid? [True, True] Translation: X:737.99, Y:-58.87, Z:2.25 [[ 9.94131197e-01 1.06327792e-01 -1.99389860e-02 7.37994522e+02] [-1.06292656e-01 9.94330899e-01 2.81677728e-03 -5.88693638e+01] [ 2.01254515e-02 -6.80878405e-04 9.99797231e-01 2.25286521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.660714057 meters Centerline goodness [0,1] 0.9846167625786516 Centerline is valid? [True, True] Translation: X:738.02, Y:-58.87, Z:2.25 [[ 9.93818037e-01 1.09384400e-01 -1.89937624e-02 7.38022949e+02] [-1.09353130e-01 9.93999350e-01 2.68034682e-03 -5.88730548e+01] [ 1.91729756e-02 -5.86749653e-04 9.99816009e-01 2.25486236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6907140569999 meters Centerline goodness [0,1] 0.9849169420280082 Centerline is valid? [True, True] Translation: X:738.05, Y:-58.88, Z:2.26 [[ 9.93723725e-01 1.10235262e-01 -1.90090691e-02 7.38051670e+02] [-1.10204157e-01 9.93905360e-01 2.67938449e-03 -5.88758333e+01] [ 1.91885783e-02 -5.67689506e-04 9.99815721e-01 2.25511972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7207140569999 meters Centerline goodness [0,1] 0.9858823001301791 Centerline is valid? [True, True] Translation: X:738.08, Y:-58.88, Z:2.25 [[ 9.93421333e-01 1.13091961e-01 -1.80072940e-02 7.38079789e+02] [-1.13064568e-01 9.93584408e-01 2.53532549e-03 -5.88821999e+01] [ 1.81784915e-02 -4.82659502e-04 9.99834641e-01 2.25469823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.750714057 meters Centerline goodness [0,1] 0.9849388139315971 Centerline is valid? [True, True] Translation: X:738.11, Y:-58.89, Z:2.25 [[ 9.93389393e-01 1.13527341e-01 -1.70016928e-02 7.38107064e+02] [-1.13503010e-01 9.93534772e-01 2.39242670e-03 -5.88899664e+01] [ 1.71633788e-02 -4.46868002e-04 9.99852599e-01 2.25476055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.780714057 meters Centerline goodness [0,1] 0.9859180155371975 Centerline is valid? [True, True] Translation: X:738.13, Y:-58.89, Z:2.26 [[ 9.93486298e-01 1.12812576e-01 -1.60716853e-02 7.38134341e+02] [-1.12790784e-01 9.93616192e-01 2.25881692e-03 -5.88942310e+01] [ 1.62239097e-02 -4.31365670e-04 9.99868291e-01 2.25623046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8107140569999 meters Centerline goodness [0,1] 0.9836244785043393 Centerline is valid? [True, True] Translation: X:738.16, Y:-58.90, Z:2.26 [[ 9.93874332e-01 1.09546293e-01 -1.46089747e-02 7.38161875e+02] [-1.09527991e-01 9.93981599e-01 2.04945507e-03 -5.89036847e+01] [ 1.47455622e-02 -4.36809143e-04 9.99891183e-01 2.25808693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8407140569999 meters Centerline goodness [0,1] 0.9833638107131707 Centerline is valid? [True, True] Translation: X:738.19, Y:-58.91, Z:2.26 [[ 9.94084786e-01 1.07703888e-01 -1.39753395e-02 7.38189986e+02] [-1.07687005e-01 9.94182920e-01 1.95713825e-03 -5.89115442e+01] [ 1.41048352e-02 -4.40598903e-04 9.99900425e-01 2.25902955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.870714057 meters Centerline goodness [0,1] 0.9825440833980259 Centerline is valid? [True, True] Translation: X:738.22, Y:-58.92, Z:2.26 [[ 9.94463455e-01 1.04134873e-01 -1.40841973e-02 7.38217214e+02] [-1.04117406e-01 9.94563063e-01 1.96976912e-03 -5.89236058e+01] [ 1.42127441e-02 -4.92453304e-04 9.99898873e-01 2.25824448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.900714057 meters Centerline goodness [0,1] 0.9826223282105635 Centerline is valid? [True, True] Translation: X:738.24, Y:-58.93, Z:2.26 [[ 9.94577890e-01 1.02964411e-01 -1.45996768e-02 7.38244845e+02] [-1.02945531e-01 9.94684901e-01 2.04087254e-03 -5.89304953e+01] [ 1.47322153e-02 -5.26835227e-04 9.99891336e-01 2.25766776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9307140569999 meters Centerline goodness [0,1] 0.9825621279514927 Centerline is valid? [True, True] Translation: X:738.27, Y:-58.94, Z:2.26 [[ 9.94633847e-01 1.02179715e-01 -1.62116290e-02 7.38272678e+02] [-1.02156375e-01 9.94765777e-01 2.26353233e-03 -5.89381362e+01] [ 1.63580608e-02 -5.95264620e-04 9.99866021e-01 2.25651417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9607140569999 meters Centerline goodness [0,1] 0.9829251007662666 Centerline is valid? [True, True] Translation: X:738.30, Y:-58.94, Z:2.26 [[ 9.94546339e-01 1.02987600e-01 -1.64661452e-02 7.38300585e+02] [-1.02963702e-01 9.94682467e-01 2.29487538e-03 -5.89436046e+01] [ 1.66149296e-02 -5.86944652e-04 9.99861790e-01 2.25636505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.990714057 meters Centerline goodness [0,1] 0.9839347667557952 Centerline is valid? [True, True] Translation: X:738.33, Y:-58.95, Z:2.26 [[ 9.94158473e-01 1.06643130e-01 -1.66184534e-02 7.38330020e+02] [-1.06619342e-01 9.94297221e-01 2.31347947e-03 -5.89484360e+01] [ 1.67703988e-02 -5.28116657e-04 9.99859228e-01 2.25701382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.020714057 meters Centerline goodness [0,1] 0.9844618549481332 Centerline is valid? [True, True] Translation: X:738.36, Y:-58.95, Z:2.26 [[ 9.93858951e-01 1.09439424e-01 -1.63522958e-02 7.38357825e+02] [-1.09416783e-01 9.93993355e-01 2.27559400e-03 -5.89530227e+01] [ 1.65031131e-02 -4.72403863e-04 9.99863703e-01 2.25740887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0507140569999 meters Centerline goodness [0,1] 0.9840005296376396 Centerline is valid? [True, True] Translation: X:738.39, Y:-58.96, Z:2.26 [[ 9.93564707e-01 1.12122426e-01 -1.60540832e-02 7.38386543e+02] [-1.12100972e-01 9.93694312e-01 2.23295902e-03 -5.89570556e+01] [ 1.62032159e-02 -4.18910960e-04 9.99868632e-01 2.25829648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0807140569999 meters Centerline goodness [0,1] 0.9840005296376396 Centerline is valid? [True, True] Translation: X:738.41, Y:-58.96, Z:2.26 [[ 9.93596248e-01 1.11842526e-01 -1.60544387e-02 7.38413695e+02] [-1.11821076e-01 9.93725854e-01 2.23039969e-03 -5.89607587e+01] [ 1.62031644e-02 -4.20892141e-04 9.99868632e-01 2.25855359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1107140569999 meters Centerline goodness [0,1] 0.9853677914855112 Centerline is valid? [True, True] Translation: X:738.44, Y:-58.97, Z:2.26 [[ 9.93354471e-01 1.14144364e-01 -1.47634719e-02 7.38440657e+02] [-1.14126523e-01 9.93464112e-01 2.04811098e-03 -5.89662513e+01] [ 1.49007599e-02 -3.49596487e-04 9.99888916e-01 2.25871863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.140714057 meters Centerline goodness [0,1] 0.9849464250498499 Centerline is valid? [True, True] Translation: X:738.47, Y:-58.97, Z:2.26 [[ 9.92977881e-01 1.17595654e-01 -1.28914629e-02 7.38469184e+02] [-1.17582362e-01 9.93061526e-01 1.78685855e-03 -5.89727580e+01] [ 1.30121426e-02 -2.58502362e-04 9.99915305e-01 2.26008130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1707140569999 meters Centerline goodness [0,1] 0.9858210595735326 Centerline is valid? [True, True] Translation: X:738.50, Y:-58.98, Z:2.26 [[ 9.92970822e-01 1.17770849e-01 -1.17886909e-02 7.38496676e+02] [-1.17759777e-01 9.93040771e-01 1.63141128e-03 -5.89809192e+01] [ 1.18987833e-02 -2.31710191e-04 9.99929180e-01 2.26060350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2007140569999 meters Centerline goodness [0,1] 0.9855075626950696 Centerline is valid? [True, True] Translation: X:738.52, Y:-58.99, Z:2.26 [[ 9.93056769e-01 1.17072394e-01 -1.15025532e-02 7.38524841e+02] [-1.17061839e-01 9.93123356e-01 1.58895215e-03 -5.89877843e+01] [ 1.16094767e-02 -2.31409657e-04 9.99932581e-01 2.26051987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2307140569999 meters Centerline goodness [0,1] 0.9859235097090566 Centerline is valid? [True, True] Translation: X:738.55, Y:-58.99, Z:2.26 [[ 9.93163441e-01 1.16225089e-01 -1.08677685e-02 7.38552953e+02] [-1.16215645e-01 9.93222874e-01 1.49864497e-03 -5.89944522e+01] [ 1.09682965e-02 -2.25394669e-04 9.99939821e-01 2.26023604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.260714057 meters Centerline goodness [0,1] 0.9857377228480805 Centerline is valid? [True, True] Translation: X:738.58, Y:-59.00, Z:2.26 [[ 9.93302017e-01 1.15014949e-01 -1.10753787e-02 7.38579521e+02] [-1.15005096e-01 9.93363732e-01 1.52456190e-03 -5.90017030e+01] [ 1.11772269e-02 -2.40625413e-04 9.99937504e-01 2.25970327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.290714057 meters Centerline goodness [0,1] 0.9846580245297019 Centerline is valid? [True, True] Translation: X:738.61, Y:-59.01, Z:2.26 [[ 9.93551823e-01 1.12839197e-01 -1.10494419e-02 7.38605726e+02] [-1.12829274e-01 9.93613228e-01 1.51935891e-03 -5.90133985e+01] [ 1.11503149e-02 -2.62861297e-04 9.99937799e-01 2.25830532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3207140569999 meters Centerline goodness [0,1] 0.9847161098705747 Centerline is valid? [True, True] Translation: X:738.63, Y:-59.02, Z:2.26 [[ 9.93675733e-01 1.11744869e-01 -1.10282268e-02 7.38633781e+02] [-1.11734931e-01 9.93736891e-01 1.51517561e-03 -5.90207926e+01] [ 1.11284689e-02 -2.73355082e-04 9.99938039e-01 2.25822288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3507140569999 meters Centerline goodness [0,1] 0.9841400528664904 Centerline is valid? [True, True] Translation: X:738.66, Y:-59.03, Z:2.26 [[ 9.93989371e-01 1.09031327e-01 -9.86407320e-03 7.38660353e+02] [-1.09023264e-01 9.94038277e-01 1.35310169e-03 -5.90316169e+01] [ 9.95279680e-03 -2.69555240e-04 9.99950433e-01 2.25881740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.380714057 meters Centerline goodness [0,1] 0.9847555709103473 Centerline is valid? [True, True] Translation: X:738.69, Y:-59.04, Z:2.26 [[ 9.94151072e-01 1.07564102e-01 -9.67525396e-03 7.38688666e+02] [-1.07556284e-01 9.94198112e-01 1.32629523e-03 -5.90376008e+01] [ 9.76178098e-03 -2.77903465e-04 9.99952314e-01 2.25956324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.410714057 meters Centerline goodness [0,1] 0.9837919499298586 Centerline is valid? [True, True] Translation: X:738.72, Y:-59.04, Z:2.26 [[ 9.94315684e-01 1.06086841e-01 -9.05001000e-03 7.38715316e+02] [-1.06079960e-01 9.94356832e-01 1.23842055e-03 -5.90449658e+01] [ 9.13031940e-03 -2.71356279e-04 9.99958281e-01 2.26007689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4407140569999 meters Centerline goodness [0,1] 0.983591711766101 Centerline is valid? [True, True] Translation: X:738.74, Y:-59.05, Z:2.26 [[ 9.94632913e-01 1.03020080e-01 -9.60377343e-03 7.38743507e+02] [-1.03012196e-01 9.94679226e-01 1.31330347e-03 -5.90547610e+01] [ 9.68797055e-03 -3.16949069e-04 9.99953020e-01 2.25912744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4707140569999 meters Centerline goodness [0,1] 0.9835778646902483 Centerline is valid? [True, True] Translation: X:738.77, Y:-59.06, Z:2.26 [[ 9.94846783e-01 1.00953154e-01 -9.39884145e-03 7.38771395e+02] [-1.00945515e-01 9.94891126e-01 1.28476120e-03 -5.90616555e+01] [ 9.48052464e-03 -3.29369650e-04 9.99955005e-01 2.25860951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.500714057 meters Centerline goodness [0,1] 0.9822784265651547 Centerline is valid? [True, True] Translation: X:738.80, Y:-59.08, Z:2.26 [[ 9.95287358e-01 9.65556153e-02 -8.94915095e-03 7.38798654e+02] [-9.65485330e-02 9.95327529e-01 1.22107144e-03 -5.90753420e+01] [ 9.02523761e-03 -3.51289573e-04 9.99959210e-01 2.25882188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.530714057 meters Centerline goodness [0,1] 0.9824779901223963 Centerline is valid? [True, True] Translation: X:738.83, Y:-59.08, Z:2.26 [[ 9.95514818e-01 9.42026579e-02 -8.72390177e-03 7.38827014e+02] [-9.41958425e-02 9.95552976e-01 1.18977138e-03 -5.90787040e+01] [ 8.79718599e-03 -3.62679761e-04 9.99961238e-01 2.25915380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5607140569999 meters Centerline goodness [0,1] 0.9816731349719707 Centerline is valid? [True, True] Translation: X:738.85, Y:-59.09, Z:2.26 [[ 9.95667313e-01 9.26159221e-02 -8.30017473e-03 7.38854807e+02] [-9.26097142e-02 9.95701845e-01 1.12999692e-03 -5.90853259e+01] [ 8.36915500e-03 -3.56424185e-04 9.99964914e-01 2.25967987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5907140569999 meters Centerline goodness [0,1] 0.9828967542704127 Centerline is valid? [True, True] Translation: X:738.88, Y:-59.09, Z:2.26 [[ 9.95726153e-01 9.19287402e-02 -8.86196507e-03 7.38882840e+02] [-9.19216577e-02 9.95765514e-01 1.20409350e-03 -5.90917961e+01] [ 8.93513000e-03 -3.84340867e-04 9.99960007e-01 2.25939857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.620714057 meters Centerline goodness [0,1] 0.9812083984333198 Centerline is valid? [True, True] Translation: X:738.91, Y:-59.10, Z:2.26 [[ 9.95693521e-01 9.21929359e-02 -9.74036090e-03 7.38911509e+02] [-9.21844186e-02 9.95741075e-01 1.32077091e-03 -5.90968818e+01] [ 9.82064318e-03 -4.17173535e-04 9.99951689e-01 2.25948654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.650714057 meters Centerline goodness [0,1] 0.9808359740455711 Centerline is valid? [True, True] Translation: X:738.94, Y:-59.10, Z:2.26 [[ 9.95676149e-01 9.23616973e-02 -9.91584103e-03 7.38939511e+02] [-9.23529037e-02 9.95725434e-01 1.34205798e-03 -5.91018776e+01] [ 9.99740987e-03 -4.20498410e-04 9.99949936e-01 2.25982450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6807140569999 meters Centerline goodness [0,1] 0.9820215569888786 Centerline is valid? [True, True] Translation: X:738.97, Y:-59.11, Z:2.26 [[ 9.95656063e-01 9.25955166e-02 -9.75065112e-03 7.38967460e+02] [-9.25870481e-02 9.95703723e-01 1.31733085e-03 -5.91070798e+01] [ 9.83073855e-03 -4.08824446e-04 9.99951594e-01 2.26091670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7107140569999 meters Centerline goodness [0,1] 0.9810519577509869 Centerline is valid? [True, True] Translation: X:739.00, Y:-59.11, Z:2.26 [[ 9.95635042e-01 9.28295175e-02 -9.67175668e-03 7.38995253e+02] [-9.28212188e-02 9.95681937e-01 1.30438161e-03 -5.91120408e+01] [ 9.75107854e-03 -4.00943798e-04 9.99952377e-01 2.26237413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.740714057 meters Centerline goodness [0,1] 0.9830889917695473 Centerline is valid? [True, True] Translation: X:739.02, Y:-59.11, Z:2.26 [[ 9.95644773e-01 9.27624256e-02 -9.30693521e-03 7.39023444e+02] [-9.27547455e-02 9.95688196e-01 1.25439999e-03 -5.91143598e+01] [ 9.38316671e-03 -3.85674387e-04 9.99955903e-01 2.26429930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.770714057 meters Centerline goodness [0,1] 0.9827697609304329 Centerline is valid? [True, True] Translation: X:739.05, Y:-59.12, Z:2.26 [[ 9.95675727e-01 9.24406389e-02 -9.19647621e-03 7.39050885e+02] [-9.24331504e-02 9.95718124e-01 1.23693172e-03 -5.91178140e+01] [ 9.27144080e-03 -3.81523620e-04 9.99956946e-01 2.26473709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8007140569999 meters Centerline goodness [0,1] 0.9816531437991052 Centerline is valid? [True, True] Translation: X:739.08, Y:-59.12, Z:2.26 [[ 9.95686549e-01 9.22972086e-02 -9.46153189e-03 7.39078144e+02] [-9.22893022e-02 9.95731426e-01 1.26980859e-03 -5.91213871e+01] [ 9.53834443e-03 -3.91133159e-04 9.99954432e-01 2.26498132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8307140569999 meters Centerline goodness [0,1] 0.9820944346403823 Centerline is valid? [True, True] Translation: X:739.11, Y:-59.13, Z:2.27 [[ 9.95660984e-01 9.25196106e-02 -9.96628531e-03 7.39106674e+02] [-9.25108787e-02 9.95710779e-01 1.33460187e-03 -5.91256044e+01] [ 1.00470146e-02 -4.06821202e-04 9.99949445e-01 2.26524756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8607140569999 meters Centerline goodness [0,1] 0.9822038082562308 Centerline is valid? [True, True] Translation: X:739.14, Y:-59.13, Z:2.26 [[ 9.95507105e-01 9.40829114e-02 -1.06775539e-02 7.39135356e+02] [-9.40730086e-02 9.95564278e-01 1.42704498e-03 -5.91279976e+01] [ 1.07644518e-02 -4.16163798e-04 9.99941975e-01 2.26434679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.890714057 meters Centerline goodness [0,1] 0.9825374351053332 Centerline is valid? [True, True] Translation: X:739.16, Y:-59.13, Z:2.26 [[ 9.95385623e-01 9.52613634e-02 -1.15210692e-02 7.39163760e+02] [-9.52499481e-02 9.95452202e-01 1.53674825e-03 -5.91303989e+01] [ 1.16150665e-02 -4.32275864e-04 9.99932449e-01 2.26412259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9207140569999 meters Centerline goodness [0,1] 0.9833937980478535 Centerline is valid? [True, True] Translation: X:739.19, Y:-59.13, Z:2.26 [[ 9.95032059e-01 9.86705197e-02 -1.32412027e-02 7.39192684e+02] [-9.86557804e-02 9.95120057e-01 1.76335031e-03 -5.91319009e+01] [ 1.33505771e-02 -4.48268904e-04 9.99910777e-01 2.26398341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9507140569999 meters Centerline goodness [0,1] 0.9833897793213539 Centerline is valid? [True, True] Translation: X:739.22, Y:-59.13, Z:2.26 [[ 9.94863385e-01 1.00292551e-01 -1.37203833e-02 7.39221624e+02] [-1.00276902e-01 9.94957894e-01 1.82558722e-03 -5.91331672e+01] [ 1.38342965e-02 -4.40372353e-04 9.99904205e-01 2.26437599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9807140569999 meters Centerline goodness [0,1] 0.9857497035679638 Centerline is valid? [True, True] Translation: X:739.25, Y:-59.13, Z:2.26 [[ 9.94483952e-01 1.04028388e-01 -1.34076200e-02 7.39250848e+02] [-1.04013816e-01 9.94574257e-01 1.78147989e-03 -5.91326167e+01] [ 1.35201982e-02 -3.77075444e-04 9.99908527e-01 2.26492791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.010714057 meters Centerline goodness [0,1] 0.9855441442996462 Centerline is valid? [True, True] Translation: X:739.28, Y:-59.14, Z:2.27 [[ 9.94292447e-01 1.05856626e-01 -1.33005736e-02 7.39278340e+02] [-1.05842463e-01 9.94381342e-01 1.76624365e-03 -5.91356725e+01] [ 1.34128108e-02 -3.48397253e-04 9.99909984e-01 2.26566709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.040714057 meters Centerline goodness [0,1] 0.9854126265890972 Centerline is valid? [True, True] Translation: X:739.31, Y:-59.14, Z:2.27 [[ 9.94115373e-01 1.07577789e-01 -1.27139347e-02 7.39307252e+02] [-1.07565010e-01 9.94196622e-01 1.68669481e-03 -5.91381287e+01] [ 1.28216019e-02 -3.09194723e-04 9.99917752e-01 2.26650527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0707140569999 meters Centerline goodness [0,1] 0.9861158946099535 Centerline is valid? [True, True] Translation: X:739.34, Y:-59.14, Z:2.27 [[ 9.93905333e-01 1.09596552e-01 -1.18653000e-02 7.39336415e+02] [-1.09585599e-01 9.93976120e-01 1.57133676e-03 -5.91400843e+01] [ 1.19660380e-02 -2.61493982e-04 9.99928370e-01 2.26803660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1007140569999 meters Centerline goodness [0,1] 0.9859167024474024 Centerline is valid? [True, True] Translation: X:739.37, Y:-59.14, Z:2.27 [[ 9.93461249e-01 1.13620191e-01 -1.11892002e-02 7.39365259e+02] [-1.13610730e-01 9.93524239e-01 1.47960230e-03 -5.91428888e+01] [ 1.12848543e-02 -1.98714350e-04 9.99936304e-01 2.26936551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.130714057 meters Centerline goodness [0,1] 0.9860340004303852 Centerline is valid? [True, True] Translation: X:739.39, Y:-59.15, Z:2.27 [[ 9.93315085e-01 1.14887373e-01 -1.12264650e-02 7.39392586e+02] [-1.14877940e-01 9.93378507e-01 1.48368994e-03 -5.91474784e+01] [ 1.13225862e-02 -1.84098428e-04 9.99935881e-01 2.26935261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.160714057 meters Centerline goodness [0,1] 0.986419542193372 Centerline is valid? [True, True] Translation: X:739.42, Y:-59.15, Z:2.27 [[ 9.93185099e-01 1.15920589e-01 -1.20737980e-02 7.39421114e+02] [-1.15909773e-01 9.93258468e-01 1.59408832e-03 -5.91538044e+01] [ 1.21771897e-02 -1.83753578e-04 9.99925838e-01 2.26858552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1907140569999 meters Centerline goodness [0,1] 0.9872492312985142 Centerline is valid? [True, True] Translation: X:739.45, Y:-59.16, Z:2.27 [[ 9.93249932e-01 1.15364022e-01 -1.20712541e-02 7.39448250e+02] [-1.15353208e-01 9.93323264e-01 1.59059734e-03 -5.91591782e+01] [ 1.21741553e-02 -1.87402812e-04 9.99925875e-01 2.26765891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2207140569999 meters Centerline goodness [0,1] 0.9863481228668942 Centerline is valid? [True, True] Translation: X:739.48, Y:-59.17, Z:2.27 [[ 9.93361513e-01 1.14269576e-01 -1.32426490e-02 7.39475098e+02] [-1.14256512e-01 9.93449756e-01 1.74136967e-03 -5.91662671e+01] [ 1.33548920e-02 -2.16750726e-04 9.99910796e-01 2.26766358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.250714057 meters Centerline goodness [0,1] 0.9867570852792528 Centerline is valid? [True, True] Translation: X:739.50, Y:-59.18, Z:2.27 [[ 9.93710115e-01 1.11045339e-01 -1.44616461e-02 7.39502194e+02] [-1.11029445e-01 9.93815301e-01 1.89979859e-03 -5.91760209e+01] [ 1.45831689e-02 -2.82180536e-04 9.99893620e-01 2.26800237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.280714057 meters Centerline goodness [0,1] 0.9862046908315565 Centerline is valid? [True, True] Translation: X:739.53, Y:-59.18, Z:2.27 [[ 9.93964693e-01 1.08703924e-01 -1.47528084e-02 7.39530142e+02] [-1.08687159e-01 9.94074119e-01 1.93583827e-03 -5.91820542e+01] [ 1.48758182e-02 -3.20714061e-04 9.99889297e-01 2.26904469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3107140569999 meters Centerline goodness [0,1] 0.9868820885940509 Centerline is valid? [True, True] Translation: X:739.56, Y:-59.19, Z:2.27 [[ 9.94203379e-01 1.06570812e-01 -1.42233476e-02 7.39558006e+02] [-1.06555049e-01 9.94305058e-01 1.86369343e-03 -5.91877388e+01] [ 1.43409618e-02 -3.37320801e-04 9.99897106e-01 2.27013744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3407140569999 meters Centerline goodness [0,1] 0.9860105612809812 Centerline is valid? [True, True] Translation: X:739.58, Y:-59.20, Z:2.27 [[ 9.94587706e-01 1.03060810e-01 -1.31819462e-02 7.39584376e+02] [-1.03046977e-01 9.94674993e-01 1.72610582e-03 -5.91992567e+01] [ 1.32896461e-02 -3.58403925e-04 9.99911625e-01 2.27114730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.370714057 meters Centerline goodness [0,1] 0.9858992436867068 Centerline is valid? [True, True] Translation: X:739.61, Y:-59.20, Z:2.27 [[ 9.94793709e-01 1.01220414e-01 -1.18281335e-02 7.39612460e+02] [-1.01209164e-01 9.94863966e-01 1.54743224e-03 -5.92043512e+01] [ 1.19240156e-02 -3.42260353e-04 9.99928848e-01 2.27211836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.400714057 meters Centerline goodness [0,1] 0.9852504221799449 Centerline is valid? [True, True] Translation: X:739.64, Y:-59.21, Z:2.27 [[ 9.94919843e-01 1.00124287e-01 -1.04705763e-02 7.39640923e+02] [-1.00115435e-01 9.94974889e-01 1.36741202e-03 -5.92103582e+01] [ 1.05548716e-02 -3.12199049e-04 9.99944247e-01 2.27380340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4307140569999 meters Centerline goodness [0,1] 0.9844144277868487 Centerline is valid? [True, True] Translation: X:739.67, Y:-59.22, Z:2.28 [[ 9.94945274e-01 1.00122407e-01 -7.70754135e-03 7.39666854e+02] [-1.00117622e-01 9.94975101e-01 1.00512962e-03 -5.92182141e+01] [ 7.76944773e-03 -2.28388253e-04 9.99969791e-01 2.27638904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4607140569999 meters Centerline goodness [0,1] 0.9845684932966728 Centerline is valid? [True, True] Translation: X:739.70, Y:-59.22, Z:2.28 [[ 9.94921652e-01 1.00388974e-01 -7.27738898e-03 7.39695030e+02] [-1.00384725e-01 9.94948244e-01 9.47801538e-04 -5.92222837e+01] [ 7.33577421e-03 -2.12449582e-04 9.99973070e-01 2.27701355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.490714057 meters Centerline goodness [0,1] 0.985759358744777 Centerline is valid? [True, True] Translation: X:739.72, Y:-59.23, Z:2.28 [[ 9.94856950e-01 1.00969800e-01 -8.04670149e-03 7.39722874e+02] [-1.00964643e-01 9.94889465e-01 1.04567295e-03 -5.92286719e+01] [ 8.11115993e-03 -2.27862663e-04 9.99967078e-01 2.27600509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.520714057 meters Centerline goodness [0,1] 0.985179407176287 Centerline is valid? [True, True] Translation: X:739.75, Y:-59.24, Z:2.28 [[ 9.94808893e-01 1.01359008e-01 -9.03426397e-03 7.39750329e+02] [-1.01352546e-01 9.94849883e-01 1.17140712e-03 -5.92366101e+01] [ 9.10646911e-03 -2.49680563e-04 9.99958504e-01 2.27608259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5507140569999 meters Centerline goodness [0,1] 0.984189807426322 Centerline is valid? [True, True] Translation: X:739.78, Y:-59.24, Z:2.28 [[ 9.94953932e-01 9.99030244e-02 -9.27677247e-03 7.39778423e+02] [-9.98961705e-02 9.94997143e-01 1.20043880e-03 -5.92404065e+01] [ 9.35028956e-03 -2.67667263e-04 9.99956249e-01 2.27605092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5807140569999 meters Centerline goodness [0,1] 0.9849065440456423 Centerline is valid? [True, True] Translation: X:739.81, Y:-59.25, Z:2.28 [[ 9.95133441e-01 9.81042950e-02 -9.21855707e-03 7.39805038e+02] [-9.80974714e-02 9.95176099e-01 1.19057346e-03 -5.92491908e+01] [ 9.29088804e-03 -2.80462328e-04 9.99956799e-01 2.27696598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6107140569999 meters Centerline goodness [0,1] 0.9835099365930465 Centerline is valid? [True, True] Translation: X:739.83, Y:-59.26, Z:2.28 [[ 9.95255874e-01 9.68793579e-02 -8.95178896e-03 7.39831961e+02] [-9.68728810e-02 9.95296092e-01 1.15534167e-03 -5.92574780e+01] [ 9.02160932e-03 -2.82674994e-04 9.99959265e-01 2.27720752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.640714057 meters Centerline goodness [0,1] 0.9840507667900582 Centerline is valid? [True, True] Translation: X:739.86, Y:-59.26, Z:2.28 [[ 9.95354760e-01 9.58864389e-02 -8.64253622e-03 7.39860101e+02] [-9.58803699e-02 9.95392240e-01 1.11479481e-03 -5.92623262e+01] [ 8.70960719e-03 -2.80966754e-04 9.99962031e-01 2.27739717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6707140569999 meters Centerline goodness [0,1] 0.9826179345516362 Centerline is valid? [True, True] Translation: X:739.89, Y:-59.27, Z:2.28 [[ 9.95577224e-01 9.34683965e-02 -9.46834900e-03 7.39887471e+02] [-9.34610276e-02 9.95622193e-01 1.21874072e-03 -5.92715599e+01] [ 9.54081213e-03 -3.28428881e-04 9.99954431e-01 2.27696301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7007140569999 meters Centerline goodness [0,1] 0.9815175509167126 Centerline is valid? [True, True] Translation: X:739.92, Y:-59.28, Z:2.28 [[ 9.95680066e-01 9.23352412e-02 -9.76781893e-03 7.39915938e+02] [-9.23273541e-02 9.95727915e-01 1.25629519e-03 -5.92777458e+01] [ 9.84209030e-03 -3.49031196e-04 9.99951505e-01 2.27548724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7307140569999 meters Centerline goodness [0,1] 0.9823074635741897 Centerline is valid? [True, True] Translation: X:739.94, Y:-59.28, Z:2.27 [[ 9.95798039e-01 9.09076307e-02 -1.10484274e-02 7.39944291e+02] [-9.08974869e-02 9.95859245e-01 1.41787444e-03 -5.92845801e+01] [ 1.11315742e-02 -4.07642300e-04 9.99937959e-01 2.27441791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.760714057 meters Centerline goodness [0,1] 0.9813953488372094 Centerline is valid? [True, True] Translation: X:739.97, Y:-59.29, Z:2.27 [[ 9.95741233e-01 9.14566969e-02 -1.16219661e-02 7.39971172e+02] [-9.14455420e-02 9.95808966e-01 1.48873896e-03 -5.92916575e+01] [ 1.17094132e-02 -4.19621778e-04 9.99931354e-01 2.27390804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.790714057 meters Centerline goodness [0,1] 0.9816777323799796 Centerline is valid? [True, True] Translation: X:740.00, Y:-59.30, Z:2.27 [[ 9.95704922e-01 9.17765750e-02 -1.21971120e-02 7.39998556e+02] [-9.17643267e-02 9.95779529e-01 1.56126388e-03 -5.92973902e+01] [ 1.22889219e-02 -4.35298356e-04 9.99924394e-01 2.27331686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8207140569999 meters Centerline goodness [0,1] 0.981251191661547 Centerline is valid? [True, True] Translation: X:740.03, Y:-59.30, Z:2.27 [[ 9.95655666e-01 9.22224380e-02 -1.28380731e-02 7.40026308e+02] [-9.22089208e-02 9.95738328e-01 1.64213043e-03 -5.93023984e+01] [ 1.29348027e-02 -4.51211604e-04 9.99916240e-01 2.27288128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8507140569999 meters Centerline goodness [0,1] 0.9809408465068843 Centerline is valid? [True, True] Translation: X:740.05, Y:-59.31, Z:2.27 [[ 9.95513208e-01 9.36076325e-02 -1.38226169e-02 7.40053652e+02] [-9.35921134e-02 9.95609057e-01 1.76679472e-03 -5.93073759e+01] [ 1.39273081e-02 -4.65179546e-04 9.99902902e-01 2.27264716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.880714057 meters Centerline goodness [0,1] 0.9816980172852059 Centerline is valid? [True, True] Translation: X:740.08, Y:-59.31, Z:2.27 [[ 9.95417067e-01 9.46440705e-02 -1.36880150e-02 7.40082097e+02] [-9.46289757e-02 9.95511076e-01 1.74773197e-03 -5.93111848e+01] [ 1.37919831e-02 -4.44439392e-04 9.99904787e-01 2.27349326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.910714057 meters Centerline goodness [0,1] 0.9825458541120784 Centerline is valid? [True, True] Translation: X:740.11, Y:-59.31, Z:2.28 [[ 9.95212619e-01 9.70225930e-02 -1.17668594e-02 7.40111509e+02] [-9.70116341e-02 9.95282117e-01 1.49992066e-03 -5.93117072e+01] [ 1.18568709e-02 -3.51217715e-04 9.99929643e-01 2.27661958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9407140569999 meters Centerline goodness [0,1] 0.9833248472505092 Centerline is valid? [True, True] Translation: X:740.14, Y:-59.32, Z:2.28 [[ 9.95111783e-01 9.81995438e-02 -1.04589334e-02 7.40140295e+02] [-9.81909745e-02 9.95166700e-01 1.33095425e-03 -5.93155263e+01] [ 1.05390813e-02 -2.97475400e-04 9.99944418e-01 2.27859477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9707140569999 meters Centerline goodness [0,1] 0.9825867481123272 Centerline is valid? [True, True] Translation: X:740.17, Y:-59.32, Z:2.28 [[ 9.95043457e-01 9.90262107e-02 -9.07346307e-03 7.40167344e+02] [-9.90198143e-02 9.95084794e-01 1.15261024e-03 -5.93204063e+01] [ 9.14300376e-03 -2.48444649e-04 9.99958171e-01 2.28000721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.000714057 meters Centerline goodness [0,1] 0.9825867481123272 Centerline is valid? [True, True] Translation: X:740.19, Y:-59.32, Z:2.28 [[ 9.95053928e-01 9.89209331e-02 -9.07356463e-03 7.40194620e+02] [-9.89145396e-02 9.95095265e-01 1.15181021e-03 -5.93237782e+01] [ 9.14299934e-03 -2.48605809e-04 9.99958171e-01 2.28026502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.030714057 meters Centerline goodness [0,1] 0.9827571580063627 Centerline is valid? [True, True] Translation: X:740.22, Y:-59.33, Z:2.28 [[ 9.94883601e-01 1.00759386e-01 -7.35974875e-03 7.40222946e+02] [-1.00755232e-01 9.94910805e-01 9.33935202e-04 -5.93295609e+01] [ 7.41639630e-03 -1.87623621e-04 9.99972481e-01 2.28089742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0607140569999 meters Centerline goodness [0,1] 0.983153894870171 Centerline is valid? [True, True] Translation: X:740.25, Y:-59.34, Z:2.28 [[ 9.94840021e-01 1.01204544e-01 -7.13956153e-03 7.40250524e+02] [-1.01200661e-01 9.94865624e-01 9.03908663e-04 -5.93350895e+01] [ 7.19438400e-03 -1.76716163e-04 9.99974104e-01 2.28085051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0907140569999 meters Centerline goodness [0,1] 0.9820896783323125 Centerline is valid? [True, True] Translation: X:740.28, Y:-59.34, Z:2.28 [[ 9.94792172e-01 1.01677364e-01 -7.08859315e-03 7.40278947e+02] [-1.01673554e-01 9.94817412e-01 8.96789594e-04 -5.93403832e+01] [ 7.14303910e-03 -1.71396809e-04 9.99974473e-01 2.27998930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.120714057 meters Centerline goodness [0,1] 0.9838357268619673 Centerline is valid? [True, True] Translation: X:740.30, Y:-59.35, Z:2.28 [[ 9.94798315e-01 1.01630632e-01 -6.89402810e-03 7.40304991e+02] [-1.01627029e-01 9.94822189e-01 8.71827318e-04 -5.93485900e+01] [ 6.94693648e-03 -1.66672755e-04 9.99975856e-01 2.28002622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.150714057 meters Centerline goodness [0,1] 0.9830842607313196 Centerline is valid? [True, True] Translation: X:740.33, Y:-59.35, Z:2.28 [[ 9.94852240e-01 1.01095564e-01 -6.97905585e-03 7.40333221e+02] [-1.01091865e-01 9.94876705e-01 8.81583270e-04 -5.93521243e+01] [ 7.03242425e-03 -1.71519318e-04 9.99975257e-01 2.27948363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1807140569999 meters Centerline goodness [0,1] 0.9829318535334426 Centerline is valid? [True, True] Translation: X:740.36, Y:-59.36, Z:2.28 [[ 9.94950498e-01 9.99971153e-02 -8.60721161e-03 7.40359913e+02] [-9.99914556e-02 9.94987703e-01 1.08647141e-03 -5.93602816e+01] [ 8.67271371e-03 -2.20337655e-04 9.99962367e-01 2.27965064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2107140569999 meters Centerline goodness [0,1] 0.9821964097148891 Centerline is valid? [True, True] Translation: X:740.39, Y:-59.37, Z:2.28 [[ 9.95136539e-01 9.81552470e-02 -8.29557470e-03 7.40387994e+02] [-9.81499305e-02 9.95171089e-01 1.04657153e-03 -5.93663282e+01] [ 8.35824260e-03 -2.27271486e-04 9.99965043e-01 2.27941052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.240714057 meters Centerline goodness [0,1] 0.9822603779952751 Centerline is valid? [True, True] Translation: X:740.42, Y:-59.37, Z:2.28 [[ 9.95280612e-01 9.66600424e-02 -8.56390312e-03 7.40415928e+02] [-9.66543414e-02 9.95317425e-01 1.07806724e-03 -5.93713925e+01] [ 8.62800802e-03 -2.45241002e-04 9.99962748e-01 2.28030743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.270714057 meters Centerline goodness [0,1] 0.9814418575090567 Centerline is valid? [True, True] Translation: X:740.44, Y:-59.38, Z:2.28 [[ 9.95561162e-01 9.38430290e-02 -7.17345549e-03 7.40442778e+02] [-9.38389590e-02 9.95586980e-01 9.02608754e-04 -5.93821291e+01] [ 7.22650242e-03 -2.25452625e-04 9.99973863e-01 2.28207170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3007140569999 meters Centerline goodness [0,1] 0.9815438017228607 Centerline is valid? [True, True] Translation: X:740.47, Y:-59.39, Z:2.28 [[ 9.95789088e-01 9.14289713e-02 -6.69592640e-03 7.40471058e+02] [-9.14253774e-02 9.95811575e-01 8.41517764e-04 -5.93881365e+01] [ 6.74482011e-03 -2.25796609e-04 9.99977228e-01 2.28206972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3307140569999 meters Centerline goodness [0,1] 0.9803314591361847 Centerline is valid? [True, True] Translation: X:740.50, Y:-59.39, Z:2.28 [[ 9.95965677e-01 8.94869116e-02 -6.66802675e-03 7.40499516e+02] [-8.94833072e-02 9.95987970e-01 8.37549232e-04 -5.93931976e+01] [ 6.71622412e-03 -2.37493202e-04 9.99977418e-01 2.28250548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3607140569999 meters Centerline goodness [0,1] 0.9795231950584901 Centerline is valid? [True, True] Translation: X:740.53, Y:-59.40, Z:2.28 [[ 9.96421533e-01 8.43816897e-02 -4.88454457e-03 7.40529169e+02] [-8.43796963e-02 9.96433485e-01 6.13127142e-04 -5.94004242e+01] [ 4.91886047e-03 -1.98776699e-04 9.99987883e-01 2.28238243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.390714057 meters Centerline goodness [0,1] 0.9788187287030415 Centerline is valid? [True, True] Translation: X:740.56, Y:-59.41, Z:2.28 [[ 9.96608265e-01 8.21516516e-02 -4.80336831e-03 7.40556747e+02] [-8.21496973e-02 9.96619819e-01 6.03096026e-04 -5.94078707e+01] [ 4.83667739e-03 -2.06455232e-04 9.99988282e-01 2.28314361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4207140569999 meters Centerline goodness [0,1] 0.9784959891633331 Centerline is valid? [True, True] Translation: X:740.59, Y:-59.42, Z:2.28 [[ 9.97034810e-01 7.68147144e-02 -4.59211536e-03 7.40586308e+02] [-7.68128743e-02 9.97045360e-01 5.76000948e-04 -5.94153839e+01] [ 4.62279266e-03 -2.21559415e-04 9.99989290e-01 2.28346514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4507140569999 meters Centerline goodness [0,1] 0.9780696189146894 Centerline is valid? [True, True] Translation: X:740.61, Y:-59.42, Z:2.28 [[ 9.97207668e-01 7.45208619e-02 -4.84846383e-03 7.40613747e+02] [-7.45187826e-02 9.97219425e-01 6.08357953e-04 -5.94225412e+01] [ 4.88031767e-03 -2.45357594e-04 9.99988061e-01 2.28398538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4807140569999 meters Centerline goodness [0,1] 0.9770421106037545 Centerline is valid? [True, True] Translation: X:740.64, Y:-59.42, Z:2.28 [[ 9.97410081e-01 7.17663737e-02 -4.76642449e-03 7.40643651e+02] [-7.17643354e-02 9.97421437e-01 5.97512044e-04 -5.94237059e+01] [ 4.79701524e-03 -2.53905250e-04 9.99988462e-01 2.28332875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.510714057 meters Centerline goodness [0,1] 0.9768114726601811 Centerline is valid? [True, True] Translation: X:740.67, Y:-59.43, Z:2.28 [[ 9.97827657e-01 6.56001840e-02 -6.04843516e-03 7.40672478e+02] [-6.55967911e-02 9.97845923e-01 7.57849083e-04 -5.94331221e+01] [ 6.08512141e-03 -3.59444836e-04 9.99981421e-01 2.28280383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.540714057 meters Centerline goodness [0,1] 0.9765850371649365 Centerline is valid? [True, True] Translation: X:740.70, Y:-59.44, Z:2.28 [[ 9.98040874e-01 6.22594985e-02 -6.17809422e-03 7.40702269e+02] [-6.22558955e-02 9.98059920e-01 7.73982896e-04 -5.94379314e+01] [ 6.21429601e-03 -3.87843779e-04 9.99980616e-01 2.28282607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5707140569999 meters Centerline goodness [0,1] 0.9750492724451713 Centerline is valid? [True, True] Translation: X:740.73, Y:-59.45, Z:2.28 [[ 9.98213524e-01 5.94315530e-02 -6.13606100e-03 7.40730684e+02] [-5.94279460e-02 9.98232302e-01 7.68663255e-04 -5.94468234e+01] [ 6.17089715e-03 -4.02636555e-04 9.99980879e-01 2.28373514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6007140569999 meters Centerline goodness [0,1] 0.9757539917208752 Centerline is valid? [True, True] Translation: X:740.76, Y:-59.45, Z:2.28 [[ 9.98397363e-01 5.64276814e-02 -4.31539386e-03 7.40760910e+02] [-5.64258701e-02 9.98406645e-01 5.40444087e-04 -5.94468040e+01] [ 4.33901391e-03 -2.96078098e-04 9.99990543e-01 2.28425338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.630714057 meters Centerline goodness [0,1] 0.9739185482169234 Centerline is valid? [True, True] Translation: X:740.79, Y:-59.45, Z:2.29 [[ 9.98657828e-01 5.17005244e-02 -3.09823419e-03 7.40790851e+02] [-5.16995685e-02 9.98662608e-01 3.87884603e-04 -5.94509498e+01] [ 3.11414448e-03 -2.27186624e-04 9.99995125e-01 2.28539140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.660714057 meters Centerline goodness [0,1] 0.9721421507774528 Centerline is valid? [True, True] Translation: X:740.82, Y:-59.46, Z:2.29 [[ 9.98748969e-01 4.99338188e-02 -2.66654933e-03 7.40818959e+02] [-4.99331035e-02 9.98752509e-01 3.34210708e-04 -5.94556580e+01] [ 2.67991125e-03 -2.00643516e-04 9.99996389e-01 2.28545322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6907140569999 meters Centerline goodness [0,1] 0.969167371090448 Centerline is valid? [True, True] Translation: X:740.85, Y:-59.46, Z:2.28 [[ 9.98904708e-01 4.67106138e-02 -2.73911217e-03 7.40847800e+02] [-4.67098481e-02 9.98908441e-01 3.42877064e-04 -5.94611708e+01] [ 2.75213827e-03 -2.14558000e-04 9.99996190e-01 2.28454203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7207140569999 meters Centerline goodness [0,1] 0.9700924300429367 Centerline is valid? [True, True] Translation: X:740.88, Y:-59.46, Z:2.28 [[ 9.98969931e-01 4.52555372e-02 -3.31875990e-03 7.40877475e+02] [-4.52544051e-02 9.98975408e-01 4.15479385e-04 -5.94615438e+01] [ 3.33416227e-03 -2.64862907e-04 9.99994407e-01 2.28397293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.750714057 meters Centerline goodness [0,1] 0.9685756982593504 Centerline is valid? [True, True] Translation: X:740.91, Y:-59.46, Z:2.28 [[ 9.99131186e-01 4.14789604e-02 -4.04576646e-03 7.40908166e+02] [-4.14772488e-02 9.99139320e-01 5.06087078e-04 -5.94604777e+01] [ 4.06327632e-03 -3.37840120e-04 9.99991688e-01 2.28223774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.780714057 meters Centerline goodness [0,1] 0.9685155837295298 Centerline is valid? [True, True] Translation: X:740.94, Y:-59.46, Z:2.28 [[ 9.99217861e-01 3.93296245e-02 -4.10450197e-03 7.40937939e+02] [-3.93278445e-02 9.99226229e-01 5.13520001e-04 -5.94630485e+01] [ 4.12152257e-03 -3.51697141e-04 9.99991445e-01 2.28201440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8107140569999 meters Centerline goodness [0,1] 0.9667907544114245 Centerline is valid? [True, True] Translation: X:740.97, Y:-59.47, Z:2.28 [[ 9.99291839e-01 3.73967440e-02 -4.15992038e-03 7.40966440e+02] [-3.73948985e-02 9.99300431e-01 5.20559240e-04 -5.94671559e+01] [ 4.17647745e-03 -3.64630799e-04 9.99991212e-01 2.28218193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8407140569999 meters Centerline goodness [0,1] 0.9673694672954511 Centerline is valid? [True, True] Translation: X:741.00, Y:-59.46, Z:2.28 [[ 9.99348901e-01 3.58951480e-02 -3.64863903e-03 7.40996368e+02] [-3.58937188e-02 9.99355509e-01 4.56450252e-04 -5.94648348e+01] [ 3.66267186e-03 -3.25189835e-04 9.99993240e-01 2.28300311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.870714057 meters Centerline goodness [0,1] 0.906856866334238 Centerline is valid? [True, False] Translation: X:741.00, Y:-59.46, Z:2.28 [[ 9.99377502e-01 3.50623662e-02 -3.90362649e-03 7.40996674e+02] [-3.50670769e-02 9.99384305e-01 -1.14487580e-03 -5.94610026e+01] [ 3.86108099e-03 1.28105189e-03 9.99991725e-01 2.28345773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.900714057 meters Centerline goodness [0,1] 0.9641851106639839 Centerline is valid? [False, True] Translation: X:741.00, Y:-59.45, Z:2.28 [[ 9.99435671e-01 3.33536130e-02 -3.98440305e-03 7.40996138e+02] [-3.33722451e-02 9.99431916e-01 -4.70505493e-03 -5.94522914e+01] [ 3.82520899e-03 4.83536821e-03 9.99980993e-01 2.28495769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9307140569999 meters Centerline goodness [0,1] 0.9616442995639474 Centerline is valid? [True, True] Translation: X:741.02, Y:-59.46, Z:2.28 [[ 9.99459258e-01 3.27112549e-02 -3.34139545e-03 7.41023781e+02] [-3.27100356e-02 9.99464796e-01 4.18925233e-04 -5.94569352e+01] [ 3.35331070e-03 -3.09401538e-04 9.99994330e-01 2.28459711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9607140569999 meters Centerline goodness [0,1] 0.9622833195758461 Centerline is valid? [True, True] Translation: X:741.05, Y:-59.45, Z:2.28 [[ 9.99459510e-01 3.27233584e-02 -3.14166767e-03 7.41053176e+02] [-3.27222821e-02 9.99464405e-01 3.93372568e-04 -5.94527876e+01] [ 3.15285748e-03 -2.90357418e-04 9.99994988e-01 2.28470276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.990714057 meters Centerline goodness [0,1] 0.9672308475439043 Centerline is valid? [True, True] Translation: X:741.08, Y:-59.44, Z:2.28 [[ 9.99467957e-01 3.24370946e-02 -3.41133225e-03 7.41083035e+02] [-3.24358250e-02 9.99473729e-01 4.26856366e-04 -5.94445721e+01] [ 3.42338295e-03 -3.15979884e-04 9.99994090e-01 2.28351966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.020714057 meters Centerline goodness [0,1] 0.963837872070931 Centerline is valid? [True, True] Translation: X:741.11, Y:-59.45, Z:2.28 [[ 9.99458836e-01 3.26093908e-02 -4.32014527e-03 7.41110737e+02] [-3.26073585e-02 9.99468093e-01 5.40037645e-04 -5.94515319e+01] [ 4.33545766e-03 -3.98876870e-04 9.99990522e-01 2.28353375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0507140569999 meters Centerline goodness [0,1] 0.9689430445581336 Centerline is valid? [True, True] Translation: X:741.14, Y:-59.44, Z:2.28 [[ 9.99461212e-01 3.24264311e-02 -5.08048363e-03 7.41139827e+02] [-3.24236198e-02 9.99474015e-01 6.34770286e-04 -5.94406907e+01] [ 5.09839471e-03 -4.69700610e-04 9.99986893e-01 2.28287771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0807140569999 meters Centerline goodness [0,1] 0.9666589047185589 Centerline is valid? [True, True] Translation: X:741.17, Y:-59.44, Z:2.28 [[ 9.99446627e-01 3.26754234e-02 -6.22539257e-03 7.41166903e+02] [-3.26712130e-02 9.99465852e-01 7.76846675e-04 -5.94446643e+01] [ 6.24745108e-03 -5.73025663e-04 9.99980320e-01 2.28340441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1107140569999 meters Centerline goodness [0,1] 0.9684970605776604 Centerline is valid? [True, True] Translation: X:741.20, Y:-59.44, Z:2.28 [[ 9.99413695e-01 3.32995737e-02 -7.96271563e-03 7.41197267e+02] [-3.32927142e-02 9.99445151e-01 9.92496065e-04 -5.94378055e+01] [ 7.99134722e-03 -7.26813743e-04 9.99967805e-01 2.28396509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.140714057 meters Centerline goodness [0,1] 0.9677853208658895 Centerline is valid? [True, True] Translation: X:741.23, Y:-59.44, Z:2.28 [[ 9.99383776e-01 3.40701323e-02 -8.44354511e-03 7.41225441e+02] [-3.40624570e-02 9.99419153e-01 1.05119879e-03 -5.94379305e+01] [ 8.47445518e-03 -7.62943121e-04 9.99963800e-01 2.28426055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1707140569999 meters Centerline goodness [0,1] 0.9695698241152787 Centerline is valid? [True, True] Translation: X:741.25, Y:-59.44, Z:2.28 [[ 9.99346340e-01 3.49271402e-02 -9.32672381e-03 7.41254791e+02] [-3.49178212e-02 9.99389514e-01 1.16019684e-03 -5.94372958e+01] [ 9.36155233e-03 -8.33769586e-04 9.99955832e-01 2.28468579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2007140569999 meters Centerline goodness [0,1] 0.9717911949147101 Centerline is valid? [True, True] Translation: X:741.28, Y:-59.44, Z:2.29 [[ 9.99325532e-01 3.55351166e-02 -9.25938881e-03 7.41283757e+02] [-3.55259636e-02 9.99368091e-01 1.15116608e-03 -5.94351025e+01] [ 9.29444454e-03 -8.21440943e-04 9.99956468e-01 2.28529324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2307140569999 meters Centerline goodness [0,1] 0.9732060495548643 Centerline is valid? [True, True] Translation: X:741.31, Y:-59.43, Z:2.29 [[ 9.99303852e-01 3.58449505e-02 -1.03416771e-02 7.41313040e+02] [-3.58335578e-02 9.99356946e-01 1.28488894e-03 -5.94295307e+01] [ 1.03810837e-02 -9.13415384e-04 9.99945698e-01 2.28567210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.260714057 meters Centerline goodness [0,1] 0.974232997210899 Centerline is valid? [True, True] Translation: X:741.34, Y:-59.43, Z:2.29 [[ 9.99317202e-01 3.51307044e-02 -1.14439480e-02 7.41342090e+02] [-3.51167181e-02 9.99382208e-01 1.42087057e-03 -5.94255569e+01] [ 1.14867942e-02 -1.01802651e-03 9.99933506e-01 2.28535724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.290714057 meters Centerline goodness [0,1] 0.9640654215650455 Centerline is valid? [True, True] Translation: X:741.37, Y:-59.44, Z:2.29 [[ 9.99331799e-01 3.44193404e-02 -1.22989611e-02 7.41368290e+02] [-3.44031547e-02 9.99406872e-01 1.52524267e-03 -5.94361705e+01] [ 1.23441641e-02 -1.10110044e-03 9.99923202e-01 2.28567271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3207140569999 meters Centerline goodness [0,1] 0.9724968697379215 Centerline is valid? [True, True] Translation: X:741.40, Y:-59.43, Z:2.29 [[ 9.99376692e-01 3.28518985e-02 -1.29220946e-02 7.41399094e+02] [-3.28339223e-02 9.99459539e-01 1.60087434e-03 -5.94250669e+01] [ 1.29677025e-02 -1.17559345e-03 9.99915225e-01 2.28637660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3507140569999 meters Centerline goodness [0,1] 0.9719063545150501 Centerline is valid? [True, True] Translation: X:741.43, Y:-59.42, Z:2.29 [[ 9.99401145e-01 3.19941770e-02 -1.31804641e-02 7.41428456e+02] [-3.19754109e-02 9.99487323e-01 1.63211358e-03 -5.94238935e+01] [ 1.32259249e-02 -1.20968542e-03 9.99911802e-01 2.28644940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.380714057 meters Centerline goodness [0,1] 0.9722800624674649 Centerline is valid? [True, True] Translation: X:741.46, Y:-59.42, Z:2.29 [[ 9.99428720e-01 3.09038676e-02 -1.36815314e-02 7.41458816e+02] [-3.08835586e-02 9.99521555e-01 1.69326218e-03 -5.94202496e+01] [ 1.37273138e-02 -1.26976047e-03 9.99904970e-01 2.28767025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.410714057 meters Centerline goodness [0,1] 0.9723705343577723 Centerline is valid? [True, True] Translation: X:741.49, Y:-59.42, Z:2.29 [[ 9.99449615e-01 3.03262774e-02 -1.34455789e-02 7.41487691e+02] [-3.03066189e-02 9.99539265e-01 1.66347200e-03 -5.94199925e+01] [ 1.34898309e-02 -1.25506642e-03 9.99908220e-01 2.28843857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4407140569999 meters Centerline goodness [0,1] 0.9713006617933302 Centerline is valid? [True, True] Translation: X:741.52, Y:-59.42, Z:2.29 [[ 9.99459435e-01 2.99014457e-02 -1.36653636e-02 7.41517059e+02] [-2.98811136e-02 9.99552032e-01 1.68966224e-03 -5.94202442e+01] [ 1.37097653e-02 -1.28041258e-03 9.99905197e-01 2.28930863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4707140569999 meters Centerline goodness [0,1] 0.9718587521663778 Centerline is valid? [True, True] Translation: X:741.55, Y:-59.42, Z:2.29 [[ 9.99472202e-01 2.91718521e-02 -1.42940416e-02 7.41546678e+02] [-2.91495475e-02 9.99573501e-01 1.76632659e-03 -5.94186476e+01] [ 1.43394722e-02 -1.34872948e-03 9.99896275e-01 2.29018337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.500714057 meters Centerline goodness [0,1] 0.9696200334179632 Centerline is valid? [True, True] Translation: X:741.58, Y:-59.42, Z:2.29 [[ 9.99479975e-01 2.85129664e-02 -1.50595779e-02 7.41575331e+02] [-2.84881527e-02 9.99592400e-01 1.85970885e-03 -5.94165180e+01] [ 1.51064655e-02 -1.42972220e-03 9.99884869e-01 2.29006999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.530714057 meters Centerline goodness [0,1] 0.97239785461998 Centerline is valid? [True, True] Translation: X:741.60, Y:-59.41, Z:2.29 [[ 9.99479535e-01 2.80916085e-02 -1.58593998e-02 7.41604483e+02] [-2.80640582e-02 9.99604211e-01 1.95709386e-03 -5.94147155e+01] [ 1.59081007e-02 -1.51099614e-03 9.99872316e-01 2.29020451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5607140569999 meters Centerline goodness [0,1] 0.9673951125514584 Centerline is valid? [True, True] Translation: X:741.63, Y:-59.42, Z:2.29 [[ 9.99485550e-01 2.71663195e-02 -1.70477918e-02 7.41632996e+02] [-2.71343719e-02 9.99629584e-01 2.10256761e-03 -5.94177223e+01] [ 1.70985961e-02 -1.63890482e-03 9.99852465e-01 2.28941298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5907140569999 meters Centerline goodness [0,1] 0.9629483382691675 Centerline is valid? [True, True] Translation: X:741.66, Y:-59.42, Z:2.29 [[ 9.99475373e-01 2.70066116e-02 -1.78779943e-02 7.41660577e+02] [-2.69714731e-02 9.99633775e-01 2.20371134e-03 -5.94195684e+01] [ 1.79309617e-02 -1.72035937e-03 9.99837747e-01 2.28906623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.620714057 meters Centerline goodness [0,1] 0.9423680456490727 Centerline is valid? [True, False] Translation: X:741.66, Y:-59.41, Z:2.29 [[ 9.99480991e-01 2.63182077e-02 -1.85768604e-02 7.41662068e+02] [-2.63255202e-02 9.99653412e-01 -1.49160255e-04 -5.94119667e+01] [ 1.85664962e-02 6.38128353e-04 9.99827424e-01 2.28955638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.650714057 meters Centerline goodness [0,1] 0.9665890007473513 Centerline is valid? [False, True] Translation: X:741.66, Y:-59.41, Z:2.29 [[ 9.99486746e-01 2.57862306e-02 -1.90082722e-02 7.41662645e+02] [-2.58199591e-02 9.99665437e-01 -1.53109658e-03 -5.94083247e+01] [ 1.89624315e-02 2.02110355e-03 9.99818154e-01 2.29009483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6807140569999 meters Centerline goodness [0,1] 0.9472557071576809 Centerline is valid? [True, False] Translation: X:741.66, Y:-59.41, Z:2.29 [[ 9.99492023e-01 2.53386107e-02 -1.93300648e-02 7.41663022e+02] [-2.53951971e-02 9.99673877e-01 -2.68750940e-03 -5.94053165e+01] [ 1.92556630e-02 3.17703502e-03 9.99809545e-01 2.29060627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7107140569999 meters Centerline goodness [0,1] 0.9384594965270097 Centerline is valid? [False, False] Translation: X:741.66, Y:-59.40, Z:2.29 [[ 9.99490253e-01 2.48884441e-02 -1.99949878e-02 7.41664584e+02] [-2.49749886e-02 9.99679708e-01 -4.09028389e-03 -5.94003893e+01] [ 1.98867827e-02 4.58757347e-03 9.99791713e-01 2.29053787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.740714057 meters Centerline goodness [0,1] 0.9678776796140034 Centerline is valid? [False, True] Translation: X:741.67, Y:-59.40, Z:2.29 [[ 9.99483064e-01 2.47925090e-02 -2.04679573e-02 7.41665519e+02] [-2.48930872e-02 9.99679193e-01 -4.67382570e-03 -5.93982686e+01] [ 2.03455152e-02 5.18092027e-03 9.99779585e-01 2.29071703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.770714057 meters Centerline goodness [0,1] 0.9637121817052613 Centerline is valid? [True, True] Translation: X:741.69, Y:-59.40, Z:2.29 [[ 9.99511216e-01 2.41463413e-02 -1.98565795e-02 7.41693748e+02] [-2.41033349e-02 9.99706586e-01 2.40236774e-03 -5.94007454e+01] [ 1.99087617e-02 -1.92258372e-03 9.99799952e-01 2.28969956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8007140569999 meters Centerline goodness [0,1] 0.9652874941701646 Centerline is valid? [True, True] Translation: X:741.72, Y:-59.40, Z:2.29 [[ 9.99512853e-01 2.42842477e-02 -1.96043998e-02 7.41722928e+02] [-2.42423836e-02 9.99703300e-01 2.37031444e-03 -5.94012772e+01] [ 1.96561444e-02 -1.89390237e-03 9.99805006e-01 2.29017041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8307140569999 meters Centerline goodness [0,1] 0.9642229782313833 Centerline is valid? [True, True] Translation: X:741.75, Y:-59.40, Z:2.29 [[ 9.99499443e-01 2.41119235e-02 -2.04811593e-02 7.41751559e+02] [-2.40662250e-02 9.99707303e-01 2.47483395e-03 -5.94027217e+01] [ 2.05348376e-02 -1.98069097e-03 9.99787176e-01 2.29033994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8607140569999 meters Centerline goodness [0,1] 0.9662578055307761 Centerline is valid? [True, True] Translation: X:741.78, Y:-59.40, Z:2.29 [[ 9.99461136e-01 2.51623781e-02 -2.10782238e-02 7.41780460e+02] [-2.51142394e-02 9.99681347e-01 2.54545916e-03 -5.94020085e+01] [ 2.11355569e-02 -2.01472394e-03 9.99774589e-01 2.29029599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.890714057 meters Centerline goodness [0,1] 0.9662578055307761 Centerline is valid? [True, True] Translation: X:741.81, Y:-59.41, Z:2.29 [[ 9.99463779e-01 2.50570087e-02 -2.10784543e-02 7.41807861e+02] [-2.50088867e-02 9.99683993e-01 2.54354935e-03 -5.94052198e+01] [ 2.11355271e-02 -2.01503677e-03 9.99774589e-01 2.29054338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9207140569999 meters Centerline goodness [0,1] 0.9649783762093718 Centerline is valid? [True, True] Translation: X:741.84, Y:-59.41, Z:2.29 [[ 9.99422923e-01 2.58203425e-02 -2.20710307e-02 7.41836458e+02] [-2.57678078e-02 9.99664412e-01 2.66139256e-03 -5.94067286e+01] [ 2.21323420e-02 -2.09113465e-03 9.99752863e-01 2.29055685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9507140569999 meters Centerline goodness [0,1] 0.968307891737255 Centerline is valid? [True, True] Translation: X:741.87, Y:-59.40, Z:2.29 [[ 9.99340892e-01 2.82140247e-02 -2.28418632e-02 7.41866699e+02] [-2.81583958e-02 9.99599682e-01 2.75344022e-03 -5.94041909e+01] [ 2.29104048e-02 -2.10843518e-03 9.99735299e-01 2.29050213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9807140569999 meters Centerline goodness [0,1] 0.9688524955933867 Centerline is valid? [True, True] Translation: X:741.90, Y:-59.41, Z:2.29 [[ 9.99290112e-01 3.00197285e-02 -2.27615352e-02 7.41896808e+02] [-2.99649639e-02 9.99547185e-01 2.74335402e-03 -5.94056420e+01] [ 2.28335832e-02 -2.05935796e-03 9.99737159e-01 2.29050042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.010714057 meters Centerline goodness [0,1] 0.9695420137105598 Centerline is valid? [True, True] Translation: X:741.93, Y:-59.41, Z:2.29 [[ 9.99221937e-01 3.20365493e-02 -2.30039158e-02 7.41926805e+02] [-3.19811514e-02 9.99484628e-01 2.77215871e-03 -5.94065404e+01] [ 2.30808706e-02 -2.03431008e-03 9.99731531e-01 2.29096732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.040714057 meters Centerline goodness [0,1] 0.7456780316491418 Centerline is valid? [True, False] Translation: X:741.98, Y:-59.41, Z:2.29 [[ 9.99243200e-01 3.12050772e-02 -2.32222085e-02 7.41983484e+02] [-3.12902911e-02 9.99504841e-01 -3.31514067e-03 -5.94072159e+01] [ 2.31072606e-02 4.03926143e-03 9.99724832e-01 2.29288296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0707140569999 meters Centerline goodness [0,1] 0.971538875920273 Centerline is valid? [False, True] Translation: X:741.92, Y:-59.40, Z:2.29 [[ 9.98992542e-01 3.57504773e-02 -2.71257130e-02 7.41924858e+02] [-3.56531628e-02 9.99355965e-01 4.06289728e-03 -5.94000408e+01] [ 2.72534936e-02 -3.09168662e-03 9.99623774e-01 2.29406366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1007140569999 meters Centerline goodness [0,1] 0.9734644396551724 Centerline is valid? [True, True] Translation: X:741.95, Y:-59.40, Z:2.30 [[ 9.98934490e-01 3.75623687e-02 -2.68133056e-02 7.41954659e+02] [-3.74906832e-02 9.99291945e-01 3.17141115e-03 -5.94002930e+01] [ 2.69134460e-02 -2.16278283e-03 9.99635428e-01 2.29543165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.130714057 meters Centerline goodness [0,1] 0.9755115808410164 Centerline is valid? [True, True] Translation: X:741.99, Y:-59.39, Z:2.30 [[ 9.98824059e-01 4.08459457e-02 -2.61171950e-02 7.41986176e+02] [-4.07790638e-02 9.99163414e-01 3.08856011e-03 -5.93946069e+01] [ 2.62215009e-02 -2.01989339e-03 9.99654117e-01 2.29805177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.160714057 meters Centerline goodness [0,1] 0.9785514944184371 Centerline is valid? [True, True] Translation: X:742.02, Y:-59.39, Z:2.30 [[ 9.98781269e-01 4.21258108e-02 -2.57175608e-02 7.42015663e+02] [-4.20614683e-02 9.99110406e-01 3.03797229e-03 -5.93934051e+01] [ 2.58226597e-02 -1.95255145e-03 9.99664633e-01 2.29929303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1907140569999 meters Centerline goodness [0,1] 0.9726061371271391 Centerline is valid? [True, True] Translation: X:742.04, Y:-59.41, Z:2.30 [[ 9.98764217e-01 4.27030307e-02 -2.54261710e-02 7.42042140e+02] [-4.26404416e-02 9.99085982e-01 2.99896313e-03 -5.94053692e+01] [ 2.55309958e-02 -1.91107391e-03 9.99672204e-01 2.29775128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2207140569999 meters Centerline goodness [0,1] 0.9735015772870662 Centerline is valid? [True, True] Translation: X:742.07, Y:-59.41, Z:2.30 [[ 9.98781855e-01 4.28516560e-02 -2.44651301e-02 7.42071419e+02] [-4.27938645e-02 9.99079769e-01 2.88112944e-03 -5.94054695e+01] [ 2.45660777e-02 -1.83066234e-03 9.99696532e-01 2.29923219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.250714057 meters Centerline goodness [0,1] 0.9780599679146802 Centerline is valid? [True, True] Translation: X:742.10, Y:-59.40, Z:2.30 [[ 9.98833732e-01 4.16623170e-02 -2.44013758e-02 7.42101166e+02] [-4.16046196e-02 9.99130038e-01 2.86766416e-03 -5.94003807e+01] [ 2.44996210e-02 -1.84910974e-03 9.99698129e-01 2.30055088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.280714057 meters Centerline goodness [0,1] 0.9756548814331807 Centerline is valid? [True, True] Translation: X:742.13, Y:-59.41, Z:2.30 [[ 9.98937898e-01 3.87107343e-02 -2.49911162e-02 7.42129967e+02] [-3.86493847e-02 9.99248528e-01 2.93340852e-03 -5.94069350e+01] [ 2.50858905e-02 -1.96440167e-03 9.99683369e-01 2.29945927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3107140569999 meters Centerline goodness [0,1] 0.9723280936379423 Centerline is valid? [True, True] Translation: X:742.16, Y:-59.42, Z:2.30 [[ 9.98991496e-01 3.69121270e-02 -2.55633831e-02 7.42156997e+02] [-3.68473854e-02 9.99316404e-01 2.99918625e-03 -5.94170639e+01] [ 2.56566145e-02 -2.05421773e-03 9.99668704e-01 2.29818959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3407140569999 meters Centerline goodness [0,1] 0.9551070006075745 Centerline is valid? [True, True] Translation: X:742.18, Y:-59.43, Z:2.30 [[ 9.99039822e-01 3.52125724e-02 -2.60673720e-02 7.42184226e+02] [-3.51447250e-02 9.99377559e-01 3.05649420e-03 -5.94280335e+01] [ 2.61587736e-02 -2.13742880e-03 9.99655516e-01 2.29664024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.370714057 meters Centerline goodness [0,1] 0.9736003435571728 Centerline is valid? [True, True] Translation: X:742.22, Y:-59.42, Z:2.30 [[ 9.99122030e-01 3.13773215e-02 -2.77602862e-02 7.42215391e+02] [-3.12989263e-02 9.99504771e-01 3.25413674e-03 -5.94216714e+01] [ 2.78486446e-02 -2.38241255e-03 9.99609312e-01 2.29783596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.400714057 meters Centerline goodness [0,1] 0.9750067732321864 Centerline is valid? [True, True] Translation: X:742.25, Y:-59.42, Z:2.30 [[ 9.99158548e-01 2.96625519e-02 -2.83253989e-02 7.42245570e+02] [-2.95802642e-02 9.99556895e-01 3.31979269e-03 -5.94195656e+01] [ 2.84113213e-02 -2.47912646e-03 9.99593243e-01 2.29883232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4307140569999 meters Centerline goodness [0,1] 0.969069835747046 Centerline is valid? [True, True] Translation: X:742.27, Y:-59.43, Z:2.30 [[ 9.99191934e-01 2.82758850e-02 -2.85649102e-02 7.42272721e+02] [-2.81916845e-02 9.99596935e-01 3.34621075e-03 -5.94301835e+01] [ 2.86480137e-02 -2.53821385e-03 9.99586339e-01 2.29770272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4607140569999 meters Centerline goodness [0,1] 0.9718758471130388 Centerline is valid? [True, True] Translation: X:742.30, Y:-59.43, Z:2.30 [[ 9.99268228e-01 2.60253220e-02 -2.80301752e-02 7.42303647e+02] [-2.59433917e-02 9.99658024e-01 3.28270732e-03 -5.94298760e+01] [ 2.81060230e-02 -2.55310731e-03 9.99601687e-01 2.30018263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.490714057 meters Centerline goodness [0,1] 0.9702186223856688 Centerline is valid? [True, True] Translation: X:742.33, Y:-59.43, Z:2.30 [[ 9.99321960e-01 2.49243680e-02 -2.70997259e-02 7.42332200e+02] [-2.48474909e-02 9.99686228e-01 3.16992593e-03 -5.94343682e+01] [ 2.71702311e-02 -2.49441640e-03 9.99627709e-01 2.30094182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.520714057 meters Centerline goodness [0,1] 0.9554203290511607 Centerline is valid? [True, True] Translation: X:742.36, Y:-59.44, Z:2.30 [[ 9.99362161e-01 2.43462528e-02 -2.61253040e-02 7.42359373e+02] [-2.42747208e-02 9.99700668e-01 3.05174339e-03 -5.94445729e+01] [ 2.61917824e-02 -2.41561241e-03 9.99654018e-01 2.30127900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5507140569999 meters Centerline goodness [0,1] 0.9566601924206152 Centerline is valid? [True, True] Translation: X:742.39, Y:-59.45, Z:2.30 [[ 9.99393173e-01 2.48755014e-02 -2.43822808e-02 7.42388388e+02] [-2.48134466e-02 9.99688053e-01 2.84437811e-03 -5.94472651e+01] [ 2.44454301e-02 -2.23764364e-03 9.99698662e-01 2.30355667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5807140569999 meters Centerline goodness [0,1] 0.9693473588960525 Centerline is valid? [True, True] Translation: X:742.42, Y:-59.44, Z:2.31 [[ 9.99383283e-01 2.52321330e-02 -2.44211418e-02 7.42418282e+02] [-2.51701278e-02 9.99679139e-01 2.84311329e-03 -5.94414911e+01] [ 2.44850438e-02 -2.22667664e-03 9.99697717e-01 2.30542626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6107140569999 meters Centerline goodness [0,1] 0.966499162479062 Centerline is valid? [True, True] Translation: X:742.45, Y:-59.45, Z:2.31 [[ 9.99357033e-01 2.70172646e-02 -2.35708934e-02 7.42447250e+02] [-2.69600739e-02 9.99632754e-01 2.74079851e-03 -5.94465032e+01] [ 2.36362859e-02 -2.10356324e-03 9.99718411e-01 2.30509958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.640714057 meters Centerline goodness [0,1] 0.9709748207135263 Centerline is valid? [True, True] Translation: X:742.48, Y:-59.44, Z:2.31 [[ 9.99337250e-01 2.73801073e-02 -2.39872827e-02 7.42476569e+02] [-2.73210641e-02 9.99622828e-01 2.78577893e-03 -5.94441428e+01] [ 2.40545103e-02 -2.12857457e-03 9.99708382e-01 2.30582138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6707140569999 meters Centerline goodness [0,1] 0.9697861931509332 Centerline is valid? [True, True] Translation: X:742.50, Y:-59.45, Z:2.31 [[ 9.99321541e-01 2.75835997e-02 -2.44049731e-02 7.42504218e+02] [-2.75226442e-02 9.99617174e-01 2.83011359e-03 -5.94488371e+01] [ 2.44736949e-02 -2.15650409e-03 9.99698148e-01 2.30540758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7007140569999 meters Centerline goodness [0,1] 0.9708073969739652 Centerline is valid? [True, True] Translation: X:742.53, Y:-59.45, Z:2.31 [[ 9.99286775e-01 2.80249662e-02 -2.53089316e-02 7.42532852e+02] [-2.79596620e-02 9.99604756e-01 2.93054987e-03 -5.94503294e+01] [ 2.53810569e-02 -2.22083056e-03 9.99675382e-01 2.30525997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7307140569999 meters Centerline goodness [0,1] 0.9704226630952921 Centerline is valid? [True, True] Translation: X:742.56, Y:-59.45, Z:2.31 [[ 9.99261700e-01 2.84237925e-02 -2.58484742e-02 7.42561284e+02] [-2.83559728e-02 9.99593427e-01 2.98658062e-03 -5.94530735e+01] [ 2.59228548e-02 -2.25141699e-03 9.99661411e-01 2.30510405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.760714057 meters Centerline goodness [0,1] 0.9701634877384196 Centerline is valid? [True, True] Translation: X:742.59, Y:-59.46, Z:2.30 [[ 9.99227073e-01 2.88476705e-02 -2.67033357e-02 7.42589604e+02] [-2.87756176e-02 9.99581155e-01 3.07870226e-03 -5.94557517e+01] [ 2.67809645e-02 -2.30791767e-03 9.99638661e-01 2.30417652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.790714057 meters Centerline goodness [0,1] 0.9763534253427616 Centerline is valid? [True, True] Translation: X:742.62, Y:-59.45, Z:2.30 [[ 9.99109836e-01 3.21180012e-02 -2.73490414e-02 7.42621116e+02] [-3.20437213e-02 9.99481504e-01 3.15005776e-03 -5.94502754e+01] [ 2.74360346e-02 -2.27088863e-03 9.99620982e-01 2.30468746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8207140569999 meters Centerline goodness [0,1] 0.9695846877770453 Centerline is valid? [True, True] Translation: X:742.65, Y:-59.46, Z:2.30 [[ 9.99031118e-01 3.44289937e-02 -2.74129509e-02 7.42649178e+02] [-3.43552468e-02 9.99404699e-01 3.15681129e-03 -5.94605306e+01] [ 2.75053178e-02 -2.21197402e-03 9.99619210e-01 2.30299234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8507140569999 meters Centerline goodness [0,1] 0.9725949381506709 Centerline is valid? [True, True] Translation: X:742.68, Y:-59.46, Z:2.30 [[ 9.98832891e-01 4.01892496e-02 -2.67895369e-02 7.42678850e+02] [-4.01208981e-02 9.99190072e-01 3.08428211e-03 -5.94573440e+01] [ 2.68917943e-02 -2.00586214e-03 9.99636338e-01 2.30434186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.880714057 meters Centerline goodness [0,1] 0.9777981441173101 Centerline is valid? [True, True] Translation: X:742.71, Y:-59.45, Z:2.31 [[ 9.98697329e-01 4.32847009e-02 -2.70199741e-02 7.42710158e+02] [-4.32163086e-02 9.99060897e-01 3.11029771e-03 -5.94495509e+01] [ 2.71292279e-02 -1.93854247e-03 9.99630055e-01 2.30682716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.910714057 meters Centerline goodness [0,1] 0.9747904916310826 Centerline is valid? [True, True] Translation: X:742.74, Y:-59.46, Z:2.31 [[ 9.98570831e-01 4.65271831e-02 -2.62967169e-02 7.42738463e+02] [-4.64635374e-02 9.98915402e-01 3.02648747e-03 -5.94575610e+01] [ 2.64090095e-02 -1.80032362e-03 9.99649600e-01 2.30620058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9407140569999 meters Centerline goodness [0,1] 0.9756354718192028 Centerline is valid? [True, True] Translation: X:742.77, Y:-59.46, Z:2.31 [[ 9.98297968e-01 5.26580592e-02 -2.50658408e-02 7.42767717e+02] [-5.26021775e-02 9.98611383e-01 2.88402233e-03 -5.94553048e+01] [ 2.51829009e-02 -1.56059583e-03 9.99681642e-01 2.30656333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9707140569999 meters Centerline goodness [0,1] 0.9813007012237042 Centerline is valid? [True, True] Translation: X:742.80, Y:-59.44, Z:2.31 [[ 9.98149310e-01 5.60204946e-02 -2.36571086e-02 7.42799001e+02] [-5.59716801e-02 9.98428649e-01 2.72107927e-03 -5.94439155e+01] [ 2.37723712e-02 -1.39191528e-03 9.99716428e-01 2.31042496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.000714057 meters Centerline goodness [0,1] 0.9804746170021027 Centerline is valid? [True, True] Translation: X:742.83, Y:-59.44, Z:2.31 [[ 9.97848717e-01 6.15860724e-02 -2.24742875e-02 7.42828098e+02] [-6.15434407e-02 9.98101060e-01 2.58432220e-03 -5.94431382e+01] [ 2.25907684e-02 -1.19561761e-03 9.99744081e-01 2.31207334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.030714057 meters Centerline goodness [0,1] 0.9811612605333025 Centerline is valid? [True, True] Translation: X:742.86, Y:-59.44, Z:2.31 [[ 9.97672578e-01 6.44630924e-02 -2.22246752e-02 7.42857864e+02] [-6.44221303e-02 9.97919466e-01 2.55490959e-03 -5.94428089e+01] [ 2.23431334e-02 -1.11720232e-03 9.99749737e-01 2.31260640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0607140569999 meters Centerline goodness [0,1] 0.9810158700867319 Centerline is valid? [True, True] Translation: X:742.89, Y:-59.44, Z:2.31 [[ 9.97493053e-01 6.73159026e-02 -2.18215071e-02 7.42886919e+02] [-6.72771108e-02 9.97731177e-01 2.50780227e-03 -5.94449912e+01] [ 2.19408130e-02 -1.03342738e-03 9.99758737e-01 2.31231702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0907140569999 meters Centerline goodness [0,1] 0.9825057348749913 Centerline is valid? [True, True] Translation: X:742.92, Y:-59.44, Z:2.31 [[ 9.97153759e-01 7.20981501e-02 -2.20508106e-02 7.42917530e+02] [-7.20597184e-02 9.97397102e-01 2.53355021e-03 -5.94413620e+01] [ 2.21760789e-02 -9.37363909e-04 9.99753641e-01 2.31162919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.120714057 meters Centerline goodness [0,1] 0.9833561596137329 Centerline is valid? [True, True] Translation: X:742.95, Y:-59.44, Z:2.31 [[ 9.97052737e-01 7.34353252e-02 -2.22056778e-02 7.42946886e+02] [-7.33967169e-02 9.97299564e-01 2.54981080e-03 -5.94423865e+01] [ 2.23329590e-02 -9.12471989e-04 9.99750172e-01 2.31120383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.150714057 meters Centerline goodness [0,1] 0.9840076132117076 Centerline is valid? [True, True] Translation: X:742.97, Y:-59.44, Z:2.31 [[ 9.96915496e-01 7.52876991e-02 -2.21643152e-02 7.42974715e+02] [-7.52497464e-02 9.97161477e-01 2.54259974e-03 -5.94440557e+01] [ 2.22928278e-02 -8.66897975e-04 9.99751108e-01 2.31132762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1807140569999 meters Centerline goodness [0,1] 0.9838418026706232 Centerline is valid? [True, True] Translation: X:743.00, Y:-59.44, Z:2.31 [[ 9.96658829e-01 7.85339025e-02 -2.24411419e-02 7.43004812e+02] [-7.84958501e-02 9.96911120e-01 2.57289372e-03 -5.94435152e+01] [ 2.25738833e-02 -8.02760727e-04 9.99744855e-01 2.31097163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2107140569999 meters Centerline goodness [0,1] 0.9833741401422409 Centerline is valid? [True, True] Translation: X:743.03, Y:-59.45, Z:2.31 [[ 9.96608229e-01 7.91633384e-02 -2.24767434e-02 7.43033880e+02] [-7.91253941e-02 9.96861348e-01 2.57392230e-03 -5.94457417e+01] [ 2.26099570e-02 -7.86710961e-04 9.99744053e-01 2.31051890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.240714057 meters Centerline goodness [0,1] 0.9827521996182673 Centerline is valid? [True, True] Translation: X:743.06, Y:-59.45, Z:2.31 [[ 9.96498554e-01 8.06520745e-02 -2.20425678e-02 7.43061544e+02] [-8.06160407e-02 9.96742045e-01 2.51992990e-03 -5.94502178e+01] [ 2.21739916e-02 -7.34121963e-04 9.99753857e-01 2.31001946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.270714057 meters Centerline goodness [0,1] 0.982917702837753 Centerline is valid? [True, True] Translation: X:743.09, Y:-59.45, Z:2.31 [[ 9.96490344e-01 8.08276362e-02 -2.17689693e-02 7.43090310e+02] [-8.07926197e-02 9.96727836e-01 2.48470519e-03 -5.94522990e+01] [ 2.18985705e-02 -7.17212670e-04 9.99759940e-01 2.31079240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3007140569999 meters Centerline goodness [0,1] 0.9850777491109407 Centerline is valid? [True, True] Translation: X:743.12, Y:-59.45, Z:2.31 [[ 9.96494005e-01 8.09531128e-02 -2.11255949e-02 7.43119369e+02] [-8.09202742e-02 9.96717673e-01 2.40608975e-03 -5.94539219e+01] [ 2.12510342e-02 -6.88165083e-04 9.99773934e-01 2.31208244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3307140569999 meters Centerline goodness [0,1] 0.9841812641031009 Centerline is valid? [True, True] Translation: X:743.15, Y:-59.46, Z:2.31 [[ 9.96477508e-01 8.12740824e-02 -2.06664004e-02 7.43147284e+02] [-8.12428033e-02 9.96691569e-01 2.35002468e-03 -5.94581137e+01] [ 2.07890231e-02 -6.62750431e-04 9.99783665e-01 2.31225399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3607140569999 meters Centerline goodness [0,1] 0.9839470321756302 Centerline is valid? [True, True] Translation: X:743.18, Y:-59.46, Z:2.31 [[ 9.96486241e-01 8.14722851e-02 -1.94277850e-02 7.43175559e+02] [-8.14447373e-02 9.96675417e-01 2.20630596e-03 -5.94625592e+01] [ 1.95429485e-02 -6.16262684e-04 9.99808828e-01 2.31359891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.390714057 meters Centerline goodness [0,1] 0.9837234141357852 Centerline is valid? [True, True] Translation: X:743.20, Y:-59.47, Z:2.31 [[ 9.96521546e-01 8.12345561e-02 -1.85944802e-02 7.43203254e+02] [-8.12093689e-02 9.96694838e-01 2.10690366e-03 -5.94670548e+01] [ 1.87041758e-02 -5.89528887e-04 9.99824888e-01 2.31465415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4207140569999 meters Centerline goodness [0,1] 0.983017075600658 Centerline is valid? [True, True] Translation: X:743.23, Y:-59.47, Z:2.32 [[ 9.96556864e-01 8.08883971e-02 -1.82066765e-02 7.43230436e+02] [-8.08642860e-02 9.96722997e-01 2.05783053e-03 -5.94714355e+01] [ 1.83134677e-02 -5.78475247e-04 9.99832127e-01 2.31534223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4507140569999 meters Centerline goodness [0,1] 0.9828251774115254 Centerline is valid? [True, True] Translation: X:743.26, Y:-59.48, Z:2.32 [[ 9.96719683e-01 7.91722684e-02 -1.67817072e-02 7.43258767e+02] [-7.91516147e-02 9.96860793e-01 1.89241341e-03 -5.94788178e+01] [ 1.68788526e-02 -5.57906473e-04 9.99857386e-01 2.31595950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4807140569999 meters Centerline goodness [0,1] 0.9823693878965732 Centerline is valid? [True, True] Translation: X:743.29, Y:-59.49, Z:2.32 [[ 9.96857947e-01 7.75348765e-02 -1.62042345e-02 7.43286913e+02] [-7.75154684e-02 9.96989482e-01 1.82333602e-03 -5.94851197e+01] [ 1.62968235e-02 -5.61528172e-04 9.99867040e-01 2.31583683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.510714057 meters Centerline goodness [0,1] 0.9811654861558274 Centerline is valid? [True, True] Translation: X:743.32, Y:-59.49, Z:2.32 [[ 9.97089438e-01 7.44562388e-02 -1.63987900e-02 7.43315889e+02] [-7.44359986e-02 9.97224092e-01 1.84202637e-03 -5.94939523e+01] [ 1.64904189e-02 -6.16004723e-04 9.99863834e-01 2.31554139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.540714057 meters Centerline goodness [0,1] 0.9813395152405435 Centerline is valid? [True, True] Translation: X:743.34, Y:-59.50, Z:2.32 [[ 9.97209097e-01 7.28009982e-02 -1.65539090e-02 7.43344464e+02] [-7.27801715e-02 9.97346276e-01 1.85789197e-03 -5.95000286e+01] [ 1.66452359e-02 -6.47910441e-04 9.99861249e-01 2.31606113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5707140569999 meters Centerline goodness [0,1] 0.9817004569145639 Centerline is valid? [True, True] Translation: X:743.37, Y:-59.51, Z:2.32 [[ 9.97351576e-01 7.08016329e-02 -1.66422224e-02 7.43372845e+02] [-7.07803751e-02 9.97490183e-01 1.86364247e-03 -5.95059324e+01] [ 1.67324024e-02 -6.80764010e-04 9.99859772e-01 2.31687784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6007140569999 meters Centerline goodness [0,1] 0.9804907022433408 Centerline is valid? [True, True] Translation: X:743.40, Y:-59.52, Z:2.32 [[ 9.97582977e-01 6.75345606e-02 -1.63489335e-02 7.43400725e+02] [-6.75136595e-02 9.97716676e-01 1.82763488e-03 -5.95154951e+01] [ 1.64350321e-02 -7.19441110e-04 9.99864677e-01 2.31691340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.630714057 meters Centerline goodness [0,1] 0.9797059763502717 Centerline is valid? [True, True] Translation: X:743.43, Y:-59.52, Z:2.32 [[ 9.97712468e-01 6.55092404e-02 -1.66844412e-02 7.43430223e+02] [-6.54872035e-02 9.97851668e-01 1.86432942e-03 -5.95209366e+01] [ 1.67707283e-02 -7.67447308e-04 9.99859067e-01 2.31707897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.660714057 meters Centerline goodness [0,1] 0.9794204020306417 Centerline is valid? [True, True] Translation: X:743.46, Y:-59.53, Z:2.32 [[ 9.97982180e-01 6.12271346e-02 -1.68168688e-02 7.43458239e+02] [-6.12041484e-02 9.98123501e-01 1.87862183e-03 -5.95320243e+01] [ 1.69003346e-02 -8.45568972e-04 9.99856822e-01 2.31629900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6907140569999 meters Centerline goodness [0,1] 0.9783176890383872 Centerline is valid? [True, True] Translation: X:743.49, Y:-59.54, Z:2.32 [[ 9.98108657e-01 5.90373797e-02 -1.71375876e-02 7.43485848e+02] [-5.90131968e-02 9.98255368e-01 1.91384306e-03 -5.95389468e+01] [ 1.72206771e-02 -8.98879498e-04 9.99851309e-01 2.31623284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7207140569999 meters Centerline goodness [0,1] 0.9778619547712477 Centerline is valid? [True, True] Translation: X:743.51, Y:-59.55, Z:2.32 [[ 9.98228128e-01 5.69665352e-02 -1.71877216e-02 7.43514429e+02] [-5.69419258e-02 9.98375650e-01 1.91820522e-03 -5.95457729e+01] [ 1.72690762e-02 -9.36104442e-04 9.99850440e-01 2.31675508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.750714057 meters Centerline goodness [0,1] 0.9769683257918552 Centerline is valid? [True, True] Translation: X:743.54, Y:-59.55, Z:2.32 [[ 9.98413618e-01 5.39360072e-02 -1.61603003e-02 7.43543887e+02] [-5.39138672e-02 9.98543962e-01 1.80288665e-03 -5.95548779e+01] [ 1.62340108e-02 -9.28762299e-04 9.99867788e-01 2.31744634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.780714057 meters Centerline goodness [0,1] 0.9749587169452801 Centerline is valid? [True, True] Translation: X:743.57, Y:-59.56, Z:2.32 [[ 9.98473653e-01 5.29919978e-02 -1.55631742e-02 7.43571767e+02] [-5.29713573e-02 9.98594524e-01 1.73577312e-03 -5.95605686e+01] [ 1.56332826e-02 -9.08721265e-04 9.99877380e-01 2.31818784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8107140569999 meters Centerline goodness [0,1] 0.9749587169452801 Centerline is valid? [True, True] Translation: X:743.60, Y:-59.56, Z:2.32 [[ 9.98487856e-01 5.27236486e-02 -1.55633920e-02 7.43599043e+02] [-5.27030060e-02 9.98608726e-01 1.73381822e-03 -5.95635123e+01] [ 1.56331522e-02 -9.10958894e-04 9.99877380e-01 2.31852078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8407140569999 meters Centerline goodness [0,1] 0.9755059537284375 Centerline is valid? [True, True] Translation: X:743.63, Y:-59.57, Z:2.32 [[ 9.98543717e-01 5.17044121e-02 -1.53979879e-02 7.43626845e+02] [-5.16841419e-02 9.98662015e-01 1.71172345e-03 -5.95685883e+01] [ 1.54658893e-02 -9.13398907e-04 9.99879979e-01 2.31916964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.870714057 meters Centerline goodness [0,1] 0.9733576971665764 Centerline is valid? [True, True] Translation: X:743.65, Y:-59.57, Z:2.32 [[ 9.98549760e-01 5.17336888e-02 -1.48997581e-02 7.43654006e+02] [-5.17147401e-02 9.98660527e-01 1.65449897e-03 -5.95744533e+01] [ 1.49653936e-02 -8.81562436e-04 9.99887624e-01 2.32010452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.900714057 meters Centerline goodness [0,1] 0.9732348556715003 Centerline is valid? [True, True] Translation: X:743.68, Y:-59.58, Z:2.32 [[ 9.98560559e-01 5.15518113e-02 -1.48061175e-02 7.43682030e+02] [-5.15331135e-02 9.98669937e-01 1.64185498e-03 -5.95780827e+01] [ 1.48710651e-02 -8.76486287e-04 9.99889035e-01 2.32064471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9307140569999 meters Centerline goodness [0,1] 0.9739089290944731 Centerline is valid? [True, True] Translation: X:743.71, Y:-59.58, Z:2.32 [[ 9.98513089e-01 5.25961993e-02 -1.43265565e-02 7.43709024e+02] [-5.25788479e-02 9.98615517e-01 1.58537158e-03 -5.95834366e+01] [ 1.43901061e-02 -8.29740437e-04 9.99896113e-01 2.32164637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9607140569999 meters Centerline goodness [0,1] 0.9786784220233008 Centerline is valid? [True, True] Translation: X:743.74, Y:-59.58, Z:2.32 [[ 9.98487897e-01 5.31715246e-02 -1.39538340e-02 7.43738899e+02] [-5.31551402e-02 9.98585075e-01 1.54271275e-03 -5.95785809e+01] [ 1.40161188e-02 -7.98662002e-04 9.99901450e-01 2.32261350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.990714057 meters Centerline goodness [0,1] 0.9781936351411923 Centerline is valid? [True, True] Translation: X:743.77, Y:-59.58, Z:2.32 [[ 9.98432608e-01 5.42397641e-02 -1.37976396e-02 7.43768000e+02] [-5.42238901e-02 9.98527642e-01 1.52226789e-03 -5.95823717e+01] [ 1.38598919e-02 -7.71720207e-04 9.99903649e-01 2.32282364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.020714057 meters Centerline goodness [0,1] 0.9784833083312809 Centerline is valid? [True, True] Translation: X:743.80, Y:-59.59, Z:2.32 [[ 9.98272832e-01 5.68778755e-02 -1.47057803e-02 7.43798103e+02] [-5.68601731e-02 9.98380838e-01 1.61943130e-03 -5.95852176e+01] [ 1.47740791e-02 -7.80461059e-04 9.99890553e-01 2.32284249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0507140569999 meters Centerline goodness [0,1] 0.9797181703583648 Centerline is valid? [True, True] Translation: X:743.83, Y:-59.59, Z:2.32 [[ 9.98173787e-01 5.84121873e-02 -1.53983158e-02 7.43827155e+02] [-5.83929675e-02 9.98292236e-01 1.69522522e-03 -5.95868048e+01] [ 1.54710409e-02 -7.92976028e-04 9.99880002e-01 2.32325816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0807140569999 meters Centerline goodness [0,1] 0.9793758967001435 Centerline is valid? [True, True] Translation: X:743.85, Y:-59.59, Z:2.32 [[ 9.98034866e-01 6.06736857e-02 -1.56560244e-02 7.43854586e+02] [-6.06541136e-02 9.98157358e-01 1.72238338e-03 -5.95912206e+01] [ 1.57316793e-02 -7.69396380e-04 9.99875953e-01 2.32306522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1107140569999 meters Centerline goodness [0,1] 0.9809720414665889 Centerline is valid? [True, True] Translation: X:743.88, Y:-59.59, Z:2.32 [[ 9.97808912e-01 6.42989425e-02 -1.55891093e-02 7.43884490e+02] [-6.42799966e-02 9.97930431e-01 1.71388195e-03 -5.95926429e+01] [ 1.56670474e-02 -7.08058792e-04 9.99877014e-01 2.32310748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.140714057 meters Centerline goodness [0,1] 0.9809971439494457 Centerline is valid? [True, True] Translation: X:743.91, Y:-59.60, Z:2.32 [[ 9.97716676e-01 6.56170543e-02 -1.59949208e-02 7.43913695e+02] [-6.55972968e-02 9.97844630e-01 1.75732948e-03 -5.95953409e+01] [ 1.60757566e-02 -7.04093364e-04 9.99870529e-01 2.32368505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1707140569999 meters Centerline goodness [0,1] 0.9813314784481791 Centerline is valid? [True, True] Translation: X:743.94, Y:-59.60, Z:2.32 [[ 9.97462006e-01 6.92712348e-02 -1.64634003e-02 7.43941915e+02] [-6.92508514e-02 9.97597644e-01 1.80567271e-03 -5.95999740e+01] [ 1.65489305e-02 -6.60985441e-04 9.99862839e-01 2.32391114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2007140569999 meters Centerline goodness [0,1] 0.9810740424767636 Centerline is valid? [True, True] Translation: X:743.97, Y:-59.60, Z:2.32 [[ 9.97345310e-01 7.08356332e-02 -1.68714506e-02 7.43970775e+02] [-7.08144788e-02 9.97487790e-01 1.84874227e-03 -5.96025518e+01] [ 1.69600228e-02 -6.49091454e-04 9.99855958e-01 2.32428409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2307140569999 meters Centerline goodness [0,1] 0.9800791498065721 Centerline is valid? [True, True] Translation: X:744.00, Y:-59.61, Z:2.32 [[ 9.97225100e-01 7.25277382e-02 -1.67876890e-02 7.43997617e+02] [-7.25070913e-02 9.97366207e-01 1.83609235e-03 -5.96109453e+01] [ 1.68766413e-02 -6.13770884e-04 9.99857391e-01 2.32415642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.260714057 meters Centerline goodness [0,1] 0.9831490847245222 Centerline is valid? [True, True] Translation: X:744.03, Y:-59.61, Z:2.33 [[ 9.97005160e-01 7.55263901e-02 -1.66275583e-02 7.44026506e+02] [-7.55065750e-02 9.97143648e-01 1.81718182e-03 -5.96101411e+01] [ 1.67173093e-02 -5.56249677e-04 9.99860101e-01 2.32538782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.290714057 meters Centerline goodness [0,1] 0.9837011201287813 Centerline is valid? [True, True] Translation: X:744.05, Y:-59.61, Z:2.33 [[ 9.96959220e-01 7.61931098e-02 -1.63377796e-02 7.44054897e+02] [-7.61741000e-02 9.97092937e-01 1.78361229e-03 -5.96141472e+01] [ 1.64261836e-02 -5.33673062e-04 9.99864939e-01 2.32584116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3207140569999 meters Centerline goodness [0,1] 0.9833659926961789 Centerline is valid? [True, True] Translation: X:744.08, Y:-59.62, Z:2.33 [[ 9.96928427e-01 7.68040441e-02 -1.53248086e-02 7.44083618e+02] [-7.67874455e-02 9.97046088e-01 1.66947936e-03 -5.96199482e+01] [ 1.54077632e-02 -4.87598531e-04 9.99881174e-01 2.32683688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3507140569999 meters Centerline goodness [0,1] 0.9835263087308328 Centerline is valid? [True, True] Translation: X:744.11, Y:-59.62, Z:2.33 [[ 9.96941204e-01 7.67191829e-02 -1.49132037e-02 7.44111519e+02] [-7.67035071e-02 9.97052628e-01 1.62113272e-03 -5.96237383e+01] [ 1.49936209e-02 -4.72278976e-04 9.99887478e-01 2.32777388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.380714057 meters Centerline goodness [0,1] 0.9834947574195841 Centerline is valid? [True, True] Translation: X:744.14, Y:-59.63, Z:2.33 [[ 9.96956951e-01 7.66880585e-02 -1.39921127e-02 7.44138071e+02] [-7.66743053e-02 9.97055038e-01 1.51753360e-03 -5.96291161e+01] [ 1.40672831e-02 -4.40080151e-04 9.99900954e-01 2.32840603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.410714057 meters Centerline goodness [0,1] 0.9832167212824373 Centerline is valid? [True, True] Translation: X:744.17, Y:-59.63, Z:2.33 [[ 9.97138411e-01 7.43299400e-02 -1.37858037e-02 7.44166125e+02] [-7.43163905e-02 9.97233596e-01 1.49325383e-03 -5.96344762e+01] [ 1.38586601e-02 -4.64469580e-04 9.99903856e-01 2.32868580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4407140569999 meters Centerline goodness [0,1] 0.9828445552044858 Centerline is valid? [True, True] Translation: X:744.19, Y:-59.64, Z:2.33 [[ 9.97267318e-01 7.26406055e-02 -1.34624771e-02 7.44193352e+02] [-7.26275729e-02 9.97358069e-01 1.45509364e-03 -5.96418621e+01] [ 1.35326090e-02 -4.73370294e-04 9.99908318e-01 2.32891802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4707140569999 meters Centerline goodness [0,1] 0.9829799541682426 Centerline is valid? [True, True] Translation: X:744.22, Y:-59.65, Z:2.33 [[ 9.97448615e-01 6.99741250e-02 -1.41379585e-02 7.44222942e+02] [-6.99595092e-02 9.97548664e-01 1.52633992e-03 -5.96461922e+01] [ 1.42101059e-02 -5.33361005e-04 9.99898889e-01 2.32876406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.500714057 meters Centerline goodness [0,1] 0.9790797763776733 Centerline is valid? [True, True] Translation: X:744.25, Y:-59.66, Z:2.33 [[ 9.97834097e-01 6.41355225e-02 -1.46201852e-02 7.44250287e+02] [-6.41192746e-02 9.97940995e-01 1.57786222e-03 -5.96627318e+01] [ 1.46912792e-02 -6.37009053e-04 9.99891874e-01 2.32805261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.530714057 meters Centerline goodness [0,1] 0.9808460582386364 Centerline is valid? [True, True] Translation: X:744.28, Y:-59.66, Z:2.33 [[ 9.98016766e-01 6.11591468e-02 -1.49027937e-02 7.44279431e+02] [-6.11419422e-02 9.98127786e-01 1.60777440e-03 -5.96639179e+01] [ 1.49732226e-02 -6.93400055e-04 9.99887655e-01 2.32865836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5607140569999 meters Centerline goodness [0,1] 0.9812111321836545 Centerline is valid? [True, True] Translation: X:744.31, Y:-59.67, Z:2.33 [[ 9.98343838e-01 5.54492197e-02 -1.53286030e-02 7.44308469e+02] [-5.54303568e-02 9.98461188e-01 1.65303187e-03 -5.96749887e+01] [ 1.53966744e-02 -8.00624249e-04 9.99881144e-01 2.32808455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5907140569999 meters Centerline goodness [0,1] 0.9811833900853492 Centerline is valid? [True, True] Translation: X:744.34, Y:-59.68, Z:2.33 [[ 9.98492233e-01 5.25923232e-02 -1.57260164e-02 7.44338056e+02] [-5.25721189e-02 9.98615690e-01 1.69571221e-03 -5.96789819e+01] [ 1.57934281e-02 -8.66405470e-04 9.99874901e-01 2.32872751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.620714057 meters Centerline goodness [0,1] 0.9798414696076483 Centerline is valid? [True, True] Translation: X:744.37, Y:-59.69, Z:2.33 [[ 9.98621309e-01 5.00318927e-02 -1.58836391e-02 7.44366123e+02] [-5.00109703e-02 9.98747201e-01 1.71195834e-03 -5.96878210e+01] [ 1.59493926e-02 -9.15241879e-04 9.99872381e-01 2.32852571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.650714057 meters Centerline goodness [0,1] 0.9801072668923374 Centerline is valid? [True, True] Translation: X:744.40, Y:-59.70, Z:2.33 [[ 9.98777770e-01 4.69116004e-02 -1.55649662e-02 7.44395252e+02] [-4.68911471e-02 9.98898598e-01 1.67661979e-03 -5.96973022e+01] [ 1.56264758e-02 -9.44711456e-04 9.99877453e-01 2.32869906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6807140569999 meters Centerline goodness [0,1] 0.9793558315928328 Centerline is valid? [True, True] Translation: X:744.42, Y:-59.70, Z:2.33 [[ 9.98838876e-01 4.55084872e-02 -1.58075411e-02 7.44422328e+02] [-4.54872250e-02 9.98963470e-01 1.70220172e-03 -5.97037467e+01] [ 1.58686207e-02 -9.81184079e-04 9.99873604e-01 2.32893250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7107140569999 meters Centerline goodness [0,1] 0.9790796818002022 Centerline is valid? [True, True] Translation: X:744.45, Y:-59.71, Z:2.33 [[ 9.98934906e-01 4.28889152e-02 -1.70174483e-02 7.44452041e+02] [-4.28639157e-02 9.99079242e-01 1.83125655e-03 -5.97108584e+01] [ 1.70803199e-02 -1.09987162e-03 9.99853516e-01 2.32872568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.740714057 meters Centerline goodness [0,1] 0.9793329375810742 Centerline is valid? [True, True] Translation: X:744.48, Y:-59.72, Z:2.33 [[ 9.98989982e-01 4.14339794e-02 -1.73851122e-02 7.44480851e+02] [-4.14076956e-02 9.99140585e-01 1.86926427e-03 -5.97151038e+01] [ 1.74476223e-02 -1.14749884e-03 9.99847120e-01 2.32906201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.770714057 meters Centerline goodness [0,1] 0.9786638684854845 Centerline is valid? [True, True] Translation: X:744.51, Y:-59.72, Z:2.33 [[ 9.99034048e-01 4.04543596e-02 -1.71585712e-02 7.44508262e+02] [-4.04286751e-02 9.99180730e-01 1.84127444e-03 -5.97221124e+01] [ 1.72190013e-02 -1.14579755e-03 9.99851085e-01 2.32917143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8007140569999 meters Centerline goodness [0,1] 0.9793552346095685 Centerline is valid? [True, True] Translation: X:744.54, Y:-59.73, Z:2.33 [[ 9.99143553e-01 3.77279472e-02 -1.69930420e-02 7.44538298e+02] [-3.77023918e-02 9.99287351e-01 1.82184508e-03 -5.97267152e+01] [ 1.70496664e-02 -1.17960644e-03 9.99853948e-01 2.33055658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8307140569999 meters Centerline goodness [0,1] 0.9773944858225533 Centerline is valid? [True, True] Translation: X:744.56, Y:-59.74, Z:2.33 [[ 9.99190728e-01 3.67152981e-02 -1.64278856e-02 7.44564794e+02] [-3.66912929e-02 9.99325097e-01 1.76037391e-03 -5.97355940e+01] [ 1.64814310e-02 -1.15618893e-03 9.99863504e-01 2.33085540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8607140569999 meters Centerline goodness [0,1] 0.9775452698717809 Centerline is valid? [True, True] Translation: X:744.59, Y:-59.74, Z:2.33 [[ 9.99227991e-01 3.54175255e-02 -1.70005898e-02 7.44593935e+02] [-3.53916690e-02 9.99371862e-01 1.81947374e-03 -5.97385070e+01] [ 1.70543524e-02 -1.21638984e-03 9.99853824e-01 2.33177039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.890714057 meters Centerline goodness [0,1] 0.9776983279196007 Centerline is valid? [True, True] Translation: X:744.62, Y:-59.74, Z:2.33 [[ 9.99206747e-01 3.57454419e-02 -1.75539305e-02 7.44622622e+02] [-3.57179470e-02 9.99360147e-01 1.87743682e-03 -5.97420741e+01] [ 1.76098083e-02 -1.24895718e-03 9.99844155e-01 2.33189623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9207140569999 meters Centerline goodness [0,1] 0.9765711917279292 Centerline is valid? [True, True] Translation: X:744.65, Y:-59.75, Z:2.33 [[ 9.99198405e-01 3.54033583e-02 -1.86855404e-02 7.44651250e+02] [-3.53721695e-02 9.99372214e-01 1.99711904e-03 -5.97456259e+01] [ 1.87445145e-02 -1.33457006e-03 9.99823415e-01 2.33180885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9507140569999 meters Centerline goodness [0,1] 0.9771489799042226 Centerline is valid? [True, True] Translation: X:744.68, Y:-59.75, Z:2.33 [[ 9.99179608e-01 3.53978038e-02 -1.96750085e-02 7.44679478e+02] [-3.53632503e-02 9.99372315e-01 2.10147728e-03 -5.97493024e+01] [ 1.97370465e-02 -1.40398100e-03 9.99804220e-01 2.33135650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9807140569999 meters Centerline goodness [0,1] 0.9755921369467186 Centerline is valid? [True, True] Translation: X:744.71, Y:-59.75, Z:2.33 [[ 9.99185830e-01 3.51696535e-02 -1.97679938e-02 7.44706011e+02] [-3.51347731e-02 9.99380358e-01 2.10914132e-03 -5.97545573e+01] [ 1.98299225e-02 -1.41288014e-03 9.99802369e-01 2.33150088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.010714057 meters Centerline goodness [0,1] 0.9767762855202331 Centerline is valid? [True, True] Translation: X:744.73, Y:-59.76, Z:2.33 [[ 9.99203692e-01 3.47469333e-02 -1.96120541e-02 7.44733512e+02] [-3.47125765e-02 9.99395152e-01 2.08963913e-03 -5.97599131e+01] [ 1.96728003e-02 -1.40719021e-03 9.99805481e-01 2.33203552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.040714057 meters Centerline goodness [0,1] 0.9757935901077054 Centerline is valid? [True, True] Translation: X:744.76, Y:-59.76, Z:2.33 [[ 9.99232128e-01 3.40584740e-02 -1.93694422e-02 7.44761876e+02] [-3.40248624e-02 9.99418859e-01 2.06230178e-03 -5.97640637e+01] [ 1.94284247e-02 -1.40167559e-03 9.99810268e-01 2.33318830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0707140569999 meters Centerline goodness [0,1] 0.9738139585844199 Centerline is valid? [True, True] Translation: X:744.79, Y:-59.77, Z:2.33 [[ 9.99269188e-01 3.29064284e-02 -1.94488076e-02 7.44789690e+02] [-3.28723486e-02 9.99457416e-01 2.06947484e-03 -5.97687072e+01] [ 1.95063540e-02 -1.42863446e-03 9.99808712e-01 2.33459411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1007140569999 meters Centerline goodness [0,1] 0.9745885450954576 Centerline is valid? [True, True] Translation: X:744.82, Y:-59.77, Z:2.34 [[ 9.99319359e-01 3.19202831e-02 -1.84909484e-02 7.44817913e+02] [-3.18893336e-02 9.99489472e-01 1.96628858e-03 -5.97703300e+01] [ 1.85442728e-02 -1.37528622e-03 9.99827094e-01 2.33720789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.130714057 meters Centerline goodness [0,1] 0.9749155812831645 Centerline is valid? [True, True] Translation: X:744.85, Y:-59.77, Z:2.34 [[ 9.99345312e-01 3.12072042e-02 -1.83046041e-02 7.44846406e+02] [-3.11767845e-02 9.99511994e-01 1.94494951e-03 -5.97701670e+01] [ 1.83563678e-02 -1.37299747e-03 9.99830565e-01 2.33797009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.160714057 meters Centerline goodness [0,1] 0.9770190702170666 Centerline is valid? [True, True] Translation: X:744.88, Y:-59.77, Z:2.34 [[ 9.99343821e-01 3.12518246e-02 -1.83098404e-02 7.44875740e+02] [-3.12214396e-02 9.99510603e-01 1.94307346e-03 -5.97706070e+01] [ 1.83616042e-02 -1.37013888e-03 9.99830473e-01 2.33903739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1907140569999 meters Centerline goodness [0,1] 0.9768783591093562 Centerline is valid? [True, True] Translation: X:744.90, Y:-59.77, Z:2.34 [[ 9.99338944e-01 3.13432634e-02 -1.84194192e-02 7.44904859e+02] [-3.13126058e-02 9.99507737e-01 1.95054152e-03 -5.97730619e+01] [ 1.84714883e-02 -1.37249209e-03 9.99828445e-01 2.33936264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2207140569999 meters Centerline goodness [0,1] 0.9773264984227129 Centerline is valid? [True, True] Translation: X:744.93, Y:-59.78, Z:2.34 [[ 9.99321797e-01 3.15936761e-02 -1.89152229e-02 7.44933323e+02] [-3.15614519e-02 9.99499813e-01 1.99979459e-03 -5.97758722e+01] [ 1.89689426e-02 -1.40144643e-03 9.99819091e-01 2.33992334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.250714057 meters Centerline goodness [0,1] 0.9785286175327669 Centerline is valid? [True, True] Translation: X:744.96, Y:-59.78, Z:2.34 [[ 9.99305271e-01 3.19666829e-02 -1.91600127e-02 7.44962397e+02] [-3.19337361e-02 9.99487941e-01 2.02313167e-03 -5.97764437e+01] [ 1.92148744e-02 -1.40987535e-03 9.99814383e-01 2.34089383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.280714057 meters Centerline goodness [0,1] 0.9769597341844096 Centerline is valid? [True, True] Translation: X:744.99, Y:-59.78, Z:2.34 [[ 9.99307976e-01 3.17643216e-02 -1.93545307e-02 7.44989555e+02] [-3.17307478e-02 9.99494372e-01 2.03938586e-03 -5.97801690e+01] [ 1.94095242e-02 -1.42384082e-03 9.99810604e-01 2.34136805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3107140569999 meters Centerline goodness [0,1] 0.9789880873884567 Centerline is valid? [True, True] Translation: X:745.02, Y:-59.77, Z:2.34 [[ 9.99314379e-01 3.10584150e-02 -2.01530677e-02 7.45018826e+02] [-3.10219587e-02 9.99516457e-01 2.11915446e-03 -5.97741296e+01] [ 2.02091404e-02 -1.49251389e-03 9.99794660e-01 2.34178171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3407140569999 meters Centerline goodness [0,1] 0.9796666739860784 Centerline is valid? [True, True] Translation: X:745.05, Y:-59.78, Z:2.34 [[ 9.99298561e-01 3.11025547e-02 -2.08570752e-02 7.45047300e+02] [-3.10636278e-02 9.99515015e-01 2.18783897e-03 -5.97770681e+01] [ 2.09150072e-02 -1.53840791e-03 9.99780074e-01 2.34120269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.370714057 meters Centerline goodness [0,1] 0.9797478364011774 Centerline is valid? [True, True] Translation: X:745.08, Y:-59.78, Z:2.34 [[ 9.99305350e-01 3.07590111e-02 -2.10404637e-02 7.45075053e+02] [-3.07194396e-02 9.99525622e-01 2.20144413e-03 -5.97802795e+01] [ 2.10981968e-02 -1.55356364e-03 9.99776201e-01 2.34058504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.400714057 meters Centerline goodness [0,1] 0.9803602096085252 Centerline is valid? [True, True] Translation: X:745.10, Y:-59.78, Z:2.34 [[ 9.99274043e-01 3.10205664e-02 -2.21158525e-02 7.45104284e+02] [-3.09770461e-02 9.99517432e-01 2.30778983e-03 -5.97803091e+01] [ 2.21767690e-02 -1.62103069e-03 9.99752751e-01 2.34095995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4307140569999 meters Centerline goodness [0,1] 0.9786814486974431 Centerline is valid? [True, True] Translation: X:745.13, Y:-59.79, Z:2.34 [[ 9.99256939e-01 3.14147864e-02 -2.23311663e-02 7.45132072e+02] [-3.13706386e-02 9.99505117e-01 2.32461796e-03 -5.97855928e+01] [ 2.23931424e-02 -1.62234768e-03 9.99747926e-01 2.34082541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4607140569999 meters Centerline goodness [0,1] 0.9806350813106529 Centerline is valid? [True, True] Translation: X:745.16, Y:-59.78, Z:2.34 [[ 9.99185199e-01 3.34915610e-02 -2.25222861e-02 7.45162603e+02] [-3.34472518e-02 9.99437742e-01 2.34128533e-03 -5.97811079e+01] [ 2.25880360e-02 -1.58606907e-03 9.99743600e-01 2.34256482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.490714057 meters Centerline goodness [0,1] 0.9811808522291598 Centerline is valid? [True, True] Translation: X:745.19, Y:-59.78, Z:2.34 [[ 9.99149011e-01 3.48218475e-02 -2.21063761e-02 7.45190601e+02] [-3.47795045e-02 9.99392370e-01 2.29712790e-03 -5.97836208e+01] [ 2.21729338e-02 -1.52632427e-03 9.99752985e-01 2.34340367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.520714057 meters Centerline goodness [0,1] 0.9791153169014084 Centerline is valid? [True, True] Translation: X:745.22, Y:-59.78, Z:2.34 [[ 9.99057990e-01 3.77642874e-02 -2.13773419e-02 7.45220559e+02] [-3.77253869e-02 9.99285678e-01 2.22021520e-03 -5.97827143e+01] [ 2.14459165e-02 -1.41165524e-03 9.99769013e-01 2.34462200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5507140569999 meters Centerline goodness [0,1] 0.9797090604986906 Centerline is valid? [True, True] Translation: X:745.25, Y:-59.78, Z:2.35 [[ 9.99032952e-01 3.87061251e-02 -2.08565890e-02 7.45249883e+02] [-3.86693527e-02 9.99249718e-01 2.16368251e-03 -5.97830120e+01] [ 2.09246885e-02 -1.35507933e-03 9.99780136e-01 2.34542573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5807140569999 meters Centerline goodness [0,1] 0.9799396648536762 Centerline is valid? [True, True] Translation: X:745.28, Y:-59.79, Z:2.35 [[ 9.98989810e-01 3.97156901e-02 -2.10243625e-02 7.45277252e+02] [-3.96786219e-02 9.99210121e-01 2.17749825e-03 -5.97850557e+01] [ 2.10942366e-02 -1.34108083e-03 9.99776592e-01 2.34605906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6107140569999 meters Centerline goodness [0,1] 0.9798558287634884 Centerline is valid? [True, True] Translation: X:745.31, Y:-59.78, Z:2.35 [[ 9.98907097e-01 4.14324048e-02 -2.16325684e-02 7.45306166e+02] [-4.13935996e-02 9.99140410e-01 2.23872956e-03 -5.97835715e+01] [ 2.17067292e-02 -1.34083297e-03 9.99763482e-01 2.34693438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.640714057 meters Centerline goodness [0,1] 0.9806178474565059 Centerline is valid? [True, True] Translation: X:745.33, Y:-59.78, Z:2.35 [[ 9.98879700e-01 4.20285277e-02 -2.17473807e-02 7.45334830e+02] [-4.19895206e-02 9.99115524e-01 2.24738386e-03 -5.97849719e+01] [ 2.18225999e-02 -1.33170403e-03 9.99760972e-01 2.34735460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6707140569999 meters Centerline goodness [0,1] 0.9805537098560354 Centerline is valid? [True, True] Translation: X:745.36, Y:-59.79, Z:2.35 [[ 9.98821301e-01 4.25988538e-02 -2.32668537e-02 7.45362220e+02] [-4.25544550e-02 9.99091266e-01 2.40026832e-03 -5.97894584e+01] [ 2.33479590e-02 -1.40733084e-03 9.99726409e-01 2.34612416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7007140569999 meters Centerline goodness [0,1] 0.9805537098560354 Centerline is valid? [True, True] Translation: X:745.39, Y:-59.79, Z:2.35 [[ 9.98832670e-01 4.23312125e-02 -2.32672698e-02 7.45389535e+02] [-4.22868351e-02 9.99102638e-01 2.39622908e-03 -5.97921754e+01] [ 2.33478260e-02 -1.40953269e-03 9.99726409e-01 2.34645726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7307140569999 meters Centerline goodness [0,1] 0.9809808928414194 Centerline is valid? [True, True] Translation: X:745.42, Y:-59.79, Z:2.35 [[ 9.98813423e-01 4.25952809e-02 -2.36090752e-02 7.45418287e+02] [-4.25498090e-02 9.99091403e-01 2.42528106e-03 -5.97894403e+01] [ 2.36909296e-02 -1.41784163e-03 9.99718325e-01 2.34758635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.760714057 meters Centerline goodness [0,1] 0.981827460726014 Centerline is valid? [True, True] Translation: X:745.45, Y:-59.79, Z:2.35 [[ 9.98802542e-01 4.24034103e-02 -2.44014783e-02 7.45446193e+02] [-4.23549390e-02 9.99099499e-01 2.50006265e-03 -5.97881500e+01] [ 2.44855159e-02 -1.46354581e-03 9.99699114e-01 2.34904602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.790714057 meters Centerline goodness [0,1] 0.9817150202797048 Centerline is valid? [True, True] Translation: X:745.48, Y:-59.79, Z:2.35 [[ 9.98792854e-01 4.26063843e-02 -2.44444394e-02 7.45475265e+02] [-4.25579658e-02 9.99090877e-01 2.49781419e-03 -5.97880775e+01] [ 2.45286392e-02 -1.45449335e-03 9.99698070e-01 2.35033878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8207140569999 meters Centerline goodness [0,1] 0.9810144831104309 Centerline is valid? [True, True] Translation: X:745.50, Y:-59.79, Z:2.35 [[ 9.98751181e-01 4.34057847e-02 -2.47389465e-02 7.45502821e+02] [-4.33565559e-02 9.99056476e-01 2.52309962e-03 -5.97912413e+01] [ 2.48251219e-02 -1.44735321e-03 9.99690761e-01 2.35176745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8507140569999 meters Centerline goodness [0,1] 0.9821785698413403 Centerline is valid? [True, True] Translation: X:745.53, Y:-59.79, Z:2.35 [[ 9.98707403e-01 4.46210198e-02 -2.43410764e-02 7.45532269e+02] [-4.45738305e-02 9.99003019e-01 2.47807649e-03 -5.97901672e+01] [ 2.44273831e-02 -1.38989832e-03 9.99700641e-01 2.35447479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.880714057 meters Centerline goodness [0,1] 0.9827394457048801 Centerline is valid? [True, True] Translation: X:745.56, Y:-59.79, Z:2.35 [[ 9.98672059e-01 4.52776095e-02 -2.45775736e-02 7.45560240e+02] [-4.52297942e-02 9.98973485e-01 2.49819957e-03 -5.97922963e+01] [ 2.46654569e-02 -1.38324352e-03 9.99694804e-01 2.35497476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.910714057 meters Centerline goodness [0,1] 0.9831579415756335 Centerline is valid? [True, True] Translation: X:745.59, Y:-59.79, Z:2.36 [[ 9.98623407e-01 4.61478567e-02 -2.49332520e-02 7.45589050e+02] [-4.60990255e-02 9.98933671e-01 2.53003435e-03 -5.97925458e+01] [ 2.50234206e-02 -1.37715291e-03 9.99685917e-01 2.35592964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9407140569999 meters Centerline goodness [0,1] 0.9832766250806146 Centerline is valid? [True, True] Translation: X:745.62, Y:-59.79, Z:2.36 [[ 9.98605104e-01 4.63874701e-02 -2.52200203e-02 7.45617715e+02] [-4.63377462e-02 9.98922568e-01 2.55277064e-03 -5.97944890e+01] [ 2.53112640e-02 -1.38057089e-03 9.99678665e-01 2.35601338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9707140569999 meters Centerline goodness [0,1] 0.9821674745408459 Centerline is valid? [True, True] Translation: X:745.64, Y:-59.80, Z:2.36 [[ 9.98597481e-01 4.63656068e-02 -2.55597429e-02 7.45644907e+02] [-4.63146484e-02 9.98923563e-01 2.58241406e-03 -5.97972561e+01] [ 2.56519646e-02 -1.39500167e-03 9.99669961e-01 2.35647329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.000714057 meters Centerline goodness [0,1] 0.9814818946475983 Centerline is valid? [True, True] Translation: X:745.67, Y:-59.80, Z:2.36 [[ 9.98647058e-01 4.51643143e-02 -2.57728150e-02 7.45673531e+02] [-4.51122313e-02 9.98978544e-01 2.59900957e-03 -5.97975036e+01] [ 2.58638717e-02 -1.43282407e-03 9.99664447e-01 2.35780867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.030714057 meters Centerline goodness [0,1] 0.9821690604295433 Centerline is valid? [True, True] Translation: X:745.70, Y:-59.80, Z:2.36 [[ 9.98682482e-01 4.45251280e-02 -2.55110510e-02 7.45701122e+02] [-4.44739968e-02 9.99007241e-01 2.56844719e-03 -5.98029364e+01] [ 2.56000851e-02 -1.43048481e-03 9.99671241e-01 2.35808431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0607140569999 meters Centerline goodness [0,1] 0.9818619368064531 Centerline is valid? [True, True] Translation: X:745.73, Y:-59.80, Z:2.36 [[ 9.98735082e-01 4.32259333e-02 -2.56856773e-02 7.45729828e+02] [-4.31737876e-02 9.99064242e-01 2.58151365e-03 -5.98015911e+01] [ 2.57732300e-02 -1.46930028e-03 9.99666735e-01 2.35959928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0907140569999 meters Centerline goodness [0,1] 0.981685063200997 Centerline is valid? [True, True] Translation: X:745.76, Y:-59.81, Z:2.36 [[ 9.98766761e-01 4.22987441e-02 -2.59956312e-02 7.45757503e+02] [-4.22451320e-02 9.99103871e-01 2.60833443e-03 -5.98062616e+01] [ 2.60826650e-02 -1.50692885e-03 9.99658654e-01 2.35935677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.120714057 meters Centerline goodness [0,1] 0.9808361592004283 Centerline is valid? [True, True] Translation: X:745.79, Y:-59.81, Z:2.36 [[ 9.98834419e-01 4.02182520e-02 -2.66888776e-02 7.45787085e+02] [-4.01610451e-02 9.99189636e-01 2.67626275e-03 -5.98084790e+01] [ 2.67748845e-02 -1.60129013e-03 9.99640206e-01 2.35928609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.150714057 meters Centerline goodness [0,1] 0.9800680710964785 Centerline is valid? [True, True] Translation: X:745.81, Y:-59.81, Z:2.36 [[ 9.98870507e-01 3.88198769e-02 -2.73993931e-02 7.45814868e+02] [-3.87591020e-02 9.99244811e-01 2.74592508e-03 -5.98145756e+01] [ 2.74852979e-02 -1.68084771e-03 9.99620795e-01 2.35860856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1807140569999 meters Centerline goodness [0,1] 0.9807308085068597 Centerline is valid? [True, True] Translation: X:745.84, Y:-59.82, Z:2.36 [[ 9.98944412e-01 3.66030726e-02 -2.77538505e-02 7.45844751e+02] [-3.65399033e-02 9.99328328e-01 2.77997937e-03 -5.98150694e+01] [ 2.78369648e-02 -1.76292184e-03 9.99610922e-01 2.35915032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2107140569999 meters Centerline goodness [0,1] 0.9818882552129745 Centerline is valid? [True, True] Translation: X:745.87, Y:-59.82, Z:2.36 [[ 9.98963884e-01 3.59570093e-02 -2.78971655e-02 7.45872413e+02] [-3.58930055e-02 9.99351739e-01 2.79180931e-03 -5.98193821e+01] [ 2.79794660e-02 -1.78760356e-03 9.99606900e-01 2.35918323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.240714057 meters Centerline goodness [0,1] 0.9796095734723893 Centerline is valid? [True, True] Translation: X:745.90, Y:-59.83, Z:2.36 [[ 9.99024966e-01 3.47629727e-02 -2.72149488e-02 7.45899287e+02] [-3.47016996e-02 9.99394011e-01 2.72065579e-03 -5.98269871e+01] [ 2.72930349e-02 -1.77359808e-03 9.99625902e-01 2.35835250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.270714057 meters Centerline goodness [0,1] 0.9802035317433808 Centerline is valid? [True, True] Translation: X:745.93, Y:-59.83, Z:2.36 [[ 9.99109828e-01 3.32846127e-02 -2.59169198e-02 7.45928560e+02] [-3.32286665e-02 9.99444429e-01 2.58647170e-03 -5.98256119e+01] [ 2.59886108e-02 -1.72298461e-03 9.99660754e-01 2.36078738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3007140569999 meters Centerline goodness [0,1] 0.9790906664293977 Centerline is valid? [True, True] Translation: X:745.96, Y:-59.83, Z:2.36 [[ 9.99152930e-01 3.23731920e-02 -2.54046834e-02 7.45956663e+02] [-3.23193004e-02 9.99474395e-01 2.52917077e-03 -5.98291571e+01] [ 2.54732079e-02 -1.70596679e-03 9.99674050e-01 2.36126515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3307140569999 meters Centerline goodness [0,1] 0.9800811015551891 Centerline is valid? [True, True] Translation: X:745.99, Y:-59.83, Z:2.36 [[ 9.99180538e-01 3.17670192e-02 -2.50820516e-02 7.45985508e+02] [-3.17144543e-02 9.99493866e-01 2.49083881e-03 -5.98278190e+01] [ 2.51484833e-02 -1.69333409e-03 9.99682293e-01 2.36272941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3607140569999 meters Centerline goodness [0,1] 0.9790209790209791 Centerline is valid? [True, True] Translation: X:746.01, Y:-59.83, Z:2.36 [[ 9.99238199e-01 3.02407075e-02 -2.46682149e-02 7.46014149e+02] [-3.01895540e-02 9.99541205e-01 2.44353510e-03 -5.98302013e+01] [ 2.47307914e-02 -1.69695121e-03 9.99692707e-01 2.36271178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.390714057 meters Centerline goodness [0,1] 0.979826832098545 Centerline is valid? [True, True] Translation: X:746.04, Y:-59.83, Z:2.36 [[ 9.99255386e-01 2.92747235e-02 -2.51329369e-02 7.46042632e+02] [-2.92214819e-02 9.99569877e-01 2.48313683e-03 -5.98334951e+01] [ 2.51948198e-02 -1.74686618e-03 9.99681034e-01 2.36257079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4207140569999 meters Centerline goodness [0,1] 0.9756756153622994 Centerline is valid? [True, True] Translation: X:746.07, Y:-59.85, Z:2.36 [[ 9.99312019e-01 2.71876926e-02 -2.52253499e-02 7.46069914e+02] [-2.71334986e-02 9.99628722e-01 2.48825720e-03 -5.98452924e+01] [ 2.52836343e-02 -1.80209333e-03 9.99678694e-01 2.36088684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4507140569999 meters Centerline goodness [0,1] 0.9764341292667157 Centerline is valid? [True, True] Translation: X:746.10, Y:-59.84, Z:2.36 [[ 9.99352675e-01 2.58412990e-02 -2.50291570e-02 7.46099455e+02] [-2.57875636e-02 9.99664401e-01 2.46736338e-03 -5.98437115e+01] [ 2.50845171e-02 -1.82032522e-03 9.99683677e-01 2.36177678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4807140569999 meters Centerline goodness [0,1] 0.9775886651220816 Centerline is valid? [True, True] Translation: X:746.13, Y:-59.85, Z:2.36 [[ 9.99402587e-01 2.45432882e-02 -2.43330064e-02 7.46128112e+02] [-2.44922077e-02 9.99697152e-01 2.39508128e-03 -5.98461107e+01] [ 2.43844204e-02 -1.79768138e-03 9.99701040e-01 2.36214634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.510714057 meters Centerline goodness [0,1] 0.9764111204717776 Centerline is valid? [True, True] Translation: X:746.16, Y:-59.85, Z:2.36 [[ 9.99469886e-01 2.23057157e-02 -2.37150030e-02 7.46156109e+02] [-2.22566599e-02 9.99749574e-01 2.33052528e-03 -5.98508064e+01] [ 2.37610482e-02 -1.80147308e-03 9.99716043e-01 2.36270099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.540714057 meters Centerline goodness [0,1] 0.9762696729545708 Centerline is valid? [True, True] Translation: X:746.18, Y:-59.85, Z:2.36 [[ 9.99502515e-01 2.15056076e-02 -2.30701335e-02 7.46184583e+02] [-2.14590141e-02 9.99767162e-01 2.26534147e-03 -5.98497824e+01] [ 2.31134795e-02 -1.76915218e-03 9.99731282e-01 2.36379154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5707140569999 meters Centerline goodness [0,1] 0.9752714113389626 Centerline is valid? [True, True] Translation: X:746.21, Y:-59.85, Z:2.36 [[ 9.99530649e-01 2.04933149e-02 -2.27707410e-02 7.46211499e+02] [-2.04477126e-02 9.99788428e-01 2.23372618e-03 -5.98542499e+01] [ 2.28116998e-02 -1.76706821e-03 9.99738218e-01 2.36377321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6007140569999 meters Centerline goodness [0,1] 0.9756517461878996 Centerline is valid? [True, True] Translation: X:746.24, Y:-59.86, Z:2.36 [[ 9.99552878e-01 1.94541486e-02 -2.27064106e-02 7.46239728e+02] [-1.94085989e-02 9.99809160e-01 2.22470473e-03 -5.98567004e+01] [ 2.27453571e-02 -1.78301040e-03 9.99739701e-01 2.36348048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.630714057 meters Centerline goodness [0,1] 0.9756624359830772 Centerline is valid? [True, True] Translation: X:746.27, Y:-59.86, Z:2.36 [[ 9.99560597e-01 1.91546018e-02 -2.26210864e-02 7.46268122e+02] [-1.91093711e-02 9.99814948e-01 2.21399098e-03 -5.98596645e+01] [ 2.26593084e-02 -1.78074341e-03 9.99741659e-01 2.36325556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.660714057 meters Centerline goodness [0,1] 0.9762998140722654 Centerline is valid? [True, True] Translation: X:746.30, Y:-59.86, Z:2.36 [[ 9.99579042e-01 1.85033412e-02 -2.23464751e-02 7.46297023e+02] [-1.84590759e-02 9.99827228e-01 2.18553495e-03 -5.98605923e+01] [ 2.23830540e-02 -1.77211965e-03 9.99747897e-01 2.36338853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6907140569999 meters Centerline goodness [0,1] 0.9744279342880835 Centerline is valid? [True, True] Translation: X:746.33, Y:-59.87, Z:2.36 [[ 9.99596993e-01 1.73825915e-02 -2.24432061e-02 7.46325327e+02] [-1.73376932e-02 9.99847285e-01 2.19357469e-03 -5.98661099e+01] [ 2.24779087e-02 -1.80357724e-03 9.99745713e-01 2.36261544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7207140569999 meters Centerline goodness [0,1] 0.973957866427611 Centerline is valid? [True, True] Translation: X:746.35, Y:-59.87, Z:2.36 [[ 9.99608739e-01 1.63878501e-02 -2.26673300e-02 7.46352949e+02] [-1.63418320e-02 9.99864012e-01 2.21391317e-03 -5.98699899e+01] [ 2.27005288e-02 -1.84262126e-03 9.99740612e-01 2.36237002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.750714057 meters Centerline goodness [0,1] 0.9708609271523179 Centerline is valid? [True, True] Translation: X:746.38, Y:-59.87, Z:2.36 [[ 9.99640722e-01 1.52665804e-02 -2.20308575e-02 7.46381544e+02] [-1.52228741e-02 9.99881813e-01 2.15022165e-03 -5.98742190e+01] [ 2.20610803e-02 -1.81407615e-03 9.99754979e-01 2.36145738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.780714057 meters Centerline goodness [0,1] 0.9713934242898681 Centerline is valid? [True, True] Translation: X:746.41, Y:-59.88, Z:2.36 [[ 9.99650801e-01 1.46600570e-02 -2.19854123e-02 7.46410030e+02] [-1.46164137e-02 9.99890875e-01 2.14449182e-03 -5.98769304e+01] [ 2.20144515e-02 -1.82239508e-03 9.99755992e-01 2.36147133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8107140569999 meters Centerline goodness [0,1] 0.9686384554944438 Centerline is valid? [True, True] Translation: X:746.44, Y:-59.88, Z:2.36 [[ 9.99675660e-01 1.40495601e-02 -2.12411039e-02 7.46437642e+02] [-1.40087189e-02 9.99899730e-01 2.07032367e-03 -5.98821828e+01] [ 2.12680612e-02 -1.77209153e-03 9.99772239e-01 2.36122315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8407140569999 meters Centerline goodness [0,1] 0.9683903533370724 Centerline is valid? [True, True] Translation: X:746.47, Y:-59.88, Z:2.36 [[ 9.99692442e-01 1.37602986e-02 -2.06319207e-02 7.46466574e+02] [-1.37217380e-02 9.99903834e-01 2.00938608e-03 -5.98839071e+01] [ 2.06575863e-02 -1.72566226e-03 9.99785120e-01 2.36176080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.870714057 meters Centerline goodness [0,1] 0.9722882381955966 Centerline is valid? [True, True] Translation: X:746.50, Y:-59.88, Z:2.36 [[ 9.99698848e-01 1.40626455e-02 -2.01110539e-02 7.46496057e+02] [-1.40260957e-02 9.99899714e-01 1.95730805e-03 -5.98759355e+01] [ 2.01365620e-02 -1.67463904e-03 9.99795836e-01 2.36339348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.900714057 meters Centerline goodness [0,1] 0.9740478977221572 Centerline is valid? [True, True] Translation: X:746.52, Y:-59.87, Z:2.36 [[ 9.99698482e-01 1.44197380e-02 -1.98749981e-02 7.46524978e+02] [-1.43841392e-02 9.99894675e-01 1.93293475e-03 -5.98726098e+01] [ 1.99007772e-02 -1.64646719e-03 9.99800604e-01 2.36482059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9307140569999 meters Centerline goodness [0,1] 0.9711220565413939 Centerline is valid? [True, True] Translation: X:746.55, Y:-59.88, Z:2.36 [[ 9.99699583e-01 1.46931503e-02 -1.96177282e-02 7.46552615e+02] [-1.46585497e-02 9.99890740e-01 1.90638182e-03 -5.98788396e+01] [ 1.96435955e-02 -1.61824166e-03 9.99805736e-01 2.36404311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9607140569999 meters Centerline goodness [0,1] 0.9710327739610316 Centerline is valid? [True, True] Translation: X:746.58, Y:-59.88, Z:2.36 [[ 9.99689792e-01 1.62287498e-02 -1.88930593e-02 7.46581155e+02] [-1.61969573e-02 9.99867138e-01 1.83457222e-03 -5.98821197e+01] [ 1.89203219e-02 -1.52799304e-03 9.99819827e-01 2.36343418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.990714057 meters Centerline goodness [0,1] 0.9709484924623115 Centerline is valid? [True, True] Translation: X:746.61, Y:-59.88, Z:2.36 [[ 9.99679839e-01 1.70872474e-02 -1.86613355e-02 7.46610403e+02] [-1.70563966e-02 9.99852889e-01 1.81111861e-03 -5.98826378e+01] [ 1.86895372e-02 -1.49224363e-03 9.99824222e-01 2.36363613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.020714057 meters Centerline goodness [0,1] 0.9743138317081979 Centerline is valid? [True, True] Translation: X:746.64, Y:-59.87, Z:2.37 [[ 9.99660238e-01 1.87368538e-02 -1.81201348e-02 7.46641226e+02] [-1.87080522e-02 9.99823444e-01 1.75769837e-03 -5.98749072e+01] [ 1.81498693e-02 -1.41810875e-03 9.99834272e-01 2.36507182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0507140569999 meters Centerline goodness [0,1] 0.9738919933938146 Centerline is valid? [True, True] Translation: X:746.67, Y:-59.87, Z:2.37 [[ 9.99640755e-01 2.00494346e-02 -1.77870841e-02 7.46670266e+02] [-2.00219063e-02 9.99798054e-01 1.72440502e-03 -5.98749754e+01] [ 1.78180655e-02 -1.36765421e-03 9.99840310e-01 2.36541553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0807140569999 meters Centerline goodness [0,1] 0.9705258406680207 Centerline is valid? [True, True] Translation: X:746.70, Y:-59.88, Z:2.36 [[ 9.99600999e-01 2.14933200e-02 -1.83270019e-02 7.46698060e+02] [-2.14643604e-02 9.99768038e-01 1.77542517e-03 -5.98828159e+01] [ 1.83609105e-02 -1.38133940e-03 9.99830470e-01 2.36488055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1107140569999 meters Centerline goodness [0,1] 0.9756473629313863 Centerline is valid? [True, True] Translation: X:746.73, Y:-59.88, Z:2.37 [[ 9.99571762e-01 2.27421951e-02 -1.84142869e-02 7.46727971e+02] [-2.27131937e-02 9.99740433e-01 1.78258133e-03 -5.98752046e+01] [ 1.84500470e-02 -1.36357069e-03 9.99828854e-01 2.36528839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.140714057 meters Centerline goodness [0,1] 0.9758872011443362 Centerline is valid? [True, True] Translation: X:746.76, Y:-59.88, Z:2.36 [[ 9.99490199e-01 2.60270238e-02 -1.84915260e-02 7.46757412e+02] [-2.59983564e-02 9.99660385e-01 1.78905038e-03 -5.98750307e+01] [ 1.85318097e-02 -1.30738904e-03 9.99827416e-01 2.36420923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1707140569999 meters Centerline goodness [0,1] 0.97877476656798 Centerline is valid? [True, True] Translation: X:746.79, Y:-59.87, Z:2.36 [[ 9.99447922e-01 2.77013290e-02 -1.83436124e-02 7.46787741e+02] [-2.76734083e-02 9.99615443e-01 1.77423324e-03 -5.98705381e+01] [ 1.83857069e-02 -1.26562345e-03 9.99830168e-01 2.36480755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2007140569999 meters Centerline goodness [0,1] 0.9786024206439826 Centerline is valid? [True, True] Translation: X:746.82, Y:-59.87, Z:2.37 [[ 9.99341433e-01 3.14792809e-02 -1.80486732e-02 7.46817814e+02] [-3.14528745e-02 9.99503712e-01 1.74514204e-03 -5.98678815e+01] [ 1.80946517e-02 -1.17631010e-03 9.99835586e-01 2.36586343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2307140569999 meters Centerline goodness [0,1] 0.9799057078775117 Centerline is valid? [True, True] Translation: X:746.85, Y:-59.87, Z:2.37 [[ 9.99293460e-01 3.30916527e-02 -1.78191668e-02 7.46847041e+02] [-3.30661976e-02 9.99451681e-01 1.72134146e-03 -5.98672911e+01] [ 1.78663583e-02 -1.13091317e-03 9.99839744e-01 2.36659575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.260714057 meters Centerline goodness [0,1] 0.9795314935362611 Centerline is valid? [True, True] Translation: X:746.88, Y:-59.87, Z:2.37 [[ 9.99241696e-01 3.50341651e-02 -1.69894199e-02 7.46875860e+02] [-3.50113541e-02 9.99385572e-01 1.63833125e-03 -5.98693845e+01] [ 1.70363786e-02 -1.04226630e-03 9.99854327e-01 2.36712282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.290714057 meters Centerline goodness [0,1] 0.9800330108660767 Centerline is valid? [True, True] Translation: X:746.90, Y:-59.87, Z:2.37 [[ 9.99183290e-01 3.67590333e-02 -1.67787318e-02 7.46904796e+02] [-3.67370396e-02 9.99323658e-01 1.61726187e-03 -5.98693738e+01] [ 1.68268326e-02 -9.99540102e-04 9.99857919e-01 2.36761248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3207140569999 meters Centerline goodness [0,1] 0.9784090126884336 Centerline is valid? [True, True] Translation: X:746.93, Y:-59.87, Z:2.37 [[ 9.99093082e-01 3.96984462e-02 -1.53963129e-02 7.46933362e+02] [-3.96802901e-02 9.99211327e-01 1.48306650e-03 -5.98700771e+01] [ 1.54430456e-02 -8.70791317e-04 9.99880370e-01 2.36838606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3507140569999 meters Centerline goodness [0,1] 0.9809062608094085 Centerline is valid? [True, True] Translation: X:746.96, Y:-59.86, Z:2.37 [[ 9.99060988e-01 4.08588762e-02 -1.44116128e-02 7.46963299e+02] [-4.08431052e-02 9.99164609e-01 1.38707305e-03 -5.98643998e+01] [ 1.44562478e-02 -7.97155554e-04 9.99895185e-01 2.36945331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.380714057 meters Centerline goodness [0,1] 0.9786192565227431 Centerline is valid? [True, True] Translation: X:746.99, Y:-59.87, Z:2.37 [[ 9.99036259e-01 4.17708139e-02 -1.34815466e-02 7.46990281e+02] [-4.17571335e-02 9.99126952e-01 1.29477403e-03 -5.98701291e+01] [ 1.35238603e-02 -7.30575465e-04 9.99908282e-01 2.36962258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.410714057 meters Centerline goodness [0,1] 0.9779158677724133 Centerline is valid? [True, True] Translation: X:747.02, Y:-59.87, Z:2.37 [[ 9.98999974e-01 4.28470854e-02 -1.27741729e-02 7.47018227e+02] [-4.28349050e-02 9.99081412e-01 1.22572547e-03 -5.98722844e+01] [ 1.28149575e-02 -6.77319230e-04 9.99917656e-01 2.37034458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4407140569999 meters Centerline goodness [0,1] 0.9807434772569845 Centerline is valid? [True, True] Translation: X:747.05, Y:-59.87, Z:2.37 [[ 9.98959971e-01 4.39157763e-02 -1.22629799e-02 7.47047786e+02] [-4.39046500e-02 9.99035035e-01 1.17517931e-03 -5.98659213e+01] [ 1.23027555e-02 -6.35555250e-04 9.99924116e-01 2.37047249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4707140569999 meters Centerline goodness [0,1] 0.9782990930964279 Centerline is valid? [True, True] Translation: X:747.07, Y:-59.87, Z:2.37 [[ 9.98932288e-01 4.44898321e-02 -1.24474217e-02 7.47074605e+02] [-4.44784521e-02 9.99009636e-01 1.18972617e-03 -5.98732349e+01] [ 1.24880249e-02 -6.34813842e-04 9.99921820e-01 2.37064094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.500714057 meters Centerline goodness [0,1] 0.977674849467346 Centerline is valid? [True, True] Translation: X:747.10, Y:-59.88, Z:2.37 [[ 9.98893907e-01 4.51879029e-02 -1.30006358e-02 7.47102571e+02] [-4.51755636e-02 9.98978292e-01 1.24139478e-03 -5.98758907e+01] [ 1.30434490e-02 -6.52710630e-04 9.99914718e-01 2.36892511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.530714057 meters Centerline goodness [0,1] 0.979041222788328 Centerline is valid? [True, True] Translation: X:747.13, Y:-59.87, Z:2.37 [[ 9.98911636e-01 4.47796907e-02 -1.30507523e-02 7.47130461e+02] [-4.47672381e-02 9.98996669e-01 1.24489196e-03 -5.98738450e+01] [ 1.30934040e-02 -6.59290927e-04 9.99914060e-01 2.36811971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5607140569999 meters Centerline goodness [0,1] 0.9775518258003111 Centerline is valid? [True, True] Translation: X:747.16, Y:-59.88, Z:2.37 [[ 9.98923116e-01 4.44311684e-02 -1.33596438e-02 7.47157401e+02] [-4.44181357e-02 9.99012219e-01 1.27081031e-03 -5.98812001e+01] [ 1.34029110e-02 -6.76031321e-04 9.99909948e-01 2.36794750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5907140569999 meters Centerline goodness [0,1] 0.9789678495321041 Centerline is valid? [True, True] Translation: X:747.19, Y:-59.88, Z:2.37 [[ 9.98983633e-01 4.29764844e-02 -1.35912948e-02 7.47186197e+02] [-4.29628810e-02 9.99075835e-01 1.29142307e-03 -5.98797076e+01] [ 1.36342350e-02 -7.06189335e-04 9.99906800e-01 2.36759143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.620714057 meters Centerline goodness [0,1] 0.9789678495321041 Centerline is valid? [True, True] Translation: X:747.21, Y:-59.88, Z:2.37 [[ 9.98995405e-01 4.27018645e-02 -1.35916085e-02 7.47213493e+02] [-4.26882806e-02 9.99087610e-01 1.28811345e-03 -5.98822050e+01] [ 1.36342125e-02 -7.06617026e-04 9.99906800e-01 2.36792487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.650714057 meters Centerline goodness [0,1] 0.9810032512772875 Centerline is valid? [True, True] Translation: X:747.24, Y:-59.88, Z:2.37 [[ 9.99057274e-01 4.13550041e-02 -1.32033213e-02 7.47242208e+02] [-4.13421150e-02 9.99144270e-01 1.24777359e-03 -5.98798866e+01] [ 1.32436245e-02 -7.00744055e-04 9.99912054e-01 2.36822609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6807140569999 meters Centerline goodness [0,1] 0.9764192545142274 Centerline is valid? [True, True] Translation: X:747.27, Y:-59.89, Z:2.37 [[ 9.99090780e-01 4.05925259e-02 -1.30330454e-02 7.47269135e+02] [-4.05799433e-02 9.99175540e-01 1.22855629e-03 -5.98908031e+01] [ 1.30721703e-02 -6.98559019e-04 9.99914312e-01 2.36843626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7107140569999 meters Centerline goodness [0,1] 0.9817704704844178 Centerline is valid? [True, True] Translation: X:747.30, Y:-59.88, Z:2.37 [[ 9.99154480e-01 3.89038410e-02 -1.32972538e-02 7.47298889e+02] [-3.88906098e-02 9.99242689e-01 1.25226438e-03 -5.98849446e+01] [ 1.33359016e-02 -7.34067251e-04 9.99910803e-01 2.36827599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.740714057 meters Centerline goodness [0,1] 0.9745508290610133 Centerline is valid? [True, True] Translation: X:747.33, Y:-59.90, Z:2.37 [[ 9.99182532e-01 3.81699533e-02 -1.33162125e-02 7.47325222e+02] [-3.81566326e-02 9.99270985e-01 1.25306724e-03 -5.99031770e+01] [ 1.33543343e-02 -7.43941072e-04 9.99910550e-01 2.36823661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.770714057 meters Centerline goodness [0,1] 0.98027215615365 Centerline is valid? [True, True] Translation: X:747.35, Y:-59.89, Z:2.37 [[ 9.99227906e-01 3.69581484e-02 -1.33299363e-02 7.47354959e+02] [-3.69447116e-02 9.99316526e-01 1.25294084e-03 -5.98924336e+01] [ 1.33671320e-02 -7.59502800e-04 9.99910367e-01 2.36907462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8007140569999 meters Centerline goodness [0,1] 0.9790527602832952 Centerline is valid? [True, True] Translation: X:747.38, Y:-59.90, Z:2.37 [[ 9.99274032e-01 3.59725667e-02 -1.25452150e-02 7.47382089e+02] [-3.59606247e-02 9.99352515e-01 1.17626494e-03 -5.98963474e+01] [ 1.25794054e-02 -7.24277239e-04 9.99920614e-01 2.37012481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8307140569999 meters Centerline goodness [0,1] 0.9806660499537465 Centerline is valid? [True, True] Translation: X:747.41, Y:-59.90, Z:2.37 [[ 9.99300665e-01 3.53543560e-02 -1.21757879e-02 7.47411183e+02] [-3.53430770e-02 9.99374588e-01 1.14034199e-03 -5.98972375e+01] [ 1.22084891e-02 -7.09214696e-04 9.99925222e-01 2.37037811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8607140569999 meters Centerline goodness [0,1] 0.9798084689050421 Centerline is valid? [True, True] Translation: X:747.44, Y:-59.90, Z:2.37 [[ 9.99318894e-01 3.47500675e-02 -1.24169549e-02 7.47438907e+02] [-3.47383303e-02 9.99395769e-01 1.15975044e-03 -5.99027483e+01] [ 1.24497536e-02 -7.27616247e-04 9.99922234e-01 2.37071040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.890714057 meters Centerline goodness [0,1] 0.9789831911517856 Centerline is valid? [True, True] Translation: X:747.47, Y:-59.91, Z:2.37 [[ 9.99332810e-01 3.41439463e-02 -1.29663684e-02 7.47467240e+02] [-3.41311143e-02 9.99416632e-01 1.20970187e-03 -5.99060613e+01] [ 1.30001082e-02 -7.66338167e-04 9.99915201e-01 2.37046138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9207140569999 meters Centerline goodness [0,1] 0.9773570983882497 Centerline is valid? [True, True] Translation: X:747.49, Y:-59.91, Z:2.37 [[ 9.99389638e-01 3.18262964e-02 -1.44027093e-02 7.47494952e+02] [-3.18102750e-02 9.99493027e-01 1.34017346e-03 -5.99131623e+01] [ 1.44380603e-02 -8.81201330e-04 9.99895377e-01 2.36917340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9507140569999 meters Centerline goodness [0,1] 0.9761729191630565 Centerline is valid? [True, True] Translation: X:747.52, Y:-59.92, Z:2.37 [[ 9.99424615e-01 3.05660050e-02 -1.47023082e-02 7.47522383e+02] [-3.05491926e-02 9.99532330e-01 1.36679886e-03 -5.99176288e+01] [ 1.47372099e-02 -9.16868782e-04 9.99890981e-01 2.36855040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9807140569999 meters Centerline goodness [0,1] 0.9769182782283219 Centerline is valid? [True, True] Translation: X:747.55, Y:-59.92, Z:2.37 [[ 9.99460852e-01 2.92327782e-02 -1.49482415e-02 7.47551248e+02] [-2.92152683e-02 9.99572179e-01 1.38845194e-03 -5.99214863e+01] [ 1.49824346e-02 -9.50986478e-04 9.99887305e-01 2.36799377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.010714057 meters Centerline goodness [0,1] 0.9771479754713948 Centerline is valid? [True, True] Translation: X:747.58, Y:-59.92, Z:2.37 [[ 9.99494684e-01 2.77348685e-02 -1.55290952e-02 7.47579908e+02] [-2.77158146e-02 9.99614805e-01 1.44089032e-03 -5.99223573e+01] [ 1.55630764e-02 -1.00976069e-03 9.99878378e-01 2.36822160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.040714057 meters Centerline goodness [0,1] 0.9767071425273558 Centerline is valid? [True, True] Translation: X:747.61, Y:-59.93, Z:2.37 [[ 9.99548446e-01 2.56990752e-02 -1.55711501e-02 7.47609114e+02] [-2.56797211e-02 9.99669182e-01 1.44165570e-03 -5.99271098e+01] [ 1.56030481e-02 -1.04114193e-03 9.99877723e-01 2.36873465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0707140569999 meters Centerline goodness [0,1] 0.9739192651233641 Centerline is valid? [True, True] Translation: X:747.64, Y:-59.94, Z:2.37 [[ 9.99569975e-01 2.47908058e-02 -1.56614785e-02 7.47635802e+02] [-2.47711308e-02 9.99692098e-01 1.44903482e-03 -5.99351271e+01] [ 1.56925790e-02 -1.06045916e-03 9.99876302e-01 2.36888860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1007140569999 meters Centerline goodness [0,1] 0.9777429250178749 Centerline is valid? [True, True] Translation: X:747.67, Y:-59.93, Z:2.37 [[ 9.99582941e-01 2.41576861e-02 -1.58224869e-02 7.47665124e+02] [-2.41375706e-02 9.99707579e-01 1.46109150e-03 -5.99290094e+01] [ 1.58531567e-02 -1.07856574e-03 9.99873749e-01 2.37005580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.130714057 meters Centerline goodness [0,1] 0.9781780394873572 Centerline is valid? [True, True] Translation: X:747.69, Y:-59.93, Z:2.37 [[ 9.99599465e-01 2.39832551e-02 -1.50237197e-02 7.47692181e+02] [-2.39651481e-02 9.99711836e-01 1.38413248e-03 -5.99327022e+01] [ 1.50525865e-02 -1.02353242e-03 9.99886180e-01 2.37126094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.160714057 meters Centerline goodness [0,1] 0.9737688977380594 Centerline is valid? [True, True] Translation: X:747.72, Y:-59.94, Z:2.37 [[ 9.99607459e-01 2.38862397e-02 -1.46415759e-02 7.47717702e+02] [-2.38690521e-02 9.99714185e-01 1.34754064e-03 -5.99442185e+01] [ 1.46695788e-02 -9.97531142e-04 9.99891898e-01 2.37169869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1907140569999 meters Centerline goodness [0,1] 0.9737264432115181 Centerline is valid? [True, True] Translation: X:747.75, Y:-59.95, Z:2.37 [[ 9.99600202e-01 2.46452548e-02 -1.38580960e-02 7.47746506e+02] [-2.46299518e-02 9.99695825e-01 1.27388450e-03 -5.99461294e+01] [ 1.38852759e-02 -9.32050970e-04 9.99903161e-01 2.37243264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2207140569999 meters Centerline goodness [0,1] 0.9776706419690434 Centerline is valid? [True, True] Translation: X:747.78, Y:-59.94, Z:2.37 [[ 9.99602825e-01 2.44800824e-02 -1.39612968e-02 7.47776483e+02] [-2.44645478e-02 9.99699876e-01 1.28241956e-03 -5.99390552e+01] [ 1.39885004e-02 -9.40353406e-04 9.99901714e-01 2.37281573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.250714057 meters Centerline goodness [0,1] 0.9777413848779812 Centerline is valid? [True, True] Translation: X:747.80, Y:-59.94, Z:2.37 [[ 9.99584614e-01 2.51639012e-02 -1.40490822e-02 7.47804146e+02] [-2.51482527e-02 9.99682901e-01 1.28942733e-03 -5.99419606e+01] [ 1.40770743e-02 -9.35581851e-04 9.99900475e-01 2.37326314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.280714057 meters Centerline goodness [0,1] 0.9774297133088456 Centerline is valid? [True, True] Translation: X:747.83, Y:-59.94, Z:2.37 [[ 9.99579465e-01 2.50456414e-02 -1.46153588e-02 7.47832594e+02] [-2.50287125e-02 9.99685835e-01 1.34009097e-03 -5.99429964e+01] [ 1.46443306e-02 -9.73723800e-04 9.99892292e-01 2.37360483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3107140569999 meters Centerline goodness [0,1] 0.9767324112218361 Centerline is valid? [True, True] Translation: X:747.86, Y:-59.95, Z:2.37 [[ 9.99582473e-01 2.49352262e-02 -1.45984433e-02 7.47859297e+02] [-2.49183447e-02 9.99688596e-01 1.33717543e-03 -5.99463439e+01] [ 1.46272401e-02 -9.72848083e-04 9.99892543e-01 2.37341739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3407140569999 meters Centerline goodness [0,1] 0.9777839424832975 Centerline is valid? [True, True] Translation: X:747.89, Y:-59.95, Z:2.37 [[ 9.99585194e-01 2.43006794e-02 -1.54569631e-02 7.47888359e+02] [-2.42817303e-02 9.99704158e-01 1.41244912e-03 -5.99469844e+01] [ 1.54867137e-02 -1.03654142e-03 9.99879536e-01 2.37353583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.370714057 meters Centerline goodness [0,1] 0.9756736093413341 Centerline is valid? [True, True] Translation: X:747.92, Y:-59.95, Z:2.37 [[ 9.99585855e-01 2.32490992e-02 -1.69586913e-02 7.47916222e+02] [-2.32262024e-02 9.99729040e-01 1.54588659e-03 -5.99511996e+01] [ 1.69900366e-02 -1.15136037e-03 9.99854996e-01 2.37186348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.400714057 meters Centerline goodness [0,1] 0.9742871690427699 Centerline is valid? [True, True] Translation: X:747.94, Y:-59.96, Z:2.37 [[ 9.99595665e-01 2.23147419e-02 -1.76226654e-02 7.47943443e+02] [-2.22899052e-02 9.99750262e-01 1.60455105e-03 -5.99572222e+01] [ 1.76540695e-02 -1.21109473e-03 9.99843421e-01 2.37152504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4307140569999 meters Centerline goodness [0,1] 0.975807572878528 Centerline is valid? [True, True] Translation: X:747.97, Y:-59.95, Z:2.37 [[ 9.99600088e-01 2.13230365e-02 -1.85739711e-02 7.47972500e+02] [-2.12953372e-02 9.99771804e-01 1.68782928e-03 -5.99548863e+01] [ 1.86057223e-02 -1.29161532e-03 9.99826064e-01 2.37198810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4607140569999 meters Centerline goodness [0,1] 0.9757491611708897 Centerline is valid? [True, True] Translation: X:748.00, Y:-59.96, Z:2.37 [[ 9.99622423e-01 1.98161558e-02 -1.90349808e-02 7.48002106e+02] [-1.97868569e-02 9.99802731e-01 1.72633959e-03 -5.99568209e+01] [ 1.90654352e-02 -1.34904532e-03 9.99817328e-01 2.37202664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.490714057 meters Centerline goodness [0,1] 0.9741645214406642 Centerline is valid? [True, True] Translation: X:748.03, Y:-59.96, Z:2.37 [[ 9.99647586e-01 1.87892887e-02 -1.87527956e-02 7.48029376e+02] [-1.87606973e-02 9.99822558e-01 1.69942155e-03 -5.99619795e+01] [ 1.87813990e-02 -1.34700713e-03 9.99822707e-01 2.37249949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.520714057 meters Centerline goodness [0,1] 0.9751195283850903 Centerline is valid? [True, True] Translation: X:748.06, Y:-59.96, Z:2.37 [[ 9.99662686e-01 1.82131147e-02 -1.85147779e-02 7.48057972e+02] [-1.81851846e-02 9.99833231e-01 1.67578808e-03 -5.99630330e+01] [ 1.85422116e-02 -1.33852816e-03 9.99827182e-01 2.37298847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5507140569999 meters Centerline goodness [0,1] 0.9733029993499861 Centerline is valid? [True, True] Translation: X:748.09, Y:-59.97, Z:2.37 [[ 9.99673233e-01 1.71904799e-02 -1.89186332e-02 7.48085670e+02] [-1.71611641e-02 9.99851273e-01 1.71084333e-03 -5.99689224e+01] [ 1.89452297e-02 -1.38561852e-03 9.99819563e-01 2.37360945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5807140569999 meters Centerline goodness [0,1] 0.9721184848414558 Centerline is valid? [True, True] Translation: X:748.11, Y:-59.97, Z:2.38 [[ 9.99721279e-01 1.53324408e-02 -1.79521818e-02 7.48114518e+02] [-1.53057701e-02 9.99881544e-01 1.62211363e-03 -5.99714950e+01] [ 1.79749262e-02 -1.34688955e-03 9.99837531e-01 2.37517115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6107140569999 meters Centerline goodness [0,1] 0.972057696327782 Centerline is valid? [True, True] Translation: X:748.14, Y:-59.97, Z:2.38 [[ 9.99745816e-01 1.43132120e-02 -1.74193967e-02 7.48142668e+02] [-1.42879702e-02 9.99896685e-01 1.57265990e-03 -5.99733378e+01] [ 1.74401068e-02 -1.32337233e-03 9.99847034e-01 2.37594922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.640714057 meters Centerline goodness [0,1] 0.9689405001970193 Centerline is valid? [True, True] Translation: X:748.17, Y:-59.98, Z:2.38 [[ 9.99769330e-01 1.32800213e-02 -1.68798226e-02 7.48169812e+02] [-1.32562059e-02 9.99910974e-01 1.52199112e-03 -5.99799363e+01] [ 1.68985320e-02 -1.29787764e-03 9.99856367e-01 2.37658411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6707140569999 meters Centerline goodness [0,1] 0.9659723510855446 Centerline is valid? [True, True] Translation: X:748.20, Y:-59.99, Z:2.38 [[ 9.99792240e-01 1.25057495e-02 -1.60960797e-02 7.48197142e+02] [-1.24840165e-02 9.99921020e-01 1.44997762e-03 -5.99858369e+01] [ 1.61129415e-02 -1.24873265e-03 9.99869398e-01 2.37692555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7007140569999 meters Centerline goodness [0,1] 0.9703062028072451 Centerline is valid? [True, True] Translation: X:748.23, Y:-59.98, Z:2.38 [[ 9.99812923e-01 1.03384275e-02 -1.63473578e-02 7.48227801e+02] [-1.03157399e-02 9.99945709e-01 1.47156009e-03 -5.99835130e+01] [ 1.63616839e-02 -1.30264971e-03 9.99865290e-01 2.37736668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7307140569999 meters Centerline goodness [0,1] 0.9624184145123452 Centerline is valid? [True, True] Translation: X:748.25, Y:-60.00, Z:2.38 [[ 9.99817614e-01 9.47525411e-03 -1.65818543e-02 7.48254873e+02] [-9.45179969e-03 9.99954217e-01 1.49226304e-03 -5.99961755e+01] [ 1.65952347e-02 -1.33526251e-03 9.99861398e-01 2.37665741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.760714057 meters Centerline goodness [0,1] 0.9715067984593253 Centerline is valid? [True, True] Translation: X:748.28, Y:-59.99, Z:2.38 [[ 9.99803735e-01 8.70550981e-03 -1.77962438e-02 7.48284299e+02] [-8.67840250e-03 9.99961062e-01 1.59986596e-03 -5.99852031e+01] [ 1.78094785e-02 -1.44510900e-03 9.99840354e-01 2.37681608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.790714057 meters Centerline goodness [0,1] 0.9708973884052602 Centerline is valid? [True, True] Translation: X:748.31, Y:-59.99, Z:2.38 [[ 9.99790399e-01 8.61522013e-03 -1.85724354e-02 7.48313261e+02] [-8.58571051e-03 9.99961751e-01 1.66804549e-03 -5.99880438e+01] [ 1.85860956e-02 -1.50823831e-03 9.99826126e-01 2.37659444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8207140569999 meters Centerline goodness [0,1] 0.9703605551293675 Centerline is valid? [True, True] Translation: X:748.34, Y:-59.99, Z:2.38 [[ 9.99778759e-01 8.38858290e-03 -1.92889935e-02 7.48340500e+02] [-8.35673931e-03 9.99963584e-01 1.73088194e-03 -5.99919338e+01] [ 1.93028107e-02 -1.56930590e-03 9.99812452e-01 2.37591680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8507140569999 meters Centerline goodness [0,1] 0.9716588844751086 Centerline is valid? [True, True] Translation: X:748.37, Y:-59.99, Z:2.38 [[ 9.99770368e-01 8.75099085e-03 -1.95609640e-02 7.48369357e+02] [-8.71834300e-03 9.99960457e-01 1.75368697e-03 -5.99929379e+01] [ 1.95755370e-02 -1.58274508e-03 9.99807128e-01 2.37578138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.880714057 meters Centerline goodness [0,1] 0.9714444779512399 Centerline is valid? [True, True] Translation: X:748.40, Y:-60.00, Z:2.38 [[ 9.99742958e-01 1.08107122e-02 -1.99285375e-02 7.48397858e+02] [-1.07772576e-02 9.99940330e-01 1.78536664e-03 -5.99954198e+01] [ 1.99466495e-02 -1.57013275e-03 9.99799813e-01 2.37538411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.910714057 meters Centerline goodness [0,1] 0.9710212340395842 Centerline is valid? [True, True] Translation: X:748.43, Y:-60.00, Z:2.38 [[ 9.99733484e-01 1.17223413e-02 -1.98883744e-02 7.48426397e+02] [-1.16892480e-02 9.99930095e-01 1.77938951e-03 -5.99987083e+01] [ 1.99078428e-02 -1.54643513e-03 9.99800623e-01 2.37541249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9407140569999 meters Centerline goodness [0,1] 0.9718476845824809 Centerline is valid? [True, True] Translation: X:748.46, Y:-60.00, Z:2.38 [[ 9.99714631e-01 1.33185493e-02 -1.98311141e-02 7.48456544e+02] [-1.32860148e-02 9.99910168e-01 1.77143704e-03 -5.99984627e+01] [ 1.98529256e-02 -1.50745506e-03 9.99801775e-01 2.37634233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9707140569999 meters Centerline goodness [0,1] 0.9717113248062739 Centerline is valid? [True, True] Translation: X:748.49, Y:-60.00, Z:2.38 [[ 9.99700331e-01 1.50826351e-02 -1.92811442e-02 7.48486447e+02] [-1.50522128e-02 9.99885226e-01 1.72198500e-03 -5.99999125e+01] [ 1.93049033e-02 -1.43124509e-03 9.99812619e-01 2.37699242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.000714057 meters Centerline goodness [0,1] 0.9726186872802627 Centerline is valid? [True, True] Translation: X:748.52, Y:-60.00, Z:2.38 [[ 9.99629972e-01 2.00353837e-02 -1.83984422e-02 7.48515709e+02] [-2.00085268e-02 9.99798460e-01 1.64267706e-03 -5.99984535e+01] [ 1.84276459e-02 -1.27394350e-03 9.99829385e-01 2.37825073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.030714057 meters Centerline goodness [0,1] 0.9735296858980333 Centerline is valid? [True, True] Translation: X:748.55, Y:-60.00, Z:2.38 [[ 9.99593195e-01 2.22586828e-02 -1.78324403e-02 7.48545856e+02] [-2.22338162e-02 9.99751531e-01 1.59153144e-03 -5.99988385e+01] [ 1.78634349e-02 -1.19440080e-03 9.99839723e-01 2.37935868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0607140569999 meters Centerline goodness [0,1] 0.9776796148272799 Centerline is valid? [True, True] Translation: X:748.58, Y:-59.99, Z:2.38 [[ 9.99542997e-01 2.46863914e-02 -1.74464413e-02 7.48576319e+02] [-2.46629647e-02 9.99694611e-01 1.55669295e-03 -5.99902631e+01] [ 1.74795424e-02 -1.12570057e-03 9.99846587e-01 2.38079171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0907140569999 meters Centerline goodness [0,1] 0.9783291162965045 Centerline is valid? [True, True] Translation: X:748.61, Y:-59.99, Z:2.38 [[ 9.99417958e-01 2.95022283e-02 -1.71278710e-02 7.48607209e+02] [-2.94803613e-02 9.99564192e-01 1.52783150e-03 -5.99882072e+01] [ 1.71654810e-02 -1.02200641e-03 9.99852140e-01 2.38151382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.120714057 meters Centerline goodness [0,1] 0.9779871280664117 Centerline is valid? [True, True] Translation: X:748.64, Y:-59.99, Z:2.38 [[ 9.99339568e-01 3.19434111e-02 -1.73218352e-02 7.48637598e+02] [-3.19214135e-02 9.99489188e-01 1.54500877e-03 -5.99882029e+01] [ 1.73623398e-02 -9.91050935e-04 9.99848772e-01 2.38200796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.150714057 meters Centerline goodness [0,1] 0.9786064861564474 Centerline is valid? [True, True] Translation: X:748.67, Y:-59.99, Z:2.38 [[ 9.99276633e-01 3.36209886e-02 -1.77719026e-02 7.48666783e+02] [-3.35981251e-02 9.99434169e-01 1.58359290e-03 -5.99883718e+01] [ 1.78150886e-02 -9.85344776e-04 9.99840813e-01 2.38214536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1807140569999 meters Centerline goodness [0,1] 0.9778048894936887 Centerline is valid? [True, True] Translation: X:748.69, Y:-59.99, Z:2.38 [[ 9.99211797e-01 3.54134712e-02 -1.79351866e-02 7.48694067e+02] [-3.53905343e-02 9.99372286e-01 1.59475901e-03 -5.99936738e+01] [ 1.79804044e-02 -9.58766176e-04 9.99837880e-01 2.38132286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2107140569999 meters Centerline goodness [0,1] 0.9793189057522953 Centerline is valid? [True, True] Translation: X:748.72, Y:-59.99, Z:2.38 [[ 9.99059977e-01 3.90875213e-02 -1.87437432e-02 7.48723799e+02] [-3.90631397e-02 9.99235357e-01 1.66529383e-03 -5.99930392e+01] [ 1.87945031e-02 -9.31538959e-04 9.99822934e-01 2.38125829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.240714057 meters Centerline goodness [0,1] 0.980186836717886 Centerline is valid? [True, True] Translation: X:748.75, Y:-59.99, Z:2.38 [[ 9.99009086e-01 4.02838607e-02 -1.89223667e-02 7.48753248e+02] [-4.02592645e-02 9.99187856e-01 1.67914198e-03 -5.99914626e+01] [ 1.89746414e-02 -9.15677524e-04 9.99819546e-01 2.38181340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.270714057 meters Centerline goodness [0,1] 0.9811209578580183 Centerline is valid? [True, True] Translation: X:748.78, Y:-59.99, Z:2.38 [[ 9.98935007e-01 4.20897402e-02 -1.89025129e-02 7.48782300e+02] [-4.20655808e-02 9.99113449e-01 1.67407546e-03 -5.99929920e+01] [ 1.89562163e-02 -8.77147393e-04 9.99819930e-01 2.38253252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3007140569999 meters Centerline goodness [0,1] 0.9817511390859129 Centerline is valid? [True, True] Translation: X:748.81, Y:-59.99, Z:2.38 [[ 9.98816955e-01 4.46198261e-02 -1.93329078e-02 7.48811658e+02] [-4.45950764e-02 9.99003682e-01 1.70962913e-03 -5.99936599e+01] [ 1.93899294e-02 -8.45454063e-04 9.99811640e-01 2.38352371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3307140569999 meters Centerline goodness [0,1] 0.9826680795949606 Centerline is valid? [True, True] Translation: X:748.84, Y:-60.00, Z:2.38 [[ 9.98780885e-01 4.56456840e-02 -1.87939976e-02 7.48839636e+02] [-4.56225440e-02 9.98957373e-01 1.65838442e-03 -5.99968094e+01] [ 1.88501006e-02 -7.98932681e-04 9.99822002e-01 2.38359791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3607140569999 meters Centerline goodness [0,1] 0.9818892630884812 Centerline is valid? [True, True] Translation: X:748.87, Y:-60.00, Z:2.38 [[ 9.98748371e-01 4.64240753e-02 -1.86144187e-02 7.48868049e+02] [-4.64015697e-02 9.98921522e-01 1.63936286e-03 -5.99989051e+01] [ 1.86704494e-02 -7.73572744e-04 9.99825393e-01 2.38440010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.390714057 meters Centerline goodness [0,1] 0.9825723412251034 Centerline is valid? [True, True] Translation: X:748.90, Y:-60.00, Z:2.39 [[ 9.98718722e-01 4.71970425e-02 -1.82579928e-02 7.48896583e+02] [-4.71756016e-02 9.98885324e-01 1.60349480e-03 -6.00017515e+01] [ 1.83133212e-02 -7.40108486e-04 9.99832023e-01 2.38518767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4207140569999 meters Centerline goodness [0,1] 0.9819100199694585 Centerline is valid? [True, True] Translation: X:748.92, Y:-60.01, Z:2.39 [[ 9.98705274e-01 4.75274133e-02 -1.81361537e-02 7.48924258e+02] [-4.75063760e-02 9.98869670e-01 1.58927696e-03 -6.00070534e+01] [ 1.81911881e-02 -7.25636345e-04 9.99834263e-01 2.38566938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4507140569999 meters Centerline goodness [0,1] 0.9831057299732507 Centerline is valid? [True, True] Translation: X:748.95, Y:-60.01, Z:2.39 [[ 9.98716055e-01 4.74826372e-02 -1.76533716e-02 7.48953419e+02] [-4.74627415e-02 9.98871815e-01 1.54452968e-03 -6.00072366e+01] [ 1.77067936e-02 -7.04669177e-04 9.99842974e-01 2.38767298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4807140569999 meters Centerline goodness [0,1] 0.982811109549904 Centerline is valid? [True, True] Translation: X:748.98, Y:-60.01, Z:2.39 [[ 9.98747350e-01 4.68070008e-02 -1.76871634e-02 7.48981161e+02] [-4.67869904e-02 9.98903696e-01 1.54368817e-03 -6.00131870e+01] [ 1.77400283e-02 -7.14225321e-04 9.99842378e-01 2.38818460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.510714057 meters Centerline goodness [0,1] 0.982811109549904 Centerline is valid? [True, True] Translation: X:749.01, Y:-60.02, Z:2.39 [[ 9.98760487e-01 4.65257318e-02 -1.76874403e-02 7.49008450e+02] [-4.65057336e-02 9.98916835e-01 1.54051020e-03 -6.00154852e+01] [ 1.77399552e-02 -7.16033332e-04 9.99842378e-01 2.38851728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.540714057 meters Centerline goodness [0,1] 0.9828575443198052 Centerline is valid? [True, True] Translation: X:749.04, Y:-60.02, Z:2.39 [[ 9.98795008e-01 4.59740993e-02 -1.71730813e-02 7.49036643e+02] [-4.59552486e-02 9.98942387e-01 1.49091539e-03 -6.00180053e+01] [ 1.72234623e-02 -6.99925633e-04 9.99851420e-01 2.38923109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5707140569999 meters Centerline goodness [0,1] 0.9820573324299698 Centerline is valid? [True, True] Translation: X:749.06, Y:-60.02, Z:2.39 [[ 9.98829552e-01 4.52910602e-02 -1.69778075e-02 7.49064097e+02] [-4.52726033e-02 9.98973588e-01 1.47008560e-03 -6.00236517e+01] [ 1.70269630e-02 -6.99735397e-04 9.99854786e-01 2.38932223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6007140569999 meters Centerline goodness [0,1] 0.9827212816989963 Centerline is valid? [True, True] Translation: X:749.09, Y:-60.03, Z:2.39 [[ 9.98903558e-01 4.36498356e-02 -1.69225875e-02 7.49092737e+02] [-4.36313025e-02 9.99046630e-01 1.46300924e-03 -6.00282555e+01] [ 1.69703142e-02 -7.23050600e-04 9.99855732e-01 2.39009369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.630714057 meters Centerline goodness [0,1] 0.9822572007357906 Centerline is valid? [True, True] Translation: X:749.12, Y:-60.03, Z:2.39 [[ 9.98966500e-01 4.20517294e-02 -1.72506497e-02 7.49121266e+02] [-4.20323094e-02 9.99115145e-01 1.48694512e-03 -6.00326289e+01] [ 1.72979140e-02 -7.60323714e-04 9.99850091e-01 2.39042195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.660714057 meters Centerline goodness [0,1] 0.9824386164603127 Centerline is valid? [True, True] Translation: X:749.15, Y:-60.04, Z:2.39 [[ 9.99020084e-01 4.08131975e-02 -1.71217797e-02 7.49149949e+02] [-4.07939589e-02 9.99166496e-01 1.47153576e-03 -6.00379123e+01] [ 1.71675667e-02 -7.71628603e-04 9.99852329e-01 2.39090461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6907140569999 meters Centerline goodness [0,1] 0.9803060916417009 Centerline is valid? [True, True] Translation: X:749.18, Y:-60.05, Z:2.39 [[ 9.99101982e-01 3.80478064e-02 -1.86438927e-02 7.49177269e+02] [-3.80245855e-02 9.99275525e-01 1.59854048e-03 -6.00527190e+01] [ 1.86912066e-02 -8.88178668e-04 9.99824910e-01 2.38941252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7207140569999 meters Centerline goodness [0,1] 0.9813367252543941 Centerline is valid? [True, True] Translation: X:749.21, Y:-60.06, Z:2.39 [[ 9.99146898e-01 3.66910072e-02 -1.89537928e-02 7.49205420e+02] [-3.66668124e-02 9.99326229e-01 1.62257509e-03 -6.00581795e+01] [ 1.90005562e-02 -9.26215706e-04 9.99819044e-01 2.38907361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.750714057 meters Centerline goodness [0,1] 0.980048953955572 Centerline is valid? [True, True] Translation: X:749.23, Y:-60.06, Z:2.39 [[ 9.99183168e-01 3.54681249e-02 -1.93651497e-02 7.49234086e+02] [-3.54427275e-02 9.99370342e-01 1.65324806e-03 -6.00642815e+01] [ 1.94115938e-02 -9.65543908e-04 9.99811111e-01 2.38862435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.780714057 meters Centerline goodness [0,1] 0.9790016577638607 Centerline is valid? [True, True] Translation: X:749.26, Y:-60.07, Z:2.39 [[ 9.99208660e-01 3.43832133e-02 -1.99961864e-02 7.49262484e+02] [-3.43560108e-02 9.99408208e-01 1.70242564e-03 -6.00696427e+01] [ 2.00428877e-02 -1.01408924e-03 9.99798607e-01 2.38835250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8107140569999 meters Centerline goodness [0,1] 0.9823674107450746 Centerline is valid? [True, True] Translation: X:749.29, Y:-60.07, Z:2.39 [[ 9.99237242e-01 3.30688265e-02 -2.07698523e-02 7.49291194e+02] [-3.30392999e-02 9.99452498e-01 1.76324468e-03 -6.00684480e+01] [ 2.08167892e-02 -1.07567837e-03 9.99782728e-01 2.38988004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8407140569999 meters Centerline goodness [0,1] 0.9815997253690354 Centerline is valid? [True, True] Translation: X:749.32, Y:-60.08, Z:2.39 [[ 9.99250162e-01 3.27493041e-02 -2.06542105e-02 7.49318881e+02] [-3.27201149e-02 9.99463022e-01 1.74968562e-03 -6.00753228e+01] [ 2.07004206e-02 -1.07256550e-03 9.99785148e-01 2.38972856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.870714057 meters Centerline goodness [0,1] 0.9807286892758936 Centerline is valid? [True, True] Translation: X:749.35, Y:-60.08, Z:2.39 [[ 9.99242486e-01 3.25726148e-02 -2.12950277e-02 7.49346562e+02] [-3.25416241e-02 9.99468760e-01 1.80030542e-03 -6.00779204e+01] [ 2.13423556e-02 -1.10596688e-03 9.99771614e-01 2.39057243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.900714057 meters Centerline goodness [0,1] 0.9822867081655071 Centerline is valid? [True, True] Translation: X:749.38, Y:-60.08, Z:2.39 [[ 9.99249092e-01 3.26101854e-02 -2.09243510e-02 7.49375206e+02] [-3.25803879e-02 9.99467562e-01 1.76347355e-03 -6.00795124e+01] [ 2.09707173e-02 -1.08042587e-03 9.99779507e-01 2.39186005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9307140569999 meters Centerline goodness [0,1] 0.9816158794844204 Centerline is valid? [True, True] Translation: X:749.40, Y:-60.09, Z:2.39 [[ 9.99239042e-01 3.32638051e-02 -2.03680120e-02 7.49403358e+02] [-3.32358077e-02 9.99446072e-01 1.71164181e-03 -6.00852699e+01] [ 2.04136654e-02 -1.03339199e-03 9.99791085e-01 2.39249080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9607140569999 meters Centerline goodness [0,1] 0.9827005476250487 Centerline is valid? [True, True] Translation: X:749.43, Y:-60.09, Z:2.39 [[ 9.99236870e-01 3.33447293e-02 -2.03422342e-02 7.49431702e+02] [-3.33169212e-02 9.99443384e-01 1.70448594e-03 -6.00891768e+01] [ 2.03877470e-02 -1.02544458e-03 9.99791622e-01 2.39273503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.990714057 meters Centerline goodness [0,1] 0.9818953905161982 Centerline is valid? [True, True] Translation: X:749.46, Y:-60.09, Z:2.39 [[ 9.99242750e-01 3.32887155e-02 -2.01441767e-02 7.49460267e+02] [-3.32615346e-02 9.99445265e-01 1.68295751e-03 -6.00911189e+01] [ 2.01890255e-02 -1.01165686e-03 9.99795669e-01 2.39354613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.020714057 meters Centerline goodness [0,1] 0.9814156873462695 Centerline is valid? [True, True] Translation: X:749.49, Y:-60.10, Z:2.39 [[ 9.99251562e-01 3.28518232e-02 -2.04223899e-02 7.49488815e+02] [-3.28239000e-02 9.99459703e-01 1.70108283e-03 -6.00959065e+01] [ 2.04672394e-02 -1.02946719e-03 9.99789994e-01 2.39422620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0507140569999 meters Centerline goodness [0,1] 0.9810251411212623 Centerline is valid? [True, True] Translation: X:749.52, Y:-60.10, Z:2.39 [[ 9.99259642e-01 3.24698901e-02 -2.06367388e-02 7.49515643e+02] [-3.24413778e-02 9.99472169e-01 1.71499722e-03 -6.01025279e+01] [ 2.06815319e-02 -1.04424327e-03 9.99785569e-01 2.39415586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0807140569999 meters Centerline goodness [0,1] 0.9804972187535476 Centerline is valid? [True, True] Translation: X:749.54, Y:-60.10, Z:2.39 [[ 9.99267585e-01 3.16522128e-02 -2.15041958e-02 7.49543788e+02] [-3.16211102e-02 9.99498334e-01 1.78492778e-03 -6.01049196e+01] [ 2.15499048e-02 -1.10363393e-03 9.99767165e-01 2.39438316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1107140569999 meters Centerline goodness [0,1] 0.9814086683788268 Centerline is valid? [True, True] Translation: X:749.57, Y:-60.11, Z:2.39 [[ 9.99295151e-01 3.08907536e-02 -2.13298278e-02 7.49572004e+02] [-3.08600515e-02 9.99522153e-01 1.76713637e-03 -6.01100633e+01] [ 2.13742236e-02 -1.10765122e-03 9.99770932e-01 2.39432947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.140714057 meters Centerline goodness [0,1] 0.9804637037372799 Centerline is valid? [True, True] Translation: X:749.60, Y:-60.12, Z:2.39 [[ 9.99349396e-01 2.90057102e-02 -2.14348794e-02 7.49600286e+02] [-2.89743468e-02 9.99578584e-01 1.77238108e-03 -6.01184019e+01] [ 2.14772555e-02 -1.15016633e-03 9.99768676e-01 2.39463792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1707140569999 meters Centerline goodness [0,1] 0.9810414731930508 Centerline is valid? [True, True] Translation: X:749.63, Y:-60.12, Z:2.40 [[ 9.99372037e-01 2.82493523e-02 -2.13893955e-02 7.49628645e+02] [-2.82180109e-02 9.99600233e-01 1.76574240e-03 -6.01231643e+01] [ 2.14307258e-02 -1.16106738e-03 9.99769661e-01 2.39521767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2007140569999 meters Centerline goodness [0,1] 0.9804582362653518 Centerline is valid? [True, True] Translation: X:749.66, Y:-60.13, Z:2.39 [[ 9.99399635e-01 2.69699519e-02 -2.17483847e-02 7.49656853e+02] [-2.69373629e-02 9.99635521e-01 1.79007540e-03 -6.01275701e+01] [ 2.17887361e-02 -1.20315657e-03 9.99761873e-01 2.39497345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2307140569999 meters Centerline goodness [0,1] 0.9816758061968271 Centerline is valid? [True, True] Translation: X:749.69, Y:-60.13, Z:2.40 [[ 9.99428050e-01 2.56852975e-02 -2.19963371e-02 7.49685713e+02] [-2.56517708e-02 9.99669310e-01 1.80504513e-03 -6.01295406e+01] [ 2.20354262e-02 -1.23976773e-03 9.99756422e-01 2.39627481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.260714057 meters Centerline goodness [0,1] 0.9793726021214173 Centerline is valid? [True, True] Translation: X:749.71, Y:-60.14, Z:2.40 [[ 9.99446615e-01 2.50072985e-02 -2.19339468e-02 7.49713139e+02] [-2.49738848e-02 9.99686491e-01 1.79602103e-03 -6.01400682e+01] [ 2.19719839e-02 -1.24725128e-03 9.99757809e-01 2.39562736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.290714057 meters Centerline goodness [0,1] 0.9804547805942286 Centerline is valid? [True, True] Translation: X:749.74, Y:-60.14, Z:2.40 [[ 9.99462080e-01 2.46283122e-02 -2.16563281e-02 7.49740973e+02] [-2.45957332e-02 9.99695913e-01 1.76947908e-03 -6.01370949e+01] [ 2.16933220e-02 -1.23587398e-03 9.99763908e-01 2.39743227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3207140569999 meters Centerline goodness [0,1] 0.9793249134792575 Centerline is valid? [True, True] Translation: X:749.77, Y:-60.15, Z:2.40 [[ 9.99463308e-01 2.47579559e-02 -2.14508450e-02 7.49768119e+02] [-2.47261138e-02 9.99692734e-01 1.74842160e-03 -6.01512031e+01] [ 2.14875413e-02 -1.21708720e-03 9.99768375e-01 2.39688641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3507140569999 meters Centerline goodness [0,1] 0.9789807920216453 Centerline is valid? [True, True] Translation: X:749.80, Y:-60.16, Z:2.40 [[ 9.99461792e-01 2.50529530e-02 -2.11772388e-02 7.49796152e+02] [-2.50220509e-02 9.99685415e-01 1.72297406e-03 -6.01552360e+01] [ 2.12137423e-02 -1.19214880e-03 9.99774252e-01 2.39716749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.380714057 meters Centerline goodness [0,1] 0.9808166375330555 Centerline is valid? [True, True] Translation: X:749.83, Y:-60.15, Z:2.40 [[ 9.99444717e-01 2.58281738e-02 -2.10514624e-02 7.49825535e+02] [-2.57979091e-02 9.99665719e-01 1.70800875e-03 -6.01538911e+01] [ 2.10885401e-02 -1.16397661e-03 9.99776934e-01 2.39931958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.410714057 meters Centerline goodness [0,1] 0.9803398493543759 Centerline is valid? [True, True] Translation: X:749.85, Y:-60.15, Z:2.40 [[ 9.99428209e-01 2.65746547e-02 -2.09055807e-02 7.49854233e+02] [-2.65450717e-02 9.99646187e-01 1.69135601e-03 -6.01521719e+01] [ 2.09431312e-02 -1.13544877e-03 9.99780024e-01 2.40102694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4407140569999 meters Centerline goodness [0,1] 0.980557733228805 Centerline is valid? [True, True] Translation: X:749.88, Y:-60.15, Z:2.40 [[ 9.99366728e-01 2.86145226e-02 -2.11506927e-02 7.49883385e+02] [-2.85848056e-02 9.99589915e-01 1.70607221e-03 -6.01532257e+01] [ 2.11908375e-02 -1.10040336e-03 9.99774843e-01 2.40195635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4707140569999 meters Centerline goodness [0,1] 0.9792380568433784 Centerline is valid? [True, True] Translation: X:749.91, Y:-60.16, Z:2.40 [[ 9.99345775e-01 2.94590242e-02 -2.09806434e-02 7.49910588e+02] [-2.94300439e-02 9.99565416e-01 1.68878281e-03 -6.01630356e+01] [ 2.10212754e-02 -1.07021671e-03 9.99778456e-01 2.40100492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.500714057 meters Centerline goodness [0,1] 0.9809660299617081 Centerline is valid? [True, True] Translation: X:749.94, Y:-60.16, Z:2.40 [[ 9.99329313e-01 2.99192885e-02 -2.11130480e-02 7.49939877e+02] [-2.98901146e-02 9.99551752e-01 1.69608967e-03 -6.01585824e+01] [ 2.11543299e-02 -1.06388070e-03 9.99775656e-01 2.40260340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.530714057 meters Centerline goodness [0,1] 0.9797392490551692 Centerline is valid? [True, True] Translation: X:749.97, Y:-60.17, Z:2.40 [[ 9.99300985e-01 3.06368736e-02 -2.14225190e-02 7.49967301e+02] [-3.06070865e-02 9.99530019e-01 1.71703357e-03 -6.01686306e+01] [ 2.14650554e-02 -1.06015244e-03 9.99769037e-01 2.40164730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5607140569999 meters Centerline goodness [0,1] 0.9817546844567822 Centerline is valid? [True, True] Translation: X:750.00, Y:-60.17, Z:2.40 [[ 9.99284087e-01 3.08002529e-02 -2.19694727e-02 7.49996682e+02] [-3.07690435e-02 9.99524976e-01 1.75727999e-03 -6.01657099e+01] [ 2.20131613e-02 -1.08004227e-03 9.99757098e-01 2.40351209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5907140569999 meters Centerline goodness [0,1] 0.9821149814905669 Centerline is valid? [True, True] Translation: X:750.02, Y:-60.17, Z:2.40 [[ 9.99262975e-01 3.12763646e-02 -2.22552540e-02 7.50024570e+02] [-3.12445446e-02 9.99510192e-01 1.77614805e-03 -6.01689221e+01] [ 2.22999047e-02 -1.07948371e-03 9.99750743e-01 2.40355270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.620714057 meters Centerline goodness [0,1] 0.981876761981474 Centerline is valid? [True, True] Translation: X:750.05, Y:-60.17, Z:2.40 [[ 9.99226724e-01 3.18385179e-02 -2.30708111e-02 7.50051838e+02] [-3.18045203e-02 9.99492416e-01 1.83914732e-03 -6.01721296e+01] [ 2.31176564e-02 -1.10396907e-03 9.99732142e-01 2.40391988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.650714057 meters Centerline goodness [0,1] 0.9822178536323831 Centerline is valid? [True, True] Translation: X:750.08, Y:-60.17, Z:2.40 [[ 9.99147779e-01 3.42985632e-02 -2.29635539e-02 7.50081481e+02] [-3.42655625e-02 9.99411089e-01 1.82914821e-03 -6.01747743e+01] [ 2.30127675e-02 -1.04073028e-03 9.99734629e-01 2.40482861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6807140569999 meters Centerline goodness [0,1] 0.982924703305545 Centerline is valid? [True, True] Translation: X:750.11, Y:-60.18, Z:2.41 [[ 9.99126636e-01 3.50647354e-02 -2.27250724e-02 7.50110621e+02] [-3.50326807e-02 9.99384533e-01 1.80724593e-03 -6.01763898e+01] [ 2.27744564e-02 -1.00954734e-03 9.99740119e-01 2.40593128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7107140569999 meters Centerline goodness [0,1] 0.9827988532568838 Centerline is valid? [True, True] Translation: X:750.14, Y:-60.18, Z:2.41 [[ 9.99095918e-01 3.61372220e-02 -2.23930505e-02 7.50138669e+02] [-3.61064862e-02 9.99346371e-01 1.77549365e-03 -6.01798953e+01] [ 2.24425751e-02 -9.65354092e-04 9.99747668e-01 2.40621504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.740714057 meters Centerline goodness [0,1] 0.9827405273851787 Centerline is valid? [True, True] Translation: X:750.17, Y:-60.18, Z:2.41 [[ 9.99073748e-01 3.68410928e-02 -2.22346681e-02 7.50167226e+02] [-3.68110872e-02 9.99320697e-01 1.75742107e-03 -6.01825892e+01] [ 2.22843094e-02 -9.37310948e-04 9.99751235e-01 2.40696192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.770714057 meters Centerline goodness [0,1] 0.9822498435124742 Centerline is valid? [True, True] Translation: X:750.20, Y:-60.18, Z:2.41 [[ 9.98990361e-01 3.90518922e-02 -2.22083090e-02 7.50196017e+02] [-3.90225859e-02 9.99236794e-01 1.75161360e-03 -6.01841189e+01] [ 2.22597633e-02 -8.83219461e-04 9.99751831e-01 2.40850739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8007140569999 meters Centerline goodness [0,1] 0.9819116272860766 Centerline is valid? [True, True] Translation: X:750.22, Y:-60.19, Z:2.41 [[ 9.98970174e-01 3.97869367e-02 -2.18080361e-02 7.50223891e+02] [-3.97589235e-02 9.99207827e-01 1.71678588e-03 -6.01888406e+01] [ 2.18590661e-02 -8.47953844e-04 9.99760702e-01 2.40822720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8307140569999 meters Centerline goodness [0,1] 0.9825847438802257 Centerline is valid? [True, True] Translation: X:750.25, Y:-60.19, Z:2.41 [[ 9.98947085e-01 4.03575259e-02 -2.18172380e-02 7.50252454e+02] [-4.03297436e-02 9.99184958e-01 1.71208792e-03 -6.01885770e+01] [ 2.18685517e-02 -8.30401618e-04 9.99760510e-01 2.40902014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8607140569999 meters Centerline goodness [0,1] 0.9833195816515398 Centerline is valid? [True, True] Translation: X:750.28, Y:-60.19, Z:2.41 [[ 9.98948953e-01 4.04215030e-02 -2.16123151e-02 7.50280972e+02] [-4.03943709e-02 9.99182384e-01 1.69066764e-03 -6.01938198e+01] [ 2.16629838e-02 -8.15874797e-04 9.99764997e-01 2.40863438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.890714057 meters Centerline goodness [0,1] 0.9824432413163113 Centerline is valid? [True, True] Translation: X:750.31, Y:-60.20, Z:2.41 [[ 9.98966849e-01 4.01961150e-02 -2.12015924e-02 7.50307938e+02] [-4.01700399e-02 9.99191488e-01 1.65449016e-03 -6.02005900e+01] [ 2.12509548e-02 -8.01112006e-04 9.99773852e-01 2.40769037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9207140569999 meters Centerline goodness [0,1] 0.9830987168367914 Centerline is valid? [True, True] Translation: X:750.34, Y:-60.20, Z:2.41 [[ 9.98989615e-01 3.94699254e-02 -2.14912747e-02 7.50336512e+02] [-3.94430491e-02 9.99220419e-01 1.67318856e-03 -6.01988972e+01] [ 2.15405612e-02 -8.23816588e-04 9.99767636e-01 2.40920099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9507140569999 meters Centerline goodness [0,1] 0.9833611760775142 Centerline is valid? [True, True] Translation: X:750.36, Y:-60.20, Z:2.41 [[ 9.99016150e-01 3.85700490e-02 -2.18879694e-02 7.50364094e+02] [-3.85420441e-02 9.99255533e-01 1.70003575e-03 -6.02039918e+01] [ 2.19372450e-02 -8.54756083e-04 9.99758984e-01 2.40939662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9807140569999 meters Centerline goodness [0,1] 0.9821872778962332 Centerline is valid? [True, True] Translation: X:750.39, Y:-60.21, Z:2.41 [[ 9.99098373e-01 3.64262551e-02 -2.18075410e-02 7.50392461e+02] [-3.63979810e-02 9.99335941e-01 1.69218146e-03 -6.02110505e+01] [ 2.18546993e-02 -8.96905281e-04 9.99760755e-01 2.40971490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.010714057 meters Centerline goodness [0,1] 0.9823117143174992 Centerline is valid? [True, True] Translation: X:750.42, Y:-60.21, Z:2.41 [[ 9.99137994e-01 3.51959067e-02 -2.20117366e-02 7.50420872e+02] [-3.51668720e-02 9.99380000e-01 1.70487212e-03 -6.02126401e+01] [ 2.20580938e-02 -9.29318582e-04 9.99756259e-01 2.41052039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.040714057 meters Centerline goodness [0,1] 0.9820833888370853 Centerline is valid? [True, True] Translation: X:750.45, Y:-60.22, Z:2.41 [[ 9.99179138e-01 3.40427113e-02 -2.19577955e-02 7.50448179e+02] [-3.40136273e-02 9.99419929e-01 1.69676847e-03 -6.02185788e+01] [ 2.20028210e-02 -9.48511387e-04 9.99757459e-01 2.41001700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0707140569999 meters Centerline goodness [0,1] 0.982053154528757 Centerline is valid? [True, True] Translation: X:750.48, Y:-60.23, Z:2.41 [[ 9.99242183e-01 3.13741961e-02 -2.30373340e-02 7.50476865e+02] [-3.13415133e-02 9.99507152e-01 1.77847156e-03 -6.02253389e+01] [ 2.30817782e-02 -1.05509890e-03 9.99733024e-01 2.40953863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1007140569999 meters Centerline goodness [0,1] 0.9831054080454666 Centerline is valid? [True, True] Translation: X:750.50, Y:-60.23, Z:2.41 [[ 9.99285675e-01 2.99983295e-02 -2.29834567e-02 7.50503780e+02] [-2.99654776e-02 9.99549363e-01 1.77251820e-03 -6.02302984e+01] [ 2.30262721e-02 -1.08254179e-03 9.99734274e-01 2.40997638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.130714057 meters Centerline goodness [0,1] 0.9813908150379937 Centerline is valid? [True, True] Translation: X:750.53, Y:-60.23, Z:2.41 [[ 9.99334164e-01 2.87244800e-02 -2.24974110e-02 7.50531905e+02] [-2.86927301e-02 9.99586777e-01 1.73286473e-03 -6.02334470e+01] [ 2.25378902e-02 -1.08619878e-03 9.99745399e-01 2.41051472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.160714057 meters Centerline goodness [0,1] 0.9807032684945451 Centerline is valid? [True, True] Translation: X:750.56, Y:-60.24, Z:2.41 [[ 9.99419905e-01 2.66110508e-02 -2.12533730e-02 7.50559877e+02] [-2.65822708e-02 9.99645291e-01 1.63555356e-03 -6.02440089e+01] [ 2.12893580e-02 -1.06964187e-03 9.99772784e-01 2.41192767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1907140569999 meters Centerline goodness [0,1] 0.9808440983896656 Centerline is valid? [True, True] Translation: X:750.59, Y:-60.24, Z:2.41 [[ 9.99458607e-01 2.52183137e-02 -2.11312677e-02 7.50589058e+02] [-2.51896132e-02 9.99681373e-01 1.62331595e-03 -6.02441119e+01] [ 2.11654720e-02 -1.09014864e-03 9.99775392e-01 2.41305498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2207140569999 meters Centerline goodness [0,1] 0.9804138296931647 Centerline is valid? [True, True] Translation: X:750.62, Y:-60.25, Z:2.41 [[ 9.99470882e-01 2.45664589e-02 -2.13177021e-02 7.50616443e+02] [-2.45371910e-02 9.99697583e-01 1.63346486e-03 -6.02536763e+01] [ 2.13513837e-02 -1.10952404e-03 9.99771418e-01 2.41190371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.250714057 meters Centerline goodness [0,1] 0.9801856087262492 Centerline is valid? [True, True] Translation: X:750.65, Y:-60.26, Z:2.41 [[ 9.99482521e-01 2.32708451e-02 -2.22071691e-02 7.50645302e+02] [-2.32388531e-02 9.99728500e-01 1.69762981e-03 -6.02563546e+01] [ 2.22406451e-02 -1.18068218e-03 9.99751949e-01 2.41180970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.280714057 meters Centerline goodness [0,1] 0.9813573940157898 Centerline is valid? [True, True] Translation: X:750.67, Y:-60.25, Z:2.41 [[ 9.99505009e-01 2.20567437e-02 -2.24329534e-02 7.50673916e+02] [-2.20239141e-02 9.99755983e-01 1.70949464e-03 -6.02545028e+01] [ 2.24651853e-02 -1.21458702e-03 9.99746888e-01 2.41301404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3107140569999 meters Centerline goodness [0,1] 0.9811220655201379 Centerline is valid? [True, True] Translation: X:750.70, Y:-60.26, Z:2.41 [[ 9.99538596e-01 2.01319675e-02 -2.27442001e-02 7.50702188e+02] [-2.00978050e-02 9.99796523e-01 1.72963938e-03 -6.02601646e+01] [ 2.27743932e-02 -1.27173282e-03 9.99739821e-01 2.41288668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3407140569999 meters Centerline goodness [0,1] 0.9809870818151706 Centerline is valid? [True, True] Translation: X:750.73, Y:-60.27, Z:2.41 [[ 9.99557192e-01 1.91607987e-02 -2.27658464e-02 7.50729337e+02] [-1.91263556e-02 9.99815578e-01 1.72972971e-03 -6.02650199e+01] [ 2.27947909e-02 -1.29353610e-03 9.99739328e-01 2.41296140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.370714057 meters Centerline goodness [0,1] 0.9820332847746436 Centerline is valid? [True, True] Translation: X:750.76, Y:-60.26, Z:2.41 [[ 9.99573742e-01 1.79792107e-02 -2.30017714e-02 7.50758167e+02] [-1.79437804e-02 9.99837473e-01 1.74581845e-03 -6.02649759e+01] [ 2.30294215e-02 -1.33233555e-03 9.99733900e-01 2.41427664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.400714057 meters Centerline goodness [0,1] 0.9819517684178011 Centerline is valid? [True, True] Translation: X:750.79, Y:-60.27, Z:2.41 [[ 9.99597994e-01 1.59024771e-02 -2.34725507e-02 7.50787309e+02] [-1.58650459e-02 9.99872558e-01 1.78005397e-03 -6.02692999e+01] [ 2.34978665e-02 -1.40694528e-03 9.99722897e-01 2.41464944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4307140569999 meters Centerline goodness [0,1] 0.9819517684178011 Centerline is valid? [True, True] Translation: X:750.81, Y:-60.27, Z:2.41 [[ 9.99599692e-01 1.57952177e-02 -2.34726923e-02 7.50814748e+02] [-1.57578007e-02 9.99874257e-01 1.77818496e-03 -6.02712894e+01] [ 2.34978276e-02 -1.40759513e-03 9.99722897e-01 2.41498316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4607140569999 meters Centerline goodness [0,1] 0.9814325360116295 Centerline is valid? [True, True] Translation: X:750.84, Y:-60.28, Z:2.42 [[ 9.99610386e-01 1.45580268e-02 -2.38147153e-02 7.50841614e+02] [-1.45192369e-02 9.99892968e-01 1.80093202e-03 -6.02765567e+01] [ 2.38383844e-02 -1.45445886e-03 9.99714767e-01 2.41511918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.490714057 meters Centerline goodness [0,1] 0.9803804994054697 Centerline is valid? [True, True] Translation: X:750.87, Y:-60.28, Z:2.42 [[ 9.99645764e-01 1.33831280e-02 -2.30051795e-02 7.50868820e+02] [-1.33466853e-02 9.99909420e-01 1.73692709e-03 -6.02812535e+01] [ 2.30263412e-02 -1.42926891e-03 9.99733837e-01 2.41547647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.520714057 meters Centerline goodness [0,1] 0.9806314030690761 Centerline is valid? [True, True] Translation: X:750.90, Y:-60.29, Z:2.42 [[ 9.99654175e-01 1.29816869e-02 -2.28693136e-02 7.50896480e+02] [-1.29456247e-02 9.99914715e-01 1.72423179e-03 -6.02883410e+01] [ 2.28897467e-02 -1.42757796e-03 9.99736976e-01 2.41567367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5507140569999 meters Centerline goodness [0,1] 0.9812767827711241 Centerline is valid? [True, True] Translation: X:750.93, Y:-60.28, Z:2.42 [[ 9.99666329e-01 1.25860630e-02 -2.25570663e-02 7.50925907e+02] [-1.25509301e-02 9.99919792e-01 1.69841296e-03 -6.02844496e+01] [ 2.25766333e-02 -1.41473408e-03 9.99744114e-01 2.41769624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5807140569999 meters Centerline goodness [0,1] 0.9809997141160689 Centerline is valid? [True, True] Translation: X:750.95, Y:-60.29, Z:2.42 [[ 9.99686103e-01 1.21645682e-02 -2.19024950e-02 7.50954888e+02] [-1.21313781e-02 9.99925055e-01 1.64759528e-03 -6.02867089e+01] [ 2.19208958e-02 -1.38137066e-03 9.99758754e-01 2.41841896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6107140569999 meters Centerline goodness [0,1] 0.9817933946083821 Centerline is valid? [True, True] Translation: X:750.98, Y:-60.29, Z:2.42 [[ 9.99695757e-01 1.23856913e-02 -2.13304420e-02 7.50983211e+02] [-1.23542947e-02 9.99922398e-01 1.60306825e-03 -6.02899206e+01] [ 2.13486418e-02 -1.33905796e-03 9.99771195e-01 2.41931625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.640714057 meters Centerline goodness [0,1] 0.981689893172726 Centerline is valid? [True, True] Translation: X:751.01, Y:-60.29, Z:2.42 [[ 9.99688512e-01 1.24356615e-02 -2.16386787e-02 7.51011905e+02] [-1.24033961e-02 9.99921755e-01 1.62467587e-03 -6.02896842e+01] [ 2.16571895e-02 -1.35577670e-03 9.99764536e-01 2.42112731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6707140569999 meters Centerline goodness [0,1] 0.9680320092397805 Centerline is valid? [True, True] Translation: X:751.04, Y:-60.32, Z:2.42 [[ 9.99677464e-01 1.42500722e-02 -2.10214905e-02 7.51038657e+02] [-1.42200472e-02 9.99897646e-01 1.57709442e-03 -6.03189524e+01] [ 2.10418126e-02 -1.27765916e-03 9.99777780e-01 2.41740521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7007140569999 meters Centerline goodness [0,1] 0.9809228331903096 Centerline is valid? [True, True] Translation: X:751.07, Y:-60.29, Z:2.42 [[ 9.99673592e-01 1.31159594e-02 -2.19244487e-02 7.51069459e+02] [-1.30830551e-02 9.99913062e-01 1.64357524e-03 -6.02948661e+01] [ 2.19440997e-02 -1.35619999e-03 9.99758279e-01 2.42129017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7307140569999 meters Centerline goodness [0,1] 0.9817617128130576 Centerline is valid? [True, True] Translation: X:751.10, Y:-60.30, Z:2.42 [[ 9.99665474e-01 1.36827332e-02 -2.19481705e-02 7.51098486e+02] [-1.36499282e-02 9.99905484e-01 1.64378409e-03 -6.02967003e+01] [ 2.19685875e-02 -1.34364325e-03 9.99757759e-01 2.42122933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.760714057 meters Centerline goodness [0,1] 0.9808170358800625 Centerline is valid? [True, True] Translation: X:751.13, Y:-60.30, Z:2.42 [[ 9.99620696e-01 1.54837143e-02 -2.27753929e-02 7.51126797e+02] [-1.54488926e-02 9.99879207e-01 1.70408173e-03 -6.02981841e+01] [ 2.27990273e-02 -1.35158076e-03 9.99739155e-01 2.42149223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.790714057 meters Centerline goodness [0,1] 0.982096791974424 Centerline is valid? [True, True] Translation: X:751.16, Y:-60.30, Z:2.42 [[ 9.99594119e-01 1.69335144e-02 -2.29096704e-02 7.51155800e+02] [-1.68986978e-02 9.99855740e-01 1.71249100e-03 -6.02971732e+01] [ 2.29353639e-02 -1.32465234e-03 9.99736072e-01 2.42214464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8207140569999 meters Centerline goodness [0,1] 0.9816449304000351 Centerline is valid? [True, True] Translation: X:751.18, Y:-60.30, Z:2.42 [[ 9.99562334e-01 1.84726441e-02 -2.31063285e-02 7.51183248e+02] [-1.84376796e-02 9.99828523e-01 1.72534269e-03 -6.02990606e+01] [ 2.31342379e-02 -1.29856049e-03 9.99731524e-01 2.42243085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8507140569999 meters Centerline goodness [0,1] 0.9826976620851195 Centerline is valid? [True, True] Translation: X:751.21, Y:-60.30, Z:2.42 [[ 9.99504883e-01 2.17094588e-02 -2.27747363e-02 7.51213752e+02] [-2.16763631e-02 9.99763596e-01 1.69906796e-03 -6.02960040e+01] [ 2.28062381e-02 -1.20455327e-03 9.99739178e-01 2.42336751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.880714057 meters Centerline goodness [0,1] 0.9819784093412646 Centerline is valid? [True, True] Translation: X:751.24, Y:-60.30, Z:2.42 [[ 9.99471761e-01 2.36612657e-02 -2.22787580e-02 7.51241465e+02] [-2.36301195e-02 9.99719391e-01 1.66028005e-03 -6.02972476e+01] [ 2.23117907e-02 -1.13295331e-03 9.99750419e-01 2.42348193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.910714057 meters Centerline goodness [0,1] 0.9812315292664637 Centerline is valid? [True, True] Translation: X:751.27, Y:-60.30, Z:2.42 [[ 9.99433882e-01 2.53732335e-02 -2.20933253e-02 7.51270314e+02] [-2.53430699e-02 9.99677461e-01 1.64425087e-03 -6.02983043e+01] [ 2.21279193e-02 -1.08340734e-03 9.99754561e-01 2.42354582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9407140569999 meters Centerline goodness [0,1] 0.9826323591229894 Centerline is valid? [True, True] Translation: X:751.30, Y:-60.30, Z:2.42 [[ 9.99331414e-01 2.97562585e-02 -2.12435661e-02 7.51299758e+02] [-2.97293832e-02 9.99556736e-01 1.57986815e-03 -6.02978171e+01] [ 2.12811606e-02 -9.47253759e-04 9.99773082e-01 2.42456688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9707140569999 meters Centerline goodness [0,1] 0.9827608895907356 Centerline is valid? [True, True] Translation: X:751.33, Y:-60.30, Z:2.43 [[ 9.99278290e-01 3.18011450e-02 -2.07746422e-02 7.51328184e+02] [-3.17759054e-02 9.99493826e-01 1.54398307e-03 -6.02982609e+01] [ 2.08132270e-02 -8.82735699e-04 9.99782992e-01 2.42530995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.000714057 meters Centerline goodness [0,1] 0.9842674750514461 Centerline is valid? [True, True] Translation: X:751.36, Y:-60.29, Z:2.43 [[ 9.99252944e-01 3.32046013e-02 -1.97739539e-02 7.51357203e+02] [-3.31820625e-02 9.99448247e-01 1.46693037e-03 -6.02949940e+01] [ 1.98117524e-02 -8.09693918e-04 9.99803400e-01 2.42708518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.030714057 meters Centerline goodness [0,1] 0.9843739610346433 Centerline is valid? [True, True] Translation: X:751.39, Y:-60.30, Z:2.43 [[ 9.99216385e-01 3.44940397e-02 -1.94107471e-02 7.51385687e+02] [-3.44726567e-02 9.99404611e-01 1.43523004e-03 -6.02960626e+01] [ 1.94486971e-02 -7.64965347e-04 9.99810564e-01 2.42770616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0607140569999 meters Centerline goodness [0,1] 0.9837310195227765 Centerline is valid? [True, True] Translation: X:751.41, Y:-60.30, Z:2.43 [[ 9.99171938e-01 3.63422631e-02 -1.82942044e-02 7.51413164e+02] [-3.63236416e-02 9.99339168e-01 1.34926104e-03 -6.02975286e+01] [ 1.83311502e-02 -6.83631648e-04 9.99831737e-01 2.42737835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0907140569999 meters Centerline goodness [0,1] 0.9839379612036587 Centerline is valid? [True, True] Translation: X:751.44, Y:-60.30, Z:2.43 [[ 9.99173401e-01 3.65226501e-02 -1.78496783e-02 7.51441667e+02] [-3.65049955e-02 9.99332607e-01 1.31400393e-03 -6.02997458e+01] [ 1.78857565e-02 -6.61315350e-04 9.99839818e-01 2.42742989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.120714057 meters Centerline goodness [0,1] 0.9830272492209773 Centerline is valid? [True, True] Translation: X:751.47, Y:-60.31, Z:2.43 [[ 9.99227404e-01 3.54722470e-02 -1.69208279e-02 7.51468527e+02] [-3.54562886e-02 9.99370456e-01 1.24228344e-03 -6.03064262e+01] [ 1.69542420e-02 -6.41373906e-04 9.99856061e-01 2.42740507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.150714057 meters Centerline goodness [0,1] 0.982589048378522 Centerline is valid? [True, True] Translation: X:751.50, Y:-60.31, Z:2.43 [[ 9.99272684e-01 3.43432067e-02 -1.65724942e-02 7.51497205e+02] [-3.43277693e-02 9.99409890e-01 1.21516265e-03 -6.03085168e+01] [ 1.66044472e-02 -6.45382082e-04 9.99861928e-01 2.42747960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1807140569999 meters Centerline goodness [0,1] 0.9832300884955752 Centerline is valid? [True, True] Translation: X:751.53, Y:-60.31, Z:2.43 [[ 9.99317393e-01 3.29783439e-02 -1.66486130e-02 7.51526046e+02] [-3.29626081e-02 9.99455842e-01 1.21877612e-03 -6.03074499e+01] [ 1.66797468e-02 -6.69162474e-04 9.99860659e-01 2.42800016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2107140569999 meters Centerline goodness [0,1] 0.982992745930644 Centerline is valid? [True, True] Translation: X:751.55, Y:-60.31, Z:2.43 [[ 9.99372120e-01 3.10678338e-02 -1.70339302e-02 7.51553551e+02] [-3.10511485e-02 9.99517024e-01 1.24320481e-03 -6.03144312e+01] [ 1.70643269e-02 -7.13501127e-04 9.99854139e-01 2.42722457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.240714057 meters Centerline goodness [0,1] 0.9820961178928846 Centerline is valid? [True, True] Translation: X:751.58, Y:-60.32, Z:2.43 [[ 9.99428477e-01 2.92835903e-02 -1.68876022e-02 7.51581567e+02] [-2.92669704e-02 9.99570873e-01 1.23050395e-03 -6.03188017e+01] [ 1.69163888e-02 -7.35551732e-04 9.99856637e-01 2.42683430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.270714057 meters Centerline goodness [0,1] 0.9831607641407812 Centerline is valid? [True, True] Translation: X:751.61, Y:-60.32, Z:2.43 [[ 9.99520079e-01 2.56476702e-02 -1.73726612e-02 7.51611270e+02] [-2.56295541e-02 9.99670709e-01 1.26467593e-03 -6.03219678e+01] [ 1.73993766e-02 -8.18815422e-04 9.99848284e-01 2.42686110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3007140569999 meters Centerline goodness [0,1] 0.9826625386996904 Centerline is valid? [True, True] Translation: X:751.64, Y:-60.32, Z:2.43 [[ 9.99574808e-01 2.38056150e-02 -1.68373322e-02 7.51640185e+02] [-2.37883472e-02 9.99716267e-01 1.22513380e-03 -6.03244545e+01] [ 1.68617200e-02 -8.24080582e-04 9.99857491e-01 2.42764677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3307140569999 meters Centerline goodness [0,1] 0.9835470227418677 Centerline is valid? [True, True] Translation: X:751.67, Y:-60.33, Z:2.43 [[ 9.99612331e-01 2.22045503e-02 -1.67972124e-02 7.51667239e+02] [-2.21871659e-02 9.99753089e-01 1.22062505e-03 -6.03287695e+01] [ 1.68201684e-02 -8.47469310e-04 9.99858172e-01 2.42833815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3607140569999 meters Centerline goodness [0,1] 0.9827777039890202 Centerline is valid? [True, True] Translation: X:751.69, Y:-60.33, Z:2.43 [[ 9.99663422e-01 2.05237255e-02 -1.58687918e-02 7.51694223e+02] [-2.05080364e-02 9.99789026e-01 1.15079369e-03 -6.03334439e+01] [ 1.58890625e-02 -8.24968597e-04 9.99873421e-01 2.42891482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.390714057 meters Centerline goodness [0,1] 0.9834204002125022 Centerline is valid? [True, True] Translation: X:751.72, Y:-60.34, Z:2.43 [[ 9.99730535e-01 1.73759550e-02 -1.53926653e-02 7.51723910e+02] [-1.73608500e-02 9.99848668e-01 1.11440032e-03 -6.03368673e+01] [ 1.54096997e-02 -8.46870275e-04 9.99880905e-01 2.43000274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4207140569999 meters Centerline goodness [0,1] 0.9823183145967956 Centerline is valid? [True, True] Translation: X:751.75, Y:-60.34, Z:2.43 [[ 9.99754369e-01 1.58581027e-02 -1.54829694e-02 7.51753165e+02] [-1.58426436e-02 9.99873869e-01 1.12060703e-03 -6.03411568e+01] [ 1.54987872e-02 -8.75040605e-04 9.99879504e-01 2.43049429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4507140569999 meters Centerline goodness [0,1] 0.981357836980234 Centerline is valid? [True, True] Translation: X:751.78, Y:-60.34, Z:2.43 [[ 9.99793657e-01 1.30487973e-02 -1.55683355e-02 7.51782056e+02] [-1.30328373e-02 9.99914435e-01 1.12618029e-03 -6.03442554e+01] [ 1.55816987e-02 -9.23048326e-04 9.99878172e-01 2.42964288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4807140569999 meters Centerline goodness [0,1] 0.981996944130738 Centerline is valid? [True, True] Translation: X:751.81, Y:-60.35, Z:2.43 [[ 9.99817485e-01 1.17821802e-02 -1.50392039e-02 7.51809602e+02] [-1.17671571e-02 9.99930174e-01 1.08703384e-03 -6.03494934e+01] [ 1.50509614e-02 -9.09866764e-04 9.99886314e-01 2.42988797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.510714057 meters Centerline goodness [0,1] 0.9823716532649995 Centerline is valid? [True, True] Translation: X:751.84, Y:-60.35, Z:2.43 [[ 9.99832173e-01 9.97885854e-03 -1.53638397e-02 7.51838841e+02] [-9.96298699e-03 9.99949753e-01 1.10924061e-03 -6.03502617e+01] [ 1.53741367e-02 -9.55984712e-04 9.99881354e-01 2.43041402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.540714057 meters Centerline goodness [0,1] 0.9815338399010426 Centerline is valid? [True, True] Translation: X:751.87, Y:-60.36, Z:2.43 [[ 9.99856594e-01 5.94759822e-03 -1.58561505e-02 7.51868085e+02] [-5.93019877e-03 9.99981762e-01 1.14412449e-03 -6.03560258e+01] [ 1.58626661e-02 -1.04993029e-03 9.99873629e-01 2.43052628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5707140569999 meters Centerline goodness [0,1] 0.9816896742131419 Centerline is valid? [True, True] Translation: X:751.90, Y:-60.36, Z:2.43 [[ 9.99860242e-01 4.00364385e-03 -1.62316896e-02 7.51897320e+02] [-3.98515867e-03 9.99991374e-01 1.17101806e-03 -6.03587474e+01] [ 1.62362379e-02 -1.10616855e-03 9.99867572e-01 2.43094985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6007140569999 meters Centerline goodness [0,1] 0.9827182837467997 Centerline is valid? [True, True] Translation: X:751.93, Y:-60.36, Z:2.43 [[ 9.99857556e-01 1.89626514e-03 -1.67711463e-02 7.51926716e+02] [-1.87625114e-03 9.99997509e-01 1.20901317e-03 -6.03595721e+01] [ 1.67733971e-02 -1.17737407e-03 9.99858623e-01 2.43146260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.630714057 meters Centerline goodness [0,1] 0.9805596010415287 Centerline is valid? [True, True] Translation: X:751.95, Y:-60.37, Z:2.43 [[ 9.99848187e-01 -4.19390808e-04 -1.74191577e-02 7.51954637e+02] [ 4.41314219e-04 9.99999115e-01 1.25475553e-03 -6.03729025e+01] [ 1.74186161e-02 -1.26225236e-03 9.99847488e-01 2.43042549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.660714057 meters Centerline goodness [0,1] 0.9818225938099755 Centerline is valid? [True, True] Translation: X:751.98, Y:-60.37, Z:2.43 [[ 9.99830796e-01 -4.23495058e-03 -1.79009450e-02 7.51984895e+02] [ 4.25869974e-03 9.99990101e-01 1.28878645e-03 -6.03702170e+01] [ 1.78953098e-02 -1.36480314e-03 9.99838935e-01 2.43160430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6907140569999 meters Centerline goodness [0,1] 0.9811034027089528 Centerline is valid? [True, True] Translation: X:752.01, Y:-60.37, Z:2.43 [[ 9.99821608e-01 -5.59132158e-03 -1.80413453e-02 7.52013984e+02] [ 5.61565811e-03 9.99983389e-01 1.29855147e-03 -6.03709713e+01] [ 1.80337850e-02 -1.39963384e-03 9.99836398e-01 2.43216360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7207140569999 meters Centerline goodness [0,1] 0.9804016559499692 Centerline is valid? [True, True] Translation: X:752.04, Y:-60.37, Z:2.43 [[ 9.99807597e-01 -7.63617778e-03 -1.80681284e-02 7.52043195e+02] [ 7.66090068e-03 9.99969811e-01 1.29949597e-03 -6.03707616e+01] [ 1.80576598e-02 -1.43766408e-03 9.99835914e-01 2.43259125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.750714057 meters Centerline goodness [0,1] 0.9785993929529758 Centerline is valid? [True, True] Translation: X:752.07, Y:-60.37, Z:2.43 [[ 9.99800994e-01 -8.09894212e-03 -1.82312958e-02 7.52071822e+02] [ 8.12414903e-03 9.99966142e-01 1.30897799e-03 -6.03713141e+01] [ 1.82200772e-02 -1.45683126e-03 9.99832939e-01 2.43252732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.780714057 meters Centerline goodness [0,1] 0.9792075496659537 Centerline is valid? [True, True] Translation: X:752.10, Y:-60.37, Z:2.43 [[ 9.99797478e-01 -8.74194782e-03 -1.81268174e-02 7.52100361e+02] [ 8.76688710e-03 9.99960729e-01 1.29681323e-03 -6.03726693e+01] [ 1.81147688e-02 -1.45546636e-03 9.99834855e-01 2.43324559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8107140569999 meters Centerline goodness [0,1] 0.9781602609308886 Centerline is valid? [True, True] Translation: X:752.13, Y:-60.38, Z:2.43 [[ 9.99797071e-01 -9.00849720e-03 -1.80184558e-02 7.52127516e+02] [ 9.03311638e-03 9.99958374e-01 1.28540880e-03 -6.03775575e+01] [ 1.80061262e-02 -1.44791076e-03 9.99836828e-01 2.43391735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8407140569999 meters Centerline goodness [0,1] 0.9766525833993487 Centerline is valid? [True, True] Translation: X:752.16, Y:-60.38, Z:2.43 [[ 9.99791591e-01 -9.15509320e-03 -1.82471848e-02 7.52155334e+02] [ 9.18033528e-03 9.99957015e-01 1.30005552e-03 -6.03824522e+01] [ 1.82344983e-02 -1.46729985e-03 9.99832661e-01 2.43443321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.870714057 meters Centerline goodness [0,1] 0.9782709200184928 Centerline is valid? [True, True] Translation: X:752.19, Y:-60.38, Z:2.44 [[ 9.99805227e-01 -8.37921270e-03 -1.78688955e-02 7.52185018e+02] [ 8.40326358e-03 9.99963884e-01 1.27130249e-03 -6.03768724e+01] [ 1.78575977e-02 -1.42121191e-03 9.99839530e-01 2.43669434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.900714057 meters Centerline goodness [0,1] 0.9776716969510317 Centerline is valid? [True, True] Translation: X:752.21, Y:-60.38, Z:2.44 [[ 9.99807510e-01 -7.24019018e-03 -1.82351888e-02 7.52212785e+02] [ 7.26501008e-03 9.99972771e-01 1.29522148e-03 -6.03803963e+01] [ 1.82253147e-02 -1.42745099e-03 9.99832886e-01 2.43623528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9307140569999 meters Centerline goodness [0,1] 0.9776716969510317 Centerline is valid? [True, True] Translation: X:752.24, Y:-60.38, Z:2.44 [[ 9.99805461e-01 -7.51737918e-03 -1.82353857e-02 7.52240206e+02] [ 7.54219455e-03 9.99970722e-01 1.29244357e-03 -6.03822520e+01] [ 1.82251361e-02 -1.42972696e-03 9.99832886e-01 2.43656878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9607140569999 meters Centerline goodness [0,1] 0.9801835674001991 Centerline is valid? [True, True] Translation: X:752.27, Y:-60.37, Z:2.44 [[ 9.99804046e-01 -5.92989660e-03 -1.88866361e-02 7.52270481e+02] [ 5.95616435e-03 9.99981371e-01 1.33486421e-03 -6.03742662e+01] [ 1.88783686e-02 -1.44709455e-03 9.99820740e-01 2.43777193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.990714057 meters Centerline goodness [0,1] 0.97921784742049 Centerline is valid? [True, True] Translation: X:752.30, Y:-60.38, Z:2.44 [[ 9.99794767e-01 -5.35168897e-03 -1.95392951e-02 7.52298164e+02] [ 5.37967207e-03 9.99984577e-01 1.37986278e-03 -6.03778077e+01] [ 1.95316092e-02 -1.48469459e-03 9.99808138e-01 2.43741498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.020714057 meters Centerline goodness [0,1] 0.979676684579491 Centerline is valid? [True, True] Translation: X:752.33, Y:-60.37, Z:2.44 [[ 9.99778794e-01 -4.33518241e-03 -2.05808217e-02 7.52327645e+02] [ 4.36595009e-03 9.99989418e-01 1.45027153e-03 -6.03742867e+01] [ 2.05743167e-02 -1.53980556e-03 9.99787141e-01 2.43830604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0507140569999 meters Centerline goodness [0,1] 0.9795356683091402 Centerline is valid? [True, True] Translation: X:752.36, Y:-60.37, Z:2.44 [[ 9.99746405e-01 -1.06279929e-03 -2.24943648e-02 7.52358219e+02] [ 1.09865809e-03 9.99998145e-01 1.58182543e-03 -6.03706520e+01] [ 2.24926419e-02 -1.60613790e-03 9.99745718e-01 2.43867531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0807140569999 meters Centerline goodness [0,1] 0.9787577722213617 Centerline is valid? [True, True] Translation: X:752.39, Y:-60.37, Z:2.44 [[ 9.99734586e-01 6.71372644e-04 -2.30283760e-02 7.52388051e+02] [-6.34262505e-04 9.99998489e-01 1.61876227e-03 -6.03703627e+01] [ 2.30294280e-02 -1.60372660e-03 9.99733501e-01 2.43887856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1107140569999 meters Centerline goodness [0,1] 0.9798464065343809 Centerline is valid? [True, True] Translation: X:752.42, Y:-60.37, Z:2.44 [[ 9.99727267e-01 2.24721443e-03 -2.32452503e-02 7.52417475e+02] [-2.20989614e-03 9.99996228e-01 1.63097940e-03 -6.03699892e+01] [ 2.32488278e-02 -1.57916499e-03 9.99728462e-01 2.43924952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.140714057 meters Centerline goodness [0,1] 0.9792788782550634 Centerline is valid? [True, True] Translation: X:752.45, Y:-60.37, Z:2.44 [[ 9.99707025e-01 5.06069005e-03 -2.36696683e-02 7.52446511e+02] [-5.02285860e-03 9.99986012e-01 1.65748955e-03 -6.03674036e+01] [ 2.36777252e-02 -1.53811455e-03 9.99718460e-01 2.44048130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1707140569999 meters Centerline goodness [0,1] 0.979371338189757 Centerline is valid? [True, True] Translation: X:752.48, Y:-60.37, Z:2.44 [[ 9.99695021e-01 6.42182943e-03 -2.38458563e-02 7.52475701e+02] [-6.38389279e-03 9.99978234e-01 1.66669675e-03 -6.03674663e+01] [ 2.38560405e-02 -1.51395906e-03 9.99714258e-01 2.44101277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2007140569999 meters Centerline goodness [0,1] 0.9789326155146715 Centerline is valid? [True, True] Translation: X:752.50, Y:-60.37, Z:2.44 [[ 9.99687860e-01 7.26037326e-03 -2.39054482e-02 7.52504354e+02] [-7.22257234e-03 9.99972527e-01 1.66723122e-03 -6.03650465e+01] [ 2.39168962e-02 -1.49405198e-03 9.99712834e-01 2.44234446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2307140569999 meters Centerline goodness [0,1] 0.9790574748533577 Centerline is valid? [True, True] Translation: X:752.53, Y:-60.36, Z:2.44 [[ 9.99674477e-01 8.95213559e-03 -2.38914071e-02 7.52533507e+02] [-8.91490129e-03 9.99958876e-01 1.66453805e-03 -6.03633468e+01] [ 2.39053258e-02 -1.45100666e-03 9.99713174e-01 2.44338283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.260714057 meters Centerline goodness [0,1] 0.9793428067905503 Centerline is valid? [True, True] Translation: X:752.56, Y:-60.36, Z:2.44 [[ 9.99667743e-01 9.45001751e-03 -2.39812491e-02 7.52562029e+02] [-9.41268663e-03 9.99954307e-01 1.66907527e-03 -6.03640952e+01] [ 2.39959261e-02 -1.44279272e-03 9.99711015e-01 2.44381229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.290714057 meters Centerline goodness [0,1] 0.9792455351178017 Centerline is valid? [True, True] Translation: X:752.59, Y:-60.36, Z:2.44 [[ 9.99663715e-01 1.00280403e-02 -2.39143390e-02 7.52591289e+02] [-9.99112328e-03 9.99948705e-01 1.66270337e-03 -6.03640354e+01] [ 2.39297860e-02 -1.42321311e-03 9.99712629e-01 2.44445929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3207140569999 meters Centerline goodness [0,1] 0.9792455351178017 Centerline is valid? [True, True] Translation: X:752.62, Y:-60.37, Z:2.44 [[ 9.99664783e-01 9.92061248e-03 -2.39144875e-02 7.52618735e+02] [-9.88371583e-03 9.99949776e-01 1.66056603e-03 -6.03658528e+01] [ 2.39297602e-02 -1.42364538e-03 9.99712629e-01 2.44479305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3507140569999 meters Centerline goodness [0,1] 0.9791443372633083 Centerline is valid? [True, True] Translation: X:752.65, Y:-60.36, Z:2.45 [[ 9.99628758e-01 1.09397380e-02 -2.49533414e-02 7.52647880e+02] [-1.08999388e-02 9.99939097e-01 1.73041017e-03 -6.03642141e+01] [ 2.49707518e-02 -1.45777787e-03 9.99687119e-01 2.44534782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.380714057 meters Centerline goodness [0,1] 0.9790715372907154 Centerline is valid? [True, True] Translation: X:752.68, Y:-60.36, Z:2.45 [[ 9.99612374e-01 1.12269729e-02 -2.54765949e-02 7.52676392e+02] [-1.11856268e-02 9.99935881e-01 1.76483952e-03 -6.03648499e+01] [ 2.54947752e-02 -1.47918374e-03 9.99673861e-01 2.44558381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.410714057 meters Centerline goodness [0,1] 0.9790529048428968 Centerline is valid? [True, True] Translation: X:752.71, Y:-60.37, Z:2.45 [[ 9.99588566e-01 1.17277706e-02 -2.61755349e-02 7.52705720e+02] [-1.16844048e-02 9.99930099e-01 1.80907242e-03 -6.03652229e+01] [ 2.61949216e-02 -1.50248256e-03 9.99655725e-01 2.44564144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4407140569999 meters Centerline goodness [0,1] 0.9791148459383754 Centerline is valid? [True, True] Translation: X:752.73, Y:-60.37, Z:2.45 [[ 9.99572375e-01 1.33236160e-02 -2.60297456e-02 7.52733566e+02] [-1.32813902e-02 9.99910188e-01 1.79443512e-03 -6.03666043e+01] [ 2.60513162e-02 -1.44795657e-03 9.99659558e-01 2.44554462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4707140569999 meters Centerline goodness [0,1] 0.9801737033646655 Centerline is valid? [True, True] Translation: X:752.76, Y:-60.37, Z:2.45 [[ 9.99578267e-01 1.38772323e-02 -2.55090199e-02 7.52762366e+02] [-1.38369824e-02 9.99902726e-01 1.75371680e-03 -6.03673187e+01] [ 2.55308753e-02 -1.40000934e-03 9.99673054e-01 2.44620724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.500714057 meters Centerline goodness [0,1] 0.9809267965077233 Centerline is valid? [True, True] Translation: X:752.79, Y:-60.37, Z:2.45 [[ 9.99572276e-01 1.42136220e-02 -2.55585082e-02 7.52791399e+02] [-1.41734886e-02 9.99898018e-01 1.75073595e-03 -6.03675796e+01] [ 2.55807860e-02 -1.38773390e-03 9.99671795e-01 2.44727359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.530714057 meters Centerline goodness [0,1] 0.9787771150280365 Centerline is valid? [True, True] Translation: X:752.82, Y:-60.37, Z:2.45 [[ 9.99573367e-01 1.44862479e-02 -2.53620286e-02 7.52819279e+02] [-1.44469231e-02 9.99894136e-01 1.73309193e-03 -6.03735821e+01] [ 2.53844496e-02 -1.36594925e-03 9.99676830e-01 2.44649980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5607140569999 meters Centerline goodness [0,1] 0.9803118777546591 Centerline is valid? [True, True] Translation: X:752.85, Y:-60.37, Z:2.45 [[ 9.99552555e-01 1.50189233e-02 -2.58673802e-02 7.52847924e+02] [-1.49782455e-02 9.99886261e-01 1.76560211e-03 -6.03740608e+01] [ 2.58909555e-02 -1.37736413e-03 9.99663824e-01 2.44675005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5907140569999 meters Centerline goodness [0,1] 0.9819291983747502 Centerline is valid? [True, True] Translation: X:752.88, Y:-60.37, Z:2.45 [[ 9.99551962e-01 1.51055016e-02 -2.58398626e-02 7.52876671e+02] [-1.50650507e-02 9.99884968e-01 1.75941435e-03 -6.03683385e+01] [ 2.58634670e-02 -1.36934723e-03 9.99664547e-01 2.44903590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.620714057 meters Centerline goodness [0,1] 0.9794471369592532 Centerline is valid? [True, True] Translation: X:752.90, Y:-60.38, Z:2.45 [[ 9.99553331e-01 1.47478246e-02 -2.59930916e-02 7.52903570e+02] [-1.47068848e-02 9.99890289e-01 1.76550406e-03 -6.03789241e+01] [ 2.60162773e-02 -1.38243805e-03 9.99660563e-01 2.44692251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.650714057 meters Centerline goodness [0,1] 0.9805119255381035 Centerline is valid? [True, True] Translation: X:752.93, Y:-60.38, Z:2.45 [[ 9.99584520e-01 1.34447828e-02 -2.54956105e-02 7.52932452e+02] [-1.34050244e-02 9.99908653e-01 1.72969979e-03 -6.03756739e+01] [ 2.55165370e-02 -1.38721186e-03 9.99673438e-01 2.44830701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6807140569999 meters Centerline goodness [0,1] 0.9810336333915536 Centerline is valid? [True, True] Translation: X:752.96, Y:-60.38, Z:2.45 [[ 9.99583571e-01 1.25746203e-02 -2.59723758e-02 7.52960775e+02] [-1.25331228e-02 9.99919909e-01 1.75992868e-03 -6.03764872e+01] [ 2.59924261e-02 -1.43368082e-03 9.99661112e-01 2.44958363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7107140569999 meters Centerline goodness [0,1] 0.9812674639543981 Centerline is valid? [True, True] Translation: X:752.99, Y:-60.38, Z:2.45 [[ 9.99606786e-01 1.19153423e-02 -2.53830205e-02 7.52988371e+02] [-1.18755525e-02 9.99928008e-01 1.71774856e-03 -6.03792445e+01] [ 2.54016607e-02 -1.41563572e-03 9.99676323e-01 2.44962621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.740714057 meters Centerline goodness [0,1] 0.9804141520651516 Centerline is valid? [True, True] Translation: X:753.02, Y:-60.38, Z:2.45 [[ 9.99609310e-01 1.05416935e-02 -2.58862774e-02 7.53017457e+02] [-1.04999049e-02 9.99943344e-01 1.74971484e-03 -6.03795230e+01] [ 2.59032557e-02 -1.47722780e-03 9.99663363e-01 2.45019023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.770714057 meters Centerline goodness [0,1] 0.9802031138153185 Centerline is valid? [True, True] Translation: X:753.05, Y:-60.39, Z:2.45 [[ 9.99634452e-01 8.08359417e-03 -2.57995871e-02 7.53045319e+02] [-8.04132142e-03 9.99966151e-01 1.74183488e-03 -6.03876692e+01] [ 2.58127941e-02 -1.53373538e-03 9.99665618e-01 2.44854737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8007140569999 meters Centerline goodness [0,1] 0.9787634830578791 Centerline is valid? [True, True] Translation: X:753.07, Y:-60.39, Z:2.45 [[ 9.99643875e-01 6.35278615e-03 -2.59184405e-02 7.53073351e+02] [-6.30959454e-03 9.99978567e-01 1.74788503e-03 -6.03920279e+01] [ 2.59289889e-02 -1.58372772e-03 9.99662533e-01 2.44821496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8307140569999 meters Centerline goodness [0,1] 0.9814108032867855 Centerline is valid? [True, True] Translation: X:753.10, Y:-60.39, Z:2.45 [[ 9.99648697e-01 4.74348095e-03 -2.60764804e-02 7.53103012e+02] [-4.69925730e-03 9.99987415e-01 1.75694042e-03 -6.03874721e+01] [ 2.60844862e-02 -1.63378311e-03 9.99658407e-01 2.45032763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8607140569999 meters Centerline goodness [0,1] 0.9800111919418019 Centerline is valid? [True, True] Translation: X:753.13, Y:-60.39, Z:2.45 [[ 9.99674445e-01 3.23440158e-03 -2.53089640e-02 7.53131919e+02] [-3.19230266e-03 9.99993453e-01 1.70362630e-03 -6.03907665e+01] [ 2.53143085e-02 -1.62227780e-03 9.99678225e-01 2.45005189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.890714057 meters Centerline goodness [0,1] 0.9793132816352145 Centerline is valid? [True, True] Translation: X:753.16, Y:-60.40, Z:2.45 [[ 9.99694418e-01 2.02737489e-04 -2.47190217e-02 7.53161030e+02] [-1.61683064e-04 9.99998604e-01 1.66283076e-03 -6.03966054e+01] [ 2.47193243e-02 -1.65832598e-03 9.99693055e-01 2.45069790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9207140569999 meters Centerline goodness [0,1] 0.9796443350855609 Centerline is valid? [True, True] Translation: X:753.19, Y:-60.40, Z:2.45 [[ 9.99708042e-01 -9.79685331e-04 -2.41427246e-02 7.53189939e+02] [ 1.01916430e-03 9.99998164e-01 1.62298235e-03 -6.03975857e+01] [ 2.41410902e-02 -1.64711391e-03 9.99707205e-01 2.45145106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9507140569999 meters Centerline goodness [0,1] 0.978680998768335 Centerline is valid? [True, True] Translation: X:753.22, Y:-60.40, Z:2.45 [[ 9.99706547e-01 -2.29249083e-03 -2.41156429e-02 7.53219401e+02] [ 2.33222996e-03 9.99995968e-01 1.61986016e-03 -6.04015016e+01] [ 2.41118321e-02 -1.67562803e-03 9.99707863e-01 2.45114952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9807140569999 meters Centerline goodness [0,1] 0.9783950617283951 Centerline is valid? [True, True] Translation: X:753.25, Y:-60.40, Z:2.45 [[ 9.99706943e-01 -2.62398343e-03 -2.40653986e-02 7.53247203e+02] [ 2.66355955e-03 9.99995152e-01 1.61261683e-03 -6.04035685e+01] [ 2.40610505e-02 -1.67624387e-03 9.99709086e-01 2.45136104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.010714057 meters Centerline goodness [0,1] 0.9778803487412759 Centerline is valid? [True, True] Translation: X:753.28, Y:-60.40, Z:2.45 [[ 9.99723486e-01 -2.53281566e-03 -2.33781059e-02 7.53275518e+02] [ 2.56999292e-03 9.99995480e-01 1.56035183e-03 -6.04048782e+01] [ 2.33740481e-02 -1.62000194e-03 9.99725477e-01 2.45169858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.040714057 meters Centerline goodness [0,1] 0.9776242478270559 Centerline is valid? [True, True] Translation: X:753.30, Y:-60.41, Z:2.45 [[ 9.99729173e-01 -2.15694224e-03 -2.31717338e-02 7.53303177e+02] [ 2.19327269e-03 9.99996405e-01 1.54257792e-03 -6.04076119e+01] [ 2.31683233e-02 -1.59298208e-03 9.99730309e-01 2.45191452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0707140569999 meters Centerline goodness [0,1] 0.9773710035175767 Centerline is valid? [True, True] Translation: X:753.33, Y:-60.41, Z:2.45 [[ 9.99730533e-01 -1.54783157e-03 -2.31617372e-02 7.53332186e+02] [ 1.58387881e-03 9.99997563e-01 1.53806306e-03 -6.04073658e+01] [ 2.31593001e-02 -1.57433398e-03 9.99730548e-01 2.45272553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1007140569999 meters Centerline goodness [0,1] 0.9776092774308653 Centerline is valid? [True, True] Translation: X:753.36, Y:-60.41, Z:2.45 [[ 9.99740011e-01 1.85539722e-03 -2.27259514e-02 7.53362205e+02] [-1.82164112e-03 9.99997207e-01 1.50596665e-03 -6.04050350e+01] [ 2.27286821e-02 -1.46417658e-03 9.99740598e-01 2.45358969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.130714057 meters Centerline goodness [0,1] 0.9787740082570454 Centerline is valid? [True, True] Translation: X:753.39, Y:-60.40, Z:2.45 [[ 9.99749322e-01 3.98045927e-03 -2.20329152e-02 7.53391952e+02] [-3.94925745e-03 9.99991137e-01 1.45947724e-03 -6.04037133e+01] [ 2.20385293e-02 -1.37209773e-03 9.99756181e-01 2.45404221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.160714057 meters Centerline goodness [0,1] 0.9780441810344828 Centerline is valid? [True, True] Translation: X:753.42, Y:-60.41, Z:2.45 [[ 9.99738873e-01 6.20059614e-03 -2.19940742e-02 7.53420512e+02] [-6.17005812e-03 9.99979905e-01 1.45605552e-03 -6.04079279e+01] [ 2.20026607e-02 -1.31997059e-03 9.99757041e-01 2.45358221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1907140569999 meters Centerline goodness [0,1] 0.97827745612854 Centerline is valid? [True, True] Translation: X:753.45, Y:-60.41, Z:2.45 [[ 9.99714812e-01 8.62130410e-03 -2.22703538e-02 7.53450252e+02] [-8.59061174e-03 9.99962014e-01 1.47347553e-03 -6.04051049e+01] [ 2.22822111e-02 -1.28173934e-03 9.99750899e-01 2.45472581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2207140569999 meters Centerline goodness [0,1] 0.9793453369853172 Centerline is valid? [True, True] Translation: X:753.48, Y:-60.40, Z:2.46 [[ 9.99679767e-01 1.39128501e-02 -2.11375277e-02 7.53480597e+02] [-1.38863897e-02 9.99902602e-01 1.39809090e-03 -6.04026477e+01] [ 2.11549204e-02 -1.10411924e-03 9.99775600e-01 2.45528262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.250714057 meters Centerline goodness [0,1] 0.9777057883962116 Centerline is valid? [True, True] Translation: X:753.51, Y:-60.40, Z:2.46 [[ 9.99651842e-01 1.64171484e-02 -2.06560577e-02 7.53509408e+02] [-1.63924231e-02 9.99864702e-01 1.36575811e-03 -6.04036098e+01] [ 2.06756849e-02 -1.02667977e-03 9.99785708e-01 2.45514270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.280714057 meters Centerline goodness [0,1] 0.9797187669010275 Centerline is valid? [True, True] Translation: X:753.54, Y:-60.40, Z:2.45 [[ 9.99552424e-01 2.10958845e-02 -2.12112089e-02 7.53539156e+02] [-2.10708841e-02 9.99777002e-01 1.40147303e-03 -6.04008633e+01] [ 2.12360442e-02 -9.53906837e-04 9.99774035e-01 2.45484349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3107140569999 meters Centerline goodness [0,1] 0.9794617723229366 Centerline is valid? [True, True] Translation: X:753.57, Y:-60.40, Z:2.45 [[ 9.99498525e-01 2.27972645e-02 -2.19768604e-02 7.53568052e+02] [-2.27708619e-02 9.99739657e-01 1.45090963e-03 -6.04013554e+01] [ 2.20042157e-02 -9.49749982e-04 9.99757427e-01 2.45493177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3407140569999 meters Centerline goodness [0,1] 0.9790375295841316 Centerline is valid? [True, True] Translation: X:753.60, Y:-60.40, Z:2.45 [[ 9.99461797e-01 2.42483789e-02 -2.20937335e-02 7.53596842e+02] [-2.42221234e-02 9.99705542e-01 1.45524669e-03 -6.04007044e+01] [ 2.21225152e-02 -9.19306330e-04 9.99754845e-01 2.45470909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.370714057 meters Centerline goodness [0,1] 0.9797603736546402 Centerline is valid? [True, True] Translation: X:753.62, Y:-60.40, Z:2.45 [[ 9.99429738e-01 2.54799707e-02 -2.21578440e-02 7.53624500e+02] [-2.54539522e-02 9.99674936e-01 1.45552382e-03 -6.04024702e+01] [ 2.21877280e-02 -8.90689082e-04 9.99753425e-01 2.45453552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.400714057 meters Centerline goodness [0,1] 0.9783511670955799 Centerline is valid? [True, True] Translation: X:753.65, Y:-60.40, Z:2.45 [[ 9.99409336e-01 2.68694925e-02 -2.14245209e-02 7.53652068e+02] [-2.68455267e-02 9.99638606e-01 1.40549410e-03 -6.04047692e+01] [ 2.14545431e-02 -8.29511380e-04 9.99769481e-01 2.45425919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4307140569999 meters Centerline goodness [0,1] 0.9792706333973129 Centerline is valid? [True, True] Translation: X:753.68, Y:-60.40, Z:2.46 [[ 9.99431156e-01 2.65838112e-02 -2.07524762e-02 7.53679985e+02] [-2.65613370e-02 9.99646263e-01 1.35789797e-03 -6.04046279e+01] [ 2.07812334e-02 -8.05912027e-04 9.99783722e-01 2.45529098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4607140569999 meters Centerline goodness [0,1] 0.9803602504124573 Centerline is valid? [True, True] Translation: X:753.71, Y:-60.40, Z:2.46 [[ 9.99452504e-01 2.61156360e-02 -2.03141647e-02 7.53708121e+02] [-2.60941227e-02 9.99658614e-01 1.32342315e-03 -6.04049671e+01] [ 2.03417918e-02 -7.92618274e-04 9.99792770e-01 2.45607459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.490714057 meters Centerline goodness [0,1] 0.9802579566759279 Centerline is valid? [True, True] Translation: X:753.74, Y:-60.41, Z:2.46 [[ 9.99488615e-01 2.55816123e-02 -1.91856681e-02 7.53735860e+02] [-2.55624014e-02 9.99672452e-01 1.24592541e-03 -6.04079473e+01] [ 1.92112567e-02 -7.54856515e-04 9.99815162e-01 2.45675767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.520714057 meters Centerline goodness [0,1] 0.980535500079216 Centerline is valid? [True, True] Translation: X:753.76, Y:-60.41, Z:2.46 [[ 9.99520640e-01 2.49015248e-02 -1.83957726e-02 7.53764158e+02] [-2.48837782e-02 9.99689639e-01 1.19301637e-03 -6.04091461e+01] [ 1.84197712e-02 -7.34688166e-04 9.99830072e-01 2.45738038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5507140569999 meters Centerline goodness [0,1] 0.9797863450549947 Centerline is valid? [True, True] Translation: X:753.79, Y:-60.41, Z:2.46 [[ 9.99546966e-01 2.40175632e-02 -1.81388904e-02 7.53792810e+02] [-2.40002105e-02 9.99711264e-01 1.17377094e-03 -6.04115017e+01] [ 1.81618442e-02 -7.37901990e-04 9.99834788e-01 2.45732247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5807140569999 meters Centerline goodness [0,1] 0.9794917922194738 Centerline is valid? [True, True] Translation: X:753.82, Y:-60.42, Z:2.46 [[ 9.99592304e-01 2.22818072e-02 -1.78534790e-02 7.53820692e+02] [-2.22647871e-02 9.99751446e-01 1.15154661e-03 -6.04165391e+01] [ 1.78747000e-02 -7.53573222e-04 9.99839951e-01 2.45598486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6107140569999 meters Centerline goodness [0,1] 0.9798506283986552 Centerline is valid? [True, True] Translation: X:753.85, Y:-60.42, Z:2.46 [[ 9.99636461e-01 2.06422054e-02 -1.73449109e-02 7.53847999e+02] [-2.06259302e-02 9.99786639e-01 1.11671204e-03 -6.04208174e+01] [ 1.73642616e-02 -7.58551147e-04 9.99848942e-01 2.45579316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.640714057 meters Centerline goodness [0,1] 0.9784465229768199 Centerline is valid? [True, True] Translation: X:753.88, Y:-60.42, Z:2.46 [[ 9.99669971e-01 1.90085657e-02 -1.72807553e-02 7.53876900e+02] [-1.89921918e-02 9.99819015e-01 1.11115517e-03 -6.04233245e+01] [ 1.72987492e-02 -7.82589038e-04 9.99850059e-01 2.45644415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6707140569999 meters Centerline goodness [0,1] 0.9790179781371398 Centerline is valid? [True, True] Translation: X:753.91, Y:-60.43, Z:2.46 [[ 9.99724306e-01 1.65836140e-02 -1.66221626e-02 7.53905787e+02] [-1.65681477e-02 9.99862169e-01 1.06775028e-03 -6.04271601e+01] [ 1.66375787e-02 -7.92057464e-04 9.99861272e-01 2.45694807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7007140569999 meters Centerline goodness [0,1] 0.9779835158631591 Centerline is valid? [True, True] Translation: X:753.93, Y:-60.43, Z:2.46 [[ 9.99742101e-01 1.59763824e-02 -1.61396012e-02 7.53933479e+02] [-1.59617379e-02 9.99872067e-01 1.03578340e-03 -6.04304793e+01] [ 1.61540844e-02 -7.77900184e-04 9.99869212e-01 2.45728910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7307140569999 meters Centerline goodness [0,1] 0.9789651673993913 Centerline is valid? [True, True] Translation: X:753.96, Y:-60.43, Z:2.46 [[ 9.99753315e-01 1.57838466e-02 -1.56262139e-02 7.53962071e+02] [-1.57701153e-02 9.99875142e-01 1.00157020e-03 -6.04317005e+01] [ 1.56400715e-02 -7.54895933e-04 9.99877402e-01 2.45812581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.760714057 meters Centerline goodness [0,1] 0.9803589951743111 Centerline is valid? [True, True] Translation: X:753.99, Y:-60.43, Z:2.46 [[ 9.99754462e-01 1.61887567e-02 -1.51307399e-02 7.53990547e+02] [-1.61759445e-02 9.99868692e-01 9.68778276e-04 -6.04316197e+01] [ 1.51444364e-02 -7.23786396e-04 9.99885054e-01 2.45801678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.790714057 meters Centerline goodness [0,1] 0.9801284217641095 Centerline is valid? [True, True] Translation: X:754.02, Y:-60.43, Z:2.46 [[ 9.99751436e-01 1.68617727e-02 -1.45858568e-02 7.54019753e+02] [-1.68499587e-02 9.99857595e-01 9.32485467e-04 -6.04339962e+01] [ 1.45995030e-02 -6.86482601e-04 9.99893186e-01 2.45830615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8207140569999 meters Centerline goodness [0,1] 0.9784495390094903 Centerline is valid? [True, True] Translation: X:754.05, Y:-60.44, Z:2.46 [[ 9.99736831e-01 1.79179397e-02 -1.43253552e-02 7.54047377e+02] [-1.79066942e-02 9.99839246e-01 9.12898393e-04 -6.04388632e+01] [ 1.43394095e-02 -6.56138393e-04 9.99896970e-01 2.45829929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8507140569999 meters Centerline goodness [0,1] 0.9809476511885145 Centerline is valid? [True, True] Translation: X:754.08, Y:-60.43, Z:2.46 [[ 9.99715333e-01 1.93341732e-02 -1.39800533e-02 7.54076364e+02] [-1.93236179e-02 9.99812886e-01 8.89719875e-04 -6.04340397e+01] [ 1.39946394e-02 -6.19321394e-04 9.99901878e-01 2.45870053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.880714057 meters Centerline goodness [0,1] 0.9803589951743111 Centerline is valid? [True, True] Translation: X:754.11, Y:-60.44, Z:2.46 [[ 9.99649912e-01 2.27271027e-02 -1.35474343e-02 7.54105445e+02] [-2.27175139e-02 9.99741553e-01 8.61283804e-04 -6.04352585e+01] [ 1.35635075e-02 -5.53218250e-04 9.99907858e-01 2.45925463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.910714057 meters Centerline goodness [0,1] 0.9809794885696214 Centerline is valid? [True, True] Translation: X:754.13, Y:-60.44, Z:2.46 [[ 9.99624578e-01 2.39538477e-02 -1.33009944e-02 7.54134714e+02] [-2.39447224e-02 9.99712927e-01 8.44913002e-04 -6.04365623e+01] [ 1.33174150e-02 -5.26107184e-04 9.99911181e-01 2.45952389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9407140569999 meters Centerline goodness [0,1] 0.9820360632799982 Centerline is valid? [True, True] Translation: X:754.16, Y:-60.44, Z:2.46 [[ 9.99560837e-01 2.67734160e-02 -1.27011036e-02 7.54163897e+02] [-2.67653582e-02 9.99641420e-01 8.04010917e-04 -6.04355973e+01] [ 1.27180753e-02 -4.63708239e-04 9.99919014e-01 2.45966425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9707140569999 meters Centerline goodness [0,1] 0.9816596648145639 Centerline is valid? [True, True] Translation: X:754.19, Y:-60.44, Z:2.46 [[ 9.99524232e-01 2.82206573e-02 -1.24460360e-02 7.54191900e+02] [-2.82130669e-02 9.99601624e-01 7.85055501e-04 -6.04378326e+01] [ 1.24632326e-02 -4.33541151e-04 9.99922237e-01 2.45984069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.000714057 meters Centerline goodness [0,1] 0.9810745500124213 Centerline is valid? [True, True] Translation: X:754.22, Y:-60.44, Z:2.46 [[ 9.99489331e-01 2.93708784e-02 -1.25868418e-02 7.54221077e+02] [-2.93632206e-02 9.99568493e-01 7.92810332e-04 -6.04392787e+01] [ 1.26046960e-02 -4.22815256e-04 9.99920468e-01 2.45999889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.030714057 meters Centerline goodness [0,1] 0.980847844253224 Centerline is valid? [True, True] Translation: X:754.25, Y:-60.44, Z:2.46 [[ 9.99425319e-01 3.14121902e-02 -1.27399229e-02 7.54249564e+02] [-3.14045222e-02 9.99506435e-01 8.01545439e-04 -6.04404548e+01] [ 1.27588132e-02 -4.00993616e-04 9.99918523e-01 2.45904960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0607140569999 meters Centerline goodness [0,1] 0.9824628718457996 Centerline is valid? [True, True] Translation: X:754.28, Y:-60.44, Z:2.46 [[ 9.99401231e-01 3.22633280e-02 -1.25003229e-02 7.54278501e+02] [-3.22560239e-02 9.99479330e-01 7.85536701e-04 -6.04407641e+01] [ 1.25191584e-02 -3.81855631e-04 9.99921559e-01 2.45890623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0907140569999 meters Centerline goodness [0,1] 0.9832923722125769 Centerline is valid? [True, True] Translation: X:754.31, Y:-60.44, Z:2.46 [[ 9.99375536e-01 3.30439486e-02 -1.25154159e-02 7.54306480e+02] [-3.30367266e-02 9.99453831e-01 7.83405242e-04 -6.04432290e+01] [ 1.25344672e-02 -3.69447661e-04 9.99921372e-01 2.45922003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.120714057 meters Centerline goodness [0,1] 0.9827489006652385 Centerline is valid? [True, True] Translation: X:754.34, Y:-60.44, Z:2.46 [[ 9.99341535e-01 3.45028645e-02 -1.12271648e-02 7.54335644e+02] [-3.44971534e-02 9.99404550e-01 7.02005884e-04 -6.04448462e+01] [ 1.12447008e-02 -3.14238412e-04 9.99936727e-01 2.45950380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.150714057 meters Centerline goodness [0,1] 0.9826092840709162 Centerline is valid? [True, True] Translation: X:754.36, Y:-60.45, Z:2.46 [[ 9.99328922e-01 3.49829150e-02 -1.08582262e-02 7.54363031e+02] [-3.49776298e-02 9.99387867e-01 6.76326680e-04 -6.04495218e+01] [ 1.08752394e-02 -2.96077795e-04 9.99940819e-01 2.46001996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1807140569999 meters Centerline goodness [0,1] 0.9830710431654677 Centerline is valid? [True, True] Translation: X:754.39, Y:-60.45, Z:2.46 [[ 9.99316413e-01 3.55308227e-02 -1.02111308e-02 7.54392089e+02] [-3.55261828e-02 9.99368544e-01 6.35481631e-04 -6.04503209e+01] [ 1.02272621e-02 -2.72284724e-04 9.99947663e-01 2.46007705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2107140569999 meters Centerline goodness [0,1] 0.9824206000855336 Centerline is valid? [True, True] Translation: X:754.42, Y:-60.45, Z:2.46 [[ 9.99318580e-01 3.56247823e-02 -9.65659139e-03 7.54419132e+02] [-3.56206616e-02 9.99365204e-01 5.98428533e-04 -6.04540883e+01] [ 9.67178031e-03 -2.54046578e-04 9.99953195e-01 2.46048549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.240714057 meters Centerline goodness [0,1] 0.9824206000855336 Centerline is valid? [True, True] Translation: X:754.45, Y:-60.46, Z:2.46 [[ 9.99322258e-01 3.55214640e-02 -9.65666750e-03 7.54446549e+02] [-3.55173504e-02 9.99368881e-01 5.97197611e-04 -6.04556906e+01] [ 9.67178633e-03 -2.53813622e-04 9.99953195e-01 2.46081898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.270714057 meters Centerline goodness [0,1] 0.9829979336986794 Centerline is valid? [True, True] Translation: X:754.47, Y:-60.46, Z:2.46 [[ 9.99286672e-01 3.65182010e-02 -9.62125106e-03 7.54474954e+02] [-3.65141700e-02 9.99332959e-01 5.94358078e-04 -6.04587745e+01] [ 9.63653818e-03 -2.42622109e-04 9.99953538e-01 2.46071160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3007140569999 meters Centerline goodness [0,1] 0.9835785690216781 Centerline is valid? [True, True] Translation: X:754.50, Y:-60.46, Z:2.46 [[ 9.99286157e-01 3.66331443e-02 -9.22979657e-03 7.54502532e+02] [-3.66294581e-02 9.99328755e-01 5.68158036e-04 -6.04607460e+01] [ 9.24441452e-03 -2.29670013e-04 9.99957243e-01 2.46086022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3307140569999 meters Centerline goodness [0,1] 0.9841519260123911 Centerline is valid? [True, True] Translation: X:754.53, Y:-60.46, Z:2.46 [[ 9.99254571e-01 3.75438781e-02 -8.98668045e-03 7.54530786e+02] [-3.75404431e-02 9.99294957e-01 5.50671711e-04 -6.04626469e+01] [ 9.00101881e-03 -2.12897258e-04 9.99959467e-01 2.46059245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3607140569999 meters Centerline goodness [0,1] 0.9834541903329367 Centerline is valid? [True, True] Translation: X:754.56, Y:-60.47, Z:2.46 [[ 9.99186305e-01 3.93773358e-02 -8.72662649e-03 7.54558179e+02] [-3.93741893e-02 9.99224394e-01 5.32136075e-04 -6.04691782e+01] [ 8.74081217e-03 -1.88099234e-04 9.99961781e-01 2.46163478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.390714057 meters Centerline goodness [0,1] 0.9836032748954348 Centerline is valid? [True, True] Translation: X:754.59, Y:-60.47, Z:2.46 [[ 9.99164697e-01 3.99718235e-02 -8.49483897e-03 7.54586311e+02] [-3.99688697e-02 9.99200792e-01 5.17266985e-04 -6.04722459e+01] [ 8.50872593e-03 -1.77305799e-04 9.99963784e-01 2.46164891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4207140569999 meters Centerline goodness [0,1] 0.9846357141257362 Centerline is valid? [True, True] Translation: X:754.61, Y:-60.47, Z:2.46 [[ 9.99159254e-01 4.00768509e-02 -8.63892840e-03 7.54614886e+02] [-4.00738065e-02 9.99196584e-01 5.25285616e-04 -6.04726435e+01] [ 8.65303954e-03 -1.78649239e-04 9.99962546e-01 2.46066044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4507140569999 meters Centerline goodness [0,1] 0.9863322185061315 Centerline is valid? [True, True] Translation: X:754.64, Y:-60.48, Z:2.46 [[ 9.99157606e-01 4.01489199e-02 -8.49369427e-03 7.54642654e+02] [-4.01459833e-02 9.99193692e-01 5.16022173e-04 -6.04756964e+01] [ 8.50756346e-03 -1.74599770e-04 9.99963795e-01 2.46015285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4807140569999 meters Centerline goodness [0,1] 0.9853380275413343 Centerline is valid? [True, True] Translation: X:754.67, Y:-60.48, Z:2.46 [[ 9.99149587e-01 4.03277489e-02 -8.58924065e-03 7.54670027e+02] [-4.03247611e-02 9.99186490e-01 5.20823962e-04 -6.04797589e+01] [ 8.60325688e-03 -1.74021970e-04 9.99962976e-01 2.46080602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.510714057 meters Centerline goodness [0,1] 0.9847010355194299 Centerline is valid? [True, True] Translation: X:754.70, Y:-60.49, Z:2.46 [[ 9.99157632e-01 4.02352384e-02 -8.07164665e-03 7.54696224e+02] [-4.02326010e-02 9.99190222e-01 4.88920737e-04 -6.04860761e+01] [ 8.08478224e-03 -1.63765547e-04 9.99967304e-01 2.46092524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.540714057 meters Centerline goodness [0,1] 0.9852780928236262 Centerline is valid? [True, True] Translation: X:754.72, Y:-60.49, Z:2.46 [[ 9.99175252e-01 3.98187703e-02 -7.95491131e-03 7.54724419e+02] [-3.98162048e-02 9.99206905e-01 4.80684111e-04 -6.04896204e+01] [ 7.96774256e-03 -1.63553290e-04 9.99968244e-01 2.45964926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5707140569999 meters Centerline goodness [0,1] 0.9855960228155447 Centerline is valid? [True, True] Translation: X:754.75, Y:-60.49, Z:2.46 [[ 9.99202738e-01 3.90507078e-02 -8.30247456e-03 7.54752784e+02] [-3.90478917e-02 9.99237215e-01 5.01079927e-04 -6.04919160e+01] [ 8.31570908e-03 -1.76486307e-04 9.99965408e-01 2.45936844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6007140569999 meters Centerline goodness [0,1] 0.9849697616506581 Centerline is valid? [True, True] Translation: X:754.78, Y:-60.50, Z:2.46 [[ 9.99225970e-01 3.84423980e-02 -8.34525967e-03 7.54781309e+02] [-3.84395367e-02 9.99260801e-01 5.03054990e-04 -6.04957174e+01] [ 8.35842950e-03 -1.81877695e-04 9.99965051e-01 2.45972633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.630714057 meters Centerline goodness [0,1] 0.9848078839552652 Centerline is valid? [True, True] Translation: X:754.81, Y:-60.50, Z:2.46 [[ 9.99299518e-01 3.66367926e-02 -7.63007646e-03 7.54808328e+02] [-3.66343505e-02 9.99328631e-01 4.59627140e-04 -6.05018432e+01] [ 7.64179313e-03 -1.79782285e-04 9.99970785e-01 2.46011318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.660714057 meters Centerline goodness [0,1] 0.9848591704500375 Centerline is valid? [True, True] Translation: X:754.84, Y:-60.51, Z:2.46 [[ 9.99342284e-01 3.55889966e-02 -6.95865332e-03 7.54835858e+02] [-3.55869435e-02 9.99366496e-01 4.18680221e-04 -6.05066630e+01] [ 6.96914539e-03 -1.70767646e-04 9.99975701e-01 2.46057794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6907140569999 meters Centerline goodness [0,1] 0.9843646773838362 Centerline is valid? [True, True] Translation: X:754.86, Y:-60.51, Z:2.46 [[ 9.99381029e-01 3.45619685e-02 -6.55967592e-03 7.54864537e+02] [-3.45601293e-02 9.99402543e-01 3.93566816e-04 -6.05111192e+01] [ 6.56935923e-03 -1.66619962e-04 9.99978408e-01 2.46107607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7207140569999 meters Centerline goodness [0,1] 0.9841666482386502 Centerline is valid? [True, True] Translation: X:754.89, Y:-60.51, Z:2.46 [[ 9.99414462e-01 3.37352681e-02 -5.71533381e-03 7.54893555e+02] [-3.37338600e-02 9.99430793e-01 3.42626357e-04 -6.05145940e+01] [ 5.72363919e-03 -1.49625466e-04 9.99983609e-01 2.46117496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.750714057 meters Centerline goodness [0,1] 0.9834097741885931 Centerline is valid? [True, True] Translation: X:754.92, Y:-60.52, Z:2.46 [[ 9.99455651e-01 3.26154434e-02 -4.96341087e-03 7.54920933e+02] [-3.26143682e-02 9.99467966e-01 2.97430731e-04 -6.05215806e+01] [ 4.97047100e-03 -1.35390315e-04 9.99987638e-01 2.46159925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.780714057 meters Centerline goodness [0,1] 0.9841168576896847 Centerline is valid? [True, True] Translation: X:754.95, Y:-60.53, Z:2.46 [[ 9.99471999e-01 3.21018235e-02 -5.01951162e-03 7.54949187e+02] [-3.21007204e-02 9.99484594e-01 3.00205485e-04 -6.05251845e+01] [ 5.02656168e-03 -1.38917037e-04 9.99987357e-01 2.46205391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8107140569999 meters Centerline goodness [0,1] 0.9836883642199213 Centerline is valid? [True, True] Translation: X:754.98, Y:-60.53, Z:2.46 [[ 9.99508231e-01 3.10362162e-02 -4.47762265e-03 7.54977818e+02] [-3.10353287e-02 9.99518252e-01 2.67571075e-04 -6.05309867e+01] [ 4.48376996e-03 -1.28475001e-04 9.99989940e-01 2.46212922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8407140569999 meters Centerline goodness [0,1] 0.9833230660917012 Centerline is valid? [True, True] Translation: X:755.00, Y:-60.54, Z:2.46 [[ 9.99531150e-01 3.02468843e-02 -4.75452009e-03 7.55004840e+02] [-3.02458759e-02 9.99542449e-01 2.83852116e-04 -6.05374666e+01] [ 4.76093030e-03 -1.39914407e-04 9.99988657e-01 2.46235037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.870714057 meters Centerline goodness [0,1] 0.9826384321978167 Centerline is valid? [True, True] Translation: X:755.03, Y:-60.54, Z:2.46 [[ 9.99554473e-01 2.93634908e-02 -5.35173938e-03 7.55032746e+02] [-2.93622040e-02 9.99568787e-01 3.18874879e-04 -6.05428114e+01] [ 5.35879492e-03 -1.61593948e-04 9.99985628e-01 2.46224685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.900714057 meters Centerline goodness [0,1] 0.9825160287971291 Centerline is valid? [True, True] Translation: X:755.06, Y:-60.54, Z:2.46 [[ 9.99580418e-01 2.84533518e-02 -5.42165479e-03 7.55061308e+02] [-2.84520208e-02 9.99595107e-01 3.22474340e-04 -6.05445747e+01] [ 5.42863507e-03 -1.68082001e-04 9.99985251e-01 2.46136673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9307140569999 meters Centerline goodness [0,1] 0.9833238623945447 Centerline is valid? [True, True] Translation: X:755.09, Y:-60.55, Z:2.46 [[ 9.99625516e-01 2.66001331e-02 -6.42343206e-03 7.55089574e+02] [-2.65982305e-02 9.99646132e-01 3.81455768e-04 -6.05518282e+01] [ 6.43130578e-03 -2.10460993e-04 9.99979297e-01 2.46092913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9607140569999 meters Centerline goodness [0,1] 0.9829141995673928 Centerline is valid? [True, True] Translation: X:755.12, Y:-60.56, Z:2.46 [[ 9.99655799e-01 2.54860408e-02 -6.22449786e-03 7.55118310e+02] [-2.54842352e-02 9.99675156e-01 3.69234067e-04 -6.05563711e+01] [ 6.23188618e-03 -2.10480409e-04 9.99980559e-01 2.46121999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.990714057 meters Centerline goodness [0,1] 0.9826350306120226 Centerline is valid? [True, True] Translation: X:755.15, Y:-60.56, Z:2.46 [[ 9.99708991e-01 2.32736486e-02 -6.34584856e-03 7.55146472e+02] [-2.32717303e-02 9.99729106e-01 3.75975024e-04 -6.05633043e+01] [ 6.35287982e-03 -2.28186736e-04 9.99979794e-01 2.46204674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.020714057 meters Centerline goodness [0,1] 0.9825760534652606 Centerline is valid? [True, True] Translation: X:755.17, Y:-60.57, Z:2.46 [[ 9.99737464e-01 2.22079434e-02 -5.64007263e-03 7.55174210e+02] [-2.22064122e-02 9.99753351e-01 3.33971907e-04 -6.05676443e+01] [ 5.64609835e-03 -2.08638450e-04 9.99984039e-01 2.46246387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0507140569999 meters Centerline goodness [0,1] 0.9815424610051993 Centerline is valid? [True, True] Translation: X:755.20, Y:-60.57, Z:2.46 [[ 9.99765371e-01 2.08717575e-02 -5.79425353e-03 7.55203014e+02] [-2.08701226e-02 9.99782137e-01 3.42472395e-04 -6.05715574e+01] [ 5.80013918e-03 -2.21465259e-04 9.99983155e-01 2.46300512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0807140569999 meters Centerline goodness [0,1] 0.9811193526635199 Centerline is valid? [True, True] Translation: X:755.23, Y:-60.58, Z:2.46 [[ 9.99812058e-01 1.85794299e-02 -5.53649356e-03 7.55231201e+02] [-1.85779041e-02 9.99827362e-01 3.26890172e-04 -6.05784437e+01] [ 5.54161119e-03 -2.23972289e-04 9.99984620e-01 2.46322319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1107140569999 meters Centerline goodness [0,1] 0.9810397686503881 Centerline is valid? [True, True] Translation: X:755.26, Y:-60.58, Z:2.46 [[ 9.99832749e-01 1.73665763e-02 -5.73385173e-03 7.55259708e+02] [-1.73649221e-02 9.99849161e-01 3.38148464e-04 -6.05805186e+01] [ 5.73885932e-03 -2.38524020e-04 9.99983504e-01 2.46297803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.140714057 meters Centerline goodness [0,1] 0.9834186730580673 Centerline is valid? [True, True] Translation: X:755.29, Y:-60.58, Z:2.46 [[ 9.99857657e-01 1.58403748e-02 -5.80932346e-03 7.55288455e+02] [-1.58386534e-02 9.99874502e-01 3.42210225e-04 -6.05804414e+01] [ 5.81401514e-03 -2.50149652e-04 9.99983067e-01 2.46245631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1707140569999 meters Centerline goodness [0,1] 0.9834561620904803 Centerline is valid? [True, True] Translation: X:755.32, Y:-60.59, Z:2.46 [[ 9.99879698e-01 1.43100692e-02 -5.98420380e-03 7.55316372e+02] [-1.43082174e-02 9.99897570e-01 3.52152459e-04 -6.05857833e+01] [ 5.98863017e-03 -2.66486805e-04 9.99982032e-01 2.46261572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2007140569999 meters Centerline goodness [0,1] 0.9803152166843714 Centerline is valid? [True, True] Translation: X:755.34, Y:-60.60, Z:2.46 [[ 9.99920236e-01 1.03677579e-02 -7.21325513e-03 7.55344951e+02] [-1.03649742e-02 9.99946193e-01 4.23195401e-04 -6.05978517e+01] [ 7.21725459e-03 -3.48396443e-04 9.99973895e-01 2.46310675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2307140569999 meters Centerline goodness [0,1] 0.981027412044032 Centerline is valid? [True, True] Translation: X:755.37, Y:-60.60, Z:2.46 [[ 9.99937686e-01 8.17584040e-03 -7.60130909e-03 7.55374517e+02] [-8.17268563e-03 9.99966504e-01 4.45998972e-04 -6.05980946e+01] [ 7.60470089e-03 -3.83848070e-04 9.99971010e-01 2.46251718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.260714057 meters Centerline goodness [0,1] 0.9822949398634738 Centerline is valid? [True, True] Translation: X:755.40, Y:-60.60, Z:2.46 [[ 9.99951237e-01 6.24881945e-03 -7.64690829e-03 7.55403367e+02] [-6.24557198e-03 9.99980396e-01 4.48483981e-04 -6.06018228e+01] [ 7.64956087e-03 -4.00702795e-04 9.99970661e-01 2.46270702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.290714057 meters Centerline goodness [0,1] 0.9803777021313501 Centerline is valid? [True, True] Translation: X:755.43, Y:-60.61, Z:2.46 [[ 9.99967547e-01 1.56202145e-03 -7.90343589e-03 7.55431869e+02] [-1.55841177e-03 9.99998679e-01 4.62860103e-04 -6.06110402e+01] [ 7.90414844e-03 -4.50528275e-04 9.99968660e-01 2.46235916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3207140569999 meters Centerline goodness [0,1] 0.980416711648494 Centerline is valid? [True, True] Translation: X:755.46, Y:-60.61, Z:2.46 [[ 9.99964750e-01 -6.44503871e-04 -8.37155589e-03 7.55460703e+02] [ 6.48632492e-04 9.99999669e-01 4.90466775e-04 -6.06147995e+01] [ 8.37123702e-03 -4.95879549e-04 9.99964838e-01 2.46218476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3507140569999 meters Centerline goodness [0,1] 0.9794428849060678 Centerline is valid? [True, True] Translation: X:755.49, Y:-60.62, Z:2.46 [[ 9.99956103e-01 -2.51355241e-03 -9.02628587e-03 7.55488493e+02] [ 2.51842242e-03 9.99996689e-01 5.28211266e-04 -6.06219974e+01] [ 9.02492830e-03 -5.50920080e-04 9.99959123e-01 2.46261370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.380714057 meters Centerline goodness [0,1] 0.9779277046106094 Centerline is valid? [True, True] Translation: X:755.52, Y:-60.63, Z:2.46 [[ 9.99949488e-01 -4.38351176e-03 -9.04473710e-03 7.55516914e+02] [ 4.38847672e-03 9.99990231e-01 5.29160148e-04 -6.06298057e+01] [ 9.04232916e-03 -5.68826037e-04 9.99958956e-01 2.46320367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.410714057 meters Centerline goodness [0,1] 0.9793328888793308 Centerline is valid? [True, True] Translation: X:755.55, Y:-60.63, Z:2.46 [[ 9.99928564e-01 -7.29873018e-03 -9.46549063e-03 7.55546998e+02] [ 7.30429107e-03 9.99973170e-01 5.53053093e-04 -6.06265839e+01] [ 9.46120009e-03 -6.22152284e-04 9.99955048e-01 2.46392968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4407140569999 meters Centerline goodness [0,1] 0.9804023025677511 Centerline is valid? [True, True] Translation: X:755.58, Y:-60.63, Z:2.46 [[ 9.99917687e-01 -8.80381163e-03 -9.33337811e-03 7.55576513e+02] [ 8.80928210e-03 9.99961049e-01 5.45169455e-04 -6.06303628e+01] [ 9.32821499e-03 -6.27344942e-04 9.99956294e-01 2.46425424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4707140569999 meters Centerline goodness [0,1] 0.9806799784133837 Centerline is valid? [True, True] Translation: X:755.61, Y:-60.63, Z:2.46 [[ 9.99906413e-01 -9.96920465e-03 -9.36909206e-03 7.55606817e+02] [ 9.97476497e-03 9.99950101e-01 5.46932947e-04 -6.06259706e+01] [ 9.36317206e-03 -6.40336253e-04 9.99955960e-01 2.46392601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.500714057 meters Centerline goodness [0,1] 0.9804840137302735 Centerline is valid? [True, True] Translation: X:755.64, Y:-60.63, Z:2.46 [[ 9.99886439e-01 -1.24685441e-02 -8.46428818e-03 7.55635314e+02] [ 1.24731691e-02 9.99922085e-01 4.93841776e-04 -6.06317367e+01] [ 8.45747120e-03 -5.99362193e-04 9.99964055e-01 2.46476496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.530714057 meters Centerline goodness [0,1] 0.9794536842788243 Centerline is valid? [True, True] Translation: X:755.66, Y:-60.64, Z:2.47 [[ 9.99869401e-01 -1.36023753e-02 -8.72670855e-03 7.55664786e+02] [ 1.36073310e-02 9.99907287e-01 5.08753912e-04 -6.06384921e+01] [ 8.71897920e-03 -6.27434681e-04 9.99961792e-01 2.46564422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5607140569999 meters Centerline goodness [0,1] 0.9809587619953315 Centerline is valid? [True, True] Translation: X:755.70, Y:-60.64, Z:2.47 [[ 9.99853495e-01 -1.47019655e-02 -8.76591926e-03 7.55695466e+02] [ 1.47070060e-02 9.99891716e-01 5.10819034e-04 -6.06362325e+01] [ 8.75746000e-03 -6.39664623e-04 9.99961448e-01 2.46576794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5907140569999 meters Centerline goodness [0,1] 0.979587869362364 Centerline is valid? [True, True] Translation: X:755.73, Y:-60.64, Z:2.47 [[ 9.99813188e-01 -1.69181273e-02 -9.34697088e-03 7.55725191e+02] [ 1.69239545e-02 9.99856631e-01 5.44678829e-04 -6.06388210e+01] [ 9.33641587e-03 -7.02764786e-04 9.99956168e-01 2.46584998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.620714057 meters Centerline goodness [0,1] 0.9783969267955801 Centerline is valid? [True, True] Translation: X:755.75, Y:-60.64, Z:2.47 [[ 9.99788504e-01 -1.79705183e-02 -1.00003841e-02 7.55754894e+02] [ 1.79772411e-02 9.99838227e-01 5.82755375e-04 -6.06442504e+01] [ 9.98829393e-03 -7.62411441e-04 9.99949825e-01 2.46558262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.650714057 meters Centerline goodness [0,1] 0.9792737164817134 Centerline is valid? [True, True] Translation: X:755.79, Y:-60.65, Z:2.47 [[ 9.99767371e-01 -1.89653717e-02 -1.02722397e-02 7.55785558e+02] [ 1.89725171e-02 9.99819826e-01 5.98597298e-04 -6.06452095e+01] [ 1.02590363e-02 -7.93348291e-04 9.99947060e-01 2.46507667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6807140569999 meters Centerline goodness [0,1] 0.9789845035061899 Centerline is valid? [True, True] Translation: X:755.82, Y:-60.65, Z:2.46 [[ 9.99724869e-01 -2.09087816e-02 -1.06306118e-02 7.55815980e+02] [ 2.09165435e-02 9.99781033e-01 6.19480818e-04 -6.06475856e+01] [ 1.06153314e-02 -8.41666033e-04 9.99943302e-01 2.46491851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7107140569999 meters Centerline goodness [0,1] 0.9774749481686248 Centerline is valid? [True, True] Translation: X:755.85, Y:-60.65, Z:2.47 [[ 9.99711650e-01 -2.13806352e-02 -1.09309035e-02 7.55846102e+02] [ 2.13888697e-02 9.99771029e-01 6.36959319e-04 -6.06497872e+01] [ 1.09147820e-02 -8.70575322e-04 9.99940053e-01 2.46535184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.740714057 meters Centerline goodness [0,1] 0.9777691192068749 Centerline is valid? [True, True] Translation: X:755.88, Y:-60.65, Z:2.47 [[ 9.99693455e-01 -2.21860662e-02 -1.09897552e-02 7.55877752e+02] [ 2.21944398e-02 9.99753468e-01 6.40562604e-04 -6.06499056e+01] [ 1.09728344e-02 -8.84277704e-04 9.99939406e-01 2.46607168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.770714057 meters Centerline goodness [0,1] 0.9790256810688878 Centerline is valid? [True, True] Translation: X:755.91, Y:-60.65, Z:2.47 [[ 9.99679413e-01 -2.27802722e-02 -1.10512903e-02 7.55908841e+02] [ 2.27887804e-02 9.99740094e-01 6.44557539e-04 -6.06470933e+01] [ 1.10337348e-02 -8.96196330e-04 9.99938725e-01 2.46654178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8007140569999 meters Centerline goodness [0,1] 0.9772106335920898 Centerline is valid? [True, True] Translation: X:755.94, Y:-60.65, Z:2.47 [[ 9.99675093e-01 -2.30289752e-02 -1.09258675e-02 7.55938629e+02] [ 2.30373082e-02 9.99734403e-01 6.37435375e-04 -6.06516791e+01] [ 1.09082862e-02 -8.88930846e-04 9.99940108e-01 2.46622134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8307140569999 meters Centerline goodness [0,1] 0.9763577997570709 Centerline is valid? [True, True] Translation: X:755.97, Y:-60.66, Z:2.47 [[ 9.99669236e-01 -2.31985669e-02 -1.11016091e-02 7.55969053e+02] [ 2.32071828e-02 9.99730467e-01 6.47889086e-04 -6.06550256e+01] [ 1.10835868e-02 -9.05311860e-04 9.99938165e-01 2.46612056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8607140569999 meters Centerline goodness [0,1] 0.9794791530803009 Centerline is valid? [True, True] Translation: X:756.00, Y:-60.65, Z:2.47 [[ 9.99656452e-01 -2.31689921e-02 -1.22545821e-02 7.56002060e+02] [ 2.31794915e-02 9.99731064e-01 7.15418211e-04 -6.06455920e+01] [ 1.22347109e-02 -9.99227413e-04 9.99924654e-01 2.46696440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.890714057 meters Centerline goodness [0,1] 0.9782050724322443 Centerline is valid? [True, True] Translation: X:756.03, Y:-60.65, Z:2.47 [[ 9.99661310e-01 -2.29275790e-02 -1.23122207e-02 7.56032027e+02] [ 2.29381701e-02 9.99736627e-01 7.19661236e-04 -6.06468369e+01] [ 1.22924779e-02 -1.00183731e-03 9.99923943e-01 2.46719825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9207140569999 meters Centerline goodness [0,1] 0.9769414835762453 Centerline is valid? [True, True] Translation: X:756.06, Y:-60.65, Z:2.47 [[ 9.99669892e-01 -2.26006716e-02 -1.22195003e-02 7.56063654e+02] [ 2.26110821e-02 9.99744082e-01 7.14459287e-04 -6.06476381e+01] [ 1.22002258e-02 -9.90519562e-04 9.99925084e-01 2.46788288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9507140569999 meters Centerline goodness [0,1] 0.9769022034082275 Centerline is valid? [True, True] Translation: X:756.09, Y:-60.65, Z:2.47 [[ 9.99707367e-01 -2.15349545e-02 -1.10193652e-02 7.56094839e+02] [ 2.15433599e-02 9.99767707e-01 6.44633124e-04 -6.06454692e+01] [ 1.10029234e-02 -8.81838634e-04 9.99939077e-01 2.46885359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9807140569999 meters Centerline goodness [0,1] 0.9769155313351499 Centerline is valid? [True, True] Translation: X:756.13, Y:-60.65, Z:2.47 [[ 9.99720269e-01 -2.09933971e-02 -1.08931510e-02 7.56126050e+02] [ 2.10015832e-02 9.99779239e-01 6.37630843e-04 -6.06466027e+01] [ 1.08773602e-02 -8.66225895e-04 9.99940465e-01 2.46937606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.010714057 meters Centerline goodness [0,1] 0.9768615170494085 Centerline is valid? [True, True] Translation: X:756.16, Y:-60.65, Z:2.47 [[ 9.99734241e-01 -2.04479742e-02 -1.06455147e-02 7.56157750e+02] [ 2.04557654e-02 9.99790565e-01 6.23497369e-04 -6.06462019e+01] [ 1.06305359e-02 -8.41093821e-04 9.99943141e-01 2.47014729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.040714057 meters Centerline goodness [0,1] 0.9773000109134563 Centerline is valid? [True, True] Translation: X:756.19, Y:-60.65, Z:2.47 [[ 9.99740707e-01 -2.00176465e-02 -1.08541821e-02 7.56189395e+02] [ 2.00257251e-02 9.99799263e-01 6.36106275e-04 -6.06469674e+01] [ 1.08392699e-02 -8.53304203e-04 9.99940889e-01 2.47102575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0707140569999 meters Centerline goodness [0,1] 0.9778327279093177 Centerline is valid? [True, True] Translation: X:756.22, Y:-60.64, Z:2.47 [[ 9.99734010e-01 -1.99247737e-02 -1.16152128e-02 7.56221510e+02] [ 1.99340237e-02 9.99801066e-01 6.81136812e-04 -6.06411190e+01] [ 1.15993306e-02 -9.12493564e-04 9.99932309e-01 2.47186946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1007140569999 meters Centerline goodness [0,1] 0.9777709843654467 Centerline is valid? [True, True] Translation: X:756.25, Y:-60.64, Z:2.47 [[ 9.99739177e-01 -1.96724240e-02 -1.16005695e-02 7.56253271e+02] [ 1.96816387e-02 9.99806066e-01 6.80694271e-04 -6.06403259e+01] [ 1.15849288e-02 -9.08834948e-04 9.99932479e-01 2.47120287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.130714057 meters Centerline goodness [0,1] 0.9777709843654467 Centerline is valid? [True, True] Translation: X:756.28, Y:-60.64, Z:2.47 [[ 9.99739878e-01 -1.96367988e-02 -1.16005452e-02 7.56284154e+02] [ 1.96460159e-02 9.99806766e-01 6.81108029e-04 -6.06421701e+01] [ 1.15849288e-02 -9.08835353e-04 9.99932479e-01 2.47157781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.160714057 meters Centerline goodness [0,1] 0.9767706622879037 Centerline is valid? [True, True] Translation: X:756.31, Y:-60.65, Z:2.47 [[ 9.99731487e-01 -1.97040355e-02 -1.21944551e-02 7.56314655e+02] [ 1.97142312e-02 9.99805399e-01 7.16444958e-04 -6.06467115e+01] [ 1.21779652e-02 -9.56656891e-04 9.99925388e-01 2.47098089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1907140569999 meters Centerline goodness [0,1] 0.9769850654754084 Centerline is valid? [True, True] Translation: X:756.35, Y:-60.65, Z:2.47 [[ 9.99732638e-01 -1.93562423e-02 -1.26486330e-02 7.56346521e+02] [ 1.93672040e-02 9.99812161e-01 7.44709702e-04 -6.06453756e+01] [ 1.26318424e-02 -9.89479252e-04 9.99919726e-01 2.47047298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2207140569999 meters Centerline goodness [0,1] 0.9765493404502001 Centerline is valid? [True, True] Translation: X:756.38, Y:-60.64, Z:2.47 [[ 9.99728678e-01 -1.89099570e-02 -1.36008899e-02 7.56376794e+02] [ 1.89225971e-02 9.99820631e-01 8.01262269e-04 -6.06441275e+01] [ 1.35832985e-02 -1.05840903e-03 9.99907183e-01 2.47046857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.250714057 meters Centerline goodness [0,1] 0.97625 Centerline is valid? [True, True] Translation: X:756.41, Y:-60.64, Z:2.47 [[ 9.99730598e-01 -1.87639782e-02 -1.36618158e-02 7.56406963e+02] [ 1.87767213e-02 9.99823378e-01 8.05065067e-04 -6.06443844e+01] [ 1.36442966e-02 -1.06137229e-03 9.99906349e-01 2.47133669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.280714057 meters Centerline goodness [0,1] 0.9762108731466227 Centerline is valid? [True, True] Translation: X:756.44, Y:-60.64, Z:2.47 [[ 9.99734493e-01 -1.87218222e-02 -1.34326491e-02 7.56437284e+02] [ 1.87341375e-02 9.99824187e-01 7.91560702e-04 -6.06412747e+01] [ 1.34154680e-02 -1.04299963e-03 9.99909465e-01 2.47188194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3107140569999 meters Centerline goodness [0,1] 0.9751186917531212 Centerline is valid? [True, True] Translation: X:756.47, Y:-60.65, Z:2.47 [[ 9.99741378e-01 -1.83745846e-02 -1.33996913e-02 7.56467673e+02] [ 1.83868088e-02 9.99830637e-01 7.89641422e-04 -6.06455705e+01] [ 1.33829125e-02 -1.03581477e-03 9.99909908e-01 2.47254924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3407140569999 meters Centerline goodness [0,1] 0.9747341594164689 Centerline is valid? [True, True] Translation: X:756.50, Y:-60.64, Z:2.47 [[ 9.99745617e-01 -1.84156463e-02 -1.30217140e-02 7.56497876e+02] [ 1.84271967e-02 9.99829910e-01 7.67574309e-04 -6.06449100e+01] [ 1.30053637e-02 -1.00733274e-03 9.99914919e-01 2.47320313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.370714057 meters Centerline goodness [0,1] 0.9725841417215932 Centerline is valid? [True, True] Translation: X:756.53, Y:-60.65, Z:2.47 [[ 9.99755378e-01 -1.81622487e-02 -1.26220537e-02 7.56527658e+02] [ 1.81730809e-02 9.99834579e-01 7.44024927e-04 -6.06481816e+01] [ 1.26064526e-02 -9.73224526e-04 9.99920062e-01 2.47380743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.400714057 meters Centerline goodness [0,1] 0.9747839887145124 Centerline is valid? [True, True] Translation: X:756.56, Y:-60.64, Z:2.47 [[ 9.99743382e-01 -1.88447246e-02 -1.25716526e-02 7.56558227e+02] [ 1.88555267e-02 9.99821944e-01 7.41259428e-04 -6.06432073e+01] [ 1.25554453e-02 -9.78114338e-04 9.99920699e-01 2.47451365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4307140569999 meters Centerline goodness [0,1] 0.9751807441368365 Centerline is valid? [True, True] Translation: X:756.59, Y:-60.64, Z:2.47 [[ 9.99737633e-01 -1.93049585e-02 -1.23281615e-02 7.56589219e+02] [ 1.93153811e-02 9.99813176e-01 7.26910519e-04 -6.06439646e+01] [ 1.23118253e-02 -9.64842939e-04 9.99923741e-01 2.47495970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4607140569999 meters Centerline goodness [0,1] 0.9755780091775503 Centerline is valid? [True, True] Translation: X:756.62, Y:-60.64, Z:2.48 [[ 9.99687147e-01 -2.11839823e-02 -1.32984020e-02 7.56620020e+02] [ 2.11962818e-02 9.99775026e-01 7.84600292e-04 -6.06430915e+01] [ 1.32787893e-02 -1.06623150e-03 9.99911265e-01 2.47531664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.490714057 meters Centerline goodness [0,1] 0.9753230714947294 Centerline is valid? [True, True] Translation: X:756.65, Y:-60.64, Z:2.48 [[ 9.99660640e-01 -2.20978400e-02 -1.37945640e-02 7.56651061e+02] [ 2.21111647e-02 9.99755187e-01 8.14156286e-04 -6.06444987e+01] [ 1.37731958e-02 -1.11889387e-03 9.99904519e-01 2.47512317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.520714057 meters Centerline goodness [0,1] 0.9748138656297638 Centerline is valid? [True, True] Translation: X:756.68, Y:-60.65, Z:2.47 [[ 9.99605493e-01 -2.39473881e-02 -1.46758772e-02 7.56681856e+02] [ 2.39626759e-02 9.99712478e-01 8.66716503e-04 -6.06460569e+01] [ 1.46509020e-02 -1.21804787e-03 9.99891928e-01 2.47471203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5507140569999 meters Centerline goodness [0,1] 0.973872837485067 Centerline is valid? [True, True] Translation: X:756.71, Y:-60.65, Z:2.47 [[ 9.99577669e-01 -2.49932957e-02 -1.48262707e-02 7.56712109e+02] [ 2.50090197e-02 9.99686842e-01 8.76062353e-04 -6.06507049e+01] [ 1.47997321e-02 -1.24648286e-03 9.99889701e-01 2.47476343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5807140569999 meters Centerline goodness [0,1] 0.9739567267439299 Centerline is valid? [True, True] Translation: X:756.74, Y:-60.65, Z:2.48 [[ 9.99557721e-01 -2.56949581e-02 -1.49710222e-02 7.56743290e+02] [ 2.57110735e-02 9.99669024e-01 8.84932044e-04 -6.06502636e+01] [ 1.49433289e-02 -1.26946171e-03 9.99887536e-01 2.47503166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6107140569999 meters Centerline goodness [0,1] 0.9741707209199469 Centerline is valid? [True, True] Translation: X:756.77, Y:-60.65, Z:2.48 [[ 9.99522745e-01 -2.65549728e-02 -1.57833855e-02 7.56774535e+02] [ 2.65730004e-02 9.99646440e-01 9.33531471e-04 -6.06510917e+01] [ 1.57530153e-02 -1.35249785e-03 9.99874999e-01 2.47538520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.640714057 meters Centerline goodness [0,1] 0.9751145748001859 Centerline is valid? [True, True] Translation: X:756.81, Y:-60.65, Z:2.48 [[ 9.99483165e-01 -2.76914269e-02 -1.63275040e-02 7.56806201e+02] [ 2.77108792e-02 9.99615513e-01 9.66307971e-04 -6.06512122e+01] [ 1.62944678e-02 -1.41825804e-03 9.99866230e-01 2.47569112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6707140569999 meters Centerline goodness [0,1] 0.974356130348943 Centerline is valid? [True, True] Translation: X:756.84, Y:-60.65, Z:2.48 [[ 9.99464137e-01 -2.82929806e-02 -1.64604111e-02 7.56836441e+02] [ 2.83128403e-02 9.99598636e-01 9.74684855e-04 -6.06541675e+01] [ 1.64262277e-02 -1.44020355e-03 9.99864043e-01 2.47583758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7007140569999 meters Centerline goodness [0,1] 0.9746689694876224 Centerline is valid? [True, True] Translation: X:756.87, Y:-60.66, Z:2.48 [[ 9.99457712e-01 -2.83755876e-02 -1.67065191e-02 7.56867987e+02] [ 2.83960635e-02 9.99596261e-01 9.89637601e-04 -6.06550229e+01] [ 1.66716925e-02 -1.46350031e-03 9.99859947e-01 2.47638526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7307140569999 meters Centerline goodness [0,1] 0.9744993707636942 Centerline is valid? [True, True] Translation: X:756.90, Y:-60.66, Z:2.48 [[ 9.99465299e-01 -2.83186755e-02 -1.63452922e-02 7.56898566e+02] [ 2.83382758e-02 9.99597921e-01 9.68732764e-04 -6.06591019e+01] [ 1.63112869e-02 -1.43141218e-03 9.99865938e-01 2.47659683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.760714057 meters Centerline goodness [0,1] 0.975030303030303 Centerline is valid? [True, True] Translation: X:756.93, Y:-60.66, Z:2.48 [[ 9.99460512e-01 -2.83768517e-02 -1.65360204e-02 7.56929697e+02] [ 2.83969263e-02 9.99596245e-01 9.80407996e-04 -6.06584041e+01] [ 1.65015230e-02 -1.44945123e-03 9.99862790e-01 2.47683231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.790714057 meters Centerline goodness [0,1] 0.975030303030303 Centerline is valid? [True, True] Translation: X:756.96, Y:-60.66, Z:2.48 [[ 9.99461511e-01 -2.83416504e-02 -1.65359858e-02 7.56960604e+02] [ 2.83617297e-02 9.99597244e-01 9.80990363e-04 -6.06602690e+01] [ 1.65015230e-02 -1.44945127e-03 9.99862790e-01 2.47720754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8207140569999 meters Centerline goodness [0,1] 0.9751510037306804 Centerline is valid? [True, True] Translation: X:756.99, Y:-60.66, Z:2.48 [[ 9.99437434e-01 -2.89497470e-02 -1.69330525e-02 7.56991760e+02] [ 2.89708992e-02 9.99579750e-01 1.00515648e-03 -6.06596825e+01] [ 1.68968374e-02 -1.49515677e-03 9.99856120e-01 2.47797151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8507140569999 meters Centerline goodness [0,1] 0.9761524114042099 Centerline is valid? [True, True] Translation: X:757.02, Y:-60.66, Z:2.48 [[ 9.99444406e-01 -2.88070536e-02 -1.67640374e-02 7.57023523e+02] [ 2.88277757e-02 9.99583897e-01 9.95718532e-04 -6.06597066e+01] [ 1.67283781e-02 -1.47843523e-03 9.99858978e-01 2.47858798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.880714057 meters Centerline goodness [0,1] 0.9701016543751246 Centerline is valid? [True, True] Translation: X:757.05, Y:-60.67, Z:2.48 [[ 9.99453308e-01 -2.85382473e-02 -1.66929154e-02 7.57053515e+02] [ 2.85587653e-02 9.99591623e-01 9.92008796e-04 -6.06709216e+01] [ 1.66577882e-02 -1.46819553e-03 9.99860171e-01 2.47870040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.910714057 meters Centerline goodness [0,1] 0.9765461740251656 Centerline is valid? [True, True] Translation: X:757.09, Y:-60.66, Z:2.48 [[ 9.99458485e-01 -2.83105570e-02 -1.67704647e-02 7.57086009e+02] [ 2.83312412e-02 9.99598093e-01 9.97023682e-04 -6.06606984e+01] [ 1.67354983e-02 -1.47161186e-03 9.99858869e-01 2.47929948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9407140569999 meters Centerline goodness [0,1] 0.9750623441396509 Centerline is valid? [True, True] Translation: X:757.12, Y:-60.67, Z:2.48 [[ 9.99430998e-01 -2.86431229e-02 -1.78115445e-02 7.57115735e+02] [ 2.86665187e-02 9.99588469e-01 1.05954195e-03 -6.06700428e+01] [ 1.77738659e-02 -1.56953404e-03 9.99840800e-01 2.47884495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9707140569999 meters Centerline goodness [0,1] 0.9778109474903647 Centerline is valid? [True, True] Translation: X:757.15, Y:-60.67, Z:2.48 [[ 9.99416469e-01 -2.88112041e-02 -1.83476178e-02 7.57147427e+02] [ 2.88360659e-02 9.99583558e-01 1.09187797e-03 -6.06652078e+01] [ 1.83085188e-02 -1.62031394e-03 9.99831072e-01 2.47907301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.000714057 meters Centerline goodness [0,1] 0.9776347151990377 Centerline is valid? [True, True] Translation: X:757.18, Y:-60.67, Z:2.48 [[ 9.99386734e-01 -2.94547141e-02 -1.89360890e-02 7.57178735e+02] [ 2.94813243e-02 9.99564695e-01 1.12758616e-03 -6.06678592e+01] [ 1.88946333e-02 -1.68515563e-03 9.99820060e-01 2.47947849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.030714057 meters Centerline goodness [0,1] 0.9619537389523364 Centerline is valid? [True, True] Translation: X:757.21, Y:-60.68, Z:2.48 [[ 9.99296980e-01 -3.18839129e-02 -1.97221181e-02 7.57207621e+02] [ 3.19132562e-02 9.99489952e-01 1.17482108e-03 -6.06796506e+01] [ 1.96746010e-02 -1.80339216e-03 9.99804810e-01 2.47890538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0607140569999 meters Centerline goodness [0,1] 0.9760386947218259 Centerline is valid? [True, True] Translation: X:757.24, Y:-60.67, Z:2.48 [[ 9.99252486e-01 -3.32057139e-02 -1.97951972e-02 7.57239028e+02] [ 3.32355376e-02 9.99446851e-01 1.17944780e-03 -6.06706795e+01] [ 1.97450831e-02 -1.83647016e-03 9.99803360e-01 2.48018712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0907140569999 meters Centerline goodness [0,1] 0.9749069596416553 Centerline is valid? [True, True] Translation: X:757.27, Y:-60.67, Z:2.48 [[ 9.99216357e-01 -3.41971612e-02 -1.99305455e-02 7.57269489e+02] [ 3.42276020e-02 9.99413358e-01 1.18812649e-03 -6.06748838e+01] [ 1.98782228e-02 -1.86937020e-03 9.99800661e-01 2.48000478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.120714057 meters Centerline goodness [0,1] 0.9784591370275393 Centerline is valid? [True, True] Translation: X:757.30, Y:-60.67, Z:2.48 [[ 9.99193133e-01 -3.50261456e-02 -1.96533217e-02 7.57300940e+02] [ 3.50559137e-02 9.99384665e-01 1.17208614e-03 -6.06707769e+01] [ 1.96001747e-02 -1.86010557e-03 9.99806168e-01 2.48083703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.150714057 meters Centerline goodness [0,1] 0.9771121283498512 Centerline is valid? [True, True] Translation: X:757.33, Y:-60.67, Z:2.48 [[ 9.99131578e-01 -3.67534984e-02 -1.96282875e-02 7.57330763e+02] [ 3.67835295e-02 9.99322571e-01 1.17103388e-03 -6.06740741e+01] [ 1.95719512e-02 -1.89201462e-03 9.99806661e-01 2.48114965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1807140569999 meters Centerline goodness [0,1] 0.9739130434782609 Centerline is valid? [True, True] Translation: X:757.36, Y:-60.68, Z:2.48 [[ 9.99118575e-01 -3.72481864e-02 -1.93557670e-02 7.57361510e+02] [ 3.72774888e-02 9.99304285e-01 1.15516694e-03 -6.06786515e+01] [ 1.92992730e-02 -1.87568314e-03 9.99811992e-01 2.48197832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2107140569999 meters Centerline goodness [0,1] 0.9726116216155789 Centerline is valid? [True, True] Translation: X:757.39, Y:-60.68, Z:2.48 [[ 9.99106687e-01 -3.76717713e-02 -1.91485304e-02 7.57393110e+02] [ 3.77005459e-02 9.99288427e-01 1.14381889e-03 -6.06804174e+01] [ 1.90918151e-02 -1.86470715e-03 9.99815996e-01 2.48316749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.240714057 meters Centerline goodness [0,1] 0.9764813615348535 Centerline is valid? [True, True] Translation: X:757.43, Y:-60.68, Z:2.48 [[ 9.99112631e-01 -3.76084276e-02 -1.89619816e-02 7.57425401e+02] [ 3.76366543e-02 9.99290847e-01 1.13380852e-03 -6.06765220e+01] [ 1.89058938e-02 -1.84646796e-03 9.99819563e-01 2.48405278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.270714057 meters Centerline goodness [0,1] 0.9754336552217453 Centerline is valid? [True, True] Translation: X:757.46, Y:-60.68, Z:2.48 [[ 9.99103538e-01 -3.79007229e-02 -1.88588291e-02 7.57457904e+02] [ 3.79287204e-02 9.99279809e-01 1.12900215e-03 -6.06794414e+01] [ 1.88024571e-02 -1.84328129e-03 9.99821519e-01 2.48408156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3007140569999 meters Centerline goodness [0,1] 0.9734003350083752 Centerline is valid? [True, True] Translation: X:757.49, Y:-60.68, Z:2.48 [[ 9.99095420e-01 -3.81538803e-02 -1.87782714e-02 7.57488431e+02] [ 3.81817065e-02 9.99270179e-01 1.12540971e-03 -6.06842536e+01] [ 1.87216279e-02 -1.84137814e-03 9.99823039e-01 2.48398359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3307140569999 meters Centerline goodness [0,1] 0.9741060693770317 Centerline is valid? [True, True] Translation: X:757.52, Y:-60.68, Z:2.48 [[ 9.99058404e-01 -3.91260640e-02 -1.87471754e-02 7.57520804e+02] [ 3.91539884e-02 9.99232556e-01 1.12466454e-03 -6.06845340e+01] [ 1.86887843e-02 -1.85763225e-03 9.99823624e-01 2.48463788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3607140569999 meters Centerline goodness [0,1] 0.9754816503509007 Centerline is valid? [True, True] Translation: X:757.55, Y:-60.68, Z:2.49 [[ 9.99013960e-01 -3.97969720e-02 -1.96801573e-02 7.57553359e+02] [ 3.98279029e-02 9.99205855e-01 1.18208462e-03 -6.06836848e+01] [ 1.96174850e-02 -1.96473843e-03 9.99805628e-01 2.48518834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.390714057 meters Centerline goodness [0,1] 0.9694625771259948 Centerline is valid? [True, True] Translation: X:757.58, Y:-60.69, Z:2.48 [[ 9.98991836e-01 -4.02244188e-02 -1.99325801e-02 7.57584122e+02] [ 4.02562676e-02 9.99188669e-01 1.19900206e-03 -6.06915138e+01] [ 1.98681790e-02 -2.00020455e-03 9.99800607e-01 2.48485957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4207140569999 meters Centerline goodness [0,1] 0.9732496033253626 Centerline is valid? [True, True] Translation: X:757.62, Y:-60.69, Z:2.48 [[ 9.98988078e-01 -4.00439029e-02 -2.04769616e-02 7.57616166e+02] [ 4.00775181e-02 9.99195812e-01 1.23371172e-03 -6.06912529e+01] [ 2.04110916e-02 -2.05312910e-03 9.99789564e-01 2.48484278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4507140569999 meters Centerline goodness [0,1] 0.9633195576901598 Centerline is valid? [True, True] Translation: X:757.65, Y:-60.70, Z:2.48 [[ 9.98976187e-01 -3.99122459e-02 -2.12976658e-02 7.57646996e+02] [ 3.99486103e-02 9.99200910e-01 1.28455347e-03 -6.06993916e+01] [ 2.12293777e-02 -2.13405048e-03 9.99772354e-01 2.48369356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4807140569999 meters Centerline goodness [0,1] 0.9725131182315507 Centerline is valid? [True, True] Translation: X:757.68, Y:-60.70, Z:2.48 [[ 9.98985845e-01 -3.94787132e-02 -2.16497643e-02 7.57679045e+02] [ 3.95162185e-02 9.99218074e-01 1.30713238e-03 -6.06962939e+01] [ 2.15812319e-02 -2.16132357e-03 9.99764762e-01 2.48447667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.510714057 meters Centerline goodness [0,1] 0.9708657912308035 Centerline is valid? [True, True] Translation: X:757.71, Y:-60.70, Z:2.48 [[ 9.99038461e-01 -3.84163378e-02 -2.11267269e-02 7.57709506e+02] [ 3.84518417e-02 9.99259639e-01 1.27672110e-03 -6.07005111e+01] [ 2.10620386e-02 -2.08785505e-03 9.99775991e-01 2.48461491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.540714057 meters Centerline goodness [0,1] 0.971006075768406 Centerline is valid? [True, True] Translation: X:757.74, Y:-60.70, Z:2.49 [[ 9.99079892e-01 -3.68950266e-02 -2.18661139e-02 7.57741382e+02] [ 3.69327200e-02 9.99316879e-01 1.32236577e-03 -6.07005880e+01] [ 2.18023880e-02 -2.12872412e-03 9.99760033e-01 2.48528324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5707140569999 meters Centerline goodness [0,1] 0.9726880476847115 Centerline is valid? [True, True] Translation: X:757.77, Y:-60.70, Z:2.49 [[ 9.99131679e-01 -3.54262707e-02 -2.19286805e-02 7.57772487e+02] [ 3.54638475e-02 9.99370079e-01 1.32696427e-03 -6.07001428e+01] [ 2.18678577e-02 -2.10348742e-03 9.99758657e-01 2.48635399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6007140569999 meters Centerline goodness [0,1] 0.972204295092912 Centerline is valid? [True, True] Translation: X:757.80, Y:-60.70, Z:2.49 [[ 9.99199947e-01 -3.36614832e-02 -2.15955979e-02 7.57802604e+02] [ 3.36975230e-02 9.99431223e-01 1.30701779e-03 -6.07032790e+01] [ 2.15393186e-02 -2.03369027e-03 9.99765934e-01 2.48650260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.630714057 meters Centerline goodness [0,1] 0.9729295454038251 Centerline is valid? [True, True] Translation: X:757.83, Y:-60.70, Z:2.49 [[ 9.99242822e-01 -3.22166701e-02 -2.18144181e-02 7.57833809e+02] [ 3.22531065e-02 9.99478861e-01 1.32042983e-03 -6.07030295e+01] [ 2.17605099e-02 -2.02301278e-03 9.99761165e-01 2.48679576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.660714057 meters Centerline goodness [0,1] 0.9730174619063507 Centerline is valid? [True, True] Translation: X:757.86, Y:-60.70, Z:2.49 [[ 9.99359881e-01 -2.85407374e-02 -2.15697521e-02 7.57863124e+02] [ 2.85755125e-02 9.99590784e-01 1.30565789e-03 -6.07039202e+01] [ 2.15236609e-02 -1.92118884e-03 9.99766493e-01 2.48707368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6907140569999 meters Centerline goodness [0,1] 0.9721806359350211 Centerline is valid? [True, True] Translation: X:757.89, Y:-60.71, Z:2.49 [[ 9.99423052e-01 -2.65798601e-02 -2.11441301e-02 7.57893014e+02] [ 2.66128361e-02 9.99644997e-01 1.27968154e-03 -6.07065732e+01] [ 2.11026101e-02 -1.84164850e-03 9.99775619e-01 2.48786516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7207140569999 meters Centerline goodness [0,1] 0.977923761004603 Centerline is valid? [True, True] Translation: X:757.92, Y:-60.70, Z:2.49 [[ 9.99459758e-01 -2.50410599e-02 -2.12870473e-02 7.57923733e+02] [ 2.50741259e-02 9.99684765e-01 1.28781160e-03 -6.06985546e+01] [ 2.12480887e-02 -1.82086997e-03 9.99772576e-01 2.48919101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.750714057 meters Centerline goodness [0,1] 0.9794855750966502 Centerline is valid? [True, True] Translation: X:757.95, Y:-60.70, Z:2.49 [[ 9.99511073e-01 -2.33748454e-02 -2.07661319e-02 7.57953873e+02] [ 2.34059318e-02 9.99725256e-01 1.25515418e-03 -6.06954394e+01] [ 2.07310874e-02 -1.74059116e-03 9.99783573e-01 2.49041057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.780714057 meters Centerline goodness [0,1] 0.9758315546069014 Centerline is valid? [True, True] Translation: X:757.98, Y:-60.71, Z:2.49 [[ 9.99605609e-01 -1.98971013e-02 -1.98174742e-02 7.57983260e+02] [ 1.99247198e-02 9.99800766e-01 1.19715292e-03 -6.07053756e+01] [ 1.97897060e-02 -1.59153839e-03 9.99802898e-01 2.49021143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8107140569999 meters Centerline goodness [0,1] 0.97871533432989 Centerline is valid? [True, True] Translation: X:758.01, Y:-60.70, Z:2.49 [[ 9.99635092e-01 -1.86017246e-02 -1.95872196e-02 7.58013418e+02] [ 1.86284517e-02 9.99825776e-01 1.18292949e-03 -6.06959897e+01] [ 1.95618025e-02 -1.54737740e-03 9.99807452e-01 2.49141094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8407140569999 meters Centerline goodness [0,1] 0.9784080717488789 Centerline is valid? [True, True] Translation: X:758.04, Y:-60.70, Z:2.49 [[ 9.99652117e-01 -1.74717859e-02 -1.97580829e-02 7.58041920e+02] [ 1.74987452e-02 9.99846174e-01 1.19239559e-03 -6.06984517e+01] [ 1.97342103e-02 -1.53772243e-03 9.99804079e-01 2.49136026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.870714057 meters Centerline goodness [0,1] 0.9799198585211882 Centerline is valid? [True, True] Translation: X:758.07, Y:-60.70, Z:2.49 [[ 9.99659745e-01 -1.66488153e-02 -2.00801260e-02 7.58071036e+02] [ 1.66764451e-02 9.99860207e-01 1.20930139e-03 -6.06994080e+01] [ 2.00571855e-02 -1.54375504e-03 9.99797643e-01 2.49158237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.900714057 meters Centerline goodness [0,1] 0.9804358482998351 Centerline is valid? [True, True] Translation: X:758.10, Y:-60.70, Z:2.49 [[ 9.99691484e-01 -1.41123978e-02 -2.04395971e-02 7.58101366e+02] [ 1.41404369e-02 9.99899265e-01 1.22791726e-03 -6.06992907e+01] [ 2.04202093e-02 -1.51656326e-03 9.99790336e-01 2.49217990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9307140569999 meters Centerline goodness [0,1] 0.9798928810533363 Centerline is valid? [True, True] Translation: X:758.13, Y:-60.70, Z:2.49 [[ 9.99696439e-01 -1.28536119e-02 -2.10193971e-02 7.58130125e+02] [ 1.28829698e-02 9.99916215e-01 1.26188436e-03 -6.06994233e+01] [ 2.10014162e-02 -1.53229356e-03 9.99778272e-01 2.49277348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9607140569999 meters Centerline goodness [0,1] 0.9802466928852341 Centerline is valid? [True, True] Translation: X:758.16, Y:-60.70, Z:2.49 [[ 9.99724582e-01 -1.11609794e-02 -2.06444447e-02 7.58159272e+02] [ 1.11889161e-02 9.99936635e-01 1.23821605e-03 -6.07011847e+01] [ 2.06293169e-02 -1.46886398e-03 9.99786114e-01 2.49306206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.990714057 meters Centerline goodness [0,1] 0.9815220795490135 Centerline is valid? [True, True] Translation: X:758.19, Y:-60.70, Z:2.49 [[ 9.99750387e-01 -6.72426837e-03 -2.13060401e-02 7.58188293e+02] [ 6.75300857e-03 9.99976382e-01 1.27726079e-03 -6.07012550e+01] [ 2.12969483e-02 -1.42082184e-03 9.99772185e-01 2.49322339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.020714057 meters Centerline goodness [0,1] 0.9811041624638558 Centerline is valid? [True, True] Translation: X:758.22, Y:-60.70, Z:2.49 [[ 9.99755775e-01 -4.78664235e-03 -2.15749273e-02 7.58217716e+02] [ 4.81565090e-03 9.99987569e-01 1.29279470e-03 -6.07020354e+01] [ 2.15684710e-02 -1.39637629e-03 9.99766398e-01 2.49346189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0507140569999 meters Centerline goodness [0,1] 0.9811041624638558 Centerline is valid? [True, True] Translation: X:758.25, Y:-60.70, Z:2.49 [[ 9.99754398e-01 -5.06543897e-03 -2.15751104e-02 7.58245116e+02] [ 5.09444634e-03 9.99986192e-01 1.28973223e-03 -6.07035921e+01] [ 2.15682794e-02 -1.39932871e-03 9.99766398e-01 2.49379473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0807140569999 meters Centerline goodness [0,1] 0.9826769886682374 Centerline is valid? [True, True] Translation: X:758.27, Y:-60.70, Z:2.49 [[ 9.99761197e-01 -3.17605448e-03 -2.16208549e-02 7.58274710e+02] [ 3.20466454e-03 9.99994035e-01 1.28874300e-03 -6.07037848e+01] [ 2.16166328e-02 -1.35772283e-03 9.99765411e-01 2.49420955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1107140569999 meters Centerline goodness [0,1] 0.9823048594269289 Centerline is valid? [True, True] Translation: X:758.30, Y:-60.70, Z:2.49 [[ 9.99758507e-01 -1.11329856e-06 -2.19755962e-02 7.58304644e+02] [ 2.98929487e-05 9.99999142e-01 1.30929017e-03 -6.07023082e+01] [ 2.19755759e-02 -1.30963090e-03 9.99757650e-01 2.49455765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.140714057 meters Centerline goodness [0,1] 0.9821448624368332 Centerline is valid? [True, True] Translation: X:758.33, Y:-60.70, Z:2.49 [[ 9.99763677e-01 7.72662279e-04 -2.17254148e-02 7.58332836e+02] [-7.44771154e-04 9.99998888e-01 1.29186360e-03 -6.07041711e+01] [ 2.17263888e-02 -1.27537784e-03 9.99763141e-01 2.49483477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1707140569999 meters Centerline goodness [0,1] 0.9822035232974105 Centerline is valid? [True, True] Translation: X:758.36, Y:-60.70, Z:2.50 [[ 9.99759442e-01 1.08048421e-03 -2.19064257e-02 7.58361365e+02] [-1.05227902e-03 9.99998603e-01 1.29901678e-03 -6.07038823e+01] [ 2.19077987e-02 -1.27565261e-03 9.99759182e-01 2.49560502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2007140569999 meters Centerline goodness [0,1] 0.9810859870470385 Centerline is valid? [True, True] Translation: X:758.39, Y:-60.71, Z:2.50 [[ 9.99774604e-01 1.34937403e-03 -2.11877616e-02 7.58390547e+02] [-1.32310966e-03 9.99998339e-01 1.25357058e-03 -6.07059786e+01] [ 2.11894179e-02 -1.22525429e-03 9.99774728e-01 2.49613163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2307140569999 meters Centerline goodness [0,1] 0.9808808313464393 Centerline is valid? [True, True] Translation: X:758.42, Y:-60.71, Z:2.50 [[ 9.99799863e-01 9.82265426e-04 -1.99817341e-02 7.58418397e+02] [-9.58897598e-04 9.99998845e-01 1.17900705e-03 -6.07106633e+01] [ 1.99828692e-02 -1.15961065e-03 9.99799650e-01 2.49729973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.260714057 meters Centerline goodness [0,1] 0.9825589225589225 Centerline is valid? [True, True] Translation: X:758.45, Y:-60.70, Z:2.50 [[ 9.99804949e-01 4.71644383e-04 -1.97443835e-02 7.58447753e+02] [-4.48760094e-04 9.99999223e-01 1.16344241e-03 -6.07045516e+01] [ 1.97449169e-02 -1.15435499e-03 9.99804384e-01 2.49932734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.290714057 meters Centerline goodness [0,1] 0.9808845661402996 Centerline is valid? [True, True] Translation: X:758.47, Y:-60.71, Z:2.50 [[ 9.99811024e-01 -6.63476630e-04 -1.94287204e-02 7.58474583e+02] [ 6.85816856e-04 9.99999111e-01 1.14321543e-03 -6.07145441e+01] [ 1.94279447e-02 -1.15632393e-03 9.99810591e-01 2.49888990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3207140569999 meters Centerline goodness [0,1] 0.982276433721949 Centerline is valid? [True, True] Translation: X:758.50, Y:-60.71, Z:2.50 [[ 9.99813880e-01 -1.30627250e-03 -1.92483575e-02 7.58503928e+02] [ 1.32828414e-03 9.99998478e-01 1.13081926e-03 -6.07079453e+01] [ 1.92468511e-02 -1.15617608e-03 9.99814094e-01 2.50084622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3507140569999 meters Centerline goodness [0,1] 0.9828615011889272 Centerline is valid? [True, True] Translation: X:758.53, Y:-60.71, Z:2.50 [[ 9.99811077e-01 -3.83409277e-03 -1.90554628e-02 7.58533241e+02] [ 3.85609597e-03 9.99991940e-01 1.11808363e-03 -6.07100940e+01] [ 1.90510223e-02 -1.19135209e-03 9.99817803e-01 2.50072886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.380714057 meters Centerline goodness [0,1] 0.9828843744406658 Centerline is valid? [True, True] Translation: X:758.56, Y:-60.72, Z:2.50 [[ 9.99807345e-01 -5.37751348e-03 -1.88773814e-02 7.58561202e+02] [ 5.39935445e-03 9.99984812e-01 1.10621429e-03 -6.07154768e+01] [ 1.88711460e-02 -1.20792685e-03 9.99821194e-01 2.50029884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.410714057 meters Centerline goodness [0,1] 0.9824758229183028 Centerline is valid? [True, True] Translation: X:758.59, Y:-60.72, Z:2.50 [[ 9.99803658e-01 -7.06300027e-03 -1.85137479e-02 7.58589450e+02] [ 7.08427357e-03 9.99974319e-01 1.08372108e-03 -6.07241529e+01] [ 1.85056182e-02 -1.21466476e-03 9.99828019e-01 2.49966398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4407140569999 meters Centerline goodness [0,1] 0.9811054646399069 Centerline is valid? [True, True] Translation: X:758.62, Y:-60.73, Z:2.50 [[ 9.99758015e-01 -1.04810398e-02 -1.93406150e-02 7.58619442e+02] [ 1.05048778e-02 9.99944182e-01 1.13134820e-03 -6.07285652e+01] [ 1.93276778e-02 -1.33424523e-03 9.99812313e-01 2.49987980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4707140569999 meters Centerline goodness [0,1] 0.9830158159597412 Centerline is valid? [True, True] Translation: X:758.65, Y:-60.73, Z:2.50 [[ 9.99746321e-01 -1.21188455e-02 -1.89849370e-02 7.58649354e+02] [ 1.21421005e-02 9.99925666e-01 1.11012752e-03 -6.07260831e+01] [ 1.89700723e-02 -1.34036292e-03 9.99819154e-01 2.50086806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.500714057 meters Centerline goodness [0,1] 0.9813105055575475 Centerline is valid? [True, True] Translation: X:758.68, Y:-60.73, Z:2.50 [[ 9.99718202e-01 -1.40048921e-02 -1.91671647e-02 7.58677038e+02] [ 1.40289226e-02 9.99900963e-01 1.11984051e-03 -6.07325354e+01] [ 1.91495832e-02 -1.38841961e-03 9.99815666e-01 2.50082135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.530714057 meters Centerline goodness [0,1] 0.9812656866260309 Centerline is valid? [True, True] Translation: X:758.71, Y:-60.73, Z:2.50 [[ 9.99694624e-01 -1.58856239e-02 -1.89289476e-02 7.58706491e+02] [ 1.59093752e-02 9.99872827e-01 1.10482696e-03 -6.07338413e+01] [ 1.89089895e-02 -1.40563730e-03 9.99820221e-01 2.50126691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5607140569999 meters Centerline goodness [0,1] 0.9816526077909292 Centerline is valid? [True, True] Translation: X:758.74, Y:-60.74, Z:2.50 [[ 9.99662899e-01 -1.80335715e-02 -1.86782944e-02 7.58736209e+02] [ 1.80570583e-02 9.99836364e-01 1.08953420e-03 -6.07379590e+01] [ 1.86555897e-02 -1.42644197e-03 9.99824952e-01 2.50113864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5907140569999 meters Centerline goodness [0,1] 0.9796347685972607 Centerline is valid? [True, True] Translation: X:758.76, Y:-60.75, Z:2.50 [[ 9.99650151e-01 -1.88157095e-02 -1.85888575e-02 7.58763923e+02] [ 1.88390891e-02 9.99821942e-01 1.08339053e-03 -6.07493158e+01] [ 1.85651629e-02 -1.43320865e-03 9.99826625e-01 2.50048932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.620714057 meters Centerline goodness [0,1] 0.9792210690771119 Centerline is valid? [True, True] Translation: X:758.79, Y:-60.75, Z:2.50 [[ 9.99630155e-01 -1.93078903e-02 -1.91509452e-02 7.58793042e+02] [ 1.93327702e-02 9.99812483e-01 1.11484387e-03 -6.07520010e+01] [ 1.91258288e-02 -1.48467238e-03 9.99815982e-01 2.50092447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.650714057 meters Centerline goodness [0,1] 0.9813849423872917 Centerline is valid? [True, True] Translation: X:758.82, Y:-60.74, Z:2.50 [[ 9.99646054e-01 -1.92827263e-02 -1.83287509e-02 7.58823196e+02] [ 1.93054963e-02 9.99813063e-01 1.06617058e-03 -6.07442787e+01] [ 1.83047659e-02 -1.41963884e-03 9.99831446e-01 2.50296432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6807140569999 meters Centerline goodness [0,1] 0.9819025729141098 Centerline is valid? [True, True] Translation: X:758.85, Y:-60.75, Z:2.50 [[ 9.99663383e-01 -1.88303790e-02 -1.78476253e-02 7.58853257e+02] [ 1.88518881e-02 9.99821749e-01 1.03765736e-03 -6.07461646e+01] [ 1.78249045e-02 -1.37376950e-03 9.99840180e-01 2.50374975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7107140569999 meters Centerline goodness [0,1] 0.978844607273702 Centerline is valid? [True, True] Translation: X:758.88, Y:-60.76, Z:2.50 [[ 9.99679433e-01 -1.83394812e-02 -1.74554977e-02 7.58881367e+02] [ 1.83599713e-02 9.99830927e-01 1.01430937e-03 -6.07564317e+01] [ 1.74339446e-02 -1.33446666e-03 9.99847127e-01 2.50366761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.740714057 meters Centerline goodness [0,1] 0.981280193236715 Centerline is valid? [True, True] Translation: X:758.91, Y:-60.75, Z:2.50 [[ 9.99705406e-01 -1.67695179e-02 -1.75466392e-02 7.58912009e+02] [ 1.67899671e-02 9.99858520e-01 1.01874159e-03 -6.07513394e+01] [ 1.75270729e-02 -1.31304897e-03 9.99845527e-01 2.50460876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.770714057 meters Centerline goodness [0,1] 0.9808731529026616 Centerline is valid? [True, True] Translation: X:758.94, Y:-60.75, Z:2.51 [[ 9.99713675e-01 -1.60354004e-02 -1.77604749e-02 7.58942056e+02] [ 1.60562285e-02 9.99870559e-01 1.03073809e-03 -6.07481893e+01] [ 1.77416476e-02 -1.31560921e-03 9.99841739e-01 2.50529949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8007140569999 meters Centerline goodness [0,1] 0.9810961542768831 Centerline is valid? [True, True] Translation: X:758.97, Y:-60.75, Z:2.51 [[ 9.99717709e-01 -1.55820030e-02 -1.79360914e-02 7.58970844e+02] [ 1.56031590e-02 9.99877722e-01 1.04017613e-03 -6.07525550e+01] [ 1.79176901e-02 -1.31974219e-03 9.99838594e-01 2.50528810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8307140569999 meters Centerline goodness [0,1] 0.9808863215647791 Centerline is valid? [True, True] Translation: X:759.00, Y:-60.75, Z:2.51 [[ 9.99728855e-01 -1.50017696e-02 -1.78090606e-02 7.58999345e+02] [ 1.50224991e-02 9.99886625e-01 1.03076781e-03 -6.07539801e+01] [ 1.77915782e-02 -1.29802492e-03 9.99840875e-01 2.50580301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8607140569999 meters Centerline goodness [0,1] 0.979722209856208 Centerline is valid? [True, True] Translation: X:759.03, Y:-60.76, Z:2.51 [[ 9.99749005e-01 -1.39656896e-02 -1.75181870e-02 7.59026819e+02] [ 1.39855299e-02 9.99901687e-01 1.01054943e-03 -6.07580170e+01] [ 1.75023517e-02 -1.25529691e-03 9.99846034e-01 2.50637139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.890714057 meters Centerline goodness [0,1] 0.9810557826776579 Centerline is valid? [True, True] Translation: X:759.06, Y:-60.76, Z:2.51 [[ 9.99761612e-01 -1.35823306e-02 -1.70950102e-02 7.59055420e+02] [ 1.36011300e-02 9.99907016e-01 9.83909771e-04 -6.07569969e+01] [ 1.70800568e-02 -1.21618667e-03 9.99853386e-01 2.50678515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9207140569999 meters Centerline goodness [0,1] 0.9809781393893334 Centerline is valid? [True, True] Translation: X:759.08, Y:-60.76, Z:2.51 [[ 9.99772097e-01 -1.30968728e-02 -1.68590136e-02 7.59083437e+02] [ 1.31150203e-02 9.99913528e-01 9.66311353e-04 -6.07607254e+01] [ 1.68449001e-02 -1.18719743e-03 9.99857410e-01 2.50685410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9507140569999 meters Centerline goodness [0,1] 0.9813182860482892 Centerline is valid? [True, True] Translation: X:759.11, Y:-60.75, Z:2.51 [[ 9.99772867e-01 -1.25401511e-02 -1.72325168e-02 7.59112487e+02] [ 1.25589560e-02 9.99920650e-01 9.83452300e-04 -6.07514282e+01] [ 1.72188167e-02 -1.19965134e-03 9.99851025e-01 2.50774645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9807140569999 meters Centerline goodness [0,1] 0.9802869395361369 Centerline is valid? [True, True] Translation: X:759.14, Y:-60.76, Z:2.51 [[ 9.99776067e-01 -1.23579621e-02 -1.71783982e-02 7.59140112e+02] [ 1.23765616e-02 9.99922930e-01 9.76829006e-04 -6.07631320e+01] [ 1.71650027e-02 -1.18921977e-03 9.99851963e-01 2.50737689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.010714057 meters Centerline goodness [0,1] 0.981759704916558 Centerline is valid? [True, True] Translation: X:759.17, Y:-60.76, Z:2.51 [[ 9.99773755e-01 -1.24233834e-02 -1.72655257e-02 7.59169730e+02] [ 1.24421405e-02 9.99922114e-01 9.79396366e-04 -6.07561101e+01] [ 1.72520135e-02 -1.19399488e-03 9.99850460e-01 2.50832618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.040714057 meters Centerline goodness [0,1] 0.9819380089072833 Centerline is valid? [True, True] Translation: X:759.20, Y:-60.76, Z:2.51 [[ 9.99786966e-01 -1.16919276e-02 -1.70094434e-02 7.59197791e+02] [ 1.17099557e-02 9.99930975e-01 9.60674376e-04 -6.07571843e+01] [ 1.69970372e-02 -1.15964955e-03 9.99854867e-01 2.50934403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0707140569999 meters Centerline goodness [0,1] 0.9823110291969163 Centerline is valid? [True, True] Translation: X:759.23, Y:-60.76, Z:2.51 [[ 9.99809375e-01 -1.05876192e-02 -1.64047348e-02 7.59226666e+02] [ 1.06041876e-02 9.99943348e-01 9.23320181e-04 -6.07564842e+01] [ 1.63940297e-02 -1.09710306e-03 9.99865007e-01 2.50965912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1007140569999 meters Centerline goodness [0,1] 0.9821340284956628 Centerline is valid? [True, True] Translation: X:759.26, Y:-60.76, Z:2.51 [[ 9.99813352e-01 -9.75379774e-03 -1.66770974e-02 7.59255290e+02] [ 9.77077197e-03 9.99951826e-01 9.36638034e-04 -6.07578474e+01] [ 1.66671582e-02 -1.09941133e-03 9.99860489e-01 2.50975596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.130714057 meters Centerline goodness [0,1] 0.9821748477248298 Centerline is valid? [True, True] Translation: X:759.29, Y:-60.76, Z:2.51 [[ 9.99835609e-01 -6.99225467e-03 -1.67290871e-02 7.59285853e+02] [ 7.00889822e-03 9.99974999e-01 9.36462376e-04 -6.07562645e+01] [ 1.67221208e-02 -1.05356090e-03 9.99859620e-01 2.51022213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.160714057 meters Centerline goodness [0,1] 0.9816524062970199 Centerline is valid? [True, True] Translation: X:759.31, Y:-60.76, Z:2.51 [[ 9.99851614e-01 -5.56017668e-03 -1.63044431e-02 7.59314745e+02] [ 5.57578794e-03 9.99984039e-01 9.12183192e-04 -6.07567814e+01] [ 1.62991110e-02 -1.00295795e-03 9.99866658e-01 2.51049890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1907140569999 meters Centerline goodness [0,1] 0.9822377307519136 Centerline is valid? [True, True] Translation: X:759.34, Y:-60.76, Z:2.51 [[ 9.99862184e-01 -4.63535667e-03 -1.59413660e-02 7.59343546e+02] [ 4.65013458e-03 9.99988792e-01 8.90074488e-04 -6.07573061e+01] [ 1.59370615e-02 -9.64081318e-04 9.99872532e-01 2.51186324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2207140569999 meters Centerline goodness [0,1] 0.9837403843997399 Centerline is valid? [True, True] Translation: X:759.37, Y:-60.76, Z:2.51 [[ 9.99879808e-01 -2.85651399e-03 -1.52384582e-02 7.59373071e+02] [ 2.86976186e-03 9.99995523e-01 8.47575087e-04 -6.07556585e+01] [ 1.52359688e-02 -8.91203961e-04 9.99883529e-01 2.51334183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.250714057 meters Centerline goodness [0,1] 0.9813029637268529 Centerline is valid? [True, True] Translation: X:759.40, Y:-60.76, Z:2.51 [[ 9.99879708e-01 -2.36731022e-03 -1.53285941e-02 7.59400779e+02] [ 2.38062335e-03 9.99996805e-01 8.50327856e-04 -6.07646744e+01] [ 1.53265321e-02 -8.86717177e-04 9.99882149e-01 2.51349387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.280714057 meters Centerline goodness [0,1] 0.9831357226264259 Centerline is valid? [True, True] Translation: X:759.43, Y:-60.76, Z:2.51 [[ 9.99880743e-01 -1.46973245e-03 -1.53733362e-02 7.59430053e+02] [ 1.48295845e-03 9.99998540e-01 8.48956754e-04 -6.07594113e+01] [ 1.53720660e-02 -8.71653529e-04 9.99881463e-01 2.51422697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3107140569999 meters Centerline goodness [0,1] 0.9822183256901358 Centerline is valid? [True, True] Translation: X:759.46, Y:-60.76, Z:2.51 [[ 9.99881155e-01 -7.09173816e-04 -1.54004304e-02 7.59458614e+02] [ 7.22297612e-04 9.99999381e-01 8.46625295e-04 -6.07611350e+01] [ 1.53998205e-02 -8.57648371e-04 9.99881048e-01 2.51429910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3407140569999 meters Centerline goodness [0,1] 0.9809183467062235 Centerline is valid? [True, True] Translation: X:759.49, Y:-60.77, Z:2.51 [[ 9.99868423e-01 1.14096893e-03 -1.61812858e-02 7.59485863e+02] [-1.12677854e-03 9.99998973e-01 8.86053060e-04 -6.07668815e+01] [ 1.61822801e-02 -8.67703750e-04 9.99868682e-01 2.51338605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.370714057 meters Centerline goodness [0,1] 0.9833831091550086 Centerline is valid? [True, True] Translation: X:759.52, Y:-60.76, Z:2.51 [[ 9.99861454e-01 1.94913207e-03 -1.65309877e-02 7.59515020e+02] [-1.93446809e-03 9.99997721e-01 9.03003750e-04 -6.07611130e+01] [ 1.65327101e-02 -8.70899974e-04 9.99862946e-01 2.51437306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.400714057 meters Centerline goodness [0,1] 0.9836714608450579 Centerline is valid? [True, True] Translation: X:759.54, Y:-60.76, Z:2.51 [[ 9.99858869e-01 2.93074912e-03 -1.65424642e-02 7.59543424e+02] [-2.91626770e-03 9.99995343e-01 8.99463940e-04 -6.07636257e+01] [ 1.65450232e-02 -8.51094744e-04 9.99862760e-01 2.51473079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4307140569999 meters Centerline goodness [0,1] 0.983100167879127 Centerline is valid? [True, True] Translation: X:759.57, Y:-60.77, Z:2.51 [[ 9.99849820e-01 3.68769604e-03 -1.69333564e-02 7.59571848e+02] [-3.67268870e-03 9.99992835e-01 9.17271618e-04 -6.07655858e+01] [ 1.69366177e-02 -8.54942915e-04 9.99856200e-01 2.51453194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4607140569999 meters Centerline goodness [0,1] 0.9823488564836592 Centerline is valid? [True, True] Translation: X:759.60, Y:-60.77, Z:2.51 [[ 9.99837599e-01 3.26308015e-03 -1.77236645e-02 7.59600928e+02] [-3.24659565e-03 9.99994270e-01 9.58777277e-04 -6.07683316e+01] [ 1.77266915e-02 -9.01079998e-04 9.99842464e-01 2.51423620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.490714057 meters Centerline goodness [0,1] 0.9823853704450719 Centerline is valid? [True, True] Translation: X:759.63, Y:-60.77, Z:2.51 [[ 9.99839742e-01 3.10634238e-03 -1.76306793e-02 7.59629864e+02] [-3.09002814e-03 9.99994772e-01 9.52499013e-04 -6.07710029e+01] [ 1.76335459e-02 -8.97867072e-04 9.99844114e-01 2.51428390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.520714057 meters Centerline goodness [0,1] 0.9817533792114053 Centerline is valid? [True, True] Translation: X:759.66, Y:-60.77, Z:2.51 [[ 9.99849650e-01 2.43429027e-03 -1.71683173e-02 7.59657752e+02] [-2.41874387e-03 9.99996646e-01 9.26234249e-04 -6.07744547e+01] [ 1.71705145e-02 -8.84569228e-04 9.99852185e-01 2.51453544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5507140569999 meters Centerline goodness [0,1] 0.9815092230296255 Centerline is valid? [True, True] Translation: X:759.69, Y:-60.78, Z:2.52 [[ 9.99859458e-01 6.31985443e-04 -1.67530748e-02 7.59687397e+02] [-6.16950051e-04 9.99999402e-01 9.02623672e-04 -6.07789117e+01] [ 1.67536353e-02 -8.92161005e-04 9.99859250e-01 2.51523677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5807140569999 meters Centerline goodness [0,1] 0.9809815402494078 Centerline is valid? [True, True] Translation: X:759.72, Y:-60.79, Z:2.52 [[ 9.99859638e-01 -8.16822787e-04 -1.67343372e-02 7.59715208e+02] [ 8.32012883e-04 9.99999248e-01 9.00778199e-04 -6.07853376e+01] [ 1.67335889e-02 -9.14574948e-04 9.99859565e-01 2.51519839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6107140569999 meters Centerline goodness [0,1] 0.9811442708449417 Centerline is valid? [True, True] Translation: X:759.74, Y:-60.79, Z:2.52 [[ 9.99858759e-01 -2.31005257e-03 -1.66471064e-02 7.59743671e+02] [ 2.32526821e-03 9.99996896e-01 8.94712836e-04 -6.07900947e+01] [ 1.66449879e-02 -9.33295453e-04 9.99861027e-01 2.51547815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.640714057 meters Centerline goodness [0,1] 0.9801737033646655 Centerline is valid? [True, True] Translation: X:759.77, Y:-60.80, Z:2.52 [[ 9.99852214e-01 -5.80321696e-03 -1.61825154e-02 7.59773470e+02] [ 5.81803687e-03 9.99982698e-01 8.68869325e-04 -6.07979736e+01] [ 1.61771932e-02 -9.62891390e-04 9.99868677e-01 2.51580113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6707140569999 meters Centerline goodness [0,1] 0.9808327383077472 Centerline is valid? [True, True] Translation: X:759.80, Y:-60.80, Z:2.52 [[ 9.99834682e-01 -8.32138663e-03 -1.61667209e-02 7.59802425e+02] [ 8.33649874e-03 9.99964874e-01 8.67599381e-04 -6.07986144e+01] [ 1.61589334e-02 -1.00222980e-03 9.99868934e-01 2.51629529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7007140569999 meters Centerline goodness [0,1] 0.9794547961044159 Centerline is valid? [True, True] Translation: X:759.83, Y:-60.81, Z:2.52 [[ 9.99813364e-01 -1.03283571e-02 -1.63267438e-02 7.59830492e+02] [ 1.03440206e-02 9.99946116e-01 8.75218615e-04 -6.08081918e+01] [ 1.63168245e-02 -1.04393944e-03 9.99866327e-01 2.51624469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7307140569999 meters Centerline goodness [0,1] 0.9799170050817744 Centerline is valid? [True, True] Translation: X:759.86, Y:-60.81, Z:2.52 [[ 9.99771952e-01 -1.36171935e-02 -1.64504249e-02 7.59860848e+02] [ 1.36335232e-02 9.99906671e-01 8.80922660e-04 -6.08133184e+01] [ 1.64368939e-02 -1.10499902e-03 9.99864295e-01 2.51617975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.760714057 meters Centerline goodness [0,1] 0.9802666666666666 Centerline is valid? [True, True] Translation: X:759.89, Y:-60.82, Z:2.52 [[ 9.99747860e-01 -1.53168048e-02 -1.64198872e-02 7.59889873e+02] [ 1.53332985e-02 9.99882052e-01 8.79059870e-04 -6.08155529e+01] [ 1.64044861e-02 -1.13060925e-03 9.99864798e-01 2.51593782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.790714057 meters Centerline goodness [0,1] 0.9787659366531918 Centerline is valid? [True, True] Translation: X:759.92, Y:-60.83, Z:2.52 [[ 9.99701755e-01 -1.70817553e-02 -1.74531929e-02 7.59917966e+02] [ 1.71006414e-02 9.99853338e-01 9.33420963e-04 -6.08256174e+01] [ 1.74346887e-02 -1.23160337e-03 9.99847246e-01 2.51520118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8207140569999 meters Centerline goodness [0,1] 0.9807662444262041 Centerline is valid? [True, True] Translation: X:759.95, Y:-60.82, Z:2.52 [[ 9.99683682e-01 -1.75804802e-02 -1.79850466e-02 7.59946659e+02] [ 1.76005770e-02 9.99844637e-01 9.59731335e-04 -6.08211456e+01] [ 1.79653799e-02 -1.27597495e-03 9.99837795e-01 2.51558396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8507140569999 meters Centerline goodness [0,1] 0.9799257163070393 Centerline is valid? [True, True] Translation: X:759.97, Y:-60.83, Z:2.52 [[ 9.99676875e-01 -1.81164568e-02 -1.78308330e-02 7.59974872e+02] [ 1.81362360e-02 9.99835075e-01 9.48173652e-04 -6.08272197e+01] [ 1.78107147e-02 -1.27125147e-03 9.99840568e-01 2.51537570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.880714057 meters Centerline goodness [0,1] 0.9802188552188552 Centerline is valid? [True, True] Translation: X:760.00, Y:-60.83, Z:2.52 [[ 9.99656262e-01 -1.90077762e-02 -1.80572168e-02 7.60003907e+02] [ 1.90281669e-02 9.99818489e-01 9.58074073e-04 -6.08301115e+01] [ 1.80357283e-02 -1.30134048e-03 9.99836496e-01 2.51583077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.910714057 meters Centerline goodness [0,1] 0.9818266439130339 Centerline is valid? [True, True] Translation: X:760.03, Y:-60.83, Z:2.52 [[ 9.99665669e-01 -1.85981567e-02 -1.79627059e-02 7.60033970e+02] [ 1.86182111e-02 9.99826215e-01 9.49847527e-04 -6.08302144e+01] [ 1.79419188e-02 -1.28396341e-03 9.99838206e-01 2.51670825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9407140569999 meters Centerline goodness [0,1] 0.9818266439130339 Centerline is valid? [True, True] Translation: X:760.06, Y:-60.83, Z:2.52 [[ 9.99664996e-01 -1.86342374e-02 -1.79627401e-02 7.60063157e+02] [ 1.86542860e-02 9.99825543e-01 9.49198702e-04 -6.08317271e+01] [ 1.79419188e-02 -1.28396281e-03 9.99838206e-01 2.51706270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9707140569999 meters Centerline goodness [0,1] 0.9808011692021524 Centerline is valid? [True, True] Translation: X:760.09, Y:-60.84, Z:2.52 [[ 9.99676496e-01 -1.82650188e-02 -1.77000495e-02 7.60091833e+02] [ 1.82844147e-02 9.99832389e-01 9.34584419e-04 -6.08375357e+01] [ 1.76800125e-02 -1.25791712e-03 9.99842905e-01 2.51743512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.000714057 meters Centerline goodness [0,1] 0.9817728446278439 Centerline is valid? [True, True] Translation: X:760.12, Y:-60.84, Z:2.52 [[ 9.99688974e-01 -1.76589564e-02 -1.76101055e-02 7.60121137e+02] [ 1.76780282e-02 9.99843301e-01 9.27909870e-04 -6.08381591e+01] [ 1.75909601e-02 -1.23893321e-03 9.99844499e-01 2.51809686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.030714057 meters Centerline goodness [0,1] 0.9817167647970251 Centerline is valid? [True, True] Translation: X:760.15, Y:-60.84, Z:2.52 [[ 9.99720644e-01 -1.50403942e-02 -1.82324170e-02 7.60149998e+02] [ 1.50603477e-02 9.99886128e-01 9.57577236e-04 -6.08395302e+01] [ 1.82159385e-02 -1.23189627e-03 9.99833317e-01 2.51819332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0607140569999 meters Centerline goodness [0,1] 0.9803058131043791 Centerline is valid? [True, True] Translation: X:760.18, Y:-60.84, Z:2.52 [[ 9.99735656e-01 -1.33361912e-02 -1.87286875e-02 7.60179012e+02] [ 1.33569314e-02 9.99910309e-01 9.82741917e-04 -6.08400561e+01] [ 1.87139017e-02 -1.23263993e-03 9.99824120e-01 2.51833652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0907140569999 meters Centerline goodness [0,1] 0.981786509669026 Centerline is valid? [True, True] Translation: X:760.21, Y:-60.84, Z:2.52 [[ 9.99767510e-01 -9.49566787e-03 -1.93586658e-02 7.60208062e+02] [ 9.51709014e-03 9.99954197e-01 1.01476928e-03 -6.08405600e+01] [ 1.93481432e-02 -1.19877152e-03 9.99812088e-01 2.51788034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.120714057 meters Centerline goodness [0,1] 0.9814855728867483 Centerline is valid? [True, True] Translation: X:760.24, Y:-60.84, Z:2.52 [[ 9.99771721e-01 -7.93640870e-03 -1.98372996e-02 7.60236676e+02] [ 7.95858181e-03 9.99967790e-01 1.03905120e-03 -6.08410014e+01] [ 1.98284143e-02 -1.19669078e-03 9.99802681e-01 2.51772669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.150714057 meters Centerline goodness [0,1] 0.9815392098339635 Centerline is valid? [True, True] Translation: X:760.27, Y:-60.84, Z:2.52 [[ 9.99773882e-01 -6.28006392e-03 -2.03161306e-02 7.60265671e+02] [ 6.30295109e-03 9.99979572e-01 1.06271446e-03 -6.08414832e+01] [ 2.03090417e-02 -1.19052574e-03 9.99793041e-01 2.51727885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1807140569999 meters Centerline goodness [0,1] 0.9824697315124283 Centerline is valid? [True, True] Translation: X:760.29, Y:-60.84, Z:2.52 [[ 9.99768892e-01 -3.45785642e-03 -2.12180421e-02 7.60294216e+02] [ 3.48215957e-03 9.99993323e-01 1.10856047e-03 -6.08413723e+01] [ 2.12140672e-02 -1.18218888e-03 9.99774257e-01 2.51720228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2107140569999 meters Centerline goodness [0,1] 0.9824608143510501 Centerline is valid? [True, True] Translation: X:760.32, Y:-60.84, Z:2.52 [[ 9.99780752e-01 -2.69141018e-03 -2.07654487e-02 7.60322310e+02] [ 2.71446779e-03 9.99995730e-01 1.08227634e-03 -6.08426954e+01] [ 2.07624472e-02 -1.13840620e-03 9.99783789e-01 2.51776138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.240714057 meters Centerline goodness [0,1] 0.9825732212934838 Centerline is valid? [True, True] Translation: X:760.35, Y:-60.84, Z:2.52 [[ 9.99786962e-01 -2.13672790e-03 -2.05296344e-02 7.60351168e+02] [ 2.15905001e-03 9.99997102e-01 1.06520836e-03 -6.08437054e+01] [ 2.05272988e-02 -1.10930593e-03 9.99788677e-01 2.51828525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.270714057 meters Centerline goodness [0,1] 0.9813040688541275 Centerline is valid? [True, True] Translation: X:760.38, Y:-60.85, Z:2.52 [[ 9.99805825e-01 -1.32719902e-03 -1.96608955e-02 7.60379320e+02] [ 1.34742789e-03 9.99998576e-01 1.01567699e-03 -6.08450459e+01] [ 1.96595195e-02 -1.04197141e-03 9.99806190e-01 2.51936511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3007140569999 meters Centerline goodness [0,1] 0.981597805892241 Centerline is valid? [True, True] Translation: X:760.41, Y:-60.85, Z:2.52 [[ 9.99820521e-01 -1.41330971e-03 -1.88925420e-02 7.60407983e+02] [ 1.43192323e-03 9.99998503e-01 9.71739921e-04 -6.08466979e+01] [ 1.88911404e-02 -9.98618184e-04 9.99821048e-01 2.51993840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3307140569999 meters Centerline goodness [0,1] 0.9816798633752523 Centerline is valid? [True, True] Translation: X:760.44, Y:-60.85, Z:2.52 [[ 9.99828407e-01 -1.48775880e-03 -1.84646319e-02 7.60437002e+02] [ 1.50547457e-03 9.99998420e-01 9.45580124e-04 -6.08487680e+01] [ 1.84631959e-02 -9.73215903e-04 9.99829067e-01 2.52027111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3607140569999 meters Centerline goodness [0,1] 0.9818696382771734 Centerline is valid? [True, True] Translation: X:760.47, Y:-60.85, Z:2.52 [[ 9.99826411e-01 -1.95277788e-03 -1.85293134e-02 7.60465837e+02] [ 1.97061962e-03 9.99997612e-01 9.44682805e-04 -6.08503578e+01] [ 1.85274244e-02 -9.81033047e-04 9.99827871e-01 2.52067679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.390714057 meters Centerline goodness [0,1] 0.9824406405300938 Centerline is valid? [True, True] Translation: X:760.49, Y:-60.84, Z:2.52 [[ 9.99825709e-01 -2.50653376e-03 -1.85004889e-02 7.60494681e+02] [ 2.52435567e-03 9.99996372e-01 9.40031014e-04 -6.08417563e+01] [ 1.84980656e-02 -9.86568990e-04 9.99828409e-01 2.52235610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4207140569999 meters Centerline goodness [0,1] 0.9839164096989595 Centerline is valid? [True, True] Translation: X:760.52, Y:-60.84, Z:2.52 [[ 9.99829792e-01 -3.48230392e-03 -1.81179508e-02 7.60523171e+02] [ 3.49953318e-03 9.99993454e-01 9.19331745e-04 -6.08438527e+01] [ 1.81146308e-02 -9.82579638e-04 9.99835434e-01 2.52239463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4507140569999 meters Centerline goodness [0,1] 0.9833178459223859 Centerline is valid? [True, True] Translation: X:760.55, Y:-60.85, Z:2.52 [[ 9.99825712e-01 -4.07856453e-03 -1.82184116e-02 7.60551210e+02] [ 4.09605875e-03 9.99991185e-01 9.23037964e-04 -6.08468530e+01] [ 1.82144863e-02 -9.97500774e-04 9.99833605e-01 2.52223804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4807140569999 meters Centerline goodness [0,1] 0.9847106337653115 Centerline is valid? [True, True] Translation: X:760.58, Y:-60.85, Z:2.52 [[ 9.99819043e-01 -6.00710094e-03 -1.80498101e-02 7.60580208e+02] [ 6.02456156e-03 9.99981435e-01 9.13137018e-04 -6.08493500e+01] [ 1.80439897e-02 -1.02171397e-03 9.99836672e-01 2.52187539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.510714057 meters Centerline goodness [0,1] 0.9830276545498686 Centerline is valid? [True, True] Translation: X:760.61, Y:-60.86, Z:2.52 [[ 9.99810327e-01 -6.65548620e-03 -1.83033765e-02 7.60607525e+02] [ 6.67352766e-03 9.99977304e-01 9.24787089e-04 -6.08554577e+01] [ 1.82968062e-02 -1.04675977e-03 9.99832051e-01 2.52195463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.540714057 meters Centerline goodness [0,1] 0.9830907676924786 Centerline is valid? [True, True] Translation: X:760.64, Y:-60.85, Z:2.52 [[ 9.99810254e-01 -7.57935464e-03 -1.79446156e-02 7.60635975e+02] [ 7.59681647e-03 9.99970734e-01 9.05128612e-04 -6.08530244e+01] [ 1.79372301e-02 -1.04127882e-03 9.99838573e-01 2.52349284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5707140569999 meters Centerline goodness [0,1] 0.9833675700748791 Centerline is valid? [True, True] Translation: X:760.66, Y:-60.86, Z:2.52 [[ 9.99803237e-01 -9.08441940e-03 -1.76340714e-02 7.60663994e+02] [ 9.10149040e-03 9.99958186e-01 8.88054765e-04 -6.08559992e+01] [ 1.76252666e-02 -1.04837636e-03 9.99844113e-01 2.52372620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6007140569999 meters Centerline goodness [0,1] 0.9845842866345321 Centerline is valid? [True, True] Translation: X:760.69, Y:-60.85, Z:2.52 [[ 9.99789112e-01 -1.01355221e-02 -1.78606462e-02 7.60693040e+02] [ 1.01531611e-02 9.99948053e-01 8.97186635e-04 -6.08538600e+01] [ 1.78506249e-02 -1.07833945e-03 9.99840083e-01 2.52409524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.630714057 meters Centerline goodness [0,1] 0.9834607860572648 Centerline is valid? [True, True] Translation: X:760.72, Y:-60.86, Z:2.52 [[ 9.99763648e-01 -1.16442866e-02 -1.83591481e-02 7.60720809e+02] [ 1.16631125e-02 9.99931562e-01 9.18682221e-04 -6.08642834e+01] [ 1.83471943e-02 -1.13258990e-03 9.99831035e-01 2.52355453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.660714057 meters Centerline goodness [0,1] 0.9835004780858776 Centerline is valid? [True, True] Translation: X:760.75, Y:-60.86, Z:2.52 [[ 9.99747009e-01 -1.24635081e-02 -1.87237613e-02 7.60749646e+02] [ 1.24831854e-02 9.99921645e-01 9.34414575e-04 -6.08577053e+01] [ 1.87106481e-02 -1.16791036e-03 9.99824258e-01 2.52428641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6907140569999 meters Centerline goodness [0,1] 0.9840161838916924 Centerline is valid? [True, True] Translation: X:760.78, Y:-60.86, Z:2.52 [[ 9.99725003e-01 -1.33881257e-02 -1.92529605e-02 7.60777597e+02] [ 1.34090306e-02 9.99909637e-01 9.57109951e-04 -6.08613388e+01] [ 1.92384068e-02 -1.21501028e-03 9.99814186e-01 2.52412486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7207140569999 meters Centerline goodness [0,1] 0.9832540141440199 Centerline is valid? [True, True] Translation: X:760.81, Y:-60.86, Z:2.52 [[ 9.99712497e-01 -1.41837946e-02 -1.93324189e-02 7.60805914e+02] [ 1.42049656e-02 9.99898645e-01 9.58215702e-04 -6.08619722e+01] [ 1.93168683e-02 -1.23255656e-03 9.99812652e-01 2.52447236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.750714057 meters Centerline goodness [0,1] 0.9830508474576272 Centerline is valid? [True, True] Translation: X:760.83, Y:-60.87, Z:2.52 [[ 9.99689981e-01 -1.54182662e-02 -1.95504287e-02 7.60832854e+02] [ 1.54400714e-02 9.99880329e-01 9.64870678e-04 -6.08674879e+01] [ 1.95332125e-02 -1.26643157e-03 9.99808407e-01 2.52468098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.780714057 meters Centerline goodness [0,1] 0.9824351297405189 Centerline is valid? [True, True] Translation: X:760.86, Y:-60.87, Z:2.52 [[ 9.99682986e-01 -1.57414262e-02 -1.96503061e-02 7.60860668e+02] [ 1.57634404e-02 9.99875283e-01 9.65899237e-04 -6.08693420e+01] [ 1.96326508e-02 -1.27534946e-03 9.99806448e-01 2.52495564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8107140569999 meters Centerline goodness [0,1] 0.9837456302464875 Centerline is valid? [True, True] Translation: X:760.89, Y:-60.87, Z:2.53 [[ 9.99681747e-01 -1.54256217e-02 -1.99613450e-02 7.60889885e+02] [ 1.54481718e-02 9.99880194e-01 9.75973759e-04 -6.08678963e+01] [ 1.99438985e-02 -1.28402944e-03 9.99800276e-01 2.52559024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8407140569999 meters Centerline goodness [0,1] 0.9829545454545454 Centerline is valid? [True, True] Translation: X:760.92, Y:-60.86, Z:2.53 [[ 9.99661292e-01 -1.52138139e-02 -2.11149463e-02 7.60919034e+02] [ 1.52388876e-02 9.99883354e-01 1.02708324e-03 -6.08647949e+01] [ 2.10968575e-02 -1.34850365e-03 9.99776527e-01 2.52627412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.870714057 meters Centerline goodness [0,1] 0.9834105281909682 Centerline is valid? [True, True] Translation: X:760.95, Y:-60.86, Z:2.53 [[ 9.99690480e-01 -1.22548379e-02 -2.16509344e-02 7.60949532e+02] [ 1.22804400e-02 9.99924041e-01 1.04992982e-03 -6.08609648e+01] [ 2.16364231e-02 -1.31548785e-03 9.99765040e-01 2.52664209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.900714057 meters Centerline goodness [0,1] 0.983268439203471 Centerline is valid? [True, True] Translation: X:760.98, Y:-60.86, Z:2.53 [[ 9.99705961e-01 -1.06418428e-02 -2.17885962e-02 7.60977808e+02] [ 1.06673702e-02 9.99942545e-01 1.05569867e-03 -6.08620019e+01] [ 2.17761097e-02 -1.28781527e-03 9.99762043e-01 2.52666004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9307140569999 meters Centerline goodness [0,1] 0.9839487431352413 Centerline is valid? [True, True] Translation: X:761.01, Y:-60.86, Z:2.53 [[ 9.99763600e-01 -6.86630942e-03 -2.06300179e-02 7.61008196e+02] [ 6.88837267e-03 9.99975776e-01 9.98601198e-04 -6.08596461e+01] [ 2.06226614e-02 -1.14047238e-03 9.99786680e-01 2.52812781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9607140569999 meters Centerline goodness [0,1] 0.9840365134142268 Centerline is valid? [True, True] Translation: X:761.04, Y:-60.86, Z:2.53 [[ 9.99793587e-01 -4.76816733e-03 -1.97496398e-02 7.61038112e+02] [ 4.78796982e-03 9.99988081e-01 9.55512329e-04 -6.08588519e+01] [ 1.97448484e-02 -1.04987578e-03 9.99804500e-01 2.52962127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.990714057 meters Centerline goodness [0,1] 0.9845374566782191 Centerline is valid? [True, True] Translation: X:761.07, Y:-60.86, Z:2.53 [[ 9.99809011e-01 -2.90427694e-03 -1.93263244e-02 7.61067118e+02] [ 2.92287410e-03 9.99995292e-01 9.34093585e-04 -6.08586164e+01] [ 1.93235206e-02 -9.90403597e-04 9.99812793e-01 2.53051698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.020714057 meters Centerline goodness [0,1] 0.98360436920202 Centerline is valid? [True, True] Translation: X:761.10, Y:-60.86, Z:2.53 [[ 9.99824582e-01 1.16771949e-04 -1.87294313e-02 7.61095860e+02] [-9.98569038e-05 9.99999586e-01 9.04059129e-04 -6.08580811e+01] [ 1.87295291e-02 -9.02030278e-04 9.99824180e-01 2.53181752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0507140569999 meters Centerline goodness [0,1] 0.9836288008541495 Centerline is valid? [True, True] Translation: X:761.13, Y:-60.86, Z:2.53 [[ 9.99826096e-01 1.41535014e-03 -1.85950012e-02 7.61125048e+02] [-1.39894049e-03 9.99998621e-01 8.95454720e-04 -6.08580328e+01] [ 1.85962429e-02 -8.69285697e-04 9.99826697e-01 2.53231420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0807140569999 meters Centerline goodness [0,1] 0.9834986454111905 Centerline is valid? [True, True] Translation: X:761.15, Y:-60.86, Z:2.53 [[ 9.99825513e-01 4.47516488e-03 -1.81360390e-02 7.61154707e+02] [-4.46011047e-03 9.99989675e-01 8.70445684e-04 -6.08567593e+01] [ 1.81397471e-02 -7.89405065e-04 9.99835150e-01 2.53227669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1107140569999 meters Centerline goodness [0,1] 0.983899343057566 Centerline is valid? [True, True] Translation: X:761.18, Y:-60.86, Z:2.53 [[ 9.99811398e-01 5.83239009e-03 -1.85243767e-02 7.61183819e+02] [-5.81693305e-03 9.99982687e-01 8.88189417e-04 -6.08574183e+01] [ 1.85292363e-02 -7.80266843e-04 9.99828015e-01 2.53224019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.140714057 meters Centerline goodness [0,1] 0.9841907824222936 Centerline is valid? [True, True] Translation: X:761.21, Y:-60.86, Z:2.53 [[ 9.99794560e-01 6.61359368e-03 -1.91598205e-02 7.61211936e+02] [-6.59722995e-03 9.99977817e-01 9.17146543e-04 -6.08591513e+01] [ 1.91654611e-02 -7.90556382e-04 9.99816013e-01 2.53164233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1707140569999 meters Centerline goodness [0,1] 0.9837467159460302 Centerline is valid? [True, True] Translation: X:761.24, Y:-60.86, Z:2.53 [[ 9.99777525e-01 6.68010328e-03 -2.00069341e-02 7.61240367e+02] [-6.66231259e-03 9.99977350e-01 9.55747540e-04 -6.08602843e+01] [ 2.00128654e-02 -8.22242461e-04 9.99799384e-01 2.53120029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2007140569999 meters Centerline goodness [0,1] 0.9836395333243932 Centerline is valid? [True, True] Translation: X:761.27, Y:-60.86, Z:2.53 [[ 9.99769123e-01 6.53046271e-03 -2.04708093e-02 7.61268619e+02] [-6.51184497e-03 9.99978321e-01 9.76004946e-04 -6.08629152e+01] [ 2.04767393e-02 -8.42476872e-04 9.99789975e-01 2.53061070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2307140569999 meters Centerline goodness [0,1] 0.9836303541917906 Centerline is valid? [True, True] Translation: X:761.30, Y:-60.87, Z:2.53 [[ 9.99770813e-01 6.28541405e-03 -2.04649640e-02 7.61297597e+02] [-6.26678530e-03 9.99979889e-01 9.74280432e-04 -6.08653755e+01] [ 2.04706762e-02 -8.45807604e-04 9.99790096e-01 2.53056331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.260714057 meters Centerline goodness [0,1] 0.9835675531441787 Centerline is valid? [True, True] Translation: X:761.32, Y:-60.87, Z:2.53 [[ 9.99777370e-01 6.19209852e-03 -2.01709574e-02 7.61324006e+02] [-6.17401923e-03 9.99980481e-01 9.58454540e-04 -6.08699077e+01] [ 2.01764986e-02 -8.33705281e-04 9.99796086e-01 2.53077033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.290714057 meters Centerline goodness [0,1] 0.9841326519226048 Centerline is valid? [True, True] Translation: X:761.35, Y:-60.87, Z:2.53 [[ 9.99794652e-01 5.59526499e-03 -1.94768170e-02 7.61353058e+02] [-5.57833395e-03 9.99984015e-01 9.23512931e-04 -6.08684963e+01] [ 1.94816729e-02 -8.14675101e-04 9.99809882e-01 2.53213439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3207140569999 meters Centerline goodness [0,1] 0.9834793659287004 Centerline is valid? [True, True] Translation: X:761.38, Y:-60.87, Z:2.53 [[ 9.99813870e-01 4.97812546e-03 -1.86398252e-02 7.61380681e+02] [-4.96253778e-03 9.99987297e-01 8.82417999e-04 -6.08718913e+01] [ 1.86439812e-02 -7.89752918e-04 9.99825874e-01 2.53298696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3507140569999 meters Centerline goodness [0,1] 0.983419134853246 Centerline is valid? [True, True] Translation: X:761.41, Y:-60.88, Z:2.53 [[ 9.99822809e-01 4.77945691e-03 -1.82073709e-02 7.61407196e+02] [-4.76458413e-03 9.99988279e-01 8.60146538e-04 -6.08755267e+01] [ 1.82112686e-02 -7.73243577e-04 9.99833862e-01 2.53369099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.380714057 meters Centerline goodness [0,1] 0.9837113953384732 Centerline is valid? [True, True] Translation: X:761.44, Y:-60.88, Z:2.54 [[ 9.99834147e-01 3.02445990e-03 -1.79591782e-02 7.61435988e+02] [-3.00974121e-03 9.99995112e-01 8.46535732e-04 -6.08763497e+01] [ 1.79616508e-02 -7.92342852e-04 9.99838363e-01 2.53516657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.410714057 meters Centerline goodness [0,1] 0.9845618418704265 Centerline is valid? [True, True] Translation: X:761.46, Y:-60.88, Z:2.54 [[ 9.99848564e-01 1.54846284e-03 -1.73335352e-02 7.61464460e+02] [-1.53455169e-03 9.99998490e-01 8.15828764e-04 -6.08774710e+01] [ 1.73347723e-02 -7.89106013e-04 9.99849430e-01 2.53569981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4407140569999 meters Centerline goodness [0,1] 0.9826401925922654 Centerline is valid? [True, True] Translation: X:761.49, Y:-60.89, Z:2.54 [[ 9.99852982e-01 -1.64370197e-04 -1.71460839e-02 7.61491777e+02] [ 1.78210632e-04 9.99999660e-01 8.05681954e-04 -6.08852279e+01] [ 1.71459456e-02 -8.08619118e-04 9.99852670e-01 2.53583234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4707140569999 meters Centerline goodness [0,1] 0.9835909262256913 Centerline is valid? [True, True] Translation: X:761.52, Y:-60.89, Z:2.54 [[ 9.99845877e-01 -4.17731910e-03 -1.70520536e-02 7.61522026e+02] [ 4.19157029e-03 9.99990895e-01 8.00091762e-04 -6.08888794e+01] [ 1.70485561e-02 -8.71443331e-04 9.99854283e-01 2.53677030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.500714057 meters Centerline goodness [0,1] 0.9840246388371887 Centerline is valid? [True, True] Translation: X:761.55, Y:-60.89, Z:2.54 [[ 9.99823016e-01 -7.02478166e-03 -1.74524983e-02 7.61551770e+02] [ 7.04013558e-03 9.99974883e-01 8.18471307e-04 -6.08916776e+01] [ 1.74463104e-02 -9.41194404e-04 9.99847359e-01 2.53688482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.530714057 meters Centerline goodness [0,1] 0.9835118439180481 Centerline is valid? [True, True] Translation: X:761.58, Y:-60.90, Z:2.54 [[ 9.99787637e-01 -1.00277661e-02 -1.80034402e-02 7.61580704e+02] [ 1.00445784e-02 9.99949196e-01 8.43654288e-04 -6.08965168e+01] [ 1.79940656e-02 -1.02431209e-03 9.99837569e-01 2.53724760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5607140569999 meters Centerline goodness [0,1] 0.9822742844513206 Centerline is valid? [True, True] Translation: X:761.61, Y:-60.91, Z:2.54 [[ 9.99696618e-01 -1.54416376e-02 -1.91892790e-02 7.61609955e+02] [ 1.54617206e-02 9.99880057e-01 8.98643291e-04 -6.09056731e+01] [ 1.91731009e-02 -1.19506993e-03 9.99815465e-01 2.53689773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5907140569999 meters Centerline goodness [0,1] 0.9819917360850255 Centerline is valid? [True, True] Translation: X:761.64, Y:-60.91, Z:2.54 [[ 9.99659789e-01 -1.76839498e-02 -1.91724686e-02 7.61638951e+02] [ 1.77043937e-02 9.99842862e-01 8.97092803e-04 -6.09058635e+01] [ 1.91535918e-02 -1.23622454e-03 9.99815789e-01 2.53745346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.620714057 meters Centerline goodness [0,1] 0.9829894961248917 Centerline is valid? [True, True] Translation: X:761.67, Y:-60.91, Z:2.54 [[ 9.99614848e-01 -1.96379671e-02 -1.96088282e-02 7.61668486e+02] [ 1.96597024e-02 9.99806310e-01 9.16268363e-04 -6.09062089e+01] [ 1.95870365e-02 -1.30141919e-03 9.99807309e-01 2.53809185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.650714057 meters Centerline goodness [0,1] 0.9815618221258134 Centerline is valid? [True, True] Translation: X:761.70, Y:-60.91, Z:2.54 [[ 9.99588450e-01 -2.07650328e-02 -1.97925178e-02 7.61696944e+02] [ 2.07873765e-02 9.99783492e-01 9.23807477e-04 -6.09104006e+01] [ 1.97690497e-02 -1.33486180e-03 9.99803682e-01 2.53822123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6807140569999 meters Centerline goodness [0,1] 0.9809509059934954 Centerline is valid? [True, True] Translation: X:761.73, Y:-60.92, Z:2.54 [[ 9.99560434e-01 -2.17000683e-02 -2.02001553e-02 7.61725139e+02] [ 2.17235039e-02 9.99763574e-01 9.41436223e-04 -6.09172337e+01] [ 2.01749503e-02 -1.37984055e-03 9.99795513e-01 2.53810322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7107140569999 meters Centerline goodness [0,1] 0.9810852713178294 Centerline is valid? [True, True] Translation: X:761.75, Y:-60.92, Z:2.54 [[ 9.99556999e-01 -2.17787859e-02 -2.02852010e-02 7.61754542e+02] [ 2.18024165e-02 9.99761853e-01 9.44470057e-04 -6.09160246e+01] [ 2.02598007e-02 -1.38631806e-03 9.99793788e-01 2.53910506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.740714057 meters Centerline goodness [0,1] 0.9807794744318182 Centerline is valid? [True, True] Translation: X:761.78, Y:-60.91, Z:2.54 [[ 9.99558099e-01 -2.11435425e-02 -2.08939424e-02 7.61784123e+02] [ 2.11684595e-02 9.99775450e-01 9.72071814e-04 -6.09144288e+01] [ 2.08686976e-02 -1.41393483e-03 9.99781225e-01 2.53968271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.770714057 meters Centerline goodness [0,1] 0.9799565429470977 Centerline is valid? [True, True] Translation: X:761.81, Y:-60.91, Z:2.54 [[ 9.99559663e-01 -2.09976380e-02 -2.09661539e-02 7.61813196e+02] [ 2.10226409e-02 9.99778527e-01 9.72818311e-04 -6.09147057e+01] [ 2.09410836e-02 -1.41315387e-03 9.99779713e-01 2.53988625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8007140569999 meters Centerline goodness [0,1] 0.9802336427841691 Centerline is valid? [True, True] Translation: X:761.84, Y:-60.92, Z:2.54 [[ 9.99554518e-01 -2.10027925e-02 -2.12049323e-02 7.61841846e+02] [ 2.10282577e-02 9.99778403e-01 9.78624043e-04 -6.09156250e+01] [ 2.11796795e-02 -1.42409086e-03 9.99774671e-01 2.53990806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8307140569999 meters Centerline goodness [0,1] 0.9785184856420044 Centerline is valid? [True, True] Translation: X:761.87, Y:-60.92, Z:2.54 [[ 9.99518981e-01 -2.16192437e-02 -2.22354319e-02 7.61869351e+02] [ 2.16473072e-02 9.99765147e-01 1.02215761e-03 -6.09214841e+01] [ 2.22081116e-02 -1.50300316e-03 9.99752240e-01 2.53928338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8607140569999 meters Centerline goodness [0,1] 0.9785184856420044 Centerline is valid? [True, True] Translation: X:761.90, Y:-60.92, Z:2.54 [[ 9.99513803e-01 -2.18571541e-02 -2.22355908e-02 7.61897631e+02] [ 2.18851995e-02 9.99759971e-01 1.01869139e-03 -6.09227219e+01] [ 2.22079879e-02 -1.50482645e-03 9.99752240e-01 2.53962688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.890714057 meters Centerline goodness [0,1] 0.9792686438237834 Centerline is valid? [True, True] Translation: X:761.93, Y:-60.92, Z:2.54 [[ 9.99496104e-01 -2.20012274e-02 -2.28797932e-02 7.61926005e+02] [ 2.20308320e-02 9.99756748e-01 1.04262950e-03 -6.09217294e+01] [ 2.28512885e-02 -1.54616501e-03 9.99737680e-01 2.53991661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9207140569999 meters Centerline goodness [0,1] 0.9798700724765776 Centerline is valid? [True, True] Translation: X:761.95, Y:-60.92, Z:2.54 [[ 9.99467473e-01 -2.21887561e-02 -2.39254872e-02 7.61954333e+02] [ 2.22210413e-02 9.99752494e-01 1.08435698e-03 -6.09216723e+01] [ 2.38955050e-02 -1.61542877e-03 9.99713156e-01 2.54015788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9507140569999 meters Centerline goodness [0,1] 0.979654459342272 Centerline is valid? [True, True] Translation: X:761.98, Y:-60.92, Z:2.54 [[ 9.99478016e-01 -2.09641503e-02 -2.45804775e-02 7.61983281e+02] [ 2.09977643e-02 9.99778906e-01 1.11017197e-03 -6.09218928e+01] [ 2.45517691e-02 -1.62572755e-03 9.99697238e-01 2.54015538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9807140569999 meters Centerline goodness [0,1] 0.9803460514640638 Centerline is valid? [True, True] Translation: X:762.01, Y:-60.92, Z:2.54 [[ 9.99500093e-01 -1.94295834e-02 -2.49410382e-02 7.62011502e+02] [ 1.94636727e-02 9.99809932e-01 1.12473972e-03 -6.09239736e+01] [ 2.49144445e-02 -1.60962166e-03 9.99688291e-01 2.54038472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.010714057 meters Centerline goodness [0,1] 0.9810011123470522 Centerline is valid? [True, True] Translation: X:762.04, Y:-60.92, Z:2.54 [[ 9.99525461e-01 -1.80043780e-02 -2.49939115e-02 7.62040819e+02] [ 1.80381245e-02 9.99836666e-01 1.12537127e-03 -6.09159647e+01] [ 2.49695675e-02 -1.57568053e-03 9.99686970e-01 2.54249830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.040714057 meters Centerline goodness [0,1] 0.9787924595411702 Centerline is valid? [True, True] Translation: X:762.07, Y:-60.92, Z:2.54 [[ 9.99551871e-01 -1.62172850e-02 -2.51606266e-02 7.62068571e+02] [ 1.62508683e-02 9.99867306e-01 1.13084471e-03 -6.09221250e+01] [ 2.51389487e-02 -1.53921998e-03 9.99682782e-01 2.54169312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0707140569999 meters Centerline goodness [0,1] 0.9791496049049337 Centerline is valid? [True, True] Translation: X:762.10, Y:-60.92, Z:2.54 [[ 9.99612932e-01 -1.14024434e-02 -2.53765701e-02 7.62097890e+02] [ 1.14350257e-02 9.99933969e-01 1.13920307e-03 -6.09197774e+01] [ 2.53619047e-02 -1.42894385e-03 9.99677314e-01 2.54252419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1007140569999 meters Centerline goodness [0,1] 0.9808251403715129 Centerline is valid? [True, True] Translation: X:762.13, Y:-60.91, Z:2.54 [[ 9.99632789e-01 -8.58730210e-03 -2.57010963e-02 7.62128441e+02] [ 8.61978336e-03 9.99962184e-01 1.15328587e-03 -6.09115643e+01] [ 2.56902207e-02 -1.37440025e-03 9.99669007e-01 2.54482279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.130714057 meters Centerline goodness [0,1] 0.9803816538332776 Centerline is valid? [True, True] Translation: X:762.16, Y:-60.91, Z:2.55 [[ 9.99648515e-01 -6.02176544e-03 -2.58183226e-02 7.62158185e+02] [ 6.05367247e-03 9.99981006e-01 1.15784548e-03 -6.09103664e+01] [ 2.58108599e-02 -1.31373418e-03 9.99665981e-01 2.54518963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.160714057 meters Centerline goodness [0,1] 0.9812647938904024 Centerline is valid? [True, True] Translation: X:762.19, Y:-60.91, Z:2.55 [[ 9.99664958e-01 -5.72999712e-04 -2.58774698e-02 7.62187622e+02] [ 6.03213389e-04 9.99999146e-01 1.15977588e-03 -6.09083932e+01] [ 2.58767832e-02 -1.17499694e-03 9.99664449e-01 2.54563463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1907140569999 meters Centerline goodness [0,1] 0.9836926294244588 Centerline is valid? [True, True] Translation: X:762.22, Y:-60.91, Z:2.55 [[ 9.99660946e-01 1.53001787e-03 -2.59933153e-02 7.62217079e+02] [-1.50033266e-03 9.99998200e-01 1.16149679e-03 -6.09058769e+01] [ 2.59950456e-02 -1.12210436e-03 9.99661442e-01 2.54717355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2207140569999 meters Centerline goodness [0,1] 0.9826294963224609 Centerline is valid? [True, True] Translation: X:762.24, Y:-60.91, Z:2.55 [[ 9.99659260e-01 3.64505148e-03 -2.58471826e-02 7.62244873e+02] [-3.61650817e-03 9.99992798e-01 1.15097070e-03 -6.09085029e+01] [ 2.58511918e-02 -1.05710198e-03 9.99665243e-01 2.54672265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.250714057 meters Centerline goodness [0,1] 0.9827732784464629 Centerline is valid? [True, True] Translation: X:762.27, Y:-60.91, Z:2.55 [[ 9.99648231e-01 4.97798958e-03 -2.60505833e-02 7.62273466e+02] [-4.94956154e-03 9.99987083e-01 1.15562988e-03 -6.09081312e+01] [ 2.60559995e-02 -1.02628441e-03 9.99659958e-01 2.54747897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.280714057 meters Centerline goodness [0,1] 0.9839294507363803 Centerline is valid? [True, True] Translation: X:762.30, Y:-60.90, Z:2.55 [[ 9.99628333e-01 6.59431373e-03 -2.64520451e-02 7.62302675e+02] [-6.56573946e-03 9.99977764e-01 1.16693842e-03 -6.09043505e+01] [ 2.64591521e-02 -9.92827476e-04 9.99649402e-01 2.54896764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3107140569999 meters Centerline goodness [0,1] 0.9841422285752575 Centerline is valid? [True, True] Translation: X:762.33, Y:-60.91, Z:2.55 [[ 9.99613667e-01 6.94498058e-03 -2.69125095e-02 7.62331254e+02] [-6.91564021e-03 9.99975387e-01 1.18313620e-03 -6.09054593e+01] [ 2.69200640e-02 -9.96561882e-04 9.99637093e-01 2.54891625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3407140569999 meters Centerline goodness [0,1] 0.9843963375047572 Centerline is valid? [True, True] Translation: X:762.36, Y:-60.91, Z:2.55 [[ 9.99596369e-01 6.42753118e-03 -2.76728237e-02 7.62358714e+02] [-6.39637329e-03 9.99978806e-01 1.21431196e-03 -6.09077010e+01] [ 2.76800422e-02 -1.03681612e-03 9.99616297e-01 2.54844940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.370714057 meters Centerline goodness [0,1] 0.9847275483813431 Centerline is valid? [True, True] Translation: X:762.39, Y:-60.91, Z:2.55 [[ 9.99586774e-01 5.76860946e-03 -2.81603218e-02 7.62386974e+02] [-5.73622449e-03 9.99982790e-01 1.23066947e-03 -6.09091020e+01] [ 2.81669365e-02 -1.06862700e-03 9.99602662e-01 2.54870578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.400714057 meters Centerline goodness [0,1] 0.9841276938209783 Centerline is valid? [True, True] Translation: X:762.41, Y:-60.91, Z:2.55 [[ 9.99582454e-01 3.80803855e-03 -2.86429290e-02 7.62414680e+02] [-3.77385799e-03 9.99992101e-01 1.24729687e-03 -6.09125318e+01] [ 2.86474525e-02 -1.13868172e-03 9.99588929e-01 2.54871795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4307140569999 meters Centerline goodness [0,1] 0.9839658886495369 Centerline is valid? [True, True] Translation: X:762.44, Y:-60.92, Z:2.55 [[ 9.99597742e-01 2.52380491e-03 -2.82486094e-02 7.62443628e+02] [-2.49018769e-03 9.99996149e-01 1.22516477e-03 -6.09150551e+01] [ 2.82515927e-02 -1.15432760e-03 9.99600178e-01 2.54930985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4607140569999 meters Centerline goodness [0,1] 0.9845858707533071 Centerline is valid? [True, True] Translation: X:762.47, Y:-60.92, Z:2.55 [[ 9.99616688e-01 1.15073915e-04 -2.76850776e-02 7.62472669e+02] [-8.19660806e-05 9.99999280e-01 1.19700480e-03 -6.09180216e+01] [ 2.76851954e-02 -1.19427673e-03 9.99615978e-01 2.55088646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.490714057 meters Centerline goodness [0,1] 0.9835527783976791 Centerline is valid? [True, True] Translation: X:762.50, Y:-60.92, Z:2.55 [[ 9.99613414e-01 -1.32473082e-03 -2.77717033e-02 7.62501757e+02] [ 1.35855154e-03 9.99998358e-01 1.19897959e-03 -6.09203738e+01] [ 2.77700694e-02 -1.23624537e-03 9.99613573e-01 2.55181823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.520714057 meters Centerline goodness [0,1] 0.9837610264635124 Centerline is valid? [True, True] Translation: X:762.53, Y:-60.92, Z:2.55 [[ 9.99626123e-01 -2.81674065e-03 -2.71970676e-02 7.62529656e+02] [ 2.84964881e-03 9.99995254e-01 1.17130679e-03 -6.09245380e+01] [ 2.71936392e-02 -1.24837096e-03 9.99629405e-01 2.55167025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5507140569999 meters Centerline goodness [0,1] 0.9839547270306258 Centerline is valid? [True, True] Translation: X:762.56, Y:-60.93, Z:2.55 [[ 9.99627648e-01 -3.78578782e-03 -2.70228218e-02 7.62556785e+02] [ 3.81854310e-03 9.99992036e-01 1.16063352e-03 -6.09287513e+01] [ 2.70182127e-02 -1.26338917e-03 9.99634143e-01 2.55180859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5807140569999 meters Centerline goodness [0,1] 0.9840545688089649 Centerline is valid? [True, True] Translation: X:762.59, Y:-60.93, Z:2.55 [[ 9.99632592e-01 -4.76648023e-03 -2.66825959e-02 7.62585554e+02] [ 4.79863725e-03 9.99987835e-01 1.14126622e-03 -6.09312493e+01] [ 2.66768314e-02 -1.26888701e-03 9.99643305e-01 2.55228587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6107140569999 meters Centerline goodness [0,1] 0.9830335104845345 Centerline is valid? [True, True] Translation: X:762.62, Y:-60.93, Z:2.55 [[ 9.99613824e-01 -7.26321210e-03 -2.68225446e-02 7.62615229e+02] [ 7.29651153e-03 9.99972726e-01 1.14380622e-03 -6.09319402e+01] [ 2.68135053e-02 -1.33907551e-03 9.99639556e-01 2.55356769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.640714057 meters Centerline goodness [0,1] 0.983318174759866 Centerline is valid? [True, True] Translation: X:762.64, Y:-60.94, Z:2.55 [[ 9.99604392e-01 -8.66650301e-03 -2.67572692e-02 7.62642818e+02] [ 8.70007857e-03 9.99961505e-01 1.13865700e-03 -6.09354378e+01] [ 2.67463710e-02 -1.37099688e-03 9.99641312e-01 2.55335067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6707140569999 meters Centerline goodness [0,1] 0.9827341951478661 Centerline is valid? [True, True] Translation: X:762.67, Y:-60.94, Z:2.55 [[ 9.99589877e-01 -1.02816030e-02 -2.67276513e-02 7.62671797e+02] [ 1.03155396e-02 9.99946152e-01 1.13214748e-03 -6.09370571e+01] [ 2.67145718e-02 -1.40739330e-03 9.99642111e-01 2.55381295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7007140569999 meters Centerline goodness [0,1] 0.9825559515639873 Centerline is valid? [True, True] Translation: X:762.70, Y:-60.94, Z:2.55 [[ 9.99586924e-01 -1.16455682e-02 -2.62747306e-02 7.62699641e+02] [ 1.16787229e-02 9.99931187e-01 1.10874049e-03 -6.09446307e+01] [ 2.62600107e-02 -1.41513779e-03 9.99654145e-01 2.55248093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7307140569999 meters Centerline goodness [0,1] 0.9821690278456278 Centerline is valid? [True, True] Translation: X:762.73, Y:-60.94, Z:2.55 [[ 9.99547830e-01 -1.42676122e-02 -2.64683053e-02 7.62728950e+02] [ 1.43021252e-02 9.99897098e-01 1.11507489e-03 -6.09448800e+01] [ 2.64496722e-02 -1.49312371e-03 9.99649031e-01 2.55410705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.760714057 meters Centerline goodness [0,1] 0.9824028722767669 Centerline is valid? [True, True] Translation: X:762.76, Y:-60.95, Z:2.55 [[ 9.99532644e-01 -1.55447557e-02 -2.63221141e-02 7.62757493e+02] [ 1.55792208e-02 9.99878026e-01 1.10477754e-03 -6.09467222e+01] [ 2.63017299e-02 -1.51433924e-03 9.99652903e-01 2.55451613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.790714057 meters Centerline goodness [0,1] 0.9811245425307752 Centerline is valid? [True, True] Translation: X:762.79, Y:-60.95, Z:2.55 [[ 9.99502287e-01 -1.70738673e-02 -2.65266126e-02 7.62786351e+02] [ 1.71092333e-02 9.99853014e-01 1.10682118e-03 -6.09498208e+01] [ 2.65038158e-02 -1.56012030e-03 9.99647495e-01 2.55421134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8207140569999 meters Centerline goodness [0,1] 0.9807576935896012 Centerline is valid? [True, True] Translation: X:762.81, Y:-60.95, Z:2.55 [[ 9.99494087e-01 -1.77484805e-02 -2.63924582e-02 7.62814870e+02] [ 1.77835540e-02 9.99841261e-01 1.09478079e-03 -6.09517943e+01] [ 2.63688380e-02 -1.56357863e-03 9.99651059e-01 2.55464056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8507140569999 meters Centerline goodness [0,1] 0.98171464163367 Centerline is valid? [True, True] Translation: X:762.84, Y:-60.95, Z:2.56 [[ 9.99496738e-01 -1.80931839e-02 -2.60558637e-02 7.62842705e+02] [ 1.81273076e-02 9.99835110e-01 1.07400893e-03 -6.09536370e+01] [ 2.60321351e-02 -1.54579108e-03 9.99659911e-01 2.55523533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.880714057 meters Centerline goodness [0,1] 0.9809441412662496 Centerline is valid? [True, True] Translation: X:762.87, Y:-60.96, Z:2.56 [[ 9.99515762e-01 -1.80352492e-02 -2.53568871e-02 7.62871566e+02] [ 1.80673829e-02 9.99836232e-01 1.03870367e-03 -6.09553967e+01] [ 2.53340012e-02 -1.49633328e-03 9.99677923e-01 2.55560024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.910714057 meters Centerline goodness [0,1] 0.980599334073252 Centerline is valid? [True, True] Translation: X:762.90, Y:-60.95, Z:2.56 [[ 9.99548848e-01 -1.72480421e-02 -2.45887301e-02 7.62900082e+02] [ 1.72778752e-02 9.99850225e-01 1.00133365e-03 -6.09548771e+01] [ 2.45677763e-02 -1.42572290e-03 9.99697150e-01 2.55677914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9407140569999 meters Centerline goodness [0,1] 0.9805771241684651 Centerline is valid? [True, True] Translation: X:762.93, Y:-60.96, Z:2.56 [[ 9.99546129e-01 -1.70592487e-02 -2.48297855e-02 7.62929336e+02] [ 1.70894656e-02 9.99853459e-01 1.00525787e-03 -6.09555942e+01] [ 2.48089980e-02 -1.42912938e-03 9.99691188e-01 2.55723178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9707140569999 meters Centerline goodness [0,1] 0.981037590972825 Centerline is valid? [True, True] Translation: X:762.96, Y:-60.96, Z:2.56 [[ 9.99562145e-01 -1.65396437e-02 -2.45348249e-02 7.62957219e+02] [ 1.65688975e-02 9.99862237e-01 9.89513368e-04 -6.09578233e+01] [ 2.45150787e-02 -1.39559510e-03 9.99698486e-01 2.55663985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.000714057 meters Centerline goodness [0,1] 0.9802136657022035 Centerline is valid? [True, True] Translation: X:762.98, Y:-60.96, Z:2.56 [[ 9.99550212e-01 -1.64926373e-02 -2.50473031e-02 7.62984498e+02] [ 1.65230462e-02 9.99862977e-01 1.00757014e-03 -6.09623593e+01] [ 2.50272536e-02 -1.42097470e-03 9.99685759e-01 2.55629296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.030714057 meters Centerline goodness [0,1] 0.9812257564003103 Centerline is valid? [True, True] Translation: X:763.01, Y:-60.96, Z:2.56 [[ 9.99562651e-01 -1.63968618e-02 -2.46099326e-02 7.63013884e+02] [ 1.64260771e-02 9.99864597e-01 9.85436027e-04 -6.09558678e+01] [ 2.45904423e-02 -1.38924970e-03 9.99696644e-01 2.55827042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0607140569999 meters Centerline goodness [0,1] 0.9821940646882295 Centerline is valid? [True, True] Translation: X:763.04, Y:-60.96, Z:2.56 [[ 9.99538342e-01 -1.67873800e-02 -2.53236451e-02 7.63042243e+02] [ 1.68182775e-02 9.99858055e-01 1.00760043e-03 -6.09571812e+01] [ 2.53031355e-02 -1.43303536e-03 9.99678797e-01 2.55833127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0907140569999 meters Centerline goodness [0,1] 0.9823479654527647 Centerline is valid? [True, True] Translation: X:763.07, Y:-60.96, Z:2.56 [[ 9.99540184e-01 -1.67506819e-02 -2.52751734e-02 7.63070656e+02] [ 1.67812898e-02 9.99858685e-01 9.99351741e-04 -6.09575338e+01] [ 2.52548619e-02 -1.42304223e-03 9.99680032e-01 2.55850696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.120714057 meters Centerline goodness [0,1] 0.9828318544710566 Centerline is valid? [True, True] Translation: X:763.10, Y:-60.96, Z:2.56 [[ 9.99547889e-01 -1.63038294e-02 -2.52626682e-02 7.63098922e+02] [ 1.63341054e-02 9.99866097e-01 9.92543510e-04 -6.09590836e+01] [ 2.52431032e-02 -1.40473786e-03 9.99680355e-01 2.55921438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.150714057 meters Centerline goodness [0,1] 0.9830444276101779 Centerline is valid? [True, True] Translation: X:763.13, Y:-60.96, Z:2.56 [[ 9.99550937e-01 -1.59635109e-02 -2.53592414e-02 7.63127380e+02] [ 1.59937497e-02 9.99871602e-01 9.90024660e-04 -6.09600424e+01] [ 2.53401810e-02 -1.39516944e-03 9.99677912e-01 2.56005429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1807140569999 meters Centerline goodness [0,1] 0.9824807132217257 Centerline is valid? [True, True] Translation: X:763.16, Y:-60.96, Z:2.56 [[ 9.99588312e-01 -1.37547653e-02 -2.51795985e-02 7.63156060e+02] [ 1.37837900e-02 9.99904519e-01 9.79498725e-04 -6.09604708e+01] [ 2.51637215e-02 -1.32616577e-03 9.99682464e-01 2.56076645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2107140569999 meters Centerline goodness [0,1] 0.9835696952156199 Centerline is valid? [True, True] Translation: X:763.18, Y:-60.96, Z:2.56 [[ 9.99623004e-01 -1.27510569e-02 -2.43158385e-02 7.63184582e+02] [ 1.27777461e-02 9.99917917e-01 9.42541433e-04 -6.09617389e+01] [ 2.43018242e-02 -1.25288771e-03 9.99703882e-01 2.56087404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.240714057 meters Centerline goodness [0,1] 0.9833133093044988 Centerline is valid? [True, True] Translation: X:763.21, Y:-60.96, Z:2.56 [[ 9.99637789e-01 -1.17874298e-02 -2.41939550e-02 7.63213338e+02] [ 1.18134308e-02 9.99929785e-01 9.32040353e-04 -6.09629044e+01] [ 2.41812699e-02 -1.21751637e-03 9.99706849e-01 2.56119423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.270714057 meters Centerline goodness [0,1] 0.9831751125373267 Centerline is valid? [True, True] Translation: X:763.24, Y:-60.96, Z:2.56 [[ 9.99673133e-01 -9.74966642e-03 -2.36341048e-02 7.63241940e+02] [ 9.77382316e-03 9.99951824e-01 9.06812259e-04 -6.09628541e+01] [ 2.36241251e-02 -1.13751141e-03 9.99720264e-01 2.56175628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3007140569999 meters Centerline goodness [0,1] 0.9831560678207467 Centerline is valid? [True, True] Translation: X:763.27, Y:-60.96, Z:2.56 [[ 9.99691858e-01 -8.26890887e-03 -2.34054390e-02 7.63270516e+02] [ 8.29215811e-03 9.99965218e-01 8.96444945e-04 -6.09633405e+01] [ 2.33972122e-02 -1.09025031e-03 9.99725653e-01 2.56229507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3307140569999 meters Centerline goodness [0,1] 0.9828898184407262 Centerline is valid? [True, True] Translation: X:763.30, Y:-60.96, Z:2.56 [[ 9.99698448e-01 -7.26744358e-03 -2.34562941e-02 7.63299839e+02] [ 7.29043895e-03 9.99973024e-01 8.94982129e-04 -6.09608594e+01] [ 2.34491571e-02 -1.06571892e-03 9.99724463e-01 2.56343201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3607140569999 meters Centerline goodness [0,1] 0.9841464229253413 Centerline is valid? [True, True] Translation: X:763.33, Y:-60.96, Z:2.56 [[ 9.99725080e-01 -4.98146335e-03 -2.29117923e-02 7.63329126e+02] [ 5.00268490e-03 9.99987109e-01 8.69003518e-04 -6.09580467e+01] [ 2.29071680e-02 -9.83385088e-04 9.99737113e-01 2.56442643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.390714057 meters Centerline goodness [0,1] 0.9832682407243032 Centerline is valid? [True, True] Translation: X:763.36, Y:-60.96, Z:2.56 [[ 9.99735164e-01 -3.63675697e-03 -2.27238926e-02 7.63356804e+02] [ 3.65720022e-03 9.99992944e-01 8.58143418e-04 -6.09638887e+01] [ 2.27206115e-02 -9.41021976e-04 9.99741411e-01 2.56338073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4207140569999 meters Centerline goodness [0,1] 0.9826514932187159 Centerline is valid? [True, True] Translation: X:763.38, Y:-60.97, Z:2.56 [[ 9.99745972e-01 -2.56149228e-03 -2.23926304e-02 7.63384400e+02] [ 2.58103175e-03 9.99996313e-01 8.43726353e-04 -6.09659840e+01] [ 2.23903866e-02 -9.01308113e-04 9.99748898e-01 2.56314622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4507140569999 meters Centerline goodness [0,1] 0.984463812050019 Centerline is valid? [True, True] Translation: X:763.41, Y:-60.96, Z:2.57 [[ 9.99754255e-01 -1.80183344e-03 -2.20948516e-02 7.63413859e+02] [ 1.82062045e-03 9.99997998e-01 8.30202728e-04 -6.09608796e+01] [ 2.20933114e-02 -8.70225048e-04 9.99755534e-01 2.56501154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4807140569999 meters Centerline goodness [0,1] 0.9829370566980417 Centerline is valid? [True, True] Translation: X:763.44, Y:-60.97, Z:2.56 [[ 9.99753977e-01 -4.15248798e-04 -2.21768625e-02 7.63441835e+02] [ 4.33744661e-04 9.99999562e-01 8.29212573e-04 -6.09673001e+01] [ 2.21765085e-02 -8.38627663e-04 9.99753719e-01 2.56347886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.510714057 meters Centerline goodness [0,1] 0.9843433331106212 Centerline is valid? [True, True] Translation: X:763.47, Y:-60.96, Z:2.57 [[ 9.99750130e-01 2.03559907e-04 -2.23525346e-02 7.63470603e+02] [-1.85047799e-04 9.99999638e-01 8.30253563e-04 -6.09612161e+01] [ 2.23526955e-02 -8.25909820e-04 9.99749806e-01 2.56500169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.540714057 meters Centerline goodness [0,1] 0.984319156540386 Centerline is valid? [True, True] Translation: X:763.50, Y:-60.96, Z:2.56 [[ 9.99747166e-01 1.15697241e-03 -2.24558481e-02 7.63498110e+02] [-1.13862657e-03 9.99999008e-01 8.29742592e-04 -6.09628721e+01] [ 2.24567858e-02 -8.03963980e-04 9.99747491e-01 2.56490681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5707140569999 meters Centerline goodness [0,1] 0.9846862354966355 Centerline is valid? [True, True] Translation: X:763.53, Y:-60.96, Z:2.57 [[ 9.99747562e-01 1.76047331e-03 -2.23989721e-02 7.63527137e+02] [-1.74246454e-03 9.99998143e-01 8.23491429e-04 -6.09618694e+01] [ 2.24003803e-02 -7.84254133e-04 9.99748772e-01 2.56504762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6007140569999 meters Centerline goodness [0,1] 0.9840203539625505 Centerline is valid? [True, True] Translation: X:763.56, Y:-60.96, Z:2.56 [[ 9.99751466e-01 3.46791845e-03 -2.20222589e-02 7.63555336e+02] [-3.45104451e-03 9.99993722e-01 8.04180386e-04 -6.09641708e+01] [ 2.20249094e-02 -7.27980724e-04 9.99757157e-01 2.56417220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.630714057 meters Centerline goodness [0,1] 0.9851846901038186 Centerline is valid? [True, True] Translation: X:763.58, Y:-60.96, Z:2.57 [[ 9.99749675e-01 4.30027837e-03 -2.19566560e-02 7.63583998e+02] [-4.28382557e-03 9.99990507e-01 7.96310883e-04 -6.09634303e+01] [ 2.19598719e-02 -7.02053062e-04 9.99758606e-01 2.56526732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.660714057 meters Centerline goodness [0,1] 0.9853217158176943 Centerline is valid? [True, True] Translation: X:763.61, Y:-60.96, Z:2.57 [[ 9.99762854e-01 4.80252718e-03 -2.12407939e-02 7.63612522e+02] [-4.78731957e-03 9.99988247e-01 7.66753823e-04 -6.09635756e+01] [ 2.12442266e-02 -6.64885522e-04 9.99774095e-01 2.56588716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6907140569999 meters Centerline goodness [0,1] 0.985142882637696 Centerline is valid? [True, True] Translation: X:763.64, Y:-60.97, Z:2.57 [[ 9.99778521e-01 5.45936869e-03 -2.03249613e-02 7.63641408e+02] [-5.44560906e-03 9.99984904e-01 7.32267305e-04 -6.09650066e+01] [ 2.03286522e-02 -6.21423330e-04 9.99793158e-01 2.56652951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7207140569999 meters Centerline goodness [0,1] 0.9827383722218529 Centerline is valid? [True, True] Translation: X:763.67, Y:-60.97, Z:2.57 [[ 9.99783148e-01 5.01672676e-03 -2.02111273e-02 7.63669358e+02] [-5.00306261e-03 9.99987221e-01 7.26577956e-04 -6.09727686e+01] [ 2.02145141e-02 -6.25302861e-04 9.99795470e-01 2.56525641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.750714057 meters Centerline goodness [0,1] 0.9827383722218529 Centerline is valid? [True, True] Translation: X:763.70, Y:-60.97, Z:2.57 [[ 9.99783631e-01 4.91912944e-03 -2.02111944e-02 7.63696818e+02] [-4.90548312e-03 9.99987705e-01 7.24708947e-04 -6.09736537e+01] [ 2.02145108e-02 -6.25406470e-04 9.99795470e-01 2.56558984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.780714057 meters Centerline goodness [0,1] 0.9839185502295765 Centerline is valid? [True, True] Translation: X:763.73, Y:-60.97, Z:2.57 [[ 9.99788751e-01 4.32147733e-03 -2.00942220e-02 7.63725348e+02] [-4.30790301e-03 9.99990463e-01 7.18771368e-04 -6.09706176e+01] [ 2.00971365e-02 -6.32055569e-04 9.99797832e-01 2.56711198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8107140569999 meters Centerline goodness [0,1] 0.9844276841171251 Centerline is valid? [True, True] Translation: X:763.75, Y:-60.97, Z:2.57 [[ 9.99797196e-01 3.22231062e-03 -1.98792494e-02 7.63754167e+02] [-3.20883615e-03 9.99994600e-01 7.09676220e-04 -6.09734407e+01] [ 1.98814288e-02 -6.45743040e-04 9.99802136e-01 2.56675275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8407140569999 meters Centerline goodness [0,1] 0.9848181737352183 Centerline is valid? [True, True] Translation: X:763.78, Y:-60.98, Z:2.57 [[ 9.99807886e-01 2.32796244e-03 -1.94620368e-02 7.63783031e+02] [-2.31490524e-03 9.99997080e-01 6.93407810e-04 -6.09756120e+01] [ 1.94635942e-02 -6.48221825e-04 9.99810356e-01 2.56702257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.870714057 meters Centerline goodness [0,1] 0.9841441600600667 Centerline is valid? [True, True] Translation: X:763.81, Y:-60.98, Z:2.57 [[ 9.99813638e-01 1.62979027e-03 -1.92362364e-02 7.63810924e+02] [-1.61693993e-03 9.99998459e-01 6.83562283e-04 -6.09785835e+01] [ 1.92373208e-02 -6.52331054e-04 9.99814733e-01 2.56751595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.900714057 meters Centerline goodness [0,1] 0.9835229155162893 Centerline is valid? [True, True] Translation: X:763.84, Y:-60.98, Z:2.57 [[ 9.99831379e-01 1.09649259e-03 -1.83306003e-02 7.63839938e+02] [-1.08477049e-03 9.99999201e-01 6.49413292e-04 -6.09805483e+01] [ 1.83312977e-02 -6.29419293e-04 9.99831770e-01 2.56829204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9307140569999 meters Centerline goodness [0,1] 0.9849213916668514 Centerline is valid? [True, True] Translation: X:763.87, Y:-60.98, Z:2.57 [[ 9.99847628e-01 6.20967803e-04 -1.74451823e-02 7.63869095e+02] [-6.10299564e-04 9.99999624e-01 6.16846393e-04 -6.09815060e+01] [ 1.74455588e-02 -6.06105616e-04 9.99847631e-01 2.56891124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9607140569999 meters Centerline goodness [0,1] 0.9834100159263847 Centerline is valid? [True, True] Translation: X:763.90, Y:-60.98, Z:2.57 [[ 9.99851353e-01 -1.27656996e-04 -1.72411074e-02 7.63896529e+02] [ 1.38161764e-04 9.99999806e-01 6.08096382e-04 -6.09847819e+01] [ 1.72410264e-02 -6.10388052e-04 9.99851176e-01 2.56915360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.990714057 meters Centerline goodness [0,1] 0.9831018313722021 Centerline is valid? [True, True] Translation: X:763.92, Y:-60.99, Z:2.57 [[ 9.99852299e-01 -5.91179689e-04 -1.71764511e-02 7.63924974e+02] [ 6.01640725e-04 9.99999637e-01 6.03872554e-04 -6.09866854e+01] [ 1.71760879e-02 -6.14117414e-04 9.99852292e-01 2.56938145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.020714057 meters Centerline goodness [0,1] 0.9836500220945648 Centerline is valid? [True, True] Translation: X:763.95, Y:-60.99, Z:2.57 [[ 9.99856418e-01 -1.26707668e-03 -1.68978534e-02 7.63952801e+02] [ 1.27727586e-03 9.99999009e-01 5.92800163e-04 -6.09892221e+01] [ 1.68970855e-02 -6.14298268e-04 9.99857045e-01 2.56937446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0507140569999 meters Centerline goodness [0,1] 0.982904850251789 Centerline is valid? [True, True] Translation: X:763.98, Y:-60.99, Z:2.57 [[ 9.99846154e-01 -3.70669691e-03 -1.71443567e-02 7.63982620e+02] [ 3.71753222e-03 9.99992910e-01 6.00178167e-04 -6.09934953e+01] [ 1.71420105e-02 -6.63820531e-04 9.99852845e-01 2.56894392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0807140569999 meters Centerline goodness [0,1] 0.9822367548937299 Centerline is valid? [True, True] Translation: X:764.01, Y:-61.00, Z:2.57 [[ 9.99837215e-01 -5.45333699e-03 -1.71989457e-02 7.64011567e+02] [ 5.46448583e-03 9.99984889e-01 6.01299154e-04 -6.09970836e+01] [ 1.71954067e-02 -6.95184667e-04 9.99851906e-01 2.56873506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1107140569999 meters Centerline goodness [0,1] 0.9830789281848505 Centerline is valid? [True, True] Translation: X:764.04, Y:-61.00, Z:2.57 [[ 9.99826572e-01 -7.07573617e-03 -1.72267095e-02 7.64040079e+02] [ 7.08714034e-03 9.99974705e-01 6.01045580e-04 -6.09990179e+01] [ 1.72220209e-02 -7.23029449e-04 9.99851429e-01 2.56892870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.140714057 meters Centerline goodness [0,1] 0.9815224118115109 Centerline is valid? [True, True] Translation: X:764.07, Y:-61.01, Z:2.57 [[ 9.99796095e-01 -1.07786845e-02 -1.70759791e-02 7.64068625e+02] [ 1.07904097e-02 9.99941605e-01 5.94659658e-04 -6.10076237e+01] [ 1.70685723e-02 -7.78795215e-04 9.99854018e-01 2.56852301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1707140569999 meters Centerline goodness [0,1] 0.9818041634541249 Centerline is valid? [True, True] Translation: X:764.10, Y:-61.01, Z:2.57 [[ 9.99768322e-01 -1.28972350e-02 -1.72326460e-02 7.64098413e+02] [ 1.29094761e-02 9.99916490e-01 5.99288325e-04 -6.10106234e+01] [ 1.72234778e-02 -8.21613916e-04 9.99851327e-01 2.56916236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2007140569999 meters Centerline goodness [0,1] 0.9828312920666445 Centerline is valid? [True, True] Translation: X:764.13, Y:-61.01, Z:2.57 [[ 9.99737126e-01 -1.54160299e-02 -1.69712967e-02 7.64127969e+02] [ 1.54282546e-02 9.99880804e-01 5.89613558e-04 -6.10117349e+01] [ 1.69601842e-02 -8.51296050e-04 9.99855803e-01 2.56980725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2307140569999 meters Centerline goodness [0,1] 0.982004690616575 Centerline is valid? [True, True] Translation: X:764.16, Y:-61.02, Z:2.57 [[ 9.99705931e-01 -1.73662379e-02 -1.69252689e-02 7.64157053e+02] [ 1.73786635e-02 9.99848807e-01 5.87328357e-04 -6.10152620e+01] [ 1.69125103e-02 -8.81294196e-04 9.99856585e-01 2.56990745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.260714057 meters Centerline goodness [0,1] 0.9813772481421221 Centerline is valid? [True, True] Translation: X:764.18, Y:-61.02, Z:2.57 [[ 9.99658433e-01 -1.97295025e-02 -1.71395750e-02 7.64184979e+02] [ 1.97425728e-02 9.99804920e-01 5.93694911e-04 -6.10201730e+01] [ 1.71245181e-02 -9.31871431e-04 9.99852930e-01 2.57001996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.290714057 meters Centerline goodness [0,1] 0.9806448774908723 Centerline is valid? [True, True] Translation: X:764.22, Y:-61.02, Z:2.57 [[ 9.99577515e-01 -2.30033499e-02 -1.77662005e-02 7.64215416e+02] [ 2.30178905e-02 9.99734864e-01 6.14357228e-04 -6.10238692e+01] [ 1.77473578e-02 -1.02303813e-03 9.99841980e-01 2.57030072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3207140569999 meters Centerline goodness [0,1] 0.9813247610925233 Centerline is valid? [True, True] Translation: X:764.25, Y:-61.03, Z:2.57 [[ 9.99549352e-01 -2.43338146e-02 -1.75772275e-02 7.64246118e+02] [ 2.43482524e-02 9.99703353e-01 6.07822520e-04 -6.10271038e+01] [ 1.75572227e-02 -1.03552338e-03 9.99845324e-01 2.57076973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3507140569999 meters Centerline goodness [0,1] 0.9807827307827308 Centerline is valid? [True, True] Translation: X:764.28, Y:-61.03, Z:2.57 [[ 9.99485957e-01 -2.68195663e-02 -1.75651030e-02 7.64275406e+02] [ 2.68343649e-02 9.99639709e-01 6.07308189e-04 -6.10316734e+01] [ 1.75424867e-02 -1.07834439e-03 9.99845537e-01 2.57139115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.380714057 meters Centerline goodness [0,1] 0.9806916805470325 Centerline is valid? [True, True] Translation: X:764.31, Y:-61.03, Z:2.57 [[ 9.99468323e-01 -2.75573641e-02 -1.74259543e-02 7.64305455e+02] [ 2.75720388e-02 9.99619638e-01 6.02379221e-04 -6.10348469e+01] [ 1.74027261e-02 -1.08252804e-03 9.99847975e-01 2.57235027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.410714057 meters Centerline goodness [0,1] 0.9800942672366546 Centerline is valid? [True, True] Translation: X:764.34, Y:-61.04, Z:2.57 [[ 9.99451663e-01 -2.80878115e-02 -1.75342151e-02 7.64336854e+02] [ 2.81027573e-02 9.99604856e-01 6.06517917e-04 -6.10373788e+01] [ 1.75102508e-02 -1.09894513e-03 9.99846080e-01 2.57299606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4407140569999 meters Centerline goodness [0,1] 0.9797204474585142 Centerline is valid? [True, True] Translation: X:764.37, Y:-61.04, Z:2.57 [[ 9.99428968e-01 -2.88301161e-02 -1.76227772e-02 7.64367714e+02] [ 2.88453373e-02 9.99583701e-01 6.10092846e-04 -6.10396874e+01] [ 1.75978518e-02 -1.11807942e-03 9.99844521e-01 2.57352153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4707140569999 meters Centerline goodness [0,1] 0.9787598191951551 Centerline is valid? [True, True] Translation: X:764.40, Y:-61.04, Z:2.57 [[ 9.99418547e-01 -2.92081546e-02 -1.75912223e-02 7.64397516e+02] [ 2.92233848e-02 9.99572720e-01 6.09298853e-04 -6.10426224e+01] [ 1.75659094e-02 -1.12301963e-03 9.99845077e-01 2.57484700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.500714057 meters Centerline goodness [0,1] 0.978227503946676 Centerline is valid? [True, True] Translation: X:764.43, Y:-61.04, Z:2.58 [[ 9.99425969e-01 -2.87636520e-02 -1.78992932e-02 7.64428867e+02] [ 2.87793567e-02 9.99585596e-01 6.20370649e-04 -6.10435411e+01] [ 1.78740316e-02 -1.13514468e-03 9.99839602e-01 2.57551074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.530714057 meters Centerline goodness [0,1] 0.9776618045244126 Centerline is valid? [True, True] Translation: X:764.46, Y:-61.04, Z:2.58 [[ 9.99437416e-01 -2.82816697e-02 -1.80277329e-02 7.64460357e+02] [ 2.82975334e-02 9.99599349e-01 6.25425658e-04 -6.10445829e+01] [ 1.80028220e-02 -1.13521418e-03 9.99837292e-01 2.57566627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5607140569999 meters Centerline goodness [0,1] 0.9784355922526242 Centerline is valid? [True, True] Translation: X:764.49, Y:-61.05, Z:2.58 [[ 9.99450283e-01 -2.76229638e-02 -1.83331279e-02 7.64491252e+02] [ 2.76392667e-02 9.99617760e-01 6.36428970e-04 -6.10454550e+01] [ 1.83085402e-02 -1.14279332e-03 9.99831732e-01 2.57583938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5907140569999 meters Centerline goodness [0,1] 0.9801347762144127 Centerline is valid? [True, True] Translation: X:764.52, Y:-61.04, Z:2.58 [[ 9.99461100e-01 -2.61304604e-02 -1.98672614e-02 7.64522254e+02] [ 2.61493129e-02 9.99657810e-01 6.89685951e-04 -6.10382478e+01] [ 1.98424413e-02 -1.20882952e-03 9.99802389e-01 2.57568847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.620714057 meters Centerline goodness [0,1] 0.9816735519029621 Centerline is valid? [True, True] Translation: X:764.55, Y:-61.04, Z:2.58 [[ 9.99468954e-01 -2.55814093e-02 -2.01842004e-02 7.64553007e+02] [ 2.56007567e-02 9.99672001e-01 7.00688390e-04 -6.10357442e+01] [ 2.01596554e-02 -1.21704709e-03 9.99796033e-01 2.57597187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.650714057 meters Centerline goodness [0,1] 0.981254521935498 Centerline is valid? [True, True] Translation: X:764.58, Y:-61.04, Z:2.58 [[ 9.99446686e-01 -2.54381069e-02 -2.14295268e-02 7.64582804e+02] [ 2.54598795e-02 9.99675568e-01 7.43754922e-04 -6.10372197e+01] [ 2.14036547e-02 -1.28893656e-03 9.99770085e-01 2.57561033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6807140569999 meters Centerline goodness [0,1] 0.9816588323155999 Centerline is valid? [True, True] Translation: X:764.61, Y:-61.04, Z:2.58 [[ 9.99436614e-01 -2.51387632e-02 -2.22372780e-02 7.64612904e+02] [ 2.51621220e-02 9.99683086e-01 7.71212446e-04 -6.10361290e+01] [ 2.22108434e-02 -1.33031506e-03 9.99752424e-01 2.57640421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7107140569999 meters Centerline goodness [0,1] 0.9825042204731315 Centerline is valid? [True, True] Translation: X:764.64, Y:-61.04, Z:2.58 [[ 9.99453658e-01 -2.45107701e-02 -2.21722279e-02 7.64641472e+02] [ 2.45338174e-02 9.99698706e-01 7.68007720e-04 -6.10371392e+01] [ 2.21467231e-02 -1.31155752e-03 9.99753871e-01 2.57730972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.740714057 meters Centerline goodness [0,1] 0.9820566516036592 Centerline is valid? [True, True] Translation: X:764.67, Y:-61.03, Z:2.58 [[ 9.99455085e-01 -2.39794184e-02 -2.26830550e-02 7.64671457e+02] [ 2.40033806e-02 9.99711569e-01 7.84672222e-04 -6.10315493e+01] [ 2.26576966e-02 -1.32871465e-03 9.99742398e-01 2.57878361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.770714057 meters Centerline goodness [0,1] 0.9816988570044266 Centerline is valid? [True, True] Translation: X:764.70, Y:-61.04, Z:2.58 [[ 9.99462936e-01 -2.33290727e-02 -2.30129127e-02 7.64700048e+02] [ 2.33535415e-02 9.99726953e-01 7.95051629e-04 -6.10375331e+01] [ 2.29880813e-02 -1.33205765e-03 9.99734852e-01 2.57802349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8007140569999 meters Centerline goodness [0,1] 0.9818250077293406 Centerline is valid? [True, True] Translation: X:764.73, Y:-61.03, Z:2.58 [[ 9.99489010e-01 -2.17851035e-02 -2.33907590e-02 7.64729179e+02] [ 2.18099270e-02 9.99761810e-01 8.06635793e-04 -6.10297993e+01] [ 2.33676149e-02 -1.31637436e-03 9.99726073e-01 2.57975034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8307140569999 meters Centerline goodness [0,1] 0.981566007364777 Centerline is valid? [True, True] Translation: X:764.76, Y:-61.04, Z:2.58 [[ 9.99507125e-01 -2.10107728e-02 -2.33249552e-02 7.64756413e+02] [ 2.10352032e-02 9.99778414e-01 8.02505603e-04 -6.10354981e+01] [ 2.33029255e-02 -1.29275524e-03 9.99727614e-01 2.57904332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8607140569999 meters Centerline goodness [0,1] 0.9818815792377463 Centerline is valid? [True, True] Translation: X:764.79, Y:-61.03, Z:2.58 [[ 9.99513630e-01 -2.07892119e-02 -2.32446306e-02 7.64785545e+02] [ 2.08133251e-02 9.99783062e-01 7.95890876e-04 -6.10297958e+01] [ 2.32230420e-02 -1.27930183e-03 9.99729490e-01 2.58106039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.890714057 meters Centerline goodness [0,1] 0.9818878056295253 Centerline is valid? [True, True] Translation: X:764.81, Y:-61.03, Z:2.58 [[ 9.99530981e-01 -1.99091234e-02 -2.32689517e-02 7.64814461e+02] [ 1.99329146e-02 9.99801007e-01 7.90926119e-04 -6.10285691e+01] [ 2.32485747e-02 -1.25437319e-03 9.99728928e-01 2.58148253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9207140569999 meters Centerline goodness [0,1] 0.9824793388429752 Centerline is valid? [True, True] Translation: X:764.84, Y:-61.03, Z:2.58 [[ 9.99538185e-01 -1.93550796e-02 -2.34264285e-02 7.64843545e+02] [ 1.93789055e-02 9.99811899e-01 7.90437602e-04 -6.10281264e+01] [ 2.34067230e-02 -1.24405111e-03 9.99725251e-01 2.58171526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9507140569999 meters Centerline goodness [0,1] 0.9824514815552458 Centerline is valid? [True, True] Translation: X:764.87, Y:-61.03, Z:2.58 [[ 9.99535919e-01 -1.85692940e-02 -2.41480419e-02 7.64872103e+02] [ 1.85942352e-02 9.99826785e-01 8.08695481e-04 -6.10279804e+01] [ 2.41288422e-02 -1.25733455e-03 9.99708066e-01 2.58218174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9807140569999 meters Centerline goodness [0,1] 0.9826178793812845 Centerline is valid? [True, True] Translation: X:764.90, Y:-61.03, Z:2.58 [[ 9.99546428e-01 -1.75449418e-02 -2.44767891e-02 7.64900726e+02] [ 1.75701115e-02 9.99845303e-01 8.13608339e-04 -6.10281048e+01] [ 2.44587279e-02 -1.24329922e-03 9.99700067e-01 2.58202212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.010714057 meters Centerline goodness [0,1] 0.981865227679855 Centerline is valid? [True, True] Translation: X:764.93, Y:-61.03, Z:2.58 [[ 9.99543895e-01 -1.60551902e-02 -2.55779803e-02 7.64929717e+02] [ 1.60820253e-02 9.99870320e-01 8.43775182e-04 -6.10265006e+01] [ 2.55611163e-02 -1.25473606e-03 9.99672474e-01 2.58252156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.040714057 meters Centerline goodness [0,1] 0.9825352610867931 Centerline is valid? [True, True] Translation: X:764.96, Y:-61.03, Z:2.58 [[ 9.99541545e-01 -1.55464735e-02 -2.59809130e-02 7.64958658e+02] [ 1.55738222e-02 9.99878359e-01 8.50621821e-04 -6.10258075e+01] [ 2.59645285e-02 -1.25485397e-03 9.99662077e-01 2.58295184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0707140569999 meters Centerline goodness [0,1] 0.9829739184342204 Centerline is valid? [True, True] Translation: X:764.99, Y:-61.02, Z:2.58 [[ 9.99546787e-01 -1.49824903e-02 -2.61102473e-02 7.64987136e+02] [ 1.50097503e-02 9.99886987e-01 8.48348933e-04 -6.10241013e+01] [ 2.60945862e-02 -1.23987274e-03 9.99658709e-01 2.58383017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1007140569999 meters Centerline goodness [0,1] 0.9823137332541411 Centerline is valid? [True, True] Translation: X:765.01, Y:-61.02, Z:2.58 [[ 9.99537748e-01 -1.40257325e-02 -2.69735072e-02 7.65014717e+02] [ 1.40543579e-02 9.99900852e-01 8.71943401e-04 -6.10247787e+01] [ 2.69586032e-02 -1.25063567e-03 9.99635768e-01 2.58363805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.130714057 meters Centerline goodness [0,1] 0.9823680368125304 Centerline is valid? [True, True] Translation: X:765.04, Y:-61.03, Z:2.58 [[ 9.99522780e-01 -1.42906059e-02 -2.73859483e-02 7.65042917e+02] [ 1.43200646e-02 9.99897076e-01 8.79857314e-04 -6.10251308e+01] [ 2.73705559e-02 -1.27160598e-03 9.99624547e-01 2.58414926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.160714057 meters Centerline goodness [0,1] 0.9813854540619599 Centerline is valid? [True, True] Translation: X:765.07, Y:-61.03, Z:2.58 [[ 9.99517595e-01 -1.48688600e-02 -2.72670765e-02 7.65070420e+02] [ 1.48981284e-02 9.99888638e-01 8.70547361e-04 -6.10279522e+01] [ 2.72510959e-02 -1.27635581e-03 9.99627805e-01 2.58337996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1907140569999 meters Centerline goodness [0,1] 0.9810464318136528 Centerline is valid? [True, True] Translation: X:765.10, Y:-61.03, Z:2.59 [[ 9.99541496e-01 -1.52068156e-02 -2.61830342e-02 7.65098732e+02] [ 1.52337870e-02 9.99883614e-01 8.30937471e-04 -6.10277024e+01] [ 2.61673509e-02 -1.22942325e-03 9.99656820e-01 2.58500566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2207140569999 meters Centerline goodness [0,1] 0.9812929301853038 Centerline is valid? [True, True] Translation: X:765.13, Y:-61.03, Z:2.59 [[ 9.99539744e-01 -1.57633086e-02 -2.59194518e-02 7.65127345e+02] [ 1.57897618e-02 9.99875001e-01 8.16233680e-04 -6.10260391e+01] [ 2.59033453e-02 -1.22511997e-03 9.99663701e-01 2.58658792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.250714057 meters Centerline goodness [0,1] 0.9799455475131151 Centerline is valid? [True, True] Translation: X:765.15, Y:-61.03, Z:2.59 [[ 9.99546639e-01 -1.63850720e-02 -2.52595819e-02 7.65154735e+02] [ 1.64102897e-02 9.99865029e-01 7.91360280e-04 -6.10328858e+01] [ 2.52432060e-02 -1.20551856e-03 9.99680613e-01 2.58520411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.280714057 meters Centerline goodness [0,1] 0.9803466931655074 Centerline is valid? [True, True] Translation: X:765.18, Y:-61.03, Z:2.59 [[ 9.99547437e-01 -1.70356304e-02 -2.47932990e-02 7.65183190e+02] [ 1.70600248e-02 9.99854169e-01 7.72705539e-04 -6.10328933e+01] [ 2.47765198e-02 -1.19533014e-03 9.99692300e-01 2.58605028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3107140569999 meters Centerline goodness [0,1] 0.9809283037278513 Centerline is valid? [True, True] Translation: X:765.21, Y:-61.03, Z:2.59 [[ 9.99525829e-01 -1.84484336e-02 -2.46530341e-02 7.65211570e+02] [ 1.84728835e-02 9.99829070e-01 7.64368152e-04 -6.10294602e+01] [ 2.46347187e-02 -1.21941834e-03 9.99695776e-01 2.58707468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3407140569999 meters Centerline goodness [0,1] 0.9817786359500189 Centerline is valid? [True, True] Translation: X:765.24, Y:-61.03, Z:2.59 [[ 9.99477882e-01 -2.08273632e-02 -2.47019181e-02 7.65241140e+02] [ 2.08525970e-02 9.99782269e-01 7.64355692e-04 -6.10323466e+01] [ 2.46806202e-02 -1.27905575e-03 9.99694569e-01 2.58766902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.370714057 meters Centerline goodness [0,1] 0.9807918376400133 Centerline is valid? [True, True] Translation: X:765.27, Y:-61.03, Z:2.59 [[ 9.99439049e-01 -2.25654026e-02 -2.47465069e-02 7.65269493e+02] [ 2.25911705e-02 9.99744496e-01 7.62165769e-04 -6.10347851e+01] [ 2.47229855e-02 -1.32079079e-03 9.99693468e-01 2.58799657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.400714057 meters Centerline goodness [0,1] 0.981314633172074 Centerline is valid? [True, True] Translation: X:765.30, Y:-61.04, Z:2.59 [[ 9.99411653e-01 -2.41874273e-02 -2.43169859e-02 7.65297710e+02] [ 2.42126887e-02 9.99706552e-01 7.44901239e-04 -6.10375037e+01] [ 2.42918329e-02 -1.33324259e-03 9.99704021e-01 2.58827298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4307140569999 meters Centerline goodness [0,1] 0.9796338977041043 Centerline is valid? [True, True] Translation: X:765.33, Y:-61.04, Z:2.59 [[ 9.99324973e-01 -2.76815919e-02 -2.41521807e-02 7.65326603e+02] [ 2.77074985e-02 9.99615801e-01 7.38590273e-04 -6.10422830e+01] [ 2.41224561e-02 -1.40728822e-03 9.99708021e-01 2.58756207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4607140569999 meters Centerline goodness [0,1] 0.9793300544995348 Centerline is valid? [True, True] Translation: X:765.36, Y:-61.05, Z:2.59 [[ 9.99283598e-01 -2.92629061e-02 -2.39994238e-02 7.65355999e+02] [ 2.92889256e-02 9.99570718e-01 7.33305964e-04 -6.10450634e+01] [ 2.39676626e-02 -1.43569796e-03 9.99711703e-01 2.58723936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.490714057 meters Centerline goodness [0,1] 0.9790611802684237 Centerline is valid? [True, True] Translation: X:765.39, Y:-61.05, Z:2.59 [[ 9.99218160e-01 -3.09280300e-02 -2.46277415e-02 7.65385971e+02] [ 3.09559180e-02 9.99520468e-01 7.51854871e-04 -6.10480040e+01] [ 2.45926783e-02 -1.51364139e-03 9.99696408e-01 2.58725741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.520714057 meters Centerline goodness [0,1] 0.9791334749513189 Centerline is valid? [True, True] Translation: X:765.42, Y:-61.05, Z:2.59 [[ 9.99188010e-01 -3.24185596e-02 -2.39240150e-02 7.65415252e+02] [ 3.24452920e-02 9.99473246e-01 7.29964166e-04 -6.10517835e+01] [ 2.38877486e-02 -1.50559310e-03 9.99713513e-01 2.58720277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5507140569999 meters Centerline goodness [0,1] 0.9795855037127341 Centerline is valid? [True, True] Translation: X:765.45, Y:-61.05, Z:2.59 [[ 9.99185080e-01 -3.25736109e-02 -2.38355812e-02 7.65446064e+02] [ 3.26001849e-02 9.99468208e-01 7.27058369e-04 -6.10535895e+01] [ 2.37992228e-02 -1.50351023e-03 9.99715628e-01 2.58785123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5807140569999 meters Centerline goodness [0,1] 0.9808235501809516 Centerline is valid? [True, True] Translation: X:765.48, Y:-61.05, Z:2.59 [[ 9.99219997e-01 -3.23189946e-02 -2.26909910e-02 7.65476863e+02] [ 3.23430116e-02 9.99476588e-01 6.92144854e-04 -6.10489280e+01] [ 2.26567448e-02 -1.42549996e-03 9.99742287e-01 2.58941736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6107140569999 meters Centerline goodness [0,1] 0.979372992134707 Centerline is valid? [True, True] Translation: X:765.51, Y:-61.05, Z:2.59 [[ 9.99254068e-01 -3.18854649e-02 -2.17858976e-02 7.65507956e+02] [ 3.19075084e-02 9.99490605e-01 6.64881467e-04 -6.10487721e+01] [ 2.17535999e-02 -1.35951922e-03 9.99762438e-01 2.59056605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.640714057 meters Centerline goodness [0,1] 0.9794029057406095 Centerline is valid? [True, True] Translation: X:765.54, Y:-61.05, Z:2.59 [[ 9.99309533e-01 -3.08245974e-02 -2.07437009e-02 7.65538266e+02] [ 3.08443659e-02 9.99523999e-01 6.33638700e-04 -6.10499447e+01] [ 2.07142952e-02 -1.27302749e-03 9.99784625e-01 2.59159845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6707140569999 meters Centerline goodness [0,1] 0.9794029057406095 Centerline is valid? [True, True] Translation: X:765.57, Y:-61.05, Z:2.59 [[ 9.99310616e-01 -3.07894776e-02 -2.07436851e-02 7.65569154e+02] [ 3.08092492e-02 9.99525081e-01 6.34156037e-04 -6.10509193e+01] [ 2.07143082e-02 -1.27281622e-03 9.99784625e-01 2.59197302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7007140569999 meters Centerline goodness [0,1] 0.9795918367346939 Centerline is valid? [True, True] Translation: X:765.60, Y:-61.05, Z:2.59 [[ 9.99412794e-01 -2.81000561e-02 -1.96075075e-02 7.65600070e+02] [ 2.81172154e-02 9.99604453e-01 5.99957997e-04 -6.10482656e+01] [ 1.95828930e-02 -1.15091421e-03 9.99807574e-01 2.59314748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7307140569999 meters Centerline goodness [0,1] 0.9799184324851494 Centerline is valid? [True, True] Translation: X:765.63, Y:-61.05, Z:2.59 [[ 9.99463909e-01 -2.63333812e-02 -1.94537086e-02 7.65630432e+02] [ 2.63499456e-02 9.99652602e-01 5.95595592e-04 -6.10494326e+01] [ 1.94312663e-02 -1.10788046e-03 9.99810581e-01 2.59357345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.760714057 meters Centerline goodness [0,1] 0.9812914237581185 Centerline is valid? [True, True] Translation: X:765.66, Y:-61.05, Z:2.59 [[ 9.99533126e-01 -2.35273887e-02 -1.94933828e-02 7.65660769e+02] [ 2.35434929e-02 9.99722635e-01 5.97024889e-04 -6.10488920e+01] [ 1.94739296e-02 -1.05568847e-03 9.99809808e-01 2.59359632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.790714057 meters Centerline goodness [0,1] 0.9805191923674285 Centerline is valid? [True, True] Translation: X:765.69, Y:-61.05, Z:2.59 [[ 9.99548543e-01 -2.24917484e-02 -1.99206513e-02 7.65691650e+02] [ 2.25083614e-02 9.99746469e-01 6.10110863e-04 -6.10492438e+01] [ 1.99018783e-02 -1.05821664e-03 9.99801378e-01 2.59329162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8207140569999 meters Centerline goodness [0,1] 0.9808033339244547 Centerline is valid? [True, True] Translation: X:765.72, Y:-61.05, Z:2.59 [[ 9.99571190e-01 -2.13752905e-02 -2.00133064e-02 7.65721361e+02] [ 2.13918298e-02 9.99770981e-01 6.12671986e-04 -6.10494688e+01] [ 1.99956269e-02 -1.04053051e-03 9.99799526e-01 2.59322253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8507140569999 meters Centerline goodness [0,1] 0.9801664600672924 Centerline is valid? [True, True] Translation: X:765.75, Y:-61.05, Z:2.59 [[ 9.99587600e-01 -2.05364252e-02 -2.00719895e-02 7.65750028e+02] [ 2.05528761e-02 9.99788579e-01 6.13627011e-04 -6.10541495e+01] [ 2.00551441e-02 -1.02591106e-03 9.99798349e-01 2.59251972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.880714057 meters Centerline goodness [0,1] 0.9824775695123035 Centerline is valid? [True, True] Translation: X:765.78, Y:-61.05, Z:2.59 [[ 9.99635687e-01 -1.81593237e-02 -1.99682594e-02 7.65780020e+02] [ 1.81751137e-02 9.99834633e-01 6.09546772e-04 -6.10488558e+01] [ 1.99538883e-02 -9.72250092e-04 9.99800429e-01 2.59357174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.910714057 meters Centerline goodness [0,1] 0.9823395156108046 Centerline is valid? [True, True] Translation: X:765.81, Y:-61.05, Z:2.59 [[ 9.99658993e-01 -1.67790482e-02 -2.00090228e-02 7.65809226e+02] [ 1.67945819e-02 9.99858776e-01 6.08534899e-04 -6.10486969e+01] [ 1.99959864e-02 -9.44370556e-04 9.99799614e-01 2.59389757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9407140569999 meters Centerline goodness [0,1] 0.9832830791060659 Centerline is valid? [True, True] Translation: X:765.84, Y:-61.05, Z:2.59 [[ 9.99689528e-01 -1.49637996e-02 -1.99231786e-02 7.65837932e+02] [ 1.49787738e-02 9.99887630e-01 6.02574548e-04 -6.10474270e+01] [ 1.99119231e-02 -9.00812251e-04 9.99801332e-01 2.59466484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9707140569999 meters Centerline goodness [0,1] 0.9828688088052547 Centerline is valid? [True, True] Translation: X:765.87, Y:-61.05, Z:2.60 [[ 9.99730593e-01 -1.25927498e-02 -1.94977829e-02 7.65866215e+02] [ 1.26066144e-02 9.99920360e-01 5.88331416e-04 -6.10495712e+01] [ 1.94888214e-02 -8.33973945e-04 9.99809727e-01 2.59504959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.000714057 meters Centerline goodness [0,1] 0.9833873042629642 Centerline is valid? [True, True] Translation: X:765.90, Y:-61.05, Z:2.60 [[ 9.99804088e-01 -7.34821434e-03 -1.83790231e-02 7.65896335e+02] [ 7.35963163e-03 9.99972764e-01 5.53652450e-04 -6.10465188e+01] [ 1.83744542e-02 -6.88806823e-04 9.99830938e-01 2.59604404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.030714057 meters Centerline goodness [0,1] 0.9839427097233342 Centerline is valid? [True, True] Translation: X:765.93, Y:-61.05, Z:2.60 [[ 9.99837768e-01 -4.71599606e-03 -1.73838314e-02 7.65925545e+02] [ 4.72578822e-03 9.99988697e-01 5.22254885e-04 -6.10454359e+01] [ 1.73811719e-02 -6.04322464e-04 9.99848753e-01 2.59689348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0607140569999 meters Centerline goodness [0,1] 0.9845480012450532 Centerline is valid? [True, True] Translation: X:765.95, Y:-61.05, Z:2.60 [[ 9.99865650e-01 -2.17345579e-03 -1.62467581e-02 7.65953183e+02] [ 2.18162487e-03 9.99997503e-01 4.85106401e-04 -6.10463269e+01] [ 1.62456632e-02 -5.20485559e-04 9.99867895e-01 2.59736451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0907140569999 meters Centerline goodness [0,1] 0.9842316832122948 Centerline is valid? [True, True] Translation: X:765.98, Y:-61.05, Z:2.60 [[ 9.99903995e-01 1.42738061e-03 -1.37827024e-02 7.65982232e+02] [-1.42186134e-03 9.99998905e-01 4.10239977e-04 -6.10459568e+01] [ 1.37832729e-02 -3.90603500e-04 9.99904930e-01 2.59890785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.120714057 meters Centerline goodness [0,1] 0.9844856884337828 Centerline is valid? [True, True] Translation: X:766.01, Y:-61.05, Z:2.60 [[ 9.99915060e-01 2.81345396e-03 -1.27262303e-02 7.66010014e+02] [-2.80889470e-03 9.99995984e-01 3.76116552e-04 -6.10475322e+01] [ 1.27272373e-02 -3.40337964e-04 9.99918948e-01 2.60012803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.150714057 meters Centerline goodness [0,1] 0.9849505740502682 Centerline is valid? [True, True] Translation: X:766.04, Y:-61.05, Z:2.60 [[ 9.99930205e-01 3.52376776e-03 -1.12769027e-02 7.66037785e+02] [-3.52024782e-03 9.99993749e-01 3.31971545e-04 -6.10498693e+01] [ 1.12780020e-02 -2.92250883e-04 9.99936359e-01 2.60088736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1807140569999 meters Centerline goodness [0,1] 0.9855374188833027 Centerline is valid? [True, True] Translation: X:766.07, Y:-61.05, Z:2.60 [[ 9.99936166e-01 3.72483099e-03 -1.06672575e-02 7.66066990e+02] [-3.72170709e-03 9.99993026e-01 3.12685462e-04 -6.10501096e+01] [ 1.06683478e-02 -2.72965094e-04 9.99943054e-01 2.60106170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2107140569999 meters Centerline goodness [0,1] 0.9850610835694051 Centerline is valid? [True, True] Translation: X:766.10, Y:-61.05, Z:2.60 [[ 9.99939908e-01 2.88489400e-03 -1.05762894e-02 7.66095166e+02] [-2.88178389e-03 9.99995800e-01 3.09292620e-04 -6.10544316e+01] [ 1.05771372e-02 -2.78795454e-04 9.99944022e-01 2.60035544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.240714057 meters Centerline goodness [0,1] 0.985176184690158 Centerline is valid? [True, True] Translation: X:766.12, Y:-61.06, Z:2.60 [[ 9.99933242e-01 1.81383264e-03 -1.14114809e-02 7.66123078e+02] [-1.81015503e-03 9.99998306e-01 3.32592811e-04 -6.10591322e+01] [ 1.14120648e-02 -3.11914058e-04 9.99934832e-01 2.60003596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.270714057 meters Centerline goodness [0,1] 0.9861383520285607 Centerline is valid? [True, True] Translation: X:766.15, Y:-61.06, Z:2.60 [[ 9.99925752e-01 7.70524623e-04 -1.21612459e-02 7.66151716e+02] [-7.66284938e-04 9.99999644e-01 3.53278414e-04 -6.10625203e+01] [ 1.21615138e-02 -3.43933204e-04 9.99925987e-01 2.59947834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3007140569999 meters Centerline goodness [0,1] 0.9857721786626729 Centerline is valid? [True, True] Translation: X:766.18, Y:-61.07, Z:2.60 [[ 9.99901059e-01 -2.19899033e-03 -1.38937874e-02 7.66181376e+02] [ 2.20479615e-03 9.99997488e-01 4.02568573e-04 -6.10695398e+01] [ 1.38928673e-02 -4.33161712e-04 9.99903396e-01 2.59845462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3307140569999 meters Centerline goodness [0,1] 0.9856340200506776 Centerline is valid? [True, True] Translation: X:766.21, Y:-61.07, Z:2.60 [[ 9.99900543e-01 -3.69709661e-03 -1.36101455e-02 7.66208808e+02] [ 3.70279893e-03 9.99993067e-01 3.93800944e-04 -6.10743290e+01] [ 1.36085952e-02 -4.44157410e-04 9.99907300e-01 2.59878359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3607140569999 meters Centerline goodness [0,1] 0.9856163933708431 Centerline is valid? [True, True] Translation: X:766.24, Y:-61.08, Z:2.60 [[ 9.99890706e-01 -5.08822503e-03 -1.38811588e-02 7.66237841e+02] [ 5.09427388e-03 9.99986944e-01 4.00435256e-04 -6.10765975e+01] [ 1.38789401e-02 -4.71105915e-04 9.99903572e-01 2.59907740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.390714057 meters Centerline goodness [0,1] 0.9851565587809056 Centerline is valid? [True, True] Translation: X:766.27, Y:-61.08, Z:2.60 [[ 9.99883558e-01 -7.72367813e-03 -1.31611071e-02 7.66266520e+02] [ 7.72933217e-03 9.99970057e-01 3.78790500e-04 -6.10846545e+01] [ 1.31577874e-02 -4.80472962e-04 9.99913317e-01 2.59954746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4207140569999 meters Centerline goodness [0,1] 0.9853790929784626 Centerline is valid? [True, True] Translation: X:766.29, Y:-61.09, Z:2.60 [[ 9.99875235e-01 -8.79740956e-03 -1.31194901e-02 7.66294305e+02] [ 8.80311066e-03 9.99961181e-01 3.76865559e-04 -6.10894880e+01] [ 1.31156654e-02 -4.92310863e-04 9.99913865e-01 2.60006928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4507140569999 meters Centerline goodness [0,1] 0.9853459794537052 Centerline is valid? [True, True] Translation: X:766.32, Y:-61.09, Z:2.60 [[ 9.99861253e-01 -1.05826235e-02 -1.28640357e-02 7.66322625e+02] [ 1.05882366e-02 9.99943875e-01 3.68311457e-04 -6.10935160e+01] [ 1.28594160e-02 -5.04467808e-04 9.99917187e-01 2.60068309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4807140569999 meters Centerline goodness [0,1] 0.9840870838706857 Centerline is valid? [True, True] Translation: X:766.35, Y:-61.10, Z:2.60 [[ 9.99850384e-01 -1.22139474e-02 -1.22486341e-02 7.66351592e+02] [ 1.22191243e-02 9.99925283e-01 3.47900841e-04 -6.10974754e+01] [ 1.22434697e-02 -4.97516371e-04 9.99924922e-01 2.60118275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.510714057 meters Centerline goodness [0,1] 0.9849104467819888 Centerline is valid? [True, True] Translation: X:766.38, Y:-61.10, Z:2.60 [[ 9.99808843e-01 -1.60135277e-02 -1.12180533e-02 7.66380688e+02] [ 1.60181028e-02 9.99871651e-01 3.18100592e-04 -6.11034556e+01] [ 1.12115196e-02 -4.97731716e-04 9.99937025e-01 2.60258109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.540714057 meters Centerline goodness [0,1] 0.9866617506723345 Centerline is valid? [True, True] Translation: X:766.41, Y:-61.11, Z:2.60 [[ 9.99781794e-01 -1.76776379e-02 -1.11294624e-02 7.66410257e+02] [ 1.76822369e-02 9.99843607e-01 3.14960548e-04 -6.11090237e+01] [ 1.11221541e-02 -5.11685613e-04 9.99938016e-01 2.60379832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5707140569999 meters Centerline goodness [0,1] 0.9858782957918631 Centerline is valid? [True, True] Translation: X:766.44, Y:-61.11, Z:2.60 [[ 9.99740316e-01 -1.98853191e-02 -1.11298608e-02 7.66440910e+02] [ 1.98900550e-02 9.99802124e-01 3.14971821e-04 -6.11102261e+01] [ 1.11213951e-02 -5.36263571e-04 9.99938012e-01 2.60443601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6007140569999 meters Centerline goodness [0,1] 0.9861105054293314 Centerline is valid? [True, True] Translation: X:766.47, Y:-61.11, Z:2.61 [[ 9.99671065e-01 -2.30461147e-02 -1.12533879e-02 7.66471854e+02] [ 2.30511559e-02 9.99734236e-01 3.18452005e-04 -6.11148239e+01] [ 1.12430581e-02 -5.77750854e-04 9.99936628e-01 2.60519597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.630714057 meters Centerline goodness [0,1] 0.9859335873707131 Centerline is valid? [True, True] Translation: X:766.50, Y:-61.12, Z:2.61 [[ 9.99631707e-01 -2.44736568e-02 -1.17256532e-02 7.66501789e+02] [ 2.44792304e-02 9.99700284e-01 3.32026074e-04 -6.11191999e+01] [ 1.17140129e-02 -6.18938757e-04 9.99931197e-01 2.60591520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.660714057 meters Centerline goodness [0,1] 0.9852091568567829 Centerline is valid? [True, True] Translation: X:766.53, Y:-61.12, Z:2.61 [[ 9.99572908e-01 -2.65957400e-02 -1.21106302e-02 7.66532852e+02] [ 2.66018480e-02 9.99646049e-01 3.43509361e-04 -6.11201874e+01] [ 1.20972077e-02 -6.65527795e-04 9.99926605e-01 2.60597599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6907140569999 meters Centerline goodness [0,1] 0.983905299739357 Centerline is valid? [True, True] Translation: X:766.56, Y:-61.13, Z:2.61 [[ 9.99508281e-01 -2.85538320e-02 -1.29566574e-02 7.66562759e+02] [ 2.85609912e-02 9.99591984e-01 3.67817823e-04 -6.11254118e+01] [ 1.29408682e-02 -7.37691938e-04 9.99915991e-01 2.60625410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7207140569999 meters Centerline goodness [0,1] 0.9843260869565218 Centerline is valid? [True, True] Translation: X:766.59, Y:-61.13, Z:2.61 [[ 9.99335355e-01 -3.35046010e-02 -1.43627834e-02 7.66591941e+02] [ 3.35139258e-02 9.99438167e-01 4.08972268e-04 -6.11331421e+01] [ 1.43410114e-02 -8.90053704e-04 9.99896766e-01 2.60532526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.750714057 meters Centerline goodness [0,1] 0.9834786200299993 Centerline is valid? [True, True] Translation: X:766.62, Y:-61.14, Z:2.61 [[ 9.99231103e-01 -3.61313054e-02 -1.52227614e-02 7.66622927e+02] [ 3.61420871e-02 9.99346567e-01 4.33659996e-04 -6.11381052e+01] [ 1.51971456e-02 -9.83508923e-04 9.99884033e-01 2.60541730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.780714057 meters Centerline goodness [0,1] 0.9822551710722546 Centerline is valid? [True, True] Translation: X:766.65, Y:-61.14, Z:2.61 [[ 9.99116554e-01 -3.89663183e-02 -1.57397109e-02 7.66654000e+02] [ 3.89781994e-02 9.99239961e-01 4.48669014e-04 -6.11424114e+01] [ 1.57102652e-02 -1.06177823e-03 9.99876022e-01 2.60504212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8107140569999 meters Centerline goodness [0,1] 0.9814040182925508 Centerline is valid? [True, True] Translation: X:766.69, Y:-61.15, Z:2.61 [[ 9.99023271e-01 -4.13054468e-02 -1.56960153e-02 7.66685326e+02] [ 4.13175546e-02 9.99145965e-01 4.47759145e-04 -6.11453232e+01] [ 1.56641155e-02 -1.09584278e-03 9.99876710e-01 2.60531596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8407140569999 meters Centerline goodness [0,1] 0.981813867195927 Centerline is valid? [True, True] Translation: X:766.71, Y:-61.15, Z:2.61 [[ 9.98869776e-01 -4.49147215e-02 -1.55511632e-02 7.66714396e+02] [ 4.49270477e-02 9.98990172e-01 4.43997627e-04 -6.11500478e+01] [ 1.55155171e-02 -1.14216366e-03 9.99878975e-01 2.60686948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.870714057 meters Centerline goodness [0,1] 0.9807575494619923 Centerline is valid? [True, True] Translation: X:766.75, Y:-61.15, Z:2.61 [[ 9.98823301e-01 -4.60936620e-02 -1.50793848e-02 7.66746325e+02] [ 4.61053857e-02 9.98936488e-01 4.30564387e-04 -6.11520550e+01] [ 1.50435014e-02 -1.12529860e-03 9.99886207e-01 2.60844599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.900714057 meters Centerline goodness [0,1] 0.9817362480230517 Centerline is valid? [True, True] Translation: X:766.78, Y:-61.15, Z:2.61 [[ 9.98804295e-01 -4.66482765e-02 -1.46259363e-02 7.66778643e+02] [ 4.66593792e-02 9.98910770e-01 4.18606941e-04 -6.11530326e+01] [ 1.45904780e-02 -1.10054352e-03 9.99892948e-01 2.60954258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9307140569999 meters Centerline goodness [0,1] 0.978598587724063 Centerline is valid? [True, True] Translation: X:766.81, Y:-61.16, Z:2.61 [[ 9.98774779e-01 -4.71330499e-02 -1.50803184e-02 7.66809326e+02] [ 4.71449227e-02 9.98887966e-01 4.32579299e-04 -6.11564071e+01] [ 1.50431598e-02 -1.14300974e-03 9.99886192e-01 2.61002935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9607140569999 meters Centerline goodness [0,1] 0.9812000694685655 Centerline is valid? [True, True] Translation: X:766.84, Y:-61.15, Z:2.61 [[ 9.98758192e-01 -4.73654579e-02 -1.54463020e-02 7.66842250e+02] [ 4.73779520e-02 9.98876936e-01 4.43745959e-04 -6.11472538e+01] [ 1.54079365e-02 -1.17500906e-03 9.99880600e-01 2.61051245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.990714057 meters Centerline goodness [0,1] 0.980718648783775 Centerline is valid? [True, True] Translation: X:766.87, Y:-61.15, Z:2.61 [[ 9.98731858e-01 -4.77413279e-02 -1.59825096e-02 7.66874302e+02] [ 4.77547713e-02 9.98858984e-01 4.60332578e-04 -6.11485026e+01] [ 1.59422964e-02 -1.22298990e-03 9.99872166e-01 2.61164576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.020714057 meters Centerline goodness [0,1] 0.9804684105327193 Centerline is valid? [True, True] Translation: X:766.91, Y:-61.15, Z:2.61 [[ 9.98690895e-01 -4.86763216e-02 -1.57198022e-02 7.66905575e+02] [ 4.86894582e-02 9.98813862e-01 4.53813451e-04 -6.11506242e+01] [ 1.56790664e-02 -1.21860801e-03 9.99876333e-01 2.61306454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0507140569999 meters Centerline goodness [0,1] 0.9798025816249051 Centerline is valid? [True, True] Translation: X:766.94, Y:-61.15, Z:2.61 [[ 9.98657366e-01 -4.93750519e-02 -1.56706548e-02 7.66938144e+02] [ 4.93882060e-02 9.98779555e-01 4.53291113e-04 -6.11503405e+01] [ 1.56291483e-02 -1.22662804e-03 9.99877105e-01 2.61388962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0807140569999 meters Centerline goodness [0,1] 0.9795098869136767 Centerline is valid? [True, True] Translation: X:766.97, Y:-61.15, Z:2.61 [[ 9.98609509e-01 -5.03710871e-02 -1.55499877e-02 7.66969896e+02] [ 5.03841754e-02 9.98729809e-01 4.50832961e-04 -6.11499391e+01] [ 1.55075273e-02 -1.23367939e-03 9.99878990e-01 2.61464964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1107140569999 meters Centerline goodness [0,1] 0.9782674838092754 Centerline is valid? [True, True] Translation: X:767.00, Y:-61.16, Z:2.61 [[ 9.98555744e-01 -5.13448747e-02 -1.58154807e-02 7.67001252e+02] [ 5.13585486e-02 9.98680173e-01 4.59386261e-04 -6.11551276e+01] [ 1.57710198e-02 -1.27098292e-03 9.99874822e-01 2.61487704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.140714057 meters Centerline goodness [0,1] 0.9782953483824711 Centerline is valid? [True, True] Translation: X:767.03, Y:-61.15, Z:2.61 [[ 9.98422410e-01 -5.34249552e-02 -1.72761230e-02 7.67032745e+02] [ 5.34415965e-02 9.98570850e-01 5.02696755e-04 -6.11526079e+01] [ 1.72245763e-02 -1.42516730e-03 9.99850630e-01 2.61349059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1707140569999 meters Centerline goodness [0,1] 0.9781144049378423 Centerline is valid? [True, True] Translation: X:767.07, Y:-61.15, Z:2.61 [[ 9.98363402e-01 -5.42655836e-02 -1.80489182e-02 7.67065077e+02] [ 5.42838994e-02 9.98525404e-01 5.26055020e-04 -6.11495294e+01] [ 1.79937566e-02 -1.50495974e-03 9.99836967e-01 2.61346073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2007140569999 meters Centerline goodness [0,1] 0.9789138911277148 Centerline is valid? [True, True] Translation: X:767.10, Y:-61.14, Z:2.61 [[ 9.98307593e-01 -5.47684394e-02 -1.95542400e-02 7.67097835e+02] [ 5.47900633e-02 9.98497733e-01 5.71415956e-04 -6.11445570e+01] [ 1.94935687e-02 -1.64182693e-03 9.99808634e-01 2.61356344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2307140569999 meters Centerline goodness [0,1] 0.9794184906893172 Centerline is valid? [True, True] Translation: X:767.13, Y:-61.14, Z:2.61 [[ 9.98317867e-01 -5.44138084e-02 -2.00143646e-02 7.67129867e+02] [ 5.44364208e-02 9.98517067e-01 5.86336673e-04 -6.11439702e+01] [ 1.99527798e-02 -1.67486075e-03 9.99799521e-01 2.61436559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.260714057 meters Centerline goodness [0,1] 0.9797292879095011 Centerline is valid? [True, True] Translation: X:767.16, Y:-61.14, Z:2.62 [[ 9.98320530e-01 -5.42175756e-02 -2.04101198e-02 7.67162387e+02] [ 5.42410810e-02 9.98527689e-01 5.99422341e-04 -6.11429292e+01] [ 2.03475705e-02 -1.70548259e-03 9.99791512e-01 2.61523372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.290714057 meters Centerline goodness [0,1] 0.9799664656054701 Centerline is valid? [True, True] Translation: X:767.19, Y:-61.14, Z:2.62 [[ 9.98357598e-01 -5.36831563e-02 -2.00056068e-02 7.67193246e+02] [ 5.37056580e-02 9.98556636e-01 5.88823471e-04 -6.11429305e+01] [ 1.99451215e-02 -1.66227066e-03 9.99799694e-01 2.61617181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3207140569999 meters Centerline goodness [0,1] 0.9807751125092847 Centerline is valid? [True, True] Translation: X:767.23, Y:-61.14, Z:2.62 [[ 9.98393986e-01 -5.33646271e-02 -1.90174949e-02 7.67225373e+02] [ 5.33849241e-02 9.98573851e-01 5.60855367e-04 -6.11395705e+01] [ 1.89604432e-02 -1.57520215e-03 9.99818994e-01 2.61783868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3507140569999 meters Centerline goodness [0,1] 0.9799223080616298 Centerline is valid? [True, True] Translation: X:767.26, Y:-61.14, Z:2.62 [[ 9.98399907e-01 -5.34795263e-02 -1.83729900e-02 7.67257352e+02] [ 5.34985136e-02 9.98567781e-01 5.43137417e-04 -6.11387313e+01] [ 1.83176291e-02 -1.52519600e-03 9.99831055e-01 2.61918352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.380714057 meters Centerline goodness [0,1] 0.9791028565222114 Centerline is valid? [True, True] Translation: X:767.29, Y:-61.14, Z:2.62 [[ 9.98401485e-01 -5.38147589e-02 -1.72755794e-02 7.67289504e+02] [ 5.38316156e-02 9.98549896e-01 5.11882573e-04 -6.11385198e+01] [ 1.72229811e-02 -1.44103667e-03 9.99850635e-01 2.62077199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.410714057 meters Centerline goodness [0,1] 0.9766328706322615 Centerline is valid? [True, True] Translation: X:767.32, Y:-61.14, Z:2.62 [[ 9.98374710e-01 -5.47887364e-02 -1.56886287e-02 7.67320129e+02] [ 5.48027716e-02 9.98497090e-01 4.65774593e-04 -6.11384301e+01] [ 1.56395309e-02 -1.32479791e-03 9.99876817e-01 2.62191470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4407140569999 meters Centerline goodness [0,1] 0.9769292832377505 Centerline is valid? [True, True] Translation: X:767.35, Y:-61.14, Z:2.62 [[ 9.98337310e-01 -5.54754794e-02 -1.56552354e-02 7.67352064e+02] [ 5.54895494e-02 9.98459160e-01 4.65464214e-04 -6.11380153e+01] [ 1.56052913e-02 -1.33339225e-03 9.99877341e-01 2.62210065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4707140569999 meters Centerline goodness [0,1] 0.9770524017467249 Centerline is valid? [True, True] Translation: X:767.38, Y:-61.14, Z:2.62 [[ 9.98308207e-01 -5.59331186e-02 -1.58811165e-02 7.67384002e+02] [ 5.59476732e-02 9.98433590e-01 4.73319649e-04 -6.11353315e+01] [ 1.58297659e-02 -1.36103040e-03 9.99873775e-01 2.62225714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.500714057 meters Centerline goodness [0,1] 0.975335097194586 Centerline is valid? [True, True] Translation: X:767.41, Y:-61.14, Z:2.62 [[ 9.98250937e-01 -5.68425547e-02 -1.62478162e-02 7.67414651e+02] [ 5.68579316e-02 9.98382161e-01 4.85654320e-04 -6.11386811e+01] [ 1.61939240e-02 -1.40862210e-03 9.99867878e-01 2.62167210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.530714057 meters Centerline goodness [0,1] 0.9764984434603411 Centerline is valid? [True, True] Translation: X:767.45, Y:-61.13, Z:2.62 [[ 9.98162954e-01 -5.81287905e-02 -1.70809907e-02 7.67445802e+02] [ 5.81460005e-02 9.98307959e-01 5.12233799e-04 -6.11334747e+01] [ 1.70223134e-02 -1.50448409e-03 9.99853978e-01 2.62190440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5607140569999 meters Centerline goodness [0,1] 0.9764984434603411 Centerline is valid? [True, True] Translation: X:767.48, Y:-61.13, Z:2.62 [[ 9.98169196e-01 -5.80215198e-02 -1.70809682e-02 7.67478447e+02] [ 5.80387270e-02 9.98314201e-01 5.12982759e-04 -6.11345475e+01] [ 1.70224090e-02 -1.50340124e-03 9.99853978e-01 2.62230031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5907140569999 meters Centerline goodness [0,1] 0.9750909967986668 Centerline is valid? [True, True] Translation: X:767.51, Y:-61.14, Z:2.62 [[ 9.98120505e-01 -5.87383337e-02 -1.74718449e-02 7.67509435e+02] [ 5.87564747e-02 9.98272207e-01 5.26340094e-04 -6.11359933e+01] [ 1.74107408e-02 -1.55193485e-03 9.99847217e-01 2.62284973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.620714057 meters Centerline goodness [0,1] 0.9743859188230658 Centerline is valid? [True, True] Translation: X:767.54, Y:-61.14, Z:2.62 [[ 9.98083006e-01 -5.93058769e-02 -1.76953713e-02 7.67542021e+02] [ 5.93245921e-02 9.98238602e-01 5.34120327e-04 -6.11360440e+01] [ 1.76325263e-02 -1.58286711e-03 9.99843282e-01 2.62327358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.650714057 meters Centerline goodness [0,1] 0.9712216045870355 Centerline is valid? [True, True] Translation: X:767.57, Y:-61.14, Z:2.62 [[ 9.97991427e-01 -6.07036079e-02 -1.81158176e-02 7.67573661e+02] [ 6.07234710e-02 9.98154477e-01 5.47893748e-04 -6.11351448e+01] [ 1.80491253e-02 -1.64684859e-03 9.99835745e-01 2.62398010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6807140569999 meters Centerline goodness [0,1] 0.9687904091875424 Centerline is valid? [True, True] Translation: X:767.61, Y:-61.14, Z:2.62 [[ 9.97947508e-01 -6.13538488e-02 -1.83432820e-02 7.67606207e+02] [ 6.13743387e-02 9.98114664e-01 5.55634322e-04 -6.11359265e+01] [ 1.82746085e-02 -1.68030069e-03 9.99831593e-01 2.62419114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7107140569999 meters Centerline goodness [0,1] 0.9746843780876057 Centerline is valid? [True, True] Translation: X:767.64, Y:-61.13, Z:2.62 [[ 9.97916827e-01 -6.17577066e-02 -1.86545244e-02 7.67638627e+02] [ 6.17789924e-02 9.98089693e-01 5.66388229e-04 -6.11311993e+01] [ 1.85839097e-02 -1.71766607e-03 9.99825829e-01 2.62484918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.740714057 meters Centerline goodness [0,1] 0.9721520655348868 Centerline is valid? [True, True] Translation: X:767.67, Y:-61.13, Z:2.62 [[ 9.97905926e-01 -6.19015288e-02 -1.87606990e-02 7.67669415e+02] [ 6.19231059e-02 9.98080760e-01 5.70839704e-04 -6.11338142e+01] [ 1.86893569e-02 -1.73136508e-03 9.99823840e-01 2.62446014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.770714057 meters Centerline goodness [0,1] 0.9733981693363845 Centerline is valid? [True, True] Translation: X:767.70, Y:-61.13, Z:2.62 [[ 9.97912957e-01 -6.16752704e-02 -1.91282757e-02 7.67701977e+02] [ 6.16976823e-02 9.98094713e-01 5.83181094e-04 -6.11305083e+01] [ 1.90558630e-02 -1.76213425e-03 9.99816868e-01 2.62434097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8007140569999 meters Centerline goodness [0,1] 0.9752247796170502 Centerline is valid? [True, True] Translation: X:767.74, Y:-61.13, Z:2.63 [[ 9.97920266e-01 -6.15853465e-02 -1.90365053e-02 7.67735346e+02] [ 6.16075580e-02 9.98100281e-01 5.81991064e-04 -6.11264908e+01] [ 1.89644991e-02 -1.75357328e-03 9.99818620e-01 2.62505581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8307140569999 meters Centerline goodness [0,1] 0.9730319735391401 Centerline is valid? [True, True] Translation: X:767.77, Y:-61.13, Z:2.63 [[ 9.97980317e-01 -6.08279677e-02 -1.83096832e-02 7.67766440e+02] [ 6.08484282e-02 9.98146859e-01 5.61927848e-04 -6.11294581e+01] [ 1.82415719e-02 -1.67490838e-03 9.99832206e-01 2.62560501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8607140569999 meters Centerline goodness [0,1] 0.9752257212067826 Centerline is valid? [True, True] Translation: X:767.80, Y:-61.13, Z:2.63 [[ 9.98058098e-01 -5.99169865e-02 -1.70290025e-02 7.67798070e+02] [ 5.99345833e-02 9.98202169e-01 5.24418953e-04 -6.11261157e+01] [ 1.69669657e-02 -1.54402675e-03 9.99854858e-01 2.62731268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.890714057 meters Centerline goodness [0,1] 0.9741392603035443 Centerline is valid? [True, True] Translation: X:767.83, Y:-61.13, Z:2.63 [[ 9.98097372e-01 -5.94255351e-02 -1.64390271e-02 7.67830032e+02] [ 5.94418794e-02 9.98231639e-01 5.06979467e-04 -6.11271473e+01] [ 1.63798295e-02 -1.48318154e-03 9.99864742e-01 2.62833948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9207140569999 meters Centerline goodness [0,1] 0.9742264625985556 Centerline is valid? [True, True] Translation: X:767.86, Y:-61.13, Z:2.63 [[ 9.98105856e-01 -5.92979747e-02 -1.63844831e-02 7.67862139e+02] [ 5.93142127e-02 9.98239234e-01 5.06463057e-04 -6.11259616e+01] [ 1.63256016e-02 -1.47733646e-03 9.99865637e-01 2.62905364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9507140569999 meters Centerline goodness [0,1] 0.9735548846331842 Centerline is valid? [True, True] Translation: X:767.89, Y:-61.13, Z:2.63 [[ 9.98116369e-01 -5.90860194e-02 -1.65093027e-02 7.67894496e+02] [ 5.91024965e-02 9.98251789e-01 5.11509990e-04 -6.11269618e+01] [ 1.64502179e-02 -1.48628750e-03 9.99863581e-01 2.62923708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9807140569999 meters Centerline goodness [0,1] 0.9692328124308291 Centerline is valid? [True, True] Translation: X:767.93, Y:-61.13, Z:2.63 [[ 9.98063353e-01 -5.96299587e-02 -1.77147204e-02 7.67925852e+02] [ 5.96490368e-02 9.98219259e-01 5.50082401e-04 -6.11305783e+01] [ 1.76503737e-02 -1.60568310e-03 9.99842931e-01 2.62787784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.010714057 meters Centerline goodness [0,1] 0.9707458588006024 Centerline is valid? [True, True] Translation: X:767.96, Y:-61.13, Z:2.63 [[ 9.98047399e-01 -5.97034390e-02 -1.83545049e-02 7.67958510e+02] [ 5.97239529e-02 9.98214768e-01 5.71054649e-04 -6.11307986e+01] [ 1.82876439e-02 -1.66614319e-03 9.99831379e-01 2.62716575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.040714057 meters Centerline goodness [0,1] 0.9699218144366432 Centerline is valid? [True, True] Translation: X:767.99, Y:-61.13, Z:2.63 [[ 9.98043417e-01 -5.95218930e-02 -1.91437211e-02 7.67990429e+02] [ 5.95442026e-02 9.98225491e-01 5.96987859e-04 -6.11322493e+01] [ 1.90742166e-02 -1.73571741e-03 9.99816564e-01 2.62639512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0707140569999 meters Centerline goodness [0,1] 0.9755524525123568 Centerline is valid? [True, True] Translation: X:768.02, Y:-61.13, Z:2.63 [[ 9.98037790e-01 -5.94057381e-02 -1.97870891e-02 7.68023916e+02] [ 5.94295839e-02 9.98232308e-01 6.18757050e-04 -6.11287690e+01] [ 1.97153539e-02 -1.79348139e-03 9.99804025e-01 2.62649027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1007140569999 meters Centerline goodness [0,1] 0.9573982081078684 Centerline is valid? [True, True] Translation: X:768.05, Y:-61.14, Z:2.63 [[ 9.98101441e-01 -5.80396303e-02 -2.06134581e-02 7.68054382e+02] [ 5.80652552e-02 9.98312581e-01 6.46268403e-04 -6.11367469e+01] [ 2.05411654e-02 -1.84196713e-03 9.99787311e-01 2.62517329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.130714057 meters Centerline goodness [0,1] 0.9760584844402235 Centerline is valid? [True, True] Translation: X:768.09, Y:-61.13, Z:2.63 [[ 9.98193113e-01 -5.64458313e-02 -2.06004100e-02 7.68086525e+02] [ 5.64711054e-02 9.98404024e-01 6.46751120e-04 -6.11255817e+01] [ 2.05310258e-02 -1.80891044e-03 9.99787580e-01 2.62648187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.160714057 meters Centerline goodness [0,1] 0.9755567385325171 Centerline is valid? [True, True] Translation: X:768.12, Y:-61.12, Z:2.63 [[ 9.98344269e-01 -5.40752196e-02 -1.96110179e-02 7.68117815e+02] [ 5.40976845e-02 9.98535458e-01 6.16445094e-04 -6.11241036e+01] [ 1.95489623e-02 -1.67633508e-03 9.99807495e-01 2.62686787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1907140569999 meters Centerline goodness [0,1] 0.9769626085415559 Centerline is valid? [True, True] Translation: X:768.15, Y:-61.12, Z:2.63 [[ 9.98445217e-01 -5.24186525e-02 -1.89587060e-02 7.68149334e+02] [ 5.24393596e-02 9.98623932e-01 5.96396830e-04 -6.11215558e+01] [ 1.89013553e-02 -1.58965197e-03 9.99820090e-01 2.62802654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2207140569999 meters Centerline goodness [0,1] 0.9693460187613925 Centerline is valid? [True, True] Translation: X:768.18, Y:-61.13, Z:2.63 [[ 9.98536280e-01 -5.08728561e-02 -1.83643601e-02 7.68179486e+02] [ 5.08920352e-02 9.98703993e-01 5.78238195e-04 -6.11308868e+01] [ 1.83111431e-02 -1.51199148e-03 9.99831194e-01 2.62831871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.250714057 meters Centerline goodness [0,1] 0.9763272912830298 Centerline is valid? [True, True] Translation: X:768.21, Y:-61.12, Z:2.63 [[ 9.98641068e-01 -4.90663804e-02 -1.75643722e-02 7.68211064e+02] [ 4.90836542e-02 9.98794518e-01 5.53453696e-04 -6.11202239e+01] [ 1.75160427e-02 -1.41482516e-03 9.99845581e-01 2.63014561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.280714057 meters Centerline goodness [0,1] 0.976244921519437 Centerline is valid? [True, True] Translation: X:768.24, Y:-61.12, Z:2.63 [[ 9.98841783e-01 -4.54977511e-02 -1.56539617e-02 7.68240826e+02] [ 4.55110407e-02 9.98963714e-01 4.93584800e-04 -6.11178839e+01] [ 1.56152827e-02 -1.20544121e-03 9.99877347e-01 2.63222477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3107140569999 meters Centerline goodness [0,1] 0.9762333133426623 Centerline is valid? [True, True] Translation: X:768.27, Y:-61.12, Z:2.63 [[ 9.98933013e-01 -4.36425750e-02 -1.51050172e-02 7.68271923e+02] [ 4.36547365e-02 9.99046564e-01 4.76186162e-04 -6.11176651e+01] [ 1.50698336e-02 -1.13508362e-03 9.99885799e-01 2.63285187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3407140569999 meters Centerline goodness [0,1] 0.9763123914688989 Centerline is valid? [True, True] Translation: X:768.30, Y:-61.12, Z:2.63 [[ 9.98982031e-01 -4.24339799e-02 -1.53055316e-02 7.68303197e+02] [ 4.24463337e-02 9.99098631e-01 4.83050309e-04 -6.11178756e+01] [ 1.52712379e-02 -1.13222228e-03 9.99882747e-01 2.63324601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.370714057 meters Centerline goodness [0,1] 0.9758542344188533 Centerline is valid? [True, True] Translation: X:768.33, Y:-61.12, Z:2.63 [[ 9.99043995e-01 -4.09848955e-02 -1.52096649e-02 7.68334638e+02] [ 4.09969359e-02 9.99159157e-01 4.80552826e-04 -6.11175593e+01] [ 1.51771806e-02 -1.10364307e-03 9.99884211e-01 2.63328646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.400714057 meters Centerline goodness [0,1] 0.9755885500267523 Centerline is valid? [True, True] Translation: X:768.37, Y:-61.12, Z:2.63 [[ 9.99076869e-01 -3.96046936e-02 -1.66396467e-02 7.68365323e+02] [ 3.96189247e-02 9.99214724e-01 5.26351181e-04 -6.11177749e+01] [ 1.66057340e-02 -1.18511020e-03 9.99861413e-01 2.63268051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4307140569999 meters Centerline goodness [0,1] 0.975634268358049 Centerline is valid? [True, True] Translation: X:768.40, Y:-61.12, Z:2.63 [[ 9.99071548e-01 -3.93216834e-02 -1.76024504e-02 7.68396168e+02] [ 3.93375784e-02 9.99225822e-01 5.57529071e-04 -6.11185475e+01] [ 1.75669000e-02 -1.24944920e-03 9.99844909e-01 2.63210016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4607140569999 meters Centerline goodness [0,1] 0.9746470693352395 Centerline is valid? [True, True] Translation: X:768.43, Y:-61.12, Z:2.63 [[ 9.99104313e-01 -3.84043525e-02 -1.77672875e-02 7.68427800e+02] [ 3.84204201e-02 9.99261504e-01 5.63753558e-04 -6.11202094e+01] [ 1.77325158e-02 -1.24587526e-03 9.99841990e-01 2.63183837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.490714057 meters Centerline goodness [0,1] 0.9779803772232427 Centerline is valid? [True, True] Translation: X:768.46, Y:-61.11, Z:2.63 [[ 9.99113979e-01 -3.76370817e-02 -1.88336542e-02 7.68460424e+02] [ 3.76550257e-02 9.99290619e-01 5.98923293e-04 -6.11124490e+01] [ 1.87977523e-02 -1.30757437e-03 9.99822452e-01 2.63218609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.520714057 meters Centerline goodness [0,1] 0.9777364243755885 Centerline is valid? [True, True] Translation: X:768.49, Y:-61.11, Z:2.63 [[ 9.99132541e-01 -3.70375354e-02 -1.90364612e-02 7.68492575e+02] [ 3.70557854e-02 9.99313014e-01 6.06723499e-04 -6.11098740e+01] [ 1.90009119e-02 -1.31160821e-03 9.99818606e-01 2.63220982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5507140569999 meters Centerline goodness [0,1] 0.9785898441878713 Centerline is valid? [True, True] Translation: X:768.53, Y:-61.11, Z:2.63 [[ 9.99156951e-01 -3.61583183e-02 -1.94412821e-02 7.68525129e+02] [ 3.61772144e-02 9.99345197e-01 6.21027229e-04 -6.11097089e+01] [ 1.94060966e-02 -1.32383510e-03 9.99810808e-01 2.63225338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5807140569999 meters Centerline goodness [0,1] 0.9777722839034476 Centerline is valid? [True, True] Translation: X:768.56, Y:-61.11, Z:2.63 [[ 9.99167721e-01 -3.55960520e-02 -1.99195174e-02 7.68557386e+02] [ 3.56158068e-02 9.99365352e-01 6.37735563e-04 -6.11098158e+01] [ 1.98841747e-02 -1.34665447e-03 9.99801383e-01 2.63223656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6107140569999 meters Centerline goodness [0,1] 0.9783175302206444 Centerline is valid? [True, True] Translation: X:768.59, Y:-61.11, Z:2.63 [[ 9.99217049e-01 -3.41507646e-02 -1.99753508e-02 7.68588883e+02] [ 3.41703654e-02 9.99415817e-01 6.40655784e-04 -6.11087944e+01] [ 1.99418026e-02 -1.32271922e-03 9.99800268e-01 2.63272183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.640714057 meters Centerline goodness [0,1] 0.9788776796973518 Centerline is valid? [True, True] Translation: X:768.62, Y:-61.11, Z:2.63 [[ 9.99255549e-01 -3.33509228e-02 -1.93923880e-02 7.68620358e+02] [ 3.33692614e-02 9.99442897e-01 6.22751015e-04 -6.11097007e+01] [ 1.93608151e-02 -1.26939707e-03 9.99811756e-01 2.63327414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6707140569999 meters Centerline goodness [0,1] 0.977813280529241 Centerline is valid? [True, True] Translation: X:768.65, Y:-61.11, Z:2.63 [[ 9.99283649e-01 -3.27428977e-02 -1.89760786e-02 7.68652226e+02] [ 3.27603665e-02 9.99463049e-01 6.10356538e-04 -6.11090939e+01] [ 1.89459045e-02 -1.23158260e-03 9.99819752e-01 2.63429150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7007140569999 meters Centerline goodness [0,1] 0.9784851761737406 Centerline is valid? [True, True] Translation: X:768.68, Y:-61.11, Z:2.63 [[ 9.99316241e-01 -3.19704975e-02 -1.85724995e-02 7.68683481e+02] [ 3.19871158e-02 9.99488102e-01 5.98326466e-04 -6.11108895e+01] [ 1.85438635e-02 -1.19199805e-03 9.99827337e-01 2.63478831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7307140569999 meters Centerline goodness [0,1] 0.978727705647154 Centerline is valid? [True, True] Translation: X:768.72, Y:-61.11, Z:2.64 [[ 9.99376100e-01 -3.06987766e-02 -1.74641361e-02 7.68715357e+02] [ 3.07132919e-02 9.99528077e-01 5.63478548e-04 -6.11062108e+01] [ 1.74385963e-02 -1.09950810e-03 9.99847332e-01 2.63624641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.760714057 meters Centerline goodness [0,1] 0.9783629541420451 Centerline is valid? [True, True] Translation: X:768.75, Y:-61.11, Z:2.64 [[ 9.99398164e-01 -3.02302757e-02 -1.70129480e-02 7.68746361e+02] [ 3.02439973e-02 9.99542394e-01 5.49769968e-04 -6.11104894e+01] [ 1.69885431e-02 -1.06397865e-03 9.99855118e-01 2.63697052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.790714057 meters Centerline goodness [0,1] 0.9796424465135154 Centerline is valid? [True, True] Translation: X:768.78, Y:-61.10, Z:2.64 [[ 9.99411962e-01 -2.98683609e-02 -1.68407475e-02 7.68778452e+02] [ 2.98817711e-02 9.99553291e-01 5.45169222e-04 -6.11042048e+01] [ 1.68169412e-02 -1.04808000e-03 9.99858036e-01 2.63809409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8207140569999 meters Centerline goodness [0,1] 0.9789020014892705 Centerline is valid? [True, True] Translation: X:768.81, Y:-61.10, Z:2.64 [[ 9.99426231e-01 -2.91632260e-02 -1.72254032e-02 7.68810723e+02] [ 2.91771730e-02 9.99574099e-01 5.58866646e-04 -6.11041824e+01] [ 1.72017685e-02 -1.06113455e-03 9.99851476e-01 2.63758229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8507140569999 meters Centerline goodness [0,1] 0.9806547619047619 Centerline is valid? [True, True] Translation: X:768.84, Y:-61.10, Z:2.64 [[ 9.99427214e-01 -2.89853473e-02 -1.74669504e-02 7.68842538e+02] [ 2.89996830e-02 9.99579259e-01 5.67953582e-04 -6.11042488e+01] [ 1.74431390e-02 -1.07416429e-03 9.99847280e-01 2.63686627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.880714057 meters Centerline goodness [0,1] 0.9800749165087101 Centerline is valid? [True, True] Translation: X:768.87, Y:-61.11, Z:2.64 [[ 9.99422868e-01 -2.85739815e-02 -1.83700235e-02 7.68873603e+02] [ 2.85897917e-02 9.99591049e-01 5.98553931e-04 -6.11073572e+01] [ 1.83454080e-02 -1.12340363e-03 9.99831078e-01 2.63632271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.910714057 meters Centerline goodness [0,1] 0.9800495942290351 Centerline is valid? [True, True] Translation: X:768.91, Y:-61.11, Z:2.64 [[ 9.99410622e-01 -2.83708138e-02 -1.93262778e-02 7.68905583e+02] [ 2.83882981e-02 9.99596772e-01 6.30890934e-04 -6.11082019e+01] [ 1.93005861e-02 -1.17915924e-03 9.99813031e-01 2.63553013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9407140569999 meters Centerline goodness [0,1] 0.9809485113202863 Centerline is valid? [True, True] Translation: X:768.94, Y:-61.11, Z:2.64 [[ 9.99415696e-01 -2.78773002e-02 -1.97768309e-02 7.68937848e+02] [ 2.78955409e-02 9.99610634e-01 6.47000850e-04 -6.11084797e+01] [ 1.97510938e-02 -1.19830820e-03 9.99804210e-01 2.63548471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9707140569999 meters Centerline goodness [0,1] 0.9806193670800298 Centerline is valid? [True, True] Translation: X:768.97, Y:-61.11, Z:2.64 [[ 9.99408841e-01 -2.73556122e-02 -2.08240127e-02 7.68968948e+02] [ 2.73757483e-02 9.99624981e-01 6.82457880e-04 -6.11060943e+01] [ 2.07975342e-02 -1.25212737e-03 9.99782924e-01 2.63644837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.000714057 meters Centerline goodness [0,1] 0.980263454684892 Centerline is valid? [True, True] Translation: X:769.00, Y:-61.11, Z:2.64 [[ 9.99423492e-01 -2.69817540e-02 -2.06075003e-02 7.68999048e+02] [ 2.70014140e-02 9.99635167e-01 6.76318806e-04 -6.11119763e+01] [ 2.05817337e-02 -1.23236055e-03 9.99787414e-01 2.63633364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.030714057 meters Centerline goodness [0,1] 0.9807670576536263 Centerline is valid? [True, True] Translation: X:769.03, Y:-61.11, Z:2.64 [[ 9.99427919e-01 -2.67214355e-02 -2.07316236e-02 7.69030887e+02] [ 2.67412992e-02 9.99642155e-01 6.81453150e-04 -6.11099866e+01] [ 2.07059955e-02 -1.23545385e-03 9.99784845e-01 2.63742036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0607140569999 meters Centerline goodness [0,1] 0.9812724764209622 Centerline is valid? [True, True] Translation: X:769.06, Y:-61.11, Z:2.64 [[ 9.99429892e-01 -2.65961625e-02 -2.07974690e-02 7.69061944e+02] [ 2.66161405e-02 9.99645494e-01 6.84335947e-04 -6.11108718e+01] [ 2.07718955e-02 -1.23749416e-03 9.99783475e-01 2.63817500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0907140569999 meters Centerline goodness [0,1] 0.9819028038227785 Centerline is valid? [True, True] Translation: X:769.09, Y:-61.11, Z:2.64 [[ 9.99466898e-01 -2.60724816e-02 -1.96505675e-02 7.69093628e+02] [ 2.60902285e-02 9.99659383e-01 6.47254783e-04 -6.11089417e+01] [ 1.96269986e-02 -1.15959753e-03 9.99806699e-01 2.64029801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.120714057 meters Centerline goodness [0,1] 0.9811945647982215 Centerline is valid? [True, True] Translation: X:769.12, Y:-61.11, Z:2.64 [[ 9.99479719e-01 -2.61419513e-02 -1.88914991e-02 7.69124139e+02] [ 2.61583757e-02 9.99657617e-01 6.22777970e-04 -6.11136647e+01] [ 1.88687504e-02 -1.11662488e-03 9.99821346e-01 2.64080712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.150714057 meters Centerline goodness [0,1] 0.9819050638644805 Centerline is valid? [True, True] Translation: X:769.16, Y:-61.11, Z:2.64 [[ 9.99494535e-01 -2.57828418e-02 -1.85988875e-02 7.69155502e+02] [ 2.57987074e-02 9.99666970e-01 6.13570780e-04 -6.11076513e+01] [ 1.85768739e-02 -1.09308790e-03 9.99826837e-01 2.64239558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1807140569999 meters Centerline goodness [0,1] 0.9819862687784651 Centerline is valid? [True, True] Translation: X:769.19, Y:-61.11, Z:2.64 [[ 9.99464504e-01 -2.65558277e-02 -1.91178584e-02 7.69187073e+02] [ 2.65727454e-02 9.99646683e-01 6.31385998e-04 -6.11090233e+01] [ 1.90943368e-02 -1.13906188e-03 9.99817038e-01 2.64288648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2107140569999 meters Centerline goodness [0,1] 0.9823496091537328 Centerline is valid? [True, True] Translation: X:769.22, Y:-61.11, Z:2.64 [[ 9.99450138e-01 -2.68613746e-02 -1.94393553e-02 7.69218817e+02] [ 2.68789374e-02 9.99638489e-01 6.42703959e-04 -6.11101368e+01] [ 1.94150639e-02 -1.16485978e-03 9.99810831e-01 2.64265049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.240714057 meters Centerline goodness [0,1] 0.9803806204883347 Centerline is valid? [True, True] Translation: X:769.25, Y:-61.12, Z:2.64 [[ 9.99436610e-01 -2.70755714e-02 -1.98337256e-02 7.69248863e+02] [ 2.70939077e-02 9.99632677e-01 6.56321788e-04 -6.11209872e+01] [ 1.98086699e-02 -1.19332515e-03 9.99803077e-01 2.64146781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.270714057 meters Centerline goodness [0,1] 0.9804571350750164 Centerline is valid? [True, True] Translation: X:769.28, Y:-61.12, Z:2.64 [[ 9.99424557e-01 -2.74980512e-02 -1.98598162e-02 7.69280265e+02] [ 2.75165284e-02 9.99621132e-01 6.57666534e-04 -6.11180158e+01] [ 1.98342074e-02 -1.20376128e-03 9.99802558e-01 2.64191699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3007140569999 meters Centerline goodness [0,1] 0.9811760447068938 Centerline is valid? [True, True] Translation: X:769.31, Y:-61.12, Z:2.64 [[ 9.99420213e-01 -2.70288971e-02 -2.07044998e-02 7.69311597e+02] [ 2.70488949e-02 9.99633876e-01 6.86378956e-04 -6.11161387e+01] [ 2.06783674e-02 -1.24601484e-03 9.99785403e-01 2.64227760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3307140569999 meters Centerline goodness [0,1] 0.981377562565054 Centerline is valid? [True, True] Translation: X:769.34, Y:-61.12, Z:2.64 [[ 9.99428116e-01 -2.66535745e-02 -2.08093188e-02 7.69342748e+02] [ 2.66737098e-02 9.99643955e-01 6.90599344e-04 -6.11170727e+01] [ 2.07835028e-02 -1.24526613e-03 9.99783224e-01 2.64191411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3607140569999 meters Centerline goodness [0,1] 0.9817636716108381 Centerline is valid? [True, True] Translation: X:769.37, Y:-61.12, Z:2.64 [[ 9.99451935e-01 -2.57328253e-02 -2.08243135e-02 7.69374498e+02] [ 2.57528075e-02 9.99668102e-01 6.91915987e-04 -6.11192597e+01] [ 2.07995970e-02 -1.22782131e-03 9.99782911e-01 2.64180238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.390714057 meters Centerline goodness [0,1] 0.9815956461847661 Centerline is valid? [True, True] Translation: X:769.41, Y:-61.12, Z:2.64 [[ 9.99501709e-01 -2.33223988e-02 -2.12696914e-02 7.69405503e+02] [ 2.33427163e-02 9.99727271e-01 7.07422941e-04 -6.11205624e+01] [ 2.12473917e-02 -1.20356281e-03 9.99773524e-01 2.64224731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4207140569999 meters Centerline goodness [0,1] 0.9818157144795766 Centerline is valid? [True, True] Translation: X:769.43, Y:-61.12, Z:2.64 [[ 9.99557101e-01 -2.12673420e-02 -2.08159023e-02 7.69434873e+02] [ 2.12863669e-02 9.99773180e-01 6.92788231e-04 -6.11220925e+01] [ 2.07964471e-02 -1.13557633e-03 9.99783086e-01 2.64308142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4507140569999 meters Centerline goodness [0,1] 0.9827138176477235 Centerline is valid? [True, True] Translation: X:769.46, Y:-61.12, Z:2.64 [[ 9.99600988e-01 -1.93000929e-02 -2.06245287e-02 7.69464312e+02] [ 1.93183530e-02 9.99813148e-01 6.86466606e-04 -6.11224573e+01] [ 2.06074261e-02 -1.08462462e-03 9.99787056e-01 2.64404077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4807140569999 meters Centerline goodness [0,1] 0.9827138176477235 Centerline is valid? [True, True] Translation: X:769.49, Y:-61.12, Z:2.64 [[ 9.99600318e-01 -1.93347580e-02 -2.06245525e-02 7.69493488e+02] [ 1.93530107e-02 9.99812478e-01 6.85749887e-04 -6.11233965e+01] [ 2.06074262e-02 -1.08462299e-03 9.99787056e-01 2.64439481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.510714057 meters Centerline goodness [0,1] 0.9827858140687666 Centerline is valid? [True, True] Translation: X:769.52, Y:-61.12, Z:2.64 [[ 9.99651690e-01 -1.69792386e-02 -2.02040384e-02 7.69522101e+02] [ 1.69962578e-02 9.99855328e-01 6.70938159e-04 -6.11244987e+01] [ 2.01897235e-02 -1.01409751e-03 9.99795652e-01 2.64470343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.540714057 meters Centerline goodness [0,1] 0.982308663120887 Centerline is valid? [True, True] Translation: X:769.55, Y:-61.12, Z:2.65 [[ 9.99720918e-01 -1.21586532e-02 -2.02547212e-02 7.69552813e+02] [ 1.21747565e-02 9.99925659e-01 6.71914331e-04 -6.11218998e+01] [ 2.02450459e-02 -9.18323110e-04 9.99794626e-01 2.64539457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5707140569999 meters Centerline goodness [0,1] 0.9839047812267532 Centerline is valid? [True, True] Translation: X:769.58, Y:-61.12, Z:2.65 [[ 9.99734777e-01 -9.75828028e-03 -2.08602852e-02 7.69582186e+02] [ 9.77479487e-03 9.99951988e-01 6.89856609e-04 -6.11218598e+01] [ 2.08525518e-02 -8.93578652e-04 9.99782163e-01 2.64615845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6007140569999 meters Centerline goodness [0,1] 0.9824810606060606 Centerline is valid? [True, True] Translation: X:769.61, Y:-61.13, Z:2.65 [[ 9.99746806e-01 -7.24544497e-03 -2.13032230e-02 7.69610400e+02] [ 7.26202423e-03 9.99973385e-01 7.00992330e-04 -6.11268114e+01] [ 2.12975770e-02 -8.55519364e-04 9.99772815e-01 2.64554519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.630714057 meters Centerline goodness [0,1] 0.9830991007275521 Centerline is valid? [True, True] Translation: X:769.64, Y:-61.12, Z:2.65 [[ 9.99745966e-01 -4.80901333e-03 -2.20199162e-02 7.69639672e+02] [ 4.82606888e-03 9.99988094e-01 7.21475041e-04 -6.11246855e+01] [ 2.20161845e-02 -8.27561394e-04 9.99757272e-01 2.64598163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.660714057 meters Centerline goodness [0,1] 0.9844066879985578 Centerline is valid? [True, True] Translation: X:769.67, Y:-61.13, Z:2.65 [[ 9.99757768e-01 3.60491683e-04 -2.20062643e-02 7.69669577e+02] [-3.44771333e-04 9.99999683e-01 7.18147828e-04 -6.11255110e+01] [ 2.20065162e-02 -7.10386741e-04 9.99757575e-01 2.64596690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6907140569999 meters Centerline goodness [0,1] 0.9849637640259183 Centerline is valid? [True, True] Translation: X:769.70, Y:-61.13, Z:2.65 [[ 9.99749994e-01 2.14385472e-03 -2.22565554e-02 7.69698789e+02] [-2.12827248e-03 9.99997473e-01 7.23782711e-04 -6.11250553e+01] [ 2.22580508e-02 -6.76233746e-04 9.99752030e-01 2.64662785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7207140569999 meters Centerline goodness [0,1] 0.9849325574051518 Centerline is valid? [True, True] Translation: X:769.73, Y:-61.13, Z:2.65 [[ 9.99721909e-01 5.70375556e-03 -2.28816902e-02 7.69727573e+02] [-5.68829976e-03 9.99983547e-01 7.40496713e-04 -6.11269483e+01] [ 2.28855373e-02 -6.10132875e-04 9.99737906e-01 2.64653378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.750714057 meters Centerline goodness [0,1] 0.9852845070422536 Centerline is valid? [True, True] Translation: X:769.76, Y:-61.13, Z:2.65 [[ 9.99714080e-01 6.76006886e-03 -2.29359909e-02 7.69756650e+02] [-6.74490020e-03 9.99976980e-01 7.38644406e-04 -6.11279164e+01] [ 2.29404562e-02 -5.83732243e-04 9.99736663e-01 2.64675873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.780714057 meters Centerline goodness [0,1] 0.9859963527478218 Centerline is valid? [True, True] Translation: X:769.78, Y:-61.13, Z:2.65 [[ 9.99701008e-01 7.49526977e-03 -2.32747678e-02 7.69784135e+02] [-7.47994477e-03 9.99971747e-01 7.45428286e-04 -6.11314782e+01] [ 2.32796974e-02 -5.71111432e-04 9.99728828e-01 2.64714153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8107140569999 meters Centerline goodness [0,1] 0.9850732827520994 Centerline is valid? [True, True] Translation: X:769.81, Y:-61.13, Z:2.65 [[ 9.99706939e-01 7.42668390e-03 -2.30408335e-02 7.69812009e+02] [-7.41169880e-03 9.99972262e-01 7.35701607e-04 -6.11343436e+01] [ 2.30456583e-02 -5.64714283e-04 9.99734254e-01 2.64733766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8407140569999 meters Centerline goodness [0,1] 0.983384023615708 Centerline is valid? [True, True] Translation: X:769.84, Y:-61.14, Z:2.65 [[ 9.99732341e-01 5.93407765e-03 -2.23614265e-02 7.69839519e+02] [-5.91963836e-03 9.99982225e-01 7.11862433e-04 -6.11416035e+01] [ 2.23652533e-02 -5.79300338e-04 9.99749699e-01 2.64846028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.870714057 meters Centerline goodness [0,1] 0.9841248546641624 Centerline is valid? [True, True] Translation: X:769.87, Y:-61.15, Z:2.65 [[ 9.99747591e-01 3.88135857e-03 -2.21289242e-02 7.69867722e+02] [-3.86675823e-03 9.99992277e-01 7.02536416e-04 -6.11466157e+01] [ 2.21314801e-02 -6.16791889e-04 9.99754879e-01 2.64848540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.900714057 meters Centerline goodness [0,1] 0.9830258302583026 Centerline is valid? [True, True] Translation: X:769.90, Y:-61.15, Z:2.65 [[ 9.99752965e-01 1.25152156e-03 -2.21910539e-02 7.69895945e+02] [-1.23623471e-03 9.99998989e-01 7.02579789e-04 -6.11524708e+01] [ 2.21919108e-02 -6.74972876e-04 9.99753501e-01 2.64856120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9307140569999 meters Centerline goodness [0,1] 0.9820825182287035 Centerline is valid? [True, True] Translation: X:769.92, Y:-61.16, Z:2.65 [[ 9.99744724e-01 -1.08169692e-03 -2.25680427e-02 7.69924503e+02] [ 1.09806111e-03 9.99999143e-01 7.12725010e-04 -6.11580671e+01] [ 2.25672525e-02 -7.37324158e-04 9.99745055e-01 2.64825541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9607140569999 meters Centerline goodness [0,1] 0.9823309020772829 Centerline is valid? [True, True] Translation: X:769.95, Y:-61.17, Z:2.65 [[ 9.99699025e-01 -7.10040748e-03 -2.34828499e-02 7.69954483e+02] [ 7.11975854e-03 9.99974380e-01 7.40544660e-04 -6.11695685e+01] [ 2.34769901e-02 -9.07513996e-04 9.99723966e-01 2.64755837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.990714057 meters Centerline goodness [0,1] 0.9816058329455045 Centerline is valid? [True, True] Translation: X:769.98, Y:-61.18, Z:2.65 [[ 9.99657155e-01 -1.06835652e-02 -2.39047033e-02 7.69982378e+02] [ 1.07046135e-02 9.99942421e-01 7.52713370e-04 -6.11835011e+01] [ 2.38952852e-02 -1.00834591e-03 9.99713958e-01 2.64558515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.020714057 meters Centerline goodness [0,1] 0.9819302392365636 Centerline is valid? [True, True] Translation: X:770.01, Y:-61.18, Z:2.65 [[ 9.99615379e-01 -1.36315760e-02 -2.41510626e-02 7.70012034e+02] [ 1.36538859e-02 9.99906493e-01 7.59093490e-04 -6.11814748e+01] [ 2.41384567e-02 -1.08855738e-03 9.99708032e-01 2.64809163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0507140569999 meters Centerline goodness [0,1] 0.9808764238031241 Centerline is valid? [True, True] Translation: X:770.04, Y:-61.20, Z:2.65 [[ 9.99498634e-01 -1.96603665e-02 -2.48183332e-02 7.70040582e+02] [ 1.96857856e-02 9.99805912e-01 7.80273343e-04 -6.11968037e+01] [ 2.47981758e-02 -1.26845053e-03 9.99691673e-01 2.64748843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0807140569999 meters Centerline goodness [0,1] 0.9813102628450667 Centerline is valid? [True, True] Translation: X:770.07, Y:-61.20, Z:2.65 [[ 9.99436420e-01 -2.22901704e-02 -2.50996000e-02 7.70070247e+02] [ 2.23170003e-02 9.99750633e-01 7.89293922e-04 -6.12007263e+01] [ 2.50757475e-02 -1.34899687e-03 9.99684644e-01 2.64840739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1107140569999 meters Centerline goodness [0,1] 0.9820385578147643 Centerline is valid? [True, True] Translation: X:770.10, Y:-61.20, Z:2.65 [[ 9.99391390e-01 -2.43851421e-02 -2.49442210e-02 7.70100101e+02] [ 2.44122696e-02 9.99701669e-01 7.83541798e-04 -6.12014572e+01] [ 2.49176726e-02 -1.39200998e-03 9.99688537e-01 2.65026871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.140714057 meters Centerline goodness [0,1] 0.9813332163460484 Centerline is valid? [True, True] Translation: X:770.13, Y:-61.21, Z:2.65 [[ 9.99354658e-01 -2.61998512e-02 -2.45730672e-02 7.70129504e+02] [ 2.62267027e-02 9.99655724e-01 7.71017205e-04 -6.12063821e+01] [ 2.45444067e-02 -1.41499016e-03 9.99697739e-01 2.65114259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1707140569999 meters Centerline goodness [0,1] 0.9804308285670458 Centerline is valid? [True, True] Translation: X:770.16, Y:-61.22, Z:2.65 [[ 9.99295563e-01 -2.90544958e-02 -2.37532096e-02 7.70157043e+02] [ 2.90803590e-02 9.99576800e-01 7.44058656e-04 -6.12206052e+01] [ 2.37215390e-02 -1.43428638e-03 9.99717576e-01 2.65106071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2007140569999 meters Centerline goodness [0,1] 0.979681901599231 Centerline is valid? [True, True] Translation: X:770.19, Y:-61.22, Z:2.65 [[ 9.99279392e-01 -2.99287725e-02 -2.33444832e-02 7.70186620e+02] [ 2.99539624e-02 9.99551013e-01 7.30043641e-04 -6.12241847e+01] [ 2.33121525e-02 -1.42877734e-03 9.99727214e-01 2.65173606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2307140569999 meters Centerline goodness [0,1] 0.9813668671405139 Centerline is valid? [True, True] Translation: X:770.22, Y:-61.22, Z:2.65 [[ 9.99269519e-01 -3.06453837e-02 -2.28317436e-02 7.70216204e+02] [ 3.06696478e-02 9.99529321e-01 7.13245610e-04 -6.12232464e+01] [ 2.27991395e-02 -1.41296613e-03 9.99739067e-01 2.65304206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.260714057 meters Centerline goodness [0,1] 0.9811403412700151 Centerline is valid? [True, True] Translation: X:770.25, Y:-61.23, Z:2.65 [[ 9.99241070e-01 -3.14665418e-02 -2.29595682e-02 7.70246250e+02] [ 3.14912804e-02 9.99503770e-01 7.16631982e-04 -6.12256133e+01] [ 2.29256251e-02 -1.43911431e-03 9.99736138e-01 2.65330606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.290714057 meters Centerline goodness [0,1] 0.9791575921247495 Centerline is valid? [True, True] Translation: X:770.28, Y:-61.24, Z:2.65 [[ 9.99198585e-01 -3.22307646e-02 -2.37353108e-02 7.70275391e+02] [ 3.22574085e-02 9.99479320e-01 7.40429047e-04 -6.12397782e+01] [ 2.36990877e-02 -1.50547527e-03 9.99718004e-01 2.65075169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3207140569999 meters Centerline goodness [0,1] 0.9808135740700457 Centerline is valid? [True, True] Translation: X:770.31, Y:-61.23, Z:2.65 [[ 9.99182489e-01 -3.22178104e-02 -2.44206133e-02 7.70306489e+02] [ 3.22460066e-02 9.99479672e-01 7.61593199e-04 -6.12307304e+01] [ 2.43833697e-02 -1.54843785e-03 9.99701482e-01 2.65271015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3507140569999 meters Centerline goodness [0,1] 0.9811694100763226 Centerline is valid? [True, True] Translation: X:770.34, Y:-61.23, Z:2.65 [[ 9.99166237e-01 -3.15894823e-02 -2.58637684e-02 7.70336109e+02] [ 3.16208951e-02 9.99499609e-01 8.06362174e-04 -6.12344424e+01] [ 2.58253538e-02 -1.62352537e-03 9.99665152e-01 2.65165116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.380714057 meters Centerline goodness [0,1] 0.9815157518887027 Centerline is valid? [True, True] Translation: X:770.36, Y:-61.24, Z:2.65 [[ 9.99177119e-01 -3.12421596e-02 -2.58652560e-02 7.70364820e+02] [ 3.12733688e-02 9.99510546e-01 8.02874382e-04 -6.12354526e+01] [ 2.58275126e-02 -1.61110740e-03 9.99665116e-01 2.65198013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.410714057 meters Centerline goodness [0,1] 0.9816455834004659 Centerline is valid? [True, True] Translation: X:770.39, Y:-61.24, Z:2.65 [[ 9.99180447e-01 -3.11571649e-02 -2.58392249e-02 7.70393857e+02] [ 3.11881224e-02 9.99513215e-01 7.95845224e-04 -6.12371881e+01] [ 2.58018505e-02 -1.60106990e-03 9.99665795e-01 2.65251178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4407140569999 meters Centerline goodness [0,1] 0.9809696124166194 Centerline is valid? [True, True] Translation: X:770.42, Y:-61.24, Z:2.65 [[ 9.99215697e-01 -3.04663452e-02 -2.52941381e-02 7.70422928e+02] [ 3.04956374e-02 9.99534601e-01 7.73042556e-04 -6.12373624e+01] [ 2.52588144e-02 -1.54379712e-03 9.99679753e-01 2.65272823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4707140569999 meters Centerline goodness [0,1] 0.9809830501098805 Centerline is valid? [True, True] Translation: X:770.45, Y:-61.24, Z:2.65 [[ 9.99243047e-01 -2.96806415e-02 -2.51474204e-02 7.70451539e+02] [ 2.97091960e-02 9.99558294e-01 7.62549822e-04 -6.12382382e+01] [ 2.51136797e-02 -1.50908225e-03 9.99683463e-01 2.65371039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.500714057 meters Centerline goodness [0,1] 0.9815004466912165 Centerline is valid? [True, True] Translation: X:770.48, Y:-61.24, Z:2.65 [[ 9.99308757e-01 -2.86777879e-02 -2.36557016e-02 7.70480538e+02] [ 2.87026910e-02 9.99587738e-01 7.13795770e-04 -6.12367100e+01] [ 2.36254792e-02 -1.39228466e-03 9.99719910e-01 2.65484791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.530714057 meters Centerline goodness [0,1] 0.9824217046148478 Centerline is valid? [True, True] Translation: X:770.51, Y:-61.23, Z:2.66 [[ 9.99325144e-01 -2.85503214e-02 -2.31113931e-02 7.70510429e+02] [ 2.85740294e-02 9.99591437e-01 6.96159904e-04 -6.12332131e+01] [ 2.30820750e-02 -1.35607572e-03 9.99732654e-01 2.65627873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5607140569999 meters Centerline goodness [0,1] 0.981150598861182 Centerline is valid? [True, True] Translation: X:770.54, Y:-61.24, Z:2.66 [[ 9.99345814e-01 -2.83536482e-02 -2.24502650e-02 7.70539289e+02] [ 2.83759475e-02 9.99597094e-01 6.75271429e-04 -6.12415538e+01] [ 2.24220732e-02 -1.31187722e-03 9.99747733e-01 2.65551842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5907140569999 meters Centerline goodness [0,1] 0.9815818221542495 Centerline is valid? [True, True] Translation: X:770.57, Y:-61.24, Z:2.66 [[ 9.99352956e-01 -2.84666399e-02 -2.19845358e-02 7.70569527e+02] [ 2.84880290e-02 9.99593916e-01 6.60277206e-04 -6.12358313e+01] [ 2.19568123e-02 -1.28614607e-03 9.99758093e-01 2.65731920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.620714057 meters Centerline goodness [0,1] 0.9819697895747839 Centerline is valid? [True, True] Translation: X:770.60, Y:-61.24, Z:2.66 [[ 9.99387181e-01 -2.82712990e-02 -2.06396530e-02 7.70599085e+02] [ 2.82900944e-02 9.99599563e-01 6.19171529e-04 -6.12360464e+01] [ 2.06138833e-02 -1.20268982e-03 9.99786788e-01 2.65808505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.650714057 meters Centerline goodness [0,1] 0.9829674654539093 Centerline is valid? [True, True] Translation: X:770.63, Y:-61.24, Z:2.66 [[ 9.99403124e-01 -2.79627543e-02 -2.02849783e-02 7.70629751e+02] [ 2.79808370e-02 9.99608275e-01 6.08101490e-04 -6.12361586e+01] [ 2.02600280e-02 -1.17532920e-03 9.99794054e-01 2.65890849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6807140569999 meters Centerline goodness [0,1] 0.9819544272824591 Centerline is valid? [True, True] Translation: X:770.66, Y:-61.24, Z:2.66 [[ 9.99447224e-01 -2.68378384e-02 -1.96208039e-02 7.70659355e+02] [ 2.68545426e-02 9.99639179e-01 5.88320429e-04 -6.12376055e+01] [ 1.95979351e-02 -1.11490294e-03 9.99807320e-01 2.65934811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7107140569999 meters Centerline goodness [0,1] 0.982032529199869 Centerline is valid? [True, True] Translation: X:770.69, Y:-61.24, Z:2.66 [[ 9.99462137e-01 -2.64623640e-02 -1.93695599e-02 7.70688351e+02] [ 2.64785742e-02 9.99649212e-01 5.80863950e-04 -6.12392774e+01] [ 1.93473942e-02 -1.09342985e-03 9.99812224e-01 2.65941709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.740714057 meters Centerline goodness [0,1] 0.9813110607117934 Centerline is valid? [True, True] Translation: X:770.72, Y:-61.24, Z:2.66 [[ 9.99490109e-01 -2.58011040e-02 -1.88102188e-02 7.70718974e+02] [ 2.58162707e-02 9.99666546e-01 5.63880131e-04 -6.12401897e+01] [ 1.87893977e-02 -1.04920231e-03 9.99822913e-01 2.65986725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.770714057 meters Centerline goodness [0,1] 0.9818621787185804 Centerline is valid? [True, True] Translation: X:770.75, Y:-61.24, Z:2.66 [[ 9.99518196e-01 -2.52306617e-02 -1.80773417e-02 7.70749298e+02] [ 2.52445764e-02 9.99681158e-01 5.41910431e-04 -6.12406113e+01] [ 1.80579051e-02 -9.98004168e-04 9.99836445e-01 2.66071980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8007140569999 meters Centerline goodness [0,1] 0.9819819819819819 Centerline is valid? [True, True] Translation: X:770.78, Y:-61.24, Z:2.66 [[ 9.99574269e-01 -2.39453885e-02 -1.66703254e-02 7.70778918e+02] [ 2.39570416e-02 9.99712864e-01 4.99650710e-04 -6.12435812e+01] [ 1.66535744e-02 -8.98809671e-04 9.99860916e-01 2.66068677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8307140569999 meters Centerline goodness [0,1] 0.9820742358078602 Centerline is valid? [True, True] Translation: X:770.81, Y:-61.24, Z:2.66 [[ 9.99593031e-01 -2.31413754e-02 -1.66808002e-02 7.70809249e+02] [ 2.31529279e-02 9.99731810e-01 4.99748666e-04 -6.12440118e+01] [ 1.66647617e-02 -8.85754648e-04 9.99860741e-01 2.66131654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8607140569999 meters Centerline goodness [0,1] 0.9820824512777984 Centerline is valid? [True, True] Translation: X:770.84, Y:-61.25, Z:2.66 [[ 9.99624594e-01 -2.23333195e-02 -1.58711553e-02 7.70838659e+02] [ 2.23436749e-02 9.99750236e-01 4.75426105e-04 -6.12459278e+01] [ 1.58565734e-02 -8.29867563e-04 9.99873932e-01 2.66133510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.890714057 meters Centerline goodness [0,1] 0.9833158401119566 Centerline is valid? [True, True] Translation: X:770.87, Y:-61.24, Z:2.66 [[ 9.99646940e-01 -2.15578260e-02 -1.55323748e-02 7.70869757e+02] [ 2.15676484e-02 9.99767283e-01 4.65130303e-04 -6.12444655e+01] [ 1.55187330e-02 -7.99962883e-04 9.99879257e-01 2.66261311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9207140569999 meters Centerline goodness [0,1] 0.9822275658541917 Centerline is valid? [True, True] Translation: X:770.90, Y:-61.25, Z:2.66 [[ 9.99689075e-01 -2.06731247e-02 -1.39418784e-02 7.70898716e+02] [ 2.06809547e-02 9.99786039e-01 4.17663149e-04 -6.12491149e+01] [ 1.39302610e-02 -7.05864643e-04 9.99902720e-01 2.66274738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9507140569999 meters Centerline goodness [0,1] 0.9838540299291153 Centerline is valid? [True, True] Translation: X:770.93, Y:-61.25, Z:2.66 [[ 9.99703538e-01 -2.03289779e-02 -1.34003494e-02 7.70929004e+02] [ 2.03361778e-02 9.99793118e-01 4.01234132e-04 -6.12475677e+01] [ 1.33894205e-02 -6.73627070e-04 9.99910131e-01 2.66339033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9807140569999 meters Centerline goodness [0,1] 0.9837962962962963 Centerline is valid? [True, True] Translation: X:770.96, Y:-61.25, Z:2.66 [[ 9.99710908e-01 -2.01997192e-02 -1.30411406e-02 7.70960410e+02] [ 2.02065277e-02 9.99795751e-01 3.90511117e-04 -6.12490267e+01] [ 1.30305887e-02 -6.53914391e-04 9.99914884e-01 2.66349590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.010714057 meters Centerline goodness [0,1] 0.9833074108961861 Centerline is valid? [True, True] Translation: X:770.99, Y:-61.25, Z:2.66 [[ 9.99711461e-01 -2.08466451e-02 -1.19336683e-02 7.70991330e+02] [ 2.08523967e-02 9.99782501e-01 3.57731043e-04 -6.12520879e+01] [ 1.19236152e-02 -6.06473409e-04 9.99928727e-01 2.66335046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.040714057 meters Centerline goodness [0,1] 0.9831934604904632 Centerline is valid? [True, True] Translation: X:771.02, Y:-61.25, Z:2.66 [[ 9.99691862e-01 -2.16295994e-02 -1.21795156e-02 7.71022039e+02] [ 2.16356537e-02 9.99765855e-01 3.65533657e-04 -6.12548250e+01] [ 1.21687574e-02 -6.28932803e-04 9.99925760e-01 2.66296655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0707140569999 meters Centerline goodness [0,1] 0.9840531271162374 Centerline is valid? [True, True] Translation: X:771.05, Y:-61.25, Z:2.66 [[ 9.99673574e-01 -2.26498411e-02 -1.18207694e-02 7.71053632e+02] [ 2.26556174e-02 9.99743266e-01 3.54960094e-04 -6.12540677e+01] [ 1.18096948e-02 -6.22651053e-04 9.99930069e-01 2.66245717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1007140569999 meters Centerline goodness [0,1] 0.98262620073959 Centerline is valid? [True, True] Translation: X:771.08, Y:-61.26, Z:2.66 [[ 9.99654178e-01 -2.34443345e-02 -1.19116208e-02 7.71083836e+02] [ 2.34502613e-02 9.99724941e-01 3.58113610e-04 -6.12602985e+01] [ 1.18999487e-02 -6.37320387e-04 9.99928990e-01 2.66238129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.130714057 meters Centerline goodness [0,1] 0.9835566649150465 Centerline is valid? [True, True] Translation: X:771.12, Y:-61.26, Z:2.66 [[ 9.99625793e-01 -2.49106758e-02 -1.13018703e-02 7.71115264e+02] [ 2.49161108e-02 9.99689488e-01 3.40319815e-04 -6.12589525e+01] [ 1.12898834e-02 -6.21791118e-04 9.99936074e-01 2.66139538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.160714057 meters Centerline goodness [0,1] 0.983466549874083 Centerline is valid? [True, True] Translation: X:771.15, Y:-61.26, Z:2.66 [[ 9.99614519e-01 -2.54630135e-02 -1.10656001e-02 7.71146285e+02] [ 2.54682616e-02 9.99675576e-01 3.33593847e-04 -6.12599194e+01] [ 1.10535159e-02 -6.15286851e-04 9.99938719e-01 2.66117924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1907140569999 meters Centerline goodness [0,1] 0.9825884198827606 Centerline is valid? [True, True] Translation: X:771.18, Y:-61.26, Z:2.66 [[ 9.99604191e-01 -2.57251378e-02 -1.13876444e-02 7.71177179e+02] [ 2.57307175e-02 9.99668851e-01 3.43714679e-04 -6.12642033e+01] [ 1.13750313e-02 -6.36590893e-04 9.99935100e-01 2.66141291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2207140569999 meters Centerline goodness [0,1] 0.9831567449481158 Centerline is valid? [True, True] Translation: X:771.21, Y:-61.26, Z:2.66 [[ 9.99598929e-01 -2.61511200e-02 -1.08674210e-02 7.71208894e+02] [ 2.61562327e-02 9.99657813e-01 3.28571615e-04 -6.12646540e+01] [ 1.08551098e-02 -6.12690627e-04 9.99940894e-01 2.66131877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.250714057 meters Centerline goodness [0,1] 0.9815522322890514 Centerline is valid? [True, True] Translation: X:771.24, Y:-61.27, Z:2.66 [[ 9.99584581e-01 -2.70355066e-02 -9.98731428e-03 7.71240955e+02] [ 2.70398731e-02 9.99634310e-01 3.02410060e-04 -6.12670802e+01] [ 9.97548621e-03 -5.72340144e-04 9.99950080e-01 2.66172667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.280714057 meters Centerline goodness [0,1] 0.9829955792883092 Centerline is valid? [True, True] Translation: X:771.27, Y:-61.27, Z:2.66 [[ 9.99589820e-01 -2.71533647e-02 -9.10417087e-03 7.71273105e+02] [ 2.71570031e-02 9.99631142e-01 2.76237306e-04 -6.12671322e+01] [ 9.09331196e-03 -5.23365996e-04 9.99958518e-01 2.66178881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3107140569999 meters Centerline goodness [0,1] 0.9804665234357872 Centerline is valid? [True, True] Translation: X:771.30, Y:-61.27, Z:2.66 [[ 9.99577542e-01 -2.77611995e-02 -8.60543258e-03 7.71304241e+02] [ 2.77644782e-02 9.99614458e-01 2.61743863e-04 -6.12725765e+01] [ 8.59484851e-03 -5.00558633e-04 9.99962938e-01 2.66178547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3407140569999 meters Centerline goodness [0,1] 0.9798983971270911 Centerline is valid? [True, True] Translation: X:771.34, Y:-61.27, Z:2.66 [[ 9.99569527e-01 -2.82036625e-02 -8.08174731e-03 7.71336716e+02] [ 2.82065713e-02 9.99602085e-01 2.46143617e-04 -6.12733890e+01] [ 8.07158931e-03 -4.73996040e-04 9.99967312e-01 2.66166242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.370714057 meters Centerline goodness [0,1] 0.9798983971270911 Centerline is valid? [True, True] Translation: X:771.37, Y:-61.27, Z:2.66 [[ 9.99571517e-01 -2.81330263e-02 -8.08172991e-03 7.71368443e+02] [ 2.81359373e-02 9.99604076e-01 2.46713199e-04 -6.12744206e+01] [ 8.07158937e-03 -4.73994533e-04 9.99967312e-01 2.66204700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.400714057 meters Centerline goodness [0,1] 0.9806563266736769 Centerline is valid? [True, True] Translation: X:771.40, Y:-61.27, Z:2.66 [[ 9.99545938e-01 -2.91930398e-02 -7.46223129e-03 7.71400270e+02] [ 2.91955534e-02 9.99573693e-01 2.28105899e-04 -6.12735565e+01] [ 7.45239098e-03 -4.45866297e-04 9.99972131e-01 2.66147304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4307140569999 meters Centerline goodness [0,1] 0.9795003062921152 Centerline is valid? [True, True] Translation: X:771.43, Y:-61.28, Z:2.66 [[ 9.99532091e-01 -2.97327061e-02 -7.18083549e-03 7.71431776e+02] [ 2.97350544e-02 9.99557791e-01 2.20459124e-04 -6.12776546e+01] [ 7.17110521e-03 -4.33878504e-04 9.99974193e-01 2.66203328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4607140569999 meters Centerline goodness [0,1] 0.9811163869499573 Centerline is valid? [True, True] Translation: X:771.46, Y:-61.28, Z:2.66 [[ 9.99510948e-01 -3.04287979e-02 -7.20781098e-03 7.71463507e+02] [ 3.04311847e-02 9.99536840e-01 2.21673852e-04 -6.12750444e+01] [ 7.19772734e-03 -4.40907670e-04 9.99973999e-01 2.66146432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.490714057 meters Centerline goodness [0,1] 0.9809517561124962 Centerline is valid? [True, True] Translation: X:771.50, Y:-61.28, Z:2.66 [[ 9.99504824e-01 -3.06926874e-02 -6.93295263e-03 7.71496090e+02] [ 3.06949037e-02 9.99528778e-01 2.13476501e-04 -6.12750303e+01] [ 6.92313350e-03 -4.26177106e-04 9.99975944e-01 2.66082481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.520714057 meters Centerline goodness [0,1] 0.9793289001662437 Centerline is valid? [True, True] Translation: X:771.53, Y:-61.28, Z:2.66 [[ 9.99504474e-01 -3.05883115e-02 -7.42703143e-03 7.71527018e+02] [ 3.05908572e-02 9.99531964e-01 2.29380901e-04 -6.12776165e+01] [ 7.41653894e-03 -4.56466495e-04 9.99972393e-01 2.66106818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5507140569999 meters Centerline goodness [0,1] 0.9791675784498227 Centerline is valid? [True, True] Translation: X:771.56, Y:-61.28, Z:2.66 [[ 9.99487543e-01 -3.09879945e-02 -8.02467467e-03 7.71559140e+02] [ 3.09909826e-02 9.99519633e-01 2.48256620e-04 -6.12791851e+01] [ 8.01312691e-03 -4.96821952e-04 9.99967771e-01 2.66042281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5807140569999 meters Centerline goodness [0,1] 0.97861266620014 Centerline is valid? [True, True] Translation: X:771.59, Y:-61.28, Z:2.66 [[ 9.99487917e-01 -3.09604247e-02 -8.08426970e-03 7.71590747e+02] [ 3.09634618e-02 9.99520486e-01 2.50754985e-04 -6.12811470e+01] [ 8.07262969e-03 -5.00943554e-04 9.99967290e-01 2.66040422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6107140569999 meters Centerline goodness [0,1] 0.9810783583723884 Centerline is valid? [True, True] Translation: X:771.62, Y:-61.28, Z:2.66 [[ 9.99484890e-01 -3.09352649e-02 -8.54194138e-03 7.71622874e+02] [ 3.09386582e-02 9.99521250e-01 2.65374324e-04 -6.12799536e+01] [ 8.52964250e-03 -5.29513832e-04 9.99963482e-01 2.66080539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.640714057 meters Centerline goodness [0,1] 0.9789411662011174 Centerline is valid? [True, True] Translation: X:771.65, Y:-61.28, Z:2.66 [[ 9.99493242e-01 -3.06434886e-02 -8.61602755e-03 7.71654517e+02] [ 3.06469357e-02 9.99530236e-01 2.68301244e-04 -6.12819742e+01] [ 8.60375837e-03 -5.32220122e-04 9.99962845e-01 2.66150497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6707140569999 meters Centerline goodness [0,1] 0.9779840559135088 Centerline is valid? [True, True] Translation: X:771.69, Y:-61.28, Z:2.66 [[ 9.99500908e-01 -3.04465172e-02 -8.42283687e-03 7.71686123e+02] [ 3.04498094e-02 9.99536262e-01 2.62867367e-04 -6.12848929e+01] [ 8.41092749e-03 -5.19209949e-04 9.99964493e-01 2.66269417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7007140569999 meters Centerline goodness [0,1] 0.9788225513575007 Centerline is valid? [True, True] Translation: X:771.72, Y:-61.29, Z:2.66 [[ 9.99510877e-01 -3.00873033e-02 -8.53005716e-03 7.71718172e+02] [ 3.00906720e-02 9.99547138e-01 2.66822749e-04 -6.12855854e+01] [ 8.51816624e-03 -5.23367392e-04 9.99963583e-01 2.66335022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7307140569999 meters Centerline goodness [0,1] 0.9773666601062783 Centerline is valid? [True, True] Translation: X:771.75, Y:-61.29, Z:2.66 [[ 9.99497608e-01 -3.05640726e-02 -8.38860676e-03 7.71750616e+02] [ 3.05673520e-02 9.99532675e-01 2.62966069e-04 -6.12873329e+01] [ 8.37664923e-03 -5.19251452e-04 9.99964780e-01 2.66323383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.760714057 meters Centerline goodness [0,1] 0.9785237243004933 Centerline is valid? [True, True] Translation: X:771.78, Y:-61.29, Z:2.66 [[ 9.99491075e-01 -3.05275396e-02 -9.25523330e-03 7.71783024e+02] [ 3.05315367e-02 9.99533762e-01 2.90851034e-04 -6.12860711e+01] [ 9.24203919e-03 -5.73279507e-04 9.99957127e-01 2.66297272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.790714057 meters Centerline goodness [0,1] 0.9779528934098797 Centerline is valid? [True, True] Translation: X:771.81, Y:-61.29, Z:2.66 [[ 9.99489606e-01 -3.04536353e-02 -9.64905977e-03 7.71813949e+02] [ 3.04579836e-02 9.99536002e-01 3.03987642e-04 -6.12883899e+01] [ 9.63532509e-03 -5.97723393e-04 9.99953401e-01 2.66303011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8207140569999 meters Centerline goodness [0,1] 0.97815793493203 Centerline is valid? [True, True] Translation: X:771.85, Y:-61.29, Z:2.66 [[ 9.99491355e-01 -3.03696146e-02 -9.73227003e-03 7.71846316e+02] [ 3.03740389e-02 9.99538555e-01 3.07081382e-04 -6.12873470e+01] [ 9.71845318e-03 -6.02533535e-04 9.99952593e-01 2.66293722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8507140569999 meters Centerline goodness [0,1] 0.9772326194470468 Centerline is valid? [True, True] Translation: X:771.88, Y:-61.29, Z:2.66 [[ 9.99502879e-01 -3.01174149e-02 -9.32392707e-03 7.71876942e+02] [ 3.01214711e-02 9.99546202e-01 2.94873392e-04 -6.12906988e+01] [ 9.31081507e-03 -5.75577204e-04 9.99956488e-01 2.66402180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.880714057 meters Centerline goodness [0,1] 0.9786135853823202 Centerline is valid? [True, True] Translation: X:771.91, Y:-61.29, Z:2.66 [[ 9.99508884e-01 -3.00797338e-02 -8.78636525e-03 7.71909336e+02] [ 3.00833374e-02 9.99547355e-01 2.78234930e-04 -6.12882312e+01] [ 8.77401892e-03 -5.42421475e-04 9.99961360e-01 2.66441754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.910714057 meters Centerline goodness [0,1] 0.9767779076310436 Centerline is valid? [True, True] Translation: X:771.94, Y:-61.29, Z:2.67 [[ 9.99507277e-01 -3.00719358e-02 -8.99341548e-03 7.71940864e+02] [ 3.00757175e-02 9.99547583e-01 2.85523838e-04 -6.12929278e+01] [ 8.98076045e-03 -5.55866577e-04 9.99959518e-01 2.66519580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9407140569999 meters Centerline goodness [0,1] 0.9782259115998088 Centerline is valid? [True, True] Translation: X:771.97, Y:-61.29, Z:2.67 [[ 9.99490723e-01 -3.05305348e-02 -9.28338085e-03 7.71972910e+02] [ 3.05345884e-02 9.99533667e-01 2.95202433e-04 -6.12918280e+01] [ 9.27003902e-03 -5.78516307e-04 9.99956865e-01 2.66599717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9707140569999 meters Centerline goodness [0,1] 0.9762863924395183 Centerline is valid? [True, True] Translation: X:772.00, Y:-61.30, Z:2.67 [[ 9.99483834e-01 -3.06801131e-02 -9.52872703e-03 7.72003988e+02] [ 3.06843978e-02 9.99529077e-01 3.03759341e-04 -6.12985382e+01] [ 9.51492036e-03 -5.95985801e-04 9.99954555e-01 2.66654850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.000714057 meters Centerline goodness [0,1] 0.9781459977819819 Centerline is valid? [True, True] Translation: X:772.04, Y:-61.30, Z:2.67 [[ 9.99480926e-01 -3.07969815e-02 -9.45650478e-03 7.72035897e+02] [ 3.08012110e-02 9.99525485e-01 3.01917720e-04 -6.12995911e+01] [ 9.44271937e-03 -5.93032802e-04 9.99955241e-01 2.66682584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.030714057 meters Centerline goodness [0,1] 0.9764227466418637 Centerline is valid? [True, True] Translation: X:772.07, Y:-61.30, Z:2.67 [[ 9.99479818e-01 -3.07372341e-02 -9.76298605e-03 7.72066819e+02] [ 3.07417467e-02 9.99527312e-01 3.12445889e-04 -6.13024593e+01] [ 9.74876748e-03 -6.12414604e-04 9.99952292e-01 2.66701210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0607140569999 meters Centerline goodness [0,1] 0.977660800904879 Centerline is valid? [True, True] Translation: X:772.10, Y:-61.31, Z:2.67 [[ 9.99472762e-01 -3.09988493e-02 -9.65765807e-03 7.72099289e+02] [ 3.10032816e-02 9.99519235e-01 3.09524008e-04 -6.13050411e+01] [ 9.64342011e-03 -6.08779907e-04 9.99953316e-01 2.66769572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0907140569999 meters Centerline goodness [0,1] 0.9785191956124314 Centerline is valid? [True, True] Translation: X:772.13, Y:-61.30, Z:2.67 [[ 9.99457692e-01 -3.13537319e-02 -1.00630540e-02 7.72131334e+02] [ 3.13585691e-02 9.99508147e-01 3.23222942e-04 -6.12981867e+01] [ 1.00479702e-02 -6.38610628e-04 9.99949314e-01 2.66778443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.120714057 meters Centerline goodness [0,1] 0.9802014663968844 Centerline is valid? [True, True] Translation: X:772.16, Y:-61.30, Z:2.67 [[ 9.99458981e-01 -3.11152046e-02 -1.06578170e-02 7.72163682e+02] [ 3.11206257e-02 9.99515577e-01 3.43145545e-04 -6.12996811e+01] [ 1.06419771e-02 -6.74637831e-04 9.99943145e-01 2.66852741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.150714057 meters Centerline goodness [0,1] 0.9784981302721976 Centerline is valid? [True, True] Translation: X:772.20, Y:-61.30, Z:2.67 [[ 9.99445495e-01 -3.14318423e-02 -1.09882793e-02 7.72195575e+02] [ 3.14376328e-02 9.99505653e-01 3.54596933e-04 -6.12993482e+01] [ 1.09717016e-02 -6.99845797e-04 9.99939564e-01 2.66818789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1807140569999 meters Centerline goodness [0,1] 0.9783008857223293 Centerline is valid? [True, True] Translation: X:772.23, Y:-61.30, Z:2.67 [[ 9.99425690e-01 -3.15707734e-02 -1.23116104e-02 7.72226384e+02] [ 3.15780653e-02 9.99501209e-01 3.98285826e-04 -6.13020705e+01] [ 1.22928953e-02 -7.86833923e-04 9.99924130e-01 2.66772953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2107140569999 meters Centerline goodness [0,1] 0.9798987330769063 Centerline is valid? [True, True] Translation: X:772.26, Y:-61.30, Z:2.67 [[ 9.99419977e-01 -3.17370681e-02 -1.23477739e-02 7.72258781e+02] [ 3.17444238e-02 9.99495939e-01 4.00121415e-04 -6.13021479e+01] [ 1.23288512e-02 -7.91862305e-04 9.99923683e-01 2.66760956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.240714057 meters Centerline goodness [0,1] 0.9795277296360485 Centerline is valid? [True, True] Translation: X:772.29, Y:-61.30, Z:2.67 [[ 9.99379302e-01 -3.28458676e-02 -1.27342048e-02 7.72290936e+02] [ 3.28537924e-02 9.99460083e-01 4.13576497e-04 -6.13037593e+01] [ 1.27137451e-02 -8.31686711e-04 9.99918831e-01 2.66834938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.270714057 meters Centerline goodness [0,1] 0.9803423810453687 Centerline is valid? [True, True] Translation: X:772.32, Y:-61.30, Z:2.67 [[ 9.99352983e-01 -3.35075069e-02 -1.30714654e-02 7.72323061e+02] [ 3.35159258e-02 9.99438093e-01 4.25480669e-04 -6.13045236e+01] [ 1.30498636e-02 -8.63307639e-04 9.99914474e-01 2.66905428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3007140569999 meters Centerline goodness [0,1] 0.9795589611859721 Centerline is valid? [True, True] Translation: X:772.36, Y:-61.31, Z:2.67 [[ 9.99325704e-01 -3.41980871e-02 -1.33651964e-02 7.72355506e+02] [ 3.42069631e-02 9.99414675e-01 4.36008887e-04 -6.13056697e+01] [ 1.33424628e-02 -8.92897669e-04 9.99910587e-01 2.66983991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3307140569999 meters Centerline goodness [0,1] 0.9787419411047221 Centerline is valid? [True, True] Translation: X:772.39, Y:-61.31, Z:2.67 [[ 9.99291619e-01 -3.49588420e-02 -1.39333689e-02 7.72387851e+02] [ 3.49685766e-02 9.99388308e-01 4.55567529e-04 -6.13063416e+01] [ 1.39089198e-02 -9.42474890e-04 9.99902822e-01 2.66980784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3607140569999 meters Centerline goodness [0,1] 0.9783975460656558 Centerline is valid? [True, True] Translation: X:772.42, Y:-61.31, Z:2.67 [[ 9.99211854e-01 -3.68739695e-02 -1.46963133e-02 7.72418768e+02] [ 3.68850197e-02 9.99319400e-01 4.81464882e-04 -6.13069379e+01] [ 1.46685574e-02 -1.02315922e-03 9.99891887e-01 2.66899588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.390714057 meters Centerline goodness [0,1] 0.9773420479302832 Centerline is valid? [True, True] Translation: X:772.45, Y:-61.31, Z:2.67 [[ 9.99179917e-01 -3.75792013e-02 -1.50763801e-02 7.72449578e+02] [ 3.75909180e-02 9.99293089e-01 4.94422129e-04 -6.13117204e+01] [ 1.50471425e-02 -1.06075163e-03 9.99886223e-01 2.66919647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4207140569999 meters Centerline goodness [0,1] 0.976686529511548 Centerline is valid? [True, True] Translation: X:772.48, Y:-61.31, Z:2.67 [[ 9.99148783e-01 -3.84470697e-02 -1.49510026e-02 7.72481939e+02] [ 3.84587091e-02 9.99260069e-01 4.91663513e-04 -6.13129212e+01] [ 1.49210369e-02 -1.06624126e-03 9.99888107e-01 2.67015722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4507140569999 meters Centerline goodness [0,1] 0.9774915402248663 Centerline is valid? [True, True] Translation: X:772.51, Y:-61.31, Z:2.67 [[ 9.99125413e-01 -3.88063955e-02 -1.55715586e-02 7.72512956e+02] [ 3.88190810e-02 9.99246124e-01 5.13121992e-04 -6.13148453e+01] [ 1.55399072e-02 -1.11714682e-03 9.99878624e-01 2.67099100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4807140569999 meters Centerline goodness [0,1] 0.9777433502803902 Centerline is valid? [True, True] Translation: X:772.55, Y:-61.31, Z:2.67 [[ 9.99109083e-01 -3.93378137e-02 -1.52832332e-02 7.72545431e+02] [ 3.93501084e-02 9.99225357e-01 5.04457085e-04 -6.13114079e+01] [ 1.52515499e-02 -1.10540454e-03 9.99883077e-01 2.67178248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.510714057 meters Centerline goodness [0,1] 0.9757244562495918 Centerline is valid? [True, True] Translation: X:772.58, Y:-61.32, Z:2.67 [[ 9.99088450e-01 -3.98405601e-02 -1.53296920e-02 7.72576141e+02] [ 3.98530042e-02 9.99205425e-01 5.07016308e-04 -6.13183724e+01] [ 1.52973116e-02 -1.11748842e-03 9.99882365e-01 2.67222149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.540714057 meters Centerline goodness [0,1] 0.9767964725399458 Centerline is valid? [True, True] Translation: X:772.61, Y:-61.32, Z:2.67 [[ 9.98998170e-01 -4.16065214e-02 -1.64789035e-02 7.72607639e+02] [ 4.16211541e-02 9.99133315e-01 5.45857789e-04 -6.13175451e+01] [ 1.64419102e-02 -1.23118191e-03 9.99864065e-01 2.67261656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5707140569999 meters Centerline goodness [0,1] 0.9771770199210141 Centerline is valid? [True, True] Translation: X:772.64, Y:-61.32, Z:2.67 [[ 9.98972393e-01 -4.21505764e-02 -1.66579402e-02 7.72639378e+02] [ 4.21656150e-02 9.99110482e-01 5.52444095e-04 -6.13153935e+01] [ 1.66198369e-02 -1.25426869e-03 9.99861094e-01 2.67258946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6007140569999 meters Centerline goodness [0,1] 0.9775030578367989 Centerline is valid? [True, True] Translation: X:772.67, Y:-61.32, Z:2.67 [[ 9.98917023e-01 -4.30733849e-02 -1.75916110e-02 7.72671348e+02] [ 4.30903176e-02 9.99071010e-01 5.84461652e-04 -6.13172220e+01] [ 1.75500938e-02 -1.34185680e-03 9.99845085e-01 2.67286768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.630714057 meters Centerline goodness [0,1] 0.9762346825102116 Centerline is valid? [True, True] Translation: X:772.70, Y:-61.32, Z:2.67 [[ 9.98861290e-01 -4.40556939e-02 -1.83090024e-02 7.72702600e+02] [ 4.40742261e-02 9.99028073e-01 6.09717499e-04 -6.13198150e+01] [ 1.82643458e-02 -1.41597832e-03 9.99832190e-01 2.67248043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.660714057 meters Centerline goodness [0,1] 0.9756012471927261 Centerline is valid? [True, True] Translation: X:772.73, Y:-61.32, Z:2.67 [[ 9.98839572e-01 -4.43194086e-02 -1.88493964e-02 7.72734771e+02] [ 4.43391270e-02 9.99016339e-01 6.29268985e-04 -6.13215659e+01] [ 1.88029662e-02 -1.46430455e-03 9.99822136e-01 2.67312080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6907140569999 meters Centerline goodness [0,1] 0.979691325638335 Centerline is valid? [True, True] Translation: X:772.77, Y:-61.31, Z:2.67 [[ 9.98833989e-01 -4.44528364e-02 -1.88310303e-02 7.72767450e+02] [ 4.44725647e-02 9.99010407e-01 6.29973488e-04 -6.13115318e+01] [ 1.87843912e-02 -1.46670315e-03 9.99822482e-01 2.67469090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7207140569999 meters Centerline goodness [0,1] 0.9741632413388138 Centerline is valid? [True, True] Translation: X:772.80, Y:-61.32, Z:2.67 [[ 9.98836465e-01 -4.43021675e-02 -1.90534361e-02 7.72798636e+02] [ 4.43223618e-02 9.99017077e-01 6.38693176e-04 -6.13248541e+01] [ 1.90064125e-02 -1.48244332e-03 9.99818263e-01 2.67435520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.750714057 meters Centerline goodness [0,1] 0.9724113846691113 Centerline is valid? [True, True] Translation: X:772.83, Y:-61.33, Z:2.67 [[ 9.98817213e-01 -4.45775489e-02 -1.94169132e-02 7.72830517e+02] [ 4.45985954e-02 9.99004775e-01 6.52037817e-04 -6.13267276e+01] [ 1.93685227e-02 -1.51723365e-03 9.99811261e-01 2.67421040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.780714057 meters Centerline goodness [0,1] 0.977265274893431 Centerline is valid? [True, True] Translation: X:772.86, Y:-61.32, Z:2.68 [[ 9.98805951e-01 -4.46416386e-02 -1.98442798e-02 7.72862620e+02] [ 4.46636615e-02 9.99001858e-01 6.67753023e-04 -6.13194428e+01] [ 1.97946627e-02 -1.55327389e-03 9.99802860e-01 2.67527238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8107140569999 meters Centerline goodness [0,1] 0.9773744785865601 Centerline is valid? [True, True] Translation: X:772.89, Y:-61.32, Z:2.68 [[ 9.98807542e-01 -4.45261323e-02 -2.00229210e-02 7.72894538e+02] [ 4.45485589e-02 9.99006992e-01 6.75182154e-04 -6.13183538e+01] [ 1.99729748e-02 -1.56636930e-03 9.99799293e-01 2.67568646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8407140569999 meters Centerline goodness [0,1] 0.9772468963105438 Centerline is valid? [True, True] Translation: X:772.93, Y:-61.32, Z:2.68 [[ 9.98843597e-01 -4.34289415e-02 -2.06251186e-02 7.72925575e+02] [ 4.34525296e-02 9.99055250e-01 6.96677135e-04 -6.13177277e+01] [ 2.05753770e-02 -1.59208507e-03 9.99787037e-01 2.67611668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.870714057 meters Centerline goodness [0,1] 0.9784981445099323 Centerline is valid? [True, True] Translation: X:772.96, Y:-61.32, Z:2.68 [[ 9.98891648e-01 -4.24256355e-02 -2.03848462e-02 7.72957541e+02] [ 4.24484871e-02 9.99098419e-01 6.89423045e-04 -6.13182020e+01] [ 2.03372184e-02 -1.55396480e-03 9.99791970e-01 2.67689428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.900714057 meters Centerline goodness [0,1] 0.9788903214527654 Centerline is valid? [True, True] Translation: X:772.99, Y:-61.32, Z:2.68 [[ 9.98936050e-01 -4.14457377e-02 -2.02241937e-02 7.72989019e+02] [ 4.14680493e-02 9.99139596e-01 6.84912824e-04 -6.13153413e+01] [ 2.01784060e-02 -1.52284197e-03 9.99795235e-01 2.67751783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9307140569999 meters Centerline goodness [0,1] 0.9791461949994541 Centerline is valid? [True, True] Translation: X:773.02, Y:-61.31, Z:2.68 [[ 9.99028580e-01 -3.91285045e-02 -2.02696129e-02 7.73019594e+02] [ 3.91504510e-02 9.99233091e-01 6.86883948e-04 -6.13136312e+01] [ 2.02271912e-02 -1.47978118e-03 9.99794314e-01 2.67828796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9607140569999 meters Centerline goodness [0,1] 0.9795802112089742 Centerline is valid? [True, True] Translation: X:773.05, Y:-61.31, Z:2.68 [[ 9.99068817e-01 -3.79124303e-02 -2.05948359e-02 7.73050874e+02] [ 3.79348360e-02 9.99279971e-01 6.98209169e-04 -6.13129972e+01] [ 2.05535362e-02 -1.47882073e-03 9.99787660e-01 2.67896178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.990714057 meters Centerline goodness [0,1] 0.9797844846467213 Centerline is valid? [True, True] Translation: X:773.08, Y:-61.31, Z:2.68 [[ 9.99107912e-01 -3.67611120e-02 -2.07846244e-02 7.73082712e+02] [ 3.67837036e-02 9.99323002e-01 7.05545787e-04 -6.13130160e+01] [ 2.07446166e-02 -1.46945184e-03 9.99783727e-01 2.67955261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.020714057 meters Centerline goodness [0,1] 0.9800529297259465 Centerline is valid? [True, True] Translation: X:773.11, Y:-61.31, Z:2.68 [[ 9.99208397e-01 -3.39891647e-02 -2.06716116e-02 7.73112927e+02] [ 3.40109342e-02 9.99421214e-01 7.02353912e-04 -6.13114184e+01] [ 2.06357747e-02 -1.40485875e-03 9.99786073e-01 2.67989639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0507140569999 meters Centerline goodness [0,1] 0.9801555907172996 Centerline is valid? [True, True] Translation: X:773.14, Y:-61.31, Z:2.68 [[ 9.99244234e-01 -3.29437308e-02 -2.06317851e-02 7.73144379e+02] [ 3.29652009e-02 9.99456254e-01 7.01305116e-04 -6.13083885e+01] [ 2.05974631e-02 -1.38090604e-03 9.99786896e-01 2.68052363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0807140569999 meters Centerline goodness [0,1] 0.9798113083063931 Centerline is valid? [True, True] Translation: X:773.18, Y:-61.31, Z:2.68 [[ 9.99291026e-01 -3.16540562e-02 -2.03830069e-02 7.73175373e+02] [ 3.16747562e-02 9.99497988e-01 6.93423362e-04 -6.13081084e+01] [ 2.03508248e-02 -1.33855852e-03 9.99792004e-01 2.68075506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1107140569999 meters Centerline goodness [0,1] 0.9803981892497693 Centerline is valid? [True, True] Translation: X:773.21, Y:-61.31, Z:2.68 [[ 9.99360605e-01 -2.91478015e-02 -2.07071836e-02 7.73205902e+02] [ 2.91686341e-02 9.99574256e-01 7.04670359e-04 -6.13055920e+01] [ 2.06778281e-02 -1.30822006e-03 9.99785335e-01 2.68073027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.140714057 meters Centerline goodness [0,1] 0.9814651562568872 Centerline is valid? [True, True] Translation: X:773.24, Y:-61.31, Z:2.68 [[ 9.99399894e-01 -2.76590393e-02 -2.08525870e-02 7.73236971e+02] [ 2.76798459e-02 9.99616588e-01 7.09771478e-04 -6.13053486e+01] [ 2.08249603e-02 -1.28654193e-03 9.99782309e-01 2.68134644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1707140569999 meters Centerline goodness [0,1] 0.9802916482545294 Centerline is valid? [True, True] Translation: X:773.27, Y:-61.30, Z:2.68 [[ 9.99425225e-01 -2.65888452e-02 -2.10298280e-02 7.73267400e+02] [ 2.66097755e-02 9.99645641e-01 7.16018268e-04 -6.13036568e+01] [ 2.10033378e-02 -1.27520572e-03 9.99778592e-01 2.68166033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2007140569999 meters Centerline goodness [0,1] 0.9810733215547703 Centerline is valid? [True, True] Translation: X:773.30, Y:-61.30, Z:2.68 [[ 9.99502804e-01 -2.37952817e-02 -2.06864736e-02 7.73296828e+02] [ 2.38149347e-02 9.99716136e-01 7.04177650e-04 -6.13025610e+01] [ 2.06638454e-02 -1.19647455e-03 9.99785764e-01 2.68236252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2307140569999 meters Centerline goodness [0,1] 0.9817989044000707 Centerline is valid? [True, True] Translation: X:773.33, Y:-61.30, Z:2.68 [[ 9.99541824e-01 -2.24234988e-02 -2.03305079e-02 7.73327097e+02] [ 2.24421912e-02 9.99747903e-01 6.91709138e-04 -6.13020595e+01] [ 2.03098721e-02 -1.14765336e-03 9.99793075e-01 2.68285628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.260714057 meters Centerline goodness [0,1] 0.9812393531116568 Centerline is valid? [True, True] Translation: X:773.36, Y:-61.30, Z:2.68 [[ 9.99574839e-01 -2.11875056e-02 -2.00307297e-02 7.73357078e+02] [ 2.12053935e-02 9.99774908e-01 6.81022214e-04 -6.12994116e+01] [ 2.00117918e-02 -1.10549218e-03 9.99799133e-01 2.68393662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.290714057 meters Centerline goodness [0,1] 0.9812393531116568 Centerline is valid? [True, True] Translation: X:773.39, Y:-61.30, Z:2.68 [[ 9.99574089e-01 -2.12228571e-02 -2.00307537e-02 7.73386259e+02] [ 2.12407380e-02 9.99774159e-01 6.80313936e-04 -6.13003726e+01] [ 2.00117918e-02 -1.10549218e-03 9.99799133e-01 2.68429070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3207140569999 meters Centerline goodness [0,1] 0.9812875574407918 Centerline is valid? [True, True] Translation: X:773.42, Y:-61.30, Z:2.68 [[ 9.99633743e-01 -1.88176569e-02 -1.94493318e-02 7.73415269e+02] [ 1.88340476e-02 9.99822406e-01 6.59892855e-04 -6.13012047e+01] [ 1.94334601e-02 -1.02596080e-03 9.99810626e-01 2.68431992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3507140569999 meters Centerline goodness [0,1] 0.9824080015932376 Centerline is valid? [True, True] Translation: X:773.44, Y:-61.30, Z:2.69 [[ 9.99644551e-01 -1.81837231e-02 -1.94967521e-02 7.73444147e+02] [ 1.82000290e-02 9.99834148e-01 6.59215023e-04 -6.12964595e+01] [ 1.94815316e-02 -1.01382216e-03 9.99809703e-01 2.68511305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.380714057 meters Centerline goodness [0,1] 0.9812534541837074 Centerline is valid? [True, True] Translation: X:773.47, Y:-61.30, Z:2.68 [[ 9.99654879e-01 -1.75058364e-02 -1.95874481e-02 7.73472335e+02] [ 1.75220953e-02 9.99846259e-01 6.58736927e-04 -6.12977395e+01] [ 1.95729049e-02 -1.00172271e-03 9.99807931e-01 2.68485735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.410714057 meters Centerline goodness [0,1] 0.9824627527492018 Centerline is valid? [True, True] Translation: X:773.50, Y:-61.30, Z:2.68 [[ 9.99648460e-01 -1.72701075e-02 -2.01171666e-02 7.73501117e+02] [ 1.72871541e-02 9.99850339e-01 6.73760178e-04 -6.12975357e+01] [ 2.01025199e-02 -1.02129188e-03 9.99797402e-01 2.68495372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4407140569999 meters Centerline goodness [0,1] 0.9812814655459203 Centerline is valid? [True, True] Translation: X:773.53, Y:-61.30, Z:2.68 [[ 9.99659098e-01 -1.63975231e-02 -2.03177139e-02 7.73530181e+02] [ 1.64146281e-02 9.99865043e-01 6.75384276e-04 -6.12972288e+01] [ 2.03038973e-02 -1.00866175e-03 9.99793346e-01 2.68477743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4707140569999 meters Centerline goodness [0,1] 0.9824106113033448 Centerline is valid? [True, True] Translation: X:773.56, Y:-61.30, Z:2.69 [[ 9.99662946e-01 -1.60942740e-02 -2.03708033e-02 7.73559146e+02] [ 1.61113019e-02 9.99869979e-01 6.72045003e-04 -6.12960398e+01] [ 2.03573386e-02 -1.00001865e-03 9.99792268e-01 2.68562045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.500714057 meters Centerline goodness [0,1] 0.9805756352831612 Centerline is valid? [True, True] Translation: X:773.59, Y:-61.30, Z:2.69 [[ 9.99671198e-01 -1.55920788e-02 -2.03564026e-02 7.73587506e+02] [ 1.56088743e-02 9.99877952e-01 6.66437812e-04 -6.12955394e+01] [ 2.03435269e-02 -9.83959215e-04 9.99792565e-01 2.68602252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.530714057 meters Centerline goodness [0,1] 0.9808289695571137 Centerline is valid? [True, True] Translation: X:773.61, Y:-61.30, Z:2.69 [[ 9.99676299e-01 -1.51284553e-02 -2.04554893e-02 7.73614802e+02] [ 1.51452399e-02 9.99885083e-01 6.65868537e-04 -6.12982234e+01] [ 2.04430650e-02 -9.75456288e-04 9.99790543e-01 2.68605262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5607140569999 meters Centerline goodness [0,1] 0.980821614439154 Centerline is valid? [True, True] Translation: X:773.64, Y:-61.30, Z:2.69 [[ 9.99683954e-01 -1.43129910e-02 -2.06671473e-02 7.73642402e+02] [ 1.43299131e-02 9.99897096e-01 6.70925244e-04 -6.12988395e+01] [ 2.06554177e-02 -9.66871627e-04 9.99786187e-01 2.68681938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5907140569999 meters Centerline goodness [0,1] 0.9808411318333665 Centerline is valid? [True, True] Translation: X:773.67, Y:-61.30, Z:2.69 [[ 9.99685402e-01 -1.33662118e-02 -2.12236055e-02 7.73671290e+02] [ 1.33837738e-02 9.99910198e-01 6.85643888e-04 -6.12952329e+01] [ 2.12125352e-02 -9.69480122e-04 9.99774519e-01 2.68683371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.620714057 meters Centerline goodness [0,1] 0.9808736508499368 Centerline is valid? [True, True] Translation: X:773.70, Y:-61.30, Z:2.69 [[ 9.99700426e-01 -1.27970047e-02 -2.08637117e-02 7.73698583e+02] [ 1.28137744e-02 9.99917676e-01 6.70279487e-04 -6.12974358e+01] [ 2.08534166e-02 -9.37421583e-04 9.99782104e-01 2.68693073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.650714057 meters Centerline goodness [0,1] 0.9814202313036915 Centerline is valid? [True, True] Translation: X:773.73, Y:-61.30, Z:2.69 [[ 9.99717680e-01 -1.18203508e-02 -2.06116217e-02 7.73727006e+02] [ 1.18364455e-02 9.99929730e-01 6.59030061e-04 -6.12965784e+01] [ 2.06023833e-02 -9.02812341e-04 9.99787341e-01 2.68797258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6807140569999 meters Centerline goodness [0,1] 0.9819269102990034 Centerline is valid? [True, True] Translation: X:773.76, Y:-61.30, Z:2.69 [[ 9.99770123e-01 -9.69032643e-03 -1.91258576e-02 7.73755383e+02] [ 9.70373258e-03 9.99952733e-01 6.08261785e-04 -6.12974363e+01] [ 1.91190593e-02 -7.93714167e-04 9.99816899e-01 2.68927140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7107140569999 meters Centerline goodness [0,1] 0.9819087688219663 Centerline is valid? [True, True] Translation: X:773.78, Y:-61.30, Z:2.69 [[ 9.99780132e-01 -8.94769341e-03 -1.89638156e-02 7.73783989e+02] [ 8.96069274e-03 9.99959672e-01 6.00618230e-04 -6.12976387e+01] [ 1.89576766e-02 -7.70415098e-04 9.99819990e-01 2.69025041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.740714057 meters Centerline goodness [0,1] 0.9835180701481596 Centerline is valid? [True, True] Translation: X:773.81, Y:-61.29, Z:2.69 [[ 9.99792478e-01 -8.10490987e-03 -1.86898496e-02 7.73813373e+02] [ 8.11730652e-03 9.99966882e-01 5.87514319e-04 -6.12940434e+01] [ 1.86844688e-02 -7.39103635e-04 9.99825157e-01 2.69189772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.770714057 meters Centerline goodness [0,1] 0.9822116022832869 Centerline is valid? [True, True] Translation: X:773.84, Y:-61.30, Z:2.69 [[ 9.99804810e-01 -7.11133885e-03 -1.84328742e-02 7.73841374e+02] [ 7.12316604e-03 9.99974464e-01 5.76058166e-04 -6.12999004e+01] [ 1.84283069e-02 -7.07246148e-04 9.99829934e-01 2.69100748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8007140569999 meters Centerline goodness [0,1] 0.9804264940592303 Centerline is valid? [True, True] Translation: X:773.87, Y:-61.30, Z:2.69 [[ 9.99808461e-01 -6.94165585e-03 -1.82990431e-02 7.73870100e+02] [ 6.95323711e-03 9.99975664e-01 5.69339997e-04 -6.13021528e+01] [ 1.82946456e-02 -6.96468531e-04 9.99832396e-01 2.69098513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8307140569999 meters Centerline goodness [0,1] 0.9808803422573105 Centerline is valid? [True, True] Translation: X:773.90, Y:-61.31, Z:2.69 [[ 9.99800237e-01 -7.36361794e-03 -1.85812560e-02 7.73898195e+02] [ 7.37556242e-03 9.99972635e-01 5.74375777e-04 -6.13076061e+01] [ 1.85765181e-02 -7.11308251e-04 9.99827189e-01 2.68956144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8607140569999 meters Centerline goodness [0,1] 0.9816282818468877 Centerline is valid? [True, True] Translation: X:773.92, Y:-61.31, Z:2.69 [[ 9.99794657e-01 -7.31971797e-03 -1.88961549e-02 7.73924759e+02] [ 7.33200944e-03 9.99972952e-01 5.81276263e-04 -6.13111118e+01] [ 1.88913890e-02 -7.19703689e-04 9.99821283e-01 2.68907753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.890714057 meters Centerline goodness [0,1] 0.9828935154488795 Centerline is valid? [True, True] Translation: X:773.95, Y:-61.31, Z:2.69 [[ 9.99795366e-01 -7.25975603e-03 -1.88818039e-02 7.73953891e+02] [ 7.27194529e-03 9.99973393e-01 5.76975569e-04 -6.13073623e+01] [ 1.88771128e-02 -7.14164945e-04 9.99821556e-01 2.69001834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9207140569999 meters Centerline goodness [0,1] 0.9842839484372241 Centerline is valid? [True, True] Translation: X:773.98, Y:-61.31, Z:2.69 [[ 9.99793971e-01 -6.61857656e-03 -1.91887865e-02 7.73982854e+02] [ 6.63095516e-03 9.99977846e-01 5.81540386e-04 -6.13095675e+01] [ 1.91845124e-02 -7.08660555e-04 9.99815709e-01 2.69079914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9507140569999 meters Centerline goodness [0,1] 0.9849006622516556 Centerline is valid? [True, True] Translation: X:774.01, Y:-61.31, Z:2.69 [[ 9.99802858e-01 -6.08582977e-03 -1.88999573e-02 7.74011740e+02] [ 6.09765519e-03 9.99981248e-01 5.68119813e-04 -6.13109760e+01] [ 1.88961454e-02 -6.83253235e-04 9.99821218e-01 2.69142291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9807140569999 meters Centerline goodness [0,1] 0.984632344835189 Centerline is valid? [True, True] Translation: X:774.04, Y:-61.31, Z:2.69 [[ 9.99808580e-01 -5.67223754e-03 -1.87250697e-02 7.74040164e+02] [ 5.68368570e-03 9.99983692e-01 5.58219343e-04 -6.13130677e+01] [ 1.87215980e-02 -6.64539900e-04 9.99824515e-01 2.69134203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.010714057 meters Centerline goodness [0,1] 0.983329658213892 Centerline is valid? [True, True] Translation: X:774.07, Y:-61.32, Z:2.69 [[ 9.99803946e-01 -5.12235232e-03 -1.91267172e-02 7.74067622e+02] [ 5.13412585e-03 9.99986660e-01 5.66500784e-04 -6.13160717e+01] [ 1.91235602e-02 -6.64588692e-04 9.99816907e-01 2.69132797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.040714057 meters Centerline goodness [0,1] 0.9839448531031141 Centerline is valid? [True, True] Translation: X:774.10, Y:-61.32, Z:2.69 [[ 9.99807272e-01 -4.22821780e-03 -1.91713480e-02 7.74095536e+02] [ 4.23984992e-03 9.99990852e-01 5.66139589e-04 -6.13229162e+01] [ 1.91687789e-02 -6.47314117e-04 9.99816053e-01 2.69042686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0707140569999 meters Centerline goodness [0,1] 0.98412803240435 Centerline is valid? [True, True] Translation: X:774.12, Y:-61.32, Z:2.69 [[ 9.99805205e-01 -4.37603678e-03 -1.92458491e-02 7.74123090e+02] [ 4.38772850e-03 9.99990214e-01 5.65307984e-04 -6.13235688e+01] [ 1.92431869e-02 -6.49643425e-04 9.99814622e-01 2.69103534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1007140569999 meters Centerline goodness [0,1] 0.98416399067435 Centerline is valid? [True, True] Translation: X:774.15, Y:-61.33, Z:2.69 [[ 9.99802758e-01 -4.83245839e-03 -1.92637506e-02 7.74151212e+02] [ 4.84418011e-03 9.99988109e-01 5.61869600e-04 -6.13268428e+01] [ 1.92608063e-02 -6.55075853e-04 9.99814279e-01 2.69124677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.130714057 meters Centerline goodness [0,1] 0.9834890146033417 Centerline is valid? [True, True] Translation: X:774.18, Y:-61.33, Z:2.69 [[ 9.99808466e-01 -6.08507461e-03 -1.86011814e-02 7.74178558e+02] [ 6.09618641e-03 9.99981272e-01 5.40725383e-04 -6.13319050e+01] [ 1.85975427e-02 -6.54018084e-04 9.99826837e-01 2.69245358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.160714057 meters Centerline goodness [0,1] 0.9833227131902178 Centerline is valid? [True, True] Translation: X:774.21, Y:-61.34, Z:2.69 [[ 9.99817457e-01 -7.10666927e-03 -1.77355154e-02 7.74207159e+02] [ 7.11688187e-03 9.99974543e-01 5.12777544e-04 -6.13350344e+01] [ 1.77314197e-02 -6.38905507e-04 9.99842582e-01 2.69316789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1907140569999 meters Centerline goodness [0,1] 0.9830806030415414 Centerline is valid? [True, True] Translation: X:774.24, Y:-61.34, Z:2.69 [[ 9.99816231e-01 -8.69222276e-03 -1.70865366e-02 7.74236002e+02] [ 8.70186489e-03 9.99962018e-01 4.90043750e-04 -6.13363021e+01] [ 1.70816281e-02 -6.38638429e-04 9.99853894e-01 2.69382674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2207140569999 meters Centerline goodness [0,1] 0.9831148973350808 Centerline is valid? [True, True] Translation: X:774.27, Y:-61.34, Z:2.69 [[ 9.99805982e-01 -1.11847673e-02 -1.62141456e-02 7.74265138e+02] [ 1.11937281e-02 9.99937242e-01 4.61998211e-04 -6.13420740e+01] [ 1.62079607e-02 -6.43405311e-04 9.99868435e-01 2.69450235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.250714057 meters Centerline goodness [0,1] 0.9830693848980663 Centerline is valid? [True, True] Translation: X:774.29, Y:-61.34, Z:2.70 [[ 9.99794582e-01 -1.26371138e-02 -1.58460324e-02 7.74293548e+02] [ 1.26458294e-02 9.99919937e-01 4.49933296e-04 -6.13437373e+01] [ 1.58390779e-02 -6.50227094e-04 9.99874343e-01 2.69529541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.280714057 meters Centerline goodness [0,1] 0.9816209372885426 Centerline is valid? [True, True] Translation: X:774.32, Y:-61.36, Z:2.69 [[ 9.99773591e-01 -1.45596353e-02 -1.55172111e-02 7.74320939e+02] [ 1.45681725e-02 9.99893783e-01 4.37273993e-04 -6.13556974e+01] [ 1.55091963e-02 -6.63232397e-04 9.99879505e-01 2.69493895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3107140569999 meters Centerline goodness [0,1] 0.9822819612036047 Centerline is valid? [True, True] Translation: X:774.35, Y:-61.36, Z:2.70 [[ 9.99709797e-01 -1.84682014e-02 -1.54676271e-02 7.74351351e+02] [ 1.84771342e-02 9.99829189e-01 4.34789955e-04 -6.13555947e+01] [ 1.54569553e-02 -7.20461199e-04 9.99880275e-01 2.69550076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3407140569999 meters Centerline goodness [0,1] 0.9817834007217078 Centerline is valid? [True, True] Translation: X:774.38, Y:-61.36, Z:2.70 [[ 9.99665895e-01 -2.04067789e-02 -1.58638767e-02 7.74380626e+02] [ 2.04164166e-02 9.99791464e-01 4.45794915e-04 -6.13605062e+01] [ 1.58514713e-02 -7.69529487e-04 9.99874061e-01 2.69562375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.370714057 meters Centerline goodness [0,1] 0.9824962943587061 Centerline is valid? [True, True] Translation: X:774.41, Y:-61.36, Z:2.70 [[ 9.99616448e-01 -2.23942248e-02 -1.62928242e-02 7.74410587e+02] [ 2.24046457e-02 9.99748880e-01 4.57330292e-04 -6.13636046e+01] [ 1.62784912e-02 -8.22189835e-04 9.99867159e-01 2.69562180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.400714057 meters Centerline goodness [0,1] 0.9827537644892211 Centerline is valid? [True, True] Translation: X:774.44, Y:-61.37, Z:2.70 [[ 9.99536886e-01 -2.56307673e-02 -1.64035669e-02 7.74439874e+02] [ 2.56417602e-02 9.99671090e-01 4.60142575e-04 -6.13717959e+01] [ 1.63863778e-02 -8.80545806e-04 9.99865347e-01 2.69583217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4307140569999 meters Centerline goodness [0,1] 0.9816069489685125 Centerline is valid? [True, True] Translation: X:774.47, Y:-61.38, Z:2.70 [[ 9.99500187e-01 -2.70911733e-02 -1.62924613e-02 7.74469731e+02] [ 2.71022076e-02 9.99632563e-01 4.56811136e-04 -6.13755392e+01] [ 1.62740993e-02 -8.98144483e-04 9.99867165e-01 2.69639585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4607140569999 meters Centerline goodness [0,1] 0.9817238609971566 Centerline is valid? [True, True] Translation: X:774.50, Y:-61.38, Z:2.70 [[ 9.99485120e-01 -2.79146745e-02 -1.58197632e-02 7.74501450e+02] [ 2.79251826e-02 9.99609918e-01 4.43688567e-04 -6.13770009e+01] [ 1.58012067e-02 -8.85229896e-04 9.99874761e-01 2.69757726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.490714057 meters Centerline goodness [0,1] 0.9821552321552321 Centerline is valid? [True, True] Translation: X:774.53, Y:-61.38, Z:2.70 [[ 9.99440139e-01 -2.93951513e-02 -1.59791484e-02 7.74531168e+02] [ 2.94060678e-02 9.99567447e-01 4.48591906e-04 -6.13826321e+01] [ 1.59590502e-02 -9.18224678e-04 9.99872225e-01 2.69766236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.520714057 meters Centerline goodness [0,1] 0.9819736188769672 Centerline is valid? [True, True] Translation: X:774.56, Y:-61.39, Z:2.70 [[ 9.99435240e-01 -2.95567811e-02 -1.59874248e-02 7.74561580e+02] [ 2.95677305e-02 9.99562678e-01 4.48891449e-04 -6.13877405e+01] [ 1.59671654e-02 -9.21349801e-04 9.99872092e-01 2.69756081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5507140569999 meters Centerline goodness [0,1] 0.9828613365567259 Centerline is valid? [True, True] Translation: X:774.59, Y:-61.39, Z:2.70 [[ 9.99445815e-01 -2.91397410e-02 -1.60915593e-02 7.74593126e+02] [ 2.91507854e-02 9.99574923e-01 4.52164252e-04 -6.13883450e+01] [ 1.60715432e-02 -9.20995260e-04 9.99870420e-01 2.69744246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5807140569999 meters Centerline goodness [0,1] 0.9828618180252336 Centerline is valid? [True, True] Translation: X:774.62, Y:-61.39, Z:2.70 [[ 9.99461495e-01 -2.85779778e-02 -1.61250974e-02 7.74624459e+02] [ 2.85890043e-02 9.99591148e-01 4.53665869e-04 -6.13883501e+01] [ 1.61055397e-02 -9.14422047e-04 9.99869879e-01 2.69776525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6107140569999 meters Centerline goodness [0,1] 0.982393379738379 Centerline is valid? [True, True] Translation: X:774.65, Y:-61.39, Z:2.70 [[ 9.99480285e-01 -2.82390387e-02 -1.55472615e-02 7.74654707e+02] [ 2.82492555e-02 9.99600814e-01 4.37876803e-04 -6.13927473e+01] [ 1.55286900e-02 -8.76847794e-04 9.99879038e-01 2.69799792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.640714057 meters Centerline goodness [0,1] 0.9834006959604037 Centerline is valid? [True, True] Translation: X:774.69, Y:-61.39, Z:2.70 [[ 9.99500443e-01 -2.74916479e-02 -1.55907970e-02 7.74686439e+02] [ 2.75018365e-02 9.99621656e-01 4.39438392e-04 -6.13886772e+01] [ 1.55728174e-02 -8.67994418e-04 9.99878360e-01 2.69879367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6707140569999 meters Centerline goodness [0,1] 0.9835896554686829 Centerline is valid? [True, True] Translation: X:774.72, Y:-61.39, Z:2.70 [[ 9.99504180e-01 -2.70279270e-02 -1.61519511e-02 7.74717430e+02] [ 2.70388116e-02 9.99634281e-01 4.55848799e-04 -6.13905517e+01] [ 1.61337234e-02 -8.92352342e-04 9.99869445e-01 2.69923952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7007140569999 meters Centerline goodness [0,1] 0.9834021327829378 Centerline is valid? [True, True] Translation: X:774.75, Y:-61.39, Z:2.70 [[ 9.99502623e-01 -2.69122006e-02 -1.64390063e-02 7.74747732e+02] [ 2.69234684e-02 9.99637390e-01 4.64465947e-04 -6.13929015e+01] [ 1.64205455e-02 -9.06829998e-04 9.99864763e-01 2.69951809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7307140569999 meters Centerline goodness [0,1] 0.9842214174857734 Centerline is valid? [True, True] Translation: X:774.78, Y:-61.39, Z:2.70 [[ 9.99489931e-01 -2.69927879e-02 -1.70665300e-02 7.74777960e+02] [ 2.70049481e-02 9.99635183e-01 4.82418594e-04 -6.13944796e+01] [ 1.70472821e-02 -9.43053285e-04 9.99854240e-01 2.70022784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.760714057 meters Centerline goodness [0,1] 0.9844988017876034 Centerline is valid? [True, True] Translation: X:774.81, Y:-61.39, Z:2.70 [[ 9.99486257e-01 -2.72518013e-02 -1.68689317e-02 7.74808924e+02] [ 2.72637182e-02 9.99628162e-01 4.76833095e-04 -6.13945508e+01] [ 1.68496647e-02 -9.36497927e-04 9.99857596e-01 2.70070857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.790714057 meters Centerline goodness [0,1] 0.9829758770983472 Centerline is valid? [True, True] Translation: X:774.84, Y:-61.40, Z:2.70 [[ 9.99467909e-01 -2.78003283e-02 -1.70599106e-02 7.74839377e+02] [ 2.78125978e-02 9.99613039e-01 4.82319205e-04 -6.13996568e+01] [ 1.70399004e-02 -9.56542999e-04 9.99854353e-01 2.70142499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8207140569999 meters Centerline goodness [0,1] 0.9833863480055021 Centerline is valid? [True, True] Translation: X:774.87, Y:-61.41, Z:2.70 [[ 9.99469954e-01 -2.76876144e-02 -1.71232662e-02 7.74869486e+02] [ 2.76999639e-02 9.99616165e-01 4.84412370e-04 -6.14050966e+01] [ 1.71032815e-02 -9.58469466e-04 9.99853269e-01 2.70171647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8507140569999 meters Centerline goodness [0,1] 0.9833552249090244 Centerline is valid? [True, True] Translation: X:774.90, Y:-61.40, Z:2.70 [[ 9.99469085e-01 -2.75683361e-02 -1.73647891e-02 7.74900050e+02] [ 2.75810222e-02 9.99619450e-01 4.91456373e-04 -6.14024861e+01] [ 1.73446324e-02 -9.70134087e-04 9.99849100e-01 2.70269599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.880714057 meters Centerline goodness [0,1] 0.9846336462717169 Centerline is valid? [True, True] Translation: X:774.93, Y:-61.40, Z:2.70 [[ 9.99450945e-01 -2.75109199e-02 -1.84650427e-02 7.74930460e+02] [ 2.75252551e-02 9.99620972e-01 5.22595629e-04 -6.14002367e+01] [ 1.84436668e-02 -1.03056371e-03 9.99829370e-01 2.70275693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.910714057 meters Centerline goodness [0,1] 0.984483093036788 Centerline is valid? [True, True] Translation: X:774.96, Y:-61.40, Z:2.70 [[ 9.99437449e-01 -2.74164343e-02 -1.93164492e-02 7.74960878e+02] [ 2.74321046e-02 9.99623520e-01 5.46692044e-04 -6.14015411e+01] [ 1.92941886e-02 -1.07627536e-03 9.99813271e-01 2.70299451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9407140569999 meters Centerline goodness [0,1] 0.9845044889502762 Centerline is valid? [True, True] Translation: X:774.99, Y:-61.40, Z:2.70 [[ 9.99454190e-01 -2.65581537e-02 -1.96465651e-02 7.74990973e+02] [ 2.65741882e-02 9.99646690e-01 5.55479052e-04 -6.14004447e+01] [ 1.96248712e-02 -1.07726738e-03 9.99806833e-01 2.70332152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9707140569999 meters Centerline goodness [0,1] 0.9854276571823921 Centerline is valid? [True, True] Translation: X:775.02, Y:-61.40, Z:2.70 [[ 9.99472666e-01 -2.60432585e-02 -1.93943036e-02 7.75021055e+02] [ 2.60587649e-02 9.99660263e-01 5.47202116e-04 -6.14004913e+01] [ 1.93734637e-02 -1.05230515e-03 9.99811763e-01 2.70474656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.000714057 meters Centerline goodness [0,1] 0.9839813475529458 Centerline is valid? [True, True] Translation: X:775.05, Y:-61.40, Z:2.71 [[ 9.99495402e-01 -2.57214400e-02 -1.86372757e-02 7.75049593e+02] [ 2.57356892e-02 9.99668644e-01 5.25075670e-04 -6.14024750e+01] [ 1.86175945e-02 -1.00445385e-03 9.99826173e-01 2.70570698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.030714057 meters Centerline goodness [0,1] 0.9844914487571619 Centerline is valid? [True, True] Translation: X:775.08, Y:-61.40, Z:2.71 [[ 9.99523190e-01 -2.54117944e-02 -1.75394833e-02 7.75078936e+02] [ 2.54243524e-02 9.99676627e-01 4.93339832e-04 -6.14009224e+01] [ 1.75212748e-02 -9.39034608e-04 9.99846050e-01 2.70709328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0607140569999 meters Centerline goodness [0,1] 0.9846485554118154 Centerline is valid? [True, True] Translation: X:775.11, Y:-61.40, Z:2.71 [[ 9.99513608e-01 -2.57526264e-02 -1.75883584e-02 7.75109499e+02] [ 2.57652994e-02 9.99667897e-01 4.94272444e-04 -6.14015955e+01] [ 1.75697884e-02 -9.47201353e-04 9.99845191e-01 2.70767520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0907140569999 meters Centerline goodness [0,1] 0.9841106244095165 Centerline is valid? [True, True] Translation: X:775.14, Y:-61.41, Z:2.71 [[ 9.99511439e-01 -2.60057651e-02 -1.73373666e-02 7.75138873e+02] [ 2.60181152e-02 9.99661353e-01 4.87124123e-04 -6.14060211e+01] [ 1.73188273e-02 -9.37971735e-04 9.99849578e-01 2.70756517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.120714057 meters Centerline goodness [0,1] 0.9824946708868936 Centerline is valid? [True, True] Translation: X:775.17, Y:-61.41, Z:2.71 [[ 9.99464482e-01 -2.71739134e-02 -1.82298771e-02 7.75167922e+02] [ 2.71877556e-02 9.99630214e-01 5.11861581e-04 -6.14138463e+01] [ 1.82092267e-02 -1.00721691e-03 9.99833691e-01 2.70731594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.150714057 meters Centerline goodness [0,1] 0.9828679929227981 Centerline is valid? [True, True] Translation: X:775.20, Y:-61.42, Z:2.71 [[ 9.99451919e-01 -2.76524656e-02 -1.81989913e-02 7.75197349e+02] [ 2.76663324e-02 9.99617083e-01 5.10578443e-04 -6.14161062e+01] [ 1.81779038e-02 -1.01379795e-03 9.99834254e-01 2.70801680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1807140569999 meters Centerline goodness [0,1] 0.9828679929227981 Centerline is valid? [True, True] Translation: X:775.23, Y:-61.42, Z:2.71 [[ 9.99451918e-01 -2.76524705e-02 -1.81990026e-02 7.75227382e+02] [ 2.76663300e-02 9.99617084e-01 5.10174416e-04 -6.14169480e+01] [ 1.81779263e-02 -1.01339441e-03 9.99834254e-01 2.70838114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2107140569999 meters Centerline goodness [0,1] 0.9833190394511149 Centerline is valid? [True, True] Translation: X:775.26, Y:-61.42, Z:2.71 [[ 9.99440328e-01 -2.79888544e-02 -1.83208913e-02 7.75257995e+02] [ 2.80029566e-02 9.99607708e-01 5.13591333e-04 -6.14159883e+01] [ 1.82993293e-02 -1.02634301e-03 9.99832026e-01 2.70868153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.240714057 meters Centerline goodness [0,1] 0.9844599677592692 Centerline is valid? [True, True] Translation: X:775.29, Y:-61.41, Z:2.71 [[ 9.99443615e-01 -2.79851301e-02 -1.81464208e-02 7.75288722e+02] [ 2.79989642e-02 9.99607823e-01 5.08700385e-04 -6.14144157e+01] [ 1.81250681e-02 -1.01649834e-03 9.99835211e-01 2.70957514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.270714057 meters Centerline goodness [0,1] 0.98432932072227 Centerline is valid? [True, True] Translation: X:775.32, Y:-61.42, Z:2.71 [[ 9.99440088e-01 -2.80812541e-02 -1.81921061e-02 7.75319194e+02] [ 2.80951739e-02 9.99605123e-01 5.09981085e-04 -6.14152775e+01] [ 1.81706015e-02 -1.02080592e-03 9.99834380e-01 2.70966097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3007140569999 meters Centerline goodness [0,1] 0.9848204289036259 Centerline is valid? [True, True] Translation: X:775.35, Y:-61.42, Z:2.71 [[ 9.99436547e-01 -2.80498426e-02 -1.84335430e-02 7.75349668e+02] [ 2.80641290e-02 9.99605991e-01 5.16749309e-04 -6.14160547e+01] [ 1.84117852e-02 -1.03377947e-03 9.99829954e-01 2.70965857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3307140569999 meters Centerline goodness [0,1] 0.983843939328836 Centerline is valid? [True, True] Translation: X:775.38, Y:-61.42, Z:2.71 [[ 9.99420823e-01 -2.82588988e-02 -1.89592407e-02 7.75379574e+02] [ 2.82740471e-02 9.99600068e-01 5.31365671e-04 -6.14184887e+01] [ 1.89366425e-02 -1.06711238e-03 9.99820116e-01 2.71004476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3607140569999 meters Centerline goodness [0,1] 0.9841763998625902 Centerline is valid? [True, True] Translation: X:775.41, Y:-61.42, Z:2.71 [[ 9.99408021e-01 -2.88579521e-02 -1.87303315e-02 7.75409143e+02] [ 2.88728334e-02 9.99582955e-01 5.24508781e-04 -6.14201886e+01] [ 1.87073839e-02 -1.06499602e-03 9.99824434e-01 2.71049416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.390714057 meters Centerline goodness [0,1] 0.9842455287002562 Centerline is valid? [True, True] Translation: X:775.44, Y:-61.42, Z:2.71 [[ 9.99410970e-01 -2.91349608e-02 -1.81346925e-02 7.75439278e+02] [ 2.91489485e-02 9.99574950e-01 5.07420336e-04 -6.14197820e+01] [ 1.81122007e-02 -1.03572867e-03 9.99835424e-01 2.71081075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4207140569999 meters Centerline goodness [0,1] 0.98274787839725 Centerline is valid? [True, True] Translation: X:775.47, Y:-61.43, Z:2.71 [[ 9.99410168e-01 -2.93304269e-02 -1.78617309e-02 7.75468254e+02] [ 2.93440259e-02 9.99569246e-01 4.99681601e-04 -6.14254909e+01] [ 1.78393810e-02 -1.02352197e-03 9.99840342e-01 2.71083264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4507140569999 meters Centerline goodness [0,1] 0.9822999310106934 Centerline is valid? [True, True] Translation: X:775.50, Y:-61.42, Z:2.71 [[ 9.99388177e-01 -3.06223005e-02 -1.68980955e-02 7.75499225e+02] [ 3.06346521e-02 9.99530537e-01 4.72522180e-04 -6.14224753e+01] [ 1.68756928e-02 -9.89900358e-04 9.99857105e-01 2.71183473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4807140569999 meters Centerline goodness [0,1] 0.9820301636538668 Centerline is valid? [True, True] Translation: X:775.53, Y:-61.42, Z:2.71 [[ 9.99377350e-01 -3.08830766e-02 -1.70630572e-02 7.75530094e+02] [ 3.08957115e-02 9.99522500e-01 4.77310591e-04 -6.14234082e+01] [ 1.70401688e-02 -1.00418869e-03 9.99854302e-01 2.71225985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.510714057 meters Centerline goodness [0,1] 0.983390988590705 Centerline is valid? [True, True] Translation: X:775.56, Y:-61.43, Z:2.71 [[ 9.99345383e-01 -3.18230126e-02 -1.72076064e-02 7.75561085e+02] [ 3.18360119e-02 9.99492989e-01 4.81967992e-04 -6.14251135e+01] [ 1.71835443e-02 -1.02947405e-03 9.99851822e-01 2.71255549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.540714057 meters Centerline goodness [0,1] 0.9831891276810443 Centerline is valid? [True, True] Translation: X:775.59, Y:-61.43, Z:2.71 [[ 9.99339706e-01 -3.21200019e-02 -1.69840389e-02 7.75592574e+02] [ 3.21327184e-02 9.99483497e-01 4.76301631e-04 -6.14262355e+01] [ 1.69599678e-02 -1.02173047e-03 9.99855647e-01 2.71257076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5707140569999 meters Centerline goodness [0,1] 0.983799388168383 Centerline is valid? [True, True] Translation: X:775.62, Y:-61.43, Z:2.71 [[ 9.99330441e-01 -3.23095233e-02 -1.71687193e-02 7.75623512e+02] [ 3.23225563e-02 9.99477373e-01 4.82094806e-04 -6.14270923e+01] [ 1.71441702e-02 -1.03670891e-03 9.99852490e-01 2.71323374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6007140569999 meters Centerline goodness [0,1] 0.9822316529492455 Centerline is valid? [True, True] Translation: X:775.66, Y:-61.43, Z:2.71 [[ 9.99333152e-01 -3.24186313e-02 -1.68013133e-02 7.75655159e+02] [ 3.24311377e-02 9.99473861e-01 4.72368082e-04 -6.14272996e+01] [ 1.67771600e-02 -1.01693879e-03 9.99858736e-01 2.71414694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.630714057 meters Centerline goodness [0,1] 0.9822134387351779 Centerline is valid? [True, True] Translation: X:775.69, Y:-61.43, Z:2.71 [[ 9.99345670e-01 -3.21318477e-02 -1.66065302e-02 7.75686604e+02] [ 3.21440360e-02 9.99483138e-01 4.67480820e-04 -6.14281758e+01] [ 1.65829259e-02 -1.00097584e-03 9.99861993e-01 2.71466357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.660714057 meters Centerline goodness [0,1] 0.9817682049520047 Centerline is valid? [True, True] Translation: X:775.72, Y:-61.43, Z:2.72 [[ 9.99359110e-01 -3.18434728e-02 -1.63512450e-02 7.75718293e+02] [ 3.18552602e-02 9.99492386e-01 4.60871480e-04 -6.14293739e+01] [ 1.63282691e-02 -9.81449274e-04 9.99866203e-01 2.71541820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6907140569999 meters Centerline goodness [0,1] 0.9821175256845635 Centerline is valid? [True, True] Translation: X:775.75, Y:-61.43, Z:2.72 [[ 9.99376762e-01 -3.17250075e-02 -1.54793672e-02 7.75749393e+02] [ 3.17355652e-02 9.99496205e-01 4.36825439e-04 -6.14306067e+01] [ 1.54577105e-02 -9.27799660e-04 9.99880092e-01 2.71604771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7207140569999 meters Centerline goodness [0,1] 0.9807372328170997 Centerline is valid? [True, True] Translation: X:775.78, Y:-61.43, Z:2.72 [[ 9.99396783e-01 -3.12069645e-02 -1.52379549e-02 7.75779974e+02] [ 3.12171449e-02 9.99512533e-01 4.30639957e-04 -6.14339883e+01] [ 1.52170879e-02 -9.06065633e-04 9.99883803e-01 2.71600343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.750714057 meters Centerline goodness [0,1] 0.9801049597797565 Centerline is valid? [True, True] Translation: X:775.81, Y:-61.44, Z:2.72 [[ 9.99404310e-01 -3.10701959e-02 -1.50222543e-02 7.75811731e+02] [ 3.10800878e-02 9.99516807e-01 4.25417808e-04 -6.14356677e+01] [ 1.50017778e-02 -8.92057372e-04 9.99887069e-01 2.71620140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.780714057 meters Centerline goodness [0,1] 0.9797563019792406 Centerline is valid? [True, True] Translation: X:775.84, Y:-61.44, Z:2.72 [[ 9.99408961e-01 -3.10379991e-02 -1.47774134e-02 7.75841671e+02] [ 3.10475746e-02 9.99517820e-01 4.18949439e-04 -6.14391292e+01] [ 1.47572846e-02 -8.77504667e-04 9.99890720e-01 2.71615046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8107140569999 meters Centerline goodness [0,1] 0.9799720038763864 Centerline is valid? [True, True] Translation: X:775.87, Y:-61.44, Z:2.72 [[ 9.99411982e-01 -3.07647843e-02 -1.51399341e-02 7.75872977e+02] [ 3.07748089e-02 9.99526251e-01 4.29548170e-04 -6.14395671e+01] [ 1.51195466e-02 -8.95224167e-04 9.99885292e-01 2.71658287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8407140569999 meters Centerline goodness [0,1] 0.9791402062299529 Centerline is valid? [True, True] Translation: X:775.90, Y:-61.44, Z:2.72 [[ 9.99406117e-01 -3.09176455e-02 -1.52155287e-02 7.75904044e+02] [ 3.09277962e-02 9.99521528e-01 4.32221779e-04 -6.14409583e+01] [ 1.51948852e-02 -9.02547860e-04 9.99884144e-01 2.71623026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.870714057 meters Centerline goodness [0,1] 0.9796045696090876 Centerline is valid? [True, True] Translation: X:775.94, Y:-61.44, Z:2.72 [[ 9.99409083e-01 -3.08896835e-02 -1.50768730e-02 7.75935379e+02] [ 3.08996547e-02 9.99522400e-01 4.28804681e-04 -6.14373798e+01] [ 1.50564266e-02 -8.94421463e-04 9.99886246e-01 2.71572412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.900714057 meters Centerline goodness [0,1] 0.9799991388219084 Centerline is valid? [True, True] Translation: X:775.97, Y:-61.44, Z:2.72 [[ 9.99407248e-01 -3.10939965e-02 -1.47755008e-02 7.75965771e+02] [ 3.11036038e-02 9.99516077e-01 4.20814325e-04 -6.14402313e+01] [ 1.47552658e-02 -8.80136210e-04 9.99890748e-01 2.71618662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9307140569999 meters Centerline goodness [0,1] 0.9782128535586387 Centerline is valid? [True, True] Translation: X:776.00, Y:-61.45, Z:2.72 [[ 9.99371419e-01 -3.23949299e-02 -1.43991780e-02 7.75995718e+02] [ 3.24041989e-02 9.99474762e-01 4.10810707e-04 -6.14476361e+01] [ 1.43783068e-02 -8.77146306e-04 9.99896242e-01 2.71585833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9607140569999 meters Centerline goodness [0,1] 0.9789837893253027 Centerline is valid? [True, True] Translation: X:776.03, Y:-61.45, Z:2.72 [[ 9.99352983e-01 -3.29963200e-02 -1.43128942e-02 7.76026691e+02] [ 3.30055438e-02 9.99455085e-01 4.08640211e-04 -6.14476619e+01] [ 1.42916112e-02 -8.80780668e-04 9.99897482e-01 2.71623221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.990714057 meters Centerline goodness [0,1] 0.9793947475964123 Centerline is valid? [True, True] Translation: X:776.06, Y:-61.45, Z:2.72 [[ 9.99319559e-01 -3.41697827e-02 -1.38868923e-02 7.76057574e+02] [ 3.41785846e-02 9.99415663e-01 3.96923603e-04 -6.14490515e+01] [ 1.38652149e-02 -8.71287843e-04 9.99903494e-01 2.71687642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.020714057 meters Centerline goodness [0,1] 0.9791250134365258 Centerline is valid? [True, True] Translation: X:776.09, Y:-61.45, Z:2.72 [[ 9.99294368e-01 -3.52462298e-02 -1.29795623e-02 7.76087965e+02] [ 3.52540122e-02 9.99378315e-01 3.71205824e-04 -6.14534214e+01] [ 1.29584095e-02 -8.28525536e-04 9.99915693e-01 2.71791810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0507140569999 meters Centerline goodness [0,1] 0.9785420592770259 Centerline is valid? [True, True] Translation: X:776.12, Y:-61.45, Z:2.72 [[ 9.99296891e-01 -3.53400539e-02 -1.25221825e-02 7.76120121e+02] [ 3.53473077e-02 9.99375024e-01 3.58359345e-04 -6.14546101e+01] [ 1.25016920e-02 -8.00732818e-04 9.99921530e-01 2.71850125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0807140569999 meters Centerline goodness [0,1] 0.9788308618095852 Centerline is valid? [True, True] Translation: X:776.15, Y:-61.46, Z:2.72 [[ 9.99298471e-01 -3.54757491e-02 -1.20015532e-02 7.76152231e+02] [ 3.54824316e-02 9.99370241e-01 3.44267759e-04 -6.14559760e+01] [ 1.19817820e-02 -7.69870537e-04 9.99927920e-01 2.71912132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1107140569999 meters Centerline goodness [0,1] 0.9794968986905582 Centerline is valid? [True, True] Translation: X:776.18, Y:-61.45, Z:2.72 [[ 9.99263222e-01 -3.64599979e-02 -1.19867479e-02 7.76184693e+02] [ 3.64667446e-02 9.99334808e-01 3.44686028e-04 -6.14531302e+01] [ 1.19662072e-02 -7.81549746e-04 9.99928097e-01 2.71914869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.140714057 meters Centerline goodness [0,1] 0.9796298676262691 Centerline is valid? [True, True] Translation: X:776.22, Y:-61.46, Z:2.72 [[ 9.99241945e-01 -3.69302660e-02 -1.23162776e-02 7.76215718e+02] [ 3.69374357e-02 9.99317517e-01 3.55087058e-04 -6.14572535e+01] [ 1.22947585e-02 -8.09749596e-04 9.99924089e-01 2.71929516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1707140569999 meters Centerline goodness [0,1] 0.9776194882609912 Centerline is valid? [True, True] Translation: X:776.25, Y:-61.46, Z:2.72 [[ 9.99167772e-01 -3.87434992e-02 -1.27555665e-02 7.76246057e+02] [ 3.87513455e-02 9.99248817e-01 3.68450090e-04 -6.14636263e+01] [ 1.27317096e-02 -8.62438819e-04 9.99918577e-01 2.71935766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2007140569999 meters Centerline goodness [0,1] 0.9763174236097728 Centerline is valid? [True, True] Translation: X:776.28, Y:-61.47, Z:2.72 [[ 9.99135450e-01 -3.95210680e-02 -1.29010502e-02 7.76276961e+02] [ 3.95291622e-02 9.99218348e-01 3.72909838e-04 -6.14709258e+01] [ 1.28762283e-02 -8.82555146e-04 9.99916708e-01 2.71895522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2307140569999 meters Centerline goodness [0,1] 0.9799858268731075 Centerline is valid? [True, True] Translation: X:776.31, Y:-61.46, Z:2.72 [[ 9.99094269e-01 -4.04811474e-02 -1.31117905e-02 7.76308893e+02] [ 4.04896000e-02 9.99179888e-01 3.79733136e-04 -6.14606673e+01] [ 1.30856653e-02 -9.10280351e-04 9.99913965e-01 2.71929233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.260714057 meters Centerline goodness [0,1] 0.9793091618602457 Centerline is valid? [True, True] Translation: X:776.34, Y:-61.46, Z:2.72 [[ 9.99000202e-01 -4.23664762e-02 -1.42715829e-02 7.76338734e+02] [ 4.23767026e-02 9.99101618e-01 4.14784043e-04 -6.14642031e+01] [ 1.42411886e-02 -1.01915197e-03 9.99898070e-01 2.71892068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.290714057 meters Centerline goodness [0,1] 0.9776204514643541 Centerline is valid? [True, True] Translation: X:776.37, Y:-61.47, Z:2.72 [[ 9.98957224e-01 -4.33118959e-02 -1.44410964e-02 7.76369329e+02] [ 4.33224816e-02 9.99061052e-01 4.20855699e-04 -6.14706547e+01] [ 1.44093089e-02 -1.04604097e-03 9.99895633e-01 2.71889619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3207140569999 meters Centerline goodness [0,1] 0.9787761557697651 Centerline is valid? [True, True] Translation: X:776.40, Y:-61.47, Z:2.72 [[ 9.98957204e-01 -4.34001073e-02 -1.41751392e-02 7.76402143e+02] [ 4.34103235e-02 9.99057242e-01 4.13675685e-04 -6.14662323e+01] [ 1.41438219e-02 -1.02859168e-03 9.99899442e-01 2.71933081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3507140569999 meters Centerline goodness [0,1] 0.979145122371596 Centerline is valid? [True, True] Translation: X:776.43, Y:-61.46, Z:2.72 [[ 9.98960879e-01 -4.33299079e-02 -1.41308426e-02 7.76434587e+02] [ 4.33400676e-02 9.99060292e-01 4.13392029e-04 -6.14636315e+01] [ 1.40996515e-02 -1.02539414e-03 9.99900069e-01 2.72052208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.380714057 meters Centerline goodness [0,1] 0.9789968248519695 Centerline is valid? [True, True] Translation: X:776.47, Y:-61.46, Z:2.72 [[ 9.99004286e-01 -4.23731746e-02 -1.39624646e-02 7.76465593e+02] [ 4.23830140e-02 9.99101352e-01 4.09431901e-04 -6.14649348e+01] [ 1.39325683e-02 -1.00079556e-03 9.99902436e-01 2.72113401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.410714057 meters Centerline goodness [0,1] 0.9774187982573438 Centerline is valid? [True, True] Translation: X:776.50, Y:-61.47, Z:2.72 [[ 9.99119090e-01 -3.97138485e-02 -1.35592835e-02 7.76495861e+02] [ 3.97228928e-02 9.99210655e-01 3.98243071e-04 -6.14656327e+01] [ 1.35327648e-02 -9.36506220e-04 9.99907989e-01 2.72200117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4407140569999 meters Centerline goodness [0,1] 0.9793439162556271 Centerline is valid? [True, True] Translation: X:776.53, Y:-61.46, Z:2.72 [[ 9.99186822e-01 -3.79810921e-02 -1.35325686e-02 7.76527275e+02] [ 3.79899432e-02 9.99278042e-01 3.97508467e-04 -6.14614905e+01] [ 1.35077008e-02 -9.11286734e-04 9.99908352e-01 2.72248718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4707140569999 meters Centerline goodness [0,1] 0.9789706103024717 Centerline is valid? [True, True] Translation: X:776.56, Y:-61.46, Z:2.72 [[ 9.99258443e-01 -3.61698386e-02 -1.32025246e-02 7.76559168e+02] [ 3.61781121e-02 9.99345282e-01 3.88288542e-04 -6.14605323e+01] [ 1.31798363e-02 -8.65643017e-04 9.99912767e-01 2.72330632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.500714057 meters Centerline goodness [0,1] 0.9789742160876181 Centerline is valid? [True, True] Translation: X:776.59, Y:-61.46, Z:2.73 [[ 9.99384852e-01 -3.27154418e-02 -1.26339505e-02 7.76589031e+02] [ 3.27227507e-02 9.99464398e-01 3.72176684e-04 -6.14589846e+01] [ 1.26150078e-02 -7.85365352e-04 9.99920119e-01 2.72505082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.530714057 meters Centerline goodness [0,1] 0.9797142428721376 Centerline is valid? [True, True] Translation: X:776.62, Y:-61.45, Z:2.73 [[ 9.99435601e-01 -3.11179529e-02 -1.26551722e-02 7.76620517e+02] [ 3.11251590e-02 9.99515425e-01 3.72821090e-04 -6.14523625e+01] [ 1.26374384e-02 -7.66504917e-04 9.99919851e-01 2.72575754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5607140569999 meters Centerline goodness [0,1] 0.9807488481754667 Centerline is valid? [True, True] Translation: X:776.65, Y:-61.45, Z:2.73 [[ 9.99467431e-01 -3.00895405e-02 -1.26283375e-02 7.76652541e+02] [ 3.00966402e-02 9.99546924e-01 3.72490784e-04 -6.14492945e+01] [ 1.26114079e-02 -7.52362938e-04 9.99920190e-01 2.72648121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5907140569999 meters Centerline goodness [0,1] 0.9802402917828792 Centerline is valid? [True, True] Translation: X:776.68, Y:-61.45, Z:2.73 [[ 9.99498252e-01 -2.87979465e-02 -1.31879536e-02 7.76682760e+02] [ 2.88055867e-02 9.99584957e-01 3.89708062e-04 -6.14514003e+01] [ 1.31712573e-02 -7.69399269e-04 9.99912959e-01 2.72610394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.620714057 meters Centerline goodness [0,1] 0.9829204326245746 Centerline is valid? [True, True] Translation: X:776.71, Y:-61.45, Z:2.73 [[ 9.99507859e-01 -2.86206220e-02 -1.28413145e-02 7.76713755e+02] [ 2.86278543e-02 9.99590067e-01 3.79703074e-04 -6.14497477e+01] [ 1.28251831e-02 -7.47135488e-04 9.99917475e-01 2.72622901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.650714057 meters Centerline goodness [0,1] 0.9825588934514804 Centerline is valid? [True, True] Translation: X:776.75, Y:-61.45, Z:2.73 [[ 9.99505601e-01 -2.84475013e-02 -1.33900335e-02 7.76745645e+02] [ 2.84553562e-02 9.99594986e-01 3.96428602e-04 -6.14476218e+01] [ 1.33733329e-02 -7.77250780e-04 9.99910271e-01 2.72658828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6807140569999 meters Centerline goodness [0,1] 0.9824762812459386 Centerline is valid? [True, True] Translation: X:776.78, Y:-61.45, Z:2.73 [[ 9.99501660e-01 -2.83592799e-02 -1.38630075e-02 7.76776805e+02] [ 2.83677002e-02 9.99597471e-01 4.11088873e-04 -6.14486612e+01] [ 1.38457691e-02 -8.04145652e-04 9.99903819e-01 2.72680978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7107140569999 meters Centerline goodness [0,1] 0.9828845028923023 Centerline is valid? [True, True] Translation: X:776.81, Y:-61.45, Z:2.73 [[ 9.99513827e-01 -2.79467670e-02 -1.38234833e-02 7.76807329e+02] [ 2.79551195e-02 9.99609095e-01 4.11330485e-04 -6.14497954e+01] [ 1.38065843e-02 -7.97567635e-04 9.99904366e-01 2.72737337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.740714057 meters Centerline goodness [0,1] 0.9833542849711734 Centerline is valid? [True, True] Translation: X:776.84, Y:-61.45, Z:2.73 [[ 9.99533078e-01 -2.68537088e-02 -1.45775090e-02 7.76839078e+02] [ 2.68628869e-02 9.99639033e-01 4.34128225e-04 -6.14497498e+01] [ 1.45605890e-02 -8.25519497e-04 9.99893648e-01 2.72800783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.770714057 meters Centerline goodness [0,1] 0.9838489683690922 Centerline is valid? [True, True] Translation: X:776.87, Y:-61.45, Z:2.73 [[ 9.99562166e-01 -2.60468945e-02 -1.40369138e-02 7.76870760e+02] [ 2.60553348e-02 9.99660414e-01 4.18723443e-04 -6.14473766e+01] [ 1.40212406e-02 -7.84276600e-04 9.99901390e-01 2.72856685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8007140569999 meters Centerline goodness [0,1] 0.983982683982684 Centerline is valid? [True, True] Translation: X:776.90, Y:-61.45, Z:2.73 [[ 9.99616375e-01 -2.42381279e-02 -1.34020953e-02 7.76901442e+02] [ 2.42456662e-02 9.99705951e-01 4.00254025e-04 -6.14486157e+01] [ 1.33884531e-02 -7.25043208e-04 9.99910108e-01 2.72971958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8307140569999 meters Centerline goodness [0,1] 0.9826156610595138 Centerline is valid? [True, True] Translation: X:776.93, Y:-61.45, Z:2.73 [[ 9.99640433e-01 -2.32370221e-02 -1.33807670e-02 7.76931664e+02] [ 2.32444540e-02 9.99729731e-01 4.00145820e-04 -6.14500931e+01] [ 1.33678524e-02 -7.11030563e-04 9.99910393e-01 2.73039041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8607140569999 meters Centerline goodness [0,1] 0.9837871769340664 Centerline is valid? [True, True] Translation: X:776.96, Y:-61.45, Z:2.73 [[ 9.99675728e-01 -2.18816847e-02 -1.30242601e-02 7.76963353e+02] [ 2.18886224e-02 9.99760339e-01 3.90351220e-04 -6.14499192e+01] [ 1.30125972e-02 -6.75307753e-04 9.99915105e-01 2.73112122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.890714057 meters Centerline goodness [0,1] 0.983296912525152 Centerline is valid? [True, True] Translation: X:776.99, Y:-61.45, Z:2.73 [[ 9.99716112e-01 -2.01780112e-02 -1.26705500e-02 7.76994002e+02] [ 2.01844459e-02 9.99796201e-01 3.80164508e-04 -6.14493481e+01] [ 1.26602968e-02 -6.35804615e-04 9.99919653e-01 2.73145983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9207140569999 meters Centerline goodness [0,1] 0.9824770146024878 Centerline is valid? [True, True] Translation: X:777.02, Y:-61.45, Z:2.73 [[ 9.99733391e-01 -1.93625637e-02 -1.25792962e-02 7.77024071e+02] [ 1.93688418e-02 9.99812335e-01 3.77434600e-04 -6.14517648e+01] [ 1.25696274e-02 -6.20980371e-04 9.99920806e-01 2.73175169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9507140569999 meters Centerline goodness [0,1] 0.98292704011065 Centerline is valid? [True, True] Translation: X:777.05, Y:-61.45, Z:2.73 [[ 9.99744992e-01 -1.86740519e-02 -1.26977004e-02 7.77054700e+02] [ 1.86803960e-02 9.99825434e-01 3.81200101e-04 -6.14521289e+01] [ 1.26883652e-02 -6.18300963e-04 9.99919308e-01 2.73219231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9807140569999 meters Centerline goodness [0,1] 0.9831894691411308 Centerline is valid? [True, True] Translation: X:777.09, Y:-61.45, Z:2.73 [[ 9.99752815e-01 -1.84119739e-02 -1.24622588e-02 7.77085567e+02] [ 1.84180647e-02 9.99830303e-01 3.74131866e-04 -6.14539601e+01] [ 1.24532555e-02 -6.03570075e-04 9.99922273e-01 2.73216093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.010714057 meters Centerline goodness [0,1] 0.9829663838470626 Centerline is valid? [True, True] Translation: X:777.12, Y:-61.45, Z:2.73 [[ 9.99740831e-01 -1.87416319e-02 -1.29237101e-02 7.77116320e+02] [ 1.87482096e-02 9.99824162e-01 3.87985184e-04 -6.14549623e+01] [ 1.29141662e-02 -6.30181055e-04 9.99916410e-01 2.73255747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.040714057 meters Centerline goodness [0,1] 0.9833624652035994 Centerline is valid? [True, True] Translation: X:777.15, Y:-61.46, Z:2.73 [[ 9.99702899e-01 -2.00499008e-02 -1.38605484e-02 7.77147111e+02] [ 2.00575922e-02 9.99798740e-01 4.16110185e-04 -6.14565547e+01] [ 1.38494158e-02 -6.93995785e-04 9.99903851e-01 2.73226089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0707140569999 meters Centerline goodness [0,1] 0.9836606950140298 Centerline is valid? [True, True] Translation: X:777.18, Y:-61.46, Z:2.73 [[ 9.99682199e-01 -2.09713608e-02 -1.39893624e-02 7.77177929e+02] [ 2.09792858e-02 9.99779822e-01 4.19977335e-04 -6.14577598e+01] [ 1.39774747e-02 -7.13330698e-04 9.99902056e-01 2.73267563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1007140569999 meters Centerline goodness [0,1] 0.9836606950140298 Centerline is valid? [True, True] Translation: X:777.21, Y:-61.46, Z:2.73 [[ 9.99682199e-01 -2.09713608e-02 -1.39893624e-02 7.77207953e+02] [ 2.09792858e-02 9.99779822e-01 4.19977335e-04 -6.14586612e+01] [ 1.39774747e-02 -7.13330698e-04 9.99902056e-01 2.73303977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.130714057 meters Centerline goodness [0,1] 0.9833765112262521 Centerline is valid? [True, True] Translation: X:777.24, Y:-61.46, Z:2.73 [[ 9.99661238e-01 -2.20259164e-02 -1.38660932e-02 7.77237833e+02] [ 2.20338031e-02 9.99757140e-01 4.16246407e-04 -6.14604579e+01] [ 1.38535574e-02 -7.21628165e-04 9.99903774e-01 2.73361711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.160714057 meters Centerline goodness [0,1] 0.9832337138294888 Centerline is valid? [True, True] Translation: X:777.27, Y:-61.46, Z:2.73 [[ 9.99637915e-01 -2.31334405e-02 -1.37434660e-02 7.77268334e+02] [ 2.31412899e-02 9.99732119e-01 4.12357686e-04 -6.14576601e+01] [ 1.37302451e-02 -7.30249907e-04 9.99905469e-01 2.73446480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1907140569999 meters Centerline goodness [0,1] 0.983476779050454 Centerline is valid? [True, True] Translation: X:777.30, Y:-61.46, Z:2.74 [[ 9.99593515e-01 -2.54474178e-02 -1.28543312e-02 7.77298114e+02] [ 2.54544757e-02 9.99675908e-01 3.85732995e-04 -6.14618631e+01] [ 1.28403493e-02 -7.12776463e-04 9.99917305e-01 2.73542991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2207140569999 meters Centerline goodness [0,1] 0.982127439129684 Centerline is valid? [True, True] Translation: X:777.33, Y:-61.47, Z:2.74 [[ 9.99562728e-01 -2.69410045e-02 -1.21875187e-02 7.77328081e+02] [ 2.69474698e-02 9.99636784e-01 3.66547182e-04 -6.14670178e+01] [ 1.21732169e-02 -6.94809694e-04 9.99925662e-01 2.73598220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.250714057 meters Centerline goodness [0,1] 0.9825871183514943 Centerline is valid? [True, True] Translation: X:777.36, Y:-61.47, Z:2.74 [[ 9.99474709e-01 -3.00168232e-02 -1.22186585e-02 7.77359233e+02] [ 3.00235533e-02 9.99549124e-01 3.67700109e-04 -6.14650474e+01] [ 1.22021122e-02 -7.34354505e-04 9.99925282e-01 2.73629063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.280714057 meters Centerline goodness [0,1] 0.9811769282302855 Centerline is valid? [True, True] Translation: X:777.39, Y:-61.47, Z:2.74 [[ 9.99421344e-01 -3.16348896e-02 -1.24984627e-02 7.77390122e+02] [ 3.16420605e-02 9.99499194e-01 3.76364017e-04 -6.14694437e+01] [ 1.24802972e-02 -7.71623345e-04 9.99921820e-01 2.73651189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3107140569999 meters Centerline goodness [0,1] 0.9811337008959339 Centerline is valid? [True, True] Translation: X:777.42, Y:-61.47, Z:2.74 [[ 9.99383582e-01 -3.26682438e-02 -1.28546570e-02 7.77422554e+02] [ 3.26759238e-02 9.99465924e-01 3.87813472e-04 -6.14705419e+01] [ 1.28351224e-02 -8.07612209e-04 9.99917300e-01 2.73679819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3407140569999 meters Centerline goodness [0,1] 0.9819275809269123 Centerline is valid? [True, True] Translation: X:777.45, Y:-61.47, Z:2.74 [[ 9.99311785e-01 -3.47756426e-02 -1.29078264e-02 7.77454040e+02] [ 3.47835727e-02 9.99394792e-01 3.90309226e-04 -6.14716010e+01] [ 1.28864413e-02 -8.39020929e-04 9.99916614e-01 2.73626444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.370714057 meters Centerline goodness [0,1] 0.9812452789468005 Centerline is valid? [True, True] Translation: X:777.49, Y:-61.47, Z:2.74 [[ 9.99274329e-01 -3.57126084e-02 -1.32447898e-02 7.77486392e+02] [ 3.57210469e-02 9.99361719e-01 4.01024577e-04 -6.14740678e+01] [ 1.32220143e-02 -8.73851324e-04 9.99912204e-01 2.73642041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.400714057 meters Centerline goodness [0,1] 0.9812985103668951 Centerline is valid? [True, True] Translation: X:777.52, Y:-61.48, Z:2.74 [[ 9.99249485e-01 -3.63558653e-02 -1.33685490e-02 7.77518800e+02] [ 3.63645325e-02 9.99338509e-01 4.05733807e-04 -6.14762769e+01] [ 1.33449550e-02 -8.91570331e-04 9.99910555e-01 2.73691653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4307140569999 meters Centerline goodness [0,1] 0.9810514502762431 Centerline is valid? [True, True] Translation: X:777.55, Y:-61.48, Z:2.74 [[ 9.99237462e-01 -3.65760839e-02 -1.36632498e-02 7.77551070e+02] [ 3.65851715e-02 9.99330452e-01 4.15668901e-04 -6.14770935e+01] [ 1.36388980e-02 -9.15224273e-04 9.99906567e-01 2.73690739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4607140569999 meters Centerline goodness [0,1] 0.9809132380788432 Centerline is valid? [True, True] Translation: X:777.58, Y:-61.48, Z:2.74 [[ 9.99240658e-01 -3.62259674e-02 -1.43452669e-02 7.77583065e+02] [ 3.62359642e-02 9.99343166e-01 4.37478415e-04 -6.14782326e+01] [ 1.43199964e-02 -9.56960797e-04 9.99897006e-01 2.73703073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4907140569999 meters Centerline goodness [0,1] 0.9810284033140805 Centerline is valid? [True, True] Translation: X:777.61, Y:-61.48, Z:2.74 [[ 9.99286489e-01 -3.46280382e-02 -1.50801507e-02 7.77613785e+02] [ 3.46389196e-02 9.99399786e-01 4.60893325e-04 -6.14790296e+01] [ 1.50551395e-02 -9.82924599e-04 9.99886182e-01 2.73659739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.520714057 meters Centerline goodness [0,1] 0.9806974928428907 Centerline is valid? [True, True] Translation: X:777.65, Y:-61.48, Z:2.74 [[ 9.99323185e-01 -3.35891112e-02 -1.49981498e-02 7.77645556e+02] [ 3.35997665e-02 9.99435263e-01 4.58954040e-04 -6.14789479e+01] [ 1.49742640e-02 -9.62577745e-04 9.99887416e-01 2.73739675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5507140569999 meters Centerline goodness [0,1] 0.981954234898601 Centerline is valid? [True, True] Translation: X:777.68, Y:-61.47, Z:2.74 [[ 9.99407190e-01 -3.11633360e-02 -1.46326818e-02 7.77676479e+02] [ 3.11732285e-02 9.99513896e-01 4.48402189e-04 -6.14741444e+01] [ 1.46115951e-02 -9.04284304e-04 9.99892836e-01 2.73865803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5807140569999 meters Centerline goodness [0,1] 0.9805806325907644 Centerline is valid? [True, True] Translation: X:777.71, Y:-61.48, Z:2.74 [[ 9.99457488e-01 -2.96213744e-02 -1.43980474e-02 7.77706447e+02] [ 2.96307964e-02 9.99560814e-01 4.41463208e-04 -6.14763453e+01] [ 1.43786473e-02 -8.67849322e-04 9.99896245e-01 2.73920510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6107140569999 meters Centerline goodness [0,1] 0.9819427283171837 Centerline is valid? [True, True] Translation: X:777.74, Y:-61.47, Z:2.74 [[ 9.99546116e-01 -2.67605324e-02 -1.38360272e-02 7.77737430e+02] [ 2.67689632e-02 9.99641557e-01 4.24466085e-04 -6.14688683e+01] [ 1.38197088e-02 -7.94649529e-04 9.99904187e-01 2.74090496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.640714057 meters Centerline goodness [0,1] 0.9814454392111068 Centerline is valid? [True, True] Translation: X:777.77, Y:-61.47, Z:2.74 [[ 9.99589689e-01 -2.53500074e-02 -1.33353306e-02 7.77767437e+02] [ 2.53577170e-02 9.99678358e-01 4.09335649e-04 -6.14728984e+01] [ 1.33206648e-02 -7.47321234e-04 9.99910997e-01 2.74184914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6707140569999 meters Centerline goodness [0,1] 0.981762983844736 Centerline is valid? [True, True] Translation: X:777.80, Y:-61.47, Z:2.74 [[ 9.99609427e-01 -2.45256939e-02 -1.33971518e-02 7.77799559e+02] [ 2.45334050e-02 9.99698926e-01 4.11507062e-04 -6.14655938e+01] [ 1.33830258e-02 -7.40024089e-04 9.99910169e-01 2.74307741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7007140569999 meters Centerline goodness [0,1] 0.9817519040076377 Centerline is valid? [True, True] Translation: X:777.83, Y:-61.47, Z:2.74 [[ 9.99627147e-01 -2.39185229e-02 -1.31708122e-02 7.77829555e+02] [ 2.39259304e-02 9.99713652e-01 4.05115890e-04 -6.14673640e+01] [ 1.31573510e-02 -7.20088777e-04 9.99913179e-01 2.74334666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7307140569999 meters Centerline goodness [0,1] 0.9816744832377975 Centerline is valid? [True, True] Translation: X:777.86, Y:-61.47, Z:2.74 [[ 9.99605703e-01 -2.41038794e-02 -1.44028164e-02 7.77859664e+02] [ 2.41127609e-02 9.99709147e-01 4.43288211e-04 -6.14684911e+01] [ 1.43879423e-02 -7.90405091e-04 9.99896176e-01 2.74318426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.760714057 meters Centerline goodness [0,1] 0.9817328894461499 Centerline is valid? [True, True] Translation: X:777.89, Y:-61.47, Z:2.74 [[ 9.99530136e-01 -2.64941021e-02 -1.54133232e-02 7.77890907e+02] [ 2.65045623e-02 9.99648580e-01 4.74733569e-04 -6.14677582e+01] [ 1.53953290e-02 -8.83033892e-04 9.99881095e-01 2.74202793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.790714057 meters Centerline goodness [0,1] 0.9810923000021733 Centerline is valid? [True, True] Translation: X:777.92, Y:-61.47, Z:2.74 [[ 9.99480154e-01 -2.82825741e-02 -1.54763856e-02 7.77921377e+02] [ 2.82933413e-02 9.99599549e-01 4.77166952e-04 -6.14715942e+01] [ 1.54566926e-02 -9.14797559e-04 9.99880120e-01 2.74151234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8207140569999 meters Centerline goodness [0,1] 0.9814088535459686 Centerline is valid? [True, True] Translation: X:777.95, Y:-61.47, Z:2.74 [[ 9.99424883e-01 -2.99631194e-02 -1.58781405e-02 7.77952834e+02] [ 2.99746698e-02 9.99550539e-01 4.89904418e-04 -6.14733898e+01] [ 1.58563248e-02 -9.65564685e-04 9.99873814e-01 2.74187782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8507140569999 meters Centerline goodness [0,1] 0.9818821689259646 Centerline is valid? [True, True] Translation: X:777.98, Y:-61.47, Z:2.74 [[ 9.99355685e-01 -3.22575330e-02 -1.57374349e-02 7.77983630e+02] [ 3.22691706e-02 9.99479097e-01 4.86047405e-04 -6.14719067e+01] [ 1.57135585e-02 -9.93568207e-04 9.99876041e-01 2.74263886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.880714057 meters Centerline goodness [0,1] 0.9816997720612178 Centerline is valid? [True, True] Translation: X:778.01, Y:-61.48, Z:2.74 [[ 9.99265792e-01 -3.50676505e-02 -1.54316603e-02 7.78013496e+02] [ 3.50791771e-02 9.99384423e-01 4.76817202e-04 -6.14751597e+01] [ 1.54054400e-02 -1.01779706e-03 9.99880811e-01 2.74359794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.910714057 meters Centerline goodness [0,1] 0.9813291890608474 Centerline is valid? [True, True] Translation: X:778.05, Y:-61.48, Z:2.74 [[ 9.99260553e-01 -3.53138422e-02 -1.52078865e-02 7.78045869e+02] [ 3.53250686e-02 9.99375764e-01 4.70125177e-04 -6.14754575e+01] [ 1.51817913e-02 -1.00699718e-03 9.99884243e-01 2.74415867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9407140569999 meters Centerline goodness [0,1] 0.98081852543772 Centerline is valid? [True, True] Translation: X:778.08, Y:-61.48, Z:2.74 [[ 9.99270637e-01 -3.46996053e-02 -1.59415313e-02 7.78077606e+02] [ 3.47118822e-02 9.99397239e-01 4.93990327e-04 -6.14756721e+01] [ 1.59147811e-02 -1.04699059e-03 9.99872804e-01 2.74491336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9707140569999 meters Centerline goodness [0,1] 0.981662114709325 Centerline is valid? [True, True] Translation: X:778.11, Y:-61.47, Z:2.74 [[ 9.99326006e-01 -3.34695653e-02 -1.50771804e-02 7.78109167e+02] [ 3.34804214e-02 9.99439264e-01 4.68130347e-04 -6.14731095e+01] [ 1.50530579e-02 -9.72605182e-04 9.99886223e-01 2.74498994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.000714057 meters Centerline goodness [0,1] 0.9809362515198888 Centerline is valid? [True, True] Translation: X:778.14, Y:-61.48, Z:2.75 [[ 9.99359969e-01 -3.21649774e-02 -1.56545929e-02 7.78139413e+02] [ 3.21765341e-02 9.99482083e-01 4.86855162e-04 -6.14755505e+01] [ 1.56308255e-02 -9.90254103e-04 9.99877341e-01 2.74525696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.030714057 meters Centerline goodness [0,1] 0.981465002712968 Centerline is valid? [True, True] Translation: X:778.17, Y:-61.47, Z:2.75 [[ 9.99432688e-01 -2.99756955e-02 -1.53544839e-02 7.78171279e+02] [ 2.99865764e-02 9.99550187e-01 4.78856955e-04 -6.14739176e+01] [ 1.53332232e-02 -9.39013699e-04 9.99881998e-01 2.74600558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0607140569999 meters Centerline goodness [0,1] 0.9813527938133101 Centerline is valid? [True, True] Translation: X:778.20, Y:-61.47, Z:2.75 [[ 9.99445656e-01 -2.95947942e-02 -1.52489292e-02 7.78202618e+02] [ 2.96054943e-02 9.99561548e-01 4.76386783e-04 -6.14728919e+01] [ 1.52281447e-02 -9.27574787e-04 9.99883615e-01 2.74696349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0907140569999 meters Centerline goodness [0,1] 0.9818352509660939 Centerline is valid? [True, True] Translation: X:778.23, Y:-61.47, Z:2.75 [[ 9.99467778e-01 -2.89327712e-02 -1.50683824e-02 7.78234365e+02] [ 2.89431523e-02 9.99580948e-01 4.71268702e-04 -6.14725668e+01] [ 1.50484329e-02 -9.07144369e-04 9.99886354e-01 2.74769316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.120714057 meters Centerline goodness [0,1] 0.9822854400279244 Centerline is valid? [True, True] Translation: X:778.27, Y:-61.47, Z:2.75 [[ 9.99488926e-01 -2.87198544e-02 -1.40376943e-02 7.78265706e+02] [ 2.87288493e-02 9.99587145e-01 4.39494324e-04 -6.14734863e+01] [ 1.40192765e-02 -8.42556514e-04 9.99901370e-01 2.74783276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.150714057 meters Centerline goodness [0,1] 0.9822707423580787 Centerline is valid? [True, True] Translation: X:778.30, Y:-61.48, Z:2.75 [[ 9.99499701e-01 -2.83798872e-02 -1.39616952e-02 7.78297668e+02] [ 2.83887595e-02 9.99596862e-01 4.37660745e-04 -6.14750574e+01] [ 1.39436459e-02 -8.33796991e-04 9.99902435e-01 2.74853823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1807140569999 meters Centerline goodness [0,1] 0.9824840071369512 Centerline is valid? [True, True] Translation: X:778.33, Y:-61.48, Z:2.75 [[ 9.99504147e-01 -2.80891129e-02 -1.42289443e-02 7.78328811e+02] [ 2.80983125e-02 9.99605065e-01 4.47000578e-04 -6.14762578e+01] [ 1.42107689e-02 -8.46588253e-04 9.99898664e-01 2.74838260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2107140569999 meters Centerline goodness [0,1] 0.9820555361508907 Centerline is valid? [True, True] Translation: X:778.36, Y:-61.47, Z:2.75 [[ 9.99493181e-01 -2.82170461e-02 -1.47369817e-02 7.78360175e+02] [ 2.82269392e-02 9.99601433e-01 4.63700515e-04 -6.14719319e+01] [ 1.47180238e-02 -8.79445390e-04 9.99891297e-01 2.74844403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2407140569999 meters Centerline goodness [0,1] 0.9809165317109467 Centerline is valid? [True, True] Translation: X:778.39, Y:-61.48, Z:2.75 [[ 9.99449911e-01 -2.82887615e-02 -1.73095645e-02 7.78391423e+02] [ 2.83024398e-02 9.99599257e-01 5.45712868e-04 -6.14799856e+01] [ 1.72871903e-02 -1.03531559e-03 9.99850029e-01 2.74666686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.270714057 meters Centerline goodness [0,1] 0.9814721644974297 Centerline is valid? [True, True] Translation: X:778.42, Y:-61.48, Z:2.75 [[ 9.99434839e-01 -2.84929780e-02 -1.78368296e-02 7.78423145e+02] [ 2.85075622e-02 9.99593418e-01 5.63864527e-04 -6.14814392e+01] [ 1.78135113e-02 -1.07203038e-03 9.99840752e-01 2.74587514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3007140569999 meters Centerline goodness [0,1] 0.9814303420383135 Centerline is valid? [True, True] Translation: X:778.45, Y:-61.48, Z:2.75 [[ 9.99421615e-01 -2.90570509e-02 -1.76670231e-02 7.78454487e+02] [ 2.90714569e-02 9.99577180e-01 5.59086966e-04 -6.14772327e+01] [ 1.76433077e-02 -1.07236970e-03 9.99843770e-01 2.74650592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3307140569999 meters Centerline goodness [0,1] 0.9812876694445049 Centerline is valid? [True, True] Translation: X:778.49, Y:-61.48, Z:2.75 [[ 9.99422202e-01 -2.92469664e-02 -1.73169450e-02 7.78485702e+02] [ 2.92608457e-02 9.99571659e-01 5.48600038e-04 -6.14786048e+01] [ 1.72934826e-02 -1.05499151e-03 9.99849900e-01 2.74798617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3607140569999 meters Centerline goodness [0,1] 0.983241196186828 Centerline is valid? [True, True] Translation: X:778.52, Y:-61.48, Z:2.75 [[ 9.99425743e-01 -2.95593556e-02 -1.65658615e-02 7.78517496e+02] [ 2.95721088e-02 9.99562511e-01 5.25364247e-04 -6.14762696e+01] [ 1.65430847e-02 -1.01495001e-03 9.99862639e-01 2.74963330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.390714057 meters Centerline goodness [0,1] 0.9828751494078019 Centerline is valid? [True, True] Translation: X:778.55, Y:-61.48, Z:2.75 [[ 9.99431899e-01 -2.96802863e-02 -1.59674528e-02 7.78548709e+02] [ 2.96921588e-02 9.99558962e-01 5.06938876e-04 -6.14763598e+01] [ 1.59453644e-02 -9.80759028e-04 9.99872384e-01 2.75048568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4207140569999 meters Centerline goodness [0,1] 0.9828838625489343 Centerline is valid? [True, True] Translation: X:778.58, Y:-61.48, Z:2.75 [[ 9.99446072e-01 -2.93870762e-02 -1.56188573e-02 7.78579642e+02] [ 2.93984089e-02 9.99567650e-01 4.96420448e-04 -6.14767231e+01] [ 1.55975162e-02 -9.55315021e-04 9.99877895e-01 2.75113900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4507140569999 meters Centerline goodness [0,1] 0.9821319486866219 Centerline is valid? [True, True] Translation: X:778.61, Y:-61.48, Z:2.75 [[ 9.99434947e-01 -2.95045801e-02 -1.61017657e-02 7.78610962e+02] [ 2.95166503e-02 9.99564157e-01 5.12428206e-04 -6.14784994e+01] [ 1.60796289e-02 -9.87408843e-04 9.99870227e-01 2.75077772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4807140569999 meters Centerline goodness [0,1] 0.9815101497939516 Centerline is valid? [True, True] Translation: X:778.64, Y:-61.48, Z:2.75 [[ 9.99428187e-01 -2.97963610e-02 -1.59836145e-02 7.78642557e+02] [ 2.98083043e-02 9.99555504e-01 5.09447524e-04 -6.14789716e+01] [ 1.59613302e-02 -9.85600660e-04 9.99872124e-01 2.75073177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.510714057 meters Centerline goodness [0,1] 0.9820703210307927 Centerline is valid? [True, True] Translation: X:778.67, Y:-61.48, Z:2.75 [[ 9.99396542e-01 -3.07293067e-02 -1.61944784e-02 7.78673890e+02] [ 3.07416985e-02 9.99527229e-01 5.16746485e-04 -6.14807575e+01] [ 1.61709429e-02 -1.01428042e-03 9.99868727e-01 2.75084623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.540714057 meters Centerline goodness [0,1] 0.9816273538589103 Centerline is valid? [True, True] Translation: X:778.70, Y:-61.48, Z:2.75 [[ 9.99361794e-01 -3.15680055e-02 -1.67172347e-02 7.78704736e+02] [ 3.15813386e-02 9.99501042e-01 5.34109384e-04 -6.14831820e+01] [ 1.66920328e-02 -1.06172116e-03 9.99860115e-01 2.75132754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5707140569999 meters Centerline goodness [0,1] 0.9814936056915892 Centerline is valid? [True, True] Translation: X:778.74, Y:-61.49, Z:2.75 [[ 9.99319771e-01 -3.33096256e-02 -1.58260772e-02 7.78735735e+02] [ 3.33218030e-02 9.99444546e-01 5.06305081e-04 -6.14858834e+01] [ 1.58004217e-02 -1.03331410e-03 9.99874632e-01 2.75253777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6007140569999 meters Centerline goodness [0,1] 0.9802198281502159 Centerline is valid? [True, True] Translation: X:778.77, Y:-61.49, Z:2.75 [[ 9.99310875e-01 -3.41376855e-02 -1.45737514e-02 7.78767222e+02] [ 3.41481040e-02 9.99416675e-01 4.66562197e-04 -6.14891307e+01] [ 1.45493228e-02 -9.63906654e-04 9.99893688e-01 2.75363106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.630714057 meters Centerline goodness [0,1] 0.9812572276406799 Centerline is valid? [True, True] Translation: X:778.80, Y:-61.48, Z:2.75 [[ 9.99282677e-01 -3.51522579e-02 -1.40872028e-02 7.78799488e+02] [ 3.51621033e-02 9.99381520e-01 4.51737682e-04 -6.14835741e+01] [ 1.40626105e-02 -9.46749318e-04 9.99900668e-01 2.75473052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.660714057 meters Centerline goodness [0,1] 0.9808388983457728 Centerline is valid? [True, True] Translation: X:778.83, Y:-61.49, Z:2.75 [[ 9.99291769e-01 -3.50914603e-02 -1.35848838e-02 7.78832128e+02] [ 3.51006234e-02 9.99383688e-01 4.36590337e-04 -6.14852885e+01] [ 1.35611907e-02 -9.13119020e-04 9.99907626e-01 2.75463102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6907140569999 meters Centerline goodness [0,1] 0.9804204046886255 Centerline is valid? [True, True] Translation: X:778.86, Y:-61.49, Z:2.75 [[ 9.99311341e-01 -3.44033970e-02 -1.39014435e-02 7.78863327e+02] [ 3.44129416e-02 9.99407599e-01 4.47897974e-04 -6.14886272e+01] [ 1.38777991e-02 -9.25979089e-04 9.99903270e-01 2.75473441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7207140569999 meters Centerline goodness [0,1] 0.9810476211270989 Centerline is valid? [True, True] Translation: X:778.90, Y:-61.49, Z:2.75 [[ 9.99369691e-01 -3.25105522e-02 -1.42577899e-02 7.78895315e+02] [ 3.25204253e-02 9.99470965e-01 4.61111162e-04 -6.14873192e+01] [ 1.42352561e-02 -9.24489911e-04 9.99898246e-01 2.75417401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.750714057 meters Centerline goodness [0,1] 0.9818360226777147 Centerline is valid? [True, True] Translation: X:778.93, Y:-61.49, Z:2.75 [[ 9.99399894e-01 -3.16288480e-02 -1.41232982e-02 7.78927136e+02] [ 3.16384592e-02 9.99499274e-01 4.57556320e-04 -6.14865755e+01] [ 1.41017543e-02 -9.04121133e-04 9.99900157e-01 2.75405908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.780714057 meters Centerline goodness [0,1] 0.9818562913473505 Centerline is valid? [True, True] Translation: X:778.96, Y:-61.49, Z:2.75 [[ 9.99467980e-01 -2.92930282e-02 -1.43413880e-02 7.78957351e+02] [ 2.93027150e-02 9.99570475e-01 4.65736828e-04 -6.14882433e+01] [ 1.43215852e-02 -8.85730652e-04 9.99897049e-01 2.75327156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8107140569999 meters Centerline goodness [0,1] 0.9819648893250463 Centerline is valid? [True, True] Translation: X:778.99, Y:-61.49, Z:2.75 [[ 9.99499574e-01 -2.80432217e-02 -1.46348746e-02 7.78989117e+02] [ 2.80531955e-02 9.99606318e-01 4.76621387e-04 -6.14888316e+01] [ 1.46157472e-02 -8.86937873e-04 9.99892791e-01 2.75384073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8407140569999 meters Centerline goodness [0,1] 0.9813622721934671 Centerline is valid? [True, True] Translation: X:779.02, Y:-61.49, Z:2.75 [[ 9.99536673e-01 -2.68622110e-02 -1.43129352e-02 7.79019080e+02] [ 2.68716415e-02 9.99638783e-01 4.66933914e-04 -6.14899971e+01] [ 1.42952222e-02 -8.51329633e-04 9.99897456e-01 2.75405882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.870714057 meters Centerline goodness [0,1] 0.9822787017459729 Centerline is valid? [True, True] Translation: X:779.05, Y:-61.49, Z:2.75 [[ 9.99602569e-01 -2.45036268e-02 -1.39383021e-02 7.79050820e+02] [ 2.45123549e-02 9.99699423e-01 4.55675520e-04 -6.14885364e+01] [ 1.39229469e-02 -7.97155029e-04 9.99902753e-01 2.75492447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.900714057 meters Centerline goodness [0,1] 0.9820119630233822 Centerline is valid? [True, True] Translation: X:779.08, Y:-61.49, Z:2.76 [[ 9.99622910e-01 -2.38042029e-02 -1.36893110e-02 7.79080940e+02] [ 2.38125656e-02 9.99716340e-01 4.48198238e-04 -6.14902863e+01] [ 1.36747589e-02 -7.74006843e-04 9.99906197e-01 2.75521086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9307140569999 meters Centerline goodness [0,1] 0.9825604180274331 Centerline is valid? [True, True] Translation: X:779.11, Y:-61.49, Z:2.75 [[ 9.99632745e-01 -2.32149678e-02 -1.39800077e-02 7.79111661e+02] [ 2.32236360e-02 9.99730190e-01 4.57997799e-04 -6.14933973e+01] [ 1.39656033e-02 -7.82496206e-04 9.99902170e-01 2.75404330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9607140569999 meters Centerline goodness [0,1] 0.9836148167619548 Centerline is valid? [True, True] Translation: X:779.14, Y:-61.49, Z:2.75 [[ 9.99620350e-01 -2.35754218e-02 -1.42603050e-02 7.79142573e+02] [ 2.35844848e-02 9.99721738e-01 4.67681406e-04 -6.14947406e+01] [ 1.42453111e-02 -8.03825797e-04 9.99898207e-01 2.75392988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9907140569999 meters Centerline goodness [0,1] 0.9836148167619548 Centerline is valid? [True, True] Translation: X:779.17, Y:-61.50, Z:2.75 [[ 9.99621157e-01 -2.35411832e-02 -1.42602890e-02 7.79173447e+02] [ 2.35502497e-02 9.99722545e-01 4.68169794e-04 -6.14957861e+01] [ 1.42453111e-02 -8.03825797e-04 9.99898207e-01 2.75430426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.020714057 meters Centerline goodness [0,1] 0.9835816687270913 Centerline is valid? [True, True] Translation: X:779.21, Y:-61.50, Z:2.75 [[ 9.99604102e-01 -2.41491202e-02 -1.44381453e-02 7.79205017e+02] [ 2.41584847e-02 9.99708029e-01 4.74508763e-04 -6.14973158e+01] [ 1.44224708e-02 -8.23124618e-04 9.99895652e-01 2.75442885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0507140569999 meters Centerline goodness [0,1] 0.982755237742266 Centerline is valid? [True, True] Translation: X:779.24, Y:-61.50, Z:2.76 [[ 9.99562996e-01 -2.58953609e-02 -1.42565069e-02 7.79235804e+02] [ 2.59046746e-02 9.99664308e-01 4.68984232e-04 -6.15001239e+01] [ 1.42395766e-02 -8.38089455e-04 9.99898261e-01 2.75574650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0807140569999 meters Centerline goodness [0,1] 0.9824634381294334 Centerline is valid? [True, True] Translation: X:779.27, Y:-61.50, Z:2.76 [[ 9.99557464e-01 -2.65318342e-02 -1.34513219e-02 7.79266696e+02] [ 2.65401860e-02 9.99647649e-01 4.42736533e-04 -6.15019751e+01] [ 1.34348357e-02 -7.99541192e-04 9.99909429e-01 2.75730297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1107140569999 meters Centerline goodness [0,1] 0.9826621190257554 Centerline is valid? [True, True] Translation: X:779.30, Y:-61.50, Z:2.76 [[ 9.99564995e-01 -2.70944463e-02 -1.16495065e-02 7.79298561e+02] [ 2.71007522e-02 9.99632634e-01 3.83754950e-04 -6.14993547e+01] [ 1.16348292e-02 -6.99298403e-04 9.99932069e-01 2.75916514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.140714057 meters Centerline goodness [0,1] 0.9822636799579584 Centerline is valid? [True, True] Translation: X:779.33, Y:-61.50, Z:2.76 [[ 9.99553225e-01 -2.73665478e-02 -1.20176025e-02 7.79331106e+02] [ 2.73732888e-02 9.99625203e-01 3.96762703e-04 -6.15013694e+01] [ 1.20022403e-02 -7.25546743e-04 9.99927707e-01 2.75989873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1707140569999 meters Centerline goodness [0,1] 0.9807943558923439 Centerline is valid? [True, True] Translation: X:779.36, Y:-61.51, Z:2.76 [[ 9.99546871e-01 -2.70553524e-02 -1.31931823e-02 7.79361852e+02] [ 2.70634629e-02 9.99633622e-01 4.36570911e-04 -6.15098368e+01] [ 1.31765371e-02 -7.93426288e-04 9.99912871e-01 2.75952116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2007140569999 meters Centerline goodness [0,1] 0.9829676800279147 Centerline is valid? [True, True] Translation: X:779.39, Y:-61.50, Z:2.76 [[ 9.99539868e-01 -2.69613368e-02 -1.38974622e-02 7.79394583e+02] [ 2.69703385e-02 9.99636128e-01 4.60673337e-04 -6.15039662e+01] [ 1.38799850e-02 -8.35280626e-04 9.99903319e-01 2.75933301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2307140569999 meters Centerline goodness [0,1] 0.9825430423113012 Centerline is valid? [True, True] Translation: X:779.43, Y:-61.51, Z:2.76 [[ 9.99550202e-01 -2.63439875e-02 -1.43313355e-02 7.79425485e+02] [ 2.63535112e-02 9.99652573e-01 4.76059800e-04 -6.15072642e+01] [ 1.43138151e-02 -8.53526680e-04 9.99897188e-01 2.75933008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.260714057 meters Centerline goodness [0,1] 0.9825148809523809 Centerline is valid? [True, True] Translation: X:779.46, Y:-61.51, Z:2.76 [[ 9.99576467e-01 -2.49020883e-02 -1.50589456e-02 7.79455827e+02] [ 2.49124516e-02 9.99689511e-01 5.00954711e-04 -6.15098489e+01] [ 1.50417951e-02 -8.75897793e-04 9.99886482e-01 2.75945501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.290714057 meters Centerline goodness [0,1] 0.9824446482379143 Centerline is valid? [True, True] Translation: X:779.49, Y:-61.51, Z:2.76 [[ 9.99604603e-01 -2.37983062e-02 -1.49759278e-02 7.79487024e+02] [ 2.38084366e-02 9.99716415e-01 4.98497931e-04 -6.15106946e+01] [ 1.49598174e-02 -8.54854253e-04 9.99887730e-01 2.76025422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3207140569999 meters Centerline goodness [0,1] 0.981543551125234 Centerline is valid? [True, True] Translation: X:779.52, Y:-61.51, Z:2.76 [[ 9.99648900e-01 -2.20481575e-02 -1.46954330e-02 7.79517305e+02] [ 2.20577300e-02 9.99756579e-01 4.89607919e-04 -6.15117179e+01] [ 1.46810608e-02 -8.13583909e-04 9.99891896e-01 2.76097215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3507140569999 meters Centerline goodness [0,1] 0.9823685305648641 Centerline is valid? [True, True] Translation: X:779.55, Y:-61.51, Z:2.76 [[ 9.99721441e-01 -1.88586143e-02 -1.41913010e-02 7.79547787e+02] [ 1.88672236e-02 9.99821886e-01 4.73008757e-04 -6.15075674e+01] [ 1.41798530e-02 -7.40627444e-04 9.99899187e-01 2.76234538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.380714057 meters Centerline goodness [0,1] 0.982298170664914 Centerline is valid? [True, True] Translation: X:779.58, Y:-61.51, Z:2.76 [[ 9.99754012e-01 -1.72662883e-02 -1.39208939e-02 7.79577779e+02] [ 1.72744186e-02 9.99850678e-01 4.63995848e-04 -6.15086905e+01] [ 1.39108037e-02 -7.04357059e-04 9.99902992e-01 2.76279352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.410714057 meters Centerline goodness [0,1] 0.9826571963919997 Centerline is valid? [True, True] Translation: X:779.61, Y:-61.51, Z:2.76 [[ 9.99777825e-01 -1.53804576e-02 -1.44132559e-02 7.79608523e+02] [ 1.53889778e-02 9.99881467e-01 4.80406715e-04 -6.15078934e+01] [ 1.44041586e-02 -7.02105256e-04 9.99896008e-01 2.76235338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4407140569999 meters Centerline goodness [0,1] 0.982701613786157 Centerline is valid? [True, True] Translation: X:779.64, Y:-61.51, Z:2.76 [[ 9.99763498e-01 -1.56566905e-02 -1.50936010e-02 7.79638226e+02] [ 1.56660639e-02 9.99877153e-01 5.02976701e-04 -6.15068498e+01] [ 1.50838718e-02 -7.39315064e-04 9.99885959e-01 2.76224368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4707140569999 meters Centerline goodness [0,1] 0.98311986863711 Centerline is valid? [True, True] Translation: X:779.67, Y:-61.51, Z:2.76 [[ 9.99738775e-01 -1.69057128e-02 -1.53811349e-02 7.79666966e+02] [ 1.69155848e-02 9.99856790e-01 5.11943285e-04 -6.15100143e+01] [ 1.53702774e-02 -7.71990444e-04 9.99881572e-01 2.76175390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.500714057 meters Centerline goodness [0,1] 0.9820373692731807 Centerline is valid? [True, True] Translation: X:779.70, Y:-61.52, Z:2.76 [[ 9.99653631e-01 -2.03406005e-02 -1.66996342e-02 7.79695745e+02] [ 2.03527013e-02 9.99792708e-01 5.54967950e-04 -6.15159947e+01] [ 1.66848841e-02 -8.94658393e-04 9.99860397e-01 2.76109698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.530714057 meters Centerline goodness [0,1] 0.9822319474835887 Centerline is valid? [True, True] Translation: X:779.73, Y:-61.52, Z:2.76 [[ 9.99614585e-01 -2.24072941e-02 -1.63888794e-02 7.79725083e+02] [ 2.24192164e-02 9.99748510e-01 5.44074483e-04 -6.15197063e+01] [ 1.63725665e-02 -9.11290620e-04 9.99865545e-01 2.76145871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5607140569999 meters Centerline goodness [0,1] 0.9825741363497401 Centerline is valid? [True, True] Translation: X:779.76, Y:-61.52, Z:2.76 [[ 9.99549984e-01 -2.60692740e-02 -1.48399092e-02 7.79755600e+02] [ 2.60794454e-02 9.99659752e-01 4.92269970e-04 -6.15212417e+01] [ 1.48220269e-02 -8.79065044e-04 9.99889761e-01 2.76288088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5907140569999 meters Centerline goodness [0,1] 0.9822916212326078 Centerline is valid? [True, True] Translation: X:779.79, Y:-61.53, Z:2.76 [[ 9.99510255e-01 -2.76701813e-02 -1.46154505e-02 7.79786022e+02] [ 2.76802185e-02 9.99616712e-01 4.84869064e-04 -6.15255181e+01] [ 1.45964321e-02 -8.89190465e-04 9.99893071e-01 2.76372412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.620714057 meters Centerline goodness [0,1] 0.9824756424507944 Centerline is valid? [True, True] Translation: X:779.82, Y:-61.53, Z:2.76 [[ 9.99474824e-01 -2.91599242e-02 -1.41341526e-02 7.79817611e+02] [ 2.91694635e-02 9.99574371e-01 4.69185040e-04 -6.15264805e+01] [ 1.41144553e-02 -8.81224284e-04 9.99899998e-01 2.76453867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.650714057 meters Centerline goodness [0,1] 0.9819729811910864 Centerline is valid? [True, True] Translation: X:779.85, Y:-61.53, Z:2.76 [[ 9.99406167e-01 -3.12806311e-02 -1.44511439e-02 7.79847878e+02] [ 3.12908310e-02 9.99510207e-01 4.80196882e-04 -6.15336004e+01] [ 1.44290450e-02 -9.32100027e-04 9.99895461e-01 2.76497135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6807140569999 meters Centerline goodness [0,1] 0.9817773122081096 Centerline is valid? [True, True] Translation: X:779.88, Y:-61.53, Z:2.77 [[ 9.99364176e-01 -3.23792219e-02 -1.49274875e-02 7.79879593e+02] [ 3.23902323e-02 9.99475176e-01 4.96349745e-04 -6.15346783e+01] [ 1.49035818e-02 -9.79538942e-04 9.99888456e-01 2.76518050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7107140569999 meters Centerline goodness [0,1] 0.9823555070883315 Centerline is valid? [True, True] Translation: X:779.91, Y:-61.54, Z:2.76 [[ 9.99297854e-01 -3.41265271e-02 -1.54654362e-02 7.79909299e+02] [ 3.41385606e-02 9.99416977e-01 5.14683503e-04 -6.15395081e+01] [ 1.54388551e-02 -1.04228985e-03 9.99880271e-01 2.76488542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7407140569999 meters Centerline goodness [0,1] 0.9813851211600009 Centerline is valid? [True, True] Translation: X:779.94, Y:-61.54, Z:2.77 [[ 9.99258914e-01 -3.50798684e-02 -1.58438184e-02 7.79940932e+02] [ 3.50926204e-02 9.99383925e-01 5.27476013e-04 -6.15398612e+01] [ 1.58155536e-02 -1.08308621e-03 9.99874340e-01 2.76547907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.770714057 meters Centerline goodness [0,1] 0.9810138928021847 Centerline is valid? [True, True] Translation: X:779.97, Y:-61.54, Z:2.77 [[ 9.99235848e-01 -3.58565145e-02 -1.55572975e-02 7.79972878e+02] [ 3.58689168e-02 9.99356369e-01 5.18820288e-04 -6.15422507e+01] [ 1.55286813e-02 -1.07644724e-03 9.99878843e-01 2.76551842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8007140569999 meters Centerline goodness [0,1] 0.9804810038340885 Centerline is valid? [True, True] Translation: X:780.00, Y:-61.55, Z:2.77 [[ 9.99179244e-01 -3.73985085e-02 -1.55624695e-02 7.80003900e+02] [ 3.74111205e-02 9.99299824e-01 5.19976207e-04 -6.15454867e+01] [ 1.55321267e-02 -1.10175885e-03 9.99878762e-01 2.76563935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8307140569999 meters Centerline goodness [0,1] 0.9805915773951511 Centerline is valid? [True, True] Translation: X:780.04, Y:-61.55, Z:2.77 [[ 9.99163096e-01 -3.77296427e-02 -1.57981715e-02 7.80035755e+02] [ 3.77426918e-02 9.99287351e-01 5.28545221e-04 -6.15480086e+01] [ 1.57669711e-02 -1.12436840e-03 9.99875061e-01 2.76556255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8607140569999 meters Centerline goodness [0,1] 0.9822584512107408 Centerline is valid? [True, True] Translation: X:780.07, Y:-61.55, Z:2.77 [[ 9.99101184e-01 -3.89664434e-02 -1.66865074e-02 7.80067500e+02] [ 3.89811922e-02 9.99239788e-01 5.59412868e-04 -6.15479843e+01] [ 1.66520238e-02 -1.20937001e-03 9.99860614e-01 2.76523739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.890714057 meters Centerline goodness [0,1] 0.9803900230705611 Centerline is valid? [True, True] Translation: X:780.10, Y:-61.55, Z:2.77 [[ 9.99073482e-01 -3.96582903e-02 -1.67151794e-02 7.80098575e+02] [ 3.96732011e-02 9.99212551e-01 5.61271617e-04 -6.15498581e+01] [ 1.66797580e-02 -1.22389626e-03 9.99860134e-01 2.76509999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9207140569999 meters Centerline goodness [0,1] 0.9814097261526405 Centerline is valid? [True, True] Translation: X:780.13, Y:-61.55, Z:2.77 [[ 9.99062782e-01 -3.99511903e-02 -1.66571334e-02 7.80130584e+02] [ 3.99660544e-02 9.99200881e-01 5.60293576e-04 -6.15486969e+01] [ 1.66214379e-02 -1.22548836e-03 9.99861103e-01 2.76590933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9507140569999 meters Centerline goodness [0,1] 0.981201044386423 Centerline is valid? [True, True] Translation: X:780.16, Y:-61.55, Z:2.77 [[ 9.98978815e-01 -4.19853675e-02 -1.66899900e-02 7.80162022e+02] [ 4.20005899e-02 9.99117428e-01 5.62440328e-04 -6.15476355e+01] [ 1.66516456e-02 -1.26285540e-03 9.99860554e-01 2.76578138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9807140569999 meters Centerline goodness [0,1] 0.9779798111932326 Centerline is valid? [True, True] Translation: X:780.19, Y:-61.56, Z:2.77 [[ 9.98942515e-01 -4.28376557e-02 -1.66969321e-02 7.80192159e+02] [ 4.28530192e-02 9.99081229e-01 5.63283858e-04 -6.15632052e+01] [ 1.66574616e-02 -1.27820214e-03 9.99860438e-01 2.76522338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.010714057 meters Centerline goodness [0,1] 0.9804019990833898 Centerline is valid? [True, True] Translation: X:780.22, Y:-61.55, Z:2.77 [[ 9.98887999e-01 -4.43436238e-02 -1.60127718e-02 7.80223738e+02] [ 4.43579552e-02 9.99015555e-01 5.40769060e-04 -6.15490450e+01] [ 1.59730284e-02 -1.25046154e-03 9.99871641e-01 2.76632999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.040714057 meters Centerline goodness [0,1] 0.9794654924358024 Centerline is valid? [True, True] Translation: X:780.26, Y:-61.56, Z:2.77 [[ 9.98862664e-01 -4.49616675e-02 -1.58690725e-02 7.80255068e+02] [ 4.49758306e-02 9.98987931e-01 5.36557581e-04 -6.15555234e+01] [ 1.58288873e-02 -1.24967205e-03 9.99873934e-01 2.76665111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0707140569999 meters Centerline goodness [0,1] 0.9818595095510775 Centerline is valid? [True, True] Translation: X:780.29, Y:-61.55, Z:2.77 [[ 9.98850202e-01 -4.53737296e-02 -1.54757224e-02 7.80286985e+02] [ 4.53872610e-02 9.98969330e-01 5.24086633e-04 -6.15482518e+01] [ 1.54359923e-02 -1.22588469e-03 9.99880106e-01 2.76756938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1007140569999 meters Centerline goodness [0,1] 0.9792708765645136 Centerline is valid? [True, True] Translation: X:780.32, Y:-61.55, Z:2.77 [[ 9.98836589e-01 -4.58940728e-02 -1.48054625e-02 7.80318406e+02] [ 4.59065258e-02 9.98945613e-01 5.02178128e-04 -6.15530763e+01] [ 1.47668048e-02 -1.18126124e-03 9.99890267e-01 2.76849297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.130714057 meters Centerline goodness [0,1] 0.9792017495899399 Centerline is valid? [True, True] Translation: X:780.35, Y:-61.55, Z:2.77 [[ 9.98851208e-01 -4.56476979e-02 -1.45791738e-02 7.80350853e+02] [ 4.56597591e-02 9.98956927e-01 4.95331486e-04 -6.15534037e+01] [ 1.45413559e-02 -1.16044401e-03 9.99893596e-01 2.76924067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.160714057 meters Centerline goodness [0,1] 0.9801466564517894 Centerline is valid? [True, True] Translation: X:780.38, Y:-61.55, Z:2.77 [[ 9.98863101e-01 -4.53602650e-02 -1.46612556e-02 7.80383494e+02] [ 4.53724469e-02 9.98970016e-01 4.99162284e-04 -6.15494803e+01] [ 1.46235126e-02 -1.16381183e-03 9.99892393e-01 2.76905181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1907140569999 meters Centerline goodness [0,1] 0.9803186709623688 Centerline is valid? [True, True] Translation: X:780.42, Y:-61.55, Z:2.77 [[ 9.98887803e-01 -4.48144026e-02 -1.46569417e-02 7.80415353e+02] [ 4.48265343e-02 9.98994661e-01 5.00065311e-04 -6.15492937e+01] [ 1.46197964e-02 -1.15652904e-03 9.99892456e-01 2.76939954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2207140569999 meters Centerline goodness [0,1] 0.9807591164095372 Centerline is valid? [True, True] Translation: X:780.45, Y:-61.55, Z:2.77 [[ 9.98909021e-01 -4.43769225e-02 -1.45415344e-02 7.80447892e+02] [ 4.43888328e-02 9.99014206e-01 4.97162523e-04 -6.15489750e+01] [ 1.45051369e-02 -1.14210187e-03 9.99894143e-01 2.76990228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.250714057 meters Centerline goodness [0,1] 0.9811675670946434 Centerline is valid? [True, True] Translation: X:780.48, Y:-61.55, Z:2.77 [[ 9.98952856e-01 -4.34775315e-02 -1.42441672e-02 7.80479405e+02] [ 4.34888849e-02 9.99053792e-01 4.88134382e-04 -6.15486576e+01] [ 1.42094664e-02 -1.10708618e-03 9.99898428e-01 2.77020066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.280714057 meters Centerline goodness [0,1] 0.9811213065812003 Centerline is valid? [True, True] Translation: X:780.51, Y:-61.55, Z:2.77 [[ 9.98977435e-01 -4.28409418e-02 -1.44477560e-02 7.80511377e+02] [ 4.28525823e-02 9.99081283e-01 4.96941246e-04 -6.15478977e+01] [ 1.44131931e-02 -1.11555674e-03 9.99895502e-01 2.77039010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3107140569999 meters Centerline goodness [0,1] 0.9824920268338282 Centerline is valid? [True, True] Translation: X:780.54, Y:-61.54, Z:2.77 [[ 9.99099374e-01 -3.99481980e-02 -1.43032241e-02 7.80542569e+02] [ 3.99593248e-02 9.99201186e-01 4.92865588e-04 -6.15395204e+01] [ 1.42721094e-02 -1.06396888e-03 9.99897582e-01 2.77053451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3407140569999 meters Centerline goodness [0,1] 0.9830896600317068 Centerline is valid? [True, True] Translation: X:780.57, Y:-61.54, Z:2.77 [[ 9.99172458e-01 -3.78574940e-02 -1.48731014e-02 7.80574508e+02] [ 3.78693016e-02 9.99282569e-01 5.12957957e-04 -6.15358497e+01] [ 1.48430117e-02 -1.07576743e-03 9.99889258e-01 2.77073497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.370714057 meters Centerline goodness [0,1] 0.9823457169174087 Centerline is valid? [True, True] Translation: X:780.60, Y:-61.54, Z:2.77 [[ 9.99343104e-01 -3.27297664e-02 -1.55603006e-02 7.80604177e+02] [ 3.27420816e-02 9.99463690e-01 5.37291049e-04 -6.15361730e+01] [ 1.55343701e-02 -1.04641474e-03 9.99878787e-01 2.77055980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.400714057 meters Centerline goodness [0,1] 0.9823751573646664 Centerline is valid? [True, True] Translation: X:780.64, Y:-61.53, Z:2.77 [[ 9.99426191e-01 -3.00739607e-02 -1.55834846e-02 7.80635339e+02] [ 3.00859885e-02 9.99547169e-01 5.37921117e-04 -6.15266112e+01] [ 1.55602505e-02 -1.00645699e-03 9.99878425e-01 2.77131319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4307140569999 meters Centerline goodness [0,1] 0.9827742520398912 Centerline is valid? [True, True] Translation: X:780.67, Y:-61.52, Z:2.77 [[ 9.99515944e-01 -2.70743414e-02 -1.53250968e-02 7.80665889e+02] [ 2.70856258e-02 9.99632977e-01 5.29217340e-04 -6.15237303e+01] [ 1.53051440e-02 -9.44051008e-04 9.99882424e-01 2.77149978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4607140569999 meters Centerline goodness [0,1] 0.9831321572268648 Centerline is valid? [True, True] Translation: X:780.70, Y:-61.52, Z:2.77 [[ 9.99648685e-01 -2.16094929e-02 -1.53472109e-02 7.80695306e+02] [ 2.16201672e-02 9.99766116e-01 5.29922838e-04 -6.15197074e+01] [ 1.53321701e-02 -8.61545933e-04 9.99882084e-01 2.77191250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4907140569999 meters Centerline goodness [0,1] 0.9826484423537765 Centerline is valid? [True, True] Translation: X:780.73, Y:-61.52, Z:2.77 [[ 9.99689251e-01 -1.97436224e-02 -1.52181284e-02 7.80725804e+02] [ 1.97538998e-02 9.99804735e-01 5.25304192e-04 -6.15191843e+01] [ 1.52047855e-02 -8.25758338e-04 9.99884060e-01 2.77187148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.520714057 meters Centerline goodness [0,1] 0.9820847266204575 Centerline is valid? [True, True] Translation: X:780.76, Y:-61.52, Z:2.77 [[ 9.99761215e-01 -1.60149816e-02 -1.48671583e-02 7.80756577e+02] [ 1.60243831e-02 9.99871470e-01 5.13445564e-04 -6.15154564e+01] [ 1.48570246e-02 -7.51560000e-04 9.99889346e-01 2.77243111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5507140569999 meters Centerline goodness [0,1] 0.9826898355423556 Centerline is valid? [True, True] Translation: X:780.79, Y:-61.51, Z:2.77 [[ 9.99787309e-01 -1.47248752e-02 -1.44400610e-02 7.80786215e+02] [ 1.47336117e-02 9.99891330e-01 4.98817778e-04 -6.15122467e+01] [ 1.44311468e-02 -7.11465935e-04 9.99895612e-01 2.77311775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5807140569999 meters Centerline goodness [0,1] 0.9829361381085518 Centerline is valid? [True, True] Translation: X:780.82, Y:-61.51, Z:2.77 [[ 9.99805840e-01 -1.40167718e-02 -1.38496408e-02 7.80816021e+02] [ 1.40247344e-02 9.99901534e-01 4.77974491e-04 -6.15133674e+01] [ 1.38415774e-02 -6.72119222e-04 9.99903975e-01 2.77361044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6107140569999 meters Centerline goodness [0,1] 0.9822696609266821 Centerline is valid? [True, True] Translation: X:780.85, Y:-61.51, Z:2.77 [[ 9.99827527e-01 -1.38416763e-02 -1.23823975e-02 7.80845318e+02] [ 1.38480251e-02 9.99904020e-01 4.27135252e-04 -6.15128286e+01] [ 1.23752968e-02 -5.98533334e-04 9.99923244e-01 2.77441989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.640714057 meters Centerline goodness [0,1] 0.9815513719918302 Centerline is valid? [True, True] Translation: X:780.88, Y:-61.52, Z:2.77 [[ 9.99824696e-01 -1.44168364e-02 -1.19470738e-02 7.80875023e+02] [ 1.44227827e-02 9.99895902e-01 4.11702980e-04 -6.15185317e+01] [ 1.19398946e-02 -5.83940855e-04 9.99928546e-01 2.77461067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6707140569999 meters Centerline goodness [0,1] 0.981297836938436 Centerline is valid? [True, True] Translation: X:780.91, Y:-61.52, Z:2.77 [[ 9.99786338e-01 -1.70096393e-02 -1.17452391e-02 7.80905406e+02] [ 1.70155648e-02 9.99855143e-01 4.04747643e-04 -6.15195549e+01] [ 1.17366531e-02 -6.04513041e-04 9.99930940e-01 2.77404746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7007140569999 meters Centerline goodness [0,1] 0.9808385883394181 Centerline is valid? [True, True] Translation: X:780.94, Y:-61.52, Z:2.77 [[ 9.99740424e-01 -1.93741052e-02 -1.19886618e-02 7.80935859e+02] [ 1.93804483e-02 9.99812096e-01 4.13131848e-04 -6.15246753e+01] [ 1.19784050e-02 -6.45370250e-04 9.99928048e-01 2.77408517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7307140569999 meters Centerline goodness [0,1] 0.9806510105700765 Centerline is valid? [True, True] Translation: X:780.97, Y:-61.53, Z:2.77 [[ 9.99686125e-01 -2.18340197e-02 -1.22852072e-02 7.80967401e+02] [ 2.18408709e-02 9.99761370e-01 4.23777632e-04 -6.15278217e+01] [ 1.22730228e-02 -6.91964243e-04 9.99924444e-01 2.77388003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.760714057 meters Centerline goodness [0,1] 0.9799499302124642 Centerline is valid? [True, True] Translation: X:781.00, Y:-61.53, Z:2.77 [[ 9.99573567e-01 -2.62574955e-02 -1.27760744e-02 7.80997881e+02] [ 2.62652709e-02 9.99654911e-01 4.41147850e-04 -6.15327674e+01] [ 1.27600821e-02 -7.76526785e-04 9.99918285e-01 2.77372554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.790714057 meters Centerline goodness [0,1] 0.9798920497279122 Centerline is valid? [True, True] Translation: X:781.03, Y:-61.54, Z:2.77 [[ 9.99526270e-01 -2.77517718e-02 -1.33069231e-02 7.81028759e+02] [ 2.77603400e-02 9.99614502e-01 4.59580514e-04 -6.15379879e+01] [ 1.32890391e-02 -8.28767506e-04 9.99911353e-01 2.77366051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8207140569999 meters Centerline goodness [0,1] 0.979198869407764 Centerline is valid? [True, True] Translation: X:781.06, Y:-61.54, Z:2.77 [[ 9.99445829e-01 -3.03272679e-02 -1.37219765e-02 7.81059220e+02] [ 3.03366301e-02 9.99539626e-01 4.74593535e-04 -6.15427009e+01] [ 1.37012662e-02 -8.90609055e-04 9.99905737e-01 2.77344494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8507140569999 meters Centerline goodness [0,1] 0.9797291355201829 Centerline is valid? [True, True] Translation: X:781.09, Y:-61.54, Z:2.77 [[ 9.99417442e-01 -3.10983037e-02 -1.40595790e-02 7.81091018e+02] [ 3.11082127e-02 9.99515904e-01 4.86587473e-04 -6.15414178e+01] [ 1.40376408e-02 -9.23672381e-04 9.99901041e-01 2.77385797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.880714057 meters Centerline goodness [0,1] 0.9796332216540292 Centerline is valid? [True, True] Translation: X:781.12, Y:-61.54, Z:2.77 [[ 9.99409573e-01 -3.12705354e-02 -1.42358698e-02 7.81123359e+02] [ 3.12807234e-02 9.99510517e-01 4.93497247e-04 -6.15423129e+01] [ 1.42134696e-02 -9.38514178e-04 9.99898543e-01 2.77390910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.910714057 meters Centerline goodness [0,1] 0.9796332216540292 Centerline is valid? [True, True] Translation: X:781.16, Y:-61.54, Z:2.77 [[ 9.99411813e-01 -3.11988715e-02 -1.42358343e-02 7.81155098e+02] [ 3.12090667e-02 9.99512756e-01 4.94518036e-04 -6.15434755e+01] [ 1.42134696e-02 -9.38514270e-04 9.99898543e-01 2.77429386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9407140569999 meters Centerline goodness [0,1] 0.9800270144593787 Centerline is valid? [True, True] Translation: X:781.19, Y:-61.55, Z:2.77 [[ 9.99432805e-01 -3.01828010e-02 -1.49353972e-02 7.81186275e+02] [ 3.01939258e-02 9.99543924e-01 5.19882443e-04 -6.15469311e+01] [ 1.49128940e-02 -9.70545843e-04 9.99888326e-01 2.77438151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9707140569999 meters Centerline goodness [0,1] 0.9807029483436148 Centerline is valid? [True, True] Translation: X:781.22, Y:-61.55, Z:2.77 [[ 9.99494667e-01 -2.79025416e-02 -1.52269175e-02 7.81217866e+02] [ 2.79138540e-02 9.99610191e-01 5.30856242e-04 -6.15474798e+01] [ 1.52061696e-02 -9.55629934e-04 9.99883923e-01 2.77379181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.000714057 meters Centerline goodness [0,1] 0.9813826267260776 Centerline is valid? [True, True] Translation: X:781.25, Y:-61.55, Z:2.77 [[ 9.99550420e-01 -2.58681103e-02 -1.51590901e-02 7.81248077e+02] [ 2.58791033e-02 9.99664940e-01 5.29428803e-04 -6.15505371e+01] [ 1.51403156e-02 -9.21494442e-04 9.99884954e-01 2.77442791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.030714057 meters Centerline goodness [0,1] 0.9825511964262019 Centerline is valid? [True, True] Translation: X:781.28, Y:-61.55, Z:2.77 [[ 9.99592890e-01 -2.40050796e-02 -1.54211088e-02 7.81279417e+02] [ 2.40162553e-02 9.99711422e-01 5.39893678e-04 -6.15486621e+01] [ 1.54036984e-02 -9.10031167e-04 9.99880942e-01 2.77483545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0607140569999 meters Centerline goodness [0,1] 0.9815506308137608 Centerline is valid? [True, True] Translation: X:781.31, Y:-61.55, Z:2.78 [[ 9.99640944e-01 -2.15689455e-02 -1.58985663e-02 7.81309316e+02] [ 2.15805239e-02 9.99766958e-01 5.57052148e-04 -6.15516414e+01] [ 1.58828463e-02 -8.99951526e-04 9.99873455e-01 2.77539856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0907140569999 meters Centerline goodness [0,1] 0.9820795632168725 Centerline is valid? [True, True] Translation: X:781.34, Y:-61.55, Z:2.78 [[ 9.99735489e-01 -1.68437629e-02 -1.56601105e-02 7.81340236e+02] [ 1.68544185e-02 9.99857804e-01 5.48690327e-04 -6.15480123e+01] [ 1.56486417e-02 -8.12487249e-04 9.99877222e-01 2.77601446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.120714057 meters Centerline goodness [0,1] 0.9829939484959583 Centerline is valid? [True, True] Translation: X:781.37, Y:-61.55, Z:2.78 [[ 9.99799157e-01 -1.27812559e-02 -1.54364733e-02 7.81368974e+02] [ 1.27911242e-02 9.99918044e-01 5.40716269e-04 -6.15493588e+01] [ 1.54282972e-02 -7.38057517e-04 9.99880704e-01 2.77666036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.150714057 meters Centerline goodness [0,1] 0.9830021440728542 Centerline is valid? [True, True] Translation: X:781.40, Y:-61.55, Z:2.78 [[ 9.99819837e-01 -1.11051515e-02 -1.53937901e-02 7.81398496e+02] [ 1.11147543e-02 9.99938084e-01 5.38394763e-04 -6.15450028e+01] [ 1.53868580e-02 -7.09395958e-04 9.99881364e-01 2.77715845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1807140569999 meters Centerline goodness [0,1] 0.9840130721840705 Centerline is valid? [True, True] Translation: X:781.43, Y:-61.55, Z:2.78 [[ 9.99825962e-01 -9.90503024e-03 -1.58093422e-02 7.81427565e+02] [ 9.91497095e-03 9.99950694e-01 5.50529568e-04 -6.15469249e+01] [ 1.58031097e-02 -7.07182924e-04 9.99874873e-01 2.77706638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2107140569999 meters Centerline goodness [0,1] 0.9844780068349686 Centerline is valid? [True, True] Translation: X:781.46, Y:-61.55, Z:2.78 [[ 9.99821857e-01 -9.22597688e-03 -1.64662197e-02 7.81456549e+02] [ 9.23660309e-03 9.99957180e-01 5.69398310e-04 -6.15482684e+01] [ 1.64602613e-02 -7.21388811e-04 9.99864260e-01 2.77688401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2407140569999 meters Centerline goodness [0,1] 0.9838428044117322 Centerline is valid? [True, True] Translation: X:781.48, Y:-61.56, Z:2.78 [[ 9.99816680e-01 -9.19621583e-03 -1.67939546e-02 7.81482825e+02] [ 9.20720375e-03 9.99957446e-01 5.77075903e-04 -6.15559069e+01] [ 1.67879331e-02 -7.31595475e-04 9.99858805e-01 2.77608185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.270714057 meters Centerline goodness [0,1] 0.9835389140072868 Centerline is valid? [True, True] Translation: X:781.51, Y:-61.56, Z:2.78 [[ 9.99802907e-01 -9.53546094e-03 -1.74132497e-02 7.81511841e+02] [ 9.54727728e-03 9.99954246e-01 5.95576776e-04 -6.15578059e+01] [ 1.74067739e-02 -7.61708516e-04 9.99848200e-01 2.77601447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3007140569999 meters Centerline goodness [0,1] 0.9843305157687978 Centerline is valid? [True, True] Translation: X:781.54, Y:-61.56, Z:2.78 [[ 9.99773608e-01 -1.12088418e-02 -1.80857423e-02 7.81540603e+02] [ 1.12217825e-02 9.99936845e-01 6.14188944e-04 -6.15566557e+01] [ 1.80777158e-02 -8.17004163e-04 9.99836251e-01 2.77611223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3307140569999 meters Centerline goodness [0,1] 0.9838596337125038 Centerline is valid? [True, True] Translation: X:781.57, Y:-61.56, Z:2.78 [[ 9.99762642e-01 -1.21796735e-02 -1.80641859e-02 7.81568516e+02] [ 1.21926784e-02 9.99925480e-01 6.09959348e-04 -6.15606511e+01] [ 1.80554106e-02 -8.30065378e-04 9.99836643e-01 2.77594698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3607140569999 meters Centerline goodness [0,1] 0.9848124669836239 Centerline is valid? [True, True] Translation: X:781.60, Y:-61.56, Z:2.78 [[ 9.99737180e-01 -1.33880409e-02 -1.86099529e-02 7.81596965e+02] [ 1.34020023e-02 9.99909993e-01 6.25692282e-04 -6.15615214e+01] [ 1.85999011e-02 -8.74938469e-04 9.99826624e-01 2.77672021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.390714057 meters Centerline goodness [0,1] 0.9836195508586526 Centerline is valid? [True, True] Translation: X:781.63, Y:-61.57, Z:2.78 [[ 9.99702037e-01 -1.60157838e-02 -1.84209490e-02 7.81625363e+02] [ 1.60298442e-02 9.99871324e-01 6.15874289e-04 -6.15715950e+01] [ 1.84087150e-02 -9.10975725e-04 9.99830130e-01 2.77651704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4207140569999 meters Centerline goodness [0,1] 0.9849481768369166 Centerline is valid? [True, True] Translation: X:781.65, Y:-61.57, Z:2.78 [[ 9.99657049e-01 -1.85145907e-02 -1.85201056e-02 7.81654872e+02] [ 1.85292086e-02 9.99828128e-01 6.18000729e-04 -6.15695317e+01] [ 1.85054805e-02 -9.60951686e-04 9.99828297e-01 2.77830507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4507140569999 meters Centerline goodness [0,1] 0.9828533888098105 Centerline is valid? [True, True] Translation: X:781.68, Y:-61.57, Z:2.78 [[ 9.99648902e-01 -1.92603642e-02 -1.81964767e-02 7.81682965e+02] [ 1.92745852e-02 9.99814044e-01 6.06453840e-04 -6.15739487e+01] [ 1.81814125e-02 -9.56970455e-04 9.99834246e-01 2.77871322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4807140569999 meters Centerline goodness [0,1] 0.9827563569521642 Centerline is valid? [True, True] Translation: X:781.71, Y:-61.58, Z:2.78 [[ 9.99642196e-01 -2.00470304e-02 -1.77086424e-02 7.81711821e+02] [ 2.00606059e-02 9.99798592e-01 5.89278562e-04 -6.15781883e+01] [ 1.76932624e-02 -9.44313810e-04 9.99843016e-01 2.77947457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.510714057 meters Centerline goodness [0,1] 0.9829318590671756 Centerline is valid? [True, True] Translation: X:781.74, Y:-61.58, Z:2.78 [[ 9.99639327e-01 -2.12152746e-02 -1.64659806e-02 7.81741266e+02] [ 2.12271573e-02 9.99774529e-01 5.47192013e-04 -6.15804817e+01] [ 1.64506591e-02 -8.96520616e-04 9.99864277e-01 2.78166601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.540714057 meters Centerline goodness [0,1] 0.9821709148044693 Centerline is valid? [True, True] Translation: X:781.77, Y:-61.58, Z:2.78 [[ 9.99638747e-01 -2.18114962e-02 -1.57046073e-02 7.81771636e+02] [ 2.18223724e-02 9.99761728e-01 5.21490292e-04 -6.15827641e+01] [ 1.56894908e-02 -8.64013690e-04 9.99876539e-01 2.78239998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5707140569999 meters Centerline goodness [0,1] 0.9822937362181516 Centerline is valid? [True, True] Translation: X:781.80, Y:-61.59, Z:2.78 [[ 9.99613106e-01 -2.31904170e-02 -1.53571893e-02 7.81802080e+02] [ 2.32009794e-02 9.99730691e-01 5.09953861e-04 -6.15871400e+01] [ 1.53412274e-02 -8.66058395e-04 9.99881941e-01 2.78318046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6007140569999 meters Centerline goodness [0,1] 0.9829065426681511 Centerline is valid? [True, True] Translation: X:781.83, Y:-61.59, Z:2.78 [[ 9.99579737e-01 -2.41196539e-02 -1.60807700e-02 7.81832109e+02] [ 2.41313561e-02 9.99708654e-01 5.34049407e-04 -6.15909476e+01] [ 1.60632038e-02 -9.21875753e-04 9.99870553e-01 2.78332608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.630714057 meters Centerline goodness [0,1] 0.9819258676457733 Centerline is valid? [True, True] Translation: X:781.86, Y:-61.59, Z:2.78 [[ 9.99537772e-01 -2.54963256e-02 -1.65583743e-02 7.81862983e+02] [ 2.55089264e-02 9.99674443e-01 5.50201648e-04 -6.15937094e+01] [ 1.65389555e-02 -9.72333681e-04 9.99862749e-01 2.78322492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.660714057 meters Centerline goodness [0,1] 0.9820053656727812 Centerline is valid? [True, True] Translation: X:781.89, Y:-61.60, Z:2.78 [[ 9.99434162e-01 -2.82703118e-02 -1.82248785e-02 7.81892419e+02] [ 2.82860465e-02 9.99599686e-01 6.06112024e-04 -6.16006449e+01] [ 1.82004479e-02 -1.12127882e-03 9.99833729e-01 2.78208546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6907140569999 meters Centerline goodness [0,1] 0.9828030766541386 Centerline is valid? [True, True] Translation: X:781.92, Y:-61.60, Z:2.78 [[ 9.99373141e-01 -3.01186953e-02 -1.86061817e-02 7.81922990e+02] [ 3.01354260e-02 9.99545633e-01 6.19414265e-04 -6.16049116e+01] [ 1.85790717e-02 -1.17973119e-03 9.99826698e-01 2.78166460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7207140569999 meters Centerline goodness [0,1] 0.9830143540669857 Centerline is valid? [True, True] Translation: X:781.95, Y:-61.61, Z:2.78 [[ 9.99269643e-01 -3.30717259e-02 -1.91426524e-02 7.81953707e+02] [ 3.30899773e-02 9.99452174e-01 6.37397317e-04 -6.16056759e+01] [ 1.91110857e-02 -1.27036172e-03 9.99816559e-01 2.78277664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.750714057 meters Centerline goodness [0,1] 0.9814394185216432 Centerline is valid? [True, True] Translation: X:781.98, Y:-61.61, Z:2.78 [[ 9.99219354e-01 -3.45311417e-02 -1.91907047e-02 7.81984527e+02] [ 3.45497593e-02 9.99402774e-01 6.39335132e-04 -6.16084216e+01] [ 1.91571666e-02 -1.30187027e-03 9.99815637e-01 2.78348472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.780714057 meters Centerline goodness [0,1] 0.9814778539558168 Centerline is valid? [True, True] Translation: X:782.01, Y:-61.61, Z:2.78 [[ 9.99185482e-01 -3.54188962e-02 -1.93358436e-02 7.82014976e+02] [ 3.54379685e-02 9.99371670e-01 6.44510846e-04 -6.16121355e+01] [ 1.93008665e-02 -1.32920890e-03 9.99812837e-01 2.78377192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8107140569999 meters Centerline goodness [0,1] 0.981080256332011 Centerline is valid? [True, True] Translation: X:782.05, Y:-61.62, Z:2.78 [[ 9.99173491e-01 -3.58302641e-02 -1.91970603e-02 7.82045403e+02] [ 3.58491502e-02 9.99357007e-01 6.40462832e-04 -6.16167389e+01] [ 1.91617688e-02 -1.32813178e-03 9.99815514e-01 2.78366992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8407140569999 meters Centerline goodness [0,1] 0.9809730668983493 Centerline is valid? [True, True] Translation: X:782.08, Y:-61.62, Z:2.78 [[ 9.99187666e-01 -3.51696163e-02 -1.96750018e-02 7.82076696e+02] [ 3.51893451e-02 9.99380447e-01 6.57317932e-04 -6.16156647e+01] [ 1.96396945e-02 -1.34913440e-03 9.99806212e-01 2.78452067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.870714057 meters Centerline goodness [0,1] 0.9807383975386749 Centerline is valid? [True, True] Translation: X:782.11, Y:-61.62, Z:2.78 [[ 9.99262194e-01 -3.28578304e-02 -1.98854381e-02 7.82106338e+02] [ 3.28775364e-02 9.99459167e-01 6.64776402e-04 -6.16213490e+01] [ 1.98528403e-02 -1.31807014e-03 9.99802044e-01 2.78389778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.900714057 meters Centerline goodness [0,1] 0.9821763602251408 Centerline is valid? [True, True] Translation: X:782.14, Y:-61.62, Z:2.78 [[ 9.99285418e-01 -3.18536889e-02 -2.03468896e-02 7.82136980e+02] [ 3.18741131e-02 9.99491660e-01 6.80202868e-04 -6.16195484e+01] [ 2.03148795e-02 -1.32825587e-03 9.99792749e-01 2.78444193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9307140569999 meters Centerline goodness [0,1] 0.9811830298806516 Centerline is valid? [True, True] Translation: X:782.17, Y:-61.61, Z:2.79 [[ 9.99305687e-01 -3.12736324e-02 -2.02510326e-02 7.82167863e+02] [ 3.12937459e-02 9.99510002e-01 6.76998340e-04 -6.16144682e+01] [ 2.02199375e-02 -1.31025896e-03 9.99794698e-01 2.78573576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9607140569999 meters Centerline goodness [0,1] 0.9816372544768677 Centerline is valid? [True, True] Translation: X:782.20, Y:-61.62, Z:2.79 [[ 9.99354625e-01 -3.01719000e-02 -1.94933497e-02 7.82197661e+02] [ 3.01903276e-02 9.99543956e-01 6.51668764e-04 -6.16176602e+01] [ 1.94647978e-02 -1.23975881e-03 9.99809774e-01 2.78695147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9907140569999 meters Centerline goodness [0,1] 0.9815925587864563 Centerline is valid? [True, True] Translation: X:782.23, Y:-61.62, Z:2.79 [[ 9.99370554e-01 -2.98609931e-02 -1.91524406e-02 7.82228172e+02] [ 2.98787248e-02 9.99553326e-01 6.40272065e-04 -6.16193366e+01] [ 1.91247665e-02 -1.21211955e-03 9.99816370e-01 2.78727769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.020714057 meters Centerline goodness [0,1] 0.9819384991700882 Centerline is valid? [True, True] Translation: X:782.26, Y:-61.62, Z:2.79 [[ 9.99362835e-01 -2.98403895e-02 -1.95825145e-02 7.82259625e+02] [ 2.98589280e-02 9.99553908e-01 6.54920519e-04 -6.16174990e+01] [ 1.95542358e-02 -1.23921612e-03 9.99808030e-01 2.78807719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0507140569999 meters Centerline goodness [0,1] 0.9815349857710772 Centerline is valid? [True, True] Translation: X:782.29, Y:-61.62, Z:2.79 [[ 9.99357058e-01 -3.03420778e-02 -1.91004915e-02 7.82290105e+02] [ 3.03598165e-02 9.99538830e-01 6.39354128e-04 -6.16232118e+01] [ 1.90722836e-02 -1.21883048e-03 9.99817365e-01 2.78818144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0807140569999 meters Centerline goodness [0,1] 0.9805203294548307 Centerline is valid? [True, True] Translation: X:782.32, Y:-61.63, Z:2.79 [[ 9.99348021e-01 -3.05696341e-02 -1.92101417e-02 7.82320591e+02] [ 3.05876232e-02 9.99531882e-01 6.43243737e-04 -6.16250745e+01] [ 1.91814854e-02 -1.23041693e-03 9.99815261e-01 2.78854154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1107140569999 meters Centerline goodness [0,1] 0.9821183841284343 Centerline is valid? [True, True] Translation: X:782.35, Y:-61.63, Z:2.79 [[ 9.99319060e-01 -3.14485556e-02 -1.92977988e-02 7.82350860e+02] [ 3.14668724e-02 9.99504586e-01 6.46178899e-04 -6.16264300e+01] [ 1.92679170e-02 -1.25298026e-03 9.99813571e-01 2.78904060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.140714057 meters Centerline goodness [0,1] 0.9819403794037941 Centerline is valid? [True, True] Translation: X:782.38, Y:-61.63, Z:2.79 [[ 9.99318771e-01 -3.13542813e-02 -1.94654233e-02 7.82382153e+02] [ 3.13729051e-02 9.99507537e-01 6.52054796e-04 -6.16283603e+01] [ 1.94353926e-02 -1.26229748e-03 9.99810318e-01 2.78877515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1707140569999 meters Centerline goodness [0,1] 0.9819141082982327 Centerline is valid? [True, True] Translation: X:782.41, Y:-61.63, Z:2.79 [[ 9.99306967e-01 -3.16854372e-02 -1.95350624e-02 7.82412065e+02] [ 3.17042686e-02 9.99497079e-01 6.54954428e-04 -6.16321972e+01] [ 1.95044852e-02 -1.27384539e-03 9.99808958e-01 2.78882567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2007140569999 meters Centerline goodness [0,1] 0.9815458853193062 Centerline is valid? [True, True] Translation: X:782.44, Y:-61.64, Z:2.79 [[ 9.99272754e-01 -3.22570876e-02 -2.03333049e-02 7.82442157e+02] [ 3.22776121e-02 9.99478709e-01 6.81941075e-04 -6.16351466e+01] [ 2.03007079e-02 -1.33775567e-03 9.99793024e-01 2.78858135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2307140569999 meters Centerline goodness [0,1] 0.9823112695032379 Centerline is valid? [True, True] Translation: X:782.47, Y:-61.64, Z:2.79 [[ 9.99265805e-01 -3.25284988e-02 -2.02422350e-02 7.82472366e+02] [ 3.25488953e-02 9.99469914e-01 6.78886761e-04 -6.16376349e+01] [ 2.02094218e-02 -1.33725071e-03 9.99794874e-01 2.78870997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.260714057 meters Centerline goodness [0,1] 0.9805182112373216 Centerline is valid? [True, True] Translation: X:782.50, Y:-61.64, Z:2.79 [[ 9.99234468e-01 -3.35057499e-02 -2.01951229e-02 7.82503030e+02] [ 3.35262503e-02 9.99437608e-01 6.77306707e-04 -6.16406091e+01] [ 2.01610716e-02 -1.35385495e-03 9.99795828e-01 2.78922458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.290714057 meters Centerline goodness [0,1] 0.9816372210270118 Centerline is valid? [True, True] Translation: X:782.53, Y:-61.64, Z:2.79 [[ 9.99224488e-01 -3.39688540e-02 -1.99133178e-02 7.82533761e+02] [ 3.39888803e-02 9.99421988e-01 6.67992330e-04 -6.16434976e+01] [ 1.98791168e-02 -1.34430567e-03 9.99801487e-01 2.78982210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3207140569999 meters Centerline goodness [0,1] 0.9805176491007311 Centerline is valid? [True, True] Translation: X:782.56, Y:-61.65, Z:2.79 [[ 9.99222722e-01 -3.41761408e-02 -1.96454446e-02 7.82564971e+02] [ 3.41956810e-02 9.99414939e-01 6.59479170e-04 -6.16459845e+01] [ 1.96114123e-02 -1.33075593e-03 9.99806792e-01 2.79030738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3507140569999 meters Centerline goodness [0,1] 0.9809013852457239 Centerline is valid? [True, True] Translation: X:782.60, Y:-61.65, Z:2.79 [[ 9.99225233e-01 -3.43348660e-02 -1.92366771e-02 7.82596310e+02] [ 3.43536434e-02 9.99409530e-01 6.46421419e-04 -6.16471559e+01] [ 1.92031237e-02 -1.30677054e-03 9.99814749e-01 2.79064977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.380714057 meters Centerline goodness [0,1] 0.9817134159599913 Centerline is valid? [True, True] Translation: X:782.63, Y:-61.65, Z:2.79 [[ 9.99237295e-01 -3.39941757e-02 -1.92151880e-02 7.82628057e+02] [ 3.40128614e-02 9.99421186e-01 6.46373774e-04 -6.16482685e+01] [ 1.91820931e-02 -1.29944431e-03 9.99815162e-01 2.79086415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.410714057 meters Centerline goodness [0,1] 0.9817737082494534 Centerline is valid? [True, True] Translation: X:782.66, Y:-61.65, Z:2.79 [[ 9.99276146e-01 -3.29586597e-02 -1.89976603e-02 7.82658849e+02] [ 3.29767463e-02 9.99455915e-01 6.39477617e-04 -6.16463305e+01] [ 1.89662476e-02 -1.26549575e-03 9.99819324e-01 2.79215457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4407140569999 meters Centerline goodness [0,1] 0.9810167588113338 Centerline is valid? [True, True] Translation: X:782.69, Y:-61.65, Z:2.79 [[ 9.99312253e-01 -3.21511104e-02 -1.84750428e-02 7.82688650e+02] [ 3.21680801e-02 9.99482280e-01 6.21999689e-04 -6.16517732e+01] [ 1.84454799e-02 -1.21587857e-03 9.99829128e-01 2.79205750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4707140569999 meters Centerline goodness [0,1] 0.9822100211836928 Centerline is valid? [True, True] Translation: X:782.72, Y:-61.65, Z:2.79 [[ 9.99353046e-01 -3.09011357e-02 -1.84013138e-02 7.82719790e+02] [ 3.09177628e-02 9.99521740e-01 6.19711584e-04 -6.16490849e+01] [ 1.83733634e-02 -1.18823811e-03 9.99830489e-01 2.79295831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.500714057 meters Centerline goodness [0,1] 0.9815720277288829 Centerline is valid? [True, True] Translation: X:782.75, Y:-61.65, Z:2.79 [[ 9.99409313e-01 -2.86554536e-02 -1.89707709e-02 7.82749049e+02] [ 2.86727199e-02 9.99588649e-01 6.38725451e-04 -6.16499468e+01] [ 1.89446643e-02 -1.18229176e-03 9.99819835e-01 2.79245661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.530714057 meters Centerline goodness [0,1] 0.9828301927799874 Centerline is valid? [True, True] Translation: X:782.78, Y:-61.65, Z:2.79 [[ 9.99434386e-01 -2.77653445e-02 -1.89734979e-02 7.82779401e+02] [ 2.77824519e-02 9.99613789e-01 6.38603959e-04 -6.16470814e+01] [ 1.89484390e-02 -1.16537305e-03 9.99819783e-01 2.79317984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5607140569999 meters Centerline goodness [0,1] 0.9829652996845426 Centerline is valid? [True, True] Translation: X:782.81, Y:-61.65, Z:2.79 [[ 9.99496549e-01 -2.57990378e-02 -1.84677486e-02 7.82808943e+02] [ 2.58149087e-02 9.99666547e-01 6.21467581e-04 -6.16475850e+01] [ 1.84455572e-02 -1.09789794e-03 9.99829263e-01 2.79335060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5907140569999 meters Centerline goodness [0,1] 0.9821731011421375 Centerline is valid? [True, True] Translation: X:782.84, Y:-61.65, Z:2.79 [[ 9.99522351e-01 -2.48824609e-02 -1.83284582e-02 7.82838725e+02] [ 2.48979316e-02 9.99689808e-01 6.16342911e-04 -6.16481826e+01] [ 1.83074367e-02 -1.07238921e-03 9.99831830e-01 2.79381817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.620714057 meters Centerline goodness [0,1] 0.9820386658538709 Centerline is valid? [True, True] Translation: X:782.87, Y:-61.65, Z:2.79 [[ 9.99541790e-01 -2.44355753e-02 -1.78637178e-02 7.82868204e+02] [ 2.44501891e-02 9.99700869e-01 6.00088679e-04 -6.16484103e+01] [ 1.78437107e-02 -1.03658499e-03 9.99840251e-01 2.79421268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.650714057 meters Centerline goodness [0,1] 0.9823934511434511 Centerline is valid? [True, True] Translation: X:782.90, Y:-61.65, Z:2.79 [[ 9.99554196e-01 -2.42443473e-02 -1.74246935e-02 7.82897188e+02] [ 2.42582157e-02 9.99705555e-01 5.84951612e-04 -6.16511774e+01] [ 1.74053811e-02 -1.00738281e-03 9.99848007e-01 2.79405566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6807140569999 meters Centerline goodness [0,1] 0.9814518569760906 Centerline is valid? [True, True] Translation: X:782.93, Y:-61.65, Z:2.79 [[ 9.99538564e-01 -2.46306856e-02 -1.77760796e-02 7.82926848e+02] [ 2.46451796e-02 9.99696083e-01 5.96725329e-04 -6.16533486e+01] [ 1.77559794e-02 -1.03454465e-03 9.99841815e-01 2.79398885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7107140569999 meters Centerline goodness [0,1] 0.9828695652173913 Centerline is valid? [True, True] Translation: X:782.96, Y:-61.65, Z:2.79 [[ 9.99505287e-01 -2.55107809e-02 -1.83951361e-02 7.82956900e+02] [ 2.55264425e-02 9.99673957e-01 6.17061552e-04 -6.16503531e+01] [ 1.83733968e-02 -1.08631867e-03 9.99830605e-01 2.79418186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7407140569999 meters Centerline goodness [0,1] 0.9816400139057883 Centerline is valid? [True, True] Translation: X:782.99, Y:-61.65, Z:2.79 [[ 9.99491954e-01 -2.60013118e-02 -1.84327425e-02 7.82986733e+02] [ 2.60171105e-02 9.99661307e-01 6.17770360e-04 -6.16542163e+01] [ 1.84104367e-02 -1.09702320e-03 9.99829912e-01 2.79435048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.770714057 meters Centerline goodness [0,1] 0.9829555323953448 Centerline is valid? [True, True] Translation: X:783.02, Y:-61.65, Z:2.80 [[ 9.99482317e-01 -2.64846850e-02 -1.82663268e-02 7.83016166e+02] [ 2.65002720e-02 9.99648619e-01 6.11753492e-04 -6.16522611e+01] [ 1.82437062e-02 -1.09549943e-03 9.99832970e-01 2.79521189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8007140569999 meters Centerline goodness [0,1] 0.9829555323953448 Centerline is valid? [True, True] Translation: X:783.05, Y:-61.65, Z:2.80 [[ 9.99482317e-01 -2.64846903e-02 -1.82663415e-02 7.83046201e+02] [ 2.65002693e-02 9.99648619e-01 6.11313261e-04 -6.16532661e+01] [ 1.82437326e-02 -1.09505976e-03 9.99832970e-01 2.79557634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8307140569999 meters Centerline goodness [0,1] 0.983456881372144 Centerline is valid? [True, True] Translation: X:783.08, Y:-61.66, Z:2.80 [[ 9.99472726e-01 -2.70305286e-02 -1.79894325e-02 7.83075608e+02] [ 2.70457249e-02 9.99634016e-01 6.01940171e-04 -6.16575157e+01] [ 1.79665779e-02 -1.08816003e-03 9.99837996e-01 2.79609602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8607140569999 meters Centerline goodness [0,1] 0.9834588751166778 Centerline is valid? [True, True] Translation: X:783.11, Y:-61.65, Z:2.80 [[ 9.99480080e-01 -2.70224751e-02 -1.75884971e-02 7.83106262e+02] [ 2.70369965e-02 9.99634260e-01 5.88311077e-04 -6.16545314e+01] [ 1.75661667e-02 -1.06354534e-03 9.99845137e-01 2.79684025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.890714057 meters Centerline goodness [0,1] 0.9833340566815676 Centerline is valid? [True, True] Translation: X:783.14, Y:-61.66, Z:2.80 [[ 9.99516125e-01 -2.56141671e-02 -1.76473938e-02 7.83135621e+02] [ 2.56285655e-02 9.99671360e-01 5.90180079e-04 -6.16573521e+01] [ 1.76264772e-02 -1.04217189e-03 9.99844098e-01 2.79700566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9207140569999 meters Centerline goodness [0,1] 0.9839052535681749 Centerline is valid? [True, True] Translation: X:783.17, Y:-61.66, Z:2.80 [[ 9.99537948e-01 -2.47212105e-02 -1.76847991e-02 7.83166192e+02] [ 2.47355268e-02 9.99693855e-01 5.91209341e-04 -6.16553318e+01] [ 1.76647696e-02 -1.02837899e-03 9.99843437e-01 2.79780765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9507140569999 meters Centerline goodness [0,1] 0.9834097594739575 Centerline is valid? [True, True] Translation: X:783.20, Y:-61.66, Z:2.80 [[ 9.99571165e-01 -2.37945251e-02 -1.70677094e-02 7.83195454e+02] [ 2.38077234e-02 9.99716393e-01 5.70489840e-04 -6.16584343e+01] [ 1.70492943e-02 -9.76588497e-04 9.99854173e-01 2.79798939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9807140569999 meters Centerline goodness [0,1] 0.9830986521982518 Centerline is valid? [True, True] Translation: X:783.22, Y:-61.66, Z:2.80 [[ 9.99618285e-01 -2.21887445e-02 -1.64603704e-02 7.83224686e+02] [ 2.22007983e-02 9.99753381e-01 5.49900283e-04 -6.16615304e+01] [ 1.64441093e-02 -9.15123740e-04 9.99864368e-01 2.79841700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.010714057 meters Centerline goodness [0,1] 0.9832221286519401 Centerline is valid? [True, True] Translation: X:783.25, Y:-61.66, Z:2.80 [[ 9.99641783e-01 -2.12964748e-02 -1.62100422e-02 7.83254025e+02] [ 2.13080432e-02 9.99772811e-01 5.41256142e-04 -6.16629428e+01] [ 1.61948326e-02 -8.86466534e-04 9.99868462e-01 2.79860636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.040714057 meters Centerline goodness [0,1] 0.9836541796739507 Centerline is valid? [True, True] Translation: X:783.28, Y:-61.66, Z:2.80 [[ 9.99685333e-01 -1.97786892e-02 -1.54285165e-02 7.83283505e+02] [ 1.97889838e-02 9.99804046e-01 5.14850147e-04 -6.16632279e+01] [ 1.54153101e-02 -8.20002803e-04 9.99880841e-01 2.79893614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0707140569999 meters Centerline goodness [0,1] 0.9835140997830802 Centerline is valid? [True, True] Translation: X:783.31, Y:-61.66, Z:2.80 [[ 9.99703211e-01 -1.91160033e-02 -1.51019070e-02 7.83312954e+02] [ 1.91257835e-02 9.99816959e-01 5.03439953e-04 -6.16613534e+01] [ 1.50895189e-02 -7.92126341e-04 9.99885833e-01 2.79955451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1007140569999 meters Centerline goodness [0,1] 0.9833188720173536 Centerline is valid? [True, True] Translation: X:783.34, Y:-61.66, Z:2.80 [[ 9.99728104e-01 -1.81303415e-02 -1.46631564e-02 7.83342545e+02] [ 1.81394485e-02 9.99835347e-01 4.88311130e-04 -6.16620033e+01] [ 1.46518888e-02 -7.54159930e-04 9.99892371e-01 2.79992105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.130714057 meters Centerline goodness [0,1] 0.9833773429721657 Centerline is valid? [True, True] Translation: X:783.37, Y:-61.66, Z:2.80 [[ 9.99756271e-01 -1.70932027e-02 -1.39721871e-02 7.83371478e+02] [ 1.71013635e-02 9.99853653e-01 4.64795703e-04 -6.16639604e+01] [ 1.39621974e-02 -7.03625868e-04 9.99902276e-01 2.80017503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.160714057 meters Centerline goodness [0,1] 0.9837137087142516 Centerline is valid? [True, True] Translation: X:783.40, Y:-61.66, Z:2.80 [[ 9.99760545e-01 -1.67794477e-02 -1.40464688e-02 7.83400917e+02] [ 1.67876546e-02 9.99858969e-01 4.66554308e-04 -6.16641262e+01] [ 1.40366593e-02 -7.02249855e-04 9.99901235e-01 2.80051762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1907140569999 meters Centerline goodness [0,1] 0.9836983547013167 Centerline is valid? [True, True] Translation: X:783.43, Y:-61.67, Z:2.80 [[ 9.99769851e-01 -1.64367381e-02 -1.37868952e-02 7.83430762e+02] [ 1.64446055e-02 9.99864674e-01 4.57461037e-04 -6.16664851e+01] [ 1.37775103e-02 -6.84075805e-04 9.99904852e-01 2.80073505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2207140569999 meters Centerline goodness [0,1] 0.9843231639888116 Centerline is valid? [True, True] Translation: X:783.46, Y:-61.67, Z:2.80 [[ 9.99771721e-01 -1.65793629e-02 -1.34770546e-02 7.83460590e+02] [ 1.65868874e-02 9.99862328e-01 4.46723376e-04 -6.16665369e+01] [ 1.34677928e-02 -6.70163786e-04 9.99909081e-01 2.80066796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.250714057 meters Centerline goodness [0,1] 0.9843063402385436 Centerline is valid? [True, True] Translation: X:783.49, Y:-61.67, Z:2.80 [[ 9.99769145e-01 -1.68425952e-02 -1.33410314e-02 7.83489617e+02] [ 1.68499854e-02 9.99857931e-01 4.41727695e-04 -6.16698159e+01] [ 1.33316962e-02 -6.66421905e-04 9.99910907e-01 2.80085518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.280714057 meters Centerline goodness [0,1] 0.9842808204327653 Centerline is valid? [True, True] Translation: X:783.52, Y:-61.67, Z:2.80 [[ 9.99753371e-01 -1.76272301e-02 -1.35084288e-02 7.83519045e+02] [ 1.76348690e-02 9.99844394e-01 4.46577321e-04 -6.16713587e+01] [ 1.34984549e-02 -6.84686554e-04 9.99908657e-01 2.80105963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3107140569999 meters Centerline goodness [0,1] 0.9847785077733688 Centerline is valid? [True, True] Translation: X:783.55, Y:-61.67, Z:2.80 [[ 9.99745769e-01 -1.81750340e-02 -1.33441472e-02 7.83548542e+02] [ 1.81825307e-02 9.99834587e-01 4.40680135e-04 -6.16723208e+01] [ 1.33339305e-02 -6.83198467e-04 9.99910866e-01 2.80151130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3407140569999 meters Centerline goodness [0,1] 0.98494405322504 Centerline is valid? [True, True] Translation: X:783.58, Y:-61.68, Z:2.80 [[ 9.99755165e-01 -1.79302990e-02 -1.29658898e-02 7.83578191e+02] [ 1.79373506e-02 9.99839021e-01 4.27755120e-04 -6.16755060e+01] [ 1.29561328e-02 -6.60224102e-04 9.99915848e-01 2.80211040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.370714057 meters Centerline goodness [0,1] 0.9840847083279199 Centerline is valid? [True, True] Translation: X:783.61, Y:-61.68, Z:2.80 [[ 9.99759927e-01 -1.83327504e-02 -1.19999399e-02 7.83607720e+02] [ 1.83388169e-02 9.99831751e-01 3.95693959e-04 -6.16776034e+01] [ 1.19906668e-02 -6.15663665e-04 9.99927920e-01 2.80241763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.400714057 meters Centerline goodness [0,1] 0.9847291919017132 Centerline is valid? [True, True] Translation: X:783.64, Y:-61.68, Z:2.80 [[ 9.99769275e-01 -1.82009386e-02 -1.14071276e-02 7.83638406e+02] [ 1.82064073e-02 9.99834179e-01 3.75743929e-04 -6.16783516e+01] [ 1.13983972e-02 -5.83340047e-04 9.99934866e-01 2.80271205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4307140569999 meters Centerline goodness [0,1] 0.9842686890574215 Centerline is valid? [True, True] Translation: X:783.67, Y:-61.68, Z:2.80 [[ 9.99771480e-01 -1.83684858e-02 -1.09355332e-02 7.83669233e+02] [ 1.83735217e-02 9.99831128e-01 3.60209892e-04 -6.16793291e+01] [ 1.09270700e-02 -5.61051834e-04 9.99940140e-01 2.80382567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4607140569999 meters Centerline goodness [0,1] 0.9833135711975854 Centerline is valid? [True, True] Translation: X:783.70, Y:-61.69, Z:2.80 [[ 9.99775177e-01 -1.82199899e-02 -1.08455974e-02 7.83699029e+02] [ 1.82249343e-02 9.99833848e-01 3.57225071e-04 -6.16858835e+01] [ 1.08372868e-02 -5.54805060e-04 9.99941121e-01 2.80428718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4907140569999 meters Centerline goodness [0,1] 0.9836863627512495 Centerline is valid? [True, True] Translation: X:783.73, Y:-61.68, Z:2.80 [[ 9.99772742e-01 -1.84640726e-02 -1.06556601e-02 7.83729308e+02] [ 1.84688614e-02 9.99829374e-01 3.51178917e-04 -6.16830323e+01] [ 1.06473578e-02 -5.47897020e-04 9.99943165e-01 2.80464436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.520714057 meters Centerline goodness [0,1] 0.9853848652159792 Centerline is valid? [True, True] Translation: X:783.76, Y:-61.69, Z:2.81 [[ 9.99786187e-01 -1.82496187e-02 -9.72273172e-03 7.83759114e+02] [ 1.82535951e-02 9.99833338e-01 3.20390624e-04 -6.16867840e+01] [ 9.71526431e-03 -4.97796929e-04 9.99952682e-01 2.80551879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5507140569999 meters Centerline goodness [0,1] 0.984052998424721 Centerline is valid? [True, True] Translation: X:783.79, Y:-61.69, Z:2.81 [[ 9.99790207e-01 -1.79951373e-02 -9.78354955e-03 7.83790493e+02] [ 1.79991528e-02 9.99837950e-01 3.22527252e-04 -6.16888447e+01] [ 9.77616020e-03 -4.98555191e-04 9.99952088e-01 2.80593408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5807140569999 meters Centerline goodness [0,1] 0.9839471810473169 Centerline is valid? [True, True] Translation: X:783.82, Y:-61.69, Z:2.81 [[ 9.99803321e-01 -1.74572820e-02 -9.41080532e-03 7.83820920e+02] [ 1.74609769e-02 9.99847497e-01 3.10593771e-04 -6.16919269e+01] [ 9.40394802e-03 -4.74854538e-04 9.99955669e-01 2.80587215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6107140569999 meters Centerline goodness [0,1] 0.9839581441605051 Centerline is valid? [True, True] Translation: X:783.85, Y:-61.69, Z:2.81 [[ 9.99806544e-01 -1.70935084e-02 -9.73074175e-03 7.83852244e+02] [ 1.70974429e-02 9.99853776e-01 3.21285608e-04 -6.16935963e+01] [ 9.72382699e-03 -4.87594254e-04 9.99952604e-01 2.80589029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.640714057 meters Centerline goodness [0,1] 0.9837466632222509 Centerline is valid? [True, True] Translation: X:783.88, Y:-61.70, Z:2.81 [[ 9.99810817e-01 -1.64433059e-02 -1.03897560e-02 7.83882378e+02] [ 1.64477606e-02 9.99864667e-01 3.43455064e-04 -6.16955199e+01] [ 1.03827024e-02 -5.14278308e-04 9.99945966e-01 2.80563710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6707140569999 meters Centerline goodness [0,1] 0.9842609538163419 Centerline is valid? [True, True] Translation: X:783.91, Y:-61.70, Z:2.81 [[ 9.99822279e-01 -1.54196309e-02 -1.08464819e-02 7.83912096e+02] [ 1.54244284e-02 9.99880972e-01 3.58787516e-04 -6.16972309e+01] [ 1.08396585e-02 -5.26024535e-04 9.99941111e-01 2.80537928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7007140569999 meters Centerline goodness [0,1] 0.986019131714496 Centerline is valid? [True, True] Translation: X:783.94, Y:-61.69, Z:2.81 [[ 9.99832107e-01 -1.48036661e-02 -1.07985693e-02 7.83942462e+02] [ 1.48083833e-02 9.99890286e-01 3.57001378e-04 -6.16945239e+01] [ 1.07920996e-02 -5.16850794e-04 9.99941630e-01 2.80554435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7307140569999 meters Centerline goodness [0,1] 0.9847597224323915 Centerline is valid? [True, True] Translation: X:783.97, Y:-61.70, Z:2.81 [[ 9.99859503e-01 -1.31743718e-02 -1.03639234e-02 7.83972545e+02] [ 1.31786299e-02 9.99913099e-01 3.42662094e-04 -6.16955140e+01] [ 1.03585084e-02 -4.79196261e-04 9.99946234e-01 2.80539830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.760714057 meters Centerline goodness [0,1] 0.9863250822226068 Centerline is valid? [True, True] Translation: X:784.00, Y:-61.69, Z:2.81 [[ 9.99870895e-01 -1.23521559e-02 -1.02770085e-02 7.84002393e+02] [ 1.23562980e-02 9.99923600e-01 3.39649187e-04 -6.16910769e+01] [ 1.02720279e-02 -4.66591116e-04 9.99947132e-01 2.80549744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.790714057 meters Centerline goodness [0,1] 0.9841991808579436 Centerline is valid? [True, True] Translation: X:784.03, Y:-61.70, Z:2.81 [[ 9.99892569e-01 -1.09685263e-02 -9.72325417e-03 7.84031657e+02] [ 1.09721651e-02 9.99939752e-01 3.20970780e-04 -6.17018577e+01] [ 9.71914779e-03 -4.27621448e-04 9.99952677e-01 2.80622753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8207140569999 meters Centerline goodness [0,1] 0.9863668823440307 Centerline is valid? [True, True] Translation: X:784.06, Y:-61.69, Z:2.81 [[ 9.99915460e-01 -8.93715255e-03 -9.44456322e-03 7.84061433e+02] [ 8.94049419e-03 9.99959984e-01 3.11654634e-04 -6.16921003e+01] [ 9.44139998e-03 -3.96067349e-04 9.99955351e-01 2.80626835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8507140569999 meters Centerline goodness [0,1] 0.9832306861156132 Centerline is valid? [True, True] Translation: X:784.09, Y:-61.70, Z:2.81 [[ 9.99919445e-01 -8.49362085e-03 -9.43192495e-03 7.84089509e+02] [ 8.49693106e-03 9.99963852e-01 3.10940446e-04 -6.17041078e+01] [ 9.42894300e-03 -3.91057815e-04 9.99955470e-01 2.80740359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.880714057 meters Centerline goodness [0,1] 0.9867957556242302 Centerline is valid? [True, True] Translation: X:784.12, Y:-61.70, Z:2.81 [[ 9.99928073e-01 -7.63946138e-03 -9.24596520e-03 7.84118849e+02] [ 7.64260646e-03 9.99970748e-01 3.04871268e-04 -6.16979659e+01] [ 9.24336569e-03 -3.75512613e-04 9.99957209e-01 2.80697118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.910714057 meters Centerline goodness [0,1] 0.9859427808752933 Centerline is valid? [True, True] Translation: X:784.15, Y:-61.70, Z:2.81 [[ 9.99919306e-01 -8.09458225e-03 -9.79079470e-03 7.84147979e+02] [ 8.09810534e-03 9.99967159e-01 3.20245162e-04 -6.16991589e+01] [ 9.78788090e-03 -3.99506207e-04 9.99952018e-01 2.80695147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9407140569999 meters Centerline goodness [0,1] 0.9867190705508886 Centerline is valid? [True, True] Translation: X:784.18, Y:-61.70, Z:2.81 [[ 9.99912489e-01 -8.96577271e-03 -9.72778716e-03 7.84176959e+02] [ 8.96926854e-03 9.99959725e-01 3.15797396e-04 -6.17000103e+01] [ 9.72456401e-03 -4.03020895e-04 9.99952634e-01 2.80667841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9707140569999 meters Centerline goodness [0,1] 0.9862109147407263 Centerline is valid? [True, True] Translation: X:784.20, Y:-61.71, Z:2.81 [[ 9.99887704e-01 -1.13692564e-02 -9.76313344e-03 7.84204792e+02] [ 1.13728636e-02 9.99935278e-01 3.14028085e-04 -6.17081463e+01] [ 9.75893128e-03 -4.25027606e-04 9.99952290e-01 2.80697632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.000714057 meters Centerline goodness [0,1] 0.9858201879148349 Centerline is valid? [True, True] Translation: X:784.23, Y:-61.71, Z:2.81 [[ 9.99849097e-01 -1.36890428e-02 -1.06955118e-02 7.84233775e+02] [ 1.36934949e-02 9.99906181e-01 3.43139556e-04 -6.17093625e+01] [ 1.06898111e-02 -4.89546712e-04 9.99942743e-01 2.80707611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.030714057 meters Centerline goodness [0,1] 0.9852097082786938 Centerline is valid? [True, True] Translation: X:784.26, Y:-61.72, Z:2.81 [[ 9.99762141e-01 -1.89484640e-02 -1.07989761e-02 7.84263847e+02] [ 1.89533018e-02 9.99820310e-01 3.45813983e-04 -6.17163609e+01] [ 1.07904830e-02 -5.50407981e-04 9.99941630e-01 2.80744817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0607140569999 meters Centerline goodness [0,1] 0.9847996216030271 Centerline is valid? [True, True] Translation: X:784.29, Y:-61.72, Z:2.81 [[ 9.99706971e-01 -2.15667662e-02 -1.09930060e-02 7.84294331e+02] [ 2.15719363e-02 9.99767237e-01 3.51935381e-04 -6.17206906e+01] [ 1.09828572e-02 -5.88972680e-04 9.99939513e-01 2.80815222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0907140569999 meters Centerline goodness [0,1] 0.9840412947628777 Centerline is valid? [True, True] Translation: X:784.33, Y:-61.72, Z:2.81 [[ 9.99657504e-01 -2.36136693e-02 -1.12814004e-02 7.84325216e+02] [ 2.36192438e-02 9.99720962e-01 3.61134753e-04 -6.17242799e+01] [ 1.12697248e-02 -6.27469213e-04 9.99936298e-01 2.80877575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.120714057 meters Centerline goodness [0,1] 0.9840828971263754 Centerline is valid? [True, True] Translation: X:784.36, Y:-61.73, Z:2.81 [[ 9.99588930e-01 -2.60818522e-02 -1.19041047e-02 7.84355139e+02] [ 2.60882396e-02 9.99659571e-01 3.81580549e-04 -6.17305340e+01] [ 1.18900999e-02 -6.91980830e-04 9.99929071e-01 2.80877543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.150714057 meters Centerline goodness [0,1] 0.9825536480686695 Centerline is valid? [True, True] Translation: X:784.39, Y:-61.73, Z:2.81 [[ 9.99559659e-01 -2.70726575e-02 -1.21473665e-02 7.84386712e+02] [ 2.70793816e-02 9.99633210e-01 3.89379294e-04 -6.17331407e+01] [ 1.21323695e-02 -7.18151007e-04 9.99926142e-01 2.80918300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1807140569999 meters Centerline goodness [0,1] 0.9826303261638754 Centerline is valid? [True, True] Translation: X:784.42, Y:-61.74, Z:2.81 [[ 9.99554509e-01 -2.71806868e-02 -1.23286003e-02 7.84418015e+02] [ 2.71876266e-02 9.99630270e-01 3.95625745e-04 -6.17357884e+01] [ 1.23132887e-02 -7.30634879e-04 9.99923922e-01 2.80984990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2107140569999 meters Centerline goodness [0,1] 0.98179127525415 Centerline is valid? [True, True] Translation: X:784.45, Y:-61.74, Z:2.81 [[ 9.99564510e-01 -2.69911786e-02 -1.19275658e-02 7.84448464e+02] [ 2.69976656e-02 9.99635423e-01 3.83154001e-04 -6.17394679e+01] [ 1.19128755e-02 -7.05003573e-04 9.99928791e-01 2.81028839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2407140569999 meters Centerline goodness [0,1] 0.9824452217953945 Centerline is valid? [True, True] Translation: X:784.48, Y:-61.74, Z:2.81 [[ 9.99587214e-01 -2.62325199e-02 -1.17156313e-02 7.84479877e+02] [ 2.62387346e-02 9.99655634e-01 3.77037174e-04 -6.17370702e+01] [ 1.17017062e-02 -6.84284879e-04 9.99931299e-01 2.81118800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.270714057 meters Centerline goodness [0,1] 0.9847315148395951 Centerline is valid? [True, True] Translation: X:784.51, Y:-61.73, Z:2.81 [[ 9.99606926e-01 -2.53989875e-02 -1.18695277e-02 7.84511301e+02] [ 2.54053130e-02 9.99677160e-01 3.82418093e-04 -6.17341679e+01] [ 1.18559827e-02 -6.83816841e-04 9.99929482e-01 2.81183625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3007140569999 meters Centerline goodness [0,1] 0.9818694343007239 Centerline is valid? [True, True] Translation: X:784.54, Y:-61.74, Z:2.81 [[ 9.99651011e-01 -2.34580996e-02 -1.21480224e-02 7.84541283e+02] [ 2.34645881e-02 9.99724592e-01 3.91850741e-04 -6.17411672e+01] [ 1.21354846e-02 -6.76762330e-04 9.99926133e-01 2.81208500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3307140569999 meters Centerline goodness [0,1] 0.9837455830388693 Centerline is valid? [True, True] Translation: X:784.57, Y:-61.74, Z:2.81 [[ 9.99683683e-01 -2.15041690e-02 -1.30424289e-02 7.84571798e+02] [ 2.15114856e-02 9.99768513e-01 4.20943479e-04 -6.17393866e+01] [ 1.30303577e-02 -7.01372349e-04 9.99914855e-01 2.81239603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3607140569999 meters Centerline goodness [0,1] 0.9836272579402449 Centerline is valid? [True, True] Translation: X:784.60, Y:-61.74, Z:2.81 [[ 9.99696914e-01 -2.07660531e-02 -1.32231590e-02 7.84601420e+02] [ 2.07735093e-02 9.99784116e-01 4.26757011e-04 -6.17414887e+01] [ 1.32114422e-02 -7.01319082e-04 9.99912479e-01 2.81221949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.390714057 meters Centerline goodness [0,1] 0.9840018846508042 Centerline is valid? [True, True] Translation: X:784.63, Y:-61.74, Z:2.81 [[ 9.99702441e-01 -2.02525130e-02 -1.35965045e-02 7.84631302e+02] [ 2.02603451e-02 9.99794642e-01 4.38534421e-04 -6.17416602e+01] [ 1.35848310e-02 -7.13873806e-04 9.99907467e-01 2.81227584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4207140569999 meters Centerline goodness [0,1] 0.9838091180230081 Centerline is valid? [True, True] Translation: X:784.66, Y:-61.74, Z:2.81 [[ 9.99717979e-01 -1.92198367e-02 -1.39484871e-02 7.84661317e+02] [ 1.92279724e-02 9.99815024e-01 4.49384705e-04 -6.17423772e+01] [ 1.39372699e-02 -7.17459095e-04 9.99902614e-01 2.81208824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4507140569999 meters Centerline goodness [0,1] 0.9835231765435001 Centerline is valid? [True, True] Translation: X:784.69, Y:-61.74, Z:2.81 [[ 9.99729429e-01 -1.75404112e-02 -1.52775011e-02 7.84691000e+02] [ 1.75499669e-02 9.99845867e-01 4.91623760e-04 -6.17436522e+01] [ 1.52665230e-02 -7.59610380e-04 9.99883171e-01 2.81159612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4807140569999 meters Centerline goodness [0,1] 0.9839222803458951 Centerline is valid? [True, True] Translation: X:784.72, Y:-61.74, Z:2.81 [[ 9.99751364e-01 -1.64469373e-02 -1.50568390e-02 7.84719416e+02] [ 1.64560782e-02 9.99864473e-01 4.83389193e-04 -6.17448652e+01] [ 1.50468481e-02 -7.31045524e-04 9.99886523e-01 2.81159713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.510714057 meters Centerline goodness [0,1] 0.9839926481588339 Centerline is valid? [True, True] Translation: X:784.75, Y:-61.74, Z:2.81 [[ 9.99809712e-01 -1.29661469e-02 -1.45746277e-02 7.84748944e+02] [ 1.29742997e-02 9.99915722e-01 4.64965861e-04 -6.17416792e+01] [ 1.45673706e-02 -6.53972971e-04 9.99893676e-01 2.81304725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.540714057 meters Centerline goodness [0,1] 0.9841235923844527 Centerline is valid? [True, True] Translation: X:784.78, Y:-61.74, Z:2.81 [[ 9.99839124e-01 -1.09011461e-02 -1.42440013e-02 7.84776689e+02] [ 1.09087141e-02 9.99940395e-01 4.53724156e-04 -6.17423453e+01] [ 1.42382062e-02 -6.09034900e-04 9.99898446e-01 2.81343812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5707140569999 meters Centerline goodness [0,1] 0.9862275449101796 Centerline is valid? [True, True] Translation: X:784.81, Y:-61.74, Z:2.81 [[ 9.99857060e-01 -8.75221304e-03 -1.44657902e-02 7.84806105e+02] [ 8.75976324e-03 9.99961527e-01 4.58654349e-04 -6.17393034e+01] [ 1.44612194e-02 -5.85305686e-04 9.99895260e-01 2.81410801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6007140569999 meters Centerline goodness [0,1] 0.9853246336506578 Centerline is valid? [True, True] Translation: X:784.83, Y:-61.74, Z:2.81 [[ 9.99886539e-01 -5.35511990e-03 -1.40794788e-02 7.84834605e+02] [ 5.36189560e-03 9.99985527e-01 4.43542212e-04 -6.17407041e+01] [ 1.40768998e-02 -5.18984583e-04 9.99900781e-01 2.81424621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.630714057 meters Centerline goodness [0,1] 0.9853063843439205 Centerline is valid? [True, True] Translation: X:784.86, Y:-61.74, Z:2.81 [[ 9.99887563e-01 -4.09615624e-03 -1.44251106e-02 7.84863159e+02] [ 4.10312016e-03 9.99991479e-01 4.53201604e-04 -6.17407305e+01] [ 1.44231313e-02 -5.12338610e-04 9.99895850e-01 2.81493939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.660714057 meters Centerline goodness [0,1] 0.9859148908884947 Centerline is valid? [True, True] Translation: X:784.89, Y:-61.74, Z:2.82 [[ 9.99890885e-01 -3.64471979e-03 -1.43155044e-02 7.84891610e+02] [ 3.65148219e-03 9.99993234e-01 4.46273087e-04 -6.17414302e+01] [ 1.43137810e-02 -4.98497202e-04 9.99897428e-01 2.81531707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6907140569999 meters Centerline goodness [0,1] 0.9857340867896365 Centerline is valid? [True, True] Translation: X:784.92, Y:-61.74, Z:2.82 [[ 9.99896906e-01 -3.75254298e-03 -1.38598304e-02 7.84919473e+02] [ 3.75884525e-03 9.99992844e-01 4.28693201e-04 -6.17417373e+01] [ 1.38581225e-02 -4.80745963e-04 9.99903856e-01 2.81600175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7207140569999 meters Centerline goodness [0,1] 0.9857340867896365 Centerline is valid? [True, True] Translation: X:784.95, Y:-61.74, Z:2.82 [[ 9.99895773e-01 -4.04297663e-03 -1.38599538e-02 7.84946888e+02] [ 4.04925102e-03 9.99991712e-01 4.24666880e-04 -6.17425147e+01] [ 1.38581220e-02 -4.80745051e-04 9.99903856e-01 2.81633511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.750714057 meters Centerline goodness [0,1] 0.9849139306764262 Centerline is valid? [True, True] Translation: X:784.97, Y:-61.75, Z:2.82 [[ 9.99896969e-01 -4.80258031e-03 -1.35272480e-02 7.84974151e+02] [ 4.80857827e-03 9.99988354e-01 4.10908185e-04 -6.17470160e+01] [ 1.35251171e-02 -4.75912679e-04 9.99908418e-01 2.81658009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.780714057 meters Centerline goodness [0,1] 0.983691954414016 Centerline is valid? [True, True] Translation: X:785.00, Y:-61.75, Z:2.82 [[ 9.99893481e-01 -7.32148307e-03 -1.26262347e-02 7.85002923e+02] [ 7.32689593e-03 9.99973085e-01 3.82494804e-04 -6.17534313e+01] [ 1.26230944e-02 -4.74965169e-04 9.99920213e-01 2.81726411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8107140569999 meters Centerline goodness [0,1] 0.9843430034129693 Centerline is valid? [True, True] Translation: X:785.03, Y:-61.75, Z:2.82 [[ 9.99878432e-01 -9.28993772e-03 -1.25226985e-02 7.85031695e+02] [ 9.29540805e-03 9.99956725e-01 3.78698718e-04 -6.17528882e+01] [ 1.25186385e-02 -4.95056273e-04 9.99921516e-01 2.81821833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8407140569999 meters Centerline goodness [0,1] 0.9836016632903295 Centerline is valid? [True, True] Translation: X:785.06, Y:-61.76, Z:2.82 [[ 9.99854323e-01 -1.15126137e-02 -1.26012888e-02 7.85060187e+02] [ 1.15183166e-02 9.99933590e-01 3.80073851e-04 -6.17566611e+01] [ 1.25960763e-02 -5.25164116e-04 9.99920528e-01 2.81820743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.870714057 meters Centerline goodness [0,1] 0.9828114111958105 Centerline is valid? [True, True] Translation: X:785.09, Y:-61.76, Z:2.82 [[ 9.99831778e-01 -1.34712156e-02 -1.24475379e-02 7.85088318e+02] [ 1.34768939e-02 9.99909113e-01 3.72404240e-04 -6.17630640e+01] [ 1.24413898e-02 -5.40095741e-04 9.99922457e-01 2.81841778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.900714057 meters Centerline goodness [0,1] 0.9820005088195387 Centerline is valid? [True, True] Translation: X:785.12, Y:-61.77, Z:2.82 [[ 9.99771594e-01 -1.74686522e-02 -1.23128742e-02 7.85118756e+02] [ 1.74745008e-02 9.99847242e-01 3.67567166e-04 -6.17693518e+01] [ 1.23045724e-02 -5.82644542e-04 9.99924126e-01 2.81883567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9307140569999 meters Centerline goodness [0,1] 0.982820283561119 Centerline is valid? [True, True] Translation: X:785.15, Y:-61.77, Z:2.82 [[ 9.99730098e-01 -1.95282531e-02 -1.25848635e-02 7.85148298e+02] [ 1.95345255e-02 9.99809112e-01 3.75669594e-04 -6.17670196e+01] [ 1.25751251e-02 -6.21407538e-04 9.99920737e-01 2.81942712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9607140569999 meters Centerline goodness [0,1] 0.9809515710701986 Centerline is valid? [True, True] Translation: X:785.18, Y:-61.78, Z:2.82 [[ 9.99656816e-01 -2.30965734e-02 -1.23611852e-02 7.85176987e+02] [ 2.31028915e-02 9.99733025e-01 3.68549873e-04 -6.17755485e+01] [ 1.23493728e-02 -6.54002513e-04 9.99923530e-01 2.81957082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9907140569999 meters Centerline goodness [0,1] 0.9816041829843984 Centerline is valid? [True, True] Translation: X:785.21, Y:-61.78, Z:2.82 [[ 9.99632726e-01 -2.41344763e-02 -1.23264155e-02 7.85207872e+02] [ 2.41408321e-02 9.99708500e-01 3.67075741e-04 -6.17762756e+01] [ 1.23139632e-02 -6.64510851e-04 9.99923959e-01 2.81985303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.020714057 meters Centerline goodness [0,1] 0.9814011818220465 Centerline is valid? [True, True] Translation: X:785.24, Y:-61.78, Z:2.82 [[ 9.99579164e-01 -2.60368214e-02 -1.27897657e-02 7.85238418e+02] [ 2.60438193e-02 9.99660730e-01 3.80874125e-04 -6.17796097e+01] [ 1.27755097e-02 -7.13808186e-04 9.99918135e-01 2.82049434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0507140569999 meters Centerline goodness [0,1] 0.9821755611397419 Centerline is valid? [True, True] Translation: X:785.27, Y:-61.78, Z:2.82 [[ 9.99558831e-01 -2.69603641e-02 -1.24611869e-02 7.85269327e+02] [ 2.69670787e-02 9.99636253e-01 3.71095360e-04 -6.17802310e+01] [ 1.24466493e-02 -7.06973450e-04 9.99922288e-01 2.82070141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0807140569999 meters Centerline goodness [0,1] 0.9823793228048547 Centerline is valid? [True, True] Translation: X:785.30, Y:-61.78, Z:2.82 [[ 9.99541911e-01 -2.77328505e-02 -1.21184423e-02 7.85300732e+02] [ 2.77392599e-02 9.99615127e-01 3.61099873e-04 -6.17804660e+01] [ 1.21037639e-02 -6.97091077e-04 9.99926504e-01 2.82100357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1107140569999 meters Centerline goodness [0,1] 0.9799906339137469 Centerline is valid? [True, True] Translation: X:785.33, Y:-61.78, Z:2.82 [[ 9.99478645e-01 -2.96752204e-02 -1.27207899e-02 7.85330920e+02] [ 2.96824456e-02 9.99559307e-01 3.79521262e-04 -6.17838738e+01] [ 1.27039216e-02 -7.56907550e-04 9.99919015e-01 2.82141164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.140714057 meters Centerline goodness [0,1] 0.9811300685018933 Centerline is valid? [True, True] Translation: X:785.36, Y:-61.78, Z:2.82 [[ 9.99442688e-01 -3.07549980e-02 -1.29785909e-02 7.85361697e+02] [ 3.07626128e-02 9.99526644e-01 3.87451003e-04 -6.17838099e+01] [ 1.29605313e-02 -7.86490439e-04 9.99915699e-01 2.82208576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1707140569999 meters Centerline goodness [0,1] 0.9804559567861852 Centerline is valid? [True, True] Translation: X:785.39, Y:-61.79, Z:2.82 [[ 9.99382084e-01 -3.25949887e-02 -1.31535735e-02 7.85391511e+02] [ 3.26029719e-02 9.99468305e-01 3.92896739e-04 -6.17860055e+01] [ 1.31337733e-02 -8.21499550e-04 9.99913411e-01 2.82229398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2007140569999 meters Centerline goodness [0,1] 0.9800178563836571 Centerline is valid? [True, True] Translation: X:785.42, Y:-61.79, Z:2.82 [[ 9.99236508e-01 -3.65390457e-02 -1.38310857e-02 7.85420846e+02] [ 3.65482485e-02 9.99331804e-01 4.13109517e-04 -6.17894319e+01] [ 1.38067492e-02 -9.18296069e-04 9.99904261e-01 2.82215679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2307140569999 meters Centerline goodness [0,1] 0.9782299041180348 Centerline is valid? [True, True] Translation: X:785.45, Y:-61.79, Z:2.82 [[ 9.99155341e-01 -3.84861265e-02 -1.44022087e-02 7.85451527e+02] [ 3.84963044e-02 9.99258650e-01 4.30028081e-04 -6.17916476e+01] [ 1.43749815e-02 -9.84096664e-04 9.99896190e-01 2.82203157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.260714057 meters Centerline goodness [0,1] 0.9785129241570045 Centerline is valid? [True, True] Translation: X:785.48, Y:-61.79, Z:2.82 [[ 9.98985764e-01 -4.22195763e-02 -1.56508776e-02 7.85480792e+02] [ 4.22320545e-02 9.99107719e-01 4.67493692e-04 -6.17942786e+01] [ 1.56171752e-02 -1.12798826e-03 9.99877408e-01 2.82170747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.290714057 meters Centerline goodness [0,1] 0.9802454929037208 Centerline is valid? [True, True] Translation: X:785.51, Y:-61.79, Z:2.82 [[ 9.98927916e-01 -4.33964090e-02 -1.61174215e-02 7.85511736e+02] [ 4.34097931e-02 9.99057235e-01 4.81324986e-04 -6.17902119e+01] [ 1.60813388e-02 -1.18046290e-03 9.99869990e-01 2.82271276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3207140569999 meters Centerline goodness [0,1] 0.9783841172098949 Centerline is valid? [True, True] Translation: X:785.54, Y:-61.80, Z:2.82 [[ 9.98882070e-01 -4.42607718e-02 -1.66010167e-02 7.85542133e+02] [ 4.42750973e-02 9.99019254e-01 4.96209936e-04 -6.17969722e+01] [ 1.65627727e-02 -1.23066684e-03 9.99862070e-01 2.82283707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3507140569999 meters Centerline goodness [0,1] 0.9783703388930203 Centerline is valid? [True, True] Translation: X:785.57, Y:-61.79, Z:2.82 [[ 9.98844060e-01 -4.50419774e-02 -1.67858192e-02 7.85573037e+02] [ 4.50567446e-02 9.98984303e-01 5.02406036e-04 -6.17943486e+01] [ 1.67461405e-02 -1.25813965e-03 9.99858982e-01 2.82321530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.380714057 meters Centerline goodness [0,1] 0.9796136193830718 Centerline is valid? [True, True] Translation: X:785.61, Y:-61.79, Z:2.82 [[ 9.98847858e-01 -4.48946959e-02 -1.69535522e-02 7.85605340e+02] [ 4.49097482e-02 9.98990919e-01 5.07990106e-04 -6.17888218e+01] [ 1.69136387e-02 -1.26878459e-03 9.99856149e-01 2.82469988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.410714057 meters Centerline goodness [0,1] 0.9787007000170735 Centerline is valid? [True, True] Translation: X:785.64, Y:-61.79, Z:2.82 [[ 9.98857150e-01 -4.45953528e-02 -1.71944316e-02 7.85635923e+02] [ 4.46108085e-02 9.99004309e-01 5.16183198e-04 -6.17915066e+01] [ 1.71542919e-02 -1.28265077e-03 9.99852032e-01 2.82497689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4407140569999 meters Centerline goodness [0,1] 0.9794775321732438 Centerline is valid? [True, True] Translation: X:785.67, Y:-61.78, Z:2.83 [[ 9.98905973e-01 -4.37321671e-02 -1.65636569e-02 7.85667627e+02] [ 4.37463975e-02 9.99042544e-01 4.97614208e-04 -6.17836074e+01] [ 1.65260362e-02 -1.22167012e-03 9.99862689e-01 2.82607846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4707140569999 meters Centerline goodness [0,1] 0.9794901407245818 Centerline is valid? [True, True] Translation: X:785.70, Y:-61.78, Z:2.83 [[ 9.98899010e-01 -4.39614150e-02 -1.63756235e-02 7.85699754e+02] [ 4.39753667e-02 9.99032494e-01 4.92698881e-04 -6.17833214e+01] [ 1.63381202e-02 -1.21228047e-03 9.99865789e-01 2.82665382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.500714057 meters Centerline goodness [0,1] 0.9783606416745303 Centerline is valid? [True, True] Translation: X:785.73, Y:-61.78, Z:2.83 [[ 9.98837171e-01 -4.53072811e-02 -1.64789711e-02 7.85731299e+02] [ 4.53216085e-02 9.98972324e-01 4.96833564e-04 -6.17813890e+01] [ 1.64395259e-02 -1.24310931e-03 9.99864089e-01 2.82703039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.530714057 meters Centerline goodness [0,1] 0.9781950074674632 Centerline is valid? [True, True] Translation: X:785.76, Y:-61.78, Z:2.83 [[ 9.98767803e-01 -4.66365528e-02 -1.69678617e-02 7.85762604e+02] [ 4.66519442e-02 9.98911074e-01 5.12187668e-04 -6.17811843e+01] [ 1.69254982e-02 -1.30314029e-03 9.99855904e-01 2.82725539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5607140569999 meters Centerline goodness [0,1] 0.9789060320593979 Centerline is valid? [True, True] Translation: X:785.79, Y:-61.78, Z:2.83 [[ 9.98693179e-01 -4.80289863e-02 -1.74685543e-02 7.85793510e+02] [ 4.80455207e-02 9.98845008e-01 5.27840527e-04 -6.17790995e+01] [ 1.74230266e-02 -1.36643652e-03 9.99847274e-01 2.82757615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5907140569999 meters Centerline goodness [0,1] 0.976679184091491 Centerline is valid? [True, True] Translation: X:785.82, Y:-61.78, Z:2.83 [[ 9.98488156e-01 -5.16981018e-02 -1.86737223e-02 7.85823319e+02] [ 5.17176367e-02 9.98661588e-01 5.64390807e-04 -6.17834484e+01] [ 1.86195513e-02 -1.52929832e-03 9.99825472e-01 2.82658958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.620714057 meters Centerline goodness [0,1] 0.9775452646989171 Centerline is valid? [True, True] Translation: X:785.85, Y:-61.78, Z:2.83 [[ 9.98390159e-01 -5.32476374e-02 -1.95391825e-02 7.85854308e+02] [ 5.32693189e-02 9.98580007e-01 5.90488970e-04 -6.17791174e+01] [ 1.94799948e-02 -1.63037732e-03 9.99808918e-01 2.82665543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.650714057 meters Centerline goodness [0,1] 0.9771517254758261 Centerline is valid? [True, True] Translation: X:785.88, Y:-61.78, Z:2.83 [[ 9.98208199e-01 -5.59140798e-02 -2.13074530e-02 7.85884429e+02] [ 5.59404733e-02 9.98433898e-01 6.44208949e-04 -6.17785114e+01] [ 2.12380630e-02 -1.83500366e-03 9.99772763e-01 2.82655046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6807140569999 meters Centerline goodness [0,1] 0.9734503777472527 Centerline is valid? [True, True] Translation: X:785.92, Y:-61.78, Z:2.83 [[ 9.98158930e-01 -5.66791321e-02 -2.15922600e-02 7.85915246e+02] [ 5.67064259e-02 9.98390682e-01 6.53384104e-04 -6.17840043e+01] [ 2.15204779e-02 -1.87660107e-03 9.99766646e-01 2.82609631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7107140569999 meters Centerline goodness [0,1] 0.9765385114388272 Centerline is valid? [True, True] Translation: X:785.95, Y:-61.78, Z:2.83 [[ 9.98127132e-01 -5.70983982e-02 -2.19545127e-02 7.85947871e+02] [ 5.71267462e-02 9.98366712e-01 6.65709167e-04 -6.17756216e+01] [ 2.18806437e-02 -1.91865226e-03 9.99758749e-01 2.82787419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7407140569999 meters Centerline goodness [0,1] 0.9764723674545219 Centerline is valid? [True, True] Translation: X:785.98, Y:-61.77, Z:2.83 [[ 9.98113206e-01 -5.71415484e-02 -2.24693416e-02 7.85980382e+02] [ 5.71712897e-02 9.98364151e-01 6.82967561e-04 -6.17717457e+01] [ 2.23935593e-02 -1.96628018e-03 9.99747299e-01 2.82861723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.770714057 meters Centerline goodness [0,1] 0.9768530559167751 Centerline is valid? [True, True] Translation: X:786.01, Y:-61.77, Z:2.83 [[ 9.98153256e-01 -5.64666534e-02 -2.23962867e-02 7.86013168e+02] [ 5.64960737e-02 9.98402588e-01 6.82570967e-04 -6.17664863e+01] [ 2.23219681e-02 -1.94661270e-03 9.99748939e-01 2.82971463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8007140569999 meters Centerline goodness [0,1] 0.9760399695883567 Centerline is valid? [True, True] Translation: X:786.04, Y:-61.76, Z:2.83 [[ 9.98218340e-01 -5.57029652e-02 -2.13851883e-02 7.86044073e+02] [ 5.57296478e-02 9.98445682e-01 6.53322548e-04 -6.17639249e+01] [ 2.13155570e-02 -1.84394756e-03 9.99771097e-01 2.83082786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8307140569999 meters Centerline goodness [0,1] 0.9767148603109034 Centerline is valid? [True, True] Translation: X:786.07, Y:-61.76, Z:2.83 [[ 9.98264779e-01 -5.50793934e-02 -2.08252779e-02 7.86074887e+02] [ 5.51045851e-02 9.98480385e-01 6.37330412e-04 -6.17635818e+01] [ 2.07585277e-02 -1.78379280e-03 9.99782927e-01 2.83163052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8607140569999 meters Centerline goodness [0,1] 0.9770746164574616 Centerline is valid? [True, True] Translation: X:786.11, Y:-61.76, Z:2.83 [[ 9.98315901e-01 -5.41175094e-02 -2.08963569e-02 7.86107597e+02] [ 5.41426974e-02 9.98533003e-01 6.41094298e-04 -6.17614883e+01] [ 2.08310076e-02 -1.77139976e-03 9.99781442e-01 2.83218526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.890714057 meters Centerline goodness [0,1] 0.9773560209424084 Centerline is valid? [True, True] Translation: X:786.14, Y:-61.76, Z:2.83 [[ 9.98374775e-01 -5.30732826e-02 -2.07614023e-02 7.86139394e+02] [ 5.30979581e-02 9.98589104e-01 6.38699661e-04 -6.17585659e+01] [ 2.06982122e-02 -1.74004970e-03 9.99784255e-01 2.83302973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9207140569999 meters Centerline goodness [0,1] 0.9764462359734176 Centerline is valid? [True, True] Translation: X:786.17, Y:-61.76, Z:2.83 [[ 9.98472210e-01 -5.13700063e-02 -2.03560316e-02 7.86169678e+02] [ 5.13933918e-02 9.98678290e-01 6.27013443e-04 -6.17566597e+01] [ 2.02969171e-02 -1.67222100e-03 9.99792598e-01 2.83403757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9507140569999 meters Centerline goodness [0,1] 0.9776766173509586 Centerline is valid? [True, True] Translation: X:786.20, Y:-61.75, Z:2.83 [[ 9.98511657e-01 -5.07607646e-02 -1.99452980e-02 7.86201962e+02] [ 5.07831103e-02 9.98709516e-01 6.15133475e-04 -6.17507356e+01] [ 1.98883343e-02 -1.62710222e-03 9.99800884e-01 2.83470525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9807140569999 meters Centerline goodness [0,1] 0.9781004261301235 Centerline is valid? [True, True] Translation: X:786.23, Y:-61.75, Z:2.83 [[ 9.98560097e-01 -4.93574028e-02 -2.10138113e-02 7.86233840e+02] [ 4.93819279e-02 9.98779757e-01 6.49476352e-04 -6.17459791e+01] [ 2.09561129e-02 -1.68624369e-03 9.99778975e-01 2.83423533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.010714057 meters Centerline goodness [0,1] 0.9776197768540801 Centerline is valid? [True, True] Translation: X:786.27, Y:-61.75, Z:2.83 [[ 9.98566146e-01 -4.88760061e-02 -2.18354975e-02 7.86265014e+02] [ 4.89023989e-02 9.98803333e-01 6.76063825e-04 -6.17474249e+01] [ 2.17763244e-02 -1.74290265e-03 9.99761349e-01 2.83350081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.040714057 meters Centerline goodness [0,1] 0.9789940893410385 Centerline is valid? [True, True] Translation: X:786.30, Y:-61.74, Z:2.83 [[ 9.98549265e-01 -4.87254685e-02 -2.29171106e-02 7.86297720e+02] [ 4.87545358e-02 9.98810537e-01 7.11019244e-04 -6.17392547e+01] [ 2.28552068e-02 -1.82730083e-03 9.99737116e-01 2.83435208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0707140569999 meters Centerline goodness [0,1] 0.9788096391911538 Centerline is valid? [True, True] Translation: X:786.33, Y:-61.74, Z:2.83 [[ 9.98575446e-01 -4.78578085e-02 -2.35946635e-02 7.86328677e+02] [ 4.78884377e-02 9.98852421e-01 7.34498988e-04 -6.17390948e+01] [ 2.35324352e-02 -1.86336423e-03 9.99721337e-01 2.83303518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1007140569999 meters Centerline goodness [0,1] 0.9799442040287327 Centerline is valid? [True, True] Translation: X:786.36, Y:-61.74, Z:2.83 [[ 9.98606205e-01 -4.72765755e-02 -2.34643073e-02 7.86361319e+02] [ 4.73067650e-02 9.98880139e-01 7.32890837e-04 -6.17352588e+01] [ 2.34033820e-02 -1.84188981e-03 9.99724407e-01 2.83349324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.130714057 meters Centerline goodness [0,1] 0.9805619367379396 Centerline is valid? [True, True] Translation: X:786.39, Y:-61.73, Z:2.83 [[ 9.98682149e-01 -4.58488051e-02 -2.30619363e-02 7.86393208e+02] [ 4.58776231e-02 9.98946807e-01 7.21789238e-04 -6.17323210e+01] [ 2.30045545e-02 -1.77886485e-03 9.99733778e-01 2.83366851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.160714057 meters Centerline goodness [0,1] 0.9782775813217949 Centerline is valid? [True, True] Translation: X:786.42, Y:-61.74, Z:2.83 [[ 9.98720576e-01 -4.49547859e-02 -2.31576739e-02 7.86423323e+02] [ 4.49836248e-02 9.98987461e-01 7.25647680e-04 -6.17370660e+01] [ 2.31016045e-02 -1.76643538e-03 9.99731562e-01 2.83328603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1907140569999 meters Centerline goodness [0,1] 0.9799461701376633 Centerline is valid? [True, True] Translation: X:786.46, Y:-61.73, Z:2.83 [[ 9.98741779e-01 -4.40679871e-02 -2.39347166e-02 7.86455617e+02] [ 4.40985668e-02 9.99026903e-01 7.51059133e-04 -6.17321271e+01] [ 2.38783281e-02 -1.80560083e-03 9.99713242e-01 2.83398229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2207140569999 meters Centerline goodness [0,1] 0.9790549338983425 Centerline is valid? [True, True] Translation: X:786.49, Y:-61.73, Z:2.83 [[ 9.98829169e-01 -4.21820235e-02 -2.36847784e-02 7.86486269e+02] [ 4.22114701e-02 9.99108421e-01 7.44473945e-04 -6.17299098e+01] [ 2.36322581e-02 -1.74337160e-03 9.99719199e-01 2.83382740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.250714057 meters Centerline goodness [0,1] 0.9807223035627135 Centerline is valid? [True, True] Translation: X:786.52, Y:-61.72, Z:2.84 [[ 9.98859736e-01 -4.18761649e-02 -2.29263046e-02 7.86519172e+02] [ 4.19037069e-02 9.99121393e-01 7.22025741e-04 -6.17244713e+01] [ 2.28759257e-02 -1.68189959e-03 9.99736897e-01 2.83519800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.280714057 meters Centerline goodness [0,1] 0.9801982393507329 Centerline is valid? [True, True] Translation: X:786.55, Y:-61.72, Z:2.84 [[ 9.98862727e-01 -4.19820233e-02 -2.26000491e-02 7.86551298e+02] [ 4.20088552e-02 9.99116984e-01 7.13593146e-04 -6.17224286e+01] [ 2.25501348e-02 -1.66218379e-03 9.99744332e-01 2.83624829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3107140569999 meters Centerline goodness [0,1] 0.9796190518525104 Centerline is valid? [True, True] Translation: X:786.58, Y:-61.73, Z:2.84 [[ 9.98856375e-01 -4.22362422e-02 -2.24062948e-02 7.86582155e+02] [ 4.22627114e-02 9.99106281e-01 7.08902136e-04 -6.17277860e+01] [ 2.23563286e-02 -1.65504219e-03 9.99748696e-01 2.83612999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3407140569999 meters Centerline goodness [0,1] 0.9791104226598805 Centerline is valid? [True, True] Translation: X:786.61, Y:-61.72, Z:2.84 [[ 9.98813806e-01 -4.32208926e-02 -2.24262228e-02 7.86614420e+02] [ 4.32476868e-02 9.99064128e-01 7.10920191e-04 -6.17243520e+01] [ 2.23745082e-02 -1.67995916e-03 9.99748248e-01 2.83706242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.370714057 meters Centerline goodness [0,1] 0.9795723516219997 Centerline is valid? [True, True] Translation: X:786.65, Y:-61.72, Z:2.84 [[ 9.98782984e-01 -4.39752685e-02 -2.23321764e-02 7.86646327e+02] [ 4.40020611e-02 9.99031188e-01 7.09522858e-04 -6.17249296e+01] [ 2.22793392e-02 -1.69132115e-03 9.99750354e-01 2.83741010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.400714057 meters Centerline goodness [0,1] 0.9789831110322023 Centerline is valid? [True, True] Translation: X:786.68, Y:-61.73, Z:2.84 [[ 9.98772049e-01 -4.44659179e-02 -2.18443618e-02 7.86678216e+02] [ 4.44917025e-02 9.99009512e-01 6.95555356e-04 -6.17260328e+01] [ 2.17917967e-02 -1.66659409e-03 9.99761142e-01 2.83773512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4307140569999 meters Centerline goodness [0,1] 0.9805702076517326 Centerline is valid? [True, True] Translation: X:786.71, Y:-61.72, Z:2.84 [[ 9.98737197e-01 -4.49632203e-02 -2.24124984e-02 7.86710561e+02] [ 4.49905248e-02 9.98987158e-01 7.15269515e-04 -6.17227137e+01] [ 2.23576372e-02 -1.72271633e-03 9.99748553e-01 2.83759495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4607140569999 meters Centerline goodness [0,1] 0.978979714533835 Centerline is valid? [True, True] Translation: X:786.74, Y:-61.73, Z:2.84 [[ 9.98746134e-01 -4.46326585e-02 -2.26734374e-02 7.86741766e+02] [ 4.46605509e-02 9.99001957e-01 7.25050720e-04 -6.17288565e+01] [ 2.26184474e-02 -1.73674981e-03 9.99742662e-01 2.83693107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4907140569999 meters Centerline goodness [0,1] 0.9798739626325833 Centerline is valid? [True, True] Translation: X:786.77, Y:-61.72, Z:2.84 [[ 9.98805899e-01 -4.32241588e-02 -2.27694513e-02 7.86773173e+02] [ 4.32519477e-02 9.99063931e-01 7.29158695e-04 -6.17218424e+01] [ 2.27166202e-02 -1.71311112e-03 9.99740477e-01 2.83837456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.520714057 meters Centerline goodness [0,1] 0.981175634878352 Centerline is valid? [True, True] Translation: X:786.80, Y:-61.72, Z:2.84 [[ 9.98905434e-01 -4.14044525e-02 -2.17624859e-02 7.86804960e+02] [ 4.14294280e-02 9.99141189e-01 6.97844498e-04 -6.17212690e+01] [ 2.17149022e-02 -1.59868801e-03 9.99762926e-01 2.83896902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5507140569999 meters Centerline goodness [0,1] 0.9803337703606586 Centerline is valid? [True, True] Translation: X:786.84, Y:-61.72, Z:2.84 [[ 9.99001544e-01 -3.94909038e-02 -2.08898132e-02 7.86835290e+02] [ 3.95135160e-02 9.99218811e-01 6.70639576e-04 -6.17213265e+01] [ 2.08470101e-02 -1.49539994e-03 9.99781559e-01 2.84003255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5807140569999 meters Centerline goodness [0,1] 0.9808554789477207 Centerline is valid? [True, True] Translation: X:786.87, Y:-61.72, Z:2.84 [[ 9.99167903e-01 -3.56065883e-02 -1.98915264e-02 7.86866355e+02] [ 3.56263288e-02 9.99364977e-01 6.38812474e-04 -6.17171993e+01] [ 1.98561489e-02 -1.34694298e-03 9.99801940e-01 2.84160505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6107140569999 meters Centerline goodness [0,1] 0.9808554789477207 Centerline is valid? [True, True] Translation: X:786.90, Y:-61.72, Z:2.84 [[ 9.99170392e-01 -3.55366683e-02 -1.98915081e-02 7.86898102e+02] [ 3.55564063e-02 9.99367467e-01 6.39380897e-04 -6.17182814e+01] [ 1.98562046e-02 -1.34612101e-03 9.99801940e-01 2.84199013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.640714057 meters Centerline goodness [0,1] 0.981167356751703 Centerline is valid? [True, True] Translation: X:786.93, Y:-61.72, Z:2.84 [[ 9.99242777e-01 -3.38295541e-02 -1.92206516e-02 7.86929940e+02] [ 3.38476914e-02 9.99426811e-01 6.19009480e-04 -6.17175352e+01] [ 1.91886937e-02 -1.26911544e-03 9.99815075e-01 2.84250792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6707140569999 meters Centerline goodness [0,1] 0.9811022218260423 Centerline is valid? [True, True] Translation: X:786.96, Y:-61.72, Z:2.84 [[ 9.99333321e-01 -3.14286730e-02 -1.85782933e-02 7.86959838e+02] [ 3.14452163e-02 9.99505297e-01 5.98935461e-04 -6.17160898e+01] [ 1.85502788e-02 -1.18273461e-03 9.99827229e-01 2.84207588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7007140569999 meters Centerline goodness [0,1] 0.9811616602826871 Centerline is valid? [True, True] Translation: X:786.99, Y:-61.72, Z:2.84 [[ 9.99332817e-01 -3.09690342e-02 -1.93607709e-02 7.86990724e+02] [ 3.09869314e-02 9.99519594e-01 6.25020973e-04 -6.17168810e+01] [ 1.93321136e-02 -1.22453485e-03 9.99812367e-01 2.84110185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7307140569999 meters Centerline goodness [0,1] 0.9836149856938483 Centerline is valid? [True, True] Translation: X:787.02, Y:-61.71, Z:2.84 [[ 9.99311343e-01 -3.14133495e-02 -1.97494537e-02 7.87023183e+02] [ 3.14320988e-02 9.99505685e-01 6.39583032e-04 -6.17106666e+01] [ 1.97195998e-02 -1.25990936e-03 9.99804756e-01 2.84158309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.760714057 meters Centerline goodness [0,1] 0.9824834392922243 Centerline is valid? [True, True] Translation: X:787.05, Y:-61.72, Z:2.84 [[ 9.99282667e-01 -3.18804896e-02 -2.04397953e-02 7.87053777e+02] [ 3.19006976e-02 9.99490823e-01 6.63283129e-04 -6.17179850e+01] [ 2.04082420e-02 -1.31485106e-03 9.99790866e-01 2.84055441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.790714057 meters Centerline goodness [0,1] 0.9816715213981627 Centerline is valid? [True, True] Translation: X:787.09, Y:-61.72, Z:2.84 [[ 9.99254330e-01 -3.24692217e-02 -2.08933861e-02 7.87085285e+02] [ 3.24904879e-02 9.99471814e-01 6.79106228e-04 -6.17198372e+01] [ 2.08603005e-02 -1.35743615e-03 9.99781479e-01 2.84023678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8207140569999 meters Centerline goodness [0,1] 0.9809045676632749 Centerline is valid? [True, True] Translation: X:787.12, Y:-61.72, Z:2.84 [[ 9.99186990e-01 -3.39855967e-02 -2.16872959e-02 7.87115986e+02] [ 3.40088830e-02 9.99421281e-01 7.05706618e-04 -6.17211472e+01] [ 2.16507612e-02 -1.44269358e-03 9.99764554e-01 2.83920062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8507140569999 meters Centerline goodness [0,1] 0.9813567637482717 Centerline is valid? [True, True] Translation: X:787.15, Y:-61.72, Z:2.84 [[ 9.99188607e-01 -3.38325691e-02 -2.18514290e-02 7.87147154e+02] [ 3.38562011e-02 9.99426461e-01 7.12337744e-04 -6.17237728e+01] [ 2.18147961e-02 -1.45156613e-03 9.99760975e-01 2.83900924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.880714057 meters Centerline goodness [0,1] 0.9838550542649565 Centerline is valid? [True, True] Translation: X:787.18, Y:-61.71, Z:2.84 [[ 9.99166579e-01 -3.44784443e-02 -2.18491313e-02 7.87179726e+02] [ 3.45022698e-02 9.99404364e-01 7.14314961e-04 -6.17127963e+01] [ 2.18114887e-02 -1.46756426e-03 9.99761024e-01 2.84119008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.910714057 meters Centerline goodness [0,1] 0.9828771740595929 Centerline is valid? [True, True] Translation: X:787.21, Y:-61.71, Z:2.84 [[ 9.99209208e-01 -3.38996821e-02 -2.07790742e-02 7.87210727e+02] [ 3.39211295e-02 9.99424281e-01 6.80469245e-04 -6.17119883e+01] [ 2.07440436e-02 -1.38478080e-03 9.99783860e-01 2.84292008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9407140569999 meters Centerline goodness [0,1] 0.9822032948559901 Centerline is valid? [True, True] Translation: X:787.24, Y:-61.71, Z:2.84 [[ 9.99241730e-01 -3.35551462e-02 -1.97488398e-02 7.87241807e+02] [ 3.35744682e-02 9.99436009e-01 6.47549833e-04 -6.17140170e+01] [ 1.97159730e-02 -1.31011561e-03 9.99804763e-01 2.84377759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9707140569999 meters Centerline goodness [0,1] 0.9828758668671589 Centerline is valid? [True, True] Translation: X:787.27, Y:-61.71, Z:2.85 [[ 9.99293643e-01 -3.29356551e-02 -1.80957784e-02 7.87273992e+02] [ 3.29517945e-02 9.99456765e-01 5.94363048e-04 -6.17118600e+01] [ 1.80663724e-02 -1.19023159e-03 9.99836081e-01 2.84539948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.000714057 meters Centerline goodness [0,1] 0.9824913245301726 Centerline is valid? [True, True] Translation: X:787.31, Y:-61.71, Z:2.85 [[ 9.99297037e-01 -3.31100632e-02 -1.75827974e-02 7.87306464e+02] [ 3.31253486e-02 9.99451037e-01 5.78733114e-04 -6.17124989e+01] [ 1.75539832e-02 -1.16076258e-03 9.99845243e-01 2.84601812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.030714057 meters Centerline goodness [0,1] 0.9828071201926323 Centerline is valid? [True, True] Translation: X:787.34, Y:-61.71, Z:2.85 [[ 9.99297663e-01 -3.33615634e-02 -1.70641779e-02 7.87337641e+02] [ 3.33760154e-02 9.99442707e-01 5.62754103e-04 -6.17149594e+01] [ 1.70358938e-02 -1.13189312e-03 9.99854238e-01 2.84660503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0607140569999 meters Centerline goodness [0,1] 0.9817323896191439 Centerline is valid? [True, True] Translation: X:787.37, Y:-61.72, Z:2.85 [[ 9.99271646e-01 -3.43827476e-02 -1.65530562e-02 7.87368939e+02] [ 3.43965001e-02 9.99408116e-01 5.46746643e-04 -6.17164573e+01] [ 1.65244600e-02 -1.11571562e-03 9.99862839e-01 2.84791765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0907140569999 meters Centerline goodness [0,1] 0.9828992251564371 Centerline is valid? [True, True] Translation: X:787.40, Y:-61.71, Z:2.85 [[ 9.99233506e-01 -3.53687936e-02 -1.67764599e-02 7.87401378e+02] [ 3.53830745e-02 9.99373669e-01 5.55095080e-04 -6.17121095e+01] [ 1.67463193e-02 -1.14827233e-03 9.99859111e-01 2.84917018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.120714057 meters Centerline goodness [0,1] 0.9814589254296928 Centerline is valid? [True, True] Translation: X:787.43, Y:-61.72, Z:2.85 [[ 9.99143469e-01 -3.76616121e-02 -1.71444123e-02 7.87430844e+02] [ 3.76768773e-02 9.99289813e-01 5.68153728e-04 -6.17185905e+01] [ 1.71108390e-02 -1.21361501e-03 9.99852862e-01 2.84848815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.150714057 meters Centerline goodness [0,1] 0.981055145071184 Centerline is valid? [True, True] Translation: X:787.46, Y:-61.72, Z:2.85 [[ 9.99094226e-01 -3.88377672e-02 -1.73883835e-02 7.87463402e+02] [ 3.88536537e-02 9.99244745e-01 5.76605698e-04 -6.17179854e+01] [ 1.73528568e-02 -1.25168565e-03 9.99848644e-01 2.84823470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1807140569999 meters Centerline goodness [0,1] 0.9813828586902559 Centerline is valid? [True, True] Translation: X:787.50, Y:-61.72, Z:2.85 [[ 9.99050247e-01 -3.99521482e-02 -1.73905155e-02 7.87495226e+02] [ 3.99682259e-02 9.99200784e-01 5.77794892e-04 -6.17202041e+01] [ 1.73535326e-02 -1.27231418e-03 9.99848607e-01 2.84820520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2107140569999 meters Centerline goodness [0,1] 0.9793499730651822 Centerline is valid? [True, True] Translation: X:787.52, Y:-61.72, Z:2.85 [[ 9.98948401e-01 -4.20940186e-02 -1.81710078e-02 7.87524859e+02] [ 4.21119448e-02 9.99112715e-01 6.04846275e-04 -6.17249286e+01] [ 1.81294245e-02 -1.36942670e-03 9.99834711e-01 2.84750952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2407140569999 meters Centerline goodness [0,1] 0.9826967762311909 Centerline is valid? [True, True] Translation: X:787.56, Y:-61.72, Z:2.85 [[ 9.98900459e-01 -4.30416196e-02 -1.85820299e-02 7.87557231e+02] [ 4.30605552e-02 9.99072272e-01 6.19935482e-04 -6.17175420e+01] [ 1.85381078e-02 -1.41940636e-03 9.99827147e-01 2.84824586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.270714057 meters Centerline goodness [0,1] 0.9806235727689977 Centerline is valid? [True, True] Translation: X:787.59, Y:-61.73, Z:2.85 [[ 9.98821830e-01 -4.47389153e-02 -1.87984482e-02 7.87587025e+02] [ 4.47586101e-02 9.98997634e-01 6.28043898e-04 -6.17250887e+01] [ 1.87515072e-02 -1.46869637e-03 9.99823096e-01 2.84772879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3007140569999 meters Centerline goodness [0,1] 0.9778460287708046 Centerline is valid? [True, True] Translation: X:787.62, Y:-61.73, Z:2.85 [[ 9.98801088e-01 -4.53166691e-02 -1.85144701e-02 7.87617502e+02] [ 4.53358860e-02 9.98971608e-01 6.19325881e-04 -6.17309345e+01] [ 1.84673642e-02 -1.45795327e-03 9.99828401e-01 2.84771331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3307140569999 meters Centerline goodness [0,1] 0.9818928926216924 Centerline is valid? [True, True] Translation: X:787.65, Y:-61.72, Z:2.85 [[ 9.98816889e-01 -4.51947682e-02 -1.79514789e-02 7.87649756e+02] [ 4.52128473e-02 9.98977195e-01 6.02327227e-04 -6.17223864e+01] [ 1.79058960e-02 -1.41325208e-03 9.99838678e-01 2.84936302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3607140569999 meters Centerline goodness [0,1] 0.976703276876931 Centerline is valid? [True, True] Translation: X:787.68, Y:-61.74, Z:2.85 [[ 9.98819021e-01 -4.54780280e-02 -1.70971194e-02 7.87680788e+02] [ 4.54944869e-02 9.98964424e-01 5.74761226e-04 -6.17362463e+01] [ 1.70532750e-02 -1.35190712e-03 9.99853668e-01 2.85020381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.390714057 meters Centerline goodness [0,1] 0.9771629733267139 Centerline is valid? [True, True] Translation: X:787.71, Y:-61.74, Z:2.85 [[ 9.98823749e-01 -4.54392467e-02 -1.69231679e-02 7.87712679e+02] [ 4.54553830e-02 9.98966207e-01 5.69875882e-04 -6.17356010e+01] [ 1.68797782e-02 -1.33845465e-03 9.99856631e-01 2.85128680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4207140569999 meters Centerline goodness [0,1] 0.9817077301777286 Centerline is valid? [True, True] Translation: X:787.75, Y:-61.72, Z:2.85 [[ 9.98853943e-01 -4.48871418e-02 -1.66115885e-02 7.87745713e+02] [ 4.49026332e-02 9.98991211e-01 5.60576434e-04 -6.17242652e+01] [ 1.65696682e-02 -1.30583804e-03 9.99861861e-01 2.85266906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4507140569999 meters Centerline goodness [0,1] 0.9819827956018152 Centerline is valid? [True, True] Translation: X:787.78, Y:-61.72, Z:2.85 [[ 9.98910376e-01 -4.36254674e-02 -1.65794636e-02 7.87777404e+02] [ 4.36407481e-02 9.99047131e-01 5.60816771e-04 -6.17242679e+01] [ 1.65391996e-02 -1.28374589e-03 9.99862394e-01 2.85311173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4807140569999 meters Centerline goodness [0,1] 0.8126816937012851 Centerline is valid? [True, False] Translation: X:787.82, Y:-61.72, Z:2.86 [[ 9.98981135e-01 -4.20949536e-02 -1.62697927e-02 7.87817772e+02] [ 4.19601741e-02 9.99082797e-01 -8.53861901e-03 -6.17220473e+01] [ 1.66143028e-02 7.84723598e-03 9.99831179e-01 2.85600881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.510714057 meters Centerline goodness [0,1] 0.9821577794340176 Centerline is valid? [False, True] Translation: X:787.75, Y:-61.72, Z:2.85 [[ 9.99250154e-01 -3.56272076e-02 -1.51601900e-02 7.87750840e+02] [ 3.55441581e-02 9.99351778e-01 -5.71284377e-03 -6.17231478e+01] [ 1.53538955e-02 5.16970383e-03 9.99868757e-01 2.85164734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.540714057 meters Centerline goodness [0,1] 0.9818317570930811 Centerline is valid? [True, True] Translation: X:787.78, Y:-61.73, Z:2.85 [[ 9.99272122e-01 -3.48633561e-02 -1.54846092e-02 7.87781790e+02] [ 3.48768493e-02 9.99391436e-01 6.02131436e-04 -6.17271438e+01] [ 1.54541935e-02 -1.14174754e-03 9.99879925e-01 2.84956394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5707140569999 meters Centerline goodness [0,1] 0.9816659121774559 Centerline is valid? [True, True] Translation: X:787.81, Y:-61.73, Z:2.85 [[ 9.99308727e-01 -3.37562504e-02 -1.55750863e-02 7.87814167e+02] [ 3.37697825e-02 9.99429454e-01 6.06574907e-04 -6.17279603e+01] [ 1.55457243e-02 -1.13212287e-03 9.99878517e-01 2.84983082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6007140569999 meters Centerline goodness [0,1] 0.9830062989985046 Centerline is valid? [True, True] Translation: X:787.85, Y:-61.73, Z:2.85 [[ 9.99361318e-01 -3.19385357e-02 -1.60276335e-02 7.87845380e+02] [ 3.19526480e-02 9.99489188e-01 6.25126393e-04 -6.17276737e+01] [ 1.59994808e-02 -1.13685247e-03 9.99871354e-01 2.84991067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.630714057 meters Centerline goodness [0,1] 0.9828649138712602 Centerline is valid? [True, True] Translation: X:787.88, Y:-61.73, Z:2.85 [[ 9.99399299e-01 -3.06766897e-02 -1.61239505e-02 7.87875869e+02] [ 3.06908161e-02 9.99528728e-01 6.29339081e-04 -6.17302277e+01] [ 1.60970457e-02 -1.12381823e-03 9.99869803e-01 2.84980167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.660714057 meters Centerline goodness [0,1] 0.9366342469790746 Centerline is valid? [True, False] Translation: X:787.93, Y:-61.73, Z:2.85 [[ 9.99450036e-01 -2.99061936e-02 -1.43263766e-02 7.87933857e+02] [ 2.98595314e-02 9.99548116e-01 -3.46003267e-03 -6.17281734e+01] [ 1.44233791e-02 3.03035089e-03 9.99891386e-01 2.85011589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6907140569999 meters Centerline goodness [0,1] 0.9839987325728771 Centerline is valid? [False, True] Translation: X:787.85, Y:-61.73, Z:2.85 [[ 9.99681304e-01 -2.26859839e-02 -1.10741695e-02 7.87849532e+02] [ 2.26191607e-02 9.99725406e-01 -6.12257739e-03 -6.17267774e+01] [ 1.12100253e-02 5.87013773e-03 9.99919935e-01 2.84746751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7207140569999 meters Centerline goodness [0,1] 0.9850712405844451 Centerline is valid? [True, True] Translation: X:787.88, Y:-61.72, Z:2.85 [[ 9.99737520e-01 -2.03641373e-02 -1.04972910e-02 7.87881241e+02] [ 2.03698082e-02 9.99792420e-01 4.33583079e-04 -6.17213735e+01] [ 1.04862824e-02 -6.47297075e-04 9.99944808e-01 2.84628900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.750714057 meters Centerline goodness [0,1] 0.9840258478501548 Centerline is valid? [True, True] Translation: X:787.91, Y:-61.73, Z:2.85 [[ 9.99829086e-01 -1.52119382e-02 -1.05069398e-02 7.87910433e+02] [ 1.52173371e-02 9.99884115e-01 4.34082583e-04 -6.17261021e+01] [ 1.04991190e-02 -5.93896038e-04 9.99944706e-01 2.84689928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.780714057 meters Centerline goodness [0,1] 0.9840373890858188 Centerline is valid? [True, True] Translation: X:787.94, Y:-61.73, Z:2.85 [[ 9.99865185e-01 -1.28075375e-02 -1.02751662e-02 7.87940988e+02] [ 1.28125733e-02 9.99917826e-01 4.24417772e-04 -6.17256436e+01] [ 1.02688861e-02 -5.56011874e-04 9.99947119e-01 2.84707250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8107140569999 meters Centerline goodness [0,1] 0.9854884861697779 Centerline is valid? [True, True] Translation: X:787.97, Y:-61.73, Z:2.85 [[ 9.99903388e-01 -9.57847634e-03 -1.00731175e-02 7.87970509e+02] [ 9.58315482e-03 9.99953994e-01 4.16286083e-04 -6.17253454e+01] [ 1.00686667e-02 -5.12778109e-04 9.99949178e-01 2.84767102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8407140569999 meters Centerline goodness [0,1] 0.9872384794976993 Centerline is valid? [True, True] Translation: X:788.00, Y:-61.72, Z:2.85 [[ 9.99915885e-01 -8.43246446e-03 -9.85479115e-03 7.88001334e+02] [ 8.43688908e-03 9.99964326e-01 4.07494451e-04 -6.17182121e+01] [ 9.85100340e-03 -4.90603954e-04 9.99951357e-01 2.84800291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.870714057 meters Centerline goodness [0,1] 0.984908388496035 Centerline is valid? [True, True] Translation: X:788.03, Y:-61.73, Z:2.85 [[ 9.99919203e-01 -7.90789549e-03 -9.95251257e-03 7.88030107e+02] [ 7.91238156e-03 9.99968612e-01 4.11452745e-04 -6.17283912e+01] [ 9.94894646e-03 -4.90167578e-04 9.99950388e-01 2.84736489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.900714057 meters Centerline goodness [0,1] 0.9868665789593069 Centerline is valid? [True, True] Translation: X:788.06, Y:-61.72, Z:2.85 [[ 9.99919716e-01 -7.39530512e-03 -1.02894085e-02 7.88060489e+02] [ 7.40007018e-03 9.99972529e-01 4.25107575e-04 -6.17218384e+01] [ 1.02859820e-02 -5.01215790e-04 9.99946972e-01 2.84783796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9307140569999 meters Centerline goodness [0,1] 0.9854407164877698 Centerline is valid? [True, True] Translation: X:788.09, Y:-61.73, Z:2.85 [[ 9.99916600e-01 -7.45624641e-03 -1.05450030e-02 7.88088832e+02] [ 7.46124902e-03 9.99972070e-01 4.35143854e-04 -6.17257997e+01] [ 1.05414639e-02 -5.13786456e-04 9.99944305e-01 2.84734058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9607140569999 meters Centerline goodness [0,1] 0.9870559698954957 Centerline is valid? [True, True] Translation: X:788.12, Y:-61.73, Z:2.85 [[ 9.99897537e-01 -8.60990467e-03 -1.14361716e-02 7.88118129e+02] [ 8.61585596e-03 9.99962772e-01 4.71225156e-04 -6.17250107e+01] [ 1.14316886e-02 -5.69709279e-04 9.99934494e-01 2.84733746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9907140569999 meters Centerline goodness [0,1] 0.9857091172214182 Centerline is valid? [True, True] Translation: X:788.15, Y:-61.73, Z:2.85 [[ 9.99885165e-01 -9.81663731e-03 -1.15451795e-02 7.88146844e+02] [ 9.82277567e-03 9.99951643e-01 4.75096070e-04 -6.17301965e+01] [ 1.15399573e-02 -5.88447220e-04 9.99933239e-01 2.84723177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.020714057 meters Centerline goodness [0,1] 0.9867666320401066 Centerline is valid? [True, True] Translation: X:788.18, Y:-61.73, Z:2.85 [[ 9.99863502e-01 -1.14087592e-02 -1.19506496e-02 7.88176585e+02] [ 1.14154435e-02 9.99934721e-01 4.91253728e-04 -6.17318580e+01] [ 1.19442648e-02 -6.27608637e-04 9.99928468e-01 2.84750619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0507140569999 meters Centerline goodness [0,1] 0.9865682423585715 Centerline is valid? [True, True] Translation: X:788.21, Y:-61.74, Z:2.85 [[ 9.99832345e-01 -1.43546269e-02 -1.13678046e-02 7.88206924e+02] [ 1.43608628e-02 9.99896768e-01 4.67116781e-04 -6.17366696e+01] [ 1.13599258e-02 -6.30289948e-04 9.99935275e-01 2.84821043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0807140569999 meters Centerline goodness [0,1] 0.9862684286227975 Centerline is valid? [True, True] Translation: X:788.24, Y:-61.74, Z:2.85 [[ 9.99820777e-01 -1.54128045e-02 -1.09935951e-02 7.88237013e+02] [ 1.54187015e-02 9.99881023e-01 4.51840779e-04 -6.17409269e+01] [ 1.09853230e-02 -6.21266760e-04 9.99939467e-01 2.84837323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1107140569999 meters Centerline goodness [0,1] 0.985314323039845 Centerline is valid? [True, True] Translation: X:788.27, Y:-61.74, Z:2.85 [[ 9.99801749e-01 -1.64532131e-02 -1.12140009e-02 7.88268771e+02] [ 1.64594187e-02 9.99864428e-01 4.61311722e-04 -6.17422786e+01] [ 1.12048906e-02 -6.45796204e-04 9.99937015e-01 2.84883433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.140714057 meters Centerline goodness [0,1] 0.9744561076779819 Centerline is valid? [True, True] Translation: X:788.30, Y:-61.77, Z:2.85 [[ 9.99841311e-01 -1.46917157e-02 -1.00750189e-02 7.88298467e+02] [ 1.46966398e-02 9.99891912e-01 4.14881105e-04 -6.17734739e+01] [ 1.00678346e-02 -5.62884193e-04 9.99949160e-01 2.84653549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1707140569999 meters Centerline goodness [0,1] 0.9850951255206575 Centerline is valid? [True, True] Translation: X:788.33, Y:-61.75, Z:2.85 [[ 9.99788899e-01 -1.70762782e-02 -1.14261929e-02 7.88330471e+02] [ 1.70827719e-02 9.99853968e-01 4.70946252e-04 -6.17499000e+01] [ 1.14164823e-02 -6.66037881e-04 9.99934608e-01 2.84846953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2007140569999 meters Centerline goodness [0,1] 0.9851602023608769 Centerline is valid? [True, True] Translation: X:788.36, Y:-61.75, Z:2.85 [[ 9.99808733e-01 -1.56570175e-02 -1.17198654e-02 7.88361982e+02] [ 1.56637570e-02 9.99877199e-01 4.83475333e-04 -6.17461692e+01] [ 1.17108564e-02 -6.66959983e-04 9.99931203e-01 2.84930176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2307140569999 meters Centerline goodness [0,1] 0.9844353607043392 Centerline is valid? [True, True] Translation: X:788.39, Y:-61.75, Z:2.85 [[ 9.99816744e-01 -1.49296888e-02 -1.19825871e-02 7.88392360e+02] [ 1.49366856e-02 9.99888319e-01 4.94634438e-04 -6.17508680e+01] [ 1.19738642e-02 -6.73523930e-04 9.99928084e-01 2.84907502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.260714057 meters Centerline goodness [0,1] 0.9858402710769023 Centerline is valid? [True, True] Translation: X:788.42, Y:-61.75, Z:2.85 [[ 9.99835069e-01 -1.37512141e-02 -1.18633814e-02 7.88422964e+02] [ 1.37579909e-02 9.99905234e-01 4.89808723e-04 -6.17506810e+01] [ 1.18555217e-02 -6.52944231e-04 9.99929508e-01 2.84941822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.290714057 meters Centerline goodness [0,1] 0.9846088167887476 Centerline is valid? [True, True] Translation: X:788.45, Y:-61.75, Z:2.85 [[ 9.99850402e-01 -1.23008902e-02 -1.21598808e-02 7.88453268e+02] [ 1.23079045e-02 9.99924129e-01 5.02173710e-04 -6.17540352e+01] [ 1.21527810e-02 -6.51761238e-04 9.99925940e-01 2.84938440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3207140569999 meters Centerline goodness [0,1] 0.9854463784390791 Centerline is valid? [True, True] Translation: X:788.48, Y:-61.76, Z:2.85 [[ 9.99863276e-01 -1.13517345e-02 -1.20236465e-02 7.88483400e+02] [ 1.13585238e-02 9.99935367e-01 4.96522487e-04 -6.17565478e+01] [ 1.20172330e-02 -6.33025476e-04 9.99927590e-01 2.84963464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3507140569999 meters Centerline goodness [0,1] 0.9857492863404437 Centerline is valid? [True, True] Translation: X:788.51, Y:-61.76, Z:2.85 [[ 9.99885225e-01 -9.89027277e-03 -1.14769170e-02 7.88512582e+02] [ 9.89636035e-03 9.99950918e-01 4.73747735e-04 -6.17596872e+01] [ 1.14716682e-02 -5.87273067e-04 9.99934026e-01 2.84950270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.380714057 meters Centerline goodness [0,1] 0.9851480699231564 Centerline is valid? [True, True] Translation: X:788.54, Y:-61.76, Z:2.85 [[ 9.99889583e-01 -9.20981622e-03 -1.16619142e-02 7.88541919e+02] [ 9.21605175e-03 9.99957416e-01 4.81063046e-04 -6.17597092e+01] [ 1.16569871e-02 -5.88486733e-04 9.99931882e-01 2.84942784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.410714057 meters Centerline goodness [0,1] 0.9854035809285379 Centerline is valid? [True, True] Translation: X:788.57, Y:-61.76, Z:2.85 [[ 9.99898086e-01 -8.61166991e-03 -1.13866578e-02 7.88571033e+02] [ 8.61757130e-03 9.99962758e-01 4.69309172e-04 -6.17624929e+01] [ 1.13821922e-02 -5.67386678e-04 9.99935060e-01 2.84896629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4407140569999 meters Centerline goodness [0,1] 0.9861752184629173 Centerline is valid? [True, True] Translation: X:788.60, Y:-61.76, Z:2.85 [[ 9.99891848e-01 -8.57250433e-03 -1.19500920e-02 7.88600075e+02] [ 8.57897919e-03 9.99963079e-01 4.90667957e-04 -6.17645075e+01] [ 1.19454445e-02 -5.93134481e-04 9.99928475e-01 2.84843611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4707140569999 meters Centerline goodness [0,1] 0.9862355450769058 Centerline is valid? [True, True] Translation: X:788.63, Y:-61.77, Z:2.85 [[ 9.99887685e-01 -9.20359852e-03 -1.18284023e-02 7.88628746e+02] [ 9.20995131e-03 9.99957471e-01 4.82718967e-04 -6.17659264e+01] [ 1.18234565e-02 -5.91603760e-04 9.99929925e-01 2.84875803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.500714057 meters Centerline goodness [0,1] 0.9847671647774091 Centerline is valid? [True, True] Translation: X:788.66, Y:-61.77, Z:2.85 [[ 9.99866306e-01 -1.07416653e-02 -1.23283060e-02 7.88656665e+02] [ 1.07486603e-02 9.99942106e-01 5.01272646e-04 -6.17720994e+01] [ 1.23222077e-02 -6.33718402e-04 9.99923878e-01 2.84847594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.530714057 meters Centerline goodness [0,1] 0.9847671647774091 Centerline is valid? [True, True] Translation: X:788.69, Y:-61.77, Z:2.85 [[ 9.99865930e-01 -1.07766079e-02 -1.23283301e-02 7.88685834e+02] [ 1.07835982e-02 9.99941730e-01 5.00679063e-04 -6.17732537e+01] [ 1.23222161e-02 -6.33555695e-04 9.99923878e-01 2.84863046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5607140569999 meters Centerline goodness [0,1] 0.9849085331721189 Centerline is valid? [True, True] Translation: X:788.71, Y:-61.78, Z:2.85 [[ 9.99851660e-01 -1.22420153e-02 -1.21157441e-02 7.88714692e+02] [ 1.22488735e-02 9.99924859e-01 4.92009236e-04 -6.17788714e+01] [ 1.21088105e-02 -6.40340468e-04 9.99926481e-01 2.84815390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5907140569999 meters Centerline goodness [0,1] 0.9841486622635173 Centerline is valid? [True, True] Translation: X:788.74, Y:-61.78, Z:2.85 [[ 9.99826533e-01 -1.40271580e-02 -1.22532608e-02 7.88744377e+02] [ 1.40343048e-02 9.99901391e-01 4.97461397e-04 -6.17803467e+01] [ 1.22450745e-02 -6.69341100e-04 9.99924802e-01 2.84872818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.620714057 meters Centerline goodness [0,1] 0.984757660167131 Centerline is valid? [True, True] Translation: X:788.77, Y:-61.79, Z:2.85 [[ 9.99751439e-01 -1.87547047e-02 -1.20549507e-02 7.88773999e+02] [ 1.87619612e-02 9.99823859e-01 4.89128605e-04 -6.17901494e+01] [ 1.20436538e-02 -7.15181543e-04 9.99927217e-01 2.84820593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.650714057 meters Centerline goodness [0,1] 0.9821233533201079 Centerline is valid? [True, True] Translation: X:788.80, Y:-61.80, Z:2.85 [[ 9.99687073e-01 -2.16172785e-02 -1.25876949e-02 7.88803533e+02] [ 2.16254200e-02 9.99766013e-01 5.11017666e-04 -6.17977804e+01] [ 1.25737027e-02 -7.83071943e-04 9.99920641e-01 2.84817509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6807140569999 meters Centerline goodness [0,1] 0.9831783187219082 Centerline is valid? [True, True] Translation: X:788.83, Y:-61.80, Z:2.85 [[ 9.99559502e-01 -2.68905043e-02 -1.25579575e-02 7.88834100e+02] [ 2.68990253e-02 9.99638026e-01 5.10086978e-04 -6.17975796e+01] [ 1.25396954e-02 -8.47659102e-04 9.99921016e-01 2.84929143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7107140569999 meters Centerline goodness [0,1] 0.9833503529725169 Centerline is valid? [True, True] Translation: X:788.87, Y:-61.80, Z:2.85 [[ 9.99503971e-01 -2.89556203e-02 -1.23848657e-02 7.88865459e+02] [ 2.89640690e-02 9.99580327e-01 5.03323037e-04 -6.18018115e+01] [ 1.23650941e-02 -8.61789478e-04 9.99923178e-01 2.84967297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7407140569999 meters Centerline goodness [0,1] 0.9835157501334757 Centerline is valid? [True, True] Translation: X:788.90, Y:-61.80, Z:2.85 [[ 9.99451331e-01 -3.06368751e-02 -1.25864851e-02 7.88896839e+02] [ 3.06457396e-02 9.99530178e-01 5.11972698e-04 -6.18018545e+01] [ 1.25648865e-02 -8.97413939e-04 9.99920656e-01 2.84998798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.770714057 meters Centerline goodness [0,1] 0.9826690928457306 Centerline is valid? [True, True] Translation: X:788.93, Y:-61.81, Z:2.85 [[ 9.99353439e-01 -3.37601077e-02 -1.23676883e-02 7.88927475e+02] [ 3.37689083e-02 9.99429541e-01 5.03388096e-04 -6.18069477e+01] [ 1.23436386e-02 -9.20705958e-04 9.99923391e-01 2.85034847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8007140569999 meters Centerline goodness [0,1] 0.9822985352037881 Centerline is valid? [True, True] Translation: X:788.96, Y:-61.82, Z:2.85 [[ 9.99318266e-01 -3.49071804e-02 -1.20204588e-02 7.88957978e+02] [ 3.49155803e-02 9.99390145e-01 4.89591726e-04 -6.18162304e+01] [ 1.19960378e-02 -9.08959250e-04 9.99927632e-01 2.85023268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8307140569999 meters Centerline goodness [0,1] 0.9827743124153699 Centerline is valid? [True, True] Translation: X:788.99, Y:-61.82, Z:2.85 [[ 9.99235544e-01 -3.71033601e-02 -1.23153711e-02 7.88989341e+02] [ 3.71123487e-02 9.99310973e-01 5.02054758e-04 -6.18151387e+01] [ 1.22882576e-02 -9.58723306e-04 9.99924037e-01 2.85070451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8607140569999 meters Centerline goodness [0,1] 0.98144425545075 Centerline is valid? [True, True] Translation: X:789.02, Y:-61.82, Z:2.85 [[ 9.99199678e-01 -3.79351077e-02 -1.26858607e-02 7.89020070e+02] [ 3.79447194e-02 9.99279706e-01 5.17756146e-04 -6.18213417e+01] [ 1.26570820e-02 -9.98703198e-04 9.99919397e-01 2.85051850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.890714057 meters Centerline goodness [0,1] 0.9809973613605624 Centerline is valid? [True, True] Translation: X:789.05, Y:-61.83, Z:2.85 [[ 9.99163116e-01 -3.86598429e-02 -1.33597925e-02 7.89050760e+02] [ 3.86705753e-02 9.99251864e-01 5.45847550e-04 -6.18251193e+01] [ 1.33286951e-02 -1.06202160e-03 9.99910605e-01 2.85036803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9207140569999 meters Centerline goodness [0,1] 0.9815391409959148 Centerline is valid? [True, True] Translation: X:789.08, Y:-61.83, Z:2.85 [[ 9.99085354e-01 -4.03675071e-02 -1.41039034e-02 7.89081704e+02] [ 4.03796424e-02 9.99184243e-01 5.76601407e-04 -6.18269631e+01] [ 1.40691221e-02 -1.14558460e-03 9.99900369e-01 2.85035541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9507140569999 meters Centerline goodness [0,1] 0.9812592543481624 Centerline is valid? [True, True] Translation: X:789.11, Y:-61.83, Z:2.85 [[ 9.99083196e-01 -4.04851858e-02 -1.39182570e-02 7.89114093e+02] [ 4.04970249e-02 9.99179497e-01 5.69713334e-04 -6.18282307e+01] [ 1.38837721e-02 -1.13283902e-03 9.99902974e-01 2.85052350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9807140569999 meters Centerline goodness [0,1] 0.9814252465920426 Centerline is valid? [True, True] Translation: X:789.15, Y:-61.83, Z:2.85 [[ 9.99059124e-01 -4.08607879e-02 -1.45348941e-02 7.89145446e+02] [ 4.08737515e-02 9.99164141e-01 5.95830672e-04 -6.18308137e+01] [ 1.44983988e-02 -1.18936572e-03 9.99894185e-01 2.85104030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.010714057 meters Centerline goodness [0,1] 0.9833602906963862 Centerline is valid? [True, True] Translation: X:789.18, Y:-61.83, Z:2.85 [[ 9.99071148e-01 -4.06850925e-02 -1.41973306e-02 7.89177679e+02] [ 4.06974562e-02 9.99171345e-01 5.82905791e-04 -6.18267770e+01] [ 1.41618503e-02 -1.16015960e-03 9.99899043e-01 2.85235341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.040714057 meters Centerline goodness [0,1] 0.9836567926455567 Centerline is valid? [True, True] Translation: X:789.21, Y:-61.82, Z:2.85 [[ 9.99078795e-01 -4.05220279e-02 -1.41253941e-02 7.89210159e+02] [ 4.05342649e-02 9.99177980e-01 5.80980901e-04 -6.18242719e+01] [ 1.40902403e-02 -1.15300817e-03 9.99900063e-01 2.85301211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0707140569999 meters Centerline goodness [0,1] 0.9819515447877306 Centerline is valid? [True, True] Translation: X:789.24, Y:-61.83, Z:2.85 [[ 9.99112477e-01 -3.96044584e-02 -1.43438336e-02 7.89241045e+02] [ 3.96169958e-02 9.99214764e-01 5.90857632e-04 -6.18313089e+01] [ 1.43091697e-02 -1.15859283e-03 9.99896947e-01 2.85279313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1007140569999 meters Centerline goodness [0,1] 0.9828457003003671 Centerline is valid? [True, True] Translation: X:789.27, Y:-61.83, Z:2.85 [[ 9.99111101e-01 -3.95206857e-02 -1.46670828e-02 7.89273365e+02] [ 3.95337996e-02 9.99218051e-01 6.05133099e-04 -6.18290460e+01] [ 1.46316986e-02 -1.18444071e-03 9.99892249e-01 2.85322583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.130714057 meters Centerline goodness [0,1] 0.9841925314151236 Centerline is valid? [True, True] Translation: X:789.31, Y:-61.83, Z:2.85 [[ 9.99116965e-01 -3.90564951e-02 -1.54880731e-02 7.89305328e+02] [ 3.90710805e-02 9.99236229e-01 6.40138790e-04 -6.18250220e+01] [ 1.54512422e-02 -1.24470928e-03 9.99879848e-01 2.85280034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.160714057 meters Centerline goodness [0,1] 0.9844278341341876 Centerline is valid? [True, True] Translation: X:789.34, Y:-61.83, Z:2.85 [[ 9.99101215e-01 -3.91565002e-02 -1.62336547e-02 7.89337213e+02] [ 3.91725563e-02 9.99232235e-01 6.72147416e-04 -6.18255761e+01] [ 1.61948721e-02 -1.30745705e-03 9.99868000e-01 2.85292712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1907140569999 meters Centerline goodness [0,1] 0.9835488185465894 Centerline is valid? [True, True] Translation: X:789.37, Y:-61.83, Z:2.85 [[ 9.99071441e-01 -3.95272238e-02 -1.71421758e-02 7.89368046e+02] [ 3.95451998e-02 9.99217530e-01 7.10806983e-04 -6.18277884e+01] [ 1.71006663e-02 -1.38803772e-03 9.99852809e-01 2.85305357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2207140569999 meters Centerline goodness [0,1] 0.9819138076428032 Centerline is valid? [True, True] Translation: X:789.40, Y:-61.83, Z:2.85 [[ 9.99016929e-01 -4.05099070e-02 -1.80033902e-02 7.89399259e+02] [ 4.05299109e-02 9.99178046e-01 7.47494688e-04 -6.18347233e+01] [ 1.79583113e-02 -1.47643565e-03 9.99837646e-01 2.85208970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.250714057 meters Centerline goodness [0,1] 0.983523956034156 Centerline is valid? [True, True] Translation: X:789.43, Y:-61.83, Z:2.85 [[ 9.98980714e-01 -4.10380586e-02 -1.87992415e-02 7.89431202e+02] [ 4.10599825e-02 9.99156378e-01 7.81553116e-04 -6.18292408e+01] [ 1.87513087e-02 -1.55265302e-03 9.99822973e-01 2.85333708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.280714057 meters Centerline goodness [0,1] 0.9838227418779008 Centerline is valid? [True, True] Translation: X:789.46, Y:-61.83, Z:2.86 [[ 9.98966366e-01 -4.13739421e-02 -1.88254422e-02 7.89463791e+02] [ 4.13960098e-02 9.99142510e-01 7.83890906e-04 -6.18276425e+01] [ 1.87768669e-02 -1.56237884e-03 9.99822478e-01 2.85507896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3107140569999 meters Centerline goodness [0,1] 0.9840369717130674 Centerline is valid? [True, True] Translation: X:789.50, Y:-61.83, Z:2.86 [[ 9.98957204e-01 -4.16320447e-02 -1.87424132e-02 7.89495978e+02] [ 4.16539883e-02 9.99131790e-01 7.81769894e-04 -6.18279977e+01] [ 1.86935942e-02 -1.56165093e-03 9.99824040e-01 2.85572858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3407140569999 meters Centerline goodness [0,1] 0.9836978397960553 Centerline is valid? [True, True] Translation: X:789.53, Y:-61.83, Z:2.86 [[ 9.98976059e-01 -4.12332972e-02 -1.86185277e-02 7.89528419e+02] [ 4.12549075e-02 9.99148351e-01 7.77933220e-04 -6.18268364e+01] [ 1.85705945e-02 -1.54524230e-03 9.99826358e-01 2.85749248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.370714057 meters Centerline goodness [0,1] 0.9827840959971345 Centerline is valid? [True, True] Translation: X:789.56, Y:-61.83, Z:2.86 [[ 9.98998804e-01 -4.05650757e-02 -1.88643768e-02 7.89560064e+02] [ 4.05871678e-02 9.99175689e-01 7.89559324e-04 -6.18283176e+01] [ 1.88167982e-02 -1.55442045e-03 9.99821740e-01 2.85803402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.400714057 meters Centerline goodness [0,1] 0.9828539451594852 Centerline is valid? [True, True] Translation: X:789.59, Y:-61.83, Z:2.86 [[ 9.99038100e-01 -3.96070562e-02 -1.88190340e-02 7.89592832e+02] [ 3.96289028e-02 9.99214155e-01 7.89229791e-04 -6.18272364e+01] [ 1.87729861e-02 -1.53424830e-03 9.99822595e-01 2.85897758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4307140569999 meters Centerline goodness [0,1] 0.9825457641549595 Centerline is valid? [True, True] Translation: X:789.62, Y:-61.83, Z:2.86 [[ 9.99128290e-01 -3.70518079e-02 -1.92307783e-02 7.89622531e+02] [ 3.70741600e-02 9.99312191e-01 8.06972886e-04 -6.18254999e+01] [ 1.91876514e-02 -1.51923439e-03 9.99814746e-01 2.85972107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4607140569999 meters Centerline goodness [0,1] 0.9835120463008659 Centerline is valid? [True, True] Translation: X:789.65, Y:-61.83, Z:2.86 [[ 9.99164272e-01 -3.59305400e-02 -1.94872587e-02 7.89653890e+02] [ 3.59532900e-02 9.99353137e-01 8.18228636e-04 -6.18254873e+01] [ 1.94452537e-02 -1.51817588e-03 9.99809771e-01 2.85996587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4907140569999 meters Centerline goodness [0,1] 0.984999437760036 Centerline is valid? [True, True] Translation: X:789.69, Y:-61.82, Z:2.86 [[ 9.99240531e-01 -3.32443558e-02 -2.03266913e-02 7.89685383e+02] [ 3.32685654e-02 9.99446083e-01 8.53934804e-04 -6.18169399e+01] [ 2.02870435e-02 -1.52952613e-03 9.99793027e-01 2.86082542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.520714057 meters Centerline goodness [0,1] 0.9846299255125234 Centerline is valid? [True, True] Translation: X:789.72, Y:-61.82, Z:2.86 [[ 9.99253705e-01 -3.23372010e-02 -2.11267334e-02 7.89717344e+02] [ 3.23631726e-02 9.99475780e-01 8.88488461e-04 -6.18165958e+01] [ 2.10869271e-02 -1.57155350e-03 9.99776411e-01 2.86082599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5507140569999 meters Centerline goodness [0,1] 0.9854044192175146 Centerline is valid? [True, True] Translation: X:789.75, Y:-61.81, Z:2.86 [[ 9.99270705e-01 -3.14628736e-02 -2.16366722e-02 7.89749369e+02] [ 3.14899359e-02 9.99503654e-01 9.11105356e-04 -6.18148226e+01] [ 2.15972669e-02 -1.59177831e-03 9.99765485e-01 2.86085789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5807140569999 meters Centerline goodness [0,1] 0.9850418245834361 Centerline is valid? [True, True] Translation: X:789.78, Y:-61.81, Z:2.86 [[ 9.99297579e-01 -2.99817449e-02 -2.24820866e-02 7.89781049e+02] [ 3.00106118e-02 9.99549131e-01 9.47624293e-04 -6.18128694e+01] [ 2.24435387e-02 -1.62165983e-03 9.99746797e-01 2.86036802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6107140569999 meters Centerline goodness [0,1] 0.9859460436531249 Centerline is valid? [True, True] Translation: X:789.81, Y:-61.81, Z:2.86 [[ 9.99285311e-01 -2.96369373e-02 -2.34631537e-02 7.89812910e+02] [ 2.96683048e-02 9.99559309e-01 9.89833992e-04 -6.18114757e+01] [ 2.34234781e-02 -1.68523857e-03 9.99724212e-01 2.86095995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.640714057 meters Centerline goodness [0,1] 0.9855307640297498 Centerline is valid? [True, True] Translation: X:789.84, Y:-61.81, Z:2.86 [[ 9.99300356e-01 -2.84856271e-02 -2.42356570e-02 7.89843418e+02] [ 2.85187964e-02 9.99592732e-01 1.02401150e-03 -6.18125613e+01] [ 2.41966170e-02 -1.71446683e-03 9.99705749e-01 2.86028797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6707140569999 meters Centerline goodness [0,1] 0.9855337395621756 Centerline is valid? [True, True] Translation: X:789.87, Y:-61.81, Z:2.86 [[ 9.99311618e-01 -2.64691981e-02 -2.59936902e-02 7.89873892e+02] [ 2.65066880e-02 9.99648032e-01 1.09870820e-03 -6.18097017e+01] [ 2.59554594e-02 -1.78695850e-03 9.99661503e-01 2.86016920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7007140569999 meters Centerline goodness [0,1] 0.9871068612344784 Centerline is valid? [True, True] Translation: X:789.90, Y:-61.81, Z:2.86 [[ 9.99341852e-01 -2.48615462e-02 -2.64152796e-02 7.89904073e+02] [ 2.48996937e-02 9.99689331e-01 1.11615389e-03 -6.18087841e+01] [ 2.63793239e-02 -1.77315167e-03 9.99650433e-01 2.86066329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7307140569999 meters Centerline goodness [0,1] 0.9869691338439922 Centerline is valid? [True, True] Translation: X:789.93, Y:-61.81, Z:2.86 [[ 9.99406086e-01 -2.17489629e-02 -2.67293624e-02 7.89932980e+02] [ 2.17868924e-02 9.99762000e-01 1.12857707e-03 -6.18058977e+01] [ 2.66984554e-02 -1.71025653e-03 9.99642070e-01 2.86137719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.760714057 meters Centerline goodness [0,1] 0.9875971105356413 Centerline is valid? [True, True] Translation: X:789.96, Y:-61.80, Z:2.86 [[ 9.99448888e-01 -2.03332354e-02 -2.62389059e-02 7.89962179e+02] [ 2.03691679e-02 9.99791919e-01 1.10285909e-03 -6.18039089e+01] [ 2.62110214e-02 -1.63671598e-03 9.99655092e-01 2.86286255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.790714057 meters Centerline goodness [0,1] 0.987230465110995 Centerline is valid? [True, True] Translation: X:789.99, Y:-61.80, Z:2.86 [[ 9.99501712e-01 -1.84823047e-02 -2.55877413e-02 7.89992002e+02] [ 1.85158223e-02 9.99827991e-01 1.07357875e-03 -6.18015875e+01] [ 2.55634978e-02 -1.54682187e-03 9.99672004e-01 2.86417392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8207140569999 meters Centerline goodness [0,1] 0.9881958447561003 Centerline is valid? [True, True] Translation: X:790.02, Y:-61.80, Z:2.87 [[ 9.99609150e-01 -1.44205726e-02 -2.39498166e-02 7.90021138e+02] [ 1.44487596e-02 9.99895107e-01 1.00427925e-03 -6.17987545e+01] [ 2.39328222e-02 -1.34993187e-03 9.99712658e-01 2.86598016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8507140569999 meters Centerline goodness [0,1] 0.9880288769076122 Centerline is valid? [True, True] Translation: X:790.05, Y:-61.80, Z:2.87 [[ 9.99629878e-01 -1.31642176e-02 -2.38077884e-02 7.90050064e+02] [ 1.31916826e-02 9.99912489e-01 9.96921766e-04 -6.17982186e+01] [ 2.37925813e-02 -1.31061757e-03 9.99716057e-01 2.86599478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.880714057 meters Centerline goodness [0,1] 0.9869969323748913 Centerline is valid? [True, True] Translation: X:790.08, Y:-61.80, Z:2.87 [[ 9.99661853e-01 -1.10244171e-02 -2.35508529e-02 7.90079021e+02] [ 1.10506695e-02 9.99938454e-01 9.84853383e-04 -6.17966439e+01] [ 2.35385460e-02 -1.24477305e-03 9.99722155e-01 2.86618605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.910714057 meters Centerline goodness [0,1] 0.9873945727906124 Centerline is valid? [True, True] Translation: X:790.11, Y:-61.80, Z:2.87 [[ 9.99668114e-01 -1.00797354e-02 -2.37078016e-02 7.90106992e+02] [ 1.01060304e-02 9.99948443e-01 9.89573999e-04 -6.17968729e+01] [ 2.36966046e-02 -1.22883734e-03 9.99718441e-01 2.86600994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9407140569999 meters Centerline goodness [0,1] 0.9875 Centerline is valid? [True, True] Translation: X:790.14, Y:-61.80, Z:2.87 [[ 9.99662243e-01 -9.93586437e-03 -2.40141326e-02 7.90135741e+02] [ 9.96268420e-03 9.99949874e-01 9.97450618e-04 -6.17965406e+01] [ 2.40030183e-02 -1.23635894e-03 9.99711122e-01 2.86606593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9707140569999 meters Centerline goodness [0,1] 0.9870186664211568 Centerline is valid? [True, True] Translation: X:790.16, Y:-61.80, Z:2.87 [[ 9.99625748e-01 -1.00658933e-02 -2.54370071e-02 7.90163617e+02] [ 1.00959516e-02 9.99948480e-01 1.05352338e-03 -6.17967453e+01] [ 2.54250919e-02 -1.30993989e-03 9.99675872e-01 2.86541551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.000714057 meters Centerline goodness [0,1] 0.9871119191733216 Centerline is valid? [True, True] Translation: X:790.19, Y:-61.80, Z:2.86 [[ 9.99623048e-01 -1.02380217e-02 -2.54743978e-02 7.90191686e+02] [ 1.02681700e-02 9.99946727e-01 1.05294326e-03 -6.17988408e+01] [ 2.54622607e-02 -1.31412180e-03 9.99674920e-01 2.86482452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.030714057 meters Centerline goodness [0,1] 0.9868690824483402 Centerline is valid? [True, True] Translation: X:790.22, Y:-61.80, Z:2.87 [[ 9.99588598e-01 -1.24824896e-02 -2.58228876e-02 7.90219908e+02] [ 1.25141688e-02 9.99921127e-01 1.06554380e-03 -6.17997466e+01] [ 2.58075502e-02 -1.38825741e-03 9.99665966e-01 2.86517277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0607140569999 meters Centerline goodness [0,1] 0.9869279544201434 Centerline is valid? [True, True] Translation: X:790.25, Y:-61.80, Z:2.87 [[ 9.99569961e-01 -1.39553461e-02 -2.57903287e-02 7.90248359e+02] [ 1.39873031e-02 9.99901612e-01 1.05911697e-03 -6.18009526e+01] [ 2.57730109e-02 -1.41939865e-03 9.99666813e-01 2.86547277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0907140569999 meters Centerline goodness [0,1] 0.986395812677258 Centerline is valid? [True, True] Translation: X:790.28, Y:-61.80, Z:2.87 [[ 9.99527914e-01 -1.59958807e-02 -2.62312835e-02 7.90277161e+02] [ 1.60295811e-02 9.99870940e-01 1.07495656e-03 -6.18039151e+01] [ 2.62107032e-02 -1.49492557e-03 9.99655323e-01 2.86529349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.120714057 meters Centerline goodness [0,1] 0.9861696007363939 Centerline is valid? [True, True] Translation: X:790.31, Y:-61.81, Z:2.87 [[ 9.99477970e-01 -1.93252367e-02 -2.58906019e-02 7.90307139e+02] [ 1.93591647e-02 9.99812031e-01 1.06040390e-03 -6.18064557e+01] [ 2.58652427e-02 -1.56107077e-03 9.99664220e-01 2.86602448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.150714057 meters Centerline goodness [0,1] 0.9859757219054626 Centerline is valid? [True, True] Translation: X:790.34, Y:-61.81, Z:2.87 [[ 9.99451894e-01 -2.07371151e-02 -2.58047243e-02 7.90336175e+02] [ 2.07712591e-02 9.99783697e-01 1.05580191e-03 -6.18082672e+01] [ 2.57772484e-02 -1.59121983e-03 9.99666445e-01 2.86639636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1807140569999 meters Centerline goodness [0,1] 0.9863456784418825 Centerline is valid? [True, True] Translation: X:790.37, Y:-61.80, Z:2.87 [[ 9.99423923e-01 -2.31251453e-02 -2.48404764e-02 7.90366424e+02] [ 2.31575042e-02 9.99731313e-01 1.01575630e-03 -6.18004433e+01] [ 2.48103125e-02 -1.59041458e-03 9.99690912e-01 2.87052889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2107140569999 meters Centerline goodness [0,1] 0.9864533727865366 Centerline is valid? [True, True] Translation: X:790.40, Y:-61.80, Z:2.87 [[ 9.99410290e-01 -2.37501075e-02 -2.47992878e-02 7.90396003e+02] [ 2.37825399e-02 9.99716642e-01 1.01363349e-03 -6.18009042e+01] [ 2.47681868e-02 -1.60282579e-03 9.99691936e-01 2.87199586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2407140569999 meters Centerline goodness [0,1] 0.9856468191499212 Centerline is valid? [True, True] Translation: X:790.43, Y:-61.80, Z:2.87 [[ 9.99388305e-01 -2.56182556e-02 -2.38058849e-02 7.90425697e+02] [ 2.56486587e-02 9.99670546e-01 9.72618855e-04 -6.18037826e+01] [ 2.37731251e-02 -1.58261293e-03 9.99716127e-01 2.87311331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.270714057 meters Centerline goodness [0,1] 0.9866512434933488 Centerline is valid? [True, True] Translation: X:790.46, Y:-61.80, Z:2.87 [[ 9.99384955e-01 -2.64142635e-02 -2.30651109e-02 7.90456815e+02] [ 2.64430268e-02 9.99649877e-01 9.42888774e-04 -6.18038733e+01] [ 2.30321296e-02 -1.55222020e-03 9.99733520e-01 2.87435457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3007140569999 meters Centerline goodness [0,1] 0.9857725461117806 Centerline is valid? [True, True] Translation: X:790.49, Y:-61.81, Z:2.87 [[ 9.99356366e-01 -2.73418299e-02 -2.32223700e-02 7.90488401e+02] [ 2.73712550e-02 9.99624885e-01 9.50134872e-04 -6.18058382e+01] [ 2.31876806e-02 -1.58514875e-03 9.99729873e-01 2.87468891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3307140569999 meters Centerline goodness [0,1] 0.9868125766374384 Centerline is valid? [True, True] Translation: X:790.52, Y:-61.80, Z:2.88 [[ 9.99307452e-01 -2.86140179e-02 -2.37876998e-02 7.90519683e+02] [ 2.86452728e-02 9.99589165e-01 9.74131496e-04 -6.18013905e+01] [ 2.37500531e-02 -1.65486201e-03 9.99716558e-01 2.87642877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3607140569999 meters Centerline goodness [0,1] 0.9857225500404952 Centerline is valid? [True, True] Translation: X:790.55, Y:-61.81, Z:2.87 [[ 9.99283056e-01 -2.90146233e-02 -2.43212819e-02 7.90549818e+02] [ 2.90474443e-02 9.99577537e-01 9.97201290e-04 -6.18110230e+01] [ 2.42820736e-02 -1.70295743e-03 9.99703697e-01 2.87386082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.390714057 meters Centerline goodness [0,1] 0.986386827458256 Centerline is valid? [True, True] Translation: X:790.58, Y:-61.81, Z:2.88 [[ 9.99242645e-01 -2.95481919e-02 -2.53187632e-02 7.90581642e+02] [ 2.95839571e-02 9.99561759e-01 1.03910624e-03 -6.18057996e+01] [ 2.52769638e-02 -1.78734847e-03 9.99678889e-01 2.87503454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4207140569999 meters Centerline goodness [0,1] 0.986386827458256 Centerline is valid? [True, True] Translation: X:790.61, Y:-61.81, Z:2.88 [[ 9.99243695e-01 -2.95127223e-02 -2.53187263e-02 7.90612547e+02] [ 2.95484988e-02 9.99562807e-01 1.04000460e-03 -6.18070992e+01] [ 2.52769638e-02 -1.78734839e-03 9.99678889e-01 2.87519808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4507140569999 meters Centerline goodness [0,1] 0.9864109639867357 Centerline is valid? [True, True] Translation: X:790.64, Y:-61.81, Z:2.88 [[ 9.99232306e-01 -2.95064605e-02 -2.57714539e-02 7.90643711e+02] [ 2.95435499e-02 9.99562933e-01 1.05951722e-03 -6.18082341e+01] [ 2.57289275e-02 -1.82008407e-03 9.99667299e-01 2.87562349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4807140569999 meters Centerline goodness [0,1] 0.986372922276906 Centerline is valid? [True, True] Translation: X:790.68, Y:-61.81, Z:2.88 [[ 9.99246436e-01 -2.88842750e-02 -2.59279528e-02 7.90675198e+02] [ 2.89216318e-02 9.99581113e-01 1.06686984e-03 -6.18088612e+01] [ 2.58862761e-02 -1.81594459e-03 9.99663245e-01 2.87558945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.510714057 meters Centerline goodness [0,1] 0.9868815853743633 Centerline is valid? [True, True] Translation: X:790.71, Y:-61.81, Z:2.88 [[ 9.99259755e-01 -2.80369069e-02 -2.63414787e-02 7.90706825e+02] [ 2.80751969e-02 9.99605225e-01 1.08481681e-03 -6.18092470e+01] [ 2.63006648e-02 -1.82355598e-03 9.99652414e-01 2.87538865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.540714057 meters Centerline goodness [0,1] 0.9869524913093859 Centerline is valid? [True, True] Translation: X:790.74, Y:-61.81, Z:2.87 [[ 9.99300456e-01 -2.68382307e-02 -2.60443512e-02 7.90735965e+02] [ 2.68752516e-02 9.99638220e-01 1.07240160e-03 -6.18125828e+01] [ 2.60061475e-02 -1.77159990e-03 9.99660213e-01 2.87497474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5707140569999 meters Centerline goodness [0,1] 0.9856277661309107 Centerline is valid? [True, True] Translation: X:790.77, Y:-61.81, Z:2.88 [[ 9.99381462e-01 -2.46502247e-02 -2.50810537e-02 7.90765394e+02] [ 2.46838600e-02 9.99694774e-01 1.03230513e-03 -6.18129631e+01] [ 2.50479517e-02 -1.65076383e-03 9.99684888e-01 2.87564519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6007140569999 meters Centerline goodness [0,1] 0.9858078602620087 Centerline is valid? [True, True] Translation: X:790.80, Y:-61.81, Z:2.88 [[ 9.99439509e-01 -2.25376535e-02 -2.47532403e-02 7.90796099e+02] [ 2.25697677e-02 9.99744751e-01 1.01872243e-03 -6.18107654e+01] [ 2.47239625e-02 -1.57682632e-03 9.99693073e-01 2.87685767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.630714057 meters Centerline goodness [0,1] 0.9862414154347573 Centerline is valid? [True, True] Translation: X:790.83, Y:-61.81, Z:2.88 [[ 9.99507842e-01 -2.03122038e-02 -2.39058368e-02 7.90825750e+02] [ 2.03415395e-02 9.99792605e-01 9.84575973e-04 -6.18115705e+01] [ 2.38808800e-02 -1.47037293e-03 9.99713730e-01 2.87702960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.660714057 meters Centerline goodness [0,1] 0.9871270705324393 Centerline is valid? [True, True] Translation: X:790.86, Y:-61.80, Z:2.88 [[ 9.99606513e-01 -1.53009973e-02 -2.35095626e-02 7.90856612e+02] [ 1.53279905e-02 9.99882051e-01 9.68395978e-04 -6.18001397e+01] [ 2.34919722e-02 -1.32836928e-03 9.99723143e-01 2.87970840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6907140569999 meters Centerline goodness [0,1] 0.987313031062007 Centerline is valid? [True, True] Translation: X:790.88, Y:-61.80, Z:2.88 [[ 9.99647126e-01 -1.32527541e-02 -2.30214796e-02 7.90884990e+02] [ 1.32780741e-02 9.99911394e-01 9.47323314e-04 -6.18010671e+01] [ 2.30068851e-02 -1.25266994e-03 9.99734522e-01 2.87975137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7207140569999 meters Centerline goodness [0,1] 0.98778801303237 Centerline is valid? [True, True] Translation: X:790.91, Y:-61.80, Z:2.88 [[ 9.99705309e-01 -8.70995232e-03 -2.26590266e-02 7.90914781e+02] [ 8.73330236e-03 9.99961430e-01 9.31741702e-04 -6.17994100e+01] [ 2.26500372e-02 -1.12935526e-03 9.99742817e-01 2.88035744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.750714057 meters Centerline goodness [0,1] 0.9876522923073312 Centerline is valid? [True, True] Translation: X:790.94, Y:-61.80, Z:2.88 [[ 9.99715226e-01 -6.74341036e-03 -2.28909149e-02 7.90942285e+02] [ 6.76668890e-03 9.99976664e-01 9.39626833e-04 -6.17996440e+01] [ 2.28840444e-02 -1.09425495e-03 9.99737527e-01 2.88056911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.780714057 meters Centerline goodness [0,1] 0.9877467665078284 Centerline is valid? [True, True] Translation: X:790.97, Y:-61.80, Z:2.88 [[ 9.99737104e-01 -3.39731957e-03 -2.26755543e-02 7.90972802e+02] [ 3.41928596e-03 9.99993722e-01 9.30023471e-04 -6.17971461e+01] [ 2.26722523e-02 -1.00731318e-03 9.99742444e-01 2.88068659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8107140569999 meters Centerline goodness [0,1] 0.988479262672811 Centerline is valid? [True, True] Translation: X:791.00, Y:-61.80, Z:2.88 [[ 9.99729770e-01 -2.30411379e-03 -2.31317681e-02 7.91001406e+02] [ 2.32657645e-03 9.99996848e-01 9.44208385e-04 -6.17981743e+01] [ 2.31295197e-02 -9.97771059e-04 9.99731979e-01 2.88050446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8407140569999 meters Centerline goodness [0,1] 0.9887674773822113 Centerline is valid? [True, True] Translation: X:791.03, Y:-61.80, Z:2.88 [[ 9.99725434e-01 -1.12877944e-03 -2.34047732e-02 7.91029127e+02] [ 1.15138575e-03 9.99998884e-01 9.52431166e-04 -6.18014411e+01] [ 2.34036720e-02 -9.79117582e-04 9.99725617e-01 2.87895537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.870714057 meters Centerline goodness [0,1] 0.9887719793799873 Centerline is valid? [True, True] Translation: X:791.06, Y:-61.80, Z:2.88 [[ 9.99693011e-01 3.42555166e-05 -2.47766656e-02 7.91057664e+02] [-9.40851155e-06 9.99999497e-01 1.00295482e-03 -6.18009588e+01] [ 2.47766875e-02 -1.00241381e-03 9.99692508e-01 2.87871835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.900714057 meters Centerline goodness [0,1] 0.9887965050732808 Centerline is valid? [True, True] Translation: X:791.09, Y:-61.80, Z:2.88 [[ 9.99680375e-01 2.09897204e-04 -2.52805198e-02 7.91085412e+02] [-1.84261563e-04 9.99999467e-01 1.01637243e-03 -6.18024557e+01] [ 2.52807196e-02 -1.01138934e-03 9.99679880e-01 2.87809634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9307140569999 meters Centerline goodness [0,1] 0.9881827792787502 Centerline is valid? [True, True] Translation: X:791.11, Y:-61.81, Z:2.88 [[ 9.99667625e-01 1.12296636e-03 -2.57561310e-02 7.91113212e+02] [-1.09674464e-03 9.99998866e-01 1.03218031e-03 -6.18052957e+01] [ 2.57572609e-02 -1.00358934e-03 9.99667723e-01 2.87745904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9607140569999 meters Centerline goodness [0,1] 0.9894053395213651 Centerline is valid? [True, True] Translation: X:791.14, Y:-61.81, Z:2.88 [[ 9.99678784e-01 1.34056141e-03 -2.53087332e-02 7.91141827e+02] [-1.31544841e-03 9.99998626e-01 1.00888917e-03 -6.18067140e+01] [ 2.53100509e-02 -9.75272766e-04 9.99679174e-01 2.87780253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9907140569999 meters Centerline goodness [0,1] 0.9885579240470787 Centerline is valid? [True, True] Translation: X:791.17, Y:-61.81, Z:2.88 [[ 9.99687462e-01 1.81130677e-03 -2.49338555e-02 7.91170377e+02] [-1.78722993e-03 9.99997915e-01 9.87879417e-04 -6.18083772e+01] [ 2.49355929e-02 -9.43008134e-04 9.99688615e-01 2.87801199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.020714057 meters Centerline goodness [0,1] 0.9893086910749795 Centerline is valid? [True, True] Translation: X:791.20, Y:-61.81, Z:2.88 [[ 9.99708280e-01 2.24247218e-03 -2.40484141e-02 7.91198772e+02] [-2.22034202e-03 9.99997087e-01 9.46895840e-04 -6.18101311e+01] [ 2.40504674e-02 -8.93223907e-04 9.99710347e-01 2.87822585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0507140569999 meters Centerline goodness [0,1] 0.9894606468498784 Centerline is valid? [True, True] Translation: X:791.23, Y:-61.81, Z:2.88 [[ 9.99707416e-01 2.30767587e-03 -2.40781240e-02 7.91227208e+02] [-2.28557340e-03 9.99996941e-01 9.45427943e-04 -6.18128548e+01] [ 2.40802321e-02 -8.90119006e-04 9.99709633e-01 2.87788114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0807140569999 meters Centerline goodness [0,1] 0.9888517540374413 Centerline is valid? [True, True] Translation: X:791.26, Y:-61.82, Z:2.88 [[ 9.99721629e-01 2.16738626e-03 -2.34939632e-02 7.91255026e+02] [-2.14635080e-03 9.99997273e-01 9.20535568e-04 -6.18180951e+01] [ 2.34958943e-02 -8.69853031e-04 9.99723555e-01 2.87713932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1107140569999 meters Centerline goodness [0,1] 0.9889564548822255 Centerline is valid? [True, True] Translation: X:791.28, Y:-61.82, Z:2.88 [[ 9.99726663e-01 2.11664022e-03 -2.32834432e-02 7.91282223e+02] [-2.09601294e-03 9.99997389e-01 9.10289112e-04 -6.18233806e+01] [ 2.32853092e-02 -8.61237898e-04 9.99728489e-01 2.87536131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.140714057 meters Centerline goodness [0,1] 0.9892045322351737 Centerline is valid? [True, True] Translation: X:791.31, Y:-61.82, Z:2.88 [[ 9.99729420e-01 2.09642318e-03 -2.31666125e-02 7.91311619e+02] [-2.07603721e-03 9.99997436e-01 9.03987361e-04 -6.18203787e+01] [ 2.31684483e-02 -8.55648010e-04 9.99731209e-01 2.87765195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1707140569999 meters Centerline goodness [0,1] 0.9880664933135216 Centerline is valid? [True, True] Translation: X:791.34, Y:-61.83, Z:2.88 [[ 9.99730829e-01 1.12425197e-03 -2.31733603e-02 7.91339359e+02] [-1.10363900e-03 9.99998984e-01 9.02281560e-04 -6.18265555e+01] [ 2.31743511e-02 -8.76463668e-04 9.99731054e-01 2.87618835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2007140569999 meters Centerline goodness [0,1] 0.9882810701293917 Centerline is valid? [True, True] Translation: X:791.37, Y:-61.83, Z:2.88 [[ 9.99744814e-01 1.18251413e-03 -2.25590144e-02 7.91367071e+02] [-1.16303904e-03 9.99998940e-01 8.76395919e-04 -6.18309930e+01] [ 2.25600269e-02 -8.49935260e-04 9.99745129e-01 2.87541196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2307140569999 meters Centerline goodness [0,1] 0.9885538546917634 Centerline is valid? [True, True] Translation: X:791.40, Y:-61.83, Z:2.88 [[ 9.99763260e-01 -1.24570829e-04 -2.17579436e-02 7.91395739e+02] [ 1.42960743e-04 9.99999634e-01 8.43651229e-04 -6.18337008e+01] [ 2.17578305e-02 -8.46562035e-04 9.99762912e-01 2.87660578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.260714057 meters Centerline goodness [0,1] 0.9881697821114166 Centerline is valid? [True, True] Translation: X:791.42, Y:-61.84, Z:2.88 [[ 9.99771896e-01 -6.59889400e-04 -2.13476291e-02 7.91423832e+02] [ 6.77675510e-04 9.99999429e-01 8.25942089e-04 -6.18380346e+01] [ 2.13470719e-02 -8.40220454e-04 9.99771772e-01 2.87596997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.290714057 meters Centerline goodness [0,1] 0.9883878681965554 Centerline is valid? [True, True] Translation: X:791.45, Y:-61.84, Z:2.88 [[ 9.99777481e-01 -1.57842337e-03 -2.10355933e-02 7.91452147e+02] [ 1.59586284e-03 9.99998397e-01 8.12284734e-04 -6.18406676e+01] [ 2.10342774e-02 -8.45673908e-04 9.99778397e-01 2.87625024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3207140569999 meters Centerline goodness [0,1] 0.9868154624942476 Centerline is valid? [True, True] Translation: X:791.48, Y:-61.85, Z:2.87 [[ 9.99780161e-01 -3.24286529e-03 -2.07150475e-02 7.91479291e+02] [ 3.26009219e-03 9.99994368e-01 7.97897074e-04 -6.18477448e+01] [ 2.07123433e-02 -8.65254630e-04 9.99785102e-01 2.87462256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3507140569999 meters Centerline goodness [0,1] 0.9874076792513418 Centerline is valid? [True, True] Translation: X:791.51, Y:-61.85, Z:2.87 [[ 9.99773396e-01 -4.22005887e-03 -2.08650040e-02 7.91507493e+02] [ 4.23770834e-03 9.99990699e-01 8.01746131e-04 -6.18513560e+01] [ 2.08614265e-02 -8.89984253e-04 9.99781981e-01 2.87431255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.380714057 meters Centerline goodness [0,1] 0.9858224143056413 Centerline is valid? [True, True] Translation: X:791.54, Y:-61.86, Z:2.87 [[ 9.99765263e-01 -6.70639141e-03 -2.06020100e-02 7.91536621e+02] [ 6.72409963e-03 9.99977081e-01 7.90385661e-04 -6.18580876e+01] [ 2.05962372e-02 -9.28730097e-04 9.99787444e-01 2.87314268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.410714057 meters Centerline goodness [0,1] 0.9864470201697545 Centerline is valid? [True, True] Translation: X:791.56, Y:-61.86, Z:2.87 [[ 9.99761825e-01 -7.95221506e-03 -2.03237695e-02 7.91564887e+02] [ 7.96962350e-03 9.99967941e-01 7.75703025e-04 -6.18600221e+01] [ 2.03169494e-02 -9.37491063e-04 9.99793150e-01 2.87362829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4407140569999 meters Centerline goodness [0,1] 0.9850998288648032 Centerline is valid? [True, True] Translation: X:791.59, Y:-61.87, Z:2.87 [[ 9.99744629e-01 -9.67358618e-03 -2.04229765e-02 7.91592705e+02] [ 9.69146926e-03 9.99952735e-01 7.76840214e-04 -6.18678471e+01] [ 2.04144963e-02 -9.74570480e-04 9.99791127e-01 2.87288955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4707140569999 meters Centerline goodness [0,1] 0.9847489601563743 Centerline is valid? [True, True] Translation: X:791.62, Y:-61.87, Z:2.87 [[ 9.99730891e-01 -1.01828035e-02 -2.08436241e-02 7.91620599e+02] [ 1.02015042e-02 9.99947650e-01 7.91053313e-04 -6.18720308e+01] [ 2.08344778e-02 -1.00347675e-03 9.99782435e-01 2.87255293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.500714057 meters Centerline goodness [0,1] 0.9855566928238372 Centerline is valid? [True, True] Translation: X:791.65, Y:-61.87, Z:2.87 [[ 9.99734042e-01 -1.03751425e-02 -2.05961494e-02 7.91648405e+02] [ 1.03933438e-02 9.99945686e-01 7.76872010e-04 -6.18676465e+01] [ 2.05869706e-02 -9.90728256e-04 9.99787575e-01 2.87487174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.530714057 meters Centerline goodness [0,1] 0.9852516102601452 Centerline is valid? [True, True] Translation: X:791.68, Y:-61.87, Z:2.87 [[ 9.99764253e-01 -9.36215362e-03 -1.95905269e-02 7.91675847e+02] [ 9.37836228e-03 9.99955752e-01 7.35661381e-04 -6.18740730e+01] [ 1.95827727e-02 -9.19215010e-04 9.99807817e-01 2.87462122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5607140569999 meters Centerline goodness [0,1] 0.984615733188327 Centerline is valid? [True, True] Translation: X:791.70, Y:-61.88, Z:2.87 [[ 9.99784717e-01 -8.66106670e-03 -1.88548457e-02 7.91703476e+02] [ 8.67592246e-03 9.99962114e-01 7.06243958e-04 -6.18776703e+01] [ 1.88480145e-02 -8.69675095e-04 9.99821982e-01 2.87479142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5907140569999 meters Centerline goodness [0,1] 0.9868304534411116 Centerline is valid? [True, True] Translation: X:791.73, Y:-61.87, Z:2.88 [[ 9.99814845e-01 -6.50853001e-03 -1.81083918e-02 7.91732836e+02] [ 6.52181906e-03 9.99978505e-01 6.74902779e-04 -6.18709737e+01] [ 1.81036099e-02 -7.92877473e-04 9.99835802e-01 2.87817040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.620714057 meters Centerline goodness [0,1] 0.9863023018482822 Centerline is valid? [True, True] Translation: X:791.76, Y:-61.87, Z:2.88 [[ 9.99830425e-01 -5.31750890e-03 -1.76307840e-02 7.91760743e+02] [ 5.32988121e-03 9.99985582e-01 6.54829997e-04 -6.18720176e+01] [ 1.76270478e-02 -7.48688939e-04 9.99844351e-01 2.87845653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.650714057 meters Centerline goodness [0,1] 0.9867131592141848 Centerline is valid? [True, True] Translation: X:791.79, Y:-61.87, Z:2.88 [[ 9.99842445e-01 -4.07474411e-03 -1.72766478e-02 7.91789585e+02] [ 4.08637977e-03 9.99991447e-01 6.38241441e-04 -6.18719850e+01] [ 1.72738993e-02 -7.08739826e-04 9.99850544e-01 2.87933733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6807140569999 meters Centerline goodness [0,1] 0.9875662037142272 Centerline is valid? [True, True] Translation: X:791.82, Y:-61.87, Z:2.88 [[ 9.99861954e-01 -8.29120988e-04 -1.65947414e-02 7.91818007e+02] [ 8.39378982e-04 9.99999461e-01 6.11191719e-04 -6.18732186e+01] [ 1.65942257e-02 -6.25036623e-04 9.99862111e-01 2.87987856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7107140569999 meters Centerline goodness [0,1] 0.9874836202611721 Centerline is valid? [True, True] Translation: X:791.85, Y:-61.87, Z:2.88 [[ 9.99866972e-01 1.05928799e-03 -1.62762510e-02 7.91846102e+02] [-1.04968974e-03 9.99999270e-01 5.98241117e-04 -6.18737984e+01] [ 1.62768728e-02 -5.81076521e-04 9.99867354e-01 2.88027124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7407140569999 meters Centerline goodness [0,1] 0.9883707698959969 Centerline is valid? [True, True] Translation: X:791.88, Y:-61.87, Z:2.88 [[ 9.99871127e-01 4.19838311e-03 -1.54952669e-02 7.91875262e+02] [-4.19010342e-03 9.99991061e-01 5.66763941e-04 -6.18721302e+01] [ 1.54975078e-02 -5.01764130e-04 9.99879781e-01 2.88131506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.770714057 meters Centerline goodness [0,1] 0.9886464471798139 Centerline is valid? [True, True] Translation: X:791.90, Y:-61.87, Z:2.88 [[ 9.99856098e-01 5.40750999e-03 -1.60792352e-02 7.91904547e+02] [-5.39879392e-03 9.99985255e-01 5.85428011e-04 -6.18723874e+01] [ 1.60821638e-02 -4.98535290e-04 9.99870549e-01 2.88120978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8007140569999 meters Centerline goodness [0,1] 0.988479262672811 Centerline is valid? [True, True] Translation: X:791.93, Y:-61.87, Z:2.88 [[ 9.99846533e-01 6.77836145e-03 -1.61544024e-02 7.91931847e+02] [-6.76977673e-03 9.99976913e-01 5.86042426e-04 -6.18748140e+01] [ 1.61580018e-02 -4.76590791e-04 9.99869337e-01 2.88038027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8307140569999 meters Centerline goodness [0,1] 0.9892842517177048 Centerline is valid? [True, True] Translation: X:791.96, Y:-61.87, Z:2.88 [[ 9.99814173e-01 9.23277426e-03 -1.69226007e-02 7.91960869e+02] [-9.22376575e-03 9.99957274e-01 6.10311482e-04 -6.18744275e+01] [ 1.69275125e-02 -4.54107965e-04 9.99856616e-01 2.87990019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8607140569999 meters Centerline goodness [0,1] 0.9894339794133018 Centerline is valid? [True, True] Translation: X:791.99, Y:-61.88, Z:2.88 [[ 9.99804122e-01 1.03722990e-02 -1.68562393e-02 7.91989251e+02] [-1.03635585e-02 9.99946113e-01 6.05802708e-04 -6.18752034e+01] [ 1.68616145e-02 -4.30993424e-04 9.99857740e-01 2.87973345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.890714057 meters Centerline goodness [0,1] 0.9891848816029144 Centerline is valid? [True, True] Translation: X:792.02, Y:-61.88, Z:2.88 [[ 9.99783877e-01 1.16496294e-02 -1.72187765e-02 7.92018012e+02] [-1.16407192e-02 9.99932054e-01 6.17610053e-04 -6.18761999e+01] [ 1.72248015e-02 -4.17037630e-04 9.99851555e-01 2.88062020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9207140569999 meters Centerline goodness [0,1] 0.9886021845812886 Centerline is valid? [True, True] Translation: X:792.05, Y:-61.88, Z:2.88 [[ 9.99776073e-01 1.20281894e-02 -1.74105504e-02 7.92046125e+02] [-1.20191620e-02 9.99927573e-01 6.23049604e-04 -6.18797306e+01] [ 1.74167836e-02 -4.13649861e-04 9.99848231e-01 2.87966513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9507140569999 meters Centerline goodness [0,1] 0.989584039404415 Centerline is valid? [True, True] Translation: X:792.07, Y:-61.88, Z:2.88 [[ 9.99778551e-01 1.25065079e-02 -1.69244093e-02 7.92074655e+02] [-1.24980670e-02 9.99921713e-01 6.04421605e-04 -6.18813630e+01] [ 1.69306435e-02 -3.92765356e-04 9.99856589e-01 2.88055292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9807140569999 meters Centerline goodness [0,1] 0.99103271356898 Centerline is valid? [True, True] Translation: X:792.10, Y:-61.88, Z:2.88 [[ 9.99783595e-01 1.31717961e-02 -1.61017663e-02 7.92103499e+02] [-1.31642597e-02 9.99913183e-01 5.73951761e-04 -6.18824416e+01] [ 1.61079284e-02 -3.61859722e-04 9.99870193e-01 2.88209424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.010714057 meters Centerline goodness [0,1] 0.990021770682148 Centerline is valid? [True, True] Translation: X:792.13, Y:-61.89, Z:2.88 [[ 9.99787703e-01 1.28986590e-02 -1.60678024e-02 7.92130323e+02] [-1.28911576e-02 9.99916743e-01 5.70350999e-04 -6.18859581e+01] [ 1.60738214e-02 -3.63097342e-04 9.99870742e-01 2.88172909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.040714057 meters Centerline goodness [0,1] 0.9899081323256551 Centerline is valid? [True, True] Translation: X:792.16, Y:-61.89, Z:2.88 [[ 9.99783853e-01 1.29165005e-02 -1.62914513e-02 7.92157998e+02] [-1.29088264e-02 9.99916512e-01 5.76126948e-04 -6.18854931e+01] [ 1.62975327e-02 -3.65698904e-04 9.99867120e-01 2.88403901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0707140569999 meters Centerline goodness [0,1] 0.9908433625711113 Centerline is valid? [True, True] Translation: X:792.19, Y:-61.89, Z:2.88 [[ 9.99777408e-01 1.28401818e-02 -1.67410659e-02 7.92186442e+02] [-1.28320906e-02 9.99917491e-01 5.90645455e-04 -6.18869264e+01] [ 1.67472686e-02 -3.75691107e-04 9.99859684e-01 2.88454398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1007140569999 meters Centerline goodness [0,1] 0.9904000361410404 Centerline is valid? [True, True] Translation: X:792.21, Y:-61.89, Z:2.88 [[ 9.99772504e-01 1.24886315e-02 -1.72908650e-02 7.92214178e+02] [-1.24799725e-02 9.99921937e-01 6.08603747e-04 -6.18900101e+01] [ 1.72971158e-02 -3.92675773e-04 9.99850317e-01 2.88408108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.130714057 meters Centerline goodness [0,1] 0.9897445164788 Centerline is valid? [True, True] Translation: X:792.24, Y:-61.89, Z:2.88 [[ 9.99763697e-01 1.08145270e-02 -1.88572788e-02 7.92242610e+02] [-1.08039575e-02 9.99941416e-01 6.62284662e-04 -6.18942519e+01] [ 1.88633363e-02 -4.58394923e-04 9.99821966e-01 2.88360689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.160714057 meters Centerline goodness [0,1] 0.9901562358890996 Centerline is valid? [True, True] Translation: X:792.27, Y:-61.90, Z:2.88 [[ 9.99782801e-01 9.89053183e-03 -1.83446902e-02 7.92270286e+02] [-9.88040123e-03 9.99950981e-01 6.42790072e-04 -6.18978409e+01] [ 1.83501485e-02 -4.61397559e-04 9.99831515e-01 2.88343806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1907140569999 meters Centerline goodness [0,1] 0.9894644622158325 Centerline is valid? [True, True] Translation: X:792.30, Y:-61.90, Z:2.88 [[ 9.99815734e-01 7.16747918e-03 -1.78080376e-02 7.92297835e+02] [-7.15752814e-03 9.99974191e-01 6.22468294e-04 -6.19035005e+01] [ 1.78120395e-02 -4.94892064e-04 9.99841231e-01 2.88457423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2207140569999 meters Centerline goodness [0,1] 0.9886509491319327 Centerline is valid? [True, True] Translation: X:792.33, Y:-61.91, Z:2.88 [[ 9.99823417e-01 6.12020072e-03 -1.77673065e-02 7.92325635e+02] [-6.11016537e-03 9.99981141e-01 6.19051495e-04 -6.19073574e+01] [ 1.77707601e-02 -5.10381000e-04 9.99841957e-01 2.88473718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.250714057 meters Centerline goodness [0,1] 0.9893631375371054 Centerline is valid? [True, True] Translation: X:792.35, Y:-61.91, Z:2.89 [[ 9.99834731e-01 4.86510316e-03 -1.75169115e-02 7.92354706e+02] [-4.85518238e-03 9.99988028e-01 6.08837102e-04 -6.19088792e+01] [ 1.75196638e-02 -5.23688680e-04 9.99846382e-01 2.88535839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.280714057 meters Centerline goodness [0,1] 0.9883642722625774 Centerline is valid? [True, True] Translation: X:792.38, Y:-61.91, Z:2.88 [[ 9.99835862e-01 2.41380915e-03 -1.79561205e-02 7.92382916e+02] [-2.40301588e-03 9.99996919e-01 6.22643471e-04 -6.19140985e+01] [ 1.79575682e-02 -5.79392429e-04 9.99838582e-01 2.88473619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3107140569999 meters Centerline goodness [0,1] 0.9884503251850191 Centerline is valid? [True, True] Translation: X:792.41, Y:-61.92, Z:2.88 [[ 9.99839126e-01 1.77022565e-03 -1.78490485e-02 7.92411898e+02] [-1.75948176e-03 9.99998261e-01 6.17616149e-04 -6.19166276e+01] [ 1.78501107e-02 -5.86111715e-04 9.99840502e-01 2.88484845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3407140569999 meters Centerline goodness [0,1] 0.9884503251850191 Centerline is valid? [True, True] Translation: X:792.44, Y:-61.92, Z:2.88 [[ 9.99839302e-01 1.66703982e-03 -1.78491058e-02 7.92439360e+02] [-1.65630911e-03 9.99998439e-01 6.15956317e-04 -6.19174841e+01] [ 1.78501047e-02 -5.86293698e-04 9.99840502e-01 2.88499390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.370714057 meters Centerline goodness [0,1] 0.9889090542448075 Centerline is valid? [True, True] Translation: X:792.47, Y:-61.92, Z:2.89 [[ 9.99840295e-01 8.43427385e-04 -1.78514019e-02 7.92467711e+02] [-8.32588615e-04 9.99999465e-01 6.14589656e-04 -6.19184510e+01] [ 1.78519107e-02 -5.99628629e-04 9.99840462e-01 2.88596717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.400714057 meters Centerline goodness [0,1] 0.9879558232039288 Centerline is valid? [True, True] Translation: X:792.50, Y:-61.92, Z:2.89 [[ 9.99842124e-01 4.38928974e-04 -1.77633063e-02 7.92495004e+02] [-4.28159573e-04 9.99999722e-01 6.10070855e-04 -6.19217358e+01] [ 1.77635692e-02 -6.02369009e-04 9.99842034e-01 2.88554740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4307140569999 meters Centerline goodness [0,1] 0.9879466881345319 Centerline is valid? [True, True] Translation: X:792.52, Y:-61.92, Z:2.89 [[ 9.99839020e-01 -1.39929270e-04 -1.79419873e-02 7.92524180e+02] [ 1.50984945e-04 9.99999800e-01 6.14836962e-04 -6.19225095e+01] [ 1.79418977e-02 -6.17446956e-04 9.99838841e-01 2.88596767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4607140569999 meters Centerline goodness [0,1] 0.98759272046867 Centerline is valid? [True, True] Translation: X:792.55, Y:-61.93, Z:2.89 [[ 9.99841263e-01 -1.68907267e-03 -1.77368510e-02 7.92552159e+02] [ 1.70009444e-03 9.99998371e-01 6.06345273e-04 -6.19299272e+01] [ 1.77357979e-02 -6.36403345e-04 9.99842506e-01 2.88500639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4907140569999 meters Centerline goodness [0,1] 0.9873753117206983 Centerline is valid? [True, True] Translation: X:792.58, Y:-61.93, Z:2.89 [[ 9.99834710e-01 -2.91300558e-03 -1.79462318e-02 7.92580591e+02] [ 2.92445784e-03 9.99995537e-01 6.11932323e-04 -6.19289321e+01] [ 1.79443691e-02 -6.64314175e-04 9.99838766e-01 2.88596903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.520714057 meters Centerline goodness [0,1] 0.9881008088775988 Centerline is valid? [True, True] Translation: X:792.61, Y:-61.93, Z:2.89 [[ 9.99834771e-01 -4.27630634e-03 -1.76676153e-02 7.92609728e+02] [ 4.28759472e-03 9.99990628e-01 6.01101050e-04 -6.19299035e+01] [ 1.76648792e-02 -6.76753304e-04 9.99843735e-01 2.88626604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5507140569999 meters Centerline goodness [0,1] 0.9875241844018947 Centerline is valid? [True, True] Translation: X:792.64, Y:-61.93, Z:2.89 [[ 9.99818244e-01 -6.51144885e-03 -1.79186807e-02 7.92639004e+02] [ 6.52340393e-03 9.99978537e-01 6.08815405e-04 -6.19336510e+01] [ 1.79143319e-02 -7.25595541e-04 9.99839262e-01 2.88589323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5807140569999 meters Centerline goodness [0,1] 0.985859302274037 Centerline is valid? [True, True] Translation: X:792.67, Y:-61.94, Z:2.88 [[ 9.99807205e-01 -7.93791641e-03 -1.79594875e-02 7.92666839e+02] [ 7.95012172e-03 9.99968212e-01 6.08307239e-04 -6.19362996e+01] [ 1.79540879e-02 -7.50970071e-04 9.99838530e-01 2.88497886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6107140569999 meters Centerline goodness [0,1] 0.9875874671301867 Centerline is valid? [True, True] Translation: X:792.70, Y:-61.94, Z:2.89 [[ 9.99778108e-01 -1.00767032e-02 -1.84985243e-02 7.92695908e+02] [ 1.00899908e-02 9.99948899e-01 6.25111378e-04 -6.19365943e+01] [ 1.84912800e-02 -8.11622612e-04 9.99828692e-01 2.88554311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.640714057 meters Centerline goodness [0,1] 0.985768837973447 Centerline is valid? [True, True] Translation: X:792.72, Y:-61.94, Z:2.88 [[ 9.99766410e-01 -1.08949970e-02 -1.86661322e-02 7.92723867e+02] [ 1.09086408e-02 9.99940301e-01 6.29276406e-04 -6.19410900e+01] [ 1.86581619e-02 -8.32751546e-04 9.99825575e-01 2.88446457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6707140569999 meters Centerline goodness [0,1] 0.9865360261281078 Centerline is valid? [True, True] Translation: X:792.75, Y:-61.94, Z:2.88 [[ 9.99756756e-01 -1.14069222e-02 -1.88762251e-02 7.92752316e+02] [ 1.14208931e-02 9.99934579e-01 6.32489069e-04 -6.19414257e+01] [ 1.88677754e-02 -8.47918567e-04 9.99821628e-01 2.88499733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7007140569999 meters Centerline goodness [0,1] 0.9867391063310789 Centerline is valid? [True, True] Translation: X:792.78, Y:-61.94, Z:2.89 [[ 9.99753385e-01 -1.23692182e-02 -1.84437665e-02 7.92780727e+02] [ 1.23826353e-02 9.99923144e-01 6.13430306e-04 -6.19430843e+01] [ 1.84347613e-02 -8.41661457e-04 9.99829711e-01 2.88528176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7307140569999 meters Centerline goodness [0,1] 0.9855359047280483 Centerline is valid? [True, True] Translation: X:792.81, Y:-61.95, Z:2.88 [[ 9.99759007e-01 -1.27212359e-02 -1.78913082e-02 7.92808107e+02] [ 1.27338745e-02 9.99918745e-01 5.92663759e-04 -6.19488317e+01] [ 1.78823150e-02 -8.20346604e-04 9.99839762e-01 2.88436009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.760714057 meters Centerline goodness [0,1] 0.9850942178913881 Centerline is valid? [True, True] Translation: X:792.84, Y:-61.95, Z:2.89 [[ 9.99777233e-01 -1.31320286e-02 -1.65237450e-02 7.92836090e+02] [ 1.31428348e-02 9.99913480e-01 5.45556014e-04 -6.19520640e+01] [ 1.65151511e-02 -7.62603334e-04 9.99863325e-01 2.88513406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.790714057 meters Centerline goodness [0,1] 0.9863202004301266 Centerline is valid? [True, True] Translation: X:792.86, Y:-61.95, Z:2.89 [[ 9.99781800e-01 -1.33587866e-02 -1.60591419e-02 7.92864719e+02] [ 1.33689696e-02 9.99910493e-01 5.26901647e-04 -6.19470617e+01] [ 1.60506657e-02 -7.41480856e-04 9.99870905e-01 2.88717172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8207140569999 meters Centerline goodness [0,1] 0.9847445548082491 Centerline is valid? [True, True] Translation: X:792.89, Y:-61.95, Z:2.89 [[ 9.99773421e-01 -1.34980297e-02 -1.64593160e-02 7.92893244e+02] [ 1.35087135e-02 9.99908608e-01 5.38089134e-04 -6.19543046e+01] [ 1.64505486e-02 -7.60311399e-04 9.99864391e-01 2.88611892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8507140569999 meters Centerline goodness [0,1] 0.9862068965517241 Centerline is valid? [True, True] Translation: X:792.92, Y:-61.95, Z:2.89 [[ 9.99769556e-01 -1.39994772e-02 -1.62741999e-02 7.92922545e+02] [ 1.40099400e-02 9.99901716e-01 5.29072592e-04 -6.19502824e+01] [ 1.62651937e-02 -7.56951236e-04 9.99867426e-01 2.88711378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.880714057 meters Centerline goodness [0,1] 0.9850875826303723 Centerline is valid? [True, True] Translation: X:792.95, Y:-61.96, Z:2.89 [[ 9.99756161e-01 -1.42478729e-02 -1.68706092e-02 7.92951326e+02] [ 1.42591193e-02 9.99898184e-01 5.46519500e-04 -6.19585544e+01] [ 1.68611047e-02 -7.86946266e-04 9.99857532e-01 2.88546955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.910714057 meters Centerline goodness [0,1] 0.98736767191531 Centerline is valid? [True, True] Translation: X:792.98, Y:-61.95, Z:2.89 [[ 9.99754239e-01 -1.46359239e-02 -1.66508663e-02 7.92979920e+02] [ 1.46468811e-02 9.99892585e-01 5.36289820e-04 -6.19507650e+01] [ 1.66412287e-02 -7.80041280e-04 9.99861221e-01 2.88770023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9407140569999 meters Centerline goodness [0,1] 0.9854212503055759 Centerline is valid? [True, True] Translation: X:793.01, Y:-61.96, Z:2.89 [[ 9.99723486e-01 -1.62878115e-02 -1.69604869e-02 7.93008242e+02] [ 1.62993799e-02 9.99867008e-01 5.44061123e-04 -6.19580459e+01] [ 1.69493698e-02 -8.20356103e-04 9.99856013e-01 2.88610489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9707140569999 meters Centerline goodness [0,1] 0.9856776589160994 Centerline is valid? [True, True] Translation: X:793.04, Y:-61.96, Z:2.89 [[ 9.99729057e-01 -1.63917678e-02 -1.65263895e-02 7.93037688e+02] [ 1.64027531e-02 9.99865326e-01 5.29374854e-04 -6.19583022e+01] [ 1.65154864e-02 -8.00309710e-04 9.99863290e-01 2.88639418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.000714057 meters Centerline goodness [0,1] 0.9864663659192426 Centerline is valid? [True, True] Translation: X:793.07, Y:-61.96, Z:2.89 [[ 9.99719957e-01 -1.68379371e-02 -1.66280502e-02 7.93067460e+02] [ 1.68491098e-02 9.99857902e-01 5.32047660e-04 -6.19565044e+01] [ 1.66167288e-02 -8.12066507e-04 9.99861603e-01 2.88735049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.030714057 meters Centerline goodness [0,1] 0.9847151870612281 Centerline is valid? [True, True] Translation: X:793.10, Y:-61.96, Z:2.89 [[ 9.99731293e-01 -1.61923169e-02 -1.65876568e-02 7.93096289e+02] [ 1.62033337e-02 9.99868577e-01 5.29971532e-04 -6.19620504e+01] [ 1.65768954e-02 -7.98604465e-04 9.99862275e-01 2.88606580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0607140569999 meters Centerline goodness [0,1] 0.9858870071565098 Centerline is valid? [True, True] Translation: X:793.13, Y:-61.96, Z:2.89 [[ 9.99745623e-01 -1.53643855e-02 -1.65113432e-02 7.93126413e+02] [ 1.53751774e-02 9.99881656e-01 5.26855485e-04 -6.19571413e+01] [ 1.65012944e-02 -7.80586296e-04 9.99863540e-01 2.88763238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0907140569999 meters Centerline goodness [0,1] 0.9858088300612952 Centerline is valid? [True, True] Translation: X:793.16, Y:-61.96, Z:2.89 [[ 9.99795594e-01 -1.18065250e-02 -1.64127025e-02 7.93155035e+02] [ 1.18166972e-02 9.99930044e-01 5.22930293e-04 -6.19591547e+01] [ 1.64053803e-02 -7.16767338e-04 9.99865166e-01 2.88759431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.120714057 meters Centerline goodness [0,1] 0.9868149430645269 Centerline is valid? [True, True] Translation: X:793.18, Y:-61.96, Z:2.89 [[ 9.99818275e-01 -1.07015950e-02 -1.57763574e-02 7.93184417e+02] [ 1.07108141e-02 9.99942513e-01 4.99983070e-04 -6.19567860e+01] [ 1.57700999e-02 -6.68869842e-04 9.99875421e-01 2.88818344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.150714057 meters Centerline goodness [0,1] 0.9869997111046912 Centerline is valid? [True, True] Translation: X:793.21, Y:-61.96, Z:2.89 [[ 9.99854249e-01 -7.00683489e-03 -1.55687041e-02 7.93214518e+02] [ 7.01534433e-03 9.99975271e-01 4.92026605e-04 -6.19558264e+01] [ 1.55648715e-02 -6.01174712e-04 9.99878679e-01 2.88920840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1807140569999 meters Centerline goodness [0,1] 0.9873952382010982 Centerline is valid? [True, True] Translation: X:793.24, Y:-61.96, Z:2.89 [[ 9.99877852e-01 -5.36208057e-03 -1.46809013e-02 7.93243841e+02] [ 5.36945087e-03 9.99985477e-01 4.62662875e-04 -6.19560939e+01] [ 1.46782073e-02 -5.41434740e-04 9.99892123e-01 2.88997509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2107140569999 meters Centerline goodness [0,1] 0.987007506773864 Centerline is valid? [True, True] Translation: X:793.27, Y:-61.96, Z:2.89 [[ 9.99893014e-01 -3.81648500e-03 -1.41207520e-02 7.93272503e+02] [ 3.82310980e-03 9.99992594e-01 4.42188573e-04 -6.19568218e+01] [ 1.41189598e-02 -4.96126450e-04 9.99900199e-01 2.89057521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2407140569999 meters Centerline goodness [0,1] 0.987241677187853 Centerline is valid? [True, True] Translation: X:793.30, Y:-61.96, Z:2.89 [[ 9.99907357e-01 -1.21234912e-03 -1.35575776e-02 7.93301397e+02] [ 1.21819227e-03 9.99999169e-01 4.22737460e-04 -6.19578974e+01] [ 1.35570538e-02 -4.39214032e-04 9.99908002e-01 2.89054662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.270714057 meters Centerline goodness [0,1] 0.9871056362991847 Centerline is valid? [True, True] Translation: X:793.33, Y:-61.96, Z:2.89 [[ 9.99898166e-01 -3.33383516e-04 -1.42669929e-02 7.93329199e+02] [ 3.39748327e-04 9.99999844e-01 4.43699984e-04 -6.19594901e+01] [ 1.42668428e-02 -4.48501987e-04 9.99898123e-01 2.89006531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3007140569999 meters Centerline goodness [0,1] 0.9878243867756843 Centerline is valid? [True, True] Translation: X:793.36, Y:-61.96, Z:2.89 [[ 9.99895085e-01 -2.42309995e-04 -1.44830734e-02 7.93357545e+02] [ 2.48815448e-04 9.99999869e-01 4.47376066e-04 -6.19598857e+01] [ 1.44829631e-02 -4.50932742e-04 9.99895015e-01 2.89048049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3307140569999 meters Centerline goodness [0,1] 0.9869273792613636 Centerline is valid? [True, True] Translation: X:793.39, Y:-61.96, Z:2.89 [[ 9.99893819e-01 -1.25608244e-04 -1.45717001e-02 7.93386581e+02] [ 1.32149946e-04 9.99999891e-01 4.47969960e-04 -6.19617409e+01] [ 1.45716423e-02 -4.49848044e-04 9.99893727e-01 2.89007017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3607140569999 meters Centerline goodness [0,1] 0.9869262185918494 Centerline is valid? [True, True] Translation: X:793.42, Y:-61.97, Z:2.89 [[ 9.99887396e-01 -1.01850975e-03 -1.49719101e-02 7.93415093e+02] [ 1.02549988e-03 9.99999369e-01 4.59213070e-04 -6.19655219e+01] [ 1.49714330e-02 -4.74515052e-04 9.99887809e-01 2.88977293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.390714057 meters Centerline goodness [0,1] 0.986812700519969 Centerline is valid? [True, True] Translation: X:793.44, Y:-61.97, Z:2.89 [[ 9.99885384e-01 -1.88515468e-03 -1.50221280e-02 7.93443994e+02] [ 1.89227355e-03 9.99998104e-01 4.59692450e-04 -6.19677524e+01] [ 1.50212330e-02 -4.88065738e-04 9.99887056e-01 2.88936699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4207140569999 meters Centerline goodness [0,1] 0.9859186064504719 Centerline is valid? [True, True] Translation: X:793.47, Y:-61.98, Z:2.89 [[ 9.99872161e-01 -3.91092179e-03 -1.55037374e-02 7.93471118e+02] [ 3.91872506e-03 9.99992210e-01 4.72968219e-04 -6.19753171e+01] [ 1.55017669e-02 -5.33662640e-04 9.99879698e-01 2.88871408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4507140569999 meters Centerline goodness [0,1] 0.9865367270167411 Centerline is valid? [True, True] Translation: X:793.50, Y:-61.98, Z:2.89 [[ 9.99875485e-01 -4.80088246e-03 -1.50321614e-02 7.93499849e+02] [ 4.80827482e-03 9.99988336e-01 4.55666775e-04 -6.19761546e+01] [ 1.50297985e-02 -5.27888801e-04 9.99886907e-01 2.88889038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4807140569999 meters Centerline goodness [0,1] 0.9865687442106656 Centerline is valid? [True, True] Translation: X:793.53, Y:-61.98, Z:2.89 [[ 9.99872879e-01 -5.70752180e-03 -1.48878974e-02 7.93528324e+02] [ 5.71481867e-03 9.99983570e-01 4.47623398e-04 -6.19771199e+01] [ 1.48850980e-02 -5.32648130e-04 9.99889069e-01 2.88987872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.510714057 meters Centerline goodness [0,1] 0.9835187837391208 Centerline is valid? [True, True] Translation: X:793.56, Y:-61.99, Z:2.89 [[ 9.99897744e-01 -6.85704342e-03 -1.25492268e-02 7.93555815e+02] [ 6.86229614e-03 9.99976384e-01 3.75556597e-04 -6.19861763e+01] [ 1.25463552e-02 -4.61634704e-04 9.99921185e-01 2.89054808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.540714057 meters Centerline goodness [0,1] 0.983623426382047 Centerline is valid? [True, True] Translation: X:793.58, Y:-61.99, Z:2.89 [[ 9.99905292e-01 -7.47774800e-03 -1.15538181e-02 7.93583878e+02] [ 7.48221775e-03 9.99971949e-01 3.43685861e-04 -6.19893597e+01] [ 1.15509240e-02 -4.30101493e-04 9.99933193e-01 2.89099316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5707140569999 meters Centerline goodness [0,1] 0.9834770747161841 Centerline is valid? [True, True] Translation: X:793.61, Y:-61.99, Z:2.89 [[ 9.99903274e-01 -8.38764607e-03 -1.10946339e-02 7.93612123e+02] [ 8.39180339e-03 9.99964734e-01 3.28212889e-04 -6.19928829e+01] [ 1.10914897e-02 -4.21285129e-04 9.99938399e-01 2.89109860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6007140569999 meters Centerline goodness [0,1] 0.9830312547710964 Centerline is valid? [True, True] Translation: X:793.64, Y:-62.00, Z:2.89 [[ 9.99884833e-01 -1.02117568e-02 -1.12268319e-02 7.93640645e+02] [ 1.02161085e-02 9.99947760e-01 3.30327020e-04 -6.19987412e+01] [ 1.12228722e-02 -4.44983510e-04 9.99936923e-01 2.89029747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.630714057 meters Centerline goodness [0,1] 0.9834913406169947 Centerline is valid? [True, True] Translation: X:793.67, Y:-62.00, Z:2.89 [[ 9.99878596e-01 -1.10455233e-02 -1.09904532e-02 7.93669942e+02] [ 1.10497287e-02 9.99938898e-01 3.21993822e-04 -6.19986738e+01] [ 1.09862251e-02 -4.43396257e-04 9.99939551e-01 2.89092203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.660714057 meters Centerline goodness [0,1] 0.9839553540286013 Centerline is valid? [True, True] Translation: X:793.70, Y:-62.00, Z:2.89 [[ 9.99851315e-01 -1.35565370e-02 -1.06568519e-02 7.93699358e+02] [ 1.35606295e-02 9.99908002e-01 3.11856394e-04 -6.20015541e+01] [ 1.06516438e-02 -4.56323645e-04 9.99943166e-01 2.89052471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6907140569999 meters Centerline goodness [0,1] 0.9847098141150259 Centerline is valid? [True, True] Translation: X:793.73, Y:-62.00, Z:2.89 [[ 9.99836833e-01 -1.47409459e-02 -1.04409219e-02 7.93729826e+02] [ 1.47449368e-02 9.99891241e-01 3.05355319e-04 -6.20028381e+01] [ 1.04352852e-02 -4.59256229e-04 9.99945445e-01 2.89050057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7207140569999 meters Centerline goodness [0,1] 0.9842708902239213 Centerline is valid? [True, True] Translation: X:793.76, Y:-62.01, Z:2.89 [[ 9.99825712e-01 -1.54264907e-02 -1.05151921e-02 7.93759872e+02] [ 1.54305795e-02 9.99880894e-01 3.07815498e-04 -6.20083745e+01] [ 1.05091912e-02 -4.70017356e-04 9.99944666e-01 2.88988341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.750714057 meters Centerline goodness [0,1] 0.9837313270090503 Centerline is valid? [True, True] Translation: X:793.79, Y:-62.01, Z:2.89 [[ 9.99812703e-01 -1.61661788e-02 -1.06402164e-02 7.93790065e+02] [ 1.61704113e-02 9.99869202e-01 3.11864004e-04 -6.20145322e+01] [ 1.06337831e-02 -4.83862268e-04 9.99943343e-01 2.88887071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.780714057 meters Centerline goodness [0,1] 0.9845574141836557 Centerline is valid? [True, True] Translation: X:793.82, Y:-62.01, Z:2.89 [[ 9.99823759e-01 -1.57593139e-02 -1.02026511e-02 7.93821151e+02] [ 1.57631870e-02 9.99875708e-01 2.99307182e-04 -6.20130908e+01] [ 1.01966661e-02 -4.60080728e-04 9.99947907e-01 2.88923938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8107140569999 meters Centerline goodness [0,1] 0.9835800689986463 Centerline is valid? [True, True] Translation: X:793.85, Y:-62.02, Z:2.89 [[ 9.99844060e-01 -1.47430867e-02 -9.72092186e-03 7.93851599e+02] [ 1.47465573e-02 9.99891223e-01 2.85439121e-04 -6.20188470e+01] [ 9.71565620e-03 -4.28744741e-04 9.99952710e-01 2.88907208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8407140569999 meters Centerline goodness [0,1] 0.9832939185524289 Centerline is valid? [True, True] Translation: X:793.88, Y:-62.02, Z:2.89 [[ 9.99862943e-01 -1.35114923e-02 -9.56741269e-03 7.93881766e+02] [ 1.35147995e-02 9.99908631e-01 2.81100584e-04 -6.20226747e+01] [ 9.56274044e-03 -4.10363722e-04 9.99954192e-01 2.88910039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.870714057 meters Centerline goodness [0,1] 0.9843695576454197 Centerline is valid? [True, True] Translation: X:793.91, Y:-62.02, Z:2.89 [[ 9.99871865e-01 -1.28026152e-02 -9.60976143e-03 7.93912789e+02] [ 1.28059207e-02 9.99917961e-01 2.82513671e-04 -6.20214114e+01] [ 9.60535614e-03 -4.05539314e-04 9.99953785e-01 2.88943744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.900714057 meters Centerline goodness [0,1] 0.9849727073048735 Centerline is valid? [True, True] Translation: X:793.94, Y:-62.02, Z:2.89 [[ 9.99889796e-01 -1.14470931e-02 -9.45303971e-03 7.93943584e+02] [ 1.14502320e-02 9.99934405e-01 2.77997829e-04 -6.20223508e+01] [ 9.44923737e-03 -3.86206690e-04 9.99955280e-01 2.88959085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9307140569999 meters Centerline goodness [0,1] 0.9847288503253796 Centerline is valid? [True, True] Translation: X:793.97, Y:-62.03, Z:2.89 [[ 9.99895647e-01 -1.08992835e-02 -9.48164819e-03 7.93972898e+02] [ 1.09024161e-02 9.99940528e-01 2.78764832e-04 -6.20254281e+01] [ 9.47804596e-03 -3.82108616e-04 9.99955009e-01 2.88930833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9607140569999 meters Centerline goodness [0,1] 0.984252996063249 Centerline is valid? [True, True] Translation: X:794.00, Y:-62.03, Z:2.89 [[ 9.99898359e-01 -1.07556138e-02 -9.35887903e-03 7.94002115e+02] [ 1.07586580e-02 9.99942086e-01 2.74991779e-04 -6.20306299e+01] [ 9.35537931e-03 -3.75652807e-04 9.99956167e-01 2.88862654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9907140569999 meters Centerline goodness [0,1] 0.9854635395196459 Centerline is valid? [True, True] Translation: X:794.03, Y:-62.03, Z:2.89 [[ 9.99894451e-01 -1.11737152e-02 -9.28631988e-03 7.94031598e+02] [ 1.11767282e-02 9.99937501e-01 2.72623699e-04 -6.20287259e+01] [ 9.28269328e-03 -3.76385598e-04 9.99956844e-01 2.88914880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.020714057 meters Centerline goodness [0,1] 0.9846347497721255 Centerline is valid? [True, True] Translation: X:794.06, Y:-62.04, Z:2.89 [[ 9.99889370e-01 -1.18877224e-02 -8.94030892e-03 7.94060608e+02] [ 1.18905413e-02 9.99929271e-01 2.62216372e-04 -6.20375282e+01] [ 8.93655942e-03 -3.68492475e-04 9.99960000e-01 2.88895390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0507140569999 meters Centerline goodness [0,1] 0.984955366862617 Centerline is valid? [True, True] Translation: X:794.09, Y:-62.03, Z:2.89 [[ 9.99861151e-01 -1.40364493e-02 -8.98090106e-03 7.94091179e+02] [ 1.40393796e-02 9.99901408e-01 2.63311762e-04 -6.20343654e+01] [ 8.97631966e-03 -3.89361480e-04 9.99959636e-01 2.88965239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0807140569999 meters Centerline goodness [0,1] 0.9848817732918579 Centerline is valid? [True, True] Translation: X:794.12, Y:-62.04, Z:2.89 [[ 9.99843508e-01 -1.50903244e-02 -9.23263321e-03 7.94121222e+02] [ 1.50934661e-02 9.99886051e-01 2.70692317e-04 -6.20369134e+01] [ 9.22749632e-03 -4.10002392e-04 9.99957342e-01 2.88964706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1107140569999 meters Centerline goodness [0,1] 0.9839337348087919 Centerline is valid? [True, True] Translation: X:794.15, Y:-62.04, Z:2.89 [[ 9.99826169e-01 -1.62032703e-02 -9.22415324e-03 7.94150988e+02] [ 1.62064541e-02 9.99868630e-01 2.70513857e-04 -6.20438793e+01] [ 9.21855826e-03 -4.19957650e-04 9.99957420e-01 2.88934409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.140714057 meters Centerline goodness [0,1] 0.9845441502543367 Centerline is valid? [True, True] Translation: X:794.18, Y:-62.04, Z:2.89 [[ 9.99812607e-01 -1.72566425e-02 -8.77267464e-03 7.94182883e+02] [ 1.72595647e-02 9.99851009e-01 2.57490639e-04 -6.20401009e+01] [ 8.76692417e-03 -4.08854932e-04 9.99961486e-01 2.88999695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1707140569999 meters Centerline goodness [0,1] 0.9843241130748187 Centerline is valid? [True, True] Translation: X:794.21, Y:-62.05, Z:2.89 [[ 9.99762392e-01 -1.97658850e-02 -9.19072883e-03 7.94213208e+02] [ 1.97692006e-02 9.99804534e-01 2.70034715e-04 -6.20460662e+01] [ 9.18359488e-03 -4.51663915e-04 9.99957728e-01 2.89009771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2007140569999 meters Centerline goodness [0,1] 0.9833868309187126 Centerline is valid? [True, True] Translation: X:794.24, Y:-62.05, Z:2.89 [[ 9.99731009e-01 -2.13014598e-02 -9.17375020e-03 7.94244480e+02] [ 2.13048298e-02 9.99772990e-01 2.69772510e-04 -6.20464845e+01] [ 9.16592112e-03 -4.65145130e-04 9.99957884e-01 2.89010737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2307140569999 meters Centerline goodness [0,1] 0.9833868309187126 Centerline is valid? [True, True] Translation: X:794.28, Y:-62.05, Z:2.89 [[ 9.99732553e-01 -2.12288570e-02 -9.17373626e-03 7.94276197e+02] [ 2.12322283e-02 9.99774534e-01 2.70246114e-04 -6.20474761e+01] [ 9.16593088e-03 -4.64952700e-04 9.99957884e-01 2.89027515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.260714057 meters Centerline goodness [0,1] 0.9843060959792478 Centerline is valid? [True, True] Translation: X:794.31, Y:-62.05, Z:2.89 [[ 9.99660817e-01 -2.44160929e-02 -9.06124847e-03 7.94306648e+02] [ 2.44195174e-02 9.99701763e-01 2.67467901e-04 -6.20513522e+01] [ 9.05201555e-03 -4.88648495e-04 9.99958910e-01 2.89022028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.290714057 meters Centerline goodness [0,1] 0.9833376556016598 Centerline is valid? [True, True] Translation: X:794.34, Y:-62.05, Z:2.89 [[ 9.99616474e-01 -2.61402749e-02 -9.14276459e-03 7.94337478e+02] [ 2.61438372e-02 9.99658155e-01 2.70301769e-04 -6.20548505e+01] [ 9.13257342e-03 -5.09225050e-04 9.99958168e-01 2.89024242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3207140569999 meters Centerline goodness [0,1] 0.9808738450910975 Centerline is valid? [True, True] Translation: X:794.37, Y:-62.07, Z:2.89 [[ 9.99576114e-01 -2.76309717e-02 -9.17183238e-03 7.94367733e+02] [ 2.76346262e-02 9.99618054e-01 2.71926450e-04 -6.20668262e+01] [ 9.16081564e-03 -5.25271343e-04 9.99957901e-01 2.88959741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3507140569999 meters Centerline goodness [0,1] 0.9823797139141742 Centerline is valid? [True, True] Translation: X:794.40, Y:-62.06, Z:2.89 [[ 9.99452278e-01 -3.13811122e-02 -1.05056643e-02 7.94399028e+02] [ 3.13861223e-02 9.99507286e-01 3.12322932e-04 -6.20615594e+01] [ 1.04906870e-02 -6.41883931e-04 9.99944765e-01 2.88940992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.380714057 meters Centerline goodness [0,1] 0.9826805106973316 Centerline is valid? [True, True] Translation: X:794.43, Y:-62.06, Z:2.89 [[ 9.99398144e-01 -3.27644927e-02 -1.13946392e-02 7.94431416e+02] [ 3.27704823e-02 9.99462846e-01 3.39294506e-04 -6.20628948e+01] [ 1.13774017e-02 -7.12498121e-04 9.99935021e-01 2.88927502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.410714057 meters Centerline goodness [0,1] 0.9823484766345008 Centerline is valid? [True, True] Translation: X:794.46, Y:-62.07, Z:2.89 [[ 9.99319971e-01 -3.45242862e-02 -1.29487383e-02 7.94460991e+02] [ 3.45321825e-02 9.99403512e-01 3.86658440e-04 -6.20666173e+01] [ 1.29276654e-02 -8.33543695e-04 9.99916087e-01 2.88816115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4407140569999 meters Centerline goodness [0,1] 0.9819316121233054 Centerline is valid? [True, True] Translation: X:794.49, Y:-62.07, Z:2.89 [[ 9.99286891e-01 -3.53606772e-02 -1.32412631e-02 7.94493205e+02] [ 3.53690209e-02 9.99374242e-01 3.96414457e-04 -6.20670726e+01] [ 1.32189598e-02 -8.64462284e-04 9.99912252e-01 2.88783229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4707140569999 meters Centerline goodness [0,1] 0.981520614110747 Centerline is valid? [True, True] Translation: X:794.52, Y:-62.07, Z:2.89 [[ 9.99267228e-01 -3.58834716e-02 -1.33185128e-02 7.94524961e+02] [ 3.58919715e-02 9.99355596e-01 3.99650405e-04 -6.20685382e+01] [ 1.32955895e-02 -8.77385235e-04 9.99911225e-01 2.88752416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.500714057 meters Centerline goodness [0,1] 0.9818769805096149 Centerline is valid? [True, True] Translation: X:794.56, Y:-62.06, Z:2.89 [[ 9.99220251e-01 -3.72652926e-02 -1.30456257e-02 7.94556969e+02] [ 3.72735751e-02 9.99305022e-01 3.92237861e-04 -6.20643982e+01] [ 1.30219424e-02 -8.78189123e-04 9.99914825e-01 2.88906174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.530714057 meters Centerline goodness [0,1] 0.9798503913175076 Centerline is valid? [True, True] Translation: X:794.59, Y:-62.07, Z:2.89 [[ 9.99214050e-01 -3.74633472e-02 -1.29529952e-02 7.94588508e+02] [ 3.74715379e-02 9.99297619e-01 3.90146630e-04 -6.20683507e+01] [ 1.29292811e-02 -8.75208646e-04 9.99916030e-01 2.88905579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5607140569999 meters Centerline goodness [0,1] 0.9811627503685078 Centerline is valid? [True, True] Translation: X:794.62, Y:-62.07, Z:2.89 [[ 9.99198555e-01 -3.77597583e-02 -1.32833968e-02 7.94621229e+02] [ 3.77684098e-02 9.99286439e-01 4.00963118e-04 -6.20657004e+01] [ 1.32587780e-02 -9.02334542e-04 9.99911691e-01 2.89008870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5907140569999 meters Centerline goodness [0,1] 0.979331070417054 Centerline is valid? [True, True] Translation: X:794.65, Y:-62.07, Z:2.89 [[ 9.99215460e-01 -3.74211733e-02 -1.29660984e-02 7.94652286e+02] [ 3.74293982e-02 9.99299198e-01 3.92166220e-04 -6.20702208e+01] [ 1.29423364e-02 -8.77171810e-04 9.99915860e-01 2.89004616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.620714057 meters Centerline goodness [0,1] 0.9787669315416586 Centerline is valid? [True, True] Translation: X:794.68, Y:-62.08, Z:2.89 [[ 9.99269333e-01 -3.58724155e-02 -1.31897634e-02 7.94683083e+02] [ 3.58807997e-02 9.99355997e-01 3.99491066e-04 -6.20753128e+01] [ 1.31669385e-02 -8.72458430e-04 9.99912931e-01 2.88986245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.650714057 meters Centerline goodness [0,1] 0.9805400251376067 Centerline is valid? [True, True] Translation: X:794.72, Y:-62.07, Z:2.89 [[ 9.99285837e-01 -3.53504188e-02 -1.33477712e-02 7.94715815e+02] [ 3.53589687e-02 9.99374594e-01 4.05027039e-04 -6.20669940e+01] [ 1.33251056e-02 -8.76701207e-04 9.99910833e-01 2.89100692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6807140569999 meters Centerline goodness [0,1] 0.9813781877373847 Centerline is valid? [True, True] Translation: X:794.75, Y:-62.07, Z:2.89 [[ 9.99307529e-01 -3.46522138e-02 -1.35530760e-02 7.94748264e+02] [ 3.46609778e-02 9.99399043e-01 4.12222103e-04 -6.20653571e+01] [ 1.35306468e-02 -8.81699518e-04 9.99908068e-01 2.89177967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7107140569999 meters Centerline goodness [0,1] 0.9799861675456039 Centerline is valid? [True, True] Translation: X:794.78, Y:-62.07, Z:2.89 [[ 9.99358768e-01 -3.29159904e-02 -1.40922384e-02 7.94778668e+02] [ 3.29253015e-02 9.99457723e-01 4.29169389e-04 -6.20654349e+01] [ 1.40704700e-02 -8.92885391e-04 9.99900607e-01 2.89193294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7407140569999 meters Centerline goodness [0,1] 0.9780224553173931 Centerline is valid? [True, True] Translation: X:794.81, Y:-62.08, Z:2.89 [[ 9.99389075e-01 -3.19180128e-02 -1.42378953e-02 7.94809254e+02] [ 3.19274345e-02 9.99490095e-01 4.34866178e-04 -6.20766901e+01] [ 1.42167552e-02 -8.89179975e-04 9.99898541e-01 2.89071261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.770714057 meters Centerline goodness [0,1] 0.980352097370137 Centerline is valid? [True, True] Translation: X:794.84, Y:-62.07, Z:2.89 [[ 9.99399969e-01 -3.11850317e-02 -1.50730463e-02 7.94841120e+02] [ 3.11955241e-02 9.99513195e-01 4.61433146e-04 -6.20691714e+01] [ 1.50513189e-02 -9.31367852e-04 9.99886289e-01 2.89197885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8007140569999 meters Centerline goodness [0,1] 0.9812395382709072 Centerline is valid? [True, True] Translation: X:794.87, Y:-62.06, Z:2.89 [[ 9.99434242e-01 -2.95596716e-02 -1.60443669e-02 7.94873222e+02] [ 2.95713638e-02 9.99562551e-01 4.91937373e-04 -6.20615869e+01] [ 1.60228068e-02 -9.66112866e-04 9.99871160e-01 2.89321610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8307140569999 meters Centerline goodness [0,1] 0.9815396615604619 Centerline is valid? [True, True] Translation: X:794.91, Y:-62.06, Z:2.89 [[ 9.99451631e-01 -2.87159072e-02 -1.64873579e-02 7.94905105e+02] [ 2.87281543e-02 9.99587133e-01 5.06412571e-04 -6.20613108e+01] [ 1.64660088e-02 -9.79786234e-04 9.99863946e-01 2.89305343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8607140569999 meters Centerline goodness [0,1] 0.9811333058012911 Centerline is valid? [True, True] Translation: X:794.94, Y:-62.06, Z:2.89 [[ 9.99457098e-01 -2.82259788e-02 -1.69942277e-02 7.94935092e+02] [ 2.82389286e-02 9.99601065e-01 5.22480468e-04 -6.20626015e+01] [ 1.69727006e-02 -1.00209559e-03 9.99855451e-01 2.89332173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.890714057 meters Centerline goodness [0,1] 0.9819715730728985 Centerline is valid? [True, True] Translation: X:794.97, Y:-62.06, Z:2.89 [[ 9.99480284e-01 -2.71539464e-02 -1.73731024e-02 7.94966695e+02] [ 2.71673279e-02 9.99630757e-01 5.34654448e-04 -6.20609041e+01] [ 1.73521695e-02 -1.00635735e-03 9.99848933e-01 2.89456901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9207140569999 meters Centerline goodness [0,1] 0.9817814644315122 Centerline is valid? [True, True] Translation: X:795.00, Y:-62.06, Z:2.89 [[ 9.99493831e-01 -2.69306507e-02 -1.69358048e-02 7.94997116e+02] [ 2.69433415e-02 9.99636826e-01 5.21585623e-04 -6.20622313e+01] [ 1.69156076e-02 -9.77628787e-04 9.99856443e-01 2.89480111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9507140569999 meters Centerline goodness [0,1] 0.9813718662952646 Centerline is valid? [True, True] Translation: X:795.03, Y:-62.06, Z:2.90 [[ 9.99510726e-01 -2.64839628e-02 -1.66405851e-02 7.95027660e+02] [ 2.64961581e-02 9.99648784e-01 5.12783495e-04 -6.20638129e+01] [ 1.66211601e-02 -9.53444175e-04 9.99861404e-01 2.89558934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9807140569999 meters Centerline goodness [0,1] 0.9818233394431352 Centerline is valid? [True, True] Translation: X:795.06, Y:-62.07, Z:2.90 [[ 9.99508684e-01 -2.67580189e-02 -1.63217196e-02 7.95058438e+02] [ 2.67697991e-02 9.99641498e-01 5.03656929e-04 -6.20655827e+01] [ 1.63023913e-02 -9.40338627e-04 9.99866665e-01 2.89614721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.010714057 meters Centerline goodness [0,1] 0.9805667137118662 Centerline is valid? [True, True] Translation: X:795.09, Y:-62.07, Z:2.90 [[ 9.99511064e-01 -2.68065748e-02 -1.60947230e-02 7.95089665e+02] [ 2.68180464e-02 9.99640208e-01 4.97311668e-04 -6.20665537e+01] [ 1.60756011e-02 -9.28697544e-04 9.99870348e-01 2.89678206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.040714057 meters Centerline goodness [0,1] 0.9810253722869995 Centerline is valid? [True, True] Translation: X:795.12, Y:-62.07, Z:2.90 [[ 9.99490252e-01 -2.74989371e-02 -1.62186228e-02 7.95121139e+02] [ 2.75106859e-02 9.99621384e-01 5.01701913e-04 -6.20669695e+01] [ 1.61986859e-02 -9.47631610e-04 9.99868344e-01 2.89721861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0707140569999 meters Centerline goodness [0,1] 0.9811250925240562 Centerline is valid? [True, True] Translation: X:795.15, Y:-62.07, Z:2.90 [[ 9.99478520e-01 -2.83623840e-02 -1.54357590e-02 7.95152461e+02] [ 2.83731366e-02 9.99597287e-01 4.78008450e-04 -6.20684420e+01] [ 1.54159854e-02 -9.15720076e-04 9.99880747e-01 2.89783197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1007140569999 meters Centerline goodness [0,1] 0.9796843665533176 Centerline is valid? [True, True] Translation: X:795.18, Y:-62.07, Z:2.90 [[ 9.99464336e-01 -2.90032312e-02 -1.51609277e-02 7.95184091e+02] [ 2.90136854e-02 9.99578904e-01 4.70013547e-04 -6.20700715e+01] [ 1.51409115e-02 -9.09636164e-04 9.99884956e-01 2.89830155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.130714057 meters Centerline goodness [0,1] 0.9812943359161846 Centerline is valid? [True, True] Translation: X:795.22, Y:-62.06, Z:2.90 [[ 9.99445604e-01 -2.99772319e-02 -1.44862390e-02 7.95216882e+02] [ 2.99868905e-02 9.99550191e-01 4.49947798e-04 -6.20625844e+01] [ 1.44662347e-02 -8.84095611e-04 9.99894968e-01 2.90045986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.160714057 meters Centerline goodness [0,1] 0.9791535197475791 Centerline is valid? [True, True] Translation: X:795.25, Y:-62.07, Z:2.90 [[ 9.99436436e-01 -3.02657947e-02 -1.45186627e-02 7.95247430e+02] [ 3.02755400e-02 9.99541489e-01 4.51851877e-04 -6.20735275e+01] [ 1.44983300e-02 -8.91157582e-04 9.99894497e-01 2.89891720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1907140569999 meters Centerline goodness [0,1] 0.979965918028489 Centerline is valid? [True, True] Translation: X:795.28, Y:-62.07, Z:2.90 [[ 9.99426833e-01 -3.04653920e-02 -1.47602654e-02 7.95280000e+02] [ 3.04755003e-02 9.99535408e-01 4.60339392e-04 -6.20681960e+01] [ 1.47393835e-02 -9.09902013e-04 9.99890955e-01 2.89958819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2207140569999 meters Centerline goodness [0,1] 0.9806852902662593 Centerline is valid? [True, True] Translation: X:795.31, Y:-62.07, Z:2.90 [[ 9.99431490e-01 -3.01009787e-02 -1.51864337e-02 7.95312100e+02] [ 3.01116540e-02 9.99546429e-01 4.74732355e-04 -6.20670206e+01] [ 1.51652557e-02 -9.31751102e-04 9.99884567e-01 2.89974644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.250714057 meters Centerline goodness [0,1] 0.981619733682602 Centerline is valid? [True, True] Translation: X:795.34, Y:-62.07, Z:2.90 [[ 9.99439203e-01 -2.96564760e-02 -1.55490608e-02 7.95344673e+02] [ 2.96676312e-02 9.99559700e-01 4.87196726e-04 -6.20666766e+01] [ 1.55277661e-02 -9.48227310e-04 9.99878987e-01 2.89980792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.280714057 meters Centerline goodness [0,1] 0.9812658117421268 Centerline is valid? [True, True] Translation: X:795.38, Y:-62.07, Z:2.90 [[ 9.99456385e-01 -2.93101256e-02 -1.50947560e-02 7.95377083e+02] [ 2.93206152e-02 9.99569946e-01 4.74034198e-04 -6.20668072e+01] [ 1.50743704e-02 -9.16364037e-04 9.99885955e-01 2.89979959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3107140569999 meters Centerline goodness [0,1] 0.9809629726547168 Centerline is valid? [True, True] Translation: X:795.41, Y:-62.07, Z:2.90 [[ 9.99479657e-01 -2.87285647e-02 -1.46657860e-02 7.95407923e+02] [ 2.87384271e-02 9.99586859e-01 4.62132379e-04 -6.20696030e+01] [ 1.46464505e-02 -8.83363532e-04 9.99892345e-01 2.90000187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3407140569999 meters Centerline goodness [0,1] 0.9801995328224944 Centerline is valid? [True, True] Translation: X:795.44, Y:-62.07, Z:2.90 [[ 9.99488861e-01 -2.85173261e-02 -1.44491993e-02 7.95440134e+02] [ 2.85268963e-02 9.99592921e-01 4.56618634e-04 -6.20686393e+01] [ 1.44302958e-02 -8.68576048e-04 9.99895501e-01 2.90033607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.370714057 meters Centerline goodness [0,1] 0.9809455054582048 Centerline is valid? [True, True] Translation: X:795.47, Y:-62.07, Z:2.90 [[ 9.99491664e-01 -2.82659066e-02 -1.47462779e-02 7.95472463e+02] [ 2.82758624e-02 9.99600049e-01 4.67048009e-04 -6.20694789e+01] [ 1.47271786e-02 -8.83774317e-04 9.99891159e-01 2.90056111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.400714057 meters Centerline goodness [0,1] 0.9803003108173182 Centerline is valid? [True, True] Translation: X:795.50, Y:-62.07, Z:2.90 [[ 9.99502801e-01 -2.78082354e-02 -1.48611310e-02 7.95503573e+02] [ 2.78183095e-02 9.99612885e-01 4.71557463e-04 -6.20707188e+01] [ 1.48422649e-02 -8.84734548e-04 9.99889456e-01 2.89995290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4307140569999 meters Centerline goodness [0,1] 0.9795163584637269 Centerline is valid? [True, True] Translation: X:795.54, Y:-62.07, Z:2.90 [[ 9.99519477e-01 -2.74344436e-02 -1.44279798e-02 7.95535215e+02] [ 2.74439085e-02 9.99623240e-01 4.58394464e-04 -6.20711997e+01] [ 1.44099681e-02 -8.54134351e-04 9.99895806e-01 2.90003758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4607140569999 meters Centerline goodness [0,1] 0.9786587365797127 Centerline is valid? [True, True] Translation: X:795.57, Y:-62.07, Z:2.90 [[ 9.99541650e-01 -2.66389211e-02 -1.43825386e-02 7.95566030e+02] [ 2.66482515e-02 9.99644768e-01 4.57441473e-04 -6.20728213e+01] [ 1.43652437e-02 -8.40501309e-04 9.99896461e-01 2.90019621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4907140569999 meters Centerline goodness [0,1] 0.9809245763455966 Centerline is valid? [True, True] Translation: X:795.60, Y:-62.07, Z:2.90 [[ 9.99542476e-01 -2.61675173e-02 -1.51690112e-02 7.95597565e+02] [ 2.61778502e-02 9.99657185e-01 4.82991008e-04 -6.20686845e+01] [ 1.51511724e-02 -8.79862132e-04 9.99884827e-01 2.90072843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.520714057 meters Centerline goodness [0,1] 0.9804157812876514 Centerline is valid? [True, True] Translation: X:795.63, Y:-62.07, Z:2.90 [[ 9.99544243e-01 -2.59742338e-02 -1.53832539e-02 7.95628567e+02] [ 2.59848463e-02 9.99662217e-01 4.90365351e-04 -6.20655975e+01] [ 1.53653208e-02 -8.89873352e-04 9.99881551e-01 2.90083759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5507140569999 meters Centerline goodness [0,1] 0.9801800223385384 Centerline is valid? [True, True] Translation: X:795.66, Y:-62.08, Z:2.90 [[ 9.99531344e-01 -2.55683232e-02 -1.68330933e-02 7.95658843e+02] [ 2.55809804e-02 9.99672609e-01 5.36997513e-04 -6.20759166e+01] [ 1.68138521e-02 -9.67352875e-04 9.99858169e-01 2.89833674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5807140569999 meters Centerline goodness [0,1] 0.9830653663679494 Centerline is valid? [True, True] Translation: X:795.69, Y:-62.07, Z:2.90 [[ 9.99536062e-01 -2.52963605e-02 -1.69633133e-02 7.95690755e+02] [ 2.53091840e-02 9.99679525e-01 5.41670018e-04 -6.20663281e+01] [ 1.69441747e-02 -9.70746335e-04 9.99855966e-01 2.90005510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6107140569999 meters Centerline goodness [0,1] 0.9820981417212142 Centerline is valid? [True, True] Translation: X:795.72, Y:-62.07, Z:2.90 [[ 9.99547157e-01 -2.46381500e-02 -1.72754641e-02 7.95720630e+02] [ 2.46513693e-02 9.99695956e-01 5.52643152e-04 -6.20684745e+01] [ 1.72565955e-02 -9.78256736e-04 9.99850615e-01 2.90006798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.640714057 meters Centerline goodness [0,1] 0.9811118171658961 Centerline is valid? [True, True] Translation: X:795.75, Y:-62.07, Z:2.90 [[ 9.99562223e-01 -2.41311463e-02 -1.71186883e-02 7.95750840e+02] [ 2.41440622e-02 9.99708339e-01 5.48189370e-04 -6.20709411e+01] [ 1.71004670e-02 -9.61264061e-04 9.99853314e-01 2.90017682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6707140569999 meters Centerline goodness [0,1] 0.9824849839975448 Centerline is valid? [True, True] Translation: X:795.78, Y:-62.07, Z:2.90 [[ 9.99583955e-01 -2.31766305e-02 -1.71685840e-02 7.95780982e+02] [ 2.31894830e-02 9.99730937e-01 5.49880056e-04 -6.20697738e+01] [ 1.71512202e-02 -9.47781868e-04 9.99852458e-01 2.90082672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7007140569999 meters Centerline goodness [0,1] 0.9833487308081474 Centerline is valid? [True, True] Translation: X:795.81, Y:-62.07, Z:2.90 [[ 9.99627357e-01 -2.11724800e-02 -1.72299892e-02 7.95811342e+02] [ 2.11851278e-02 9.99775418e-01 5.51846759e-04 -6.20656611e+01] [ 1.72144357e-02 -9.16660641e-04 9.99851400e-01 2.90189942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7307140569999 meters Centerline goodness [0,1] 0.9821915398821564 Centerline is valid? [True, True] Translation: X:795.84, Y:-62.07, Z:2.90 [[ 9.99652484e-01 -2.01503836e-02 -1.69962446e-02 7.95842134e+02] [ 2.01625432e-02 9.99796567e-01 5.44360324e-04 -6.20661300e+01] [ 1.69818180e-02 -8.86858668e-04 9.99855405e-01 2.90207388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.760714057 meters Centerline goodness [0,1] 0.9844573293062017 Centerline is valid? [True, True] Translation: X:795.87, Y:-62.06, Z:2.90 [[ 9.99708806e-01 -1.77576862e-02 -1.63391277e-02 7.95872444e+02] [ 1.77686049e-02 9.99841989e-01 5.23314006e-04 -6.20639788e+01] [ 1.63272531e-02 -8.13485125e-04 9.99866371e-01 2.90285540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.790714057 meters Centerline goodness [0,1] 0.9841787492838571 Centerline is valid? [True, True] Translation: X:795.90, Y:-62.06, Z:2.90 [[ 9.99733944e-01 -1.65906664e-02 -1.60246840e-02 7.95902316e+02] [ 1.66010131e-02 9.99862062e-01 5.12860811e-04 -6.20643786e+01] [ 1.60139648e-02 -7.78750351e-04 9.99871465e-01 2.90276533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8207140569999 meters Centerline goodness [0,1] 0.9840399771056223 Centerline is valid? [True, True] Translation: X:795.93, Y:-62.07, Z:2.90 [[ 9.99744618e-01 -1.55637245e-02 -1.63850210e-02 7.95931338e+02] [ 1.55743947e-02 9.99878575e-01 5.23809136e-04 -6.20661962e+01] [ 1.63748790e-02 -7.78862149e-04 9.99865619e-01 2.90262459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8507140569999 meters Centerline goodness [0,1] 0.9845391476709614 Centerline is valid? [True, True] Translation: X:795.96, Y:-62.06, Z:2.90 [[ 9.99760614e-01 -1.42422382e-02 -1.66094300e-02 7.95961354e+02] [ 1.42530109e-02 9.99898280e-01 5.30390635e-04 -6.20644702e+01] [ 1.66001865e-02 -7.66998054e-04 9.99861913e-01 2.90212054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.880714057 meters Centerline goodness [0,1] 0.9841283798637063 Centerline is valid? [True, True] Translation: X:795.99, Y:-62.07, Z:2.90 [[ 9.99758858e-01 -1.41855388e-02 -1.67629638e-02 7.95988631e+02] [ 1.41964835e-02 9.99899082e-01 5.34089196e-04 -6.20682650e+01] [ 1.67536958e-02 -7.71935543e-04 9.99859349e-01 2.90141083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.910714057 meters Centerline goodness [0,1] 0.9834810725205112 Centerline is valid? [True, True] Translation: X:796.02, Y:-62.07, Z:2.90 [[ 9.99747718e-01 -1.47046433e-02 -1.69786242e-02 7.96016551e+02] [ 1.47159212e-02 9.99891569e-01 5.39489886e-04 -6.20706623e+01] [ 1.69688502e-02 -7.89209878e-04 9.99855707e-01 2.90108665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9407140569999 meters Centerline goodness [0,1] 0.9850960160504443 Centerline is valid? [True, True] Translation: X:796.05, Y:-62.07, Z:2.90 [[ 9.99729393e-01 -1.55398836e-02 -1.73104932e-02 7.96045367e+02] [ 1.55516709e-02 9.99878916e-01 5.46517580e-04 -6.20668937e+01] [ 1.72999044e-02 -8.15576782e-04 9.99850013e-01 2.90221825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9707140569999 meters Centerline goodness [0,1] 0.9847222222222223 Centerline is valid? [True, True] Translation: X:796.07, Y:-62.07, Z:2.90 [[ 9.99704973e-01 -1.66397412e-02 -1.76942154e-02 7.96073952e+02] [ 1.66521885e-02 9.99861188e-01 5.56357518e-04 -6.20707748e+01] [ 1.76825016e-02 -8.50840789e-04 9.99843290e-01 2.90153419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.000714057 meters Centerline goodness [0,1] 0.9829170983313863 Centerline is valid? [True, True] Translation: X:796.10, Y:-62.08, Z:2.90 [[ 9.99643966e-01 -1.90402131e-02 -1.86925533e-02 7.96102217e+02] [ 1.90544968e-02 9.99818275e-01 5.86319435e-04 -6.20811138e+01] [ 1.86779928e-02 -9.42287884e-04 9.99825107e-01 2.89905313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.030714057 meters Centerline goodness [0,1] 0.9837127807286271 Centerline is valid? [True, True] Translation: X:796.13, Y:-62.08, Z:2.90 [[ 9.99615337e-01 -2.03665257e-02 -1.88250755e-02 7.96132326e+02] [ 2.03812307e-02 9.99792107e-01 5.89591115e-04 -6.20772999e+01] [ 1.88091539e-02 -9.73042526e-04 9.99822619e-01 2.90019550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0607140569999 meters Centerline goodness [0,1] 0.9834320825104236 Centerline is valid? [True, True] Translation: X:796.16, Y:-62.08, Z:2.90 [[ 9.99592550e-01 -2.14328675e-02 -1.88511520e-02 7.96162048e+02] [ 2.14477896e-02 9.99769796e-01 5.89733363e-04 -6.20778136e+01] [ 1.88341727e-02 -9.93808619e-04 9.99822127e-01 2.90069892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0907140569999 meters Centerline goodness [0,1] 0.9821761749017714 Centerline is valid? [True, True] Translation: X:796.19, Y:-62.08, Z:2.90 [[ 9.99582531e-01 -2.22701521e-02 -1.84066204e-02 7.96191523e+02] [ 2.22845124e-02 9.99751504e-01 5.75407515e-04 -6.20819703e+01] [ 1.83892320e-02 -9.85349862e-04 9.99830418e-01 2.90083122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.120714057 meters Centerline goodness [0,1] 0.9832731754555859 Centerline is valid? [True, True] Translation: X:796.22, Y:-62.08, Z:2.90 [[ 9.99603324e-01 -2.17477048e-02 -1.78950380e-02 7.96221780e+02] [ 2.17611928e-02 9.99763041e-01 5.59323391e-04 -6.20800366e+01] [ 1.78786336e-02 -9.48518891e-04 9.99839715e-01 2.90186695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.150714057 meters Centerline goodness [0,1] 0.9832731754555859 Centerline is valid? [True, True] Translation: X:796.25, Y:-62.08, Z:2.90 [[ 9.99603324e-01 -2.17477048e-02 -1.78950380e-02 7.96251809e+02] [ 2.17611928e-02 9.99763041e-01 5.59323391e-04 -6.20809752e+01] [ 1.78786336e-02 -9.48518891e-04 9.99839715e-01 2.90202586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1807140569999 meters Centerline goodness [0,1] 0.9846996224582165 Centerline is valid? [True, True] Translation: X:796.28, Y:-62.08, Z:2.90 [[ 9.99652536e-01 -2.00857381e-02 -1.70696043e-02 7.96282070e+02] [ 2.00977561e-02 9.99797878e-01 5.32788209e-04 -6.20801592e+01] [ 1.70554527e-02 -8.75663827e-04 9.99854162e-01 2.90284184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2107140569999 meters Centerline goodness [0,1] 0.9831374102936644 Centerline is valid? [True, True] Translation: X:796.31, Y:-62.08, Z:2.90 [[ 9.99684835e-01 -1.91390515e-02 -1.62458128e-02 7.96311414e+02] [ 1.91498044e-02 9.99816497e-01 5.06565417e-04 -6.20840847e+01] [ 1.62331364e-02 -8.17509902e-04 9.99867900e-01 2.90271645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2407140569999 meters Centerline goodness [0,1] 0.983232141682923 Centerline is valid? [True, True] Translation: X:796.34, Y:-62.08, Z:2.90 [[ 9.99706731e-01 -1.82329529e-02 -1.59377579e-02 7.96341435e+02] [ 1.82431796e-02 9.99833456e-01 4.96497682e-04 -6.20841751e+01] [ 1.59260510e-02 -7.87107454e-04 9.99872863e-01 2.90296173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.270714057 meters Centerline goodness [0,1] 0.9845295125917461 Centerline is valid? [True, True] Translation: X:796.37, Y:-62.08, Z:2.90 [[ 9.99736783e-01 -1.67628768e-02 -1.56643156e-02 7.96371024e+02] [ 1.67725669e-02 9.99859212e-01 4.87429706e-04 -6.20821467e+01] [ 1.56539395e-02 -7.50032188e-04 9.99877188e-01 2.90369890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3007140569999 meters Centerline goodness [0,1] 0.9844548176853972 Centerline is valid? [True, True] Translation: X:796.40, Y:-62.08, Z:2.90 [[ 9.99751351e-01 -1.63907894e-02 -1.51187890e-02 7.96400674e+02] [ 1.63997657e-02 9.99865404e-01 4.69922479e-04 -6.20827442e+01] [ 1.51090517e-02 -7.17750231e-04 9.99885594e-01 2.90355270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3307140569999 meters Centerline goodness [0,1] 0.9845632861289472 Centerline is valid? [True, True] Translation: X:796.43, Y:-62.08, Z:2.90 [[ 9.99756804e-01 -1.59546043e-02 -1.52244517e-02 7.96430272e+02] [ 1.59636478e-02 9.99872461e-01 4.72661326e-04 -6.20832106e+01] [ 1.52149688e-02 -7.15584161e-04 9.99883990e-01 2.90418098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3607140569999 meters Centerline goodness [0,1] 0.9847481127715298 Centerline is valid? [True, True] Translation: X:796.46, Y:-62.08, Z:2.90 [[ 9.99768610e-01 -1.58276199e-02 -1.45675558e-02 7.96459801e+02] [ 1.58358787e-02 9.99874503e-01 4.51750337e-04 -6.20833313e+01] [ 1.45585775e-02 -6.82335854e-04 9.99893785e-01 2.90472741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.390714057 meters Centerline goodness [0,1] 0.9843228526260319 Centerline is valid? [True, True] Translation: X:796.49, Y:-62.09, Z:2.90 [[ 9.99773389e-01 -1.56719719e-02 -1.44069659e-02 7.96488765e+02] [ 1.56800316e-02 9.99876961e-01 4.46631232e-04 -6.20866732e+01] [ 1.43981937e-02 -6.72431700e-04 9.99896115e-01 2.90440551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4207140569999 meters Centerline goodness [0,1] 0.9857199436718888 Centerline is valid? [True, True] Translation: X:796.52, Y:-62.09, Z:2.90 [[ 9.99774617e-01 -1.54383847e-02 -1.45729905e-02 7.96518193e+02] [ 1.54466020e-02 9.99880592e-01 4.51475273e-04 -6.20861275e+01] [ 1.45642803e-02 -6.76476701e-04 9.99893706e-01 2.90469523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4507140569999 meters Centerline goodness [0,1] 0.9858533049227863 Centerline is valid? [True, True] Translation: X:796.55, Y:-62.09, Z:2.90 [[ 9.99796254e-01 -1.46205460e-02 -1.39172669e-02 7.96548082e+02] [ 1.46279544e-02 9.99892913e-01 4.30670510e-04 -6.20874053e+01] [ 1.39094799e-02 -6.34163908e-04 9.99903057e-01 2.90465374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4807140569999 meters Centerline goodness [0,1] 0.986520899192132 Centerline is valid? [True, True] Translation: X:796.58, Y:-62.09, Z:2.91 [[ 9.99811694e-01 -1.40780207e-02 -1.33560907e-02 7.96577378e+02] [ 1.40847891e-02 9.99900719e-01 4.12832609e-04 -6.20881884e+01] [ 1.33489529e-02 -6.00872591e-04 9.99910718e-01 2.90500330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.510714057 meters Centerline goodness [0,1] 0.9857098955132145 Centerline is valid? [True, True] Translation: X:796.61, Y:-62.09, Z:2.91 [[ 9.99824084e-01 -1.35084284e-02 -1.30124549e-02 7.96606671e+02] [ 1.35147988e-02 9.99908590e-01 4.01749393e-04 -6.20895808e+01] [ 1.30058384e-02 -5.77539429e-04 9.99915254e-01 2.90527570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.540714057 meters Centerline goodness [0,1] 0.9858584531862262 Centerline is valid? [True, True] Translation: X:796.64, Y:-62.09, Z:2.91 [[ 9.99844880e-01 -1.27443169e-02 -1.21571964e-02 7.96636375e+02] [ 1.27498159e-02 9.99918648e-01 3.74921085e-04 -6.20897191e+01] [ 1.21514293e-02 -5.29864944e-04 9.99926028e-01 2.90573589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5707140569999 meters Centerline goodness [0,1] 0.984849146400035 Centerline is valid? [True, True] Translation: X:796.67, Y:-62.09, Z:2.91 [[ 9.99851874e-01 -1.24086242e-02 -1.19271166e-02 7.96665464e+02] [ 1.24138895e-02 9.99922877e-01 3.67521629e-04 -6.20920283e+01] [ 1.19216363e-02 -5.15529097e-04 9.99928802e-01 2.90583829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6007140569999 meters Centerline goodness [0,1] 0.9849457653117125 Centerline is valid? [True, True] Translation: X:796.70, Y:-62.09, Z:2.91 [[ 9.99850874e-01 -1.27983840e-02 -1.15944376e-02 7.96695155e+02] [ 1.28033822e-02 9.99917970e-01 3.56955090e-04 -6.20932052e+01] [ 1.15889180e-02 -5.05349874e-04 9.99932719e-01 2.90567659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.630714057 meters Centerline goodness [0,1] 0.9849237472766884 Centerline is valid? [True, True] Translation: X:796.72, Y:-62.09, Z:2.91 [[ 9.99849324e-01 -1.27795408e-02 -1.17478541e-02 7.96724760e+02] [ 1.27846659e-02 9.99918208e-01 3.61259893e-04 -6.20947655e+01] [ 1.17422765e-02 -5.11397849e-04 9.99930926e-01 2.90540842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.660714057 meters Centerline goodness [0,1] 0.9845650551091204 Centerline is valid? [True, True] Translation: X:796.75, Y:-62.10, Z:2.91 [[ 9.99850865e-01 -1.29320715e-02 -1.14459146e-02 7.96754570e+02] [ 1.29369431e-02 9.99916252e-01 3.51685115e-04 -6.20971266e+01] [ 1.14404080e-02 -4.99707813e-04 9.99934432e-01 2.90543066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6907140569999 meters Centerline goodness [0,1] 0.9864018804507809 Centerline is valid? [True, True] Translation: X:796.79, Y:-62.10, Z:2.91 [[ 9.99854038e-01 -1.29517545e-02 -1.11424491e-02 7.96785081e+02] [ 1.29563715e-02 9.99916004e-01 3.42270711e-04 -6.20972251e+01] [ 1.11370801e-02 -4.86586462e-04 9.99937862e-01 2.90588323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7207140569999 meters Centerline goodness [0,1] 0.9855504637446006 Centerline is valid? [True, True] Translation: X:796.82, Y:-62.10, Z:2.91 [[ 9.99860510e-01 -1.28032422e-02 -1.07255625e-02 7.96815343e+02] [ 1.28075116e-02 9.99917926e-01 3.29464904e-04 -6.20980844e+01] [ 1.07204640e-02 -4.66786713e-04 9.99942425e-01 2.90665759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.750714057 meters Centerline goodness [0,1] 0.9857958897813573 Centerline is valid? [True, True] Translation: X:796.85, Y:-62.10, Z:2.91 [[ 9.99872929e-01 -1.25934958e-02 -9.77397702e-03 7.96845421e+02] [ 1.25970312e-02 9.99920609e-01 3.00234360e-04 -6.20995564e+01] [ 9.76942006e-03 -4.23319302e-04 9.99952188e-01 2.90698507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.780714057 meters Centerline goodness [0,1] 0.9857409235494132 Centerline is valid? [True, True] Translation: X:796.88, Y:-62.10, Z:2.91 [[ 9.99875515e-01 -1.27286186e-02 -9.32397471e-03 7.96876034e+02] [ 1.27318425e-02 9.99918906e-01 2.86482263e-04 -6.21017841e+01] [ 9.31957207e-03 -4.05157978e-04 9.99956490e-01 2.90721723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8107140569999 meters Centerline goodness [0,1] 0.9856939735316635 Centerline is valid? [True, True] Translation: X:796.91, Y:-62.10, Z:2.91 [[ 9.99871136e-01 -1.28982615e-02 -9.55754955e-03 7.96906654e+02] [ 1.29016583e-02 9.99916727e-01 2.93828357e-04 -6.21036271e+01] [ 9.55296379e-03 -4.17098732e-04 9.99954282e-01 2.90715045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8407140569999 meters Centerline goodness [0,1] 0.9858449286776931 Centerline is valid? [True, True] Translation: X:796.94, Y:-62.11, Z:2.91 [[ 9.99860544e-01 -1.28372192e-02 -1.06817038e-02 7.96937050e+02] [ 1.28414607e-02 9.99917491e-01 3.28583928e-04 -6.21062269e+01] [ 1.06766044e-02 -4.65706785e-04 9.99942895e-01 2.90652385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.870714057 meters Centerline goodness [0,1] 0.9857823024771266 Centerline is valid? [True, True] Translation: X:796.97, Y:-62.11, Z:2.91 [[ 9.99854874e-01 -1.30536879e-02 -1.09467714e-02 7.96967982e+02] [ 1.30581564e-02 9.99914682e-01 3.36831139e-04 -6.21076656e+01] [ 1.09414405e-02 -4.79726910e-04 9.99940026e-01 2.90575514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.900714057 meters Centerline goodness [0,1] 0.9853594485173433 Centerline is valid? [True, True] Translation: X:797.00, Y:-62.11, Z:2.91 [[ 9.99852694e-01 -1.31860209e-02 -1.09872382e-02 7.96998874e+02] [ 1.31905305e-02 9.99912944e-01 3.38076298e-04 -6.21081436e+01] [ 1.09818238e-02 -4.82953998e-04 9.99939581e-01 2.90622351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9307140569999 meters Centerline goodness [0,1] 0.9862366250191462 Centerline is valid? [True, True] Translation: X:797.03, Y:-62.11, Z:2.91 [[ 9.99847362e-01 -1.36240889e-02 -1.09378911e-02 7.97029751e+02] [ 1.36285843e-02 9.99907070e-01 3.36557892e-04 -6.21060118e+01] [ 1.09322893e-02 -4.85574491e-04 9.99940123e-01 2.90739299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9607140569999 meters Centerline goodness [0,1] 0.9854258121158911 Centerline is valid? [True, True] Translation: X:797.06, Y:-62.11, Z:2.91 [[ 9.99838634e-01 -1.42923551e-02 -1.08827417e-02 7.97060163e+02] [ 1.42968447e-02 9.99897739e-01 3.34860952e-04 -6.21072090e+01] [ 1.08768429e-02 -4.90395786e-04 9.99940725e-01 2.90779212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9907140569999 meters Centerline goodness [0,1] 0.9857315333113819 Centerline is valid? [True, True] Translation: X:797.09, Y:-62.11, Z:2.91 [[ 9.99819918e-01 -1.58922715e-02 -1.03714258e-02 7.97089944e+02] [ 1.58964350e-02 9.99873593e-01 3.19127807e-04 -6.21115883e+01] [ 1.03650431e-02 -4.83939034e-04 9.99946164e-01 2.90737587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.020714057 meters Centerline goodness [0,1] 0.9853404516016103 Centerline is valid? [True, True] Translation: X:797.12, Y:-62.11, Z:2.91 [[ 9.99803578e-01 -1.68336488e-02 -1.04610815e-02 7.97121591e+02] [ 1.68379380e-02 9.99858180e-01 3.22067045e-04 -6.21141100e+01] [ 1.04541764e-02 -4.98146826e-04 9.99945230e-01 2.90769945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0507140569999 meters Centerline goodness [0,1] 0.9859631395118951 Centerline is valid? [True, True] Translation: X:797.15, Y:-62.11, Z:2.91 [[ 9.99789718e-01 -1.79447927e-02 -9.92495660e-03 7.97152425e+02] [ 1.79487122e-02 9.99838862e-01 3.05971361e-04 -6.21139036e+01] [ 9.91786672e-03 -4.84047210e-04 9.99950700e-01 2.90818738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0807140569999 meters Centerline goodness [0,1] 0.9844125748764812 Centerline is valid? [True, True] Translation: X:797.18, Y:-62.12, Z:2.91 [[ 9.99752772e-01 -2.00337426e-02 -9.64589111e-03 7.97182706e+02] [ 2.00375450e-02 9.99799184e-01 2.97706294e-04 -6.21170160e+01] [ 9.63798989e-03 -4.90912670e-04 9.99953433e-01 2.90872358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1107140569999 meters Centerline goodness [0,1] 0.9856074317988529 Centerline is valid? [True, True] Translation: X:797.21, Y:-62.12, Z:2.91 [[ 9.99735359e-01 -2.07824917e-02 -9.86404409e-03 7.97214588e+02] [ 2.07865085e-02 9.99783891e-01 3.04860720e-04 -6.21191216e+01] [ 9.85557661e-03 -5.09819077e-04 9.99951303e-01 2.90906768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.140714057 meters Centerline goodness [0,1] 0.985453908166842 Centerline is valid? [True, True] Translation: X:797.25, Y:-62.12, Z:2.91 [[ 9.99694687e-01 -2.23602019e-02 -1.05144266e-02 7.97245809e+02] [ 2.23648591e-02 9.99749822e-01 3.25546350e-04 -6.21217436e+01] [ 1.05045169e-02 -5.60600627e-04 9.99944669e-01 2.90923672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1707140569999 meters Centerline goodness [0,1] 0.9861946747762925 Centerline is valid? [True, True] Translation: X:797.28, Y:-62.12, Z:2.91 [[ 9.99679204e-01 -2.29949499e-02 -1.06170182e-02 7.97278003e+02] [ 2.29997402e-02 9.99735417e-01 3.29298867e-04 -6.21203772e+01] [ 1.06066369e-02 -5.73381889e-04 9.99943584e-01 2.90970877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2007140569999 meters Centerline goodness [0,1] 0.984561480345998 Centerline is valid? [True, True] Translation: X:797.31, Y:-62.12, Z:2.91 [[ 9.99671045e-01 -2.33011941e-02 -1.07170809e-02 7.97310337e+02] [ 2.33061011e-02 9.99728320e-01 3.33183481e-04 -6.21223497e+01] [ 1.07064057e-02 -5.82847250e-04 9.99942515e-01 2.91006742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2307140569999 meters Centerline goodness [0,1] 0.9848441771459814 Centerline is valid? [True, True] Translation: X:797.34, Y:-62.13, Z:2.91 [[ 9.99702373e-01 -2.20262658e-02 -1.04885370e-02 7.97340449e+02] [ 2.20309006e-02 9.99757237e-01 3.26545771e-04 -6.21279100e+01] [ 1.04787982e-02 -5.57520499e-04 9.99944940e-01 2.90961675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.260714057 meters Centerline goodness [0,1] 0.9865051372488882 Centerline is valid? [True, True] Translation: X:797.37, Y:-62.12, Z:2.91 [[ 9.99729184e-01 -2.09325574e-02 -1.01679648e-02 7.97371748e+02] [ 2.09368596e-02 9.99780750e-01 3.16836292e-04 -6.21212108e+01] [ 1.01591033e-02 -5.29635739e-04 9.99948255e-01 2.91046674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.290714057 meters Centerline goodness [0,1] 0.9860730943569755 Centerline is valid? [True, True] Translation: X:797.40, Y:-62.12, Z:2.91 [[ 9.99754689e-01 -1.94852467e-02 -1.05303212e-02 7.97402453e+02] [ 1.94897850e-02 9.99810002e-01 3.28517878e-04 -6.21224799e+01] [ 1.05219192e-02 -5.33670985e-04 9.99944501e-01 2.91041402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3207140569999 meters Centerline goodness [0,1] 0.9861117186474783 Centerline is valid? [True, True] Translation: X:797.43, Y:-62.12, Z:2.91 [[ 9.99812988e-01 -1.60648367e-02 -1.07661980e-02 7.97433082e+02] [ 1.60693849e-02 9.99870823e-01 3.36071759e-04 -6.21207339e+01] [ 1.07594083e-02 -5.09015089e-04 9.99941986e-01 2.91004492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3507140569999 meters Centerline goodness [0,1] 0.9863296249972572 Centerline is valid? [True, True] Translation: X:797.46, Y:-62.12, Z:2.91 [[ 9.99835704e-01 -1.44133636e-02 -1.09917941e-02 7.97464549e+02] [ 1.44180070e-02 9.99895996e-01 3.43315591e-04 -6.21204557e+01] [ 1.09857026e-02 -5.01738950e-04 9.99939529e-01 2.91003452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.380714057 meters Centerline goodness [0,1] 0.9878690826130829 Centerline is valid? [True, True] Translation: X:797.50, Y:-62.12, Z:2.91 [[ 9.99871839e-01 -1.12020307e-02 -1.14376722e-02 7.97495506e+02] [ 1.12068523e-02 9.99937137e-01 3.57544455e-04 -6.21187931e+01] [ 1.14329480e-02 -4.85678935e-04 9.99934524e-01 2.90988225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.410714057 meters Centerline goodness [0,1] 0.9876399815914619 Centerline is valid? [True, True] Translation: X:797.53, Y:-62.12, Z:2.91 [[ 9.99883936e-01 -9.89945008e-03 -1.15808223e-02 7.97525089e+02] [ 9.90430437e-03 9.99950886e-01 3.61888024e-04 -6.21166776e+01] [ 1.15766710e-02 -4.76546011e-04 9.99932875e-01 2.91030868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4407140569999 meters Centerline goodness [0,1] 0.9874989053332166 Centerline is valid? [True, True] Translation: X:797.55, Y:-62.12, Z:2.91 [[ 9.99895165e-01 -8.87634305e-03 -1.14398248e-02 7.97553601e+02] [ 8.88100711e-03 9.99960499e-01 3.56967450e-04 -6.21186438e+01] [ 1.14362043e-02 -4.58527192e-04 9.99934499e-01 2.91028473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4707140569999 meters Centerline goodness [0,1] 0.9872859025032938 Centerline is valid? [True, True] Translation: X:797.58, Y:-62.12, Z:2.91 [[ 9.99901216e-01 -7.77781604e-03 -1.17074471e-02 7.97582454e+02] [ 7.78260405e-03 9.99969649e-01 3.63467182e-04 -6.21175632e+01] [ 1.17042648e-02 -4.54545703e-04 9.99931399e-01 2.91079716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.500714057 meters Centerline goodness [0,1] 0.9873401057550958 Centerline is valid? [True, True] Translation: X:797.61, Y:-62.12, Z:2.91 [[ 9.99901704e-01 -7.45026710e-03 -1.18775746e-02 7.97611120e+02] [ 7.45513773e-03 9.99972143e-01 3.65845393e-04 -6.21182316e+01] [ 1.18745181e-02 -4.54358386e-04 9.99929392e-01 2.91109027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.530714057 meters Centerline goodness [0,1] 0.9879743217693356 Centerline is valid? [True, True] Translation: X:797.64, Y:-62.12, Z:2.91 [[ 9.99901856e-01 -6.95226909e-03 -1.21632477e-02 7.97639470e+02] [ 6.95730323e-03 9.99975729e-01 3.71616744e-04 -6.21166014e+01] [ 1.21603689e-02 -4.56203675e-04 9.99925956e-01 2.91130510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5607140569999 meters Centerline goodness [0,1] 0.9882270251273941 Centerline is valid? [True, True] Translation: X:797.67, Y:-62.12, Z:2.91 [[ 9.99897368e-01 -6.64299512e-03 -1.26934496e-02 7.97667894e+02] [ 6.64841197e-03 9.99977825e-01 3.84593856e-04 -6.21176497e+01] [ 1.26906133e-02 -4.68945666e-04 9.99919361e-01 2.91139633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5907140569999 meters Centerline goodness [0,1] 0.9874307814010723 Centerline is valid? [True, True] Translation: X:797.70, Y:-62.12, Z:2.91 [[ 9.99895627e-01 -6.69097540e-03 -1.28049096e-02 7.97695899e+02] [ 6.69646623e-03 9.99977504e-01 3.85978251e-04 -6.21210095e+01] [ 1.28020389e-02 -4.71685609e-04 9.99917939e-01 2.91126296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.620714057 meters Centerline goodness [0,1] 0.9879415240512978 Centerline is valid? [True, True] Translation: X:797.73, Y:-62.12, Z:2.91 [[ 9.99904795e-01 -5.74885392e-03 -1.25439936e-02 7.97725020e+02] [ 5.75402111e-03 9.99983375e-01 3.75873215e-04 -6.21204393e+01] [ 1.25416242e-02 -4.48015834e-04 9.99921250e-01 2.91215386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.650714057 meters Centerline goodness [0,1] 0.9876043898386603 Centerline is valid? [True, True] Translation: X:797.75, Y:-62.12, Z:2.91 [[ 9.99907837e-01 -4.94935419e-03 -1.26420128e-02 7.97753096e+02] [ 4.95451401e-03 9.99987655e-01 3.76862051e-04 -6.21237969e+01] [ 1.26399915e-02 -4.39462347e-04 9.99920016e-01 2.91222528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6807140569999 meters Centerline goodness [0,1] 0.987225277735171 Centerline is valid? [True, True] Translation: X:797.78, Y:-62.12, Z:2.91 [[ 9.99909530e-01 -4.59802657e-03 -1.26408207e-02 7.97782275e+02] [ 4.60312908e-03 9.99989335e-01 3.74588497e-04 -6.21233157e+01] [ 1.26389635e-02 -4.32741937e-04 9.99920031e-01 2.91263752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7107140569999 meters Centerline goodness [0,1] 0.9882268297468768 Centerline is valid? [True, True] Translation: X:797.81, Y:-62.13, Z:2.91 [[ 9.99917403e-01 -2.04964482e-03 -1.26880451e-02 7.97810263e+02] [ 2.05455628e-03 9.99997819e-01 3.74070900e-04 -6.21264558e+01] [ 1.26872507e-02 -4.00108305e-04 9.99919434e-01 2.91236204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7407140569999 meters Centerline goodness [0,1] 0.9881069285324604 Centerline is valid? [True, True] Translation: X:797.84, Y:-62.13, Z:2.91 [[ 9.99921226e-01 -7.89255764e-04 -1.25267077e-02 7.97839273e+02] [ 7.93917810e-04 9.99999617e-01 3.67200053e-04 -6.21275387e+01] [ 1.25264131e-02 -3.77116304e-04 9.99921470e-01 2.91212356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.770714057 meters Centerline goodness [0,1] 0.9880817253121453 Centerline is valid? [True, True] Translation: X:797.87, Y:-62.13, Z:2.91 [[ 9.99911853e-01 1.48140647e-03 -1.31943491e-02 7.97868355e+02] [-1.47647375e-03 9.99998836e-01 3.83584017e-04 -6.21258693e+01] [ 1.31949020e-02 -3.64069096e-04 9.99912877e-01 2.91286580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8007140569999 meters Centerline goodness [0,1] 0.9886929984411706 Centerline is valid? [True, True] Translation: X:797.90, Y:-62.13, Z:2.91 [[ 9.99911766e-01 2.43039678e-03 -1.30596204e-02 7.97897068e+02] [-2.42568683e-03 9.99996987e-01 3.76477613e-04 -6.21254576e+01] [ 1.30604961e-02 -3.44765846e-04 9.99914649e-01 2.91384486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8307140569999 meters Centerline goodness [0,1] 0.9878953704717084 Centerline is valid? [True, True] Translation: X:797.92, Y:-62.13, Z:2.91 [[ 9.99907424e-01 3.61588178e-03 -1.31174679e-02 7.97924580e+02] [-3.61126269e-03 9.99993409e-01 3.75802217e-04 -6.21272116e+01] [ 1.31187403e-02 -3.28396804e-04 9.99913892e-01 2.91350541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8607140569999 meters Centerline goodness [0,1] 0.9883313630193966 Centerline is valid? [True, True] Translation: X:797.95, Y:-62.13, Z:2.91 [[ 9.99900498e-01 5.65994098e-03 -1.29212486e-02 7.97953674e+02] [-5.65566093e-03 9.99983939e-01 3.67758174e-04 -6.21286632e+01] [ 1.29231226e-02 -2.94643380e-04 9.99916450e-01 2.91410652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.890714057 meters Centerline goodness [0,1] 0.9885944020801014 Centerline is valid? [True, True] Translation: X:797.98, Y:-62.13, Z:2.91 [[ 9.99895377e-01 6.12161681e-03 -1.31057664e-02 7.97982536e+02] [-6.11727651e-03 9.99981220e-01 3.71236667e-04 -6.21299411e+01] [ 1.31077928e-02 -2.91026230e-04 9.99914047e-01 2.91431924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9207140569999 meters Centerline goodness [0,1] 0.9885200734715298 Centerline is valid? [True, True] Translation: X:798.01, Y:-62.13, Z:2.92 [[ 9.99893676e-01 6.77115857e-03 -1.29146484e-02 7.98010994e+02] [-6.76700984e-03 9.99977037e-01 3.64914045e-04 -6.21332482e+01] [ 1.29168227e-02 -2.77481693e-04 9.99916536e-01 2.91513702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9507140569999 meters Centerline goodness [0,1] 0.9887215579987323 Centerline is valid? [True, True] Translation: X:798.04, Y:-62.14, Z:2.92 [[ 9.99895245e-01 6.31639490e-03 -1.30231452e-02 7.98040010e+02] [-6.31214967e-03 9.99980011e-01 3.67054419e-04 -6.21359724e+01] [ 1.30252033e-02 -2.84811927e-04 9.99915128e-01 2.91510851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9807140569999 meters Centerline goodness [0,1] 0.9876516464471404 Centerline is valid? [True, True] Translation: X:798.07, Y:-62.14, Z:2.92 [[ 9.99894259e-01 5.72791871e-03 -1.33664501e-02 7.98068536e+02] [-5.72340702e-03 9.99983551e-01 3.75767393e-04 -6.21378406e+01] [ 1.33683826e-02 -2.99226025e-04 9.99910594e-01 2.91537036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.010714057 meters Centerline goodness [0,1] 0.9879562518987891 Centerline is valid? [True, True] Translation: X:798.10, Y:-62.14, Z:2.92 [[ 9.99905446e-01 4.37520024e-03 -1.30367489e-02 7.98096296e+02] [-4.37080730e-03 9.99990381e-01 3.65438862e-04 -6.21440771e+01] [ 1.30382223e-02 -3.08423191e-04 9.99914951e-01 2.91582395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.040714057 meters Centerline goodness [0,1] 0.9879562518987891 Centerline is valid? [True, True] Translation: X:798.12, Y:-62.14, Z:2.92 [[ 9.99905900e-01 4.27012448e-03 -1.30367848e-02 7.98123759e+02] [-4.26573935e-03 9.99990835e-01 3.64154407e-04 -6.21447561e+01] [ 1.30382203e-02 -3.08508614e-04 9.99914951e-01 2.91596939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0707140569999 meters Centerline goodness [0,1] 0.9872127219257162 Centerline is valid? [True, True] Translation: X:798.15, Y:-62.15, Z:2.92 [[ 9.99905994e-01 3.40142129e-03 -1.32828637e-02 7.98152826e+02] [-3.39680766e-03 9.99994162e-01 3.69882187e-04 -6.21462363e+01] [ 1.32840442e-02 -3.24728083e-04 9.99911710e-01 2.91698039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1007140569999 meters Centerline goodness [0,1] 0.9869366427171783 Centerline is valid? [True, True] Translation: X:798.18, Y:-62.15, Z:2.92 [[ 9.99905325e-01 2.49524042e-03 -1.35320148e-02 7.98180568e+02] [-2.49038446e-03 9.99996828e-01 3.75689101e-04 -6.21499521e+01] [ 1.35329093e-02 -3.41953613e-04 9.99908368e-01 2.91717389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.130714057 meters Centerline goodness [0,1] 0.9873258660658188 Centerline is valid? [True, True] Translation: X:798.21, Y:-62.16, Z:2.92 [[ 9.99903066e-01 4.30196393e-04 -1.39166698e-02 7.98209561e+02] [-4.24875915e-04 9.99999836e-01 3.85264034e-04 -6.21550483e+01] [ 1.39168333e-02 -3.79313831e-04 9.99903084e-01 2.91765171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.160714057 meters Centerline goodness [0,1] 0.9860835846617837 Centerline is valid? [True, True] Translation: X:798.24, Y:-62.16, Z:2.92 [[ 9.99905831e-01 -7.16834854e-04 -1.37045735e-02 7.98237723e+02] [ 7.22086724e-04 9.99999668e-01 3.78275931e-04 -6.21586970e+01] [ 1.37042978e-02 -3.88136200e-04 9.99906016e-01 2.91760063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1907140569999 meters Centerline goodness [0,1] 0.9856246335584461 Centerline is valid? [True, True] Translation: X:798.27, Y:-62.16, Z:2.92 [[ 9.99882403e-01 -4.10329885e-03 -1.47764171e-02 7.98266925e+02] [ 4.10975652e-03 9.99991472e-01 4.06686439e-04 -6.21647247e+01] [ 1.47746224e-02 -4.67366091e-04 9.99890740e-01 2.91765763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2207140569999 meters Centerline goodness [0,1] 0.9855780665527903 Centerline is valid? [True, True] Translation: X:798.30, Y:-62.17, Z:2.92 [[ 9.99864824e-01 -5.74330848e-03 -1.54061366e-02 7.98295560e+02] [ 5.75050600e-03 9.99983376e-01 4.22926213e-04 -6.21682792e+01] [ 1.54034515e-02 -5.11462124e-04 9.99881229e-01 2.91815219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.250714057 meters Centerline goodness [0,1] 0.9850474974574254 Centerline is valid? [True, True] Translation: X:798.32, Y:-62.17, Z:2.92 [[ 9.99847899e-01 -8.02581672e-03 -1.54843426e-02 7.98323926e+02] [ 8.03334148e-03 9.99967642e-01 4.23820049e-04 -6.21716206e+01] [ 1.54804401e-02 -5.48146597e-04 9.99880021e-01 2.91831078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.280714057 meters Centerline goodness [0,1] 0.9856540084388186 Centerline is valid? [True, True] Translation: X:798.35, Y:-62.18, Z:2.92 [[ 9.99796488e-01 -1.22616370e-02 -1.60198056e-02 7.98354238e+02] [ 1.22702266e-02 9.99924622e-01 4.38001894e-04 -6.21768259e+01] [ 1.60132274e-02 -6.34479400e-04 9.99871579e-01 2.91865590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3107140569999 meters Centerline goodness [0,1] 0.9848235548820091 Centerline is valid? [True, True] Translation: X:798.38, Y:-62.18, Z:2.92 [[ 9.99763406e-01 -1.47088506e-02 -1.60244222e-02 7.98383721e+02] [ 1.47177529e-02 9.99891592e-01 4.37749557e-04 -6.21812438e+01] [ 1.60162462e-02 -6.73489474e-04 9.99871505e-01 2.91890434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3407140569999 meters Centerline goodness [0,1] 0.9837057526904958 Centerline is valid? [True, True] Translation: X:798.41, Y:-62.19, Z:2.92 [[ 9.99679866e-01 -1.97439498e-02 -1.58222169e-02 7.98412939e+02] [ 1.97532522e-02 9.99804792e-01 4.31857349e-04 -6.21915201e+01] [ 1.58106017e-02 -7.44259337e-04 9.99874728e-01 2.91883706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.370714057 meters Centerline goodness [0,1] 0.9834746217405301 Centerline is valid? [True, True] Translation: X:798.44, Y:-62.19, Z:2.92 [[ 9.99636646e-01 -2.19425373e-02 -1.56556977e-02 7.98442722e+02] [ 2.19519068e-02 9.99758937e-01 4.26860380e-04 -6.21927464e+01] [ 1.56425573e-02 -7.70377695e-04 9.99877351e-01 2.91936863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.400714057 meters Centerline goodness [0,1] 0.9830851774440302 Centerline is valid? [True, True] Translation: X:798.47, Y:-62.20, Z:2.92 [[ 9.99593160e-01 -2.39004565e-02 -1.55654150e-02 7.98472712e+02] [ 2.39099494e-02 9.99714026e-01 4.24037528e-04 -6.21962855e+01] [ 1.55508290e-02 -7.96033298e-04 9.99878762e-01 2.91933992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4307140569999 meters Centerline goodness [0,1] 0.9824542541982927 Centerline is valid? [True, True] Translation: X:798.50, Y:-62.20, Z:2.92 [[ 9.99515033e-01 -2.71468386e-02 -1.52561008e-02 7.98502151e+02] [ 2.71563336e-02 9.99631112e-01 4.15521084e-04 -6.22031698e+01] [ 1.52391929e-02 -8.29619333e-04 9.99883533e-01 2.91896815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4607140569999 meters Centerline goodness [0,1] 0.9829788152047289 Centerline is valid? [True, True] Translation: X:798.53, Y:-62.21, Z:2.92 [[ 9.99490957e-01 -2.81303735e-02 -1.50502441e-02 7.98532127e+02] [ 2.81397321e-02 9.99603915e-01 4.10380286e-04 -6.22068766e+01] [ 1.50327387e-02 -8.33681222e-04 9.99886654e-01 2.91873411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4907140569999 meters Centerline goodness [0,1] 0.9834817674077588 Centerline is valid? [True, True] Translation: X:798.56, Y:-62.21, Z:2.92 [[ 9.99451092e-01 -2.93266051e-02 -1.54099186e-02 7.98563016e+02] [ 2.93365692e-02 9.99569502e-01 4.20899614e-04 -6.22087085e+01] [ 1.53909411e-02 -8.72742722e-04 9.99881172e-01 2.91859715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.520714057 meters Centerline goodness [0,1] 0.9822351906284194 Centerline is valid? [True, True] Translation: X:798.59, Y:-62.21, Z:2.92 [[ 9.99402422e-01 -3.08479500e-02 -1.55949792e-02 7.98593237e+02] [ 3.08583459e-02 9.99523677e-01 4.26369177e-04 -6.22124023e+01] [ 1.55743983e-02 -9.07349651e-04 9.99878300e-01 2.91830428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5507140569999 meters Centerline goodness [0,1] 0.9820293477558232 Centerline is valid? [True, True] Translation: X:798.62, Y:-62.21, Z:2.92 [[ 9.99391767e-01 -3.10207599e-02 -1.59313708e-02 7.98624512e+02] [ 3.10316383e-02 9.99518308e-01 4.36017620e-04 -6.22149130e+01] [ 1.59101712e-02 -9.30128954e-04 9.99872993e-01 2.91868780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5807140569999 meters Centerline goodness [0,1] 0.9832006883200688 Centerline is valid? [True, True] Translation: X:798.66, Y:-62.21, Z:2.92 [[ 9.99376491e-01 -3.11250788e-02 -1.66691199e-02 7.98655608e+02] [ 3.11370125e-02 9.99515021e-01 4.56798218e-04 -6.22114433e+01] [ 1.66468178e-02 -9.75539993e-04 9.99860956e-01 2.91851201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6107140569999 meters Centerline goodness [0,1] 0.9820786988231751 Centerline is valid? [True, True] Translation: X:798.69, Y:-62.22, Z:2.92 [[ 9.99402141e-01 -3.01321323e-02 -1.69533406e-02 7.98685992e+02] [ 3.01443507e-02 9.99545447e-01 4.65569715e-04 -6.22194590e+01] [ 1.69316058e-02 -9.76338813e-04 9.99856173e-01 2.91685196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.640714057 meters Centerline goodness [0,1] 0.9823266026606966 Centerline is valid? [True, True] Translation: X:798.72, Y:-62.22, Z:2.92 [[ 9.99412908e-01 -2.95648219e-02 -1.73135824e-02 7.98716203e+02] [ 2.95774866e-02 9.99562377e-01 4.75829397e-04 -6.22205559e+01] [ 1.72919378e-02 -9.87642294e-04 9.99849995e-01 2.91624218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6707140569999 meters Centerline goodness [0,1] 0.9834633052024356 Centerline is valid? [True, True] Translation: X:798.75, Y:-62.21, Z:2.92 [[ 9.99454285e-01 -2.80566375e-02 -1.74343456e-02 7.98746670e+02] [ 2.80692509e-02 9.99605866e-01 4.79148334e-04 -6.22146413e+01] [ 1.74140309e-02 -9.68255876e-04 9.99847895e-01 2.91751346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7007140569999 meters Centerline goodness [0,1] 0.982622908512194 Centerline is valid? [True, True] Translation: X:798.78, Y:-62.22, Z:2.92 [[ 9.99513390e-01 -2.59547921e-02 -1.73011947e-02 7.98775908e+02] [ 2.59668960e-02 9.99662690e-01 4.75281894e-04 -6.22210359e+01] [ 1.72830230e-02 -9.24308941e-04 9.99850210e-01 2.91559174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7307140569999 meters Centerline goodness [0,1] 0.9826839826839827 Centerline is valid? [True, True] Translation: X:798.81, Y:-62.21, Z:2.92 [[ 9.99534587e-01 -2.50154132e-02 -1.74596482e-02 7.98806425e+02] [ 2.50275954e-02 9.99686646e-01 4.79542834e-04 -6.22140534e+01] [ 1.74421812e-02 -9.16292659e-04 9.99847454e-01 2.91741848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.760714057 meters Centerline goodness [0,1] 0.9850283944243676 Centerline is valid? [True, True] Translation: X:798.84, Y:-62.21, Z:2.92 [[ 9.99597365e-01 -2.22683670e-02 -1.75848474e-02 7.98835995e+02] [ 2.22802929e-02 9.99751647e-01 4.82543866e-04 -6.22098530e+01] [ 1.75697347e-02 -8.74145127e-04 9.99845258e-01 2.91850777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.790714057 meters Centerline goodness [0,1] 0.9840820961072905 Centerline is valid? [True, True] Translation: X:798.87, Y:-62.21, Z:2.92 [[ 9.99633189e-01 -2.08234388e-02 -1.73168221e-02 7.98865715e+02] [ 2.08347769e-02 9.99782820e-01 4.74570503e-04 -6.22084209e+01] [ 1.73031790e-02 -8.35188550e-04 9.99849940e-01 2.91922041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8207140569999 meters Centerline goodness [0,1] 0.9840253538619671 Centerline is valid? [True, True] Translation: X:798.89, Y:-62.21, Z:2.92 [[ 9.99662417e-01 -1.96693450e-02 -1.69755359e-02 7.98894032e+02] [ 1.96800607e-02 9.99806221e-01 4.64404494e-04 -6.22101636e+01] [ 1.69631119e-02 -7.98327296e-04 9.99855797e-01 2.91917145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8507140569999 meters Centerline goodness [0,1] 0.9838251742235223 Centerline is valid? [True, True] Translation: X:798.92, Y:-62.21, Z:2.92 [[ 9.99721434e-01 -1.74266510e-02 -1.59174869e-02 7.98922364e+02] [ 1.74357757e-02 9.99847891e-01 4.34639022e-04 -6.22119424e+01] [ 1.59074914e-02 -7.12051677e-04 9.99873214e-01 2.91946758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.880714057 meters Centerline goodness [0,1] 0.9849398888266472 Centerline is valid? [True, True] Translation: X:798.95, Y:-62.21, Z:2.92 [[ 9.99739341e-01 -1.67749843e-02 -1.54870704e-02 7.98950862e+02] [ 1.67835003e-02 9.99859059e-01 4.20064343e-04 -6.22071990e+01] [ 1.54778411e-02 -6.79882100e-04 9.99879980e-01 2.92090373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.910714057 meters Centerline goodness [0,1] 0.9856220404649161 Centerline is valid? [True, True] Translation: X:798.98, Y:-62.20, Z:2.92 [[ 9.99750963e-01 -1.63911911e-02 -1.51440136e-02 7.98980020e+02] [ 1.63992320e-02 9.99865441e-01 4.06921224e-04 -6.22049896e+01] [ 1.51353059e-02 -6.55170078e-04 9.99885240e-01 2.92182632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9407140569999 meters Centerline goodness [0,1] 0.9867420591574032 Centerline is valid? [True, True] Translation: X:799.01, Y:-62.21, Z:2.92 [[ 9.99765796e-01 -1.60608234e-02 -1.45052585e-02 7.99009087e+02] [ 1.60681392e-02 9.99870824e-01 3.87946374e-04 -6.22064274e+01] [ 1.44971540e-02 -6.20928028e-04 9.99894718e-01 2.92177097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9707140569999 meters Centerline goodness [0,1] 0.9845329776706966 Centerline is valid? [True, True] Translation: X:799.04, Y:-62.21, Z:2.92 [[ 9.99759404e-01 -1.69346987e-02 -1.39409329e-02 7.99038702e+02] [ 1.69415328e-02 9.99856413e-01 3.72259594e-04 -6.22071537e+01] [ 1.39326270e-02 -6.08350801e-04 9.99902751e-01 2.92172105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.000714057 meters Centerline goodness [0,1] 0.9849033169875158 Centerline is valid? [True, True] Translation: X:799.07, Y:-62.21, Z:2.92 [[ 9.99742417e-01 -1.80096595e-02 -1.38113047e-02 7.99068147e+02] [ 1.80164625e-02 9.99837623e-01 3.68294859e-04 -6.22077537e+01] [ 1.38024292e-02 -6.17030846e-04 9.99904552e-01 2.92247809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.030714057 meters Centerline goodness [0,1] 0.9854034877756882 Centerline is valid? [True, True] Translation: X:799.10, Y:-62.21, Z:2.92 [[ 9.99733392e-01 -1.86871221e-02 -1.35623252e-02 7.99097707e+02] [ 1.86937396e-02 9.99825191e-01 3.61315030e-04 -6.22125073e+01] [ 1.35532025e-02 -6.14749277e-04 9.99907962e-01 2.92193164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0607140569999 meters Centerline goodness [0,1] 0.9852644241096361 Centerline is valid? [True, True] Translation: X:799.13, Y:-62.21, Z:2.92 [[ 9.99710447e-01 -1.99766766e-02 -1.34147171e-02 7.99127952e+02] [ 1.99832654e-02 9.99800251e-01 3.57287598e-04 -6.22109357e+01] [ 1.34049001e-02 -6.25253997e-04 9.99909955e-01 2.92202340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0907140569999 meters Centerline goodness [0,1] 0.9852454080096357 Centerline is valid? [True, True] Translation: X:799.16, Y:-62.21, Z:2.92 [[ 9.99634193e-01 -2.32561909e-02 -1.38068469e-02 7.99157932e+02] [ 2.32634805e-02 9.99729301e-01 3.67578507e-04 -6.22134628e+01] [ 1.37945610e-02 -6.88639358e-04 9.99904613e-01 2.92143979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.120714057 meters Centerline goodness [0,1] 0.9852698030963475 Centerline is valid? [True, True] Translation: X:799.19, Y:-62.22, Z:2.92 [[ 9.99604517e-01 -2.46589063e-02 -1.35184134e-02 7.99188810e+02] [ 2.46660232e-02 9.99695683e-01 3.59954833e-04 -6.22152069e+01] [ 1.35054235e-02 -6.93257976e-04 9.99908557e-01 2.92149225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.150714057 meters Centerline goodness [0,1] 0.9846891598391502 Centerline is valid? [True, True] Translation: X:799.22, Y:-62.22, Z:2.92 [[ 9.99492355e-01 -2.88436041e-02 -1.35306623e-02 7.99219154e+02] [ 2.88511193e-02 9.99583655e-01 3.60513308e-04 -6.22187622e+01] [ 1.35146303e-02 -7.50705046e-04 9.99908391e-01 2.92106096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1807140569999 meters Centerline goodness [0,1] 0.9846319414550151 Centerline is valid? [True, True] Translation: X:799.25, Y:-62.22, Z:2.92 [[ 9.99436941e-01 -3.07722477e-02 -1.33742385e-02 7.99250302e+02] [ 3.07797673e-02 9.99526127e-01 3.56721635e-04 -6.22202632e+01] [ 1.33569236e-02 -7.68176727e-04 9.99910497e-01 2.92130254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2107140569999 meters Centerline goodness [0,1] 0.98411263239473 Centerline is valid? [True, True] Translation: X:799.28, Y:-62.22, Z:2.92 [[ 9.99372901e-01 -3.28513544e-02 -1.32133601e-02 7.99281662e+02] [ 3.28588815e-02 9.99459939e-01 3.52904383e-04 -6.22208358e+01] [ 1.31946307e-02 -7.86859312e-04 9.99912637e-01 2.92163917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2407140569999 meters Centerline goodness [0,1] 0.9841092595773921 Centerline is valid? [True, True] Translation: X:799.31, Y:-62.23, Z:2.92 [[ 9.99276791e-01 -3.61857425e-02 -1.16827928e-02 7.99311999e+02] [ 3.61918569e-02 9.99344811e-01 3.12309856e-04 -6.22259184e+01] [ 1.16638372e-02 -7.34905957e-04 9.99931705e-01 2.92205684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.270714057 meters Centerline goodness [0,1] 0.9830552266121219 Centerline is valid? [True, True] Translation: X:799.34, Y:-62.23, Z:2.92 [[ 9.99223928e-01 -3.79221277e-02 -1.06515075e-02 7.99344488e+02] [ 3.79273134e-02 9.99280460e-01 2.85211172e-04 -6.22257572e+01] [ 1.06330275e-02 -6.88972891e-04 9.99943230e-01 2.92225253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3007140569999 meters Centerline goodness [0,1] 0.9821048329856107 Centerline is valid? [True, True] Translation: X:799.38, Y:-62.23, Z:2.92 [[ 9.99194629e-01 -3.90290621e-02 -9.31803512e-03 7.99375591e+02] [ 3.90330854e-02 9.99237887e-01 2.50239513e-04 -6.22292311e+01] [ 9.30116712e-03 -6.13749638e-04 9.99956555e-01 2.92276434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3307140569999 meters Centerline goodness [0,1] 0.9836766420520793 Centerline is valid? [True, True] Translation: X:799.41, Y:-62.23, Z:2.92 [[ 9.99116307e-01 -4.11622005e-02 -8.50170988e-03 7.99406993e+02] [ 4.11656317e-02 9.99152310e-01 2.28914504e-04 -6.22305066e+01] [ 8.48508044e-03 -5.78690471e-04 9.99963834e-01 2.92295889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3607140569999 meters Centerline goodness [0,1] 0.982299933329032 Centerline is valid? [True, True] Translation: X:799.44, Y:-62.23, Z:2.92 [[ 9.99087369e-01 -4.19088652e-02 -8.25078148e-03 7.99438815e+02] [ 4.19121254e-02 9.99121276e-01 2.22553501e-04 -6.22319117e+01] [ 8.23420435e-03 -5.68158180e-04 9.99965937e-01 2.92240053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.390714057 meters Centerline goodness [0,1] 0.9824444108956801 Centerline is valid? [True, True] Translation: X:799.47, Y:-62.24, Z:2.92 [[ 9.99011670e-01 -4.37471131e-02 -7.86599047e-03 7.99468404e+02] [ 4.37501359e-02 9.99042482e-01 2.12535101e-04 -6.22354177e+01] [ 7.84916084e-03 -5.56463197e-04 9.99969040e-01 2.92158505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4207140569999 meters Centerline goodness [0,1] 0.9817817256694408 Centerline is valid? [True, True] Translation: X:799.50, Y:-62.24, Z:2.92 [[ 9.98968155e-01 -4.46995905e-02 -8.03571271e-03 7.99500697e+02] [ 4.47027773e-02 9.99000308e-01 2.17314504e-04 -6.22373590e+01] [ 8.01796560e-03 -5.76308944e-04 9.99967690e-01 2.92085004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4507140569999 meters Centerline goodness [0,1] 0.9813285148855618 Centerline is valid? [True, True] Translation: X:799.53, Y:-62.24, Z:2.92 [[ 9.98969941e-01 -4.46696975e-02 -7.97971372e-03 7.99533236e+02] [ 4.46728435e-02 9.99001647e-01 2.16359462e-04 -6.22386047e+01] [ 7.96208243e-03 -5.72613101e-04 9.99968138e-01 2.92085448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4807140569999 meters Centerline goodness [0,1] 0.9807659096796477 Centerline is valid? [True, True] Translation: X:799.57, Y:-62.24, Z:2.92 [[ 9.98974232e-01 -4.47890902e-02 -6.66493329e-03 7.99565864e+02] [ 4.47912902e-02 9.98996350e-01 1.81118951e-04 -6.22390233e+01] [ 6.65013187e-03 -4.79464127e-04 9.99977773e-01 2.92069300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.510714057 meters Centerline goodness [0,1] 0.9823222004774296 Centerline is valid? [True, True] Translation: X:799.60, Y:-62.24, Z:2.92 [[ 9.99013946e-01 -4.40066387e-02 -5.87800151e-03 7.99598109e+02] [ 4.40083386e-02 9.99031151e-01 1.60105287e-04 -6.22367566e+01] [ 5.86526092e-03 -4.18628495e-04 9.99982712e-01 2.92086235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.540714057 meters Centerline goodness [0,1] 0.9796451390088068 Centerline is valid? [True, True] Translation: X:799.63, Y:-62.24, Z:2.92 [[ 9.99097193e-01 -4.22285436e-02 -4.64219715e-03 7.99628594e+02] [ 4.22295861e-02 9.99107925e-01 1.26732656e-04 -6.22397059e+01] [ 4.63270423e-03 -3.22656305e-04 9.99989217e-01 2.92139999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5707140569999 meters Centerline goodness [0,1] 0.9812985559644479 Centerline is valid? [True, True] Translation: X:799.66, Y:-62.24, Z:2.92 [[ 9.99168921e-01 -4.05000562e-02 -4.60572101e-03 7.99660335e+02] [ 4.05010643e-02 9.99179487e-01 1.25794795e-04 -6.22353575e+01] [ 4.59684726e-03 -3.12226853e-04 9.99989386e-01 2.92109888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6007140569999 meters Centerline goodness [0,1] 0.9825103770321688 Centerline is valid? [True, True] Translation: X:799.69, Y:-62.23, Z:2.92 [[ 9.99218049e-01 -3.93469250e-02 -3.88708410e-03 7.99692620e+02] [ 3.93476349e-02 9.99225576e-01 1.06303603e-04 -6.22318156e+01] [ 3.87989113e-03 -2.59168045e-04 9.99992440e-01 2.92120275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.630714057 meters Centerline goodness [0,1] 0.9815598548972189 Centerline is valid? [True, True] Translation: X:799.72, Y:-62.23, Z:2.92 [[ 9.99318706e-01 -3.67873947e-02 -2.96841876e-03 7.99722836e+02] [ 3.67877983e-02 9.99323097e-01 8.14739003e-05 -6.22306549e+01] [ 2.96341221e-03 -1.90619983e-04 9.99995591e-01 2.92154941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.660714057 meters Centerline goodness [0,1] 0.9809896621826204 Centerline is valid? [True, True] Translation: X:799.75, Y:-62.23, Z:2.92 [[ 9.99377566e-01 -3.52146606e-02 -2.09972439e-03 7.99753288e+02] [ 3.52148590e-02 9.99379763e-01 5.75742148e-05 -6.22341779e+01] [ 2.09639460e-03 -1.31479877e-04 9.99997794e-01 2.92196100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6907140569999 meters Centerline goodness [0,1] 0.9807621720824786 Centerline is valid? [True, True] Translation: X:799.79, Y:-62.23, Z:2.92 [[ 9.99418106e-01 -3.40832239e-02 -1.33507239e-03 7.99785622e+02] [ 3.40833028e-02 9.99418995e-01 3.63923530e-05 -6.22342372e+01] [ 1.33305634e-03 -8.18748530e-05 9.99999108e-01 2.92181452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7207140569999 meters Centerline goodness [0,1] 0.981656932727666 Centerline is valid? [True, True] Translation: X:799.82, Y:-62.23, Z:2.92 [[ 9.99453375e-01 -3.30537327e-02 -6.33791477e-04 7.99817712e+02] [ 3.30537502e-02 9.99453575e-01 1.71169512e-05 -6.22308374e+01] [ 6.32879379e-04 -3.80567798e-05 9.99999799e-01 2.92139286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.750714057 meters Centerline goodness [0,1] 0.9824845579024664 Centerline is valid? [True, True] Translation: X:799.85, Y:-62.23, Z:2.92 [[ 9.99468115e-01 -3.26102526e-02 -2.41540162e-04 7.99849539e+02] [ 3.26102551e-02 9.99468144e-01 6.29971899e-06 -6.22296321e+01] [ 2.41206262e-04 -1.41730546e-05 9.99999971e-01 2.92084046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.780714057 meters Centerline goodness [0,1] 0.982434940227008 Centerline is valid? [True, True] Translation: X:799.88, Y:-62.23, Z:2.92 [[ 9.99469646e-01 -3.25637848e-02 -1.62936168e-04 7.99883044e+02] [ 3.25637859e-02 9.99469659e-01 3.94568122e-06 -6.22296580e+01] [ 1.62721270e-04 -9.24940711e-06 9.99999987e-01 2.92037755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8107140569999 meters Centerline goodness [0,1] 0.980150759195663 Centerline is valid? [True, True] Translation: X:799.91, Y:-62.23, Z:2.92 [[ 9.99465681e-01 -3.26856478e-02 4.12249980e-05 7.99913846e+02] [ 3.26856479e-02 9.99465681e-01 -1.43605500e-06 -6.22320158e+01] [-4.11560323e-05 2.78275346e-06 9.99999999e-01 2.92029189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8407140569999 meters Centerline goodness [0,1] 0.9809367367670262 Centerline is valid? [True, True] Translation: X:799.95, Y:-62.23, Z:2.92 [[ 9.99461346e-01 -3.28178770e-02 7.09012833e-05 7.99945668e+02] [ 3.28178772e-02 9.99461348e-01 -2.36160272e-06 -6.22328100e+01] [-7.07855894e-05 4.68716024e-06 9.99999997e-01 2.91991151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.870714057 meters Centerline goodness [0,1] 0.9804274272988136 Centerline is valid? [True, True] Translation: X:799.98, Y:-62.24, Z:2.92 [[ 9.99465009e-01 -3.27060406e-02 -9.84775272e-05 7.99976420e+02] [ 3.27060410e-02 9.99465014e-01 2.46960514e-06 -6.22384094e+01] [ 9.83440721e-05 -5.68909397e-06 9.99999995e-01 2.91999132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.900714057 meters Centerline goodness [0,1] 0.9799974050687656 Centerline is valid? [True, True] Translation: X:800.01, Y:-62.24, Z:2.92 [[ 9.99451101e-01 -3.31265044e-02 3.61211973e-04 8.00008112e+02] [ 3.31265103e-02 9.99451166e-01 -1.04038482e-05 -6.22371525e+01] [-3.60669084e-04 2.23638297e-05 9.99999935e-01 2.91965813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9307140569999 meters Centerline goodness [0,1] 0.9801162765566578 Centerline is valid? [True, True] Translation: X:800.04, Y:-62.24, Z:2.92 [[ 9.99453787e-01 -3.30371535e-02 8.20576649e-04 8.00039648e+02] [ 3.30371839e-02 9.99454123e-01 -2.35350183e-05 -6.22381705e+01] [-8.19351185e-04 5.06317049e-05 9.99999663e-01 2.92005659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9607140569999 meters Centerline goodness [0,1] 0.9801162765566578 Centerline is valid? [True, True] Translation: X:800.07, Y:-62.24, Z:2.92 [[ 9.99457262e-01 -3.29318703e-02 8.20571657e-04 8.00072228e+02] [ 3.29319008e-02 9.99457598e-01 -2.37113957e-05 -6.22391800e+01] [-8.19345717e-04 5.07215111e-05 9.99999663e-01 2.92022887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9907140569999 meters Centerline goodness [0,1] 0.9791310741549707 Centerline is valid? [True, True] Translation: X:800.10, Y:-62.24, Z:2.92 [[ 9.99451857e-01 -3.30918037e-02 9.58407035e-04 8.00104522e+02] [ 3.30918452e-02 9.99452315e-01 -2.74785503e-05 -6.22400560e+01] [-9.56972815e-04 5.91789453e-05 9.99999540e-01 2.92061190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.020714057 meters Centerline goodness [0,1] 0.9791783783783784 Centerline is valid? [True, True] Translation: X:800.14, Y:-62.24, Z:2.92 [[ 9.99454946e-01 -3.29933457e-02 1.11766791e-03 8.00137888e+02] [ 3.29934023e-02 9.99455569e-01 -3.22985950e-05 -6.22382275e+01] [-1.11599378e-03 6.91566575e-05 9.99999375e-01 2.92043065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0507140569999 meters Centerline goodness [0,1] 0.9799978305673066 Centerline is valid? [True, True] Translation: X:800.17, Y:-62.24, Z:2.92 [[ 9.99465761e-01 -3.26350510e-02 1.77397860e-03 8.00169718e+02] [ 3.26351925e-02 9.99467329e-01 -5.08749427e-05 -6.22362167e+01] [-1.77137335e-03 1.08741896e-04 9.99998425e-01 2.92074499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0807140569999 meters Centerline goodness [0,1] 0.9800925125367457 Centerline is valid? [True, True] Translation: X:800.20, Y:-62.24, Z:2.92 [[ 9.99481133e-01 -3.21434162e-02 2.06529680e-03 8.00200465e+02] [ 3.21436082e-02 9.99483259e-01 -5.98303468e-05 -6.22376880e+01] [-2.06230642e-03 1.26185394e-04 9.99997865e-01 2.92141435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1107140569999 meters Centerline goodness [0,1] 0.9801614863691613 Centerline is valid? [True, True] Translation: X:800.23, Y:-62.23, Z:2.92 [[ 9.99488491e-01 -3.18900695e-02 2.40395699e-03 8.00232915e+02] [ 3.18903281e-02 9.99491372e-01 -6.93294895e-05 -6.22333402e+01] [-2.40052335e-03 1.45957004e-04 9.99997108e-01 2.92126938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.140714057 meters Centerline goodness [0,1] 0.9810401809010263 Centerline is valid? [True, True] Translation: X:800.26, Y:-62.23, Z:2.92 [[ 9.99544276e-01 -2.99749965e-02 3.56925476e-03 8.00264383e+02] [ 2.99755536e-02 9.99550627e-01 -1.02688366e-04 -6.22315581e+01] [-3.56457275e-03 2.09631956e-04 9.99993625e-01 2.92181765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1707140569999 meters Centerline goodness [0,1] 0.9808022985003156 Centerline is valid? [True, True] Translation: X:800.30, Y:-62.23, Z:2.92 [[ 9.99554918e-01 -2.96741524e-02 3.06762588e-03 8.00296462e+02] [ 2.96745639e-02 9.99559609e-01 -8.87048326e-05 -6.22300828e+01] [-3.06364269e-03 1.79695812e-04 9.99995291e-01 2.92179600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2007140569999 meters Centerline goodness [0,1] 0.979784131958045 Centerline is valid? [True, True] Translation: X:800.33, Y:-62.23, Z:2.92 [[ 9.99570246e-01 -2.92562136e-02 1.84290215e-03 8.00327967e+02] [ 2.92563617e-02 9.99571940e-01 -5.34473611e-05 -6.22337335e+01] [-1.84054961e-03 1.07341004e-04 9.99998300e-01 2.92188389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2307140569999 meters Centerline goodness [0,1] 0.9821148825065275 Centerline is valid? [True, True] Translation: X:800.36, Y:-62.23, Z:2.92 [[ 9.99579015e-01 -2.89855668e-02 1.27695954e-03 8.00360418e+02] [ 2.89856380e-02 9.99579827e-01 -3.73241694e-05 -6.22275578e+01] [-1.27534113e-03 7.43219433e-05 9.99999184e-01 2.92079184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.260714057 meters Centerline goodness [0,1] 0.9815064325452016 Centerline is valid? [True, True] Translation: X:800.39, Y:-62.23, Z:2.92 [[ 9.99595698e-01 -2.84257213e-02 6.46665123e-04 8.00391070e+02] [ 2.84257396e-02 9.99595907e-01 -1.90317433e-05 -6.22332272e+01] [-6.45862819e-04 3.74059831e-05 9.99999791e-01 2.92093608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.290714057 meters Centerline goodness [0,1] 0.98175683030369 Centerline is valid? [True, True] Translation: X:800.42, Y:-62.23, Z:2.92 [[ 9.99613736e-01 -2.77722552e-02 -1.03982610e-03 8.00422883e+02] [ 2.77723012e-02 9.99614275e-01 2.98294246e-05 -6.22328262e+01] [ 1.03859658e-03 -5.86962661e-05 9.99999459e-01 2.91956638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3207140569999 meters Centerline goodness [0,1] 0.9825887993026803 Centerline is valid? [True, True] Translation: X:800.46, Y:-62.23, Z:2.92 [[ 9.99632956e-01 -2.69955309e-02 -2.27902115e-03 8.00455110e+02] [ 2.69957512e-02 9.99635546e-01 6.59764363e-05 -6.22295942e+01] [ 2.27640948e-03 -1.27476108e-04 9.99997401e-01 2.91886184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3507140569999 meters Centerline goodness [0,1] 0.9812302667392487 Centerline is valid? [True, True] Translation: X:800.49, Y:-62.23, Z:2.92 [[ 9.99688582e-01 -2.47241297e-02 -3.38477760e-03 8.00485945e+02] [ 2.47246045e-02 9.99694295e-01 9.84901573e-05 -6.22327747e+01] [ 3.38130778e-03 -1.82146773e-04 9.99994267e-01 2.91840661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.380714057 meters Centerline goodness [0,1] 0.9837121460230126 Centerline is valid? [True, True] Translation: X:800.52, Y:-62.23, Z:2.92 [[ 9.99724824e-01 -2.31172737e-02 -3.98339825e-03 8.00518679e+02] [ 2.31179191e-02 9.99732738e-01 1.16038552e-04 -6.22255251e+01] [ 3.97965114e-03 -2.08094499e-04 9.99992060e-01 2.91892404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.410714057 meters Centerline goodness [0,1] 0.9841927395617573 Centerline is valid? [True, True] Translation: X:800.55, Y:-62.23, Z:2.92 [[ 9.99767980e-01 -2.12519791e-02 -3.51273699e-03 8.00549053e+02] [ 2.12524700e-02 9.99774136e-01 1.02481034e-04 -6.22252954e+01] [ 3.50976566e-03 -1.77111594e-04 9.99993825e-01 2.91989584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4407140569999 meters Centerline goodness [0,1] 0.9842191422023355 Centerline is valid? [True, True] Translation: X:800.58, Y:-62.22, Z:2.92 [[ 9.99818180e-01 -1.87358891e-02 -3.54576883e-03 8.00579141e+02] [ 1.87363754e-02 9.99824453e-01 1.03980887e-04 -6.22249230e+01] [ 3.54319821e-03 -1.70396837e-04 9.99993708e-01 2.92074411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4707140569999 meters Centerline goodness [0,1] 0.983170194676375 Centerline is valid? [True, True] Translation: X:800.61, Y:-62.22, Z:2.92 [[ 9.99875083e-01 -1.55607528e-02 -2.77148123e-03 8.00609571e+02] [ 1.55610378e-02 9.99878916e-01 8.13045261e-05 -6.22240080e+01] [ 2.76988049e-03 -1.24421494e-04 9.99996156e-01 2.92168425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.500714057 meters Centerline goodness [0,1] 0.9843127816916816 Centerline is valid? [True, True] Translation: X:800.64, Y:-62.22, Z:2.92 [[ 9.99893217e-01 -1.42353865e-02 -3.30293130e-03 8.00642319e+02] [ 1.42357838e-02 9.99898661e-01 9.68299864e-05 -6.22204090e+01] [ 3.30121817e-03 -1.43839463e-04 9.99994541e-01 2.92236590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.530714057 meters Centerline goodness [0,1] 0.985078865731638 Centerline is valid? [True, True] Translation: X:800.67, Y:-62.22, Z:2.92 [[ 9.99893052e-01 -1.42429704e-02 -3.31999563e-03 8.00674819e+02] [ 1.42433731e-02 9.99898553e-01 9.76652401e-05 -6.22206287e+01] [ 3.31826779e-03 -1.44942731e-04 9.99994484e-01 2.92287761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5607140569999 meters Centerline goodness [0,1] 0.9853297530945052 Centerline is valid? [True, True] Translation: X:800.71, Y:-62.22, Z:2.92 [[ 9.99887595e-01 -1.44957067e-02 -3.83034364e-03 8.00706629e+02] [ 1.44962458e-02 9.99894918e-01 1.13011482e-04 -6.22203335e+01] [ 3.82830296e-03 -1.68524382e-04 9.99992658e-01 2.92335516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5907140569999 meters Centerline goodness [0,1] 0.9849400877403583 Centerline is valid? [True, True] Translation: X:800.74, Y:-62.22, Z:2.92 [[ 9.99879002e-01 -1.51157260e-02 -3.67381428e-03 8.00737332e+02] [ 1.51162271e-02 9.99885737e-01 1.08675093e-04 -6.22224406e+01] [ 3.67175180e-03 -1.64196155e-04 9.99993246e-01 2.92389714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.620714057 meters Centerline goodness [0,1] 0.9846758349705305 Centerline is valid? [True, True] Translation: X:800.77, Y:-62.22, Z:2.92 [[ 9.99858480e-01 -1.63755073e-02 -3.85529963e-03 8.00769509e+02] [ 1.63760693e-02 9.99865897e-01 1.14240497e-04 -6.22224898e+01] [ 3.85291187e-03 -1.77358983e-04 9.99992562e-01 2.92420750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.650714057 meters Centerline goodness [0,1] 0.9840709507310802 Centerline is valid? [True, True] Translation: X:800.80, Y:-62.23, Z:2.92 [[ 9.99841195e-01 -1.74143863e-02 -3.78461598e-03 8.00800822e+02] [ 1.74149361e-02 9.99848342e-01 1.12365462e-04 -6.22254003e+01] [ 3.78208524e-03 -1.78256463e-04 9.99992832e-01 2.92482945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6807140569999 meters Centerline goodness [0,1] 0.9847516415435963 Centerline is valid? [True, True] Translation: X:800.83, Y:-62.23, Z:2.93 [[ 9.99817296e-01 -1.86566489e-02 -4.15992657e-03 8.00832705e+02] [ 1.86573261e-02 9.99825929e-01 1.24039095e-04 -6.22254300e+01] [ 4.15688830e-03 -2.01629539e-04 9.99991340e-01 2.92521999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7107140569999 meters Centerline goodness [0,1] 0.9836967197014339 Centerline is valid? [True, True] Translation: X:800.86, Y:-62.23, Z:2.93 [[ 9.99736492e-01 -2.23816516e-02 -5.09986314e-03 8.00862227e+02] [ 2.23827201e-02 9.99749464e-01 1.52535404e-04 -6.22300405e+01] [ 5.09517145e-03 -2.66644019e-04 9.99986984e-01 2.92509525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7407140569999 meters Centerline goodness [0,1] 0.983235705542927 Centerline is valid? [True, True] Translation: X:800.89, Y:-62.23, Z:2.92 [[ 9.99629835e-01 -2.61537719e-02 -7.49492681e-03 8.00892765e+02] [ 2.61561857e-02 9.99657843e-01 2.24210085e-04 -6.22334846e+01] [ 7.48649843e-03 -4.20165788e-04 9.99971888e-01 2.92400369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.770714057 meters Centerline goodness [0,1] 0.983570431139815 Centerline is valid? [True, True] Translation: X:800.92, Y:-62.23, Z:2.92 [[ 9.99581883e-01 -2.76688916e-02 -8.39589887e-03 8.00924645e+02] [ 2.76719773e-02 9.99617026e-01 2.51555850e-04 -6.22347261e+01] [ 8.38572318e-03 -4.83781793e-04 9.99964722e-01 2.92350954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8007140569999 meters Centerline goodness [0,1] 0.9832454573184016 Centerline is valid? [True, True] Translation: X:800.96, Y:-62.24, Z:2.92 [[ 9.99535937e-01 -2.91901234e-02 -8.70903637e-03 8.00956326e+02] [ 2.91935071e-02 9.99573744e-01 2.61629531e-04 -6.22370481e+01] [ 8.69768709e-03 -5.15755434e-04 9.99962041e-01 2.92335251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8307140569999 meters Centerline goodness [0,1] 0.9817066562628692 Centerline is valid? [True, True] Translation: X:800.99, Y:-62.24, Z:2.92 [[ 9.99483493e-01 -3.08894168e-02 -8.86516100e-03 8.00987165e+02] [ 3.08929937e-02 9.99522662e-01 2.66796494e-04 -6.22400022e+01] [ 8.85268813e-03 -5.40530055e-04 9.99960668e-01 2.92430602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8607140569999 meters Centerline goodness [0,1] 0.9822489082969432 Centerline is valid? [True, True] Translation: X:801.02, Y:-62.24, Z:2.93 [[ 9.99462342e-01 -3.14842564e-02 -9.15248292e-03 8.01019741e+02] [ 3.14880990e-02 9.99504089e-01 2.76004557e-04 -6.22402914e+01] [ 9.13925431e-03 -5.64050449e-04 9.99958077e-01 2.92507242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.890714057 meters Centerline goodness [0,1] 0.9816487859966121 Centerline is valid? [True, True] Translation: X:801.05, Y:-62.24, Z:2.93 [[ 9.99477588e-01 -3.12268162e-02 -8.33287351e-03 8.01051132e+02] [ 3.12299966e-02 9.99512193e-01 2.51785976e-04 -6.22419809e+01] [ 8.32094620e-03 -5.11890051e-04 9.99965249e-01 2.92565951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9207140569999 meters Centerline goodness [0,1] 0.9820521208156144 Centerline is valid? [True, True] Translation: X:801.08, Y:-62.24, Z:2.93 [[ 9.99485246e-01 -3.09718741e-02 -8.36581761e-03 8.01083770e+02] [ 3.09750748e-02 9.99520125e-01 2.53271575e-04 -6.22429528e+01] [ 8.35395877e-03 -5.12273029e-04 9.99964974e-01 2.92632294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9507140569999 meters Centerline goodness [0,1] 0.982737496171181 Centerline is valid? [True, True] Translation: X:801.12, Y:-62.24, Z:2.93 [[ 9.99486698e-01 -3.08353640e-02 -8.69031662e-03 8.01115864e+02] [ 3.08388181e-02 9.99524336e-01 2.63713448e-04 -6.22412934e+01] [ 8.67805125e-03 -5.31577176e-04 9.99962204e-01 2.92649832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9807140569999 meters Centerline goodness [0,1] 0.9832274126973727 Centerline is valid? [True, True] Translation: X:801.15, Y:-62.24, Z:2.93 [[ 9.99481833e-01 -3.06727193e-02 -9.75957918e-03 8.01148414e+02] [ 3.06770752e-02 9.99529304e-01 2.96897125e-04 -6.22398970e+01] [ 9.74587874e-03 -5.96138627e-04 9.99952330e-01 2.92642739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.010714057 meters Centerline goodness [0,1] 0.9843503764664682 Centerline is valid? [True, True] Translation: X:801.18, Y:-62.24, Z:2.93 [[ 9.99463160e-01 -3.06507369e-02 -1.15725418e-02 8.01179799e+02] [ 3.06568691e-02 9.99529905e-01 3.52830734e-04 -6.22408449e+01] [ 1.15562871e-02 -7.07419220e-04 9.99932974e-01 2.92512197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.040714057 meters Centerline goodness [0,1] 0.9836243593084876 Centerline is valid? [True, True] Translation: X:801.21, Y:-62.24, Z:2.93 [[ 9.99474595e-01 -3.01437794e-02 -1.19116358e-02 8.01212204e+02] [ 3.01502494e-02 9.99545312e-01 3.63926424e-04 -6.22409701e+01] [ 1.18952496e-02 -7.22874004e-04 9.99928988e-01 2.92530263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0707140569999 meters Centerline goodness [0,1] 0.984401966138722 Centerline is valid? [True, True] Translation: X:801.24, Y:-62.24, Z:2.93 [[ 9.99493892e-01 -2.93011871e-02 -1.23855265e-02 8.01244904e+02] [ 2.93081289e-02 9.99570353e-01 3.79308960e-04 -6.22375766e+01] [ 1.23690909e-02 -7.42113597e-04 9.99923224e-01 2.92634417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1007140569999 meters Centerline goodness [0,1] 0.9852648608469425 Centerline is valid? [True, True] Translation: X:801.27, Y:-62.24, Z:2.93 [[ 9.99573618e-01 -2.64320529e-02 -1.24068222e-02 8.01274941e+02] [ 2.64388032e-02 9.99650361e-01 3.80345947e-04 -6.22398522e+01] [ 1.23924310e-02 -7.08205305e-04 9.99922960e-01 2.92684409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.130714057 meters Centerline goodness [0,1] 0.9843251975723705 Centerline is valid? [True, True] Translation: X:801.31, Y:-62.24, Z:2.93 [[ 9.99633278e-01 -2.42647401e-02 -1.20221012e-02 8.01305426e+02] [ 2.42709296e-02 9.99705349e-01 3.69196964e-04 -6.22416155e+01] [ 1.20096004e-02 -6.60849145e-04 9.99927664e-01 2.92782326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.160714057 meters Centerline goodness [0,1] 0.9859093200096422 Centerline is valid? [True, True] Translation: X:801.34, Y:-62.23, Z:2.93 [[ 9.99718294e-01 -2.03643830e-02 -1.21911517e-02 8.01336693e+02] [ 2.03704664e-02 9.99792430e-01 3.75025304e-04 -6.22329582e+01] [ 1.21809841e-02 -6.23259104e-04 9.99925615e-01 2.93033724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1907140569999 meters Centerline goodness [0,1] 0.9862731339356197 Centerline is valid? [True, True] Translation: X:801.37, Y:-62.23, Z:2.93 [[ 9.99746809e-01 -1.87125836e-02 -1.24962624e-02 8.01367966e+02] [ 1.87188511e-02 9.99824713e-01 3.84766825e-04 -6.22323420e+01] [ 1.24868720e-02 -6.18585081e-04 9.99921845e-01 2.93070988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2207140569999 meters Centerline goodness [0,1] 0.9872420509004968 Centerline is valid? [True, True] Translation: X:801.40, Y:-62.23, Z:2.93 [[ 9.99776333e-01 -1.67896919e-02 -1.28603983e-02 8.01399298e+02] [ 1.67961773e-02 9.99858856e-01 3.96445625e-04 -6.22319733e+01] [ 1.28519269e-02 -6.12362483e-04 9.99917223e-01 2.93105441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.250714057 meters Centerline goodness [0,1] 0.9871351682492452 Centerline is valid? [True, True] Translation: X:801.43, Y:-62.23, Z:2.93 [[ 9.99810616e-01 -1.34637538e-02 -1.40519933e-02 8.01428641e+02] [ 1.34711698e-02 9.99909166e-01 4.33231004e-04 -6.22314331e+01] [ 1.40448840e-02 -6.22445745e-04 9.99901172e-01 2.93059513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.280714057 meters Centerline goodness [0,1] 0.9877891044612518 Centerline is valid? [True, True] Translation: X:801.46, Y:-62.23, Z:2.93 [[ 9.99807369e-01 -1.26077397e-02 -1.50422406e-02 8.01458319e+02] [ 1.26161346e-02 9.99920306e-01 4.63317410e-04 -6.22313394e+01] [ 1.50352004e-02 -6.53003092e-04 9.99886752e-01 2.93060105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3107140569999 meters Centerline goodness [0,1] 0.9883422248567477 Centerline is valid? [True, True] Translation: X:801.49, Y:-62.23, Z:2.93 [[ 9.99815399e-01 -1.09111469e-02 -1.58150094e-02 8.01486404e+02] [ 1.09201717e-02 9.99940256e-01 4.84404116e-04 -6.22319107e+01] [ 1.58087791e-02 -6.57017313e-04 9.99874818e-01 2.93052007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3407140569999 meters Centerline goodness [0,1] 0.9879785017001207 Centerline is valid? [True, True] Translation: X:801.51, Y:-62.23, Z:2.93 [[ 9.99816149e-01 -1.04604879e-02 -1.60700207e-02 8.01514697e+02] [ 1.04696854e-02 9.99945072e-01 4.88314430e-04 -6.22329068e+01] [ 1.60640300e-02 -6.56472714e-04 9.99870750e-01 2.93093548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.370714057 meters Centerline goodness [0,1] 0.9875520481349872 Centerline is valid? [True, True] Translation: X:801.54, Y:-62.23, Z:2.93 [[ 9.99829377e-01 -9.52355233e-03 -1.58277849e-02 8.01542284e+02] [ 9.53231704e-03 9.99954452e-01 4.78402786e-04 -6.22346581e+01] [ 1.58225079e-02 -6.29196623e-04 9.99874618e-01 2.93069667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.400714057 meters Centerline goodness [0,1] 0.987981348103067 Centerline is valid? [True, True] Translation: X:801.57, Y:-62.24, Z:2.93 [[ 9.99824610e-01 -8.69251036e-03 -1.65888549e-02 8.01570155e+02] [ 8.70198906e-03 9.99962012e-01 4.99290767e-04 -6.22370017e+01] [ 1.65838847e-02 -6.43559231e-04 9.99862271e-01 2.93034793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4307140569999 meters Centerline goodness [0,1] 0.9875351123595506 Centerline is valid? [True, True] Translation: X:801.60, Y:-62.24, Z:2.93 [[ 9.99822061e-01 -8.55026997e-03 -1.68148576e-02 8.01599176e+02] [ 8.55993138e-03 9.99963237e-01 5.02686241e-04 -6.22391421e+01] [ 1.68099414e-02 -6.46530821e-04 9.99858494e-01 2.93039603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4607140569999 meters Centerline goodness [0,1] 0.9886941279579317 Centerline is valid? [True, True] Translation: X:801.63, Y:-62.24, Z:2.93 [[ 9.99817889e-01 -8.23225090e-03 -1.72168111e-02 8.01627218e+02] [ 8.24229352e-03 9.99965900e-01 5.12425036e-04 -6.22426718e+01] [ 1.72120056e-02 -6.54237729e-04 9.99851648e-01 2.93060132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4907140569999 meters Centerline goodness [0,1] 0.9879262451059735 Centerline is valid? [True, True] Translation: X:801.66, Y:-62.24, Z:2.93 [[ 9.99805362e-01 -8.50659937e-03 -1.78010198e-02 8.01655432e+02] [ 8.51731870e-03 9.99963588e-01 5.26445815e-04 -6.22449309e+01] [ 1.77958933e-02 -6.77960307e-04 9.99841411e-01 2.93060825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.520714057 meters Centerline goodness [0,1] 0.9878611578924346 Centerline is valid? [True, True] Translation: X:801.68, Y:-62.25, Z:2.93 [[ 9.99795429e-01 -9.15983719e-03 -1.80332342e-02 8.01683482e+02] [ 9.17089298e-03 9.99957806e-01 5.30474956e-04 -6.22475356e+01] [ 1.80276142e-02 -6.95747297e-04 9.99837247e-01 2.93084315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5507140569999 meters Centerline goodness [0,1] 0.9867092318717832 Centerline is valid? [True, True] Translation: X:801.71, Y:-62.25, Z:2.93 [[ 9.99802402e-01 -9.68886436e-03 -1.73575073e-02 8.01711057e+02] [ 9.69912072e-03 9.99952834e-01 5.06801688e-04 -6.22511930e+01] [ 1.73517782e-02 -6.75054104e-04 9.99849219e-01 2.93269726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5807140569999 meters Centerline goodness [0,1] 0.9873176918199112 Centerline is valid? [True, True] Translation: X:801.74, Y:-62.25, Z:2.94 [[ 9.99795920e-01 -1.03092464e-02 -1.73734644e-02 8.01739421e+02] [ 1.03195394e-02 9.99946626e-01 5.02907131e-04 -6.22483069e+01] [ 1.73673525e-02 -6.82090648e-04 9.99848944e-01 2.93513725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6107140569999 meters Centerline goodness [0,1] 0.9863516832199596 Centerline is valid? [True, True] Translation: X:801.77, Y:-62.25, Z:2.94 [[ 9.99792658e-01 -1.21978280e-02 -1.63050039e-02 8.01767764e+02] [ 1.22070805e-02 9.99925381e-01 4.68059389e-04 -6.22533098e+01] [ 1.62980780e-02 -6.66998837e-04 9.99866955e-01 2.93641459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.640714057 meters Centerline goodness [0,1] 0.9869094552503758 Centerline is valid? [True, True] Translation: X:801.80, Y:-62.26, Z:2.94 [[ 9.99783447e-01 -1.33822098e-02 -1.59366222e-02 8.01795250e+02] [ 1.33911642e-02 9.99910231e-01 4.55296187e-04 -6.22566848e+01] [ 1.59290987e-02 -6.68607516e-04 9.99872900e-01 2.93643185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6707140569999 meters Centerline goodness [0,1] 0.9868865314657895 Centerline is valid? [True, True] Translation: X:801.82, Y:-62.26, Z:2.94 [[ 9.99780065e-01 -1.41514636e-02 -1.54776342e-02 8.01823648e+02] [ 1.41599557e-02 9.99899646e-01 4.39211578e-04 -6.22576288e+01] [ 1.54698655e-02 -6.58277595e-04 9.99880118e-01 2.93771176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7007140569999 meters Centerline goodness [0,1] 0.9847172029433535 Centerline is valid? [True, True] Translation: X:801.85, Y:-62.27, Z:2.94 [[ 9.99773322e-01 -1.53182728e-02 -1.47869841e-02 8.01852333e+02] [ 1.53261253e-02 9.99882461e-01 4.17860429e-04 -6.22670026e+01] [ 1.47788451e-02 -6.44392880e-04 9.99890579e-01 2.93686163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7307140569999 meters Centerline goodness [0,1] 0.9848834174351836 Centerline is valid? [True, True] Translation: X:801.88, Y:-62.27, Z:2.94 [[ 9.99755979e-01 -1.60641789e-02 -1.51632626e-02 8.01882395e+02] [ 1.60725124e-02 9.99870737e-01 4.27870388e-04 -6.22671553e+01] [ 1.51544291e-02 -6.71477704e-04 9.99884940e-01 2.93701339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.760714057 meters Centerline goodness [0,1] 0.9855639620836595 Centerline is valid? [True, True] Translation: X:801.91, Y:-62.27, Z:2.94 [[ 9.99713153e-01 -1.71847493e-02 -1.66822182e-02 8.01911883e+02] [ 1.71949818e-02 9.99852045e-01 4.70127722e-04 -6.22673238e+01] [ 1.66716710e-02 -7.56843306e-04 9.99860732e-01 2.93661113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.790714057 meters Centerline goodness [0,1] 0.9854077998783983 Centerline is valid? [True, True] Translation: X:801.94, Y:-62.28, Z:2.93 [[ 9.99689569e-01 -1.78245483e-02 -1.74083827e-02 8.01940381e+02] [ 1.78357734e-02 9.99840810e-01 4.89755164e-04 -6.22754239e+01] [ 1.73968818e-02 -8.00095098e-04 9.99848343e-01 2.93486769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8207140569999 meters Centerline goodness [0,1] 0.9845576593575813 Centerline is valid? [True, True] Translation: X:801.97, Y:-62.27, Z:2.93 [[ 9.99658959e-01 -1.93462848e-02 -1.75409941e-02 8.01969576e+02] [ 1.93578993e-02 9.99812497e-01 4.92566592e-04 -6.22740359e+01] [ 1.75281758e-02 -8.31955404e-04 9.99846024e-01 2.93482158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8507140569999 meters Centerline goodness [0,1] 0.9845576593575813 Centerline is valid? [True, True] Translation: X:802.00, Y:-62.27, Z:2.93 [[ 9.99658288e-01 -1.93809307e-02 -1.75410138e-02 8.01998755e+02] [ 1.93925382e-02 9.99811826e-01 4.91867031e-04 -6.22748236e+01] [ 1.75281802e-02 -8.31863735e-04 9.99846024e-01 2.93497605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.880714057 meters Centerline goodness [0,1] 0.9845062170431612 Centerline is valid? [True, True] Translation: X:802.03, Y:-62.28, Z:2.94 [[ 9.99597994e-01 -2.19595887e-02 -1.79339752e-02 8.02027706e+02] [ 2.19721326e-02 9.99758457e-01 5.02683187e-04 -6.22796790e+01] [ 1.79186047e-02 -8.96528787e-04 9.99839047e-01 2.93501308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.910714057 meters Centerline goodness [0,1] 0.9849053330152465 Centerline is valid? [True, True] Translation: X:802.06, Y:-62.28, Z:2.94 [[ 9.99572291e-01 -2.33780754e-02 -1.75698746e-02 8.02057262e+02] [ 2.33903259e-02 9.99726288e-01 4.92044153e-04 -6.22810924e+01] [ 1.75535625e-02 -9.02798795e-04 9.99845517e-01 2.93516790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9407140569999 meters Centerline goodness [0,1] 0.9850636577826773 Centerline is valid? [True, True] Translation: X:802.09, Y:-62.28, Z:2.94 [[ 9.99526084e-01 -2.51209329e-02 -1.77917226e-02 8.02087600e+02] [ 2.51337668e-02 9.99683973e-01 4.98070862e-04 -6.22815266e+01] [ 1.77735880e-02 -9.45007826e-04 9.99841591e-01 2.93636612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9707140569999 meters Centerline goodness [0,1] 0.9846340828196892 Centerline is valid? [True, True] Translation: X:802.12, Y:-62.28, Z:2.94 [[ 9.99507136e-01 -2.59522166e-02 -1.76625863e-02 8.02117021e+02] [ 2.59649928e-02 9.99662730e-01 4.94372462e-04 -6.22840480e+01] [ 1.76437992e-02 -9.52737730e-04 9.99843882e-01 2.93632141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.000714057 meters Centerline goodness [0,1] 0.9844723183391003 Centerline is valid? [True, True] Translation: X:802.15, Y:-62.29, Z:2.94 [[ 9.99459018e-01 -2.76921658e-02 -1.77430403e-02 8.02147884e+02] [ 2.77053352e-02 9.99616010e-01 4.96806513e-04 -6.22862329e+01] [ 1.77224695e-02 -9.88114628e-04 9.99842456e-01 2.93662961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.030714057 meters Centerline goodness [0,1] 0.9846687628754202 Centerline is valid? [True, True] Translation: X:802.18, Y:-62.29, Z:2.94 [[ 9.99434163e-01 -2.87490706e-02 -1.74598282e-02 8.02178658e+02] [ 2.87619889e-02 9.99586169e-01 4.89180874e-04 -6.22875388e+01] [ 1.74385393e-02 -9.91083462e-04 9.99847446e-01 2.93697875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0607140569999 meters Centerline goodness [0,1] 0.9841968911917098 Centerline is valid? [True, True] Translation: X:802.21, Y:-62.29, Z:2.94 [[ 9.99425708e-01 -2.94211598e-02 -1.68121581e-02 8.02210038e+02] [ 2.94332403e-02 9.99566637e-01 4.71524633e-04 -6.22899807e+01] [ 1.67909996e-02 -9.66090131e-04 9.99858554e-01 2.93717984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0907140569999 meters Centerline goodness [0,1] 0.9843266295759098 Centerline is valid? [True, True] Translation: X:802.24, Y:-62.29, Z:2.94 [[ 9.99379588e-01 -3.09332186e-02 -1.68396945e-02 8.02240067e+02] [ 3.09455592e-02 9.99520960e-01 4.72680369e-04 -6.22927958e+01] [ 1.68170061e-02 -9.93500876e-04 9.99858091e-01 2.93779301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.120714057 meters Centerline goodness [0,1] 0.9825909966870927 Centerline is valid? [True, True] Translation: X:802.27, Y:-62.29, Z:2.94 [[ 9.99364833e-01 -3.16322516e-02 -1.64113116e-02 8.02271619e+02] [ 3.16440738e-02 9.99499095e-01 4.61126282e-04 -6.22940884e+01] [ 1.63885046e-02 -9.80154146e-04 9.99865219e-01 2.93799699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.150714057 meters Centerline goodness [0,1] 0.9830806273182794 Centerline is valid? [True, True] Translation: X:802.30, Y:-62.29, Z:2.94 [[ 9.99365375e-01 -3.18819741e-02 -1.58866743e-02 8.02303370e+02] [ 3.18930924e-02 9.99491186e-01 4.46927457e-04 -6.22931615e+01] [ 1.58643420e-02 -9.53318998e-04 9.99873699e-01 2.93925923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1807140569999 meters Centerline goodness [0,1] 0.9834691047751105 Centerline is valid? [True, True] Translation: X:802.34, Y:-62.29, Z:2.94 [[ 9.99372097e-01 -3.17851006e-02 -1.56562530e-02 8.02335129e+02] [ 3.17958954e-02 9.99494285e-01 4.40989053e-04 -6.22923106e+01] [ 1.56343185e-02 -9.38516738e-04 9.99877336e-01 2.93944185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2107140569999 meters Centerline goodness [0,1] 0.9833062330623307 Centerline is valid? [True, True] Translation: X:802.37, Y:-62.29, Z:2.94 [[ 9.99372670e-01 -3.17261611e-02 -1.57390143e-02 8.02366133e+02] [ 3.17370717e-02 9.99496154e-01 4.43871285e-04 -6.22935682e+01] [ 1.57170019e-02 -9.43103055e-04 9.99876036e-01 2.93930567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2407140569999 meters Centerline goodness [0,1] 0.9832426456242277 Centerline is valid? [True, True] Translation: X:802.40, Y:-62.30, Z:2.94 [[ 9.99393490e-01 -3.07044404e-02 -1.64283395e-02 8.02396957e+02] [ 3.07161997e-02 9.99528039e-01 4.63890469e-04 -6.22952332e+01] [ 1.64063424e-02 -9.68225271e-04 9.99864938e-01 2.93879599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.270714057 meters Centerline goodness [0,1] 0.9829222833860691 Centerline is valid? [True, True] Translation: X:802.43, Y:-62.30, Z:2.94 [[ 9.99415552e-01 -2.99103182e-02 -1.65507628e-02 8.02428181e+02] [ 2.99221544e-02 9.99552123e-01 4.67916901e-04 -6.22953491e+01] [ 1.65293545e-02 -9.62877907e-04 9.99862917e-01 2.93842361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3007140569999 meters Centerline goodness [0,1] 0.982785873589849 Centerline is valid? [True, True] Translation: X:802.46, Y:-62.30, Z:2.94 [[ 9.99465361e-01 -2.80062431e-02 -1.68713299e-02 8.02458872e+02] [ 2.80182817e-02 9.99607297e-01 4.77559102e-04 -6.22954398e+01] [ 1.68513299e-02 -9.50009455e-04 9.99857555e-01 2.93818314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3307140569999 meters Centerline goodness [0,1] 0.9823607168396645 Centerline is valid? [True, True] Translation: X:802.49, Y:-62.30, Z:2.94 [[ 9.99493581e-01 -2.71111319e-02 -1.66603565e-02 8.02489068e+02] [ 2.71227534e-02 9.99631999e-01 4.71956064e-04 -6.22962892e+01] [ 1.66414303e-02 -9.23591798e-04 9.99861095e-01 2.93830078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3607140569999 meters Centerline goodness [0,1] 0.9826498422712934 Centerline is valid? [True, True] Translation: X:802.52, Y:-62.30, Z:2.94 [[ 9.99526093e-01 -2.58968915e-02 -1.66415155e-02 8.02519554e+02] [ 2.59083204e-02 9.99664212e-01 4.71510880e-04 -6.22961548e+01] [ 1.66237168e-02 -9.02441143e-04 9.99861409e-01 2.93893483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.390714057 meters Centerline goodness [0,1] 0.9816936111351258 Centerline is valid? [True, True] Translation: X:802.55, Y:-62.29, Z:2.94 [[ 9.99561500e-01 -2.41357754e-02 -1.71543486e-02 8.02550543e+02] [ 2.41476645e-02 9.99708284e-01 4.86238127e-04 -6.22948692e+01] [ 1.71376087e-02 -9.00262366e-04 9.99852735e-01 2.93827020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4207140569999 meters Centerline goodness [0,1] 0.9776707708561908 Centerline is valid? [True, True] Translation: X:802.58, Y:-62.31, Z:2.93 [[ 9.99641424e-01 -2.11641259e-02 -1.64043590e-02 8.02579200e+02] [ 2.11745943e-02 9.99775685e-01 4.64697014e-04 -6.23109048e+01] [ 1.63908444e-02 -8.11886032e-04 9.99865331e-01 2.93480633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4507140569999 meters Centerline goodness [0,1] 0.9819063566970402 Centerline is valid? [True, True] Translation: X:802.61, Y:-62.30, Z:2.94 [[ 9.99599153e-01 -2.21822038e-02 -1.75921400e-02 8.02609256e+02] [ 2.21943902e-02 9.99753550e-01 4.97755688e-04 -6.22962112e+01] [ 1.75767631e-02 -8.88002983e-04 9.99845122e-01 2.93747368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4807140569999 meters Centerline goodness [0,1] 0.9824260329321806 Centerline is valid? [True, True] Translation: X:802.64, Y:-62.30, Z:2.94 [[ 9.99613241e-01 -2.19682397e-02 -1.70518116e-02 8.02638707e+02] [ 2.19796483e-02 9.99758302e-01 4.81913174e-04 -6.22959100e+01] [ 1.70371034e-02 -8.56519612e-04 9.99854491e-01 2.93768438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.510714057 meters Centerline goodness [0,1] 0.9815407920363558 Centerline is valid? [True, True] Translation: X:802.67, Y:-62.30, Z:2.94 [[ 9.99620349e-01 -2.16881589e-02 -1.69935637e-02 8.02668573e+02] [ 2.16994432e-02 9.99764424e-01 4.79902313e-04 -6.22978920e+01] [ 1.69791522e-02 -8.48470988e-04 9.99855484e-01 2.93789064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.540714057 meters Centerline goodness [0,1] 0.9815617281275729 Centerline is valid? [True, True] Translation: X:802.70, Y:-62.30, Z:2.94 [[ 9.99633785e-01 -2.17004569e-02 -1.61674280e-02 8.02698457e+02] [ 2.17106651e-02 9.99764192e-01 4.56139394e-04 -6.22988458e+01] [ 1.61537172e-02 -8.06977964e-04 9.99869195e-01 2.93907521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5707140569999 meters Centerline goodness [0,1] 0.9822101252041372 Centerline is valid? [True, True] Translation: X:802.73, Y:-62.30, Z:2.94 [[ 9.99645765e-01 -2.15648483e-02 -1.55981542e-02 8.02727589e+02] [ 2.15743321e-02 9.99767150e-01 4.39974174e-04 -6.23007021e+01] [ 1.55850342e-02 -7.76338078e-04 9.99878245e-01 2.94011585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6007140569999 meters Centerline goodness [0,1] 0.9815371217069454 Centerline is valid? [True, True] Translation: X:802.76, Y:-62.30, Z:2.94 [[ 9.99691370e-01 -2.06294514e-02 -1.38416222e-02 8.02758388e+02] [ 2.06368302e-02 9.99786962e-01 3.90455426e-04 -6.22995896e+01] [ 1.38306185e-02 -6.75982127e-04 9.99904124e-01 2.94224029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.630714057 meters Centerline goodness [0,1] 0.9810203726275466 Centerline is valid? [True, True] Translation: X:802.79, Y:-62.30, Z:2.94 [[ 9.99703429e-01 -2.04115617e-02 -1.32824300e-02 8.02788302e+02] [ 2.04183388e-02 9.99791454e-01 3.74809153e-04 -6.23023543e+01] [ 1.32720095e-02 -6.45903150e-04 9.99911714e-01 2.94234253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.660714057 meters Centerline goodness [0,1] 0.9826124661246612 Centerline is valid? [True, True] Translation: X:802.82, Y:-62.29, Z:2.94 [[ 9.99700528e-01 -2.06698800e-02 -1.30999986e-02 8.02820189e+02] [ 2.06764991e-02 9.99786150e-01 3.70019616e-04 -6.22934292e+01] [ 1.30895489e-02 -6.40770914e-04 9.99914123e-01 2.94397432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6907140569999 meters Centerline goodness [0,1] 0.9824800172823503 Centerline is valid? [True, True] Translation: X:802.85, Y:-62.30, Z:2.94 [[ 9.99680130e-01 -2.15847104e-02 -1.31810048e-02 8.02851661e+02] [ 2.15914970e-02 9.99766807e-01 3.72773657e-04 -6.22954827e+01] [ 1.31698848e-02 -6.57252043e-04 9.99913057e-01 2.94387556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7207140569999 meters Centerline goodness [0,1] 0.9824725048265689 Centerline is valid? [True, True] Translation: X:802.88, Y:-62.30, Z:2.94 [[ 9.99625066e-01 -2.37882040e-02 -1.35590893e-02 8.02882335e+02] [ 2.37955923e-02 9.99716771e-01 3.83805060e-04 -6.22982212e+01] [ 1.35461189e-02 -7.06307719e-04 9.99907998e-01 2.94280534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.750714057 meters Centerline goodness [0,1] 0.9818087092432597 Centerline is valid? [True, True] Translation: X:802.91, Y:-62.30, Z:2.94 [[ 9.99570167e-01 -2.53770683e-02 -1.46794001e-02 8.02913837e+02] [ 2.53859053e-02 9.99677639e-01 4.15949853e-04 -6.23009251e+01] [ 1.46641125e-02 -7.88420925e-04 9.99892165e-01 2.94220721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.780714057 meters Centerline goodness [0,1] 0.9815438063185322 Centerline is valid? [True, True] Translation: X:802.94, Y:-62.30, Z:2.94 [[ 9.99521008e-01 -2.69043772e-02 -1.52940569e-02 8.02944719e+02] [ 2.69141539e-02 9.99637654e-01 4.33739480e-04 -6.23022171e+01] [ 1.52768456e-02 -8.45158321e-04 9.99882945e-01 2.94166409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8107140569999 meters Centerline goodness [0,1] 0.9811386278297485 Centerline is valid? [True, True] Translation: X:802.97, Y:-62.31, Z:2.94 [[ 9.99473273e-01 -2.82858619e-02 -1.59086808e-02 8.02974513e+02] [ 2.82966162e-02 9.99599469e-01 4.51268289e-04 -6.23075580e+01] [ 1.58895444e-02 -9.01192429e-04 9.99873347e-01 2.94057640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8407140569999 meters Centerline goodness [0,1] 0.981429253265067 Centerline is valid? [True, True] Translation: X:803.01, Y:-62.31, Z:2.94 [[ 9.99409002e-01 -3.02129780e-02 -1.63958021e-02 8.03005661e+02] [ 3.02246659e-02 9.99543022e-01 4.65472560e-04 -6.23095450e+01] [ 1.63742463e-02 -9.60755107e-04 9.99865471e-01 2.94055300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.870714057 meters Centerline goodness [0,1] 0.9809862052536977 Centerline is valid? [True, True] Translation: X:803.04, Y:-62.31, Z:2.94 [[ 9.99401731e-01 -3.08429481e-02 -1.56490215e-02 8.03036218e+02] [ 3.08536779e-02 9.99523813e-01 4.44626799e-04 -6.23116547e+01] [ 1.56278560e-02 -9.27190661e-04 9.99877448e-01 2.94110019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.900714057 meters Centerline goodness [0,1] 0.9813549734574885 Centerline is valid? [True, True] Translation: X:803.07, Y:-62.31, Z:2.94 [[ 9.99423053e-01 -3.05488668e-02 -1.48434526e-02 8.03067557e+02] [ 3.05584940e-02 9.99532891e-01 4.22154671e-04 -6.23118412e+01] [ 1.48236228e-02 -8.75504668e-04 9.99889741e-01 2.94200843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9307140569999 meters Centerline goodness [0,1] 0.9823702676947067 Centerline is valid? [True, True] Translation: X:803.10, Y:-62.31, Z:2.94 [[ 9.99446741e-01 -3.00286425e-02 -1.43000606e-02 8.03099565e+02] [ 3.00375364e-02 9.99548688e-01 4.07526949e-04 -6.23070104e+01] [ 1.42813693e-02 -8.36840071e-04 9.99897666e-01 2.94284704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9607140569999 meters Centerline goodness [0,1] 0.9811312570486683 Centerline is valid? [True, True] Translation: X:803.13, Y:-62.31, Z:2.94 [[ 9.99466891e-01 -2.95787937e-02 -1.38213088e-02 8.03130817e+02] [ 2.95870706e-02 9.99562129e-01 3.94712083e-04 -6.23135579e+01] [ 1.38035818e-02 -8.03433699e-04 9.99904403e-01 2.94237088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9907140569999 meters Centerline goodness [0,1] 0.9811107242339833 Centerline is valid? [True, True] Translation: X:803.16, Y:-62.31, Z:2.94 [[ 9.99515898e-01 -2.81989791e-02 -1.31448794e-02 8.03162223e+02] [ 2.82063536e-02 9.99602051e-01 3.75931928e-04 -6.23123392e+01] [ 1.31290475e-02 -7.46519055e-04 9.99913532e-01 2.94309890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.020714057 meters Centerline goodness [0,1] 0.9818648901661116 Centerline is valid? [True, True] Translation: X:803.19, Y:-62.31, Z:2.94 [[ 9.99531620e-01 -2.76605440e-02 -1.30932919e-02 8.03194142e+02] [ 2.76678239e-02 9.99617102e-01 3.75159363e-04 -6.23127191e+01] [ 1.30779014e-02 -7.37246541e-04 9.99914209e-01 2.94342314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0507140569999 meters Centerline goodness [0,1] 0.9824297517057965 Centerline is valid? [True, True] Translation: X:803.23, Y:-62.31, Z:2.95 [[ 9.99616986e-01 -2.54971799e-02 -1.07598409e-02 8.03226331e+02] [ 2.55019774e-02 9.99674724e-01 3.08879685e-04 -6.23082490e+01] [ 1.07484655e-02 -5.83158601e-04 9.99942064e-01 2.94556220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0807140569999 meters Centerline goodness [0,1] 0.9830217391304348 Centerline is valid? [True, True] Translation: X:803.26, Y:-62.31, Z:2.95 [[ 9.99639706e-01 -2.46426191e-02 -1.06394972e-02 8.03258655e+02] [ 2.46472684e-02 9.99696163e-01 3.06070380e-04 -6.23086545e+01] [ 1.06287221e-02 -5.68194647e-04 9.99943352e-01 2.94603290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1107140569999 meters Centerline goodness [0,1] 0.9831804614479618 Centerline is valid? [True, True] Translation: X:803.29, Y:-62.31, Z:2.95 [[ 9.99675065e-01 -2.30346296e-02 -1.09165228e-02 8.03290317e+02] [ 2.30394349e-02 9.99734507e-01 3.14615478e-04 -6.23052492e+01] [ 1.09063775e-02 -5.66023766e-04 9.99940363e-01 2.94512142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.140714057 meters Centerline goodness [0,1] 0.9831771208844028 Centerline is valid? [True, True] Translation: X:803.32, Y:-62.31, Z:2.94 [[ 9.99683847e-01 -2.21713992e-02 -1.18589723e-02 8.03321090e+02] [ 2.21770161e-02 9.99754001e-01 3.42330306e-04 -6.23085588e+01] [ 1.18484651e-02 -6.05218697e-04 9.99929621e-01 2.94386692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1707140569999 meters Centerline goodness [0,1] 0.9847092794329965 Centerline is valid? [True, True] Translation: X:803.35, Y:-62.31, Z:2.94 [[ 9.99697508e-01 -2.01922519e-02 -1.40415781e-02 8.03352628e+02] [ 2.01999410e-02 9.99795878e-01 4.05975500e-04 -6.23057415e+01] [ 1.40305144e-02 -6.89491746e-04 9.99901330e-01 2.94229379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2007140569999 meters Centerline goodness [0,1] 0.9845815935977731 Centerline is valid? [True, True] Translation: X:803.38, Y:-62.30, Z:2.94 [[ 9.99707431e-01 -1.91489746e-02 -1.47772900e-02 8.03382887e+02] [ 1.91573799e-02 9.99816389e-01 4.27442907e-04 -6.23045839e+01] [ 1.47663917e-02 -7.10412010e-04 9.99890719e-01 2.94214569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2307140569999 meters Centerline goodness [0,1] 0.984215250563741 Centerline is valid? [True, True] Translation: X:803.41, Y:-62.31, Z:2.94 [[ 9.99729779e-01 -1.78305753e-02 -1.49143960e-02 8.03412717e+02] [ 1.78389910e-02 9.99840779e-01 4.31408788e-04 -6.23073373e+01] [ 1.49043290e-02 -6.97349988e-04 9.99888681e-01 2.94123191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.260714057 meters Centerline goodness [0,1] 0.9855192930265115 Centerline is valid? [True, True] Translation: X:803.44, Y:-62.30, Z:2.94 [[ 9.99757569e-01 -1.64503063e-02 -1.46352842e-02 8.03442732e+02] [ 1.64582575e-02 9.99864464e-01 4.23006997e-04 -6.23044552e+01] [ 1.46263420e-02 -6.63775722e-04 9.99892809e-01 2.94197026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.290714057 meters Centerline goodness [0,1] 0.985164113785558 Centerline is valid? [True, True] Translation: X:803.47, Y:-62.30, Z:2.94 [[ 9.99811653e-01 -1.39832748e-02 -1.34583270e-02 8.03472744e+02] [ 1.39897712e-02 9.99902063e-01 3.88672685e-04 -6.23011737e+01] [ 1.34515740e-02 -5.76878394e-04 9.99909357e-01 2.94316343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3207140569999 meters Centerline goodness [0,1] 0.9845604660330253 Centerline is valid? [True, True] Translation: X:803.50, Y:-62.31, Z:2.94 [[ 9.99830628e-01 -1.30229277e-02 -1.30045826e-02 8.03501152e+02] [ 1.30289058e-02 9.99915050e-01 3.75068298e-04 -6.23051023e+01] [ 1.29985934e-02 -5.44440254e-04 9.99915366e-01 2.94311021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3507140569999 meters Centerline goodness [0,1] 0.9853197801238984 Centerline is valid? [True, True] Translation: X:803.53, Y:-62.30, Z:2.94 [[ 9.99853134e-01 -1.22052117e-02 -1.20308890e-02 8.03530954e+02] [ 1.22102629e-02 9.99925392e-01 3.46487673e-04 -6.23004194e+01] [ 1.20257624e-02 -4.93337104e-04 9.99927566e-01 2.94459213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.380714057 meters Centerline goodness [0,1] 0.986125746399719 Centerline is valid? [True, True] Translation: X:803.56, Y:-62.30, Z:2.94 [[ 9.99850884e-01 -1.28139467e-02 -1.15763466e-02 8.03560645e+02] [ 1.28186594e-02 9.99917782e-01 3.32992281e-04 -6.23002722e+01] [ 1.15711279e-02 -4.81335871e-04 9.99932936e-01 2.94495758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.410714057 meters Centerline goodness [0,1] 0.9857749376285727 Centerline is valid? [True, True] Translation: X:803.59, Y:-62.30, Z:2.95 [[ 9.99843274e-01 -1.35892494e-02 -1.13472630e-02 8.03589555e+02] [ 1.35938227e-02 9.99907547e-01 3.26003027e-04 -6.23022642e+01] [ 1.13417838e-02 -4.80204616e-04 9.99935565e-01 2.94520298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4407140569999 meters Centerline goodness [0,1] 0.9853794788984419 Centerline is valid? [True, True] Translation: X:803.62, Y:-62.31, Z:2.94 [[ 9.99773313e-01 -1.82732599e-02 -1.09274721e-02 8.03619803e+02] [ 1.82777773e-02 9.99832898e-01 3.13663070e-04 -6.23061549e+01] [ 1.09199145e-02 -5.13321868e-04 9.99940244e-01 2.94488810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4707140569999 meters Centerline goodness [0,1] 0.9858092251003443 Centerline is valid? [True, True] Translation: X:803.65, Y:-62.31, Z:2.94 [[ 9.99715115e-01 -2.11511067e-02 -1.10598164e-02 8.03650450e+02] [ 2.11559100e-02 9.99776138e-01 3.17469433e-04 -6.23093411e+01] [ 1.10506257e-02 -5.51359472e-04 9.99938788e-01 2.94456943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.500714057 meters Centerline goodness [0,1] 0.9842219446453224 Centerline is valid? [True, True] Translation: X:803.68, Y:-62.32, Z:2.94 [[ 9.99551219e-01 -2.76047575e-02 -1.16334648e-02 8.03680011e+02] [ 2.76105147e-02 9.99618701e-01 3.34532955e-04 -6.23162393e+01] [ 1.16197943e-02 -6.55588774e-04 9.99932273e-01 2.94424986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.530714057 meters Centerline goodness [0,1] 0.9838709677419355 Centerline is valid? [True, True] Translation: X:803.71, Y:-62.32, Z:2.94 [[ 9.99457481e-01 -3.08215527e-02 -1.16092478e-02 8.03711471e+02] [ 3.08275095e-02 9.99524663e-01 3.34474968e-04 -6.23172793e+01] [ 1.15934204e-02 -6.92177705e-04 9.99932554e-01 2.94437973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5607140569999 meters Centerline goodness [0,1] 0.9832804464383412 Centerline is valid? [True, True] Translation: X:803.74, Y:-62.32, Z:2.95 [[ 9.99305435e-01 -3.57310626e-02 -1.05801463e-02 8.03741188e+02] [ 3.57362852e-02 9.99361208e-01 3.04919700e-04 -6.23226624e+01] [ 1.05624927e-02 -6.82803039e-04 9.99943982e-01 2.94536268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5907140569999 meters Centerline goodness [0,1] 0.981789768411 Centerline is valid? [True, True] Translation: X:803.77, Y:-62.33, Z:2.95 [[ 9.99269943e-01 -3.69900506e-02 -9.55603076e-03 8.03772032e+02] [ 3.69943715e-02 9.99315436e-01 2.75743799e-04 -6.23327572e+01] [ 9.53928927e-03 -6.29061843e-04 9.99954302e-01 2.94567804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.620714057 meters Centerline goodness [0,1] 0.983484073928431 Centerline is valid? [True, True] Translation: X:803.80, Y:-62.33, Z:2.95 [[ 9.99238615e-01 -3.79241853e-02 -9.16225485e-03 8.03804584e+02] [ 3.79282035e-02 9.99280432e-01 2.65137378e-04 -6.23263472e+01] [ 9.14560686e-03 -6.12443373e-04 9.99957991e-01 2.94645999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.650714057 meters Centerline goodness [0,1] 0.9840083890418141 Centerline is valid? [True, True] Translation: X:803.84, Y:-62.32, Z:2.95 [[ 9.99244399e-01 -3.77673488e-02 -9.17928806e-03 8.03837569e+02] [ 3.77713828e-02 9.99286371e-01 2.66436459e-04 -6.23201072e+01] [ 9.16267486e-03 -6.12949542e-04 9.99957834e-01 2.94635485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6807140569999 meters Centerline goodness [0,1] 0.9836248360297333 Centerline is valid? [True, True] Translation: X:803.87, Y:-62.32, Z:2.95 [[ 9.99256062e-01 -3.72027764e-02 -1.01625272e-02 8.03868413e+02] [ 3.72077011e-02 9.99307510e-01 2.95897725e-04 -6.23228375e+01] [ 1.01444815e-02 -6.73801869e-04 9.99948316e-01 2.94592392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7107140569999 meters Centerline goodness [0,1] 0.9843069447788307 Centerline is valid? [True, True] Translation: X:803.90, Y:-62.32, Z:2.95 [[ 9.99311830e-01 -3.52888492e-02 -1.14264384e-02 8.03900015e+02] [ 3.52949569e-02 9.99376883e-01 3.33247424e-04 -6.23203589e+01] [ 1.14075585e-02 -7.36313743e-04 9.99934661e-01 2.94503005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7407140569999 meters Centerline goodness [0,1] 0.9842661568549893 Centerline is valid? [True, True] Translation: X:803.93, Y:-62.32, Z:2.95 [[ 9.99392957e-01 -3.29029049e-02 -1.14505687e-02 8.03931396e+02] [ 3.29088872e-02 9.99458300e-01 3.34362524e-04 -6.23178862e+01] [ 1.14333644e-02 -7.10985023e-04 9.99934384e-01 2.94547024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.770714057 meters Centerline goodness [0,1] 0.9842661568549893 Centerline is valid? [True, True] Translation: X:803.96, Y:-62.32, Z:2.95 [[ 9.99395298e-01 -3.28317372e-02 -1.14505503e-02 8.03963134e+02] [ 3.28377220e-02 9.99460640e-01 3.34990453e-04 -6.23188742e+01] [ 1.14333760e-02 -7.10797870e-04 9.99934384e-01 2.94563813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8007140569999 meters Centerline goodness [0,1] 0.9851658705464744 Centerline is valid? [True, True] Translation: X:804.00, Y:-62.32, Z:2.95 [[ 9.99423234e-01 -3.20411014e-02 -1.12501761e-02 8.03995396e+02] [ 3.20468375e-02 9.99486314e-01 3.29925175e-04 -6.23178953e+01] [ 1.12338259e-02 -6.90267450e-04 9.99936660e-01 2.94592242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8307140569999 meters Centerline goodness [0,1] 0.9853848010709034 Centerline is valid? [True, True] Translation: X:804.03, Y:-62.32, Z:2.95 [[ 9.99442243e-01 -3.13317570e-02 -1.15552333e-02 8.04026835e+02] [ 3.13377750e-02 9.99508793e-01 3.40061504e-04 -6.23195320e+01] [ 1.15389025e-02 -7.01987132e-04 9.99933178e-01 2.94591127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8607140569999 meters Centerline goodness [0,1] 0.9858659574000396 Centerline is valid? [True, True] Translation: X:804.06, Y:-62.32, Z:2.95 [[ 9.99452453e-01 -3.07545805e-02 -1.22044693e-02 8.04059038e+02] [ 3.07612657e-02 9.99526695e-01 3.60376802e-04 -6.23153806e+01] [ 1.21876097e-02 -7.35604402e-04 9.99925458e-01 2.94627639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.890714057 meters Centerline goodness [0,1] 0.9856167241265729 Centerline is valid? [True, True] Translation: X:804.09, Y:-62.31, Z:2.95 [[ 9.99445128e-01 -3.07376900e-02 -1.28308193e-02 8.04090859e+02] [ 3.07450897e-02 9.99527186e-01 3.79810814e-04 -6.23147552e+01] [ 1.28130782e-02 -7.74084759e-04 9.99917610e-01 2.94639910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9207140569999 meters Centerline goodness [0,1] 0.9854597448306204 Centerline is valid? [True, True] Translation: X:804.12, Y:-62.31, Z:2.95 [[ 9.99441884e-01 -3.03803011e-02 -1.38908903e-02 8.04122655e+02] [ 3.03889540e-02 9.99538064e-01 4.12220702e-04 -6.23124666e+01] [ 1.38719502e-02 -8.34120263e-04 9.99903432e-01 2.94582827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9507140569999 meters Centerline goodness [0,1] 0.9860573539760732 Centerline is valid? [True, True] Translation: X:804.15, Y:-62.31, Z:2.95 [[ 9.99439950e-01 -3.01333841e-02 -1.45521845e-02 8.04154895e+02] [ 3.01428701e-02 9.99545507e-01 4.32918449e-04 -6.23105336e+01] [ 1.45325253e-02 -8.71320600e-04 9.99894018e-01 2.94584061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9807140569999 meters Centerline goodness [0,1] 0.9861092795287705 Centerline is valid? [True, True] Translation: X:804.19, Y:-62.31, Z:2.95 [[ 9.99454293e-01 -2.94988365e-02 -1.48638691e-02 8.04187542e+02] [ 2.95086797e-02 9.99564426e-01 4.43288125e-04 -6.23092020e+01] [ 1.48443183e-02 -8.81659371e-04 9.99889428e-01 2.94608595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.010714057 meters Centerline goodness [0,1] 0.9856027868418732 Centerline is valid? [True, True] Translation: X:804.22, Y:-62.31, Z:2.95 [[ 9.99523728e-01 -2.72967034e-02 -1.43946844e-02 8.04218051e+02] [ 2.73057151e-02 9.99627037e-01 4.29839723e-04 -6.23091529e+01] [ 1.43775826e-02 -8.22692155e-04 9.99896299e-01 2.94698971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.040714057 meters Centerline goodness [0,1] 0.9855091613812544 Centerline is valid? [True, True] Translation: X:804.25, Y:-62.31, Z:2.95 [[ 9.99580480e-01 -2.55362052e-02 -1.36662180e-02 8.04250101e+02] [ 2.55441712e-02 9.99673611e-01 4.08632196e-04 -6.23069723e+01] [ 1.36513226e-02 -7.57552980e-04 9.99906529e-01 2.94897562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0707140569999 meters Centerline goodness [0,1] 0.9863645389757959 Centerline is valid? [True, True] Translation: X:804.28, Y:-62.31, Z:2.95 [[ 9.99684403e-01 -2.20079483e-02 -1.21138359e-02 8.04280362e+02] [ 2.20139519e-02 9.99757598e-01 3.62467742e-04 -6.23068330e+01] [ 1.21029223e-02 -6.29026749e-04 9.99926559e-01 2.95085312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1007140569999 meters Centerline goodness [0,1] 0.9867247870021795 Centerline is valid? [True, True] Translation: X:804.31, Y:-62.30, Z:2.95 [[ 9.99720019e-01 -2.03337805e-02 -1.21004671e-02 8.04312313e+02] [ 2.03396530e-02 9.99793062e-01 3.62429575e-04 -6.23036585e+01] [ 1.20905935e-02 -6.08447404e-04 9.99926721e-01 2.95192230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.130714057 meters Centerline goodness [0,1] 0.9873596124201718 Centerline is valid? [True, True] Translation: X:804.34, Y:-62.30, Z:2.95 [[ 9.99739394e-01 -1.90186963e-02 -1.26266983e-02 8.04343438e+02] [ 1.90249930e-02 9.99818937e-01 3.78742085e-04 -6.23029344e+01] [ 1.26172089e-02 -6.18866230e-04 9.99920208e-01 2.95181791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.160714057 meters Centerline goodness [0,1] 0.9866384442386559 Centerline is valid? [True, True] Translation: X:804.38, Y:-62.30, Z:2.95 [[ 9.99751224e-01 -1.69190684e-02 -1.45339382e-02 8.04375004e+02] [ 1.69271978e-02 9.99856629e-01 4.36495376e-04 -6.23001975e+01] [ 1.45244694e-02 -6.82405634e-04 9.99894281e-01 2.95032961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1907140569999 meters Centerline goodness [0,1] 0.9873568544383399 Centerline is valid? [True, True] Translation: X:804.41, Y:-62.30, Z:2.95 [[ 9.99747304e-01 -1.64925929e-02 -1.52748787e-02 8.04405474e+02] [ 1.65015258e-02 9.99863735e-01 4.58946828e-04 -6.23000444e+01] [ 1.52652280e-02 -7.10889658e-04 9.99883227e-01 2.94989317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2207140569999 meters Centerline goodness [0,1] 0.988368750414612 Centerline is valid? [True, True] Translation: X:804.44, Y:-62.30, Z:2.95 [[ 9.99745218e-01 -1.61086342e-02 -1.58117287e-02 8.04436493e+02] [ 1.61181582e-02 9.99869981e-01 4.75076947e-04 -6.22975712e+01] [ 1.58020200e-02 -7.29811851e-04 9.99874874e-01 2.95080129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.250714057 meters Centerline goodness [0,1] 0.9875803849638682 Centerline is valid? [True, True] Translation: X:804.47, Y:-62.30, Z:2.95 [[ 9.99741146e-01 -1.62007697e-02 -1.59742506e-02 8.04466149e+02] [ 1.62105027e-02 9.99868486e-01 4.79992437e-04 -6.23006689e+01] [ 1.59643735e-02 -7.38818821e-04 9.99872288e-01 2.95066734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.280714057 meters Centerline goodness [0,1] 0.9878255136798154 Centerline is valid? [True, True] Translation: X:804.50, Y:-62.30, Z:2.95 [[ 9.99740122e-01 -1.60449126e-02 -1.61940827e-02 8.04495563e+02] [ 1.60548921e-02 9.99870994e-01 4.86421857e-04 -6.23049212e+01] [ 1.61841890e-02 -7.46289698e-04 9.99868749e-01 2.94972288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3107140569999 meters Centerline goodness [0,1] 0.988951741205586 Centerline is valid? [True, True] Translation: X:804.53, Y:-62.30, Z:2.95 [[ 9.99741818e-01 -1.52328081e-02 -1.68599628e-02 8.04525351e+02] [ 1.52435015e-02 9.99883683e-01 5.05911466e-04 -6.23014711e+01] [ 1.68502952e-02 -7.62785716e-04 9.99857733e-01 2.95026524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3407140569999 meters Centerline goodness [0,1] 0.9889801687204629 Centerline is valid? [True, True] Translation: X:804.55, Y:-62.30, Z:2.95 [[ 9.99752947e-01 -1.42372360e-02 -1.70688715e-02 8.04554992e+02] [ 1.42480409e-02 9.99898361e-01 5.11569474e-04 -6.23019334e+01] [ 1.70598533e-02 -7.54641068e-04 9.99854185e-01 2.95038922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.370714057 meters Centerline goodness [0,1] 0.9880960283217171 Centerline is valid? [True, True] Translation: X:804.58, Y:-62.31, Z:2.95 [[ 9.99762265e-01 -1.28025995e-02 -1.76495872e-02 8.04583821e+02] [ 1.28139127e-02 9.99917759e-01 5.28046890e-04 -6.23052654e+01] [ 1.76413753e-02 -7.54081624e-04 9.99844094e-01 2.94909260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.400714057 meters Centerline goodness [0,1] 0.989825323638943 Centerline is valid? [True, True] Translation: X:804.61, Y:-62.30, Z:2.95 [[ 9.99796231e-01 -9.01135436e-03 -1.80635293e-02 8.04613389e+02] [ 9.02257295e-03 9.99959150e-01 5.39661376e-04 -6.22996323e+01] [ 1.80579284e-02 -7.02530921e-04 9.99836696e-01 2.95091250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4307140569999 meters Centerline goodness [0,1] 0.9895526682750836 Centerline is valid? [True, True] Translation: X:804.64, Y:-62.30, Z:2.95 [[ 9.99827276e-01 -5.66327251e-03 -1.77015874e-02 8.04642837e+02] [ 5.67351097e-03 9.99983766e-01 5.28226554e-04 -6.22968935e+01] [ 1.76983085e-02 -6.28565466e-04 9.99843175e-01 2.95286225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4607140569999 meters Centerline goodness [0,1] 0.9900756975618343 Centerline is valid? [True, True] Translation: X:804.67, Y:-62.30, Z:2.95 [[ 9.99850695e-01 -3.67944014e-03 -1.68833917e-02 8.04671289e+02] [ 3.68845455e-03 9.99993071e-01 5.02813676e-04 -6.22967264e+01] [ 1.68814246e-02 -5.65012226e-04 9.99857339e-01 2.95406742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4907140569999 meters Centerline goodness [0,1] 0.9897584498318882 Centerline is valid? [True, True] Translation: X:804.70, Y:-62.30, Z:2.96 [[ 9.99857836e-01 -2.66426121e-03 -1.66496385e-02 8.04699619e+02] [ 2.67283382e-03 9.99996307e-01 4.92651152e-04 -6.22966474e+01] [ 1.66482644e-02 -5.37082832e-04 9.99861264e-01 2.95507165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.520714057 meters Centerline goodness [0,1] 0.9901858703117038 Centerline is valid? [True, True] Translation: X:804.73, Y:-62.30, Z:2.96 [[ 9.99878047e-01 -1.17277763e-03 -1.55729184e-02 8.04728657e+02] [ 1.18003755e-03 9.99999199e-01 4.57008037e-04 -6.22983420e+01] [ 1.55723699e-02 -4.75328932e-04 9.99878630e-01 2.95584773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5507140569999 meters Centerline goodness [0,1] 0.9901191449855213 Centerline is valid? [True, True] Translation: X:804.76, Y:-62.30, Z:2.96 [[ 9.99883489e-01 -1.05736540e-03 -1.52279627e-02 8.04756920e+02] [ 1.06423705e-03 9.99999336e-01 4.43155565e-04 -6.23004908e+01] [ 1.52274840e-02 -4.59310095e-04 9.99883950e-01 2.95575647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5807140569999 meters Centerline goodness [0,1] 0.9899246558695508 Centerline is valid? [True, True] Translation: X:804.79, Y:-62.30, Z:2.96 [[ 9.99888600e-01 -1.70005821e-03 -1.48289633e-02 8.04785844e+02] [ 1.70661639e-03 9.99998451e-01 4.29611393e-04 -6.23044449e+01] [ 1.48282100e-02 -4.54870886e-04 9.99889953e-01 2.95543905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6107140569999 meters Centerline goodness [0,1] 0.9900837032619978 Centerline is valid? [True, True] Translation: X:804.81, Y:-62.31, Z:2.96 [[ 9.99884622e-01 -2.82015677e-03 -1.49261435e-02 8.04814270e+02] [ 2.82691021e-03 9.99995911e-01 4.31377843e-04 -6.23066909e+01] [ 1.49248659e-02 -4.73522938e-04 9.99888506e-01 2.95547344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.640714057 meters Centerline goodness [0,1] 0.990346168290366 Centerline is valid? [True, True] Translation: X:804.84, Y:-62.31, Z:2.96 [[ 9.99877010e-01 -4.13039140e-03 -1.51296063e-02 8.04842298e+02] [ 4.13745739e-03 9.99991346e-01 4.35759944e-04 -6.23105052e+01] [ 1.51276755e-02 -4.98304452e-04 9.99885446e-01 2.95535655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6707140569999 meters Centerline goodness [0,1] 0.9886253630203291 Centerline is valid? [True, True] Translation: X:804.87, Y:-62.32, Z:2.95 [[ 9.99860179e-01 -7.05527958e-03 -1.51606326e-02 8.04870353e+02] [ 7.06269090e-03 9.99974964e-01 4.35367214e-04 -6.23182244e+01] [ 1.51571814e-02 -5.42381203e-04 9.99884976e-01 2.95429976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7007140569999 meters Centerline goodness [0,1] 0.9892915255728044 Centerline is valid? [True, True] Translation: X:804.90, Y:-62.32, Z:2.95 [[ 9.99849539e-01 -8.79440857e-03 -1.49518449e-02 8.04898027e+02] [ 8.80179362e-03 9.99961172e-01 4.28187320e-04 -6.23228631e+01] [ 1.49474987e-02 -5.59725948e-04 9.99888123e-01 2.95355348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7307140569999 meters Centerline goodness [0,1] 0.9892196899837526 Centerline is valid? [True, True] Translation: X:804.93, Y:-62.33, Z:2.96 [[ 9.99826171e-01 -1.17538932e-02 -1.44732345e-02 8.04927259e+02] [ 1.17611091e-02 9.99930750e-01 4.13550651e-04 -6.23253348e+01] [ 1.44673714e-02 -5.83700055e-04 9.99895172e-01 2.95508937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.760714057 meters Centerline goodness [0,1] 0.9885605546927974 Centerline is valid? [True, True] Translation: X:804.96, Y:-62.33, Z:2.96 [[ 9.99814413e-01 -1.31450097e-02 -1.40835855e-02 8.04955747e+02] [ 1.31519451e-02 9.99913429e-01 3.99933332e-04 -6.23285392e+01] [ 1.40771091e-02 -5.85085652e-04 9.99900741e-01 2.95524970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.790714057 meters Centerline goodness [0,1] 0.988621165946811 Centerline is valid? [True, True] Translation: X:804.99, Y:-62.33, Z:2.96 [[ 9.99802725e-01 -1.41763551e-02 -1.39119715e-02 8.04985043e+02] [ 1.41831996e-02 9.99899336e-01 3.93439908e-04 -6.23310827e+01] [ 1.39049935e-02 -5.90678560e-04 9.99903146e-01 2.95565170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8207140569999 meters Centerline goodness [0,1] 0.9882458521209999 Centerline is valid? [True, True] Translation: X:805.01, Y:-62.34, Z:2.95 [[ 9.99790796e-01 -1.50346564e-02 -1.38680638e-02 8.05014665e+02] [ 1.50415354e-02 9.99886793e-01 3.91855870e-04 -6.23355755e+01] [ 1.38606024e-02 -6.00370865e-04 9.99903757e-01 2.95492712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8507140569999 meters Centerline goodness [0,1] 0.9876721311475409 Centerline is valid? [True, True] Translation: X:805.04, Y:-62.34, Z:2.95 [[ 9.99761174e-01 -1.67302143e-02 -1.40604290e-02 8.05044037e+02] [ 1.67374471e-02 9.99859840e-01 3.96882131e-04 -6.23391670e+01] [ 1.40518184e-02 -6.32123032e-04 9.99901069e-01 2.95490052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.880714057 meters Centerline goodness [0,1] 0.9876966034772365 Centerline is valid? [True, True] Translation: X:805.07, Y:-62.34, Z:2.96 [[ 9.99742873e-01 -1.75646206e-02 -1.43412448e-02 8.05073958e+02] [ 1.75722258e-02 9.99845515e-01 4.04455110e-04 -6.23423560e+01] [ 1.43319252e-02 -6.56358705e-04 9.99897077e-01 2.95500919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.910714057 meters Centerline goodness [0,1] 0.9871379113896315 Centerline is valid? [True, True] Translation: X:805.10, Y:-62.35, Z:2.95 [[ 9.99717349e-01 -1.91292078e-02 -1.41171872e-02 8.05103658e+02] [ 1.91367316e-02 9.99816797e-01 3.98043774e-04 -6.23487601e+01] [ 1.41069866e-02 -6.68088087e-04 9.99900268e-01 2.95490587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9407140569999 meters Centerline goodness [0,1] 0.9865015642433657 Centerline is valid? [True, True] Translation: X:805.13, Y:-62.35, Z:2.96 [[ 9.99707299e-01 -1.97213129e-02 -1.40137623e-02 8.05134160e+02] [ 1.97287848e-02 9.99805291e-01 3.95127640e-04 -6.23513141e+01] [ 1.40032413e-02 -6.71486488e-04 9.99901724e-01 2.95502712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9707140569999 meters Centerline goodness [0,1] 0.9866334687459049 Centerline is valid? [True, True] Translation: X:805.16, Y:-62.35, Z:2.96 [[ 9.99712921e-01 -1.99181415e-02 -1.33170604e-02 8.05164535e+02] [ 1.99249063e-02 9.99801409e-01 3.75483650e-04 -6.23493753e+01] [ 1.33069368e-02 -6.40717037e-04 9.99911254e-01 2.95694258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.000714057 meters Centerline goodness [0,1] 0.9855227297503543 Centerline is valid? [True, True] Translation: X:805.19, Y:-62.36, Z:2.96 [[ 9.99729218e-01 -1.95978932e-02 -1.25464061e-02 8.05194565e+02] [ 1.96038741e-02 9.99807763e-01 3.53884222e-04 -6.23553747e+01] [ 1.25370588e-02 -5.99746562e-04 9.99921228e-01 2.95700418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.030714057 meters Centerline goodness [0,1] 0.9867064746006494 Centerline is valid? [True, True] Translation: X:805.23, Y:-62.35, Z:2.96 [[ 9.99754936e-01 -1.86877924e-02 -1.18673708e-02 8.05225606e+02] [ 1.86930833e-02 9.99825213e-01 3.35058565e-04 -6.23521939e+01] [ 1.18590350e-02 -5.56814205e-04 9.99929524e-01 2.95848975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0607140569999 meters Centerline goodness [0,1] 0.9860999500466955 Centerline is valid? [True, True] Translation: X:805.26, Y:-62.36, Z:2.96 [[ 9.99746948e-01 -1.87991179e-02 -1.23544897e-02 8.05256263e+02] [ 1.88048646e-02 9.99823112e-01 3.49137441e-04 -6.23575017e+01] [ 1.23457409e-02 -5.81373598e-04 9.99923619e-01 2.95765145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0907140569999 meters Centerline goodness [0,1] 0.9863183538521774 Centerline is valid? [True, True] Translation: X:805.29, Y:-62.36, Z:2.96 [[ 9.99742359e-01 -1.87362622e-02 -1.28128407e-02 8.05287759e+02] [ 1.87424428e-02 9.99824279e-01 3.62453302e-04 -6.23579358e+01] [ 1.28037982e-02 -6.02503852e-04 9.99917846e-01 2.95721024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.120714057 meters Centerline goodness [0,1] 0.9861214157901628 Centerline is valid? [True, True] Translation: X:805.32, Y:-62.36, Z:2.96 [[ 9.99704710e-01 -1.94512645e-02 -1.45650806e-02 8.05318176e+02] [ 1.94593301e-02 9.99810564e-01 4.12232394e-04 -6.23589268e+01] [ 1.45543030e-02 -6.95537378e-04 9.99893839e-01 2.95600098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.150714057 meters Centerline goodness [0,1] 0.9860783800296762 Centerline is valid? [True, True] Translation: X:805.35, Y:-62.36, Z:2.96 [[ 9.99704853e-01 -1.93664031e-02 -1.46679872e-02 8.05349004e+02] [ 1.93745740e-02 9.99812209e-01 4.15144937e-04 -6.23608628e+01] [ 1.46571928e-02 -6.99208412e-04 9.99892333e-01 2.95561763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1807140569999 meters Centerline goodness [0,1] 0.9863916001826047 Centerline is valid? [True, True] Translation: X:805.38, Y:-62.36, Z:2.96 [[ 9.99734829e-01 -1.80314896e-02 -1.43225876e-02 8.05378304e+02] [ 1.80391412e-02 9.99837199e-01 4.05209014e-04 -6.23627295e+01] [ 1.43129493e-02 -6.63468743e-04 9.99897344e-01 2.95564564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2107140569999 meters Centerline goodness [0,1] 0.9861509073543457 Centerline is valid? [True, True] Translation: X:805.41, Y:-62.36, Z:2.96 [[ 9.99754640e-01 -1.70092631e-02 -1.41895660e-02 8.05409089e+02] [ 1.70166691e-02 9.99855125e-01 4.01352787e-04 -6.23630774e+01] [ 1.41806836e-02 -6.42713460e-04 9.99899242e-01 2.95586294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2407140569999 meters Centerline goodness [0,1] 0.9867520808820325 Centerline is valid? [True, True] Translation: X:805.44, Y:-62.36, Z:2.96 [[ 9.99776961e-01 -1.58606011e-02 -1.39452544e-02 8.05439874e+02] [ 1.58676428e-02 9.99874023e-01 3.94442418e-04 -6.23629509e+01] [ 1.39372415e-02 -6.15632757e-04 9.99902682e-01 2.95691349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.270714057 meters Centerline goodness [0,1] 0.9867548223793314 Centerline is valid? [True, True] Translation: X:805.47, Y:-62.36, Z:2.96 [[ 9.99815047e-01 -1.35023422e-02 -1.36952295e-02 8.05469277e+02] [ 1.35089107e-02 9.99908676e-01 3.87222418e-04 -6.23632103e+01] [ 1.36887504e-02 -5.72158432e-04 9.99906141e-01 2.95720393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3007140569999 meters Centerline goodness [0,1] 0.9863708606387842 Centerline is valid? [True, True] Translation: X:805.50, Y:-62.36, Z:2.96 [[ 9.99826977e-01 -1.23341157e-02 -1.39242880e-02 8.05498439e+02] [ 1.23407872e-02 9.99923772e-01 3.93305221e-04 -6.23639100e+01] [ 1.39183756e-02 -5.65073845e-04 9.99902975e-01 2.95733323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3307140569999 meters Centerline goodness [0,1] 0.9875693915315119 Centerline is valid? [True, True] Translation: X:805.53, Y:-62.36, Z:2.96 [[ 9.99857166e-01 -1.03937913e-02 -1.33273200e-02 8.05527249e+02] [ 1.03997212e-02 9.99945851e-01 3.75708623e-04 -6.23631613e+01] [ 1.33226933e-02 -5.14255372e-04 9.99911117e-01 2.95745705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3607140569999 meters Centerline goodness [0,1] 0.9875417275762005 Centerline is valid? [True, True] Translation: X:805.56, Y:-62.36, Z:2.96 [[ 9.99860054e-01 -1.03063466e-02 -1.31776753e-02 8.05556263e+02] [ 1.03121048e-02 9.99946761e-01 3.69092476e-04 -6.23600400e+01] [ 1.31731697e-02 -5.04930392e-04 9.99913103e-01 2.95823185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.390714057 meters Centerline goodness [0,1] 0.98732022435128 Centerline is valid? [True, True] Translation: X:805.58, Y:-62.37, Z:2.96 [[ 9.99878146e-01 -9.67163139e-03 -1.22537111e-02 8.05584958e+02] [ 9.67654258e-03 9.99953123e-01 3.41565046e-04 -6.23652164e+01] [ 1.22498332e-02 -4.60096982e-04 9.99924862e-01 2.95755276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4207140569999 meters Centerline goodness [0,1] 0.9872743093321732 Centerline is valid? [True, True] Translation: X:805.61, Y:-62.36, Z:2.96 [[ 9.99893377e-01 -9.20865112e-03 -1.13329325e-02 8.05613481e+02] [ 9.21280205e-03 9.99957512e-01 3.14119523e-04 -6.23644641e+01] [ 1.13295583e-02 -4.18494094e-04 9.99935731e-01 2.95812257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4507140569999 meters Centerline goodness [0,1] 0.9870980375092467 Centerline is valid? [True, True] Translation: X:805.64, Y:-62.37, Z:2.96 [[ 9.99896378e-01 -9.22007246e-03 -1.10554414e-02 8.05642058e+02] [ 9.22399319e-03 9.99957412e-01 3.03705140e-04 -6.23663592e+01] [ 1.10521704e-02 -4.05648986e-04 9.99938841e-01 2.95814506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4807140569999 meters Centerline goodness [0,1] 0.9874287702814389 Centerline is valid? [True, True] Translation: X:805.67, Y:-62.37, Z:2.96 [[ 9.99909378e-01 -8.67458439e-03 -1.02949707e-02 8.05672025e+02] [ 8.67794094e-03 9.99962306e-01 2.81411127e-04 -6.23669462e+01] [ 1.02921416e-02 -3.70724774e-04 9.99946966e-01 2.95861846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.510714057 meters Centerline goodness [0,1] 0.9874500731169653 Centerline is valid? [True, True] Translation: X:805.70, Y:-62.37, Z:2.96 [[ 9.99934046e-01 -7.39471751e-03 -8.78759860e-03 8.05701940e+02] [ 7.39711116e-03 9.99972612e-01 2.39917862e-04 -6.23676575e+01] [ 8.78558380e-03 -3.04904882e-04 9.99961360e-01 2.95941484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.540714057 meters Centerline goodness [0,1] 0.9873403954495029 Centerline is valid? [True, True] Translation: X:805.73, Y:-62.37, Z:2.96 [[ 9.99948340e-01 -6.36952858e-03 -7.92124999e-03 8.05731722e+02] [ 6.37143925e-03 9.99979679e-01 2.15995925e-04 -6.23690114e+01] [ 7.91971323e-03 -2.66454530e-04 9.99968603e-01 2.95972837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5707140569999 meters Centerline goodness [0,1] 0.9874681809281378 Centerline is valid? [True, True] Translation: X:805.76, Y:-62.37, Z:2.96 [[ 9.99967664e-01 -3.96008683e-03 -6.99922274e-03 8.05760075e+02] [ 3.96151778e-03 9.99992135e-01 1.90593127e-04 -6.23717298e+01] [ 6.99841293e-03 -2.18314509e-04 9.99975487e-01 2.95995615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6007140569999 meters Centerline goodness [0,1] 0.9875947772056747 Centerline is valid? [True, True] Translation: X:805.79, Y:-62.37, Z:2.96 [[ 9.99966527e-01 -3.37069591e-03 -7.45540050e-03 8.05789286e+02] [ 3.37229707e-03 9.99994293e-01 2.02205071e-04 -6.23717130e+01] [ 7.45467638e-03 -2.27340127e-04 9.99972188e-01 2.95986171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.630714057 meters Centerline goodness [0,1] 0.9869133279711311 Centerline is valid? [True, True] Translation: X:805.82, Y:-62.37, Z:2.96 [[ 9.99965843e-01 -2.93596653e-03 -7.72614721e-03 8.05817442e+02] [ 2.93766222e-03 9.99995663e-01 2.08135779e-04 -6.23738617e+01] [ 7.72550262e-03 -2.30825481e-04 9.99970131e-01 2.95957978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.660714057 meters Centerline goodness [0,1] 0.9869133279711311 Centerline is valid? [True, True] Translation: X:805.85, Y:-62.37, Z:2.96 [[ 9.99965086e-01 -3.18324777e-03 -7.72617096e-03 8.05845690e+02] [ 3.18494400e-03 9.99994907e-01 2.07249946e-04 -6.23745800e+01] [ 7.72547188e-03 -2.31850132e-04 9.99970131e-01 2.95972932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6907140569999 meters Centerline goodness [0,1] 0.9868272324145726 Centerline is valid? [True, True] Translation: X:805.87, Y:-62.38, Z:2.96 [[ 9.99958932e-01 -3.06877235e-03 -8.52740014e-03 8.05874657e+02] [ 3.07081535e-03 9.99995259e-01 2.26498342e-04 -6.23771789e+01] [ 8.52666464e-03 -2.52675111e-04 9.99963615e-01 2.95836765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7207140569999 meters Centerline goodness [0,1] 0.9870821161960402 Centerline is valid? [True, True] Translation: X:805.90, Y:-62.38, Z:2.96 [[ 9.99953462e-01 -3.82643139e-03 -8.85619864e-03 8.05903171e+02] [ 3.82865046e-03 9.99992643e-01 2.33626128e-04 -6.23799939e+01] [ 8.85523953e-03 -2.67522545e-04 9.99960756e-01 2.95772181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.750714057 meters Centerline goodness [0,1] 0.985593404209156 Centerline is valid? [True, True] Translation: X:805.93, Y:-62.39, Z:2.96 [[ 9.99935370e-01 -6.96132626e-03 -8.98860019e-03 8.05931325e+02] [ 6.96373301e-03 9.99975725e-01 2.36486409e-04 -6.23876034e+01] [ 8.98673573e-03 -2.99065337e-04 9.99959574e-01 2.95711760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.780714057 meters Centerline goodness [0,1] 0.9850140086440936 Centerline is valid? [True, True] Translation: X:805.96, Y:-62.39, Z:2.96 [[ 9.99924825e-01 -8.97001780e-03 -8.35963835e-03 8.05961039e+02] [ 8.97216591e-03 9.99959725e-01 2.19494926e-04 -6.23911150e+01] [ 8.35733280e-03 -2.94482487e-04 9.99965034e-01 2.95759504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8107140569999 meters Centerline goodness [0,1] 0.9859246709240193 Centerline is valid? [True, True] Translation: X:805.99, Y:-62.39, Z:2.96 [[ 9.99906289e-01 -1.10425395e-02 -8.09175097e-03 8.05990953e+02] [ 1.10446177e-02 9.99938984e-01 2.12190068e-04 -6.23889014e+01] [ 8.08891413e-03 -3.01540479e-04 9.99967239e-01 2.95827447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8407140569999 meters Centerline goodness [0,1] 0.9850584198410285 Centerline is valid? [True, True] Translation: X:806.02, Y:-62.39, Z:2.96 [[ 9.99841771e-01 -1.57315372e-02 -8.30374766e-03 8.06020300e+02] [ 1.57338852e-02 9.99876191e-01 2.17501106e-04 -6.23941202e+01] [ 8.29929796e-03 -3.48116904e-04 9.99965500e-01 2.95863398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.870714057 meters Centerline goodness [0,1] 0.9844457442429757 Centerline is valid? [True, True] Translation: X:806.05, Y:-62.40, Z:2.96 [[ 9.99764115e-01 -2.01190234e-02 -8.18163716e-03 8.06051469e+02] [ 2.01214495e-02 9.99797520e-01 2.14312087e-04 -6.23984238e+01] [ 8.17566879e-03 -3.78887933e-04 9.99966507e-01 2.95868855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.900714057 meters Centerline goodness [0,1] 0.9849216837453151 Centerline is valid? [True, True] Translation: X:806.08, Y:-62.40, Z:2.96 [[ 9.99714030e-01 -2.24544803e-02 -8.22522116e-03 8.06082695e+02] [ 2.24570136e-02 9.99747786e-01 2.15747771e-04 -6.23986158e+01] [ 8.21830214e-03 -4.00399977e-04 9.99966149e-01 2.95933281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9307140569999 meters Centerline goodness [0,1] 0.9843978967330402 Centerline is valid? [True, True] Translation: X:806.11, Y:-62.40, Z:2.96 [[ 9.99572909e-01 -2.80192337e-02 -8.30193911e-03 8.06112335e+02] [ 2.80220071e-02 9.99607283e-01 2.17909455e-04 -6.24045672e+01] [ 8.29257313e-03 -4.50453385e-04 9.99965515e-01 2.95942959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9607140569999 meters Centerline goodness [0,1] 0.9828492332980081 Centerline is valid? [True, True] Translation: X:806.14, Y:-62.41, Z:2.96 [[ 9.99502102e-01 -3.07371407e-02 -7.12581279e-03 8.06143003e+02] [ 3.07392525e-02 9.99527420e-01 1.87004846e-04 -6.24065626e+01] [ 7.11669728e-03 -4.05953896e-04 9.99974594e-01 2.95992728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9907140569999 meters Centerline goodness [0,1] 0.9819691269944221 Centerline is valid? [True, True] Translation: X:806.17, Y:-62.41, Z:2.96 [[ 9.99427940e-01 -3.31767737e-02 -6.56461091e-03 8.06173119e+02] [ 3.31786192e-02 9.99449423e-01 1.72386666e-04 -6.24108192e+01] [ 6.55527736e-03 -3.90092776e-04 9.99978438e-01 2.96099801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.020714057 meters Centerline goodness [0,1] 0.9816567280269639 Centerline is valid? [True, True] Translation: X:806.20, Y:-62.41, Z:2.96 [[ 9.99305888e-01 -3.68005345e-02 -5.78478684e-03 8.06204249e+02] [ 3.68020285e-02 9.99322564e-01 1.51999527e-04 -6.24137265e+01] [ 5.77527435e-03 -3.64785913e-04 9.99983256e-01 2.96190328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0507140569999 meters Centerline goodness [0,1] 0.9826355851569933 Centerline is valid? [True, True] Translation: X:806.24, Y:-62.41, Z:2.96 [[ 9.99279717e-01 -3.75894867e-02 -5.20360505e-03 8.06236272e+02] [ 3.75907066e-02 9.99293210e-01 1.36803533e-04 -6.24111371e+01] [ 5.19478482e-03 -3.32312186e-04 9.99986452e-01 2.96240361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0807140569999 meters Centerline goodness [0,1] 0.981822102425876 Centerline is valid? [True, True] Translation: X:806.27, Y:-62.42, Z:2.96 [[ 9.99241837e-01 -3.85529701e-02 -5.42403413e-03 8.06267158e+02] [ 3.85543120e-02 9.99256496e-01 1.43009457e-04 -6.24156943e+01] [ 5.41448790e-03 -3.52020937e-04 9.99985280e-01 2.96295148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1107140569999 meters Centerline goodness [0,1] 0.9808033205067231 Centerline is valid? [True, True] Translation: X:806.30, Y:-62.42, Z:2.96 [[ 9.99227505e-01 -3.89419656e-02 -5.28363686e-03 8.06299662e+02] [ 3.89432458e-02 9.99241414e-01 1.39588627e-04 -6.24169664e+01] [ 5.27419291e-03 -3.45242764e-04 9.99986032e-01 2.96245761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.140714057 meters Centerline goodness [0,1] 0.9825168024549954 Centerline is valid? [True, True] Translation: X:806.33, Y:-62.42, Z:2.96 [[ 9.99192253e-01 -3.96143932e-02 -6.74849395e-03 8.06332225e+02] [ 3.96165009e-02 9.99214942e-01 1.78868171e-04 -6.24164344e+01] [ 6.73611023e-03 -4.46075407e-04 9.99977213e-01 2.96056443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1707140569999 meters Centerline goodness [0,1] 0.9814946926951597 Centerline is valid? [True, True] Translation: X:806.36, Y:-62.42, Z:2.96 [[ 9.99182108e-01 -3.96754226e-02 -7.80866112e-03 8.06364326e+02] [ 3.96782511e-02 9.99212487e-01 2.07582894e-04 -6.24169449e+01] [ 7.79427575e-03 -5.17247130e-04 9.99969490e-01 2.95934602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2007140569999 meters Centerline goodness [0,1] 0.982717495012577 Centerline is valid? [True, True] Translation: X:806.40, Y:-62.41, Z:2.96 [[ 9.99135285e-01 -4.01881404e-02 -1.06581066e-02 8.06396588e+02] [ 4.01934488e-02 9.99191876e-01 2.84241195e-04 -6.24120666e+01] [ 1.06380704e-02 -7.12381469e-04 9.99943160e-01 2.95816135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2307140569999 meters Centerline goodness [0,1] 0.9809897470357445 Centerline is valid? [True, True] Translation: X:806.43, Y:-62.42, Z:2.96 [[ 9.99128747e-01 -3.99571011e-02 -1.20489358e-02 8.06427478e+02] [ 3.99638785e-02 9.99201073e-01 3.22143427e-04 -6.24233547e+01] [ 1.20264377e-02 -8.03384964e-04 9.99927357e-01 2.95669651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.260714057 meters Centerline goodness [0,1] 0.9836534709274596 Centerline is valid? [True, True] Translation: X:806.46, Y:-62.41, Z:2.96 [[ 9.99139055e-01 -3.95498181e-02 -1.25283572e-02 8.06460389e+02] [ 3.95571241e-02 9.99217254e-01 3.35789366e-04 -6.24125967e+01] [ 1.25052703e-02 -8.31086052e-04 9.99921461e-01 2.95819752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.290714057 meters Centerline goodness [0,1] 0.9824553784687541 Centerline is valid? [True, True] Translation: X:806.49, Y:-62.41, Z:2.96 [[ 9.99157947e-01 -3.91254374e-02 -1.23529827e-02 8.06492640e+02] [ 3.91325189e-02 9.99233974e-01 3.31982657e-04 -6.24100076e+01] [ 1.23305311e-02 -8.15106441e-04 9.99923644e-01 2.95932412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3207140569999 meters Centerline goodness [0,1] 0.9831339946601836 Centerline is valid? [True, True] Translation: X:806.52, Y:-62.41, Z:2.96 [[ 9.99192688e-01 -3.83934048e-02 -1.18287376e-02 8.06524764e+02] [ 3.83998569e-02 9.99262403e-01 3.18736696e-04 -6.24098603e+01] [ 1.18077754e-02 -7.72701207e-04 9.99929987e-01 2.96010948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3507140569999 meters Centerline goodness [0,1] 0.9820317598433761 Centerline is valid? [True, True] Translation: X:806.56, Y:-62.41, Z:2.96 [[ 9.99265291e-01 -3.66696758e-02 -1.11450647e-02 8.06555017e+02] [ 3.66753078e-02 9.99327189e-01 3.01307331e-04 -6.24117314e+01] [ 1.11265174e-02 -7.09834637e-04 9.99937846e-01 2.96116654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.380714057 meters Centerline goodness [0,1] 0.9838867081607425 Centerline is valid? [True, True] Translation: X:806.59, Y:-62.41, Z:2.96 [[ 9.99325227e-01 -3.50919325e-02 -1.08465371e-02 8.06586716e+02] [ 3.50971824e-02 9.99383861e-01 2.93995062e-04 -6.24063620e+01] [ 1.08295373e-02 -6.74479573e-04 9.99941131e-01 2.96226374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.410714057 meters Centerline goodness [0,1] 0.9823902375472272 Centerline is valid? [True, True] Translation: X:806.62, Y:-62.41, Z:2.96 [[ 9.99378906e-01 -3.35984399e-02 -1.06276215e-02 8.06617602e+02] [ 3.36034000e-02 9.99435205e-01 2.88444747e-04 -6.24066500e+01] [ 1.06119278e-02 -6.45389812e-04 9.99943484e-01 2.96236810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4407140569999 meters Centerline goodness [0,1] 0.9826391914263309 Centerline is valid? [True, True] Translation: X:806.65, Y:-62.41, Z:2.96 [[ 9.99476504e-01 -3.04022802e-02 -1.10643524e-02 8.06647461e+02] [ 3.04074634e-02 9.99537541e-01 3.00497668e-04 -6.24050784e+01] [ 1.10500998e-02 -6.36779251e-04 9.99938743e-01 2.96186589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4707140569999 meters Centerline goodness [0,1] 0.9835296684118674 Centerline is valid? [True, True] Translation: X:806.68, Y:-62.40, Z:2.96 [[ 9.99525416e-01 -2.86704423e-02 -1.12671771e-02 8.06677822e+02] [ 2.86757141e-02 9.99588720e-01 3.06577535e-04 -6.24049855e+01] [ 1.12537534e-02 -6.29526386e-04 9.99936476e-01 2.96227879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.500714057 meters Centerline goodness [0,1] 0.9833391486392185 Centerline is valid? [True, True] Translation: X:806.71, Y:-62.40, Z:2.96 [[ 9.99554184e-01 -2.77375502e-02 -1.10481728e-02 8.06709749e+02] [ 2.77425722e-02 9.99615055e-01 3.01525821e-04 -6.24014630e+01] [ 1.10355563e-02 -6.07896127e-04 9.99938922e-01 2.96321599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.530714057 meters Centerline goodness [0,1] 0.9832976725907165 Centerline is valid? [True, True] Translation: X:806.74, Y:-62.40, Z:2.96 [[ 9.99601809e-01 -2.63569432e-02 -1.00764444e-02 8.06741400e+02] [ 2.63610558e-02 9.99652449e-01 2.75522826e-04 -6.24011760e+01] [ 1.00656804e-02 -5.41038829e-04 9.99949193e-01 2.96440994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5607140569999 meters Centerline goodness [0,1] 0.9832707259543986 Centerline is valid? [True, True] Translation: X:806.77, Y:-62.40, Z:2.96 [[ 9.99608890e-01 -2.62566602e-02 -9.62574817e-03 8.06773031e+02] [ 2.62604150e-02 9.99655101e-01 2.63872283e-04 -6.24033685e+01] [ 9.61549986e-03 -5.16545221e-04 9.99953637e-01 2.96471707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5907140569999 meters Centerline goodness [0,1] 0.9830863121185702 Centerline is valid? [True, True] Translation: X:806.80, Y:-62.40, Z:2.97 [[ 9.99628762e-01 -2.54905510e-02 -9.62131805e-03 8.06804264e+02] [ 2.54942749e-02 9.99674933e-01 2.64577384e-04 -6.24048767e+01] [ 9.61144625e-03 -5.09767690e-04 9.99953679e-01 2.96544897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.620714057 meters Centerline goodness [0,1] 0.9831557385979822 Centerline is valid? [True, True] Translation: X:806.84, Y:-62.41, Z:2.97 [[ 9.99621957e-01 -2.54873732e-02 -1.03120087e-02 8.06836392e+02] [ 2.54916575e-02 9.99674994e-01 2.84220237e-04 -6.24054376e+01] [ 1.03014132e-02 -5.46982984e-04 9.99946789e-01 2.96610354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.650714057 meters Centerline goodness [0,1] 0.9835764829212894 Centerline is valid? [True, True] Translation: X:806.87, Y:-62.41, Z:2.97 [[ 9.99623044e-01 -2.52811134e-02 -1.07067457e-02 8.06868731e+02] [ 2.52857283e-02 9.99680221e-01 2.95861399e-04 -6.24057713e+01] [ 1.06958422e-02 -5.66477736e-04 9.99942637e-01 2.96563006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6807140569999 meters Centerline goodness [0,1] 0.982727034807642 Centerline is valid? [True, True] Translation: X:806.90, Y:-62.41, Z:2.97 [[ 9.99657701e-01 -2.33635685e-02 -1.17738768e-02 8.06898716e+02] [ 2.33690228e-02 9.99726854e-01 3.25867071e-04 -6.24066848e+01] [ 1.17630474e-02 -6.00899522e-04 9.99930632e-01 2.96528578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7107140569999 meters Centerline goodness [0,1] 0.9830671415149992 Centerline is valid? [True, True] Translation: X:806.93, Y:-62.41, Z:2.96 [[ 9.99654852e-01 -2.29751134e-02 -1.27405029e-02 8.06930324e+02] [ 2.29814747e-02 9.99735829e-01 3.53100686e-04 -6.24078030e+01] [ 1.27290247e-02 -6.45774359e-04 9.99918774e-01 2.96486448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7407140569999 meters Centerline goodness [0,1] 0.9840978191919855 Centerline is valid? [True, True] Translation: X:806.96, Y:-62.41, Z:2.96 [[ 9.99653504e-01 -2.26381110e-02 -1.34308923e-02 8.06961540e+02] [ 2.26451576e-02 9.99743496e-01 3.72794775e-04 -6.24085418e+01] [ 1.34190078e-02 -6.76810275e-04 9.99909732e-01 2.96421188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.770714057 meters Centerline goodness [0,1] 0.9836894649268763 Centerline is valid? [True, True] Translation: X:806.99, Y:-62.41, Z:2.96 [[ 9.99635844e-01 -2.25296539e-02 -1.48524141e-02 8.06992490e+02] [ 2.25382671e-02 9.99745896e-01 4.12772197e-04 -6.24082547e+01] [ 1.48393404e-02 -7.47369560e-04 9.99889612e-01 2.96344439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8007140569999 meters Centerline goodness [0,1] 0.9840811053449824 Centerline is valid? [True, True] Translation: X:807.02, Y:-62.41, Z:2.96 [[ 9.99606903e-01 -2.33025266e-02 -1.55894732e-02 8.07023796e+02] [ 2.33121183e-02 9.99728142e-01 4.33804008e-04 -6.24058084e+01] [ 1.55751264e-02 -7.97057127e-04 9.99878383e-01 2.96370992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8307140569999 meters Centerline goodness [0,1] 0.983719610667365 Centerline is valid? [True, True] Translation: X:807.05, Y:-62.41, Z:2.96 [[ 9.99542924e-01 -2.55863877e-02 -1.61021824e-02 8.07054968e+02] [ 2.55969255e-02 9.99672244e-01 4.48642869e-04 -6.24068446e+01] [ 1.60854257e-02 -8.60604169e-04 9.99870251e-01 2.96375765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8607140569999 meters Centerline goodness [0,1] 0.9835825142832125 Centerline is valid? [True, True] Translation: X:807.09, Y:-62.41, Z:2.96 [[ 9.99502662e-01 -2.69281490e-02 -1.64104545e-02 8.07086005e+02] [ 2.69392841e-02 9.99636967e-01 4.57819606e-04 -6.24068415e+01] [ 1.63921688e-02 -8.99677812e-04 9.99865235e-01 2.96398651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.890714057 meters Centerline goodness [0,1] 0.9846285226302306 Centerline is valid? [True, True] Translation: X:807.12, Y:-62.41, Z:2.97 [[ 9.99445044e-01 -2.89023207e-02 -1.65607992e-02 8.07117077e+02] [ 2.89139418e-02 9.99581798e-01 4.62673401e-04 -6.24058813e+01] [ 1.65405011e-02 -9.41254624e-04 9.99862754e-01 2.96525351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9207140569999 meters Centerline goodness [0,1] 0.982793169541732 Centerline is valid? [True, True] Translation: X:807.15, Y:-62.41, Z:2.97 [[ 9.99360178e-01 -3.19040447e-02 -1.61668418e-02 8.07147344e+02] [ 3.19155175e-02 9.99490468e-01 4.52079259e-04 -6.24124251e+01] [ 1.61441812e-02 -9.67763133e-04 9.99869206e-01 2.96532925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9507140569999 meters Centerline goodness [0,1] 0.9833959625972211 Centerline is valid? [True, True] Translation: X:807.18, Y:-62.41, Z:2.97 [[ 9.99315258e-01 -3.33673879e-02 -1.59885149e-02 8.07178955e+02] [ 3.33788031e-02 9.99442672e-01 4.47563934e-04 -6.24144274e+01] [ 1.59646700e-02 -9.80934957e-04 9.99872075e-01 2.96613250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9807140569999 meters Centerline goodness [0,1] 0.9821256883139585 Centerline is valid? [True, True] Translation: X:807.21, Y:-62.41, Z:2.97 [[ 9.99242351e-01 -3.58476161e-02 -1.51549223e-02 8.07209960e+02] [ 3.58581613e-02 9.99356799e-01 4.24581198e-04 -6.24147893e+01] [ 1.51299545e-02 -9.67687163e-04 9.99885067e-01 2.96848280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.010714057 meters Centerline goodness [0,1] 0.9813546755059316 Centerline is valid? [True, True] Translation: X:807.24, Y:-62.42, Z:2.97 [[ 9.99206194e-01 -3.69744829e-02 -1.48280147e-02 8.07241640e+02] [ 3.69847104e-02 9.99315745e-01 4.16023015e-04 -6.24168894e+01] [ 1.48024863e-02 -9.64102602e-04 9.99889972e-01 2.96900927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.040714057 meters Centerline goodness [0,1] 0.9817320703653586 Centerline is valid? [True, True] Translation: X:807.27, Y:-62.42, Z:2.97 [[ 9.99179605e-01 -3.77455973e-02 -1.46760475e-02 8.07272582e+02] [ 3.77557104e-02 9.99286914e-01 4.12534620e-04 -6.24194004e+01] [ 1.46500108e-02 -9.66300776e-04 9.99892216e-01 2.96971743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0707140569999 meters Centerline goodness [0,1] 0.9818674356621663 Centerline is valid? [True, True] Translation: X:807.30, Y:-62.42, Z:2.97 [[ 9.99146576e-01 -3.84639869e-02 -1.50545946e-02 8.07304646e+02] [ 3.84747243e-02 9.99259484e-01 4.24146098e-04 -6.24201079e+01] [ 1.50271321e-02 -1.00300550e-03 9.99886583e-01 2.97022275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1007140569999 meters Centerline goodness [0,1] 0.981273735213235 Centerline is valid? [True, True] Translation: X:807.34, Y:-62.42, Z:2.97 [[ 9.99163397e-01 -3.78514206e-02 -1.54847199e-02 8.07336319e+02] [ 3.78627240e-02 9.99282854e-01 4.37353620e-04 -6.24216832e+01] [ 1.54570607e-02 -1.02328141e-03 9.99880009e-01 2.96993865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.130714057 meters Centerline goodness [0,1] 0.9818126374942824 Centerline is valid? [True, True] Translation: X:807.37, Y:-62.42, Z:2.97 [[ 9.99196331e-01 -3.68030994e-02 -1.58815581e-02 8.07367706e+02] [ 3.68148725e-02 9.99322002e-01 4.49487088e-04 -6.24222754e+01] [ 1.58542479e-02 -1.03380339e-03 9.99873779e-01 2.96998555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.160714057 meters Centerline goodness [0,1] 0.9821268990169795 Centerline is valid? [True, True] Translation: X:807.40, Y:-62.42, Z:2.97 [[ 9.99237763e-01 -3.51942621e-02 -1.68895460e-02 8.07399556e+02] [ 3.52073637e-02 9.99379914e-01 4.78921928e-04 -6.24162301e+01] [ 1.68622177e-02 -1.07319326e-03 9.99857247e-01 2.97049952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1907140569999 meters Centerline goodness [0,1] 0.9835023162310986 Centerline is valid? [True, True] Translation: X:807.43, Y:-62.41, Z:2.97 [[ 9.99258770e-01 -3.43724703e-02 -1.73333195e-02 8.07431965e+02] [ 3.43861665e-02 9.99408499e-01 4.92663766e-04 -6.24131296e+01] [ 1.73061327e-02 -1.08832500e-03 9.99849645e-01 2.97085231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2207140569999 meters Centerline goodness [0,1] 0.9830456764295676 Centerline is valid? [True, True] Translation: X:807.46, Y:-62.41, Z:2.97 [[ 9.99270999e-01 -3.27813161e-02 -1.95666935e-02 8.07462794e+02] [ 3.27984846e-02 9.99461830e-01 5.57083916e-04 -6.24142280e+01] [ 1.95379013e-02 -1.19843570e-03 9.99808399e-01 2.97020327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.250714057 meters Centerline goodness [0,1] 0.9843297081707822 Centerline is valid? [True, True] Translation: X:807.49, Y:-62.41, Z:2.97 [[ 9.99277716e-01 -3.22447748e-02 -2.01077467e-02 8.07494588e+02] [ 3.22628124e-02 9.99479256e-01 5.73212701e-04 -6.24113853e+01] [ 2.00787925e-02 -1.22153114e-03 9.99797655e-01 2.97038335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.280714057 meters Centerline goodness [0,1] 0.9844606145618726 Centerline is valid? [True, True] Translation: X:807.53, Y:-62.41, Z:2.97 [[ 9.99251347e-01 -3.20135652e-02 -2.17227384e-02 8.07525286e+02] [ 3.20345739e-02 9.99486569e-01 6.19747578e-04 -6.24124424e+01] [ 2.16917450e-02 -1.31516227e-03 9.99763841e-01 2.96960225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3107140569999 meters Centerline goodness [0,1] 0.984352773826458 Centerline is valid? [True, True] Translation: X:807.56, Y:-62.41, Z:2.97 [[ 9.99277094e-01 -3.04503886e-02 -2.27610133e-02 8.07555856e+02] [ 3.04730524e-02 9.99535378e-01 6.49467798e-04 -6.24093155e+01] [ 2.27306615e-02 -1.34259585e-03 9.99740724e-01 2.97013084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3407140569999 meters Centerline goodness [0,1] 0.9851234229292375 Centerline is valid? [True, True] Translation: X:807.59, Y:-62.41, Z:2.97 [[ 9.99290700e-01 -2.96653963e-02 -2.31961250e-02 8.07585772e+02] [ 2.96887317e-02 9.99558973e-01 6.62202349e-04 -6.24128241e+01] [ 2.31662504e-02 -1.35039618e-03 9.99730714e-01 2.96967792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.370714057 meters Centerline goodness [0,1] 0.9849582784365393 Centerline is valid? [True, True] Translation: X:807.62, Y:-62.41, Z:2.97 [[ 9.99377473e-01 -2.65399754e-02 -2.32442782e-02 8.07615884e+02] [ 2.65625602e-02 9.99646933e-01 6.63355025e-04 -6.24077058e+01] [ 2.32184659e-02 -1.28036961e-03 9.99729595e-01 2.97152401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.400714057 meters Centerline goodness [0,1] 0.9855088422489925 Centerline is valid? [True, True] Translation: X:807.65, Y:-62.41, Z:2.97 [[ 9.99427636e-01 -2.46121260e-02 -2.32087142e-02 8.07646181e+02] [ 2.46340954e-02 9.99696316e-01 6.61134859e-04 -6.24065897e+01] [ 2.31853941e-02 -1.23248213e-03 9.99730423e-01 2.97239231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4307140569999 meters Centerline goodness [0,1] 0.9868000525371043 Centerline is valid? [True, True] Translation: X:807.68, Y:-62.40, Z:2.97 [[ 9.99524791e-01 -2.16839251e-02 -2.19088721e-02 8.07676049e+02] [ 2.17027805e-02 9.99764273e-01 6.23198836e-04 -6.24022517e+01] [ 2.18901942e-02 -1.09838613e-03 9.99759778e-01 2.97430766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4607140569999 meters Centerline goodness [0,1] 0.9860380501490443 Centerline is valid? [True, True] Translation: X:807.70, Y:-62.41, Z:2.97 [[ 9.99538010e-01 -2.09763835e-02 -2.19945038e-02 8.07704230e+02] [ 2.09951880e-02 9.99779382e-01 6.24368657e-04 -6.24057303e+01] [ 2.19765545e-02 -1.08585895e-03 9.99757897e-01 2.97400162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4907140569999 meters Centerline goodness [0,1] 0.9866693020599991 Centerline is valid? [True, True] Translation: X:807.73, Y:-62.40, Z:2.98 [[ 9.99549194e-01 -2.10887298e-02 -2.13699458e-02 8.07733062e+02] [ 2.11064140e-02 9.99777053e-01 6.02293822e-04 -6.24036563e+01] [ 2.13524799e-02 -1.05306523e-03 9.99771455e-01 2.97577291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.520714057 meters Centerline goodness [0,1] 0.9872244379190954 Centerline is valid? [True, True] Translation: X:807.76, Y:-62.41, Z:2.98 [[ 9.99548075e-01 -2.24383738e-02 -2.00041264e-02 8.07762608e+02] [ 2.24541037e-02 9.99747717e-01 5.62039594e-04 -6.24054268e+01] [ 1.99864684e-02 -1.01096032e-03 9.99799739e-01 2.97783226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5507140569999 meters Centerline goodness [0,1] 0.9862614487926727 Centerline is valid? [True, True] Translation: X:807.79, Y:-62.41, Z:2.98 [[ 9.99531589e-01 -2.36368719e-02 -1.94396939e-02 8.07792601e+02] [ 2.36519392e-02 9.99720105e-01 5.45495297e-04 -6.24073470e+01] [ 1.94213591e-02 -1.00502624e-03 9.99810882e-01 2.97832019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5807140569999 meters Centerline goodness [0,1] 0.9862614487926727 Centerline is valid? [True, True] Translation: X:807.82, Y:-62.41, Z:2.98 [[ 9.99531588e-01 -2.36368729e-02 -1.94396992e-02 8.07822632e+02] [ 2.36519365e-02 9.99720105e-01 5.45307639e-04 -6.24081893e+01] [ 1.94213688e-02 -1.00483874e-03 9.99810882e-01 2.97847915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6107140569999 meters Centerline goodness [0,1] 0.9864725839991244 Centerline is valid? [True, True] Translation: X:807.85, Y:-62.41, Z:2.98 [[ 9.99511931e-01 -2.54426285e-02 -1.81265941e-02 8.07853421e+02] [ 2.54560215e-02 9.99675814e-01 5.08473416e-04 -6.24105713e+01] [ 1.81077809e-02 -9.69656217e-04 9.99835571e-01 2.97944704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.640714057 meters Centerline goodness [0,1] 0.985866724738676 Centerline is valid? [True, True] Translation: X:807.88, Y:-62.41, Z:2.98 [[ 9.99501925e-01 -2.60524050e-02 -1.78093865e-02 8.07883780e+02] [ 2.60654337e-02 9.99660114e-01 4.99796961e-04 -6.24139972e+01] [ 1.77903124e-02 -9.63757408e-04 9.99841275e-01 2.97917535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6707140569999 meters Centerline goodness [0,1] 0.9864687335785601 Centerline is valid? [True, True] Translation: X:807.92, Y:-62.41, Z:2.98 [[ 9.99481079e-01 -2.66389303e-02 -1.81091073e-02 8.07915431e+02] [ 2.66525073e-02 9.99644629e-01 5.08755852e-04 -6.24148030e+01] [ 1.80891192e-02 -9.91144963e-04 9.99835887e-01 2.97926681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7007140569999 meters Centerline goodness [0,1] 0.9858207161739967 Centerline is valid? [True, True] Translation: X:807.95, Y:-62.42, Z:2.98 [[ 9.99479236e-01 -2.64376006e-02 -1.85016368e-02 8.07946082e+02] [ 2.64517563e-02 9.99649955e-01 5.20756264e-04 -6.24179134e+01] [ 1.84813929e-02 -1.00988586e-03 9.99828694e-01 2.97807209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7307140569999 meters Centerline goodness [0,1] 0.9857780317851098 Centerline is valid? [True, True] Translation: X:807.98, Y:-62.42, Z:2.98 [[ 9.99479121e-01 -2.61199094e-02 -1.89535688e-02 8.07977333e+02] [ 2.61347232e-02 9.99658287e-01 5.34270888e-04 -6.24185542e+01] [ 1.89331370e-02 -1.02933887e-03 9.99820222e-01 2.97764400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.760714057 meters Centerline goodness [0,1] 0.9856367908989084 Centerline is valid? [True, True] Translation: X:808.01, Y:-62.42, Z:2.98 [[ 9.99487071e-01 -2.53018673e-02 -1.96318485e-02 8.08008169e+02] [ 2.53176167e-02 9.99679304e-01 5.54073342e-04 -6.24205084e+01] [ 1.96115335e-02 -1.05082076e-03 9.99807123e-01 2.97683674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.790714057 meters Centerline goodness [0,1] 0.9855698589881356 Centerline is valid? [True, True] Translation: X:808.04, Y:-62.42, Z:2.98 [[ 9.99496616e-01 -2.47908010e-02 -1.97972598e-02 8.08038355e+02] [ 2.48067207e-02 9.99692110e-01 5.58924985e-04 -6.24215111e+01] [ 1.97773082e-02 -1.04974873e-03 9.99803859e-01 2.97641231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8207140569999 meters Centerline goodness [0,1] 0.9860640218396372 Centerline is valid? [True, True] Translation: X:808.07, Y:-62.42, Z:2.98 [[ 9.99500216e-01 -2.45062928e-02 -1.99689621e-02 8.08069114e+02] [ 2.45224332e-02 9.99699121e-01 5.63772559e-04 -6.24195856e+01] [ 1.99491378e-02 -1.05317833e-03 9.99800441e-01 2.97716389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8507140569999 meters Centerline goodness [0,1] 0.9172516144558983 Centerline is valid? [True, False] Translation: X:808.12, Y:-62.42, Z:2.98 [[ 9.99466597e-01 -2.56228456e-02 -2.02482474e-02 8.08118052e+02] [ 2.56108545e-02 9.99671626e-01 -8.51339455e-04 -6.24193123e+01] [ 2.02634121e-02 3.32310429e-04 9.99794621e-01 2.97844079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.880714057 meters Centerline goodness [0,1] 0.9857853276415967 Centerline is valid? [False, True] Translation: X:808.03, Y:-62.42, Z:2.97 [[ 9.99681232e-01 -1.91976554e-02 -1.63976847e-02 8.08028862e+02] [ 1.91850884e-02 9.99815523e-01 -9.23364734e-04 -6.24198322e+01] [ 1.64123861e-02 6.08479365e-04 9.99865123e-01 2.97432290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.910714057 meters Centerline goodness [0,1] 0.9864537977745524 Centerline is valid? [True, True] Translation: X:808.06, Y:-62.42, Z:2.98 [[ 9.99759016e-01 -1.60025914e-02 -1.50275270e-02 8.08059597e+02] [ 1.60113384e-02 9.99871704e-01 4.61922294e-04 -6.24154398e+01] [ 1.50182071e-02 -7.02421798e-04 9.99886974e-01 2.97537953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9407140569999 meters Centerline goodness [0,1] 0.9860891350210971 Centerline is valid? [True, True] Translation: X:808.09, Y:-62.42, Z:2.97 [[ 9.99784114e-01 -1.49733318e-02 -1.44056939e-02 8.08088509e+02] [ 1.49812577e-02 9.99887677e-01 4.42428329e-04 -6.24204138e+01] [ 1.43974512e-02 -6.58148228e-04 9.99896135e-01 2.97404784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9707140569999 meters Centerline goodness [0,1] 0.9858368154827358 Centerline is valid? [True, True] Translation: X:808.12, Y:-62.42, Z:2.97 [[ 9.99809367e-01 -1.39706016e-02 -1.36400533e-02 8.08117885e+02] [ 1.39776104e-02 9.99902221e-01 4.18637472e-04 -6.24217144e+01] [ 1.36328710e-02 -6.09213017e-04 9.99906883e-01 2.97376658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.000714057 meters Centerline goodness [0,1] 0.9871247468967339 Centerline is valid? [True, True] Translation: X:808.15, Y:-62.42, Z:2.97 [[ 9.99833205e-01 -1.32311919e-02 -1.25895813e-02 8.08147784e+02] [ 1.32370996e-02 9.99912311e-01 3.86035377e-04 -6.24195663e+01] [ 1.25833697e-02 -5.52620530e-04 9.99920674e-01 2.97448955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.030714057 meters Centerline goodness [0,1] 0.9862781748213304 Centerline is valid? [True, True] Translation: X:808.18, Y:-62.42, Z:2.97 [[ 9.99851741e-01 -1.28451988e-02 -1.14671667e-02 8.08177362e+02] [ 1.28500703e-02 9.99917373e-01 3.51241629e-04 -6.24210939e+01] [ 1.14617074e-02 -4.98543452e-04 9.99934188e-01 2.97472970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0607140569999 meters Centerline goodness [0,1] 0.9868452732724845 Centerline is valid? [True, True] Translation: X:808.21, Y:-62.42, Z:2.98 [[ 9.99856037e-01 -1.35686299e-02 -1.01880907e-02 8.08207546e+02] [ 1.35725117e-02 9.99907841e-01 3.11962835e-04 -6.24191718e+01] [ 1.01829189e-02 -4.50195904e-04 9.99948051e-01 2.97594396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0907140569999 meters Centerline goodness [0,1] 0.9866731175228712 Centerline is valid? [True, True] Translation: X:808.24, Y:-62.42, Z:2.98 [[ 9.99852959e-01 -1.40451760e-02 -9.83840086e-03 8.08237730e+02] [ 1.40488200e-02 9.99901265e-01 3.01370012e-04 -6.24236191e+01] [ 9.83319667e-03 -4.39543621e-04 9.99951556e-01 2.97595620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.120714057 meters Centerline goodness [0,1] 0.9863963489555907 Centerline is valid? [True, True] Translation: X:808.27, Y:-62.42, Z:2.98 [[ 9.99840036e-01 -1.49662718e-02 -9.79353855e-03 8.08268827e+02] [ 1.49699296e-02 9.99887899e-01 3.00284858e-04 -6.24226967e+01] [ 9.78794654e-03 -4.46845406e-04 9.99951997e-01 2.97606760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.150714057 meters Centerline goodness [0,1] 0.9867973023439731 Centerline is valid? [True, True] Translation: X:808.30, Y:-62.43, Z:2.98 [[ 9.99803661e-01 -1.72970913e-02 -9.66696432e-03 8.08299547e+02] [ 1.73007661e-02 9.99850287e-01 2.96634862e-04 -6.24270286e+01] [ 9.66038613e-03 -4.63822509e-04 9.99953230e-01 2.97511415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1807140569999 meters Centerline goodness [0,1] 0.9867006660658152 Centerline is valid? [True, True] Translation: X:808.33, Y:-62.43, Z:2.97 [[ 9.99769726e-01 -1.89455263e-02 -1.00777730e-02 8.08330108e+02] [ 1.89496055e-02 9.99820392e-01 3.09422592e-04 -6.24306325e+01] [ 1.00701008e-02 -5.00321162e-04 9.99949170e-01 2.97411595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2107140569999 meters Centerline goodness [0,1] 0.9846911842336794 Centerline is valid? [True, True] Translation: X:808.36, Y:-62.44, Z:2.97 [[ 9.99719528e-01 -2.07577930e-02 -1.14008642e-02 8.08360536e+02] [ 2.07631351e-02 9.99784361e-01 3.50399165e-04 -6.24367254e+01] [ 1.13911322e-02 -5.87018572e-04 9.99934947e-01 2.97219547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2407140569999 meters Centerline goodness [0,1] 0.9844145552204636 Centerline is valid? [True, True] Translation: X:808.39, Y:-62.44, Z:2.97 [[ 9.99701095e-01 -2.14083459e-02 -1.18068826e-02 8.08390513e+02] [ 2.14141238e-02 9.99770625e-01 3.63147377e-04 -6.24396696e+01] [ 1.17964000e-02 -6.15872877e-04 9.99930230e-01 2.97157259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.270714057 meters Centerline goodness [0,1] 0.9844416120951084 Centerline is valid? [True, True] Translation: X:808.42, Y:-62.44, Z:2.97 [[ 9.99683077e-01 -2.19928645e-02 -1.22498537e-02 8.08421476e+02] [ 2.19991324e-02 9.99757919e-01 3.77140011e-04 -6.24413505e+01] [ 1.22385938e-02 -6.46506639e-04 9.99924897e-01 2.97093627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3007140569999 meters Centerline goodness [0,1] 0.9852495719741867 Centerline is valid? [True, True] Translation: X:808.45, Y:-62.44, Z:2.97 [[ 9.99696932e-01 -2.13057687e-02 -1.23332458e-02 8.08453147e+02] [ 2.13120755e-02 9.99772800e-01 3.80146503e-04 -6.24389724e+01] [ 1.23223443e-02 -6.42878357e-04 9.99923870e-01 2.97215261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3307140569999 meters Centerline goodness [0,1] 0.9838220424671386 Centerline is valid? [True, True] Translation: X:808.48, Y:-62.45, Z:2.97 [[ 9.99720889e-01 -2.02885420e-02 -1.21044976e-02 8.08482926e+02] [ 2.02945459e-02 9.99793975e-01 3.73369599e-04 -6.24455724e+01] [ 1.20944287e-02 -6.18920670e-04 9.99926668e-01 2.97158903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3607140569999 meters Centerline goodness [0,1] 0.9848159509202454 Centerline is valid? [True, True] Translation: X:808.51, Y:-62.44, Z:2.97 [[ 9.99787943e-01 -1.75313220e-02 -1.08037420e-02 8.08513302e+02] [ 1.75359448e-02 9.99846178e-01 3.33300247e-04 -6.24419564e+01] [ 1.07962369e-02 -5.22683392e-04 9.99941582e-01 2.97339939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.390714057 meters Centerline goodness [0,1] 0.9847445704739295 Centerline is valid? [True, True] Translation: X:808.55, Y:-62.44, Z:2.97 [[ 9.99831105e-01 -1.56514029e-02 -9.63304395e-03 8.08545172e+02] [ 1.56549942e-02 9.99877409e-01 2.97518592e-04 -6.24417103e+01] [ 9.62720644e-03 -4.48273590e-04 9.99953557e-01 2.97449834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4207140569999 meters Centerline goodness [0,1] 0.9862517295148574 Centerline is valid? [True, True] Translation: X:808.58, Y:-62.44, Z:2.98 [[ 9.99863752e-01 -1.38352295e-02 -9.00349370e-03 8.08576350e+02] [ 1.38382967e-02 9.99904207e-01 2.78448566e-04 -6.24394920e+01] [ 8.99877883e-03 -4.03003645e-04 9.99959429e-01 2.97562975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4507140569999 meters Centerline goodness [0,1] 0.9863796133567663 Centerline is valid? [True, True] Translation: X:808.61, Y:-62.44, Z:2.98 [[ 9.99904136e-01 -1.08585326e-02 -8.59129865e-03 8.08606983e+02] [ 1.08612167e-02 9.99940980e-01 2.65817621e-04 -6.24393810e+01] [ 8.58790520e-03 -3.59104095e-04 9.99963059e-01 2.97603203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4807140569999 meters Centerline goodness [0,1] 0.9866789765233448 Centerline is valid? [True, True] Translation: X:808.64, Y:-62.44, Z:2.98 [[ 9.99915020e-01 -9.78179483e-03 -8.61795200e-03 8.08637641e+02] [ 9.78445563e-03 9.99952096e-01 2.66642284e-04 -6.24401801e+01] [ 8.61493092e-03 -3.50941594e-04 9.99962829e-01 2.97614536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.510714057 meters Centerline goodness [0,1] 0.9859083936007013 Centerline is valid? [True, True] Translation: X:808.67, Y:-62.44, Z:2.98 [[ 9.99920345e-01 -8.95292981e-03 -8.89651175e-03 8.08667413e+02] [ 8.95573314e-03 9.99959859e-01 2.75315278e-04 -6.24417873e+01] [ 8.89368976e-03 -3.54968133e-04 9.99960387e-01 2.97562847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.540714057 meters Centerline goodness [0,1] 0.9868730106464713 Centerline is valid? [True, True] Translation: X:808.70, Y:-62.44, Z:2.98 [[ 9.99922401e-01 -8.51181377e-03 -9.09616002e-03 8.08696965e+02] [ 8.51472453e-03 9.99963710e-01 2.81320079e-04 -6.24420612e+01] [ 9.09343537e-03 -3.58749546e-04 9.99958590e-01 2.97602857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5707140569999 meters Centerline goodness [0,1] 0.9862888083489804 Centerline is valid? [True, True] Translation: X:808.73, Y:-62.45, Z:2.97 [[ 9.99924091e-01 -7.61439786e-03 -9.68670891e-03 8.08726541e+02] [ 7.61765617e-03 9.99970940e-01 2.99517563e-04 -6.24480135e+01] [ 9.68414677e-03 -3.73284845e-04 9.99953038e-01 2.97467583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6007140569999 meters Centerline goodness [0,1] 0.9871276689218873 Centerline is valid? [True, True] Translation: X:808.76, Y:-62.44, Z:2.98 [[ 9.99925941e-01 -7.49725345e-03 -9.58661329e-03 8.08755935e+02] [ 7.50043753e-03 9.99971827e-01 2.96228160e-04 -6.24442718e+01] [ 9.58412231e-03 -3.68110016e-04 9.99954003e-01 2.97524200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.630714057 meters Centerline goodness [0,1] 0.9861905701321759 Centerline is valid? [True, True] Translation: X:808.78, Y:-62.45, Z:2.98 [[ 9.99944696e-01 -5.65734371e-03 -8.86567934e-03 8.08784795e+02] [ 5.65999104e-03 9.99983945e-01 2.73541259e-04 -6.24458516e+01] [ 8.86398948e-03 -3.23705797e-04 9.99960662e-01 2.97548840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.660714057 meters Centerline goodness [0,1] 0.9866502992174313 Centerline is valid? [True, True] Translation: X:808.81, Y:-62.45, Z:2.98 [[ 9.99950193e-01 -4.85991077e-03 -8.71734285e-03 8.08813051e+02] [ 4.86243594e-03 9.99988142e-01 2.68500425e-04 -6.24472495e+01] [ 8.71593460e-03 -3.10874573e-04 9.99961967e-01 2.97579607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6907140569999 meters Centerline goodness [0,1] 0.986649299902312 Centerline is valid? [True, True] Translation: X:808.84, Y:-62.45, Z:2.98 [[ 9.99950771e-01 -4.18590037e-03 -8.99636687e-03 8.08842290e+02] [ 4.18855387e-03 9.99991190e-01 2.76131642e-04 -6.24478955e+01] [ 8.99513175e-03 -3.13799816e-04 9.99959494e-01 2.97561792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7207140569999 meters Centerline goodness [0,1] 0.9865858462077115 Centerline is valid? [True, True] Translation: X:808.87, Y:-62.45, Z:2.97 [[ 9.99947367e-01 -3.79748257e-03 -9.53111372e-03 8.08871510e+02] [ 3.80042482e-03 9.99992736e-01 2.90607022e-04 -6.24498900e+01] [ 9.52994092e-03 -3.26814007e-04 9.99954536e-01 2.97470392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.750714057 meters Centerline goodness [0,1] 0.9864288059538142 Centerline is valid? [True, True] Translation: X:808.90, Y:-62.45, Z:2.97 [[ 9.99941614e-01 -3.88344972e-03 -1.00840501e-02 8.08899450e+02] [ 3.88673322e-03 9.99992400e-01 3.06035371e-04 -6.24524442e+01] [ 1.00827850e-02 -3.45211515e-04 9.99949108e-01 2.97414025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.780714057 meters Centerline goodness [0,1] 0.9866276274963947 Centerline is valid? [True, True] Translation: X:808.93, Y:-62.45, Z:2.97 [[ 9.99943454e-01 -4.00283779e-03 -9.85224079e-03 8.08927693e+02] [ 4.00595654e-03 9.99991932e-01 2.96838518e-04 -6.24549041e+01] [ 9.85097311e-03 -3.36289381e-04 9.99951421e-01 2.97421977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8107140569999 meters Centerline goodness [0,1] 0.9866408054744367 Centerline is valid? [True, True] Translation: X:808.96, Y:-62.46, Z:2.97 [[ 9.99953507e-01 -3.60948981e-03 -8.94172725e-03 8.08955401e+02] [ 3.61203078e-03 9.99993441e-01 2.68035997e-04 -6.24577366e+01] [ 8.94070112e-03 -3.00321330e-04 9.99959986e-01 2.97440217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8407140569999 meters Centerline goodness [0,1] 0.9858528610354224 Centerline is valid? [True, True] Translation: X:808.98, Y:-62.46, Z:2.97 [[ 9.99956739e-01 -3.69067851e-03 -8.53808147e-03 8.08984526e+02] [ 3.69298486e-03 9.99993149e-01 2.54374513e-04 -6.24597607e+01] [ 8.53708415e-03 -2.85894514e-04 9.99963518e-01 2.97455806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.870714057 meters Centerline goodness [0,1] 0.985979381443299 Centerline is valid? [True, True] Translation: X:809.01, Y:-62.46, Z:2.98 [[ 9.99963625e-01 -3.79456756e-03 -7.63873436e-03 8.09012883e+02] [ 3.79640276e-03 9.99992768e-01 2.25762980e-04 -6.24615510e+01] [ 7.63782244e-03 -2.54754480e-04 9.99970799e-01 2.97528669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.900714057 meters Centerline goodness [0,1] 0.9866474983118778 Centerline is valid? [True, True] Translation: X:809.04, Y:-62.46, Z:2.98 [[ 9.99963634e-01 -4.29377305e-03 -7.36842377e-03 8.09041126e+02] [ 4.29548068e-03 9.99990751e-01 2.15938948e-04 -6.24634681e+01] [ 7.36742843e-03 -2.47582017e-04 9.99972829e-01 2.97541708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9307140569999 meters Centerline goodness [0,1] 0.9855469940359584 Centerline is valid? [True, True] Translation: X:809.07, Y:-62.47, Z:2.97 [[ 9.99953261e-01 -5.50869073e-03 -7.94546010e-03 8.09069152e+02] [ 5.51070468e-03 9.99984789e-01 2.31601779e-04 -6.24695484e+01] [ 7.94406342e-03 -2.75376039e-04 9.99968408e-01 2.97444885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9607140569999 meters Centerline goodness [0,1] 0.9858105171664494 Centerline is valid? [True, True] Translation: X:809.10, Y:-62.47, Z:2.97 [[ 9.99942271e-01 -6.73151377e-03 -8.37501135e-03 8.09098528e+02] [ 6.73379057e-03 9.99977298e-01 2.43688004e-04 -6.24707688e+01] [ 8.37318083e-03 -3.00069509e-04 9.99964899e-01 2.97387682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9907140569999 meters Centerline goodness [0,1] 0.9860599053207967 Centerline is valid? [True, True] Translation: X:809.13, Y:-62.47, Z:2.97 [[ 9.99927793e-01 -7.87223416e-03 -9.07945629e-03 8.09128090e+02] [ 7.87495402e-03 9.99968957e-01 2.63849822e-04 -6.24742293e+01] [ 9.07709735e-03 -3.35331071e-04 9.99958746e-01 2.97360635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.020714057 meters Centerline goodness [0,1] 0.9851158742247851 Centerline is valid? [True, True] Translation: X:809.16, Y:-62.48, Z:2.97 [[ 9.99903280e-01 -1.08763621e-02 -8.66802033e-03 8.09156578e+02] [ 1.08789503e-02 9.99940791e-01 2.51493807e-04 -6.24794317e+01] [ 8.66477176e-03 -3.45768445e-04 9.99962400e-01 2.97409594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0507140569999 meters Centerline goodness [0,1] 0.9847114696506408 Centerline is valid? [True, True] Translation: X:809.19, Y:-62.48, Z:2.97 [[ 9.99896226e-01 -1.17949508e-02 -8.27139626e-03 8.09186821e+02] [ 1.17973375e-02 9.99930380e-01 2.39815000e-04 -6.24806665e+01] [ 8.26799180e-03 -3.37370567e-04 9.99965763e-01 2.97451642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0807140569999 meters Centerline goodness [0,1] 0.984566963316692 Centerline is valid? [True, True] Translation: X:809.22, Y:-62.48, Z:2.97 [[ 9.99894489e-01 -1.22385177e-02 -7.82497109e-03 8.09216930e+02] [ 1.22406690e-02 9.99925054e-01 2.27098846e-04 -6.24845447e+01] [ 7.82160529e-03 -3.22857766e-04 9.99969359e-01 2.97492142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1107140569999 meters Centerline goodness [0,1] 0.9849402132931164 Centerline is valid? [True, True] Translation: X:809.25, Y:-62.48, Z:2.98 [[ 9.99910296e-01 -1.15229971e-02 -6.82793429e-03 8.09247490e+02] [ 1.15246195e-02 9.99933570e-01 1.98310478e-04 -6.24838478e+01] [ 6.82519557e-03 -2.76982033e-04 9.99976670e-01 2.97663360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.140714057 meters Centerline goodness [0,1] 0.9854512487318411 Centerline is valid? [True, True] Translation: X:809.28, Y:-62.48, Z:2.98 [[ 9.99927032e-01 -1.04236984e-02 -6.10547803e-03 8.09278693e+02] [ 1.04249758e-02 9.99945643e-01 1.77426884e-04 -6.24840717e+01] [ 6.10329671e-03 -2.41063398e-04 9.99981346e-01 2.97724752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1707140569999 meters Centerline goodness [0,1] 0.9852342599809474 Centerline is valid? [True, True] Translation: X:809.31, Y:-62.49, Z:2.98 [[ 9.99933373e-01 -9.85126352e-03 -6.01680782e-03 8.09308931e+02] [ 9.85249470e-03 9.99951448e-01 1.75016499e-04 -6.24853795e+01] [ 6.01479155e-03 -2.34285405e-04 9.99981884e-01 2.97721233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2007140569999 meters Centerline goodness [0,1] 0.9861447345668338 Centerline is valid? [True, True] Translation: X:809.34, Y:-62.49, Z:2.98 [[ 9.99944257e-01 -8.90246269e-03 -5.67709293e-03 8.09339526e+02] [ 8.90354405e-03 9.99960349e-01 1.65232499e-04 -6.24871264e+01] [ 5.67539685e-03 -2.15769535e-04 9.99983872e-01 2.97708541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2307140569999 meters Centerline goodness [0,1] 0.9854275382716584 Centerline is valid? [True, True] Translation: X:809.37, Y:-62.49, Z:2.98 [[ 9.99941548e-01 -8.82864352e-03 -6.24139048e-03 8.09370301e+02] [ 8.82994951e-03 9.99960999e-01 1.81721464e-04 -6.24867606e+01] [ 6.23954270e-03 -2.36822005e-04 9.99980506e-01 2.97658739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.260714057 meters Centerline goodness [0,1] 0.9844684421116034 Centerline is valid? [True, True] Translation: X:809.40, Y:-62.49, Z:2.97 [[ 9.99935406e-01 -9.23817348e-03 -6.62123132e-03 8.09400540e+02] [ 9.23965262e-03 9.99957295e-01 1.92838863e-04 -6.24917080e+01] [ 6.61916708e-03 -2.54004284e-04 9.99978061e-01 2.97471705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.290714057 meters Centerline goodness [0,1] 0.9854303775545549 Centerline is valid? [True, True] Translation: X:809.43, Y:-62.49, Z:2.97 [[ 9.99902454e-01 -1.21121211e-02 -6.95553148e-03 8.09430995e+02] [ 1.21138232e-02 9.99926604e-01 2.02637445e-04 -6.24931572e+01] [ 6.95256660e-03 -2.86875757e-04 9.99975789e-01 2.97369696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3207140569999 meters Centerline goodness [0,1] 0.9848612825677344 Centerline is valid? [True, True] Translation: X:809.46, Y:-62.50, Z:2.97 [[ 9.99872247e-01 -1.46427454e-02 -6.40935827e-03 8.09461750e+02] [ 1.46442429e-02 9.99892750e-01 1.86781200e-04 -6.24960330e+01] [ 6.40593587e-03 -2.80617538e-04 9.99979442e-01 2.97336475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3507140569999 meters Centerline goodness [0,1] 0.9846690197267275 Centerline is valid? [True, True] Translation: X:809.49, Y:-62.50, Z:2.97 [[ 9.99840355e-01 -1.68230183e-02 -6.02091454e-03 8.09493096e+02] [ 1.68243802e-02 9.99858445e-01 1.75616325e-04 -6.24982444e+01] [ 6.01710785e-03 -2.76886444e-04 9.99981859e-01 2.97332768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.380714057 meters Centerline goodness [0,1] 0.9832959254143646 Centerline is valid? [True, True] Translation: X:809.52, Y:-62.50, Z:2.97 [[ 9.99804528e-01 -1.89132016e-02 -5.76161156e-03 8.09524085e+02] [ 1.89144853e-02 9.99821091e-01 1.68393392e-04 -6.25033858e+01] [ 5.75739589e-03 -2.77338393e-04 9.99983388e-01 2.97345447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.410714057 meters Centerline goodness [0,1] 0.9832937621411613 Centerline is valid? [True, True] Translation: X:809.56, Y:-62.51, Z:2.97 [[ 9.99725425e-01 -2.28637839e-02 -5.13052593e-03 8.09555084e+02] [ 2.28648553e-02 9.99738554e-01 1.50255204e-04 -6.25085846e+01] [ 5.12574917e-03 -2.67522681e-04 9.99986827e-01 2.97318887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4407140569999 meters Centerline goodness [0,1] 0.9826952989975803 Centerline is valid? [True, True] Translation: X:809.59, Y:-62.51, Z:2.97 [[ 9.99695765e-01 -2.41892848e-02 -4.82253233e-03 8.09587220e+02] [ 2.41902475e-02 9.99707363e-01 1.41395788e-04 -6.25120025e+01] [ 4.81770082e-03 -2.58011022e-04 9.99988362e-01 2.97234670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4707140569999 meters Centerline goodness [0,1] 0.9826952989975803 Centerline is valid? [True, True] Translation: X:809.62, Y:-62.51, Z:2.97 [[ 9.99697475e-01 -2.41185135e-02 -4.82252230e-03 8.09618940e+02] [ 2.41194771e-02 9.99709073e-01 1.41737282e-04 -6.25129949e+01] [ 4.81770081e-03 -2.58011119e-04 9.99988362e-01 2.97245282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.500714057 meters Centerline goodness [0,1] 0.9825482191839997 Centerline is valid? [True, True] Translation: X:809.65, Y:-62.52, Z:2.97 [[ 9.99637147e-01 -2.64977332e-02 -4.84191809e-03 8.09650278e+02] [ 2.64987338e-02 9.99648837e-01 1.42598240e-04 -6.25164598e+01] [ 4.83643925e-03 -2.70851196e-04 9.99988268e-01 2.97180856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.530714057 meters Centerline goodness [0,1] 0.9823222524037425 Centerline is valid? [True, True] Translation: X:809.68, Y:-62.52, Z:2.97 [[ 9.99630147e-01 -2.69441600e-02 -3.68520990e-03 8.09680833e+02] [ 2.69447430e-02 9.99636919e-01 1.08634429e-04 -6.25199072e+01] [ 3.68094481e-03 -2.07891285e-04 9.99993204e-01 2.97218273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5607140569999 meters Centerline goodness [0,1] 0.982526737104861 Centerline is valid? [True, True] Translation: X:809.71, Y:-62.52, Z:2.97 [[ 9.99631066e-01 -2.69675144e-02 -3.23811502e-03 8.09713102e+02] [ 2.69679650e-02 9.99636294e-01 9.55512128e-05 -6.25181857e+01] [ 3.23436052e-03 -1.82841333e-04 9.99994753e-01 2.97268796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5907140569999 meters Centerline goodness [0,1] 0.9813982495000108 Centerline is valid? [True, True] Translation: X:809.74, Y:-62.52, Z:2.97 [[ 9.99664790e-01 -2.58734104e-02 -9.34494351e-04 8.09744797e+02] [ 2.58734474e-02 9.99665226e-01 2.74735385e-05 -6.25196112e+01] [ 9.33470672e-04 -5.16429195e-05 9.99999563e-01 2.97386129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.620714057 meters Centerline goodness [0,1] 0.982531432638185 Centerline is valid? [True, True] Translation: X:809.78, Y:-62.52, Z:2.97 [[ 9.99683097e-01 -2.51675794e-02 5.46251921e-04 8.09777012e+02] [ 2.51675922e-02 9.99683246e-01 -1.64768450e-05 -6.25177015e+01] [-5.45664211e-04 3.02194690e-05 9.99999851e-01 2.97470754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.650714057 meters Centerline goodness [0,1] 0.9821825319786881 Centerline is valid? [True, True] Translation: X:809.81, Y:-62.52, Z:2.98 [[ 9.99711535e-01 -2.39479547e-02 1.82845086e-03 8.09809767e+02] [ 2.39480949e-02 9.99713202e-01 -5.48127054e-05 -6.25179565e+01] [-1.82661381e-03 9.85848085e-05 9.99998327e-01 2.97529330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6807140569999 meters Centerline goodness [0,1] 0.9812394876439384 Centerline is valid? [True, True] Translation: X:809.84, Y:-62.52, Z:2.97 [[ 9.99750079e-01 -2.22332956e-02 2.33676570e-03 8.09840013e+02] [ 2.22335192e-02 9.99752802e-01 -6.97689386e-05 -6.25198280e+01] [-2.33463687e-03 1.21706027e-04 9.99997267e-01 2.97484199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7107140569999 meters Centerline goodness [0,1] 0.9810486553774173 Centerline is valid? [True, True] Translation: X:809.87, Y:-62.52, Z:2.97 [[ 9.99778835e-01 -2.09544368e-02 1.78656749e-03 8.09872788e+02] [ 2.09545663e-02 9.99780428e-01 -5.37479154e-05 -6.25190480e+01] [-1.78504895e-03 9.11727752e-05 9.99998403e-01 2.97365327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7407140569999 meters Centerline goodness [0,1] 0.9813879172604396 Centerline is valid? [True, True] Translation: X:809.90, Y:-62.52, Z:2.97 [[ 9.99791680e-01 -2.03931515e-02 8.46514863e-04 8.09904220e+02] [ 2.03931805e-02 9.99792037e-01 -2.55476166e-05 -6.25206478e+01] [-8.45817823e-04 4.28054249e-05 9.99999641e-01 2.97276349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.770714057 meters Centerline goodness [0,1] 0.9817266777544982 Centerline is valid? [True, True] Translation: X:809.94, Y:-62.52, Z:2.97 [[ 9.99810224e-01 -1.94808964e-02 -1.01991143e-04 8.09936384e+02] [ 1.94808968e-02 9.99810229e-01 2.83183376e-06 -6.25210372e+01] [ 1.01916622e-04 -4.81817528e-06 9.99999995e-01 2.97068173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8007140569999 meters Centerline goodness [0,1] 0.9815714995571111 Centerline is valid? [True, True] Translation: X:809.97, Y:-62.52, Z:2.97 [[ 9.99806168e-01 -1.96814467e-02 -5.17220177e-04 8.09968486e+02] [ 1.96814573e-02 9.99806301e-01 1.53421906e-05 -6.25218825e+01] [ 5.16818036e-04 -2.55188636e-05 9.99999866e-01 2.96960364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8307140569999 meters Centerline goodness [0,1] 0.9824406047516199 Centerline is valid? [True, True] Translation: X:810.00, Y:-62.52, Z:2.97 [[ 9.99793042e-01 -2.02920952e-02 -1.45077416e-03 8.10000673e+02] [ 2.02921797e-02 9.99794092e-01 4.35519260e-05 -6.25219386e+01] [ 1.44959167e-03 -7.29822825e-05 9.99998947e-01 2.96847297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8607140569999 meters Centerline goodness [0,1] 0.9814160816572635 Centerline is valid? [True, True] Translation: X:810.03, Y:-62.52, Z:2.97 [[ 9.99787390e-01 -2.05502635e-02 -1.69159073e-03 8.10031571e+02] [ 2.05503790e-02 9.99788817e-01 5.09676314e-05 -6.25248000e+01] [ 1.69018610e-03 -8.57196259e-05 9.99998568e-01 2.96824293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.890714057 meters Centerline goodness [0,1] 0.9823741862929561 Centerline is valid? [True, True] Translation: X:810.06, Y:-62.52, Z:2.97 [[ 9.99770277e-01 -2.14075015e-02 -1.05424603e-03 8.10063883e+02] [ 2.14075468e-02 9.99770832e-01 3.17120700e-05 -6.25235369e+01] [ 1.05332555e-03 -5.42736062e-05 9.99999444e-01 2.96848854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9207140569999 meters Centerline goodness [0,1] 0.981137776243094 Centerline is valid? [True, True] Translation: X:810.09, Y:-62.53, Z:2.97 [[ 9.99772770e-01 -2.12824975e-02 -1.20957008e-03 8.10094741e+02] [ 2.12825573e-02 9.99773500e-01 3.65420094e-05 -6.25293176e+01] [ 1.20851841e-03 -6.22764504e-05 9.99999268e-01 2.96897593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9507140569999 meters Centerline goodness [0,1] 0.983567922855722 Centerline is valid? [True, True] Translation: X:810.13, Y:-62.52, Z:2.97 [[ 9.99767476e-01 -2.15471218e-02 -8.45411454e-04 8.10126684e+02] [ 2.15471511e-02 9.99767833e-01 2.55280252e-05 -6.25226465e+01] [ 8.44665121e-04 -4.37382977e-05 9.99999642e-01 2.96851558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9807140569999 meters Centerline goodness [0,1] 0.9835592668907928 Centerline is valid? [True, True] Translation: X:810.16, Y:-62.52, Z:2.97 [[ 9.99763873e-01 -2.17018349e-02 -1.10841412e-03 8.10157999e+02] [ 2.17018854e-02 9.99764486e-01 3.35864558e-05 -6.25242063e+01] [ 1.10742419e-03 -5.76332014e-05 9.99999385e-01 2.96841971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.010714057 meters Centerline goodness [0,1] 0.982434809040971 Centerline is valid? [True, True] Translation: X:810.19, Y:-62.53, Z:2.97 [[ 9.99753252e-01 -2.21478098e-02 -1.70591031e-03 8.10189095e+02] [ 2.21479305e-02 9.99754703e-01 5.18814550e-05 -6.25256288e+01] [ 1.70434280e-03 -8.96510364e-05 9.99998544e-01 2.96880179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.040714057 meters Centerline goodness [0,1] 0.981801716331019 Centerline is valid? [True, True] Translation: X:810.22, Y:-62.53, Z:2.97 [[ 9.99733706e-01 -2.30641838e-02 -7.48400826e-04 8.10221040e+02] [ 2.30642072e-02 9.99733986e-01 2.26574432e-05 -6.25268436e+01] [ 7.47679165e-04 -3.99126813e-05 9.99999720e-01 2.96914740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0707140569999 meters Centerline goodness [0,1] 0.9821610933663603 Centerline is valid? [True, True] Translation: X:810.25, Y:-62.53, Z:2.97 [[ 9.99718547e-01 -2.37236594e-02 -1.21785033e-04 8.10253623e+02] [ 2.37236600e-02 9.99718554e-01 3.50152743e-06 -6.25285611e+01] [ 1.21667688e-04 -6.38972864e-06 9.99999993e-01 2.96984880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1007140569999 meters Centerline goodness [0,1] 0.9831262064328626 Centerline is valid? [True, True] Translation: X:810.29, Y:-62.53, Z:2.97 [[ 9.99707605e-01 -2.41546791e-02 1.12079806e-03 8.10285497e+02] [ 2.41547332e-02 9.99708231e-01 -3.46785843e-05 -6.25259524e+01] [-1.11963340e-03 6.17410225e-05 9.99999371e-01 2.97038907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.130714057 meters Centerline goodness [0,1] 0.980816077953715 Centerline is valid? [True, True] Translation: X:810.32, Y:-62.53, Z:2.97 [[ 9.99677192e-01 -2.52917847e-02 2.41615357e-03 8.10316469e+02] [ 2.52920385e-02 9.99680102e-01 -7.45486969e-05 -6.25323449e+01] [-2.41349518e-03 1.35634081e-04 9.99997078e-01 2.97158142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.160714057 meters Centerline goodness [0,1] 0.9815483702510989 Centerline is valid? [True, True] Translation: X:810.35, Y:-62.53, Z:2.97 [[ 9.99666399e-01 -2.56998017e-02 2.57122639e-03 8.10348369e+02] [ 2.57000910e-02 9.99669695e-01 -7.95442416e-05 -6.25340978e+01] [-2.56833283e-03 1.45598458e-04 9.99996691e-01 2.97188052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1907140569999 meters Centerline goodness [0,1] 0.9809117302942324 Centerline is valid? [True, True] Translation: X:810.38, Y:-62.54, Z:2.97 [[ 9.99661967e-01 -2.59130842e-02 2.11297201e-03 8.10380022e+02] [ 2.59132803e-02 9.99664192e-01 -6.54574482e-05 -6.25359012e+01] [-2.11056625e-03 1.20189357e-04 9.99997766e-01 2.97123436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2207140569999 meters Centerline goodness [0,1] 0.9821424701471513 Centerline is valid? [True, True] Translation: X:810.41, Y:-62.53, Z:2.97 [[ 9.99642733e-01 -2.66939665e-02 1.35576750e-03 8.10412010e+02] [ 2.66940482e-02 9.99643650e-01 -4.22263984e-05 -6.25316094e+01] [-1.35415718e-03 7.84022354e-05 9.99999080e-01 2.96898497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.250714057 meters Centerline goodness [0,1] 0.9803223144085834 Centerline is valid? [True, True] Translation: X:810.44, Y:-62.54, Z:2.97 [[ 9.99631708e-01 -2.71280629e-02 7.18046438e-04 8.10442403e+02] [ 2.71280860e-02 9.99631965e-01 -2.23821643e-05 -6.25412482e+01] [-7.17174987e-04 4.18531466e-05 9.99999742e-01 2.96867488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.280714057 meters Centerline goodness [0,1] 0.9828136882129278 Centerline is valid? [True, True] Translation: X:810.48, Y:-62.53, Z:2.97 [[ 9.99643282e-01 -2.66903942e-02 -9.65584018e-04 8.10475053e+02] [ 2.66904354e-02 9.99643746e-01 2.97655696e-05 -6.25309159e+01] [ 9.64445570e-04 -5.55268096e-05 9.99999533e-01 2.96665131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3107140569999 meters Centerline goodness [0,1] 0.9822603408967538 Centerline is valid? [True, True] Translation: X:810.51, Y:-62.54, Z:2.97 [[ 9.99650866e-01 -2.63514816e-02 -1.93534341e-03 8.10505778e+02] [ 2.63516469e-02 9.99652733e-01 5.99551320e-05 -6.25358489e+01] [ 1.93309142e-03 -1.10933686e-04 9.99998125e-01 2.96638904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3407140569999 meters Centerline goodness [0,1] 0.9841736328805294 Centerline is valid? [True, True] Translation: X:810.54, Y:-62.53, Z:2.97 [[ 9.99662214e-01 -2.59120367e-02 -2.00585716e-03 8.10538478e+02] [ 2.59122142e-02 9.99664220e-01 6.25148381e-05 -6.25323034e+01] [ 2.00356375e-03 -1.14469922e-04 9.99997986e-01 2.96607402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.370714057 meters Centerline goodness [0,1] 0.9823988860605269 Centerline is valid? [True, True] Translation: X:810.57, Y:-62.54, Z:2.97 [[ 9.99696505e-01 -2.45390575e-02 -2.17561743e-03 8.10569546e+02] [ 2.45392634e-02 9.99698865e-01 6.80042598e-05 -6.25401676e+01] [ 2.17329351e-03 -1.21371670e-04 9.99997631e-01 2.96646733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.400714057 meters Centerline goodness [0,1] 0.9843892483390507 Centerline is valid? [True, True] Translation: X:810.60, Y:-62.53, Z:2.97 [[ 9.99726040e-01 -2.33116226e-02 -2.10062541e-03 8.10602066e+02] [ 2.33118120e-02 9.99728241e-01 6.57434966e-05 -6.25308275e+01] [ 2.09852196e-03 -1.14694870e-04 9.99997792e-01 2.96658895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4307140569999 meters Centerline goodness [0,1] 0.98381834790552 Centerline is valid? [True, True] Translation: X:810.63, Y:-62.53, Z:2.97 [[ 9.99754190e-01 -2.20645611e-02 -2.17154196e-03 8.10633051e+02] [ 2.20647608e-02 9.99756541e-01 6.80515155e-05 -6.25312875e+01] [ 2.16951176e-03 -1.15949342e-04 9.99997640e-01 2.96704890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4607140569999 meters Centerline goodness [0,1] 0.9849614227801752 Centerline is valid? [True, True] Translation: X:810.66, Y:-62.53, Z:2.97 [[ 9.99812112e-01 -1.92745860e-02 -2.05689161e-03 8.10664561e+02] [ 1.92747601e-02 9.99814222e-01 6.48494916e-05 -6.25280566e+01] [ 2.05525954e-03 -1.04483399e-04 9.99997882e-01 2.96752740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4907140569999 meters Centerline goodness [0,1] 0.9857394022269974 Centerline is valid? [True, True] Translation: X:810.70, Y:-62.53, Z:2.97 [[ 9.99859887e-01 -1.66797141e-02 -1.41184379e-03 8.10695678e+02] [ 1.66797935e-02 9.99860882e-01 4.45257653e-05 -6.25264567e+01] [ 1.41090470e-03 -6.80687895e-05 9.99999002e-01 2.96811485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.520714057 meters Centerline goodness [0,1] 0.9853537334902576 Centerline is valid? [True, True] Translation: X:810.73, Y:-62.52, Z:2.97 [[ 9.99867430e-01 -1.62687360e-02 -6.71834087e-04 8.10727575e+02] [ 1.62687538e-02 9.99867655e-01 2.10490503e-05 -6.25246234e+01] [ 6.71402732e-04 -3.19761632e-05 9.99999774e-01 2.96854010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5507140569999 meters Centerline goodness [0,1] 0.9848375923142278 Centerline is valid? [True, True] Translation: X:810.76, Y:-62.53, Z:2.97 [[ 9.99878200e-01 -1.56066751e-02 1.30910900e-04 8.10759816e+02] [ 1.56066758e-02 9.99878208e-01 -4.40295978e-06 -6.25251289e+01] [-1.30826240e-04 6.44550747e-06 9.99999991e-01 2.96907601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5807140569999 meters Centerline goodness [0,1] 0.9855309319910222 Centerline is valid? [True, True] Translation: X:810.79, Y:-62.53, Z:2.97 [[ 9.99883670e-01 -1.52463729e-02 4.40791848e-04 8.10790726e+02] [ 1.52463806e-02 9.99883767e-01 -1.42094031e-05 -6.25268874e+01] [-4.40523971e-04 2.09282304e-05 9.99999903e-01 2.96952937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6107140569999 meters Centerline goodness [0,1] 0.9851995553327375 Centerline is valid? [True, True] Translation: X:810.82, Y:-62.53, Z:2.97 [[ 9.99879624e-01 -1.55126630e-02 3.06890581e-04 8.10822696e+02] [ 1.55126668e-02 9.99879671e-01 -1.00264285e-05 -6.25274794e+01] [-3.06698117e-04 1.47859129e-05 9.99999953e-01 2.97001513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.640714057 meters Centerline goodness [0,1] 0.9851444231773099 Centerline is valid? [True, True] Translation: X:810.86, Y:-62.53, Z:2.97 [[ 9.99877231e-01 -1.56496177e-02 7.82384641e-04 8.10855338e+02] [ 1.56496422e-02 9.99877537e-01 -2.52557820e-05 -6.25262975e+01] [-7.81893584e-04 3.74967211e-05 9.99999694e-01 2.97001218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6707140569999 meters Centerline goodness [0,1] 0.9857031114201287 Centerline is valid? [True, True] Translation: X:810.89, Y:-62.53, Z:2.97 [[ 9.99859526e-01 -1.67506084e-02 5.87908752e-04 8.10886792e+02] [ 1.67506224e-02 9.99859698e-01 -1.90083134e-05 -6.25287045e+01] [-5.87507867e-04 2.88534808e-05 9.99999827e-01 2.96989476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7007140569999 meters Centerline goodness [0,1] 0.9856212282956799 Centerline is valid? [True, True] Translation: X:810.92, Y:-62.53, Z:2.97 [[ 9.99852286e-01 -1.71853142e-02 2.66241778e-04 8.10919148e+02] [ 1.71853171e-02 9.99852321e-01 -8.79518844e-06 -6.25267160e+01] [-2.66051312e-04 1.33693387e-05 9.99999965e-01 2.96952030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7307140569999 meters Centerline goodness [0,1] 0.9849981465733412 Centerline is valid? [True, True] Translation: X:810.95, Y:-62.53, Z:2.97 [[ 9.99839177e-01 -1.79322599e-02 -2.31981874e-04 8.10950153e+02] [ 1.79322620e-02 9.99839204e-01 7.27299091e-06 -6.25315759e+01] [ 2.31814151e-04 -1.14317810e-05 9.99999973e-01 2.96929834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.760714057 meters Centerline goodness [0,1] 0.9848223826242449 Centerline is valid? [True, True] Translation: X:810.98, Y:-62.53, Z:2.97 [[ 9.99818449e-01 -1.89421148e-02 -2.06526035e-03 8.10982496e+02] [ 1.89422921e-02 9.99820576e-01 6.63121026e-05 -6.25324817e+01] [ 2.06363370e-03 -1.05420828e-04 9.99997865e-01 2.96814811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.790714057 meters Centerline goodness [0,1] 0.9862703221026021 Centerline is valid? [True, True] Translation: X:811.01, Y:-62.53, Z:2.97 [[ 9.99817845e-01 -1.88805820e-02 -2.79297161e-03 8.11013778e+02] [ 1.88809068e-02 9.99821736e-01 8.99723979e-05 -6.25346140e+01] [ 2.79077499e-03 -1.42689846e-04 9.99996096e-01 2.96779662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8207140569999 meters Centerline goodness [0,1] 0.9850690882102552 Centerline is valid? [True, True] Translation: X:811.05, Y:-62.54, Z:2.97 [[ 9.99828257e-01 -1.82348069e-02 -3.30882937e-03 8.11045515e+02] [ 1.82352599e-02 9.99833718e-01 1.06799489e-04 -6.25352480e+01] [ 3.30633170e-03 -1.67118510e-04 9.99994520e-01 2.96788312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8507140569999 meters Centerline goodness [0,1] 0.9847747846002836 Centerline is valid? [True, True] Translation: X:811.08, Y:-62.54, Z:2.97 [[ 9.99840661e-01 -1.75856548e-02 -3.06564390e-03 8.11076646e+02] [ 1.75860413e-02 9.99845349e-01 9.91544654e-05 -6.25374018e+01] [ 3.06342610e-03 -1.53051206e-04 9.99995296e-01 2.96828287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.880714057 meters Centerline goodness [0,1] 0.9852531149255032 Centerline is valid? [True, True] Translation: X:811.11, Y:-62.53, Z:2.97 [[ 9.99855191e-01 -1.67974322e-02 -2.72806986e-03 8.11108844e+02] [ 1.67977357e-02 9.99858904e-01 8.83477168e-05 -6.25330650e+01] [ 2.72620093e-03 -1.34160320e-04 9.99996275e-01 2.96847801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.910714057 meters Centerline goodness [0,1] 0.9855555555555555 Centerline is valid? [True, True] Translation: X:811.14, Y:-62.54, Z:2.97 [[ 9.99898529e-01 -1.39876950e-02 -2.69728609e-03 8.11139292e+02] [ 1.39879819e-02 9.99902160e-01 8.75292669e-05 -6.25350703e+01] [ 2.69579785e-03 -1.25249974e-04 9.99996358e-01 2.96868449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9407140569999 meters Centerline goodness [0,1] 0.9860708446866485 Centerline is valid? [True, True] Translation: X:811.17, Y:-62.53, Z:2.97 [[ 9.99921614e-01 -1.21679645e-02 -2.95080596e-03 8.11171005e+02] [ 1.21683010e-02 9.99925959e-01 9.61014494e-05 -6.25330795e+01] [ 2.94941812e-03 -1.32000211e-04 9.99995642e-01 2.96832056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9707140569999 meters Centerline goodness [0,1] 0.9863603732950467 Centerline is valid? [True, True] Translation: X:811.20, Y:-62.53, Z:2.97 [[ 9.99955450e-01 -8.87323584e-03 -3.21922882e-03 8.11201690e+02] [ 8.87361969e-03 9.99960623e-01 1.04971538e-04 -6.25329643e+01] [ 3.21817062e-03 -1.33533074e-04 9.99994813e-01 2.96852786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.000714057 meters Centerline goodness [0,1] 0.9867270116193045 Centerline is valid? [True, True] Translation: X:811.23, Y:-62.53, Z:2.97 [[ 9.99966169e-01 -7.41122264e-03 -3.56868433e-03 8.11232858e+02] [ 7.41168556e-03 9.99972526e-01 1.16508262e-04 -6.25303580e+01] [ 3.56772281e-03 -1.42954287e-04 9.99993625e-01 2.96859457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.030714057 meters Centerline goodness [0,1] 0.9866247736248391 Centerline is valid? [True, True] Translation: X:811.26, Y:-62.53, Z:2.97 [[ 9.99975600e-01 -6.13690592e-03 -3.33719332e-03 8.11263145e+02] [ 6.13730403e-03 9.99981161e-01 1.09066511e-04 -6.25337017e+01] [ 3.33646112e-03 -1.29545220e-04 9.99994426e-01 2.96848595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0607140569999 meters Centerline goodness [0,1] 0.9863434396236278 Centerline is valid? [True, True] Translation: X:811.29, Y:-62.53, Z:2.97 [[ 9.99988344e-01 -3.64859113e-03 -3.16226003e-03 8.11294116e+02] [ 3.64893634e-03 9.99993337e-01 1.03404273e-04 -6.25343327e+01] [ 3.16186168e-03 -1.14941953e-04 9.99994995e-01 2.96851763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0907140569999 meters Centerline goodness [0,1] 0.9866444434824019 Centerline is valid? [True, True] Translation: X:811.32, Y:-62.54, Z:2.97 [[ 9.99992641e-01 -2.28942466e-03 -3.07852595e-03 8.11323798e+02] [ 2.28974557e-03 9.99997373e-01 1.00721705e-04 -6.25378291e+01] [ 3.07828727e-03 -1.07770005e-04 9.99995256e-01 2.96908197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.120714057 meters Centerline goodness [0,1] 0.9862840995543962 Centerline is valid? [True, True] Translation: X:811.35, Y:-62.54, Z:2.97 [[ 9.99994245e-01 -1.46888800e-03 -3.05814871e-03 8.11353773e+02] [ 1.46920100e-03 9.99998916e-01 1.00103666e-04 -6.25385561e+01] [ 3.05799835e-03 -1.04596125e-04 9.99995319e-01 2.96917291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.150714057 meters Centerline goodness [0,1] 0.9875024451737704 Centerline is valid? [True, True] Translation: X:811.38, Y:-62.54, Z:2.97 [[ 9.99993551e-01 7.43694041e-05 -3.59054075e-03 8.11383797e+02] [-7.39484061e-05 9.99999990e-01 1.17384580e-04 -6.25362123e+01] [ 3.59054944e-03 -1.17118308e-04 9.99993547e-01 2.96924602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1807140569999 meters Centerline goodness [0,1] 0.9878345498783455 Centerline is valid? [True, True] Translation: X:811.41, Y:-62.54, Z:2.97 [[ 9.99990974e-01 9.58242255e-04 -4.13917175e-03 8.11412437e+02] [-9.57691104e-04 9.99999532e-01 1.35134696e-04 -6.25394665e+01] [ 4.13929931e-03 -1.31169428e-04 9.99991424e-01 2.96881312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2107140569999 meters Centerline goodness [0,1] 0.987540498814934 Centerline is valid? [True, True] Translation: X:811.44, Y:-62.54, Z:2.97 [[ 9.99989270e-01 1.27176826e-03 -4.45446227e-03 8.11441175e+02] [-1.27113429e-03 9.99999182e-01 1.45150968e-04 -6.25411746e+01] [ 4.45464322e-03 -1.39487191e-04 9.99990068e-01 2.96858544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2407140569999 meters Centerline goodness [0,1] 0.9865231450335293 Centerline is valid? [True, True] Translation: X:811.47, Y:-62.55, Z:2.97 [[ 9.99992566e-01 7.27506168e-04 -3.78657756e-03 8.11468511e+02] [-7.27045078e-04 9.99999728e-01 1.23144498e-04 -6.25459068e+01] [ 3.78666612e-03 -1.20390570e-04 9.99992823e-01 2.96826349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.270714057 meters Centerline goodness [0,1] 0.9870363156300047 Centerline is valid? [True, True] Translation: X:811.50, Y:-62.55, Z:2.97 [[ 9.99993021e-01 -1.62980289e-04 -3.73236183e-03 8.11497642e+02] [ 1.63433267e-04 9.99999979e-01 1.21060421e-04 -6.25479617e+01] [ 3.73234202e-03 -1.21669568e-04 9.99993027e-01 2.96871320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3007140569999 meters Centerline goodness [0,1] 0.9872901574632369 Centerline is valid? [True, True] Translation: X:811.53, Y:-62.55, Z:2.97 [[ 9.99988871e-01 -1.63633755e-03 -4.42493507e-03 8.11526304e+02] [ 1.63698712e-03 9.99998650e-01 1.43179719e-04 -6.25516015e+01] [ 4.42469481e-03 -1.50421687e-04 9.99990200e-01 2.96847757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3307140569999 meters Centerline goodness [0,1] 0.9856211697957946 Centerline is valid? [True, True] Translation: X:811.55, Y:-62.56, Z:2.97 [[ 9.99974938e-01 -4.66815407e-03 -5.32271996e-03 8.11554517e+02] [ 4.66913516e-03 9.99989085e-01 1.71908183e-04 -6.25582497e+01] [ 5.32185937e-03 -1.96756374e-04 9.99985819e-01 2.96762551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3607140569999 meters Centerline goodness [0,1] 0.986536425129125 Centerline is valid? [True, True] Translation: X:811.58, Y:-62.56, Z:2.97 [[ 9.99967789e-01 -5.87518758e-03 -5.46842870e-03 8.11584364e+02] [ 5.87623972e-03 9.99982719e-01 1.76354353e-04 -6.25601220e+01] [ 5.46729808e-03 -2.08482470e-04 9.99985032e-01 2.96754073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.390714057 meters Centerline goodness [0,1] 0.986536425129125 Centerline is valid? [True, True] Translation: X:811.61, Y:-62.56, Z:2.97 [[ 9.99967575e-01 -5.91139043e-03 -5.46843507e-03 8.11613525e+02] [ 5.91244203e-03 9.99982506e-01 1.76156389e-04 -6.25610329e+01] [ 5.46729808e-03 -2.08482482e-04 9.99985032e-01 2.96763838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4207140569999 meters Centerline goodness [0,1] 0.9857235561323816 Centerline is valid? [True, True] Translation: X:811.64, Y:-62.57, Z:2.97 [[ 9.99961317e-01 -6.86434012e-03 -5.49948999e-03 8.11642803e+02] [ 6.86541720e-03 9.99976417e-01 1.76996136e-04 -6.25659205e+01] [ 5.49814534e-03 -2.14745582e-04 9.99984862e-01 2.96780592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4507140569999 meters Centerline goodness [0,1] 0.9851760745727602 Centerline is valid? [True, True] Translation: X:811.67, Y:-62.57, Z:2.97 [[ 9.99955744e-01 -7.89841533e-03 -5.11123531e-03 8.11673096e+02] [ 7.89935890e-03 9.99968786e-01 1.64444626e-04 -6.25692784e+01] [ 5.10977691e-03 -2.04812831e-04 9.99986924e-01 2.96758134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4807140569999 meters Centerline goodness [0,1] 0.9846326271095114 Centerline is valid? [True, True] Translation: X:811.70, Y:-62.57, Z:2.97 [[ 9.99957532e-01 -7.88480893e-03 -4.77125405e-03 8.11703445e+02] [ 7.88563140e-03 9.99968896e-01 1.53592214e-04 -6.25744418e+01] [ 4.76989460e-03 -1.91210042e-04 9.99988606e-01 2.96730845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.510714057 meters Centerline goodness [0,1] 0.9864693081679702 Centerline is valid? [True, True] Translation: X:811.73, Y:-62.58, Z:2.97 [[ 9.99961008e-01 -7.34698367e-03 -4.89935807e-03 8.11733721e+02] [ 7.34784547e-03 9.99972992e-01 1.57922599e-04 -6.25753486e+01] [ 4.89806549e-03 -1.93916167e-04 9.99987986e-01 2.96739350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.540714057 meters Centerline goodness [0,1] 0.9866171163430143 Centerline is valid? [True, True] Translation: X:811.76, Y:-62.58, Z:2.97 [[ 9.99975341e-01 -5.09635427e-03 -4.83155668e-03 8.11763223e+02] [ 5.09716602e-03 9.99986997e-01 1.55710191e-04 -6.25793543e+01] [ 4.83070030e-03 -1.80333597e-04 9.99988316e-01 2.96756588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5707140569999 meters Centerline goodness [0,1] 0.9859606123151015 Centerline is valid? [True, True] Translation: X:811.79, Y:-62.58, Z:2.97 [[ 9.99982400e-01 -3.60392305e-03 -4.71291746e-03 8.11792778e+02] [ 3.60467835e-03 9.99993492e-01 1.51778457e-04 -6.25804333e+01] [ 4.71233979e-03 -1.68764337e-04 9.99988883e-01 2.96735922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6007140569999 meters Centerline goodness [0,1] 0.9860336985072714 Centerline is valid? [True, True] Translation: X:811.82, Y:-62.58, Z:2.97 [[ 9.99986949e-01 8.59397896e-04 -5.03611523e-03 8.11821861e+02] [-8.58592930e-04 9.99999618e-01 1.61998336e-04 -6.25828917e+01] [ 5.03625253e-03 -1.57672249e-04 9.99987306e-01 2.96728382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.630714057 meters Centerline goodness [0,1] 0.986841257915638 Centerline is valid? [True, True] Translation: X:811.85, Y:-62.58, Z:2.97 [[ 9.99984323e-01 2.42511779e-03 -5.04698930e-03 8.11850581e+02] [-2.42433198e-03 9.99997048e-01 1.61810315e-04 -6.25847711e+01] [ 5.04736681e-03 -1.49572201e-04 9.99987251e-01 2.96709033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.660714057 meters Centerline goodness [0,1] 0.986929367072307 Centerline is valid? [True, True] Translation: X:811.88, Y:-62.59, Z:2.97 [[ 9.99979450e-01 3.58444641e-03 -5.31511570e-03 8.11879674e+02] [-3.58359845e-03 9.99993565e-01 1.69051876e-04 -6.25855701e+01] [ 5.31568746e-03 -1.50001161e-04 9.99985860e-01 2.96688111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6907140569999 meters Centerline goodness [0,1] 0.9871018971585543 Centerline is valid? [True, True] Translation: X:811.91, Y:-62.59, Z:2.97 [[ 9.99974650e-01 5.16016484e-03 -4.90642657e-03 8.11907596e+02] [-5.15946566e-03 9.99986678e-01 1.55149379e-04 -6.25894388e+01] [ 4.90716180e-03 -1.29830906e-04 9.99987951e-01 2.96722699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7207140569999 meters Centerline goodness [0,1] 0.9865623660522932 Centerline is valid? [True, True] Translation: X:811.94, Y:-62.59, Z:2.97 [[ 9.99973442e-01 5.56355014e-03 -4.70762704e-03 8.11935969e+02] [-5.56291272e-03 9.99984516e-01 1.48483773e-04 -6.25906577e+01] [ 4.70838024e-03 -1.22291712e-04 9.99988908e-01 2.96753724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.750714057 meters Centerline goodness [0,1] 0.9867157250732668 Centerline is valid? [True, True] Translation: X:811.96, Y:-62.59, Z:2.97 [[ 9.99978042e-01 5.74564925e-03 -3.30200856e-03 8.11964308e+02] [-5.74533719e-03 9.99983490e-01 1.03984551e-04 -6.25948661e+01] [ 3.30255150e-03 -8.50111151e-05 9.99994543e-01 2.96821966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.780714057 meters Centerline goodness [0,1] 0.9869059062266368 Centerline is valid? [True, True] Translation: X:811.99, Y:-62.60, Z:2.97 [[ 9.99978249e-01 5.67601222e-03 -3.35924363e-03 8.11992687e+02] [-5.67568968e-03 9.99983888e-01 1.05542659e-04 -6.25980325e+01] [ 3.35978857e-03 -8.64743391e-05 9.99994352e-01 2.96812862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8107140569999 meters Centerline goodness [0,1] 0.9862495483816123 Centerline is valid? [True, True] Translation: X:812.02, Y:-62.60, Z:2.97 [[ 9.99975845e-01 5.51336064e-03 -4.23226527e-03 8.12021600e+02] [-5.51284873e-03 9.99984795e-01 1.32609455e-04 -6.26007884e+01] [ 4.23293204e-03 -1.09274413e-04 9.99991035e-01 2.96746320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8407140569999 meters Centerline goodness [0,1] 0.986969780981425 Centerline is valid? [True, True] Translation: X:812.05, Y:-62.61, Z:2.97 [[ 9.99972957e-01 4.34293828e-03 -5.93505064e-03 8.12049584e+02] [-4.34191432e-03 9.99990557e-01 1.85402083e-04 -6.26074005e+01] [ 5.93579978e-03 -1.59627588e-04 9.99982370e-01 2.96576330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.870714057 meters Centerline goodness [0,1] 0.9867043907420013 Centerline is valid? [True, True] Translation: X:812.08, Y:-62.61, Z:2.97 [[ 9.99973977e-01 3.52211493e-03 -6.29608457e-03 8.12077776e+02] [-3.52095011e-03 9.99993782e-01 1.96080826e-04 -6.26107294e+01] [ 6.29673604e-03 -1.73907524e-04 9.99980160e-01 2.96500130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.900714057 meters Centerline goodness [0,1] 0.9858933503292968 Centerline is valid? [True, True] Translation: X:812.10, Y:-62.62, Z:2.96 [[ 9.99981936e-01 1.49801550e-03 -5.82099745e-03 8.12104922e+02] [-1.49698883e-03 9.99998863e-01 1.80725085e-04 -6.26176648e+01] [ 5.82126156e-03 -1.72007852e-04 9.99983042e-01 2.96494011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9307140569999 meters Centerline goodness [0,1] 0.9859055823276046 Centerline is valid? [True, True] Translation: X:812.13, Y:-62.62, Z:2.97 [[ 9.99984980e-01 3.71484503e-04 -5.46826451e-03 8.12133202e+02] [-3.70564269e-04 9.99999917e-01 1.69298477e-04 -6.26215745e+01] [ 5.46832695e-03 -1.67269590e-04 9.99985035e-01 2.96565319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9607140569999 meters Centerline goodness [0,1] 0.9856511202754985 Centerline is valid? [True, True] Translation: X:812.16, Y:-62.63, Z:2.97 [[ 9.99984544e-01 -1.38823153e-03 -5.38380817e-03 8.12161842e+02] [ 1.38914705e-03 9.99999021e-01 1.66315843e-04 -6.26255876e+01] [ 5.38357201e-03 -1.73792173e-04 9.99985493e-01 2.96597514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9907140569999 meters Centerline goodness [0,1] 0.9844464775846294 Centerline is valid? [True, True] Translation: X:812.19, Y:-62.63, Z:2.97 [[ 9.99967497e-01 -5.76758808e-03 -5.63384572e-03 8.12191132e+02] [ 5.76865846e-03 9.99983346e-01 1.73759525e-04 -6.26345235e+01] [ 5.63274972e-03 -2.06253609e-04 9.99984115e-01 2.96555083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.020714057 meters Centerline goodness [0,1] 0.9842745272808302 Centerline is valid? [True, True] Translation: X:812.22, Y:-62.64, Z:2.97 [[ 9.99953004e-01 -7.80535893e-03 -5.75027967e-03 8.12221045e+02] [ 7.80650708e-03 9.99969513e-01 1.77249937e-04 -6.26363745e+01] [ 5.74872086e-03 -2.22131206e-04 9.99983451e-01 2.96569136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0507140569999 meters Centerline goodness [0,1] 0.9817392225399851 Centerline is valid? [True, True] Translation: X:812.25, Y:-62.65, Z:2.97 [[ 9.99918836e-01 -1.16312652e-02 -5.19944309e-03 8.12250079e+02] [ 1.16322551e-02 9.99932330e-01 1.60185215e-04 -6.26466327e+01] [ 5.19722809e-03 -2.20653462e-04 9.99986470e-01 2.96631003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0807140569999 meters Centerline goodness [0,1] 0.9820010587612493 Centerline is valid? [True, True] Translation: X:812.28, Y:-62.65, Z:2.97 [[ 9.99908019e-01 -1.27880176e-02 -4.51890814e-03 8.12280880e+02] [ 1.27887769e-02 9.99918211e-01 1.39168563e-04 -6.26504740e+01] [ 4.51675885e-03 -1.96947070e-04 9.99989780e-01 2.96737555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1107140569999 meters Centerline goodness [0,1] 0.9811021959459459 Centerline is valid? [True, True] Translation: X:812.31, Y:-62.65, Z:2.97 [[ 9.99889760e-01 -1.45927968e-02 -2.74195175e-03 8.12312030e+02] [ 1.45930831e-02 9.99893512e-01 8.44232447e-05 -6.26549723e+01] [ 2.74042779e-03 -1.24427467e-04 9.99996237e-01 2.96898357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.140714057 meters Centerline goodness [0,1] 0.982498196783911 Centerline is valid? [True, True] Translation: X:812.34, Y:-62.66, Z:2.97 [[ 9.99886012e-01 -1.48553942e-02 -2.69827325e-03 8.12344493e+02] [ 1.48556725e-02 9.99889645e-01 8.31463689e-05 -6.26578961e+01] [ 2.69674031e-03 -1.23221555e-04 9.99996356e-01 2.96957698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1707140569999 meters Centerline goodness [0,1] 0.9816125672257296 Centerline is valid? [True, True] Translation: X:812.38, Y:-62.66, Z:2.97 [[ 9.99878663e-01 -1.53655453e-02 -2.56106292e-03 8.12376746e+02] [ 1.53657981e-02 9.99881936e-01 7.90813860e-05 -6.26604589e+01] [ 2.55954543e-03 -1.18424566e-04 9.99996717e-01 2.96964488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2007140569999 meters Centerline goodness [0,1] 0.9805426027977957 Centerline is valid? [True, True] Translation: X:812.41, Y:-62.67, Z:2.97 [[ 9.99865064e-01 -1.61733232e-02 -2.87692538e-03 8.12407896e+02] [ 1.61736463e-02 9.99869194e-01 8.90664056e-05 -6.26661485e+01] [ 2.87510856e-03 -1.35584761e-04 9.99995858e-01 2.96896253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2307140569999 meters Centerline goodness [0,1] 0.9810087635538014 Centerline is valid? [True, True] Translation: X:812.44, Y:-62.66, Z:2.97 [[ 9.99857050e-01 -1.66757224e-02 -2.79275193e-03 8.12439948e+02] [ 1.66760291e-02 9.99860942e-01 8.65856486e-05 -6.26626251e+01] [ 2.79091970e-03 -1.33145284e-04 9.99996097e-01 2.96883673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.260714057 meters Centerline goodness [0,1] 0.9817502059438565 Centerline is valid? [True, True] Translation: X:812.47, Y:-62.67, Z:2.97 [[ 9.99852512e-01 -1.69661111e-02 -2.66563919e-03 8.12472412e+02] [ 1.69663921e-02 9.99856057e-01 8.28238734e-05 -6.26651391e+01] [ 2.66385029e-03 -1.28037938e-04 9.99996444e-01 2.96922234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.290714057 meters Centerline goodness [0,1] 0.981773482536453 Centerline is valid? [True, True] Translation: X:812.50, Y:-62.67, Z:2.97 [[ 9.99835067e-01 -1.80407074e-02 -2.09104079e-03 8.12504495e+02] [ 1.80408828e-02 9.99837248e-01 6.50681164e-05 -6.26682824e+01] [ 2.08952659e-03 -1.02781606e-04 9.99997812e-01 2.96923716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3207140569999 meters Centerline goodness [0,1] 0.9811253261509973 Centerline is valid? [True, True] Translation: X:812.54, Y:-62.67, Z:2.97 [[ 9.99830093e-01 -1.82620490e-02 -2.50640588e-03 8.12536162e+02] [ 1.82623023e-02 9.99833227e-01 7.82342265e-05 -6.26697104e+01] [ 2.50455917e-03 -1.23993676e-04 9.99996856e-01 2.96892809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3507140569999 meters Centerline goodness [0,1] 0.9817557460972887 Centerline is valid? [True, True] Translation: X:812.57, Y:-62.67, Z:2.97 [[ 9.99825437e-01 -1.85276638e-02 -2.41288629e-03 8.12568226e+02] [ 1.85278996e-02 9.99828341e-01 7.54210771e-05 -6.26712644e+01] [ 2.41107472e-03 -1.20113626e-04 9.99997086e-01 2.96916867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.380714057 meters Centerline goodness [0,1] 0.980266361769252 Centerline is valid? [True, True] Translation: X:812.60, Y:-62.67, Z:2.97 [[ 9.99814045e-01 -1.89651124e-02 -3.49269981e-03 8.12600460e+02] [ 1.89656105e-02 9.99820131e-01 1.09529632e-04 -6.26728354e+01] [ 3.48999434e-03 -1.75750449e-04 9.99993895e-01 2.96835411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.410714057 meters Centerline goodness [0,1] 0.9800478175316844 Centerline is valid? [True, True] Translation: X:812.63, Y:-62.67, Z:2.97 [[ 9.99819854e-01 -1.86066115e-02 -3.74881377e-03 8.12632696e+02] [ 1.86071839e-02 9.99826864e-01 1.17846788e-04 -6.26742607e+01] [ 3.74597199e-03 -1.87580425e-04 9.99992966e-01 2.96793099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4407140569999 meters Centerline goodness [0,1] 0.9805018042161683 Centerline is valid? [True, True] Translation: X:812.67, Y:-62.67, Z:2.97 [[ 9.99825630e-01 -1.82375572e-02 -4.01250940e-03 8.12665430e+02] [ 1.82382112e-02 9.99833662e-01 1.26452140e-04 -6.26734339e+01] [ 4.00953579e-03 -1.99611084e-04 9.99991942e-01 2.96781501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4707140569999 meters Centerline goodness [0,1] 0.9811735373042872 Centerline is valid? [True, True] Translation: X:812.70, Y:-62.68, Z:2.97 [[ 9.99857757e-01 -1.61086408e-02 -4.99781693e-03 8.12696363e+02] [ 1.61096310e-02 9.99870219e-01 1.57941365e-04 -6.26752490e+01] [ 4.99462408e-03 -2.38431885e-04 9.99987498e-01 2.96763226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.500714057 meters Centerline goodness [0,1] 0.9807639286547475 Centerline is valid? [True, True] Translation: X:812.73, Y:-62.68, Z:2.97 [[ 9.99872879e-01 -1.51313151e-02 -5.02675905e-03 8.12727330e+02] [ 1.51323054e-02 9.99885487e-01 1.59037004e-04 -6.26761756e+01] [ 5.02377699e-03 -2.35083241e-04 9.99987353e-01 2.96796730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.530714057 meters Centerline goodness [0,1] 0.9802993151264057 Centerline is valid? [True, True] Translation: X:812.76, Y:-62.68, Z:2.97 [[ 9.99917072e-01 -1.21051300e-02 -4.39480655e-03 8.12758541e+02] [ 1.21058584e-02 9.99926712e-01 1.39164906e-04 -6.26751512e+01] [ 4.39279986e-03 -1.92356272e-04 9.99990333e-01 2.96874915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5607140569999 meters Centerline goodness [0,1] 0.9807957267312462 Centerline is valid? [True, True] Translation: X:812.79, Y:-62.68, Z:2.97 [[ 9.99931006e-01 -1.09935454e-02 -4.13836418e-03 8.12789544e+02] [ 1.09941820e-02 9.99939554e-01 1.31128124e-04 -6.26762336e+01] [ 4.13667247e-03 -1.76617006e-04 9.99991428e-01 2.96914689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5907140569999 meters Centerline goodness [0,1] 0.980753758204531 Centerline is valid? [True, True] Translation: X:812.82, Y:-62.68, Z:2.97 [[ 9.99944075e-01 -9.80753979e-03 -3.95703750e-03 8.12820635e+02] [ 9.80811305e-03 9.99951891e-01 1.25490238e-04 -6.26755108e+01] [ 3.95561639e-03 -1.64294291e-04 9.99992163e-01 2.96918185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.620714057 meters Centerline goodness [0,1] 0.9806457083501156 Centerline is valid? [True, True] Translation: X:812.85, Y:-62.68, Z:2.97 [[ 9.99959740e-01 -8.00827195e-03 -4.04794266e-03 8.12850736e+02] [ 8.00885708e-03 9.99967920e-01 1.28359144e-04 -6.26771534e+01] [ 4.04678486e-03 -1.60773371e-04 9.99991799e-01 2.96927130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.650714057 meters Centerline goodness [0,1] 0.9806023159531766 Centerline is valid? [True, True] Translation: X:812.88, Y:-62.68, Z:2.97 [[ 9.99967948e-01 -7.12723492e-03 -3.64760692e-03 8.12881305e+02] [ 7.12770437e-03 9.99974591e-01 1.15718023e-04 -6.26768644e+01] [ 3.64668949e-03 -1.41713378e-04 9.99993341e-01 2.96969854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6807140569999 meters Centerline goodness [0,1] 0.9821021528070916 Centerline is valid? [True, True] Translation: X:812.91, Y:-62.68, Z:2.97 [[ 9.99977455e-01 -5.73776493e-03 -3.48819722e-03 8.12912172e+02] [ 5.73818581e-03 9.99983530e-01 1.10660851e-04 -6.26769620e+01] [ 3.48750483e-03 -1.30674280e-04 9.99993910e-01 2.96985585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7107140569999 meters Centerline goodness [0,1] 0.9811772178699979 Centerline is valid? [True, True] Translation: X:812.94, Y:-62.68, Z:2.97 [[ 9.99983105e-01 -4.96471942e-03 -3.02343292e-03 8.12941316e+02] [ 4.96503211e-03 9.99987670e-01 9.59223474e-05 -6.26797916e+01] [ 3.02291941e-03 -1.10932168e-04 9.99995425e-01 2.97037069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7407140569999 meters Centerline goodness [0,1] 0.9806889899985323 Centerline is valid? [True, True] Translation: X:812.97, Y:-62.69, Z:2.97 [[ 9.99989094e-01 -3.98400650e-03 -2.43715788e-03 8.12970584e+02] [ 3.98420668e-03 9.99992060e-01 7.72890141e-05 -6.26850148e+01] [ 2.43683061e-03 -8.69983119e-05 9.99997027e-01 2.97058512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.770714057 meters Centerline goodness [0,1] 0.980772895712017 Centerline is valid? [True, True] Translation: X:813.00, Y:-62.68, Z:2.97 [[ 9.99994353e-01 -3.12424109e-03 -1.23843071e-03 8.13001132e+02] [ 3.12429209e-03 9.99995119e-01 3.92437173e-05 -6.26846352e+01] [ 1.23830206e-03 -4.31127150e-05 9.99999232e-01 2.97091251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8007140569999 meters Centerline goodness [0,1] 0.9801261429055198 Centerline is valid? [True, True] Translation: X:813.03, Y:-62.69, Z:2.97 [[ 9.99996801e-01 -2.27342388e-03 -1.10847245e-03 8.13031171e+02] [ 2.27346417e-03 9.99997415e-01 3.50858678e-05 -6.26901864e+01] [ 1.10838982e-03 -3.76058280e-05 9.99999385e-01 2.97123613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8307140569999 meters Centerline goodness [0,1] 0.9816214613902475 Centerline is valid? [True, True] Translation: X:813.06, Y:-62.69, Z:2.97 [[ 9.99997675e-01 -2.02683844e-03 -7.36792393e-04 8.13061928e+02] [ 2.02685621e-03 9.99997946e-01 2.33607542e-05 -6.26886234e+01] [ 7.36743531e-04 -2.48540721e-05 9.99999728e-01 2.97095394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8607140569999 meters Centerline goodness [0,1] 0.9810687602887173 Centerline is valid? [True, True] Translation: X:813.09, Y:-62.69, Z:2.97 [[ 9.99998155e-01 -1.39952381e-03 -1.31617696e-03 8.13092488e+02] [ 1.39957994e-03 9.99999020e-01 4.17307327e-05 -6.26923254e+01] [ 1.31611727e-03 -4.35727506e-05 9.99999133e-01 2.97028071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.890714057 meters Centerline goodness [0,1] 0.980729583035301 Centerline is valid? [True, True] Translation: X:813.12, Y:-62.69, Z:2.97 [[ 9.99997835e-01 -1.36849782e-03 -1.56767180e-03 8.13123340e+02] [ 1.36857742e-03 9.99999062e-01 4.97046332e-05 -6.26946219e+01] [ 1.56760231e-03 -5.18500059e-05 9.99998770e-01 2.97020980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9207140569999 meters Centerline goodness [0,1] 0.9817392225399851 Centerline is valid? [True, True] Translation: X:813.15, Y:-62.70, Z:2.97 [[ 9.99997694e-01 -1.79059420e-03 -1.18584174e-03 8.13152518e+02] [ 1.79064009e-03 9.99998396e-01 3.76363786e-05 -6.27001140e+01] [ 1.18577245e-03 -3.97597075e-05 9.99999296e-01 2.97042933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9507140569999 meters Centerline goodness [0,1] 0.9807793520136419 Centerline is valid? [True, True] Translation: X:813.18, Y:-62.70, Z:2.97 [[ 9.99996275e-01 -2.34717666e-03 -1.39322762e-03 8.13182063e+02] [ 2.34724049e-03 9.99997244e-01 4.41829432e-05 -6.27034080e+01] [ 1.39312008e-03 -4.74530189e-05 9.99999028e-01 2.97041932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9807140569999 meters Centerline goodness [0,1] 0.9812896405919662 Centerline is valid? [True, True] Translation: X:813.21, Y:-62.70, Z:2.97 [[ 9.99993682e-01 -3.24681145e-03 -1.44711117e-03 8.13212305e+02] [ 3.24688117e-03 9.99994728e-01 4.58315381e-05 -6.27040767e+01] [ 1.44695473e-03 -5.05298465e-05 9.99998952e-01 2.96981726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.010714057 meters Centerline goodness [0,1] 0.9816971362147311 Centerline is valid? [True, True] Translation: X:813.24, Y:-62.71, Z:2.97 [[ 9.99989412e-01 -4.33001620e-03 -1.55754854e-03 8.13242338e+02] [ 4.33009823e-03 9.99990624e-01 4.92971925e-05 -6.27107524e+01] [ 1.55732048e-03 -5.60410087e-05 9.99998786e-01 2.97046188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.040714057 meters Centerline goodness [0,1] 0.9796433909437299 Centerline is valid? [True, True] Translation: X:813.27, Y:-62.72, Z:2.97 [[ 9.99987708e-01 -4.83606769e-03 -1.09406044e-03 8.13272198e+02] [ 4.83610847e-03 9.99988305e-01 3.46301294e-05 -6.27158339e+01] [ 1.09388018e-03 -3.99206987e-05 9.99999401e-01 2.97073761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0707140569999 meters Centerline goodness [0,1] 0.9804211148149711 Centerline is valid? [True, True] Translation: X:813.30, Y:-62.72, Z:2.97 [[ 9.99985131e-01 -5.45262487e-03 -8.73201343e-05 8.13302228e+02] [ 5.45262513e-03 9.99985134e-01 2.76861956e-06 -6.27189115e+01] [ 8.73037400e-05 -3.24470235e-06 9.99999996e-01 2.97179098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1007140569999 meters Centerline goodness [0,1] 0.9793955754265348 Centerline is valid? [True, True] Translation: X:813.33, Y:-62.72, Z:2.97 [[ 9.99983653e-01 -5.70536922e-03 3.76533723e-04 8.13332863e+02] [ 5.70537414e-03 9.99983724e-01 -1.20033870e-05 -6.27223586e+01] [-3.76459111e-04 1.41514565e-05 9.99999929e-01 2.97191740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.130714057 meters Centerline goodness [0,1] 0.9790278445052535 Centerline is valid? [True, True] Translation: X:813.36, Y:-62.73, Z:2.97 [[ 9.99984971e-01 -5.47926570e-03 -1.85555477e-04 8.13363624e+02] [ 5.47926682e-03 9.99984989e-01 5.51564903e-06 -6.27262364e+01] [ 1.85522470e-04 -6.53227411e-06 9.99999983e-01 2.97188288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.160714057 meters Centerline goodness [0,1] 0.980082374062731 Centerline is valid? [True, True] Translation: X:813.39, Y:-62.73, Z:2.97 [[ 9.99981445e-01 -6.09128497e-03 -7.19813200e-05 8.13394773e+02] [ 6.09128514e-03 9.99981448e-01 2.18011166e-06 -6.27301113e+01] [ 7.19667049e-05 -2.61852996e-06 9.99999997e-01 2.97205363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1907140569999 meters Centerline goodness [0,1] 0.9802209363492899 Centerline is valid? [True, True] Translation: X:813.43, Y:-62.73, Z:2.97 [[ 9.99983254e-01 -5.78593840e-03 -1.20360932e-04 8.13425630e+02] [ 5.78593889e-03 9.99983261e-01 3.72400515e-06 -6.27331777e+01] [ 1.20337371e-04 -4.42034379e-06 9.99999993e-01 2.97090457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2207140569999 meters Centerline goodness [0,1] 0.9795489858480662 Centerline is valid? [True, True] Translation: X:813.46, Y:-62.74, Z:2.97 [[ 9.99988813e-01 -4.70271360e-03 -5.08675520e-04 8.13455843e+02] [ 4.70272244e-03 9.99988942e-01 1.61830074e-05 -6.27368568e+01] [ 5.08593791e-04 -1.85749862e-05 9.99999870e-01 2.97107054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.250714057 meters Centerline goodness [0,1] 0.9805749968567956 Centerline is valid? [True, True] Translation: X:813.49, Y:-62.74, Z:2.97 [[ 9.99999695e-01 -7.64238608e-04 -1.60906095e-04 8.13486707e+02] [ 7.64239435e-04 9.99999708e-01 5.08064513e-06 -6.27357549e+01] [ 1.60902165e-04 -5.20361437e-06 9.99999987e-01 2.97144746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.280714057 meters Centerline goodness [0,1] 0.9805749968567956 Centerline is valid? [True, True] Translation: X:813.52, Y:-62.74, Z:2.97 [[ 9.99999695e-01 -7.64238409e-04 -1.60904193e-04 8.13516708e+02] [ 7.64239246e-04 9.99999708e-01 5.14018750e-06 -6.27367133e+01] [ 1.60900218e-04 -5.26315523e-06 9.99999987e-01 2.97154787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3107140569999 meters Centerline goodness [0,1] 0.9826992525405224 Centerline is valid? [True, True] Translation: X:813.55, Y:-62.74, Z:2.97 [[ 9.99998250e-01 1.83114168e-03 -3.82338427e-04 8.13547572e+02] [-1.83113714e-03 9.99998323e-01 1.22157594e-05 -6.27368428e+01] [ 3.82360155e-04 -1.15156239e-05 9.99999927e-01 2.97214521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3407140569999 meters Centerline goodness [0,1] 0.9820644834571236 Centerline is valid? [True, True] Translation: X:813.58, Y:-62.74, Z:2.97 [[ 9.99992118e-01 3.96722713e-03 1.61204259e-04 8.13578359e+02] [-3.96722635e-03 9.99992131e-01 -5.14968002e-06 -6.27384030e+01] [-1.61223420e-04 4.51010564e-06 9.99999987e-01 2.97217642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.370714057 meters Centerline goodness [0,1] 0.9833040789033768 Centerline is valid? [True, True] Translation: X:813.61, Y:-62.74, Z:2.97 [[ 9.99957100e-01 9.23594774e-03 -7.03450125e-04 8.13607541e+02] [-9.23593415e-03 9.99957348e-01 2.25662756e-05 -6.27420538e+01] [ 7.03628542e-04 -1.60682885e-05 9.99999752e-01 2.97266502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.400714057 meters Centerline goodness [0,1] 0.9839770618991398 Centerline is valid? [True, True] Translation: X:813.64, Y:-62.74, Z:2.97 [[ 9.99941741e-01 1.07830483e-02 -4.91297907e-04 8.13636530e+02] [-1.07830418e-02 9.99941861e-01 1.58814465e-05 -6.27422584e+01] [ 4.91440594e-04 -1.05828354e-05 9.99999879e-01 2.97251657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4307140569999 meters Centerline goodness [0,1] 0.9845857014030157 Centerline is valid? [True, True] Translation: X:813.67, Y:-62.75, Z:2.97 [[ 9.99910858e-01 1.33447712e-02 -4.39878092e-04 8.13665277e+02] [-1.33447662e-02 9.99910955e-01 1.42117196e-05 -6.27460170e+01] [ 4.40028575e-04 -8.34038246e-06 9.99999903e-01 2.97284881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4607140569999 meters Centerline goodness [0,1] 0.9846518854455363 Centerline is valid? [True, True] Translation: X:813.69, Y:-62.75, Z:2.97 [[ 9.99908522e-01 1.35240204e-02 2.17959029e-04 8.13693330e+02] [-1.35240193e-02 9.99908546e-01 -6.60926099e-06 -6.27487905e+01] [-2.18028479e-04 3.66097428e-06 9.99999976e-01 2.97283455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4907140569999 meters Centerline goodness [0,1] 0.9849505698633587 Centerline is valid? [True, True] Translation: X:813.72, Y:-62.75, Z:2.97 [[ 9.99906463e-01 1.36659538e-02 5.53491418e-04 8.13721644e+02] [-1.36659463e-02 9.99906616e-01 -1.72522835e-05 -6.27509797e+01] [-5.53675499e-04 9.68668578e-06 9.99999847e-01 2.97304690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.520714057 meters Centerline goodness [0,1] 0.9849711947900142 Centerline is valid? [True, True] Translation: X:813.75, Y:-62.76, Z:2.97 [[ 9.99914233e-01 1.30862433e-02 5.26794708e-04 8.13749635e+02] [-1.30862364e-02 9.99914371e-01 -1.64419438e-05 -6.27578018e+01] [-5.26964762e-04 9.54677350e-06 9.99999861e-01 2.97380738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5507140569999 meters Centerline goodness [0,1] 0.9861617972787681 Centerline is valid? [True, True] Translation: X:813.78, Y:-62.76, Z:2.97 [[ 9.99932534e-01 1.15819991e-02 8.85830435e-04 8.13778714e+02] [-1.15819791e-02 9.99932926e-01 -2.77163712e-05 -6.27604348e+01] [-8.86092030e-04 1.74548317e-05 9.99999607e-01 2.97382778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5807140569999 meters Centerline goodness [0,1] 0.9856383201440355 Centerline is valid? [True, True] Translation: X:813.81, Y:-62.77, Z:2.97 [[ 9.99969694e-01 7.77754417e-03 3.46578501e-04 8.13807346e+02] [-7.77754079e-03 9.99969754e-01 -1.10956348e-05 -6.27705607e+01] [-3.46654315e-04 8.39977007e-06 9.99999940e-01 2.97422717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6107140569999 meters Centerline goodness [0,1] 0.9843766339698409 Centerline is valid? [True, True] Translation: X:813.84, Y:-62.78, Z:2.97 [[ 9.99987272e-01 5.01292608e-03 5.70490158e-04 8.13837131e+02] [-5.01291667e-03 9.99987435e-01 -1.79278751e-05 -6.27759551e+01] [-5.70572861e-04 1.50678273e-05 9.99999837e-01 2.97486032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.640714057 meters Centerline goodness [0,1] 0.9852231163130943 Centerline is valid? [True, True] Translation: X:813.87, Y:-62.78, Z:2.98 [[ 9.99998241e-01 1.80309461e-03 5.16307021e-04 8.13867134e+02] [-1.80308648e-03 9.99998374e-01 -1.62102139e-05 -6.27814793e+01] [-5.16335410e-04 1.52792391e-05 9.99999867e-01 2.97554626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6707140569999 meters Centerline goodness [0,1] 0.9850036500156429 Centerline is valid? [True, True] Translation: X:813.90, Y:-62.79, Z:2.98 [[ 9.99980896e-01 -6.16464822e-03 4.52266927e-04 8.13896531e+02] [ 6.16465527e-03 9.99980998e-01 -1.41954541e-05 -6.27941497e+01] [-4.52170823e-04 1.69832526e-05 9.99999898e-01 2.97602139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7007140569999 meters Centerline goodness [0,1] 0.9840917188908218 Centerline is valid? [True, True] Translation: X:813.93, Y:-62.80, Z:2.98 [[ 9.99948078e-01 -1.01795813e-02 4.67253980e-04 8.13927186e+02] [ 1.01795893e-02 9.99948187e-01 -1.47815093e-05 -6.28004468e+01] [-4.67079300e-04 1.95371954e-05 9.99999891e-01 2.97617852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7307140569999 meters Centerline goodness [0,1] 0.984372057992845 Centerline is valid? [True, True] Translation: X:813.96, Y:-62.81, Z:2.98 [[ 9.99846193e-01 -1.75382769e-02 6.36276992e-06 8.13956953e+02] [ 1.75382769e-02 9.99846193e-01 -2.13890659e-07 -6.28081891e+01] [-6.35804000e-06 3.25449779e-07 1.00000000e+00 2.97615631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.760714057 meters Centerline goodness [0,1] 0.9843531011400481 Centerline is valid? [True, True] Translation: X:813.99, Y:-62.81, Z:2.98 [[ 9.99785171e-01 -2.07270631e-02 -3.23338040e-06 8.13988416e+02] [ 2.07270631e-02 9.99785171e-01 -1.69824480e-08 -6.28116455e+01] [ 3.23303777e-06 -5.00396822e-08 1.00000000e+00 2.97597237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.790714057 meters Centerline goodness [0,1] 0.9838891675025075 Centerline is valid? [True, True] Translation: X:814.02, Y:-62.82, Z:2.98 [[ 9.99716037e-01 -2.38281270e-02 -2.55767270e-04 8.14019283e+02] [ 2.38281298e-02 9.99716070e-01 8.01504176e-06 -6.28159530e+01] [ 2.55503667e-04 -1.41072215e-05 9.99999967e-01 2.97573417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8207140569999 meters Centerline goodness [0,1] 0.9833093705069701 Centerline is valid? [True, True] Translation: X:814.05, Y:-62.82, Z:2.98 [[ 9.99646874e-01 -2.65695421e-02 -4.31121700e-04 8.14048974e+02] [ 2.65695505e-02 9.99646967e-01 1.36106160e-05 -6.28210341e+01] [ 4.30607872e-04 -2.50605195e-05 9.99999907e-01 2.97575186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8507140569999 meters Centerline goodness [0,1] 0.9851602732527588 Centerline is valid? [True, True] Translation: X:814.08, Y:-62.82, Z:2.98 [[ 9.99507005e-01 -3.13843715e-02 -8.76405241e-04 8.14079638e+02] [ 3.13844077e-02 9.99507388e-01 2.76603088e-05 -6.28227844e+01] [ 8.75105412e-04 -5.51521318e-05 9.99999616e-01 2.97554586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.880714057 meters Centerline goodness [0,1] 0.9832979684447152 Centerline is valid? [True, True] Translation: X:814.11, Y:-62.83, Z:2.97 [[ 9.99355102e-01 -3.58172400e-02 -2.55063099e-03 8.14108577e+02] [ 3.58175617e-02 9.99358342e-01 8.05585507e-05 -6.28270207e+01] [ 2.54610897e-03 -1.71863981e-04 9.99996744e-01 2.97473314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.910714057 meters Centerline goodness [0,1] 0.983509664934901 Centerline is valid? [True, True] Translation: X:814.14, Y:-62.83, Z:2.98 [[ 9.99276004e-01 -3.79623716e-02 -2.51518112e-03 8.14139613e+02] [ 3.79626909e-02 9.99279154e-01 7.93151132e-05 -6.28295185e+01] [ 2.51035707e-03 -1.74740733e-04 9.99996834e-01 2.97563652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9407140569999 meters Centerline goodness [0,1] 0.9833543505674653 Centerline is valid? [True, True] Translation: X:814.17, Y:-62.83, Z:2.98 [[ 9.99188417e-01 -4.02210073e-02 -2.18563070e-03 8.14170734e+02] [ 4.02212539e-02 9.99190796e-01 6.89536932e-05 -6.28287716e+01] [ 2.18108869e-03 -1.56806539e-04 9.99997609e-01 2.97601924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9707140569999 meters Centerline goodness [0,1] 0.9831975132319584 Centerline is valid? [True, True] Translation: X:814.20, Y:-62.83, Z:2.98 [[ 9.99104375e-01 -4.22948532e-02 -1.26223464e-03 8.14201533e+02] [ 4.22949370e-02 9.99105168e-01 3.97880968e-05 -6.28293222e+01] [ 1.25942232e-03 -9.31385961e-05 9.99999203e-01 2.97692304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.000714057 meters Centerline goodness [0,1] 0.9815998654161585 Centerline is valid? [True, True] Translation: X:814.23, Y:-62.83, Z:2.98 [[ 9.98911841e-01 -4.66344549e-02 6.00550316e-04 8.14230598e+02] [ 4.66344748e-02 9.98912021e-01 -1.92025772e-05 -6.28337006e+01] [-5.99001428e-04 4.71880303e-05 9.99999819e-01 2.97907703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.030714057 meters Centerline goodness [0,1] 0.9819514946418499 Centerline is valid? [True, True] Translation: X:814.26, Y:-62.83, Z:2.98 [[ 9.98811234e-01 -4.87257298e-02 1.38604615e-03 8.14261573e+02] [ 4.87258374e-02 9.98812190e-01 -4.39760131e-05 -6.28308797e+01] [-1.38225703e-03 1.11459995e-04 9.99999038e-01 2.97951532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0607140569999 meters Centerline goodness [0,1] 0.9804387107618607 Centerline is valid? [True, True] Translation: X:814.29, Y:-62.83, Z:2.98 [[ 9.98601718e-01 -5.28260878e-02 2.00332828e-03 8.14292439e+02] [ 5.28263208e-02 9.98603713e-01 -6.34896514e-05 -6.28276438e+01] [-1.99717715e-03 1.69229337e-04 9.99997991e-01 2.97973860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0907140569999 meters Centerline goodness [0,1] 0.9784340514976353 Centerline is valid? [True, True] Translation: X:814.32, Y:-62.83, Z:2.98 [[ 9.98500702e-01 -5.47138367e-02 1.65642652e-03 8.14322587e+02] [ 5.47139987e-02 9.98502066e-01 -5.25788274e-05 -6.28318313e+01] [-1.65106851e-03 1.43129715e-04 9.99998627e-01 2.97921121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.120714057 meters Centerline goodness [0,1] 0.9783563362609786 Centerline is valid? [True, True] Translation: X:814.35, Y:-62.83, Z:2.98 [[ 9.98427051e-01 -5.60502858e-02 1.33800205e-03 8.14353880e+02] [ 5.60503929e-02 9.98427940e-01 -4.25913164e-05 -6.28298224e+01] [-1.33351137e-03 1.17519863e-04 9.99999104e-01 2.97848599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.150714057 meters Centerline goodness [0,1] 0.9765816808309726 Centerline is valid? [True, True] Translation: X:814.38, Y:-62.83, Z:2.98 [[ 9.98203296e-01 -5.99164339e-02 4.48614039e-04 8.14384100e+02] [ 5.99164463e-02 9.98203396e-01 -1.41812287e-05 -6.28261202e+01] [-4.46958368e-04 4.10351082e-05 9.99999899e-01 2.97759087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1807140569999 meters Centerline goodness [0,1] 0.9728682981975003 Centerline is valid? [True, True] Translation: X:814.41, Y:-62.83, Z:2.98 [[ 9.98080091e-01 -6.19364721e-02 -6.75330122e-05 8.14413606e+02] [ 6.19364724e-02 9.98080094e-01 1.90869038e-06 -6.28329814e+01] [ 6.72851376e-05 -6.08778242e-06 9.99999998e-01 2.97711292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2107140569999 meters Centerline goodness [0,1] 0.9716614499086192 Centerline is valid? [True, True] Translation: X:814.45, Y:-62.83, Z:2.98 [[ 9.97850516e-01 -6.55251836e-02 -8.93503978e-04 8.14445155e+02] [ 6.55252350e-02 9.97850912e-01 2.83343108e-05 -6.28272959e+01] [ 8.89727148e-04 -8.68204648e-05 9.99999600e-01 2.97694199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2407140569999 meters Centerline goodness [0,1] 0.9721842895859156 Centerline is valid? [True, True] Translation: X:814.48, Y:-62.82, Z:2.98 [[ 9.97733932e-01 -6.72773649e-02 -8.69864777e-04 8.14476628e+02] [ 6.72774143e-02 9.97734308e-01 2.75970059e-05 -6.28198871e+01] [ 8.66037277e-04 -8.60567221e-05 9.99999621e-01 2.97714943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.270714057 meters Centerline goodness [0,1] 0.9718170736833256 Centerline is valid? [True, True] Translation: X:814.51, Y:-62.81, Z:2.98 [[ 9.97639782e-01 -6.86571529e-02 -1.02954502e-03 8.14507575e+02] [ 6.86572229e-02 9.97640308e-01 3.27635859e-05 -6.28139471e+01] [ 1.02486616e-03 -1.03371959e-04 9.99999469e-01 2.97753051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3007140569999 meters Centerline goodness [0,1] 0.9706971265093188 Centerline is valid? [True, True] Translation: X:814.54, Y:-62.81, Z:2.98 [[ 9.97476315e-01 -7.09924275e-02 -1.03753457e-03 8.14537803e+02] [ 7.09924998e-02 9.97476849e-01 3.29961105e-05 -6.28093915e+01] [ 1.03257424e-03 -1.06570012e-04 9.99999461e-01 2.97816764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3307140569999 meters Centerline goodness [0,1] 0.9673243816848431 Centerline is valid? [True, True] Translation: X:814.57, Y:-62.81, Z:2.98 [[ 9.97417229e-01 -7.18167763e-02 -1.10552847e-03 8.14568358e+02] [ 7.18168590e-02 9.97417835e-01 3.52064883e-05 -6.28122087e+01] [ 1.10014540e-03 -1.14511140e-04 9.99999388e-01 2.97810316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3607140569999 meters Centerline goodness [0,1] 0.9693241193325468 Centerline is valid? [True, True] Translation: X:814.60, Y:-62.80, Z:2.98 [[ 9.97283495e-01 -7.36349517e-02 -1.87739624e-03 8.14599916e+02] [ 7.36351936e-02 9.97285242e-01 5.99678057e-05 -6.27988700e+01] [ 1.86788384e-03 -1.98047339e-04 9.99998236e-01 2.97721168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.390714057 meters Centerline goodness [0,1] 0.9660924139673982 Centerline is valid? [True, True] Translation: X:814.63, Y:-62.80, Z:2.98 [[ 9.97244928e-01 -7.41357093e-02 -2.53954810e-03 8.14631287e+02] [ 7.41361536e-02 9.97248126e-01 8.11570079e-05 -6.27992712e+01] [ 2.52654295e-03 -2.69205742e-04 9.99996772e-01 2.97722827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4207140569999 meters Centerline goodness [0,1] 0.9688993704070245 Centerline is valid? [True, True] Translation: X:814.66, Y:-62.79, Z:2.98 [[ 9.97211170e-01 -7.45517171e-02 -3.45296183e-03 8.14663992e+02] [ 7.45525419e-02 9.97217081e-01 1.10603992e-04 -6.27898719e+01] [ 3.43510680e-03 -3.67722618e-04 9.99994032e-01 2.97671444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4507140569999 meters Centerline goodness [0,1] 0.8874698542518612 Centerline is valid? [True, False] Translation: X:814.66, Y:-62.78, Z:2.98 [[ 9.97385780e-01 -7.21740612e-02 -3.53695928e-03 8.14663510e+02] [ 7.21785792e-02 9.97391042e-01 1.16665432e-03 -6.27817735e+01] [ 3.44352932e-03 -1.41889713e-03 9.99993064e-01 2.97678641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4807140569999 meters Centerline goodness [0,1] 0.9680438448566611 Centerline is valid? [False, True] Translation: X:814.66, Y:-62.78, Z:2.98 [[ 9.97603951e-01 -6.90986355e-02 -3.42585711e-03 8.14662528e+02] [ 6.91120961e-02 9.97600961e-01 3.97998712e-03 -6.27790436e+01] [ 3.14262667e-03 -4.20721904e-03 9.99986212e-01 2.97711123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.510714057 meters Centerline goodness [0,1] 0.9679190690405288 Centerline is valid? [True, True] Translation: X:814.69, Y:-62.77, Z:2.98 [[ 9.97671418e-01 -6.81692310e-02 -2.16747571e-03 8.14694266e+02] [ 6.81695646e-02 9.97673746e-01 8.03299941e-05 -6.27700144e+01] [ 2.15695758e-03 -2.27898814e-04 9.99997648e-01 2.98077900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.540714057 meters Centerline goodness [0,1] 0.9678668952816409 Centerline is valid? [True, True] Translation: X:814.73, Y:-62.77, Z:2.98 [[ 9.97695049e-01 -6.78279007e-02 -1.99143268e-03 8.14727124e+02] [ 6.78281817e-02 9.97697014e-01 7.37864962e-05 -6.27669078e+01] [ 1.98184165e-03 -2.08691679e-04 9.99998014e-01 2.98141109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5707140569999 meters Centerline goodness [0,1] 0.9698677741990168 Centerline is valid? [True, True] Translation: X:814.76, Y:-62.76, Z:2.98 [[ 9.97755427e-01 -6.69041736e-02 -2.81758331e-03 8.14758523e+02] [ 6.69047334e-02 9.97759363e-01 1.04821979e-04 -6.27591619e+01] [ 2.80425710e-03 -2.93096358e-04 9.99996025e-01 2.98237516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6007140569999 meters Centerline goodness [0,1] 0.9698231009365245 Centerline is valid? [True, True] Translation: X:814.79, Y:-62.76, Z:2.98 [[ 9.97787560e-01 -6.63734024e-02 -3.81523964e-03 8.14789711e+02] [ 6.63744260e-02 9.97794776e-01 1.42155684e-04 -6.27580664e+01] [ 3.79739083e-03 -3.95075515e-04 9.99992712e-01 2.98222191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.630714057 meters Centerline goodness [0,1] 0.9700017008249001 Centerline is valid? [True, True] Translation: X:814.82, Y:-62.76, Z:2.98 [[ 9.97810571e-01 -6.59803404e-02 -4.54512932e-03 8.14821896e+02] [ 6.59817921e-02 9.97820813e-01 1.70025723e-04 -6.27551948e+01] [ 4.52400628e-03 -4.69549241e-04 9.99989656e-01 2.98119741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.660714057 meters Centerline goodness [0,1] 0.973206679161697 Centerline is valid? [True, True] Translation: X:814.85, Y:-62.75, Z:2.98 [[ 9.97874366e-01 -6.47942161e-02 -6.96127660e-03 8.14854084e+02] [ 6.47975969e-02 9.97898393e-01 2.60979376e-04 -6.27481908e+01] [ 6.92973678e-03 -7.11498624e-04 9.99975736e-01 2.97989815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6907140569999 meters Centerline goodness [0,1] 0.9716115261472785 Centerline is valid? [True, True] Translation: X:814.89, Y:-62.75, Z:2.98 [[ 9.97887660e-01 -6.44305872e-02 -8.30162638e-03 8.14886466e+02] [ 6.44353875e-02 9.97921832e-01 3.11795113e-04 -6.27464732e+01] [ 8.26428507e-03 -8.46055008e-04 9.99965492e-01 2.97926572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7207140569999 meters Centerline goodness [0,1] 0.9758307511486269 Centerline is valid? [True, True] Translation: X:814.92, Y:-62.74, Z:2.98 [[ 9.97916304e-01 -6.38727783e-02 -9.12788148e-03 8.14918701e+02] [ 6.38785649e-02 9.97957620e-01 3.43510077e-04 -6.27394927e+01] [ 9.08729793e-03 -9.25870276e-04 9.99958281e-01 2.97961474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.750714057 meters Centerline goodness [0,1] 0.9645730961526082 Centerline is valid? [True, True] Translation: X:814.95, Y:-62.74, Z:2.98 [[ 9.97977557e-01 -6.27158832e-02 -1.03689251e-02 8.14949480e+02] [ 6.27232940e-02 9.98030879e-01 3.90750518e-04 -6.27407912e+01] [ 1.03240011e-02 -1.04033338e-03 9.99946165e-01 2.97974830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.780714057 meters Centerline goodness [0,1] 0.9684648014053729 Centerline is valid? [True, True] Translation: X:814.98, Y:-62.74, Z:2.98 [[ 9.97979678e-01 -6.24890441e-02 -1.14752935e-02 8.14981949e+02] [ 6.24981141e-02 9.98044988e-01 4.33143134e-04 -6.27357956e+01] [ 1.14257925e-02 -1.14945225e-03 9.99934063e-01 2.98012439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8107140569999 meters Centerline goodness [0,1] 0.9785101521748502 Centerline is valid? [True, True] Translation: X:815.01, Y:-62.72, Z:2.98 [[ 9.98007772e-01 -6.18875235e-02 -1.22646731e-02 8.15014792e+02] [ 6.18978504e-02 9.98082382e-01 4.63840183e-04 -6.27226745e+01] [ 1.22124482e-02 -1.22207301e-03 9.99924678e-01 2.98107799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8407140569999 meters Centerline goodness [0,1] 0.9789271617453573 Centerline is valid? [True, True] Translation: X:815.05, Y:-62.72, Z:2.98 [[ 9.98011528e-01 -6.16476880e-02 -1.31359050e-02 8.15048596e+02] [ 6.16595337e-02 9.98097116e-01 4.98319935e-04 -6.27165873e+01] [ 1.30801886e-02 -1.30728281e-03 9.99913596e-01 2.98197206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.870714057 meters Centerline goodness [0,1] 0.9502173819465369 Centerline is valid? [True, True] Translation: X:815.08, Y:-62.73, Z:2.98 [[ 9.98020511e-01 -6.15544777e-02 -1.28882418e-02 8.15080496e+02] [ 6.15658902e-02 9.98102901e-01 4.90240797e-04 -6.27298684e+01] [ 1.28336150e-02 -1.28274645e-03 9.99916823e-01 2.98103164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.900714057 meters Centerline goodness [0,1] 0.9767898782278263 Centerline is valid? [True, True] Translation: X:815.11, Y:-62.72, Z:2.98 [[ 9.98030357e-01 -6.14311041e-02 -1.27131936e-02 8.15114401e+02] [ 6.14422153e-02 9.98110524e-01 4.84894962e-04 -6.27196076e+01] [ 1.26593847e-02 -1.26506667e-03 9.99919067e-01 2.98269463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9307140569999 meters Centerline goodness [0,1] 0.9393755552185123 Centerline is valid? [True, False] Translation: X:815.11, Y:-62.72, Z:2.98 [[ 9.98204335e-01 -5.85891921e-02 -1.24664427e-02 8.15113033e+02] [ 5.86313898e-02 9.98275052e-01 3.04647264e-03 -6.27162201e+01] [ 1.22664483e-02 -3.77192705e-03 9.99917650e-01 2.98323268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9607140569999 meters Centerline goodness [0,1] 0.9755727835765949 Centerline is valid? [False, True] Translation: X:815.11, Y:-62.71, Z:2.98 [[ 9.98373595e-01 -5.56786168e-02 -1.22497568e-02 8.15111898e+02] [ 5.57506537e-02 9.98428908e-01 5.61970797e-03 -6.27129985e+01] [ 1.19176138e-02 -6.29350000e-03 9.99909177e-01 2.98369030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9907140569999 meters Centerline goodness [0,1] 0.9755361639315794 Centerline is valid? [True, True] Translation: X:815.14, Y:-62.71, Z:2.99 [[ 9.98369491e-01 -5.56807479e-02 -1.25703869e-02 8.15143918e+02] [ 5.56920120e-02 9.98447845e-01 5.47549966e-04 -6.27090669e+01] [ 1.25203878e-02 -1.24672732e-03 9.99920840e-01 2.98584936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.020714057 meters Centerline goodness [0,1] 0.9787884040386532 Centerline is valid? [True, True] Translation: X:815.18, Y:-62.71, Z:2.99 [[ 9.98390214e-01 -5.54250305e-02 -1.20435396e-02 8.15176409e+02] [ 5.54353619e-02 9.98462140e-01 5.25449542e-04 -6.27057921e+01] [ 1.19958953e-02 -1.19224166e-03 9.99927336e-01 2.98652415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0507140569999 meters Centerline goodness [0,1] 0.9774221641628565 Centerline is valid? [True, True] Translation: X:815.21, Y:-62.71, Z:2.99 [[ 9.98365101e-01 -5.57618013e-02 -1.25597204e-02 8.15208996e+02] [ 5.57730752e-02 9.98443320e-01 5.48885765e-04 -6.27065370e+01] [ 1.25095621e-02 -1.24848262e-03 9.99920973e-01 2.98660620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0807140569999 meters Centerline goodness [0,1] 0.9718328169349771 Centerline is valid? [True, True] Translation: X:815.24, Y:-62.71, Z:2.99 [[ 9.98284315e-01 -5.68817142e-02 -1.38887680e-02 8.15239418e+02] [ 5.68956153e-02 9.98379948e-01 6.07502711e-04 -6.27072224e+01] [ 1.38317117e-02 -1.39667043e-03 9.99903362e-01 2.98612150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1107140569999 meters Centerline goodness [0,1] 0.974203536928411 Centerline is valid? [True, True] Translation: X:815.27, Y:-62.71, Z:2.99 [[ 9.98242248e-01 -5.74613658e-02 -1.45122473e-02 8.15271238e+02] [ 5.74766126e-02 9.98346651e-01 6.35384983e-04 -6.27052773e+01] [ 1.44517434e-02 -1.46838295e-03 9.99894490e-01 2.98601800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.140714057 meters Centerline goodness [0,1] 0.9782908414487362 Centerline is valid? [True, True] Translation: X:815.30, Y:-62.70, Z:2.99 [[ 9.98192016e-01 -5.77448542e-02 -1.66802672e-02 8.15303198e+02] [ 5.77650523e-02 9.98329937e-01 7.31242722e-04 -6.26996108e+01] [ 1.66101846e-02 -1.69345715e-03 9.99860607e-01 2.98533272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1707140569999 meters Centerline goodness [0,1] 0.9743151809761545 Centerline is valid? [True, True] Translation: X:815.33, Y:-62.70, Z:2.98 [[ 9.98193433e-01 -5.75283267e-02 -1.73309799e-02 8.15334525e+02] [ 5.75501157e-02 9.98342329e-01 7.60710329e-04 -6.27005850e+01] [ 1.72584884e-02 -1.75673595e-03 9.99849518e-01 2.98440080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2007140569999 meters Centerline goodness [0,1] 0.9743151809761545 Centerline is valid? [True, True] Translation: X:815.37, Y:-62.70, Z:2.98 [[ 9.98197507e-01 -5.74575933e-02 -1.73309295e-02 8.15366348e+02] [ 5.74793914e-02 9.98346402e-01 7.61856768e-04 -6.27020461e+01] [ 1.72584966e-02 -1.75665481e-03 9.99849518e-01 2.98455057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2307140569999 meters Centerline goodness [0,1] 0.980834743620739 Centerline is valid? [True, True] Translation: X:815.40, Y:-62.69, Z:2.99 [[ 9.98251237e-01 -5.63496967e-02 -1.78655909e-02 8.15397843e+02] [ 5.63726998e-02 9.98409485e-01 7.86182800e-04 -6.26937323e+01] [ 1.77928743e-02 -1.79193955e-03 9.99840089e-01 2.98520795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.260714057 meters Centerline goodness [0,1] 0.9770092183134227 Centerline is valid? [True, True] Translation: X:815.43, Y:-62.70, Z:2.98 [[ 9.98318010e-01 -5.52976510e-02 -1.74160969e-02 8.15428524e+02] [ 5.53193633e-02 9.98468417e-01 7.67027656e-04 -6.26953626e+01] [ 1.73470078e-02 -1.72918491e-03 9.99848034e-01 2.98470462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.290714057 meters Centerline goodness [0,1] 0.9772577888786644 Centerline is valid? [True, True] Translation: X:815.46, Y:-62.69, Z:2.98 [[ 9.98414670e-01 -5.36564930e-02 -1.70037646e-02 8.15459143e+02] [ 5.36769563e-02 9.98558072e-01 7.49033376e-04 -6.26942083e+01] [ 1.69390559e-02 -1.66055624e-03 9.99855145e-01 2.98495322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3207140569999 meters Centerline goodness [0,1] 0.9808069456380424 Centerline is valid? [True, True] Translation: X:815.49, Y:-62.69, Z:2.99 [[ 9.98490009e-01 -5.22058914e-02 -1.70952115e-02 8.15490764e+02] [ 5.22263724e-02 9.98634988e-01 7.53505372e-04 -6.26902808e+01] [ 1.70325389e-02 -1.64518847e-03 9.99853582e-01 2.98538812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3507140569999 meters Centerline goodness [0,1] 0.9840164024780088 Centerline is valid? [True, True] Translation: X:815.52, Y:-62.68, Z:2.99 [[ 9.98604366e-01 -4.99701586e-02 -1.70969076e-02 8.15521694e+02] [ 4.99903218e-02 9.98749418e-01 7.53748307e-04 -6.26803438e+01] [ 1.70378616e-02 -1.60737626e-03 9.99853553e-01 2.98663476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.380714057 meters Centerline goodness [0,1] 0.9734081321642335 Centerline is valid? [True, True] Translation: X:815.55, Y:-62.69, Z:2.99 [[ 9.98645970e-01 -4.91575152e-02 -1.70225155e-02 8.15552557e+02] [ 4.91773975e-02 9.98789777e-01 7.51136614e-04 -6.26881363e+01] [ 1.69649904e-02 -1.58724256e-03 9.99854824e-01 2.98577519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.410714057 meters Centerline goodness [0,1] 0.9831180627866274 Centerline is valid? [True, True] Translation: X:815.59, Y:-62.68, Z:2.99 [[ 9.98676056e-01 -4.85498243e-02 -1.70014775e-02 8.15585730e+02] [ 4.85695932e-02 9.98819518e-01 7.51559381e-04 -6.26785265e+01] [ 1.69449194e-02 -1.57631920e-03 9.99855182e-01 2.98739456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4407140569999 meters Centerline goodness [0,1] 0.9842577379102092 Centerline is valid? [True, True] Translation: X:815.62, Y:-62.68, Z:2.99 [[ 9.98670493e-01 -4.87048901e-02 -1.68843078e-02 8.15617583e+02] [ 4.87244275e-02 9.98811980e-01 7.47459631e-04 -6.26755348e+01] [ 1.68278439e-02 -1.56914411e-03 9.99857171e-01 2.98786779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4707140569999 meters Centerline goodness [0,1] 0.9831078093216592 Centerline is valid? [True, True] Translation: X:815.65, Y:-62.68, Z:2.99 [[ 9.98640559e-01 -4.93556102e-02 -1.67647913e-02 8.15649953e+02] [ 4.93749817e-02 9.98780035e-01 7.43294040e-04 -6.26763921e+01] [ 1.67076532e-02 -1.57004484e-03 9.99859185e-01 2.98779691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.500714057 meters Centerline goodness [0,1] 0.9826861956304314 Centerline is valid? [True, True] Translation: X:815.68, Y:-62.68, Z:2.99 [[ 9.98563729e-01 -5.07022009e-02 -1.73137364e-02 8.15681139e+02] [ 5.07230764e-02 9.98712461e-01 7.68434341e-04 -6.26763085e+01] [ 1.72524830e-02 -1.64553663e-03 9.99849811e-01 2.98728338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.530714057 meters Centerline goodness [0,1] 0.9822979366101771 Centerline is valid? [True, True] Translation: X:815.71, Y:-62.68, Z:2.99 [[ 9.98495410e-01 -5.19714379e-02 -1.74895763e-02 8.15711905e+02] [ 5.19929395e-02 9.98647150e-01 7.76637227e-04 -6.26766995e+01] [ 1.74255526e-02 -1.68480319e-03 9.99846744e-01 2.98684180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5607140569999 meters Centerline goodness [0,1] 0.9826373430682931 Centerline is valid? [True, True] Translation: X:815.74, Y:-62.67, Z:2.99 [[ 9.98415860e-01 -5.32888288e-02 -1.80574367e-02 8.15743561e+02] [ 5.33119732e-02 9.98577583e-01 8.02422840e-04 -6.26738265e+01] [ 1.79889913e-02 -1.76382927e-03 9.99836629e-01 2.98653153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5907140569999 meters Centerline goodness [0,1] 0.9828623437742802 Centerline is valid? [True, True] Translation: X:815.78, Y:-62.67, Z:2.99 [[ 9.98382907e-01 -5.37748307e-02 -1.84347095e-02 8.15775995e+02] [ 5.37990559e-02 9.98551445e-01 8.20352041e-04 -6.26748531e+01] [ 1.83638915e-02 -1.81079542e-03 9.99829730e-01 2.98612058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.620714057 meters Centerline goodness [0,1] 0.9779036321880087 Centerline is valid? [True, True] Translation: X:815.81, Y:-62.68, Z:2.99 [[ 9.98355429e-01 -5.40708012e-02 -1.90469388e-02 8.15807326e+02] [ 5.40967372e-02 9.98535339e-01 8.48718115e-04 -6.26784792e+01] [ 1.89731507e-02 -1.87769958e-03 9.99818230e-01 2.98554338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.650714057 meters Centerline goodness [0,1] 0.981279077532667 Centerline is valid? [True, True] Translation: X:815.84, Y:-62.67, Z:2.99 [[ 9.98373698e-01 -5.37589519e-02 -1.89719363e-02 8.15839432e+02] [ 5.37846524e-02 9.98552199e-01 8.46653462e-04 -6.26735660e+01] [ 1.88989535e-02 -1.86567555e-03 9.99819658e-01 2.98683483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6807140569999 meters Centerline goodness [0,1] 0.9827270289595996 Centerline is valid? [True, True] Translation: X:815.87, Y:-62.67, Z:2.99 [[ 9.98402262e-01 -5.32703318e-02 -1.88466187e-02 8.15871670e+02] [ 5.32956331e-02 9.98578422e-01 8.42414269e-04 -6.26723074e+01] [ 1.87749511e-02 -1.84551078e-03 9.99822032e-01 2.98791035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7107140569999 meters Centerline goodness [0,1] 0.9659121350120546 Centerline is valid? [True, True] Translation: X:815.90, Y:-62.68, Z:2.99 [[ 9.98467859e-01 -5.22283078e-02 -1.82794326e-02 8.15902051e+02] [ 5.22519463e-02 9.98633599e-01 8.17634154e-04 -6.26770906e+01] [ 1.82117519e-02 -1.77151735e-03 9.99832583e-01 2.98787144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7407140569999 meters Centerline goodness [0,1] 0.6788489329172513 Centerline is valid? [True, False] Translation: X:815.95, Y:-62.68, Z:2.99 [[ 9.98440449e-01 -5.32058506e-02 -1.69058384e-02 8.15954363e+02] [ 5.31857948e-02 9.98583297e-01 -1.63404615e-03 -6.26760361e+01] [ 1.69688287e-02 7.32347317e-04 9.99855751e-01 2.98829399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.770714057 meters Centerline goodness [0,1] 0.9823747266967114 Centerline is valid? [False, True] Translation: X:815.88, Y:-62.67, Z:2.99 [[ 9.98706470e-01 -4.84058921e-02 -1.55645758e-02 8.15883811e+02] [ 4.83959232e-02 9.98827713e-01 -1.01672051e-03 -6.26746296e+01] [ 1.55955449e-02 2.62143334e-04 9.99878348e-01 2.98598389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8007140569999 meters Centerline goodness [0,1] 0.9806458822214773 Centerline is valid? [True, True] Translation: X:815.91, Y:-62.67, Z:2.99 [[ 9.98748600e-01 -4.74847929e-02 -1.56980450e-02 8.15913826e+02] [ 4.75023329e-02 9.98870848e-01 7.46149612e-04 -6.26746309e+01] [ 1.56448888e-02 -1.49090964e-03 9.99876500e-01 2.98532375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8307140569999 meters Centerline goodness [0,1] 0.9781700579436734 Centerline is valid? [True, True] Translation: X:815.95, Y:-62.68, Z:2.98 [[ 9.98764790e-01 -4.69639981e-02 -1.62257987e-02 8.15945893e+02] [ 4.69826854e-02 9.98895405e-01 7.72229803e-04 -6.26755238e+01] [ 1.61716088e-02 -1.53360753e-03 9.99868055e-01 2.98496196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8607140569999 meters Centerline goodness [0,1] 0.9843584960783873 Centerline is valid? [True, True] Translation: X:815.98, Y:-62.67, Z:2.98 [[ 9.98837827e-01 -4.51097565e-02 -1.69736603e-02 8.15977988e+02] [ 4.51299629e-02 9.98980797e-01 8.09113323e-04 -6.26700600e+01] [ 1.69198618e-02 -1.57419365e-03 9.99855610e-01 2.98441209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.890714057 meters Centerline goodness [0,1] 0.9859278605845004 Centerline is valid? [True, True] Translation: X:816.01, Y:-62.67, Z:2.98 [[ 9.98874591e-01 -4.40415609e-02 -1.76037698e-02 8.16009294e+02] [ 4.40631443e-02 9.99028395e-01 8.39898813e-04 -6.26679037e+01] [ 1.75496754e-02 -1.61463103e-03 9.99844689e-01 2.98462184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9207140569999 meters Centerline goodness [0,1] 0.9618032123093535 Centerline is valid? [True, True] Translation: X:816.04, Y:-62.67, Z:2.98 [[ 9.98913274e-01 -4.25607700e-02 -1.89960853e-02 8.16039339e+02] [ 4.25856453e-02 9.99092408e-01 9.06722798e-04 -6.26745286e+01] [ 1.89402538e-02 -1.71469799e-03 9.99819147e-01 2.98229291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9507140569999 meters Centerline goodness [0,1] 0.9877697193567277 Centerline is valid? [True, True] Translation: X:816.07, Y:-62.66, Z:2.98 [[ 9.98953364e-01 -4.15638469e-02 -1.90951334e-02 8.16071459e+02] [ 4.15888139e-02 9.99134395e-01 9.12094014e-04 -6.26620635e+01] [ 1.90406944e-02 -1.70528333e-03 9.99817255e-01 2.98453901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9807140569999 meters Centerline goodness [0,1] 0.9650047290906634 Centerline is valid? [True, True] Translation: X:816.10, Y:-62.67, Z:2.98 [[ 9.98989112e-01 -4.06902881e-02 -1.91063979e-02 8.16102019e+02] [ 4.07151447e-02 9.99170377e-01 9.13607820e-04 -6.26733674e+01] [ 1.90533718e-02 -1.69060402e-03 9.99817039e-01 2.98272547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.010714057 meters Centerline goodness [0,1] 0.987227800970326 Centerline is valid? [True, True] Translation: X:816.13, Y:-62.66, Z:2.99 [[ 9.99057782e-01 -3.91461575e-02 -1.87383856e-02 8.16133992e+02] [ 3.91698095e-02 9.99232166e-01 8.96730435e-04 -6.26593268e+01] [ 1.86888941e-02 -1.62986451e-03 9.99824019e-01 2.98579970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.040714057 meters Centerline goodness [0,1] 0.9890658318588086 Centerline is valid? [True, True] Translation: X:816.17, Y:-62.66, Z:2.99 [[ 9.99104114e-01 -3.80861483e-02 -1.84503246e-02 8.16165709e+02] [ 3.81089166e-02 9.99273200e-01 8.83888037e-04 -6.26590017e+01] [ 1.84032510e-02 -1.58621805e-03 9.99829388e-01 2.98606262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0707140569999 meters Centerline goodness [0,1] 0.9875339981867634 Centerline is valid? [True, True] Translation: X:816.20, Y:-62.65, Z:2.99 [[ 9.99166154e-01 -3.62815932e-02 -1.87254502e-02 8.16197127e+02] [ 3.63047448e-02 9.99340362e-01 8.97800054e-04 -6.26547840e+01] [ 1.86805246e-02 -1.57687412e-03 9.99824260e-01 2.98678298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1007140569999 meters Centerline goodness [0,1] 0.9886472003996185 Centerline is valid? [True, True] Translation: X:816.23, Y:-62.66, Z:2.99 [[ 9.99215634e-01 -3.51868975e-02 -1.81658687e-02 8.16227198e+02] [ 3.52085130e-02 9.99379608e-01 8.71345396e-04 -6.26565655e+01] [ 1.81239388e-02 -1.51025517e-03 9.99834607e-01 2.98707216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.130714057 meters Centerline goodness [0,1] 0.9851058032876214 Centerline is valid? [True, True] Translation: X:816.26, Y:-62.66, Z:2.99 [[ 9.99251090e-01 -3.41016704e-02 -1.82848286e-02 8.16257207e+02] [ 3.41233955e-02 9.99417242e-01 8.77376882e-04 -6.26631379e+01] [ 1.82442529e-02 -1.50066024e-03 9.99832434e-01 2.98694067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.160714057 meters Centerline goodness [0,1] 0.9877049180327869 Centerline is valid? [True, True] Translation: X:816.29, Y:-62.66, Z:2.99 [[ 9.99303334e-01 -3.30680403e-02 -1.73017464e-02 8.16289288e+02] [ 3.30873520e-02 9.99452118e-01 8.31024573e-04 -6.26571325e+01] [ 1.72647867e-02 -1.40291460e-03 9.99849968e-01 2.98923144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1907140569999 meters Centerline goodness [0,1] 0.9882994433715778 Centerline is valid? [True, True] Translation: X:816.32, Y:-62.66, Z:2.99 [[ 9.99365181e-01 -3.14449954e-02 -1.67465305e-02 8.16320725e+02] [ 3.14628715e-02 9.99504597e-01 8.04991569e-04 -6.26550295e+01] [ 1.67129213e-02 -1.33137448e-03 9.99859443e-01 2.99032112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2207140569999 meters Centerline goodness [0,1] 0.9881112351105746 Centerline is valid? [True, True] Translation: X:816.35, Y:-62.66, Z:2.99 [[ 9.99377765e-01 -3.08839583e-02 -1.70371114e-02 8.16351850e+02] [ 3.09023936e-02 9.99522071e-01 8.19803690e-04 -6.26597071e+01] [ 1.70036500e-02 -1.34578110e-03 9.99854522e-01 2.98977754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.250714057 meters Centerline goodness [0,1] 0.9885598154956271 Centerline is valid? [True, True] Translation: X:816.38, Y:-62.65, Z:2.99 [[ 9.99383740e-01 -3.03652900e-02 -1.76093484e-02 8.16384546e+02] [ 3.03849262e-02 9.99537911e-01 8.48558486e-04 -6.26525534e+01] [ 1.75754446e-02 -1.38309431e-03 9.99844583e-01 2.98992807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.280714057 meters Centerline goodness [0,1] 0.988025454462514 Centerline is valid? [True, True] Translation: X:816.42, Y:-62.66, Z:2.99 [[ 9.99377099e-01 -3.01606795e-02 -1.83234212e-02 8.16415484e+02] [ 3.01819256e-02 9.99544031e-01 8.84012022e-04 -6.26610123e+01] [ 1.82884039e-02 -1.43649751e-03 9.99831721e-01 2.98823764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3107140569999 meters Centerline goodness [0,1] 0.9888845687624362 Centerline is valid? [True, True] Translation: X:816.45, Y:-62.66, Z:2.99 [[ 9.99359001e-01 -3.02361691e-02 -1.91666431e-02 8.16448080e+02] [ 3.02594552e-02 9.99541649e-01 9.26016042e-04 -6.26556962e+01] [ 1.91298589e-02 -1.50539465e-03 9.99815874e-01 2.98928284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3407140569999 meters Centerline goodness [0,1] 0.9891941391941392 Centerline is valid? [True, True] Translation: X:816.48, Y:-62.66, Z:2.99 [[ 9.99362087e-01 -2.95955899e-02 -1.99880121e-02 8.16479490e+02] [ 2.96208100e-02 9.99560740e-01 9.66817969e-04 -6.26574964e+01] [ 1.99506186e-02 -1.55826233e-03 9.99799752e-01 2.98838256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.370714057 meters Centerline goodness [0,1] 0.9887256811567634 Centerline is valid? [True, True] Translation: X:816.51, Y:-62.66, Z:2.99 [[ 9.99379389e-01 -2.86195908e-02 -2.05367071e-02 8.16511507e+02] [ 2.86460326e-02 9.99589124e-01 9.94456306e-04 -6.26558282e+01] [ 2.04998081e-02 -1.58213431e-03 9.99788605e-01 2.98891661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.400714057 meters Centerline goodness [0,1] 0.9890107374253073 Centerline is valid? [True, True] Translation: X:816.54, Y:-62.66, Z:2.99 [[ 9.99393297e-01 -2.82812694e-02 -2.03274879e-02 8.16542502e+02] [ 2.83071272e-02 9.99598787e-01 9.85395406e-04 -6.26596942e+01] [ 2.02914641e-02 -1.56021035e-03 9.99792890e-01 2.98901545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4307140569999 meters Centerline goodness [0,1] 0.9891538144707336 Centerline is valid? [True, True] Translation: X:816.57, Y:-62.66, Z:2.99 [[ 9.99422788e-01 -2.78094322e-02 -1.95122173e-02 8.16574429e+02] [ 2.78331933e-02 9.99612133e-01 9.47193270e-04 -6.26576492e+01] [ 1.94783082e-02 -1.48973385e-03 9.99809170e-01 2.99055583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4607140569999 meters Centerline goodness [0,1] 0.9881069685373175 Centerline is valid? [True, True] Translation: X:816.60, Y:-62.66, Z:2.99 [[ 9.99452316e-01 -2.73269521e-02 -1.86629511e-02 8.16604760e+02] [ 2.73486143e-02 9.99625546e-01 9.06424993e-04 -6.26601387e+01] [ 1.86311929e-02 -1.41633441e-03 9.99825421e-01 2.99112422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4907140569999 meters Centerline goodness [0,1] 0.9882288153094239 Centerline is valid? [True, True] Translation: X:816.64, Y:-62.66, Z:2.99 [[ 9.99497253e-01 -2.64767702e-02 -1.74419608e-02 8.16636015e+02] [ 2.64955713e-02 9.99648571e-01 8.47685254e-04 -6.26599759e+01] [ 1.74133872e-02 -1.30939380e-03 9.99847518e-01 2.99289529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.520714057 meters Centerline goodness [0,1] 0.9877154382104877 Centerline is valid? [True, True] Translation: X:816.67, Y:-62.66, Z:2.99 [[ 9.99525140e-01 -2.57888702e-02 -1.68650100e-02 8.16666235e+02] [ 2.58063604e-02 9.99666624e-01 8.20227673e-04 -6.26642119e+01] [ 1.68382348e-02 -1.25506270e-03 9.99857439e-01 2.99280464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5507140569999 meters Centerline goodness [0,1] 0.9872000366367466 Centerline is valid? [True, True] Translation: X:816.70, Y:-62.66, Z:2.99 [[ 9.99560640e-01 -2.43263021e-02 -1.69339569e-02 8.16697487e+02] [ 2.43437369e-02 9.99703308e-01 8.24173838e-04 -6.26621387e+01] [ 1.69088837e-02 -1.23604752e-03 9.99856271e-01 2.99300656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5807140569999 meters Centerline goodness [0,1] 0.987686935746939 Centerline is valid? [True, True] Translation: X:816.73, Y:-62.66, Z:2.99 [[ 9.99576497e-01 -2.36558265e-02 -1.69477884e-02 8.16729751e+02] [ 2.36732122e-02 9.99719409e-01 8.25924391e-04 -6.26635359e+01] [ 1.69234951e-02 -1.22678320e-03 9.99856035e-01 2.99259230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6107140569999 meters Centerline goodness [0,1] 0.9889850150308649 Centerline is valid? [True, True] Translation: X:816.76, Y:-62.66, Z:2.99 [[ 9.99576523e-01 -2.33220736e-02 -1.74027709e-02 8.16761811e+02] [ 2.33403768e-02 9.99727216e-01 8.49343685e-04 -6.26597727e+01] [ 1.73782153e-02 -1.25517124e-03 9.99848200e-01 2.99354879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.640714057 meters Centerline goodness [0,1] 0.987671327226393 Centerline is valid? [True, True] Translation: X:816.79, Y:-62.67, Z:2.99 [[ 9.99584884e-01 -2.29287835e-02 -1.74450957e-02 8.16792650e+02] [ 2.29471334e-02 9.99736316e-01 8.52394261e-04 -6.26686720e+01] [ 1.74209513e-02 -1.25235536e-03 9.99847459e-01 2.99179043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6707140569999 meters Centerline goodness [0,1] 0.9877425710816322 Centerline is valid? [True, True] Translation: X:816.82, Y:-62.67, Z:2.99 [[ 9.99589583e-01 -2.23784182e-02 -1.78849472e-02 8.16823970e+02] [ 2.23976342e-02 9.99748759e-01 8.74815260e-04 -6.26714989e+01] [ 1.78608768e-02 -1.27503673e-03 9.99839669e-01 2.99135195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7007140569999 meters Centerline goodness [0,1] 0.9877998535066838 Centerline is valid? [True, True] Translation: X:816.86, Y:-62.67, Z:2.99 [[ 9.99586264e-01 -2.19890955e-02 -1.85413140e-02 8.16855650e+02] [ 2.20096947e-02 9.99757345e-01 9.07631464e-04 -6.26672643e+01] [ 1.85168569e-02 -1.31534460e-03 9.99827683e-01 2.99157804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7307140569999 meters Centerline goodness [0,1] 0.9871721452296415 Centerline is valid? [True, True] Translation: X:816.89, Y:-62.67, Z:2.99 [[ 9.99603459e-01 -2.11934179e-02 -1.85408860e-02 8.16885921e+02] [ 2.12138868e-02 9.99774548e-01 9.07984030e-04 -6.26711945e+01] [ 1.85174626e-02 -1.30094823e-03 9.99827691e-01 2.99094200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.760714057 meters Centerline goodness [0,1] 0.9884219455716807 Centerline is valid? [True, True] Translation: X:816.92, Y:-62.67, Z:2.99 [[ 9.99641088e-01 -1.88157353e-02 -1.90699501e-02 8.16916543e+02] [ 1.88369596e-02 9.99822133e-01 9.33941692e-04 -6.26714736e+01] [ 1.90489854e-02 -1.29282637e-03 9.99817716e-01 2.99070852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.790714057 meters Centerline goodness [0,1] 0.9877699654169434 Centerline is valid? [True, True] Translation: X:816.95, Y:-62.67, Z:2.99 [[ 9.99691067e-01 -1.68759465e-02 -1.82475749e-02 8.16946965e+02] [ 1.68950577e-02 9.99856869e-01 8.93666258e-04 -6.26717124e+01] [ 1.82298817e-02 -1.20168401e-03 9.99833100e-01 2.99147315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8207140569999 meters Centerline goodness [0,1] 0.9860499265785609 Centerline is valid? [True, True] Translation: X:816.98, Y:-62.68, Z:2.99 [[ 9.99733848e-01 -1.45818827e-02 -1.78774152e-02 8.16975739e+02] [ 1.45998564e-02 9.99893033e-01 8.75274720e-04 -6.26841373e+01] [ 1.78627397e-02 -1.13604946e-03 9.99839803e-01 2.98944980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8507140569999 meters Centerline goodness [0,1] 0.9877951043026264 Centerline is valid? [True, True] Translation: X:817.01, Y:-62.67, Z:2.99 [[ 9.99820497e-01 -8.46177656e-03 -1.69520339e-02 8.17005912e+02] [ 8.47705325e-03 9.99963725e-01 8.29516186e-04 -6.26716779e+01] [ 1.69443998e-02 -9.73070580e-04 9.99855960e-01 2.99375915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.880714057 meters Centerline goodness [0,1] 0.9894219958238682 Centerline is valid? [True, True] Translation: X:817.04, Y:-62.67, Z:3.00 [[ 9.99856619e-01 -5.22773900e-03 -1.61062535e-02 8.17036019e+02] [ 5.24110077e-03 9.99985955e-01 7.87502721e-04 -6.26651146e+01] [ 1.61019104e-02 -8.71804306e-04 9.99869976e-01 2.99611633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.910714057 meters Centerline goodness [0,1] 0.9887952609464331 Centerline is valid? [True, True] Translation: X:817.06, Y:-62.67, Z:2.99 [[ 9.99875290e-01 2.12110234e-03 -1.56494748e-02 8.17064756e+02] [-2.10939668e-03 9.99997483e-01 7.64459420e-04 -6.26703457e+01] [ 1.56510569e-02 -7.31353134e-04 9.99877247e-01 2.99478424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9407140569999 meters Centerline goodness [0,1] 0.9900726780842332 Centerline is valid? [True, True] Translation: X:817.09, Y:-62.67, Z:3.00 [[ 9.99868381e-01 5.75496765e-03 -1.51691067e-02 8.17094770e+02] [-5.74439560e-03 9.99983227e-01 7.40425901e-04 -6.26658915e+01] [ 1.51731134e-02 -6.53191097e-04 9.99884668e-01 2.99600806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9707140569999 meters Centerline goodness [0,1] 0.9895181548298698 Centerline is valid? [True, True] Translation: X:817.12, Y:-62.67, Z:3.00 [[ 9.99832354e-01 9.55445756e-03 -1.56197691e-02 8.17124273e+02] [-9.54371952e-03 9.99954167e-01 7.61861967e-04 -6.26663390e+01] [ 1.56263324e-02 -6.12663549e-04 9.99877714e-01 2.99596393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.000714057 meters Centerline goodness [0,1] 0.9903621629046289 Centerline is valid? [True, True] Translation: X:817.15, Y:-62.67, Z:2.99 [[ 9.99755359e-01 1.56036894e-02 -1.56763104e-02 8.17153372e+02] [-1.55936247e-02 9.99878120e-01 7.64066553e-04 -6.26695387e+01] [ 1.56863220e-02 -5.19429129e-04 9.99876827e-01 2.99452359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.030714057 meters Centerline goodness [0,1] 0.9901044529961517 Centerline is valid? [True, True] Translation: X:817.18, Y:-62.67, Z:3.00 [[ 9.99707504e-01 1.83456570e-02 -1.57589025e-02 8.17182000e+02] [-1.83358427e-02 9.99831590e-01 7.67052255e-04 -6.26666546e+01] [ 1.57703207e-02 -4.77875138e-04 9.99875527e-01 2.99634740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0607140569999 meters Centerline goodness [0,1] 0.9914954741330172 Centerline is valid? [True, True] Translation: X:817.21, Y:-62.67, Z:3.00 [[ 9.99610811e-01 2.28466201e-02 -1.60081030e-02 8.17210983e+02] [-2.28370803e-02 9.99738897e-01 7.78506922e-04 -6.26707388e+01] [ 1.60217094e-02 -4.12625603e-04 9.99871559e-01 2.99554195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0907140569999 meters Centerline goodness [0,1] 0.9914954741330172 Centerline is valid? [True, True] Translation: X:817.24, Y:-62.67, Z:3.00 [[ 9.99613157e-01 2.27436802e-02 -1.60081743e-02 8.17238420e+02] [-2.27341507e-02 9.99741244e-01 7.77039173e-04 -6.26719802e+01] [ 1.60217048e-02 -4.12806335e-04 9.99871559e-01 2.99561589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.120714057 meters Centerline goodness [0,1] 0.9905606472699015 Centerline is valid? [True, True] Translation: X:817.27, Y:-62.67, Z:3.00 [[ 9.99582934e-01 2.39619552e-02 -1.61177809e-02 8.17266808e+02] [-2.39524729e-02 9.99712793e-01 7.81127450e-04 -6.26727936e+01] [ 1.61318691e-02 -3.94740960e-04 9.99869795e-01 2.99636509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.150714057 meters Centerline goodness [0,1] 0.9907863528553184 Centerline is valid? [True, True] Translation: X:817.30, Y:-62.68, Z:3.00 [[ 9.99559113e-01 2.49542783e-02 -1.60892126e-02 8.17295928e+02] [-2.49450109e-02 9.99688523e-01 7.76459988e-04 -6.26758301e+01] [ 1.61035772e-02 -3.74772072e-04 9.99870259e-01 2.99640366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1807140569999 meters Centerline goodness [0,1] 0.991036491036491 Centerline is valid? [True, True] Translation: X:817.32, Y:-62.68, Z:3.00 [[ 9.99555287e-01 2.55691241e-02 -1.53443402e-02 8.17324615e+02] [-2.55607903e-02 9.99672996e-01 7.39022564e-04 -6.26815518e+01] [ 1.53582187e-02 -3.46480448e-04 9.99881996e-01 2.99651114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2107140569999 meters Centerline goodness [0,1] 0.9914985264112446 Centerline is valid? [True, True] Translation: X:817.35, Y:-62.69, Z:3.00 [[ 9.99561388e-01 2.55612394e-02 -1.49551171e-02 8.17353234e+02] [-2.55533379e-02 9.99673201e-01 7.19225012e-04 -6.26858506e+01] [ 1.49686140e-02 -3.36756390e-04 9.99887907e-01 2.99627566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2407140569999 meters Centerline goodness [0,1] 0.9920688873782008 Centerline is valid? [True, True] Translation: X:817.38, Y:-62.69, Z:3.00 [[ 9.99579661e-01 2.49762590e-02 -1.47203059e-02 8.17382111e+02] [-2.49685557e-02 9.99687987e-01 7.06886809e-04 -6.26927023e+01] [ 1.47333684e-02 -3.39044898e-04 9.99891401e-01 2.99652091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.270714057 meters Centerline goodness [0,1] 0.9905992949471211 Centerline is valid? [True, True] Translation: X:817.41, Y:-62.70, Z:3.00 [[ 9.99585930e-01 2.48546541e-02 -1.44987774e-02 8.17410049e+02] [-2.48471891e-02 9.99691019e-01 6.94803955e-04 -6.26971745e+01] [ 1.45115667e-02 -3.34262393e-04 9.99894646e-01 2.99617853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3007140569999 meters Centerline goodness [0,1] 0.9913350738206698 Centerline is valid? [True, True] Translation: X:817.44, Y:-62.70, Z:3.00 [[ 9.99598929e-01 2.42903030e-02 -1.45589454e-02 8.17438724e+02] [-2.42827327e-02 9.99704888e-01 6.96550191e-04 -6.27041596e+01] [ 1.45715683e-02 -3.42739843e-04 9.99893770e-01 2.99632103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3307140569999 meters Centerline goodness [0,1] 0.9903863391896737 Centerline is valid? [True, True] Translation: X:817.47, Y:-62.71, Z:3.00 [[ 9.99617330e-01 2.36242359e-02 -1.43905850e-02 8.17465941e+02] [-2.36167884e-02 9.99720849e-01 6.87264910e-04 -6.27091960e+01] [ 1.44028039e-02 -3.47142514e-04 9.99896214e-01 2.99608277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3607140569999 meters Centerline goodness [0,1] 0.9908308173990831 Centerline is valid? [True, True] Translation: X:817.49, Y:-62.72, Z:3.00 [[ 9.99649520e-01 2.25823342e-02 -1.38157407e-02 8.17494556e+02] [-2.25753845e-02 9.99744926e-01 6.58796657e-04 -6.27176119e+01] [ 1.38270938e-02 -3.46670104e-04 9.99904341e-01 2.99650874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.390714057 meters Centerline goodness [0,1] 0.9903429159028927 Centerline is valid? [True, True] Translation: X:817.52, Y:-62.72, Z:3.00 [[ 9.99667076e-01 2.21602371e-02 -1.32159289e-02 8.17521856e+02] [-2.21538581e-02 9.99754375e-01 6.28894643e-04 -6.27225436e+01] [ 1.32266192e-02 -3.35901454e-04 9.99912468e-01 2.99681875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4207140569999 meters Centerline goodness [0,1] 0.9910172967189729 Centerline is valid? [True, True] Translation: X:817.55, Y:-62.73, Z:3.00 [[ 9.99691588e-01 2.16964043e-02 -1.20828331e-02 8.17549154e+02] [-2.16910537e-02 9.99764557e-01 5.73717802e-04 -6.27279672e+01] [ 1.20924359e-02 -3.11451479e-04 9.99926835e-01 2.99723940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4507140569999 meters Centerline goodness [0,1] 0.9907146189217406 Centerline is valid? [True, True] Translation: X:817.58, Y:-62.74, Z:3.00 [[ 9.99709438e-01 2.11279471e-02 -1.16038285e-02 8.17576651e+02] [-2.11229864e-02 9.99776734e-01 5.49917193e-04 -6.27379339e+01] [ 1.16128564e-02 -3.04649896e-04 9.99932522e-01 2.99665513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4807140569999 meters Centerline goodness [0,1] 0.9916152297515541 Centerline is valid? [True, True] Translation: X:817.61, Y:-62.74, Z:3.00 [[ 9.99706260e-01 2.12931937e-02 -1.15755820e-02 8.17605109e+02] [-2.12882781e-02 9.99773229e-01 5.47717256e-04 -6.27420210e+01] [ 1.15846196e-02 -3.01132161e-04 9.99932851e-01 2.99653081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.510714057 meters Centerline goodness [0,1] 0.9907027074775849 Centerline is valid? [True, True] Translation: X:817.63, Y:-62.75, Z:3.00 [[ 9.99681673e-01 2.18018192e-02 -1.26977358e-02 8.17631627e+02] [-2.17959712e-02 9.99762260e-01 5.98777161e-04 -6.27501198e+01] [ 1.27077714e-02 -3.21827072e-04 9.99919201e-01 2.99580665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.540714057 meters Centerline goodness [0,1] 0.9904407859798194 Centerline is valid? [True, True] Translation: X:817.66, Y:-62.75, Z:3.00 [[ 9.99668312e-01 2.21995115e-02 -1.30555894e-02 8.17660708e+02] [-2.21933792e-02 9.99753508e-01 6.14416204e-04 -6.27539564e+01] [ 1.30660111e-02 -3.24464763e-04 9.99914583e-01 2.99570836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5707140569999 meters Centerline goodness [0,1] 0.9909651828999559 Centerline is valid? [True, True] Translation: X:817.69, Y:-62.76, Z:3.00 [[ 9.99654544e-01 2.29909294e-02 -1.27361781e-02 8.17688386e+02] [-2.29851713e-02 9.99735627e-01 5.98320999e-04 -6.27588878e+01] [ 1.27465670e-02 -3.05371070e-04 9.99918713e-01 2.99514627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6007140569999 meters Centerline goodness [0,1] 0.9902664611319093 Centerline is valid? [True, True] Translation: X:817.72, Y:-62.77, Z:2.99 [[ 9.99649147e-01 2.34768666e-02 -1.22645371e-02 8.17715771e+02] [-2.34715765e-02 9.99724339e-01 5.75110476e-04 -6.27681196e+01] [ 1.22746580e-02 -2.87040677e-04 9.99924622e-01 2.99441297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.630714057 meters Centerline goodness [0,1] 0.9902389915083604 Centerline is valid? [True, True] Translation: X:817.74, Y:-62.77, Z:3.00 [[ 9.99648031e-01 2.38164142e-02 -1.16872667e-02 8.17744616e+02] [-2.38116437e-02 9.99716313e-01 5.47184217e-04 -6.27717175e+01] [ 1.16969831e-02 -2.68698596e-04 9.99931552e-01 2.99524500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.660714057 meters Centerline goodness [0,1] 0.9898355689227459 Centerline is valid? [True, True] Translation: X:817.77, Y:-62.78, Z:3.00 [[ 9.99668268e-01 2.34552579e-02 -1.06397692e-02 8.17772212e+02] [-2.34512947e-02 9.99724857e-01 4.97118115e-04 -6.27793405e+01] [ 1.06485018e-02 -2.47436841e-04 9.99943272e-01 2.99583439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6907140569999 meters Centerline goodness [0,1] 0.9899521635613028 Centerline is valid? [True, True] Translation: X:817.80, Y:-62.79, Z:3.00 [[ 9.99689245e-01 2.26303283e-02 -1.04538128e-02 8.17799260e+02] [-2.26264689e-02 9.99743870e-01 4.87321629e-04 -6.27851287e+01] [ 1.04621635e-02 -2.50637322e-04 9.99945239e-01 2.99574065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7207140569999 meters Centerline goodness [0,1] 0.9899508465319498 Centerline is valid? [True, True] Translation: X:817.83, Y:-62.79, Z:3.00 [[ 9.99716248e-01 2.17283889e-02 -9.76223635e-03 8.17827679e+02] [-2.17249877e-02 9.99763881e-01 4.54320332e-04 -6.27903065e+01] [ 9.76980295e-03 -2.42106952e-04 9.99952245e-01 2.99631165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.750714057 meters Centerline goodness [0,1] 0.9890303623898139 Centerline is valid? [True, True] Translation: X:817.86, Y:-62.80, Z:3.00 [[ 9.99797720e-01 1.82515114e-02 -8.44988717e-03 8.17855617e+02] [-1.82488448e-02 9.99833399e-01 3.92577412e-04 -6.27999456e+01] [ 8.45564454e-03 -2.38297322e-04 9.99964222e-01 2.99590138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.780714057 meters Centerline goodness [0,1] 0.9880797006873749 Centerline is valid? [True, True] Translation: X:817.88, Y:-62.81, Z:3.00 [[ 9.99831353e-01 1.67537690e-02 -7.52173336e-03 8.17884338e+02] [-1.67516179e-02 9.99859621e-01 3.48902613e-04 -6.28056719e+01] [ 7.52652290e-03 -2.22842568e-04 9.99971650e-01 2.99592612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8107140569999 meters Centerline goodness [0,1] 0.987485927080627 Centerline is valid? [True, True] Translation: X:817.91, Y:-62.82, Z:3.00 [[ 9.99889437e-01 1.34526106e-02 -6.33571508e-03 8.17912562e+02] [-1.34510204e-02 9.99909488e-01 2.93534230e-04 -6.28176674e+01] [ 6.33909042e-03 -2.08279943e-04 9.99979886e-01 2.99554753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8407140569999 meters Centerline goodness [0,1] 0.9873280388838259 Centerline is valid? [True, True] Translation: X:817.94, Y:-62.82, Z:3.00 [[ 9.99912877e-01 1.19508766e-02 -5.60495864e-03 8.17941655e+02] [-1.19496104e-02 9.99928567e-01 2.59340502e-04 -6.28197529e+01] [ 5.60765760e-03 -1.92340836e-04 9.99984258e-01 2.99579946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.870714057 meters Centerline goodness [0,1] 0.9857297531398874 Centerline is valid? [True, True] Translation: X:817.97, Y:-62.83, Z:3.00 [[ 9.99936650e-01 1.01297889e-02 -4.90756858e-03 8.17969072e+02] [-1.01287981e-02 9.99948677e-01 2.26701410e-04 -6.28286283e+01] [ 4.90961314e-03 -1.76979278e-04 9.99987932e-01 2.99544459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.900714057 meters Centerline goodness [0,1] 0.9854164416117532 Centerline is valid? [True, True] Translation: X:818.00, Y:-62.83, Z:3.00 [[ 9.99945688e-01 9.38975661e-03 -4.52252849e-03 8.17997818e+02] [-9.38890924e-03 9.99955901e-01 2.08560904e-04 -6.28328704e+01] [ 4.52428739e-03 -1.66087967e-04 9.99989752e-01 2.99512530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9307140569999 meters Centerline goodness [0,1] 0.9851358942228752 Centerline is valid? [True, True] Translation: X:818.03, Y:-62.84, Z:2.99 [[ 9.99951319e-01 8.84012620e-03 -4.38322622e-03 8.18025454e+02] [-8.83932643e-03 9.99960912e-01 2.01801511e-04 -6.28376744e+01] [ 4.38483884e-03 -1.63046919e-04 9.99990373e-01 2.99459603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9607140569999 meters Centerline goodness [0,1] 0.9854607332098393 Centerline is valid? [True, True] Translation: X:818.05, Y:-62.84, Z:2.99 [[ 9.99961560e-01 7.23932792e-03 -4.94670809e-03 8.18054315e+02] [-7.23829188e-03 9.99973777e-01 2.27312990e-04 -6.28438109e+01] [ 4.94822397e-03 -1.91498535e-04 9.99987739e-01 2.99314798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9907140569999 meters Centerline goodness [0,1] 0.9852270772406675 Centerline is valid? [True, True] Translation: X:818.08, Y:-62.85, Z:2.99 [[ 9.99975184e-01 5.02063167e-03 -4.94211636e-03 8.18082448e+02] [-5.01957205e-03 9.99987376e-01 2.26786958e-04 -6.28522499e+01] [ 4.94319259e-03 -2.01974021e-04 9.99987762e-01 2.99272877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.020714057 meters Centerline goodness [0,1] 0.9862824902556151 Centerline is valid? [True, True] Translation: X:818.11, Y:-62.86, Z:2.99 [[ 9.99980868e-01 3.88844114e-03 -4.81084406e-03 8.18110566e+02] [-3.88742556e-03 9.99992420e-01 2.20434186e-04 -6.28563470e+01] [ 4.81166474e-03 -2.01728171e-04 9.99988404e-01 2.99297206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0507140569999 meters Centerline goodness [0,1] 0.9855274741792103 Centerline is valid? [True, True] Translation: X:818.14, Y:-62.86, Z:2.99 [[ 9.99987917e-01 2.59961900e-03 -4.17216226e-03 8.18139182e+02] [-2.59884529e-03 9.99996605e-01 1.90856750e-04 -6.28592298e+01] [ 4.17264425e-03 -1.80011639e-04 9.99991278e-01 2.99266868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0807140569999 meters Centerline goodness [0,1] 0.9838114841974356 Centerline is valid? [True, True] Translation: X:818.17, Y:-62.87, Z:2.99 [[ 9.99993935e-01 6.78889304e-04 -3.41604073e-03 8.18166876e+02] [-6.78360152e-04 9.99999758e-01 1.56058549e-04 -6.28674738e+01] [ 3.41614585e-03 -1.53740296e-04 9.99994153e-01 2.99303364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1107140569999 meters Centerline goodness [0,1] 0.9837155767755137 Centerline is valid? [True, True] Translation: X:818.20, Y:-62.87, Z:2.99 [[ 9.99993989e-01 8.42067717e-05 -3.46614510e-03 8.18196405e+02] [-8.36591855e-05 9.99999984e-01 1.58126016e-04 -6.28694824e+01] [ 3.46615836e-03 -1.57835091e-04 9.99993980e-01 2.99327614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.140714057 meters Centerline goodness [0,1] 0.9826700898587933 Centerline is valid? [True, True] Translation: X:818.22, Y:-62.88, Z:2.99 [[ 9.99994361e-01 -9.57408491e-04 -3.21886531e-03 8.18224983e+02] [ 9.57885741e-04 9.99999530e-01 1.46728377e-04 -6.28777336e+01] [ 3.21872332e-03 -1.49810855e-04 9.99994809e-01 2.99247935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1707140569999 meters Centerline goodness [0,1] 0.984237020604923 Centerline is valid? [True, True] Translation: X:818.25, Y:-62.88, Z:2.99 [[ 9.99992766e-01 -1.13154595e-03 -3.63144974e-03 8.18254907e+02] [ 1.13215383e-03 9.99999345e-01 1.65341905e-04 -6.28784336e+01] [ 3.63126027e-03 -1.69452069e-04 9.99993393e-01 2.99234663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2007140569999 meters Centerline goodness [0,1] 0.9845679672952206 Centerline is valid? [True, True] Translation: X:818.28, Y:-62.88, Z:2.99 [[ 9.99990990e-01 -1.36313690e-03 -4.02029001e-03 8.18284718e+02] [ 1.36388318e-03 9.99999053e-01 1.82892469e-04 -6.28789767e+01] [ 4.02003689e-03 -1.88374027e-04 9.99991902e-01 2.99198725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2307140569999 meters Centerline goodness [0,1] 0.9831360883429281 Centerline is valid? [True, True] Translation: X:818.31, Y:-62.88, Z:2.99 [[ 9.99988089e-01 -2.20467016e-03 -4.35450317e-03 8.18314381e+02] [ 2.20555292e-03 9.99997548e-01 1.97930628e-04 -6.28829905e+01] [ 4.35405612e-03 -2.07532358e-04 9.99990500e-01 2.99117656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.260714057 meters Centerline goodness [0,1] 0.9833326219642323 Centerline is valid? [True, True] Translation: X:818.34, Y:-62.89, Z:2.99 [[ 9.99988087e-01 -2.28505403e-03 -4.31337372e-03 8.18342916e+02] [ 2.28592013e-03 9.99997368e-01 1.95876592e-04 -6.28875391e+01] [ 4.31291478e-03 -2.05734287e-04 9.99990678e-01 2.99135505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.290714057 meters Centerline goodness [0,1] 0.983365513144215 Centerline is valid? [True, True] Translation: X:818.37, Y:-62.89, Z:2.99 [[ 9.99983938e-01 -3.60173662e-03 -4.37630106e-03 8.18371107e+02] [ 3.60263972e-03 9.99993491e-01 1.98497333e-04 -6.28943225e+01] [ 4.37555764e-03 -2.14260381e-04 9.99990404e-01 2.99185561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3207140569999 meters Centerline goodness [0,1] 0.9821842872650646 Centerline is valid? [True, True] Translation: X:818.40, Y:-62.90, Z:2.99 [[ 9.99978040e-01 -4.85141824e-03 -4.51471957e-03 8.18400395e+02] [ 4.85239113e-03 9.99988206e-01 2.04564260e-04 -6.28967544e+01] [ 4.51367390e-03 -2.26466953e-04 9.99989788e-01 2.99201728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3507140569999 meters Centerline goodness [0,1] 0.9820513365799715 Centerline is valid? [True, True] Translation: X:818.43, Y:-62.90, Z:2.99 [[ 9.99974086e-01 -6.08138112e-03 -3.85272341e-03 8.18430264e+02] [ 6.08209825e-03 9.99981489e-01 1.74447236e-04 -6.29005387e+01] [ 3.85159121e-03 -1.97875358e-04 9.99992563e-01 2.99171541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.380714057 meters Centerline goodness [0,1] 0.9809641427476364 Centerline is valid? [True, True] Translation: X:818.46, Y:-62.90, Z:2.99 [[ 9.99957386e-01 -8.38388627e-03 -3.86474293e-03 8.18460590e+02] [ 8.38462467e-03 9.99964833e-01 1.74897088e-04 -6.29040728e+01] [ 3.86314070e-03 -2.07294054e-04 9.99992517e-01 2.99266915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.410714057 meters Centerline goodness [0,1] 0.9811204291005066 Centerline is valid? [True, True] Translation: X:818.49, Y:-62.90, Z:2.99 [[ 9.99952409e-01 -9.06328335e-03 -3.61067579e-03 8.18490924e+02] [ 9.06393227e-03 9.99958908e-01 1.63399401e-04 -6.29049303e+01] [ 3.60904649e-03 -1.96118546e-04 9.99993468e-01 2.99294388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4407140569999 meters Centerline goodness [0,1] 0.9799133684389333 Centerline is valid? [True, True] Translation: X:818.52, Y:-62.91, Z:2.99 [[ 9.99952114e-01 -9.14426066e-03 -3.48591193e-03 8.18520911e+02] [ 9.14486605e-03 9.99958172e-01 1.57767601e-04 -6.29100077e+01] [ 3.48432346e-03 -1.89638244e-04 9.99993912e-01 2.99306019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4707140569999 meters Centerline goodness [0,1] 0.979846408417837 Centerline is valid? [True, True] Translation: X:818.55, Y:-62.91, Z:2.99 [[ 9.99961324e-01 -7.90010231e-03 -3.86506445e-03 8.18550906e+02] [ 7.90083757e-03 9.99968773e-01 1.75001521e-04 -6.29122596e+01] [ 3.86356122e-03 -2.05531999e-04 9.99992515e-01 2.99246385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.500714057 meters Centerline goodness [0,1] 0.9814452293812239 Centerline is valid? [True, True] Translation: X:818.58, Y:-62.91, Z:2.99 [[ 9.99967378e-01 -7.13827694e-03 -3.78002325e-03 8.18581551e+02] [ 7.13897495e-03 9.99974503e-01 1.71196800e-04 -6.29135303e+01] [ 3.77870482e-03 -1.98176707e-04 9.99992841e-01 2.99225687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.530714057 meters Centerline goodness [0,1] 0.9821477907891102 Centerline is valid? [True, True] Translation: X:818.61, Y:-62.91, Z:2.99 [[ 9.99969839e-01 -6.33318717e-03 -4.49565734e-03 8.18612821e+02] [ 6.33416631e-03 9.99979918e-01 2.03593399e-04 -6.29071027e+01] [ 4.49427767e-03 -2.32063499e-04 9.99989874e-01 2.99211198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5607140569999 meters Centerline goodness [0,1] 0.9817589300829525 Centerline is valid? [True, True] Translation: X:818.64, Y:-62.91, Z:2.99 [[ 9.99970844e-01 -6.11780663e-03 -4.56989584e-03 8.18642355e+02] [ 6.11881588e-03 9.99981258e-01 2.06899058e-04 -6.29110820e+01] [ 4.56854442e-03 -2.34855377e-04 9.99989537e-01 2.99192156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5907140569999 meters Centerline goodness [0,1] 0.9810657692963026 Centerline is valid? [True, True] Translation: X:818.67, Y:-62.91, Z:2.99 [[ 9.99966279e-01 -6.69286577e-03 -4.75880741e-03 8.18672850e+02] [ 6.69396644e-03 9.99977572e-01 2.15400426e-04 -6.29131573e+01] [ 4.75725903e-03 -2.47248459e-04 9.99988654e-01 2.99240313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.620714057 meters Centerline goodness [0,1] 0.9815944378092476 Centerline is valid? [True, True] Translation: X:818.70, Y:-62.91, Z:2.99 [[ 9.99953887e-01 -8.42000226e-03 -4.61812194e-03 8.18702757e+02] [ 8.42105701e-03 9.99964520e-01 2.08997328e-04 -6.29130296e+01] [ 4.61619833e-03 -2.47877158e-04 9.99989315e-01 2.99269873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.650714057 meters Centerline goodness [0,1] 0.9808023837394914 Centerline is valid? [True, True] Translation: X:818.73, Y:-62.91, Z:2.99 [[ 9.99944747e-01 -9.59292755e-03 -4.29879135e-03 8.18732900e+02] [ 9.59385209e-03 9.99953959e-01 1.94500134e-04 -6.29137786e+01] [ 4.29672760e-03 -2.35731356e-04 9.99990741e-01 2.99244623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6807140569999 meters Centerline goodness [0,1] 0.980394241605886 Centerline is valid? [True, True] Translation: X:818.76, Y:-62.92, Z:2.99 [[ 9.99932045e-01 -1.10277378e-02 -3.78076510e-03 8.18763598e+02] [ 1.10284633e-02 9.99939170e-01 1.71108157e-04 -6.29160462e+01] [ 3.77864818e-03 -2.12792559e-04 9.99992838e-01 2.99296108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7107140569999 meters Centerline goodness [0,1] 0.9806666808302704 Centerline is valid? [True, True] Translation: X:818.79, Y:-62.92, Z:2.99 [[ 9.99929596e-01 -1.13403673e-02 -3.49275209e-03 8.18793924e+02] [ 1.13409889e-02 9.99935676e-01 1.58220357e-04 -6.29191596e+01] [ 3.49073315e-03 -1.97820481e-04 9.99993888e-01 2.99288918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7407140569999 meters Centerline goodness [0,1] 0.9810542953564868 Centerline is valid? [True, True] Translation: X:818.83, Y:-62.92, Z:2.99 [[ 9.99932545e-01 -1.11092047e-02 -3.38971075e-03 8.18825284e+02] [ 1.11097894e-02 9.99938273e-01 1.53713720e-04 -6.29170953e+01] [ 3.38779387e-03 -1.91362324e-04 9.99994243e-01 2.99283061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.770714057 meters Centerline goodness [0,1] 0.9816881869597694 Centerline is valid? [True, True] Translation: X:818.86, Y:-62.92, Z:2.99 [[ 9.99947565e-01 -9.53171821e-03 -3.74338972e-03 8.18856738e+02] [ 9.53242083e-03 9.99954551e-01 1.69898971e-04 -6.29153160e+01] [ 3.74160016e-03 -2.05573629e-04 9.99992979e-01 2.99264119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8007140569999 meters Centerline goodness [0,1] 0.9817727786907989 Centerline is valid? [True, True] Translation: X:818.89, Y:-62.92, Z:2.99 [[ 9.99973791e-01 -6.04345544e-03 -3.98674682e-03 8.18886863e+02] [ 6.04422516e-03 9.99981717e-01 1.81049114e-04 -6.29152665e+01] [ 3.98557977e-03 -2.05141164e-04 9.99992037e-01 2.99269734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8307140569999 meters Centerline goodness [0,1] 0.9817374978665301 Centerline is valid? [True, True] Translation: X:818.92, Y:-62.91, Z:2.99 [[ 9.99983962e-01 -3.89823969e-03 -4.10843279e-03 8.18917328e+02] [ 3.89903905e-03 9.99992381e-01 1.86575207e-04 -6.29145728e+01] [ 4.10767417e-03 -2.02591155e-04 9.99991543e-01 2.99318008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8607140569999 meters Centerline goodness [0,1] 0.9821538461538462 Centerline is valid? [True, True] Translation: X:818.95, Y:-62.91, Z:2.99 [[ 9.99989976e-01 -1.94223192e-03 -4.03439160e-03 8.18946964e+02] [ 1.94298666e-03 9.99998096e-01 1.83165890e-04 -6.29138034e+01] [ 4.03402817e-03 -1.91002823e-04 9.99991845e-01 2.99300270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.890714057 meters Centerline goodness [0,1] 0.983218121875997 Centerline is valid? [True, True] Translation: X:818.98, Y:-62.91, Z:2.99 [[ 9.99991838e-01 2.88892262e-04 -4.02987180e-03 8.18977183e+02] [-2.88157761e-04 9.99999942e-01 1.82843494e-04 -6.29115224e+01] [ 4.02992439e-03 -1.81680763e-04 9.99991863e-01 2.99371187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9207140569999 meters Centerline goodness [0,1] 0.9839988100044624 Centerline is valid? [True, True] Translation: X:819.01, Y:-62.91, Z:2.99 [[ 9.99985440e-01 4.14746825e-03 -3.45227321e-03 8.19007260e+02] [-4.14695243e-03 9.99991389e-01 1.56559139e-04 -6.29071791e+01] [ 3.45289281e-03 -1.42240447e-04 9.99994029e-01 2.99385422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9507140569999 meters Centerline goodness [0,1] 0.983451839514872 Centerline is valid? [True, True] Translation: X:819.04, Y:-62.90, Z:2.99 [[ 9.99971722e-01 6.95893458e-03 -2.85112987e-03 8.19036496e+02] [-6.95859451e-03 9.99975780e-01 1.29178645e-04 -6.29031895e+01] [ 2.85195976e-03 -1.09335136e-04 9.99995927e-01 2.99426499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9807140569999 meters Centerline goodness [0,1] 0.984230095303218 Centerline is valid? [True, True] Translation: X:819.06, Y:-62.90, Z:2.99 [[ 9.99965478e-01 7.76681059e-03 -2.95274965e-03 8.19064325e+02] [-7.76645002e-03 9.99969832e-01 1.33559762e-04 -6.29037049e+01] [ 2.95369790e-03 -1.10622769e-04 9.99995632e-01 2.99413039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.010714057 meters Centerline goodness [0,1] 0.984230095303218 Centerline is valid? [True, True] Translation: X:819.09, Y:-62.90, Z:2.99 [[ 9.99966027e-01 7.69587428e-03 -2.95276129e-03 8.19092630e+02] [-7.69551416e-03 9.99970380e-01 1.33301764e-04 -6.29049232e+01] [ 2.95369971e-03 -1.10574219e-04 9.99995632e-01 2.99420668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.040714057 meters Centerline goodness [0,1] 0.9847491753416442 Centerline is valid? [True, True] Translation: X:819.12, Y:-62.90, Z:2.99 [[ 9.99962315e-01 8.06784862e-03 -3.20598227e-03 8.19121720e+02] [-8.06742679e-03 9.99967447e-01 1.44487947e-04 -6.29030901e+01] [ 3.20704361e-03 -1.18618475e-04 9.99994850e-01 2.99436916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0707140569999 meters Centerline goodness [0,1] 0.9839505643050251 Centerline is valid? [True, True] Translation: X:819.15, Y:-62.90, Z:2.99 [[ 9.99968067e-01 7.11329519e-03 -3.64222740e-03 8.19150258e+02] [-7.11274549e-03 9.99974691e-01 1.63855417e-04 -6.29033346e+01] [ 3.64330077e-03 -1.37943948e-04 9.99993354e-01 2.99431891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1007140569999 meters Centerline goodness [0,1] 0.9842080418830194 Centerline is valid? [True, True] Translation: X:819.18, Y:-62.91, Z:2.99 [[ 9.99976913e-01 6.02417683e-03 -3.14352777e-03 8.19178366e+02] [-6.02376264e-03 9.99981847e-01 1.41209930e-04 -6.29058592e+01] [ 3.14432138e-03 -1.22270805e-04 9.99995049e-01 2.99425513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.130714057 meters Centerline goodness [0,1] 0.9835925300019253 Centerline is valid? [True, True] Translation: X:819.21, Y:-62.91, Z:2.99 [[ 9.99993513e-01 1.93771119e-03 -3.03622250e-03 8.19207738e+02] [-1.93730672e-03 9.99998114e-01 1.36148809e-04 -6.29095138e+01] [ 3.03648059e-03 -1.30265831e-04 9.99995381e-01 2.99489815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.160714057 meters Centerline goodness [0,1] 0.9835717046772323 Centerline is valid? [True, True] Translation: X:819.24, Y:-62.91, Z:3.00 [[ 9.99996271e-01 -6.71819684e-04 -2.64714624e-03 8.19236697e+02] [ 6.72136150e-04 9.99999767e-01 1.18661921e-04 -6.29128477e+01] [ 2.64706591e-03 -1.20440721e-04 9.99996489e-01 2.99541155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1907140569999 meters Centerline goodness [0,1] 0.9844011860255253 Centerline is valid? [True, True] Translation: X:819.27, Y:-62.92, Z:3.00 [[ 9.99989466e-01 -3.35824922e-03 -3.12891940e-03 8.19266642e+02] [ 3.35870411e-03 9.99994350e-01 1.40138862e-04 -6.29162021e+01] [ 3.12843110e-03 -1.50646501e-04 9.99995095e-01 2.99649522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2207140569999 meters Centerline goodness [0,1] 0.9829213483146068 Centerline is valid? [True, True] Translation: X:819.30, Y:-62.92, Z:3.00 [[ 9.99975634e-01 -6.41757345e-03 -2.74691639e-03 8.19296521e+02] [ 6.41793545e-03 9.99979397e-01 1.22987430e-04 -6.29192701e+01] [ 2.74607052e-03 -1.40613966e-04 9.99996220e-01 2.99649567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.250714057 meters Centerline goodness [0,1] 0.9839903856471447 Centerline is valid? [True, True] Translation: X:819.33, Y:-62.92, Z:3.00 [[ 9.99930885e-01 -1.15749418e-02 -2.06037199e-03 8.19326628e+02] [ 1.15751563e-02 9.99933001e-01 9.22117287e-05 -6.29193433e+01] [ 2.05916660e-03 -1.16054483e-04 9.99997873e-01 2.99737793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.280714057 meters Centerline goodness [0,1] 0.9818951328474018 Centerline is valid? [True, True] Translation: X:819.36, Y:-62.93, Z:3.00 [[ 9.99902189e-01 -1.38721924e-02 -1.78188248e-03 8.19356477e+02] [ 1.38723565e-02 9.99903771e-01 7.97554298e-05 -6.29253262e+01] [ 1.78060463e-03 -1.04466538e-04 9.99998409e-01 2.99740554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3107140569999 meters Centerline goodness [0,1] 0.9820963124385762 Centerline is valid? [True, True] Translation: X:819.39, Y:-62.93, Z:3.00 [[ 9.99853930e-01 -1.69886053e-02 -1.87264061e-03 8.19386950e+02] [ 1.69887919e-02 9.99855677e-01 8.38032147e-05 -6.29279975e+01] [ 1.87094665e-03 -1.15604875e-04 9.99998243e-01 2.99751128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3407140569999 meters Centerline goodness [0,1] 0.9830968458842636 Centerline is valid? [True, True] Translation: X:819.42, Y:-62.93, Z:3.00 [[ 9.99837880e-01 -1.79056284e-02 -1.89784661e-03 8.19418951e+02] [ 1.79058218e-02 9.99839674e-01 8.49230988e-05 -6.29294554e+01] [ 1.89602173e-03 -1.18891834e-04 9.99998195e-01 2.99727998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.370714057 meters Centerline goodness [0,1] 0.9824282863824583 Centerline is valid? [True, True] Translation: X:819.45, Y:-62.93, Z:3.00 [[ 9.99829205e-01 -1.83554789e-02 -2.15362874e-03 8.19450101e+02] [ 1.83557293e-02 9.99831515e-01 9.65581021e-05 -6.29326508e+01] [ 2.15149352e-03 -1.36073037e-04 9.99997676e-01 2.99767204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.400714057 meters Centerline goodness [0,1] 0.9827619517849859 Centerline is valid? [True, True] Translation: X:819.48, Y:-62.93, Z:3.00 [[ 9.99836943e-01 -1.79520731e-02 -1.95181173e-03 8.19482624e+02] [ 1.79522782e-02 9.99838841e-01 8.75859452e-05 -6.29290246e+01] [ 1.94992483e-03 -1.22611131e-04 9.99998091e-01 2.99838936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4307140569999 meters Centerline goodness [0,1] 0.982555156490508 Centerline is valid? [True, True] Translation: X:819.51, Y:-62.93, Z:3.00 [[ 9.99848601e-01 -1.72608911e-02 -2.19903836e-03 8.19513561e+02] [ 1.72611501e-02 9.99851010e-01 9.88732827e-05 -6.29341164e+01] [ 2.19700409e-03 -1.36816245e-04 9.99997577e-01 2.99865256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4607140569999 meters Centerline goodness [0,1] 0.9823367815598575 Centerline is valid? [True, True] Translation: X:819.55, Y:-62.93, Z:3.00 [[ 9.99870684e-01 -1.59936418e-02 -1.67918081e-03 8.19545238e+02] [ 1.59937912e-02 9.99872088e-01 7.55748277e-05 -6.29326289e+01] [ 1.67775731e-03 -1.02421522e-04 9.99998587e-01 2.99878132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4907140569999 meters Centerline goodness [0,1] 0.9818150736158301 Centerline is valid? [True, True] Translation: X:819.57, Y:-62.93, Z:3.00 [[ 9.99912003e-01 -1.30489643e-02 -2.38983772e-03 8.19574581e+02] [ 1.30492589e-02 9.99914849e-01 1.07699094e-04 -6.29345634e+01] [ 2.38822886e-03 -1.38875228e-04 9.99997139e-01 2.99825455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.520714057 meters Centerline goodness [0,1] 0.9821807200531152 Centerline is valid? [True, True] Translation: X:819.61, Y:-62.93, Z:3.00 [[ 9.99933428e-01 -1.12771160e-02 -2.44252419e-03 8.19606716e+02] [ 1.12774182e-02 9.99936402e-01 1.10012635e-04 -6.29277192e+01] [ 2.44112822e-03 -1.37550678e-04 9.99997011e-01 2.99805294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5507140569999 meters Centerline goodness [0,1] 0.98321131840529 Centerline is valid? [True, True] Translation: X:819.64, Y:-62.93, Z:3.00 [[ 9.99967465e-01 -7.61657884e-03 -2.65654282e-03 8.19636627e+02] [ 7.61692393e-03 9.99970984e-01 1.19808993e-04 -6.29287082e+01] [ 2.65555320e-03 -1.40039779e-04 9.99996464e-01 2.99860653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5807140569999 meters Centerline goodness [0,1] 0.9825264782813773 Centerline is valid? [True, True] Translation: X:819.67, Y:-62.93, Z:3.00 [[ 9.99981448e-01 -5.65484069e-03 -2.26398455e-03 8.19668010e+02] [ 5.65508628e-03 9.99984005e-01 1.02089848e-04 -6.29253858e+01] [ 2.26337104e-03 -1.14890982e-04 9.99997432e-01 2.99849190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6107140569999 meters Centerline goodness [0,1] 0.9830187052840272 Centerline is valid? [True, True] Translation: X:819.70, Y:-62.93, Z:3.00 [[ 9.99988739e-01 -4.05314714e-03 -2.46858821e-03 8.19699003e+02] [ 4.05343451e-03 9.99991779e-01 1.11419446e-04 -6.29255027e+01] [ 2.46811631e-03 -1.21424452e-04 9.99996947e-01 2.99866683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.640714057 meters Centerline goodness [0,1] 0.9842492576494384 Centerline is valid? [True, True] Translation: X:819.73, Y:-62.92, Z:3.00 [[ 9.99994050e-01 -2.79710997e-03 -2.01877532e-03 8.19729589e+02] [ 2.79729960e-03 9.99996083e-01 9.11152243e-05 -6.29203888e+01] [ 2.01851255e-03 -9.67618016e-05 9.99997958e-01 2.99839577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6707140569999 meters Centerline goodness [0,1] 0.9841406468550279 Centerline is valid? [True, True] Translation: X:819.76, Y:-62.92, Z:3.00 [[ 9.99998056e-01 -3.92835392e-04 -1.93231326e-03 8.19759472e+02] [ 3.93004647e-04 9.99999919e-01 8.72128534e-05 -6.29208843e+01] [ 1.93227884e-03 -8.79720920e-05 9.99998129e-01 2.99843410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7007140569999 meters Centerline goodness [0,1] 0.9836663733339057 Centerline is valid? [True, True] Translation: X:819.79, Y:-62.92, Z:3.00 [[ 9.99998722e-01 -4.03279194e-05 -1.59824922e-03 8.19788582e+02] [ 4.04433238e-05 9.99999997e-01 7.21745481e-05 -6.29230634e+01] [ 1.59824630e-03 -7.22390943e-05 9.99998720e-01 2.99847619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7307140569999 meters Centerline goodness [0,1] 0.9841440357511172 Centerline is valid? [True, True] Translation: X:819.82, Y:-62.92, Z:3.00 [[ 9.99998132e-01 6.98186076e-04 -1.80210328e-03 8.19817818e+02] [-6.98040720e-04 9.99999753e-01 8.12866715e-05 -6.29244336e+01] [ 1.80215959e-03 -8.00285783e-05 9.99998373e-01 2.99856864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.760714057 meters Centerline goodness [0,1] 0.9839924265243771 Centerline is valid? [True, True] Translation: X:819.85, Y:-62.93, Z:3.00 [[ 9.99998118e-01 9.20704313e-04 -1.70771297e-03 8.19847599e+02] [-9.20574127e-04 9.99999573e-01 7.70183862e-05 -6.29258215e+01] [ 1.70778316e-03 -7.54461649e-05 9.99998539e-01 2.99812427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.790714057 meters Centerline goodness [0,1] 0.9839416682703616 Centerline is valid? [True, True] Translation: X:819.88, Y:-62.93, Z:3.00 [[ 9.99998422e-01 7.28351441e-04 -1.62025745e-03 8.19876971e+02] [-7.28234111e-04 9.99999732e-01 7.30029098e-05 -6.29290406e+01] [ 1.62031018e-03 -7.18228679e-05 9.99998685e-01 2.99770216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8207140569999 meters Centerline goodness [0,1] 0.9843361618239479 Centerline is valid? [True, True] Translation: X:819.91, Y:-62.93, Z:3.00 [[ 9.99998864e-01 6.50417920e-04 -1.35949912e-03 8.19906448e+02] [-6.50335235e-04 9.99999787e-01 6.12615732e-05 -6.29297729e+01] [ 1.35953867e-03 -6.03773735e-05 9.99999074e-01 2.99770675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8507140569999 meters Centerline goodness [0,1] 0.9845127064259434 Centerline is valid? [True, True] Translation: X:819.94, Y:-62.93, Z:3.00 [[ 9.99999238e-01 6.46403505e-04 -1.05175960e-03 8.19935614e+02] [-6.46354061e-04 9.99999790e-01 4.73495060e-05 -6.29325758e+01] [ 1.05178999e-03 -4.66696608e-05 9.99999446e-01 2.99725518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.880714057 meters Centerline goodness [0,1] 0.9840245973897526 Centerline is valid? [True, True] Translation: X:819.97, Y:-62.94, Z:3.00 [[ 9.99998700e-01 1.04378324e-03 -1.22899027e-03 8.19965375e+02] [-1.04371603e-03 9.99999454e-01 5.53240418e-05 -6.29358604e+01] [ 1.22904734e-03 -5.40412530e-05 9.99999243e-01 2.99594730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.910714057 meters Centerline goodness [0,1] 0.9845547439000878 Centerline is valid? [True, True] Translation: X:820.00, Y:-62.94, Z:3.00 [[ 9.99997083e-01 1.73798228e-03 -1.67719945e-03 8.19995041e+02] [-1.73785825e-03 9.99998487e-01 7.54089781e-05 -6.29355257e+01] [ 1.67732798e-03 -7.24940233e-05 9.99998591e-01 2.99546009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9407140569999 meters Centerline goodness [0,1] 0.9846480869154464 Centerline is valid? [True, True] Translation: X:820.02, Y:-62.94, Z:2.99 [[ 9.99995116e-01 2.63814574e-03 -1.67560255e-03 8.20023842e+02] [-2.63802327e-03 9.99996518e-01 7.52952252e-05 -6.29378635e+01] [ 1.67579536e-03 -7.08745789e-05 9.99998593e-01 2.99453547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9707140569999 meters Centerline goodness [0,1] 0.9846799940005571 Centerline is valid? [True, True] Translation: X:820.05, Y:-62.94, Z:2.99 [[ 9.99992646e-01 3.53937190e-03 -1.47674070e-03 8.20053108e+02] [-3.53927784e-03 9.99993735e-01 6.62980213e-05 -6.29385931e+01] [ 1.47696610e-03 -6.10709381e-05 9.99998907e-01 2.99486681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.000714057 meters Centerline goodness [0,1] 0.983959403960694 Centerline is valid? [True, True] Translation: X:820.08, Y:-62.94, Z:3.00 [[ 9.99991306e-01 4.10206974e-03 -7.49062282e-04 8.20082868e+02] [-4.10204570e-03 9.99991586e-01 3.36258920e-05 -6.29391477e+01] [ 7.49193915e-04 -3.05529119e-05 9.99999719e-01 2.99505231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.030714057 meters Centerline goodness [0,1] 0.9835755845159628 Centerline is valid? [True, True] Translation: X:820.11, Y:-62.94, Z:3.00 [[ 9.99981148e-01 6.14032142e-03 -8.91404511e-06 8.20111185e+02] [-6.14032142e-03 9.99981148e-01 5.41452502e-07 -6.29436146e+01] [ 8.91720175e-06 -4.86707192e-07 1.00000000e+00 2.99568329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0607140569999 meters Centerline goodness [0,1] 0.9843154973213709 Centerline is valid? [True, True] Translation: X:820.14, Y:-62.95, Z:3.00 [[ 9.99973044e-01 7.32152394e-03 5.53243790e-04 8.20140147e+02] [-7.32151150e-03 9.99973197e-01 -2.45151693e-05 -6.29450537e+01] [-5.53408450e-04 2.04639277e-05 9.99999847e-01 2.99579251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0907140569999 meters Centerline goodness [0,1] 0.9851514891425629 Centerline is valid? [True, True] Translation: X:820.17, Y:-62.94, Z:3.00 [[ 9.99967873e-01 8.00855206e-03 3.40517453e-04 8.20169109e+02] [-8.00854742e-03 9.99967931e-01 -1.49859150e-05 -6.29431557e+01] [-3.40626549e-04 1.22583833e-05 9.99999942e-01 2.99587786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.120714057 meters Centerline goodness [0,1] 0.9835052873168744 Centerline is valid? [True, True] Translation: X:820.20, Y:-62.95, Z:3.00 [[ 9.99966286e-01 8.18890520e-03 6.07306395e-04 8.20197817e+02] [-8.18889035e-03 9.99966470e-01 -2.69369041e-05 -6.29484973e+01] [-6.07506616e-04 2.19628305e-05 9.99999815e-01 2.99632498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.150714057 meters Centerline goodness [0,1] 0.9847155453036411 Centerline is valid? [True, True] Translation: X:820.23, Y:-62.95, Z:3.00 [[ 9.99970516e-01 7.63690216e-03 8.03251224e-04 8.20226760e+02] [-7.63687609e-03 9.99970838e-01 -3.55217920e-05 -6.29483219e+01] [-8.03499076e-04 2.93864146e-05 9.99999677e-01 2.99548515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1807140569999 meters Centerline goodness [0,1] 0.9846226435327171 Centerline is valid? [True, True] Translation: X:820.25, Y:-62.95, Z:2.99 [[ 9.99986184e-01 5.25631487e-03 -4.78008690e-05 8.20254872e+02] [-5.25631477e-03 9.99986185e-01 2.26438097e-06 -6.29547199e+01] [ 4.78121109e-05 -2.01309327e-06 9.99999999e-01 2.99485140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2107140569999 meters Centerline goodness [0,1] 0.9833696720961054 Centerline is valid? [True, True] Translation: X:820.28, Y:-62.96, Z:2.99 [[ 9.99995051e-01 3.11052293e-03 -4.71191322e-04 8.20283049e+02] [-3.11051336e-03 9.99995162e-01 2.10386912e-05 -6.29614752e+01] [ 4.71254484e-04 -1.95729402e-05 9.99999889e-01 2.99487250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2407140569999 meters Centerline goodness [0,1] 0.983680831418694 Centerline is valid? [True, True] Translation: X:820.31, Y:-62.96, Z:2.99 [[ 9.99999760e-01 4.42176627e-04 -5.33407436e-04 8.20313134e+02] [-4.42164050e-04 9.99999902e-01 2.36968431e-05 -6.29622250e+01] [ 5.33417861e-04 -2.34609838e-05 9.99999857e-01 2.99461169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.270714057 meters Centerline goodness [0,1] 0.9818606244913693 Centerline is valid? [True, True] Translation: X:820.34, Y:-62.97, Z:2.99 [[ 9.99982723e-01 -5.67745112e-03 -1.52353782e-03 8.20342908e+02] [ 5.67756063e-03 9.99983880e-01 6.75672778e-05 -6.29697184e+01] [ 1.52312965e-03 -7.62160887e-05 9.99998837e-01 2.99476896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3007140569999 meters Centerline goodness [0,1] 0.9824850299401198 Centerline is valid? [True, True] Translation: X:820.37, Y:-62.98, Z:2.99 [[ 9.99960363e-01 -8.70390558e-03 -1.87481948e-03 8.20373030e+02] [ 8.70407661e-03 9.99962115e-01 8.30849408e-05 -6.29751626e+01] [ 1.87402529e-03 -9.94002200e-05 9.99998239e-01 2.99491714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3307140569999 meters Centerline goodness [0,1] 0.9819819819819819 Centerline is valid? [True, True] Translation: X:820.40, Y:-62.98, Z:2.99 [[ 9.99924528e-01 -1.20211536e-02 -2.53579307e-03 8.20403589e+02] [ 1.20214773e-02 9.99927733e-01 1.12436549e-04 -6.29786832e+01] [ 2.53425820e-03 -1.42912042e-04 9.99996779e-01 2.99486290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3607140569999 meters Centerline goodness [0,1] 0.9820754918050257 Centerline is valid? [True, True] Translation: X:820.43, Y:-62.98, Z:3.00 [[ 9.99821634e-01 -1.85820987e-02 -3.37719679e-03 8.20434285e+02] [ 1.85827103e-02 9.99827315e-01 1.49813339e-04 -6.29803128e+01] [ 3.37382975e-03 -2.12544087e-04 9.99994286e-01 2.99508448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.390714057 meters Centerline goodness [0,1] 0.9814613100958971 Centerline is valid? [True, True] Translation: X:820.47, Y:-62.98, Z:3.00 [[ 9.99758200e-01 -2.17754216e-02 -3.06152980e-03 8.20465066e+02] [ 2.17759392e-02 9.99762867e-01 1.35843600e-04 -6.29833979e+01] [ 3.05784576e-03 -2.02478439e-04 9.99995304e-01 2.99551791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4207140569999 meters Centerline goodness [0,1] 0.9805927035412432 Centerline is valid? [True, True] Translation: X:820.50, Y:-62.99, Z:3.00 [[ 9.99640346e-01 -2.67182621e-02 -2.30509101e-03 8.20495388e+02] [ 2.67185687e-02 9.99642990e-01 1.02314812e-04 -6.29868120e+01] [ 2.30153440e-03 -1.63866746e-04 9.99997338e-01 2.99674928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4507140569999 meters Centerline goodness [0,1] 0.9793915186538625 Centerline is valid? [True, True] Translation: X:820.53, Y:-62.99, Z:3.00 [[ 9.99608054e-01 -2.79181692e-02 -2.07691351e-03 8.20526439e+02] [ 2.79184206e-02 9.99610201e-01 9.21615036e-05 -6.29922522e+01] [ 2.07353095e-03 -1.50109526e-04 9.99997839e-01 2.99746076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4807140569999 meters Centerline goodness [0,1] 0.9806560674469861 Centerline is valid? [True, True] Translation: X:820.56, Y:-62.99, Z:3.00 [[ 9.99565319e-01 -2.93799533e-02 -2.44785215e-03 8.20558480e+02] [ 2.93803073e-02 9.99568300e-01 1.08778326e-04 -6.29874558e+01] [ 2.44359951e-03 -1.80649690e-04 9.99996998e-01 2.99806445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.510714057 meters Centerline goodness [0,1] 0.9802673865535416 Centerline is valid? [True, True] Translation: X:820.59, Y:-62.99, Z:3.00 [[ 9.99518358e-01 -3.07900702e-02 -3.87614735e-03 8.20590669e+02] [ 3.07909696e-02 9.99525831e-01 1.72569143e-04 -6.29863456e+01] [ 3.86899599e-03 -2.91836362e-04 9.99992473e-01 2.99818127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.540714057 meters Centerline goodness [0,1] 0.9811518998198816 Centerline is valid? [True, True] Translation: X:820.62, Y:-62.99, Z:3.00 [[ 9.99494706e-01 -3.15188334e-02 -4.11045843e-03 8.20622501e+02] [ 3.15198521e-02 9.99503109e-01 1.83286274e-04 -6.29864472e+01] [ 4.10263901e-03 -3.12754702e-04 9.99991535e-01 2.99808569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5707140569999 meters Centerline goodness [0,1] 0.9807617901208031 Centerline is valid? [True, True] Translation: X:820.65, Y:-62.99, Z:3.00 [[ 9.99434396e-01 -3.32986811e-02 -4.69951608e-03 8.20653803e+02] [ 3.33000335e-02 9.99445378e-01 2.09793170e-04 -6.29857629e+01] [ 4.68992379e-03 -3.66168553e-04 9.99988935e-01 2.99846995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6007140569999 meters Centerline goodness [0,1] 0.9799096579909659 Centerline is valid? [True, True] Translation: X:820.69, Y:-62.99, Z:3.00 [[ 9.99404941e-01 -3.41028525e-02 -5.17298428e-03 8.20685227e+02] [ 3.41045031e-02 9.99418245e-01 2.31170577e-04 -6.29890889e+01] [ 5.16209129e-03 -4.07455075e-04 9.99986593e-01 2.99866488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.630714057 meters Centerline goodness [0,1] 0.9798125295609924 Centerline is valid? [True, True] Translation: X:820.72, Y:-62.99, Z:3.00 [[ 9.99357930e-01 -3.53789973e-02 -5.66161908e-03 8.20717178e+02] [ 3.53809966e-02 9.99373864e-01 2.53327370e-04 -6.29864422e+01] [ 5.64911167e-03 -4.53478442e-04 9.99983941e-01 2.99844355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.660714057 meters Centerline goodness [0,1] 0.9797059076446814 Centerline is valid? [True, True] Translation: X:820.75, Y:-62.99, Z:3.00 [[ 9.99277923e-01 -3.72931481e-02 -7.27006269e-03 8.20747196e+02] [ 3.72964964e-02 9.99304191e-01 3.25484371e-04 -6.29885039e+01] [ 7.25286577e-03 -5.96397214e-04 9.99973520e-01 2.99864640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6907140569999 meters Centerline goodness [0,1] 0.9813418365148446 Centerline is valid? [True, True] Translation: X:820.78, Y:-62.98, Z:3.00 [[ 9.99251719e-01 -3.78607072e-02 -7.91005591e-03 8.20779812e+02] [ 3.78646916e-02 9.99282813e-01 3.54520372e-04 -6.29815655e+01] [ 7.89096052e-03 -6.53766919e-04 9.99968652e-01 2.99882085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7207140569999 meters Centerline goodness [0,1] 0.981587411228873 Centerline is valid? [True, True] Translation: X:820.81, Y:-62.98, Z:3.00 [[ 9.99266118e-01 -3.74031550e-02 -8.26010214e-03 8.20810963e+02] [ 3.74074886e-02 9.99300026e-01 3.70719314e-04 -6.29785953e+01] [ 8.24045421e-03 -6.79436927e-04 9.99965816e-01 2.99949871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.750714057 meters Centerline goodness [0,1] 0.9808693388859969 Centerline is valid? [True, True] Translation: X:820.84, Y:-62.98, Z:3.00 [[ 9.99303245e-01 -3.64018548e-02 -8.24188343e-03 8.20842265e+02] [ 3.64061392e-02 9.99337008e-01 3.70349142e-04 -6.29777345e+01] [ 8.22293774e-03 -6.70146254e-04 9.99965967e-01 2.99991572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.780714057 meters Centerline goodness [0,1] 0.9805823141032579 Centerline is valid? [True, True] Translation: X:820.87, Y:-62.98, Z:3.00 [[ 9.99348792e-01 -3.51708740e-02 -8.06238568e-03 8.20873513e+02] [ 3.51749367e-02 9.99381105e-01 3.62619771e-04 -6.29756234e+01] [ 8.04464225e-03 -6.45977536e-04 9.99967433e-01 2.99994788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8107140569999 meters Centerline goodness [0,1] 0.9808429949073573 Centerline is valid? [True, True] Translation: X:820.90, Y:-62.97, Z:3.00 [[ 9.99475321e-01 -3.11641850e-02 -8.82474349e-03 8.20903816e+02] [ 3.11688981e-02 9.99514053e-01 3.97016584e-04 -6.29690945e+01] [ 8.80808243e-03 -6.71865808e-04 9.99960982e-01 3.00046732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8407140569999 meters Centerline goodness [0,1] 0.9823361575153007 Centerline is valid? [True, True] Translation: X:820.94, Y:-62.96, Z:3.00 [[ 9.99552494e-01 -2.84320577e-02 -9.29671881e-03 8.20935280e+02] [ 2.84371721e-02 9.99595494e-01 4.18369125e-04 -6.29644546e+01] [ 9.28106314e-03 -6.82554295e-04 9.99956697e-01 3.00095954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.870714057 meters Centerline goodness [0,1] 0.9842132844229006 Centerline is valid? [True, True] Translation: X:820.97, Y:-62.96, Z:3.00 [[ 9.99685568e-01 -2.32485701e-02 -9.39517899e-03 8.20966163e+02] [ 2.32535660e-02 9.99729510e-01 4.22840115e-04 -6.29568337e+01] [ 9.38280726e-03 -6.41178575e-04 9.99955775e-01 3.00167237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.900714057 meters Centerline goodness [0,1] 0.9842132844229006 Centerline is valid? [True, True] Translation: X:821.00, Y:-62.96, Z:3.00 [[ 9.99687207e-01 -2.31779888e-02 -9.39515781e-03 8.20997894e+02] [ 2.31829860e-02 9.99731149e-01 4.23310342e-04 -6.29583235e+01] [ 9.38282043e-03 -6.40985745e-04 9.99955775e-01 3.00175784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9307140569999 meters Centerline goodness [0,1] 0.9836273416836077 Centerline is valid? [True, True] Translation: X:821.03, Y:-62.96, Z:3.00 [[ 9.99741148e-01 -2.07006947e-02 -9.44026728e-03 8.21027813e+02] [ 2.07056317e-02 9.99785525e-01 4.25533866e-04 -6.29573668e+01] [ 9.42943373e-03 -6.20890413e-04 9.99955349e-01 3.00177724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9607140569999 meters Centerline goodness [0,1] 0.9842615803814714 Centerline is valid? [True, True] Translation: X:821.06, Y:-62.95, Z:3.00 [[ 9.99802850e-01 -1.76804222e-02 -9.03675022e-03 8.21059255e+02] [ 1.76848244e-02 9.99843528e-01 4.07456454e-04 -6.29526119e+01] [ 9.02813222e-03 -5.67189464e-04 9.99959085e-01 3.00226397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9907140569999 meters Centerline goodness [0,1] 0.9852122858519914 Centerline is valid? [True, True] Translation: X:821.09, Y:-62.95, Z:3.00 [[ 9.99876501e-01 -1.28816438e-02 -9.00255024e-03 8.21090565e+02] [ 1.28858194e-02 9.99916892e-01 4.05966746e-04 -6.29456785e+01] [ 8.99657254e-03 -5.21921846e-04 9.99959394e-01 3.00311561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.020714057 meters Centerline goodness [0,1] 0.9858093903293623 Centerline is valid? [True, True] Translation: X:821.12, Y:-62.94, Z:3.00 [[ 9.99903894e-01 -1.02047904e-02 -9.38432590e-03 8.21121172e+02] [ 1.02092101e-02 9.99947795e-01 4.23185095e-04 -6.29406564e+01] [ 9.37951747e-03 -5.18950979e-04 9.99955877e-01 3.00370845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0507140569999 meters Centerline goodness [0,1] 0.9878293021106147 Centerline is valid? [True, True] Translation: X:821.15, Y:-62.93, Z:3.00 [[ 9.99946819e-01 -4.26406414e-03 -9.39026100e-03 8.21151946e+02] [ 4.26822805e-03 9.99990801e-01 4.23432805e-04 -6.29319493e+01] [ 9.38836907e-03 -4.63490062e-04 9.99955821e-01 3.00379512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0807140569999 meters Centerline goodness [0,1] 0.9872257156677366 Centerline is valid? [True, True] Translation: X:821.18, Y:-62.94, Z:3.00 [[ 9.99956669e-01 -8.65134062e-04 -9.26880685e-03 8.21180442e+02] [ 8.69041924e-04 9.99999535e-01 4.17594996e-04 -6.29357678e+01] [ 9.26844127e-03 -4.25631883e-04 9.99956956e-01 3.00268592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1107140569999 meters Centerline goodness [0,1] 0.9872650759027916 Centerline is valid? [True, True] Translation: X:821.21, Y:-62.93, Z:3.00 [[ 9.99955186e-01 2.42581618e-03 -9.15098183e-03 8.21210226e+02] [-2.42214786e-03 9.99996982e-01 4.11927414e-04 -6.29323091e+01] [ 9.15195347e-03 -3.89743923e-04 9.99958044e-01 3.00274551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.140714057 meters Centerline goodness [0,1] 0.9878807947019868 Centerline is valid? [True, True] Translation: X:821.24, Y:-62.93, Z:3.00 [[ 9.99917692e-01 9.28389865e-03 -8.85547260e-03 8.21239835e+02] [-9.28073380e-03 9.99956854e-01 3.98416752e-04 -6.29265074e+01] [ 8.85878938e-03 -3.16198675e-04 9.99960710e-01 3.00272953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1707140569999 meters Centerline goodness [0,1] 0.9886857369709534 Centerline is valid? [True, True] Translation: X:821.27, Y:-62.92, Z:3.00 [[ 9.99889806e-01 1.23609232e-02 -8.22097315e-03 8.21268633e+02] [-1.23583031e-02 9.99923565e-01 3.69432345e-04 -6.29203874e+01] [ 8.22491130e-03 -2.67794357e-04 9.99966139e-01 3.00367932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2007140569999 meters Centerline goodness [0,1] 0.9888297638418576 Centerline is valid? [True, True] Translation: X:821.30, Y:-62.92, Z:3.00 [[ 9.99855130e-01 1.52218126e-02 -7.61678468e-03 8.21296443e+02] [-1.52196522e-02 9.99884116e-01 3.41518866e-04 -6.29239087e+01] [ 7.62110055e-03 -2.25544577e-04 9.99970934e-01 3.00269028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2307140569999 meters Centerline goodness [0,1] 0.990913914312243 Centerline is valid? [True, True] Translation: X:821.33, Y:-62.92, Z:3.00 [[ 9.99778855e-01 1.95837606e-02 -7.66272654e-03 8.21326598e+02] [-1.95817059e-02 9.99808201e-01 3.43076669e-04 -6.29154934e+01] [ 7.66797557e-03 -1.92951542e-04 9.99970582e-01 3.00320007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.260714057 meters Centerline goodness [0,1] 0.9909778426429614 Centerline is valid? [True, True] Translation: X:821.35, Y:-62.92, Z:3.00 [[ 9.99738733e-01 2.14266568e-02 -7.96015774e-03 8.21354145e+02] [-2.14245025e-02 9.99770406e-01 3.55820567e-04 -6.29165768e+01] [ 7.96595418e-03 -1.85185183e-04 9.99968254e-01 3.00265992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.290714057 meters Centerline goodness [0,1] 0.9915366597427852 Centerline is valid? [True, True] Translation: X:821.38, Y:-62.92, Z:3.00 [[ 9.99674291e-01 2.41753988e-02 -8.17694083e-03 8.21382677e+02] [-2.41732227e-02 9.99707718e-01 3.64869298e-04 -6.29167502e+01] [ 8.18337172e-03 -1.67087445e-04 9.99966502e-01 3.00195529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3207140569999 meters Centerline goodness [0,1] 0.991826094640569 Centerline is valid? [True, True] Translation: X:821.41, Y:-62.92, Z:3.00 [[ 9.99650573e-01 2.51732960e-02 -8.06458527e-03 8.21411704e+02] [-2.51712164e-02 9.99683090e-01 3.59281232e-04 -6.29183950e+01] [ 8.07107382e-03 -1.56160268e-04 9.99967416e-01 3.00199871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3507140569999 meters Centerline goodness [0,1] 0.9915849148526252 Centerline is valid? [True, True] Translation: X:821.44, Y:-62.92, Z:3.00 [[ 9.99633782e-01 2.58650709e-02 -7.95612368e-03 8.21440457e+02] [-2.58630733e-02 9.99665432e-01 3.53883993e-04 -6.29204454e+01] [ 7.96261505e-03 -1.47984584e-04 9.99968287e-01 3.00191091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.380714057 meters Centerline goodness [0,1] 0.9913328026886 Centerline is valid? [True, True] Translation: X:821.47, Y:-62.93, Z:3.00 [[ 9.99628736e-01 2.60487020e-02 -7.99098063e-03 8.21468098e+02] [-2.60466980e-02 9.99660664e-01 3.54772591e-04 -6.29250216e+01] [ 7.99751037e-03 -1.46502217e-04 9.99968009e-01 3.00124139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.410714057 meters Centerline goodness [0,1] 0.9915853173726755 Centerline is valid? [True, True] Translation: X:821.50, Y:-62.93, Z:3.00 [[ 9.99646780e-01 2.54377860e-02 -7.69637692e-03 8.21496727e+02] [-2.54359134e-02 9.99676397e-01 3.41107633e-04 -6.29282010e+01] [ 7.70256337e-03 -1.45222770e-04 9.99970324e-01 3.00123871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4407140569999 meters Centerline goodness [0,1] 0.9911296002817398 Centerline is valid? [True, True] Translation: X:821.53, Y:-62.93, Z:3.00 [[ 9.99662981e-01 2.47875571e-02 -7.71369092e-03 8.21525735e+02] [-2.47856610e-02 9.99692730e-01 3.41320791e-04 -6.29318890e+01] [ 7.71978124e-03 -1.50016831e-04 9.99970191e-01 3.00103513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4707140569999 meters Centerline goodness [0,1] 0.9908082967795975 Centerline is valid? [True, True] Translation: X:821.55, Y:-62.94, Z:3.00 [[ 9.99699551e-01 2.34383086e-02 -7.17316431e-03 8.21553161e+02] [-2.34366384e-02 9.99725274e-01 3.16821337e-04 -6.29374200e+01] [ 7.17861941e-03 -1.48611290e-04 9.99974222e-01 3.00078274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.500714057 meters Centerline goodness [0,1] 0.990268706439311 Centerline is valid? [True, True] Translation: X:821.58, Y:-62.94, Z:3.00 [[ 9.99763169e-01 2.05782218e-02 -7.08108876e-03 8.21582012e+02] [-2.05765264e-02 9.99788232e-01 3.12203191e-04 -6.29446640e+01] [ 7.08601380e-03 -1.66425042e-04 9.99974880e-01 2.99985189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.530714057 meters Centerline goodness [0,1] 0.9895853931843649 Centerline is valid? [True, True] Translation: X:821.61, Y:-62.95, Z:3.00 [[ 9.99796077e-01 1.88144153e-02 -7.33632144e-03 8.21610935e+02] [-1.88125519e-02 9.99822976e-01 3.22924757e-04 -6.29495607e+01] [ 7.34109838e-03 -1.84843978e-04 9.99973037e-01 2.99940647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5607140569999 meters Centerline goodness [0,1] 0.988891566793015 Centerline is valid? [True, True] Translation: X:821.64, Y:-62.96, Z:3.00 [[ 9.99858173e-01 1.51074815e-02 -7.44297363e-03 8.21639848e+02] [-1.51054643e-02 9.99885852e-01 3.27169173e-04 -6.29584930e+01] [ 7.44706674e-03 -2.14693199e-04 9.99972247e-01 2.99905101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5907140569999 meters Centerline goodness [0,1] 0.9877588426542145 Centerline is valid? [True, True] Translation: X:821.67, Y:-62.96, Z:3.00 [[ 9.99889152e-01 1.30186358e-02 -7.22490332e-03 8.21667294e+02] [-1.30166845e-02 9.99915229e-01 3.17041071e-04 -6.29641311e+01] [ 7.22841831e-03 -2.22961641e-04 9.99973850e-01 2.99913108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.620714057 meters Centerline goodness [0,1] 0.9874855308275274 Centerline is valid? [True, True] Translation: X:821.69, Y:-62.97, Z:3.00 [[ 9.99918663e-01 1.08354405e-02 -6.72766861e-03 8.21694330e+02] [-1.08337035e-02 9.99941270e-01 2.94573999e-04 -6.29700363e+01] [ 6.73046533e-03 -2.21664471e-04 9.99977326e-01 2.99906229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.650714057 meters Centerline goodness [0,1] 0.9861801377626646 Centerline is valid? [True, True] Translation: X:821.72, Y:-62.98, Z:3.00 [[ 9.99965160e-01 6.13445614e-03 -5.66106921e-03 8.21722995e+02] [-6.13315297e-03 9.99981161e-01 2.47530766e-04 -6.29803493e+01] [ 5.66248103e-03 -2.12801938e-04 9.99983945e-01 2.99960294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6807140569999 meters Centerline goodness [0,1] 0.9856630044599152 Centerline is valid? [True, True] Translation: X:821.75, Y:-62.99, Z:3.00 [[ 9.99978754e-01 3.55627808e-03 -5.46302101e-03 8.21752760e+02] [-3.55502709e-03 9.99993652e-01 2.38684902e-04 -6.29861104e+01] [ 5.46383516e-03 -2.19258643e-04 9.99985049e-01 2.99978772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7107140569999 meters Centerline goodness [0,1] 0.9860264282769544 Centerline is valid? [True, True] Translation: X:821.78, Y:-62.99, Z:3.00 [[ 9.99985489e-01 1.21604715e-03 -5.24819167e-03 8.21782358e+02] [-1.21486140e-03 9.99999236e-01 2.29117353e-04 -6.29880881e+01] [ 5.24846628e-03 -2.22738203e-04 9.99986202e-01 2.99998641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7407140569999 meters Centerline goodness [0,1] 0.9850365437010768 Centerline is valid? [True, True] Translation: X:821.81, Y:-63.00, Z:3.00 [[ 9.99979456e-01 -3.99388265e-03 -5.01353223e-03 8.21812062e+02] [ 3.99502934e-03 9.99991996e-01 2.18725326e-04 -6.29969843e+01] [ 5.01261853e-03 -2.38750041e-04 9.99987408e-01 2.99904412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.770714057 meters Centerline goodness [0,1] 0.9836179399830755 Centerline is valid? [True, True] Translation: X:821.84, Y:-63.01, Z:3.00 [[ 9.99966804e-01 -6.51486653e-03 -4.89360083e-03 8.21840808e+02] [ 6.51598844e-03 9.99978748e-01 2.13352093e-04 -6.30071411e+01] [ 4.89210687e-03 -2.45231657e-04 9.99988004e-01 2.99858732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8007140569999 meters Centerline goodness [0,1] 0.9848071087993064 Centerline is valid? [True, True] Translation: X:821.87, Y:-63.01, Z:3.00 [[ 9.99948615e-01 -8.83224119e-03 -4.97589167e-03 8.21871513e+02] [ 8.83342928e-03 9.99960961e-01 2.16842251e-04 -6.30056297e+01] [ 4.97378221e-03 -2.60785296e-04 9.99987597e-01 2.99868889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8307140569999 meters Centerline goodness [0,1] 0.9831161522143815 Centerline is valid? [True, True] Translation: X:821.90, Y:-63.02, Z:3.00 [[ 9.99882609e-01 -1.43743611e-02 -5.30533990e-03 8.21901026e+02] [ 1.43757893e-02 9.99896636e-01 2.31159896e-04 -6.30159811e+01] [ 5.30146875e-03 -3.07401209e-04 9.99985900e-01 2.99814090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8607140569999 meters Centerline goodness [0,1] 0.9820155506256866 Centerline is valid? [True, True] Translation: X:821.93, Y:-63.03, Z:3.00 [[ 9.99843382e-01 -1.67772176e-02 -5.63351349e-03 8.21931148e+02] [ 1.67788660e-02 9.99859195e-01 2.45467893e-04 -6.30263093e+01] [ 5.62860200e-03 -3.39953417e-04 9.99984102e-01 2.99770375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.890714057 meters Centerline goodness [0,1] 0.9827467663615659 Centerline is valid? [True, True] Translation: X:821.96, Y:-63.03, Z:3.00 [[ 9.99786693e-01 -1.97434543e-02 -6.06337268e-03 8.21962473e+02] [ 1.97454192e-02 9.99805005e-01 2.64367362e-04 -6.30257344e+01] [ 6.05697083e-03 -3.84034807e-04 9.99981583e-01 2.99735643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9207140569999 meters Centerline goodness [0,1] 0.9833774734620934 Centerline is valid? [True, True] Translation: X:821.99, Y:-63.03, Z:3.00 [[ 9.99734662e-01 -2.20148221e-02 -6.77889555e-03 8.21993366e+02] [ 2.20173314e-02 9.99757545e-01 2.95743476e-04 -6.30268249e+01] [ 6.77074123e-03 -4.44918193e-04 9.99976979e-01 2.99772850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9507140569999 meters Centerline goodness [0,1] 0.9830234263773243 Centerline is valid? [True, True] Translation: X:822.02, Y:-63.03, Z:3.00 [[ 9.99671906e-01 -2.46762014e-02 -6.86777109e-03 8.22024066e+02] [ 2.46788403e-02 9.99695386e-01 2.99744601e-04 -6.30301856e+01] [ 6.85828252e-03 -4.69134883e-04 9.99976372e-01 2.99716177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9807140569999 meters Centerline goodness [0,1] 0.9824243600526191 Centerline is valid? [True, True] Translation: X:822.05, Y:-63.04, Z:3.00 [[ 9.99566695e-01 -2.85415566e-02 -7.19731553e-03 8.22053602e+02] [ 2.85445554e-02 9.99592472e-01 3.14254786e-04 -6.30358121e+01] [ 7.18541310e-03 -5.19562789e-04 9.99974050e-01 2.99628224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.010714057 meters Centerline goodness [0,1] 0.9815405848356767 Centerline is valid? [True, True] Translation: X:822.09, Y:-63.04, Z:3.00 [[ 9.99520463e-01 -3.00979070e-02 -7.27733154e-03 8.22085326e+02] [ 3.01010160e-02 9.99546811e-01 3.18039563e-04 -6.30387824e+01] [ 7.26446121e-03 -5.36942125e-04 9.99973469e-01 2.99612848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.040714057 meters Centerline goodness [0,1] 0.9826467481515014 Centerline is valid? [True, True] Translation: X:822.12, Y:-63.04, Z:3.00 [[ 9.99478843e-01 -3.12664954e-02 -8.02794598e-03 8.22116707e+02] [ 3.12703198e-02 9.99510902e-01 3.51284489e-04 -6.30426894e+01] [ 8.01303609e-03 -6.02137853e-04 9.99967714e-01 2.99624089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0707140569999 meters Centerline goodness [0,1] 0.9816663797555517 Centerline is valid? [True, True] Translation: X:822.15, Y:-63.04, Z:3.00 [[ 9.99425018e-01 -3.30783622e-02 -7.44676993e-03 8.22148047e+02] [ 3.30817052e-02 9.99452597e-01 3.26150858e-04 -6.30434899e+01] [ 7.43190501e-03 -5.72315175e-04 9.99972219e-01 2.99609873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1007140569999 meters Centerline goodness [0,1] 0.9802228713621118 Centerline is valid? [True, True] Translation: X:822.18, Y:-63.04, Z:3.00 [[ 9.99420152e-01 -3.32810226e-02 -7.19257393e-03 8.22179760e+02] [ 3.32841506e-02 9.99445879e-01 3.15607701e-04 -6.30449472e+01] [ 7.17808463e-03 -5.54823411e-04 9.99974083e-01 2.99660564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.130714057 meters Centerline goodness [0,1] 0.9821467121454168 Centerline is valid? [True, True] Translation: X:822.21, Y:-63.04, Z:3.00 [[ 9.99410653e-01 -3.36333899e-02 -6.86596831e-03 8.22212182e+02] [ 3.36362526e-02 9.99434096e-01 3.01858925e-04 -6.30405069e+01] [ 6.85193029e-03 -5.32626470e-04 9.99976383e-01 2.99787711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.160714057 meters Centerline goodness [0,1] 0.9817933545744196 Centerline is valid? [True, True] Translation: X:822.24, Y:-63.04, Z:3.00 [[ 9.99377514e-01 -3.48682343e-02 -5.36575755e-03 8.22244353e+02] [ 3.48700021e-02 9.99391829e-01 2.36247414e-04 -6.30362824e+01] [ 5.35425672e-03 -4.23204330e-04 9.99985576e-01 2.99948105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1907140569999 meters Centerline goodness [0,1] 0.9805463486492927 Centerline is valid? [True, True] Translation: X:822.28, Y:-63.04, Z:3.00 [[ 9.99354559e-01 -3.56511507e-02 -4.41142920e-03 8.22276358e+02] [ 3.56523545e-02 9.99364234e-01 1.94515012e-04 -6.30377235e+01] [ 4.40168988e-03 -3.51667302e-04 9.99990251e-01 2.99987280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2207140569999 meters Centerline goodness [0,1] 0.9811509012428692 Centerline is valid? [True, True] Translation: X:822.31, Y:-63.04, Z:3.00 [[ 9.99316786e-01 -3.67592372e-02 -3.83665765e-03 8.22308548e+02] [ 3.67601568e-02 9.99324103e-01 1.69423963e-04 -6.30379389e+01] [ 3.82783657e-03 -3.10344347e-04 9.99992626e-01 3.00011954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.250714057 meters Centerline goodness [0,1] 0.9802641566722332 Centerline is valid? [True, True] Translation: X:822.34, Y:-63.04, Z:3.00 [[ 9.99284080e-01 -3.76345533e-02 -3.86875562e-03 8.22340535e+02] [ 3.76354959e-02 9.99291519e-01 1.71123836e-04 -6.30386322e+01] [ 3.85957451e-03 -3.16603861e-04 9.99992502e-01 3.00076549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.280714057 meters Centerline goodness [0,1] 0.9773073077424683 Centerline is valid? [True, True] Translation: X:822.37, Y:-63.05, Z:3.00 [[ 9.99253013e-01 -3.84443766e-02 -3.93022071e-03 8.22371250e+02] [ 3.84453570e-02 9.99260689e-01 1.74174254e-04 -6.30478032e+01] [ 3.92061903e-03 -3.25142886e-04 9.99992261e-01 3.00033572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3107140569999 meters Centerline goodness [0,1] 0.9789004907365372 Centerline is valid? [True, True] Translation: X:822.40, Y:-63.04, Z:3.00 [[ 9.99157308e-01 -4.06964115e-02 -5.33637656e-03 8.22403046e+02] [ 4.06982534e-02 9.99171455e-01 2.36976120e-04 -6.30411092e+01] [ 5.32231106e-03 -4.53957628e-04 9.99985733e-01 3.00009057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3407140569999 meters Centerline goodness [0,1] 0.9799808512490208 Centerline is valid? [True, True] Translation: X:822.43, Y:-63.04, Z:3.00 [[ 9.99117648e-01 -4.16295858e-02 -5.55902430e-03 8.22434911e+02] [ 4.16316004e-02 9.99132999e-01 2.47116762e-04 -6.30370258e+01] [ 5.54391725e-03 -4.78329796e-04 9.99984518e-01 2.99972582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.370714057 meters Centerline goodness [0,1] 0.9800472280595334 Centerline is valid? [True, True] Translation: X:822.47, Y:-63.04, Z:3.00 [[ 9.99066845e-01 -4.26794663e-02 -6.62594308e-03 8.22466698e+02] [ 4.26823538e-02 9.99088650e-01 2.94930173e-04 -6.30377013e+01] [ 6.60731706e-03 -5.77465805e-04 9.99978005e-01 2.99929762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.400714057 meters Centerline goodness [0,1] 0.9784709826287605 Centerline is valid? [True, True] Translation: X:822.50, Y:-63.04, Z:3.00 [[ 9.98978301e-01 -4.45924649e-02 -7.33929711e-03 8.22496230e+02] [ 4.45960600e-02 9.99005047e-01 3.26842847e-04 -6.30394040e+01] [ 7.31742013e-03 -6.53812647e-04 9.99973014e-01 2.99829056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4307140569999 meters Centerline goodness [0,1] 0.9800266602565504 Centerline is valid? [True, True] Translation: X:822.53, Y:-63.04, Z:3.00 [[ 9.98940235e-01 -4.54242007e-02 -7.41943159e-03 8.22528006e+02] [ 4.54278994e-02 9.98967565e-01 3.30666892e-04 -6.30361784e+01] [ 7.39675123e-03 -6.67365655e-04 9.99972421e-01 2.99789170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4607140569999 meters Centerline goodness [0,1] 0.9809663250366032 Centerline is valid? [True, True] Translation: X:822.56, Y:-63.03, Z:3.00 [[ 9.98896680e-01 -4.61366502e-02 -8.76541233e-03 8.22560106e+02] [ 4.61418452e-02 9.98934821e-01 3.91262367e-04 -6.30333959e+01] [ 8.73802406e-03 -7.95282978e-04 9.99961506e-01 2.99676525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4907140569999 meters Centerline goodness [0,1] 0.9790351815859012 Centerline is valid? [True, True] Translation: X:822.59, Y:-63.04, Z:3.00 [[ 9.98897831e-01 -4.59850397e-02 -9.40741941e-03 8.22591425e+02] [ 4.59910223e-02 9.98941765e-01 4.20486475e-04 -6.30373591e+01] [ 9.37812806e-03 -8.52679864e-04 9.99955661e-01 2.99584409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.520714057 meters Centerline goodness [0,1] 0.980781844418208 Centerline is valid? [True, True] Translation: X:822.62, Y:-63.03, Z:2.99 [[ 9.98921422e-01 -4.51806564e-02 -1.07098094e-02 8.22624223e+02] [ 4.51883722e-02 9.98978369e-01 4.79431001e-04 -6.30312406e+01] [ 1.06772069e-02 -9.62872749e-04 9.99942533e-01 2.99482477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5507140569999 meters Centerline goodness [0,1] 0.9818113838303862 Centerline is valid? [True, True] Translation: X:822.66, Y:-63.03, Z:3.00 [[ 9.98944747e-01 -4.46670762e-02 -1.06885029e-02 8.22656387e+02] [ 4.46747403e-02 9.99001470e-01 4.79239913e-04 -6.30276832e+01] [ 1.06564239e-02 -9.56240285e-04 9.99942761e-01 2.99541517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5807140569999 meters Centerline goodness [0,1] 0.981920556019883 Centerline is valid? [True, True] Translation: X:822.69, Y:-63.03, Z:3.00 [[ 9.98981969e-01 -4.38574903e-02 -1.05615044e-02 8.22688588e+02] [ 4.38649364e-02 9.99037358e-01 4.74301511e-04 -6.30258521e+01] [ 1.05305358e-02 -9.37098375e-04 9.99944113e-01 2.99574990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6107140569999 meters Centerline goodness [0,1] 0.9742558149760365 Centerline is valid? [True, True] Translation: X:822.72, Y:-63.04, Z:3.00 [[ 9.99039195e-01 -4.27925582e-02 -9.45963442e-03 8.22718214e+02] [ 4.27984870e-02 9.99083635e-01 4.25111430e-04 -6.30361134e+01] [ 9.43277433e-03 -8.29561022e-04 9.99955166e-01 2.99606846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.640714057 meters Centerline goodness [0,1] 0.9829137087173155 Centerline is valid? [True, True] Translation: X:822.75, Y:-63.02, Z:3.00 [[ 9.99144128e-01 -4.07703460e-02 -6.98497975e-03 8.22750247e+02] [ 4.07735303e-02 9.99168365e-01 3.14014022e-04 -6.30194790e+01] [ 6.96636833e-03 -5.98547549e-04 9.99975555e-01 2.99933779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6707140569999 meters Centerline goodness [0,1] 0.9838844982118415 Centerline is valid? [True, True] Translation: X:822.78, Y:-63.01, Z:3.00 [[ 9.99203569e-01 -3.94579960e-02 -5.94085409e-03 8.22781656e+02] [ 3.94602773e-02 9.99221104e-01 2.67235777e-04 -6.30143364e+01] [ 5.92568220e-03 -5.01450692e-04 9.99982317e-01 3.00022554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7007140569999 meters Centerline goodness [0,1] 0.9841059602649007 Centerline is valid? [True, True] Translation: X:822.81, Y:-63.01, Z:3.00 [[ 9.99258417e-01 -3.80989525e-02 -5.57548365e-03 8.22811710e+02] [ 3.81009417e-02 9.99273864e-01 2.50946701e-04 -6.30142928e+01] [ 5.56187429e-03 -4.63191781e-04 9.99984425e-01 3.00079641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7307140569999 meters Centerline goodness [0,1] 0.9838908994615588 Centerline is valid? [True, True] Translation: X:822.84, Y:-63.01, Z:3.00 [[ 9.99354416e-01 -3.55055345e-02 -5.48705011e-03 8.22842885e+02] [ 3.55074228e-02 9.99369382e-01 2.47065813e-04 -6.30102123e+01] [ 5.47481767e-03 -4.41737319e-04 9.99984916e-01 3.00004210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.760714057 meters Centerline goodness [0,1] 0.9854979409290174 Centerline is valid? [True, True] Translation: X:822.87, Y:-63.01, Z:3.00 [[ 9.99392606e-01 -3.43195778e-02 -6.04854606e-03 8.22874302e+02] [ 3.43218518e-02 9.99410795e-01 2.72524947e-04 -6.30086636e+01] [ 6.03562929e-03 -4.79956719e-04 9.99981670e-01 2.99962544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.790714057 meters Centerline goodness [0,1] 0.9852019228639153 Centerline is valid? [True, True] Translation: X:822.91, Y:-63.01, Z:3.00 [[ 9.99430846e-01 -3.30485649e-02 -6.76583611e-03 8.22905743e+02] [ 3.30513830e-02 9.99453607e-01 3.05101910e-04 -6.30084684e+01] [ 6.75205612e-03 -5.28548501e-04 9.99977065e-01 2.99881724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8207140569999 meters Centerline goodness [0,1] 0.9852019228639153 Centerline is valid? [True, True] Translation: X:822.94, Y:-63.01, Z:3.00 [[ 9.99434451e-01 -3.29393606e-02 -6.76581157e-03 8.22938347e+02] [ 3.29421799e-02 9.99457212e-01 3.05645187e-04 -6.30100294e+01] [ 6.75207142e-03 -5.28352912e-04 9.99977065e-01 2.99890503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8507140569999 meters Centerline goodness [0,1] 0.9840047919070015 Centerline is valid? [True, True] Translation: X:822.97, Y:-63.01, Z:3.00 [[ 9.99473904e-01 -3.16344781e-02 -7.15366699e-03 8.22968973e+02] [ 3.16376000e-02 9.99499353e-01 3.23639387e-04 -6.30118449e+01] [ 7.13984737e-03 -5.49793976e-04 9.99974360e-01 2.99804361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.880714057 meters Centerline goodness [0,1] 0.9851421475140817 Centerline is valid? [True, True] Translation: X:823.00, Y:-63.01, Z:3.00 [[ 9.99549387e-01 -2.87857012e-02 -8.50924233e-03 8.22999521e+02] [ 2.87900167e-02 9.99585407e-01 3.85082795e-04 -6.30082343e+01] [ 8.49462959e-03 -6.29890500e-04 9.99963722e-01 2.99737178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.910714057 meters Centerline goodness [0,1] 0.9854702750665484 Centerline is valid? [True, True] Translation: X:823.03, Y:-63.01, Z:3.00 [[ 9.99585400e-01 -2.74335529e-02 -8.74228276e-03 8.23029677e+02] [ 2.74380576e-02 9.99623427e-01 3.95735285e-04 -6.30092655e+01] [ 8.72813423e-03 -6.35442471e-04 9.99961707e-01 2.99717616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9407140569999 meters Centerline goodness [0,1] 0.9858973218257853 Centerline is valid? [True, True] Translation: X:823.06, Y:-63.01, Z:3.00 [[ 9.99624323e-01 -2.59819882e-02 -8.72634842e-03 8.23061573e+02] [ 2.59864247e-02 9.99662218e-01 3.95381849e-04 -6.30068286e+01] [ 8.71312800e-03 -6.21999909e-04 9.99961847e-01 2.99739290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9707140569999 meters Centerline goodness [0,1] 0.9855402507240929 Centerline is valid? [True, True] Translation: X:823.09, Y:-63.00, Z:3.00 [[ 9.99664598e-01 -2.44984378e-02 -8.39747546e-03 8.23092763e+02] [ 2.45024969e-02 9.99699696e-01 3.80822598e-04 -6.30049892e+01] [ 8.38562411e-03 -5.86453986e-04 9.99964668e-01 2.99785778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.000714057 meters Centerline goodness [0,1] 0.984613676731794 Centerline is valid? [True, True] Translation: X:823.12, Y:-63.01, Z:3.00 [[ 9.99719951e-01 -2.23339423e-02 -7.82393664e-03 8.23123618e+02] [ 2.23374021e-02 9.99750426e-01 3.55084496e-04 -6.30076472e+01] [ 7.81405356e-03 -5.29751474e-04 9.99969329e-01 2.99792304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.030714057 meters Centerline goodness [0,1] 0.9865895696652952 Centerline is valid? [True, True] Translation: X:823.16, Y:-63.00, Z:3.00 [[ 9.99741543e-01 -2.14673350e-02 -7.48334719e-03 8.23156599e+02] [ 2.14704799e-02 9.99769425e-01 3.40148435e-04 -6.30016121e+01] [ 7.47431964e-03 -5.00731576e-04 9.99971942e-01 2.99831865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0607140569999 meters Centerline goodness [0,1] 0.9869551667334491 Centerline is valid? [True, True] Translation: X:823.19, Y:-63.00, Z:3.00 [[ 9.99761082e-01 -2.05506815e-02 -7.44639555e-03 8.23188013e+02] [ 2.05537737e-02 9.99788691e-01 3.38963591e-04 -6.30040653e+01] [ 7.43785613e-03 -4.91934135e-04 9.99972218e-01 2.99803511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0907140569999 meters Centerline goodness [0,1] 0.9848258317898824 Centerline is valid? [True, True] Translation: X:823.22, Y:-63.01, Z:3.00 [[ 9.99776760e-01 -1.95890430e-02 -7.91832606e-03 8.23218924e+02] [ 1.95925129e-02 9.99807983e-01 3.60873964e-04 -6.30110636e+01] [ 7.90973643e-03 -5.15933308e-04 9.99968584e-01 2.99642818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.120714057 meters Centerline goodness [0,1] 0.9857972309066547 Centerline is valid? [True, True] Translation: X:823.25, Y:-63.00, Z:3.00 [[ 9.99766438e-01 -1.98206418e-02 -8.61457149e-03 8.23251384e+02] [ 1.98247623e-02 9.99803393e-01 3.93177400e-04 -6.30038417e+01] [ 8.60508477e-03 -5.63867400e-04 9.99962817e-01 2.99660759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.150714057 meters Centerline goodness [0,1] 0.9860331462175889 Centerline is valid? [True, True] Translation: X:823.28, Y:-63.01, Z:3.00 [[ 9.99758512e-01 -2.03083901e-02 -8.39559643e-03 8.23282776e+02] [ 2.03123250e-02 9.99793610e-01 3.83668691e-04 -6.30083497e+01] [ 8.38607197e-03 -5.54110123e-04 9.99964683e-01 2.99604227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1807140569999 meters Centerline goodness [0,1] 0.9865619000848252 Centerline is valid? [True, True] Translation: X:823.32, Y:-63.01, Z:3.00 [[ 9.99732946e-01 -2.11752050e-02 -9.25460928e-03 8.23315153e+02] [ 2.11800290e-02 9.99775588e-01 4.23540996e-04 -6.30071149e+01] [ 9.24356387e-03 -6.19440780e-04 9.99957085e-01 2.99641154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2107140569999 meters Centerline goodness [0,1] 0.986921260193396 Centerline is valid? [True, True] Translation: X:823.35, Y:-63.01, Z:3.00 [[ 9.99682772e-01 -2.33356981e-02 -9.47636140e-03 8.23345723e+02] [ 2.33408555e-02 9.99727471e-01 4.34000417e-04 -6.30097525e+01] [ 9.46365111e-03 -6.55049122e-04 9.99955004e-01 2.99604721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2407140569999 meters Centerline goodness [0,1] 0.9861495844875346 Centerline is valid? [True, True] Translation: X:823.38, Y:-63.01, Z:3.00 [[ 9.99655568e-01 -2.43520368e-02 -9.78381121e-03 8.23376329e+02] [ 2.43575917e-02 9.99703209e-01 4.48988746e-04 -6.30139004e+01] [ 9.76997367e-03 -6.87144179e-04 9.99952037e-01 2.99553847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.270714057 meters Centerline goodness [0,1] 0.987683350128765 Centerline is valid? [True, True] Translation: X:823.41, Y:-63.01, Z:3.00 [[ 9.99627139e-01 -2.54623773e-02 -9.86153779e-03 8.23408882e+02] [ 2.54680827e-02 9.99675533e-01 4.53385497e-04 -6.30132733e+01] [ 9.84679378e-03 -7.04370907e-04 9.99951271e-01 2.99523993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3007140569999 meters Centerline goodness [0,1] 0.9875215242525214 Centerline is valid? [True, True] Translation: X:823.44, Y:-63.01, Z:3.00 [[ 9.99596981e-01 -2.65352475e-02 -1.00874631e-02 8.23440588e+02] [ 2.65412777e-02 9.99647610e-01 4.64364387e-04 -6.30111125e+01] [ 1.00715863e-02 -7.31911398e-04 9.99949012e-01 2.99526981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3307140569999 meters Centerline goodness [0,1] 0.9851456397426733 Centerline is valid? [True, True] Translation: X:823.47, Y:-63.02, Z:2.99 [[ 9.99556696e-01 -2.77759925e-02 -1.07194516e-02 8.23470746e+02] [ 2.77828852e-02 9.99613859e-01 4.94610719e-04 -6.30216132e+01] [ 1.07015741e-02 -7.92208750e-04 9.99942423e-01 2.99428806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3607140569999 meters Centerline goodness [0,1] 0.984940839010398 Centerline is valid? [True, True] Translation: X:823.50, Y:-63.02, Z:2.99 [[ 9.99557620e-01 -2.77639125e-02 -1.06643971e-02 8.23502682e+02] [ 2.77707432e-02 9.99614197e-01 4.92932672e-04 -6.30229936e+01] [ 1.06465970e-02 -7.88872842e-04 9.99943012e-01 2.99434598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.390714057 meters Centerline goodness [0,1] 0.9840899923811232 Centerline is valid? [True, True] Translation: X:823.53, Y:-63.02, Z:2.99 [[ 9.99589991e-01 -2.68938111e-02 -9.82717712e-03 8.23534332e+02] [ 2.68995757e-02 9.99638037e-01 4.54869150e-04 -6.30238424e+01] [ 9.81138688e-03 -7.19029545e-04 9.99951609e-01 2.99494386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4207140569999 meters Centerline goodness [0,1] 0.9864437921530843 Centerline is valid? [True, True] Translation: X:823.57, Y:-63.01, Z:3.00 [[ 9.99606273e-01 -2.62872747e-02 -9.81219331e-03 8.23566644e+02] [ 2.62929993e-02 9.99654176e-01 4.54856851e-04 -6.30128093e+01] [ 9.79684307e-03 -7.12669754e-04 9.99951756e-01 2.99683382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4507140569999 meters Centerline goodness [0,1] 0.9878790599537609 Centerline is valid? [True, True] Translation: X:823.60, Y:-63.01, Z:3.00 [[ 9.99642126e-01 -2.51014907e-02 -9.24848619e-03 8.23598205e+02] [ 2.51065298e-02 9.99684689e-01 4.29142110e-04 -6.30098521e+01] [ 9.23479793e-03 -6.61185926e-04 9.99957140e-01 2.99755880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4807140569999 meters Centerline goodness [0,1] 0.9872485632183908 Centerline is valid? [True, True] Translation: X:823.63, Y:-63.01, Z:3.00 [[ 9.99668744e-01 -2.41183328e-02 -8.98373967e-03 8.23630503e+02] [ 2.41230529e-02 9.99708910e-01 4.17403860e-04 -6.30097042e+01] [ 8.97105751e-03 -6.33980821e-04 9.99959558e-01 2.99791652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.510714057 meters Centerline goodness [0,1] 0.987466086683558 Centerline is valid? [True, True] Translation: X:823.66, Y:-63.01, Z:3.00 [[ 9.99699241e-01 -2.30610659e-02 -8.34353098e-03 8.23663171e+02] [ 2.30651064e-02 9.99733890e-01 3.88346207e-04 -6.30086549e+01] [ 8.33235500e-03 -5.80673838e-04 9.99965117e-01 2.99846410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.540714057 meters Centerline goodness [0,1] 0.9873477459661109 Centerline is valid? [True, True] Translation: X:823.69, Y:-63.01, Z:3.00 [[ 9.99740676e-01 -2.08921093e-02 -9.06089069e-03 8.23694960e+02] [ 2.08967913e-02 9.99781549e-01 4.22342994e-04 -6.30055020e+01] [ 9.05008769e-03 -6.11577012e-04 9.99958860e-01 2.99880692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5707140569999 meters Centerline goodness [0,1] 0.9868997595667708 Centerline is valid? [True, True] Translation: X:823.73, Y:-63.01, Z:3.00 [[ 9.99757738e-01 -1.99070778e-02 -9.39005911e-03 8.23725456e+02] [ 1.99120676e-02 9.99801639e-01 4.38196952e-04 -6.30129372e+01] [ 9.37947327e-03 -6.25066285e-04 9.99955816e-01 2.99750957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6007140569999 meters Centerline goodness [0,1] 0.9882445670532598 Centerline is valid? [True, True] Translation: X:823.76, Y:-63.00, Z:3.00 [[ 9.99765106e-01 -1.90210132e-02 -1.03891268e-02 8.23758499e+02] [ 1.90270826e-02 9.99818851e-01 4.85672526e-04 -6.30049492e+01] [ 1.03780068e-02 -6.83233217e-04 9.99945914e-01 2.99768907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.630714057 meters Centerline goodness [0,1] 0.9555363649767256 Centerline is valid? [True, True] Translation: X:823.79, Y:-63.04, Z:2.99 [[ 9.99832133e-01 -1.52344738e-02 -1.01791970e-02 8.23786581e+02] [ 1.52401070e-02 9.99883749e-01 4.76064005e-04 -6.30358111e+01] [ 1.01707611e-02 -6.31116142e-04 9.99948077e-01 2.99182787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.660714057 meters Centerline goodness [0,1] 0.9889936397672425 Centerline is valid? [True, True] Translation: X:823.82, Y:-63.00, Z:2.99 [[ 9.99776193e-01 -1.63330512e-02 -1.34459873e-02 8.23819425e+02] [ 1.63429846e-02 9.99866247e-01 6.29209106e-04 -6.30048926e+01] [ 1.34339120e-02 -8.48815849e-04 9.99909401e-01 2.99433471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6907140569999 meters Centerline goodness [0,1] 0.9888181078883166 Centerline is valid? [True, True] Translation: X:823.85, Y:-63.01, Z:2.99 [[ 9.99777699e-01 -1.52570185e-02 -1.45525071e-02 8.23850381e+02] [ 1.52685415e-02 9.99883197e-01 6.81038863e-04 -6.30051249e+01] [ 1.45404167e-02 -9.03083026e-04 9.99893875e-01 2.99354228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7207140569999 meters Centerline goodness [0,1] 0.9890726454152621 Centerline is valid? [True, True] Translation: X:823.88, Y:-63.00, Z:2.99 [[ 9.99808896e-01 -1.24295169e-02 -1.50890414e-02 8.23880469e+02] [ 1.24415843e-02 9.99922351e-01 7.06135697e-04 -6.30025320e+01] [ 1.50790928e-02 -8.93732332e-04 9.99885905e-01 2.99403311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.750714057 meters Centerline goodness [0,1] 0.9893361709835174 Centerline is valid? [True, True] Translation: X:823.91, Y:-63.00, Z:3.00 [[ 9.99819810e-01 -1.10676509e-02 -1.54225533e-02 8.23910436e+02] [ 1.10800893e-02 9.99938354e-01 7.21291958e-04 -6.29980986e+01] [ 1.54136196e-02 -8.92045257e-04 9.99880805e-01 2.99552887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.780714057 meters Centerline goodness [0,1] 0.988874790411021 Centerline is valid? [True, True] Translation: X:823.94, Y:-63.00, Z:2.99 [[ 9.99845989e-01 -9.34768482e-03 -1.48532235e-02 8.23939002e+02] [ 9.35902169e-03 9.99955963e-01 6.93932278e-04 -6.30032385e+01] [ 1.48460828e-02 -8.32837046e-04 9.99889444e-01 2.99438440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8107140569999 meters Centerline goodness [0,1] 0.9898063200815495 Centerline is valid? [True, True] Translation: X:823.97, Y:-62.99, Z:3.00 [[ 9.99860837e-01 -7.88013151e-03 -1.47041031e-02 8.23967976e+02] [ 7.89106900e-03 9.99968630e-01 6.85968644e-04 -6.29948146e+01] [ 1.46982363e-02 -8.01904274e-04 9.99891654e-01 2.99620435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8407140569999 meters Centerline goodness [0,1] 0.9889317305511454 Centerline is valid? [True, True] Translation: X:824.00, Y:-63.00, Z:2.99 [[ 9.99872210e-01 -4.85156888e-03 -1.52324148e-02 8.23997114e+02] [ 4.86294634e-03 9.99987924e-01 7.09973631e-04 -6.29992249e+01] [ 1.52287864e-02 -7.83957319e-04 9.99883728e-01 2.99459562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.870714057 meters Centerline goodness [0,1] 0.9894476467117506 Centerline is valid? [True, True] Translation: X:824.03, Y:-63.00, Z:3.00 [[ 9.99877953e-01 -3.95716910e-03 -1.51135475e-02 8.24026495e+02] [ 3.96822553e-03 9.99991880e-01 7.01639093e-04 -6.29962917e+01] [ 1.51106483e-02 -7.61527425e-04 9.99885538e-01 2.99528447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.900714057 meters Centerline goodness [0,1] 0.9891534692947477 Centerline is valid? [True, True] Translation: X:824.05, Y:-63.00, Z:3.00 [[ 9.99874920e-01 -3.37582175e-03 -1.54514574e-02 8.24054294e+02] [ 3.38728338e-03 9.99994007e-01 7.15672389e-04 -6.29962376e+01] [ 1.54489488e-02 -7.67921337e-04 9.99880363e-01 2.99572202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9307140569999 meters Centerline goodness [0,1] 0.989026782862618 Centerline is valid? [True, True] Translation: X:824.08, Y:-62.99, Z:3.00 [[ 9.99890514e-01 -4.04043977e-03 -1.42349875e-02 8.24082889e+02] [ 4.05018525e-03 9.99991583e-01 6.55852736e-04 -6.29886833e+01] [ 1.42322178e-02 -7.13435266e-04 9.99898462e-01 2.99877846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9607140569999 meters Centerline goodness [0,1] 0.9898398523817117 Centerline is valid? [True, True] Translation: X:824.11, Y:-62.99, Z:3.00 [[ 9.99894962e-01 -5.03336313e-03 -1.35915827e-02 8.24110747e+02] [ 5.04231610e-03 9.99987092e-01 6.24526064e-04 -6.29903125e+01] [ 1.35882638e-02 -6.92993522e-04 9.99907435e-01 2.99917661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9907140569999 meters Centerline goodness [0,1] 0.9890117405676507 Centerline is valid? [True, True] Translation: X:824.14, Y:-62.99, Z:3.00 [[ 9.99880239e-01 -8.88144348e-03 -1.26739246e-02 8.24141252e+02] [ 8.88953368e-03 9.99960318e-01 5.82140420e-04 -6.29921919e+01] [ 1.26682514e-02 -6.94735982e-04 9.99919513e-01 3.00014736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.020714057 meters Centerline goodness [0,1] 0.9870845334430577 Centerline is valid? [True, True] Translation: X:824.17, Y:-63.00, Z:3.00 [[ 9.99854217e-01 -1.16002279e-02 -1.25291303e-02 8.24170079e+02] [ 1.16083427e-02 9.99932456e-01 5.75147344e-04 -6.29968579e+01] [ 1.25216121e-02 -7.20505935e-04 9.99921342e-01 3.00022928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0507140569999 meters Centerline goodness [0,1] 0.9734405924790909 Centerline is valid? [True, True] Translation: X:824.20, Y:-63.03, Z:3.00 [[ 9.99880936e-01 -1.21436612e-02 -9.52073477e-03 8.24198137e+02] [ 1.21483696e-02 9.99926110e-01 4.36859635e-04 -6.30265331e+01] [ 9.51472621e-03 -5.52469025e-04 9.99954581e-01 2.99779862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0807140569999 meters Centerline goodness [0,1] 0.9875380147714541 Centerline is valid? [True, True] Translation: X:824.23, Y:-63.00, Z:3.00 [[ 9.99774801e-01 -1.74600444e-02 -1.20621059e-02 8.24229520e+02] [ 1.74679851e-02 9.99847270e-01 5.53271704e-04 -6.30004014e+01] [ 1.20506035e-02 -7.63847795e-04 9.99927097e-01 3.00060664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1107140569999 meters Centerline goodness [0,1] 0.9873741994510522 Centerline is valid? [True, True] Translation: X:824.26, Y:-63.01, Z:3.00 [[ 9.99668226e-01 -2.27868693e-02 -1.20081544e-02 8.24259431e+02] [ 2.27951222e-02 9.99740006e-01 5.50832252e-04 -6.30065649e+01] [ 1.19924806e-02 -8.24376847e-04 9.99927748e-01 2.99947544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.140714057 meters Centerline goodness [0,1] 0.9855627779678413 Centerline is valid? [True, True] Translation: X:824.29, Y:-63.02, Z:3.00 [[ 9.99619763e-01 -2.45176022e-02 -1.26181355e-02 8.24288700e+02] [ 2.45268523e-02 9.99699004e-01 5.78835856e-04 -6.30156509e+01] [ 1.26001459e-02 -8.88098908e-04 9.99920221e-01 2.99838468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1707140569999 meters Centerline goodness [0,1] 0.9861651040475646 Centerline is valid? [True, True] Translation: X:824.32, Y:-63.01, Z:3.00 [[ 9.99572141e-01 -2.62908679e-02 -1.28189063e-02 8.24320425e+02] [ 2.63005645e-02 9.99653907e-01 5.88404684e-04 -6.30101447e+01] [ 1.27990001e-02 -9.25297402e-04 9.99917661e-01 2.99907072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2007140569999 meters Centerline goodness [0,1] 0.9857018667642753 Centerline is valid? [True, True] Translation: X:824.35, Y:-63.02, Z:3.00 [[ 9.99538251e-01 -2.75739732e-02 -1.27655885e-02 8.24350606e+02] [ 2.75836991e-02 9.99619325e-01 5.86409564e-04 -6.30187022e+01] [ 1.27445593e-02 -9.38260942e-04 9.99918345e-01 2.99752283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2307140569999 meters Centerline goodness [0,1] 0.9849525903531675 Centerline is valid? [True, True] Translation: X:824.38, Y:-63.02, Z:3.00 [[ 9.99547975e-01 -2.73392949e-02 -1.25063047e-02 8.24381496e+02] [ 2.73486188e-02 9.99625791e-01 5.75088968e-04 -6.30214591e+01] [ 1.24859022e-02 -9.16859171e-04 9.99921628e-01 2.99772719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.260714057 meters Centerline goodness [0,1] 0.9855243991260014 Centerline is valid? [True, True] Translation: X:824.41, Y:-63.02, Z:3.00 [[ 9.99588039e-01 -2.64508968e-02 -1.11401077e-02 8.24412952e+02] [ 2.64582444e-02 9.99649788e-01 5.12671546e-04 -6.30224740e+01] [ 1.11226456e-02 -8.07208036e-04 9.99937816e-01 2.99839191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.290714057 meters Centerline goodness [0,1] 0.9869919070915825 Centerline is valid? [True, True] Translation: X:824.44, Y:-63.01, Z:3.00 [[ 9.99678482e-01 -2.39052156e-02 -8.45414821e-03 8.24443962e+02] [ 2.39093571e-02 9.99714055e-01 3.89131449e-04 -6.30123633e+01] [ 8.44242852e-03 -5.91139585e-04 9.99964187e-01 3.00092926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3207140569999 meters Centerline goodness [0,1] 0.9858102721785673 Centerline is valid? [True, True] Translation: X:824.47, Y:-63.02, Z:3.00 [[ 9.99729772e-01 -2.20964586e-02 -7.22010365e-03 8.24474426e+02] [ 2.20994334e-02 9.99755722e-01 3.32493851e-04 -6.30199911e+01] [ 7.21099300e-03 -4.91964201e-04 9.99973879e-01 3.00093990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3507140569999 meters Centerline goodness [0,1] 0.9851052667594261 Centerline is valid? [True, True] Translation: X:824.50, Y:-63.02, Z:3.00 [[ 9.99782579e-01 -1.97108697e-02 -6.80273397e-03 8.24504210e+02] [ 1.97134562e-02 9.99805622e-01 3.13364905e-04 -6.30222409e+01] [ 6.79523498e-03 -4.47402171e-04 9.99976812e-01 3.00099930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.380714057 meters Centerline goodness [0,1] 0.9867112658429472 Centerline is valid? [True, True] Translation: X:824.54, Y:-63.02, Z:3.00 [[ 9.99837383e-01 -1.68405517e-02 -6.45012157e-03 8.24535825e+02] [ 1.68428180e-02 9.99858106e-01 2.97188563e-04 -6.30159832e+01] [ 6.44420152e-03 -4.05778459e-04 9.99979154e-01 3.00097587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.410714057 meters Centerline goodness [0,1] 0.9874738088730983 Centerline is valid? [True, True] Translation: X:824.57, Y:-63.01, Z:3.00 [[ 9.99914412e-01 -1.11376877e-02 -6.86449221e-03 8.24566939e+02] [ 1.11401214e-02 9.99937897e-01 3.16402552e-04 -6.30140963e+01] [ 6.86054191e-03 -3.92846748e-04 9.99976389e-01 3.00027618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4407140569999 meters Centerline goodness [0,1] 0.989170417418721 Centerline is valid? [True, True] Translation: X:824.60, Y:-63.01, Z:3.00 [[ 9.99940394e-01 -8.62286043e-03 -6.69738382e-03 8.24598260e+02] [ 8.62512214e-03 9.99962755e-01 3.08889891e-04 -6.30122303e+01] [ 6.69447086e-03 -3.66637232e-04 9.99977525e-01 3.00017737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4707140569999 meters Centerline goodness [0,1] 0.987036994773718 Centerline is valid? [True, True] Translation: X:824.63, Y:-63.02, Z:3.00 [[ 9.99955450e-01 -6.03599644e-03 -7.25702964e-03 8.24627392e+02] [ 6.03858418e-03 9.99981712e-01 3.34725234e-04 -6.30189967e+01] [ 7.25487652e-03 -3.78532507e-04 9.99973611e-01 2.99919790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.500714057 meters Centerline goodness [0,1] 0.9883723581313696 Centerline is valid? [True, True] Translation: X:824.66, Y:-63.02, Z:3.00 [[ 9.99969951e-01 -2.12019159e-03 -7.45660325e-03 8.24657432e+02] [ 2.12281405e-03 9.99997688e-01 3.43799865e-04 -6.30171586e+01] [ 7.45585708e-03 -3.59618516e-04 9.99972140e-01 2.99805511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.530714057 meters Centerline goodness [0,1] 0.9892038710855473 Centerline is valid? [True, True] Translation: X:824.69, Y:-63.01, Z:3.00 [[ 9.99971686e-01 -8.10139780e-04 -7.48135984e-03 8.24686361e+02] [ 8.12733812e-04 9.99999611e-01 3.43699033e-04 -6.30144532e+01] [ 7.48107848e-03 -3.49769656e-04 9.99971955e-01 2.99752929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5607140569999 meters Centerline goodness [0,1] 0.9888173809849834 Centerline is valid? [True, True] Translation: X:824.72, Y:-63.02, Z:3.00 [[ 9.99972745e-01 -2.01776585e-04 -7.38031642e-03 8.24715413e+02] [ 2.04270949e-04 9.99999922e-01 3.37223028e-04 -6.30160913e+01] [ 7.38024780e-03 -3.38721421e-04 9.99972708e-01 2.99713080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5907140569999 meters Centerline goodness [0,1] 0.9894253608624155 Centerline is valid? [True, True] Translation: X:824.74, Y:-63.02, Z:3.00 [[ 9.99974304e-01 4.03946596e-04 -7.15736329e-03 8.24744275e+02] [-4.01628841e-04 9.99999866e-01 3.25262443e-04 -6.30175065e+01] [ 7.15749373e-03 -3.22379482e-04 9.99974333e-01 2.99701693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.620714057 meters Centerline goodness [0,1] 0.9890205011389521 Centerline is valid? [True, True] Translation: X:824.77, Y:-63.02, Z:3.00 [[ 9.99977084e-01 4.46843221e-04 -6.75509187e-03 8.24771505e+02] [-4.44786404e-04 9.99999854e-01 3.05983154e-04 -6.30200170e+01] [ 6.75522761e-03 -3.02971569e-04 9.99977137e-01 2.99702705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.650714057 meters Centerline goodness [0,1] 0.9885033873947855 Centerline is valid? [True, True] Translation: X:824.80, Y:-63.02, Z:3.00 [[ 9.99979093e-01 -2.60427438e-04 -6.46103826e-03 8.24800453e+02] [ 2.62320607e-04 9.99999923e-01 2.92167370e-04 -6.30220720e+01] [ 6.46096167e-03 -2.93856125e-04 9.99979085e-01 2.99711328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6807140569999 meters Centerline goodness [0,1] 0.9880998518180782 Centerline is valid? [True, True] Translation: X:824.83, Y:-63.03, Z:3.00 [[ 9.99980311e-01 -2.49084696e-03 -5.75966775e-03 8.24830232e+02] [ 2.49238672e-03 9.99996860e-01 2.60172055e-04 -6.30265319e+01] [ 5.75900162e-03 -2.74522252e-04 9.99983379e-01 2.99715497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7107140569999 meters Centerline goodness [0,1] 0.9880998518180782 Centerline is valid? [True, True] Translation: X:824.86, Y:-63.03, Z:3.00 [[ 9.99980221e-01 -2.52648918e-03 -5.75967701e-03 8.24859387e+02] [ 2.52802835e-03 9.99996771e-01 2.59967018e-04 -6.30278184e+01] [ 5.75900160e-03 -2.74522503e-04 9.99983379e-01 2.99723353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7407140569999 meters Centerline goodness [0,1] 0.988637139929409 Centerline is valid? [True, True] Translation: X:824.89, Y:-63.03, Z:3.00 [[ 9.99977781e-01 -4.22740751e-03 -5.15433274e-03 8.24888859e+02] [ 4.22866179e-03 9.99991032e-01 2.32470819e-04 -6.30315591e+01] [ 5.15330377e-03 -2.54261584e-04 9.99986689e-01 2.99741666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.770714057 meters Centerline goodness [0,1] 0.9878892733564014 Centerline is valid? [True, True] Translation: X:824.92, Y:-63.04, Z:3.00 [[ 9.99971517e-01 -5.70722796e-03 -4.93897343e-03 8.24918107e+02] [ 5.70839697e-03 9.99983682e-01 2.22626482e-04 -6.30364093e+01] [ 4.93762225e-03 -2.50813762e-04 9.99987778e-01 2.99759780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8007140569999 meters Centerline goodness [0,1] 0.9876467515952494 Centerline is valid? [True, True] Translation: X:824.95, Y:-63.04, Z:3.00 [[ 9.99940007e-01 -9.83993905e-03 -4.81232715e-03 8.24948852e+02] [ 9.84109649e-03 9.99951552e-01 2.16895665e-04 -6.30393847e+01] [ 4.80995976e-03 -2.64241229e-04 9.99988397e-01 2.99752860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8307140569999 meters Centerline goodness [0,1] 0.986585971726661 Centerline is valid? [True, True] Translation: X:824.98, Y:-63.05, Z:3.00 [[ 9.99919557e-01 -1.16681151e-02 -4.97336190e-03 8.24979243e+02] [ 1.16693754e-02 9.99931885e-01 2.24470120e-04 -6.30474228e+01] [ 4.97040400e-03 -2.82488090e-04 9.99987608e-01 2.99701322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8607140569999 meters Centerline goodness [0,1] 0.9860308719985557 Centerline is valid? [True, True] Translation: X:825.01, Y:-63.05, Z:3.00 [[ 9.99891700e-01 -1.37949433e-02 -5.12709550e-03 8.25010139e+02] [ 1.37963126e-02 9.99904799e-01 2.31796605e-04 -6.30516780e+01] [ 5.12340977e-03 -3.02506514e-04 9.99986829e-01 2.99636446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.890714057 meters Centerline goodness [0,1] 0.9853552210339895 Centerline is valid? [True, True] Translation: X:825.04, Y:-63.06, Z:3.00 [[ 9.99828637e-01 -1.75047274e-02 -6.02332965e-03 8.25039940e+02] [ 1.75066848e-02 9.99846709e-01 2.72386507e-04 -6.30580122e+01] [ 6.01763828e-03 -3.77788363e-04 9.99981822e-01 2.99530176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9207140569999 meters Centerline goodness [0,1] 0.9858963003338557 Centerline is valid? [True, True] Translation: X:825.07, Y:-63.06, Z:3.00 [[ 9.99798393e-01 -1.89085997e-02 -6.75564311e-03 8.25072094e+02] [ 1.89110959e-02 9.99821122e-01 3.05803803e-04 -6.30581904e+01] [ 6.74865236e-03 -4.33498765e-04 9.99977134e-01 2.99511884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9507140569999 meters Centerline goodness [0,1] 0.9852176664707744 Centerline is valid? [True, True] Translation: X:825.10, Y:-63.06, Z:3.00 [[ 9.99779622e-01 -1.97204795e-02 -7.19797736e-03 8.25103694e+02] [ 1.97233374e-02 9.99805423e-01 3.26265874e-04 -6.30602977e+01] [ 7.19014268e-03 -4.68162108e-04 9.99974041e-01 2.99525716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9807140569999 meters Centerline goodness [0,1] 0.9855409710141654 Centerline is valid? [True, True] Translation: X:825.14, Y:-63.06, Z:3.00 [[ 9.99769442e-01 -2.01055112e-02 -7.53859775e-03 8.25135372e+02] [ 2.01086599e-02 9.99797742e-01 3.42109914e-04 -6.30621042e+01] [ 7.53019472e-03 -4.93622136e-04 9.99971526e-01 2.99547754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.010714057 meters Centerline goodness [0,1] 0.9858582648567666 Centerline is valid? [True, True] Translation: X:825.17, Y:-63.06, Z:3.00 [[ 9.99767638e-01 -2.01716819e-02 -7.60083862e-03 8.25167304e+02] [ 2.01748885e-02 9.99796407e-01 3.45426786e-04 -6.30621742e+01] [ 7.59232330e-03 -4.98692593e-04 9.99971054e-01 2.99560413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.040714057 meters Centerline goodness [0,1] 0.9859062379625224 Centerline is valid? [True, True] Translation: X:825.20, Y:-63.06, Z:3.00 [[ 9.99790851e-01 -1.88109868e-02 -8.02499377e-03 8.25198541e+02] [ 1.88145208e-02 9.99822925e-01 3.65095493e-04 -6.30620859e+01] [ 8.01670493e-03 -5.16005546e-04 9.99967733e-01 2.99543136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0707140569999 meters Centerline goodness [0,1] 0.9860060685657352 Centerline is valid? [True, True] Translation: X:825.23, Y:-63.07, Z:3.00 [[ 9.99806590e-01 -1.78992685e-02 -8.14858806e-03 8.25229248e+02] [ 1.79028852e-02 9.99839662e-01 3.71105878e-04 -6.30655384e+01] [ 8.14063900e-03 -5.16917339e-04 9.99966731e-01 2.99520029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1007140569999 meters Centerline goodness [0,1] 0.9852554214681063 Centerline is valid? [True, True] Translation: X:825.26, Y:-63.07, Z:2.99 [[ 9.99834569e-01 -1.59412723e-02 -8.75845856e-03 8.25259691e+02] [ 1.59453781e-02 9.99872785e-01 3.99139924e-04 -6.30674640e+01] [ 8.75098155e-03 -5.38730827e-04 9.99961564e-01 2.99415368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.130714057 meters Centerline goodness [0,1] 0.9857039285876116 Centerline is valid? [True, True] Translation: X:825.29, Y:-63.07, Z:2.99 [[ 9.99845589e-01 -1.49242922e-02 -9.27710295e-03 8.25291475e+02] [ 1.49288575e-02 9.99888469e-01 4.23051178e-04 -6.30664203e+01] [ 9.26975453e-03 -5.61482402e-04 9.99956877e-01 2.99407373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.160714057 meters Centerline goodness [0,1] 0.9847035895576505 Centerline is valid? [True, True] Translation: X:825.32, Y:-63.07, Z:2.99 [[ 9.99859395e-01 -1.39671263e-02 -9.27947860e-03 8.25321405e+02] [ 1.39716548e-02 9.99902302e-01 4.23363941e-04 -6.30742093e+01] [ 9.27265884e-03 -5.52954086e-04 9.99956855e-01 2.99381694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1907140569999 meters Centerline goodness [0,1] 0.9856369361817812 Centerline is valid? [True, True] Translation: X:825.35, Y:-63.07, Z:2.99 [[ 9.99861114e-01 -1.33761506e-02 -9.94135256e-03 8.25352933e+02] [ 1.33813220e-02 9.99910363e-01 4.53855714e-04 -6.30677626e+01] [ 9.93439061e-03 -5.86821120e-04 9.99950481e-01 2.99485651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2207140569999 meters Centerline goodness [0,1] 0.9874146806050024 Centerline is valid? [True, True] Translation: X:825.38, Y:-63.07, Z:2.99 [[ 9.99859617e-01 -1.24871065e-02 -1.11722098e-02 8.25384406e+02] [ 1.24935870e-02 9.99921822e-01 5.10444478e-04 -6.30651304e+01] [ 1.11649624e-02 -6.49953796e-04 9.99937459e-01 2.99484653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.250714057 meters Centerline goodness [0,1] 0.9867448787031353 Centerline is valid? [True, True] Translation: X:825.41, Y:-63.07, Z:2.99 [[ 9.99843894e-01 -1.30213985e-02 -1.19428008e-02 8.25414789e+02] [ 1.30288430e-02 9.99914972e-01 5.45751308e-04 -6.30670102e+01] [ 1.19346789e-02 -7.01266990e-04 9.99928533e-01 2.99399156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.280714057 meters Centerline goodness [0,1] 0.9875099352787555 Centerline is valid? [True, True] Translation: X:825.44, Y:-63.07, Z:2.99 [[ 9.99829962e-01 -1.35370967e-02 -1.25217784e-02 8.25444998e+02] [ 1.35453209e-02 9.99908094e-01 5.72208904e-04 -6.30665724e+01] [ 1.25128816e-02 -7.41723114e-04 9.99921436e-01 2.99431746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3107140569999 meters Centerline goodness [0,1] 0.9864520242269684 Centerline is valid? [True, True] Translation: X:825.47, Y:-63.07, Z:2.99 [[ 9.99811564e-01 -1.47367601e-02 -1.26358665e-02 8.25474670e+02] [ 1.47452289e-02 9.99891117e-01 5.77316889e-04 -6.30706346e+01] [ 1.26259829e-02 -7.63526846e-04 9.99919998e-01 2.99392373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3407140569999 meters Centerline goodness [0,1] 0.9865385053413206 Centerline is valid? [True, True] Translation: X:825.51, Y:-63.07, Z:2.99 [[ 9.99779636e-01 -1.68073096e-02 -1.25774733e-02 8.25505317e+02] [ 1.68158632e-02 9.99858438e-01 5.74620599e-04 -6.30716785e+01] [ 1.25660349e-02 -7.85995043e-04 9.99920735e-01 2.99483468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.370714057 meters Centerline goodness [0,1] 0.986851100679094 Centerline is valid? [True, True] Translation: X:825.54, Y:-63.07, Z:3.00 [[ 9.99750613e-01 -1.81209825e-02 -1.30515324e-02 8.25536981e+02] [ 1.81303093e-02 9.99835454e-01 5.96639402e-04 -6.30732301e+01] [ 1.30385731e-02 -8.33118927e-04 9.99914647e-01 2.99515965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.400714057 meters Centerline goodness [0,1] 0.9861088971375219 Centerline is valid? [True, True] Translation: X:825.57, Y:-63.08, Z:2.99 [[ 9.99722826e-01 -1.94959252e-02 -1.31977163e-02 8.25567418e+02] [ 1.95055851e-02 9.99809566e-01 6.03598251e-04 -6.30766229e+01] [ 1.31834353e-02 -8.60860127e-04 9.99912724e-01 2.99493389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4307140569999 meters Centerline goodness [0,1] 0.986149142022636 Centerline is valid? [True, True] Translation: X:825.60, Y:-63.08, Z:3.00 [[ 9.99662442e-01 -2.22760040e-02 -1.33709533e-02 8.25598204e+02] [ 2.22861716e-02 9.99751445e-01 6.11887365e-04 -6.30762360e+01] [ 1.33539995e-02 -9.09668178e-04 9.99910418e-01 2.99672347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4607140569999 meters Centerline goodness [0,1] 0.9871490527276877 Centerline is valid? [True, True] Translation: X:825.63, Y:-63.08, Z:3.00 [[ 9.99629995e-01 -2.35320390e-02 -1.36424696e-02 8.25630141e+02] [ 2.35427518e-02 9.99722636e-01 6.25170193e-04 -6.30770545e+01] [ 1.36239742e-02 -9.46120154e-04 9.99906742e-01 2.99765780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4907140569999 meters Centerline goodness [0,1] 0.9856823674251061 Centerline is valid? [True, True] Translation: X:825.66, Y:-63.08, Z:3.00 [[ 9.99604771e-01 -2.46673901e-02 -1.34841529e-02 8.25661228e+02] [ 2.46779687e-02 9.99695261e-01 6.18672997e-04 -6.30844907e+01] [ 1.34647827e-02 -9.51189983e-04 9.99908893e-01 2.99736177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.520714057 meters Centerline goodness [0,1] 0.9861088971375219 Centerline is valid? [True, True] Translation: X:825.69, Y:-63.08, Z:3.00 [[ 9.99577661e-01 -2.56907263e-02 -1.35825474e-02 8.25693699e+02] [ 2.57015662e-02 9.99669465e-01 6.24095968e-04 -6.30818802e+01] [ 1.35620244e-02 -9.72925130e-04 9.99907558e-01 2.99871756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5507140569999 meters Centerline goodness [0,1] 0.9858840163280199 Centerline is valid? [True, True] Translation: X:825.73, Y:-63.08, Z:3.00 [[ 9.99511128e-01 -2.75727029e-02 -1.47394623e-02 8.25725147e+02] [ 2.75856811e-02 9.99619213e-01 6.77885187e-04 -6.30820173e+01] [ 1.47151586e-02 -1.08415189e-03 9.99891138e-01 2.99919531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5807140569999 meters Centerline goodness [0,1] 0.986112377998723 Centerline is valid? [True, True] Translation: X:825.76, Y:-63.08, Z:3.00 [[ 9.99484001e-01 -2.82344660e-02 -1.53149138e-02 8.25756888e+02] [ 2.82485666e-02 9.99600681e-01 7.05122094e-04 -6.30839645e+01] [ 1.52888895e-02 -1.13738261e-03 9.99882471e-01 2.99876138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6107140569999 meters Centerline goodness [0,1] 0.9859074635714774 Centerline is valid? [True, True] Translation: X:825.79, Y:-63.09, Z:3.00 [[ 9.99466780e-01 -2.85389548e-02 -1.58645724e-02 8.25787787e+02] [ 2.85541484e-02 9.99591979e-01 7.31969581e-04 -6.30875948e+01] [ 1.58372097e-02 -1.18457863e-03 9.99873882e-01 2.99824340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.640714057 meters Centerline goodness [0,1] 0.9859097033501565 Centerline is valid? [True, True] Translation: X:825.82, Y:-63.09, Z:3.00 [[ 9.99450719e-01 -2.86511620e-02 -1.66544753e-02 8.25819757e+02] [ 2.86679430e-02 9.99588694e-01 7.69683342e-04 -6.30887346e+01] [ 1.66255729e-02 -1.24671012e-03 9.99861008e-01 2.99873034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6707140569999 meters Centerline goodness [0,1] 0.9852703839247153 Centerline is valid? [True, True] Translation: X:825.85, Y:-63.09, Z:3.00 [[ 9.99468286e-01 -2.78856808e-02 -1.68977499e-02 8.25851452e+02] [ 2.79028667e-02 9.99610333e-01 7.82096813e-04 -6.30899485e+01] [ 1.68693561e-02 -1.25317662e-03 9.99856917e-01 2.99938771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7007140569999 meters Centerline goodness [0,1] 0.98574458864585 Centerline is valid? [True, True] Translation: X:825.88, Y:-63.09, Z:3.00 [[ 9.99500116e-01 -2.67662444e-02 -1.68251753e-02 8.25882541e+02] [ 2.67831364e-02 9.99640964e-01 7.79406590e-04 -6.30907507e+01] [ 1.67982727e-02 -1.22964794e-03 9.99858143e-01 3.00003969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7307140569999 meters Centerline goodness [0,1] 0.9850282292166678 Centerline is valid? [True, True] Translation: X:825.91, Y:-63.09, Z:3.00 [[ 9.99587548e-01 -2.35574964e-02 -1.64249507e-02 8.25912274e+02] [ 2.35731631e-02 9.99721825e-01 7.60851546e-04 -6.30899150e+01] [ 1.64024579e-02 -1.14772577e-03 9.99864812e-01 3.00074178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.760714057 meters Centerline goodness [0,1] 0.9875002851212336 Centerline is valid? [True, True] Translation: X:825.94, Y:-63.08, Z:3.00 [[ 9.99645330e-01 -2.14272980e-02 -1.58140947e-02 8.25943967e+02] [ 2.14415628e-02 9.99769835e-01 7.33010221e-04 -6.30803987e+01] [ 1.57947484e-02 -1.07182915e-03 9.99874681e-01 3.00308041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.790714057 meters Centerline goodness [0,1] 0.9863433604026078 Centerline is valid? [True, True] Translation: X:825.97, Y:-63.09, Z:3.00 [[ 9.99677663e-01 -1.94797288e-02 -1.62822335e-02 8.25974012e+02] [ 1.94945991e-02 9.99809677e-01 7.55054820e-04 -6.30885796e+01] [ 1.62644264e-02 -1.07222705e-03 9.99867151e-01 3.00162939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8207140569999 meters Centerline goodness [0,1] 0.9879190024024711 Centerline is valid? [True, True] Translation: X:826.01, Y:-63.08, Z:3.00 [[ 9.99761116e-01 -1.48679021e-02 -1.60204778e-02 8.26005141e+02] [ 1.48817094e-02 9.99888985e-01 7.42980747e-04 -6.30776971e+01] [ 1.60076528e-02 -9.81215358e-04 9.99871388e-01 3.00396599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8507140569999 meters Centerline goodness [0,1] 0.9880837801915762 Centerline is valid? [True, True] Translation: X:826.04, Y:-63.08, Z:3.00 [[ 9.99787092e-01 -1.29512285e-02 -1.60635062e-02 8.26035009e+02] [ 1.29648561e-02 9.99915676e-01 7.44503986e-04 -6.30777900e+01] [ 1.60525094e-02 -9.52606522e-04 9.99870696e-01 3.00399227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.880714057 meters Centerline goodness [0,1] 0.9878480198474685 Centerline is valid? [True, True] Translation: X:826.06, Y:-63.08, Z:3.00 [[ 9.99800601e-01 -1.10711997e-02 -1.66188711e-02 8.26063918e+02] [ 1.10855173e-02 9.99938258e-01 7.69654190e-04 -6.30790950e+01] [ 1.66093240e-02 -9.53729505e-04 9.99861601e-01 3.00379258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.910714057 meters Centerline goodness [0,1] 0.9871654584416176 Centerline is valid? [True, True] Translation: X:826.09, Y:-63.08, Z:3.00 [[ 9.99823106e-01 -9.12259457e-03 -1.64479245e-02 8.26092772e+02] [ 9.13634473e-03 9.99957973e-01 7.61031928e-04 -6.30801121e+01] [ 1.64402907e-02 -9.11171215e-04 9.99864434e-01 3.00305979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9407140569999 meters Centerline goodness [0,1] 0.9884464617289045 Centerline is valid? [True, True] Translation: X:826.12, Y:-63.08, Z:3.00 [[ 9.99816654e-01 -6.35673027e-03 -1.80624058e-02 8.26121898e+02] [ 6.37285082e-03 9.99979345e-01 8.35072187e-04 -6.30815142e+01] [ 1.80567244e-02 -9.50028097e-04 9.99836513e-01 3.00137028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9707140569999 meters Centerline goodness [0,1] 0.9893027304379696 Centerline is valid? [True, True] Translation: X:826.15, Y:-63.08, Z:3.00 [[ 9.99815468e-01 -5.05232745e-03 -1.85338544e-02 8.26150589e+02] [ 5.06900162e-03 9.99986789e-01 8.52792021e-04 -6.30757719e+01] [ 1.85293010e-02 -9.46582792e-04 9.99827870e-01 3.00280463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.000714057 meters Centerline goodness [0,1] 0.9890761691018184 Centerline is valid? [True, True] Translation: X:826.18, Y:-63.08, Z:3.00 [[ 9.99813515e-01 -3.86997503e-03 -1.89197867e-02 8.26179334e+02] [ 3.88705022e-03 9.99992071e-01 8.65813477e-04 -6.30765381e+01] [ 1.89162860e-02 -9.39194177e-04 9.99820630e-01 3.00278111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.030714057 meters Centerline goodness [0,1] 0.9900962861072903 Centerline is valid? [True, True] Translation: X:826.21, Y:-63.08, Z:3.00 [[ 9.99812611e-01 -7.05343542e-04 -1.93454146e-02 8.26208813e+02] [ 7.22580016e-04 9.99999348e-01 8.84009509e-04 -6.30751816e+01] [ 1.93447784e-02 -8.97822466e-04 9.99812469e-01 3.00310692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0607140569999 meters Centerline goodness [0,1] 0.9901902360760945 Centerline is valid? [True, True] Translation: X:826.24, Y:-63.08, Z:3.00 [[ 9.99805743e-01 6.19248769e-04 -1.97000889e-02 8.26237863e+02] [-6.01716624e-04 9.99999418e-01 8.95867631e-04 -6.30761293e+01] [ 1.97006321e-02 -8.83839732e-04 9.99805533e-01 3.00310306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0907140569999 meters Centerline goodness [0,1] 0.990092213349198 Centerline is valid? [True, True] Translation: X:826.27, Y:-63.08, Z:3.00 [[ 9.99803703e-01 1.79796647e-03 -1.97312789e-02 8.26266123e+02] [-1.78070445e-03 9.99998016e-01 8.92390075e-04 -6.30769383e+01] [ 1.97328442e-02 -8.57079325e-04 9.99804921e-01 3.00312751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.120714057 meters Centerline goodness [0,1] 0.991327490478594 Centerline is valid? [True, True] Translation: X:826.30, Y:-63.08, Z:3.00 [[ 9.99798123e-01 4.34112344e-03 -1.96180753e-02 8.26295431e+02] [-4.32463615e-03 9.99990259e-01 8.82760157e-04 -6.30776605e+01] [ 1.96217164e-02 -7.97740910e-04 9.99807157e-01 3.00314635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.150714057 meters Centerline goodness [0,1] 0.9907286288009179 Centerline is valid? [True, True] Translation: X:826.32, Y:-63.08, Z:3.00 [[ 9.99799868e-01 4.94657786e-03 -1.93844190e-02 8.26323536e+02] [-4.93063450e-03 9.99987466e-01 8.70190548e-04 -6.30792450e+01] [ 1.93884805e-02 -7.74438910e-04 9.99811726e-01 3.00309418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1807140569999 meters Centerline goodness [0,1] 0.9905764204154629 Centerline is valid? [True, True] Translation: X:826.35, Y:-63.08, Z:3.00 [[ 9.99808344e-01 5.55143131e-03 -1.87738575e-02 8.26351432e+02] [-5.53661352e-03 9.99984319e-01 8.41162496e-04 -6.30842483e+01] [ 1.87782328e-02 -7.37057688e-04 9.99823402e-01 3.00195769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2107140569999 meters Centerline goodness [0,1] 0.9900706292423409 Centerline is valid? [True, True] Translation: X:826.38, Y:-63.09, Z:3.00 [[ 9.99814762e-01 5.40458184e-03 -1.84724682e-02 8.26379093e+02] [-5.39024401e-03 9.99985131e-01 8.25875358e-04 -6.30856055e+01] [ 1.84766571e-02 -7.26151264e-04 9.99829028e-01 3.00245522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2407140569999 meters Centerline goodness [0,1] 0.9901012785848494 Centerline is valid? [True, True] Translation: X:826.41, Y:-63.09, Z:3.01 [[ 9.99837312e-01 4.21567876e-03 -1.75378802e-02 8.26407847e+02] [-4.20259466e-03 9.99990863e-01 7.82836338e-04 -6.30856399e+01] [ 1.75410202e-02 -7.09004379e-04 9.99845893e-01 3.00506120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.270714057 meters Centerline goodness [0,1] 0.9907865786578658 Centerline is valid? [True, True] Translation: X:826.44, Y:-63.08, Z:3.01 [[ 9.99852858e-01 2.56714455e-03 -1.69608826e-02 8.26436646e+02] [-2.55469068e-03 9.99996451e-01 7.55895790e-04 -6.30848180e+01] [ 1.69627629e-02 -7.12454758e-04 9.99855868e-01 3.00680135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3007140569999 meters Centerline goodness [0,1] 0.9907388398457994 Centerline is valid? [True, True] Translation: X:826.47, Y:-63.09, Z:3.01 [[ 9.99859611e-01 -1.80242701e-03 -1.66586327e-02 8.26466046e+02] [ 1.81503894e-03 9.99998078e-01 7.41992904e-04 -6.30909585e+01] [ 1.66572632e-02 -7.72124803e-04 9.99860960e-01 3.00729854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3307140569999 meters Centerline goodness [0,1] 0.9900390669621438 Centerline is valid? [True, True] Translation: X:826.50, Y:-63.09, Z:3.01 [[ 9.99850401e-01 -4.42211742e-03 -1.67218676e-02 8.26495858e+02] [ 4.43518174e-03 9.99989888e-01 7.44267259e-04 -6.30940662e+01] [ 1.67184072e-02 -8.18320439e-04 9.99859903e-01 3.00756948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3607140569999 meters Centerline goodness [0,1] 0.9895966417229421 Centerline is valid? [True, True] Translation: X:826.52, Y:-63.10, Z:3.01 [[ 9.99825957e-01 -7.24982078e-03 -1.71899987e-02 8.26524094e+02] [ 7.26402900e-03 9.99973325e-01 7.64244026e-04 -6.31027020e+01] [ 1.71839995e-02 -8.88979663e-04 9.99851949e-01 3.00570552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.390714057 meters Centerline goodness [0,1] 0.991170431211499 Centerline is valid? [True, True] Translation: X:826.55, Y:-63.10, Z:3.01 [[ 9.99790969e-01 -1.03121586e-02 -1.76544053e-02 8.26554517e+02] [ 1.03276138e-02 9.99946361e-01 7.84479245e-04 -6.31012772e+01] [ 1.76453686e-02 -9.66643143e-04 9.99843841e-01 3.00702029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4207140569999 meters Centerline goodness [0,1] 0.9897305402826373 Centerline is valid? [True, True] Translation: X:826.58, Y:-63.11, Z:3.01 [[ 9.99702029e-01 -1.57573915e-02 -1.86429094e-02 8.26583351e+02] [ 1.57755637e-02 9.99875215e-01 8.28076567e-04 -6.31121217e+01] [ 1.86275347e-02 -1.12193223e-03 9.99825863e-01 3.00540043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4507140569999 meters Centerline goodness [0,1] 0.9894626879229687 Centerline is valid? [True, True] Translation: X:826.61, Y:-63.12, Z:3.00 [[ 9.99644288e-01 -1.82338061e-02 -1.94634265e-02 8.26611931e+02] [ 1.82540689e-02 9.99833007e-01 8.63901565e-04 -6.31172278e+01] [ 1.94444241e-02 -1.21888099e-03 9.99810196e-01 3.00471185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4807140569999 meters Centerline goodness [0,1] 0.9894875762264495 Centerline is valid? [True, True] Translation: X:826.64, Y:-63.12, Z:3.00 [[ 9.99597479e-01 -2.06817011e-02 -1.94202811e-02 8.26641498e+02] [ 2.07023212e-02 9.99785313e-01 8.61319810e-04 -6.31193293e+01] [ 1.93982983e-02 -1.26301801e-03 9.99811038e-01 3.00488849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.510714057 meters Centerline goodness [0,1] 0.9897910352528314 Centerline is valid? [True, True] Translation: X:826.67, Y:-63.12, Z:3.01 [[ 9.99538538e-01 -2.31006189e-02 -1.97249022e-02 8.26671711e+02] [ 2.31223511e-02 9.99732260e-01 8.74378482e-04 -6.31195777e+01] [ 1.96994224e-02 -1.33006110e-03 9.99805063e-01 3.00584930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.540714057 meters Centerline goodness [0,1] 0.989822636096628 Centerline is valid? [True, True] Translation: X:826.70, Y:-63.12, Z:3.01 [[ 9.99487300e-01 -2.51024007e-02 -1.98747744e-02 8.26702926e+02] [ 2.51248693e-02 9.99683932e-01 8.81579125e-04 -6.31224740e+01] [ 1.98463629e-02 -1.38047825e-03 9.99802088e-01 3.00605636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5707140569999 meters Centerline goodness [0,1] 0.9896510064054344 Centerline is valid? [True, True] Translation: X:826.73, Y:-63.13, Z:3.01 [[ 9.99404411e-01 -2.89605866e-02 -1.87645154e-02 8.26732341e+02] [ 2.89812883e-02 9.99579608e-01 8.32186928e-04 -6.31292180e+01] [ 1.87325263e-02 -1.37551112e-03 9.99823585e-01 3.00615361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6007140569999 meters Centerline goodness [0,1] 0.9882917291865594 Centerline is valid? [True, True] Translation: X:826.76, Y:-63.13, Z:3.01 [[ 9.99369751e-01 -3.02253851e-02 -1.86152561e-02 8.26764001e+02] [ 3.02459920e-02 9.99542144e-01 8.26379226e-04 -6.31319520e+01] [ 1.85817554e-02 -1.38889529e-03 9.99826380e-01 3.00653339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.630714057 meters Centerline goodness [0,1] 0.9882917291865594 Centerline is valid? [True, True] Translation: X:826.80, Y:-63.13, Z:3.01 [[ 9.99371900e-01 -3.01542784e-02 -1.86151994e-02 8.26795756e+02] [ 3.01748967e-02 9.99544291e-01 8.27655594e-04 -6.31334247e+01] [ 1.85817590e-02 -1.38884746e-03 9.99826380e-01 3.00661887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.660714057 meters Centerline goodness [0,1] 0.9882914629987496 Centerline is valid? [True, True] Translation: X:826.83, Y:-63.14, Z:3.01 [[ 9.99323369e-01 -3.19506654e-02 -1.82197725e-02 8.26826017e+02] [ 3.19707299e-02 9.99488477e-01 8.10966981e-04 -6.31371993e+01] [ 1.81845417e-02 -1.39291768e-03 9.99833677e-01 3.00678540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6907140569999 meters Centerline goodness [0,1] 0.9880329435318742 Centerline is valid? [True, True] Translation: X:826.86, Y:-63.14, Z:3.01 [[ 9.99314483e-01 -3.22911579e-02 -1.81065113e-02 8.26857484e+02] [ 3.23110595e-02 9.99477535e-01 8.07601569e-04 -6.31403707e+01] [ 1.80709729e-02 -1.39208851e-03 9.99835738e-01 3.00616004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7207140569999 meters Centerline goodness [0,1] 0.9888673875924872 Centerline is valid? [True, True] Translation: X:826.89, Y:-63.14, Z:3.01 [[ 9.99305694e-01 -3.26294103e-02 -1.79847696e-02 8.26889630e+02] [ 3.26491241e-02 9.99466552e-01 8.03537187e-04 -6.31380944e+01] [ 1.79489568e-02 -1.39016626e-03 9.99837938e-01 3.00705217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.750714057 meters Centerline goodness [0,1] 0.9875218367856251 Centerline is valid? [True, True] Translation: X:826.92, Y:-63.15, Z:3.01 [[ 9.99291591e-01 -3.29876626e-02 -1.81143913e-02 8.26920869e+02] [ 3.30077385e-02 9.99454768e-01 8.10345887e-04 -6.31459978e+01] [ 1.80777833e-02 -1.40768692e-03 9.99835593e-01 3.00566136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.780714057 meters Centerline goodness [0,1] 0.9884116473149492 Centerline is valid? [True, True] Translation: X:826.95, Y:-63.14, Z:3.01 [[ 9.99252048e-01 -3.39176762e-02 -1.85724305e-02 8.26952746e+02] [ 3.39389587e-02 9.99423561e-01 8.31833837e-04 -6.31429145e+01] [ 1.85335108e-02 -1.46154062e-03 9.99827172e-01 3.00614741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8107140569999 meters Centerline goodness [0,1] 0.9872807117340554 Centerline is valid? [True, True] Translation: X:826.98, Y:-63.15, Z:3.00 [[ 9.99227007e-01 -3.44666901e-02 -1.89059913e-02 8.26983210e+02] [ 3.44888821e-02 9.99404721e-01 8.48916350e-04 -6.31507156e+01] [ 1.88654776e-02 -1.50030665e-03 9.99820905e-01 3.00467162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8407140569999 meters Centerline goodness [0,1] 0.988051428831039 Centerline is valid? [True, True] Translation: X:827.02, Y:-63.15, Z:3.00 [[ 9.99218601e-01 -3.45215161e-02 -1.92471466e-02 8.27015114e+02] [ 3.45445553e-02 9.99402784e-01 8.65733757e-04 -6.31478423e+01] [ 1.92057655e-02 -1.52994139e-03 9.99814382e-01 3.00492568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.870714057 meters Centerline goodness [0,1] 0.9881584041172318 Centerline is valid? [True, True] Translation: X:827.05, Y:-63.15, Z:3.01 [[ 9.99202953e-01 -3.49033974e-02 -1.93703862e-02 8.27047594e+02] [ 3.49268306e-02 9.99389491e-01 8.72653474e-04 -6.31468871e+01] [ 1.93281018e-02 -1.54850412e-03 9.99811996e-01 3.00552346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.900714057 meters Centerline goodness [0,1] 0.9881404930459129 Centerline is valid? [True, True] Translation: X:827.08, Y:-63.15, Z:3.01 [[ 9.99220489e-01 -3.46875275e-02 -1.88465000e-02 8.27078977e+02] [ 3.47096915e-02 9.99397076e-01 8.50096855e-04 -6.31495411e+01] [ 1.88056492e-02 -1.50359040e-03 9.99822028e-01 3.00590404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9307140569999 meters Centerline goodness [0,1] 0.9881787536443148 Centerline is valid? [True, True] Translation: X:827.11, Y:-63.15, Z:3.01 [[ 9.99229239e-01 -3.45765742e-02 -1.85846149e-02 8.27110570e+02] [ 3.45981447e-02 9.99400952e-01 8.40304873e-04 -6.31517907e+01] [ 1.85444270e-02 -1.48265040e-03 9.99826938e-01 3.00590204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9607140569999 meters Centerline goodness [0,1] 0.9872440263319742 Centerline is valid? [True, True] Translation: X:827.14, Y:-63.15, Z:3.01 [[ 9.99256964e-01 -3.40722939e-02 -1.80165988e-02 8.27142461e+02] [ 3.40925092e-02 9.99418348e-01 8.16000973e-04 -6.31511346e+01] [ 1.79783164e-02 -1.42962572e-03 9.99837355e-01 3.00674277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9907140569999 meters Centerline goodness [0,1] 0.9870742716454657 Centerline is valid? [True, True] Translation: X:827.17, Y:-63.15, Z:3.01 [[ 9.99279959e-01 -3.37625002e-02 -1.73106209e-02 8.27174917e+02] [ 3.37811365e-02 9.99428946e-01 7.85224123e-04 -6.31519765e+01] [ 1.72742245e-02 -1.36943118e-03 9.99849852e-01 3.00706167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.020714057 meters Centerline goodness [0,1] 0.9878344946548946 Centerline is valid? [True, True] Translation: X:827.21, Y:-63.15, Z:3.01 [[ 9.99306556e-01 -3.33346066e-02 -1.65894658e-02 8.27206479e+02] [ 3.33516825e-02 9.99443394e-01 7.53651372e-04 -6.31545028e+01] [ 1.65551094e-02 -1.30641536e-03 9.99862101e-01 3.00715490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0507140569999 meters Centerline goodness [0,1] 0.9856804086099964 Centerline is valid? [True, True] Translation: X:827.24, Y:-63.16, Z:3.01 [[ 9.99330943e-01 -3.31307065e-02 -1.54926831e-02 8.27237329e+02] [ 3.31455873e-02 9.99450286e-01 7.04653707e-04 -6.31579463e+01] [ 1.54608208e-02 -1.21769633e-03 9.99879733e-01 3.00798248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0807140569999 meters Centerline goodness [0,1] 0.985582415573733 Centerline is valid? [True, True] Translation: X:827.27, Y:-63.16, Z:3.01 [[ 9.99348128e-01 -3.27606505e-02 -1.51676933e-02 8.27269767e+02] [ 3.27748859e-02 9.99462520e-01 6.90849566e-04 -6.31579253e+01] [ 1.51369083e-02 -1.18751864e-03 9.99884725e-01 3.00877706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1107140569999 meters Centerline goodness [0,1] 0.9858409904466586 Centerline is valid? [True, True] Translation: X:827.30, Y:-63.16, Z:3.01 [[ 9.99372472e-01 -3.22511043e-02 -1.46467724e-02 8.27301826e+02] [ 3.22643384e-02 9.99479147e-01 6.68097603e-04 -6.31597956e+01] [ 1.46175967e-02 -1.14024678e-03 9.99892507e-01 3.00892428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.140714057 meters Centerline goodness [0,1] 0.9858254776197759 Centerline is valid? [True, True] Translation: X:827.33, Y:-63.16, Z:3.01 [[ 9.99411239e-01 -3.12715789e-02 -1.41160623e-02 8.27332009e+02] [ 3.12837793e-02 9.99510335e-01 6.44252157e-04 -6.31610285e+01] [ 1.40890034e-02 -1.08547662e-03 9.99900156e-01 3.00982218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1707140569999 meters Centerline goodness [0,1] 0.9883723586521987 Centerline is valid? [True, True] Translation: X:827.36, Y:-63.15, Z:3.01 [[ 9.99438773e-01 -3.04313891e-02 -1.40025032e-02 8.27364895e+02] [ 3.04433240e-02 9.99536290e-01 6.39926059e-04 -6.31503612e+01] [ 1.39765363e-02 -1.06584966e-03 9.99901755e-01 3.01168869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2007140569999 meters Centerline goodness [0,1] 0.9876100944644731 Centerline is valid? [True, True] Translation: X:827.40, Y:-63.15, Z:3.01 [[ 9.99467411e-01 -2.93203922e-02 -1.43251037e-02 8.27397051e+02] [ 2.93327848e-02 9.99569486e-01 6.55713593e-04 -6.31489529e+01] [ 1.42997107e-02 -1.07555955e-03 9.99897175e-01 3.01254343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2307140569999 meters Centerline goodness [0,1] 0.9881632466523468 Centerline is valid? [True, True] Translation: X:827.43, Y:-63.15, Z:3.01 [[ 9.99523368e-01 -2.69494806e-02 -1.50586610e-02 8.27427862e+02] [ 2.69629172e-02 9.99636196e-01 6.89934546e-04 -6.31497408e+01] [ 1.50345893e-02 -1.09563113e-03 9.99886374e-01 3.01134339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.260714057 meters Centerline goodness [0,1] 0.9888710785436227 Centerline is valid? [True, True] Translation: X:827.46, Y:-63.15, Z:3.01 [[ 9.99561424e-01 -2.51621893e-02 -1.56148826e-02 8.27458990e+02] [ 2.51764288e-02 9.99682767e-01 7.15982707e-04 -6.31501347e+01] [ 1.55919134e-02 -1.10879567e-03 9.99877824e-01 3.01108438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.290714057 meters Centerline goodness [0,1] 0.989042477592096 Centerline is valid? [True, True] Translation: X:827.49, Y:-63.15, Z:3.01 [[ 9.99599811e-01 -2.32656088e-02 -1.60912824e-02 8.27490811e+02] [ 2.32804992e-02 9.99728700e-01 7.38649012e-04 -6.31502920e+01] [ 1.60697317e-02 -1.11296650e-03 9.99870254e-01 3.01038943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3207140569999 meters Centerline goodness [0,1] 0.9889811561801342 Centerline is valid? [True, True] Translation: X:827.52, Y:-63.15, Z:3.01 [[ 9.99629993e-01 -2.11742605e-02 -1.70741966e-02 8.27521660e+02] [ 2.11907337e-02 9.99775143e-01 7.84436350e-04 -6.31522856e+01] [ 1.70537475e-02 -1.14596085e-03 9.99853918e-01 3.00994478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3507140569999 meters Centerline goodness [0,1] 0.99049652227808 Centerline is valid? [True, True] Translation: X:827.55, Y:-63.15, Z:3.01 [[ 9.99723251e-01 -1.62770664e-02 -1.69846831e-02 8.27552018e+02] [ 1.62926650e-02 9.99866961e-01 7.80416862e-04 -6.31487418e+01] [ 1.69697205e-02 -1.05692663e-03 9.99855445e-01 3.01066192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.380714057 meters Centerline goodness [0,1] 0.9895000459516589 Centerline is valid? [True, True] Translation: X:827.58, Y:-63.15, Z:3.01 [[ 9.99768153e-01 -1.34569718e-02 -1.68092372e-02 8.27582413e+02] [ 1.34718527e-02 9.99908952e-01 7.72354954e-04 -6.31468424e+01] [ 1.67973132e-02 -9.98627454e-04 9.99858416e-01 3.01159469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.410714057 meters Centerline goodness [0,1] 0.9894582118003721 Centerline is valid? [True, True] Translation: X:827.61, Y:-63.15, Z:3.01 [[ 9.99818114e-01 -1.03626977e-02 -1.60110198e-02 8.27610856e+02] [ 1.03757919e-02 9.99945900e-01 7.34966619e-04 -6.31476315e+01] [ 1.60025374e-02 -9.00959949e-04 9.99871545e-01 3.01198041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4407140569999 meters Centerline goodness [0,1] 0.9903674143387918 Centerline is valid? [True, True] Translation: X:827.64, Y:-63.15, Z:3.01 [[ 9.99887520e-01 -3.99407192e-03 -1.44566263e-02 8.27640052e+02] [ 4.00407362e-03 9.99991764e-01 6.62963755e-04 -6.31455152e+01] [ 1.44538593e-02 -7.20774581e-04 9.99895278e-01 3.01378589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4707140569999 meters Centerline goodness [0,1] 0.990175872492443 Centerline is valid? [True, True] Translation: X:827.67, Y:-63.15, Z:3.01 [[ 9.99904181e-01 -1.21215975e-03 -1.37898286e-02 8.27668568e+02] [ 1.22098891e-03 9.99999055e-01 6.31865499e-04 -6.31456841e+01] [ 1.37890496e-02 -6.48642182e-04 9.99904716e-01 3.01442475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.500714057 meters Centerline goodness [0,1] 0.9902474928696292 Centerline is valid? [True, True] Translation: X:827.70, Y:-63.15, Z:3.02 [[ 9.99916427e-01 1.08767280e-03 -1.28824276e-02 8.27698319e+02] [-1.08016365e-03 9.99999243e-01 5.89842554e-04 -6.31456142e+01] [ 1.28830594e-02 -5.75878129e-04 9.99916844e-01 3.01513994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.530714057 meters Centerline goodness [0,1] 0.9907366969313872 Centerline is valid? [True, True] Translation: X:827.73, Y:-63.14, Z:3.02 [[ 9.99912311e-01 4.29629935e-03 -1.25264526e-02 8.27728722e+02] [-4.28945409e-03 9.99990636e-01 5.73279740e-04 -6.31444315e+01] [ 1.25287983e-02 -5.19497826e-04 9.99921377e-01 3.01552662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5607140569999 meters Centerline goodness [0,1] 0.9905198002715203 Centerline is valid? [True, True] Translation: X:827.76, Y:-63.15, Z:3.01 [[ 9.99912189e-01 5.03450469e-03 -1.22583952e-02 8.27756449e+02] [-5.02801551e-03 9.99987203e-01 5.60128340e-04 -6.31471624e+01] [ 1.22610583e-02 -4.98443754e-04 9.99924706e-01 3.01485550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5907140569999 meters Centerline goodness [0,1] 0.9905638717972266 Centerline is valid? [True, True] Translation: X:827.79, Y:-63.15, Z:3.01 [[ 9.99910216e-01 4.74689176e-03 -1.25310054e-02 8.27785610e+02] [-4.74009971e-03 9.99988602e-01 5.71664473e-04 -6.31496898e+01] [ 1.25335762e-02 -5.12214932e-04 9.99921320e-01 3.01438821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.620714057 meters Centerline goodness [0,1] 0.9900273847558193 Centerline is valid? [True, True] Translation: X:827.81, Y:-63.15, Z:3.01 [[ 9.99913849e-01 2.28000358e-03 -1.29265697e-02 8.27814630e+02] [-2.27258230e-03 9.99997244e-01 5.88770121e-04 -6.31526578e+01] [ 1.29278764e-02 -5.59342705e-04 9.99916275e-01 3.01415964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.650714057 meters Centerline goodness [0,1] 0.9913290819837592 Centerline is valid? [True, True] Translation: X:827.84, Y:-63.16, Z:3.01 [[ 9.99910108e-01 -2.63980840e-04 -1.34054756e-02 8.27844453e+02] [ 2.72182510e-04 9.99999777e-01 6.09994141e-04 -6.31553909e+01] [ 1.34053116e-02 -6.13588043e-04 9.99909957e-01 3.01408508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6807140569999 meters Centerline goodness [0,1] 0.9902845882406855 Centerline is valid? [True, True] Translation: X:827.87, Y:-63.16, Z:3.01 [[ 9.99906171e-01 -3.15375621e-03 -1.33304959e-02 8.27872842e+02] [ 3.16211088e-03 9.99994817e-01 6.05702719e-04 -6.31614630e+01] [ 1.33285166e-02 -6.47798393e-04 9.99910962e-01 3.01302393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7107140569999 meters Centerline goodness [0,1] 0.9896545437972838 Centerline is valid? [True, True] Translation: X:827.90, Y:-63.17, Z:3.01 [[ 9.99862582e-01 -1.00783628e-02 -1.31622060e-02 8.27901444e+02] [ 1.00871072e-02 9.99948945e-01 5.98132082e-04 -6.31748338e+01] [ 1.31555058e-02 -7.30818471e-04 9.99913196e-01 3.01130737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7407140569999 meters Centerline goodness [0,1] 0.9897970803252181 Centerline is valid? [True, True] Translation: X:827.93, Y:-63.17, Z:3.01 [[ 9.99815059e-01 -1.39700666e-02 -1.32168124e-02 8.27932005e+02] [ 1.39792234e-02 9.99902105e-01 6.00683491e-04 -6.31746873e+01] [ 1.32071269e-02 -7.85333173e-04 9.99912474e-01 3.01203139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.770714057 meters Centerline goodness [0,1] 0.9886720349392657 Centerline is valid? [True, True] Translation: X:827.96, Y:-63.18, Z:3.01 [[ 9.99753067e-01 -1.78380184e-02 -1.32518058e-02 8.27961491e+02] [ 1.78475663e-02 9.99840538e-01 6.02578379e-04 -6.31836626e+01] [ 1.32389438e-02 -8.38942066e-04 9.99912009e-01 3.01106553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8007140569999 meters Centerline goodness [0,1] 0.9869344906723625 Centerline is valid? [True, True] Translation: X:827.99, Y:-63.20, Z:3.01 [[ 9.99680165e-01 -2.16077591e-02 -1.31404986e-02 8.27990810e+02] [ 2.16174706e-02 9.99766137e-01 5.97452923e-04 -6.31951754e+01] [ 1.31245159e-02 -8.81326179e-04 9.99913481e-01 3.01010080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8307140569999 meters Centerline goodness [0,1] 0.9876045231027216 Centerline is valid? [True, True] Translation: X:828.02, Y:-63.19, Z:3.01 [[ 9.99530742e-01 -2.82427954e-02 -1.18591783e-02 8.28021385e+02] [ 2.82511686e-02 9.99600711e-01 5.39093470e-04 -6.31948955e+01] [ 1.18392176e-02 -8.73876143e-04 9.99929532e-01 3.01170462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8607140569999 meters Centerline goodness [0,1] 0.9873417721518988 Centerline is valid? [True, True] Translation: X:828.05, Y:-63.20, Z:3.01 [[ 9.99460040e-01 -3.09686871e-02 -1.09803673e-02 8.28052447e+02] [ 3.09760303e-02 9.99520003e-01 4.99272963e-04 -6.31985999e+01] [ 1.09596350e-02 -8.39131567e-04 9.99939589e-01 3.01220123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.890714057 meters Centerline goodness [0,1] 0.9846136466335291 Centerline is valid? [True, True] Translation: X:828.08, Y:-63.21, Z:3.01 [[ 9.99400219e-01 -3.31708020e-02 -9.94480945e-03 8.28082323e+02] [ 3.31769398e-02 9.99449391e-01 4.52806273e-04 -6.32066044e+01] [ 9.92431380e-03 -7.82473034e-04 9.99950447e-01 3.01225496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9207140569999 meters Centerline goodness [0,1] 0.9835277658686283 Centerline is valid? [True, True] Translation: X:828.11, Y:-63.21, Z:3.01 [[ 9.99327378e-01 -3.55910873e-02 -8.83549282e-03 8.28111784e+02] [ 3.55960314e-02 9.99366179e-01 4.02890971e-04 -6.32133284e+01] [ 8.81555338e-03 -7.17128458e-04 9.99960885e-01 3.01289373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9507140569999 meters Centerline goodness [0,1] 0.9842190815911862 Centerline is valid? [True, True] Translation: X:828.14, Y:-63.21, Z:3.01 [[ 9.99307944e-01 -3.61384049e-02 -8.81187697e-03 8.28143579e+02] [ 3.61433517e-02 9.99346534e-01 4.02722714e-04 -6.32133925e+01] [ 8.79156496e-03 -7.20934776e-04 9.99961094e-01 3.01323297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9807140569999 meters Centerline goodness [0,1] 0.9837734145791018 Centerline is valid? [True, True] Translation: X:828.18, Y:-63.22, Z:3.01 [[ 9.99289777e-01 -3.66465830e-02 -8.77325376e-03 8.28175197e+02] [ 3.66515115e-02 9.99328027e-01 4.01593900e-04 -6.32166090e+01] [ 8.75264133e-03 -7.22861691e-04 9.99961434e-01 3.01290971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.010714057 meters Centerline goodness [0,1] 0.9834297678816669 Centerline is valid? [True, True] Translation: X:828.21, Y:-63.22, Z:3.01 [[ 9.99260686e-01 -3.70307192e-02 -1.03347304e-02 8.28206282e+02] [ 3.70375845e-02 9.99313761e-01 4.73629231e-04 -6.32212909e+01] [ 1.03100995e-02 -8.56052521e-04 9.99946483e-01 3.01056889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.040714057 meters Centerline goodness [0,1] 0.986630955864149 Centerline is valid? [True, True] Translation: X:828.24, Y:-63.21, Z:3.01 [[ 9.99248310e-01 -3.70492508e-02 -1.14091468e-02 8.28239027e+02] [ 3.70576281e-02 9.99312993e-01 5.23660710e-04 -6.32133884e+01] [ 1.13819074e-02 -9.46062998e-04 9.99934776e-01 3.01014813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0707140569999 meters Centerline goodness [0,1] 0.9819599757972346 Centerline is valid? [True, True] Translation: X:828.27, Y:-63.23, Z:3.01 [[ 9.99260617e-01 -3.64241113e-02 -1.23086851e-02 8.28269616e+02] [ 3.64338327e-02 9.99335907e-01 5.66408696e-04 -6.32271770e+01] [ 1.22798800e-02 -1.01444248e-03 9.99924085e-01 3.00776006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1007140569999 meters Centerline goodness [0,1] 0.9822967045326735 Centerline is valid? [True, True] Translation: X:828.30, Y:-63.23, Z:3.01 [[ 9.99271545e-01 -3.56688842e-02 -1.35687297e-02 8.28301882e+02] [ 3.56806439e-02 9.99363047e-01 6.25509521e-04 -6.32283178e+01] [ 1.35377758e-02 -1.10919488e-03 9.99907745e-01 3.00696186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.130714057 meters Centerline goodness [0,1] 0.9842290510356031 Centerline is valid? [True, True] Translation: X:828.33, Y:-63.22, Z:3.01 [[ 9.99330548e-01 -3.35079357e-02 -1.46858443e-02 8.28333038e+02] [ 3.35214858e-02 9.99437768e-01 6.77408182e-04 -6.32239772e+01] [ 1.46548889e-02 -1.16924601e-03 9.99891928e-01 3.00696874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.160714057 meters Centerline goodness [0,1] 0.9865574364080746 Centerline is valid? [True, True] Translation: X:828.37, Y:-63.22, Z:3.01 [[ 9.99357285e-01 -3.25753138e-02 -1.49621314e-02 8.28365884e+02] [ 3.25892886e-02 9.99468589e-01 6.91083807e-04 -6.32166025e+01] [ 1.49316681e-02 -1.17824485e-03 9.99887822e-01 3.00850859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1907140569999 meters Centerline goodness [0,1] 0.9863655923719793 Centerline is valid? [True, True] Translation: X:828.40, Y:-63.22, Z:3.01 [[ 9.99396167e-01 -3.14468652e-02 -1.47782289e-02 8.28396447e+02] [ 3.14603819e-02 9.99504766e-01 6.82997022e-04 -6.32192018e+01] [ 1.47494322e-02 -1.14751333e-03 9.99890563e-01 3.00847720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2207140569999 meters Centerline goodness [0,1] 0.9862444379192736 Centerline is valid? [True, True] Translation: X:828.43, Y:-63.22, Z:3.01 [[ 9.99463453e-01 -2.96548858e-02 -1.39065901e-02 8.28428004e+02] [ 2.96666888e-02 9.99559640e-01 6.43165510e-04 -6.32161070e+01] [ 1.38813932e-02 -1.05538290e-03 9.99903092e-01 3.00907603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.250714057 meters Centerline goodness [0,1] 0.9866067395428675 Centerline is valid? [True, True] Translation: X:828.46, Y:-63.22, Z:3.01 [[ 9.99481704e-01 -2.92985743e-02 -1.33385871e-02 8.28459571e+02] [ 2.93094125e-02 9.99570196e-01 6.17749589e-04 -6.32189381e+01] [ 1.33147549e-02 -1.00837556e-03 9.99910846e-01 3.00911444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.280714057 meters Centerline goodness [0,1] 0.9859481613259171 Centerline is valid? [True, True] Translation: X:828.49, Y:-63.22, Z:3.01 [[ 9.99489839e-01 -2.91622096e-02 -1.30240863e-02 8.28492048e+02] [ 2.91725431e-02 9.99574208e-01 6.04104314e-04 -6.32213629e+01] [ 1.30009237e-02 -9.83741842e-04 9.99915001e-01 3.00938513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3107140569999 meters Centerline goodness [0,1] 0.9865594434028326 Centerline is valid? [True, True] Translation: X:828.52, Y:-63.22, Z:3.01 [[ 9.99481537e-01 -2.94704374e-02 -1.29672979e-02 8.28524165e+02] [ 2.94807187e-02 9.99565168e-01 6.02389894e-04 -6.32221109e+01] [ 1.29439066e-02 -9.84362837e-04 9.99915740e-01 3.00942716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3407140569999 meters Centerline goodness [0,1] 0.9859596848829597 Centerline is valid? [True, True] Translation: X:828.56, Y:-63.22, Z:3.01 [[ 9.99470294e-01 -2.98516123e-02 -1.29619542e-02 8.28555207e+02] [ 2.98619265e-02 9.99553851e-01 6.02872998e-04 -6.32249526e+01] [ 1.29381745e-02 -9.89622577e-04 9.99915809e-01 3.00946191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.370714057 meters Centerline goodness [0,1] 0.9858125634374647 Centerline is valid? [True, True] Translation: X:828.59, Y:-63.23, Z:3.01 [[ 9.99450547e-01 -3.03064191e-02 -1.34210420e-02 8.28587303e+02] [ 3.03175298e-02 9.99540123e-01 6.25123055e-04 -6.32264728e+01] [ 1.33959247e-02 -1.03167242e-03 9.99909738e-01 3.00938311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.400714057 meters Centerline goodness [0,1] 0.986542933911355 Centerline is valid? [True, True] Translation: X:828.62, Y:-63.23, Z:3.01 [[ 9.99441136e-01 -3.05399380e-02 -1.35914496e-02 8.28618728e+02] [ 3.05513644e-02 9.99532997e-01 6.33819634e-04 -6.32294667e+01] [ 1.35657455e-02 -1.04870274e-03 9.99907431e-01 3.00952966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4307140569999 meters Centerline goodness [0,1] 0.9857583883543277 Centerline is valid? [True, True] Translation: X:828.65, Y:-63.23, Z:3.01 [[ 9.99421564e-01 -3.11211606e-02 -1.37116724e-02 8.28650560e+02] [ 3.11328568e-02 9.99515050e-01 6.40336145e-04 -6.32303959e+01] [ 1.36850949e-02 -1.06684928e-03 9.99905786e-01 3.00977287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4607140569999 meters Centerline goodness [0,1] 0.9845694263510175 Centerline is valid? [True, True] Translation: X:828.68, Y:-63.23, Z:3.01 [[ 9.99421903e-01 -3.13709339e-02 -1.31043765e-02 8.28681830e+02] [ 3.13816477e-02 9.99507287e-01 6.12697259e-04 -6.32348577e+01] [ 1.30786990e-02 -1.02357999e-03 9.99913946e-01 3.00980740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4907140569999 meters Centerline goodness [0,1] 0.9840948003965035 Centerline is valid? [True, True] Translation: X:828.71, Y:-63.24, Z:3.01 [[ 9.99402000e-01 -3.22745660e-02 -1.24094781e-02 8.28713082e+02] [ 3.22842559e-02 9.99478559e-01 5.81261757e-04 -6.32395699e+01] [ 1.23842473e-02 -9.81544927e-04 9.99922831e-01 3.00997679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.520714057 meters Centerline goodness [0,1] 0.9840948003965035 Centerline is valid? [True, True] Translation: X:828.74, Y:-63.24, Z:3.01 [[ 9.99404175e-01 -3.22071484e-02 -1.24094354e-02 8.28744840e+02] [ 3.22168443e-02 9.99480733e-01 5.82171838e-04 -6.32411246e+01] [ 1.23842415e-02 -9.81617814e-04 9.99922831e-01 3.01006225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5507140569999 meters Centerline goodness [0,1] 0.983467159870083 Centerline is valid? [True, True] Translation: X:828.78, Y:-63.24, Z:3.01 [[ 9.99410381e-01 -3.21410242e-02 -1.20766568e-02 8.28777436e+02] [ 3.21502120e-02 9.99482887e-01 5.67370626e-04 -6.32438227e+01] [ 1.20521760e-02 -9.55303170e-04 9.99926914e-01 3.01041790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5807140569999 meters Centerline goodness [0,1] 0.9859113787524717 Centerline is valid? [True, True] Translation: X:828.81, Y:-63.24, Z:3.01 [[ 9.99402907e-01 -3.24171531e-02 -1.19564626e-02 8.28809232e+02] [ 3.24261864e-02 9.99473975e-01 5.62387960e-04 -6.32421124e+01] [ 1.19319422e-02 -9.49754647e-04 9.99928361e-01 3.01093519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6107140569999 meters Centerline goodness [0,1] 0.9860354070003153 Centerline is valid? [True, True] Translation: X:828.84, Y:-63.24, Z:3.01 [[ 9.99397201e-01 -3.25970570e-02 -1.19443185e-02 8.28841600e+02] [ 3.26060941e-02 9.99468122e-01 5.62601123e-04 -6.32443331e+01] [ 1.19196264e-02 -9.51719560e-04 9.99928506e-01 3.01061999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.640714057 meters Centerline goodness [0,1] 0.9849905345713513 Centerline is valid? [True, True] Translation: X:828.87, Y:-63.25, Z:3.01 [[ 9.99420644e-01 -3.19867980e-02 -1.16284714e-02 8.28872949e+02] [ 3.19953299e-02 9.99487868e-01 5.48370016e-04 -6.32482790e+01] [ 1.16049755e-02 -9.20109092e-04 9.99932237e-01 3.01041565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6707140569999 meters Centerline goodness [0,1] 0.9867045249684514 Centerline is valid? [True, True] Translation: X:828.91, Y:-63.24, Z:3.01 [[ 9.99465594e-01 -3.08780651e-02 -1.07271710e-02 8.28905289e+02] [ 3.08852683e-02 9.99522808e-01 5.06435913e-04 -6.32412639e+01] [ 1.07064143e-02 -8.37476825e-04 9.99942334e-01 3.01257830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7007140569999 meters Centerline goodness [0,1] 0.9856790676826536 Centerline is valid? [True, True] Translation: X:828.94, Y:-63.25, Z:3.01 [[ 9.99489025e-01 -3.02821895e-02 -1.02311862e-02 8.28935983e+02] [ 3.02887164e-02 9.99541075e-01 4.83568264e-04 -6.32464349e+01] [ 1.02118473e-02 -7.93210671e-04 9.99947543e-01 3.01291476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7307140569999 meters Centerline goodness [0,1] 0.9865815558202783 Centerline is valid? [True, True] Translation: X:828.97, Y:-63.25, Z:3.01 [[ 9.99525417e-01 -2.94125236e-02 -9.15668719e-03 8.28968492e+02] [ 2.94177207e-02 9.99567111e-01 4.33374216e-04 -6.32474806e+01] [ 9.13997674e-03 -7.02537410e-04 9.99957983e-01 3.01361899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.760714057 meters Centerline goodness [0,1] 0.9868161434977578 Centerline is valid? [True, True] Translation: X:829.00, Y:-63.25, Z:3.01 [[ 9.99553602e-01 -2.86787620e-02 -8.37410368e-03 8.29000301e+02] [ 2.86830879e-02 9.99588477e-01 3.96916659e-04 -6.32490323e+01] [ 8.35927447e-03 -6.36934629e-04 9.99964858e-01 3.01421424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.790714057 meters Centerline goodness [0,1] 0.9867289425819056 Centerline is valid? [True, True] Translation: X:829.03, Y:-63.25, Z:3.01 [[ 9.99569888e-01 -2.80729517e-02 -8.48228959e-03 8.29032723e+02] [ 2.80773736e-02 9.99605672e-01 4.02655325e-04 -6.32510755e+01] [ 8.46764106e-03 -6.40642552e-04 9.99963944e-01 3.01400025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8207140569999 meters Centerline goodness [0,1] 0.9871656794112368 Centerline is valid? [True, True] Translation: X:829.07, Y:-63.25, Z:3.01 [[ 9.99569536e-01 -2.79275297e-02 -8.98870317e-03 8.29065611e+02] [ 2.79324975e-02 9.99609720e-01 4.27583253e-04 -6.32530363e+01] [ 8.97325372e-03 -6.78476122e-04 9.99959509e-01 3.01361629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8507140569999 meters Centerline goodness [0,1] 0.987306508503516 Centerline is valid? [True, True] Translation: X:829.10, Y:-63.26, Z:3.01 [[ 9.99562788e-01 -2.80261760e-02 -9.42155091e-03 8.29096173e+02] [ 2.80316445e-02 9.99606935e-01 4.48840656e-04 -6.32598749e+01] [ 9.40526834e-03 -7.12745983e-04 9.99955515e-01 3.01250271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.880714057 meters Centerline goodness [0,1] 0.9857075545782943 Centerline is valid? [True, True] Translation: X:829.13, Y:-63.27, Z:3.01 [[ 9.99543033e-01 -2.82020834e-02 -1.08797138e-02 8.29127059e+02] [ 2.82093924e-02 9.99601901e-01 5.18898948e-04 -6.32670501e+01] [ 1.08607486e-02 -8.25571944e-04 9.99940680e-01 3.01128626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.910714057 meters Centerline goodness [0,1] 0.9874063912564374 Centerline is valid? [True, True] Translation: X:829.16, Y:-63.26, Z:3.01 [[ 9.99542145e-01 -2.82536654e-02 -1.08273558e-02 8.29159461e+02] [ 2.82609151e-02 9.99600447e-01 5.17127308e-04 -6.32619016e+01] [ 1.08084189e-02 -8.22881520e-04 9.99941249e-01 3.01194672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9407140569999 meters Centerline goodness [0,1] 0.9865684380755582 Centerline is valid? [True, True] Translation: X:829.19, Y:-63.27, Z:3.01 [[ 9.99543096e-01 -2.84127966e-02 -1.03108175e-02 8.29190633e+02] [ 2.84193856e-02 9.99595966e-01 4.93050339e-04 -6.32698384e+01] [ 1.02926426e-02 -7.85852160e-04 9.99946721e-01 3.01243617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9707140569999 meters Centerline goodness [0,1] 0.9859790021536252 Centerline is valid? [True, True] Translation: X:829.22, Y:-63.27, Z:3.01 [[ 9.99546209e-01 -2.83811710e-02 -1.00937939e-02 8.29222543e+02] [ 2.83874905e-02 9.99596877e-01 4.83327406e-04 -6.32728798e+01] [ 1.00760075e-02 -7.69645556e-04 9.99948940e-01 3.01310696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.000714057 meters Centerline goodness [0,1] 0.9857411049526194 Centerline is valid? [True, True] Translation: X:829.25, Y:-63.28, Z:3.01 [[ 9.99547079e-01 -2.83670799e-02 -1.00472123e-02 8.29253927e+02] [ 2.83733461e-02 9.99597280e-01 4.81662970e-04 -6.32784571e+01] [ 1.00295027e-02 -7.66517846e-04 9.99949409e-01 3.01322670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.030714057 meters Centerline goodness [0,1] 0.9886475593372145 Centerline is valid? [True, True] Translation: X:829.29, Y:-63.27, Z:3.01 [[ 9.99560938e-01 -2.78632768e-02 -1.00781757e-02 8.29286662e+02] [ 2.78695631e-02 9.99611451e-01 4.83824970e-04 -6.32708844e+01] [ 1.00607789e-02 -7.64486896e-04 9.99949097e-01 3.01462065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0607140569999 meters Centerline goodness [0,1] 0.9877365258721191 Centerline is valid? [True, True] Translation: X:829.32, Y:-63.28, Z:3.01 [[ 9.99556348e-01 -2.78993874e-02 -1.04274404e-02 8.29317235e+02] [ 2.79061254e-02 9.99610423e-01 5.01214159e-04 -6.32762663e+01] [ 1.04093946e-02 -7.91981255e-04 9.99945507e-01 3.01435935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0907140569999 meters Centerline goodness [0,1] 0.9861641967858021 Centerline is valid? [True, True] Translation: X:829.35, Y:-63.29, Z:3.01 [[ 9.99553983e-01 -2.78714536e-02 -1.07245668e-02 8.29347842e+02] [ 2.78785856e-02 9.99611183e-01 5.16071323e-04 -6.32853705e+01] [ 1.07060133e-02 -8.14826901e-04 9.99942357e-01 3.01372997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.120714057 meters Centerline goodness [0,1] 0.9882453419639045 Centerline is valid? [True, True] Translation: X:829.38, Y:-63.28, Z:3.01 [[ 9.99537087e-01 -2.79767989e-02 -1.19545568e-02 8.29379859e+02] [ 2.79856762e-02 9.99608158e-01 5.75921934e-04 -6.32799656e+01] [ 1.19337601e-02 -9.10211688e-04 9.99928376e-01 3.01454454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.150714057 meters Centerline goodness [0,1] 0.9873883577936359 Centerline is valid? [True, True] Translation: X:829.41, Y:-63.29, Z:3.01 [[ 9.99521223e-01 -2.83597865e-02 -1.23712123e-02 8.29411138e+02] [ 2.83693373e-02 9.99597331e-01 5.97177147e-04 -6.32871381e+01] [ 1.23492949e-02 -9.47854325e-04 9.99923295e-01 3.01420964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1807140569999 meters Centerline goodness [0,1] 0.988326499518272 Centerline is valid? [True, True] Translation: X:829.44, Y:-63.29, Z:3.01 [[ 9.99512762e-01 -2.84819784e-02 -1.27677746e-02 8.29443167e+02] [ 2.84921743e-02 9.99593825e-01 6.17338607e-04 -6.32852291e+01] [ 1.27450056e-02 -9.80819475e-04 9.99918298e-01 3.01488739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2107140569999 meters Centerline goodness [0,1] 0.9879545097687356 Centerline is valid? [True, True] Translation: X:829.48, Y:-63.29, Z:3.01 [[ 9.99488425e-01 -2.90934279e-02 -1.32838155e-02 8.29475412e+02] [ 2.91045311e-02 9.99576166e-01 6.43248583e-04 -6.32876788e+01] [ 1.32594711e-02 -1.02953874e-03 9.99911559e-01 3.01484118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2407140569999 meters Centerline goodness [0,1] 0.9883931972484259 Centerline is valid? [True, True] Translation: X:829.51, Y:-63.29, Z:3.01 [[ 9.99438136e-01 -3.00146918e-02 -1.49174278e-02 8.29507263e+02] [ 3.00288123e-02 9.99548772e-01 7.23444131e-04 -6.32904752e+01] [ 1.48889827e-02 -1.17099030e-03 9.99888467e-01 3.01402303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.270714057 meters Centerline goodness [0,1] 0.9871089029139251 Centerline is valid? [True, True] Translation: X:829.54, Y:-63.30, Z:3.01 [[ 9.99415178e-01 -3.04474368e-02 -1.55645511e-02 8.29537945e+02] [ 3.04628751e-02 9.99535613e-01 7.55715376e-04 -6.32960357e+01] [ 1.55343135e-02 -1.22941439e-03 9.99878579e-01 3.01299287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3007140569999 meters Centerline goodness [0,1] 0.9868129407813724 Centerline is valid? [True, True] Translation: X:829.57, Y:-63.30, Z:3.01 [[ 9.99386167e-01 -3.08353205e-02 -1.66274261e-02 8.29568588e+02] [ 3.08530237e-02 9.99523605e-01 8.09166239e-04 -6.33003038e+01] [ 1.65945540e-02 -1.32167592e-03 9.99861427e-01 3.01203771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3307140569999 meters Centerline goodness [0,1] 0.9881043057484654 Centerline is valid? [True, True] Translation: X:829.60, Y:-63.30, Z:3.01 [[ 9.99376859e-01 -3.09624482e-02 -1.69475573e-02 8.29600811e+02] [ 3.09808806e-02 9.99519636e-01 8.26092212e-04 -6.32978483e+01] [ 1.69138384e-02 -1.35062769e-03 9.99856039e-01 3.01316329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3607140569999 meters Centerline goodness [0,1] 0.9864617309324873 Centerline is valid? [True, True] Translation: X:829.63, Y:-63.30, Z:3.01 [[ 9.99368423e-01 -3.10168599e-02 -1.73409577e-02 8.29631548e+02] [ 3.10361831e-02 9.99517903e-01 8.46241194e-04 -6.33017638e+01] [ 1.73063499e-02 -1.38390387e-03 9.99849276e-01 3.01279743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.390714057 meters Centerline goodness [0,1] 0.9877882094602165 Centerline is valid? [True, True] Translation: X:829.66, Y:-63.30, Z:3.01 [[ 9.99362973e-01 -3.11632713e-02 -1.73924833e-02 8.29663599e+02] [ 3.11827521e-02 9.99513338e-01 8.49935558e-04 -6.33015988e+01] [ 1.73575323e-02 -1.39173962e-03 9.99848378e-01 3.01447741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4207140569999 meters Centerline goodness [0,1] 0.9876083710356817 Centerline is valid? [True, True] Translation: X:829.69, Y:-63.30, Z:3.01 [[ 9.99357490e-01 -3.12912235e-02 -1.74775784e-02 8.29694614e+02] [ 3.13109317e-02 9.99509327e-01 8.55060699e-04 -6.33048695e+01] [ 1.74422467e-02 -1.40175058e-03 9.99846890e-01 3.01465241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4507140569999 meters Centerline goodness [0,1] 0.9847466333162115 Centerline is valid? [True, True] Translation: X:829.73, Y:-63.31, Z:3.01 [[ 9.99341048e-01 -3.18775399e-02 -1.73577635e-02 8.29725934e+02] [ 3.18970822e-02 9.99490797e-01 8.50101942e-04 -6.33108501e+01] [ 1.73218257e-02 -1.40320378e-03 9.99848981e-01 3.01389737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4807140569999 meters Centerline goodness [0,1] 0.9882938643702907 Centerline is valid? [True, True] Translation: X:829.76, Y:-63.30, Z:3.02 [[ 9.99305138e-01 -3.32622682e-02 -1.68185227e-02 8.29757990e+02] [ 3.32808247e-02 9.99445700e-01 8.24580547e-04 -6.33026025e+01] [ 1.67817727e-02 -1.38374188e-03 9.99858219e-01 3.01585931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.510714057 meters Centerline goodness [0,1] 0.9872030479605558 Centerline is valid? [True, True] Translation: X:829.79, Y:-63.31, Z:3.02 [[ 9.99285019e-01 -3.40446472e-02 -1.64442480e-02 8.29789720e+02] [ 3.40625066e-02 9.99419379e-01 8.07114105e-04 -6.33051175e+01] [ 1.64072222e-02 -1.36666934e-03 9.99864458e-01 3.01593848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.540714057 meters Centerline goodness [0,1] 0.9855445988346033 Centerline is valid? [True, True] Translation: X:829.82, Y:-63.31, Z:3.01 [[ 9.99256253e-01 -3.49589271e-02 -1.62731150e-02 8.29820450e+02] [ 3.49765512e-02 9.99387813e-01 7.99586056e-04 -6.33138213e+01] [ 1.62352002e-02 -1.36816881e-03 9.99867264e-01 3.01468354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5707140569999 meters Centerline goodness [0,1] 0.9849347621396225 Centerline is valid? [True, True] Translation: X:829.85, Y:-63.32, Z:3.01 [[ 9.99212319e-01 -3.60622361e-02 -1.65606684e-02 8.29852046e+02] [ 3.60806611e-02 9.99348549e-01 8.15054028e-04 -6.33162752e+01] [ 1.65204873e-02 -1.41193189e-03 9.99862531e-01 3.01447570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6007140569999 meters Centerline goodness [0,1] 0.9823245367770915 Centerline is valid? [True, True] Translation: X:829.88, Y:-63.32, Z:3.01 [[ 9.99109549e-01 -3.82764922e-02 -1.77487717e-02 8.29881978e+02] [ 3.82980074e-02 9.99265980e-01 8.73773945e-04 -6.33198431e+01] [ 1.77022988e-02 -1.55273848e-03 9.99842096e-01 3.01352679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.630714057 meters Centerline goodness [0,1] 0.9806808758600596 Centerline is valid? [True, True] Translation: X:829.91, Y:-63.32, Z:3.01 [[ 9.99068430e-01 -3.90577215e-02 -1.83512028e-02 8.29914439e+02] [ 3.90808726e-02 9.99235642e-01 9.04499651e-04 -6.33222914e+01] [ 1.83018482e-02 -1.62083807e-03 9.99831193e-01 3.01300476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.660714057 meters Centerline goodness [0,1] 0.9872082585278277 Centerline is valid? [True, True] Translation: X:829.95, Y:-63.32, Z:3.01 [[ 9.98985596e-01 -4.07662223e-02 -1.91283332e-02 8.29945907e+02] [ 4.07916961e-02 9.99167227e-01 9.43286472e-04 -6.33171760e+01] [ 1.90739494e-02 -1.72260675e-03 9.99816592e-01 3.01440365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6907140569999 meters Centerline goodness [0,1] 0.9853231155328493 Centerline is valid? [True, True] Translation: X:829.98, Y:-63.32, Z:3.01 [[ 9.98959357e-01 -4.14167905e-02 -1.91011154e-02 8.29977304e+02] [ 4.14423272e-02 9.99140453e-01 9.42864112e-04 -6.33208396e+01] [ 1.90456467e-02 -1.73347760e-03 9.99817112e-01 3.01420011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7207140569999 meters Centerline goodness [0,1] 0.9845822875582646 Centerline is valid? [True, True] Translation: X:830.01, Y:-63.32, Z:3.01 [[ 9.98943924e-01 -4.18263009e-02 -1.90157104e-02 8.30009620e+02] [ 4.18517078e-02 9.99123391e-01 9.39937806e-04 -6.33229864e+01] [ 1.89597269e-02 -1.73478512e-03 9.99818743e-01 3.01430857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.750714057 meters Centerline goodness [0,1] 0.9867169269430982 Centerline is valid? [True, True] Translation: X:830.04, Y:-63.32, Z:3.02 [[ 9.98937344e-01 -4.20563209e-02 -1.88533634e-02 8.30042231e+02] [ 4.20813618e-02 9.99113751e-01 9.33269139e-04 -6.33191042e+01] [ 1.87974047e-02 -1.72565260e-03 9.99821824e-01 3.01556135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.780714057 meters Centerline goodness [0,1] 0.9858106744973213 Centerline is valid? [True, True] Translation: X:830.07, Y:-63.32, Z:3.02 [[ 9.98953751e-01 -4.16943729e-02 -1.87878215e-02 8.30073404e+02] [ 4.17192164e-02 9.99128940e-01 9.32149026e-04 -6.33223464e+01] [ 1.87325908e-02 -1.71498696e-03 9.99823059e-01 3.01544214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8107140569999 meters Centerline goodness [0,1] 0.9870091924572405 Centerline is valid? [True, True] Translation: X:830.11, Y:-63.32, Z:3.02 [[ 9.98984776e-01 -4.11503288e-02 -1.83321433e-02 8.30106179e+02] [ 4.11739219e-02 9.99151579e-01 9.11253588e-04 -6.33220047e+01] [ 1.82790915e-02 -1.66513470e-03 9.99831537e-01 3.01609484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8407140569999 meters Centerline goodness [0,1] 0.9861314032682236 Centerline is valid? [True, True] Translation: X:830.14, Y:-63.32, Z:3.02 [[ 9.99025987e-01 -4.02319857e-02 -1.81235842e-02 8.30137571e+02] [ 4.02549384e-02 9.99189033e-01 9.03281312e-04 -6.33234360e+01] [ 1.80725458e-02 -1.63196527e-03 9.99835346e-01 3.01643834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.870714057 meters Centerline goodness [0,1] 0.9852366185789403 Centerline is valid? [True, True] Translation: X:830.17, Y:-63.33, Z:3.02 [[ 9.99051458e-01 -3.95766856e-02 -1.81623202e-02 8.30170260e+02] [ 3.95996641e-02 9.99215214e-01 9.07143553e-04 -6.33254819e+01] [ 1.81121650e-02 -1.62550487e-03 9.99834640e-01 3.01623223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.900714057 meters Centerline goodness [0,1] 0.9881062538084814 Centerline is valid? [True, True] Translation: X:830.20, Y:-63.32, Z:3.02 [[ 9.99035484e-01 -3.95928635e-02 -1.89870034e-02 8.30202286e+02] [ 3.96180072e-02 9.99214447e-01 9.49795608e-04 -6.33216687e+01] [ 1.89344830e-02 -1.70110675e-03 9.99819279e-01 3.01673328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9307140569999 meters Centerline goodness [0,1] 0.9822765400919996 Centerline is valid? [True, True] Translation: X:830.23, Y:-63.33, Z:3.02 [[ 9.99029620e-01 -3.95472006e-02 -1.93865077e-02 8.30233077e+02] [ 3.95734265e-02 9.99216193e-01 9.70879396e-04 -6.33303669e+01] [ 1.93329169e-02 -1.73712781e-03 9.99811593e-01 3.01525832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9607140569999 meters Centerline goodness [0,1] 0.9858669191236138 Centerline is valid? [True, True] Translation: X:830.27, Y:-63.33, Z:3.02 [[ 9.99007992e-01 -3.96695070e-02 -2.02326827e-02 8.30265307e+02] [ 3.96981259e-02 9.99211204e-01 1.01465816e-03 -6.33264089e+01] [ 2.01764722e-02 -1.81685119e-03 9.99794783e-01 3.01562202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9907140569999 meters Centerline goodness [0,1] 0.9552684789934847 Centerline is valid? [True, True] Translation: X:830.30, Y:-63.34, Z:3.01 [[ 9.98996011e-01 -3.99797535e-02 -2.02136120e-02 8.30295449e+02] [ 4.00083979e-02 9.99198828e-01 1.01451531e-03 -6.33388846e+01] [ 2.01568573e-02 -1.82221098e-03 9.99795169e-01 3.01342821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.020714057 meters Centerline goodness [0,1] 0.9825346160762453 Centerline is valid? [True, True] Translation: X:830.33, Y:-63.33, Z:3.01 [[ 9.98986106e-01 -3.99549733e-02 -2.07451330e-02 8.30327924e+02] [ 3.99851673e-02 9.99199730e-01 1.04256085e-03 -6.33329822e+01] [ 2.06868758e-02 -1.87100141e-03 9.99784253e-01 3.01462665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0507140569999 meters Centerline goodness [0,1] 0.9826872920226639 Centerline is valid? [True, True] Translation: X:830.36, Y:-63.33, Z:3.01 [[ 9.98993340e-01 -3.94108035e-02 -2.14264846e-02 8.30359041e+02] [ 3.94429437e-02 9.99221241e-01 1.07932311e-03 -6.33330927e+01] [ 2.13672616e-02 -1.92336022e-03 9.99769844e-01 3.01473178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0807140569999 meters Centerline goodness [0,1] 0.9821210338116145 Centerline is valid? [True, True] Translation: X:830.39, Y:-63.33, Z:3.01 [[ 9.98991909e-01 -3.93466082e-02 -2.16104164e-02 8.30390839e+02] [ 3.93793234e-02 9.99223739e-01 1.09023853e-03 -6.33343980e+01] [ 2.15507439e-02 -1.94014304e-03 9.99765873e-01 3.01458336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1107140569999 meters Centerline goodness [0,1] 0.9834362908152875 Centerline is valid? [True, True] Translation: X:830.42, Y:-63.33, Z:3.02 [[ 9.99010449e-01 -3.91754156e-02 -2.10573079e-02 8.30423495e+02] [ 3.92064702e-02 9.99230565e-01 1.06379691e-03 -6.33348512e+01] [ 2.09994310e-02 -1.88832694e-03 9.99777704e-01 3.01508599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.140714057 meters Centerline goodness [0,1] 0.9876478972015474 Centerline is valid? [True, True] Translation: X:830.46, Y:-63.33, Z:3.02 [[ 9.99024506e-01 -3.89174792e-02 -2.08678148e-02 8.30456160e+02] [ 3.89479523e-02 9.99240683e-01 1.05570974e-03 -6.33316541e+01] [ 2.08108839e-02 -1.86743856e-03 9.99781686e-01 3.01636392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1707140569999 meters Centerline goodness [0,1] 0.9867206587639128 Centerline is valid? [True, True] Translation: X:830.49, Y:-63.33, Z:3.02 [[ 9.99035207e-01 -3.91155309e-02 -1.99657380e-02 8.30488683e+02] [ 3.91434932e-02 9.99233088e-01 1.01149023e-03 -6.33330178e+01] [ 1.99108611e-02 -1.79204308e-03 9.99800153e-01 3.01699348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2007140569999 meters Centerline goodness [0,1] 0.9878211356395599 Centerline is valid? [True, True] Translation: X:830.52, Y:-63.33, Z:3.02 [[ 9.99027465e-01 -3.99246434e-02 -1.87122226e-02 8.30520847e+02] [ 3.99493698e-02 9.99201254e-01 9.49321829e-04 -6.33329749e+01] [ 1.86593750e-02 -1.69594008e-03 9.99824460e-01 3.01795469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2307140569999 meters Centerline goodness [0,1] 0.9854199110749995 Centerline is valid? [True, True] Translation: X:830.55, Y:-63.34, Z:3.02 [[ 9.99003620e-01 -4.06014458e-02 -1.85280669e-02 8.30551799e+02] [ 4.06258226e-02 9.99173987e-01 9.41022123e-04 -6.33376553e+01] [ 1.84745556e-02 -1.69280246e-03 9.99827898e-01 3.01775045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.260714057 meters Centerline goodness [0,1] 0.9582695597371027 Centerline is valid? [True, True] Translation: X:830.58, Y:-63.35, Z:3.02 [[ 9.99005328e-01 -4.08628773e-02 -1.78487966e-02 8.30582075e+02] [ 4.08855572e-02 9.99163424e-01 9.07465168e-04 -6.33495661e+01] [ 1.77967830e-02 -1.63632053e-03 9.99840286e-01 3.01645423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.290714057 meters Centerline goodness [0,1] 0.9531900528862384 Centerline is valid? [True, True] Translation: X:830.61, Y:-63.35, Z:3.02 [[ 9.98977634e-01 -4.16265309e-02 -1.76328813e-02 8.30614062e+02] [ 4.16488035e-02 9.99131909e-01 8.97631310e-04 -6.33515544e+01] [ 1.75802091e-02 -1.63110201e-03 9.99844126e-01 3.01678238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3207140569999 meters Centerline goodness [0,1] 0.9794134172378919 Centerline is valid? [True, True] Translation: X:830.65, Y:-63.35, Z:3.02 [[ 9.98922189e-01 -4.30144192e-02 -1.74418889e-02 8.30645159e+02] [ 4.30364290e-02 9.99073109e-01 8.88343396e-04 -6.33478449e+01] [ 1.73875106e-02 -1.63802254e-03 9.99847484e-01 3.01825700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3507140569999 meters Centerline goodness [0,1] 0.9723710875928845 Centerline is valid? [True, True] Translation: X:830.68, Y:-63.35, Z:3.02 [[ 9.98880784e-01 -4.38956274e-02 -1.76168371e-02 8.30675689e+02] [ 4.39182268e-02 9.99034726e-01 8.97820928e-04 -6.33526729e+01] [ 1.75604216e-02 -1.67051632e-03 9.99844408e-01 3.01780848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.380714057 meters Centerline goodness [0,1] 0.9841935556607815 Centerline is valid? [True, True] Translation: X:830.71, Y:-63.35, Z:3.02 [[ 9.98830238e-01 -4.50201214e-02 -1.76449576e-02 8.30708175e+02] [ 4.50429876e-02 9.98984644e-01 9.00433983e-04 -6.33473586e+01] [ 1.75865040e-02 -1.69416230e-03 9.99843910e-01 3.01917766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.410714057 meters Centerline goodness [0,1] 0.9847507331378299 Centerline is valid? [True, True] Translation: X:830.74, Y:-63.35, Z:3.02 [[ 9.98783798e-01 -4.60377998e-02 -1.76478017e-02 8.30740197e+02] [ 4.60608534e-02 9.98938229e-01 9.01869279e-04 -6.33488006e+01] [ 1.75875437e-02 -1.71364523e-03 9.99843859e-01 3.01970374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4407140569999 meters Centerline goodness [0,1] 0.9847507331378299 Centerline is valid? [True, True] Translation: X:830.77, Y:-63.35, Z:3.02 [[ 9.98788813e-01 -4.59289082e-02 -1.76477082e-02 8.30772853e+02] [ 4.59519770e-02 9.98943241e-01 9.03696273e-04 -6.33505612e+01] [ 1.75875531e-02 -1.71354881e-03 9.99843859e-01 3.01979167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4707140569999 meters Centerline goodness [0,1] 0.9811257237757529 Centerline is valid? [True, True] Translation: X:830.80, Y:-63.36, Z:3.02 [[ 9.98731624e-01 -4.73465685e-02 -1.71302450e-02 8.30802384e+02] [ 4.73685155e-02 9.98877096e-01 8.77483275e-04 -6.33580389e+01] [ 1.70694635e-02 -1.68780457e-03 9.99852882e-01 3.01946114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.500714057 meters Centerline goodness [0,1] 0.9803908325453645 Centerline is valid? [True, True] Translation: X:830.83, Y:-63.36, Z:3.02 [[ 9.98718621e-01 -4.77344725e-02 -1.68087999e-02 8.30834052e+02] [ 4.77556704e-02 9.98858675e-01 8.61773090e-04 -6.33606201e+01] [ 1.67484793e-02 -1.66338434e-03 9.99858351e-01 3.01930951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.530714057 meters Centerline goodness [0,1] 0.9820795811045658 Centerline is valid? [True, True] Translation: X:830.87, Y:-63.36, Z:3.02 [[ 9.98749949e-01 -4.69391421e-02 -1.71830360e-02 8.30866109e+02] [ 4.69611985e-02 9.98896325e-01 8.82149290e-04 -6.33621173e+01] [ 1.71226642e-02 -1.68798252e-03 9.99851972e-01 3.01917000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5607140569999 meters Centerline goodness [0,1] 0.9824356235241201 Centerline is valid? [True, True] Translation: X:830.90, Y:-63.36, Z:3.02 [[ 9.98800246e-01 -4.58540777e-02 -1.71893086e-02 8.30896654e+02] [ 4.58759987e-02 9.98946752e-01 8.82923602e-04 -6.33639162e+01] [ 1.71307184e-02 -1.67044101e-03 9.99851863e-01 3.01907634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5907140569999 meters Centerline goodness [0,1] 0.9812598072181126 Centerline is valid? [True, True] Translation: X:830.93, Y:-63.37, Z:3.02 [[ 9.98868666e-01 -4.43804018e-02 -1.70812159e-02 8.30927844e+02] [ 4.44018440e-02 9.99013366e-01 8.77930949e-04 -6.33651294e+01] [ 1.70254001e-02 -1.63537520e-03 9.99853720e-01 3.01928058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.620714057 meters Centerline goodness [0,1] 0.9808697611536729 Centerline is valid? [True, True] Translation: X:830.96, Y:-63.37, Z:3.02 [[ 9.98947505e-01 -4.26159340e-02 -1.69636124e-02 8.30958070e+02] [ 4.26368314e-02 9.99090256e-01 8.71981304e-04 -6.33672768e+01] [ 1.69110196e-02 -1.59433823e-03 9.99855727e-01 3.02000885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.650714057 meters Centerline goodness [0,1] 0.9810895992796038 Centerline is valid? [True, True] Translation: X:830.99, Y:-63.37, Z:3.02 [[ 9.99030660e-01 -4.07501227e-02 -1.66483341e-02 8.30989255e+02] [ 4.07699977e-02 9.99168191e-01 8.56020289e-04 -6.33675178e+01] [ 1.65996030e-02 -1.53394306e-03 9.99861040e-01 3.02076435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6807140569999 meters Centerline goodness [0,1] 0.9800470799237754 Centerline is valid? [True, True] Translation: X:831.02, Y:-63.37, Z:3.02 [[ 9.99229458e-01 -3.62116483e-02 -1.51395516e-02 8.31018583e+02] [ 3.62275639e-02 9.99343263e-01 7.78247829e-04 -6.33700583e+01] [ 1.51014273e-02 -1.32611723e-03 9.99885088e-01 3.02181282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7107140569999 meters Centerline goodness [0,1] 0.9839374619838248 Centerline is valid? [True, True] Translation: X:831.05, Y:-63.37, Z:3.02 [[ 9.99307799e-01 -3.41826491e-02 -1.46788638e-02 8.31049088e+02] [ 3.41973928e-02 9.99414813e-01 7.54516588e-04 -6.33679524e+01] [ 1.46444826e-02 -1.25597318e-03 9.99891975e-01 3.02270986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7407140569999 meters Centerline goodness [0,1] 0.984941527069129 Centerline is valid? [True, True] Translation: X:831.08, Y:-63.36, Z:3.02 [[ 9.99389800e-01 -3.19828561e-02 -1.40401288e-02 8.31080347e+02] [ 3.19961317e-02 9.99487732e-01 7.21886935e-04 -6.33636012e+01] [ 1.40098485e-02 -1.17067625e-03 9.99901172e-01 3.02374953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.770714057 meters Centerline goodness [0,1] 0.9863535886678396 Centerline is valid? [True, True] Translation: X:831.11, Y:-63.37, Z:3.02 [[ 9.99519857e-01 -2.79094614e-02 -1.34579985e-02 8.31109819e+02] [ 2.79212900e-02 9.99609885e-01 6.91804040e-04 -6.33650259e+01] [ 1.34334405e-02 -1.06723656e-03 9.99909198e-01 3.02375404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8007140569999 meters Centerline goodness [0,1] 0.9876387259767211 Centerline is valid? [True, True] Translation: X:831.14, Y:-63.36, Z:3.02 [[ 9.99568171e-01 -2.61570849e-02 -1.33894540e-02 8.31141924e+02] [ 2.61686443e-02 9.99657305e-01 6.88823702e-04 -6.33595077e+01] [ 1.33668479e-02 -1.03891011e-03 9.99910120e-01 3.02442357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8307140569999 meters Centerline goodness [0,1] 0.9850769855962432 Centerline is valid? [True, True] Translation: X:831.17, Y:-63.37, Z:3.02 [[ 9.99641944e-01 -2.28799152e-02 -1.38741721e-02 8.31171547e+02] [ 2.28920150e-02 9.99737689e-01 7.13908654e-04 -6.33724402e+01] [ 1.38541986e-02 -1.03126079e-03 9.99903494e-01 3.02149138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8607140569999 meters Centerline goodness [0,1] 0.9877165995566213 Centerline is valid? [True, True] Translation: X:831.20, Y:-63.36, Z:3.02 [[ 9.99667250e-01 -2.13007007e-02 -1.45488619e-02 8.31203389e+02] [ 2.13138459e-02 9.99772554e-01 7.49047372e-04 -6.33647398e+01] [ 1.45295976e-02 -1.05889033e-03 9.99893879e-01 3.02246800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.890714057 meters Centerline goodness [0,1] 0.9877499264089848 Centerline is valid? [True, True] Translation: X:831.23, Y:-63.36, Z:3.02 [[ 9.99697991e-01 -1.98095114e-02 -1.45433804e-02 8.31234958e+02] [ 1.98224974e-02 9.99803234e-01 7.49292345e-04 -6.33628429e+01] [ 1.45256757e-02 -1.03735217e-03 9.99893959e-01 3.02241502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9207140569999 meters Centerline goodness [0,1] 0.9879509916739999 Centerline is valid? [True, True] Translation: X:831.27, Y:-63.36, Z:3.02 [[ 9.99732774e-01 -1.78552159e-02 -1.46823885e-02 8.31265920e+02] [ 1.78682462e-02 9.99840064e-01 7.56769311e-04 -6.33635060e+01] [ 1.46665280e-02 -1.01891562e-03 9.99891922e-01 3.02271488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9507140569999 meters Centerline goodness [0,1] 0.9872105394209657 Centerline is valid? [True, True] Translation: X:831.29, Y:-63.37, Z:3.02 [[ 9.99770398e-01 -1.58526853e-02 -1.44167509e-02 8.31294927e+02] [ 1.58650479e-02 9.99873866e-01 7.43547198e-04 -6.33697162e+01] [ 1.44031452e-02 -9.72098923e-04 9.99895797e-01 3.02167883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9807140569999 meters Centerline goodness [0,1] 0.9882949580022188 Centerline is valid? [True, True] Translation: X:831.33, Y:-63.36, Z:3.02 [[ 9.99841960e-01 -1.16084854e-02 -1.34647040e-02 8.31325804e+02] [ 1.16188865e-02 9.99932257e-01 6.94500758e-04 -6.33635945e+01] [ 1.34557298e-02 -8.50835868e-04 9.99909106e-01 3.02362233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.010714057 meters Centerline goodness [0,1] 0.9891063097341124 Centerline is valid? [True, True] Translation: X:831.35, Y:-63.37, Z:3.02 [[ 9.99883867e-01 -7.97165045e-03 -1.29886504e-02 8.31354293e+02] [ 7.98101914e-03 9.99967927e-01 6.69623609e-04 -6.33708500e+01] [ 1.29828958e-02 -7.73208510e-04 9.99915420e-01 3.02281590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.040714057 meters Centerline goodness [0,1] 0.988401275181442 Centerline is valid? [True, True] Translation: X:831.38, Y:-63.36, Z:3.02 [[ 9.99898889e-01 -6.74144814e-03 -1.25205630e-02 8.31383799e+02] [ 6.75004774e-03 9.99977010e-01 6.44706145e-04 -6.33641363e+01] [ 1.25159289e-02 -7.29155356e-04 9.99921407e-01 3.02433517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0707140569999 meters Centerline goodness [0,1] 0.9888439737133308 Centerline is valid? [True, True] Translation: X:831.41, Y:-63.36, Z:3.02 [[ 9.99904394e-01 -6.14626913e-03 -1.23865312e-02 8.31413108e+02] [ 6.15462154e-03 9.99980858e-01 6.36308325e-04 -6.33648351e+01] [ 1.23823832e-02 -7.12481902e-04 9.99923082e-01 3.02477502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1007140569999 meters Centerline goodness [0,1] 0.9888387824126268 Centerline is valid? [True, True] Translation: X:831.44, Y:-63.37, Z:3.03 [[ 9.99910905e-01 -5.60942364e-03 -1.21126966e-02 8.31440761e+02] [ 5.61735199e-03 9.99984030e-01 6.20625883e-04 -6.33673331e+01] [ 1.21090218e-02 -6.88611868e-04 9.99926446e-01 3.02510377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.130714057 meters Centerline goodness [0,1] 0.9882557143501195 Centerline is valid? [True, True] Translation: X:831.47, Y:-63.37, Z:3.03 [[ 9.99912219e-01 -5.57249104e-03 -1.20208516e-02 8.31469340e+02] [ 5.58026449e-03 9.99984242e-01 6.13219366e-04 -6.33687884e+01] [ 1.20172451e-02 -6.80245069e-04 9.99927559e-01 3.02538516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.160714057 meters Centerline goodness [0,1] 0.9884632717440288 Centerline is valid? [True, True] Translation: X:831.50, Y:-63.37, Z:3.03 [[ 9.99914296e-01 -5.77219836e-03 -1.17508111e-02 8.31497519e+02] [ 5.77962292e-03 9.99983119e-01 5.97972921e-04 -6.33718395e+01] [ 1.17471612e-02 -6.65836930e-04 9.99930778e-01 3.02550321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1907140569999 meters Centerline goodness [0,1] 0.9893049337493782 Centerline is valid? [True, True] Translation: X:831.53, Y:-63.37, Z:3.03 [[ 9.99914931e-01 -6.39830652e-03 -1.13662569e-02 8.31526633e+02] [ 6.40526586e-03 9.99979320e-01 5.75982961e-04 -6.33741640e+01] [ 1.13623365e-02 -6.48737860e-04 9.99935236e-01 3.02563573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2207140569999 meters Centerline goodness [0,1] 0.9886861478704666 Centerline is valid? [True, True] Translation: X:831.56, Y:-63.38, Z:3.03 [[ 9.99907243e-01 -7.08574326e-03 -1.16317636e-02 8.31555302e+02] [ 7.09304361e-03 9.99974672e-01 5.86487064e-04 -6.33762262e+01] [ 1.16273133e-02 -6.68937270e-04 9.99932177e-01 3.02553856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.250714057 meters Centerline goodness [0,1] 0.9882713821725009 Centerline is valid? [True, True] Translation: X:831.58, Y:-63.38, Z:3.02 [[ 9.99895636e-01 -8.02615459e-03 -1.20124035e-02 8.31583441e+02] [ 8.03399381e-03 9.99967544e-01 6.04479722e-04 -6.33804033e+01] [ 1.20071620e-02 -7.00924212e-04 9.99927666e-01 3.02488470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.280714057 meters Centerline goodness [0,1] 0.9881642130892531 Centerline is valid? [True, True] Translation: X:831.61, Y:-63.38, Z:3.02 [[ 9.99879447e-01 -9.32979439e-03 -1.24115374e-02 8.31612373e+02] [ 9.33823106e-03 9.99956204e-01 6.21963850e-04 -6.33811874e+01] [ 1.24051910e-02 -7.37790675e-04 9.99922780e-01 3.02478522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3107140569999 meters Centerline goodness [0,1] 0.9884976950194342 Centerline is valid? [True, True] Translation: X:831.64, Y:-63.38, Z:3.02 [[ 9.99870201e-01 -1.02645328e-02 -1.24185382e-02 8.31641396e+02] [ 1.02730359e-02 9.99947038e-01 6.21111018e-04 -6.33833927e+01] [ 1.24115051e-02 -7.48606488e-04 9.99922694e-01 3.02460388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3407140569999 meters Centerline goodness [0,1] 0.9877137713771377 Centerline is valid? [True, True] Translation: X:831.67, Y:-63.39, Z:3.02 [[ 9.99858032e-01 -1.13946345e-02 -1.24128225e-02 8.31671262e+02] [ 1.14032104e-02 9.99934789e-01 6.20330162e-04 -6.33859117e+01] [ 1.24049446e-02 -7.61788122e-04 9.99922766e-01 3.02456702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.370714057 meters Centerline goodness [0,1] 0.9874901563730454 Centerline is valid? [True, True] Translation: X:831.70, Y:-63.39, Z:3.02 [[ 9.99842600e-01 -1.28971926e-02 -1.21835119e-02 8.31701181e+02] [ 1.29055624e-02 9.99916535e-01 6.08604651e-04 -6.33888300e+01] [ 1.21746457e-02 -7.65743929e-04 9.99925593e-01 3.02484115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.400714057 meters Centerline goodness [0,1] 0.987443563422359 Centerline is valid? [True, True] Translation: X:831.73, Y:-63.39, Z:3.03 [[ 9.99800723e-01 -1.60777244e-02 -1.18330861e-02 8.31730782e+02] [ 1.60858402e-02 9.99870440e-01 5.90996368e-04 -6.33942493e+01] [ 1.18220511e-02 -7.81223729e-04 9.99929812e-01 3.02525438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4307140569999 meters Centerline goodness [0,1] 0.9874181394097067 Centerline is valid? [True, True] Translation: X:831.76, Y:-63.40, Z:3.03 [[ 9.99774775e-01 -1.75155222e-02 -1.19835326e-02 8.31761877e+02] [ 1.75239522e-02 9.99846264e-01 5.98821152e-04 -6.33980575e+01] [ 1.19712016e-02 -8.08685135e-04 9.99928016e-01 3.02554363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4607140569999 meters Centerline goodness [0,1] 0.9858315024884544 Centerline is valid? [True, True] Translation: X:831.79, Y:-63.40, Z:3.03 [[ 9.99748690e-01 -1.91143560e-02 -1.17131949e-02 8.31793174e+02] [ 1.91225241e-02 9.99816976e-01 5.85726545e-04 -6.33994031e+01] [ 1.16998553e-02 -8.09565197e-04 9.99931227e-01 3.02581426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4907140569999 meters Centerline goodness [0,1] 0.9857149234409178 Centerline is valid? [True, True] Translation: X:831.82, Y:-63.41, Z:3.03 [[ 9.99701040e-01 -2.16501576e-02 -1.13622764e-02 8.31823056e+02] [ 2.16580107e-02 9.99765276e-01 5.68545524e-04 -6.34078480e+01] [ 1.13473003e-02 -8.14459856e-04 9.99935286e-01 3.02562832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.520714057 meters Centerline goodness [0,1] 0.9864780295918824 Centerline is valid? [True, True] Translation: X:831.86, Y:-63.41, Z:3.03 [[ 9.99674222e-01 -2.29601324e-02 -1.11481495e-02 8.31855329e+02] [ 2.29677809e-02 9.99736050e-01 5.58521101e-04 -6.34053054e+01] [ 1.11323833e-02 -8.14387404e-04 9.99937701e-01 3.02563108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5507140569999 meters Centerline goodness [0,1] 0.9863136437963399 Centerline is valid? [True, True] Translation: X:831.89, Y:-63.41, Z:3.03 [[ 9.99637267e-01 -2.45102824e-02 -1.11615692e-02 8.31886794e+02] [ 2.45180510e-02 9.99699231e-01 5.59691138e-04 -6.34073458e+01] [ 1.11444939e-02 -8.33148042e-04 9.99937551e-01 3.02556687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5807140569999 meters Centerline goodness [0,1] 0.985304314760552 Centerline is valid? [True, True] Translation: X:831.92, Y:-63.41, Z:3.02 [[ 9.99592166e-01 -2.61488296e-02 -1.14778475e-02 8.31916822e+02] [ 2.61571550e-02 9.99657677e-01 5.75806894e-04 -6.34149408e+01] [ 1.14588617e-02 -8.75799897e-04 9.99933962e-01 3.02485361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6107140569999 meters Centerline goodness [0,1] 0.9856076400564934 Centerline is valid? [True, True] Translation: X:831.95, Y:-63.41, Z:3.02 [[ 9.99499132e-01 -2.90555801e-02 -1.25402587e-02 8.31947647e+02] [ 2.90657469e-02 9.99577304e-01 6.29211494e-04 -6.34145314e+01] [ 1.25166758e-02 -9.93388327e-04 9.99921170e-01 3.02459581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.640714057 meters Centerline goodness [0,1] 0.9856992592261039 Centerline is valid? [True, True] Translation: X:831.98, Y:-63.42, Z:3.02 [[ 9.99450827e-01 -3.05364291e-02 -1.28674211e-02 8.31977546e+02] [ 3.05472670e-02 9.99533114e-01 6.46535819e-04 -6.34180207e+01] [ 1.28416706e-02 -1.03924531e-03 9.99917002e-01 3.02418140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6707140569999 meters Centerline goodness [0,1] 0.9840778614998206 Centerline is valid? [True, True] Translation: X:832.01, Y:-63.42, Z:3.02 [[ 9.99406482e-01 -3.16935678e-02 -1.34982184e-02 8.32008603e+02] [ 3.17056104e-02 9.99497020e-01 6.79048831e-04 -6.34218147e+01] [ 1.34699076e-02 -1.10661506e-03 9.99908664e-01 3.02424749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7007140569999 meters Centerline goodness [0,1] 0.9843617354005629 Centerline is valid? [True, True] Translation: X:832.04, Y:-63.43, Z:3.02 [[ 9.99366348e-01 -3.29658530e-02 -1.34221690e-02 8.32040111e+02] [ 3.29778837e-02 9.99455853e-01 6.75924722e-04 -6.34250195e+01] [ 1.33925830e-02 -1.11813115e-03 9.99909690e-01 3.02411976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7307140569999 meters Centerline goodness [0,1] 0.9834616417509623 Centerline is valid? [True, True] Translation: X:832.07, Y:-63.43, Z:3.02 [[ 9.99314951e-01 -3.47445341e-02 -1.27454308e-02 8.32069936e+02] [ 3.47555274e-02 9.99395638e-01 6.41978236e-04 -6.34290024e+01] [ 1.27154227e-02 -1.08451262e-03 9.99918568e-01 3.02439204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.760714057 meters Centerline goodness [0,1] 0.9819042066553054 Centerline is valid? [True, True] Translation: X:832.10, Y:-63.43, Z:3.02 [[ 9.99299835e-01 -3.52791117e-02 -1.24588743e-02 8.32102362e+02] [ 3.52896657e-02 9.99376928e-01 6.28216852e-04 -6.34319486e+01] [ 1.24289486e-02 -1.06744650e-03 9.99922188e-01 3.02477665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.790714057 meters Centerline goodness [0,1] 0.9810119487972739 Centerline is valid? [True, True] Translation: X:832.13, Y:-63.43, Z:3.02 [[ 9.99299202e-01 -3.54686601e-02 -1.19615736e-02 8.32133292e+02] [ 3.54784096e-02 9.99370261e-01 6.03794331e-04 -6.34346632e+01] [ 1.19326252e-02 -1.02774880e-03 9.99928276e-01 3.02476812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8207140569999 meters Centerline goodness [0,1] 0.9790789385736247 Centerline is valid? [True, True] Translation: X:832.16, Y:-63.44, Z:3.03 [[ 9.99329893e-01 -3.47775439e-02 -1.14143554e-02 8.32164866e+02] [ 3.47863852e-02 9.99394604e-01 5.76893291e-04 -6.34363495e+01] [ 1.13873823e-02 -9.73570876e-04 9.99934688e-01 3.02562190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8507140569999 meters Centerline goodness [0,1] 0.9788645583521975 Centerline is valid? [True, True] Translation: X:832.20, Y:-63.44, Z:3.03 [[ 9.99353026e-01 -3.41608667e-02 -1.12500878e-02 8.32196904e+02] [ 3.41694250e-02 9.99415893e-01 5.69346094e-04 -6.34367546e+01] [ 1.12240672e-02 -9.53386774e-04 9.99936554e-01 3.02581538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.880714057 meters Centerline goodness [0,1] 0.9860712363179616 Centerline is valid? [True, True] Translation: X:832.23, Y:-63.43, Z:3.03 [[ 9.99383248e-01 -3.33735540e-02 -1.09238383e-02 8.32230318e+02] [ 3.33815884e-02 9.99442526e-01 5.53936038e-04 -6.34254993e+01] [ 1.08992617e-02 -9.18249469e-04 9.99940180e-01 3.02717056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.910714057 meters Centerline goodness [0,1] 0.9779621118708665 Centerline is valid? [True, True] Translation: X:832.26, Y:-63.44, Z:3.03 [[ 9.99442060e-01 -3.15779023e-02 -1.08813617e-02 8.32259842e+02] [ 3.15857736e-02 9.99500892e-01 5.52231805e-04 -6.34381689e+01] [ 1.08584924e-02 -8.95619919e-04 9.99940644e-01 3.02632182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9407140569999 meters Centerline goodness [0,1] 0.9768434292388204 Centerline is valid? [True, True] Translation: X:832.29, Y:-63.44, Z:3.03 [[ 9.99478564e-01 -3.03791430e-02 -1.09410752e-02 8.32291803e+02] [ 3.03870345e-02 9.99538053e-01 5.55717862e-04 -6.34392417e+01] [ 1.09191388e-02 -8.87894920e-04 9.99939990e-01 3.02635985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9707140569999 meters Centerline goodness [0,1] 0.986557266494324 Centerline is valid? [True, True] Translation: X:832.32, Y:-63.42, Z:3.03 [[ 9.99520888e-01 -2.90401847e-02 -1.07080623e-02 8.32324545e+02] [ 2.90476733e-02 9.99577879e-01 5.44448481e-04 -6.34240996e+01] [ 1.06877313e-02 -8.55231924e-04 9.99942519e-01 3.02831443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.000714057 meters Centerline goodness [0,1] 0.7641894864757275 Centerline is valid? [True, False] Translation: X:832.36, Y:-63.42, Z:3.03 [[ 9.99541667e-01 -2.78823264e-02 -1.17911964e-02 8.32363017e+02] [ 2.77850831e-02 9.99579194e-01 -8.33207285e-03 -6.34213461e+01] [ 1.20185522e-02 8.00063462e-03 9.99895767e-01 3.03244649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.030714057 meters Centerline goodness [0,1] 0.987044881038212 Centerline is valid? [False, True] Translation: X:832.29, Y:-63.42, Z:3.03 [[ 9.99726869e-01 -2.08462717e-02 -1.05650579e-02 8.32294860e+02] [ 2.07974931e-02 9.99772633e-01 -4.70601891e-03 -6.34212488e+01] [ 1.06607587e-02 4.48500683e-03 9.99933114e-01 3.02853472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0607140569999 meters Centerline goodness [0,1] 0.9867267605633803 Centerline is valid? [True, True] Translation: X:832.33, Y:-63.42, Z:3.03 [[ 9.99753183e-01 -1.95135028e-02 -1.06205324e-02 8.32325357e+02] [ 1.95209101e-02 9.99809272e-01 5.94221538e-04 -6.34246381e+01] [ 1.06069115e-02 -8.01397333e-04 9.99943424e-01 3.02598209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0907140569999 meters Centerline goodness [0,1] 0.987589251526004 Centerline is valid? [True, True] Translation: X:832.36, Y:-63.42, Z:3.03 [[ 9.99767388e-01 -1.85906707e-02 -1.09342377e-02 8.32356850e+02] [ 1.85984710e-02 9.99826846e-01 6.12126794e-04 -6.34235424e+01] [ 1.09209646e-02 -8.15344509e-04 9.99940032e-01 3.02527452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.120714057 meters Centerline goodness [0,1] 0.9860892270292171 Centerline is valid? [True, True] Translation: X:832.39, Y:-63.43, Z:3.02 [[ 9.99784945e-01 -1.74845571e-02 -1.11514390e-02 8.32387257e+02] [ 1.74926046e-02 9.99846798e-01 6.24522630e-04 -6.34261397e+01] [ 1.11388111e-02 -8.19456036e-04 9.99937626e-01 3.02439344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.150714057 meters Centerline goodness [0,1] 0.9865141725015197 Centerline is valid? [True, True] Translation: X:832.42, Y:-63.42, Z:3.02 [[ 9.99817525e-01 -1.52730403e-02 -1.14739102e-02 8.32417785e+02] [ 1.52814156e-02 9.99883026e-01 6.42620360e-04 -6.34245061e+01] [ 1.14627533e-02 -8.17840688e-04 9.99933966e-01 3.02395667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1807140569999 meters Centerline goodness [0,1] 0.988284066330209 Centerline is valid? [True, True] Translation: X:832.45, Y:-63.42, Z:3.02 [[ 9.99838441e-01 -1.39870624e-02 -1.12895772e-02 8.32449102e+02] [ 1.39950929e-02 9.99901864e-01 6.32632910e-04 -6.34225118e+01] [ 1.12796206e-02 -7.90529385e-04 9.99936071e-01 3.02485087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2107140569999 meters Centerline goodness [0,1] 0.9880901360160603 Centerline is valid? [True, True] Translation: X:832.48, Y:-63.43, Z:3.02 [[ 9.99850198e-01 -1.30232870e-02 -1.14006940e-02 8.32479013e+02] [ 1.30314227e-02 9.99914883e-01 6.39616590e-04 -6.34259587e+01] [ 1.13913937e-02 -7.88088036e-04 9.99934805e-01 3.02477424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2407140569999 meters Centerline goodness [0,1] 0.9880600383703871 Centerline is valid? [True, True] Translation: X:832.51, Y:-63.42, Z:3.03 [[ 9.99879581e-01 -1.05992674e-02 -1.13348375e-02 8.32509920e+02] [ 1.06071579e-02 9.99943540e-01 6.36239466e-04 -6.34239709e+01] [ 1.13274539e-02 -7.56393262e-04 9.99935556e-01 3.02574477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.270714057 meters Centerline goodness [0,1] 0.9883289604632226 Centerline is valid? [True, True] Translation: X:832.54, Y:-63.43, Z:3.03 [[ 9.99893488e-01 -9.50350784e-03 -1.10768201e-02 8.32539741e+02] [ 9.51097314e-03 9.99954577e-01 6.21473597e-04 -6.34252558e+01] [ 1.10704108e-02 -7.26758741e-04 9.99938457e-01 3.02633642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3007140569999 meters Centerline goodness [0,1] 0.9879169117979816 Centerline is valid? [True, True] Translation: X:832.57, Y:-63.43, Z:3.03 [[ 9.99901662e-01 -9.03190705e-03 -1.07280713e-02 8.32569360e+02] [ 9.03888020e-03 9.99958967e-01 6.01681988e-04 -6.34295689e+01] [ 1.07221968e-02 -6.98592571e-04 9.99942272e-01 3.02628413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3307140569999 meters Centerline goodness [0,1] 0.9879169117979816 Centerline is valid? [True, True] Translation: X:832.60, Y:-63.43, Z:3.03 [[ 9.99901350e-01 -9.06629798e-03 -1.07280900e-02 8.32598531e+02] [ 9.07326954e-03 9.99958656e-01 6.01348178e-04 -6.34311730e+01] [ 1.07221945e-02 -6.98627707e-04 9.99942272e-01 3.02634547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3607140569999 meters Centerline goodness [0,1] 0.987333469046165 Centerline is valid? [True, True] Translation: X:832.63, Y:-63.43, Z:3.03 [[ 9.99905134e-01 -9.00252140e-03 -1.04248266e-02 8.32628436e+02] [ 9.00909717e-03 9.99959247e-01 5.83990763e-04 -6.34321903e+01] [ 1.04191443e-02 -6.77853637e-04 9.99945489e-01 3.02670848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.390714057 meters Centerline goodness [0,1] 0.9870932681203722 Centerline is valid? [True, True] Translation: X:832.66, Y:-63.44, Z:3.03 [[ 9.99899541e-01 -9.38957444e-03 -1.06181212e-02 8.32658032e+02] [ 9.39641573e-03 9.99955676e-01 5.94598561e-04 -6.34360313e+01] [ 1.06120676e-02 -6.94311109e-04 9.99943449e-01 3.02630853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4207140569999 meters Centerline goodness [0,1] 0.9876448225923244 Centerline is valid? [True, True] Translation: X:832.69, Y:-63.44, Z:3.03 [[ 9.99893089e-01 -1.00399519e-02 -1.06305816e-02 8.32687775e+02] [ 1.00468424e-02 9.99949352e-01 5.94967815e-04 -6.34375743e+01] [ 1.06240697e-02 -7.01707985e-04 9.99943317e-01 3.02675127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4507140569999 meters Centerline goodness [0,1] 0.987783398067022 Centerline is valid? [True, True] Translation: X:832.72, Y:-63.44, Z:3.03 [[ 9.99880746e-01 -1.11344652e-02 -1.07012366e-02 8.32717273e+02] [ 1.11415060e-02 9.99937752e-01 5.98552642e-04 -6.34382263e+01] [ 1.06939059e-02 -7.17709155e-04 9.99942561e-01 3.02701529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4807140569999 meters Centerline goodness [0,1] 0.9871643953456785 Centerline is valid? [True, True] Translation: X:832.75, Y:-63.45, Z:3.03 [[ 9.99865590e-01 -1.23069433e-02 -1.08324437e-02 8.32746310e+02] [ 1.23142240e-02 9.99923994e-01 6.05668629e-04 -6.34459028e+01] [ 1.08241664e-02 -7.38980359e-04 9.99941144e-01 3.02672430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.510714057 meters Centerline goodness [0,1] 0.988674051846671 Centerline is valid? [True, True] Translation: X:832.78, Y:-63.44, Z:3.03 [[ 9.99843563e-01 -1.47202812e-02 -9.80630516e-03 8.32777679e+02] [ 1.47263643e-02 9.99891411e-01 5.48401134e-04 -6.34382157e+01] [ 9.79716768e-03 -6.92726566e-04 9.99951767e-01 3.02889576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.540714057 meters Centerline goodness [0,1] 0.9878623801466441 Centerline is valid? [True, True] Translation: X:832.81, Y:-63.44, Z:3.03 [[ 9.99826975e-01 -1.60758935e-02 -9.35875478e-03 8.32808095e+02] [ 1.60814962e-02 9.99870547e-01 5.23706150e-04 -6.34430806e+01] [ 9.34912422e-03 -6.74118315e-04 9.99956069e-01 3.02925430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5707140569999 meters Centerline goodness [0,1] 0.9869449338212043 Centerline is valid? [True, True] Translation: X:832.84, Y:-63.44, Z:3.03 [[ 9.99793729e-01 -1.85479925e-02 -8.27468740e-03 8.32838762e+02] [ 1.85524581e-02 9.99827781e-01 4.63228661e-04 -6.34449596e+01] [ 8.26467038e-03 -6.16648902e-04 9.99965657e-01 3.03007300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6007140569999 meters Centerline goodness [0,1] 0.9871360101284138 Centerline is valid? [True, True] Translation: X:832.87, Y:-63.45, Z:3.03 [[ 9.99767387e-01 -1.98432317e-02 -8.45089188e-03 8.32870501e+02] [ 1.98479408e-02 9.99802898e-01 4.73720110e-04 -6.34468654e+01] [ 8.43982605e-03 -6.41342719e-04 9.99964178e-01 3.03045112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.630714057 meters Centerline goodness [0,1] 0.9867171819678416 Centerline is valid? [True, True] Translation: X:832.90, Y:-63.45, Z:3.03 [[ 9.99745956e-01 -2.08282803e-02 -8.61431468e-03 8.32901765e+02] [ 2.08332166e-02 9.99782848e-01 4.83686884e-04 -6.34504957e+01] [ 8.60236969e-03 -6.63027889e-04 9.99962779e-01 3.03017578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.660714057 meters Centerline goodness [0,1] 0.9864020996425178 Centerline is valid? [True, True] Translation: X:832.93, Y:-63.45, Z:3.03 [[ 9.99692659e-01 -2.31172575e-02 -8.95432749e-03 8.32932342e+02] [ 2.31226866e-02 9.99732508e-01 5.03249622e-04 -6.34537300e+01] [ 8.94029853e-03 -7.10143061e-04 9.99959783e-01 3.02986625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6907140569999 meters Centerline goodness [0,1] 0.9859980609230908 Centerline is valid? [True, True] Translation: X:832.96, Y:-63.46, Z:3.03 [[ 9.99668322e-01 -2.38773274e-02 -9.64982830e-03 8.32962697e+02] [ 2.38836777e-02 9.99714597e-01 5.43352075e-04 -6.34602729e+01] [ 9.63410041e-03 -7.73645246e-04 9.99953292e-01 3.02898884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7207140569999 meters Centerline goodness [0,1] 0.9845751398159841 Centerline is valid? [True, True] Translation: X:833.00, Y:-63.46, Z:3.03 [[ 9.99647756e-01 -2.46800398e-02 -9.76008582e-03 8.32995268e+02] [ 2.46865818e-02 9.99695088e-01 5.50350529e-04 -6.34614479e+01] [ 9.74352719e-03 -7.91099828e-04 9.99952218e-01 3.02811303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.750714057 meters Centerline goodness [0,1] 0.9848197343453511 Centerline is valid? [True, True] Translation: X:833.03, Y:-63.47, Z:3.03 [[ 9.99602178e-01 -2.62587271e-02 -1.02939454e-02 8.33025625e+02] [ 2.62660905e-02 9.99654818e-01 5.80747267e-04 -6.34658438e+01] [ 1.02751425e-02 -8.50897936e-04 9.99946847e-01 3.02696426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.780714057 meters Centerline goodness [0,1] 0.9840152149795096 Centerline is valid? [True, True] Translation: X:833.06, Y:-63.47, Z:3.03 [[ 9.99580362e-01 -2.69390601e-02 -1.06483169e-02 8.33057822e+02] [ 2.69469841e-02 9.99636683e-01 6.01361275e-04 -6.34689905e+01] [ 1.06282481e-02 -8.88048948e-04 9.99943124e-01 3.02603926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8107140569999 meters Centerline goodness [0,1] 0.9866772223478851 Centerline is valid? [True, True] Translation: X:833.09, Y:-63.46, Z:3.03 [[ 9.99559384e-01 -2.77490995e-02 -1.05368844e-02 8.33090242e+02] [ 2.77569112e-02 9.99614525e-01 5.95821751e-04 -6.34630508e+01] [ 1.05162892e-02 -8.88030587e-04 9.99944308e-01 3.02639569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8407140569999 meters Centerline goodness [0,1] 0.9820491951528305 Centerline is valid? [True, True] Translation: X:833.12, Y:-63.47, Z:3.02 [[ 9.99509596e-01 -2.90490187e-02 -1.16928163e-02 8.33120038e+02] [ 2.90587307e-02 9.99577487e-01 6.61527045e-04 -6.34744231e+01] [ 1.16686592e-02 -1.00098103e-03 9.99931418e-01 3.02459716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.870714057 meters Centerline goodness [0,1] 0.9834882721494651 Centerline is valid? [True, True] Translation: X:833.15, Y:-63.47, Z:3.02 [[ 9.99489981e-01 -2.96604344e-02 -1.18336671e-02 8.33152557e+02] [ 2.96704328e-02 9.99559511e-01 6.70211499e-04 -6.34732903e+01] [ 1.18085758e-02 -1.02097970e-03 9.99929755e-01 3.02443250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.900714057 meters Centerline goodness [0,1] 0.9747902949400198 Centerline is valid? [True, True] Translation: X:833.18, Y:-63.48, Z:3.02 [[ 9.99479377e-01 -2.97407648e-02 -1.25085079e-02 8.33182976e+02] [ 2.97519601e-02 9.99557060e-01 7.09840270e-04 -6.34803289e+01] [ 1.24818562e-02 -1.08162334e-03 9.99921514e-01 3.02304418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9307140569999 meters Centerline goodness [0,1] 0.9856734823412069 Centerline is valid? [True, True] Translation: X:833.22, Y:-63.47, Z:3.02 [[ 9.99467906e-01 -2.98163683e-02 -1.32245485e-02 8.33215534e+02] [ 2.98289027e-02 9.99554737e-01 7.51537214e-04 -6.34721255e+01] [ 1.31962520e-02 -1.14561110e-03 9.99912269e-01 3.02384687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9607140569999 meters Centerline goodness [0,1] 0.9468263310394784 Centerline is valid? [True, False] Translation: X:833.22, Y:-63.47, Z:3.02 [[ 9.99475700e-01 -2.93739660e-02 -1.36196535e-02 8.33217067e+02] [ 2.93932186e-02 9.99567187e-01 1.21553690e-03 -6.34717349e+01] [ 1.35780535e-02 -1.61522504e-03 9.99906509e-01 3.02274226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9907140569999 meters Centerline goodness [0,1] 0.9866944715189157 Centerline is valid? [False, True] Translation: X:833.22, Y:-63.47, Z:3.02 [[ 9.99478967e-01 -2.91366081e-02 -1.38871287e-02 8.33217817e+02] [ 2.91579947e-02 9.99573917e-01 1.34001635e-03 -6.34713412e+01] [ 1.38421681e-02 -1.74423898e-03 9.99902671e-01 3.02249703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.020714057 meters Centerline goodness [0,1] 0.939861532196027 Centerline is valid? [True, False] Translation: X:833.22, Y:-63.47, Z:3.02 [[ 9.99483812e-01 -2.88600239e-02 -1.41140920e-02 8.33218502e+02] [ 2.88833734e-02 9.99581732e-01 1.45326834e-03 -6.34707864e+01] [ 1.40662471e-02 -1.86018077e-03 9.99899335e-01 3.02222928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0507140569999 meters Centerline goodness [0,1] 0.9869131322295305 Centerline is valid? [False, True] Translation: X:833.22, Y:-63.47, Z:3.02 [[ 9.99585704e-01 -2.53200011e-02 -1.36863931e-02 8.33217394e+02] [ 2.53955393e-02 9.99663037e-01 5.37386622e-03 -6.34712087e+01] [ 1.35457150e-02 -5.71921319e-03 9.99891896e-01 3.02213346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0807140569999 meters Centerline goodness [0,1] 0.9851386304850932 Centerline is valid? [True, True] Translation: X:833.25, Y:-63.48, Z:3.02 [[ 9.99613694e-01 -2.43874273e-02 -1.33310573e-02 8.33247903e+02] [ 2.43999773e-02 9.99701972e-01 7.79553949e-04 -6.34755072e+01] [ 1.33080730e-02 -1.10453030e-03 9.99910834e-01 3.02323573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1107140569999 meters Centerline goodness [0,1] 0.9874310865077024 Centerline is valid? [True, True] Translation: X:833.28, Y:-63.47, Z:3.02 [[ 9.99645068e-01 -2.30757013e-02 -1.33135059e-02 8.33279843e+02] [ 2.30881097e-02 9.99733131e-01 7.79054357e-04 -6.34694384e+01] [ 1.32919757e-02 -1.08616153e-03 9.99911068e-01 3.02463235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.140714057 meters Centerline goodness [0,1] 0.987560548518409 Centerline is valid? [True, True] Translation: X:833.31, Y:-63.47, Z:3.02 [[ 9.99700909e-01 -2.06571663e-02 -1.30910231e-02 8.33309659e+02] [ 2.06689586e-02 9.99786081e-01 7.66127426e-04 -6.34706745e+01] [ 1.30723966e-02 -1.03647610e-03 9.99914015e-01 3.02471310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1707140569999 meters Centerline goodness [0,1] 0.9873672771728057 Centerline is valid? [True, True] Translation: X:833.34, Y:-63.47, Z:3.02 [[ 9.99728504e-01 -1.90427974e-02 -1.34272444e-02 8.33340734e+02] [ 1.90550638e-02 9.99818127e-01 7.86190867e-04 -6.34721395e+01] [ 1.34098311e-02 -1.04183442e-03 9.99909541e-01 3.02453291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2007140569999 meters Centerline goodness [0,1] 0.9873607297646871 Centerline is valid? [True, True] Translation: X:833.37, Y:-63.47, Z:3.02 [[ 9.99778211e-01 -1.62680679e-02 -1.33745368e-02 8.33371279e+02] [ 1.62799925e-02 9.99867165e-01 7.83195902e-04 -6.34705563e+01] [ 1.33600191e-02 -1.00075956e-03 9.99910250e-01 3.02466304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2307140569999 meters Centerline goodness [0,1] 0.9872368450934527 Centerline is valid? [True, True] Translation: X:833.40, Y:-63.47, Z:3.02 [[ 9.99793414e-01 -1.50356033e-02 -1.36769664e-02 8.33402396e+02] [ 1.50479640e-02 9.99886452e-01 8.01294359e-04 -6.34712359e+01] [ 1.36633654e-02 -1.00693932e-03 9.99906145e-01 3.02455260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.260714057 meters Centerline goodness [0,1] 0.9882661198450672 Centerline is valid? [True, True] Translation: X:833.43, Y:-63.47, Z:3.02 [[ 9.99806173e-01 -1.37220859e-02 -1.41181297e-02 8.33431700e+02] [ 1.37351325e-02 9.99905326e-01 8.27552181e-04 -6.34725920e+01] [ 1.41054374e-02 -1.02130616e-03 9.99899992e-01 3.02459718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.290714057 meters Centerline goodness [0,1] 0.9884599626712797 Centerline is valid? [True, True] Translation: X:833.46, Y:-63.47, Z:3.02 [[ 9.99834897e-01 -1.20844603e-02 -1.35699865e-02 8.33461312e+02] [ 1.20963591e-02 9.99926520e-01 7.95111870e-04 -6.34723911e+01] [ 1.35593809e-02 -9.59128025e-04 9.99907607e-01 3.02467615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3207140569999 meters Centerline goodness [0,1] 0.9879115344109163 Centerline is valid? [True, True] Translation: X:833.49, Y:-63.47, Z:3.02 [[ 9.99864286e-01 -8.75897612e-03 -1.39531255e-02 8.33490911e+02] [ 8.77122912e-03 9.99961198e-01 8.17200094e-04 -6.34737842e+01] [ 1.39454262e-02 -9.39475249e-04 9.99902316e-01 3.02387818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3507140569999 meters Centerline goodness [0,1] 0.9878506383562897 Centerline is valid? [True, True] Translation: X:833.52, Y:-63.47, Z:3.02 [[ 9.99882701e-01 -6.83312725e-03 -1.37073873e-02 8.33521029e+02] [ 6.84476886e-03 9.99976252e-01 8.02560156e-04 -6.34735705e+01] [ 1.37015778e-02 -8.96289915e-04 9.99905727e-01 3.02390819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.380714057 meters Centerline goodness [0,1] 0.9880125604529097 Centerline is valid? [True, True] Translation: X:833.55, Y:-63.47, Z:3.02 [[ 9.99886387e-01 -5.26550655e-03 -1.41240154e-02 8.33550446e+02] [ 5.27767430e-03 9.99985733e-01 8.24358900e-04 -6.34716891e+01] [ 1.41194732e-02 -8.98807195e-04 9.99899911e-01 3.02399513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.410714057 meters Centerline goodness [0,1] 0.9878983368791893 Centerline is valid? [True, True] Translation: X:833.58, Y:-63.47, Z:3.02 [[ 9.99901921e-01 -1.68590307e-03 -1.39034501e-02 8.33579555e+02] [ 1.69733771e-03 9.99998231e-01 8.10673292e-04 -6.34713130e+01] [ 1.39020588e-02 -8.34192632e-04 9.99903014e-01 3.02376639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4407140569999 meters Centerline goodness [0,1] 0.9890686688422831 Centerline is valid? [True, True] Translation: X:833.61, Y:-63.47, Z:3.02 [[ 9.99907027e-01 -3.74356711e-04 -1.36307254e-02 8.33608980e+02] [ 3.85207325e-04 9.99999611e-01 7.93424072e-04 -6.34688982e+01] [ 1.36304231e-02 -7.98600960e-04 9.99906783e-01 3.02463204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4707140569999 meters Centerline goodness [0,1] 0.9880404151488075 Centerline is valid? [True, True] Translation: X:833.64, Y:-63.47, Z:3.02 [[ 9.99905858e-01 9.10911626e-04 -1.36910448e-02 8.33636294e+02] [-9.00101806e-04 9.99999278e-01 7.95695323e-04 -6.34733057e+01] [ 1.36917597e-02 -7.83297081e-04 9.99905957e-01 3.02386240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.500714057 meters Centerline goodness [0,1] 0.9888746451790129 Centerline is valid? [True, True] Translation: X:833.67, Y:-63.46, Z:3.03 [[ 9.99897116e-01 1.86946507e-03 -1.42218981e-02 8.33665680e+02] [-1.85794209e-03 9.99997935e-01 8.23397525e-04 -6.34642168e+01] [ 1.42234081e-02 -7.96889348e-04 9.99898525e-01 3.02589951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.530714057 meters Centerline goodness [0,1] 0.9892863711605665 Centerline is valid? [True, True] Translation: X:833.69, Y:-63.46, Z:3.03 [[ 9.99892066e-01 3.37845444e-03 -1.42983452e-02 8.33694572e+02] [-3.36698239e-03 9.99993990e-01 8.26330783e-04 -6.34638212e+01] [ 1.43010510e-02 -7.78099317e-04 9.99897432e-01 3.02734934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5607140569999 meters Centerline goodness [0,1] 0.9891254578754579 Centerline is valid? [True, True] Translation: X:833.72, Y:-63.47, Z:3.03 [[ 9.99895183e-01 4.30908315e-03 -1.38222303e-02 8.33722687e+02] [-4.29846472e-03 9.99990443e-01 7.97831120e-04 -6.34674964e+01] [ 1.38255361e-02 -7.38333125e-04 9.99904150e-01 3.02741321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5907140569999 meters Centerline goodness [0,1] 0.9891043102066976 Centerline is valid? [True, True] Translation: X:833.75, Y:-63.47, Z:3.03 [[ 9.99898328e-01 5.12923351e-03 -1.33050907e-02 8.33750724e+02] [-5.11948198e-03 9.99986601e-01 7.66873184e-04 -6.34697774e+01] [ 1.33088459e-02 -6.98680042e-04 9.99911189e-01 3.02880957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.620714057 meters Centerline goodness [0,1] 0.9886826100873383 Centerline is valid? [True, True] Translation: X:833.78, Y:-63.47, Z:3.03 [[ 9.99895034e-01 5.59871602e-03 -1.33631964e-02 8.33779971e+02] [-5.58893404e-03 9.99984086e-01 7.69241452e-04 -6.34698723e+01] [ 1.33672905e-02 -6.94474685e-04 9.99910413e-01 3.02968858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.650714057 meters Centerline goodness [0,1] 0.9890935752909907 Centerline is valid? [True, True] Translation: X:833.81, Y:-63.47, Z:3.03 [[ 9.99897579e-01 5.75324721e-03 -1.31046376e-02 8.33809238e+02] [-5.74386563e-03 9.99983220e-01 7.53422666e-04 -6.34696204e+01] [ 1.31087523e-02 -6.78074222e-04 9.99913847e-01 3.03041119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6807140569999 meters Centerline goodness [0,1] 0.98934854315558 Centerline is valid? [True, True] Translation: X:833.84, Y:-63.47, Z:3.03 [[ 9.99902354e-01 6.90590451e-03 -1.21486939e-02 8.33836771e+02] [-6.89793916e-03 9.99975966e-01 6.97435544e-04 -6.34732521e+01] [ 1.21532184e-02 -6.13566491e-04 9.99925959e-01 3.03071256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7107140569999 meters Centerline goodness [0,1] 0.9885244399651839 Centerline is valid? [True, True] Translation: X:833.87, Y:-63.48, Z:3.03 [[ 9.99901624e-01 7.54503057e-03 -1.18243348e-02 8.33865259e+02] [-7.53753991e-03 9.99971363e-01 6.77932542e-04 -6.34754252e+01] [ 1.18291112e-02 -5.88739454e-04 9.99929860e-01 3.03102893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7407140569999 meters Centerline goodness [0,1] 0.989226449978316 Centerline is valid? [True, True] Translation: X:833.89, Y:-63.48, Z:3.03 [[ 9.99895461e-01 8.40020682e-03 -1.17687534e-02 8.33894340e+02] [-8.39286179e-03 9.99964553e-01 6.73362890e-04 -6.34778052e+01] [ 1.17739926e-02 -5.74518977e-04 9.99930519e-01 3.03119524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.770714057 meters Centerline goodness [0,1] 0.9890559312739902 Centerline is valid? [True, True] Translation: X:833.92, Y:-63.48, Z:3.03 [[ 9.99887622e-01 9.30622677e-03 -1.17532074e-02 8.33923375e+02] [-9.29897524e-03 9.99956538e-01 6.71481824e-04 -6.34796300e+01] [ 1.17589456e-02 -5.62113579e-04 9.99930703e-01 3.03116592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8007140569999 meters Centerline goodness [0,1] 0.9896195353941832 Centerline is valid? [True, True] Translation: X:833.95, Y:-63.48, Z:3.03 [[ 9.99878279e-01 1.01140791e-02 -1.18799627e-02 8.33952557e+02] [-1.01067353e-02 9.99948696e-01 6.78041462e-04 -6.34821553e+01] [ 1.18862110e-02 -5.57891291e-04 9.99929201e-01 3.03116987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8307140569999 meters Centerline goodness [0,1] 0.9900865424241037 Centerline is valid? [True, True] Translation: X:833.98, Y:-63.48, Z:3.03 [[ 9.99862719e-01 1.18081974e-02 -1.16237091e-02 8.33981734e+02] [-1.18012884e-02 9.99930143e-01 6.62796701e-04 -6.34844781e+01] [ 1.16307235e-02 -5.25530968e-04 9.99932223e-01 3.03184532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8607140569999 meters Centerline goodness [0,1] 0.9890907431075406 Centerline is valid? [True, True] Translation: X:834.01, Y:-63.49, Z:3.03 [[ 9.99852482e-01 1.28568975e-02 -1.13892549e-02 8.34009810e+02] [-1.28503410e-02 9.99917221e-01 6.48667872e-04 -6.34880257e+01] [ 1.13966519e-02 -5.02216373e-04 9.99934930e-01 3.03191850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.890714057 meters Centerline goodness [0,1] 0.9893604876823672 Centerline is valid? [True, True] Translation: X:834.04, Y:-63.49, Z:3.03 [[ 9.99845836e-01 1.39125268e-02 -1.07119017e-02 8.34037049e+02] [-1.39068001e-02 9.99903110e-01 6.08914744e-04 -6.34937663e+01] [ 1.07193354e-02 -4.59852595e-04 9.99942441e-01 3.03193823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9207140569999 meters Centerline goodness [0,1] 0.9890222515771973 Centerline is valid? [True, True] Translation: X:834.07, Y:-63.49, Z:3.03 [[ 9.99815848e-01 1.62496623e-02 -1.02087302e-02 8.34065901e+02] [-1.62445912e-02 9.99867880e-01 5.79476046e-04 -6.34935975e+01] [ 1.02167978e-02 -4.13532685e-04 9.99947722e-01 3.03205116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9507140569999 meters Centerline goodness [0,1] 0.9894607452596117 Centerline is valid? [True, True] Translation: X:834.09, Y:-63.50, Z:3.03 [[ 9.99794496e-01 1.73627575e-02 -1.04642239e-02 8.34094431e+02] [-1.73574979e-02 9.99849171e-01 5.93241607e-04 -6.34954993e+01] [ 1.04729459e-02 -4.11486949e-04 9.99945073e-01 3.03174665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9807140569999 meters Centerline goodness [0,1] 0.9902221615844646 Centerline is valid? [True, True] Translation: X:834.12, Y:-63.50, Z:3.03 [[ 9.99763061e-01 1.87554760e-02 -1.10477778e-02 8.34121603e+02] [-1.87497085e-02 9.99824013e-01 6.25399380e-04 -6.35002487e+01] [ 1.10575632e-02 -4.18108586e-04 9.99938776e-01 3.03044686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.010714057 meters Centerline goodness [0,1] 0.9906301880785063 Centerline is valid? [True, True] Translation: X:834.15, Y:-63.50, Z:3.03 [[ 9.99710789e-01 2.06000440e-02 -1.24087630e-02 8.34150163e+02] [-2.05929218e-02 9.99787697e-01 7.01475209e-04 -6.34982883e+01] [ 1.24205791e-02 -4.45739647e-04 9.99922762e-01 3.03026990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.040714057 meters Centerline goodness [0,1] 0.99085761069796 Centerline is valid? [True, True] Translation: X:834.18, Y:-63.50, Z:3.03 [[ 9.99689519e-01 2.14275006e-02 -1.27172548e-02 8.34177478e+02] [-2.14201009e-02 9.99770306e-01 7.17804865e-04 -6.35020630e+01] [ 1.27297144e-02 -4.45177121e-04 9.99918875e-01 3.02971909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0707140569999 meters Centerline goodness [0,1] 0.991121378904215 Centerline is valid? [True, True] Translation: X:834.21, Y:-63.51, Z:3.03 [[ 9.99665196e-01 2.24072924e-02 -1.29386788e-02 8.34205949e+02] [-2.23997273e-02 9.99748829e-01 7.29327472e-04 -6.35063281e+01] [ 1.29517712e-02 -4.39260414e-04 9.99916026e-01 3.03008465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1007140569999 meters Centerline goodness [0,1] 0.9908319185059423 Centerline is valid? [True, True] Translation: X:834.23, Y:-63.51, Z:3.03 [[ 9.99669352e-01 2.22445017e-02 -1.28984291e-02 8.34233638e+02] [-2.22369867e-02 9.99752464e-01 7.25776085e-04 -6.35095025e+01] [ 1.29113808e-02 -4.38713912e-04 9.99916548e-01 3.03010324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.130714057 meters Centerline goodness [0,1] 0.9903706724669205 Centerline is valid? [True, True] Translation: X:834.26, Y:-63.51, Z:3.03 [[ 9.99664014e-01 2.23728071e-02 -1.30887961e-02 8.34262021e+02] [-2.23650931e-02 9.99749600e-01 7.35448761e-04 -6.35118251e+01] [ 1.31019727e-02 -4.42469517e-04 9.99914068e-01 3.03058380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.160714057 meters Centerline goodness [0,1] 0.9906611794500724 Centerline is valid? [True, True] Translation: X:834.29, Y:-63.52, Z:3.03 [[ 9.99672814e-01 2.20126861e-02 -1.30271378e-02 8.34289484e+02] [-2.20050351e-02 9.99757593e-01 7.30379459e-04 -6.35166380e+01] [ 1.30400575e-02 -4.43477866e-04 9.99914876e-01 3.03033220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1907140569999 meters Centerline goodness [0,1] 0.9903672622270349 Centerline is valid? [True, True] Translation: X:834.32, Y:-63.52, Z:3.03 [[ 9.99697550e-01 2.13871421e-02 -1.21407489e-02 8.34318232e+02] [-2.13804631e-02 9.99771181e-01 6.79669784e-04 -6.35220032e+01] [ 1.21525071e-02 -4.19889384e-04 9.99926067e-01 3.03027539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2207140569999 meters Centerline goodness [0,1] 0.989876443001443 Centerline is valid? [True, True] Translation: X:834.35, Y:-63.53, Z:3.03 [[ 9.99713054e-01 2.08809075e-02 -1.17386816e-02 8.34345594e+02] [-2.08746404e-02 9.99781886e-01 6.56165629e-04 -6.35268663e+01] [ 1.17498225e-02 -4.10936588e-04 9.99930884e-01 3.03017234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.250714057 meters Centerline goodness [0,1] 0.989876443001443 Centerline is valid? [True, True] Translation: X:834.37, Y:-63.53, Z:3.03 [[ 9.99715276e-01 2.07742296e-02 -1.17387489e-02 8.34373028e+02] [-2.07679694e-02 9.99784108e-01 6.54959104e-04 -6.35283102e+01] [ 1.17498209e-02 -4.10982643e-04 9.99930884e-01 3.03024315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.280714057 meters Centerline goodness [0,1] 0.9897837485091924 Centerline is valid? [True, True] Translation: X:834.40, Y:-63.53, Z:3.03 [[ 9.99742240e-01 1.97392425e-02 -1.12167934e-02 8.34401391e+02] [-1.97334715e-02 9.99805081e-01 6.24956716e-04 -6.35323564e+01] [ 1.12269432e-02 -4.03449354e-04 9.99936894e-01 3.03055093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3107140569999 meters Centerline goodness [0,1] 0.9897471563502569 Centerline is valid? [True, True] Translation: X:834.43, Y:-63.54, Z:3.03 [[ 9.99758463e-01 1.93430774e-02 -1.04336367e-02 8.34428470e+02] [-1.93380716e-02 9.99812834e-01 5.80456507e-04 -6.35372418e+01] [ 1.04429117e-02 -3.78549892e-04 9.99945400e-01 3.03080061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3407140569999 meters Centerline goodness [0,1] 0.989744967645149 Centerline is valid? [True, True] Translation: X:834.46, Y:-63.54, Z:3.03 [[ 9.99775568e-01 1.86123598e-02 -1.01189933e-02 8.34457307e+02] [-1.86076217e-02 9.99826705e-01 5.62196801e-04 -6.35411221e+01] [ 1.01277035e-02 -3.73780227e-04 9.99948644e-01 3.03125080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.370714057 meters Centerline goodness [0,1] 0.9898086894332201 Centerline is valid? [True, True] Translation: X:834.49, Y:-63.55, Z:3.03 [[ 9.99806584e-01 1.73864659e-02 -9.19266455e-03 8.34485494e+02] [-1.73825098e-02 9.99848783e-01 5.10090400e-04 -6.35472587e+01] [ 9.20014313e-03 -3.50200159e-04 9.99957616e-01 3.03196507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.400714057 meters Centerline goodness [0,1] 0.9895954533249799 Centerline is valid? [True, True] Translation: X:834.51, Y:-63.55, Z:3.03 [[ 9.99820616e-01 1.65518258e-02 -9.20720169e-03 8.34512844e+02] [-1.65478289e-02 9.99862945e-01 5.10121043e-04 -6.35538348e+01] [ 9.21438323e-03 -3.57670337e-04 9.99957483e-01 3.03165089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4307140569999 meters Centerline goodness [0,1] 0.989011477889492 Centerline is valid? [True, True] Translation: X:834.54, Y:-63.56, Z:3.03 [[ 9.99849644e-01 1.44677763e-02 -9.55889861e-03 8.34541289e+02] [-1.44633789e-02 9.99895260e-01 5.29005872e-04 -6.35642985e+01] [ 9.56555095e-03 -3.90672361e-04 9.99954173e-01 3.03011784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4607140569999 meters Centerline goodness [0,1] 0.9895458708423616 Centerline is valid? [True, True] Translation: X:834.57, Y:-63.57, Z:3.03 [[ 9.99863326e-01 1.31604506e-02 -1.00065451e-02 8.34569832e+02] [-1.31555729e-02 9.99913309e-01 5.53118994e-04 -6.35665691e+01] [ 1.00129570e-02 -4.21401563e-04 9.99949780e-01 3.03014542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4907140569999 meters Centerline goodness [0,1] 0.9879724321920854 Centerline is valid? [True, True] Translation: X:834.60, Y:-63.57, Z:3.03 [[ 9.99881601e-01 1.13849580e-02 -1.03521806e-02 8.34597532e+02] [-1.13796514e-02 9.99935086e-01 5.71362364e-04 -6.35736728e+01] [ 1.03580135e-02 -4.53490508e-04 9.99946252e-01 3.02922028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.520714057 meters Centerline goodness [0,1] 0.9880883466179811 Centerline is valid? [True, True] Translation: X:834.63, Y:-63.58, Z:3.03 [[ 9.99890475e-01 9.85567007e-03 -1.10409779e-02 8.34626362e+02] [-9.84954993e-03 9.99951307e-01 6.08551838e-04 -6.35766591e+01] [ 1.10464379e-02 -4.99736524e-04 9.99938861e-01 3.02930979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5507140569999 meters Centerline goodness [0,1] 0.9885042166000888 Centerline is valid? [True, True] Translation: X:834.66, Y:-63.58, Z:3.03 [[ 9.99899846e-01 7.29630371e-03 -1.21269043e-02 8.34655237e+02] [-7.28874116e-03 9.99973214e-01 6.67697362e-04 -6.35819871e+01] [ 1.21314512e-02 -5.79240623e-04 9.99926243e-01 3.02879293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5807140569999 meters Centerline goodness [0,1] 0.9883464917157789 Centerline is valid? [True, True] Translation: X:834.68, Y:-63.59, Z:3.03 [[ 9.99908453e-01 5.87516515e-03 -1.21888902e-02 8.34682182e+02] [-5.86743182e-03 9.99982562e-01 6.70119889e-04 -6.35925125e+01] [ 1.21926147e-02 -5.98541059e-04 9.99925488e-01 3.02734300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6107140569999 meters Centerline goodness [0,1] 0.9882010487956626 Centerline is valid? [True, True] Translation: X:834.71, Y:-63.60, Z:3.03 [[ 9.99916878e-01 4.59792231e-03 -1.20455911e-02 8.34710862e+02] [-4.59028763e-03 9.99989246e-01 6.61386300e-04 -6.35970488e+01] [ 1.20485026e-02 -6.06038596e-04 9.99927231e-01 3.02758746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.640714057 meters Centerline goodness [0,1] 0.9880770338851583 Centerline is valid? [True, True] Translation: X:834.74, Y:-63.59, Z:3.03 [[ 9.99926858e-01 3.92555908e-03 -1.14397732e-02 8.34739539e+02] [-3.91863825e-03 9.99992125e-01 6.27331799e-04 -6.35947877e+01] [ 1.14421457e-02 -5.82457582e-04 9.99934367e-01 3.02902844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6707140569999 meters Centerline goodness [0,1] 0.9869580620875957 Centerline is valid? [True, True] Translation: X:834.77, Y:-63.60, Z:3.03 [[ 9.99926855e-01 2.42682007e-03 -1.18488604e-02 8.34766545e+02] [-2.41930428e-03 9.99996863e-01 6.48597316e-04 -6.36030740e+01] [ 1.18503973e-02 -6.19883875e-04 9.99929589e-01 3.02873114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7007140569999 meters Centerline goodness [0,1] 0.9878582802547771 Centerline is valid? [True, True] Translation: X:834.80, Y:-63.60, Z:3.03 [[ 9.99925461e-01 1.56809340e-03 -1.21083899e-02 8.34795651e+02] [-1.56019352e-03 9.99998564e-01 6.61849169e-04 -6.36024943e+01] [ 1.21094103e-02 -6.42908404e-04 9.99926472e-01 3.02950418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7307140569999 meters Centerline goodness [0,1] 0.9880070937707826 Centerline is valid? [True, True] Translation: X:834.82, Y:-63.61, Z:3.03 [[ 9.99923209e-01 5.12445734e-04 -1.23819582e-02 8.34823763e+02] [-5.04117152e-04 9.99999645e-01 6.75750206e-04 -6.36062196e+01] [ 1.23823001e-02 -6.69456357e-04 9.99923112e-01 3.02927458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.760714057 meters Centerline goodness [0,1] 0.9876993065677311 Centerline is valid? [True, True] Translation: X:834.85, Y:-63.61, Z:3.03 [[ 9.99913365e-01 -2.48249475e-03 -1.29266770e-02 8.34853114e+02] [ 2.49181639e-03 9.99996647e-01 7.05060424e-04 -6.36137109e+01] [ 1.29248833e-02 -7.37210247e-04 9.99916198e-01 3.02872196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.790714057 meters Centerline goodness [0,1] 0.9866675481510865 Centerline is valid? [True, True] Translation: X:834.88, Y:-63.62, Z:3.03 [[ 9.99898703e-01 -4.43111169e-03 -1.35258796e-02 8.34882338e+02] [ 4.44148955e-03 9.99989865e-01 7.37317246e-04 -6.36185175e+01] [ 1.35224754e-02 -7.97317611e-04 9.99908249e-01 3.02849130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8207140569999 meters Centerline goodness [0,1] 0.9860113588649975 Centerline is valid? [True, True] Translation: X:834.91, Y:-63.62, Z:3.03 [[ 9.99885104e-01 -6.49495718e-03 -1.36964988e-02 8.34911936e+02] [ 6.50578497e-03 9.99978559e-01 7.46144388e-04 -6.36230503e+01] [ 1.36913589e-02 -8.35165135e-04 9.99905920e-01 3.02849748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8507140569999 meters Centerline goodness [0,1] 0.9862426852158551 Centerline is valid? [True, True] Translation: X:834.94, Y:-63.63, Z:3.03 [[ 9.99873393e-01 -8.48752241e-03 -1.34595924e-02 8.34941537e+02] [ 8.49815243e-03 9.99963622e-01 7.32775182e-04 -6.36273501e+01] [ 1.34528833e-02 -8.47064075e-04 9.99909147e-01 3.02884420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.880714057 meters Centerline goodness [0,1] 0.9851229120359163 Centerline is valid? [True, True] Translation: X:834.97, Y:-63.63, Z:3.03 [[ 9.99827387e-01 -1.28632705e-02 -1.34064671e-02 8.34970917e+02] [ 1.28742075e-02 9.99916858e-01 7.29811876e-04 -6.36345040e+01] [ 1.33959647e-02 -9.02283541e-04 9.99909863e-01 3.02921185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.910714057 meters Centerline goodness [0,1] 0.9862688665773227 Centerline is valid? [True, True] Translation: X:835.00, Y:-63.63, Z:3.03 [[ 9.99800939e-01 -1.47485312e-02 -1.34374134e-02 8.35000776e+02] [ 1.47596831e-02 9.99890803e-01 7.31118732e-04 -6.36348891e+01] [ 1.34251631e-02 -9.29305158e-04 9.99909447e-01 3.02948070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9407140569999 meters Centerline goodness [0,1] 0.9849607576621213 Centerline is valid? [True, True] Translation: X:835.03, Y:-63.64, Z:3.03 [[ 9.99768394e-01 -1.62968079e-02 -1.40560644e-02 8.35029630e+02] [ 1.63091557e-02 9.99866705e-01 7.64283204e-04 -6.36425666e+01] [ 1.40417354e-02 -9.93348735e-04 9.99900917e-01 3.02870238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9707140569999 meters Centerline goodness [0,1] 0.9858584969979547 Centerline is valid? [True, True] Translation: X:835.06, Y:-63.64, Z:3.03 [[ 9.99747298e-01 -1.75806881e-02 -1.40092705e-02 8.35059464e+02] [ 1.75930724e-02 9.99844940e-01 7.61244231e-04 -6.36399940e+01] [ 1.39937151e-02 -1.00751797e-03 9.99901576e-01 3.02932297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.000714057 meters Centerline goodness [0,1] 0.9852714882391734 Centerline is valid? [True, True] Translation: X:835.09, Y:-63.64, Z:3.03 [[ 9.99704446e-01 -1.96421407e-02 -1.43250783e-02 8.35089510e+02] [ 1.96552958e-02 9.99806513e-01 7.78103207e-04 -6.36432499e+01] [ 1.43070230e-02 -1.05943689e-03 9.99897088e-01 3.02923954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.030714057 meters Centerline goodness [0,1] 0.9849769382824511 Centerline is valid? [True, True] Translation: X:835.12, Y:-63.65, Z:3.03 [[ 9.99689062e-01 -2.03730161e-02 -1.43777658e-02 8.35119905e+02] [ 2.03863427e-02 9.99791872e-01 7.80919301e-04 -6.36464637e+01] [ 1.43588637e-02 -1.07378655e-03 9.99896330e-01 3.02912990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0607140569999 meters Centerline goodness [0,1] 0.98503488192962 Centerline is valid? [True, True] Translation: X:835.15, Y:-63.65, Z:3.03 [[ 9.99671505e-01 -2.11725525e-02 -1.44431849e-02 8.35150871e+02] [ 2.11860867e-02 9.99775242e-01 7.84686531e-04 -6.36452367e+01] [ 1.44233249e-02 -1.09042333e-03 9.99895384e-01 3.02968675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0907140569999 meters Centerline goodness [0,1] 0.9845374449339207 Centerline is valid? [True, True] Translation: X:835.18, Y:-63.65, Z:3.03 [[ 9.99619292e-01 -2.32348013e-02 -1.48800384e-02 8.35180372e+02] [ 2.32494053e-02 9.99729369e-01 8.09194575e-04 -6.36500391e+01] [ 1.48572099e-02 -1.15483855e-03 9.99888959e-01 3.02911824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.120714057 meters Centerline goodness [0,1] 0.9848955921589381 Centerline is valid? [True, True] Translation: X:835.21, Y:-63.65, Z:3.03 [[ 9.99590545e-01 -2.43852894e-02 -1.49699688e-02 8.35211965e+02] [ 2.44002076e-02 9.99701939e-01 8.14679229e-04 -6.36519555e+01] [ 1.49456407e-02 -1.17961600e-03 9.99887612e-01 3.02908272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.150714057 meters Centerline goodness [0,1] 0.9842441604230938 Centerline is valid? [True, True] Translation: X:835.24, Y:-63.65, Z:3.03 [[ 9.99557016e-01 -2.54170648e-02 -1.54836697e-02 8.35242863e+02] [ 2.54331526e-02 9.99676170e-01 8.42958573e-04 -6.36548832e+01] [ 1.54572301e-02 -1.23638369e-03 9.99879765e-01 3.02903667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1807140569999 meters Centerline goodness [0,1] 0.9841553175547623 Centerline is valid? [True, True] Translation: X:835.27, Y:-63.66, Z:3.03 [[ 9.99508051e-01 -2.73275746e-02 -1.53902308e-02 8.35274166e+02] [ 2.73437013e-02 9.99625740e-01 8.38368981e-04 -6.36575980e+01] [ 1.53615602e-02 -1.25878242e-03 9.99881212e-01 3.02868265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2107140569999 meters Centerline goodness [0,1] 0.9841713631560408 Centerline is valid? [True, True] Translation: X:835.31, Y:-63.66, Z:3.03 [[ 9.99483085e-01 -2.83271290e-02 -1.52031654e-02 8.35305300e+02] [ 2.83429890e-02 9.99597913e-01 8.28710908e-04 -6.36610603e+01] [ 1.51735774e-02 -1.25918568e-03 9.99884082e-01 3.02850450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2407140569999 meters Centerline goodness [0,1] 0.9832308675436857 Centerline is valid? [True, True] Translation: X:835.34, Y:-63.66, Z:3.03 [[ 9.99450055e-01 -2.93093626e-02 -1.55096576e-02 8.35336876e+02] [ 2.93259944e-02 9.99569543e-01 8.45960958e-04 -6.36643345e+01] [ 1.54781868e-02 -1.30033186e-03 9.99879360e-01 3.02871253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.270714057 meters Centerline goodness [0,1] 0.9831388950033018 Centerline is valid? [True, True] Translation: X:835.37, Y:-63.67, Z:3.03 [[ 9.99423494e-01 -3.04158502e-02 -1.50849362e-02 8.35366563e+02] [ 3.04317099e-02 9.99536510e-01 8.22882138e-04 -6.36666389e+01] [ 1.50529158e-02 -1.28146815e-03 9.99885877e-01 3.02924308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3007140569999 meters Centerline goodness [0,1] 0.9852860073680263 Centerline is valid? [True, True] Translation: X:835.40, Y:-63.66, Z:3.03 [[ 9.99427627e-01 -3.03044850e-02 -1.50351506e-02 8.35398767e+02] [ 3.03202412e-02 9.99539899e-01 8.21067209e-04 -6.36620987e+01] [ 1.50033509e-02 -1.27646665e-03 9.99886629e-01 3.03078861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3307140569999 meters Centerline goodness [0,1] 0.9840958653655528 Centerline is valid? [True, True] Translation: X:835.43, Y:-63.67, Z:3.03 [[ 9.99433538e-01 -3.00342200e-02 -1.51838527e-02 8.35429601e+02] [ 3.00502716e-02 9.99548044e-01 8.30054503e-04 -6.36664548e+01] [ 1.51520602e-02 -1.28586321e-03 9.99884374e-01 3.03049295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3607140569999 meters Centerline goodness [0,1] 0.9846958969171907 Centerline is valid? [True, True] Translation: X:835.46, Y:-63.67, Z:3.03 [[ 9.99471022e-01 -2.89122986e-02 -1.48914303e-02 8.35459978e+02] [ 2.89276194e-02 9.99581177e-01 8.14419530e-04 -6.36684669e+01] [ 1.48616467e-02 -1.24476235e-03 9.99888785e-01 3.03033378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.390714057 meters Centerline goodness [0,1] 0.9843251918130455 Centerline is valid? [True, True] Translation: X:835.49, Y:-63.67, Z:3.03 [[ 9.99494677e-01 -2.80335117e-02 -1.49837493e-02 8.35491390e+02] [ 2.80489322e-02 9.99606215e-01 8.19945516e-04 -6.36699714e+01] [ 1.49548630e-02 -1.23980935e-03 9.99887401e-01 3.03045349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4207140569999 meters Centerline goodness [0,1] 0.983780686676363 Centerline is valid? [True, True] Translation: X:835.52, Y:-63.67, Z:3.03 [[ 9.99503359e-01 -2.74910501e-02 -1.54038007e-02 8.35522619e+02] [ 2.75072916e-02 9.99621247e-01 8.43467566e-04 -6.36716810e+01] [ 1.53747787e-02 -1.26676550e-03 9.99880999e-01 3.03033532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4507140569999 meters Centerline goodness [0,1] 0.9863104146491769 Centerline is valid? [True, True] Translation: X:835.55, Y:-63.67, Z:3.03 [[ 9.99559825e-01 -2.56153331e-02 -1.49670184e-02 8.35553651e+02] [ 2.56304600e-02 9.99671150e-01 8.19706692e-04 -6.36673564e+01] [ 1.49410994e-02 -1.20295744e-03 9.99887652e-01 3.03171970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4807140569999 meters Centerline goodness [0,1] 0.9841930116472546 Centerline is valid? [True, True] Translation: X:835.58, Y:-63.67, Z:3.03 [[ 9.99584395e-01 -2.47164046e-02 -1.48370316e-02 8.35583668e+02] [ 2.47311850e-02 9.99693806e-01 8.13502701e-04 -6.36744800e+01] [ 1.48123817e-02 -1.18010198e-03 9.99889594e-01 3.03080198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.510714057 meters Centerline goodness [0,1] 0.9861815944990004 Centerline is valid? [True, True] Translation: X:835.61, Y:-63.67, Z:3.03 [[ 9.99601871e-01 -2.36358150e-02 -1.54093628e-02 8.35614758e+02] [ 2.36516367e-02 9.99719904e-01 8.45302615e-04 -6.36714840e+01] [ 1.53850673e-02 -1.20942273e-03 9.99880911e-01 3.03148083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.540714057 meters Centerline goodness [0,1] 0.9859449234559212 Centerline is valid? [True, True] Translation: X:835.64, Y:-63.67, Z:3.03 [[ 9.99624360e-01 -2.24625758e-02 -1.57026219e-02 8.35643808e+02] [ 2.24788588e-02 9.99746948e-01 8.61208400e-04 -6.36746343e+01] [ 1.56793033e-02 -1.21386192e-03 9.99876335e-01 3.03079098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5707140569999 meters Centerline goodness [0,1] 0.9870376085710506 Centerline is valid? [True, True] Translation: X:835.68, Y:-63.67, Z:3.03 [[ 9.99666078e-01 -2.00131163e-02 -1.63464662e-02 8.35675218e+02] [ 2.00304399e-02 9.99798968e-01 8.96721578e-04 -6.36661021e+01] [ 1.63252339e-02 -1.22384905e-03 9.99865985e-01 3.03199676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6007140569999 meters Centerline goodness [0,1] 0.9873345101500441 Centerline is valid? [True, True] Translation: X:835.71, Y:-63.67, Z:3.03 [[ 9.99694487e-01 -1.87277940e-02 -1.61307665e-02 8.35705511e+02] [ 1.87444976e-02 9.99823915e-01 8.84934524e-04 -6.36661529e+01] [ 1.61113533e-02 -1.18702728e-03 9.99869499e-01 3.03203442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.630714057 meters Centerline goodness [0,1] 0.9848698099929627 Centerline is valid? [True, True] Translation: X:835.73, Y:-63.68, Z:3.03 [[ 9.99719628e-01 -1.72070973e-02 -1.62659801e-02 8.35733868e+02] [ 1.72238740e-02 9.99851260e-01 8.91863349e-04 -6.36775528e+01] [ 1.62482144e-02 -1.17177649e-03 9.99867302e-01 3.02997873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.660714057 meters Centerline goodness [0,1] 0.9873858774754113 Centerline is valid? [True, True] Translation: X:835.76, Y:-63.67, Z:3.03 [[ 9.99763665e-01 -1.48767342e-02 -1.58523352e-02 8.35764229e+02] [ 1.48923681e-02 9.99888725e-01 8.68628403e-04 -6.36672998e+01] [ 1.58376489e-02 -1.10450193e-03 9.99873967e-01 3.03234309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6907140569999 meters Centerline goodness [0,1] 0.9875872086625438 Centerline is valid? [True, True] Translation: X:835.79, Y:-63.67, Z:3.03 [[ 9.99783808e-01 -1.37122449e-02 -1.56304799e-02 8.35792883e+02] [ 1.37272870e-02 9.99905410e-01 8.55469048e-04 -6.36670463e+01] [ 1.56172711e-02 -1.06984819e-03 9.99877471e-01 3.03302627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7207140569999 meters Centerline goodness [0,1] 0.9876996593071103 Centerline is valid? [True, True] Translation: X:835.82, Y:-63.67, Z:3.03 [[ 9.99802572e-01 -1.29973008e-02 -1.50295419e-02 8.35822212e+02] [ 1.30111005e-02 9.99915015e-01 8.20749556e-04 -6.36679879e+01] [ 1.50175971e-02 -1.01613840e-03 9.99886713e-01 3.03302978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.750714057 meters Centerline goodness [0,1] 0.9886552480556602 Centerline is valid? [True, True] Translation: X:835.85, Y:-63.66, Z:3.03 [[ 9.99809592e-01 -1.25592136e-02 -1.49346925e-02 8.35851324e+02] [ 1.25727393e-02 9.99920630e-01 8.12106106e-04 -6.36630283e+01] [ 1.49233077e-02 -9.99721470e-04 9.99888141e-01 3.03379725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.780714057 meters Centerline goodness [0,1] 0.9872410056829489 Centerline is valid? [True, True] Translation: X:835.88, Y:-63.67, Z:3.03 [[ 9.99813101e-01 -1.26562998e-02 -1.46144040e-02 8.35878699e+02] [ 1.26692368e-02 9.99919428e-01 7.92977260e-04 -6.36713018e+01] [ 1.46031903e-02 -9.77982398e-04 9.99892889e-01 3.03229119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8107140569999 meters Centerline goodness [0,1] 0.9854758961681088 Centerline is valid? [True, True] Translation: X:835.91, Y:-63.68, Z:3.03 [[ 9.99810552e-01 -1.31297938e-02 -1.43690203e-02 8.35907278e+02] [ 1.31423369e-02 9.99913332e-01 7.78842597e-04 -6.36793582e+01] [ 1.43575490e-02 -9.67537552e-04 9.99896457e-01 3.03097341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8407140569999 meters Centerline goodness [0,1] 0.9869357619700252 Centerline is valid? [True, True] Translation: X:835.94, Y:-63.68, Z:3.03 [[ 9.99798788e-01 -1.40768789e-02 -1.42907388e-02 8.35936729e+02] [ 1.40893717e-02 9.99900440e-01 7.73883828e-04 -6.36758145e+01] [ 1.42784222e-02 -9.75075644e-04 9.99897583e-01 3.03178844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.870714057 meters Centerline goodness [0,1] 0.986910821709526 Centerline is valid? [True, True] Translation: X:835.97, Y:-63.67, Z:3.03 [[ 9.99774978e-01 -1.53654247e-02 -1.46252284e-02 8.35966273e+02] [ 1.53786354e-02 9.99881429e-01 7.91238266e-04 -6.36724947e+01] [ 1.46113365e-02 -1.01597627e-03 9.99892733e-01 3.03246217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.900714057 meters Centerline goodness [0,1] 0.9865520526397412 Centerline is valid? [True, True] Translation: X:836.00, Y:-63.68, Z:3.03 [[ 9.99730685e-01 -1.82774637e-02 -1.43000647e-02 8.35996221e+02] [ 1.82903850e-02 9.99832418e-01 7.73312162e-04 -6.36753329e+01] [ 1.42835340e-02 -1.03465759e-03 9.99897450e-01 3.03267266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9307140569999 meters Centerline goodness [0,1] 0.9870823362580874 Centerline is valid? [True, True] Translation: X:836.03, Y:-63.67, Z:3.03 [[ 9.99708632e-01 -1.93464312e-02 -1.44349205e-02 8.36027211e+02] [ 1.93597076e-02 9.99812279e-01 7.80559784e-04 -6.36713234e+01] [ 1.44171097e-02 -1.05978819e-03 9.99895506e-01 3.03418178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9607140569999 meters Centerline goodness [0,1] 0.9859607877927609 Centerline is valid? [True, True] Translation: X:836.06, Y:-63.68, Z:3.03 [[ 9.99701146e-01 -2.01990540e-02 -1.37701556e-02 8.36057074e+02] [ 2.02112188e-02 9.99795455e-01 7.44813534e-04 -6.36788165e+01] [ 1.37522945e-02 -1.02290257e-03 9.99904910e-01 3.03408156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9907140569999 meters Centerline goodness [0,1] 0.9863412250699596 Centerline is valid? [True, True] Translation: X:836.09, Y:-63.68, Z:3.04 [[ 9.99700390e-01 -2.04489758e-02 -1.34524598e-02 8.36088367e+02] [ 2.04606140e-02 9.99790395e-01 7.28059161e-04 -6.36765774e+01] [ 1.34347520e-02 -1.00308661e-03 9.99909247e-01 3.03500859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.020714057 meters Centerline goodness [0,1] 0.9862645897128656 Centerline is valid? [True, True] Translation: X:836.12, Y:-63.68, Z:3.04 [[ 9.99706391e-01 -2.02348540e-02 -1.33297577e-02 8.36118169e+02] [ 2.02462655e-02 9.99794763e-01 7.21697180e-04 -6.36791061e+01] [ 1.33124185e-02 -9.91363097e-04 9.99910894e-01 3.03511885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0507140569999 meters Centerline goodness [0,1] 0.9860325906218823 Centerline is valid? [True, True] Translation: X:836.15, Y:-63.68, Z:3.04 [[ 9.99722768e-01 -1.98015677e-02 -1.27390993e-02 8.36149976e+02] [ 1.98119604e-02 9.99803486e-01 6.90118642e-04 -6.36786950e+01] [ 1.27229304e-02 -9.42313851e-04 9.99918616e-01 3.03557007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0807140569999 meters Centerline goodness [0,1] 0.9866373665401434 Centerline is valid? [True, True] Translation: X:836.18, Y:-63.68, Z:3.04 [[ 9.99735141e-01 -1.87311864e-02 -1.33712382e-02 8.36181602e+02] [ 1.87425474e-02 9.99824080e-01 7.24843488e-04 -6.36755065e+01] [ 1.33553088e-02 -9.75262574e-04 9.99910338e-01 3.03565868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1107140569999 meters Centerline goodness [0,1] 0.986643850837815 Centerline is valid? [True, True] Translation: X:836.21, Y:-63.67, Z:3.04 [[ 9.99746428e-01 -1.81002566e-02 -1.33962711e-02 8.36212920e+02] [ 1.81116103e-02 9.99835707e-01 7.26680349e-04 -6.36746213e+01] [ 1.33809171e-02 -9.69124126e-04 9.99910002e-01 3.03599963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.140714057 meters Centerline goodness [0,1] 0.986643850837815 Centerline is valid? [True, True] Translation: X:836.24, Y:-63.68, Z:3.04 [[ 9.99747074e-01 -1.80645657e-02 -1.33962452e-02 8.36243803e+02] [ 1.80759225e-02 9.99836353e-01 7.27158669e-04 -6.36763271e+01] [ 1.33809171e-02 -9.69124242e-04 9.99910002e-01 3.03607923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1707140569999 meters Centerline goodness [0,1] 0.9877986442938105 Centerline is valid? [True, True] Translation: X:836.27, Y:-63.68, Z:3.04 [[ 9.99769062e-01 -1.68309864e-02 -1.33619232e-02 8.36274366e+02] [ 1.68421794e-02 9.99857897e-01 7.25579178e-04 -6.36760666e+01] [ 1.33478122e-02 -9.50455522e-04 9.99910462e-01 3.03648959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2007140569999 meters Centerline goodness [0,1] 0.9866175458842851 Centerline is valid? [True, True] Translation: X:836.30, Y:-63.68, Z:3.04 [[ 9.99768095e-01 -1.66024143e-02 -1.37155515e-02 8.36304586e+02] [ 1.66141895e-02 9.99861697e-01 7.45023644e-04 -6.36817832e+01] [ 1.37012855e-02 -9.72723641e-04 9.99905660e-01 3.03589817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2307140569999 meters Centerline goodness [0,1] 0.9882276872310539 Centerline is valid? [True, True] Translation: X:836.34, Y:-63.67, Z:3.04 [[ 9.99779519e-01 -1.63360008e-02 -1.31927495e-02 8.36335424e+02] [ 1.63468728e-02 9.99866124e-01 7.16668461e-04 -6.36749807e+01] [ 1.31792758e-02 -9.32170648e-04 9.99912715e-01 3.03700293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.260714057 meters Centerline goodness [0,1] 0.9871675531914894 Centerline is valid? [True, True] Translation: X:836.37, Y:-63.68, Z:3.04 [[ 9.99797436e-01 -1.54153847e-02 -1.29403483e-02 8.36365562e+02] [ 1.54257703e-02 9.99880768e-01 7.03140136e-04 -6.36786956e+01] [ 1.29279662e-02 -9.02612545e-04 9.99916023e-01 3.03642506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.290714057 meters Centerline goodness [0,1] 0.9874219446922391 Centerline is valid? [True, True] Translation: X:836.40, Y:-63.68, Z:3.04 [[ 9.99799026e-01 -1.56073832e-02 -1.25823836e-02 8.36396268e+02] [ 1.56172178e-02 9.99877810e-01 6.83733467e-04 -6.36775613e+01] [ 1.25701749e-02 -8.80097880e-04 9.99920605e-01 3.03652063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3207140569999 meters Centerline goodness [0,1] 0.9883557831459423 Centerline is valid? [True, True] Translation: X:836.43, Y:-63.68, Z:3.04 [[ 9.99811257e-01 -1.50740456e-02 -1.22565594e-02 8.36426785e+02] [ 1.50833450e-02 9.99886018e-01 6.66642542e-04 -6.36792729e+01] [ 1.22451134e-02 -8.51386632e-04 9.99924663e-01 3.03662530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3507140569999 meters Centerline goodness [0,1] 0.9886853087549377 Centerline is valid? [True, True] Translation: X:836.46, Y:-63.68, Z:3.04 [[ 9.99814203e-01 -1.48341394e-02 -1.23088269e-02 8.36457433e+02] [ 1.48435022e-02 9.99889605e-01 6.69649182e-04 -6.36785441e+01] [ 1.22975344e-02 -8.52230864e-04 9.99924019e-01 3.03671909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.380714057 meters Centerline goodness [0,1] 0.9891946308724833 Centerline is valid? [True, True] Translation: X:836.49, Y:-63.67, Z:3.04 [[ 9.99817182e-01 -1.42300266e-02 -1.27713775e-02 8.36488488e+02] [ 1.42400573e-02 9.99898364e-01 6.94813778e-04 -6.36747550e+01] [ 1.27601923e-02 -8.76551903e-04 9.99918201e-01 3.03763373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.410714057 meters Centerline goodness [0,1] 0.9875162199650991 Centerline is valid? [True, True] Translation: X:836.52, Y:-63.68, Z:3.04 [[ 9.99817695e-01 -1.41335194e-02 -1.28382669e-02 8.36517673e+02] [ 1.41436453e-02 9.99899730e-01 6.98273272e-04 -6.36810237e+01] [ 1.28271106e-02 -8.79725868e-04 9.99917342e-01 3.03704552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4407140569999 meters Centerline goodness [0,1] 0.987979047277937 Centerline is valid? [True, True] Translation: X:836.55, Y:-63.68, Z:3.04 [[ 9.99817013e-01 -1.42033011e-02 -1.28142951e-02 8.36548244e+02] [ 1.42133943e-02 9.99898742e-01 6.96924578e-04 -6.36820725e+01] [ 1.28030989e-02 -8.78931679e-04 9.99917651e-01 3.03700634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4707140569999 meters Centerline goodness [0,1] 0.9886915825066619 Centerline is valid? [True, True] Translation: X:836.58, Y:-63.67, Z:3.04 [[ 9.99820881e-01 -1.42688107e-02 -1.24341079e-02 8.36579458e+02] [ 1.42783189e-02 9.99897831e-01 6.76247531e-04 -6.36746507e+01] [ 1.24231883e-02 -8.53664561e-04 9.99922465e-01 3.03886212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.500714057 meters Centerline goodness [0,1] 0.9887879330409095 Centerline is valid? [True, True] Translation: X:836.61, Y:-63.67, Z:3.04 [[ 9.99825244e-01 -1.44420894e-02 -1.18704757e-02 8.36610168e+02] [ 1.44507672e-02 9.99895374e-01 6.45593551e-04 -6.36749079e+01] [ 1.18599100e-02 -8.17018211e-04 9.99929335e-01 3.03945652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.530714057 meters Centerline goodness [0,1] 0.9876636848328016 Centerline is valid? [True, True] Translation: X:836.64, Y:-63.68, Z:3.04 [[ 9.99819741e-01 -1.45428932e-02 -1.22061023e-02 8.36640505e+02] [ 1.45520783e-02 9.99893892e-01 6.64018311e-04 -6.36841920e+01] [ 1.21951504e-02 -8.41522773e-04 9.99925282e-01 3.03849652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5607140569999 meters Centerline goodness [0,1] 0.9873187592584279 Centerline is valid? [True, True] Translation: X:836.67, Y:-63.68, Z:3.04 [[ 9.99800845e-01 -1.57555445e-02 -1.22488362e-02 8.36671410e+02] [ 1.57648851e-02 9.99875504e-01 6.66388889e-04 -6.36787250e+01] [ 1.22368119e-02 -8.59357669e-04 9.99924758e-01 3.03917911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5907140569999 meters Centerline goodness [0,1] 0.9883261494252874 Centerline is valid? [True, True] Translation: X:836.70, Y:-63.68, Z:3.04 [[ 9.99788195e-01 -1.63322591e-02 -1.25228695e-02 8.36703061e+02] [ 1.63420718e-02 9.99866227e-01 6.81646615e-04 -6.36807227e+01] [ 1.25100614e-02 -8.86151870e-04 9.99921353e-01 3.03901998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.620714057 meters Centerline goodness [0,1] 0.9872651450607596 Centerline is valid? [True, True] Translation: X:836.73, Y:-63.68, Z:3.04 [[ 9.99776213e-01 -1.69929979e-02 -1.26000457e-02 8.36734490e+02] [ 1.70029897e-02 9.99855203e-01 6.86287302e-04 -6.36831175e+01] [ 1.25865591e-02 -9.00372166e-04 9.99920381e-01 3.03855749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.650714057 meters Centerline goodness [0,1] 0.9872657160792754 Centerline is valid? [True, True] Translation: X:836.77, Y:-63.68, Z:3.04 [[ 9.99758634e-01 -1.75921073e-02 -1.31601944e-02 8.36765877e+02] [ 1.76030649e-02 9.99844797e-01 7.17257857e-04 -6.36848766e+01] [ 1.31455338e-02 -9.48744492e-04 9.99913144e-01 3.03858113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6807140569999 meters Centerline goodness [0,1] 0.9875676039586185 Centerline is valid? [True, True] Translation: X:836.80, Y:-63.68, Z:3.04 [[ 9.99750971e-01 -1.82608757e-02 -1.28271697e-02 8.36796944e+02] [ 1.82713463e-02 9.99832820e-01 6.99551584e-04 -6.36842873e+01] [ 1.28122508e-02 -9.33747035e-04 9.99917484e-01 3.03924931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7107140569999 meters Centerline goodness [0,1] 0.9862586863931854 Centerline is valid? [True, True] Translation: X:836.83, Y:-63.69, Z:3.04 [[ 9.99751178e-01 -1.83048704e-02 -1.27481288e-02 8.36827980e+02] [ 1.83152316e-02 9.99832019e-01 6.96486024e-04 -6.36885818e+01] [ 1.27332382e-02 -9.29797654e-04 9.99918497e-01 3.03911451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7407140569999 meters Centerline goodness [0,1] 0.987099234928541 Centerline is valid? [True, True] Translation: X:836.86, Y:-63.69, Z:3.04 [[ 9.99767992e-01 -1.79348167e-02 -1.19291690e-02 8.36859276e+02] [ 1.79438703e-02 9.99838783e-01 6.52344239e-04 -6.36850336e+01] [ 1.19155461e-02 -8.66248351e-04 9.99928632e-01 3.04044673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.770714057 meters Centerline goodness [0,1] 0.9866016507482049 Centerline is valid? [True, True] Translation: X:836.89, Y:-63.69, Z:3.04 [[ 9.99773073e-01 -1.79274511e-02 -1.15069263e-02 8.36890292e+02] [ 1.79358811e-02 9.99838941e-01 6.29810362e-04 -6.36866228e+01] [ 1.14937821e-02 -8.36054302e-04 9.99933595e-01 3.04102017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8007140569999 meters Centerline goodness [0,1] 0.9854587135344092 Centerline is valid? [True, True] Translation: X:836.92, Y:-63.69, Z:3.04 [[ 9.99787436e-01 -1.77346116e-02 -1.05150967e-02 8.36920952e+02] [ 1.77416465e-02 9.99842439e-01 5.76117061e-04 -6.36880621e+01] [ 1.05032227e-02 -7.62549728e-04 9.99944549e-01 3.04162128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8307140569999 meters Centerline goodness [0,1] 0.9863220175024184 Centerline is valid? [True, True] Translation: X:836.95, Y:-63.69, Z:3.04 [[ 9.99789486e-01 -1.76329772e-02 -1.04909983e-02 8.36952166e+02] [ 1.76399802e-02 9.99844238e-01 5.75353912e-04 -6.36916549e+01] [ 1.04792190e-02 -7.60293794e-04 9.99944802e-01 3.04160920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8607140569999 meters Centerline goodness [0,1] 0.9873449075637821 Centerline is valid? [True, True] Translation: X:836.98, Y:-63.69, Z:3.04 [[ 9.99792435e-01 -1.76198562e-02 -1.02287493e-02 8.36984938e+02] [ 1.76265196e-02 9.99844483e-01 5.61644660e-04 -6.36855173e+01] [ 1.02172625e-02 -7.41825333e-04 9.99947527e-01 3.04254912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.890714057 meters Centerline goodness [0,1] 0.9870413774452358 Centerline is valid? [True, True] Translation: X:837.02, Y:-63.68, Z:3.04 [[ 9.99773675e-01 -1.84201708e-02 -1.06440756e-02 8.37016426e+02] [ 1.84274366e-02 9.99830029e-01 5.84933331e-04 -6.36826314e+01] [ 1.06314918e-02 -7.80943974e-04 9.99943179e-01 3.04241155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9207140569999 meters Centerline goodness [0,1] 0.9872164855480904 Centerline is valid? [True, True] Translation: X:837.05, Y:-63.69, Z:3.04 [[ 9.99763473e-01 -1.89371530e-02 -1.06949202e-02 8.37047795e+02] [ 1.89445234e-02 9.99820363e-01 5.88260923e-04 -6.36863862e+01] [ 1.06818590e-02 -7.90731950e-04 9.99942635e-01 3.04223678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9507140569999 meters Centerline goodness [0,1] 0.9856702584752435 Centerline is valid? [True, True] Translation: X:837.08, Y:-63.69, Z:3.04 [[ 9.99738884e-01 -2.00243940e-02 -1.10085204e-02 8.37078893e+02] [ 2.00322787e-02 9.99799150e-01 6.06423546e-04 -6.36910879e+01] [ 1.09941660e-02 -8.26790947e-04 9.99939221e-01 3.04171662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9807140569999 meters Centerline goodness [0,1] 0.987752808988764 Centerline is valid? [True, True] Translation: X:837.11, Y:-63.69, Z:3.04 [[ 9.99685962e-01 -2.24554476e-02 -1.11233721e-02 8.37109750e+02] [ 2.24636516e-02 9.99747472e-01 6.13143213e-04 -6.36868119e+01] [ 1.11067947e-02 -8.62822219e-04 9.99937945e-01 3.04210517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.010714057 meters Centerline goodness [0,1] 0.9877630271832385 Centerline is valid? [True, True] Translation: X:837.14, Y:-63.69, Z:3.04 [[ 9.99642366e-01 -2.40461318e-02 -1.17014423e-02 8.37140436e+02] [ 2.40553216e-02 9.99710421e-01 6.45223564e-04 -6.36893395e+01] [ 1.16825387e-02 -9.26474768e-04 9.99931328e-01 3.04192267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.040714057 meters Centerline goodness [0,1] 0.9864626649792081 Centerline is valid? [True, True] Translation: X:837.17, Y:-63.69, Z:3.04 [[ 9.99598812e-01 -2.57067778e-02 -1.18901701e-02 8.37170271e+02] [ 2.57163837e-02 9.99669064e-01 6.55677789e-04 -6.36940917e+01] [ 1.18693799e-02 -9.61186918e-04 9.99929094e-01 3.04138566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0707140569999 meters Centerline goodness [0,1] 0.9851796711105095 Centerline is valid? [True, True] Translation: X:837.20, Y:-63.70, Z:3.04 [[ 9.99549626e-01 -2.73562743e-02 -1.23361122e-02 8.37200663e+02] [ 2.73667412e-02 9.99625229e-01 6.80443367e-04 -6.36990267e+01] [ 1.23128746e-02 -1.01773610e-03 9.99923676e-01 3.04043437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1007140569999 meters Centerline goodness [0,1] 0.9859186713002663 Centerline is valid? [True, True] Translation: X:837.23, Y:-63.70, Z:3.04 [[ 9.99452311e-01 -3.02775315e-02 -1.33547496e-02 8.37230960e+02] [ 3.02900587e-02 9.99540879e-01 7.36721535e-04 -6.36974788e+01] [ 1.33263121e-02 -1.14083419e-03 9.99910550e-01 3.03989848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.130714057 meters Centerline goodness [0,1] 0.9870906587826401 Centerline is valid? [True, True] Translation: X:837.26, Y:-63.70, Z:3.04 [[ 9.99404521e-01 -3.13783575e-02 -1.43527455e-02 8.37262934e+02] [ 3.13929494e-02 9.99506806e-01 7.92444967e-04 -6.36961111e+01] [ 1.43208012e-02 -1.24254810e-03 9.99896680e-01 3.04027667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.160714057 meters Centerline goodness [0,1] 0.9626760882366263 Centerline is valid? [True, True] Translation: X:837.29, Y:-63.72, Z:3.04 [[ 9.99374906e-01 -3.22214716e-02 -1.45455803e-02 8.37293349e+02] [ 3.22365587e-02 9.99479944e-01 8.03899805e-04 -6.37165091e+01] [ 1.45121129e-02 -1.27229674e-03 9.99893884e-01 3.03733748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1907140569999 meters Centerline goodness [0,1] 0.9856787330316742 Centerline is valid? [True, True] Translation: X:837.33, Y:-63.70, Z:3.04 [[ 9.99346588e-01 -3.27786715e-02 -1.52300901e-02 8.37326741e+02] [ 3.27952926e-02 9.99461734e-01 8.42800941e-04 -6.37006635e+01] [ 1.51942663e-02 -1.34172550e-03 9.99883660e-01 3.04015510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2207140569999 meters Centerline goodness [0,1] 0.9857485952510422 Centerline is valid? [True, True] Translation: X:837.36, Y:-63.70, Z:3.04 [[ 9.99361893e-01 -3.25042723e-02 -1.48080892e-02 8.37357637e+02] [ 3.25199676e-02 9.99470749e-01 8.20292018e-04 -6.37032594e+01] [ 1.47735890e-02 -1.30132716e-03 9.99890018e-01 3.04003853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.250714057 meters Centerline goodness [0,1] 0.9860742555169989 Centerline is valid? [True, True] Translation: X:837.39, Y:-63.70, Z:3.04 [[ 9.99391948e-01 -3.17762109e-02 -1.43529416e-02 8.37390314e+02] [ 3.17908987e-02 9.99494224e-01 7.96272079e-04 -6.37030156e+01] [ 1.43203797e-02 -1.25208082e-03 9.99896674e-01 3.04094398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.280714057 meters Centerline goodness [0,1] 0.9854531469164292 Centerline is valid? [True, True] Translation: X:837.42, Y:-63.70, Z:3.04 [[ 9.99418387e-01 -3.12204428e-02 -1.37175492e-02 8.37422456e+02] [ 3.12338207e-02 9.99511815e-01 7.62037195e-04 -6.37048177e+01] [ 1.36870613e-02 -1.19004546e-03 9.99905620e-01 3.04148762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3107140569999 meters Centerline goodness [0,1] 0.9849794145591096 Centerline is valid? [True, True] Translation: X:837.45, Y:-63.71, Z:3.04 [[ 9.99462497e-01 -3.00612963e-02 -1.30780877e-02 8.37452651e+02] [ 3.00733621e-02 9.99547430e-01 7.26876608e-04 -6.37060636e+01] [ 1.30503181e-02 -1.11978798e-03 9.99914214e-01 3.04182544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3407140569999 meters Centerline goodness [0,1] 0.984064284585694 Centerline is valid? [True, True] Translation: X:837.48, Y:-63.71, Z:3.04 [[ 9.99494052e-01 -2.93163335e-02 -1.23366343e-02 8.37484834e+02] [ 2.93270226e-02 9.99569635e-01 6.86398800e-04 -6.37060859e+01] [ 1.23112024e-02 -1.04784827e-03 9.99923665e-01 3.04251750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.370714057 meters Centerline goodness [0,1] 0.9846272797562196 Centerline is valid? [True, True] Translation: X:837.52, Y:-63.71, Z:3.04 [[ 9.99524001e-01 -2.84442197e-02 -1.19456274e-02 8.37517399e+02] [ 2.84541900e-02 9.99594876e-01 6.65478800e-04 -6.37066855e+01] [ 1.19218589e-02 -1.00506518e-03 9.99928427e-01 3.04267760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.400714057 meters Centerline goodness [0,1] 0.984706283376889 Centerline is valid? [True, True] Translation: X:837.55, Y:-63.71, Z:3.04 [[ 9.99572610e-01 -2.69038450e-02 -1.14359476e-02 8.37548960e+02] [ 2.69128880e-02 9.99637579e-01 6.37568928e-04 -6.37065675e+01] [ 1.14146499e-02 -9.45070813e-04 9.99934404e-01 3.04308061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4307140569999 meters Centerline goodness [0,1] 0.9865876906318083 Centerline is valid? [True, True] Translation: X:837.58, Y:-63.70, Z:3.04 [[ 9.99584315e-01 -2.65312190e-02 -1.12823391e-02 8.37581667e+02] [ 2.65400052e-02 9.99647554e-01 6.29726002e-04 -6.37017679e+01] [ 1.12616553e-02 -9.28897574e-04 9.99936154e-01 3.04391236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4607140569999 meters Centerline goodness [0,1] 0.981794597546822 Centerline is valid? [True, True] Translation: X:837.61, Y:-63.71, Z:3.04 [[ 9.99581787e-01 -2.64838523e-02 -1.16127423e-02 8.37611828e+02] [ 2.64931654e-02 9.99648784e-01 6.48847900e-04 -6.37143288e+01] [ 1.15914798e-02 -9.56234848e-04 9.99932359e-01 3.04267356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4907140569999 meters Centerline goodness [0,1] 0.9858239810986414 Centerline is valid? [True, True] Translation: X:837.64, Y:-63.70, Z:3.04 [[ 9.99582494e-01 -2.62799619e-02 -1.20083681e-02 8.37644796e+02] [ 2.62899157e-02 9.99654135e-01 6.71779740e-04 -6.37048323e+01] [ 1.19865605e-02 -9.87198253e-04 9.99927671e-01 3.04383413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.520714057 meters Centerline goodness [0,1] 0.9815004437162946 Centerline is valid? [True, True] Translation: X:837.68, Y:-63.72, Z:3.04 [[ 9.99563572e-01 -2.68021402e-02 -1.24222107e-02 8.37675399e+02] [ 2.68128410e-02 9.99640229e-01 6.95655083e-04 -6.37175827e+01] [ 1.23990965e-02 -1.02842624e-03 9.99922599e-01 3.04246524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5507140569999 meters Centerline goodness [0,1] 0.98534498452576 Centerline is valid? [True, True] Translation: X:837.71, Y:-63.71, Z:3.04 [[ 9.99557339e-01 -2.69676705e-02 -1.25646684e-02 8.37708309e+02] [ 2.69786419e-02 9.99635762e-01 7.04488033e-04 -6.37107318e+01] [ 1.25410935e-02 -1.04315387e-03 9.99920813e-01 3.04302080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5807140569999 meters Centerline goodness [0,1] 0.9859110193524968 Centerline is valid? [True, True] Translation: X:837.74, Y:-63.71, Z:3.04 [[ 9.99549325e-01 -2.70476833e-02 -1.30218728e-02 8.37740730e+02] [ 2.70594867e-02 9.99633558e-01 7.31065245e-04 -6.37115880e+01] [ 1.29973274e-02 -1.08310097e-03 9.99914945e-01 3.04282958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6107140569999 meters Centerline goodness [0,1] 0.9856052841362032 Centerline is valid? [True, True] Translation: X:837.77, Y:-63.71, Z:3.04 [[ 9.99542130e-01 -2.70866339e-02 -1.34849976e-02 8.37772529e+02] [ 2.70993085e-02 9.99632459e-01 7.58034978e-04 -6.37143351e+01] [ 1.34595087e-02 -1.12312201e-03 9.99908786e-01 3.04207139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.640714057 meters Centerline goodness [0,1] 0.9864494935669312 Centerline is valid? [True, True] Translation: X:837.80, Y:-63.72, Z:3.04 [[ 9.99548061e-01 -2.65511377e-02 -1.40964795e-02 8.37804012e+02] [ 2.65649463e-02 9.99646775e-01 7.93211862e-04 -6.37165862e+01] [ 1.40704396e-02 -1.16732560e-03 9.99900325e-01 3.04159763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6707140569999 meters Centerline goodness [0,1] 0.9849281697516108 Centerline is valid? [True, True] Translation: X:837.84, Y:-63.72, Z:3.04 [[ 9.99545984e-01 -2.63498937e-02 -1.46119734e-02 8.37835781e+02] [ 2.63647240e-02 9.99652051e-01 8.23208561e-04 -6.37183041e+01] [ 1.45851977e-02 -1.20807546e-03 9.99892901e-01 3.04167473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7007140569999 meters Centerline goodness [0,1] 0.984562411638619 Centerline is valid? [True, True] Translation: X:837.87, Y:-63.72, Z:3.04 [[ 9.99543854e-01 -2.62139096e-02 -1.49971334e-02 8.37868217e+02] [ 2.62295328e-02 9.99655589e-01 8.45966952e-04 -6.37198423e+01] [ 1.49697921e-02 -1.23894887e-03 9.99887179e-01 3.04155130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7307140569999 meters Centerline goodness [0,1] 0.984950214670686 Centerline is valid? [True, True] Translation: X:837.90, Y:-63.72, Z:3.04 [[ 9.99542107e-01 -2.60486414e-02 -1.53962820e-02 8.37900110e+02] [ 2.60651045e-02 9.99659869e-01 8.69564147e-04 -6.37220401e+01] [ 1.53683943e-02 -1.27047168e-03 9.99881092e-01 3.04152511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.760714057 meters Centerline goodness [0,1] 0.9864892668541252 Centerline is valid? [True, True] Translation: X:837.93, Y:-63.72, Z:3.04 [[ 9.99522444e-01 -2.66431986e-02 -1.56532712e-02 8.37932472e+02] [ 2.66603061e-02 9.99644159e-01 8.85211394e-04 -6.37173512e+01] [ 1.56241162e-02 -1.30210966e-03 9.99877088e-01 3.04292710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.790714057 meters Centerline goodness [0,1] 0.9859874937240404 Centerline is valid? [True, True] Translation: X:837.96, Y:-63.72, Z:3.04 [[ 9.99513589e-01 -2.69024604e-02 -1.57747806e-02 8.37964287e+02] [ 2.69198846e-02 9.99637195e-01 8.93223745e-04 -6.37202346e+01] [ 1.57450275e-02 -1.31744454e-03 9.99875171e-01 3.04277802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8207140569999 meters Centerline goodness [0,1] 0.9855168475157053 Centerline is valid? [True, True] Translation: X:838.00, Y:-63.72, Z:3.04 [[ 9.99485779e-01 -2.77258475e-02 -1.61075805e-02 8.37995698e+02] [ 2.77441356e-02 9.99614640e-01 9.12985409e-04 -6.37238975e+01] [ 1.60760600e-02 -1.35940683e-03 9.99869848e-01 3.04297489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8507140569999 meters Centerline goodness [0,1] 0.9864852524883573 Centerline is valid? [True, True] Translation: X:838.03, Y:-63.73, Z:3.04 [[ 9.99448232e-01 -2.92305395e-02 -1.57736019e-02 8.38027040e+02] [ 2.92482764e-02 9.99571777e-01 8.94902966e-04 -6.37269726e+01] [ 1.57406888e-02 -1.35575985e-03 9.99875189e-01 3.04337620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.880714057 meters Centerline goodness [0,1] 0.9867156650156353 Centerline is valid? [True, True] Translation: X:838.06, Y:-63.73, Z:3.04 [[ 9.99432129e-01 -2.97611332e-02 -1.58017126e-02 8.38058970e+02] [ 2.97790238e-02 9.99556103e-01 8.98056864e-04 -6.37258924e+01] [ 1.57679711e-02 -1.36810646e-03 9.99874742e-01 3.04405207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.910714057 meters Centerline goodness [0,1] 0.9856810616079165 Centerline is valid? [True, True] Translation: X:838.09, Y:-63.73, Z:3.04 [[ 9.99418121e-01 -3.03464615e-02 -1.55727573e-02 8.38090066e+02] [ 3.03639230e-02 9.99538517e-01 8.86023201e-04 -6.37302674e+01] [ 1.55386830e-02 -1.35835765e-03 9.99878345e-01 3.04371204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9407140569999 meters Centerline goodness [0,1] 0.9853708556454369 Centerline is valid? [True, True] Translation: X:838.12, Y:-63.73, Z:3.04 [[ 9.99412027e-01 -3.07195137e-02 -1.52286500e-02 8.38122197e+02] [ 3.07362710e-02 9.99527153e-01 8.67501748e-04 -6.37309053e+01] [ 1.51947999e-02 -1.33506359e-03 9.99883661e-01 3.04372347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9707140569999 meters Centerline goodness [0,1] 0.9859292598654301 Centerline is valid? [True, True] Translation: X:838.15, Y:-63.73, Z:3.04 [[ 9.99400134e-01 -3.13149192e-02 -1.47901456e-02 8.38154526e+02] [ 3.13308057e-02 9.99508714e-01 8.43591577e-04 -6.37335978e+01] [ 1.47564624e-02 -1.30647271e-03 9.99890264e-01 3.04361124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.000714057 meters Centerline goodness [0,1] 0.9834886938377446 Centerline is valid? [True, True] Translation: X:838.19, Y:-63.74, Z:3.04 [[ 9.99395149e-01 -3.16389230e-02 -1.44331022e-02 8.38185537e+02] [ 3.16540971e-02 9.99498544e-01 8.24050456e-04 -6.37433569e+01] [ 1.43997926e-02 -1.28041885e-03 9.99895498e-01 3.04260279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.030714057 meters Centerline goodness [0,1] 0.985243963439589 Centerline is valid? [True, True] Translation: X:838.22, Y:-63.74, Z:3.04 [[ 9.99377549e-01 -3.24334459e-02 -1.38775093e-02 8.38217325e+02] [ 3.24475604e-02 9.99473125e-01 7.93070587e-04 -6.37428414e+01] [ 1.38444756e-02 -1.24286826e-03 9.99903388e-01 3.04294735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0607140569999 meters Centerline goodness [0,1] 0.985243963439589 Centerline is valid? [True, True] Translation: X:838.25, Y:-63.74, Z:3.04 [[ 9.99379864e-01 -3.23620752e-02 -1.38774553e-02 8.38249097e+02] [ 3.23761959e-02 9.99475438e-01 7.94015728e-04 -6.37447196e+01] [ 1.38444797e-02 -1.24282254e-03 9.99903388e-01 3.04302923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0907140569999 meters Centerline goodness [0,1] 0.9851739169920988 Centerline is valid? [True, True] Translation: X:838.28, Y:-63.75, Z:3.04 [[ 9.99365782e-01 -3.27947153e-02 -1.38759178e-02 8.38281230e+02] [ 3.28088879e-02 9.99461327e-01 7.94915938e-04 -6.37485432e+01] [ 1.38423742e-02 -1.24966522e-03 9.99903409e-01 3.04267391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.120714057 meters Centerline goodness [0,1] 0.9818838932581716 Centerline is valid? [True, True] Translation: X:838.31, Y:-63.76, Z:3.04 [[ 9.99357064e-01 -3.31504428e-02 -1.36567302e-02 8.38311766e+02] [ 3.31642145e-02 9.99449609e-01 7.83125780e-04 -6.37564896e+01] [ 1.36232527e-02 -1.23553701e-03 9.99906436e-01 3.04186512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.150714057 meters Centerline goodness [0,1] 0.9853751445479899 Centerline is valid? [True, True] Translation: X:838.34, Y:-63.75, Z:3.04 [[ 9.99339318e-01 -3.35406829e-02 -1.39981936e-02 8.38344365e+02] [ 3.35552033e-02 9.99436542e-01 8.03662002e-04 -6.37537476e+01] [ 1.39633508e-02 -1.27284327e-03 9.99901698e-01 3.04135975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1807140569999 meters Centerline goodness [0,1] 0.9857012957490339 Centerline is valid? [True, True] Translation: X:838.38, Y:-63.76, Z:3.04 [[ 9.99338064e-01 -3.35229969e-02 -1.41295164e-02 8.38376177e+02] [ 3.35378036e-02 9.99437120e-01 8.12214907e-04 -6.37556555e+01] [ 1.40943353e-02 -1.28555022e-03 9.99899844e-01 3.04102245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2107140569999 meters Centerline goodness [0,1] 0.9839785775881632 Centerline is valid? [True, True] Translation: X:838.41, Y:-63.76, Z:3.04 [[ 9.99336607e-01 -3.33308438e-02 -1.46765569e-02 8.38407534e+02] [ 3.33468141e-02 9.99443483e-01 8.44713760e-04 -6.37627360e+01] [ 1.46402341e-02 -1.33356980e-03 9.99891937e-01 3.03992314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2407140569999 meters Centerline goodness [0,1] 0.9857013574660634 Centerline is valid? [True, True] Translation: X:838.44, Y:-63.76, Z:3.04 [[ 9.99367034e-01 -3.23824470e-02 -1.47277811e-02 8.38440260e+02] [ 3.23984425e-02 9.99474672e-01 8.48717800e-04 -6.37596288e+01] [ 1.46925607e-02 -1.32533776e-03 9.99891180e-01 3.03967820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.270714057 meters Centerline goodness [0,1] 0.9846485260770975 Centerline is valid? [True, True] Translation: X:838.47, Y:-63.77, Z:3.04 [[ 9.99378877e-01 -3.20440454e-02 -1.46641879e-02 8.38471153e+02] [ 3.20598790e-02 9.99485592e-01 8.45883285e-04 -6.37658384e+01] [ 1.46295390e-02 -1.31548998e-03 9.99892117e-01 3.03919183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3007140569999 meters Centerline goodness [0,1] 0.9856106956718785 Centerline is valid? [True, True] Translation: X:838.50, Y:-63.77, Z:3.04 [[ 9.99402466e-01 -3.14656676e-02 -1.43046538e-02 8.38503823e+02] [ 3.14806921e-02 9.99504019e-01 8.26317122e-04 -6.37661898e+01] [ 1.42715584e-02 -1.27614377e-03 9.99897342e-01 3.03975642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3307140569999 meters Centerline goodness [0,1] 0.9849936432982201 Centerline is valid? [True, True] Translation: X:838.54, Y:-63.77, Z:3.04 [[ 9.99431184e-01 -3.09672140e-02 -1.33544388e-02 8.38535982e+02] [ 3.09802774e-02 9.99519698e-01 7.72400974e-04 -6.37704098e+01] [ 1.33241055e-02 -1.18568584e-03 9.99910527e-01 3.03947671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3607140569999 meters Centerline goodness [0,1] 0.9850175398891027 Centerline is valid? [True, True] Translation: X:838.57, Y:-63.77, Z:3.04 [[ 9.99439908e-01 -3.08623950e-02 -1.29376500e-02 8.38567259e+02] [ 3.08746563e-02 9.99522984e-01 7.49017135e-04 -6.37738254e+01] [ 1.29083621e-02 -1.14804311e-03 9.99916025e-01 3.03940107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.390714057 meters Centerline goodness [0,1] 0.984928716904277 Centerline is valid? [True, True] Translation: X:838.60, Y:-63.77, Z:3.04 [[ 9.99455236e-01 -3.06114323e-02 -1.23357750e-02 8.38599257e+02] [ 3.06225704e-02 9.99530763e-01 7.14997409e-04 -6.37729100e+01] [ 1.23080995e-02 -1.09236104e-03 9.99923656e-01 3.03979111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4207140569999 meters Centerline goodness [0,1] 0.9847004691856116 Centerline is valid? [True, True] Translation: X:838.63, Y:-63.78, Z:3.04 [[ 9.99467202e-01 -3.04384350e-02 -1.17819662e-02 8.38630454e+02] [ 3.04485913e-02 9.99536100e-01 6.83562784e-04 -6.37772793e+01] [ 1.17556940e-02 -1.04194286e-03 9.99930357e-01 3.03965529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4507140569999 meters Centerline goodness [0,1] 0.9857955189053261 Centerline is valid? [True, True] Translation: X:838.66, Y:-63.78, Z:3.04 [[ 9.99469642e-01 -3.06536266e-02 -1.09904040e-02 8.38663035e+02] [ 3.06624849e-02 9.99529592e-01 6.38367309e-04 -6.37784563e+01] [ 1.09656657e-02 -9.75021842e-04 9.99939400e-01 3.03961836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4807140569999 meters Centerline goodness [0,1] 0.9838808267868058 Centerline is valid? [True, True] Translation: X:838.69, Y:-63.78, Z:3.04 [[ 9.99458717e-01 -3.10303293e-02 -1.09266470e-02 8.38693426e+02] [ 3.10391207e-02 9.99517968e-01 6.35884752e-04 -6.37846614e+01] [ 1.09016483e-02 -9.74694073e-04 9.99940100e-01 3.03939274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.510714057 meters Centerline goodness [0,1] 0.9812370015372095 Centerline is valid? [True, True] Translation: X:838.72, Y:-63.79, Z:3.04 [[ 9.99439562e-01 -3.17820298e-02 -1.05102479e-02 8.38724080e+02] [ 3.17902127e-02 9.99494376e-01 6.12373256e-04 -6.37921770e+01] [ 1.04854712e-02 -9.46153076e-04 9.99944578e-01 3.03851267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.540714057 meters Centerline goodness [0,1] 0.9727656309934791 Centerline is valid? [True, True] Translation: X:838.75, Y:-63.80, Z:3.04 [[ 9.99387179e-01 -3.35615251e-02 -9.94439247e-03 8.38753523e+02] [ 3.35689447e-02 9.99436236e-01 5.80088708e-04 -6.38015457e+01] [ 9.91931752e-03 -9.13555978e-04 9.99950385e-01 3.03728599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5707140569999 meters Centerline goodness [0,1] 0.9787622179181118 Centerline is valid? [True, True] Translation: X:838.79, Y:-63.80, Z:3.04 [[ 9.99357031e-01 -3.45160829e-02 -9.70379940e-03 8.38785354e+02] [ 3.45231978e-02 9.99403736e-01 5.66609913e-04 -6.38022125e+01] [ 9.67845622e-03 -9.01251787e-04 9.99952756e-01 3.03737464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6007140569999 meters Centerline goodness [0,1] 0.9775389527171346 Centerline is valid? [True, True] Translation: X:838.82, Y:-63.81, Z:3.04 [[ 9.99329316e-01 -3.54770245e-02 -9.07192513e-03 8.38816903e+02] [ 3.54832864e-02 9.99370129e-01 5.30171514e-04 -6.38058803e+01] [ 9.04740209e-03 -8.51717653e-04 9.99958709e-01 3.03697833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.630714057 meters Centerline goodness [0,1] 0.9731551187846549 Centerline is valid? [True, True] Translation: X:838.85, Y:-63.81, Z:3.04 [[ 9.99297118e-01 -3.63507961e-02 -9.15916064e-03 8.38848747e+02] [ 3.63572207e-02 9.99338714e-01 5.35851838e-04 -6.38099108e+01] [ 9.13362517e-03 -8.68476822e-04 9.99957910e-01 3.03700910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.660714057 meters Centerline goodness [0,1] 0.977666936281118 Centerline is valid? [True, True] Translation: X:838.88, Y:-63.81, Z:3.04 [[ 9.99280670e-01 -3.70205390e-02 -8.22327657e-03 8.38881114e+02] [ 3.70257446e-02 9.99314196e-01 4.81645332e-04 -6.38117057e+01] [ 8.19980624e-03 -7.85771808e-04 9.99966072e-01 3.03761984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6907140569999 meters Centerline goodness [0,1] 0.9777807885110419 Centerline is valid? [True, True] Translation: X:838.91, Y:-63.81, Z:3.04 [[ 9.99290746e-01 -3.69364739e-02 -7.32818624e-03 8.38912727e+02] [ 3.69406092e-02 9.99317370e-01 4.29704420e-04 -6.38144882e+01] [ 7.30731203e-03 -7.00107314e-04 9.99973056e-01 3.03766203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7207140569999 meters Centerline goodness [0,1] 0.9842404622198242 Centerline is valid? [True, True] Translation: X:838.95, Y:-63.81, Z:3.04 [[ 9.99324337e-01 -3.63284271e-02 -5.57813876e-03 8.38945564e+02] [ 3.63308157e-02 9.99339764e-01 3.27437404e-04 -6.38099860e+01] [ 5.56256058e-03 -5.29874497e-04 9.99984388e-01 3.03856216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.750714057 meters Centerline goodness [0,1] 0.9828374512939481 Centerline is valid? [True, True] Translation: X:838.98, Y:-63.81, Z:3.04 [[ 9.99356383e-01 -3.55236822e-02 -4.98866642e-03 8.38978068e+02] [ 3.55255846e-02 9.99368724e-01 2.93217428e-04 -6.38125292e+01] [ 4.97510104e-03 -4.70253999e-04 9.99987514e-01 3.03893495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.780714057 meters Centerline goodness [0,1] 0.9812960003601251 Centerline is valid? [True, True] Translation: X:839.01, Y:-63.82, Z:3.04 [[ 9.99383268e-01 -3.48143919e-02 -4.58723062e-03 8.39008950e+02] [ 3.48159945e-02 9.99393703e-01 2.69942387e-04 -6.38170558e+01] [ 4.57505152e-03 -4.29484900e-04 9.99989442e-01 3.03959689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8107140569999 meters Centerline goodness [0,1] 0.9788263354484497 Centerline is valid? [True, True] Translation: X:839.04, Y:-63.82, Z:3.04 [[ 9.99407891e-01 -3.41315954e-02 -4.34752518e-03 8.39039887e+02] [ 3.41330294e-02 9.99417266e-01 2.56061636e-04 -6.38236967e+01] [ 4.33625193e-03 -4.04304224e-04 9.99990517e-01 3.03946432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8407140569999 meters Centerline goodness [0,1] 0.9822861638754636 Centerline is valid? [True, True] Translation: X:839.07, Y:-63.82, Z:3.04 [[ 9.99459069e-01 -3.25314998e-02 -4.82394465e-03 8.39071917e+02] [ 3.25332482e-02 9.99470613e-01 2.84394880e-04 -6.38208284e+01] [ 4.81213912e-03 -4.41179631e-04 9.99988324e-01 3.03845501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.870714057 meters Centerline goodness [0,1] 0.9823917497917183 Centerline is valid? [True, True] Translation: X:839.10, Y:-63.82, Z:3.04 [[ 9.99489738e-01 -3.15718553e-02 -4.84576008e-03 8.39104000e+02] [ 3.15736098e-02 9.99501388e-01 2.85981628e-04 -6.38222088e+01] [ 4.83431495e-03 -4.38833840e-04 9.99988218e-01 3.03788556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.900714057 meters Centerline goodness [0,1] 0.9803612804535127 Centerline is valid? [True, True] Translation: X:839.13, Y:-63.83, Z:3.04 [[ 9.99508267e-01 -3.09163805e-02 -5.23458912e-03 8.39134907e+02] [ 3.09184207e-02 9.99521863e-01 3.09268166e-04 -6.38285119e+01] [ 5.22252482e-03 -4.70961317e-04 9.99986252e-01 3.03710842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9307140569999 meters Centerline goodness [0,1] 0.98118642542083 Centerline is valid? [True, True] Translation: X:839.17, Y:-63.83, Z:3.04 [[ 9.99531609e-01 -3.01938828e-02 -4.98928494e-03 8.39167437e+02] [ 3.01957289e-02 9.99543961e-01 2.95076390e-04 -6.38293101e+01] [ 4.97810013e-03 -4.45593274e-04 9.99987510e-01 3.03637841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9607140569999 meters Centerline goodness [0,1] 0.9816474605207 Centerline is valid? [True, True] Translation: X:839.20, Y:-63.83, Z:3.04 [[ 9.99580218e-01 -2.84718433e-02 -5.36115348e-03 8.39198710e+02] [ 2.84739518e-02 9.99594484e-01 3.17364220e-04 -6.38311805e+01] [ 5.34994350e-03 -4.69884222e-04 9.99985579e-01 3.03552852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9907140569999 meters Centerline goodness [0,1] 0.9811503033026286 Centerline is valid? [True, True] Translation: X:839.23, Y:-63.84, Z:3.04 [[ 9.99612088e-01 -2.73132005e-02 -5.44640622e-03 8.39229155e+02] [ 2.73153606e-02 9.99626814e-01 3.22606108e-04 -6.38373662e+01] [ 5.43556229e-03 -4.71251515e-04 9.99985116e-01 3.03511088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.020714057 meters Centerline goodness [0,1] 0.9810761001483346 Centerline is valid? [True, True] Translation: X:839.26, Y:-63.84, Z:3.04 [[ 9.99634655e-01 -2.63913759e-02 -5.83536080e-03 8.39261733e+02] [ 2.63938422e-02 9.99651562e-01 3.46022803e-04 -6.38402129e+01] [ 5.82419552e-03 -4.99913978e-04 9.99982914e-01 3.03508129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0507140569999 meters Centerline goodness [0,1] 0.979748713222899 Centerline is valid? [True, True] Translation: X:839.29, Y:-63.85, Z:3.04 [[ 9.99695501e-01 -2.41209415e-02 -5.20441557e-03 8.39291242e+02] [ 2.41228737e-02 9.99708953e-01 3.08806041e-04 -6.38451930e+01] [ 5.19545215e-03 -4.34257470e-04 9.99986409e-01 3.03536325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0807140569999 meters Centerline goodness [0,1] 0.9828795518207283 Centerline is valid? [True, True] Translation: X:839.32, Y:-63.84, Z:3.04 [[ 9.99716981e-01 -2.32126663e-02 -5.20870158e-03 8.39323858e+02] [ 2.32145904e-02 9.99730457e-01 3.09247573e-04 -6.38402564e+01] [ 5.20011915e-03 -4.30077923e-04 9.99986387e-01 3.03600731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1107140569999 meters Centerline goodness [0,1] 0.984583969123059 Centerline is valid? [True, True] Translation: X:839.36, Y:-63.84, Z:3.04 [[ 9.99736621e-01 -2.24558599e-02 -4.73519473e-03 8.39356036e+02] [ 2.24574432e-02 9.99747760e-01 2.81454414e-04 -6.38416237e+01] [ 4.72768003e-03 -3.87720652e-04 9.99988749e-01 3.03631530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.140714057 meters Centerline goodness [0,1] 0.9853378998500213 Centerline is valid? [True, True] Translation: X:839.39, Y:-63.84, Z:3.04 [[ 9.99753044e-01 -2.17669059e-02 -4.47793931e-03 8.39388244e+02] [ 2.17683163e-02 9.99763007e-01 2.66473633e-04 -6.38436909e+01] [ 4.47107776e-03 -3.63885025e-04 9.99989938e-01 3.03633958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1707140569999 meters Centerline goodness [0,1] 0.9838926174496644 Centerline is valid? [True, True] Translation: X:839.42, Y:-63.85, Z:3.04 [[ 9.99755227e-01 -2.17040581e-02 -4.29186634e-03 8.39418799e+02] [ 2.17053548e-02 9.99764378e-01 2.55776274e-04 -6.38493055e+01] [ 4.28530370e-03 -3.48870149e-04 9.99990757e-01 3.03569163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2007140569999 meters Centerline goodness [0,1] 0.9815285771650382 Centerline is valid? [True, True] Translation: X:839.45, Y:-63.86, Z:3.04 [[ 9.99756769e-01 -2.15467417e-02 -4.70536623e-03 8.39449966e+02] [ 2.15483008e-02 9.99767769e-01 2.80895250e-04 -6.38590236e+01] [ 4.69822112e-03 -3.82219575e-04 9.99988890e-01 3.03538011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2307140569999 meters Centerline goodness [0,1] 0.984195466535521 Centerline is valid? [True, True] Translation: X:839.48, Y:-63.86, Z:3.03 [[ 9.99753329e-01 -2.14565798e-02 -5.73552799e-03 8.39482110e+02] [ 2.14588974e-02 9.99769673e-01 3.42839327e-04 -6.38580118e+01] [ 5.72685078e-03 -4.65832865e-04 9.99983493e-01 3.03464205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.260714057 meters Centerline goodness [0,1] 0.986087228388307 Centerline is valid? [True, True] Translation: X:839.51, Y:-63.86, Z:3.03 [[ 9.99761363e-01 -2.10877766e-02 -5.70278783e-03 8.39514701e+02] [ 2.10900642e-02 9.99777522e-01 3.41291379e-04 -6.38556345e+01] [ 5.69432201e-03 -4.61482096e-04 9.99983681e-01 3.03449188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.290714057 meters Centerline goodness [0,1] 0.9863470534255466 Centerline is valid? [True, True] Translation: X:839.55, Y:-63.86, Z:3.03 [[ 9.99765689e-01 -2.05365631e-02 -6.84228080e-03 8.39546809e+02] [ 2.05398471e-02 9.99788951e-01 4.10023459e-04 -6.38578738e+01] [ 6.83241627e-03 -5.50466788e-04 9.99976507e-01 3.03463801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3207140569999 meters Centerline goodness [0,1] 0.9851053361363331 Centerline is valid? [True, True] Translation: X:839.58, Y:-63.86, Z:3.03 [[ 9.99776090e-01 -1.98734012e-02 -7.26755068e-03 8.39577511e+02] [ 1.98770920e-02 9.99802336e-01 4.35963226e-04 -6.38618949e+01] [ 7.25745008e-03 -5.80323383e-04 9.99973496e-01 3.03438822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3507140569999 meters Centerline goodness [0,1] 0.9844505335382833 Centerline is valid? [True, True] Translation: X:839.61, Y:-63.87, Z:3.03 [[ 9.99809158e-01 -1.81447114e-02 -7.23989399e-03 8.39607672e+02] [ 1.81483308e-02 9.99835211e-01 4.34528321e-04 -6.38665261e+01] [ 7.23081655e-03 -5.65837386e-04 9.99973697e-01 3.03425082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.380714057 meters Centerline goodness [0,1] 0.9853091750879224 Centerline is valid? [True, True] Translation: X:839.64, Y:-63.87, Z:3.03 [[ 9.99831020e-01 -1.68706021e-02 -7.30160062e-03 8.39638503e+02] [ 1.68742512e-02 9.99857524e-01 4.38446737e-04 -6.38699797e+01] [ 7.29316346e-03 -5.61581692e-04 9.99973247e-01 3.03438102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.410714057 meters Centerline goodness [0,1] 0.9851668451106352 Centerline is valid? [True, True] Translation: X:839.67, Y:-63.87, Z:3.03 [[ 9.99848892e-01 -1.56503565e-02 -7.56694307e-03 8.39669828e+02] [ 1.56542430e-02 9.99877361e-01 4.54650700e-04 -6.38714553e+01] [ 7.55889962e-03 -5.73036764e-04 9.99971267e-01 3.03459231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4407140569999 meters Centerline goodness [0,1] 0.9859766277128548 Centerline is valid? [True, True] Translation: X:839.70, Y:-63.87, Z:3.03 [[ 9.99881717e-01 -1.30268324e-02 -8.17642821e-03 8.39700281e+02] [ 1.30312837e-02 9.99914968e-01 4.91368778e-04 -6.38715961e+01] [ 8.16933198e-03 -5.97860012e-04 9.99966452e-01 3.03487422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4707140569999 meters Centerline goodness [0,1] 0.9868097275488261 Centerline is valid? [True, True] Translation: X:839.73, Y:-63.87, Z:3.04 [[ 9.99897023e-01 -1.17496401e-02 -8.23955957e-03 8.39731521e+02] [ 1.17541181e-02 9.99930795e-01 4.95264485e-04 -6.38702995e+01] [ 8.23317017e-03 -5.92062240e-04 9.99965932e-01 3.03532482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.500714057 meters Centerline goodness [0,1] 0.9849769217113439 Centerline is valid? [True, True] Translation: X:839.76, Y:-63.88, Z:3.03 [[ 9.99906140e-01 -1.06228220e-02 -8.65252905e-03 8.39761193e+02] [ 1.06277195e-02 9.99943389e-01 5.20244090e-04 -6.38787955e+01] [ 8.64651276e-03 -6.12151912e-04 9.99962431e-01 3.03477487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.530714057 meters Centerline goodness [0,1] 0.9871948513093652 Centerline is valid? [True, True] Translation: X:839.79, Y:-63.87, Z:3.04 [[ 9.99912815e-01 -9.87118269e-03 -8.77057000e-03 8.39792501e+02] [ 9.87618743e-03 9.99951090e-01 5.27500027e-04 -6.38731067e+01] [ 8.76493398e-03 -6.14073830e-04 9.99961399e-01 3.03531910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5607140569999 meters Centerline goodness [0,1] 0.9846000443164192 Centerline is valid? [True, True] Translation: X:839.82, Y:-63.88, Z:3.03 [[ 9.99923891e-01 -8.42150495e-03 -9.01612686e-03 8.39821069e+02] [ 8.42673460e-03 9.99964347e-01 5.42200984e-04 -6.38849433e+01] [ 9.01123926e-03 -6.18136226e-04 9.99959207e-01 3.03496837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5907140569999 meters Centerline goodness [0,1] 0.9849190507873142 Centerline is valid? [True, True] Translation: X:839.85, Y:-63.88, Z:3.04 [[ 9.99928191e-01 -7.49582809e-03 -9.35017388e-03 8.39851027e+02] [ 7.50140955e-03 9.99971706e-01 5.62007827e-04 -6.38830225e+01] [ 9.34569661e-03 -6.32106953e-04 9.99956128e-01 3.03522023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.620714057 meters Centerline goodness [0,1] 0.9860446482227514 Centerline is valid? [True, True] Translation: X:839.88, Y:-63.88, Z:3.04 [[ 9.99926516e-01 -7.06821017e-03 -9.84904515e-03 8.39880532e+02] [ 7.07437903e-03 9.99974801e-01 5.91641925e-04 -6.38817000e+01] [ 9.84461511e-03 -6.61274327e-04 9.99951322e-01 3.03556022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.650714057 meters Centerline goodness [0,1] 0.9853081303875728 Centerline is valid? [True, True] Translation: X:839.91, Y:-63.89, Z:3.03 [[ 9.99929387e-01 -6.28324611e-03 -1.00867201e-02 8.39908895e+02] [ 6.28967093e-03 9.99980037e-01 6.05362670e-04 -6.38880956e+01] [ 1.00827151e-02 -6.68762073e-04 9.99948945e-01 3.03478839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6807140569999 meters Centerline goodness [0,1] 0.9873060961807327 Centerline is valid? [True, True] Translation: X:839.94, Y:-63.88, Z:3.03 [[ 9.99923909e-01 -4.26729055e-03 -1.15744181e-02 8.39938774e+02] [ 4.27561015e-03 9.99990619e-01 6.94142591e-04 -6.38826561e+01] [ 1.15713474e-02 -7.43577472e-04 9.99932773e-01 3.03473936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7107140569999 meters Centerline goodness [0,1] 0.9870770050626165 Centerline is valid? [True, True] Translation: X:839.97, Y:-63.89, Z:3.03 [[ 9.99918880e-01 -3.19916396e-03 -1.23287604e-02 8.39966665e+02] [ 3.20850549e-03 9.99994580e-01 7.37997325e-04 -6.38854592e+01] [ 1.23263326e-02 -7.77494354e-04 9.99923726e-01 3.03440242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7407140569999 meters Centerline goodness [0,1] 0.9876008266115592 Centerline is valid? [True, True] Translation: X:840.00, Y:-63.89, Z:3.03 [[ 9.99914469e-01 -1.84454267e-03 -1.29480728e-02 8.39995503e+02] [ 1.85471904e-03 9.99997980e-01 7.73973361e-04 -6.38852609e+01] [ 1.29466190e-02 -7.97922200e-04 9.99915871e-01 3.03475112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.770714057 meters Centerline goodness [0,1] 0.9880965624652353 Centerline is valid? [True, True] Translation: X:840.02, Y:-63.89, Z:3.03 [[ 9.99913088e-01 1.48075282e-03 -1.31005165e-02 8.40024036e+02] [-1.47062949e-03 9.99998613e-01 7.82342523e-04 -6.38866017e+01] [ 1.31016568e-02 -7.63008523e-04 9.99913878e-01 3.03478177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8007140569999 meters Centerline goodness [0,1] 0.9879901252140649 Centerline is valid? [True, True] Translation: X:840.05, Y:-63.89, Z:3.04 [[ 9.99907274e-01 3.34655669e-03 -1.32001531e-02 8.40053443e+02] [-3.33647436e-03 9.99994125e-01 7.85752093e-04 -6.38872335e+01] [ 1.32027051e-02 -7.41637261e-04 9.99912565e-01 3.03527716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8307140569999 meters Centerline goodness [0,1] 0.9890104990972114 Centerline is valid? [True, True] Translation: X:840.08, Y:-63.88, Z:3.04 [[ 9.99902928e-01 5.79313291e-03 -1.26717833e-02 8.40083611e+02] [-5.78405076e-03 9.99982989e-01 7.53254371e-04 -6.38848334e+01] [ 1.26759314e-02 -6.79887014e-04 9.99919426e-01 3.03649733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8607140569999 meters Centerline goodness [0,1] 0.9897827441901879 Centerline is valid? [True, True] Translation: X:840.11, Y:-63.88, Z:3.04 [[ 9.99886556e-01 1.00544932e-02 -1.12152870e-02 8.40114118e+02] [-1.00476485e-02 9.99949299e-01 6.66480147e-04 -6.38829777e+01] [ 1.12214195e-02 -5.53717277e-04 9.99936885e-01 3.03770922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.890714057 meters Centerline goodness [0,1] 0.9901003314720473 Centerline is valid? [True, True] Translation: X:840.14, Y:-63.89, Z:3.04 [[ 9.99871324e-01 1.22098479e-02 -1.04045531e-02 8.40142467e+02] [-1.22040795e-02 9.99925337e-01 6.17722472e-04 -6.38850669e+01] [ 1.04113185e-02 -4.90664993e-04 9.99945680e-01 3.03833561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9207140569999 meters Centerline goodness [0,1] 0.989790471106366 Centerline is valid? [True, True] Translation: X:840.17, Y:-63.89, Z:3.04 [[ 9.99852373e-01 1.40634768e-02 -9.87174692e-03 8.40171379e+02] [-1.40583810e-02 9.99901005e-01 5.85405199e-04 -6.38853966e+01] [ 9.87900250e-03 -4.46537998e-04 9.99951102e-01 3.03911439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9507140569999 meters Centerline goodness [0,1] 0.989790471106366 Centerline is valid? [True, True] Translation: X:840.20, Y:-63.89, Z:3.04 [[ 9.99853838e-01 1.39588744e-02 -9.87180280e-03 8.40198823e+02] [-1.39537828e-02 9.99902470e-01 5.84461935e-04 -6.38869316e+01] [ 9.87899844e-03 -4.46627516e-04 9.99951102e-01 3.03918521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9807140569999 meters Centerline goodness [0,1] 0.990126751167445 Centerline is valid? [True, True] Translation: X:840.23, Y:-63.89, Z:3.04 [[ 9.99839937e-01 1.54018460e-02 -9.10398593e-03 8.40227387e+02] [-1.53975818e-02 9.99881305e-01 5.38295664e-04 -6.38871011e+01] [ 9.11119608e-03 -3.98030135e-04 9.99958413e-01 3.03970262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.010714057 meters Centerline goodness [0,1] 0.9911898173768677 Centerline is valid? [True, True] Translation: X:840.26, Y:-63.89, Z:3.04 [[ 9.99812585e-01 1.67988901e-02 -9.62243858e-03 8.40256035e+02] [-1.67941976e-02 9.99858806e-01 5.68259078e-04 -6.38875435e+01] [ 9.63062607e-03 -4.06551443e-04 9.99953542e-01 3.03983676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.040714057 meters Centerline goodness [0,1] 0.9913503657750206 Centerline is valid? [True, True] Translation: X:840.29, Y:-63.89, Z:3.04 [[ 9.99818147e-01 1.62298812e-02 -1.00131521e-02 8.40285141e+02] [-1.62247786e-02 9.99868195e-01 5.90616822e-04 -6.38906641e+01] [ 1.00214180e-02 -4.28048241e-04 9.99949693e-01 3.03913663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0707140569999 meters Centerline goodness [0,1] 0.9901784325489412 Centerline is valid? [True, True] Translation: X:840.31, Y:-63.90, Z:3.04 [[ 9.99835816e-01 1.47044325e-02 -1.05887429e-02 8.40312880e+02] [-1.46986505e-02 9.99891774e-01 6.23672658e-04 -6.38950275e+01] [ 1.05967677e-02 -4.67930030e-04 9.99943743e-01 3.03846912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1007140569999 meters Centerline goodness [0,1] 0.9889238403260822 Centerline is valid? [True, True] Translation: X:840.34, Y:-63.90, Z:3.04 [[ 9.99877263e-01 1.06117422e-02 -1.15260724e-02 8.40342265e+02] [-1.06046244e-02 9.99943539e-01 6.78478599e-04 -6.39010828e+01] [ 1.15326215e-02 -5.56165655e-04 9.99933342e-01 3.03783682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.130714057 meters Centerline goodness [0,1] 0.9897106538068359 Centerline is valid? [True, True] Translation: X:840.37, Y:-63.90, Z:3.04 [[ 9.99899140e-01 7.74951628e-03 -1.19018470e-02 8.40371027e+02] [-7.74173101e-03 9.99969787e-01 7.00056308e-04 -6.39046986e+01] [ 1.19069125e-02 -6.07844802e-04 9.99928925e-01 3.03806488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.160714057 meters Centerline goodness [0,1] 0.9892197011621472 Centerline is valid? [True, True] Translation: X:840.40, Y:-63.91, Z:3.04 [[ 9.99914217e-01 4.95836644e-03 -1.21232349e-02 8.40399072e+02] [-4.95009441e-03 9.99987495e-01 7.12240431e-04 -6.39098794e+01] [ 1.21266149e-02 -6.52168176e-04 9.99926257e-01 3.03771542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1907140569999 meters Centerline goodness [0,1] 0.9891789801133207 Centerline is valid? [True, True] Translation: X:840.43, Y:-63.91, Z:3.04 [[ 9.99923132e-01 2.00802204e-03 -1.22350725e-02 8.40428063e+02] [-1.99938761e-03 9.99997744e-01 7.17902969e-04 -6.39144129e+01] [ 1.22364864e-02 -6.93385133e-04 9.99924891e-01 3.03765647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2207140569999 meters Centerline goodness [0,1] 0.9885631801021542 Centerline is valid? [True, True] Translation: X:840.46, Y:-63.92, Z:3.04 [[ 9.99919599e-01 -3.26325013e-03 -1.22534616e-02 8.40458094e+02] [ 3.27230256e-03 9.99994388e-01 7.18788253e-04 -6.39198895e+01] [ 1.22510472e-02 -7.58827496e-04 9.99924665e-01 3.03782155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.250714057 meters Centerline goodness [0,1] 0.9874620649934652 Centerline is valid? [True, True] Translation: X:840.49, Y:-63.93, Z:3.04 [[ 9.99916188e-01 -5.92788777e-03 -1.15098803e-02 8.40486527e+02] [ 5.93604522e-03 9.99982154e-01 6.74700887e-04 -6.39285149e+01] [ 1.15056753e-02 -7.42967508e-04 9.99933532e-01 3.03729100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.280714057 meters Centerline goodness [0,1] 0.9881894988277967 Centerline is valid? [True, True] Translation: X:840.52, Y:-63.93, Z:3.04 [[ 9.99899875e-01 -8.36795496e-03 -1.14112588e-02 8.40516258e+02] [ 8.37612627e-03 9.99964696e-01 6.68468735e-04 -6.39273192e+01] [ 1.14052622e-02 -7.63983949e-04 9.99934666e-01 3.03837134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3107140569999 meters Centerline goodness [0,1] 0.9876407217289771 Centerline is valid? [True, True] Translation: X:840.54, Y:-63.93, Z:3.04 [[ 9.99884253e-01 -1.07215144e-02 -1.07948711e-02 8.40544618e+02] [ 1.07289575e-02 9.99942243e-01 6.31834084e-04 -6.39342803e+01] [ 1.07874734e-02 -7.47578666e-04 9.99941534e-01 3.03816482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3407140569999 meters Centerline goodness [0,1] 0.9879927603407938 Centerline is valid? [True, True] Translation: X:840.57, Y:-63.94, Z:3.04 [[ 9.99838723e-01 -1.44937564e-02 -1.06046499e-02 8.40574807e+02] [ 1.45011489e-02 9.99894660e-01 6.20530316e-04 -6.39365236e+01] [ 1.05945390e-02 -7.74209846e-04 9.99943577e-01 3.03937983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.370714057 meters Centerline goodness [0,1] 0.9851227264700688 Centerline is valid? [True, True] Translation: X:840.60, Y:-63.95, Z:3.04 [[ 9.99812099e-01 -1.64316986e-02 -1.02842905e-02 8.40603356e+02] [ 1.64387522e-02 9.99864694e-01 6.01693990e-04 -6.39506852e+01] [ 1.02730122e-02 -7.70641835e-04 9.99946934e-01 3.03840591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.400714057 meters Centerline goodness [0,1] 0.9870367916611457 Centerline is valid? [True, True] Translation: X:840.63, Y:-63.94, Z:3.04 [[ 9.99785588e-01 -1.79708348e-02 -1.02872669e-02 8.40634511e+02] [ 1.79779746e-02 9.99838202e-01 6.01977847e-04 -6.39448712e+01] [ 1.02747844e-02 -7.86792997e-04 9.99946903e-01 3.03955674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4307140569999 meters Centerline goodness [0,1] 0.9874012620802259 Centerline is valid? [True, True] Translation: X:840.67, Y:-63.95, Z:3.04 [[ 9.99737776e-01 -2.05210255e-02 -1.01619916e-02 8.40665432e+02] [ 2.05281251e-02 9.99789099e-01 5.94825477e-04 -6.39504872e+01] [ 1.01476420e-02 -8.03276134e-04 9.99948189e-01 3.03922873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4607140569999 meters Centerline goodness [0,1] 0.9859378794233868 Centerline is valid? [True, True] Translation: X:840.70, Y:-63.95, Z:3.04 [[ 9.99710591e-01 -2.15572938e-02 -1.06779024e-02 8.40696582e+02] [ 2.15651950e-02 9.99767249e-01 6.25354818e-04 -6.39543027e+01] [ 1.06619362e-02 -8.55444883e-04 9.99942794e-01 3.03879457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4907140569999 meters Centerline goodness [0,1] 0.9869785333716534 Centerline is valid? [True, True] Translation: X:840.73, Y:-63.96, Z:3.04 [[ 9.99684709e-01 -2.25326443e-02 -1.10798672e-02 8.40728437e+02] [ 2.25412171e-02 9.99745704e-01 6.49442430e-04 -6.39551243e+01] [ 1.10624160e-02 -8.98991358e-04 9.99938405e-01 3.03863244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.520714057 meters Centerline goodness [0,1] 0.9864300395606338 Centerline is valid? [True, True] Translation: X:840.76, Y:-63.96, Z:3.04 [[ 9.99668507e-01 -2.31163939e-02 -1.13361428e-02 8.40758876e+02] [ 2.31254103e-02 9.99732351e-01 6.64913626e-04 -6.39595187e+01] [ 1.13177383e-02 -9.26846166e-04 9.99935523e-01 3.03807455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5507140569999 meters Centerline goodness [0,1] 0.9864319279899397 Centerline is valid? [True, True] Translation: X:840.79, Y:-63.96, Z:3.04 [[ 9.99643189e-01 -2.37000452e-02 -1.23208371e-02 8.40790518e+02] [ 2.37107477e-02 9.99718599e-01 7.23281938e-04 -6.39598792e+01] [ 1.23002282e-02 -1.01516012e-03 9.99923834e-01 3.03759063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5807140569999 meters Centerline goodness [0,1] 0.9855385089476348 Centerline is valid? [True, True] Translation: X:840.82, Y:-63.96, Z:3.04 [[ 9.99636725e-01 -2.39192125e-02 -1.24213507e-02 8.40822166e+02] [ 2.39301130e-02 9.99713368e-01 7.29660818e-04 -6.39621089e+01] [ 1.24003374e-02 -1.02664008e-03 9.99922586e-01 3.03721507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6107140569999 meters Centerline goodness [0,1] 0.9871275063697795 Centerline is valid? [True, True] Translation: X:840.85, Y:-63.96, Z:3.04 [[ 9.99641235e-01 -2.38985487e-02 -1.20938123e-02 8.40853772e+02] [ 2.39088855e-02 9.99713889e-01 7.10841714e-04 -6.39613908e+01] [ 1.20733640e-02 -9.99736262e-04 9.99926615e-01 3.03760199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.640714057 meters Centerline goodness [0,1] 0.9876720183486238 Centerline is valid? [True, True] Translation: X:840.89, Y:-63.96, Z:3.04 [[ 9.99660489e-01 -2.31496245e-02 -1.19583191e-02 8.40885791e+02] [ 2.31596829e-02 9.99731531e-01 7.03307357e-04 -6.39571073e+01] [ 1.19388274e-02 -9.80019455e-04 9.99928249e-01 3.03856129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6707140569999 meters Centerline goodness [0,1] 0.9870829561262117 Centerline is valid? [True, True] Translation: X:840.92, Y:-63.96, Z:3.04 [[ 9.99689244e-01 -2.24475178e-02 -1.08408846e-02 8.40917306e+02] [ 2.24557472e-02 9.99747634e-01 6.37969237e-04 -6.39578260e+01] [ 1.08238279e-02 -8.81211147e-04 9.99941032e-01 3.03930879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7007140569999 meters Centerline goodness [0,1] 0.986216371936356 Centerline is valid? [True, True] Translation: X:840.95, Y:-63.96, Z:3.04 [[ 9.99695145e-01 -2.23216866e-02 -1.05527191e-02 8.40949906e+02] [ 2.23294843e-02 9.99750473e-01 6.21673585e-04 -6.39593486e+01] [ 1.05362091e-02 -8.57120840e-04 9.99944125e-01 3.03973743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7307140569999 meters Centerline goodness [0,1] 0.9883842309827874 Centerline is valid? [True, True] Translation: X:840.98, Y:-63.95, Z:3.04 [[ 9.99708500e-01 -2.19559058e-02 -1.00425908e-02 8.40982153e+02] [ 2.19629567e-02 9.99758610e-01 5.92347354e-04 -6.39538717e+01] [ 1.00271611e-02 -8.12739671e-04 9.99949396e-01 3.04088922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.760714057 meters Centerline goodness [0,1] 0.9873229430309489 Centerline is valid? [True, True] Translation: X:841.01, Y:-63.96, Z:3.04 [[ 9.99710779e-01 -2.18860432e-02 -9.96787860e-03 8.41012702e+02] [ 2.18929921e-02 9.99760146e-01 5.88534409e-04 -6.39575020e+01] [ 9.95260708e-03 -8.06590880e-04 9.99950146e-01 3.04109660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.790714057 meters Centerline goodness [0,1] 0.9873116750366651 Centerline is valid? [True, True] Translation: X:841.05, Y:-63.96, Z:3.04 [[ 9.99701944e-01 -2.21949132e-02 -1.01690401e-02 8.41045205e+02] [ 2.22021684e-02 9.99753321e-01 6.01105232e-04 -6.39574260e+01] [ 1.01531901e-02 -8.26700808e-04 9.99948113e-01 3.04082724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8207140569999 meters Centerline goodness [0,1] 0.9860589216231239 Centerline is valid? [True, True] Translation: X:841.08, Y:-63.96, Z:3.04 [[ 9.99685154e-01 -2.27616854e-02 -1.05592832e-02 8.41075926e+02] [ 2.27695506e-02 9.99740545e-01 6.25221242e-04 -6.39643812e+01] [ 1.05423125e-02 -8.65454527e-04 9.99944054e-01 3.03999509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8507140569999 meters Centerline goodness [0,1] 0.985173642030276 Centerline is valid? [True, True] Translation: X:841.11, Y:-63.97, Z:3.04 [[ 9.99618706e-01 -2.51805053e-02 -1.13306684e-02 8.41106762e+02] [ 2.51897210e-02 9.99682463e-01 6.71342723e-04 -6.39662903e+01] [ 1.13101658e-02 -9.56503121e-04 9.99935581e-01 3.03906802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.880714057 meters Centerline goodness [0,1] 0.9859286221590909 Centerline is valid? [True, True] Translation: X:841.14, Y:-63.97, Z:3.04 [[ 9.99586414e-01 -2.61221935e-02 -1.20263144e-02 8.41138905e+02] [ 2.61326519e-02 9.99658229e-01 7.13275627e-04 -6.39661944e+01] [ 1.20035719e-02 -1.02726012e-03 9.99927427e-01 3.03920678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.910714057 meters Centerline goodness [0,1] 0.9869479029779272 Centerline is valid? [True, True] Translation: X:841.17, Y:-63.97, Z:3.04 [[ 9.99543736e-01 -2.76063445e-02 -1.22559615e-02 8.41170117e+02] [ 2.76173248e-02 9.99618304e-01 7.27537999e-04 -6.39658317e+01] [ 1.22311988e-02 -1.06568292e-03 9.99924628e-01 3.03923430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9407140569999 meters Centerline goodness [0,1] 0.9869800924280128 Centerline is valid? [True, True] Translation: X:841.20, Y:-63.97, Z:3.04 [[ 9.99477150e-01 -2.99632625e-02 -1.21503060e-02 8.41201426e+02] [ 2.99742326e-02 9.99550411e-01 7.21728075e-04 -6.39690537e+01] [ 1.21232180e-02 -1.08554682e-03 9.99925922e-01 3.03932923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9707140569999 meters Centerline goodness [0,1] 0.9864181862712355 Centerline is valid? [True, True] Translation: X:841.23, Y:-63.97, Z:3.04 [[ 9.99454791e-01 -3.06842925e-02 -1.21899659e-02 8.41233549e+02] [ 3.06953970e-02 9.99528522e-01 7.24860789e-04 -6.39729816e+01] [ 1.21619767e-02 -1.09864143e-03 9.99925437e-01 3.03931192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.000714057 meters Centerline goodness [0,1] 0.9857684378532952 Centerline is valid? [True, True] Translation: X:841.27, Y:-63.98, Z:3.04 [[ 9.99458061e-01 -3.06024387e-02 -1.21274094e-02 8.41265484e+02] [ 3.06134339e-02 9.99531038e-01 7.22000493e-04 -6.39751039e+01] [ 1.20996272e-02 -1.09287086e-03 9.99926200e-01 3.03936984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.030714057 meters Centerline goodness [0,1] 0.9851159261821346 Centerline is valid? [True, True] Translation: X:841.30, Y:-63.98, Z:3.04 [[ 9.99474507e-01 -3.01546418e-02 -1.18914570e-02 8.41297901e+02] [ 3.01651918e-02 9.99544676e-01 7.08784921e-04 -6.39764874e+01] [ 1.18646694e-02 -1.06712054e-03 9.99929043e-01 3.03978031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0607140569999 meters Centerline goodness [0,1] 0.985323638310211 Centerline is valid? [True, True] Translation: X:841.33, Y:-63.98, Z:3.04 [[ 9.99512039e-01 -2.89458723e-02 -1.17397342e-02 8.41327944e+02] [ 2.89560840e-02 9.99580439e-01 7.00766371e-04 -6.39787220e+01] [ 1.17145243e-02 -1.04036115e-03 9.99930841e-01 3.04001109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0907140569999 meters Centerline goodness [0,1] 0.988259190643066 Centerline is valid? [True, True] Translation: X:841.36, Y:-63.97, Z:3.04 [[ 9.99549976e-01 -2.77061848e-02 -1.14984065e-02 8.41359519e+02] [ 2.77159059e-02 9.99615604e-01 6.86916587e-04 -6.39721607e+01] [ 1.14749547e-02 -1.00529621e-03 9.99933655e-01 3.04126762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.120714057 meters Centerline goodness [0,1] 0.987479671174282 Centerline is valid? [True, True] Translation: X:841.39, Y:-63.97, Z:3.04 [[ 9.99660931e-01 -2.37764567e-02 -1.06161869e-02 8.41388954e+02] [ 2.37845226e-02 9.99716907e-01 6.34148115e-04 -6.39718729e+01] [ 1.05981037e-02 -8.86434032e-04 9.99943446e-01 3.04241590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.150714057 meters Centerline goodness [0,1] 0.9878138436518369 Centerline is valid? [True, True] Translation: X:841.42, Y:-63.97, Z:3.04 [[ 9.99719311e-01 -2.15357999e-02 -9.87459705e-03 8.41420046e+02] [ 2.15426705e-02 9.99767756e-01 5.89934278e-04 -6.39726605e+01] [ 9.85959903e-03 -8.02493880e-04 9.99951071e-01 3.04284327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1807140569999 meters Centerline goodness [0,1] 0.9882665832290363 Centerline is valid? [True, True] Translation: X:841.45, Y:-63.97, Z:3.04 [[ 9.99771211e-01 -1.89722234e-02 -9.87824004e-03 8.41450821e+02] [ 1.89789751e-02 9.99819709e-01 5.90197318e-04 -6.39695011e+01] [ 9.86526172e-03 -7.77541159e-04 9.99951035e-01 3.04349446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2107140569999 meters Centerline goodness [0,1] 0.9884082619106228 Centerline is valid? [True, True] Translation: X:841.48, Y:-63.97, Z:3.04 [[ 9.99858993e-01 -1.35837440e-02 -9.87297081e-03 8.41481356e+02] [ 1.35902273e-02 9.99907475e-01 5.89870489e-04 -6.39664876e+01] [ 9.86404466e-03 -7.23963230e-04 9.99951087e-01 3.04392744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2407140569999 meters Centerline goodness [0,1] 0.9894557746983367 Centerline is valid? [True, True] Translation: X:841.51, Y:-63.96, Z:3.04 [[ 9.99885458e-01 -1.10143773e-02 -1.03805264e-02 8.41512504e+02] [ 1.10214079e-02 9.99939070e-01 6.20330669e-04 -6.39644416e+01] [ 1.03730614e-02 -7.34667631e-04 9.99945928e-01 3.04407608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.270714057 meters Centerline goodness [0,1] 0.9892545483096664 Centerline is valid? [True, True] Translation: X:841.54, Y:-63.96, Z:3.04 [[ 9.99910949e-01 -8.41282950e-03 -1.03594670e-02 8.41542727e+02] [ 8.41969176e-03 9.99964362e-01 6.18978912e-04 -6.39645916e+01] [ 1.03538904e-02 -7.06147310e-04 9.99946148e-01 3.04405194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3007140569999 meters Centerline goodness [0,1] 0.9900201838977349 Centerline is valid? [True, True] Translation: X:841.57, Y:-63.96, Z:3.04 [[ 9.99934304e-01 -4.08967876e-03 -1.07080368e-02 8.41571935e+02] [ 4.09676144e-03 9.99991404e-01 6.39584540e-04 -6.39628040e+01] [ 1.07053290e-02 -6.83410794e-04 9.99942463e-01 3.04397141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3307140569999 meters Centerline goodness [0,1] 0.9890366118870928 Centerline is valid? [True, True] Translation: X:841.60, Y:-63.96, Z:3.04 [[ 9.99943312e-01 -2.22066251e-03 -1.04135104e-02 8.41601548e+02] [ 2.22725652e-03 9.99997326e-01 6.21662672e-04 -6.39631941e+01] [ 1.04121020e-02 -6.44820990e-04 9.99945585e-01 3.04367083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3607140569999 meters Centerline goodness [0,1] 0.9898435047755706 Centerline is valid? [True, True] Translation: X:841.63, Y:-63.96, Z:3.04 [[ 9.99945653e-01 -5.65799156e-04 -1.04101696e-02 8.41630643e+02] [ 5.72292919e-04 9.99999644e-01 6.20821948e-04 -6.39634490e+01] [ 1.04098146e-02 -6.26745874e-04 9.99945620e-01 3.04396583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.390714057 meters Centerline goodness [0,1] 0.9896102147521486 Centerline is valid? [True, True] Translation: X:841.66, Y:-63.97, Z:3.04 [[ 9.99952312e-01 7.90835726e-04 -9.73383974e-03 8.41658588e+02] [-7.85228915e-04 9.99999524e-01 5.79820517e-04 -6.39678528e+01] [ 9.73429364e-03 -5.72149574e-04 9.99952457e-01 3.04341549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4207140569999 meters Centerline goodness [0,1] 0.9888298230267142 Centerline is valid? [True, True] Translation: X:841.69, Y:-63.96, Z:3.04 [[ 9.99960304e-01 2.79550921e-03 -8.46021453e-03 8.41688804e+02] [-2.79134739e-03 9.99995977e-01 5.03696243e-04 -6.39645308e+01] [ 8.46158858e-03 -4.80060851e-04 9.99964085e-01 3.04440549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4507140569999 meters Centerline goodness [0,1] 0.9885144968095825 Centerline is valid? [True, True] Translation: X:841.72, Y:-63.97, Z:3.04 [[ 9.99960161e-01 3.38933080e-03 -8.25759671e-03 8.41717576e+02] [-3.38538973e-03 9.99994149e-01 4.91196848e-04 -6.39658393e+01] [ 8.25921322e-03 -4.63222096e-04 9.99965785e-01 3.04481128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4807140569999 meters Centerline goodness [0,1] 0.9894006422492196 Centerline is valid? [True, True] Translation: X:841.74, Y:-63.97, Z:3.04 [[ 9.99965078e-01 3.17500573e-03 -7.73057797e-03 8.41744824e+02] [-3.17155000e-03 9.99994865e-01 4.59239542e-04 -6.39680802e+01] [ 7.73199637e-03 -4.34705590e-04 9.99970013e-01 3.04499999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.510714057 meters Centerline goodness [0,1] 0.9883306029936492 Centerline is valid? [True, True] Translation: X:841.77, Y:-63.97, Z:3.05 [[ 9.99967309e-01 3.05745132e-03 -7.48555982e-03 8.41773497e+02] [-3.05421200e-03 9.99995237e-01 4.44136090e-04 -6.39697604e+01] [ 7.48688209e-03 -4.21259084e-04 9.99971884e-01 3.04516501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.540714057 meters Centerline goodness [0,1] 0.9890493785690292 Centerline is valid? [True, True] Translation: X:841.80, Y:-63.97, Z:3.05 [[ 9.99967589e-01 2.39585525e-03 -7.68635014e-03 8.41802495e+02] [-2.39242437e-03 9.99997034e-01 4.55523269e-04 -6.39720539e+01] [ 7.68741871e-03 -4.37119494e-04 9.99970356e-01 3.04537844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5707140569999 meters Centerline goodness [0,1] 0.9884221863220247 Centerline is valid? [True, True] Translation: X:841.83, Y:-63.98, Z:3.04 [[ 9.99966266e-01 1.61095037e-04 -8.21222982e-03 8.41830563e+02] [-1.57107151e-04 9.99999869e-01 4.86246177e-04 -6.39757814e+01] [ 8.21230708e-03 -4.84939574e-04 9.99966161e-01 3.04464788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6007140569999 meters Centerline goodness [0,1] 0.9876642892387745 Centerline is valid? [True, True] Translation: X:841.86, Y:-63.98, Z:3.04 [[ 9.99963676e-01 -1.30010491e-03 -8.42354691e-03 8.41858561e+02] [ 1.30434805e-03 9.99999025e-01 4.98248972e-04 -6.39793135e+01] [ 8.42289092e-03 -5.09218111e-04 9.99964397e-01 3.04427731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.630714057 meters Centerline goodness [0,1] 0.9883579808513507 Centerline is valid? [True, True] Translation: X:841.89, Y:-63.98, Z:3.04 [[ 9.99943457e-01 -5.92653934e-03 -8.82947722e-03 8.41889659e+02] [ 5.93137930e-03 9.99982273e-01 5.22074061e-04 -6.39764282e+01] [ 8.82622661e-03 -5.74415520e-04 9.99960883e-01 3.04453475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.660714057 meters Centerline goodness [0,1] 0.9868421052631579 Centerline is valid? [True, True] Translation: X:841.92, Y:-63.99, Z:3.04 [[ 9.99923461e-01 -8.40812837e-03 -9.07610893e-03 8.41918124e+02] [ 8.41334511e-03 9.99964463e-01 5.36748622e-04 -6.39901595e+01] [ 9.07127335e-03 -6.13067976e-04 9.99958667e-01 3.04349547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6907140569999 meters Centerline goodness [0,1] 0.9882955541077887 Centerline is valid? [True, True] Translation: X:841.95, Y:-63.98, Z:3.04 [[ 9.99895334e-01 -1.11575385e-02 -9.21033079e-03 8.41948578e+02] [ 1.11630264e-02 9.99937543e-01 5.44649337e-04 -6.39823811e+01] [ 9.20367860e-03 -6.47407497e-04 9.99957436e-01 3.04437468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7207140569999 meters Centerline goodness [0,1] 0.9892514136971546 Centerline is valid? [True, True] Translation: X:841.98, Y:-63.98, Z:3.04 [[ 9.99863617e-01 -1.35822267e-02 -9.39526711e-03 8.41979308e+02] [ 1.35880435e-02 9.99907524e-01 5.55555960e-04 -6.39827393e+01] [ 9.38685259e-03 -6.83143489e-04 9.99955709e-01 3.04457062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.750714057 meters Centerline goodness [0,1] 0.9877017851522101 Centerline is valid? [True, True] Translation: X:842.01, Y:-63.99, Z:3.04 [[ 9.99796607e-01 -1.80520411e-02 -8.99270131e-03 8.42008167e+02] [ 1.80575479e-02 9.99836808e-01 5.31541805e-04 -6.39876045e+01] [ 8.98163836e-03 -6.93819828e-04 9.99959424e-01 3.04443638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.780714057 meters Centerline goodness [0,1] 0.9878508870424433 Centerline is valid? [True, True] Translation: X:842.04, Y:-63.99, Z:3.04 [[ 9.99770007e-01 -1.96050169e-02 -8.69351295e-03 8.42038265e+02] [ 1.96102220e-02 9.99807569e-01 5.13884408e-04 -6.39912013e+01] [ 8.68176534e-03 -6.84247937e-04 9.99962079e-01 3.04463740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8107140569999 meters Centerline goodness [0,1] 0.9880230102017887 Centerline is valid? [True, True] Translation: X:842.07, Y:-63.99, Z:3.05 [[ 9.99744364e-01 -2.09185709e-02 -8.58019590e-03 8.42070191e+02] [ 2.09236932e-02 9.99780947e-01 5.07652891e-04 -6.39919732e+01] [ 8.56769700e-03 -6.87052504e-04 9.99963061e-01 3.04521338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8407140569999 meters Centerline goodness [0,1] 0.9871031301777797 Centerline is valid? [True, True] Translation: X:842.10, Y:-64.00, Z:3.05 [[ 9.99729032e-01 -2.18964659e-02 -7.89982226e-03 8.42101056e+02] [ 2.19008419e-02 9.99760038e-01 4.67848638e-04 -6.39956358e+01] [ 7.88768237e-03 -6.40734625e-04 9.99968686e-01 3.04557933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.870714057 meters Centerline goodness [0,1] 0.9871031301777797 Centerline is valid? [True, True] Translation: X:842.13, Y:-64.00, Z:3.05 [[ 9.99730569e-01 -2.18261954e-02 -7.89979196e-03 8.42132797e+02] [ 2.18305733e-02 9.99761575e-01 4.68359906e-04 -6.39975789e+01] [ 7.88768593e-03 -6.40690702e-04 9.99968686e-01 3.04566115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.900714057 meters Centerline goodness [0,1] 0.987517711355509 Centerline is valid? [True, True] Translation: X:842.16, Y:-63.99, Z:3.05 [[ 9.99707229e-01 -2.31093284e-02 -7.17039216e-03 8.42164655e+02] [ 2.31129709e-02 9.99732769e-01 4.25531168e-04 -6.39937836e+01] [ 7.15864227e-03 -5.91135650e-04 9.99974202e-01 3.04726746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9307140569999 meters Centerline goodness [0,1] 0.9851998470500911 Centerline is valid? [True, True] Translation: X:842.20, Y:-64.00, Z:3.05 [[ 9.99708088e-01 -2.32358151e-02 -6.62082630e-03 8.42195822e+02] [ 2.32389257e-02 9.99729862e-01 3.93265981e-04 -6.40009849e+01] [ 6.60989991e-03 -5.47012072e-04 9.99978005e-01 3.04751474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9607140569999 meters Centerline goodness [0,1] 0.9878798801504878 Centerline is valid? [True, True] Translation: X:842.23, Y:-64.00, Z:3.05 [[ 9.99709755e-01 -2.32426606e-02 -6.33905193e-03 8.42228081e+02] [ 2.32455148e-02 9.99729715e-01 3.76932288e-04 -6.39979488e+01] [ 6.32857767e-03 -5.24177411e-04 9.99979837e-01 3.04799300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9907140569999 meters Centerline goodness [0,1] 0.9864354163854772 Centerline is valid? [True, True] Translation: X:842.26, Y:-64.00, Z:3.05 [[ 9.99714556e-01 -2.29552541e-02 -6.62284139e-03 8.42259597e+02] [ 2.29583660e-02 9.99736344e-01 3.94215526e-04 -6.40004033e+01] [ 6.61204592e-03 -5.46152616e-04 9.99977991e-01 3.04720737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.020714057 meters Centerline goodness [0,1] 0.9872489280072219 Centerline is valid? [True, True] Translation: X:842.29, Y:-64.00, Z:3.05 [[ 9.99705997e-01 -2.30247416e-02 -7.60131030e-03 8.42292004e+02] [ 2.30288468e-02 9.99734698e-01 4.52979645e-04 -6.39971943e+01] [ 7.58886392e-03 -6.27895879e-04 9.99971007e-01 3.04653081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0507140569999 meters Centerline goodness [0,1] 0.9878671486669679 Centerline is valid? [True, True] Translation: X:842.32, Y:-64.00, Z:3.05 [[ 9.99697888e-01 -2.31048396e-02 -8.38446621e-03 8.42324000e+02] [ 2.31098424e-02 9.99732807e-01 5.00274262e-04 -6.39991381e+01] [ 8.37066718e-03 -6.93886816e-04 9.99964725e-01 3.04577845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0807140569999 meters Centerline goodness [0,1] 0.9873886408006642 Centerline is valid? [True, True] Translation: X:842.35, Y:-64.00, Z:3.04 [[ 9.99691474e-01 -2.30876924e-02 -9.16048354e-03 8.42354766e+02] [ 2.30936686e-02 9.99733156e-01 5.47133171e-04 -6.40046362e+01] [ 9.14540708e-03 -7.58513538e-04 9.99957892e-01 3.04441582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1107140569999 meters Centerline goodness [0,1] 0.98852525801195 Centerline is valid? [True, True] Translation: X:842.39, Y:-64.00, Z:3.04 [[ 9.99678389e-01 -2.29738156e-02 -1.07387953e-02 8.42387032e+02] [ 2.29820302e-02 9.99735672e-01 6.42151213e-04 -6.39989994e+01] [ 1.07212040e-02 -8.88744007e-04 9.99942131e-01 3.04347514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.140714057 meters Centerline goodness [0,1] 0.9886160865538816 Centerline is valid? [True, True] Translation: X:842.42, Y:-64.00, Z:3.04 [[ 9.99688899e-01 -2.22294110e-02 -1.13119104e-02 8.42419111e+02] [ 2.22384878e-02 9.99752465e-01 6.77243079e-04 -6.40005960e+01] [ 1.12940556e-02 -9.28592170e-04 9.99935789e-01 3.04270765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1707140569999 meters Centerline goodness [0,1] 0.9872742945286271 Centerline is valid? [True, True] Translation: X:842.45, Y:-64.00, Z:3.04 [[ 9.99690525e-01 -2.17046416e-02 -1.21557835e-02 8.42450903e+02] [ 2.17150955e-02 9.99763934e-01 7.28647668e-04 -6.40011135e+01] [ 1.21370989e-02 -9.92386168e-04 9.99925850e-01 3.04239661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2007140569999 meters Centerline goodness [0,1] 0.9869112901405908 Centerline is valid? [True, True] Translation: X:842.48, Y:-64.00, Z:3.04 [[ 9.99713208e-01 -2.02776087e-02 -1.27405361e-02 8.42481791e+02] [ 2.02889845e-02 9.99793865e-01 7.64251275e-04 -6.40010583e+01] [ 1.27224127e-02 -1.02252463e-03 9.99918544e-01 3.04188099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2307140569999 meters Centerline goodness [0,1] 0.9884588349998866 Centerline is valid? [True, True] Translation: X:842.51, Y:-64.00, Z:3.04 [[ 9.99730255e-01 -1.95575889e-02 -1.25266526e-02 8.42513325e+02] [ 1.95685354e-02 9.99808235e-01 7.51869859e-04 -6.39968694e+01] [ 1.25095456e-02 -9.96795290e-04 9.99921256e-01 3.04236177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.260714057 meters Centerline goodness [0,1] 0.9881296191017623 Centerline is valid? [True, True] Translation: X:842.54, Y:-64.00, Z:3.04 [[ 9.99758269e-01 -1.84328620e-02 -1.19847249e-02 8.42544607e+02] [ 1.84428066e-02 9.99829658e-01 7.19772221e-04 -6.39968736e+01] [ 1.19694159e-02 -9.40630192e-04 9.99927922e-01 3.04244092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.290714057 meters Centerline goodness [0,1] 0.9881958845110863 Centerline is valid? [True, True] Translation: X:842.57, Y:-64.00, Z:3.04 [[ 9.99800124e-01 -1.65020145e-02 -1.12869464e-02 8.42574867e+02] [ 1.65107134e-02 9.99863459e-01 6.77953074e-04 -6.39966015e+01] [ 1.12742177e-02 -8.64173104e-04 9.99936071e-01 3.04310614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3207140569999 meters Centerline goodness [0,1] 0.9874506582700162 Centerline is valid? [True, True] Translation: X:842.60, Y:-64.00, Z:3.04 [[ 9.99819063e-01 -1.55869216e-02 -1.09036034e-02 8.42604938e+02] [ 1.55949920e-02 9.99878176e-01 6.55527768e-04 -6.39978339e+01] [ 1.08920574e-02 -8.25450766e-04 9.99940339e-01 3.04367206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3507140569999 meters Centerline goodness [0,1] 0.9873203719357565 Centerline is valid? [True, True] Translation: X:842.64, Y:-63.99, Z:3.04 [[ 9.99835996e-01 -1.48368742e-02 -1.03850227e-02 8.42636470e+02] [ 1.48441597e-02 9.99889624e-01 6.24809015e-04 -6.39933423e+01] [ 1.03746062e-02 -7.78863479e-04 9.99945879e-01 3.04480590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.380714057 meters Centerline goodness [0,1] 0.9869630506006553 Centerline is valid? [True, True] Translation: X:842.67, Y:-64.00, Z:3.05 [[ 9.99863692e-01 -1.40323798e-02 -8.69996475e-03 8.42666722e+02] [ 1.40374641e-02 9.99901333e-01 5.23616013e-04 -6.39956723e+01] [ 8.69175877e-03 -6.45670084e-04 9.99962017e-01 3.04557269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.410714057 meters Centerline goodness [0,1] 0.9871429548407686 Centerline is valid? [True, True] Translation: X:842.70, Y:-64.00, Z:3.05 [[ 9.99871972e-01 -1.39944855e-02 -7.75842547e-03 8.42698939e+02] [ 1.39985309e-02 9.99901907e-01 4.67358249e-04 -6.39973962e+01] [ 7.75112398e-03 -5.75904973e-04 9.99969794e-01 3.04633355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4407140569999 meters Centerline goodness [0,1] 0.9871511561681285 Centerline is valid? [True, True] Translation: X:842.73, Y:-64.00, Z:3.05 [[ 9.99866268e-01 -1.45209019e-02 -7.52260439e-03 8.42730707e+02] [ 1.45247238e-02 9.99894408e-01 4.53681448e-04 -6.39990548e+01] [ 7.51522219e-03 -5.62884527e-04 9.99971602e-01 3.04631303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4707140569999 meters Centerline goodness [0,1] 0.9869999084500595 Centerline is valid? [True, True] Translation: X:842.76, Y:-64.00, Z:3.05 [[ 9.99831123e-01 -1.63541844e-02 -8.38253217e-03 8.42761960e+02] [ 1.63589977e-02 9.99866055e-01 5.05952193e-04 -6.40010698e+01] [ 8.37313494e-03 -6.42996574e-04 9.99964738e-01 3.04570537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.500714057 meters Centerline goodness [0,1] 0.9883351249971409 Centerline is valid? [True, True] Translation: X:842.79, Y:-64.00, Z:3.05 [[ 9.99803372e-01 -1.75186242e-02 -9.29057703e-03 8.42794256e+02] [ 1.75245921e-02 9.99846275e-01 5.61337663e-04 -6.40034798e+01] [ 9.27931497e-03 -7.24040862e-04 9.99956684e-01 3.04505722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.530714057 meters Centerline goodness [0,1] 0.9859435452485062 Centerline is valid? [True, True] Translation: X:842.82, Y:-64.02, Z:3.04 [[ 9.99778292e-01 -1.84977540e-02 -1.00597755e-02 8.42824679e+02] [ 1.85048064e-02 9.99828586e-01 6.08405926e-04 -6.40151681e+01] [ 1.00467970e-02 -7.94425236e-04 9.99949214e-01 3.04348671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5607140569999 meters Centerline goodness [0,1] 0.9883362625824564 Centerline is valid? [True, True] Translation: X:842.86, Y:-64.01, Z:3.04 [[ 9.99727084e-01 -2.05659298e-02 -1.10815485e-02 8.42856100e+02] [ 2.05746192e-02 9.99788095e-01 6.70694885e-04 -6.40070378e+01] [ 1.10654068e-02 -8.98510482e-04 9.99938373e-01 3.04335376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5907140569999 meters Centerline goodness [0,1] 0.9885427365057629 Centerline is valid? [True, True] Translation: X:842.89, Y:-64.01, Z:3.04 [[ 9.99710793e-01 -2.12999927e-02 -1.11642314e-02 8.42887902e+02] [ 2.13088658e-02 9.99772712e-01 6.76419530e-04 -6.40098341e+01] [ 1.11472861e-02 -9.14121013e-04 9.99937449e-01 3.04305103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.620714057 meters Centerline goodness [0,1] 0.9875471266994174 Centerline is valid? [True, True] Translation: X:842.92, Y:-64.01, Z:3.04 [[ 9.99692929e-01 -2.18914221e-02 -1.16109207e-02 8.42918974e+02] [ 2.19010669e-02 9.99759895e-01 7.04157791e-04 -6.40138821e+01] [ 1.15927179e-02 -9.58233117e-04 9.99932343e-01 3.04246711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.650714057 meters Centerline goodness [0,1] 0.9874459765383824 Centerline is valid? [True, True] Translation: X:842.95, Y:-64.02, Z:3.04 [[ 9.99688160e-01 -2.22370690e-02 -1.13619992e-02 8.42950014e+02] [ 2.22463336e-02 9.99752282e-01 6.89658030e-04 -6.40177180e+01] [ 1.13438486e-02 -9.42205792e-04 9.99935213e-01 3.04228378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6807140569999 meters Centerline goodness [0,1] 0.9868198638585591 Centerline is valid? [True, True] Translation: X:842.98, Y:-64.02, Z:3.04 [[ 9.99684750e-01 -2.25700576e-02 -1.09997194e-02 8.42982072e+02] [ 2.25787687e-02 9.99744844e-01 6.68385735e-04 -6.40200075e+01] [ 1.09818273e-02 -9.16535147e-04 9.99939278e-01 3.04284584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7107140569999 meters Centerline goodness [0,1] 0.9870022883295194 Centerline is valid? [True, True] Translation: X:843.01, Y:-64.02, Z:3.04 [[ 9.99684749e-01 -2.26069673e-02 -1.09236863e-02 8.43014525e+02] [ 2.26155689e-02 9.99744014e-01 6.64525392e-04 -6.40217910e+01] [ 1.09058671e-02 -9.11361280e-04 9.99940114e-01 3.04294882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7407140569999 meters Centerline goodness [0,1] 0.9865143328143603 Centerline is valid? [True, True] Translation: X:843.05, Y:-64.02, Z:3.04 [[ 9.99698762e-01 -2.19532540e-02 -1.09744742e-02 8.43046265e+02] [ 2.19619049e-02 9.99758585e-01 6.68375578e-04 -6.40242326e+01] [ 1.09571517e-02 -9.09194596e-04 9.99939555e-01 3.04272294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.770714057 meters Centerline goodness [0,1] 0.9873063880487581 Centerline is valid? [True, True] Translation: X:843.08, Y:-64.02, Z:3.04 [[ 9.99738961e-01 -2.04297468e-02 -1.02291304e-02 8.43078021e+02] [ 2.04371878e-02 9.99790945e-01 6.23418124e-04 -6.40209193e+01] [ 1.02142556e-02 -8.32310046e-04 9.99947487e-01 3.04342613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8007140569999 meters Centerline goodness [0,1] 0.9865529606472968 Centerline is valid? [True, True] Translation: X:843.11, Y:-64.02, Z:3.04 [[ 9.99759059e-01 -1.94935979e-02 -1.00907850e-02 8.43108729e+02] [ 1.95007965e-02 9.99809652e-01 6.15469189e-04 -6.40241336e+01] [ 1.00768666e-02 -8.12099243e-04 9.99948897e-01 3.04354105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8307140569999 meters Centerline goodness [0,1] 0.9870612525808672 Centerline is valid? [True, True] Translation: X:843.14, Y:-64.03, Z:3.04 [[ 9.99779140e-01 -1.85830950e-02 -9.81527428e-03 8.43139956e+02] [ 1.85898659e-02 9.99827014e-01 5.99045608e-04 -6.40253679e+01] [ 9.80244426e-03 -7.81377936e-04 9.99951650e-01 3.04321584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8607140569999 meters Centerline goodness [0,1] 0.987101076059965 Centerline is valid? [True, True] Translation: X:843.17, Y:-64.03, Z:3.04 [[ 9.99798374e-01 -1.76210364e-02 -9.62860437e-03 8.43171176e+02] [ 1.76275111e-02 9.99844450e-01 5.87982716e-04 -6.40268615e+01] [ 9.61674578e-03 -7.57592494e-04 9.99953471e-01 3.04339402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.890714057 meters Centerline goodness [0,1] 0.9864961236743426 Centerline is valid? [True, True] Translation: X:843.20, Y:-64.03, Z:3.04 [[ 9.99823795e-01 -1.62494706e-02 -9.39857649e-03 8.43201700e+02] [ 1.62555813e-02 9.99867704e-01 5.74139745e-04 -6.40288200e+01] [ 9.38800363e-03 -7.26817903e-04 9.99955668e-01 3.04387442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9207140569999 meters Centerline goodness [0,1] 0.9864777849323889 Centerline is valid? [True, True] Translation: X:843.23, Y:-64.03, Z:3.04 [[ 9.99837490e-01 -1.56205329e-02 -8.99956267e-03 8.43232585e+02] [ 1.56261127e-02 9.99877754e-01 5.50025021e-04 -6.40305214e+01] [ 8.98987082e-03 -6.90563817e-04 9.99959352e-01 3.04383429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9507140569999 meters Centerline goodness [0,1] 0.9848150193263391 Centerline is valid? [True, True] Translation: X:843.26, Y:-64.04, Z:3.04 [[ 9.99843494e-01 -1.52706201e-02 -8.93286189e-03 8.43263206e+02] [ 1.52761073e-02 9.99883164e-01 5.46357286e-04 -6.40356640e+01] [ 8.92347500e-03 -6.82731134e-04 9.99959952e-01 3.04394056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9807140569999 meters Centerline goodness [0,1] 0.9884917255506709 Centerline is valid? [True, True] Translation: X:843.29, Y:-64.03, Z:3.04 [[ 9.99847847e-01 -1.47718059e-02 -9.27775772e-03 8.43294731e+02] [ 1.47777071e-02 9.99890642e-01 5.67822873e-04 -6.40292060e+01] [ 9.26835536e-03 -7.04840464e-04 9.99956799e-01 3.04467423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.010714057 meters Centerline goodness [0,1] 0.987508037108478 Centerline is valid? [True, True] Translation: X:843.33, Y:-64.03, Z:3.04 [[ 9.99849047e-01 -1.44892825e-02 -9.58869964e-03 8.43326042e+02] [ 1.44955818e-02 9.99894761e-01 5.87782281e-04 -6.40341541e+01] [ 9.57917399e-03 -7.26687334e-04 9.99953855e-01 3.04396341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.040714057 meters Centerline goodness [0,1] 0.987660278505446 Centerline is valid? [True, True] Translation: X:843.36, Y:-64.04, Z:3.04 [[ 9.99846026e-01 -1.42453687e-02 -1.02466423e-02 8.43358496e+02] [ 1.42525583e-02 9.99898229e-01 6.28963208e-04 -6.40376176e+01] [ 1.02366397e-02 -7.74907231e-04 9.99947304e-01 3.04375509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0707140569999 meters Centerline goodness [0,1] 0.9897262635316831 Centerline is valid? [True, True] Translation: X:843.39, Y:-64.03, Z:3.04 [[ 9.99850438e-01 -1.36835815e-02 -1.05764494e-02 8.43390770e+02] [ 1.36912151e-02 9.99906060e-01 6.49679597e-04 -6.40296771e+01] [ 1.05665659e-02 -7.94386873e-04 9.99943857e-01 3.04421916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1007140569999 meters Centerline goodness [0,1] 0.9901156242098246 Centerline is valid? [True, True] Translation: X:843.42, Y:-64.03, Z:3.04 [[ 9.99852232e-01 -1.33078803e-02 -1.08818756e-02 8.43422198e+02] [ 1.33159433e-02 9.99911115e-01 6.68837989e-04 -6.40327396e+01] [ 1.08720075e-02 -8.13641595e-04 9.99940567e-01 3.04394107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.130714057 meters Centerline goodness [0,1] 0.9894091159713287 Centerline is valid? [True, True] Translation: X:843.45, Y:-64.04, Z:3.04 [[ 9.99866097e-01 -1.20031126e-02 -1.11226791e-02 8.43452188e+02] [ 1.20114648e-02 9.99927626e-01 6.84417333e-04 -6.40391578e+01] [ 1.11136590e-02 -8.17925357e-04 9.99937907e-01 3.04359039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.160714057 meters Centerline goodness [0,1] 0.9887852619458837 Centerline is valid? [True, True] Translation: X:843.48, Y:-64.04, Z:3.04 [[ 9.99868595e-01 -1.16174779e-02 -1.13061008e-02 8.43482079e+02] [ 1.16260857e-02 9.99932173e-01 6.95912682e-04 -6.40425368e+01] [ 1.12972492e-02 -8.27266932e-04 9.99935842e-01 3.04359699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1907140569999 meters Centerline goodness [0,1] 0.9889895182052225 Centerline is valid? [True, True] Translation: X:843.51, Y:-64.04, Z:3.04 [[ 9.99879603e-01 -1.08439389e-02 -1.10990109e-02 8.43512642e+02] [ 1.08521868e-02 9.99940880e-01 6.83165891e-04 -6.40436432e+01] [ 1.10909466e-02 -8.03532181e-04 9.99938171e-01 3.04392993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2207140569999 meters Centerline goodness [0,1] 0.9900052845621855 Centerline is valid? [True, True] Translation: X:843.54, Y:-64.04, Z:3.04 [[ 9.99884543e-01 -1.03873846e-02 -1.10906354e-02 8.43543147e+02] [ 1.03955849e-02 9.99945732e-01 6.81995897e-04 -6.40391310e+01] [ 1.10829494e-02 -7.97210798e-04 9.99938264e-01 3.04468837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.250714057 meters Centerline goodness [0,1] 0.9892892364854017 Centerline is valid? [True, True] Translation: X:843.57, Y:-64.04, Z:3.04 [[ 9.99887058e-01 -1.01344588e-02 -1.10979647e-02 8.43573340e+02] [ 1.01426523e-02 9.99948329e-01 6.82249129e-04 -6.40417209e+01] [ 1.10904770e-02 -7.94734871e-04 9.99938183e-01 3.04480846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.280714057 meters Centerline goodness [0,1] 0.9895506313160246 Centerline is valid? [True, True] Translation: X:843.60, Y:-64.05, Z:3.04 [[ 9.99889064e-01 -1.00260409e-02 -1.10154050e-02 8.43602875e+02] [ 1.00341069e-02 9.99949428e-01 6.77219637e-04 -6.40479637e+01] [ 1.10080581e-02 -7.87674260e-04 9.99939099e-01 3.04446689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3107140569999 meters Centerline goodness [0,1] 0.9883086515978177 Centerline is valid? [True, True] Translation: X:843.63, Y:-64.06, Z:3.04 [[ 9.99884019e-01 -1.03247336e-02 -1.11958974e-02 8.43631680e+02] [ 1.03330832e-02 9.99946375e-01 6.88180454e-04 -6.40556131e+01] [ 1.11881918e-02 -8.03788778e-04 9.99937087e-01 3.04398628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3407140569999 meters Centerline goodness [0,1] 0.9899823082048572 Centerline is valid? [True, True] Translation: X:843.66, Y:-64.05, Z:3.05 [[ 9.99872193e-01 -1.12295147e-02 -1.13796570e-02 8.43662838e+02] [ 1.12381984e-02 9.99936605e-01 6.99430258e-04 -6.40517319e+01] [ 1.13710814e-02 -8.27227709e-04 9.99935005e-01 3.04523926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.370714057 meters Centerline goodness [0,1] 0.989418472063854 Centerline is valid? [True, True] Translation: X:843.69, Y:-64.06, Z:3.04 [[ 9.99863708e-01 -1.19134520e-02 -1.14296012e-02 8.43692509e+02] [ 1.19222656e-02 9.99928680e-01 7.03285132e-04 -6.40575928e+01] [ 1.14204075e-02 -8.39456020e-04 9.99934433e-01 3.04451346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.400714057 meters Centerline goodness [0,1] 0.989772571271679 Centerline is valid? [True, True] Translation: X:843.72, Y:-64.06, Z:3.04 [[ 9.99850264e-01 -1.27023753e-02 -1.17515505e-02 8.43722702e+02] [ 1.27117493e-02 9.99918941e-01 7.23329382e-04 -6.40614053e+01] [ 1.17414100e-02 -8.72603837e-04 9.99930687e-01 3.04432692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4307140569999 meters Centerline goodness [0,1] 0.9893488148842312 Centerline is valid? [True, True] Translation: X:843.75, Y:-64.07, Z:3.04 [[ 9.99827691e-01 -1.42139414e-02 -1.19395331e-02 8.43752353e+02] [ 1.42237230e-02 9.99898568e-01 7.34738001e-04 -6.40666551e+01] [ 1.19278785e-02 -9.04436010e-04 9.99928451e-01 3.04441709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4607140569999 meters Centerline goodness [0,1] 0.9894616527603155 Centerline is valid? [True, True] Translation: X:843.78, Y:-64.07, Z:3.04 [[ 9.99824051e-01 -1.48945918e-02 -1.14025472e-02 8.43782377e+02] [ 1.49035568e-02 9.99888690e-01 7.01650389e-04 -6.40706398e+01] [ 1.13908271e-02 -8.71465443e-04 9.99934743e-01 3.04479702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4907140569999 meters Centerline goodness [0,1] 0.9886850013659958 Centerline is valid? [True, True] Translation: X:843.81, Y:-64.08, Z:3.05 [[ 9.99826991e-01 -1.55564280e-02 -1.01973463e-02 8.43812484e+02] [ 1.55636359e-02 9.99878682e-01 6.27861044e-04 -6.40762874e+01] [ 1.01863419e-02 -7.86460203e-04 9.99947809e-01 3.04531033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.520714057 meters Centerline goodness [0,1] 0.9882925276773739 Centerline is valid? [True, True] Translation: X:843.85, Y:-64.07, Z:3.05 [[ 9.99828456e-01 -1.56496103e-02 -9.90698973e-03 8.43845365e+02] [ 1.56564245e-02 9.99877244e-01 6.10630731e-04 -6.40722280e+01] [ 9.89621745e-03 -7.65634017e-04 9.99950738e-01 3.04610871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5507140569999 meters Centerline goodness [0,1] 0.9891495534184618 Centerline is valid? [True, True] Translation: X:843.88, Y:-64.07, Z:3.05 [[ 9.99833744e-01 -1.54428498e-02 -9.69547148e-03 8.43877545e+02] [ 1.54493732e-02 9.99880472e-01 5.98287132e-04 -6.40748284e+01] [ 9.68507334e-03 -7.47976621e-04 9.99952819e-01 3.04640160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5807140569999 meters Centerline goodness [0,1] 0.989064315494498 Centerline is valid? [True, True] Translation: X:843.91, Y:-64.07, Z:3.05 [[ 9.99840831e-01 -1.50650720e-02 -9.55805742e-03 8.43909779e+02] [ 1.50714013e-02 9.99886246e-01 5.90503204e-04 -6.40744366e+01] [ 9.54807418e-03 -7.34462533e-04 9.99954146e-01 3.04673459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6107140569999 meters Centerline goodness [0,1] 0.9884506081618734 Centerline is valid? [True, True] Translation: X:843.94, Y:-64.08, Z:3.05 [[ 9.99855914e-01 -1.38044892e-02 -9.87860107e-03 8.43939761e+02] [ 1.38111922e-02 9.99904434e-01 6.10633631e-04 -6.40818902e+01] [ 9.86922753e-03 -7.46980905e-04 9.99951019e-01 3.04609079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.640714057 meters Centerline goodness [0,1] 0.9878435397422739 Centerline is valid? [True, True] Translation: X:843.97, Y:-64.08, Z:3.05 [[ 9.99861332e-01 -1.32944288e-02 -1.00286963e-02 8.43971285e+02] [ 1.33013146e-02 9.99911341e-01 6.20222034e-04 -6.40840535e+01] [ 1.00195617e-02 -7.53530874e-04 9.99949519e-01 3.04621338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6707140569999 meters Centerline goodness [0,1] 0.9881174595948099 Centerline is valid? [True, True] Translation: X:844.00, Y:-64.09, Z:3.05 [[ 9.99865862e-01 -1.26518083e-02 -1.04014374e-02 8.44002979e+02] [ 1.26591848e-02 9.99919662e-01 6.43645054e-04 -6.40855538e+01] [ 1.03924585e-02 -7.75232435e-04 9.99945696e-01 3.04616439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7007140569999 meters Centerline goodness [0,1] 0.9883541079064689 Centerline is valid? [True, True] Translation: X:844.03, Y:-64.09, Z:3.05 [[ 9.99882070e-01 -1.15943833e-02 -1.00705988e-02 8.44033780e+02] [ 1.16012453e-02 9.99932509e-01 6.23230731e-04 -6.40871917e+01] [ 1.00626931e-02 -7.39988720e-04 9.99949096e-01 3.04593963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7307140569999 meters Centerline goodness [0,1] 0.9888126865501606 Centerline is valid? [True, True] Translation: X:844.06, Y:-64.09, Z:3.05 [[ 9.99886753e-01 -1.11626094e-02 -1.00934750e-02 8.44064694e+02] [ 1.11694805e-02 9.99937424e-01 6.24636209e-04 -6.40877878e+01] [ 1.00858708e-02 -7.37304343e-04 9.99948864e-01 3.04616380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.760714057 meters Centerline goodness [0,1] 0.9888126865501606 Centerline is valid? [True, True] Translation: X:844.09, Y:-64.09, Z:3.05 [[ 9.99886753e-01 -1.11626094e-02 -1.00934750e-02 8.44094718e+02] [ 1.11694805e-02 9.99937424e-01 6.24636209e-04 -6.40896458e+01] [ 1.00858708e-02 -7.37304343e-04 9.99948864e-01 3.04624124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.790714057 meters Centerline goodness [0,1] 0.9884918920148287 Centerline is valid? [True, True] Translation: X:844.13, Y:-64.09, Z:3.05 [[ 9.99898073e-01 -1.00311189e-02 -1.01597463e-02 8.44125423e+02] [ 1.00380225e-02 9.99949420e-01 6.28737417e-04 -6.40911611e+01] [ 1.01529255e-02 -7.30657094e-04 9.99948191e-01 3.04612617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8207140569999 meters Centerline goodness [0,1] 0.9878963324291673 Centerline is valid? [True, True] Translation: X:844.16, Y:-64.10, Z:3.05 [[ 9.99903259e-01 -9.18053358e-03 -1.04493800e-02 8.44155159e+02] [ 9.18779021e-03 9.99957582e-01 6.46661443e-04 -6.40966315e+01] [ 1.04430001e-02 -7.42605596e-04 9.99945195e-01 3.04631691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8507140569999 meters Centerline goodness [0,1] 0.9864237958793832 Centerline is valid? [True, True] Translation: X:844.18, Y:-64.10, Z:3.05 [[ 9.99905297e-01 -8.59684801e-03 -1.07466526e-02 8.44184325e+02] [ 8.60448835e-03 9.99962760e-01 6.64915724e-04 -6.41034444e+01] [ 1.07405362e-02 -7.57322202e-04 9.99942032e-01 3.04551071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.880714057 meters Centerline goodness [0,1] 0.9874695281707789 Centerline is valid? [True, True] Translation: X:844.21, Y:-64.10, Z:3.05 [[ 9.99909762e-01 -8.24784617e-03 -1.06038367e-02 8.44214010e+02] [ 8.25526173e-03 9.99965710e-01 6.55748035e-04 -6.40979403e+01] [ 1.05980645e-02 -7.43226308e-04 9.99943563e-01 3.04620345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.910714057 meters Centerline goodness [0,1] 0.9879471405787196 Centerline is valid? [True, True] Translation: X:844.24, Y:-64.10, Z:3.05 [[ 9.99912135e-01 -6.94499287e-03 -1.12910828e-02 8.44243028e+02] [ 6.95331362e-03 9.99975582e-01 6.97841157e-04 -6.41028043e+01] [ 1.12859606e-02 -7.76290282e-04 9.99936010e-01 3.04514974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9407140569999 meters Centerline goodness [0,1] 0.9889106030995773 Centerline is valid? [True, True] Translation: X:844.27, Y:-64.10, Z:3.05 [[ 9.99909614e-01 -6.28945521e-03 -1.18830157e-02 8.44272271e+02] [ 6.29859596e-03 9.99979896e-01 7.31959602e-04 -6.41003699e+01] [ 1.18781732e-02 -8.06739758e-04 9.99929127e-01 3.04539757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9707140569999 meters Centerline goodness [0,1] 0.9881197528908602 Centerline is valid? [True, True] Translation: X:844.30, Y:-64.11, Z:3.04 [[ 9.99907616e-01 -4.56540973e-03 -1.28030244e-02 8.44299431e+02] [ 4.57585389e-03 9.99989221e-01 7.86582663e-04 -6.41079694e+01] [ 1.27992953e-02 -8.45094764e-04 9.99917729e-01 3.04400143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.000714057 meters Centerline goodness [0,1] 0.9884700765641281 Centerline is valid? [True, True] Translation: X:844.33, Y:-64.11, Z:3.04 [[ 9.99913805e-01 -3.93286901e-03 -1.25265755e-02 8.44328639e+02] [ 3.94278236e-03 9.99991933e-01 7.66788212e-04 -6.41055658e+01] [ 1.25234588e-02 -8.16111679e-04 9.99921245e-01 3.04484769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.030714057 meters Centerline goodness [0,1] 0.988580120782818 Centerline is valid? [True, True] Translation: X:844.36, Y:-64.11, Z:3.05 [[ 9.99914701e-01 -3.81517732e-03 -1.24914043e-02 8.44357170e+02] [ 3.82498655e-03 9.99992395e-01 7.61482291e-04 -6.41054716e+01] [ 1.24884041e-02 -8.09196791e-04 9.99921689e-01 3.04527546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0607140569999 meters Centerline goodness [0,1] 0.988099016185338 Centerline is valid? [True, True] Translation: X:844.38, Y:-64.11, Z:3.05 [[ 9.99918893e-01 -3.22927189e-03 -1.23199002e-02 8.44384579e+02] [ 3.23875059e-03 9.99994474e-01 7.49507296e-04 -6.41103707e+01] [ 1.23174118e-02 -7.89347590e-04 9.99923826e-01 3.04517171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0907140569999 meters Centerline goodness [0,1] 0.987816243493283 Centerline is valid? [True, True] Translation: X:844.41, Y:-64.11, Z:3.05 [[ 9.99926782e-01 -2.36076353e-03 -1.18683029e-02 8.44413780e+02] [ 2.36948220e-03 9.99996933e-01 7.20610946e-04 -6.41113879e+01] [ 1.18665653e-02 -7.48679917e-04 9.99929310e-01 3.04561330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.120714057 meters Centerline goodness [0,1] 0.9884913969219594 Centerline is valid? [True, True] Translation: X:844.44, Y:-64.12, Z:3.05 [[ 9.99928398e-01 -1.94356243e-03 -1.18076503e-02 8.44440953e+02] [ 1.95214971e-03 9.99997838e-01 7.15782542e-04 -6.41154949e+01] [ 1.18062336e-02 -7.38781592e-04 9.99930031e-01 3.04555527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.150714057 meters Centerline goodness [0,1] 0.9889251997095134 Centerline is valid? [True, True] Translation: X:844.47, Y:-64.11, Z:3.05 [[ 9.99930585e-01 -1.26127285e-03 -1.17147006e-02 8.44469683e+02] [ 1.26964958e-03 9.99998944e-01 7.07651982e-04 -6.41147304e+01] [ 1.17137956e-02 -7.22476425e-04 9.99931130e-01 3.04620449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1807140569999 meters Centerline goodness [0,1] 0.9877641065296004 Centerline is valid? [True, True] Translation: X:844.50, Y:-64.12, Z:3.05 [[ 9.99932880e-01 -1.34053242e-03 -1.15082324e-02 8.44497983e+02] [ 1.34858907e-03 9.99998851e-01 6.92345566e-04 -6.41176093e+01] [ 1.15072911e-02 -7.07818972e-04 9.99933538e-01 3.04646262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2107140569999 meters Centerline goodness [0,1] 0.9883071473980565 Centerline is valid? [True, True] Translation: X:844.53, Y:-64.12, Z:3.05 [[ 9.99938529e-01 -9.64194312e-04 -1.10457803e-02 8.44526827e+02] [ 9.71563540e-04 9.99999309e-01 6.61806654e-04 -6.41189580e+01] [ 1.10451346e-02 -6.72497649e-04 9.99938775e-01 3.04663765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2407140569999 meters Centerline goodness [0,1] 0.9883123060544973 Centerline is valid? [True, True] Translation: X:844.56, Y:-64.12, Z:3.05 [[ 9.99944838e-01 -1.16745552e-03 -1.04382842e-02 8.44555047e+02] [ 1.17403229e-03 9.99999116e-01 6.23957045e-04 -6.41214544e+01] [ 1.04375465e-02 -6.36177509e-04 9.99945325e-01 3.04641423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.270714057 meters Centerline goodness [0,1] 0.9883504827523685 Centerline is valid? [True, True] Translation: X:844.58, Y:-64.12, Z:3.05 [[ 9.99945126e-01 -1.40500263e-03 -1.03812735e-02 8.44582496e+02] [ 1.41149402e-03 9.99998813e-01 6.17997817e-04 -6.41227313e+01] [ 1.03803929e-02 -6.32617010e-04 9.99945922e-01 3.04701803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3007140569999 meters Centerline goodness [0,1] 0.9872064850666847 Centerline is valid? [True, True] Translation: X:844.61, Y:-64.13, Z:3.05 [[ 9.99946027e-01 -1.78969334e-03 -1.02342374e-02 8.44611340e+02] [ 1.79600905e-03 9.99998202e-01 6.07958024e-04 -6.41261673e+01] [ 1.02331310e-02 -6.26305994e-04 9.99947444e-01 3.04642718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3307140569999 meters Centerline goodness [0,1] 0.9887569422495146 Centerline is valid? [True, True] Translation: X:844.64, Y:-64.13, Z:3.05 [[ 9.99942044e-01 -2.36629904e-03 -1.05028347e-02 8.44639576e+02] [ 2.37297438e-03 9.99996990e-01 6.23158883e-04 -6.41299462e+01] [ 1.05013285e-02 -6.48045725e-04 9.99944650e-01 3.04595217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3607140569999 meters Centerline goodness [0,1] 0.987736019513958 Centerline is valid? [True, True] Translation: X:844.67, Y:-64.14, Z:3.05 [[ 9.99936644e-01 -2.68562939e-03 -1.09314252e-02 8.44667004e+02] [ 2.69286951e-03 9.99996164e-01 6.47656589e-04 -6.41352583e+01] [ 1.09296439e-02 -6.77052458e-04 9.99940040e-01 3.04518916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.390714057 meters Centerline goodness [0,1] 0.9878874323620639 Centerline is valid? [True, True] Translation: X:844.70, Y:-64.14, Z:3.04 [[ 9.99919009e-01 -3.42267633e-03 -1.22580919e-02 8.44695615e+02] [ 3.43182412e-03 9.99993848e-01 7.25308322e-04 -6.41350082e+01] [ 1.22555340e-02 -7.67317194e-04 9.99924604e-01 3.04484149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4207140569999 meters Centerline goodness [0,1] 0.9889894623074844 Centerline is valid? [True, True] Translation: X:844.72, Y:-64.14, Z:3.04 [[ 9.99915384e-01 -3.05690396e-03 -1.26443686e-02 8.44722870e+02] [ 3.06659453e-03 9.99995019e-01 7.47076595e-04 -6.41384552e+01] [ 1.26420219e-02 -7.85788532e-04 9.99919778e-01 3.04418748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4507140569999 meters Centerline goodness [0,1] 0.9891800316241247 Centerline is valid? [True, True] Translation: X:844.75, Y:-64.14, Z:3.04 [[ 9.99904492e-01 -3.34271317e-03 -1.34101574e-02 8.44751317e+02] [ 3.35359875e-03 9.99994065e-01 7.89336384e-04 -6.41374583e+01] [ 1.34074393e-02 -8.34233283e-04 9.99909768e-01 3.04401804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4807140569999 meters Centerline goodness [0,1] 0.9895960555480164 Centerline is valid? [True, True] Translation: X:844.78, Y:-64.14, Z:3.04 [[ 9.99893069e-01 -2.88197447e-03 -1.43368567e-02 8.44779858e+02] [ 2.89431723e-03 9.99995458e-01 8.40237368e-04 -6.41399647e+01] [ 1.43343700e-02 -8.81642932e-04 9.99896869e-01 3.04303299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.510714057 meters Centerline goodness [0,1] 0.9895882845567099 Centerline is valid? [True, True] Translation: X:844.81, Y:-64.14, Z:3.04 [[ 9.99888114e-01 -2.70360038e-03 -1.47122458e-02 8.44808370e+02] [ 2.71652431e-03 9.99995942e-01 8.58533533e-04 -6.41415692e+01] [ 1.47098650e-02 -8.98403648e-04 9.99891400e-01 3.04295027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.540714057 meters Centerline goodness [0,1] 0.9893489246946314 Centerline is valid? [True, True] Translation: X:844.84, Y:-64.14, Z:3.04 [[ 9.99888269e-01 -2.51621716e-03 -1.47349350e-02 8.44836647e+02] [ 2.52910631e-03 9.99996435e-01 8.56165335e-04 -6.41427916e+01] [ 1.47327282e-02 -8.93335892e-04 9.99891068e-01 3.04308013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5707140569999 meters Centerline goodness [0,1] 0.9891452447997093 Centerline is valid? [True, True] Translation: X:844.86, Y:-64.14, Z:3.04 [[ 9.99892387e-01 -2.07129724e-03 -1.45232435e-02 8.44864552e+02] [ 2.08374730e-03 9.99997474e-01 8.42171384e-04 -6.41443188e+01] [ 1.45214625e-02 -8.72343525e-04 9.99894177e-01 3.04314028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6007140569999 meters Centerline goodness [0,1] 0.9901203235820625 Centerline is valid? [True, True] Translation: X:844.89, Y:-64.15, Z:3.04 [[ 9.99893071e-01 -2.47565318e-03 -1.44124243e-02 8.44892102e+02] [ 2.48793757e-03 9.99996557e-01 8.34480119e-04 -6.41489872e+01] [ 1.44103088e-02 -8.70248101e-04 9.99895787e-01 3.04294579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.630714057 meters Centerline goodness [0,1] 0.9887663398692811 Centerline is valid? [True, True] Translation: X:844.92, Y:-64.15, Z:3.04 [[ 9.99900218e-01 -3.63779782e-03 -1.36499256e-02 8.44920480e+02] [ 3.64890848e-03 9.99993031e-01 7.89155463e-04 -6.41498108e+01] [ 1.36469597e-02 -8.38884049e-04 9.99906524e-01 3.04356705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.660714057 meters Centerline goodness [0,1] 0.9893353343793346 Centerline is valid? [True, True] Translation: X:844.95, Y:-64.15, Z:3.04 [[ 9.99907063e-01 -4.73116054e-03 -1.27859807e-02 8.44947869e+02] [ 4.74097887e-03 9.99988489e-01 7.37696279e-04 -6.41534764e+01] [ 1.27823434e-02 -7.98245784e-04 9.99917984e-01 3.04357581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6907140569999 meters Centerline goodness [0,1] 0.9885393309324817 Centerline is valid? [True, True] Translation: X:844.98, Y:-64.16, Z:3.04 [[ 9.99906010e-01 -5.91931316e-03 -1.23666018e-02 8.44975481e+02] [ 5.92857414e-03 9.99982172e-01 7.12344501e-04 -6.41568033e+01] [ 1.23621647e-02 -7.85593864e-04 9.99923277e-01 3.04426221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7207140569999 meters Centerline goodness [0,1] 0.9872654762983776 Centerline is valid? [True, True] Translation: X:845.00, Y:-64.16, Z:3.05 [[ 9.99908516e-01 -7.25843902e-03 -1.14138285e-02 8.45004498e+02] [ 7.26638824e-03 9.99973385e-01 6.55138361e-04 -6.41591119e+01] [ 1.14087694e-02 -7.38015735e-04 9.99934646e-01 3.04503444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.750714057 meters Centerline goodness [0,1] 0.9880652553717696 Centerline is valid? [True, True] Translation: X:845.03, Y:-64.16, Z:3.05 [[ 9.99890436e-01 -1.01059706e-02 -1.08159842e-02 8.45034560e+02] [ 1.01132666e-02 9.99948667e-01 6.20073059e-04 -6.41562647e+01] [ 1.08091626e-02 -7.29390053e-04 9.99941313e-01 3.04713677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.780714057 meters Centerline goodness [0,1] 0.988109258923718 Centerline is valid? [True, True] Translation: X:845.06, Y:-64.16, Z:3.05 [[ 9.99880922e-01 -1.10536541e-02 -1.07684294e-02 8.45063340e+02] [ 1.10609426e-02 9.99938635e-01 6.17517741e-04 -6.41631244e+01] [ 1.07609428e-02 -7.36553188e-04 9.99941828e-01 3.04682331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8107140569999 meters Centerline goodness [0,1] 0.9860832751593217 Centerline is valid? [True, True] Translation: X:845.09, Y:-64.17, Z:3.05 [[ 9.99855284e-01 -1.35615292e-02 -1.02711096e-02 8.45092236e+02] [ 1.35682896e-02 9.99907773e-01 5.88799097e-04 -6.41708092e+01] [ 1.02621773e-02 -7.28075277e-04 9.99947077e-01 3.04613689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8407140569999 meters Centerline goodness [0,1] 0.9884294900824201 Centerline is valid? [True, True] Translation: X:845.12, Y:-64.17, Z:3.05 [[ 9.99838071e-01 -1.46670100e-02 -1.04264808e-02 8.45124140e+02] [ 1.46740382e-02 9.99892152e-01 5.97895145e-04 -6.41683788e+01] [ 1.04165870e-02 -7.50796906e-04 9.99945464e-01 3.04628922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.870714057 meters Centerline goodness [0,1] 0.988319449474828 Centerline is valid? [True, True] Translation: X:845.16, Y:-64.17, Z:3.05 [[ 9.99823233e-01 -1.56751498e-02 -1.03823049e-02 8.45155019e+02] [ 1.56821751e-02 9.99876850e-01 5.95594049e-04 -6.41695319e+01] [ 1.03716903e-02 -7.58305892e-04 9.99945925e-01 3.04588074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.900714057 meters Centerline goodness [0,1] 0.9875268817204301 Centerline is valid? [True, True] Translation: X:845.18, Y:-64.17, Z:3.04 [[ 9.99788427e-01 -1.69611880e-02 -1.16370117e-02 8.45184648e+02] [ 1.69701013e-02 9.99855775e-01 6.67623912e-04 -6.41736357e+01] [ 1.16240097e-02 -8.64963928e-04 9.99932065e-01 3.04424448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9307140569999 meters Centerline goodness [0,1] 0.9873117112226897 Centerline is valid? [True, True] Translation: X:845.22, Y:-64.18, Z:3.04 [[ 9.99782040e-01 -1.67631841e-02 -1.24446410e-02 8.45215876e+02] [ 1.67733690e-02 9.99859062e-01 7.14482613e-04 -6.41764209e+01] [ 1.24309101e-02 -9.23065439e-04 9.99922307e-01 3.04346153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9607140569999 meters Centerline goodness [0,1] 0.9877779281107654 Centerline is valid? [True, True] Translation: X:845.25, Y:-64.18, Z:3.04 [[ 9.99771553e-01 -1.67214334e-02 -1.33129513e-02 8.45246449e+02] [ 1.67330900e-02 9.99859700e-01 7.64668531e-04 -6.41799791e+01] [ 1.32982971e-02 -9.87260658e-04 9.99911086e-01 3.04237649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9907140569999 meters Centerline goodness [0,1] 0.9881539087579689 Centerline is valid? [True, True] Translation: X:845.28, Y:-64.18, Z:3.04 [[ 9.99768200e-01 -1.63532933e-02 -1.40041253e-02 8.45276663e+02] [ 1.63661565e-02 9.99865742e-01 8.04415382e-04 -6.41802345e+01] [ 1.39890903e-02 -1.03342263e-03 9.99901614e-01 3.04142005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.020714057 meters Centerline goodness [0,1] 0.9885600596866451 Centerline is valid? [True, True] Translation: X:845.31, Y:-64.18, Z:3.04 [[ 9.99779723e-01 -1.56647568e-02 -1.39685940e-02 8.45307617e+02] [ 1.56774871e-02 9.99876779e-01 8.02314446e-04 -6.41808181e+01] [ 1.39543047e-02 -1.02113017e-03 9.99902113e-01 3.04148728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0507140569999 meters Centerline goodness [0,1] 0.9874863982589771 Centerline is valid? [True, True] Translation: X:845.34, Y:-64.18, Z:3.04 [[ 9.99791219e-01 -1.51790977e-02 -1.36789670e-02 8.45336943e+02] [ 1.51912575e-02 9.99884298e-01 7.85473692e-04 -6.41834277e+01] [ 1.36654616e-02 -9.93110411e-04 9.99906130e-01 3.04143660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0807140569999 meters Centerline goodness [0,1] 0.9880806984213145 Centerline is valid? [True, True] Translation: X:845.37, Y:-64.18, Z:3.04 [[ 9.99831643e-01 -1.37867070e-02 -1.21083654e-02 8.45366945e+02] [ 1.37961264e-02 9.99904588e-01 6.94744851e-04 -6.41836618e+01] [ 1.20976319e-02 -8.61676427e-04 9.99926450e-01 3.04259902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1107140569999 meters Centerline goodness [0,1] 0.9871676117750717 Centerline is valid? [True, True] Translation: X:845.40, Y:-64.19, Z:3.04 [[ 9.99844680e-01 -1.33605733e-02 -1.14939374e-02 8.45396399e+02] [ 1.33690298e-02 9.99910413e-01 6.59209905e-04 -6.41859056e+01] [ 1.14841002e-02 -8.12770308e-04 9.99933725e-01 3.04302501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.140714057 meters Centerline goodness [0,1] 0.9868799709954453 Centerline is valid? [True, True] Translation: X:845.43, Y:-64.19, Z:3.04 [[ 9.99863000e-01 -1.27790851e-02 -1.05202419e-02 8.45427109e+02] [ 1.27861369e-02 9.99918072e-01 6.03325575e-04 -6.41874112e+01] [ 1.05116700e-02 -7.37756173e-04 9.99944479e-01 3.04332909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1707140569999 meters Centerline goodness [0,1] 0.9873325766174801 Centerline is valid? [True, True] Translation: X:845.46, Y:-64.19, Z:3.04 [[ 9.99885544e-01 -1.19576062e-02 -9.26906309e-03 8.45457335e+02] [ 1.19630452e-02 9.99928299e-01 5.31571697e-04 -6.41884965e+01] [ 9.26204216e-03 -6.42397076e-04 9.99956900e-01 3.04352078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2007140569999 meters Centerline goodness [0,1] 0.9862206508929381 Centerline is valid? [True, True] Translation: X:845.49, Y:-64.19, Z:3.04 [[ 9.99888874e-01 -1.17245363e-02 -9.20727433e-03 8.45487679e+02] [ 1.17298932e-02 9.99931063e-01 5.28028172e-04 -6.41904790e+01] [ 9.20044872e-03 -6.35969839e-04 9.99957473e-01 3.04367553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2307140569999 meters Centerline goodness [0,1] 0.9862240289069557 Centerline is valid? [True, True] Translation: X:845.52, Y:-64.19, Z:3.04 [[ 9.99883053e-01 -1.20565295e-02 -9.40856402e-03 8.45518251e+02] [ 1.20621389e-02 9.99927104e-01 5.39686116e-04 -6.41945209e+01] [ 9.40137143e-03 -6.53110407e-04 9.99955593e-01 3.04285230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.260714057 meters Centerline goodness [0,1] 0.9884573601303639 Centerline is valid? [True, True] Translation: X:845.55, Y:-64.18, Z:3.04 [[ 9.99880755e-01 -1.21977064e-02 -9.47054373e-03 8.45550031e+02] [ 1.22033991e-02 9.99925388e-01 5.43535198e-04 -6.41847996e+01] [ 9.46320723e-03 -6.59043209e-04 9.99955006e-01 3.04370484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.290714057 meters Centerline goodness [0,1] 0.9897905937336933 Centerline is valid? [True, True] Translation: X:845.58, Y:-64.19, Z:3.04 [[ 9.99878367e-01 -1.21571225e-02 -9.77016223e-03 8.45579910e+02] [ 1.21631813e-02 9.99925868e-01 5.60956170e-04 -6.41882184e+01] [ 9.76261834e-03 -6.79724194e-04 9.99952113e-01 3.04332455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3207140569999 meters Centerline goodness [0,1] 0.9888443871201321 Centerline is valid? [True, True] Translation: X:845.61, Y:-64.19, Z:3.04 [[ 9.99857307e-01 -1.29638628e-02 -1.08307102e-02 8.45609967e+02] [ 1.29713562e-02 9.99915675e-01 6.21898788e-04 -6.41911288e+01] [ 1.08217347e-02 -7.62299048e-04 9.99941153e-01 3.04215136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3507140569999 meters Centerline goodness [0,1] 0.9890124827258104 Centerline is valid? [True, True] Translation: X:845.64, Y:-64.19, Z:3.04 [[ 9.99841987e-01 -1.35182452e-02 -1.15437629e-02 8.45640878e+02] [ 1.35267945e-02 9.99908289e-01 6.62842231e-04 -6.41919689e+01] [ 1.15337437e-02 -8.18887601e-04 9.99933149e-01 3.04201242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.380714057 meters Centerline goodness [0,1] 0.9879572618616443 Centerline is valid? [True, True] Translation: X:845.67, Y:-64.20, Z:3.04 [[ 9.99823924e-01 -1.33724345e-02 -1.31643224e-02 8.45670751e+02] [ 1.33835429e-02 9.99910151e-01 7.56084441e-04 -6.41980949e+01] [ 1.31530290e-02 -9.32136586e-04 9.99913061e-01 3.04028298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.410714057 meters Centerline goodness [0,1] 0.98782998167711 Centerline is valid? [True, True] Translation: X:845.70, Y:-64.20, Z:3.04 [[ 9.99821454e-01 -1.35670078e-02 -1.31528272e-02 8.45700773e+02] [ 1.35781092e-02 9.99907528e-01 7.55099803e-04 -6.42005328e+01] [ 1.31413665e-02 -9.33555508e-04 9.99913213e-01 3.03994127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4407140569999 meters Centerline goodness [0,1] 0.9889067124556608 Centerline is valid? [True, True] Translation: X:845.73, Y:-64.20, Z:3.04 [[ 9.99820921e-01 -1.33635409e-02 -1.33992993e-02 8.45730723e+02] [ 1.33750378e-02 9.99910255e-01 7.68772214e-04 -6.41997303e+01] [ 1.33878233e-02 -9.47850678e-04 9.99909930e-01 3.04015504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4707140569999 meters Centerline goodness [0,1] 0.9880253050158156 Centerline is valid? [True, True] Translation: X:845.76, Y:-64.20, Z:3.04 [[ 9.99845523e-01 -1.22937435e-02 -1.25616179e-02 8.45759879e+02] [ 1.23037582e-02 9.99924046e-01 7.20271743e-04 -6.42014694e+01] [ 1.25518090e-02 -8.74715588e-04 9.99920840e-01 3.04087311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.500714057 meters Centerline goodness [0,1] 0.9886070215175538 Centerline is valid? [True, True] Translation: X:845.79, Y:-64.20, Z:3.04 [[ 9.99850756e-01 -1.19269054e-02 -1.24986148e-02 8.45789318e+02] [ 1.19367881e-02 9.99928497e-01 7.16394691e-04 -6.42039860e+01] [ 1.24891767e-02 -8.65481089e-04 9.99921633e-01 3.04134943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.530714057 meters Centerline goodness [0,1] 0.988442974008022 Centerline is valid? [True, True] Translation: X:845.82, Y:-64.20, Z:3.04 [[ 9.99873072e-01 -1.13626877e-02 -1.11682052e-02 8.45819056e+02] [ 1.13705395e-02 9.99935149e-01 6.39795185e-04 -6.42037179e+01] [ 1.11602112e-02 -7.66702495e-04 9.99937429e-01 3.04218479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5607140569999 meters Centerline goodness [0,1] 0.9869633116809633 Centerline is valid? [True, True] Translation: X:845.85, Y:-64.21, Z:3.04 [[ 9.99887078e-01 -1.08818321e-02 -1.03641809e-02 8.45847922e+02] [ 1.08885645e-02 9.99940542e-01 5.93379033e-04 -6.42080720e+01] [ 1.03571076e-02 -7.06163080e-04 9.99946114e-01 3.04198959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5907140569999 meters Centerline goodness [0,1] 0.9883294053662074 Centerline is valid? [True, True] Translation: X:845.88, Y:-64.20, Z:3.04 [[ 9.99897912e-01 -1.04969010e-02 -9.69440996e-03 8.45878718e+02] [ 1.05027726e-02 9.99944690e-01 5.54948894e-04 -6.42040562e+01] [ 9.68804852e-03 -6.56710423e-04 9.99952854e-01 3.04286985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.620714057 meters Centerline goodness [0,1] 0.9882134276259124 Centerline is valid? [True, True] Translation: X:845.91, Y:-64.20, Z:3.04 [[ 9.99902805e-01 -1.00671357e-02 -9.64539929e-03 8.45908866e+02] [ 1.00729269e-02 9.99949114e-01 5.52016833e-04 -6.42048908e+01] [ 9.63935125e-03 -6.49120581e-04 9.99953330e-01 3.04300992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.650714057 meters Centerline goodness [0,1] 0.9868784217908692 Centerline is valid? [True, True] Translation: X:845.94, Y:-64.21, Z:3.04 [[ 9.99904565e-01 -9.92461980e-03 -9.61055706e-03 8.45938399e+02] [ 9.93036262e-03 9.99950541e-01 5.50017510e-04 -6.42134606e+01] [ 9.60462303e-03 -6.45401335e-04 9.99953666e-01 3.04224655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6807140569999 meters Centerline goodness [0,1] 0.9868784217908692 Centerline is valid? [True, True] Translation: X:845.97, Y:-64.22, Z:3.04 [[ 9.99904565e-01 -9.92461976e-03 -9.61055622e-03 8.45968418e+02] [ 9.93036273e-03 9.99950541e-01 5.50032250e-04 -6.42151787e+01] [ 9.60462204e-03 -6.45416067e-04 9.99953666e-01 3.04232395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7107140569999 meters Centerline goodness [0,1] 0.9878678134902671 Centerline is valid? [True, True] Translation: X:846.00, Y:-64.21, Z:3.04 [[ 9.99898795e-01 -1.01422556e-02 -9.97667318e-03 8.45998643e+02] [ 1.01484550e-02 9.99948340e-01 5.70964113e-04 -6.42122081e+01] [ 9.97036692e-03 -6.72154147e-04 9.99950069e-01 3.04240245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7407140569999 meters Centerline goodness [0,1] 0.9883017071345984 Centerline is valid? [True, True] Translation: X:846.03, Y:-64.21, Z:3.04 [[ 9.99893778e-01 -1.08308730e-02 -9.75319607e-03 8.46029460e+02] [ 1.08368303e-02 9.99941124e-01 5.58167151e-04 -6.42117565e+01] [ 9.74657640e-03 -6.63801592e-04 9.99952281e-01 3.04246298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.770714057 meters Centerline goodness [0,1] 0.9869349005424954 Centerline is valid? [True, True] Translation: X:846.06, Y:-64.22, Z:3.04 [[ 9.99884573e-01 -1.13998657e-02 -1.00440701e-02 8.46058445e+02] [ 1.14062109e-02 9.99934782e-01 5.74681546e-04 -6.42172253e+01] [ 1.00368638e-02 -6.89179994e-04 9.99949392e-01 3.04171681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8007140569999 meters Centerline goodness [0,1] 0.9862022166930559 Centerline is valid? [True, True] Translation: X:846.09, Y:-64.22, Z:3.04 [[ 9.99853197e-01 -1.35283343e-02 -1.05151332e-02 8.46087957e+02] [ 1.35354054e-02 9.99908211e-01 6.01586346e-04 -6.42231507e+01] [ 1.05060296e-02 -7.43824623e-04 9.99944533e-01 3.04029874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8307140569999 meters Centerline goodness [0,1] 0.9860120866435799 Centerline is valid? [True, True] Translation: X:846.12, Y:-64.23, Z:3.04 [[ 9.99844876e-01 -1.43453813e-02 -1.02192649e-02 8.46118104e+02] [ 1.43521024e-02 9.99896832e-01 5.84659281e-04 -6.42256814e+01] [ 1.02098235e-02 -7.31236524e-04 9.99947611e-01 3.04025502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8607140569999 meters Centerline goodness [0,1] 0.9866802122135682 Centerline is valid? [True, True] Translation: X:846.15, Y:-64.23, Z:3.04 [[ 9.99826424e-01 -1.53589755e-02 -1.05462354e-02 8.46149433e+02] [ 1.53661927e-02 9.99881751e-01 6.03643425e-04 -6.42256217e+01] [ 1.05357170e-02 -7.65594132e-04 9.99944205e-01 3.04089297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.890714057 meters Centerline goodness [0,1] 0.9838720607169479 Centerline is valid? [True, True] Translation: X:846.18, Y:-64.24, Z:3.04 [[ 9.99794377e-01 -1.74030273e-02 -1.04085627e-02 8.46178553e+02] [ 1.74101684e-02 9.99848254e-01 5.95851647e-04 -6.42362997e+01] [ 1.03966137e-02 -7.76943956e-04 9.99945652e-01 3.04035349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9207140569999 meters Centerline goodness [0,1] 0.9871008622055263 Centerline is valid? [True, True] Translation: X:846.21, Y:-64.23, Z:3.04 [[ 9.99778357e-01 -1.83775354e-02 -1.02714440e-02 8.46210084e+02] [ 1.83845435e-02 9.99830817e-01 5.88278042e-04 -6.42286274e+01] [ 1.02588952e-02 -7.76983463e-04 9.99947074e-01 3.04170407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9507140569999 meters Centerline goodness [0,1] 0.9870750907901563 Centerline is valid? [True, True] Translation: X:846.24, Y:-64.23, Z:3.04 [[ 9.99763517e-01 -1.95100710e-02 -9.60559736e-03 8.46240790e+02] [ 1.95162589e-02 9.99809388e-01 5.50877659e-04 -6.42335255e+01] [ 9.59301876e-03 -7.38212711e-04 9.99953713e-01 3.04236209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9807140569999 meters Centerline goodness [0,1] 0.9864135954320793 Centerline is valid? [True, True] Translation: X:846.27, Y:-64.23, Z:3.04 [[ 9.99762753e-01 -1.97674168e-02 -9.14807714e-03 8.46273307e+02] [ 1.97730464e-02 9.99804356e-01 5.25339605e-04 -6.42338265e+01] [ 9.13590277e-03 -7.06100323e-04 9.99958017e-01 3.04318728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.010714057 meters Centerline goodness [0,1] 0.9869523014063523 Centerline is valid? [True, True] Translation: X:846.30, Y:-64.24, Z:3.04 [[ 9.99757351e-01 -2.00005099e-02 -9.23143945e-03 8.46304168e+02] [ 2.00062575e-02 9.99799714e-01 5.30671654e-04 -6.42386523e+01] [ 9.21897682e-03 -7.15229441e-04 9.99957249e-01 3.04316807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.040714057 meters Centerline goodness [0,1] 0.9858125634374647 Centerline is valid? [True, True] Translation: X:846.34, Y:-64.24, Z:3.04 [[ 9.99764207e-01 -1.98543595e-02 -8.79404109e-03 8.46336035e+02] [ 1.98595746e-02 9.99802651e-01 5.06099188e-04 -6.42410018e+01] [ 8.78225732e-03 -6.80625768e-04 9.99961204e-01 3.04351952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0707140569999 meters Centerline goodness [0,1] 0.9874323104693141 Centerline is valid? [True, True] Translation: X:846.37, Y:-64.24, Z:3.04 [[ 9.99758473e-01 -1.98890764e-02 -9.34985816e-03 8.46368234e+02] [ 1.98949795e-02 9.99801930e-01 5.38768866e-04 -6.42407343e+01] [ 9.33729062e-03 -7.24653976e-04 9.99956144e-01 3.04341599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1007140569999 meters Centerline goodness [0,1] 0.9867749943579327 Centerline is valid? [True, True] Translation: X:846.40, Y:-64.25, Z:3.04 [[ 9.99760424e-01 -1.94047954e-02 -1.01265768e-02 8.46399214e+02] [ 1.94117070e-02 9.99811404e-01 5.84672816e-04 -6.42471505e+01] [ 1.01133215e-02 -7.81106884e-04 9.99948554e-01 3.04211680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.130714057 meters Centerline goodness [0,1] 0.986749594375338 Centerline is valid? [True, True] Translation: X:846.43, Y:-64.25, Z:3.04 [[ 9.99756281e-01 -1.95049726e-02 -1.03409273e-02 8.46431673e+02] [ 1.95121944e-02 9.99809440e-01 5.97930933e-04 -6.42479288e+01] [ 1.03272941e-02 -7.99559390e-04 9.99946352e-01 3.04185122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.160714057 meters Centerline goodness [0,1] 0.9854435656504202 Centerline is valid? [True, True] Translation: X:846.46, Y:-64.26, Z:3.04 [[ 9.99748075e-01 -1.96263774e-02 -1.08899890e-02 8.46462918e+02] [ 1.96344005e-02 9.99807028e-01 6.30313146e-04 -6.42550648e+01] [ 1.08755168e-02 -8.43972761e-04 9.99940504e-01 3.04119250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1907140569999 meters Centerline goodness [0,1] 0.985062893081761 Centerline is valid? [True, True] Translation: X:846.49, Y:-64.26, Z:3.04 [[ 9.99742501e-01 -1.96777618e-02 -1.13012419e-02 8.46494025e+02] [ 1.96864123e-02 9.99805989e-01 6.54706838e-04 -6.42599567e+01] [ 1.12861662e-02 -8.77019160e-04 9.99935925e-01 3.04049087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2207140569999 meters Centerline goodness [0,1] 0.987972469818346 Centerline is valid? [True, True] Translation: X:846.53, Y:-64.25, Z:3.04 [[ 9.99726710e-01 -2.00747148e-02 -1.19796202e-02 8.46526245e+02] [ 2.00844733e-02 9.99798045e-01 6.94824968e-04 -6.42543533e+01] [ 1.19632525e-02 -9.35239441e-04 9.99928000e-01 3.04086966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.250714057 meters Centerline goodness [0,1] 0.9875470083545387 Centerline is valid? [True, True] Translation: X:846.56, Y:-64.26, Z:3.04 [[ 9.99717348e-01 -2.03145631e-02 -1.23508363e-02 8.46558477e+02] [ 2.03249650e-02 9.99793169e-01 7.17253827e-04 -6.42566210e+01] [ 1.23337110e-02 -9.68081408e-04 9.99923468e-01 3.04095463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.280714057 meters Centerline goodness [0,1] 0.9887394995833615 Centerline is valid? [True, True] Translation: X:846.59, Y:-64.26, Z:3.04 [[ 9.99720067e-01 -2.05140650e-02 -1.17881934e-02 8.46591112e+02] [ 2.05235645e-02 9.99789135e-01 6.85428691e-04 -6.42582847e+01] [ 1.17716468e-02 -9.27172565e-04 9.99930282e-01 3.04134084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3107140569999 meters Centerline goodness [0,1] 0.9868825947305766 Centerline is valid? [True, True] Translation: X:846.62, Y:-64.26, Z:3.04 [[ 9.99709344e-01 -2.13328218e-02 -1.12310978e-02 8.46621729e+02] [ 2.13415032e-02 9.99772030e-01 6.53686068e-04 -6.42641489e+01] [ 1.12145925e-02 -8.93184581e-04 9.99936716e-01 3.04191945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3407140569999 meters Centerline goodness [0,1] 0.9863967027769645 Centerline is valid? [True, True] Translation: X:846.65, Y:-64.27, Z:3.04 [[ 9.99708788e-01 -2.15382608e-02 -1.08831424e-02 8.46652685e+02] [ 2.15464310e-02 9.99767648e-01 6.34016809e-04 -6.42686668e+01] [ 1.08669581e-02 -8.68325053e-04 9.99940576e-01 3.04231214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.370714057 meters Centerline goodness [0,1] 0.9855323553235532 Centerline is valid? [True, True] Translation: X:846.68, Y:-64.27, Z:3.04 [[ 9.99716670e-01 -2.18192651e-02 -9.51314700e-03 8.46683439e+02] [ 2.18255250e-02 9.99761641e-01 5.54692922e-04 -6.42735241e+01] [ 9.49877646e-03 -7.62165188e-04 9.99954595e-01 3.04323737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.400714057 meters Centerline goodness [0,1] 0.9860218436783675 Centerline is valid? [True, True] Translation: X:846.72, Y:-64.27, Z:3.04 [[ 9.99716493e-01 -2.20321413e-02 -9.02871269e-03 8.46715291e+02] [ 2.20377928e-02 9.99756999e-01 5.26925429e-04 -6.42720706e+01] [ 9.01490942e-03 -7.25748941e-04 9.99959102e-01 3.04401159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4307140569999 meters Centerline goodness [0,1] 0.9856657274475603 Centerline is valid? [True, True] Translation: X:846.75, Y:-64.28, Z:3.04 [[ 9.99723554e-01 -2.19438187e-02 -8.44302573e-03 8.46746454e+02] [ 2.19487646e-02 9.99758975e-01 4.93565002e-04 -6.42765585e+01] [ 8.43016005e-03 -6.78742542e-04 9.99964235e-01 3.04442958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4607140569999 meters Centerline goodness [0,1] 0.9864683215341876 Centerline is valid? [True, True] Translation: X:846.78, Y:-64.28, Z:3.04 [[ 9.99720601e-01 -2.22074062e-02 -8.09637179e-03 8.46778922e+02] [ 2.22119684e-02 9.99753171e-01 4.73989248e-04 -6.42775692e+01] [ 8.08384730e-03 -6.53693170e-04 9.99967112e-01 3.04487188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4907140569999 meters Centerline goodness [0,1] 0.9862559135445393 Centerline is valid? [True, True] Translation: X:846.81, Y:-64.28, Z:3.04 [[ 9.99720670e-01 -2.22057929e-02 -8.09222452e-03 8.46810618e+02] [ 2.22103550e-02 9.99753207e-01 4.74327671e-04 -6.42814545e+01] [ 8.07969459e-03 -6.53926356e-04 9.99967145e-01 3.04462145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.520714057 meters Centerline goodness [0,1] 0.9858505350826132 Centerline is valid? [True, True] Translation: X:846.84, Y:-64.29, Z:3.04 [[ 9.99694116e-01 -2.29634900e-02 -9.18435593e-03 8.46843004e+02] [ 2.29694048e-02 9.99736023e-01 5.39023765e-04 -6.42853092e+01] [ 9.16955360e-03 -7.49818075e-04 9.99957678e-01 3.04373086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5507140569999 meters Centerline goodness [0,1] 0.9858527522216999 Centerline is valid? [True, True] Translation: X:846.87, Y:-64.29, Z:3.04 [[ 9.99675315e-01 -2.35822283e-02 -9.65107152e-03 8.46874549e+02] [ 2.35887971e-02 9.99721585e-01 5.67346504e-04 -6.42887037e+01] [ 9.63500522e-03 -7.94819463e-04 9.99953266e-01 3.04312929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5807140569999 meters Centerline goodness [0,1] 0.9859815180333752 Centerline is valid? [True, True] Translation: X:846.91, Y:-64.29, Z:3.04 [[ 9.99648686e-01 -2.43049628e-02 -1.05722733e-02 8.46906220e+02] [ 2.43128946e-02 9.99704204e-01 6.22357353e-04 -6.42930796e+01] [ 1.05540197e-02 -8.79181279e-04 9.99943918e-01 3.04231555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6107140569999 meters Centerline goodness [0,1] 0.9844641012976516 Centerline is valid? [True, True] Translation: X:846.94, Y:-64.30, Z:3.04 [[ 9.99605265e-01 -2.55392548e-02 -1.17073178e-02 8.46935901e+02] [ 2.55490771e-02 9.99673331e-01 6.90170763e-04 -6.42989703e+01] [ 1.16858670e-02 -9.89009494e-04 9.99931229e-01 3.04044921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.640714057 meters Centerline goodness [0,1] 0.9864376333221062 Centerline is valid? [True, True] Translation: X:846.97, Y:-64.30, Z:3.04 [[ 9.99585395e-01 -2.58923070e-02 -1.25946860e-02 8.46968002e+02] [ 2.59037147e-02 9.99664166e-01 7.43440556e-04 -6.42975287e+01] [ 1.25712069e-02 -1.06938148e-03 9.99920407e-01 3.04046666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6707140569999 meters Centerline goodness [0,1] 0.9854890720171982 Centerline is valid? [True, True] Translation: X:847.00, Y:-64.30, Z:3.04 [[ 9.99595057e-01 -2.55762224e-02 -1.24731598e-02 8.46999583e+02] [ 2.55873975e-02 9.99672317e-01 7.37150939e-04 -6.43006912e+01] [ 1.24502191e-02 -1.05600813e-03 9.99921935e-01 3.04026977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7007140569999 meters Centerline goodness [0,1] 0.9848828081193226 Centerline is valid? [True, True] Translation: X:847.03, Y:-64.31, Z:3.04 [[ 9.99608161e-01 -2.50081126e-02 -1.25745534e-02 8.47030143e+02] [ 2.50194345e-02 9.99686688e-01 7.43853979e-04 -6.43060057e+01] [ 1.25520113e-02 -1.05817072e-03 9.99920660e-01 3.04050897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7307140569999 meters Centerline goodness [0,1] 0.9861468567464137 Centerline is valid? [True, True] Translation: X:847.06, Y:-64.30, Z:3.04 [[ 9.99679872e-01 -2.26473769e-02 -1.12805441e-02 8.47061336e+02] [ 2.26563421e-02 9.99743089e-01 6.67579080e-04 -6.43040237e+01] [ 1.12625271e-02 -9.22941235e-04 9.99936150e-01 3.04213825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.760714057 meters Centerline goodness [0,1] 0.9858269131421127 Centerline is valid? [True, True] Translation: X:847.09, Y:-64.31, Z:3.04 [[ 9.99722989e-01 -2.12901172e-02 -1.00337189e-02 8.47092015e+02] [ 2.12971451e-02 9.99773014e-01 5.94091140e-04 -6.43061769e+01] [ 1.00187931e-02 -8.07616138e-04 9.99949484e-01 3.04242562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.790714057 meters Centerline goodness [0,1] 0.9850846246594918 Centerline is valid? [True, True] Translation: X:847.12, Y:-64.31, Z:3.04 [[ 9.99800059e-01 -1.80594288e-02 -8.58475833e-03 8.47121199e+02] [ 1.80644549e-02 9.99836695e-01 5.08284870e-04 -6.43087968e+01] [ 8.57417706e-03 -6.63262223e-04 9.99963021e-01 3.04391527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8207140569999 meters Centerline goodness [0,1] 0.9842822918299263 Centerline is valid? [True, True] Translation: X:847.15, Y:-64.31, Z:3.04 [[ 9.99827845e-01 -1.67813810e-02 -7.91617365e-03 8.47153009e+02] [ 1.67856167e-02 9.99859002e-01 4.68935375e-04 -6.43093048e+01] [ 7.90718810e-03 -6.01732502e-04 9.99968557e-01 3.04476593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8507140569999 meters Centerline goodness [0,1] 0.9848318754334549 Centerline is valid? [True, True] Translation: X:847.18, Y:-64.31, Z:3.04 [[ 9.99851652e-01 -1.55908890e-02 -7.32106758e-03 8.47184814e+02] [ 1.55944827e-02 9.99878304e-01 4.34044253e-04 -6.43103275e+01] [ 7.31340951e-03 -5.48148125e-04 9.99973106e-01 3.04486931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.880714057 meters Centerline goodness [0,1] 0.9859859186510606 Centerline is valid? [True, True] Translation: X:847.22, Y:-64.31, Z:3.04 [[ 9.99877890e-01 -1.35258674e-02 -7.82658852e-03 8.47216555e+02] [ 1.35299142e-02 9.99908359e-01 4.64340556e-04 -6.43051284e+01] [ 7.81959067e-03 -5.70176926e-04 9.99969264e-01 3.04448587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.910714057 meters Centerline goodness [0,1] 0.9868998566821927 Centerline is valid? [True, True] Translation: X:847.25, Y:-64.31, Z:3.04 [[ 9.99885743e-01 -1.26031223e-02 -8.34639735e-03 8.47247876e+02] [ 1.26076950e-02 9.99920397e-01 4.95479580e-04 -6.43074921e+01] [ 8.33948837e-03 -6.00651800e-04 9.99965045e-01 3.04402829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9407140569999 meters Centerline goodness [0,1] 0.9867942325832099 Centerline is valid? [True, True] Translation: X:847.28, Y:-64.31, Z:3.04 [[ 9.99887425e-01 -1.15752824e-02 -9.54720989e-03 8.47279458e+02] [ 1.15812224e-02 9.99932775e-01 5.67118043e-04 -6.43063784e+01] [ 9.54000352e-03 -6.77622561e-04 9.99954264e-01 3.04290974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9707140569999 meters Centerline goodness [0,1] 0.9872888968738771 Centerline is valid? [True, True] Translation: X:847.31, Y:-64.31, Z:3.04 [[ 9.99888086e-01 -1.09031619e-02 -1.02438070e-02 8.47308853e+02] [ 1.09099648e-02 9.99940299e-01 6.08459374e-04 -6.43112163e+01] [ 1.02365613e-02 -7.20150853e-04 9.99947346e-01 3.04243938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.000714057 meters Centerline goodness [0,1] 0.987317577747296 Centerline is valid? [True, True] Translation: X:847.34, Y:-64.31, Z:3.04 [[ 9.99889062e-01 -1.04162667e-02 -1.06472679e-02 8.47339084e+02] [ 1.04235866e-02 9.99945473e-01 6.32234205e-04 -6.43117403e+01] [ 1.06401018e-02 -7.43146786e-04 9.99943116e-01 3.04220258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.030714057 meters Centerline goodness [0,1] 0.9886882407178357 Centerline is valid? [True, True] Translation: X:847.37, Y:-64.31, Z:3.04 [[ 9.99897780e-01 -9.14344439e-03 -1.09921734e-02 8.47368742e+02] [ 9.15116758e-03 9.99957914e-01 6.52515363e-04 -6.43105781e+01] [ 1.09857445e-02 -7.53039883e-04 9.99939371e-01 3.04233258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0607140569999 meters Centerline goodness [0,1] 0.9892982141254599 Centerline is valid? [True, True] Translation: X:847.40, Y:-64.31, Z:3.04 [[ 9.99916553e-01 -7.06917876e-03 -1.08126270e-02 8.47397496e+02] [ 7.07652563e-03 9.99974755e-01 6.41363186e-04 -6.43119335e+01] [ 1.08078201e-02 -7.17825499e-04 9.99941336e-01 3.04232690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0907140569999 meters Centerline goodness [0,1] 0.9894864536999596 Centerline is valid? [True, True] Translation: X:847.43, Y:-64.31, Z:3.04 [[ 9.99923610e-01 -6.34473572e-03 -1.06075126e-02 8.47426188e+02] [ 6.35174296e-03 9.99979631e-01 6.27033036e-04 -6.43117741e+01] [ 1.06033181e-02 -6.94361330e-04 9.99943542e-01 3.04261966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.120714057 meters Centerline goodness [0,1] 0.9886266576758822 Centerline is valid? [True, True] Translation: X:847.45, Y:-64.31, Z:3.04 [[ 9.99921004e-01 -6.28134159e-03 -1.08872149e-02 8.47454683e+02] [ 6.28868948e-03 9.99980021e-01 6.40806388e-04 -6.43128024e+01] [ 1.08829723e-02 -7.09222080e-04 9.99940527e-01 3.04269601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.150714057 meters Centerline goodness [0,1] 0.9886638587687069 Centerline is valid? [True, True] Translation: X:847.48, Y:-64.32, Z:3.04 [[ 9.99927292e-01 -5.90620389e-03 -1.05131718e-02 8.47482700e+02] [ 5.91300745e-03 9.99982328e-01 6.16179779e-04 -6.43177442e+01] [ 1.05093468e-02 -6.78299441e-04 9.99944545e-01 3.04224940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1807140569999 meters Centerline goodness [0,1] 0.9895435982587623 Centerline is valid? [True, True] Translation: X:847.51, Y:-64.32, Z:3.04 [[ 9.99920373e-01 -5.63039071e-03 -1.12936060e-02 8.47511106e+02] [ 5.63819205e-03 9.99983888e-01 6.59054743e-04 -6.43171650e+01] [ 1.12897133e-02 -7.22677785e-04 9.99936008e-01 3.04255870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2107140569999 meters Centerline goodness [0,1] 0.9900832736389685 Centerline is valid? [True, True] Translation: X:847.54, Y:-64.32, Z:3.04 [[ 9.99915727e-01 -6.38615468e-03 -1.13028934e-02 8.47539999e+02] [ 6.39398476e-03 9.99979343e-01 6.56749031e-04 -6.43172702e+01] [ 1.12984658e-02 -7.28964213e-04 9.99935905e-01 3.04296831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2407140569999 meters Centerline goodness [0,1] 0.9894128753821255 Centerline is valid? [True, True] Translation: X:847.57, Y:-64.32, Z:3.04 [[ 9.99914867e-01 -7.49650302e-03 -1.06799629e-02 8.47568004e+02] [ 7.50354256e-03 9.99971656e-01 6.19216995e-04 -6.43212979e+01] [ 1.06750183e-02 -6.99301836e-04 9.99942776e-01 3.04425781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.270714057 meters Centerline goodness [0,1] 0.9898123324396783 Centerline is valid? [True, True] Translation: X:847.60, Y:-64.32, Z:3.04 [[ 9.99914246e-01 -8.47093960e-03 -9.98716337e-03 8.47596393e+02] [ 8.47712327e-03 9.99963902e-01 5.76991328e-04 -6.43236455e+01] [ 9.98191519e-03 -6.61604264e-04 9.99949961e-01 3.04496009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3007140569999 meters Centerline goodness [0,1] 0.9884552444573965 Centerline is valid? [True, True] Translation: X:847.63, Y:-64.33, Z:3.05 [[ 9.99914887e-01 -9.18698479e-03 -9.26375093e-03 8.47625898e+02] [ 9.19232796e-03 9.99957607e-01 5.34367917e-04 -6.43259964e+01] [ 9.25844898e-03 -6.19477872e-04 9.99956948e-01 3.04567777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3307140569999 meters Centerline goodness [0,1] 0.9881253214661091 Centerline is valid? [True, True] Translation: X:847.66, Y:-64.33, Z:3.05 [[ 9.99915529e-01 -1.03600665e-02 -7.84884252e-03 8.47655088e+02] [ 1.03639370e-02 9.99946191e-01 4.52619868e-04 -6.43309773e+01] [ 7.84373100e-03 -5.33926544e-04 9.99969095e-01 3.04661950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3607140569999 meters Centerline goodness [0,1] 0.9886663978855889 Centerline is valid? [True, True] Translation: X:847.69, Y:-64.33, Z:3.05 [[ 9.99907644e-01 -1.11004128e-02 -7.84124697e-03 8.47685867e+02] [ 1.11043002e-02 9.99938243e-01 4.52400950e-04 -6.43335448e+01] [ 7.83574088e-03 -5.39430728e-04 9.99969155e-01 3.04642259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.390714057 meters Centerline goodness [0,1] 0.9893173877989788 Centerline is valid? [True, True] Translation: X:847.72, Y:-64.33, Z:3.05 [[ 9.99901447e-01 -1.12420212e-02 -8.40907440e-03 8.47716859e+02] [ 1.12464998e-02 9.99936638e-01 4.85496381e-04 -6.43342103e+01] [ 8.40308363e-03 -5.80021188e-04 9.99964525e-01 3.04608952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4207140569999 meters Centerline goodness [0,1] 0.988472237676644 Centerline is valid? [True, True] Translation: X:847.75, Y:-64.34, Z:3.05 [[ 9.99888501e-01 -1.18299661e-02 -9.11248543e-03 8.47746897e+02] [ 1.18352516e-02 9.99929822e-01 5.26320919e-04 -6.43401780e+01] [ 9.10561957e-03 -6.34110793e-04 9.99958342e-01 3.04507448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4507140569999 meters Centerline goodness [0,1] 0.9888945877840466 Centerline is valid? [True, True] Translation: X:847.78, Y:-64.34, Z:3.04 [[ 9.99849366e-01 -1.35570889e-02 -1.08374734e-02 8.47777771e+02] [ 1.35646682e-02 9.99907800e-01 6.26152217e-04 -6.43399438e+01] [ 1.08279854e-02 -7.73064628e-04 9.99941077e-01 3.04365089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4807140569999 meters Centerline goodness [0,1] 0.989495421080984 Centerline is valid? [True, True] Translation: X:847.81, Y:-64.34, Z:3.04 [[ 9.99819971e-01 -1.50821718e-02 -1.15131589e-02 8.47808334e+02] [ 1.50908268e-02 9.99885906e-01 6.65239047e-04 -6.43397856e+01] [ 1.15018121e-02 -8.38862372e-04 9.99933500e-01 3.04309748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.510714057 meters Centerline goodness [0,1] 0.989568706118355 Centerline is valid? [True, True] Translation: X:847.84, Y:-64.34, Z:3.04 [[ 9.99752987e-01 -1.78619460e-02 -1.32255477e-02 8.47838032e+02] [ 1.78736090e-02 9.99839962e-01 7.64170003e-04 -6.43444268e+01] [ 1.32097816e-02 -1.00036951e-03 9.99912247e-01 3.04112442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.540714057 meters Centerline goodness [0,1] 0.9894412572270465 Centerline is valid? [True, True] Translation: X:847.87, Y:-64.35, Z:3.04 [[ 9.99704862e-01 -1.95672634e-02 -1.43982936e-02 8.47868745e+02] [ 1.95812654e-02 9.99807922e-01 8.32136606e-04 -6.43475093e+01] [ 1.43792454e-02 -1.11382782e-03 9.99895993e-01 3.04071862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5707140569999 meters Centerline goodness [0,1] 0.9894412572270465 Centerline is valid? [True, True] Translation: X:847.90, Y:-64.35, Z:3.04 [[ 9.99705549e-01 -1.95321335e-02 -1.43982670e-02 8.47899633e+02] [ 1.95461386e-02 9.99808609e-01 8.32597415e-04 -6.43493257e+01] [ 1.43792489e-02 -1.11378278e-03 9.99895993e-01 3.04079826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6007140569999 meters Centerline goodness [0,1] 0.9887733054150981 Centerline is valid? [True, True] Translation: X:847.93, Y:-64.35, Z:3.04 [[ 9.99663181e-01 -2.11454341e-02 -1.50464471e-02 8.47929470e+02] [ 2.11609117e-02 9.99775704e-01 8.70173898e-04 -6.43536084e+01] [ 1.50246720e-02 -1.18827734e-03 9.99886417e-01 3.04024206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.630714057 meters Centerline goodness [0,1] 0.9893426071348441 Centerline is valid? [True, True] Translation: X:847.96, Y:-64.35, Z:3.04 [[ 9.99564861e-01 -2.45909734e-02 -1.62902381e-02 8.47960578e+02] [ 2.46095713e-02 9.99696695e-01 9.42151270e-04 -6.43514064e+01] [ 1.62621288e-02 -1.34263708e-03 9.99866861e-01 3.04090262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.660714057 meters Centerline goodness [0,1] 0.9881107272645699 Centerline is valid? [True, True] Translation: X:847.99, Y:-64.36, Z:3.04 [[ 9.99474541e-01 -2.79811216e-02 -1.63615112e-02 8.47989929e+02] [ 2.80003367e-02 9.99607466e-01 9.46469290e-04 -6.43604630e+01] [ 1.63286054e-02 -1.40409978e-03 9.99865694e-01 3.03970836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6907140569999 meters Centerline goodness [0,1] 0.9887940115197562 Centerline is valid? [True, True] Translation: X:848.02, Y:-64.36, Z:3.04 [[ 9.99429779e-01 -2.95737382e-02 -1.62944902e-02 8.48020908e+02] [ 2.95930108e-02 9.99561586e-01 9.42872245e-04 -6.43572206e+01] [ 1.62594622e-02 -1.42453762e-03 9.99866791e-01 3.04082009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7207140569999 meters Centerline goodness [0,1] 0.9882527346645403 Centerline is valid? [True, True] Translation: X:848.05, Y:-64.36, Z:3.04 [[ 9.99383568e-01 -3.11213493e-02 -1.62463882e-02 8.48051106e+02] [ 3.11407159e-02 9.99514568e-01 9.40377269e-04 -6.43631754e+01] [ 1.62092359e-02 -1.44572175e-03 9.99867577e-01 3.04039295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.750714057 meters Centerline goodness [0,1] 0.9884617979802524 Centerline is valid? [True, True] Translation: X:848.08, Y:-64.36, Z:3.04 [[ 9.99279245e-01 -3.41429779e-02 -1.65905619e-02 8.48081850e+02] [ 3.41635884e-02 9.99415793e-01 9.60392039e-04 -6.43638317e+01] [ 1.65480789e-02 -1.52649296e-03 9.99861906e-01 3.04117969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.780714057 meters Centerline goodness [0,1] 0.9870808012604096 Centerline is valid? [True, True] Translation: X:848.11, Y:-64.37, Z:3.04 [[ 9.99235725e-01 -3.54585945e-02 -1.64515552e-02 8.48111577e+02] [ 3.54790378e-02 9.99369967e-01 9.52353727e-04 -6.43669215e+01] [ 1.64074211e-02 -1.53531122e-03 9.99864210e-01 3.04122495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8107140569999 meters Centerline goodness [0,1] 0.9856406810035843 Centerline is valid? [True, True] Translation: X:848.14, Y:-64.37, Z:3.04 [[ 9.99173007e-01 -3.72170778e-02 -1.63765481e-02 8.48142725e+02] [ 3.72375732e-02 9.99305991e-01 9.48255353e-04 -6.43684457e+01] [ 1.63298914e-02 -1.55729406e-03 9.99865446e-01 3.04292335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8407140569999 meters Centerline goodness [0,1] 0.9833024118738405 Centerline is valid? [True, True] Translation: X:848.17, Y:-64.37, Z:3.04 [[ 9.99148971e-01 -3.80176322e-02 -1.59997983e-02 8.48173371e+02] [ 3.80373053e-02 9.99275890e-01 9.26961560e-04 -6.43711826e+01] [ 1.59529718e-02 -1.53476190e-03 9.99871565e-01 3.04313455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.870714057 meters Centerline goodness [0,1] 0.9860589571200503 Centerline is valid? [True, True] Translation: X:848.21, Y:-64.37, Z:3.04 [[ 9.99132106e-01 -3.84179460e-02 -1.60964857e-02 8.48205514e+02] [ 3.84379261e-02 9.99260554e-01 9.33618837e-04 -6.43691985e+01] [ 1.60487155e-02 -1.55152408e-03 9.99870007e-01 3.04385884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.900714057 meters Centerline goodness [0,1] 0.9827178297018995 Centerline is valid? [True, True] Translation: X:848.24, Y:-64.37, Z:3.04 [[ 9.99104878e-01 -3.91020855e-02 -1.61390482e-02 8.48236632e+02] [ 3.91222743e-02 9.99233991e-01 9.36992083e-04 -6.43738023e+01] [ 1.60900472e-02 -1.56754963e-03 9.99869318e-01 3.04311013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9307140569999 meters Centerline goodness [0,1] 0.9888628897988571 Centerline is valid? [True, True] Translation: X:848.27, Y:-64.37, Z:3.04 [[ 9.99112798e-01 -3.87901777e-02 -1.63993320e-02 8.48269732e+02] [ 3.88110045e-02 9.99246114e-01 9.53512529e-04 -6.43678057e+01] [ 1.63499819e-02 -1.58914112e-03 9.99865067e-01 3.04424241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9607140569999 meters Centerline goodness [0,1] 0.9804868190595949 Centerline is valid? [True, True] Translation: X:848.30, Y:-64.38, Z:3.04 [[ 9.99107380e-01 -3.83981216e-02 -1.76076094e-02 8.48300815e+02] [ 3.84221079e-02 9.99261072e-01 1.02589086e-03 -6.43758930e+01] [ 1.75552063e-02 -1.70149659e-03 9.99844448e-01 3.04232578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9907140569999 meters Centerline goodness [0,1] 0.9514447222034548 Centerline is valid? [True, True] Translation: X:848.33, Y:-64.38, Z:3.04 [[ 9.99113760e-01 -3.80372219e-02 -1.80239970e-02 8.48331853e+02] [ 3.80623185e-02 9.99274814e-01 1.05128249e-03 -6.43813071e+01] [ 1.79709384e-02 -1.73638591e-03 9.99837002e-01 3.04074631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.020714057 meters Centerline goodness [0,1] 0.9868730230456394 Centerline is valid? [True, True] Translation: X:848.36, Y:-64.37, Z:3.04 [[ 9.99131239e-01 -3.70576533e-02 -1.90656349e-02 8.48364557e+02] [ 3.70855834e-02 9.99311473e-01 1.11335423e-03 -6.43723420e+01] [ 1.90112494e-02 -1.81944719e-03 9.99817614e-01 3.04168808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0507140569999 meters Centerline goodness [0,1] 0.9656506686579323 Centerline is valid? [True, True] Translation: X:848.39, Y:-64.38, Z:3.04 [[ 9.99155527e-01 -3.63411464e-02 -1.91717008e-02 8.48394915e+02] [ 3.63692722e-02 9.99337791e-01 1.12031561e-03 -6.43798782e+01] [ 1.91182916e-02 -1.81663034e-03 9.99815578e-01 3.04032379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0807140569999 meters Centerline goodness [0,1] 0.9641729085822579 Centerline is valid? [True, True] Translation: X:848.43, Y:-64.38, Z:3.04 [[ 9.99183769e-01 -3.54783717e-02 -1.93152853e-02 8.48426340e+02] [ 3.55067735e-02 9.99368798e-01 1.12936993e-03 -6.43808821e+01] [ 1.92630253e-02 -1.81427156e-03 9.99812805e-01 3.04007539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1107140569999 meters Centerline goodness [0,1] 0.9891437378178687 Centerline is valid? [True, True] Translation: X:848.46, Y:-64.37, Z:3.04 [[ 9.99255623e-01 -3.34267748e-02 -1.92575051e-02 8.48457617e+02] [ 3.34546308e-02 9.99439603e-01 1.12607914e-03 -6.43675673e+01] [ 1.92090721e-02 -1.76949363e-03 9.99813923e-01 3.04284269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.140714057 meters Centerline goodness [0,1] 0.985617196143512 Centerline is valid? [True, True] Translation: X:848.49, Y:-64.38, Z:3.04 [[ 9.99298651e-01 -3.23008173e-02 -1.89436673e-02 8.48488035e+02] [ 3.23275833e-02 9.99476713e-01 1.10832120e-03 -6.43751200e+01] [ 1.88979547e-02 -1.71994687e-03 9.99819938e-01 3.04199188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1707140569999 meters Centerline goodness [0,1] 0.9896024881382097 Centerline is valid? [True, True] Translation: X:848.52, Y:-64.37, Z:3.04 [[ 9.99402576e-01 -2.94865781e-02 -1.80286495e-02 8.48519660e+02] [ 2.95103690e-02 9.99563918e-01 1.05494891e-03 -6.43652033e+01] [ 1.79896807e-02 -1.58635075e-03 9.99836914e-01 3.04460027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2007140569999 meters Centerline goodness [0,1] 0.9890661938534279 Centerline is valid? [True, True] Translation: X:848.55, Y:-64.37, Z:3.04 [[ 9.99451770e-01 -2.80843542e-02 -1.75336229e-02 8.48550794e+02] [ 2.81066518e-02 9.99604403e-01 1.02653104e-03 -6.43653077e+01] [ 1.74978572e-02 -1.51877969e-03 9.99845747e-01 3.04480493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2307140569999 meters Centerline goodness [0,1] 0.9892888818138403 Centerline is valid? [True, True] Translation: X:848.58, Y:-64.36, Z:3.05 [[ 9.99498677e-01 -2.65542372e-02 -1.72414141e-02 8.48582631e+02] [ 2.65755868e-02 9.99646296e-01 1.01030033e-03 -6.43645788e+01] [ 1.72084880e-02 -1.46799454e-03 9.99850845e-01 3.04538747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.260714057 meters Centerline goodness [0,1] 0.9894216081891344 Centerline is valid? [True, True] Translation: X:848.61, Y:-64.36, Z:3.05 [[ 9.99555913e-01 -2.43234548e-02 -1.72147076e-02 8.48612775e+02] [ 2.43444122e-02 9.99703122e-01 1.00887292e-03 -6.43636810e+01] [ 1.71850576e-02 -1.42750683e-03 9.99851307e-01 3.04546575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.290714057 meters Centerline goodness [0,1] 0.9897413635532809 Centerline is valid? [True, True] Translation: X:848.64, Y:-64.36, Z:3.05 [[ 9.99563791e-01 -2.39690125e-02 -1.72544199e-02 8.48644029e+02] [ 2.39900233e-02 9.99711686e-01 1.01172578e-03 -6.43599559e+01] [ 1.72251951e-02 -1.42521839e-03 9.99850620e-01 3.04657056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3207140569999 meters Centerline goodness [0,1] 0.9889815978969025 Centerline is valid? [True, True] Translation: X:848.67, Y:-64.36, Z:3.05 [[ 9.99570903e-01 -2.37334525e-02 -1.71678116e-02 8.48674349e+02] [ 2.37542243e-02 9.99717321e-01 1.00699833e-03 -6.43600669e+01] [ 1.71390590e-02 -1.41437428e-03 9.99852115e-01 3.04681492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3507140569999 meters Centerline goodness [0,1] 0.9893522016899087 Centerline is valid? [True, True] Translation: X:848.71, Y:-64.36, Z:3.05 [[ 9.99553407e-01 -2.42893913e-02 -1.74072598e-02 8.48705450e+02] [ 2.43108405e-02 9.99703926e-01 1.02161451e-03 -6.43618310e+01] [ 1.73772915e-02 -1.44434338e-03 9.99847960e-01 3.04677473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.380714057 meters Centerline goodness [0,1] 0.9887599294920221 Centerline is valid? [True, True] Translation: X:848.74, Y:-64.36, Z:3.05 [[ 9.99537063e-01 -2.46543617e-02 -1.78275409e-02 8.48737126e+02] [ 2.46769281e-02 9.99694930e-01 1.04691310e-03 -6.43627425e+01] [ 1.77962913e-02 -1.48635739e-03 9.99840529e-01 3.04610494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.410714057 meters Centerline goodness [0,1] 0.9885112713125072 Centerline is valid? [True, True] Translation: X:848.77, Y:-64.36, Z:3.05 [[ 9.99480214e-01 -2.61294797e-02 -1.88825743e-02 8.48768079e+02] [ 2.61550653e-02 9.99657282e-01 1.10925277e-03 -6.43639287e+01] [ 1.88471187e-02 -1.60255116e-03 9.99821093e-01 3.04529876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4407140569999 meters Centerline goodness [0,1] 0.9860993427531087 Centerline is valid? [True, True] Translation: X:848.80, Y:-64.37, Z:3.04 [[ 9.99472955e-01 -2.60403682e-02 -1.93832613e-02 8.48797710e+02] [ 2.60673188e-02 9.99659541e-01 1.13900528e-03 -6.43700282e+01] [ 1.93470020e-02 -1.64367462e-03 9.99811478e-01 3.04323563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4707140569999 meters Centerline goodness [0,1] 0.9838147638697845 Centerline is valid? [True, True] Translation: X:848.83, Y:-64.37, Z:3.04 [[ 9.99477985e-01 -2.58640232e-02 -1.93600077e-02 8.48828936e+02] [ 2.58908882e-02 9.99664127e-01 1.13825169e-03 -6.43723433e+01] [ 1.93240654e-02 -1.63890530e-03 9.99811930e-01 3.04308632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.500714057 meters Centerline goodness [0,1] 0.9859180813673014 Centerline is valid? [True, True] Translation: X:848.86, Y:-64.37, Z:3.04 [[ 9.99495622e-01 -2.52694133e-02 -1.92342907e-02 8.48860885e+02] [ 2.52958391e-02 9.99679368e-01 1.13179664e-03 -6.43724688e+01] [ 1.91995237e-02 -1.61777331e-03 9.99814363e-01 3.04348616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.530714057 meters Centerline goodness [0,1] 0.9895177233230656 Centerline is valid? [True, True] Translation: X:848.89, Y:-64.37, Z:3.05 [[ 9.99539781e-01 -2.39526873e-02 -1.86143589e-02 8.48892318e+02] [ 2.39772176e-02 9.99711905e-01 1.09572802e-03 -6.43662561e+01] [ 1.85827506e-02 -1.54154428e-03 9.99826137e-01 3.04565160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5607140569999 meters Centerline goodness [0,1] 0.9848265730092051 Centerline is valid? [True, True] Translation: X:848.92, Y:-64.38, Z:3.04 [[ 9.99567199e-01 -2.32450381e-02 -1.80300393e-02 8.48921858e+02] [ 2.32679436e-02 9.99728701e-01 1.06164683e-03 -6.43753691e+01] [ 1.80004697e-02 -1.48070929e-03 9.99836882e-01 3.04433168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5907140569999 meters Centerline goodness [0,1] 0.9881205795509167 Centerline is valid? [True, True] Translation: X:848.95, Y:-64.37, Z:3.05 [[ 9.99608307e-01 -2.17645288e-02 -1.75936634e-02 8.48953374e+02] [ 2.17861133e-02 9.99762118e-01 1.03607842e-03 -6.43705481e+01] [ 1.75669284e-02 -1.41897014e-03 9.99844683e-01 3.04586099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.620714057 meters Centerline goodness [0,1] 0.989221859631383 Centerline is valid? [True, True] Translation: X:848.99, Y:-64.36, Z:3.05 [[ 9.99629339e-01 -2.13099994e-02 -1.69430711e-02 8.48985408e+02] [ 2.13299610e-02 9.99771992e-01 9.98299572e-04 -6.43641439e+01] [ 1.69179342e-02 -1.35932459e-03 9.99855957e-01 3.04735369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.650714057 meters Centerline goodness [0,1] 0.9890150128158184 Centerline is valid? [True, True] Translation: X:849.02, Y:-64.37, Z:3.05 [[ 9.99653226e-01 -2.02496377e-02 -1.68339029e-02 8.49016060e+02] [ 2.02692036e-02 9.99794066e-01 9.92475244e-04 -6.43698833e+01] [ 1.68103389e-02 -1.33334088e-03 9.99857807e-01 3.04683330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6807140569999 meters Centerline goodness [0,1] 0.9895151626878054 Centerline is valid? [True, True] Translation: X:849.05, Y:-64.37, Z:3.05 [[ 9.99670952e-01 -1.93676592e-02 -1.68190621e-02 8.49047162e+02] [ 1.93870768e-02 9.99811561e-01 9.92203440e-04 -6.43706025e+01] [ 1.67966761e-02 -1.31794941e-03 9.99858057e-01 3.04627323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7107140569999 meters Centerline goodness [0,1] 0.9901730645309768 Centerline is valid? [True, True] Translation: X:849.08, Y:-64.37, Z:3.05 [[ 9.99665940e-01 -1.95015969e-02 -1.69616064e-02 8.49077884e+02] [ 1.95213657e-02 9.99808939e-01 1.00070534e-03 -6.43708519e+01] [ 1.69388504e-02 -1.33148477e-03 9.99855641e-01 3.04639048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7407140569999 meters Centerline goodness [0,1] 0.9899055081816087 Centerline is valid? [True, True] Translation: X:849.11, Y:-64.38, Z:3.05 [[ 9.99647884e-01 -2.04793972e-02 -1.68731388e-02 8.49108512e+02] [ 2.04991031e-02 9.99789375e-01 9.95740636e-04 -6.43751324e+01] [ 1.68491927e-02 -1.34127423e-03 9.99857143e-01 3.04620764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.770714057 meters Centerline goodness [0,1] 0.9893252352359261 Centerline is valid? [True, True] Translation: X:849.14, Y:-64.38, Z:3.05 [[ 9.99630917e-01 -2.14447161e-02 -1.66779277e-02 8.49138206e+02] [ 2.14641028e-02 9.99769135e-01 9.84265803e-04 -6.43810397e+01] [ 1.66529700e-02 -1.34187928e-03 9.99860429e-01 3.04584722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8007140569999 meters Centerline goodness [0,1] 0.9897712906562464 Centerline is valid? [True, True] Translation: X:849.17, Y:-64.38, Z:3.05 [[ 9.99610760e-01 -2.24585325e-02 -1.65512458e-02 8.49169229e+02] [ 2.24777680e-02 9.99746866e-01 9.77043354e-04 -6.43801592e+01] [ 1.65251132e-02 -1.34869811e-03 9.99862541e-01 3.04689447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8307140569999 meters Centerline goodness [0,1] 0.9890555237550086 Centerline is valid? [True, True] Translation: X:849.20, Y:-64.39, Z:3.05 [[ 9.99574809e-01 -2.45832515e-02 -1.56800885e-02 8.49199137e+02] [ 2.46007824e-02 9.99696926e-01 9.26104182e-04 -6.43885004e+01] [ 1.56525696e-02 -1.31145286e-03 9.99876631e-01 3.04736221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8607140569999 meters Centerline goodness [0,1] 0.9866298569440325 Centerline is valid? [True, True] Translation: X:849.23, Y:-64.40, Z:3.05 [[ 9.99519743e-01 -2.71451345e-02 -1.49473881e-02 8.49228915e+02] [ 2.71613539e-02 9.99630672e-01 8.83129637e-04 -6.43992075e+01] [ 1.49178950e-02 -1.28869681e-03 9.99887892e-01 3.04750547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.890714057 meters Centerline goodness [0,1] 0.9866223779405743 Centerline is valid? [True, True] Translation: X:849.26, Y:-64.40, Z:3.05 [[ 9.99501108e-01 -2.77803899e-02 -1.50261202e-02 8.49261337e+02] [ 2.77968658e-02 9.99613197e-01 8.88707303e-04 -6.44018655e+01] [ 1.49956194e-02 -1.30594298e-03 9.99886707e-01 3.04797526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9207140569999 meters Centerline goodness [0,1] 0.9858015406353982 Centerline is valid? [True, True] Translation: X:849.29, Y:-64.41, Z:3.05 [[ 9.99484825e-01 -2.85634612e-02 -1.46360087e-02 8.49292968e+02] [ 2.85791959e-02 9.99591155e-01 8.67000856e-04 -6.44055287e+01] [ 1.46052603e-02 -1.28483956e-03 9.99892512e-01 3.04795263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9507140569999 meters Centerline goodness [0,1] 0.9856424656913809 Centerline is valid? [True, True] Translation: X:849.32, Y:-64.41, Z:3.05 [[ 9.99470320e-01 -2.93975578e-02 -1.39593663e-02 8.49323564e+02] [ 2.94119636e-02 9.99567032e-01 8.27763216e-04 -6.44139437e+01] [ 1.39289882e-02 -1.23789714e-03 9.99902221e-01 3.04782313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9807140569999 meters Centerline goodness [0,1] 0.9856805164105827 Centerline is valid? [True, True] Translation: X:849.36, Y:-64.42, Z:3.05 [[ 9.99450055e-01 -3.00238447e-02 -1.40768181e-02 8.49355836e+02] [ 3.00385689e-02 9.99548391e-01 8.35681193e-04 -6.44159831e+01] [ 1.40453706e-02 -1.25806909e-03 9.99900567e-01 3.04833732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.010714057 meters Centerline goodness [0,1] 0.9852120662281697 Centerline is valid? [True, True] Translation: X:849.39, Y:-64.42, Z:3.05 [[ 9.99436714e-01 -3.07271572e-02 -1.34943199e-02 8.49387261e+02] [ 3.07407618e-02 9.99527069e-01 8.01864465e-04 -6.44203692e+01] [ 1.34632990e-02 -1.21623846e-03 9.99908626e-01 3.04821091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.040714057 meters Centerline goodness [0,1] 0.9843876540988032 Centerline is valid? [True, True] Translation: X:849.42, Y:-64.43, Z:3.05 [[ 9.99419508e-01 -3.09964842e-02 -1.41373829e-02 8.49418329e+02] [ 3.10114541e-02 9.99518676e-01 8.40843121e-04 -6.44268943e+01] [ 1.41045150e-02 -1.27877582e-03 9.99899709e-01 3.04774417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0707140569999 meters Centerline goodness [0,1] 0.9861073461642722 Centerline is valid? [True, True] Translation: X:849.45, Y:-64.43, Z:3.05 [[ 9.99390840e-01 -3.16364483e-02 -1.47337405e-02 8.49450125e+02] [ 3.16527887e-02 9.99498540e-01 8.77121221e-04 -6.44263603e+01] [ 1.46986031e-02 -1.34295089e-03 9.99891068e-01 3.04796479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1007140569999 meters Centerline goodness [0,1] 0.9855167279536174 Centerline is valid? [True, True] Translation: X:849.48, Y:-64.43, Z:3.05 [[ 9.99378820e-01 -3.19877906e-02 -1.47903609e-02 8.49480910e+02] [ 3.20043070e-02 9.99487342e-01 8.81298249e-04 -6.44336132e+01] [ 1.47545878e-02 -1.35410606e-03 9.99890228e-01 3.04714423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.130714057 meters Centerline goodness [0,1] 0.9851571987586021 Centerline is valid? [True, True] Translation: X:849.51, Y:-64.44, Z:3.05 [[ 9.99349536e-01 -3.26763294e-02 -1.52565352e-02 8.49512296e+02] [ 3.26939956e-02 9.99464994e-01 9.09905888e-04 -6.44412920e+01] [ 1.52186405e-02 -1.40811112e-03 9.99883198e-01 3.04649599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.160714057 meters Centerline goodness [0,1] 0.9844446445454955 Centerline is valid? [True, True] Translation: X:849.54, Y:-64.45, Z:3.05 [[ 9.99358390e-01 -3.26344852e-02 -1.47580157e-02 8.49543158e+02] [ 3.26510345e-02 9.99466424e-01 8.81765111e-04 -6.44494278e+01] [ 1.47213652e-02 -1.36306384e-03 9.99890706e-01 3.04658399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1907140569999 meters Centerline goodness [0,1] 0.9854019524045167 Centerline is valid? [True, True] Translation: X:849.58, Y:-64.45, Z:3.05 [[ 9.99378650e-01 -3.20925466e-02 -1.45733609e-02 8.49575448e+02] [ 3.21086440e-02 9.99484004e-01 8.71885744e-04 -6.44514326e+01] [ 1.45378601e-02 -1.33927485e-03 9.99893423e-01 3.04703941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2207140569999 meters Centerline goodness [0,1] 0.984086311530681 Centerline is valid? [True, True] Translation: X:849.61, Y:-64.46, Z:3.05 [[ 9.99400676e-01 -3.16267582e-02 -1.40725365e-02 8.49606288e+02] [ 3.16417333e-02 9.99498920e-01 8.42705697e-04 -6.44570439e+01] [ 1.40388330e-02 -1.28748009e-03 9.99900622e-01 3.04696333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.250714057 meters Centerline goodness [0,1] 0.9825567019578754 Centerline is valid? [True, True] Translation: X:849.64, Y:-64.47, Z:3.05 [[ 9.99455248e-01 -3.04789733e-02 -1.26586060e-02 8.49636373e+02] [ 3.04910124e-02 9.99534753e-01 7.59115794e-04 -6.44663807e+01] [ 1.26295795e-02 -1.14467597e-03 9.99919588e-01 3.04663345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.280714057 meters Centerline goodness [0,1] 0.9839593817397556 Centerline is valid? [True, True] Translation: X:849.67, Y:-64.47, Z:3.05 [[ 9.99481902e-01 -2.98348572e-02 -1.20751571e-02 8.49668248e+02] [ 2.98457762e-02 9.99554253e-01 7.25024137e-04 -6.44687083e+01] [ 1.20481436e-02 -1.08504094e-03 9.99926830e-01 3.04708497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3107140569999 meters Centerline goodness [0,1] 0.9812615996958923 Centerline is valid? [True, True] Translation: X:849.70, Y:-64.48, Z:3.05 [[ 9.99512132e-01 -2.89296715e-02 -1.17716499e-02 8.49699114e+02] [ 2.89399938e-02 9.99580900e-01 7.07451610e-04 -6.44793652e+01] [ 1.17462501e-02 -1.04777794e-03 9.99930461e-01 3.04635276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3407140569999 meters Centerline goodness [0,1] 0.9790678951605689 Centerline is valid? [True, True] Translation: X:849.73, Y:-64.48, Z:3.05 [[ 9.99507914e-01 -2.88908968e-02 -1.22166403e-02 8.49731406e+02] [ 2.89020211e-02 9.99581979e-01 7.34982426e-04 -6.44846540e+01] [ 1.21902992e-02 -1.08770635e-03 9.99925104e-01 3.04595119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.370714057 meters Centerline goodness [0,1] 0.9865505975025736 Centerline is valid? [True, True] Translation: X:849.76, Y:-64.48, Z:3.05 [[ 9.99501287e-01 -2.88675100e-02 -1.28001525e-02 8.49763913e+02] [ 2.88797323e-02 9.99582596e-01 7.71007845e-04 -6.44781823e+01] [ 1.27725526e-02 -1.14028831e-03 9.99917777e-01 3.04661000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.400714057 meters Centerline goodness [0,1] 0.9859880854102054 Centerline is valid? [True, True] Translation: X:849.79, Y:-64.49, Z:3.04 [[ 9.99457674e-01 -2.98623265e-02 -1.38780191e-02 8.49794661e+02] [ 2.98768004e-02 9.99553239e-01 8.36742950e-04 -6.44897069e+01] [ 1.38468319e-02 -1.25091997e-03 9.99903346e-01 3.04440094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4307140569999 meters Centerline goodness [0,1] 0.9872627094068571 Centerline is valid? [True, True] Translation: X:849.83, Y:-64.49, Z:3.04 [[ 9.99442829e-01 -3.01629875e-02 -1.42907283e-02 8.49826818e+02] [ 3.01783800e-02 9.99544157e-01 8.62625563e-04 -6.44891382e+01] [ 1.42581946e-02 -1.29341596e-03 9.99897510e-01 3.04471398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4607140569999 meters Centerline goodness [0,1] 0.9860959711686058 Centerline is valid? [True, True] Translation: X:849.86, Y:-64.50, Z:3.04 [[ 9.99401032e-01 -3.13620153e-02 -1.46287800e-02 8.49856634e+02] [ 3.13782781e-02 9.99507190e-01 8.83440451e-04 -6.45003370e+01] [ 1.45938644e-02 -1.34193723e-03 9.99892603e-01 3.04397349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4907140569999 meters Centerline goodness [0,1] 0.9860959711686058 Centerline is valid? [True, True] Translation: X:849.89, Y:-64.50, Z:3.04 [[ 9.99403263e-01 -3.12908740e-02 -1.46287254e-02 8.49888401e+02] [ 3.13071423e-02 9.99509420e-01 8.84344855e-04 -6.45023186e+01] [ 1.45938769e-02 -1.34180072e-03 9.99892603e-01 3.04405541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.520714057 meters Centerline goodness [0,1] 0.9872008532764482 Centerline is valid? [True, True] Translation: X:849.92, Y:-64.50, Z:3.04 [[ 9.99391313e-01 -3.17323587e-02 -1.44935063e-02 8.49920273e+02] [ 3.17483946e-02 9.99495507e-01 8.77620507e-04 -6.45016167e+01] [ 1.44583455e-02 -1.33723187e-03 9.99894578e-01 3.04462909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5507140569999 meters Centerline goodness [0,1] 0.9862861461181125 Centerline is valid? [True, True] Translation: X:849.95, Y:-64.51, Z:3.04 [[ 9.99373607e-01 -3.24552114e-02 -1.41085895e-02 8.49950822e+02] [ 3.24704909e-02 9.99472329e-01 8.55211698e-04 -6.45112009e+01] [ 1.40733887e-02 -1.31278883e-03 9.99900103e-01 3.04428308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5807140569999 meters Centerline goodness [0,1] 0.9862475877825344 Centerline is valid? [True, True] Translation: X:849.98, Y:-64.51, Z:3.04 [[ 9.99373256e-01 -3.25601601e-02 -1.38899449e-02 8.49982884e+02] [ 3.25749929e-02 9.99468939e-01 8.42922908e-04 -6.45145502e+01] [ 1.38551227e-02 -1.29485947e-03 9.99903175e-01 3.04468262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6107140569999 meters Centerline goodness [0,1] 0.9853624021580507 Centerline is valid? [True, True] Translation: X:850.01, Y:-64.52, Z:3.04 [[ 9.99402048e-01 -3.20234208e-02 -1.30401928e-02 8.50013684e+02] [ 3.20364586e-02 9.99486387e-01 7.92098748e-04 -6.45223980e+01] [ 1.30081294e-02 -1.20938671e-03 9.99914659e-01 3.04438948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.640714057 meters Centerline goodness [0,1] 0.9849869162194527 Centerline is valid? [True, True] Translation: X:850.05, Y:-64.53, Z:3.04 [[ 9.99428599e-01 -3.14734203e-02 -1.23247124e-02 8.50045031e+02] [ 3.14850352e-02 9.99503942e-01 7.49461946e-04 -6.45280044e+01] [ 1.22950105e-02 -1.13707771e-03 9.99923767e-01 3.04481681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6707140569999 meters Centerline goodness [0,1] 0.9843815769068877 Centerline is valid? [True, True] Translation: X:850.08, Y:-64.53, Z:3.05 [[ 9.99463108e-01 -3.06734846e-02 -1.15166775e-02 8.50076415e+02] [ 3.06835792e-02 9.99528902e-01 7.00817390e-04 -6.45289838e+01] [ 1.14897555e-02 -1.05381401e-03 9.99933435e-01 3.04549827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7007140569999 meters Centerline goodness [0,1] 0.9851096311702104 Centerline is valid? [True, True] Translation: X:850.11, Y:-64.53, Z:3.05 [[ 9.99533753e-01 -2.86016786e-02 -1.06873951e-02 8.50107534e+02] [ 2.86102567e-02 9.99590431e-01 6.50583808e-04 -6.45323484e+01] [ 1.06644101e-02 -9.56049592e-04 9.99942677e-01 3.04641863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7307140569999 meters Centerline goodness [0,1] 0.9853236520933106 Centerline is valid? [True, True] Translation: X:850.14, Y:-64.53, Z:3.05 [[ 9.99586221e-01 -2.67065694e-02 -1.06839561e-02 8.50139338e+02] [ 2.67150397e-02 9.99642878e-01 6.50851501e-04 -6.45333718e+01] [ 1.06627586e-02 -9.36004504e-04 9.99942713e-01 3.04682770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.760714057 meters Centerline goodness [0,1] 0.985654922417223 Centerline is valid? [True, True] Translation: X:850.17, Y:-64.54, Z:3.05 [[ 9.99671548e-01 -2.29997599e-02 -1.13051565e-02 8.50168622e+02] [ 2.30090085e-02 9.99735021e-01 6.88682279e-04 -6.45391641e+01] [ 1.12863214e-02 -9.48576522e-04 9.99935858e-01 3.04586423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.790714057 meters Centerline goodness [0,1] 0.9868633478558949 Centerline is valid? [True, True] Translation: X:850.20, Y:-64.54, Z:3.05 [[ 9.99708135e-01 -2.11778390e-02 -1.16251481e-02 8.50199848e+02] [ 2.11874970e-02 9.99775269e-01 7.08237710e-04 -6.45373072e+01] [ 1.16075366e-02 -9.54338789e-04 9.99932175e-01 3.04541043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8207140569999 meters Centerline goodness [0,1] 0.9870287709373757 Centerline is valid? [True, True] Translation: X:850.23, Y:-64.54, Z:3.05 [[ 9.99779483e-01 -1.66106928e-02 -1.28479901e-02 8.50229739e+02] [ 1.66221152e-02 9.99861537e-01 7.82761460e-04 -6.45391526e+01] [ 1.28332089e-02 -9.96149619e-04 9.99917155e-01 3.04513862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8507140569999 meters Centerline goodness [0,1] 0.9873840035351303 Centerline is valid? [True, True] Translation: X:850.26, Y:-64.54, Z:3.05 [[ 9.99811995e-01 -1.43378456e-02 -1.30537703e-02 8.50259419e+02] [ 1.43494395e-02 9.99896726e-01 7.94931463e-04 -6.45399404e+01] [ 1.30410245e-02 -9.82096299e-04 9.99914480e-01 3.04549782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.880714057 meters Centerline goodness [0,1] 0.9883579917535775 Centerline is valid? [True, True] Translation: X:850.29, Y:-64.53, Z:3.05 [[ 9.99848584e-01 -1.19022777e-02 -1.26942703e-02 8.50289346e+02] [ 1.19130408e-02 9.99928739e-01 7.72583778e-04 -6.45334457e+01] [ 1.26841702e-02 -9.23694156e-04 9.99919126e-01 3.04705935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.910714057 meters Centerline goodness [0,1] 0.9879390558507706 Centerline is valid? [True, True] Translation: X:850.32, Y:-64.53, Z:3.05 [[ 9.99910968e-01 -6.08159168e-03 -1.18773125e-02 8.50318410e+02] [ 6.09060082e-03 9.99981191e-01 7.22492320e-04 -6.45345727e+01] [ 1.18726952e-02 -7.94767964e-04 9.99929201e-01 3.04779902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9407140569999 meters Centerline goodness [0,1] 0.988658929438242 Centerline is valid? [True, True] Translation: X:850.35, Y:-64.53, Z:3.05 [[ 9.99928986e-01 -3.22003584e-03 -1.14740537e-02 8.50348387e+02] [ 3.22825330e-03 9.99994546e-01 6.97728615e-04 -6.45337221e+01] [ 1.14717444e-02 -7.34720219e-04 9.99933927e-01 3.04822728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9707140569999 meters Centerline goodness [0,1] 0.9896095857098642 Centerline is valid? [True, True] Translation: X:850.38, Y:-64.53, Z:3.05 [[ 9.99935208e-01 2.13178139e-03 -1.11819482e-02 8.50377831e+02] [-2.12431287e-03 9.99997513e-01 6.79743297e-04 -6.45333314e+01] [ 1.11833695e-02 -6.55945298e-04 9.99937249e-01 3.04867173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.000714057 meters Centerline goodness [0,1] 0.9897114344379926 Centerline is valid? [True, True] Translation: X:850.41, Y:-64.53, Z:3.05 [[ 9.99928875e-01 4.81375534e-03 -1.09120144e-02 8.50407942e+02] [-4.80680439e-03 9.99988227e-01 6.63137101e-04 -6.45332853e+01] [ 1.09150781e-02 -6.10638017e-04 9.99940242e-01 3.04879196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.030714057 meters Centerline goodness [0,1] 0.989091955040269 Centerline is valid? [True, True] Translation: X:850.44, Y:-64.53, Z:3.05 [[ 9.99915885e-01 7.02253090e-03 -1.09044925e-02 8.50437094e+02] [-7.01572410e-03 9.99975170e-01 6.62347423e-04 -6.45339395e+01] [ 1.09088731e-02 -5.85788798e-04 9.99940325e-01 3.04902995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0607140569999 meters Centerline goodness [0,1] 0.9894830067530167 Centerline is valid? [True, True] Translation: X:850.47, Y:-64.53, Z:3.05 [[ 9.99887497e-01 1.04510518e-02 -1.07596046e-02 8.50466981e+02] [-1.04446267e-02 9.99945240e-01 6.53173272e-04 -6.45305846e+01] [ 1.07658418e-02 -5.40719734e-04 9.99941900e-01 3.04992968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0907140569999 meters Centerline goodness [0,1] 0.9890979854492382 Centerline is valid? [True, True] Translation: X:850.50, Y:-64.53, Z:3.05 [[ 9.99880627e-01 1.15357878e-02 -1.02790121e-02 8.50495296e+02] [-1.15299874e-02 9.99933333e-01 6.23378953e-04 -6.45325570e+01] [ 1.02855180e-02 -5.04787657e-04 9.99946975e-01 3.05019769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.120714057 meters Centerline goodness [0,1] 0.9893692574015713 Centerline is valid? [True, True] Translation: X:850.52, Y:-64.53, Z:3.05 [[ 9.99872474e-01 1.23039439e-02 -1.01808464e-02 8.50524034e+02] [-1.22983008e-02 9.99924183e-01 6.16709758e-04 -6.45304981e+01] [ 1.01876625e-02 -4.91424000e-04 9.99947984e-01 3.05183478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.150714057 meters Centerline goodness [0,1] 0.9892732339540851 Centerline is valid? [True, True] Translation: X:850.55, Y:-64.53, Z:3.05 [[ 9.99876173e-01 1.23636532e-02 -9.73548563e-03 8.50551466e+02] [-1.23585036e-02 9.99923457e-01 5.88928060e-04 -6.45330907e+01] [ 9.74202175e-03 -4.68539100e-04 9.99952436e-01 3.05191870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1807140569999 meters Centerline goodness [0,1] 0.9884636594242858 Centerline is valid? [True, True] Translation: X:850.58, Y:-64.54, Z:3.05 [[ 9.99873890e-01 1.26102341e-02 -9.65327831e-03 8.50579381e+02] [-1.26051929e-02 9.99920382e-01 5.82893598e-04 -6.45387357e+01] [ 9.65986016e-03 -4.61138654e-04 9.99953236e-01 3.05141775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2107140569999 meters Centerline goodness [0,1] 0.9895631921251538 Centerline is valid? [True, True] Translation: X:850.61, Y:-64.54, Z:3.05 [[ 9.99867194e-01 1.24901388e-02 -1.04685391e-02 8.50606723e+02] [-1.24842138e-02 9.99921870e-01 6.31136598e-04 -6.45416939e+01] [ 1.04756042e-02 -5.00361299e-04 9.99945004e-01 3.05064289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2407140569999 meters Centerline goodness [0,1] 0.9894167034909412 Centerline is valid? [True, True] Translation: X:850.64, Y:-64.54, Z:3.05 [[ 9.99872507e-01 1.18640970e-02 -1.06870244e-02 8.50636017e+02] [-1.18578948e-02 9.99929486e-01 6.43529773e-04 -6.45387034e+01] [ 1.06939058e-02 -5.16722116e-04 9.99942685e-01 3.05132265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.270714057 meters Centerline goodness [0,1] 0.9901655285199673 Centerline is valid? [True, True] Translation: X:850.66, Y:-64.54, Z:3.05 [[ 9.99883099e-01 1.06168173e-02 -1.10032404e-02 8.50664703e+02] [-1.06101761e-02 9.99943492e-01 6.61771224e-04 -6.45357457e+01] [ 1.10096445e-02 -5.44947544e-04 9.99939244e-01 3.05270422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3007140569999 meters Centerline goodness [0,1] 0.9898831481522388 Centerline is valid? [True, True] Translation: X:850.69, Y:-64.54, Z:3.05 [[ 9.99887352e-01 9.94336581e-03 -1.12433314e-02 8.50692430e+02] [-9.93640013e-03 9.99950405e-01 6.75231828e-04 -6.45417812e+01] [ 1.12494879e-02 -5.63437525e-04 9.99936564e-01 3.05193677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3307140569999 meters Centerline goodness [0,1] 0.9891297143235899 Centerline is valid? [True, True] Translation: X:850.72, Y:-64.55, Z:3.05 [[ 9.99889724e-01 8.58633638e-03 -1.21167331e-02 8.50720047e+02] [-8.57816400e-03 9.99962943e-01 7.26281463e-04 -6.45451724e+01] [ 1.21225202e-02 -6.22262048e-04 9.99926326e-01 3.05172167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3607140569999 meters Centerline goodness [0,1] 0.9894189224936073 Centerline is valid? [True, True] Translation: X:850.75, Y:-64.55, Z:3.05 [[ 9.99895032e-01 8.08749439e-03 -1.20215526e-02 8.50748291e+02] [-8.07942745e-03 9.99967102e-01 7.19454666e-04 -6.45473292e+01] [ 1.20269757e-02 -6.22251884e-04 9.99927480e-01 3.05198202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.390714057 meters Centerline goodness [0,1] 0.9904463517419412 Centerline is valid? [True, True] Translation: X:850.78, Y:-64.54, Z:3.05 [[ 9.99898433e-01 7.59388895e-03 -1.20605726e-02 8.50777016e+02] [-7.58574476e-03 9.99970968e-01 7.20876948e-04 -6.45436155e+01] [ 1.20656967e-02 -6.29315305e-04 9.99927009e-01 3.05349835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4207140569999 meters Centerline goodness [0,1] 0.9885553305748745 Centerline is valid? [True, True] Translation: X:850.80, Y:-64.55, Z:3.05 [[ 9.99919110e-01 6.63692153e-03 -1.08501180e-02 8.50804485e+02] [-6.63028393e-03 9.99977810e-01 6.47610753e-04 -6.45527111e+01] [ 1.08541753e-02 -5.75619005e-04 9.99940926e-01 3.05368533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4507140569999 meters Centerline goodness [0,1] 0.9894947804254944 Centerline is valid? [True, True] Translation: X:850.83, Y:-64.55, Z:3.05 [[ 9.99928650e-01 6.17714272e-03 -1.02243590e-02 8.50833642e+02] [-6.17123250e-03 9.99980772e-01 6.09501547e-04 -6.45507921e+01] [ 1.02279274e-02 -5.46361163e-04 9.99947544e-01 3.05490817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4807140569999 meters Centerline goodness [0,1] 0.988576565514822 Centerline is valid? [True, True] Translation: X:850.86, Y:-64.55, Z:3.06 [[ 9.99939308e-01 4.85339375e-03 -9.89064500e-03 8.50862193e+02] [-4.84780535e-03 9.99988076e-01 5.88915296e-04 -6.45539744e+01] [ 9.89338530e-03 -5.40931632e-04 9.99950913e-01 3.05517971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.510714057 meters Centerline goodness [0,1] 0.9891863262198486 Centerline is valid? [True, True] Translation: X:850.89, Y:-64.56, Z:3.05 [[ 9.99941864e-01 3.66861478e-03 -1.01395644e-02 8.50889872e+02] [-3.66268944e-03 9.99993111e-01 6.02886885e-04 -6.45578168e+01] [ 1.01417063e-02 -5.65713760e-04 9.99948412e-01 3.05475468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.540714057 meters Centerline goodness [0,1] 0.9886704946996466 Centerline is valid? [True, True] Translation: X:850.92, Y:-64.56, Z:3.05 [[ 9.99941831e-01 2.07379974e-03 -1.05846224e-02 8.50918992e+02] [-2.06726206e-03 9.99997666e-01 6.28561661e-04 -6.45599885e+01] [ 1.05859012e-02 -6.06643910e-04 9.99943784e-01 3.05388019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5707140569999 meters Centerline goodness [0,1] 0.9890066137273552 Centerline is valid? [True, True] Translation: X:850.95, Y:-64.56, Z:3.05 [[ 9.99936056e-01 1.58376102e-03 -1.11971117e-02 8.50947297e+02] [-1.57642736e-03 9.99998537e-01 6.63755054e-04 -6.45614344e+01] [ 1.11981465e-02 -6.46061178e-04 9.99937090e-01 3.05346923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6007140569999 meters Centerline goodness [0,1] 0.9888140221077201 Centerline is valid? [True, True] Translation: X:850.97, Y:-64.57, Z:3.05 [[ 9.99931049e-01 1.33095594e-03 -1.16673209e-02 8.50974871e+02] [-1.32298903e-03 9.99998886e-01 6.90531651e-04 -6.45663652e+01] [ 1.16682270e-02 -6.75048301e-04 9.99931696e-01 3.05244505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.630714057 meters Centerline goodness [0,1] 0.988493816254417 Centerline is valid? [True, True] Translation: X:851.00, Y:-64.56, Z:3.05 [[ 9.99920480e-01 1.71524052e-03 -1.24936469e-02 8.51004175e+02] [-1.70614659e-03 9.99998272e-01 7.38506740e-04 -6.45640514e+01] [ 1.24948921e-02 -7.17132021e-04 9.99921679e-01 3.05277279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.660714057 meters Centerline goodness [0,1] 0.9886220254565579 Centerline is valid? [True, True] Translation: X:851.03, Y:-64.57, Z:3.05 [[ 9.99915546e-01 1.77221582e-03 -1.28747871e-02 8.51031782e+02] [-1.76257708e-03 9.99998158e-01 7.59960551e-04 -6.45676132e+01] [ 1.28761102e-02 -7.37203564e-04 9.99916828e-01 3.05254526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6907140569999 meters Centerline goodness [0,1] 0.9886655450278934 Centerline is valid? [True, True] Translation: X:851.06, Y:-64.56, Z:3.05 [[ 9.99918583e-01 2.12301819e-03 -1.25825611e-02 8.51061087e+02] [-2.11385130e-03 9.99997491e-01 7.41793785e-04 -6.45648056e+01] [ 1.25841044e-02 -7.15135727e-04 9.99920561e-01 3.05327312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7207140569999 meters Centerline goodness [0,1] 0.9885348058456966 Centerline is valid? [True, True] Translation: X:851.09, Y:-64.57, Z:3.05 [[ 9.99919647e-01 2.16045821e-03 -1.24912816e-02 8.51090356e+02] [-2.15143768e-03 9.99997415e-01 7.35538778e-04 -6.45655839e+01] [ 1.24928384e-02 -7.08605461e-04 9.99921710e-01 3.05362974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.750714057 meters Centerline goodness [0,1] 0.988612493090105 Centerline is valid? [True, True] Translation: X:851.12, Y:-64.57, Z:3.05 [[ 9.99922853e-01 2.61254685e-03 -1.21434480e-02 8.51118098e+02] [-2.60406719e-03 9.99996354e-01 7.14050263e-04 -6.45692668e+01] [ 1.21452692e-02 -6.82372821e-04 9.99926011e-01 3.05347145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.780714057 meters Centerline goodness [0,1] 0.988537856113513 Centerline is valid? [True, True] Translation: X:851.15, Y:-64.57, Z:3.05 [[ 9.99920513e-01 2.80455113e-03 -1.22923935e-02 8.51146561e+02] [-2.79588763e-03 9.99995831e-01 7.21914036e-04 -6.45689496e+01] [ 1.22943669e-02 -6.87488502e-04 9.99924185e-01 3.05356623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8107140569999 meters Centerline goodness [0,1] 0.9880572542763449 Centerline is valid? [True, True] Translation: X:851.18, Y:-64.57, Z:3.05 [[ 9.99920143e-01 3.22046191e-03 -1.22203027e-02 8.51175596e+02] [-3.21194095e-03 9.99994585e-01 7.16841630e-04 -6.45701053e+01] [ 1.22225451e-02 -6.77533494e-04 9.99925072e-01 3.05357447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8407140569999 meters Centerline goodness [0,1] 0.9884038653782072 Centerline is valid? [True, True] Translation: X:851.20, Y:-64.57, Z:3.05 [[ 9.99909847e-01 3.83341832e-03 -1.28686674e-02 8.51203143e+02] [-3.82403343e-03 9.99992404e-01 7.53809670e-04 -6.45716187e+01] [ 1.28714593e-02 -7.04531498e-04 9.99916911e-01 3.05295027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.870714057 meters Centerline goodness [0,1] 0.9889095909857155 Centerline is valid? [True, True] Translation: X:851.23, Y:-64.57, Z:3.05 [[ 9.99907257e-01 4.44393695e-03 -1.28735499e-02 8.51232425e+02] [-4.43460495e-03 9.99989883e-01 7.53352027e-04 -6.45720148e+01] [ 1.28767675e-02 -6.96193051e-04 9.99916849e-01 3.05300683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.900714057 meters Centerline goodness [0,1] 0.9887822648718291 Centerline is valid? [True, True] Translation: X:851.26, Y:-64.57, Z:3.05 [[ 9.99896589e-01 5.55109091e-03 -1.32664093e-02 8.51261712e+02] [-5.54128980e-03 9.99984346e-01 7.75435733e-04 -6.45652641e+01] [ 1.32705061e-02 -7.01842526e-04 9.99911697e-01 3.05470548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9307140569999 meters Centerline goodness [0,1] 0.989223279486612 Centerline is valid? [True, True] Translation: X:851.29, Y:-64.57, Z:3.05 [[ 9.99899983e-01 5.83911905e-03 -1.28813372e-02 8.51288882e+02] [-5.82991673e-03 9.99982723e-01 7.51826232e-04 -6.45709375e+01] [ 1.28855046e-02 -6.76653914e-04 9.99916749e-01 3.05450935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9607140569999 meters Centerline goodness [0,1] 0.9897510980966325 Centerline is valid? [True, True] Translation: X:851.32, Y:-64.57, Z:3.06 [[ 9.99899819e-01 5.91744130e-03 -1.28583303e-02 8.51318017e+02] [-5.90829065e-03 9.99982265e-01 7.49522111e-04 -6.45673382e+01] [ 1.28625375e-02 -6.73476270e-04 9.99917047e-01 3.05607489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9907140569999 meters Centerline goodness [0,1] 0.9890851007187861 Centerline is valid? [True, True] Translation: X:851.35, Y:-64.57, Z:3.06 [[ 9.99917976e-01 5.46686431e-03 -1.15825325e-02 8.51346014e+02] [-5.45942051e-03 9.99984870e-01 6.74194681e-04 -6.45696753e+01] [ 1.15860430e-02 -6.10905465e-04 9.99932693e-01 3.05680516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.020714057 meters Centerline goodness [0,1] 0.9889714856318651 Centerline is valid? [True, True] Translation: X:851.38, Y:-64.57, Z:3.06 [[ 9.99923535e-01 5.11333531e-03 -1.12595736e-02 8.51375238e+02] [-5.10628789e-03 9.99986749e-01 6.54563546e-04 -6.45709841e+01] [ 1.12627714e-02 -5.97018870e-04 9.99936395e-01 3.05744367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0507140569999 meters Centerline goodness [0,1] 0.9892139020817613 Centerline is valid? [True, True] Translation: X:851.40, Y:-64.57, Z:3.06 [[ 9.99932972e-01 3.87722021e-03 -1.09095430e-02 8.51403246e+02] [-3.87054345e-03 9.99992309e-01 6.33058619e-04 -6.45737055e+01] [ 1.09119136e-02 -5.90790327e-04 9.99940289e-01 3.05779934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0807140569999 meters Centerline goodness [0,1] 0.9893922209620388 Centerline is valid? [True, True] Translation: X:851.43, Y:-64.57, Z:3.06 [[ 9.99936273e-01 3.77382342e-03 -1.06399715e-02 8.51431279e+02] [-3.76747927e-03 9.99992713e-01 6.16236819e-04 -6.45700770e+01] [ 1.06422195e-02 -5.76111675e-04 9.99943204e-01 3.05891370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1107140569999 meters Centerline goodness [0,1] 0.9890197644240367 Centerline is valid? [True, True] Translation: X:851.46, Y:-64.57, Z:3.06 [[ 9.99940106e-01 4.03993912e-03 -1.01717138e-02 8.51459203e+02] [-4.03416459e-03 9.99991690e-01 5.88158650e-04 -6.45736000e+01] [ 1.01740054e-02 -5.47089056e-04 9.99948094e-01 3.05862639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.140714057 meters Centerline goodness [0,1] 0.9892214246272778 Centerline is valid? [True, True] Translation: X:851.49, Y:-64.57, Z:3.06 [[ 9.99927450e-01 5.81536691e-03 -1.05487406e-02 8.51487873e+02] [-5.80926344e-03 9.99982941e-01 6.09146202e-04 -6.45732593e+01] [ 1.05521031e-02 -5.47821596e-04 9.99944175e-01 3.05812713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1707140569999 meters Centerline goodness [0,1] 0.989052715725896 Centerline is valid? [True, True] Translation: X:851.52, Y:-64.58, Z:3.06 [[ 9.99914697e-01 6.99750984e-03 -1.10287636e-02 8.51515728e+02] [-6.99092035e-03 9.99975361e-01 6.35921402e-04 -6.45753025e+01] [ 1.10329418e-02 -5.58765948e-04 9.99938979e-01 3.05754573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2007140569999 meters Centerline goodness [0,1] 0.9898054164265768 Centerline is valid? [True, True] Translation: X:851.55, Y:-64.57, Z:3.06 [[ 9.99875574e-01 1.06898184e-02 -1.16001978e-02 8.51545634e+02] [-1.06827808e-02 9.99942714e-01 6.68472267e-04 -6.45745702e+01] [ 1.16066791e-02 -5.44466721e-04 9.99932492e-01 3.05715757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2307140569999 meters Centerline goodness [0,1] 0.9895978268071292 Centerline is valid? [True, True] Translation: X:851.57, Y:-64.57, Z:3.06 [[ 9.99850894e-01 1.25484096e-02 -1.18628426e-02 8.51574843e+02] [-1.25411866e-02 9.99921123e-01 6.83072325e-04 -6.45744777e+01] [ 1.18704783e-02 -5.34196352e-04 9.99929401e-01 3.05760958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.260714057 meters Centerline goodness [0,1] 0.9899798266421335 Centerline is valid? [True, True] Translation: X:851.60, Y:-64.57, Z:3.06 [[ 9.99794008e-01 1.62060160e-02 -1.22190962e-02 8.51604551e+02] [-1.61986311e-02 9.99868546e-01 7.03105923e-04 -6.45729860e+01] [ 1.22288845e-02 -5.05028456e-04 9.99925097e-01 3.05800165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.290714057 meters Centerline goodness [0,1] 0.9897873096221305 Centerline is valid? [True, True] Translation: X:851.63, Y:-64.57, Z:3.06 [[ 9.99769453e-01 1.74933189e-02 -1.24508735e-02 8.51633768e+02] [-1.74857585e-02 9.99846856e-01 7.15829814e-04 -6.45741194e+01] [ 1.24614889e-02 -4.97951815e-04 9.99922229e-01 3.05769772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3207140569999 meters Centerline goodness [0,1] 0.990485717461376 Centerline is valid? [True, True] Translation: X:851.66, Y:-64.57, Z:3.06 [[ 9.99745864e-01 1.85385462e-02 -1.28268806e-02 8.51662762e+02] [-1.85306193e-02 9.99828022e-01 7.36576941e-04 -6.45742307e+01] [ 1.28383297e-02 -4.98699709e-04 9.99917461e-01 3.05748100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3507140569999 meters Centerline goodness [0,1] 0.9906191785682604 Centerline is valid? [True, True] Translation: X:851.69, Y:-64.58, Z:3.06 [[ 9.99703794e-01 2.00511182e-02 -1.37941199e-02 8.51690662e+02] [-2.00421080e-02 9.99798824e-01 7.91130472e-04 -6.45803120e+01] [ 1.38072079e-02 -5.14432893e-04 9.99904544e-01 3.05584763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.380714057 meters Centerline goodness [0,1] 0.9906191785682604 Centerline is valid? [True, True] Translation: X:851.72, Y:-64.58, Z:3.06 [[ 9.99705809e-01 1.99503367e-02 -1.37941951e-02 8.51718104e+02] [-1.99413350e-02 9.99800840e-01 7.89818137e-04 -6.45817889e+01] [ 1.38072050e-02 -5.14511113e-04 9.99904544e-01 3.05591844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.410714057 meters Centerline goodness [0,1] 0.9903003337041156 Centerline is valid? [True, True] Translation: X:851.75, Y:-64.58, Z:3.06 [[ 9.99700121e-01 1.99302683e-02 -1.42286078e-02 8.51745787e+02] [-1.99207093e-02 9.99801232e-01 8.13239723e-04 -6.45838071e+01] [ 1.42419877e-02 -5.29551888e-04 9.99898438e-01 3.05571255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4407140569999 meters Centerline goodness [0,1] 0.990632995883858 Centerline is valid? [True, True] Translation: X:851.77, Y:-64.58, Z:3.06 [[ 9.99716902e-01 1.90700019e-02 -1.42285573e-02 8.51774839e+02] [-1.90603716e-02 9.99818005e-01 8.12145847e-04 -6.45837049e+01] [ 1.42414554e-02 -5.40714340e-04 9.99898439e-01 3.05713162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4707140569999 meters Centerline goodness [0,1] 0.9892664281428476 Centerline is valid? [True, True] Translation: X:851.80, Y:-64.59, Z:3.06 [[ 9.99730677e-01 1.86175141e-02 -1.38549955e-02 8.51802692e+02] [-1.86083558e-02 9.99826538e-01 7.89648558e-04 -6.45870493e+01] [ 1.38672935e-02 -5.31617202e-04 9.99903703e-01 3.05747117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.500714057 meters Centerline goodness [0,1] 0.9888891348133064 Centerline is valid? [True, True] Translation: X:851.83, Y:-64.59, Z:3.06 [[ 9.99747016e-01 1.80987351e-02 -1.33543948e-02 8.51830377e+02] [-1.80902019e-02 9.99836070e-01 7.59512384e-04 -6.45944374e+01] [ 1.33659518e-02 -5.17736541e-04 9.99910538e-01 3.05661729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.530714057 meters Centerline goodness [0,1] 0.9894825596875833 Centerline is valid? [True, True] Translation: X:851.86, Y:-64.59, Z:3.06 [[ 9.99771101e-01 1.65857800e-02 -1.35150630e-02 8.51859478e+02] [-1.65769172e-02 9.99862299e-01 7.67539735e-04 -6.45923852e+01] [ 1.35259322e-02 -5.43325965e-04 9.99908373e-01 3.05918297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5607140569999 meters Centerline goodness [0,1] 0.9890375160561633 Centerline is valid? [True, True] Translation: X:851.89, Y:-64.60, Z:3.06 [[ 9.99797721e-01 1.51693811e-02 -1.32063326e-02 8.51887904e+02] [-1.51608076e-02 9.99884788e-01 7.49071788e-04 -6.45954334e+01] [ 1.32161741e-02 -5.48701598e-04 9.99912512e-01 3.05936289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5907140569999 meters Centerline goodness [0,1] 0.9892101473357705 Centerline is valid? [True, True] Translation: X:851.92, Y:-64.60, Z:3.06 [[ 9.99851957e-01 1.10970763e-02 -1.31498802e-02 8.51917453e+02] [-1.10882294e-02 9.99938246e-01 7.45496822e-04 -6.46002123e+01] [ 1.31573410e-02 -5.99577568e-04 9.99913259e-01 3.05994618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.620714057 meters Centerline goodness [0,1] 0.9886955558018398 Centerline is valid? [True, True] Translation: X:851.95, Y:-64.61, Z:3.06 [[ 9.99875685e-01 8.56782645e-03 -1.32365777e-02 8.51945967e+02] [-8.55864952e-03 9.99963093e-01 7.49792286e-04 -6.46051237e+01] [ 1.32425132e-02 -6.36411846e-04 9.99912112e-01 3.06001364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.650714057 meters Centerline goodness [0,1] 0.987846722599783 Centerline is valid? [True, True] Translation: X:851.97, Y:-64.61, Z:3.06 [[ 9.99894594e-01 5.80499924e-03 -1.33079669e-02 8.51973766e+02] [-5.79549097e-03 9.99982923e-01 7.52933220e-04 -6.46141267e+01] [ 1.33121104e-02 -6.75727654e-04 9.99911162e-01 3.05890784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6807140569999 meters Centerline goodness [0,1] 0.9881777325156634 Centerline is valid? [True, True] Translation: X:852.00, Y:-64.62, Z:3.06 [[ 9.99913276e-01 1.46811375e-03 -1.30876258e-02 8.52004246e+02] [-1.45854968e-03 9.99998662e-01 7.40286974e-04 -6.46161387e+01] [ 1.30886951e-02 -7.21133821e-04 9.99914079e-01 3.05993945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7107140569999 meters Centerline goodness [0,1] 0.9876043119286363 Centerline is valid? [True, True] Translation: X:852.03, Y:-64.62, Z:3.06 [[ 9.99921796e-01 -1.78152776e-04 -1.25048441e-02 8.52031742e+02] [ 1.87001396e-04 9.99999733e-01 7.06449626e-04 -6.46213121e+01] [ 1.25047149e-02 -7.08732802e-04 9.99921562e-01 3.05962830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7407140569999 meters Centerline goodness [0,1] 0.9875105186234997 Centerline is valid? [True, True] Translation: X:852.06, Y:-64.62, Z:3.06 [[ 9.99907677e-01 -2.42258810e-03 -1.33704250e-02 8.52061029e+02] [ 2.43289304e-03 9.99996756e-01 7.54515320e-04 -6.46200127e+01] [ 1.33685538e-02 -7.86974475e-04 9.99910327e-01 3.06098713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.770714057 meters Centerline goodness [0,1] 0.9873041063281095 Centerline is valid? [True, True] Translation: X:852.09, Y:-64.63, Z:3.06 [[ 9.99908423e-01 -3.09048360e-03 -1.31755100e-02 8.52088980e+02] [ 3.10052782e-03 9.99994918e-01 7.41982244e-04 -6.46256889e+01] [ 1.31731499e-02 -7.82765331e-04 9.99912924e-01 3.05996130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8007140569999 meters Centerline goodness [0,1] 0.9875796951179157 Centerline is valid? [True, True] Translation: X:852.12, Y:-64.63, Z:3.06 [[ 9.99906449e-01 -3.75083982e-03 -1.31538574e-02 8.52117390e+02] [ 3.76086890e-03 9.99992656e-01 7.37790531e-04 -6.46279945e+01] [ 1.31509935e-02 -7.87191443e-04 9.99913212e-01 3.05974805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8307140569999 meters Centerline goodness [0,1] 0.9866938489192862 Centerline is valid? [True, True] Translation: X:852.14, Y:-64.63, Z:3.06 [[ 9.99909781e-01 -4.12435679e-03 -1.27835624e-02 8.52144683e+02] [ 4.13384009e-03 9.99991200e-01 7.15499918e-04 -6.46343872e+01] [ 1.27804990e-02 -7.68280569e-04 9.99918031e-01 3.05932508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8607140569999 meters Centerline goodness [0,1] 0.9865174985656914 Centerline is valid? [True, True] Translation: X:852.17, Y:-64.63, Z:3.06 [[ 9.99901826e-01 -4.95367414e-03 -1.31072675e-02 8.52173286e+02] [ 4.96367806e-03 9.99987414e-01 7.30813077e-04 -6.46341591e+01] [ 1.31034824e-02 -7.95801586e-04 9.99913829e-01 3.05991338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.890714057 meters Centerline goodness [0,1] 0.9875102239317373 Centerline is valid? [True, True] Translation: X:852.20, Y:-64.63, Z:3.06 [[ 9.99909287e-01 -4.89347331e-03 -1.25487950e-02 8.52202028e+02] [ 4.90259899e-03 9.99987740e-01 6.96556848e-04 -6.46322512e+01] [ 1.25452325e-02 -7.58015370e-04 9.99921018e-01 3.06102911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9207140569999 meters Centerline goodness [0,1] 0.9869229245096097 Centerline is valid? [True, True] Translation: X:852.23, Y:-64.64, Z:3.06 [[ 9.99922762e-01 -3.93651611e-03 -1.17886877e-02 8.52229260e+02] [ 3.94448656e-03 9.99992007e-01 6.52934749e-04 -6.46379292e+01] [ 1.17860231e-02 -6.99384638e-04 9.99930298e-01 3.06103167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9507140569999 meters Centerline goodness [0,1] 0.9882526668429868 Centerline is valid? [True, True] Translation: X:852.26, Y:-64.63, Z:3.06 [[ 9.99926671e-01 -3.49494480e-03 -1.15947611e-02 8.52258921e+02] [ 3.50259808e-03 9.99993661e-01 6.39822807e-04 -6.46319126e+01] [ 1.15924514e-02 -6.80387677e-04 9.99932574e-01 3.06222532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9807140569999 meters Centerline goodness [0,1] 0.9877394128172842 Centerline is valid? [True, True] Translation: X:852.29, Y:-64.63, Z:3.06 [[ 9.99924003e-01 -2.06034504e-03 -1.21549373e-02 8.52287193e+02] [ 2.06863389e-03 9.99997636e-01 6.69399295e-04 -6.46349016e+01] [ 1.21535294e-02 -6.94492538e-04 9.99925902e-01 3.06115958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.010714057 meters Centerline goodness [0,1] 0.988732332252872 Centerline is valid? [True, True] Translation: X:852.32, Y:-64.64, Z:3.06 [[ 9.99920325e-01 -1.56779641e-03 -1.25253985e-02 8.52316040e+02] [ 1.57652629e-03 9.99998521e-01 6.87131407e-04 -6.46364029e+01] [ 1.25243026e-02 -7.06823279e-04 9.99921318e-01 3.06079074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.040714057 meters Centerline goodness [0,1] 0.988346062681064 Centerline is valid? [True, True] Translation: X:852.34, Y:-64.64, Z:3.06 [[ 9.99913295e-01 -6.92173165e-04 -1.31500028e-02 8.52344573e+02] [ 7.01676567e-04 9.99999496e-01 7.18091990e-04 -6.46371339e+01] [ 1.31494991e-02 -7.27256776e-04 9.99913277e-01 3.06038049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0707140569999 meters Centerline goodness [0,1] 0.9881289982193497 Centerline is valid? [True, True] Translation: X:852.37, Y:-64.64, Z:3.06 [[ 9.99891595e-01 1.56847405e-03 -1.46403000e-02 8.52372284e+02] [-1.55696188e-03 9.99998470e-01 7.97699141e-04 -6.46381289e+01] [ 1.46415288e-02 -7.74818277e-04 9.99892507e-01 3.05942292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1007140569999 meters Centerline goodness [0,1] 0.9893960860710175 Centerline is valid? [True, True] Translation: X:852.40, Y:-64.64, Z:3.06 [[ 9.99887400e-01 2.57526882e-03 -1.47836241e-02 8.52401541e+02] [-2.56368490e-03 9.99996392e-01 8.02461868e-04 -6.46374242e+01] [ 1.47856373e-02 -7.64470957e-04 9.99890394e-01 3.06009260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.130714057 meters Centerline goodness [0,1] 0.9890566621714235 Centerline is valid? [True, True] Translation: X:852.43, Y:-64.64, Z:3.06 [[ 9.99887907e-01 5.74549803e-03 -1.38261323e-02 8.52431272e+02] [-5.73568167e-03 9.99983270e-01 7.49534491e-04 -6.46361350e+01] [ 1.38302075e-02 -6.70148180e-04 9.99904134e-01 3.06130401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.160714057 meters Centerline goodness [0,1] 0.9897077986615721 Centerline is valid? [True, True] Translation: X:852.46, Y:-64.64, Z:3.06 [[ 9.99885707e-01 7.60606618e-03 -1.30659814e-02 8.52459982e+02] [-7.59746892e-03 9.99970889e-01 7.07499741e-04 -6.46368440e+01] [ 1.30709824e-02 -6.08150491e-04 9.99914386e-01 3.06210553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1907140569999 meters Centerline goodness [0,1] 0.9894681062462741 Centerline is valid? [True, True] Translation: X:852.49, Y:-64.64, Z:3.06 [[ 9.99881748e-01 9.62039015e-03 -1.19973947e-02 8.52487598e+02] [-9.61329829e-03 9.99953581e-01 6.48647429e-04 -6.46394008e+01] [ 1.20030781e-02 -5.33236191e-04 9.99927818e-01 3.06234323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2207140569999 meters Centerline goodness [0,1] 0.9894957519585126 Centerline is valid? [True, True] Translation: X:852.52, Y:-64.64, Z:3.06 [[ 9.99842860e-01 1.28835161e-02 -1.21766694e-02 8.52517140e+02] [-1.28764590e-02 9.99916879e-01 6.57779639e-04 -6.46373608e+01] [ 1.21841318e-02 -5.00883891e-04 9.99925645e-01 3.06305097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.250714057 meters Centerline goodness [0,1] 0.9894594952932337 Centerline is valid? [True, True] Translation: X:852.55, Y:-64.64, Z:3.06 [[ 9.99836168e-01 1.35235116e-02 -1.20312918e-02 8.52545909e+02] [-1.35166774e-02 9.99908435e-01 6.49170013e-04 -6.46368337e+01] [ 1.20389692e-02 -4.86440569e-04 9.99927411e-01 3.06331500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.280714057 meters Centerline goodness [0,1] 0.990137325578824 Centerline is valid? [True, True] Translation: X:852.57, Y:-64.64, Z:3.06 [[ 9.99845822e-01 1.34150023e-02 -1.13300289e-02 8.52574898e+02] [-1.34089437e-02 9.99909910e-01 6.10538985e-04 -6.46382121e+01] [ 1.13371986e-02 -4.58521133e-04 9.99935627e-01 3.06372032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3107140569999 meters Centerline goodness [0,1] 0.9899463066486952 Centerline is valid? [True, True] Translation: X:852.60, Y:-64.64, Z:3.06 [[ 9.99853727e-01 1.26205959e-02 -1.15432256e-02 8.52603816e+02] [-1.26142638e-02 9.99920244e-01 6.21201127e-04 -6.46399076e+01] [ 1.15501449e-02 -4.75500968e-04 9.99933182e-01 3.06390267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3407140569999 meters Centerline goodness [0,1] 0.9904568348502253 Centerline is valid? [True, True] Translation: X:852.63, Y:-64.64, Z:3.06 [[ 9.99870860e-01 1.15075661e-02 -1.12178013e-02 8.52632333e+02] [-1.15015252e-02 9.99933674e-01 6.02879492e-04 -6.46402689e+01] [ 1.12239949e-02 -4.73779813e-04 9.99936897e-01 3.06415069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.370714057 meters Centerline goodness [0,1] 0.9899781461777886 Centerline is valid? [True, True] Translation: X:852.66, Y:-64.65, Z:3.06 [[ 9.99894993e-01 9.46333411e-03 -1.09748489e-02 8.52659525e+02] [-9.45743945e-03 9.99955104e-01 5.88881828e-04 -6.46486098e+01] [ 1.09799289e-02 -4.85026023e-04 9.99939601e-01 3.06346668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.400714057 meters Centerline goodness [0,1] 0.9895768925006625 Centerline is valid? [True, True] Translation: X:852.69, Y:-64.65, Z:3.06 [[ 9.99900013e-01 8.35276794e-03 -1.14102892e-02 8.52688509e+02] [-8.34633399e-03 9.99964982e-01 6.11376213e-04 -6.46477895e+01] [ 1.14149963e-02 -5.16080999e-04 9.99934714e-01 3.06401540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4307140569999 meters Centerline goodness [0,1] 0.9901489827994598 Centerline is valid? [True, True] Translation: X:852.72, Y:-64.65, Z:3.06 [[ 9.99905110e-01 6.03164340e-03 -1.23850823e-02 8.52718187e+02] [-6.02389223e-03 9.99981636e-01 6.63057404e-04 -6.46510001e+01] [ 1.23888542e-02 -5.88388085e-04 9.99923082e-01 3.06312866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4607140569999 meters Centerline goodness [0,1] 0.9901904340124004 Centerline is valid? [True, True] Translation: X:852.75, Y:-64.65, Z:3.06 [[ 9.99903810e-01 5.39310191e-03 -1.27783152e-02 8.52746501e+02] [-5.38480919e-03 9.99985268e-01 6.83285906e-04 -6.46534076e+01] [ 1.27818120e-02 -6.14411391e-04 9.99918121e-01 3.06296410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4907140569999 meters Centerline goodness [0,1] 0.9900793650793651 Centerline is valid? [True, True] Translation: X:852.78, Y:-64.66, Z:3.06 [[ 9.99894449e-01 3.71044894e-03 -1.40471911e-02 8.52775018e+02] [-3.70027311e-03 9.99992872e-01 7.50323933e-04 -6.46590551e+01] [ 1.40498750e-02 -6.98266292e-04 9.99901052e-01 3.06174830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.520714057 meters Centerline goodness [0,1] 0.9898047004303211 Centerline is valid? [True, True] Translation: X:852.80, Y:-64.66, Z:3.06 [[ 9.99896305e-01 3.13306159e-03 -1.40556954e-02 8.52803202e+02] [-3.12283243e-03 9.99994843e-01 7.49648375e-04 -6.46617107e+01] [ 1.40579716e-02 -7.05677059e-04 9.99900933e-01 3.06134760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5507140569999 meters Centerline goodness [0,1] 0.9895388698440782 Centerline is valid? [True, True] Translation: X:852.83, Y:-64.66, Z:3.06 [[ 9.99895338e-01 2.61892825e-03 -1.42286409e-02 8.52831480e+02] [-2.60841148e-03 9.99996311e-01 7.57634764e-04 -6.46631782e+01] [ 1.42305726e-02 -7.20441318e-04 9.99898481e-01 3.06165607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5807140569999 meters Centerline goodness [0,1] 0.9893602931437906 Centerline is valid? [True, True] Translation: X:852.86, Y:-64.67, Z:3.06 [[ 9.99904929e-01 2.99302465e-03 -1.34601393e-02 8.52858758e+02] [-2.98366262e-03 9.99995293e-01 7.15564749e-04 -6.46656643e+01] [ 1.34622177e-02 -6.75336205e-04 9.99909152e-01 3.06234104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6107140569999 meters Centerline goodness [0,1] 0.9897262543911978 Centerline is valid? [True, True] Translation: X:852.89, Y:-64.66, Z:3.06 [[ 9.99913435e-01 3.37665000e-03 -1.27169254e-02 8.52887756e+02] [-3.36833617e-03 9.99994099e-01 6.75123132e-04 -6.46635551e+01] [ 1.27191300e-02 -6.32229810e-04 9.99918909e-01 3.06338371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.640714057 meters Centerline goodness [0,1] 0.9889014171696403 Centerline is valid? [True, True] Translation: X:852.92, Y:-64.67, Z:3.06 [[ 9.99913672e-01 4.30565188e-03 -1.24141414e-02 8.52915361e+02] [-4.29781366e-03 9.99990548e-01 6.58003106e-04 -6.46654348e+01] [ 1.24168572e-02 -6.04592635e-04 9.99922725e-01 3.06354376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6707140569999 meters Centerline goodness [0,1] 0.9888670884680673 Centerline is valid? [True, True] Translation: X:852.94, Y:-64.67, Z:3.06 [[ 9.99911505e-01 4.21014853e-03 -1.26197198e-02 8.52942859e+02] [-4.20205705e-03 9.99990948e-01 6.67624016e-04 -6.46670792e+01] [ 1.26224164e-02 -6.14536152e-04 9.99920145e-01 3.06333418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7007140569999 meters Centerline goodness [0,1] 0.9897871211618807 Centerline is valid? [True, True] Translation: X:852.97, Y:-64.67, Z:3.06 [[ 9.99912791e-01 3.66289764e-03 -1.26883390e-02 8.52970913e+02] [-3.65468844e-03 9.99993097e-01 6.70113997e-04 -6.46698042e+01] [ 1.26907060e-02 -6.23683631e-04 9.99919275e-01 3.06299517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7307140569999 meters Centerline goodness [0,1] 0.9893525370562637 Centerline is valid? [True, True] Translation: X:853.00, Y:-64.67, Z:3.06 [[ 9.99916417e-01 1.68350855e-03 -1.28189406e-02 8.52998945e+02] [-1.67497901e-03 9.99998369e-01 6.76093027e-04 -6.46745099e+01] [ 1.28200579e-02 -6.54565061e-04 9.99917605e-01 3.06266278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.760714057 meters Centerline goodness [0,1] 0.9886001416681424 Centerline is valid? [True, True] Translation: X:853.03, Y:-64.67, Z:3.06 [[ 9.99916176e-01 -9.75041263e-05 -1.29472799e-02 8.53028592e+02] [ 1.06347357e-04 9.99999762e-01 6.82331684e-04 -6.46739283e+01] [ 1.29472103e-02 -6.83651397e-04 9.99915948e-01 3.06380998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.790714057 meters Centerline goodness [0,1] 0.9888542426855967 Centerline is valid? [True, True] Translation: X:853.06, Y:-64.68, Z:3.06 [[ 9.99908476e-01 -3.54770374e-03 -1.30557876e-02 8.53057354e+02] [ 3.55698325e-03 9.99993438e-01 6.87606373e-04 -6.46792696e+01] [ 1.30532625e-02 -7.33982658e-04 9.99914533e-01 3.06275811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8207140569999 meters Centerline goodness [0,1] 0.9889766916793944 Centerline is valid? [True, True] Translation: X:853.09, Y:-64.68, Z:3.06 [[ 9.99898611e-01 -5.53958627e-03 -1.31179607e-02 8.53087128e+02] [ 5.54911918e-03 9.99984365e-01 6.90420360e-04 -6.46754925e+01] [ 1.31139309e-02 -7.63143487e-04 9.99913717e-01 3.06416631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8507140569999 meters Centerline goodness [0,1] 0.988086818141632 Centerline is valid? [True, True] Translation: X:853.12, Y:-64.69, Z:3.06 [[ 9.99887799e-01 -7.29795087e-03 -1.30816346e-02 8.53115346e+02] [ 7.30757036e-03 9.99973063e-01 6.87693734e-04 -6.46850827e+01] [ 1.30762635e-02 -7.83211540e-04 9.99914195e-01 3.06290501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.880714057 meters Centerline goodness [0,1] 0.9876745007951935 Centerline is valid? [True, True] Translation: X:853.14, Y:-64.69, Z:3.06 [[ 9.99861649e-01 -1.02371652e-02 -1.31103937e-02 8.53144490e+02] [ 1.02470747e-02 9.99947260e-01 6.88899624e-04 -6.46896554e+01] [ 1.31026499e-02 -8.23147498e-04 9.99913818e-01 3.06196342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.910714057 meters Centerline goodness [0,1] 0.9883040935672515 Centerline is valid? [True, True] Translation: X:853.17, Y:-64.68, Z:3.06 [[ 9.99843600e-01 -1.16574071e-02 -1.32996469e-02 8.53173922e+02] [ 1.16676938e-02 9.99931688e-01 6.96129605e-04 -6.46805684e+01] [ 1.32906233e-02 -8.51196939e-04 9.99911313e-01 3.06382688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9407140569999 meters Centerline goodness [0,1] 0.9883332226428461 Centerline is valid? [True, True] Translation: X:853.20, Y:-64.68, Z:3.06 [[ 9.99836081e-01 -1.23954491e-02 -1.31971188e-02 8.53202791e+02] [ 1.24056236e-02 9.99922810e-01 6.89375785e-04 -6.46834822e+01] [ 1.31875550e-02 -8.52981271e-04 9.99912677e-01 3.06365787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9707140569999 meters Centerline goodness [0,1] 0.9880680432034421 Centerline is valid? [True, True] Translation: X:853.23, Y:-64.68, Z:3.06 [[ 9.99836266e-01 -1.22394540e-02 -1.33280802e-02 8.53232732e+02] [ 1.22498101e-02 9.99924726e-01 6.95650785e-04 -6.46806382e+01] [ 1.33185625e-02 -8.58803334e-04 9.99910935e-01 3.06448950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.000714057 meters Centerline goodness [0,1] 0.9882185884493355 Centerline is valid? [True, True] Translation: X:853.26, Y:-64.68, Z:3.06 [[ 9.99852731e-01 -1.16155693e-02 -1.26331082e-02 8.53261345e+02] [ 1.16248160e-02 9.99932213e-01 6.58757260e-04 -6.46818912e+01] [ 1.26246000e-02 -8.05517804e-04 9.99919982e-01 3.06493126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.030714057 meters Centerline goodness [0,1] 0.9888113437465381 Centerline is valid? [True, True] Translation: X:853.29, Y:-64.68, Z:3.07 [[ 9.99865320e-01 -1.09133012e-02 -1.22573041e-02 8.53291188e+02] [ 1.09219476e-02 9.99940150e-01 6.38686963e-04 -6.46810968e+01] [ 1.22496003e-02 -7.72474577e-04 9.99924672e-01 3.06574574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0607140569999 meters Centerline goodness [0,1] 0.9882715501951046 Centerline is valid? [True, True] Translation: X:853.32, Y:-64.68, Z:3.07 [[ 9.99897522e-01 -9.36886895e-03 -1.08245308e-02 8.53321034e+02] [ 9.37551781e-03 9.99955890e-01 5.63657916e-04 -6.46783943e+01] [ 1.08187725e-02 -6.65085734e-04 9.99941254e-01 3.06742750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0907140569999 meters Centerline goodness [0,1] 0.9896391488983258 Centerline is valid? [True, True] Translation: X:853.35, Y:-64.67, Z:3.07 [[ 9.99919428e-01 -7.94798989e-03 -9.89786560e-03 8.53350791e+02] [ 7.95347620e-03 9.99968238e-01 5.15052996e-04 -6.46730409e+01] [ 9.89345759e-03 -5.93733935e-04 9.99950882e-01 3.06851481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.120714057 meters Centerline goodness [0,1] 0.988359906344074 Centerline is valid? [True, True] Translation: X:853.38, Y:-64.68, Z:3.07 [[ 9.99917774e-01 -7.28091083e-03 -1.05561694e-02 8.53379785e+02] [ 7.28711009e-03 9.99973298e-01 5.48918883e-04 -6.46778192e+01] [ 1.05518909e-02 -6.25797717e-04 9.99944131e-01 3.06769334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.150714057 meters Centerline goodness [0,1] 0.989509788636718 Centerline is valid? [True, True] Translation: X:853.41, Y:-64.68, Z:3.07 [[ 9.99921533e-01 -6.63145499e-03 -1.06278421e-02 8.53408157e+02] [ 6.63768015e-03 9.99977819e-01 5.50574638e-04 -6.46777644e+01] [ 1.06239553e-02 -6.21075652e-04 9.99943371e-01 3.06760681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1807140569999 meters Centerline goodness [0,1] 0.9898179711694851 Centerline is valid? [True, True] Translation: X:853.44, Y:-64.67, Z:3.07 [[ 9.99920796e-01 -5.41489353e-03 -1.13613967e-02 8.53436929e+02] [ 5.42189775e-03 9.99985130e-01 5.85781911e-04 -6.46738030e+01] [ 1.13580559e-02 -6.47335846e-04 9.99935286e-01 3.06767122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2107140569999 meters Centerline goodness [0,1] 0.9902683442823739 Centerline is valid? [True, True] Translation: X:853.47, Y:-64.67, Z:3.07 [[ 9.99923487e-01 -4.13191138e-03 -1.16596165e-02 8.53466425e+02] [ 4.13918014e-03 9.99991254e-01 5.99350435e-04 -6.46725817e+01] [ 1.16570381e-02 -6.47565831e-04 9.99931845e-01 3.06824694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2407140569999 meters Centerline goodness [0,1] 0.9895633557825253 Centerline is valid? [True, True] Translation: X:853.50, Y:-64.67, Z:3.07 [[ 9.99936904e-01 -6.50770280e-04 -1.12144485e-02 8.53497060e+02] [ 6.57268867e-04 9.99999618e-01 5.75807589e-04 -6.46685423e+01] [ 1.12140695e-02 -5.83142166e-04 9.99936950e-01 3.06912930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.270714057 meters Centerline goodness [0,1] 0.9895942656811737 Centerline is valid? [True, True] Translation: X:853.52, Y:-64.67, Z:3.07 [[ 9.99938620e-01 1.31249268e-03 -1.10015711e-02 8.53524806e+02] [-1.30636632e-03 9.99998988e-01 5.64030337e-04 -6.46692458e+01] [ 1.10023002e-02 -5.49623634e-04 9.99939322e-01 3.06951617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3007140569999 meters Centerline goodness [0,1] 0.9895942656811737 Centerline is valid? [True, True] Translation: X:853.55, Y:-64.67, Z:3.07 [[ 9.99938751e-01 1.20737341e-03 -1.10016281e-02 8.53552268e+02] [-1.20125292e-03 9.99999120e-01 5.62916734e-04 -6.46705616e+01] [ 1.10022981e-02 -5.49666518e-04 9.99939322e-01 3.06958702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3307140569999 meters Centerline goodness [0,1] 0.9897385562594807 Centerline is valid? [True, True] Translation: X:853.58, Y:-64.67, Z:3.07 [[ 9.99937070e-01 3.03603490e-03 -1.07999178e-02 8.53581624e+02] [-3.03026649e-03 9.99995257e-01 5.50439900e-04 -6.46693867e+01] [ 1.08015377e-02 -5.17678632e-04 9.99941528e-01 3.06979608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3607140569999 meters Centerline goodness [0,1] 0.9898631299260946 Centerline is valid? [True, True] Translation: X:853.61, Y:-64.67, Z:3.07 [[ 9.99926354e-01 6.95346121e-03 -9.94662510e-03 8.53612070e+02] [-6.94876847e-03 9.99975729e-01 5.06274104e-04 -6.46650322e+01] [ 9.94990405e-03 -4.37120024e-04 9.99950403e-01 3.07048872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.390714057 meters Centerline goodness [0,1] 0.9909303621169916 Centerline is valid? [True, True] Translation: X:853.64, Y:-64.66, Z:3.07 [[ 9.99913866e-01 8.89763842e-03 -9.64840529e-03 8.53640906e+02] [-8.89331855e-03 9.99960333e-01 4.90541900e-04 -6.46642224e+01] [ 9.65238723e-03 -4.04693306e-04 9.99953333e-01 3.07111857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4207140569999 meters Centerline goodness [0,1] 0.9907823841118583 Centerline is valid? [True, True] Translation: X:853.67, Y:-64.66, Z:3.07 [[ 9.99894384e-01 1.14650811e-02 -8.93157044e-03 8.53670329e+02] [-1.14614964e-02 9.99934213e-01 4.52439579e-04 -6.46626618e+01] [ 8.93617011e-03 -3.50022632e-04 9.99960010e-01 3.07182128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4507140569999 meters Centerline goodness [0,1] 0.9896131165117942 Centerline is valid? [True, True] Translation: X:853.70, Y:-64.67, Z:3.07 [[ 9.99882792e-01 1.21037370e-02 -9.37564855e-03 8.53697958e+02] [-1.20998287e-02 9.99926682e-01 4.73469634e-04 -6.46659455e+01] [ 9.38069190e-03 -3.59970397e-04 9.99955936e-01 3.07150707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4807140569999 meters Centerline goodness [0,1] 0.9904461448964067 Centerline is valid? [True, True] Translation: X:853.73, Y:-64.67, Z:3.07 [[ 9.99884326e-01 1.20239978e-02 -9.31445056e-03 8.53725977e+02] [-1.20201465e-02 9.99927645e-01 4.69347476e-04 -6.46650400e+01] [ 9.31942005e-03 -3.57332124e-04 9.99956509e-01 3.07161822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.510714057 meters Centerline goodness [0,1] 0.9906661294654848 Centerline is valid? [True, True] Translation: X:853.76, Y:-64.67, Z:3.07 [[ 9.99892612e-01 1.12802664e-02 -9.35526328e-03 8.53755034e+02] [-1.12763559e-02 9.99936309e-01 4.70642272e-04 -6.46661871e+01] [ 9.35997640e-03 -3.65098452e-04 9.99956128e-01 3.07162250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.540714057 meters Centerline goodness [0,1] 0.9897036440146835 Centerline is valid? [True, True] Translation: X:853.78, Y:-64.67, Z:3.07 [[ 9.99901897e-01 1.05592003e-02 -9.20320666e-03 8.53782793e+02] [-1.05553925e-02 9.99944183e-01 4.62221351e-04 -6.46690550e+01] [ 9.20757366e-03 -3.65032547e-04 9.99957543e-01 3.07169038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5707140569999 meters Centerline goodness [0,1] 0.9900163409665793 Centerline is valid? [True, True] Translation: X:853.81, Y:-64.67, Z:3.07 [[ 9.99922632e-01 8.58023942e-03 -9.00603866e-03 8.53811713e+02] [-8.57651910e-03 9.99963119e-01 4.51631740e-04 -6.46701723e+01] [ 9.00958161e-03 -3.74356336e-04 9.99959343e-01 3.07240572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6007140569999 meters Centerline goodness [0,1] 0.9909017749362901 Centerline is valid? [True, True] Translation: X:853.84, Y:-64.67, Z:3.07 [[ 9.99933007e-01 7.21012843e-03 -9.05515403e-03 8.53839738e+02] [-7.20631828e-03 9.99973931e-01 4.53329117e-04 -6.46731185e+01] [ 9.05818653e-03 -3.88044425e-04 9.99958898e-01 3.07277132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.630714057 meters Centerline goodness [0,1] 0.988866781426751 Centerline is valid? [True, True] Translation: X:853.87, Y:-64.68, Z:3.07 [[ 9.99941870e-01 5.75616950e-03 -9.11715201e-03 8.53868222e+02] [-5.75225302e-03 9.99983352e-01 4.55736856e-04 -6.46758938e+01] [ 9.11962353e-03 -4.03266199e-04 9.99958334e-01 3.07276701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.660714057 meters Centerline goodness [0,1] 0.9896263245956497 Centerline is valid? [True, True] Translation: X:853.90, Y:-64.68, Z:3.07 [[ 9.99945488e-01 2.17307181e-03 -1.02126390e-02 8.53897446e+02] [-2.16797455e-03 9.99997520e-01 5.10157672e-04 -6.46817534e+01] [ 1.02137222e-02 -4.87989121e-04 9.99947720e-01 3.07214619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6907140569999 meters Centerline goodness [0,1] 0.9894156264653998 Centerline is valid? [True, True] Translation: X:853.93, Y:-64.69, Z:3.07 [[ 9.99944442e-01 3.06992714e-05 -1.05409711e-02 8.53926486e+02] [-2.51551486e-05 9.99999861e-01 5.26091574e-04 -6.46851053e+01] [ 1.05409858e-02 -5.25797186e-04 9.99944304e-01 3.07167027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7207140569999 meters Centerline goodness [0,1] 0.9892273236282195 Centerline is valid? [True, True] Translation: X:853.95, Y:-64.69, Z:3.07 [[ 9.99940185e-01 -2.89547176e-03 -1.05471767e-02 8.53954232e+02] [ 2.90117915e-03 9.99995653e-01 5.25869457e-04 -6.46907183e+01] [ 1.05456082e-02 -5.56437251e-04 9.99944239e-01 3.07215002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.750714057 meters Centerline goodness [0,1] 0.9892631861495101 Centerline is valid? [True, True] Translation: X:853.98, Y:-64.69, Z:3.07 [[ 9.99943866e-01 -3.85937830e-03 -9.86760383e-03 8.53982874e+02] [ 3.86441432e-03 9.99992412e-01 4.91343708e-04 -6.46892908e+01] [ 9.86563267e-03 -5.29448637e-04 9.99951193e-01 3.07348863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.780714057 meters Centerline goodness [0,1] 0.9885863617073553 Centerline is valid? [True, True] Translation: X:854.01, Y:-64.69, Z:3.07 [[ 9.99946725e-01 -4.32001780e-03 -9.37464203e-03 8.54010140e+02] [ 4.32457606e-03 9.99990540e-01 4.66016473e-04 -6.46947909e+01] [ 9.37254015e-03 -5.06532998e-04 9.99955948e-01 3.07388044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8107140569999 meters Centerline goodness [0,1] 0.9899205660503304 Centerline is valid? [True, True] Translation: X:854.04, Y:-64.69, Z:3.07 [[ 9.99949370e-01 -4.26123923e-03 -9.11591408e-03 8.54039267e+02] [ 4.26552996e-03 9.99990801e-01 4.51295721e-04 -6.46931915e+01] [ 9.11390714e-03 -4.90157076e-04 9.99958347e-01 3.07467805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8407140569999 meters Centerline goodness [0,1] 0.990615363989811 Centerline is valid? [True, True] Translation: X:854.07, Y:-64.69, Z:3.07 [[ 9.99948465e-01 -4.09728135e-03 -9.28871433e-03 8.54067655e+02] [ 4.10170749e-03 9.99991483e-01 4.57506890e-04 -6.46943522e+01] [ 9.28676069e-03 -4.95582902e-04 9.99956754e-01 3.07459918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.870714057 meters Centerline goodness [0,1] 0.9891835232721514 Centerline is valid? [True, True] Translation: X:854.10, Y:-64.70, Z:3.07 [[ 9.99939942e-01 -2.74840148e-03 -1.06093861e-02 8.54095635e+02] [ 2.75407113e-03 9.99996072e-01 5.19826557e-04 -6.46978664e+01] [ 1.06079158e-02 -5.49014341e-04 9.99943584e-01 3.07337116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.900714057 meters Centerline goodness [0,1] 0.989802763987656 Centerline is valid? [True, True] Translation: X:854.12, Y:-64.70, Z:3.07 [[ 9.99936786e-01 -1.93497241e-03 -1.10760674e-02 8.54124574e+02] [ 1.94107124e-03 9.99997970e-01 5.39907648e-04 -6.46963764e+01] [ 1.10750002e-02 -5.61372955e-04 9.99938513e-01 3.07336791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9307140569999 meters Centerline goodness [0,1] 0.9894457927901851 Centerline is valid? [True, True] Translation: X:854.15, Y:-64.70, Z:3.07 [[ 9.99922889e-01 -4.57749819e-04 -1.24099000e-02 8.54153203e+02] [ 4.65253792e-04 9.99999711e-01 6.01796061e-04 -6.46969327e+01] [ 1.24096209e-02 -6.07523409e-04 9.99922813e-01 3.07226616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9607140569999 meters Centerline goodness [0,1] 0.9894222400749816 Centerline is valid? [True, True] Translation: X:854.18, Y:-64.70, Z:3.07 [[ 9.99915651e-01 -2.74787989e-04 -1.29851863e-02 8.54182328e+02] [ 2.82946055e-04 9.99999764e-01 6.26426457e-04 -6.46967290e+01] [ 1.29850111e-02 -6.30047726e-04 9.99915493e-01 3.07207026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9907140569999 meters Centerline goodness [0,1] 0.9896338330242845 Centerline is valid? [True, True] Translation: X:854.21, Y:-64.70, Z:3.07 [[ 9.99905568e-01 -3.73635972e-04 -1.37373444e-02 8.54210643e+02] [ 3.82752798e-04 9.99999708e-01 6.61029622e-04 -6.46970838e+01] [ 1.37370935e-02 -6.66225207e-04 9.99905420e-01 3.07206019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.020714057 meters Centerline goodness [0,1] 0.9898748857021789 Centerline is valid? [True, True] Translation: X:854.24, Y:-64.70, Z:3.07 [[ 9.99900894e-01 -4.33044997e-04 -1.40717969e-02 8.54237755e+02] [ 4.42593589e-04 9.99999674e-01 6.75455306e-04 -6.47000593e+01] [ 1.40714998e-02 -6.81616451e-04 9.99900759e-01 3.07162663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0507140569999 meters Centerline goodness [0,1] 0.9899850222430867 Centerline is valid? [True, True] Translation: X:854.27, Y:-64.70, Z:3.07 [[ 9.99900104e-01 -8.82206026e-04 -1.41068664e-02 8.54266638e+02] [ 8.91830725e-04 9.99999374e-01 6.75994302e-04 -6.46986018e+01] [ 1.41062612e-02 -6.88507710e-04 9.99900265e-01 3.07265280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0807140569999 meters Centerline goodness [0,1] 0.9898011674979311 Centerline is valid? [True, True] Translation: X:854.29, Y:-64.70, Z:3.07 [[ 9.99902846e-01 -8.00786910e-04 -1.39160988e-02 8.54294529e+02] [ 8.10128679e-04 9.99999450e-01 6.65667984e-04 -6.47004097e+01] [ 1.39155581e-02 -6.76877143e-04 9.99902945e-01 3.07314311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1107140569999 meters Centerline goodness [0,1] 0.989159346431525 Centerline is valid? [True, True] Translation: X:854.32, Y:-64.70, Z:3.07 [[ 9.99900169e-01 -1.00881827e-03 -1.40938009e-02 8.54322973e+02] [ 1.01840596e-03 9.99999255e-01 6.73116799e-04 -6.46988435e+01] [ 1.40931113e-02 -6.87402811e-04 9.99900451e-01 3.07414699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.140714057 meters Centerline goodness [0,1] 0.9893614643631407 Centerline is valid? [True, True] Translation: X:854.35, Y:-64.70, Z:3.07 [[ 9.99900763e-01 -1.39916615e-03 -1.40180822e-02 8.54350159e+02] [ 1.40866978e-03 9.99998785e-01 6.68104514e-04 -6.47019536e+01] [ 1.40171304e-02 -6.87785062e-04 9.99901519e-01 3.07388565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1707140569999 meters Centerline goodness [0,1] 0.9897660492034054 Centerline is valid? [True, True] Translation: X:854.38, Y:-64.70, Z:3.07 [[ 9.99905837e-01 -1.89628443e-03 -1.35912249e-02 8.54378592e+02] [ 1.90524699e-03 9.99997976e-01 6.46519267e-04 -6.47003419e+01] [ 1.35899715e-02 -6.72353030e-04 9.99907426e-01 3.07469788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2007140569999 meters Centerline goodness [0,1] 0.9901089353739223 Centerline is valid? [True, True] Translation: X:854.41, Y:-64.70, Z:3.07 [[ 9.99902956e-01 -2.96828311e-03 -1.36112958e-02 8.54407214e+02] [ 2.97735750e-03 9.99995359e-01 6.46465144e-04 -6.47019864e+01] [ 1.36093138e-02 -6.86928103e-04 9.99907153e-01 3.07495980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2307140569999 meters Centerline goodness [0,1] 0.9895672765453611 Centerline is valid? [True, True] Translation: X:854.44, Y:-64.70, Z:3.08 [[ 9.99891898e-01 -4.47053752e-03 -1.40073575e-02 8.54435426e+02] [ 4.48027782e-03 9.99989743e-01 6.64067458e-04 -6.47024174e+01] [ 1.40042451e-02 -7.26752524e-04 9.99901672e-01 3.07518436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.260714057 meters Centerline goodness [0,1] 0.9897470338034475 Centerline is valid? [True, True] Translation: X:854.46, Y:-64.71, Z:3.08 [[ 9.99866825e-01 -7.52511198e-03 -1.44811961e-02 8.54464884e+02] [ 7.53583542e-03 9.99971370e-01 6.86082781e-04 -6.47055652e+01] [ 1.44756187e-02 -7.95119323e-04 9.99894907e-01 3.07506742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.290714057 meters Centerline goodness [0,1] 0.989065405901992 Centerline is valid? [True, True] Translation: X:854.49, Y:-64.71, Z:3.08 [[ 9.99846829e-01 -9.51665157e-03 -1.46884838e-02 8.54494522e+02] [ 9.52789148e-03 9.99954367e-01 6.95428133e-04 -6.47065419e+01] [ 1.46811954e-02 -8.35271894e-04 9.99891877e-01 3.07531814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3207140569999 meters Centerline goodness [0,1] 0.9899868129903221 Centerline is valid? [True, True] Translation: X:854.52, Y:-64.71, Z:3.08 [[ 9.99829555e-01 -1.12414276e-02 -1.46455384e-02 8.54523549e+02] [ 1.12527410e-02 9.99936448e-01 6.90298373e-04 -6.47078499e+01] [ 1.46368477e-02 -8.54983166e-04 9.99892510e-01 3.07547234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3507140569999 meters Centerline goodness [0,1] 0.9887209615212127 Centerline is valid? [True, True] Translation: X:854.55, Y:-64.71, Z:3.07 [[ 9.99789123e-01 -1.45165336e-02 -1.45251551e-02 8.54552273e+02] [ 1.45279908e-02 9.99894230e-01 6.83567579e-04 -6.47131248e+01] [ 1.45136957e-02 -8.94444749e-04 9.99894271e-01 3.07448745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.380714057 meters Centerline goodness [0,1] 0.9879240041224179 Centerline is valid? [True, True] Translation: X:854.58, Y:-64.72, Z:3.07 [[ 9.99765684e-01 -1.59474574e-02 -1.46374716e-02 8.54581654e+02] [ 1.59592408e-02 9.99872406e-01 6.88555138e-04 -6.47155323e+01] [ 1.46246232e-02 -9.21996733e-04 9.99892629e-01 3.07427745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.410714057 meters Centerline goodness [0,1] 0.9887809365674154 Centerline is valid? [True, True] Translation: X:854.61, Y:-64.71, Z:3.08 [[ 9.99748207e-01 -1.71520366e-02 -1.44682565e-02 8.54611804e+02] [ 1.71636711e-02 9.99852462e-01 6.80340353e-04 -6.47125838e+01] [ 1.44544526e-02 -9.28497443e-04 9.99895098e-01 3.07517108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4407140569999 meters Centerline goodness [0,1] 0.9876418379957308 Centerline is valid? [True, True] Translation: X:854.64, Y:-64.71, Z:3.08 [[ 9.99704567e-01 -1.95759843e-02 -1.44069322e-02 8.54641573e+02] [ 1.95877799e-02 9.99807911e-01 6.78075809e-04 -6.47143351e+01] [ 1.43908908e-02 -9.60075300e-04 9.99895985e-01 3.07548007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4707140569999 meters Centerline goodness [0,1] 0.98706440799982 Centerline is valid? [True, True] Translation: X:854.67, Y:-64.72, Z:3.08 [[ 9.99684562e-01 -2.04946830e-02 -1.45170532e-02 8.54671873e+02] [ 2.05067611e-02 9.99789481e-01 6.83612668e-04 -6.47157808e+01] [ 1.44999867e-02 -9.81094773e-04 9.99894388e-01 3.07566602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.500714057 meters Centerline goodness [0,1] 0.9872707271625171 Centerline is valid? [True, True] Translation: X:854.70, Y:-64.71, Z:3.08 [[ 9.99678436e-01 -2.12229904e-02 -1.38784095e-02 8.54703294e+02] [ 2.12341050e-02 9.99774317e-01 6.53974524e-04 -6.47141554e+01] [ 1.38613981e-02 -9.48459833e-04 9.99903476e-01 3.07677307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.530714057 meters Centerline goodness [0,1] 0.9875870691194856 Centerline is valid? [True, True] Translation: X:854.73, Y:-64.71, Z:3.08 [[ 9.99696884e-01 -2.10728479e-02 -1.27308468e-02 8.54734984e+02] [ 2.10821937e-02 9.99777566e-01 6.00334708e-04 -6.47139260e+01] [ 1.27153643e-02 -8.68546916e-04 9.99918779e-01 3.07752339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5607140569999 meters Centerline goodness [0,1] 0.9864734299516909 Centerline is valid? [True, True] Translation: X:854.77, Y:-64.72, Z:3.08 [[ 9.99662116e-01 -2.21904299e-02 -1.35365937e-02 8.54765680e+02] [ 2.22011047e-02 9.99753321e-01 6.38807076e-04 -6.47164361e+01] [ 1.35190792e-02 -9.39118568e-04 9.99908172e-01 3.07686526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5907140569999 meters Centerline goodness [0,1] 0.9866588542840402 Centerline is valid? [True, True] Translation: X:854.80, Y:-64.72, Z:3.08 [[ 9.99645113e-01 -2.28155963e-02 -1.37512139e-02 8.54797415e+02] [ 2.28266776e-02 9.99739227e-01 6.49407546e-04 -6.47168983e+01] [ 1.37328113e-02 -9.63071607e-04 9.99905237e-01 3.07653933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.620714057 meters Centerline goodness [0,1] 0.9860379228032248 Centerline is valid? [True, True] Translation: X:854.83, Y:-64.72, Z:3.08 [[ 9.99626175e-01 -2.35770490e-02 -1.38431297e-02 8.54828838e+02] [ 2.35883581e-02 9.99721542e-01 6.54217063e-04 -6.47194405e+01] [ 1.38238505e-02 -9.80509202e-04 9.99903965e-01 3.07570386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.650714057 meters Centerline goodness [0,1] 0.9865108318695672 Centerline is valid? [True, True] Translation: X:854.86, Y:-64.72, Z:3.07 [[ 9.99571653e-01 -2.50597687e-02 -1.51168125e-02 8.54860101e+02] [ 2.50734313e-02 9.99685356e-01 7.14928832e-04 -6.47191397e+01] [ 1.50941402e-02 -1.09365296e-03 9.99885479e-01 3.07421488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6807140569999 meters Centerline goodness [0,1] 0.9846487757455179 Centerline is valid? [True, True] Translation: X:854.89, Y:-64.72, Z:3.07 [[ 9.99533613e-01 -2.56507308e-02 -1.65709616e-02 8.54890699e+02] [ 2.56672390e-02 9.99670235e-01 7.84265908e-04 -6.47216999e+01] [ 1.65453800e-02 -1.20923097e-03 9.99862385e-01 3.07311429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7107140569999 meters Centerline goodness [0,1] 0.9870068242418765 Centerline is valid? [True, True] Translation: X:854.92, Y:-64.71, Z:3.07 [[ 9.99508440e-01 -2.58237450e-02 -1.77767495e-02 8.54923777e+02] [ 2.58427917e-02 9.99665664e-01 8.42518410e-04 -6.47090540e+01] [ 1.77490491e-02 -1.30150510e-03 9.99841626e-01 3.07467147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7407140569999 meters Centerline goodness [0,1] 0.9868903681565004 Centerline is valid? [True, True] Translation: X:854.95, Y:-64.71, Z:3.07 [[ 9.99511490e-01 -2.58272742e-02 -1.75992310e-02 8.54954719e+02] [ 2.58459555e-02 9.99665589e-01 8.34821025e-04 -6.47099088e+01] [ 1.75717844e-02 -1.28928215e-03 9.99844773e-01 3.07439624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.770714057 meters Centerline goodness [0,1] 0.9847662723908552 Centerline is valid? [True, True] Translation: X:854.99, Y:-64.72, Z:3.07 [[ 9.99519878e-01 -2.54424612e-02 -1.76831752e-02 8.54985536e+02] [ 2.54612771e-02 9.99675456e-01 8.39697368e-04 -6.47219854e+01] [ 1.76560723e-02 -1.28953043e-03 9.99843288e-01 3.07220285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8007140569999 meters Centerline goodness [0,1] 0.9882782387883735 Centerline is valid? [True, True] Translation: X:855.02, Y:-64.71, Z:3.07 [[ 9.99549078e-01 -2.47070333e-02 -1.70646653e-02 8.55017156e+02] [ 2.47244600e-02 9.99693975e-01 8.10969912e-04 -6.47103826e+01] [ 1.70394064e-02 -1.23251886e-03 9.99854059e-01 3.07494367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8307140569999 meters Centerline goodness [0,1] 0.9877230874161647 Centerline is valid? [True, True] Translation: X:855.05, Y:-64.70, Z:3.08 [[ 9.99618521e-01 -2.25845610e-02 -1.58981340e-02 8.55048662e+02] [ 2.25994283e-02 9.99744314e-01 7.56101558e-04 -6.47023834e+01] [ 1.58769929e-02 -1.11510186e-03 9.99873331e-01 3.07729375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8607140569999 meters Centerline goodness [0,1] 0.9877896552506752 Centerline is valid? [True, True] Translation: X:855.08, Y:-64.70, Z:3.08 [[ 9.99692975e-01 -1.99324150e-02 -1.47192148e-02 8.55078162e+02] [ 1.99448707e-02 9.99800836e-01 6.99898739e-04 -6.46997667e+01] [ 1.47023326e-02 -9.93256688e-04 9.99891422e-01 3.07872324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.890714057 meters Centerline goodness [0,1] 0.9871938019824541 Centerline is valid? [True, True] Translation: X:855.11, Y:-64.70, Z:3.08 [[ 9.99738282e-01 -1.82032833e-02 -1.38567077e-02 8.55108840e+02] [ 1.82141616e-02 9.99833891e-01 6.59247950e-04 -6.46999738e+01] [ 1.38424055e-02 -9.11463726e-04 9.99903774e-01 3.07950513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9207140569999 meters Centerline goodness [0,1] 0.9874038746776806 Centerline is valid? [True, True] Translation: X:855.14, Y:-64.70, Z:3.08 [[ 9.99770416e-01 -1.66987293e-02 -1.34264158e-02 8.55140121e+02] [ 1.67088136e-02 9.99860194e-01 6.39251684e-04 -6.46999359e+01] [ 1.34138640e-02 -8.63444401e-04 9.99909657e-01 3.08000894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9507140569999 meters Centerline goodness [0,1] 0.9871458252471518 Centerline is valid? [True, True] Translation: X:855.17, Y:-64.70, Z:3.08 [[ 9.99795036e-01 -1.55550321e-02 -1.29586598e-02 8.55171799e+02] [ 1.55643363e-02 9.99878678e-01 6.17444709e-04 -6.46965204e+01] [ 1.29474832e-02 -8.19011093e-04 9.99915842e-01 3.08093799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9807140569999 meters Centerline goodness [0,1] 0.9867761788190075 Centerline is valid? [True, True] Translation: X:855.20, Y:-64.70, Z:3.08 [[ 9.99833666e-01 -1.36723075e-02 -1.20709873e-02 8.55201907e+02] [ 1.36802450e-02 9.99906256e-01 5.75236096e-04 -6.46958505e+01] [ 1.20619909e-02 -7.40274477e-04 9.99926978e-01 3.08162012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.010714057 meters Centerline goodness [0,1] 0.9880936026010899 Centerline is valid? [True, True] Translation: X:855.23, Y:-64.69, Z:3.08 [[ 9.99849104e-01 -1.19971479e-02 -1.25633426e-02 8.55233536e+02] [ 1.20056190e-02 9.99927751e-01 5.99062689e-04 -6.46934560e+01] [ 1.25552478e-02 -7.49802997e-04 9.99920899e-01 3.08118855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.040714057 meters Centerline goodness [0,1] 0.9881728826015065 Centerline is valid? [True, True] Translation: X:855.26, Y:-64.70, Z:3.08 [[ 9.99856439e-01 -1.06454440e-02 -1.31823795e-02 8.55263123e+02] [ 1.06546522e-02 9.99943040e-01 6.28488671e-04 -6.46960760e+01] [ 1.31749381e-02 -7.68852114e-04 9.99912911e-01 3.08032295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0707140569999 meters Centerline goodness [0,1] 0.9892776135816894 Centerline is valid? [True, True] Translation: X:855.29, Y:-64.69, Z:3.08 [[ 9.99857446e-01 -8.93120200e-03 -1.43290663e-02 8.55292922e+02] [ 8.94189987e-03 9.99959787e-01 6.82690059e-04 -6.46944797e+01] [ 1.43223928e-02 -8.10721814e-04 9.99897101e-01 3.08014873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1007140569999 meters Centerline goodness [0,1] 0.9890170236133993 Centerline is valid? [True, True] Translation: X:855.32, Y:-64.70, Z:3.08 [[ 9.99858417e-01 -6.93318474e-03 -1.53322143e-02 8.55321163e+02] [ 6.94518362e-03 9.99975616e-01 7.29485023e-04 -6.46952522e+01] [ 1.53267828e-02 -8.35866784e-04 9.99882189e-01 3.07933321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.130714057 meters Centerline goodness [0,1] 0.9902298850574712 Centerline is valid? [True, True] Translation: X:855.35, Y:-64.69, Z:3.08 [[ 9.99857444e-01 -1.95581627e-03 -1.67710280e-02 8.55351567e+02] [ 1.96947035e-03 9.99997742e-01 7.97669009e-04 -6.46908121e+01] [ 1.67694300e-02 -8.30585339e-04 9.99859038e-01 3.07835039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.160714057 meters Centerline goodness [0,1] 0.9892502947499826 Centerline is valid? [True, True] Translation: X:855.38, Y:-64.69, Z:3.08 [[ 9.99844910e-01 3.09528206e-04 -1.76085250e-02 8.55380597e+02] [-2.94845842e-04 9.99999607e-01 8.36411321e-04 -6.46883568e+01] [ 1.76087769e-02 -8.31089802e-04 9.99844608e-01 3.07859190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1907140569999 meters Centerline goodness [0,1] 0.9892502947499826 Centerline is valid? [True, True] Translation: X:855.41, Y:-64.69, Z:3.08 [[ 9.99844936e-01 2.02446599e-04 -1.76086101e-02 8.55408055e+02] [-1.87779191e-04 9.99999634e-01 8.34617370e-04 -6.46895719e+01] [ 1.76087726e-02 -8.31181420e-04 9.99844608e-01 3.07866273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2207140569999 meters Centerline goodness [0,1] 0.9898486526393503 Centerline is valid? [True, True] Translation: X:855.44, Y:-64.69, Z:3.08 [[ 9.99823807e-01 6.15865771e-03 -1.77320807e-02 8.55437982e+02] [-6.14472942e-03 9.99980768e-01 8.39862288e-04 -6.46871424e+01] [ 1.77369121e-02 -7.30755472e-04 9.99842422e-01 3.07876173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.250714057 meters Centerline goodness [0,1] 0.9899207562908383 Centerline is valid? [True, True] Translation: X:855.47, Y:-64.69, Z:3.08 [[ 9.99808871e-01 9.12903288e-03 -1.72882012e-02 8.55468204e+02] [-9.11624205e-03 9.99958111e-01 8.18523911e-04 -6.46855289e+01] [ 1.72949494e-02 -6.60764041e-04 9.99850213e-01 3.07952055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.280714057 meters Centerline goodness [0,1] 0.9903013991043875 Centerline is valid? [True, True] Translation: X:855.50, Y:-64.69, Z:3.08 [[ 9.99799977e-01 1.18438080e-02 -1.61161202e-02 8.55496808e+02] [-1.18330573e-02 9.99929696e-01 7.62275516e-04 -6.46857924e+01] [ 1.61240154e-02 -5.71420071e-04 9.99869836e-01 3.08016230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3107140569999 meters Centerline goodness [0,1] 0.9906111971879842 Centerline is valid? [True, True] Translation: X:855.53, Y:-64.68, Z:3.08 [[ 9.99767365e-01 1.63416282e-02 -1.40771963e-02 8.55526970e+02] [-1.63338796e-02 9.99866372e-01 6.65235956e-04 -6.46836398e+01] [ 1.40861862e-02 -4.35145968e-04 9.99900690e-01 3.08188127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3407140569999 meters Centerline goodness [0,1] 0.9904212777829443 Centerline is valid? [True, True] Translation: X:855.56, Y:-64.68, Z:3.08 [[ 9.99758759e-01 1.77397503e-02 -1.29508620e-02 8.55556193e+02] [-1.77333279e-02 9.99842566e-01 6.10585678e-04 -6.46827941e+01] [ 1.29596548e-02 -3.80776497e-04 9.99915948e-01 3.08328066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.370714057 meters Centerline goodness [0,1] 0.9908517423589934 Centerline is valid? [True, True] Translation: X:855.59, Y:-64.68, Z:3.08 [[ 9.99750073e-01 1.88221119e-02 -1.20631499e-02 8.55585222e+02] [-1.88166304e-02 9.99822790e-01 5.67748200e-04 -6.46828796e+01] [ 1.20716984e-02 -3.40618471e-04 9.99927076e-01 3.08464596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.400714057 meters Centerline goodness [0,1] 0.9903346763863334 Centerline is valid? [True, True] Translation: X:855.61, Y:-64.69, Z:3.08 [[ 9.99760520e-01 1.83104650e-02 -1.19845558e-02 8.55612647e+02] [-1.83050302e-02 9.99832290e-01 5.63030866e-04 -6.46871559e+01] [ 1.19928553e-02 -3.43518374e-04 9.99928024e-01 3.08370178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4307140569999 meters Centerline goodness [0,1] 0.9898683112306408 Centerline is valid? [True, True] Translation: X:855.64, Y:-64.69, Z:3.08 [[ 9.99815607e-01 1.51895415e-02 -1.17485905e-02 8.55642252e+02] [-1.51841099e-02 9.99884563e-01 5.51390583e-04 -6.46893915e+01] [ 1.17556096e-02 -3.72897022e-04 9.99930831e-01 3.08372053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4607140569999 meters Centerline goodness [0,1] 0.9903472222222223 Centerline is valid? [True, True] Translation: X:855.67, Y:-64.69, Z:3.08 [[ 9.99850828e-01 1.22150836e-02 -1.22112048e-02 8.55670228e+02] [-1.22090038e-02 9.99925304e-01 5.72315187e-04 -6.46946385e+01] [ 1.22172836e-02 -4.23143167e-04 9.99925277e-01 3.08293734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4907140569999 meters Centerline goodness [0,1] 0.990499526132082 Centerline is valid? [True, True] Translation: X:855.70, Y:-64.70, Z:3.08 [[ 9.99878228e-01 9.07679365e-03 -1.26940998e-02 8.55698417e+02] [-9.06998287e-03 9.99958690e-01 5.93999459e-04 -6.46997436e+01] [ 1.26989670e-02 -4.78791859e-04 9.99919250e-01 3.08191127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.520714057 meters Centerline goodness [0,1] 0.9894083441019014 Centerline is valid? [True, True] Translation: X:855.73, Y:-64.71, Z:3.08 [[ 9.99894458e-01 2.22248056e-03 -1.43573672e-02 8.55728198e+02] [-2.21306640e-03 9.99997326e-01 6.71556578e-04 -6.47068310e+01] [ 1.43588213e-02 -6.39711894e-04 9.99896702e-01 3.08044313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5507140569999 meters Centerline goodness [0,1] 0.989190687361419 Centerline is valid? [True, True] Translation: X:855.76, Y:-64.71, Z:3.08 [[ 9.99885109e-01 -1.08582612e-03 -1.51191913e-02 8.55757641e+02] [ 1.09663649e-03 9.99999149e-01 7.06737451e-04 -6.47109209e+01] [ 1.51184110e-02 -7.23236510e-04 9.99885449e-01 3.07997955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5807140569999 meters Centerline goodness [0,1] 0.9899075624469573 Centerline is valid? [True, True] Translation: X:855.79, Y:-64.72, Z:3.08 [[ 9.99860014e-01 -6.85857092e-03 -1.52614655e-02 8.55786152e+02] [ 6.87025136e-03 9.99976145e-01 7.13058251e-04 -6.47230378e+01] [ 1.52562109e-02 -8.17808537e-04 9.99883283e-01 3.07852049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6107140569999 meters Centerline goodness [0,1] 0.9897123130034522 Centerline is valid? [True, True] Translation: X:855.82, Y:-64.72, Z:3.08 [[ 9.99838247e-01 -9.48020806e-03 -1.52841577e-02 8.55815923e+02] [ 9.49222098e-03 9.99954693e-01 7.13617761e-04 -6.47216775e+01] [ 1.52767000e-02 -8.58582933e-04 9.99882936e-01 3.07986691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.640714057 meters Centerline goodness [0,1] 0.9897388914338067 Centerline is valid? [True, True] Translation: X:855.85, Y:-64.73, Z:3.08 [[ 9.99788204e-01 -1.37442025e-02 -1.53180782e-02 8.55845957e+02] [ 1.37567634e-02 9.99905116e-01 7.14932564e-04 -6.47254781e+01] [ 1.53067985e-02 -9.25508322e-04 9.99882416e-01 3.08093695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6707140569999 meters Centerline goodness [0,1] 0.9903890370642877 Centerline is valid? [True, True] Translation: X:855.87, Y:-64.73, Z:3.08 [[ 9.99764824e-01 -1.56629566e-02 -1.49989453e-02 8.55874694e+02] [ 1.56752074e-02 9.99876892e-01 6.99555417e-04 -6.47300951e+01] [ 1.49861417e-02 -9.34502477e-04 9.99887265e-01 3.08111467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7007140569999 meters Centerline goodness [0,1] 0.989470310854736 Centerline is valid? [True, True] Translation: X:855.90, Y:-64.74, Z:3.08 [[ 9.99731818e-01 -1.75948779e-02 -1.50569655e-02 8.55904198e+02] [ 1.76074371e-02 9.99844731e-01 7.01948459e-04 -6.47353268e+01] [ 1.50422770e-02 -9.66874783e-04 9.99886391e-01 3.08112983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7307140569999 meters Centerline goodness [0,1] 0.9895364846259752 Centerline is valid? [True, True] Translation: X:855.94, Y:-64.74, Z:3.08 [[ 9.99668843e-01 -2.08718964e-02 -1.50522003e-02 8.55935424e+02] [ 2.08848202e-02 9.99781642e-01 7.01900523e-04 -6.47371646e+01] [ 1.50342635e-02 -1.01603058e-03 9.99886463e-01 3.08221359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.760714057 meters Centerline goodness [0,1] 0.9894213816316717 Centerline is valid? [True, True] Translation: X:855.97, Y:-64.74, Z:3.08 [[ 9.99646375e-01 -2.21552080e-02 -1.47061880e-02 8.55966799e+02] [ 2.21676895e-02 9.99754031e-01 6.86243672e-04 -6.47405600e+01] [ 1.46873669e-02 -1.01200321e-03 9.99891623e-01 3.08234953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.790714057 meters Centerline goodness [0,1] 0.9895593498529647 Centerline is valid? [True, True] Translation: X:856.00, Y:-64.74, Z:3.08 [[ 9.99593355e-01 -2.45265229e-02 -1.45456257e-02 8.55997740e+02] [ 2.45389913e-02 9.99698643e-01 6.79311612e-04 -6.47444650e+01] [ 1.45245811e-02 -1.03597036e-03 9.99893976e-01 3.08290486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8207140569999 meters Centerline goodness [0,1] 0.9886999201004452 Centerline is valid? [True, True] Translation: X:856.03, Y:-64.75, Z:3.08 [[ 9.99568660e-01 -2.54757892e-02 -1.46109199e-02 8.56028660e+02] [ 2.54884903e-02 9.99674882e-01 6.83700372e-04 -6.47501841e+01] [ 1.45887519e-02 -1.05581576e-03 9.99893021e-01 3.08226561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8507140569999 meters Centerline goodness [0,1] 0.9893920383255389 Centerline is valid? [True, True] Translation: X:856.06, Y:-64.75, Z:3.08 [[ 9.99544096e-01 -2.62342827e-02 -1.49453515e-02 8.56060912e+02] [ 2.62476735e-02 9.99655225e-01 7.00508424e-04 -6.47510914e+01] [ 1.49218214e-02 -1.09246977e-03 9.99888067e-01 3.08251776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.880714057 meters Centerline goodness [0,1] 0.9895966417229421 Centerline is valid? [True, True] Translation: X:856.09, Y:-64.75, Z:3.08 [[ 9.99479210e-01 -2.80195815e-02 -1.60066267e-02 8.56091891e+02] [ 2.80351825e-02 9.99606655e-01 7.51059604e-04 -6.47538691e+01] [ 1.59792862e-02 -1.19941716e-03 9.99871604e-01 3.08240543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.910714057 meters Centerline goodness [0,1] 0.9893094349922664 Centerline is valid? [True, True] Translation: X:856.12, Y:-64.76, Z:3.08 [[ 9.99447124e-01 -2.87598786e-02 -1.66827963e-02 8.56123677e+02] [ 2.87769542e-02 9.99585550e-01 7.84339087e-04 -6.47564320e+01] [ 1.66533247e-02 -1.26398551e-03 9.99860525e-01 3.08237247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9407140569999 meters Centerline goodness [0,1] 0.9898335152838428 Centerline is valid? [True, True] Translation: X:856.16, Y:-64.76, Z:3.08 [[ 9.99399874e-01 -2.99612185e-02 -1.73843747e-02 8.56155773e+02] [ 2.99799646e-02 9.99550165e-01 8.18665433e-04 -6.47574029e+01] [ 1.73520264e-02 -1.33935707e-03 9.99848545e-01 3.08213029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9707140569999 meters Centerline goodness [0,1] 0.9886879883699801 Centerline is valid? [True, True] Translation: X:856.19, Y:-64.76, Z:3.08 [[ 9.99384575e-01 -3.01889001e-02 -1.78634082e-02 8.56186547e+02] [ 3.02087480e-02 9.99543257e-01 8.42239547e-04 -6.47642759e+01] [ 1.78298229e-02 -1.38135241e-03 9.99840082e-01 3.08083720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.000714057 meters Centerline goodness [0,1] 0.9894818322557144 Centerline is valid? [True, True] Translation: X:856.22, Y:-64.77, Z:3.08 [[ 9.99368161e-01 -3.03681267e-02 -1.84676985e-02 8.56218504e+02] [ 3.03893942e-02 9.99537755e-01 8.71993723e-04 -6.47651641e+01] [ 1.84326811e-02 -1.43266493e-03 9.99829077e-01 3.08058342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.030714057 meters Centerline goodness [0,1] 0.9884056653102052 Centerline is valid? [True, True] Translation: X:856.25, Y:-64.77, Z:3.08 [[ 9.99388264e-01 -2.99636101e-02 -1.80355032e-02 8.56250986e+02] [ 2.99838507e-02 9.99550019e-01 8.52846447e-04 -6.47670564e+01] [ 1.80018332e-02 -1.39309857e-03 9.99836983e-01 3.08051803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0607140569999 meters Centerline goodness [0,1] 0.9889721798172663 Centerline is valid? [True, True] Translation: X:856.28, Y:-64.77, Z:3.08 [[ 9.99409710e-01 -2.95030633e-02 -1.76011379e-02 8.56282905e+02] [ 2.95222915e-02 9.99563775e-01 8.33553475e-04 -6.47657545e+01] [ 1.75688675e-02 -1.35268736e-03 9.99844741e-01 3.08185390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0907140569999 meters Centerline goodness [0,1] 0.9889695012395097 Centerline is valid? [True, True] Translation: X:856.31, Y:-64.77, Z:3.08 [[ 9.99473336e-01 -2.81819217e-02 -1.60881744e-02 8.56314650e+02] [ 2.81978300e-02 9.99602071e-01 7.62794500e-04 -6.47650826e+01] [ 1.60602754e-02 -1.21604437e-03 9.99870286e-01 3.08333088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.120714057 meters Centerline goodness [0,1] 0.9885185775793335 Centerline is valid? [True, True] Translation: X:856.35, Y:-64.77, Z:3.08 [[ 9.99501903e-01 -2.73854425e-02 -1.56838616e-02 8.56346659e+02] [ 2.74004804e-02 9.99624259e-01 7.44692360e-04 -6.47654822e+01] [ 1.56575748e-02 -1.17406677e-03 9.99876723e-01 3.08424642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.150714057 meters Centerline goodness [0,1] 0.9896284476863461 Centerline is valid? [True, True] Translation: X:856.38, Y:-64.76, Z:3.09 [[ 9.99575787e-01 -2.56283280e-02 -1.38360031e-02 8.56378037e+02] [ 2.56398712e-02 9.99671028e-01 6.57522956e-04 -6.47624556e+01] [ 1.38146003e-02 -1.01199736e-03 9.99904062e-01 3.08656585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1807140569999 meters Centerline goodness [0,1] 0.9893984051911258 Centerline is valid? [True, True] Translation: X:856.41, Y:-64.76, Z:3.09 [[ 9.99595169e-01 -2.52620427e-02 -1.30891744e-02 8.56410379e+02] [ 2.52723532e-02 9.99680409e-01 6.22881548e-04 -6.47631332e+01] [ 1.30692559e-02 -9.53423625e-04 9.99914139e-01 3.08705406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2107140569999 meters Centerline goodness [0,1] 0.9903311137462374 Centerline is valid? [True, True] Translation: X:856.44, Y:-64.77, Z:3.09 [[ 9.99612169e-01 -2.50030972e-02 -1.22619989e-02 8.56442875e+02] [ 2.50121370e-02 9.99686977e-01 5.84393972e-04 -6.47656888e+01] [ 1.22435490e-02 -8.90866123e-04 9.99924648e-01 3.08702620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2407140569999 meters Centerline goodness [0,1] 0.9889974433893353 Centerline is valid? [True, True] Translation: X:856.48, Y:-64.77, Z:3.09 [[ 9.99589549e-01 -2.58557229e-02 -1.23375088e-02 8.56475005e+02] [ 2.58649501e-02 9.99665273e-01 5.88894391e-04 -6.47673140e+01] [ 1.23181529e-02 -9.07761730e-04 9.99923717e-01 3.08609086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.270714057 meters Centerline goodness [0,1] 0.9892129535205203 Centerline is valid? [True, True] Translation: X:856.51, Y:-64.77, Z:3.09 [[ 9.99570205e-01 -2.62475879e-02 -1.30563624e-02 8.56506230e+02] [ 2.62579650e-02 9.99655005e-01 6.23978528e-04 -6.47718069e+01] [ 1.30354801e-02 -9.66543853e-04 9.99914567e-01 3.08511887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3007140569999 meters Centerline goodness [0,1] 0.9890117405676507 Centerline is valid? [True, True] Translation: X:856.54, Y:-64.77, Z:3.08 [[ 9.99505802e-01 -2.79291576e-02 -1.44261588e-02 8.56536955e+02] [ 2.79420061e-02 9.99609308e-01 6.89810652e-04 -6.47724189e+01] [ 1.44012568e-02 -1.09256557e-03 9.99895700e-01 3.08366499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3307140569999 meters Centerline goodness [0,1] 0.9881313765320795 Centerline is valid? [True, True] Translation: X:856.57, Y:-64.78, Z:3.08 [[ 9.99483854e-01 -2.84533571e-02 -1.49141890e-02 8.56567600e+02] [ 2.84671584e-02 9.99594473e-01 7.13857224e-04 -6.47786814e+01] [ 1.48878293e-02 -1.13805335e-03 9.99888522e-01 3.08246675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3607140569999 meters Centerline goodness [0,1] 0.9876101760539322 Centerline is valid? [True, True] Translation: X:856.60, Y:-64.78, Z:3.08 [[ 9.99438673e-01 -2.97039333e-02 -1.54924102e-02 8.56600026e+02] [ 2.97189914e-02 9.99558017e-01 7.42601130e-04 -6.47772661e+01] [ 1.54635046e-02 -1.20260309e-03 9.99879710e-01 3.08268318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.390714057 meters Centerline goodness [0,1] 0.9886896363388102 Centerline is valid? [True, True] Translation: X:856.63, Y:-64.78, Z:3.08 [[ 9.99421153e-01 -3.02861719e-02 -1.54953477e-02 8.56632299e+02] [ 3.03013224e-02 9.99540533e-01 7.43847147e-04 -6.47804272e+01] [ 1.54656998e-02 -1.21294610e-03 9.99879663e-01 3.08171092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4207140569999 meters Centerline goodness [0,1] 0.9897903372835004 Centerline is valid? [True, True] Translation: X:856.66, Y:-64.78, Z:3.08 [[ 9.99409216e-01 -3.06441707e-02 -1.55612997e-02 8.56664393e+02] [ 3.06595110e-02 9.99529607e-01 7.48139700e-04 -6.47793574e+01] [ 1.55310537e-02 -1.22479955e-03 9.99878636e-01 3.08252820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4507140569999 meters Centerline goodness [0,1] 0.9888392857142857 Centerline is valid? [True, True] Translation: X:856.70, Y:-64.78, Z:3.08 [[ 9.99413596e-01 -3.10414930e-02 -1.44529994e-02 8.56695371e+02] [ 3.10547789e-02 9.99517442e-01 6.95669153e-04 -6.47830818e+01] [ 1.44244304e-02 -1.14409591e-03 9.99895308e-01 3.08232711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4807140569999 meters Centerline goodness [0,1] 0.9886097533249971 Centerline is valid? [True, True] Translation: X:856.73, Y:-64.79, Z:3.08 [[ 9.99415170e-01 -3.11538570e-02 -1.40980624e-02 8.56726163e+02] [ 3.11665199e-02 9.99513975e-01 6.79335354e-04 -6.47863862e+01] [ 1.40700465e-02 -1.11832560e-03 9.99900387e-01 3.08255020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.510714057 meters Centerline goodness [0,1] 0.9885465764965731 Centerline is valid? [True, True] Translation: X:856.76, Y:-64.79, Z:3.08 [[ 9.99420167e-01 -3.12227664e-02 -1.35819467e-02 8.56757952e+02] [ 3.12345376e-02 9.99511868e-01 6.55374259e-04 -6.47881162e+01] [ 1.35548543e-02 -1.07922008e-03 9.99907546e-01 3.08310615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.540714057 meters Centerline goodness [0,1] 0.98799899801881 Centerline is valid? [True, True] Translation: X:856.79, Y:-64.79, Z:3.08 [[ 9.99437456e-01 -3.10715291e-02 -1.26226836e-02 8.56789638e+02] [ 3.10816952e-02 9.99516661e-01 6.09959118e-04 -6.47909908e+01] [ 1.25976302e-02 -1.00195039e-03 9.99920145e-01 3.08288083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5707140569999 meters Centerline goodness [0,1] 0.9879625196634977 Centerline is valid? [True, True] Translation: X:856.82, Y:-64.79, Z:3.08 [[ 9.99440176e-01 -3.08954819e-02 -1.28376066e-02 8.56821960e+02] [ 3.09059943e-02 9.99522103e-01 6.21251761e-04 -6.47914711e+01] [ 1.28122777e-02 -1.01766297e-03 9.99917402e-01 3.08360621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6007140569999 meters Centerline goodness [0,1] 0.9884212920837124 Centerline is valid? [True, True] Translation: X:856.85, Y:-64.79, Z:3.08 [[ 9.99456280e-01 -3.07828075e-02 -1.18136569e-02 8.56854304e+02] [ 3.07917117e-02 9.99525659e-01 5.72531294e-04 -6.47898223e+01] [ 1.17904291e-02 -9.35982716e-04 9.99930052e-01 3.08457403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.630714057 meters Centerline goodness [0,1] 0.9881399531061485 Centerline is valid? [True, True] Translation: X:856.89, Y:-64.79, Z:3.08 [[ 9.99463168e-01 -3.07046024e-02 -1.14282154e-02 8.56886037e+02] [ 3.07129391e-02 9.99528093e-01 5.54662782e-04 -6.47927341e+01] [ 1.14057916e-02 -9.05359104e-04 9.99934542e-01 3.08460757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.660714057 meters Centerline goodness [0,1] 0.987970198901825 Centerline is valid? [True, True] Translation: X:856.92, Y:-64.80, Z:3.08 [[ 9.99463375e-01 -3.09430165e-02 -1.07467306e-02 8.56917918e+02] [ 3.09504103e-02 9.99520785e-01 5.22341842e-04 -6.47957415e+01] [ 1.07254178e-02 -8.54677263e-04 9.99942116e-01 3.08445530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6907140569999 meters Centerline goodness [0,1] 0.9883172781307645 Centerline is valid? [True, True] Translation: X:856.95, Y:-64.80, Z:3.08 [[ 9.99460916e-01 -3.11352714e-02 -1.04150390e-02 8.56950155e+02] [ 3.11422338e-02 9.99514834e-01 5.06951554e-04 -6.47994271e+01] [ 1.03942019e-02 -8.31025846e-04 9.99945634e-01 3.08414384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7207140569999 meters Centerline goodness [0,1] 0.9863032398980707 Centerline is valid? [True, True] Translation: X:856.98, Y:-64.81, Z:3.08 [[ 9.99445428e-01 -3.14679316e-02 -1.08905930e-02 8.56981006e+02] [ 3.14755765e-02 9.99504380e-01 5.31244192e-04 -6.48091791e+01] [ 1.08684783e-02 -8.73737274e-04 9.99940555e-01 3.08264161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.750714057 meters Centerline goodness [0,1] 0.9880035444073342 Centerline is valid? [True, True] Translation: X:857.01, Y:-64.80, Z:3.08 [[ 9.99427341e-01 -3.17489695e-02 -1.17043655e-02 8.57013403e+02] [ 3.17578300e-02 9.99495429e-01 5.71904028e-04 -6.48049216e+01] [ 1.16803024e-02 -9.43281771e-04 9.99931338e-01 3.08163036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.780714057 meters Centerline goodness [0,1] 0.9882642481143039 Centerline is valid? [True, True] Translation: X:857.04, Y:-64.81, Z:3.08 [[ 9.99419689e-01 -3.17474269e-02 -1.23444773e-02 8.57044596e+02] [ 3.17572998e-02 9.99495427e-01 6.04542520e-04 -6.48084490e+01] [ 1.23190560e-02 -9.96218965e-04 9.99923621e-01 3.08050713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8107140569999 meters Centerline goodness [0,1] 0.9884700061281464 Centerline is valid? [True, True] Translation: X:857.08, Y:-64.81, Z:3.08 [[ 9.99432667e-01 -3.08790690e-02 -1.34471654e-02 8.57076635e+02] [ 3.08907216e-02 9.99522550e-01 6.59653366e-04 -6.48082775e+01] [ 1.34203756e-02 -1.07467177e-03 9.99909365e-01 3.08034775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8407140569999 meters Centerline goodness [0,1] 0.9882533080421418 Centerline is valid? [True, True] Translation: X:857.11, Y:-64.81, Z:3.08 [[ 9.99439695e-01 -3.06074312e-02 -1.35455098e-02 8.57109132e+02] [ 3.06192431e-02 9.99530900e-01 6.65447500e-04 -6.48088063e+01] [ 1.35187880e-02 -1.07982790e-03 9.99908034e-01 3.08073624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.870714057 meters Centerline goodness [0,1] 0.9876697966997903 Centerline is valid? [True, True] Translation: X:857.14, Y:-64.81, Z:3.08 [[ 9.99453188e-01 -3.00341707e-02 -1.38301369e-02 8.57141303e+02] [ 3.00464434e-02 9.99548272e-01 6.80417598e-04 -6.48105850e+01] [ 1.38034537e-02 -1.09559196e-03 9.99904128e-01 3.08093991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.900714057 meters Centerline goodness [0,1] 0.9888959534947092 Centerline is valid? [True, True] Translation: X:857.17, Y:-64.81, Z:3.08 [[ 9.99503403e-01 -2.87915621e-02 -1.28059679e-02 8.57172886e+02] [ 2.88019899e-02 9.99584938e-01 6.30567850e-04 -6.48104863e+01] [ 1.27824975e-02 -9.99092069e-04 9.99917801e-01 3.08124160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9307140569999 meters Centerline goodness [0,1] 0.9887540692512578 Centerline is valid? [True, True] Translation: X:857.21, Y:-64.81, Z:3.08 [[ 9.99525907e-01 -2.81790706e-02 -1.24056572e-02 8.57205431e+02] [ 2.81888216e-02 9.99602429e-01 6.11823258e-04 -6.48134265e+01] [ 1.23834844e-02 -9.61234054e-04 9.99922860e-01 3.08115879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9607140569999 meters Centerline goodness [0,1] 0.9889380530973452 Centerline is valid? [True, True] Translation: X:857.24, Y:-64.81, Z:3.08 [[ 9.99569288e-01 -2.67185805e-02 -1.21390559e-02 8.57236618e+02] [ 2.67278167e-02 9.99642568e-01 5.99244317e-04 -6.48135194e+01] [ 1.21187061e-02 -9.23436678e-04 9.99926139e-01 3.08135652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9907140569999 meters Centerline goodness [0,1] 0.9884254503116225 Centerline is valid? [True, True] Translation: X:857.27, Y:-64.81, Z:3.08 [[ 9.99586839e-01 -2.61493916e-02 -1.19314650e-02 8.57268470e+02] [ 2.61582833e-02 9.99657640e-01 5.89755919e-04 -6.48146725e+01] [ 1.19119583e-02 -9.01618896e-04 9.99928644e-01 3.08136124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.020714057 meters Centerline goodness [0,1] 0.9874619626146841 Centerline is valid? [True, True] Translation: X:857.30, Y:-64.82, Z:3.08 [[ 9.99591462e-01 -2.59004328e-02 -1.20861906e-02 8.57300134e+02] [ 2.59095489e-02 9.99664112e-01 5.98264681e-04 -6.48169380e+01] [ 1.20666357e-02 -9.11168014e-04 9.99926780e-01 3.08124602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0507140569999 meters Centerline goodness [0,1] 0.9873460934477344 Centerline is valid? [True, True] Translation: X:857.33, Y:-64.82, Z:3.08 [[ 9.99590685e-01 -2.58747904e-02 -1.22048208e-02 8.57331855e+02] [ 2.58840950e-02 9.99664768e-01 6.05002496e-04 -6.48188473e+01] [ 1.21850750e-02 -9.20665601e-04 9.99925335e-01 3.08096328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0807140569999 meters Centerline goodness [0,1] 0.9871794871794872 Centerline is valid? [True, True] Translation: X:857.36, Y:-64.83, Z:3.08 [[ 9.99548605e-01 -2.76267423e-02 -1.18046068e-02 8.57361976e+02] [ 2.76355740e-02 9.99617893e-01 5.85663546e-04 -6.48263605e+01] [ 1.17839162e-02 -9.11626266e-04 9.99930152e-01 3.08024803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1107140569999 meters Centerline goodness [0,1] 0.9871794871794872 Centerline is valid? [True, True] Translation: X:857.39, Y:-64.83, Z:3.08 [[ 9.99550545e-01 -2.75564894e-02 -1.18045701e-02 8.57393727e+02] [ 2.75653249e-02 9.99619832e-01 5.86402491e-04 -6.48280014e+01] [ 1.17839232e-02 -9.11535741e-04 9.99930152e-01 3.08032984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.140714057 meters Centerline goodness [0,1] 0.9869015562959245 Centerline is valid? [True, True] Translation: X:857.43, Y:-64.82, Z:3.08 [[ 9.99525944e-01 -2.84559029e-02 -1.17536818e-02 8.57425937e+02] [ 2.84647341e-02 9.99594626e-01 5.84725273e-04 -6.48249053e+01] [ 1.17322783e-02 -9.19013509e-04 9.99930752e-01 3.08108038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1707140569999 meters Centerline goodness [0,1] 0.9863951748220036 Centerline is valid? [True, True] Translation: X:857.46, Y:-64.84, Z:3.08 [[ 9.99456468e-01 -3.07313460e-02 -1.19311807e-02 8.57455652e+02] [ 3.07406174e-02 9.99527219e-01 5.94419172e-04 -6.48361277e+01] [ 1.19072726e-02 -9.60867948e-04 9.99928644e-01 3.08001698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2007140569999 meters Centerline goodness [0,1] 0.9855510370993026 Centerline is valid? [True, True] Translation: X:857.49, Y:-64.84, Z:3.08 [[ 9.99424510e-01 -3.18300395e-02 -1.17259049e-02 8.57486654e+02] [ 3.18390774e-02 9.99492837e-01 5.84842593e-04 -6.48404963e+01] [ 1.17013424e-02 -9.57848017e-04 9.99931078e-01 3.07978196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2307140569999 meters Centerline goodness [0,1] 0.9860116001364722 Centerline is valid? [True, True] Translation: X:857.52, Y:-64.84, Z:3.08 [[ 9.99404351e-01 -3.25911528e-02 -1.13472109e-02 8.57518551e+02] [ 3.25996732e-02 9.99468329e-01 5.66676631e-04 -6.48446741e+01] [ 1.13227093e-02 -9.36254457e-04 9.99935458e-01 3.07965883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.260714057 meters Centerline goodness [0,1] 0.9827488751723982 Centerline is valid? [True, True] Translation: X:857.55, Y:-64.85, Z:3.08 [[ 9.99354231e-01 -3.40012038e-02 -1.16206295e-02 8.57548463e+02] [ 3.40102382e-02 9.99421316e-01 5.80661039e-04 -6.48502745e+01] [ 1.15941617e-02 -9.75506444e-04 9.99932310e-01 3.07940028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.290714057 meters Centerline goodness [0,1] 0.986658224413188 Centerline is valid? [True, True] Translation: X:857.58, Y:-64.85, Z:3.08 [[ 9.99345982e-01 -3.42799971e-02 -1.15104732e-02 8.57581271e+02] [ 3.42888870e-02 9.99411797e-01 5.75818434e-04 -6.48479559e+01] [ 1.14839637e-02 -9.70123153e-04 9.99933587e-01 3.07963747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3207140569999 meters Centerline goodness [0,1] 0.9793097196727627 Centerline is valid? [True, True] Translation: X:857.61, Y:-64.86, Z:3.08 [[ 9.99309450e-01 -3.52761862e-02 -1.16710821e-02 8.57611715e+02] [ 3.52854010e-02 9.99377105e-01 5.84503492e-04 -6.48588210e+01] [ 1.16431932e-02 -9.95918674e-04 9.99931720e-01 3.07934684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3507140569999 meters Centerline goodness [0,1] 0.9847767482953129 Centerline is valid? [True, True] Translation: X:857.64, Y:-64.86, Z:3.08 [[ 9.99304539e-01 -3.55148993e-02 -1.13635738e-02 8.57643601e+02] [ 3.55236568e-02 9.99368673e-01 5.69686035e-04 -6.48556493e+01] [ 1.13361673e-02 -9.72965535e-04 9.99935270e-01 3.08071036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.380714057 meters Centerline goodness [0,1] 0.9864831321223062 Centerline is valid? [True, True] Translation: X:857.68, Y:-64.86, Z:3.08 [[ 9.99294185e-01 -3.59619473e-02 -1.08568407e-02 8.57676191e+02] [ 3.59699750e-02 9.99352722e-01 5.44987569e-04 -6.48557097e+01] [ 1.08302145e-02 -9.35123197e-04 9.99940914e-01 3.08154072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.410714057 meters Centerline goodness [0,1] 0.9843438914027149 Centerline is valid? [True, True] Translation: X:857.71, Y:-64.86, Z:3.08 [[ 9.99283578e-01 -3.62218959e-02 -1.09683248e-02 8.57707479e+02] [ 3.62301116e-02 9.99343322e-01 5.51201935e-04 -6.48636143e+01] [ 1.09411566e-02 -9.48190673e-04 9.99939694e-01 3.08151266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4407140569999 meters Centerline goodness [0,1] 0.9851652817919075 Centerline is valid? [True, True] Translation: X:857.74, Y:-64.87, Z:3.08 [[ 9.99281669e-01 -3.59812084e-02 -1.18952856e-02 8.57739279e+02] [ 3.59908639e-02 9.99351940e-01 5.98571115e-04 -6.48651787e+01] [ 1.18660394e-02 -1.02626275e-03 9.99929069e-01 3.08087744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4707140569999 meters Centerline goodness [0,1] 0.9801251213948551 Centerline is valid? [True, True] Translation: X:857.77, Y:-64.87, Z:3.08 [[ 9.99260405e-01 -3.57509091e-02 -1.41603785e-02 8.57770686e+02] [ 3.57645901e-02 9.99359987e-01 7.14014659e-04 -6.48712215e+01] [ 1.41257890e-02 -1.21992671e-03 9.99899482e-01 3.07829620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.500714057 meters Centerline goodness [0,1] 0.98276563064691 Centerline is valid? [True, True] Translation: X:857.80, Y:-64.87, Z:3.08 [[ 9.99267816e-01 -3.52090871e-02 -1.49717082e-02 8.57802780e+02] [ 3.52243375e-02 9.99379144e-01 7.56057565e-04 -6.48719306e+01] [ 1.49357929e-02 -1.28287249e-03 9.99887632e-01 3.07765541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.530714057 meters Centerline goodness [0,1] 0.9877261856414422 Centerline is valid? [True, True] Translation: X:857.84, Y:-64.86, Z:3.08 [[ 9.99291879e-01 -3.43763829e-02 -1.52972249e-02 8.57835323e+02] [ 3.43922235e-02 9.99408113e-01 7.73587412e-04 -6.48636388e+01] [ 1.52615775e-02 -1.29914520e-03 9.99882691e-01 3.07882438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5607140569999 meters Centerline goodness [0,1] 0.988328168472483 Centerline is valid? [True, True] Translation: X:857.87, Y:-64.86, Z:3.08 [[ 9.99372864e-01 -3.16729048e-02 -1.58336703e-02 8.57866366e+02] [ 3.16895472e-02 9.99497439e-01 8.01226501e-04 -6.48603106e+01] [ 1.58003357e-02 -1.30248587e-03 9.99874319e-01 3.08015340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5907140569999 meters Centerline goodness [0,1] 0.9870338159886151 Centerline is valid? [True, True] Translation: X:857.90, Y:-64.87, Z:3.08 [[ 9.99496338e-01 -2.80804276e-02 -1.47837808e-02 8.57895348e+02] [ 2.80945432e-02 9.99604991e-01 7.47947569e-04 -6.48683938e+01] [ 1.47569383e-02 -1.16291442e-03 9.99890434e-01 3.07988595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.620714057 meters Centerline goodness [0,1] 0.9881103074141049 Centerline is valid? [True, True] Translation: X:857.93, Y:-64.86, Z:3.08 [[ 9.99554999e-01 -2.60701800e-02 -1.44965205e-02 8.57927410e+02] [ 2.60835522e-02 9.99659497e-01 7.34102750e-04 -6.48622190e+01] [ 1.44724462e-02 -1.11189682e-03 9.99894650e-01 3.08168358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.650714057 meters Centerline goodness [0,1] 0.9881466736037279 Centerline is valid? [True, True] Translation: X:857.96, Y:-64.86, Z:3.08 [[ 9.99618674e-01 -2.39012425e-02 -1.38288331e-02 8.57958184e+02] [ 2.39132096e-02 9.99713793e-01 7.00645411e-04 -6.48607295e+01] [ 1.38081289e-02 -1.03107002e-03 9.99904132e-01 3.08252429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6807140569999 meters Centerline goodness [0,1] 0.9877563029013715 Centerline is valid? [True, True] Translation: X:857.99, Y:-64.86, Z:3.08 [[ 9.99713110e-01 -2.04311958e-02 -1.25005679e-02 8.57987831e+02] [ 2.04407032e-02 9.99790866e-01 6.33250235e-04 -6.48619527e+01] [ 1.24850155e-02 -8.88588960e-04 9.99921664e-01 3.08304750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7107140569999 meters Centerline goodness [0,1] 0.9892166836215667 Centerline is valid? [True, True] Translation: X:858.02, Y:-64.86, Z:3.08 [[ 9.99746965e-01 -1.90811022e-02 -1.19129375e-02 8.58018980e+02] [ 1.90896450e-02 9.99817594e-01 6.03789080e-04 -6.48598232e+01] [ 1.18992435e-02 -8.31050047e-04 9.99928856e-01 3.08365879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7407140569999 meters Centerline goodness [0,1] 0.9878520529351883 Centerline is valid? [True, True] Translation: X:858.05, Y:-64.87, Z:3.08 [[ 9.99762835e-01 -1.80862601e-02 -1.21309566e-02 8.58049092e+02] [ 1.80950488e-02 9.99836082e-01 6.15106773e-04 -6.48654171e+01] [ 1.21178432e-02 -8.34471143e-04 9.99926228e-01 3.08279024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.770714057 meters Centerline goodness [0,1] 0.9882004566106829 Centerline is valid? [True, True] Translation: X:858.08, Y:-64.87, Z:3.08 [[ 9.99759428e-01 -1.81378789e-02 -1.23330183e-02 8.58081571e+02] [ 1.81469757e-02 9.99835134e-01 6.26085542e-04 -6.48684227e+01] [ 1.23196292e-02 -8.49741908e-04 9.99923749e-01 3.08234522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8007140569999 meters Centerline goodness [0,1] 0.9891718739425658 Centerline is valid? [True, True] Translation: X:858.11, Y:-64.87, Z:3.08 [[ 9.99739097e-01 -1.87378771e-02 -1.30625119e-02 8.58113979e+02] [ 1.87481454e-02 9.99824018e-01 6.64069696e-04 -6.48672280e+01] [ 1.30477698e-02 -9.08794310e-04 9.99914461e-01 3.08230766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8307140569999 meters Centerline goodness [0,1] 0.9885345430744578 Centerline is valid? [True, True] Translation: X:858.14, Y:-64.88, Z:3.08 [[ 9.99666957e-01 -2.14622116e-02 -1.43300047e-02 8.58143183e+02] [ 2.14748596e-02 9.99769123e-01 7.29313042e-04 -6.48764068e+01] [ 1.43110436e-02 -1.03680499e-03 9.99897054e-01 3.08055219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8607140569999 meters Centerline goodness [0,1] 0.9888733726744448 Centerline is valid? [True, True] Translation: X:858.17, Y:-64.88, Z:3.08 [[ 9.99592438e-01 -2.44578878e-02 -1.47230930e-02 8.58173676e+02] [ 2.44715670e-02 9.99700245e-01 7.49631993e-04 -6.48813226e+01] [ 1.47003453e-02 -1.10962363e-03 9.99891328e-01 3.08001915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.890714057 meters Centerline goodness [0,1] 0.9880979165729199 Centerline is valid? [True, True] Translation: X:858.20, Y:-64.89, Z:3.08 [[ 9.99547140e-01 -2.60038916e-02 -1.51430884e-02 8.58204761e+02] [ 2.60185461e-02 9.99661163e-01 7.71497378e-04 -6.48854136e+01] [ 1.51178954e-02 -1.16514914e-03 9.99885039e-01 3.08003485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9207140569999 meters Centerline goodness [0,1] 0.988326499518272 Centerline is valid? [True, True] Translation: X:858.24, Y:-64.89, Z:3.08 [[ 9.99531498e-01 -2.69505326e-02 -1.45070195e-02 8.58235172e+02] [ 2.69640882e-02 9.99636129e-01 7.39600577e-04 -6.48904258e+01] [ 1.44818082e-02 -1.13042263e-03 9.99894494e-01 3.07972100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9507140569999 meters Centerline goodness [0,1] 0.9867994962669785 Centerline is valid? [True, True] Translation: X:858.27, Y:-64.89, Z:3.08 [[ 9.99503018e-01 -2.79382807e-02 -1.46003529e-02 8.58266808e+02] [ 2.79521266e-02 9.99608985e-01 7.45084561e-04 -6.48929864e+01] [ 1.45738276e-02 -1.15282518e-03 9.99893132e-01 3.07993883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9807140569999 meters Centerline goodness [0,1] 0.9870404060822496 Centerline is valid? [True, True] Translation: X:858.30, Y:-64.90, Z:3.08 [[ 9.99494127e-01 -2.83994695e-02 -1.43164289e-02 8.58298125e+02] [ 2.84128397e-02 9.99596006e-01 7.31339722e-04 -6.48979556e+01] [ 1.42898755e-02 -1.13774016e-03 9.99897247e-01 3.08044152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.010714057 meters Centerline goodness [0,1] 0.9852885111345339 Centerline is valid? [True, True] Translation: X:858.33, Y:-64.90, Z:3.08 [[ 9.99518055e-01 -2.77727684e-02 -1.38683569e-02 8.58329227e+02] [ 2.77852763e-02 9.99613663e-01 7.10007000e-04 -6.49025681e+01] [ 1.38432801e-02 -1.09500094e-03 9.99903578e-01 3.08078509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.040714057 meters Centerline goodness [0,1] 0.9859504686905747 Centerline is valid? [True, True] Translation: X:858.36, Y:-64.91, Z:3.08 [[ 9.99535174e-01 -2.72556043e-02 -1.36589954e-02 8.58359861e+02] [ 2.72677015e-02 9.99627922e-01 7.00172140e-04 -6.49058022e+01] [ 1.36348296e-02 -1.07229609e-03 9.99906466e-01 3.08086749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0707140569999 meters Centerline goodness [0,1] 0.9847813869843768 Centerline is valid? [True, True] Translation: X:858.39, Y:-64.91, Z:3.08 [[ 9.99550584e-01 -2.68177835e-02 -1.33953686e-02 8.58391593e+02] [ 2.68293906e-02 9.99639791e-01 6.87513624e-04 -6.49081609e+01] [ 1.33721059e-02 -1.04659422e-03 9.99910042e-01 3.08104379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1007140569999 meters Centerline goodness [0,1] 0.9860617777977609 Centerline is valid? [True, True] Translation: X:858.42, Y:-64.91, Z:3.08 [[ 9.99581158e-01 -2.56864633e-02 -1.33309415e-02 8.58422983e+02] [ 2.56978661e-02 9.99669521e-01 6.84742112e-04 -6.49098795e+01] [ 1.33089473e-02 -1.02703206e-03 9.99910905e-01 3.08172999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.130714057 meters Centerline goodness [0,1] 0.9869868076242525 Centerline is valid? [True, True] Translation: X:858.46, Y:-64.90, Z:3.08 [[ 9.99594564e-01 -2.53052043e-02 -1.30519702e-02 8.58455727e+02] [ 2.53161132e-02 9.99679270e-01 6.71243351e-04 -6.49036382e+01] [ 1.30307981e-02 -1.00139636e-03 9.99914594e-01 3.08324898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.160714057 meters Centerline goodness [0,1] 0.9877789466615932 Centerline is valid? [True, True] Translation: X:858.49, Y:-64.90, Z:3.08 [[ 9.99616665e-01 -2.47768826e-02 -1.23543499e-02 8.58488392e+02] [ 2.47866294e-02 9.99692562e-01 6.36417120e-04 -6.49049124e+01] [ 1.23347832e-02 -9.42395850e-04 9.99923480e-01 3.08370788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1907140569999 meters Centerline goodness [0,1] 0.9858378523730561 Centerline is valid? [True, True] Translation: X:858.52, Y:-64.91, Z:3.08 [[ 9.99624303e-01 -2.43501813e-02 -1.25825699e-02 8.58518997e+02] [ 2.43602676e-02 9.99703034e-01 6.48946705e-04 -6.49125873e+01] [ 1.25630314e-02 -9.55217668e-04 9.99920626e-01 3.08286572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2207140569999 meters Centerline goodness [0,1] 0.9884175962576467 Centerline is valid? [True, True] Translation: X:858.55, Y:-64.91, Z:3.08 [[ 9.99619996e-01 -2.39483759e-02 -1.36505733e-02 8.58552019e+02] [ 2.39602257e-02 9.99712664e-01 7.05177238e-04 -6.49074136e+01] [ 1.36297632e-02 -1.03198009e-03 9.99906578e-01 3.08325081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.250714057 meters Centerline goodness [0,1] 0.9869488060740841 Centerline is valid? [True, True] Translation: X:858.58, Y:-64.91, Z:3.08 [[ 9.99629790e-01 -2.36205660e-02 -1.35037711e-02 8.58583307e+02] [ 2.36321435e-02 9.99720478e-01 6.98410815e-04 -6.49117750e+01] [ 1.34834996e-02 -1.01727531e-03 9.99908576e-01 3.08283359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.280714057 meters Centerline goodness [0,1] 0.9871195432270827 Centerline is valid? [True, True] Translation: X:858.62, Y:-64.91, Z:3.08 [[ 9.99636782e-01 -2.33099169e-02 -1.35260031e-02 8.58615807e+02] [ 2.33215167e-02 9.99727771e-01 7.00471248e-04 -6.49143518e+01] [ 1.35059930e-02 -1.01566373e-03 9.99908274e-01 3.08310664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3107140569999 meters Centerline goodness [0,1] 0.9866247755834829 Centerline is valid? [True, True] Translation: X:858.65, Y:-64.92, Z:3.08 [[ 9.99650001e-01 -2.31396540e-02 -1.28230731e-02 8.58647514e+02] [ 2.31500769e-02 9.99731780e-01 6.64968092e-04 -6.49156263e+01] [ 1.28042465e-02 -9.61590481e-04 9.99917560e-01 3.08346264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3407140569999 meters Centerline goodness [0,1] 0.9868037165043314 Centerline is valid? [True, True] Translation: X:858.68, Y:-64.92, Z:3.08 [[ 9.99656714e-01 -2.30958008e-02 -1.23708863e-02 8.58679638e+02] [ 2.31055089e-02 9.99732826e-01 6.42386625e-04 -6.49183132e+01] [ 1.23527447e-02 -9.28001725e-04 9.99923271e-01 3.08370483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.370714057 meters Centerline goodness [0,1] 0.9843210264232202 Centerline is valid? [True, True] Translation: X:858.71, Y:-64.93, Z:3.08 [[ 9.99650320e-01 -2.34951325e-02 -1.21332420e-02 8.58710767e+02] [ 2.35045087e-02 9.99723532e-01 6.30727125e-04 -6.49259153e+01] [ 1.21150685e-02 -9.15692464e-04 9.99926191e-01 3.08290788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.400714057 meters Centerline goodness [0,1] 0.9857468898236821 Centerline is valid? [True, True] Translation: X:858.74, Y:-64.93, Z:3.08 [[ 9.99643086e-01 -2.36726193e-02 -1.23817821e-02 8.58742446e+02] [ 2.36824051e-02 9.99719325e-01 6.44290753e-04 -6.49268584e+01] [ 1.23630548e-02 -9.37291174e-04 9.99923135e-01 3.08308504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4307140569999 meters Centerline goodness [0,1] 0.9872068230277186 Centerline is valid? [True, True] Translation: X:858.77, Y:-64.92, Z:3.08 [[ 9.99633268e-01 -2.40706794e-02 -1.24069653e-02 8.58774527e+02] [ 2.40805438e-02 9.99709813e-01 6.46274231e-04 -6.49202606e+01] [ 1.23878087e-02 -9.44803693e-04 9.99922822e-01 3.08371108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4607140569999 meters Centerline goodness [0,1] 0.9863047584780067 Centerline is valid? [True, True] Translation: X:858.81, Y:-64.92, Z:3.08 [[ 9.99644153e-01 -2.37062487e-02 -1.22303148e-02 8.58805913e+02] [ 2.37158231e-02 9.99718536e-01 6.38389172e-04 -6.49246916e+01] [ 1.22117386e-02 -9.28213986e-04 9.99925003e-01 3.08338547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4907140569999 meters Centerline goodness [0,1] 0.9855746545331985 Centerline is valid? [True, True] Translation: X:858.84, Y:-64.93, Z:3.08 [[ 9.99662694e-01 -2.30696541e-02 -1.19285275e-02 8.58838625e+02] [ 2.30787304e-02 9.99733456e-01 6.23783199e-04 -6.49251337e+01] [ 1.19109575e-02 -8.98868063e-04 9.99928658e-01 3.08341741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.520714057 meters Centerline goodness [0,1] 0.9862202073701692 Centerline is valid? [True, True] Translation: X:858.87, Y:-64.93, Z:3.08 [[ 9.99681914e-01 -2.23694781e-02 -1.16480587e-02 8.58869658e+02] [ 2.23780918e-02 9.99749393e-01 6.09668361e-04 -6.49261521e+01] [ 1.16315016e-02 -8.70135760e-04 9.99931973e-01 3.08352683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5507140569999 meters Centerline goodness [0,1] 0.9863772488797821 Centerline is valid? [True, True] Translation: X:858.90, Y:-64.93, Z:3.08 [[ 9.99699459e-01 -2.13450108e-02 -1.20574749e-02 8.58900890e+02] [ 2.13541739e-02 9.99771774e-01 6.31702830e-04 -6.49281385e+01] [ 1.20412394e-02 -8.88990392e-04 9.99927106e-01 3.08319748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5807140569999 meters Centerline goodness [0,1] 0.9847201312271083 Centerline is valid? [True, True] Translation: X:858.93, Y:-64.93, Z:3.08 [[ 9.99707379e-01 -2.08969561e-02 -1.21849998e-02 8.58931958e+02] [ 2.09062888e-02 9.99781235e-01 6.39034068e-04 -6.49315507e+01] [ 1.21689802e-02 -8.93590197e-04 9.99925556e-01 3.08253130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6107140569999 meters Centerline goodness [0,1] 0.985909804801436 Centerline is valid? [True, True] Translation: X:858.96, Y:-64.93, Z:3.08 [[ 9.99711779e-01 -2.07161249e-02 -1.21326215e-02 8.58963391e+02] [ 2.07253700e-02 9.99785004e-01 6.36757864e-04 -6.49327024e+01] [ 1.21168218e-02 -8.88027406e-04 9.99926194e-01 3.08264720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.640714057 meters Centerline goodness [0,1] 0.9854287063479571 Centerline is valid? [True, True] Translation: X:859.00, Y:-64.94, Z:3.08 [[ 9.99694134e-01 -2.10846880e-02 -1.29257099e-02 8.58995034e+02] [ 2.10952179e-02 9.99777241e-01 6.78838161e-04 -6.49356734e+01] [ 1.29085175e-02 -9.51301195e-04 9.99916229e-01 3.08172762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6707140569999 meters Centerline goodness [0,1] 0.985525162392394 Centerline is valid? [True, True] Translation: X:859.03, Y:-64.94, Z:3.08 [[ 9.99681158e-01 -2.13925349e-02 -1.34142557e-02 8.59026731e+02] [ 2.14039099e-02 9.99770662e-01 7.04964550e-04 -6.49384365e+01] [ 1.33960983e-02 -9.91857297e-04 9.99909776e-01 3.08082359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7007140569999 meters Centerline goodness [0,1] 0.9863038304369303 Centerline is valid? [True, True] Translation: X:859.06, Y:-64.94, Z:3.08 [[ 9.99656434e-01 -2.24412005e-02 -1.35427459e-02 8.59057909e+02] [ 2.24528965e-02 9.99747648e-01 7.12187051e-04 -6.49408061e+01] [ 1.35233460e-02 -1.01601624e-03 9.99908039e-01 3.08023996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7307140569999 meters Centerline goodness [0,1] 0.9851697758690109 Centerline is valid? [True, True] Translation: X:859.09, Y:-64.95, Z:3.08 [[ 9.99642727e-01 -2.29219994e-02 -1.37477397e-02 8.59088474e+02] [ 2.29341039e-02 9.99736717e-01 7.23444412e-04 -6.49453622e+01] [ 1.37275374e-02 -1.03847804e-03 9.99905234e-01 3.08004217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.760714057 meters Centerline goodness [0,1] 0.9846634032424665 Centerline is valid? [True, True] Translation: X:859.12, Y:-64.95, Z:3.08 [[ 9.99642059e-01 -2.32958885e-02 -1.31550661e-02 8.59119564e+02] [ 2.33070121e-02 9.99728115e-01 6.92879220e-04 -6.49491261e+01] [ 1.31353482e-02 -9.99236494e-04 9.99913228e-01 3.08031877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.790714057 meters Centerline goodness [0,1] 0.9852561077023352 Centerline is valid? [True, True] Translation: X:859.15, Y:-64.95, Z:3.08 [[ 9.99644278e-01 -2.34405025e-02 -1.27224029e-02 8.59150647e+02] [ 2.34509239e-02 9.99724764e-01 6.70556880e-04 -6.49508609e+01] [ 1.27031831e-02 -9.68670452e-04 9.99918842e-01 3.08108299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8207140569999 meters Centerline goodness [0,1] 0.9867837442305527 Centerline is valid? [True, True] Translation: X:859.18, Y:-64.94, Z:3.08 [[ 9.99669783e-01 -2.26259396e-02 -1.21816172e-02 8.59182166e+02] [ 2.26354389e-02 9.99743579e-01 6.42476651e-04 -6.49433812e+01] [ 1.21639570e-02 -9.18000747e-04 9.99925595e-01 3.08262989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8507140569999 meters Centerline goodness [0,1] 0.9871991001124859 Centerline is valid? [True, True] Translation: X:859.21, Y:-64.94, Z:3.08 [[ 9.99682721e-01 -2.20316195e-02 -1.22092051e-02 8.59214037e+02] [ 2.20411273e-02 9.99756857e-01 6.44719049e-04 -6.49425305e+01] [ 1.21920323e-02 -9.13619136e-04 9.99925257e-01 3.08311134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.880714057 meters Centerline goodness [0,1] 0.9872036637931034 Centerline is valid? [True, True] Translation: X:859.24, Y:-64.95, Z:3.08 [[ 9.99709195e-01 -2.08995900e-02 -1.20304879e-02 8.59244249e+02] [ 2.09087442e-02 9.99781186e-01 6.35633848e-04 -6.49477788e+01] [ 1.20145710e-02 -8.86991396e-04 9.99927429e-01 3.08268997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.910714057 meters Centerline goodness [0,1] 0.987945563516741 Centerline is valid? [True, True] Translation: X:859.28, Y:-64.94, Z:3.08 [[ 9.99739427e-01 -1.88988737e-02 -1.28027902e-02 8.59276107e+02] [ 1.89090833e-02 9.99820978e-01 6.76859345e-04 -6.49417546e+01] [ 1.27877063e-02 -9.18772000e-04 9.99917812e-01 3.08320850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9407140569999 meters Centerline goodness [0,1] 0.987436562535243 Centerline is valid? [True, True] Translation: X:859.31, Y:-64.94, Z:3.08 [[ 9.99755952e-01 -1.77625610e-02 -1.31350033e-02 8.59306679e+02] [ 1.77732135e-02 9.99841803e-01 6.94708024e-04 -6.49443915e+01] [ 1.31205856e-02 -9.27989700e-04 9.99913491e-01 3.08306232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9707140569999 meters Centerline goodness [0,1] 0.9882841599133163 Centerline is valid? [True, True] Translation: X:859.34, Y:-64.94, Z:3.08 [[ 9.99804287e-01 -1.48806129e-02 -1.30366941e-02 8.59338029e+02] [ 1.48908647e-02 9.99888887e-01 6.89659807e-04 -6.49412518e+01] [ 1.30249830e-02 -8.83652479e-04 9.99914781e-01 3.08390378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.000714057 meters Centerline goodness [0,1] 0.9882841599133163 Centerline is valid? [True, True] Translation: X:859.37, Y:-64.94, Z:3.08 [[ 9.99804287e-01 -1.48806128e-02 -1.30366927e-02 8.59368058e+02] [ 1.48908649e-02 9.99888887e-01 6.89685672e-04 -6.49428404e+01] [ 1.30249812e-02 -8.83678323e-04 9.99914781e-01 3.08398119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.030714057 meters Centerline goodness [0,1] 0.9872303943687393 Centerline is valid? [True, True] Translation: X:859.40, Y:-64.94, Z:3.08 [[ 9.99820104e-01 -1.36717664e-02 -1.31469471e-02 8.59397596e+02] [ 1.36820862e-02 9.99906154e-01 6.95331086e-04 -6.49444352e+01] [ 1.31362069e-02 -8.75083662e-04 9.99913333e-01 3.08421959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0607140569999 meters Centerline goodness [0,1] 0.9879531637018689 Centerline is valid? [True, True] Translation: X:859.43, Y:-64.94, Z:3.08 [[ 9.99847308e-01 -1.19187495e-02 -1.27790591e-02 8.59428026e+02] [ 1.19283497e-02 9.99928627e-01 6.75284614e-04 -6.49432129e+01] [ 1.27700984e-02 -8.27614589e-04 9.99918116e-01 3.08439675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0907140569999 meters Centerline goodness [0,1] 0.9887744920174165 Centerline is valid? [True, True] Translation: X:859.46, Y:-64.94, Z:3.08 [[ 9.99880917e-01 -8.33837266e-03 -1.29854903e-02 8.59457948e+02] [ 8.34797815e-03 9.99964920e-01 6.85680442e-04 -6.49382719e+01] [ 1.29793173e-02 -7.94001378e-04 9.99915450e-01 3.08473922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.120714057 meters Centerline goodness [0,1] 0.9888211151674565 Centerline is valid? [True, True] Translation: X:859.49, Y:-64.94, Z:3.08 [[ 9.99888423e-01 -6.63241482e-03 -1.33848078e-02 8.59487315e+02] [ 6.64243281e-03 9.99977691e-01 7.04142466e-04 -6.49376288e+01] [ 1.33798390e-02 -7.92971587e-04 9.99910172e-01 3.08442422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.150714057 meters Centerline goodness [0,1] 0.9883552333484368 Centerline is valid? [True, True] Translation: X:859.52, Y:-64.93, Z:3.09 [[ 9.99902974e-01 -2.95277271e-03 -1.36133761e-02 8.59517131e+02] [ 2.96278221e-03 9.99995355e-01 7.15160896e-04 -6.49347764e+01] [ 1.36112011e-02 -7.55424975e-04 9.99907078e-01 3.08516320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1807140569999 meters Centerline goodness [0,1] 0.9890742587723275 Centerline is valid? [True, True] Translation: X:859.55, Y:-64.94, Z:3.09 [[ 9.99908937e-01 -1.36879185e-03 -1.34254831e-02 8.59545538e+02] [ 1.37837305e-03 9.99998802e-01 7.04430945e-04 -6.49352666e+01] [ 1.34245028e-02 -7.22872121e-04 9.99909626e-01 3.08529057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2107140569999 meters Centerline goodness [0,1] 0.9893665158371041 Centerline is valid? [True, True] Translation: X:859.57, Y:-64.93, Z:3.09 [[ 9.99915227e-01 -2.86033594e-04 -1.30175866e-02 8.59574367e+02] [ 2.94914045e-04 9.99999725e-01 6.80274215e-04 -6.49341315e+01] [ 1.30173885e-02 -6.84055615e-04 9.99915036e-01 3.08608389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2407140569999 meters Centerline goodness [0,1] 0.9900308838223272 Centerline is valid? [True, True] Translation: X:859.60, Y:-64.93, Z:3.09 [[ 9.99925661e-01 5.37349995e-04 -1.21812808e-02 8.59602919e+02] [-5.29671612e-04 9.99999659e-01 6.33560160e-04 -6.49330953e+01] [ 1.21816170e-02 -6.27060984e-04 9.99925605e-01 3.08707483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.270714057 meters Centerline goodness [0,1] 0.9896178835930756 Centerline is valid? [True, True] Translation: X:859.63, Y:-64.93, Z:3.09 [[ 9.99935936e-01 6.26270163e-04 -1.13018825e-02 8.59631464e+02] [-6.19679941e-04 9.99999636e-01 5.86600745e-04 -6.49342860e+01] [ 1.13022457e-02 -5.79559615e-04 9.99935960e-01 3.08817801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3007140569999 meters Centerline goodness [0,1] 0.9882454388672053 Centerline is valid? [True, True] Translation: X:859.66, Y:-64.94, Z:3.09 [[ 9.99938683e-01 3.99381376e-04 -1.10666255e-02 8.59658887e+02] [-3.93061772e-04 9.99999758e-01 5.73219828e-04 -6.49399437e+01] [ 1.10668518e-02 -5.68834813e-04 9.99938599e-01 3.08776802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3307140569999 meters Centerline goodness [0,1] 0.9890814794595333 Centerline is valid? [True, True] Translation: X:859.69, Y:-64.94, Z:3.09 [[ 9.99941457e-01 2.73935563e-04 -1.08170396e-02 8.59686859e+02] [-2.67903164e-04 9.99999808e-01 5.59120598e-04 -6.49368664e+01] [ 1.08171906e-02 -5.56189947e-04 9.99941338e-01 3.08838326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3607140569999 meters Centerline goodness [0,1] 0.9888891413510259 Centerline is valid? [True, True] Translation: X:859.72, Y:-64.94, Z:3.09 [[ 9.99939621e-01 7.26449194e-05 -1.09885537e-02 8.59715682e+02] [-6.64171529e-05 9.99999837e-01 5.67114194e-04 -6.49391520e+01] [ 1.09885931e-02 -5.66350124e-04 9.99939463e-01 3.08786540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.390714057 meters Centerline goodness [0,1] 0.987460815047022 Centerline is valid? [True, True] Translation: X:859.74, Y:-64.95, Z:3.09 [[ 9.99930912e-01 -2.01198203e-04 -1.17528675e-02 8.59742870e+02] [ 2.08329662e-04 9.99999795e-01 6.05563537e-04 -6.49467734e+01] [ 1.17527433e-02 -6.07970171e-04 9.99930749e-01 3.08638001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4207140569999 meters Centerline goodness [0,1] 0.9891783749374801 Centerline is valid? [True, True] Translation: X:859.77, Y:-64.94, Z:3.09 [[ 9.99907279e-01 -9.59947541e-04 -1.35835500e-02 8.59772193e+02] [ 9.69529414e-04 9.99999286e-01 6.98835211e-04 -6.49400683e+01] [ 1.35828694e-02 -7.11940065e-04 9.99907495e-01 3.08647734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4507140569999 meters Centerline goodness [0,1] 0.9878943423652593 Centerline is valid? [True, True] Translation: X:859.80, Y:-64.94, Z:3.09 [[ 9.99895556e-01 -1.57859760e-03 -1.43661429e-02 8.59800411e+02] [ 1.58936112e-03 9.99998465e-01 7.37842097e-04 -6.49417296e+01] [ 1.43649561e-02 -7.60598022e-04 9.99896529e-01 3.08607327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4807140569999 meters Centerline goodness [0,1] 0.8556840829241232 Centerline is valid? [True, False] Translation: X:859.85, Y:-64.94, Z:3.09 [[ 9.99877118e-01 -3.93623161e-03 -1.51741447e-02 8.59848955e+02] [ 3.92183804e-03 9.99991831e-01 -9.78199250e-04 -6.49421144e+01] [ 1.51778711e-02 9.18568509e-04 9.99884388e-01 3.08773891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.510714057 meters Centerline goodness [0,1] 0.9889735136978516 Centerline is valid? [False, True] Translation: X:859.79, Y:-64.94, Z:3.08 [[ 9.99889464e-01 -4.01118118e-03 -1.43167834e-02 8.59791879e+02] [ 4.05282969e-03 9.99987636e-01 2.88124206e-03 -6.49421878e+01] [ 1.43050492e-02 -2.93894707e-03 9.99893358e-01 3.08463147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.540714057 meters Centerline goodness [0,1] 0.9888457257093528 Centerline is valid? [True, True] Translation: X:859.82, Y:-64.94, Z:3.09 [[ 9.99885931e-01 -4.11591091e-03 -1.45321602e-02 8.59819434e+02] [ 4.12685238e-03 9.99991223e-01 7.23007097e-04 -6.49430589e+01] [ 1.45290568e-02 -7.82896705e-04 9.99894141e-01 3.08507084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5707140569999 meters Centerline goodness [0,1] 0.9885979825456194 Centerline is valid? [True, True] Translation: X:859.85, Y:-64.94, Z:3.09 [[ 9.99888745e-01 -3.48875570e-03 -1.45026501e-02 8.59847650e+02] [ 3.49953416e-03 9.99993619e-01 7.17894645e-04 -6.49442627e+01] [ 1.45000530e-02 -7.68567295e-04 9.99894573e-01 3.08568584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6007140569999 meters Centerline goodness [0,1] 0.9882963130003383 Centerline is valid? [True, True] Translation: X:859.88, Y:-64.95, Z:3.09 [[ 9.99902901e-01 -2.60102078e-03 -1.36902814e-02 8.59875561e+02] [ 2.61049667e-03 9.99996365e-01 6.74337140e-04 -6.49501224e+01] [ 1.36884777e-02 -7.10010096e-04 9.99906056e-01 3.08529592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.630714057 meters Centerline goodness [0,1] 0.988685320393633 Centerline is valid? [True, True] Translation: X:859.91, Y:-64.94, Z:3.09 [[ 9.99921547e-01 -2.61840040e-04 -1.25232408e-02 8.59905891e+02] [ 2.69579902e-04 9.99999774e-01 6.16355742e-04 -6.49432549e+01] [ 1.25230766e-02 -6.19683401e-04 9.99921391e-01 3.08855800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.660714057 meters Centerline goodness [0,1] 0.9889497758253702 Centerline is valid? [True, True] Translation: X:859.93, Y:-64.94, Z:3.09 [[ 9.99927642e-01 9.14524006e-04 -1.19947523e-02 8.59934113e+02] [-9.07540124e-04 9.99999416e-01 5.87674927e-04 -6.49449503e+01] [ 1.19952828e-02 -5.76746685e-04 9.99927888e-01 3.08861848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6907140569999 meters Centerline goodness [0,1] 0.990165796048149 Centerline is valid? [True, True] Translation: X:859.96, Y:-64.94, Z:3.09 [[ 9.99924800e-01 1.92385828e-03 -1.21117123e-02 8.59962983e+02] [-1.91684877e-03 9.99997989e-01 5.90319964e-04 -6.49433741e+01] [ 1.21128236e-02 -5.67059251e-04 9.99926476e-01 3.08932506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7207140569999 meters Centerline goodness [0,1] 0.9900763531730747 Centerline is valid? [True, True] Translation: X:859.99, Y:-64.95, Z:3.09 [[ 9.99908486e-01 4.35648803e-03 -1.28078095e-02 8.59990947e+02] [-4.34886656e-03 9.99990350e-01 6.22854651e-04 -6.49459463e+01] [ 1.28103994e-02 -5.67098196e-04 9.99917783e-01 3.08891659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.750714057 meters Centerline goodness [0,1] 0.9885873757771021 Centerline is valid? [True, True] Translation: X:860.02, Y:-64.95, Z:3.09 [[ 9.99905385e-01 5.06365706e-03 -1.27898674e-02 8.60018534e+02] [-5.05612909e-03 9.99987025e-01 6.20854990e-04 -6.49520965e+01] [ 1.27928453e-02 -5.56129027e-04 9.99918014e-01 3.08720277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.780714057 meters Centerline goodness [0,1] 0.9885229540918163 Centerline is valid? [True, True] Translation: X:860.05, Y:-64.95, Z:3.09 [[ 9.99905702e-01 6.54132007e-03 -1.20746922e-02 8.60046182e+02] [-6.53473018e-03 9.99978477e-01 5.85134389e-04 -6.49538263e+01] [ 1.20782599e-02 -5.06174357e-04 9.99926927e-01 3.08731177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8107140569999 meters Centerline goodness [0,1] 0.9897226938313526 Centerline is valid? [True, True] Translation: X:860.08, Y:-64.95, Z:3.09 [[ 9.99902621e-01 6.81736768e-03 -1.21766772e-02 8.60075292e+02] [-6.81069733e-03 9.99976633e-01 5.89181584e-04 -6.49485635e+01] [ 1.21804094e-02 -5.06192547e-04 9.99925688e-01 3.08964810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8407140569999 meters Centerline goodness [0,1] 0.9897922148625352 Centerline is valid? [True, True] Translation: X:860.10, Y:-64.95, Z:3.09 [[ 9.99902652e-01 6.57398030e-03 -1.23072534e-02 8.60103499e+02] [-6.56716105e-03 9.99978259e-01 5.94415437e-04 -6.49509986e+01] [ 1.23108935e-02 -5.13533857e-04 9.99924086e-01 3.08957316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.870714057 meters Centerline goodness [0,1] 0.989630971247453 Centerline is valid? [True, True] Translation: X:860.13, Y:-64.96, Z:3.09 [[ 9.99893219e-01 5.91845855e-03 -1.33612146e-02 8.60131277e+02] [-5.91038486e-03 9.99982326e-01 6.43669812e-04 -6.49558897e+01] [ 1.33647880e-02 -5.64631159e-04 9.99910528e-01 3.08816826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.900714057 meters Centerline goodness [0,1] 0.9910643592353806 Centerline is valid? [True, True] Translation: X:860.16, Y:-64.96, Z:3.09 [[ 9.99892659e-01 5.50110969e-03 -1.35796716e-02 8.60159793e+02] [-5.49274537e-03 9.99984701e-01 6.53163909e-04 -6.49587044e+01] [ 1.35830570e-02 -5.78504119e-04 9.99907579e-01 3.08774680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9307140569999 meters Centerline goodness [0,1] 0.9900252753204549 Centerline is valid? [True, True] Translation: X:860.19, Y:-64.96, Z:3.09 [[ 9.99884016e-01 4.57116274e-03 -1.45278569e-02 8.60188500e+02] [-4.56150641e-03 9.99989353e-01 6.97743898e-04 -6.49611184e+01] [ 1.45308917e-02 -6.31394059e-04 9.99894222e-01 3.08720499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9607140569999 meters Centerline goodness [0,1] 0.9896783539690803 Centerline is valid? [True, True] Translation: X:860.22, Y:-64.96, Z:3.09 [[ 9.99880635e-01 3.76481142e-03 -1.49847474e-02 8.60217126e+02] [-3.75446356e-03 9.99992694e-01 7.18630692e-04 -6.49628346e+01] [ 1.49873435e-02 -6.62285224e-04 9.99887464e-01 3.08727410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9907140569999 meters Centerline goodness [0,1] 0.9900651760659003 Centerline is valid? [True, True] Translation: X:860.25, Y:-64.96, Z:3.09 [[ 9.99884871e-01 2.67569778e-03 -1.49360356e-02 8.60245629e+02] [-2.66531168e-03 9.99996192e-01 7.15234027e-04 -6.49643509e+01] [ 1.49378925e-02 -6.75342493e-04 9.99888195e-01 3.08747067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.020714057 meters Centerline goodness [0,1] 0.9893864462660614 Centerline is valid? [True, True] Translation: X:860.27, Y:-64.97, Z:3.09 [[ 9.99890474e-01 -1.21238882e-04 -1.47995031e-02 8.60274575e+02] [ 1.31729358e-04 9.99999741e-01 7.07866974e-04 -6.49669829e+01] [ 1.47994134e-02 -7.09738973e-04 9.99890231e-01 3.08808808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0507140569999 meters Centerline goodness [0,1] 0.9892151123519611 Centerline is valid? [True, True] Translation: X:860.30, Y:-64.97, Z:3.09 [[ 9.99884285e-01 -2.11003548e-03 -1.50653321e-02 8.60304026e+02] [ 2.12112280e-03 9.99997491e-01 7.20008972e-04 -6.49700519e+01] [ 1.50637750e-02 -7.51881075e-04 9.99886252e-01 3.08814849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0807140569999 meters Centerline goodness [0,1] 0.9893125295934703 Centerline is valid? [True, True] Translation: X:860.33, Y:-64.98, Z:3.09 [[ 9.99870804e-01 -6.53367310e-03 -1.46862332e-02 8.60333714e+02] [ 6.54468100e-03 9.99978337e-01 7.01602291e-04 -6.49753024e+01] [ 1.46813310e-02 -7.97628359e-04 9.99891905e-01 3.08862069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1107140569999 meters Centerline goodness [0,1] 0.9892671927846675 Centerline is valid? [True, True] Translation: X:860.36, Y:-64.98, Z:3.09 [[ 9.99851981e-01 -9.35088349e-03 -1.44421708e-02 8.60362053e+02] [ 9.36181091e-03 9.99955940e-01 6.89210644e-04 -6.49802998e+01] [ 1.44350897e-02 -8.24313500e-04 9.99895469e-01 3.08851291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.140714057 meters Centerline goodness [0,1] 0.9890055310983181 Centerline is valid? [True, True] Translation: X:860.39, Y:-64.98, Z:3.09 [[ 9.99818466e-01 -1.24481819e-02 -1.44249250e-02 8.60392554e+02] [ 1.24594035e-02 9.99922142e-01 6.88316763e-04 -6.49813311e+01] [ 1.44152336e-02 -8.67917771e-04 9.99895718e-01 3.08929680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1707140569999 meters Centerline goodness [0,1] 0.9880751110209418 Centerline is valid? [True, True] Translation: X:860.42, Y:-64.99, Z:3.09 [[ 9.99725970e-01 -1.87153282e-02 -1.40613375e-02 8.60421080e+02] [ 1.87266022e-02 9.99824417e-01 6.70522344e-04 -6.49900474e+01] [ 1.40463196e-02 -9.33659676e-04 9.99900910e-01 3.08879582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2007140569999 meters Centerline goodness [0,1] 0.9876144318793754 Centerline is valid? [True, True] Translation: X:860.45, Y:-65.00, Z:3.09 [[ 9.99594715e-01 -2.45509096e-02 -1.44103934e-02 8.60450797e+02] [ 2.45633608e-02 9.99698039e-01 6.87659441e-04 -6.49982150e+01] [ 1.43891594e-02 -1.04134844e-03 9.99895928e-01 3.08889448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2307140569999 meters Centerline goodness [0,1] 0.9881778693296315 Centerline is valid? [True, True] Translation: X:860.48, Y:-65.00, Z:3.09 [[ 9.99542044e-01 -2.68156157e-02 -1.40223372e-02 8.60480920e+02] [ 2.68276344e-02 9.99639850e-01 6.69683099e-04 -6.50041471e+01] [ 1.39993291e-02 -1.04556255e-03 9.99901458e-01 3.08868951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.260714057 meters Centerline goodness [0,1] 0.9875548392873131 Centerline is valid? [True, True] Translation: X:860.51, Y:-65.01, Z:3.09 [[ 9.99497661e-01 -2.84039694e-02 -1.40584358e-02 8.60511973e+02] [ 2.84162133e-02 9.99595952e-01 6.71907588e-04 -6.50074606e+01] [ 1.40336707e-02 -1.07105757e-03 9.99900950e-01 3.08879984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.290714057 meters Centerline goodness [0,1] 0.9872264002693905 Centerline is valid? [True, True] Translation: X:860.54, Y:-65.01, Z:3.09 [[ 9.99467280e-01 -2.97202942e-02 -1.34855463e-02 8.60543770e+02] [ 2.97316963e-02 9.99557707e-01 6.45771833e-04 -6.50077032e+01] [ 1.34603892e-02 -1.04637598e-03 9.99908857e-01 3.08943364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3207140569999 meters Centerline goodness [0,1] 0.9868488969680648 Centerline is valid? [True, True] Translation: X:860.58, Y:-65.01, Z:3.09 [[ 9.99438855e-01 -3.06746996e-02 -1.34550139e-02 8.60575008e+02] [ 3.06861466e-02 9.99528861e-01 6.45090224e-04 -6.50121984e+01] [ 1.34288868e-02 -1.05761076e-03 9.99909269e-01 3.09002678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3507140569999 meters Centerline goodness [0,1] 0.9870138593466627 Centerline is valid? [True, True] Translation: X:860.61, Y:-65.01, Z:3.09 [[ 9.99459767e-01 -3.00349347e-02 -1.33445687e-02 8.60607155e+02] [ 3.00461501e-02 9.99548307e-01 6.40715427e-04 -6.50133877e+01] [ 1.33192972e-02 -1.04132221e-03 9.99910752e-01 3.09028711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.380714057 meters Centerline goodness [0,1] 0.987332139659803 Centerline is valid? [True, True] Translation: X:860.64, Y:-65.01, Z:3.09 [[ 9.99489459e-01 -2.91731455e-02 -1.30287436e-02 8.60639682e+02] [ 2.91837756e-02 9.99573867e-01 6.26478882e-04 -6.50127533e+01] [ 1.30049153e-02 -1.00638697e-03 9.99914926e-01 3.09096613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.410714057 meters Centerline goodness [0,1] 0.9871547704447633 Centerline is valid? [True, True] Translation: X:860.67, Y:-65.01, Z:3.09 [[ 9.99522447e-01 -2.82779518e-02 -1.24593631e-02 8.60672127e+02] [ 2.82876148e-02 9.99599645e-01 5.99983690e-04 -6.50132861e+01] [ 1.24374086e-02 -9.52142830e-04 9.99922199e-01 3.09140042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4407140569999 meters Centerline goodness [0,1] 0.9879298308825185 Centerline is valid? [True, True] Translation: X:860.70, Y:-65.01, Z:3.09 [[ 9.99575582e-01 -2.63549053e-02 -1.24127047e-02 8.60704148e+02] [ 2.63643573e-02 9.99652221e-01 5.98432479e-04 -6.50099402e+01] [ 1.23926161e-02 -9.25431474e-04 9.99922780e-01 3.09220609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4707140569999 meters Centerline goodness [0,1] 0.9874932395889671 Centerline is valid? [True, True] Translation: X:860.74, Y:-65.01, Z:3.09 [[ 9.99596377e-01 -2.53364184e-02 -1.28510582e-02 8.60735454e+02] [ 2.53464864e-02 9.99678533e-01 6.21145190e-04 -6.50131276e+01] [ 1.28311894e-02 -9.46623653e-04 9.99917229e-01 3.09173346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.500714057 meters Centerline goodness [0,1] 0.9881457533508453 Centerline is valid? [True, True] Translation: X:860.77, Y:-65.01, Z:3.09 [[ 9.99629006e-01 -2.36977141e-02 -1.34263956e-02 8.60767370e+02] [ 2.37085679e-02 9.99718701e-01 6.49783993e-04 -6.50127236e+01] [ 1.34072204e-02 -9.67863539e-04 9.99909651e-01 3.09113244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.530714057 meters Centerline goodness [0,1] 0.9873505886582188 Centerline is valid? [True, True] Translation: X:860.80, Y:-65.02, Z:3.09 [[ 9.99652569e-01 -2.30554393e-02 -1.27744678e-02 8.60798368e+02] [ 2.30652212e-02 9.99733771e-01 6.18912359e-04 -6.50153464e+01] [ 1.27567976e-02 -9.13343256e-04 9.99918212e-01 3.09083939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5607140569999 meters Centerline goodness [0,1] 0.9864788985468185 Centerline is valid? [True, True] Translation: X:860.83, Y:-65.02, Z:3.09 [[ 9.99668904e-01 -2.21943203e-02 -1.30190094e-02 8.60828928e+02] [ 2.22044112e-02 9.99753253e-01 6.31036592e-04 -6.50189235e+01] [ 1.30017916e-02 -9.19907096e-04 9.99915050e-01 3.09050276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5907140569999 meters Centerline goodness [0,1] 0.9879719269740257 Centerline is valid? [True, True] Translation: X:860.86, Y:-65.02, Z:3.09 [[ 9.99700358e-01 -1.97233377e-02 -1.44977456e-02 8.60860217e+02] [ 1.97355963e-02 9.99804987e-01 7.02956444e-04 -6.50159135e+01] [ 1.44810537e-02 -9.88867463e-04 9.99894655e-01 3.09004742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.620714057 meters Centerline goodness [0,1] 0.9883175462336491 Centerline is valid? [True, True] Translation: X:860.89, Y:-65.01, Z:3.09 [[ 9.99721346e-01 -1.79789640e-02 -1.52966719e-02 8.60891827e+02] [ 1.79924159e-02 9.99837848e-01 7.42224826e-04 -6.50131499e+01] [ 1.52808471e-02 -1.01724208e-03 9.99882724e-01 3.09038620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.650714057 meters Centerline goodness [0,1] 0.9885399076888438 Centerline is valid? [True, True] Translation: X:860.92, Y:-65.02, Z:3.09 [[ 9.99766545e-01 -1.39873628e-02 -1.64684506e-02 8.60921057e+02] [ 1.40024145e-02 9.99901642e-01 7.99012097e-04 -6.50163300e+01] [ 1.64556548e-02 -1.02942364e-03 9.99864067e-01 3.08898797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6807140569999 meters Centerline goodness [0,1] 0.9880700490703642 Centerline is valid? [True, True] Translation: X:860.95, Y:-65.01, Z:3.09 [[ 9.99803828e-01 -1.17830757e-02 -1.59205494e-02 8.60950879e+02] [ 1.17968557e-02 9.99930117e-01 7.71908315e-04 -6.50131708e+01] [ 1.59103414e-02 -9.59569313e-04 9.99872962e-01 3.09000556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7107140569999 meters Centerline goodness [0,1] 0.9882151468036684 Centerline is valid? [True, True] Translation: X:860.98, Y:-65.01, Z:3.09 [[ 9.99832713e-01 -1.00957747e-02 -1.52519409e-02 8.60980103e+02] [ 1.01081765e-02 9.99948640e-01 7.36253294e-04 -6.50113068e+01] [ 1.52437245e-02 -8.90299438e-04 9.99883411e-01 3.09122081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7407140569999 meters Centerline goodness [0,1] 0.9881901320989048 Centerline is valid? [True, True] Translation: X:861.01, Y:-65.02, Z:3.09 [[ 9.99891883e-01 -5.83141303e-03 -1.34987831e-02 8.61009329e+02] [ 5.84073289e-03 9.99982731e-01 6.51101161e-04 -6.50150876e+01] [ 1.34947532e-02 -7.29873552e-04 9.99908675e-01 3.09140954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.770714057 meters Centerline goodness [0,1] 0.9894777248402465 Centerline is valid? [True, True] Translation: X:861.04, Y:-65.01, Z:3.09 [[ 9.99915152e-01 -2.57189816e-03 -1.27700567e-02 8.61039671e+02] [ 2.57996738e-03 9.99996482e-01 6.15452141e-04 -6.50070936e+01] [ 1.27684289e-02 -6.48346250e-04 9.99918270e-01 3.09387819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8007140569999 meters Centerline goodness [0,1] 0.9891972518531911 Centerline is valid? [True, True] Translation: X:861.07, Y:-65.01, Z:3.09 [[ 9.99924196e-01 -1.26672069e-03 -1.22473683e-02 8.61067486e+02] [ 1.27403269e-03 9.99999015e-01 5.89242565e-04 -6.50106476e+01] [ 1.22466098e-02 -6.04801446e-04 9.99924825e-01 3.09362324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8307140569999 meters Centerline goodness [0,1] 0.9888761028001535 Centerline is valid? [True, True] Translation: X:861.10, Y:-65.01, Z:3.09 [[ 9.99933229e-01 -6.42282883e-04 -1.15379576e-02 8.61096430e+02] [ 6.48701541e-04 9.99999637e-01 5.52574112e-04 -6.50114716e+01] [ 1.15375985e-02 -5.60021907e-04 9.99933283e-01 3.09388501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8607140569999 meters Centerline goodness [0,1] 0.9891438996373793 Centerline is valid? [True, True] Translation: X:861.13, Y:-65.01, Z:3.09 [[ 9.99936130e-01 -7.79840580e-05 -1.13017394e-02 8.61125485e+02] [ 8.40764225e-05 9.99999851e-01 5.38590203e-04 -6.50124453e+01] [ 1.13016957e-02 -5.39506013e-04 9.99935988e-01 3.09401240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.890714057 meters Centerline goodness [0,1] 0.989600797498754 Centerline is valid? [True, True] Translation: X:861.15, Y:-65.01, Z:3.09 [[ 9.99937966e-01 -5.13102234e-04 -1.11265721e-02 8.61154001e+02] [ 5.19023290e-04 9.99999725e-01 5.29273489e-04 -6.50143231e+01] [ 1.11262975e-02 -5.35015607e-04 9.99937958e-01 3.09364909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9207140569999 meters Centerline goodness [0,1] 0.989600797498754 Centerline is valid? [True, True] Translation: X:861.18, Y:-65.02, Z:3.09 [[ 9.99937909e-01 -6.14253206e-04 -1.11266235e-02 8.61181464e+02] [ 6.20168507e-04 9.99999668e-01 5.28192427e-04 -6.50155323e+01] [ 1.11262954e-02 -5.35060012e-04 9.99937958e-01 3.09368530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9507140569999 meters Centerline goodness [0,1] 0.9886599801210807 Centerline is valid? [True, True] Translation: X:861.21, Y:-65.02, Z:3.09 [[ 9.99928859e-01 -2.41535304e-03 -1.16809161e-02 8.61209437e+02] [ 2.42198730e-03 9.99996914e-01 5.53844331e-04 -6.50194887e+01] [ 1.16795423e-02 -5.82095960e-04 9.99931622e-01 3.09252548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9807140569999 meters Centerline goodness [0,1] 0.9901312811226799 Centerline is valid? [True, True] Translation: X:861.24, Y:-65.01, Z:3.09 [[ 9.99919523e-01 -3.91066316e-03 -1.20687601e-02 8.61238749e+02] [ 3.91784380e-03 9.99992162e-01 5.71391849e-04 -6.50146617e+01] [ 1.20664310e-02 -6.18629382e-04 9.99927007e-01 3.09373333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.010714057 meters Centerline goodness [0,1] 0.989022654891243 Centerline is valid? [True, True] Translation: X:861.27, Y:-65.02, Z:3.09 [[ 9.99916849e-01 -5.05841060e-03 -1.18619804e-02 8.61266098e+02] [ 5.06541548e-03 9.99987014e-01 5.60561776e-04 -6.50178955e+01] [ 1.18589908e-02 -6.20601024e-04 9.99929487e-01 3.09365511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.040714057 meters Centerline goodness [0,1] 0.9888224003612962 Centerline is valid? [True, True] Translation: X:861.30, Y:-65.02, Z:3.09 [[ 9.99893740e-01 -8.49945469e-03 -1.18434386e-02 8.61295186e+02] [ 8.50667552e-03 9.99963661e-01 5.59447595e-04 -6.50242689e+01] [ 1.18382533e-02 -6.60136438e-04 9.99929708e-01 3.09295869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0707140569999 meters Centerline goodness [0,1] 0.9896123294181547 Centerline is valid? [True, True] Translation: X:861.32, Y:-65.02, Z:3.09 [[ 9.99882048e-01 -1.00794470e-02 -1.15885612e-02 8.61324415e+02] [ 1.00864596e-02 9.99948981e-01 5.46845499e-04 -6.50232856e+01] [ 1.15824581e-02 -6.63668552e-04 9.99932701e-01 3.09345941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1007140569999 meters Centerline goodness [0,1] 0.9885835476738414 Centerline is valid? [True, True] Translation: X:861.35, Y:-65.03, Z:3.09 [[ 9.99855568e-01 -1.29289932e-02 -1.10311022e-02 8.61353415e+02] [ 1.29355156e-02 9.99916197e-01 5.20130131e-04 -6.50309339e+01] [ 1.10234530e-02 -6.62748003e-04 9.99939020e-01 3.09296474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.130714057 meters Centerline goodness [0,1] 0.9887325208179023 Centerline is valid? [True, True] Translation: X:861.38, Y:-65.03, Z:3.09 [[ 9.99843959e-01 -1.41864403e-02 -1.05262445e-02 8.61383516e+02] [ 1.41924483e-02 9.99899159e-01 4.96281177e-04 -6.50337977e+01] [ 1.05181426e-02 -6.45596918e-04 9.99944474e-01 3.09326078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.160714057 meters Centerline goodness [0,1] 0.9894798627415567 Centerline is valid? [True, True] Translation: X:861.41, Y:-65.03, Z:3.09 [[ 9.99808332e-01 -1.69045681e-02 -9.87594988e-03 8.61414566e+02] [ 1.69099912e-02 9.99856907e-01 4.65872860e-04 -6.50308035e+01] [ 9.86666133e-03 -6.32785793e-04 9.99951123e-01 3.09447878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1907140569999 meters Centerline goodness [0,1] 0.9893537668678375 Centerline is valid? [True, True] Translation: X:861.45, Y:-65.03, Z:3.09 [[ 9.99786129e-01 -1.82311268e-02 -9.76330480e-03 8.61446162e+02] [ 1.82364947e-02 9.99833595e-01 4.61051950e-04 -6.50333265e+01] [ 9.75327464e-03 -6.39001801e-04 9.99952232e-01 3.09451948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2207140569999 meters Centerline goodness [0,1] 0.9890534013451903 Centerline is valid? [True, True] Translation: X:861.48, Y:-65.04, Z:3.09 [[ 9.99755847e-01 -1.96411509e-02 -1.01228467e-02 8.61476759e+02] [ 1.96469973e-02 9.99806865e-01 4.78419205e-04 -6.50382422e+01] [ 1.01114949e-02 -6.77185940e-04 9.99948648e-01 3.09449850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.250714057 meters Centerline goodness [0,1] 0.9885868952295026 Centerline is valid? [True, True] Translation: X:861.51, Y:-65.04, Z:3.09 [[ 9.99692501e-01 -2.25366019e-02 -1.03443546e-02 8.61507632e+02] [ 2.25428635e-02 9.99745758e-01 4.89096939e-04 -6.50380872e+01] [ 1.03307020e-02 -7.22137915e-04 9.99946376e-01 3.09454660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.280714057 meters Centerline goodness [0,1] 0.9896005618868523 Centerline is valid? [True, True] Translation: X:861.54, Y:-65.04, Z:3.09 [[ 9.99661611e-01 -2.38602475e-02 -1.03610372e-02 8.61539787e+02] [ 2.38666070e-02 9.99715032e-01 4.90558318e-04 -6.50397997e+01] [ 1.03463798e-02 -7.37675121e-04 9.99946203e-01 3.09426228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3107140569999 meters Centerline goodness [0,1] 0.9890191825391446 Centerline is valid? [True, True] Translation: X:861.57, Y:-65.04, Z:3.09 [[ 9.99586781e-01 -2.64992715e-02 -1.11380778e-02 8.61569906e+02] [ 2.65067867e-02 9.99648494e-01 5.27624161e-04 -6.50448298e+01] [ 1.11201810e-02 -8.22640787e-04 9.99937830e-01 3.09350192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3407140569999 meters Centerline goodness [0,1] 0.9891773424614203 Centerline is valid? [True, True] Translation: X:861.60, Y:-65.04, Z:3.09 [[ 9.99545928e-01 -2.78016707e-02 -1.16192000e-02 8.61602263e+02] [ 2.78099455e-02 9.99613077e-01 5.51175938e-04 -6.50444296e+01] [ 1.15993807e-02 -8.74054984e-04 9.99932343e-01 3.09376131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.370714057 meters Centerline goodness [0,1] 0.9886053385681085 Centerline is valid? [True, True] Translation: X:861.63, Y:-65.05, Z:3.09 [[ 9.99488534e-01 -2.94352110e-02 -1.24995636e-02 8.61633700e+02] [ 2.94449206e-02 9.99566228e-01 5.93437534e-04 -6.50467718e+01] [ 1.24766737e-02 -9.61182668e-04 9.99921701e-01 3.09320910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.400714057 meters Centerline goodness [0,1] 0.9881509621690071 Centerline is valid? [True, True] Translation: X:861.66, Y:-65.05, Z:3.09 [[ 9.99483428e-01 -2.95595563e-02 -1.26138342e-02 8.61664220e+02] [ 2.95694599e-02 9.99562548e-01 5.99313941e-04 -6.50508091e+01] [ 1.25906008e-02 -9.71988615e-04 9.99920263e-01 3.09273699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4307140569999 meters Centerline goodness [0,1] 0.9895070821529746 Centerline is valid? [True, True] Translation: X:861.70, Y:-65.05, Z:3.09 [[ 9.99490796e-01 -2.93458223e-02 -1.25288141e-02 8.61696015e+02] [ 2.93555865e-02 9.99568854e-01 5.96111756e-04 -6.50509985e+01] [ 1.25059189e-02 -9.63598898e-04 9.99921334e-01 3.09315661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4607140569999 meters Centerline goodness [0,1] 0.989502438143399 Centerline is valid? [True, True] Translation: X:861.73, Y:-65.05, Z:3.09 [[ 9.99526544e-01 -2.83669316e-02 -1.19165746e-02 8.61728923e+02] [ 2.83757100e-02 9.99597167e-01 5.68187734e-04 -6.50478888e+01] [ 1.18956564e-02 -9.06059986e-04 9.99928834e-01 3.09396066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4907140569999 meters Centerline goodness [0,1] 0.9886294416243655 Centerline is valid? [True, True] Translation: X:861.76, Y:-65.05, Z:3.09 [[ 9.99550692e-01 -2.75732591e-02 -1.17528780e-02 8.61760613e+02] [ 2.75817537e-02 9.99619393e-01 5.61259306e-04 -6.50495047e+01] [ 1.17329290e-02 -8.85172114e-04 9.99930775e-01 3.09431483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.520714057 meters Centerline goodness [0,1] 0.9880121464829587 Centerline is valid? [True, True] Translation: X:861.79, Y:-65.05, Z:3.10 [[ 9.99577243e-01 -2.66422203e-02 -1.16416262e-02 8.61792919e+02] [ 2.66505015e-02 9.99644657e-01 5.56763678e-04 -6.50482716e+01] [ 1.16226560e-02 -8.66783478e-04 9.99932079e-01 3.09525606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5507140569999 meters Centerline goodness [0,1] 0.9875969343793932 Centerline is valid? [True, True] Translation: X:861.82, Y:-65.05, Z:3.10 [[ 9.99589842e-01 -2.63859732e-02 -1.11323200e-02 8.61823981e+02] [ 2.63935365e-02 9.99651488e-01 5.33008163e-04 -6.50500412e+01] [ 1.11143763e-02 -8.26610840e-04 9.99937892e-01 3.09562223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5807140569999 meters Centerline goodness [0,1] 0.9878543427522604 Centerline is valid? [True, True] Translation: X:861.86, Y:-65.05, Z:3.10 [[ 9.99584169e-01 -2.65895173e-02 -1.11573156e-02 8.61856077e+02] [ 2.65971356e-02 9.99646090e-01 5.34953898e-04 -6.50517081e+01] [ 1.11391427e-02 -8.31484082e-04 9.99937612e-01 3.09553553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6107140569999 meters Centerline goodness [0,1] 0.9891309270413478 Centerline is valid? [True, True] Translation: X:861.89, Y:-65.05, Z:3.10 [[ 9.99559154e-01 -2.78024467e-02 -1.04174056e-02 8.61888027e+02] [ 2.78091596e-02 9.99613125e-01 5.00059848e-04 -6.50458382e+01] [ 1.03994725e-02 -7.89538694e-04 9.99945612e-01 3.09666962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.640714057 meters Centerline goodness [0,1] 0.9876663568141112 Centerline is valid? [True, True] Translation: X:861.92, Y:-65.06, Z:3.10 [[ 9.99528854e-01 -2.87047039e-02 -1.08678040e-02 8.61918372e+02] [ 2.87120674e-02 9.99587587e-01 5.22101624e-04 -6.50560689e+01] [ 1.08483352e-02 -8.33892758e-04 9.99940807e-01 3.09575739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6707140569999 meters Centerline goodness [0,1] 0.9872319269621026 Centerline is valid? [True, True] Translation: X:861.95, Y:-65.06, Z:3.09 [[ 9.99471978e-01 -3.03420303e-02 -1.16244099e-02 8.61947912e+02] [ 3.03505654e-02 9.99539159e-01 5.58500855e-04 -6.50587350e+01] [ 1.16021069e-02 -9.11013368e-04 9.99932278e-01 3.09476545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7007140569999 meters Centerline goodness [0,1] 0.9873159220348983 Centerline is valid? [True, True] Translation: X:861.98, Y:-65.06, Z:3.09 [[ 9.99448762e-01 -3.09388602e-02 -1.20399075e-02 8.61979188e+02] [ 3.09480660e-02 9.99520826e-01 5.79006084e-04 -6.50614908e+01] [ 1.20162245e-02 -9.51298768e-04 9.99927350e-01 3.09417663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7307140569999 meters Centerline goodness [0,1] 0.9860727388015762 Centerline is valid? [True, True] Translation: X:862.01, Y:-65.06, Z:3.09 [[ 9.99434481e-01 -3.12404144e-02 -1.24400642e-02 8.62011581e+02] [ 3.12502758e-02 9.99511411e-01 5.99065171e-04 -6.50636177e+01] [ 1.24152711e-02 -9.87481825e-04 9.99922440e-01 3.09392127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.760714057 meters Centerline goodness [0,1] 0.9880358241607985 Centerline is valid? [True, True] Translation: X:862.04, Y:-65.06, Z:3.10 [[ 9.99430672e-01 -3.15754833e-02 -1.18878620e-02 8.62044290e+02] [ 3.15845220e-02 9.99500920e-01 5.73304461e-04 -6.50565036e+01] [ 1.18638267e-02 -9.48450502e-04 9.99929173e-01 3.09514306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.790714057 meters Centerline goodness [0,1] 0.9888672670498257 Centerline is valid? [True, True] Translation: X:862.08, Y:-65.06, Z:3.10 [[ 9.99435612e-01 -3.15492143e-02 -1.15370940e-02 8.62076668e+02] [ 3.15577370e-02 9.99501775e-01 5.57377414e-04 -6.50603625e+01] [ 1.15137611e-02 -9.21147415e-04 9.99933290e-01 3.09513151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8207140569999 meters Centerline goodness [0,1] 0.9880749186409048 Centerline is valid? [True, True] Translation: X:862.11, Y:-65.06, Z:3.10 [[ 9.99432564e-01 -3.16536407e-02 -1.15150807e-02 8.62109473e+02] [ 3.16621474e-02 9.99498473e-01 5.57152117e-04 -6.50582915e+01] [ 1.14916697e-02 -9.21428153e-04 9.99933544e-01 3.09522126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8507140569999 meters Centerline goodness [0,1] 0.9885466575404974 Centerline is valid? [True, True] Translation: X:862.14, Y:-65.06, Z:3.09 [[ 9.99427138e-01 -3.15833183e-02 -1.21609978e-02 8.62140224e+02] [ 3.15928092e-02 9.99500649e-01 5.89079157e-04 -6.50636783e+01] [ 1.21363201e-02 -9.72941780e-04 9.99925879e-01 3.09473202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.880714057 meters Centerline goodness [0,1] 0.9889542944157822 Centerline is valid? [True, True] Translation: X:862.17, Y:-65.06, Z:3.10 [[ 9.99427803e-01 -3.15173700e-02 -1.22768957e-02 8.62173897e+02] [ 3.15270532e-02 9.99502721e-01 5.95952657e-04 -6.50573131e+01] [ 1.22520078e-02 -9.82666000e-04 9.99924458e-01 3.09557252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.910714057 meters Centerline goodness [0,1] 0.9889989501072717 Centerline is valid? [True, True] Translation: X:862.20, Y:-65.06, Z:3.10 [[ 9.99430182e-01 -3.15332762e-02 -1.20400858e-02 8.62204577e+02] [ 3.15426084e-02 9.99502236e-01 5.85940739e-04 -6.50598773e+01] [ 1.20156161e-02 -9.65382572e-04 9.99927344e-01 3.09522179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9407140569999 meters Centerline goodness [0,1] 0.9882425319570716 Centerline is valid? [True, True] Translation: X:862.24, Y:-65.06, Z:3.10 [[ 9.99422638e-01 -3.16199123e-02 -1.24326813e-02 8.62235588e+02] [ 3.16298791e-02 9.99499467e-01 6.05803204e-04 -6.50622074e+01] [ 1.24073029e-02 -9.98697645e-04 9.99922528e-01 3.09501427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9707140569999 meters Centerline goodness [0,1] 0.9877512920337864 Centerline is valid? [True, True] Translation: X:862.27, Y:-65.06, Z:3.09 [[ 9.99412874e-01 -3.17144772e-02 -1.29652931e-02 8.62267807e+02] [ 3.17253357e-02 9.99496425e-01 6.32639950e-04 -6.50645002e+01] [ 1.29387002e-02 -1.04359679e-03 9.99915747e-01 3.09411442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.000714057 meters Centerline goodness [0,1] 0.9876867546945676 Centerline is valid? [True, True] Translation: X:862.30, Y:-65.07, Z:3.09 [[ 9.99409564e-01 -3.15956276e-02 -1.34996509e-02 8.62300161e+02] [ 3.16074016e-02 9.99500144e-01 6.59654168e-04 -6.50666539e+01] [ 1.34720609e-02 -1.08595357e-03 9.99908658e-01 3.09358096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.030714057 meters Centerline goodness [0,1] 0.9871222136117063 Centerline is valid? [True, True] Translation: X:862.33, Y:-65.07, Z:3.09 [[ 9.99405321e-01 -3.15046055e-02 -1.40165874e-02 8.62332152e+02] [ 3.15173032e-02 9.99502971e-01 6.85882385e-04 -6.50688141e+01] [ 1.39880123e-02 -1.12723954e-03 9.99901528e-01 3.09278568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0607140569999 meters Centerline goodness [0,1] 0.9860974998290676 Centerline is valid? [True, True] Translation: X:862.36, Y:-65.07, Z:3.09 [[ 9.99398251e-01 -3.09586848e-02 -1.56427768e-02 8.62363592e+02] [ 3.09744468e-02 9.99519883e-01 7.66293062e-04 -6.50712191e+01] [ 1.56115430e-02 -1.25035830e-03 9.99877351e-01 3.09115261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0907140569999 meters Centerline goodness [0,1] 0.9864325618515563 Centerline is valid? [True, True] Translation: X:862.40, Y:-65.07, Z:3.09 [[ 9.99396936e-01 -3.09064833e-02 -1.58288730e-02 8.62395673e+02] [ 3.09226328e-02 9.99521479e-01 7.76463122e-04 -6.50725165e+01] [ 1.57973008e-02 -1.26546529e-03 9.99874414e-01 3.09116978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.120714057 meters Centerline goodness [0,1] 0.9853216027715731 Centerline is valid? [True, True] Translation: X:862.43, Y:-65.07, Z:3.09 [[ 9.99423113e-01 -3.03719386e-02 -1.51982452e-02 8.62428146e+02] [ 3.03867809e-02 9.99537936e-01 7.46552173e-04 -6.50745834e+01] [ 1.51685484e-02 -1.20794724e-03 9.99884221e-01 3.09105945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.150714057 meters Centerline goodness [0,1] 0.9840968810693477 Centerline is valid? [True, True] Translation: X:862.46, Y:-65.08, Z:3.09 [[ 9.99470151e-01 -2.93212431e-02 -1.41309026e-02 8.62458186e+02] [ 2.93339864e-02 9.99569424e-01 6.95333561e-04 -6.50765042e+01] [ 1.41044301e-02 -1.10948084e-03 9.99899912e-01 3.09213041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1807140569999 meters Centerline goodness [0,1] 0.9863723520818115 Centerline is valid? [True, True] Translation: X:862.49, Y:-65.08, Z:3.09 [[ 9.99497611e-01 -2.86171379e-02 -1.36229316e-02 8.62490534e+02] [ 2.86289290e-02 9.99589883e-01 6.71272247e-04 -6.50771113e+01] [ 1.35981347e-02 -1.06094495e-03 9.99906978e-01 3.09265795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2107140569999 meters Centerline goodness [0,1] 0.9879767733120801 Centerline is valid? [True, True] Translation: X:862.52, Y:-65.07, Z:3.09 [[ 9.99540172e-01 -2.75525681e-02 -1.26610142e-02 8.62522641e+02] [ 2.75626783e-02 9.99619882e-01 6.24698282e-04 -6.50692120e+01] [ 1.26389895e-02 -9.73382489e-04 9.99919651e-01 3.09487330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2407140569999 meters Centerline goodness [0,1] 0.9882783045812864 Centerline is valid? [True, True] Translation: X:862.55, Y:-65.07, Z:3.10 [[ 9.99537146e-01 -2.77417108e-02 -1.24856776e-02 8.62554817e+02] [ 2.77515685e-02 9.99614661e-01 6.16920905e-04 -6.50692392e+01] [ 1.24637519e-02 -9.63132496e-04 9.99921861e-01 3.09524235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.270714057 meters Centerline goodness [0,1] 0.9879430199430199 Centerline is valid? [True, True] Translation: X:862.59, Y:-65.07, Z:3.10 [[ 9.99537871e-01 -2.79109442e-02 -1.20425715e-02 8.62586683e+02] [ 2.79201369e-02 9.99609979e-01 5.95870310e-04 -6.50717963e+01] [ 1.20212434e-02 -9.31825187e-04 9.99927308e-01 3.09514314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3007140569999 meters Centerline goodness [0,1] 0.98714892264378 Centerline is valid? [True, True] Translation: X:862.62, Y:-65.08, Z:3.09 [[ 9.99506430e-01 -2.90246883e-02 -1.20193484e-02 8.62618884e+02] [ 2.90339356e-02 9.99578249e-01 5.95561647e-04 -6.50757555e+01] [ 1.19969932e-02 -9.44236683e-04 9.99927588e-01 3.09494814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3307140569999 meters Centerline goodness [0,1] 0.9877289377289378 Centerline is valid? [True, True] Translation: X:862.65, Y:-65.08, Z:3.09 [[ 9.99471590e-01 -3.00784331e-02 -1.23218952e-02 8.62650952e+02] [ 3.00882421e-02 9.99547059e-01 6.11418150e-04 -6.50778869e+01] [ 1.22979236e-02 -9.81839236e-04 9.99923896e-01 3.09476828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3607140569999 meters Centerline goodness [0,1] 0.9862451242044755 Centerline is valid? [True, True] Translation: X:862.68, Y:-65.09, Z:3.09 [[ 9.99390957e-01 -3.23084157e-02 -1.31863953e-02 8.62680196e+02] [ 3.23198436e-02 9.99477363e-01 6.54413576e-04 -6.50860172e+01] [ 1.31583605e-02 -1.08019724e-03 9.99912842e-01 3.09297538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.390714057 meters Centerline goodness [0,1] 0.985211939484803 Centerline is valid? [True, True] Translation: X:862.71, Y:-65.09, Z:3.09 [[ 9.99344488e-01 -3.34906474e-02 -1.37466550e-02 8.62711868e+02] [ 3.35031869e-02 9.99438377e-01 6.82846947e-04 -6.50890556e+01] [ 1.37160656e-02 -1.14295608e-03 9.99905277e-01 3.09208448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4207140569999 meters Centerline goodness [0,1] 0.9835659408101105 Centerline is valid? [True, True] Translation: X:862.74, Y:-65.09, Z:3.09 [[ 9.99297913e-01 -3.49240457e-02 -1.35643746e-02 8.62743281e+02] [ 3.49363924e-02 9.99389310e-01 6.74270992e-04 -6.50931273e+01] [ 1.35325427e-02 -1.14768791e-03 9.99907772e-01 3.09149834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4507140569999 meters Centerline goodness [0,1] 0.9875566636446056 Centerline is valid? [True, True] Translation: X:862.77, Y:-65.09, Z:3.09 [[ 9.99222632e-01 -3.69170817e-02 -1.38296717e-02 8.62774893e+02] [ 3.69301123e-02 9.99317614e-01 6.87944419e-04 -6.50900531e+01] [ 1.37948376e-02 -1.19814096e-03 9.99904129e-01 3.09269172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4807140569999 meters Centerline goodness [0,1] 0.9777337162131364 Centerline is valid? [True, True] Translation: X:862.81, Y:-65.10, Z:3.09 [[ 9.99189739e-01 -3.76915314e-02 -1.41143005e-02 8.62805813e+02] [ 3.77051908e-02 9.99288659e-01 7.02823933e-04 -6.50992760e+01] [ 1.40777699e-02 -1.23443686e-03 9.99900141e-01 3.09159839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.510714057 meters Centerline goodness [0,1] 0.9854884271915436 Centerline is valid? [True, True] Translation: X:862.84, Y:-65.10, Z:3.09 [[ 9.99178339e-01 -3.84307661e-02 -1.28733727e-02 8.62837784e+02] [ 3.84422010e-02 9.99260619e-01 6.41901294e-04 -6.50976931e+01] [ 1.28391856e-02 -1.13625465e-03 9.99916929e-01 3.09280635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.540714057 meters Centerline goodness [0,1] 0.9871786112819111 Centerline is valid? [True, True] Translation: X:862.87, Y:-65.09, Z:3.09 [[ 9.99171093e-01 -3.87031611e-02 -1.26171225e-02 8.62869810e+02] [ 3.87141782e-02 9.99250127e-01 6.30027309e-04 -6.50942446e+01] [ 1.25832772e-02 -1.11796660e-03 9.99920202e-01 3.09370516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5707140569999 meters Centerline goodness [0,1] 0.9827992566740698 Centerline is valid? [True, True] Translation: X:862.90, Y:-65.10, Z:3.09 [[ 9.99135838e-01 -3.98762293e-02 -1.17245087e-02 8.62900869e+02] [ 3.98858303e-02 9.99204072e-01 5.86100770e-04 -6.51034147e+01] [ 1.16918053e-02 -1.05323605e-03 9.99931094e-01 3.09358966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6007140569999 meters Centerline goodness [0,1] 0.9828795191694746 Centerline is valid? [True, True] Translation: X:862.93, Y:-65.11, Z:3.09 [[ 9.99108194e-01 -4.06438718e-02 -1.14407896e-02 8.62932796e+02] [ 4.06530725e-02 9.99173158e-01 5.72700660e-04 -6.51056002e+01] [ 1.14080531e-02 -1.03729317e-03 9.99934388e-01 3.09396993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.630714057 meters Centerline goodness [0,1] 0.9851298583363604 Centerline is valid? [True, True] Translation: X:862.96, Y:-65.10, Z:3.09 [[ 9.99086059e-01 -4.13575637e-02 -1.07981261e-02 8.62964659e+02] [ 4.13658076e-02 9.99143922e-01 5.41132889e-04 -6.51037315e+01] [ 1.07665021e-02 -9.87311532e-04 9.99941552e-01 3.09449525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.660714057 meters Centerline goodness [0,1] 0.9829970528224893 Centerline is valid? [True, True] Translation: X:862.99, Y:-65.11, Z:3.09 [[ 9.99012776e-01 -4.33096365e-02 -9.88679237e-03 8.62993940e+02] [ 4.33166429e-02 9.99061271e-01 4.95528041e-04 -6.51109179e+01] [ 9.85605022e-03 -9.23301498e-04 9.99951002e-01 3.09425583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6907140569999 meters Centerline goodness [0,1] 0.9792153040640087 Centerline is valid? [True, True] Translation: X:863.02, Y:-65.12, Z:3.09 [[ 9.98988737e-01 -4.39876484e-02 -9.30541276e-03 8.63024488e+02] [ 4.39938933e-02 9.99031691e-01 4.67377243e-04 -6.51177111e+01] [ 9.27584341e-03 -8.76285937e-04 9.99956594e-01 3.09423644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7207140569999 meters Centerline goodness [0,1] 0.9843346765065423 Centerline is valid? [True, True] Translation: X:863.06, Y:-65.12, Z:3.09 [[ 9.98934786e-01 -4.51588800e-02 -9.48516705e-03 8.63056537e+02] [ 4.51654279e-02 9.98979407e-01 4.77155337e-04 -6.51164615e+01] [ 9.45393876e-03 -9.05048693e-04 9.99954901e-01 3.09449581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.750714057 meters Centerline goodness [0,1] 0.984500158392542 Centerline is valid? [True, True] Translation: X:863.09, Y:-65.12, Z:3.09 [[ 9.98918196e-01 -4.54841267e-02 -9.67632610e-03 8.63088976e+02] [ 4.54909631e-02 9.98964631e-01 4.87471081e-04 -6.51202671e+01] [ 9.64413534e-03 -9.27129126e-04 9.99953064e-01 3.09385533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.780714057 meters Centerline goodness [0,1] 0.9824359408511119 Centerline is valid? [True, True] Translation: X:863.12, Y:-65.13, Z:3.09 [[ 9.98875294e-01 -4.62272284e-02 -1.05447131e-02 8.63120232e+02] [ 4.62353943e-02 9.98930431e-01 5.31818953e-04 -6.51268649e+01] [ 1.05088503e-02 -1.01875978e-03 9.99944262e-01 3.09255036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8107140569999 meters Centerline goodness [0,1] 0.9824359408511119 Centerline is valid? [True, True] Translation: X:863.15, Y:-65.13, Z:3.09 [[ 9.98880254e-01 -4.61199305e-02 -1.05446595e-02 8.63152885e+02] [ 4.61281016e-02 9.98935390e-01 5.32881018e-04 -6.51286076e+01] [ 1.05088571e-02 -1.01868945e-03 9.99944262e-01 3.09259337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8407140569999 meters Centerline goodness [0,1] 0.9835033399530602 Centerline is valid? [True, True] Translation: X:863.19, Y:-65.13, Z:3.09 [[ 9.98870101e-01 -4.62338603e-02 -1.09977951e-02 8.63185378e+02] [ 4.62427649e-02 9.98930076e-01 5.56625182e-04 -6.51308691e+01] [ 1.09602934e-02 -1.06456470e-03 9.99939367e-01 3.09217091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.870714057 meters Centerline goodness [0,1] 0.9825286110923004 Centerline is valid? [True, True] Translation: X:863.22, Y:-65.13, Z:3.09 [[ 9.98867122e-01 -4.62278442e-02 -1.12898163e-02 8.63217681e+02] [ 4.62372367e-02 9.98930323e-01 5.72216590e-04 -6.51348828e+01] [ 1.12512875e-02 -1.09357825e-03 9.99936104e-01 3.09167401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.900714057 meters Centerline goodness [0,1] 0.9829077151736252 Centerline is valid? [True, True] Translation: X:863.25, Y:-65.14, Z:3.09 [[ 9.98876091e-01 -4.58004502e-02 -1.22013574e-02 8.63249570e+02] [ 4.58113999e-02 9.98949915e-01 6.19296453e-04 -6.51383112e+01] [ 1.21601809e-02 -1.17756168e-03 9.99925369e-01 3.09050323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9307140569999 meters Centerline goodness [0,1] 0.981317467829536 Centerline is valid? [True, True] Translation: X:863.28, Y:-65.14, Z:3.09 [[ 9.98891924e-01 -4.54617729e-02 -1.21717396e-02 8.63281474e+02] [ 4.54726551e-02 9.98965392e-01 6.18653225e-04 -6.51423494e+01] [ 1.21310216e-02 -1.17144903e-03 9.99925730e-01 3.08995073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9607140569999 meters Centerline goodness [0,1] 0.9784672273454939 Centerline is valid? [True, True] Translation: X:863.31, Y:-65.15, Z:3.09 [[ 9.98943167e-01 -4.43253748e-02 -1.21577523e-02 8.63311569e+02] [ 4.43361634e-02 9.99016477e-01 6.19171013e-04 -6.51472987e+01] [ 1.21183499e-02 -1.15754475e-03 9.99925900e-01 3.08980738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9907140569999 meters Centerline goodness [0,1] 0.978558424920774 Centerline is valid? [True, True] Translation: X:863.34, Y:-65.15, Z:3.09 [[ 9.98989030e-01 -4.33787205e-02 -1.17984751e-02 8.63342736e+02] [ 4.33888259e-02 9.99058080e-01 6.01762558e-04 -6.51497559e+01] [ 1.17612581e-02 -1.11307617e-03 9.99930214e-01 3.09037359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.020714057 meters Centerline goodness [0,1] 0.9843447748436727 Centerline is valid? [True, True] Translation: X:863.37, Y:-65.15, Z:3.09 [[ 9.99052254e-01 -4.20937472e-02 -1.10775058e-02 8.63374060e+02] [ 4.21025818e-02 9.99113133e-01 5.65433882e-04 -6.51470387e+01] [ 1.10438803e-02 -1.03128959e-03 9.99938483e-01 3.09137782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0507140569999 meters Centerline goodness [0,1] 0.9791175479959582 Centerline is valid? [True, True] Translation: X:863.40, Y:-65.16, Z:3.09 [[ 9.99166475e-01 -3.95968814e-02 -9.92177440e-03 8.63403330e+02] [ 3.96038467e-02 9.99215332e-01 5.06456766e-04 -6.51554377e+01] [ 9.89393499e-03 -8.98975054e-04 9.99950650e-01 3.09216107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0807140569999 meters Centerline goodness [0,1] 0.9859513249431524 Centerline is valid? [True, True] Translation: X:863.44, Y:-65.15, Z:3.09 [[ 9.99238720e-01 -3.79621200e-02 -8.99206464e-03 8.63435145e+02] [ 3.79677779e-02 9.99278858e-01 4.59273428e-04 -6.51500861e+01] [ 8.96814510e-03 -8.00332506e-04 9.99959465e-01 3.09366996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1107140569999 meters Centerline goodness [0,1] 0.9820680070831372 Centerline is valid? [True, True] Translation: X:863.46, Y:-65.16, Z:3.09 [[ 9.99351955e-01 -3.49994065e-02 -8.40903484e-03 8.63463972e+02] [ 3.50042499e-02 9.99387071e-01 4.29444462e-04 -6.51591294e+01] [ 8.38885040e-03 -7.23518120e-04 9.99964551e-01 3.09336919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.140714057 meters Centerline goodness [0,1] 0.9840116605000561 Centerline is valid? [True, True] Translation: X:863.50, Y:-65.16, Z:3.09 [[ 9.99402571e-01 -3.36670270e-02 -7.81234226e-03 8.63495718e+02] [ 3.36711695e-02 9.99432886e-01 3.99295401e-04 -6.51592196e+01] [ 7.79446868e-03 -6.62107551e-04 9.99969403e-01 3.09337179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1707140569999 meters Centerline goodness [0,1] 0.9815343142760867 Centerline is valid? [True, True] Translation: X:863.53, Y:-65.16, Z:3.09 [[ 9.99444515e-01 -3.24179250e-02 -7.72919669e-03 8.63525530e+02] [ 3.24219442e-02 9.99474192e-01 3.95226604e-04 -6.51648442e+01] [ 7.71232019e-03 -6.45602645e-04 9.99970051e-01 3.09299982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2007140569999 meters Centerline goodness [0,1] 0.9868068577551568 Centerline is valid? [True, True] Translation: X:863.56, Y:-65.16, Z:3.09 [[ 9.99488860e-01 -3.08362280e-02 -8.43475501e-03 8.63557781e+02] [ 3.08409619e-02 9.99524211e-01 4.31716465e-04 -6.51552946e+01] [ 8.41742934e-03 -6.91631755e-04 9.99964334e-01 3.09297776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2307140569999 meters Centerline goodness [0,1] 0.9855407101865137 Centerline is valid? [True, True] Translation: X:863.59, Y:-65.16, Z:3.09 [[ 9.99497326e-01 -3.04850118e-02 -8.70392926e-03 8.63588125e+02] [ 3.04900435e-02 9.99534971e-01 4.45965100e-04 -6.51639103e+01] [ 8.68628643e-03 -7.11124108e-04 9.99962021e-01 3.09161553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.260714057 meters Centerline goodness [0,1] 0.9863890754421312 Centerline is valid? [True, True] Translation: X:863.62, Y:-65.17, Z:3.09 [[ 9.99494234e-01 -3.05407293e-02 -8.86223740e-03 8.63620599e+02] [ 3.05459534e-02 9.99533260e-01 4.54684155e-04 -6.51651534e+01] [ 8.84421466e-03 -7.25159682e-04 9.99960626e-01 3.09151785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.290714057 meters Centerline goodness [0,1] 0.985594264590568 Centerline is valid? [True, True] Translation: X:863.65, Y:-65.17, Z:3.09 [[ 9.99489739e-01 -3.06336134e-02 -9.04668537e-03 8.63652565e+02] [ 3.06390668e-02 9.99530406e-01 4.64795491e-04 -6.51676609e+01] [ 9.02819873e-03 -7.41740321e-04 9.99958970e-01 3.09141999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3207140569999 meters Centerline goodness [0,1] 0.985452839042703 Centerline is valid? [True, True] Translation: X:863.68, Y:-65.17, Z:3.09 [[ 9.99470934e-01 -3.11693588e-02 -9.29103408e-03 8.63683211e+02] [ 3.11751386e-02 9.99513823e-01 4.77872582e-04 -6.51742193e+01] [ 9.27162201e-03 -7.67269031e-04 9.99956723e-01 3.09071722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3507140569999 meters Centerline goodness [0,1] 0.9859644432562492 Centerline is valid? [True, True] Translation: X:863.72, Y:-65.18, Z:3.09 [[ 9.99472045e-01 -3.12074217e-02 -9.04041322e-03 8.63715707e+02] [ 3.12129010e-02 9.99512650e-01 4.65591903e-04 -6.51784645e+01] [ 9.02147745e-03 -7.47523613e-04 9.99959026e-01 3.09011656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.380714057 meters Centerline goodness [0,1] 0.9850686307331771 Centerline is valid? [True, True] Translation: X:863.75, Y:-65.18, Z:3.09 [[ 9.99447878e-01 -3.19031170e-02 -9.28067923e-03 8.63746449e+02] [ 3.19089300e-02 9.99490666e-01 4.78914177e-04 -6.51839604e+01] [ 9.26067340e-03 -7.74786301e-04 9.99956819e-01 3.08967888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.410714057 meters Centerline goodness [0,1] 0.9861194795920645 Centerline is valid? [True, True] Translation: X:863.78, Y:-65.19, Z:3.09 [[ 9.99429471e-01 -3.26043625e-02 -8.81410006e-03 8.63778043e+02] [ 3.26096374e-02 9.99468061e-01 4.55369106e-04 -6.51861442e+01] [ 8.79456447e-03 -7.42533912e-04 9.99961051e-01 3.08992914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4407140569999 meters Centerline goodness [0,1] 0.9855746755415062 Centerline is valid? [True, True] Translation: X:863.81, Y:-65.19, Z:3.09 [[ 9.99422479e-01 -3.28396725e-02 -8.73296165e-03 8.63809975e+02] [ 3.28448648e-02 9.99460360e-01 4.51767982e-04 -6.51896036e+01] [ 8.71341308e-03 -7.38340021e-04 9.99961765e-01 3.09029577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4707140569999 meters Centerline goodness [0,1] 0.9855373728438744 Centerline is valid? [True, True] Translation: X:863.84, Y:-65.19, Z:3.09 [[ 9.99424087e-01 -3.29500919e-02 -8.11087660e-03 8.63842286e+02] [ 3.29545789e-02 9.99456762e-01 4.20148309e-04 -6.51943421e+01] [ 8.09262654e-03 -6.87196862e-04 9.99967018e-01 3.09076748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.500714057 meters Centerline goodness [0,1] 0.9836845380990487 Centerline is valid? [True, True] Translation: X:863.87, Y:-65.20, Z:3.09 [[ 9.99420319e-01 -3.31024883e-02 -7.95309464e-03 8.63873475e+02] [ 3.31068107e-02 9.99451734e-01 4.12410975e-04 -6.52003688e+01] [ 7.93508240e-03 -6.75473506e-04 9.99968289e-01 3.09091601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.530714057 meters Centerline goodness [0,1] 0.9847686389611545 Centerline is valid? [True, True] Translation: X:863.91, Y:-65.20, Z:3.09 [[ 9.99419316e-01 -3.32058016e-02 -7.64230165e-03 8.63905211e+02] [ 3.32097996e-02 9.99448324e-01 3.96798003e-04 -6.52016907e+01] [ 7.62490958e-03 -6.50366895e-04 9.99970718e-01 3.09124994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5607140569999 meters Centerline goodness [0,1] 0.985746902223306 Centerline is valid? [True, True] Translation: X:863.94, Y:-65.20, Z:3.09 [[ 9.99428141e-01 -3.30480926e-02 -7.15638973e-03 8.63937227e+02] [ 3.30515979e-02 9.99453577e-01 3.72071454e-04 -6.52005216e+01] [ 7.14018306e-03 -6.08388797e-04 9.99974323e-01 3.09223592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5907140569999 meters Centerline goodness [0,1] 0.9848623750642846 Centerline is valid? [True, True] Translation: X:863.97, Y:-65.21, Z:3.09 [[ 9.99424043e-01 -3.31118044e-02 -7.42900233e-03 8.63967880e+02] [ 3.31155868e-02 9.99451454e-01 3.86668494e-04 -6.52051560e+01] [ 7.41212389e-03 -6.32461561e-04 9.99972330e-01 3.09174138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.620714057 meters Centerline goodness [0,1] 0.9849173461658424 Centerline is valid? [True, True] Translation: X:864.00, Y:-65.21, Z:3.09 [[ 9.99426771e-01 -3.29235677e-02 -7.88461238e-03 8.63998528e+02] [ 3.29278258e-02 9.99457648e-01 4.10804941e-04 -6.52103397e+01] [ 7.86681098e-03 -6.70192598e-04 9.99968832e-01 3.09098121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.650714057 meters Centerline goodness [0,1] 0.9848919105067875 Centerline is valid? [True, True] Translation: X:864.03, Y:-65.21, Z:3.09 [[ 9.99436551e-01 -3.24172506e-02 -8.70068851e-03 8.64031120e+02] [ 3.24224229e-02 9.99474152e-01 4.54046021e-04 -6.52128044e+01] [ 8.68139434e-03 -7.35887591e-04 9.99962045e-01 3.09083833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6807140569999 meters Centerline goodness [0,1] 0.9847089371712643 Centerline is valid? [True, True] Translation: X:864.06, Y:-65.22, Z:3.09 [[ 9.99472028e-01 -3.12467927e-02 -8.90525697e-03 8.64060972e+02] [ 3.12521673e-02 9.99511424e-01 4.64971799e-04 -6.52167130e+01] [ 8.88637720e-03 -7.43034887e-04 9.99960239e-01 3.09016179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7107140569999 meters Centerline goodness [0,1] 0.9859320567155568 Centerline is valid? [True, True] Translation: X:864.09, Y:-65.22, Z:3.09 [[ 9.99550878e-01 -2.84580134e-02 -9.39057724e-03 8.64092033e+02] [ 2.84638696e-02 9.99594702e-01 4.90534175e-04 -6.52165380e+01] [ 9.37281162e-03 -7.57606031e-04 9.99955787e-01 3.09043014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7407140569999 meters Centerline goodness [0,1] 0.9869314513435893 Centerline is valid? [True, True] Translation: X:864.12, Y:-65.21, Z:3.09 [[ 9.99607975e-01 -2.63789383e-02 -9.38341063e-03 8.64123203e+02] [ 2.63846961e-02 9.99651743e-01 4.90334853e-04 -6.52127906e+01] [ 9.36720828e-03 -7.37721067e-04 9.99955855e-01 3.09109464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.770714057 meters Centerline goodness [0,1] 0.9876433262829789 Centerline is valid? [True, True] Translation: X:864.15, Y:-65.21, Z:3.09 [[ 9.99728048e-01 -2.13067015e-02 -9.47921375e-03 8.64154572e+02] [ 2.13123517e-02 9.99772743e-01 4.95430639e-04 -6.52091806e+01] [ 9.46650354e-03 -6.97320242e-04 9.99954949e-01 3.09206545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8007140569999 meters Centerline goodness [0,1] 0.9862576469545172 Centerline is valid? [True, True] Translation: X:864.18, Y:-65.22, Z:3.09 [[ 9.99773706e-01 -1.87759951e-02 -9.99989167e-03 8.64184525e+02] [ 1.87821572e-02 9.99823463e-01 5.22655059e-04 -6.52161212e+01] [ 9.98831295e-03 -7.10356323e-04 9.99949863e-01 3.09161018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8307140569999 meters Centerline goodness [0,1] 0.9880735169774376 Centerline is valid? [True, True] Translation: X:864.22, Y:-65.21, Z:3.09 [[ 9.99824993e-01 -1.56938107e-02 -1.01827404e-02 8.64216243e+02] [ 1.57000428e-02 9.99876605e-01 5.32369115e-04 -6.52094699e+01] [ 1.01731290e-02 -6.92145407e-04 9.99948013e-01 3.09251073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8607140569999 meters Centerline goodness [0,1] 0.987813604042753 Centerline is valid? [True, True] Translation: X:864.25, Y:-65.21, Z:3.09 [[ 9.99898743e-01 -9.63080958e-03 -1.04762132e-02 8.64246513e+02] [ 9.63707537e-03 9.99953412e-01 5.47778354e-04 -6.52077211e+01] [ 1.04704496e-02 -6.48682944e-04 9.99944973e-01 3.09236311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.890714057 meters Centerline goodness [0,1] 0.988285599750568 Centerline is valid? [True, True] Translation: X:864.28, Y:-65.21, Z:3.09 [[ 9.99924942e-01 -6.08323985e-03 -1.06350462e-02 8.64275315e+02] [ 6.08949379e-03 9.99981304e-01 5.55766674e-04 -6.52073737e+01] [ 1.06314665e-02 -6.20487007e-04 9.99943292e-01 3.09250762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9207140569999 meters Centerline goodness [0,1] 0.9884229310729422 Centerline is valid? [True, True] Translation: X:864.31, Y:-65.20, Z:3.09 [[ 9.99947506e-01 6.86163358e-04 -1.02231949e-02 8.64305184e+02] [-6.80740159e-04 9.99999626e-01 5.33950153e-04 -6.52026450e+01] [ 1.02235574e-02 -5.26962785e-04 9.99947599e-01 3.09337633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9507140569999 meters Centerline goodness [0,1] 0.9888096299598752 Centerline is valid? [True, True] Translation: X:864.33, Y:-65.20, Z:3.09 [[ 9.99944129e-01 3.33281881e-03 -1.00315351e-02 8.64333658e+02] [-3.32773481e-03 9.99994326e-01 5.23450875e-04 -6.52039483e+01] [ 1.00332227e-02 -4.90039340e-04 9.99949546e-01 3.09343222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9807140569999 meters Centerline goodness [0,1] 0.9888465964415332 Centerline is valid? [True, True] Translation: X:864.36, Y:-65.21, Z:3.09 [[ 9.99939637e-01 6.10475242e-03 -9.13533683e-03 8.64362972e+02] [-6.10065466e-03 9.99981277e-01 4.76360072e-04 -6.52050314e+01] [ 9.13807385e-03 -4.20599782e-04 9.99958158e-01 3.09404001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.010714057 meters Centerline goodness [0,1] 0.9895228308462157 Centerline is valid? [True, True] Translation: X:864.39, Y:-65.20, Z:3.10 [[ 9.99910827e-01 9.09960898e-03 -9.77419938e-03 8.64392920e+02] [-9.09506417e-03 9.99958509e-01 5.09330344e-04 -6.52007793e+01] [ 9.77842855e-03 -4.20387955e-04 9.99952102e-01 3.09503361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.040714057 meters Centerline goodness [0,1] 0.9899322879543835 Centerline is valid? [True, True] Translation: X:864.42, Y:-65.20, Z:3.10 [[ 9.99898156e-01 9.98646666e-03 -1.01954720e-02 8.64421492e+02] [-9.98157450e-03 9.99950042e-01 5.30609945e-04 -6.52012447e+01] [ 1.02002615e-02 -4.28789043e-04 9.99947884e-01 3.09517024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0707140569999 meters Centerline goodness [0,1] 0.9900055772448411 Centerline is valid? [True, True] Translation: X:864.45, Y:-65.20, Z:3.10 [[ 9.99891214e-01 1.03109736e-02 -1.05472476e-02 8.64450791e+02] [-1.03057622e-02 9.99946744e-01 5.48329698e-04 -6.52021657e+01] [ 1.05523397e-02 -4.39572621e-04 9.99944226e-01 3.09520137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1007140569999 meters Centerline goodness [0,1] 0.9902815460570209 Centerline is valid? [True, True] Translation: X:864.48, Y:-65.21, Z:3.09 [[ 9.99889094e-01 9.56641951e-03 -1.14141923e-02 8.64479259e+02] [-9.56027681e-03 9.99954124e-01 5.92605828e-04 -6.52055468e+01] [ 1.14193377e-02 -4.83417267e-04 9.99934680e-01 3.09492719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.130714057 meters Centerline goodness [0,1] 0.9895833333333334 Centerline is valid? [True, True] Translation: X:864.51, Y:-65.21, Z:3.09 [[ 9.99899442e-01 8.52205826e-03 -1.13349432e-02 8.64507056e+02] [-8.51594859e-03 9.99963566e-01 5.87168991e-04 -6.52104703e+01] [ 1.13395341e-02 -4.90582153e-04 9.99935585e-01 3.09441671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.160714057 meters Centerline goodness [0,1] 0.9904566992191844 Centerline is valid? [True, True] Translation: X:864.54, Y:-65.21, Z:3.10 [[ 9.99921457e-01 5.85199676e-03 -1.10830553e-02 8.64536421e+02] [-5.84599753e-03 9.99982747e-01 5.73617722e-04 -6.52147372e+01] [ 1.10862209e-02 -5.08781154e-04 9.99938417e-01 3.09518404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1907140569999 meters Centerline goodness [0,1] 0.9898725181006529 Centerline is valid? [True, True] Translation: X:864.56, Y:-65.22, Z:3.10 [[ 9.99933889e-01 4.08072151e-03 -1.07501115e-02 8.64564233e+02] [-4.07498458e-03 9.99991543e-01 5.55512589e-04 -6.52203705e+01] [ 1.07522875e-02 -5.11669325e-04 9.99942062e-01 3.09539845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2207140569999 meters Centerline goodness [0,1] 0.9894830067530167 Centerline is valid? [True, True] Translation: X:864.59, Y:-65.22, Z:3.10 [[ 9.99945245e-01 2.50324920e-03 -1.01607833e-02 8.64592994e+02] [-2.49805029e-03 9.99996742e-01 5.24323584e-04 -6.52219589e+01] [ 1.01620627e-02 -4.98912727e-04 9.99948240e-01 3.09664905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.250714057 meters Centerline goodness [0,1] 0.9896758115835614 Centerline is valid? [True, True] Translation: X:864.62, Y:-65.23, Z:3.10 [[ 9.99951273e-01 1.27186396e-04 -9.87092696e-03 8.64621280e+02] [-1.22169765e-04 9.99999863e-01 5.08824233e-04 -6.52289276e+01] [ 9.87099033e-03 -5.07593510e-04 9.99951152e-01 3.09754633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.280714057 meters Centerline goodness [0,1] 0.9888616864068462 Centerline is valid? [True, True] Translation: X:864.65, Y:-65.23, Z:3.10 [[ 9.99953596e-01 -4.87386531e-04 -9.62125941e-03 8.64650310e+02] [ 4.92174646e-04 9.99999756e-01 4.95298427e-04 -6.52299873e+01] [ 9.62101566e-03 -5.00010784e-04 9.99953592e-01 3.09800020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3107140569999 meters Centerline goodness [0,1] 0.9895990085863504 Centerline is valid? [True, True] Translation: X:864.68, Y:-65.24, Z:3.10 [[ 9.99942157e-01 -1.49976669e-03 -1.06504905e-02 8.64677614e+02] [ 1.50568001e-03 9.99998717e-01 5.47219701e-04 -6.52366063e+01] [ 1.06496561e-02 -5.63224279e-04 9.99943132e-01 3.09696960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3407140569999 meters Centerline goodness [0,1] 0.9899722307929651 Centerline is valid? [True, True] Translation: X:864.71, Y:-65.24, Z:3.10 [[ 9.99936091e-01 -2.02640377e-03 -1.11223573e-02 8.64706000e+02] [ 2.03287607e-03 9.99997771e-01 5.70643154e-04 -6.52393415e+01] [ 1.11211761e-02 -5.93217059e-04 9.99937982e-01 3.09691588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.370714057 meters Centerline goodness [0,1] 0.9894959837584959 Centerline is valid? [True, True] Translation: X:864.73, Y:-65.25, Z:3.10 [[ 9.99922779e-01 -3.79026013e-03 -1.18351490e-02 8.64733779e+02] [ 3.79770211e-03 9.99992605e-01 6.06392259e-04 -6.52451368e+01] [ 1.18327631e-02 -6.51291803e-04 9.99929778e-01 3.09593266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.400714057 meters Centerline goodness [0,1] 0.9894250127209575 Centerline is valid? [True, True] Translation: X:864.76, Y:-65.25, Z:3.10 [[ 9.99911381e-01 -5.06001042e-03 -1.23136438e-02 8.64762201e+02] [ 5.06815196e-03 9.99986958e-01 6.30065693e-04 -6.52487313e+01] [ 1.23102951e-02 -6.92417276e-04 9.99923986e-01 3.09552640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4307140569999 meters Centerline goodness [0,1] 0.9893408936067339 Centerline is valid? [True, True] Translation: X:864.79, Y:-65.25, Z:3.10 [[ 9.99899437e-01 -6.21693230e-03 -1.27461820e-02 8.64791226e+02] [ 6.22571348e-03 9.99980409e-01 6.49362840e-04 -6.52510815e+01] [ 1.27418953e-02 -7.28651616e-04 9.99918553e-01 3.09525447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4607140569999 meters Centerline goodness [0,1] 0.989481791176147 Centerline is valid? [True, True] Translation: X:864.82, Y:-65.26, Z:3.09 [[ 9.99874671e-01 -8.87297088e-03 -1.31115496e-02 8.64819173e+02] [ 8.88247568e-03 9.99960328e-01 6.66860611e-04 -6.52579676e+01] [ 1.31051124e-02 -7.83240055e-04 9.99913818e-01 3.09445298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4907140569999 meters Centerline goodness [0,1] 0.9890114729911255 Centerline is valid? [True, True] Translation: X:864.85, Y:-65.26, Z:3.09 [[ 9.99855889e-01 -1.03073006e-02 -1.34892796e-02 8.64848512e+02] [ 1.03174842e-02 9.99946538e-01 6.85572350e-04 -6.52614171e+01] [ 1.34814920e-02 -8.24648982e-04 9.99908781e-01 3.09425310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.520714057 meters Centerline goodness [0,1] 0.989419388969713 Centerline is valid? [True, True] Translation: X:864.88, Y:-65.27, Z:3.09 [[ 9.99829779e-01 -1.28266356e-02 -1.32623551e-02 8.64877485e+02] [ 1.28366917e-02 9.99917380e-01 6.73395421e-04 -6.52650269e+01] [ 1.32526219e-02 -8.43525558e-04 9.99911824e-01 3.09445430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5507140569999 meters Centerline goodness [0,1] 0.9890610555971299 Centerline is valid? [True, True] Translation: X:864.91, Y:-65.27, Z:3.09 [[ 9.99812563e-01 -1.39970455e-02 -1.33761727e-02 8.64905947e+02] [ 1.40073703e-02 9.99901662e-01 6.78501754e-04 -6.52694535e+01] [ 1.33653603e-02 -8.65739582e-04 9.99910305e-01 3.09444758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5807140569999 meters Centerline goodness [0,1] 0.988995089442301 Centerline is valid? [True, True] Translation: X:864.94, Y:-65.27, Z:3.10 [[ 9.99805326e-01 -1.49249502e-02 -1.29056819e-02 8.64935329e+02] [ 1.49346298e-02 9.99888258e-01 6.53971092e-04 -6.52664216e+01] [ 1.28944793e-02 -8.46585361e-04 9.99916504e-01 3.09580015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6107140569999 meters Centerline goodness [0,1] 0.9891136674159284 Centerline is valid? [True, True] Translation: X:864.96, Y:-65.27, Z:3.10 [[ 9.99781553e-01 -1.68289469e-02 -1.23948366e-02 8.64964593e+02] [ 1.68380154e-02 9.99858034e-01 6.27638912e-04 -6.52703176e+01] [ 1.23825145e-02 -8.36206257e-04 9.99922984e-01 3.09633239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.640714057 meters Centerline goodness [0,1] 0.9892653620179352 Centerline is valid? [True, True] Translation: X:865.00, Y:-65.27, Z:3.10 [[ 9.99773840e-01 -1.74801060e-02 -1.21125761e-02 8.64995398e+02] [ 1.74888132e-02 9.99846871e-01 6.13301938e-04 -6.52678248e+01] [ 1.21000008e-02 -8.24997814e-04 9.99926452e-01 3.09749640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6707140569999 meters Centerline goodness [0,1] 0.989632276707917 Centerline is valid? [True, True] Translation: X:865.03, Y:-65.27, Z:3.10 [[ 9.99765883e-01 -1.86520582e-02 -1.09672275e-02 8.65025633e+02] [ 1.86592686e-02 9.99825746e-01 5.55479151e-04 -6.52713994e+01] [ 1.09549556e-02 -7.59989548e-04 9.99939704e-01 3.09824876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7007140569999 meters Centerline goodness [0,1] 0.9896914058179405 Centerline is valid? [True, True] Translation: X:865.06, Y:-65.27, Z:3.10 [[ 9.99746886e-01 -1.97838355e-02 -1.07127526e-02 8.65056918e+02] [ 1.97907835e-02 9.99803996e-01 5.42941453e-04 -6.52745656e+01] [ 1.06999114e-02 -7.54817795e-04 9.99942469e-01 3.09857751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7307140569999 meters Centerline goodness [0,1] 0.9896914058179405 Centerline is valid? [True, True] Translation: X:865.09, Y:-65.28, Z:3.10 [[ 9.99748269e-01 -1.97138439e-02 -1.07127169e-02 8.65088647e+02] [ 1.97207955e-02 9.99805378e-01 5.43645222e-04 -6.52762366e+01] [ 1.06999146e-02 -7.54771668e-04 9.99942469e-01 3.09861931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.760714057 meters Centerline goodness [0,1] 0.9886788305122005 Centerline is valid? [True, True] Translation: X:865.12, Y:-65.28, Z:3.10 [[ 9.99711774e-01 -2.14999839e-02 -1.06827114e-02 8.65119717e+02] [ 2.15070025e-02 9.99768550e-01 5.42541618e-04 -6.52782892e+01] [ 1.06685743e-02 -7.72138344e-04 9.99942791e-01 3.09902770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.790714057 meters Centerline goodness [0,1] 0.9880019373018668 Centerline is valid? [True, True] Translation: X:865.15, Y:-65.28, Z:3.10 [[ 9.99689063e-01 -2.21983755e-02 -1.13582676e-02 8.65150717e+02] [ 2.22063612e-02 9.99753242e-01 5.77425258e-04 -6.52811901e+01] [ 1.13426470e-02 -8.29471509e-04 9.99935326e-01 3.09878199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8207140569999 meters Centerline goodness [0,1] 0.9879706192821957 Centerline is valid? [True, True] Translation: X:865.18, Y:-65.28, Z:3.10 [[ 9.99671099e-01 -2.29253223e-02 -1.14945259e-02 8.65181837e+02] [ 2.29335534e-02 9.99736820e-01 5.84776204e-04 -6.52811406e+01] [ 1.14780946e-02 -8.48194194e-04 9.99933765e-01 3.09898750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8507140569999 meters Centerline goodness [0,1] 0.988525998194111 Centerline is valid? [True, True] Translation: X:865.21, Y:-65.28, Z:3.10 [[ 9.99641274e-01 -2.36447783e-02 -1.25796224e-02 8.65213834e+02] [ 2.36547041e-02 9.99719983e-01 6.40812764e-04 -6.52824823e+01] [ 1.25609480e-02 -9.38150133e-04 9.99920668e-01 3.09845302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.880714057 meters Centerline goodness [0,1] 0.9880598330139008 Centerline is valid? [True, True] Translation: X:865.24, Y:-65.28, Z:3.10 [[ 9.99632932e-01 -2.37117384e-02 -1.31055322e-02 8.65244933e+02] [ 2.37225239e-02 9.99718358e-01 6.68104701e-04 -6.52836886e+01] [ 1.30859992e-02 -9.78755761e-04 9.99913896e-01 3.09804806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.910714057 meters Centerline goodness [0,1] 0.9876229978378855 Centerline is valid? [True, True] Translation: X:865.28, Y:-65.28, Z:3.10 [[ 9.99647368e-01 -2.27868525e-02 -1.36344879e-02 8.65276394e+02] [ 2.27984471e-02 9.99739840e-01 6.95542505e-04 -6.52819076e+01] [ 1.36150915e-02 -1.00614239e-03 9.99906804e-01 3.09848529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9407140569999 meters Centerline goodness [0,1] 0.9875209824189416 Centerline is valid? [True, True] Translation: X:865.31, Y:-65.28, Z:3.10 [[ 9.99663837e-01 -2.21483925e-02 -1.34782171e-02 8.65307202e+02] [ 2.21596713e-02 9.99754208e-01 6.88031475e-04 -6.52835040e+01] [ 1.34596655e-02 -9.86473045e-04 9.99908928e-01 3.09878127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9707140569999 meters Centerline goodness [0,1] 0.988342513327582 Centerline is valid? [True, True] Translation: X:865.34, Y:-65.28, Z:3.10 [[ 9.99687113e-01 -2.12184886e-02 -1.32458480e-02 8.65338503e+02] [ 2.12293066e-02 9.99774404e-01 6.76621493e-04 -6.52827743e+01] [ 1.32285029e-02 -9.57609955e-04 9.99912041e-01 3.09972298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.000714057 meters Centerline goodness [0,1] 0.9892439801699717 Centerline is valid? [True, True] Translation: X:865.37, Y:-65.28, Z:3.10 [[ 9.99744047e-01 -1.83852999e-02 -1.31841199e-02 8.65369538e+02] [ 1.83957755e-02 9.99830556e-01 6.73720788e-04 -6.52766074e+01] [ 1.31694994e-02 -9.16080456e-04 9.99912859e-01 3.10137964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.030714057 meters Centerline goodness [0,1] 0.9888148131741566 Centerline is valid? [True, True] Translation: X:865.40, Y:-65.28, Z:3.10 [[ 9.99766745e-01 -1.68664544e-02 -1.34899051e-02 8.65399211e+02] [ 1.68772843e-02 9.99857331e-01 6.89370235e-04 -6.52808858e+01] [ 1.34763533e-02 -9.16882400e-04 9.99908769e-01 3.10062551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0607140569999 meters Centerline goodness [0,1] 0.9898231268331704 Centerline is valid? [True, True] Translation: X:865.43, Y:-65.27, Z:3.10 [[ 9.99823089e-01 -1.33898579e-02 -1.32099221e-02 8.65430468e+02] [ 1.33999406e-02 9.99909989e-01 6.75045611e-04 -6.52721402e+01] [ 1.31996943e-02 -8.51938360e-04 9.99912517e-01 3.10224530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0907140569999 meters Centerline goodness [0,1] 0.9899917710117208 Centerline is valid? [True, True] Translation: X:865.46, Y:-65.27, Z:3.10 [[ 9.99838463e-01 -1.20046940e-02 -1.33766668e-02 8.65460380e+02] [ 1.20149037e-02 9.99927585e-01 6.83141987e-04 -6.52714704e+01] [ 1.33674973e-02 -8.43750998e-04 9.99910295e-01 3.10282642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.120714057 meters Centerline goodness [0,1] 0.990071016718983 Centerline is valid? [True, True] Translation: X:865.49, Y:-65.27, Z:3.10 [[ 9.99863972e-01 -9.42457509e-03 -1.35356902e-02 8.65490756e+02] [ 9.43478996e-03 9.99955253e-01 6.91002720e-04 -6.52684231e+01] [ 1.35285721e-02 -8.18615118e-04 9.99908150e-01 3.10344025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.150714057 meters Centerline goodness [0,1] 0.9902292454929891 Centerline is valid? [True, True] Translation: X:865.52, Y:-65.27, Z:3.10 [[ 9.99879407e-01 -8.23929967e-03 -1.31637748e-02 8.65519643e+02] [ 8.24884736e-03 9.99965752e-01 6.71168682e-04 -6.52684481e+01] [ 1.31577940e-02 -7.79673712e-04 9.99913129e-01 3.10367606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1807140569999 meters Centerline goodness [0,1] 0.9908837001452352 Centerline is valid? [True, True] Translation: X:865.55, Y:-65.27, Z:3.10 [[ 9.99882675e-01 -7.54184745e-03 -1.33325364e-02 8.65548323e+02] [ 7.55153942e-03 9.99971258e-01 6.76747039e-04 -6.52679102e+01] [ 1.33270492e-02 -7.77348814e-04 9.99910889e-01 3.10408133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2107140569999 meters Centerline goodness [0,1] 0.9908712578869647 Centerline is valid? [True, True] Translation: X:865.58, Y:-65.26, Z:3.11 [[ 9.99899385e-01 -5.58278534e-03 -1.30403805e-02 8.65578332e+02] [ 5.59188154e-03 9.99984147e-01 6.61183734e-04 -6.52639141e+01] [ 1.30364825e-02 -7.34037472e-04 9.99914752e-01 3.10515148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2407140569999 meters Centerline goodness [0,1] 0.9903874032606999 Centerline is valid? [True, True] Translation: X:865.61, Y:-65.27, Z:3.10 [[ 9.99907074e-01 -4.88741357e-03 -1.27262448e-02 8.65605610e+02] [ 4.89600716e-03 9.99987807e-01 6.44197111e-04 -6.52663697e+01] [ 1.27229412e-02 -7.06445033e-04 9.99918811e-01 3.10478645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.270714057 meters Centerline goodness [0,1] 0.9909381068232038 Centerline is valid? [True, True] Translation: X:865.63, Y:-65.26, Z:3.11 [[ 9.99902282e-01 -4.38591652e-03 -1.32737019e-02 8.65634296e+02] [ 4.39517973e-03 9.99990118e-01 6.68771003e-04 -6.52641295e+01] [ 1.32706376e-02 -7.27045957e-04 9.99911677e-01 3.10551078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3007140569999 meters Centerline goodness [0,1] 0.9904390461332739 Centerline is valid? [True, True] Translation: X:865.66, Y:-65.27, Z:3.11 [[ 9.99899213e-01 -4.52637144e-03 -1.34564094e-02 8.65661989e+02] [ 4.53588504e-03 9.99989484e-01 6.76557905e-04 -6.52663854e+01] [ 1.34532055e-02 -7.37526444e-04 9.99909230e-01 3.10511846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3307140569999 meters Centerline goodness [0,1] 0.9898384401114206 Centerline is valid? [True, True] Translation: X:865.69, Y:-65.27, Z:3.11 [[ 9.99892494e-01 -4.76929500e-03 -1.38655587e-02 8.65690259e+02] [ 4.77940218e-03 9.99988336e-01 6.95896492e-04 -6.52674345e+01] [ 1.38620781e-02 -7.62090760e-04 9.99903626e-01 3.10516214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3607140569999 meters Centerline goodness [0,1] 0.9902310643233116 Centerline is valid? [True, True] Translation: X:865.72, Y:-65.28, Z:3.10 [[ 9.99877779e-01 -5.84033514e-03 -1.45023498e-02 8.65717114e+02] [ 5.85147228e-03 9.99982617e-01 7.25639919e-04 -6.52755151e+01] [ 1.44978598e-02 -8.10411329e-04 9.99894572e-01 3.10305126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.390714057 meters Centerline goodness [0,1] 0.9905712948309298 Centerline is valid? [True, True] Translation: X:865.75, Y:-65.27, Z:3.10 [[ 9.99876029e-01 -6.68102854e-03 -1.42580050e-02 8.65745663e+02] [ 6.69183122e-03 9.99977357e-01 7.10082868e-04 -6.52740327e+01] [ 1.42529381e-02 -8.05407001e-04 9.99898097e-01 3.10381547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4207140569999 meters Centerline goodness [0,1] 0.991122808582772 Centerline is valid? [True, True] Translation: X:865.78, Y:-65.27, Z:3.10 [[ 9.99865967e-01 -8.36450178e-03 -1.40742326e-02 8.65775656e+02] [ 8.37518313e-03 9.99964682e-01 7.00159422e-04 -6.52715199e+01] [ 1.40678791e-02 -8.17939853e-04 9.99900708e-01 3.10482070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4507140569999 meters Centerline goodness [0,1] 0.9903218596334377 Centerline is valid? [True, True] Translation: X:865.80, Y:-65.27, Z:3.10 [[ 9.99854534e-01 -9.63039175e-03 -1.40771861e-02 8.65803440e+02] [ 9.64118594e-03 9.99953278e-01 6.99122093e-04 -6.52739867e+01] [ 1.40697956e-02 -8.34741163e-04 9.99900667e-01 3.10478820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4807140569999 meters Centerline goodness [0,1] 0.9900657053797681 Centerline is valid? [True, True] Translation: X:865.83, Y:-65.28, Z:3.11 [[ 9.99844355e-01 -1.06908287e-02 -1.40346422e-02 8.65831738e+02] [ 1.07016157e-02 9.99942495e-01 6.93723556e-04 -6.52759533e+01] [ 1.40264186e-02 -8.43808928e-04 9.99901269e-01 3.10511513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.510714057 meters Centerline goodness [0,1] 0.9899157033293831 Centerline is valid? [True, True] Translation: X:865.86, Y:-65.28, Z:3.11 [[ 9.99820164e-01 -1.26652999e-02 -1.41149034e-02 8.65860213e+02] [ 1.26763925e-02 9.99919409e-01 6.96684010e-04 -6.52782001e+01] [ 1.41049422e-02 -8.75484776e-04 9.99900137e-01 3.10503539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.540714057 meters Centerline goodness [0,1] 0.9896144417205259 Centerline is valid? [True, True] Translation: X:865.89, Y:-65.28, Z:3.11 [[ 9.99804629e-01 -1.34157057e-02 -1.45163020e-02 8.65889886e+02] [ 1.34275092e-02 9.99909591e-01 7.15958061e-04 -6.52793106e+01] [ 1.45053846e-02 -9.10735962e-04 9.99894377e-01 3.10525928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5707140569999 meters Centerline goodness [0,1] 0.9899787970092624 Centerline is valid? [True, True] Translation: X:865.92, Y:-65.28, Z:3.11 [[ 9.99783504e-01 -1.46900988e-02 -1.47358872e-02 8.65918593e+02] [ 1.47023888e-02 9.99891650e-01 7.26032961e-04 -6.52829698e+01] [ 1.47236251e-02 -9.42528522e-04 9.99891157e-01 3.10501128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6007140569999 meters Centerline goodness [0,1] 0.989896962397966 Centerline is valid? [True, True] Translation: X:865.95, Y:-65.28, Z:3.10 [[ 9.99779711e-01 -1.47197761e-02 -1.49618944e-02 8.65948613e+02] [ 1.47324413e-02 9.99891200e-01 7.36630379e-04 -6.52847088e+01] [ 1.49494235e-02 -9.56893339e-04 9.99887793e-01 3.10470537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.630714057 meters Centerline goodness [0,1] 0.9907023636159964 Centerline is valid? [True, True] Translation: X:865.98, Y:-65.28, Z:3.11 [[ 9.99778343e-01 -1.43639367e-02 -1.53929432e-02 8.65978981e+02] [ 1.43772918e-02 9.99896355e-01 7.57298098e-04 -6.52790400e+01] [ 1.53804700e-02 -9.78439073e-04 9.99881235e-01 3.10623154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.660714057 meters Centerline goodness [0,1] 0.9904606585943434 Centerline is valid? [True, True] Translation: X:866.01, Y:-65.28, Z:3.11 [[ 9.99808448e-01 -1.19987307e-02 -1.54627838e-02 8.66008105e+02] [ 1.20119170e-02 9.99927565e-01 7.60179993e-04 -6.52782758e+01] [ 1.54525426e-02 -9.45772055e-04 9.99880155e-01 3.10633246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6907140569999 meters Centerline goodness [0,1] 0.9905042786603213 Centerline is valid? [True, True] Translation: X:866.04, Y:-65.28, Z:3.11 [[ 9.99833100e-01 -1.00518636e-02 -1.52555929e-02 8.66037139e+02] [ 1.00644648e-02 9.99949071e-01 7.49454278e-04 -6.52845624e+01] [ 1.52472825e-02 -9.02868571e-04 9.99883346e-01 3.10540017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7207140569999 meters Centerline goodness [0,1] 0.991291499697777 Centerline is valid? [True, True] Translation: X:866.07, Y:-65.27, Z:3.11 [[ 9.99882812e-01 -5.00979907e-03 -1.44659726e-02 8.66067874e+02] [ 5.02060225e-03 9.99987144e-01 7.10580052e-04 -6.52742453e+01] [ 1.44622268e-02 -7.83124676e-04 9.99895110e-01 3.10857171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.750714057 meters Centerline goodness [0,1] 0.9900877114472388 Centerline is valid? [True, True] Translation: X:866.10, Y:-65.27, Z:3.11 [[ 9.99906136e-01 -2.41241833e-03 -1.34870031e-02 8.66097705e+02] [ 2.42156728e-03 9.99996849e-01 6.62063043e-04 -6.52729759e+01] [ 1.34853634e-02 -6.94660584e-04 9.99908827e-01 3.10955285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.780714057 meters Centerline goodness [0,1] 0.9902481673279978 Centerline is valid? [True, True] Translation: X:866.13, Y:-65.27, Z:3.11 [[ 9.99919343e-01 1.73634875e-04 -1.26995072e-02 8.66127486e+02] [-1.65736965e-04 9.99999792e-01 6.22956572e-04 -6.52695423e+01] [ 1.26996127e-02 -6.20801548e-04 9.99919164e-01 3.11096398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8107140569999 meters Centerline goodness [0,1] 0.9905288969876943 Centerline is valid? [True, True] Translation: X:866.16, Y:-65.27, Z:3.11 [[ 9.99919121e-01 5.13335455e-03 -1.16361567e-02 8.66157715e+02] [-5.12706015e-03 9.99986694e-01 5.70700257e-04 -6.52659070e+01] [ 1.16389314e-02 -5.10994824e-04 9.99932135e-01 3.11198737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8407140569999 meters Centerline goodness [0,1] 0.990547778728001 Centerline is valid? [True, True] Translation: X:866.19, Y:-65.27, Z:3.11 [[ 9.99911146e-01 6.56064862e-03 -1.16042030e-02 8.66186394e+02] [-6.55449328e-03 9.99978358e-01 5.68392457e-04 -6.52652305e+01] [ 1.16076808e-02 -4.92282283e-04 9.99932507e-01 3.11244183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.870714057 meters Centerline goodness [0,1] 0.9905142062655574 Centerline is valid? [True, True] Translation: X:866.22, Y:-65.26, Z:3.11 [[ 9.99903832e-01 8.32114298e-03 -1.10943555e-02 8.66215118e+02] [-8.31563355e-03 9.99965277e-01 5.42635250e-04 -6.52648310e+01] [ 1.10984856e-02 -4.50326472e-04 9.99938309e-01 3.11219824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.900714057 meters Centerline goodness [0,1] 0.9902412699840353 Centerline is valid? [True, True] Translation: X:866.24, Y:-65.27, Z:3.11 [[ 9.99898378e-01 8.56194548e-03 -1.13985798e-02 8.66243857e+02] [-8.55615455e-03 9.99963240e-01 5.56708933e-04 -6.52663267e+01] [ 1.14029273e-02 -4.59124348e-04 9.99934879e-01 3.11157852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9307140569999 meters Centerline goodness [0,1] 0.9897090214582631 Centerline is valid? [True, True] Translation: X:866.27, Y:-65.27, Z:3.11 [[ 9.99891509e-01 8.53494733e-03 -1.20052040e-02 8.66271807e+02] [-8.52853403e-03 9.99963460e-01 5.85304823e-04 -6.52717573e+01] [ 1.20097609e-02 -4.82854532e-04 9.99927764e-01 3.10990650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9607140569999 meters Centerline goodness [0,1] 0.989953024207143 Centerline is valid? [True, True] Translation: X:866.30, Y:-65.27, Z:3.11 [[ 9.99878928e-01 7.15068928e-03 -1.38201540e-02 8.66300553e+02] [-7.14207220e-03 9.99974269e-01 6.72769987e-04 -6.52692598e+01] [ 1.38246092e-02 -5.73983995e-04 9.99904271e-01 3.10935748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9907140569999 meters Centerline goodness [0,1] 0.9907247288162239 Centerline is valid? [True, True] Translation: X:866.33, Y:-65.27, Z:3.11 [[ 9.99881610e-01 6.24147864e-03 -1.40645200e-02 8.66328512e+02] [-6.23248146e-03 9.99980344e-01 6.83448006e-04 -6.52732047e+01] [ 1.40685093e-02 -5.95710232e-04 9.99900856e-01 3.10850750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.020714057 meters Centerline goodness [0,1] 0.990002913948849 Centerline is valid? [True, True] Translation: X:866.36, Y:-65.28, Z:3.11 [[ 9.99873010e-01 3.42841755e-03 -1.55631183e-02 8.66357884e+02] [-3.41707038e-03 9.99993876e-01 7.55639789e-04 -6.52758386e+01] [ 1.55656137e-02 -7.02363559e-04 9.99878602e-01 3.10797565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0507140569999 meters Centerline goodness [0,1] 0.9900188408397631 Centerline is valid? [True, True] Translation: X:866.39, Y:-65.28, Z:3.11 [[ 9.99871800e-01 2.17343234e-03 -1.58637580e-02 8.66386398e+02] [-2.16150190e-03 9.99997368e-01 7.69163462e-04 -6.52779319e+01] [ 1.58653880e-02 -7.34775313e-04 9.99873867e-01 3.10784321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0807140569999 meters Centerline goodness [0,1] 0.9895169255634372 Centerline is valid? [True, True] Translation: X:866.41, Y:-65.28, Z:3.11 [[ 9.99873182e-01 1.21333261e-03 -1.58791464e-02 8.66414603e+02] [-1.20128911e-03 9.99998984e-01 7.67963985e-04 -6.52802845e+01] [ 1.58800620e-02 -7.48791148e-04 9.99873623e-01 3.10742952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1107140569999 meters Centerline goodness [0,1] 0.9899538054446787 Centerline is valid? [True, True] Translation: X:866.44, Y:-65.28, Z:3.11 [[ 9.99881235e-01 8.44971363e-05 -1.54113502e-02 8.66442913e+02] [-7.30408244e-05 9.99999721e-01 7.43929824e-04 -6.52820474e+01] [ 1.54114087e-02 -7.42715814e-04 9.99880961e-01 3.10795796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.140714057 meters Centerline goodness [0,1] 0.9890542119931673 Centerline is valid? [True, True] Translation: X:866.47, Y:-65.29, Z:3.11 [[ 9.99883631e-01 -4.47985645e-04 -1.52487299e-02 8.66470177e+02] [ 4.59242788e-04 9.99999625e-01 7.34741135e-04 -6.52860166e+01] [ 1.52483950e-02 -7.41658503e-04 9.99883461e-01 3.10790769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1707140569999 meters Centerline goodness [0,1] 0.9894137173103665 Centerline is valid? [True, True] Translation: X:866.50, Y:-65.28, Z:3.11 [[ 9.99907436e-01 -5.91813975e-04 -1.35929882e-02 8.66499551e+02] [ 6.00747960e-04 9.99999606e-01 6.53175796e-04 -6.52842575e+01] [ 1.35925962e-02 -6.61281296e-04 9.99907398e-01 3.10960699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2007140569999 meters Centerline goodness [0,1] 0.9884748194986323 Centerline is valid? [True, True] Translation: X:866.53, Y:-65.29, Z:3.11 [[ 9.99906494e-01 -6.52048642e-04 -1.36593288e-02 8.66525800e+02] [ 6.61052193e-04 9.99999567e-01 6.54645759e-04 -6.52903480e+01] [ 1.36588960e-02 -6.63614075e-04 9.99906493e-01 3.10872828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2307140569999 meters Centerline goodness [0,1] 0.9882284356151483 Centerline is valid? [True, True] Translation: X:866.55, Y:-65.29, Z:3.11 [[ 9.99913064e-01 -6.09490520e-04 -1.31716677e-02 8.66554967e+02] [ 6.17819825e-04 9.99999612e-01 6.28305523e-04 -6.52913622e+01] [ 1.31712796e-02 -6.36388618e-04 9.99913052e-01 3.10916626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.260714057 meters Centerline goodness [0,1] 0.9886641675458484 Centerline is valid? [True, True] Translation: X:866.58, Y:-65.29, Z:3.11 [[ 9.99920193e-01 5.53875253e-05 -1.26334940e-02 8.66583220e+02] [-4.78153677e-05 9.99999819e-01 5.99672874e-04 -6.52929044e+01] [ 1.26335250e-02 -5.99020940e-04 9.99920014e-01 3.10920724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.290714057 meters Centerline goodness [0,1] 0.9883069865755211 Centerline is valid? [True, True] Translation: X:866.61, Y:-65.29, Z:3.11 [[ 9.99916762e-01 2.42212217e-04 -1.29000073e-02 8.66611944e+02] [-2.34346964e-04 9.99999786e-01 6.11217320e-04 -6.52922493e+01] [ 1.29001526e-02 -6.08143366e-04 9.99916605e-01 3.10891683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3207140569999 meters Centerline goodness [0,1] 0.9882564275289099 Centerline is valid? [True, True] Translation: X:866.64, Y:-65.30, Z:3.11 [[ 9.99914000e-01 1.82375107e-04 -1.31133291e-02 8.66638908e+02] [-1.74261949e-04 9.99999793e-01 6.19835512e-04 -6.52973862e+01] [ 1.31134395e-02 -6.17497052e-04 9.99913824e-01 3.10775474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3507140569999 meters Centerline goodness [0,1] 0.9887539764326359 Centerline is valid? [True, True] Translation: X:866.67, Y:-65.29, Z:3.11 [[ 9.99914613e-01 5.97990097e-05 -1.30676246e-02 8.66667025e+02] [-5.17496380e-05 9.99999809e-01 6.16315458e-04 -6.52948205e+01] [ 1.30676589e-02 -6.15586588e-04 9.99914425e-01 3.10850333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.380714057 meters Centerline goodness [0,1] 0.9888863942523575 Centerline is valid? [True, True] Translation: X:866.70, Y:-65.30, Z:3.11 [[ 9.99906807e-01 5.44578790e-04 -1.36411252e-02 8.66695412e+02] [-5.35894366e-04 9.99999651e-01 6.40282645e-04 -6.52959997e+01] [ 1.36414691e-02 -6.32912773e-04 9.99906751e-01 3.10847644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.410714057 meters Centerline goodness [0,1] 0.9887632889247746 Centerline is valid? [True, True] Translation: X:866.72, Y:-65.30, Z:3.11 [[ 9.99907115e-01 1.43031258e-03 -1.35541561e-02 8.66724406e+02] [-1.42186342e-03 9.99998789e-01 6.32978710e-04 -6.52965346e+01] [ 1.35550450e-02 -6.13647757e-04 9.99907938e-01 3.10922227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4407140569999 meters Centerline goodness [0,1] 0.989538433908046 Centerline is valid? [True, True] Translation: X:866.75, Y:-65.30, Z:3.11 [[ 9.99907971e-01 5.21763875e-03 -1.25229863e-02 8.66753641e+02] [-5.21073117e-03 9.99986253e-01 5.84157228e-04 -6.52961856e+01] [ 1.25258620e-02 -5.18849554e-04 9.99921414e-01 3.10970505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4707140569999 meters Centerline goodness [0,1] 0.9889068534986077 Centerline is valid? [True, True] Translation: X:866.78, Y:-65.30, Z:3.11 [[ 9.99891596e-01 8.20700080e-03 -1.22246264e-02 8.66783697e+02] [-8.20064427e-03 9.99966212e-01 5.70014597e-04 -6.52957607e+01] [ 1.22288914e-02 -4.69702993e-04 9.99925114e-01 3.10989132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.500714057 meters Centerline goodness [0,1] 0.9893108425040592 Centerline is valid? [True, True] Translation: X:866.81, Y:-65.29, Z:3.11 [[ 9.99862738e-01 1.14083101e-02 -1.20147685e-02 8.66813623e+02] [-1.14024054e-02 9.99934834e-01 5.59843845e-04 -6.52929843e+01] [ 1.20203725e-02 -4.22769739e-04 9.99927663e-01 3.11086074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.530714057 meters Centerline goodness [0,1] 0.98973587278771 Centerline is valid? [True, True] Translation: X:866.84, Y:-65.29, Z:3.11 [[ 9.99734754e-01 2.00121364e-02 -1.13989711e-02 8.66843566e+02] [-2.00073830e-02 9.99799691e-01 5.30903644e-04 -6.52892550e+01] [ 1.14073123e-02 -3.02699244e-04 9.99934889e-01 3.11115293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5607140569999 meters Centerline goodness [0,1] 0.9915754381222688 Centerline is valid? [True, True] Translation: X:866.87, Y:-65.29, Z:3.11 [[ 9.99643073e-01 2.43889698e-02 -1.09043463e-02 8.66872400e+02] [-2.43848877e-02 9.99702516e-01 5.07169668e-04 -6.52851741e+01] [ 1.09134717e-02 -2.41087387e-04 9.99940417e-01 3.11280770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5907140569999 meters Centerline goodness [0,1] 0.9923634802647929 Centerline is valid? [True, True] Translation: X:866.90, Y:-65.28, Z:3.11 [[ 9.99409880e-01 3.27712748e-02 -1.02925230e-02 8.66902509e+02] [-3.27680848e-02 9.99462868e-01 4.78467032e-04 -6.52823633e+01] [ 1.03026745e-02 -1.40918413e-04 9.99946916e-01 3.11276613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.620714057 meters Centerline goodness [0,1] 0.9923634802647929 Centerline is valid? [True, True] Translation: X:866.93, Y:-65.28, Z:3.11 [[ 9.99419129e-01 3.24879433e-02 -1.02926420e-02 8.66929858e+02] [-3.24847647e-02 9.99472117e-01 4.75898646e-04 -6.52835682e+01] [ 1.03026697e-02 -1.41268156e-04 9.99946916e-01 3.11280217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.650714057 meters Centerline goodness [0,1] 0.9927132447492499 Centerline is valid? [True, True] Translation: X:866.96, Y:-65.28, Z:3.11 [[ 9.99317405e-01 3.56318738e-02 -9.75157113e-03 8.66959011e+02] [-3.56291928e-02 9.99364978e-01 4.48577080e-04 -6.52842455e+01] [ 9.76136231e-03 -1.00830276e-04 9.99952352e-01 3.11316121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6807140569999 meters Centerline goodness [0,1] 0.9927129159616469 Centerline is valid? [True, True] Translation: X:866.99, Y:-65.29, Z:3.11 [[ 9.99209052e-01 3.86016124e-02 -9.54917226e-03 8.66988110e+02] [-3.85991995e-02 9.99254678e-01 4.36925731e-04 -6.52858758e+01] [ 9.55892108e-03 -6.79897409e-05 9.99954310e-01 3.11263863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7107140569999 meters Centerline goodness [0,1] 0.9934220900633011 Centerline is valid? [True, True] Translation: X:867.02, Y:-65.29, Z:3.11 [[ 9.99047512e-01 4.26091575e-02 -9.40894870e-03 8.67016622e+02] [-4.26070148e-02 9.99091817e-01 4.28157455e-04 -6.52897583e+01] [ 9.41864708e-03 -2.68624243e-05 9.99955643e-01 3.11149041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7407140569999 meters Centerline goodness [0,1] 0.9937091374778135 Centerline is valid? [True, True] Translation: X:867.04, Y:-65.29, Z:3.11 [[ 9.98994892e-01 4.37569087e-02 -9.72305789e-03 8.67044800e+02] [-4.37547014e-02 9.99042208e-01 4.39713761e-04 -6.52930884e+01] [ 9.73298574e-03 -1.38423060e-05 9.99952633e-01 3.11083775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.770714057 meters Centerline goodness [0,1] 0.9942718512029113 Centerline is valid? [True, True] Translation: X:867.07, Y:-65.30, Z:3.11 [[ 9.98889612e-01 4.61578868e-02 -9.43354876e-03 8.67071584e+02] [-4.61559290e-02 9.98934157e-01 4.25256118e-04 -6.52991863e+01] [ 9.44312300e-03 1.06302877e-05 9.99955413e-01 3.10912047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8007140569999 meters Centerline goodness [0,1] 0.9937946638589574 Centerline is valid? [True, True] Translation: X:867.10, Y:-65.30, Z:3.11 [[ 9.98857793e-01 4.69803022e-02 -8.71557185e-03 8.67099787e+02] [-4.69786819e-02 9.98895816e-01 3.90658526e-04 -6.53033771e+01] [ 8.72430151e-03 1.92337648e-05 9.99961942e-01 3.10994052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8307140569999 meters Centerline goodness [0,1] 0.9935073657815788 Centerline is valid? [True, True] Translation: X:867.13, Y:-65.31, Z:3.11 [[ 9.98826978e-01 4.77544657e-02 -8.01117381e-03 8.67127338e+02] [-4.77531394e-02 9.98859104e-01 3.56861502e-04 -6.53081515e+01] [ 8.01907562e-03 2.61158042e-05 9.99967846e-01 3.11032319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8607140569999 meters Centerline goodness [0,1] 0.993801284338209 Centerline is valid? [True, True] Translation: X:867.15, Y:-65.32, Z:3.11 [[ 9.98796585e-01 4.86859866e-02 -5.92084266e-03 8.67154793e+02] [-4.86852880e-02 9.98814134e-01 2.62148106e-04 -6.53177340e+01] [ 5.92658427e-03 2.64252966e-05 9.99982437e-01 3.11051827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.890714057 meters Centerline goodness [0,1] 0.9942406048476762 Centerline is valid? [True, True] Translation: X:867.18, Y:-65.33, Z:3.11 [[ 9.98818452e-01 4.83962621e-02 -4.41596788e-03 8.67180874e+02] [-4.83958746e-02 9.98828214e-01 1.94630994e-04 -6.53282636e+01] [ 4.42021273e-03 1.93135992e-05 9.99990231e-01 3.11001050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9207140569999 meters Centerline goodness [0,1] 0.9936739767379916 Centerline is valid? [True, True] Translation: X:867.21, Y:-65.33, Z:3.11 [[ 9.98863375e-01 4.75253630e-02 -3.64658058e-03 8.67209009e+02] [-4.75250960e-02 9.98870031e-01 1.59884122e-04 -6.53346232e+01] [ 3.65005861e-03 1.36016985e-05 9.99993338e-01 3.10967448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9507140569999 meters Centerline goodness [0,1] 0.9942935503848536 Centerline is valid? [True, True] Translation: X:867.24, Y:-65.34, Z:3.11 [[ 9.98912638e-01 4.64734265e-02 -3.70970333e-03 8.67236760e+02] [-4.64731452e-02 9.98919527e-01 1.62039353e-04 -6.53411522e+01] [ 3.71322562e-03 1.05384237e-05 9.99993106e-01 3.10930848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9807140569999 meters Centerline goodness [0,1] 0.9932343379316404 Centerline is valid? [True, True] Translation: X:867.27, Y:-65.35, Z:3.11 [[ 9.99097546e-01 4.23598362e-02 -3.12050058e-03 8.67265221e+02] [-4.23596178e-02 9.99102419e-01 1.36058260e-04 -6.53544651e+01] [ 3.12346308e-03 -3.75226138e-06 9.99995122e-01 3.10776322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.010714057 meters Centerline goodness [0,1] 0.9934524591599877 Centerline is valid? [True, True] Translation: X:867.29, Y:-65.36, Z:3.11 [[ 9.99206312e-01 3.97383647e-02 -2.75842462e-03 8.67293164e+02] [-3.97381847e-02 9.99210119e-01 1.20062737e-04 -6.53623925e+01] [ 2.76101689e-03 -1.03526581e-05 9.99996188e-01 3.10734004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.040714057 meters Centerline goodness [0,1] 0.9920728254714927 Centerline is valid? [True, True] Translation: X:867.32, Y:-65.38, Z:3.11 [[ 9.99439868e-01 3.33599320e-02 -2.65793182e-03 8.67321531e+02] [-3.33597429e-02 9.99443402e-01 1.15482415e-04 -6.53781744e+01] [ 2.66030491e-03 -2.67498075e-05 9.99996461e-01 3.10565349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0707140569999 meters Centerline goodness [0,1] 0.9909225156358582 Centerline is valid? [True, True] Translation: X:867.35, Y:-65.39, Z:3.10 [[ 9.99556211e-01 2.97156736e-02 -2.08820588e-03 8.67349713e+02] [-2.97155492e-02 9.99558391e-01 9.06010041e-05 -6.53868736e+01] [ 2.08997598e-03 -2.85086117e-05 9.99997816e-01 3.10488716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1007140569999 meters Centerline goodness [0,1] 0.9908314412368905 Centerline is valid? [True, True] Translation: X:867.38, Y:-65.39, Z:3.10 [[ 9.99663979e-01 2.58402430e-02 -2.05205823e-03 8.67378030e+02] [-2.58401149e-02 9.99666085e-01 8.88893772e-05 -6.53949021e+01] [ 2.05366994e-03 -3.58340881e-05 9.99997891e-01 3.10423321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.130714057 meters Centerline goodness [0,1] 0.9886886130599029 Centerline is valid? [True, True] Translation: X:867.41, Y:-65.41, Z:3.10 [[ 9.99834897e-01 1.80888419e-02 -1.72400627e-03 8.67406570e+02] [-1.80887402e-02 9.99836383e-01 7.45974778e-05 -6.54108250e+01] [ 1.72507357e-03 -4.34000601e-05 9.99998511e-01 3.10370519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.160714057 meters Centerline goodness [0,1] 0.9876408110717734 Centerline is valid? [True, True] Translation: X:867.44, Y:-65.42, Z:3.10 [[ 9.99942484e-01 1.07237136e-02 -1.73129623e-04 8.67436611e+02] [-1.07237124e-02 9.99942499e-01 7.49017633e-06 -6.54248215e+01] [ 1.73199990e-04 -5.63315324e-06 9.99999985e-01 3.10376540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1907140569999 meters Centerline goodness [0,1] 0.9871228137612915 Centerline is valid? [True, True] Translation: X:867.46, Y:-65.43, Z:3.10 [[ 9.99972031e-01 7.46437279e-03 4.68714558e-04 8.67464341e+02] [-7.46436413e-03 9.99972141e-01 -2.02159743e-05 -6.54328645e+01] [-4.68852399e-04 1.67167527e-05 9.99999890e-01 3.10397616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2207140569999 meters Centerline goodness [0,1] 0.986351773413768 Centerline is valid? [True, True] Translation: X:867.49, Y:-65.44, Z:3.10 [[ 9.99990736e-01 4.20911947e-03 9.00193098e-04 8.67492157e+02] [-4.20908628e-03 9.99991141e-01 -3.87608722e-05 -6.54408150e+01] [-9.00348272e-04 3.49715228e-05 9.99999594e-01 3.10407164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.250714057 meters Centerline goodness [0,1] 0.9857974537777493 Centerline is valid? [True, True] Translation: X:867.52, Y:-65.45, Z:3.10 [[ 9.99998016e-01 -1.40269468e-03 1.41425668e-03 8.67521993e+02] [ 1.40278236e-03 9.99999014e-01 -6.10050064e-05 -6.54493517e+01] [-1.41416971e-03 6.29887797e-05 9.99998998e-01 3.10257134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.280714057 meters Centerline goodness [0,1] 0.9839306210942482 Centerline is valid? [True, True] Translation: X:867.55, Y:-65.46, Z:3.10 [[ 9.99991336e-01 -3.94506407e-03 1.32860086e-03 8.67551449e+02] [ 3.94514371e-03 9.99992216e-01 -5.73253140e-05 -6.54571990e+01] [-1.32836436e-03 6.25663387e-05 9.99999116e-01 3.10241558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3107140569999 meters Centerline goodness [0,1] 0.9839923672214566 Centerline is valid? [True, True] Translation: X:867.58, Y:-65.47, Z:3.10 [[ 9.99967576e-01 -7.73771052e-03 2.23023955e-03 8.67581472e+02] [ 7.73794447e-03 9.99970057e-01 -9.62896424e-05 -6.54674592e+01] [-2.22942771e-03 1.13543990e-04 9.99997508e-01 3.10215934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3407140569999 meters Centerline goodness [0,1] 0.9846502851569954 Centerline is valid? [True, True] Translation: X:867.61, Y:-65.47, Z:3.10 [[ 9.99953158e-01 -9.36625879e-03 2.44038571e-03 8.67613643e+02] [ 9.36654433e-03 9.99956127e-01 -1.05605810e-04 -6.54679440e+01] [-2.43928951e-03 1.28458844e-04 9.99997017e-01 3.10184464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.370714057 meters Centerline goodness [0,1] 0.9834202603570369 Centerline is valid? [True, True] Translation: X:867.64, Y:-65.48, Z:3.10 [[ 9.99926439e-01 -1.17978509e-02 2.81547845e-03 8.67643694e+02] [ 1.17982405e-02 9.99930391e-01 -1.21802267e-04 -6.54752653e+01] [-2.81384546e-03 1.55010999e-04 9.99996029e-01 3.10112193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.400714057 meters Centerline goodness [0,1] 0.9837939885030651 Centerline is valid? [True, True] Translation: X:867.68, Y:-65.48, Z:3.10 [[ 9.99913217e-01 -1.27729384e-02 3.22652312e-03 8.67676070e+02] [ 1.27734561e-02 9.99918406e-01 -1.39882573e-04 -6.54768621e+01] [-3.22447315e-03 1.81084285e-04 9.99994785e-01 3.10094572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4307140569999 meters Centerline goodness [0,1] 0.9833067856005098 Centerline is valid? [True, True] Translation: X:867.71, Y:-65.48, Z:3.10 [[ 9.99901451e-01 -1.36625305e-02 3.22839867e-03 8.67707435e+02] [ 1.36630539e-02 9.99906646e-01 -1.40111691e-04 -6.54813526e+01] [-3.22618301e-03 1.84207668e-04 9.99994779e-01 3.10092128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4607140569999 meters Centerline goodness [0,1] 0.9821447505142397 Centerline is valid? [True, True] Translation: X:867.74, Y:-65.49, Z:3.10 [[ 9.99874975e-01 -1.54380164e-02 3.42090759e-03 8.67739519e+02] [ 1.54386153e-02 9.99880806e-01 -1.48723784e-04 -6.54858457e+01] [-3.41820384e-03 2.01519266e-04 9.99994138e-01 3.10082676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4907140569999 meters Centerline goodness [0,1] 0.9821120053937887 Centerline is valid? [True, True] Translation: X:867.77, Y:-65.49, Z:3.10 [[ 9.99858246e-01 -1.64566416e-02 3.55891333e-03 8.67772048e+02] [ 1.64572971e-02 9.99864558e-01 -1.54969230e-04 -6.54878123e+01] [-3.55588103e-03 2.13517357e-04 9.99993655e-01 3.10047452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.520714057 meters Centerline goodness [0,1] 0.9820464135021097 Centerline is valid? [True, True] Translation: X:867.80, Y:-65.49, Z:3.10 [[ 9.99821765e-01 -1.83825410e-02 4.30359880e-03 8.67803332e+02] [ 1.83835176e-02 9.99830991e-01 -1.87482563e-04 -6.54894674e+01] [-4.29942505e-03 2.66564431e-04 9.99990722e-01 3.09988593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5507140569999 meters Centerline goodness [0,1] 0.9819466248037677 Centerline is valid? [True, True] Translation: X:867.84, Y:-65.49, Z:3.10 [[ 9.99790262e-01 -1.99115084e-02 4.79196590e-03 8.67835026e+02] [ 1.99127380e-02 9.99801700e-01 -2.09033752e-04 -6.54904190e+01] [-4.78685347e-03 3.04411072e-04 9.99988497e-01 3.09950082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5807140569999 meters Centerline goodness [0,1] 0.9817996906583045 Centerline is valid? [True, True] Translation: X:867.87, Y:-65.49, Z:3.10 [[ 9.99761555e-01 -2.11856718e-02 5.29161065e-03 8.67866881e+02] [ 2.11871912e-02 9.99775500e-01 -2.31221522e-04 -6.54926343e+01] [-5.28552410e-03 3.43280755e-04 9.99985973e-01 3.09954355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6107140569999 meters Centerline goodness [0,1] 0.9810115875835237 Centerline is valid? [True, True] Translation: X:867.90, Y:-65.50, Z:3.10 [[ 9.99702639e-01 -2.37299343e-02 5.61461850e-03 8.67896471e+02] [ 2.37316871e-02 9.99718334e-01 -2.45775653e-04 -6.54953957e+01] [-5.60720481e-03 3.78946939e-04 9.99984208e-01 3.09923678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.640714057 meters Centerline goodness [0,1] 0.981085264742679 Centerline is valid? [True, True] Translation: X:867.93, Y:-65.50, Z:3.10 [[ 9.99675895e-01 -2.48498332e-02 5.53082441e-03 8.67928347e+02] [ 2.48515533e-02 9.99691123e-01 -2.42488011e-04 -6.54959410e+01] [-5.52309028e-03 3.79858997e-04 9.99984675e-01 3.09905308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6707140569999 meters Centerline goodness [0,1] 0.9824542747766908 Centerline is valid? [True, True] Translation: X:867.96, Y:-65.49, Z:3.10 [[ 9.99602061e-01 -2.76285406e-02 5.69064398e-03 8.67959713e+02] [ 2.76304065e-02 9.99618176e-01 -2.49524745e-04 -6.54941940e+01] [-5.68157716e-03 4.06660256e-04 9.99983777e-01 3.09820689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7007140569999 meters Centerline goodness [0,1] 0.9819017034941835 Centerline is valid? [True, True] Translation: X:867.99, Y:-65.50, Z:3.10 [[ 9.99547375e-01 -2.95849170e-02 5.45694403e-03 8.67990442e+02] [ 2.95866623e-02 9.99562190e-01 -2.39375251e-04 -6.54955473e+01] [-5.44747303e-03 4.00719664e-04 9.99985082e-01 3.09784774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7307140569999 meters Centerline goodness [0,1] 0.9810963681211193 Centerline is valid? [True, True] Translation: X:868.02, Y:-65.50, Z:3.10 [[ 9.99424723e-01 -3.35712891e-02 4.81584599e-03 8.68019558e+02] [ 3.35726947e-02 9.99436256e-01 -2.11296677e-04 -6.54983718e+01] [-4.80603758e-03 3.72856050e-04 9.99988381e-01 3.09694395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.760714057 meters Centerline goodness [0,1] 0.9807659574468085 Centerline is valid? [True, True] Translation: X:868.05, Y:-65.50, Z:3.10 [[ 9.99343128e-01 -3.59504597e-02 4.56920759e-03 8.68051046e+02] [ 3.59517506e-02 9.99353507e-01 -2.00669542e-04 -6.54990262e+01] [-4.55903947e-03 3.64808739e-04 9.99989541e-01 3.09615706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.790714057 meters Centerline goodness [0,1] 0.9817438575464429 Centerline is valid? [True, True] Translation: X:868.08, Y:-65.50, Z:3.10 [[ 9.99245111e-01 -3.86035825e-02 4.35566398e-03 8.68081924e+02] [ 3.86047808e-02 9.99254539e-01 -1.91346970e-04 -6.55003227e+01] [-4.34503032e-03 3.59351977e-04 9.99990496e-01 3.09556074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8207140569999 meters Centerline goodness [0,1] 0.978693908889268 Centerline is valid? [True, True] Translation: X:868.11, Y:-65.51, Z:3.09 [[ 9.99034580e-01 -4.37613367e-02 3.85407107e-03 8.68111021e+02] [ 4.37623126e-02 9.99041957e-01 -1.69196310e-04 -6.55059506e+01] [-3.84297444e-03 3.37696027e-04 9.99992559e-01 3.09456324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8507140569999 meters Centerline goodness [0,1] 0.9819941048314751 Centerline is valid? [True, True] Translation: X:868.14, Y:-65.50, Z:3.09 [[ 9.98922045e-01 -4.62563237e-02 3.88605408e-03 8.68142320e+02] [ 4.62573350e-02 9.98929542e-01 -1.70717917e-04 -6.54987525e+01] [-3.87399744e-03 3.50292396e-04 9.99992435e-01 3.09409295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.880714057 meters Centerline goodness [0,1] 0.981379103454187 Centerline is valid? [True, True] Translation: X:868.17, Y:-65.50, Z:3.09 [[ 9.98764897e-01 -4.95033485e-02 4.25426840e-03 8.68173178e+02] [ 4.95045897e-02 9.98773879e-01 -1.86884736e-04 -6.54964981e+01] [-4.23980073e-03 3.97259726e-04 9.99990933e-01 3.09434830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.910714057 meters Centerline goodness [0,1] 0.9808980082417582 Centerline is valid? [True, True] Translation: X:868.20, Y:-65.50, Z:3.09 [[ 9.98737385e-01 -5.00661027e-02 4.12564004e-03 8.68204643e+02] [ 5.00672776e-02 9.98745831e-01 -1.81938974e-04 -6.54979369e+01] [-4.11135681e-03 3.88268820e-04 9.99991473e-01 3.09477652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9407140569999 meters Centerline goodness [0,1] 0.980754376930999 Centerline is valid? [True, True] Translation: X:868.24, Y:-65.49, Z:3.10 [[ 9.98780720e-01 -4.91314981e-02 4.81334665e-03 8.68237641e+02] [ 4.91330883e-02 9.98792218e-01 -2.12615738e-04 -6.54929861e+01] [-4.79708704e-03 4.48851086e-04 9.99988393e-01 3.09550482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9707140569999 meters Centerline goodness [0,1] 0.9803516474056857 Centerline is valid? [True, True] Translation: X:868.27, Y:-65.49, Z:3.10 [[ 9.98824261e-01 -4.81909225e-02 5.26601888e-03 8.68269779e+02] [ 4.81928147e-02 9.98838024e-01 -2.32953163e-04 -6.54909264e+01] [-5.24867366e-03 4.86463543e-04 9.99986107e-01 3.09560871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.000714057 meters Centerline goodness [0,1] 0.9800112369262685 Centerline is valid? [True, True] Translation: X:868.30, Y:-65.49, Z:3.10 [[ 9.98879299e-01 -4.70086676e-02 5.50745112e-03 8.68301101e+02] [ 4.70107203e-02 9.98894355e-01 -2.43778311e-04 -6.54893465e+01] [-5.48990214e-03 5.02414353e-04 9.99984804e-01 3.09552540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.030714057 meters Centerline goodness [0,1] 0.9818327486899658 Centerline is valid? [True, True] Translation: X:868.33, Y:-65.48, Z:3.09 [[ 9.98967044e-01 -4.51256115e-02 5.34082838e-03 8.68332765e+02] [ 4.51275156e-02 9.98981207e-01 -2.36477016e-04 -6.54801452e+01] [-5.32471601e-03 4.77251062e-04 9.99985710e-01 3.09475113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0607140569999 meters Centerline goodness [0,1] 0.9800813273316372 Centerline is valid? [True, True] Translation: X:868.36, Y:-65.48, Z:3.09 [[ 9.99001117e-01 -4.44007738e-02 5.03388017e-03 8.68364023e+02] [ 4.44024577e-02 9.99013700e-01 -2.23204485e-04 -6.54828997e+01] [-5.01900480e-03 4.46498181e-04 9.99987305e-01 3.09493696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0907140569999 meters Centerline goodness [0,1] 0.9814947858837872 Centerline is valid? [True, True] Translation: X:868.40, Y:-65.48, Z:3.09 [[ 9.99044203e-01 -4.35761336e-02 3.43514520e-03 8.68396215e+02] [ 4.35769139e-02 9.99050063e-01 -1.52597222e-04 -6.54780578e+01] [-3.42523243e-03 3.02144396e-04 9.99994088e-01 3.09306847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.120714057 meters Centerline goodness [0,1] 0.9804844049485973 Centerline is valid? [True, True] Translation: X:868.43, Y:-65.48, Z:3.09 [[ 9.99050046e-01 -4.35082055e-02 2.45781570e-03 8.68427156e+02] [ 4.35086050e-02 9.99053046e-01 -1.09311766e-04 -6.54774305e+01] [-2.45073231e-03 2.16144057e-04 9.99996974e-01 3.09227430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.150714057 meters Centerline goodness [0,1] 0.9833078101071976 Centerline is valid? [True, True] Translation: X:868.46, Y:-65.47, Z:3.09 [[ 9.99037180e-01 -4.38275998e-02 1.96332406e-03 8.68459928e+02] [ 4.38278557e-02 9.99039094e-01 -8.74985242e-05 -6.54702826e+01] [-1.95760264e-03 1.73462562e-04 9.99998069e-01 3.09101655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1807140569999 meters Centerline goodness [0,1] 0.9767446952941949 Centerline is valid? [True, True] Translation: X:868.49, Y:-65.48, Z:3.09 [[ 9.99000800e-01 -4.46842549e-02 8.48078735e-04 8.68491272e+02] [ 4.46843030e-02 9.99001157e-01 -3.78704597e-05 -6.54750952e+01] [-8.45539424e-04 7.57284267e-05 9.99999640e-01 3.08955654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2107140569999 meters Centerline goodness [0,1] 0.9762143542338886 Centerline is valid? [True, True] Translation: X:868.52, Y:-65.47, Z:3.09 [[ 9.98976211e-01 -4.52354519e-02 5.31941077e-04 8.68523530e+02] [ 4.52354710e-02 9.98976352e-01 -2.38347966e-05 -6.54737545e+01] [-5.30318378e-04 4.78729999e-05 9.99999858e-01 3.08914591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2407140569999 meters Centerline goodness [0,1] 0.9842821755047461 Centerline is valid? [True, True] Translation: X:868.56, Y:-65.46, Z:3.09 [[ 9.98922515e-01 -4.64089764e-02 1.28381755e-04 8.68555735e+02] [ 4.64089776e-02 9.98922523e-01 -5.80879278e-06 -6.54591949e+01] [-1.27973847e-04 1.17605999e-05 9.99999992e-01 3.08971511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.270714057 meters Centerline goodness [0,1] 0.9823478854926505 Centerline is valid? [True, True] Translation: X:868.59, Y:-65.46, Z:3.09 [[ 9.98900913e-01 -4.68698195e-02 4.32135479e-04 8.68587265e+02] [ 4.68698322e-02 9.98901005e-01 -1.94072131e-05 -6.54615674e+01] [-4.30750952e-04 3.96400003e-05 9.99999906e-01 3.09048687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3007140569999 meters Centerline goodness [0,1] 0.9846048956431854 Centerline is valid? [True, True] Translation: X:868.62, Y:-65.46, Z:3.09 [[ 9.98874407e-01 -4.74275582e-02 7.38197373e-04 8.68620025e+02] [ 4.74275956e-02 9.98874678e-01 -3.31798075e-05 -6.54575109e+01] [-7.35793026e-04 6.81533871e-05 9.99999727e-01 3.09064713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3307140569999 meters Centerline goodness [0,1] 0.9837451949478309 Centerline is valid? [True, True] Translation: X:868.65, Y:-65.46, Z:3.09 [[ 9.98796741e-01 -4.90293206e-02 1.09316193e-03 8.68651460e+02] [ 4.90294034e-02 9.98797334e-01 -4.90805092e-05 -6.54552623e+01] [-1.08944083e-03 1.02618530e-04 9.99999401e-01 3.09100302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3607140569999 meters Centerline goodness [0,1] 0.9829722387861923 Centerline is valid? [True, True] Translation: X:868.68, Y:-65.46, Z:3.09 [[ 9.98673038e-01 -5.14844684e-02 1.22980076e-03 8.68681555e+02] [ 5.14845750e-02 9.98673788e-01 -5.51788750e-05 -6.54558148e+01] [-1.22532892e-03 1.18421424e-04 9.99999242e-01 3.09068996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.390714057 meters Centerline goodness [0,1] 0.9805034223890483 Centerline is valid? [True, True] Translation: X:868.71, Y:-65.46, Z:3.09 [[ 9.98600932e-01 -5.28613812e-02 1.36143667e-03 8.68713073e+02] [ 5.28615132e-02 9.98601851e-01 -6.11702545e-05 -6.54570018e+01] [-1.35629964e-03 1.33052276e-04 9.99999071e-01 3.09048522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4207140569999 meters Centerline goodness [0,1] 0.9815166504725731 Centerline is valid? [True, True] Translation: X:868.75, Y:-65.46, Z:3.09 [[ 9.98548061e-01 -5.38528019e-02 1.28306612e-03 8.68745564e+02] [ 5.38529202e-02 9.98548877e-01 -5.77912113e-05 -6.54555501e+01] [-1.27809201e-03 1.26804159e-04 9.99999175e-01 3.09057586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4507140569999 meters Centerline goodness [0,1] 0.9814381049189022 Centerline is valid? [True, True] Translation: X:868.78, Y:-65.45, Z:3.09 [[ 9.98434028e-01 -5.59342958e-02 9.20442381e-04 8.68776660e+02] [ 5.59343575e-02 9.98434447e-01 -4.14305479e-05 -6.54540278e+01] [-9.16683991e-04 9.28500220e-05 9.99999576e-01 3.09026938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4807140569999 meters Centerline goodness [0,1] 0.9759619637328616 Centerline is valid? [True, True] Translation: X:868.81, Y:-65.46, Z:3.09 [[ 9.98363989e-01 -5.71780134e-02 1.42124976e-04 8.68806562e+02] [ 5.71780150e-02 9.98363999e-01 -6.52111358e-06 -6.54552610e+01] [-1.41519595e-04 1.46368689e-05 9.99999990e-01 3.08974832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.510714057 meters Centerline goodness [0,1] 0.9820828172004955 Centerline is valid? [True, True] Translation: X:868.84, Y:-65.45, Z:3.09 [[ 9.98359833e-01 -5.72506437e-02 8.89321633e-05 8.68838978e+02] [ 5.72506443e-02 9.98359837e-01 -4.11034478e-06 -6.54502954e+01] [-8.85509801e-05 9.19502677e-06 9.99999996e-01 3.08967045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.540714057 meters Centerline goodness [0,1] 0.9820828172004955 Centerline is valid? [True, True] Translation: X:868.87, Y:-65.45, Z:3.09 [[ 9.98366058e-01 -5.71419788e-02 8.89295559e-05 8.68871652e+02] [ 5.71419794e-02 9.98366062e-01 -4.16791387e-06 -6.54518628e+01] [-8.85460877e-05 9.24271459e-06 9.99999996e-01 3.08971347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5707140569999 meters Centerline goodness [0,1] 0.9784349832493954 Centerline is valid? [True, True] Translation: X:868.90, Y:-65.45, Z:3.09 [[ 9.98330011e-01 -5.77683418e-02 8.43834987e-05 8.68902556e+02] [ 5.77683423e-02 9.98330015e-01 -3.99627372e-06 -6.54545383e+01] [-8.40117214e-05 8.86429483e-06 9.99999996e-01 3.09001062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6007140569999 meters Centerline goodness [0,1] 0.9763817764435812 Centerline is valid? [True, True] Translation: X:868.93, Y:-65.46, Z:3.09 [[ 9.98335529e-01 -5.76720357e-02 3.29339186e-04 8.68934125e+02] [ 5.76720439e-02 9.98335582e-01 -1.53246956e-05 -6.54563604e+01] [-3.27907221e-04 3.42928520e-05 9.99999946e-01 3.09052895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.630714057 meters Centerline goodness [0,1] 0.9816149564214588 Centerline is valid? [True, True] Translation: X:868.97, Y:-65.45, Z:3.09 [[ 9.98331232e-01 -5.77406510e-02 8.76912308e-04 8.68966131e+02] [ 5.77407086e-02 9.98331613e-01 -4.05102264e-05 -6.54523426e+01] [-8.73110192e-04 9.10761622e-05 9.99999615e-01 3.09048284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.660714057 meters Centerline goodness [0,1] 0.980949849370902 Centerline is valid? [True, True] Translation: X:869.00, Y:-65.45, Z:3.09 [[ 9.98353675e-01 -5.73558743e-02 4.94146595e-04 8.68998118e+02] [ 5.73558925e-02 9.98353796e-01 -2.27852749e-05 -6.54509377e+01] [-4.92026259e-04 5.10899819e-05 9.99999878e-01 3.08978692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6907140569999 meters Centerline goodness [0,1] 0.9657920440419109 Centerline is valid? [True, True] Translation: X:869.03, Y:-65.46, Z:3.09 [[ 9.98387755e-01 -5.67616741e-02 5.72126665e-05 8.69029069e+02] [ 5.67616744e-02 9.98387756e-01 -2.94551286e-06 -6.54590570e+01] [-5.69532335e-05 6.18825071e-06 9.99999998e-01 3.08952665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7207140569999 meters Centerline goodness [0,1] 0.9780251394175444 Centerline is valid? [True, True] Translation: X:869.06, Y:-65.45, Z:3.09 [[ 9.98426648e-01 -5.60734041e-02 3.49347379e-05 8.69061285e+02] [ 5.60734042e-02 9.98426649e-01 -1.70877816e-06 -6.54546022e+01] [-3.47839563e-05 3.66499933e-06 9.99999999e-01 3.08910570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.750714057 meters Centerline goodness [0,1] 0.9799639350831497 Centerline is valid? [True, True] Translation: X:869.09, Y:-65.45, Z:3.09 [[ 9.98531654e-01 -5.41712946e-02 8.65229524e-05 8.69092391e+02] [ 5.41712951e-02 9.98531657e-01 -4.02416504e-06 -6.54522171e+01] [-8.61779128e-05 8.70531656e-06 9.99999996e-01 3.08950608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.780714057 meters Centerline goodness [0,1] 0.9776231832683445 Centerline is valid? [True, True] Translation: X:869.12, Y:-65.45, Z:3.09 [[ 9.98595207e-01 -5.29868335e-02 -8.53629974e-05 8.69123277e+02] [ 5.29868340e-02 9.98595211e-01 3.90375932e-06 -6.54543521e+01] [ 8.50362325e-05 -8.42139032e-06 9.99999996e-01 3.08945023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8107140569999 meters Centerline goodness [0,1] 0.979170825846809 Centerline is valid? [True, True] Translation: X:869.15, Y:-65.45, Z:3.09 [[ 9.98680943e-01 -5.13443367e-02 -3.66117578e-04 8.69154847e+02] [ 5.13443463e-02 9.98681009e-01 1.68925703e-05 -6.54538731e+01] [ 3.64767335e-04 -3.56683557e-05 9.99999933e-01 3.08894483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8407140569999 meters Centerline goodness [0,1] 0.9802101420239526 Centerline is valid? [True, True] Translation: X:869.18, Y:-65.45, Z:3.09 [[ 9.98871658e-01 -4.74836982e-02 -8.42107649e-04 8.69184384e+02] [ 4.74837478e-02 9.98872010e-01 3.90213171e-05 -6.54533307e+01] [ 8.39304884e-04 -7.89637149e-05 9.99999645e-01 3.08854679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.870714057 meters Centerline goodness [0,1] 0.9810509908706302 Centerline is valid? [True, True] Translation: X:869.21, Y:-65.45, Z:3.09 [[ 9.98966088e-01 -4.54333584e-02 -1.60127244e-03 8.69214941e+02] [ 4.54335351e-02 9.98967361e-01 7.41521579e-05 -6.54527203e+01] [ 1.59624992e-03 -1.46826959e-04 9.99998715e-01 3.08796423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.900714057 meters Centerline goodness [0,1] 0.9847609738759552 Centerline is valid? [True, True] Translation: X:869.25, Y:-65.45, Z:3.09 [[ 9.99072554e-01 -4.29766603e-02 -2.65288191e-03 8.69246474e+02] [ 4.29771369e-02 9.99076048e-01 1.22873692e-04 -6.54480915e+01] [ 2.64515008e-03 -2.36773002e-04 9.99996474e-01 3.08732821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9307140569999 meters Centerline goodness [0,1] 0.9809636456961771 Centerline is valid? [True, True] Translation: X:869.28, Y:-65.45, Z:3.09 [[ 9.99192388e-01 -4.00508054e-02 -3.24100356e-03 8.69275797e+02] [ 4.00515014e-02 9.99197605e-01 1.50116475e-04 -6.54518230e+01] [ 3.23239071e-03 -2.79802299e-04 9.99994737e-01 3.08646089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9607140569999 meters Centerline goodness [0,1] 0.9877383893005763 Centerline is valid? [True, True] Translation: X:869.31, Y:-65.45, Z:3.09 [[ 9.99408765e-01 -3.40836021e-02 -4.51980361e-03 8.69306748e+02] [ 3.40848952e-02 9.99418919e-01 2.09352727e-04 -6.54452720e+01] [ 4.51004175e-03 -3.63285982e-04 9.99989764e-01 3.08532655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9907140569999 meters Centerline goodness [0,1] 0.9856139176982268 Centerline is valid? [True, True] Translation: X:869.34, Y:-65.45, Z:3.09 [[ 9.99504072e-01 -3.11271127e-02 -4.76589974e-03 8.69336073e+02] [ 3.11285182e-02 9.99515366e-01 2.20998268e-04 -6.54474771e+01] [ 4.75671099e-03 -3.69244066e-04 9.99988619e-01 3.08511993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.020714057 meters Centerline goodness [0,1] 0.9870806231699412 Centerline is valid? [True, True] Translation: X:869.37, Y:-65.44, Z:3.09 [[ 9.99652128e-01 -2.58911409e-02 -5.02713453e-03 8.69366736e+02] [ 2.58926393e-02 9.99664702e-01 2.33200089e-04 -6.54405884e+01] [ 5.01941113e-03 -3.63284746e-04 9.99987337e-01 3.08574421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0507140569999 meters Centerline goodness [0,1] 0.9878995280592274 Centerline is valid? [True, True] Translation: X:869.40, Y:-65.44, Z:3.09 [[ 9.99709746e-01 -2.34953449e-02 -5.32843371e-03 8.69398037e+02] [ 2.34969949e-02 9.99723877e-01 2.47252092e-04 -6.54403280e+01] [ 5.32115313e-03 -3.72382505e-04 9.99985773e-01 3.08601538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0807140569999 meters Centerline goodness [0,1] 0.9874577258169276 Centerline is valid? [True, True] Translation: X:869.43, Y:-65.44, Z:3.09 [[ 9.99749597e-01 -2.18065043e-02 -5.02184808e-03 8.69428190e+02] [ 2.18079491e-02 9.99762151e-01 2.33111723e-04 -6.54430808e+01] [ 5.01557029e-03 -3.42569558e-04 9.99987363e-01 3.08657403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1107140569999 meters Centerline goodness [0,1] 0.9889222765394448 Centerline is valid? [True, True] Translation: X:869.46, Y:-65.43, Z:3.09 [[ 9.99805398e-01 -1.93781284e-02 -3.69521618e-03 8.69459939e+02] [ 1.93788944e-02 9.99812197e-01 1.71590557e-04 -6.54287276e+01] [ 3.69119710e-03 -2.43166369e-04 9.99993158e-01 3.08828504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.140714057 meters Centerline goodness [0,1] 0.9889511429852085 Centerline is valid? [True, True] Translation: X:869.49, Y:-65.43, Z:3.09 [[ 9.99826310e-01 -1.83617327e-02 -3.19318355e-03 8.69492731e+02] [ 1.83623001e-02 9.99831388e-01 1.48466618e-04 -6.54289707e+01] [ 3.18991904e-03 -2.07075025e-04 9.99994891e-01 3.08898210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1707140569999 meters Centerline goodness [0,1] 0.9890658959019516 Centerline is valid? [True, True] Translation: X:869.52, Y:-65.43, Z:3.09 [[ 9.99845214e-01 -1.74115241e-02 -2.52726712e-03 8.69524808e+02] [ 1.74118770e-02 9.99848395e-01 1.17684151e-04 -6.54289031e+01] [ 2.52483491e-03 -1.61670399e-04 9.99996800e-01 3.08949647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2007140569999 meters Centerline goodness [0,1] 0.9901100868164324 Centerline is valid? [True, True] Translation: X:869.56, Y:-65.43, Z:3.09 [[ 9.99855760e-01 -1.68242485e-02 -2.32455895e-03 8.69556895e+02] [ 1.68245458e-02 9.99858451e-01 1.08403329e-04 -6.54286768e+01] [ 2.32240610e-03 -1.47497341e-04 9.99997292e-01 3.08994066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2307140569999 meters Centerline goodness [0,1] 0.9887544419954118 Centerline is valid? [True, True] Translation: X:869.59, Y:-65.43, Z:3.09 [[ 9.99831900e-01 -1.81960200e-02 -2.25306227e-03 8.69587675e+02] [ 1.81963033e-02 9.99834428e-01 1.05276599e-04 -6.54314368e+01] [ 2.25077361e-03 -1.46256306e-04 9.99997456e-01 3.09004696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.260714057 meters Centerline goodness [0,1] 0.9883692266320059 Centerline is valid? [True, True] Translation: X:869.62, Y:-65.44, Z:3.09 [[ 9.99812861e-01 -1.92080705e-02 -2.30058341e-03 8.69618454e+02] [ 1.92083691e-02 9.99815496e-01 1.07764603e-04 -6.54352022e+01] [ 2.29808900e-03 -1.51934891e-04 9.99997348e-01 3.09008378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.290714057 meters Centerline goodness [0,1] 0.9889701744513224 Centerline is valid? [True, True] Translation: X:869.65, Y:-65.44, Z:3.09 [[ 9.99777491e-01 -2.09704090e-02 -2.28269180e-03 8.69649771e+02] [ 2.09707080e-02 9.99780085e-01 1.07093674e-04 -6.54364177e+01] [ 2.27994400e-03 -1.54939507e-04 9.99997389e-01 3.09075256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3207140569999 meters Centerline goodness [0,1] 0.987642393331386 Centerline is valid? [True, True] Translation: X:869.68, Y:-65.44, Z:3.09 [[ 9.99671976e-01 -2.54653296e-02 -2.73099874e-03 8.69679378e+02] [ 2.54657744e-02 9.99675686e-01 1.28188933e-04 -6.54416407e+01] [ 2.72684867e-03 -1.97693882e-04 9.99996263e-01 3.09067705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3507140569999 meters Centerline goodness [0,1] 0.9869617197897633 Centerline is valid? [True, True] Translation: X:869.71, Y:-65.45, Z:3.09 [[ 9.99597220e-01 -2.82119567e-02 -3.07956488e-03 8.69710519e+02] [ 2.82125353e-02 9.99601937e-01 1.44588593e-04 -6.54458707e+01] [ 3.07425990e-03 -2.31412688e-04 9.99995248e-01 3.09019232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.380714057 meters Centerline goodness [0,1] 0.9860497611106103 Centerline is valid? [True, True] Translation: X:869.74, Y:-65.45, Z:3.09 [[ 9.99442631e-01 -3.32110003e-02 -3.38465700e-03 8.69741091e+02] [ 3.32117280e-02 9.99448326e-01 1.59009118e-04 -6.54505229e+01] [ 3.37750892e-03 -2.71330799e-04 9.99994259e-01 3.08907740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.410714057 meters Centerline goodness [0,1] 0.9848604143702337 Centerline is valid? [True, True] Translation: X:869.77, Y:-65.46, Z:3.09 [[ 9.99359725e-01 -3.55740253e-02 -3.82475165e-03 8.69770822e+02] [ 3.55749720e-02 9.99366994e-01 1.79735853e-04 -6.54551837e+01] [ 3.81593664e-03 -3.15686206e-04 9.99992669e-01 3.08842334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4407140569999 meters Centerline goodness [0,1] 0.9849706827219015 Centerline is valid? [True, True] Translation: X:869.80, Y:-65.46, Z:3.09 [[ 9.99280750e-01 -3.76708472e-02 -4.34634988e-03 8.69801569e+02] [ 3.76720896e-02 9.99290134e-01 2.04299017e-04 -6.54557637e+01] [ 4.33556843e-03 -3.67888157e-04 9.99990534e-01 3.08764869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4707140569999 meters Centerline goodness [0,1] 0.9873075275604752 Centerline is valid? [True, True] Translation: X:869.83, Y:-65.45, Z:3.09 [[ 9.99177618e-01 -4.01718200e-02 -5.50564181e-03 8.69832581e+02] [ 4.01738522e-02 9.99192671e-01 2.58966980e-04 -6.54496014e+01] [ 5.49079377e-03 -4.79936850e-04 9.99984810e-01 3.08674621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.500714057 meters Centerline goodness [0,1] 0.9856665613290596 Centerline is valid? [True, True] Translation: X:869.86, Y:-65.45, Z:3.09 [[ 9.99098121e-01 -4.19790104e-02 -6.38022979e-03 8.69862195e+02] [ 4.19817764e-02 9.99118332e-01 3.00158219e-04 -6.54538461e+01] [ 6.36200419e-03 -5.67740893e-04 9.99979601e-01 3.08658294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.530714057 meters Centerline goodness [0,1] 0.9866235849696093 Centerline is valid? [True, True] Translation: X:869.89, Y:-65.45, Z:3.09 [[ 9.99083114e-01 -4.23229849e-02 -6.45729344e-03 8.69894501e+02] [ 4.23258276e-02 9.99103814e-01 3.04151726e-04 -6.54515163e+01] [ 6.43863389e-03 -5.77183142e-04 9.99979105e-01 3.08690601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5607140569999 meters Centerline goodness [0,1] 0.9857608817905748 Centerline is valid? [True, True] Translation: X:869.93, Y:-65.46, Z:3.09 [[ 9.99071188e-01 -4.26685898e-02 -6.01273267e-03 8.69925303e+02] [ 4.26710628e-02 9.99089135e-01 2.83550169e-04 -6.54558811e+01] [ 5.99515719e-03 -5.39856497e-04 9.99981883e-01 3.08721528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5907140569999 meters Centerline goodness [0,1] 0.985816560853708 Centerline is valid? [True, True] Translation: X:869.96, Y:-65.45, Z:3.09 [[ 9.99084360e-01 -4.24523321e-02 -5.31416796e-03 8.69957494e+02] [ 4.24542627e-02 9.99098380e-01 2.50953287e-04 -6.54547520e+01] [ 5.29872304e-03 -4.76332587e-04 9.99985848e-01 3.08710263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.620714057 meters Centerline goodness [0,1] 0.986701887474036 Centerline is valid? [True, True] Translation: X:869.99, Y:-65.45, Z:3.09 [[ 9.99102352e-01 -4.19392394e-02 -5.96576528e-03 8.69990104e+02] [ 4.19416660e-02 9.99120021e-01 2.82162278e-04 -6.54539839e+01] [ 5.94868187e-03 -5.32123131e-04 9.99982165e-01 3.08683376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.650714057 meters Centerline goodness [0,1] 0.9858587686947078 Centerline is valid? [True, True] Translation: X:870.02, Y:-65.46, Z:3.09 [[ 9.99163446e-01 -4.02862344e-02 -7.03050678e-03 8.70020286e+02] [ 4.02895653e-02 9.99187990e-01 3.32735196e-04 -6.54580753e+01] [ 7.01139329e-03 -6.15712907e-04 9.99975230e-01 3.08532820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6807140569999 meters Centerline goodness [0,1] 0.987089601343226 Centerline is valid? [True, True] Translation: X:870.05, Y:-65.45, Z:3.09 [[ 9.99197410e-01 -3.92894786e-02 -7.80215636e-03 8.70052973e+02] [ 3.92935545e-02 9.99227642e-01 3.69743938e-04 -6.54538074e+01] [ 7.78160325e-03 -6.76021641e-04 9.99969494e-01 3.08558443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7107140569999 meters Centerline goodness [0,1] 0.9866808375921488 Centerline is valid? [True, True] Translation: X:870.08, Y:-65.45, Z:3.08 [[ 9.99249993e-01 -3.78569151e-02 -8.14282423e-03 8.70083319e+02] [ 3.78613093e-02 9.99282929e-01 3.86108112e-04 -6.54547393e+01] [ 8.12236839e-03 -6.94116515e-04 9.99966772e-01 3.08493352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7407140569999 meters Centerline goodness [0,1] 0.9846907532149418 Centerline is valid? [True, True] Translation: X:870.11, Y:-65.46, Z:3.08 [[ 9.99352545e-01 -3.48913742e-02 -8.77962540e-03 8.70112754e+02] [ 3.48963685e-02 9.99390850e-01 4.16262876e-04 -6.54586936e+01] [ 8.75975331e-03 -7.22370408e-04 9.99961372e-01 3.08354701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.770714057 meters Centerline goodness [0,1] 0.9874431301182893 Centerline is valid? [True, True] Translation: X:870.14, Y:-65.45, Z:3.09 [[ 9.99405919e-01 -3.32957674e-02 -8.89944666e-03 8.70144701e+02] [ 3.33008385e-02 9.99445284e-01 4.22207554e-04 -6.54470385e+01] [ 8.88045227e-03 -7.18315764e-04 9.99960310e-01 3.08502668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8007140569999 meters Centerline goodness [0,1] 0.9879081841781664 Centerline is valid? [True, True] Translation: X:870.18, Y:-65.44, Z:3.09 [[ 9.99512402e-01 -3.01479606e-02 -8.12764213e-03 8.70175164e+02] [ 3.01520878e-02 9.99545248e-01 3.85714268e-04 -6.54438686e+01] [ 8.11231757e-03 -6.30591574e-04 9.99966896e-01 3.08592102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8307140569999 meters Centerline goodness [0,1] 0.9875985957233393 Centerline is valid? [True, True] Translation: X:870.21, Y:-65.44, Z:3.09 [[ 9.99547964e-01 -2.89907589e-02 -7.96265626e-03 8.70205721e+02] [ 2.89946848e-02 9.99579494e-01 3.78018260e-04 -6.54446383e+01] [ 7.94834888e-03 -6.08722090e-04 9.99968226e-01 3.08607402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8607140569999 meters Centerline goodness [0,1] 0.9882207916723736 Centerline is valid? [True, True] Translation: X:870.24, Y:-65.44, Z:3.09 [[ 9.99579176e-01 -2.79865380e-02 -7.63054862e-03 8.70238475e+02] [ 2.79901187e-02 9.99608134e-01 3.62844194e-04 -6.54430372e+01] [ 7.61740371e-03 -5.76271462e-04 9.99970821e-01 3.08614024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.890714057 meters Centerline goodness [0,1] 0.9870014163658792 Centerline is valid? [True, True] Translation: X:870.27, Y:-65.44, Z:3.09 [[ 9.99619404e-01 -2.65833119e-02 -7.37387685e-03 8.70268530e+02] [ 2.65866194e-02 9.99646452e-01 3.50862975e-04 -6.54446259e+01] [ 7.36194273e-03 -5.46775895e-04 9.99972751e-01 3.08559817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9207140569999 meters Centerline goodness [0,1] 0.9885404515199341 Centerline is valid? [True, True] Translation: X:870.30, Y:-65.44, Z:3.09 [[ 9.99624946e-01 -2.62111442e-02 -7.93362637e-03 8.70300653e+02] [ 2.62149652e-02 9.99656257e-01 3.77995506e-04 -6.54438925e+01] [ 7.92099155e-03 -5.85833477e-04 9.99968457e-01 3.08542939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9507140569999 meters Centerline goodness [0,1] 0.9876329119700634 Centerline is valid? [True, True] Translation: X:870.33, Y:-65.45, Z:3.08 [[ 9.99632240e-01 -2.58475828e-02 -8.20285318e-03 8.70331370e+02] [ 2.58516591e-02 9.99665713e-01 3.91285141e-04 -6.54463105e+01] [ 8.18999730e-03 -6.03198607e-04 9.99966279e-01 3.08461978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9807140569999 meters Centerline goodness [0,1] 0.9869683713899641 Centerline is valid? [True, True] Translation: X:870.36, Y:-65.45, Z:3.08 [[ 9.99617822e-01 -2.63383968e-02 -8.39630286e-03 8.70362884e+02] [ 2.63426897e-02 9.99652891e-01 4.01083144e-04 -6.54496887e+01] [ 8.38282454e-03 -6.22111060e-04 9.99964670e-01 3.08401132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.010714057 meters Centerline goodness [0,1] 0.9883428571428572 Centerline is valid? [True, True] Translation: X:870.40, Y:-65.45, Z:3.08 [[ 9.99610857e-01 -2.64140977e-02 -8.96832924e-03 8.70395160e+02] [ 2.64190044e-02 9.99650865e-01 4.29064045e-04 -6.54451311e+01] [ 8.95386475e-03 -6.65831407e-04 9.99959692e-01 3.08404034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.040714057 meters Centerline goodness [0,1] 0.9870260853619401 Centerline is valid? [True, True] Translation: X:870.43, Y:-65.45, Z:3.08 [[ 9.99596035e-01 -2.68183446e-02 -9.40970795e-03 8.70425518e+02] [ 2.68237744e-02 9.99640076e-01 4.51284315e-04 -6.54540127e+01] [ 9.39421847e-03 -7.03505895e-04 9.99955626e-01 3.08181034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0707140569999 meters Centerline goodness [0,1] 0.9886243750286684 Centerline is valid? [True, True] Translation: X:870.46, Y:-65.45, Z:3.08 [[ 9.99581154e-01 -2.72909697e-02 -9.62905053e-03 8.70458107e+02] [ 2.72966847e-02 9.99627269e-01 4.62568643e-04 -6.54480480e+01] [ 9.61283754e-03 -7.25216055e-04 9.99953533e-01 3.08223686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1007140569999 meters Centerline goodness [0,1] 0.9883407451784604 Centerline is valid? [True, True] Translation: X:870.49, Y:-65.45, Z:3.08 [[ 9.99547200e-01 -2.83319996e-02 -1.01337495e-02 8.70490113e+02] [ 2.83383901e-02 9.99598268e-01 4.87554420e-04 -6.54485657e+01] [ 1.01158650e-02 -7.74507800e-04 9.99948533e-01 3.08114740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.130714057 meters Centerline goodness [0,1] 0.9877967809144401 Centerline is valid? [True, True] Translation: X:870.52, Y:-65.45, Z:3.08 [[ 9.99506441e-01 -2.96121745e-02 -1.04878253e-02 8.70520550e+02] [ 2.96190940e-02 9.99561131e-01 5.05022141e-04 -6.54522356e+01] [ 1.04682677e-02 -8.15412765e-04 9.99944874e-01 3.08044567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.160714057 meters Centerline goodness [0,1] 0.9865521191294387 Centerline is valid? [True, True] Translation: X:870.55, Y:-65.46, Z:3.08 [[ 9.99439660e-01 -3.17875090e-02 -1.04842512e-02 8.70550565e+02] [ 3.17945473e-02 9.99494298e-01 5.05286533e-04 -6.54605070e+01] [ 1.04628875e-02 -8.38345421e-04 9.99944911e-01 3.07869481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1907140569999 meters Centerline goodness [0,1] 0.9868355122306747 Centerline is valid? [True, True] Translation: X:870.58, Y:-65.47, Z:3.08 [[ 9.99222270e-01 -3.80415655e-02 -1.03775745e-02 8.70581282e+02] [ 3.80487970e-02 9.99275757e-01 5.00222470e-04 -6.54667962e+01] [ 1.03510294e-02 -8.94687659e-04 9.99946026e-01 3.07628976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2207140569999 meters Centerline goodness [0,1] 0.9854413102820746 Centerline is valid? [True, True] Translation: X:870.61, Y:-65.48, Z:3.07 [[ 9.99003165e-01 -4.35389416e-02 -9.85071746e-03 8.70609749e+02] [ 4.35457247e-02 9.99051322e-01 4.75054760e-04 -6.54835583e+01] [ 9.82068892e-03 -9.03537839e-04 9.99951368e-01 3.07498899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.250714057 meters Centerline goodness [0,1] 0.9865555378920355 Centerline is valid? [True, True] Translation: X:870.64, Y:-65.49, Z:3.07 [[ 9.98940358e-01 -4.49473466e-02 -9.89432916e-03 8.70640712e+02] [ 4.49542603e-02 9.98988932e-01 4.77345367e-04 -6.54870484e+01] [ 9.86286991e-03 -9.21631800e-04 9.99950936e-01 3.07497481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.280714057 meters Centerline goodness [0,1] 0.985011044493531 Centerline is valid? [True, True] Translation: X:870.67, Y:-65.50, Z:3.08 [[ 9.98909364e-01 -4.57840608e-02 -9.15977423e-03 8.70671347e+02] [ 4.57900296e-02 9.98950988e-01 4.42867711e-04 -6.54960362e+01] [ 9.12988924e-03 -8.61811037e-04 9.99957950e-01 3.07668923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3107140569999 meters Centerline goodness [0,1] 0.9842240678884174 Centerline is valid? [True, True] Translation: X:870.70, Y:-65.50, Z:3.08 [[ 9.98844005e-01 -4.78124992e-02 -4.96166235e-03 8.70701997e+02] [ 4.78142761e-02 9.98856215e-01 2.40042847e-04 -6.54995877e+01] [ 4.94451023e-03 -4.77003653e-04 9.99987662e-01 3.08434672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3407140569999 meters Centerline goodness [0,1] 0.9815735595203275 Centerline is valid? [True, True] Translation: X:870.73, Y:-65.51, Z:3.08 [[ 9.98867429e-01 -4.73402946e-02 -4.77028886e-03 8.70732629e+02] [ 4.73419341e-02 9.98878715e-01 2.31299833e-04 -6.55096540e+01] [ 4.75399020e-03 -4.56872571e-04 9.99988595e-01 3.08431102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.370714057 meters Centerline goodness [0,1] 0.9797430387680186 Centerline is valid? [True, True] Translation: X:870.76, Y:-65.53, Z:3.08 [[ 9.98955931e-01 -4.51790898e-02 -6.77481837e-03 8.70761382e+02] [ 4.51823493e-02 9.98978702e-01 3.28760947e-04 -6.55272474e+01] [ 6.75304614e-03 -6.34519908e-04 9.99976997e-01 3.07956157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.400714057 meters Centerline goodness [0,1] 0.9856686831707481 Centerline is valid? [True, True] Translation: X:870.79, Y:-65.53, Z:3.08 [[ 9.98999081e-01 -4.39628820e-02 -8.25232046e-03 8.70793035e+02] [ 4.39676792e-02 9.99032874e-01 4.00708181e-04 -6.55250133e+01] [ 8.22672314e-03 -7.63142483e-04 9.99965869e-01 3.07720752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4307140569999 meters Centerline goodness [0,1] 0.9856686831707481 Centerline is valid? [True, True] Translation: X:870.83, Y:-65.53, Z:3.08 [[ 9.99003787e-01 -4.38558213e-02 -8.25228204e-03 8.70825675e+02] [ 4.38606213e-02 9.99037579e-01 4.01498662e-04 -6.55266919e+01] [ 8.22673181e-03 -7.63048901e-04 9.99965869e-01 3.07725052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4607140569999 meters Centerline goodness [0,1] 0.9857832618025751 Centerline is valid? [True, True] Translation: X:870.86, Y:-65.53, Z:3.08 [[ 9.99042075e-01 -4.26507334e-02 -9.79012614e-03 8.70857188e+02] [ 4.26574379e-02 9.99089643e-01 4.76941419e-04 -6.55322107e+01] [ 9.76087173e-03 -8.94106243e-04 9.99951962e-01 3.07515386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4907140569999 meters Centerline goodness [0,1] 0.9861269351920112 Centerline is valid? [True, True] Translation: X:870.89, Y:-65.54, Z:3.08 [[ 9.99168161e-01 -3.92135323e-02 -1.11930711e-02 8.70886806e+02] [ 3.92220813e-02 9.99230369e-01 5.45200749e-04 -6.55396671e+01] [ 1.11630774e-02 -9.83762776e-04 9.99937207e-01 3.07534337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.520714057 meters Centerline goodness [0,1] 0.9863157190933607 Centerline is valid? [True, True] Translation: X:870.92, Y:-65.54, Z:3.08 [[ 9.99244041e-01 -3.71272998e-02 -1.15286932e-02 8.70917604e+02] [ 3.71362331e-02 9.99310054e-01 5.61704606e-04 -6.55402332e+01] [ 1.14998844e-02 -9.89412217e-04 9.99933385e-01 3.07663708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5507140569999 meters Centerline goodness [0,1] 0.986376142717671 Centerline is valid? [True, True] Translation: X:870.95, Y:-65.54, Z:3.08 [[ 9.99413600e-01 -3.25049327e-02 -1.07649723e-02 8.70948019e+02] [ 3.25124554e-02 9.99471193e-01 5.24503808e-04 -6.55441593e+01] [ 1.07422308e-02 -8.74191921e-04 9.99941918e-01 3.07777990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5807140569999 meters Centerline goodness [0,1] 0.987301305390285 Centerline is valid? [True, True] Translation: X:870.98, Y:-65.54, Z:3.08 [[ 9.99482576e-01 -3.05433617e-02 -1.00837676e-02 8.70980137e+02] [ 3.05498679e-02 9.99533123e-01 4.91777271e-04 -6.55444276e+01] [ 1.00640391e-02 -7.99580581e-04 9.99949037e-01 3.07841097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6107140569999 meters Centerline goodness [0,1] 0.9848545149022729 Centerline is valid? [True, True] Translation: X:871.01, Y:-65.55, Z:3.08 [[ 9.99595317e-01 -2.76611954e-02 -6.63787745e-03 8.71009507e+02] [ 2.76639514e-02 9.99617227e-01 3.23716411e-04 -6.55546727e+01] [ 6.62638227e-03 -5.07215327e-04 9.99977917e-01 3.08034278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.640714057 meters Centerline goodness [0,1] 0.9853518005540166 Centerline is valid? [True, True] Translation: X:871.04, Y:-65.56, Z:3.08 [[ 9.99637928e-01 -2.63986994e-02 -5.20786944e-03 8.71041166e+02] [ 2.64003800e-02 9.99651417e-01 2.54215960e-04 -6.55572971e+01] [ 5.19934309e-03 -3.91613647e-04 9.99986407e-01 3.08225665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6707140569999 meters Centerline goodness [0,1] 0.9862710363153233 Centerline is valid? [True, True] Translation: X:871.07, Y:-65.55, Z:3.08 [[ 9.99662361e-01 -2.57379756e-02 -3.56657613e-03 8.71073679e+02] [ 2.57387605e-02 9.99668688e-01 1.74315191e-04 -6.55548639e+01] [ 3.56090796e-03 -2.66055585e-04 9.99993625e-01 3.08400633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7007140569999 meters Centerline goodness [0,1] 0.985891896658143 Centerline is valid? [True, True] Translation: X:871.11, Y:-65.56, Z:3.09 [[ 9.99696168e-01 -2.45793293e-02 -1.85172346e-03 8.71106188e+02] [ 2.45795390e-02 9.99697873e-01 9.05984227e-05 -6.55574621e+01] [ 1.84893716e-03 -1.36085405e-04 9.99998281e-01 3.08562946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7307140569999 meters Centerline goodness [0,1] 0.9853406151192872 Centerline is valid? [True, True] Translation: X:871.14, Y:-65.56, Z:3.09 [[ 9.99691082e-01 -2.48218255e-02 -1.27154423e-03 8.71136744e+02] [ 2.48219247e-02 9.99691887e-01 6.22901646e-05 -6.55645576e+01] [ 1.26960630e-03 -9.38330973e-05 9.99999190e-01 3.08537072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.760714057 meters Centerline goodness [0,1] 0.9840933191940615 Centerline is valid? [True, True] Translation: X:871.17, Y:-65.57, Z:3.08 [[ 9.99658283e-01 -2.61269147e-02 -8.37701616e-04 8.71167785e+02] [ 2.61269582e-02 9.99658632e-01 4.10584338e-05 -6.55734075e+01] [ 8.36342921e-04 -6.29309986e-05 9.99999648e-01 3.08491790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.790714057 meters Centerline goodness [0,1] 0.9846035242290749 Centerline is valid? [True, True] Translation: X:871.20, Y:-65.58, Z:3.08 [[ 9.99548406e-01 -3.00475782e-02 3.56146834e-04 8.71197780e+02] [ 3.00475864e-02 9.99548469e-01 -1.75022643e-05 -6.55769599e+01] [-3.55460122e-04 2.81957131e-05 9.99999936e-01 3.08384386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8207140569999 meters Centerline goodness [0,1] 0.9812708589495872 Centerline is valid? [True, True] Translation: X:871.23, Y:-65.59, Z:3.08 [[ 9.99458786e-01 -3.28934637e-02 3.94382273e-04 8.71226533e+02] [ 3.28934738e-02 9.99458863e-01 -1.93570247e-05 -6.55917633e+01] [-3.93532138e-04 3.23191514e-05 9.99999922e-01 3.08363018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8507140569999 meters Centerline goodness [0,1] 0.9822705113350677 Centerline is valid? [True, True] Translation: X:871.26, Y:-65.59, Z:3.08 [[ 9.99252520e-01 -3.86571186e-02 -1.66274989e-04 8.71257178e+02] [ 3.86571205e-02 9.99252534e-01 8.16366306e-06 -6.55940603e+01] [ 1.65835120e-04 -1.45852732e-05 9.99999986e-01 3.08295162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.880714057 meters Centerline goodness [0,1] 0.9816521777117645 Centerline is valid? [True, True] Translation: X:871.29, Y:-65.60, Z:3.08 [[ 9.99141199e-01 -4.14227295e-02 -1.01085083e-03 8.71286178e+02] [ 4.14228007e-02 9.99141706e-01 4.96373657e-05 -6.56015586e+01] [ 1.00792711e-03 -9.14670097e-05 9.99999488e-01 3.08228559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.910714057 meters Centerline goodness [0,1] 0.9809078596705841 Centerline is valid? [True, True] Translation: X:871.32, Y:-65.61, Z:3.08 [[ 9.99027366e-01 -4.40687982e-02 -1.50431522e-03 8.71316575e+02] [ 4.40689589e-02 9.99028489e-01 7.38418739e-05 -6.56066782e+01] [ 1.49959964e-03 -1.40063658e-04 9.99998866e-01 3.08130696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9407140569999 meters Centerline goodness [0,1] 0.9807411603233045 Centerline is valid? [True, True] Translation: X:871.35, Y:-65.61, Z:3.08 [[ 9.98790391e-01 -4.91099187e-02 -2.44371255e-03 8.71346488e+02] [ 4.91103578e-02 9.98793351e-01 1.19972172e-04 -6.56132150e+01] [ 2.43487202e-03 -2.39838650e-04 9.99997007e-01 3.08008161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9707140569999 meters Centerline goodness [0,1] 0.9798945717522001 Centerline is valid? [True, True] Translation: X:871.38, Y:-65.61, Z:3.08 [[ 9.98685737e-01 -5.12112659e-02 -2.05049708e-03 8.71377826e+02] [ 5.12115795e-02 9.98687821e-01 1.00702996e-04 -6.56149765e+01] [ 2.04264933e-03 -2.05579840e-04 9.99997893e-01 3.07967689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.000714057 meters Centerline goodness [0,1] 0.9755360983770396 Centerline is valid? [True, True] Translation: X:871.41, Y:-65.63, Z:3.08 [[ 9.98534004e-01 -5.41107336e-02 -1.36778315e-03 8.71406634e+02] [ 5.41108759e-02 9.98534931e-01 6.72046885e-05 -6.56272208e+01] [ 1.36214276e-03 -1.41118111e-04 9.99999062e-01 3.08072761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.030714057 meters Centerline goodness [0,1] 0.976866547810584 Centerline is valid? [True, True] Translation: X:871.44, Y:-65.63, Z:3.08 [[ 9.98479468e-01 -5.51224479e-02 -5.16651295e-04 8.71439059e+02] [ 5.51224683e-02 9.98479601e-01 2.53212450e-05 -6.56272347e+01] [ 5.14470010e-04 -5.37618379e-05 9.99999866e-01 3.08132578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0607140569999 meters Centerline goodness [0,1] 0.9658427551485428 Centerline is valid? [True, True] Translation: X:871.47, Y:-65.64, Z:3.08 [[ 9.98426857e-01 -5.60691234e-02 -2.54775979e-04 8.71469897e+02] [ 5.60691284e-02 9.98426889e-01 1.24108075e-05 -6.56370567e+01] [ 2.53679325e-04 -2.66763506e-05 9.99999967e-01 3.08159428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0907140569999 meters Centerline goodness [0,1] 0.9751779242893944 Centerline is valid? [True, True] Translation: X:871.50, Y:-65.63, Z:3.08 [[ 9.98324904e-01 -5.78566020e-02 -2.17372392e-05 8.71501311e+02] [ 5.78566021e-02 9.98324904e-01 1.04885072e-06 -6.56342166e+01] [ 2.16401443e-05 -2.30473659e-06 1.00000000e+00 3.08075299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.120714057 meters Centerline goodness [0,1] 0.9739463268235397 Centerline is valid? [True, True] Translation: X:871.53, Y:-65.64, Z:3.08 [[ 9.98257970e-01 -5.89977297e-02 -5.42371102e-04 8.71532069e+02] [ 5.89977528e-02 9.98258115e-01 2.67114374e-05 -6.56379494e+01] [ 5.39850440e-04 -5.86635814e-05 9.99999853e-01 3.08063020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.150714057 meters Centerline goodness [0,1] 0.9742619063159498 Centerline is valid? [True, True] Translation: X:871.56, Y:-65.64, Z:3.08 [[ 9.98091393e-01 -6.17073269e-02 -2.40338212e-03 8.71562472e+02] [ 6.17077894e-02 9.98094251e-01 1.18669133e-04 -6.56383398e+01] [ 2.39147912e-03 -2.66750038e-04 9.99997105e-01 3.07886598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1807140569999 meters Centerline goodness [0,1] 0.9742008585187284 Centerline is valid? [True, True] Translation: X:871.59, Y:-65.64, Z:3.08 [[ 9.98033565e-01 -6.25526878e-02 -4.02051361e-03 8.71593997e+02] [ 6.25539893e-02 9.98041562e-01 1.98670721e-04 -6.56393598e+01] [ 4.00021229e-03 -4.49779213e-04 9.99991898e-01 3.07809023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2107140569999 meters Centerline goodness [0,1] 0.9723831511085943 Centerline is valid? [True, True] Translation: X:871.62, Y:-65.64, Z:3.08 [[ 9.97949446e-01 -6.36203116e-02 -7.02554980e-03 8.71624668e+02] [ 6.36243136e-02 9.97973860e-01 3.47389126e-04 -6.56403363e+01] [ 6.98921405e-03 -7.93672570e-04 9.99975260e-01 3.07614767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2407140569999 meters Centerline goodness [0,1] 0.9595897883482435 Centerline is valid? [True, True] Translation: X:871.66, Y:-65.64, Z:3.08 [[ 9.97934145e-01 -6.37247457e-02 -8.16079633e-03 8.71655951e+02] [ 6.37301523e-02 9.97967086e-01 4.03916857e-04 -6.56437531e+01] [ 8.11846663e-03 -9.23171217e-04 9.99966619e-01 3.07601518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.270714057 meters Centerline goodness [0,1] 0.906614955551682 Centerline is valid? [True, False] Translation: X:871.66, Y:-65.64, Z:3.08 [[ 9.98152705e-01 -6.02017133e-02 -8.18121070e-03 8.71655819e+02] [ 6.02413669e-02 9.98172822e-01 4.68992499e-03 -6.56447829e+01] [ 7.88392065e-03 -5.17410863e-03 9.99955535e-01 3.07529051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3007140569999 meters Centerline goodness [0,1] 0.9596719518862766 Centerline is valid? [False, True] Translation: X:871.66, Y:-65.64, Z:3.08 [[ 9.98350873e-01 -5.67883664e-02 -8.40329742e-03 8.71655625e+02] [ 5.68537416e-02 9.98352386e-01 7.75665548e-03 -6.56421984e+01] [ 7.94896423e-03 -8.22162268e-03 9.99934607e-01 3.07544460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3307140569999 meters Centerline goodness [0,1] 0.9014211149611825 Centerline is valid? [True, False] Translation: X:871.66, Y:-65.64, Z:3.08 [[ 9.98535001e-01 -5.34224693e-02 -8.59596456e-03 8.71655450e+02] [ 5.35164540e-02 9.98505245e-01 1.11024970e-02 -6.56410272e+01] [ 7.98999289e-03 -1.15462574e-02 9.99901417e-01 3.07548140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3607140569999 meters Centerline goodness [0,1] 0.9791237677984665 Centerline is valid? [False, True] Translation: X:871.66, Y:-65.63, Z:3.08 [[ 9.98711859e-01 -4.98995860e-02 -9.20078777e-03 8.71656076e+02] [ 5.00148159e-02 9.98667081e-01 1.27506286e-02 -6.56342353e+01] [ 8.55227278e-03 -1.31943797e-02 9.99876376e-01 3.07615584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.390714057 meters Centerline goodness [0,1] 0.9810249185524347 Centerline is valid? [True, True] Translation: X:871.69, Y:-65.62, Z:3.08 [[ 9.98854077e-01 -4.66847058e-02 -1.05390016e-02 8.71687099e+02] [ 4.66932966e-02 9.98909110e-01 5.70426803e-04 -6.56238139e+01] [ 1.05008745e-02 -1.06187387e-03 9.99944300e-01 3.07998697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4207140569999 meters Centerline goodness [0,1] 0.9811674835519053 Centerline is valid? [True, True] Translation: X:871.72, Y:-65.62, Z:3.08 [[ 9.98970695e-01 -4.37954629e-02 -1.18113229e-02 8.71716584e+02] [ 4.38060509e-02 9.99039850e-01 6.39078810e-04 -6.56202383e+01] [ 1.17719935e-02 -1.15582842e-03 9.99930040e-01 3.08019164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4507140569999 meters Centerline goodness [0,1] 0.9830859357794124 Centerline is valid? [True, True] Translation: X:871.75, Y:-65.61, Z:3.08 [[ 9.99217375e-01 -3.74391236e-02 -1.27651883e-02 8.71746771e+02] [ 3.74509737e-02 9.99298228e-01 6.90452075e-04 -6.56092453e+01] [ 1.27303801e-02 -1.16798044e-03 9.99918283e-01 3.08104682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4807140569999 meters Centerline goodness [0,1] 0.9841311997875307 Centerline is valid? [True, True] Translation: X:871.78, Y:-65.61, Z:3.08 [[ 9.99297265e-01 -3.48498713e-02 -1.38008417e-02 8.71776682e+02] [ 3.48634781e-02 9.99391805e-01 7.46512296e-04 -6.56058432e+01] [ 1.37664323e-02 -1.22713304e-03 9.99904485e-01 3.08079722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.510714057 meters Centerline goodness [0,1] 0.9864843802186547 Centerline is valid? [True, True] Translation: X:871.81, Y:-65.59, Z:3.08 [[ 9.99410907e-01 -3.02692368e-02 -1.61744275e-02 8.71808351e+02] [ 3.02873335e-02 9.99540850e-01 8.75007039e-04 -6.55926273e+01] [ 1.61405152e-02 -1.36437186e-03 9.99868803e-01 3.08025644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.540714057 meters Centerline goodness [0,1] 0.9853962758283952 Centerline is valid? [True, True] Translation: X:871.84, Y:-65.59, Z:3.08 [[ 9.99449878e-01 -2.82177795e-02 -1.74269386e-02 8.71838713e+02] [ 2.82385133e-02 9.99600767e-01 9.44778987e-04 -6.55937139e+01] [ 1.73933216e-02 -1.43637008e-03 9.99847693e-01 3.07810328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5707140569999 meters Centerline goodness [0,1] 0.9850899513414579 Centerline is valid? [True, True] Translation: X:871.87, Y:-65.59, Z:3.08 [[ 9.99465251e-01 -2.69128498e-02 -1.85717414e-02 8.71870201e+02] [ 2.69361825e-02 9.99636648e-01 1.00730941e-03 -6.55903382e+01] [ 1.85378837e-02 -1.50702256e-03 9.99827023e-01 3.07741711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6007140569999 meters Centerline goodness [0,1] 0.9834727423586661 Centerline is valid? [True, True] Translation: X:871.90, Y:-65.58, Z:3.08 [[ 9.99449676e-01 -2.62992934e-02 -2.02161534e-02 8.71902282e+02] [ 2.63268308e-02 9.99652787e-01 1.09717187e-03 -6.55838673e+01] [ 2.01802793e-02 -1.62879532e-03 9.99795031e-01 3.07682223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.630714057 meters Centerline goodness [0,1] 0.9865064777872417 Centerline is valid? [True, True] Translation: X:871.93, Y:-65.57, Z:3.08 [[ 9.99427105e-01 -2.69392976e-02 -2.04874407e-02 8.71933445e+02] [ 2.69677113e-02 9.99635687e-01 1.11182105e-03 -6.55726605e+01] [ 2.04500252e-02 -1.66368348e-03 9.99789492e-01 3.07928219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.660714057 meters Centerline goodness [0,1] 0.9840547723075537 Centerline is valid? [True, True] Translation: X:871.96, Y:-65.57, Z:3.08 [[ 9.99311604e-01 -3.03046399e-02 -2.13997004e-02 8.71963212e+02] [ 3.03363998e-02 9.99539071e-01 1.16098404e-03 -6.55749590e+01] [ 2.13546534e-02 -1.80937469e-03 9.99770326e-01 3.07834856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6907140569999 meters Centerline goodness [0,1] 0.9853262707088921 Centerline is valid? [True, True] Translation: X:871.99, Y:-65.57, Z:3.08 [[ 9.99246804e-01 -3.26161630e-02 -2.10240378e-02 8.71994588e+02] [ 3.26473345e-02 9.99466282e-01 1.14104821e-03 -6.55709525e+01] [ 2.09756003e-02 -1.82656758e-03 9.99778319e-01 3.08001291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7207140569999 meters Centerline goodness [0,1] 0.9807370562966312 Centerline is valid? [True, True] Translation: X:872.02, Y:-65.57, Z:3.08 [[ 9.99060196e-01 -3.79586203e-02 -2.09252772e-02 8.72023832e+02] [ 3.79906505e-02 9.99277450e-01 1.13515388e-03 -6.55730252e+01] [ 2.08670688e-02 -1.92905195e-03 9.99780398e-01 3.08052563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.750714057 meters Centerline goodness [0,1] 0.8769835887698358 Centerline is valid? [True, False] Translation: X:872.02, Y:-65.57, Z:3.08 [[ 9.99032367e-01 -3.86718787e-02 -2.09479414e-02 8.72023505e+02] [ 3.86884641e-02 9.99251246e-01 3.86907779e-04 -6.55713581e+01] [ 2.09172941e-02 -1.19697707e-03 9.99780493e-01 3.08102419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.780714057 meters Centerline goodness [0,1] 0.9716563530421428 Centerline is valid? [False, True] Translation: X:872.02, Y:-65.57, Z:3.08 [[ 9.99007667e-01 -3.92266541e-02 -2.10938528e-02 8.72023533e+02] [ 3.92307871e-02 9.99230153e-01 -2.18001774e-04 -6.55698751e+01] [ 2.10861652e-02 -6.09743004e-04 9.99777476e-01 3.08134744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8107140569999 meters Centerline goodness [0,1] 0.9634088603314169 Centerline is valid? [True, True] Translation: X:872.05, Y:-65.57, Z:3.08 [[ 9.98834586e-01 -4.35896759e-02 -2.07221861e-02 8.72054108e+02] [ 4.36241963e-02 9.99047271e-01 1.21653855e-03 -6.55699883e+01] [ 2.06494149e-02 -2.11910950e-03 9.99784532e-01 3.08248862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8407140569999 meters Centerline goodness [0,1] 0.9726434124339883 Centerline is valid? [True, True] Translation: X:872.09, Y:-65.57, Z:3.08 [[ 9.98760618e-01 -4.53561663e-02 -2.04950193e-02 8.72085700e+02] [ 4.53903181e-02 9.98968603e-01 1.20400746e-03 -6.55680327e+01] [ 2.04192717e-02 -2.13279069e-03 9.99789230e-01 3.08427751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.870714057 meters Centerline goodness [0,1] 0.9414349125826614 Centerline is valid? [True, False] Translation: X:872.08, Y:-65.57, Z:3.09 [[ 9.98730218e-01 -4.61192495e-02 -2.02723066e-02 8.72084625e+02] [ 4.61330739e-02 9.98935280e-01 2.14555216e-04 -6.55661951e+01] [ 2.02408272e-02 -1.14950660e-03 9.99794473e-01 3.08537475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.900714057 meters Centerline goodness [0,1] 0.9035598558836192 Centerline is valid? [False, False] Translation: X:872.08, Y:-65.57, Z:3.09 [[ 9.98873912e-01 -4.29351761e-02 -2.01860767e-02 8.72083996e+02] [ 4.30250410e-02 9.99065831e-01 4.03861069e-03 -6.55675108e+01] [ 1.99938211e-02 -4.90256964e-03 9.99788084e-01 3.08510049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9307140569999 meters Centerline goodness [0,1] 0.9441751439430145 Centerline is valid? [False, False] Translation: X:872.08, Y:-65.57, Z:3.09 [[ 9.98875057e-01 -4.27980035e-02 -2.04194118e-02 8.72084519e+02] [ 4.28865792e-02 9.99072259e-01 3.91961663e-03 -6.55666882e+01] [ 2.02327161e-02 -4.79092600e-03 9.99783819e-01 3.08512093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9607140569999 meters Centerline goodness [0,1] 0.9361764906148573 Centerline is valid? [False, False] Translation: X:872.08, Y:-65.57, Z:3.09 [[ 9.99021658e-01 -3.92276728e-02 -2.04185279e-02 8.72084048e+02] [ 3.93911558e-02 9.99194454e-01 7.66679657e-03 -6.55671724e+01] [ 2.01013293e-02 -8.46360523e-03 9.99762124e-01 3.08517246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9907140569999 meters Centerline goodness [0,1] 0.9588193828592219 Centerline is valid? [False, True] Translation: X:872.08, Y:-65.57, Z:3.09 [[ 9.99025008e-01 -3.90301704e-02 -2.06319771e-02 8.72084548e+02] [ 3.91924667e-02 9.99203374e-01 7.52116057e-03 -6.55662800e+01] [ 2.03219889e-02 -8.32244558e-03 9.99758848e-01 3.08522598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.020714057 meters Centerline goodness [0,1] 0.8986409966024915 Centerline is valid? [True, False] Translation: X:872.09, Y:-65.56, Z:3.09 [[ 9.99042575e-01 -3.83835979e-02 -2.09912668e-02 8.72085305e+02] [ 3.85447879e-02 9.99229997e-01 7.32884536e-03 -6.55646928e+01] [ 2.06937960e-02 -8.13093246e-03 9.99752797e-01 3.08571304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0507140569999 meters Centerline goodness [0,1] 0.969489682665519 Centerline is valid? [False, True] Translation: X:872.09, Y:-65.56, Z:3.09 [[ 9.99048012e-01 -3.80928156e-02 -2.12604431e-02 8.72085954e+02] [ 3.82584646e-02 9.99240182e-01 7.43968424e-03 -6.55644243e+01] [ 2.09608906e-02 -8.24599366e-03 9.99746290e-01 3.08569068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0807140569999 meters Centerline goodness [0,1] 0.9574598282075109 Centerline is valid? [True, True] Translation: X:872.12, Y:-65.57, Z:3.09 [[ 9.99124380e-01 -3.56155482e-02 -2.19546418e-02 8.72115868e+02] [ 3.56523224e-02 9.99363427e-01 1.28575056e-03 -6.55664931e+01] [ 2.18948734e-02 -2.06735870e-03 9.99758141e-01 3.08677721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1107140569999 meters Centerline goodness [0,1] 0.9635006691922056 Centerline is valid? [True, True] Translation: X:872.15, Y:-65.57, Z:3.09 [[ 9.99169926e-01 -3.40529382e-02 -2.23574521e-02 8.72147906e+02] [ 3.40907130e-02 9.99417883e-01 1.31051856e-03 -6.55678237e+01] [ 2.22998105e-02 -2.07161221e-03 9.99749182e-01 3.08670165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.140714057 meters Centerline goodness [0,1] 0.9822952461142844 Centerline is valid? [True, True] Translation: X:872.18, Y:-65.56, Z:3.09 [[ 9.99206084e-01 -3.27046845e-02 -2.27509366e-02 8.72179473e+02] [ 3.27434731e-02 9.99462898e-01 1.33439767e-03 -6.55631274e+01] [ 2.26950759e-02 -2.07828295e-03 9.99740273e-01 3.08827731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1707140569999 meters Centerline goodness [0,1] 0.981679389312977 Centerline is valid? [True, True] Translation: X:872.21, Y:-65.57, Z:3.09 [[ 9.99220098e-01 -3.13656521e-02 -2.39873297e-02 8.72209531e+02] [ 3.14083999e-02 9.99505644e-01 1.40733178e-03 -6.55666893e+01] [ 2.39313295e-02 -2.15963784e-03 9.99711272e-01 3.08807913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2007140569999 meters Centerline goodness [0,1] 0.9821570633026481 Centerline is valid? [True, True] Translation: X:872.24, Y:-65.57, Z:3.09 [[ 9.99233755e-01 -3.08896468e-02 -2.40360834e-02 8.72240692e+02] [ 3.09324524e-02 9.99520481e-01 1.41104412e-03 -6.55693953e+01] [ 2.39809710e-02 -2.15345792e-03 9.99710096e-01 3.08823672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2307140569999 meters Centerline goodness [0,1] 0.9726696832579186 Centerline is valid? [True, True] Translation: X:872.27, Y:-65.58, Z:3.09 [[ 9.99274037e-01 -2.95999348e-02 -2.39842239e-02 8.72270851e+02] [ 2.96422414e-02 9.99559577e-01 1.41025314e-03 -6.55770306e+01] [ 2.39319173e-02 -2.12017550e-03 9.99711342e-01 3.08789203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.260714057 meters Centerline goodness [0,1] 0.9795035557367396 Centerline is valid? [True, True] Translation: X:872.30, Y:-65.58, Z:3.09 [[ 9.99300074e-01 -2.89465824e-02 -2.36951024e-02 8.72301174e+02] [ 2.89876919e-02 9.99578798e-01 1.39322520e-03 -6.55777645e+01] [ 2.36447928e-02 -2.07911637e-03 9.99718261e-01 3.08879081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.290714057 meters Centerline goodness [0,1] 0.9812749365252086 Centerline is valid? [True, True] Translation: X:872.33, Y:-65.58, Z:3.09 [[ 9.99350383e-01 -2.70172973e-02 -2.38511505e-02 8.72331607e+02] [ 2.70584049e-02 9.99632871e-01 1.40240052e-03 -6.55808122e+01] [ 2.38045049e-02 -2.04686358e-03 9.99714537e-01 3.08947920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3207140569999 meters Centerline goodness [0,1] 0.9785065316638792 Centerline is valid? [True, True] Translation: X:872.36, Y:-65.58, Z:3.09 [[ 9.99400552e-01 -2.54175562e-02 -2.35049962e-02 8.72360677e+02] [ 2.54570206e-02 9.99674963e-01 1.38123100e-03 -6.55849376e+01] [ 2.34622487e-02 -1.97877019e-03 9.99722765e-01 3.08956862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3507140569999 meters Centerline goodness [0,1] 0.9785065316638792 Centerline is valid? [True, True] Translation: X:872.39, Y:-65.59, Z:3.09 [[ 9.99399688e-01 -2.54514644e-02 -2.35050430e-02 8.72389893e+02] [ 2.54909194e-02 9.99674101e-01 1.38043380e-03 -6.55866214e+01] [ 2.34622487e-02 -1.97877027e-03 9.99722765e-01 3.08955975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.380714057 meters Centerline goodness [0,1] 0.9774666276478401 Centerline is valid? [True, True] Translation: X:872.42, Y:-65.59, Z:3.09 [[ 9.99455077e-01 -2.36437601e-02 -2.30330763e-02 8.72418245e+02] [ 2.36811425e-02 9.99718649e-01 1.35154289e-03 -6.55897318e+01] [ 2.29946404e-02 -1.89625597e-03 9.99733790e-01 3.08956834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.410714057 meters Centerline goodness [0,1] 0.985705506111579 Centerline is valid? [True, True] Translation: X:872.45, Y:-65.58, Z:3.09 [[ 9.99538225e-01 -1.92187986e-02 -2.35366516e-02 8.72448422e+02] [ 1.92566012e-02 9.99813621e-01 1.38050014e-03 -6.55833329e+01] [ 2.35057334e-02 -1.83309857e-03 9.99722021e-01 3.09219909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4407140569999 meters Centerline goodness [0,1] 0.9861911024443336 Centerline is valid? [True, True] Translation: X:872.48, Y:-65.58, Z:3.09 [[ 9.99577947e-01 -1.68376267e-02 -2.36732501e-02 8.72478305e+02] [ 1.68751958e-02 9.99856640e-01 1.38809155e-03 -6.55830915e+01] [ 2.36464841e-02 -1.78699644e-03 9.99718786e-01 3.09312147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4707140569999 meters Centerline goodness [0,1] 0.9875245335799852 Centerline is valid? [True, True] Translation: X:872.51, Y:-65.59, Z:3.09 [[ 9.99675441e-01 -1.06101304e-02 -2.31611292e-02 8.72508171e+02] [ 1.06444212e-02 9.99942425e-01 1.35774395e-03 -6.55850901e+01] [ 2.31453898e-02 -1.60384010e-03 9.99730823e-01 3.09298699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.500714057 meters Centerline goodness [0,1] 0.987762594330002 Centerline is valid? [True, True] Translation: X:872.54, Y:-65.59, Z:3.09 [[ 9.99686517e-01 -6.91699015e-03 -2.40628950e-02 8.72536835e+02] [ 6.95291371e-03 9.99974835e-01 1.40955631e-03 -6.55883658e+01] [ 2.40525396e-02 -1.57642167e-03 9.99709453e-01 3.09199446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.530714057 meters Centerline goodness [0,1] 0.987644839970185 Centerline is valid? [True, True] Translation: X:872.57, Y:-65.58, Z:3.09 [[ 9.99713665e-01 -3.35372715e-03 -2.36926101e-02 8.72567382e+02] [ 3.38755075e-03 9.99993299e-01 1.38760954e-03 -6.55849678e+01] [ 2.36877977e-02 -1.46747214e-03 9.99718328e-01 3.09356473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5607140569999 meters Centerline goodness [0,1] 0.988399176861672 Centerline is valid? [True, True] Translation: X:872.60, Y:-65.59, Z:3.09 [[ 9.99722437e-01 5.13541243e-03 -2.29929543e-02 8.72596858e+02] [-5.10580564e-03 9.99986059e-01 1.34616786e-03 -6.55869840e+01] [ 2.29995469e-02 -1.22839665e-03 9.99734721e-01 3.09324275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5907140569999 meters Centerline goodness [0,1] 0.9889756649688738 Centerline is valid? [True, True] Translation: X:872.63, Y:-65.58, Z:3.10 [[ 9.99706942e-01 9.39846823e-03 -2.23091507e-02 8.72627849e+02] [-9.37165718e-03 9.99955232e-01 1.30604449e-03 -6.55839967e+01] [ 2.23204268e-02 -1.09658803e-03 9.99750267e-01 3.09500910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.620714057 meters Centerline goodness [0,1] 0.989829744052317 Centerline is valid? [True, True] Translation: X:872.66, Y:-65.58, Z:3.10 [[ 9.99606386e-01 1.76029009e-02 -2.18451554e-02 8.72657731e+02] [-1.75791621e-02 9.99844657e-01 1.27825675e-03 -6.55797401e+01] [ 2.18642629e-02 -8.93734077e-04 9.99760549e-01 3.09639716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.650714057 meters Centerline goodness [0,1] 0.9904744706785247 Centerline is valid? [True, True] Translation: X:872.69, Y:-65.58, Z:3.10 [[ 9.99530779e-01 2.13898444e-02 -2.19247915e-02 8.72687771e+02] [-2.13668499e-02 9.99770880e-01 1.28253850e-03 -6.55804707e+01] [ 2.19472014e-02 -8.13472975e-04 9.99758800e-01 3.09633269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6807140569999 meters Centerline goodness [0,1] 0.9909958702863719 Centerline is valid? [True, True] Translation: X:872.72, Y:-65.58, Z:3.10 [[ 9.99444304e-01 2.46557660e-02 -2.24315930e-02 8.72716680e+02] [-2.46325534e-02 9.99695714e-01 1.31058153e-03 -6.55797492e+01] [ 2.24570808e-02 -7.57305833e-04 9.99747521e-01 3.09657172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7107140569999 meters Centerline goodness [0,1] 0.9915580130611873 Centerline is valid? [True, True] Translation: X:872.75, Y:-65.58, Z:3.10 [[ 9.99297079e-01 2.98103418e-02 -2.27308331e-02 8.72746352e+02] [-2.97878555e-02 9.99555362e-01 1.32727156e-03 -6.55801431e+01] [ 2.27602925e-02 -6.49235819e-04 9.99740740e-01 3.09632102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7407140569999 meters Centerline goodness [0,1] 0.9911556470401954 Centerline is valid? [True, True] Translation: X:872.77, Y:-65.58, Z:3.10 [[ 9.99256805e-01 3.11512731e-02 -2.27032017e-02 8.72773862e+02] [-3.11292328e-02 9.99514492e-01 1.32365184e-03 -6.55829350e+01] [ 2.27334126e-02 -6.15934853e-04 9.99741373e-01 3.09531060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.770714057 meters Centerline goodness [0,1] 0.9922097921101499 Centerline is valid? [True, True] Translation: X:872.80, Y:-65.59, Z:3.09 [[ 9.99230458e-01 3.26796606e-02 -2.16917248e-02 8.72801800e+02] [-3.26600144e-02 9.99465726e-01 1.25944599e-03 -6.55871445e+01] [ 2.17212937e-02 -5.50024745e-04 9.99763914e-01 3.09462874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8007140569999 meters Centerline goodness [0,1] 0.9920642118628695 Centerline is valid? [True, True] Translation: X:872.83, Y:-65.59, Z:3.10 [[ 9.99238462e-01 3.26266623e-02 -2.14008724e-02 8.72831066e+02] [-3.26076333e-02 9.99467463e-01 1.23761678e-03 -6.55872886e+01] [ 2.14298550e-02 -5.38842490e-04 9.99770209e-01 3.09755838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8307140569999 meters Centerline goodness [0,1] 0.991098459174913 Centerline is valid? [True, True] Translation: X:872.86, Y:-65.59, Z:3.10 [[ 9.99269481e-01 3.20854269e-02 -2.07612750e-02 8.72858000e+02] [-3.20674544e-02 9.99484989e-01 1.19809856e-03 -6.55931795e+01] [ 2.07890243e-02 -5.31462086e-04 9.99783744e-01 3.09578769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8607140569999 meters Centerline goodness [0,1] 0.991480996068152 Centerline is valid? [True, True] Translation: X:872.89, Y:-65.60, Z:3.10 [[ 9.99321868e-01 3.08949108e-02 -2.00326789e-02 8.72886509e+02] [-3.08780375e-02 9.99522497e-01 1.15113026e-03 -6.55952132e+01] [ 2.00586773e-02 -5.31779835e-04 9.99798663e-01 3.09792773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.890714057 meters Centerline goodness [0,1] 0.9917813154398685 Centerline is valid? [True, True] Translation: X:872.92, Y:-65.60, Z:3.10 [[ 9.99427284e-01 2.82366667e-02 -1.86492345e-02 8.72915295e+02] [-2.82216661e-02 9.99601120e-01 1.06709706e-03 -6.56025238e+01] [ 1.86719269e-02 -5.40173447e-04 9.99825518e-01 3.09863398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9207140569999 meters Centerline goodness [0,1] 0.991383759283775 Centerline is valid? [True, True] Translation: X:872.94, Y:-65.61, Z:3.10 [[ 9.99541346e-01 2.48159101e-02 -1.73570806e-02 8.72943515e+02] [-2.48024212e-02 9.99691880e-01 9.92002825e-04 -6.56099474e+01] [ 1.73763500e-02 -5.61050214e-04 9.99848862e-01 3.09886127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9507140569999 meters Centerline goodness [0,1] 0.9911393537993377 Centerline is valid? [True, True] Translation: X:872.97, Y:-65.61, Z:3.10 [[ 9.99581372e-01 2.33457662e-02 -1.70896448e-02 8.72971547e+02] [-2.33325009e-02 9.99727284e-01 9.75219059e-04 -6.56148900e+01] [ 1.71077514e-02 -5.76066652e-04 9.99853486e-01 3.09862003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9807140569999 meters Centerline goodness [0,1] 0.9901194183675756 Centerline is valid? [True, True] Translation: X:873.00, Y:-65.62, Z:3.10 [[ 9.99625374e-01 2.15880387e-02 -1.68246329e-02 8.72998493e+02] [-2.15749765e-02 9.99766775e-01 9.57516403e-04 -6.56199990e+01] [ 1.68413798e-02 -5.94166635e-04 9.99857997e-01 3.09785956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.010714057 meters Centerline goodness [0,1] 0.990110555468347 Centerline is valid? [True, True] Translation: X:873.03, Y:-65.63, Z:3.10 [[ 9.99648410e-01 2.00387238e-02 -1.73639479e-02 8.73026152e+02] [-2.00246026e-02 9.99799001e-01 9.86746828e-04 -6.56264249e+01] [ 1.73802309e-02 -6.38693742e-04 9.99848748e-01 3.09666142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.040714057 meters Centerline goodness [0,1] 0.9907877378530063 Centerline is valid? [True, True] Translation: X:873.06, Y:-65.63, Z:3.10 [[ 9.99678046e-01 1.73639618e-02 -1.85012661e-02 8.73055276e+02] [-1.73474902e-02 9.99848969e-01 1.05042920e-03 -6.56303330e+01] [ 1.85167114e-02 -7.29140482e-04 9.99828285e-01 3.09654849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0707140569999 meters Centerline goodness [0,1] 0.9900750532093648 Centerline is valid? [True, True] Translation: X:873.08, Y:-65.64, Z:3.10 [[ 9.99697166e-01 1.61524401e-02 -1.85654203e-02 8.73082260e+02] [-1.61356812e-02 9.99869258e-01 1.05214332e-03 -6.56359994e+01] [ 1.85799877e-02 -7.52258990e-04 9.99827094e-01 3.09514279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1007140569999 meters Centerline goodness [0,1] 0.9904753387291508 Centerline is valid? [True, True] Translation: X:873.11, Y:-65.64, Z:3.10 [[ 9.99737595e-01 1.36770756e-02 -1.83760452e-02 8.73111143e+02] [-1.36602572e-02 9.99906153e-01 1.04045033e-03 -6.56392683e+01] [ 1.83885510e-02 -7.89155804e-04 9.99830605e-01 3.09612140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.130714057 meters Centerline goodness [0,1] 0.9902046488691637 Centerline is valid? [True, True] Translation: X:873.14, Y:-65.64, Z:3.10 [[ 9.99763884e-01 1.28604807e-02 -1.75152307e-02 8.73139661e+02] [-1.28450981e-02 9.99917008e-01 9.90463645e-04 -6.56427498e+01] [ 1.75265150e-02 -7.65244924e-04 9.99846106e-01 3.09615512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.160714057 meters Centerline goodness [0,1] 0.9895858885444774 Centerline is valid? [True, True] Translation: X:873.17, Y:-65.65, Z:3.10 [[ 9.99787019e-01 1.16016120e-02 -1.70680859e-02 8.73167065e+02] [-1.15868476e-02 9.99932406e-01 9.63671733e-04 -6.56506245e+01] [ 1.70781123e-02 -7.65701180e-04 9.99853865e-01 3.09507057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1907140569999 meters Centerline goodness [0,1] 0.9899984337592017 Centerline is valid? [True, True] Translation: X:873.20, Y:-65.65, Z:3.10 [[ 9.99792421e-01 1.15726905e-02 -1.67686347e-02 8.73196261e+02] [-1.15584546e-02 9.99932752e-01 9.45631902e-04 -6.56519687e+01] [ 1.67784505e-02 -7.51616106e-04 9.99858949e-01 3.09561861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2207140569999 meters Centerline goodness [0,1] 0.9901492202400988 Centerline is valid? [True, True] Translation: X:873.23, Y:-65.65, Z:3.10 [[ 9.99806657e-01 1.14367441e-02 -1.59952892e-02 8.73225182e+02] [-1.14237915e-02 9.99934341e-01 9.00914517e-04 -6.56526122e+01] [ 1.60045424e-02 -7.18013484e-04 9.99871661e-01 3.09653145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.250714057 meters Centerline goodness [0,1] 0.9898039040314827 Centerline is valid? [True, True] Translation: X:873.25, Y:-65.66, Z:3.10 [[ 9.99819889e-01 1.11655633e-02 -1.53466780e-02 8.73252642e+02] [-1.11536325e-02 9.99937424e-01 8.62795004e-04 -6.56550493e+01] [ 1.53553513e-02 -6.91468398e-04 9.99881861e-01 3.09668788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.280714057 meters Centerline goodness [0,1] 0.9896849672910759 Centerline is valid? [True, True] Translation: X:873.28, Y:-65.66, Z:3.10 [[ 9.99838515e-01 1.07006536e-02 -1.44374391e-02 8.73280248e+02] [-1.06900681e-02 9.99942531e-01 8.10170551e-04 -6.56558886e+01] [ 1.44452787e-02 -6.55702513e-04 9.99895447e-01 3.09746245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3107140569999 meters Centerline goodness [0,1] 0.9897019572953737 Centerline is valid? [True, True] Translation: X:873.31, Y:-65.66, Z:3.10 [[ 9.99866906e-01 9.61821572e-03 -1.31780326e-02 8.73309148e+02] [-9.60931510e-03 9.99953557e-01 7.38567339e-04 -6.56568840e+01] [ 1.31845243e-02 -6.11837172e-04 9.99912893e-01 3.09899333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3407140569999 meters Centerline goodness [0,1] 0.9893709472558326 Centerline is valid? [True, True] Translation: X:873.34, Y:-65.66, Z:3.10 [[ 9.99885189e-01 8.69455834e-03 -1.24101909e-02 8.73336993e+02] [-8.68660748e-03 9.99962030e-01 6.94432006e-04 -6.56604959e+01] [ 1.24157575e-02 -5.86549821e-04 9.99922749e-01 3.09912120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.370714057 meters Centerline goodness [0,1] 0.9895129080482853 Centerline is valid? [True, True] Translation: X:873.37, Y:-65.66, Z:3.10 [[ 9.99900337e-01 6.48656068e-03 -1.25395656e-02 8.73366832e+02] [-6.47827521e-03 9.99978770e-01 7.01252347e-04 -6.56631786e+01] [ 1.25438481e-02 -6.19947701e-04 9.99921131e-01 3.09921808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.400714057 meters Centerline goodness [0,1] 0.9889091799919826 Centerline is valid? [True, True] Translation: X:873.40, Y:-65.67, Z:3.10 [[ 9.99906445e-01 5.55025435e-03 -1.25018070e-02 8.73395745e+02] [-5.54195669e-03 9.99984399e-01 6.98263053e-04 -6.56653125e+01] [ 1.25054875e-02 -6.28913255e-04 9.99921606e-01 3.09916459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4307140569999 meters Centerline goodness [0,1] 0.9888191317079663 Centerline is valid? [True, True] Translation: X:873.42, Y:-65.67, Z:3.10 [[ 9.99908604e-01 4.25022697e-03 -1.28343309e-02 8.73424098e+02] [-4.24138948e-03 9.99990749e-01 7.15722851e-04 -6.56677070e+01] [ 1.28372542e-02 -6.61222040e-04 9.99917380e-01 3.09912167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4607140569999 meters Centerline goodness [0,1] 0.9888113758441617 Centerline is valid? [True, True] Translation: X:873.45, Y:-65.67, Z:3.10 [[ 9.99916789e-01 1.85565081e-03 -1.27660412e-02 8.73453250e+02] [-1.84672413e-03 9.99998042e-01 7.11004579e-04 -6.56710464e+01] [ 1.27673356e-02 -6.87370060e-04 9.99918258e-01 3.09880986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4907140569999 meters Centerline goodness [0,1] 0.9878893118724815 Centerline is valid? [True, True] Translation: X:873.48, Y:-65.67, Z:3.10 [[ 9.99915138e-01 3.76989120e-04 -1.30220841e-02 8.73481437e+02] [-3.67585487e-04 9.99999670e-01 7.24515522e-04 -6.56739044e+01] [ 1.30223530e-02 -7.19667309e-04 9.99914947e-01 3.09857967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.520714057 meters Centerline goodness [0,1] 0.987826590109939 Centerline is valid? [True, True] Translation: X:873.51, Y:-65.68, Z:3.10 [[ 9.99909155e-01 -1.90997945e-03 -1.33429238e-02 8.73510045e+02] [ 1.92004259e-03 9.99997882e-01 7.41423285e-04 -6.56777957e+01] [ 1.33414794e-02 -7.66974912e-04 9.99910704e-01 3.09765050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5507140569999 meters Centerline goodness [0,1] 0.988481162132656 Centerline is valid? [True, True] Translation: X:873.54, Y:-65.68, Z:3.10 [[ 9.99906377e-01 -2.57994936e-03 -1.34380329e-02 8.73539173e+02] [ 2.59020442e-03 9.99996367e-01 7.45788120e-04 -6.56762174e+01] [ 1.34360600e-02 -7.80525549e-04 9.99909427e-01 3.09781155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5807140569999 meters Centerline goodness [0,1] 0.9883935519733185 Centerline is valid? [True, True] Translation: X:873.57, Y:-65.67, Z:3.10 [[ 9.99904346e-01 -3.16765836e-03 -1.34634326e-02 8.73567602e+02] [ 3.17796008e-03 9.99994674e-01 7.43837513e-04 -6.56744879e+01] [ 1.34610047e-02 -7.86552613e-04 9.99909087e-01 3.09808490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6107140569999 meters Centerline goodness [0,1] 0.9867593954794703 Centerline is valid? [True, True] Translation: X:873.59, Y:-65.68, Z:3.10 [[ 9.99902617e-01 -2.91214361e-03 -1.36483204e-02 8.73594759e+02] [ 2.92269101e-03 9.99995445e-01 7.52915735e-04 -6.56810898e+01] [ 1.36460656e-02 -7.92732237e-04 9.99906574e-01 3.09592965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.640714057 meters Centerline goodness [0,1] 0.9883016177191497 Centerline is valid? [True, True] Translation: X:873.62, Y:-65.67, Z:3.10 [[ 9.99905588e-01 -2.62376545e-03 -1.34881835e-02 8.73624086e+02] [ 2.63399504e-03 9.99996257e-01 7.40702500e-04 -6.56722074e+01] [ 1.34861895e-02 -7.76160377e-04 9.99908756e-01 3.09817300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6707140569999 meters Centerline goodness [0,1] 0.9868888342900538 Centerline is valid? [True, True] Translation: X:873.65, Y:-65.68, Z:3.10 [[ 9.99913200e-01 -2.59847599e-03 -1.29166338e-02 8.73651711e+02] [ 2.60784084e-03 9.99996349e-01 7.08232534e-04 -6.56794923e+01] [ 1.29147463e-02 -7.41855585e-04 9.99916326e-01 3.09682021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7007140569999 meters Centerline goodness [0,1] 0.988227935756249 Centerline is valid? [True, True] Translation: X:873.68, Y:-65.67, Z:3.10 [[ 9.99920117e-01 -3.25632209e-03 -1.22129304e-02 8.73681155e+02] [ 3.26470549e-03 9.99994449e-01 6.66562350e-04 -6.56693775e+01] [ 1.22106920e-02 -7.06380724e-04 9.99925197e-01 3.09964884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7307140569999 meters Centerline goodness [0,1] 0.9879520770350465 Centerline is valid? [True, True] Translation: X:873.71, Y:-65.67, Z:3.10 [[ 9.99920575e-01 -5.50801141e-03 -1.13360343e-02 8.73709477e+02] [ 5.51536979e-03 9.99984599e-01 6.17953996e-04 -6.56708355e+01] [ 1.13324560e-02 -6.80427335e-04 9.99935554e-01 3.09954660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.760714057 meters Centerline goodness [0,1] 0.9868626837660307 Centerline is valid? [True, True] Translation: X:873.74, Y:-65.67, Z:3.10 [[ 9.99916825e-01 -6.98185769e-03 -1.08442390e-02 8.73736589e+02] [ 6.98866538e-03 9.99975405e-01 5.90001990e-04 -6.56729101e+01] [ 1.08398530e-02 -6.65739674e-04 9.99941025e-01 3.09926223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.790714057 meters Centerline goodness [0,1] 0.9871619653619519 Centerline is valid? [True, True] Translation: X:873.77, Y:-65.67, Z:3.10 [[ 9.99902580e-01 -8.64474753e-03 -1.09589311e-02 8.73766033e+02] [ 8.65179551e-03 9.99962395e-01 5.95880105e-04 -6.56733530e+01] [ 1.09533678e-02 -6.90636486e-04 9.99939772e-01 3.09939275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8207140569999 meters Centerline goodness [0,1] 0.9860788344654987 Centerline is valid? [True, True] Translation: X:873.79, Y:-65.68, Z:3.10 [[ 9.99889881e-01 -1.00882626e-02 -1.08835651e-02 8.73794952e+02] [ 1.00953005e-02 9.99948866e-01 5.91906234e-04 -6.56753177e+01] [ 1.08770373e-02 -7.01713914e-04 9.99940597e-01 3.09931916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8507140569999 meters Centerline goodness [0,1] 0.9862510636392136 Centerline is valid? [True, True] Translation: X:873.82, Y:-65.68, Z:3.10 [[ 9.99850486e-01 -1.38026527e-02 -1.04159352e-02 8.73823652e+02] [ 1.38092963e-02 9.99904487e-01 5.66169854e-04 -6.56776835e+01] [ 1.04071257e-02 -7.09921939e-04 9.99945592e-01 3.09891260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.880714057 meters Centerline goodness [0,1] 0.9859287685989362 Centerline is valid? [True, True] Translation: X:873.85, Y:-65.68, Z:3.10 [[ 9.99817371e-01 -1.58676455e-02 -1.06509282e-02 8.73854002e+02] [ 1.58747125e-02 9.99873821e-01 5.79298299e-04 -6.56812049e+01] [ 1.06403922e-02 -7.48272926e-04 9.99943109e-01 3.09826029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.910714057 meters Centerline goodness [0,1] 0.9853568701432871 Centerline is valid? [True, True] Translation: X:873.88, Y:-65.68, Z:3.10 [[ 9.99746870e-01 -1.94415276e-02 -1.13235307e-02 8.73884934e+02] [ 1.94497439e-02 9.99810646e-01 6.15910063e-04 -6.56818665e+01] [ 1.13094123e-02 -8.35993930e-04 9.99935697e-01 3.09775458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9407140569999 meters Centerline goodness [0,1] 0.9841894581479079 Centerline is valid? [True, True] Translation: X:873.91, Y:-65.69, Z:3.10 [[ 9.99721982e-01 -2.08049741e-02 -1.10955713e-02 8.73914890e+02] [ 2.08129485e-02 9.99783205e-01 6.03703991e-04 -6.56853918e+01] [ 1.10806058e-02 -8.34467705e-04 9.99938260e-01 3.09739031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9707140569999 meters Centerline goodness [0,1] 0.9834880158587133 Centerline is valid? [True, True] Translation: X:873.95, Y:-65.69, Z:3.10 [[ 9.99690867e-01 -2.22292143e-02 -1.11369544e-02 8.73946309e+02] [ 2.22373404e-02 9.99752536e-01 6.06336482e-04 -6.56851302e+01] [ 1.11207200e-02 -8.53805289e-04 9.99937798e-01 3.09776659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.000714057 meters Centerline goodness [0,1] 0.9823746844572665 Centerline is valid? [True, True] Translation: X:873.98, Y:-65.69, Z:3.10 [[ 9.99640902e-01 -2.45553772e-02 -1.07285364e-02 8.73976049e+02] [ 2.45630513e-02 9.99698112e-01 5.84090888e-04 -6.56851665e+01] [ 1.07109550e-02 -8.47406732e-04 9.99942277e-01 3.09835156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.030714057 meters Centerline goodness [0,1] 0.979029021128825 Centerline is valid? [True, True] Translation: X:874.01, Y:-65.69, Z:3.10 [[ 9.99634445e-01 -2.50190582e-02 -1.02480866e-02 8.74007281e+02] [ 2.50260898e-02 9.99686642e-01 5.58461498e-04 -6.56874108e+01] [ 1.02309031e-02 -8.14726885e-04 9.99947331e-01 3.09811813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0607140569999 meters Centerline goodness [0,1] 0.9804560260586319 Centerline is valid? [True, True] Translation: X:874.04, Y:-65.68, Z:3.10 [[ 9.99613944e-01 -2.60131141e-02 -9.76118826e-03 8.74039218e+02] [ 2.60195453e-02 9.99661293e-01 5.32418505e-04 -6.56840696e+01] [ 9.74403221e-03 -7.86194642e-04 9.99952217e-01 3.09856789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0907140569999 meters Centerline goodness [0,1] 0.975912093899698 Centerline is valid? [True, True] Translation: X:874.07, Y:-65.69, Z:3.10 [[ 9.99617630e-01 -2.60455866e-02 -9.28554789e-03 8.74070423e+02] [ 2.60514120e-02 9.99660476e-01 5.06936228e-04 -6.56858224e+01] [ 9.26919177e-03 -7.48644024e-04 9.99956760e-01 3.09842045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.120714057 meters Centerline goodness [0,1] 0.9745420747188973 Centerline is valid? [True, True] Translation: X:874.10, Y:-65.69, Z:3.10 [[ 9.99612191e-01 -2.62356626e-02 -9.33580017e-03 8.74102602e+02] [ 2.62415651e-02 9.99655501e-01 5.10295786e-04 -6.56857631e+01] [ 9.31919604e-03 -7.55083897e-04 9.99956290e-01 3.09837263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.150714057 meters Centerline goodness [0,1] 0.9654120272331899 Centerline is valid? [True, True] Translation: X:874.13, Y:-65.69, Z:3.10 [[ 9.99591280e-01 -2.70838604e-02 -9.15086034e-03 8.74134066e+02] [ 2.70895708e-02 9.99632885e-01 5.00629171e-04 -6.56852225e+01] [ 9.13394195e-03 -7.48317433e-04 9.99958005e-01 3.09801870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1807140569999 meters Centerline goodness [0,1] 0.9590703180131576 Centerline is valid? [True, True] Translation: X:874.17, Y:-65.69, Z:3.10 [[ 9.99587440e-01 -2.72832845e-02 -8.97625223e-03 8.74165154e+02] [ 2.72887909e-02 9.99627471e-01 4.91513015e-04 -6.56861703e+01] [ 8.95949822e-03 -7.36261306e-04 9.99959592e-01 3.09796333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2107140569999 meters Centerline goodness [0,1] 0.9515753424657534 Centerline is valid? [True, True] Translation: X:874.20, Y:-65.69, Z:3.10 [[ 9.99540071e-01 -2.89238668e-02 -9.11351476e-03 8.74196197e+02] [ 2.89296119e-02 9.99581327e-01 4.99164969e-04 -6.56850270e+01] [ 9.09526139e-03 -7.62585834e-04 9.99958346e-01 3.09808411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2407140569999 meters Centerline goodness [0,1] 0.9515753424657534 Centerline is valid? [True, True] Translation: X:874.23, Y:-65.69, Z:3.10 [[ 9.99542849e-01 -2.88277265e-02 -9.11346538e-03 8.74228800e+02] [ 2.88334758e-02 9.99584104e-01 5.00065755e-04 -6.56869193e+01] [ 9.09525936e-03 -7.62610033e-04 9.99958346e-01 3.09807423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.270714057 meters Centerline goodness [0,1] 0.9403523183643665 Centerline is valid? [True, False] Translation: X:874.23, Y:-65.69, Z:3.10 [[ 9.99619768e-01 -2.60583322e-02 -9.01573234e-03 8.74228229e+02] [ 2.60959074e-02 9.99651136e-01 4.07549481e-03 -6.56875037e+01] [ 8.90638648e-03 -4.30921890e-03 9.99951052e-01 3.09763791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3007140569999 meters Centerline goodness [0,1] 0.9246393405083582 Centerline is valid? [False, False] Translation: X:874.23, Y:-65.69, Z:3.10 [[ 9.99613765e-01 -2.62481750e-02 -9.12986754e-03 8.74228512e+02] [ 2.62829606e-02 9.99647654e-01 3.71117920e-03 -6.56860864e+01] [ 9.02923899e-03 -3.94970576e-03 9.99951435e-01 3.09749435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3307140569999 meters Centerline goodness [0,1] 0.9151151565301338 Centerline is valid? [False, False] Translation: X:874.23, Y:-65.68, Z:3.10 [[ 9.99629778e-01 -2.53715740e-02 -9.82798208e-03 8.74231234e+02] [ 2.54106704e-02 9.99669591e-01 3.87382450e-03 -6.56830739e+01] [ 9.72644980e-03 -4.12212594e-03 9.99944201e-01 3.09572502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3607140569999 meters Centerline goodness [0,1] 0.9343302841079287 Centerline is valid? [False, False] Translation: X:874.23, Y:-65.68, Z:3.10 [[ 9.99715978e-01 -2.17617577e-02 -9.71544198e-03 8.74231012e+02] [ 2.18393985e-02 9.99729817e-01 7.95821303e-03 -6.56835626e+01] [ 9.53963233e-03 -8.16813212e-03 9.99921135e-01 3.09500076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.390714057 meters Centerline goodness [0,1] 0.9867588062055052 Centerline is valid? [False, True] Translation: X:874.23, Y:-65.68, Z:3.10 [[ 9.99788503e-01 -1.81446811e-02 -9.68091707e-03 8.74230572e+02] [ 1.82505756e-02 9.99773321e-01 1.09646195e-02 -6.56807873e+01] [ 9.47977309e-03 -1.11389828e-02 9.99893023e-01 3.09532815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4207140569999 meters Centerline goodness [0,1] 0.9540974503724955 Centerline is valid? [True, True] Translation: X:874.26, Y:-65.70, Z:3.10 [[ 9.99827204e-01 -1.57693830e-02 -9.84324047e-03 8.74259966e+02] [ 1.57759939e-02 9.99875375e-01 5.94334860e-04 -6.56957724e+01] [ 9.83264146e-03 -7.49519063e-04 9.99951378e-01 3.09714784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4507140569999 meters Centerline goodness [0,1] 0.9602908923005887 Centerline is valid? [True, True] Translation: X:874.29, Y:-65.69, Z:3.10 [[ 9.99857861e-01 -1.38134845e-02 -9.66670423e-03 8.74290983e+02] [ 1.38197711e-02 9.99904332e-01 5.83843583e-04 -6.56947591e+01] [ 9.65771452e-03 -7.17352236e-04 9.99953106e-01 3.09742288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4807140569999 meters Centerline goodness [0,1] 0.987205136556088 Centerline is valid? [True, True] Translation: X:874.32, Y:-65.67, Z:3.10 [[ 9.99896953e-01 -1.07744506e-02 -9.48657318e-03 8.74323439e+02] [ 1.07803707e-02 9.99941726e-01 5.73138806e-04 -6.56694951e+01] [ 9.47984511e-03 -6.75348522e-04 9.99954837e-01 3.10036543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.510714057 meters Centerline goodness [0,1] 0.9872391952309985 Centerline is valid? [True, True] Translation: X:874.35, Y:-65.67, Z:3.10 [[ 9.99913449e-01 -9.32224383e-03 -9.28390063e-03 8.74354472e+02] [ 9.32785298e-03 9.99956337e-01 5.61062923e-04 -6.56691988e+01] [ 9.27826490e-03 -6.47613222e-04 9.99956746e-01 3.09982309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.540714057 meters Centerline goodness [0,1] 0.9868851697964299 Centerline is valid? [True, True] Translation: X:874.38, Y:-65.67, Z:3.10 [[ 9.99934012e-01 -5.90456207e-03 -9.85431618e-03 8.74383700e+02] [ 5.91072414e-03 9.99982354e-01 5.96309339e-04 -6.56745516e+01] [ 9.85062134e-03 -6.54516134e-04 9.99951267e-01 3.09802674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5707140569999 meters Centerline goodness [0,1] 0.9871133418933116 Centerline is valid? [True, True] Translation: X:874.41, Y:-65.67, Z:3.10 [[ 9.99939610e-01 -4.28630942e-03 -1.01195087e-02 8.74413318e+02] [ 4.29271014e-03 9.99990600e-01 6.10876766e-04 -6.56679513e+01] [ 1.01167952e-02 -6.54279993e-04 9.99948610e-01 3.09900658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6007140569999 meters Centerline goodness [0,1] 0.987169599663465 Centerline is valid? [True, True] Translation: X:874.44, Y:-65.67, Z:3.10 [[ 9.99945334e-01 -2.77002839e-03 -1.00824624e-02 8.74440978e+02] [ 2.77629708e-03 9.99995961e-01 6.07798777e-04 -6.56687761e+01] [ 1.00807380e-02 -6.35757462e-04 9.99948986e-01 3.09899868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.630714057 meters Centerline goodness [0,1] 0.9873990759322351 Centerline is valid? [True, True] Translation: X:874.47, Y:-65.67, Z:3.10 [[ 9.99954236e-01 3.41573951e-04 -9.56083856e-03 8.74469772e+02] [-3.36081434e-04 9.99999778e-01 5.76081332e-04 -6.56695339e+01] [ 9.56103321e-03 -5.72841748e-04 9.99954128e-01 3.09920574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.660714057 meters Centerline goodness [0,1] 0.987488306828812 Centerline is valid? [True, True] Translation: X:874.50, Y:-65.67, Z:3.10 [[ 9.99955770e-01 1.68028919e-03 -9.25390709e-03 8.74499113e+02] [-1.67522242e-03 9.99998443e-01 5.55251728e-04 -6.56650633e+01] [ 9.25482566e-03 -5.39724816e-04 9.99957028e-01 3.09998327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6907140569999 meters Centerline goodness [0,1] 0.9877727614747931 Centerline is valid? [True, True] Translation: X:874.53, Y:-65.66, Z:3.10 [[ 9.99943574e-01 4.00752353e-03 -9.83810939e-03 8.74529459e+02] [-4.00191569e-03 9.99991818e-01 5.89632411e-04 -6.56635560e+01] [ 9.84039186e-03 -5.50227856e-04 9.99951431e-01 3.09957140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7207140569999 meters Centerline goodness [0,1] 0.9879328559690105 Centerline is valid? [True, True] Translation: X:874.56, Y:-65.66, Z:3.10 [[ 9.99928020e-01 5.95912728e-03 -1.04136699e-02 8.74556974e+02] [-5.95295909e-03 9.99982087e-01 6.23213281e-04 -6.56638962e+01] [ 1.04171972e-02 -5.61176271e-04 9.99945582e-01 3.09811119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.750714057 meters Centerline goodness [0,1] 0.9882918325520036 Centerline is valid? [True, True] Translation: X:874.59, Y:-65.66, Z:3.10 [[ 9.99915745e-01 7.27936512e-03 -1.07477647e-02 8.74585723e+02] [-7.27287861e-03 9.99973346e-01 6.42483325e-04 -6.56638002e+01] [ 1.07521551e-02 -5.64262005e-04 9.99942035e-01 3.09752347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.780714057 meters Centerline goodness [0,1] 0.9878057409722386 Centerline is valid? [True, True] Translation: X:874.61, Y:-65.67, Z:3.10 [[ 9.99908416e-01 9.10485417e-03 -1.00130369e-02 8.74613644e+02] [-9.09932446e-03 9.99958422e-01 5.97671194e-04 -6.56652127e+01] [ 1.00180623e-02 -5.06504585e-04 9.99949690e-01 3.09770528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8107140569999 meters Centerline goodness [0,1] 0.9877732755371278 Centerline is valid? [True, True] Translation: X:874.64, Y:-65.67, Z:3.10 [[ 9.99906516e-01 9.52906870e-03 -9.80596981e-03 8.74642371e+02] [-9.52379204e-03 9.99954477e-01 5.84664001e-04 -6.56664474e+01] [ 9.81109471e-03 -4.91219327e-04 9.99951749e-01 3.09805344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8407140569999 meters Centerline goodness [0,1] 0.9878763529801011 Centerline is valid? [True, True] Translation: X:874.67, Y:-65.67, Z:3.10 [[ 9.99906844e-01 9.47948235e-03 -9.82051578e-03 8.74669428e+02] [-9.47420568e-03 9.99954948e-01 5.83694310e-04 -6.56684452e+01] [ 9.82560647e-03 -4.90598349e-04 9.99951607e-01 3.09859643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.870714057 meters Centerline goodness [0,1] 0.9879065592743935 Centerline is valid? [True, True] Translation: X:874.70, Y:-65.67, Z:3.10 [[ 9.99911753e-01 8.85090005e-03 -9.90692033e-03 8.74696653e+02] [-8.84550887e-03 9.99960705e-01 5.87868084e-04 -6.56710308e+01] [ 9.91173420e-03 -5.00184455e-04 9.99950752e-01 3.09855412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.900714057 meters Centerline goodness [0,1] 0.9876420689492215 Centerline is valid? [True, True] Translation: X:874.73, Y:-65.67, Z:3.10 [[ 9.99923056e-01 8.16991636e-03 -9.33454762e-03 8.74725275e+02] [-8.16510596e-03 9.99966512e-01 5.53326438e-04 -6.56745912e+01] [ 9.33875565e-03 -4.77066292e-04 9.99956279e-01 3.09832490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9307140569999 meters Centerline goodness [0,1] 0.9880378250591016 Centerline is valid? [True, True] Translation: X:874.75, Y:-65.68, Z:3.10 [[ 9.99940456e-01 6.29849957e-03 -8.91136524e-03 8.74754500e+02] [-6.29404364e-03 9.99980053e-01 5.27983738e-04 -6.56798904e+01] [ 8.91451299e-03 -4.71863778e-04 9.99960154e-01 3.09896396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9607140569999 meters Centerline goodness [0,1] 0.9863389258599682 Centerline is valid? [True, True] Translation: X:874.78, Y:-65.68, Z:3.10 [[ 9.99949959e-01 5.08370289e-03 -8.61596738e-03 8.74782903e+02] [-5.07949778e-03 9.99986969e-01 5.09872765e-04 -6.56828062e+01] [ 8.61844715e-03 -4.66082463e-04 9.99962752e-01 3.09924796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9907140569999 meters Centerline goodness [0,1] 0.9881120527306968 Centerline is valid? [True, True] Translation: X:874.81, Y:-65.68, Z:3.10 [[ 9.99964690e-01 2.06275626e-03 -8.14635386e-03 8.74812509e+02] [-2.05890061e-03 9.99997764e-01 4.81656241e-04 -6.56785213e+01] [ 8.14732919e-03 -4.64866701e-04 9.99966702e-01 3.10205017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.020714057 meters Centerline goodness [0,1] 0.9870290735720295 Centerline is valid? [True, True] Translation: X:874.84, Y:-65.69, Z:3.10 [[ 9.99968160e-01 4.83342263e-04 -7.96531688e-03 8.74840750e+02] [-4.79609529e-04 9.99999774e-01 4.70526989e-04 -6.56866456e+01] [ 7.96554251e-03 -4.66691765e-04 9.99968166e-01 3.10150002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0507140569999 meters Centerline goodness [0,1] 0.9876238200675912 Centerline is valid? [True, True] Translation: X:874.87, Y:-65.69, Z:3.10 [[ 9.99970107e-01 -8.20072607e-04 -7.68843065e-03 8.74868974e+02] [ 8.23583339e-04 9.99999558e-01 4.53470286e-04 -6.56905581e+01] [ 7.68805537e-03 -4.59788794e-04 9.99970341e-01 3.10116793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0807140569999 meters Centerline goodness [0,1] 0.9878479483247363 Centerline is valid? [True, True] Translation: X:874.90, Y:-65.70, Z:3.10 [[ 9.99956210e-01 -3.86601436e-03 -8.52239823e-03 8.74897458e+02] [ 3.87043640e-03 9.99992384e-01 5.02440682e-04 -6.56986486e+01] [ 8.52039088e-03 -5.35404080e-04 9.99963557e-01 3.10000832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1107140569999 meters Centerline goodness [0,1] 0.9880489225393128 Centerline is valid? [True, True] Translation: X:874.93, Y:-65.70, Z:3.10 [[ 9.99941831e-01 -5.41479246e-03 -9.32817788e-03 8.74926719e+02] [ 5.42015266e-03 9.99985160e-01 5.49439177e-04 -6.56992534e+01] [ 9.32506435e-03 -5.99967365e-04 9.99956341e-01 3.10013638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.140714057 meters Centerline goodness [0,1] 0.9877020543159267 Centerline is valid? [True, True] Translation: X:874.96, Y:-65.70, Z:3.10 [[ 9.99906101e-01 -8.26729815e-03 -1.09289200e-02 8.74956167e+02] [ 8.27482410e-03 9.99965556e-01 6.43586364e-04 -6.57042020e+01] [ 1.09232228e-02 -7.33960822e-04 9.99940070e-01 3.09977087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1707140569999 meters Centerline goodness [0,1] 0.9889085655699505 Centerline is valid? [True, True] Translation: X:874.99, Y:-65.70, Z:3.10 [[ 9.99886939e-01 -9.49830162e-03 -1.16572556e-02 8.74986187e+02] [ 9.50694235e-03 9.99954573e-01 6.86039865e-04 -6.57038639e+01] [ 1.16502098e-02 -7.96787158e-04 9.99931817e-01 3.09990618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2007140569999 meters Centerline goodness [0,1] 0.9882817949314113 Centerline is valid? [True, True] Translation: X:875.02, Y:-65.71, Z:3.10 [[ 9.99871665e-01 -1.05715402e-02 -1.20372613e-02 8.75015996e+02] [ 1.05808257e-02 9.99943771e-01 7.07976936e-04 -6.57077216e+01] [ 1.20291001e-02 -8.35250243e-04 9.99927299e-01 3.09969905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2307140569999 meters Centerline goodness [0,1] 0.9864294121719864 Centerline is valid? [True, True] Translation: X:875.04, Y:-65.72, Z:3.10 [[ 9.99872268e-01 -1.12175646e-02 -1.13847889e-02 8.75044860e+02] [ 1.12259104e-02 9.99936763e-01 6.69419216e-04 -6.57220211e+01] [ 1.13765598e-02 -7.97138330e-04 9.99934967e-01 3.09858627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.260714057 meters Centerline goodness [0,1] 0.988338935898922 Centerline is valid? [True, True] Translation: X:875.08, Y:-65.71, Z:3.10 [[ 9.99885132e-01 -1.13798377e-02 -1.00110808e-02 8.75075993e+02] [ 1.13862991e-02 9.99935001e-01 5.88664527e-04 -6.57141710e+01] [ 1.00037312e-02 -7.02586069e-04 9.99949715e-01 3.10204394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.290714057 meters Centerline goodness [0,1] 0.987863458102244 Centerline is valid? [True, True] Translation: X:875.11, Y:-65.72, Z:3.10 [[ 9.99894242e-01 -1.12417483e-02 -9.22647670e-03 8.75106141e+02] [ 1.12472324e-02 9.99936601e-01 5.42713223e-04 -6.57171313e+01] [ 9.21979070e-03 -6.46428155e-04 9.99957288e-01 3.10267918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3207140569999 meters Centerline goodness [0,1] 0.9877919320594479 Centerline is valid? [True, True] Translation: X:875.14, Y:-65.72, Z:3.10 [[ 9.99903449e-01 -1.08885080e-02 -8.63328638e-03 8.75137368e+02] [ 1.08932993e-02 9.99940537e-01 5.08148387e-04 -6.57182855e+01] [ 8.62724004e-03 -6.02144297e-04 9.99962603e-01 3.10354140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3507140569999 meters Centerline goodness [0,1] 0.987554175261316 Centerline is valid? [True, True] Translation: X:875.17, Y:-65.72, Z:3.10 [[ 9.99907248e-01 -1.08471747e-02 -8.23617677e-03 8.75167588e+02] [ 1.08515350e-02 9.99941003e-01 4.84900049e-04 -6.57215840e+01] [ 8.23043106e-03 -5.74230234e-04 9.99965965e-01 3.10363630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.380714057 meters Centerline goodness [0,1] 0.9865445970314884 Centerline is valid? [True, True] Translation: X:875.20, Y:-65.73, Z:3.10 [[ 9.99913399e-01 -1.11309214e-02 -7.02113246e-03 8.75198193e+02] [ 1.11340999e-02 9.99937928e-01 4.13774695e-04 -6.57251872e+01] [ 7.01609096e-03 -4.91912852e-04 9.99975266e-01 3.10399817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.410714057 meters Centerline goodness [0,1] 0.9863301060396497 Centerline is valid? [True, True] Translation: X:875.23, Y:-65.73, Z:3.10 [[ 9.99911174e-01 -1.14795685e-02 -6.77232896e-03 8.75229182e+02] [ 1.14825360e-02 9.99933994e-01 3.99461929e-04 -6.57299356e+01] [ 6.76729630e-03 -4.77189957e-04 9.99976988e-01 3.10347295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4407140569999 meters Centerline goodness [0,1] 0.9867976878612716 Centerline is valid? [True, True] Translation: X:875.26, Y:-65.73, Z:3.10 [[ 9.99903448e-01 -1.19735716e-02 -7.05185912e-03 8.75261815e+02] [ 1.19768051e-02 9.99928189e-01 4.16474617e-04 -6.57264672e+01] [ 7.04636603e-03 -5.00893148e-04 9.99975049e-01 3.10371190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4707140569999 meters Centerline goodness [0,1] 0.9863396819526628 Centerline is valid? [True, True] Translation: X:875.29, Y:-65.74, Z:3.10 [[ 9.99888077e-01 -1.28928858e-02 -7.58994426e-03 8.75292803e+02] [ 1.28966608e-02 9.99916734e-01 4.48627236e-04 -6.57361091e+01] [ 7.58352818e-03 -5.46461961e-04 9.99971095e-01 3.10242323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.500714057 meters Centerline goodness [0,1] 0.9869724176231025 Centerline is valid? [True, True] Translation: X:875.32, Y:-65.73, Z:3.10 [[ 9.99839122e-01 -1.52146649e-02 -9.49964322e-03 8.75324212e+02] [ 1.52206838e-02 9.99884001e-01 5.61617612e-04 -6.57320931e+01] [ 9.48999644e-03 -7.06118326e-04 9.99954720e-01 3.10118752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.530714057 meters Centerline goodness [0,1] 0.9849469327352186 Centerline is valid? [True, True] Translation: X:875.35, Y:-65.74, Z:3.10 [[ 9.99803892e-01 -1.65383534e-02 -1.08931427e-02 8.75353941e+02] [ 1.65463480e-02 9.99862892e-01 6.44190847e-04 -6.57441444e+01] [ 1.08809953e-02 -8.24306246e-04 9.99940460e-01 3.09855564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5607140569999 meters Centerline goodness [0,1] 0.9878443335182104 Centerline is valid? [True, True] Translation: X:875.39, Y:-65.74, Z:3.10 [[ 9.99756494e-01 -1.83203043e-02 -1.23012228e-02 8.75385782e+02] [ 1.83306393e-02 9.99831715e-01 7.27921081e-04 -6.57362214e+01] [ 1.22858170e-02 -9.53233106e-04 9.99924072e-01 3.09925889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5907140569999 meters Centerline goodness [0,1] 0.9868783411631298 Centerline is valid? [True, True] Translation: X:875.42, Y:-65.74, Z:3.10 [[ 9.99733126e-01 -1.92156698e-02 -1.28231875e-02 8.75417249e+02] [ 1.92269828e-02 9.99814856e-01 7.59515826e-04 -6.57389474e+01] [ 1.28062187e-02 -1.00586434e-03 9.99917491e-01 3.09919587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.620714057 meters Centerline goodness [0,1] 0.9863786141922309 Centerline is valid? [True, True] Translation: X:875.45, Y:-65.74, Z:3.10 [[ 9.99735140e-01 -1.93425798e-02 -1.24705557e-02 8.75447826e+02] [ 1.93532971e-02 9.99812434e-01 7.39296867e-04 -6.57438734e+01] [ 1.24539168e-02 -9.80447427e-04 9.99921966e-01 3.09900836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.650714057 meters Centerline goodness [0,1] 0.9864305962172963 Centerline is valid? [True, True] Translation: X:875.48, Y:-65.74, Z:3.10 [[ 9.99758186e-01 -1.85491701e-02 -1.18108901e-02 8.75478779e+02] [ 1.85587331e-02 9.99827526e-01 7.00584513e-04 -6.57448001e+01] [ 1.17958578e-02 -9.19610259e-04 9.99930004e-01 3.10043729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6807140569999 meters Centerline goodness [0,1] 0.9866997818114294 Centerline is valid? [True, True] Translation: X:875.51, Y:-65.75, Z:3.10 [[ 9.99787155e-01 -1.77877452e-02 -1.04518131e-02 8.75510501e+02] [ 1.77951980e-02 9.99841460e-01 6.20487230e-04 -6.57460866e+01] [ 1.04391190e-02 -8.06347245e-04 9.99945186e-01 3.10159370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7107140569999 meters Centerline goodness [0,1] 0.9858761663215209 Centerline is valid? [True, True] Translation: X:875.54, Y:-65.75, Z:3.10 [[ 9.99828664e-01 -1.62354407e-02 -8.89119638e-03 8.75541995e+02] [ 1.62407755e-02 9.99867970e-01 5.28137007e-04 -6.57455928e+01] [ 8.88144794e-03 -6.72446442e-04 9.99960333e-01 3.10337648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7407140569999 meters Centerline goodness [0,1] 0.9866094221397076 Centerline is valid? [True, True] Translation: X:875.57, Y:-65.75, Z:3.10 [[ 9.99844292e-01 -1.55749748e-02 -8.29532622e-03 8.75574723e+02] [ 1.55796024e-02 9.99878509e-01 4.93523808e-04 -6.57452231e+01] [ 8.28663179e-03 -6.22684847e-04 9.99965471e-01 3.10416507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.770714057 meters Centerline goodness [0,1] 0.9853549676879446 Centerline is valid? [True, True] Translation: X:875.61, Y:-65.75, Z:3.10 [[ 9.99851173e-01 -1.52836809e-02 -8.00256620e-03 8.75606874e+02] [ 1.52879827e-02 9.99883018e-01 4.76650806e-04 -6.57455878e+01] [ 7.99434507e-03 -5.98922961e-04 9.99967865e-01 3.10440375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8007140569999 meters Centerline goodness [0,1] 0.9858273599663779 Centerline is valid? [True, True] Translation: X:875.64, Y:-65.75, Z:3.10 [[ 9.99846064e-01 -1.55260426e-02 -8.17255850e-03 8.75638187e+02] [ 1.55305404e-02 9.99879275e-01 4.87182110e-04 -6.57474160e+01] [ 8.16400786e-03 -6.14031366e-04 9.99966485e-01 3.10457048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8307140569999 meters Centerline goodness [0,1] 0.985333147087582 Centerline is valid? [True, True] Translation: X:875.67, Y:-65.75, Z:3.10 [[ 9.99829807e-01 -1.61257372e-02 -8.96204020e-03 8.75669868e+02] [ 1.61311741e-02 9.99869741e-01 5.34701893e-04 -6.57502659e+01] [ 8.95225035e-03 -6.79179121e-04 9.99959697e-01 3.10362281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8607140569999 meters Centerline goodness [0,1] 0.9846150265338423 Centerline is valid? [True, True] Translation: X:875.70, Y:-65.76, Z:3.10 [[ 9.99785445e-01 -1.81165901e-02 -1.00425547e-02 8.75700579e+02] [ 1.81235206e-02 9.99835576e-01 5.99530944e-04 -6.57555504e+01] [ 1.00300420e-02 -7.81408759e-04 9.99949393e-01 3.10157133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.890714057 meters Centerline goodness [0,1] 0.9841373824341397 Centerline is valid? [True, True] Translation: X:875.73, Y:-65.76, Z:3.10 [[ 9.99760200e-01 -1.90268605e-02 -1.08407392e-02 8.75732738e+02] [ 1.90349981e-02 9.99818608e-01 6.47954382e-04 -6.57592663e+01] [ 1.08264442e-02 -8.54152453e-04 9.99941028e-01 3.10039930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9207140569999 meters Centerline goodness [0,1] 0.9848927078712028 Centerline is valid? [True, True] Translation: X:875.76, Y:-65.76, Z:3.10 [[ 9.99731959e-01 -2.00422959e-02 -1.15895191e-02 8.75764789e+02] [ 2.00516736e-02 9.99798704e-01 6.93509339e-04 -6.57589020e+01] [ 1.15732867e-02 -9.25712705e-04 9.99932599e-01 3.10023424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9507140569999 meters Centerline goodness [0,1] 0.98364562403626 Centerline is valid? [True, True] Translation: X:875.79, Y:-65.77, Z:3.10 [[ 9.99661447e-01 -2.24463938e-02 -1.31586495e-02 8.75794424e+02] [ 2.24586885e-02 9.99747462e-01 7.87302867e-04 -6.57676818e+01] [ 1.31376543e-02 -1.08256233e-03 9.99913111e-01 3.09775993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9807140569999 meters Centerline goodness [0,1] 0.9818634755075433 Centerline is valid? [True, True] Translation: X:875.83, Y:-65.77, Z:3.10 [[ 9.99628249e-01 -2.36491937e-02 -1.35675562e-02 8.75825811e+02] [ 2.36623812e-02 9.99719677e-01 8.12263127e-04 -6.57705476e+01] [ 1.35445435e-02 -1.13300185e-03 9.99907627e-01 3.09721371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.010714057 meters Centerline goodness [0,1] 0.979708527996653 Centerline is valid? [True, True] Translation: X:875.86, Y:-65.77, Z:3.10 [[ 9.99599226e-01 -2.47255331e-02 -1.37853134e-02 8.75856679e+02] [ 2.47392587e-02 9.99693596e-01 8.26007568e-04 -6.57745693e+01] [ 1.37606661e-02 -1.16671496e-03 9.99904637e-01 3.09678812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.040714057 meters Centerline goodness [0,1] 0.9658662571548234 Centerline is valid? [True, True] Translation: X:875.89, Y:-65.78, Z:3.10 [[ 9.99524432e-01 -2.73115952e-02 -1.43173298e-02 8.75885602e+02] [ 2.73266603e-02 9.99626189e-01 8.57617574e-04 -6.57792314e+01] [ 1.42885550e-02 -1.24845453e-03 9.99897134e-01 3.09703288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0707140569999 meters Centerline goodness [0,1] 0.9774965164886206 Centerline is valid? [True, True] Translation: X:875.92, Y:-65.78, Z:3.10 [[ 9.99505487e-01 -2.81927633e-02 -1.39265438e-02 8.75918237e+02] [ 2.82071164e-02 9.99601751e-01 8.35241750e-04 -6.57782619e+01] [ 1.38974498e-02 -1.22765635e-03 9.99902672e-01 3.09792774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1007140569999 meters Centerline goodness [0,1] 0.9834449404761905 Centerline is valid? [True, True] Translation: X:875.95, Y:-65.77, Z:3.10 [[ 9.99459646e-01 -3.03507044e-02 -1.26194639e-02 8.75949893e+02] [ 3.03626623e-02 9.99538661e-01 7.57024117e-04 -6.57708848e+01] [ 1.25906658e-02 -1.13977558e-03 9.99920085e-01 3.10097814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.130714057 meters Centerline goodness [0,1] 0.9833298458533863 Centerline is valid? [True, True] Translation: X:875.98, Y:-65.77, Z:3.10 [[ 9.99425150e-01 -3.16021862e-02 -1.22747972e-02 8.75982014e+02] [ 3.16136048e-02 9.99499893e-01 7.37282777e-04 -6.57738736e+01] [ 1.22453587e-02 -1.12490954e-03 9.99924390e-01 3.10166321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.160714057 meters Centerline goodness [0,1] 0.9833298458533863 Centerline is valid? [True, True] Translation: X:876.01, Y:-65.78, Z:3.10 [[ 9.99428531e-01 -3.14951200e-02 -1.22747155e-02 8.76014640e+02] [ 3.15065472e-02 9.99503273e-01 7.38641177e-04 -6.57759269e+01] [ 1.22453548e-02 -1.12495297e-03 9.99924390e-01 3.10162411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1907140569999 meters Centerline goodness [0,1] 0.9803766197445698 Centerline is valid? [True, True] Translation: X:876.04, Y:-65.78, Z:3.10 [[ 9.99323608e-01 -3.48051093e-02 -1.18714180e-02 8.76044004e+02] [ 3.48160255e-02 9.99393483e-01 7.14053164e-04 -6.57842798e+01] [ 1.18393651e-02 -1.12688578e-03 9.99929277e-01 3.10158887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2207140569999 meters Centerline goodness [0,1] 0.9799103513946629 Centerline is valid? [True, True] Translation: X:876.08, Y:-65.79, Z:3.10 [[ 9.99269001e-01 -3.63695813e-02 -1.17778308e-02 8.76075402e+02] [ 3.63804393e-02 9.99337761e-01 7.08897688e-04 -6.57862271e+01] [ 1.17442487e-02 -1.13686214e-03 9.99930388e-01 3.10162069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.250714057 meters Centerline goodness [0,1] 0.9771327647509934 Centerline is valid? [True, True] Translation: X:876.11, Y:-65.79, Z:3.10 [[ 9.99180319e-01 -3.84469751e-02 -1.26696551e-02 8.76106017e+02] [ 3.84597077e-02 9.99259861e-01 7.62768356e-04 -6.57907115e+01] [ 1.26309516e-02 -1.24941436e-03 9.99919446e-01 3.10069442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.280714057 meters Centerline goodness [0,1] 0.9733168651394747 Centerline is valid? [True, True] Translation: X:876.14, Y:-65.79, Z:3.10 [[ 9.99037023e-01 -4.13680791e-02 -1.46187610e-02 8.76136326e+02] [ 4.13853404e-02 9.99142872e-01 8.80096926e-04 -6.57939832e+01] [ 1.45698229e-02 -1.48425181e-03 9.99892753e-01 3.09978893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3107140569999 meters Centerline goodness [0,1] 0.9587636059168295 Centerline is valid? [True, True] Translation: X:876.17, Y:-65.80, Z:3.10 [[ 9.98964824e-01 -4.27869167e-02 -1.54453685e-02 8.76166328e+02] [ 4.28063578e-02 9.99082955e-01 9.30152810e-04 -6.57991163e+01] [ 1.53914061e-02 -1.59034991e-03 9.99880281e-01 3.09863571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3407140569999 meters Centerline goodness [0,1] 0.9219019233455968 Centerline is valid? [True, False] Translation: X:876.17, Y:-65.80, Z:3.10 [[ 9.98960001e-01 -4.28024981e-02 -1.57118439e-02 8.76167232e+02] [ 4.28259803e-02 9.99081872e-01 1.16099763e-03 -6.57990309e+01] [ 1.56477248e-02 -1.83266531e-03 9.99875887e-01 3.09792663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.370714057 meters Centerline goodness [0,1] 0.9039757490964206 Centerline is valid? [False, False] Translation: X:876.17, Y:-65.80, Z:3.10 [[ 9.99065905e-01 -4.02848860e-02 -1.56347784e-02 8.76166679e+02] [ 4.03560934e-02 9.99176255e-01 4.26583852e-03 -6.58007480e+01] [ 1.54500505e-02 -4.89281240e-03 9.99868670e-01 3.09770344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.400714057 meters Centerline goodness [0,1] 0.8895637898686679 Centerline is valid? [False, False] Translation: X:876.17, Y:-65.80, Z:3.10 [[ 9.99062132e-01 -4.03262976e-02 -1.57685303e-02 8.76167091e+02] [ 4.03947165e-02 9.99175614e-01 4.04466787e-03 -6.57997874e+01] [ 1.55924244e-02 -4.67783981e-03 9.99867488e-01 3.09757830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4307140569999 meters Centerline goodness [0,1] 0.86498345730577 Centerline is valid? [False, False] Translation: X:876.17, Y:-65.80, Z:3.10 [[ 9.99190477e-01 -3.70450223e-02 -1.56861766e-02 8.76166251e+02] [ 3.71670081e-02 9.99280488e-01 7.55777650e-03 -6.57994082e+01] [ 1.53949122e-02 -8.13466656e-03 9.99848400e-01 3.09775274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4607140569999 meters Centerline goodness [0,1] 0.9428001876172608 Centerline is valid? [False, False] Translation: X:876.17, Y:-65.80, Z:3.10 [[ 9.99200583e-01 -3.66101109e-02 -1.60591301e-02 8.76167067e+02] [ 3.67243668e-02 9.99301761e-01 6.87835328e-03 -6.57959309e+01] [ 1.57960997e-02 -7.46261598e-03 9.99847385e-01 3.09819406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4907140569999 meters Centerline goodness [0,1] 0.9581062030075188 Centerline is valid? [False, True] Translation: X:876.17, Y:-65.79, Z:3.10 [[ 9.99197694e-01 -3.65134805e-02 -1.64539837e-02 8.76167590e+02] [ 3.66202505e-02 9.99309803e-01 6.23501836e-03 -6.57937372e+01] [ 1.62149650e-02 -6.83256497e-03 9.99845183e-01 3.09887027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.520714057 meters Centerline goodness [0,1] 0.9701092073055921 Centerline is valid? [True, True] Translation: X:876.20, Y:-65.79, Z:3.10 [[ 9.99265070e-01 -3.46956163e-02 -1.62952139e-02 8.76199294e+02] [ 3.47168793e-02 9.99396663e-01 1.02372081e-03 -6.57884771e+01] [ 1.62498638e-02 -1.58868742e-03 9.99866700e-01 3.10145088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5507140569999 meters Centerline goodness [0,1] 0.9682741415425169 Centerline is valid? [True, True] Translation: X:876.23, Y:-65.79, Z:3.10 [[ 9.99381416e-01 -3.11581284e-02 -1.63081628e-02 8.76228629e+02] [ 3.11789517e-02 9.99513294e-01 1.02410966e-03 -6.57874483e+01] [ 1.62683162e-02 -1.53194758e-03 9.99866489e-01 3.10076722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5807140569999 meters Centerline goodness [0,1] 0.9769600530416045 Centerline is valid? [True, True] Translation: X:876.26, Y:-65.78, Z:3.10 [[ 9.99443351e-01 -2.89674310e-02 -1.65492300e-02 8.76260018e+02] [ 2.89885852e-02 9.99579202e-01 1.03975371e-03 -6.57846139e+01] [ 1.65121472e-02 -1.51891370e-03 9.99862511e-01 3.10117474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6107140569999 meters Centerline goodness [0,1] 0.9658946176706449 Centerline is valid? [True, True] Translation: X:876.29, Y:-65.79, Z:3.10 [[ 9.99530498e-01 -2.63829058e-02 -1.55796479e-02 8.76289143e+02] [ 2.64013373e-02 9.99650945e-01 9.78524483e-04 -6.57890349e+01] [ 1.55483934e-02 -1.38938860e-03 9.99878151e-01 3.09968227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.640714057 meters Centerline goodness [0,1] 0.9791894331733739 Centerline is valid? [True, True] Translation: X:876.32, Y:-65.78, Z:3.10 [[ 9.99579737e-01 -2.44007108e-02 -1.56510109e-02 8.76320509e+02] [ 2.44190771e-02 9.99701326e-01 9.83432640e-04 -6.57838792e+01] [ 1.56223399e-02 -1.36520258e-03 9.99877032e-01 3.10079852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6707140569999 meters Centerline goodness [0,1] 0.9705479128256039 Centerline is valid? [True, True] Translation: X:876.35, Y:-65.79, Z:3.10 [[ 9.99618469e-01 -2.31042119e-02 -1.51364525e-02 8.76350830e+02] [ 2.31212515e-02 9.99732215e-01 9.51679334e-04 -6.57892881e+01] [ 1.51104114e-02 -1.30128996e-03 9.99884984e-01 3.09947254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7007140569999 meters Centerline goodness [0,1] 0.9768720379146919 Centerline is valid? [True, True] Translation: X:876.38, Y:-65.79, Z:3.10 [[ 9.99700257e-01 -1.89693733e-02 -1.54777211e-02 8.76381234e+02] [ 1.89866956e-02 9.99819263e-01 9.72991550e-04 -6.57856626e+01] [ 1.54564666e-02 -1.26657068e-03 9.99879739e-01 3.09867834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7307140569999 meters Centerline goodness [0,1] 0.9781438979096233 Centerline is valid? [True, True] Translation: X:876.41, Y:-65.78, Z:3.10 [[ 9.99769751e-01 -1.44018597e-02 -1.59069327e-02 8.76411017e+02] [ 1.44195763e-02 9.99895533e-01 9.99627111e-04 -6.57840922e+01] [ 1.58908745e-02 -1.22876818e-03 9.99872977e-01 3.09700034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.760714057 meters Centerline goodness [0,1] 0.9813475447278264 Centerline is valid? [True, True] Translation: X:876.44, Y:-65.78, Z:3.10 [[ 9.99804343e-01 -1.17912628e-02 -1.58820920e-02 8.76441236e+02] [ 1.18085923e-02 9.99929778e-01 9.97797253e-04 -6.57789960e+01] [ 1.58692114e-02 -1.18514718e-03 9.99873374e-01 3.09769022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.790714057 meters Centerline goodness [0,1] 0.9823181774854637 Centerline is valid? [True, True] Translation: X:876.47, Y:-65.78, Z:3.10 [[ 9.99823127e-01 -9.25506403e-03 -1.63724757e-02 8.76470697e+02] [ 9.27313213e-03 9.99956475e-01 1.02799079e-03 -6.57792659e+01] [ 1.63622490e-02 -1.17963309e-03 9.99865434e-01 3.09709203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8207140569999 meters Centerline goodness [0,1] 0.9825363924427608 Centerline is valid? [True, True] Translation: X:876.50, Y:-65.78, Z:3.10 [[ 9.99843877e-01 -7.12149437e-03 -1.61711687e-02 8.76501229e+02] [ 7.13883965e-03 9.99974003e-01 1.01513250e-03 -6.57765128e+01] [ 1.61635191e-02 -1.13041740e-03 9.99868723e-01 3.09750772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8507140569999 meters Centerline goodness [0,1] 0.9835718071012188 Centerline is valid? [True, True] Translation: X:876.53, Y:-65.78, Z:3.10 [[ 9.99869389e-01 -2.82196749e-03 -1.59135750e-02 8.76531399e+02] [ 2.83822249e-03 9.99995473e-01 9.98963217e-04 -6.57754739e+01] [ 1.59106840e-02 -1.04399901e-03 9.99872872e-01 3.09782555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.880714057 meters Centerline goodness [0,1] 0.9827038390788122 Centerline is valid? [True, True] Translation: X:876.56, Y:-65.78, Z:3.10 [[ 9.99896677e-01 -1.44447330e-04 -1.43741196e-02 8.76560183e+02] [ 1.57425062e-04 9.99999581e-01 9.01726637e-04 -6.57783353e+01] [ 1.43739833e-02 -9.03896314e-04 9.99896280e-01 3.09799194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.910714057 meters Centerline goodness [0,1] 0.9799217855780237 Centerline is valid? [True, True] Translation: X:876.59, Y:-65.79, Z:3.10 [[ 9.99905759e-01 1.44788464e-03 -1.36519595e-02 8.76588380e+02] [-1.43633630e-03 9.99998602e-01 8.55677758e-04 -6.57891953e+01] [ 1.36531794e-02 -8.35988313e-04 9.99906442e-01 3.09548287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9407140569999 meters Centerline goodness [0,1] 0.9827412868632708 Centerline is valid? [True, True] Translation: X:876.62, Y:-65.78, Z:3.10 [[ 9.99916902e-01 3.97593448e-03 -1.22629664e-02 8.76619390e+02] [-3.96680739e-03 9.99991837e-01 7.68514650e-04 -6.57809450e+01] [ 1.22659218e-02 -7.19805962e-04 9.99924512e-01 3.09870535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9707140569999 meters Centerline goodness [0,1] 0.9839609317022957 Centerline is valid? [True, True] Translation: X:876.65, Y:-65.78, Z:3.10 [[ 9.99913151e-01 5.56840276e-03 -1.19450173e-02 8.76646975e+02] [-5.55987070e-03 9.99984265e-01 7.47366317e-04 -6.57828710e+01] [ 1.19489910e-02 -6.80888657e-04 9.99928376e-01 3.09885387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.000714057 meters Centerline goodness [0,1] 0.9851759456931085 Centerline is valid? [True, True] Translation: X:876.68, Y:-65.78, Z:3.10 [[ 9.99906443e-01 9.31834931e-03 -1.00136643e-02 8.76677148e+02] [-9.31253883e-03 9.99956441e-01 6.26726767e-04 -6.57803353e+01] [ 1.00190682e-02 -5.33415494e-04 9.99949666e-01 3.10069502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.030714057 meters Centerline goodness [0,1] 0.9859486465063771 Centerline is valid? [True, True] Translation: X:876.71, Y:-65.78, Z:3.10 [[ 9.99862449e-01 1.32878010e-02 -9.92562892e-03 8.76707589e+02] [-1.32822914e-02 9.99911594e-01 6.20803425e-04 -6.57781765e+01] [ 9.93300054e-03 -4.88882937e-04 9.99950547e-01 3.10030353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0607140569999 meters Centerline goodness [0,1] 0.9870348949296318 Centerline is valid? [True, True] Translation: X:876.74, Y:-65.77, Z:3.10 [[ 9.99835533e-01 1.51398958e-02 -9.98454791e-03 8.76736609e+02] [-1.51344209e-02 9.99885274e-01 6.23675459e-04 -6.57748947e+01] [ 9.99284480e-03 -4.72462535e-04 9.99949959e-01 3.10132354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0907140569999 meters Centerline goodness [0,1] 0.9860164933667981 Centerline is valid? [True, True] Translation: X:876.76, Y:-65.78, Z:3.10 [[ 9.99843749e-01 1.52395478e-02 -8.95731591e-03 8.76764481e+02] [-1.52351511e-02 9.99883782e-01 5.58883405e-04 -6.57817221e+01] [ 8.96479204e-03 -4.22330017e-04 9.99959726e-01 3.09935195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.120714057 meters Centerline goodness [0,1] 0.98783034492691 Centerline is valid? [True, True] Translation: X:876.79, Y:-65.78, Z:3.10 [[ 9.99812319e-01 1.72832357e-02 -8.75314066e-03 8.76794147e+02] [-1.72791187e-02 9.99850556e-01 5.45751568e-04 -6.57788192e+01] [ 8.76126491e-03 -3.94402584e-04 9.99961542e-01 3.10014499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.150714057 meters Centerline goodness [0,1] 0.9875467895191478 Centerline is valid? [True, True] Translation: X:876.82, Y:-65.79, Z:3.10 [[ 9.99807376e-01 1.74540945e-02 -8.97584078e-03 8.76821633e+02] [-1.74497800e-02 9.99847585e-01 5.58768873e-04 -6.57870033e+01] [ 8.98422553e-03 -4.02034793e-04 9.99959560e-01 3.09814262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1807140569999 meters Centerline goodness [0,1] 0.9864922813036021 Centerline is valid? [True, True] Translation: X:876.85, Y:-65.79, Z:3.10 [[ 9.99814810e-01 1.69030841e-02 -9.19951608e-03 8.76849194e+02] [-1.68985351e-02 9.99857046e-01 5.71990441e-04 -6.57907340e+01] [ 9.20786937e-03 -4.16426169e-04 9.99957520e-01 3.09704407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2107140569999 meters Centerline goodness [0,1] 0.9870987742643201 Centerline is valid? [True, True] Translation: X:876.88, Y:-65.79, Z:3.10 [[ 9.99813880e-01 1.67559977e-02 -9.56253588e-03 8.76878326e+02] [-1.67510810e-02 9.99859514e-01 5.94029630e-04 -6.57935045e+01] [ 9.57114604e-03 -4.33736257e-04 9.99954101e-01 3.09630163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2407140569999 meters Centerline goodness [0,1] 0.9885500754545237 Centerline is valid? [True, True] Translation: X:876.91, Y:-65.79, Z:3.10 [[ 9.99794071e-01 1.75892795e-02 -1.01209586e-02 8.76907161e+02] [-1.75838215e-02 9.99845195e-01 6.28021851e-04 -6.57883736e+01] [ 1.01304383e-02 -4.49927393e-04 9.99948585e-01 3.09764410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.270714057 meters Centerline goodness [0,1] 0.9878188319427891 Centerline is valid? [True, True] Translation: X:876.93, Y:-65.80, Z:3.09 [[ 9.99778716e-01 1.83581221e-02 -1.02712708e-02 8.76934120e+02] [-1.83525507e-02 9.99831375e-01 6.36422538e-04 -6.57974395e+01] [ 1.02812223e-02 -4.47777690e-04 9.99947047e-01 3.09449358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3007140569999 meters Centerline goodness [0,1] 0.9905561385099685 Centerline is valid? [True, True] Translation: X:876.96, Y:-65.79, Z:3.10 [[ 9.99740420e-01 2.00733677e-02 -1.07773936e-02 8.76963323e+02] [-2.00673406e-02 9.99798408e-01 6.67096295e-04 -6.57870026e+01] [ 1.07886119e-02 -4.50649502e-04 9.99941700e-01 3.09770116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3307140569999 meters Centerline goodness [0,1] 0.9895932785946152 Centerline is valid? [True, True] Translation: X:876.99, Y:-65.79, Z:3.10 [[ 9.99713480e-01 2.13893778e-02 -1.07448739e-02 8.76990884e+02] [-2.13834736e-02 9.99771127e-01 6.64089640e-04 -6.57903062e+01] [ 1.07566191e-02 -4.34136639e-04 9.99942052e-01 3.09675431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3607140569999 meters Centerline goodness [0,1] 0.9901447195311566 Centerline is valid? [True, True] Translation: X:877.02, Y:-65.79, Z:3.10 [[ 9.99696316e-01 2.21933501e-02 -1.07112410e-02 8.77020022e+02] [-2.21875589e-02 9.99753608e-01 6.59212929e-04 -6.57912024e+01] [ 1.07232320e-02 -4.21356447e-04 9.99942416e-01 3.09668771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.390714057 meters Centerline goodness [0,1] 0.9898252334211156 Centerline is valid? [True, True] Translation: X:877.05, Y:-65.79, Z:3.10 [[ 9.99657141e-01 2.39062189e-02 -1.06814719e-02 8.77049292e+02] [-2.39005823e-02 9.99714126e-01 6.55060933e-04 -6.57912303e+01] [ 1.06940784e-02 -3.99542941e-04 9.99942737e-01 3.09693361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4207140569999 meters Centerline goodness [0,1] 0.9895741381367053 Centerline is valid? [True, True] Translation: X:877.08, Y:-65.79, Z:3.10 [[ 9.99651000e-01 2.42370139e-02 -1.05093374e-02 8.77077974e+02] [-2.42315775e-02 9.99706165e-01 6.44332116e-04 -6.57931072e+01] [ 1.05218661e-02 -3.89449419e-04 9.99944568e-01 3.09674990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4507140569999 meters Centerline goodness [0,1] 0.9903297019724528 Centerline is valid? [True, True] Translation: X:877.11, Y:-65.79, Z:3.10 [[ 9.99592034e-01 2.64739407e-02 -1.07189608e-02 8.77106993e+02] [-2.64684216e-02 9.99649434e-01 6.56445767e-04 -6.57924790e+01] [ 1.07325818e-02 -3.72463986e-04 9.99942335e-01 3.09758003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4807140569999 meters Centerline goodness [0,1] 0.9907586966410495 Centerline is valid? [True, True] Translation: X:877.13, Y:-65.79, Z:3.10 [[ 9.99593423e-01 2.64287822e-02 -1.07008936e-02 8.77134341e+02] [-2.64233186e-02 9.99650631e-01 6.51656028e-04 -6.57943023e+01] [ 1.07143775e-02 -3.68637959e-04 9.99942531e-01 3.09802843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.510714057 meters Centerline goodness [0,1] 0.989604541426142 Centerline is valid? [True, True] Translation: X:877.16, Y:-65.80, Z:3.10 [[ 9.99597717e-01 2.63987624e-02 -1.03686660e-02 8.77161948e+02] [-2.63936336e-02 9.99651428e-01 6.31196390e-04 -6.57983726e+01] [ 1.03817146e-02 -3.57275699e-04 9.99946045e-01 3.09721920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.540714057 meters Centerline goodness [0,1] 0.9894043528064147 Centerline is valid? [True, True] Translation: X:877.19, Y:-65.80, Z:3.10 [[ 9.99622332e-01 2.57024646e-02 -9.72503732e-03 8.77189333e+02] [-2.56979520e-02 9.99669580e-01 5.88714721e-04 -6.58013360e+01] [ 9.73695539e-03 -3.38578841e-04 9.99952537e-01 3.09787548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5707140569999 meters Centerline goodness [0,1] 0.9896082943842084 Centerline is valid? [True, True] Translation: X:877.22, Y:-65.80, Z:3.10 [[ 9.99648844e-01 2.47421063e-02 -9.48768054e-03 8.77218309e+02] [-2.47377888e-02 9.99693810e-01 5.72167570e-04 -6.58033099e+01] [ 9.49893214e-03 -3.37262413e-04 9.99954827e-01 3.09856732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6007140569999 meters Centerline goodness [0,1] 0.9894661921708185 Centerline is valid? [True, True] Translation: X:877.25, Y:-65.81, Z:3.10 [[ 9.99675726e-01 2.36851553e-02 -9.35182761e-03 8.77246026e+02] [-2.36809167e-02 9.99719409e-01 5.63730482e-04 -6.58094501e+01] [ 9.36255561e-03 -3.42087828e-04 9.99956112e-01 3.09770224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.630714057 meters Centerline goodness [0,1] 0.9890618724751352 Centerline is valid? [True, True] Translation: X:877.27, Y:-65.81, Z:3.10 [[ 9.99697883e-01 2.26486202e-02 -9.54900404e-03 8.77274805e+02] [-2.26441591e-02 9.99743423e-01 5.75055264e-04 -6.58122909e+01] [ 9.55957819e-03 -3.58652363e-04 9.99954242e-01 3.09739470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.660714057 meters Centerline goodness [0,1] 0.9891079454921639 Centerline is valid? [True, True] Translation: X:877.30, Y:-65.82, Z:3.10 [[ 9.99707789e-01 2.16993315e-02 -1.06525165e-02 8.77301713e+02] [-2.16937380e-02 9.99764458e-01 6.40373503e-04 -6.58179463e+01] [ 1.06639031e-02 -4.09093476e-04 9.99943055e-01 3.09547752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6907140569999 meters Centerline goodness [0,1] 0.9893055753600456 Centerline is valid? [True, True] Translation: X:877.33, Y:-65.82, Z:3.09 [[ 9.99724073e-01 2.07993938e-02 -1.09162215e-02 8.77330104e+02] [-2.07934726e-02 9.99783577e-01 6.55646986e-04 -6.58218894e+01] [ 1.09274961e-02 -4.28479922e-04 9.99940201e-01 3.09444817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7207140569999 meters Centerline goodness [0,1] 0.9893124332027076 Centerline is valid? [True, True] Translation: X:877.36, Y:-65.82, Z:3.10 [[ 9.99741382e-01 1.98242880e-02 -1.11429878e-02 8.77359349e+02] [-1.98180663e-02 9.99803379e-01 6.68503668e-04 -6.58219704e+01] [ 1.11540494e-02 -4.47498310e-04 9.99937692e-01 3.09528379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.750714057 meters Centerline goodness [0,1] 0.9887378366279481 Centerline is valid? [True, True] Translation: X:877.39, Y:-65.83, Z:3.09 [[ 9.99784350e-01 1.73480054e-02 -1.14149112e-02 8.77387440e+02] [-1.73413247e-02 9.99849394e-01 6.83986875e-04 -6.58306508e+01] [ 1.14250579e-02 -4.85889691e-04 9.99934614e-01 3.09368542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.780714057 meters Centerline goodness [0,1] 0.9893654648777382 Centerline is valid? [True, True] Translation: X:877.42, Y:-65.83, Z:3.10 [[ 9.99788442e-01 1.69735587e-02 -1.16176535e-02 8.77416427e+02] [-1.69666225e-02 9.99855815e-01 6.95342318e-04 -6.58273474e+01] [ 1.16277808e-02 -4.98082871e-04 9.99932271e-01 3.09610159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8107140569999 meters Centerline goodness [0,1] 0.988647025708388 Centerline is valid? [True, True] Translation: X:877.44, Y:-65.83, Z:3.10 [[ 9.99823989e-01 1.53109223e-02 -1.08428617e-02 8.77443538e+02] [-1.53047938e-02 9.99882665e-01 6.47962222e-04 -6.58342699e+01] [ 1.08515104e-02 -4.81900409e-04 9.99941005e-01 3.09542706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8407140569999 meters Centerline goodness [0,1] 0.9892597488433575 Centerline is valid? [True, True] Translation: X:877.47, Y:-65.83, Z:3.10 [[ 9.99819671e-01 1.52651680e-02 -1.12959893e-02 8.77472721e+02] [-1.52585217e-02 9.99883355e-01 6.74335911e-04 -6.58345707e+01] [ 1.13049655e-02 -5.01854212e-04 9.99935971e-01 3.09636756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.870714057 meters Centerline goodness [0,1] 0.9894697166010978 Centerline is valid? [True, True] Translation: X:877.50, Y:-65.84, Z:3.10 [[ 9.99827020e-01 1.49096193e-02 -1.11190543e-02 8.77500384e+02] [-1.49031690e-02 9.99888722e-01 6.62752950e-04 -6.58387521e+01] [ 1.11276984e-02 -4.96929162e-04 9.99937962e-01 3.09619831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.900714057 meters Centerline goodness [0,1] 0.9888708118176888 Centerline is valid? [True, True] Translation: X:877.53, Y:-65.84, Z:3.10 [[ 9.99814082e-01 1.56048926e-02 -1.13264840e-02 8.77529701e+02] [-1.55982520e-02 9.99878112e-01 6.74394194e-04 -6.58370569e+01] [ 1.13356273e-02 -4.97595459e-04 9.99935626e-01 3.09674564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9307140569999 meters Centerline goodness [0,1] 0.9893785257393726 Centerline is valid? [True, True] Translation: X:877.56, Y:-65.84, Z:3.10 [[ 9.99787056e-01 1.73006429e-02 -1.12485338e-02 8.77557587e+02] [-1.72942121e-02 9.99850220e-01 6.68727097e-04 -6.58390978e+01] [ 1.12584184e-02 -4.74050168e-04 9.99936510e-01 3.09565036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9607140569999 meters Centerline goodness [0,1] 0.9892539291800795 Centerline is valid? [True, True] Translation: X:877.59, Y:-65.84, Z:3.10 [[ 9.99754648e-01 1.89857765e-02 -1.14098207e-02 8.77585424e+02] [-1.89792870e-02 9.99819648e-01 6.76786974e-04 -6.58401207e+01] [ 1.14206123e-02 -4.60070661e-04 9.99934677e-01 3.09542867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9907140569999 meters Centerline goodness [0,1] 0.9886796921255181 Centerline is valid? [True, True] Translation: X:877.61, Y:-65.84, Z:3.10 [[ 9.99736143e-01 1.99488184e-02 -1.13881330e-02 8.77614115e+02] [-1.99424223e-02 9.99800902e-01 6.74939578e-04 -6.58391951e+01] [ 1.13993299e-02 -4.47654533e-04 9.99934925e-01 3.09584925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.020714057 meters Centerline goodness [0,1] 0.9888778456150314 Centerline is valid? [True, True] Translation: X:877.64, Y:-65.84, Z:3.10 [[ 9.99697440e-01 2.19737900e-02 -1.10535281e-02 8.77642827e+02] [-2.19678964e-02 9.99758463e-01 6.54326851e-04 -6.58365180e+01] [ 1.10652363e-02 -4.11306118e-04 9.99938694e-01 3.09686195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0507140569999 meters Centerline goodness [0,1] 0.9888778456150314 Centerline is valid? [True, True] Translation: X:877.67, Y:-65.84, Z:3.10 [[ 9.99699718e-01 2.18698943e-02 -1.10536034e-02 8.77670254e+02] [-2.18640085e-02 9.99760741e-01 6.53053584e-04 -6.58380483e+01] [ 1.10652409e-02 -4.11181406e-04 9.99938694e-01 3.09676358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0807140569999 meters Centerline goodness [0,1] 0.988864618452918 Centerline is valid? [True, True] Translation: X:877.70, Y:-65.84, Z:3.10 [[ 9.99671719e-01 2.31654695e-02 -1.09459833e-02 8.77697625e+02] [-2.31597850e-02 9.99731568e-01 6.45811907e-04 -6.58403021e+01] [ 1.09580056e-02 -3.92093278e-04 9.99939882e-01 3.09599303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1107140569999 meters Centerline goodness [0,1] 0.9887271352271116 Centerline is valid? [True, True] Translation: X:877.73, Y:-65.84, Z:3.10 [[ 9.99624352e-01 2.54620088e-02 -1.01410955e-02 8.77725677e+02] [-2.54572563e-02 9.99675733e-01 5.97467185e-04 -6.58412325e+01] [ 1.01530198e-02 -3.39078279e-04 9.99948399e-01 3.09622682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.140714057 meters Centerline goodness [0,1] 0.9887263359410082 Centerline is valid? [True, True] Translation: X:877.75, Y:-65.84, Z:3.10 [[ 9.99609031e-01 2.61851111e-02 -9.80431094e-03 8.77754640e+02] [-2.61807096e-02 9.99657060e-01 5.77033488e-04 -6.58420695e+01] [ 9.81605834e-03 -3.20124068e-04 9.99951770e-01 3.09684806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1707140569999 meters Centerline goodness [0,1] 0.9889765276061959 Centerline is valid? [True, True] Translation: X:877.78, Y:-65.84, Z:3.10 [[ 9.99594026e-01 2.69968805e-02 -9.10774497e-03 8.77782006e+02] [-2.69931233e-02 9.99635476e-01 5.35219518e-04 -6.58447726e+01] [ 9.11887424e-03 -2.89155750e-04 9.99958380e-01 3.09648647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2007140569999 meters Centerline goodness [0,1] 0.9886274788542185 Centerline is valid? [True, True] Translation: X:877.81, Y:-65.85, Z:3.10 [[ 9.99596469e-01 2.68949658e-02 -9.14111074e-03 8.77810342e+02] [-2.68911854e-02 9.99638223e-01 5.36236402e-04 -6.58454649e+01] [ 9.15222576e-03 -2.90204710e-04 9.99958075e-01 3.09669932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2307140569999 meters Centerline goodness [0,1] 0.9893622062168309 Centerline is valid? [True, True] Translation: X:877.84, Y:-65.84, Z:3.10 [[ 9.99595417e-01 2.67857571e-02 -9.56693141e-03 8.77839315e+02] [-2.67816166e-02 9.99641151e-01 5.60670243e-04 -6.58430341e+01] [ 9.57851631e-03 -3.04225516e-04 9.99954079e-01 3.09839426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.260714057 meters Centerline goodness [0,1] 0.9885885743987147 Centerline is valid? [True, True] Translation: X:877.87, Y:-65.85, Z:3.10 [[ 9.99591773e-01 2.66675166e-02 -1.02533402e-02 8.77867038e+02] [-2.66627638e-02 9.99644305e-01 5.99975502e-04 -6.58453311e+01] [ 1.02656930e-02 -3.26348188e-04 9.99947253e-01 3.09777924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.290714057 meters Centerline goodness [0,1] 0.9891465917938796 Centerline is valid? [True, True] Translation: X:877.89, Y:-65.85, Z:3.10 [[ 9.99600083e-01 2.62188700e-02 -1.05945303e-02 8.77894543e+02] [-2.62137798e-02 9.99656168e-01 6.19052135e-04 -6.58480500e+01] [ 1.06071184e-02 -3.41081881e-04 9.99943685e-01 3.09698061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3207140569999 meters Centerline goodness [0,1] 0.9886023078556764 Centerline is valid? [True, True] Translation: X:877.92, Y:-65.85, Z:3.10 [[ 9.99607593e-01 2.56268871e-02 -1.13102575e-02 8.77922611e+02] [-2.56210657e-02 9.99671509e-01 6.59316301e-04 -6.58514007e+01] [ 1.13234384e-02 -3.69276730e-04 9.99935820e-01 3.09543536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3507140569999 meters Centerline goodness [0,1] 0.9881936245572609 Centerline is valid? [True, True] Translation: X:877.95, Y:-65.85, Z:3.10 [[ 9.99615210e-01 2.52642554e-02 -1.14520533e-02 8.77950913e+02] [-2.52582698e-02 9.99680736e-01 6.67029131e-04 -6.58537239e+01] [ 1.14652491e-02 -3.77513412e-04 9.99934201e-01 3.09501636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.380714057 meters Centerline goodness [0,1] 0.9885179924242424 Centerline is valid? [True, True] Translation: X:877.98, Y:-65.85, Z:3.10 [[ 9.99621346e-01 2.46476049e-02 -1.22335280e-02 8.77979817e+02] [-2.46407718e-02 9.99696119e-01 7.08988735e-04 -6.58538451e+01] [ 1.22472853e-02 -4.07276702e-04 9.99924916e-01 3.09547343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.410714057 meters Centerline goodness [0,1] 0.9883964506790313 Centerline is valid? [True, True] Translation: X:878.01, Y:-65.86, Z:3.09 [[ 9.99628963e-01 2.43559034e-02 -1.21953514e-02 8.78007877e+02] [-2.43490972e-02 9.99703267e-01 7.06288426e-04 -6.58568113e+01] [ 1.22089349e-02 -4.09080571e-04 9.99925384e-01 3.09478213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4407140569999 meters Centerline goodness [0,1] 0.9888290586179207 Centerline is valid? [True, True] Translation: X:878.04, Y:-65.86, Z:3.10 [[ 9.99626026e-01 2.43513350e-02 -1.24426777e-02 8.78035933e+02] [-2.43442659e-02 9.99703376e-01 7.19301765e-04 -6.58575249e+01] [ 1.24565029e-02 -4.16124910e-04 9.99922328e-01 3.09524474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4707140569999 meters Centerline goodness [0,1] 0.9868681163513132 Centerline is valid? [True, True] Translation: X:878.06, Y:-65.87, Z:3.09 [[ 9.99621701e-01 2.47803502e-02 -1.19326723e-02 8.78063755e+02] [-2.47738875e-02 9.99692843e-01 6.89127201e-04 -6.58659818e+01] [ 1.19460839e-02 -3.93247824e-04 9.99928566e-01 3.09197290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.500714057 meters Centerline goodness [0,1] 0.9882366780378778 Centerline is valid? [True, True] Translation: X:878.09, Y:-65.86, Z:3.10 [[ 9.99611643e-01 2.54157006e-02 -1.14282564e-02 8.78092826e+02] [-2.54098232e-02 9.99676901e-01 6.59215094e-04 -6.58596127e+01] [ 1.14413184e-02 -3.68569109e-04 9.99934478e-01 3.09619179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.530714057 meters Centerline goodness [0,1] 0.9886484568996098 Centerline is valid? [True, True] Translation: X:878.12, Y:-65.86, Z:3.10 [[ 9.99587587e-01 2.69273032e-02 -9.97875194e-03 8.78121278e+02] [-2.69229045e-02 9.99637348e-01 5.74904628e-04 -6.58596709e+01] [ 9.99061376e-03 -3.06010545e-04 9.99950046e-01 3.09685689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5607140569999 meters Centerline goodness [0,1] 0.9890670208224636 Centerline is valid? [True, True] Translation: X:878.15, Y:-65.85, Z:3.10 [[ 9.99524628e-01 2.95263984e-02 -8.87184852e-03 8.78150387e+02] [-2.95230296e-02 9.99563970e-01 5.10473543e-04 -6.58543874e+01] [ 8.88305257e-03 -2.48307032e-04 9.99960514e-01 3.09996759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5907140569999 meters Centerline goodness [0,1] 0.9893097563288139 Centerline is valid? [True, True] Translation: X:878.18, Y:-65.86, Z:3.10 [[ 9.99468004e-01 3.15287385e-02 -8.34545689e-03 8.78177928e+02] [-3.15258341e-02 9.99502822e-01 4.79382995e-04 -6.58561175e+01] [ 8.35642206e-03 -2.16030476e-04 9.99965061e-01 3.09898445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.620714057 meters Centerline goodness [0,1] 0.990260663507109 Centerline is valid? [True, True] Translation: X:878.21, Y:-65.85, Z:3.10 [[ 9.99407554e-01 3.33764719e-02 -8.39950990e-03 8.78206396e+02] [-3.33736160e-02 9.99442830e-01 4.79985699e-04 -6.58542371e+01] [ 8.41085018e-03 -1.99379315e-04 9.99964608e-01 3.09933948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.650714057 meters Centerline goodness [0,1] 0.9907041044953997 Centerline is valid? [True, True] Translation: X:878.24, Y:-65.85, Z:3.10 [[ 9.99297460e-01 3.66722423e-02 -7.72869468e-03 8.78235800e+02] [-3.66699230e-02 9.99327335e-01 4.41626616e-04 -6.58495087e+01] [ 7.73969129e-03 -1.57905717e-04 9.99970036e-01 3.10045530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6807140569999 meters Centerline goodness [0,1] 0.9907192575406032 Centerline is valid? [True, True] Translation: X:878.26, Y:-65.85, Z:3.10 [[ 9.99250326e-01 3.79380226e-02 -7.71318899e-03 8.78263472e+02] [-3.79357597e-02 9.99280083e-01 4.39523735e-04 -6.58502964e+01] [ 7.72431080e-03 -1.46588551e-04 9.99970156e-01 3.09975038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7107140569999 meters Centerline goodness [0,1] 0.9915044162595364 Centerline is valid? [True, True] Translation: X:878.29, Y:-65.85, Z:3.10 [[ 9.99181998e-01 3.96947483e-02 -7.72416994e-03 8.78292305e+02] [-3.96925491e-02 9.99211844e-01 4.37868319e-04 -6.58487169e+01] [ 7.73546317e-03 -1.30918147e-04 9.99970072e-01 3.09922091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7407140569999 meters Centerline goodness [0,1] 0.9919942645477356 Centerline is valid? [True, True] Translation: X:878.32, Y:-65.85, Z:3.10 [[ 9.99162459e-01 4.00578686e-02 -8.35156599e-03 8.78318870e+02] [-4.00553213e-02 9.99197352e-01 4.72118315e-04 -6.58494899e+01] [ 8.36377467e-03 -1.37198238e-04 9.99965014e-01 3.09845600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.770714057 meters Centerline goodness [0,1] 0.9919926900233246 Centerline is valid? [True, True] Translation: X:878.35, Y:-65.85, Z:3.09 [[ 9.99140317e-01 4.02772603e-02 -9.81680848e-03 8.78346156e+02] [-4.02737546e-02 9.99188529e-01 5.54613257e-04 -6.58526924e+01] [ 9.83118073e-03 -1.58776729e-04 9.99951660e-01 3.09447168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8007140569999 meters Centerline goodness [0,1] 0.9904546111941378 Centerline is valid? [True, True] Translation: X:878.37, Y:-65.86, Z:3.09 [[ 9.99153576e-01 3.98857353e-02 -1.00627494e-02 8.78374174e+02] [-3.98820394e-02 9.99204234e-01 5.67768007e-04 -6.58555668e+01] [ 1.00773877e-02 -1.65964466e-04 9.99949208e-01 3.09365427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8307140569999 meters Centerline goodness [0,1] 0.9912667946257198 Centerline is valid? [True, True] Translation: X:878.40, Y:-65.86, Z:3.09 [[ 9.99175425e-01 3.92891705e-02 -1.02386880e-02 8.78402713e+02] [-3.92853405e-02 9.99227868e-01 5.75005450e-04 -6.58580754e+01] [ 1.02533739e-02 -1.72300970e-04 9.99947418e-01 3.09317891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8607140569999 meters Centerline goodness [0,1] 0.9919767469792693 Centerline is valid? [True, True] Translation: X:878.43, Y:-65.86, Z:3.10 [[ 9.99190936e-01 3.90036966e-02 -9.80743789e-03 8.78430353e+02] [-3.90001978e-02 9.99239053e-01 5.47815376e-04 -6.58560094e+01] [ 9.82134177e-03 -1.64880141e-04 9.99951756e-01 3.09775705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.890714057 meters Centerline goodness [0,1] 0.9923014001828417 Centerline is valid? [True, True] Translation: X:878.46, Y:-65.86, Z:3.10 [[ 9.99191081e-01 3.91550739e-02 -9.16866465e-03 8.78459129e+02] [-3.91520420e-02 9.99233135e-01 5.10006504e-04 -6.58574521e+01] [ 9.18160287e-03 -1.50622006e-04 9.99957837e-01 3.09867998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9207140569999 meters Centerline goodness [0,1] 0.9929165160823997 Centerline is valid? [True, True] Translation: X:878.49, Y:-65.86, Z:3.10 [[ 9.99154340e-01 4.02873826e-02 -8.21782547e-03 8.78488407e+02] [-4.02850004e-02 9.99188126e-01 4.55272264e-04 -6.58580662e+01] [ 8.22949536e-03 -1.23832156e-04 9.99966129e-01 3.10009555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9507140569999 meters Centerline goodness [0,1] 0.9926911095135394 Centerline is valid? [True, True] Translation: X:878.52, Y:-65.86, Z:3.10 [[ 9.99133322e-01 4.09023615e-02 -7.72018558e-03 8.78516389e+02] [-4.09002791e-02 9.99163142e-01 4.27490202e-04 -6.58593631e+01] [ 7.73121024e-03 -1.11361961e-04 9.99970108e-01 3.10016337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9807140569999 meters Centerline goodness [0,1] 0.9929059316956261 Centerline is valid? [True, True] Translation: X:878.54, Y:-65.86, Z:3.10 [[ 9.99138170e-01 4.08800816e-02 -7.19274096e-03 8.78544020e+02] [-4.08782922e-02 9.99164055e-01 3.95684212e-04 -6.58612346e+01] [ 7.20290383e-03 -1.01316233e-04 9.99974054e-01 3.09994865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.010714057 meters Centerline goodness [0,1] 0.9934932899552664 Centerline is valid? [True, True] Translation: X:878.57, Y:-65.86, Z:3.10 [[ 9.99162945e-01 4.03056338e-02 -6.99039695e-03 8.78571501e+02] [-4.03039292e-02 9.99187393e-01 3.84607395e-04 -6.58643547e+01] [ 7.00021835e-03 -1.02544994e-04 9.99975493e-01 3.09992290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.040714057 meters Centerline goodness [0,1] 0.9932010378627715 Centerline is valid? [True, True] Translation: X:878.60, Y:-65.87, Z:3.10 [[ 9.99192615e-01 3.95681378e-02 -6.96277197e-03 8.78598863e+02] [-3.95664460e-02 9.99216869e-01 3.80609576e-04 -6.58669065e+01] [ 6.97237922e-03 -1.04810137e-04 9.99975687e-01 3.09975852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0707140569999 meters Centerline goodness [0,1] 0.992767031118587 Centerline is valid? [True, True] Translation: X:878.63, Y:-65.87, Z:3.10 [[ 9.99249681e-01 3.79996939e-02 -7.48985213e-03 8.78627632e+02] [-3.79977046e-02 9.99277743e-01 4.07778225e-04 -6.58690988e+01] [ 7.49993798e-03 -1.22875073e-04 9.99971868e-01 3.09985041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1007140569999 meters Centerline goodness [0,1] 0.9925169089077566 Centerline is valid? [True, True] Translation: X:878.66, Y:-65.87, Z:3.10 [[ 9.99292484e-01 3.68113495e-02 -7.71082500e-03 8.78656128e+02] [-3.68092204e-02 9.99322224e-01 4.17895565e-04 -6.58703750e+01] [ 7.72098208e-03 -1.33770440e-04 9.99970184e-01 3.10009446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.130714057 meters Centerline goodness [0,1] 0.9924635739407135 Centerline is valid? [True, True] Translation: X:878.68, Y:-65.87, Z:3.10 [[ 9.99322744e-01 3.58703421e-02 -8.20802879e-03 8.78683942e+02] [-3.58678987e-02 9.99356441e-01 4.44751870e-04 -6.58740538e+01] [ 8.21869984e-03 -1.50045915e-04 9.99966215e-01 3.09879322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.160714057 meters Centerline goodness [0,1] 0.9928682541581907 Centerline is valid? [True, True] Translation: X:878.71, Y:-65.88, Z:3.10 [[ 9.99385669e-01 3.40786449e-02 -8.18112136e-03 8.78712570e+02] [-3.40761782e-02 9.99419141e-01 4.40755794e-04 -6.58769149e+01] [ 8.19138965e-03 -1.61703675e-04 9.99966437e-01 3.09900106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1907140569999 meters Centerline goodness [0,1] 0.992697584217205 Centerline is valid? [True, True] Translation: X:878.74, Y:-65.88, Z:3.10 [[ 9.99420143e-01 3.29889603e-02 -8.43246838e-03 8.78740786e+02] [-3.29863178e-02 9.99455701e-01 4.52297296e-04 -6.58792000e+01] [ 8.44279941e-03 -1.73878946e-04 9.99964344e-01 3.09849355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2207140569999 meters Centerline goodness [0,1] 0.9917237442922374 Centerline is valid? [True, True] Translation: X:878.77, Y:-65.89, Z:3.10 [[ 9.99445800e-01 3.21754295e-02 -8.53427640e-03 8.78768238e+02] [-3.21726945e-02 9.99482220e-01 4.57595879e-04 -6.58859028e+01] [ 8.54458087e-03 -1.82771612e-04 9.99963478e-01 3.09582636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.250714057 meters Centerline goodness [0,1] 0.9914499295455088 Centerline is valid? [True, True] Translation: X:878.80, Y:-65.88, Z:3.10 [[ 9.99462936e-01 3.16684647e-02 -8.42308697e-03 8.78797384e+02] [-3.16657868e-02 9.99498411e-01 4.51125111e-04 -6.58837203e+01] [ 8.43314848e-03 -1.84159152e-04 9.99964423e-01 3.09813506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.280714057 meters Centerline goodness [0,1] 0.9921858299883619 Centerline is valid? [True, True] Translation: X:878.83, Y:-65.89, Z:3.10 [[ 9.99488197e-01 3.10279473e-02 -7.78529491e-03 8.78826339e+02] [-3.10256444e-02 9.99518502e-01 4.16419694e-04 -6.58851804e+01] [ 7.79446696e-03 -1.74662777e-04 9.99969607e-01 3.09891417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3107140569999 meters Centerline goodness [0,1] 0.9918489206928417 Centerline is valid? [True, True] Translation: X:878.85, Y:-65.89, Z:3.10 [[ 9.99501423e-01 3.07455519e-02 -7.18446696e-03 8.78853851e+02] [-3.07436030e-02 9.99527231e-01 3.81583225e-04 -6.58865219e+01] [ 7.19280235e-03 -1.60516577e-04 9.99974119e-01 3.09932320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3407140569999 meters Centerline goodness [0,1] 0.9921310384176493 Centerline is valid? [True, True] Translation: X:878.88, Y:-65.89, Z:3.10 [[ 9.99523279e-01 3.01173004e-02 -6.79438812e-03 8.78881644e+02] [-3.01155559e-02 9.99546359e-01 3.58933962e-04 -6.58873796e+01] [ 6.80211603e-03 -1.54146075e-04 9.99976853e-01 3.09977528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.370714057 meters Centerline goodness [0,1] 0.9925962957672714 Centerline is valid? [True, True] Translation: X:878.91, Y:-65.89, Z:3.10 [[ 9.99551241e-01 2.93756570e-02 -5.86413146e-03 8.78909829e+02] [-2.93743555e-02 9.99568433e-01 3.07968046e-04 -6.58870335e+01] [ 5.87064745e-03 -1.35574760e-04 9.99982758e-01 3.10111831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.400714057 meters Centerline goodness [0,1] 0.9926254743323548 Centerline is valid? [True, True] Translation: X:878.94, Y:-65.89, Z:3.10 [[ 9.99570849e-01 2.87589298e-02 -5.57156089e-03 8.78938553e+02] [-2.87577436e-02 9.99586368e-01 2.92919783e-04 -6.58889853e+01] [ 5.57768037e-03 -1.32568556e-04 9.99984436e-01 3.10170298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4307140569999 meters Centerline goodness [0,1] 0.9922300106926458 Centerline is valid? [True, True] Translation: X:878.97, Y:-65.89, Z:3.10 [[ 9.99597944e-01 2.77972820e-02 -5.59116964e-03 8.78966842e+02] [-2.77960755e-02 9.99613571e-01 2.93392563e-04 -6.58903879e+01] [ 5.59716456e-03 -1.37862030e-04 9.99984326e-01 3.10166815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4607140569999 meters Centerline goodness [0,1] 0.9925488609041351 Centerline is valid? [True, True] Translation: X:878.99, Y:-65.89, Z:3.10 [[ 9.99616574e-01 2.70265533e-02 -6.02243912e-03 8.78994950e+02] [-2.70251426e-02 9.99634704e-01 3.15523505e-04 -6.58926884e+01] [ 6.02876666e-03 -1.52645250e-04 9.99981815e-01 3.10105070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4907140569999 meters Centerline goodness [0,1] 0.9921394883521509 Centerline is valid? [True, True] Translation: X:879.02, Y:-65.89, Z:3.10 [[ 9.99623540e-01 2.64161306e-02 -7.41393551e-03 8.79023837e+02] [-2.64139786e-02 9.99651015e-01 3.88047202e-04 -6.58930531e+01] [ 7.42159886e-03 -1.92069584e-04 9.99972441e-01 3.10027111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.520714057 meters Centerline goodness [0,1] 0.9912020656019891 Centerline is valid? [True, True] Translation: X:879.05, Y:-65.89, Z:3.10 [[ 9.99646257e-01 2.54051951e-02 -7.86994411e-03 8.79052918e+02] [-2.54027589e-02 9.99677214e-01 4.09385796e-04 -6.58945169e+01] [ 7.87780433e-03 -2.09322686e-04 9.99968948e-01 3.09921627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5507140569999 meters Centerline goodness [0,1] 0.9918922797283076 Centerline is valid? [True, True] Translation: X:879.08, Y:-65.90, Z:3.10 [[ 9.99658213e-01 2.47503093e-02 -8.41904381e-03 8.79082011e+02] [-2.47474972e-02 9.99693638e-01 4.38037120e-04 -6.58962505e+01] [ 8.42730608e-03 -2.29537141e-04 9.99964463e-01 3.09904744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5807140569999 meters Centerline goodness [0,1] 0.9916266235310909 Centerline is valid? [True, True] Translation: X:879.11, Y:-65.90, Z:3.10 [[ 9.99704303e-01 2.26789418e-02 -8.77337415e-03 8.79110614e+02] [-2.26758137e-02 9.99742767e-01 4.55864343e-04 -6.59000778e+01] [ 8.78145586e-03 -2.56786148e-04 9.99961409e-01 3.09898523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6107140569999 meters Centerline goodness [0,1] 0.991811278535552 Centerline is valid? [True, True] Translation: X:879.14, Y:-65.90, Z:3.10 [[ 9.99738397e-01 2.10494235e-02 -8.94758867e-03 8.79139632e+02] [-2.10461104e-02 9.99778398e-01 4.64286514e-04 -6.59028899e+01] [ 8.95537883e-03 -2.75853117e-04 9.99959862e-01 3.09896006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.640714057 meters Centerline goodness [0,1] 0.9915282471086574 Centerline is valid? [True, True] Translation: X:879.17, Y:-65.91, Z:3.10 [[ 9.99791361e-01 1.85187058e-02 -8.61925414e-03 8.79168088e+02] [-1.85155429e-02 9.99828473e-01 4.46624440e-04 -6.59068862e+01] [ 8.62604661e-03 -2.86941087e-04 9.99962754e-01 3.10024164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6707140569999 meters Centerline goodness [0,1] 0.9918173886386682 Centerline is valid? [True, True] Translation: X:879.20, Y:-65.91, Z:3.10 [[ 9.99810526e-01 1.77372083e-02 -8.01894906e-03 8.79196113e+02] [-1.77344518e-02 9.99842646e-01 4.14731585e-04 -6.59101975e+01] [ 8.02504342e-03 -2.72441338e-04 9.99967762e-01 3.10042658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7007140569999 meters Centerline goodness [0,1] 0.9923875924871941 Centerline is valid? [True, True] Translation: X:879.22, Y:-65.91, Z:3.10 [[ 9.99827778e-01 1.69486787e-02 -7.56025809e-03 8.79223873e+02] [-1.69462111e-02 9.99856326e-01 3.90332858e-04 -6.59134835e+01] [ 7.56578751e-03 -2.62147905e-04 9.99971345e-01 3.10070415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7307140569999 meters Centerline goodness [0,1] 0.9915757000474609 Centerline is valid? [True, True] Translation: X:879.25, Y:-65.91, Z:3.10 [[ 9.99825912e-01 1.73826939e-02 -6.78136275e-03 8.79252980e+02] [-1.73807216e-02 9.99848883e-01 3.49658164e-04 -6.59122344e+01] [ 6.78641597e-03 -2.31732315e-04 9.99976945e-01 3.10209569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.760714057 meters Centerline goodness [0,1] 0.9918430439952438 Centerline is valid? [True, True] Translation: X:879.28, Y:-65.91, Z:3.10 [[ 9.99806928e-01 1.85971844e-02 -6.34434159e-03 8.79280300e+02] [-1.85954892e-02 9.99827036e-01 3.26074402e-04 -6.59134003e+01] [ 6.34930831e-03 -2.08035310e-04 9.99979821e-01 3.10194199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.790714057 meters Centerline goodness [0,1] 0.9925115069995946 Centerline is valid? [True, True] Translation: X:879.31, Y:-65.91, Z:3.10 [[ 9.99728460e-01 2.25580080e-02 -5.84312012e-03 8.79310793e+02] [-2.25566381e-02 9.99745522e-01 3.00250178e-04 -6.59106241e+01] [ 5.84840622e-03 -1.68367502e-04 9.99982884e-01 3.10246103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8207140569999 meters Centerline goodness [0,1] 0.992834719259987 Centerline is valid? [True, True] Translation: X:879.34, Y:-65.91, Z:3.10 [[ 9.99676720e-01 2.48076148e-02 -5.57108466e-03 8.79339607e+02] [-2.48064071e-02 9.99692233e-01 2.85793583e-04 -6.59092094e+01] [ 5.57645992e-03 -1.47502597e-04 9.99984441e-01 3.10255285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8507140569999 meters Centerline goodness [0,1] 0.9929156095926476 Centerline is valid? [True, True] Translation: X:879.37, Y:-65.91, Z:3.10 [[ 9.99611208e-01 2.73988496e-02 -5.17062516e-03 8.79367937e+02] [-2.73978459e-02 9.99624573e-01 2.64867041e-04 -6.59088396e+01] [ 5.17594102e-03 -1.23100072e-04 9.99986597e-01 3.10263843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.880714057 meters Centerline goodness [0,1] 0.9934662422516335 Centerline is valid? [True, True] Translation: X:879.40, Y:-65.91, Z:3.10 [[ 9.99550831e-01 2.95407851e-02 -5.04767866e-03 8.79397244e+02] [-2.95398601e-02 9.99563570e-01 2.57708564e-04 -6.59076215e+01] [ 5.05308861e-03 -1.08485087e-04 9.99987227e-01 3.10318147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.910714057 meters Centerline goodness [0,1] 0.9929089947598673 Centerline is valid? [True, True] Translation: X:879.43, Y:-65.91, Z:3.10 [[ 9.99508119e-01 3.10725317e-02 -4.24474487e-03 8.79426545e+02] [-3.10718941e-02 9.99517129e-01 2.16070612e-04 -6.59082651e+01] [ 4.24940907e-03 -8.40720676e-05 9.99990968e-01 3.10325403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9407140569999 meters Centerline goodness [0,1] 0.9929320126935283 Centerline is valid? [True, True] Translation: X:879.45, Y:-65.91, Z:3.10 [[ 9.99505495e-01 3.11403773e-02 -4.36371691e-03 8.79454096e+02] [-3.11397119e-02 9.99515017e-01 2.20350772e-04 -6.59097283e+01] [ 4.36846239e-03 -8.43569202e-05 9.99990455e-01 3.10316027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9707140569999 meters Centerline goodness [0,1] 0.9929320126935283 Centerline is valid? [True, True] Translation: X:879.48, Y:-65.91, Z:3.10 [[ 9.99514304e-01 3.08563306e-02 -4.36377953e-03 8.79481419e+02] [-3.08556679e-02 9.99523827e-01 2.19110171e-04 -6.59110436e+01] [ 4.36846255e-03 -8.43564178e-05 9.99990455e-01 3.10306194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.000714057 meters Centerline goodness [0,1] 0.993421052631579 Centerline is valid? [True, True] Translation: X:879.51, Y:-65.91, Z:3.10 [[ 9.99506198e-01 3.09749270e-02 -5.28341270e-03 8.79509419e+02] [-3.09739642e-02 9.99520157e-01 2.63981453e-04 -6.59129227e+01] [ 5.28905430e-03 -1.00202863e-04 9.99986008e-01 3.10233252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.030714057 meters Centerline goodness [0,1] 0.992879405418365 Centerline is valid? [True, True] Translation: X:879.54, Y:-65.92, Z:3.10 [[ 9.99502371e-01 3.10816128e-02 -5.37999012e-03 8.79536627e+02] [-3.10806163e-02 9.99516845e-01 2.68740617e-04 -6.59152232e+01] [ 5.38574364e-03 -1.01393475e-04 9.99985492e-01 3.10160273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0607140569999 meters Centerline goodness [0,1] 0.9930580490724117 Centerline is valid? [True, True] Translation: X:879.56, Y:-65.92, Z:3.10 [[ 9.99497466e-01 3.12008317e-02 -5.59673481e-03 8.79563974e+02] [-3.11997670e-02 9.99513130e-01 2.77459939e-04 -6.59171823e+01] [ 5.60266691e-03 -1.02703684e-04 9.99984300e-01 3.10111295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0907140569999 meters Centerline goodness [0,1] 0.9930395545314901 Centerline is valid? [True, True] Translation: X:879.59, Y:-65.92, Z:3.10 [[ 9.99468606e-01 3.22102031e-02 -5.00089806e-03 8.79592545e+02] [-3.22093718e-02 9.99481113e-01 2.46687790e-04 -6.59178605e+01] [ 5.00624902e-03 -8.54809167e-05 9.99987465e-01 3.10146101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.120714057 meters Centerline goodness [0,1] 0.9928535335306432 Centerline is valid? [True, True] Translation: X:879.62, Y:-65.92, Z:3.10 [[ 9.99453902e-01 3.26166323e-02 -5.29645696e-03 8.79620073e+02] [-3.26157139e-02 9.99467932e-01 2.59691039e-04 -6.59185093e+01] [ 5.30210914e-03 -8.68014976e-05 9.99985940e-01 3.10156859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.150714057 meters Centerline goodness [0,1] 0.9934363955473277 Centerline is valid? [True, True] Translation: X:879.65, Y:-65.92, Z:3.10 [[ 9.99426368e-01 3.34605658e-02 -5.22746770e-03 8.79648939e+02] [-3.34596889e-02 9.99440035e-01 2.55130879e-04 -6.59185861e+01] [ 5.23307733e-03 -8.00750846e-05 9.99986304e-01 3.10090029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1807140569999 meters Centerline goodness [0,1] 0.9929794191190614 Centerline is valid? [True, True] Translation: X:879.68, Y:-65.92, Z:3.10 [[ 9.99447624e-01 3.28266275e-02 -5.18265433e-03 8.79676527e+02] [-3.28257565e-02 9.99461058e-01 2.53053283e-04 -6.59207522e+01] [ 5.18816807e-03 -8.27889539e-05 9.99986538e-01 3.10089745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2107140569999 meters Centerline goodness [0,1] 0.9928604052982043 Centerline is valid? [True, True] Translation: X:879.70, Y:-65.92, Z:3.10 [[ 9.99482798e-01 3.18593156e-02 -4.37264808e-03 8.79704534e+02] [-3.18586949e-02 9.99492361e-01 2.11546592e-04 -6.59224404e+01] [ 4.37716808e-03 -7.21303191e-05 9.99990418e-01 3.10133629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2407140569999 meters Centerline goodness [0,1] 0.9922493641119163 Centerline is valid? [True, True] Translation: X:879.73, Y:-65.92, Z:3.10 [[ 9.99541597e-01 3.00836111e-02 -3.40179813e-03 8.79733327e+02] [-3.00832242e-02 9.99547384e-01 1.64871291e-04 -6.59249663e+01] [ 3.40521834e-03 -6.24586577e-05 9.99994200e-01 3.10225096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.270714057 meters Centerline goodness [0,1] 0.9921657214265116 Centerline is valid? [True, True] Translation: X:879.76, Y:-65.93, Z:3.10 [[ 9.99568974e-01 2.92437642e-02 -2.58233828e-03 8.79761699e+02] [-2.92435391e-02 9.99572308e-01 1.24908093e-04 -6.59264633e+01] [ 2.58488662e-03 -4.93375435e-05 9.99996658e-01 3.10287177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3007140569999 meters Centerline goodness [0,1] 0.9916802531888367 Centerline is valid? [True, True] Translation: X:879.79, Y:-65.93, Z:3.10 [[ 9.99608637e-01 2.79227277e-02 -1.70124915e-03 8.79790748e+02] [-2.79226284e-02 9.99610084e-01 8.20793553e-05 -6.59287598e+01] [ 1.70287769e-03 -3.45438845e-05 9.99998550e-01 3.10321980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3307140569999 meters Centerline goodness [0,1] 0.9922788229388282 Centerline is valid? [True, True] Translation: X:879.82, Y:-65.93, Z:3.10 [[ 9.99622452e-01 2.74185047e-02 -1.78325083e-03 8.79818625e+02] [-2.74183957e-02 9.99624041e-01 8.55890003e-05 -6.59310721e+01] [ 1.78492712e-03 -3.66628095e-05 9.99998406e-01 3.10281528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3607140569999 meters Centerline goodness [0,1] 0.9912839423399262 Centerline is valid? [True, True] Translation: X:879.85, Y:-65.93, Z:3.10 [[ 9.99636038e-01 2.69049960e-02 -1.97819123e-03 8.79847008e+02] [-2.69048605e-02 9.99637994e-01 9.50829917e-05 -6.59333828e+01] [ 1.98003332e-03 -4.18254260e-05 9.99998039e-01 3.10208500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.390714057 meters Centerline goodness [0,1] 0.9920319678407351 Centerline is valid? [True, True] Translation: X:879.88, Y:-65.94, Z:3.10 [[ 9.99643658e-01 2.66080581e-02 -2.13741381e-03 8.79876033e+02] [-2.66078995e-02 9.99645942e-01 1.02606464e-04 -6.59352390e+01] [ 2.13938720e-03 -4.56978091e-05 9.99997710e-01 3.10203675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4207140569999 meters Centerline goodness [0,1] 0.9914072169856232 Centerline is valid? [True, True] Translation: X:879.90, Y:-65.94, Z:3.10 [[ 9.99648562e-01 2.64596037e-02 -1.62565191e-03 8.79904013e+02] [-2.64595123e-02 9.99649883e-01 7.76833485e-05 -6.59368959e+01] [ 1.62713821e-03 -3.46420909e-05 9.99998676e-01 3.10162865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4507140569999 meters Centerline goodness [0,1] 0.9911074025509596 Centerline is valid? [True, True] Translation: X:879.93, Y:-65.94, Z:3.10 [[ 9.99661492e-01 2.59637541e-02 -1.66893029e-03 8.79932139e+02] [-2.59636573e-02 9.99662884e-01 7.96779882e-05 -6.59391348e+01] [ 1.67043640e-03 -3.63194827e-05 9.99998604e-01 3.10208134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4807140569999 meters Centerline goodness [0,1] 0.9916054564533053 Centerline is valid? [True, True] Translation: X:879.96, Y:-65.94, Z:3.10 [[ 9.99676191e-01 2.54092279e-02 -1.37240744e-03 8.79960731e+02] [-2.54091620e-02 9.99677133e-01 6.54307642e-05 -6.59399222e+01] [ 1.37362688e-03 -3.05378543e-05 9.99999056e-01 3.10226432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.510714057 meters Centerline goodness [0,1] 0.9915616857504841 Centerline is valid? [True, True] Translation: X:879.99, Y:-65.94, Z:3.10 [[ 9.99704235e-01 2.43051165e-02 -8.39471224e-04 8.79989092e+02] [-2.43050916e-02 9.99704587e-01 3.98639603e-05 -6.59426083e+01] [ 8.40192131e-04 -1.94487450e-05 9.99999647e-01 3.10208234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.540714057 meters Centerline goodness [0,1] 0.9913200208698951 Centerline is valid? [True, True] Translation: X:880.02, Y:-65.95, Z:3.10 [[ 9.99720843e-01 2.36033755e-02 -1.05651433e-03 8.80016895e+02] [-2.36033357e-02 9.99721401e-01 5.00809922e-05 -6.59468313e+01] [ 1.05740207e-03 -2.51297493e-05 9.99999441e-01 3.10140953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5707140569999 meters Centerline goodness [0,1] 0.9918294425917104 Centerline is valid? [True, True] Translation: X:880.05, Y:-65.95, Z:3.10 [[ 9.99725883e-01 2.33814561e-02 -1.21072139e-03 8.80045869e+02] [-2.33814037e-02 9.99726616e-01 5.74193564e-05 -6.59473140e+01] [ 1.21173295e-03 -2.90952513e-05 9.99999265e-01 3.10134420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6007140569999 meters Centerline goodness [0,1] 0.9920253285088555 Centerline is valid? [True, True] Translation: X:880.07, Y:-65.95, Z:3.10 [[ 9.99738503e-01 2.28378875e-02 -1.16509260e-03 8.80074510e+02] [-2.28378388e-02 9.99739181e-01 5.51573991e-05 -6.59479621e+01] [ 1.16604840e-03 -2.85347788e-05 9.99999320e-01 3.10058921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.630714057 meters Centerline goodness [0,1] 0.9918478906714201 Centerline is valid? [True, True] Translation: X:880.10, Y:-65.95, Z:3.10 [[ 9.99742057e-01 2.26764864e-02 -1.26382065e-03 8.80102074e+02] [-2.26764292e-02 9.99742855e-01 5.95933281e-05 -6.59498165e+01] [ 1.26484703e-03 -3.09190170e-05 9.99999200e-01 3.10066032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.660714057 meters Centerline goodness [0,1] 0.9915260272021648 Centerline is valid? [True, True] Translation: X:880.13, Y:-65.95, Z:3.10 [[ 9.99769321e-01 2.14762621e-02 -2.72193874e-04 8.80130125e+02] [-2.14762595e-02 9.99769358e-01 1.25789081e-05 -6.59527409e+01] [ 2.72401242e-04 -6.73030019e-06 9.99999963e-01 3.10059834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6907140569999 meters Centerline goodness [0,1] 0.9910504451038575 Centerline is valid? [True, True] Translation: X:880.16, Y:-65.95, Z:3.10 [[ 9.99780320e-01 2.09594793e-02 1.08933102e-04 8.80158476e+02] [-2.09594788e-02 9.99780326e-01 -5.40654241e-06 -6.59539117e+01] [-1.09022491e-04 3.12217365e-06 9.99999994e-01 3.10089027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7207140569999 meters Centerline goodness [0,1] 0.9912080600703356 Centerline is valid? [True, True] Translation: X:880.19, Y:-65.96, Z:3.10 [[ 9.99792485e-01 2.03698345e-02 2.38702130e-04 8.80186998e+02] [-2.03698323e-02 9.99792513e-01 -1.15256967e-05 -6.59559929e+01] [-2.38887379e-04 6.66098261e-06 9.99999971e-01 3.10126163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.750714057 meters Centerline goodness [0,1] 0.9914760619406165 Centerline is valid? [True, True] Translation: X:880.21, Y:-65.96, Z:3.10 [[ 9.99815047e-01 1.92157297e-02 7.92576962e-04 8.80214149e+02] [-1.92157058e-02 9.99815361e-01 -3.77817602e-05 -6.59591583e+01] [-7.93156625e-04 2.25448466e-05 9.99999685e-01 3.10128128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.780714057 meters Centerline goodness [0,1] 0.9902260087563602 Centerline is valid? [True, True] Translation: X:880.24, Y:-65.96, Z:3.10 [[ 9.99826853e-01 1.86064005e-02 2.57546660e-04 8.80242930e+02] [-1.86063979e-02 9.99826886e-01 -1.23652084e-05 -6.59599557e+01] [-2.57732147e-04 7.57105176e-06 9.99999967e-01 3.10074351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8107140569999 meters Centerline goodness [0,1] 0.9907330599862536 Centerline is valid? [True, True] Translation: X:880.27, Y:-65.96, Z:3.10 [[ 9.99853284e-01 1.71083476e-02 -8.45757349e-04 8.80271039e+02] [-1.71083204e-02 9.99853641e-01 3.93787631e-05 -6.59628575e+01] [ 8.46307271e-04 -2.49034979e-05 9.99999642e-01 3.09911995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8407140569999 meters Centerline goodness [0,1] 0.9905887916765193 Centerline is valid? [True, True] Translation: X:880.30, Y:-65.97, Z:3.10 [[ 9.99867181e-01 1.62612356e-02 -1.09237669e-03 8.80298190e+02] [-1.62611898e-02 9.99867777e-01 5.07789971e-05 -6.59663813e+01] [ 1.09305799e-03 -3.30089079e-05 9.99999402e-01 3.09790836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.870714057 meters Centerline goodness [0,1] 0.9906426930092626 Centerline is valid? [True, True] Translation: X:880.33, Y:-65.97, Z:3.10 [[ 9.99887995e-01 1.49075114e-02 -1.32834049e-03 8.80326634e+02] [-1.49074424e-02 9.99888876e-01 6.18615117e-05 -6.59679991e+01] [ 1.32911508e-03 -4.20524235e-05 9.99999116e-01 3.09692140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.900714057 meters Centerline goodness [0,1] 0.9902970062714471 Centerline is valid? [True, True] Translation: X:880.36, Y:-65.97, Z:3.10 [[ 9.99922568e-01 1.22350953e-02 -2.27150916e-03 8.80356290e+02] [-1.22348860e-02 9.99925145e-01 1.06010876e-04 -6.59720486e+01] [ 2.27263618e-03 -7.82110117e-05 9.99997415e-01 3.09533693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9307140569999 meters Centerline goodness [0,1] 0.9905360531309297 Centerline is valid? [True, True] Translation: X:880.39, Y:-65.97, Z:3.09 [[ 9.99939260e-01 1.06864455e-02 -2.69754415e-03 8.80385003e+02] [-1.06861455e-02 9.99942894e-01 1.25604126e-04 -6.59748648e+01] [ 2.69873237e-03 -9.67701472e-05 9.99996354e-01 3.09477461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9607140569999 meters Centerline goodness [0,1] 0.9903936933534743 Centerline is valid? [True, True] Translation: X:880.41, Y:-65.98, Z:3.09 [[ 9.99963918e-01 7.51617821e-03 -3.95847065e-03 8.80412964e+02] [-7.51550767e-03 9.99971741e-01 1.84240601e-04 -6.59806591e+01] [ 3.95974357e-03 -1.54484037e-04 9.99992148e-01 3.09269054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9907140569999 meters Centerline goodness [0,1] 0.9898982763492512 Centerline is valid? [True, True] Translation: X:880.44, Y:-65.98, Z:3.09 [[ 9.99972772e-01 6.19915731e-03 -4.00323368e-03 8.80441852e+02] [-6.19846222e-03 9.99980772e-01 1.86017455e-04 -6.59834360e+01] [ 4.00430986e-03 -1.61198497e-04 9.99991970e-01 3.09198425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.020714057 meters Centerline goodness [0,1] 0.9888382849187058 Centerline is valid? [True, True] Translation: X:880.47, Y:-65.99, Z:3.09 [[ 9.99978202e-01 4.92052975e-03 -4.40263450e-03 8.80470936e+02] [-4.91967788e-03 9.99987877e-01 2.04299778e-04 -6.59857172e+01] [ 4.40358639e-03 -1.82635781e-04 9.99990287e-01 3.09139054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0507140569999 meters Centerline goodness [0,1] 0.9883803315856596 Centerline is valid? [True, True] Translation: X:880.50, Y:-65.99, Z:3.09 [[ 9.99978254e-01 4.98264697e-03 -4.32023462e-03 8.80498988e+02] [-4.98182912e-03 9.99987571e-01 2.00048532e-04 -6.59877447e+01] [ 4.32117769e-03 -1.78521511e-04 9.99990648e-01 3.09088551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0807140569999 meters Centerline goodness [0,1] 0.9886610089580387 Centerline is valid? [True, True] Translation: X:880.53, Y:-65.99, Z:3.09 [[ 9.99969990e-01 7.04887895e-03 -3.21435487e-03 8.80526595e+02] [-7.04843797e-03 9.99975148e-01 1.48499218e-04 -6.59878627e+01] [ 3.21532174e-03 -1.25838581e-04 9.99994823e-01 3.09150939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1107140569999 meters Centerline goodness [0,1] 0.989959364959365 Centerline is valid? [True, True] Translation: X:880.55, Y:-65.99, Z:3.09 [[ 9.99961194e-01 8.41843240e-03 -2.59637027e-03 8.80554178e+02] [-8.41814999e-03 9.99964560e-01 1.19680732e-04 -6.59887744e+01] [ 2.59728578e-03 -9.78194537e-05 9.99996622e-01 3.09201712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.140714057 meters Centerline goodness [0,1] 0.9889608547655068 Centerline is valid? [True, True] Translation: X:880.58, Y:-65.99, Z:3.09 [[ 9.99953316e-01 9.50435382e-03 -1.74175618e-03 8.80582743e+02] [-9.50422864e-03 9.99954831e-01 8.01323926e-05 -6.59885768e+01] [ 1.74243911e-03 -6.35746028e-05 9.99998480e-01 3.09253458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1707140569999 meters Centerline goodness [0,1] 0.9892697254660445 Centerline is valid? [True, True] Translation: X:880.61, Y:-65.99, Z:3.09 [[ 9.99935006e-01 1.13896900e-02 -5.09526400e-04 8.80611612e+02] [-1.13896796e-02 9.99935135e-01 2.32260779e-05 -6.59852876e+01] [ 5.09757887e-04 -1.74212259e-05 9.99999870e-01 3.09284967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2007140569999 meters Centerline goodness [0,1] 0.989362962261022 Centerline is valid? [True, True] Translation: X:880.64, Y:-65.99, Z:3.09 [[ 9.99928662e-01 1.19276703e-02 -6.33852582e-04 8.80639010e+02] [-1.19276545e-02 9.99928863e-01 2.88389464e-05 -6.59884920e+01] [ 6.34151472e-04 -2.12765146e-05 9.99999799e-01 3.09180718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2307140569999 meters Centerline goodness [0,1] 0.9902011711371363 Centerline is valid? [True, True] Translation: X:880.67, Y:-65.99, Z:3.09 [[ 9.99908150e-01 1.34946472e-02 -1.25902556e-03 8.80668335e+02] [-1.34945853e-02 9.99908942e-01 5.76492838e-05 -6.59893727e+01] [ 1.25968888e-03 -4.06539609e-05 9.99999206e-01 3.08969338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.260714057 meters Centerline goodness [0,1] 0.9880180201429346 Centerline is valid? [True, True] Translation: X:880.70, Y:-66.00, Z:3.09 [[ 9.99900505e-01 1.39997411e-02 -1.72865164e-03 8.80695419e+02] [-1.39996255e-02 9.99901997e-01 7.89545454e-05 -6.59954635e+01] [ 1.72958757e-03 -5.47462143e-05 9.99998503e-01 3.08773202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.290714057 meters Centerline goodness [0,1] 0.9888382849187058 Centerline is valid? [True, True] Translation: X:880.72, Y:-66.00, Z:3.09 [[ 9.99883278e-01 1.51289380e-02 -2.13215758e-03 8.80724221e+02] [-1.51287647e-02 9.99885549e-01 9.73975465e-05 -6.59966460e+01] [ 2.13338708e-03 -6.51292676e-05 9.99997722e-01 3.08699249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3207140569999 meters Centerline goodness [0,1] 0.989830187786765 Centerline is valid? [True, True] Translation: X:880.75, Y:-65.99, Z:3.09 [[ 9.99820184e-01 1.87048474e-02 -3.11897280e-03 8.80753297e+02] [-1.87044943e-02 9.99825046e-01 1.42344784e-04 -6.59905530e+01] [ 3.12108966e-03 -8.39803793e-05 9.99995126e-01 3.08703058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3507140569999 meters Centerline goodness [0,1] 0.9904399524375743 Centerline is valid? [True, True] Translation: X:880.78, Y:-65.98, Z:3.09 [[ 9.99666627e-01 2.54716689e-02 -4.22247696e-03 8.80782696e+02] [-2.54710818e-02 9.99675541e-01 1.92774299e-04 -6.59847623e+01] [ 4.22601722e-03 -8.51589768e-05 9.99991067e-01 3.08576408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.380714057 meters Centerline goodness [0,1] 0.9907279401248987 Centerline is valid? [True, True] Translation: X:880.81, Y:-65.98, Z:3.08 [[ 9.99547276e-01 2.97654007e-02 -4.38914465e-03 8.80811168e+02] [-2.97648095e-02 9.99556910e-01 1.99974142e-04 -6.59837148e+01] [ 4.39315218e-03 -6.92415545e-05 9.99990348e-01 3.08396278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.410714057 meters Centerline goodness [0,1] 0.9904050409337184 Centerline is valid? [True, True] Translation: X:880.84, Y:-65.98, Z:3.08 [[ 9.99477399e-01 3.21925228e-02 -2.92756235e-03 8.80840159e+02] [-3.21922710e-02 9.99481686e-01 1.33085660e-04 -6.59798169e+01] [ 2.93032932e-03 -3.87712290e-05 9.99995706e-01 3.08482783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4407140569999 meters Centerline goodness [0,1] 0.9904054989379222 Centerline is valid? [True, True] Translation: X:880.87, Y:-65.98, Z:3.09 [[ 9.99357942e-01 3.58255134e-02 4.86314970e-04 8.80867959e+02] [-3.58255067e-02 9.99358060e-01 -2.24184200e-05 -6.59810370e+01] [-4.86805937e-04 4.98154581e-06 9.99999881e-01 3.08521211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4707140569999 meters Centerline goodness [0,1] 0.9905637783206399 Centerline is valid? [True, True] Translation: X:880.90, Y:-65.98, Z:3.09 [[ 9.99311735e-01 3.70616156e-02 1.57901997e-03 8.80896657e+02] [-3.70615477e-02 9.99312982e-01 -7.22619039e-05 -6.59811191e+01] [-1.58061329e-03 1.36912447e-05 9.99998751e-01 3.08588620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.500714057 meters Centerline goodness [0,1] 0.9911279493573758 Centerline is valid? [True, True] Translation: X:880.93, Y:-65.98, Z:3.09 [[ 9.99106333e-01 4.22333614e-02 1.69671970e-03 8.80925578e+02] [-4.22332913e-02 9.99107774e-01 -7.71731990e-05 -6.59752879e+01] [-1.69846512e-03 5.44617464e-06 9.99998558e-01 3.08604845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.530714057 meters Centerline goodness [0,1] 0.9908232573823402 Centerline is valid? [True, True] Translation: X:880.95, Y:-65.98, Z:3.09 [[ 9.99029630e-01 4.39488555e-02 2.88044942e-03 8.80954593e+02] [-4.39486646e-02 9.99033782e-01 -1.29595705e-04 -6.59755683e+01] [-2.88336186e-03 2.87804410e-06 9.99995843e-01 3.08612685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5607140569999 meters Centerline goodness [0,1] 0.9912446185846273 Centerline is valid? [True, True] Translation: X:880.98, Y:-65.97, Z:3.09 [[ 9.98956229e-01 4.55376948e-02 3.57350658e-03 8.80981277e+02] [-4.55374121e-02 9.98962621e-01 -1.60472692e-04 -6.59748298e+01] [-3.57710706e-03 -2.42304707e-06 9.99993602e-01 3.08601217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5907140569999 meters Centerline goodness [0,1] 0.9911604333309313 Centerline is valid? [True, True] Translation: X:881.01, Y:-65.97, Z:3.08 [[ 9.98860923e-01 4.75189939e-02 4.33604307e-03 8.81008924e+02] [-4.75186008e-02 9.98870334e-01 -1.93694310e-04 -6.59744870e+01] [-4.34034895e-03 -1.25690227e-05 9.99990581e-01 3.08491626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.620714057 meters Centerline goodness [0,1] 0.9922461953380851 Centerline is valid? [True, True] Translation: X:881.04, Y:-65.97, Z:3.08 [[ 9.98786499e-01 4.90313516e-02 4.63200186e-03 8.81036340e+02] [-4.90309255e-02 9.98797240e-01 -2.05580766e-04 -6.59743844e+01] [-4.63651057e-03 -2.17800443e-05 9.99989251e-01 3.08440811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.650714057 meters Centerline goodness [0,1] 0.9929204392217299 Centerline is valid? [True, True] Translation: X:881.06, Y:-65.97, Z:3.08 [[ 9.98600002e-01 5.26532201e-02 5.06697620e-03 8.81064686e+02] [-5.26527629e-02 9.98612856e-01 -2.23691527e-04 -6.59724643e+01] [-5.07172566e-03 -4.34119371e-05 9.99987138e-01 3.08397923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6807140569999 meters Centerline goodness [0,1] 0.9931157327171192 Centerline is valid? [True, True] Translation: X:881.09, Y:-65.97, Z:3.08 [[ 9.98558272e-01 5.33722838e-02 5.72517774e-03 8.81093044e+02] [-5.33717168e-02 9.98574682e-01 -2.51882346e-04 -6.59736381e+01] [-5.73046108e-03 -5.40433647e-05 9.99983579e-01 3.08352430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7107140569999 meters Centerline goodness [0,1] 0.9932430796057252 Centerline is valid? [True, True] Translation: X:881.12, Y:-65.97, Z:3.08 [[ 9.98484385e-01 5.47989621e-02 5.09960976e-03 8.81121642e+02] [-5.47985367e-02 9.98497406e-01 -2.23215617e-04 -6.59737482e+01] [-5.10417910e-03 -5.65738444e-05 9.99986972e-01 3.08190760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7407140569999 meters Centerline goodness [0,1] 0.9932637251599865 Centerline is valid? [True, True] Translation: X:881.15, Y:-65.97, Z:3.08 [[ 9.98479542e-01 5.49465268e-02 4.41399185e-03 8.81148323e+02] [-5.49462132e-02 9.98489297e-01 -1.92356755e-04 -6.59742644e+01] [-4.41789296e-03 -5.04678530e-05 9.99990240e-01 3.08107433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.770714057 meters Centerline goodness [0,1] 0.9940814166105283 Centerline is valid? [True, True] Translation: X:881.18, Y:-65.97, Z:3.08 [[ 9.98424429e-01 5.59480898e-02 4.29782090e-03 8.81176631e+02] [-5.59478044e-02 9.98433677e-01 -1.86706682e-04 -6.59746910e+01] [-4.30153500e-03 -5.40411304e-05 9.99990747e-01 3.08035120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8007140569999 meters Centerline goodness [0,1] 0.9950716304689199 Centerline is valid? [True, True] Translation: X:881.20, Y:-65.97, Z:3.08 [[ 9.98208106e-01 5.96755238e-02 4.40565540e-03 8.81204533e+02] [-5.96752644e-02 9.98217825e-01 -1.90425665e-04 -6.59706105e+01] [-4.40916751e-03 -7.28242086e-05 9.99990277e-01 3.07968375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8307140569999 meters Centerline goodness [0,1] 0.9943610842207163 Centerline is valid? [True, True] Translation: X:881.23, Y:-65.97, Z:3.08 [[ 9.98088433e-01 6.15984999e-02 5.01048476e-03 8.81232799e+02] [-6.15981929e-02 9.98101005e-01 -2.15715291e-04 -6.59737350e+01] [-5.01425761e-03 -9.33338697e-05 9.99987424e-01 3.07956812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8607140569999 meters Centerline goodness [0,1] 0.9943610842207163 Centerline is valid? [True, True] Translation: X:881.26, Y:-65.97, Z:3.08 [[ 9.98105212e-01 6.13260146e-02 5.01053819e-03 8.81260131e+02] [-6.13257104e-02 9.98117784e-01 -2.14468151e-04 -6.59748337e+01] [-5.01425975e-03 -9.32130348e-05 9.99987424e-01 3.07946985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.890714057 meters Centerline goodness [0,1] 0.9957161527663488 Centerline is valid? [True, True] Translation: X:881.29, Y:-65.97, Z:3.08 [[ 9.97867982e-01 6.49376902e-02 6.52590916e-03 8.81289204e+02] [-6.49372607e-02 9.97889310e-01 -2.77908211e-04 -6.59726478e+01] [-6.53018171e-03 -1.46458960e-04 9.99978667e-01 3.08109323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9207140569999 meters Centerline goodness [0,1] 0.996155062906091 Centerline is valid? [True, True] Translation: X:881.32, Y:-65.97, Z:3.08 [[ 9.97748565e-01 6.66307400e-02 7.62527080e-03 8.81317591e+02] [-6.66302120e-02 9.97777686e-01 -3.23550045e-04 -6.59729575e+01] [-7.62988343e-03 -1.85251816e-04 9.99970875e-01 3.08161577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9507140569999 meters Centerline goodness [0,1] 0.9963560392576037 Centerline is valid? [True, True] Translation: X:881.35, Y:-65.97, Z:3.08 [[ 9.97695302e-01 6.73484524e-02 8.26254461e-03 8.81346496e+02] [-6.73478740e-02 9.97729494e-01 -3.48532213e-04 -6.59745289e+01] [-8.26725755e-03 -2.08735862e-04 9.99965804e-01 3.08200289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9807140569999 meters Centerline goodness [0,1] 0.9970099587663669 Centerline is valid? [True, True] Translation: X:881.37, Y:-65.98, Z:3.08 [[ 9.97675663e-01 6.76130464e-02 8.47033456e-03 8.81374649e+02] [-6.76124592e-02 9.97711596e-01 -3.55987878e-04 -6.59751769e+01] [-8.47502044e-03 -2.17539707e-04 9.99964063e-01 3.08143416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.010714057 meters Centerline goodness [0,1] 0.9968466501722214 Centerline is valid? [True, True] Translation: X:881.40, Y:-65.98, Z:3.08 [[ 9.97589245e-01 6.89388135e-02 7.94593570e-03 8.81403031e+02] [-6.89383493e-02 9.97620867e-01 -3.32623412e-04 -6.59758453e+01] [-7.94996193e-03 -2.15958152e-04 9.99968375e-01 3.08042721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.040714057 meters Centerline goodness [0,1] 0.9971720687404829 Centerline is valid? [True, True] Translation: X:881.43, Y:-65.98, Z:3.08 [[ 9.97578446e-01 6.91150312e-02 7.76896399e-03 8.81431392e+02] [-6.91146070e-02 9.97608674e-01 -3.23395611e-04 -6.59764504e+01] [-7.77273736e-03 -2.14336402e-04 9.99969769e-01 3.08017410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0707140569999 meters Centerline goodness [0,1] 0.996391715378509 Centerline is valid? [True, True] Translation: X:881.46, Y:-65.98, Z:3.08 [[ 9.97578126e-01 6.91708142e-02 7.29936401e-03 8.81459123e+02] [-6.91704542e-02 9.97604810e-01 -3.02054483e-04 -6.59767359e+01] [-7.30277400e-03 -2.03577379e-04 9.99973314e-01 3.07959653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1007140569999 meters Centerline goodness [0,1] 0.9970292725340547 Centerline is valid? [True, True] Translation: X:881.49, Y:-65.98, Z:3.08 [[ 9.97505863e-01 7.02138561e-02 7.21578489e-03 8.81487721e+02] [-7.02135446e-02 9.97531939e-01 -2.96794249e-04 -6.59771159e+01] [-7.21881496e-03 -2.10591830e-04 9.99973922e-01 3.07892440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.130714057 meters Centerline goodness [0,1] 0.9977065327603689 Centerline is valid? [True, True] Translation: X:881.52, Y:-65.98, Z:3.08 [[ 9.97410051e-01 7.16377352e-02 6.42069082e-03 8.81515647e+02] [-7.16375251e-02 9.97430697e-01 -2.62992593e-04 -6.59770543e+01] [-6.42303432e-03 -1.97650944e-04 9.99979353e-01 3.07785432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.160714057 meters Centerline goodness [0,1] 0.9974677438803811 Centerline is valid? [True, True] Translation: X:881.54, Y:-65.98, Z:3.08 [[ 9.97402650e-01 7.17556048e-02 6.25187692e-03 8.81544399e+02] [-7.17554147e-02 9.97422225e-01 -2.55007868e-04 -6.59798190e+01] [-6.25405924e-03 -1.94260498e-04 9.99980424e-01 3.07649823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1907140569999 meters Centerline goodness [0,1] 0.9974860402717011 Centerline is valid? [True, True] Translation: X:881.57, Y:-65.98, Z:3.08 [[ 9.97422630e-01 7.15301101e-02 5.61600907e-03 8.81572010e+02] [-7.15299605e-02 9.97438426e-01 -2.27748159e-04 -6.59814933e+01] [-5.61791410e-03 -1.74551739e-04 9.99984204e-01 3.07510599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2207140569999 meters Centerline goodness [0,1] 0.9976762199845082 Centerline is valid? [True, True] Translation: X:881.60, Y:-65.98, Z:3.08 [[ 9.97450142e-01 7.11773710e-02 5.19580803e-03 8.81600021e+02] [-7.11772452e-02 9.97463661e-01 -2.09362272e-04 -6.59824612e+01] [-5.19753155e-03 -1.60994874e-04 9.99986480e-01 3.07504770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.250714057 meters Centerline goodness [0,1] 0.9979160608704081 Centerline is valid? [True, True] Translation: X:881.63, Y:-65.98, Z:3.07 [[ 9.97537253e-01 6.99654009e-02 4.92652244e-03 8.81628510e+02] [-6.99652791e-02 9.97549408e-01 -1.97271271e-04 -6.59839729e+01] [-4.92825171e-03 -1.47900076e-04 9.99987845e-01 3.07473340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.280714057 meters Centerline goodness [0,1] 0.9972469088098919 Centerline is valid? [True, True] Translation: X:881.66, Y:-65.99, Z:3.07 [[ 9.97724035e-01 6.72372085e-02 5.09002878e-03 8.81656205e+02] [-6.72370481e-02 9.97737009e-01 -2.02817502e-04 -6.59857387e+01] [-5.09214697e-03 -1.39882613e-04 9.99987025e-01 3.07423398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3107140569999 meters Centerline goodness [0,1] 0.9966182758037634 Centerline is valid? [True, True] Translation: X:881.69, Y:-65.99, Z:3.07 [[ 9.97925353e-01 6.41901194e-02 4.96173578e-03 8.81685054e+02] [-6.41899313e-02 9.97937680e-01 -1.97320052e-04 -6.59893786e+01] [-4.96416909e-03 -1.21582796e-04 9.99987671e-01 3.07474804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3407140569999 meters Centerline goodness [0,1] 0.9974715245502925 Centerline is valid? [True, True] Translation: X:881.71, Y:-65.99, Z:3.07 [[ 9.98013062e-01 6.28331173e-02 4.68261155e-03 8.81712771e+02] [-6.28329363e-02 9.98024042e-01 -1.85899976e-04 -6.59898100e+01] [-4.68503958e-03 -1.08691629e-04 9.99989019e-01 3.07450507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.370714057 meters Centerline goodness [0,1] 0.9973481835057014 Centerline is valid? [True, True] Translation: X:881.74, Y:-65.99, Z:3.07 [[ 9.98085528e-01 6.16774324e-02 4.60139594e-03 8.81741507e+02] [-6.16772479e-02 9.98096130e-01 -1.82131468e-04 -6.59933772e+01] [-4.60386888e-03 -1.02018655e-04 9.99989397e-01 3.07357838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.400714057 meters Centerline goodness [0,1] 0.9959808428196674 Centerline is valid? [True, True] Translation: X:881.77, Y:-66.00, Z:3.07 [[ 9.98282622e-01 5.83867039e-02 4.77490223e-03 8.81769291e+02] [-5.83864723e-02 9.98294037e-01 -1.87989965e-04 -6.59956807e+01] [-4.77773253e-03 -9.11225821e-05 9.99988582e-01 3.07278408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4307140569999 meters Centerline goodness [0,1] 0.9963506278360663 Centerline is valid? [True, True] Translation: X:881.80, Y:-66.00, Z:3.07 [[ 9.98425304e-01 5.58660235e-02 5.08917442e-03 8.81797082e+02] [-5.58657301e-02 9.98438271e-01 -1.99905316e-04 -6.59972602e+01] [-5.09239442e-03 -8.47199186e-05 9.99987030e-01 3.07293939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4607140569999 meters Centerline goodness [0,1] 0.995189416716777 Centerline is valid? [True, True] Translation: X:881.83, Y:-66.00, Z:3.07 [[ 9.98630007e-01 5.21787566e-02 3.93526869e-03 8.81825889e+02] [-5.21785538e-02 9.98637760e-01 -1.54259985e-04 -6.60010552e+01] [-3.93795701e-03 -5.12879793e-05 9.99992245e-01 3.07171158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4907140569999 meters Centerline goodness [0,1] 0.9957537664331638 Centerline is valid? [True, True] Translation: X:881.85, Y:-66.00, Z:3.07 [[ 9.98771044e-01 4.94430267e-02 3.43347767e-03 8.81853671e+02] [-4.94428587e-02 9.98776945e-01 -1.33865176e-04 -6.60028376e+01] [-3.43589704e-03 -3.60602899e-05 9.99994097e-01 3.07071497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.520714057 meters Centerline goodness [0,1] 0.9954191150017988 Centerline is valid? [True, True] Translation: X:881.88, Y:-66.00, Z:3.07 [[ 9.98903586e-01 4.67362966e-02 2.70995105e-03 8.81881790e+02] [-4.67361820e-02 9.98907262e-01 -1.05617825e-04 -6.60043119e+01] [-2.71192597e-03 -2.11507417e-05 9.99996322e-01 3.06996435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5507140569999 meters Centerline goodness [0,1] 0.9945449739264173 Centerline is valid? [True, True] Translation: X:881.91, Y:-66.01, Z:3.07 [[ 9.99134015e-01 4.15829937e-02 1.44064773e-03 8.81910642e+02] [-4.15829559e-02 9.99135053e-01 -5.62189464e-05 -6.60106261e+01] [-1.44173940e-03 -3.73612956e-06 9.99998961e-01 3.06835688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5807140569999 meters Centerline goodness [0,1] 0.9943277009238428 Centerline is valid? [True, True] Translation: X:881.94, Y:-66.01, Z:3.07 [[ 9.99251206e-01 3.86692897e-02 1.30892519e-03 8.81938361e+02] [-3.86692567e-02 9.99252063e-01 -5.04988954e-05 -6.60133778e+01] [-1.30989895e-03 -1.54081998e-07 9.99999142e-01 3.06701239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6107140569999 meters Centerline goodness [0,1] 0.994045056679581 Centerline is valid? [True, True] Translation: X:881.97, Y:-66.02, Z:3.07 [[ 9.99401189e-01 3.45949536e-02 6.73009988e-04 8.81967077e+02] [-3.45949439e-02 9.99401415e-01 -2.60038257e-05 -6.60171362e+01] [-6.73506735e-04 2.70551158e-06 9.99999773e-01 3.06702784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.640714057 meters Centerline goodness [0,1] 0.9930176948828312 Centerline is valid? [True, True] Translation: X:882.00, Y:-66.02, Z:3.07 [[ 9.99451081e-01 3.31238351e-02 5.90450262e-04 8.81995506e+02] [-3.31238274e-02 9.99451255e-01 -2.28080373e-05 -6.60186380e+01] [-5.90881745e-04 3.23754490e-06 9.99999825e-01 3.06691508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6707140569999 meters Centerline goodness [0,1] 0.9925183444439115 Centerline is valid? [True, True] Translation: X:882.02, Y:-66.02, Z:3.07 [[ 9.99485772e-01 3.20648679e-02 -1.87448201e-04 8.82023350e+02] [-3.20648672e-02 9.99485790e-01 6.68447084e-06 -6.60205398e+01] [ 1.87566150e-04 -6.70531828e-07 9.99999982e-01 3.06663397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7007140569999 meters Centerline goodness [0,1] 0.9925351708297445 Centerline is valid? [True, True] Translation: X:882.05, Y:-66.02, Z:3.07 [[ 9.99536038e-01 3.04548392e-02 -4.60936457e-04 8.82051425e+02] [-3.04548346e-02 9.99536144e-01 1.70491451e-05 -6.60231417e+01] [ 4.61241878e-04 -3.00349136e-06 9.99999894e-01 3.06615822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7307140569999 meters Centerline goodness [0,1] 0.9928069548648327 Centerline is valid? [True, True] Translation: X:882.08, Y:-66.02, Z:3.07 [[ 9.99550687e-01 2.99573172e-02 -9.91346127e-04 8.82078692e+02] [-2.99572954e-02 9.99551179e-01 3.68156538e-05 -6.60246335e+01] [ 9.92004088e-04 -7.10106335e-06 9.99999508e-01 3.06593095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.760714057 meters Centerline goodness [0,1] 0.992725624880748 Centerline is valid? [True, True] Translation: X:882.11, Y:-66.02, Z:3.07 [[ 9.99492703e-01 3.17643835e-02 -2.31533036e-03 8.82107097e+02] [-3.17642695e-02 9.99495385e-01 8.60030100e-05 -6.60242107e+01] [ 2.31689384e-03 -1.24146035e-05 9.99997316e-01 3.06561613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.790714057 meters Centerline goodness [0,1] 0.9935047878310289 Centerline is valid? [True, True] Translation: X:882.14, Y:-66.02, Z:3.07 [[ 9.99412986e-01 3.41567867e-02 -2.64539513e-03 8.82135791e+02] [-3.41566447e-02 9.99416487e-01 9.88602388e-05 -6.60236722e+01] [ 2.64722826e-03 -8.44438493e-06 9.99996496e-01 3.06605785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8207140569999 meters Centerline goodness [0,1] 0.9938283417854751 Centerline is valid? [True, True] Translation: X:882.16, Y:-66.02, Z:3.07 [[ 9.99317993e-01 3.68574987e-02 -2.25251702e-03 8.82163696e+02] [-3.68574057e-02 9.99320532e-01 8.27909304e-05 -6.60230779e+01] [ 2.25403798e-03 2.87467299e-07 9.99997460e-01 3.06644614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8507140569999 meters Centerline goodness [0,1] 0.9944247702909648 Centerline is valid? [True, True] Translation: X:882.19, Y:-66.02, Z:3.07 [[ 9.99048777e-01 4.35790331e-02 -1.55234586e-03 8.82192396e+02] [-4.35789980e-02 9.99049983e-01 5.64866587e-05 -6.60204141e+01] [ 1.55333274e-03 1.12167499e-05 9.99998794e-01 3.06809859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.880714057 meters Centerline goodness [0,1] 0.9955926032384785 Centerline is valid? [True, True] Translation: X:882.22, Y:-66.02, Z:3.07 [[ 9.98885530e-01 4.71689653e-02 -1.66903536e-03 8.82220632e+02] [-4.71689289e-02 9.98886925e-01 6.12144158e-05 -6.60185397e+01] [ 1.67006502e-03 1.75804161e-05 9.99998605e-01 3.06865404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.910714057 meters Centerline goodness [0,1] 0.9965776373731572 Centerline is valid? [True, True] Translation: X:882.25, Y:-66.02, Z:3.07 [[ 9.98520180e-01 5.43751273e-02 -8.91743629e-04 8.82249060e+02] [-5.43751199e-02 9.98520578e-01 3.25662953e-05 -6.60153796e+01] [ 8.92195161e-04 1.59705636e-05 9.99999602e-01 3.06927155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9407140569999 meters Centerline goodness [0,1] 0.9971405915851695 Centerline is valid? [True, True] Translation: X:882.28, Y:-66.02, Z:3.07 [[ 9.98295556e-01 5.83507306e-02 -1.08377855e-03 8.82277591e+02] [-5.83507229e-02 9.98296144e-01 3.87640821e-05 -6.60155819e+01] [ 1.08419386e-03 2.45412512e-05 9.99999412e-01 3.06916749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9707140569999 meters Centerline goodness [0,1] 0.9979361651067915 Centerline is valid? [True, True] Translation: X:882.31, Y:-66.01, Z:3.07 [[ 9.97921026e-01 6.44045526e-02 -2.38323217e-03 8.82306545e+02] [-6.44045286e-02 9.97923869e-01 8.69152403e-05 -6.60136875e+01] [ 2.38388200e-03 6.67563985e-05 9.99997156e-01 3.06838459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.000714057 meters Centerline goodness [0,1] 0.9978348208915726 Centerline is valid? [True, True] Translation: X:882.34, Y:-66.01, Z:3.07 [[ 9.97698646e-01 6.77267094e-02 -3.24115850e-03 8.82335723e+02] [-6.77266831e-02 9.97703905e-01 1.18023338e-04 -6.60133693e+01] [ 3.24170982e-03 1.01761189e-04 9.99994740e-01 3.06809800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.030714057 meters Centerline goodness [0,1] 0.9982937614149765 Centerline is valid? [True, True] Translation: X:882.36, Y:-66.01, Z:3.07 [[ 9.97500188e-01 7.05766636e-02 -3.50862253e-03 8.82364207e+02] [-7.05766508e-02 9.97506351e-01 1.27603319e-04 -6.60120692e+01] [ 3.50887907e-03 1.20342492e-04 9.99993837e-01 3.06756471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0607140569999 meters Centerline goodness [0,1] 0.9985838073978061 Centerline is valid? [True, True] Translation: X:882.39, Y:-66.01, Z:3.07 [[ 9.97103104e-01 7.59241685e-02 -4.57387645e-03 8.82394204e+02] [-7.59242025e-02 9.97113578e-01 1.66443461e-04 -6.60113199e+01] [ 4.57331140e-03 1.81306631e-04 9.99989526e-01 3.06711270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0907140569999 meters Centerline goodness [0,1] 0.9987088444157521 Centerline is valid? [True, True] Translation: X:882.42, Y:-66.01, Z:3.07 [[ 9.96903472e-01 7.85009463e-02 -4.59019250e-03 8.82423649e+02] [-7.85010088e-02 9.96914020e-01 1.66826905e-04 -6.60110622e+01] [ 4.58912333e-03 1.94024421e-04 9.99989451e-01 3.06678390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.120714057 meters Centerline goodness [0,1] 0.9990618685653806 Centerline is valid? [True, True] Translation: X:882.45, Y:-66.01, Z:3.07 [[ 9.96403700e-01 8.45652147e-02 -5.32829733e-03 8.82454304e+02] [-8.45653849e-02 9.96417913e-01 1.93751273e-04 -6.60092894e+01] [ 5.32559552e-03 2.57535028e-04 9.99985786e-01 3.06684937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.150714057 meters Centerline goodness [0,1] 0.9995935736827006 Centerline is valid? [True, True] Translation: X:882.48, Y:-66.01, Z:3.07 [[ 9.96237159e-01 8.65324575e-02 -4.86390794e-03 8.82482558e+02] [-8.65326253e-02 9.96249002e-01 1.76323116e-04 -6.60083292e+01] [ 4.86092110e-03 2.45227083e-04 9.99988156e-01 3.06688897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1807140569999 meters Centerline goodness [0,1] 0.9992113941595373 Centerline is valid? [True, True] Translation: X:882.51, Y:-66.01, Z:3.07 [[ 9.96106510e-01 8.79803850e-02 -5.59221694e-03 8.82512365e+02] [-8.79806298e-02 9.96122165e-01 2.02698167e-04 -6.60087582e+01] [ 5.58836471e-03 2.90097804e-04 9.99984343e-01 3.06689119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2107140569999 meters Centerline goodness [0,1] 0.999306303073795 Centerline is valid? [True, True] Translation: X:882.54, Y:-66.01, Z:3.07 [[ 9.95975677e-01 8.94349691e-02 -5.81689256e-03 8.82540677e+02] [-8.94352615e-02 9.95992615e-01 2.10356844e-04 -6.60083304e+01] [ 5.81239530e-03 3.10725007e-04 9.99983060e-01 3.06694648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2407140569999 meters Centerline goodness [0,1] 0.9993767230013185 Centerline is valid? [True, True] Translation: X:882.57, Y:-66.01, Z:3.07 [[ 9.95809379e-01 9.12102613e-02 -6.66105965e-03 8.82568688e+02] [-9.12106869e-02 9.95831589e-01 2.40494255e-04 -6.60077586e+01] [ 6.65522915e-03 3.68073391e-04 9.99977786e-01 3.06666456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.270714057 meters Centerline goodness [0,1] 0.9994967287367891 Centerline is valid? [True, True] Translation: X:882.60, Y:-66.01, Z:3.07 [[ 9.95775161e-01 9.15875674e-02 -6.59898958e-03 8.82597006e+02] [-9.15879972e-02 9.95796958e-01 2.37673857e-04 -6.60087228e+01] [ 6.59302173e-03 3.67718516e-04 9.99978198e-01 3.06692664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3007140569999 meters Centerline goodness [0,1] 0.9993327773144287 Centerline is valid? [True, True] Translation: X:882.63, Y:-66.01, Z:3.07 [[ 9.95727578e-01 9.21986901e-02 -5.09823882e-03 8.82625300e+02] [-9.21989636e-02 9.95740588e-01 1.81842268e-04 -6.60146350e+01] [ 5.09328894e-03 2.88986974e-04 9.99986987e-01 3.06912133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3307140569999 meters Centerline goodness [0,1] 0.9989705037349167 Centerline is valid? [True, True] Translation: X:882.65, Y:-66.02, Z:3.07 [[ 9.95701418e-01 9.25103401e-02 -4.53031049e-03 8.82654314e+02] [-9.25105645e-02 9.95711690e-01 1.60449291e-04 -6.60164817e+01] [ 4.52572633e-03 2.59341994e-04 9.99989725e-01 3.06953848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3607140569999 meters Centerline goodness [0,1] 0.9991884666793966 Centerline is valid? [True, True] Translation: X:882.68, Y:-66.02, Z:3.07 [[ 9.95692836e-01 9.26383587e-02 -3.72969926e-03 8.82682926e+02] [-9.26385154e-02 9.95699798e-01 1.31080402e-04 -6.60189120e+01] [ 3.72580388e-03 2.14997985e-04 9.99993036e-01 3.07013905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.390714057 meters Centerline goodness [0,1] 0.9990950010717092 Centerline is valid? [True, True] Translation: X:882.71, Y:-66.02, Z:3.07 [[ 9.95704371e-01 9.25415178e-02 -2.97892831e-03 8.82709493e+02] [-9.25416177e-02 9.95708812e-01 1.04603438e-04 -6.60201873e+01] [ 2.97582533e-03 1.71520744e-04 9.99995558e-01 3.07039808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4207140569999 meters Centerline goodness [0,1] 0.9991915348947806 Centerline is valid? [True, True] Translation: X:882.74, Y:-66.02, Z:3.07 [[ 9.95753343e-01 9.20217000e-02 -2.69923876e-03 8.82737974e+02] [-9.20217829e-02 9.95756990e-01 9.37126832e-05 -6.60242933e+01] [ 2.69640946e-03 1.55074046e-04 9.99996353e-01 3.07021037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4507140569999 meters Centerline goodness [0,1] 0.9986496730787454 Centerline is valid? [True, True] Translation: X:882.77, Y:-66.03, Z:3.07 [[ 9.95829807e-01 9.11914499e-02 -2.66723360e-03 8.82766558e+02] [-9.11915296e-02 9.95833368e-01 9.19834407e-05 -6.60272108e+01] [ 2.66450832e-03 1.51629260e-04 9.99996439e-01 3.06998076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4807140569999 meters Centerline goodness [0,1] 0.9989198835352682 Centerline is valid? [True, True] Translation: X:882.80, Y:-66.03, Z:3.07 [[ 9.96071396e-01 8.85200190e-02 -2.44531200e-03 8.82795627e+02] [-8.85200766e-02 9.96074389e-01 8.48855582e-05 -6.60321053e+01] [ 2.44322673e-03 1.31907129e-04 9.99997007e-01 3.06958290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.510714057 meters Centerline goodness [0,1] 0.9985583626781367 Centerline is valid? [True, True] Translation: X:882.82, Y:-66.04, Z:3.07 [[ 9.96275526e-01 8.61883439e-02 -2.57775447e-03 8.82824476e+02] [-8.61884031e-02 9.96278852e-01 8.83218705e-05 -6.60368644e+01] [ 2.57577458e-03 1.34179623e-04 9.99996674e-01 3.06916554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.540714057 meters Centerline goodness [0,1] 0.9982368705627909 Centerline is valid? [True, True] Translation: X:882.85, Y:-66.05, Z:3.07 [[ 9.96665066e-01 8.15370386e-02 -3.23390851e-03 8.82854719e+02] [-8.15371045e-02 9.96670301e-01 1.11671895e-04 -6.60478973e+01] [ 3.23224597e-03 1.52384059e-04 9.99994765e-01 3.06826639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5707140569999 meters Centerline goodness [0,1] 0.9984980756594387 Centerline is valid? [True, True] Translation: X:882.88, Y:-66.05, Z:3.07 [[ 9.96861799e-01 7.90828049e-02 -3.53037315e-03 8.82882291e+02] [-7.90828700e-02 9.96868038e-01 1.21371901e-04 -6.60491741e+01] [ 3.52891458e-03 1.58201029e-04 9.99993761e-01 3.06711816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6007140569999 meters Centerline goodness [0,1] 0.9982007664267688 Centerline is valid? [True, True] Translation: X:882.91, Y:-66.05, Z:3.07 [[ 9.97067428e-01 7.64204087e-02 -4.05761907e-03 8.82911670e+02] [-7.64204723e-02 9.97075670e-01 1.39592403e-04 -6.60540502e+01] [ 4.05642096e-03 1.70902127e-04 9.99991758e-01 3.06613522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.630714057 meters Centerline goodness [0,1] 0.9967533984210772 Centerline is valid? [True, True] Translation: X:882.94, Y:-66.07, Z:3.07 [[ 9.97565999e-01 6.95533668e-02 -4.94036359e-03 8.82941394e+02] [-6.95533768e-02 9.97578217e-01 1.69996313e-04 -6.60711415e+01] [ 4.94022292e-03 1.74036429e-04 9.99987782e-01 3.06676899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.660714057 meters Centerline goodness [0,1] 0.9957401243045695 Centerline is valid? [True, True] Translation: X:882.97, Y:-66.08, Z:3.07 [[ 9.97826659e-01 6.57259089e-02 -4.69726611e-03 8.82971039e+02] [-6.57258760e-02 9.97837704e-01 1.61526335e-04 -6.60788581e+01] [ 4.69772570e-03 1.47556647e-04 9.99988955e-01 3.06654836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6907140569999 meters Centerline goodness [0,1] 0.995439314966493 Centerline is valid? [True, True] Translation: X:883.00, Y:-66.08, Z:3.07 [[ 9.98067919e-01 6.19532288e-02 -4.71453853e-03 8.82999416e+02] [-6.19531561e-02 9.98079045e-01 1.61602704e-04 -6.60845108e+01] [ 4.71549392e-03 1.30790067e-04 9.99988873e-01 3.06617361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7207140569999 meters Centerline goodness [0,1] 0.99479311302416 Centerline is valid? [True, True] Translation: X:883.03, Y:-66.09, Z:3.07 [[ 9.98528627e-01 5.40425986e-02 -4.46980334e-03 8.83029380e+02] [-5.40424543e-02 9.98538627e-01 1.53149496e-04 -6.60946579e+01] [ 4.47154789e-03 8.86349874e-05 9.99989999e-01 3.06570585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.750714057 meters Centerline goodness [0,1] 0.9947138801043374 Centerline is valid? [True, True] Translation: X:883.06, Y:-66.10, Z:3.07 [[ 9.98741619e-01 4.99683852e-02 -4.28239890e-03 8.83057843e+02] [-4.99682231e-02 9.98750798e-01 1.44913382e-04 -6.61002210e+01] [ 4.28429040e-03 6.92528376e-05 9.99990820e-01 3.06600281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.780714057 meters Centerline goodness [0,1] 0.9947138801043374 Centerline is valid? [True, True] Translation: X:883.09, Y:-66.10, Z:3.07 [[ 9.98755711e-01 4.96859160e-02 -4.28244417e-03 8.83085196e+02] [-4.96857570e-02 9.98764890e-01 1.43574398e-04 -6.61010910e+01] [ 4.28428850e-03 6.93807303e-05 9.99990820e-01 3.06590454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8107140569999 meters Centerline goodness [0,1] 0.9938144805779306 Centerline is valid? [True, True] Translation: X:883.11, Y:-66.11, Z:3.07 [[ 9.98939195e-01 4.58745274e-02 -4.00159389e-03 8.83113300e+02] [-4.58743616e-02 9.98947208e-01 1.33243744e-04 -6.61062794e+01] [ 4.00349354e-03 5.04681672e-05 9.99991985e-01 3.06623877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8407140569999 meters Centerline goodness [0,1] 0.9935287661209183 Centerline is valid? [True, True] Translation: X:883.14, Y:-66.12, Z:3.07 [[ 9.99241403e-01 3.88542770e-02 -2.63883054e-03 8.83140542e+02] [-3.88541810e-02 9.99244887e-01 8.76558499e-05 -6.61151831e+01] [ 2.64024373e-03 1.49402448e-05 9.99996514e-01 3.06634622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.870714057 meters Centerline goodness [0,1] 0.9935155375938991 Centerline is valid? [True, True] Translation: X:883.17, Y:-66.12, Z:3.07 [[ 9.99352412e-01 3.59054854e-02 -2.35634283e-03 8.83169403e+02] [-3.59054007e-02 9.99355190e-01 7.82658185e-05 -6.61200883e+01] [ 2.35763361e-03 6.39029897e-06 9.99997221e-01 3.06669243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.900714057 meters Centerline goodness [0,1] 0.9935745534086766 Centerline is valid? [True, True] Translation: X:883.20, Y:-66.13, Z:3.07 [[ 9.99505660e-01 3.13581164e-02 -2.25913362e-03 8.83196679e+02] [-3.13580278e-02 9.99508213e-01 7.46647662e-05 -6.61266530e+01] [ 2.26036396e-03 -3.78588151e-06 9.99997445e-01 3.06576484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9307140569999 meters Centerline goodness [0,1] 0.9936842583547266 Centerline is valid? [True, True] Translation: X:883.23, Y:-66.13, Z:3.07 [[ 9.99531053e-01 3.05137062e-02 -2.56648390e-03 8.83225507e+02] [-3.05135890e-02 9.99534348e-01 8.48202805e-05 -6.61288579e+01] [ 2.56787699e-03 -6.46786949e-06 9.99996703e-01 3.06527986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9607140569999 meters Centerline goodness [0,1] 0.9934719315803839 Centerline is valid? [True, True] Translation: X:883.25, Y:-66.13, Z:3.06 [[ 9.99558050e-01 2.95930511e-02 -2.82068248e-03 8.83254285e+02] [-2.95929063e-02 9.99562030e-01 9.30402388e-05 -6.61300413e+01] [ 2.82220045e-03 -9.52692722e-06 9.99996018e-01 3.06479982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9907140569999 meters Centerline goodness [0,1] 0.9934411295832385 Centerline is valid? [True, True] Translation: X:883.28, Y:-66.13, Z:3.06 [[ 9.99558823e-01 2.95259059e-02 -3.22171137e-03 8.83281811e+02] [-2.95257181e-02 9.99564015e-01 1.05822706e-04 -6.61304698e+01] [ 3.22343126e-03 -1.06526776e-05 9.99994805e-01 3.06480769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.020714057 meters Centerline goodness [0,1] 0.9934624145785877 Centerline is valid? [True, True] Translation: X:883.31, Y:-66.13, Z:3.06 [[ 9.99545357e-01 2.99559578e-02 -3.42353808e-03 8.83308650e+02] [-2.99557500e-02 9.99551220e-01 1.11987106e-04 -6.61302014e+01] [ 3.42535634e-03 -9.38154133e-06 9.99994133e-01 3.06400569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0507140569999 meters Centerline goodness [0,1] 0.993213545580834 Centerline is valid? [True, True] Translation: X:883.34, Y:-66.13, Z:3.06 [[ 9.99540963e-01 3.01051628e-02 -3.39731870e-03 8.83336773e+02] [-3.01049599e-02 9.99546737e-01 1.10849551e-04 -6.61302857e+01] [ 3.39911597e-03 -8.52252406e-06 9.99994223e-01 3.06361381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0807140569999 meters Centerline goodness [0,1] 0.994064468998265 Centerline is valid? [True, True] Translation: X:883.37, Y:-66.13, Z:3.06 [[ 9.99532523e-01 3.03050864e-02 -4.04201545e-03 8.83365134e+02] [-3.03048012e-02 9.99540695e-01 1.31793999e-04 -6.61305713e+01] [ 4.04415296e-03 -9.23991356e-06 9.99991822e-01 3.06276200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1107140569999 meters Centerline goodness [0,1] 0.9931646206250143 Centerline is valid? [True, True] Translation: X:883.39, Y:-66.13, Z:3.06 [[ 9.99540678e-01 3.00412640e-02 -3.99444530e-03 8.83393454e+02] [-3.00409856e-02 9.99548659e-01 1.29699102e-04 -6.61316561e+01] [ 3.99653877e-03 -9.64245468e-06 9.99992014e-01 3.06203202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.140714057 meters Centerline goodness [0,1] 0.9936766652969913 Centerline is valid? [True, True] Translation: X:883.42, Y:-66.13, Z:3.06 [[ 9.99555867e-01 2.95500332e-02 -3.85545714e-03 8.83421527e+02] [-2.95497718e-02 9.99563302e-01 1.24772310e-04 -6.61327239e+01] [ 3.85746049e-03 -1.07890159e-05 9.99992560e-01 3.06183749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1707140569999 meters Centerline goodness [0,1] 0.9932355486721632 Centerline is valid? [True, True] Translation: X:883.45, Y:-66.13, Z:3.06 [[ 9.99584847e-01 2.86764009e-02 -2.79231182e-03 8.83448513e+02] [-2.86762630e-02 9.99588747e-01 8.94388740e-05 -6.61342613e+01] [ 2.79372826e-03 -9.32867501e-06 9.99996097e-01 3.06223273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2007140569999 meters Centerline goodness [0,1] 0.9931655086000684 Centerline is valid? [True, True] Translation: X:883.48, Y:-66.14, Z:3.06 [[ 9.99592102e-01 2.84322249e-02 -2.69020627e-03 8.83476028e+02] [-2.84320960e-02 9.99595723e-01 8.61727530e-05 -6.61352897e+01] [ 2.69156876e-03 -9.64940045e-06 9.99996378e-01 3.06207708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2307140569999 meters Centerline goodness [0,1] 0.9927202190780465 Centerline is valid? [True, True] Translation: X:883.50, Y:-66.14, Z:3.06 [[ 9.99603577e-01 2.80664872e-02 -2.22721735e-03 8.83504261e+02] [-2.80663985e-02 9.99606059e-01 7.10545435e-05 -6.61365614e+01] [ 2.22833421e-03 -8.51640610e-06 9.99997517e-01 3.06214567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.260714057 meters Centerline goodness [0,1] 0.9931009440813362 Centerline is valid? [True, True] Translation: X:883.53, Y:-66.14, Z:3.06 [[ 9.99595529e-01 2.83904863e-02 -1.66121467e-03 8.83531633e+02] [-2.83904377e-02 9.99596909e-01 5.28284092e-05 -6.61382435e+01] [ 1.66204487e-03 -5.64443010e-06 9.99998619e-01 3.06144667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.290714057 meters Centerline goodness [0,1] 0.9928938819707634 Centerline is valid? [True, True] Translation: X:883.56, Y:-66.14, Z:3.06 [[ 9.99575669e-01 2.90825524e-02 -1.63926550e-03 8.83559736e+02] [-2.90825064e-02 9.99577013e-01 5.19048264e-05 -6.61392310e+01] [ 1.64008163e-03 -4.20885220e-06 9.99998655e-01 3.06094108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3207140569999 meters Centerline goodness [0,1] 0.9923658918955763 Centerline is valid? [True, True] Translation: X:883.59, Y:-66.14, Z:3.06 [[ 9.99559136e-01 2.96432404e-02 -1.67664864e-03 8.83588176e+02] [-2.96431933e-02 9.99560543e-01 5.29277475e-05 -6.61398289e+01] [ 1.67748077e-03 -3.20319393e-06 9.99998593e-01 3.06048376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3507140569999 meters Centerline goodness [0,1] 0.9921147116302322 Centerline is valid? [True, True] Translation: X:883.62, Y:-66.14, Z:3.06 [[ 9.99531625e-01 3.05522869e-02 -1.75758168e-03 8.83615368e+02] [-3.05522377e-02 9.99533170e-01 5.48895252e-05 -6.61399850e+01] [ 1.75843819e-03 -1.16576307e-06 9.99998454e-01 3.05975336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.380714057 meters Centerline goodness [0,1] 0.9934102890383567 Centerline is valid? [True, True] Translation: X:883.64, Y:-66.14, Z:3.06 [[ 9.99425355e-01 3.38287427e-02 -2.13924436e-03 8.83644186e+02] [-3.38286763e-02 9.99427644e-01 6.72255635e-05 -6.61376292e+01] [ 2.14029411e-03 5.18087230e-06 9.99997710e-01 3.05891452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.410714057 meters Centerline goodness [0,1] 0.993098908083812 Centerline is valid? [True, True] Translation: X:883.67, Y:-66.14, Z:3.06 [[ 9.99344752e-01 3.61159252e-02 -2.38893237e-03 8.83672949e+02] [-3.61158493e-02 9.99347607e-01 7.49195491e-05 -6.61368053e+01] [ 2.39007964e-03 1.14078633e-05 9.99997144e-01 3.05881221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4407140569999 meters Centerline goodness [0,1] 0.9929574254717841 Centerline is valid? [True, True] Translation: X:883.70, Y:-66.13, Z:3.06 [[ 9.99184648e-01 4.02827446e-02 -2.70921461e-03 8.83701660e+02] [-4.02826658e-02 9.99188321e-01 8.36764003e-05 -6.61336946e+01] [ 2.71038631e-03 2.55262120e-05 9.99996327e-01 3.05840801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4707140569999 meters Centerline goodness [0,1] 0.9939494954107494 Centerline is valid? [True, True] Translation: X:883.73, Y:-66.13, Z:3.06 [[ 9.99097894e-01 4.23914872e-02 -2.52200551e-03 8.83729977e+02] [-4.23914248e-02 9.99101076e-01 7.81873900e-05 -6.61298483e+01] [ 2.52305290e-03 2.87945502e-05 9.99996817e-01 3.05734992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.500714057 meters Centerline goodness [0,1] 0.9936803059098299 Centerline is valid? [True, True] Translation: X:883.76, Y:-66.13, Z:3.06 [[ 9.99005550e-01 4.45163599e-02 -2.49111462e-03 8.83758616e+02] [-4.45163083e-02 9.99008655e-01 7.61698035e-05 -6.61272294e+01] [ 2.49203587e-03 3.48011701e-05 9.99996894e-01 3.05701062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.530714057 meters Centerline goodness [0,1] 0.9945977011494253 Centerline is valid? [True, True] Translation: X:883.79, Y:-66.12, Z:3.06 [[ 9.98862123e-01 4.76755220e-02 -1.22663113e-03 8.83787208e+02] [-4.76755128e-02 9.98862876e-01 3.67201406e-05 -6.61247053e+01] [ 1.22698695e-03 2.18019105e-05 9.99999247e-01 3.05855114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5607140569999 meters Centerline goodness [0,1] 0.9949424124692522 Centerline is valid? [True, True] Translation: X:883.81, Y:-66.12, Z:3.06 [[ 9.98826212e-01 4.84289990e-02 -9.11615846e-04 8.83814698e+02] [-4.84289940e-02 9.98826627e-01 2.75542393e-05 -6.61228825e+01] [ 9.11880605e-04 1.66267419e-05 9.99999584e-01 3.05879362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5907140569999 meters Centerline goodness [0,1] 0.9941705682548425 Centerline is valid? [True, True] Translation: X:883.84, Y:-66.12, Z:3.06 [[ 9.98828550e-01 4.83885527e-02 -2.74516391e-04 8.83842596e+02] [-4.83885525e-02 9.98828588e-01 7.31774723e-06 -6.61216536e+01] [ 2.74548915e-04 5.97427597e-06 9.99999962e-01 3.05869736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.620714057 meters Centerline goodness [0,1] 0.9939479337506641 Centerline is valid? [True, True] Translation: X:883.87, Y:-66.12, Z:3.06 [[ 9.98901131e-01 4.68655508e-02 3.89187644e-04 8.83870476e+02] [-4.68655496e-02 9.98901206e-01 -1.20626504e-05 -6.61184839e+01] [-3.89325329e-04 -6.19009773e-06 9.99999924e-01 3.05895911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.650714057 meters Centerline goodness [0,1] 0.9937994539817685 Centerline is valid? [True, True] Translation: X:883.90, Y:-66.12, Z:3.06 [[ 9.98976618e-01 4.52255496e-02 6.05424095e-04 8.83899518e+02] [-4.52255463e-02 9.98976801e-01 -1.90315334e-05 -6.61187627e+01] [-6.05665337e-04 -8.36857853e-06 9.99999817e-01 3.05904733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6807140569999 meters Centerline goodness [0,1] 0.993555715246065 Centerline is valid? [True, True] Translation: X:883.93, Y:-66.12, Z:3.06 [[ 9.99064700e-01 4.32313240e-02 8.82176386e-04 8.83927506e+02] [-4.32313173e-02 9.99065089e-01 -2.66617346e-05 -6.61174990e+01] [-8.82504252e-04 -1.15008494e-05 9.99999611e-01 3.05885863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7107140569999 meters Centerline goodness [0,1] 0.9936049486070415 Centerline is valid? [True, True] Translation: X:883.96, Y:-66.12, Z:3.06 [[ 9.99169574e-01 4.07332837e-02 9.81258189e-04 8.83956445e+02] [-4.07332744e-02 9.99170055e-01 -2.94853609e-05 -6.61171689e+01] [-9.81644834e-04 -1.05089835e-05 9.99999518e-01 3.05899777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7407140569999 meters Centerline goodness [0,1] 0.9925188198438304 Centerline is valid? [True, True] Translation: X:883.99, Y:-66.12, Z:3.06 [[ 9.99383099e-01 3.50784275e-02 1.71035664e-03 8.83985735e+02] [-3.50783913e-02 9.99384563e-01 -5.11991721e-05 -6.61160160e+01] [-1.71110001e-03 -8.82897228e-06 9.99998536e-01 3.05934583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.770714057 meters Centerline goodness [0,1] 0.9929565967768267 Centerline is valid? [True, True] Translation: X:884.01, Y:-66.12, Z:3.06 [[ 9.99469901e-01 3.24949282e-02 1.99926162e-03 8.84013286e+02] [-3.24948743e-02 9.99471900e-01 -5.94374844e-05 -6.61154188e+01] [-2.00013722e-03 -5.55977823e-06 9.99998000e-01 3.05959620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8007140569999 meters Centerline goodness [0,1] 0.9920416355489171 Centerline is valid? [True, True] Translation: X:884.04, Y:-66.11, Z:3.06 [[ 9.99546507e-01 3.00646483e-02 1.70221225e-03 8.84042119e+02] [-3.00646060e-02 9.99547956e-01 -5.04702432e-05 -6.61147896e+01] [-1.70296014e-03 -7.28985085e-07 9.99998550e-01 3.05966799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8307140569999 meters Centerline goodness [0,1] 0.9922211808809747 Centerline is valid? [True, True] Translation: X:884.07, Y:-66.11, Z:3.06 [[ 9.99644740e-01 2.65865861e-02 1.88342840e-03 8.84069764e+02] [-2.65865283e-02 9.99646514e-01 -5.57113211e-05 -6.61110798e+01] [-1.88424381e-03 5.61770657e-06 9.99998225e-01 3.05961016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8607140569999 meters Centerline goodness [0,1] 0.9912408759124087 Centerline is valid? [True, True] Translation: X:884.10, Y:-66.11, Z:3.06 [[ 9.99676699e-01 2.53825533e-02 1.49086601e-03 8.84099002e+02] [-2.53825159e-02 9.99677811e-01 -4.39979009e-05 -6.61086960e+01] [-1.49150245e-03 6.14174609e-06 9.99998888e-01 3.05943968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.890714057 meters Centerline goodness [0,1] 0.9912334593572779 Centerline is valid? [True, True] Translation: X:884.13, Y:-66.11, Z:3.06 [[ 9.99700851e-01 2.44112828e-02 1.51585614e-03 8.84127933e+02] [-2.44112432e-02 9.99702000e-01 -4.46249380e-05 -6.61060657e+01] [-1.51649376e-03 7.60765567e-06 9.99998850e-01 3.05915704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9207140569999 meters Centerline goodness [0,1] 0.9916120140671039 Centerline is valid? [True, True] Translation: X:884.16, Y:-66.10, Z:3.06 [[ 9.99717362e-01 2.37554509e-02 9.34997622e-04 8.84156345e+02] [-2.37554355e-02 9.99717799e-01 -2.76020218e-05 -6.60991528e+01] [-9.35389464e-04 5.38294474e-06 9.99999563e-01 3.05917725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9507140569999 meters Centerline goodness [0,1] 0.9916012502684259 Centerline is valid? [True, True] Translation: X:884.18, Y:-66.10, Z:3.06 [[ 9.99718640e-01 2.36825735e-02 1.33274264e-03 8.84184093e+02] [-2.36825424e-02 9.99719528e-01 -3.91268215e-05 -6.60956470e+01] [-1.33329546e-03 7.55307881e-06 9.99999111e-01 3.05953605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9807140569999 meters Centerline goodness [0,1] 0.991660658495554 Centerline is valid? [True, True] Translation: X:884.21, Y:-66.09, Z:3.06 [[ 9.99727857e-01 2.32946664e-02 1.25339077e-03 8.84210940e+02] [-2.32946387e-02 9.99728642e-01 -3.67263571e-05 -6.60920058e+01] [-1.25390618e-03 7.51907726e-06 9.99999214e-01 3.05957014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.010714057 meters Centerline goodness [0,1] 0.9919432884931771 Centerline is valid? [True, True] Translation: X:884.24, Y:-66.09, Z:3.06 [[ 9.99770632e-01 2.13478837e-02 1.71779075e-03 8.84239661e+02] [-2.13478296e-02 9.99772108e-01 -4.98618307e-05 -6.60862242e+01] [-1.71846372e-03 1.31792899e-05 9.99998523e-01 3.05878534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.040714057 meters Centerline goodness [0,1] 0.991239713299708 Centerline is valid? [True, True] Translation: X:884.27, Y:-66.09, Z:3.06 [[ 9.99861743e-01 1.62693998e-02 3.43538097e-03 8.84268468e+02] [-1.62691549e-02 9.99867644e-01 -9.92326285e-05 -6.60904044e+01] [-3.43654073e-03 4.33281639e-05 9.99994094e-01 3.05961306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0707140569999 meters Centerline goodness [0,1] 0.9912479506220465 Centerline is valid? [True, True] Translation: X:884.30, Y:-66.09, Z:3.06 [[ 9.99925819e-01 1.17234904e-02 3.30405745e-03 8.84296802e+02] [-1.17232397e-02 9.99931276e-01 -9.52300968e-05 -6.60921780e+01] [-3.30494681e-03 5.64887751e-05 9.99994537e-01 3.05968944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1007140569999 meters Centerline goodness [0,1] 0.9894741889850625 Centerline is valid? [True, True] Translation: X:884.33, Y:-66.10, Z:3.06 [[ 9.99990879e-01 3.41637879e-03 2.56330439e-03 8.84327255e+02] [-3.41620140e-03 9.99994162e-01 -7.35791748e-05 -6.60994069e+01] [-2.56354080e-03 6.48217396e-05 9.99996712e-01 3.05811056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.130714057 meters Centerline goodness [0,1] 0.9893823550559644 Centerline is valid? [True, True] Translation: X:884.36, Y:-66.10, Z:3.06 [[ 9.99997977e-01 1.80674523e-03 8.83672117e-04 8.84356900e+02] [-1.80672347e-03 9.99998368e-01 -2.54133796e-05 -6.61032334e+01] [-8.83716590e-04 2.38167770e-05 9.99999609e-01 3.05648725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.160714057 meters Centerline goodness [0,1] 0.9889301528353093 Centerline is valid? [True, True] Translation: X:884.39, Y:-66.11, Z:3.05 [[ 9.99999703e-01 5.33642035e-04 -5.56192290e-04 8.84386148e+02] [-5.33633283e-04 9.99999857e-01 1.58842307e-05 -6.61081593e+01] [ 5.56200687e-04 -1.55874233e-05 9.99999845e-01 3.05483980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1907140569999 meters Centerline goodness [0,1] 0.9886341883614089 Centerline is valid? [True, True] Translation: X:884.42, Y:-66.11, Z:3.05 [[ 9.99998209e-01 -6.52418813e-04 -1.77674051e-03 8.84416546e+02] [ 6.52510347e-04 9.99999786e-01 5.09388357e-05 -6.61095545e+01] [ 1.77670689e-03 -5.20980860e-05 9.99998420e-01 3.05375895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2207140569999 meters Centerline goodness [0,1] 0.9900301248027543 Centerline is valid? [True, True] Translation: X:884.45, Y:-66.11, Z:3.05 [[ 9.99994647e-01 -1.81513497e-03 -2.72237480e-03 8.84446679e+02] [ 1.81535417e-03 9.99998349e-01 7.80500034e-05 -6.61096067e+01] [ 2.72222863e-03 -8.29916601e-05 9.99996291e-01 3.05291200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.250714057 meters Centerline goodness [0,1] 0.9887844656479422 Centerline is valid? [True, True] Translation: X:884.48, Y:-66.11, Z:3.05 [[ 9.99994570e-01 -2.06860851e-03 -2.56525492e-03 8.84477100e+02] [ 2.06880398e-03 9.99997857e-01 7.35454043e-05 -6.61104052e+01] [ 2.56509729e-03 -7.88520146e-05 9.99996707e-01 3.05288247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.280714057 meters Centerline goodness [0,1] 0.9884906829338036 Centerline is valid? [True, True] Translation: X:884.51, Y:-66.11, Z:3.05 [[ 9.99997518e-01 -1.32825854e-03 -1.78854721e-03 8.84507230e+02] [ 1.32835220e-03 9.99999116e-01 5.11825877e-05 -6.61110466e+01] [ 1.78847765e-03 -5.35582813e-05 9.99998399e-01 3.05349602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3107140569999 meters Centerline goodness [0,1] 0.9898213988442056 Centerline is valid? [True, True] Translation: X:884.54, Y:-66.11, Z:3.05 [[ 9.99999280e-01 -3.57273777e-04 -1.14518905e-03 8.84537247e+02] [ 3.57311588e-04 9.99999936e-01 3.28121400e-05 -6.61113148e+01] [ 1.14517725e-03 -3.32213057e-05 9.99999344e-01 3.05427168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3407140569999 meters Centerline goodness [0,1] 0.9892893776388922 Centerline is valid? [True, True] Translation: X:884.57, Y:-66.11, Z:3.05 [[ 9.99999684e-01 3.68028649e-04 -7.05224140e-04 8.84567389e+02] [-3.68014718e-04 9.99999932e-01 1.98843487e-05 -6.61114034e+01] [ 7.05231410e-04 -1.96248096e-05 9.99999751e-01 3.05452384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.370714057 meters Centerline goodness [0,1] 0.9901621337663268 Centerline is valid? [True, True] Translation: X:884.60, Y:-66.11, Z:3.05 [[ 9.99999208e-01 1.20813029e-03 -3.51949313e-04 8.84598086e+02] [-1.20812682e-03 9.99999270e-01 1.00576469e-05 -6.61107832e+01] [ 3.51961207e-04 -9.63243956e-06 9.99999938e-01 3.05486073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.400714057 meters Centerline goodness [0,1] 0.9902354968408961 Centerline is valid? [True, True] Translation: X:884.63, Y:-66.11, Z:3.06 [[ 9.99996435e-01 2.67008190e-03 -2.44027370e-05 8.84628173e+02] [-2.67008188e-03 9.99996435e-01 5.72127726e-07 -6.61099751e+01] [ 2.44041776e-05 -5.06968381e-07 1.00000000e+00 3.05548751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4307140569999 meters Centerline goodness [0,1] 0.9899340922708209 Centerline is valid? [True, True] Translation: X:884.66, Y:-66.11, Z:3.06 [[ 9.99996075e-01 2.80179992e-03 -2.02311932e-05 8.84657435e+02] [-2.80179991e-03 9.99996075e-01 4.52026006e-07 -6.61103918e+01] [ 2.02323803e-05 -3.95340477e-07 1.00000000e+00 3.05553918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4607140569999 meters Centerline goodness [0,1] 0.9901077844311377 Centerline is valid? [True, True] Translation: X:884.69, Y:-66.11, Z:3.06 [[ 9.99996049e-01 2.77207827e-03 4.66324784e-04 8.84685961e+02] [-2.77207230e-03 9.99996158e-01 -1.34545030e-05 -6.61133506e+01] [-4.66360289e-04 1.21617638e-05 9.99999891e-01 3.05553479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4907140569999 meters Centerline goodness [0,1] 0.9892655637372095 Centerline is valid? [True, True] Translation: X:884.72, Y:-66.12, Z:3.06 [[ 9.99998685e-01 1.30927654e-03 9.56473504e-04 8.84715301e+02] [-1.30925102e-03 9.99999143e-01 -2.73046278e-05 -6.61163577e+01] [-9.56508433e-04 2.60523280e-05 9.99999542e-01 3.05573998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.520714057 meters Centerline goodness [0,1] 0.9890658199441354 Centerline is valid? [True, True] Translation: X:884.75, Y:-66.12, Z:3.06 [[ 9.99998766e-01 4.67109774e-04 1.49963954e-03 8.84745993e+02] [-4.67046379e-04 9.99999890e-01 -4.26229474e-05 -6.61183412e+01] [-1.49965929e-03 4.19224936e-05 9.99998875e-01 3.05634465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5507140569999 meters Centerline goodness [0,1] 0.988500011880153 Centerline is valid? [True, True] Translation: X:884.78, Y:-66.12, Z:3.06 [[ 9.99995344e-01 -1.77540389e-03 2.48208689e-03 8.84776330e+02] [ 1.77558428e-03 9.99998421e-01 -7.04752335e-05 -6.61230295e+01] [-2.48195785e-03 7.48820598e-05 9.99996917e-01 3.05649910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5807140569999 meters Centerline goodness [0,1] 0.9894466017104605 Centerline is valid? [True, True] Translation: X:884.81, Y:-66.12, Z:3.06 [[ 9.99992259e-01 -3.49088856e-03 1.81525406e-03 8.84807937e+02] [ 3.49098800e-03 9.99993905e-01 -5.16145383e-05 -6.61212683e+01] [-1.81506281e-03 5.79511689e-05 9.99998351e-01 3.05644776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6107140569999 meters Centerline goodness [0,1] 0.9884522168892268 Centerline is valid? [True, True] Translation: X:884.84, Y:-66.13, Z:3.06 [[ 9.99984457e-01 -5.33280120e-03 1.62681767e-03 8.84839205e+02] [ 5.33288303e-03 9.99985779e-01 -4.59681522e-05 -6.61252716e+01] [-1.62654940e-03 5.46430661e-05 9.99998676e-01 3.05594800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.640714057 meters Centerline goodness [0,1] 0.9882255389718076 Centerline is valid? [True, True] Translation: X:884.87, Y:-66.13, Z:3.06 [[ 9.99976837e-01 -6.70328316e-03 1.17957324e-03 8.84870156e+02] [ 6.70332771e-03 9.99977532e-01 -3.38209035e-05 -6.61286810e+01] [-1.17932003e-03 4.17271861e-05 9.99999304e-01 3.05544280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6707140569999 meters Centerline goodness [0,1] 0.9882255389718076 Centerline is valid? [True, True] Translation: X:884.90, Y:-66.13, Z:3.06 [[ 9.99977300e-01 -6.63380809e-03 1.17957257e-03 8.84901863e+02] [ 6.63385262e-03 9.99977995e-01 -3.38444708e-05 -6.61296571e+01] [-1.17932209e-03 4.16688131e-05 9.99999304e-01 3.05532941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7007140569999 meters Centerline goodness [0,1] 0.9887837613525883 Centerline is valid? [True, True] Translation: X:884.93, Y:-66.13, Z:3.05 [[ 9.99964089e-01 -8.45714530e-03 -5.45834469e-04 8.84933985e+02] [ 8.45715533e-03 9.99964237e-01 1.60683661e-05 -6.61310453e+01] [ 5.45679056e-04 -2.06839960e-05 9.99999851e-01 3.05431999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7307140569999 meters Centerline goodness [0,1] 0.9878442545109212 Centerline is valid? [True, True] Translation: X:884.96, Y:-66.14, Z:3.05 [[ 9.99960704e-01 -8.75914168e-03 -1.36681088e-03 8.84964919e+02] [ 8.75920476e-03 9.99961637e-01 4.01689163e-05 -6.61356049e+01] [ 1.36640660e-03 -5.21395142e-05 9.99999065e-01 3.05294920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.760714057 meters Centerline goodness [0,1] 0.9880230983104014 Centerline is valid? [True, True] Translation: X:885.00, Y:-66.13, Z:3.05 [[ 9.99959118e-01 -8.75269076e-03 -2.27001229e-03 8.84997188e+02] [ 8.75286411e-03 9.99961691e-01 6.64388061e-05 -6.61339226e+01] [ 2.26934381e-03 -8.63051991e-05 9.99997421e-01 3.05268816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.790714057 meters Centerline goodness [0,1] 0.9877889435298031 Centerline is valid? [True, True] Translation: X:885.03, Y:-66.13, Z:3.05 [[ 9.99962357e-01 -7.98963396e-03 -3.38385718e-03 8.85029288e+02] [ 7.99001519e-03 9.99968074e-01 9.91563225e-05 -6.61334069e+01] [ 3.38295692e-03 -1.26189660e-04 9.99994270e-01 3.05193750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8207140569999 meters Centerline goodness [0,1] 0.987254179249994 Centerline is valid? [True, True] Translation: X:885.06, Y:-66.14, Z:3.05 [[ 9.99965967e-01 -7.61395493e-03 -3.17682358e-03 8.85060807e+02] [ 7.61428941e-03 9.99971007e-01 9.32072464e-05 -6.61384014e+01] [ 3.17602180e-03 -1.17393328e-04 9.99994950e-01 3.05118283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8507140569999 meters Centerline goodness [0,1] 0.988378172830117 Centerline is valid? [True, True] Translation: X:885.09, Y:-66.13, Z:3.05 [[ 9.99972918e-01 -6.75834494e-03 -2.91346438e-03 8.85093064e+02] [ 6.75862347e-03 9.99977157e-01 8.57650276e-05 -6.61341952e+01] [ 2.91281820e-03 -1.05453714e-04 9.99995752e-01 3.05231817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.880714057 meters Centerline goodness [0,1] 0.9885480766946233 Centerline is valid? [True, True] Translation: X:885.12, Y:-66.13, Z:3.05 [[ 9.99985070e-01 -5.13241368e-03 -1.87581014e-03 8.85123319e+02] [ 5.13252616e-03 9.99986827e-01 5.51521318e-05 -6.61348027e+01] [ 1.87550236e-03 -6.47789530e-05 9.99998239e-01 3.05315133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.910714057 meters Centerline goodness [0,1] 0.9885427855352668 Centerline is valid? [True, True] Translation: X:885.16, Y:-66.13, Z:3.05 [[ 9.99988704e-01 -4.45147449e-03 -1.66645626e-03 8.85155498e+02] [ 4.45156283e-03 9.99990091e-01 4.93076124e-05 -6.61346679e+01] [ 1.66622025e-03 -5.67253901e-05 9.99998610e-01 3.05364222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9407140569999 meters Centerline goodness [0,1] 0.9886014801418271 Centerline is valid? [True, True] Translation: X:885.19, Y:-66.14, Z:3.05 [[ 9.99992532e-01 -3.68370164e-03 -1.16853364e-03 8.85186178e+02] [ 3.68374464e-03 9.99993214e-01 3.46481193e-05 -6.61409219e+01] [ 1.16839808e-03 -3.89524401e-05 9.99999317e-01 3.05287590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9707140569999 meters Centerline goodness [0,1] 0.9884355850163332 Centerline is valid? [True, True] Translation: X:885.22, Y:-66.13, Z:3.05 [[ 9.99994886e-01 -2.78787039e-03 -1.56716701e-03 8.85217843e+02] [ 2.78794652e-03 9.99996113e-01 4.63989738e-05 -6.61346009e+01] [ 1.56703156e-03 -5.07679144e-05 9.99998771e-01 3.05357324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.000714057 meters Centerline goodness [0,1] 0.9888353451977671 Centerline is valid? [True, True] Translation: X:885.25, Y:-66.14, Z:3.05 [[ 9.99994462e-01 -2.65543718e-03 -2.00624816e-03 8.85247847e+02] [ 2.65556156e-03 9.99996472e-01 5.93350866e-05 -6.61385224e+01] [ 2.00608352e-03 -6.46624735e-05 9.99997986e-01 3.05261900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.030714057 meters Centerline goodness [0,1] 0.9894114280263283 Centerline is valid? [True, True] Translation: X:885.28, Y:-66.14, Z:3.05 [[ 9.99993303e-01 -2.64271784e-03 -2.53195234e-03 8.85278277e+02] [ 2.64291570e-03 9.99996505e-01 7.48034280e-05 -6.61388745e+01] [ 2.53174581e-03 -8.14946636e-05 9.99996792e-01 3.05256313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0607140569999 meters Centerline goodness [0,1] 0.9877739496602546 Centerline is valid? [True, True] Translation: X:885.31, Y:-66.14, Z:3.05 [[ 9.99989201e-01 -2.60278299e-03 -3.85022860e-03 8.85308787e+02] [ 2.60324071e-03 9.99996605e-01 1.13875769e-04 -6.61409046e+01] [ 3.84991914e-03 -1.23897612e-04 9.99992581e-01 3.05117506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0907140569999 meters Centerline goodness [0,1] 0.9870457684431109 Centerline is valid? [True, True] Translation: X:885.34, Y:-66.14, Z:3.05 [[ 9.99989696e-01 -2.54237026e-03 -3.76077738e-03 8.85339671e+02] [ 2.54280632e-03 9.99996761e-01 1.11171111e-04 -6.61425542e+01] [ 3.76048256e-03 -1.20732894e-04 9.99992922e-01 3.05094370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.120714057 meters Centerline goodness [0,1] 0.9873384582430921 Centerline is valid? [True, True] Translation: X:885.37, Y:-66.14, Z:3.05 [[ 9.99987522e-01 -2.79378662e-03 -4.14122985e-03 8.85370019e+02] [ 2.79431752e-03 9.99996088e-01 1.22417542e-04 -6.61427393e+01] [ 4.14087164e-03 -1.33987926e-04 9.99991418e-01 3.05062413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.150714057 meters Centerline goodness [0,1] 0.9880510330381795 Centerline is valid? [True, True] Translation: X:885.40, Y:-66.14, Z:3.05 [[ 9.99985503e-01 -3.77292864e-03 -3.84175691e-03 8.85400100e+02] [ 3.77339274e-03 9.99992874e-01 1.13564920e-04 -6.61442674e+01] [ 3.84130106e-03 -1.28059731e-04 9.99992614e-01 3.04965677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1807140569999 meters Centerline goodness [0,1] 0.9866250238413122 Centerline is valid? [True, True] Translation: X:885.43, Y:-66.15, Z:3.05 [[ 9.99983808e-01 -3.82137740e-03 -4.21674732e-03 8.85430465e+02] [ 3.82193876e-03 9.99992689e-01 1.25074277e-04 -6.61497659e+01] [ 4.21623853e-03 -1.41188401e-04 9.99991102e-01 3.04839300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2107140569999 meters Centerline goodness [0,1] 0.9872298858790175 Centerline is valid? [True, True] Translation: X:885.46, Y:-66.15, Z:3.05 [[ 9.99976174e-01 -4.87230556e-03 -4.88995998e-03 8.85461080e+02] [ 4.87307191e-03 9.99988116e-01 1.44816834e-04 -6.61495970e+01] [ 4.88919628e-03 -1.68642511e-04 9.99988034e-01 3.04852333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2407140569999 meters Centerline goodness [0,1] 0.9874237804878049 Centerline is valid? [True, True] Translation: X:885.49, Y:-66.15, Z:3.05 [[ 9.99968819e-01 -5.84733877e-03 -5.30752953e-03 8.85491555e+02] [ 5.84825531e-03 9.99982886e-01 1.57183214e-04 -6.61494854e+01] [ 5.30651959e-03 -1.88218100e-04 9.99985903e-01 3.04809168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.270714057 meters Centerline goodness [0,1] 0.9872778386620289 Centerline is valid? [True, True] Translation: X:885.52, Y:-66.15, Z:3.05 [[ 9.99946415e-01 -7.68475934e-03 -6.93630647e-03 8.85522464e+02] [ 7.68637017e-03 9.99970438e-01 2.05603882e-04 -6.61526154e+01] [ 6.93452141e-03 -2.58907884e-04 9.99975922e-01 3.04720948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3007140569999 meters Centerline goodness [0,1] 0.9873766789492452 Centerline is valid? [True, True] Translation: X:885.55, Y:-66.16, Z:3.05 [[ 9.99932920e-01 -8.90756249e-03 -7.40342184e-03 8.85552450e+02] [ 8.90943198e-03 9.99960286e-01 2.19573968e-04 -6.61551851e+01] [ 7.40117196e-03 -2.85519522e-04 9.99972570e-01 3.04668277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3307140569999 meters Centerline goodness [0,1] 0.9871048944406184 Centerline is valid? [True, True] Translation: X:885.58, Y:-66.16, Z:3.05 [[ 9.99921518e-01 -1.00256299e-02 -7.51293547e-03 8.85582345e+02] [ 1.00275876e-02 9.99949698e-01 2.22950068e-04 -6.61589204e+01] [ 7.51032233e-03 -2.98269189e-04 9.99971753e-01 3.04617983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3607140569999 meters Centerline goodness [0,1] 0.9870568641446585 Centerline is valid? [True, True] Translation: X:885.61, Y:-66.16, Z:3.05 [[ 9.99898080e-01 -1.15664186e-02 -8.36946948e-03 8.85613442e+02] [ 1.15689049e-02 9.99933047e-01 2.48716735e-04 -6.61584504e+01] [ 8.36603236e-03 -3.45516982e-04 9.99964944e-01 3.04728489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.390714057 meters Centerline goodness [0,1] 0.9877747709253193 Centerline is valid? [True, True] Translation: X:885.64, Y:-66.16, Z:3.05 [[ 9.99894058e-01 -1.20698620e-02 -8.13576471e-03 8.85644914e+02] [ 1.20722321e-02 9.99927099e-01 2.42261667e-04 -6.61608938e+01] [ 8.13224754e-03 -3.40452841e-04 9.99966875e-01 3.04684169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4207140569999 meters Centerline goodness [0,1] 0.9862334148251881 Centerline is valid? [True, True] Translation: X:885.68, Y:-66.17, Z:3.05 [[ 9.99889011e-01 -1.22015715e-02 -8.54912381e-03 8.85675804e+02] [ 1.22041970e-02 9.99925493e-01 2.55000586e-04 -6.61666193e+01] [ 8.54537544e-03 -3.59307475e-04 9.99963423e-01 3.04560641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4507140569999 meters Centerline goodness [0,1] 0.9855364552459989 Centerline is valid? [True, True] Translation: X:885.71, Y:-66.17, Z:3.05 [[ 9.99889623e-01 -1.23603304e-02 -8.24403134e-03 8.85708238e+02] [ 1.23627821e-02 9.99923548e-01 2.46495341e-04 -6.61683862e+01] [ 8.24035430e-03 -3.48387297e-04 9.99965987e-01 3.04543579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4807140569999 meters Centerline goodness [0,1] 0.9866919701103072 Centerline is valid? [True, True] Translation: X:885.74, Y:-66.17, Z:3.05 [[ 9.99898621e-01 -1.18439195e-02 -7.90376900e-03 8.85740458e+02] [ 1.18461610e-02 9.99929804e-01 2.36844712e-04 -6.61699012e+01] [ 7.90040901e-03 -3.30450021e-04 9.99968737e-01 3.04640995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.510714057 meters Centerline goodness [0,1] 0.9853341862724193 Centerline is valid? [True, True] Translation: X:885.77, Y:-66.17, Z:3.05 [[ 9.99899540e-01 -1.16334217e-02 -8.09778546e-03 8.85771697e+02] [ 1.16357761e-02 9.99932272e-01 2.43690565e-04 -6.61718240e+01] [ 8.09440206e-03 -3.37890103e-04 9.99967183e-01 3.04630880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.540714057 meters Centerline goodness [0,1] 0.9874854826858809 Centerline is valid? [True, True] Translation: X:885.80, Y:-66.17, Z:3.05 [[ 9.99903500e-01 -1.10965935e-02 -8.35804895e-03 8.85804406e+02] [ 1.10990865e-02 9.99938372e-01 2.51951358e-04 -6.61657614e+01] [ 8.35473806e-03 -3.44693754e-04 9.99965039e-01 3.04888664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5707140569999 meters Centerline goodness [0,1] 0.9872881355932204 Centerline is valid? [True, True] Translation: X:885.84, Y:-66.17, Z:3.05 [[ 9.99909028e-01 -1.04205197e-02 -8.56437310e-03 8.85836263e+02] [ 1.04231159e-02 9.99945644e-01 2.58556916e-04 -6.61651974e+01] [ 8.56121329e-03 -3.47800847e-04 9.99963292e-01 3.04917744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6007140569999 meters Centerline goodness [0,1] 0.9868449121809002 Centerline is valid? [True, True] Translation: X:885.87, Y:-66.17, Z:3.05 [[ 9.99918681e-01 -8.26529424e-03 -9.71167808e-03 8.85866940e+02] [ 8.26853356e-03 9.99965772e-01 2.93443817e-04 -6.61672873e+01] [ 9.70892027e-03 -3.73721290e-04 9.99952797e-01 3.04789103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.630714057 meters Centerline goodness [0,1] 0.9865514383804901 Centerline is valid? [True, True] Translation: X:885.90, Y:-66.17, Z:3.05 [[ 9.99923945e-01 -7.87806270e-03 -9.48895474e-03 8.85897506e+02] [ 7.88113657e-03 9.99968902e-01 2.86592127e-04 -6.61676509e+01] [ 9.48640186e-03 -3.61354078e-04 9.99954938e-01 3.04807232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.660714057 meters Centerline goodness [0,1] 0.9871537535126456 Centerline is valid? [True, True] Translation: X:885.93, Y:-66.17, Z:3.05 [[ 9.99931949e-01 -6.59280418e-03 -9.62459679e-03 8.85926540e+02] [ 6.59590490e-03 9.99978205e-01 2.90459844e-04 -6.61690034e+01] [ 9.62247208e-03 -3.53923003e-04 9.99953640e-01 3.04739842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6907140569999 meters Centerline goodness [0,1] 0.9856270126917976 Centerline is valid? [True, True] Translation: X:885.95, Y:-66.17, Z:3.05 [[ 9.99936641e-01 -4.44123935e-03 -1.03435852e-02 8.85954726e+02] [ 4.44469897e-03 9.99990074e-01 3.11506623e-04 -6.61728550e+01] [ 1.03420991e-02 -3.57461009e-04 9.99946455e-01 3.04549366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7207140569999 meters Centerline goodness [0,1] 0.9870111400805878 Centerline is valid? [True, True] Translation: X:885.98, Y:-66.17, Z:3.05 [[ 9.99937434e-01 -2.90352667e-03 -1.08026810e-02 8.85983676e+02] [ 2.90717472e-03 9.99995722e-01 3.22011044e-04 -6.61675774e+01] [ 1.08016999e-02 -3.53396178e-04 9.99941597e-01 3.04752075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.750714057 meters Centerline goodness [0,1] 0.9866517825333112 Centerline is valid? [True, True] Translation: X:886.01, Y:-66.17, Z:3.05 [[ 9.99935587e-01 -6.74473974e-04 -1.13299456e-02 8.86011157e+02] [ 6.78339687e-04 9.99999713e-01 3.37354853e-04 -6.61660645e+01] [ 1.13297148e-02 -3.45018674e-04 9.99935757e-01 3.04667779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.780714057 meters Centerline goodness [0,1] 0.9880373653607855 Centerline is valid? [True, True] Translation: X:886.04, Y:-66.16, Z:3.05 [[ 9.99919052e-01 4.96107948e-03 -1.17164959e-02 8.86041229e+02] [-4.95733629e-03 9.99987652e-01 3.48501233e-04 -6.61604352e+01] [ 1.17180802e-02 -2.90390413e-04 9.99931299e-01 3.04669633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8107140569999 meters Centerline goodness [0,1] 0.9880924086133954 Centerline is valid? [True, True] Translation: X:886.07, Y:-66.16, Z:3.05 [[ 9.99912572e-01 7.51063721e-03 -1.08829978e-02 8.86068685e+02] [-7.50757060e-03 9.99971766e-01 3.22606683e-04 -6.61596205e+01] [ 1.08851135e-02 -2.40873603e-04 9.99940726e-01 3.04568280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8407140569999 meters Centerline goodness [0,1] 0.98878612162745 Centerline is valid? [True, True] Translation: X:886.10, Y:-66.16, Z:3.05 [[ 9.99892094e-01 1.02905235e-02 -1.04835839e-02 8.86097131e+02] [-1.02878636e-02 9.99947031e-01 3.07616236e-04 -6.61565114e+01] [ 1.04861941e-02 -1.99729361e-04 9.99944998e-01 3.04641108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.870714057 meters Centerline goodness [0,1] 0.9901516785277837 Centerline is valid? [True, True] Translation: X:886.13, Y:-66.16, Z:3.05 [[ 9.99880197e-01 1.29834140e-02 -8.42744067e-03 8.86125406e+02] [-1.29817919e-02 9.99915702e-01 2.47155481e-04 -6.61550457e+01] [ 8.42993918e-03 -1.37722590e-04 9.99964458e-01 3.04730279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.900714057 meters Centerline goodness [0,1] 0.9896506183215272 Centerline is valid? [True, True] Translation: X:886.15, Y:-66.15, Z:3.05 [[ 9.99870547e-01 1.43363693e-02 -7.30459350e-03 8.86154042e+02] [-1.43351908e-02 9.99897223e-01 2.13677441e-04 -6.61530619e+01] [ 7.30690612e-03 -1.08937038e-04 9.99973298e-01 3.04865108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9307140569999 meters Centerline goodness [0,1] 0.9901786571895111 Centerline is valid? [True, True] Translation: X:886.18, Y:-66.15, Z:3.05 [[ 9.99846134e-01 1.60582343e-02 -7.05983502e-03 8.86181589e+02] [-1.60571811e-02 9.99871054e-01 2.05831960e-04 -6.61518142e+01] [ 7.06222998e-03 -9.24392403e-05 9.99975058e-01 3.04883309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9607140569999 meters Centerline goodness [0,1] 0.9915129240515511 Centerline is valid? [True, True] Translation: X:886.21, Y:-66.15, Z:3.05 [[ 9.99786015e-01 1.94349536e-02 -7.08571733e-03 8.86209760e+02] [-1.94339816e-02 9.99811121e-01 2.06013576e-04 -6.61464545e+01] [ 7.08838285e-03 -6.82657919e-05 9.99974875e-01 3.04824713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9907140569999 meters Centerline goodness [0,1] 0.991979707694166 Centerline is valid? [True, True] Translation: X:886.24, Y:-66.15, Z:3.05 [[ 9.99821800e-01 1.79102676e-02 -5.96577310e-03 8.86238745e+02] [-1.79095537e-02 9.99839596e-01 1.73063242e-04 -6.61489458e+01] [ 5.96791578e-03 -6.61880683e-05 9.99982190e-01 3.04837494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.020714057 meters Centerline goodness [0,1] 0.9914523723288664 Centerline is valid? [True, True] Translation: X:886.27, Y:-66.15, Z:3.05 [[ 9.99845176e-01 1.66710135e-02 -5.63044597e-03 8.86267168e+02] [-1.66703603e-02 9.99861027e-01 1.62930415e-04 -6.61504410e+01] [ 5.63237971e-03 -6.90436264e-05 9.99984136e-01 3.04909210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0507140569999 meters Centerline goodness [0,1] 0.9915438511717807 Centerline is valid? [True, True] Translation: X:886.30, Y:-66.15, Z:3.05 [[ 9.99867151e-01 1.52988053e-02 -5.62375085e-03 8.86296301e+02] [-1.52981342e-02 9.99882964e-01 1.62343662e-04 -6.61506810e+01] [ 5.62557633e-03 -7.62891996e-05 9.99984173e-01 3.04910025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0807140569999 meters Centerline goodness [0,1] 0.991548074839269 Centerline is valid? [True, True] Translation: X:886.32, Y:-66.15, Z:3.05 [[ 9.99897450e-01 1.31274287e-02 -5.72356389e-03 8.86324093e+02] [-1.31267011e-02 9.99913828e-01 1.64678396e-04 -6.61534789e+01] [ 5.72523248e-03 -8.95299961e-05 9.99983607e-01 3.04826641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1107140569999 meters Centerline goodness [0,1] 0.9911312478912614 Centerline is valid? [True, True] Translation: X:886.35, Y:-66.16, Z:3.05 [[ 9.99920237e-01 1.14687101e-02 -5.29041575e-03 8.86353192e+02] [-1.14680668e-02 9.99934228e-01 1.51908080e-04 -6.61552377e+01] [ 5.29180998e-03 -9.12251224e-05 9.99985994e-01 3.04828893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.140714057 meters Centerline goodness [0,1] 0.9909994691375899 Centerline is valid? [True, True] Translation: X:886.38, Y:-66.16, Z:3.05 [[ 9.99934786e-01 1.01610597e-02 -5.21304361e-03 8.86381924e+02] [-1.01604192e-02 9.99948370e-01 1.49328691e-04 -6.61554078e+01] [ 5.21429180e-03 -9.63522440e-05 9.99986401e-01 3.04840006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1707140569999 meters Centerline goodness [0,1] 0.9904477755588171 Centerline is valid? [True, True] Translation: X:886.41, Y:-66.16, Z:3.05 [[ 9.99960240e-01 6.93650108e-03 -5.60392933e-03 8.86410154e+02] [-6.93571321e-03 9.99975935e-01 1.60014532e-04 -6.61577709e+01] [ 5.60490441e-03 -1.21140923e-04 9.99984285e-01 3.04725668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2007140569999 meters Centerline goodness [0,1] 0.9900343395048388 Centerline is valid? [True, True] Translation: X:886.44, Y:-66.16, Z:3.05 [[ 9.99972405e-01 5.12942823e-03 -5.37392306e-03 8.86437841e+02] [-5.12868068e-03 9.99986837e-01 1.52878408e-04 -6.61607971e+01] [ 5.37463650e-03 -1.25313054e-04 9.99985549e-01 3.04609048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2307140569999 meters Centerline goodness [0,1] 0.9907767689868857 Centerline is valid? [True, True] Translation: X:886.47, Y:-66.16, Z:3.05 [[ 9.99975603e-01 3.81654241e-03 -5.85039744e-03 8.86466127e+02] [-3.81563650e-03 9.99992707e-01 1.66000433e-04 -6.61614651e+01] [ 5.85098832e-03 -1.43673393e-04 9.99982873e-01 3.04552791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.260714057 meters Centerline goodness [0,1] 0.9894259818731118 Centerline is valid? [True, True] Translation: X:886.49, Y:-66.17, Z:3.04 [[ 9.99979698e-01 5.48505852e-05 -6.37191293e-03 8.86494156e+02] [-5.36999998e-05 9.99999982e-01 1.80742377e-04 -6.61674498e+01] [ 6.37192273e-03 -1.80396536e-04 9.99979683e-01 3.04437495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.290714057 meters Centerline goodness [0,1] 0.9893864809701045 Centerline is valid? [True, True] Translation: X:886.52, Y:-66.17, Z:3.04 [[ 9.99977546e-01 -1.32737623e-03 -6.56853098e-03 8.86522518e+02] [ 1.32862520e-03 9.99999100e-01 1.85784373e-04 -6.61692186e+01] [ 6.56827846e-03 -1.94507317e-04 9.99978410e-01 3.04441564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3207140569999 meters Centerline goodness [0,1] 0.9885846381163461 Centerline is valid? [True, True] Translation: X:886.55, Y:-66.17, Z:3.04 [[ 9.99972137e-01 -3.06968369e-03 -6.80462643e-03 8.86550213e+02] [ 3.07106019e-03 9.99995266e-01 1.91849529e-04 -6.61729574e+01] [ 6.80400530e-03 -2.12741600e-04 9.99976830e-01 3.04385686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3507140569999 meters Centerline goodness [0,1] 0.9894817732097402 Centerline is valid? [True, True] Translation: X:886.58, Y:-66.17, Z:3.04 [[ 9.99966913e-01 -3.20735978e-03 -7.47572341e-03 8.86579753e+02] [ 3.20902467e-03 9.99994829e-01 2.10722222e-04 -6.61714819e+01] [ 7.47500889e-03 -2.34705030e-04 9.99972034e-01 3.04446722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.380714057 meters Centerline goodness [0,1] 0.9890863065386636 Centerline is valid? [True, True] Translation: X:886.61, Y:-66.17, Z:3.04 [[ 9.99960204e-01 -5.39438330e-03 -7.10572898e-03 8.86608302e+02] [ 5.39593832e-03 9.99985422e-01 1.99687422e-04 -6.61746016e+01] [ 7.10454820e-03 -2.38021551e-04 9.99974734e-01 3.04469003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.410714057 meters Centerline goodness [0,1] 0.9898486879908064 Centerline is valid? [True, True] Translation: X:886.64, Y:-66.17, Z:3.05 [[ 9.99959628e-01 -4.97046024e-03 -7.48573852e-03 8.86638438e+02] [ 4.97217318e-03 9.99987617e-01 2.10233998e-04 -6.61725526e+01] [ 7.48460086e-03 -2.47445899e-04 9.99971959e-01 3.04511450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4407140569999 meters Centerline goodness [0,1] 0.9895470383275261 Centerline is valid? [True, True] Translation: X:886.67, Y:-66.17, Z:3.05 [[ 9.99965889e-01 -3.87007067e-03 -7.29680270e-03 8.86668012e+02] [ 3.87166848e-03 9.99992484e-01 2.04861009e-04 -6.61741605e+01] [ 7.29595503e-03 -2.33104822e-04 9.99973357e-01 3.04508309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4707140569999 meters Centerline goodness [0,1] 0.9905033011195101 Centerline is valid? [True, True] Translation: X:886.70, Y:-66.17, Z:3.05 [[ 9.99973304e-01 -2.39049974e-03 -6.90484469e-03 8.86697306e+02] [ 2.39189318e-03 9.99997121e-01 1.93556292e-04 -6.61734852e+01] [ 6.90436212e-03 -2.10066776e-04 9.99976143e-01 3.04512127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.500714057 meters Centerline goodness [0,1] 0.9904807234650167 Centerline is valid? [True, True] Translation: X:886.73, Y:-66.17, Z:3.05 [[ 9.99972858e-01 -1.69333665e-03 -7.17047575e-03 8.86725752e+02] [ 1.69481756e-03 9.99998544e-01 2.00457032e-04 -6.61742505e+01] [ 7.17012586e-03 -2.12604240e-04 9.99974272e-01 3.04504078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.530714057 meters Centerline goodness [0,1] 0.9901404743101921 Centerline is valid? [True, True] Translation: X:886.75, Y:-66.17, Z:3.04 [[ 9.99974098e-01 -1.23009105e-04 -7.19635553e-03 8.86754597e+02] [ 1.24443553e-04 9.99999972e-01 1.98882333e-04 -6.61732823e+01] [ 7.19633086e-03 -1.99772722e-04 9.99974086e-01 3.04495091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5607140569999 meters Centerline goodness [0,1] 0.990390131956397 Centerline is valid? [True, True] Translation: X:886.78, Y:-66.17, Z:3.05 [[ 9.99972263e-01 9.84438822e-04 -7.38271276e-03 8.86783789e+02] [-9.82972185e-04 9.99999496e-01 2.02284193e-04 -6.61713924e+01] [ 7.38290818e-03 -1.95021581e-04 9.99972727e-01 3.04521120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5907140569999 meters Centerline goodness [0,1] 0.990390131956397 Centerline is valid? [True, True] Translation: X:886.81, Y:-66.17, Z:3.05 [[ 9.99972358e-01 8.82852605e-04 -7.38271994e-03 8.86811240e+02] [-8.81385142e-04 9.99999591e-01 2.02021138e-04 -6.61720530e+01] [ 7.38289528e-03 -1.95508534e-04 9.99972727e-01 3.04511258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.620714057 meters Centerline goodness [0,1] 0.9913112164296999 Centerline is valid? [True, True] Translation: X:886.84, Y:-66.17, Z:3.05 [[ 9.99968492e-01 2.83530149e-03 -7.41453074e-03 8.86839002e+02] [-2.83388215e-03 9.99995964e-01 2.01925690e-04 -6.61718471e+01] [ 7.41507333e-03 -1.80907421e-04 9.99972492e-01 3.04509522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.650714057 meters Centerline goodness [0,1] 0.991620379237694 Centerline is valid? [True, True] Translation: X:886.87, Y:-66.17, Z:3.05 [[ 9.99969849e-01 3.00219686e-03 -7.16151490e-03 8.86867511e+02] [-3.00087917e-03 9.99995478e-01 1.94735557e-04 -6.61725272e+01] [ 7.16206715e-03 -1.73238844e-04 9.99974337e-01 3.04505534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6807140569999 meters Centerline goodness [0,1] 0.9916030900628569 Centerline is valid? [True, True] Translation: X:886.90, Y:-66.17, Z:3.05 [[ 9.99965570e-01 4.04197198e-03 -7.24708798e-03 8.86896353e+02] [-4.04066642e-03 9.99991818e-01 1.94782638e-04 -6.61725347e+01] [ 7.24781599e-03 -1.65492867e-04 9.99973721e-01 3.04501435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7107140569999 meters Centerline goodness [0,1] 0.9909239339223972 Centerline is valid? [True, True] Translation: X:886.92, Y:-66.17, Z:3.05 [[ 9.99964884e-01 5.28309508e-03 -6.50529833e-03 8.86923939e+02] [-5.28206989e-03 9.99986035e-01 1.74763762e-04 -6.61729564e+01] [ 6.50613077e-03 -1.40396185e-04 9.99978825e-01 3.04525340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7407140569999 meters Centerline goodness [0,1] 0.9915706051873199 Centerline is valid? [True, True] Translation: X:886.95, Y:-66.17, Z:3.05 [[ 9.99966291e-01 5.78823522e-03 -5.82343716e-03 8.86953252e+02] [-5.78742339e-03 9.99983241e-01 1.56249533e-04 -6.61725835e+01] [ 5.82424397e-03 -1.22541570e-04 9.99983031e-01 3.04567907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.770714057 meters Centerline goodness [0,1] 0.9909265482477196 Centerline is valid? [True, True] Translation: X:886.98, Y:-66.17, Z:3.05 [[ 9.99964924e-01 5.86171123e-03 -5.98257457e-03 8.86980902e+02] [-5.86086048e-03 9.99982812e-01 1.59726803e-04 -6.61712072e+01] [ 5.98340802e-03 -1.24658165e-04 9.99982091e-01 3.04679440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8007140569999 meters Centerline goodness [0,1] 0.9914988922069164 Centerline is valid? [True, True] Translation: X:887.01, Y:-66.17, Z:3.05 [[ 9.99958473e-01 7.12815564e-03 -5.67825734e-03 8.87008803e+02] [-7.12741212e-03 9.99974588e-01 1.51165789e-04 -6.61708841e+01] [ 5.67919058e-03 -1.10688231e-04 9.99983867e-01 3.04730631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8307140569999 meters Centerline goodness [0,1] 0.9913003663003663 Centerline is valid? [True, True] Translation: X:887.04, Y:-66.17, Z:3.05 [[ 9.99957471e-01 7.25092362e-03 -5.69913488e-03 8.87036246e+02] [-7.25017928e-03 9.99973706e-01 1.51256373e-04 -6.61732330e+01] [ 5.70008178e-03 -1.09930190e-04 9.99983748e-01 3.04629723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8607140569999 meters Centerline goodness [0,1] 0.9910511843311303 Centerline is valid? [True, True] Translation: X:887.07, Y:-66.17, Z:3.05 [[ 9.99957154e-01 7.38577854e-03 -5.58033529e-03 8.87065028e+02] [-7.38506884e-03 9.99972719e-01 1.47773902e-04 -6.61712066e+01] [ 5.58127448e-03 -1.06556411e-04 9.99984419e-01 3.04737220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.890714057 meters Centerline goodness [0,1] 0.9920829134878365 Centerline is valid? [True, True] Translation: X:887.09, Y:-66.17, Z:3.05 [[ 9.99958049e-01 7.53545436e-03 -5.20739192e-03 8.87092614e+02] [-7.53484105e-03 9.99971603e-01 1.37385930e-04 -6.61746510e+01] [ 5.20827931e-03 -9.81432962e-05 9.99986432e-01 3.04643913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9207140569999 meters Centerline goodness [0,1] 0.9921404117845605 Centerline is valid? [True, True] Translation: X:887.12, Y:-66.17, Z:3.05 [[ 9.99948416e-01 8.44436099e-03 -5.64430495e-03 8.87121686e+02] [-8.44365665e-03 9.99964341e-01 1.48606258e-04 -6.61719797e+01] [ 5.64535856e-03 -1.00940019e-04 9.99984060e-01 3.04769235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9507140569999 meters Centerline goodness [0,1] 0.9920592906299629 Centerline is valid? [True, True] Translation: X:887.15, Y:-66.17, Z:3.05 [[ 9.99947919e-01 8.72360376e-03 -5.29699420e-03 8.87149666e+02] [-8.72299013e-03 9.99961944e-01 1.38936924e-04 -6.61744489e+01] [ 5.29800465e-03 -9.27240602e-05 9.99985961e-01 3.04635985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9807140569999 meters Centerline goodness [0,1] 0.9930239830651175 Centerline is valid? [True, True] Translation: X:887.18, Y:-66.17, Z:3.05 [[ 9.99934747e-01 1.07135025e-02 -3.96510145e-03 8.87178926e+02] [-1.07131749e-02 9.99942607e-01 1.03844780e-04 -6.61742662e+01] [ 3.96598642e-03 -6.13591787e-05 9.99992134e-01 3.04806201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.010714057 meters Centerline goodness [0,1] 0.9923675115207373 Centerline is valid? [True, True] Translation: X:887.21, Y:-66.17, Z:3.05 [[ 9.99912948e-01 1.25021776e-02 -4.21814210e-03 8.87206946e+02] [-1.25018248e-02 9.99921843e-01 1.10007559e-04 -6.61741575e+01] [ 4.21918775e-03 -5.72635095e-05 9.99991098e-01 3.04795885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.040714057 meters Centerline goodness [0,1] 0.9926793557833089 Centerline is valid? [True, True] Translation: X:887.24, Y:-66.17, Z:3.05 [[ 9.99887624e-01 1.45589681e-02 -3.57422458e-03 8.87235741e+02] [-1.45587286e-02 9.99894012e-01 9.30011176e-05 -6.61732148e+01] [ 3.57519975e-03 -4.09545008e-05 9.99993608e-01 3.04867416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0707140569999 meters Centerline goodness [0,1] 0.9940503432494279 Centerline is valid? [True, True] Translation: X:887.26, Y:-66.17, Z:3.05 [[ 9.99777568e-01 2.08203174e-02 -3.36597940e-03 8.87264439e+02] [-2.08201452e-02 9.99783234e-01 8.61852690e-05 -6.61684048e+01] [ 3.36704417e-03 -1.60859188e-05 9.99994331e-01 3.05033347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1007140569999 meters Centerline goodness [0,1] 0.995294628637614 Centerline is valid? [True, True] Translation: X:887.29, Y:-66.17, Z:3.05 [[ 9.99696371e-01 2.44189945e-02 -3.29832006e-03 8.87293222e+02] [-2.44188476e-02 9.99701812e-01 8.47983855e-05 -6.61662570e+01] [ 3.29940723e-03 -4.23146335e-06 9.99994557e-01 3.05081515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.130714057 meters Centerline goodness [0,1] 0.995582271147161 Centerline is valid? [True, True] Translation: X:887.32, Y:-66.16, Z:3.05 [[ 9.99594398e-01 2.83371780e-02 -2.83621312e-03 8.87320285e+02] [-2.83370868e-02 9.99598422e-01 7.23641512e-05 -6.61645971e+01] [ 2.83712475e-03 8.03521700e-06 9.99995975e-01 3.05043451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.160714057 meters Centerline goodness [0,1] 0.9957561728395061 Centerline is valid? [True, True] Translation: X:887.35, Y:-66.16, Z:3.05 [[ 9.99490095e-01 3.18207179e-02 -2.64434887e-03 8.87348828e+02] [-3.18206509e-02 9.99493593e-01 6.74324631e-05 -6.61643513e+01] [ 2.64515550e-03 1.67468233e-05 9.99996501e-01 3.05114640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1907140569999 meters Centerline goodness [0,1] 0.9965966690803766 Centerline is valid? [True, True] Translation: X:887.38, Y:-66.16, Z:3.05 [[ 9.99205887e-01 3.98165290e-02 -1.49671082e-03 8.87377039e+02] [-3.98165170e-02 9.99207007e-01 3.78695882e-05 -6.61621378e+01] [ 1.49703177e-03 2.17542963e-05 9.99998879e-01 3.05101881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2207140569999 meters Centerline goodness [0,1] 0.9971850639976904 Centerline is valid? [True, True] Translation: X:887.40, Y:-66.16, Z:3.05 [[ 9.99026292e-01 4.41140950e-02 -6.43972128e-04 8.87404919e+02] [-4.41140938e-02 9.99026499e-01 1.60662910e-05 -6.61598227e+01] [ 6.44053970e-04 1.23575997e-05 9.99999793e-01 3.05089575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.250714057 meters Centerline goodness [0,1] 0.9980190844304868 Centerline is valid? [True, True] Translation: X:887.43, Y:-66.16, Z:3.05 [[ 9.98832955e-01 4.82981571e-02 -1.27023579e-04 8.87434223e+02] [-4.82981571e-02 9.98832963e-01 3.03671877e-06 -6.61603833e+01] [ 1.27022006e-04 3.10183001e-06 9.99999992e-01 3.05140524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.280714057 meters Centerline goodness [0,1] 0.9983617615881276 Centerline is valid? [True, True] Translation: X:887.46, Y:-66.16, Z:3.05 [[ 9.98397640e-01 5.65816711e-02 -8.16541166e-04 8.87462987e+02] [-5.65816731e-02 9.98397974e-01 2.05665415e-05 -6.61570090e+01] [ 8.16396735e-04 2.56676789e-05 9.99999666e-01 3.05141779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3107140569999 meters Centerline goodness [0,1] 0.9992282834129166 Centerline is valid? [True, True] Translation: X:887.49, Y:-66.16, Z:3.05 [[ 9.98163555e-01 6.05633155e-02 -1.26559013e-03 8.87492607e+02] [-6.05633237e-02 9.98164357e-01 3.19012276e-05 -6.61559326e+01] [ 1.26519900e-03 4.48057020e-05 9.99999199e-01 3.05162885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3407140569999 meters Centerline goodness [0,1] 0.9989157149053057 Centerline is valid? [True, True] Translation: X:887.52, Y:-66.15, Z:3.05 [[ 9.97865539e-01 6.52826613e-02 -1.59352447e-03 8.87521867e+02] [-6.52826803e-02 9.97866810e-01 4.01460421e-05 -6.61512893e+01] [ 1.59274602e-03 6.39691963e-05 9.99998730e-01 3.05088978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.370714057 meters Centerline goodness [0,1] 0.9993486285011218 Centerline is valid? [True, True] Translation: X:887.55, Y:-66.15, Z:3.05 [[ 9.97340221e-01 7.28544170e-02 -2.17207611e-03 8.87551988e+02] [-7.28544699e-02 9.97342581e-01 5.48462072e-05 -6.61504712e+01] [ 2.17029978e-03 1.03545125e-04 9.99997640e-01 3.05075821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.400714057 meters Centerline goodness [0,1] 0.9993980979896473 Centerline is valid? [True, True] Translation: X:887.58, Y:-66.15, Z:3.05 [[ 9.97057358e-01 7.66251641e-02 -2.28238429e-03 8.87582567e+02] [-7.66252324e-02 9.97059963e-01 5.76577560e-05 -6.61498181e+01] [ 2.28009203e-03 1.17400137e-04 9.99997394e-01 3.05084603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4307140569999 meters Centerline goodness [0,1] 0.9991337824831569 Centerline is valid? [True, True] Translation: X:887.61, Y:-66.15, Z:3.05 [[ 9.96795224e-01 7.99504615e-02 -2.68437087e-03 8.87612860e+02] [-7.99505682e-02 9.96798827e-01 6.77067121e-05 -6.61511665e+01] [ 2.68119092e-03 1.47127249e-04 9.99996395e-01 3.05084861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4607140569999 meters Centerline goodness [0,1] 0.9994457831325301 Centerline is valid? [True, True] Translation: X:887.64, Y:-66.15, Z:3.05 [[ 9.96637743e-01 8.19106467e-02 -1.96369166e-03 8.87641935e+02] [-8.19107080e-02 9.96639671e-01 4.92940277e-05 -6.61514222e+01] [ 1.96113072e-03 1.11719086e-04 9.99998071e-01 3.05072383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4907140569999 meters Centerline goodness [0,1] 0.9994953136265321 Centerline is valid? [True, True] Translation: X:887.67, Y:-66.15, Z:3.05 [[ 9.96439175e-01 8.42886379e-02 -2.09665981e-03 8.87670577e+02] [-8.42887133e-02 9.96441373e-01 5.25405815e-05 -6.61461088e+01] [ 2.09362716e-03 1.24371264e-04 9.99997801e-01 3.05067246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.520714057 meters Centerline goodness [0,1] 0.9994242395163612 Centerline is valid? [True, True] Translation: X:887.70, Y:-66.15, Z:3.05 [[ 9.96543990e-01 8.30548950e-02 -1.40020331e-03 8.87699493e+02] [-8.30549288e-02 9.96544970e-01 3.40832124e-05 -6.61486853e+01] [ 1.39819634e-03 8.23283657e-05 9.99999019e-01 3.05125633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5507140569999 meters Centerline goodness [0,1] 0.9994954954954955 Centerline is valid? [True, True] Translation: X:887.73, Y:-66.15, Z:3.05 [[ 9.96652062e-01 8.17549574e-02 -8.91164500e-04 8.87727259e+02] [-8.17549705e-02 9.96652459e-01 2.17198011e-05 -6.61493948e+01] [ 8.89956992e-04 5.12100429e-05 9.99999603e-01 3.05145578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5807140569999 meters Centerline goodness [0,1] 0.9994753034892317 Centerline is valid? [True, True] Translation: X:887.76, Y:-66.15, Z:3.05 [[ 9.96805194e-01 7.98589899e-02 -1.39500689e-03 8.87756158e+02] [-7.98590199e-02 9.96806168e-01 3.42844267e-05 -6.61537941e+01] [ 1.39328940e-03 7.72289887e-05 9.99999026e-01 3.05156639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6107140569999 meters Centerline goodness [0,1] 0.9990196078431373 Centerline is valid? [True, True] Translation: X:887.79, Y:-66.16, Z:3.05 [[ 9.97168880e-01 7.51746386e-02 -1.73169175e-03 8.87785903e+02] [-7.51746773e-02 9.97170380e-01 4.28061533e-05 -6.61604346e+01] [ 1.73000966e-03 8.74944048e-05 9.99998500e-01 3.05047805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.640714057 meters Centerline goodness [0,1] 0.9990378833433554 Centerline is valid? [True, True] Translation: X:887.82, Y:-66.16, Z:3.05 [[ 9.97377905e-01 7.23398033e-02 -2.06588473e-03 8.87816027e+02] [-7.23398524e-02 9.97380039e-01 5.10076942e-05 -6.61624050e+01] [ 2.06416208e-03 9.85718496e-05 9.99997865e-01 3.05017455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6707140569999 meters Centerline goodness [0,1] 0.9989448947292696 Centerline is valid? [True, True] Translation: X:887.85, Y:-66.17, Z:3.05 [[ 9.97601022e-01 6.91919765e-02 -2.16127441e-03 8.87845529e+02] [-6.91920232e-02 9.97603359e-01 5.32327566e-05 -6.61653782e+01] [ 2.15977789e-03 9.64378965e-05 9.99997663e-01 3.04949192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7007140569999 meters Centerline goodness [0,1] 0.9987755102040816 Centerline is valid? [True, True] Translation: X:887.88, Y:-66.17, Z:3.05 [[ 9.98087616e-01 6.17745113e-02 -2.24070149e-03 8.87876106e+02] [-6.17745425e-02 9.98090128e-01 5.53529154e-05 -6.61702663e+01] [ 2.23984143e-03 8.31712498e-05 9.99997488e-01 3.04922053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7307140569999 meters Centerline goodness [0,1] 0.9984897518878102 Centerline is valid? [True, True] Translation: X:887.90, Y:-66.17, Z:3.05 [[ 9.98326818e-01 5.77748411e-02 -2.37324345e-03 8.87904880e+02] [-5.77748656e-02 9.98329636e-01 5.83022558e-05 -6.61711276e+01] [ 2.37264768e-03 7.89091160e-05 9.99997182e-01 3.04901119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.760714057 meters Centerline goodness [0,1] 0.9979760011565708 Centerline is valid? [True, True] Translation: X:887.93, Y:-66.17, Z:3.05 [[ 9.98549090e-01 5.37974914e-02 -2.35471995e-03 8.87934288e+02] [-5.37975045e-02 9.98551864e-01 5.78287240e-05 -6.61719692e+01] [ 2.35442103e-03 6.89332372e-05 9.99997226e-01 3.04907517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.790714057 meters Centerline goodness [0,1] 0.9976402600529738 Centerline is valid? [True, True] Translation: X:887.96, Y:-66.18, Z:3.05 [[ 9.98965632e-01 4.53749106e-02 -2.96373898e-03 8.87964157e+02] [-4.53748942e-02 9.98970026e-01 7.28208627e-05 -6.61766410e+01] [ 2.96399065e-03 6.17338036e-05 9.99995605e-01 3.04927768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8207140569999 meters Centerline goodness [0,1] 0.9965862102125205 Centerline is valid? [True, True] Translation: X:887.99, Y:-66.18, Z:3.05 [[ 9.99196009e-01 4.00013709e-02 -2.68823576e-03 8.87991716e+02] [-4.00013392e-02 9.99199624e-01 6.55653017e-05 -6.61795988e+01] [ 2.68870687e-03 4.20204429e-05 9.99996385e-01 3.04822017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8507140569999 meters Centerline goodness [0,1] 0.9944655661966408 Centerline is valid? [True, True] Translation: X:888.02, Y:-66.18, Z:3.05 [[ 9.99534155e-01 3.03607889e-02 -3.11381819e-03 8.88020319e+02] [-3.03607000e-02 9.99539005e-01 7.58443631e-05 -6.61845241e+01] [ 3.11468542e-03 1.87286683e-05 9.99995149e-01 3.04653720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.880714057 meters Centerline goodness [0,1] 0.9946721704905443 Centerline is valid? [True, True] Translation: X:888.05, Y:-66.19, Z:3.05 [[ 9.99654397e-01 2.60660585e-02 -3.41279449e-03 8.88049451e+02] [-2.60659273e-02 9.99660223e-01 8.29169666e-05 -6.61867992e+01] [ 3.41379622e-03 6.06934282e-06 9.99994173e-01 3.04606165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.910714057 meters Centerline goodness [0,1] 0.994054183649005 Centerline is valid? [True, True] Translation: X:888.08, Y:-66.19, Z:3.05 [[ 9.99771573e-01 2.11426162e-02 -3.12930215e-03 8.88076208e+02] [-2.11424836e-02 9.99776470e-01 7.54556178e-05 -6.61897570e+01] [ 3.13019799e-03 -9.27716214e-06 9.99995101e-01 3.04618350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9407140569999 meters Centerline goodness [0,1] 0.9927000311146215 Centerline is valid? [True, True] Translation: X:888.11, Y:-66.19, Z:3.05 [[ 9.99854652e-01 1.68173405e-02 -2.80226420e-03 8.88105305e+02] [-1.68172173e-02 9.99858578e-01 6.75202573e-05 -6.61922526e+01] [ 2.80300341e-03 -2.03841574e-05 9.99996071e-01 3.04654831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9707140569999 meters Centerline goodness [0,1] 0.9928893555083633 Centerline is valid? [True, True] Translation: X:888.13, Y:-66.19, Z:3.05 [[ 9.99947720e-01 9.85948727e-03 -2.71072967e-03 8.88133852e+02] [-9.85934698e-03 9.99951393e-01 6.51132299e-05 -6.61947915e+01] [ 2.71123989e-03 -3.83838014e-05 9.99996324e-01 3.04762257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.000714057 meters Centerline goodness [0,1] 0.9920268167125583 Centerline is valid? [True, True] Translation: X:888.16, Y:-66.20, Z:3.05 [[ 9.99972256e-01 6.90893745e-03 -2.78468538e-03 8.88162151e+02] [-6.90877880e-03 9.99976132e-01 6.65878939e-05 -6.61965463e+01] [ 2.78507897e-03 -4.73472711e-05 9.99996121e-01 3.04718245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.030714057 meters Centerline goodness [0,1] 0.9913467514461921 Centerline is valid? [True, True] Translation: X:888.19, Y:-66.20, Z:3.05 [[ 9.99985539e-01 4.74185178e-03 -2.53710351e-03 8.88189699e+02] [-4.74171391e-03 9.99988756e-01 6.03522375e-05 -6.61995316e+01] [ 2.53736117e-03 -4.83211457e-05 9.99996780e-01 3.04659752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0607140569999 meters Centerline goodness [0,1] 0.9915802027429934 Centerline is valid? [True, True] Translation: X:888.22, Y:-66.20, Z:3.05 [[ 9.99993003e-01 2.73320245e-03 -2.55410420e-03 8.88218827e+02] [-2.73305635e-03 9.99996263e-01 6.06918645e-05 -6.62014566e+01] [ 2.55426054e-03 -5.37109291e-05 9.99996736e-01 3.04605643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0907140569999 meters Centerline goodness [0,1] 0.9918623520427644 Centerline is valid? [True, True] Translation: X:888.25, Y:-66.20, Z:3.05 [[ 9.99994041e-01 7.06400111e-04 -3.37923876e-03 8.88247707e+02] [-7.06133318e-04 9.99999747e-01 8.01431908e-05 -6.62033383e+01] [ 3.37929452e-03 -7.77565202e-05 9.99994287e-01 3.04542529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.120714057 meters Centerline goodness [0,1] 0.9914973682330245 Centerline is valid? [True, True] Translation: X:888.28, Y:-66.20, Z:3.05 [[ 9.99993470e-01 1.50735499e-04 -3.61082183e-03 8.88276195e+02] [-1.50428094e-04 9.99999985e-01 8.54058089e-05 -6.62049522e+01] [ 3.61083465e-03 -8.48620822e-05 9.99993477e-01 3.04513555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.150714057 meters Centerline goodness [0,1] 0.9916670634731679 Centerline is valid? [True, True] Translation: X:888.31, Y:-66.21, Z:3.04 [[ 9.99989387e-01 3.30322182e-04 -4.59523900e-03 8.88305103e+02] [-3.29826683e-04 9.99999940e-01 1.08586154e-04 -6.62065289e+01] [ 4.59527459e-03 -1.07069369e-04 9.99989436e-01 3.04360738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1807140569999 meters Centerline goodness [0,1] 0.9912372857074638 Centerline is valid? [True, True] Translation: X:888.33, Y:-66.21, Z:3.04 [[ 9.99987896e-01 8.12825647e-04 -4.85245744e-03 8.88332541e+02] [-8.12281291e-04 9.99999664e-01 1.14151272e-04 -6.62073505e+01] [ 4.85254859e-03 -1.10208330e-04 9.99988220e-01 3.04303305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2107140569999 meters Centerline goodness [0,1] 0.9914338208976592 Centerline is valid? [True, True] Translation: X:888.36, Y:-66.20, Z:3.04 [[ 9.99985855e-01 2.02888338e-03 -4.91660543e-03 8.88361385e+02] [-2.02834809e-03 9.99997936e-01 1.13857954e-04 -6.62047181e+01] [ 4.91682629e-03 -1.03883756e-04 9.99987907e-01 3.04416017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2407140569999 meters Centerline goodness [0,1] 0.9920539945431047 Centerline is valid? [True, True] Translation: X:888.39, Y:-66.20, Z:3.05 [[ 9.99978021e-01 4.97159477e-03 -4.38654235e-03 8.88390392e+02] [-4.97120218e-03 9.99987638e-01 1.00396633e-04 -6.62028311e+01] [ 4.38698726e-03 -7.85880371e-05 9.99990374e-01 3.04542828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.270714057 meters Centerline goodness [0,1] 0.9921742657409396 Centerline is valid? [True, True] Translation: X:888.42, Y:-66.20, Z:3.05 [[ 9.99973554e-01 5.97594158e-03 -4.14482231e-03 8.88418479e+02] [-5.97559903e-03 9.99982141e-01 9.50223033e-05 -6.62046182e+01] [ 4.14531614e-03 -7.02519942e-05 9.99991406e-01 3.04526749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3007140569999 meters Centerline goodness [0,1] 0.9918089552238806 Centerline is valid? [True, True] Translation: X:888.45, Y:-66.20, Z:3.05 [[ 9.99966696e-01 7.38701458e-03 -3.46958382e-03 8.88447457e+02] [-7.38678384e-03 9.99972714e-01 7.93138532e-05 -6.62023780e+01] [ 3.47007504e-03 -5.36821461e-05 9.99993978e-01 3.04652290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3307140569999 meters Centerline goodness [0,1] 0.9920747036992698 Centerline is valid? [True, True] Translation: X:888.48, Y:-66.20, Z:3.05 [[ 9.99948743e-01 9.29094781e-03 -4.02366759e-03 8.88476508e+02] [-9.29065390e-03 9.99956837e-01 9.17331213e-05 -6.62018339e+01] [ 4.02434620e-03 -5.43459164e-05 9.99991901e-01 3.04662160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3607140569999 meters Centerline goodness [0,1] 0.9927588184685976 Centerline is valid? [True, True] Translation: X:888.51, Y:-66.20, Z:3.05 [[ 9.99943524e-01 9.88029624e-03 -3.91521302e-03 8.88505678e+02] [-9.88002361e-03 9.99951187e-01 8.89685246e-05 -6.62017999e+01] [ 3.91590094e-03 -5.02811029e-05 9.99992332e-01 3.04668877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.390714057 meters Centerline goodness [0,1] 0.9927924907810929 Centerline is valid? [True, True] Translation: X:888.53, Y:-66.20, Z:3.05 [[ 9.99934157e-01 1.07649431e-02 -3.97470873e-03 8.88533949e+02] [-1.07646702e-02 9.99942055e-01 9.00452323e-05 -6.62024997e+01] [ 3.97544775e-03 -4.72528747e-05 9.99992097e-01 3.04593273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4207140569999 meters Centerline goodness [0,1] 0.9927363658013812 Centerline is valid? [True, True] Translation: X:888.56, Y:-66.20, Z:3.05 [[ 9.99924456e-01 1.14998725e-02 -4.33989799e-03 8.88561576e+02] [-1.14995559e-02 9.99933873e-01 9.78998560e-05 -6.62033514e+01] [ 4.34073684e-03 -4.79855610e-05 9.99990578e-01 3.04544829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4507140569999 meters Centerline goodness [0,1] 0.9924792283449527 Centerline is valid? [True, True] Translation: X:888.59, Y:-66.20, Z:3.04 [[ 9.99912925e-01 1.25832952e-02 -3.97530838e-03 8.88589392e+02] [-1.25830396e-02 9.99920826e-01 8.93100993e-05 -6.62037105e+01] [ 3.97611745e-03 -3.92808601e-05 9.99992094e-01 3.04493204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4807140569999 meters Centerline goodness [0,1] 0.9924792283449527 Centerline is valid? [True, True] Translation: X:888.62, Y:-66.20, Z:3.04 [[ 9.99914219e-01 1.24800135e-02 -3.97531895e-03 8.88616834e+02] [-1.24797589e-02 9.99922121e-01 8.88392839e-05 -6.62042367e+01] [ 3.97611807e-03 -3.92206410e-05 9.99992094e-01 3.04483371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.510714057 meters Centerline goodness [0,1] 0.992921200526127 Centerline is valid? [True, True] Translation: X:888.65, Y:-66.20, Z:3.05 [[ 9.99898150e-01 1.36901664e-02 -4.03351366e-03 8.88645649e+02] [-1.36899148e-02 9.99906285e-01 8.99847921e-05 -6.62038688e+01] [ 4.03436756e-03 -3.47571687e-05 9.99991861e-01 3.04514938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.540714057 meters Centerline goodness [0,1] 0.9930247002054369 Centerline is valid? [True, True] Translation: X:888.67, Y:-66.20, Z:3.05 [[ 9.99881904e-01 1.49230047e-02 -3.67177415e-03 8.88673794e+02] [-1.49228060e-02 9.99888645e-01 8.15180564e-05 -6.62040233e+01] [ 3.67258178e-03 -2.67152562e-05 9.99993256e-01 3.04540493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5707140569999 meters Centerline goodness [0,1] 0.9931318352597698 Centerline is valid? [True, True] Translation: X:888.70, Y:-66.20, Z:3.05 [[ 9.99840378e-01 1.77211827e-02 -2.27547981e-03 8.88703059e+02] [-1.77211142e-02 9.99842967e-01 5.02967931e-05 -6.62025971e+01] [ 2.27601381e-03 -9.96472716e-06 9.99997410e-01 3.04658334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6007140569999 meters Centerline goodness [0,1] 0.9940787265666203 Centerline is valid? [True, True] Translation: X:888.73, Y:-66.20, Z:3.05 [[ 9.99808489e-01 1.94115715e-02 -2.48518176e-03 8.88730503e+02] [-1.94114956e-02 9.99811578e-01 5.46773988e-05 -6.62021890e+01] [ 2.48577487e-03 -6.42583286e-06 9.99996910e-01 3.04642970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.630714057 meters Centerline goodness [0,1] 0.9938206552979498 Centerline is valid? [True, True] Translation: X:888.76, Y:-66.20, Z:3.05 [[ 9.99776564e-01 2.10283393e-02 -2.15185818e-03 8.88759383e+02] [-2.10282864e-02 9.99778880e-01 4.72219893e-05 -6.62021196e+01] [ 2.15237536e-03 -1.96154825e-06 9.99997684e-01 3.04636836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.660714057 meters Centerline goodness [0,1] 0.9943331261058773 Centerline is valid? [True, True] Translation: X:888.79, Y:-66.20, Z:3.05 [[ 9.99720406e-01 2.35589709e-02 -2.02118779e-03 8.88787266e+02] [-2.35589301e-02 9.99722449e-01 4.39948645e-05 -6.62017182e+01] [ 2.02166328e-03 3.63445800e-06 9.99997956e-01 3.04663257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6907140569999 meters Centerline goodness [0,1] 0.9941804770571894 Centerline is valid? [True, True] Translation: X:888.81, Y:-66.20, Z:3.05 [[ 9.99702285e-01 2.43380100e-02 -1.73260414e-03 8.88814744e+02] [-2.43379816e-02 9.99703787e-01 3.74727109e-05 -6.62023977e+01] [ 1.73300293e-03 4.70653303e-06 9.99998498e-01 3.04682861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7207140569999 meters Centerline goodness [0,1] 0.9941502316030753 Centerline is valid? [True, True] Translation: X:888.84, Y:-66.20, Z:3.05 [[ 9.99677598e-01 2.53340409e-02 -1.69871462e-03 8.88842611e+02] [-2.53340152e-02 9.99679042e-01 3.66490056e-05 -6.62025562e+01] [ 1.69909787e-03 6.39807207e-06 9.99998557e-01 3.04690021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.750714057 meters Centerline goodness [0,1] 0.9938166973046529 Centerline is valid? [True, True] Translation: X:888.87, Y:-66.20, Z:3.05 [[ 9.99625633e-01 2.73364893e-02 -1.14502370e-03 8.88871620e+02] [-2.73364791e-02 9.99626288e-01 2.45831586e-05 -6.62032804e+01] [ 1.14526781e-03 6.72696103e-06 9.99999344e-01 3.04735011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.780714057 meters Centerline goodness [0,1] 0.994850176052121 Centerline is valid? [True, True] Translation: X:888.90, Y:-66.20, Z:3.05 [[ 9.99555307e-01 2.97695001e-02 -1.72182871e-03 8.88899923e+02] [-2.97694807e-02 9.99556790e-01 3.68741471e-05 -6.62016819e+01] [ 1.72216330e-03 1.44001971e-05 9.99998517e-01 3.04796444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8107140569999 meters Centerline goodness [0,1] 0.9950656318865574 Centerline is valid? [True, True] Translation: X:888.93, Y:-66.20, Z:3.05 [[ 9.99460467e-01 3.27904755e-02 -1.88681563e-03 8.88928928e+02] [-3.27904577e-02 9.99462248e-01 4.03706642e-05 -6.61996730e+01] [ 1.88712476e-03 2.15206654e-05 9.99998219e-01 3.04824579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8407140569999 meters Centerline goodness [0,1] 0.9964064970533276 Centerline is valid? [True, True] Translation: X:888.96, Y:-66.20, Z:3.05 [[ 9.99226337e-01 3.92905424e-02 -1.72672935e-03 8.88957158e+02] [-3.92905375e-02 9.99227828e-01 3.68052202e-05 -6.61956491e+01] [ 1.72684212e-03 3.10673789e-05 9.99998509e-01 3.04822807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.870714057 meters Centerline goodness [0,1] 0.9960984250083776 Centerline is valid? [True, True] Translation: X:888.99, Y:-66.20, Z:3.05 [[ 9.99127270e-01 4.17645068e-02 -6.50701570e-04 8.88985649e+02] [-4.17645073e-02 9.99127482e-01 1.29266118e-05 -6.61954894e+01] [ 6.50673695e-04 1.42609001e-05 9.99999788e-01 3.04774717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.900714057 meters Centerline goodness [0,1] 0.996744152641785 Centerline is valid? [True, True] Translation: X:889.01, Y:-66.20, Z:3.05 [[ 9.99066183e-01 4.32059564e-02 -8.65248611e-05 8.89014730e+02] [-4.32059564e-02 9.99066187e-01 9.40903283e-07 -6.61958208e+01] [ 8.64847157e-05 2.79836473e-06 9.99999996e-01 3.04775074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9307140569999 meters Centerline goodness [0,1] 0.9970332799004713 Centerline is valid? [True, True] Translation: X:889.04, Y:-66.19, Z:3.05 [[ 9.98911362e-01 4.66481322e-02 -2.07724285e-04 8.89043957e+02] [-4.66481323e-02 9.98911383e-01 4.15974452e-06 -6.61941660e+01] [ 2.07692197e-04 5.53473387e-06 9.99999978e-01 3.04722129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9607140569999 meters Centerline goodness [0,1] 0.9967873411651882 Centerline is valid? [True, True] Translation: X:889.07, Y:-66.20, Z:3.05 [[ 9.98924560e-01 4.63650973e-02 1.56823169e-05 8.89071429e+02] [-4.63650972e-02 9.98924561e-01 -1.30898338e-06 -6.61951397e+01] [-1.57261427e-05 5.80463495e-07 1.00000000e+00 3.04683134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9907140569999 meters Centerline goodness [0,1] 0.9971017964071857 Centerline is valid? [True, True] Translation: X:889.10, Y:-66.20, Z:3.05 [[ 9.98938002e-01 4.60743119e-02 -1.61816521e-04 8.89099298e+02] [-4.60743122e-02 9.98938015e-01 2.30043728e-06 -6.61960806e+01] [ 1.61750666e-04 5.15759071e-06 9.99999987e-01 3.04656961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.020714057 meters Centerline goodness [0,1] 0.9969816744520302 Centerline is valid? [True, True] Translation: X:889.13, Y:-66.20, Z:3.05 [[ 9.99089707e-01 4.26159726e-02 -1.90704516e-03 8.89128375e+02] [-4.26159784e-02 9.99091526e-01 3.76049272e-05 -6.61979957e+01] [ 1.90691523e-03 4.36998996e-05 9.99998181e-01 3.04523320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0507140569999 meters Centerline goodness [0,1] 0.9966023831171938 Centerline is valid? [True, True] Translation: X:889.16, Y:-66.20, Z:3.04 [[ 9.99169114e-01 4.06115478e-02 -3.43274633e-03 8.89156833e+02] [-4.06115557e-02 9.99175008e-01 6.74346206e-05 -6.61996785e+01] [ 3.43265297e-03 7.20305785e-05 9.99994106e-01 3.04373924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0807140569999 meters Centerline goodness [0,1] 0.9965831162935175 Centerline is valid? [True, True] Translation: X:889.18, Y:-66.20, Z:3.04 [[ 9.99252492e-01 3.84110581e-02 -4.36430113e-03 8.89184365e+02] [-3.84110495e-02 9.99262020e-01 8.58297031e-05 -6.62014389e+01] [ 4.36437717e-03 8.18718418e-05 9.99990473e-01 3.04171122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1107140569999 meters Centerline goodness [0,1] 0.996337259408216 Centerline is valid? [True, True] Translation: X:889.21, Y:-66.20, Z:3.04 [[ 9.99341091e-01 3.58391144e-02 -5.73950373e-03 8.89213284e+02] [-3.58390665e-02 9.99357568e-01 1.11215259e-04 -6.62037448e+01] [ 5.73980234e-03 9.45564776e-05 9.99983523e-01 3.04086108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.140714057 meters Centerline goodness [0,1] 0.9952943436089503 Centerline is valid? [True, True] Translation: X:889.24, Y:-66.21, Z:3.04 [[ 9.99476569e-01 3.17324726e-02 -6.29593876e-03 8.89241644e+02] [-3.17323320e-02 9.99496395e-01 1.22259005e-04 -6.62062167e+01] [ 6.29664768e-03 7.75898084e-05 9.99980173e-01 3.04070248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1707140569999 meters Centerline goodness [0,1] 0.9943561170085018 Centerline is valid? [True, True] Translation: X:889.27, Y:-66.21, Z:3.04 [[ 9.99532990e-01 2.99884326e-02 -5.87323133e-03 8.89269731e+02] [-2.99882836e-02 9.99550244e-01 1.13464651e-04 -6.62073292e+01] [ 5.87399244e-03 6.27164648e-05 9.99982746e-01 3.04087178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2007140569999 meters Centerline goodness [0,1] 0.9949507093051214 Centerline is valid? [True, True] Translation: X:889.30, Y:-66.21, Z:3.04 [[ 9.99593419e-01 2.80062634e-02 -5.35210416e-03 8.89297581e+02] [-2.80061137e-02 9.99607747e-01 1.02912944e-04 -6.62074484e+01] [ 5.35288698e-03 4.70205363e-05 9.99985672e-01 3.04049194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2307140569999 meters Centerline goodness [0,1] 0.9945209429745512 Centerline is valid? [True, True] Translation: X:889.33, Y:-66.21, Z:3.04 [[ 9.99702963e-01 2.39037608e-02 -4.75355208e-03 8.89326360e+02] [-2.39035979e-02 9.99714264e-01 9.10998170e-05 -6.62090117e+01] [ 4.75437144e-03 2.25542403e-05 9.99988698e-01 3.04235362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.260714057 meters Centerline goodness [0,1] 0.9931771059356768 Centerline is valid? [True, True] Translation: X:889.36, Y:-66.21, Z:3.04 [[ 9.99802645e-01 1.95193618e-02 -3.69664570e-03 8.89355487e+02] [-1.95192344e-02 9.99809479e-01 7.05320193e-05 -6.62125933e+01] [ 3.69731815e-03 1.63759444e-06 9.99993165e-01 3.04257538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.290714057 meters Centerline goodness [0,1] 0.9927506661225666 Centerline is valid? [True, True] Translation: X:889.38, Y:-66.22, Z:3.04 [[ 9.99868586e-01 1.57757413e-02 -3.73314998e-03 8.89383407e+02] [-1.57755867e-02 9.99875555e-01 7.08486020e-05 -6.62153906e+01] [ 3.73380309e-03 -1.19466604e-05 9.99993029e-01 3.04232832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3207140569999 meters Centerline goodness [0,1] 0.9919469218010049 Centerline is valid? [True, True] Translation: X:889.41, Y:-66.22, Z:3.04 [[ 9.99952267e-01 8.57105316e-03 -4.69052497e-03 8.89411526e+02] [-8.57073269e-03 9.99963267e-01 8.84201681e-05 -6.62190804e+01] [ 4.69111052e-03 -4.82147119e-05 9.99988996e-01 3.04134245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3507140569999 meters Centerline goodness [0,1] 0.9912124422187981 Centerline is valid? [True, True] Translation: X:889.44, Y:-66.22, Z:3.04 [[ 9.99974576e-01 5.14467993e-03 -4.93753015e-03 8.89440225e+02] [-5.14428379e-03 9.99986764e-01 9.29277996e-05 -6.62211080e+01] [ 4.93794288e-03 -6.75253807e-05 9.99987806e-01 3.04067587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.380714057 meters Centerline goodness [0,1] 0.9909403311465167 Centerline is valid? [True, True] Translation: X:889.47, Y:-66.22, Z:3.04 [[ 9.99981576e-01 2.55953641e-03 -5.50422910e-03 8.89468866e+02] [-2.55900692e-03 9.99996720e-01 1.03237440e-04 -6.62226108e+01] [ 5.50447529e-03 -8.91501773e-05 9.99984846e-01 3.03975763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.410714057 meters Centerline goodness [0,1] 0.9899802969868807 Centerline is valid? [True, True] Translation: X:889.50, Y:-66.22, Z:3.04 [[ 9.99978654e-01 -1.41795370e-03 -6.37821907e-03 8.89498307e+02] [ 1.41874521e-03 9.99998986e-01 1.19573410e-04 -6.62242059e+01] [ 6.37804306e-03 -1.28619925e-04 9.99979652e-01 3.03841021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4407140569999 meters Centerline goodness [0,1] 0.9895778300754047 Centerline is valid? [True, True] Translation: X:889.53, Y:-66.23, Z:3.04 [[ 9.99976215e-01 -3.54856272e-03 -5.91413079e-03 8.89527438e+02] [ 3.54927826e-03 9.99993695e-01 1.10496793e-04 -6.62259428e+01] [ 5.91370140e-03 -1.31485060e-04 9.99982505e-01 3.03824821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4707140569999 meters Centerline goodness [0,1] 0.9896244583533943 Centerline is valid? [True, True] Translation: X:889.56, Y:-66.23, Z:3.04 [[ 9.99960458e-01 -6.42128370e-03 -6.15221626e-03 8.89556868e+02] [ 6.42211251e-03 9.99979371e-01 1.14970991e-04 -6.62279499e+01] [ 6.15135108e-03 -1.54476670e-04 9.99981068e-01 3.03809932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.500714057 meters Centerline goodness [0,1] 0.9887637746017998 Centerline is valid? [True, True] Translation: X:889.59, Y:-66.23, Z:3.04 [[ 9.99941657e-01 -8.77777851e-03 -6.29555128e-03 8.89587212e+02] [ 8.77869345e-03 9.99961460e-01 1.17712366e-04 -6.62306171e+01] [ 6.29427539e-03 -1.72972213e-04 9.99980176e-01 3.03786414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.530714057 meters Centerline goodness [0,1] 0.9879200421839797 Centerline is valid? [True, True] Translation: X:889.62, Y:-66.23, Z:3.04 [[ 9.99927311e-01 -1.02462097e-02 -6.35513579e-03 8.89618898e+02] [ 1.02471738e-02 9.99947489e-01 1.19172004e-04 -6.62300884e+01] [ 6.35358101e-03 -1.84285523e-04 9.99979799e-01 3.03835394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5607140569999 meters Centerline goodness [0,1] 0.9884195697332919 Centerline is valid? [True, True] Translation: X:889.65, Y:-66.23, Z:3.04 [[ 9.99908541e-01 -1.16162673e-02 -6.92618238e-03 8.89650550e+02] [ 1.16174482e-02 9.99932507e-01 1.30292918e-04 -6.62325526e+01] [ 6.92420139e-03 -2.10745567e-04 9.99976005e-01 3.03752662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5907140569999 meters Centerline goodness [0,1] 0.988494175176183 Centerline is valid? [True, True] Translation: X:889.68, Y:-66.23, Z:3.04 [[ 9.99887676e-01 -1.27920200e-02 -7.81027469e-03 8.89683143e+02] [ 1.27935621e-02 9.99918148e-01 1.47519585e-04 -6.62337499e+01] [ 7.80774833e-03 -2.47424249e-04 9.99969488e-01 3.03733968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.620714057 meters Centerline goodness [0,1] 0.9881957773512476 Centerline is valid? [True, True] Translation: X:889.71, Y:-66.24, Z:3.04 [[ 9.99870521e-01 -1.36687310e-02 -8.49162423e-03 8.89714793e+02] [ 1.36705886e-02 9.99906540e-01 1.60750854e-04 -6.62351236e+01] [ 8.48863334e-03 -2.76815541e-04 9.99963933e-01 3.03685889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.650714057 meters Centerline goodness [0,1] 0.9879987493686717 Centerline is valid? [True, True] Translation: X:889.75, Y:-66.23, Z:3.04 [[ 9.99869347e-01 -1.37403654e-02 -8.51414615e-03 8.89747454e+02] [ 1.37422412e-02 9.99905558e-01 1.61854257e-04 -6.62344168e+01] [ 8.51111812e-03 -2.78836561e-04 9.99963741e-01 3.03701722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6807140569999 meters Centerline goodness [0,1] 0.9877175271608499 Centerline is valid? [True, True] Translation: X:889.78, Y:-66.24, Z:3.04 [[ 9.99881464e-01 -1.32101508e-02 -7.90885031e-03 8.89780166e+02] [ 1.32117590e-02 9.99912709e-01 1.51135338e-04 -6.62351636e+01] [ 7.90616343e-03 -2.55607248e-04 9.99968713e-01 3.03709548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7107140569999 meters Centerline goodness [0,1] 0.9879902195800172 Centerline is valid? [True, True] Translation: X:889.81, Y:-66.24, Z:3.04 [[ 9.99889942e-01 -1.26468535e-02 -7.75635152e-03 8.89811522e+02] [ 1.26483856e-02 9.99919995e-01 1.48509020e-04 -6.62363273e+01] [ 7.75385280e-03 -2.46598000e-04 9.99969908e-01 3.03664628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7407140569999 meters Centerline goodness [0,1] 0.9878072196620584 Centerline is valid? [True, True] Translation: X:889.84, Y:-66.24, Z:3.04 [[ 9.99895918e-01 -1.21364785e-02 -7.80122182e-03 8.89844137e+02] [ 1.21380178e-02 9.99926320e-01 1.49991107e-04 -6.62356987e+01] [ 7.79882667e-03 -2.44666864e-04 9.99969559e-01 3.03675398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.770714057 meters Centerline goodness [0,1] 0.9883631652190604 Centerline is valid? [True, True] Translation: X:889.88, Y:-66.24, Z:3.04 [[ 9.99901023e-01 -1.16283611e-02 -7.91997502e-03 8.89875808e+02] [ 1.16299360e-02 9.99932358e-01 1.52828111e-04 -6.62365979e+01] [ 7.91766216e-03 -2.44921787e-04 9.99968625e-01 3.03640674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8007140569999 meters Centerline goodness [0,1] 0.988412820266769 Centerline is valid? [True, True] Translation: X:889.91, Y:-66.24, Z:3.04 [[ 9.99902422e-01 -1.13508287e-02 -8.14273789e-03 8.89907531e+02] [ 1.13524890e-02 9.99935546e-01 1.57698315e-04 -6.62370475e+01] [ 8.14042305e-03 -2.50123269e-04 9.99966835e-01 3.03659422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8307140569999 meters Centerline goodness [0,1] 0.9877020632671198 Centerline is valid? [True, True] Translation: X:889.94, Y:-66.24, Z:3.04 [[ 9.99901830e-01 -1.16056927e-02 -7.85105278e-03 8.89938320e+02] [ 1.16072468e-02 9.99932622e-01 1.52407491e-04 -6.62411117e+01] [ 7.84875499e-03 -2.43521636e-04 9.99969168e-01 3.03573537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8607140569999 meters Centerline goodness [0,1] 0.9879740758521364 Centerline is valid? [True, True] Translation: X:889.97, Y:-66.24, Z:3.04 [[ 9.99899114e-01 -1.15723255e-02 -8.23670282e-03 8.89970497e+02] [ 1.15740400e-02 9.99933006e-01 1.60518038e-04 -6.62392887e+01] [ 8.23429344e-03 -2.55833772e-04 9.99966065e-01 3.03659416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.890714057 meters Centerline goodness [0,1] 0.9887168407154003 Centerline is valid? [True, True] Translation: X:890.00, Y:-66.24, Z:3.04 [[ 9.99897096e-01 -1.15601880e-02 -8.49462645e-03 8.90002481e+02] [ 1.15620162e-02 9.99933144e-01 1.66139550e-04 -6.62391893e+01] [ 8.49213793e-03 -2.64337462e-04 9.99963906e-01 3.03688999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9207140569999 meters Centerline goodness [0,1] 0.9866992009951677 Centerline is valid? [True, True] Translation: X:890.03, Y:-66.25, Z:3.03 [[ 9.99901913e-01 -1.12695749e-02 -8.31634066e-03 8.90033781e+02] [ 1.12713203e-02 9.99936463e-01 1.63030761e-04 -6.62484539e+01] [ 8.31397498e-03 -2.56750909e-04 9.99965405e-01 3.03280532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9507140569999 meters Centerline goodness [0,1] 0.9888013073151976 Centerline is valid? [True, True] Translation: X:890.07, Y:-66.24, Z:3.04 [[ 9.99897821e-01 -1.13455557e-02 -8.69635903e-03 8.90065852e+02] [ 1.13474729e-02 9.99935601e-01 1.71150705e-04 -6.62416087e+01] [ 8.69385719e-03 -2.69814915e-04 9.99962171e-01 3.03554105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9807140569999 meters Centerline goodness [0,1] 0.9888327316486161 Centerline is valid? [True, True] Translation: X:890.10, Y:-66.24, Z:3.03 [[ 9.99899189e-01 -1.11707011e-02 -8.76515357e-03 8.90097088e+02] [ 1.11726518e-02 9.99937569e-01 1.73616879e-04 -6.62428736e+01] [ 8.76266693e-03 -2.71529386e-04 9.99961570e-01 3.03462656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.010714057 meters Centerline goodness [0,1] 0.9891689830346018 Centerline is valid? [True, True] Translation: X:890.13, Y:-66.24, Z:3.03 [[ 9.99883838e-01 -1.21127137e-02 -9.25163473e-03 8.90128773e+02] [ 1.21149275e-02 9.99926595e-01 1.83285589e-04 -6.62442791e+01] [ 9.24873552e-03 -2.95347183e-04 9.99957186e-01 3.03452766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.040714057 meters Centerline goodness [0,1] 0.9881876557408472 Centerline is valid? [True, True] Translation: X:890.16, Y:-66.25, Z:3.03 [[ 9.99875591e-01 -1.31044183e-02 -8.77934281e-03 8.90160425e+02] [ 1.31064547e-02 9.99914092e-01 1.74459855e-04 -6.62462155e+01] [ 8.77630240e-03 -2.89504209e-04 9.99961446e-01 3.03418912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0707140569999 meters Centerline goodness [0,1] 0.9879780114722754 Centerline is valid? [True, True] Translation: X:890.19, Y:-66.25, Z:3.03 [[ 9.99859632e-01 -1.39095708e-02 -9.34025053e-03 8.90192810e+02] [ 1.39119176e-02 9.99903207e-01 1.86328407e-04 -6.62462197e+01] [ 9.33675471e-03 -3.16243049e-04 9.99956362e-01 3.03460416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1007140569999 meters Centerline goodness [0,1] 0.9885804386258302 Centerline is valid? [True, True] Translation: X:890.22, Y:-66.25, Z:3.03 [[ 9.99841991e-01 -1.47420328e-02 -9.93310115e-03 8.90223623e+02] [ 1.47447324e-02 9.99891271e-01 1.98604634e-04 -6.62500725e+01] [ 9.92909329e-03 -3.45034171e-04 9.99950646e-01 3.03329113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.130714057 meters Centerline goodness [0,1] 0.9886485840602223 Centerline is valid? [True, True] Translation: X:890.26, Y:-66.25, Z:3.03 [[ 9.99842018e-01 -1.47984727e-02 -9.84603429e-03 8.90256058e+02] [ 1.48011354e-02 9.99890438e-01 1.97613712e-04 -6.62507762e+01] [ 9.84203115e-03 -3.43314978e-04 9.99951507e-01 3.03366662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.160714057 meters Centerline goodness [0,1] 0.9882951532379428 Centerline is valid? [True, True] Translation: X:890.29, Y:-66.25, Z:3.03 [[ 9.99837583e-01 -1.52574788e-02 -9.59253514e-03 8.90288606e+02] [ 1.52600336e-02 9.99883540e-01 1.93194232e-04 -6.62525128e+01] [ 9.58847034e-03 -3.39545263e-04 9.99953972e-01 3.03374578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1907140569999 meters Centerline goodness [0,1] 0.9874982071998852 Centerline is valid? [True, True] Translation: X:890.32, Y:-66.25, Z:3.03 [[ 9.99832613e-01 -1.55441621e-02 -9.65017390e-03 8.90319884e+02] [ 1.55467730e-02 9.99879122e-01 1.95587806e-04 -6.62546274e+01] [ 9.64596716e-03 -3.45584130e-04 9.99953417e-01 3.03350850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2207140569999 meters Centerline goodness [0,1] 0.9877696295057689 Centerline is valid? [True, True] Translation: X:890.35, Y:-66.26, Z:3.03 [[ 9.99833385e-01 -1.56094378e-02 -9.46295727e-03 8.90351655e+02] [ 1.56119559e-02 9.99878108e-01 1.92290639e-04 -6.62559728e+01] [ 9.45880226e-03 -3.39993872e-04 9.99955207e-01 3.03363816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.250714057 meters Centerline goodness [0,1] 0.9876979264278335 Centerline is valid? [True, True] Translation: X:890.38, Y:-66.26, Z:3.03 [[ 9.99827541e-01 -1.57184450e-02 -9.89028573e-03 8.90384345e+02] [ 1.57212078e-02 9.99876394e-01 2.01661943e-04 -6.62551004e+01] [ 9.88589341e-03 -3.57114402e-04 9.99951070e-01 3.03414387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.280714057 meters Centerline goodness [0,1] 0.9874473000976586 Centerline is valid? [True, True] Translation: X:890.42, Y:-66.26, Z:3.03 [[ 9.99817586e-01 -1.60810903e-02 -1.03050435e-02 8.90415203e+02] [ 1.60841137e-02 9.99870620e-01 2.10581553e-04 -6.62587222e+01] [ 1.03003239e-02 -3.76290632e-04 9.99946879e-01 3.03321769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3107140569999 meters Centerline goodness [0,1] 0.9863758260702998 Centerline is valid? [True, True] Translation: X:890.45, Y:-66.26, Z:3.03 [[ 9.99812484e-01 -1.60830137e-02 -1.07857954e-02 8.90447697e+02] [ 1.60863345e-02 9.99870582e-01 2.21196050e-04 -6.62591970e+01] [ 1.07808420e-02 -3.94658484e-04 9.99941807e-01 3.03266697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3407140569999 meters Centerline goodness [0,1] 0.9863339275103981 Centerline is valid? [True, True] Translation: X:890.48, Y:-66.26, Z:3.03 [[ 9.99806351e-01 -1.63012915e-02 -1.10239546e-02 8.90478900e+02] [ 1.63047793e-02 9.99867043e-01 2.26577283e-04 -6.62619493e+01] [ 1.10187954e-02 -4.06276553e-04 9.99939209e-01 3.03149467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.370714057 meters Centerline goodness [0,1] 0.9862161066463168 Centerline is valid? [True, True] Translation: X:890.51, Y:-66.27, Z:3.03 [[ 9.99786442e-01 -1.68008504e-02 -1.20333444e-02 8.90509517e+02] [ 1.68050462e-02 9.99858755e-01 2.47647595e-04 -6.62653684e+01] [ 1.20274841e-02 -4.49815616e-04 9.99927566e-01 3.03047303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.400714057 meters Centerline goodness [0,1] 0.9862161066463168 Centerline is valid? [True, True] Translation: X:890.54, Y:-66.27, Z:3.03 [[ 9.99787547e-01 -1.67350001e-02 -1.20333257e-02 8.90541235e+02] [ 1.67392021e-02 9.99859859e-01 2.48555603e-04 -6.62660876e+01] [ 1.20274797e-02 -4.49931068e-04 9.99927566e-01 3.03035960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4307140569999 meters Centerline goodness [0,1] 0.986716815844601 Centerline is valid? [True, True] Translation: X:890.57, Y:-66.27, Z:3.03 [[ 9.99770328e-01 -1.73079788e-02 -1.26382520e-02 8.90572887e+02] [ 1.73126666e-02 9.99850090e-01 2.61608300e-04 -6.62671570e+01] [ 1.26318295e-02 -4.80350059e-04 9.99920100e-01 3.03040853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4607140569999 meters Centerline goodness [0,1] 0.9870108203441537 Centerline is valid? [True, True] Translation: X:890.61, Y:-66.27, Z:3.03 [[ 9.99769185e-01 -1.72292736e-02 -1.28346377e-02 8.90605254e+02] [ 1.72341133e-02 9.99851446e-01 2.66573134e-04 -6.62682353e+01] [ 1.28281382e-02 -4.87705205e-04 9.99917597e-01 3.03052171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4907140569999 meters Centerline goodness [0,1] 0.9871559633027522 Centerline is valid? [True, True] Translation: X:890.64, Y:-66.27, Z:3.03 [[ 9.99767554e-01 -1.71453553e-02 -1.30719383e-02 8.90637657e+02] [ 1.71503797e-02 9.99852884e-01 2.72353543e-04 -6.62691314e+01] [ 1.30653456e-02 -4.96478940e-04 9.99914521e-01 3.03032873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.520714057 meters Centerline goodness [0,1] 0.9870061625185115 Centerline is valid? [True, True] Translation: X:890.67, Y:-66.27, Z:3.03 [[ 9.99772575e-01 -1.65969336e-02 -1.33917778e-02 8.90668541e+02] [ 1.66021657e-02 9.99862135e-01 2.79606061e-04 -6.62712049e+01] [ 1.33852910e-02 -5.01874986e-04 9.99910287e-01 3.03010672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5507140569999 meters Centerline goodness [0,1] 0.9872822383260547 Centerline is valid? [True, True] Translation: X:890.70, Y:-66.27, Z:3.03 [[ 9.99776776e-01 -1.63093368e-02 -1.34314495e-02 8.90700543e+02] [ 1.63145863e-02 9.99866869e-01 2.81352778e-04 -6.62718476e+01] [ 1.34250727e-02 -5.00418514e-04 9.99909754e-01 3.03025758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5807140569999 meters Centerline goodness [0,1] 0.9878220587884142 Centerline is valid? [True, True] Translation: X:890.73, Y:-66.27, Z:3.03 [[ 9.99773327e-01 -1.64373664e-02 -1.35317079e-02 8.90731780e+02] [ 1.64427269e-02 9.99864769e-01 2.84979627e-04 -6.62735669e+01] [ 1.35251936e-02 -5.07413206e-04 9.99908402e-01 3.03055315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6107140569999 meters Centerline goodness [0,1] 0.9870660801377068 Centerline is valid? [True, True] Translation: X:890.76, Y:-66.27, Z:3.03 [[ 9.99776426e-01 -1.56146509e-02 -1.42576252e-02 8.90762339e+02] [ 1.56205170e-02 9.99877947e-01 3.00161717e-04 -6.62739781e+01] [ 1.42511981e-02 -5.22806085e-04 9.99898310e-01 3.03029250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.640714057 meters Centerline goodness [0,1] 0.9885368305173982 Centerline is valid? [True, True] Translation: X:890.79, Y:-66.27, Z:3.03 [[ 9.99771840e-01 -1.54675185e-02 -1.47317559e-02 8.90793424e+02] [ 1.54737736e-02 9.99880226e-01 3.10698496e-04 -6.62706401e+01] [ 1.47251857e-02 -5.38583461e-04 9.99891434e-01 3.03256358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6707140569999 meters Centerline goodness [0,1] 0.9887452906671753 Centerline is valid? [True, True] Translation: X:890.82, Y:-66.27, Z:3.03 [[ 9.99770741e-01 -1.53938837e-02 -1.48826561e-02 8.90824793e+02] [ 1.54002671e-02 9.99881359e-01 3.14402508e-04 -6.62690320e+01] [ 1.48760505e-02 -5.43527307e-04 9.99889198e-01 3.03359184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7007140569999 meters Centerline goodness [0,1] 0.9900350573884646 Centerline is valid? [True, True] Translation: X:890.86, Y:-66.27, Z:3.03 [[ 9.99771175e-01 -1.37016152e-02 -1.64275333e-02 8.90856199e+02] [ 1.37091741e-02 9.99905964e-01 3.47606010e-04 -6.62676068e+01] [ 1.64212257e-02 -5.72734383e-04 9.99864999e-01 3.03376355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7307140569999 meters Centerline goodness [0,1] 0.989419762543087 Centerline is valid? [True, True] Translation: X:890.89, Y:-66.27, Z:3.03 [[ 9.99774683e-01 -1.27570106e-02 -1.69658920e-02 8.90886025e+02] [ 1.27649228e-02 9.99918461e-01 3.58145610e-04 -6.62669282e+01] [ 1.69599397e-02 -5.74633215e-04 9.99856005e-01 3.03364186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.760714057 meters Centerline goodness [0,1] 0.9898389982110912 Centerline is valid? [True, True] Translation: X:890.92, Y:-66.27, Z:3.03 [[ 9.99792362e-01 -1.04285949e-02 -1.75065157e-02 8.90915060e+02] [ 1.04366524e-02 9.99945469e-01 3.68954617e-04 -6.62673561e+01] [ 1.75017134e-02 -5.51587427e-04 9.99846681e-01 3.03239113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.790714057 meters Centerline goodness [0,1] 0.9895359417652412 Centerline is valid? [True, True] Translation: X:890.94, Y:-66.26, Z:3.03 [[ 9.99801909e-01 -9.50617098e-03 -1.74864266e-02 8.90944375e+02] [ 9.51398813e-03 9.99954675e-01 3.63904241e-04 -6.62646995e+01] [ 1.74821747e-02 -5.30197810e-04 9.99847035e-01 3.03377133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8207140569999 meters Centerline goodness [0,1] 0.989584580390279 Centerline is valid? [True, True] Translation: X:890.97, Y:-66.27, Z:3.03 [[ 9.99816125e-01 -8.43574043e-03 -1.72207700e-02 8.90972111e+02] [ 8.44314611e-03 9.99964292e-01 3.57383328e-04 -6.62656382e+01] [ 1.72171403e-02 -5.02715091e-04 9.99851648e-01 3.03338316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8507140569999 meters Centerline goodness [0,1] 0.9902607527526567 Centerline is valid? [True, True] Translation: X:891.00, Y:-66.26, Z:3.04 [[ 9.99840752e-01 -6.32553794e-03 -1.66870748e-02 8.91001523e+02] [ 6.33212599e-03 9.99979893e-01 3.41992539e-04 -6.62621226e+01] [ 1.66845760e-02 -4.47602738e-04 9.99860703e-01 3.03638586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.880714057 meters Centerline goodness [0,1] 0.9910485012839281 Centerline is valid? [True, True] Translation: X:891.03, Y:-66.26, Z:3.04 [[ 9.99860893e-01 -5.67473916e-03 -1.56841469e-02 8.91030727e+02] [ 5.68042244e-03 9.99983816e-01 3.17832273e-04 -6.62610476e+01] [ 1.56820895e-02 -4.06880640e-04 9.99876946e-01 3.03761020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.910714057 meters Centerline goodness [0,1] 0.9910869146270957 Centerline is valid? [True, True] Translation: X:891.06, Y:-66.26, Z:3.04 [[ 9.99861357e-01 -5.05845728e-03 -1.58644140e-02 8.91059329e+02] [ 5.06413222e-03 9.99987127e-01 3.17563042e-04 -6.62597087e+01] [ 1.58626034e-02 -3.97858504e-04 9.99874102e-01 3.03831248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9407140569999 meters Centerline goodness [0,1] 0.9912014270562144 Centerline is valid? [True, True] Translation: X:891.09, Y:-66.26, Z:3.04 [[ 9.99866627e-01 -4.53298683e-03 -1.56901566e-02 8.91087704e+02] [ 4.53841352e-03 9.99989653e-01 3.10276474e-04 -6.62590127e+01] [ 1.56885878e-02 -3.81443510e-04 9.99876854e-01 3.03878500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9707140569999 meters Centerline goodness [0,1] 0.9911941165086123 Centerline is valid? [True, True] Translation: X:891.12, Y:-66.26, Z:3.04 [[ 9.99869876e-01 -3.67133152e-03 -1.57083376e-02 8.91116082e+02] [ 3.67660370e-03 9.99993194e-01 3.06763569e-04 -6.62574672e+01] [ 1.57071045e-02 -3.64476984e-04 9.99876569e-01 3.03921492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.000714057 meters Centerline goodness [0,1] 0.9914833043813935 Centerline is valid? [True, True] Translation: X:891.14, Y:-66.26, Z:3.04 [[ 9.99864888e-01 -4.08858120e-03 -1.59213538e-02 8.91144250e+02] [ 4.09397713e-03 9.99991573e-01 3.06333440e-04 -6.62575542e+01] [ 1.59199672e-02 -3.71473709e-04 9.99873200e-01 3.03858302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.030714057 meters Centerline goodness [0,1] 0.9909193824216586 Centerline is valid? [True, True] Translation: X:891.17, Y:-66.26, Z:3.04 [[ 9.99860880e-01 -4.39327361e-03 -1.60910077e-02 8.91172577e+02] [ 4.39875240e-03 9.99990279e-01 3.05110720e-04 -6.62585980e+01] [ 1.60895109e-02 -3.75848631e-04 9.99870485e-01 3.03781643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0607140569999 meters Centerline goodness [0,1] 0.9914031834709948 Centerline is valid? [True, True] Translation: X:891.20, Y:-66.26, Z:3.04 [[ 9.99857688e-01 -5.16975994e-03 -1.60585723e-02 8.91200397e+02] [ 5.17530539e-03 9.99986562e-01 3.03788624e-04 -6.62593107e+01] [ 1.60567860e-02 -3.86853407e-04 9.99871007e-01 3.03794230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0907140569999 meters Centerline goodness [0,1] 0.9904335044217933 Centerline is valid? [True, True] Translation: X:891.23, Y:-66.26, Z:3.04 [[ 9.99861443e-01 -5.97850890e-03 -1.55354894e-02 8.91228026e+02] [ 5.98376245e-03 9.99982055e-01 2.91703007e-04 -6.62603118e+01] [ 1.55334667e-02 -3.84623268e-04 9.99879274e-01 3.03815708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.120714057 meters Centerline goodness [0,1] 0.9899874541594287 Centerline is valid? [True, True] Translation: X:891.26, Y:-66.26, Z:3.04 [[ 9.99854198e-01 -6.62540859e-03 -1.57380917e-02 8.91256377e+02] [ 6.63081452e-03 9.99977973e-01 2.91336287e-04 -6.62607478e+01] [ 1.57358148e-02 -3.95650176e-04 9.99876106e-01 3.03881044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.150714057 meters Centerline goodness [0,1] 0.9907084225982716 Centerline is valid? [True, True] Translation: X:891.28, Y:-66.26, Z:3.04 [[ 9.99849560e-01 -8.08137111e-03 -1.53475816e-02 8.91284614e+02] [ 8.08662642e-03 9.99967263e-01 2.80390566e-04 -6.62622154e+01] [ 1.53448132e-02 -4.04458542e-04 9.99882180e-01 3.03916291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1807140569999 meters Centerline goodness [0,1] 0.9905249741480894 Centerline is valid? [True, True] Translation: X:891.31, Y:-66.26, Z:3.04 [[ 9.99848728e-01 -8.79441977e-03 -1.50059900e-02 8.91312003e+02] [ 8.79951278e-03 9.99961246e-01 2.73404776e-04 -6.62639704e+01] [ 1.50030040e-02 -4.05408818e-04 9.99887366e-01 3.03878567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2107140569999 meters Centerline goodness [0,1] 0.9908986119782911 Centerline is valid? [True, True] Translation: X:891.34, Y:-66.26, Z:3.04 [[ 9.99832636e-01 -1.02720839e-02 -1.51388329e-02 8.91340977e+02] [ 1.02773718e-02 9.99947150e-01 2.71536894e-04 -6.62638749e+01] [ 1.51352436e-02 -4.27078863e-04 9.99885364e-01 3.04006081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2407140569999 meters Centerline goodness [0,1] 0.9905326299053263 Centerline is valid? [True, True] Translation: X:891.37, Y:-66.27, Z:3.04 [[ 9.99823394e-01 -1.14200144e-02 -1.49252925e-02 8.91371021e+02] [ 1.14252852e-02 9.99934693e-01 2.67920030e-04 -6.62652020e+01] [ 1.49212581e-02 -4.38398437e-04 9.99888576e-01 3.04084424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.270714057 meters Centerline goodness [0,1] 0.989480019258546 Centerline is valid? [True, True] Translation: X:891.40, Y:-66.27, Z:3.04 [[ 9.99825342e-01 -1.19249963e-02 -1.43902941e-02 8.91400632e+02] [ 1.19299497e-02 9.99928802e-01 2.58423663e-04 -6.62684529e+01] [ 1.43861879e-02 -4.30054012e-04 9.99896421e-01 3.03956702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3007140569999 meters Centerline goodness [0,1] 0.9892068212889454 Centerline is valid? [True, True] Translation: X:891.43, Y:-66.27, Z:3.04 [[ 9.99829540e-01 -1.21910265e-02 -1.38661650e-02 8.91430128e+02] [ 1.21956472e-02 9.99925599e-01 2.48723457e-04 -6.62700922e+01] [ 1.38621011e-02 -4.17787916e-04 9.99903829e-01 3.03922717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3307140569999 meters Centerline goodness [0,1] 0.9900619328820395 Centerline is valid? [True, True] Translation: X:891.46, Y:-66.27, Z:3.04 [[ 9.99847399e-01 -1.13133808e-02 -1.33111136e-02 8.91460746e+02] [ 1.13175620e-02 9.99935926e-01 2.38824440e-04 -6.62679778e+01] [ 1.33075588e-02 -3.89437348e-04 9.99911375e-01 3.04073048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3607140569999 meters Centerline goodness [0,1] 0.9891249428578303 Centerline is valid? [True, True] Translation: X:891.49, Y:-66.27, Z:3.04 [[ 9.99862742e-01 -1.04512698e-02 -1.28556407e-02 8.91490917e+02] [ 1.04550950e-02 9.99945317e-01 2.30376631e-04 -6.62682751e+01] [ 1.28525300e-02 -3.64751955e-04 9.99917336e-01 3.04040176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.390714057 meters Centerline goodness [0,1] 0.9896019300361881 Centerline is valid? [True, True] Translation: X:891.52, Y:-66.27, Z:3.04 [[ 9.99871635e-01 -9.36519696e-03 -1.30002829e-02 8.91521267e+02] [ 9.36901777e-03 9.99956083e-01 2.33029365e-04 -6.62657935e+01] [ 1.29975296e-02 -3.54799333e-04 9.99915466e-01 3.04143511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4207140569999 meters Centerline goodness [0,1] 0.9912976399971073 Centerline is valid? [True, True] Translation: X:891.55, Y:-66.27, Z:3.04 [[ 9.99879509e-01 -8.54506302e-03 -1.29595069e-02 8.91550921e+02] [ 8.54878357e-03 9.99963432e-01 2.31720171e-04 -6.62653522e+01] [ 1.29570530e-02 -3.42480271e-04 9.99915995e-01 3.04160802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4507140569999 meters Centerline goodness [0,1] 0.9906715967036419 Centerline is valid? [True, True] Translation: X:891.58, Y:-66.26, Z:3.04 [[ 9.99900456e-01 -6.75155412e-03 -1.23893325e-02 8.91580716e+02] [ 6.75481147e-03 9.99977162e-01 2.21088194e-04 -6.62639895e+01] [ 1.23875568e-02 -3.04753791e-04 9.99923225e-01 3.04137831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4807140569999 meters Centerline goodness [0,1] 0.991660422055162 Centerline is valid? [True, True] Translation: X:891.61, Y:-66.26, Z:3.04 [[ 9.99903798e-01 -6.65936840e-03 -1.21675153e-02 8.91609582e+02] [ 6.66245830e-03 9.99977783e-01 2.13430134e-04 -6.62642691e+01] [ 1.21658236e-02 -2.94475165e-04 9.99925950e-01 3.04139351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.510714057 meters Centerline goodness [0,1] 0.9906362082661339 Centerline is valid? [True, True] Translation: X:891.64, Y:-66.27, Z:3.04 [[ 9.99902405e-01 -6.73870062e-03 -1.22380965e-02 8.91638196e+02] [ 6.74179642e-03 9.99977251e-01 2.11726561e-04 -6.62652359e+01] [ 1.22363914e-02 -2.94212653e-04 9.99925089e-01 3.04104988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.540714057 meters Centerline goodness [0,1] 0.9914696739680474 Centerline is valid? [True, True] Translation: X:891.67, Y:-66.27, Z:3.04 [[ 9.99899744e-01 -6.87573276e-03 -1.23784493e-02 8.91666814e+02] [ 6.87887388e-03 9.99976318e-01 2.11197937e-04 -6.62666867e+01] [ 1.23767040e-02 -2.96326554e-04 9.99923362e-01 3.04035814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5707140569999 meters Centerline goodness [0,1] 0.9909942537061182 Centerline is valid? [True, True] Translation: X:891.70, Y:-66.27, Z:3.04 [[ 9.99901021e-01 -7.02328005e-03 -1.21910586e-02 8.91695627e+02] [ 7.02630073e-03 9.99975294e-01 2.04965140e-04 -6.62665338e+01] [ 1.21893178e-02 -2.90602897e-04 9.99925665e-01 3.04069632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6007140569999 meters Centerline goodness [0,1] 0.9919576209968697 Centerline is valid? [True, True] Translation: X:891.72, Y:-66.27, Z:3.04 [[ 9.99901436e-01 -6.62074064e-03 -1.23808041e-02 8.91724540e+02] [ 6.62382366e-03 9.99978041e-01 2.08026666e-04 -6.62694506e+01] [ 1.23791549e-02 -2.90014425e-04 9.99923333e-01 3.03955768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.630714057 meters Centerline goodness [0,1] 0.9923511244088409 Centerline is valid? [True, True] Translation: X:891.75, Y:-66.27, Z:3.04 [[ 9.99910585e-01 -6.15201398e-03 -1.18733019e-02 8.91753697e+02] [ 6.15477356e-03 9.99981040e-01 1.95892551e-04 -6.62675918e+01] [ 1.18718717e-02 -2.68952520e-04 9.99929491e-01 3.04130677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.660714057 meters Centerline goodness [0,1] 0.9909808071576315 Centerline is valid? [True, True] Translation: X:891.78, Y:-66.27, Z:3.04 [[ 9.99915948e-01 -6.05041513e-03 -1.14669261e-02 8.91781805e+02] [ 6.05297009e-03 9.99981663e-01 1.88118246e-04 -6.62711146e+01] [ 1.14655776e-02 -2.57511395e-04 9.99934235e-01 3.03955773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6907140569999 meters Centerline goodness [0,1] 0.9916905513138563 Centerline is valid? [True, True] Translation: X:891.81, Y:-66.27, Z:3.04 [[ 9.99922510e-01 -5.36772700e-03 -1.12321359e-02 8.91810664e+02] [ 5.37009991e-03 9.99985565e-01 1.81111854e-04 -6.62692480e+01] [ 1.12310016e-02 -2.41415512e-04 9.99936901e-01 3.04166753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7207140569999 meters Centerline goodness [0,1] 0.9923923249151358 Centerline is valid? [True, True] Translation: X:891.84, Y:-66.27, Z:3.04 [[ 9.99925523e-01 -4.97533220e-03 -1.11442878e-02 8.91839183e+02] [ 4.97761312e-03 9.99987596e-01 1.76944366e-04 -6.62691045e+01] [ 1.11432692e-02 -2.32403141e-04 9.99937885e-01 3.04226587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.750714057 meters Centerline goodness [0,1] 0.9921284483173656 Centerline is valid? [True, True] Translation: X:891.87, Y:-66.27, Z:3.04 [[ 9.99930400e-01 -4.87638999e-03 -1.07432218e-02 8.91866943e+02] [ 4.87849371e-03 9.99988086e-01 1.69620672e-04 -6.62698774e+01] [ 1.07422666e-02 -2.22019606e-04 9.99942276e-01 3.04229718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.780714057 meters Centerline goodness [0,1] 0.9918409588678427 Centerline is valid? [True, True] Translation: X:891.89, Y:-66.27, Z:3.04 [[ 9.99934436e-01 -4.49922501e-03 -1.05299428e-02 8.91894909e+02] [ 4.50121698e-03 9.99989856e-01 1.65480029e-04 -6.62726449e+01] [ 1.05290915e-02 -2.12866737e-04 9.99944545e-01 3.04129601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8107140569999 meters Centerline goodness [0,1] 0.9924609843937575 Centerline is valid? [True, True] Translation: X:891.92, Y:-66.27, Z:3.04 [[ 9.99936757e-01 -3.69049159e-03 -1.06236727e-02 8.91923845e+02] [ 3.69244122e-03 9.99993169e-01 1.63909032e-04 -6.62715329e+01] [ 1.06229952e-02 -2.03125953e-04 9.99943554e-01 3.04254869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8407140569999 meters Centerline goodness [0,1] 0.9929443494593879 Centerline is valid? [True, True] Translation: X:891.95, Y:-66.27, Z:3.04 [[ 9.99935536e-01 -2.55910270e-03 -1.10622749e-02 8.91952282e+02] [ 2.56111901e-03 9.99996706e-01 1.68106509e-04 -6.62711259e+01] [ 1.10618082e-02 -1.96427474e-04 9.99938797e-01 3.04259886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.870714057 meters Centerline goodness [0,1] 0.99283940497143 Centerline is valid? [True, True] Translation: X:891.98, Y:-66.27, Z:3.04 [[ 9.99935228e-01 -1.12677071e-03 -1.13256302e-02 8.91979706e+02] [ 1.12878096e-03 9.99999348e-01 1.71104869e-04 -6.62704305e+01] [ 1.13254300e-02 -1.83877942e-04 9.99935848e-01 3.04227713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.900714057 meters Centerline goodness [0,1] 0.9933075622130949 Centerline is valid? [True, True] Translation: X:892.01, Y:-66.27, Z:3.04 [[ 9.99927761e-01 2.45469746e-03 -1.17663621e-02 8.92007781e+02] [-2.45278504e-03 9.99996976e-01 1.76960583e-04 -6.62679653e+01] [ 1.17667609e-02 -1.48087443e-04 9.99930758e-01 3.04205962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9307140569999 meters Centerline goodness [0,1] 0.9946323653860103 Centerline is valid? [True, True] Translation: X:892.04, Y:-66.27, Z:3.04 [[ 9.99918310e-01 4.52211485e-03 -1.19550380e-02 8.92037017e+02] [-4.52032415e-03 9.99989768e-01 1.76802967e-04 -6.62666893e+01] [ 1.19557152e-02 -1.22747877e-04 9.99928520e-01 3.04197846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9607140569999 meters Centerline goodness [0,1] 0.9958317177200465 Centerline is valid? [True, True] Translation: X:892.07, Y:-66.26, Z:3.04 [[ 9.99907077e-01 6.83709579e-03 -1.17936650e-02 8.92065357e+02] [-6.83554843e-03 9.99976623e-01 1.71508196e-04 -6.62642220e+01] [ 1.17945619e-02 -9.08760905e-05 9.99930438e-01 3.04341234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9907140569999 meters Centerline goodness [0,1] 0.9960150649981776 Centerline is valid? [True, True] Translation: X:892.09, Y:-66.26, Z:3.04 [[ 9.99843517e-01 1.34300658e-02 -1.15140948e-02 8.92093648e+02] [-1.34290595e-02 9.99909813e-01 1.64710731e-04 -6.62595677e+01] [ 1.15152685e-02 -1.00614923e-05 9.99933697e-01 3.04417073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.020714057 meters Centerline goodness [0,1] 0.9962755598831549 Centerline is valid? [True, True] Translation: X:892.12, Y:-66.26, Z:3.04 [[ 9.99784316e-01 1.74531100e-02 -1.12565683e-02 8.92120296e+02] [-1.74524134e-02 9.99847682e-01 1.60122856e-04 -6.62567978e+01] [ 1.12576484e-02 3.63659637e-05 9.99936630e-01 3.04446283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0507140569999 meters Centerline goodness [0,1] 0.998641600970285 Centerline is valid? [True, True] Translation: X:892.15, Y:-66.25, Z:3.04 [[ 9.99597355e-01 2.64274914e-02 -1.03302872e-02 8.92148226e+02] [-2.64273977e-02 9.99650725e-01 1.45603715e-04 -6.62481694e+01] [ 1.03305271e-02 1.27457520e-04 9.99946631e-01 3.04376430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0807140569999 meters Centerline goodness [0,1] 0.998297168434368 Centerline is valid? [True, True] Translation: X:892.18, Y:-66.25, Z:3.05 [[ 9.99499842e-01 3.00674559e-02 -9.79862881e-03 8.92176539e+02] [-3.00675531e-02 9.99547859e-01 1.37422327e-04 -6.62483097e+01] [ 9.79833039e-03 1.57267199e-04 9.99951983e-01 3.04543798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1107140569999 meters Centerline goodness [0,1] 0.9984206434055788 Centerline is valid? [True, True] Translation: X:892.21, Y:-66.25, Z:3.05 [[ 9.99387635e-01 3.37520312e-02 -9.22800159e-03 8.92205131e+02] [-3.37523005e-02 9.99430221e-01 1.26596605e-04 -6.62488115e+01] [ 9.22701656e-03 1.84947201e-04 9.99957413e-01 3.04720696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.140714057 meters Centerline goodness [0,1] 0.9992735725701003 Centerline is valid? [True, True] Translation: X:892.23, Y:-66.24, Z:3.05 [[ 9.99262691e-01 3.72711469e-02 -9.21606561e-03 8.92232626e+02] [-3.72715748e-02 9.99305166e-01 1.25376526e-04 -6.62437859e+01] [ 9.21433490e-03 2.18213194e-04 9.99957523e-01 3.04514523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1707140569999 meters Centerline goodness [0,1] 0.9994895230686957 Centerline is valid? [True, True] Translation: X:892.26, Y:-66.25, Z:3.05 [[ 9.99029213e-01 4.28707865e-02 -1.01353987e-02 8.92262960e+02] [-4.28715883e-02 9.99080581e-01 1.38243054e-04 -6.62451689e+01] [ 1.01320066e-02 2.96411789e-04 9.99948626e-01 3.04703419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2007140569999 meters Centerline goodness [0,1] 0.999295654919486 Centerline is valid? [True, True] Translation: X:892.29, Y:-66.24, Z:3.05 [[ 9.98874139e-01 4.62598306e-02 -1.05110194e-02 8.92292780e+02] [-4.62608846e-02 9.98929382e-01 1.42958078e-04 -6.62434626e+01] [ 1.05063793e-02 3.43451929e-04 9.99944747e-01 3.04701060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2307140569999 meters Centerline goodness [0,1] 0.9996840288748997 Centerline is valid? [True, True] Translation: X:892.32, Y:-66.24, Z:3.05 [[ 9.98717508e-01 4.94103172e-02 -1.10435729e-02 8.92322275e+02] [-4.94116771e-02 9.98778486e-01 1.49841497e-04 -6.62416199e+01] [ 1.10374868e-02 3.96032134e-04 9.99939007e-01 3.04684212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.260714057 meters Centerline goodness [0,1] 0.999315537303217 Centerline is valid? [True, True] Translation: X:892.35, Y:-66.24, Z:3.05 [[ 9.98449901e-01 5.46690339e-02 -1.04446859e-02 8.92352861e+02] [-5.46705364e-02 9.98504438e-01 1.41827949e-04 -6.62444776e+01] [ 1.04368188e-02 4.29408478e-04 9.99945443e-01 3.04844632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.290714057 meters Centerline goodness [0,1] 0.999315537303217 Centerline is valid? [True, True] Translation: X:892.38, Y:-66.24, Z:3.05 [[ 9.98465078e-01 5.43911408e-02 -1.04447383e-02 8.92380229e+02] [-5.43926688e-02 9.98519614e-01 1.37925737e-04 -6.62447840e+01] [ 1.04367780e-02 4.30403160e-04 9.99945443e-01 3.04834842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3207140569999 meters Centerline goodness [0,1] 0.999414805422803 Centerline is valid? [True, True] Translation: X:892.41, Y:-66.25, Z:3.05 [[ 9.98370515e-01 5.61332617e-02 -1.02650396e-02 8.92408994e+02] [-5.61348539e-02 9.98423187e-01 1.33174958e-04 -6.62451073e+01] [ 1.02563291e-02 4.43268548e-04 9.99947304e-01 3.04814775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3507140569999 meters Centerline goodness [0,1] 0.9988812413357006 Centerline is valid? [True, True] Translation: X:892.44, Y:-66.25, Z:3.05 [[ 9.98321768e-01 5.70586079e-02 -9.89763968e-03 8.92437677e+02] [-5.70601576e-02 9.98370734e-01 1.25976056e-04 -6.62461815e+01] [ 9.88870181e-03 4.38996241e-04 9.99951009e-01 3.04821881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.380714057 meters Centerline goodness [0,1] 0.9993184362981354 Centerline is valid? [True, True] Translation: X:892.47, Y:-66.25, Z:3.05 [[ 9.98348292e-01 5.66727390e-02 -9.42811870e-03 8.92465951e+02] [-5.66741499e-02 9.98392722e-01 1.17666957e-04 -6.62482709e+01] [ 9.41963360e-03 4.16858007e-04 9.99955547e-01 3.04916653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.410714057 meters Centerline goodness [0,1] 0.999489349285089 Centerline is valid? [True, True] Translation: X:892.49, Y:-66.25, Z:3.05 [[ 9.98427492e-01 5.52123297e-02 -9.70263430e-03 8.92493830e+02] [-5.52137627e-02 9.98474549e-01 1.20309116e-04 -6.62476432e+01] [ 9.69447596e-03 4.15599020e-04 9.99952921e-01 3.04888648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4407140569999 meters Centerline goodness [0,1] 0.9990539032555431 Centerline is valid? [True, True] Translation: X:892.52, Y:-66.25, Z:3.05 [[ 9.98528150e-01 5.33527736e-02 -9.74760661e-03 8.92522431e+02] [-5.33541580e-02 9.98575646e-01 1.18146841e-04 -6.62494559e+01] [ 9.74002602e-03 4.02102397e-04 9.99952484e-01 3.04874800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4707140569999 meters Centerline goodness [0,1] 0.9988111124590562 Centerline is valid? [True, True] Translation: X:892.55, Y:-66.25, Z:3.05 [[ 9.98666987e-01 5.06462557e-02 -9.96018476e-03 8.92551497e+02] [-5.06475880e-02 9.98716580e-01 1.18585088e-04 -6.62523574e+01] [ 9.95340755e-03 3.86032322e-04 9.99950389e-01 3.04858063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.500714057 meters Centerline goodness [0,1] 0.9985757049053688 Centerline is valid? [True, True] Translation: X:892.58, Y:-66.26, Z:3.05 [[ 9.99007449e-01 4.34689187e-02 -9.72469231e-03 8.92580418e+02] [-4.34698445e-02 9.99054733e-01 1.16257983e-04 -6.62579555e+01] [ 9.72055349e-03 3.06588271e-04 9.99952707e-01 3.04736027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.530714057 meters Centerline goodness [0,1] 0.9982207261360904 Centerline is valid? [True, True] Translation: X:892.61, Y:-66.26, Z:3.05 [[ 9.99183242e-01 3.92635710e-02 -9.55095287e-03 8.92610272e+02] [-3.92642733e-02 9.99228855e-01 1.14031690e-04 -6.62629389e+01] [ 9.54806498e-03 2.61072671e-04 9.99954382e-01 3.04799126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5607140569999 meters Centerline goodness [0,1] 0.9980326295585412 Centerline is valid? [True, True] Translation: X:892.64, Y:-66.26, Z:3.05 [[ 9.99361027e-01 3.46943751e-02 -8.59288828e-03 8.92639412e+02] [-3.46947779e-02 9.99397950e-01 1.02228746e-04 -6.62638024e+01] [ 8.59126169e-03 1.95964926e-04 9.99963075e-01 3.04674794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5907140569999 meters Centerline goodness [0,1] 0.9963331336129418 Centerline is valid? [True, True] Translation: X:892.67, Y:-66.27, Z:3.05 [[ 9.99639096e-01 2.59257597e-02 -7.03788612e-03 8.92669430e+02] [-2.59258149e-02 9.99663866e-01 8.34033421e-05 -6.62713236e+01] [ 7.03768274e-03 9.90896916e-05 9.99975230e-01 3.04794554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.620714057 meters Centerline goodness [0,1] 0.9957350967989266 Centerline is valid? [True, True] Translation: X:892.70, Y:-66.27, Z:3.05 [[ 9.99743340e-01 2.15847778e-02 -6.88128159e-03 8.92698041e+02] [-2.15847317e-02 9.99767019e-01 8.09736214e-05 -6.62736896e+01] [ 6.88142618e-03 6.75777782e-05 9.99976320e-01 3.04836924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.650714057 meters Centerline goodness [0,1] 0.9950617283950617 Centerline is valid? [True, True] Translation: X:892.73, Y:-66.28, Z:3.05 [[ 9.99823729e-01 1.74479351e-02 -6.93398754e-03 8.92727237e+02] [-1.74477921e-02 9.99847772e-01 8.11073244e-05 -6.62762302e+01] [ 6.93434715e-03 3.98897458e-05 9.99975956e-01 3.04875894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6807140569999 meters Centerline goodness [0,1] 0.9946969877935169 Centerline is valid? [True, True] Translation: X:892.76, Y:-66.28, Z:3.05 [[ 9.99926113e-01 9.99897667e-03 -6.91294207e-03 8.92755852e+02] [-9.99865998e-03 9.99950009e-01 8.03715946e-05 -6.62799651e+01] [ 6.91340012e-03 -1.12454990e-05 9.99976102e-01 3.04750963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7107140569999 meters Centerline goodness [0,1] 0.9934375972983978 Centerline is valid? [True, True] Translation: X:892.78, Y:-66.28, Z:3.05 [[ 9.99952135e-01 6.62614943e-03 -7.19877126e-03 8.92783720e+02] [-6.62572564e-03 9.99978046e-01 8.27168422e-05 -6.62820946e+01] [ 7.19916132e-03 -3.50157995e-05 9.99974085e-01 3.04623758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7407140569999 meters Centerline goodness [0,1] 0.9928122835924255 Centerline is valid? [True, True] Translation: X:892.81, Y:-66.28, Z:3.05 [[ 9.99967084e-01 3.70252284e-03 -7.21960520e-03 8.92812135e+02] [-3.70202292e-03 9.99993144e-01 8.26075492e-05 -6.62829894e+01] [ 7.21986156e-03 -5.58776862e-05 9.99973935e-01 3.04620721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.770714057 meters Centerline goodness [0,1] 0.9929668436916894 Centerline is valid? [True, True] Translation: X:892.84, Y:-66.28, Z:3.05 [[ 9.99973434e-01 -6.32415578e-04 -7.26158638e-03 8.92840321e+02] [ 6.33030599e-04 9.99999796e-01 8.23970090e-05 -6.62836721e+01] [ 7.26153280e-03 -8.69916265e-05 9.99973631e-01 3.04547308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8007140569999 meters Centerline goodness [0,1] 0.9928153717627402 Centerline is valid? [True, True] Translation: X:892.87, Y:-66.28, Z:3.05 [[ 9.99971779e-01 -2.06695386e-03 -7.22275225e-03 8.92868930e+02] [ 2.06759658e-03 9.99997859e-01 8.15195281e-05 -6.62832484e+01] [ 7.22256829e-03 -9.64509654e-05 9.99973912e-01 3.04502846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8307140569999 meters Centerline goodness [0,1] 0.9926639815880323 Centerline is valid? [True, True] Translation: X:892.90, Y:-66.28, Z:3.04 [[ 9.99969495e-01 -2.99910415e-03 -7.21211153e-03 8.92897601e+02] [ 2.99976700e-03 9.99995497e-01 8.10911904e-05 -6.62831396e+01] [ 7.21183586e-03 -1.02723371e-04 9.99973989e-01 3.04435407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8607140569999 meters Centerline goodness [0,1] 0.9927389882669744 Centerline is valid? [True, True] Translation: X:892.93, Y:-66.28, Z:3.04 [[ 9.99969841e-01 -3.35684471e-03 -7.00351724e-03 8.92927223e+02] [ 3.35747721e-03 9.99994361e-01 7.85577005e-05 -6.62806567e+01] [ 7.00321404e-03 -1.02069481e-04 9.99975472e-01 3.04447995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.890714057 meters Centerline goodness [0,1] 0.9929854164155719 Centerline is valid? [True, True] Translation: X:892.96, Y:-66.28, Z:3.04 [[ 9.99972393e-01 -3.42860706e-03 -6.59224580e-03 8.92956318e+02] [ 3.42916633e-03 9.99994118e-01 7.35372234e-05 -6.62795928e+01] [ 6.59195489e-03 -9.61411006e-05 9.99978268e-01 3.04436715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9207140569999 meters Centerline goodness [0,1] 0.9926161864774866 Centerline is valid? [True, True] Translation: X:892.98, Y:-66.28, Z:3.04 [[ 9.99976129e-01 -3.10941226e-03 -6.17034668e-03 8.92984515e+02] [ 3.10989415e-03 9.99995162e-01 6.85050505e-05 -6.62785206e+01] [ 6.17010382e-03 -8.76925403e-05 9.99980961e-01 3.04369408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9507140569999 meters Centerline goodness [0,1] 0.9927418769506205 Centerline is valid? [True, True] Translation: X:893.01, Y:-66.28, Z:3.04 [[ 9.99980104e-01 -2.12670561e-03 -5.93873324e-03 8.93014284e+02] [ 2.12713382e-03 9.99997735e-01 6.57890542e-05 -6.62763332e+01] [ 5.93857987e-03 -7.84202256e-05 9.99982363e-01 3.04404754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9807140569999 meters Centerline goodness [0,1] 0.9925741977481496 Centerline is valid? [True, True] Translation: X:893.04, Y:-66.28, Z:3.04 [[ 9.99986986e-01 -2.64424871e-03 -4.36309063e-03 8.93044301e+02] [ 2.64448396e-03 9.99996502e-01 4.81502835e-05 -6.62764211e+01] [ 4.36294804e-03 -5.96877800e-05 9.99990481e-01 3.04390246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.010714057 meters Centerline goodness [0,1] 0.992713937610075 Centerline is valid? [True, True] Translation: X:893.08, Y:-66.28, Z:3.04 [[ 9.99987607e-01 -2.71242627e-03 -4.17465650e-03 8.93075116e+02] [ 2.71264273e-03 9.99996320e-01 4.61881632e-05 -6.62758897e+01] [ 4.17451585e-03 -5.75119424e-05 9.99991285e-01 3.04443789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.040714057 meters Centerline goodness [0,1] 0.9928725023556983 Centerline is valid? [True, True] Translation: X:893.11, Y:-66.28, Z:3.04 [[ 9.99988524e-01 -1.74284672e-03 -4.46253278e-03 8.93105801e+02] [ 1.74308440e-03 9.99998480e-01 4.93732102e-05 -6.62757400e+01] [ 4.46243995e-03 -5.71512149e-05 9.99990042e-01 3.04418385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0707140569999 meters Centerline goodness [0,1] 0.9923662278052905 Centerline is valid? [True, True] Translation: X:893.14, Y:-66.28, Z:3.04 [[ 9.99989996e-01 -6.98195875e-04 -4.41812832e-03 8.93135417e+02] [ 6.98417419e-04 9.99999755e-01 4.86014857e-05 -6.62754907e+01] [ 4.41809330e-03 -5.16866973e-05 9.99990239e-01 3.04407938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1007140569999 meters Centerline goodness [0,1] 0.9929871068803471 Centerline is valid? [True, True] Translation: X:893.16, Y:-66.28, Z:3.04 [[ 9.99991824e-01 1.85082764e-03 -3.59529569e-03 8.93164742e+02] [-1.85069794e-03 9.99998287e-01 3.94015961e-05 -6.62754649e+01] [ 3.59536245e-03 -3.27474677e-05 9.99993536e-01 3.04445276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.130714057 meters Centerline goodness [0,1] 0.9939645598957076 Centerline is valid? [True, True] Translation: X:893.19, Y:-66.27, Z:3.04 [[ 9.99982840e-01 4.08878034e-03 -4.19531910e-03 8.93193013e+02] [-4.08863080e-03 9.99991641e-01 4.42189658e-05 -6.62740839e+01] [ 4.19546483e-03 -2.70650962e-05 9.99991199e-01 3.04444377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.160714057 meters Centerline goodness [0,1] 0.9939233180612491 Centerline is valid? [True, True] Translation: X:893.22, Y:-66.27, Z:3.04 [[ 9.99977137e-01 5.72353112e-03 -3.60081027e-03 8.93221295e+02] [-5.72343519e-03 9.99983620e-01 3.69436794e-05 -6.62744060e+01] [ 3.60096274e-03 -1.63338305e-05 9.99993516e-01 3.04415272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1907140569999 meters Centerline goodness [0,1] 0.9942111837048424 Centerline is valid? [True, True] Translation: X:893.25, Y:-66.27, Z:3.04 [[ 9.99954401e-01 8.84887862e-03 -3.59074347e-03 8.93249362e+02] [-8.84880248e-03 9.99960848e-01 3.70917595e-05 -6.62735845e+01] [ 3.59093110e-03 -5.31628847e-06 9.99993553e-01 3.04391441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2207140569999 meters Centerline goodness [0,1] 0.995663382080131 Centerline is valid? [True, True] Translation: X:893.28, Y:-66.27, Z:3.04 [[ 9.99878311e-01 1.53556697e-02 -2.75082859e-03 8.93277692e+02] [-1.53556505e-02 9.99882095e-01 2.81048503e-05 -6.62706520e+01] [ 2.75093582e-03 1.41393322e-05 9.99996216e-01 3.04492411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.250714057 meters Centerline goodness [0,1] 0.9962829765151698 Centerline is valid? [True, True] Translation: X:893.31, Y:-66.27, Z:3.05 [[ 9.99822561e-01 1.87199045e-02 -2.10028763e-03 8.93306856e+02] [-1.87199011e-02 9.99824767e-01 2.13024211e-05 -6.62692225e+01] [ 2.10031837e-03 1.80185354e-05 9.99997794e-01 3.04536106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.280714057 meters Centerline goodness [0,1] 0.9969613659383592 Centerline is valid? [True, True] Translation: X:893.33, Y:-66.27, Z:3.05 [[ 9.99743402e-01 2.25959157e-02 -1.59807141e-03 8.93334590e+02] [-2.25959190e-02 9.99744680e-01 1.59539072e-05 -6.62674906e+01] [ 1.59802389e-03 2.01600787e-05 9.99998723e-01 3.04575071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3107140569999 meters Centerline goodness [0,1] 0.9971820130542643 Centerline is valid? [True, True] Translation: X:893.36, Y:-66.27, Z:3.05 [[ 9.99540721e-01 3.02837838e-02 -1.11341236e-03 8.93363694e+02] [-3.02837902e-02 9.99541341e-01 1.10846800e-05 -6.62653532e+01] [ 1.11323737e-03 2.26387573e-05 9.99999380e-01 3.04708114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3407140569999 meters Centerline goodness [0,1] 0.998166067421153 Centerline is valid? [True, True] Translation: X:893.39, Y:-66.26, Z:3.05 [[ 9.99431866e-01 3.36992448e-02 -5.52820991e-04 8.93391616e+02] [-3.36992472e-02 9.99432019e-01 5.06075887e-06 -6.62627419e+01] [ 5.52677543e-04 1.35717676e-05 9.99999847e-01 3.04709550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.370714057 meters Centerline goodness [0,1] 0.9979996143834956 Centerline is valid? [True, True] Translation: X:893.42, Y:-66.26, Z:3.05 [[ 9.99324010e-01 3.67630639e-02 -8.19947209e-06 8.93420604e+02] [-3.67630639e-02 9.99324010e-01 -7.93640296e-07 -6.62640896e+01] [ 8.16475266e-06 1.09454152e-06 1.00000000e+00 3.04772765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.400714057 meters Centerline goodness [0,1] 0.9981664213853169 Centerline is valid? [True, True] Translation: X:893.45, Y:-66.26, Z:3.05 [[ 9.99121596e-01 4.18944718e-02 9.43146852e-04 8.93449309e+02] [-4.18944816e-02 9.99122041e-01 -9.33112490e-06 -6.62631247e+01] [-9.42709730e-04 -3.01897200e-05 9.99999555e-01 3.04729826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4307140569999 meters Centerline goodness [0,1] 0.9982884555118965 Centerline is valid? [True, True] Translation: X:893.48, Y:-66.26, Z:3.05 [[ 9.99074956e-01 4.29888678e-02 1.09105600e-03 8.93477857e+02] [-4.29888812e-02 9.99075551e-01 -1.11756053e-05 -6.62632055e+01] [-1.09052780e-03 -3.57380093e-05 9.99999405e-01 3.04720783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4607140569999 meters Centerline goodness [0,1] 0.9981904164454953 Centerline is valid? [True, True] Translation: X:893.51, Y:-66.27, Z:3.05 [[ 9.99039407e-01 4.37883681e-02 1.68595427e-03 8.93506722e+02] [-4.37884027e-02 9.99040828e-01 -1.64075127e-05 -6.62650905e+01] [-1.68505561e-03 -5.74334928e-05 9.99998579e-01 3.04723552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4907140569999 meters Centerline goodness [0,1] 0.9982216668268769 Centerline is valid? [True, True] Translation: X:893.54, Y:-66.27, Z:3.05 [[ 9.99061554e-01 4.32531443e-02 2.27540993e-03 8.93535551e+02] [-4.32532078e-02 9.99064142e-01 -2.12859622e-05 -6.62678749e+01] [-2.27420115e-03 -7.71527921e-05 9.99997411e-01 3.04676295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.520714057 meters Centerline goodness [0,1] 0.9983444105861746 Centerline is valid? [True, True] Translation: X:893.56, Y:-66.27, Z:3.05 [[ 9.99123005e-01 4.18104648e-02 2.25944633e-03 8.93563141e+02] [-4.18105256e-02 9.99125557e-01 -2.03714885e-05 -6.62687083e+01] [-2.25832231e-03 -7.41150155e-05 9.99997447e-01 3.04629798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5507140569999 meters Centerline goodness [0,1] 0.9978945857358184 Centerline is valid? [True, True] Translation: X:893.59, Y:-66.27, Z:3.05 [[ 9.99307708e-01 3.71093235e-02 2.64644916e-03 8.93591662e+02] [-3.71093911e-02 9.99311209e-01 -2.35433040e-05 -6.62704482e+01] [-2.64549999e-03 -7.46811119e-05 9.99996498e-01 3.04580927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5807140569999 meters Centerline goodness [0,1] 0.997350139654802 Centerline is valid? [True, True] Translation: X:893.62, Y:-66.27, Z:3.05 [[ 9.99411399e-01 3.41941927e-02 2.75924879e-03 8.93621004e+02] [-3.41942555e-02 9.99415205e-01 -2.44524683e-05 -6.62749957e+01] [-2.75847133e-03 -6.99123825e-05 9.99996193e-01 3.04545683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6107140569999 meters Centerline goodness [0,1] 0.9962755162946162 Centerline is valid? [True, True] Translation: X:893.65, Y:-66.28, Z:3.05 [[ 9.99524363e-01 3.06852288e-02 3.07638935e-03 8.93649506e+02] [-3.06852915e-02 9.99529095e-01 -2.68141682e-05 -6.62788529e+01] [-3.07576346e-03 -6.75984897e-05 9.99995268e-01 3.04516348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.640714057 meters Centerline goodness [0,1] 0.9957278143023284 Centerline is valid? [True, True] Translation: X:893.68, Y:-66.28, Z:3.04 [[ 9.99720378e-01 2.34182188e-02 3.27912147e-03 8.93677917e+02] [-2.34182518e-02 9.99725755e-01 -2.83264474e-05 -6.62836801e+01] [-3.27888554e-03 -4.84727656e-05 9.99994623e-01 3.04440669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6707140569999 meters Centerline goodness [0,1] 0.9952804458674256 Centerline is valid? [True, True] Translation: X:893.71, Y:-66.29, Z:3.04 [[ 9.99802550e-01 1.96042141e-02 3.24587025e-03 8.93706327e+02] [-1.96042269e-02 9.99807818e-01 -2.78754146e-05 -6.62862531e+01] [-3.24579293e-03 -3.57628664e-05 9.99994732e-01 3.04405036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7007140569999 meters Centerline goodness [0,1] 0.9946703934433996 Centerline is valid? [True, True] Translation: X:893.74, Y:-66.29, Z:3.04 [[ 9.99861823e-01 1.62886855e-02 3.31870685e-03 8.93735470e+02] [-1.62886814e-02 9.99867330e-01 -2.82630377e-05 -6.62884961e+01] [-3.31872693e-03 -2.57982261e-05 9.99994493e-01 3.04328956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7307140569999 meters Centerline goodness [0,1] 0.9937075556821959 Centerline is valid? [True, True] Translation: X:893.76, Y:-66.29, Z:3.04 [[ 9.99913759e-01 1.26350133e-02 3.58207670e-03 8.93763970e+02] [-1.26349860e-02 9.99920175e-01 -3.02366993e-05 -6.62907742e+01] [-3.58217280e-03 -1.50253973e-05 9.99993584e-01 3.04292687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.760714057 meters Centerline goodness [0,1] 0.992685524914191 Centerline is valid? [True, True] Translation: X:893.79, Y:-66.29, Z:3.04 [[ 9.99962150e-01 7.52354605e-03 4.36978128e-03 8.93791714e+02] [-7.52345833e-03 9.99971698e-01 -3.65116807e-05 -6.62938254e+01] [-4.36993230e-03 3.63443136e-06 9.99990452e-01 3.04219810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.790714057 meters Centerline goodness [0,1] 0.9930024991074616 Centerline is valid? [True, True] Translation: X:893.82, Y:-66.29, Z:3.04 [[ 9.99975010e-01 5.26579168e-03 4.71712980e-03 8.93820145e+02] [-5.26566630e-03 9.99986136e-01 -3.89985515e-05 -6.62946040e+01] [-4.71726976e-03 1.41587455e-05 9.99988874e-01 3.04198383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8207140569999 meters Centerline goodness [0,1] 0.9920300823006338 Centerline is valid? [True, True] Translation: X:893.85, Y:-66.30, Z:3.04 [[ 9.99984412e-01 2.32456928e-03 5.07669165e-03 8.93850016e+02] [-2.32438766e-03 9.99997298e-01 -4.16746019e-05 -6.62952439e+01] [-5.07677481e-03 2.98737528e-05 9.99987113e-01 3.04172044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8507140569999 meters Centerline goodness [0,1] 0.9920934539497115 Centerline is valid? [True, True] Translation: X:893.88, Y:-66.29, Z:3.04 [[ 9.99986079e-01 1.24834282e-03 5.12669150e-03 8.93881409e+02] [-1.24814350e-03 9.99999220e-01 -4.20768089e-05 -6.62946092e+01] [-5.12674003e-03 3.56773764e-05 9.99986858e-01 3.04089018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.880714057 meters Centerline goodness [0,1] 0.9926098979689139 Centerline is valid? [True, True] Translation: X:893.91, Y:-66.29, Z:3.04 [[ 9.99988339e-01 1.42925723e-04 4.82718471e-03 8.93912359e+02] [-1.42735346e-04 9.99999989e-01 -3.97830207e-05 -6.62942806e+01] [-4.82719035e-03 3.90935469e-05 9.99988348e-01 3.04040913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.910714057 meters Centerline goodness [0,1] 0.9915767307186102 Centerline is valid? [True, True] Translation: X:893.94, Y:-66.29, Z:3.04 [[ 9.99988759e-01 -5.21955033e-04 4.71277122e-03 8.93943932e+02] [ 5.22145714e-04 9.99999863e-01 -3.92303514e-05 -6.62942716e+01] [-4.71275009e-03 4.16906636e-05 9.99988894e-01 3.03927881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9407140569999 meters Centerline goodness [0,1] 0.9917313896522882 Centerline is valid? [True, True] Translation: X:893.98, Y:-66.29, Z:3.04 [[ 9.99990156e-01 -2.62509127e-03 3.57712223e-03 8.93976433e+02] [ 2.62521684e-03 9.99996554e-01 -3.04085115e-05 -6.62933366e+01] [-3.57703008e-03 3.97989337e-05 9.99993602e-01 3.03691918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9707140569999 meters Centerline goodness [0,1] 0.9922021210230817 Centerline is valid? [True, True] Translation: X:894.01, Y:-66.29, Z:3.04 [[ 9.99990148e-01 -3.50550933e-03 2.72295519e-03 8.94008904e+02] [ 3.50558702e-03 9.99993855e-01 -2.37583774e-05 -6.62929354e+01] [-2.72285517e-03 3.33036997e-05 9.99996292e-01 3.03584506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.000714057 meters Centerline goodness [0,1] 0.992007872125954 Centerline is valid? [True, True] Translation: X:894.04, Y:-66.29, Z:3.03 [[ 9.99980437e-01 -5.52793947e-03 2.92694601e-03 8.94040999e+02] [ 5.52803822e-03 9.99984720e-01 -2.56485640e-05 -6.62937666e+01] [-2.92675950e-03 4.18283316e-05 9.99995716e-01 3.03441575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.030714057 meters Centerline goodness [0,1] 0.9906894152088882 Centerline is valid? [True, True] Translation: X:894.07, Y:-66.30, Z:3.03 [[ 9.99944688e-01 -1.01258507e-02 2.84411070e-03 8.94072726e+02] [ 1.01259648e-02 9.99948731e-01 -2.57023139e-05 -6.62968302e+01] [-2.84370463e-03 5.45002569e-05 9.99995955e-01 3.03362458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0607140569999 meters Centerline goodness [0,1] 0.9903207303666173 Centerline is valid? [True, True] Translation: X:894.10, Y:-66.30, Z:3.03 [[ 9.99921173e-01 -1.23428894e-02 2.30230729e-03 8.94103733e+02] [ 1.23429707e-02 9.99923822e-01 -2.11097191e-05 -6.63009343e+01] [-2.30187135e-03 4.95253667e-05 9.99997349e-01 3.03315362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0907140569999 meters Centerline goodness [0,1] 0.9897639490110731 Centerline is valid? [True, True] Translation: X:894.14, Y:-66.30, Z:3.03 [[ 9.99901165e-01 -1.39567794e-02 1.69392625e-03 8.94135889e+02] [ 1.39568257e-02 9.99902599e-01 -1.55390225e-05 -6.63020472e+01] [-1.69354439e-03 3.91793202e-05 9.99998565e-01 3.03228092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.120714057 meters Centerline goodness [0,1] 0.9904993793564404 Centerline is valid? [True, True] Translation: X:894.17, Y:-66.30, Z:3.03 [[ 9.99894180e-01 -1.44990914e-02 1.18522881e-03 8.94166628e+02] [ 1.44991145e-02 9.99894882e-01 -1.09229524e-05 -6.63031442e+01] [-1.18494585e-03 2.81065648e-05 9.99999298e-01 3.03225594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.150714057 meters Centerline goodness [0,1] 0.9905024874437647 Centerline is valid? [True, True] Translation: X:894.20, Y:-66.30, Z:3.03 [[ 9.99902779e-01 -1.39082133e-02 9.96720895e-04 8.94198970e+02] [ 1.39082293e-02 9.99903276e-01 -9.16116947e-06 -6.63021184e+01] [-9.96497073e-04 2.30229016e-05 9.99999503e-01 3.03228386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1807140569999 meters Centerline goodness [0,1] 0.9902931100114198 Centerline is valid? [True, True] Translation: X:894.23, Y:-66.30, Z:3.03 [[ 9.99907406e-01 -1.35193663e-02 1.55146442e-03 8.94231230e+02] [ 1.35194051e-02 9.99908609e-01 -1.45109362e-05 -6.63024612e+01] [-1.55112645e-03 3.54844685e-05 9.99998796e-01 3.03207706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2107140569999 meters Centerline goodness [0,1] 0.9902931100114198 Centerline is valid? [True, True] Translation: X:894.26, Y:-66.30, Z:3.03 [[ 9.99908826e-01 -1.34139260e-02 1.55146407e-03 8.94263793e+02] [ 1.34139647e-02 9.99910029e-01 -1.45484030e-05 -6.63028616e+01] [-1.55112934e-03 3.53583609e-05 9.99998796e-01 3.03196069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2407140569999 meters Centerline goodness [0,1] 0.9912173642520401 Centerline is valid? [True, True] Translation: X:894.30, Y:-66.30, Z:3.03 [[ 9.99929146e-01 -1.15607711e-02 2.83760867e-03 8.94295885e+02] [ 1.15608950e-02 9.99933170e-01 -2.72470626e-05 -6.63018276e+01] [-2.83710404e-03 6.00504278e-05 9.99995974e-01 3.03231225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.270714057 meters Centerline goodness [0,1] 0.9909641426664123 Centerline is valid? [True, True] Translation: X:894.33, Y:-66.30, Z:3.03 [[ 9.99945795e-01 -9.93085837e-03 3.12810928e-03 8.94326960e+02] [ 9.93100170e-03 9.99950686e-01 -3.02889769e-05 -6.63014973e+01] [-3.12765423e-03 6.13525936e-05 9.99995107e-01 3.03246144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3007140569999 meters Centerline goodness [0,1] 0.991183939437497 Centerline is valid? [True, True] Translation: X:894.36, Y:-66.30, Z:3.03 [[ 9.99952714e-01 -8.88376700e-03 3.95572432e-03 8.94359209e+02] [ 8.88398905e-03 9.99960536e-01 -3.85645122e-05 -6.63005786e+01] [-3.95522561e-03 7.37053002e-05 9.99992175e-01 3.03209312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3307140569999 meters Centerline goodness [0,1] 0.9915491609011037 Centerline is valid? [True, True] Translation: X:894.39, Y:-66.30, Z:3.03 [[ 9.99965728e-01 -7.06537293e-03 4.31551538e-03 8.94391579e+02] [ 7.06562169e-03 9.99975037e-01 -4.24017296e-05 -6.62997970e+01] [-4.31510807e-03 7.28920755e-05 9.99990687e-01 3.03241017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3607140569999 meters Centerline goodness [0,1] 0.990979134762634 Centerline is valid? [True, True] Translation: X:894.42, Y:-66.30, Z:3.03 [[ 9.99968008e-01 -6.57639434e-03 4.55354707e-03 8.94423160e+02] [ 6.57666770e-03 9.99978372e-01 -4.50615767e-05 -6.63001457e+01] [-4.55315225e-03 7.50073010e-05 9.99989632e-01 3.03218436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.390714057 meters Centerline goodness [0,1] 0.9914824772191954 Centerline is valid? [True, True] Translation: X:894.45, Y:-66.30, Z:3.03 [[ 9.99973863e-01 -5.93612730e-03 4.12743359e-03 8.94454390e+02] [ 5.93634727e-03 9.99982379e-01 -4.10458167e-05 -6.63009256e+01] [-4.12711721e-03 6.55466230e-05 9.99991481e-01 3.03198042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4207140569999 meters Centerline goodness [0,1] 0.9913854989231874 Centerline is valid? [True, True] Translation: X:894.49, Y:-66.30, Z:3.03 [[ 9.99974047e-01 -5.87169666e-03 4.17474592e-03 8.94486116e+02] [ 5.87192215e-03 9.99982759e-01 -4.17584665e-05 -6.63019802e+01] [-4.17442875e-03 6.62711658e-05 9.99991285e-01 3.03136190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4507140569999 meters Centerline goodness [0,1] 0.9917527251864602 Centerline is valid? [True, True] Translation: X:894.52, Y:-66.30, Z:3.03 [[ 9.99982120e-01 -5.18983726e-03 2.97068876e-03 8.94518073e+02] [ 5.18994897e-03 9.99986532e-01 -2.98934543e-05 -6.63023340e+01] [-2.97049361e-03 4.53106429e-05 9.99995587e-01 3.02972601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4807140569999 meters Centerline goodness [0,1] 0.9907272770613335 Centerline is valid? [True, True] Translation: X:894.55, Y:-66.30, Z:3.03 [[ 9.99985606e-01 -4.67180625e-03 2.63862163e-03 8.94549359e+02] [ 4.67189303e-03 9.99989086e-01 -2.67245251e-05 -6.63032868e+01] [-2.63846798e-03 3.90514984e-05 9.99996518e-01 3.02889307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.510714057 meters Centerline goodness [0,1] 0.9917960668679999 Centerline is valid? [True, True] Translation: X:894.58, Y:-66.30, Z:3.03 [[ 9.99990181e-01 -3.77874967e-03 2.31476127e-03 8.94581983e+02] [ 3.77881423e-03 9.99992860e-01 -2.35188255e-05 -6.63031150e+01] [-2.31465587e-03 3.22656474e-05 9.99997321e-01 3.02832219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.540714057 meters Centerline goodness [0,1] 0.992191231254179 Centerline is valid? [True, True] Translation: X:894.61, Y:-66.30, Z:3.03 [[ 9.99996048e-01 -1.60737749e-03 2.30651665e-03 8.94613885e+02] [ 1.60743618e-03 9.99998708e-01 -2.35940139e-05 -6.63026919e+01] [-2.30647574e-03 2.73014990e-05 9.99997340e-01 3.02757303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5707140569999 meters Centerline goodness [0,1] 0.9923109782144383 Centerline is valid? [True, True] Translation: X:894.64, Y:-66.30, Z:3.03 [[ 9.99992256e-01 2.54618178e-03 3.00090727e-03 8.94644332e+02] [-2.54610016e-03 9.99996758e-01 -3.10210885e-05 -6.63013866e+01] [-3.00097652e-03 2.33802378e-05 9.99995497e-01 3.02848246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6007140569999 meters Centerline goodness [0,1] 0.9922611677302601 Centerline is valid? [True, True] Translation: X:894.67, Y:-66.30, Z:3.03 [[ 9.99979408e-01 5.54613735e-03 3.22874066e-03 8.94674967e+02] [-5.54605828e-03 9.99984620e-01 -3.34445043e-05 -6.63000184e+01] [-3.22887649e-03 1.55370317e-05 9.99994787e-01 3.02858968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.630714057 meters Centerline goodness [0,1] 0.9929592540615114 Centerline is valid? [True, True] Translation: X:894.70, Y:-66.30, Z:3.03 [[ 9.99958617e-01 8.13782892e-03 4.06704508e-03 8.94703742e+02] [-8.13772499e-03 9.99966887e-01 -4.21021830e-05 -6.62993054e+01] [-4.06725303e-03 9.00394628e-06 9.99991729e-01 3.02884775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.660714057 meters Centerline goodness [0,1] 0.9941416256431961 Centerline is valid? [True, True] Translation: X:894.73, Y:-66.30, Z:3.03 [[ 9.99889265e-01 1.41104914e-02 4.72768095e-03 8.94732041e+02] [-1.41104193e-02 9.99900442e-01 -4.86222286e-05 -6.62953894e+01] [-4.72789635e-03 -1.80927158e-05 9.99988823e-01 3.02988118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6907140569999 meters Centerline goodness [0,1] 0.9944035626681909 Centerline is valid? [True, True] Translation: X:894.76, Y:-66.29, Z:3.03 [[ 9.99809975e-01 1.86659354e-02 5.62116655e-03 8.94760714e+02] [-1.86659102e-02 9.99825775e-01 -5.69527261e-05 -6.62943582e+01] [-5.62125028e-03 -4.79822864e-05 9.99984199e-01 3.02977168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7207140569999 meters Centerline goodness [0,1] 0.9948794893779175 Centerline is valid? [True, True] Translation: X:894.79, Y:-66.29, Z:3.03 [[ 9.99710521e-01 2.31907847e-02 6.40798153e-03 8.94789701e+02] [-2.31908524e-02 9.99731054e-01 -6.37523323e-05 -6.62935393e+01] [-6.40773660e-03 -8.48726765e-05 9.99979467e-01 3.03001560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.750714057 meters Centerline goodness [0,1] 0.9957209791547141 Centerline is valid? [True, True] Translation: X:894.82, Y:-66.29, Z:3.03 [[ 9.99601032e-01 2.75373595e-02 6.28250458e-03 8.94818257e+02] [-2.75375130e-02 9.99620769e-01 -6.20698968e-05 -6.62912586e+01] [-6.28183130e-03 -1.10959419e-04 9.99980263e-01 3.03005985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.780714057 meters Centerline goodness [0,1] 0.9957418305344242 Centerline is valid? [True, True] Translation: X:894.85, Y:-66.29, Z:3.03 [[ 9.99367375e-01 3.49991120e-02 6.31759264e-03 8.94847899e+02] [-3.49994185e-02 9.99387331e-01 -6.20692274e-05 -6.62903221e+01] [-6.31589441e-03 -1.59082108e-04 9.99980042e-01 3.02974670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8107140569999 meters Centerline goodness [0,1] 0.9962975348748327 Centerline is valid? [True, True] Translation: X:894.88, Y:-66.29, Z:3.03 [[ 9.99251396e-01 3.80931015e-02 6.75008120e-03 8.94875987e+02] [-3.80935243e-02 9.99274176e-01 -6.59670969e-05 -6.62893327e+01] [-6.74769472e-03 -1.91216669e-04 9.99977216e-01 3.02976046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8407140569999 meters Centerline goodness [0,1] 0.9970577682095443 Centerline is valid? [True, True] Translation: X:894.90, Y:-66.29, Z:3.03 [[ 9.99171045e-01 4.02874374e-02 5.84333851e-03 8.94904489e+02] [-4.02877962e-02 9.99188116e-01 -5.63422954e-05 -6.62893708e+01] [-5.84086428e-03 -1.79119641e-04 9.99982926e-01 3.02931165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.870714057 meters Centerline goodness [0,1] 0.9967898809381214 Centerline is valid? [True, True] Translation: X:894.93, Y:-66.29, Z:3.03 [[ 9.99099138e-01 4.21500377e-02 4.92817970e-03 8.94932830e+02] [-4.21503198e-02 9.99111279e-01 -4.66678749e-05 -6.62896874e+01] [-4.92576698e-03 -1.61098517e-04 9.99987855e-01 3.02843805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.900714057 meters Centerline goodness [0,1] 0.9972775469264937 Centerline is valid? [True, True] Translation: X:894.96, Y:-66.29, Z:3.03 [[ 9.98998275e-01 4.46158857e-02 3.44519929e-03 8.94961567e+02] [-4.46160389e-02 9.99004208e-01 -3.24171929e-05 -6.62885464e+01] [-3.44321491e-03 -1.21326426e-04 9.99994065e-01 3.02687918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9307140569999 meters Centerline goodness [0,1] 0.997155967687969 Centerline is valid? [True, True] Translation: X:894.99, Y:-66.29, Z:3.03 [[ 9.99002176e-01 4.45310371e-02 3.41156762e-03 8.94989813e+02] [-4.45311875e-02 9.99007994e-01 -3.18960122e-05 -6.62924792e+01] [-3.40960369e-03 -1.20056972e-04 9.99994180e-01 3.02635551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9607140569999 meters Centerline goodness [0,1] 0.9976153571002743 Centerline is valid? [True, True] Translation: X:895.02, Y:-66.29, Z:3.03 [[ 9.99048034e-01 4.35235625e-02 2.95370102e-03 8.95018162e+02] [-4.35236729e-02 9.99052396e-01 -2.69070651e-05 -6.62942990e+01] [-2.95207317e-03 -1.01674467e-04 9.99995637e-01 3.02588929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9907140569999 meters Centerline goodness [0,1] 0.9958279009126467 Centerline is valid? [True, True] Translation: X:895.05, Y:-66.30, Z:3.03 [[ 9.99202708e-01 3.97634128e-02 3.58031082e-03 8.95046985e+02] [-3.97635547e-02 9.99209117e-01 -3.15596734e-05 -6.62987515e+01] [-3.57873414e-03 -1.10831374e-04 9.99993590e-01 3.02540360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.020714057 meters Centerline goodness [0,1] 0.9958332346883212 Centerline is valid? [True, True] Translation: X:895.08, Y:-66.30, Z:3.03 [[ 9.99332915e-01 3.63253924e-02 3.76707809e-03 8.95075718e+02] [-3.63255259e-02 9.99340010e-01 -3.29984884e-05 -6.63019432e+01] [-3.76579054e-03 -1.03864617e-04 9.99992904e-01 3.02519969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0507140569999 meters Centerline goodness [0,1] 0.9951883192301311 Centerline is valid? [True, True] Translation: X:895.10, Y:-66.31, Z:3.03 [[ 9.99585131e-01 2.85282100e-02 3.96326289e-03 8.95104432e+02] [-2.85282976e-02 9.99592985e-01 -3.44474938e-05 -6.63067835e+01] [-3.96263250e-03 -7.86319405e-05 9.99992146e-01 3.02532960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0807140569999 meters Centerline goodness [0,1] 0.994556893423502 Centerline is valid? [True, True] Translation: X:895.13, Y:-66.31, Z:3.03 [[ 9.99704506e-01 2.39880251e-02 3.93392142e-03 8.95133012e+02] [-2.39880768e-02 9.99712244e-01 -3.40481586e-05 -6.63100456e+01] [-3.93360616e-03 -6.03291118e-05 9.99992262e-01 3.02513963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1107140569999 meters Centerline goodness [0,1] 0.99382310113204 Centerline is valid? [True, True] Translation: X:895.16, Y:-66.31, Z:3.02 [[ 9.99800542e-01 1.95540582e-02 4.06389108e-03 8.95161407e+02] [-1.95540779e-02 9.99808800e-01 -3.48900469e-05 -6.63132982e+01] [-4.06379631e-03 -4.45825549e-05 9.99991742e-01 3.02468367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.140714057 meters Centerline goodness [0,1] 0.9930355258529722 Centerline is valid? [True, True] Translation: X:895.19, Y:-66.32, Z:3.02 [[ 9.99877965e-01 1.50380490e-02 4.23230495e-03 8.95190725e+02] [-1.50380311e-02 9.99886922e-01 -3.60520212e-05 -6.63168275e+01] [-4.23236852e-03 -2.75979120e-05 9.99991043e-01 3.02407374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1707140569999 meters Centerline goodness [0,1] 0.9922362433738331 Centerline is valid? [True, True] Translation: X:895.22, Y:-66.32, Z:3.02 [[ 9.99968031e-01 6.20395431e-03 5.04468479e-03 8.95218352e+02] [-6.20381820e-03 9.99980755e-01 -4.26291801e-05 -6.63224989e+01] [-5.04485217e-03 1.13315100e-05 9.99987275e-01 3.02402218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2007140569999 meters Centerline goodness [0,1] 0.9918158447133187 Centerline is valid? [True, True] Translation: X:895.25, Y:-66.32, Z:3.02 [[ 9.99981779e-01 2.74723403e-03 5.37540291e-03 8.95247572e+02] [-2.74703162e-03 9.99996226e-01 -4.50373203e-05 -6.63245539e+01] [-5.37550635e-03 3.02700979e-05 9.99985551e-01 3.02366866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2307140569999 meters Centerline goodness [0,1] 0.9910516648613008 Centerline is valid? [True, True] Translation: X:895.28, Y:-66.33, Z:3.02 [[ 9.99984203e-01 -2.49036006e-03 5.03893673e-03 8.95277668e+02] [ 2.49060395e-03 9.99996898e-01 -4.21258654e-05 -6.63276350e+01] [-5.03881618e-03 5.46751957e-05 9.99987304e-01 3.02343690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.260714057 meters Centerline goodness [0,1] 0.9909663419581575 Centerline is valid? [True, True] Translation: X:895.31, Y:-66.33, Z:3.02 [[ 9.99982276e-01 -3.74684983e-03 4.62698556e-03 8.95310409e+02] [ 3.74707039e-03 9.99992979e-01 -3.89995896e-05 -6.63264376e+01] [-4.62680695e-03 5.63365390e-05 9.99989295e-01 3.02292180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.290714057 meters Centerline goodness [0,1] 0.9908898305084746 Centerline is valid? [True, True] Translation: X:895.34, Y:-66.33, Z:3.02 [[ 9.99979636e-01 -4.65811311e-03 4.36225671e-03 8.95342142e+02] [ 4.65832193e-03 9.99989149e-01 -3.77106329e-05 -6.63261099e+01] [-4.36203371e-03 5.80306611e-05 9.99990485e-01 3.02189996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3207140569999 meters Centerline goodness [0,1] 0.9898096383836954 Centerline is valid? [True, True] Translation: X:895.37, Y:-66.33, Z:3.02 [[ 9.99981137e-01 -4.71618385e-03 3.93488769e-03 8.95373217e+02] [ 4.71635608e-03 9.99988877e-01 -3.44936807e-05 -6.63265837e+01] [-3.93468125e-03 5.30513615e-05 9.99992258e-01 3.02004182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3507140569999 meters Centerline goodness [0,1] 0.9905143935818782 Centerline is valid? [True, True] Translation: X:895.41, Y:-66.32, Z:3.02 [[ 9.99984232e-01 -4.21819036e-03 3.70711135e-03 8.95405174e+02] [ 4.21834122e-03 9.99991102e-01 -3.28785718e-05 -6.63240443e+01] [-3.70693967e-03 4.85159140e-05 9.99993128e-01 3.01940937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.380714057 meters Centerline goodness [0,1] 0.9902924199780566 Centerline is valid? [True, True] Translation: X:895.44, Y:-66.32, Z:3.02 [[ 9.99992001e-01 -2.31986193e-03 3.25815433e-03 8.95437033e+02] [ 2.31996902e-03 9.99997308e-01 -2.90883511e-05 -6.63183657e+01] [-3.25807808e-03 3.66469355e-05 9.99994692e-01 3.01860115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.410714057 meters Centerline goodness [0,1] 0.9916361985327502 Centerline is valid? [True, True] Translation: X:895.47, Y:-66.32, Z:3.02 [[ 9.99995929e-01 -1.01976443e-03 2.66493674e-03 8.95469138e+02] [ 1.01983184e-03 9.99999480e-01 -2.39349588e-05 -6.63158642e+01] [-2.66491094e-03 2.66526487e-05 9.99996449e-01 3.01832774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4407140569999 meters Centerline goodness [0,1] 0.9917102654148451 Centerline is valid? [True, True] Translation: X:895.50, Y:-66.32, Z:3.02 [[ 9.99996150e-01 -1.14191462e-03 2.52897428e-03 8.95501084e+02] [ 1.14197613e-03 9.99999348e-01 -2.28795041e-05 -6.63153477e+01] [-2.52894651e-03 2.57674443e-05 9.99996802e-01 3.01727996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4707140569999 meters Centerline goodness [0,1] 0.9911982779239417 Centerline is valid? [True, True] Translation: X:895.53, Y:-66.32, Z:3.02 [[ 9.99990517e-01 -3.12056089e-03 3.03775012e-03 8.95532032e+02] [ 3.12065947e-03 9.99995130e-01 -2.77131508e-05 -6.63181309e+01] [-3.03764884e-03 3.71926716e-05 9.99995386e-01 3.01716504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.500714057 meters Centerline goodness [0,1] 0.990485501716902 Centerline is valid? [True, True] Translation: X:895.56, Y:-66.32, Z:3.01 [[ 9.99986408e-01 -5.20564281e-03 -2.91705622e-04 8.95562897e+02] [ 5.20564407e-03 9.99986451e-01 3.57994155e-06 -6.63209291e+01] [ 2.91683034e-04 -5.09840853e-06 9.99999957e-01 3.01430557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.530714057 meters Centerline goodness [0,1] 0.9902623493264003 Centerline is valid? [True, True] Translation: X:895.59, Y:-66.34, Z:3.01 [[ 9.99784923e-01 -2.05538186e-02 -2.76547204e-03 8.95593090e+02] [ 2.05539701e-02 9.99788744e-01 2.63512941e-05 -6.63383351e+01] [ 2.76434620e-03 -8.31870563e-05 9.99996176e-01 3.00568057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5607140569999 meters Centerline goodness [0,1] 0.9902037339390928 Centerline is valid? [True, True] Translation: X:895.63, Y:-66.33, Z:3.01 [[ 9.99834383e-01 -1.81932948e-02 4.58497246e-04 8.95625816e+02] [ 1.81932986e-02 9.99834488e-01 -4.09166183e-06 -6.63344063e+01] [-4.58346919e-04 1.24325615e-05 9.99999895e-01 3.00610579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5907140569999 meters Centerline goodness [0,1] 0.9895474493888915 Centerline is valid? [True, True] Translation: X:895.66, Y:-66.33, Z:3.01 [[ 9.99839109e-01 -1.79274694e-02 6.01075638e-04 8.95658319e+02] [ 1.79274760e-02 9.99839290e-01 -5.56343764e-06 -6.63346054e+01] [-6.00879300e-04 1.63383116e-05 9.99999819e-01 3.00610187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.620714057 meters Centerline goodness [0,1] 0.989608540925267 Centerline is valid? [True, True] Translation: X:895.69, Y:-66.34, Z:3.01 [[ 9.99832934e-01 -1.82725841e-02 4.64902075e-04 8.95690366e+02] [ 1.82725881e-02 9.99833042e-01 -4.27794818e-06 -6.63352974e+01] [-4.64746287e-04 1.27721976e-05 9.99999892e-01 3.00603569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.650714057 meters Centerline goodness [0,1] 0.9900992444160213 Centerline is valid? [True, True] Translation: X:895.72, Y:-66.34, Z:3.01 [[ 9.99812703e-01 -1.93526808e-02 1.79518081e-04 8.95722360e+02] [ 1.93526813e-02 9.99812719e-01 -1.50581836e-06 -6.63355382e+01] [-1.79455319e-04 4.97969254e-06 9.99999984e-01 3.00598381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6807140569999 meters Centerline goodness [0,1] 0.9897799487811818 Centerline is valid? [True, True] Translation: X:895.75, Y:-66.34, Z:3.01 [[ 9.99809131e-01 -1.95364302e-02 1.73017725e-04 8.95754527e+02] [ 1.95364307e-02 9.99809146e-01 -1.45443393e-06 -6.63363283e+01] [-1.72956289e-04 4.83430512e-06 9.99999985e-01 3.00590192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7107140569999 meters Centerline goodness [0,1] 0.9901535852256667 Centerline is valid? [True, True] Translation: X:895.79, Y:-66.34, Z:3.01 [[ 9.99820910e-01 -1.89232275e-02 2.43054594e-04 8.95785822e+02] [ 1.89232286e-02 9.99820940e-01 -1.93271381e-06 -6.63371790e+01] [-2.42974499e-04 6.53174532e-06 9.99999970e-01 3.00562230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7407140569999 meters Centerline goodness [0,1] 0.98991835285765 Centerline is valid? [True, True] Translation: X:895.82, Y:-66.34, Z:3.01 [[ 9.99832114e-01 -1.83219772e-02 -2.23481887e-04 8.95817628e+02] [ 1.83219782e-02 9.99832138e-01 2.50812634e-06 -6.63368950e+01] [ 2.23398419e-04 -6.60233551e-06 9.99999975e-01 3.00503585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.770714057 meters Centerline goodness [0,1] 0.98998298998299 Centerline is valid? [True, True] Translation: X:895.85, Y:-66.34, Z:3.00 [[ 9.99836182e-01 -1.80963478e-02 -3.62427308e-04 8.95849541e+02] [ 1.80963504e-02 9.99836248e-01 3.93640103e-06 -6.63375317e+01] [ 3.62296725e-04 -1.04943677e-05 9.99999934e-01 3.00449231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8007140569999 meters Centerline goodness [0,1] 0.9900648967551623 Centerline is valid? [True, True] Translation: X:895.88, Y:-66.34, Z:3.00 [[ 9.99831579e-01 -1.83498376e-02 -3.10510268e-04 8.95881395e+02] [ 1.83498396e-02 9.99831628e-01 3.43152598e-06 -6.63382955e+01] [ 3.10395018e-04 -9.12876164e-06 9.99999952e-01 3.00436757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8307140569999 meters Centerline goodness [0,1] 0.9892566646292726 Centerline is valid? [True, True] Translation: X:895.91, Y:-66.34, Z:3.00 [[ 9.99821466e-01 -1.88930514e-02 -2.96999466e-04 8.95912209e+02] [ 1.88930532e-02 9.99821510e-01 3.24430387e-06 -6.63419079e+01] [ 2.96885160e-04 -8.85495137e-06 9.99999956e-01 3.00445465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8607140569999 meters Centerline goodness [0,1] 0.9900139615229891 Centerline is valid? [True, True] Translation: X:895.94, Y:-66.34, Z:3.00 [[ 9.99817431e-01 -1.90989184e-02 -5.80158370e-04 8.95944278e+02] [ 1.90989253e-02 9.99817599e-01 6.26182208e-06 -6.63393973e+01] [ 5.79932954e-04 -1.73410802e-05 9.99999832e-01 3.00472050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.890714057 meters Centerline goodness [0,1] 0.9903992034894746 Centerline is valid? [True, True] Translation: X:895.98, Y:-66.34, Z:3.00 [[ 9.99821113e-01 -1.89102000e-02 -3.81364362e-04 8.95976155e+02] [ 1.89102030e-02 9.99821186e-01 4.23100862e-06 -6.63394062e+01] [ 3.81216160e-04 -1.14419293e-05 9.99999927e-01 3.00480823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9207140569999 meters Centerline goodness [0,1] 0.9899870725114585 Centerline is valid? [True, True] Translation: X:896.01, Y:-66.34, Z:3.00 [[ 9.99824861e-01 -1.86998463e-02 -7.49934187e-04 8.96009068e+02] [ 1.86998578e-02 9.99825142e-01 8.27887219e-06 -6.63400790e+01] [ 7.49648242e-04 -2.23010849e-05 9.99999719e-01 3.00460335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9507140569999 meters Centerline goodness [0,1] 0.9903568896242023 Centerline is valid? [True, True] Translation: X:896.04, Y:-66.34, Z:3.00 [[ 9.99814637e-01 -1.92455946e-02 -5.47013061e-04 8.96041658e+02] [ 1.92456008e-02 9.99814786e-01 6.05345041e-06 -6.63410270e+01] [ 5.46795244e-04 -1.65799233e-05 9.99999850e-01 3.00424406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9807140569999 meters Centerline goodness [0,1] 0.9894692003691696 Centerline is valid? [True, True] Translation: X:896.07, Y:-66.34, Z:3.00 [[ 9.99812116e-01 -1.93793312e-02 -4.16543627e-04 8.96073769e+02] [ 1.93793348e-02 9.99812203e-01 4.69903961e-06 -6.63417195e+01] [ 4.16374337e-04 -1.27704951e-05 9.99999913e-01 3.00418126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.010714057 meters Centerline goodness [0,1] 0.9885887722930685 Centerline is valid? [True, True] Translation: X:896.11, Y:-66.35, Z:3.00 [[ 9.99813758e-01 -1.92970239e-02 -2.74043995e-04 8.96105666e+02] [ 1.92970255e-02 9.99813795e-01 3.26090673e-06 -6.63475386e+01] [ 2.73930040e-04 -8.54853337e-06 9.99999962e-01 3.00339112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.040714057 meters Centerline goodness [0,1] 0.9901784871092644 Centerline is valid? [True, True] Translation: X:896.14, Y:-66.34, Z:3.00 [[ 9.99812093e-01 -1.93849961e-02 -3.80966316e-05 8.96139131e+02] [ 1.93849962e-02 9.99812093e-01 7.93322122e-07 -6.63420201e+01] [ 3.80740945e-05 -1.53167611e-06 9.99999999e-01 3.00438235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0707140569999 meters Centerline goodness [0,1] 0.9898459135127459 Centerline is valid? [True, True] Translation: X:896.17, Y:-66.34, Z:3.00 [[ 9.99813932e-01 -1.92898394e-02 5.56620435e-05 8.96170870e+02] [ 1.92898395e-02 9.99813934e-01 -2.95406217e-07 -6.63432509e+01] [-5.56459884e-05 1.36906313e-06 9.99999998e-01 3.00447761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1007140569999 meters Centerline goodness [0,1] 0.9898459135127459 Centerline is valid? [True, True] Translation: X:896.20, Y:-66.34, Z:3.00 [[ 9.99815949e-01 -1.91850265e-02 5.56626612e-05 8.96203435e+02] [ 1.91850266e-02 9.99815950e-01 -2.40809338e-07 -6.63436985e+01] [-5.56477966e-05 1.30865465e-06 9.99999998e-01 3.00436125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.130714057 meters Centerline goodness [0,1] 0.9893584316693074 Centerline is valid? [True, True] Translation: X:896.24, Y:-66.34, Z:3.00 [[ 9.99824970e-01 -1.87080690e-02 1.92453864e-04 8.96236058e+02] [ 1.87080698e-02 9.99824989e-01 -1.88850440e-06 -6.63424972e+01] [-1.92384853e-04 5.48861417e-06 9.99999981e-01 3.00450161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.160714057 meters Centerline goodness [0,1] 0.9896816944740268 Centerline is valid? [True, True] Translation: X:896.27, Y:-66.34, Z:3.00 [[ 9.99828865e-01 -1.84990894e-02 -1.53857502e-04 8.96267729e+02] [ 1.84990899e-02 9.99828877e-01 1.91078895e-06 -6.63433496e+01] [ 1.53795826e-04 -4.75668572e-06 9.99999988e-01 3.00415945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1907140569999 meters Centerline goodness [0,1] 0.9896999763760926 Centerline is valid? [True, True] Translation: X:896.30, Y:-66.34, Z:3.00 [[ 9.99832512e-01 -1.83015815e-02 -1.49036948e-05 8.96299175e+02] [ 1.83015815e-02 9.99832512e-01 3.55758322e-07 -6.63443102e+01] [ 1.48946877e-05 -6.28459923e-07 1.00000000e+00 3.00402816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2207140569999 meters Centerline goodness [0,1] 0.989899228840422 Centerline is valid? [True, True] Translation: X:896.33, Y:-66.34, Z:3.00 [[ 9.99828600e-01 -1.85027042e-02 -6.48068238e-04 8.96330909e+02] [ 1.85027130e-02 9.99828810e-01 7.58172734e-06 -6.63447226e+01] [ 6.47817013e-04 -1.95714484e-05 9.99999790e-01 3.00314614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.250714057 meters Centerline goodness [0,1] 0.9897190505519496 Centerline is valid? [True, True] Translation: X:896.36, Y:-66.35, Z:3.00 [[ 9.99831427e-01 -1.83370227e-02 -9.33763039e-04 8.96364236e+02] [ 1.83370410e-02 9.99831862e-01 1.10387061e-05 -6.63452156e+01] [ 9.33403621e-04 -2.81592965e-05 9.99999564e-01 3.00257889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.280714057 meters Centerline goodness [0,1] 0.9896975269349553 Centerline is valid? [True, True] Translation: X:896.40, Y:-66.35, Z:3.00 [[ 9.99829299e-01 -1.84541913e-02 -9.03060732e-04 8.96396344e+02] [ 1.84542084e-02 9.99829707e-01 1.06224693e-05 -6.63461336e+01] [ 9.02710917e-04 -2.72859269e-05 9.99999592e-01 3.00244195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3107140569999 meters Centerline goodness [0,1] 0.9902141540207063 Centerline is valid? [True, True] Translation: X:896.43, Y:-66.35, Z:3.00 [[ 9.99812101e-01 -1.93614185e-02 -9.48245698e-04 8.96428752e+02] [ 1.93614378e-02 9.99812550e-01 1.12141006e-05 -6.63462041e+01] [ 9.47850828e-04 -2.95713936e-05 9.99999550e-01 3.00262946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3407140569999 meters Centerline goodness [0,1] 0.9893478825669005 Centerline is valid? [True, True] Translation: X:896.46, Y:-66.35, Z:3.00 [[ 9.99757293e-01 -2.19675542e-02 -1.66789697e-03 8.96459789e+02] [ 2.19676173e-02 9.99758683e-01 1.95552141e-05 -6.63495443e+01] [ 1.66706490e-03 -5.61901904e-05 9.99998609e-01 3.00151037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.370714057 meters Centerline goodness [0,1] 0.9890120188365391 Centerline is valid? [True, True] Translation: X:896.49, Y:-66.35, Z:3.00 [[ 9.99744716e-01 -2.24462258e-02 -2.58255121e-03 8.96490438e+02] [ 2.24463786e-02 9.99748048e-01 3.02009906e-05 -6.63542386e+01] [ 2.58122263e-03 -8.81622030e-05 9.99996665e-01 3.00007899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.400714057 meters Centerline goodness [0,1] 0.9893719353400746 Centerline is valid? [True, True] Translation: X:896.52, Y:-66.36, Z:3.00 [[ 9.99723798e-01 -2.31993389e-02 -3.75732759e-03 8.96522046e+02] [ 2.31996683e-02 9.99730851e-01 4.41217587e-05 -6.63561292e+01] [ 3.75529271e-03 -1.31278326e-04 9.99992940e-01 2.99868771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4307140569999 meters Centerline goodness [0,1] 0.9894374498986184 Centerline is valid? [True, True] Translation: X:896.56, Y:-66.35, Z:3.00 [[ 9.99723662e-01 -2.31756114e-02 -3.93592601e-03 8.96555526e+02] [ 2.31759751e-02 9.99731400e-01 4.68238978e-05 -6.63529287e+01] [ 3.93378365e-03 -1.38029882e-04 9.99992253e-01 2.99898913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4607140569999 meters Centerline goodness [0,1] 0.9886417304241051 Centerline is valid? [True, True] Translation: X:896.59, Y:-66.35, Z:3.00 [[ 9.99723554e-01 -2.31936295e-02 -3.85627929e-03 8.96588949e+02] [ 2.31939805e-02 9.99730982e-01 4.62970507e-05 -6.63524062e+01] [ 3.85416808e-03 -1.35726718e-04 9.99992563e-01 2.99956052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4907140569999 meters Centerline goodness [0,1] 0.989229826546003 Centerline is valid? [True, True] Translation: X:896.62, Y:-66.35, Z:3.00 [[ 9.99729038e-01 -2.30416643e-02 -3.30645887e-03 8.96619765e+02] [ 2.30419215e-02 9.99734499e-01 3.97324778e-05 -6.63528784e+01] [ 3.30466550e-03 -1.15908878e-04 9.99994533e-01 3.00039033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.520714057 meters Centerline goodness [0,1] 0.9893350950875371 Centerline is valid? [True, True] Translation: X:896.65, Y:-66.35, Z:3.00 [[ 9.99729591e-01 -2.30115571e-02 -3.34857642e-03 8.96652932e+02] [ 2.30118226e-02 9.99735192e-01 4.07734589e-05 -6.63534102e+01] [ 3.34675143e-03 -1.17819280e-04 9.99994393e-01 3.00043016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5507140569999 meters Centerline goodness [0,1] 0.9895363054928518 Centerline is valid? [True, True] Translation: X:896.68, Y:-66.35, Z:3.00 [[ 9.99735104e-01 -2.28115098e-02 -3.05883907e-03 8.96684851e+02] [ 2.28117307e-02 9.99739778e-01 3.73653060e-05 -6.63536150e+01] [ 3.05719073e-03 -1.07132821e-04 9.99995321e-01 3.00076020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5807140569999 meters Centerline goodness [0,1] 0.9898824755947303 Centerline is valid? [True, True] Translation: X:896.72, Y:-66.35, Z:3.00 [[ 9.99737950e-01 -2.26951847e-02 -2.99332768e-03 8.96717679e+02] [ 2.26953971e-02 9.99742426e-01 3.70274237e-05 -6.63521672e+01] [ 2.99171633e-03 -1.04952481e-04 9.99995519e-01 3.00099978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6107140569999 meters Centerline goodness [0,1] 0.9895926747533865 Centerline is valid? [True, True] Translation: X:896.75, Y:-66.35, Z:3.00 [[ 9.99754115e-01 -2.20171243e-02 -2.63724647e-03 8.96749102e+02] [ 2.20172883e-02 9.99757590e-01 3.31641727e-05 -6.63536393e+01] [ 2.63587699e-03 -9.12210340e-05 9.99996522e-01 3.00027345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.640714057 meters Centerline goodness [0,1] 0.9892048944111116 Centerline is valid? [True, True] Translation: X:896.78, Y:-66.35, Z:3.00 [[ 9.99782183e-01 -2.07623350e-02 -2.12411853e-03 8.96779951e+02] [ 2.07624383e-02 9.99784437e-01 2.66005233e-05 -6.63541808e+01] [ 2.12310836e-03 -7.06966091e-05 9.99997744e-01 3.00029222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6707140569999 meters Centerline goodness [0,1] 0.9885996937934284 Centerline is valid? [True, True] Translation: X:896.81, Y:-66.35, Z:3.00 [[ 9.99796198e-01 -2.01521496e-02 -1.20525677e-03 8.96812465e+02] [ 2.01521827e-02 9.99796924e-01 1.53219944e-05 -6.63532731e+01] [ 1.20470324e-03 -3.96074263e-05 9.99999274e-01 3.00086101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7007140569999 meters Centerline goodness [0,1] 0.9893694928066902 Centerline is valid? [True, True] Translation: X:896.85, Y:-66.35, Z:3.00 [[ 9.99808447e-01 -1.95721200e-02 4.34854868e-05 8.96845129e+02] [ 1.95721200e-02 9.99808448e-01 -2.96180930e-07 -6.63527340e+01] [-4.34713602e-05 1.14722736e-06 9.99999999e-01 3.00176498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7307140569999 meters Centerline goodness [0,1] 0.989720755074489 Centerline is valid? [True, True] Translation: X:896.88, Y:-66.35, Z:3.00 [[ 9.99812781e-01 -1.92668438e-02 1.78680441e-03 8.96877865e+02] [ 1.92669143e-02 9.99814376e-01 -2.22483261e-05 -6.63525571e+01] [-1.78604408e-03 5.66703682e-05 9.99998403e-01 3.00410365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.760714057 meters Centerline goodness [0,1] 0.9892648554065877 Centerline is valid? [True, True] Translation: X:896.91, Y:-66.35, Z:3.00 [[ 9.99803234e-01 -1.96056359e-02 3.01855806e-03 8.96910251e+02] [ 1.96058408e-02 9.99807786e-01 -3.82933880e-05 -6.63524936e+01] [-3.01722708e-03 9.74672219e-05 9.99995443e-01 3.00436061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.790714057 meters Centerline goodness [0,1] 0.9887789090737285 Centerline is valid? [True, True] Translation: X:896.94, Y:-66.35, Z:3.00 [[ 9.99793434e-01 -2.00253746e-02 3.47477615e-03 8.96941570e+02] [ 2.00256496e-02 9.99799466e-01 -4.43555525e-05 -6.63540075e+01] [-3.47319110e-03 1.13931040e-04 9.99993962e-01 3.00425315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8207140569999 meters Centerline goodness [0,1] 0.988824444758806 Centerline is valid? [True, True] Translation: X:896.97, Y:-66.36, Z:3.00 [[ 9.99793996e-01 -2.00077288e-02 3.41400668e-03 8.96973396e+02] [ 2.00079956e-02 9.99799819e-01 -4.40198377e-05 -6.63555305e+01] [-3.41244252e-03 1.12318200e-04 9.99994171e-01 3.00334601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8507140569999 meters Centerline goodness [0,1] 0.9891585532195099 Centerline is valid? [True, True] Translation: X:897.00, Y:-66.36, Z:3.00 [[ 9.99791385e-01 -2.02204209e-02 2.88449650e-03 8.97004491e+02] [ 2.02206137e-02 9.99795542e-01 -3.76756606e-05 -6.63574522e+01] [-2.88314493e-03 9.59940903e-05 9.99995839e-01 3.00254640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.880714057 meters Centerline goodness [0,1] 0.9878175957527493 Centerline is valid? [True, True] Translation: X:897.04, Y:-66.36, Z:3.00 [[ 9.99770615e-01 -2.10655580e-02 3.86776292e-03 8.97036515e+02] [ 2.10659119e-02 9.99778088e-01 -5.07837540e-05 -6.63581506e+01] [-3.86583483e-03 1.32250058e-04 9.99992519e-01 3.00238381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.910714057 meters Centerline goodness [0,1] 0.9878974116534689 Centerline is valid? [True, True] Translation: X:897.07, Y:-66.36, Z:3.00 [[ 9.99762653e-01 -2.13159465e-02 4.50192973e-03 8.97068934e+02] [ 2.13164300e-02 9.99772777e-01 -5.94560524e-05 -6.63577005e+01] [-4.49963943e-03 1.55407011e-04 9.99989864e-01 3.00271489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9407140569999 meters Centerline goodness [0,1] 0.9881257110352674 Centerline is valid? [True, True] Translation: X:897.10, Y:-66.36, Z:3.00 [[ 9.99762405e-01 -2.11331057e-02 5.34099231e-03 8.97101380e+02] [ 2.11337877e-02 9.99776654e-01 -7.12799665e-05 -6.63595332e+01] [-5.33829305e-03 1.84138428e-04 9.99985734e-01 3.00301930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9707140569999 meters Centerline goodness [0,1] 0.9874849180250301 Centerline is valid? [True, True] Translation: X:897.13, Y:-66.36, Z:3.00 [[ 9.99756346e-01 -2.09295940e-02 7.01435524e-03 8.97133833e+02] [ 2.09307798e-02 9.99780923e-01 -9.56757517e-05 -6.63605480e+01] [-7.01081609e-03 2.42468365e-04 9.99975395e-01 3.00326162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.000714057 meters Centerline goodness [0,1] 0.9875550946331345 Centerline is valid? [True, True] Translation: X:897.17, Y:-66.36, Z:3.00 [[ 9.99754957e-01 -2.08128200e-02 7.54005788e-03 8.97166449e+02] [ 2.08141971e-02 9.99783356e-01 -1.04207635e-04 -6.63614484e+01] [-7.53625551e-03 2.61122350e-04 9.99971568e-01 3.00290332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.030714057 meters Centerline goodness [0,1] 0.9865986717267552 Centerline is valid? [True, True] Translation: X:897.20, Y:-66.36, Z:3.00 [[ 9.99724382e-01 -2.14217634e-02 9.60558546e-03 8.97198542e+02] [ 2.14240357e-02 9.99770470e-01 -1.33713036e-04 -6.63632994e+01] [-9.60051632e-03 3.39466588e-04 9.99953856e-01 3.00360169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0607140569999 meters Centerline goodness [0,1] 0.9883082457635142 Centerline is valid? [True, True] Translation: X:897.23, Y:-66.36, Z:3.00 [[ 9.99705216e-01 -2.17686849e-02 1.07519897e-02 8.97231119e+02] [ 2.17715613e-02 9.99762960e-01 -1.50526188e-04 -6.63589914e+01] [-1.07461643e-02 3.84569418e-04 9.99942184e-01 3.00321217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0907140569999 meters Centerline goodness [0,1] 0.9870838252656434 Centerline is valid? [True, True] Translation: X:897.26, Y:-66.36, Z:3.00 [[ 9.99687338e-01 -2.16823554e-02 1.24539743e-02 8.97262626e+02] [ 2.16862375e-02 9.99764810e-01 -1.76734192e-04 -6.63611580e+01] [-1.24472132e-02 4.46758777e-04 9.99922431e-01 3.00389579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.120714057 meters Centerline goodness [0,1] 0.9871008970201889 Centerline is valid? [True, True] Translation: X:897.29, Y:-66.36, Z:3.00 [[ 9.99620004e-01 -2.31526633e-02 1.49599775e-02 8.97294654e+02] [ 2.31584598e-02 9.99731784e-01 -2.14327028e-04 -6.63626273e+01] [-1.49510027e-02 5.60695623e-04 9.99888070e-01 3.00395083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.150714057 meters Centerline goodness [0,1] 0.9862204259141081 Centerline is valid? [True, True] Translation: X:897.33, Y:-66.37, Z:3.00 [[ 9.99567762e-01 -2.48179908e-02 1.57593254e-02 8.97326441e+02] [ 2.48246803e-02 9.99691794e-01 -2.28963224e-04 -6.63651416e+01] [-1.57487859e-02 6.20084471e-04 9.99875788e-01 3.00336071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1807140569999 meters Centerline goodness [0,1] 0.9864258734655336 Centerline is valid? [True, True] Translation: X:897.36, Y:-66.37, Z:3.00 [[ 9.99539583e-01 -2.54640159e-02 1.64986745e-02 8.97358428e+02] [ 2.54715046e-02 9.99675519e-01 -2.43884674e-04 -6.63655407e+01] [-1.64871107e-02 6.64018449e-04 9.99863858e-01 3.00242129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2107140569999 meters Centerline goodness [0,1] 0.9865104302015167 Centerline is valid? [True, True] Translation: X:897.39, Y:-66.37, Z:3.00 [[ 9.99458662e-01 -2.81645436e-02 1.70041569e-02 8.97390080e+02] [ 2.81729212e-02 9.99603032e-01 -2.53287586e-04 -6.63675995e+01] [-1.69902731e-02 7.32207245e-04 9.99855387e-01 2.99977011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2407140569999 meters Centerline goodness [0,1] 0.9842195620987277 Centerline is valid? [True, True] Translation: X:897.42, Y:-66.37, Z:3.00 [[ 9.99421236e-01 -2.92983193e-02 1.72858954e-02 8.97421024e+02] [ 2.93072080e-02 9.99570417e-01 -2.61067567e-04 -6.63743248e+01] [-1.72708208e-02 7.67517803e-04 9.99850554e-01 2.99992614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.270714057 meters Centerline goodness [0,1] 0.9861557361557362 Centerline is valid? [True, True] Translation: X:897.45, Y:-66.37, Z:3.00 [[ 9.99346856e-01 -3.14028081e-02 1.78808712e-02 8.97452967e+02] [ 3.14126909e-02 9.99506463e-01 -2.72037657e-04 -6.63716105e+01] [-1.78635035e-02 8.33546256e-04 9.99840087e-01 2.99651844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3007140569999 meters Centerline goodness [0,1] 0.9809546258102534 Centerline is valid? [True, True] Translation: X:897.48, Y:-66.38, Z:3.00 [[ 9.99321977e-01 -3.17808862e-02 1.85892637e-02 8.97483744e+02] [ 3.17917124e-02 9.99494475e-01 -2.87091470e-04 -6.63807711e+01] [-1.85707424e-02 8.77881342e-04 9.99827163e-01 2.99836084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3307140569999 meters Centerline goodness [0,1] 0.9842658992262691 Centerline is valid? [True, True] Translation: X:897.52, Y:-66.37, Z:3.00 [[ 9.99290006e-01 -3.20467313e-02 1.98113762e-02 8.97516294e+02] [ 3.20591870e-02 9.99485924e-01 -3.11354952e-04 -6.63741944e+01] [-1.97912138e-02 9.46270507e-04 9.99803687e-01 2.99530370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3607140569999 meters Centerline goodness [0,1] 0.9835218017422508 Centerline is valid? [True, True] Translation: X:897.55, Y:-66.37, Z:2.99 [[ 9.99276709e-01 -3.12206070e-02 2.17102139e-02 8.97548804e+02] [ 3.12355071e-02 9.99511992e-01 -3.47471202e-04 -6.63743715e+01] [-2.16887709e-02 1.02534942e-03 9.99764245e-01 2.99450306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.390714057 meters Centerline goodness [0,1] 0.9813311880368171 Centerline is valid? [True, True] Translation: X:897.58, Y:-66.37, Z:2.99 [[ 9.99285921e-01 -3.03660926e-02 2.24844016e-02 8.97580646e+02] [ 3.03819948e-02 9.99538294e-01 -3.65908993e-04 -6.63748899e+01] [-2.24629092e-02 1.04876868e-03 9.99747127e-01 2.99412836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4207140569999 meters Centerline goodness [0,1] 0.9813693966332514 Centerline is valid? [True, True] Translation: X:897.61, Y:-66.37, Z:2.99 [[ 9.99272466e-01 -2.95010313e-02 2.41708113e-02 8.97614206e+02] [ 2.95193361e-02 9.99564129e-01 -4.00776726e-04 -6.63725784e+01] [-2.41484526e-02 1.11399145e-03 9.99707763e-01 2.99265598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4507140569999 meters Centerline goodness [0,1] 0.9785371163539128 Centerline is valid? [True, True] Translation: X:897.64, Y:-66.38, Z:2.99 [[ 9.99228522e-01 -2.95628620e-02 2.58533905e-02 8.97644878e+02] [ 2.95839339e-02 9.99562206e-01 -4.32864094e-04 -6.63755974e+01] [-2.58292753e-02 1.19737515e-03 9.99665652e-01 2.99298226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4807140569999 meters Centerline goodness [0,1] 0.9795197572711973 Centerline is valid? [True, True] Translation: X:897.68, Y:-66.37, Z:2.99 [[ 9.99188218e-01 -2.85555900e-02 2.84162467e-02 8.97676888e+02] [ 2.85808451e-02 9.99591368e-01 -4.82907320e-04 -6.63669670e+01] [-2.83908452e-02 1.29467565e-03 9.99596060e-01 2.98804487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.510714057 meters Centerline goodness [0,1] 0.9790575916230366 Centerline is valid? [True, True] Translation: X:897.71, Y:-66.37, Z:2.99 [[ 9.99173882e-01 -2.80775243e-02 2.93803554e-02 8.97708991e+02] [ 2.81045304e-02 9.99604861e-01 -5.06564818e-04 -6.63674735e+01] [-2.93545230e-02 1.33186743e-03 9.99568176e-01 2.98758948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.540714057 meters Centerline goodness [0,1] 0.9776536312849162 Centerline is valid? [True, True] Translation: X:897.74, Y:-66.37, Z:2.99 [[ 9.99131205e-01 -2.82409600e-02 3.06477183e-02 8.97741298e+02] [ 2.82706567e-02 9.99600161e-01 -5.35997393e-04 -6.63670322e+01] [-3.06203271e-02 1.40196284e-03 9.99530105e-01 2.98647060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5707140569999 meters Centerline goodness [0,1] 0.9671947854220192 Centerline is valid? [True, True] Translation: X:897.77, Y:-66.38, Z:2.99 [[ 9.99163495e-01 -2.64311353e-02 3.12042644e-02 8.97772249e+02] [ 2.64612641e-02 9.99649687e-01 -5.52902091e-04 -6.63753246e+01] [-3.11787193e-02 1.37814387e-03 9.99512875e-01 2.99124124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6007140569999 meters Centerline goodness [0,1] 0.9738531019729023 Centerline is valid? [True, True] Translation: X:897.80, Y:-66.37, Z:2.98 [[ 9.99221802e-01 -2.47295252e-02 3.07285161e-02 8.97804943e+02] [ 2.47581638e-02 9.99693317e-01 -5.51798671e-04 -6.63651119e+01] [-3.07054465e-02 1.31215090e-03 9.99527615e-01 2.98426750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.630714057 meters Centerline goodness [0,1] 0.9731666666666666 Centerline is valid? [True, True] Translation: X:897.84, Y:-66.36, Z:2.98 [[ 9.99225156e-01 -2.24278854e-02 3.23431255e-02 8.97837015e+02] [ 2.24586689e-02 9.99747599e-01 -5.88761821e-04 -6.63619733e+01] [-3.23217574e-02 1.31468917e-03 9.99476651e-01 2.98185465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.660714057 meters Centerline goodness [0,1] 0.969605584973761 Centerline is valid? [True, True] Translation: X:897.87, Y:-66.36, Z:2.98 [[ 9.99246023e-01 -2.09360851e-02 3.26965860e-02 8.97867870e+02] [ 2.09669928e-02 9.99779987e-01 -6.02670501e-04 -6.63649774e+01] [-3.26767748e-02 1.28776519e-03 9.99465142e-01 2.98198106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6907140569999 meters Centerline goodness [0,1] 0.9672524911412875 Centerline is valid? [True, True] Translation: X:897.90, Y:-66.37, Z:2.98 [[ 9.99277188e-01 -1.84541544e-02 3.32346970e-02 8.97899161e+02] [ 1.84849602e-02 9.99828946e-01 -6.19870736e-04 -6.63674779e+01] [-3.32175729e-02 1.23376474e-03 9.99447383e-01 2.98101327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7207140569999 meters Centerline goodness [0,1] 0.9686281038911616 Centerline is valid? [True, True] Translation: X:897.93, Y:-66.36, Z:2.98 [[ 9.99324076e-01 -1.61628436e-02 3.30174593e-02 8.97930431e+02] [ 1.61920581e-02 9.99868709e-01 -6.17610736e-04 -6.63632539e+01] [-3.30031421e-02 1.15181390e-03 9.99454584e-01 2.97730174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.750714057 meters Centerline goodness [0,1] 0.9696651220560837 Centerline is valid? [True, True] Translation: X:897.96, Y:-66.36, Z:2.97 [[ 9.99310216e-01 -1.48883776e-02 3.40209866e-02 8.97963176e+02] [ 1.49189587e-02 9.99888498e-01 -6.45199759e-04 -6.63606472e+01] [-3.40075872e-02 1.15231241e-03 9.99420910e-01 2.97487893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.780714057 meters Centerline goodness [0,1] 0.9647217809810569 Centerline is valid? [True, True] Translation: X:897.99, Y:-66.36, Z:2.98 [[ 9.99286750e-01 -1.35966265e-02 3.52295629e-02 8.97994928e+02] [ 1.36289528e-02 9.99906892e-01 -6.77595477e-04 -6.63637098e+01] [-3.52170698e-02 1.15725423e-03 9.99379017e-01 2.97703063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8107140569999 meters Centerline goodness [0,1] 0.9635589997147476 Centerline is valid? [True, True] Translation: X:898.03, Y:-66.37, Z:2.98 [[ 9.99272372e-01 -1.22056986e-02 3.61351239e-02 8.98026575e+02] [ 1.22391377e-02 9.99924851e-01 -7.04322350e-04 -6.63651912e+01] [-3.61238116e-02 1.14607262e-03 9.99346665e-01 2.97890544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8407140569999 meters Centerline goodness [0,1] 0.9615905044510386 Centerline is valid? [True, True] Translation: X:898.06, Y:-66.36, Z:2.98 [[ 9.99229665e-01 -9.96661861e-03 3.79571096e-02 8.98059629e+02] [ 1.00023041e-02 9.99949694e-01 -7.50367396e-04 -6.63612378e+01] [-3.79477215e-02 1.12944792e-03 9.99279088e-01 2.97653705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.870714057 meters Centerline goodness [0,1] 0.9584430370739344 Centerline is valid? [True, True] Translation: X:898.09, Y:-66.36, Z:2.98 [[ 9.99197142e-01 -8.21340245e-03 3.92124008e-02 8.98091584e+02] [ 8.25054343e-03 9.99965655e-01 -7.85441569e-04 -6.63621705e+01] [-3.92046029e-02 1.10833459e-03 9.99230589e-01 2.97778687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.900714057 meters Centerline goodness [0,1] 0.9547700494108704 Centerline is valid? [True, True] Translation: X:898.12, Y:-66.36, Z:2.97 [[ 9.99121684e-01 -5.40586281e-03 4.15528251e-02 8.98123550e+02] [ 5.44557059e-03 9.99984818e-01 -8.42468067e-04 -6.63593770e+01] [-4.15476400e-02 1.06800696e-03 9.99135953e-01 2.97496859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9307140569999 meters Centerline goodness [0,1] 0.9526099064575251 Centerline is valid? [True, True] Translation: X:898.16, Y:-66.36, Z:2.97 [[ 9.99091578e-01 -3.15210982e-03 4.24980355e-02 8.98155943e+02] [ 3.19204561e-03 9.99994525e-01 -8.71883329e-04 -6.63592685e+01] [-4.24950545e-02 1.00674696e-03 9.99096170e-01 2.97444580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9607140569999 meters Centerline goodness [0,1] 0.9462943582913139 Centerline is valid? [True, False] Translation: X:898.16, Y:-66.36, Z:2.97 [[ 9.99102842e-01 -2.75721223e-03 4.22600192e-02 8.98157117e+02] [ 2.79478908e-03 9.99995750e-01 -8.30127510e-04 -6.63586799e+01] [-4.22575507e-02 9.47490594e-04 9.99106301e-01 2.97395977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9907140569999 meters Centerline goodness [0,1] 0.9426788011626245 Centerline is valid? [False, False] Translation: X:898.16, Y:-66.36, Z:2.97 [[ 9.99121497e-01 -2.63195083e-03 4.18247134e-02 8.98158038e+02] [ 2.67893151e-03 9.99995842e-01 -1.06726800e-03 -6.63573147e+01] [-4.18217305e-02 1.17837594e-03 9.99124394e-01 2.97412895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.020714057 meters Centerline goodness [0,1] 0.9426788011626245 Centerline is valid? [False, False] Translation: X:898.16, Y:-66.36, Z:2.97 [[ 9.99121497e-01 -2.63195083e-03 4.18247134e-02 8.98158038e+02] [ 2.67893151e-03 9.99995842e-01 -1.06726800e-03 -6.63573147e+01] [-4.18217305e-02 1.17837594e-03 9.99124394e-01 2.97412895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0507140569999 meters Centerline goodness [0,1] 0.9369313727819084 Centerline is valid? [False, False] Translation: X:898.16, Y:-66.36, Z:2.97 [[ 9.99141111e-01 -2.55933407e-03 4.13580698e-02 8.98159145e+02] [ 2.61726879e-03 9.99995668e-01 -1.34672296e-03 -6.63557307e+01] [-4.13544439e-02 1.45381146e-03 9.99143481e-01 2.97411076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0807140569999 meters Centerline goodness [0,1] 0.9352171737628362 Centerline is valid? [False, False] Translation: X:898.16, Y:-66.36, Z:2.97 [[ 9.99152879e-01 -2.42583849e-03 4.10808952e-02 8.98160075e+02] [ 2.48159995e-03 9.99996067e-01 -1.30641719e-03 -6.63552517e+01] [-4.10775645e-02 1.40725684e-03 9.99154970e-01 2.97378268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1107140569999 meters Centerline goodness [0,1] 0.9251826128607352 Centerline is valid? [False, False] Translation: X:898.16, Y:-66.36, Z:2.97 [[ 9.99171918e-01 -2.55976629e-03 4.06069619e-02 8.98161741e+02] [ 2.60129460e-03 9.99996146e-01 -9.69885128e-04 -6.63552567e+01] [-4.06043228e-02 1.07471265e-03 9.99174726e-01 2.97275226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.140714057 meters Centerline goodness [0,1] 0.9192009253457998 Centerline is valid? [False, False] Translation: X:898.16, Y:-66.36, Z:2.97 [[ 9.99188936e-01 -2.35947773e-03 4.01982923e-02 8.98163443e+02] [ 2.37786003e-03 9.99997089e-01 -4.09484563e-04 -6.63558404e+01] [-4.01972091e-02 5.04738358e-04 9.99191638e-01 2.97143916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1707140569999 meters Centerline goodness [0,1] 0.9159170052234474 Centerline is valid? [False, False] Translation: X:898.17, Y:-66.36, Z:2.97 [[ 9.99205501e-01 -2.36343975e-03 3.97841807e-02 8.98165019e+02] [ 2.36304723e-03 9.99997206e-01 5.68906767e-05 -6.63566409e+01] [-3.97842041e-02 3.71664211e-05 9.99208294e-01 2.97028228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2007140569999 meters Centerline goodness [0,1] 0.9075085073567214 Centerline is valid? [False, False] Translation: X:898.17, Y:-66.36, Z:2.97 [[ 9.99231237e-01 -2.68943695e-03 3.91114004e-02 8.98167410e+02] [ 2.67064805e-03 9.99996292e-01 5.32633179e-04 -6.63570904e+01] [-3.91126878e-02 -4.27770925e-04 9.99234715e-01 2.96873435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2307140569999 meters Centerline goodness [0,1] 0.9026305457400864 Centerline is valid? [False, False] Translation: X:898.17, Y:-66.36, Z:2.97 [[ 9.99257322e-01 -2.72186558e-03 3.84369010e-02 8.98169271e+02] [ 2.69743718e-03 9.99996126e-01 6.87390998e-04 -6.63564748e+01] [-3.84386231e-02 -5.83199362e-04 9.99260793e-01 2.96806261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.260714057 meters Centerline goodness [0,1] 0.8997118439524173 Centerline is valid? [False, False] Translation: X:898.17, Y:-66.36, Z:2.97 [[ 9.99280982e-01 -2.69081602e-03 3.78190118e-02 8.98171064e+02] [ 2.66168571e-03 9.99996121e-01 8.20583987e-04 -6.63557326e+01] [-3.78210731e-02 -7.19331649e-04 9.99284268e-01 2.96736218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.290714057 meters Centerline goodness [0,1] 0.8946871896722939 Centerline is valid? [False, False] Translation: X:898.17, Y:-66.36, Z:2.97 [[ 9.99309230e-01 -2.38983170e-03 3.70857290e-02 8.98173153e+02] [ 2.35063011e-03 9.99996632e-01 1.10061976e-03 -6.63554270e+01] [-3.70882344e-02 -1.01268465e-03 9.99311482e-01 2.96673699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3207140569999 meters Centerline goodness [0,1] 0.8853937637417549 Centerline is valid? [False, False] Translation: X:898.18, Y:-66.36, Z:2.97 [[ 9.99340349e-01 -2.65579579e-03 3.62189569e-02 8.98175625e+02] [ 2.60039815e-03 9.99995376e-01 1.57654219e-03 -6.63563544e+01] [-3.62229764e-02 -1.48131851e-03 9.99342635e-01 2.96605916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3507140569999 meters Centerline goodness [0,1] 0.8819892808176493 Centerline is valid? [False, False] Translation: X:898.18, Y:-66.36, Z:2.97 [[ 9.99360962e-01 -2.70614849e-03 3.56418927e-02 8.98177301e+02] [ 2.63910919e-03 9.99994659e-01 1.92782513e-03 -6.63570392e+01] [-3.56469193e-02 -1.83253033e-03 9.99362766e-01 2.96557137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.380714057 meters Centerline goodness [0,1] 0.8769552134881755 Centerline is valid? [False, False] Translation: X:898.18, Y:-66.36, Z:2.97 [[ 9.99382733e-01 -2.79363600e-03 3.50192600e-02 8.98178767e+02] [ 2.71795105e-03 9.99993867e-01 2.20865668e-03 -6.63576433e+01] [-3.50252154e-02 -2.11211271e-03 9.99384197e-01 2.96540964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.410714057 meters Centerline goodness [0,1] 0.8644055180627233 Centerline is valid? [False, False] Translation: X:898.18, Y:-66.36, Z:2.96 [[ 9.99424988e-01 -3.19111949e-03 3.37566201e-02 8.98182301e+02] [ 3.10524851e-03 9.99991809e-01 2.59594713e-03 -6.63589203e+01] [-3.37646276e-02 -2.48963173e-03 9.99426711e-01 2.96449859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4407140569999 meters Centerline goodness [0,1] 0.8570440795159896 Centerline is valid? [False, False] Translation: X:898.18, Y:-66.36, Z:2.96 [[ 9.99453627e-01 -3.25627016e-03 3.28914107e-02 8.98184453e+02] [ 3.15743943e-03 9.99990345e-01 3.05625160e-03 -6.63598242e+01] [-3.29010451e-02 -2.95072911e-03 9.99454258e-01 2.96408147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4707140569999 meters Centerline goodness [0,1] 0.8476592384195849 Centerline is valid? [False, False] Translation: X:898.19, Y:-66.36, Z:2.96 [[ 9.99473702e-01 -3.44122349e-03 3.22564369e-02 8.98186055e+02] [ 3.33278700e-03 9.99988616e-01 3.41486421e-03 -6.63610958e+01] [-3.22678210e-02 -3.30556314e-03 9.99473792e-01 2.96373640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.500714057 meters Centerline goodness [0,1] 0.8330920067735048 Centerline is valid? [False, False] Translation: X:898.19, Y:-66.36, Z:2.96 [[ 9.99505080e-01 -7.25171085e-03 3.06105857e-02 8.98190024e+02] [ 7.25161555e-03 9.99973700e-01 1.14129044e-04 -6.63615821e+01] [-3.06106083e-02 1.07903640e-04 9.99531380e-01 2.96344721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.530714057 meters Centerline goodness [0,1] 0.8263070377072431 Centerline is valid? [False, False] Translation: X:898.19, Y:-66.36, Z:2.96 [[ 9.99530550e-01 -7.60177860e-03 2.96798215e-02 8.98192415e+02] [ 7.58678921e-03 9.99971029e-01 6.17617725e-04 -6.63631345e+01] [-2.96836566e-02 -3.92153235e-04 9.99559266e-01 2.96270281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5607140569999 meters Centerline goodness [0,1] 0.8191455580253548 Centerline is valid? [False, False] Translation: X:898.19, Y:-66.36, Z:2.96 [[ 9.99556240e-01 -7.94633356e-03 2.87085074e-02 8.98194535e+02] [ 7.92084131e-03 9.99968128e-01 1.00158241e-03 -6.63642637e+01] [-2.87155513e-02 -7.73742416e-04 9.99587324e-01 2.96247209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5907140569999 meters Centerline goodness [0,1] 0.8020980382612082 Centerline is valid? [False, False] Translation: X:898.20, Y:-66.36, Z:2.96 [[ 9.99573295e-01 -1.16119037e-02 2.68028461e-02 8.98199987e+02] [ 1.16637047e-02 9.99930397e-01 -1.77713408e-03 -6.63631136e+01] [-2.67803447e-02 2.08899625e-03 9.99639160e-01 2.96088074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6207140569999 meters Centerline goodness [0,1] 0.7987957365188045 Centerline is valid? [False, False] Translation: X:898.20, Y:-66.36, Z:2.96 [[ 9.99594422e-01 -1.15898898e-02 2.60127861e-02 8.98202516e+02] [ 1.16197617e-02 9.99931991e-01 -9.97487183e-04 -6.63641326e+01] [-2.59994562e-02 1.29934500e-03 9.99661113e-01 2.95968688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.650714057 meters Centerline goodness [0,1] 0.806474296799224 Centerline is valid? [False, False] Translation: X:898.20, Y:-66.36, Z:2.96 [[ 9.99611727e-01 -1.17059059e-02 2.52856910e-02 8.98204679e+02] [ 1.17244899e-02 9.99931094e-01 -5.86827481e-04 -6.63647455e+01] [-2.52770793e-02 8.83061461e-04 9.99680094e-01 2.95896736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6807140569999 meters Centerline goodness [0,1] 0.7930294259527255 Centerline is valid? [False, False] Translation: X:898.21, Y:-66.36, Z:2.96 [[ 9.99649432e-01 -1.27589954e-02 2.31996113e-02 8.98209987e+02] [ 1.27779144e-02 9.99918136e-01 -6.67420068e-04 -6.63642779e+01] [-2.31891964e-02 9.63628737e-04 9.99730630e-01 2.95812715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7107140569999 meters Centerline goodness [0,1] 0.7849840871829492 Centerline is valid? [False, False] Translation: X:898.21, Y:-66.36, Z:2.96 [[ 9.99666229e-01 -1.28225068e-02 2.24279779e-02 8.98212138e+02] [ 1.28317659e-02 9.99917633e-01 -2.68968104e-04 -6.63646454e+01] [-2.24226817e-02 5.56668892e-04 9.99748425e-01 2.95772946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7407140569999 meters Centerline goodness [0,1] 0.7709338700681427 Centerline is valid? [False, False] Translation: X:898.21, Y:-66.36, Z:2.96 [[ 9.99677519e-01 -1.30595555e-02 2.17785877e-02 8.98213882e+02] [ 1.30657352e-02 9.99914630e-01 -1.41474266e-04 -6.63644785e+01] [-2.17748808e-02 4.25981902e-04 9.99762808e-01 2.95768033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.770714057 meters Centerline goodness [0,1] 0.7629230918436621 Centerline is valid? [False, False] Translation: X:898.22, Y:-66.36, Z:2.96 [[ 9.99704278e-01 -1.37814815e-02 2.00356334e-02 8.98217915e+02] [ 1.37893713e-02 9.99904889e-01 -2.55683078e-04 -6.63634730e+01] [-2.00302041e-02 5.31886255e-04 9.99799234e-01 2.95836395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8007140569999 meters Centerline goodness [0,1] 0.7834019438287092 Centerline is valid? [False, False] Translation: X:898.22, Y:-66.36, Z:2.96 [[ 9.99717329e-01 -1.38071758e-02 1.93551953e-02 8.98220011e+02] [ 1.38112278e-02 9.99904618e-01 -7.56827286e-05 -6.63630414e+01] [-1.93523042e-02 3.42980346e-04 9.99812668e-01 2.95814070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8307140569999 meters Centerline goodness [0,1] 0.778719992224706 Centerline is valid? [False, False] Translation: X:898.22, Y:-66.36, Z:2.96 [[ 9.99731653e-01 -1.37782919e-02 1.86220312e-02 8.98222494e+02] [ 1.37781184e-02 9.99905068e-01 1.37622193e-04 -6.63625119e+01] [-1.86221596e-02 1.18991289e-04 9.99826585e-01 2.95761296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8607140569999 meters Centerline goodness [0,1] 0.7643918066207165 Centerline is valid? [False, False] Translation: X:898.22, Y:-66.36, Z:2.96 [[ 9.99745021e-01 -1.38129148e-02 1.78632629e-02 8.98224858e+02] [ 1.38116096e-02 9.99904596e-01 1.96442480e-04 -6.63618008e+01] [-1.78642721e-02 5.03280212e-05 9.99840420e-01 2.95740198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.890714057 meters Centerline goodness [0,1] 0.7881092041422261 Centerline is valid? [False, False] Translation: X:898.23, Y:-66.36, Z:2.96 [[ 9.99771210e-01 -1.40712514e-02 1.61098666e-02 8.98230230e+02] [ 1.40729998e-02 9.99900970e-01 4.83555249e-06 -6.63601684e+01] [-1.61083393e-02 2.21879702e-04 9.99870228e-01 2.95740791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9207140569999 meters Centerline goodness [0,1] 0.7932546701233252 Centerline is valid? [False, False] Translation: X:898.23, Y:-66.36, Z:2.96 [[ 9.99785788e-01 -1.39695347e-02 1.52719038e-02 8.98232864e+02] [ 1.39683608e-02 9.99902421e-01 1.83541493e-04 -6.63600187e+01] [-1.52729775e-02 2.98212848e-05 9.99883361e-01 2.95724746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9507140569999 meters Centerline goodness [0,1] 0.7955700798838053 Centerline is valid? [False, False] Translation: X:898.24, Y:-66.36, Z:2.96 [[ 9.99798241e-01 -1.38718933e-02 1.45274910e-02 8.98235635e+02] [ 1.38664186e-02 9.99903743e-01 4.77516710e-04 -6.63599773e+01] [-1.45327167e-02 -2.75976095e-04 9.99894356e-01 2.95663200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9807140569999 meters Centerline goodness [0,1] 0.7981057427167007 Centerline is valid? [False, False] Translation: X:898.24, Y:-66.36, Z:2.96 [[ 9.99813938e-01 -1.36670747e-02 1.36124860e-02 8.98238984e+02] [ 1.36588961e-02 9.99906472e-01 6.93612363e-04 -6.63597169e+01] [-1.36206925e-02 -5.07551777e-04 9.99907105e-01 2.95599824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.010714057 meters Centerline goodness [0,1] 0.8040624403284323 Centerline is valid? [False, False] Translation: X:898.25, Y:-66.36, Z:2.96 [[ 9.99839387e-01 -1.36002986e-02 1.16718704e-02 8.98245105e+02] [ 1.35955198e-02 9.99907457e-01 4.88686380e-04 -6.63588423e+01] [-1.16774365e-02 -3.29922746e-04 9.99931762e-01 2.95602555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.040714057 meters Centerline goodness [0,1] 0.8087344748153602 Centerline is valid? [False, False] Translation: X:898.25, Y:-66.36, Z:2.96 [[ 9.99850044e-01 -1.34516373e-02 1.09060894e-02 8.98248106e+02] [ 1.34437532e-02 9.99909312e-01 7.95898619e-04 -6.63585738e+01] [-1.09158065e-02 -6.49160495e-04 9.99940210e-01 2.95521677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0707140569999 meters Centerline goodness [0,1] 0.8148640311328366 Centerline is valid? [False, False] Translation: X:898.25, Y:-66.36, Z:2.95 [[ 9.99866367e-01 -1.30293883e-02 9.87336825e-03 8.98251812e+02] [ 1.30186072e-02 9.99914587e-01 1.15542909e-03 -6.63578917e+01] [-9.88757947e-03 -1.02673718e-03 9.99950590e-01 2.95428316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1007140569999 meters Centerline goodness [0,1] 0.821394596651446 Centerline is valid? [False, False] Translation: X:898.26, Y:-66.35, Z:2.95 [[ 9.99923702e-01 -9.57546593e-03 7.80390999e-03 8.98260960e+02] [ 9.54934730e-03 9.99948701e-01 3.37728333e-03 -6.63521690e+01] [-7.83584872e-03 -3.30250341e-03 9.99963846e-01 2.95130787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.130714057 meters Centerline goodness [0,1] 0.824296204166567 Centerline is valid? [False, False] Translation: X:898.27, Y:-66.35, Z:2.95 [[ 9.99939371e-01 -8.69114978e-03 6.76147154e-03 8.98265344e+02] [ 8.66854613e-03 9.99956765e-01 3.36516343e-03 -6.63484805e+01] [-6.79042635e-03 -3.30634727e-03 9.99971479e-01 2.94985331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.160714057 meters Centerline goodness [0,1] 0.8270123562602671 Centerline is valid? [False, False] Translation: X:898.27, Y:-66.35, Z:2.95 [[ 9.99948584e-01 -8.33778057e-03 5.77156103e-03 8.98269427e+02] [ 8.31897619e-03 9.99960035e-01 3.27448643e-03 -6.63471660e+01] [-5.79863232e-03 -3.22630459e-03 9.99977983e-01 2.94895514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1907140569999 meters Centerline goodness [0,1] 0.83455399957058 Centerline is valid? [False, False] Translation: X:898.28, Y:-66.35, Z:2.95 [[ 9.99952763e-01 -8.78623835e-03 4.15609361e-03 8.98275677e+02] [ 8.77564905e-03 9.99958218e-01 2.55930882e-03 -6.63455056e+01] [-4.17840665e-03 -2.52271551e-03 9.99988088e-01 2.94851416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2207140569999 meters Centerline goodness [0,1] 0.8398076831076879 Centerline is valid? [False, False] Translation: X:898.28, Y:-66.35, Z:2.95 [[ 9.99955685e-01 -8.82865771e-03 3.26839576e-03 8.98278863e+02] [ 8.82012726e-03 9.99957682e-01 2.61525773e-03 -6.63451513e+01] [-3.29134666e-03 -2.58631417e-03 9.99991239e-01 2.94826900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.250714057 meters Centerline goodness [0,1] 0.8432220602642835 Centerline is valid? [False, False] Translation: X:898.28, Y:-66.34, Z:2.95 [[ 9.99957658e-01 -9.02086810e-03 1.81851097e-03 8.98284617e+02] [ 9.01596565e-03 9.99955747e-01 2.68627097e-03 -6.63436913e+01] [-1.84266299e-03 -2.66976159e-03 9.99994738e-01 2.94814771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.280714057 meters Centerline goodness [0,1] 0.844967880085653 Centerline is valid? [False, False] Translation: X:898.29, Y:-66.34, Z:2.95 [[ 9.99957749e-01 -9.11240317e-03 1.20967931e-03 8.98287418e+02] [ 9.10883239e-03 9.99954235e-01 2.92523747e-03 -6.63431256e+01] [-1.23627990e-03 -2.91409512e-03 9.99994990e-01 2.94790032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3107140569999 meters Centerline goodness [0,1] 0.8483359179291423 Centerline is valid? [False, False] Translation: X:898.29, Y:-66.34, Z:2.95 [[ 9.99955979e-01 -9.34759575e-03 8.14389696e-04 8.98289515e+02] [ 9.34516409e-03 9.99952010e-01 2.94019793e-03 -6.63422842e+01] [-8.41834395e-04 -2.93245789e-03 9.99995346e-01 2.94789647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3407140569999 meters Centerline goodness [0,1] 0.8520132390408839 Centerline is valid? [False, False] Translation: X:898.29, Y:-66.34, Z:2.95 [[ 9.99958782e-01 -9.07936202e-03 7.18539461e-06 8.98293095e+02] [ 9.07928225e-03 9.99952745e-01 3.47477090e-03 -6.63419152e+01] [-3.87337580e-05 -3.47456244e-03 9.99993963e-01 2.94675385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3707140569999 meters Centerline goodness [0,1] 0.8553174243688464 Centerline is valid? [False, False] Translation: X:898.30, Y:-66.34, Z:2.95 [[ 9.99957791e-01 -9.18002476e-03 -3.77445738e-04 8.98295217e+02] [ 9.18138429e-03 9.99950730e-01 3.77350334e-03 -6.63427138e+01] [ 3.42786287e-04 -3.77680954e-03 9.99992809e-01 2.94643997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.400714057 meters Centerline goodness [0,1] 0.8607985090674504 Centerline is valid? [False, False] Translation: X:898.30, Y:-66.34, Z:2.95 [[ 9.99956074e-01 -9.26556546e-03 -1.41376188e-03 8.98300353e+02] [ 9.27129708e-03 9.99948603e-01 4.10294818e-03 -6.63424722e+01] [ 1.37567308e-03 -4.11587536e-03 9.99990584e-01 2.94513085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4307140569999 meters Centerline goodness [0,1] 0.8629775708040297 Centerline is valid? [False, False] Translation: X:898.30, Y:-66.34, Z:2.94 [[ 9.99959437e-01 -8.68308323e-03 -2.39352374e-03 8.98304428e+02] [ 8.69401943e-03 9.99951639e-01 4.59717948e-03 -6.63414307e+01] [ 2.35349030e-03 -4.61780235e-03 9.99986568e-01 2.94348669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4607140569999 meters Centerline goodness [0,1] 0.866361970054036 Centerline is valid? [False, False] Translation: X:898.31, Y:-66.34, Z:2.94 [[ 9.99958684e-01 -8.48091245e-03 -3.27187161e-03 8.98307606e+02] [ 8.49473368e-03 9.99954956e-01 4.23374306e-03 -6.63392590e+01] [ 3.23581823e-03 -4.26136181e-03 9.99985685e-01 2.94284806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4907140569999 meters Centerline goodness [0,1] 0.8720273940252686 Centerline is valid? [False, False] Translation: X:898.32, Y:-66.33, Z:2.94 [[ 9.99986036e-01 -4.49889197e-03 -2.77253431e-03 8.98322864e+02] [ 4.50692579e-03 9.99985644e-01 2.89824363e-03 -6.63346958e+01] [ 2.75945563e-03 -2.91069877e-03 9.99991957e-01 2.93853897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.520714057 meters Centerline goodness [0,1] 0.8748927038626609 Centerline is valid? [False, False] Translation: X:898.32, Y:-66.33, Z:2.94 [[ 9.99983996e-01 -4.57549416e-03 -3.32756286e-03 8.98324992e+02] [ 4.58297044e-03 9.99986983e-01 2.24262988e-03 -6.63321044e+01] [ 3.31725840e-03 -2.25784411e-03 9.99991949e-01 2.93827653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5507140569999 meters Centerline goodness [0,1] 0.8783040963625066 Centerline is valid? [False, False] Translation: X:898.33, Y:-66.33, Z:2.94 [[ 9.99980723e-01 -4.84069505e-03 -3.88869601e-03 8.98327023e+02] [ 4.84756288e-03 9.99986704e-01 1.75862129e-03 -6.63304524e+01] [ 3.88013136e-03 -1.77743809e-03 9.99990893e-01 2.93794068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5807140569999 meters Centerline goodness [0,1] 0.879362364288599 Centerline is valid? [False, False] Translation: X:898.33, Y:-66.33, Z:2.94 [[ 9.99955014e-01 -8.13645904e-03 -4.87518888e-03 8.98330806e+02] [ 8.12801755e-03 9.99965438e-01 -1.74883980e-03 -6.63281985e+01] [ 4.88924975e-03 1.70913551e-03 9.99986587e-01 2.93670739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6107140569999 meters Centerline goodness [0,1] 0.879701393181494 Centerline is valid? [False, False] Translation: X:898.33, Y:-66.33, Z:2.94 [[ 9.99948435e-01 -8.53086632e-03 -5.50931134e-03 8.98333412e+02] [ 8.52348653e-03 9.99962747e-01 -1.36160604e-03 -6.63290539e+01] [ 5.52072178e-03 1.31457729e-03 9.99983897e-01 2.93541095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.640714057 meters Centerline goodness [0,1] 0.8832774567848396 Centerline is valid? [False, False] Translation: X:898.34, Y:-66.33, Z:2.93 [[ 9.99875102e-01 -1.42864370e-02 -6.75856568e-03 8.98339603e+02] [ 1.42438165e-02 9.99878624e-01 -6.31280342e-03 -6.63264267e+01] [ 6.84793282e-03 6.21574720e-03 9.99957234e-01 2.93291985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6707140569999 meters Centerline goodness [0,1] 0.8856073607932876 Centerline is valid? [False, False] Translation: X:898.34, Y:-66.33, Z:2.93 [[ 9.99806139e-01 -1.80956244e-02 -7.76098090e-03 8.98343177e+02] [ 1.80185276e-02 9.99788724e-01 -9.89137051e-03 -6.63256518e+01] [ 7.93833172e-03 9.74961151e-03 9.99920961e-01 2.93152622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7007140569999 meters Centerline goodness [0,1] 0.8873179091688089 Centerline is valid? [False, False] Translation: X:898.35, Y:-66.33, Z:2.93 [[ 9.99776832e-01 -1.91564628e-02 -8.90591927e-03 8.98346662e+02] [ 1.90681666e-02 9.99769213e-01 -9.89572973e-03 -6.63261589e+01] [ 9.09343108e-03 9.72370177e-03 9.99911376e-01 2.92988159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7307140569999 meters Centerline goodness [0,1] 0.8887997735421778 Centerline is valid? [False, False] Translation: X:898.35, Y:-66.32, Z:2.93 [[ 9.99608032e-01 -2.61980883e-02 -9.87130211e-03 8.98352209e+02] [ 2.60377571e-02 9.99532349e-01 -1.60349229e-02 -6.63241492e+01] [ 1.02867701e-02 1.57716112e-02 9.99822704e-01 2.92787601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.760714057 meters Centerline goodness [0,1] 0.8892900120336944 Centerline is valid? [False, False] Translation: X:898.36, Y:-66.33, Z:2.93 [[ 9.99582991e-01 -2.67256980e-02 -1.09353327e-02 8.98355698e+02] [ 2.65522228e-02 9.99523931e-01 -1.57127797e-02 -6.63251611e+01] [ 1.13500617e-02 1.54158699e-02 9.99816747e-01 2.92596711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.790714057 meters Centerline goodness [0,1] 0.8968233256624991 Centerline is valid? [False, False] Translation: X:898.36, Y:-66.32, Z:2.92 [[ 9.99487312e-01 -2.96593962e-02 -1.20595731e-02 8.98361510e+02] [ 2.94376921e-02 9.99401571e-01 -1.81637727e-02 -6.63243252e+01] [ 1.25910828e-02 1.77994544e-02 9.99762294e-01 2.92318122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8207140569999 meters Centerline goodness [0,1] 0.8992141313896341 Centerline is valid? [False, False] Translation: X:898.37, Y:-66.32, Z:2.92 [[ 9.99484017e-01 -2.92834742e-02 -1.31976416e-02 8.98365158e+02] [ 2.90482814e-02 9.99421756e-01 -1.76734708e-02 -6.63245114e+01] [ 1.37075507e-02 1.72809828e-02 9.99756706e-01 2.92150354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8507140569999 meters Centerline goodness [0,1] 0.90190097886225 Centerline is valid? [False, False] Translation: X:898.37, Y:-66.32, Z:2.92 [[ 9.99485457e-01 -2.85882849e-02 -1.45441406e-02 8.98369425e+02] [ 2.83383429e-02 9.99451937e-01 -1.71103363e-02 -6.63241160e+01] [ 1.50253247e-02 1.66893755e-02 9.99747820e-01 2.91966765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.880714057 meters Centerline goodness [0,1] 0.9026548672566371 Centerline is valid? [False, False] Translation: X:898.37, Y:-66.32, Z:2.92 [[ 9.99488482e-01 -2.78305769e-02 -1.57554456e-02 8.98373478e+02] [ 2.75675585e-02 9.99480904e-01 -1.66718856e-02 -6.63231168e+01] [ 1.62112552e-02 1.62290184e-02 9.99736872e-01 2.91791675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.910714057 meters Centerline goodness [0,1] 0.9026548672566371 Centerline is valid? [False, False] Translation: X:898.37, Y:-66.32, Z:2.92 [[ 9.99488482e-01 -2.78305769e-02 -1.57554456e-02 8.98373478e+02] [ 2.75675585e-02 9.99480904e-01 -1.66718856e-02 -6.63231168e+01] [ 1.62112552e-02 1.62290184e-02 9.99736872e-01 2.91791675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9407140569999 meters Centerline goodness [0,1] 0.9095474994644259 Centerline is valid? [False, False] Translation: X:898.38, Y:-66.32, Z:2.92 [[ 9.99597977e-01 -2.29532438e-02 -1.66442838e-02 8.98377779e+02] [ 2.27649025e-02 9.99675639e-01 -1.14182283e-02 -6.63235532e+01] [ 1.69009705e-02 1.10347324e-02 9.99796275e-01 2.91552603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9707140569999 meters Centerline goodness [0,1] 0.9123444476109053 Centerline is valid? [False, False] Translation: X:898.38, Y:-66.33, Z:2.91 [[ 9.99659276e-01 -1.91615655e-02 -1.77247259e-02 8.98380504e+02] [ 1.90403661e-02 9.99794340e-01 -6.98155870e-03 -6.63251223e+01] [ 1.78548582e-02 6.64169465e-03 9.99818529e-01 2.91426192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.000714057 meters Centerline goodness [0,1] 0.9142619443784169 Centerline is valid? [False, False] Translation: X:898.38, Y:-66.32, Z:2.91 [[ 9.99649978e-01 -1.84379097e-02 -1.89727528e-02 8.98383903e+02] [ 1.83159267e-02 9.99810576e-01 -6.58319797e-03 -6.63249338e+01] [ 1.90905393e-02 6.23339016e-03 9.99798328e-01 2.91338775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.030714057 meters Centerline goodness [0,1] 0.9185538622228553 Centerline is valid? [False, False] Translation: X:898.39, Y:-66.33, Z:2.91 [[ 9.99653761e-01 -1.70719046e-02 -2.00227163e-02 8.98389144e+02] [ 1.69841001e-02 9.99845420e-01 -4.54713782e-03 -6.63278176e+01] [ 2.00972495e-02 4.20549560e-03 9.99789185e-01 2.91053439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0607140569999 meters Centerline goodness [0,1] 0.9193129193838011 Centerline is valid? [False, False] Translation: X:898.39, Y:-66.33, Z:2.91 [[ 9.99640884e-01 -1.62694046e-02 -2.12934322e-02 8.98393155e+02] [ 1.61892528e-02 9.99861217e-01 -3.93115168e-03 -6.63279459e+01] [ 2.13544346e-02 3.58501518e-03 9.99765540e-01 2.90889273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0907140569999 meters Centerline goodness [0,1] 0.9239031842268582 Centerline is valid? [False, False] Translation: X:898.40, Y:-66.33, Z:2.91 [[ 9.99629899e-01 -1.54070197e-02 -2.24207136e-02 8.98396572e+02] [ 1.53344558e-02 9.99876623e-01 -3.40481339e-03 -6.63276306e+01] [ 2.24704054e-02 3.05974383e-03 9.99742826e-01 2.90761765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1207140569999 meters Centerline goodness [0,1] 0.927184116390176 Centerline is valid? [False, False] Translation: X:898.40, Y:-66.33, Z:2.91 [[ 9.99616405e-01 -1.46756218e-02 -2.34876368e-02 8.98399446e+02] [ 1.46051347e-02 9.99888315e-01 -3.16977478e-03 -6.63267798e+01] [ 2.35315320e-02 2.82551877e-03 9.99719102e-01 2.90697145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.150714057 meters Centerline goodness [0,1] 0.9291334816196695 Centerline is valid? [False, False] Translation: X:898.40, Y:-66.33, Z:2.91 [[ 9.99597880e-01 -1.41739176e-02 -2.45596936e-02 8.98403405e+02] [ 1.41156671e-02 9.99897134e-01 -2.54354523e-03 -6.63274394e+01] [ 2.45932193e-02 2.19584596e-03 9.99695129e-01 2.90592271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1807140569999 meters Centerline goodness [0,1] 0.9319662243667068 Centerline is valid? [False, False] Translation: X:898.41, Y:-66.33, Z:2.91 [[ 9.99577314e-01 -1.38983347e-02 -2.55348519e-02 8.98405838e+02] [ 1.38438138e-02 9.99901500e-01 -2.31070347e-03 -6.63278132e+01] [ 2.55644517e-02 1.95622704e-03 9.99671262e-01 2.90530386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2107140569999 meters Centerline goodness [0,1] 0.9342799971069697 Centerline is valid? [False, False] Translation: X:898.41, Y:-66.33, Z:2.90 [[ 9.99555096e-01 -1.33148672e-02 -2.66894065e-02 8.98409088e+02] [ 1.32786850e-02 9.99910660e-01 -1.53245871e-03 -6.63291602e+01] [ 2.67074266e-02 1.17737669e-03 9.99642600e-01 2.90399171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2407140569999 meters Centerline goodness [0,1] 0.9336161895454437 Centerline is valid? [False, False] Translation: X:898.42, Y:-66.33, Z:2.90 [[ 9.99484038e-01 -1.43899621e-02 -2.87156220e-02 8.98416285e+02] [ 1.43133111e-02 9.99893432e-01 -2.87309184e-03 -6.63303118e+01] [ 2.87539055e-02 2.46059380e-03 9.99583492e-01 2.90109053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.270714057 meters Centerline goodness [0,1] 0.9319223734530512 Centerline is valid? [False, False] Translation: X:898.42, Y:-66.33, Z:2.90 [[ 9.99456956e-01 -1.39297424e-02 -2.98622827e-02 8.98419246e+02] [ 1.38640989e-02 9.99900999e-01 -2.40414554e-03 -6.63309491e+01] [ 2.98928154e-02 1.98882634e-03 9.99551131e-01 2.90034968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3007140569999 meters Centerline goodness [0,1] 0.9378389354738527 Centerline is valid? [False, False] Translation: X:898.42, Y:-66.33, Z:2.90 [[ 9.99435083e-01 -1.38632853e-02 -3.06157433e-02 8.98420845e+02] [ 1.38018330e-02 9.99902291e-01 -2.21763464e-03 -6.63316946e+01] [ 3.06434956e-02 1.79382848e-03 9.99528768e-01 2.90029625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3307140569999 meters Centerline goodness [0,1] 0.9355144393641468 Centerline is valid? [False, False] Translation: X:898.43, Y:-66.33, Z:2.90 [[ 9.99360352e-01 -1.52601825e-02 -3.23421196e-02 8.98426560e+02] [ 1.51378349e-02 9.99877317e-01 -4.02442209e-03 -6.63308303e+01] [ 3.23995652e-02 3.53225821e-03 9.99468755e-01 2.89881688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3607140569999 meters Centerline goodness [0,1] 0.9379413652899636 Centerline is valid? [False, False] Translation: X:898.43, Y:-66.33, Z:2.90 [[ 9.99330876e-01 -1.50884292e-02 -3.33187536e-02 8.98428913e+02] [ 1.49650108e-02 9.99880214e-01 -3.95046107e-03 -6.63308280e+01] [ 3.33743687e-02 3.44920221e-03 9.99436969e-01 2.89841392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.390714057 meters Centerline goodness [0,1] 0.9397058823529412 Centerline is valid? [False, False] Translation: X:898.43, Y:-66.33, Z:2.90 [[ 9.99299494e-01 -1.47048233e-02 -3.44135106e-02 8.98431786e+02] [ 1.45851661e-02 9.99886690e-01 -3.72551377e-03 -6.63307442e+01] [ 3.44643942e-02 3.22097726e-03 9.99400736e-01 2.89766567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4207140569999 meters Centerline goodness [0,1] 0.9419553392499285 Centerline is valid? [False, False] Translation: X:898.43, Y:-66.33, Z:2.90 [[ 9.99269315e-01 -1.44441369e-02 -3.53864892e-02 8.98434258e+02] [ 1.43230267e-02 9.99890672e-01 -3.67362562e-03 -6.63300761e+01] [ 3.54356828e-02 3.16409973e-03 9.99366950e-01 2.89709252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4507140569999 meters Centerline goodness [0,1] 0.940906727178178 Centerline is valid? [False, False] Translation: X:898.45, Y:-66.33, Z:2.89 [[ 9.99230294e-01 -2.28863597e-02 -3.18595922e-02 8.98447667e+02] [ 2.28814739e-02 9.99738051e-01 -5.17983129e-04 -6.63329904e+01] [ 3.18631014e-02 -2.11409994e-04 9.99492220e-01 2.89340657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4807140569999 meters Centerline goodness [0,1] 0.9420694221129292 Centerline is valid? [False, False] Translation: X:898.45, Y:-66.33, Z:2.89 [[ 9.99196126e-01 -2.30317530e-02 -3.28122002e-02 8.98449782e+02] [ 2.30368976e-02 9.99734591e-01 -2.21300175e-04 -6.63343316e+01] [ 3.28085885e-02 -5.34769018e-04 9.99461510e-01 2.89298739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.510714057 meters Centerline goodness [0,1] 0.9498629810556416 Centerline is valid? [False, False] Translation: X:898.45, Y:-66.34, Z:2.89 [[ 9.99160768e-01 -2.32774755e-02 -3.37034048e-02 8.98451859e+02] [ 2.32862774e-02 9.99728829e-01 -1.31397212e-04 -6.63353927e+01] [ 3.36973240e-02 -6.53539893e-04 9.99431870e-01 2.89321085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.540714057 meters Centerline goodness [0,1] 0.9457138802157252 Centerline is valid? [False, False] Translation: X:898.45, Y:-66.33, Z:2.89 [[ 9.99125397e-01 -2.31297373e-02 -3.48346988e-02 8.98454159e+02] [ 2.31315483e-02 9.99732368e-01 -3.51077117e-04 -6.63346370e+01] [ 3.48334963e-02 -4.55010456e-04 9.99393026e-01 2.89348782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5707140569999 meters Centerline goodness [0,1] 0.9495748420502589 Centerline is valid? [False, False] Translation: X:898.46, Y:-66.33, Z:2.89 [[ 9.99090319e-01 -2.31171146e-02 -3.58348096e-02 8.98455689e+02] [ 2.30945417e-02 9.99732741e-01 -1.04377173e-03 -6.63327114e+01] [ 3.58493614e-02 2.15233726e-04 9.99357182e-01 2.89453401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6007140569999 meters Centerline goodness [0,1] 0.9512039055834677 Centerline is valid? [False, True] Translation: X:898.46, Y:-66.33, Z:2.90 [[ 9.98954326e-01 -2.60272372e-02 -3.75877366e-02 8.98458991e+02] [ 2.58175481e-02 9.99648344e-01 -6.05339027e-03 -6.63285264e+01] [ 3.77320717e-02 5.07663719e-03 9.99274996e-01 2.89754592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.630714057 meters Centerline goodness [0,1] 0.94843566219713 Centerline is valid? [True, False] Translation: X:898.47, Y:-66.33, Z:2.89 [[ 9.98998181e-01 -3.09097642e-02 -3.23607840e-02 8.98468400e+02] [ 3.09675155e-02 9.99519566e-01 1.28481412e-03 -6.63308988e+01] [ 3.23055234e-02 -2.28566005e-03 9.99475427e-01 2.89403490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.660714057 meters Centerline goodness [0,1] 0.9558470568665194 Centerline is valid? [False, True] Translation: X:898.47, Y:-66.33, Z:2.89 [[ 9.98970596e-01 -3.12096026e-02 -3.29197365e-02 8.98469183e+02] [ 3.12668106e-02 9.99510324e-01 1.22432508e-03 -6.63318615e+01] [ 3.28654058e-02 -2.25235992e-03 9.99457249e-01 2.89446286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6907140569999 meters Centerline goodness [0,1] 0.9534466477809254 Centerline is valid? [True, True] Translation: X:898.50, Y:-66.33, Z:2.89 [[ 9.98853992e-01 -3.25688723e-02 -3.50709431e-02 8.98497588e+02] [ 3.25579644e-02 9.99469460e-01 -8.82224003e-04 -6.63324798e+01] [ 3.50810696e-02 -2.60625550e-04 9.99384436e-01 2.89103489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7207140569999 meters Centerline goodness [0,1] 0.9588179444576311 Centerline is valid? [True, True] Translation: X:898.53, Y:-66.33, Z:2.90 [[ 9.98716108e-01 -3.69118139e-02 -3.46937157e-02 8.98526756e+02] [ 3.69033559e-02 9.99318448e-01 -8.84327245e-04 -6.63340859e+01] [ 3.47027122e-02 -3.97122672e-04 9.99397601e-01 2.89561738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.750714057 meters Centerline goodness [0,1] 0.9566677704716401 Centerline is valid? [True, True] Translation: X:898.56, Y:-66.33, Z:2.89 [[ 9.98583543e-01 -3.79647796e-02 -3.72771161e-02 8.98556535e+02] [ 3.79559165e-02 9.99278967e-01 -9.45676782e-04 -6.63339759e+01] [ 3.72861405e-02 -4.70549838e-04 9.99304519e-01 2.89488547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.780714057 meters Centerline goodness [0,1] 0.9575390153219504 Centerline is valid? [True, True] Translation: X:898.59, Y:-66.33, Z:2.90 [[ 9.98511478e-01 -3.87784850e-02 -3.83543740e-02 8.98585203e+02] [ 3.87691801e-02 9.99247706e-01 -9.86612212e-04 -6.63335607e+01] [ 3.83637796e-02 -5.01824016e-04 9.99263713e-01 2.89500352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8107140569999 meters Centerline goodness [0,1] 0.9626050320154246 Centerline is valid? [True, True] Translation: X:898.61, Y:-66.33, Z:2.89 [[ 9.98512502e-01 -4.07849857e-02 -3.61851832e-02 8.98613451e+02] [ 4.07780553e-02 9.99167797e-01 -9.29832619e-04 -6.63324109e+01] [ 3.61929930e-02 -5.47111909e-04 9.99344669e-01 2.89390632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8407140569999 meters Centerline goodness [0,1] 0.9544630880380298 Centerline is valid? [True, True] Translation: X:898.64, Y:-66.33, Z:2.89 [[ 9.98403460e-01 -3.80128385e-02 -4.17798355e-02 8.98642770e+02] [ 3.80012365e-02 9.99277117e-01 -1.07213585e-03 -6.63299544e+01] [ 4.17903885e-02 -5.17261270e-04 9.99126266e-01 2.89001415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8707140569999 meters Centerline goodness [0,1] 0.9633800804781066 Centerline is valid? [True, True] Translation: X:898.67, Y:-66.33, Z:2.90 [[ 9.98539651e-01 -4.03726249e-02 -3.58972946e-02 8.98672799e+02] [ 4.03655347e-02 9.99184554e-01 -9.22526440e-04 -6.63281788e+01] [ 3.59052671e-02 -5.27834262e-04 9.99355059e-01 2.89641834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.900714057 meters Centerline goodness [0,1] 0.9639029490744041 Centerline is valid? [True, True] Translation: X:898.70, Y:-66.33, Z:2.90 [[ 9.98557514e-01 -4.02344665e-02 -3.55539005e-02 8.98702245e+02] [ 4.02273752e-02 9.99190133e-01 -9.15065283e-04 -6.63264709e+01] [ 3.55619237e-02 -5.16494782e-04 9.99367341e-01 2.89572379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9307140569999 meters Centerline goodness [0,1] 0.9676849220186773 Centerline is valid? [True, True] Translation: X:898.73, Y:-66.33, Z:2.90 [[ 9.98489694e-01 -4.49052601e-02 -3.16519855e-02 8.98732705e+02] [ 4.49019770e-02 9.98991065e-01 -8.14872269e-04 -6.63302587e+01] [ 3.16566428e-02 -6.07595164e-04 9.99498618e-01 2.89727842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9607140569999 meters Centerline goodness [0,1] 0.9672794818060583 Centerline is valid? [True, True] Translation: X:898.76, Y:-66.33, Z:2.90 [[ 9.98545670e-01 -4.49198024e-02 -2.98120084e-02 8.98763909e+02] [ 4.49169566e-02 9.98990431e-01 -7.65470050e-04 -6.63317146e+01] [ 2.98162959e-02 -5.74707883e-04 9.99555230e-01 2.89710642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9907140569999 meters Centerline goodness [0,1] 0.9686881453747646 Centerline is valid? [True, True] Translation: X:898.80, Y:-66.33, Z:2.90 [[ 9.98321003e-01 -4.84802028e-02 -3.16992769e-02 8.98795225e+02] [ 4.84787823e-02 9.98823881e-01 -8.13827246e-04 -6.63331215e+01] [ 3.17014493e-02 -7.24281511e-04 9.99497120e-01 2.89756097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.020714057 meters Centerline goodness [0,1] 0.969079509831861 Centerline is valid? [True, True] Translation: X:898.83, Y:-66.33, Z:2.90 [[ 9.98252354e-01 -4.94535919e-02 -3.23508775e-02 8.98826266e+02] [ 4.94526967e-02 9.98776123e-01 -8.28289169e-04 -6.63340922e+01] [ 3.23522459e-02 -7.72996523e-04 9.99476230e-01 2.89714942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0507140569999 meters Centerline goodness [0,1] 0.9674890803919254 Centerline is valid? [True, True] Translation: X:898.86, Y:-66.34, Z:2.90 [[ 9.98266090e-01 -4.89813161e-02 -3.26441942e-02 8.98858904e+02] [ 4.89802316e-02 9.98799400e-01 -8.33375283e-04 -6.63350914e+01] [ 3.26458214e-02 -7.66989907e-04 9.99466689e-01 2.89554514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0807140569999 meters Centerline goodness [0,1] 0.9683636878361801 Centerline is valid? [True, True] Translation: X:898.89, Y:-66.34, Z:2.89 [[ 9.98244179e-01 -4.97531643e-02 -3.21431328e-02 8.98890208e+02] [ 4.97525234e-02 9.98761240e-01 -8.20243970e-04 -6.63361398e+01] [ 3.21441249e-02 -7.80398198e-04 9.99482939e-01 2.89449723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1107140569999 meters Centerline goodness [0,1] 0.973590462166912 Centerline is valid? [True, True] Translation: X:898.92, Y:-66.34, Z:2.89 [[ 9.98004739e-01 -5.37272168e-02 -3.31651395e-02 8.98920442e+02] [ 5.37287027e-02 9.98555211e-01 -8.47045121e-04 -6.63376244e+01] [ 3.31627322e-02 -9.36564875e-04 9.99449527e-01 2.89405140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.140714057 meters Centerline goodness [0,1] 0.9730981099819546 Centerline is valid? [True, True] Translation: X:898.95, Y:-66.34, Z:2.89 [[ 9.98038688e-01 -5.37075824e-02 -3.21601223e-02 8.98952333e+02] [ 5.37090394e-02 9.98556292e-01 -8.19188166e-04 -6.63380313e+01] [ 3.21576891e-02 -9.09707793e-04 9.99482394e-01 2.89354360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1707140569999 meters Centerline goodness [0,1] 0.9709711136450019 Centerline is valid? [True, True] Translation: X:898.98, Y:-66.34, Z:2.89 [[ 9.97917781e-01 -5.43827196e-02 -3.46788402e-02 8.98982957e+02] [ 5.43848199e-02 9.98519660e-01 -8.83417573e-04 -6.63361787e+01] [ 3.46755464e-02 -1.00442437e-03 9.99398118e-01 2.89061503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2007140569999 meters Centerline goodness [0,1] 0.9732588683531722 Centerline is valid? [True, True] Translation: X:899.01, Y:-66.34, Z:2.89 [[ 9.97884178e-01 -5.63539300e-02 -3.24253198e-02 8.99014256e+02] [ 5.63568491e-02 9.98410349e-01 -8.24630159e-04 -6.63371169e+01] [ 3.24202460e-02 -1.00450347e-03 9.99473821e-01 2.89333882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2307140569999 meters Centerline goodness [0,1] 0.9755347306674297 Centerline is valid? [True, True] Translation: X:899.05, Y:-66.34, Z:2.89 [[ 9.97899125e-01 -5.59817715e-02 -3.26094828e-02 8.99046446e+02] [ 5.59846138e-02 9.98431289e-01 -8.26606171e-04 -6.63351464e+01] [ 3.26046028e-02 -1.00075973e-03 9.99467828e-01 2.89378442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.260714057 meters Centerline goodness [0,1] 0.9787135472544621 Centerline is valid? [True, True] Translation: X:899.08, Y:-66.33, Z:2.89 [[ 9.97853396e-01 -5.55699137e-02 -3.46494542e-02 8.99076512e+02] [ 5.55728559e-02 9.98454248e-01 -8.78898474e-04 -6.63309935e+01] [ 3.46447351e-02 -1.04855730e-03 9.99399141e-01 2.89234494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.290714057 meters Centerline goodness [0,1] 0.9778053890756712 Centerline is valid? [True, True] Translation: X:899.11, Y:-66.33, Z:2.89 [[ 9.97906423e-01 -5.39425523e-02 -3.56787392e-02 8.99108200e+02] [ 5.39447476e-02 9.98543515e-01 -9.01815992e-04 -6.63279209e+01] [ 3.56754199e-02 -1.02475261e-03 9.99362904e-01 2.89230345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3207140569999 meters Centerline goodness [0,1] 0.978880911116613 Centerline is valid? [True, True] Translation: X:899.14, Y:-66.32, Z:2.89 [[ 9.97956429e-01 -5.26495074e-02 -3.62076644e-02 8.99140314e+02] [ 5.26509979e-02 9.98612557e-01 -9.12992723e-04 -6.63243099e+01] [ 3.62054969e-02 -9.95242703e-04 9.99343870e-01 2.88982927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3507140569999 meters Centerline goodness [0,1] 0.9761507214593665 Centerline is valid? [True, True] Translation: X:899.17, Y:-66.32, Z:2.89 [[ 9.97927966e-01 -5.17906974e-02 -3.81772091e-02 8.99170448e+02] [ 5.17917090e-02 9.98657444e-01 -9.63160562e-04 -6.63213292e+01] [ 3.81758368e-02 -1.01609804e-03 9.99270520e-01 2.88600884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.380714057 meters Centerline goodness [0,1] 0.9825917784683798 Centerline is valid? [True, True] Translation: X:899.20, Y:-66.32, Z:2.89 [[ 9.98008880e-01 -5.15536128e-02 -3.63387011e-02 8.99201316e+02] [ 5.15543692e-02 9.98669768e-01 -9.16827100e-04 -6.63195094e+01] [ 3.63376280e-02 -9.58417227e-04 9.99339111e-01 2.88733409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.410714057 meters Centerline goodness [0,1] 0.981525640703833 Centerline is valid? [True, True] Translation: X:899.23, Y:-66.32, Z:2.89 [[ 9.98068477e-01 -5.01084258e-02 -3.67213942e-02 8.99232655e+02] [ 5.01082822e-02 9.98743363e-01 -9.24821621e-04 -6.63177598e+01] [ 3.67215901e-02 -9.17010676e-04 9.99325114e-01 2.88790174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4407140569999 meters Centerline goodness [0,1] 0.9837627956230145 Centerline is valid? [True, True] Translation: X:899.26, Y:-66.32, Z:2.89 [[ 9.98123004e-01 -5.02771054e-02 -3.49668666e-02 8.99263165e+02] [ 5.02770557e-02 9.98734920e-01 -8.81261609e-04 -6.63167160e+01] [ 3.49669380e-02 -8.78423613e-04 9.99388084e-01 2.88887125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4707140569999 meters Centerline goodness [0,1] 0.9807028945658152 Centerline is valid? [True, True] Translation: X:899.29, Y:-66.32, Z:2.89 [[ 9.98157715e-01 -4.88966240e-02 -3.59207046e-02 8.99294022e+02] [ 4.88957721e-02 9.98803478e-01 -9.02712884e-04 -6.63156315e+01] [ 3.59218644e-02 -8.55320758e-04 9.99354236e-01 2.88935993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.500714057 meters Centerline goodness [0,1] 0.9835630423685554 Centerline is valid? [True, True] Translation: X:899.32, Y:-66.31, Z:2.90 [[ 9.98183415e-01 -5.09660603e-02 -3.21299102e-02 8.99324005e+02] [ 5.09664200e-02 9.98700040e-01 -8.08325118e-04 -6.63144245e+01] [ 3.21293397e-02 -8.30689768e-04 9.99483374e-01 2.89560648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.530714057 meters Centerline goodness [0,1] 0.9856971061586879 Centerline is valid? [True, True] Translation: X:899.36, Y:-66.31, Z:2.90 [[ 9.98170229e-01 -5.26685737e-02 -2.97021081e-02 8.99355676e+02] [ 5.26696783e-02 9.98611711e-01 -7.45723006e-04 -6.63138548e+01] [ 2.97001491e-02 -8.20041975e-04 9.99558517e-01 2.89811483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5607140569999 meters Centerline goodness [0,1] 0.9844350946026174 Centerline is valid? [True, True] Translation: X:899.39, Y:-66.31, Z:2.90 [[ 9.98173221e-01 -5.31087199e-02 -2.88042617e-02 8.99388090e+02] [ 5.31100091e-02 9.98588407e-01 -7.20837464e-04 -6.63138384e+01] [ 2.88018846e-02 -8.10273950e-04 9.99584811e-01 2.89906949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5907140569999 meters Centerline goodness [0,1] 0.9861350039797674 Centerline is valid? [True, True] Translation: X:899.42, Y:-66.32, Z:2.90 [[ 9.98160256e-01 -5.47076855e-02 -2.61375828e-02 8.99419157e+02] [ 5.47093001e-02 9.98502111e-01 -6.53864408e-04 -6.63154030e+01] [ 2.61342030e-02 -7.77307399e-04 9.99658141e-01 2.90189790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6207140569999 meters Centerline goodness [0,1] 0.9838356799052791 Centerline is valid? [True, True] Translation: X:899.45, Y:-66.32, Z:2.90 [[ 9.98119860e-01 -5.61210503e-02 -2.46408587e-02 8.99451520e+02] [ 5.61229665e-02 9.98423675e-01 -6.14339309e-04 -6.63161704e+01] [ 2.46364940e-02 -7.69733820e-04 9.99696179e-01 2.90264928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.650714057 meters Centerline goodness [0,1] 0.9815076047090205 Centerline is valid? [True, True] Translation: X:899.48, Y:-66.32, Z:2.90 [[ 9.98057880e-01 -5.65638324e-02 -2.60959924e-02 8.99483022e+02] [ 5.65662042e-02 9.98398640e-01 -6.47896111e-04 -6.63172691e+01] [ 2.60908508e-02 -8.29513413e-04 9.99659232e-01 2.89918177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6807140569999 meters Centerline goodness [0,1] 0.979611775292454 Centerline is valid? [True, True] Translation: X:899.52, Y:-66.32, Z:2.90 [[ 9.97942437e-01 -5.86576420e-02 -2.58877151e-02 8.99515444e+02] [ 5.86607024e-02 9.98277772e-01 -6.41841552e-04 -6.63183805e+01] [ 2.58807795e-02 -8.78070630e-04 9.99664651e-01 2.89886857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7107140569999 meters Centerline goodness [0,1] 0.9821456215490996 Centerline is valid? [True, True] Translation: X:899.55, Y:-66.32, Z:2.90 [[ 9.97830890e-01 -6.03627433e-02 -2.62650685e-02 8.99547347e+02] [ 6.03665064e-02 9.98176068e-01 -6.50329308e-04 -6.63170469e+01] [ 2.62564184e-02 -9.36611751e-04 9.99654802e-01 2.90250484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7407140569999 meters Centerline goodness [0,1] 0.9781197896626908 Centerline is valid? [True, True] Translation: X:899.58, Y:-66.32, Z:2.90 [[ 9.97604988e-01 -6.41929404e-02 -2.57595385e-02 8.99577962e+02] [ 6.41978279e-02 9.97936988e-01 -6.38067298e-04 -6.63231695e+01] [ 2.57473557e-02 -1.01716730e-03 9.99667964e-01 2.90285371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.770714057 meters Centerline goodness [0,1] 0.973925516110855 Centerline is valid? [True, True] Translation: X:899.61, Y:-66.33, Z:2.90 [[ 9.97427393e-01 -6.70666518e-02 -2.53112558e-02 8.99608840e+02] [ 6.70723032e-02 9.97747921e-01 -6.26593601e-04 -6.63269328e+01] [ 2.52962764e-02 -1.07270260e-03 9.99679422e-01 2.90166538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8007140569999 meters Centerline goodness [0,1] 0.9736058438748759 Centerline is valid? [True, True] Translation: X:899.64, Y:-66.33, Z:2.90 [[ 9.97359312e-01 -6.85145738e-02 -2.40864225e-02 8.99640661e+02] [ 6.85201695e-02 9.97649555e-01 -5.93897609e-04 -6.63302121e+01] [ 2.40704993e-02 -1.05807644e-03 9.99709704e-01 2.90110269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8307140569999 meters Centerline goodness [0,1] 0.9736058438748759 Centerline is valid? [True, True] Translation: X:899.67, Y:-66.33, Z:2.90 [[ 9.97365284e-01 -6.84275622e-02 -2.40864901e-02 8.99673255e+02] [ 6.84331986e-02 9.97655526e-01 -5.91157917e-04 -6.63295218e+01] [ 2.40704714e-02 -1.05871517e-03 9.99709704e-01 2.90038663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8607140569999 meters Centerline goodness [0,1] 0.9627137650686852 Centerline is valid? [True, True] Translation: X:899.70, Y:-66.33, Z:2.90 [[ 9.97101544e-01 -7.19895807e-02 -2.46173144e-02 8.99704236e+02] [ 7.19965287e-02 9.97404699e-01 -6.05108644e-04 -6.63348979e+01] [ 2.45969866e-02 -1.16900642e-03 9.99696765e-01 2.89851305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.890714057 meters Centerline goodness [0,1] 0.9592877254394643 Centerline is valid? [True, True] Translation: X:899.74, Y:-66.34, Z:2.90 [[ 9.96923295e-01 -7.45353804e-02 -2.42573846e-02 8.99735047e+02] [ 7.45428827e-02 9.97217631e-01 -5.96074896e-04 -6.63417976e+01] [ 2.42343203e-02 -1.21397443e-03 9.99705569e-01 2.89882344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9207140569999 meters Centerline goodness [0,1] 0.9517925865910472 Centerline is valid? [True, True] Translation: X:899.77, Y:-66.34, Z:2.90 [[ 9.96827041e-01 -7.56443130e-02 -2.47747325e-02 8.99765744e+02] [ 7.56525881e-02 9.97134053e-01 -6.04443725e-04 -6.63444790e+01] [ 2.47494522e-02 -1.27174679e-03 9.99692876e-01 2.89701414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9507140569999 meters Centerline goodness [0,1] 0.9431143023285212 Centerline is valid? [True, False] Translation: X:899.77, Y:-66.35, Z:2.90 [[ 9.96826693e-01 -7.55720021e-02 -2.50083460e-02 8.99766371e+02] [ 7.55934372e-02 9.97138719e-01 -8.85063580e-05 -6.63464933e+01] [ 2.49434787e-02 -1.80224133e-03 9.99687238e-01 2.89687581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9807140569999 meters Centerline goodness [0,1] 0.9418926819348771 Centerline is valid? [False, False] Translation: X:899.77, Y:-66.35, Z:2.89 [[ 9.96853976e-01 -7.52451056e-02 -2.49063099e-02 8.99767535e+02] [ 7.53044933e-02 9.97159526e-01 1.45384177e-03 -6.63514963e+01] [ 2.47261697e-02 -3.32482500e-03 9.99688733e-01 2.89496856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.010714057 meters Centerline goodness [0,1] 0.9418584048396487 Centerline is valid? [False, False] Translation: X:899.77, Y:-66.35, Z:2.89 [[ 9.96865227e-01 -7.49196130e-02 -2.54316856e-02 8.99769267e+02] [ 7.49939272e-02 9.97182025e-01 1.97968733e-03 -6.63530352e+01] [ 2.52117023e-02 -3.88070344e-03 9.99674602e-01 2.89435599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.040714057 meters Centerline goodness [0,1] 0.9532025464466676 Centerline is valid? [False, True] Translation: X:899.77, Y:-66.35, Z:2.89 [[ 9.96910817e-01 -7.42990590e-02 -2.54651330e-02 8.99769869e+02] [ 7.43949828e-02 9.97224812e-01 2.83909546e-03 -6.63548915e+01] [ 2.51835203e-02 -4.72480310e-03 9.99671679e-01 2.89394598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0707140569999 meters Centerline goodness [0,1] 0.9353215577336338 Centerline is valid? [True, False] Translation: X:899.77, Y:-66.36, Z:2.89 [[ 9.96896632e-01 -7.43401991e-02 -2.58967169e-02 8.99770461e+02] [ 7.44299313e-02 9.97223069e-01 2.51716316e-03 -6.63551172e+01] [ 2.56376771e-02 -4.43684233e-03 9.99661455e-01 2.89490916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1007140569999 meters Centerline goodness [0,1] 0.9492629413781282 Centerline is valid? [False, False] Translation: X:899.77, Y:-66.36, Z:2.89 [[ 9.96927730e-01 -7.42087300e-02 -2.50632183e-02 8.99769848e+02] [ 7.43155093e-02 9.97229136e-01 3.35488867e-03 -6.63578646e+01] [ 2.47448096e-02 -5.20716738e-03 9.99680239e-01 2.89369662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.130714057 meters Centerline goodness [0,1] 0.9432212907101256 Centerline is valid? [False, False] Translation: X:899.77, Y:-66.36, Z:2.89 [[ 9.96941929e-01 -7.40945127e-02 -2.48353427e-02 8.99769466e+02] [ 7.41974137e-02 9.97238289e-01 3.24648862e-03 -6.63587380e+01] [ 2.45262077e-02 -5.07927882e-03 9.99686284e-01 2.89460647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.160714057 meters Centerline goodness [0,1] 0.9501936031400838 Centerline is valid? [False, True] Translation: X:899.77, Y:-66.36, Z:2.89 [[ 9.96982188e-01 -7.35356854e-02 -2.48801130e-02 8.99769915e+02] [ 7.36568219e-02 9.97275679e-01 3.98667183e-03 -6.63600762e+01] [ 2.45191690e-02 -5.80723086e-03 9.99682493e-01 2.89434938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1907140569999 meters Centerline goodness [0,1] 0.9492473232269691 Centerline is valid? [True, False] Translation: X:899.77, Y:-66.36, Z:2.89 [[ 9.96983800e-01 -7.38856418e-02 -2.37532164e-02 8.99767653e+02] [ 7.40005309e-02 9.97250206e-01 3.99352071e-03 -6.63610530e+01] [ 2.33928361e-02 -5.73922607e-03 9.99709876e-01 2.89484664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2207140569999 meters Centerline goodness [0,1] 0.9587933281902583 Centerline is valid? [False, True] Translation: X:899.77, Y:-66.36, Z:2.89 [[ 9.97033836e-01 -7.33660234e-02 -2.32584685e-02 8.99768285e+02] [ 7.35201614e-02 9.97276622e-01 5.84167959e-03 -6.63648128e+01] [ 2.27665461e-02 -7.53431857e-03 9.99712418e-01 2.89202731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.250714057 meters Centerline goodness [0,1] 0.9498180475713306 Centerline is valid? [True, False] Translation: X:899.77, Y:-66.37, Z:2.90 [[ 9.96832242e-01 -7.59436423e-02 -2.36229662e-02 8.99766284e+02] [ 7.60319397e-02 9.97101278e-01 2.86103360e-03 -6.63659966e+01] [ 2.33372125e-02 -4.64807048e-03 9.99716845e-01 2.89666522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.280714057 meters Centerline goodness [0,1] 0.9312032845562691 Centerline is valid? [False, False] Translation: X:899.76, Y:-66.36, Z:2.90 [[ 9.97140149e-01 -7.25978297e-02 -2.10018696e-02 8.99760434e+02] [ 7.24513504e-02 9.97342575e-01 -7.65436995e-03 -6.63624088e+01] [ 2.15017494e-02 6.11086578e-03 9.99750135e-01 2.89655481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3107140569999 meters Centerline goodness [0,1] 0.9433502437083457 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.37, Z:2.90 [[ 9.97567863e-01 -6.75224484e-02 -1.72938775e-02 8.99754154e+02] [ 6.74122527e-02 9.97701498e-01 -6.87821695e-03 -6.63736031e+01] [ 1.77185615e-02 5.69566894e-03 9.99826791e-01 2.89610908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3407140569999 meters Centerline goodness [0,1] 0.9316768616349022 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.38, Z:2.89 [[ 9.97778790e-01 -6.46959126e-02 -1.58721301e-02 8.99752811e+02] [ 6.46958641e-02 9.97904894e-01 -5.17060069e-04 -6.63779435e+01] [ 1.58723280e-02 -5.10949600e-04 9.99873896e-01 2.89224912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3707140569999 meters Centerline goodness [0,1] 0.9180315571003476 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.38, Z:2.89 [[ 9.97789937e-01 -6.45052742e-02 -1.59471642e-02 8.99753602e+02] [ 6.45186372e-02 9.97916450e-01 3.24363669e-04 -6.63796409e+01] [ 1.58930143e-02 -1.35253611e-03 9.99872783e-01 2.89171281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.400714057 meters Centerline goodness [0,1] 0.8659967764682179 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.38, Z:2.89 [[ 9.97964350e-01 -6.19153177e-02 -1.52856214e-02 8.99751715e+02] [ 6.19836041e-02 9.98069014e-01 4.03432019e-03 -6.63825454e+01] [ 1.50063188e-02 -4.97356563e-03 9.99875029e-01 2.89165509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4307140569999 meters Centerline goodness [0,1] 0.9261800219538968 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.97999934e-01 -6.14583760e-02 -1.47986359e-02 8.99751732e+02] [ 6.15363895e-02 9.98092936e-01 4.87488883e-03 -6.63853173e+01] [ 1.44708112e-02 -5.77579336e-03 9.99878611e-01 2.89114150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4607140569999 meters Centerline goodness [0,1] 0.9260208525144947 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.98019480e-01 -6.12174374e-02 -1.44755847e-02 8.99751616e+02] [ 6.13023516e-02 9.98104108e-01 5.49651745e-03 -6.63868957e+01] [ 1.41116578e-02 -6.37301886e-03 9.99880116e-01 2.89059460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4907140569999 meters Centerline goodness [0,1] 0.9239738690989769 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.98035389e-01 -6.10296046e-02 -1.41685958e-02 8.99751308e+02] [ 6.11188826e-02 9.98112725e-01 5.95562529e-03 -6.63881582e+01] [ 1.37783863e-02 -6.80989354e-03 9.99881884e-01 2.89037675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.520714057 meters Centerline goodness [0,1] 0.9232513432247252 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.98053649e-01 -6.07587805e-02 -1.40457783e-02 8.99751378e+02] [ 6.08534009e-02 9.98126133e-01 6.40991598e-03 -6.63890699e+01] [ 1.36299997e-02 -7.25217341e-03 9.99880807e-01 2.89012037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5507140569999 meters Centerline goodness [0,1] 0.9207381673935003 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.98063787e-01 -6.06416018e-02 -1.38301472e-02 8.99751110e+02] [ 6.07390337e-02 9.98130946e-01 6.73677770e-03 -6.63899365e+01] [ 1.33957689e-02 -7.56376364e-03 9.99881664e-01 2.88998455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5807140569999 meters Centerline goodness [0,1] 0.9259250135488003 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.98092388e-01 -6.01823674e-02 -1.37719963e-02 8.99751111e+02] [ 6.02844421e-02 9.98155843e-01 7.12032868e-03 -6.63909094e+01] [ 1.33180804e-02 -7.93698297e-03 9.99879809e-01 2.89031523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6107140569999 meters Centerline goodness [0,1] 0.925711481844946 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.98118228e-01 -5.97143978e-02 -1.39353383e-02 8.99751634e+02] [ 5.98194098e-02 9.98182929e-01 7.24423195e-03 -6.63908372e+01] [ 1.34774319e-02 -8.06420367e-03 9.99876656e-01 2.89038912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.640714057 meters Centerline goodness [0,1] 0.9381646317447814 Centerline is valid? [False, False] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.98173599e-01 -5.88038741e-02 -1.38408910e-02 8.99751670e+02] [ 5.89108247e-02 9.98235447e-01 7.45026803e-03 -6.63906276e+01] [ 1.33783634e-02 -8.25203915e-03 9.99876454e-01 2.89080500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6707140569999 meters Centerline goodness [0,1] 0.9665710854594025 Centerline is valid? [False, True] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.98200314e-01 -5.83269284e-02 -1.39320993e-02 8.99751887e+02] [ 5.84352311e-02 9.98263051e-01 7.49696884e-03 -6.63903571e+01] [ 1.34706248e-02 -8.29760209e-03 9.99874838e-01 2.89118811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7007140569999 meters Centerline goodness [0,1] 0.9321752197076636 Centerline is valid? [True, False] Translation: X:899.79, Y:-66.39, Z:2.89 [[ 9.98312439e-01 -5.66234053e-02 -1.28865879e-02 8.99790160e+02] [ 5.66005606e-02 9.98394629e-01 -2.13090276e-03 -6.63861354e+01] [ 1.29865591e-02 1.39791863e-03 9.99914694e-01 2.89458856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7307140569999 meters Centerline goodness [0,1] 0.9705504496491748 Centerline is valid? [False, True] Translation: X:899.72, Y:-66.39, Z:2.89 [[ 9.98623710e-01 -5.15383772e-02 -9.72020865e-03 8.99722474e+02] [ 5.14863452e-02 9.98658391e-01 -5.52948767e-03 -6.63873101e+01] [ 9.99214875e-03 5.02141947e-03 9.99937469e-01 2.89363869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.760714057 meters Centerline goodness [0,1] 0.9685660089177937 Centerline is valid? [True, True] Translation: X:899.75, Y:-66.39, Z:2.89 [[ 9.98731294e-01 -4.95194796e-02 -9.14460214e-03 8.99753004e+02] [ 4.95209751e-02 9.98773082e-01 -6.29591768e-05 -6.63919321e+01] [ 9.13650017e-03 -3.89970315e-04 9.99958185e-01 2.89055978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.790714057 meters Centerline goodness [0,1] 0.9724280544545925 Centerline is valid? [True, True] Translation: X:899.78, Y:-66.39, Z:2.89 [[ 9.98934267e-01 -4.57730926e-02 -5.92910032e-03 8.99783801e+02] [ 4.57736563e-02 9.98951836e-01 -4.06705732e-05 -6.63883593e+01] [ 5.92474727e-03 -2.30769371e-04 9.99982422e-01 2.89213410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8207140569999 meters Centerline goodness [0,1] 0.9721344018822146 Centerline is valid? [True, True] Translation: X:899.81, Y:-66.39, Z:2.89 [[ 9.99043857e-01 -4.32954402e-02 -6.07268050e-03 8.99814190e+02] [ 4.32959939e-02 9.99062288e-01 -4.03128307e-05 -6.63893984e+01] [ 6.06873143e-03 -2.22648452e-04 9.99981560e-01 2.89090183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8507140569999 meters Centerline goodness [0,1] 0.9714701027371948 Centerline is valid? [True, True] Translation: X:899.85, Y:-66.39, Z:2.89 [[ 9.99129071e-01 -4.15218304e-02 -4.12750397e-03 8.99845936e+02] [ 4.15220713e-02 9.99137587e-01 -2.73682488e-05 -6.63881923e+01] [ 4.12508074e-03 -1.44038101e-04 9.99991481e-01 2.89125111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.880714057 meters Centerline goodness [0,1] 0.9752233354720893 Centerline is valid? [True, True] Translation: X:899.88, Y:-66.38, Z:2.89 [[ 9.99223250e-01 -3.93087318e-02 -2.77840898e-03 8.99877418e+02] [ 3.93088327e-02 9.99227109e-01 -1.83104700e-05 -6.63825909e+01] [ 2.77698134e-03 -9.09197665e-05 9.99996140e-01 2.89250217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.910714057 meters Centerline goodness [0,1] 0.9763642683350713 Centerline is valid? [True, True] Translation: X:899.91, Y:-66.38, Z:2.89 [[ 9.99411042e-01 -3.43138246e-02 3.59970727e-04 8.99906874e+02] [ 3.43138261e-02 9.99411107e-01 2.26289681e-06 -6.63820123e+01] [-3.59836391e-04 1.00904089e-05 9.99999935e-01 2.89331706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9407140569999 meters Centerline goodness [0,1] 0.9793169674734691 Centerline is valid? [True, True] Translation: X:899.94, Y:-66.38, Z:2.89 [[ 9.99529127e-01 -3.06830231e-02 -2.75089990e-04 8.99937856e+02] [ 3.06830239e-02 9.99529165e-01 -1.52694297e-06 -6.63782855e+01] [ 2.75007319e-04 -6.91436876e-06 9.99999962e-01 2.89304315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9707140569999 meters Centerline goodness [0,1] 0.9795383778974942 Centerline is valid? [True, True] Translation: X:899.97, Y:-66.38, Z:2.89 [[ 9.99592380e-01 -2.85391903e-02 7.66965613e-04 8.99968960e+02] [ 2.85391944e-02 9.99592674e-01 5.55527007e-06 -6.63769387e+01] [-7.66811751e-04 1.63355751e-05 9.99999706e-01 2.89345099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.000714057 meters Centerline goodness [0,1] 0.9817992719708788 Centerline is valid? [True, True] Translation: X:900.00, Y:-66.38, Z:2.89 [[ 9.99650906e-01 -2.62728851e-02 2.79327571e-03 9.00001100e+02] [ 2.62729347e-02 9.99654807e-01 1.89746877e-05 -6.63756594e+01] [-2.79281001e-03 5.44194864e-05 9.99996099e-01 2.89337817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.030714057 meters Centerline goodness [0,1] 0.9826280074028377 Centerline is valid? [True, True] Translation: X:900.03, Y:-66.38, Z:2.89 [[ 9.99658813e-01 -2.59445423e-02 3.02308224e-03 9.00033095e+02] [ 2.59445996e-02 9.99663382e-01 2.02803854e-05 -6.63758883e+01] [-3.02259078e-03 5.81591922e-05 9.99995430e-01 2.89305032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0607140569999 meters Centerline goodness [0,1] 0.9806709620084426 Centerline is valid? [True, True] Translation: X:900.06, Y:-66.38, Z:2.89 [[ 9.99662964e-01 -2.57586100e-02 3.23305204e-03 9.00063952e+02] [ 2.57586757e-02 9.99668190e-01 2.13266524e-05 -6.63765110e+01] [-3.23252863e-03 6.19596746e-05 9.99994773e-01 2.89303525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0907140569999 meters Centerline goodness [0,1] 0.9811633663366337 Centerline is valid? [True, True] Translation: X:900.10, Y:-66.38, Z:2.89 [[ 9.99622183e-01 -2.70913522e-02 4.64212592e-03 9.00096157e+02] [ 2.70915036e-02 9.99632957e-01 3.02654790e-05 -6.63772493e+01] [-4.64124200e-03 9.55081270e-05 9.99989225e-01 2.89293725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1207140569999 meters Centerline goodness [0,1] 0.978398952077309 Centerline is valid? [True, True] Translation: X:900.13, Y:-66.38, Z:2.89 [[ 9.99548460e-01 -2.93306658e-02 6.52601285e-03 9.00128364e+02] [ 2.93310173e-02 9.99569752e-01 4.18595955e-05 -6.63807127e+01] [-6.52443282e-03 1.49573902e-04 9.99978704e-01 2.89321110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.150714057 meters Centerline goodness [0,1] 0.9784530522790514 Centerline is valid? [True, True] Translation: X:900.16, Y:-66.38, Z:2.89 [[ 9.99495861e-01 -3.08848284e-02 7.35879292e-03 9.00159426e+02] [ 3.08853196e-02 9.99522934e-01 4.69069931e-05 -6.63836765e+01] [-7.35673101e-03 1.80395326e-04 9.99972923e-01 2.89244909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1807140569999 meters Centerline goodness [0,1] 0.9762197521148928 Centerline is valid? [True, True] Translation: X:900.19, Y:-66.39, Z:2.89 [[ 9.99380778e-01 -3.42024011e-02 8.26179150e-03 9.00190507e+02] [ 3.42031505e-02 9.99414900e-01 5.06102514e-05 -6.63891543e+01] [-8.25868851e-03 2.32000386e-04 9.99965870e-01 2.89167131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2107140569999 meters Centerline goodness [0,1] 0.9745050842462052 Centerline is valid? [True, True] Translation: X:900.22, Y:-66.39, Z:2.89 [[ 9.99288404e-01 -3.69439215e-02 7.60478747e-03 9.00222990e+02] [ 3.69446489e-02 9.99317312e-01 4.48530331e-05 -6.63914247e+01] [-7.60125283e-03 2.36135088e-04 9.99971082e-01 2.89105549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2407140569999 meters Centerline goodness [0,1] 0.9733411454518822 Centerline is valid? [True, True] Translation: X:900.25, Y:-66.39, Z:2.89 [[ 9.99266941e-01 -3.77565224e-02 6.32654863e-03 9.00253955e+02] [ 3.77570413e-02 9.99286948e-01 3.74268350e-05 -6.63934181e+01] [-6.32345058e-03 2.01472359e-04 9.99979986e-01 2.88993868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.270714057 meters Centerline goodness [0,1] 0.9726919979500696 Centerline is valid? [True, True] Translation: X:900.28, Y:-66.40, Z:2.89 [[ 9.99139566e-01 -4.11633889e-02 5.06989661e-03 9.00283687e+02] [ 4.11637739e-02 9.99152412e-01 2.84152212e-05 -6.63976485e+01] [-5.06676909e-03 1.80305306e-04 9.99987148e-01 2.88857713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3007140569999 meters Centerline goodness [0,1] 0.9708254384686392 Centerline is valid? [True, True] Translation: X:900.32, Y:-66.40, Z:2.89 [[ 9.99093116e-01 -4.23228726e-02 4.66041884e-03 9.00315020e+02] [ 4.23232061e-02 9.99103971e-01 2.70811516e-05 -6.63990411e+01] [-4.65738912e-03 1.70187275e-04 9.99989140e-01 2.88831074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3307140569999 meters Centerline goodness [0,1] 0.9690694052370291 Centerline is valid? [True, True] Translation: X:900.35, Y:-66.40, Z:2.89 [[ 9.99015162e-01 -4.39988153e-02 5.72810749e-03 9.00347471e+02] [ 4.39993590e-02 9.99031559e-01 3.11298531e-05 -6.64008614e+01] [-5.72392984e-03 2.20933863e-04 9.99983594e-01 2.88897061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3607140569999 meters Centerline goodness [0,1] 0.9660381012321173 Centerline is valid? [True, True] Translation: X:900.38, Y:-66.41, Z:2.89 [[ 9.98882151e-01 -4.65527126e-02 8.20319904e-03 9.00378974e+02] [ 4.65539188e-02 9.98915778e-01 4.39475491e-05 -6.64050033e+01] [-8.19635082e-03 3.37992640e-04 9.99966352e-01 2.89072881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.390714057 meters Centerline goodness [0,1] 0.9649203617057384 Centerline is valid? [True, True] Translation: X:900.41, Y:-66.41, Z:2.89 [[ 9.98816780e-01 -4.77079260e-02 9.43366458e-03 9.00411540e+02] [ 4.77095938e-02 9.98861248e-01 4.83006973e-05 -6.64064907e+01] [-9.42522630e-03 4.01832759e-04 9.99955501e-01 2.89185245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4207140569999 meters Centerline goodness [0,1] 0.962039701153316 Centerline is valid? [True, True] Translation: X:900.44, Y:-66.41, Z:2.89 [[ 9.98743244e-01 -4.87650658e-02 1.15715594e-02 9.00442954e+02] [ 4.87676805e-02 9.98810147e-01 5.62703162e-05 -6.64083278e+01] [-1.15605350e-02 5.08118514e-04 9.99933046e-01 2.89326938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4507140569999 meters Centerline goodness [0,1] 0.9602967473780871 Centerline is valid? [True, True] Translation: X:900.48, Y:-66.41, Z:2.89 [[ 9.98675880e-01 -4.97820652e-02 1.29704697e-02 9.00475278e+02] [ 4.97854738e-02 9.98759933e-01 6.01577769e-05 -6.64089572e+01] [-1.29573802e-02 5.85662860e-04 9.99915878e-01 2.89336746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4807140569999 meters Centerline goodness [0,1] 0.9595605987445679 Centerline is valid? [True, True] Translation: X:900.51, Y:-66.41, Z:2.89 [[ 9.98633068e-01 -5.05522607e-02 1.32839747e-02 9.00507704e+02] [ 5.05559428e-02 9.98721229e-01 5.86937816e-05 -6.64095419e+01] [-1.32699546e-02 6.12970313e-04 9.99911762e-01 2.89294210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.510714057 meters Centerline goodness [0,1] 0.9566564216742093 Centerline is valid? [True, True] Translation: X:900.54, Y:-66.41, Z:2.89 [[ 9.98583147e-01 -5.14596282e-02 1.35500879e-02 9.00539071e+02] [ 5.14635818e-02 9.98674870e-01 5.69733324e-05 -6.64116387e+01] [-1.35350641e-02 6.40443449e-04 9.99908192e-01 2.89231733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.540714057 meters Centerline goodness [0,1] 0.9574728652386898 Centerline is valid? [True, True] Translation: X:900.57, Y:-66.41, Z:2.89 [[ 9.98513109e-01 -5.29246021e-02 1.30597459e-02 9.00571584e+02] [ 5.29284260e-02 9.98598307e-01 5.29017834e-05 -6.64131412e+01] [-1.30442399e-02 6.38408669e-04 9.99914716e-01 2.89093068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5707140569999 meters Centerline goodness [0,1] 0.9533132892363199 Centerline is valid? [True, True] Translation: X:900.60, Y:-66.42, Z:2.89 [[ 9.98285095e-01 -5.75522496e-02 1.07055227e-02 9.00601038e+02] [ 5.75550896e-02 9.98342331e-01 4.28764898e-05 -6.64169173e+01] [-1.06902441e-02 5.73354356e-04 9.99942693e-01 2.88931557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6007140569999 meters Centerline goodness [0,1] 0.9528126284236227 Centerline is valid? [True, True] Translation: X:900.63, Y:-66.42, Z:2.89 [[ 9.98155030e-01 -5.99460829e-02 9.64384221e-03 9.00632538e+02] [ 5.99485003e-02 9.98201471e-01 3.84694859e-05 -6.64185760e+01] [-9.62880357e-03 5.39735366e-04 9.99953496e-01 2.88773316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.630714057 meters Centerline goodness [0,1] 0.9497680487097709 Centerline is valid? [True, False] Translation: X:900.63, Y:-66.42, Z:2.89 [[ 9.98115549e-01 -6.06108375e-02 9.57487384e-03 9.00632935e+02] [ 6.06127451e-02 9.98161353e-01 9.10972354e-05 -6.64184473e+01] [-9.56279050e-03 4.89433820e-04 9.99954156e-01 2.88676580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.660714057 meters Centerline goodness [0,1] 0.9604331327194063 Centerline is valid? [False, True] Translation: X:900.63, Y:-66.42, Z:2.89 [[ 9.98261367e-01 -5.81080453e-02 9.88425963e-03 9.00632026e+02] [ 5.80706568e-02 9.98304346e-01 4.02872783e-03 -6.64205831e+01] [-1.01016008e-02 -3.44773790e-03 9.99943034e-01 2.88589876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6907140569999 meters Centerline goodness [0,1] 0.9616767623138741 Centerline is valid? [True, True] Translation: X:900.66, Y:-66.42, Z:2.89 [[ 9.98189220e-01 -5.93777797e-02 9.62078526e-03 9.00664164e+02] [ 5.93809856e-02 9.98235391e-01 -4.76743037e-05 -6.64178761e+01] [-9.60097755e-03 6.18879688e-04 9.99953718e-01 2.88720325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7207140569999 meters Centerline goodness [0,1] 0.9616767623138741 Centerline is valid? [True, True] Translation: X:900.70, Y:-66.42, Z:2.89 [[ 9.98205756e-01 -5.90991457e-02 9.62078423e-03 9.00696850e+02] [ 5.91023409e-02 9.98251928e-01 -4.78967851e-05 -6.64181222e+01] [-9.60113574e-03 6.16421716e-04 9.99953718e-01 2.88681855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.750714057 meters Centerline goodness [0,1] 0.9450578592092574 Centerline is valid? [True, False] Translation: X:900.70, Y:-66.42, Z:2.89 [[ 9.98376392e-01 -5.61301111e-02 9.69487415e-03 9.00696562e+02] [ 5.60926083e-02 9.98417160e-01 4.09806758e-03 -6.64198445e+01] [-9.90955370e-03 -3.54760315e-03 9.99944606e-01 2.88581055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.780714057 meters Centerline goodness [0,1] 0.942215359374623 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.42, Z:2.89 [[ 9.98496336e-01 -5.38227756e-02 1.04007954e-02 9.00694867e+02] [ 5.37502818e-02 9.98528965e-01 7.12839476e-03 -6.64189590e+01] [-1.07691655e-02 -6.55863036e-03 9.99920502e-01 2.88532759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8107140569999 meters Centerline goodness [0,1] 0.941390079163338 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.42, Z:2.89 [[ 9.98628509e-01 -5.12224175e-02 1.08335467e-02 9.00693288e+02] [ 5.11111653e-02 9.98639768e-01 1.03083826e-02 -6.64188823e+01] [-1.13468309e-02 -9.74052952e-03 9.99888180e-01 2.88548734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8407140569999 meters Centerline goodness [0,1] 0.9410778093779625 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.42, Z:2.89 [[ 9.98621936e-01 -5.13447627e-02 1.08602439e-02 9.00693021e+02] [ 5.12414985e-02 9.98640320e-01 9.58226798e-03 -6.64165421e+01] [-1.13374768e-02 -9.01256783e-03 9.99895112e-01 2.88598697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8707140569999 meters Centerline goodness [0,1] 0.9404122301455504 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.41, Z:2.89 [[ 9.98761341e-01 -4.85206218e-02 1.10242029e-02 9.00692126e+02] [ 4.83839783e-02 9.98752568e-01 1.23409016e-02 -6.64144048e+01] [-1.16092392e-02 -1.17922206e-02 9.99863075e-01 2.88605311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.900714057 meters Centerline goodness [0,1] 0.9408674077497506 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.41, Z:2.89 [[ 9.98770152e-01 -4.83736641e-02 1.08706683e-02 9.00692822e+02] [ 4.82433926e-02 9.98764211e-01 1.19425881e-02 -6.64126489e+01] [-1.14349412e-02 -1.14034626e-02 9.99869593e-01 2.88574764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9307140569999 meters Centerline goodness [0,1] 0.94 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.41, Z:2.89 [[ 9.98772123e-01 -4.83545375e-02 1.07743100e-02 9.00693109e+02] [ 4.82288446e-02 9.98768538e-01 1.16355717e-02 -6.64112546e+01] [-1.13236746e-02 -1.11016521e-02 9.99874256e-01 2.88562588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9607140569999 meters Centerline goodness [0,1] 0.9544873685245256 Centerline is valid? [False, True] Translation: X:900.69, Y:-66.41, Z:2.89 [[ 9.98754317e-01 -4.86959124e-02 1.08868230e-02 9.00692969e+02] [ 4.85810587e-02 9.98763244e-01 1.05765772e-02 -6.64075890e+01] [-1.13883947e-02 -1.00345087e-02 9.99884800e-01 2.88561495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9907140569999 meters Centerline goodness [0,1] 0.9367830239771553 Centerline is valid? [True, False] Translation: X:900.69, Y:-66.41, Z:2.89 [[ 9.98748153e-01 -4.88090913e-02 1.09452532e-02 9.00692924e+02] [ 4.86982454e-02 9.98761708e-01 1.01750676e-02 -6.64059078e+01] [-1.14283356e-02 -9.62931534e-03 9.99888328e-01 2.88559812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.020714057 meters Centerline goodness [0,1] 0.9352854692477334 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.40, Z:2.89 [[ 9.98731218e-01 -4.91602716e-02 1.09189184e-02 9.00693051e+02] [ 4.90578651e-02 9.98751168e-01 9.45673579e-03 -6.64036283e+01] [-1.13701782e-02 -8.90907842e-03 9.99895668e-01 2.88555231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0507140569999 meters Centerline goodness [0,1] 0.932158763749108 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.40, Z:2.89 [[ 9.98726229e-01 -4.92328894e-02 1.10472648e-02 9.00693022e+02] [ 4.91279796e-02 9.98746594e-01 9.57510842e-03 -6.64033353e+01] [-1.15048284e-02 -9.02018212e-03 9.99893132e-01 2.88503403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0807140569999 meters Centerline goodness [0,1] 0.9291569230769231 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.40, Z:2.88 [[ 9.98723149e-01 -4.92917673e-02 1.10631681e-02 9.00693410e+02] [ 4.91862611e-02 9.98743347e-01 9.61452170e-03 -6.64031528e+01] [-1.15231823e-02 -9.05808951e-03 9.99892578e-01 2.88442485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1107140569999 meters Centerline goodness [0,1] 0.9238506452087729 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.40, Z:2.88 [[ 9.98713447e-01 -4.95298755e-02 1.08739541e-02 9.00694463e+02] [ 4.94264557e-02 9.98731800e-01 9.58214288e-03 -6.64023036e+01] [-1.13347660e-02 -9.03235393e-03 9.99894964e-01 2.88314370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.140714057 meters Centerline goodness [0,1] 0.9128205128205128 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.40, Z:2.88 [[ 9.98702589e-01 -4.97552514e-02 1.08421992e-02 9.00694591e+02] [ 4.96543292e-02 9.98722351e-01 9.38688265e-03 -6.64014559e+01] [-1.12953934e-02 -8.83634188e-03 9.99897161e-01 2.88289732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1707140569999 meters Centerline goodness [0,1] 0.9022362952701366 Centerline is valid? [False, False] Translation: X:900.69, Y:-66.40, Z:2.88 [[ 9.98692565e-01 -4.99416400e-02 1.09083565e-02 9.00694448e+02] [ 4.98448627e-02 9.98716685e-01 8.97067697e-03 -6.63999246e+01] [-1.13423679e-02 -8.41522287e-03 9.99900262e-01 2.88293774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2007140569999 meters Centerline goodness [0,1] 0.9557381919001882 Centerline is valid? [False, True] Translation: X:900.69, Y:-66.40, Z:2.88 [[ 9.98694257e-01 -4.99374736e-02 1.07717073e-02 9.00694619e+02] [ 4.98478175e-02 9.98721186e-01 8.43727008e-03 -6.63980206e+01] [-1.11792682e-02 -7.88930707e-03 9.99906387e-01 2.88329569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2307140569999 meters Centerline goodness [0,1] 0.9519465022622184 Centerline is valid? [True, True] Translation: X:900.72, Y:-66.40, Z:2.89 [[ 9.98813056e-01 -4.75992251e-02 1.03340214e-02 9.00724086e+02] [ 4.76039216e-02 9.98866269e-01 -2.08825484e-04 -6.63963093e+01] [-1.03123655e-02 7.00517566e-04 9.99946581e-01 2.88694844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.260714057 meters Centerline goodness [0,1] 0.953867637524313 Centerline is valid? [True, True] Translation: X:900.76, Y:-66.39, Z:2.89 [[ 9.98896853e-01 -4.56508840e-02 1.10033898e-02 9.00756078e+02] [ 4.56560868e-02 9.98957193e-01 -2.21974468e-04 -6.63940031e+01] [-1.09817821e-02 7.24101318e-04 9.99939436e-01 2.88730452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.290714057 meters Centerline goodness [0,1] 0.9597397723007631 Centerline is valid? [True, True] Translation: X:900.79, Y:-66.38, Z:2.89 [[ 9.99056670e-01 -4.16931343e-02 1.21429915e-02 9.00787287e+02] [ 4.16991916e-02 9.99130180e-01 -2.45962796e-04 -6.63810192e+01] [-1.21221743e-02 7.52083701e-04 9.99926241e-01 2.88824712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3207140569999 meters Centerline goodness [0,1] 0.9561412332763304 Centerline is valid? [True, True] Translation: X:900.82, Y:-66.38, Z:2.89 [[ 9.99237078e-01 -3.68333617e-02 1.29832537e-02 9.00817026e+02] [ 3.68398783e-02 9.99321147e-01 -2.63041665e-04 -6.63798993e+01] [-1.29647513e-02 7.41142472e-04 9.99915679e-01 2.88901152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3507140569999 meters Centerline goodness [0,1] 0.961060792332589 Centerline is valid? [True, True] Translation: X:900.85, Y:-66.37, Z:2.89 [[ 9.99331833e-01 -3.40041144e-02 1.34017698e-02 9.00848480e+02] [ 3.40108014e-02 9.99421429e-01 -2.71302134e-04 -6.63710985e+01] [-1.33847905e-02 7.26925789e-04 9.99910155e-01 2.88945686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.380714057 meters Centerline goodness [0,1] 0.9655067772607728 Centerline is valid? [True, True] Translation: X:900.88, Y:-66.36, Z:2.89 [[ 9.99499548e-01 -2.82789777e-02 1.41758210e-02 9.00878025e+02] [ 2.82858881e-02 9.99599833e-01 -2.87177107e-04 -6.63639491e+01] [-1.41620273e-02 6.88009076e-04 9.99899477e-01 2.89100617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.410714057 meters Centerline goodness [0,1] 0.9710927009703326 Centerline is valid? [True, True] Translation: X:900.91, Y:-66.35, Z:2.89 [[ 9.99619062e-01 -2.38331479e-02 1.39180443e-02 9.00908703e+02] [ 2.38393762e-02 9.99715762e-01 -2.81745475e-04 -6.63521655e+01] [-1.39073734e-02 6.13435643e-04 9.99903100e-01 2.89042327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4407140569999 meters Centerline goodness [0,1] 0.9673007869203147 Centerline is valid? [True, True] Translation: X:900.94, Y:-66.35, Z:2.89 [[ 9.99698137e-01 -1.97490092e-02 1.46154688e-02 9.00938118e+02] [ 1.97554414e-02 9.99804798e-01 -2.95838903e-04 -6.63530309e+01] [-1.46067733e-02 5.84484638e-04 9.99893145e-01 2.89106224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4707140569999 meters Centerline goodness [0,1] 0.9741210565116811 Centerline is valid? [True, True] Translation: X:900.97, Y:-66.34, Z:2.89 [[ 9.99719652e-01 -1.78797346e-02 1.55219885e-02 9.00970739e+02] [ 1.78867636e-02 9.99839970e-01 -3.14124341e-04 -6.63417528e+01] [-1.55138881e-02 5.91674417e-04 9.99879477e-01 2.89049022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.500714057 meters Centerline goodness [0,1] 0.9774577010963055 Centerline is valid? [True, True] Translation: X:901.00, Y:-66.33, Z:2.89 [[ 9.99777950e-01 -1.39558109e-02 1.57887645e-02 9.01002125e+02] [ 1.39626103e-02 9.99902467e-01 -3.20491461e-04 -6.63337474e+01] [-1.57827518e-02 5.40872662e-04 9.99875298e-01 2.88995673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.530714057 meters Centerline goodness [0,1] 0.9776206086574947 Centerline is valid? [True, True] Translation: X:901.03, Y:-66.33, Z:2.89 [[ 9.99806465e-01 -1.17479407e-02 1.57802924e-02 9.01034308e+02] [ 1.17544681e-02 9.99930862e-01 -3.20952692e-04 -6.63299692e+01] [-1.57754309e-02 5.06379521e-04 9.99875432e-01 2.89001521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5607140569999 meters Centerline goodness [0,1] 0.9765376971323853 Centerline is valid? [True, True] Translation: X:901.07, Y:-66.33, Z:2.89 [[ 9.99813052e-01 -1.10763667e-02 1.58484791e-02 9.01065860e+02] [ 1.10828866e-02 9.99938531e-01 -3.23616865e-04 -6.63336435e+01] [-1.58439204e-02 4.99203262e-04 9.99874353e-01 2.88836070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5907140569999 meters Centerline goodness [0,1] 0.9779714041937069 Centerline is valid? [True, True] Translation: X:901.10, Y:-66.33, Z:2.89 [[ 9.99830696e-01 -1.16364821e-02 1.42538331e-02 9.01097728e+02] [ 1.16418366e-02 9.99932189e-01 -2.92731701e-04 -6.63334371e+01] [-1.42494601e-02 4.58622935e-04 9.99898366e-01 2.88548480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6207140569999 meters Centerline goodness [0,1] 0.9777149466649531 Centerline is valid? [True, True] Translation: X:901.13, Y:-66.34, Z:2.88 [[ 9.99828959e-01 -1.13784692e-02 1.45802062e-02 9.01129696e+02] [ 1.13840631e-02 9.99935154e-01 -3.00719388e-04 -6.63354820e+01] [-1.45758390e-02 4.66649940e-04 9.99893658e-01 2.88465425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.650714057 meters Centerline goodness [0,1] 0.9767621798674335 Centerline is valid? [True, True] Translation: X:901.16, Y:-66.34, Z:2.88 [[ 9.99828203e-01 -1.20958999e-02 1.40446848e-02 9.01161518e+02] [ 1.21012066e-02 9.99926735e-01 -2.92919793e-04 -6.63368363e+01] [-1.40401126e-02 4.62827102e-04 9.99901326e-01 2.88409791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6807140569999 meters Centerline goodness [0,1] 0.9766507916076715 Centerline is valid? [True, True] Translation: X:901.19, Y:-66.34, Z:2.88 [[ 9.99812471e-01 -1.33420038e-02 1.40361580e-02 9.01193480e+02] [ 1.33474401e-02 9.99910876e-01 -2.93692877e-04 -6.63391070e+01] [-1.40309886e-02 4.80984580e-04 9.99901445e-01 2.88287938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7107140569999 meters Centerline goodness [0,1] 0.9746024394009573 Centerline is valid? [True, True] Translation: X:901.23, Y:-66.34, Z:2.88 [[ 9.99791155e-01 -1.62761645e-02 1.23584806e-02 9.01225380e+02] [ 1.62806104e-02 9.99867428e-01 -2.59216582e-04 -6.63440925e+01] [-1.23526231e-02 4.60366053e-04 9.99923597e-01 2.88036523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7407140569999 meters Centerline goodness [0,1] 0.9756323495355479 Centerline is valid? [True, True] Translation: X:901.26, Y:-66.35, Z:2.88 [[ 9.99770504e-01 -1.75664068e-02 1.22621560e-02 9.01257954e+02] [ 1.75709132e-02 9.99845586e-01 -2.59860351e-04 -6.63456639e+01] [-1.22556977e-02 4.75257993e-04 9.99924783e-01 2.87964903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.770714057 meters Centerline goodness [0,1] 0.9725964129012393 Centerline is valid? [True, True] Translation: X:901.29, Y:-66.35, Z:2.88 [[ 9.99719529e-01 -1.98239049e-02 1.29566732e-02 9.01288642e+02] [ 1.98291689e-02 9.99803344e-01 -2.77924706e-04 -6.63520696e+01] [-1.29486156e-02 5.34766817e-04 9.99916020e-01 2.87897707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8007140569999 meters Centerline goodness [0,1] 0.9717346180457679 Centerline is valid? [True, True] Translation: X:901.32, Y:-66.35, Z:2.88 [[ 9.99695195e-01 -2.04004233e-02 1.39046797e-02 9.01320855e+02] [ 2.04065660e-02 9.99791719e-01 -3.00020664e-04 -6.63548551e+01] [-1.38956631e-02 5.83675981e-04 9.99903280e-01 2.87905769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8307140569999 meters Centerline goodness [0,1] 0.9724127302149957 Centerline is valid? [True, True] Translation: X:901.35, Y:-66.36, Z:2.88 [[ 9.99731066e-01 -1.81222513e-02 1.44699485e-02 9.01352273e+02] [ 1.81286832e-02 9.99835613e-01 -3.13449227e-04 -6.63568255e+01] [-1.44618894e-02 5.75686043e-04 9.99895256e-01 2.87892987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8607140569999 meters Centerline goodness [0,1] 0.9713536983274671 Centerline is valid? [True, True] Translation: X:901.39, Y:-66.36, Z:2.88 [[ 9.99753041e-01 -1.64811962e-02 1.49072685e-02 9.01385004e+02] [ 1.64878870e-02 9.99864012e-01 -3.26027912e-04 -6.63575543e+01] [-1.48998680e-02 5.71736755e-04 9.99888827e-01 2.87797662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.890714057 meters Centerline goodness [0,1] 0.9728695115998253 Centerline is valid? [True, True] Translation: X:901.42, Y:-66.36, Z:2.88 [[ 9.99773892e-01 -1.49886175e-02 1.50833284e-02 9.01416911e+02] [ 1.49953165e-02 9.99887509e-01 -3.31128215e-04 -6.63554204e+01] [-1.50766685e-02 5.57232627e-04 9.99886185e-01 2.87754553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9207140569999 meters Centerline goodness [0,1] 0.9727896400215833 Centerline is valid? [True, True] Translation: X:901.45, Y:-66.36, Z:2.88 [[ 9.99806848e-01 -1.34671548e-02 1.43144193e-02 9.01448348e+02] [ 1.34730488e-02 9.99909185e-01 -3.15392611e-04 -6.63571727e+01] [-1.43088719e-02 5.08190562e-04 9.99897494e-01 2.87661271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9507140569999 meters Centerline goodness [0,1] 0.9739689065912887 Centerline is valid? [True, True] Translation: X:901.48, Y:-66.36, Z:2.87 [[ 9.99846714e-01 -1.14845819e-02 1.32156122e-02 9.01480840e+02] [ 1.14894687e-02 9.99933951e-01 -2.93907029e-04 -6.63568189e+01] [-1.32113639e-02 4.45702340e-04 9.99912627e-01 2.87443561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9807140569999 meters Centerline goodness [0,1] 0.9752575730325531 Centerline is valid? [True, True] Translation: X:901.51, Y:-66.36, Z:2.87 [[ 9.99886863e-01 -9.45580743e-03 1.16982527e-02 9.01513634e+02] [ 9.45950559e-03 9.99955224e-01 -2.60837022e-04 -6.63559049e+01] [-1.16952625e-02 3.71467199e-04 9.99931539e-01 2.87226813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.010714057 meters Centerline goodness [0,1] 0.976690758905524 Centerline is valid? [True, True] Translation: X:901.55, Y:-66.36, Z:2.87 [[ 9.99916740e-01 -8.38702410e-03 9.80662525e-03 9.01546381e+02] [ 8.38957806e-03 9.99964783e-01 -2.19322333e-04 -6.63553920e+01] [-9.80444043e-03 3.01577521e-04 9.99951890e-01 2.87095500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.040714057 meters Centerline goodness [0,1] 0.9758226479221381 Centerline is valid? [True, True] Translation: X:901.58, Y:-66.36, Z:2.87 [[ 9.99919292e-01 -8.34107507e-03 9.58312529e-03 9.01579047e+02] [ 8.34351892e-03 9.99965169e-01 -2.15064888e-04 -6.63566662e+01] [-9.58099763e-03 2.95004518e-04 9.99954058e-01 2.86912244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0707140569999 meters Centerline goodness [0,1] 0.9744165634035522 Centerline is valid? [True, True] Translation: X:901.61, Y:-66.36, Z:2.87 [[ 9.99909294e-01 -1.00319157e-02 8.98689565e-03 9.01610789e+02] [ 1.00341426e-02 9.99949636e-01 -2.02730324e-04 -6.63566253e+01] [-8.98440927e-03 2.92887727e-04 9.99959596e-01 2.86821123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1007140569999 meters Centerline goodness [0,1] 0.9747623475924778 Centerline is valid? [True, True] Translation: X:901.64, Y:-66.36, Z:2.87 [[ 9.99893794e-01 -1.15974129e-02 8.82618054e-03 9.01642045e+02] [ 1.15996229e-02 9.99932702e-01 -1.99243549e-04 -6.63574768e+01] [-8.82327585e-03 3.01602755e-04 9.99961029e-01 2.86910071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.130714057 meters Centerline goodness [0,1] 0.9723003846451713 Centerline is valid? [True, True] Translation: X:901.67, Y:-66.36, Z:2.87 [[ 9.99859563e-01 -1.44103966e-02 8.55538920e-03 9.01672811e+02] [ 1.44125848e-02 9.99896114e-01 -1.94169923e-04 -6.63592542e+01] [-8.55170235e-03 3.17447927e-04 9.99963383e-01 2.86797026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.160714057 meters Centerline goodness [0,1] 0.971801606922126 Centerline is valid? [True, True] Translation: X:901.71, Y:-66.36, Z:2.87 [[ 9.99820798e-01 -1.66040419e-02 9.09275875e-03 9.01705296e+02] [ 1.66066162e-02 9.99862079e-01 -2.07680715e-04 -6.63624415e+01] [-9.08805633e-03 3.58643452e-04 9.99958638e-01 2.86776750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1907140569999 meters Centerline goodness [0,1] 0.9717078454634549 Centerline is valid? [True, True] Translation: X:901.74, Y:-66.36, Z:2.87 [[ 9.99768201e-01 -1.87403942e-02 1.05991244e-02 9.01737002e+02] [ 1.87440197e-02 9.99824286e-01 -2.42818113e-04 -6.63616198e+01] [-1.05927114e-02 4.41432024e-04 9.99943798e-01 2.86970218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2207140569999 meters Centerline goodness [0,1] 0.9747697546629518 Centerline is valid? [True, True] Translation: X:901.77, Y:-66.36, Z:2.87 [[ 9.99746133e-01 -1.99078487e-02 1.05520880e-02 9.01769483e+02] [ 1.99115363e-02 9.99801716e-01 -2.44517600e-04 -6.63621493e+01] [-1.05451279e-02 4.54563808e-04 9.99944295e-01 2.86997905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.250714057 meters Centerline goodness [0,1] 0.9735101049258283 Centerline is valid? [True, True] Translation: X:901.80, Y:-66.36, Z:2.87 [[ 9.99723631e-01 -2.11629233e-02 1.02367682e-02 9.01802019e+02] [ 2.11664666e-02 9.99775937e-01 -2.37901042e-04 -6.63630639e+01] [-1.02294398e-02 4.54511505e-04 9.99947575e-01 2.86928495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.280714057 meters Centerline goodness [0,1] 0.9724538531044276 Centerline is valid? [True, True] Translation: X:901.83, Y:-66.36, Z:2.87 [[ 9.99716840e-01 -2.17179305e-02 9.72477633e-03 9.01832781e+02] [ 2.17211565e-02 9.99764042e-01 -2.26229406e-04 -6.63648294e+01] [-9.71756846e-03 4.37398736e-04 9.99952688e-01 2.86810500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3107140569999 meters Centerline goodness [0,1] 0.9606059151142693 Centerline is valid? [True, True] Translation: X:901.86, Y:-66.38, Z:2.87 [[ 9.99779002e-01 -1.80291509e-02 1.08118734e-02 9.01861591e+02] [ 1.80329539e-02 9.99837361e-01 -2.54349076e-04 -6.63841314e+01] [-1.08055292e-02 4.49262879e-04 9.99941518e-01 2.86744781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3407140569999 meters Centerline goodness [0,1] 0.9771360431356284 Centerline is valid? [True, True] Translation: X:901.89, Y:-66.36, Z:2.87 [[ 9.99798240e-01 -1.84814506e-02 7.86861534e-03 9.01894636e+02] [ 1.84834746e-02 9.99829149e-01 -1.84583310e-04 -6.63596844e+01] [-7.86385961e-03 3.29985421e-04 9.99969025e-01 2.86620550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3707140569999 meters Centerline goodness [0,1] 0.9770831160704975 Centerline is valid? [True, True] Translation: X:901.92, Y:-66.36, Z:2.87 [[ 9.99860882e-01 -1.53145274e-02 6.60927729e-03 9.01924901e+02] [ 1.53158870e-02 9.99882693e-01 -1.55136833e-04 -6.63583720e+01] [-6.60612613e-03 2.56342195e-04 9.99978146e-01 2.86557169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.400714057 meters Centerline goodness [0,1] 0.9785460117919015 Centerline is valid? [True, True] Translation: X:901.96, Y:-66.35, Z:2.87 [[ 9.99902005e-01 -1.17309585e-02 7.63966601e-03 9.01956459e+02] [ 1.17326811e-02 9.99931153e-01 -1.80700302e-04 -6.63534993e+01] [-7.63702026e-03 2.70316359e-04 9.99970801e-01 2.86612117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4307140569999 meters Centerline goodness [0,1] 0.9784898920611912 Centerline is valid? [True, True] Translation: X:901.99, Y:-66.35, Z:2.87 [[ 9.99918242e-01 -8.12927740e-03 9.87037305e-03 9.01986979e+02] [ 8.13198290e-03 9.99966908e-01 -2.33999319e-04 -6.63533431e+01] [-9.86814417e-03 3.14245893e-04 9.99951259e-01 2.86751433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4607140569999 meters Centerline goodness [0,1] 0.9804739091026803 Centerline is valid? [True, True] Translation: X:902.02, Y:-66.35, Z:2.87 [[ 9.99917844e-01 -4.66994750e-03 1.19371757e-02 9.02018763e+02] [ 4.67366104e-03 9.99989038e-01 -2.83213519e-04 -6.63515113e+01] [-1.19357223e-02 3.38980565e-04 9.99928709e-01 2.86803543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4907140569999 meters Centerline goodness [0,1] 0.9804258420532043 Centerline is valid? [True, True] Translation: X:902.05, Y:-66.35, Z:2.87 [[ 9.99915177e-01 -4.15338820e-03 1.23445244e-02 9.02051181e+02] [ 4.15732814e-03 9.99991315e-01 -2.93520580e-04 -6.63530096e+01] [-1.23431980e-02 3.44815921e-04 9.99923760e-01 2.86709116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.520714057 meters Centerline goodness [0,1] 0.980208306277759 Centerline is valid? [True, True] Translation: X:902.08, Y:-66.35, Z:2.87 [[ 9.99907206e-01 -5.20735109e-03 1.25882332e-02 9.02083809e+02] [ 5.21154254e-03 9.99986375e-01 -3.00185178e-04 -6.63540995e+01] [-1.25864985e-02 3.65761435e-04 9.99920720e-01 2.86705805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5507140569999 meters Centerline goodness [0,1] 0.9792766221670288 Centerline is valid? [True, True] Translation: X:902.11, Y:-66.36, Z:2.87 [[ 9.99890340e-01 -7.24882541e-03 1.29136942e-02 9.02114917e+02] [ 7.25341811e-03 9.99973646e-01 -3.08843920e-04 -6.63587667e+01] [-1.29111151e-02 4.02478476e-04 9.99916567e-01 2.86679690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5807140569999 meters Centerline goodness [0,1] 0.9789525589120731 Centerline is valid? [True, True] Translation: X:902.15, Y:-66.36, Z:2.86 [[ 9.99882633e-01 -9.97129047e-03 1.16315726e-02 9.02146820e+02] [ 9.97522908e-03 9.99950207e-01 -2.80646028e-04 -6.63647048e+01] [-1.16281950e-02 3.96640690e-04 9.99932312e-01 2.86499867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6107140569999 meters Centerline goodness [0,1] 0.9791030089595525 Centerline is valid? [True, True] Translation: X:902.18, Y:-66.37, Z:2.86 [[ 9.99882694e-01 -1.20762699e-02 9.42131397e-03 9.02179104e+02] [ 1.20789569e-02 9.99927021e-01 -2.28358830e-04 -6.63692741e+01] [-9.41786868e-03 3.42131687e-04 9.99955592e-01 2.86162081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.640714057 meters Centerline goodness [0,1] 0.9791030089595525 Centerline is valid? [True, True] Translation: X:902.21, Y:-66.37, Z:2.86 [[ 9.99883944e-01 -1.19723710e-02 9.42130110e-03 9.02211665e+02] [ 1.19750584e-02 9.99928270e-01 -2.28888513e-04 -6.63701589e+01] [-9.41788497e-03 3.41682580e-04 9.99955592e-01 2.86119484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6707140569999 meters Centerline goodness [0,1] 0.9776641619541921 Centerline is valid? [True, True] Translation: X:902.24, Y:-66.38, Z:2.86 [[ 9.99869215e-01 -1.42927260e-02 7.56769836e-03 9.02242487e+02] [ 1.42945324e-02 9.99897811e-01 -1.84664291e-04 -6.63756287e+01] [-7.56428566e-03 2.92816850e-04 9.99971348e-01 2.85888182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7007140569999 meters Centerline goodness [0,1] 0.9784402723334021 Centerline is valid? [True, True] Translation: X:902.27, Y:-66.38, Z:2.86 [[ 9.99862307e-01 -1.47934420e-02 7.51803339e-03 9.02274519e+02] [ 1.47952410e-02 9.99890528e-01 -1.83735227e-04 -6.63770775e+01] [-7.51449230e-03 2.94941044e-04 9.99971722e-01 2.85911614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7307140569999 meters Centerline goodness [0,1] 0.9790177304049346 Centerline is valid? [True, True] Translation: X:902.31, Y:-66.38, Z:2.86 [[ 9.99879620e-01 -1.30448565e-02 8.40099880e-03 9.02306885e+02] [ 1.30470471e-02 9.99914862e-01 -2.06004828e-04 -6.63784351e+01] [-8.39759626e-03 3.15588257e-04 9.99964690e-01 2.85967545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.760714057 meters Centerline goodness [0,1] 0.9808439037017862 Centerline is valid? [True, True] Translation: X:902.34, Y:-66.38, Z:2.86 [[ 9.99900980e-01 -9.60975919e-03 1.02801957e-02 9.02338318e+02] [ 9.61286861e-03 9.99953763e-01 -2.53096543e-04 -6.63753061e+01] [-1.02772882e-02 3.51893651e-04 9.99947125e-01 2.86253274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.790714057 meters Centerline goodness [0,1] 0.9796171753750647 Centerline is valid? [True, True] Translation: X:902.37, Y:-66.38, Z:2.86 [[ 9.99892073e-01 -7.28175646e-03 1.27600258e-02 9.02369695e+02] [ 7.28636494e-03 9.99973405e-01 -3.14712408e-04 -6.63767281e+01] [-1.27573947e-02 4.07652646e-04 9.99918538e-01 2.86379942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8207140569999 meters Centerline goodness [0,1] 0.9806649801228767 Centerline is valid? [True, True] Translation: X:902.40, Y:-66.38, Z:2.86 [[ 9.99894231e-01 -7.01525509e-03 1.27402278e-02 9.02401457e+02] [ 7.01983598e-03 9.99975311e-01 -3.14877166e-04 -6.63760400e+01] [-1.27377043e-02 4.04278171e-04 9.99918790e-01 2.86282756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8507140569999 meters Centerline goodness [0,1] 0.9810451084986276 Centerline is valid? [True, True] Translation: X:902.43, Y:-66.38, Z:2.86 [[ 9.99897557e-01 -7.24075347e-03 1.23469692e-02 9.02432275e+02] [ 7.24508351e-03 9.99973707e-01 -3.06002942e-04 -6.63793848e+01] [-1.23444289e-02 3.95426417e-04 9.99923726e-01 2.86133697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.880714057 meters Centerline goodness [0,1] 0.9795062878435026 Centerline is valid? [True, True] Translation: X:902.46, Y:-66.38, Z:2.86 [[ 9.99896645e-01 -8.31797025e-03 1.17264711e-02 9.02463835e+02] [ 8.32195644e-03 9.99965330e-01 -2.91176173e-04 -6.63825758e+01] [-1.17236425e-02 3.88733260e-04 9.99931200e-01 2.85891494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.910714057 meters Centerline goodness [0,1] 0.9790799306974218 Centerline is valid? [True, True] Translation: X:902.49, Y:-66.39, Z:2.86 [[ 9.99887125e-01 -8.97609070e-03 1.20485245e-02 9.02494554e+02] [ 8.98035728e-03 9.99959631e-01 -3.00060256e-04 -6.63861443e+01] [-1.20453447e-02 4.08226441e-04 9.99927369e-01 2.85870227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9407140569999 meters Centerline goodness [0,1] 0.9783539731682147 Centerline is valid? [True, True] Translation: X:902.53, Y:-66.39, Z:2.86 [[ 9.99882074e-01 -9.49191022e-03 1.20723439e-02 9.02527053e+02] [ 9.49623873e-03 9.99954864e-01 -3.01274367e-04 -6.63861352e+01] [-1.20689393e-02 4.15880698e-04 9.99927081e-01 2.85965084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9707140569999 meters Centerline goodness [0,1] 0.9765869020883348 Centerline is valid? [True, True] Translation: X:902.56, Y:-66.39, Z:2.86 [[ 9.99878583e-01 -8.64482317e-03 1.29647984e-02 9.02557803e+02] [ 8.64975662e-03 9.99962538e-01 -3.24500531e-04 -6.63908796e+01] [-1.29615075e-02 4.36603482e-04 9.99915901e-01 2.85950522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.000714057 meters Centerline goodness [0,1] 0.9774492349769074 Centerline is valid? [True, True] Translation: X:902.59, Y:-66.39, Z:2.86 [[ 9.99878629e-01 -9.00131696e-03 1.27162863e-02 9.02590078e+02] [ 9.00609988e-03 9.99959393e-01 -3.18910195e-04 -6.63889584e+01] [-1.27128994e-02 4.33395634e-04 9.99919094e-01 2.85919408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.030714057 meters Centerline goodness [0,1] 0.9759417455743105 Centerline is valid? [True, True] Translation: X:902.62, Y:-66.39, Z:2.86 [[ 9.99886278e-01 -9.42455337e-03 1.17732307e-02 9.02620989e+02] [ 9.42869133e-03 9.99955505e-01 -2.96014816e-04 -6.63909253e+01] [-1.17699170e-02 4.06987310e-04 9.99930649e-01 2.85754591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0607140569999 meters Centerline goodness [0,1] 0.9777406503020177 Centerline is valid? [True, True] Translation: X:902.65, Y:-66.39, Z:2.86 [[ 9.99895296e-01 -9.14866547e-03 1.12115583e-02 9.02653172e+02] [ 9.15240631e-03 9.99958076e-01 -2.82395442e-04 -6.63895616e+01] [-1.12085047e-02 3.84978611e-04 9.99937109e-01 2.85657002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0907140569999 meters Centerline goodness [0,1] 0.9776365227237634 Centerline is valid? [True, True] Translation: X:902.68, Y:-66.39, Z:2.86 [[ 9.99899960e-01 -7.12426879e-03 1.22194306e-02 9.02684406e+02] [ 7.12857301e-03 9.99974544e-01 -3.08724086e-04 -6.63916489e+01] [-1.22169201e-02 3.95800304e-04 9.99925292e-01 2.85718923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1207140569999 meters Centerline goodness [0,1] 0.9778981302385558 Centerline is valid? [True, True] Translation: X:902.72, Y:-66.39, Z:2.86 [[ 9.99902750e-01 -5.64935141e-03 1.27505060e-02 9.02716369e+02] [ 5.65392682e-03 9.99983964e-01 -3.22823034e-04 -6.63890952e+01] [-1.27484778e-02 3.94882068e-04 9.99918657e-01 2.85850619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.150714057 meters Centerline goodness [0,1] 0.9696962471985122 Centerline is valid? [True, True] Translation: X:902.75, Y:-66.40, Z:2.86 [[ 9.99895504e-01 -2.42615994e-03 1.42511102e-02 9.02746400e+02] [ 2.43156308e-03 9.99996978e-01 -3.61823014e-04 -6.64022653e+01] [-1.42501893e-02 3.96437679e-04 9.99898382e-01 2.86054055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1807140569999 meters Centerline goodness [0,1] 0.9790043848336343 Centerline is valid? [True, True] Translation: X:902.78, Y:-66.39, Z:2.86 [[ 9.99880089e-01 -5.38653383e-03 1.45187100e-02 9.02778760e+02] [ 5.39245826e-03 9.99985393e-01 -3.68937551e-04 -6.63897265e+01] [-1.45165106e-02 4.47184849e-04 9.99894530e-01 2.85937358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2107140569999 meters Centerline goodness [0,1] 0.9772398843930636 Centerline is valid? [True, True] Translation: X:902.81, Y:-66.39, Z:2.86 [[ 9.99876744e-01 -7.29481890e-03 1.39026272e-02 9.02809438e+02] [ 7.30044775e-03 9.99973289e-01 -3.54169062e-04 -6.63932936e+01] [-1.38996722e-02 4.55620812e-04 9.99903291e-01 2.85774848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2407140569999 meters Centerline goodness [0,1] 0.977256904154096 Centerline is valid? [True, True] Translation: X:902.84, Y:-66.40, Z:2.86 [[ 9.99888527e-01 -8.58579805e-03 1.22154501e-02 9.02841170e+02] [ 8.59024380e-03 9.99963055e-01 -3.11521964e-04 -6.63960768e+01] [-1.22123241e-02 4.16420932e-04 9.99925340e-01 2.85606763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.270714057 meters Centerline goodness [0,1] 0.9776290976724962 Centerline is valid? [True, True] Translation: X:902.87, Y:-66.40, Z:2.85 [[ 9.99904482e-01 -8.69476171e-03 1.07437799e-02 9.02873175e+02] [ 8.69821366e-03 9.99962132e-01 -2.74611624e-04 -6.63973296e+01] [-1.07409853e-02 3.68037086e-04 9.99942246e-01 2.85444500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3007140569999 meters Centerline goodness [0,1] 0.977765181768995 Centerline is valid? [True, True] Translation: X:902.91, Y:-66.40, Z:2.85 [[ 9.99910669e-01 -7.19540196e-03 1.12640725e-02 9.02905823e+02] [ 7.19911031e-03 9.99974044e-01 -2.88706420e-04 -6.63977860e+01] [-1.12617028e-02 3.69771930e-04 9.99936517e-01 2.85368552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3307140569999 meters Centerline goodness [0,1] 0.9788209832010718 Centerline is valid? [True, True] Translation: X:902.94, Y:-66.40, Z:2.86 [[ 9.99913310e-01 -4.19630557e-03 1.24804888e-02 9.02936996e+02] [ 4.20064029e-03 9.99991126e-01 -3.21125123e-04 -6.63975312e+01] [-1.24790305e-02 3.73523329e-04 9.99922064e-01 2.85550951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3607140569999 meters Centerline goodness [0,1] 0.979262851100049 Centerline is valid? [True, True] Translation: X:902.97, Y:-66.40, Z:2.86 [[ 9.99918652e-01 -2.28529688e-04 1.27529157e-02 9.02968404e+02] [ 2.32739081e-04 9.99999919e-01 -3.28589876e-04 -6.63963180e+01] [-1.27528396e-02 3.31531248e-04 9.99918624e-01 2.85651350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.390714057 meters Centerline goodness [0,1] 0.9806106357126237 Centerline is valid? [True, True] Translation: X:903.00, Y:-66.40, Z:2.86 [[ 9.99910573e-01 3.80640748e-03 1.28202057e-02 9.02998910e+02] [-3.80247919e-03 9.99992716e-01 -3.30775444e-04 -6.63972326e+01] [-1.28213714e-02 2.81997298e-04 9.99917763e-01 2.85580714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4207140569999 meters Centerline goodness [0,1] 0.9797251924169637 Centerline is valid? [True, True] Translation: X:903.03, Y:-66.40, Z:2.86 [[ 9.99895528e-01 7.38715840e-03 1.24243133e-02 9.03031285e+02] [-7.38374315e-03 9.99972688e-01 -3.20733708e-04 -6.63973743e+01] [-1.24263432e-02 2.28962262e-04 9.99922764e-01 2.85569362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4507140569999 meters Centerline goodness [0,1] 0.9814934477500065 Centerline is valid? [True, True] Translation: X:903.06, Y:-66.40, Z:2.86 [[ 9.99858555e-01 1.15423662e-02 1.22329195e-02 9.03062337e+02] [-1.15393560e-02 9.99933369e-01 -3.16624087e-04 -6.63959120e+01] [-1.22357590e-02 1.75419288e-04 9.99925125e-01 2.85577615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4807140569999 meters Centerline goodness [0,1] 0.9832542058003922 Centerline is valid? [True, True] Translation: X:903.09, Y:-66.39, Z:2.86 [[ 9.99796799e-01 1.56612693e-02 1.26919712e-02 9.03093026e+02] [-1.56583550e-02 9.99877346e-01 -3.28964808e-04 -6.63947654e+01] [-1.26955665e-02 1.30162571e-04 9.99919400e-01 2.85586185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.510714057 meters Centerline goodness [0,1] 0.9825417201540436 Centerline is valid? [True, True] Translation: X:903.12, Y:-66.40, Z:2.86 [[ 9.99722977e-01 1.86171242e-02 1.44004125e-02 9.03121951e+02] [-1.86136799e-02 9.99826681e-01 -3.73178252e-04 -6.63972079e+01] [-1.44048641e-02 1.05030204e-04 9.99896239e-01 2.85642459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.540714057 meters Centerline goodness [0,1] 0.9835084384392099 Centerline is valid? [True, True] Translation: X:903.15, Y:-66.40, Z:2.86 [[ 9.99702645e-01 1.88573267e-02 1.54603667e-02 9.03150858e+02] [-1.88533992e-02 9.99822179e-01 -3.99758501e-04 -6.63993887e+01] [-1.54651559e-02 1.08159167e-04 9.99880401e-01 2.85821508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5707140569999 meters Centerline goodness [0,1] 0.9834566826295168 Centerline is valid? [True, True] Translation: X:903.18, Y:-66.40, Z:2.86 [[ 9.99727735e-01 1.83672588e-02 1.43909319e-02 9.03178959e+02] [-1.83638179e-02 9.99831302e-01 -3.71220262e-04 -6.64029393e+01] [-1.43953225e-02 1.06846739e-04 9.99896376e-01 2.85832373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6007140569999 meters Centerline goodness [0,1] 0.9830551662632182 Centerline is valid? [True, True] Translation: X:903.21, Y:-66.41, Z:2.86 [[ 9.99779275e-01 1.60233868e-02 1.35887028e-02 9.03207951e+02] [-1.60201089e-02 9.99871609e-01 -3.50044823e-04 -6.64085542e+01] [-1.35925671e-02 1.32275060e-04 9.99907608e-01 2.85696323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.630714057 meters Centerline goodness [0,1] 0.9827354884439157 Centerline is valid? [True, True] Translation: X:903.24, Y:-66.42, Z:2.86 [[ 9.99850351e-01 1.15162108e-02 1.29094123e-02 9.03237741e+02] [-1.15128851e-02 9.99933669e-01 -3.31902852e-04 -6.64161039e+01] [-1.29123783e-02 1.83228602e-04 9.99916615e-01 2.85602562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.660714057 meters Centerline goodness [0,1] 0.9795657085477595 Centerline is valid? [True, True] Translation: X:903.27, Y:-66.42, Z:2.85 [[ 9.99920511e-01 5.07044642e-03 1.15439326e-02 9.03268858e+02] [-5.06736302e-03 9.99987117e-01 -2.96335310e-04 -6.64246911e+01] [-1.15452864e-02 2.37814458e-04 9.99933323e-01 2.85441643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6907140569999 meters Centerline goodness [0,1] 0.9794057814501343 Centerline is valid? [True, True] Translation: X:903.30, Y:-66.43, Z:2.85 [[ 9.99937829e-01 1.92403360e-03 1.09834948e-02 9.03299945e+02] [-1.92105305e-03 9.99998115e-01 -2.81909585e-04 -6.64306977e+01] [-1.09840165e-02 2.60792182e-04 9.99939640e-01 2.85379411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7207140569999 meters Centerline goodness [0,1] 0.9764770513909005 Centerline is valid? [True, True] Translation: X:903.33, Y:-66.44, Z:2.85 [[ 9.99930973e-01 -5.66545322e-03 1.02932913e-02 9.03330865e+02] [ 5.66850077e-03 9.99983898e-01 -2.66921218e-04 -6.64393271e+01] [-1.02916134e-02 3.25250323e-04 9.99946987e-01 2.85277867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.750714057 meters Centerline goodness [0,1] 0.9719876160990712 Centerline is valid? [True, True] Translation: X:903.36, Y:-66.45, Z:2.85 [[ 9.99857471e-01 -1.30088878e-02 1.07613385e-02 9.03361283e+02] [ 1.30126461e-02 9.99915293e-01 -2.79288216e-04 -6.64495236e+01] [-1.07567937e-02 4.19281898e-04 9.99942056e-01 2.85166238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.780714057 meters Centerline goodness [0,1] 0.9668206635867282 Centerline is valid? [True, True] Translation: X:903.39, Y:-66.46, Z:2.85 [[ 9.99767647e-01 -1.82874255e-02 1.14114732e-02 9.03390685e+02] [ 1.82919942e-02 9.99832644e-01 -2.96110806e-04 -6.64622560e+01] [-1.14041483e-02 5.04780605e-04 9.99934843e-01 2.85236185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8107140569999 meters Centerline goodness [0,1] 0.9682996409424032 Centerline is valid? [True, True] Translation: X:903.42, Y:-66.46, Z:2.85 [[ 9.99695494e-01 -2.18958039e-02 1.13794967e-02 9.03421524e+02] [ 2.19005884e-02 9.99760110e-01 -2.95992021e-04 -6.64600485e+01] [-1.13702859e-02 5.45119564e-04 9.99935208e-01 2.85289375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8407140569999 meters Centerline goodness [0,1] 0.9673750153543791 Centerline is valid? [True, True] Translation: X:903.45, Y:-66.46, Z:2.85 [[ 9.99671779e-01 -2.30107746e-02 1.12622200e-02 9.03453800e+02] [ 2.30155327e-02 9.99735065e-01 -2.93042337e-04 -6.64633697e+01] [-1.12524931e-02 5.52152147e-04 9.99936536e-01 2.85307317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8707140569999 meters Centerline goodness [0,1] 0.9678780888812545 Centerline is valid? [True, True] Translation: X:903.48, Y:-66.47, Z:2.85 [[ 9.99696575e-01 -2.23003027e-02 1.04620779e-02 9.03484669e+02] [ 2.23043726e-02 9.99751189e-01 -2.72486317e-04 -6.64668950e+01] [-1.04533983e-02 5.05753723e-04 9.99945234e-01 2.85160066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.900714057 meters Centerline goodness [0,1] 0.9700757297257555 Centerline is valid? [True, True] Translation: X:903.52, Y:-66.47, Z:2.85 [[ 9.99776138e-01 -1.91038402e-02 9.09492196e-03 9.03516415e+02] [ 1.91068047e-02 9.99817420e-01 -2.39163249e-04 -6.64674800e+01] [-9.08869247e-03 4.12884607e-04 9.99958612e-01 2.84881919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9307140569999 meters Centerline goodness [0,1] 0.9722623448478468 Centerline is valid? [True, True] Translation: X:903.55, Y:-66.47, Z:2.85 [[ 9.99875277e-01 -1.31444057e-02 8.75527365e-03 9.03546038e+02] [ 1.31469337e-02 9.99913549e-01 -2.31242683e-04 -6.64655058e+01] [-8.75147719e-03 3.46318844e-04 9.99961645e-01 2.84796614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9607140569999 meters Centerline goodness [0,1] 0.9740431471459705 Centerline is valid? [True, True] Translation: X:903.58, Y:-66.46, Z:2.85 [[ 9.99914032e-01 -9.63992310e-03 8.88826026e-03 9.03577588e+02] [ 9.64238746e-03 9.99953484e-01 -2.34447975e-04 -6.64636754e+01] [-8.88558675e-03 3.20131870e-04 9.99960471e-01 2.84793905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9907140569999 meters Centerline goodness [0,1] 0.9774300850067759 Centerline is valid? [True, True] Translation: X:903.61, Y:-66.46, Z:2.85 [[ 9.99959158e-01 -1.64546753e-03 8.88679657e-03 9.03607354e+02] [ 1.64762022e-03 9.99998615e-01 -2.34919127e-04 -6.64582646e+01] [-8.88639771e-03 2.49551598e-04 9.99960484e-01 2.84875431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.020714057 meters Centerline goodness [0,1] 0.9810192279175523 Centerline is valid? [True, True] Translation: X:903.64, Y:-66.45, Z:2.85 [[ 9.99943020e-01 5.26270344e-03 9.28762545e-03 9.03638628e+02] [-5.26065231e-03 9.99986133e-01 -2.45262611e-04 -6.64548094e+01] [-9.28878740e-03 1.96389668e-04 9.99956839e-01 2.84814659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0507140569999 meters Centerline goodness [0,1] 0.9843962511436979 Centerline is valid? [True, True] Translation: X:903.67, Y:-66.45, Z:2.85 [[ 9.99905928e-01 1.07675805e-02 8.49672148e-03 9.03670520e+02] [-1.07660628e-02 9.99942019e-01 -2.24336499e-04 -6.64515042e+01] [-8.49864439e-03 1.32839158e-04 9.99963877e-01 2.84689094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0807140569999 meters Centerline goodness [0,1] 0.98523556324966 Centerline is valid? [True, True] Translation: X:903.70, Y:-66.45, Z:2.85 [[ 9.99876170e-01 1.42380444e-02 6.70247958e-03 9.03700378e+02] [-1.42371736e-02 9.99898631e-01 -1.77619967e-04 -6.64512222e+01] [-6.70432912e-03 8.21736074e-05 9.99977522e-01 2.84523509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1107140569999 meters Centerline goodness [0,1] 0.9852075397021719 Centerline is valid? [True, True] Translation: X:903.73, Y:-66.45, Z:2.85 [[ 9.99865355e-01 1.49780202e-02 6.70299996e-03 9.03728933e+02] [-1.49771645e-02 9.99887820e-01 -1.77846015e-04 -6.64513945e+01] [-6.70491180e-03 7.74301361e-05 9.99977519e-01 2.84538140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.140714057 meters Centerline goodness [0,1] 0.9855480619580523 Centerline is valid? [True, True] Translation: X:903.76, Y:-66.45, Z:2.85 [[ 9.99868871e-01 1.46226071e-02 6.95838973e-03 9.03758165e+02] [-1.46216798e-02 9.99893081e-01 -1.84110351e-04 -6.64532682e+01] [-6.96033791e-03 8.23428616e-05 9.99975773e-01 2.84563570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1707140569999 meters Centerline goodness [0,1] 0.9856134636264929 Centerline is valid? [True, True] Translation: X:903.79, Y:-66.46, Z:2.85 [[ 9.99886334e-01 1.36516287e-02 6.39944447e-03 9.03786615e+02] [-1.36508269e-02 9.99906809e-01 -1.68949231e-04 -6.64560158e+01] [-6.40115453e-03 8.15723176e-05 9.99979509e-01 2.84559925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2007140569999 meters Centerline goodness [0,1] 0.9832803920120164 Centerline is valid? [True, True] Translation: X:903.82, Y:-66.46, Z:2.85 [[ 9.99925625e-01 1.05691600e-02 6.08591089e-03 9.03815313e+02] [-1.05683801e-02 9.99944140e-01 -1.60296426e-04 -6.64595845e+01] [-6.08726513e-03 9.59662846e-05 9.99981468e-01 2.84579852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2307140569999 meters Centerline goodness [0,1] 0.9813235691642297 Centerline is valid? [True, True] Translation: X:903.84, Y:-66.47, Z:2.85 [[ 9.99957900e-01 6.57535875e-03 6.40026044e-03 9.03844094e+02] [-6.57441903e-03 9.99978374e-01 -1.67853396e-04 -6.64656150e+01] [-6.40122572e-03 1.25768335e-04 9.99979504e-01 2.84591799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.260714057 meters Centerline goodness [0,1] 0.9808013355592654 Centerline is valid? [True, True] Translation: X:903.88, Y:-66.47, Z:2.85 [[ 9.99974167e-01 2.17892391e-03 6.84962018e-03 9.03875074e+02] [-2.17775027e-03 9.99997613e-01 -1.78797920e-04 -6.64697849e+01] [-6.84999341e-03 1.63876539e-04 9.99976525e-01 2.84692907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.290714057 meters Centerline goodness [0,1] 0.9788207097263323 Centerline is valid? [True, True] Translation: X:903.91, Y:-66.47, Z:2.85 [[ 9.99975627e-01 -2.25130183e-04 6.97815213e-03 9.03906093e+02] [ 2.26402641e-04 9.99999958e-01 -1.81559422e-04 -6.64745043e+01] [-6.97811096e-03 1.83134869e-04 9.99975636e-01 2.84617418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3207140569999 meters Centerline goodness [0,1] 0.9760400146395023 Centerline is valid? [True, True] Translation: X:903.94, Y:-66.48, Z:2.85 [[ 9.99957186e-01 -4.67609881e-03 7.98504691e-03 9.03936107e+02] [ 4.67793277e-03 9.99989036e-01 -2.11011684e-04 -6.64828723e+01] [-7.98397265e-03 2.48356162e-04 9.99968097e-01 2.84532958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3507140569999 meters Centerline goodness [0,1] 0.974404515705214 Centerline is valid? [True, True] Translation: X:903.97, Y:-66.48, Z:2.85 [[ 9.99900508e-01 -1.08666361e-02 8.99392831e-03 9.03967006e+02] [ 1.08692145e-02 9.99940900e-01 -2.37846905e-04 -6.64835624e+01] [-8.99081217e-03 3.35580177e-04 9.99959526e-01 2.84762444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.380714057 meters Centerline goodness [0,1] 0.9736054686549735 Centerline is valid? [True, True] Translation: X:904.00, Y:-66.49, Z:2.85 [[ 9.99883933e-01 -1.22190883e-02 9.10022384e-03 9.03998623e+02] [ 1.22217841e-02 9.99925282e-01 -2.40679824e-04 -6.64858121e+01] [-9.09660300e-03 3.51872860e-04 9.99958563e-01 2.84760132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.410714057 meters Centerline goodness [0,1] 0.973064218400855 Centerline is valid? [True, True] Translation: X:904.03, Y:-66.49, Z:2.85 [[ 9.99849587e-01 -1.41162916e-02 1.00764367e-02 9.04030268e+02] [ 1.41196991e-02 9.99900276e-01 -2.67102053e-04 -6.64891429e+01] [-1.00716614e-02 4.09338132e-04 9.99949196e-01 2.84745683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4407140569999 meters Centerline goodness [0,1] 0.9714750436978054 Centerline is valid? [True, True] Translation: X:904.06, Y:-66.49, Z:2.85 [[ 9.99811750e-01 -1.73340996e-02 8.71739229e-03 9.04061229e+02] [ 1.73367765e-02 9.99849680e-01 -2.31600725e-04 -6.64921011e+01] [-8.71206730e-03 3.82688609e-04 9.99961976e-01 2.84558985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4707140569999 meters Centerline goodness [0,1] 0.9707546940659234 Centerline is valid? [True, True] Translation: X:904.09, Y:-66.49, Z:2.84 [[ 9.99781180e-01 -1.96711440e-02 7.11606708e-03 9.04093159e+02] [ 1.96729852e-02 9.99806450e-01 -1.88828582e-04 -6.64939291e+01] [-7.11097529e-03 3.28781545e-04 9.99974663e-01 2.84379896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.500714057 meters Centerline goodness [0,1] 0.97135270760761 Centerline is valid? [True, True] Translation: X:904.12, Y:-66.49, Z:2.84 [[ 9.99772287e-01 -2.01035896e-02 7.15683246e-03 9.04124701e+02] [ 2.01054674e-02 9.99797847e-01 -1.90517720e-04 -6.64940869e+01] [-7.15155559e-03 3.34365798e-04 9.99974371e-01 2.84435410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.530714057 meters Centerline goodness [0,1] 0.97135270760761 Centerline is valid? [True, True] Translation: X:904.16, Y:-66.50, Z:2.84 [[ 9.99774400e-01 -1.99982162e-02 7.15683078e-03 9.04157267e+02] [ 2.00000918e-02 9.99799960e-01 -1.90581811e-04 -6.64950482e+01] [-7.15158783e-03 3.33676088e-04 9.99974371e-01 2.84392788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5607140569999 meters Centerline goodness [0,1] 0.9715072633323584 Centerline is valid? [True, True] Translation: X:904.19, Y:-66.49, Z:2.84 [[ 9.99798605e-01 -1.87501674e-02 7.15404813e-03 9.04189354e+02] [ 1.87520165e-02 9.99824147e-01 -1.91472955e-04 -6.64925974e+01] [-7.14919992e-03 3.25587221e-04 9.99974391e-01 2.84350752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5907140569999 meters Centerline goodness [0,1] 0.9742812438881283 Centerline is valid? [True, True] Translation: X:904.22, Y:-66.49, Z:2.84 [[ 9.99855769e-01 -1.55214444e-02 6.89391368e-03 9.04220567e+02] [ 1.55230895e-02 9.99879492e-01 -1.85175944e-04 -6.64895693e+01] [-6.89020871e-03 2.92164075e-04 9.99976220e-01 2.84311050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6207140569999 meters Centerline goodness [0,1] 0.9758672329560798 Centerline is valid? [True, True] Translation: X:904.25, Y:-66.48, Z:2.84 [[ 9.99903404e-01 -1.21283314e-02 6.78864035e-03 9.04252821e+02] [ 1.21298484e-02 9.99926414e-01 -1.82325782e-04 -6.64835058e+01] [-6.78592950e-03 2.64653348e-04 9.99976940e-01 2.84333594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.650714057 meters Centerline goodness [0,1] 0.9768998749356286 Centerline is valid? [True, True] Translation: X:904.28, Y:-66.48, Z:2.84 [[ 9.99944406e-01 -8.63059545e-03 6.05784124e-03 9.04283596e+02] [ 8.63174310e-03 9.99962732e-01 -1.63328938e-04 -6.64787870e+01] [-6.05620585e-03 2.15609587e-04 9.99981638e-01 2.84305012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6807140569999 meters Centerline goodness [0,1] 0.9776450469652284 Centerline is valid? [True, True] Translation: X:904.32, Y:-66.47, Z:2.84 [[ 9.99961408e-01 -7.10632078e-03 5.16555411e-03 9.04316067e+02] [ 7.10713405e-03 9.99974734e-01 -1.39102578e-04 -6.64729114e+01] [-5.16443509e-03 1.75809495e-04 9.99986649e-01 2.84203027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7107140569999 meters Centerline goodness [0,1] 0.9786879538446235 Centerline is valid? [True, True] Translation: X:904.35, Y:-66.47, Z:2.84 [[ 9.99967145e-01 -6.09647788e-03 5.34240630e-03 9.04347017e+02] [ 6.09733630e-03 9.99981401e-01 -1.44408972e-04 -6.64716264e+01] [-5.34142655e-03 1.76978676e-04 9.99985719e-01 2.84113490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7407140569999 meters Centerline goodness [0,1] 0.9809798844851623 Centerline is valid? [True, True] Translation: X:904.38, Y:-66.47, Z:2.84 [[ 9.99971774e-01 -6.00602842e-03 4.51438838e-03 9.04379565e+02] [ 6.00664035e-03 9.99981953e-01 -1.22004010e-04 -6.64674565e+01] [-4.51357414e-03 1.49116874e-04 9.99989803e-01 2.84100267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.770714057 meters Centerline goodness [0,1] 0.9786765441986185 Centerline is valid? [True, True] Translation: X:904.41, Y:-66.47, Z:2.84 [[ 9.99971235e-01 -6.23975951e-03 4.31217798e-03 9.04410635e+02] [ 6.24032182e-03 9.99980522e-01 -1.16957623e-04 -6.64670656e+01] [-4.31136421e-03 1.43863637e-04 9.99990696e-01 2.84058783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8007140569999 meters Centerline goodness [0,1] 0.979289049555656 Centerline is valid? [True, True] Translation: X:904.44, Y:-66.46, Z:2.84 [[ 9.99972065e-01 -6.54325308e-03 3.61308399e-03 9.04442444e+02] [ 6.54365014e-03 9.99978585e-01 -9.80848928e-05 -6.64640490e+01] [-3.61236482e-03 1.21724910e-04 9.99993468e-01 2.84099336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8307140569999 meters Centerline goodness [0,1] 0.9789545145960624 Centerline is valid? [True, True] Translation: X:904.47, Y:-66.46, Z:2.84 [[ 9.99967918e-01 -6.95075475e-03 3.98110223e-03 9.04474106e+02] [ 6.95123879e-03 9.99975834e-01 -1.07760968e-04 -6.64644857e+01] [-3.98025700e-03 1.35431103e-04 9.99992070e-01 2.84052031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8607140569999 meters Centerline goodness [0,1] 0.9792827078660181 Centerline is valid? [True, True] Translation: X:904.51, Y:-66.46, Z:2.84 [[ 9.99965709e-01 -6.55103857e-03 5.06600862e-03 9.04506938e+02] [ 6.55182344e-03 9.99978527e-01 -1.38349563e-04 -6.64599609e+01] [-5.06499350e-03 1.71536413e-04 9.99987158e-01 2.84139130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.890714057 meters Centerline goodness [0,1] 0.9784372008665424 Centerline is valid? [True, True] Translation: X:904.54, Y:-66.46, Z:2.84 [[ 9.99961937e-01 -6.03514642e-03 6.30085470e-03 9.04537853e+02] [ 6.03635710e-03 9.99981766e-01 -1.73144194e-04 -6.64605056e+01] [-6.29969486e-03 2.11171813e-04 9.99980134e-01 2.84155202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9207140569999 meters Centerline goodness [0,1] 0.9803377167520634 Centerline is valid? [True, True] Translation: X:904.57, Y:-66.45, Z:2.84 [[ 9.99959836e-01 -5.82202553e-03 6.81401417e-03 9.04570302e+02] [ 5.82343855e-03 9.99983026e-01 -1.87547099e-04 -6.64544046e+01] [-6.81280660e-03 2.27220560e-04 9.99976767e-01 2.84292993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9507140569999 meters Centerline goodness [0,1] 0.9814077362079898 Centerline is valid? [True, True] Translation: X:904.60, Y:-66.45, Z:2.84 [[ 9.99955202e-01 -7.03066106e-03 6.33749736e-03 9.04602350e+02] [ 7.03190997e-03 9.99975261e-01 -1.74806408e-04 -6.64522047e+01] [-6.33611157e-03 2.19363288e-04 9.99979903e-01 2.84364319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9807140569999 meters Centerline goodness [0,1] 0.9787665846419239 Centerline is valid? [True, True] Translation: X:904.63, Y:-66.45, Z:2.84 [[ 9.99927731e-01 -1.04877482e-02 5.87705966e-03 9.04632049e+02] [ 1.04888869e-02 9.99944977e-01 -1.62961235e-04 -6.64534995e+01] [-5.87502719e-03 2.24593272e-04 9.99982717e-01 2.84173778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.010714057 meters Centerline goodness [0,1] 0.9766409363806065 Centerline is valid? [True, True] Translation: X:904.66, Y:-66.46, Z:2.84 [[ 9.99892222e-01 -1.38049969e-02 4.99667829e-03 9.04662067e+02] [ 1.38058606e-02 9.99904685e-01 -1.38410885e-04 -6.64607227e+01] [-4.99429127e-03 2.07379412e-04 9.99987507e-01 2.83816244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.040714057 meters Centerline goodness [0,1] 0.9736694820392795 Centerline is valid? [True, True] Translation: X:904.69, Y:-66.46, Z:2.84 [[ 9.99830552e-01 -1.78665831e-02 4.43301074e-03 9.04692666e+02] [ 1.78673031e-02 9.99840359e-01 -1.22857555e-04 -6.64627476e+01] [-4.43010801e-03 2.02042684e-04 9.99990167e-01 2.83706335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0707140569999 meters Centerline goodness [0,1] 0.9728274606946059 Centerline is valid? [True, True] Translation: X:904.72, Y:-66.46, Z:2.84 [[ 9.99790713e-01 -1.95723560e-02 5.95424960e-03 9.04724562e+02] [ 1.95736822e-02 9.99808404e-01 -1.64527240e-04 -6.64606577e+01] [-5.94988860e-03 2.81039396e-04 9.99982260e-01 2.83982865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1007140569999 meters Centerline goodness [0,1] 0.975021686992907 Centerline is valid? [True, True] Translation: X:904.76, Y:-66.45, Z:2.84 [[ 9.99774014e-01 -1.99993520e-02 7.20747082e-03 9.04757440e+02] [ 2.00013157e-02 9.99799934e-01 -2.00466408e-04 -6.64514096e+01] [-7.20201965e-03 3.44580005e-04 9.99974006e-01 2.84360582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.130714057 meters Centerline goodness [0,1] 0.9746434231378764 Centerline is valid? [True, True] Translation: X:904.79, Y:-66.45, Z:2.84 [[ 9.99787371e-01 -1.92002972e-02 7.52074016e-03 9.04789350e+02] [ 1.92024170e-02 9.99815595e-01 -2.09736034e-04 -6.64511212e+01] [-7.51532630e-03 3.54107826e-04 9.99971697e-01 2.84339349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.160714057 meters Centerline goodness [0,1] 0.975278310940499 Centerline is valid? [True, True] Translation: X:904.82, Y:-66.45, Z:2.84 [[ 9.99832037e-01 -1.69473251e-02 6.97746320e-03 9.04819874e+02] [ 1.69490964e-02 9.99856335e-01 -1.94801972e-04 -6.64525665e+01] [-6.97315941e-03 3.13030949e-04 9.99975638e-01 2.84010713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1907140569999 meters Centerline goodness [0,1] 0.9764639668448925 Centerline is valid? [True, True] Translation: X:904.85, Y:-66.45, Z:2.84 [[ 9.99880856e-01 -1.46175512e-02 4.95994482e-03 9.04851511e+02] [ 1.46184210e-02 9.99893135e-01 -1.39142376e-04 -6.64471939e+01] [-4.95738086e-03 2.11632359e-04 9.99987690e-01 2.83768861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2207140569999 meters Centerline goodness [0,1] 0.9780033406141591 Centerline is valid? [True, True] Translation: X:904.88, Y:-66.44, Z:2.84 [[ 9.99925206e-01 -1.15241730e-02 4.09590351e-03 9.04882774e+02] [ 1.15247404e-02 9.99933581e-01 -1.14966855e-04 -6.64436661e+01] [-4.09430657e-03 1.62162481e-04 9.99991605e-01 2.83701880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.250714057 meters Centerline goodness [0,1] 0.9785949223969576 Centerline is valid? [True, True] Translation: X:904.91, Y:-66.44, Z:2.84 [[ 9.99951968e-01 -8.30898802e-03 5.19827563e-03 9.04914117e+02] [ 8.30986020e-03 9.99965462e-01 -1.46205955e-04 -6.64403736e+01] [-5.19688127e-03 1.89395876e-04 9.99986478e-01 2.83738933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.280714057 meters Centerline goodness [0,1] 0.9796359148410985 Centerline is valid? [True, True] Translation: X:904.94, Y:-66.44, Z:2.84 [[ 9.99956497e-01 -5.72050577e-03 7.36753151e-03 9.04944138e+02] [ 5.72219157e-03 9.99983607e-01 -2.07755051e-04 -6.64411190e+01] [-7.36622227e-03 2.49904440e-04 9.99972838e-01 2.83761595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3107140569999 meters Centerline goodness [0,1] 0.979375882881726 Centerline is valid? [True, True] Translation: X:904.98, Y:-66.44, Z:2.84 [[ 9.99967707e-01 -4.92724206e-03 6.34884565e-03 9.04976825e+02] [ 4.92847547e-03 9.99987839e-01 -1.78642269e-04 -6.64411834e+01] [-6.34788823e-03 2.09926630e-04 9.99979830e-01 2.83744645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3407140569999 meters Centerline goodness [0,1] 0.9813607188703466 Centerline is valid? [True, True] Translation: X:905.01, Y:-66.44, Z:2.83 [[ 9.99975547e-01 -5.81725362e-03 3.88135908e-03 9.05009146e+02] [ 5.81772153e-03 9.99983071e-01 -1.09273933e-04 -6.64441188e+01] [-3.88065770e-03 1.31851928e-04 9.99992462e-01 2.83386075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3707140569999 meters Centerline goodness [0,1] 0.9793000973510273 Centerline is valid? [True, True] Translation: X:905.04, Y:-66.45, Z:2.83 [[ 9.99971840e-01 -7.09874877e-03 2.43467370e-03 9.05039792e+02] [ 7.09893671e-03 9.99974800e-01 -6.85626816e-05 -6.64501486e+01] [-2.43412564e-03 8.58443453e-05 9.99997034e-01 2.83019392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.400714057 meters Centerline goodness [0,1] 0.9790531510229259 Centerline is valid? [True, True] Translation: X:905.07, Y:-66.45, Z:2.83 [[ 9.99971712e-01 -7.00550288e-03 2.73815693e-03 9.05070990e+02] [ 7.00574091e-03 9.99975457e-01 -7.73505537e-05 -6.64498605e+01] [-2.73754785e-03 9.65311837e-05 9.99996248e-01 2.83200024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4307140569999 meters Centerline goodness [0,1] 0.9813575033474096 Centerline is valid? [True, True] Translation: X:905.10, Y:-66.44, Z:2.84 [[ 9.99979879e-01 -4.60087641e-03 4.36737377e-03 9.05103092e+02] [ 4.60146159e-03 9.99989406e-01 -1.23949613e-04 -6.64427429e+01] [-4.36675723e-03 1.44043421e-04 9.99990455e-01 2.83573830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4607140569999 meters Centerline goodness [0,1] 0.9815979381443299 Centerline is valid? [True, True] Translation: X:905.13, Y:-66.44, Z:2.84 [[ 9.99980665e-01 -1.29373173e-03 6.08248477e-03 9.05134693e+02] [ 1.29480990e-03 9.99999147e-01 -1.73323500e-04 -6.64429535e+01] [-6.08225535e-03 1.81195811e-04 9.99981486e-01 2.83606685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4907140569999 meters Centerline goodness [0,1] 0.9818294285935204 Centerline is valid? [True, True] Translation: X:905.17, Y:-66.44, Z:2.84 [[ 9.99975358e-01 -1.21469730e-04 7.01913315e-03 9.05166137e+02] [ 1.22878132e-04 9.99999972e-01 -2.00220884e-04 -6.64444299e+01] [-7.01910863e-03 2.01078448e-04 9.99975346e-01 2.83583102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.520714057 meters Centerline goodness [0,1] 0.9822239422084623 Centerline is valid? [True, True] Translation: X:905.20, Y:-66.44, Z:2.84 [[ 9.99965972e-01 1.07689270e-03 8.17893770e-03 9.05198622e+02] [-1.07501694e-03 9.99999395e-01 -2.33733657e-04 -6.64428804e+01] [-8.17918446e-03 2.24933207e-04 9.99966525e-01 2.83647345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5507140569999 meters Centerline goodness [0,1] 0.9817802288423874 Centerline is valid? [True, True] Translation: X:905.23, Y:-66.44, Z:2.84 [[ 9.99962486e-01 9.99215522e-04 8.60399867e-03 9.05231523e+02] [-9.97139287e-04 9.99999473e-01 -2.45596811e-04 -6.64443225e+01] [-8.60423954e-03 2.37008213e-04 9.99962955e-01 2.83655449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5807140569999 meters Centerline goodness [0,1] 0.9809813421296774 Centerline is valid? [True, True] Translation: X:905.26, Y:-66.45, Z:2.84 [[ 9.99954885e-01 1.08782145e-03 9.43632429e-03 9.05263447e+02] [-1.08529934e-03 9.99999374e-01 -2.72394043e-04 -6.64487310e+01] [-9.43661470e-03 2.62140518e-04 9.99955440e-01 2.83629261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6107140569999 meters Centerline goodness [0,1] 0.9815593741985125 Centerline is valid? [True, True] Translation: X:905.30, Y:-66.45, Z:2.84 [[ 9.99942321e-01 3.14062657e-04 1.07357329e-02 9.05295450e+02] [-3.10718110e-04 9.99999903e-01 -3.13200592e-04 -6.64492251e+01] [-1.07358302e-02 3.09846740e-04 9.99942321e-01 2.83594676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.640714057 meters Centerline goodness [0,1] 0.9799758683541704 Centerline is valid? [True, True] Translation: X:905.33, Y:-66.45, Z:2.84 [[ 9.99948242e-01 -8.64144453e-04 1.01374135e-02 9.05326424e+02] [ 8.67210846e-04 9.99999580e-01 -2.98090864e-04 -6.64545824e+01] [-1.01371516e-02 3.06866711e-04 9.99948571e-01 2.83641470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6707140569999 meters Centerline goodness [0,1] 0.980316579299003 Centerline is valid? [True, True] Translation: X:905.36, Y:-66.45, Z:2.84 [[ 9.99950822e-01 -2.75807590e-03 9.52608126e-03 9.05359029e+02] [ 2.76088758e-03 9.99996149e-01 -2.82017881e-04 -6.64544996e+01] [-9.52526675e-03 3.08304451e-04 9.99954586e-01 2.83633952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7007140569999 meters Centerline goodness [0,1] 0.9805695829381457 Centerline is valid? [True, True] Translation: X:905.39, Y:-66.46, Z:2.83 [[ 9.99957788e-01 -4.51374391e-03 8.00305590e-03 9.05390600e+02] [ 4.51579649e-03 9.99989775e-01 -2.38423329e-04 -6.64571849e+01] [-8.00189789e-03 2.74553436e-04 9.99967947e-01 2.83341271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7307140569999 meters Centerline goodness [0,1] 0.9794867854947756 Centerline is valid? [True, True] Translation: X:905.42, Y:-66.46, Z:2.83 [[ 9.99958737e-01 -5.83680770e-03 6.96106188e-03 9.05421453e+02] [ 5.83840838e-03 9.99982934e-01 -2.09648206e-04 -6.64613180e+01] [-6.95971941e-03 2.50281078e-04 9.99975750e-01 2.83103098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.760714057 meters Centerline goodness [0,1] 0.980707148347425 Centerline is valid? [True, True] Translation: X:905.45, Y:-66.46, Z:2.83 [[ 9.99952622e-01 -6.56239540e-03 7.18942475e-03 9.05454020e+02] [ 6.56412366e-03 9.99978432e-01 -2.16818815e-04 -6.64619759e+01] [-7.18784684e-03 2.64000816e-04 9.99974132e-01 2.83088283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.790714057 meters Centerline goodness [0,1] 0.978657522327712 Centerline is valid? [True, True] Translation: X:905.49, Y:-66.47, Z:2.83 [[ 9.99938566e-01 -7.00750135e-03 8.58828059e-03 9.05485013e+02] [ 7.00999135e-03 9.99975396e-01 -2.59861886e-04 -6.64651601e+01] [-8.58624830e-03 3.20049694e-04 9.99963086e-01 2.83261982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8207140569999 meters Centerline goodness [0,1] 0.9790136411332634 Centerline is valid? [True, True] Translation: X:905.52, Y:-66.46, Z:2.83 [[ 9.99929052e-01 -6.25114089e-03 1.01396970e-02 9.05517822e+02] [ 6.25457850e-03 9.99980393e-01 -3.07349658e-04 -6.64636171e+01] [-1.01375769e-02 3.70747383e-04 9.99948545e-01 2.83360096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8507140569999 meters Centerline goodness [0,1] 0.9792199161639914 Centerline is valid? [True, True] Translation: X:905.55, Y:-66.47, Z:2.83 [[ 9.99924145e-01 -6.72069388e-03 1.03216759e-02 9.05549094e+02] [ 6.72429149e-03 9.99977342e-01 -3.13883875e-04 -6.64664764e+01] [-1.03193325e-02 3.83266023e-04 9.99946681e-01 2.83384595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.880714057 meters Centerline goodness [0,1] 0.9810196198807971 Centerline is valid? [True, True] Translation: X:905.58, Y:-66.47, Z:2.83 [[ 9.99931016e-01 -7.07850048e-03 9.37331096e-03 9.05581773e+02] [ 7.08148636e-03 9.99974885e-01 -2.85400709e-04 -6.64660015e+01] [-9.37105534e-03 3.51757994e-04 9.99956029e-01 2.83300233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.910714057 meters Centerline goodness [0,1] 0.9795182571340902 Centerline is valid? [True, True] Translation: X:905.61, Y:-66.47, Z:2.83 [[ 9.99928834e-01 -7.98982594e-03 8.85943749e-03 9.05612600e+02] [ 7.99253487e-03 9.99968023e-01 -2.70403922e-04 -6.64687250e+01] [-8.85699371e-03 3.41194041e-04 9.99960718e-01 2.83119007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9407140569999 meters Centerline goodness [0,1] 0.9793131664407907 Centerline is valid? [True, True] Translation: X:905.65, Y:-66.47, Z:2.83 [[ 9.99930397e-01 -8.09582482e-03 8.58249991e-03 9.05645000e+02] [ 8.09837401e-03 9.99967173e-01 -2.62310375e-04 -6.64697963e+01] [-8.58009455e-03 3.31796411e-04 9.99963135e-01 2.83104917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9707140569999 meters Centerline goodness [0,1] 0.9810914681014604 Centerline is valid? [True, True] Translation: X:905.68, Y:-66.47, Z:2.83 [[ 9.99934921e-01 -7.07355869e-03 8.95094647e-03 9.05677199e+02] [ 7.07629630e-03 9.99974925e-01 -2.74212243e-04 -6.64673646e+01] [-8.94878236e-03 3.37533947e-04 9.99959902e-01 2.83117721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.000714057 meters Centerline goodness [0,1] 0.9784566574557364 Centerline is valid? [True, True] Translation: X:905.71, Y:-66.47, Z:2.83 [[ 9.99942534e-01 -5.31797345e-03 9.30843891e-03 9.05708827e+02] [ 5.32086465e-03 9.99985803e-01 -2.85862263e-04 -6.64704789e+01] [-9.30678655e-03 3.35374780e-04 9.99956635e-01 2.83042449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.030714057 meters Centerline goodness [0,1] 0.9801173486381921 Centerline is valid? [True, True] Translation: X:905.74, Y:-66.47, Z:2.83 [[ 9.99959814e-01 -4.49244707e-03 7.75806552e-03 9.05740648e+02] [ 4.49443361e-03 9.99989872e-01 -2.38646429e-04 -6.64706993e+01] [-7.75691483e-03 2.73504949e-04 9.99969877e-01 2.82858464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0607140569999 meters Centerline goodness [0,1] 0.9794506508147997 Centerline is valid? [True, True] Translation: X:905.77, Y:-66.47, Z:2.83 [[ 9.99962049e-01 -5.09049940e-03 7.07023157e-03 9.05772498e+02] [ 5.09216715e-03 9.99987011e-01 -2.17900875e-04 -6.64726888e+01] [-7.06903052e-03 2.53895406e-04 9.99974982e-01 2.82694194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0907140569999 meters Centerline goodness [0,1] 0.9798623371971035 Centerline is valid? [True, True] Translation: X:905.80, Y:-66.48, Z:2.83 [[ 9.99942024e-01 -8.31834396e-03 6.83774707e-03 9.05803431e+02] [ 8.31998315e-03 9.99965366e-01 -2.11315468e-04 -6.64758255e+01] [-6.83575245e-03 2.68193157e-04 9.99976600e-01 2.82690439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1207140569999 meters Centerline goodness [0,1] 0.9777470487311465 Centerline is valid? [True, True] Translation: X:905.83, Y:-66.48, Z:2.83 [[ 9.99928756e-01 -9.25970427e-03 7.53264190e-03 9.05834442e+02] [ 9.26172334e-03 9.99957082e-01 -2.33203064e-04 -6.64777269e+01] [-7.53015922e-03 3.02951695e-04 9.99971602e-01 2.82690730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.150714057 meters Centerline goodness [0,1] 0.9784783888220693 Centerline is valid? [True, True] Translation: X:905.87, Y:-66.48, Z:2.83 [[ 9.99929110e-01 -8.75127140e-03 8.07406345e-03 9.05866865e+02] [ 8.75357769e-03 9.99961655e-01 -2.50346548e-04 -6.64777799e+01] [-8.07156301e-03 3.21005743e-04 9.99967373e-01 2.82738449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1807140569999 meters Centerline goodness [0,1] 0.9769388277450729 Centerline is valid? [True, True] Translation: X:905.90, Y:-66.48, Z:2.83 [[ 9.99939252e-01 -7.26224126e-03 8.29163546e-03 9.05897934e+02] [ 7.26462813e-03 9.99973579e-01 -2.57782338e-04 -6.64807988e+01] [-8.28954431e-03 3.18002327e-04 9.99965591e-01 2.82729963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2107140569999 meters Centerline goodness [0,1] 0.9791677330193991 Centerline is valid? [True, True] Translation: X:905.93, Y:-66.48, Z:2.83 [[ 9.99944112e-01 -5.65974320e-03 8.92969605e-03 9.05930709e+02] [ 5.66245112e-03 9.99983930e-01 -2.77995743e-04 -6.64783750e+01] [-8.92797916e-03 3.28544174e-04 9.99960091e-01 2.82801308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2407140569999 meters Centerline goodness [0,1] 0.9764675789742934 Centerline is valid? [True, True] Translation: X:905.96, Y:-66.48, Z:2.83 [[ 9.99950363e-01 -4.46771937e-03 8.90569111e-03 9.05962257e+02] [ 4.47037364e-03 9.99989969e-01 -2.78158162e-04 -6.64802337e+01] [-8.90435905e-03 3.17956121e-04 9.99960305e-01 2.82793294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.270714057 meters Centerline goodness [0,1] 0.9785637453260257 Centerline is valid? [True, True] Translation: X:906.00, Y:-66.48, Z:2.83 [[ 9.99951538e-01 -4.44608391e-03 8.78377360e-03 9.05995750e+02] [ 4.44866717e-03 9.99990067e-01 -2.74578365e-04 -6.64806791e+01] [-8.78246555e-03 3.13641144e-04 9.99961384e-01 2.82798228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3007140569999 meters Centerline goodness [0,1] 0.9782108332054626 Centerline is valid? [True, True] Translation: X:906.03, Y:-66.48, Z:2.83 [[ 9.99949591e-01 -5.67075264e-03 8.28598981e-03 9.06028283e+02] [ 5.67310103e-03 9.99983874e-01 -2.59940485e-04 -6.64830249e+01] [-8.28438213e-03 3.06934639e-04 9.99965637e-01 2.82618643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3307140569999 meters Centerline goodness [0,1] 0.9774580213152043 Centerline is valid? [True, True] Translation: X:906.06, Y:-66.48, Z:2.82 [[ 9.99952171e-01 -6.33757146e-03 7.44920520e-03 9.06060794e+02] [ 6.33949099e-03 9.99979878e-01 -2.34097852e-04 -6.64846475e+01] [-7.44757169e-03 2.81310825e-04 9.99972227e-01 2.82487046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3607140569999 meters Centerline goodness [0,1] 0.978190195827467 Centerline is valid? [True, True] Translation: X:906.09, Y:-66.49, Z:2.82 [[ 9.99952768e-01 -6.18252158e-03 7.49920546e-03 9.06093724e+02] [ 6.18446506e-03 9.99980848e-01 -2.35995669e-04 -6.64856732e+01] [-7.49760278e-03 2.82363097e-04 9.99971853e-01 2.82422075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.390714057 meters Centerline goodness [0,1] 0.978828817325127 Centerline is valid? [True, True] Translation: X:906.12, Y:-66.49, Z:2.83 [[ 9.99944434e-01 -5.88598663e-03 8.74551147e-03 9.06124794e+02] [ 5.88863046e-03 9.99982624e-01 -2.76588475e-04 -6.64888778e+01] [-8.74373151e-03 3.28072192e-04 9.99961719e-01 2.82539922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4207140569999 meters Centerline goodness [0,1] 0.9786587700712225 Centerline is valid? [True, True] Translation: X:906.16, Y:-66.49, Z:2.83 [[ 9.99927370e-01 -5.41813719e-03 1.07656589e-02 9.06157189e+02] [ 5.42212373e-03 9.99985242e-01 -3.41149061e-04 -6.64877315e+01] [-1.07636517e-02 3.99497018e-04 9.99941990e-01 2.82838477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4507140569999 meters Centerline goodness [0,1] 0.9786587700712225 Centerline is valid? [True, True] Translation: X:906.19, Y:-66.49, Z:2.83 [[ 9.99927918e-01 -5.31602972e-03 1.07656382e-02 9.06189742e+02] [ 5.32001737e-03 9.99985790e-01 -3.41801786e-04 -6.64888600e+01] [-1.07636682e-02 3.99050531e-04 9.99941990e-01 2.82795879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4807140569999 meters Centerline goodness [0,1] 0.9774063282727598 Centerline is valid? [True, True] Translation: X:906.22, Y:-66.49, Z:2.83 [[ 9.99934013e-01 -4.54399169e-03 1.05508876e-02 9.06221914e+02] [ 4.54779093e-03 9.99989602e-01 -3.36122660e-04 -6.64896387e+01] [-1.05492506e-02 3.84083711e-04 9.99944281e-01 2.82781660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.510714057 meters Centerline goodness [0,1] 0.9796737574146042 Centerline is valid? [True, True] Translation: X:906.25, Y:-66.49, Z:2.82 [[ 9.99944886e-01 -3.56018860e-03 9.87676682e-03 9.06253761e+02] [ 3.56347591e-03 9.99993601e-01 -3.15254868e-04 -6.64901798e+01] [-9.87558126e-03 3.50433114e-04 9.99951174e-01 2.82475082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.540714057 meters Centerline goodness [0,1] 0.9791102019943748 Centerline is valid? [True, True] Translation: X:906.29, Y:-66.49, Z:2.82 [[ 9.99957567e-01 -1.88055929e-03 9.01822234e-03 9.06285141e+02] [ 1.88323727e-03 9.99998185e-01 -2.88468664e-04 -6.64913269e+01] [-9.01766349e-03 3.05439876e-04 9.99959293e-01 2.82314048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5707140569999 meters Centerline goodness [0,1] 0.980568356374808 Centerline is valid? [True, True] Translation: X:906.32, Y:-66.49, Z:2.82 [[ 9.99961242e-01 3.23908145e-04 8.79824124e-03 9.06317336e+02] [-3.21441258e-04 9.99999909e-01 -2.81796679e-04 -6.64888372e+01] [-8.79833172e-03 2.78957640e-04 9.99961255e-01 2.82370872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6007140569999 meters Centerline goodness [0,1] 0.9813830470174357 Centerline is valid? [True, True] Translation: X:906.35, Y:-66.49, Z:2.82 [[ 9.99957663e-01 3.24779999e-03 8.60956861e-03 9.06347443e+02] [-3.24553916e-03 9.99994695e-01 -2.76553018e-04 -6.64864172e+01] [-8.61042113e-03 2.48598618e-04 9.99962899e-01 2.82449415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.630714057 meters Centerline goodness [0,1] 0.9814292310060022 Centerline is valid? [True, True] Translation: X:906.38, Y:-66.49, Z:2.82 [[ 9.99949128e-01 4.59498609e-03 8.97931845e-03 9.06379515e+02] [-4.59258158e-03 9.99989412e-01 -2.88384166e-04 -6.64865992e+01] [-8.98054851e-03 2.47131243e-04 9.99959644e-01 2.82395500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.660714057 meters Centerline goodness [0,1] 0.9820677270395074 Centerline is valid? [True, True] Translation: X:906.41, Y:-66.49, Z:2.82 [[ 9.99933921e-01 6.14201393e-03 9.71747307e-03 9.06411917e+02] [-6.13926381e-03 9.99981106e-01 -3.12812305e-04 -6.64869019e+01] [-9.71921077e-03 2.53133504e-04 9.99952735e-01 2.82289879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6907140569999 meters Centerline goodness [0,1] 0.9814577349199836 Centerline is valid? [True, True] Translation: X:906.44, Y:-66.49, Z:2.82 [[ 9.99933149e-01 6.46329729e-03 9.58768888e-03 9.06443487e+02] [-6.46063379e-03 9.99979082e-01 -3.08750322e-04 -6.64917145e+01] [-9.58948387e-03 2.46787135e-04 9.99953989e-01 2.82127505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7207140569999 meters Centerline goodness [0,1] 0.9802294611759885 Centerline is valid? [True, True] Translation: X:906.47, Y:-66.49, Z:2.82 [[ 9.99936188e-01 5.94966737e-03 9.60319779e-03 9.06474850e+02] [-5.94695077e-03 9.99982268e-01 -3.11415917e-04 -6.64945814e+01] [-9.60488033e-03 2.54286301e-04 9.99953840e-01 2.82130942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.750714057 meters Centerline goodness [0,1] 0.9819042743793192 Centerline is valid? [True, True] Translation: X:906.51, Y:-66.49, Z:2.82 [[ 9.99937669e-01 5.45290901e-03 9.74290260e-03 9.06506482e+02] [-5.45006276e-03 9.99985098e-01 -3.18661570e-04 -6.64932301e+01] [-9.74449503e-03 2.65542277e-04 9.99952486e-01 2.82089387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.780714057 meters Centerline goodness [0,1] 0.9831012641998103 Centerline is valid? [True, True] Translation: X:906.54, Y:-66.49, Z:2.82 [[ 9.99926178e-01 5.89451375e-03 1.06251574e-02 9.06539221e+02] [-5.89115473e-03 9.99982587e-01 -3.47408706e-04 -6.64945363e+01] [-1.06270202e-02 2.84788614e-04 9.99943491e-01 2.82193581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8107140569999 meters Centerline goodness [0,1] 0.9805383868825662 Centerline is valid? [True, True] Translation: X:906.57, Y:-66.50, Z:2.82 [[ 9.99920132e-01 4.82078243e-03 1.16828711e-02 9.06570697e+02] [-4.81661057e-03 9.99988326e-01 -3.85203354e-04 -6.64990390e+01] [-1.16845916e-02 3.28900749e-04 9.99931679e-01 2.82223325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8407140569999 meters Centerline goodness [0,1] 0.9822318803528058 Centerline is valid? [True, True] Translation: X:906.60, Y:-66.50, Z:2.82 [[ 9.99925661e-01 3.87833899e-03 1.15598780e-02 9.06602471e+02] [-3.87416172e-03 9.99992422e-01 -3.83730623e-04 -6.64991134e+01] [-1.15612786e-02 3.38917260e-04 9.99933109e-01 2.82168202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8707140569999 meters Centerline goodness [0,1] 0.9804391014212215 Centerline is valid? [True, True] Translation: X:906.63, Y:-66.50, Z:2.82 [[ 9.99941953e-01 2.47363334e-05 1.07745495e-02 9.06632358e+02] [-2.08560482e-05 9.99999935e-01 -3.60246542e-04 -6.65045797e+01] [-1.07745577e-02 3.60000916e-04 9.99941888e-01 2.81927083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.900714057 meters Centerline goodness [0,1] 0.9786573732543055 Centerline is valid? [True, True] Translation: X:906.66, Y:-66.51, Z:2.82 [[ 9.99956848e-01 -5.39196496e-03 7.56497215e-03 9.06661788e+02] [ 5.39403604e-03 9.99985420e-01 -2.53395752e-04 -6.65120453e+01] [-7.56349556e-03 2.94190550e-04 9.99971353e-01 2.81596207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9307140569999 meters Centerline goodness [0,1] 0.9792196561196459 Centerline is valid? [True, True] Translation: X:906.69, Y:-66.52, Z:2.81 [[ 9.99930346e-01 -1.02800713e-02 5.79861803e-03 9.06692618e+02] [ 1.02813730e-02 9.99947126e-01 -1.94717698e-04 -6.65166391e+01] [-5.79630972e-03 2.54321890e-04 9.99983169e-01 2.81360552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9607140569999 meters Centerline goodness [0,1] 0.9774285279033159 Centerline is valid? [True, True] Translation: X:906.72, Y:-66.52, Z:2.81 [[ 9.99888283e-01 -1.40096184e-02 5.21068006e-03 9.06722427e+02] [ 1.40107211e-02 9.99901830e-01 -1.75177836e-04 -6.65211122e+01] [-5.20771435e-03 2.48163650e-04 9.99986409e-01 2.81337721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9907140569999 meters Centerline goodness [0,1] 0.964501598711695 Centerline is valid? [True, True] Translation: X:906.75, Y:-66.55, Z:2.81 [[ 9.99918894e-01 -1.13811629e-02 5.71618285e-03 9.06751835e+02] [ 1.13824463e-02 9.99935199e-01 -1.92045167e-04 -6.65516697e+01] [-5.71362674e-03 2.57093735e-04 9.99983644e-01 2.80953201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.020714057 meters Centerline goodness [0,1] 0.9759223004754519 Centerline is valid? [True, True] Translation: X:906.78, Y:-66.52, Z:2.81 [[ 9.99854693e-01 -1.56559191e-02 6.74429651e-03 9.06783989e+02] [ 1.56578038e-02 9.99877383e-01 -2.26744592e-04 -6.65243276e+01] [-6.73991965e-03 3.32312516e-04 9.99977231e-01 2.81401622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0507140569999 meters Centerline goodness [0,1] 0.9754819675466707 Centerline is valid? [True, True] Translation: X:906.82, Y:-66.52, Z:2.81 [[ 9.99864471e-01 -1.46788289e-02 7.45460135e-03 9.06816025e+02] [ 1.46811034e-02 9.99892195e-01 -2.50483244e-04 -6.65238739e+01] [-7.45012091e-03 3.59891070e-04 9.99972183e-01 2.81438653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0807140569999 meters Centerline goodness [0,1] 0.9757444642402647 Centerline is valid? [True, True] Translation: X:906.85, Y:-66.52, Z:2.81 [[ 9.99886350e-01 -1.25923011e-02 8.28976304e-03 9.06846717e+02] [ 1.25950466e-02 9.99920640e-01 -2.79058462e-04 -6.65232270e+01] [-8.28559118e-03 3.83436699e-04 9.99965600e-01 2.81479746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1107140569999 meters Centerline goodness [0,1] 0.9757756380865047 Centerline is valid? [True, True] Translation: X:906.88, Y:-66.52, Z:2.81 [[ 9.99891140e-01 -1.17954579e-02 8.86430868e-03 9.06879269e+02] [ 1.17985761e-02 9.99930350e-01 -2.99553504e-04 -6.65230839e+01] [-8.86015791e-03 4.04107115e-04 9.99960666e-01 2.81427803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.140714057 meters Centerline goodness [0,1] 0.9779698615466993 Centerline is valid? [True, True] Translation: X:906.91, Y:-66.52, Z:2.82 [[ 9.99895473e-01 -1.01439362e-02 1.03026450e-02 9.06911367e+02] [ 1.01480696e-02 9.99948446e-01 -3.48995303e-04 -6.65203484e+01] [-1.02985737e-02 4.53510781e-04 9.99946865e-01 2.81535031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1707140569999 meters Centerline goodness [0,1] 0.9786211805379023 Centerline is valid? [True, True] Translation: X:906.94, Y:-66.52, Z:2.81 [[ 9.99896955e-01 -1.01278304e-02 1.01738462e-02 9.06944124e+02] [ 1.01318663e-02 9.99948612e-01 -3.45228533e-04 -6.65238694e+01] [-1.01698270e-02 4.48273008e-04 9.99948185e-01 2.81316031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2007140569999 meters Centerline goodness [0,1] 0.9777274347095658 Centerline is valid? [True, True] Translation: X:906.98, Y:-66.53, Z:2.81 [[ 9.99901670e-01 -1.00822547e-02 9.74676714e-03 9.06977450e+02] [ 1.00859662e-02 9.99949080e-01 -3.31710740e-04 -6.65253272e+01] [-9.74292645e-03 4.29983687e-04 9.99952444e-01 2.81258875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2307140569999 meters Centerline goodness [0,1] 0.975147205016441 Centerline is valid? [True, True] Translation: X:907.01, Y:-66.53, Z:2.81 [[ 9.99917617e-01 -1.04107715e-02 7.50834798e-03 9.07008803e+02] [ 1.04129857e-02 9.99945751e-01 -2.55863170e-04 -6.65313398e+01] [-7.50527692e-03 3.34026411e-04 9.99971779e-01 2.81162837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.260714057 meters Centerline goodness [0,1] 0.9772164816940936 Centerline is valid? [True, True] Translation: X:907.04, Y:-66.53, Z:2.81 [[ 9.99927566e-01 -1.01998895e-02 6.38949611e-03 9.07042025e+02] [ 1.02014936e-02 9.99947940e-01 -2.18518615e-04 -6.65279914e+01] [-6.38693460e-03 2.83685190e-04 9.99979563e-01 2.80961784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.290714057 meters Centerline goodness [0,1] 0.9782014957755826 Centerline is valid? [True, True] Translation: X:907.07, Y:-66.53, Z:2.81 [[ 9.99936738e-01 -9.21839899e-03 6.44526060e-03 9.07074285e+02] [ 9.22001662e-03 9.99957470e-01 -2.21311549e-04 -6.65264466e+01] [-6.44294634e-03 2.80722958e-04 9.99979205e-01 2.80892763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3207140569999 meters Centerline goodness [0,1] 0.9782619788743175 Centerline is valid? [True, True] Translation: X:907.11, Y:-66.53, Z:2.81 [[ 9.99948723e-01 -7.36015593e-03 6.95558006e-03 9.07107026e+02] [ 7.36199814e-03 9.99972871e-01 -2.39286015e-04 -6.65270610e+01] [-6.95363018e-03 2.90480712e-04 9.99975781e-01 2.80817282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3507140569999 meters Centerline goodness [0,1] 0.9790602655771196 Centerline is valid? [True, True] Translation: X:907.14, Y:-66.53, Z:2.81 [[ 9.99957356e-01 -3.68484179e-03 8.46806618e-03 9.07137719e+02] [ 3.68745117e-03 9.99993159e-01 -2.92550896e-04 -6.65288073e+01] [-8.46693024e-03 3.23764001e-04 9.99964102e-01 2.80798526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.380714057 meters Centerline goodness [0,1] 0.9802197802197802 Centerline is valid? [True, True] Translation: X:907.17, Y:-66.52, Z:2.81 [[ 9.99955191e-01 9.75630791e-04 9.41614644e-03 9.07168878e+02] [-9.72606606e-04 9.99999474e-01 -3.25744020e-04 -6.65236286e+01] [-9.41645929e-03 3.16571217e-04 9.99955614e-01 2.80932676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.410714057 meters Centerline goodness [0,1] 0.9807859591669652 Centerline is valid? [True, True] Translation: X:907.20, Y:-66.52, Z:2.81 [[ 9.99917346e-01 7.42444943e-03 1.04966115e-02 9.07198472e+02] [-7.42104322e-03 9.99972398e-01 -3.63417808e-04 -6.65188398e+01] [-1.04990199e-02 2.85491963e-04 9.99944843e-01 2.81137641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4407140569999 meters Centerline goodness [0,1] 0.9815503836185882 Centerline is valid? [True, True] Translation: X:907.23, Y:-66.51, Z:2.81 [[ 9.99844027e-01 1.40628378e-02 1.06844709e-02 9.07229467e+02] [-1.40596902e-02 9.99901089e-01 -3.69652715e-04 -6.65133280e+01] [-1.06886124e-02 2.19374709e-04 9.99942851e-01 2.81137433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4707140569999 meters Centerline goodness [0,1] 0.9841595324755216 Centerline is valid? [True, True] Translation: X:907.26, Y:-66.51, Z:2.81 [[ 9.99747640e-01 1.89207774e-02 1.21103127e-02 9.07258244e+02] [-1.89170859e-02 9.99820968e-01 -4.19306905e-04 -6.65138983e+01] [-1.21160782e-02 1.90109263e-04 9.99926580e-01 2.81026883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.500714057 meters Centerline goodness [0,1] 0.9846481111281973 Centerline is valid? [True, True] Translation: X:907.29, Y:-66.51, Z:2.81 [[ 9.99634390e-01 2.42551162e-02 1.19488671e-02 9.07286919e+02] [-2.42519133e-02 9.99705794e-01 -4.12897160e-04 -6.65119808e+01] [-1.19553666e-02 1.22963311e-04 9.99928524e-01 2.81107919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.530714057 meters Centerline goodness [0,1] 0.9853894855560967 Centerline is valid? [True, True] Translation: X:907.32, Y:-66.51, Z:2.81 [[ 9.99566593e-01 2.68412229e-02 1.20902829e-02 9.07315021e+02] [-2.68381430e-02 9.99639705e-01 -4.16941096e-04 -6.65117380e+01] [-1.20971180e-02 9.22796484e-05 9.99926823e-01 2.81189076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5607140569999 meters Centerline goodness [0,1] 0.9861884835571073 Centerline is valid? [True, True] Translation: X:907.34, Y:-66.51, Z:2.81 [[ 9.99399911e-01 3.16116464e-02 1.41605546e-02 9.07343996e+02] [-3.16079201e-02 9.99500226e-01 -4.86929717e-04 -6.65104667e+01] [-1.41688702e-02 3.90518366e-05 9.99899616e-01 2.81297298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5907140569999 meters Centerline goodness [0,1] 0.9861160920129105 Centerline is valid? [True, True] Translation: X:907.37, Y:-66.51, Z:2.81 [[ 9.99333818e-01 3.30608930e-02 1.54563128e-02 9.07370782e+02] [-3.30566466e-02 9.99453339e-01 -5.30205298e-04 -6.65137760e+01] [-1.54653925e-02 1.89182151e-05 9.99880403e-01 2.81241705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6207140569999 meters Centerline goodness [0,1] 0.9854284693512989 Centerline is valid? [True, True] Translation: X:907.40, Y:-66.52, Z:2.81 [[ 9.99431663e-01 2.95784387e-02 1.61699419e-02 9.07399766e+02] [-2.95733655e-02 9.99562460e-01 -5.52819788e-04 -6.65211029e+01] [-1.61792185e-02 7.43059970e-05 9.99869105e-01 2.81113728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.650714057 meters Centerline goodness [0,1] 0.9840979989347942 Centerline is valid? [True, True] Translation: X:907.43, Y:-66.53, Z:2.81 [[ 9.99595854e-01 2.32831220e-02 1.63102962e-02 9.07427712e+02] [-2.32771419e-02 9.99728896e-01 -5.56417457e-04 -6.65294827e+01] [-1.63188295e-02 1.76535504e-04 9.99866823e-01 2.81050652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6807140569999 meters Centerline goodness [0,1] 0.9823985454178136 Centerline is valid? [True, True] Translation: X:907.46, Y:-66.54, Z:2.81 [[ 9.99748731e-01 1.59353685e-02 1.57651092e-02 9.07457279e+02] [-1.59288870e-02 9.99872983e-01 -5.36619706e-04 -6.65386412e+01] [-1.57716580e-02 2.85364226e-04 9.99875579e-01 2.80896719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7107140569999 meters Centerline goodness [0,1] 0.9820451393266927 Centerline is valid? [True, True] Translation: X:907.49, Y:-66.54, Z:2.81 [[ 9.99809925e-01 1.19340773e-02 1.54172496e-02 9.07487864e+02] [-1.19274100e-02 9.99928728e-01 -5.24334052e-04 -6.65446044e+01] [-1.54224083e-02 3.40346531e-04 9.99881010e-01 2.80843278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7407140569999 meters Centerline goodness [0,1] 0.9805883832034197 Centerline is valid? [True, True] Translation: X:907.52, Y:-66.55, Z:2.81 [[ 9.99860372e-01 4.40157030e-03 1.61202287e-02 9.07519010e+02] [-4.39330109e-03 9.99990199e-01 -5.48347984e-04 -6.65542996e+01] [-1.61224843e-02 4.77450402e-04 9.99869910e-01 2.80798656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.770714057 meters Centerline goodness [0,1] 0.9788345244639912 Centerline is valid? [True, True] Translation: X:907.55, Y:-66.56, Z:2.81 [[ 9.99863612e-01 -1.62439992e-03 1.64352766e-02 9.07550059e+02] [ 1.63381828e-03 9.99998509e-01 -5.59647258e-04 -6.65615901e+01] [-1.64343430e-02 5.86423185e-04 9.99864775e-01 2.80695100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8007140569999 meters Centerline goodness [0,1] 0.9788056352075801 Centerline is valid? [True, True] Translation: X:907.58, Y:-66.57, Z:2.81 [[ 9.99865093e-01 -4.10326807e-03 1.59047075e-02 9.07581890e+02] [ 4.11241149e-03 9.99991397e-01 -5.42224297e-04 -6.65669019e+01] [-1.59023458e-02 6.07557849e-04 9.99873365e-01 2.80542109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8307140569999 meters Centerline goodness [0,1] 0.9789523619294916 Centerline is valid? [True, True] Translation: X:907.61, Y:-66.57, Z:2.80 [[ 9.99889726e-01 -3.34280518e-03 1.44693609e-02 9.07614576e+02] [ 3.35030699e-03 9.99994266e-01 -4.94253028e-04 -6.65686966e+01] [-1.44676257e-02 5.42675325e-04 9.99895191e-01 2.80397049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8607140569999 meters Centerline goodness [0,1] 0.9793901891311941 Centerline is valid? [True, True] Translation: X:907.65, Y:-66.57, Z:2.80 [[ 9.99904589e-01 -1.20054896e-03 1.37612135e-02 9.07645480e+02] [ 1.20714733e-03 9.99999160e-01 -4.71193827e-04 -6.65687437e+01] [-1.37606363e-02 4.87760682e-04 9.99905199e-01 2.80257484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.890714057 meters Centerline goodness [0,1] 0.9797717453737232 Centerline is valid? [True, True] Translation: X:907.68, Y:-66.57, Z:2.80 [[ 9.99915344e-01 2.06028080e-04 1.30100572e-02 9.07678048e+02] [-2.00240982e-04 9.99999880e-01 -4.46118277e-04 -6.65683315e+01] [-1.30101476e-02 4.43475364e-04 9.99915266e-01 2.80192367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9207140569999 meters Centerline goodness [0,1] 0.9812409451965829 Centerline is valid? [True, True] Translation: X:907.71, Y:-66.57, Z:2.80 [[ 9.99923244e-01 1.26549397e-03 1.23249619e-02 9.07709925e+02] [-1.26037066e-03 9.99999116e-01 -4.23444798e-04 -6.65693748e+01] [-1.23254868e-02 4.07878275e-04 9.99923955e-01 2.80019064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9507140569999 meters Centerline goodness [0,1] 0.9797959641814871 Centerline is valid? [True, True] Translation: X:907.74, Y:-66.57, Z:2.80 [[ 9.99919489e-01 2.79048332e-03 1.23785702e-02 9.07740818e+02] [-2.78542103e-03 9.99996030e-01 -4.26177598e-04 -6.65721573e+01] [-1.23797103e-02 3.91663756e-04 9.99923292e-01 2.79885983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9807140569999 meters Centerline goodness [0,1] 0.9813610207655742 Centerline is valid? [True, True] Translation: X:907.77, Y:-66.57, Z:2.80 [[ 9.99905363e-01 6.57578451e-03 1.20840574e-02 9.07772732e+02] [-6.57122912e-03 9.99978322e-01 -4.16641855e-04 -6.65672752e+01] [-1.20865352e-02 3.37195316e-04 9.99926898e-01 2.79895094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.010714057 meters Centerline goodness [0,1] 0.9823728813559323 Centerline is valid? [True, True] Translation: X:907.80, Y:-66.56, Z:2.80 [[ 9.99879495e-01 1.15022622e-02 1.04255915e-02 9.07804323e+02] [-1.14991321e-02 9.99933818e-01 -3.60135868e-04 -6.65630896e+01] [-1.04290439e-02 2.40207216e-04 9.99945587e-01 2.79839325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.040714057 meters Centerline goodness [0,1] 0.9827235517163448 Centerline is valid? [True, True] Translation: X:907.83, Y:-66.56, Z:2.80 [[ 9.99848865e-01 1.42041109e-02 1.00245075e-02 9.07834007e+02] [-1.42013477e-02 9.99899096e-01 -3.46778857e-04 -6.65620758e+01] [-1.00284217e-02 2.04364930e-04 9.99949693e-01 2.79833104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0707140569999 meters Centerline goodness [0,1] 0.9831765830106121 Centerline is valid? [True, True] Translation: X:907.86, Y:-66.56, Z:2.80 [[ 9.99751660e-01 1.94877511e-02 1.08095026e-02 9.07862789e+02] [-1.94848482e-02 9.99810082e-01 -3.73805986e-04 -6.65608418e+01] [-1.08147344e-02 1.63091637e-04 9.99941506e-01 2.79887388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1007140569999 meters Centerline goodness [0,1] 0.9850020165355918 Centerline is valid? [True, True] Translation: X:907.89, Y:-66.56, Z:2.80 [[ 9.99646354e-01 2.41998907e-02 1.10241848e-02 9.07891583e+02] [-2.41971640e-02 9.99707133e-01 -3.80673065e-04 -6.65589370e+01] [-1.10301685e-02 1.13784433e-04 9.99939159e-01 2.79871783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.130714057 meters Centerline goodness [0,1] 0.9852459841885292 Centerline is valid? [True, True] Translation: X:907.92, Y:-66.56, Z:2.80 [[ 9.99579713e-01 2.65939767e-02 1.15394074e-02 9.07920464e+02] [-2.65911576e-02 9.99646314e-01 -3.97687053e-04 -6.65564327e+01] [-1.15459021e-02 9.06737100e-05 9.99933340e-01 2.79900769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.160714057 meters Centerline goodness [0,1] 0.9846832094722258 Centerline is valid? [True, True] Translation: X:907.95, Y:-66.56, Z:2.80 [[ 9.99554130e-01 2.74115662e-02 1.18383644e-02 9.07949452e+02] [-2.74086663e-02 9.99624229e-01 -4.07154028e-04 -6.65574062e+01] [-1.18450766e-02 8.24987103e-05 9.99929841e-01 2.79825016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1907140569999 meters Centerline goodness [0,1] 0.9843100712720679 Centerline is valid? [True, True] Translation: X:907.98, Y:-66.56, Z:2.80 [[ 9.99591101e-01 2.58560155e-02 1.22105335e-02 9.07978551e+02] [-2.58528250e-02 9.99665672e-01 -4.19091174e-04 -6.65611163e+01] [-1.22172872e-02 1.03243023e-04 9.99925361e-01 2.79720690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2207140569999 meters Centerline goodness [0,1] 0.9835661875565384 Centerline is valid? [True, True] Translation: X:908.01, Y:-66.57, Z:2.80 [[ 9.99697483e-01 2.14666170e-02 1.20052843e-02 9.08006201e+02] [-2.14632259e-02 9.99769554e-01 -4.11246385e-04 -6.65660814e+01] [-1.20113458e-02 1.53449847e-04 9.99927849e-01 2.79675441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.250714057 meters Centerline goodness [0,1] 0.9829021259526675 Centerline is valid? [True, True] Translation: X:908.04, Y:-66.57, Z:2.80 [[ 9.99805886e-01 1.51076380e-02 1.26470815e-02 9.08035090e+02] [-1.51033807e-02 9.99885844e-01 -4.32067522e-04 -6.65718408e+01] [-1.26521653e-02 2.40969964e-04 9.99919929e-01 2.79670845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.280714057 meters Centerline goodness [0,1] 0.9801952998176868 Centerline is valid? [True, True] Translation: X:908.07, Y:-66.58, Z:2.80 [[ 9.99899672e-01 5.86450589e-03 1.28939428e-02 9.08065170e+02] [-5.85932165e-03 9.99982737e-01 -4.39807587e-04 -6.65790932e+01] [-1.28962995e-02 3.64213704e-04 9.99916773e-01 2.79605452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3107140569999 meters Centerline goodness [0,1] 0.9789190401435299 Centerline is valid? [True, True] Translation: X:908.09, Y:-66.59, Z:2.79 [[ 9.99927917e-01 -2.82931140e-03 1.16685802e-02 9.08094603e+02] [ 2.83414612e-03 9.99995905e-01 -3.97821243e-04 -6.65871786e+01] [-1.16674068e-02 4.30863028e-04 9.99931841e-01 2.79482047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3407140569999 meters Centerline goodness [0,1] 0.9789190401435299 Centerline is valid? [True, True] Translation: X:908.13, Y:-66.59, Z:2.79 [[ 9.99928213e-01 -2.72269686e-03 1.16685919e-02 9.08127152e+02] [ 2.72752033e-03 9.99996201e-01 -3.97478240e-04 -6.65883781e+01] [-1.16674654e-02 4.29276027e-04 9.99931841e-01 2.79439404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3707140569999 meters Centerline goodness [0,1] 0.9777264026648769 Centerline is valid? [True, True] Translation: X:908.16, Y:-66.59, Z:2.79 [[ 9.99900964e-01 -8.68864036e-03 1.10711460e-02 9.08156488e+02] [ 8.69336165e-03 9.99962140e-01 -3.78396278e-04 -6.65930835e+01] [-1.10674391e-02 4.74604279e-04 9.99938641e-01 2.79403133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.400714057 meters Centerline goodness [0,1] 0.9772959247180661 Centerline is valid? [True, True] Translation: X:908.19, Y:-66.59, Z:2.79 [[ 9.99880879e-01 -1.05675555e-02 1.12496798e-02 9.08188680e+02] [ 1.05725516e-02 9.99944035e-01 -3.84736212e-04 -6.65931817e+01] [-1.12449845e-02 5.03628203e-04 9.99936646e-01 2.79387114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4307140569999 meters Centerline goodness [0,1] 0.975603678138005 Centerline is valid? [True, True] Translation: X:908.22, Y:-66.60, Z:2.79 [[ 9.99839533e-01 -1.39955291e-02 1.11817974e-02 9.08218918e+02] [ 1.40006890e-02 9.99901912e-01 -3.83304940e-04 -6.65958817e+01] [-1.11753360e-02 5.39796300e-04 9.99937408e-01 2.79398257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4607140569999 meters Centerline goodness [0,1] 0.9737889187307271 Centerline is valid? [True, True] Translation: X:908.25, Y:-66.60, Z:2.79 [[ 9.99808445e-01 -1.56117529e-02 1.18045059e-02 9.08250948e+02] [ 1.56176177e-02 9.99877956e-01 -4.04804386e-04 -6.65978174e+01] [-1.17967455e-02 5.89085104e-04 9.99930242e-01 2.79288369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4907140569999 meters Centerline goodness [0,1] 0.9738393056971626 Centerline is valid? [True, True] Translation: X:908.28, Y:-66.60, Z:2.79 [[ 9.99788396e-01 -1.69354098e-02 1.16771523e-02 9.08282857e+02] [ 1.69412483e-02 9.99856406e-01 -4.01247935e-04 -6.65982257e+01] [-1.16686802e-02 5.98988565e-04 9.99931739e-01 2.79181738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 14501.02 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%| | 0/31150 [00:00